From 6edaf619bf89f682a5fbc76868529bfcfe46574b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 1 Oct 2024 15:04:42 -0400
Subject: [PATCH 0001/1434] Add Custom MIT License (#438)

---
 LICENSE.md | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)
 create mode 100644 LICENSE.md

diff --git a/LICENSE.md b/LICENSE.md
new file mode 100644
index 00000000000000..650b6f55b37647
--- /dev/null
+++ b/LICENSE.md
@@ -0,0 +1,21 @@
+# Custom MIT License
+
+Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions:
+
+1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s).
+
+2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment:
+   "This software is licensed under a custom license requiring permission for use."
+
+3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment:
+   "This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use."
+
+4. **No Warranty**: THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Contact sunnypilot Support <support@sunnypilot.ai> for permission requests.
+
+---
+
+Haibin Wen, SUNNYPILOT LLC

From 3da0dfd47ff152c4e37627c28e0a929d8dd4672e Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 2 Nov 2024 19:15:58 +0100
Subject: [PATCH 0002/1434] Updating submodules

---
 .gitmodules  | 12 ++++++------
 opendbc_repo |  2 +-
 panda        |  2 +-
 3 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/.gitmodules b/.gitmodules
index 54c7393986c5bd..10fa733cf38f7b 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,18 +1,18 @@
 [submodule "panda"]
   path = panda
-  url = ../../commaai/panda.git
+  url = https://github.com/sunnyhaibin/panda.git
 [submodule "opendbc"]
   path = opendbc_repo
-  url = ../../commaai/opendbc.git
+  url = https://github.com/sunnypilot/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
-  url = ../../commaai/msgq.git
+  url = https://github.com/sunnypilot/msgq.git
 [submodule "rednose_repo"]
   path = rednose_repo
-  url = ../../commaai/rednose.git
+  url = https://github.com/commaai/rednose.git
 [submodule "teleoprtc_repo"]
   path = teleoprtc_repo
-  url = ../../commaai/teleoprtc
+  url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/commaai/tinygrad.git
+  url = https://github.com/tinygrad/tinygrad.git
\ No newline at end of file
diff --git a/opendbc_repo b/opendbc_repo
index 7cb3d4c0219577..ea6c7c70a78176 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 7cb3d4c02195772d16dfba9967e3443f2c10558b
+Subproject commit ea6c7c70a78176ff37ddd7e61b45d121ad13dc3a
diff --git a/panda b/panda
index dec9223f9726e4..fdd7f946dc16a4 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit dec9223f9726e400e4a4eb91ca19fffcd745f97a
+Subproject commit fdd7f946dc16a481735b5df31ad1117312b7bf11

From cf55992c2664080084500d96222bdec9d10e222a Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 16 Nov 2024 16:24:47 +0100
Subject: [PATCH 0003/1434] CI: sunnypilot configuration (#447)

* initial updates to the actions to run for sp

* ignore license file

* more updates

* undoing some of the changes because I was blocking the runs on

* allowing the submodule check as well

* Allowing macos builds

* test adding cache key

* don't attempt build_release for selfdrive for the time being.

* Blocking macos builds as well since they have a 10x miltiplier for GH aciton minutes, waaaay too much!

* lol nice typo codespell

* change ref commit id to check if replay passes
---
 .github/workflows/auto_pr_review.yaml    | 10 +++++-----
 .github/workflows/badges.yaml            |  4 ++--
 .github/workflows/ci_weekly_report.yaml  |  4 ++--
 .github/workflows/ci_weekly_run.yaml     |  4 ++--
 .github/workflows/docs.yaml              |  6 +++---
 .github/workflows/prebuilt.yaml          |  2 +-
 .github/workflows/release.yaml           |  2 +-
 .github/workflows/repo-maintenance.yaml  |  2 +-
 .github/workflows/selfdrive_tests.yaml   | 11 +++++++++--
 .github/workflows/stale.yaml             |  2 +-
 .github/workflows/tools_tests.yaml       |  1 +
 .github/workflows/ui_preview.yaml        |  3 ++-
 scripts/lint/lint.sh                     |  2 +-
 selfdrive/test/process_replay/ref_commit |  2 +-
 14 files changed, 32 insertions(+), 23 deletions(-)

diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
index eaaca560605f92..324912a7dce22a 100644
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -24,7 +24,7 @@ jobs:
     # Check PR target branch
     - name: check branch
       uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
-      if: github.repository == 'commaai/openpilot'
+      if: github.repository == 'sunnypilot/sunnypilot'
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
@@ -37,17 +37,17 @@ jobs:
     # Welcome comment
     - name: "First timers PR"
       uses: actions/first-interaction@v1
-      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
+      if: github.event.pull_request.head.repo.full_name != 'sunnypilot/sunnypilot'
       with:
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         pr-message: |
             <!-- _(run_id **${{ github.run_id }}**)_ -->
             Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
             * Convert your PR to a draft unless it's ready to review
-            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
+            * Read the [contributing docs](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md)
             * Before marking as "ready for review", ensure:
               * the goal is clearly stated in the description
               * all the tests are passing
-              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
+              * the change is [something we merge](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
               * include a route or your device' dongle ID if relevant
-      
+
diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
index 63ee736dcab84b..505148beac4c44 100644
--- a/.github/workflows/badges.yaml
+++ b/.github/workflows/badges.yaml
@@ -13,7 +13,7 @@ jobs:
   badges:
     name: create badges
     runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     permissions:
       contents: write
     steps:
@@ -29,7 +29,7 @@ jobs:
 
         git checkout --orphan badges
         git rm -rf --cached .
-        git config user.email "badge-researcher@comma.ai"
+        git config user.email "badge-researcher@sunnypilot.ai"
         git config user.name "Badge Researcher"
 
         git add translation_badge.svg
diff --git a/.github/workflows/ci_weekly_report.yaml b/.github/workflows/ci_weekly_report.yaml
index 9821283cb57442..b96a5a56a8eb45 100644
--- a/.github/workflows/ci_weekly_report.yaml
+++ b/.github/workflows/ci_weekly_report.yaml
@@ -15,7 +15,7 @@ env:
 
 jobs:
   setup:
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     runs-on: ubuntu-latest
     outputs:
       ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
@@ -31,7 +31,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
     with:
       run_number: ${{ matrix.run_number }}
 
diff --git a/.github/workflows/ci_weekly_run.yaml b/.github/workflows/ci_weekly_run.yaml
index c3ce8c42da861e..98bffd8964dfee 100644
--- a/.github/workflows/ci_weekly_run.yaml
+++ b/.github/workflows/ci_weekly_run.yaml
@@ -12,10 +12,10 @@ concurrency:
 
 jobs:
   selfdrive_tests:
-    uses: commaai/openpilot/.github/workflows/selfdrive_tests.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
     with:
       run_number: ${{ inputs.run_number }}
   tools_tests:
-    uses: commaai/openpilot/.github/workflows/tools_tests.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/tools_tests.yaml@master
     with:
       run_number: ${{ inputs.run_number }}
diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index 26b60ffec27670..317b69f8b848cd 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -34,13 +34,13 @@ jobs:
 
     # Push to docs.comma.ai
     - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
       with:
         path: openpilot-docs
         ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
-        repository: commaai/openpilot-docs
+        repository: sunnypilot/sunnypilot-docs
     - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
       run: |
         set -x
 
diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
index d8963ec89f4f93..61e3f3bc4ff97b 100644
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@@ -12,7 +12,7 @@ jobs:
   build_prebuilt:
     name: build prebuilt
     runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     env:
       PUSH_IMAGE: true
     permissions:
diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index c86c044772013d..2dfa9d029739b5 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -13,7 +13,7 @@ jobs:
     container:
       image: ghcr.io/commaai/openpilot-base:latest
     runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     permissions:
       checks: read
       contents: write
diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index c724c00c5ee44c..424c21c36ad84b 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -11,7 +11,7 @@ jobs:
     runs-on: ubuntu-latest
     container:
       image: ghcr.io/commaai/openpilot-base:latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     steps:
     - uses: actions/checkout@v4
       with:
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index fc59d256842bb3..5d55d27a55240b 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - master
+      - master-new
   pull_request:
   workflow_dispatch:
   workflow_call:
@@ -31,6 +32,7 @@ env:
 
 jobs:
   build_release:
+    if: github.repository == 'commaai/openpilot' # build_release blocked for the time being to only comma as we may have a different process.
     name: build release
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
                    ((github.event_name != 'pull_request') ||
@@ -52,7 +54,7 @@ jobs:
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
     - uses: ./.github/workflows/setup-with-retry
     - name: Check submodules
-      if: github.repository == 'commaai/openpilot'
+      if: github.repository == 'sunnypilot/sunnypilot'
       timeout-minutes: 3
       run: release/check-submodules.sh
     - name: Build openpilot and run checks
@@ -101,8 +103,11 @@ jobs:
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
 
   build_mac:
+    if: github.repository == 'commaai/openpilot' # Blocking macos builds as well since they have a 10x miltiplier for GH action minutes, waaaay too much!
     name: build macOS
-    runs-on: namespace-profile-macos-8x14
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -111,6 +116,7 @@ jobs:
       uses: ./.github/workflows/auto-cache
       with:
         path: ~/Library/Caches/Homebrew
+        key: build_macos_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
     - name: Install dependencies
       run: ./tools/mac_setup.sh
       env:
@@ -122,6 +128,7 @@ jobs:
       uses: ./.github/workflows/auto-cache
       with:
         path: /tmp/scons_cache
+        key: build_macos_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
     - name: Building openpilot
       run: . .venv/bin/activate && scons -j$(nproc)
 
diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml
index d0dead51262531..cc298139521266 100644
--- a/.github/workflows/stale.yaml
+++ b/.github/workflows/stale.yaml
@@ -20,7 +20,7 @@ jobs:
           stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
           close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
           stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
+          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'sunnypilot/sunnypilot' }} # only delete branches on the main repo
           exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
           days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
           days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 493671051fbd15..abbbe491cbcbf5 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - master
+      - master-new
   pull_request:
   workflow_call:
     inputs:
diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index f9d7feba8713ed..722ff35750d44c 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -3,6 +3,7 @@ on:
   push:
     branches:
       - master
+      - master-new
   pull_request_target:
     types: [assigned, opened, synchronize, reopened, edited]
     branches:
@@ -19,7 +20,7 @@ env:
 
 jobs:
   preview:
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     name: preview
     runs-on: ubuntu-latest
     timeout-minutes: 20
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index 578c63cd1894d4..44622922b309f1 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -13,7 +13,7 @@ cd $ROOT
 
 FAILED=0
 
-IGNORED_FILES="uv\.lock|docs\/CARS.md"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
 IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
 
 function run() {
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index c779902d6bdd71..19ea61cb054f8e 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-2fc2e865ab77fd8145feab86d454f2111c5d9871
+dd0a40182707975c94a40d19198cd60c88735199

From 2426354d724c1427ae6ae5fb095769711a02544f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 16 Nov 2024 17:04:12 -0500
Subject: [PATCH 0004/1434] bump opendbc (#448)

* bump opendbc

* Bump opendbc to our changed car params

* New Int16 test

* spFlags

* original name?

* Testing more carparams combinations

* Another crazy idea

* typo

* use this field

* bump

* bump opendbc

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index ea6c7c70a78176..421c8c20749575 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit ea6c7c70a78176ff37ddd7e61b45d121ad13dc3a
+Subproject commit 421c8c207495756cd15305750b7cad48b7a0599e

From ad742515f100e8482e29f172b39371692d8a89ae Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 16 Nov 2024 23:45:12 +0100
Subject: [PATCH 0005/1434] ci: sunnypilot show UI diff on PRs  (#449)

add master-new as well to the triggers for the diff ui
---
 .github/workflows/ui_preview.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 722ff35750d44c..27c290cf2dd4c2 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -8,6 +8,7 @@ on:
     types: [assigned, opened, synchronize, reopened, edited]
     branches:
       - 'master'
+      - 'master-new'
     paths:
       - 'selfdrive/ui/**'
   workflow_dispatch:

From 4b66cd05776854c5c4105c0cdd6d7c5c3c448100 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 17 Nov 2024 04:27:29 +0100
Subject: [PATCH 0006/1434] ci: fix repo permissions in ui preview (#450)

* more fix

* forcing a change on UI to test

* undo ui change for test

* temp add branch

* adding more ways to set the master uo

* more bruteforce

* undoing force
---
 .github/workflows/ui_preview.yaml | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 27c290cf2dd4c2..ed1a9d2a7c69f4 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -60,13 +60,13 @@ jobs:
       - name: Getting master ui
         uses: actions/checkout@v4
         with:
-          repository: commaai/ci-artifacts
+          repository: sunnypilot/ci-artifacts
           ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
           path: ${{ github.workspace }}/master_ui
           ref: openpilot_master_ui
 
       - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+        if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.event_name == 'push'
         working-directory: ${{ github.workspace }}/master_ui
         run: |
           git checkout --orphan=new_master_ui
@@ -108,13 +108,13 @@ jobs:
               DIFF="${DIFF}<table>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
-              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
+              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
               DIFF="${DIFF}</tr>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
-              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
+              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
+              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
               DIFF="${DIFF}</tr>"
 
               DIFF="${DIFF}</table>"
@@ -127,7 +127,7 @@ jobs:
             if [[ $INDEX -eq 0 ]]; then
               TABLE="${TABLE}<tr>"
             fi
-            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
             if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
               TABLE="${TABLE}</tr>"
             fi

From 36f81926121e963befe589521821a43bce320ae5 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 17 Nov 2024 09:49:37 +0100
Subject: [PATCH 0007/1434] ci: sunnypilot UI GH Action fix ensure push to
 master-ui artifact (#453)

Fixes the GitHub action that was failing when the pipeline was running as a result of a push to master-new because it was not properly recognized as "master"
---
 .github/workflows/selfdrive_tests.yaml | 5 +++--
 .github/workflows/ui_preview.yaml      | 4 ++--
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 5d55d27a55240b..abe403f6ee8990 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -15,10 +15,11 @@ on:
         type: string
 
 concurrency:
-  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
+  REPORT_NAME: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
   PYTHONWARNINGS: error
   BASE_IMAGE: openpilot-base
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
@@ -396,5 +397,5 @@ jobs:
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          name: ${{ env.REPORT_NAME }}
           path: selfdrive/ui/tests/test_ui/report_1/screenshots
diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index ed1a9d2a7c69f4..f52101f8163916 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -15,8 +15,8 @@ on:
 
 env:
   UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  REPORT_NAME: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.sha || github.event.pull_request.head.sha }}
   BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
 
 jobs:

From ab65b19ba5356d3a5497de33f59272137924d4bd Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Fri, 22 Nov 2024 15:07:39 +0100
Subject: [PATCH 0008/1434] Hyundai: Enhanced Smart Cruise Control (ESCC)
 (#443)

* initial updates to the actions to run for sp

* ignore license file

* more updates

* undoing some of the changes because I was blocking the runs on

* allowing the submodule check as well

* Allowing macos builds

* test adding cache key

* don't attempt build_release for selfdrive for the time being.

* Blocking macos builds as well since they have a 10x miltiplier for GH aciton minutes, waaaay too much!

* lol nice typo codespell

* change ref commit id to check if replay passes

* Sync up submodules for ESCC

* Remove ESCC base and interfaces classes

Consolidated ESCC functionalities directly into the Hyundai ESCC module, removing redundant base and interface classes. This simplified the class structure and improved code maintainability.

* Removing hints because they were causing a circular dependency

* bump opendbc

* bump opendbc

* Bump opendbc

* Fixing inconsistencies thanks to the tests!

* Bumping opendbc after fixing tests

* update opendbc

* Updating to the new flags ordinal on cereal

* Reverting some of the misc changes, clarifying naming and passing the scc12 and fca11 values to the methods as they are defined out of order

* undoing more naming changes to simplify diff

* More naming and tiny adjustments

* use constant for msg id

* bump opendbc

* bump submodules

* already added

* bump opendbc

* bump opendbc

* bump opendbc

* fix init

* bump submodules

* bump submodules

* unit test!

* rename

* always use true radar tracks if available

* update comment

* bump submodules

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 opendbc_repo | 2 +-
 panda        | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 421c8c20749575..b45036325aac2b 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 421c8c207495756cd15305750b7cad48b7a0599e
+Subproject commit b45036325aac2b274da57ca2bab2b995a0280e70
diff --git a/panda b/panda
index fdd7f946dc16a4..97311d5057660c 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit fdd7f946dc16a481735b5df31ad1117312b7bf11
+Subproject commit 97311d5057660c7c451401d30dd4d13c478c736d

From 5dc5b6accbed816ec8656b7d550233dac88a774d Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 8 Dec 2024 19:33:32 +0100
Subject: [PATCH 0009/1434] ci: Save cache for `master-new` (#468)

Adding master-new to the whitelisted refs for caching stuff
---
 .github/workflows/compile-openpilot/action.yaml | 2 +-
 .github/workflows/tools_tests.yaml              | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/compile-openpilot/action.yaml b/.github/workflows/compile-openpilot/action.yaml
index 4015746c0e3680..87590b41cb0e79 100644
--- a/.github/workflows/compile-openpilot/action.yaml
+++ b/.github/workflows/compile-openpilot/action.yaml
@@ -15,7 +15,7 @@ runs:
                           scons -j$(nproc) --cache-populate"
     - name: Save scons cache
       uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
       with:
         path: .ci_cache/scons_cache
         key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index abbbe491cbcbf5..00725ef823a8b3 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -13,7 +13,7 @@ on:
         required: true
         type: string
 concurrency:
-  group: tools-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: tools-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:

From 8132fe9f0e995c0fc799651e769e75066aa823ff Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 8 Dec 2024 20:39:35 +0100
Subject: [PATCH 0010/1434] LFS: Sync refs from upstream (#467)

* Adding script to pull from comma's LFS before pushing to ours

* updating the script a little to allow pulling all when needed if needed

* static ..

* format

* Fuck the simulator always failing

* Apply suggestions from code review

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .lfsconfig        |   4 +-
 .lfsconfig-comma  |   4 ++
 lfs-comma-pull.sh | 125 ++++++++++++++++++++++++++++++++++++++++++++++
 3 files changed, 131 insertions(+), 2 deletions(-)
 create mode 100644 .lfsconfig-comma
 create mode 100755 lfs-comma-pull.sh

diff --git a/.lfsconfig b/.lfsconfig
index 42dfa2d9448676..4375f2ec740b45 100644
--- a/.lfsconfig
+++ b/.lfsconfig
@@ -1,4 +1,4 @@
 [lfs]
-	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
+	url = https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs
+	pushurl = ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git
 	locksverify = false
diff --git a/.lfsconfig-comma b/.lfsconfig-comma
new file mode 100644
index 00000000000000..42dfa2d9448676
--- /dev/null
+++ b/.lfsconfig-comma
@@ -0,0 +1,4 @@
+[lfs]
+	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
+	locksverify = false
diff --git a/lfs-comma-pull.sh b/lfs-comma-pull.sh
new file mode 100755
index 00000000000000..2487eb5546af52
--- /dev/null
+++ b/lfs-comma-pull.sh
@@ -0,0 +1,125 @@
+#!/usr/bin/env bash
+
+# Colors for output
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+NC='\033[0m' # No Color
+
+# Parse command line arguments
+FETCH_ALL=0
+while [[ "$#" -gt 0 ]]; do
+  case $1 in
+    -a|--all) FETCH_ALL=1 ;;
+    *) echo "Unknown parameter: $1"; exit 1 ;;
+  esac
+  shift
+done
+
+# Function to check if a command exists
+command_exists() {
+  command -v "$1" >/dev/null 2>&1
+}
+
+# Check if git-lfs is installed and initialized
+if ! command -v git-lfs >/dev/null 2>&1; then
+  echo -e "${RED}Error: git-lfs is not installed${NC}"
+  echo "Please install git-lfs first:"
+  echo "  brew install git-lfs    # On macOS"
+  echo "  apt-get install git-lfs # On Ubuntu/Debian"
+  exit 1
+fi
+
+# Function to get LFS objects that need syncing
+get_missing_lfs_objects() {
+  git lfs ls-files | awk '$2 == "-" {$1=""; $2=""; sub(/^[ \t]+/, ""); print}'
+}
+
+# Function to get all LFS objects
+get_all_lfs_objects() {
+  git lfs ls-files | awk '{$1=""; $2=""; sub(/^[ \t]+/, ""); print}'
+}
+
+# Clean up any existing LFS config
+echo -e "${YELLOW}Cleaning up existing LFS configurations...${NC}"
+git config --unset-all lfs.url
+git config --unset-all lfs.pushurl
+git config --local --unset-all lfs.url
+git config --local --unset-all lfs.pushurl
+
+# Backup current LFS config
+if [ -f .lfsconfig ]; then
+  cp .lfsconfig .lfsconfig.backup
+fi
+
+# Switch to upstream config and pull missing objects
+echo -e "${YELLOW}Using upstream LFS configuration...${NC}"
+if [ -f .lfsconfig-comma ]; then
+  cp .lfsconfig-comma .lfsconfig
+  echo -e "${GREEN}Switched to upstream LFS configuration${NC}"
+
+  if [ $FETCH_ALL -eq 1 ]; then
+    echo -e "${YELLOW}Fetching all LFS objects (including already present)...${NC}"
+
+    git lfs fetch --all || {
+      echo -e "${RED}Failed to fetch LFS objects${NC}"
+      if [ -f .lfsconfig.backup ]; then
+        mv .lfsconfig.backup .lfsconfig
+      fi
+      exit 1
+    }
+
+    git lfs checkout || {
+      echo -e "${RED}Failed to checkout LFS objects${NC}"
+      if [ -f .lfsconfig.backup ]; then
+        mv .lfsconfig.backup .lfsconfig
+      fi
+      exit 1
+    }
+
+    echo -e "${GREEN}Successfully fetched all LFS objects${NC}"
+  else
+    # Get list of missing LFS objects
+    MISSING_FILES=$(get_missing_lfs_objects)
+
+    if [ ! -z "$MISSING_FILES" ]; then
+      echo -e "${YELLOW}Missing files to fetch:${NC}"
+      echo "$MISSING_FILES"
+
+      git lfs fetch || {
+        echo -e "${RED}Failed to fetch LFS objects${NC}"
+        if [ -f .lfsconfig.backup ]; then
+          mv .lfsconfig.backup .lfsconfig
+        fi
+        exit 1
+      }
+
+      git lfs checkout || {
+        echo -e "${RED}Failed to checkout LFS objects${NC}"
+        if [ -f .lfsconfig.backup ]; then
+          mv .lfsconfig.backup .lfsconfig
+        fi
+        exit 1
+      }
+
+      echo -e "${GREEN}Successfully fetched missing LFS objects${NC}"
+    else
+      echo -e "${GREEN}No missing LFS objects to fetch${NC}"
+    }
+  fi
+else
+  echo -e "${RED}Warning: .lfsconfig-comma not found${NC}"
+fi
+
+# Restore original config
+if [ -f .lfsconfig.backup ]; then
+  mv .lfsconfig.backup .lfsconfig
+  echo -e "${GREEN}Restored original LFS configuration${NC}"
+else
+  rm -f .lfsconfig
+fi
+
+echo -e "${GREEN}LFS sync completed successfully${NC}"
+
+# Continue with the commit
+exit 0

From 705dd83a2f284b0313caecf1a0d3de333c8ef34a Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 8 Dec 2024 21:11:38 +0100
Subject: [PATCH 0011/1434] ci: Skip simulator failures (#470)

bai sim for now
---
 .github/workflows/selfdrive_tests.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 64c70dac9eb8e2..e91fc15a89cae7 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -355,6 +355,7 @@ jobs:
         ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
                         source selfdrive/test/setup_vsound.sh && \
                         CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
+      continue-on-error: true
 
   create_ui_report:
     # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml

From 6aaa245e65033574b35c47b56ad40c516dfcf777 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 8 Dec 2024 15:41:04 -0500
Subject: [PATCH 0012/1434] Revert "LFS: Sync refs from upstream" (#471)

Revert "LFS: Sync refs from upstream (#467)"

This reverts commit 8132fe9f0e995c0fc799651e769e75066aa823ff.
---
 .lfsconfig        |   4 +-
 .lfsconfig-comma  |   4 --
 lfs-comma-pull.sh | 125 ----------------------------------------------
 3 files changed, 2 insertions(+), 131 deletions(-)
 delete mode 100644 .lfsconfig-comma
 delete mode 100755 lfs-comma-pull.sh

diff --git a/.lfsconfig b/.lfsconfig
index 4375f2ec740b45..42dfa2d9448676 100644
--- a/.lfsconfig
+++ b/.lfsconfig
@@ -1,4 +1,4 @@
 [lfs]
-	url = https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git
+	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
 	locksverify = false
diff --git a/.lfsconfig-comma b/.lfsconfig-comma
deleted file mode 100644
index 42dfa2d9448676..00000000000000
--- a/.lfsconfig-comma
+++ /dev/null
@@ -1,4 +0,0 @@
-[lfs]
-	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
-	locksverify = false
diff --git a/lfs-comma-pull.sh b/lfs-comma-pull.sh
deleted file mode 100755
index 2487eb5546af52..00000000000000
--- a/lfs-comma-pull.sh
+++ /dev/null
@@ -1,125 +0,0 @@
-#!/usr/bin/env bash
-
-# Colors for output
-RED='\033[0;31m'
-GREEN='\033[0;32m'
-YELLOW='\033[1;33m'
-NC='\033[0m' # No Color
-
-# Parse command line arguments
-FETCH_ALL=0
-while [[ "$#" -gt 0 ]]; do
-  case $1 in
-    -a|--all) FETCH_ALL=1 ;;
-    *) echo "Unknown parameter: $1"; exit 1 ;;
-  esac
-  shift
-done
-
-# Function to check if a command exists
-command_exists() {
-  command -v "$1" >/dev/null 2>&1
-}
-
-# Check if git-lfs is installed and initialized
-if ! command -v git-lfs >/dev/null 2>&1; then
-  echo -e "${RED}Error: git-lfs is not installed${NC}"
-  echo "Please install git-lfs first:"
-  echo "  brew install git-lfs    # On macOS"
-  echo "  apt-get install git-lfs # On Ubuntu/Debian"
-  exit 1
-fi
-
-# Function to get LFS objects that need syncing
-get_missing_lfs_objects() {
-  git lfs ls-files | awk '$2 == "-" {$1=""; $2=""; sub(/^[ \t]+/, ""); print}'
-}
-
-# Function to get all LFS objects
-get_all_lfs_objects() {
-  git lfs ls-files | awk '{$1=""; $2=""; sub(/^[ \t]+/, ""); print}'
-}
-
-# Clean up any existing LFS config
-echo -e "${YELLOW}Cleaning up existing LFS configurations...${NC}"
-git config --unset-all lfs.url
-git config --unset-all lfs.pushurl
-git config --local --unset-all lfs.url
-git config --local --unset-all lfs.pushurl
-
-# Backup current LFS config
-if [ -f .lfsconfig ]; then
-  cp .lfsconfig .lfsconfig.backup
-fi
-
-# Switch to upstream config and pull missing objects
-echo -e "${YELLOW}Using upstream LFS configuration...${NC}"
-if [ -f .lfsconfig-comma ]; then
-  cp .lfsconfig-comma .lfsconfig
-  echo -e "${GREEN}Switched to upstream LFS configuration${NC}"
-
-  if [ $FETCH_ALL -eq 1 ]; then
-    echo -e "${YELLOW}Fetching all LFS objects (including already present)...${NC}"
-
-    git lfs fetch --all || {
-      echo -e "${RED}Failed to fetch LFS objects${NC}"
-      if [ -f .lfsconfig.backup ]; then
-        mv .lfsconfig.backup .lfsconfig
-      fi
-      exit 1
-    }
-
-    git lfs checkout || {
-      echo -e "${RED}Failed to checkout LFS objects${NC}"
-      if [ -f .lfsconfig.backup ]; then
-        mv .lfsconfig.backup .lfsconfig
-      fi
-      exit 1
-    }
-
-    echo -e "${GREEN}Successfully fetched all LFS objects${NC}"
-  else
-    # Get list of missing LFS objects
-    MISSING_FILES=$(get_missing_lfs_objects)
-
-    if [ ! -z "$MISSING_FILES" ]; then
-      echo -e "${YELLOW}Missing files to fetch:${NC}"
-      echo "$MISSING_FILES"
-
-      git lfs fetch || {
-        echo -e "${RED}Failed to fetch LFS objects${NC}"
-        if [ -f .lfsconfig.backup ]; then
-          mv .lfsconfig.backup .lfsconfig
-        fi
-        exit 1
-      }
-
-      git lfs checkout || {
-        echo -e "${RED}Failed to checkout LFS objects${NC}"
-        if [ -f .lfsconfig.backup ]; then
-          mv .lfsconfig.backup .lfsconfig
-        fi
-        exit 1
-      }
-
-      echo -e "${GREEN}Successfully fetched missing LFS objects${NC}"
-    else
-      echo -e "${GREEN}No missing LFS objects to fetch${NC}"
-    }
-  fi
-else
-  echo -e "${RED}Warning: .lfsconfig-comma not found${NC}"
-fi
-
-# Restore original config
-if [ -f .lfsconfig.backup ]; then
-  mv .lfsconfig.backup .lfsconfig
-  echo -e "${GREEN}Restored original LFS configuration${NC}"
-else
-  rm -f .lfsconfig
-fi
-
-echo -e "${GREEN}LFS sync completed successfully${NC}"
-
-# Continue with the commit
-exit 0

From b42c997f835633a4913d075ae0b337958a55eae5 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 8 Dec 2024 16:03:47 -0500
Subject: [PATCH 0013/1434] LFS: Sync refs from upstream (#472)

* Adding script to pull from comma's LFS before pushing to ours

* updating the script a little to allow pulling all when needed if needed

* static ..

* format

* Fuck the simulator always failing

* Apply suggestions from code review

* Apply suggestions from code review

---------

Co-authored-by: devtekve <devtekve@gmail.com>
---
 .lfsconfig        |   4 +-
 .lfsconfig-comma  |   4 ++
 lfs-comma-pull.sh | 125 ++++++++++++++++++++++++++++++++++++++++++++++
 3 files changed, 131 insertions(+), 2 deletions(-)
 create mode 100644 .lfsconfig-comma
 create mode 100755 lfs-comma-pull.sh

diff --git a/.lfsconfig b/.lfsconfig
index 42dfa2d9448676..4375f2ec740b45 100644
--- a/.lfsconfig
+++ b/.lfsconfig
@@ -1,4 +1,4 @@
 [lfs]
-	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
+	url = https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs
+	pushurl = ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git
 	locksverify = false
diff --git a/.lfsconfig-comma b/.lfsconfig-comma
new file mode 100644
index 00000000000000..42dfa2d9448676
--- /dev/null
+++ b/.lfsconfig-comma
@@ -0,0 +1,4 @@
+[lfs]
+	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
+	locksverify = false
diff --git a/lfs-comma-pull.sh b/lfs-comma-pull.sh
new file mode 100755
index 00000000000000..5219e757e51f75
--- /dev/null
+++ b/lfs-comma-pull.sh
@@ -0,0 +1,125 @@
+#!/usr/bin/env bash
+
+# Colors for output
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+NC='\033[0m' # No Color
+
+# Parse command line arguments
+FETCH_ALL=0
+while [[ "$#" -gt 0 ]]; do
+  case $1 in
+    -a|--all) FETCH_ALL=1 ;;
+    *) echo "Unknown parameter: $1"; exit 1 ;;
+  esac
+  shift
+done
+
+# Function to check if a command exists
+command_exists() {
+  command -v "$1" >/dev/null 2>&1
+}
+
+# Check if git-lfs is installed and initialized
+if ! command -v git-lfs >/dev/null 2>&1; then
+  echo -e "${RED}Error: git-lfs is not installed${NC}"
+  echo "Please install git-lfs first:"
+  echo "  brew install git-lfs    # On macOS"
+  echo "  apt-get install git-lfs # On Ubuntu/Debian"
+  exit 1
+fi
+
+# Function to get LFS objects that need syncing
+get_missing_lfs_objects() {
+  git lfs ls-files | awk '$2 == "-" {$1=""; $2=""; sub(/^[ \t]+/, ""); print}'
+}
+
+# Function to get all LFS objects
+get_all_lfs_objects() {
+  git lfs ls-files | awk '{$1=""; $2=""; sub(/^[ \t]+/, ""); print}'
+}
+
+# Clean up any existing LFS config
+echo -e "${YELLOW}Cleaning up existing LFS configurations...${NC}"
+git config --unset-all lfs.url
+git config --unset-all lfs.pushurl
+git config --local --unset-all lfs.url
+git config --local --unset-all lfs.pushurl
+
+# Backup current LFS config
+if [ -f .lfsconfig ]; then
+  cp .lfsconfig .lfsconfig.backup
+fi
+
+# Switch to upstream config and pull missing objects
+echo -e "${YELLOW}Using upstream LFS configuration...${NC}"
+if [ -f .lfsconfig-comma ]; then
+  cp .lfsconfig-comma .lfsconfig
+  echo -e "${GREEN}Switched to upstream LFS configuration${NC}"
+
+  if [ $FETCH_ALL -eq 1 ]; then
+    echo -e "${YELLOW}Fetching all LFS objects (including already present)...${NC}"
+
+    git lfs fetch --all || {
+      echo -e "${RED}Failed to fetch LFS objects${NC}"
+      if [ -f .lfsconfig.backup ]; then
+        mv .lfsconfig.backup .lfsconfig
+      fi
+      exit 1
+    }
+
+    git lfs checkout || {
+      echo -e "${RED}Failed to checkout LFS objects${NC}"
+      if [ -f .lfsconfig.backup ]; then
+        mv .lfsconfig.backup .lfsconfig
+      fi
+      exit 1
+    }
+
+    echo -e "${GREEN}Successfully fetched all LFS objects${NC}"
+  else
+    # Get list of missing LFS objects
+    MISSING_FILES=$(get_missing_lfs_objects)
+
+    if [ ! -z "$MISSING_FILES" ]; then
+      echo -e "${YELLOW}Missing files to fetch:${NC}"
+      echo "$MISSING_FILES"
+
+      git lfs fetch || {
+        echo -e "${RED}Failed to fetch LFS objects${NC}"
+        if [ -f .lfsconfig.backup ]; then
+          mv .lfsconfig.backup .lfsconfig
+        fi
+        exit 1
+      }
+
+      git lfs checkout || {
+        echo -e "${RED}Failed to checkout LFS objects${NC}"
+        if [ -f .lfsconfig.backup ]; then
+          mv .lfsconfig.backup .lfsconfig
+        fi
+        exit 1
+      }
+
+      echo -e "${GREEN}Successfully fetched missing LFS objects${NC}"
+    else
+      echo -e "${GREEN}No missing LFS objects to fetch${NC}"
+    fi
+  fi
+else
+  echo -e "${RED}Warning: .lfsconfig-comma not found${NC}"
+fi
+
+# Restore original config
+if [ -f .lfsconfig.backup ]; then
+  mv .lfsconfig.backup .lfsconfig
+  echo -e "${GREEN}Restored original LFS configuration${NC}"
+else
+  rm -f .lfsconfig
+fi
+
+echo -e "${GREEN}LFS sync completed successfully${NC}"
+
+# Continue with the commit
+exit 0

From 8b54fb8372d78c7076e53537bd1544eb31e1b693 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 8 Dec 2024 20:26:35 -0500
Subject: [PATCH 0014/1434] Revert "ci: Skip simulator failures" (#475)

Revert "ci: Skip simulator failures (#470)"

This reverts commit 705dd83a2f284b0313caecf1a0d3de333c8ef34a.
---
 .github/workflows/selfdrive_tests.yaml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 6d0803452c63dc..5f0e4904bb6909 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -331,7 +331,6 @@ jobs:
         ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
                         source selfdrive/test/setup_vsound.sh && \
                         CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
-      continue-on-error: true
 
   create_ui_report:
     # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml

From 437663ff98a4eb67186b93eeac8545a8ad3fb1bb Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Wed, 11 Dec 2024 10:22:45 +0100
Subject: [PATCH 0015/1434] CI: Fix process replay to properly work with local
 routes (#469)

Updating test_processes.py to easily upload ref routes locally to git instead of azure
---
 .gitattributes                                |  1 +
 scripts/lint/lint.sh                          |  2 +-
 selfdrive/test/process_replay/.gitignore      |  2 +-
 ...b4d7b987f55855ef64f16afbd3f67996e6935a.zst |  3 +
 ...b4d7b987f55855ef64f16afbd3f67996e6935a.zst |  3 +
 ...b4d7b987f55855ef64f16afbd3f67996e6935a.zst |  3 +
 ...b4d7b987f55855ef64f16afbd3f67996e6935a.zst |  3 +
 ...b4d7b987f55855ef64f16afbd3f67996e6935a.zst |  3 +
 ...b4d7b987f55855ef64f16afbd3f67996e6935a.zst |  3 +
 ...b4d7b987f55855ef64f16afbd3f67996e6935a.zst |  3 +
 ...b4d7b987f55855ef64f16afbd3f67996e6935a.zst |  3 +
 ...b4d7b987f55855ef64f16afbd3f67996e6935a.zst |  3 +
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 ...b4d7b987f55855ef64f16afbd3f67996e6935a.zst |  3 +
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 ...b4d7b987f55855ef64f16afbd3f67996e6935a.zst |  3 +
 ...b4d7b987f55855ef64f16afbd3f67996e6935a.zst |  3 +
 selfdrive/test/process_replay/ref_commit      |  2 +-
 .../test/process_replay/test_processes.py     | 68 +++++++++++++++++--
 72 files changed, 269 insertions(+), 7 deletions(-)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_radard_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_torqued_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen306779F6870|2024-10-03--04-03-23--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen4CE950B0267|2024-08-30--02-51-30--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen58464878D07|2024-08-30--03-15-31--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen6E484EDAB96|2024-08-30--02-47-37--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen720F2BA4CF6|2024-08-30--03-09-15--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_calibrationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_controlsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_dmonitoringd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_locationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_paramsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_plannerd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_radard_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_selfdrived_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_torqued_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_ubloxd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9ADBECBCD1C|2024-08-30--03-13-04--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_calibrationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_controlsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_dmonitoringd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_locationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_paramsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_plannerd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_radard_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_selfdrived_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_torqued_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_ubloxd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenA67A128BCD8|2024-08-30--02-36-22--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_calibrationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_controlsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_dmonitoringd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_locationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_paramsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_plannerd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_radard_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_selfdrived_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_torqued_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_ubloxd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenACF84CCF482|2024-08-30--03-21-55--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_calibrationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_controlsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_dmonitoringd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_locationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_paramsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_radard_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_selfdrived_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst

diff --git a/.gitattributes b/.gitattributes
index eda2505d0e3ac8..df3fc49ede0f1d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -9,6 +9,7 @@
 *.ttf filter=lfs diff=lfs merge=lfs -text
 *.wav filter=lfs diff=lfs merge=lfs -text
 
+selfdrive/test/process_replay/fakedata/*.zst filter=lfs diff=lfs merge=lfs -text
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
 system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
 selfdrive/ui/qt/spinner_larch64 filter=lfs diff=lfs merge=lfs -text
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index 92a0c168fdaf4f..0002a447262453 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -13,7 +13,7 @@ cd $ROOT
 
 FAILED=0
 
-IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md|.*\.zst"
 IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
 
 function run() {
diff --git a/selfdrive/test/process_replay/.gitignore b/selfdrive/test/process_replay/.gitignore
index a35cd58d415c63..1745db77e7df78 100644
--- a/selfdrive/test/process_replay/.gitignore
+++ b/selfdrive/test/process_replay/.gitignore
@@ -1 +1 @@
-fakedata/
+!fakedata/*
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
new file mode 100644
index 00000000000000..11b4facff0f085
--- /dev/null
+++ b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
@@ -0,0 +1,3 @@
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new file mode 100644
index 00000000000000..d0f4cf339ea6c0
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new file mode 100644
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diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 845367550715a2..fb996d18609c8f 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-255ceb08c75bc85379da5ec247e612be3716fb43
+8ab4d7b987f55855ef64f16afbd3f67996e6935a
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 8af779ccf8d385..0792449fc76210 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -16,6 +16,8 @@
 from openpilot.tools.lib.filereader import FileReader
 from openpilot.tools.lib.logreader import LogReader, save_log
 
+IS_AZURE_TOKEN_DEFINED = os.getenv("AZURE_TOKEN")
+
 source_segments = [
   ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.COMMA_BODY
   ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.HYUNDAI_SONATA
@@ -67,6 +69,28 @@
 EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}
 
 
+def preserve_only_specified_files_from_ref_commit(*commits_to_keep):
+  """Keep only files in fakedata that contain any of the specified commit hashes."""
+  removed = 0
+  for f in os.listdir(FAKEDATA):
+    if not any(commit in f for commit in commits_to_keep):
+      os.remove(os.path.join(FAKEDATA, f))
+      removed += 1
+  if removed > 0:
+    print(f"Removed {removed} old files from {FAKEDATA}")
+
+
+def handle_output_file(cur_log_fn, local):
+  """Handle the output file based on whether we're using remote or local storage."""
+  assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}"
+
+  if local:
+    os.system(f"git add '{os.path.realpath(cur_log_fn)}'")
+  else:
+    upload_file(cur_log_fn, os.path.basename(cur_log_fn))
+    os.remove(cur_log_fn)
+
+
 def run_test_process(data):
   segment, cfg, args, cur_log_fn, ref_log_path, lr_dat = data
   res = None
@@ -77,10 +101,9 @@ def run_test_process(data):
     save_log(cur_log_fn, log_msgs)
 
   if args.update_refs or args.upload_only:
-    print(f'Uploading: {os.path.basename(cur_log_fn)}')
-    assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}"
-    upload_file(cur_log_fn, os.path.basename(cur_log_fn))
-    os.remove(cur_log_fn)
+    print(f'Processing: {os.path.basename(cur_log_fn)}')
+    handle_output_file(cur_log_fn, args.local)
+
   return (segment, cfg.proc_name, res)
 
 
@@ -119,6 +142,27 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
     return str(e), log_msgs
 
 
+def finalize_git_updates(cur_commit, ref_commit_fn):
+  """Finalize git updates and create commit."""
+  try:
+    # Add all new files first
+    os.system(f"git add {os.path.realpath(ref_commit_fn)}")
+    os.system(f"git add {os.path.realpath(FAKEDATA)}/*.zst")
+
+    # Clean up old files - keep only new ref files since they're becoming the reference
+    preserve_only_specified_files_from_ref_commit(cur_commit)
+
+    # Add the deletions to git
+    os.system(f"git add -u {os.path.realpath(FAKEDATA)}")
+
+    # Create the commit
+    commit_msg = f"test_processes: update ref logs to {cur_commit[:7]}"
+    os.system(f'git commit -m "{commit_msg}"')
+    print("Successfully committed reference log updates")
+  except Exception as e:
+    print(f"Failed to commit changes: {e}")
+
+
 if __name__ == "__main__":
   all_cars = {car for car, _ in segments}
   all_procs = {cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS}
@@ -142,6 +186,8 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
                       help="Updates reference logs using current commit")
   parser.add_argument("--upload-only", action="store_true",
                       help="Skips testing processes and uploads logs from previous test run")
+  parser.add_argument("--local", action="store_true",
+                      help="Use  local git/ storage instead of remote (Azure for Comma)")
   parser.add_argument("-j", "--jobs", type=int, default=max(cpu_count - 2, 1),
                       help="Max amount of parallel jobs")
   args = parser.parse_args()
@@ -168,6 +214,16 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
   if not cur_commit:
     raise Exception("Couldn't get current commit")
 
+  # Could be set as default in args, but wanted to be more explicit on the flow.
+  if upload and not args.local and not IS_AZURE_TOKEN_DEFINED:
+    print("***** Warning: local/git run was used by default since AZURE_TOKEN was NOT found on the env variables! *****")
+    args.local = True
+
+  # Clean up old files before starting
+  if upload and args.local:
+    print("***** Cleaning up old fakedata for local/git tracked refs *****")
+    preserve_only_specified_files_from_ref_commit(cur_commit, ref_commit)
+
   print(f"***** testing against commit {ref_commit} *****")
 
   # check to make sure all car brands are tested
@@ -234,4 +290,8 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
       f.write(cur_commit)
     print(f"\n\nUpdated reference logs for commit: {cur_commit}")
 
+    # Only do git operations if we're in local mode
+    if upload and args.local:
+      finalize_git_updates(cur_commit, REF_COMMIT_FN)
+
   sys.exit(int(failed))

From c69cd934af320c8bb11893fc2c7d23e8a068470e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 16 Dec 2024 19:47:29 -0500
Subject: [PATCH 0016/1434] Setup sunnypilot package (#483)

Setup sunnypilot as a package
---
 openpilot/sunnypilot | 1 +
 1 file changed, 1 insertion(+)
 create mode 120000 openpilot/sunnypilot

diff --git a/openpilot/sunnypilot b/openpilot/sunnypilot
new file mode 120000
index 00000000000000..c4ca6929073667
--- /dev/null
+++ b/openpilot/sunnypilot
@@ -0,0 +1 @@
+../sunnypilot
\ No newline at end of file

From 952354c8470bba2141c34aef09789c6ad61b416c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 17 Dec 2024 06:49:31 -0500
Subject: [PATCH 0017/1434] test_processes: update ref logs to fffa98e

---
 ..._calibrationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...-45-08--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...-45-08--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ...--0_controlsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ..._dmonitoringd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...--0_locationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...08--0_paramsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...08--0_plannerd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...08--0_plannerd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ...-08--0_radard_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...-0_selfdrived_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...08--0_torqued_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
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 ...-03-23--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ...-56-31--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...-56-31--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ...-51-30--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...-51-30--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ...-15-31--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...-15-31--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ...-47-37--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...-47-37--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ...-09-15--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...-09-15--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ..._calibrationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...-08-24--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...-08-24--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ...--0_controlsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ..._dmonitoringd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...--0_locationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...24--0_paramsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...24--0_plannerd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...24--0_plannerd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ...-24--0_radard_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...-0_selfdrived_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...24--0_torqued_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...-24--0_ubloxd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...-13-04--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...-13-04--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ..._calibrationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...-38-51--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...-38-51--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ...1--0_controlsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...1--0_controlsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ..._dmonitoringd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...--0_locationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...51--0_paramsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...51--0_plannerd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...51--0_plannerd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ...-51--0_radard_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...-0_selfdrived_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...51--0_torqued_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
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 ...-36-22--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...-36-22--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ..._calibrationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...-06-45--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...-06-45--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ...--0_controlsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ..._dmonitoringd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...--0_locationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...45--0_paramsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...45--0_plannerd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...45--0_plannerd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ...-45--0_radard_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...-0_selfdrived_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...45--0_torqued_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...-45--0_ubloxd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...-21-55--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...-21-55--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ..._calibrationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...-54-01--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...-54-01--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ...1--0_controlsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...1--0_controlsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ..._dmonitoringd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...--0_locationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...01--0_paramsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...01--0_plannerd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...01--0_plannerd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ...-01--0_radard_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...-0_selfdrived_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...01--0_torqued_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...-01--0_ubloxd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} | 0
 ...-02-54--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...-02-54--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ...-18-02--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...-18-02--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 ...-59-03--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst | 3 ---
 ...-59-03--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 +++
 selfdrive/test/process_replay/ref_commit                       | 2 +-
 92 files changed, 73 insertions(+), 73 deletions(-)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_radard_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_radard_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_torqued_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_torqued_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen306779F6870|2024-10-03--04-03-23--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen306779F6870|2024-10-03--04-03-23--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen4CE950B0267|2024-08-30--02-51-30--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen4CE950B0267|2024-08-30--02-51-30--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen58464878D07|2024-08-30--03-15-31--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen58464878D07|2024-08-30--03-15-31--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen6E484EDAB96|2024-08-30--02-47-37--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen6E484EDAB96|2024-08-30--02-47-37--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen720F2BA4CF6|2024-08-30--03-09-15--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen720F2BA4CF6|2024-08-30--03-09-15--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_calibrationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen756F8230C21|2024-11-07--00-08-24--0_calibrationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_controlsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen756F8230C21|2024-11-07--00-08-24--0_controlsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_dmonitoringd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen756F8230C21|2024-11-07--00-08-24--0_dmonitoringd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_locationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen756F8230C21|2024-11-07--00-08-24--0_locationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_paramsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen756F8230C21|2024-11-07--00-08-24--0_paramsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_plannerd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_plannerd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_radard_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen756F8230C21|2024-11-07--00-08-24--0_radard_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_selfdrived_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen756F8230C21|2024-11-07--00-08-24--0_selfdrived_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_torqued_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen756F8230C21|2024-11-07--00-08-24--0_torqued_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_ubloxd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen756F8230C21|2024-11-07--00-08-24--0_ubloxd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9ADBECBCD1C|2024-08-30--03-13-04--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9ADBECBCD1C|2024-08-30--03-13-04--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_calibrationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_calibrationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_controlsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_controlsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_dmonitoringd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_dmonitoringd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_locationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_locationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_paramsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_paramsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_plannerd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_plannerd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_radard_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_radard_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_selfdrived_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_selfdrived_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_torqued_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_torqued_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_ubloxd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_ubloxd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenA67A128BCD8|2024-08-30--02-36-22--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenA67A128BCD8|2024-08-30--02-36-22--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_calibrationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_calibrationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_controlsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_controlsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_dmonitoringd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_dmonitoringd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_locationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_locationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_paramsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_paramsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_plannerd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_plannerd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_radard_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_radard_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_selfdrived_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_selfdrived_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_torqued_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_torqued_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_ubloxd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_ubloxd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenACF84CCF482|2024-08-30--03-21-55--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenACF84CCF482|2024-08-30--03-21-55--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_calibrationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_calibrationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_controlsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_controlsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_dmonitoringd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_dmonitoringd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_locationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_locationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_paramsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_paramsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_radard_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_radard_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_selfdrived_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_selfdrived_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst

diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
deleted file mode 100644
index d0f4cf339ea6c0..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
+++ /dev/null
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rename from selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_locationd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
rename to selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_locationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
diff --git a/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_paramsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst b/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_paramsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_paramsd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
rename to selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_paramsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
diff --git a/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst b/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
deleted file mode 100644
index f35c79442f6b16..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5a3b80cb04d36f1b62ee647b5c6fbfdc9fc89d82607c6fb81ce177935a952ae4
-size 253521
diff --git a/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst b/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
new file mode 100644
index 00000000000000..1fe0b3b5a24eaf
--- /dev/null
+++ b/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:055486d036c48811a0e0c4e461a7a1bdf66e3bef2fb6afdaf88aefb7b63a4f21
+size 255708
diff --git a/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_radard_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst b/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_radard_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_radard_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
rename to selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_radard_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
diff --git a/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_selfdrived_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst b/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_selfdrived_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_selfdrived_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
rename to selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_selfdrived_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
diff --git a/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst b/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
rename to selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
diff --git a/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst b/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
rename to selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
diff --git a/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst b/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
deleted file mode 100644
index 0d54e4688101bb..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:215bb2d006ae9c686d1b56d676f6e271d62c76b32b54df33a03affa5a106fdf8
-size 271943
diff --git a/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst b/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
new file mode 100644
index 00000000000000..7ddb8e3c116f79
--- /dev/null
+++ b/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45a953af023b1900aab038c5e8731356c77f7716e36be63cd24b823ce5c34d04
+size 271972
diff --git a/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst b/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
deleted file mode 100644
index db7f974e7b4cf6..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:eeb8004da1fe98acca5bc96a2d4442a4a4a6b7e91816ad55d6ea52f0b46106dc
-size 332418
diff --git a/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst b/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
new file mode 100644
index 00000000000000..1bb4bd49e7929d
--- /dev/null
+++ b/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82bdd9410a4300cbda41cb59a3038b2799d6dec79691dd51717f09b3e3863db6
+size 332408
diff --git a/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst b/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
deleted file mode 100644
index d8936d28b7f280..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_8ab4d7b987f55855ef64f16afbd3f67996e6935a.zst
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:57161f08e7ef04bc9d177bf05402f3defa778169f65951020ab594d9efdacd32
-size 292837
diff --git a/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst b/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
new file mode 100644
index 00000000000000..4d9bee43c6d81c
--- /dev/null
+++ b/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e7eb9dcadd6ce9a39d9eb9a2b325944acb55dd791f9f3b9579ac232da21776b
+size 294509
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 7b0f90c5c7f03b..7a622fab9872a0 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-8ab4d7b987f55855ef64f16afbd3f67996e6935a
+fffa98ee8531a24a34a2141c9017193e0a26f50d
\ No newline at end of file

From a48d43ec2b7413e9d82d6063c283d91f6a3520f9 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Thu, 19 Dec 2024 15:32:40 +0100
Subject: [PATCH 0018/1434] CI: adding recurring sync to lfs (#489)

Allows us to automatically keep our LFS in sync with comma's and also to manually perform a sync if we need to. Even able to sync the LFS from a given commit hash or a given branch. Useful for model stuff.
---
 .github/workflows/lfs-maintenance.yaml |  72 ++++++++++++++
 lfs-comma-pull.sh                      | 125 -------------------------
 2 files changed, 72 insertions(+), 125 deletions(-)
 create mode 100644 .github/workflows/lfs-maintenance.yaml
 delete mode 100755 lfs-comma-pull.sh

diff --git a/.github/workflows/lfs-maintenance.yaml b/.github/workflows/lfs-maintenance.yaml
new file mode 100644
index 00000000000000..d2e7bb2e7ed640
--- /dev/null
+++ b/.github/workflows/lfs-maintenance.yaml
@@ -0,0 +1,72 @@
+name: Sync comma's LFS
+
+env:
+  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
+  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
+
+on:
+  schedule:
+    - cron: '0 0 * * *'  # Runs at 00:00 UTC every day
+  push:
+    branches:
+      - 'master-new'
+  pull_request:
+    branches:
+      - 'master-new'
+  workflow_dispatch:  # enables manual triggering
+    inputs:
+      upstream_branch:
+        default: 'master'
+        type: string
+
+jobs:
+  sync:
+    runs-on: ubuntu-latest
+    # Skip if PR is in draft mode
+    if: github.event_name != 'pull_request' || (github.event_name == 'pull_request' && github.event.pull_request.draft == false)
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v4
+        with:
+          repository: 'commaai/openpilot'
+          ref: ${{ inputs.upstream_branch }}
+      
+      - name: LFS Fetch
+        run: |
+          git lfs fetch
+
+      - name: Set up Git
+        run: |
+          git config --global user.name 'GitHub Action'
+          git config --global user.email 'action@github.com'
+
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
+
+      - name: Add GitLab public keys
+        run: |
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+      
+      - name: Ensure branch
+        run: |
+          if git symbolic-ref -q HEAD >/dev/null; then
+              echo "Already on a branch, proceeding with push"
+            else
+              echo "Detached HEAD state detected, creating temporary branch"
+            git checkout -b temp_branch
+          fi
+
+      - name: Update LFS Config
+        run: |
+          echo '[lfs]' > .lfsconfig
+          echo '    url = ${{ env.LFS_URL }}' >> .lfsconfig
+          echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
+          echo '    locksverify = false' >> .lfsconfig
+
+      - name: Push LFS
+        id: sync-and-commit
+        run: |
+          git lfs ls-files -l
+          git lfs push --all origin
\ No newline at end of file
diff --git a/lfs-comma-pull.sh b/lfs-comma-pull.sh
deleted file mode 100755
index 5219e757e51f75..00000000000000
--- a/lfs-comma-pull.sh
+++ /dev/null
@@ -1,125 +0,0 @@
-#!/usr/bin/env bash
-
-# Colors for output
-RED='\033[0;31m'
-GREEN='\033[0;32m'
-YELLOW='\033[1;33m'
-NC='\033[0m' # No Color
-
-# Parse command line arguments
-FETCH_ALL=0
-while [[ "$#" -gt 0 ]]; do
-  case $1 in
-    -a|--all) FETCH_ALL=1 ;;
-    *) echo "Unknown parameter: $1"; exit 1 ;;
-  esac
-  shift
-done
-
-# Function to check if a command exists
-command_exists() {
-  command -v "$1" >/dev/null 2>&1
-}
-
-# Check if git-lfs is installed and initialized
-if ! command -v git-lfs >/dev/null 2>&1; then
-  echo -e "${RED}Error: git-lfs is not installed${NC}"
-  echo "Please install git-lfs first:"
-  echo "  brew install git-lfs    # On macOS"
-  echo "  apt-get install git-lfs # On Ubuntu/Debian"
-  exit 1
-fi
-
-# Function to get LFS objects that need syncing
-get_missing_lfs_objects() {
-  git lfs ls-files | awk '$2 == "-" {$1=""; $2=""; sub(/^[ \t]+/, ""); print}'
-}
-
-# Function to get all LFS objects
-get_all_lfs_objects() {
-  git lfs ls-files | awk '{$1=""; $2=""; sub(/^[ \t]+/, ""); print}'
-}
-
-# Clean up any existing LFS config
-echo -e "${YELLOW}Cleaning up existing LFS configurations...${NC}"
-git config --unset-all lfs.url
-git config --unset-all lfs.pushurl
-git config --local --unset-all lfs.url
-git config --local --unset-all lfs.pushurl
-
-# Backup current LFS config
-if [ -f .lfsconfig ]; then
-  cp .lfsconfig .lfsconfig.backup
-fi
-
-# Switch to upstream config and pull missing objects
-echo -e "${YELLOW}Using upstream LFS configuration...${NC}"
-if [ -f .lfsconfig-comma ]; then
-  cp .lfsconfig-comma .lfsconfig
-  echo -e "${GREEN}Switched to upstream LFS configuration${NC}"
-
-  if [ $FETCH_ALL -eq 1 ]; then
-    echo -e "${YELLOW}Fetching all LFS objects (including already present)...${NC}"
-
-    git lfs fetch --all || {
-      echo -e "${RED}Failed to fetch LFS objects${NC}"
-      if [ -f .lfsconfig.backup ]; then
-        mv .lfsconfig.backup .lfsconfig
-      fi
-      exit 1
-    }
-
-    git lfs checkout || {
-      echo -e "${RED}Failed to checkout LFS objects${NC}"
-      if [ -f .lfsconfig.backup ]; then
-        mv .lfsconfig.backup .lfsconfig
-      fi
-      exit 1
-    }
-
-    echo -e "${GREEN}Successfully fetched all LFS objects${NC}"
-  else
-    # Get list of missing LFS objects
-    MISSING_FILES=$(get_missing_lfs_objects)
-
-    if [ ! -z "$MISSING_FILES" ]; then
-      echo -e "${YELLOW}Missing files to fetch:${NC}"
-      echo "$MISSING_FILES"
-
-      git lfs fetch || {
-        echo -e "${RED}Failed to fetch LFS objects${NC}"
-        if [ -f .lfsconfig.backup ]; then
-          mv .lfsconfig.backup .lfsconfig
-        fi
-        exit 1
-      }
-
-      git lfs checkout || {
-        echo -e "${RED}Failed to checkout LFS objects${NC}"
-        if [ -f .lfsconfig.backup ]; then
-          mv .lfsconfig.backup .lfsconfig
-        fi
-        exit 1
-      }
-
-      echo -e "${GREEN}Successfully fetched missing LFS objects${NC}"
-    else
-      echo -e "${GREEN}No missing LFS objects to fetch${NC}"
-    fi
-  fi
-else
-  echo -e "${RED}Warning: .lfsconfig-comma not found${NC}"
-fi
-
-# Restore original config
-if [ -f .lfsconfig.backup ]; then
-  mv .lfsconfig.backup .lfsconfig
-  echo -e "${GREEN}Restored original LFS configuration${NC}"
-else
-  rm -f .lfsconfig
-fi
-
-echo -e "${GREEN}LFS sync completed successfully${NC}"
-
-# Continue with the commit
-exit 0

From cf30110d650419e6c0f8d9da54611dd5844f41b1 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Thu, 19 Dec 2024 15:50:20 +0100
Subject: [PATCH 0019/1434] CI: cherry pick maxime's fix for pipelines docker
 (#487)

set python upper bound to 3.13 (#34286)

* try

* test

* ...

* wow

* y

* docker

* <

(cherry picked from commit 9c9b273a3e89b3de7afe3ea400a9a7c45c783723)

Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
---
 Dockerfile.openpilot_base |  2 +-
 pyproject.toml            |  2 +-
 tools/op.sh               |  2 +-
 uv.lock                   | 43 +++++++++++++++++++--------------------
 4 files changed, 24 insertions(+), 25 deletions(-)

diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index cc73503f53f4f5..44d8d95e95d926 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -4,7 +4,7 @@ ENV PYTHONUNBUFFERED=1
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
     rm -rf /var/lib/apt/lists/*
 
 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
diff --git a/pyproject.toml b/pyproject.toml
index 41b0e3aca5ff07..2da580b6fa9d6f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
 [project]
 name = "openpilot"
-requires-python = ">= 3.11, <= 3.12"
+requires-python = ">= 3.11, < 3.13"
 license = {text = "MIT License"}
 version = "0.1.0"
 description = "an open source driver assistance system"
diff --git a/tools/op.sh b/tools/op.sh
index d56dadc76e6032..f0f1308d445d24 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -155,7 +155,7 @@ function op_check_python() {
     LB=$(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9,]' | cut -d ',' -f1)
     UB=$(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9,]' | cut -d ',' -f2)
     VERSION=$(echo $INSTALLED_PYTHON_VERSION | grep -o '[0-9]\+\.[0-9]\+' | tr -d -c '[0-9]')
-    if [[ $VERSION -ge LB && $VERSION -le UB ]]; then
+    if [[ $VERSION -ge LB && $VERSION -lt UB ]]; then
       echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected."
     else
       echo -e " ↳ [${RED}✗${NC}] You need a python version satisfying $(echo $REQUIRED_PYTHON_VERSION | cut -d '=' -f2-) to continue!"
diff --git a/uv.lock b/uv.lock
index f9014cb800e580..f1a5fa99150180 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,5 +1,5 @@
 version = 1
-requires-python = ">=3.11, <=3.12"
+requires-python = ">=3.11, <3.13"
 resolution-markers = [
     "python_full_version < '3.12' and platform_system == 'Darwin'",
     "python_full_version < '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'",
@@ -666,6 +666,9 @@ wheels = [
 name = "humanfriendly"
 version = "10.0"
 source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "pyreadline3", marker = "(platform_machine != 'aarch64' and platform_system == 'Linux' and sys_platform == 'win32') or (platform_system != 'Darwin' and platform_system != 'Linux' and sys_platform == 'win32')" },
+]
 sdist = { url = "https://files.pythonhosted.org/packages/cc/3f/2c29224acb2e2df4d2046e4c73ee2662023c58ff5b113c4c1adac0886c43/humanfriendly-10.0.tar.gz", hash = "sha256:6b0b831ce8f15f7300721aa49829fc4e83921a9a301cc7f606be6686a2288ddc", size = 360702 }
 wheels = [
     { url = "https://files.pythonhosted.org/packages/f0/0f/310fb31e39e2d734ccaa2c0fb981ee41f7bd5056ce9bc29b2248bd569169/humanfriendly-10.0-py2.py3-none-any.whl", hash = "sha256:1697e1a8a8f550fd43c2865cd84542fc175a61dcb779b6fee18cf6b6ccba1477", size = 86794 },
@@ -1231,27 +1234,16 @@ dependencies = [
     { name = "sympy" },
 ]
 wheels = [
+    { url = "https://files.pythonhosted.org/packages/95/8d/2634e2959b34aa8a0037989f4229e9abcfa484e9c228f99633b3241768a6/onnxruntime-1.20.1-cp311-cp311-macosx_13_0_universal2.whl", hash = "sha256:06bfbf02ca9ab5f28946e0f912a562a5f005301d0c419283dc57b3ed7969bb7b", size = 30998725 },
     { url = "https://files.pythonhosted.org/packages/a5/da/c44bf9bd66cd6d9018a921f053f28d819445c4d84b4dd4777271b0fe52a2/onnxruntime-1.20.1-cp311-cp311-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:f6243e34d74423bdd1edf0ae9596dd61023b260f546ee17d701723915f06a9f7", size = 11955227 },
     { url = "https://files.pythonhosted.org/packages/11/ac/4120dfb74c8e45cce1c664fc7f7ce010edd587ba67ac41489f7432eb9381/onnxruntime-1.20.1-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:5eec64c0269dcdb8d9a9a53dc4d64f87b9e0c19801d9321246a53b7eb5a7d1bc", size = 13331703 },
+    { url = "https://files.pythonhosted.org/packages/12/f1/cefacac137f7bb7bfba57c50c478150fcd3c54aca72762ac2c05ce0532c1/onnxruntime-1.20.1-cp311-cp311-win32.whl", hash = "sha256:a19bc6e8c70e2485a1725b3d517a2319603acc14c1f1a017dda0afe6d4665b41", size = 9813977 },
+    { url = "https://files.pythonhosted.org/packages/2c/2d/2d4d202c0bcfb3a4cc2b171abb9328672d7f91d7af9ea52572722c6d8d96/onnxruntime-1.20.1-cp311-cp311-win_amd64.whl", hash = "sha256:8508887eb1c5f9537a4071768723ec7c30c28eb2518a00d0adcd32c89dea3221", size = 11329895 },
+    { url = "https://files.pythonhosted.org/packages/e5/39/9335e0874f68f7d27103cbffc0e235e32e26759202df6085716375c078bb/onnxruntime-1.20.1-cp312-cp312-macosx_13_0_universal2.whl", hash = "sha256:22b0655e2bf4f2161d52706e31f517a0e54939dc393e92577df51808a7edc8c9", size = 31007580 },
     { url = "https://files.pythonhosted.org/packages/c5/9d/a42a84e10f1744dd27c6f2f9280cc3fb98f869dd19b7cd042e391ee2ab61/onnxruntime-1.20.1-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:f1f56e898815963d6dc4ee1c35fc6c36506466eff6d16f3cb9848cea4e8c8172", size = 11952833 },
     { url = "https://files.pythonhosted.org/packages/47/42/2f71f5680834688a9c81becbe5c5bb996fd33eaed5c66ae0606c3b1d6a02/onnxruntime-1.20.1-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:bb71a814f66517a65628c9e4a2bb530a6edd2cd5d87ffa0af0f6f773a027d99e", size = 13333903 },
-]
-
-[[package]]
-name = "onnxruntime-gpu"
-version = "1.20.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "coloredlogs" },
-    { name = "flatbuffers" },
-    { name = "numpy" },
-    { name = "packaging" },
-    { name = "protobuf" },
-    { name = "sympy" },
-]
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/e0/a5/5c2287d61f359c7342e9d59d1e3dd728a982dea85f846c7af305a801c3ca/onnxruntime_gpu-1.20.1-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:1795e8bc6f9a1488a4d51d242edc4232a5ae60ec44ab4d4b0a7c65b3d17fcbff", size = 291519550 },
-    { url = "https://files.pythonhosted.org/packages/91/a8/6984a2fb070be372a866108e3e85c9eb6e8f0378a8567a66967d80befb75/onnxruntime_gpu-1.20.1-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:1951f96cd534c6151721e552606d0d792ea6a4c3e57e2f10eed17cca8105e953", size = 291510989 },
+    { url = "https://files.pythonhosted.org/packages/c8/f1/aabfdf91d013320aa2fc46cf43c88ca0182860ff15df872b4552254a9680/onnxruntime-1.20.1-cp312-cp312-win32.whl", hash = "sha256:bd386cc9ee5f686ee8a75ba74037750aca55183085bf1941da8efcfe12d5b120", size = 9814562 },
+    { url = "https://files.pythonhosted.org/packages/dd/80/76979e0b744307d488c79e41051117634b956612cc731f1028eb17ee7294/onnxruntime-1.20.1-cp312-cp312-win_amd64.whl", hash = "sha256:19c2d843eb074f385e8bbb753a40df780511061a63f9def1b216bf53860223fb", size = 11331482 },
 ]
 
 [[package]]
@@ -1288,8 +1280,7 @@ dependencies = [
     { name = "libusb1" },
     { name = "numpy" },
     { name = "onnx" },
-    { name = "onnxruntime", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'" },
-    { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux'" },
+    { name = "onnxruntime" },
     { name = "psutil" },
     { name = "pyaudio" },
     { name = "pycapnp" },
@@ -1387,8 +1378,7 @@ requires-dist = [
     { name = "natsort", marker = "extra == 'docs'" },
     { name = "numpy", specifier = "<2.0.0" },
     { name = "onnx", specifier = ">=1.14.0" },
-    { name = "onnxruntime", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'", specifier = ">=1.16.3" },
-    { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux'", specifier = ">=1.16.3" },
+    { name = "onnxruntime", specifier = ">=1.16.3" },
     { name = "parameterized", marker = "extra == 'dev'", specifier = ">=0.8,<0.9" },
     { name = "pre-commit-hooks", marker = "extra == 'testing'" },
     { name = "psutil" },
@@ -4431,6 +4421,15 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/a7/33/d91e003b85ff7ab227d0fff236d48c18ada2f0cd49d5e35cb514867ba609/PyQt5_sip-12.16.1-cp312-cp312-win_amd64.whl", hash = "sha256:a0f83f554727f43dfe92afbf3a8c51e83bb8b78c5f160b635d4359fad681cebe", size = 57957 },
 ]
 
+[[package]]
+name = "pyreadline3"
+version = "3.5.4"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/0f/49/4cea918a08f02817aabae639e3d0ac046fef9f9180518a3ad394e22da148/pyreadline3-3.5.4.tar.gz", hash = "sha256:8d57d53039a1c75adba8e50dd3d992b28143480816187ea5efbd5c78e6c885b7", size = 99839 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/5a/dc/491b7661614ab97483abf2056be1deee4dc2490ecbf7bff9ab5cdbac86e1/pyreadline3-3.5.4-py3-none-any.whl", hash = "sha256:eaf8e6cc3c49bcccf145fc6067ba8643d1df34d604a1ec0eccbf7a18e6d3fae6", size = 83178 },
+]
+
 [[package]]
 name = "pyrect"
 version = "0.2.0"

From a20d7a427906c43549cf58b7a859f264aabdf28d Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Thu, 19 Dec 2024 16:30:02 +0100
Subject: [PATCH 0020/1434] Bump panda for sync

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 45301bf15c8236..0d4b79a3c7b9c1 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 45301bf15c8236e3ae76cfe6ff6938540a1bafd5
+Subproject commit 0d4b79a3c7b9c1012832ec414989e56e3a2a8d46

From 7592669d749f7fc09acacd663b3eb0e07e455f58 Mon Sep 17 00:00:00 2001
From: devtekve <devtekve@gmail.com>
Date: Thu, 19 Dec 2024 15:46:00 +0000
Subject: [PATCH 0021/1434] test_processes: update ref logs to a20d7a4

---
 ..._calibrationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} | 0
 ...-45-08--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst | 3 +++
 ...-45-08--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 ---
 ...--0_controlsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} | 0
 ..._dmonitoringd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} | 0
 ...--0_locationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} | 0
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 ...08--0_plannerd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst | 3 +++
 ...08--0_plannerd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 ---
 ...-08--0_radard_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} | 0
 ...-0_selfdrived_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} | 0
 ...08--0_torqued_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} | 0
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 ...-03-23--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst | 3 +++
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 ...-56-31--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst | 3 +++
 ...-56-31--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 ---
 ...-51-30--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst | 3 +++
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 ...-15-31--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst | 3 +++
 ...-15-31--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 ---
 ...-47-37--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst | 3 +++
 ...-47-37--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 ---
 ...-09-15--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst | 3 +++
 ...-09-15--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 ---
 ..._calibrationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} | 0
 ...-08-24--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst | 3 +++
 ...-08-24--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst | 3 ---
 ...--0_controlsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} | 0
 ..._dmonitoringd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} | 0
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 ...-24--0_radard_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} | 0
 ...-0_selfdrived_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} | 0
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 ..._calibrationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} | 0
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 ...-45--0_radard_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} | 0
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 ..._calibrationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} | 0
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 ...-01--0_radard_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} | 0
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 ...-02-54--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst | 3 +++
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 selfdrive/test/process_replay/ref_commit                       | 2 +-
 90 files changed, 67 insertions(+), 67 deletions(-)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_radard_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_radard_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_torqued_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_torqued_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen306779F6870|2024-10-03--04-03-23--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen306779F6870|2024-10-03--04-03-23--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen4CE950B0267|2024-08-30--02-51-30--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen4CE950B0267|2024-08-30--02-51-30--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen58464878D07|2024-08-30--03-15-31--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen58464878D07|2024-08-30--03-15-31--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen6E484EDAB96|2024-08-30--02-47-37--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen6E484EDAB96|2024-08-30--02-47-37--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen720F2BA4CF6|2024-08-30--03-09-15--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen720F2BA4CF6|2024-08-30--03-09-15--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_calibrationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen756F8230C21|2024-11-07--00-08-24--0_calibrationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_controlsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen756F8230C21|2024-11-07--00-08-24--0_controlsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_dmonitoringd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen756F8230C21|2024-11-07--00-08-24--0_dmonitoringd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_locationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen756F8230C21|2024-11-07--00-08-24--0_locationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_paramsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen756F8230C21|2024-11-07--00-08-24--0_paramsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_plannerd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_plannerd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_radard_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen756F8230C21|2024-11-07--00-08-24--0_radard_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_selfdrived_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen756F8230C21|2024-11-07--00-08-24--0_selfdrived_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_torqued_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen756F8230C21|2024-11-07--00-08-24--0_torqued_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_ubloxd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen756F8230C21|2024-11-07--00-08-24--0_ubloxd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9ADBECBCD1C|2024-08-30--03-13-04--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9ADBECBCD1C|2024-08-30--03-13-04--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_calibrationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_calibrationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_controlsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_controlsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_dmonitoringd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_dmonitoringd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_locationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_locationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_paramsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_paramsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_plannerd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_plannerd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_radard_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_radard_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_selfdrived_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_selfdrived_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_torqued_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_torqued_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_ubloxd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_ubloxd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regenA67A128BCD8|2024-08-30--02-36-22--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenA67A128BCD8|2024-08-30--02-36-22--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_calibrationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_calibrationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_controlsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_controlsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_dmonitoringd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_dmonitoringd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_locationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_locationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_paramsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_paramsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_plannerd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_plannerd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_radard_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_radard_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_selfdrived_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_selfdrived_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_torqued_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_torqued_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_ubloxd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_ubloxd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regenACF84CCF482|2024-08-30--03-21-55--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenACF84CCF482|2024-08-30--03-21-55--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_calibrationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_calibrationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_controlsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_controlsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_dmonitoringd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_dmonitoringd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_locationd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_locationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_paramsd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_paramsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_radard_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_radard_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_selfdrived_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_selfdrived_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_fffa98ee8531a24a34a2141c9017193e0a26f50d.zst

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From ad537fcb89f4ab850c7cb6600d88453f68818a5f Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 21 Dec 2024 20:19:48 +0100
Subject: [PATCH 0022/1434] CI: Build prebuilts and models from github and self
 hosted runners (#476)

* Create a GitHub Actions workflow for synchronizing the repository to GitLab and enhance GitLab CI settings

A new GitHub Actions workflow for mirroring the current repository to GitLab is added. This workflow is triggered by both push and delete events in addition to manual triggering. The role of GitHub actions runner is defined through a series of steps. A new '.gitlab-ci.yml' build configuration file is also introduced, with a more comprehensive definition of variables, jobs, and pipeline rules for its utilization in the GitLab CI/CD pipeline.

Further, other changes include the addition of scripts for installing and uninstalling GitLab CI runner, along with modifying the SCons build system configuration file to include custom cache directory. Moreover, 'release_files.py' has been revised to include additional blacklisted and whitelisted files specific to Sunnypilot, ensuring suitable settings for the CI flow.

The improvements facilitate a smoother integration between GitHub and GitLab, powerfully harnessing the capabilities of both platforms for more efficient and effective CI/CD pipelines and version control management.

* not needed for this

* Update workflow to build model from upstream repository

Revised the CI workflow to build directly from the upstream `commaai/openpilot` repository. Simplified configuration, removed unused steps, and added support for specifying the upstream branch dynamically via inputs.

* Update SConstruct to allow passing arbitrary cache_dir

Modified the SConstruct file to enable setting a custom cache directory via arguments. This enhances flexibility in configuring cache paths during the build process.

* Refactor build workflow to improve branch handling logic.

Reorganized conditions for setting environment variables, replacing repository_dispatch with workflow_dispatch for prebuilt builds. Added a fallback error message for unsupported triggers to improve robustness. This enhances clarity and ensures compatibility with the intended workflow triggers.

* test test test

* test test test

* test test test

* Enable publication flag during build configurations

Added `SHOULD_PUBLISH=true` to all relevant build configuration steps to ensure proper handling of publishing logic. Updated environment variables to include this flag for downstream usage. Removed the error-check step for unsupported configurations.

* Simplify publish condition in workflow logic

Replaced the previous condition for publishing with a single output variable, `should_publish`, to streamline logic and improve maintainability. This change reduces redundancy and makes the workflow more adaptable to future updates.

* Simplify restore key patterns in build workflow.

Removed unnecessary trailing dashes in SCons cache restore keys to streamline and slightly improve key matching logic. This ensures better consistency with the current workflow setup.

* Update cache key usage in build workflow

Replaced `github.ref_name` with `github.head_ref` for cache keys to ensure accurate branch-specific caching. Added fallback restore-keys for master branches to improve cache efficiency and reduce redundant builds.

* Improved debug logging in GitHub actions workflow

This commit refines the debug logging in our GitHub Actions workflow for the Sunnypilot build. This change provides more granularity, enabling logging only during debug mode, which helps to keep the runtime logs less cluttered during normal operations. This includes the conditionally displaying of environmental variables, GitHub output contents, and directory listings.

Additionally, debug mode verbosity was added to rsync commands to aid troubleshooting file transfers during the build process.

Blank lines were also reduced for better readability and cleaner code presentation.

* test diff path

* Refactor SCons cache handling in build workflow

Replaced hardcoded cache directory paths with an environment variable (`SCONS_CACHE_DIR`) for better maintainability and flexibility. Updated related workflow steps to utilize the new variable and adjusted cache key usage. Removed unused `BASE_BUILD_NUMBER` variable to clean up the configuration.

* Update cache key to include commit SHA in workflow

This change adds the commit SHA to the cache key in the GitHub Actions workflow. It ensures more precise caching by differentiating builds based on the specific commit, reducing potential conflicts.

* clean

Update GitHub runner service to set environment variables

Updated the ExecStart command to explicitly set HOME, USER, LOGNAME, and MAIL environment variables. This ensures the runner operates with the correct environment configuration, improving reliability and compatibility.

Refactor GitHub runner service ExecStart command.

Replaced direct command execution with running the service as a specific user using `su`. This improves compatibility and aligns with best practices for user-based execution. No functional changes are expected.

Update GitHub runner service to set environment variables

The ExecStart command now sets HOME, USER, LOGNAME, and MAIL environment variables for the runner process. This ensures proper environment initialization for the designated user, improving compatibility and reliability during execution.

Refactor GitHub runner service template handling.

Revised the `modify_service_template` function to create a properly structured service template for the GitHub runner. Updated service permissions, execution parameters, and enabled the function call to ensure usage during runner setup.

* Refactor GitHub Runner installer to improve argument parsing.

Reworked the script to implement flexible and explicit command-line argument parsing using flags like `--token`, `--repo`, and `--start-at-boot`. Added support for setting default values and enabling/disabling auto-start based on the `--start-at-boot` flag. Improved error handling and usage messaging for better user experience.

* Update cache keys in sunnypilot build workflow

Modified the cache keys to include `github.ref_name` for more precise caching and restore behavior. This improves build consistency by better differentiating between branches and refs. No changes to the overall workflow logic.

* Remove 'tinygrad/*' from release file exclusions

This change modifies the release file exclusions by removing 'tinygrad/*'. The adjustment ensures that files in the 'tinygrad' directory are now included in the release process, aligning with updated packaging requirements.

* Simplify release file exclusions list.

Removed redundant and unnecessary file patterns from the exclusions list in `release_files.py`. This streamlines the file handling process and reduces maintenance overhead.

* Refactor SCons cache path and key structure.

Updated the SCons cache directory path to `SCONS_CACHE_DIR` for clarity and consistency. Improved the caching key structure to include `github.head_ref` for better cache differentiation and restore hierarchy. Adjusted related build instructions to reflect the new environment variable.

* Refactor branch configuration in CI workflow

Standardize branch name handling by replacing hardcoded values with environment variables. This improves maintainability and simplifies updates to branch names across the workflow. Updated references to use the new dynamic environment variable approach.
---
 .github/workflows/sunnypilot-build-model.yaml |  82 ++++++
 .../workflows/sunnypilot-build-prebuilt.yaml  | 251 ++++++++++++++++++
 SConstruct                                    |   3 +-
 .../discord_template_notify_dev_private.json  |  13 +
 .../discord_template_notify_dev_public.json   |   9 +
 release/ci/install_github_runner.sh           | 141 ++++++++++
 release/ci/publish.sh                         |  78 ++++++
 release/ci/uninstall_github_runner.sh         |  60 +++++
 release/release_files.py                      |  75 ++++++
 9 files changed, 711 insertions(+), 1 deletion(-)
 create mode 100644 .github/workflows/sunnypilot-build-model.yaml
 create mode 100644 .github/workflows/sunnypilot-build-prebuilt.yaml
 create mode 100644 release/ci/discord_template_notify_dev_private.json
 create mode 100644 release/ci/discord_template_notify_dev_public.json
 create mode 100755 release/ci/install_github_runner.sh
 create mode 100755 release/ci/publish.sh
 create mode 100755 release/ci/uninstall_github_runner.sh

diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml
new file mode 100644
index 00000000000000..bc4bd4f4a1d655
--- /dev/null
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -0,0 +1,82 @@
+name: Build Model from Upstream
+
+env:
+  BUILD_DIR: "/data/github/openpilot"
+  OUTPUT_DIR: ${{ github.workspace }}/output
+  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
+  UPSTREAM_REPO: "commaai/openpilot"
+
+on:
+  workflow_dispatch:
+    inputs:
+      upstream_branch:
+        description: 'Upstream branch to build from'
+        required: true
+        default: 'master'
+        type: string
+
+jobs:
+  build_model:
+    runs-on: self-hosted
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: ${{ env.UPSTREAM_REPO }}
+          ref: ${{ github.event.inputs.upstream_branch }}
+          submodules: recursive
+
+      - run: git lfs pull
+
+      - name: Cache SCons
+        uses: actions/cache@v4
+        with:
+          path: ${{env.SCONS_CACHE_DIR}}
+          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.ref_name }}-model-${{ github.head_ref }}-${{ github.sha }}
+          restore-keys: |
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.ref_name }}-model-${{ github.head_ref }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.ref_name }}-model
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.ref_name }}
+            scons-${{ runner.os }}-${{ runner.arch }}-master-new
+            scons-${{ runner.os }}-${{ runner.arch }}-master
+            scons-${{ runner.os }}-${{ runner.arch }}
+
+      - name: Setup build environment
+        run: |
+          mkdir -p "${BUILD_DIR}/"
+          sudo find $BUILD_DIR/ -mindepth 1 -delete
+          echo "Starting build stage..."
+          echo "Building from: ${{ env.UPSTREAM_REPO }} branch: ${{ github.event.inputs.upstream_branch }}"
+      
+      - name: Patch SConstruct to pass arbitrary cache
+        run: |
+          sed -i.bak 's#cache_dir =#default_cache_dir =#' ${{ github.workspace }}/SConstruct
+          printf '/default_cache_dir/a\\\ncache_dir = ARGUMENTS.get("cache_dir", default_cache_dir)\n' | sed -i.bak -f - ${{ github.workspace }}/SConstruct
+          cat ${{ github.workspace }}/SConstruct
+
+      - name: Build Model
+        run: |
+          source /etc/profile
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          scons -j$(nproc) cache_dir=${{ env.SCONS_CACHE_DIR }} ${{ github.workspace }}/selfdrive/modeld
+
+      - name: Prepare Output
+        run: |
+          sudo rm -rf ${OUTPUT_DIR}
+          mkdir -p ${OUTPUT_DIR}
+          rsync -avm \
+            --include='*.dlc' \
+            --include='*.thneed' \
+            --include='*.pkl' \
+            --include='*.onnx' \
+            --exclude='*' \
+            --delete-excluded \
+            --chown=comma:comma \
+            ./selfdrive/modeld/models/ ${OUTPUT_DIR}/
+
+      - name: Upload Build Artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: model-${{ github.event.inputs.upstream_branch }}-${{ github.run_number }}
+          path: ${{ env.OUTPUT_DIR }}
\ No newline at end of file
diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
new file mode 100644
index 00000000000000..147a87d6d19129
--- /dev/null
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -0,0 +1,251 @@
+name: sunnypilot prebuilt action
+
+env:
+  BUILD_DIR: "/data/openpilot"
+  OUTPUT_DIR: ${{ github.workspace }}/output
+  CI_DIR: ${{ github.workspace }}/release/ci
+  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
+  PUBLIC_REPO_URL: "https://github.com/sunnyhaibin/sunnypilot"
+  
+  # Branch configurations
+  MASTER_BRANCH: "master"
+  MASTER_NEW_BRANCH: "master-new"
+  DEV_C3_SOURCE_BRANCH: "master-dev-c3-new"
+  
+  # Target branch configurations
+  STAGING_TARGET_BRANCH: "staging-c3-new"
+  DEV_TARGET_BRANCH: "dev-c3-new"
+  RELEASE_TARGET_BRANCH: "release-c3-new"
+
+on:
+  push:
+    branches: [ master, master-new, master-dev-c3-new ]
+    tags: [ '*' ]
+  pull_request:
+    branches: [ master, master-new ]
+  workflow_dispatch:
+    inputs:
+      extra_version:
+        description: 'Extra version identifier'
+        required: false
+        default: ''
+
+jobs:
+  build:
+    runs-on: self-hosted
+    outputs:
+      new_branch: ${{ steps.set-env.outputs.new_branch }}
+      version: ${{ steps.set-env.outputs.version }}
+      extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
+      should_publish: ${{ steps.set-env.outputs.should_publish }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+      - run: git lfs pull
+
+      - name: Cache SCons
+        uses: actions/cache@v4
+        with:
+          path: ${{env.SCONS_CACHE_DIR}}
+          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.ref_name }}-${{ github.head_ref }}-${{ github.sha }}
+          restore-keys: |
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.ref_name }}-${{ github.head_ref }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.ref_name }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}
+
+      - name: Configure for dev branch
+        if: github.ref_name == env.DEV_C3_SOURCE_BRANCH
+        run: |
+          echo "BRANCH_TYPE=dev" >> $GITHUB_ENV
+          echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
+          echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
+          echo "SHOULD_PUBLISH=true" >> $GITHUB_ENV
+
+      - name: Configure for master branches
+        if: github.ref_name == env.MASTER_BRANCH || github.ref_name == env.MASTER_NEW_BRANCH
+        run: |
+          echo "BRANCH_TYPE=master" >> $GITHUB_ENV
+          echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
+          echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
+          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')" >> $GITHUB_ENV
+          echo "SHOULD_PUBLISH=true" >> $GITHUB_ENV
+
+      - name: Configure for tags
+        if: startsWith(github.ref, 'refs/tags/')
+        run: |
+          echo "BRANCH_TYPE=tag" >> $GITHUB_ENV
+          echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
+          echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
+          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')" >> $GITHUB_ENV
+          echo "SHOULD_PUBLISH=true" >> $GITHUB_ENV
+
+      - name: Configure for manual build
+        if: github.event_name == 'workflow_dispatch'
+        run: |
+          echo "BRANCH_TYPE=dispatch" >> $GITHUB_ENV
+          echo "NEW_BRANCH=${{ github.ref_name }}-prebuilt" >> $GITHUB_ENV
+          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
+          echo "SHOULD_PUBLISH=true" >> $GITHUB_ENV
+
+      - name: Set environment variables
+        id: set-env
+        run: |
+          # Write to GITHUB_OUTPUT from environment variables
+          echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
+          [[ ! -z "$EXTRA_VERSION_IDENTIFIER" ]] && echo "extra_version_identifier=$EXTRA_VERSION_IDENTIFIER" >> $GITHUB_OUTPUT
+          [[ ! -z "$VERSION" ]] && echo "version=$VERSION" >> $GITHUB_OUTPUT
+          echo "should_publish=${SHOULD_PUBLISH:-false}" >> $GITHUB_OUTPUT
+          
+          # Set up common environment
+          source /etc/profile;
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          printenv >> $GITHUB_ENV
+          if [[ "${{ runner.debug }}" == "1" ]]; then
+            cat $GITHUB_OUTPUT
+          fi
+
+      - name: Setup build environment
+        run: |
+          mkdir -p "${BUILD_DIR}/"
+          sudo find $BUILD_DIR/ -mindepth 1 -delete
+          echo "Starting build stage..."
+          echo "BUILD_DIR: ${BUILD_DIR}"
+          echo "CI_DIR: ${CI_DIR}"
+          echo "VERSION: ${{ steps.set-env.outputs.version }}"
+          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
+          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
+          echo "-------"
+          if [[ "${{ runner.debug }}" == "1" ]]; then
+            printenv
+          fi
+
+      - name: Build Panda
+        run: |
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} ${{ github.workspace }}/panda
+
+      - name: Build Main Project
+        run: |
+          export PYTHONPATH="$BUILD_DIR"
+          ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
+          cd $BUILD_DIR
+          sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
+          touch ${BUILD_DIR}/prebuilt
+          if [[ "${{ runner.debug }}" == "1" ]]; then
+            ls -la ${BUILD_DIR}
+          fi
+
+      - name: Prepare Output
+        run: |
+          sudo rm -rf ${OUTPUT_DIR}
+          mkdir -p ${OUTPUT_DIR}
+          rsync -am${RUNNER_DEBUG:+v} \
+            --include='**/panda/board/' \
+            --include='**/panda/board/obj' \
+            --include='**/panda/board/obj/panda.bin.signed' \
+            --include='**/panda/board/obj/panda_h7.bin.signed' \
+            --include='**/panda/board/obj/bootstub.panda.bin' \
+            --include='**/panda/board/obj/bootstub.panda_h7.bin' \
+            --exclude='.sconsign.dblite' \
+            --exclude='*.a' \
+            --exclude='*.o' \
+            --exclude='*.os' \
+            --exclude='*.pyc' \
+            --exclude='moc_*' \
+            --exclude='*.cc' \
+            --exclude='Jenkinsfile' \
+            --exclude='supercombo.onnx' \
+            --exclude='**/panda/board/*' \
+            --exclude='**/panda/board/obj/**' \
+            --exclude='**/panda/certs/' \
+            --exclude='**/panda/crypto/' \
+            --exclude='**/release/' \
+            --exclude='**/.github/' \
+            --exclude='**/selfdrive/ui/replay/' \
+            --exclude='**/__pycache__/' \
+            --exclude='**/selfdrive/ui/*.h' \
+            --exclude='**/selfdrive/ui/**/*.h' \
+            --exclude='**/selfdrive/ui/qt/offroad/sunnypilot/' \
+            --exclude='${{env.SCONS_CACHE_DIR}}' \
+            --exclude='**/.git/' \
+            --exclude='**/SConstruct' \
+            --exclude='**/SConscript' \
+            --exclude='**/.venv/' \
+            --delete-excluded \
+            --chown=comma:comma \
+            ${BUILD_DIR}/ ${OUTPUT_DIR}/
+
+      - name: 'Tar.gz files'
+        run: |
+          tar czf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }} .
+          ls -la prebuilt.tar.gz
+
+      - name: 'Upload Artifact'
+        uses: actions/upload-artifact@v4
+        with:
+          name: prebuilt
+          path: prebuilt.tar.gz
+
+  publish-public:
+    needs: build
+    runs-on: ubuntu-latest
+    if: needs.build.outputs.should_publish == 'true'
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Download build artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: prebuilt
+
+      - name: Untar prebuilt
+        run: |
+          mkdir -p ${{ env.OUTPUT_DIR }}
+          tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}
+
+      - name: Configure Git
+        run: |
+          git config --global user.email "github-actions[bot]@users.noreply.github.com"
+          git config --global user.name "github-actions[bot]"
+
+      - name: Publish to Public Repository
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          echo '${{ toJSON(needs.build.outputs) }}'
+          ls -la ${{ env.OUTPUT_DIR }}
+
+          ${{ env.CI_DIR }}/publish.sh \
+            "${{ github.workspace }}" \
+            "${{ env.OUTPUT_DIR }}" \
+            "${{ needs.build.outputs.new_branch }}" \
+            "${{ needs.build.outputs.version }}" \
+            "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
+            "-${{ needs.build.outputs.extra_version_identifier }}"
+
+  notify:
+    needs: [ build, publish-public ]
+    runs-on: ubuntu-latest
+    if: needs.build.outputs.new_branch != ''
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y curl jq gettext-base
+
+      - name: Send Discord Notification
+        env:
+          DISCORD_WEBHOOK: ${{ needs.build.outputs.new_branch == 'dev-c3' && secrets.DISCORD_NEW_BUILD_WEBHOOK_URL || secrets.DISCORD_MANUAL_BUILD_WEBHOOK_URL }}
+        run: |
+          TEMPLATE="${{ needs.build.outputs.new_branch == 'dev-c3' && 'discord_template_notify_dev_public.json' || 'discord_template_notify_dev_private.json' }}"
+          export EXTRA_VERSION_IDENTIFIER="${{ needs.build.outputs.extra_version_identifier }}"
+          export VERSION="${{ needs.build.outputs.version }}"
+          cat release/ci/${TEMPLATE} | envsubst > payload.json
+          curl -X POST -H "Content-Type: application/json" -d @payload.json $DISCORD_WEBHOOK
\ No newline at end of file
diff --git a/SConstruct b/SConstruct
index d1661e7b6c30ff..934143fa08af20 100644
--- a/SConstruct
+++ b/SConstruct
@@ -237,7 +237,8 @@ if GetOption('compile_db'):
   env.CompilationDatabase('compile_commands.json')
 
 # Setup cache dir
-cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
+default_cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
+cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
 
diff --git a/release/ci/discord_template_notify_dev_private.json b/release/ci/discord_template_notify_dev_private.json
new file mode 100644
index 00000000000000..5da1e4d4055ca8
--- /dev/null
+++ b/release/ci/discord_template_notify_dev_private.json
@@ -0,0 +1,13 @@
+{
+  "embeds": [
+    {
+      "title": "�� Action Required for `${CI_COMMIT_REF_NAME}` ��",
+      "description": "[${CI_PROJECT_NAME}](${CI_PROJECT_URL}): Pipeline [#${CI_PIPELINE_ID}](${CI_PROJECT_URL}/-/pipelines/${CI_PIPELINE_ID}) of branch [${CI_COMMIT_REF_NAME}](${CI_PROJECT_URL}/-/commits/${CI_COMMIT_REF_NAME}) by ${GITLAB_USER_NAME} (${GITLAB_USER_LOGIN}) is ready to publish manually as [${NEW_BRANCH}](${PUBLIC_REPO_URL}/tree/${NEW_BRANCH})",
+      "color": 16763904,
+      "author": {
+        "name": "${GITLAB_USER_LOGIN}",
+        "icon_url": "${AVATAR_URL}"
+      }
+    }
+  ]
+}
diff --git a/release/ci/discord_template_notify_dev_public.json b/release/ci/discord_template_notify_dev_public.json
new file mode 100644
index 00000000000000..c933ea10b4c8e5
--- /dev/null
+++ b/release/ci/discord_template_notify_dev_public.json
@@ -0,0 +1,9 @@
+{
+  "embeds": [
+    {
+      "title": "🎉 sunnypilot `${NEW_BRANCH}` New Update 🎉",
+      "description": "[sunnypilot](${PUBLIC_REPO_URL}): Build #${EXTRA_VERSION_IDENTIFIER} of branch [${NEW_BRANCH}](${PUBLIC_REPO_URL}/tree/${NEW_BRANCH}) has been published.\n\nDrive safe! 🚗💨",
+      "color": 4321431
+    }
+  ]
+}
diff --git a/release/ci/install_github_runner.sh b/release/ci/install_github_runner.sh
new file mode 100755
index 00000000000000..3aa6b79dd36870
--- /dev/null
+++ b/release/ci/install_github_runner.sh
@@ -0,0 +1,141 @@
+#!/usr/bin/env bash
+set -e
+
+# Default values
+DEFAULT_REPO_URL="https://github.com/sunnypilot"
+START_AT_BOOT=false
+
+# Parse command line arguments
+while [[ $# -gt 0 ]]; do
+    case $1 in
+        --start-at-boot)
+            START_AT_BOOT=true
+            shift
+            ;;
+        --token)
+            GITHUB_TOKEN="$2"
+            shift 2
+            ;;
+        --repo)
+            REPO_URL="$2"
+            shift 2
+            ;;
+        *)
+            if [ -z "$GITHUB_TOKEN" ]; then
+                GITHUB_TOKEN="$1"
+            elif [ -z "$REPO_URL" ]; then
+                REPO_URL="$1"
+            fi
+            shift
+            ;;
+    esac
+done
+
+# Check required arguments
+if [ -z "$GITHUB_TOKEN" ]; then
+    echo "Usage: $0 [--start-at-boot] [--token <github_token>] [--repo <repository_url>]"
+    echo "Required argument: github_token"
+    echo "Optional arguments:"
+    echo "  --start-at-boot    Enable auto-start at boot (default: false)"
+    echo "  --repo            Repository URL (default: ${DEFAULT_REPO_URL})"
+    exit 1
+fi
+
+# Set repository URL if not provided
+REPO_URL="${REPO_URL:-$DEFAULT_REPO_URL}"
+
+# Constants
+RUNNER_USER="github-runner"
+USER_GROUPS="comma,gpu,gpio,sudo"
+BASE_DIR="/data/github"
+RUNNER_DIR="${BASE_DIR}/runner"
+BUILDS_DIR="${BASE_DIR}/builds"
+LOGS_DIR="${BASE_DIR}/logs"
+CACHE_DIR="${BASE_DIR}/cache"
+OPENPILOT_DIR="${BASE_DIR}/openpilot"
+
+create_directories() {
+    sudo mkdir -p "$RUNNER_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
+    mkdir -p "/data/openpilot"
+    sudo chown -R comma:comma "/data/openpilot"
+}
+
+download_and_setup_runner() {
+    cd "$RUNNER_DIR"
+    curl -o actions-runner-linux-arm64-2.321.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.321.0/actions-runner-linux-arm64-2.321.0.tar.gz
+    tar xzf ./actions-runner-linux-arm64-2.321.0.tar.gz
+    rm ./actions-runner-linux-arm64-2.321.0.tar.gz
+    chmod +x ./config.sh
+}
+
+setup_runner_user() {
+    sudo useradd --comment 'GitHub Runner' --create-home --home-dir ${BASE_DIR} ${RUNNER_USER} --shell /bin/bash -G ${USER_GROUPS} || sudo usermod -aG ${USER_GROUPS} ${RUNNER_USER}
+    export BASE_DIR
+    sudo -u ${RUNNER_USER} bash -c "truncate -s 0 '${BASE_DIR}/.bash_logout'"
+}
+
+create_sudoers_entry() {
+    sudo grep -qxF "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" /etc/sudoers || echo "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" | sudo tee -a /etc/sudoers
+}
+
+configure_runner() {
+    cd "$RUNNER_DIR"
+    sudo -u ${RUNNER_USER} ./config.sh --url "$REPO_URL" --token "$GITHUB_TOKEN" --name $(hostname) --runnergroup "tici-tizi" --labels "tici" --work "$BUILDS_DIR" --unattended
+}
+
+set_directory_permissions() {
+    sudo chown -R ${RUNNER_USER}:comma "$BASE_DIR"
+    sudo chmod g+rwx "$BASE_DIR"
+    sudo chmod g+s "$BASE_DIR"
+}
+
+modify_service_template() {
+    cat <<EOL > "$RUNNER_DIR/bin/actions.runner.service.template"
+[Unit]
+Description={{Description}}
+After=network-online.target nss-lookup.target time-sync.target
+Wants=network-online.target nss-lookup.target time-sync.target
+StartLimitInterval=5
+StartLimitBurst=10
+
+[Service]
+Type=simple
+User=root
+ExecStart=/usr/bin/unshare -m -- /bin/bash -c 'mount --bind ${OPENPILOT_DIR} /data/openpilot && setpriv --reuid={{User}} --regid={{User}} --init-groups env HOME=${BASE_DIR} USER={{User}} LOGNAME={{User}} MAIL=/var/mail/{{User}} {{RunnerRoot}}/runsvc.sh'
+WorkingDirectory={{RunnerRoot}}
+KillMode=process
+KillSignal=SIGTERM
+TimeoutStopSec=5min
+Restart=always
+RestartSec=120
+
+[Install]
+WantedBy=multi-user.target
+EOL
+}
+
+# Make filesystem writable
+sudo mount -o remount,rw /
+
+# Ensure filesystem is remounted as read-only on script exit
+trap "sudo mount -o remount,ro /" EXIT
+
+# Execute installation steps
+setup_runner_user
+create_sudoers_entry
+create_directories
+download_and_setup_runner
+modify_service_template
+configure_runner
+set_directory_permissions
+
+# Install and start service using built-in installer
+cd "$RUNNER_DIR"
+sudo ./svc.sh install $RUNNER_USER
+
+# Handle auto-start configuration
+if [ "$START_AT_BOOT" = false ]; then
+    sudo systemctl disable actions.runner.sunnypilot.$(uname -n)
+fi
+
+sudo ./svc.sh start
\ No newline at end of file
diff --git a/release/ci/publish.sh b/release/ci/publish.sh
new file mode 100755
index 00000000000000..d723782934ca88
--- /dev/null
+++ b/release/ci/publish.sh
@@ -0,0 +1,78 @@
+#!/usr/bin/env bash
+
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+# Take parameters as arguments
+SOURCE_DIR=$1
+OUTPUT_DIR=$2
+DEV_BRANCH=$3
+VERSION=$4
+GIT_ORIGIN=$5
+EXTRA_VERSION_IDENTIFIER=$6
+
+# Check parameters
+if [ -z "$SOURCE_DIR" ] || [ -z "$OUTPUT_DIR" ]; then
+    echo "Error: No source or output directory provided."
+    exit 1
+fi
+
+if [ -z "$DEV_BRANCH" ] || [ -z "$VERSION" ]; then
+    echo "Error: No dev branch or version provided."
+    exit 1
+fi
+
+if [ -z "$GIT_ORIGIN" ]; then
+    echo "Error: No GIT_ORIGIN provided"
+    exit 1
+fi
+
+# "Tagging"
+echo "#define COMMA_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/common/version.h
+
+## set git identity
+#source $DIR/identity.sh
+#export GIT_SSH_COMMAND="ssh -i /data/gitkey"
+
+echo "[-] Setting up repo T=$SECONDS"
+cd $OUTPUT_DIR
+git init
+
+# set git username/password
+#source /data/identity.sh
+
+git rm -rf $OUTPUT_DIR/.git || true # Doing cleanup, but it might fail if the .git doesn't exist or not allowed to delete
+git remote remove origin || true # ensure cleanup
+git remote add origin $GIT_ORIGIN
+#git push origin -d $DEV_BRANCH || true # Ensuring we delete the remote branch if it exists as we are wiping it out
+git fetch origin $DEV_BRANCH || (git checkout -b $DEV_BRANCH && git commit --allow-empty -m "sunnypilot v$VERSION release" && git push -u origin $DEV_BRANCH)
+
+echo "[-] committing version $VERSION T=$SECONDS"
+git add -f .
+git commit -a -m "sunnypilot v$VERSION release"
+git branch --set-upstream-to=origin/$DEV_BRANCH
+
+# include source commit hash and build date in commit
+GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
+DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
+SP_VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
+
+# Add built files to git
+git add -f .
+if [ "$EXTRA_VERSION_IDENTIFIER" = "-release" ] || [ "$EXTRA_VERSION_IDENTIFIER" = "-staging" ]; then
+  export VERSION=${VERSION%"$EXTRA_VERSION_IDENTIFIER"}
+  git commit --amend -m "sunnypilot v$VERSION"
+else
+  git commit --amend -m "sunnypilot v$VERSION
+  version: sunnypilot v$SP_VERSION release
+  date: $DATETIME
+  master commit: $GIT_HASH
+  "
+fi
+git branch -m $DEV_BRANCH
+
+# Push!
+echo "[-] pushing T=$SECONDS"
+git push -f origin $DEV_BRANCH
diff --git a/release/ci/uninstall_github_runner.sh b/release/ci/uninstall_github_runner.sh
new file mode 100755
index 00000000000000..a7b0ca3c0ea4f0
--- /dev/null
+++ b/release/ci/uninstall_github_runner.sh
@@ -0,0 +1,60 @@
+#!/usr/bin/env bash
+# Define directories and user
+GITHUB_BASE_DIR="/data/github"
+BIN_DIR="$GITHUB_BASE_DIR/bin"
+BUILDS_DIR="$GITHUB_BASE_DIR/builds"
+OPENPILOT_DIR="$GITHUB_BASE_DIR/openpilot"
+LOGS_DIR="$GITHUB_BASE_DIR/logs"
+CACHE_DIR="$GITHUB_BASE_DIR/cache"
+RUNNER_USERNAME="github-runner"
+# Define the systemd service name
+SERVICE_NAME="github-runner"
+USER_GROUPS="comma,gpu,gpio,sudo"
+
+# Function to stop and disable the systemd service
+stop_and_uninstall_service() {
+    cd $GITHUB_BASE_DIR/runner
+    sudo ./svc.sh stop
+    sudo ./svc.sh uninstall
+}
+
+# Function to remove the systemd service file
+remove_runner() {
+    cd $GITHUB_BASE_DIR/runner
+    sudo rm .runner
+    sudo su -c './config.sh remove' github-runner
+}
+
+# Function to delete the Github Runner directories
+delete_directories() {
+    sudo rm -rf "$BIN_DIR/github-runner"
+    sudo rm -rf "$GITHUB_BASE_DIR" "$BIN_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
+}
+
+# Function to remove the Github Runner user
+delete_user() {
+    for group in ${USER_GROUPS//,/ }
+    do
+       sudo gpasswd -d ${RUNNER_USERNAME} ${group}
+    done
+    sudo userdel -r ${RUNNER_USERNAME}
+}
+
+# Function to remove sudoers entry
+remove_sudoers_entry() {
+    sudo sed -i.bak "/${RUNNER_USERNAME} ALL=(ALL) NOPASSWD: ALL/d" /etc/sudoers
+}
+
+# Make filesystem writable
+sudo mount -o remount rw /
+
+# Ensure filesystem is remounted as read-only on script exit
+trap "sudo mount -o remount ro /" EXIT
+
+# Call functions
+stop_and_uninstall_service
+remove_runner
+delete_directories
+delete_user
+remove_sudoers_entry
+# End of uninstall script
diff --git a/release/release_files.py b/release/release_files.py
index 0e1ed852a2ed7f..702255f965dfce 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -32,6 +32,7 @@
 
   ".git/",
   ".github/",
+  ".devcontainer/",
   "Darwin/",
   ".vscode",
 
@@ -47,6 +48,43 @@
   ".gitmodules",
 ]
 
+# Sunnypilot blacklist
+sunnypilot_blacklist = [
+  "system/loggerd/sunnylink_uploader.py",  # Temporarily, until we are ready to roll it out widely
+  "system/manager/gitlab_runner.sh",
+  ".idea/",
+  ".run/",
+  ".*__pycache__/.*",
+  ".*\\.pyc",
+  "teleoprtc/*",
+  "third_party/snpe/x86_64/*",
+  "body/board/canloader.py",
+  "body/board/flash_base.sh",
+  "body/board/flash_knee.sh",
+  "body/board/recover.sh",
+  ".*/test/",
+  ".*/tests/",
+  ".*tinygrad_repo/tinygrad/renderer/",
+  "README.md",
+  ".*internal/",
+  "docs/.*",
+  ".sconsign.dblite",
+  "release/ci/scons_cache/",
+  ".gitlab-ci.yml",
+  ".clang-tidy",
+  ".dockerignore",
+  ".editorconfig",
+  ".python-version",
+  "SECURITY.md",
+  "codecov.yml",
+  "conftest.py",
+  "poetry.lock",
+  ".venv/",
+]
+
+# Merge the blacklists
+blacklist += sunnypilot_blacklist
+
 # gets you through the blacklist
 whitelist = [
   "tools/lib/",
@@ -119,8 +157,45 @@
   "opendbc_repo/dbc/toyota_tss2_adas.dbc",
   "opendbc_repo/dbc/vw_golf_mk4.dbc",
   "opendbc_repo/dbc/vw_mqb_2010.dbc",
+  "opendbc_repo/dbc/tesla_can.dbc",
+  "opendbc_repo/dbc/tesla_radar_bosch_generated.dbc",
+  "opendbc_repo/dbc/tesla_radar_continental_generated.dbc",
+  "opendbc_repo/dbc/tesla_powertrain.dbc",
 ]
 
+# Sunnypilot whitelist
+sunnypilot_whitelist = [
+  "^README.md",
+  ".*selfdrive/test/fuzzy_generation.py",
+  ".*selfdrive/test/helpers.py",
+  ".*selfdrive/test/__init__.py",
+  ".*selfdrive/test/setup_device_ci.sh",
+  ".*selfdrive/test/test_time_to_onroad.py",
+  ".*selfdrive/test/test_onroad.py",
+  ".*system/manager/test/test_manager.py",
+  ".*system/manager/test/__init__.py",
+  ".*system/qcomgpsd/tests/test_qcomgpsd.py",
+  ".*system/updated/casync/tests/test_casync.py",
+  ".*system/updated/tests/test_git.py",
+  ".*system/updated/tests/test_base.py",
+  ".*selfdrive/ui/tests/test_translations.py",
+  ".*selfdrive/car/tests/__init__.py",
+  ".*selfdrive/car/tests/test_car_interfaces.py",
+  ".*selfdrive/navd/tests/test_navd.py",
+  ".*selfdrive/navd/tests/test_map_renderer.py",
+  ".*selfdrive/boardd/tests/test_boardd_loopback.py",
+  ".*INTEGRATION.md",
+  ".*HOW-TOS.md",
+  ".*CARS.md",
+  ".*LIMITATIONS.md",
+  ".*CONTRIBUTING.md",
+  ".*sunnyhaibin0850_qrcode_paypal.me.png",
+  "opendbc/.*.dbc",
+]
+
+# Merge the whitelists
+whitelist += sunnypilot_whitelist
+
 
 if __name__ == "__main__":
   for f in Path(ROOT).rglob("**/*"):

From e114dc5a6f34aa218dfded19209786379ebbd0b4 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 22 Dec 2024 18:18:21 +0100
Subject: [PATCH 0023/1434] CI: Use environments for manual approvals on GH
 Actions for feature branches (#493)

* We no longer need to dispatch manually a workflow, it will wait for the publish to be approved for feature branches.
* The notification template has been extracted to a variable for the repo, meaning no need to do commit push to update it! (https://github.com/sunnypilot/sunnypilot/settings/variables/actions/DISCORD_GENERAL_UPDATE_NOTICE)
* The configuration for what can be auto deployed is now also a variable, no need to commit a change to update that (https://github.com/sunnypilot/sunnypilot/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES)
* The configuration for what sends a message on `#dev-feedback` channel on discord is also configurable (https://github.com/sunnypilot/sunnypilot/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES)
---
 .../workflows/sunnypilot-build-prebuilt.yaml  | 121 ++++++++++--------
 .../discord_template_notify_dev_private.json  |  13 --
 .../discord_template_notify_dev_public.json   |   9 --
 3 files changed, 68 insertions(+), 75 deletions(-)
 delete mode 100644 release/ci/discord_template_notify_dev_private.json
 delete mode 100644 release/ci/discord_template_notify_dev_public.json

diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 147a87d6d19129..04556e3a41b35c 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -5,7 +5,7 @@ env:
   OUTPUT_DIR: ${{ github.workspace }}/output
   CI_DIR: ${{ github.workspace }}/release/ci
   SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
-  PUBLIC_REPO_URL: "https://github.com/sunnyhaibin/sunnypilot"
+  PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
   
   # Branch configurations
   MASTER_BRANCH: "master"
@@ -32,12 +32,14 @@ on:
 
 jobs:
   build:
+    concurrency:
+      group: build-${{ github.head_ref || github.ref_name }}
+      cancel-in-progress: false
     runs-on: self-hosted
     outputs:
       new_branch: ${{ steps.set-env.outputs.new_branch }}
       version: ${{ steps.set-env.outputs.version }}
       extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
-      should_publish: ${{ steps.set-env.outputs.should_publish }}
     steps:
       - uses: actions/checkout@v4
         with:
@@ -48,47 +50,43 @@ jobs:
         uses: actions/cache@v4
         with:
           path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.ref_name }}-${{ github.head_ref }}-${{ github.sha }}
+          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-${{ github.sha }}
           restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.ref_name }}-${{ github.head_ref }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref }}
             scons-${{ runner.os }}-${{ runner.arch }}-${{ github.ref_name }}
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
 
-      - name: Configure for dev branch
-        if: github.ref_name == env.DEV_C3_SOURCE_BRANCH
+      - name: Set Configuration
         run: |
-          echo "BRANCH_TYPE=dev" >> $GITHUB_ENV
-          echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
-          echo "SHOULD_PUBLISH=true" >> $GITHUB_ENV
-
-      - name: Configure for master branches
-        if: github.ref_name == env.MASTER_BRANCH || github.ref_name == env.MASTER_NEW_BRANCH
-        run: |
-          echo "BRANCH_TYPE=master" >> $GITHUB_ENV
-          echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
-          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')" >> $GITHUB_ENV
-          echo "SHOULD_PUBLISH=true" >> $GITHUB_ENV
-
-      - name: Configure for tags
-        if: startsWith(github.ref, 'refs/tags/')
-        run: |
-          echo "BRANCH_TYPE=tag" >> $GITHUB_ENV
-          echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
-          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')" >> $GITHUB_ENV
-          echo "SHOULD_PUBLISH=true" >> $GITHUB_ENV
-
-      - name: Configure for manual build
-        if: github.event_name == 'workflow_dispatch'
-        run: |
-          echo "BRANCH_TYPE=dispatch" >> $GITHUB_ENV
-          echo "NEW_BRANCH=${{ github.ref_name }}-prebuilt" >> $GITHUB_ENV
-          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-          echo "SHOULD_PUBLISH=true" >> $GITHUB_ENV
+          if [[ "${{ github.ref_name }}" == "${{ env.DEV_C3_SOURCE_BRANCH }}" ]]; then
+            # Dev configuration
+            echo "BRANCH_TYPE=dev" >> $GITHUB_ENV
+            echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
+            echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
+            echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
+          
+          elif [[ "${{ github.ref_name }}" == "${{ env.MASTER_BRANCH }}" || "${{ github.ref_name }}" == "${{ env.MASTER_NEW_BRANCH }}" ]]; then
+            # Master configuration
+            echo "BRANCH_TYPE=master" >> $GITHUB_ENV
+            echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
+            echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
+            echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')" >> $GITHUB_ENV
+          
+          elif [[ "${{ github.ref }}" == refs/tags/* ]]; then
+            # Tag configuration
+            echo "BRANCH_TYPE=tag" >> $GITHUB_ENV
+            echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
+            echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
+            echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')" >> $GITHUB_ENV
+          
+          else
+            # Feature branch configuration
+            echo "BRANCH_TYPE=dispatch" >> $GITHUB_ENV
+            echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-prebuilt" >> $GITHUB_ENV
+            echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
+          fi
 
       - name: Set environment variables
         id: set-env
@@ -97,7 +95,6 @@ jobs:
           echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
           [[ ! -z "$EXTRA_VERSION_IDENTIFIER" ]] && echo "extra_version_identifier=$EXTRA_VERSION_IDENTIFIER" >> $GITHUB_OUTPUT
           [[ ! -z "$VERSION" ]] && echo "version=$VERSION" >> $GITHUB_OUTPUT
-          echo "should_publish=${SHOULD_PUBLISH:-false}" >> $GITHUB_OUTPUT
           
           # Set up common environment
           source /etc/profile;
@@ -190,10 +187,13 @@ jobs:
           name: prebuilt
           path: prebuilt.tar.gz
 
-  publish-public:
+  publish:
+    concurrency:
+      group: publish-${{ github.head_ref || github.ref_name }}
+      cancel-in-progress: true
     needs: build
-    runs-on: ubuntu-latest
-    if: needs.build.outputs.should_publish == 'true'
+    runs-on: ubuntu-24.04
+    environment: ${{ contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) && 'auto-deploy' || 'feature-branch' }}
     steps:
       - uses: actions/checkout@v4
 
@@ -226,26 +226,41 @@ jobs:
             "${{ needs.build.outputs.version }}" \
             "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
             "-${{ needs.build.outputs.extra_version_identifier }}"
+          
+          echo ""
+          echo "----   ℹ� To update the list of branches that auto deploy prebuilts  -----"
+          echo ""
+          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
+          echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
+          echo "3. Update as needed (JSON array with no spaces)"
 
   notify:
-    needs: [ build, publish-public ]
-    runs-on: ubuntu-latest
-    if: needs.build.outputs.new_branch != ''
-
+    needs: [ build, publish ]
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
-
-      - name: Install dependencies
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y curl jq gettext-base
+      - name: Setup Alpine Linux environment
+        uses: jirutka/setup-alpine@v1.2.0
+        with:
+          packages: 'jq gettext curl'
 
       - name: Send Discord Notification
         env:
-          DISCORD_WEBHOOK: ${{ needs.build.outputs.new_branch == 'dev-c3' && secrets.DISCORD_NEW_BUILD_WEBHOOK_URL || secrets.DISCORD_MANUAL_BUILD_WEBHOOK_URL }}
+          DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), github.head_ref || github.ref_name) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
         run: |
-          TEMPLATE="${{ needs.build.outputs.new_branch == 'dev-c3' && 'discord_template_notify_dev_public.json' || 'discord_template_notify_dev_private.json' }}"
+          TEMPLATE='${{ vars.DISCORD_GENERAL_UPDATE_NOTICE }}'
           export EXTRA_VERSION_IDENTIFIER="${{ needs.build.outputs.extra_version_identifier }}"
           export VERSION="${{ needs.build.outputs.version }}"
-          cat release/ci/${TEMPLATE} | envsubst > payload.json
-          curl -X POST -H "Content-Type: application/json" -d @payload.json $DISCORD_WEBHOOK
\ No newline at end of file
+          export branch_name=${{ github.head_ref || github.ref_name }}
+          export new_branch=${{ needs.build.outputs.new_branch }}
+          export extra_version_identifier=${{ needs.build.outputs.extra_version_identifier || github.run_number}}
+          echo ${TEMPLATE} | envsubst | jq -c '.' | tee payload.json
+          curl -X POST -H "Content-Type: application/json" -d @payload.json $DISCORD_WEBHOOK
+          
+          echo ""
+          echo "----   ℹ� To update the list of branches that notify to dev-feedback  -----"
+          echo ""
+          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
+          echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
+          echo "3. Update as needed (JSON array with no spaces)"
+        shell: alpine.sh {0}
\ No newline at end of file
diff --git a/release/ci/discord_template_notify_dev_private.json b/release/ci/discord_template_notify_dev_private.json
deleted file mode 100644
index 5da1e4d4055ca8..00000000000000
--- a/release/ci/discord_template_notify_dev_private.json
+++ /dev/null
@@ -1,13 +0,0 @@
-{
-  "embeds": [
-    {
-      "title": "�� Action Required for `${CI_COMMIT_REF_NAME}` ��",
-      "description": "[${CI_PROJECT_NAME}](${CI_PROJECT_URL}): Pipeline [#${CI_PIPELINE_ID}](${CI_PROJECT_URL}/-/pipelines/${CI_PIPELINE_ID}) of branch [${CI_COMMIT_REF_NAME}](${CI_PROJECT_URL}/-/commits/${CI_COMMIT_REF_NAME}) by ${GITLAB_USER_NAME} (${GITLAB_USER_LOGIN}) is ready to publish manually as [${NEW_BRANCH}](${PUBLIC_REPO_URL}/tree/${NEW_BRANCH})",
-      "color": 16763904,
-      "author": {
-        "name": "${GITLAB_USER_LOGIN}",
-        "icon_url": "${AVATAR_URL}"
-      }
-    }
-  ]
-}
diff --git a/release/ci/discord_template_notify_dev_public.json b/release/ci/discord_template_notify_dev_public.json
deleted file mode 100644
index c933ea10b4c8e5..00000000000000
--- a/release/ci/discord_template_notify_dev_public.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
-  "embeds": [
-    {
-      "title": "🎉 sunnypilot `${NEW_BRANCH}` New Update 🎉",
-      "description": "[sunnypilot](${PUBLIC_REPO_URL}): Build #${EXTRA_VERSION_IDENTIFIER} of branch [${NEW_BRANCH}](${PUBLIC_REPO_URL}/tree/${NEW_BRANCH}) has been published.\n\nDrive safe! 🚗💨",
-      "color": 4321431
-    }
-  ]
-}

From 37e493ce0d180f994109651bab55f8b5fdb1b215 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Mon, 23 Dec 2024 00:37:02 +0100
Subject: [PATCH 0024/1434] CI: Add GitHub Action to build models from upstream
 (#491)

* Add support for custom model naming in workflow

This update introduces a new optional input `custom_name` to the `sunnypilot-build-model` GitHub workflow. If provided, it customizes the artifact name; otherwise, the default naming scheme is used. This enhances flexibility for build artifact identification.

* fix name

* Update cache key logic in build workflow

Replaced `github.ref_name` with a fallback to `github.head_ref || github.ref_name` in cache keys to handle branches and pull requests more reliably. This ensures consistent cache retrieval and improves workflow efficiency.

* Simplify artifact upload logic in CI workflow

Consolidated redundant artifact upload steps into a single action, leveraging a fallback mechanism for naming. This streamlines the workflow, reducing duplication and improving maintainability.

* Make publish step resilient and add conditional notify

Added `continue-on-error` to the publish step to allow workflow progression even if it fails. Introduced a condition to notify step that depends on publish outcome being successful. These changes improve workflow reliability and error handling.

* Fix conditional syntax in GitHub Actions workflow

Updated the conditional statement in the notify job to use the correct GitHub Actions expression syntax. This ensures proper evaluation of the publish step's success outcome.

* Update condition for notify step in GitHub Actions workflow

Replaced the deprecated syntax `${{ steps.publish.outcome == 'success' }}` with the recommended `success()` function. This ensures compatibility with newer GitHub Actions features and improves maintainability.

* Update build workflow to handle PR drafts and improve concurrency

Added support for pull request draft events to trigger the workflow, ensuring drafts are not missed. Removed `continue-on-error` in the publish step to improve reliability and prevent silent failures. Simplifies and enhances workflow robustness.

* Update pull request workflows and add draft check logic

Removed unnecessary pull request event types and drafts settings, consolidating logic. Added a condition to skip publishing for non-draft pull requests, ensuring better control over the deployment process.
---
 .github/workflows/sunnypilot-build-model.yaml    | 16 ++++++++++------
 .github/workflows/sunnypilot-build-prebuilt.yaml |  2 ++
 2 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml
index bc4bd4f4a1d655..b01a7a0624febc 100644
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -14,6 +14,10 @@ on:
         required: true
         default: 'master'
         type: string
+      custom_name:
+        description: 'Custom name for the model'
+        required: false
+        type: string
 
 jobs:
   build_model:
@@ -32,11 +36,11 @@ jobs:
         uses: actions/cache@v4
         with:
           path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.ref_name }}-model-${{ github.head_ref }}-${{ github.sha }}
+          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
           restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.ref_name }}-model-${{ github.head_ref }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.ref_name }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.ref_name }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
             scons-${{ runner.os }}-${{ runner.arch }}-master-new
             scons-${{ runner.os }}-${{ runner.arch }}-master
             scons-${{ runner.os }}-${{ runner.arch }}
@@ -78,5 +82,5 @@ jobs:
       - name: Upload Build Artifacts
         uses: actions/upload-artifact@v4
         with:
-          name: model-${{ github.event.inputs.upstream_branch }}-${{ github.run_number }}
-          path: ${{ env.OUTPUT_DIR }}
\ No newline at end of file
+          name: model-${{ github.event.inputs.custom_name || github.event.inputs.upstream_branch }}-${{ github.run_number }}
+          path: ${{ env.OUTPUT_DIR }}
diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 04556e3a41b35c..367f292e0cdea5 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -191,6 +191,7 @@ jobs:
     concurrency:
       group: publish-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: true
+    if: ${{ github.event_name != 'pull_request' || github.event_name == 'pull_request' && github.event.pull_request.draft }} 
     needs: build
     runs-on: ubuntu-24.04
     environment: ${{ contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) && 'auto-deploy' || 'feature-branch' }}
@@ -237,6 +238,7 @@ jobs:
   notify:
     needs: [ build, publish ]
     runs-on: ubuntu-24.04
+    if: success()
     steps:
       - uses: actions/checkout@v4
       - name: Setup Alpine Linux environment

From bd49be185fa327d28bcdb62ec509d3d3270b3317 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Mon, 23 Dec 2024 01:03:21 +0100
Subject: [PATCH 0025/1434] ci: enable macos runners again (#495)

no need to block macos anymore. Turns out runners are free on github public repos
---
 .github/workflows/selfdrive_tests.yaml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 6bb55716a25a1e..d0e34860205341 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -95,7 +95,6 @@ jobs:
       timeout-minutes: 30
 
   build_mac:
-    if: github.repository == 'commaai/openpilot' # Blocking macos builds as well since they have a 10x miltiplier for GH action minutes, waaaay too much!
     name: build macOS
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
                    ((github.event_name != 'pull_request') ||

From cd73feec574a355bb0ff5aaff5786573c6e144a3 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Mon, 23 Dec 2024 01:47:41 +0100
Subject: [PATCH 0026/1434] ci: Update version identifier in workflow for
 staging and release (#496)

Update version identifier in workflow for staging and release

Appended "-staging" and "-release" to the VERSION variable in the GitHub Actions workflow to clearly distinguish build types. This ensures clarity in versioning for staging and release environments.
---
 .github/workflows/sunnypilot-build-prebuilt.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 367f292e0cdea5..1c450425d702db 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -72,14 +72,14 @@ jobs:
             echo "BRANCH_TYPE=master" >> $GITHUB_ENV
             echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
             echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
-            echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')" >> $GITHUB_ENV
+            echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
           
           elif [[ "${{ github.ref }}" == refs/tags/* ]]; then
             # Tag configuration
             echo "BRANCH_TYPE=tag" >> $GITHUB_ENV
             echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
             echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
-            echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')" >> $GITHUB_ENV
+            echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
           
           else
             # Feature branch configuration

From 0bfa9fca88f75194183f5780a854c6c8429d4d25 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Mon, 23 Dec 2024 09:19:26 +0100
Subject: [PATCH 0027/1434] SP: GitHub runner as service and able to toggle via
 developer panel (#494)

* Add support for GitHub Actions runner management

Introduce a new process and configuration to manage a GitHub Actions runner. Added a persistent "EnableGithubRunner" parameter and a script to control the runner service. Integrated the feature into the system's process manager logic.

* Restrict GitHub runner usage on metered networks.

This update modifies the `use_github_runner` function to include a check for metered networks using `HARDWARE.get_network_metered()`. This ensures the GitHub runner is not enabled when the network is metered, improving network usage efficiency.

* Add GitHub runner service toggle to developer panel

Introduces a new toggle in the developer panel to enable or disable the GitHub runner service. This provides developers with a convenient way to control the service from the UI.

* translations

* Refactor network condition check for GitHub runner.

Updated `use_github_runner` to include network type in metered network checks. This ensures more accurate validation by considering specific network types when determining metered status.

* Mark as executable

* Update paths and shebangs for consistency across scripts

Modified file paths to align with the new directory structure under `/data/media/0/github` and updated the shebang in `github_runner.sh` for better environment compatibility. Adjusted the `BUILD_DIR` in the GitHub workflow to reflect the new path.

* Fix string translation for GitHub runner parameter text

Added translation support for the GitHub runner service description text. This ensures consistent localization across the UI.

* Remove gitlab_runner.sh from Sunnypilot blacklist.

The script is no longer required to be blacklisted, likely due to updates or changes in its usage. This improves the maintainability of the blacklist by removing unnecessary entries.

* lang stuff

* Update BASE_DIR determination based on mount point

Refactored scripts to dynamically set BASE_DIR depending on whether /data/media is a valid mount point. This ensures compatibility with different environments and improves robustness of path resolution.

* Refactor GitHub runner logic in process_config.

Simplified enabling conditions for the GitHub runner by removing dependency on hardware network checks and adding a logical combination of offroad and runner-related functions. This improves code readability and reduces hardware coupling.
---
 .github/workflows/sunnypilot-build-model.yaml |  2 +-
 common/params.cc                              |  1 +
 release/ci/install_github_runner.sh           |  8 +++-
 release/ci/uninstall_github_runner.sh         |  8 +++-
 release/release_files.py                      |  1 -
 selfdrive/ui/qt/offroad/developer_panel.cc    |  3 ++
 selfdrive/ui/translations/main_ar.ts          |  8 ++++
 selfdrive/ui/translations/main_de.ts          |  8 ++++
 selfdrive/ui/translations/main_es.ts          |  8 ++++
 selfdrive/ui/translations/main_fr.ts          |  8 ++++
 selfdrive/ui/translations/main_ja.ts          |  8 ++++
 selfdrive/ui/translations/main_ko.ts          |  8 ++++
 selfdrive/ui/translations/main_pt-BR.ts       |  8 ++++
 selfdrive/ui/translations/main_th.ts          |  8 ++++
 selfdrive/ui/translations/main_tr.ts          |  8 ++++
 selfdrive/ui/translations/main_zh-CHS.ts      |  8 ++++
 selfdrive/ui/translations/main_zh-CHT.ts      |  8 ++++
 system/manager/github_runner.sh               | 40 +++++++++++++++++++
 system/manager/process_config.py              |  6 +++
 19 files changed, 153 insertions(+), 4 deletions(-)
 create mode 100755 system/manager/github_runner.sh

diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml
index b01a7a0624febc..9b700e186fb2a9 100644
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -1,7 +1,7 @@
 name: Build Model from Upstream
 
 env:
-  BUILD_DIR: "/data/github/openpilot"
+  BUILD_DIR: "/data/openpilot"
   OUTPUT_DIR: ${{ github.workspace }}/output
   SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
   UPSTREAM_REPO: "commaai/openpilot"
diff --git a/common/params.cc b/common/params.cc
index 2011b5213195bf..1ab37ea84c7bc2 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -200,6 +200,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"UpdaterLastFetchTime", PERSISTENT},
     {"Version", PERSISTENT},
+    {"EnableGithubRunner", PERSISTENT},
 };
 
 } // namespace
diff --git a/release/ci/install_github_runner.sh b/release/ci/install_github_runner.sh
index 3aa6b79dd36870..1b138996d6716f 100755
--- a/release/ci/install_github_runner.sh
+++ b/release/ci/install_github_runner.sh
@@ -44,10 +44,16 @@ fi
 # Set repository URL if not provided
 REPO_URL="${REPO_URL:-$DEFAULT_REPO_URL}"
 
+# Determine BASE_DIR based on mount point
+if mountpoint -q /data/media; then
+    BASE_DIR="/data/media/0/github"
+else
+    BASE_DIR="/data/github"
+fi
+
 # Constants
 RUNNER_USER="github-runner"
 USER_GROUPS="comma,gpu,gpio,sudo"
-BASE_DIR="/data/github"
 RUNNER_DIR="${BASE_DIR}/runner"
 BUILDS_DIR="${BASE_DIR}/builds"
 LOGS_DIR="${BASE_DIR}/logs"
diff --git a/release/ci/uninstall_github_runner.sh b/release/ci/uninstall_github_runner.sh
index a7b0ca3c0ea4f0..5f3acfbafd72d2 100755
--- a/release/ci/uninstall_github_runner.sh
+++ b/release/ci/uninstall_github_runner.sh
@@ -1,6 +1,12 @@
 #!/usr/bin/env bash
+# Determine BASE_DIR based on mount point
+if mountpoint -q /data/media; then
+    GITHUB_BASE_DIR="/data/media/0/github"
+else
+    GITHUB_BASE_DIR="/data/github"
+fi
+
 # Define directories and user
-GITHUB_BASE_DIR="/data/github"
 BIN_DIR="$GITHUB_BASE_DIR/bin"
 BUILDS_DIR="$GITHUB_BASE_DIR/builds"
 OPENPILOT_DIR="$GITHUB_BASE_DIR/openpilot"
diff --git a/release/release_files.py b/release/release_files.py
index 702255f965dfce..dcebb19725753e 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -51,7 +51,6 @@
 # Sunnypilot blacklist
 sunnypilot_blacklist = [
   "system/loggerd/sunnylink_uploader.py",  # Temporarily, until we are ready to roll it out widely
-  "system/manager/gitlab_runner.sh",
   ".idea/",
   ".run/",
   ".*__pycache__/.*",
diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc
index 5e127eb21f5b5b..bbd69f72cee3a3 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.cc
+++ b/selfdrive/ui/qt/offroad/developer_panel.cc
@@ -24,6 +24,9 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(longManeuverToggle);
 
+  auto enableGithubRunner = new ParamControl("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "");
+  addItem(enableGithubRunner);
+
   // Joystick and longitudinal maneuvers should be hidden on release branches
   is_release = params.getBool("IsReleaseBranch");
 
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 2315268a72c8c2..0b18af4f25e709 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -123,6 +123,14 @@
         <source>Longitudinal Maneuver Mode</source>
         <translation>وضع المناورة الطولية</translation>
     </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 2abed6e3055deb..1f40c2e40aa614 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -123,6 +123,14 @@
         <source>Longitudinal Maneuver Mode</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 38ba964f111f4d..6a27d491376252 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -123,6 +123,14 @@
         <source>Longitudinal Maneuver Mode</source>
         <translation>Modo de maniobra longitudinal</translation>
     </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index f4251bc41d3e79..bcaff48bbe697d 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -123,6 +123,14 @@
         <source>Longitudinal Maneuver Mode</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index bc83d3f9ae5b72..9e16d612f24ce3 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -123,6 +123,14 @@
         <source>Longitudinal Maneuver Mode</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 1d2a753e1f4b03..4bbcae92a763a0 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -123,6 +123,14 @@
         <source>Longitudinal Maneuver Mode</source>
         <translation>롱컨 기� 모드</translation>
     </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index a89c85510e7fe2..ec3d18628757ca 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -123,6 +123,14 @@
         <source>Longitudinal Maneuver Mode</source>
         <translation>Modo Longitudinal Maneuver</translation>
     </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index c2b2771830eabf..82e135a856c062 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -123,6 +123,14 @@
         <source>Longitudinal Maneuver Mode</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 9a53449276fcd8..58da05c4dabbe5 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -123,6 +123,14 @@
         <source>Longitudinal Maneuver Mode</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index f061322c45f6fa..ab679b7f09a56e 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -123,6 +123,14 @@
         <source>Longitudinal Maneuver Mode</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 04e76a8d957272..f88b12abada4e1 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -123,6 +123,14 @@
         <source>Longitudinal Maneuver Mode</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/system/manager/github_runner.sh b/system/manager/github_runner.sh
new file mode 100755
index 00000000000000..f2170cfc702785
--- /dev/null
+++ b/system/manager/github_runner.sh
@@ -0,0 +1,40 @@
+#!/usr/bin/env bash
+
+# Define the service name
+SERVICE_NAME="actions.runner.sunnypilot.$(uname -n)"
+
+# Function to control the service
+control_service() {
+    local action=$1  # Store the function argument in a local variable
+    sudo systemctl $action ${SERVICE_NAME}
+}
+
+service_exists_and_is_loaded() {
+    sudo systemctl status ${SERVICE_NAME} &>/dev/null
+    if [[ $? -ne 4 ]]; then
+        return 0  # Service is known to systemd (i.e., loaded)
+    else
+        return 1  # Service is unknown to systemd (i.e., not loaded)
+    fi
+}
+
+# Check for required argument
+if [[ -z $1 ]] || { [[ $1 != "start" ]] && [[ $1 != "stop" ]]; }; then
+    echo "Usage: $0 {start|stop}"
+    exit 1
+fi
+
+# Store the script argument in a descriptive variable
+ACTION=$1
+
+# Trap EXIT signal (Ctrl+C) and stop the service
+trap 'control_service stop ; exit' SIGINT SIGKILL EXIT
+
+# Enter the main loop
+while true; do
+    # Check if the service is actually present on the system
+    if service_exists_and_is_loaded; then
+        control_service $ACTION  # Call the function with the specified action
+    fi
+    sleep 1  # Pause before the next iteration
+done
\ No newline at end of file
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index a25be615f49e8b..09b897363c6b01 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -54,6 +54,9 @@ def only_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
 def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
   return not started
 
+def use_github_runner(started, params, CP: car.CarParams) -> bool:
+  return not PC and params.get_bool("EnableGithubRunner") and not params.get_bool("NetworkMetered")
+
 def or_(*fns):
   return lambda *args: operator.or_(*(fn(*args) for fn in fns))
 
@@ -111,4 +114,7 @@ def and_(*fns):
   PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
 ]
 
+if os.path.exists("./github_runner.sh"):
+  procs += [NativeProcess("github_runner_start", "system/manager", ["./github_runner.sh", "start"], and_(only_offroad, use_github_runner), sigkill=False)]
+
 managed_processes = {p.name: p for p in procs}

From 262d17ead2821cacece44e0691266fe68dc1f971 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Tue, 24 Dec 2024 07:14:06 +0100
Subject: [PATCH 0028/1434] Tools: Setup CLion run configs and external tools
 (#486)

* Add CLion run configs and external tools setup

Introduced CLion configuration files for "Build Debug" and "Build Release," along with external tool definitions for Poetry SCons commands. Additionally, commented out `.idea` in `.gitignore` to track necessary project-specific settings.

* rename

* only exclude specific files from gitignore

* wildcard

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .gitignore                     |  5 +++++
 .idea/customTargets.xml        | 25 +++++++++++++++++++++++++
 .idea/tools/External Tools.xml | 23 +++++++++++++++++++++++
 .run/Build Debug.run.xml       | 10 ++++++++++
 .run/Build Release.run.xml     | 10 ++++++++++
 5 files changed, 73 insertions(+)
 create mode 100644 .idea/customTargets.xml
 create mode 100644 .idea/tools/External Tools.xml
 create mode 100644 .run/Build Debug.run.xml
 create mode 100644 .run/Build Release.run.xml

diff --git a/.gitignore b/.gitignore
index 4562e47817a321..a58a46fef9c045 100644
--- a/.gitignore
+++ b/.gitignore
@@ -103,3 +103,8 @@ Pipfile
 # Ignore all local history of files
 .history
 .ionide
+
+### JetBrains ###
+!.idea/customTargets.xml
+!.idea/tools/*
+!.run/*
diff --git a/.idea/customTargets.xml b/.idea/customTargets.xml
new file mode 100644
index 00000000000000..772000ec3a1cfe
--- /dev/null
+++ b/.idea/customTargets.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CLionExternalBuildManager">
+    <target id="a62f99e8-5ec4-434c-8122-49efed5af108" name="uv Scons Build Debug" defaultType="TOOL">
+      <configuration id="b93ec964-16e5-4962-a12e-3ed360ce8f02" name="uv Scons Build Debug">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_uv Scons Build Debug" />
+        </build>
+        <clean type="TOOL">
+          <tool actionId="Tool_External Tools_uv Scons Clean" />
+        </clean>
+      </configuration>
+    </target>
+    <target id="edd8ad9d-183b-467c-a355-0d9a0ecab026" name="uv Scons Build Release" defaultType="TOOL">
+      <configuration id="09523339-5ce3-4223-ab9e-904f38ad7752" name="uv Scons Build Release">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_uv Scons Build Release" />
+        </build>
+        <clean type="TOOL">
+          <tool actionId="Tool_External Tools_uv Scons Clean" />
+        </clean>
+      </configuration>
+    </target>
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/tools/External Tools.xml b/.idea/tools/External Tools.xml
new file mode 100644
index 00000000000000..fa2375e2eee810
--- /dev/null
+++ b/.idea/tools/External Tools.xml	
@@ -0,0 +1,23 @@
+<toolSet name="External Tools">
+  <tool name="uv Scons Build Debug" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
+    <exec>
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db --ccflags=\&quot;-fno-inline\&quot;&quot;" />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
+    </exec>
+  </tool>
+  <tool name="uv Scons Clean" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
+    <exec>
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -c&quot; " />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
+    </exec>
+  </tool>
+  <tool name="uv Scons Build Release" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
+    <exec>
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db&quot; " />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
+    </exec>
+  </tool>
+</toolSet>
\ No newline at end of file
diff --git a/.run/Build Debug.run.xml b/.run/Build Debug.run.xml
new file mode 100644
index 00000000000000..beddbc15d5aaf9
--- /dev/null
+++ b/.run/Build Debug.run.xml	
@@ -0,0 +1,10 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+    <envs>
+      <env name="QT_DBL_CLICK_DIST" value="150" />
+    </envs>
+    <method v="2">
+      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/.run/Build Release.run.xml b/.run/Build Release.run.xml
new file mode 100644
index 00000000000000..0d5fe219333ade
--- /dev/null
+++ b/.run/Build Release.run.xml	
@@ -0,0 +1,10 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build Release" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Release" CONFIG_NAME="uv Scons Build Release" RUN_PATH="ui">
+    <envs>
+      <env name="QT_DBL_CLICK_DIST" value="150" />
+    </envs>
+    <method v="2">
+      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>
\ No newline at end of file

From 3717a111afed884375f70ba1f288b9aadd6268ec Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 3 Jan 2025 09:36:36 -0500
Subject: [PATCH 0029/1434] ui: sunnypilot offroad UI (#500)

* add sp flag

* return if sp macro

* controls

* drive stats

* some more

* more

* skip the whole thing

* missed

* more

* more main

* not ready to push yet but sure

* get them icons

* later

* own icons

* Revert "own icons"

This reverts commit e07bd8e6708a46e7ae84a30a23a6d811ad517a59.

* blank icon

* render differently on mac

* static

* set toggle and title space properly

* format

* remove prior objects

* good spacing for ButtonParamControlSP

* more space formatting

* on device fix

* update home wifi prompt

* handle AbstractControlSP_SELECTOR hide events properly

* use sp

* ignore name

* more

* keep spacing

* better flag

* settings button moved

* small cleanup

* move files to sp dir

* remove for now

* developer different icon

* add scrolling to ui test

* Revert "add scrolling to ui test"

This reverts commit c8d1c65d89b238b079b5d0ee0c873b5f7e619749.

* format

* make them virtual

* do we still need this?

* Apply suggestions from code review

Co-authored-by: DevTekVE <devtekve@gmail.com>

* revert for now

* shorter license

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .codespellignore                              |   1 +
 SConstruct                                    |  10 +
 scripts/lint/lint.sh                          |   2 +-
 selfdrive/ui/SConscript                       |  10 +-
 selfdrive/ui/main.cc                          |   8 +-
 selfdrive/ui/qt/body.h                        |   6 +
 selfdrive/ui/qt/home.h                        |  22 +-
 selfdrive/ui/qt/network/networking.cc         |   6 +
 selfdrive/ui/qt/network/networking.h          |  11 +
 selfdrive/ui/qt/offroad/developer_panel.cc    |   7 +-
 selfdrive/ui/qt/offroad/developer_panel.h     |   4 +
 selfdrive/ui/qt/offroad/onboarding.h          |   7 +-
 selfdrive/ui/qt/offroad/settings.cc           |   3 +
 selfdrive/ui/qt/offroad/settings.h            |  30 +-
 selfdrive/ui/qt/onroad/buttons.h              |   4 +
 selfdrive/ui/qt/onroad/model.h                |   4 +
 selfdrive/ui/qt/onroad/onroad_home.cc         |   4 +
 selfdrive/ui/qt/onroad/onroad_home.h          |  12 +-
 selfdrive/ui/qt/request_repeater.h            |   5 +
 selfdrive/ui/qt/sidebar.cc                    |   4 +
 selfdrive/ui/qt/sidebar.h                     |   8 +-
 selfdrive/ui/qt/util.h                        |   6 +
 selfdrive/ui/qt/widgets/cameraview.h          |   5 +
 selfdrive/ui/qt/widgets/controls.cc           |   3 +
 selfdrive/ui/qt/widgets/controls.h            |   6 +-
 selfdrive/ui/qt/widgets/ssh_keys.h            |   7 +
 selfdrive/ui/qt/widgets/toggle.h              |   3 +-
 selfdrive/ui/qt/widgets/wifi.h                |   5 +
 selfdrive/ui/qt/window.cc                     |  11 +-
 selfdrive/ui/qt/window.h                      |  13 +-
 selfdrive/ui/tests/test_ui/run.py             |   4 +-
 selfdrive/ui/ui.cc                            |  12 +-
 selfdrive/ui/ui.h                             |  19 +-
 .../selfdrive/assets/offroad/icon_home.svg    |   3 +
 .../assets/offroad/icon_software.png          |   3 +
 .../selfdrive/assets/offroad/icon_toggle.png  |   3 +
 sunnypilot/selfdrive/ui/.gitignore            |   2 +
 sunnypilot/selfdrive/ui/SConscript            |  21 +
 sunnypilot/selfdrive/ui/qt/home.cc            |  19 +
 sunnypilot/selfdrive/ui/qt/home.h             |  38 ++
 .../ui/qt/offroad/settings/onboarding.cc      | 102 +++
 .../ui/qt/offroad/settings/onboarding.h       |  35 ++
 .../ui/qt/offroad/settings/settings.cc        | 146 +++++
 .../ui/qt/offroad/settings/settings.h         |  39 ++
 .../selfdrive/ui/qt/onroad/onroad_home.cc     |  32 +
 .../selfdrive/ui/qt/onroad/onroad_home.h      |  24 +
 sunnypilot/selfdrive/ui/qt/sidebar.cc         |  27 +
 sunnypilot/selfdrive/ui/qt/sidebar.h          |  27 +
 .../selfdrive/ui/qt/widgets/controls.cc       | 254 ++++++++
 sunnypilot/selfdrive/ui/qt/widgets/controls.h | 588 ++++++++++++++++++
 .../selfdrive/ui/qt/widgets/drive_stats.cc    | 103 +++
 .../selfdrive/ui/qt/widgets/drive_stats.h     |  32 +
 .../selfdrive/ui/qt/widgets/scrollview.cc     |  37 ++
 .../selfdrive/ui/qt/widgets/scrollview.h      |  24 +
 sunnypilot/selfdrive/ui/qt/widgets/toggle.cc  |  30 +
 sunnypilot/selfdrive/ui/qt/widgets/toggle.h   |  20 +
 sunnypilot/selfdrive/ui/qt/window.cc          |  20 +
 sunnypilot/selfdrive/ui/qt/window.h           |  26 +
 sunnypilot/selfdrive/ui/ui.cc                 |  53 ++
 sunnypilot/selfdrive/ui/ui.h                  |  38 ++
 60 files changed, 1956 insertions(+), 52 deletions(-)
 create mode 100644 .codespellignore
 create mode 100644 sunnypilot/selfdrive/assets/offroad/icon_home.svg
 create mode 100644 sunnypilot/selfdrive/assets/offroad/icon_software.png
 create mode 100644 sunnypilot/selfdrive/assets/offroad/icon_toggle.png
 create mode 100644 sunnypilot/selfdrive/ui/.gitignore
 create mode 100644 sunnypilot/selfdrive/ui/SConscript
 create mode 100644 sunnypilot/selfdrive/ui/qt/home.cc
 create mode 100644 sunnypilot/selfdrive/ui/qt/home.h
 create mode 100644 sunnypilot/selfdrive/ui/qt/offroad/settings/onboarding.cc
 create mode 100644 sunnypilot/selfdrive/ui/qt/offroad/settings/onboarding.h
 create mode 100644 sunnypilot/selfdrive/ui/qt/offroad/settings/settings.cc
 create mode 100644 sunnypilot/selfdrive/ui/qt/offroad/settings/settings.h
 create mode 100644 sunnypilot/selfdrive/ui/qt/onroad/onroad_home.cc
 create mode 100644 sunnypilot/selfdrive/ui/qt/onroad/onroad_home.h
 create mode 100644 sunnypilot/selfdrive/ui/qt/sidebar.cc
 create mode 100644 sunnypilot/selfdrive/ui/qt/sidebar.h
 create mode 100644 sunnypilot/selfdrive/ui/qt/widgets/controls.cc
 create mode 100644 sunnypilot/selfdrive/ui/qt/widgets/controls.h
 create mode 100644 sunnypilot/selfdrive/ui/qt/widgets/drive_stats.cc
 create mode 100644 sunnypilot/selfdrive/ui/qt/widgets/drive_stats.h
 create mode 100644 sunnypilot/selfdrive/ui/qt/widgets/scrollview.cc
 create mode 100644 sunnypilot/selfdrive/ui/qt/widgets/scrollview.h
 create mode 100644 sunnypilot/selfdrive/ui/qt/widgets/toggle.cc
 create mode 100644 sunnypilot/selfdrive/ui/qt/widgets/toggle.h
 create mode 100644 sunnypilot/selfdrive/ui/qt/window.cc
 create mode 100644 sunnypilot/selfdrive/ui/qt/window.h
 create mode 100644 sunnypilot/selfdrive/ui/ui.cc
 create mode 100644 sunnypilot/selfdrive/ui/ui.h

diff --git a/.codespellignore b/.codespellignore
new file mode 100644
index 00000000000000..916169347a53d1
--- /dev/null
+++ b/.codespellignore
@@ -0,0 +1 @@
+Wen
diff --git a/SConstruct b/SConstruct
index 934143fa08af20..39f7d14d03d184 100644
--- a/SConstruct
+++ b/SConstruct
@@ -74,6 +74,12 @@ AddOption('--minimal',
           default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
+AddOption('--stock-ui',
+          action='store_true',
+          dest='stock_ui',
+          default=False,
+          help='Build stock openpilot UI instead of sunnypilot UI')
+
 ## Architecture name breakdown (arch)
 ## - larch64: linux tici aarch64
 ## - aarch64: linux pc aarch64
@@ -172,6 +178,10 @@ else:
 if arch != "Darwin":
   ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
 
+if not GetOption('stock_ui'):
+  cflags += ["-DSUNNYPILOT"]
+  cxxflags += ["-DSUNNYPILOT"]
+
 ccflags_option = GetOption('ccflags')
 if ccflags_option:
   ccflags += ccflags_option.split(' ')
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index 0002a447262453..94ba59beedac28 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -57,7 +57,7 @@ function run_tests() {
 
   if [[ -z "$FAST" ]]; then
     run "mypy" mypy $PYTHON_FILES
-    run "codespell" codespell $ALL_FILES
+    run "codespell" codespell $ALL_FILES --ignore-words=$ROOT/.codespellignore
   fi
 
   return $FAILED
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index c851d7a969332e..f3957c3d0347c7 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -12,6 +12,12 @@ if arch == "Darwin":
   del base_libs[base_libs.index('OpenCL')]
   qt_env['FRAMEWORKS'] += ['OpenCL']
 
+sp_widgets_src = []
+sp_qt_src = []
+if not GetOption('stock_ui'):
+  SConscript(['../../sunnypilot/selfdrive/ui/SConscript'])
+  Import('sp_widgets_src', 'sp_qt_src')
+
 # FIXME: remove this once we're on 5.15 (24.04)
 qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
 
@@ -20,7 +26,7 @@ widgets_src = ["qt/widgets/input.cc", "qt/widgets/wifi.cc", "qt/prime_state.cc",
                "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc",
                "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc",
                "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc",
-               "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc"]
+               "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc"] + sp_widgets_src
 
 widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs)
 Export('widgets')
@@ -31,7 +37,7 @@ qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc",
           "qt/offroad/software_settings.cc", "qt/offroad/developer_panel.cc", "qt/offroad/onboarding.cc",
           "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
           "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc", "qt/onroad/model.cc",
-          "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"]
+          "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"] + sp_qt_src
 
 # build translation files
 with open(File("translations/languages.json").abspath) as f:
diff --git a/selfdrive/ui/main.cc b/selfdrive/ui/main.cc
index 4903a3db3dcc07..268a3d000b2946 100644
--- a/selfdrive/ui/main.cc
+++ b/selfdrive/ui/main.cc
@@ -4,10 +4,16 @@
 #include <QTranslator>
 
 #include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/window.h"
 
+#ifdef SUNNYPILOT
+#include "../../sunnypilot/selfdrive/ui/qt/window.h"
+#define MainWindow MainWindowSP
+#else
+#include "selfdrive/ui/qt/qt_window.h"
+#endif
+
 int main(int argc, char *argv[]) {
   setpriority(PRIO_PROCESS, 0, -20);
 
diff --git a/selfdrive/ui/qt/body.h b/selfdrive/ui/qt/body.h
index 567a54d49befd5..b0ea20e552ab4c 100644
--- a/selfdrive/ui/qt/body.h
+++ b/selfdrive/ui/qt/body.h
@@ -5,7 +5,13 @@
 #include <QPushButton>
 
 #include "common/util.h"
+
+#ifdef SUNNYPILOT
+#include "../../sunnypilot/selfdrive/ui/ui.h"
+#define UIState UIStateSP
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 
 class RecordButton : public QPushButton {
   Q_OBJECT
diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h
index 55bc706c0ddf8f..24ae756584936a 100644
--- a/selfdrive/ui/qt/home.h
+++ b/selfdrive/ui/qt/home.h
@@ -9,12 +9,23 @@
 
 #include "common/params.h"
 #include "selfdrive/ui/qt/body.h"
-#include "selfdrive/ui/qt/onroad/onroad_home.h"
-#include "selfdrive/ui/qt/sidebar.h"
-#include "selfdrive/ui/qt/widgets/controls.h"
 #include "selfdrive/ui/qt/widgets/offroad_alerts.h"
 #include "selfdrive/ui/ui.h"
 
+#ifdef SUNNYPILOT
+#include "../../sunnypilot/selfdrive/ui/qt/widgets/controls.h"
+#include "../../sunnypilot/selfdrive/ui/qt/onroad/onroad_home.h"
+#include "../../sunnypilot/selfdrive/ui/qt/sidebar.h"
+#define OnroadWindow OnroadWindowSP
+#define LayoutWidget LayoutWidgetSP
+#define Sidebar SidebarSP
+#define ElidedLabel ElidedLabelSP
+#else
+#include "selfdrive/ui/qt/widgets/controls.h"
+#include "selfdrive/ui/qt/onroad/onroad_home.h"
+#include "selfdrive/ui/qt/sidebar.h"
+#endif
+
 class OffroadHome : public QFrame {
   Q_OBJECT
 
@@ -58,13 +69,12 @@ public slots:
   void mousePressEvent(QMouseEvent* e) override;
   void mouseDoubleClickEvent(QMouseEvent* e) override;
 
-private:
   Sidebar *sidebar;
   OffroadHome *home;
   OnroadWindow *onroad;
   BodyWindow *body;
   QStackedLayout *slayout;
 
-private slots:
-  void updateState(const UIState &s);
+protected slots:
+  virtual void updateState(const UIState &s);
 };
diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc
index 066dc3ca7ebbec..0f101a35c384e3 100644
--- a/selfdrive/ui/qt/network/networking.cc
+++ b/selfdrive/ui/qt/network/networking.cc
@@ -8,8 +8,14 @@
 
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/util.h"
+
+#ifdef SUNNYPILOT
+#include "../../sunnypilot/selfdrive/ui/qt/widgets/controls.h"
+#include "../../sunnypilot/selfdrive/ui/qt/widgets/scrollview.h"
+#else
 #include "selfdrive/ui/qt/widgets/controls.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
+#endif
 
 static const int ICON_WIDTH = 49;
 
diff --git a/selfdrive/ui/qt/network/networking.h b/selfdrive/ui/qt/network/networking.h
index 4fd604039b4eca..93d7229e94bf0f 100644
--- a/selfdrive/ui/qt/network/networking.h
+++ b/selfdrive/ui/qt/network/networking.h
@@ -8,6 +8,17 @@
 #include "selfdrive/ui/qt/widgets/ssh_keys.h"
 #include "selfdrive/ui/qt/widgets/toggle.h"
 
+#ifdef SUNNYPILOT
+#include "../../sunnypilot/selfdrive/ui/qt/widgets/controls.h"
+#define ButtonControl ButtonControlSP
+#define ElidedLabel ElidedLabelSP
+#define LabelControl LabelControlSP
+#define ListWidget ListWidgetSP
+#define ToggleControl ToggleControlSP
+#else
+#include "selfdrive/ui/qt/widgets/controls.h"
+#endif
+
 class WifiItem : public QWidget {
   Q_OBJECT
 public:
diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc
index bbd69f72cee3a3..190a18d46d4cb8 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.cc
+++ b/selfdrive/ui/qt/offroad/developer_panel.cc
@@ -2,9 +2,14 @@
 
 #include "selfdrive/ui/qt/offroad/developer_panel.h"
 #include "selfdrive/ui/qt/widgets/ssh_keys.h"
-#include "selfdrive/ui/qt/widgets/controls.h"
 #include "common/util.h"
 
+#ifdef SUNNYPILOT
+#include "../../sunnypilot/selfdrive/ui/qt/widgets/controls.h"
+#else
+#include "selfdrive/ui/qt/widgets/controls.h"
+#endif
+
 DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   // SSH keys
   addItem(new SshToggle());
diff --git a/selfdrive/ui/qt/offroad/developer_panel.h b/selfdrive/ui/qt/offroad/developer_panel.h
index fe38612e573bb8..824660458b4377 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.h
+++ b/selfdrive/ui/qt/offroad/developer_panel.h
@@ -1,6 +1,10 @@
 #pragma once
 
+#ifdef SUNNYPILOT
+#include "../../sunnypilot/selfdrive/ui/qt/offroad/settings/settings.h"
+#else
 #include "selfdrive/ui/qt/offroad/settings.h"
+#endif
 
 class DeveloperPanel : public ListWidget {
   Q_OBJECT
diff --git a/selfdrive/ui/qt/offroad/onboarding.h b/selfdrive/ui/qt/offroad/onboarding.h
index a1b6895ba087d0..0f6dbb50630c51 100644
--- a/selfdrive/ui/qt/offroad/onboarding.h
+++ b/selfdrive/ui/qt/offroad/onboarding.h
@@ -71,6 +71,7 @@ public slots:
 private:
   void showEvent(QShowEvent *event) override;
 
+protected:
   QPushButton *accept_btn;
 
 signals:
@@ -97,10 +98,10 @@ class OnboardingWindow : public QStackedWidget {
 public:
   explicit OnboardingWindow(QWidget *parent = 0);
   inline void showTrainingGuide() { setCurrentIndex(1); }
-  inline bool completed() const { return accepted_terms && training_done; }
+  virtual inline bool completed() const { return accepted_terms && training_done; }
 
-private:
-  void updateActiveScreen();
+protected:
+  virtual void updateActiveScreen();
 
   Params params;
   bool accepted_terms = false, training_done = false;
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index d4aab53f5afcb6..93dcd793c942cb 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -100,7 +100,9 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   }
 
   // Toggles with confirmation dialogs
+#ifndef SUNNYPILOT
   toggles["ExperimentalMode"]->setActiveIcon("../assets/img_experimental.svg");
+#endif
   toggles["ExperimentalMode"]->setConfirmation(true, true);
   toggles["ExperimentalLongitudinalEnabled"]->setConfirmation(true, false);
 
@@ -354,6 +356,7 @@ void SettingsWindow::setCurrentPanel(int index, const QString &param) {
 }
 
 SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
+  RETURN_IF_SUNNYPILOT
 
   // setup two main layouts
   sidebar_widget = new QWidget;
diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h
index de0528ee0a62b4..9c4acac5828e76 100644
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -10,9 +10,21 @@
 #include <QStackedWidget>
 #include <QWidget>
 
-#include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/util.h"
+
+#ifdef SUNNYPILOT
+#include "../../sunnypilot/selfdrive/ui/ui.h"
+#include "../../sunnypilot/selfdrive/ui/qt/widgets/controls.h"
+#define ListWidget ListWidgetSP
+#define ParamControl ParamControlSP
+#define ButtonControl ButtonControlSP
+#define ButtonParamControl ButtonParamControlSP
+#define ToggleControl ToggleControlSP
+#define LabelControl LabelControlSP
+#else
+#include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
+#endif
 
 // ********** settings window + top-level panels **********
 class SettingsWindow : public QFrame {
@@ -30,7 +42,7 @@ class SettingsWindow : public QFrame {
   void reviewTrainingGuide();
   void expandToggleDescription(const QString &param);
 
-private:
+protected:
   QPushButton *sidebar_alert_widget;
   QWidget *sidebar_widget;
   QButtonGroup *nav_btns;
@@ -45,12 +57,12 @@ class DevicePanel : public ListWidget {
 signals:
   void reviewTrainingGuide();
 
-private slots:
+protected slots:
   void poweroff();
   void reboot();
   void updateCalibDescription();
 
-private:
+protected:
   Params params;
   ButtonControl *pair_device;
 };
@@ -64,15 +76,15 @@ class TogglesPanel : public ListWidget {
 public slots:
   void expandToggleDescription(const QString &param);
 
-private slots:
-  void updateState(const UIState &s);
+protected slots:
+  virtual void updateState(const UIState &s);
 
-private:
+protected:
   Params params;
   std::map<std::string, ParamControl*> toggles;
   ButtonParamControl *long_personality_setting;
 
-  void updateToggles();
+  virtual void updateToggles();
 };
 
 class SoftwarePanel : public ListWidget {
@@ -80,7 +92,7 @@ class SoftwarePanel : public ListWidget {
 public:
   explicit SoftwarePanel(QWidget* parent = nullptr);
 
-private:
+protected:
   void showEvent(QShowEvent *event) override;
   void updateLabels();
   void checkForUpdates();
diff --git a/selfdrive/ui/qt/onroad/buttons.h b/selfdrive/ui/qt/onroad/buttons.h
index 9c91bc3c7b649f..6bf479d136576f 100644
--- a/selfdrive/ui/qt/onroad/buttons.h
+++ b/selfdrive/ui/qt/onroad/buttons.h
@@ -2,7 +2,11 @@
 
 #include <QPushButton>
 
+#ifdef SUNNYPILOT
+#include "../../sunnypilot/selfdrive/ui/ui.h"
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 
 const int btn_size = 192;
 const int img_size = (btn_size / 4) * 3;
diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h
index 79547e4b831451..d2303eebd6c33e 100644
--- a/selfdrive/ui/qt/onroad/model.h
+++ b/selfdrive/ui/qt/onroad/model.h
@@ -3,7 +3,11 @@
 #include <QPainter>
 #include <QPolygonF>
 
+#ifdef SUNNYPILOT
+#include "../../sunnypilot/selfdrive/ui/ui.h"
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 
 class ModelRenderer {
 public:
diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc
index 080f9bd50fa4a9..7db9a05a0cb367 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.cc
+++ b/selfdrive/ui/qt/onroad/onroad_home.cc
@@ -35,8 +35,12 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   alerts->raise();
 
   setAttribute(Qt::WA_OpaquePaintEvent);
+
+  // We handle the connection of the signals on the derived class
+#ifndef SUNNYPILOT
   QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
   QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
+#endif
 }
 
 void OnroadWindow::updateState(const UIState &s) {
diff --git a/selfdrive/ui/qt/onroad/onroad_home.h b/selfdrive/ui/qt/onroad/onroad_home.h
index c321d2d44f479c..2224ede32e1555 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.h
+++ b/selfdrive/ui/qt/onroad/onroad_home.h
@@ -3,20 +3,24 @@
 #include "selfdrive/ui/qt/onroad/alerts.h"
 #include "selfdrive/ui/qt/onroad/annotated_camera.h"
 
+#ifdef SUNNYPILOT
+#define UIState UIStateSP
+#endif
+
 class OnroadWindow : public QWidget {
   Q_OBJECT
 
 public:
   OnroadWindow(QWidget* parent = 0);
 
-private:
+protected:
   void paintEvent(QPaintEvent *event);
   OnroadAlerts *alerts;
   AnnotatedCameraWidget *nvg;
   QColor bg = bg_colors[STATUS_DISENGAGED];
   QHBoxLayout* split;
 
-private slots:
-  void offroadTransition(bool offroad);
-  void updateState(const UIState &s);
+protected slots:
+  virtual void offroadTransition(bool offroad);
+  virtual void updateState(const UIState &s);
 };
diff --git a/selfdrive/ui/qt/request_repeater.h b/selfdrive/ui/qt/request_repeater.h
index c0e27582736138..7c3c740b5e3505 100644
--- a/selfdrive/ui/qt/request_repeater.h
+++ b/selfdrive/ui/qt/request_repeater.h
@@ -2,7 +2,12 @@
 
 #include "common/util.h"
 #include "selfdrive/ui/qt/api.h"
+
+#ifdef SUNNYPILOT
+#include "../../sunnypilot/selfdrive/ui/ui.h"
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 
 class RequestRepeater : public HttpRequest {
 public:
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index 966396edc23aa1..866a5b62d0b36b 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -110,6 +110,10 @@ void Sidebar::updateState(const UIState &s) {
 
 void Sidebar::paintEvent(QPaintEvent *event) {
   QPainter p(this);
+  paintSidebar(p);
+}
+
+void Sidebar::paintSidebar(QPainter &p) {
   p.setPen(Qt::NoPen);
   p.setRenderHint(QPainter::Antialiasing);
 
diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h
index 2091418e528675..d23427336e55e3 100644
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -5,9 +5,14 @@
 #include <QFrame>
 #include <QMap>
 
-#include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/network/networking.h"
 
+#ifdef SUNNYPILOT
+#include "../../sunnypilot/selfdrive/ui/ui.h"
+#else
+#include "selfdrive/ui/ui.h"
+#endif
+
 typedef QPair<QPair<QString, QString>, QColor> ItemStatus;
 Q_DECLARE_METATYPE(ItemStatus);
 
@@ -35,6 +40,7 @@ public slots:
   void mousePressEvent(QMouseEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override;
   void drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y);
+  virtual void paintSidebar(QPainter &p);
 
   QPixmap home_img, flag_img, settings_img;
   bool onroad, flag_pressed, settings_pressed;
diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h
index 2bf1a70a62a437..6ea53d354a14d7 100644
--- a/selfdrive/ui/qt/util.h
+++ b/selfdrive/ui/qt/util.h
@@ -13,6 +13,12 @@
 #include "cereal/gen/cpp/car.capnp.h"
 #include "common/params.h"
 
+#ifdef SUNNYPILOT
+#define RETURN_IF_SUNNYPILOT return;
+#else
+#define RETURN_IF_SUNNYPILOT  // Do nothing
+#endif
+
 QString getVersion();
 QString getBrand();
 QString getUserAgent();
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index 29aa8493c72dfa..63b2bf862888f2 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -23,7 +23,12 @@
 #endif
 
 #include "msgq/visionipc/visionipc_client.h"
+
+#ifdef SUNNYPILOT
+#include "../../sunnypilot/selfdrive/ui/ui.h"
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 
 const int FRAME_BUFFER_SIZE = 5;
 
diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc
index 40dda971f51e6f..7dd3178200ffaf 100644
--- a/selfdrive/ui/qt/widgets/controls.cc
+++ b/selfdrive/ui/qt/widgets/controls.cc
@@ -3,7 +3,10 @@
 #include <QPainter>
 #include <QStyleOption>
 
+#include "selfdrive/ui/qt/util.h"
+
 AbstractControl::AbstractControl(const QString &title, const QString &desc, const QString &icon, QWidget *parent) : QFrame(parent) {
+  RETURN_IF_SUNNYPILOT
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setMargin(0);
 
diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h
index aebf934f2a2566..9562c4ad224871 100644
--- a/selfdrive/ui/qt/widgets/controls.h
+++ b/selfdrive/ui/qt/widgets/controls.h
@@ -40,7 +40,7 @@ class AbstractControl : public QFrame {
   Q_OBJECT
 
 public:
-  void setDescription(const QString &desc) {
+  virtual void setDescription(const QString &desc) {
     if (description) description->setText(desc);
   }
 
@@ -52,7 +52,7 @@ class AbstractControl : public QFrame {
     value->setText(val);
   }
 
-  const QString getDescription() {
+  virtual const QString getDescription() {
     return description->text();
   }
 
@@ -60,7 +60,7 @@ class AbstractControl : public QFrame {
   QPixmap icon_pixmap;
 
 public slots:
-  void showDescription() {
+  virtual void showDescription() {
     description->setVisible(true);
   }
 
diff --git a/selfdrive/ui/qt/widgets/ssh_keys.h b/selfdrive/ui/qt/widgets/ssh_keys.h
index 920bd651e2dcd0..53f0afac1bf796 100644
--- a/selfdrive/ui/qt/widgets/ssh_keys.h
+++ b/selfdrive/ui/qt/widgets/ssh_keys.h
@@ -3,7 +3,14 @@
 #include <QPushButton>
 
 #include "system/hardware/hw.h"
+
+#ifdef SUNNYPILOT
+#include "../../sunnypilot/selfdrive/ui/qt/widgets/controls.h"
+#define ButtonControl ButtonControlSP
+#define ToggleControl ToggleControlSP
+#else
 #include "selfdrive/ui/qt/widgets/controls.h"
+#endif
 
 // SSH enable toggle
 class SshToggle : public ToggleControl {
diff --git a/selfdrive/ui/qt/widgets/toggle.h b/selfdrive/ui/qt/widgets/toggle.h
index e7263a008fa183..a0fa434a4ce57a 100644
--- a/selfdrive/ui/qt/widgets/toggle.h
+++ b/selfdrive/ui/qt/widgets/toggle.h
@@ -23,14 +23,13 @@ class Toggle : public QAbstractButton {
     update();
   }
   bool getEnabled();
-  void setEnabled(bool value);
+  virtual void setEnabled(bool value);
 
 protected:
   void paintEvent(QPaintEvent*) override;
   void mouseReleaseEvent(QMouseEvent*) override;
   void enterEvent(QEvent*) override;
 
-private:
   QColor circleColor;
   QColor green;
   bool enabled = true;
diff --git a/selfdrive/ui/qt/widgets/wifi.h b/selfdrive/ui/qt/widgets/wifi.h
index 60c865f2b89a9c..40552a699d038d 100644
--- a/selfdrive/ui/qt/widgets/wifi.h
+++ b/selfdrive/ui/qt/widgets/wifi.h
@@ -4,7 +4,12 @@
 #include <QStackedLayout>
 #include <QWidget>
 
+#ifdef SUNNYPILOT
+#include "../../sunnypilot/selfdrive/ui/ui.h"
+#define UIState UIStateSP
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 
 class WiFiPromptWidget : public QFrame {
   Q_OBJECT
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index e1ec916c6fda0e..c28f3a24229e46 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -4,16 +4,20 @@
 
 #include "system/hardware/hw.h"
 
-MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
+// We have this constructor so that we can provide custom implementations of the windows. By default (stock_ui) would receive them as nullptr, so they'll be instantiated with stock. Otherwise they'd be SP instances
+MainWindow::MainWindow(QWidget *parent, HomeWindow *hw, SettingsWindow *sw, OnboardingWindow *ow) :
+    QWidget(parent),
+    homeWindow(hw ? hw : new HomeWindow(this)),
+    settingsWindow(sw ? sw : new SettingsWindow(this)),
+    onboardingWindow(ow ? ow : new OnboardingWindow(this)) {
+
   main_layout = new QStackedLayout(this);
   main_layout->setMargin(0);
 
-  homeWindow = new HomeWindow(this);
   main_layout->addWidget(homeWindow);
   QObject::connect(homeWindow, &HomeWindow::openSettings, this, &MainWindow::openSettings);
   QObject::connect(homeWindow, &HomeWindow::closeSettings, this, &MainWindow::closeSettings);
 
-  settingsWindow = new SettingsWindow(this);
   main_layout->addWidget(settingsWindow);
   QObject::connect(settingsWindow, &SettingsWindow::closeSettings, this, &MainWindow::closeSettings);
   QObject::connect(settingsWindow, &SettingsWindow::reviewTrainingGuide, [=]() {
@@ -21,7 +25,6 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
     main_layout->setCurrentWidget(onboardingWindow);
   });
 
-  onboardingWindow = new OnboardingWindow(this);
   main_layout->addWidget(onboardingWindow);
   QObject::connect(onboardingWindow, &OnboardingWindow::onboardingDone, [=]() {
     main_layout->setCurrentWidget(homeWindow);
diff --git a/selfdrive/ui/qt/window.h b/selfdrive/ui/qt/window.h
index 05b61e1f762bff..2ed56e6d58cd6a 100644
--- a/selfdrive/ui/qt/window.h
+++ b/selfdrive/ui/qt/window.h
@@ -11,15 +11,18 @@ class MainWindow : public QWidget {
   Q_OBJECT
 
 public:
-  explicit MainWindow(QWidget *parent = 0);
+  explicit MainWindow(QWidget *parent = 0) : MainWindow(parent, nullptr, nullptr, nullptr) {}
+
+protected:
+  explicit MainWindow(QWidget *parent, HomeWindow *hw = nullptr, SettingsWindow *sw = nullptr, OnboardingWindow *ow = nullptr);
+  HomeWindow *homeWindow;
+  SettingsWindow *settingsWindow;
+  OnboardingWindow *onboardingWindow;
+  virtual void closeSettings();
 
 private:
   bool eventFilter(QObject *obj, QEvent *event) override;
   void openSettings(int index = 0, const QString &param = "");
-  void closeSettings();
 
   QStackedLayout *main_layout;
-  HomeWindow *homeWindow;
-  SettingsWindow *settingsWindow;
-  OnboardingWindow *onboardingWindow;
 };
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 2c4d8d7037e9b8..7ffd66ed9ab483 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -160,7 +160,7 @@ def setup_offroad_alert(click, pm: PubMaster):
 
   # Toggle between settings and home to refresh the offroad alert widget
   setup_settings_device(click, pm)
-  click(240, 216)
+  click(100, 100)
 
 def setup_update_available(click, pm: PubMaster):
   Params().put_bool("UpdateAvailable", True)
@@ -170,7 +170,7 @@ def setup_update_available(click, pm: PubMaster):
   Params().put("UpdaterNewReleaseNotes", release_notes + "\n")
 
   setup_settings_device(click, pm)
-  click(240, 216)
+  click(100, 100)
 
 def setup_pair_device(click, pm: PubMaster):
   click(1950, 435)
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index ec3d40961d78ba..3179a383c24361 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -9,16 +9,17 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "common/watchdog.h"
+#include "qt/util.h"
 #include "system/hardware/hw.h"
 
 #define BACKLIGHT_DT 0.05
 #define BACKLIGHT_TS 10.00
 
-static void update_sockets(UIState *s) {
+void update_sockets(UIState *s) {
   s->sm->update(0);
 }
 
-static void update_state(UIState *s) {
+void update_state(UIState *s) {
   SubMaster &sm = *(s->sm);
   UIScene &scene = s->scene;
 
@@ -98,6 +99,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   prime_state = new PrimeState(this);
   language = QString::fromStdString(Params().get("LanguageSetting"));
 
+  RETURN_IF_SUNNYPILOT
   // update timer
   timer = new QTimer(this);
   QObject::connect(timer, &QTimer::timeout, this, &UIState::update);
@@ -105,6 +107,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
 }
 
 void UIState::update() {
+  RETURN_IF_SUNNYPILOT
   update_sockets(this);
   update_state(this);
   updateStatus();
@@ -118,8 +121,9 @@ void UIState::update() {
 Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) {
   setAwake(true);
   resetInteractiveTimeout();
-
+#ifndef SUNNYPILOT
   QObject::connect(uiState(), &UIState::uiUpdate, this, &Device::update);
+#endif
 }
 
 void Device::update(const UIState &s) {
@@ -185,6 +189,7 @@ void Device::updateWakefulness(const UIState &s) {
   setAwake(s.scene.ignition || interactive_timeout > 0);
 }
 
+#ifndef SUNNYPILOT
 UIState *uiState() {
   static UIState ui_state;
   return &ui_state;
@@ -194,3 +199,4 @@ Device *device() {
   static Device _device;
   return &_device;
 }
+#endif
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 6ff67cacde9cb6..bf932c2ab5a867 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -67,7 +67,7 @@ class UIState : public QObject {
 
 public:
   UIState(QObject* parent = 0);
-  void updateStatus();
+  virtual void updateStatus();
   inline bool engaged() const {
     return scene.started && (*sm)["selfdriveState"].getSelfdriveState().getEnabled();
   }
@@ -82,15 +82,19 @@ class UIState : public QObject {
   void uiUpdate(const UIState &s);
   void offroadTransition(bool offroad);
 
-private slots:
-  void update();
+protected slots:
+  virtual void update();
 
-private:
+protected:
   QTimer *timer;
+
+private:
   bool started_prev = false;
 };
 
+#ifndef SUNNYPILOT
 UIState *uiState();
+#endif
 
 // device management class
 class Device : public QObject {
@@ -103,7 +107,7 @@ class Device : public QObject {
     offroad_brightness = std::clamp(brightness, 0, 100);
   }
 
-private:
+protected:
   bool awake = false;
   int interactive_timeout = 0;
   bool ignition_on = false;
@@ -126,5 +130,10 @@ public slots:
   void update(const UIState &s);
 };
 
+#ifndef SUNNYPILOT
 Device *device();
+#endif
+
 void ui_update_params(UIState *s);
+void update_state(UIState *s);
+void update_sockets(UIState *s);
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_home.svg b/sunnypilot/selfdrive/assets/offroad/icon_home.svg
new file mode 100644
index 00000000000000..ca90cc7bf6747b
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_home.svg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1673f8d46251a05787b60346193852991739345506dc7e9b106dfb370d3611ed
+size 489
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_software.png b/sunnypilot/selfdrive/assets/offroad/icon_software.png
new file mode 100644
index 00000000000000..70915e290630ea
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_software.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01fd38c0d5b05c3ce4ed07bfe4cd47a3ea61f68f24e6cc3058190d90d8200f9b
+size 4785
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_toggle.png b/sunnypilot/selfdrive/assets/offroad/icon_toggle.png
new file mode 100644
index 00000000000000..51906798b99c10
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_toggle.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11336d2f65100bc0dc2a53e09efae41ae85817b27e1a5bf134cc995e631c5b52
+size 4073
diff --git a/sunnypilot/selfdrive/ui/.gitignore b/sunnypilot/selfdrive/ui/.gitignore
new file mode 100644
index 00000000000000..e047b1f5dd60df
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/.gitignore
@@ -0,0 +1,2 @@
+moc_*
+*.moc
diff --git a/sunnypilot/selfdrive/ui/SConscript b/sunnypilot/selfdrive/ui/SConscript
new file mode 100644
index 00000000000000..421744f257f5ec
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/SConscript
@@ -0,0 +1,21 @@
+widgets_src = [
+  "../../sunnypilot/selfdrive/ui/ui.cc",
+  "../../sunnypilot/selfdrive/ui/qt/window.cc",
+  "../../sunnypilot/selfdrive/ui/qt/widgets/controls.cc",
+  "../../sunnypilot/selfdrive/ui/qt/widgets/drive_stats.cc",
+  "../../sunnypilot/selfdrive/ui/qt/widgets/scrollview.cc",
+  "../../sunnypilot/selfdrive/ui/qt/widgets/toggle.cc",
+]
+
+qt_src = [
+  "../../sunnypilot/selfdrive/ui/qt/home.cc",
+  "../../sunnypilot/selfdrive/ui/qt/sidebar.cc",
+  "../../sunnypilot/selfdrive/ui/qt/offroad/settings/onboarding.cc",
+  "../../sunnypilot/selfdrive/ui/qt/offroad/settings/settings.cc",
+  "../../sunnypilot/selfdrive/ui/qt/onroad/onroad_home.cc",
+]
+
+sp_widgets_src = widgets_src
+sp_qt_src = qt_src
+
+Export('sp_widgets_src', 'sp_qt_src')
diff --git a/sunnypilot/selfdrive/ui/qt/home.cc b/sunnypilot/selfdrive/ui/qt/home.cc
new file mode 100644
index 00000000000000..8cdd178a463241
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/qt/home.cc
@@ -0,0 +1,19 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "../../sunnypilot/selfdrive/ui/qt/home.h"
+
+HomeWindowSP::HomeWindowSP(QWidget *parent) : HomeWindow(parent) {
+}
+
+void HomeWindowSP::updateState(const UIState &s) {
+  HomeWindow::updateState(s);
+}
+
+void HomeWindowSP::mousePressEvent(QMouseEvent *e) {
+  HomeWindow::mousePressEvent(e);
+}
diff --git a/sunnypilot/selfdrive/ui/qt/home.h b/sunnypilot/selfdrive/ui/qt/home.h
new file mode 100644
index 00000000000000..b4129126d32569
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/qt/home.h
@@ -0,0 +1,38 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QFrame>
+#include <QWidget>
+
+#include "common/params.h"
+#include "selfdrive/ui/qt/body.h"
+#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
+#include "../../sunnypilot/selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/home.h"
+
+#ifdef SUNNYPILOT
+#include "../../sunnypilot/selfdrive/ui/qt/sidebar.h"
+#define OnroadWindow OnroadWindowSP
+#else
+#include "selfdrive/ui/qt/sidebar.h"
+#include "selfdrive/ui/qt/onroad/onroad_home.h"
+#endif
+
+class HomeWindowSP : public HomeWindow {
+  Q_OBJECT
+
+public:
+  explicit HomeWindowSP(QWidget *parent = 0);
+
+protected:
+  void mousePressEvent(QMouseEvent *e) override;
+
+private slots:
+  void updateState(const UIState &s) override;
+};
diff --git a/sunnypilot/selfdrive/ui/qt/offroad/settings/onboarding.cc b/sunnypilot/selfdrive/ui/qt/offroad/settings/onboarding.cc
new file mode 100644
index 00000000000000..2615743f2713ac
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/qt/offroad/settings/onboarding.cc
@@ -0,0 +1,102 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "../../sunnypilot/selfdrive/ui/qt/offroad/settings/onboarding.h"
+
+#include <string>
+
+#include <QScrollBar>
+#include <common/swaglog.h>
+
+#include "common/util.h"
+#include "common/params.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/qt/widgets/scrollview.h"
+
+void TermsPageSP::showEvent(QShowEvent *event) {
+  // late init, building QML widget takes 200ms
+  if (layout()) {
+    return;
+  }
+
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(45, 35, 45, 45);
+  main_layout->setSpacing(0);
+
+  QLabel *title = new QLabel(tr("Terms & Conditions"));
+  title->setStyleSheet("font-size: 90px; font-weight: 600;");
+  main_layout->addWidget(title);
+
+  QLabel *text = new QLabel(this);
+  text->setTextFormat(Qt::RichText);
+  text->setWordWrap(true);
+  std::string tc_text = sunnypilot_tc ? "../assets/offroad/sp_tc.html" : "../assets/offroad/tc.html";
+  text->setText(QString::fromStdString(util::read_file(tc_text)));
+  text->setStyleSheet("font-size:50px; font-weight: 200; color: #C9C9C9; background-color:#1B1B1B; padding:50px 50px;");
+  ScrollView *scroll = new ScrollView(text, this);
+
+  main_layout->addSpacing(30);
+  main_layout->addWidget(scroll);
+  main_layout->addSpacing(50);
+
+  QHBoxLayout *buttons = new QHBoxLayout;
+  buttons->setMargin(0);
+  buttons->setSpacing(45);
+  main_layout->addLayout(buttons);
+
+  QPushButton *decline_btn = new QPushButton(tr("Decline"));
+  buttons->addWidget(decline_btn);
+  QObject::connect(decline_btn, &QPushButton::clicked, this, &TermsPage::declinedTerms);
+
+  accept_btn = new QPushButton(tr("Scroll to accept"));
+  accept_btn->setEnabled(false);
+  accept_btn->setStyleSheet(R"(
+    QPushButton {
+      background-color: #465BEA;
+    }
+    QPushButton:pressed {
+      background-color: #3049F4;
+    }
+    QPushButton:disabled {
+      background-color: #4F4F4F;
+    }
+  )");
+  buttons->addWidget(accept_btn);
+  QObject::connect(accept_btn, &QPushButton::clicked, this, &TermsPage::acceptedTerms);
+  QScrollBar *scroll_bar = scroll->verticalScrollBar();
+  connect(scroll_bar, &QScrollBar::valueChanged, this, [this, scroll_bar](int value) {
+    if (value == scroll_bar->maximum()) {
+      enableAccept();
+    }
+  });
+}
+
+void OnboardingWindowSP::updateActiveScreen() {
+  if (accepted_terms && training_done && !accepted_terms_sp) {
+    setCurrentIndex(3);
+  } else {
+    OnboardingWindow::updateActiveScreen();
+  }
+}
+
+OnboardingWindowSP::OnboardingWindowSP(QWidget *parent) : OnboardingWindow(parent) {
+  std::string current_terms_version_sp = params.get("TermsVersionSunnypilot");
+  accepted_terms_sp = params.get("HasAcceptedTermsSP") == current_terms_version_sp;
+  LOGD("accepted_terms_sp: %s", params.get("HasAcceptedTermsSP").c_str());
+
+  auto *terms_sp = new TermsPageSP(true, parent);
+  addWidget(terms_sp); // index = 3
+  connect(terms_sp, &TermsPageSP::acceptedTerms, [=]() {
+    params.put("HasAcceptedTermsSP", current_terms_version_sp);
+    accepted_terms_sp = true;
+    updateActiveScreen();
+  });
+  connect(terms_sp, &TermsPageSP::declinedTerms, [=]() { setCurrentIndex(2); });
+
+  OnboardingWindowSP::updateActiveScreen();
+}
diff --git a/sunnypilot/selfdrive/ui/qt/offroad/settings/onboarding.h b/sunnypilot/selfdrive/ui/qt/offroad/settings/onboarding.h
new file mode 100644
index 00000000000000..626428478cf89f
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/qt/offroad/settings/onboarding.h
@@ -0,0 +1,35 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/offroad/onboarding.h"
+
+#include "selfdrive/ui/qt/qt_window.h"
+
+class TermsPageSP : public TermsPage {
+  Q_OBJECT
+
+public:
+  explicit TermsPageSP(bool sunnypilot = false, QWidget *parent = 0) : TermsPage(parent), sunnypilot_tc(sunnypilot) {}
+
+private:
+  bool sunnypilot_tc = false;
+  void showEvent(QShowEvent *event) override;
+};
+
+class OnboardingWindowSP : public OnboardingWindow {
+  Q_OBJECT
+
+public:
+  explicit OnboardingWindowSP(QWidget *parent = 0);
+  inline bool completed() const override { return accepted_terms && accepted_terms_sp && training_done; }
+
+private:
+  bool accepted_terms_sp = false;
+  void updateActiveScreen() override;
+};
diff --git a/sunnypilot/selfdrive/ui/qt/offroad/settings/settings.cc b/sunnypilot/selfdrive/ui/qt/offroad/settings/settings.cc
new file mode 100644
index 00000000000000..cf446c6c3f3d3b
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/qt/offroad/settings/settings.cc
@@ -0,0 +1,146 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "../../sunnypilot/selfdrive/ui/qt/offroad/settings/settings.h"
+
+#include "selfdrive/ui/qt/network/networking.h"
+#include "../../sunnypilot/selfdrive/ui/qt/widgets/scrollview.h"
+#include "selfdrive/ui/qt/offroad/developer_panel.h"
+
+TogglesPanelSP::TogglesPanelSP(SettingsWindow *parent) : TogglesPanel(parent) {
+  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &TogglesPanelSP::updateState);
+}
+
+void TogglesPanelSP::updateState(const UIStateSP &s) {
+  TogglesPanel::updateState(s);
+}
+
+SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
+  // setup two main layouts
+  sidebar_widget = new QWidget;
+  QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget);
+  panel_widget = new QStackedWidget();
+
+  // setup layout for close button
+  QVBoxLayout *close_btn_layout = new QVBoxLayout;
+  close_btn_layout->setContentsMargins(0, 0, 0, 20);
+
+  // close button
+  QPushButton *close_btn = new QPushButton(tr("×"));
+  close_btn->setStyleSheet(R"(
+    QPushButton {
+      font-size: 140px;
+      padding-bottom: 20px;
+      border-radius: 76px;
+      background-color: #292929;
+      font-weight: 400;
+    }
+    QPushButton:pressed {
+      background-color: #3B3B3B;
+    }
+  )");
+  close_btn->setFixedSize(152, 152);
+  close_btn_layout->addWidget(close_btn, 0, Qt::AlignLeft);
+  QObject::connect(close_btn, &QPushButton::clicked, this, &SettingsWindow::closeSettings);
+
+  // setup buttons widget
+  QWidget *buttons_widget = new QWidget;
+  QVBoxLayout *buttons_layout = new QVBoxLayout(buttons_widget);
+  buttons_layout->setMargin(0);
+  buttons_layout->addSpacing(10);
+
+  // setup panels
+  DevicePanel *device = new DevicePanel(this);
+  QObject::connect(device, &DevicePanel::reviewTrainingGuide, this, &SettingsWindow::reviewTrainingGuide);
+
+  TogglesPanelSP *toggles = new TogglesPanelSP(this);
+  QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
+
+  auto networking = new Networking(this);
+  QObject::connect(uiState()->prime_state, &PrimeState::changed, networking, &Networking::setPrimeType);
+
+  QList<PanelInfo> panels = {
+    PanelInfo("   " + tr("Device"), device, "../../sunnypilot/selfdrive/assets/offroad/icon_home.svg"),
+    PanelInfo("   " + tr("Network"), networking, "../assets/offroad/icon_network.png"),
+    PanelInfo("   " + tr("Toggles"), toggles, "../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
+    PanelInfo("   " + tr("Software"), new SoftwarePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
+    PanelInfo("   " + tr("Developer"), new DeveloperPanel(this), "../assets/offroad/icon_shell.png"),
+  };
+
+  nav_btns = new QButtonGroup(this);
+  for (auto &[name, panel, icon] : panels) {
+    QPushButton *btn = new QPushButton(name);
+    btn->setCheckable(true);
+    btn->setChecked(nav_btns->buttons().size() == 0);
+    btn->setIcon(QIcon(QPixmap(icon)));
+    btn->setIconSize(QSize(70, 70));
+    btn->setStyleSheet(R"(
+      QPushButton {
+        border-radius: 20px;
+        width: 400px;
+        height: 98px;
+        color: #bdbdbd;
+        border: none;
+        background: none;
+        font-size: 50px;
+        font-weight: 500;
+        text-align: left;
+        padding-left: 22px;
+      }
+      QPushButton:checked {
+        background-color: #696868;
+        color: white;
+      }
+      QPushButton:pressed {
+        color: #ADADAD;
+      }
+    )");
+    btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
+    nav_btns->addButton(btn);
+    buttons_layout->addWidget(btn, 0, Qt::AlignLeft | Qt::AlignBottom);
+
+    const int lr_margin = (name != ("   " + tr("Network")) || (name != ("   " + tr("sunnypilot")))) ? 50 : 0;  // Network and sunnypilot panel handles its own margins
+    panel->setContentsMargins(lr_margin, 25, lr_margin, 25);
+
+    ScrollViewSP *panel_frame = new ScrollViewSP(panel, this);
+    panel_widget->addWidget(panel_frame);
+
+    QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
+      btn->setChecked(true);
+      panel_widget->setCurrentWidget(w);
+    });
+  }
+  sidebar_layout->setContentsMargins(50, 50, 25, 50);
+
+  // main settings layout, sidebar + main panel
+  QHBoxLayout *main_layout = new QHBoxLayout(this);
+
+  // add layout for close button
+  sidebar_layout->addLayout(close_btn_layout);
+
+  // add layout for buttons scrolling
+  ScrollViewSP *buttons_scrollview = new ScrollViewSP(buttons_widget, this);
+  sidebar_layout->addWidget(buttons_scrollview);
+
+  sidebar_widget->setFixedWidth(500);
+  main_layout->addWidget(sidebar_widget);
+  main_layout->addWidget(panel_widget);
+
+  setStyleSheet(R"(
+    * {
+      color: white;
+      font-size: 50px;
+    }
+    SettingsWindow {
+      background-color: black;
+    }
+    QStackedWidget, ScrollViewSP {
+      background-color: black;
+      border-radius: 30px;
+    }
+  )");
+}
diff --git a/sunnypilot/selfdrive/ui/qt/offroad/settings/settings.h b/sunnypilot/selfdrive/ui/qt/offroad/settings/settings.h
new file mode 100644
index 00000000000000..5678a3171bfb20
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/qt/offroad/settings/settings.h
@@ -0,0 +1,39 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <map>
+#include <string>
+
+#include "selfdrive/ui/qt/offroad/settings.h"
+
+class SettingsWindowSP : public SettingsWindow {
+  Q_OBJECT
+
+public:
+  explicit SettingsWindowSP(QWidget *parent = nullptr);
+
+protected:
+  struct PanelInfo {
+    QString name;
+    QWidget *widget;
+    QString icon;
+
+    PanelInfo(const QString &name, QWidget *widget, const QString &icon) : name(name), widget(widget), icon(icon) {}
+  };
+};
+
+class TogglesPanelSP : public TogglesPanel {
+  Q_OBJECT
+
+public:
+  explicit TogglesPanelSP(SettingsWindow *parent);
+
+private slots:
+  void updateState(const UIStateSP &s);
+};
diff --git a/sunnypilot/selfdrive/ui/qt/onroad/onroad_home.cc b/sunnypilot/selfdrive/ui/qt/onroad/onroad_home.cc
new file mode 100644
index 00000000000000..a2743df34cf820
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/qt/onroad/onroad_home.cc
@@ -0,0 +1,32 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "../../sunnypilot/selfdrive/ui/qt/onroad/onroad_home.h"
+
+#include "common/swaglog.h"
+#include "selfdrive/ui/qt/util.h"
+
+OnroadWindowSP::OnroadWindowSP(QWidget *parent) : OnroadWindow(parent) {
+  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &OnroadWindowSP::updateState);
+  QObject::connect(uiStateSP(), &UIStateSP::offroadTransition, this, &OnroadWindowSP::offroadTransition);
+}
+
+void OnroadWindowSP::updateState(const UIStateSP &s) {
+  if (!s.scene.started) {
+    return;
+  }
+
+  OnroadWindow::updateState(s);
+}
+
+void OnroadWindowSP::mousePressEvent(QMouseEvent *e) {
+  OnroadWindow::mousePressEvent(e);
+}
+
+void OnroadWindowSP::offroadTransition(bool offroad) {
+  OnroadWindow::offroadTransition(offroad);
+}
diff --git a/sunnypilot/selfdrive/ui/qt/onroad/onroad_home.h b/sunnypilot/selfdrive/ui/qt/onroad/onroad_home.h
new file mode 100644
index 00000000000000..193fdae0dc83e5
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/qt/onroad/onroad_home.h
@@ -0,0 +1,24 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/onroad/onroad_home.h"
+
+class OnroadWindowSP : public OnroadWindow {
+  Q_OBJECT
+
+public:
+  OnroadWindowSP(QWidget *parent = 0);
+
+private:
+  void mousePressEvent(QMouseEvent *e) override;
+
+protected slots:
+  void offroadTransition(bool offroad) override;
+  void updateState(const UIStateSP &s) override;
+};
diff --git a/sunnypilot/selfdrive/ui/qt/sidebar.cc b/sunnypilot/selfdrive/ui/qt/sidebar.cc
new file mode 100644
index 00000000000000..fb177856ca2fd9
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/qt/sidebar.cc
@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "../../sunnypilot/selfdrive/ui/qt/sidebar.h"
+
+#include <cmath>
+#include <QMouseEvent>
+
+#include "selfdrive/ui/qt/util.h"
+
+SidebarSP::SidebarSP(QWidget *parent) : Sidebar(parent) {
+  QObject::disconnect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState);
+  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &SidebarSP::updateState);
+}
+
+void SidebarSP::updateState(const UIStateSP &s) {
+  if (!isVisible()) return;
+  Sidebar::updateState(s);
+}
+
+void SidebarSP::paintSidebar(QPainter &p) {
+  Sidebar::paintSidebar(p);
+}
diff --git a/sunnypilot/selfdrive/ui/qt/sidebar.h b/sunnypilot/selfdrive/ui/qt/sidebar.h
new file mode 100644
index 00000000000000..5a9a66df50c256
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/qt/sidebar.h
@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <memory>
+
+#include "selfdrive/ui/qt/sidebar.h"
+
+#include "../../sunnypilot/selfdrive/ui/ui.h"
+
+class SidebarSP : public Sidebar {
+  Q_OBJECT
+
+public slots:
+  void updateState(const UIStateSP &s);
+
+public:
+  explicit SidebarSP(QWidget *parent = 0);
+
+private:
+  void paintSidebar(QPainter &p) override;
+};
diff --git a/sunnypilot/selfdrive/ui/qt/widgets/controls.cc b/sunnypilot/selfdrive/ui/qt/widgets/controls.cc
new file mode 100644
index 00000000000000..a72fe347587086
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/qt/widgets/controls.cc
@@ -0,0 +1,254 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "../../sunnypilot/selfdrive/ui/qt/widgets/controls.h"
+
+#include <QPainter>
+#include <QStyleOption>
+
+QFrame *horizontal_line(QWidget *parent) {
+  QFrame *line = new QFrame(parent);
+  line->setFrameShape(QFrame::StyledPanel);
+  line->setStyleSheet(R"(
+    border-width: 2px;
+    border-bottom-style: solid;
+    border-color: gray;
+  )");
+  line->setFixedHeight(10);
+  return line;
+}
+
+// AbstractControlSP
+
+AbstractControlSP::AbstractControlSP(const QString &title, const QString &desc, const QString &icon, QWidget *parent)
+    : AbstractControl(title, desc, icon, parent) {
+
+  main_layout = new QVBoxLayout(this);
+  main_layout->setMargin(0);
+
+  hlayout = new QHBoxLayout;
+  hlayout->setMargin(0);
+  hlayout->setSpacing(20);
+
+  // title
+  title_label = new QPushButton(title);
+  title_label->setFixedHeight(120);
+  title_label->setStyleSheet("font-size: 50px; font-weight: 450; text-align: left; border: none;");
+  hlayout->addWidget(title_label, 1);
+
+  // value next to control button
+  value = new ElidedLabelSP();
+  value->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
+  value->setStyleSheet("color: #aaaaaa");
+  hlayout->addWidget(value);
+
+  main_layout->addLayout(hlayout);
+
+  // description
+  description = new QLabel(desc);
+  description->setContentsMargins(40, 20, 40, 20);
+  description->setStyleSheet("font-size: 40px; color: grey");
+  description->setWordWrap(true);
+  description->setVisible(false);
+  main_layout->addWidget(description);
+
+  connect(title_label, &QPushButton::clicked, [=]() {
+    if (!description->isVisible()) {
+      emit showDescriptionEvent();
+    }
+
+    if (!description->text().isEmpty()) {
+      description->setVisible(!description->isVisible());
+    }
+  });
+
+  main_layout->addStretch();
+}
+
+void AbstractControlSP::hideEvent(QHideEvent *e) {
+  if (description != nullptr) {
+    description->hide();
+  }
+}
+
+AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, const QString &desc, const QString &icon, QWidget *parent)
+    : AbstractControlSP(title, desc, icon, parent) {
+
+  if (title_label != nullptr) {
+    delete title_label;
+    title_label = nullptr;
+  }
+
+  if (description != nullptr) {
+    delete description;
+    description = nullptr;
+  }
+
+  if (value != nullptr) {
+    ReplaceWidget(value, new QWidget());
+    value = nullptr;
+  }
+
+  QLayoutItem *item;
+  while ((item = main_layout->takeAt(0)) != nullptr) {
+    if (item->widget()) {
+      delete item->widget();
+    }
+    delete item;
+  }
+
+  main_layout->setMargin(0);
+
+  hlayout = new QHBoxLayout;
+  hlayout->setMargin(0);
+  hlayout->setSpacing(0);
+
+  // title
+  if (!title.isEmpty()) {
+    title_label = new QPushButton(title);
+    title_label->setFixedHeight(120);
+    title_label->setStyleSheet("font-size: 50px; font-weight: 450; text-align: left; border: none; padding: 20 0 0 0");
+    main_layout->addWidget(title_label, 1);
+
+    connect(title_label, &QPushButton::clicked, [=]() {
+      if (!description->isVisible()) {
+        emit showDescriptionEvent();
+      }
+
+      if (!description->text().isEmpty()) {
+        bool isVisible = !description->isVisible();
+        description->setVisible(isVisible);
+
+        if (isVisible && spacingItem) {
+          main_layout->removeItem(spacingItem);
+          delete spacingItem;
+          spacingItem = nullptr;
+        } else if (!isVisible && spacingItem == nullptr) {
+          spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
+          main_layout->insertItem(main_layout->indexOf(description), spacingItem);
+        }
+      }
+    });
+  } else {
+    main_layout->addSpacing(20);
+  }
+
+  main_layout->addLayout(hlayout);
+  if (!desc.isEmpty() && spacingItem == nullptr) {
+    spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
+    main_layout->insertItem(main_layout->count(), spacingItem);
+  }
+
+  // description
+  description = new QLabel(desc);
+  description->setContentsMargins(0, 20, 40, 20);
+  description->setStyleSheet("font-size: 40px; color: grey");
+  description->setWordWrap(true);
+  description->setVisible(false);
+  main_layout->addWidget(description);
+
+  main_layout->addStretch();
+}
+
+void AbstractControlSP_SELECTOR::hideEvent(QHideEvent *e) {
+  if (description != nullptr) {
+    description->hide();
+  }
+
+  if (spacingItem == nullptr) {
+    spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
+    main_layout->insertItem(main_layout->indexOf(description), spacingItem);
+  }
+}
+
+// controls
+
+ButtonControlSP::ButtonControlSP(const QString &title, const QString &text, const QString &desc, QWidget *parent)
+    : AbstractControlSP(title, desc, "", parent) {
+
+  btn.setText(text);
+  btn.setStyleSheet(R"(
+    QPushButton {
+      padding: 0;
+      border-radius: 50px;
+      font-size: 35px;
+      font-weight: 500;
+      color: #E4E4E4;
+      background-color: #393939;
+    }
+    QPushButton:pressed {
+      background-color: #4a4a4a;
+    }
+    QPushButton:disabled {
+      color: #33E4E4E4;
+    }
+  )");
+  btn.setFixedSize(250, 100);
+  QObject::connect(&btn, &QPushButton::clicked, this, &ButtonControlSP::clicked);
+  hlayout->addWidget(&btn);
+}
+
+// ElidedLabelSP
+
+ElidedLabelSP::ElidedLabelSP(QWidget *parent) : ElidedLabelSP({}, parent) {
+}
+
+ElidedLabelSP::ElidedLabelSP(const QString &text, QWidget *parent) : QLabel(text.trimmed(), parent) {
+  setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
+  setMinimumWidth(1);
+}
+
+void ElidedLabelSP::resizeEvent(QResizeEvent *event) {
+  QLabel::resizeEvent(event);
+  lastText_ = elidedText_ = "";
+}
+
+void ElidedLabelSP::paintEvent(QPaintEvent *event) {
+  const QString curText = text();
+  if (curText != lastText_) {
+    elidedText_ = fontMetrics().elidedText(curText, Qt::ElideRight, contentsRect().width());
+    lastText_ = curText;
+  }
+
+  QPainter painter(this);
+  drawFrame(&painter);
+  QStyleOption opt;
+  opt.initFrom(this);
+  style()->drawItemText(&painter, contentsRect(), alignment(), opt.palette, isEnabled(), elidedText_, foregroundRole());
+}
+
+// ParamControlSP
+
+ParamControlSP::ParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent)
+    : ToggleControlSP(title, desc, icon, false, parent) {
+
+  key = param.toStdString();
+  QObject::connect(this, &ParamControlSP::toggleFlipped, this, &ParamControlSP::toggleClicked);
+
+  hlayout->removeWidget(&toggle);
+  hlayout->insertWidget(0, &toggle);
+
+  hlayout->removeWidget(this->icon_label);
+  hlayout->insertWidget(1, this->icon_label);
+}
+
+void ParamControlSP::toggleClicked(bool state) {
+  auto do_confirm = [this]() {
+    QString content("<body><h2 style=\"text-align: center;\">" + title_label->text() + "</h2><br>"
+                    "<p style=\"text-align: center; margin: 0 128px; font-size: 50px;\">" + getDescription() + "</p></body>");
+    return ConfirmationDialog(content, tr("Enable"), tr("Cancel"), true, this).exec();
+  };
+
+  bool confirmed = store_confirm && params.getBool(key + "Confirmed");
+  if (!confirm || confirmed || !state || do_confirm()) {
+    if (store_confirm && state) params.putBool(key + "Confirmed", true);
+    params.putBool(key, state);
+    setIcon(state);
+  } else {
+    toggle.togglePosition();
+  }
+}
diff --git a/sunnypilot/selfdrive/ui/qt/widgets/controls.h b/sunnypilot/selfdrive/ui/qt/widgets/controls.h
new file mode 100644
index 00000000000000..ebfc640cb7070a
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/qt/widgets/controls.h
@@ -0,0 +1,588 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <map>
+#include <optional>
+#include <string>
+#include <vector>
+
+#include "common/params.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "../../sunnypilot/selfdrive/ui/qt/widgets/toggle.h"
+
+QFrame *horizontal_line(QWidget *parent = nullptr);
+
+inline void ReplaceWidget(QWidget *old_widget, QWidget *new_widget) {
+  if (old_widget && old_widget->parentWidget() && old_widget->parentWidget()->layout()) {
+    old_widget->parentWidget()->layout()->replaceWidget(old_widget, new_widget);
+    old_widget->hide();
+    old_widget->deleteLater();
+  }
+}
+
+class ElidedLabelSP : public QLabel {
+  Q_OBJECT
+
+public:
+  explicit ElidedLabelSP(QWidget *parent = 0);
+  explicit ElidedLabelSP(const QString &text, QWidget *parent = 0);
+
+  void setColor(const QString &color) {
+    setStyleSheet("QLabel { color : " + color + "; }");
+  }
+
+signals:
+  void clicked();
+
+protected:
+  void paintEvent(QPaintEvent *event) override;
+  void resizeEvent(QResizeEvent *event) override;
+  void mouseReleaseEvent(QMouseEvent *event) override {
+    if (rect().contains(event->pos())) {
+      emit clicked();
+    }
+  }
+  QString lastText_, elidedText_;
+};
+
+class AbstractControlSP : public AbstractControl {
+  Q_OBJECT
+
+public:
+  void setDescription(const QString &desc) override {
+    if (description) description->setText(desc);
+  }
+
+  void setValue(const QString &val, std::optional<QString> color = std::nullopt) {
+    value->setText(val);
+    if (color.has_value()) {
+      value->setColor(color.value());
+    }
+  }
+
+  const QString getDescription() override {
+    return description->text();
+  }
+
+  void hideDescription() {
+    description->setVisible(false);
+  }
+
+public slots:
+  void showDescription() override {
+    description->setVisible(true);
+  }
+
+protected:
+  AbstractControlSP(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
+  void hideEvent(QHideEvent *e) override;
+
+  QVBoxLayout *main_layout;
+  ElidedLabelSP *value;
+  QLabel *description = nullptr;
+};
+
+// AbstractControlSP_SELECTOR
+
+class AbstractControlSP_SELECTOR : public AbstractControlSP {
+  Q_OBJECT
+
+protected:
+  AbstractControlSP_SELECTOR(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
+  void hideEvent(QHideEvent *e) override;
+
+private:
+  QSpacerItem *spacingItem = nullptr;
+};
+
+// widget to display a value
+class LabelControlSP : public AbstractControlSP {
+  Q_OBJECT
+
+public:
+  LabelControlSP(const QString &title, const QString &text = "", const QString &desc = "", QWidget *parent = nullptr) : AbstractControlSP(title, desc, "", parent) {
+    label.setText(text);
+    label.setAlignment(Qt::AlignRight | Qt::AlignVCenter);
+    hlayout->addWidget(&label);
+  }
+  void setText(const QString &text) { label.setText(text); }
+
+private:
+  ElidedLabelSP label;
+};
+
+// widget for a button with a label
+class ButtonControlSP : public AbstractControlSP {
+  Q_OBJECT
+
+public:
+  ButtonControlSP(const QString &title, const QString &text, const QString &desc = "", QWidget *parent = nullptr);
+  inline void setText(const QString &text) { btn.setText(text); }
+  inline QString text() const { return btn.text(); }
+  inline void click() { btn.click(); }
+
+signals:
+  void clicked();
+
+public slots:
+  void setEnabled(bool enabled) { btn.setEnabled(enabled); }
+
+private:
+  QPushButton btn;
+};
+
+class ToggleControlSP : public AbstractControlSP {
+  Q_OBJECT
+
+public:
+  ToggleControlSP(const QString &title, const QString &desc = "", const QString &icon = "", const bool state = false, QWidget *parent = nullptr) : AbstractControlSP(title, desc, icon, parent) {
+    // space between toggle and title
+    icon_label = new QLabel(this);
+    hlayout->addWidget(icon_label);
+
+    toggle.setFixedSize(150, 100);
+    if (state) {
+      toggle.togglePosition();
+    }
+    hlayout->insertWidget(0, &toggle);
+    hlayout->insertWidget(1, this->icon_label);
+    QObject::connect(&toggle, &ToggleSP::stateChanged, this, &ToggleControlSP::toggleFlipped);
+  }
+
+  void setEnabled(bool enabled) {
+    toggle.setEnabled(enabled);
+    toggle.update();
+  }
+
+signals:
+  void toggleFlipped(bool state);
+
+protected:
+  ToggleSP toggle;
+};
+
+// widget to toggle params
+class ParamControlSP : public ToggleControlSP {
+  Q_OBJECT
+
+public:
+  ParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr);
+  void setConfirmation(bool _confirm, bool _store_confirm) {
+    confirm = _confirm;
+    store_confirm = _store_confirm;
+  }
+
+  void setActiveIcon(const QString &icon) {
+    active_icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation);
+  }
+
+  void refresh() {
+    bool state = params.getBool(key);
+    if (state != toggle.on) {
+      toggle.togglePosition();
+      setIcon(state);
+    }
+  }
+
+  void showEvent(QShowEvent *event) override {
+    refresh();
+  }
+
+  bool isToggled() { return params.getBool(key); }
+
+private:
+  void toggleClicked(bool state);
+  void setIcon(bool state) {
+    if (state && !active_icon_pixmap.isNull()) {
+      icon_label->setPixmap(active_icon_pixmap);
+    } else if (!icon_pixmap.isNull()) {
+      icon_label->setPixmap(icon_pixmap);
+    }
+  }
+
+  std::string key;
+  Params params;
+  QPixmap active_icon_pixmap;
+  bool confirm = false;
+  bool store_confirm = false;
+};
+
+class ButtonParamControlSP : public AbstractControlSP_SELECTOR {
+  Q_OBJECT
+
+public:
+  ButtonParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
+                       const std::vector<QString> &button_texts, const int minimum_button_width = 300) : AbstractControlSP_SELECTOR(title, desc, icon), button_texts(button_texts) {
+    const QString style = R"(
+      QPushButton {
+        border-radius: 20px;
+        font-size: 50px;
+        font-weight: 450;
+        height:150px;
+        padding: 0 25 0 25;
+        color: #FFFFFF;
+      }
+      QPushButton:pressed {
+        background-color: #4a4a4a;
+      }
+      QPushButton:checked:enabled {
+        background-color: #696868;
+      }
+      QPushButton:disabled {
+        color: #33FFFFFF;
+      }
+      QPushButton:checked:disabled {
+        background-color: #121212;
+        color: #33FFFFFF;
+      }
+    )";
+    key = param.toStdString();
+    int value = atoi(params.get(key).c_str());
+
+    button_group = new QButtonGroup(this);
+    button_group->setExclusive(true);
+    for (int i = 0; i < button_texts.size(); i++) {
+      QPushButton *button = new QPushButton(button_texts[i], this);
+      button->setCheckable(true);
+      button->setChecked(i == value);
+      button->setStyleSheet(style);
+      button->setMinimumWidth(minimum_button_width);
+      if (i == 0) hlayout->addSpacing(2);
+      hlayout->addWidget(button);
+      button_group->addButton(button, i);
+    }
+
+    hlayout->setAlignment(Qt::AlignLeft);
+
+    QObject::connect(button_group, QOverload<int>::of(&QButtonGroup::buttonClicked), [=](int id) {
+      params.put(key, std::to_string(id));
+      emit buttonToggled(id);
+    });
+  }
+
+  void setEnabled(bool enable) {
+    for (auto btn: button_group->buttons()) {
+      btn->setEnabled(enable);
+    }
+    button_group_enabled = enable;
+
+    update();
+  }
+
+  void setCheckedButton(int id) {
+    button_group->button(id)->setChecked(true);
+  }
+
+  void refresh() {
+    int value = atoi(params.get(key).c_str());
+
+    if (value >= button_texts.size()) {
+      value = button_texts.size() - 1;
+    }
+    if (value < 0) {
+      value = 0;
+    }
+
+    button_group->button(value)->setChecked(true);
+  }
+
+  void showEvent(QShowEvent *event) override {
+    refresh();
+  }
+
+  void setButton(QString param) {
+    key = param.toStdString();
+    int value = atoi(params.get(key).c_str());
+    for (int i = 0; i < button_group->buttons().size(); i++) {
+      button_group->buttons()[i]->setChecked(i == value);
+    }
+  }
+
+  void setDisabledSelectedButton(std::string val) {
+    int value = atoi(val.c_str());
+    for (int i = 0; i < button_group->buttons().size(); i++) {
+      button_group->buttons()[i]->setEnabled(i != value);
+    }
+  }
+
+protected:
+  void paintEvent(QPaintEvent *event) override {
+    QPainter p(this);
+    p.setRenderHint(QPainter::Antialiasing);
+
+    // Calculate the total width and height for the background rectangle
+    int w = 0;
+    int h = 150;
+
+    for (int i = 0; i < hlayout->count(); ++i) {
+      QPushButton *button = qobject_cast<QPushButton *>(hlayout->itemAt(i)->widget());
+      if (button) {
+        w += button->width();
+      }
+    }
+
+    // Draw the rectangle
+#ifdef __APPLE__
+    QRect rect(0 + 2, h - 16, w, h);
+#else
+    QRect rect(0 + 2, h - 24, w, h);
+#endif
+    p.setPen(QPen(QColor(button_group_enabled ? "#696868" : "#121212"), 3));
+    p.drawRoundedRect(rect, 20, 20);
+  }
+
+signals:
+  void buttonToggled(int btn_id);
+
+private:
+  std::string key;
+  Params params;
+  QButtonGroup *button_group;
+  std::vector<QString> button_texts;
+
+  bool button_group_enabled = true;
+};
+
+class ListWidgetSP : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit ListWidgetSP(QWidget *parent = 0, const bool split_line = true) : QWidget(parent), _split_line(split_line), outer_layout(this) {
+    outer_layout.setMargin(0);
+    outer_layout.setSpacing(0);
+    outer_layout.addLayout(&inner_layout);
+    inner_layout.setMargin(0);
+    inner_layout.setSpacing(25); // default spacing is 25
+    outer_layout.addStretch();
+  }
+  inline void addItem(QWidget *w) { inner_layout.addWidget(w); }
+  inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); }
+  inline void setSpacing(int spacing) { inner_layout.setSpacing(spacing); }
+
+  inline void AddWidgetAt(const int index, QWidget *new_widget) { inner_layout.insertWidget(index, new_widget); }
+  inline void RemoveWidgetAt(const int index) {
+    if (QLayoutItem *item; (item = inner_layout.takeAt(index)) != nullptr) {
+      if (item->widget()) delete item->widget();
+      delete item;
+    }
+  }
+
+  inline void ReplaceOrAddWidget(QWidget *old_widget, QWidget *new_widget) {
+    if (const int index = inner_layout.indexOf(old_widget); index != -1) {
+      RemoveWidgetAt(index);
+      AddWidgetAt(index, new_widget);
+    } else {
+      addItem(new_widget);
+    }
+  }
+
+private:
+  void paintEvent(QPaintEvent *) override {
+    QPainter p(this);
+    p.setPen(Qt::gray);
+    for (int i = 0; i < inner_layout.count() - 1; ++i) {
+      QWidget *widget = inner_layout.itemAt(i)->widget();
+      if ((widget == nullptr || widget->isVisible()) && _split_line) {
+        QRect r = inner_layout.itemAt(i)->geometry();
+        int bottom = r.bottom() + inner_layout.spacing() / 2;
+        p.drawLine(r.left(), bottom, r.right(), bottom);
+      }
+    }
+  }
+  QVBoxLayout outer_layout;
+  QVBoxLayout inner_layout;
+
+  bool _split_line;
+};
+
+// convenience class for wrapping layouts
+class LayoutWidgetSP : public QWidget {
+  Q_OBJECT
+
+public:
+  LayoutWidgetSP(QLayout *l, QWidget *parent = nullptr) : QWidget(parent) {
+    setLayout(l);
+  }
+};
+
+class OptionControlSP : public AbstractControlSP_SELECTOR {
+  Q_OBJECT
+
+private:
+  struct MinMaxValue {
+    int min_value;
+    int max_value;
+  };
+
+public:
+  OptionControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
+                  const MinMaxValue &range, const int per_value_change = 1) : _title(title), AbstractControlSP_SELECTOR(title, desc, icon) {
+    const QString style = R"(
+      QPushButton {
+        border-radius: 20px;
+        font-size: 60px;
+        font-weight: 500;
+        width: 150px;
+        height: 150px;
+        padding: -3 25 3 25;
+        color: #FFFFFF;
+        font-weight: bold;
+      }
+      QPushButton:pressed {
+        color: #5C5C5C;
+      }
+      QPushButton:disabled {
+        color: #5C5C5C;
+      }
+    )";
+
+    label.setStyleSheet(label_enabled_style);
+    label.setFixedWidth(300);
+    label.setAlignment(Qt::AlignCenter);
+
+    const std::vector<QString> button_texts{"�", "＋"};
+
+    key = param.toStdString();
+    value = atoi(params.get(key).c_str());
+
+    button_group = new QButtonGroup(this);
+    button_group->setExclusive(true);
+    for (int i = 0; i < button_texts.size(); i++) {
+      QPushButton *button = new QPushButton(button_texts[i], this);
+      button->setStyleSheet(style + ((i == 0) ? "QPushButton { text-align: left; }" :
+                                                "QPushButton { text-align: right; }"));
+      hlayout->addWidget(button, 0, ((i == 0) ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignVCenter);
+      if (i == 0) {
+        hlayout->addWidget(&label, 0, Qt::AlignCenter);
+      }
+      button_group->addButton(button, i);
+
+      QObject::connect(button, &QPushButton::clicked, [=]() {
+        int change_value = (i == 0) ? -per_value_change : per_value_change;
+        key = param.toStdString();
+        value = atoi(params.get(key).c_str());
+        value += change_value;
+        value = std::clamp(value, range.min_value, range.max_value);
+        params.put(key, QString::number(value).toStdString());
+
+        button_group->button(0)->setEnabled(!(value <= range.min_value));
+        button_group->button(1)->setEnabled(!(value >= range.max_value));
+
+        updateLabels();
+
+        if (request_update) {
+          emit updateOtherToggles();
+        }
+      });
+    }
+
+    hlayout->setAlignment(Qt::AlignLeft);
+  }
+
+  void setUpdateOtherToggles(bool _update) {
+    request_update = _update;
+  }
+
+  inline void setLabel(const QString &text) { label.setText(text); }
+
+  void setEnabled(bool enabled) {
+    for (auto btn: button_group->buttons()) {
+      btn->setEnabled(enabled);
+    }
+    label.setEnabled(enabled);
+    label.setStyleSheet(enabled ? label_enabled_style : label_disabled_style);
+    button_enabled = enabled;
+
+    update();
+  }
+
+protected:
+  void paintEvent(QPaintEvent *event) override {
+    QPainter p(this);
+    p.setRenderHint(QPainter::Antialiasing);
+
+    // Calculate the total width and height for the background rectangle
+    int w = 0;
+    int h = 150;
+
+    for (int i = 0; i < hlayout->count(); ++i) {
+      QWidget *widget = qobject_cast<QWidget *>(hlayout->itemAt(i)->widget());
+      if (widget) {
+        w += widget->width();
+      }
+    }
+
+    // Draw the rectangle
+    QRect rect(0, !_title.isEmpty() ? (h - 24) : 20, w, h);
+    p.setBrush(QColor(button_enabled ? "#b24a4a4a" : "#121212")); // Background color
+    p.setPen(QPen(Qt::NoPen));
+    p.drawRoundedRect(rect, 20, 20);
+  }
+
+signals:
+  void updateLabels();
+  void updateOtherToggles();
+
+private:
+  std::string key;
+  int value;
+  QButtonGroup *button_group;
+  QLabel label;
+  Params params;
+  std::map<QString, QString> option_label = {};
+  bool request_update = false;
+  QString _title = "";
+
+  const QString label_enabled_style = "font-size: 50px; font-weight: 450; color: #FFFFFF;";
+  const QString label_disabled_style = "font-size: 50px; font-weight: 450; color: #5C5C5C;";
+
+  bool button_enabled = true;
+};
+
+class SubPanelButton : public QPushButton {
+  Q_OBJECT
+
+public:
+  SubPanelButton(const QString &text, const int minimum_button_width = 800, QWidget *parent = nullptr) : QPushButton(text, parent) {
+    const QString buttonStyle = R"(
+      QPushButton {
+        border-radius: 20px;
+        font-size: 50px;
+        font-weight: 450;
+        height: 150px;
+        padding: 0 25px 0 25px;
+        color: #FFFFFF;
+      }
+      QPushButton:enabled {
+        background-color: #393939;
+      }
+      QPushButton:pressed {
+        background-color: #4A4A4A;
+      }
+      QPushButton:disabled {
+        background-color: #121212;
+        color: #5C5C5C;
+      }
+    )";
+
+    setStyleSheet(buttonStyle);
+    setFixedWidth(minimum_button_width);
+  }
+};
+
+class PanelBackButton : public QPushButton {
+  Q_OBJECT
+
+public:
+  PanelBackButton(const QString &label = "Back", QWidget *parent = nullptr) : QPushButton(label, parent) {
+    setObjectName("back_btn");
+    setFixedSize(400, 100);
+  }
+};
diff --git a/sunnypilot/selfdrive/ui/qt/widgets/drive_stats.cc b/sunnypilot/selfdrive/ui/qt/widgets/drive_stats.cc
new file mode 100644
index 00000000000000..0814e1e24e1f1c
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/qt/widgets/drive_stats.cc
@@ -0,0 +1,103 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "../../sunnypilot/selfdrive/ui/qt/widgets/drive_stats.h"
+
+#include <QDebug>
+#include <QGridLayout>
+#include <QVBoxLayout>
+
+#include "common/params.h"
+#include "selfdrive/ui/qt/request_repeater.h"
+#include "selfdrive/ui/qt/util.h"
+
+static QLabel* newLabel(const QString& text, const QString &type) {
+  QLabel* label = new QLabel(text);
+  label->setProperty("type", type);
+  return label;
+}
+
+DriveStats::DriveStats(QWidget* parent) : QFrame(parent) {
+  metric_ = Params().getBool("IsMetric");
+
+  QVBoxLayout* main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 50, 50, 60);
+
+  auto add_stats_layouts = [=](const QString &title, StatsLabels& labels) {
+    QGridLayout* grid_layout = new QGridLayout;
+    grid_layout->setVerticalSpacing(10);
+    grid_layout->setContentsMargins(0, 10, 0, 10);
+
+    int row = 0;
+    grid_layout->addWidget(newLabel(title, "title"), row++, 0, 1, 3);
+    grid_layout->addItem(new QSpacerItem(0, 50), row++, 0, 1, 1);
+
+    grid_layout->addWidget(labels.routes = newLabel("0", "number"), row, 0, Qt::AlignLeft);
+    grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft);
+    grid_layout->addWidget(labels.hours = newLabel("0", "number"), row, 2, Qt::AlignLeft);
+
+    grid_layout->addWidget(newLabel((tr("Drives")), "unit"), row + 1, 0, Qt::AlignLeft);
+    grid_layout->addWidget(labels.distance_unit = newLabel(getDistanceUnit(), "unit"), row + 1, 1, Qt::AlignLeft);
+    grid_layout->addWidget(newLabel(tr("Hours"), "unit"), row + 1, 2, Qt::AlignLeft);
+
+    main_layout->addLayout(grid_layout);
+  };
+
+  add_stats_layouts(tr("ALL TIME"), all_);
+  main_layout->addStretch();
+  add_stats_layouts(tr("PAST WEEK"), week_);
+
+  if (auto dongleId = getDongleId()) {
+    QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/stats";
+    RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_DriveStats", 30);
+    QObject::connect(repeater, &RequestRepeater::requestDone, this, &DriveStats::parseResponse);
+  }
+
+  setStyleSheet(R"(
+    DriveStats {
+      background-color: #333333;
+      border-radius: 10px;
+    }
+
+    QLabel[type="title"] { font-size: 51px; font-weight: 500; }
+    QLabel[type="number"] { font-size: 78px; font-weight: 500; }
+    QLabel[type="unit"] { font-size: 51px; font-weight: 300; color: #A0A0A0; }
+  )");
+}
+
+void DriveStats::updateStats() {
+  auto update = [=](const QJsonObject& obj, StatsLabels& labels) {
+    labels.routes->setText(QString::number((int)obj["routes"].toDouble()));
+    labels.distance->setText(QString::number(int(obj["distance"].toDouble() * (metric_ ? MILE_TO_KM : 1))));
+    labels.distance_unit->setText(getDistanceUnit());
+    labels.hours->setText(QString::number((int)(obj["minutes"].toDouble() / 60)));
+  };
+
+  QJsonObject json = stats_.object();
+  update(json["all"].toObject(), all_);
+  update(json["week"].toObject(), week_);
+}
+
+void DriveStats::parseResponse(const QString& response, bool success) {
+  if (!success) return;
+
+  QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8());
+  if (doc.isNull()) {
+    qDebug() << "JSON Parse failed on getting past drives statistics";
+    return;
+  }
+  stats_ = doc;
+  updateStats();
+}
+
+void DriveStats::showEvent(QShowEvent* event) {
+  bool metric = Params().getBool("IsMetric");
+  if (metric_ != metric) {
+    metric_ = metric;
+    updateStats();
+  }
+}
diff --git a/sunnypilot/selfdrive/ui/qt/widgets/drive_stats.h b/sunnypilot/selfdrive/ui/qt/widgets/drive_stats.h
new file mode 100644
index 00000000000000..0b2802ed8c08e6
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/qt/widgets/drive_stats.h
@@ -0,0 +1,32 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QJsonDocument>
+#include <QLabel>
+
+class DriveStats : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit DriveStats(QWidget* parent = 0);
+
+private:
+  void showEvent(QShowEvent *event) override;
+  void updateStats();
+  inline QString getDistanceUnit() const { return metric_ ? tr("KM") : tr("Miles"); }
+
+  bool metric_;
+  QJsonDocument stats_;
+  struct StatsLabels {
+    QLabel *routes, *distance, *distance_unit, *hours;
+  } all_, week_;
+
+private slots:
+  void parseResponse(const QString &response, bool success);
+};
diff --git a/sunnypilot/selfdrive/ui/qt/widgets/scrollview.cc b/sunnypilot/selfdrive/ui/qt/widgets/scrollview.cc
new file mode 100644
index 00000000000000..ab3ae1401cb5fc
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/qt/widgets/scrollview.cc
@@ -0,0 +1,37 @@
+/**
+ * The MIT License
+ *
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * Last updated: July 29, 2024
+*/
+
+#include "../../sunnypilot/selfdrive/ui/qt/widgets/scrollview.h"
+
+#include <QScrollBar>
+
+void ScrollViewSP::setLastScrollPosition() {
+  lastScrollPosition = verticalScrollBar()->value();
+}
+
+void ScrollViewSP::restoreScrollPosition() {
+  verticalScrollBar()->setValue(lastScrollPosition);
+}
diff --git a/sunnypilot/selfdrive/ui/qt/widgets/scrollview.h b/sunnypilot/selfdrive/ui/qt/widgets/scrollview.h
new file mode 100644
index 00000000000000..5c20bce2f26686
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/qt/widgets/scrollview.h
@@ -0,0 +1,24 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/widgets/scrollview.h"
+
+class ScrollViewSP : public ScrollView {
+  Q_OBJECT
+
+public:
+  explicit ScrollViewSP(QWidget *w = nullptr, QWidget *parent = nullptr) : ScrollView(w, parent) {}
+
+public slots:
+  void setLastScrollPosition();
+  void restoreScrollPosition();
+
+private:
+  int lastScrollPosition = 0;
+};
diff --git a/sunnypilot/selfdrive/ui/qt/widgets/toggle.cc b/sunnypilot/selfdrive/ui/qt/widgets/toggle.cc
new file mode 100644
index 00000000000000..e240e156646b2b
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/qt/widgets/toggle.cc
@@ -0,0 +1,30 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "../../sunnypilot/selfdrive/ui/qt/widgets/toggle.h"
+
+#include <QPainter>
+
+ToggleSP::ToggleSP(QWidget *parent) : Toggle(parent) {
+  _height_rect = 80;
+}
+
+void ToggleSP::paintEvent(QPaintEvent *e) {
+  this->setFixedHeight(100);
+  QPainter p(this);
+  p.setPen(Qt::NoPen);
+  p.setRenderHint(QPainter::Antialiasing, true);
+
+  // Draw toggle background
+  enabled ? green.setRgb(0x1e79e8) : green.setRgb(0x125db8);
+  p.setBrush(on ? green : QColor(0x292929));
+  p.drawRoundedRect(QRect(0, 10, width(), _height_rect), _height_rect / 2, _height_rect / 2);
+
+  // Draw toggle circle
+  p.setBrush(circleColor);
+  p.drawEllipse(QRectF(_x_circle - _radius + 6, 16, 68, 68));
+}
diff --git a/sunnypilot/selfdrive/ui/qt/widgets/toggle.h b/sunnypilot/selfdrive/ui/qt/widgets/toggle.h
new file mode 100644
index 00000000000000..e98dea39af921c
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/qt/widgets/toggle.h
@@ -0,0 +1,20 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/widgets/toggle.h"
+
+class ToggleSP : public Toggle {
+  Q_OBJECT
+
+public:
+  explicit ToggleSP(QWidget *parent = nullptr);
+
+protected:
+  void paintEvent(QPaintEvent *) override;
+};
diff --git a/sunnypilot/selfdrive/ui/qt/window.cc b/sunnypilot/selfdrive/ui/qt/window.cc
new file mode 100644
index 00000000000000..168a1af4671307
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/qt/window.cc
@@ -0,0 +1,20 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "../../sunnypilot/selfdrive/ui/qt/window.h"
+
+MainWindowSP::MainWindowSP(QWidget *parent)
+    : MainWindow(parent, new HomeWindowSP(parent), new SettingsWindowSP(parent), new OnboardingWindowSP(parent)) {
+
+  homeWindow = dynamic_cast<HomeWindowSP *>(MainWindow::homeWindow);
+  settingsWindow = dynamic_cast<SettingsWindowSP *>(MainWindow::settingsWindow);
+  onboardingWindow = dynamic_cast<OnboardingWindowSP *>(MainWindow::onboardingWindow);
+}
+
+void MainWindowSP::closeSettings() {
+  MainWindow::closeSettings();
+}
diff --git a/sunnypilot/selfdrive/ui/qt/window.h b/sunnypilot/selfdrive/ui/qt/window.h
new file mode 100644
index 00000000000000..39d20aec8ff1c5
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/qt/window.h
@@ -0,0 +1,26 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/window.h"
+#include "../../sunnypilot/selfdrive/ui/qt/home.h"
+#include "../../sunnypilot/selfdrive/ui/qt/offroad/settings/settings.h"
+#include "offroad/settings/onboarding.h"
+
+class MainWindowSP : public MainWindow {
+  Q_OBJECT
+
+public:
+  explicit MainWindowSP(QWidget *parent = 0);
+
+private:
+  HomeWindowSP *homeWindow;
+  SettingsWindowSP *settingsWindow;
+  OnboardingWindowSP *onboardingWindow;
+  void closeSettings() override;
+};
diff --git a/sunnypilot/selfdrive/ui/ui.cc b/sunnypilot/selfdrive/ui/ui.cc
new file mode 100644
index 00000000000000..3475a5e6e9139f
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/ui.cc
@@ -0,0 +1,53 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "../../sunnypilot/selfdrive/ui/ui.h"
+
+#include "common/watchdog.h"
+
+void UIStateSP::updateStatus() {
+  UIState::updateStatus();
+}
+
+UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
+  sm = std::make_unique<SubMaster>(std::vector<const char*>{
+    "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
+    "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
+    "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
+  });
+
+  // update timer
+  timer = new QTimer(this);
+  QObject::connect(timer, &QTimer::timeout, this, &UIStateSP::update);
+  timer->start(1000 / UI_FREQ);
+}
+
+// This method overrides completely the update method from the parent class intentionally.
+void UIStateSP::update() {
+  update_sockets(this);
+  update_state(this);
+  updateStatus();
+
+  if (sm->frame % UI_FREQ == 0) {
+    watchdog_kick(nanos_since_boot());
+  }
+  emit uiUpdate(*this);
+}
+
+DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
+  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &DeviceSP::update);
+}
+
+UIStateSP *uiStateSP() {
+  static UIStateSP ui_state;
+  return &ui_state;
+}
+
+DeviceSP *deviceSP() {
+  static DeviceSP _device;
+  return &_device;
+}
diff --git a/sunnypilot/selfdrive/ui/ui.h b/sunnypilot/selfdrive/ui/ui.h
new file mode 100644
index 00000000000000..65c92379695295
--- /dev/null
+++ b/sunnypilot/selfdrive/ui/ui.h
@@ -0,0 +1,38 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/ui.h"
+
+class UIStateSP : public UIState {
+  Q_OBJECT
+
+public:
+  UIStateSP(QObject *parent = 0);
+  void updateStatus() override;
+
+signals:
+  void uiUpdate(const UIStateSP &s);
+
+private slots:
+  void update() override;
+};
+
+UIStateSP *uiStateSP();
+inline UIStateSP *uiState() { return uiStateSP(); };
+
+// device management class
+class DeviceSP : public Device {
+  Q_OBJECT
+
+public:
+  DeviceSP(QObject *parent = 0);
+};
+
+DeviceSP *deviceSP();
+inline DeviceSP *device() { return deviceSP(); }

From 0e264e1b057b4b0bd02f05c57ac082fbb7588a73 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 3 Jan 2025 11:02:19 -0500
Subject: [PATCH 0030/1434] Revert "ui: sunnypilot offroad UI" (#511)

Revert "ui: sunnypilot offroad UI (#500)"

This reverts commit 3717a111afed884375f70ba1f288b9aadd6268ec.
---
 .codespellignore                              |   1 -
 SConstruct                                    |  10 -
 scripts/lint/lint.sh                          |   2 +-
 selfdrive/ui/SConscript                       |  10 +-
 selfdrive/ui/main.cc                          |   8 +-
 selfdrive/ui/qt/body.h                        |   6 -
 selfdrive/ui/qt/home.h                        |  22 +-
 selfdrive/ui/qt/network/networking.cc         |   6 -
 selfdrive/ui/qt/network/networking.h          |  11 -
 selfdrive/ui/qt/offroad/developer_panel.cc    |   7 +-
 selfdrive/ui/qt/offroad/developer_panel.h     |   4 -
 selfdrive/ui/qt/offroad/onboarding.h          |   7 +-
 selfdrive/ui/qt/offroad/settings.cc           |   3 -
 selfdrive/ui/qt/offroad/settings.h            |  30 +-
 selfdrive/ui/qt/onroad/buttons.h              |   4 -
 selfdrive/ui/qt/onroad/model.h                |   4 -
 selfdrive/ui/qt/onroad/onroad_home.cc         |   4 -
 selfdrive/ui/qt/onroad/onroad_home.h          |  12 +-
 selfdrive/ui/qt/request_repeater.h            |   5 -
 selfdrive/ui/qt/sidebar.cc                    |   4 -
 selfdrive/ui/qt/sidebar.h                     |   8 +-
 selfdrive/ui/qt/util.h                        |   6 -
 selfdrive/ui/qt/widgets/cameraview.h          |   5 -
 selfdrive/ui/qt/widgets/controls.cc           |   3 -
 selfdrive/ui/qt/widgets/controls.h            |   6 +-
 selfdrive/ui/qt/widgets/ssh_keys.h            |   7 -
 selfdrive/ui/qt/widgets/toggle.h              |   3 +-
 selfdrive/ui/qt/widgets/wifi.h                |   5 -
 selfdrive/ui/qt/window.cc                     |  11 +-
 selfdrive/ui/qt/window.h                      |  13 +-
 selfdrive/ui/tests/test_ui/run.py             |   4 +-
 selfdrive/ui/ui.cc                            |  12 +-
 selfdrive/ui/ui.h                             |  19 +-
 .../selfdrive/assets/offroad/icon_home.svg    |   3 -
 .../assets/offroad/icon_software.png          |   3 -
 .../selfdrive/assets/offroad/icon_toggle.png  |   3 -
 sunnypilot/selfdrive/ui/.gitignore            |   2 -
 sunnypilot/selfdrive/ui/SConscript            |  21 -
 sunnypilot/selfdrive/ui/qt/home.cc            |  19 -
 sunnypilot/selfdrive/ui/qt/home.h             |  38 --
 .../ui/qt/offroad/settings/onboarding.cc      | 102 ---
 .../ui/qt/offroad/settings/onboarding.h       |  35 --
 .../ui/qt/offroad/settings/settings.cc        | 146 -----
 .../ui/qt/offroad/settings/settings.h         |  39 --
 .../selfdrive/ui/qt/onroad/onroad_home.cc     |  32 -
 .../selfdrive/ui/qt/onroad/onroad_home.h      |  24 -
 sunnypilot/selfdrive/ui/qt/sidebar.cc         |  27 -
 sunnypilot/selfdrive/ui/qt/sidebar.h          |  27 -
 .../selfdrive/ui/qt/widgets/controls.cc       | 254 --------
 sunnypilot/selfdrive/ui/qt/widgets/controls.h | 588 ------------------
 .../selfdrive/ui/qt/widgets/drive_stats.cc    | 103 ---
 .../selfdrive/ui/qt/widgets/drive_stats.h     |  32 -
 .../selfdrive/ui/qt/widgets/scrollview.cc     |  37 --
 .../selfdrive/ui/qt/widgets/scrollview.h      |  24 -
 sunnypilot/selfdrive/ui/qt/widgets/toggle.cc  |  30 -
 sunnypilot/selfdrive/ui/qt/widgets/toggle.h   |  20 -
 sunnypilot/selfdrive/ui/qt/window.cc          |  20 -
 sunnypilot/selfdrive/ui/qt/window.h           |  26 -
 sunnypilot/selfdrive/ui/ui.cc                 |  53 --
 sunnypilot/selfdrive/ui/ui.h                  |  38 --
 60 files changed, 52 insertions(+), 1956 deletions(-)
 delete mode 100644 .codespellignore
 delete mode 100644 sunnypilot/selfdrive/assets/offroad/icon_home.svg
 delete mode 100644 sunnypilot/selfdrive/assets/offroad/icon_software.png
 delete mode 100644 sunnypilot/selfdrive/assets/offroad/icon_toggle.png
 delete mode 100644 sunnypilot/selfdrive/ui/.gitignore
 delete mode 100644 sunnypilot/selfdrive/ui/SConscript
 delete mode 100644 sunnypilot/selfdrive/ui/qt/home.cc
 delete mode 100644 sunnypilot/selfdrive/ui/qt/home.h
 delete mode 100644 sunnypilot/selfdrive/ui/qt/offroad/settings/onboarding.cc
 delete mode 100644 sunnypilot/selfdrive/ui/qt/offroad/settings/onboarding.h
 delete mode 100644 sunnypilot/selfdrive/ui/qt/offroad/settings/settings.cc
 delete mode 100644 sunnypilot/selfdrive/ui/qt/offroad/settings/settings.h
 delete mode 100644 sunnypilot/selfdrive/ui/qt/onroad/onroad_home.cc
 delete mode 100644 sunnypilot/selfdrive/ui/qt/onroad/onroad_home.h
 delete mode 100644 sunnypilot/selfdrive/ui/qt/sidebar.cc
 delete mode 100644 sunnypilot/selfdrive/ui/qt/sidebar.h
 delete mode 100644 sunnypilot/selfdrive/ui/qt/widgets/controls.cc
 delete mode 100644 sunnypilot/selfdrive/ui/qt/widgets/controls.h
 delete mode 100644 sunnypilot/selfdrive/ui/qt/widgets/drive_stats.cc
 delete mode 100644 sunnypilot/selfdrive/ui/qt/widgets/drive_stats.h
 delete mode 100644 sunnypilot/selfdrive/ui/qt/widgets/scrollview.cc
 delete mode 100644 sunnypilot/selfdrive/ui/qt/widgets/scrollview.h
 delete mode 100644 sunnypilot/selfdrive/ui/qt/widgets/toggle.cc
 delete mode 100644 sunnypilot/selfdrive/ui/qt/widgets/toggle.h
 delete mode 100644 sunnypilot/selfdrive/ui/qt/window.cc
 delete mode 100644 sunnypilot/selfdrive/ui/qt/window.h
 delete mode 100644 sunnypilot/selfdrive/ui/ui.cc
 delete mode 100644 sunnypilot/selfdrive/ui/ui.h

diff --git a/.codespellignore b/.codespellignore
deleted file mode 100644
index 916169347a53d1..00000000000000
--- a/.codespellignore
+++ /dev/null
@@ -1 +0,0 @@
-Wen
diff --git a/SConstruct b/SConstruct
index 39f7d14d03d184..934143fa08af20 100644
--- a/SConstruct
+++ b/SConstruct
@@ -74,12 +74,6 @@ AddOption('--minimal',
           default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
-AddOption('--stock-ui',
-          action='store_true',
-          dest='stock_ui',
-          default=False,
-          help='Build stock openpilot UI instead of sunnypilot UI')
-
 ## Architecture name breakdown (arch)
 ## - larch64: linux tici aarch64
 ## - aarch64: linux pc aarch64
@@ -178,10 +172,6 @@ else:
 if arch != "Darwin":
   ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
 
-if not GetOption('stock_ui'):
-  cflags += ["-DSUNNYPILOT"]
-  cxxflags += ["-DSUNNYPILOT"]
-
 ccflags_option = GetOption('ccflags')
 if ccflags_option:
   ccflags += ccflags_option.split(' ')
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index 94ba59beedac28..0002a447262453 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -57,7 +57,7 @@ function run_tests() {
 
   if [[ -z "$FAST" ]]; then
     run "mypy" mypy $PYTHON_FILES
-    run "codespell" codespell $ALL_FILES --ignore-words=$ROOT/.codespellignore
+    run "codespell" codespell $ALL_FILES
   fi
 
   return $FAILED
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index f3957c3d0347c7..c851d7a969332e 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -12,12 +12,6 @@ if arch == "Darwin":
   del base_libs[base_libs.index('OpenCL')]
   qt_env['FRAMEWORKS'] += ['OpenCL']
 
-sp_widgets_src = []
-sp_qt_src = []
-if not GetOption('stock_ui'):
-  SConscript(['../../sunnypilot/selfdrive/ui/SConscript'])
-  Import('sp_widgets_src', 'sp_qt_src')
-
 # FIXME: remove this once we're on 5.15 (24.04)
 qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
 
@@ -26,7 +20,7 @@ widgets_src = ["qt/widgets/input.cc", "qt/widgets/wifi.cc", "qt/prime_state.cc",
                "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc",
                "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc",
                "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc",
-               "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc"] + sp_widgets_src
+               "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc"]
 
 widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs)
 Export('widgets')
@@ -37,7 +31,7 @@ qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc",
           "qt/offroad/software_settings.cc", "qt/offroad/developer_panel.cc", "qt/offroad/onboarding.cc",
           "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
           "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc", "qt/onroad/model.cc",
-          "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"] + sp_qt_src
+          "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"]
 
 # build translation files
 with open(File("translations/languages.json").abspath) as f:
diff --git a/selfdrive/ui/main.cc b/selfdrive/ui/main.cc
index 268a3d000b2946..4903a3db3dcc07 100644
--- a/selfdrive/ui/main.cc
+++ b/selfdrive/ui/main.cc
@@ -4,16 +4,10 @@
 #include <QTranslator>
 
 #include "system/hardware/hw.h"
+#include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/window.h"
 
-#ifdef SUNNYPILOT
-#include "../../sunnypilot/selfdrive/ui/qt/window.h"
-#define MainWindow MainWindowSP
-#else
-#include "selfdrive/ui/qt/qt_window.h"
-#endif
-
 int main(int argc, char *argv[]) {
   setpriority(PRIO_PROCESS, 0, -20);
 
diff --git a/selfdrive/ui/qt/body.h b/selfdrive/ui/qt/body.h
index b0ea20e552ab4c..567a54d49befd5 100644
--- a/selfdrive/ui/qt/body.h
+++ b/selfdrive/ui/qt/body.h
@@ -5,13 +5,7 @@
 #include <QPushButton>
 
 #include "common/util.h"
-
-#ifdef SUNNYPILOT
-#include "../../sunnypilot/selfdrive/ui/ui.h"
-#define UIState UIStateSP
-#else
 #include "selfdrive/ui/ui.h"
-#endif
 
 class RecordButton : public QPushButton {
   Q_OBJECT
diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h
index 24ae756584936a..55bc706c0ddf8f 100644
--- a/selfdrive/ui/qt/home.h
+++ b/selfdrive/ui/qt/home.h
@@ -9,22 +9,11 @@
 
 #include "common/params.h"
 #include "selfdrive/ui/qt/body.h"
-#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
-#include "selfdrive/ui/ui.h"
-
-#ifdef SUNNYPILOT
-#include "../../sunnypilot/selfdrive/ui/qt/widgets/controls.h"
-#include "../../sunnypilot/selfdrive/ui/qt/onroad/onroad_home.h"
-#include "../../sunnypilot/selfdrive/ui/qt/sidebar.h"
-#define OnroadWindow OnroadWindowSP
-#define LayoutWidget LayoutWidgetSP
-#define Sidebar SidebarSP
-#define ElidedLabel ElidedLabelSP
-#else
-#include "selfdrive/ui/qt/widgets/controls.h"
 #include "selfdrive/ui/qt/onroad/onroad_home.h"
 #include "selfdrive/ui/qt/sidebar.h"
-#endif
+#include "selfdrive/ui/qt/widgets/controls.h"
+#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
+#include "selfdrive/ui/ui.h"
 
 class OffroadHome : public QFrame {
   Q_OBJECT
@@ -69,12 +58,13 @@ public slots:
   void mousePressEvent(QMouseEvent* e) override;
   void mouseDoubleClickEvent(QMouseEvent* e) override;
 
+private:
   Sidebar *sidebar;
   OffroadHome *home;
   OnroadWindow *onroad;
   BodyWindow *body;
   QStackedLayout *slayout;
 
-protected slots:
-  virtual void updateState(const UIState &s);
+private slots:
+  void updateState(const UIState &s);
 };
diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc
index 0f101a35c384e3..066dc3ca7ebbec 100644
--- a/selfdrive/ui/qt/network/networking.cc
+++ b/selfdrive/ui/qt/network/networking.cc
@@ -8,14 +8,8 @@
 
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/util.h"
-
-#ifdef SUNNYPILOT
-#include "../../sunnypilot/selfdrive/ui/qt/widgets/controls.h"
-#include "../../sunnypilot/selfdrive/ui/qt/widgets/scrollview.h"
-#else
 #include "selfdrive/ui/qt/widgets/controls.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
-#endif
 
 static const int ICON_WIDTH = 49;
 
diff --git a/selfdrive/ui/qt/network/networking.h b/selfdrive/ui/qt/network/networking.h
index 93d7229e94bf0f..4fd604039b4eca 100644
--- a/selfdrive/ui/qt/network/networking.h
+++ b/selfdrive/ui/qt/network/networking.h
@@ -8,17 +8,6 @@
 #include "selfdrive/ui/qt/widgets/ssh_keys.h"
 #include "selfdrive/ui/qt/widgets/toggle.h"
 
-#ifdef SUNNYPILOT
-#include "../../sunnypilot/selfdrive/ui/qt/widgets/controls.h"
-#define ButtonControl ButtonControlSP
-#define ElidedLabel ElidedLabelSP
-#define LabelControl LabelControlSP
-#define ListWidget ListWidgetSP
-#define ToggleControl ToggleControlSP
-#else
-#include "selfdrive/ui/qt/widgets/controls.h"
-#endif
-
 class WifiItem : public QWidget {
   Q_OBJECT
 public:
diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc
index 190a18d46d4cb8..bbd69f72cee3a3 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.cc
+++ b/selfdrive/ui/qt/offroad/developer_panel.cc
@@ -2,13 +2,8 @@
 
 #include "selfdrive/ui/qt/offroad/developer_panel.h"
 #include "selfdrive/ui/qt/widgets/ssh_keys.h"
-#include "common/util.h"
-
-#ifdef SUNNYPILOT
-#include "../../sunnypilot/selfdrive/ui/qt/widgets/controls.h"
-#else
 #include "selfdrive/ui/qt/widgets/controls.h"
-#endif
+#include "common/util.h"
 
 DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   // SSH keys
diff --git a/selfdrive/ui/qt/offroad/developer_panel.h b/selfdrive/ui/qt/offroad/developer_panel.h
index 824660458b4377..fe38612e573bb8 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.h
+++ b/selfdrive/ui/qt/offroad/developer_panel.h
@@ -1,10 +1,6 @@
 #pragma once
 
-#ifdef SUNNYPILOT
-#include "../../sunnypilot/selfdrive/ui/qt/offroad/settings/settings.h"
-#else
 #include "selfdrive/ui/qt/offroad/settings.h"
-#endif
 
 class DeveloperPanel : public ListWidget {
   Q_OBJECT
diff --git a/selfdrive/ui/qt/offroad/onboarding.h b/selfdrive/ui/qt/offroad/onboarding.h
index 0f6dbb50630c51..a1b6895ba087d0 100644
--- a/selfdrive/ui/qt/offroad/onboarding.h
+++ b/selfdrive/ui/qt/offroad/onboarding.h
@@ -71,7 +71,6 @@ public slots:
 private:
   void showEvent(QShowEvent *event) override;
 
-protected:
   QPushButton *accept_btn;
 
 signals:
@@ -98,10 +97,10 @@ class OnboardingWindow : public QStackedWidget {
 public:
   explicit OnboardingWindow(QWidget *parent = 0);
   inline void showTrainingGuide() { setCurrentIndex(1); }
-  virtual inline bool completed() const { return accepted_terms && training_done; }
+  inline bool completed() const { return accepted_terms && training_done; }
 
-protected:
-  virtual void updateActiveScreen();
+private:
+  void updateActiveScreen();
 
   Params params;
   bool accepted_terms = false, training_done = false;
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 93dcd793c942cb..d4aab53f5afcb6 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -100,9 +100,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   }
 
   // Toggles with confirmation dialogs
-#ifndef SUNNYPILOT
   toggles["ExperimentalMode"]->setActiveIcon("../assets/img_experimental.svg");
-#endif
   toggles["ExperimentalMode"]->setConfirmation(true, true);
   toggles["ExperimentalLongitudinalEnabled"]->setConfirmation(true, false);
 
@@ -356,7 +354,6 @@ void SettingsWindow::setCurrentPanel(int index, const QString &param) {
 }
 
 SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
-  RETURN_IF_SUNNYPILOT
 
   // setup two main layouts
   sidebar_widget = new QWidget;
diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h
index 9c4acac5828e76..de0528ee0a62b4 100644
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -10,21 +10,9 @@
 #include <QStackedWidget>
 #include <QWidget>
 
-#include "selfdrive/ui/qt/util.h"
-
-#ifdef SUNNYPILOT
-#include "../../sunnypilot/selfdrive/ui/ui.h"
-#include "../../sunnypilot/selfdrive/ui/qt/widgets/controls.h"
-#define ListWidget ListWidgetSP
-#define ParamControl ParamControlSP
-#define ButtonControl ButtonControlSP
-#define ButtonParamControl ButtonParamControlSP
-#define ToggleControl ToggleControlSP
-#define LabelControl LabelControlSP
-#else
 #include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
-#endif
 
 // ********** settings window + top-level panels **********
 class SettingsWindow : public QFrame {
@@ -42,7 +30,7 @@ class SettingsWindow : public QFrame {
   void reviewTrainingGuide();
   void expandToggleDescription(const QString &param);
 
-protected:
+private:
   QPushButton *sidebar_alert_widget;
   QWidget *sidebar_widget;
   QButtonGroup *nav_btns;
@@ -57,12 +45,12 @@ class DevicePanel : public ListWidget {
 signals:
   void reviewTrainingGuide();
 
-protected slots:
+private slots:
   void poweroff();
   void reboot();
   void updateCalibDescription();
 
-protected:
+private:
   Params params;
   ButtonControl *pair_device;
 };
@@ -76,15 +64,15 @@ class TogglesPanel : public ListWidget {
 public slots:
   void expandToggleDescription(const QString &param);
 
-protected slots:
-  virtual void updateState(const UIState &s);
+private slots:
+  void updateState(const UIState &s);
 
-protected:
+private:
   Params params;
   std::map<std::string, ParamControl*> toggles;
   ButtonParamControl *long_personality_setting;
 
-  virtual void updateToggles();
+  void updateToggles();
 };
 
 class SoftwarePanel : public ListWidget {
@@ -92,7 +80,7 @@ class SoftwarePanel : public ListWidget {
 public:
   explicit SoftwarePanel(QWidget* parent = nullptr);
 
-protected:
+private:
   void showEvent(QShowEvent *event) override;
   void updateLabels();
   void checkForUpdates();
diff --git a/selfdrive/ui/qt/onroad/buttons.h b/selfdrive/ui/qt/onroad/buttons.h
index 6bf479d136576f..9c91bc3c7b649f 100644
--- a/selfdrive/ui/qt/onroad/buttons.h
+++ b/selfdrive/ui/qt/onroad/buttons.h
@@ -2,11 +2,7 @@
 
 #include <QPushButton>
 
-#ifdef SUNNYPILOT
-#include "../../sunnypilot/selfdrive/ui/ui.h"
-#else
 #include "selfdrive/ui/ui.h"
-#endif
 
 const int btn_size = 192;
 const int img_size = (btn_size / 4) * 3;
diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h
index d2303eebd6c33e..79547e4b831451 100644
--- a/selfdrive/ui/qt/onroad/model.h
+++ b/selfdrive/ui/qt/onroad/model.h
@@ -3,11 +3,7 @@
 #include <QPainter>
 #include <QPolygonF>
 
-#ifdef SUNNYPILOT
-#include "../../sunnypilot/selfdrive/ui/ui.h"
-#else
 #include "selfdrive/ui/ui.h"
-#endif
 
 class ModelRenderer {
 public:
diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc
index 7db9a05a0cb367..080f9bd50fa4a9 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.cc
+++ b/selfdrive/ui/qt/onroad/onroad_home.cc
@@ -35,12 +35,8 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   alerts->raise();
 
   setAttribute(Qt::WA_OpaquePaintEvent);
-
-  // We handle the connection of the signals on the derived class
-#ifndef SUNNYPILOT
   QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
   QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
-#endif
 }
 
 void OnroadWindow::updateState(const UIState &s) {
diff --git a/selfdrive/ui/qt/onroad/onroad_home.h b/selfdrive/ui/qt/onroad/onroad_home.h
index 2224ede32e1555..c321d2d44f479c 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.h
+++ b/selfdrive/ui/qt/onroad/onroad_home.h
@@ -3,24 +3,20 @@
 #include "selfdrive/ui/qt/onroad/alerts.h"
 #include "selfdrive/ui/qt/onroad/annotated_camera.h"
 
-#ifdef SUNNYPILOT
-#define UIState UIStateSP
-#endif
-
 class OnroadWindow : public QWidget {
   Q_OBJECT
 
 public:
   OnroadWindow(QWidget* parent = 0);
 
-protected:
+private:
   void paintEvent(QPaintEvent *event);
   OnroadAlerts *alerts;
   AnnotatedCameraWidget *nvg;
   QColor bg = bg_colors[STATUS_DISENGAGED];
   QHBoxLayout* split;
 
-protected slots:
-  virtual void offroadTransition(bool offroad);
-  virtual void updateState(const UIState &s);
+private slots:
+  void offroadTransition(bool offroad);
+  void updateState(const UIState &s);
 };
diff --git a/selfdrive/ui/qt/request_repeater.h b/selfdrive/ui/qt/request_repeater.h
index 7c3c740b5e3505..c0e27582736138 100644
--- a/selfdrive/ui/qt/request_repeater.h
+++ b/selfdrive/ui/qt/request_repeater.h
@@ -2,12 +2,7 @@
 
 #include "common/util.h"
 #include "selfdrive/ui/qt/api.h"
-
-#ifdef SUNNYPILOT
-#include "../../sunnypilot/selfdrive/ui/ui.h"
-#else
 #include "selfdrive/ui/ui.h"
-#endif
 
 class RequestRepeater : public HttpRequest {
 public:
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index 866a5b62d0b36b..966396edc23aa1 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -110,10 +110,6 @@ void Sidebar::updateState(const UIState &s) {
 
 void Sidebar::paintEvent(QPaintEvent *event) {
   QPainter p(this);
-  paintSidebar(p);
-}
-
-void Sidebar::paintSidebar(QPainter &p) {
   p.setPen(Qt::NoPen);
   p.setRenderHint(QPainter::Antialiasing);
 
diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h
index d23427336e55e3..2091418e528675 100644
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -5,13 +5,8 @@
 #include <QFrame>
 #include <QMap>
 
-#include "selfdrive/ui/qt/network/networking.h"
-
-#ifdef SUNNYPILOT
-#include "../../sunnypilot/selfdrive/ui/ui.h"
-#else
 #include "selfdrive/ui/ui.h"
-#endif
+#include "selfdrive/ui/qt/network/networking.h"
 
 typedef QPair<QPair<QString, QString>, QColor> ItemStatus;
 Q_DECLARE_METATYPE(ItemStatus);
@@ -40,7 +35,6 @@ public slots:
   void mousePressEvent(QMouseEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override;
   void drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y);
-  virtual void paintSidebar(QPainter &p);
 
   QPixmap home_img, flag_img, settings_img;
   bool onroad, flag_pressed, settings_pressed;
diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h
index 6ea53d354a14d7..2bf1a70a62a437 100644
--- a/selfdrive/ui/qt/util.h
+++ b/selfdrive/ui/qt/util.h
@@ -13,12 +13,6 @@
 #include "cereal/gen/cpp/car.capnp.h"
 #include "common/params.h"
 
-#ifdef SUNNYPILOT
-#define RETURN_IF_SUNNYPILOT return;
-#else
-#define RETURN_IF_SUNNYPILOT  // Do nothing
-#endif
-
 QString getVersion();
 QString getBrand();
 QString getUserAgent();
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index 63b2bf862888f2..29aa8493c72dfa 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -23,12 +23,7 @@
 #endif
 
 #include "msgq/visionipc/visionipc_client.h"
-
-#ifdef SUNNYPILOT
-#include "../../sunnypilot/selfdrive/ui/ui.h"
-#else
 #include "selfdrive/ui/ui.h"
-#endif
 
 const int FRAME_BUFFER_SIZE = 5;
 
diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc
index 7dd3178200ffaf..40dda971f51e6f 100644
--- a/selfdrive/ui/qt/widgets/controls.cc
+++ b/selfdrive/ui/qt/widgets/controls.cc
@@ -3,10 +3,7 @@
 #include <QPainter>
 #include <QStyleOption>
 
-#include "selfdrive/ui/qt/util.h"
-
 AbstractControl::AbstractControl(const QString &title, const QString &desc, const QString &icon, QWidget *parent) : QFrame(parent) {
-  RETURN_IF_SUNNYPILOT
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setMargin(0);
 
diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h
index 9562c4ad224871..aebf934f2a2566 100644
--- a/selfdrive/ui/qt/widgets/controls.h
+++ b/selfdrive/ui/qt/widgets/controls.h
@@ -40,7 +40,7 @@ class AbstractControl : public QFrame {
   Q_OBJECT
 
 public:
-  virtual void setDescription(const QString &desc) {
+  void setDescription(const QString &desc) {
     if (description) description->setText(desc);
   }
 
@@ -52,7 +52,7 @@ class AbstractControl : public QFrame {
     value->setText(val);
   }
 
-  virtual const QString getDescription() {
+  const QString getDescription() {
     return description->text();
   }
 
@@ -60,7 +60,7 @@ class AbstractControl : public QFrame {
   QPixmap icon_pixmap;
 
 public slots:
-  virtual void showDescription() {
+  void showDescription() {
     description->setVisible(true);
   }
 
diff --git a/selfdrive/ui/qt/widgets/ssh_keys.h b/selfdrive/ui/qt/widgets/ssh_keys.h
index 53f0afac1bf796..920bd651e2dcd0 100644
--- a/selfdrive/ui/qt/widgets/ssh_keys.h
+++ b/selfdrive/ui/qt/widgets/ssh_keys.h
@@ -3,14 +3,7 @@
 #include <QPushButton>
 
 #include "system/hardware/hw.h"
-
-#ifdef SUNNYPILOT
-#include "../../sunnypilot/selfdrive/ui/qt/widgets/controls.h"
-#define ButtonControl ButtonControlSP
-#define ToggleControl ToggleControlSP
-#else
 #include "selfdrive/ui/qt/widgets/controls.h"
-#endif
 
 // SSH enable toggle
 class SshToggle : public ToggleControl {
diff --git a/selfdrive/ui/qt/widgets/toggle.h b/selfdrive/ui/qt/widgets/toggle.h
index a0fa434a4ce57a..e7263a008fa183 100644
--- a/selfdrive/ui/qt/widgets/toggle.h
+++ b/selfdrive/ui/qt/widgets/toggle.h
@@ -23,13 +23,14 @@ class Toggle : public QAbstractButton {
     update();
   }
   bool getEnabled();
-  virtual void setEnabled(bool value);
+  void setEnabled(bool value);
 
 protected:
   void paintEvent(QPaintEvent*) override;
   void mouseReleaseEvent(QMouseEvent*) override;
   void enterEvent(QEvent*) override;
 
+private:
   QColor circleColor;
   QColor green;
   bool enabled = true;
diff --git a/selfdrive/ui/qt/widgets/wifi.h b/selfdrive/ui/qt/widgets/wifi.h
index 40552a699d038d..60c865f2b89a9c 100644
--- a/selfdrive/ui/qt/widgets/wifi.h
+++ b/selfdrive/ui/qt/widgets/wifi.h
@@ -4,12 +4,7 @@
 #include <QStackedLayout>
 #include <QWidget>
 
-#ifdef SUNNYPILOT
-#include "../../sunnypilot/selfdrive/ui/ui.h"
-#define UIState UIStateSP
-#else
 #include "selfdrive/ui/ui.h"
-#endif
 
 class WiFiPromptWidget : public QFrame {
   Q_OBJECT
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index c28f3a24229e46..e1ec916c6fda0e 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -4,20 +4,16 @@
 
 #include "system/hardware/hw.h"
 
-// We have this constructor so that we can provide custom implementations of the windows. By default (stock_ui) would receive them as nullptr, so they'll be instantiated with stock. Otherwise they'd be SP instances
-MainWindow::MainWindow(QWidget *parent, HomeWindow *hw, SettingsWindow *sw, OnboardingWindow *ow) :
-    QWidget(parent),
-    homeWindow(hw ? hw : new HomeWindow(this)),
-    settingsWindow(sw ? sw : new SettingsWindow(this)),
-    onboardingWindow(ow ? ow : new OnboardingWindow(this)) {
-
+MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   main_layout = new QStackedLayout(this);
   main_layout->setMargin(0);
 
+  homeWindow = new HomeWindow(this);
   main_layout->addWidget(homeWindow);
   QObject::connect(homeWindow, &HomeWindow::openSettings, this, &MainWindow::openSettings);
   QObject::connect(homeWindow, &HomeWindow::closeSettings, this, &MainWindow::closeSettings);
 
+  settingsWindow = new SettingsWindow(this);
   main_layout->addWidget(settingsWindow);
   QObject::connect(settingsWindow, &SettingsWindow::closeSettings, this, &MainWindow::closeSettings);
   QObject::connect(settingsWindow, &SettingsWindow::reviewTrainingGuide, [=]() {
@@ -25,6 +21,7 @@ MainWindow::MainWindow(QWidget *parent, HomeWindow *hw, SettingsWindow *sw, Onbo
     main_layout->setCurrentWidget(onboardingWindow);
   });
 
+  onboardingWindow = new OnboardingWindow(this);
   main_layout->addWidget(onboardingWindow);
   QObject::connect(onboardingWindow, &OnboardingWindow::onboardingDone, [=]() {
     main_layout->setCurrentWidget(homeWindow);
diff --git a/selfdrive/ui/qt/window.h b/selfdrive/ui/qt/window.h
index 2ed56e6d58cd6a..05b61e1f762bff 100644
--- a/selfdrive/ui/qt/window.h
+++ b/selfdrive/ui/qt/window.h
@@ -11,18 +11,15 @@ class MainWindow : public QWidget {
   Q_OBJECT
 
 public:
-  explicit MainWindow(QWidget *parent = 0) : MainWindow(parent, nullptr, nullptr, nullptr) {}
-
-protected:
-  explicit MainWindow(QWidget *parent, HomeWindow *hw = nullptr, SettingsWindow *sw = nullptr, OnboardingWindow *ow = nullptr);
-  HomeWindow *homeWindow;
-  SettingsWindow *settingsWindow;
-  OnboardingWindow *onboardingWindow;
-  virtual void closeSettings();
+  explicit MainWindow(QWidget *parent = 0);
 
 private:
   bool eventFilter(QObject *obj, QEvent *event) override;
   void openSettings(int index = 0, const QString &param = "");
+  void closeSettings();
 
   QStackedLayout *main_layout;
+  HomeWindow *homeWindow;
+  SettingsWindow *settingsWindow;
+  OnboardingWindow *onboardingWindow;
 };
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 7ffd66ed9ab483..2c4d8d7037e9b8 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -160,7 +160,7 @@ def setup_offroad_alert(click, pm: PubMaster):
 
   # Toggle between settings and home to refresh the offroad alert widget
   setup_settings_device(click, pm)
-  click(100, 100)
+  click(240, 216)
 
 def setup_update_available(click, pm: PubMaster):
   Params().put_bool("UpdateAvailable", True)
@@ -170,7 +170,7 @@ def setup_update_available(click, pm: PubMaster):
   Params().put("UpdaterNewReleaseNotes", release_notes + "\n")
 
   setup_settings_device(click, pm)
-  click(100, 100)
+  click(240, 216)
 
 def setup_pair_device(click, pm: PubMaster):
   click(1950, 435)
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 3179a383c24361..ec3d40961d78ba 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -9,17 +9,16 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "common/watchdog.h"
-#include "qt/util.h"
 #include "system/hardware/hw.h"
 
 #define BACKLIGHT_DT 0.05
 #define BACKLIGHT_TS 10.00
 
-void update_sockets(UIState *s) {
+static void update_sockets(UIState *s) {
   s->sm->update(0);
 }
 
-void update_state(UIState *s) {
+static void update_state(UIState *s) {
   SubMaster &sm = *(s->sm);
   UIScene &scene = s->scene;
 
@@ -99,7 +98,6 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   prime_state = new PrimeState(this);
   language = QString::fromStdString(Params().get("LanguageSetting"));
 
-  RETURN_IF_SUNNYPILOT
   // update timer
   timer = new QTimer(this);
   QObject::connect(timer, &QTimer::timeout, this, &UIState::update);
@@ -107,7 +105,6 @@ UIState::UIState(QObject *parent) : QObject(parent) {
 }
 
 void UIState::update() {
-  RETURN_IF_SUNNYPILOT
   update_sockets(this);
   update_state(this);
   updateStatus();
@@ -121,9 +118,8 @@ void UIState::update() {
 Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) {
   setAwake(true);
   resetInteractiveTimeout();
-#ifndef SUNNYPILOT
+
   QObject::connect(uiState(), &UIState::uiUpdate, this, &Device::update);
-#endif
 }
 
 void Device::update(const UIState &s) {
@@ -189,7 +185,6 @@ void Device::updateWakefulness(const UIState &s) {
   setAwake(s.scene.ignition || interactive_timeout > 0);
 }
 
-#ifndef SUNNYPILOT
 UIState *uiState() {
   static UIState ui_state;
   return &ui_state;
@@ -199,4 +194,3 @@ Device *device() {
   static Device _device;
   return &_device;
 }
-#endif
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index bf932c2ab5a867..6ff67cacde9cb6 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -67,7 +67,7 @@ class UIState : public QObject {
 
 public:
   UIState(QObject* parent = 0);
-  virtual void updateStatus();
+  void updateStatus();
   inline bool engaged() const {
     return scene.started && (*sm)["selfdriveState"].getSelfdriveState().getEnabled();
   }
@@ -82,19 +82,15 @@ class UIState : public QObject {
   void uiUpdate(const UIState &s);
   void offroadTransition(bool offroad);
 
-protected slots:
-  virtual void update();
-
-protected:
-  QTimer *timer;
+private slots:
+  void update();
 
 private:
+  QTimer *timer;
   bool started_prev = false;
 };
 
-#ifndef SUNNYPILOT
 UIState *uiState();
-#endif
 
 // device management class
 class Device : public QObject {
@@ -107,7 +103,7 @@ class Device : public QObject {
     offroad_brightness = std::clamp(brightness, 0, 100);
   }
 
-protected:
+private:
   bool awake = false;
   int interactive_timeout = 0;
   bool ignition_on = false;
@@ -130,10 +126,5 @@ public slots:
   void update(const UIState &s);
 };
 
-#ifndef SUNNYPILOT
 Device *device();
-#endif
-
 void ui_update_params(UIState *s);
-void update_state(UIState *s);
-void update_sockets(UIState *s);
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_home.svg b/sunnypilot/selfdrive/assets/offroad/icon_home.svg
deleted file mode 100644
index ca90cc7bf6747b..00000000000000
--- a/sunnypilot/selfdrive/assets/offroad/icon_home.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1673f8d46251a05787b60346193852991739345506dc7e9b106dfb370d3611ed
-size 489
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_software.png b/sunnypilot/selfdrive/assets/offroad/icon_software.png
deleted file mode 100644
index 70915e290630ea..00000000000000
--- a/sunnypilot/selfdrive/assets/offroad/icon_software.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:01fd38c0d5b05c3ce4ed07bfe4cd47a3ea61f68f24e6cc3058190d90d8200f9b
-size 4785
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_toggle.png b/sunnypilot/selfdrive/assets/offroad/icon_toggle.png
deleted file mode 100644
index 51906798b99c10..00000000000000
--- a/sunnypilot/selfdrive/assets/offroad/icon_toggle.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:11336d2f65100bc0dc2a53e09efae41ae85817b27e1a5bf134cc995e631c5b52
-size 4073
diff --git a/sunnypilot/selfdrive/ui/.gitignore b/sunnypilot/selfdrive/ui/.gitignore
deleted file mode 100644
index e047b1f5dd60df..00000000000000
--- a/sunnypilot/selfdrive/ui/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-moc_*
-*.moc
diff --git a/sunnypilot/selfdrive/ui/SConscript b/sunnypilot/selfdrive/ui/SConscript
deleted file mode 100644
index 421744f257f5ec..00000000000000
--- a/sunnypilot/selfdrive/ui/SConscript
+++ /dev/null
@@ -1,21 +0,0 @@
-widgets_src = [
-  "../../sunnypilot/selfdrive/ui/ui.cc",
-  "../../sunnypilot/selfdrive/ui/qt/window.cc",
-  "../../sunnypilot/selfdrive/ui/qt/widgets/controls.cc",
-  "../../sunnypilot/selfdrive/ui/qt/widgets/drive_stats.cc",
-  "../../sunnypilot/selfdrive/ui/qt/widgets/scrollview.cc",
-  "../../sunnypilot/selfdrive/ui/qt/widgets/toggle.cc",
-]
-
-qt_src = [
-  "../../sunnypilot/selfdrive/ui/qt/home.cc",
-  "../../sunnypilot/selfdrive/ui/qt/sidebar.cc",
-  "../../sunnypilot/selfdrive/ui/qt/offroad/settings/onboarding.cc",
-  "../../sunnypilot/selfdrive/ui/qt/offroad/settings/settings.cc",
-  "../../sunnypilot/selfdrive/ui/qt/onroad/onroad_home.cc",
-]
-
-sp_widgets_src = widgets_src
-sp_qt_src = qt_src
-
-Export('sp_widgets_src', 'sp_qt_src')
diff --git a/sunnypilot/selfdrive/ui/qt/home.cc b/sunnypilot/selfdrive/ui/qt/home.cc
deleted file mode 100644
index 8cdd178a463241..00000000000000
--- a/sunnypilot/selfdrive/ui/qt/home.cc
+++ /dev/null
@@ -1,19 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "../../sunnypilot/selfdrive/ui/qt/home.h"
-
-HomeWindowSP::HomeWindowSP(QWidget *parent) : HomeWindow(parent) {
-}
-
-void HomeWindowSP::updateState(const UIState &s) {
-  HomeWindow::updateState(s);
-}
-
-void HomeWindowSP::mousePressEvent(QMouseEvent *e) {
-  HomeWindow::mousePressEvent(e);
-}
diff --git a/sunnypilot/selfdrive/ui/qt/home.h b/sunnypilot/selfdrive/ui/qt/home.h
deleted file mode 100644
index b4129126d32569..00000000000000
--- a/sunnypilot/selfdrive/ui/qt/home.h
+++ /dev/null
@@ -1,38 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include <QFrame>
-#include <QWidget>
-
-#include "common/params.h"
-#include "selfdrive/ui/qt/body.h"
-#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
-#include "../../sunnypilot/selfdrive/ui/ui.h"
-#include "selfdrive/ui/qt/home.h"
-
-#ifdef SUNNYPILOT
-#include "../../sunnypilot/selfdrive/ui/qt/sidebar.h"
-#define OnroadWindow OnroadWindowSP
-#else
-#include "selfdrive/ui/qt/sidebar.h"
-#include "selfdrive/ui/qt/onroad/onroad_home.h"
-#endif
-
-class HomeWindowSP : public HomeWindow {
-  Q_OBJECT
-
-public:
-  explicit HomeWindowSP(QWidget *parent = 0);
-
-protected:
-  void mousePressEvent(QMouseEvent *e) override;
-
-private slots:
-  void updateState(const UIState &s) override;
-};
diff --git a/sunnypilot/selfdrive/ui/qt/offroad/settings/onboarding.cc b/sunnypilot/selfdrive/ui/qt/offroad/settings/onboarding.cc
deleted file mode 100644
index 2615743f2713ac..00000000000000
--- a/sunnypilot/selfdrive/ui/qt/offroad/settings/onboarding.cc
+++ /dev/null
@@ -1,102 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "../../sunnypilot/selfdrive/ui/qt/offroad/settings/onboarding.h"
-
-#include <string>
-
-#include <QScrollBar>
-#include <common/swaglog.h>
-
-#include "common/util.h"
-#include "common/params.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/input.h"
-#include "selfdrive/ui/qt/widgets/scrollview.h"
-
-void TermsPageSP::showEvent(QShowEvent *event) {
-  // late init, building QML widget takes 200ms
-  if (layout()) {
-    return;
-  }
-
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(45, 35, 45, 45);
-  main_layout->setSpacing(0);
-
-  QLabel *title = new QLabel(tr("Terms & Conditions"));
-  title->setStyleSheet("font-size: 90px; font-weight: 600;");
-  main_layout->addWidget(title);
-
-  QLabel *text = new QLabel(this);
-  text->setTextFormat(Qt::RichText);
-  text->setWordWrap(true);
-  std::string tc_text = sunnypilot_tc ? "../assets/offroad/sp_tc.html" : "../assets/offroad/tc.html";
-  text->setText(QString::fromStdString(util::read_file(tc_text)));
-  text->setStyleSheet("font-size:50px; font-weight: 200; color: #C9C9C9; background-color:#1B1B1B; padding:50px 50px;");
-  ScrollView *scroll = new ScrollView(text, this);
-
-  main_layout->addSpacing(30);
-  main_layout->addWidget(scroll);
-  main_layout->addSpacing(50);
-
-  QHBoxLayout *buttons = new QHBoxLayout;
-  buttons->setMargin(0);
-  buttons->setSpacing(45);
-  main_layout->addLayout(buttons);
-
-  QPushButton *decline_btn = new QPushButton(tr("Decline"));
-  buttons->addWidget(decline_btn);
-  QObject::connect(decline_btn, &QPushButton::clicked, this, &TermsPage::declinedTerms);
-
-  accept_btn = new QPushButton(tr("Scroll to accept"));
-  accept_btn->setEnabled(false);
-  accept_btn->setStyleSheet(R"(
-    QPushButton {
-      background-color: #465BEA;
-    }
-    QPushButton:pressed {
-      background-color: #3049F4;
-    }
-    QPushButton:disabled {
-      background-color: #4F4F4F;
-    }
-  )");
-  buttons->addWidget(accept_btn);
-  QObject::connect(accept_btn, &QPushButton::clicked, this, &TermsPage::acceptedTerms);
-  QScrollBar *scroll_bar = scroll->verticalScrollBar();
-  connect(scroll_bar, &QScrollBar::valueChanged, this, [this, scroll_bar](int value) {
-    if (value == scroll_bar->maximum()) {
-      enableAccept();
-    }
-  });
-}
-
-void OnboardingWindowSP::updateActiveScreen() {
-  if (accepted_terms && training_done && !accepted_terms_sp) {
-    setCurrentIndex(3);
-  } else {
-    OnboardingWindow::updateActiveScreen();
-  }
-}
-
-OnboardingWindowSP::OnboardingWindowSP(QWidget *parent) : OnboardingWindow(parent) {
-  std::string current_terms_version_sp = params.get("TermsVersionSunnypilot");
-  accepted_terms_sp = params.get("HasAcceptedTermsSP") == current_terms_version_sp;
-  LOGD("accepted_terms_sp: %s", params.get("HasAcceptedTermsSP").c_str());
-
-  auto *terms_sp = new TermsPageSP(true, parent);
-  addWidget(terms_sp); // index = 3
-  connect(terms_sp, &TermsPageSP::acceptedTerms, [=]() {
-    params.put("HasAcceptedTermsSP", current_terms_version_sp);
-    accepted_terms_sp = true;
-    updateActiveScreen();
-  });
-  connect(terms_sp, &TermsPageSP::declinedTerms, [=]() { setCurrentIndex(2); });
-
-  OnboardingWindowSP::updateActiveScreen();
-}
diff --git a/sunnypilot/selfdrive/ui/qt/offroad/settings/onboarding.h b/sunnypilot/selfdrive/ui/qt/offroad/settings/onboarding.h
deleted file mode 100644
index 626428478cf89f..00000000000000
--- a/sunnypilot/selfdrive/ui/qt/offroad/settings/onboarding.h
+++ /dev/null
@@ -1,35 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/qt/offroad/onboarding.h"
-
-#include "selfdrive/ui/qt/qt_window.h"
-
-class TermsPageSP : public TermsPage {
-  Q_OBJECT
-
-public:
-  explicit TermsPageSP(bool sunnypilot = false, QWidget *parent = 0) : TermsPage(parent), sunnypilot_tc(sunnypilot) {}
-
-private:
-  bool sunnypilot_tc = false;
-  void showEvent(QShowEvent *event) override;
-};
-
-class OnboardingWindowSP : public OnboardingWindow {
-  Q_OBJECT
-
-public:
-  explicit OnboardingWindowSP(QWidget *parent = 0);
-  inline bool completed() const override { return accepted_terms && accepted_terms_sp && training_done; }
-
-private:
-  bool accepted_terms_sp = false;
-  void updateActiveScreen() override;
-};
diff --git a/sunnypilot/selfdrive/ui/qt/offroad/settings/settings.cc b/sunnypilot/selfdrive/ui/qt/offroad/settings/settings.cc
deleted file mode 100644
index cf446c6c3f3d3b..00000000000000
--- a/sunnypilot/selfdrive/ui/qt/offroad/settings/settings.cc
+++ /dev/null
@@ -1,146 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "../../sunnypilot/selfdrive/ui/qt/offroad/settings/settings.h"
-
-#include "selfdrive/ui/qt/network/networking.h"
-#include "../../sunnypilot/selfdrive/ui/qt/widgets/scrollview.h"
-#include "selfdrive/ui/qt/offroad/developer_panel.h"
-
-TogglesPanelSP::TogglesPanelSP(SettingsWindow *parent) : TogglesPanel(parent) {
-  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &TogglesPanelSP::updateState);
-}
-
-void TogglesPanelSP::updateState(const UIStateSP &s) {
-  TogglesPanel::updateState(s);
-}
-
-SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
-  // setup two main layouts
-  sidebar_widget = new QWidget;
-  QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget);
-  panel_widget = new QStackedWidget();
-
-  // setup layout for close button
-  QVBoxLayout *close_btn_layout = new QVBoxLayout;
-  close_btn_layout->setContentsMargins(0, 0, 0, 20);
-
-  // close button
-  QPushButton *close_btn = new QPushButton(tr("×"));
-  close_btn->setStyleSheet(R"(
-    QPushButton {
-      font-size: 140px;
-      padding-bottom: 20px;
-      border-radius: 76px;
-      background-color: #292929;
-      font-weight: 400;
-    }
-    QPushButton:pressed {
-      background-color: #3B3B3B;
-    }
-  )");
-  close_btn->setFixedSize(152, 152);
-  close_btn_layout->addWidget(close_btn, 0, Qt::AlignLeft);
-  QObject::connect(close_btn, &QPushButton::clicked, this, &SettingsWindow::closeSettings);
-
-  // setup buttons widget
-  QWidget *buttons_widget = new QWidget;
-  QVBoxLayout *buttons_layout = new QVBoxLayout(buttons_widget);
-  buttons_layout->setMargin(0);
-  buttons_layout->addSpacing(10);
-
-  // setup panels
-  DevicePanel *device = new DevicePanel(this);
-  QObject::connect(device, &DevicePanel::reviewTrainingGuide, this, &SettingsWindow::reviewTrainingGuide);
-
-  TogglesPanelSP *toggles = new TogglesPanelSP(this);
-  QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
-
-  auto networking = new Networking(this);
-  QObject::connect(uiState()->prime_state, &PrimeState::changed, networking, &Networking::setPrimeType);
-
-  QList<PanelInfo> panels = {
-    PanelInfo("   " + tr("Device"), device, "../../sunnypilot/selfdrive/assets/offroad/icon_home.svg"),
-    PanelInfo("   " + tr("Network"), networking, "../assets/offroad/icon_network.png"),
-    PanelInfo("   " + tr("Toggles"), toggles, "../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
-    PanelInfo("   " + tr("Software"), new SoftwarePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
-    PanelInfo("   " + tr("Developer"), new DeveloperPanel(this), "../assets/offroad/icon_shell.png"),
-  };
-
-  nav_btns = new QButtonGroup(this);
-  for (auto &[name, panel, icon] : panels) {
-    QPushButton *btn = new QPushButton(name);
-    btn->setCheckable(true);
-    btn->setChecked(nav_btns->buttons().size() == 0);
-    btn->setIcon(QIcon(QPixmap(icon)));
-    btn->setIconSize(QSize(70, 70));
-    btn->setStyleSheet(R"(
-      QPushButton {
-        border-radius: 20px;
-        width: 400px;
-        height: 98px;
-        color: #bdbdbd;
-        border: none;
-        background: none;
-        font-size: 50px;
-        font-weight: 500;
-        text-align: left;
-        padding-left: 22px;
-      }
-      QPushButton:checked {
-        background-color: #696868;
-        color: white;
-      }
-      QPushButton:pressed {
-        color: #ADADAD;
-      }
-    )");
-    btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
-    nav_btns->addButton(btn);
-    buttons_layout->addWidget(btn, 0, Qt::AlignLeft | Qt::AlignBottom);
-
-    const int lr_margin = (name != ("   " + tr("Network")) || (name != ("   " + tr("sunnypilot")))) ? 50 : 0;  // Network and sunnypilot panel handles its own margins
-    panel->setContentsMargins(lr_margin, 25, lr_margin, 25);
-
-    ScrollViewSP *panel_frame = new ScrollViewSP(panel, this);
-    panel_widget->addWidget(panel_frame);
-
-    QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
-      btn->setChecked(true);
-      panel_widget->setCurrentWidget(w);
-    });
-  }
-  sidebar_layout->setContentsMargins(50, 50, 25, 50);
-
-  // main settings layout, sidebar + main panel
-  QHBoxLayout *main_layout = new QHBoxLayout(this);
-
-  // add layout for close button
-  sidebar_layout->addLayout(close_btn_layout);
-
-  // add layout for buttons scrolling
-  ScrollViewSP *buttons_scrollview = new ScrollViewSP(buttons_widget, this);
-  sidebar_layout->addWidget(buttons_scrollview);
-
-  sidebar_widget->setFixedWidth(500);
-  main_layout->addWidget(sidebar_widget);
-  main_layout->addWidget(panel_widget);
-
-  setStyleSheet(R"(
-    * {
-      color: white;
-      font-size: 50px;
-    }
-    SettingsWindow {
-      background-color: black;
-    }
-    QStackedWidget, ScrollViewSP {
-      background-color: black;
-      border-radius: 30px;
-    }
-  )");
-}
diff --git a/sunnypilot/selfdrive/ui/qt/offroad/settings/settings.h b/sunnypilot/selfdrive/ui/qt/offroad/settings/settings.h
deleted file mode 100644
index 5678a3171bfb20..00000000000000
--- a/sunnypilot/selfdrive/ui/qt/offroad/settings/settings.h
+++ /dev/null
@@ -1,39 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include <map>
-#include <string>
-
-#include "selfdrive/ui/qt/offroad/settings.h"
-
-class SettingsWindowSP : public SettingsWindow {
-  Q_OBJECT
-
-public:
-  explicit SettingsWindowSP(QWidget *parent = nullptr);
-
-protected:
-  struct PanelInfo {
-    QString name;
-    QWidget *widget;
-    QString icon;
-
-    PanelInfo(const QString &name, QWidget *widget, const QString &icon) : name(name), widget(widget), icon(icon) {}
-  };
-};
-
-class TogglesPanelSP : public TogglesPanel {
-  Q_OBJECT
-
-public:
-  explicit TogglesPanelSP(SettingsWindow *parent);
-
-private slots:
-  void updateState(const UIStateSP &s);
-};
diff --git a/sunnypilot/selfdrive/ui/qt/onroad/onroad_home.cc b/sunnypilot/selfdrive/ui/qt/onroad/onroad_home.cc
deleted file mode 100644
index a2743df34cf820..00000000000000
--- a/sunnypilot/selfdrive/ui/qt/onroad/onroad_home.cc
+++ /dev/null
@@ -1,32 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "../../sunnypilot/selfdrive/ui/qt/onroad/onroad_home.h"
-
-#include "common/swaglog.h"
-#include "selfdrive/ui/qt/util.h"
-
-OnroadWindowSP::OnroadWindowSP(QWidget *parent) : OnroadWindow(parent) {
-  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &OnroadWindowSP::updateState);
-  QObject::connect(uiStateSP(), &UIStateSP::offroadTransition, this, &OnroadWindowSP::offroadTransition);
-}
-
-void OnroadWindowSP::updateState(const UIStateSP &s) {
-  if (!s.scene.started) {
-    return;
-  }
-
-  OnroadWindow::updateState(s);
-}
-
-void OnroadWindowSP::mousePressEvent(QMouseEvent *e) {
-  OnroadWindow::mousePressEvent(e);
-}
-
-void OnroadWindowSP::offroadTransition(bool offroad) {
-  OnroadWindow::offroadTransition(offroad);
-}
diff --git a/sunnypilot/selfdrive/ui/qt/onroad/onroad_home.h b/sunnypilot/selfdrive/ui/qt/onroad/onroad_home.h
deleted file mode 100644
index 193fdae0dc83e5..00000000000000
--- a/sunnypilot/selfdrive/ui/qt/onroad/onroad_home.h
+++ /dev/null
@@ -1,24 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/qt/onroad/onroad_home.h"
-
-class OnroadWindowSP : public OnroadWindow {
-  Q_OBJECT
-
-public:
-  OnroadWindowSP(QWidget *parent = 0);
-
-private:
-  void mousePressEvent(QMouseEvent *e) override;
-
-protected slots:
-  void offroadTransition(bool offroad) override;
-  void updateState(const UIStateSP &s) override;
-};
diff --git a/sunnypilot/selfdrive/ui/qt/sidebar.cc b/sunnypilot/selfdrive/ui/qt/sidebar.cc
deleted file mode 100644
index fb177856ca2fd9..00000000000000
--- a/sunnypilot/selfdrive/ui/qt/sidebar.cc
+++ /dev/null
@@ -1,27 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "../../sunnypilot/selfdrive/ui/qt/sidebar.h"
-
-#include <cmath>
-#include <QMouseEvent>
-
-#include "selfdrive/ui/qt/util.h"
-
-SidebarSP::SidebarSP(QWidget *parent) : Sidebar(parent) {
-  QObject::disconnect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState);
-  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &SidebarSP::updateState);
-}
-
-void SidebarSP::updateState(const UIStateSP &s) {
-  if (!isVisible()) return;
-  Sidebar::updateState(s);
-}
-
-void SidebarSP::paintSidebar(QPainter &p) {
-  Sidebar::paintSidebar(p);
-}
diff --git a/sunnypilot/selfdrive/ui/qt/sidebar.h b/sunnypilot/selfdrive/ui/qt/sidebar.h
deleted file mode 100644
index 5a9a66df50c256..00000000000000
--- a/sunnypilot/selfdrive/ui/qt/sidebar.h
+++ /dev/null
@@ -1,27 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include <memory>
-
-#include "selfdrive/ui/qt/sidebar.h"
-
-#include "../../sunnypilot/selfdrive/ui/ui.h"
-
-class SidebarSP : public Sidebar {
-  Q_OBJECT
-
-public slots:
-  void updateState(const UIStateSP &s);
-
-public:
-  explicit SidebarSP(QWidget *parent = 0);
-
-private:
-  void paintSidebar(QPainter &p) override;
-};
diff --git a/sunnypilot/selfdrive/ui/qt/widgets/controls.cc b/sunnypilot/selfdrive/ui/qt/widgets/controls.cc
deleted file mode 100644
index a72fe347587086..00000000000000
--- a/sunnypilot/selfdrive/ui/qt/widgets/controls.cc
+++ /dev/null
@@ -1,254 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "../../sunnypilot/selfdrive/ui/qt/widgets/controls.h"
-
-#include <QPainter>
-#include <QStyleOption>
-
-QFrame *horizontal_line(QWidget *parent) {
-  QFrame *line = new QFrame(parent);
-  line->setFrameShape(QFrame::StyledPanel);
-  line->setStyleSheet(R"(
-    border-width: 2px;
-    border-bottom-style: solid;
-    border-color: gray;
-  )");
-  line->setFixedHeight(10);
-  return line;
-}
-
-// AbstractControlSP
-
-AbstractControlSP::AbstractControlSP(const QString &title, const QString &desc, const QString &icon, QWidget *parent)
-    : AbstractControl(title, desc, icon, parent) {
-
-  main_layout = new QVBoxLayout(this);
-  main_layout->setMargin(0);
-
-  hlayout = new QHBoxLayout;
-  hlayout->setMargin(0);
-  hlayout->setSpacing(20);
-
-  // title
-  title_label = new QPushButton(title);
-  title_label->setFixedHeight(120);
-  title_label->setStyleSheet("font-size: 50px; font-weight: 450; text-align: left; border: none;");
-  hlayout->addWidget(title_label, 1);
-
-  // value next to control button
-  value = new ElidedLabelSP();
-  value->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
-  value->setStyleSheet("color: #aaaaaa");
-  hlayout->addWidget(value);
-
-  main_layout->addLayout(hlayout);
-
-  // description
-  description = new QLabel(desc);
-  description->setContentsMargins(40, 20, 40, 20);
-  description->setStyleSheet("font-size: 40px; color: grey");
-  description->setWordWrap(true);
-  description->setVisible(false);
-  main_layout->addWidget(description);
-
-  connect(title_label, &QPushButton::clicked, [=]() {
-    if (!description->isVisible()) {
-      emit showDescriptionEvent();
-    }
-
-    if (!description->text().isEmpty()) {
-      description->setVisible(!description->isVisible());
-    }
-  });
-
-  main_layout->addStretch();
-}
-
-void AbstractControlSP::hideEvent(QHideEvent *e) {
-  if (description != nullptr) {
-    description->hide();
-  }
-}
-
-AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, const QString &desc, const QString &icon, QWidget *parent)
-    : AbstractControlSP(title, desc, icon, parent) {
-
-  if (title_label != nullptr) {
-    delete title_label;
-    title_label = nullptr;
-  }
-
-  if (description != nullptr) {
-    delete description;
-    description = nullptr;
-  }
-
-  if (value != nullptr) {
-    ReplaceWidget(value, new QWidget());
-    value = nullptr;
-  }
-
-  QLayoutItem *item;
-  while ((item = main_layout->takeAt(0)) != nullptr) {
-    if (item->widget()) {
-      delete item->widget();
-    }
-    delete item;
-  }
-
-  main_layout->setMargin(0);
-
-  hlayout = new QHBoxLayout;
-  hlayout->setMargin(0);
-  hlayout->setSpacing(0);
-
-  // title
-  if (!title.isEmpty()) {
-    title_label = new QPushButton(title);
-    title_label->setFixedHeight(120);
-    title_label->setStyleSheet("font-size: 50px; font-weight: 450; text-align: left; border: none; padding: 20 0 0 0");
-    main_layout->addWidget(title_label, 1);
-
-    connect(title_label, &QPushButton::clicked, [=]() {
-      if (!description->isVisible()) {
-        emit showDescriptionEvent();
-      }
-
-      if (!description->text().isEmpty()) {
-        bool isVisible = !description->isVisible();
-        description->setVisible(isVisible);
-
-        if (isVisible && spacingItem) {
-          main_layout->removeItem(spacingItem);
-          delete spacingItem;
-          spacingItem = nullptr;
-        } else if (!isVisible && spacingItem == nullptr) {
-          spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
-          main_layout->insertItem(main_layout->indexOf(description), spacingItem);
-        }
-      }
-    });
-  } else {
-    main_layout->addSpacing(20);
-  }
-
-  main_layout->addLayout(hlayout);
-  if (!desc.isEmpty() && spacingItem == nullptr) {
-    spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
-    main_layout->insertItem(main_layout->count(), spacingItem);
-  }
-
-  // description
-  description = new QLabel(desc);
-  description->setContentsMargins(0, 20, 40, 20);
-  description->setStyleSheet("font-size: 40px; color: grey");
-  description->setWordWrap(true);
-  description->setVisible(false);
-  main_layout->addWidget(description);
-
-  main_layout->addStretch();
-}
-
-void AbstractControlSP_SELECTOR::hideEvent(QHideEvent *e) {
-  if (description != nullptr) {
-    description->hide();
-  }
-
-  if (spacingItem == nullptr) {
-    spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
-    main_layout->insertItem(main_layout->indexOf(description), spacingItem);
-  }
-}
-
-// controls
-
-ButtonControlSP::ButtonControlSP(const QString &title, const QString &text, const QString &desc, QWidget *parent)
-    : AbstractControlSP(title, desc, "", parent) {
-
-  btn.setText(text);
-  btn.setStyleSheet(R"(
-    QPushButton {
-      padding: 0;
-      border-radius: 50px;
-      font-size: 35px;
-      font-weight: 500;
-      color: #E4E4E4;
-      background-color: #393939;
-    }
-    QPushButton:pressed {
-      background-color: #4a4a4a;
-    }
-    QPushButton:disabled {
-      color: #33E4E4E4;
-    }
-  )");
-  btn.setFixedSize(250, 100);
-  QObject::connect(&btn, &QPushButton::clicked, this, &ButtonControlSP::clicked);
-  hlayout->addWidget(&btn);
-}
-
-// ElidedLabelSP
-
-ElidedLabelSP::ElidedLabelSP(QWidget *parent) : ElidedLabelSP({}, parent) {
-}
-
-ElidedLabelSP::ElidedLabelSP(const QString &text, QWidget *parent) : QLabel(text.trimmed(), parent) {
-  setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
-  setMinimumWidth(1);
-}
-
-void ElidedLabelSP::resizeEvent(QResizeEvent *event) {
-  QLabel::resizeEvent(event);
-  lastText_ = elidedText_ = "";
-}
-
-void ElidedLabelSP::paintEvent(QPaintEvent *event) {
-  const QString curText = text();
-  if (curText != lastText_) {
-    elidedText_ = fontMetrics().elidedText(curText, Qt::ElideRight, contentsRect().width());
-    lastText_ = curText;
-  }
-
-  QPainter painter(this);
-  drawFrame(&painter);
-  QStyleOption opt;
-  opt.initFrom(this);
-  style()->drawItemText(&painter, contentsRect(), alignment(), opt.palette, isEnabled(), elidedText_, foregroundRole());
-}
-
-// ParamControlSP
-
-ParamControlSP::ParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent)
-    : ToggleControlSP(title, desc, icon, false, parent) {
-
-  key = param.toStdString();
-  QObject::connect(this, &ParamControlSP::toggleFlipped, this, &ParamControlSP::toggleClicked);
-
-  hlayout->removeWidget(&toggle);
-  hlayout->insertWidget(0, &toggle);
-
-  hlayout->removeWidget(this->icon_label);
-  hlayout->insertWidget(1, this->icon_label);
-}
-
-void ParamControlSP::toggleClicked(bool state) {
-  auto do_confirm = [this]() {
-    QString content("<body><h2 style=\"text-align: center;\">" + title_label->text() + "</h2><br>"
-                    "<p style=\"text-align: center; margin: 0 128px; font-size: 50px;\">" + getDescription() + "</p></body>");
-    return ConfirmationDialog(content, tr("Enable"), tr("Cancel"), true, this).exec();
-  };
-
-  bool confirmed = store_confirm && params.getBool(key + "Confirmed");
-  if (!confirm || confirmed || !state || do_confirm()) {
-    if (store_confirm && state) params.putBool(key + "Confirmed", true);
-    params.putBool(key, state);
-    setIcon(state);
-  } else {
-    toggle.togglePosition();
-  }
-}
diff --git a/sunnypilot/selfdrive/ui/qt/widgets/controls.h b/sunnypilot/selfdrive/ui/qt/widgets/controls.h
deleted file mode 100644
index ebfc640cb7070a..00000000000000
--- a/sunnypilot/selfdrive/ui/qt/widgets/controls.h
+++ /dev/null
@@ -1,588 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include <map>
-#include <optional>
-#include <string>
-#include <vector>
-
-#include "common/params.h"
-#include "selfdrive/ui/qt/widgets/controls.h"
-#include "selfdrive/ui/qt/widgets/input.h"
-#include "../../sunnypilot/selfdrive/ui/qt/widgets/toggle.h"
-
-QFrame *horizontal_line(QWidget *parent = nullptr);
-
-inline void ReplaceWidget(QWidget *old_widget, QWidget *new_widget) {
-  if (old_widget && old_widget->parentWidget() && old_widget->parentWidget()->layout()) {
-    old_widget->parentWidget()->layout()->replaceWidget(old_widget, new_widget);
-    old_widget->hide();
-    old_widget->deleteLater();
-  }
-}
-
-class ElidedLabelSP : public QLabel {
-  Q_OBJECT
-
-public:
-  explicit ElidedLabelSP(QWidget *parent = 0);
-  explicit ElidedLabelSP(const QString &text, QWidget *parent = 0);
-
-  void setColor(const QString &color) {
-    setStyleSheet("QLabel { color : " + color + "; }");
-  }
-
-signals:
-  void clicked();
-
-protected:
-  void paintEvent(QPaintEvent *event) override;
-  void resizeEvent(QResizeEvent *event) override;
-  void mouseReleaseEvent(QMouseEvent *event) override {
-    if (rect().contains(event->pos())) {
-      emit clicked();
-    }
-  }
-  QString lastText_, elidedText_;
-};
-
-class AbstractControlSP : public AbstractControl {
-  Q_OBJECT
-
-public:
-  void setDescription(const QString &desc) override {
-    if (description) description->setText(desc);
-  }
-
-  void setValue(const QString &val, std::optional<QString> color = std::nullopt) {
-    value->setText(val);
-    if (color.has_value()) {
-      value->setColor(color.value());
-    }
-  }
-
-  const QString getDescription() override {
-    return description->text();
-  }
-
-  void hideDescription() {
-    description->setVisible(false);
-  }
-
-public slots:
-  void showDescription() override {
-    description->setVisible(true);
-  }
-
-protected:
-  AbstractControlSP(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
-  void hideEvent(QHideEvent *e) override;
-
-  QVBoxLayout *main_layout;
-  ElidedLabelSP *value;
-  QLabel *description = nullptr;
-};
-
-// AbstractControlSP_SELECTOR
-
-class AbstractControlSP_SELECTOR : public AbstractControlSP {
-  Q_OBJECT
-
-protected:
-  AbstractControlSP_SELECTOR(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
-  void hideEvent(QHideEvent *e) override;
-
-private:
-  QSpacerItem *spacingItem = nullptr;
-};
-
-// widget to display a value
-class LabelControlSP : public AbstractControlSP {
-  Q_OBJECT
-
-public:
-  LabelControlSP(const QString &title, const QString &text = "", const QString &desc = "", QWidget *parent = nullptr) : AbstractControlSP(title, desc, "", parent) {
-    label.setText(text);
-    label.setAlignment(Qt::AlignRight | Qt::AlignVCenter);
-    hlayout->addWidget(&label);
-  }
-  void setText(const QString &text) { label.setText(text); }
-
-private:
-  ElidedLabelSP label;
-};
-
-// widget for a button with a label
-class ButtonControlSP : public AbstractControlSP {
-  Q_OBJECT
-
-public:
-  ButtonControlSP(const QString &title, const QString &text, const QString &desc = "", QWidget *parent = nullptr);
-  inline void setText(const QString &text) { btn.setText(text); }
-  inline QString text() const { return btn.text(); }
-  inline void click() { btn.click(); }
-
-signals:
-  void clicked();
-
-public slots:
-  void setEnabled(bool enabled) { btn.setEnabled(enabled); }
-
-private:
-  QPushButton btn;
-};
-
-class ToggleControlSP : public AbstractControlSP {
-  Q_OBJECT
-
-public:
-  ToggleControlSP(const QString &title, const QString &desc = "", const QString &icon = "", const bool state = false, QWidget *parent = nullptr) : AbstractControlSP(title, desc, icon, parent) {
-    // space between toggle and title
-    icon_label = new QLabel(this);
-    hlayout->addWidget(icon_label);
-
-    toggle.setFixedSize(150, 100);
-    if (state) {
-      toggle.togglePosition();
-    }
-    hlayout->insertWidget(0, &toggle);
-    hlayout->insertWidget(1, this->icon_label);
-    QObject::connect(&toggle, &ToggleSP::stateChanged, this, &ToggleControlSP::toggleFlipped);
-  }
-
-  void setEnabled(bool enabled) {
-    toggle.setEnabled(enabled);
-    toggle.update();
-  }
-
-signals:
-  void toggleFlipped(bool state);
-
-protected:
-  ToggleSP toggle;
-};
-
-// widget to toggle params
-class ParamControlSP : public ToggleControlSP {
-  Q_OBJECT
-
-public:
-  ParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr);
-  void setConfirmation(bool _confirm, bool _store_confirm) {
-    confirm = _confirm;
-    store_confirm = _store_confirm;
-  }
-
-  void setActiveIcon(const QString &icon) {
-    active_icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation);
-  }
-
-  void refresh() {
-    bool state = params.getBool(key);
-    if (state != toggle.on) {
-      toggle.togglePosition();
-      setIcon(state);
-    }
-  }
-
-  void showEvent(QShowEvent *event) override {
-    refresh();
-  }
-
-  bool isToggled() { return params.getBool(key); }
-
-private:
-  void toggleClicked(bool state);
-  void setIcon(bool state) {
-    if (state && !active_icon_pixmap.isNull()) {
-      icon_label->setPixmap(active_icon_pixmap);
-    } else if (!icon_pixmap.isNull()) {
-      icon_label->setPixmap(icon_pixmap);
-    }
-  }
-
-  std::string key;
-  Params params;
-  QPixmap active_icon_pixmap;
-  bool confirm = false;
-  bool store_confirm = false;
-};
-
-class ButtonParamControlSP : public AbstractControlSP_SELECTOR {
-  Q_OBJECT
-
-public:
-  ButtonParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                       const std::vector<QString> &button_texts, const int minimum_button_width = 300) : AbstractControlSP_SELECTOR(title, desc, icon), button_texts(button_texts) {
-    const QString style = R"(
-      QPushButton {
-        border-radius: 20px;
-        font-size: 50px;
-        font-weight: 450;
-        height:150px;
-        padding: 0 25 0 25;
-        color: #FFFFFF;
-      }
-      QPushButton:pressed {
-        background-color: #4a4a4a;
-      }
-      QPushButton:checked:enabled {
-        background-color: #696868;
-      }
-      QPushButton:disabled {
-        color: #33FFFFFF;
-      }
-      QPushButton:checked:disabled {
-        background-color: #121212;
-        color: #33FFFFFF;
-      }
-    )";
-    key = param.toStdString();
-    int value = atoi(params.get(key).c_str());
-
-    button_group = new QButtonGroup(this);
-    button_group->setExclusive(true);
-    for (int i = 0; i < button_texts.size(); i++) {
-      QPushButton *button = new QPushButton(button_texts[i], this);
-      button->setCheckable(true);
-      button->setChecked(i == value);
-      button->setStyleSheet(style);
-      button->setMinimumWidth(minimum_button_width);
-      if (i == 0) hlayout->addSpacing(2);
-      hlayout->addWidget(button);
-      button_group->addButton(button, i);
-    }
-
-    hlayout->setAlignment(Qt::AlignLeft);
-
-    QObject::connect(button_group, QOverload<int>::of(&QButtonGroup::buttonClicked), [=](int id) {
-      params.put(key, std::to_string(id));
-      emit buttonToggled(id);
-    });
-  }
-
-  void setEnabled(bool enable) {
-    for (auto btn: button_group->buttons()) {
-      btn->setEnabled(enable);
-    }
-    button_group_enabled = enable;
-
-    update();
-  }
-
-  void setCheckedButton(int id) {
-    button_group->button(id)->setChecked(true);
-  }
-
-  void refresh() {
-    int value = atoi(params.get(key).c_str());
-
-    if (value >= button_texts.size()) {
-      value = button_texts.size() - 1;
-    }
-    if (value < 0) {
-      value = 0;
-    }
-
-    button_group->button(value)->setChecked(true);
-  }
-
-  void showEvent(QShowEvent *event) override {
-    refresh();
-  }
-
-  void setButton(QString param) {
-    key = param.toStdString();
-    int value = atoi(params.get(key).c_str());
-    for (int i = 0; i < button_group->buttons().size(); i++) {
-      button_group->buttons()[i]->setChecked(i == value);
-    }
-  }
-
-  void setDisabledSelectedButton(std::string val) {
-    int value = atoi(val.c_str());
-    for (int i = 0; i < button_group->buttons().size(); i++) {
-      button_group->buttons()[i]->setEnabled(i != value);
-    }
-  }
-
-protected:
-  void paintEvent(QPaintEvent *event) override {
-    QPainter p(this);
-    p.setRenderHint(QPainter::Antialiasing);
-
-    // Calculate the total width and height for the background rectangle
-    int w = 0;
-    int h = 150;
-
-    for (int i = 0; i < hlayout->count(); ++i) {
-      QPushButton *button = qobject_cast<QPushButton *>(hlayout->itemAt(i)->widget());
-      if (button) {
-        w += button->width();
-      }
-    }
-
-    // Draw the rectangle
-#ifdef __APPLE__
-    QRect rect(0 + 2, h - 16, w, h);
-#else
-    QRect rect(0 + 2, h - 24, w, h);
-#endif
-    p.setPen(QPen(QColor(button_group_enabled ? "#696868" : "#121212"), 3));
-    p.drawRoundedRect(rect, 20, 20);
-  }
-
-signals:
-  void buttonToggled(int btn_id);
-
-private:
-  std::string key;
-  Params params;
-  QButtonGroup *button_group;
-  std::vector<QString> button_texts;
-
-  bool button_group_enabled = true;
-};
-
-class ListWidgetSP : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit ListWidgetSP(QWidget *parent = 0, const bool split_line = true) : QWidget(parent), _split_line(split_line), outer_layout(this) {
-    outer_layout.setMargin(0);
-    outer_layout.setSpacing(0);
-    outer_layout.addLayout(&inner_layout);
-    inner_layout.setMargin(0);
-    inner_layout.setSpacing(25); // default spacing is 25
-    outer_layout.addStretch();
-  }
-  inline void addItem(QWidget *w) { inner_layout.addWidget(w); }
-  inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); }
-  inline void setSpacing(int spacing) { inner_layout.setSpacing(spacing); }
-
-  inline void AddWidgetAt(const int index, QWidget *new_widget) { inner_layout.insertWidget(index, new_widget); }
-  inline void RemoveWidgetAt(const int index) {
-    if (QLayoutItem *item; (item = inner_layout.takeAt(index)) != nullptr) {
-      if (item->widget()) delete item->widget();
-      delete item;
-    }
-  }
-
-  inline void ReplaceOrAddWidget(QWidget *old_widget, QWidget *new_widget) {
-    if (const int index = inner_layout.indexOf(old_widget); index != -1) {
-      RemoveWidgetAt(index);
-      AddWidgetAt(index, new_widget);
-    } else {
-      addItem(new_widget);
-    }
-  }
-
-private:
-  void paintEvent(QPaintEvent *) override {
-    QPainter p(this);
-    p.setPen(Qt::gray);
-    for (int i = 0; i < inner_layout.count() - 1; ++i) {
-      QWidget *widget = inner_layout.itemAt(i)->widget();
-      if ((widget == nullptr || widget->isVisible()) && _split_line) {
-        QRect r = inner_layout.itemAt(i)->geometry();
-        int bottom = r.bottom() + inner_layout.spacing() / 2;
-        p.drawLine(r.left(), bottom, r.right(), bottom);
-      }
-    }
-  }
-  QVBoxLayout outer_layout;
-  QVBoxLayout inner_layout;
-
-  bool _split_line;
-};
-
-// convenience class for wrapping layouts
-class LayoutWidgetSP : public QWidget {
-  Q_OBJECT
-
-public:
-  LayoutWidgetSP(QLayout *l, QWidget *parent = nullptr) : QWidget(parent) {
-    setLayout(l);
-  }
-};
-
-class OptionControlSP : public AbstractControlSP_SELECTOR {
-  Q_OBJECT
-
-private:
-  struct MinMaxValue {
-    int min_value;
-    int max_value;
-  };
-
-public:
-  OptionControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                  const MinMaxValue &range, const int per_value_change = 1) : _title(title), AbstractControlSP_SELECTOR(title, desc, icon) {
-    const QString style = R"(
-      QPushButton {
-        border-radius: 20px;
-        font-size: 60px;
-        font-weight: 500;
-        width: 150px;
-        height: 150px;
-        padding: -3 25 3 25;
-        color: #FFFFFF;
-        font-weight: bold;
-      }
-      QPushButton:pressed {
-        color: #5C5C5C;
-      }
-      QPushButton:disabled {
-        color: #5C5C5C;
-      }
-    )";
-
-    label.setStyleSheet(label_enabled_style);
-    label.setFixedWidth(300);
-    label.setAlignment(Qt::AlignCenter);
-
-    const std::vector<QString> button_texts{"�", "＋"};
-
-    key = param.toStdString();
-    value = atoi(params.get(key).c_str());
-
-    button_group = new QButtonGroup(this);
-    button_group->setExclusive(true);
-    for (int i = 0; i < button_texts.size(); i++) {
-      QPushButton *button = new QPushButton(button_texts[i], this);
-      button->setStyleSheet(style + ((i == 0) ? "QPushButton { text-align: left; }" :
-                                                "QPushButton { text-align: right; }"));
-      hlayout->addWidget(button, 0, ((i == 0) ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignVCenter);
-      if (i == 0) {
-        hlayout->addWidget(&label, 0, Qt::AlignCenter);
-      }
-      button_group->addButton(button, i);
-
-      QObject::connect(button, &QPushButton::clicked, [=]() {
-        int change_value = (i == 0) ? -per_value_change : per_value_change;
-        key = param.toStdString();
-        value = atoi(params.get(key).c_str());
-        value += change_value;
-        value = std::clamp(value, range.min_value, range.max_value);
-        params.put(key, QString::number(value).toStdString());
-
-        button_group->button(0)->setEnabled(!(value <= range.min_value));
-        button_group->button(1)->setEnabled(!(value >= range.max_value));
-
-        updateLabels();
-
-        if (request_update) {
-          emit updateOtherToggles();
-        }
-      });
-    }
-
-    hlayout->setAlignment(Qt::AlignLeft);
-  }
-
-  void setUpdateOtherToggles(bool _update) {
-    request_update = _update;
-  }
-
-  inline void setLabel(const QString &text) { label.setText(text); }
-
-  void setEnabled(bool enabled) {
-    for (auto btn: button_group->buttons()) {
-      btn->setEnabled(enabled);
-    }
-    label.setEnabled(enabled);
-    label.setStyleSheet(enabled ? label_enabled_style : label_disabled_style);
-    button_enabled = enabled;
-
-    update();
-  }
-
-protected:
-  void paintEvent(QPaintEvent *event) override {
-    QPainter p(this);
-    p.setRenderHint(QPainter::Antialiasing);
-
-    // Calculate the total width and height for the background rectangle
-    int w = 0;
-    int h = 150;
-
-    for (int i = 0; i < hlayout->count(); ++i) {
-      QWidget *widget = qobject_cast<QWidget *>(hlayout->itemAt(i)->widget());
-      if (widget) {
-        w += widget->width();
-      }
-    }
-
-    // Draw the rectangle
-    QRect rect(0, !_title.isEmpty() ? (h - 24) : 20, w, h);
-    p.setBrush(QColor(button_enabled ? "#b24a4a4a" : "#121212")); // Background color
-    p.setPen(QPen(Qt::NoPen));
-    p.drawRoundedRect(rect, 20, 20);
-  }
-
-signals:
-  void updateLabels();
-  void updateOtherToggles();
-
-private:
-  std::string key;
-  int value;
-  QButtonGroup *button_group;
-  QLabel label;
-  Params params;
-  std::map<QString, QString> option_label = {};
-  bool request_update = false;
-  QString _title = "";
-
-  const QString label_enabled_style = "font-size: 50px; font-weight: 450; color: #FFFFFF;";
-  const QString label_disabled_style = "font-size: 50px; font-weight: 450; color: #5C5C5C;";
-
-  bool button_enabled = true;
-};
-
-class SubPanelButton : public QPushButton {
-  Q_OBJECT
-
-public:
-  SubPanelButton(const QString &text, const int minimum_button_width = 800, QWidget *parent = nullptr) : QPushButton(text, parent) {
-    const QString buttonStyle = R"(
-      QPushButton {
-        border-radius: 20px;
-        font-size: 50px;
-        font-weight: 450;
-        height: 150px;
-        padding: 0 25px 0 25px;
-        color: #FFFFFF;
-      }
-      QPushButton:enabled {
-        background-color: #393939;
-      }
-      QPushButton:pressed {
-        background-color: #4A4A4A;
-      }
-      QPushButton:disabled {
-        background-color: #121212;
-        color: #5C5C5C;
-      }
-    )";
-
-    setStyleSheet(buttonStyle);
-    setFixedWidth(minimum_button_width);
-  }
-};
-
-class PanelBackButton : public QPushButton {
-  Q_OBJECT
-
-public:
-  PanelBackButton(const QString &label = "Back", QWidget *parent = nullptr) : QPushButton(label, parent) {
-    setObjectName("back_btn");
-    setFixedSize(400, 100);
-  }
-};
diff --git a/sunnypilot/selfdrive/ui/qt/widgets/drive_stats.cc b/sunnypilot/selfdrive/ui/qt/widgets/drive_stats.cc
deleted file mode 100644
index 0814e1e24e1f1c..00000000000000
--- a/sunnypilot/selfdrive/ui/qt/widgets/drive_stats.cc
+++ /dev/null
@@ -1,103 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "../../sunnypilot/selfdrive/ui/qt/widgets/drive_stats.h"
-
-#include <QDebug>
-#include <QGridLayout>
-#include <QVBoxLayout>
-
-#include "common/params.h"
-#include "selfdrive/ui/qt/request_repeater.h"
-#include "selfdrive/ui/qt/util.h"
-
-static QLabel* newLabel(const QString& text, const QString &type) {
-  QLabel* label = new QLabel(text);
-  label->setProperty("type", type);
-  return label;
-}
-
-DriveStats::DriveStats(QWidget* parent) : QFrame(parent) {
-  metric_ = Params().getBool("IsMetric");
-
-  QVBoxLayout* main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(50, 50, 50, 60);
-
-  auto add_stats_layouts = [=](const QString &title, StatsLabels& labels) {
-    QGridLayout* grid_layout = new QGridLayout;
-    grid_layout->setVerticalSpacing(10);
-    grid_layout->setContentsMargins(0, 10, 0, 10);
-
-    int row = 0;
-    grid_layout->addWidget(newLabel(title, "title"), row++, 0, 1, 3);
-    grid_layout->addItem(new QSpacerItem(0, 50), row++, 0, 1, 1);
-
-    grid_layout->addWidget(labels.routes = newLabel("0", "number"), row, 0, Qt::AlignLeft);
-    grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft);
-    grid_layout->addWidget(labels.hours = newLabel("0", "number"), row, 2, Qt::AlignLeft);
-
-    grid_layout->addWidget(newLabel((tr("Drives")), "unit"), row + 1, 0, Qt::AlignLeft);
-    grid_layout->addWidget(labels.distance_unit = newLabel(getDistanceUnit(), "unit"), row + 1, 1, Qt::AlignLeft);
-    grid_layout->addWidget(newLabel(tr("Hours"), "unit"), row + 1, 2, Qt::AlignLeft);
-
-    main_layout->addLayout(grid_layout);
-  };
-
-  add_stats_layouts(tr("ALL TIME"), all_);
-  main_layout->addStretch();
-  add_stats_layouts(tr("PAST WEEK"), week_);
-
-  if (auto dongleId = getDongleId()) {
-    QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/stats";
-    RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_DriveStats", 30);
-    QObject::connect(repeater, &RequestRepeater::requestDone, this, &DriveStats::parseResponse);
-  }
-
-  setStyleSheet(R"(
-    DriveStats {
-      background-color: #333333;
-      border-radius: 10px;
-    }
-
-    QLabel[type="title"] { font-size: 51px; font-weight: 500; }
-    QLabel[type="number"] { font-size: 78px; font-weight: 500; }
-    QLabel[type="unit"] { font-size: 51px; font-weight: 300; color: #A0A0A0; }
-  )");
-}
-
-void DriveStats::updateStats() {
-  auto update = [=](const QJsonObject& obj, StatsLabels& labels) {
-    labels.routes->setText(QString::number((int)obj["routes"].toDouble()));
-    labels.distance->setText(QString::number(int(obj["distance"].toDouble() * (metric_ ? MILE_TO_KM : 1))));
-    labels.distance_unit->setText(getDistanceUnit());
-    labels.hours->setText(QString::number((int)(obj["minutes"].toDouble() / 60)));
-  };
-
-  QJsonObject json = stats_.object();
-  update(json["all"].toObject(), all_);
-  update(json["week"].toObject(), week_);
-}
-
-void DriveStats::parseResponse(const QString& response, bool success) {
-  if (!success) return;
-
-  QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8());
-  if (doc.isNull()) {
-    qDebug() << "JSON Parse failed on getting past drives statistics";
-    return;
-  }
-  stats_ = doc;
-  updateStats();
-}
-
-void DriveStats::showEvent(QShowEvent* event) {
-  bool metric = Params().getBool("IsMetric");
-  if (metric_ != metric) {
-    metric_ = metric;
-    updateStats();
-  }
-}
diff --git a/sunnypilot/selfdrive/ui/qt/widgets/drive_stats.h b/sunnypilot/selfdrive/ui/qt/widgets/drive_stats.h
deleted file mode 100644
index 0b2802ed8c08e6..00000000000000
--- a/sunnypilot/selfdrive/ui/qt/widgets/drive_stats.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include <QJsonDocument>
-#include <QLabel>
-
-class DriveStats : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit DriveStats(QWidget* parent = 0);
-
-private:
-  void showEvent(QShowEvent *event) override;
-  void updateStats();
-  inline QString getDistanceUnit() const { return metric_ ? tr("KM") : tr("Miles"); }
-
-  bool metric_;
-  QJsonDocument stats_;
-  struct StatsLabels {
-    QLabel *routes, *distance, *distance_unit, *hours;
-  } all_, week_;
-
-private slots:
-  void parseResponse(const QString &response, bool success);
-};
diff --git a/sunnypilot/selfdrive/ui/qt/widgets/scrollview.cc b/sunnypilot/selfdrive/ui/qt/widgets/scrollview.cc
deleted file mode 100644
index ab3ae1401cb5fc..00000000000000
--- a/sunnypilot/selfdrive/ui/qt/widgets/scrollview.cc
+++ /dev/null
@@ -1,37 +0,0 @@
-/**
- * The MIT License
- *
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- *
- * Last updated: July 29, 2024
-*/
-
-#include "../../sunnypilot/selfdrive/ui/qt/widgets/scrollview.h"
-
-#include <QScrollBar>
-
-void ScrollViewSP::setLastScrollPosition() {
-  lastScrollPosition = verticalScrollBar()->value();
-}
-
-void ScrollViewSP::restoreScrollPosition() {
-  verticalScrollBar()->setValue(lastScrollPosition);
-}
diff --git a/sunnypilot/selfdrive/ui/qt/widgets/scrollview.h b/sunnypilot/selfdrive/ui/qt/widgets/scrollview.h
deleted file mode 100644
index 5c20bce2f26686..00000000000000
--- a/sunnypilot/selfdrive/ui/qt/widgets/scrollview.h
+++ /dev/null
@@ -1,24 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/qt/widgets/scrollview.h"
-
-class ScrollViewSP : public ScrollView {
-  Q_OBJECT
-
-public:
-  explicit ScrollViewSP(QWidget *w = nullptr, QWidget *parent = nullptr) : ScrollView(w, parent) {}
-
-public slots:
-  void setLastScrollPosition();
-  void restoreScrollPosition();
-
-private:
-  int lastScrollPosition = 0;
-};
diff --git a/sunnypilot/selfdrive/ui/qt/widgets/toggle.cc b/sunnypilot/selfdrive/ui/qt/widgets/toggle.cc
deleted file mode 100644
index e240e156646b2b..00000000000000
--- a/sunnypilot/selfdrive/ui/qt/widgets/toggle.cc
+++ /dev/null
@@ -1,30 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "../../sunnypilot/selfdrive/ui/qt/widgets/toggle.h"
-
-#include <QPainter>
-
-ToggleSP::ToggleSP(QWidget *parent) : Toggle(parent) {
-  _height_rect = 80;
-}
-
-void ToggleSP::paintEvent(QPaintEvent *e) {
-  this->setFixedHeight(100);
-  QPainter p(this);
-  p.setPen(Qt::NoPen);
-  p.setRenderHint(QPainter::Antialiasing, true);
-
-  // Draw toggle background
-  enabled ? green.setRgb(0x1e79e8) : green.setRgb(0x125db8);
-  p.setBrush(on ? green : QColor(0x292929));
-  p.drawRoundedRect(QRect(0, 10, width(), _height_rect), _height_rect / 2, _height_rect / 2);
-
-  // Draw toggle circle
-  p.setBrush(circleColor);
-  p.drawEllipse(QRectF(_x_circle - _radius + 6, 16, 68, 68));
-}
diff --git a/sunnypilot/selfdrive/ui/qt/widgets/toggle.h b/sunnypilot/selfdrive/ui/qt/widgets/toggle.h
deleted file mode 100644
index e98dea39af921c..00000000000000
--- a/sunnypilot/selfdrive/ui/qt/widgets/toggle.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/qt/widgets/toggle.h"
-
-class ToggleSP : public Toggle {
-  Q_OBJECT
-
-public:
-  explicit ToggleSP(QWidget *parent = nullptr);
-
-protected:
-  void paintEvent(QPaintEvent *) override;
-};
diff --git a/sunnypilot/selfdrive/ui/qt/window.cc b/sunnypilot/selfdrive/ui/qt/window.cc
deleted file mode 100644
index 168a1af4671307..00000000000000
--- a/sunnypilot/selfdrive/ui/qt/window.cc
+++ /dev/null
@@ -1,20 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "../../sunnypilot/selfdrive/ui/qt/window.h"
-
-MainWindowSP::MainWindowSP(QWidget *parent)
-    : MainWindow(parent, new HomeWindowSP(parent), new SettingsWindowSP(parent), new OnboardingWindowSP(parent)) {
-
-  homeWindow = dynamic_cast<HomeWindowSP *>(MainWindow::homeWindow);
-  settingsWindow = dynamic_cast<SettingsWindowSP *>(MainWindow::settingsWindow);
-  onboardingWindow = dynamic_cast<OnboardingWindowSP *>(MainWindow::onboardingWindow);
-}
-
-void MainWindowSP::closeSettings() {
-  MainWindow::closeSettings();
-}
diff --git a/sunnypilot/selfdrive/ui/qt/window.h b/sunnypilot/selfdrive/ui/qt/window.h
deleted file mode 100644
index 39d20aec8ff1c5..00000000000000
--- a/sunnypilot/selfdrive/ui/qt/window.h
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/qt/window.h"
-#include "../../sunnypilot/selfdrive/ui/qt/home.h"
-#include "../../sunnypilot/selfdrive/ui/qt/offroad/settings/settings.h"
-#include "offroad/settings/onboarding.h"
-
-class MainWindowSP : public MainWindow {
-  Q_OBJECT
-
-public:
-  explicit MainWindowSP(QWidget *parent = 0);
-
-private:
-  HomeWindowSP *homeWindow;
-  SettingsWindowSP *settingsWindow;
-  OnboardingWindowSP *onboardingWindow;
-  void closeSettings() override;
-};
diff --git a/sunnypilot/selfdrive/ui/ui.cc b/sunnypilot/selfdrive/ui/ui.cc
deleted file mode 100644
index 3475a5e6e9139f..00000000000000
--- a/sunnypilot/selfdrive/ui/ui.cc
+++ /dev/null
@@ -1,53 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "../../sunnypilot/selfdrive/ui/ui.h"
-
-#include "common/watchdog.h"
-
-void UIStateSP::updateStatus() {
-  UIState::updateStatus();
-}
-
-UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
-  sm = std::make_unique<SubMaster>(std::vector<const char*>{
-    "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
-    "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
-    "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
-  });
-
-  // update timer
-  timer = new QTimer(this);
-  QObject::connect(timer, &QTimer::timeout, this, &UIStateSP::update);
-  timer->start(1000 / UI_FREQ);
-}
-
-// This method overrides completely the update method from the parent class intentionally.
-void UIStateSP::update() {
-  update_sockets(this);
-  update_state(this);
-  updateStatus();
-
-  if (sm->frame % UI_FREQ == 0) {
-    watchdog_kick(nanos_since_boot());
-  }
-  emit uiUpdate(*this);
-}
-
-DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
-  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &DeviceSP::update);
-}
-
-UIStateSP *uiStateSP() {
-  static UIStateSP ui_state;
-  return &ui_state;
-}
-
-DeviceSP *deviceSP() {
-  static DeviceSP _device;
-  return &_device;
-}
diff --git a/sunnypilot/selfdrive/ui/ui.h b/sunnypilot/selfdrive/ui/ui.h
deleted file mode 100644
index 65c92379695295..00000000000000
--- a/sunnypilot/selfdrive/ui/ui.h
+++ /dev/null
@@ -1,38 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/ui.h"
-
-class UIStateSP : public UIState {
-  Q_OBJECT
-
-public:
-  UIStateSP(QObject *parent = 0);
-  void updateStatus() override;
-
-signals:
-  void uiUpdate(const UIStateSP &s);
-
-private slots:
-  void update() override;
-};
-
-UIStateSP *uiStateSP();
-inline UIStateSP *uiState() { return uiStateSP(); };
-
-// device management class
-class DeviceSP : public Device {
-  Q_OBJECT
-
-public:
-  DeviceSP(QObject *parent = 0);
-};
-
-DeviceSP *deviceSP();
-inline DeviceSP *device() { return deviceSP(); }

From 3966599e9d287d2ebac32c3033345a5f9ce913ae Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 3 Jan 2025 15:04:09 -0500
Subject: [PATCH 0031/1434] ui: sunnypilot offroad UI (#512)

* Revert "Revert "ui: sunnypilot offroad UI" (#511)"

This reverts commit 0e264e1b057b4b0bd02f05c57ac082fbb7588a73.

* Revert "move files to sp dir"

This reverts commit c72d732259d35872fca92b90289785e7b4086140.

* remove drive stats for now

* update translation

* update onboarding

* remove sp onboarding for now

* rearrange

* remove more

* shorter license
---
 .codespellignore                              |   1 +
 SConstruct                                    |  10 +
 scripts/lint/lint.sh                          |   2 +-
 selfdrive/ui/SConscript                       |  10 +-
 selfdrive/ui/main.cc                          |   8 +-
 selfdrive/ui/qt/body.h                        |   6 +
 selfdrive/ui/qt/home.h                        |  22 +-
 selfdrive/ui/qt/network/networking.cc         |   6 +
 selfdrive/ui/qt/network/networking.h          |  11 +
 selfdrive/ui/qt/offroad/developer_panel.cc    |   7 +-
 selfdrive/ui/qt/offroad/developer_panel.h     |   4 +
 selfdrive/ui/qt/offroad/onboarding.h          |   7 +-
 selfdrive/ui/qt/offroad/settings.cc           |   3 +
 selfdrive/ui/qt/offroad/settings.h            |  30 +-
 selfdrive/ui/qt/onroad/buttons.h              |   4 +
 selfdrive/ui/qt/onroad/model.h                |   4 +
 selfdrive/ui/qt/onroad/onroad_home.cc         |   4 +
 selfdrive/ui/qt/onroad/onroad_home.h          |  12 +-
 selfdrive/ui/qt/request_repeater.h            |   5 +
 selfdrive/ui/qt/sidebar.cc                    |   4 +
 selfdrive/ui/qt/sidebar.h                     |   8 +-
 selfdrive/ui/qt/util.h                        |   6 +
 selfdrive/ui/qt/widgets/cameraview.h          |   5 +
 selfdrive/ui/qt/widgets/controls.cc           |   3 +
 selfdrive/ui/qt/widgets/controls.h            |   6 +-
 selfdrive/ui/qt/widgets/ssh_keys.h            |   7 +
 selfdrive/ui/qt/widgets/toggle.h              |   3 +-
 selfdrive/ui/qt/widgets/wifi.h                |   5 +
 selfdrive/ui/qt/window.cc                     |   9 +-
 selfdrive/ui/qt/window.h                      |  11 +-
 selfdrive/ui/sunnypilot/SConscript            |  19 +
 selfdrive/ui/sunnypilot/qt/home.cc            |  19 +
 selfdrive/ui/sunnypilot/qt/home.h             |  38 ++
 .../qt/offroad/settings/settings.cc           | 146 +++++
 .../sunnypilot/qt/offroad/settings/settings.h |  39 ++
 .../ui/sunnypilot/qt/onroad/onroad_home.cc    |  32 +
 .../ui/sunnypilot/qt/onroad/onroad_home.h     |  24 +
 selfdrive/ui/sunnypilot/qt/sidebar.cc         |  27 +
 selfdrive/ui/sunnypilot/qt/sidebar.h          |  27 +
 .../ui/sunnypilot/qt/widgets/controls.cc      | 254 ++++++++
 selfdrive/ui/sunnypilot/qt/widgets/controls.h | 588 ++++++++++++++++++
 .../ui/sunnypilot/qt/widgets/scrollview.cc    |  18 +
 .../ui/sunnypilot/qt/widgets/scrollview.h     |  24 +
 selfdrive/ui/sunnypilot/qt/widgets/toggle.cc  |  30 +
 selfdrive/ui/sunnypilot/qt/widgets/toggle.h   |  20 +
 selfdrive/ui/sunnypilot/qt/window.cc          |  19 +
 selfdrive/ui/sunnypilot/qt/window.h           |  24 +
 selfdrive/ui/sunnypilot/ui.cc                 |  53 ++
 selfdrive/ui/sunnypilot/ui.h                  |  38 ++
 selfdrive/ui/tests/test_ui/run.py             |   4 +-
 selfdrive/ui/translations/main_ar.ts          |  42 ++
 selfdrive/ui/translations/main_de.ts          |  42 ++
 selfdrive/ui/translations/main_es.ts          |  42 ++
 selfdrive/ui/translations/main_fr.ts          |  42 ++
 selfdrive/ui/translations/main_ja.ts          |  42 ++
 selfdrive/ui/translations/main_ko.ts          |  42 ++
 selfdrive/ui/translations/main_pt-BR.ts       |  42 ++
 selfdrive/ui/translations/main_th.ts          |  42 ++
 selfdrive/ui/translations/main_tr.ts          |  42 ++
 selfdrive/ui/translations/main_zh-CHS.ts      |  42 ++
 selfdrive/ui/translations/main_zh-CHT.ts      |  42 ++
 selfdrive/ui/ui.cc                            |  12 +-
 selfdrive/ui/ui.h                             |  19 +-
 .../selfdrive/assets/offroad/icon_home.svg    |   3 +
 .../assets/offroad/icon_software.png          |   3 +
 .../selfdrive/assets/offroad/icon_toggle.png  |   3 +
 66 files changed, 2118 insertions(+), 50 deletions(-)
 create mode 100644 .codespellignore
 create mode 100644 selfdrive/ui/sunnypilot/SConscript
 create mode 100644 selfdrive/ui/sunnypilot/qt/home.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/home.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/onroad/onroad_home.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/sidebar.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/sidebar.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/widgets/controls.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/widgets/controls.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/widgets/scrollview.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/widgets/scrollview.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/widgets/toggle.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/widgets/toggle.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/window.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/window.h
 create mode 100644 selfdrive/ui/sunnypilot/ui.cc
 create mode 100644 selfdrive/ui/sunnypilot/ui.h
 create mode 100644 sunnypilot/selfdrive/assets/offroad/icon_home.svg
 create mode 100644 sunnypilot/selfdrive/assets/offroad/icon_software.png
 create mode 100644 sunnypilot/selfdrive/assets/offroad/icon_toggle.png

diff --git a/.codespellignore b/.codespellignore
new file mode 100644
index 00000000000000..916169347a53d1
--- /dev/null
+++ b/.codespellignore
@@ -0,0 +1 @@
+Wen
diff --git a/SConstruct b/SConstruct
index 934143fa08af20..39f7d14d03d184 100644
--- a/SConstruct
+++ b/SConstruct
@@ -74,6 +74,12 @@ AddOption('--minimal',
           default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
+AddOption('--stock-ui',
+          action='store_true',
+          dest='stock_ui',
+          default=False,
+          help='Build stock openpilot UI instead of sunnypilot UI')
+
 ## Architecture name breakdown (arch)
 ## - larch64: linux tici aarch64
 ## - aarch64: linux pc aarch64
@@ -172,6 +178,10 @@ else:
 if arch != "Darwin":
   ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
 
+if not GetOption('stock_ui'):
+  cflags += ["-DSUNNYPILOT"]
+  cxxflags += ["-DSUNNYPILOT"]
+
 ccflags_option = GetOption('ccflags')
 if ccflags_option:
   ccflags += ccflags_option.split(' ')
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index 0002a447262453..94ba59beedac28 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -57,7 +57,7 @@ function run_tests() {
 
   if [[ -z "$FAST" ]]; then
     run "mypy" mypy $PYTHON_FILES
-    run "codespell" codespell $ALL_FILES
+    run "codespell" codespell $ALL_FILES --ignore-words=$ROOT/.codespellignore
   fi
 
   return $FAILED
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index c851d7a969332e..47ad5bdefa1787 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -12,6 +12,12 @@ if arch == "Darwin":
   del base_libs[base_libs.index('OpenCL')]
   qt_env['FRAMEWORKS'] += ['OpenCL']
 
+sp_widgets_src = []
+sp_qt_src = []
+if not GetOption('stock_ui'):
+  SConscript(['sunnypilot/SConscript'])
+  Import('sp_widgets_src', 'sp_qt_src')
+
 # FIXME: remove this once we're on 5.15 (24.04)
 qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
 
@@ -20,7 +26,7 @@ widgets_src = ["qt/widgets/input.cc", "qt/widgets/wifi.cc", "qt/prime_state.cc",
                "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc",
                "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc",
                "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc",
-               "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc"]
+               "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc"] + sp_widgets_src
 
 widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs)
 Export('widgets')
@@ -31,7 +37,7 @@ qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc",
           "qt/offroad/software_settings.cc", "qt/offroad/developer_panel.cc", "qt/offroad/onboarding.cc",
           "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
           "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc", "qt/onroad/model.cc",
-          "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"]
+          "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"] + sp_qt_src
 
 # build translation files
 with open(File("translations/languages.json").abspath) as f:
diff --git a/selfdrive/ui/main.cc b/selfdrive/ui/main.cc
index 4903a3db3dcc07..db96817f1a50f1 100644
--- a/selfdrive/ui/main.cc
+++ b/selfdrive/ui/main.cc
@@ -4,10 +4,16 @@
 #include <QTranslator>
 
 #include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/window.h"
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/qt/window.h"
+#define MainWindow MainWindowSP
+#else
+#include "selfdrive/ui/qt/qt_window.h"
+#endif
+
 int main(int argc, char *argv[]) {
   setpriority(PRIO_PROCESS, 0, -20);
 
diff --git a/selfdrive/ui/qt/body.h b/selfdrive/ui/qt/body.h
index 567a54d49befd5..187e015af7a15f 100644
--- a/selfdrive/ui/qt/body.h
+++ b/selfdrive/ui/qt/body.h
@@ -5,7 +5,13 @@
 #include <QPushButton>
 
 #include "common/util.h"
+
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/ui.h"
+#define UIState UIStateSP
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 
 class RecordButton : public QPushButton {
   Q_OBJECT
diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h
index 55bc706c0ddf8f..f3227c65599e61 100644
--- a/selfdrive/ui/qt/home.h
+++ b/selfdrive/ui/qt/home.h
@@ -9,12 +9,23 @@
 
 #include "common/params.h"
 #include "selfdrive/ui/qt/body.h"
-#include "selfdrive/ui/qt/onroad/onroad_home.h"
-#include "selfdrive/ui/qt/sidebar.h"
-#include "selfdrive/ui/qt/widgets/controls.h"
 #include "selfdrive/ui/qt/widgets/offroad_alerts.h"
 #include "selfdrive/ui/ui.h"
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/onroad_home.h"
+#include "selfdrive/ui/sunnypilot/qt/sidebar.h"
+#define OnroadWindow OnroadWindowSP
+#define LayoutWidget LayoutWidgetSP
+#define Sidebar SidebarSP
+#define ElidedLabel ElidedLabelSP
+#else
+#include "selfdrive/ui/qt/widgets/controls.h"
+#include "selfdrive/ui/qt/onroad/onroad_home.h"
+#include "selfdrive/ui/qt/sidebar.h"
+#endif
+
 class OffroadHome : public QFrame {
   Q_OBJECT
 
@@ -58,13 +69,12 @@ public slots:
   void mousePressEvent(QMouseEvent* e) override;
   void mouseDoubleClickEvent(QMouseEvent* e) override;
 
-private:
   Sidebar *sidebar;
   OffroadHome *home;
   OnroadWindow *onroad;
   BodyWindow *body;
   QStackedLayout *slayout;
 
-private slots:
-  void updateState(const UIState &s);
+protected slots:
+  virtual void updateState(const UIState &s);
 };
diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc
index 066dc3ca7ebbec..02c137413c2460 100644
--- a/selfdrive/ui/qt/network/networking.cc
+++ b/selfdrive/ui/qt/network/networking.cc
@@ -8,8 +8,14 @@
 
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/util.h"
+
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+#else
 #include "selfdrive/ui/qt/widgets/controls.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
+#endif
 
 static const int ICON_WIDTH = 49;
 
diff --git a/selfdrive/ui/qt/network/networking.h b/selfdrive/ui/qt/network/networking.h
index 4fd604039b4eca..2d924588f090e4 100644
--- a/selfdrive/ui/qt/network/networking.h
+++ b/selfdrive/ui/qt/network/networking.h
@@ -8,6 +8,17 @@
 #include "selfdrive/ui/qt/widgets/ssh_keys.h"
 #include "selfdrive/ui/qt/widgets/toggle.h"
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#define ButtonControl ButtonControlSP
+#define ElidedLabel ElidedLabelSP
+#define LabelControl LabelControlSP
+#define ListWidget ListWidgetSP
+#define ToggleControl ToggleControlSP
+#else
+#include "selfdrive/ui/qt/widgets/controls.h"
+#endif
+
 class WifiItem : public QWidget {
   Q_OBJECT
 public:
diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc
index bbd69f72cee3a3..eee48a6bdb7597 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.cc
+++ b/selfdrive/ui/qt/offroad/developer_panel.cc
@@ -2,9 +2,14 @@
 
 #include "selfdrive/ui/qt/offroad/developer_panel.h"
 #include "selfdrive/ui/qt/widgets/ssh_keys.h"
-#include "selfdrive/ui/qt/widgets/controls.h"
 #include "common/util.h"
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#else
+#include "selfdrive/ui/qt/widgets/controls.h"
+#endif
+
 DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   // SSH keys
   addItem(new SshToggle());
diff --git a/selfdrive/ui/qt/offroad/developer_panel.h b/selfdrive/ui/qt/offroad/developer_panel.h
index fe38612e573bb8..0351cd045ccbf6 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.h
+++ b/selfdrive/ui/qt/offroad/developer_panel.h
@@ -1,6 +1,10 @@
 #pragma once
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#else
 #include "selfdrive/ui/qt/offroad/settings.h"
+#endif
 
 class DeveloperPanel : public ListWidget {
   Q_OBJECT
diff --git a/selfdrive/ui/qt/offroad/onboarding.h b/selfdrive/ui/qt/offroad/onboarding.h
index a1b6895ba087d0..0f6dbb50630c51 100644
--- a/selfdrive/ui/qt/offroad/onboarding.h
+++ b/selfdrive/ui/qt/offroad/onboarding.h
@@ -71,6 +71,7 @@ public slots:
 private:
   void showEvent(QShowEvent *event) override;
 
+protected:
   QPushButton *accept_btn;
 
 signals:
@@ -97,10 +98,10 @@ class OnboardingWindow : public QStackedWidget {
 public:
   explicit OnboardingWindow(QWidget *parent = 0);
   inline void showTrainingGuide() { setCurrentIndex(1); }
-  inline bool completed() const { return accepted_terms && training_done; }
+  virtual inline bool completed() const { return accepted_terms && training_done; }
 
-private:
-  void updateActiveScreen();
+protected:
+  virtual void updateActiveScreen();
 
   Params params;
   bool accepted_terms = false, training_done = false;
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index d4aab53f5afcb6..93dcd793c942cb 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -100,7 +100,9 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   }
 
   // Toggles with confirmation dialogs
+#ifndef SUNNYPILOT
   toggles["ExperimentalMode"]->setActiveIcon("../assets/img_experimental.svg");
+#endif
   toggles["ExperimentalMode"]->setConfirmation(true, true);
   toggles["ExperimentalLongitudinalEnabled"]->setConfirmation(true, false);
 
@@ -354,6 +356,7 @@ void SettingsWindow::setCurrentPanel(int index, const QString &param) {
 }
 
 SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
+  RETURN_IF_SUNNYPILOT
 
   // setup two main layouts
   sidebar_widget = new QWidget;
diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h
index de0528ee0a62b4..41914c0ec08ee4 100644
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -10,9 +10,21 @@
 #include <QStackedWidget>
 #include <QWidget>
 
-#include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/util.h"
+
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#define ListWidget ListWidgetSP
+#define ParamControl ParamControlSP
+#define ButtonControl ButtonControlSP
+#define ButtonParamControl ButtonParamControlSP
+#define ToggleControl ToggleControlSP
+#define LabelControl LabelControlSP
+#else
+#include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
+#endif
 
 // ********** settings window + top-level panels **********
 class SettingsWindow : public QFrame {
@@ -30,7 +42,7 @@ class SettingsWindow : public QFrame {
   void reviewTrainingGuide();
   void expandToggleDescription(const QString &param);
 
-private:
+protected:
   QPushButton *sidebar_alert_widget;
   QWidget *sidebar_widget;
   QButtonGroup *nav_btns;
@@ -45,12 +57,12 @@ class DevicePanel : public ListWidget {
 signals:
   void reviewTrainingGuide();
 
-private slots:
+protected slots:
   void poweroff();
   void reboot();
   void updateCalibDescription();
 
-private:
+protected:
   Params params;
   ButtonControl *pair_device;
 };
@@ -64,15 +76,15 @@ class TogglesPanel : public ListWidget {
 public slots:
   void expandToggleDescription(const QString &param);
 
-private slots:
-  void updateState(const UIState &s);
+protected slots:
+  virtual void updateState(const UIState &s);
 
-private:
+protected:
   Params params;
   std::map<std::string, ParamControl*> toggles;
   ButtonParamControl *long_personality_setting;
 
-  void updateToggles();
+  virtual void updateToggles();
 };
 
 class SoftwarePanel : public ListWidget {
@@ -80,7 +92,7 @@ class SoftwarePanel : public ListWidget {
 public:
   explicit SoftwarePanel(QWidget* parent = nullptr);
 
-private:
+protected:
   void showEvent(QShowEvent *event) override;
   void updateLabels();
   void checkForUpdates();
diff --git a/selfdrive/ui/qt/onroad/buttons.h b/selfdrive/ui/qt/onroad/buttons.h
index 9c91bc3c7b649f..3afaed33f4e446 100644
--- a/selfdrive/ui/qt/onroad/buttons.h
+++ b/selfdrive/ui/qt/onroad/buttons.h
@@ -2,7 +2,11 @@
 
 #include <QPushButton>
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/ui.h"
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 
 const int btn_size = 192;
 const int img_size = (btn_size / 4) * 3;
diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h
index 79547e4b831451..7e1b43acb4949b 100644
--- a/selfdrive/ui/qt/onroad/model.h
+++ b/selfdrive/ui/qt/onroad/model.h
@@ -3,7 +3,11 @@
 #include <QPainter>
 #include <QPolygonF>
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/ui.h"
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 
 class ModelRenderer {
 public:
diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc
index 080f9bd50fa4a9..7db9a05a0cb367 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.cc
+++ b/selfdrive/ui/qt/onroad/onroad_home.cc
@@ -35,8 +35,12 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   alerts->raise();
 
   setAttribute(Qt::WA_OpaquePaintEvent);
+
+  // We handle the connection of the signals on the derived class
+#ifndef SUNNYPILOT
   QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
   QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
+#endif
 }
 
 void OnroadWindow::updateState(const UIState &s) {
diff --git a/selfdrive/ui/qt/onroad/onroad_home.h b/selfdrive/ui/qt/onroad/onroad_home.h
index c321d2d44f479c..2224ede32e1555 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.h
+++ b/selfdrive/ui/qt/onroad/onroad_home.h
@@ -3,20 +3,24 @@
 #include "selfdrive/ui/qt/onroad/alerts.h"
 #include "selfdrive/ui/qt/onroad/annotated_camera.h"
 
+#ifdef SUNNYPILOT
+#define UIState UIStateSP
+#endif
+
 class OnroadWindow : public QWidget {
   Q_OBJECT
 
 public:
   OnroadWindow(QWidget* parent = 0);
 
-private:
+protected:
   void paintEvent(QPaintEvent *event);
   OnroadAlerts *alerts;
   AnnotatedCameraWidget *nvg;
   QColor bg = bg_colors[STATUS_DISENGAGED];
   QHBoxLayout* split;
 
-private slots:
-  void offroadTransition(bool offroad);
-  void updateState(const UIState &s);
+protected slots:
+  virtual void offroadTransition(bool offroad);
+  virtual void updateState(const UIState &s);
 };
diff --git a/selfdrive/ui/qt/request_repeater.h b/selfdrive/ui/qt/request_repeater.h
index c0e27582736138..a0e8bde0ebd1dc 100644
--- a/selfdrive/ui/qt/request_repeater.h
+++ b/selfdrive/ui/qt/request_repeater.h
@@ -2,7 +2,12 @@
 
 #include "common/util.h"
 #include "selfdrive/ui/qt/api.h"
+
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/ui.h"
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 
 class RequestRepeater : public HttpRequest {
 public:
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index 966396edc23aa1..866a5b62d0b36b 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -110,6 +110,10 @@ void Sidebar::updateState(const UIState &s) {
 
 void Sidebar::paintEvent(QPaintEvent *event) {
   QPainter p(this);
+  paintSidebar(p);
+}
+
+void Sidebar::paintSidebar(QPainter &p) {
   p.setPen(Qt::NoPen);
   p.setRenderHint(QPainter::Antialiasing);
 
diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h
index 2091418e528675..b1ce5887f5e06f 100644
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -5,9 +5,14 @@
 #include <QFrame>
 #include <QMap>
 
-#include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/network/networking.h"
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/ui.h"
+#else
+#include "selfdrive/ui/ui.h"
+#endif
+
 typedef QPair<QPair<QString, QString>, QColor> ItemStatus;
 Q_DECLARE_METATYPE(ItemStatus);
 
@@ -35,6 +40,7 @@ public slots:
   void mousePressEvent(QMouseEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override;
   void drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y);
+  virtual void paintSidebar(QPainter &p);
 
   QPixmap home_img, flag_img, settings_img;
   bool onroad, flag_pressed, settings_pressed;
diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h
index 2bf1a70a62a437..6ea53d354a14d7 100644
--- a/selfdrive/ui/qt/util.h
+++ b/selfdrive/ui/qt/util.h
@@ -13,6 +13,12 @@
 #include "cereal/gen/cpp/car.capnp.h"
 #include "common/params.h"
 
+#ifdef SUNNYPILOT
+#define RETURN_IF_SUNNYPILOT return;
+#else
+#define RETURN_IF_SUNNYPILOT  // Do nothing
+#endif
+
 QString getVersion();
 QString getBrand();
 QString getUserAgent();
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index 29aa8493c72dfa..e446ef59873444 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -23,7 +23,12 @@
 #endif
 
 #include "msgq/visionipc/visionipc_client.h"
+
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/ui.h"
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 
 const int FRAME_BUFFER_SIZE = 5;
 
diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc
index 40dda971f51e6f..7dd3178200ffaf 100644
--- a/selfdrive/ui/qt/widgets/controls.cc
+++ b/selfdrive/ui/qt/widgets/controls.cc
@@ -3,7 +3,10 @@
 #include <QPainter>
 #include <QStyleOption>
 
+#include "selfdrive/ui/qt/util.h"
+
 AbstractControl::AbstractControl(const QString &title, const QString &desc, const QString &icon, QWidget *parent) : QFrame(parent) {
+  RETURN_IF_SUNNYPILOT
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setMargin(0);
 
diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h
index aebf934f2a2566..9562c4ad224871 100644
--- a/selfdrive/ui/qt/widgets/controls.h
+++ b/selfdrive/ui/qt/widgets/controls.h
@@ -40,7 +40,7 @@ class AbstractControl : public QFrame {
   Q_OBJECT
 
 public:
-  void setDescription(const QString &desc) {
+  virtual void setDescription(const QString &desc) {
     if (description) description->setText(desc);
   }
 
@@ -52,7 +52,7 @@ class AbstractControl : public QFrame {
     value->setText(val);
   }
 
-  const QString getDescription() {
+  virtual const QString getDescription() {
     return description->text();
   }
 
@@ -60,7 +60,7 @@ class AbstractControl : public QFrame {
   QPixmap icon_pixmap;
 
 public slots:
-  void showDescription() {
+  virtual void showDescription() {
     description->setVisible(true);
   }
 
diff --git a/selfdrive/ui/qt/widgets/ssh_keys.h b/selfdrive/ui/qt/widgets/ssh_keys.h
index 920bd651e2dcd0..ef40346c83fc9a 100644
--- a/selfdrive/ui/qt/widgets/ssh_keys.h
+++ b/selfdrive/ui/qt/widgets/ssh_keys.h
@@ -3,7 +3,14 @@
 #include <QPushButton>
 
 #include "system/hardware/hw.h"
+
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#define ButtonControl ButtonControlSP
+#define ToggleControl ToggleControlSP
+#else
 #include "selfdrive/ui/qt/widgets/controls.h"
+#endif
 
 // SSH enable toggle
 class SshToggle : public ToggleControl {
diff --git a/selfdrive/ui/qt/widgets/toggle.h b/selfdrive/ui/qt/widgets/toggle.h
index e7263a008fa183..a0fa434a4ce57a 100644
--- a/selfdrive/ui/qt/widgets/toggle.h
+++ b/selfdrive/ui/qt/widgets/toggle.h
@@ -23,14 +23,13 @@ class Toggle : public QAbstractButton {
     update();
   }
   bool getEnabled();
-  void setEnabled(bool value);
+  virtual void setEnabled(bool value);
 
 protected:
   void paintEvent(QPaintEvent*) override;
   void mouseReleaseEvent(QMouseEvent*) override;
   void enterEvent(QEvent*) override;
 
-private:
   QColor circleColor;
   QColor green;
   bool enabled = true;
diff --git a/selfdrive/ui/qt/widgets/wifi.h b/selfdrive/ui/qt/widgets/wifi.h
index 60c865f2b89a9c..3daf25a1243741 100644
--- a/selfdrive/ui/qt/widgets/wifi.h
+++ b/selfdrive/ui/qt/widgets/wifi.h
@@ -4,7 +4,12 @@
 #include <QStackedLayout>
 #include <QWidget>
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/ui.h"
+#define UIState UIStateSP
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 
 class WiFiPromptWidget : public QFrame {
   Q_OBJECT
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index e1ec916c6fda0e..4479d4f79d21b4 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -4,16 +4,19 @@
 
 #include "system/hardware/hw.h"
 
-MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
+// We have this constructor so that we can provide custom implementations of the windows. By default (stock_ui) would receive them as nullptr, so they'll be instantiated with stock. Otherwise they'd be SP instances
+MainWindow::MainWindow(QWidget *parent, HomeWindow *hw, SettingsWindow *sw) :
+    QWidget(parent),
+    homeWindow(hw ? hw : new HomeWindow(this)),
+    settingsWindow(sw ? sw : new SettingsWindow(this)) {
+
   main_layout = new QStackedLayout(this);
   main_layout->setMargin(0);
 
-  homeWindow = new HomeWindow(this);
   main_layout->addWidget(homeWindow);
   QObject::connect(homeWindow, &HomeWindow::openSettings, this, &MainWindow::openSettings);
   QObject::connect(homeWindow, &HomeWindow::closeSettings, this, &MainWindow::closeSettings);
 
-  settingsWindow = new SettingsWindow(this);
   main_layout->addWidget(settingsWindow);
   QObject::connect(settingsWindow, &SettingsWindow::closeSettings, this, &MainWindow::closeSettings);
   QObject::connect(settingsWindow, &SettingsWindow::reviewTrainingGuide, [=]() {
diff --git a/selfdrive/ui/qt/window.h b/selfdrive/ui/qt/window.h
index 05b61e1f762bff..8a118b0bb62013 100644
--- a/selfdrive/ui/qt/window.h
+++ b/selfdrive/ui/qt/window.h
@@ -11,15 +11,18 @@ class MainWindow : public QWidget {
   Q_OBJECT
 
 public:
-  explicit MainWindow(QWidget *parent = 0);
+  explicit MainWindow(QWidget *parent = 0) : MainWindow(parent, nullptr, nullptr) {}
+
+protected:
+  explicit MainWindow(QWidget *parent, HomeWindow *hw = nullptr, SettingsWindow *sw = nullptr);
+  HomeWindow *homeWindow;
+  SettingsWindow *settingsWindow;
+  virtual void closeSettings();
 
 private:
   bool eventFilter(QObject *obj, QEvent *event) override;
   void openSettings(int index = 0, const QString &param = "");
-  void closeSettings();
 
   QStackedLayout *main_layout;
-  HomeWindow *homeWindow;
-  SettingsWindow *settingsWindow;
   OnboardingWindow *onboardingWindow;
 };
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
new file mode 100644
index 00000000000000..efbe6a8e4a00ff
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -0,0 +1,19 @@
+widgets_src = [
+  "sunnypilot/qt/widgets/toggle.cc",
+  "sunnypilot/qt/widgets/controls.cc",
+  "sunnypilot/qt/widgets/scrollview.cc",
+]
+
+qt_src = [
+  "sunnypilot/ui.cc",
+  "sunnypilot/qt/sidebar.cc",
+  "sunnypilot/qt/window.cc",
+  "sunnypilot/qt/home.cc",
+  "sunnypilot/qt/offroad/settings/settings.cc",
+  "sunnypilot/qt/onroad/onroad_home.cc",
+]
+
+sp_widgets_src = widgets_src
+sp_qt_src = qt_src
+
+Export('sp_widgets_src', 'sp_qt_src')
diff --git a/selfdrive/ui/sunnypilot/qt/home.cc b/selfdrive/ui/sunnypilot/qt/home.cc
new file mode 100644
index 00000000000000..2fd4dcbbee1d7b
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/home.cc
@@ -0,0 +1,19 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/home.h"
+
+HomeWindowSP::HomeWindowSP(QWidget *parent) : HomeWindow(parent) {
+}
+
+void HomeWindowSP::updateState(const UIState &s) {
+  HomeWindow::updateState(s);
+}
+
+void HomeWindowSP::mousePressEvent(QMouseEvent *e) {
+  HomeWindow::mousePressEvent(e);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/home.h b/selfdrive/ui/sunnypilot/qt/home.h
new file mode 100644
index 00000000000000..4cf532d14cd6c4
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/home.h
@@ -0,0 +1,38 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QFrame>
+#include <QWidget>
+
+#include "common/params.h"
+#include "selfdrive/ui/qt/body.h"
+#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/qt/home.h"
+
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/qt/sidebar.h"
+#define OnroadWindow OnroadWindowSP
+#else
+#include "selfdrive/ui/qt/sidebar.h"
+#include "selfdrive/ui/qt/onroad/onroad_home.h"
+#endif
+
+class HomeWindowSP : public HomeWindow {
+  Q_OBJECT
+
+public:
+  explicit HomeWindowSP(QWidget *parent = 0);
+
+protected:
+  void mousePressEvent(QMouseEvent *e) override;
+
+private slots:
+  void updateState(const UIState &s) override;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
new file mode 100644
index 00000000000000..3a66101a82fa6b
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
@@ -0,0 +1,146 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+
+#include "selfdrive/ui/qt/network/networking.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+#include "selfdrive/ui/qt/offroad/developer_panel.h"
+
+TogglesPanelSP::TogglesPanelSP(SettingsWindow *parent) : TogglesPanel(parent) {
+  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &TogglesPanelSP::updateState);
+}
+
+void TogglesPanelSP::updateState(const UIStateSP &s) {
+  TogglesPanel::updateState(s);
+}
+
+SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
+  // setup two main layouts
+  sidebar_widget = new QWidget;
+  QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget);
+  panel_widget = new QStackedWidget();
+
+  // setup layout for close button
+  QVBoxLayout *close_btn_layout = new QVBoxLayout;
+  close_btn_layout->setContentsMargins(0, 0, 0, 20);
+
+  // close button
+  QPushButton *close_btn = new QPushButton(tr("×"));
+  close_btn->setStyleSheet(R"(
+    QPushButton {
+      font-size: 140px;
+      padding-bottom: 20px;
+      border-radius: 76px;
+      background-color: #292929;
+      font-weight: 400;
+    }
+    QPushButton:pressed {
+      background-color: #3B3B3B;
+    }
+  )");
+  close_btn->setFixedSize(152, 152);
+  close_btn_layout->addWidget(close_btn, 0, Qt::AlignLeft);
+  QObject::connect(close_btn, &QPushButton::clicked, this, &SettingsWindow::closeSettings);
+
+  // setup buttons widget
+  QWidget *buttons_widget = new QWidget;
+  QVBoxLayout *buttons_layout = new QVBoxLayout(buttons_widget);
+  buttons_layout->setMargin(0);
+  buttons_layout->addSpacing(10);
+
+  // setup panels
+  DevicePanel *device = new DevicePanel(this);
+  QObject::connect(device, &DevicePanel::reviewTrainingGuide, this, &SettingsWindow::reviewTrainingGuide);
+
+  TogglesPanelSP *toggles = new TogglesPanelSP(this);
+  QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
+
+  auto networking = new Networking(this);
+  QObject::connect(uiState()->prime_state, &PrimeState::changed, networking, &Networking::setPrimeType);
+
+  QList<PanelInfo> panels = {
+    PanelInfo("   " + tr("Device"), device, "../../sunnypilot/selfdrive/assets/offroad/icon_home.svg"),
+    PanelInfo("   " + tr("Network"), networking, "../assets/offroad/icon_network.png"),
+    PanelInfo("   " + tr("Toggles"), toggles, "../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
+    PanelInfo("   " + tr("Software"), new SoftwarePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
+    PanelInfo("   " + tr("Developer"), new DeveloperPanel(this), "../assets/offroad/icon_shell.png"),
+  };
+
+  nav_btns = new QButtonGroup(this);
+  for (auto &[name, panel, icon] : panels) {
+    QPushButton *btn = new QPushButton(name);
+    btn->setCheckable(true);
+    btn->setChecked(nav_btns->buttons().size() == 0);
+    btn->setIcon(QIcon(QPixmap(icon)));
+    btn->setIconSize(QSize(70, 70));
+    btn->setStyleSheet(R"(
+      QPushButton {
+        border-radius: 20px;
+        width: 400px;
+        height: 98px;
+        color: #bdbdbd;
+        border: none;
+        background: none;
+        font-size: 50px;
+        font-weight: 500;
+        text-align: left;
+        padding-left: 22px;
+      }
+      QPushButton:checked {
+        background-color: #696868;
+        color: white;
+      }
+      QPushButton:pressed {
+        color: #ADADAD;
+      }
+    )");
+    btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
+    nav_btns->addButton(btn);
+    buttons_layout->addWidget(btn, 0, Qt::AlignLeft | Qt::AlignBottom);
+
+    const int lr_margin = (name != ("   " + tr("Network")) || (name != ("   " + tr("sunnypilot")))) ? 50 : 0;  // Network and sunnypilot panel handles its own margins
+    panel->setContentsMargins(lr_margin, 25, lr_margin, 25);
+
+    ScrollViewSP *panel_frame = new ScrollViewSP(panel, this);
+    panel_widget->addWidget(panel_frame);
+
+    QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
+      btn->setChecked(true);
+      panel_widget->setCurrentWidget(w);
+    });
+  }
+  sidebar_layout->setContentsMargins(50, 50, 25, 50);
+
+  // main settings layout, sidebar + main panel
+  QHBoxLayout *main_layout = new QHBoxLayout(this);
+
+  // add layout for close button
+  sidebar_layout->addLayout(close_btn_layout);
+
+  // add layout for buttons scrolling
+  ScrollViewSP *buttons_scrollview = new ScrollViewSP(buttons_widget, this);
+  sidebar_layout->addWidget(buttons_scrollview);
+
+  sidebar_widget->setFixedWidth(500);
+  main_layout->addWidget(sidebar_widget);
+  main_layout->addWidget(panel_widget);
+
+  setStyleSheet(R"(
+    * {
+      color: white;
+      font-size: 50px;
+    }
+    SettingsWindow {
+      background-color: black;
+    }
+    QStackedWidget, ScrollViewSP {
+      background-color: black;
+      border-radius: 30px;
+    }
+  )");
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h
new file mode 100644
index 00000000000000..5678a3171bfb20
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h
@@ -0,0 +1,39 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <map>
+#include <string>
+
+#include "selfdrive/ui/qt/offroad/settings.h"
+
+class SettingsWindowSP : public SettingsWindow {
+  Q_OBJECT
+
+public:
+  explicit SettingsWindowSP(QWidget *parent = nullptr);
+
+protected:
+  struct PanelInfo {
+    QString name;
+    QWidget *widget;
+    QString icon;
+
+    PanelInfo(const QString &name, QWidget *widget, const QString &icon) : name(name), widget(widget), icon(icon) {}
+  };
+};
+
+class TogglesPanelSP : public TogglesPanel {
+  Q_OBJECT
+
+public:
+  explicit TogglesPanelSP(SettingsWindow *parent);
+
+private slots:
+  void updateState(const UIStateSP &s);
+};
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc b/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc
new file mode 100644
index 00000000000000..b26d1b828a3833
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc
@@ -0,0 +1,32 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/onroad/onroad_home.h"
+
+#include "common/swaglog.h"
+#include "selfdrive/ui/qt/util.h"
+
+OnroadWindowSP::OnroadWindowSP(QWidget *parent) : OnroadWindow(parent) {
+  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &OnroadWindowSP::updateState);
+  QObject::connect(uiStateSP(), &UIStateSP::offroadTransition, this, &OnroadWindowSP::offroadTransition);
+}
+
+void OnroadWindowSP::updateState(const UIStateSP &s) {
+  if (!s.scene.started) {
+    return;
+  }
+
+  OnroadWindow::updateState(s);
+}
+
+void OnroadWindowSP::mousePressEvent(QMouseEvent *e) {
+  OnroadWindow::mousePressEvent(e);
+}
+
+void OnroadWindowSP::offroadTransition(bool offroad) {
+  OnroadWindow::offroadTransition(offroad);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.h b/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.h
new file mode 100644
index 00000000000000..193fdae0dc83e5
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.h
@@ -0,0 +1,24 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/onroad/onroad_home.h"
+
+class OnroadWindowSP : public OnroadWindow {
+  Q_OBJECT
+
+public:
+  OnroadWindowSP(QWidget *parent = 0);
+
+private:
+  void mousePressEvent(QMouseEvent *e) override;
+
+protected slots:
+  void offroadTransition(bool offroad) override;
+  void updateState(const UIStateSP &s) override;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/sidebar.cc b/selfdrive/ui/sunnypilot/qt/sidebar.cc
new file mode 100644
index 00000000000000..af090e738fbab9
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/sidebar.cc
@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/sidebar.h"
+
+#include <cmath>
+#include <QMouseEvent>
+
+#include "selfdrive/ui/qt/util.h"
+
+SidebarSP::SidebarSP(QWidget *parent) : Sidebar(parent) {
+  QObject::disconnect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState);
+  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &SidebarSP::updateState);
+}
+
+void SidebarSP::updateState(const UIStateSP &s) {
+  if (!isVisible()) return;
+  Sidebar::updateState(s);
+}
+
+void SidebarSP::paintSidebar(QPainter &p) {
+  Sidebar::paintSidebar(p);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/sidebar.h b/selfdrive/ui/sunnypilot/qt/sidebar.h
new file mode 100644
index 00000000000000..ff9b78748fc92c
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/sidebar.h
@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <memory>
+
+#include "selfdrive/ui/qt/sidebar.h"
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+
+class SidebarSP : public Sidebar {
+  Q_OBJECT
+
+public slots:
+  void updateState(const UIStateSP &s);
+
+public:
+  explicit SidebarSP(QWidget *parent = 0);
+
+private:
+  void paintSidebar(QPainter &p) override;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
new file mode 100644
index 00000000000000..0c0e1740013f89
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
@@ -0,0 +1,254 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+#include <QPainter>
+#include <QStyleOption>
+
+QFrame *horizontal_line(QWidget *parent) {
+  QFrame *line = new QFrame(parent);
+  line->setFrameShape(QFrame::StyledPanel);
+  line->setStyleSheet(R"(
+    border-width: 2px;
+    border-bottom-style: solid;
+    border-color: gray;
+  )");
+  line->setFixedHeight(10);
+  return line;
+}
+
+// AbstractControlSP
+
+AbstractControlSP::AbstractControlSP(const QString &title, const QString &desc, const QString &icon, QWidget *parent)
+    : AbstractControl(title, desc, icon, parent) {
+
+  main_layout = new QVBoxLayout(this);
+  main_layout->setMargin(0);
+
+  hlayout = new QHBoxLayout;
+  hlayout->setMargin(0);
+  hlayout->setSpacing(20);
+
+  // title
+  title_label = new QPushButton(title);
+  title_label->setFixedHeight(120);
+  title_label->setStyleSheet("font-size: 50px; font-weight: 450; text-align: left; border: none;");
+  hlayout->addWidget(title_label, 1);
+
+  // value next to control button
+  value = new ElidedLabelSP();
+  value->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
+  value->setStyleSheet("color: #aaaaaa");
+  hlayout->addWidget(value);
+
+  main_layout->addLayout(hlayout);
+
+  // description
+  description = new QLabel(desc);
+  description->setContentsMargins(40, 20, 40, 20);
+  description->setStyleSheet("font-size: 40px; color: grey");
+  description->setWordWrap(true);
+  description->setVisible(false);
+  main_layout->addWidget(description);
+
+  connect(title_label, &QPushButton::clicked, [=]() {
+    if (!description->isVisible()) {
+      emit showDescriptionEvent();
+    }
+
+    if (!description->text().isEmpty()) {
+      description->setVisible(!description->isVisible());
+    }
+  });
+
+  main_layout->addStretch();
+}
+
+void AbstractControlSP::hideEvent(QHideEvent *e) {
+  if (description != nullptr) {
+    description->hide();
+  }
+}
+
+AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, const QString &desc, const QString &icon, QWidget *parent)
+    : AbstractControlSP(title, desc, icon, parent) {
+
+  if (title_label != nullptr) {
+    delete title_label;
+    title_label = nullptr;
+  }
+
+  if (description != nullptr) {
+    delete description;
+    description = nullptr;
+  }
+
+  if (value != nullptr) {
+    ReplaceWidget(value, new QWidget());
+    value = nullptr;
+  }
+
+  QLayoutItem *item;
+  while ((item = main_layout->takeAt(0)) != nullptr) {
+    if (item->widget()) {
+      delete item->widget();
+    }
+    delete item;
+  }
+
+  main_layout->setMargin(0);
+
+  hlayout = new QHBoxLayout;
+  hlayout->setMargin(0);
+  hlayout->setSpacing(0);
+
+  // title
+  if (!title.isEmpty()) {
+    title_label = new QPushButton(title);
+    title_label->setFixedHeight(120);
+    title_label->setStyleSheet("font-size: 50px; font-weight: 450; text-align: left; border: none; padding: 20 0 0 0");
+    main_layout->addWidget(title_label, 1);
+
+    connect(title_label, &QPushButton::clicked, [=]() {
+      if (!description->isVisible()) {
+        emit showDescriptionEvent();
+      }
+
+      if (!description->text().isEmpty()) {
+        bool isVisible = !description->isVisible();
+        description->setVisible(isVisible);
+
+        if (isVisible && spacingItem) {
+          main_layout->removeItem(spacingItem);
+          delete spacingItem;
+          spacingItem = nullptr;
+        } else if (!isVisible && spacingItem == nullptr) {
+          spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
+          main_layout->insertItem(main_layout->indexOf(description), spacingItem);
+        }
+      }
+    });
+  } else {
+    main_layout->addSpacing(20);
+  }
+
+  main_layout->addLayout(hlayout);
+  if (!desc.isEmpty() && spacingItem == nullptr) {
+    spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
+    main_layout->insertItem(main_layout->count(), spacingItem);
+  }
+
+  // description
+  description = new QLabel(desc);
+  description->setContentsMargins(0, 20, 40, 20);
+  description->setStyleSheet("font-size: 40px; color: grey");
+  description->setWordWrap(true);
+  description->setVisible(false);
+  main_layout->addWidget(description);
+
+  main_layout->addStretch();
+}
+
+void AbstractControlSP_SELECTOR::hideEvent(QHideEvent *e) {
+  if (description != nullptr) {
+    description->hide();
+  }
+
+  if (spacingItem == nullptr) {
+    spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
+    main_layout->insertItem(main_layout->indexOf(description), spacingItem);
+  }
+}
+
+// controls
+
+ButtonControlSP::ButtonControlSP(const QString &title, const QString &text, const QString &desc, QWidget *parent)
+    : AbstractControlSP(title, desc, "", parent) {
+
+  btn.setText(text);
+  btn.setStyleSheet(R"(
+    QPushButton {
+      padding: 0;
+      border-radius: 50px;
+      font-size: 35px;
+      font-weight: 500;
+      color: #E4E4E4;
+      background-color: #393939;
+    }
+    QPushButton:pressed {
+      background-color: #4a4a4a;
+    }
+    QPushButton:disabled {
+      color: #33E4E4E4;
+    }
+  )");
+  btn.setFixedSize(250, 100);
+  QObject::connect(&btn, &QPushButton::clicked, this, &ButtonControlSP::clicked);
+  hlayout->addWidget(&btn);
+}
+
+// ElidedLabelSP
+
+ElidedLabelSP::ElidedLabelSP(QWidget *parent) : ElidedLabelSP({}, parent) {
+}
+
+ElidedLabelSP::ElidedLabelSP(const QString &text, QWidget *parent) : QLabel(text.trimmed(), parent) {
+  setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
+  setMinimumWidth(1);
+}
+
+void ElidedLabelSP::resizeEvent(QResizeEvent *event) {
+  QLabel::resizeEvent(event);
+  lastText_ = elidedText_ = "";
+}
+
+void ElidedLabelSP::paintEvent(QPaintEvent *event) {
+  const QString curText = text();
+  if (curText != lastText_) {
+    elidedText_ = fontMetrics().elidedText(curText, Qt::ElideRight, contentsRect().width());
+    lastText_ = curText;
+  }
+
+  QPainter painter(this);
+  drawFrame(&painter);
+  QStyleOption opt;
+  opt.initFrom(this);
+  style()->drawItemText(&painter, contentsRect(), alignment(), opt.palette, isEnabled(), elidedText_, foregroundRole());
+}
+
+// ParamControlSP
+
+ParamControlSP::ParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent)
+    : ToggleControlSP(title, desc, icon, false, parent) {
+
+  key = param.toStdString();
+  QObject::connect(this, &ParamControlSP::toggleFlipped, this, &ParamControlSP::toggleClicked);
+
+  hlayout->removeWidget(&toggle);
+  hlayout->insertWidget(0, &toggle);
+
+  hlayout->removeWidget(this->icon_label);
+  hlayout->insertWidget(1, this->icon_label);
+}
+
+void ParamControlSP::toggleClicked(bool state) {
+  auto do_confirm = [this]() {
+    QString content("<body><h2 style=\"text-align: center;\">" + title_label->text() + "</h2><br>"
+                    "<p style=\"text-align: center; margin: 0 128px; font-size: 50px;\">" + getDescription() + "</p></body>");
+    return ConfirmationDialog(content, tr("Enable"), tr("Cancel"), true, this).exec();
+  };
+
+  bool confirmed = store_confirm && params.getBool(key + "Confirmed");
+  if (!confirm || confirmed || !state || do_confirm()) {
+    if (store_confirm && state) params.putBool(key + "Confirmed", true);
+    params.putBool(key, state);
+    setIcon(state);
+  } else {
+    toggle.togglePosition();
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
new file mode 100644
index 00000000000000..a5071d97e7686c
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -0,0 +1,588 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <map>
+#include <optional>
+#include <string>
+#include <vector>
+
+#include "common/params.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/toggle.h"
+
+QFrame *horizontal_line(QWidget *parent = nullptr);
+
+inline void ReplaceWidget(QWidget *old_widget, QWidget *new_widget) {
+  if (old_widget && old_widget->parentWidget() && old_widget->parentWidget()->layout()) {
+    old_widget->parentWidget()->layout()->replaceWidget(old_widget, new_widget);
+    old_widget->hide();
+    old_widget->deleteLater();
+  }
+}
+
+class ElidedLabelSP : public QLabel {
+  Q_OBJECT
+
+public:
+  explicit ElidedLabelSP(QWidget *parent = 0);
+  explicit ElidedLabelSP(const QString &text, QWidget *parent = 0);
+
+  void setColor(const QString &color) {
+    setStyleSheet("QLabel { color : " + color + "; }");
+  }
+
+signals:
+  void clicked();
+
+protected:
+  void paintEvent(QPaintEvent *event) override;
+  void resizeEvent(QResizeEvent *event) override;
+  void mouseReleaseEvent(QMouseEvent *event) override {
+    if (rect().contains(event->pos())) {
+      emit clicked();
+    }
+  }
+  QString lastText_, elidedText_;
+};
+
+class AbstractControlSP : public AbstractControl {
+  Q_OBJECT
+
+public:
+  void setDescription(const QString &desc) override {
+    if (description) description->setText(desc);
+  }
+
+  void setValue(const QString &val, std::optional<QString> color = std::nullopt) {
+    value->setText(val);
+    if (color.has_value()) {
+      value->setColor(color.value());
+    }
+  }
+
+  const QString getDescription() override {
+    return description->text();
+  }
+
+  void hideDescription() {
+    description->setVisible(false);
+  }
+
+public slots:
+  void showDescription() override {
+    description->setVisible(true);
+  }
+
+protected:
+  AbstractControlSP(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
+  void hideEvent(QHideEvent *e) override;
+
+  QVBoxLayout *main_layout;
+  ElidedLabelSP *value;
+  QLabel *description = nullptr;
+};
+
+// AbstractControlSP_SELECTOR
+
+class AbstractControlSP_SELECTOR : public AbstractControlSP {
+  Q_OBJECT
+
+protected:
+  AbstractControlSP_SELECTOR(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
+  void hideEvent(QHideEvent *e) override;
+
+private:
+  QSpacerItem *spacingItem = nullptr;
+};
+
+// widget to display a value
+class LabelControlSP : public AbstractControlSP {
+  Q_OBJECT
+
+public:
+  LabelControlSP(const QString &title, const QString &text = "", const QString &desc = "", QWidget *parent = nullptr) : AbstractControlSP(title, desc, "", parent) {
+    label.setText(text);
+    label.setAlignment(Qt::AlignRight | Qt::AlignVCenter);
+    hlayout->addWidget(&label);
+  }
+  void setText(const QString &text) { label.setText(text); }
+
+private:
+  ElidedLabelSP label;
+};
+
+// widget for a button with a label
+class ButtonControlSP : public AbstractControlSP {
+  Q_OBJECT
+
+public:
+  ButtonControlSP(const QString &title, const QString &text, const QString &desc = "", QWidget *parent = nullptr);
+  inline void setText(const QString &text) { btn.setText(text); }
+  inline QString text() const { return btn.text(); }
+  inline void click() { btn.click(); }
+
+signals:
+  void clicked();
+
+public slots:
+  void setEnabled(bool enabled) { btn.setEnabled(enabled); }
+
+private:
+  QPushButton btn;
+};
+
+class ToggleControlSP : public AbstractControlSP {
+  Q_OBJECT
+
+public:
+  ToggleControlSP(const QString &title, const QString &desc = "", const QString &icon = "", const bool state = false, QWidget *parent = nullptr) : AbstractControlSP(title, desc, icon, parent) {
+    // space between toggle and title
+    icon_label = new QLabel(this);
+    hlayout->addWidget(icon_label);
+
+    toggle.setFixedSize(150, 100);
+    if (state) {
+      toggle.togglePosition();
+    }
+    hlayout->insertWidget(0, &toggle);
+    hlayout->insertWidget(1, this->icon_label);
+    QObject::connect(&toggle, &ToggleSP::stateChanged, this, &ToggleControlSP::toggleFlipped);
+  }
+
+  void setEnabled(bool enabled) {
+    toggle.setEnabled(enabled);
+    toggle.update();
+  }
+
+signals:
+  void toggleFlipped(bool state);
+
+protected:
+  ToggleSP toggle;
+};
+
+// widget to toggle params
+class ParamControlSP : public ToggleControlSP {
+  Q_OBJECT
+
+public:
+  ParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr);
+  void setConfirmation(bool _confirm, bool _store_confirm) {
+    confirm = _confirm;
+    store_confirm = _store_confirm;
+  }
+
+  void setActiveIcon(const QString &icon) {
+    active_icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation);
+  }
+
+  void refresh() {
+    bool state = params.getBool(key);
+    if (state != toggle.on) {
+      toggle.togglePosition();
+      setIcon(state);
+    }
+  }
+
+  void showEvent(QShowEvent *event) override {
+    refresh();
+  }
+
+  bool isToggled() { return params.getBool(key); }
+
+private:
+  void toggleClicked(bool state);
+  void setIcon(bool state) {
+    if (state && !active_icon_pixmap.isNull()) {
+      icon_label->setPixmap(active_icon_pixmap);
+    } else if (!icon_pixmap.isNull()) {
+      icon_label->setPixmap(icon_pixmap);
+    }
+  }
+
+  std::string key;
+  Params params;
+  QPixmap active_icon_pixmap;
+  bool confirm = false;
+  bool store_confirm = false;
+};
+
+class ButtonParamControlSP : public AbstractControlSP_SELECTOR {
+  Q_OBJECT
+
+public:
+  ButtonParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
+                       const std::vector<QString> &button_texts, const int minimum_button_width = 300) : AbstractControlSP_SELECTOR(title, desc, icon), button_texts(button_texts) {
+    const QString style = R"(
+      QPushButton {
+        border-radius: 20px;
+        font-size: 50px;
+        font-weight: 450;
+        height:150px;
+        padding: 0 25 0 25;
+        color: #FFFFFF;
+      }
+      QPushButton:pressed {
+        background-color: #4a4a4a;
+      }
+      QPushButton:checked:enabled {
+        background-color: #696868;
+      }
+      QPushButton:disabled {
+        color: #33FFFFFF;
+      }
+      QPushButton:checked:disabled {
+        background-color: #121212;
+        color: #33FFFFFF;
+      }
+    )";
+    key = param.toStdString();
+    int value = atoi(params.get(key).c_str());
+
+    button_group = new QButtonGroup(this);
+    button_group->setExclusive(true);
+    for (int i = 0; i < button_texts.size(); i++) {
+      QPushButton *button = new QPushButton(button_texts[i], this);
+      button->setCheckable(true);
+      button->setChecked(i == value);
+      button->setStyleSheet(style);
+      button->setMinimumWidth(minimum_button_width);
+      if (i == 0) hlayout->addSpacing(2);
+      hlayout->addWidget(button);
+      button_group->addButton(button, i);
+    }
+
+    hlayout->setAlignment(Qt::AlignLeft);
+
+    QObject::connect(button_group, QOverload<int>::of(&QButtonGroup::buttonClicked), [=](int id) {
+      params.put(key, std::to_string(id));
+      emit buttonToggled(id);
+    });
+  }
+
+  void setEnabled(bool enable) {
+    for (auto btn: button_group->buttons()) {
+      btn->setEnabled(enable);
+    }
+    button_group_enabled = enable;
+
+    update();
+  }
+
+  void setCheckedButton(int id) {
+    button_group->button(id)->setChecked(true);
+  }
+
+  void refresh() {
+    int value = atoi(params.get(key).c_str());
+
+    if (value >= button_texts.size()) {
+      value = button_texts.size() - 1;
+    }
+    if (value < 0) {
+      value = 0;
+    }
+
+    button_group->button(value)->setChecked(true);
+  }
+
+  void showEvent(QShowEvent *event) override {
+    refresh();
+  }
+
+  void setButton(QString param) {
+    key = param.toStdString();
+    int value = atoi(params.get(key).c_str());
+    for (int i = 0; i < button_group->buttons().size(); i++) {
+      button_group->buttons()[i]->setChecked(i == value);
+    }
+  }
+
+  void setDisabledSelectedButton(std::string val) {
+    int value = atoi(val.c_str());
+    for (int i = 0; i < button_group->buttons().size(); i++) {
+      button_group->buttons()[i]->setEnabled(i != value);
+    }
+  }
+
+protected:
+  void paintEvent(QPaintEvent *event) override {
+    QPainter p(this);
+    p.setRenderHint(QPainter::Antialiasing);
+
+    // Calculate the total width and height for the background rectangle
+    int w = 0;
+    int h = 150;
+
+    for (int i = 0; i < hlayout->count(); ++i) {
+      QPushButton *button = qobject_cast<QPushButton *>(hlayout->itemAt(i)->widget());
+      if (button) {
+        w += button->width();
+      }
+    }
+
+    // Draw the rectangle
+#ifdef __APPLE__
+    QRect rect(0 + 2, h - 16, w, h);
+#else
+    QRect rect(0 + 2, h - 24, w, h);
+#endif
+    p.setPen(QPen(QColor(button_group_enabled ? "#696868" : "#121212"), 3));
+    p.drawRoundedRect(rect, 20, 20);
+  }
+
+signals:
+  void buttonToggled(int btn_id);
+
+private:
+  std::string key;
+  Params params;
+  QButtonGroup *button_group;
+  std::vector<QString> button_texts;
+
+  bool button_group_enabled = true;
+};
+
+class ListWidgetSP : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit ListWidgetSP(QWidget *parent = 0, const bool split_line = true) : QWidget(parent), _split_line(split_line), outer_layout(this) {
+    outer_layout.setMargin(0);
+    outer_layout.setSpacing(0);
+    outer_layout.addLayout(&inner_layout);
+    inner_layout.setMargin(0);
+    inner_layout.setSpacing(25); // default spacing is 25
+    outer_layout.addStretch();
+  }
+  inline void addItem(QWidget *w) { inner_layout.addWidget(w); }
+  inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); }
+  inline void setSpacing(int spacing) { inner_layout.setSpacing(spacing); }
+
+  inline void AddWidgetAt(const int index, QWidget *new_widget) { inner_layout.insertWidget(index, new_widget); }
+  inline void RemoveWidgetAt(const int index) {
+    if (QLayoutItem *item; (item = inner_layout.takeAt(index)) != nullptr) {
+      if (item->widget()) delete item->widget();
+      delete item;
+    }
+  }
+
+  inline void ReplaceOrAddWidget(QWidget *old_widget, QWidget *new_widget) {
+    if (const int index = inner_layout.indexOf(old_widget); index != -1) {
+      RemoveWidgetAt(index);
+      AddWidgetAt(index, new_widget);
+    } else {
+      addItem(new_widget);
+    }
+  }
+
+private:
+  void paintEvent(QPaintEvent *) override {
+    QPainter p(this);
+    p.setPen(Qt::gray);
+    for (int i = 0; i < inner_layout.count() - 1; ++i) {
+      QWidget *widget = inner_layout.itemAt(i)->widget();
+      if ((widget == nullptr || widget->isVisible()) && _split_line) {
+        QRect r = inner_layout.itemAt(i)->geometry();
+        int bottom = r.bottom() + inner_layout.spacing() / 2;
+        p.drawLine(r.left(), bottom, r.right(), bottom);
+      }
+    }
+  }
+  QVBoxLayout outer_layout;
+  QVBoxLayout inner_layout;
+
+  bool _split_line;
+};
+
+// convenience class for wrapping layouts
+class LayoutWidgetSP : public QWidget {
+  Q_OBJECT
+
+public:
+  LayoutWidgetSP(QLayout *l, QWidget *parent = nullptr) : QWidget(parent) {
+    setLayout(l);
+  }
+};
+
+class OptionControlSP : public AbstractControlSP_SELECTOR {
+  Q_OBJECT
+
+private:
+  struct MinMaxValue {
+    int min_value;
+    int max_value;
+  };
+
+public:
+  OptionControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
+                  const MinMaxValue &range, const int per_value_change = 1) : _title(title), AbstractControlSP_SELECTOR(title, desc, icon) {
+    const QString style = R"(
+      QPushButton {
+        border-radius: 20px;
+        font-size: 60px;
+        font-weight: 500;
+        width: 150px;
+        height: 150px;
+        padding: -3 25 3 25;
+        color: #FFFFFF;
+        font-weight: bold;
+      }
+      QPushButton:pressed {
+        color: #5C5C5C;
+      }
+      QPushButton:disabled {
+        color: #5C5C5C;
+      }
+    )";
+
+    label.setStyleSheet(label_enabled_style);
+    label.setFixedWidth(300);
+    label.setAlignment(Qt::AlignCenter);
+
+    const std::vector<QString> button_texts{"�", "＋"};
+
+    key = param.toStdString();
+    value = atoi(params.get(key).c_str());
+
+    button_group = new QButtonGroup(this);
+    button_group->setExclusive(true);
+    for (int i = 0; i < button_texts.size(); i++) {
+      QPushButton *button = new QPushButton(button_texts[i], this);
+      button->setStyleSheet(style + ((i == 0) ? "QPushButton { text-align: left; }" :
+                                                "QPushButton { text-align: right; }"));
+      hlayout->addWidget(button, 0, ((i == 0) ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignVCenter);
+      if (i == 0) {
+        hlayout->addWidget(&label, 0, Qt::AlignCenter);
+      }
+      button_group->addButton(button, i);
+
+      QObject::connect(button, &QPushButton::clicked, [=]() {
+        int change_value = (i == 0) ? -per_value_change : per_value_change;
+        key = param.toStdString();
+        value = atoi(params.get(key).c_str());
+        value += change_value;
+        value = std::clamp(value, range.min_value, range.max_value);
+        params.put(key, QString::number(value).toStdString());
+
+        button_group->button(0)->setEnabled(!(value <= range.min_value));
+        button_group->button(1)->setEnabled(!(value >= range.max_value));
+
+        updateLabels();
+
+        if (request_update) {
+          emit updateOtherToggles();
+        }
+      });
+    }
+
+    hlayout->setAlignment(Qt::AlignLeft);
+  }
+
+  void setUpdateOtherToggles(bool _update) {
+    request_update = _update;
+  }
+
+  inline void setLabel(const QString &text) { label.setText(text); }
+
+  void setEnabled(bool enabled) {
+    for (auto btn: button_group->buttons()) {
+      btn->setEnabled(enabled);
+    }
+    label.setEnabled(enabled);
+    label.setStyleSheet(enabled ? label_enabled_style : label_disabled_style);
+    button_enabled = enabled;
+
+    update();
+  }
+
+protected:
+  void paintEvent(QPaintEvent *event) override {
+    QPainter p(this);
+    p.setRenderHint(QPainter::Antialiasing);
+
+    // Calculate the total width and height for the background rectangle
+    int w = 0;
+    int h = 150;
+
+    for (int i = 0; i < hlayout->count(); ++i) {
+      QWidget *widget = qobject_cast<QWidget *>(hlayout->itemAt(i)->widget());
+      if (widget) {
+        w += widget->width();
+      }
+    }
+
+    // Draw the rectangle
+    QRect rect(0, !_title.isEmpty() ? (h - 24) : 20, w, h);
+    p.setBrush(QColor(button_enabled ? "#b24a4a4a" : "#121212")); // Background color
+    p.setPen(QPen(Qt::NoPen));
+    p.drawRoundedRect(rect, 20, 20);
+  }
+
+signals:
+  void updateLabels();
+  void updateOtherToggles();
+
+private:
+  std::string key;
+  int value;
+  QButtonGroup *button_group;
+  QLabel label;
+  Params params;
+  std::map<QString, QString> option_label = {};
+  bool request_update = false;
+  QString _title = "";
+
+  const QString label_enabled_style = "font-size: 50px; font-weight: 450; color: #FFFFFF;";
+  const QString label_disabled_style = "font-size: 50px; font-weight: 450; color: #5C5C5C;";
+
+  bool button_enabled = true;
+};
+
+class SubPanelButton : public QPushButton {
+  Q_OBJECT
+
+public:
+  SubPanelButton(const QString &text, const int minimum_button_width = 800, QWidget *parent = nullptr) : QPushButton(text, parent) {
+    const QString buttonStyle = R"(
+      QPushButton {
+        border-radius: 20px;
+        font-size: 50px;
+        font-weight: 450;
+        height: 150px;
+        padding: 0 25px 0 25px;
+        color: #FFFFFF;
+      }
+      QPushButton:enabled {
+        background-color: #393939;
+      }
+      QPushButton:pressed {
+        background-color: #4A4A4A;
+      }
+      QPushButton:disabled {
+        background-color: #121212;
+        color: #5C5C5C;
+      }
+    )";
+
+    setStyleSheet(buttonStyle);
+    setFixedWidth(minimum_button_width);
+  }
+};
+
+class PanelBackButton : public QPushButton {
+  Q_OBJECT
+
+public:
+  PanelBackButton(const QString &label = "Back", QWidget *parent = nullptr) : QPushButton(label, parent) {
+    setObjectName("back_btn");
+    setFixedSize(400, 100);
+  }
+};
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/scrollview.cc b/selfdrive/ui/sunnypilot/qt/widgets/scrollview.cc
new file mode 100644
index 00000000000000..49f6e934304e19
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/widgets/scrollview.cc
@@ -0,0 +1,18 @@
+/**
+* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+#include <QScrollBar>
+
+void ScrollViewSP::setLastScrollPosition() {
+  lastScrollPosition = verticalScrollBar()->value();
+}
+
+void ScrollViewSP::restoreScrollPosition() {
+  verticalScrollBar()->setValue(lastScrollPosition);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/scrollview.h b/selfdrive/ui/sunnypilot/qt/widgets/scrollview.h
new file mode 100644
index 00000000000000..5c20bce2f26686
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/widgets/scrollview.h
@@ -0,0 +1,24 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/widgets/scrollview.h"
+
+class ScrollViewSP : public ScrollView {
+  Q_OBJECT
+
+public:
+  explicit ScrollViewSP(QWidget *w = nullptr, QWidget *parent = nullptr) : ScrollView(w, parent) {}
+
+public slots:
+  void setLastScrollPosition();
+  void restoreScrollPosition();
+
+private:
+  int lastScrollPosition = 0;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/toggle.cc b/selfdrive/ui/sunnypilot/qt/widgets/toggle.cc
new file mode 100644
index 00000000000000..601c8f94c13be9
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/widgets/toggle.cc
@@ -0,0 +1,30 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/toggle.h"
+
+#include <QPainter>
+
+ToggleSP::ToggleSP(QWidget *parent) : Toggle(parent) {
+  _height_rect = 80;
+}
+
+void ToggleSP::paintEvent(QPaintEvent *e) {
+  this->setFixedHeight(100);
+  QPainter p(this);
+  p.setPen(Qt::NoPen);
+  p.setRenderHint(QPainter::Antialiasing, true);
+
+  // Draw toggle background
+  enabled ? green.setRgb(0x1e79e8) : green.setRgb(0x125db8);
+  p.setBrush(on ? green : QColor(0x292929));
+  p.drawRoundedRect(QRect(0, 10, width(), _height_rect), _height_rect / 2, _height_rect / 2);
+
+  // Draw toggle circle
+  p.setBrush(circleColor);
+  p.drawEllipse(QRectF(_x_circle - _radius + 6, 16, 68, 68));
+}
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/toggle.h b/selfdrive/ui/sunnypilot/qt/widgets/toggle.h
new file mode 100644
index 00000000000000..e98dea39af921c
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/widgets/toggle.h
@@ -0,0 +1,20 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/widgets/toggle.h"
+
+class ToggleSP : public Toggle {
+  Q_OBJECT
+
+public:
+  explicit ToggleSP(QWidget *parent = nullptr);
+
+protected:
+  void paintEvent(QPaintEvent *) override;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/window.cc b/selfdrive/ui/sunnypilot/qt/window.cc
new file mode 100644
index 00000000000000..f332e1ed8e5bda
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/window.cc
@@ -0,0 +1,19 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/window.h"
+
+MainWindowSP::MainWindowSP(QWidget *parent)
+    : MainWindow(parent, new HomeWindowSP(parent), new SettingsWindowSP(parent)) {
+
+  homeWindow = dynamic_cast<HomeWindowSP *>(MainWindow::homeWindow);
+  settingsWindow = dynamic_cast<SettingsWindowSP *>(MainWindow::settingsWindow);
+}
+
+void MainWindowSP::closeSettings() {
+  MainWindow::closeSettings();
+}
diff --git a/selfdrive/ui/sunnypilot/qt/window.h b/selfdrive/ui/sunnypilot/qt/window.h
new file mode 100644
index 00000000000000..d4c0900901d247
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/window.h
@@ -0,0 +1,24 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/window.h"
+#include "selfdrive/ui/sunnypilot/qt/home.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+
+class MainWindowSP : public MainWindow {
+  Q_OBJECT
+
+public:
+  explicit MainWindowSP(QWidget *parent = 0);
+
+private:
+  HomeWindowSP *homeWindow;
+  SettingsWindowSP *settingsWindow;
+  void closeSettings() override;
+};
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
new file mode 100644
index 00000000000000..e869d3b2ddf2c5
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -0,0 +1,53 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+
+#include "common/watchdog.h"
+
+void UIStateSP::updateStatus() {
+  UIState::updateStatus();
+}
+
+UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
+  sm = std::make_unique<SubMaster>(std::vector<const char*>{
+    "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
+    "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
+    "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
+  });
+
+  // update timer
+  timer = new QTimer(this);
+  QObject::connect(timer, &QTimer::timeout, this, &UIStateSP::update);
+  timer->start(1000 / UI_FREQ);
+}
+
+// This method overrides completely the update method from the parent class intentionally.
+void UIStateSP::update() {
+  update_sockets(this);
+  update_state(this);
+  updateStatus();
+
+  if (sm->frame % UI_FREQ == 0) {
+    watchdog_kick(nanos_since_boot());
+  }
+  emit uiUpdate(*this);
+}
+
+DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
+  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &DeviceSP::update);
+}
+
+UIStateSP *uiStateSP() {
+  static UIStateSP ui_state;
+  return &ui_state;
+}
+
+DeviceSP *deviceSP() {
+  static DeviceSP _device;
+  return &_device;
+}
diff --git a/selfdrive/ui/sunnypilot/ui.h b/selfdrive/ui/sunnypilot/ui.h
new file mode 100644
index 00000000000000..65c92379695295
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/ui.h
@@ -0,0 +1,38 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/ui.h"
+
+class UIStateSP : public UIState {
+  Q_OBJECT
+
+public:
+  UIStateSP(QObject *parent = 0);
+  void updateStatus() override;
+
+signals:
+  void uiUpdate(const UIStateSP &s);
+
+private slots:
+  void update() override;
+};
+
+UIStateSP *uiStateSP();
+inline UIStateSP *uiState() { return uiStateSP(); };
+
+// device management class
+class DeviceSP : public Device {
+  Q_OBJECT
+
+public:
+  DeviceSP(QObject *parent = 0);
+};
+
+DeviceSP *deviceSP();
+inline DeviceSP *device() { return deviceSP(); }
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 2c4d8d7037e9b8..7ffd66ed9ab483 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -160,7 +160,7 @@ def setup_offroad_alert(click, pm: PubMaster):
 
   # Toggle between settings and home to refresh the offroad alert widget
   setup_settings_device(click, pm)
-  click(240, 216)
+  click(100, 100)
 
 def setup_update_available(click, pm: PubMaster):
   Params().put_bool("UpdateAvailable", True)
@@ -170,7 +170,7 @@ def setup_update_available(click, pm: PubMaster):
   Params().put("UpdaterNewReleaseNotes", release_notes + "\n")
 
   setup_settings_device(click, pm)
-  click(240, 216)
+  click(100, 100)
 
 def setup_pair_device(click, pm: PubMaster):
   click(1950, 435)
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 0b18af4f25e709..ac5433ff478212 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -480,6 +480,17 @@
         <translation>إلغاء</translation>
     </message>
 </context>
+<context>
+    <name>ParamControlSP</name>
+    <message>
+        <source>Enable</source>
+        <translation>تمكين</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>إلغاء</translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
@@ -642,6 +653,37 @@ This may take up to a minute.</source>
         <translation>المطور</translation>
     </message>
 </context>
+<context>
+    <name>SettingsWindowSP</name>
+    <message>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation>الجهاز</translation>
+    </message>
+    <message>
+        <source>Network</source>
+        <translation>الشبكة</translation>
+    </message>
+    <message>
+        <source>Toggles</source>
+        <translation>المثبتتات</translation>
+    </message>
+    <message>
+        <source>Software</source>
+        <translation>البرنامج</translation>
+    </message>
+    <message>
+        <source>Developer</source>
+        <translation>المطور</translation>
+    </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
+    </message>
+</context>
 <context>
     <name>Setup</name>
     <message>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 1f40c2e40aa614..8dbc4367929f40 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -475,6 +475,17 @@
         <translation>Aktivieren</translation>
     </message>
 </context>
+<context>
+    <name>ParamControlSP</name>
+    <message>
+        <source>Cancel</source>
+        <translation>Abbrechen</translation>
+    </message>
+    <message>
+        <source>Enable</source>
+        <translation>Aktivieren</translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
@@ -624,6 +635,37 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>SettingsWindowSP</name>
+    <message>
+        <source>×</source>
+        <translation>x</translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation>Gerät</translation>
+    </message>
+    <message>
+        <source>Network</source>
+        <translation>Netzwerk</translation>
+    </message>
+    <message>
+        <source>Toggles</source>
+        <translation>Schalter</translation>
+    </message>
+    <message>
+        <source>Software</source>
+        <translation>Software</translation>
+    </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
+    </message>
+</context>
 <context>
     <name>Setup</name>
     <message>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 6a27d491376252..5f7e980aa0b6cf 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -476,6 +476,17 @@
         <translation>Cancelar</translation>
     </message>
 </context>
+<context>
+    <name>ParamControlSP</name>
+    <message>
+        <source>Enable</source>
+        <translation>Activar</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
@@ -626,6 +637,37 @@ Esto puede tardar un minuto.</translation>
         <translation>Desarrollador</translation>
     </message>
 </context>
+<context>
+    <name>SettingsWindowSP</name>
+    <message>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation>Dispositivo</translation>
+    </message>
+    <message>
+        <source>Network</source>
+        <translation>Red</translation>
+    </message>
+    <message>
+        <source>Toggles</source>
+        <translation>Ajustes</translation>
+    </message>
+    <message>
+        <source>Software</source>
+        <translation>Software</translation>
+    </message>
+    <message>
+        <source>Developer</source>
+        <translation>Desarrollador</translation>
+    </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
+    </message>
+</context>
 <context>
     <name>Setup</name>
     <message>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index bcaff48bbe697d..2348b101994a3f 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -476,6 +476,17 @@
         <translation>Annuler</translation>
     </message>
 </context>
+<context>
+    <name>ParamControlSP</name>
+    <message>
+        <source>Enable</source>
+        <translation>Activer</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Annuler</translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
@@ -626,6 +637,37 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>SettingsWindowSP</name>
+    <message>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation>Appareil</translation>
+    </message>
+    <message>
+        <source>Network</source>
+        <translation>Réseau</translation>
+    </message>
+    <message>
+        <source>Toggles</source>
+        <translation>Options</translation>
+    </message>
+    <message>
+        <source>Software</source>
+        <translation>Logiciel</translation>
+    </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
+    </message>
+</context>
 <context>
     <name>Setup</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 9e16d612f24ce3..68c629a0113910 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -474,6 +474,17 @@
         <translation>を有効化</translation>
     </message>
 </context>
+<context>
+    <name>ParamControlSP</name>
+    <message>
+        <source>Cancel</source>
+        <translation>キャンセル</translation>
+    </message>
+    <message>
+        <source>Enable</source>
+        <translation>を有効化</translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
@@ -620,6 +631,37 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>SettingsWindowSP</name>
+    <message>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation>デ�イス</translation>
+    </message>
+    <message>
+        <source>Network</source>
+        <translation>ﾈｯﾄﾜｰｸ</translation>
+    </message>
+    <message>
+        <source>Toggles</source>
+        <translation>機能設定</translation>
+    </message>
+    <message>
+        <source>Software</source>
+        <translation>ｿﾌﾄｳｪｱ</translation>
+    </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
+    </message>
+</context>
 <context>
     <name>Setup</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 4bbcae92a763a0..f26ad2d6246daf 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -475,6 +475,17 @@
         <translation>활성화</translation>
     </message>
 </context>
+<context>
+    <name>ParamControlSP</name>
+    <message>
+        <source>Cancel</source>
+        <translation>취소</translation>
+    </message>
+    <message>
+        <source>Enable</source>
+        <translation>활성화</translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
@@ -622,6 +633,37 @@ This may take up to a minute.</source>
         <translation>개발�</translation>
     </message>
 </context>
+<context>
+    <name>SettingsWindowSP</name>
+    <message>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation>장치</translation>
+    </message>
+    <message>
+        <source>Network</source>
+        <translation>네트워�</translation>
+    </message>
+    <message>
+        <source>Toggles</source>
+        <translation>토글</translation>
+    </message>
+    <message>
+        <source>Software</source>
+        <translation>소프트웨어</translation>
+    </message>
+    <message>
+        <source>Developer</source>
+        <translation>개발�</translation>
+    </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
+    </message>
+</context>
 <context>
     <name>Setup</name>
     <message>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index ec3d18628757ca..be5732275dd9fb 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -476,6 +476,17 @@
         <translation>Ativar</translation>
     </message>
 </context>
+<context>
+    <name>ParamControlSP</name>
+    <message>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+    <message>
+        <source>Enable</source>
+        <translation>Ativar</translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
@@ -626,6 +637,37 @@ Isso pode levar até um minuto.</translation>
         <translation>Desenvdor</translation>
     </message>
 </context>
+<context>
+    <name>SettingsWindowSP</name>
+    <message>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation>Dispositivo</translation>
+    </message>
+    <message>
+        <source>Network</source>
+        <translation>Rede</translation>
+    </message>
+    <message>
+        <source>Toggles</source>
+        <translation>Ajustes</translation>
+    </message>
+    <message>
+        <source>Software</source>
+        <translation>Software</translation>
+    </message>
+    <message>
+        <source>Developer</source>
+        <translation>Desenvdor</translation>
+    </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
+    </message>
+</context>
 <context>
     <name>Setup</name>
     <message>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 82e135a856c062..fc8bacd8be6f01 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -475,6 +475,17 @@
         <translation>ย�เลิ�</translation>
     </message>
 </context>
+<context>
+    <name>ParamControlSP</name>
+    <message>
+        <source>Enable</source>
+        <translation>เปิดใช้งาน</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>ย�เลิ�</translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
@@ -622,6 +633,37 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>SettingsWindowSP</name>
+    <message>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation>อุป�รณ์</translation>
+    </message>
+    <message>
+        <source>Network</source>
+        <translation>เครือข่าย</translation>
+    </message>
+    <message>
+        <source>Toggles</source>
+        <translation>ตัวเลือ�</translation>
+    </message>
+    <message>
+        <source>Software</source>
+        <translation>ซอฟต์�วร์</translation>
+    </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
+    </message>
+</context>
 <context>
     <name>Setup</name>
     <message>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 58da05c4dabbe5..d89e3c6693986b 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -474,6 +474,17 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>ParamControlSP</name>
+    <message>
+        <source>Enable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
@@ -620,6 +631,37 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>SettingsWindowSP</name>
+    <message>
+        <source>×</source>
+        <translation>x</translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation>Cihaz</translation>
+    </message>
+    <message>
+        <source>Network</source>
+        <translation>AÄŸ</translation>
+    </message>
+    <message>
+        <source>Toggles</source>
+        <translation>DeÄŸiÅŸtirme</translation>
+    </message>
+    <message>
+        <source>Software</source>
+        <translation>Yazılım</translation>
+    </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
+    </message>
+</context>
 <context>
     <name>Setup</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index ab679b7f09a56e..207d1c8b33fd2a 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -475,6 +475,17 @@
         <translation>�用</translation>
     </message>
 </context>
+<context>
+    <name>ParamControlSP</name>
+    <message>
+        <source>Cancel</source>
+        <translation>�消</translation>
+    </message>
+    <message>
+        <source>Enable</source>
+        <translation>�用</translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
@@ -622,6 +633,37 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>SettingsWindowSP</name>
+    <message>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation>设备</translation>
+    </message>
+    <message>
+        <source>Network</source>
+        <translation>网络</translation>
+    </message>
+    <message>
+        <source>Toggles</source>
+        <translation>设定</translation>
+    </message>
+    <message>
+        <source>Software</source>
+        <translation>软件</translation>
+    </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
+    </message>
+</context>
 <context>
     <name>Setup</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index f88b12abada4e1..c820d85333ceb1 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -475,6 +475,17 @@
         <translation>啟用</translation>
     </message>
 </context>
+<context>
+    <name>ParamControlSP</name>
+    <message>
+        <source>Cancel</source>
+        <translation>�消</translation>
+    </message>
+    <message>
+        <source>Enable</source>
+        <translation>啟用</translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
@@ -622,6 +633,37 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>SettingsWindowSP</name>
+    <message>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation>�置</translation>
+    </message>
+    <message>
+        <source>Network</source>
+        <translation>網路</translation>
+    </message>
+    <message>
+        <source>Toggles</source>
+        <translation>設定</translation>
+    </message>
+    <message>
+        <source>Software</source>
+        <translation>軟體</translation>
+    </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
+    </message>
+</context>
 <context>
     <name>Setup</name>
     <message>
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index ec3d40961d78ba..3179a383c24361 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -9,16 +9,17 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "common/watchdog.h"
+#include "qt/util.h"
 #include "system/hardware/hw.h"
 
 #define BACKLIGHT_DT 0.05
 #define BACKLIGHT_TS 10.00
 
-static void update_sockets(UIState *s) {
+void update_sockets(UIState *s) {
   s->sm->update(0);
 }
 
-static void update_state(UIState *s) {
+void update_state(UIState *s) {
   SubMaster &sm = *(s->sm);
   UIScene &scene = s->scene;
 
@@ -98,6 +99,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   prime_state = new PrimeState(this);
   language = QString::fromStdString(Params().get("LanguageSetting"));
 
+  RETURN_IF_SUNNYPILOT
   // update timer
   timer = new QTimer(this);
   QObject::connect(timer, &QTimer::timeout, this, &UIState::update);
@@ -105,6 +107,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
 }
 
 void UIState::update() {
+  RETURN_IF_SUNNYPILOT
   update_sockets(this);
   update_state(this);
   updateStatus();
@@ -118,8 +121,9 @@ void UIState::update() {
 Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) {
   setAwake(true);
   resetInteractiveTimeout();
-
+#ifndef SUNNYPILOT
   QObject::connect(uiState(), &UIState::uiUpdate, this, &Device::update);
+#endif
 }
 
 void Device::update(const UIState &s) {
@@ -185,6 +189,7 @@ void Device::updateWakefulness(const UIState &s) {
   setAwake(s.scene.ignition || interactive_timeout > 0);
 }
 
+#ifndef SUNNYPILOT
 UIState *uiState() {
   static UIState ui_state;
   return &ui_state;
@@ -194,3 +199,4 @@ Device *device() {
   static Device _device;
   return &_device;
 }
+#endif
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 6ff67cacde9cb6..bf932c2ab5a867 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -67,7 +67,7 @@ class UIState : public QObject {
 
 public:
   UIState(QObject* parent = 0);
-  void updateStatus();
+  virtual void updateStatus();
   inline bool engaged() const {
     return scene.started && (*sm)["selfdriveState"].getSelfdriveState().getEnabled();
   }
@@ -82,15 +82,19 @@ class UIState : public QObject {
   void uiUpdate(const UIState &s);
   void offroadTransition(bool offroad);
 
-private slots:
-  void update();
+protected slots:
+  virtual void update();
 
-private:
+protected:
   QTimer *timer;
+
+private:
   bool started_prev = false;
 };
 
+#ifndef SUNNYPILOT
 UIState *uiState();
+#endif
 
 // device management class
 class Device : public QObject {
@@ -103,7 +107,7 @@ class Device : public QObject {
     offroad_brightness = std::clamp(brightness, 0, 100);
   }
 
-private:
+protected:
   bool awake = false;
   int interactive_timeout = 0;
   bool ignition_on = false;
@@ -126,5 +130,10 @@ public slots:
   void update(const UIState &s);
 };
 
+#ifndef SUNNYPILOT
 Device *device();
+#endif
+
 void ui_update_params(UIState *s);
+void update_state(UIState *s);
+void update_sockets(UIState *s);
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_home.svg b/sunnypilot/selfdrive/assets/offroad/icon_home.svg
new file mode 100644
index 00000000000000..ca90cc7bf6747b
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_home.svg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1673f8d46251a05787b60346193852991739345506dc7e9b106dfb370d3611ed
+size 489
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_software.png b/sunnypilot/selfdrive/assets/offroad/icon_software.png
new file mode 100644
index 00000000000000..70915e290630ea
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_software.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01fd38c0d5b05c3ce4ed07bfe4cd47a3ea61f68f24e6cc3058190d90d8200f9b
+size 4785
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_toggle.png b/sunnypilot/selfdrive/assets/offroad/icon_toggle.png
new file mode 100644
index 00000000000000..51906798b99c10
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_toggle.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11336d2f65100bc0dc2a53e09efae41ae85817b27e1a5bf134cc995e631c5b52
+size 4073

From 3a64efe52f0efdb1179f7bf22416c5e3a19cc92c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 3 Jan 2025 15:07:10 -0500
Subject: [PATCH 0032/1434] Bump submodules

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 26451f98392829..6525e8b6006f37 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 26451f98392829a7d7fd3b69c0925b3f75c1c4b6
+Subproject commit 6525e8b6006f37a1d809d2a617a876410c484ca1

From a3ab6db7eb7a9664f934b75d78fca665faa77cec Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 3 Jan 2025 17:18:38 -0500
Subject: [PATCH 0033/1434] ui: sunnypilot panel in settings (#513)

* ui: sunnypilot panel in settings

* add panel to comment

* test populate screenshot

* Revert "test populate screenshot"

This reverts commit 426b6c26c5acefe4ac239a3295aa45d3c5d2d275.
---
 .github/workflows/ui_preview.yaml             |  2 +-
 selfdrive/ui/sunnypilot/SConscript            |  1 +
 .../qt/offroad/settings/settings.cc           |  3 +++
 .../qt/offroad/settings/sunnypilot_panel.cc   | 14 +++++++++++
 .../qt/offroad/settings/sunnypilot_panel.h    | 25 +++++++++++++++++++
 selfdrive/ui/tests/test_ui/run.py             | 12 ++++++---
 6 files changed, 53 insertions(+), 4 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index f52101f8163916..dba6ab8037cc7a 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -86,7 +86,7 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device settings_software settings_toggles settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
+          scenes="homescreen settings_device settings_software settings_toggles settings_sunnypilot settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
           A=($scenes)
 
           DIFF=""
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index efbe6a8e4a00ff..5e42d8ae8557ec 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -10,6 +10,7 @@ qt_src = [
   "sunnypilot/qt/window.cc",
   "sunnypilot/qt/home.cc",
   "sunnypilot/qt/offroad/settings/settings.cc",
+  "sunnypilot/qt/offroad/settings/sunnypilot_panel.cc",
   "sunnypilot/qt/onroad/onroad_home.cc",
 ]
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
index 3a66101a82fa6b..ab1b0e23b76cb3 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
@@ -11,6 +11,8 @@
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 #include "selfdrive/ui/qt/offroad/developer_panel.h"
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h"
+
 TogglesPanelSP::TogglesPanelSP(SettingsWindow *parent) : TogglesPanel(parent) {
   QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &TogglesPanelSP::updateState);
 }
@@ -68,6 +70,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
     PanelInfo("   " + tr("Network"), networking, "../assets/offroad/icon_network.png"),
     PanelInfo("   " + tr("Toggles"), toggles, "../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
     PanelInfo("   " + tr("Software"), new SoftwarePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
+    PanelInfo("   " + tr("sunnypilot"), new SunnypilotPanel(this), "../assets/images/button_home.png"),
     PanelInfo("   " + tr("Developer"), new DeveloperPanel(this), "../assets/offroad/icon_shell.png"),
   };
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc
new file mode 100644
index 00000000000000..5e0619a09d50e6
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc
@@ -0,0 +1,14 @@
+/**
+* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h"
+
+#include "common/util.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+SunnypilotPanel::SunnypilotPanel(SettingsWindowSP *parent) : ListWidget(parent) {
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h
new file mode 100644
index 00000000000000..25e5d7389b94fc
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h
@@ -0,0 +1,25 @@
+/**
+* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <map>
+#include <string>
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+
+class SunnypilotPanel : public ListWidget {
+  Q_OBJECT
+
+public:
+  explicit SunnypilotPanel(SettingsWindowSP *parent = nullptr);
+
+private:
+  QStackedLayout* main_layout = nullptr;
+};
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 7ffd66ed9ab483..366d66d108c718 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -42,17 +42,22 @@ def setup_settings_device(click, pm: PubMaster):
 
 def setup_settings_toggles(click, pm: PubMaster):
   setup_settings_device(click, pm)
-  click(278, 650)
+  click(278, 586)
   time.sleep(UI_DELAY)
 
 def setup_settings_software(click, pm: PubMaster):
   setup_settings_device(click, pm)
-  click(278, 800)
+  click(278, 716)
+  time.sleep(UI_DELAY)
+
+def setup_settings_sunnypilot(click, pm: PubMaster):
+  setup_settings_device(click, pm)
+  click(278, 846)
   time.sleep(UI_DELAY)
 
 def setup_settings_developer(click, pm: PubMaster):
   setup_settings_device(click, pm)
-  click(278, 960)
+  click(278, 976)
   time.sleep(UI_DELAY)
 
 def setup_onroad(click, pm: PubMaster):
@@ -183,6 +188,7 @@ def setup_pair_device(click, pm: PubMaster):
   "settings_device": setup_settings_device,
   "settings_toggles": setup_settings_toggles,
   "settings_software": setup_settings_software,
+  "settings_sunnypilot": setup_settings_sunnypilot,
   "settings_developer": setup_settings_developer,
   "onroad": setup_onroad,
   "onroad_disengaged": setup_onroad_disengaged,

From 63f0237e7a51f94412f46e9872a5c3ae30bf09f7 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 4 Jan 2025 09:43:03 +0100
Subject: [PATCH 0034/1434] prebuilt: Squash and merge script (#497)

* Add script for squash and merge workflow automation

Introduced `squash_and_merge.py` to automate the process of squashing a source branch and merging it into a target branch. The script handles backups, commit message creation, stashing, cleanup, and includes optional push functionality. Provides user prompts and error handling to simplify complex merge workflows.

* temp1

* Switch to PEP 604 style for optional and generic type hints

Replaces `Optional` and `List` with the simpler `X | None` and `list[X]` syntax introduced in Python 3.10. Updated all function signatures accordingly for consistency and modernity. Also made minor string formatting consistency adjustments.

* Fix type annotation for temp_branch variable

Updated the temp_branch variable to include a proper type annotation (`str | None`). This change improves code clarity and aligns with Python typing standards.

* more hints
---
 release/ci/squash_and_merge.py | 361 +++++++++++++++++++++++++++++++++
 1 file changed, 361 insertions(+)
 create mode 100755 release/ci/squash_and_merge.py

diff --git a/release/ci/squash_and_merge.py b/release/ci/squash_and_merge.py
new file mode 100755
index 00000000000000..804b2119cb100f
--- /dev/null
+++ b/release/ci/squash_and_merge.py
@@ -0,0 +1,361 @@
+#!/usr/bin/env python3
+import argparse
+import subprocess
+import sys
+import shutil
+import signal
+import contextlib
+import tempfile
+import os
+
+
+def run_command(command: str) -> tuple[int, str, str]:
+  """Run a shell command and return exit code, stdout, and stderr."""
+  process = subprocess.Popen(
+    command,
+    shell=True,
+    stdout=subprocess.PIPE,
+    stderr=subprocess.PIPE,
+    text=True
+  )
+  stdout, stderr = process.communicate()
+  return process.returncode, stdout.strip(), stderr.strip()
+
+
+def is_gh_available() -> bool:
+  """Check if GitHub CLI is available."""
+  return shutil.which('gh') is not None
+
+
+def get_current_branch() -> str | None:
+  """Get the name of the current git branch."""
+  code, output, error = run_command("git rev-parse --abbrev-ref HEAD")
+  if code != 0:
+    print(f"Error getting current branch: {error}")
+    return None
+  return output
+
+
+def backup_branch(branch_name: str) -> bool:
+  """Create a backup of the current branch."""
+  backup_name = f"{branch_name}-backup-$(date +%Y%m%d_%H%M%S)"
+  code, _, error = run_command(f"git branch {backup_name}")
+  if code != 0:
+    print(f"Error creating backup branch: {error}")
+    return False
+  print(f"Created backup branch: {backup_name}")
+  return True
+
+
+def get_commit_messages(source_branch: str, target_branch: str) -> list[str] | None:
+  """Get all commit messages between source and target branches."""
+  code, output, error = run_command(f"git log {target_branch}..{source_branch} --format=%B")
+  if code != 0:
+    print(f"Error getting commit messages: {error}")
+    return None
+  return [msg.strip() for msg in output.splitlines() if msg and not msg.startswith('Merge')]
+
+
+def get_pr_info(branch_name: str) -> str | None:
+  """Get PR title using GitHub CLI."""
+  if not is_gh_available():
+    print("Warning: GitHub CLI not found. Install it to auto-fetch PR titles:")
+    print("  https://cli.github.com/")
+    return None
+
+  # Try to get PR info using gh cli
+  code, output, error = run_command(f"gh pr view --json title --jq .title {branch_name}")
+  if code != 0:
+    print(f"No open PR found for branch '{branch_name}'")
+    return None
+
+  return output
+
+
+def create_squash_message(pr_title: str | None, commit_messages: list[str], source_branch: str) -> str:
+  """Create a squash commit message from PR title and commit messages."""
+  parts = []
+
+  # Add PR title if provided
+  if pr_title:
+    parts.append(pr_title)
+  else:
+    parts.append(f"Squashed changes from {source_branch}")
+  parts.append("")  # Empty line after title
+
+  # Add original commits section
+  if commit_messages:
+    parts.append("Original commits:")
+    parts.append("")  # Empty line before list
+    parts.extend(f"* {msg}" for msg in commit_messages)
+
+  return '\n'.join(parts)
+
+
+def prompt_for_title() -> str:
+  """Prompt user for a commit title."""
+  return input("Enter commit title (or press Enter to use default): ").strip()
+
+
+@contextlib.contextmanager
+def workspace_manager(original_branch: str):
+  """Context manager to handle workspace state and cleanup."""
+  stash_created = False
+  stash_restored = False
+  temp_branch: str | None = None
+
+  def cleanup_handler(signum=None, frame=None):
+    """Clean up workspace state."""
+    nonlocal temp_branch, stash_created, stash_restored
+    try:
+      if signum and stash_restored:
+        # If we're handling Ctrl+C but stash was already restored,
+        # just clean up branches and exit
+        current = get_current_branch()
+        if current and current != original_branch:
+          run_command(f"git checkout {original_branch}")
+        if temp_branch:
+          run_command(f"git branch -D {temp_branch}")
+        print("\nOperation interrupted, but changes were already restored.")
+        sys.exit(1)
+
+      # First, switch back to original branch
+      current = get_current_branch()
+      if current and current != original_branch:
+        run_command(f"git checkout {original_branch}")
+
+      # Then clean up temp branch
+      if temp_branch:
+        run_command(f"git branch -D {temp_branch}")
+
+      # Finally, restore stash if needed - AFTER switching branches
+      if stash_created and not stash_restored:
+        print("Restoring your uncommitted changes...")
+        code, stash_list, _ = run_command("git stash list")
+        if code == 0 and "Automatic stash by squash script" in stash_list:
+          run_command("git stash pop")
+          stash_restored = True
+          stash_created = False
+
+      if signum:
+        print("\nOperation interrupted. Cleaned up and restored original state.")
+        sys.exit(1)
+
+    except Exception as e:
+      print(f"Error during cleanup: {e}")
+      if signum:
+        sys.exit(1)
+
+  try:
+    # Set up signal handlers
+    signal.signal(signal.SIGINT, cleanup_handler)
+    signal.signal(signal.SIGTERM, cleanup_handler)
+
+    # Check for changes (including untracked files)
+    code, output, _ = run_command("git status --porcelain")
+    if output:
+      print("Stashing uncommitted changes...")
+      run_command("git stash push -u -m 'Automatic stash by squash script'")
+      stash_created = True
+
+    yield lambda x: setattr(x, 'temp_branch', temp_branch)
+
+  except Exception as e:
+    print(f"\nError occurred: {str(e)}")
+    cleanup_handler()
+    raise
+  finally:
+    cleanup_handler()
+
+
+def create_commit_with_message(message: str) -> bool:
+  """Create a commit with the given message using a temporary file."""
+  try:
+    with tempfile.NamedTemporaryFile(mode='w', delete=False) as f:
+      f.write(message)
+      temp_path = f.name
+
+    # Use the temporary file for the commit message
+    code, _, error = run_command(f"git commit -F {temp_path}")
+    os.unlink(temp_path)  # Clean up the temp file
+
+    if code != 0:
+      print(f"Error creating commit: {error}")
+      return False
+    return True
+  except Exception as e:
+    print(f"Error handling commit message: {e}")
+    if os.path.exists(temp_path):
+      os.unlink(temp_path)
+    return False
+
+
+def squash_and_merge(source_branch: str, target_branch: str, manual_title: str | None, backup: bool = False, push: bool = False) -> bool:
+  """
+  Squash the source branch and merge into target branch.
+  """
+  # Get original branch right away
+  original_branch = get_current_branch()
+  if not original_branch:
+    return False
+
+  class State:
+    temp_branch: str | None = None
+
+  state = State()
+
+  with workspace_manager(original_branch) as set_temp_branch:
+    # Validate source branch exists
+    code, _, error = run_command(f"git rev-parse --verify {source_branch}")
+    if code != 0:
+      print(f"Error: Source branch {source_branch} not found")
+      return False
+
+    if source_branch == target_branch:
+      print(f"Error: Source and target branches cannot be the same ({source_branch})")
+      return False
+
+    # Ensure target branch exists
+    code, _, error = run_command(f"git rev-parse --verify {target_branch}")
+    if code != 0:
+      print(f"Error: Target branch {target_branch} not found")
+      return False
+
+    # Find merge base
+    code, merge_base, error = run_command(f"git merge-base {target_branch} {source_branch}")
+    if code != 0:
+      print(f"Error finding merge base: {error}")
+      return False
+
+    # Create backup unless explicitly skipped
+    if backup and not backup_branch(source_branch):
+      return False
+
+    # Get commit messages
+    commit_messages = get_commit_messages(source_branch, target_branch)
+    if commit_messages is None:
+      return False
+
+    # Get title (priority: manual title > PR title > prompt user)
+    title = manual_title
+    if not title:
+      title = get_pr_info(source_branch)
+    if not title:
+      title = prompt_for_title()
+
+    try:
+      # Create and switch to temporary branch
+      temp_branch = f"temp-squash-{source_branch}"
+      state.temp_branch = temp_branch
+      set_temp_branch(state)
+
+      print(f"\nCreating temporary branch {temp_branch}...")
+      code, _, error = run_command(f"git checkout -b {temp_branch} {source_branch}")
+      if code != 0:
+        print(f"Error creating temp branch: {error}")
+        return False
+
+      print("Preparing squash by resetting temporary branch to merge base...")
+      code, _, error = run_command(f"git reset --soft {merge_base}")
+      if code != 0:
+        print(f"Error resetting for squash: {error}")
+        return False
+
+      # Create commit with message
+      print("Creating squash commit...")
+      squash_message = create_squash_message(title, commit_messages, source_branch)
+      if not create_commit_with_message(squash_message):
+        return False
+
+      # Switch to target and try merge
+      print(f"\nSwitching to target branch {target_branch}...")
+      code, _, error = run_command(f"git checkout {target_branch}")
+      if code != 0:
+        print(f"Error checking out target branch: {error}")
+        return False
+
+      print(f"Attempting to merge changes from {temp_branch}...")
+      code, _, error = run_command(f"git merge {temp_branch}")
+
+      if code != 0:
+        print(f"\nMerge failed with error: {error}")
+        print("\nThe squash was successful, and your changes are preserved in the temporary branch.")
+        print("To complete the merge manually, follow these steps:")
+        print(f"\n1. Your squashed changes are in branch: '{temp_branch}'")
+        print(f"2. The target branch is: '{target_branch}'")
+        print("\nTo resolve the conflicts:")
+        print(f"   git checkout {target_branch}")
+        print(f"   git merge {temp_branch}")
+        print("   # resolve conflicts in your editor")
+        print("   git add <resolved-files>")
+        print("   git commit")
+        print(f"   git push origin {target_branch}  # when ready to push")
+        print("\nTo clean up after successful merge:")
+        print(f"   git branch -D {temp_branch}")
+
+        # Make sure to abort the merge
+        print("\nAborting current merge attempt...")
+        run_command("git merge --abort")
+
+        # Return to original branch, but keep temp branch
+        print(f"Returning to {original_branch}...")
+        run_command(f"git checkout {original_branch}")
+        return False
+
+      # Clean up temp branch on success
+      run_command(f"git branch -D {temp_branch}")
+
+      # Push if requested
+      if push:
+        code, _, error = run_command(f"git push origin {target_branch}")
+        if code != 0:
+          print(f"Error pushing to {target_branch}: {error}")
+          return False
+        print(f"Successfully pushed to {target_branch}")
+      else:
+        print(f"Changes squashed and merged into {target_branch} locally")
+        print(f"To push the changes: git push origin {target_branch}")
+
+      # Return to original branch
+      code, _, error = run_command(f"git checkout {original_branch}")
+      if code != 0:
+        print(f"Warning: Failed to return to original branch: {error}")
+        return False
+
+      return True
+
+    except Exception as e:
+      print(f"Error during squash process: {e}")
+      return False
+
+
+def main():
+  parser = argparse.ArgumentParser(
+    description='Squash branch and merge into target branch'
+  )
+  parser.add_argument('--target', '-t', required=True,
+                      help='Target branch to merge changes into')
+  parser.add_argument('--source', '-s',
+                      help='Source branch to squash (default: current branch)')
+  parser.add_argument('--title', '-m',
+                      help='Optional manual title (overrides PR title)')
+  parser.add_argument('--backup', action='store_true',
+                      help='Creates a backup branch for the source branch')
+  parser.add_argument('--push', action='store_true',
+                      help='Push changes to remote after squashing')
+
+  args = parser.parse_args()
+
+  # Determine source branch early
+  source_branch = args.source
+  if not source_branch:
+    source_branch = get_current_branch()
+    if not source_branch:
+      sys.exit(1)
+
+  if not squash_and_merge(source_branch, args.target, args.title, args.backup, args.push):
+    sys.exit(1)
+
+
+if __name__ == "__main__":
+  main()

From 993c4a0d2a7b4b2b26aaf6bbda36c04064125ee3 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 4 Jan 2025 21:05:21 +0100
Subject: [PATCH 0035/1434] Driving Model Manager (#457)

* Introduce Model Manager to handle downloads and verification

This commit introduces a new Model Manager responsible for handling model downloads, including driving and navigation application models. The manager also verifies file hashes and communicates download progress for an improved user experience.

The Model Manager is asynchronous and utilizes asyncio and aiohttp for enhanced performance, including robust error handling.

Impacted files in the 'cereal', 'common', 'sunnypilot', and 'system' directories have been updated accordingly. The 'ModelsFetcher' process configuration has been modified to run only when off-road, ensuring optimum resource management.

This update aims to enhance code clarity, improve performance, and streamline the handling of model downloads.

* "Update model management and fetching for SunnyPilot"

This update refactors the model management, downloading and cache verification mechanisms of SunnyPilot. New functionalities, such as smart cache handling, have been implemented in ModelFetcher in sunnypilot/models/model_fetcher.py. Also, the model downloading process has been moved to a separate async function _download_bundle in ModelManagerSP in sunnypilot/models/model_manager.py. Hash verification of files is now performed in an async function verify_file in sunnypilot/models/model_helper.py. Changes in system parameters related to model management have been reflected in system/manager/manager.py.

* Integrate download ETA calculations in model manager

This commit introduces a new feature that calculates and tracks the Estimated Time of Arrival (ETA) for downloading models in the model manager component. The 'eta' property in the 'DownloadProgress' structure in 'custom.capnp' is changed from 'Float32' to 'UInt32'.

In the 'model_manager.py' file, a new method '_calculate_eta' has been added to perform ETA calculations. An additional dictionary '_download_start_times' has been created to keep track of the start time of each model download. The ETA is calculated every time a portion of the model file is downloaded, and it gets updated in the 'DownloadProgress' structure. Finally, the start time is cleared after the download completes.

In 'model_manager_audit.py', an additional check is added to only print downloadProgress for the downloads currently in progress.

* format

* no default model cache {} because it can be considered a valid json, we do not want that

* Refactor typing annotations to use PEP 604 syntax.

Updated type hints to adopt PEP 604 union syntax (`X | None`) and replaced `List` and `Dict` with modern built-in `list` and `dict`. This change improves consistency and readability while aligning with Python 3.10+ standards.

* Simplify logging messages and remove unused imports.

Removed an unused import from `model_manager.py` to improve clarity and maintainability. Also refined a log message in `model_fetcher.py` by removing unnecessary formatting for consistency.

* Refactor model handling and simplify cache fallback logic.

Updated type annotations for `selected_bundle` in `model_manager.py` for clarity. Streamlined cache fallback logic in `model_fetcher.py` by removing redundant conditionals while preserving functionality. These changes improve code readability and maintainability.

* "Fix formatting for ModelManager_DownloadIndex retrieval

Condensed parameter alignment in the get method for improved readability and adherence to style guidelines. This change does not affect functionality but ensures consistent code formatting."

* Need to have main defined for process_config to be able to run it

* Refactor model management to support active bundle tracking

Introduce the concept of an active model bundle with a new persistent parameter and API updates. Added fields for `generation` and `environment` in model metadata, improved caching, and updated methods to manage active model states efficiently.

* UI commit (#515)

* Refactor model management to support active bundle tracking

Introduce the concept of an active model bundle with a new persistent parameter and API updates. Added fields for `generation` and `environment` in model metadata, improved caching, and updated methods to manage active model states efficiently.

* Add new driving model selection feature to settings

This commit introduces a new feature to the settings that allows users to select different driving models. It fetches available models and displays their download progress. The created UI also suggests a calibration reset after model download. The changes include the creation of 'SoftwarePanelSP' within 'settings.' Additionally, 'sunnypilot/SConscript' has been updated to include 'settings.cc' and 'software_panel.cc'. Changes also include localization for this feature.

* Show model description during download status

This update ensures the model description is displayed when a model is in the downloading state. It improves the user interface by providing real-time feedback during the download process.

* Update translations for multiple languages

Added new and updated translation strings in several language files, including Spanish, Arabic, Chinese (Simplified and Traditional), Turkish, Korean, Thai, Japanese, and Brazilian Portuguese. These updates include placeholder translations for new UI elements and features.

* Refactor model name handling and add generation check.

Replaced `bundleName` with `model_name` for better clarity in status messages. Added a generation mismatch check before showing the reset parameters dialog to avoid unnecessary prompts.

* Update model handling in SoftwarePanelSP

Remove unused "common/model.h" and replace "CURRENT_MODEL" with "..." as the default return value in GetModelName. Adjust logic to check for active bundles instead of selected bundles for improved accuracy. Minor text change for clarity in UI label.

* Rename `GetModelName` to `GetActiveModelName` for clarity.

The new name better reflects the function's purpose of retrieving the active model name, improving code readability. All relevant calls and references have been updated to ensure consistency across the codebase.

* Update sunnypilot/models/model_helper.py

Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>

* Refactor download status handling and add 'cached' state

Introduce 'cached' as a new download status and adjust relevant logic across components to support it. Simplify and streamline model status handling in the software panel for better readability and maintainability. Ensure consistent status reporting for all model types.

* Update translations for multiple languages

Refined and expanded translations across various languages, replacing placeholders with meaningful text. This improves clarity and user experience in the multilingual interface.

* Update terminology from 'bundle' to 'model' in UI texts

Replaced occurrences of 'bundle' with 'model' in button labels, dialog titles, and messages in the SoftwarePanelSP code. This improves clarity and aligns terminology with current functionality.

* Update translation placeholders for model fetching texts

Replaced "Fetching bundles" with "Fetching models" across multiple languages to align text placeholders with the updated functionality. Adjusted related background download messages for clarity and consistency.

* cleanup

* not used, and likely not needed

---------

Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>

* cleaning up

* Update system/manager/process_config.py

* Simplify model parsing and index handling logic.

Refactored `ModelManager_DownloadIndex` retrieval to use the walrus operator, streamlining the conditional logic. Additionally, restructured model list initialization in `_parse_bundle` for improved readability and maintainability. These changes enhance code clarity and reduce redundancy.

* `Improve error handling in model cache retrieval`

Revised the `get` method to ensure it returns an empty dictionary on errors or missing data, avoiding potential `None`-related issues. Added logging for clearer diagnostics when cached model data is unavailable or retrieval fails. This improves reliability and debuggability of the model fetching process.

* Fix cached model data handling by parsing JSON response

Previously, cached model data was returned as a raw string, causing potential issues when using the data. The change ensures the cached data is properly parsed into JSON format before returning, improving reliability and consistency.

* Adjust modelManagerSP rate and Ratekeeper frequency

Reduced the rate for modelManagerSP in services and aligned the Ratekeeper frequency in model_manager.py to 0.1.

* Update model fetcher URL and adjust modelManagerSP rate

Updated the model fetcher URL to point to the correct resource for driving models. Adjusted the rate of modelManagerSP in both its service definition and the corresponding Ratekeeper initialization to 1 Hz for improved consistency.

* Refactor model download logic for clarity and efficiency

Simplify the logic for finding the model to download by combining redundant constructs into a single line. This improves code readability and reduces unnecessary variable assignments.

* Fix cache keys for manual prebuilt actions because they were missing the cache when manually built

* no need to log

* formatting

* revert ci changes

* Refactor and restructure `modeld` to `models` module.

Renamed `modeld` directory to `models` for clarity and consistency. Updated all references and imports to reflect the new structure. This improves maintainability and aligns with naming conventions.

---------

Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 cereal/custom.capnp                           |  48 ++++-
 cereal/log.capnp                              |   2 +-
 cereal/services.py                            |   3 +
 common/params.cc                              |   6 +
 selfdrive/ui/qt/offroad/settings.h            |   2 +-
 selfdrive/ui/sunnypilot/SConscript            |   1 +
 .../qt/offroad/settings/settings.cc           |   3 +-
 .../qt/offroad/settings/software_panel.cc     | 180 ++++++++++++++++++
 .../qt/offroad/settings/software_panel.h      |  61 ++++++
 selfdrive/ui/sunnypilot/ui.cc                 |   1 +
 selfdrive/ui/translations/main_ar.ts          |  75 ++++++++
 selfdrive/ui/translations/main_de.ts          |  75 ++++++++
 selfdrive/ui/translations/main_es.ts          |  75 ++++++++
 selfdrive/ui/translations/main_fr.ts          |  75 ++++++++
 selfdrive/ui/translations/main_ja.ts          |  75 ++++++++
 selfdrive/ui/translations/main_ko.ts          |  75 ++++++++
 selfdrive/ui/translations/main_pt-BR.ts       |  75 ++++++++
 selfdrive/ui/translations/main_th.ts          |  75 ++++++++
 selfdrive/ui/translations/main_tr.ts          |  75 ++++++++
 selfdrive/ui/translations/main_zh-CHS.ts      |  75 ++++++++
 selfdrive/ui/translations/main_zh-CHT.ts      |  75 ++++++++
 sunnypilot/__init__.py                        |   0
 sunnypilot/models/__init__.py                 |   0
 sunnypilot/models/fetcher.py                  | 158 +++++++++++++++
 sunnypilot/models/helpers.py                  |  32 ++++
 sunnypilot/models/manager.py                  | 179 +++++++++++++++++
 sunnypilot/models/tests/__init__.py           |   0
 .../models/tests/model_manager_audit.py       |  18 ++
 system/hardware/hw.py                         |   7 +
 system/manager/manager.py                     |   2 +
 system/manager/process_config.py              |   5 +
 31 files changed, 1529 insertions(+), 4 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
 create mode 100644 sunnypilot/__init__.py
 create mode 100644 sunnypilot/models/__init__.py
 create mode 100644 sunnypilot/models/fetcher.py
 create mode 100644 sunnypilot/models/helpers.py
 create mode 100644 sunnypilot/models/manager.py
 create mode 100644 sunnypilot/models/tests/__init__.py
 create mode 100644 sunnypilot/models/tests/model_manager_audit.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 369222add8c622..70e4f742d00116 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -11,7 +11,53 @@ $Cxx.namespace("cereal");
 struct CustomReserved0 @0x81c2f05a394cf4af {
 }
 
-struct CustomReserved1 @0xaedffd8f31e7b55d {
+struct ModelManagerSP @0xaedffd8f31e7b55d {
+  activeBundle @0 :ModelBundle;
+  selectedBundle @1 :ModelBundle;
+  availableBundles @2 :List(ModelBundle);
+
+  struct DownloadUri {
+    uri @0 :Text;
+    sha256 @1 :Text;
+  }
+
+  enum Type {
+    drive @0;
+    navigation @1;
+    metadata @2;
+  }
+
+  struct Model {
+    fullName @0 :Text;
+    fileName @1 :Text;
+    downloadUri @2 :DownloadUri;
+    downloadProgress @3 :DownloadProgress;
+    type @4 :Type;
+  }
+
+  enum DownloadStatus {
+    notDownloading @0;
+    downloading @1;
+    downloaded @2;
+    cached @3;
+    failed @4;
+  }
+
+  struct DownloadProgress {
+    status @0 :DownloadStatus;
+    progress @1 :Float32;
+    eta @2 :UInt32;
+  }
+
+  struct ModelBundle {
+    index @0 :UInt32;
+    internalName @1 :Text;
+    displayName @2 :Text;
+    models @3 :List(Model);
+    status @4 :DownloadStatus;
+    generation @5 :UInt32;
+    environment @6 :Text;
+  }
 }
 
 struct CustomReserved2 @0xf35cc4560bbf6ec2 {
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 68ea3099b8f090..96d14deca6f191 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2559,7 +2559,7 @@ struct Event {
 
     # *********** Custom: reserved for forks ***********
     customReserved0 @107 :Custom.CustomReserved0;
-    customReserved1 @108 :Custom.CustomReserved1;
+    modelManagerSP @108 :Custom.ModelManagerSP;
     customReserved2 @109 :Custom.CustomReserved2;
     customReserved3 @110 :Custom.CustomReserved3;
     customReserved4 @111 :Custom.CustomReserved4;
diff --git a/cereal/services.py b/cereal/services.py
index 87fdca77b79b15..ad7bcc87003d41 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -74,6 +74,9 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "userFlag": (True, 0., 1),
   "microphone": (True, 10., 10),
 
+  # sunnypilot
+  "modelManagerSP": (False, 1., 1),
+
   # debug
   "uiDebug": (True, 0., 1),
   "testJoystick": (True, 0.),
diff --git a/common/params.cc b/common/params.cc
index 1ab37ea84c7bc2..1e86fd27cdb1ca 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -200,7 +200,13 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"UpdaterLastFetchTime", PERSISTENT},
     {"Version", PERSISTENT},
+
+    // sunnypilot params
     {"EnableGithubRunner", PERSISTENT},
+    {"ModelManager_ActiveBundle", PERSISTENT},
+    {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_ONROAD_TRANSITION},
+    {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"ModelManager_ModelsCache", PERSISTENT},
 };
 
 } // namespace
diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h
index 41914c0ec08ee4..b5b148e9a48cc1 100644
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -94,7 +94,7 @@ class SoftwarePanel : public ListWidget {
 
 protected:
   void showEvent(QShowEvent *event) override;
-  void updateLabels();
+  virtual void updateLabels();
   void checkForUpdates();
 
   bool is_onroad = false;
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 5e42d8ae8557ec..e09d6dc8af9a37 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -10,6 +10,7 @@ qt_src = [
   "sunnypilot/qt/window.cc",
   "sunnypilot/qt/home.cc",
   "sunnypilot/qt/offroad/settings/settings.cc",
+  "sunnypilot/qt/offroad/settings/software_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnypilot_panel.cc",
   "sunnypilot/qt/onroad/onroad_home.cc",
 ]
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
index ab1b0e23b76cb3..cd7657e54023a8 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
@@ -11,6 +11,7 @@
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 #include "selfdrive/ui/qt/offroad/developer_panel.h"
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h"
 
 TogglesPanelSP::TogglesPanelSP(SettingsWindow *parent) : TogglesPanel(parent) {
@@ -69,7 +70,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
     PanelInfo("   " + tr("Device"), device, "../../sunnypilot/selfdrive/assets/offroad/icon_home.svg"),
     PanelInfo("   " + tr("Network"), networking, "../assets/offroad/icon_network.png"),
     PanelInfo("   " + tr("Toggles"), toggles, "../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
-    PanelInfo("   " + tr("Software"), new SoftwarePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
+    PanelInfo("   " + tr("Software"), new SoftwarePanelSP(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
     PanelInfo("   " + tr("sunnypilot"), new SunnypilotPanel(this), "../assets/images/button_home.png"),
     PanelInfo("   " + tr("Developer"), new DeveloperPanel(this), "../assets/offroad/icon_shell.png"),
   };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
new file mode 100644
index 00000000000000..6bbef9fb94c17a
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
@@ -0,0 +1,180 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
+
+#include <algorithm>
+#include <QJsonDocument>
+
+/**
+ * @brief Constructs the software panel with model bundle selection functionality
+ * @param parent Parent widget
+ */
+SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) {
+  const auto current_model = GetActiveModelName();
+  currentModelLblBtn = new ButtonControlSP(tr("Current Model"), tr("SELECT"), current_model);
+  currentModelLblBtn->setValue(current_model);
+
+  connect(currentModelLblBtn, &ButtonControlSP::clicked, this, &SoftwarePanelSP::handleCurrentModelLblBtnClicked);
+  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &SoftwarePanelSP::updateLabels);
+  AddWidgetAt(0, currentModelLblBtn);
+}
+
+/**
+ * @brief Updates the UI with bundle download progress information
+ * Reads status from modelManagerSP cereal message and displays status for all models
+ */
+void SoftwarePanelSP::handleBundleDownloadProgress() {
+  const SubMaster &sm = *(uiStateSP()->sm);
+  const auto model_manager = sm["modelManagerSP"].getModelManagerSP();
+
+  if (!model_manager.hasSelectedBundle()) {
+    currentModelLblBtn->setDescription("");
+    return;
+  }
+
+  const auto &bundle = model_manager.getSelectedBundle();
+  const auto &models = bundle.getModels();
+  QStringList status;
+
+  // Get status for each model type in order
+  for (const auto &model: models) {
+    QString typeName;
+    QString modelName;
+
+    switch (model.getType()) {
+      case cereal::ModelManagerSP::Type::DRIVE:
+        typeName = tr("Driving");
+        modelName = QString::fromStdString(bundle.getDisplayName());
+        break;
+      case cereal::ModelManagerSP::Type::NAVIGATION:
+        typeName = tr("Navigation");
+        modelName = QString::fromStdString(model.getFullName());
+        break;
+      case cereal::ModelManagerSP::Type::METADATA:
+        typeName = tr("Metadata");
+        modelName = QString::fromStdString(model.getFullName());
+        break;
+    }
+
+    const auto &progress = model.getDownloadProgress();
+    QString line;
+
+    if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) {
+      line = tr("Downloading %1 model [%2]... (%3%)").arg(typeName, modelName).arg(progress.getProgress(), 0, 'f', 2);
+    } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADED) {
+      line = tr("%1 model [%2] downloaded").arg(typeName, modelName);
+    } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::CACHED) {
+      line = tr("%1 model [%2] from cache").arg(typeName, modelName);
+    } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::FAILED) {
+      line = tr("%1 model [%2] download failed").arg(typeName, modelName);
+    } else {
+      line = tr("%1 model [%2] pending...").arg(typeName, modelName);
+    }
+    status.append(line);
+  }
+
+  currentModelLblBtn->setDescription(status.join("\n"));
+
+  if (bundle.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) {
+    currentModelLblBtn->showDescription();
+  }
+
+  currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
+}
+
+/**
+ * @brief Gets the name of the currently selected model bundle
+ * @return Display name of the selected bundle or default model name
+ */
+QString SoftwarePanelSP::GetActiveModelName() {
+  const SubMaster &sm = *(uiStateSP()->sm);
+  const auto model_manager = sm["modelManagerSP"].getModelManagerSP();
+
+  if (model_manager.hasActiveBundle()) {
+    return QString::fromStdString(model_manager.getActiveBundle().getDisplayName());
+  }
+
+  return "";
+}
+
+/**
+ * @brief Handles the model bundle selection button click
+ * Displays available bundles, allows selection, and initiates download
+ */
+void SoftwarePanelSP::handleCurrentModelLblBtnClicked() {
+  currentModelLblBtn->setEnabled(false);
+  currentModelLblBtn->setValue(tr("Fetching models..."));
+
+  const SubMaster &sm = *(uiStateSP()->sm);
+  const auto model_manager = sm["modelManagerSP"].getModelManagerSP();
+
+  // Create mapping of bundle indices to display names
+  QMap<uint32_t, QString> index_to_bundle;
+  const auto bundles = model_manager.getAvailableBundles();
+  for (const auto &bundle: bundles) {
+    index_to_bundle.insert(bundle.getIndex(), QString::fromStdString(bundle.getDisplayName()));
+  }
+
+  // Sort bundles by index in descending order
+  QStringList bundleNames;
+  auto indices = index_to_bundle.keys();
+  std::sort(indices.begin(), indices.end(), std::greater<uint32_t>());
+  for (const auto &index: indices) {
+    bundleNames.append(index_to_bundle[index]);
+  }
+
+  currentModelLblBtn->setEnabled(!is_onroad);
+  currentModelLblBtn->setValue(GetActiveModelName());
+
+  const QString selectedBundleName = MultiOptionDialog::getSelection(
+    tr("Select a Model"), bundleNames, GetActiveModelName(), this);
+
+  if (selectedBundleName.isEmpty() || !canContinueOnMeteredDialog()) {
+    return;
+  }
+
+  // Find selected bundle and initiate download
+  for (const auto &bundle: bundles) {
+    if (QString::fromStdString(bundle.getDisplayName()) == selectedBundleName) {
+      params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex()));
+      if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) {
+        showResetParamsDialog();
+      }
+      break;
+    }
+  }
+
+  updateLabels();
+}
+
+/**
+ * @brief Updates the UI elements based on current state
+ */
+void SoftwarePanelSP::updateLabels() {
+  if (!isVisible()) {
+    return;
+  }
+
+  handleBundleDownloadProgress();
+  currentModelLblBtn->setValue(GetActiveModelName());
+  SoftwarePanel::updateLabels();
+}
+
+/**
+ * @brief Shows dialog prompting user to reset calibration after model download
+ */
+void SoftwarePanelSP::showResetParamsDialog() {
+  const auto confirmMsg = tr("Model download has started in the background.") + "\n" +
+                          tr("We STRONGLY suggest you to reset calibration. Would you like to do that now?");
+  const auto button_text = tr("Reset Calibration");
+
+  if (showConfirmationDialog(confirmMsg, button_text, false)) {
+    params.remove("CalibrationParams");
+    params.remove("LiveTorqueParameters");
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
new file mode 100644
index 00000000000000..fd837e31faf412
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
@@ -0,0 +1,61 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QJsonObject>
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/qt/offroad/settings.h"
+
+class SoftwarePanelSP final : public SoftwarePanel {
+  Q_OBJECT
+
+public:
+  explicit SoftwarePanelSP(QWidget *parent = nullptr);
+
+private:
+  QString GetActiveModelName();
+
+  bool isDownloading() const {
+    const SubMaster &sm = *(uiStateSP()->sm);
+    const auto model_manager = sm["modelManagerSP"].getModelManagerSP();
+
+    if (!model_manager.hasSelectedBundle()) {
+      return false;
+    }
+
+    const auto &selected_bundle = model_manager.getSelectedBundle();
+    return selected_bundle.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING;
+  }
+
+  // UI update related methods
+  void updateLabels() override;
+  void handleCurrentModelLblBtnClicked();
+  void handleBundleDownloadProgress();
+  void showResetParamsDialog();
+
+  bool canContinueOnMeteredDialog() {
+    if (!is_metered) return true;
+    return showConfirmationDialog(QString(), QString(), is_metered);
+  }
+
+  inline bool showConfirmationDialog(const QString &message = QString(), const QString &confirmButtonText = QString(), const bool show_metered_warning = false) {
+    return showConfirmationDialog(this, message, confirmButtonText, show_metered_warning);
+  }
+
+  static inline bool showConfirmationDialog(QWidget *parent, const QString &message = QString(), const QString &confirmButtonText = QString(), const bool show_metered_warning = false) {
+    const QString warning_message = show_metered_warning ? tr("Warning: You are on a metered connection!") : QString();
+    const QString final_message = QString("%1%2").arg(!message.isEmpty() ? message + "\n" : QString(), warning_message);
+    const QString final_buttonText = !confirmButtonText.isEmpty() ? confirmButtonText : QString(tr("Continue") + " %1").arg(show_metered_warning ? tr("on Metered") : "");
+
+    return ConfirmationDialog::confirm(final_message, final_buttonText, parent);
+  }
+
+  bool is_metered{};
+  bool is_wifi{};
+  ButtonControlSP *currentModelLblBtn;
+};
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index e869d3b2ddf2c5..cb87743735ff92 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -18,6 +18,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
+    "modelManagerSP",
   });
 
   // update timer
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index ac5433ff478212..6845b9c7db71c1 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -944,6 +944,81 @@ This may take up to a minute.</source>
         <translation>أحدث نسخة، آخر تحقق %1</translation>
     </message>
 </context>
+<context>
+    <name>SoftwarePanelSP</name>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">اختيار</translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">إعادة ضبط المعايرة</translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">متابعة</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Metadata</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 8dbc4367929f40..7db919228b44e5 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -928,6 +928,81 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>SoftwarePanelSP</name>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">AUSWÄHLEN</translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Neu kalibrieren</translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">Fortsetzen</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Metadata</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 5f7e980aa0b6cf..5d19df390d9f9d 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -928,6 +928,81 @@ Esto puede tardar un minuto.</translation>
         <translation>actualizado, último chequeo %1</translation>
     </message>
 </context>
+<context>
+    <name>SoftwarePanelSP</name>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">SELECCIONAR</translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Formatear Calibración</translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">Continuar</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation>modelo de %1 [%2] pendiente...</translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation>Obteniendo modelos</translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation>Descarga de modelo iniciada en segundo plano.</translation>
+    </message>
+    <message>
+        <source>Current Model</source>
+        <translation>Modelo Actual</translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation>Conducción</translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation>Navegación</translation>
+    </message>
+    <message>
+        <source>Metadata</source>
+        <translation>Metadatos</translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation>Descargando modelo de %1 [%2]... (%3%)</translation>
+    </message>
+    <message>
+        <source>%1 model [%2] downloaded</source>
+        <translation>Modelo de %1 [%2] descargado</translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation>Falló descarga modelo de %1 [%2]</translation>
+    </message>
+    <message>
+        <source>%1 model [%2] from cache</source>
+        <translation>Modelo de %1 [%2] desde caché</translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation>Selecciona un Modelo</translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 2348b101994a3f..58713533d79d0a 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -928,6 +928,81 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <translation>à jour, dernière vérification %1</translation>
     </message>
 </context>
+<context>
+    <name>SoftwarePanelSP</name>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">SÉLECTIONNER</translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Réinitialiser la calibration</translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">Continuer</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Metadata</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 68c629a0113910..a916b34b84adfa 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -922,6 +922,81 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>SoftwarePanelSP</name>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">�択</translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">ｷｬﾘﾌﾞﾚｰｼｮ�をﾘｾｯﾄ</translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">続�る</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Metadata</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index f26ad2d6246daf..c9a7d8981e7410 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -924,6 +924,81 @@ This may take up to a minute.</source>
         <translation>업��트 안함</translation>
     </message>
 </context>
+<context>
+    <name>SoftwarePanelSP</name>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">선�</translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">캘리브레�션 초기화</translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">계�</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Metadata</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index be5732275dd9fb..e6cde1181c5cc1 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -928,6 +928,81 @@ Isso pode levar até um minuto.</translation>
         <translation>nunca</translation>
     </message>
 </context>
+<context>
+    <name>SoftwarePanelSP</name>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">SELECIONE</translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Reinicializar Calibragem</translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">Continuar</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Metadata</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index fc8bacd8be6f01..41b9c1e53eb669 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -924,6 +924,81 @@ This may take up to a minute.</source>
         <translation>ล่าสุด�ล้ว ตรวจสอบครั้งสุดท้ายเมื่อ %1</translation>
     </message>
 </context>
+<context>
+    <name>SoftwarePanelSP</name>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">เลือ�</translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">รีเซ็ต�ารคาลิเบรท</translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">ดำเนิน�ารต่อ</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Metadata</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index d89e3c6693986b..0927aa6279cd50 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -922,6 +922,81 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>SoftwarePanelSP</name>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Kalibrasyonu sıfırla</translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">Devam et</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Metadata</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 207d1c8b33fd2a..603396ba6777c7 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -924,6 +924,81 @@ This may take up to a minute.</source>
         <translation>从未更新</translation>
     </message>
 </context>
+<context>
+    <name>SoftwarePanelSP</name>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">选择</translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">�置设备校准</translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">继续</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Metadata</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index c820d85333ceb1..99a0e053491efc 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -924,6 +924,81 @@ This may take up to a minute.</source>
         <translation>從未更新</translation>
     </message>
 </context>
+<context>
+    <name>SoftwarePanelSP</name>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">��</translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">�設校準</translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">繼續</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Metadata</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
diff --git a/sunnypilot/__init__.py b/sunnypilot/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/models/__init__.py b/sunnypilot/models/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
new file mode 100644
index 00000000000000..67f7efbae978c4
--- /dev/null
+++ b/sunnypilot/models/fetcher.py
@@ -0,0 +1,158 @@
+# Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+#
+# This file is part of sunnypilot and is licensed under the MIT License.
+# See the LICENSE.md file in the root directory for more details.
+
+import json
+import time
+
+import requests
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+
+from cereal import custom
+
+
+class ModelParser:
+  """Handles parsing of model data into cereal objects"""
+
+  @staticmethod
+  def _parse_model(full_name: str, file_name: str, uri_data: dict,
+                   model_type: custom.ModelManagerSP.Type) -> custom.ModelManagerSP.Model:
+    model = custom.ModelManagerSP.Model()
+    download_uri = custom.ModelManagerSP.DownloadUri()
+
+    download_uri.uri = uri_data["url"]
+    download_uri.sha256 = uri_data["sha256"]
+
+    model.fullName = full_name
+    model.fileName = file_name
+    model.downloadUri = download_uri
+    model.type = model_type
+
+    return model
+
+  @staticmethod
+  def _parse_bundle(key: str, value: dict) -> custom.ModelManagerSP.ModelBundle:
+    model_bundle = custom.ModelManagerSP.ModelBundle()
+
+    # Parse main driving model
+    models = [
+      ModelParser._parse_model(
+        value["full_name"],
+        value["file_name"],
+        value["download_uri"],
+        custom.ModelManagerSP.Type.drive
+      )
+    ]
+
+    # Parse navigation model if exists
+    if value.get("download_uri_nav"):
+      models.append(ModelParser._parse_model(
+        value["full_name_nav"],
+        value["file_name_nav"],
+        value["download_uri_nav"],
+        custom.ModelManagerSP.Type.navigation
+      ))
+
+    # Parse metadata model if exists
+    if value.get("download_uri_metadata"):
+      models.append(ModelParser._parse_model(
+        value["full_name_metadata"],
+        value["file_name_metadata"],
+        value["download_uri_metadata"],
+        custom.ModelManagerSP.Type.metadata
+      ))
+
+    model_bundle.index = int(value["index"])
+    model_bundle.internalName = key
+    model_bundle.displayName = value["display_name"]
+    model_bundle.models = models
+    model_bundle.status = 0
+    model_bundle.generation = int(value["generation"])
+    model_bundle.environment = value["environment"]
+
+    return model_bundle
+
+  @staticmethod
+  def parse_models(json_data: dict) -> list[custom.ModelManagerSP.ModelBundle]:
+    return [ModelParser._parse_bundle(key, value) for key, value in json_data.items()]
+
+
+class ModelCache:
+  """Handles caching of model data to avoid frequent remote fetches"""
+
+  def __init__(self, params: Params, cache_timeout: int = int(3600 * 1e9)):
+    self.params = params
+    self.cache_timeout = cache_timeout
+    self._LAST_SYNC_KEY = "ModelManager_LastSyncTime"
+    self._CACHE_KEY = "ModelManager_ModelsCache"
+
+  def _is_expired(self) -> bool:
+    """Checks if the cache has expired"""
+    current_time = int(time.monotonic() * 1e9)
+    last_sync = int(self.params.get(self._LAST_SYNC_KEY, encoding="utf-8") or 0)
+    return (current_time - last_sync) >= self.cache_timeout
+
+  def get(self) -> tuple[dict, bool]:
+    """
+    Retrieves cached model data and expiration status atomically.
+    Returns: Tuple of (cached_data, is_expired)
+    If no cached data exists or on error, returns an empty dict
+    """
+    try:
+      cached_data = self.params.get(self._CACHE_KEY, encoding="utf-8")
+      if not cached_data:
+        cloudlog.warning("No cached model data available")
+        return {}, True
+      return json.loads(cached_data), self._is_expired()
+    except Exception as e:
+      cloudlog.exception(f"Error retrieving cached model data: {str(e)}")
+      return {}, True
+
+  def set(self, data: dict) -> None:
+    """Updates the cache with new model data"""
+    self.params.put(self._CACHE_KEY, json.dumps(data))
+    self.params.put(self._LAST_SYNC_KEY, str(int(time.monotonic() * 1e9)))
+
+
+class ModelFetcher:
+  """Handles fetching and caching of model data from remote source"""
+  MODEL_URL = "https://docs.sunnypilot.ai/driving_models.json"
+
+  def __init__(self, params: Params):
+    self.params = params
+    self.model_cache = ModelCache(params)
+    self.model_parser = ModelParser()
+
+  def _fetch_and_cache_models(self) -> list[custom.ModelManagerSP.ModelBundle]:
+    """Fetches fresh model data from remote and updates cache"""
+    try:
+      response = requests.get(self.MODEL_URL, timeout=10)
+      response.raise_for_status()
+      json_data = response.json()
+
+      self.model_cache.set(json_data)
+      cloudlog.debug("Successfully updated models cache")
+      return self.model_parser.parse_models(json_data)
+    except Exception:
+      cloudlog.exception("Error fetching models")
+      raise
+
+  def get_available_models(self) -> list[custom.ModelManagerSP.ModelBundle]:
+    """Gets the list of available models, with smart cache handling"""
+    cached_data, is_expired = self.model_cache.get()
+
+    if cached_data and not is_expired:
+      cloudlog.debug("Using valid cached models data")
+      return self.model_parser.parse_models(cached_data)
+
+    try:
+      return self._fetch_and_cache_models()
+    except Exception:
+      if not cached_data:
+        cloudlog.exception("Failed to fetch fresh data and no cache available")
+        raise
+
+    cloudlog.warning("Failed to fetch fresh data. Using expired cache as fallback")
+    return self.model_parser.parse_models(cached_data)
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
new file mode 100644
index 00000000000000..fe6ac2133ca19d
--- /dev/null
+++ b/sunnypilot/models/helpers.py
@@ -0,0 +1,32 @@
+# Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+#
+# This file is part of sunnypilot and is licensed under the MIT License.
+# See the LICENSE.md file in the root directory for more details.
+
+import hashlib
+import os
+from openpilot.common.params import Params
+from cereal import custom, messaging
+
+
+async def verify_file(file_path: str, expected_hash: str) -> bool:
+  """Verifies file hash against expected hash"""
+  if not os.path.exists(file_path):
+    return False
+
+  sha256_hash = hashlib.sha256()
+  with open(file_path, "rb") as file:
+    for chunk in iter(lambda: file.read(4096), b""):
+      sha256_hash.update(chunk)
+
+  return sha256_hash.hexdigest().lower() == expected_hash.lower()
+
+def get_active_bundle(params: Params) -> custom.ModelManagerSP.ModelBundle:
+  """Gets the active model bundle from cache"""
+  if params is None:
+    params = Params()
+
+  if active_bundle := params.get("ModelManager_ActiveBundle"):
+    return messaging.log_from_bytes(active_bundle, custom.ModelManagerSP.ModelBundle)
+
+  return None
diff --git a/sunnypilot/models/manager.py b/sunnypilot/models/manager.py
new file mode 100644
index 00000000000000..4226c6c67957ee
--- /dev/null
+++ b/sunnypilot/models/manager.py
@@ -0,0 +1,179 @@
+# Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+#
+# This file is part of sunnypilot and is licensed under the MIT License.
+# See the LICENSE.md file in the root directory for more details.
+
+import asyncio
+import os
+import time
+
+import aiohttp
+from openpilot.common.params import Params
+from openpilot.common.realtime import Ratekeeper
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware.hw import Paths
+
+from cereal import messaging, custom
+from sunnypilot.models.fetcher import ModelFetcher
+from sunnypilot.models.helpers import verify_file, get_active_bundle
+
+
+class ModelManagerSP:
+  """Manages model downloads and status reporting"""
+
+  def __init__(self):
+    self.params = Params()
+    self.model_fetcher = ModelFetcher(self.params)
+    self.pm = messaging.PubMaster(["modelManagerSP"])
+    self.available_models: list[custom.ModelManagerSP.ModelBundle] = []
+    self.selected_bundle: custom.ModelManagerSP.ModelBundle = None
+    self.active_bundle: custom.ModelManagerSP.ModelBundle = get_active_bundle(self.params)
+    self._chunk_size = 128 * 1000  # 128 KB chunks
+    self._download_start_times: dict[str, float] = {}  # Track start time per model
+
+  def _calculate_eta(self, filename: str, progress: float) -> int:
+    """Calculate ETA based on elapsed time and current progress"""
+    if filename not in self._download_start_times or progress <= 0:
+      return 60  # Default ETA for new downloads
+
+    elapsed_time = time.monotonic() - self._download_start_times[filename]
+    if elapsed_time <= 0:
+      return 60
+
+    # If we're at X% after Y seconds, we can estimate total time as (Y / X) * 100
+    total_estimated_time = (elapsed_time / progress) * 100
+    eta = total_estimated_time - elapsed_time
+
+    return max(1, int(eta))  # Return at least 1 second if download is ongoing
+
+  async def _download_file(self, url: str, path: str, model) -> None:
+    """Downloads a file with progress tracking"""
+    self._download_start_times[model.fileName] = time.monotonic()
+
+    async with aiohttp.ClientSession() as session:
+      async with session.get(url) as response:
+        response.raise_for_status()
+        total_size = int(response.headers.get("content-length", 0))
+        bytes_downloaded = 0
+
+        with open(path, 'wb') as f:
+          async for chunk in response.content.iter_chunked(self._chunk_size):  # type: bytes
+            f.write(chunk)
+            bytes_downloaded += len(chunk)
+
+            if total_size > 0:
+              progress = (bytes_downloaded / total_size) * 100
+              model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading
+              model.downloadProgress.progress = progress
+              model.downloadProgress.eta = self._calculate_eta(model.fileName, progress)
+              self._report_status()
+
+        # Clean up start time after download completes
+        del self._download_start_times[model.fileName]
+
+  async def _process_model(self, model, destination_path: str) -> None:
+    """Processes a single model download including verification"""
+    url = model.downloadUri.uri
+    expected_hash = model.downloadUri.sha256
+    filename = model.fileName
+    full_path = os.path.join(destination_path, filename)
+
+    try:
+      # Check existing file
+      if os.path.exists(full_path) and await verify_file(full_path, expected_hash):
+        model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
+        model.downloadProgress.progress = 100
+        model.downloadProgress.eta = 0
+        self._report_status()
+        return
+
+      # Download and verify
+      await self._download_file(url, full_path, model)
+      if not await verify_file(full_path, expected_hash):
+        raise ValueError(f"Hash validation failed for {filename}")
+
+      model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloaded
+      model.downloadProgress.eta = 0
+      self._report_status()
+
+    except Exception as e:
+      cloudlog.error(f"Error downloading {filename}: {str(e)}")
+      if os.path.exists(full_path):
+        os.remove(full_path)
+      model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed
+      model.downloadProgress.eta = 0
+      self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
+      self._report_status()
+      # Clean up start time if it exists
+      self._download_start_times.pop(model.fileName, None)
+      raise
+
+  def _report_status(self) -> None:
+    """Reports current status through messaging system"""
+    msg = messaging.new_message('modelManagerSP', valid=True)
+    model_manager_state = msg.modelManagerSP
+    if self.selected_bundle:
+      model_manager_state.selectedBundle = self.selected_bundle
+
+    if self.active_bundle:
+      model_manager_state.activeBundle = self.active_bundle
+
+    model_manager_state.availableBundles = self.available_models
+    self.pm.send('modelManagerSP', msg)
+
+  async def _download_bundle(self, model_bundle: custom.ModelManagerSP.ModelBundle, destination_path: str) -> None:
+    """Downloads all models in a bundle"""
+    self.selected_bundle = model_bundle
+    self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.downloading
+    os.makedirs(destination_path, exist_ok=True)
+
+    try:
+      tasks = [self._process_model(model, destination_path)
+               for model in self.selected_bundle.models]
+      await asyncio.gather(*tasks)
+      self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.downloaded
+      self.active_bundle = self.selected_bundle
+      self.params.put("ModelManager_ActiveBundle", self.selected_bundle.to_bytes())
+
+    except Exception:
+      self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
+      raise
+
+    finally:
+      self._report_status()
+
+  def download(self, model_bundle: custom.ModelManagerSP.ModelBundle, destination_path: str) -> None:
+    """Main entry point for downloading a model bundle"""
+    asyncio.run(self._download_bundle(model_bundle, destination_path))
+
+  def main_thread(self) -> None:
+    """Main thread for model management"""
+    rk = Ratekeeper(1, print_delay_threshold=None)
+
+    while True:
+      try:
+        self.available_models = self.model_fetcher.get_available_models()
+
+        if index_to_download := self.params.get("ModelManager_DownloadIndex", block=False, encoding="utf-8"):
+          if model_to_download := next((model for model in self.available_models if model.index == int(index_to_download)), None):
+            try:
+              self.download(model_to_download, Paths.model_root())
+            except Exception as e:
+              cloudlog.exception(e)
+            finally:
+              self.params.put("ModelManager_DownloadIndex", "")
+
+        self._report_status()
+        rk.keep_time()
+
+      except Exception as e:
+        cloudlog.exception(f"Error in main thread: {str(e)}")
+        rk.keep_time()
+
+
+def main():
+  ModelManagerSP().main_thread()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/sunnypilot/models/tests/__init__.py b/sunnypilot/models/tests/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/models/tests/model_manager_audit.py b/sunnypilot/models/tests/model_manager_audit.py
new file mode 100644
index 00000000000000..1a1ea38e5bb0e5
--- /dev/null
+++ b/sunnypilot/models/tests/model_manager_audit.py
@@ -0,0 +1,18 @@
+# Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+#
+# This file is part of sunnypilot and is licensed under the MIT License.
+# See the LICENSE.md file in the root directory for more details.
+
+from cereal import messaging, custom
+
+if __name__ == "__main__":
+  sm = messaging.SubMaster(["modelManagerSP"])
+  while True:
+    sm.update(500)
+    if sm.updated:
+      msg = sm["modelManagerSP"]
+      for model in msg.selectedBundle.models:
+        if model.downloadProgress.status == custom.ModelManagerSP.DownloadStatus.downloading:
+          print("")
+          print(f"{model.fileName}: {model.downloadProgress}")
+          print("")
diff --git a/system/hardware/hw.py b/system/hardware/hw.py
index dc36dc047498a7..a80a67d720e5e3 100644
--- a/system/hardware/hw.py
+++ b/system/hardware/hw.py
@@ -63,3 +63,10 @@ def shm_path() -> str:
     if PC and platform.system() == "Darwin":
       return "/tmp"  # This is not really shared memory on macOS, but it's the closest we can get
     return "/dev/shm"
+
+  @staticmethod
+  def model_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "media" / "0" / "models")
+    else:
+      return "/data/media/0/models"
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 4a5da353e99681..8afb29497105ff 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -40,6 +40,8 @@ def manager_init() -> None:
     ("LanguageSetting", "main_en"),
     ("OpenpilotEnabledToggle", "1"),
     ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
+    ("ModelManager_LastSyncTime", "0"),
+    ("ModelManager_ModelsCache", "")
   ]
 
   if params.get_bool("RecordFrontLock"):
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 09b897363c6b01..9d94f6423a32e3 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -114,6 +114,11 @@ def and_(*fns):
   PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
 ]
 
+# sunnypilot
+procs += [
+  PythonProcess("models_manager", "sunnypilot.models.manager", only_offroad),
+]
+
 if os.path.exists("./github_runner.sh"):
   procs += [NativeProcess("github_runner_start", "system/manager", ["./github_runner.sh", "start"], and_(only_offroad, use_github_runner), sigkill=False)]
 

From ee5c1c450797e77acf217a81b07b628109cf0690 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 5 Jan 2025 02:48:02 +0100
Subject: [PATCH 0036/1434] Modular Assistive Driving System (MADS) (#446)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* allow re-regage

* bump opendbc

* bump panda

* apply pause/resume fix for hyundai (should do this in a separate PR)

* bump opendbc

* fix

* rename

* Fix?

* make sure to disengage for allow always cars

* fix

* combine

* more fix

* not needed

* check if engagement is from openpilot's state machine

* Rename

* fix panda safety

* fix

* no fake lfa button for @devtekve ;)

* fix non drive gear re-engage

* fix settings

* combine

* add replace method

* use replace

* remoev already checks if it exists

* fix

* group

* add todo

* reserve events

* cleaner

* hyundai: only allow for cars with lfa button

* sunnyParams

* make sure it's car only

* Move car-specific changes to opendbc

* no need

* bump opendbc

* more fixes

* no more available

* more!

* final?

* always emit user disable

* no longer needed

* move unit test

* add sunnypilot to unit tests

* bump opendbc

* use new cereal

* bump opendbc

* static analysis

* no unittest

* no need available

* UI border update

* show MADS updates

* Add TODO

* no longer needed

* fix changed events

* fix cluster enabled

* don't add pre enable if not long

* should use enabled

* enabled <-> active

* better format

* bump opendbc

* static analysis

* static analysis

* Rename test as collector was dying

* Show our overriding

* Revert "show MADS updates"

This reverts commit daf0ad62

Revert "fix changed events"

This reverts commit 31d8c97f

* ignoring reserved events

* adjusting creation delays

* back to stock

removing allow_cancel

* should be enabled

* revert

* silent lkas disable

* no need

* user disable tests

* just warning

* MUST REMOVE test process replay

* fix no entry

* fixme

* bump opendbc

* need this check

* cleanup

* allow entering paused state if no entry from disabled

* brake hold should apply to all

* in lists

* update unit test

* simpler

* unused

* same thing

* fix

* only mads in enabled state and long in disabled state

* unify silent enable

* do this for dlob

* bump submodules

* fix

* bump submodules

* bump opendbc

* less frequent

* more events

* fix

* allow no entry to paused for non-drive gears

* fix

* use cereal

* Revert "allow no entry to paused for non-drive gears"

This reverts commit 6d64a4dd9c6de5ad14ef1e88dbc3b6ad174232d8.

* allow in all

* Revert "allow in all"

This reverts commit 6375f1489176dc6c69cb7fa388676e482713f80a.

* should not be all!

* rename for clarity

* silent park brake

* flipped

* bump submodules

* Bump to latest mads-new panda

* bump panda

* more nissan

* bump panda

* bump msgq

* bump panda

* bump submodules

* bump opendbc

* bump opendbc

* improving the state

* Revert "PlayStation® model (#34133)"

This reverts commit 5160bee5437e58ab0ace59c6db1c6d7b416c4025.

* should be none

* bump panda

* bump opendbc

* Apply suggestions from code review

* bump panda

* bump ref panda

* add todo-sp

* bump panda ref

* bump more panda

* changing refs

* nuke nuke nuke

* use sunny's newer states

* bump with new panda

* bump panda

* Parse more flags from alt exp, more tests, hyundai main cruise allowed

* Parse more flags from alt exp, more tests, hyundai main cruise allowed

* missed

* mutation for controls allowed rising edge

* ford mutation

* license

* remove

* unused

* bump submodules

* use always allowed mads button alt exp

* fix

* whitelist jason's lastname to codespell

* test_processes: update ref logs to 82c0278

* bump submodules

* bump submodules

* bump submodules

* bump panda

* add controls mismatch lateral event

* Simplify lateral disengagement logic for MADS configuration

Reversed the conditional to align the logic with the `disengage_lateral_on_brake` parameter. This ensures that lateral disengagement behavior is more intuitive and matches the expected configuration. Improves code readability and reduces potential misconfigurations.

* remove unified engagement mode in panda

* controls allow should be allowed at all times

* squash! treat MADS button as user entry

* heartbeat for mads

* heartbeat mismatch exit control

* remove always allow mads button from alt

* move to safety_mads

* remove main cruise allowed from alt

* bump panda

* heartbeat engaged mads mismatch mutation test

* bump panda

* use mads the third panda

* ignore pre enable with mads

* only force exit if actually actuating

* use brake signal instead of pedal events when dlob is active

* fix tests

* fix panda tests

* bump panda

* new events to retain long blocks

* format

* uem: do not engage mads if long is engaged

* bump submodules

* fix not allowed engaged bug

* block uem from engaging

* flipped

* use different heartbeat check if dlob

* hard code to skip heartbeat check

* remove toyota lta status for lkas, causes weird behaviors

* block tesla

* bump panda

* bump to merged panda

* bump opendbc

* bump opendbc

* bump opendbc

* bump opendbc

* Apply suggestions from code review

* code ignore spells

* needs to be in carstate

* Bump opendbc

* Update MADS toggle descriptions for clarity.

Added notes to clarify behavior of the "MadsMainCruiseAllowed" setting, particularly its impact on vehicles without LFA/LKAS buttons. This ensures users are informed about potential implications when disabling this feature.

* Updating translations + Adding spanish

* Disengage Lateral on Brake -> Pause Lateral on Brake

* test_processes: update ref logs to dd41005

* Apply suggestions from code review

* fix mads button not allowed

* bump submodules

* bump submodule

* test_processes: update ref logs to 0a0b998

* has multiple lists

* Revert "has multiple lists"

This reverts commit a37c1d26feac02f63bfb86a08f9b6fb06b095cf1.

* base

* Reapply "has multiple lists"

This reverts commit d1cd8dcc815721a4113b26ab98ee2571c071e225.

* migrate mads toggles to sp panel

* this is why it keeps crashing

* house keeping

* more housekeeping

* more housekeeping

* don't show description by default (yet)

* reset to main panel when clicked away

* more

* some more with interactions

* don't stretch cause it looks weird with descriptions

* simpler to handle offroad transition

* some are toggleable while onroad

* remove unused event

* slight cleanup

* default to true for HKG main cruise toggle

* append to list after

* add Customize MADS to UI preview

* simpler

* move to sp list

* how tf was this removed

* update mads settings button on show event

* test_processes: update ref logs to efa9c32

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .github/workflows/ui_preview.yaml             |   2 +-
 cereal/custom.capnp                           |  18 +-
 cereal/log.capnp                              |  77 +++++++-
 cereal/services.py                            |   1 +
 common/params.cc                              |   4 +
 pyproject.toml                                |   1 +
 selfdrive/car/card.py                         |   6 +
 selfdrive/controls/controlsd.py               |  15 +-
 selfdrive/pandad/panda.cc                     |   4 +-
 selfdrive/pandad/panda.h                      |   2 +-
 selfdrive/pandad/pandad.cc                    |  20 +-
 selfdrive/selfdrived/events.py                | 111 +++++++++++
 selfdrive/selfdrived/selfdrived.py            |  22 +++
 selfdrive/selfdrived/tests/test_alerts.py     |   2 +-
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 ...a9c321c2f985d948b5d9a5e708f5d2d31b7737.zst |   3 +
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 ...a9c321c2f985d948b5d9a5e708f5d2d31b7737.zst |   3 +
 ...0d7a427906c43549cf58b7a859f264aabdf28d.zst |   3 -
 ...a9c321c2f985d948b5d9a5e708f5d2d31b7737.zst |   3 +
 selfdrive/test/process_replay/ref_commit      |   2 +-
 selfdrive/ui/sunnypilot/SConscript            |   6 +-
 .../settings/sunnypilot/mads_settings.cc      |  67 +++++++
 .../settings/sunnypilot/mads_settings.h       |  36 ++++
 .../qt/offroad/settings/sunnypilot_panel.cc   |  81 ++++++++-
 .../qt/offroad/settings/sunnypilot_panel.h    |  19 +-
 .../ui/sunnypilot/qt/widgets/scrollview.cc    |   2 +-
 selfdrive/ui/sunnypilot/ui.cc                 |   2 +-
 selfdrive/ui/tests/test_ui/run.py             |  24 ++-
 selfdrive/ui/translations/main_ar.ts          |  61 ++++++-
 selfdrive/ui/translations/main_de.ts          |  61 ++++++-
 selfdrive/ui/translations/main_es.ts          |  61 ++++++-
 selfdrive/ui/translations/main_fr.ts          |  61 ++++++-
 selfdrive/ui/translations/main_ja.ts          |  61 ++++++-
 selfdrive/ui/translations/main_ko.ts          |  61 ++++++-
 selfdrive/ui/translations/main_pt-BR.ts       |  61 ++++++-
 selfdrive/ui/translations/main_th.ts          |  61 ++++++-
 selfdrive/ui/translations/main_tr.ts          |  61 ++++++-
 selfdrive/ui/translations/main_zh-CHS.ts      |  61 ++++++-
 selfdrive/ui/translations/main_zh-CHT.ts      |  61 ++++++-
 selfdrive/ui/ui.cc                            |  18 +-
 selfdrive/ui/ui.h                             |   4 +
 sunnypilot/mads/helpers.py                    |  63 +++++++
 sunnypilot/mads/mads.py                       | 172 ++++++++++++++++++
 sunnypilot/mads/state.py                      | 146 +++++++++++++++
 .../mads/tests/test_mads_state_machine.py     | 156 ++++++++++++++++
 system/manager/manager.py                     |   9 +-
 tools/cabana/streams/pandastream.cc           |   2 +-
 131 files changed, 1779 insertions(+), 118 deletions(-)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_radard_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_radard_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_torqued_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_torqued_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen306779F6870|2024-10-03--04-03-23--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen306779F6870|2024-10-03--04-03-23--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen4CE950B0267|2024-08-30--02-51-30--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen4CE950B0267|2024-08-30--02-51-30--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen58464878D07|2024-08-30--03-15-31--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen58464878D07|2024-08-30--03-15-31--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen6E484EDAB96|2024-08-30--02-47-37--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen6E484EDAB96|2024-08-30--02-47-37--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen720F2BA4CF6|2024-08-30--03-09-15--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen720F2BA4CF6|2024-08-30--03-09-15--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_calibrationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen756F8230C21|2024-11-07--00-08-24--0_calibrationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_controlsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen756F8230C21|2024-11-07--00-08-24--0_controlsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_dmonitoringd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen756F8230C21|2024-11-07--00-08-24--0_dmonitoringd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_locationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen756F8230C21|2024-11-07--00-08-24--0_locationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_paramsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen756F8230C21|2024-11-07--00-08-24--0_paramsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_plannerd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_plannerd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_radard_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen756F8230C21|2024-11-07--00-08-24--0_radard_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_selfdrived_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen756F8230C21|2024-11-07--00-08-24--0_selfdrived_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_torqued_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen756F8230C21|2024-11-07--00-08-24--0_torqued_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_ubloxd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen756F8230C21|2024-11-07--00-08-24--0_ubloxd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9ADBECBCD1C|2024-08-30--03-13-04--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9ADBECBCD1C|2024-08-30--03-13-04--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_calibrationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_calibrationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_controlsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_controlsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_dmonitoringd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_dmonitoringd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_locationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_locationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_paramsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_paramsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_plannerd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_plannerd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_radard_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_radard_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_selfdrived_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_selfdrived_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_torqued_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_torqued_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_ubloxd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_ubloxd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenA67A128BCD8|2024-08-30--02-36-22--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenA67A128BCD8|2024-08-30--02-36-22--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_calibrationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_calibrationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_controlsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_controlsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_dmonitoringd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_dmonitoringd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_locationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_locationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_paramsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_paramsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_plannerd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_plannerd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_radard_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_radard_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_selfdrived_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_selfdrived_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_torqued_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_torqued_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_ubloxd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_ubloxd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenACF84CCF482|2024-08-30--03-21-55--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenACF84CCF482|2024-08-30--03-21-55--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_calibrationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_calibrationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_controlsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_controlsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_dmonitoringd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_dmonitoringd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_locationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_locationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_paramsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_paramsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_radard_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_radard_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_selfdrived_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_selfdrived_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h
 create mode 100644 sunnypilot/mads/helpers.py
 create mode 100644 sunnypilot/mads/mads.py
 create mode 100644 sunnypilot/mads/state.py
 create mode 100644 sunnypilot/mads/tests/test_mads_state_machine.py

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index dba6ab8037cc7a..a91fba957f6fd1 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -86,7 +86,7 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device settings_software settings_toggles settings_sunnypilot settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
+          scenes="homescreen settings_device settings_software settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
           A=($scenes)
 
           DIFF=""
diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 70e4f742d00116..b2575256d808e5 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -8,7 +8,23 @@ $Cxx.namespace("cereal");
 # cereal, so use these if you want custom events in your fork.
 
 # you can rename the struct, but don't change the identifier
-struct CustomReserved0 @0x81c2f05a394cf4af {
+struct SelfdriveStateSP @0x81c2f05a394cf4af {
+  mads @0 :ModularAssistiveDrivingSystem;
+
+  struct ModularAssistiveDrivingSystem {
+    state @0 :ModularAssistiveDrivingSystemState;
+    enabled @1 :Bool;
+    active @2 :Bool;
+    available @3 :Bool;
+
+    enum ModularAssistiveDrivingSystemState {
+      disabled @0;
+      paused @1;
+      enabled @2;
+      softDisabling @3;
+      overriding @4;
+    }
+  }
 }
 
 struct ModelManagerSP @0xaedffd8f31e7b55d {
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 96d14deca6f191..d5fbad6fe8318f 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -125,6 +125,79 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     espActive @90;
     personalityChanged @91;
     aeb @92;
+    eventReserved93 @93;
+    eventReserved94 @94;
+    eventReserved95 @95;
+    eventReserved96 @96;
+    eventReserved97 @97;
+    eventReserved98 @98;
+    eventReserved99 @99;
+    eventReserved100 @100;
+    eventReserved101 @101;
+    eventReserved102 @102;
+    eventReserved103 @103;
+    eventReserved104 @104;
+    eventReserved105 @105;
+    eventReserved106 @106;
+    eventReserved107 @107;
+    eventReserved108 @108;
+    eventReserved109 @109;
+    eventReserved110 @110;
+    eventReserved111 @111;
+    eventReserved112 @112;
+    eventReserved113 @113;
+    eventReserved114 @114;
+    eventReserved115 @115;
+    eventReserved116 @116;
+    eventReserved117 @117;
+    eventReserved118 @118;
+    eventReserved119 @119;
+    eventReserved120 @120;
+    eventReserved121 @121;
+    eventReserved122 @122;
+    eventReserved123 @123;
+    eventReserved124 @124;
+    eventReserved125 @125;
+    eventReserved126 @126;
+    eventReserved127 @127;
+    eventReserved128 @128;
+    eventReserved129 @129;
+    eventReserved130 @130;
+    eventReserved131 @131;
+    eventReserved132 @132;
+    eventReserved133 @133;
+    eventReserved134 @134;
+    eventReserved135 @135;
+    eventReserved136 @136;
+    eventReserved137 @137;
+    eventReserved138 @138;
+    eventReserved139 @139;
+    eventReserved140 @140;
+    eventReserved141 @141;
+    eventReserved142 @142;
+    eventReserved143 @143;
+    eventReserved144 @144;
+    eventReserved145 @145;
+    eventReserved146 @146;
+    eventReserved147 @147;
+    eventReserved148 @148;
+    eventReserved149 @149;
+    eventReserved150 @150;
+
+    # sunnypilot
+    lkasEnable @151;
+    lkasDisable @152;
+    manualSteeringRequired @153;
+    manualLongitudinalRequired @154;
+    silentLkasEnable @155;
+    silentLkasDisable @156;
+    silentBrakeHold @157;
+    silentWrongGear @158;
+    silentReverseGear @159;
+    silentDoorOpen @160;
+    silentSeatbeltNotLatched @161;
+    silentParkBrake @162;
+    controlsMismatchLateral @163;
 
     soundsUnavailableDEPRECATED @47;
   }
@@ -589,6 +662,7 @@ struct PandaState @0xa7649e2575e4591e {
 
   # safety stuff
   controlsAllowed @3 :Bool;
+  controlsAllowedLat @5 :Bool;
   safetyRxInvalid @19 :UInt32;
   safetyTxBlocked @24 :UInt32;
   safetyModel @14 :Car.CarParams.SafetyModel;
@@ -696,7 +770,6 @@ struct PandaState @0xa7649e2575e4591e {
   }
 
   gasInterceptorDetectedDEPRECATED @4 :Bool;
-  startedSignalDetectedDEPRECATED @5 :Bool;
   hasGpsDEPRECATED @6 :Bool;
   gmlanSendErrsDEPRECATED @9 :UInt32;
   fanSpeedRpmDEPRECATED @11 :UInt16;
@@ -2558,7 +2631,7 @@ struct Event {
     customReservedRawData2 @126 :Data;
 
     # *********** Custom: reserved for forks ***********
-    customReserved0 @107 :Custom.CustomReserved0;
+    selfdriveStateSP @107 :Custom.SelfdriveStateSP;
     modelManagerSP @108 :Custom.ModelManagerSP;
     customReserved2 @109 :Custom.CustomReserved2;
     customReserved3 @110 :Custom.CustomReserved3;
diff --git a/cereal/services.py b/cereal/services.py
index ad7bcc87003d41..346bf81a090080 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -76,6 +76,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
 
   # sunnypilot
   "modelManagerSP": (False, 1., 1),
+  "selfdriveStateSP": (True, 100., 10),
 
   # debug
   "uiDebug": (True, 0., 1),
diff --git a/common/params.cc b/common/params.cc
index 1e86fd27cdb1ca..3eccd937e0bfd9 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -203,6 +203,10 @@ std::unordered_map<std::string, uint32_t> keys = {
 
     // sunnypilot params
     {"EnableGithubRunner", PERSISTENT},
+    {"Mads", PERSISTENT},
+    {"MadsMainCruiseAllowed", PERSISTENT},
+    {"MadsPauseLateralOnBrake", PERSISTENT},
+    {"MadsUnifiedEngagementMode", PERSISTENT},
     {"ModelManager_ActiveBundle", PERSISTENT},
     {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_ONROAD_TRANSITION},
     {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
diff --git a/pyproject.toml b/pyproject.toml
index 9cd28e6bafede5..7a889584a0114f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -163,6 +163,7 @@ testpaths = [
   "tools/replay",
   "tools/cabana",
   "cereal/messaging/tests",
+  "sunnypilot",
 ]
 
 [tool.codespell]
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 92d9b7eb11ddfd..1852dccf74d884 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -22,6 +22,8 @@
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
 
+from openpilot.sunnypilot.mads.mads import MadsParams
+
 REPLAY = "REPLAY" in os.environ
 
 EventName = log.OnroadEvent.EventName
@@ -113,6 +115,10 @@ def __init__(self, CI=None, RI=None) -> None:
     if not disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
+    # mads
+    MadsParams().set_alternative_experience(self.CP)
+    MadsParams().set_car_specific_params(self.CP)
+
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 64be4340816262..9a230e4d83495b 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -19,6 +19,7 @@
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
+from opendbc.sunnypilot import SunnypilotParamFlags
 
 State = log.SelfdriveState.OpenpilotState
 LaneChangeState = log.LaneChangeState
@@ -56,6 +57,9 @@ def __init__(self) -> None:
     elif self.CP.lateralTuning.which() == 'torque':
       self.LaC = LatControlTorque(self.CP, self.CI)
 
+    data_services = list(self.sm.data.keys()) + ['selfdriveStateSP']
+    self.sm = messaging.SubMaster(data_services, poll='selfdriveState')
+
   def update(self):
     self.sm.update(15)
     if self.sm.updated["liveCalibration"]:
@@ -88,7 +92,16 @@ def state_control(self):
 
     # Check which actuators can be enabled
     standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
-    CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
+
+    ss_sp = self.sm['selfdriveStateSP']
+    CC.madsEnabled = ss_sp.mads.enabled
+    if ss_sp.mads.available:
+      CC.sunnypilotParams |= SunnypilotParamFlags.ENABLE_MADS.value
+      _lat_active = ss_sp.mads.active
+    else:
+      _lat_active = self.sm['selfdriveState'].active
+
+    CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
     CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators
diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc
index 7b5fc9a9991bc5..45d835e5a466db 100644
--- a/selfdrive/pandad/panda.cc
+++ b/selfdrive/pandad/panda.cc
@@ -137,8 +137,8 @@ void Panda::enable_deepsleep() {
   handle->control_write(0xfb, 0, 0);
 }
 
-void Panda::send_heartbeat(bool engaged) {
-  handle->control_write(0xf3, engaged, 0);
+void Panda::send_heartbeat(bool engaged, bool engaged_mads) {
+  handle->control_write(0xf3, engaged, engaged_mads);
 }
 
 void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) {
diff --git a/selfdrive/pandad/panda.h b/selfdrive/pandad/panda.h
index 6ae2c77755977a..3e0f4b8507c80c 100644
--- a/selfdrive/pandad/panda.h
+++ b/selfdrive/pandad/panda.h
@@ -75,7 +75,7 @@ class Panda {
   std::optional<std::string> get_serial();
   void set_power_saving(bool power_saving);
   void enable_deepsleep();
-  void send_heartbeat(bool engaged);
+  void send_heartbeat(bool engaged, bool engaged_mads);
   void set_can_speed_kbps(uint16_t bus, uint16_t speed);
   void set_can_fd_auto(uint16_t bus, bool enabled);
   void set_data_speed_kbps(uint16_t bus, uint16_t speed);
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index bf2a465d78127a..0e8884c33d1a8e 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -41,6 +41,8 @@
 #define CUTOFF_IL 400
 #define SATURATE_IL 1000
 
+#define ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE 2048
+
 ExitHandler do_exit;
 
 bool check_all_connected(const std::vector<Panda *> &pandas) {
@@ -53,6 +55,18 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {
   return true;
 }
 
+bool process_mads_heartbeat(SubMaster *sm) {
+  const int &alt_exp = (*sm)["carParams"].getCarParams().getAlternativeExperience();
+  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE) != 0;
+
+  const auto &mads = (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads();
+  const bool heartbeat_type = disengage_lateral_on_brake ? mads.getActive() : mads.getEnabled();
+
+  const bool engaged = sm->allAliveAndValid({"selfdriveStateSP"}) && heartbeat_type;
+
+  return engaged;
+}
+
 Panda *connect(std::string serial="", uint32_t index=0) {
   std::unique_ptr<Panda> panda;
   try {
@@ -144,6 +158,7 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
   ps.setIgnitionLine(health.ignition_line_pkt);
   ps.setIgnitionCan(health.ignition_can_pkt);
   ps.setControlsAllowed(health.controls_allowed_pkt);
+  ps.setControlsAllowedLat(health.controls_allowed_lat_pkt);
   ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
   ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
   ps.setPandaType(hw_type);
@@ -327,7 +342,7 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
 }
 
 void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoofing_started) {
-  static SubMaster sm({"selfdriveState"});
+  static SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"});
 
   std::vector<std::string> connected_serials;
   for (Panda *p : pandas) {
@@ -366,8 +381,9 @@ void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoof
 
     sm.update(0);
     const bool engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
+    const bool engaged_mads = process_mads_heartbeat(&sm);
     for (const auto &panda : pandas) {
-      panda->send_heartbeat(engaged);
+      panda->send_heartbeat(engaged, engaged_mads);
     }
   }
 }
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index cdc23e53c93d9e..672d809dd9c585 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -105,6 +105,24 @@ def to_msg(self):
       ret.append(event)
     return ret
 
+  def has(self, event_name: int) -> bool:
+    return event_name in self.events
+
+  def contains_in_list(self, events_list: list[int]) -> bool:
+    return any(event_name in self.events for event_name in events_list)
+
+  def remove(self, event_name: int, static: bool = False) -> None:
+    if static and event_name in self.static_events:
+      self.static_events.remove(event_name)
+
+    if event_name in self.events:
+      self.event_counters[event_name] = self.event_counters[event_name] + 1
+      self.events.remove(event_name)
+
+  def replace(self, prev_event_name: int, cur_event_name: int, static: bool = False) -> None:
+    self.remove(prev_event_name, static)
+    self.add(cur_event_name, static)
+
 
 class Alert:
   def __init__(self,
@@ -951,6 +969,99 @@ def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
     ET.WARNING: personality_changed_alert,
   },
 
+  # sunnypilot
+  EventName.lkasEnable: {
+    ET.ENABLE: EngagementAlert(AudibleAlert.engage),
+  },
+
+  EventName.lkasDisable: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+  },
+
+  EventName.manualSteeringRequired: {
+    ET.USER_DISABLE: Alert(
+      "Automatic Lane Centering is OFF",
+      "Manual Steering Required",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.disengage, 1.),
+  },
+
+  EventName.manualLongitudinalRequired: {
+    ET.WARNING: Alert(
+      "Smart/Adaptive Cruise Control: OFF",
+      "Manual Speed Control Required",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
+  },
+
+  EventName.silentLkasEnable: {
+    ET.ENABLE: EngagementAlert(AudibleAlert.none),
+  },
+
+  EventName.silentLkasDisable: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
+  },
+
+  EventName.silentBrakeHold: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
+    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
+  },
+
+  EventName.silentWrongGear: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: Alert(
+      "Gear not D",
+      "openpilot Unavailable",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.),
+  },
+
+  EventName.silentReverseGear: {
+    ET.PERMANENT: Alert(
+      "Reverse\nGear",
+      "",
+      AlertStatus.normal, AlertSize.full,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
+    ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
+  },
+
+  EventName.silentDoorOpen: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Door Open"),
+  },
+
+  EventName.silentSeatbeltNotLatched: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"),
+  },
+
+  EventName.silentParkBrake: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"),
+  },
+
+  EventName.controlsMismatchLateral: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch: Lateral"),
+    ET.NO_ENTRY: NoEntryAlert("Controls Mismatch: Lateral"),
+  },
+
+
 }
 
 
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index d24939884d5798..8328bf67f0b29f 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -23,6 +23,8 @@
 
 from openpilot.system.version import get_build_metadata
 
+from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
@@ -131,6 +133,10 @@ def __init__(self, CP=None):
     elif self.CP.passive:
       self.events.add(EventName.dashcamMode, static=True)
 
+    self.mads = ModularAssistiveDrivingSystem(self)
+    sock_services = list(self.pm.sock.keys()) + ['selfdriveStateSP']
+    self.pm = messaging.PubMaster(sock_services)
+
   def update_events(self, CS):
     """Compute onroadEvents from carState"""
 
@@ -451,11 +457,25 @@ def publish_selfdriveState(self, CS):
       self.pm.send('onroadEvents', ce_send)
     self.events_prev = self.events.names.copy()
 
+    # selfdriveStateSP
+    ss_sp_msg = messaging.new_message('selfdriveStateSP')
+    ss_sp_msg.valid = True
+    ss_sp = ss_sp_msg.selfdriveStateSP
+    mads = ss_sp.mads
+    mads.state = self.mads.state_machine.state
+    mads.enabled = self.mads.enabled
+    mads.active = self.mads.active
+    mads.available = self.mads.enabled_toggle
+
+    self.pm.send('selfdriveStateSP', ss_sp_msg)
+
   def step(self):
     CS = self.data_sample()
     self.update_events(CS)
     if not self.CP.passive and self.initialized:
       self.enabled, self.active = self.state_machine.update(self.events)
+    if not self.CP.notCar:
+      self.mads.update(CS, self.sm)
     self.update_alerts(CS)
 
     self.publish_selfdriveState(CS)
@@ -473,6 +493,8 @@ def params_thread(self, evt):
       self.is_metric = self.params.get_bool("IsMetric")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
       self.personality = self.read_personality_param()
+
+      self.mads.read_params()
       time.sleep(0.1)
 
   def run(self):
diff --git a/selfdrive/selfdrived/tests/test_alerts.py b/selfdrive/selfdrived/tests/test_alerts.py
index 55bb8f019df4ac..75365b7a521b87 100644
--- a/selfdrive/selfdrived/tests/test_alerts.py
+++ b/selfdrive/selfdrived/tests/test_alerts.py
@@ -41,7 +41,7 @@ def test_events_defined(self):
     events = log.OnroadEvent.EventName.schema.enumerants
 
     for name, e in events.items():
-      if not name.endswith("DEPRECATED"):
+      if not name.endswith("DEPRECATED") and not name.startswith("eventReserved"):
         fail_msg = f"{name} @{e} not in EVENTS"
         assert e in EVENTS.keys(), fail_msg
 
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
deleted file mode 100644
index cf5d085a89132e..00000000000000
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+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:737f95d34912db53a303ba6499e6f697b510fa5872b8c71f701a4fe924b5466e
-size 356169
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
new file mode 100644
index 00000000000000..6972af29521e38
--- /dev/null
+++ b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79ccc3bd2094ba8a55adedf0007b0152eb3a68edc5e2d35aeccbba122d5811c6
+size 356151
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
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similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
deleted file mode 100644
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diff --git a/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_a20d7a427906c43549cf58b7a859f264aabdf28d.zst b/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
rename to selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
diff --git a/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst b/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
rename to selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
diff --git a/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst b/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
deleted file mode 100644
index 15edf70fa30344..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:43150b3ef31b8cd8193150e95e7663a5cd0596b2a0fc9c374861d6c7bb761dbd
-size 271983
diff --git a/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst b/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
new file mode 100644
index 00000000000000..7e9a5b95ca0759
--- /dev/null
+++ b/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14da7fa2937fb1942522abc8718058dbea20bc3837137a1139993eab86d9de6e
+size 271996
diff --git a/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst b/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
deleted file mode 100644
index df781bb4dea13a..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:aec553e5975a5fe7263b93261f44f909af664e7e9e704fd3d95b41766cbc1a81
-size 332401
diff --git a/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst b/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
new file mode 100644
index 00000000000000..80185eeec9476c
--- /dev/null
+++ b/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6894fd7505e5fedd290e9ce2d12e60784bedd27bb4fa36311ac20296ba98e78
+size 332419
diff --git a/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst b/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
deleted file mode 100644
index c2388f98ea66ec..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b85e323fb1c29b15f488ebb18e8f81f1e70996515d722c9cc0a7a466ea9119ae
-size 294529
diff --git a/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst b/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
new file mode 100644
index 00000000000000..9643c423b2c1a7
--- /dev/null
+++ b/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd052d9eedfbecd39080ec35b98c6e223b95efc73401ccb3b273eeaf8dcd3559
+size 294546
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 99c3356cf91ef9..ee53ef9b0bffd6 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-a20d7a427906c43549cf58b7a859f264aabdf28d
\ No newline at end of file
+efa9c321c2f985d948b5d9a5e708f5d2d31b7737
\ No newline at end of file
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index e09d6dc8af9a37..3e3bda6b62a5bf 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -15,7 +15,11 @@ qt_src = [
   "sunnypilot/qt/onroad/onroad_home.cc",
 ]
 
+sunnypilot_panel_qt_src = [
+  "sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc",
+]
+
 sp_widgets_src = widgets_src
-sp_qt_src = qt_src
+sp_qt_src = qt_src + sunnypilot_panel_qt_src
 
 Export('sp_widgets_src', 'sp_qt_src')
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc
new file mode 100644
index 00000000000000..e6e18f262e645e
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc
@@ -0,0 +1,67 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+MadsSettings::MadsSettings(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 20, 50, 20);
+  main_layout->setSpacing(20);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton();
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  ListWidget *list = new ListWidget(this, false);
+  // Main cruise
+  madsMainCruiseToggle = new ParamControl(
+    "MadsMainCruiseAllowed",
+    tr("Toggle with Main Cruise"),
+    tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."),
+    "");
+  list->addItem(madsMainCruiseToggle);
+
+  // Unified Engagement Mode
+  madsUnifiedEngagementModeToggle = new ParamControl(
+    "MadsUnifiedEngagementMode",
+    tr("Unified Engagement Mode (UEM)"),
+    QString("%1<br>"
+            "<h4>%2</h4>")
+    .arg(tr("Engage lateral and longitudinal control with cruise control engagement."))
+    .arg(tr("Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.")),
+    "");
+  list->addItem(madsUnifiedEngagementModeToggle);
+
+  // Pause Lateral On Brake
+  std::vector<QString> lateral_on_brake_texts{tr("Remain Active"), tr("Pause Steering")};
+  madsPauseLateralOnBrake = new ButtonParamControl(
+    "MadsPauseLateralOnBrake",
+    tr("Steering Mode After Braking"),
+    tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.\n\n"
+       "Remain Active: ALC will remain active even after the brake pedal is pressed.\nPause Steering: ALC will be paused after the brake pedal is manually pressed."),
+    "",
+    lateral_on_brake_texts,
+    500);
+  list->addItem(madsPauseLateralOnBrake);
+
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &MadsSettings::updateToggles);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void MadsSettings::showEvent(QShowEvent *event) {
+  updateToggles(offroad);
+}
+
+void MadsSettings::updateToggles(bool _offroad) {
+  madsPauseLateralOnBrake->setEnabled(_offroad);
+
+  offroad = _offroad;
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h
new file mode 100644
index 00000000000000..fccb4cbb842068
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h
@@ -0,0 +1,36 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class MadsSettings : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit MadsSettings(QWidget *parent = nullptr);
+
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void backPress();
+
+public slots:
+  void updateToggles(bool _offroad);
+
+private:
+  Params params;
+  bool offroad;
+
+  ParamControl *madsMainCruiseToggle;
+  ParamControl *madsUnifiedEngagementModeToggle;
+  ButtonParamControl *madsPauseLateralOnBrake;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc
index 5e0619a09d50e6..65a696d814dfb7 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc
@@ -1,5 +1,5 @@
 /**
-* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
  *
  * This file is part of sunnypilot and is licensed under the MIT License.
  * See the LICENSE.md file in the root directory for more details.
@@ -10,5 +10,82 @@
 #include "common/util.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
-SunnypilotPanel::SunnypilotPanel(SettingsWindowSP *parent) : ListWidget(parent) {
+SunnypilotPanel::SunnypilotPanel(SettingsWindowSP *parent) : QFrame(parent) {
+  main_layout = new QStackedLayout(this);
+  ListWidget *list = new ListWidget(this, false);
+
+  sunnypilotScreen = new QWidget(this);
+  QVBoxLayout* vlayout = new QVBoxLayout(sunnypilotScreen);
+  vlayout->setContentsMargins(50, 20, 50, 20);
+
+  // MADS
+  madsToggle = new ParamControl(
+    "Mads",
+    tr("Modular Assistive Driving System (MADS)"),
+    tr("Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement."),
+    "");
+  madsToggle->setConfirmation(true, false);
+  list->addItem(madsToggle);
+
+  madsSettingsButton = new SubPanelButton(tr("Customize MADS"));
+  madsSettingsButton->setObjectName("mads_btn");
+  connect(madsSettingsButton, &QPushButton::clicked, [=]() {
+    sunnypilotScroller->setLastScrollPosition();
+    main_layout->setCurrentWidget(madsWidget);
+  });
+  QObject::connect(madsToggle, &ToggleControl::toggleFlipped, madsSettingsButton, &SubPanelButton::setEnabled);
+
+  madsWidget = new MadsSettings(this);
+  connect(madsWidget, &MadsSettings::backPress, [=]() {
+    sunnypilotScroller->restoreScrollPosition();
+    main_layout->setCurrentWidget(sunnypilotScreen);
+  });
+  list->addItem(madsSettingsButton);
+
+  toggleOffroadOnly = {
+    madsToggle,
+  };
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &SunnypilotPanel::updateToggles);
+
+  sunnypilotScroller = new ScrollViewSP(list, this);
+  vlayout->addWidget(sunnypilotScroller);
+  vlayout->addStretch(1);
+
+  main_layout->addWidget(sunnypilotScreen);
+  main_layout->addWidget(madsWidget);
+
+  setStyleSheet(R"(
+    #back_btn {
+      font-size: 50px;
+      margin: 0px;
+      padding: 15px;
+      border-width: 0;
+      border-radius: 30px;
+      color: #dddddd;
+      background-color: #393939;
+    }
+    #back_btn:pressed {
+      background-color:  #4a4a4a;
+    }
+  )");
+
+  main_layout->setCurrentWidget(sunnypilotScreen);
+}
+
+void SunnypilotPanel::showEvent(QShowEvent *event) {
+  updateToggles(offroad);
+}
+
+void SunnypilotPanel::hideEvent(QHideEvent *event) {
+  main_layout->setCurrentWidget(sunnypilotScreen);
+}
+
+void SunnypilotPanel::updateToggles(bool _offroad) {
+  for (auto *toggle : toggleOffroadOnly) {
+    toggle->setEnabled(_offroad);
+  }
+
+  madsSettingsButton->setEnabled(madsToggle->isToggled());
+
+  offroad = _offroad;
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h
index 25e5d7389b94fc..807752247373f9 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h
@@ -1,5 +1,5 @@
 /**
-* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
  *
  * This file is part of sunnypilot and is licensed under the MIT License.
  * See the LICENSE.md file in the root directory for more details.
@@ -11,15 +11,30 @@
 #include <string>
 
 #include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
-class SunnypilotPanel : public ListWidget {
+class SunnypilotPanel : public QFrame {
   Q_OBJECT
 
 public:
   explicit SunnypilotPanel(SettingsWindowSP *parent = nullptr);
+  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent* event) override;
+
+public slots:
+  void updateToggles(bool _offroad);
 
 private:
   QStackedLayout* main_layout = nullptr;
+  QWidget* sunnypilotScreen = nullptr;
+  ScrollViewSP *sunnypilotScroller = nullptr;
+  std::vector<ParamControl *> toggleOffroadOnly;
+  bool offroad;
+
+  ParamControl *madsToggle;
+  SubPanelButton *madsSettingsButton;
+  MadsSettings *madsWidget = nullptr;
 };
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/scrollview.cc b/selfdrive/ui/sunnypilot/qt/widgets/scrollview.cc
index 49f6e934304e19..ba9a367b0e6352 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/scrollview.cc
+++ b/selfdrive/ui/sunnypilot/qt/widgets/scrollview.cc
@@ -1,5 +1,5 @@
 /**
-* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
  *
  * This file is part of sunnypilot and is licensed under the MIT License.
  * See the LICENSE.md file in the root directory for more details.
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index cb87743735ff92..b27c8398050f5d 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -18,7 +18,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
-    "modelManagerSP",
+    "modelManagerSP", "selfdriveStateSP",
   });
 
   // update timer
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 366d66d108c718..a8b6c41edec9dd 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -50,11 +50,6 @@ def setup_settings_software(click, pm: PubMaster):
   click(278, 716)
   time.sleep(UI_DELAY)
 
-def setup_settings_sunnypilot(click, pm: PubMaster):
-  setup_settings_device(click, pm)
-  click(278, 846)
-  time.sleep(UI_DELAY)
-
 def setup_settings_developer(click, pm: PubMaster):
   setup_settings_device(click, pm)
   click(278, 976)
@@ -181,6 +176,19 @@ def setup_pair_device(click, pm: PubMaster):
   click(1950, 435)
   click(1800, 900)
 
+def setup_settings_sunnypilot(click, pm: PubMaster):
+  setup_settings_device(click, pm)
+  click(278, 846)
+  time.sleep(UI_DELAY)
+
+def setup_settings_sunnypilot_mads(click, pm: PubMaster):
+  Params().put_bool("Mads", True)
+
+  setup_settings_device(click, pm)
+  click(278, 846)
+  click(970, 250)
+  time.sleep(UI_DELAY)
+
 CASES = {
   "homescreen": setup_homescreen,
   "prime": setup_homescreen,
@@ -188,7 +196,6 @@ def setup_pair_device(click, pm: PubMaster):
   "settings_device": setup_settings_device,
   "settings_toggles": setup_settings_toggles,
   "settings_software": setup_settings_software,
-  "settings_sunnypilot": setup_settings_sunnypilot,
   "settings_developer": setup_settings_developer,
   "onroad": setup_onroad,
   "onroad_disengaged": setup_onroad_disengaged,
@@ -206,6 +213,11 @@ def setup_pair_device(click, pm: PubMaster):
   "keyboard": setup_keyboard
 }
 
+CASES.update({
+  "settings_sunnypilot": setup_settings_sunnypilot,
+  "settings_sunnypilot_mads": setup_settings_sunnypilot_mads,
+})
+
 TEST_DIR = pathlib.Path(__file__).parent
 
 TEST_OUTPUT_DIR = TEST_DIR / "report_1"
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 6845b9c7db71c1..11bcb2155bdc49 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -124,11 +124,11 @@
         <translation>وضع المناورة الطولية</translation>
     </message>
     <message>
-        <source>Enable GitHub runner service</source>
+        <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enables or disables the github runner service.</source>
+        <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -333,6 +333,48 @@
         <translation>جار� التثبيت...</translation>
     </message>
 </context>
+<context>
+    <name>MadsSettings</name>
+    <message>
+        <source>Toggle with Main Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unified Engagement Mode (UEM)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode After Braking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
+
+Remain Active: ALC will remain active even after the brake pedal is pressed.
+Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -1065,6 +1107,21 @@ This may take up to a minute.</source>
         <translation>تمكين SSH</translation>
     </message>
 </context>
+<context>
+    <name>SunnypilotPanel</name>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TermsPage</name>
     <message>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 7db919228b44e5..447246aad84052 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -124,11 +124,11 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enable GitHub runner service</source>
+        <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enables or disables the github runner service.</source>
+        <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -329,6 +329,48 @@
         <translation>Installiere...</translation>
     </message>
 </context>
+<context>
+    <name>MadsSettings</name>
+    <message>
+        <source>Toggle with Main Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unified Engagement Mode (UEM)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode After Braking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
+
+Remain Active: ALC will remain active even after the brake pedal is pressed.
+Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -1049,6 +1091,21 @@ This may take up to a minute.</source>
         <translation>SSH aktivieren</translation>
     </message>
 </context>
+<context>
+    <name>SunnypilotPanel</name>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TermsPage</name>
     <message>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 5d19df390d9f9d..2c7eac57029a66 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -124,11 +124,11 @@
         <translation>Modo de maniobra longitudinal</translation>
     </message>
     <message>
-        <source>Enable GitHub runner service</source>
+        <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enables or disables the github runner service.</source>
+        <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -329,6 +329,48 @@
         <translation>Instalando...</translation>
     </message>
 </context>
+<context>
+    <name>MadsSettings</name>
+    <message>
+        <source>Toggle with Main Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished">Nota: Para vehículos sin botón de LFA/LKAS, deshabilitar este ajuste evitará que se active el control lateral.</translation>
+    </message>
+    <message>
+        <source>Unified Engagement Mode (UEM)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode After Braking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
+
+Remain Active: ALC will remain active even after the brake pedal is pressed.
+Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -1049,6 +1091,21 @@ Esto puede tardar un minuto.</translation>
         <translation>Habilitar SSH</translation>
     </message>
 </context>
+<context>
+    <name>SunnypilotPanel</name>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TermsPage</name>
     <message>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 58713533d79d0a..351e684a21f839 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -124,11 +124,11 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enable GitHub runner service</source>
+        <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enables or disables the github runner service.</source>
+        <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -329,6 +329,48 @@
         <translation>Installation...</translation>
     </message>
 </context>
+<context>
+    <name>MadsSettings</name>
+    <message>
+        <source>Toggle with Main Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unified Engagement Mode (UEM)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode After Braking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
+
+Remain Active: ALC will remain active even after the brake pedal is pressed.
+Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -1049,6 +1091,21 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <translation>Activer SSH</translation>
     </message>
 </context>
+<context>
+    <name>SunnypilotPanel</name>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TermsPage</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index a916b34b84adfa..f1690bb76df27c 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -124,11 +124,11 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enable GitHub runner service</source>
+        <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enables or disables the github runner service.</source>
+        <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -328,6 +328,48 @@
         <translation>インストール�����...</translation>
     </message>
 </context>
+<context>
+    <name>MadsSettings</name>
+    <message>
+        <source>Toggle with Main Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unified Engagement Mode (UEM)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode After Braking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
+
+Remain Active: ALC will remain active even after the brake pedal is pressed.
+Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -1043,6 +1085,21 @@ This may take up to a minute.</source>
         <translation>SSH を有効化</translation>
     </message>
 </context>
+<context>
+    <name>SunnypilotPanel</name>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TermsPage</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index c9a7d8981e7410..2dc036fee92216 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -124,11 +124,11 @@
         <translation>롱컨 기� 모드</translation>
     </message>
     <message>
-        <source>Enable GitHub runner service</source>
+        <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enables or disables the github runner service.</source>
+        <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -328,6 +328,48 @@
         <translation>설치 중...</translation>
     </message>
 </context>
+<context>
+    <name>MadsSettings</name>
+    <message>
+        <source>Toggle with Main Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unified Engagement Mode (UEM)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode After Braking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
+
+Remain Active: ALC will remain active even after the brake pedal is pressed.
+Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -1045,6 +1087,21 @@ This may take up to a minute.</source>
         <translation>SSH 사용</translation>
     </message>
 </context>
+<context>
+    <name>SunnypilotPanel</name>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TermsPage</name>
     <message>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index e6cde1181c5cc1..ff8a2efeffbd2d 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -124,11 +124,11 @@
         <translation>Modo Longitudinal Maneuver</translation>
     </message>
     <message>
-        <source>Enable GitHub runner service</source>
+        <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enables or disables the github runner service.</source>
+        <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -329,6 +329,48 @@
         <translation>Instalando...</translation>
     </message>
 </context>
+<context>
+    <name>MadsSettings</name>
+    <message>
+        <source>Toggle with Main Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unified Engagement Mode (UEM)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode After Braking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
+
+Remain Active: ALC will remain active even after the brake pedal is pressed.
+Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -1049,6 +1091,21 @@ Isso pode levar até um minuto.</translation>
         <translation>Habilitar SSH</translation>
     </message>
 </context>
+<context>
+    <name>SunnypilotPanel</name>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TermsPage</name>
     <message>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 41b9c1e53eb669..1162f644040245 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -124,11 +124,11 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enable GitHub runner service</source>
+        <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enables or disables the github runner service.</source>
+        <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -328,6 +328,48 @@
         <translation>�ำลังติดตั้ง...</translation>
     </message>
 </context>
+<context>
+    <name>MadsSettings</name>
+    <message>
+        <source>Toggle with Main Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unified Engagement Mode (UEM)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode After Braking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
+
+Remain Active: ALC will remain active even after the brake pedal is pressed.
+Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -1045,6 +1087,21 @@ This may take up to a minute.</source>
         <translation>เปิดใช้งาน SSH</translation>
     </message>
 </context>
+<context>
+    <name>SunnypilotPanel</name>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TermsPage</name>
     <message>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 0927aa6279cd50..fbc9292bc693cf 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -124,11 +124,11 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enable GitHub runner service</source>
+        <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enables or disables the github runner service.</source>
+        <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -328,6 +328,48 @@
         <translation>Yükleniyor...</translation>
     </message>
 </context>
+<context>
+    <name>MadsSettings</name>
+    <message>
+        <source>Toggle with Main Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unified Engagement Mode (UEM)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode After Braking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
+
+Remain Active: ALC will remain active even after the brake pedal is pressed.
+Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -1043,6 +1085,21 @@ This may take up to a minute.</source>
         <translation>SSH aç</translation>
     </message>
 </context>
+<context>
+    <name>SunnypilotPanel</name>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TermsPage</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 603396ba6777c7..7b5a700a552ea0 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -124,11 +124,11 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enable GitHub runner service</source>
+        <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enables or disables the github runner service.</source>
+        <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -328,6 +328,48 @@
         <translation>正在安装……</translation>
     </message>
 </context>
+<context>
+    <name>MadsSettings</name>
+    <message>
+        <source>Toggle with Main Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unified Engagement Mode (UEM)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode After Braking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
+
+Remain Active: ALC will remain active even after the brake pedal is pressed.
+Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -1045,6 +1087,21 @@ This may take up to a minute.</source>
         <translation>�用SSH</translation>
     </message>
 </context>
+<context>
+    <name>SunnypilotPanel</name>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TermsPage</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 99a0e053491efc..b3f04483cee6ab 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -124,11 +124,11 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enable GitHub runner service</source>
+        <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enables or disables the github runner service.</source>
+        <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -328,6 +328,48 @@
         <translation>安�中…</translation>
     </message>
 </context>
+<context>
+    <name>MadsSettings</name>
+    <message>
+        <source>Toggle with Main Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unified Engagement Mode (UEM)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode After Braking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
+
+Remain Active: ALC will remain active even after the brake pedal is pressed.
+Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -1045,6 +1087,21 @@ This may take up to a minute.</source>
         <translation>啟用 SSH �務</translation>
     </message>
 </context>
+<context>
+    <name>SunnypilotPanel</name>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TermsPage</name>
     <message>
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 3179a383c24361..cc29aa9143d5eb 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -69,13 +69,25 @@ void ui_update_params(UIState *s) {
 }
 
 void UIState::updateStatus() {
-  if (scene.started && sm->updated("selfdriveState")) {
+  if (scene.started && (sm->updated("selfdriveState") || sm->updated("selfdriveStateSP"))) {
     auto ss = (*sm)["selfdriveState"].getSelfdriveState();
+    auto mads = (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads();
     auto state = ss.getState();
-    if (state == cereal::SelfdriveState::OpenpilotState::PRE_ENABLED || state == cereal::SelfdriveState::OpenpilotState::OVERRIDING) {
+    auto state_mads = mads.getState();
+    if (state == cereal::SelfdriveState::OpenpilotState::PRE_ENABLED || state == cereal::SelfdriveState::OpenpilotState::OVERRIDING ||
+        state_mads == cereal::SelfdriveStateSP::ModularAssistiveDrivingSystem::ModularAssistiveDrivingSystemState::PAUSED ||
+        state_mads == cereal::SelfdriveStateSP::ModularAssistiveDrivingSystem::ModularAssistiveDrivingSystemState::OVERRIDING) {
       status = STATUS_OVERRIDE;
     } else {
-      status = ss.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
+      if (mads.getAvailable()) {
+        if (mads.getEnabled()) {
+          status = ss.getEnabled() ? STATUS_ENGAGED : STATUS_LAT_ONLY;
+        } else {
+          status = STATUS_DISENGAGED;
+        }
+      } else {
+        status = ss.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
+      }
     }
   }
 
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index bf932c2ab5a867..21e74af1d2df98 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -42,12 +42,16 @@ typedef enum UIStatus {
   STATUS_DISENGAGED,
   STATUS_OVERRIDE,
   STATUS_ENGAGED,
+  STATUS_LAT_ONLY,
+  STATUS_LONG_ONLY,
 } UIStatus;
 
 const QColor bg_colors [] = {
   [STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8),
   [STATUS_OVERRIDE] = QColor(0x91, 0x9b, 0x95, 0xf1),
   [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
+  [STATUS_LAT_ONLY] = QColor(0x00, 0xc8, 0xc8, 0xf1),
+  [STATUS_LONG_ONLY] = QColor(0x96, 0x1C, 0xA8, 0xf1),
 };
 
 typedef struct UIScene {
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
new file mode 100644
index 00000000000000..2a5d43ea52826a
--- /dev/null
+++ b/sunnypilot/mads/helpers.py
@@ -0,0 +1,63 @@
+"""
+The MIT License
+
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+Last updated: July 29, 2024
+"""
+
+from panda import Panda, ALTERNATIVE_EXPERIENCE
+
+from openpilot.common.params import Params
+
+from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
+
+
+class MadsParams:
+  def __init__(self):
+    self.params = Params()
+
+  def read_param(self, key: str):
+    return self.params.get_bool(key)
+
+  def set_alternative_experience(self, CP):
+    enabled = self.read_param("Mads")
+    pause_lateral_on_brake = self.read_param("MadsPauseLateralOnBrake")
+
+    if enabled:
+      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
+
+      if pause_lateral_on_brake:
+        CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISENGAGE_LATERAL_ON_BRAKE
+
+  def set_car_specific_params(self, CP):
+    if CP.carName == "hyundai":
+      # TODO-SP: This should be separated from MADS module for future implementations
+      #          Use "HyundaiLongitudinalMainCruiseToggleable" param
+      hyundai_cruise_main_toggleable = True
+      if hyundai_cruise_main_toggleable:
+        CP.sunnypilotFlags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
+        CP.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG_MAIN_CRUISE_TOGGLEABLE
+
+    # MADS is currently not supported in Tesla due to lack of consistent states to engage controls
+    # TODO-SP: To enable MADS for Tesla, identify consistent signals for MADS toggling
+    if CP.carName == "tesla":
+      self.params.remove("Mads")
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
new file mode 100644
index 00000000000000..f385a9aba2222b
--- /dev/null
+++ b/sunnypilot/mads/mads.py
@@ -0,0 +1,172 @@
+"""
+The MIT License
+
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+Last updated: July 29, 2024
+"""
+
+from cereal import messaging, car, log, custom
+
+from opendbc.car.hyundai.values import HyundaiFlags
+from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
+
+from openpilot.sunnypilot.mads.helpers import MadsParams
+from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
+
+State = custom.SelfdriveStateSP.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
+ButtonType = car.CarState.ButtonEvent.Type
+EventName = log.OnroadEvent.EventName
+SafetyModel = car.CarParams.SafetyModel
+
+SET_SPEED_BUTTONS = (ButtonType.accelCruise, ButtonType.resumeCruise, ButtonType.decelCruise, ButtonType.setCruise)
+IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
+
+
+class ModularAssistiveDrivingSystem:
+  def __init__(self, selfdrive):
+    self.mads_params = MadsParams()
+
+    self.enabled = False
+    self.active = False
+    self.available = False
+    self.mismatch_counter = 0
+    self.allow_always = False
+    self.selfdrive = selfdrive
+    self.selfdrive.enabled_prev = False
+    self.state_machine = StateMachine(self)
+    self.events = self.selfdrive.events
+
+    if self.selfdrive.CP.carName == "hyundai":
+      if (self.selfdrive.CP.sunnypilotFlags & HyundaiFlagsSP.HAS_LFA_BUTTON) or \
+            (self.selfdrive.CP.flags & HyundaiFlags.CANFD):
+        self.allow_always = True
+
+    # read params on init
+    self.enabled_toggle = self.mads_params.read_param("Mads")
+    self.main_enabled_toggle = self.mads_params.read_param("MadsMainCruiseAllowed")
+    self.pause_lateral_on_brake_toggle = self.mads_params.read_param("MadsPauseLateralOnBrake")
+    self.unified_engagement_mode = self.mads_params.read_param("MadsUnifiedEngagementMode")
+
+  def read_params(self):
+    self.main_enabled_toggle = self.mads_params.read_param("MadsMainCruiseAllowed")
+    self.unified_engagement_mode = self.mads_params.read_param("MadsUnifiedEngagementMode")
+
+  def update_controls_mismatch(self, sm: messaging.SubMaster):
+    heartbeat_engaged = self.active if self.pause_lateral_on_brake_toggle else self.enabled
+
+    if not heartbeat_engaged:
+      self.mismatch_counter = 0
+
+    if heartbeat_engaged and any(not ps.controlsAllowedLat for ps in sm['pandaStates']
+                                 if ps.safetyModel not in IGNORED_SAFETY_MODES):
+      self.mismatch_counter += 1
+
+    if self.mismatch_counter >= 200:
+      self.events.add(EventName.controlsMismatchLateral)
+
+  def update_events(self, CS: car.CarState, sm: messaging.SubMaster):
+    def update_unified_engagement_mode():
+      uem_blocked = self.enabled or (self.selfdrive.enabled and self.selfdrive.enabled_prev)
+      if (self.unified_engagement_mode and uem_blocked) or not self.unified_engagement_mode:
+        self.events.remove(EventName.pcmEnable)
+        self.events.remove(EventName.buttonEnable)
+
+    def transition_paused_state():
+      if self.state_machine.state != State.paused:
+        self.events.add(EventName.silentLkasDisable)
+
+    if not self.selfdrive.enabled and self.enabled:
+      if self.events.has(EventName.doorOpen):
+        self.events.replace(EventName.doorOpen, EventName.silentDoorOpen)
+        transition_paused_state()
+      if self.events.has(EventName.seatbeltNotLatched):
+        self.events.replace(EventName.seatbeltNotLatched, EventName.silentSeatbeltNotLatched)
+        transition_paused_state()
+      if self.events.has(EventName.wrongGear):
+        self.events.replace(EventName.wrongGear, EventName.silentWrongGear)
+        transition_paused_state()
+      if self.events.has(EventName.reverseGear):
+        self.events.replace(EventName.reverseGear, EventName.silentReverseGear)
+        transition_paused_state()
+      if self.events.has(EventName.brakeHold):
+        self.events.replace(EventName.brakeHold, EventName.silentBrakeHold)
+        transition_paused_state()
+      if self.events.has(EventName.parkBrake):
+        self.events.replace(EventName.parkBrake, EventName.silentParkBrake)
+        transition_paused_state()
+
+      if self.pause_lateral_on_brake_toggle:
+        if CS.brakePressed:
+          transition_paused_state()
+
+      if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \
+         not self.events.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
+        if self.state_machine.state == State.paused:
+          self.events.add(EventName.silentLkasEnable)
+
+      self.events.remove(EventName.preEnableStandstill)
+
+    if self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable):
+      update_unified_engagement_mode()
+    else:
+      if self.main_enabled_toggle:
+        if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available:
+          self.events.add(EventName.lkasEnable)
+
+    for be in CS.buttonEvents:
+      if be.type == ButtonType.cancel:
+        if not self.selfdrive.enabled and self.selfdrive.enabled_prev:
+          self.events.add(EventName.manualLongitudinalRequired)
+      if be.type == ButtonType.lkas and be.pressed and (CS.cruiseState.available or self.allow_always):
+        if self.enabled:
+          if self.selfdrive.enabled:
+            self.events.add(EventName.manualSteeringRequired)
+          else:
+            self.events.add(EventName.lkasDisable)
+        else:
+          self.events.add(EventName.lkasEnable)
+
+    if not CS.cruiseState.available:
+      self.events.remove(EventName.buttonEnable)
+      if self.selfdrive.CS_prev.cruiseState.available:
+        self.events.add(EventName.lkasDisable)
+
+    self.events.remove(EventName.pcmDisable)
+    self.events.remove(EventName.buttonCancel)
+    self.events.remove(EventName.pedalPressed)
+    self.events.remove(EventName.wrongCruiseMode)
+    if not any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents):
+      self.events.remove(EventName.wrongCarMode)
+
+    self.update_controls_mismatch(sm)
+
+  def update(self, CS: car.CarState, sm: messaging.SubMaster):
+    if not self.enabled_toggle:
+      return
+
+    self.update_events(CS, sm)
+
+    if not self.selfdrive.CP.passive and self.selfdrive.initialized:
+      self.enabled, self.active = self.state_machine.update(self.events)
+
+    # Copy of previous SelfdriveD states for MADS events handling
+    self.selfdrive.enabled_prev = self.selfdrive.enabled
diff --git a/sunnypilot/mads/state.py b/sunnypilot/mads/state.py
new file mode 100644
index 00000000000000..de6ed537d4d0ab
--- /dev/null
+++ b/sunnypilot/mads/state.py
@@ -0,0 +1,146 @@
+"""
+The MIT License
+
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+Last updated: July 29, 2024
+"""
+
+from cereal import log, custom
+from openpilot.selfdrive.selfdrived.events import ET, Events
+from openpilot.selfdrive.selfdrived.state import SOFT_DISABLE_TIME
+from openpilot.common.realtime import DT_CTRL
+
+State = custom.SelfdriveStateSP.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
+EventName = log.OnroadEvent.EventName
+
+ACTIVE_STATES = (State.enabled, State.softDisabling, State.overriding)
+ENABLED_STATES = (State.paused, *ACTIVE_STATES)
+
+GEARS_ALLOW_PAUSED_SILENT = [EventName.silentWrongGear, EventName.silentReverseGear, EventName.silentBrakeHold,
+                             EventName.silentDoorOpen, EventName.silentSeatbeltNotLatched, EventName.silentParkBrake]
+GEARS_ALLOW_PAUSED = [EventName.wrongGear, EventName.reverseGear, EventName.brakeHold,
+                      EventName.doorOpen, EventName.seatbeltNotLatched, EventName.parkBrake,
+                      *GEARS_ALLOW_PAUSED_SILENT]
+
+
+class StateMachine:
+  def __init__(self, mads):
+    self.selfdrive = mads.selfdrive
+    self.ss_state_machine = mads.selfdrive.state_machine
+
+    self.state = State.disabled
+
+  def add_current_alert_types(self, alert_type):
+    if not self.selfdrive.enabled:
+      self.ss_state_machine.current_alert_types.append(alert_type)
+
+  def update(self, events: Events):
+    # soft disable timer and current alert types are from the state machine of openpilot
+    # decrement the soft disable timer at every step, as it's reset on
+    # entrance in SOFT_DISABLING state
+
+    # ENABLED, SOFT DISABLING, PAUSED, OVERRIDING
+    if self.state != State.disabled:
+      # user and immediate disable always have priority in a non-disabled state
+      if events.contains(ET.USER_DISABLE):
+        if events.has(EventName.silentLkasDisable) or events.has(EventName.silentBrakeHold):
+          self.state = State.paused
+        else:
+          self.state = State.disabled
+        self.ss_state_machine.current_alert_types.append(ET.USER_DISABLE)
+
+      elif events.contains(ET.IMMEDIATE_DISABLE):
+        self.state = State.disabled
+        self.add_current_alert_types(ET.IMMEDIATE_DISABLE)
+
+      else:
+        # ENABLED
+        if self.state == State.enabled:
+          if events.contains(ET.SOFT_DISABLE):
+            self.state = State.softDisabling
+            if not self.selfdrive.enabled:
+              self.ss_state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
+              self.ss_state_machine.current_alert_types.append(ET.SOFT_DISABLE)
+
+          elif events.contains(ET.OVERRIDE_LATERAL):
+            self.state = State.overriding
+            self.add_current_alert_types(ET.OVERRIDE_LATERAL)
+
+        # SOFT DISABLING
+        elif self.state == State.softDisabling:
+          if not events.contains(ET.SOFT_DISABLE):
+            # no more soft disabling condition, so go back to ENABLED
+            self.state = State.enabled
+
+          elif self.ss_state_machine.soft_disable_timer > 0:
+            self.add_current_alert_types(ET.SOFT_DISABLE)
+
+          elif self.ss_state_machine.soft_disable_timer <= 0:
+            self.state = State.disabled
+
+        # PAUSED
+        elif self.state == State.paused:
+          if events.contains(ET.ENABLE):
+            if events.contains(ET.NO_ENTRY):
+              self.add_current_alert_types(ET.NO_ENTRY)
+
+            else:
+              if events.contains(ET.OVERRIDE_LATERAL):
+                self.state = State.overriding
+              else:
+                self.state = State.enabled
+              self.add_current_alert_types(ET.ENABLE)
+
+        # OVERRIDING
+        elif self.state == State.overriding:
+          if events.contains(ET.SOFT_DISABLE):
+            self.state = State.softDisabling
+            if not self.selfdrive.enabled:
+              self.ss_state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
+              self.ss_state_machine.current_alert_types.append(ET.SOFT_DISABLE)
+          elif not events.contains(ET.OVERRIDE_LATERAL):
+            self.state = State.enabled
+          else:
+            self.ss_state_machine.current_alert_types += [ET.OVERRIDE_LATERAL]
+
+    # DISABLED
+    elif self.state == State.disabled:
+      if events.contains(ET.ENABLE):
+        if events.contains(ET.NO_ENTRY):
+          if events.contains_in_list(GEARS_ALLOW_PAUSED):
+            self.state = State.paused
+          self.add_current_alert_types(ET.NO_ENTRY)
+
+        else:
+          if events.contains(ET.OVERRIDE_LATERAL):
+            self.state = State.overriding
+          else:
+            self.state = State.enabled
+          self.add_current_alert_types(ET.ENABLE)
+
+    # check if MADS is engaged and actuators are enabled
+    enabled = self.state in ENABLED_STATES
+    active = self.state in ACTIVE_STATES
+    if active:
+      self.add_current_alert_types(ET.WARNING)
+
+    return enabled, active
diff --git a/sunnypilot/mads/tests/test_mads_state_machine.py b/sunnypilot/mads/tests/test_mads_state_machine.py
new file mode 100644
index 00000000000000..5646c96760869d
--- /dev/null
+++ b/sunnypilot/mads/tests/test_mads_state_machine.py
@@ -0,0 +1,156 @@
+"""
+The MIT License
+
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+Last updated: July 29, 2024
+"""
+
+import pytest
+from pytest_mock import MockerFixture
+
+from cereal import log, custom
+from openpilot.common.realtime import DT_CTRL
+from openpilot.sunnypilot.mads.state import StateMachine, SOFT_DISABLE_TIME, GEARS_ALLOW_PAUSED
+from openpilot.selfdrive.selfdrived.events import Events, ET, EVENTS, NormalPermanentAlert
+
+State = custom.SelfdriveStateSP.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
+EventName = log.OnroadEvent.EventName
+
+# The event types that maintain the current state
+MAINTAIN_STATES = {State.enabled: (None,), State.disabled: (None,), State.softDisabling: (ET.SOFT_DISABLE,),
+                   State.paused: (None,), State.overriding: (ET.OVERRIDE_LATERAL,)}
+ALL_STATES = (State.schema.enumerants.values())
+# The event types checked in DISABLED section of state machine
+ENABLE_EVENT_TYPES = (ET.ENABLE, ET.OVERRIDE_LATERAL)
+
+
+def make_event(event_types):
+  event = {}
+  for ev in event_types:
+    event[ev] = NormalPermanentAlert("alert")
+  EVENTS[0] = event
+  return 0
+
+
+class MockMADS:
+  def __init__(self, mocker: MockerFixture):
+    self.selfdrive = mocker.MagicMock()
+    self.selfdrive.state_machine = mocker.MagicMock()
+    self.selfdrive.active = False
+
+
+class TestMADSStateMachine:
+  @pytest.fixture(autouse=True)
+  def setup_method(self, mocker: MockerFixture):
+    self.mads = MockMADS(mocker)
+    self.events = Events()
+    self.state_machine = StateMachine(self.mads)
+    self.mads.selfdrive.state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
+
+  def test_immediate_disable(self):
+    for state in ALL_STATES:
+      for et in MAINTAIN_STATES[state]:
+        self.events.add(make_event([et, ET.IMMEDIATE_DISABLE]))
+        self.state_machine.state = state
+        self.state_machine.update(self.events)
+        assert State.disabled == self.state_machine.state
+        self.events.clear()
+
+  def test_user_disable(self):
+    for state in ALL_STATES:
+      for et in MAINTAIN_STATES[state]:
+        self.events.add(make_event([et, ET.USER_DISABLE]))
+        self.state_machine.state = state
+        self.state_machine.update(self.events)
+        assert State.disabled == self.state_machine.state
+        self.events.clear()
+
+  def test_user_disable_to_paused(self):
+    paused_events = (EventName.silentLkasDisable, EventName.silentBrakeHold)
+    for state in ALL_STATES:
+      for et in MAINTAIN_STATES[state]:
+        self.events.add(make_event([et, ET.USER_DISABLE]))
+        for en in paused_events:
+          self.events.add(en)
+          self.state_machine.state = state
+          self.state_machine.update(self.events)
+          final_state = State.paused if self.events.has(en) and state != State.disabled else State.disabled
+          assert self.state_machine.state == final_state
+          self.events.clear()
+
+  def test_soft_disable(self):
+    for state in ALL_STATES:
+      if state == State.paused:  # paused considers USER_DISABLE instead
+        continue
+      for et in MAINTAIN_STATES[state]:
+        self.events.add(make_event([et, ET.SOFT_DISABLE]))
+        self.state_machine.state = state
+        self.state_machine.update(self.events)
+        assert self.state_machine.state == State.disabled if state == State.disabled else State.softDisabling
+        self.events.clear()
+
+  def test_soft_disable_timer(self):
+    self.state_machine.state = State.enabled
+    self.events.add(make_event([ET.SOFT_DISABLE]))
+    self.state_machine.update(self.events)
+    for _ in range(int(SOFT_DISABLE_TIME / DT_CTRL)):
+      assert self.state_machine.state == State.softDisabling
+      self.mads.selfdrive.state_machine.soft_disable_timer -= 1
+      self.state_machine.update(self.events)
+
+    assert self.state_machine.state == State.disabled
+
+  def test_no_entry(self):
+    for et in ENABLE_EVENT_TYPES:
+      self.events.add(make_event([ET.NO_ENTRY, et]))
+      if not self.events.contains_in_list(GEARS_ALLOW_PAUSED):
+        self.state_machine.update(self.events)
+        assert self.state_machine.state == State.disabled
+        self.events.clear()
+
+  def test_no_entry_paused(self):
+    self.state_machine.state = State.paused
+    self.events.add(make_event([ET.NO_ENTRY]))
+    self.state_machine.update(self.events)
+    assert self.state_machine.state == State.paused
+
+  def test_override_lateral(self):
+    self.state_machine.state = State.enabled
+    self.events.add(make_event([ET.OVERRIDE_LATERAL]))
+    self.state_machine.update(self.events)
+    assert self.state_machine.state == State.overriding
+
+  def test_paused_to_enabled(self):
+    self.state_machine.state = State.paused
+    self.events.add(make_event([ET.ENABLE]))
+    self.state_machine.update(self.events)
+    assert self.state_machine.state == State.enabled
+
+  def test_maintain_states(self):
+    for state in ALL_STATES:
+      for et in MAINTAIN_STATES[state]:
+        self.state_machine.state = state
+        if et is not None:
+          self.events.add(make_event([et]))
+        self.state_machine.update(self.events)
+        assert self.state_machine.state == state
+        self.events.clear()
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 8afb29497105ff..5cbc73b8387fd7 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -40,6 +40,13 @@ def manager_init() -> None:
     ("LanguageSetting", "main_en"),
     ("OpenpilotEnabledToggle", "1"),
     ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
+  ]
+
+  sunnypilot_default_params: list[tuple[str, str | bytes]] = [
+    ("Mads", "1"),
+    ("MadsMainCruiseAllowed", "1"),
+    ("MadsPauseLateralOnBrake", "0"),
+    ("MadsUnifiedEngagementMode", "1"),
     ("ModelManager_LastSyncTime", "0"),
     ("ModelManager_ModelsCache", "")
   ]
@@ -48,7 +55,7 @@ def manager_init() -> None:
     params.put_bool("RecordFront", True)
 
   # set unset params
-  for k, v in default_params:
+  for k, v in (default_params + sunnypilot_default_params):
     if params.get(k) is None:
       params.put(k, v)
 
diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc
index b2a006b22faad9..e66d72e59d2a94 100644
--- a/tools/cabana/streams/pandastream.cc
+++ b/tools/cabana/streams/pandastream.cc
@@ -72,7 +72,7 @@ void PandaStream::streamThread() {
 
     handleEvent(capnp::messageToFlatArray(msg));
 
-    panda->send_heartbeat(false);
+    panda->send_heartbeat(false, false);
   }
 }
 

From 9c58fa1020ed51e7f1aea3f4155baad405315f1b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 5 Jan 2025 01:59:30 -0500
Subject: [PATCH 0037/1434] ui: remove stretch in sunnypilot panel (#520)

* no need to stretch for listwidget

* button moved
---
 selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc | 1 -
 selfdrive/ui/tests/test_ui/run.py                               | 2 +-
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc
index 65a696d814dfb7..6671208fea556d 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc
@@ -49,7 +49,6 @@ SunnypilotPanel::SunnypilotPanel(SettingsWindowSP *parent) : QFrame(parent) {
 
   sunnypilotScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(sunnypilotScroller);
-  vlayout->addStretch(1);
 
   main_layout->addWidget(sunnypilotScreen);
   main_layout->addWidget(madsWidget);
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index a8b6c41edec9dd..847ebaf4e36f62 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -186,7 +186,7 @@ def setup_settings_sunnypilot_mads(click, pm: PubMaster):
 
   setup_settings_device(click, pm)
   click(278, 846)
-  click(970, 250)
+  click(970, 455)
   time.sleep(UI_DELAY)
 
 CASES = {

From 0b1d97fc723be3a2353f2e7bf66bdc98d1b3b998 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 5 Jan 2025 08:27:44 +0100
Subject: [PATCH 0038/1434] sunnylink support (#499)

* Add Sunnylink integration for improved device communication

This commit introduces Sunnylink support, including modules for API interactions, device registration, logging, and uploader processes. Key changes involve adding Sunnylink-related components, such as sunnylinkd, manage_sunnylinkd, and associated utilities, along with seamless integration into process management.

* Refactor Sunnylink modules and update import paths

Standardize parameter handling in Sunnylink functions by initializing Params within functions as needed. Update imports to use fully-qualified paths for better clarity and consistency. Also, refactor logging messages for improved readability and maintainability.

* Add Sunnylink support and improve log handling

Introduced Sunnylink-specific functionality, including compression for oversized logs and platform-specific socket handling for macOS. Improved logging mechanisms, refactored log queue management, and fixed exception handling in sunnylinkd.

* Refactor and fix minor coding style inconsistencies

Remove unnecessary string concatenation, adjust spacing for better readability, and ensure cleaner code in `athenad.py` and `sunnylink.py`. Added a macOS-specific comment for TCP_KEEPALIVE configuration to improve code clarity.

* Replace platform system check with sys platform in athenad.py

To check for macOS platform, the code in athenad.py has been altered. Originally, the platform.system() function was used. However, the function has been replaced with sys.platform for a more consistent and preferable syntax. Particularly, this has been modified in the context of setting socket options.

* Apply suggestions from code review

Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>

* Simplify imports and reformat API function.

Removed unused `platform` import for cleanup in `athenad.py`. Improved readability of `api_get` in `__init__.py` by reformatting the long return statement into multiple lines.

* Adjust backoff logic and refactor API call formatting.

Introduce randomness to backoff calculation in Sunnylink API to reduce synchronization issues. Minor code refactoring improves readability in the API call logic.

* Refactor Sunnylink network check logic.

Removed hardware-based network check due to performance concerns and replaced it with a real-time device state monitoring loop. This improves efficiency and ensures accurate online status before proceeding with Sunnylink registration.

* Apply suggestions from code review

* `Refactor saveParams error handling and simplify logic`

Removed redundant try-except block wrapping the entire method for clarity. Moved error logging directly inside the loop to handle individual parameter exceptions more effectively. Simplified dictionary construction and improved error logging format.

* Add BACKUP flag to select persistent parameters

This commit introduces a new BACKUP flag and applies it to specific persistent parameters in `params.cc` and `params.h`. The BACKUP flag enhances data retention by designating parameters for inclusion in backups, ensuring crucial information is preserved across sessions.

* Simplify Sunnypilot params formatting

Removed unnecessary blank lines and adjusted the Sunnypilot comment format for better readability and consistency. No functional changes were made.

* SP: Move Sunnypilot-related code to sunnypilot/sunnylink (#504)

* Refactor and relocate sunnylink-related modules

sunnylink components have been reorganized for better modularity and clarity, with files moved under `sunnypilot/sunnylink`. Unused code was removed, and reusable utilities were separated for easier maintenance. Adjusted references across the project to reflect these changes.

* Permissions

* adding init py

* more

---------

Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/api/__init__.py                        |  55 +---
 common/api/base.py                            |  56 ++++
 common/api/comma_connect.py                   |  11 +
 common/params.cc                              |  55 ++--
 common/params.h                               |   1 +
 sunnypilot/sunnylink/__init__.py              |   0
 sunnypilot/sunnylink/api.py                   | 158 +++++++++
 sunnypilot/sunnylink/athena/__init__.py       |   0
 .../sunnylink/athena/manage_sunnylinkd.py     |   5 +
 sunnypilot/sunnylink/athena/sunnylinkd.py     | 256 +++++++++++++++
 sunnypilot/sunnylink/registration_manager.py  |  29 ++
 sunnypilot/sunnylink/uploader.py              | 310 ++++++++++++++++++
 sunnypilot/sunnylink/utils.py                 |  48 +++
 system/athena/athenad.py                      | 121 +++++--
 system/athena/manage_athenad.py               |  17 +-
 system/manager/process_config.py              |  20 ++
 16 files changed, 1047 insertions(+), 95 deletions(-)
 create mode 100644 common/api/base.py
 create mode 100644 common/api/comma_connect.py
 create mode 100644 sunnypilot/sunnylink/__init__.py
 create mode 100644 sunnypilot/sunnylink/api.py
 create mode 100644 sunnypilot/sunnylink/athena/__init__.py
 create mode 100755 sunnypilot/sunnylink/athena/manage_sunnylinkd.py
 create mode 100755 sunnypilot/sunnylink/athena/sunnylinkd.py
 create mode 100755 sunnypilot/sunnylink/registration_manager.py
 create mode 100755 sunnypilot/sunnylink/uploader.py
 create mode 100644 sunnypilot/sunnylink/utils.py

diff --git a/common/api/__init__.py b/common/api/__init__.py
index ac231400a47cc7..5542760802a198 100644
--- a/common/api/__init__.py
+++ b/common/api/__init__.py
@@ -1,46 +1,27 @@
-import jwt
-import os
-import requests
-from datetime import datetime, timedelta, UTC
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.version import get_version
+from openpilot.common.api.comma_connect import CommaConnectApi
+from sunnypilot.sunnylink.api import SunnylinkApi
 
-API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 
 class Api:
-  def __init__(self, dongle_id):
-    self.dongle_id = dongle_id
-    with open(Paths.persist_root()+'/comma/id_rsa') as f:
-      self.private_key = f.read()
+  def __init__(self, dongle_id, use_sunnylink=False):
+    if use_sunnylink:
+      self.service = SunnylinkApi(dongle_id)
+    else:
+      self.service = CommaConnectApi(dongle_id)
+
+  def request(self, method, endpoint, **params):
+    return self.service.request(method, endpoint, **params)
 
   def get(self, *args, **kwargs):
-    return self.request('GET', *args, **kwargs)
+    return self.service.get(*args, **kwargs)
 
   def post(self, *args, **kwargs):
-    return self.request('POST', *args, **kwargs)
-
-  def request(self, method, endpoint, timeout=None, access_token=None, **params):
-    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
+    return self.service.post(*args, **kwargs)
 
   def get_token(self, expiry_hours=1):
-    now = datetime.now(UTC).replace(tzinfo=None)
-    payload = {
-      'identity': self.dongle_id,
-      'nbf': now,
-      'iat': now,
-      'exp': now + timedelta(hours=expiry_hours)
-    }
-    token = jwt.encode(payload, self.private_key, algorithm='RS256')
-    if isinstance(token, bytes):
-      token = token.decode('utf8')
-    return token
-
-
-def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
-  headers = {}
-  if access_token is not None:
-    headers['Authorization'] = "JWT " + access_token
-
-  headers['User-Agent'] = "openpilot-" + get_version()
-
-  return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
+    return self.service.get_token(expiry_hours)
+
+
+def api_get(endpoint, method='GET', timeout=None, access_token=None, use_sunnylink=False, **params):
+  return SunnylinkApi(None).api_get(endpoint, method, timeout, access_token, **params) if use_sunnylink \
+    else CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
diff --git a/common/api/base.py b/common/api/base.py
new file mode 100644
index 00000000000000..0707c1ccac1c89
--- /dev/null
+++ b/common/api/base.py
@@ -0,0 +1,56 @@
+import jwt
+import requests
+import unicodedata
+from datetime import datetime, timedelta, UTC
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.version import get_version
+
+
+class BaseApi:
+  def __init__(self, dongle_id, api_host, user_agent="openpilot-"):
+    self.dongle_id = dongle_id
+    self.api_host = api_host
+    self.user_agent = user_agent
+    with open(f'{Paths.persist_root()}/comma/id_rsa') as f:
+      self.private_key = f.read()
+
+  def get(self, *args, **kwargs):
+    return self.request('GET', *args, **kwargs)
+
+  def post(self, *args, **kwargs):
+    return self.request('POST', *args, **kwargs)
+
+  def request(self, method, endpoint, timeout=None, access_token=None, **params):
+    return self.api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
+
+  def _get_token(self, expiry_hours=1, **extra_payload):
+    now = datetime.now(UTC).replace(tzinfo=None)
+    payload = {
+      'identity': self.dongle_id,
+      'nbf': now,
+      'iat': now,
+      'exp': now + timedelta(hours=expiry_hours),
+      **extra_payload
+    }
+    token = jwt.encode(payload, self.private_key, algorithm='RS256')
+    if isinstance(token, bytes):
+      token = token.decode('utf8')
+    return token
+
+  def get_token(self, expiry_hours=1):
+    return self._get_token(expiry_hours)
+
+  def remove_non_ascii_chars(self, text):
+    normalized_text = unicodedata.normalize('NFD', text)
+    ascii_encoded_text = normalized_text.encode('ascii', 'ignore')
+    return ascii_encoded_text.decode()
+
+  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, **params):
+    headers = {}
+    if access_token is not None:
+      headers['Authorization'] = "JWT " + access_token
+
+    version = self.remove_non_ascii_chars(get_version())
+    headers['User-Agent'] = self.user_agent + version
+
+    return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, params=params)
diff --git a/common/api/comma_connect.py b/common/api/comma_connect.py
new file mode 100644
index 00000000000000..1c705f3722c416
--- /dev/null
+++ b/common/api/comma_connect.py
@@ -0,0 +1,11 @@
+import os
+
+from openpilot.common.api.base import BaseApi
+
+API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
+
+
+class CommaConnectApi(BaseApi):
+  def __init__(self, dongle_id):
+    super().__init__(dongle_id, API_HOST)
+    self.user_agent = "openpilot-"
diff --git a/common/params.cc b/common/params.cc
index 3eccd937e0bfd9..85dc5646308faa 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -109,36 +109,36 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CurrentBootlog", PERSISTENT},
     {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"DisablePowerDown", PERSISTENT},
-    {"DisableUpdates", PERSISTENT},
-    {"DisengageOnAccelerator", PERSISTENT},
+    {"DisablePowerDown", PERSISTENT | BACKUP},
+    {"DisableUpdates", PERSISTENT | BACKUP},
+    {"DisengageOnAccelerator", PERSISTENT | BACKUP},
     {"DongleId", PERSISTENT},
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
-    {"ExperimentalMode", PERSISTENT},
-    {"ExperimentalModeConfirmed", PERSISTENT},
+    {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
+    {"ExperimentalMode", PERSISTENT | BACKUP},
+    {"ExperimentalModeConfirmed", PERSISTENT | BACKUP},
     {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ForcePowerDown", PERSISTENT},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},
     {"GitCommitDate", PERSISTENT},
     {"GitDiff", PERSISTENT},
-    {"GithubSshKeys", PERSISTENT},
-    {"GithubUsername", PERSISTENT},
+    {"GithubSshKeys", PERSISTENT | BACKUP},
+    {"GithubUsername", PERSISTENT | BACKUP},
     {"GitRemote", PERSISTENT},
-    {"GsmApn", PERSISTENT},
-    {"GsmMetered", PERSISTENT},
-    {"GsmRoaming", PERSISTENT},
+    {"GsmApn", PERSISTENT | BACKUP},
+    {"GsmMetered", PERSISTENT | BACKUP},
+    {"GsmRoaming", PERSISTENT | BACKUP},
     {"HardwareSerial", PERSISTENT},
     {"HasAcceptedTerms", PERSISTENT},
     {"IMEI", PERSISTENT},
     {"InstallDate", PERSISTENT},
     {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
     {"IsEngaged", PERSISTENT},
-    {"IsLdwEnabled", PERSISTENT},
-    {"IsMetric", PERSISTENT},
+    {"IsLdwEnabled", PERSISTENT | BACKUP},
+    {"IsMetric", PERSISTENT | BACKUP},
     {"IsOffroad", CLEAR_ON_MANAGER_START},
     {"IsOnroad", PERSISTENT},
     {"IsRhdDetected", PERSISTENT},
@@ -146,7 +146,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"IsTestedBranch", CLEAR_ON_MANAGER_START},
     {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LanguageSetting", PERSISTENT},
+    {"LanguageSetting", PERSISTENT | BACKUP},
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
     {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
@@ -158,7 +158,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"LocationFilterInitialState", PERSISTENT},
     {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LongitudinalPersonality", PERSISTENT},
+    {"LongitudinalPersonality", PERSISTENT | BACKUP},
     {"NetworkMetered", PERSISTENT},
     {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
@@ -174,17 +174,17 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
     {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
     {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
-    {"OpenpilotEnabledToggle", PERSISTENT},
+    {"OpenpilotEnabledToggle", PERSISTENT | BACKUP},
     {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},
     {"PrimeType", PERSISTENT},
-    {"RecordFront", PERSISTENT},
+    {"RecordFront", PERSISTENT | BACKUP},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
-    {"SecOCKey", PERSISTENT | DONT_LOG},
+    {"SecOCKey", PERSISTENT | DONT_LOG},  // Candidate for | BACKUP
     {"RouteCount", PERSISTENT},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"SshEnabled", PERSISTENT},
+    {"SshEnabled", PERSISTENT | BACKUP},
     {"TermsVersion", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
     {"UbloxAvailable", PERSISTENT},
@@ -202,15 +202,20 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Version", PERSISTENT},
 
     // sunnypilot params
-    {"EnableGithubRunner", PERSISTENT},
-    {"Mads", PERSISTENT},
-    {"MadsMainCruiseAllowed", PERSISTENT},
-    {"MadsPauseLateralOnBrake", PERSISTENT},
-    {"MadsUnifiedEngagementMode", PERSISTENT},
+    {"EnableGithubRunner", PERSISTENT | BACKUP},
+    {"EnableSunnylinkUploader", PERSISTENT | BACKUP},
+    {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},
+    {"Mads", PERSISTENT | BACKUP},
+    {"MadsMainCruiseAllowed", PERSISTENT | BACKUP},
+    {"MadsPauseLateralOnBrake", PERSISTENT | BACKUP},
+    {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
     {"ModelManager_ActiveBundle", PERSISTENT},
     {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_ONROAD_TRANSITION},
     {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"ModelManager_ModelsCache", PERSISTENT},
+    {"ModelManager_ModelsCache", PERSISTENT | BACKUP},
+    {"SunnylinkDongleId", PERSISTENT},
+    {"SunnylinkdPid", PERSISTENT},
+    {"SunnylinkEnabled", PERSISTENT},
 };
 
 } // namespace
diff --git a/common/params.h b/common/params.h
index d726a6185f3c77..b40371f9766bdc 100644
--- a/common/params.h
+++ b/common/params.h
@@ -16,6 +16,7 @@ enum ParamKeyType {
   CLEAR_ON_OFFROAD_TRANSITION = 0x10,
   DONT_LOG = 0x20,
   DEVELOPMENT_ONLY = 0x40,
+  BACKUP = 0x80,
   ALL = 0xFFFFFFFF
 };
 
diff --git a/sunnypilot/sunnylink/__init__.py b/sunnypilot/sunnylink/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/sunnylink/api.py b/sunnypilot/sunnylink/api.py
new file mode 100644
index 00000000000000..558a4e8d4a3802
--- /dev/null
+++ b/sunnypilot/sunnylink/api.py
@@ -0,0 +1,158 @@
+import json
+import os
+import random
+import time
+from datetime import datetime, timedelta
+from pathlib import Path
+
+import jwt
+from openpilot.common.api.base import BaseApi
+from openpilot.common.params import Params
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware.hw import Paths
+
+API_HOST = os.getenv('SUNNYLINK_API_HOST', 'https://stg.api.sunnypilot.ai')
+UNREGISTERED_SUNNYLINK_DONGLE_ID = "UnregisteredDevice"
+MAX_RETRIES = 6
+CRASH_LOG_DIR = '/data/community/crashes'
+
+
+class SunnylinkApi(BaseApi):
+  def __init__(self, dongle_id):
+    super().__init__(dongle_id, API_HOST)
+    self.user_agent = "sunnypilot-"
+    self.spinner = None
+    self.params = Params()
+
+  def api_get(self, endpoint, method='GET', timeout=10, access_token=None, **kwargs):
+    if not self.params.get_bool("SunnylinkEnabled"):
+      return None
+
+    return super().api_get(endpoint, method, timeout, access_token, **kwargs)
+
+  def resume_queued(self, timeout=10, **kwargs):
+    sunnylinkId, commaId = self._resolve_dongle_ids()
+    return self.api_get(f"ws/{sunnylinkId}/resume_queued", "POST", timeout, access_token=self.get_token(), **kwargs)
+
+  def get_token(self, expiry_hours=1):
+    # Add your additional data here
+    additional_data = {}
+    return super()._get_token(expiry_hours, **additional_data)
+
+  def _status_update(self, message):
+    print(message)
+    if self.spinner:
+      self.spinner.update(message)
+      time.sleep(0.5)
+
+  def _resolve_dongle_ids(self):
+    sunnylink_dongle_id = self.params.get("SunnylinkDongleId", encoding='utf-8')
+    comma_dongle_id = self.dongle_id or self.params.get("DongleId", encoding='utf-8')
+    return sunnylink_dongle_id, comma_dongle_id
+
+  def _resolve_imeis(self):
+    imei1, imei2 = None, None
+    imei_try = 0
+    while imei1 is None and imei2 is None and imei_try < MAX_RETRIES:
+      try:
+        imei1, imei2 = self.params.get("IMEI", encoding='utf8') or HARDWARE.get_imei(0), HARDWARE.get_imei(1)
+      except Exception:
+        self._status_update(f"Error getting imei, trying again... [{imei_try + 1}/{MAX_RETRIES}]")
+        time.sleep(1)
+      imei_try += 1
+    return imei1, imei2
+
+  def _resolve_serial(self):
+    return (self.params.get("HardwareSerial", encoding='utf8')
+            or HARDWARE.get_serial())
+
+  def register_device(self, spinner=None, timeout=60, verbose=False):
+    self.spinner = spinner
+
+    sunnylink_dongle_id, comma_dongle_id = self._resolve_dongle_ids()
+
+    if comma_dongle_id is None:
+      self._status_update("Comma dongle ID not found, deferring sunnylink's registration to comma's registration process.")
+      return None
+
+    imei1, imei2 = self._resolve_imeis()
+    serial = self._resolve_serial()
+
+    if sunnylink_dongle_id not in (None, UNREGISTERED_SUNNYLINK_DONGLE_ID):
+      return sunnylink_dongle_id
+
+    privkey_path = Path(f"{Paths.persist_root()}/comma/id_rsa")
+    pubkey_path = Path(f"{Paths.persist_root()}/comma/id_rsa.pub")
+
+    start_time = time.monotonic()
+    successful_registration = False
+    if not pubkey_path.is_file():
+      sunnylink_dongle_id = UNREGISTERED_SUNNYLINK_DONGLE_ID
+      self._status_update("Public key not found, setting dongle ID to unregistered.")
+    else:
+      Params().put("LastSunnylinkPingTime", "0")  # Reset the last ping time to 0 if we are trying to register
+      with pubkey_path.open() as f1, privkey_path.open() as f2:
+        public_key = f1.read()
+        private_key = f2.read()
+
+      backoff = 1
+      while True:
+        register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm='RS256')
+        try:
+          if verbose or time.monotonic() - start_time < timeout / 2:
+            self._status_update("Registering device to sunnylink...")
+          elif time.monotonic() - start_time >= timeout / 2:
+            self._status_update("Still registering device to sunnylink...")
+
+          resp = self.api_get("v2/pilotauth/", method='POST', timeout=15, imei=imei1, imei2=imei2, serial=serial,
+                              comma_dongle_id=comma_dongle_id, public_key=public_key, register_token=register_token)
+
+          if resp is None:
+            raise Exception("Unable to register device, request was None")
+
+          if resp.status_code in (409, 412):
+            timeout = time.monotonic() - start_time  # Don't retry if the public key is already in use
+            key_in_use = "Public key is already in use, is your key unique? Contact your vendor for a new key."
+            unsafe_key = "Public key is known to not be unique and it's unsafe. Contact your vendor for a new key."
+            error_message = key_in_use if resp.status_code == 409 else unsafe_key
+            raise Exception(error_message)
+
+          if resp.status_code != 200:
+            raise Exception(f"Failed to register with sunnylink. Status code: {resp.status_code}\nData\n:{resp.text}")
+
+          dongleauth = json.loads(resp.text)
+          sunnylink_dongle_id = dongleauth["device_id"]
+          if sunnylink_dongle_id:
+            self._status_update("Device registered successfully.")
+            successful_registration = True
+            break
+        except Exception as e:
+          if verbose:
+            self._status_update(f"Waiting {backoff}s before retry, Exception occurred during registration: [{str(e)}]")
+
+          if not os.path.exists(CRASH_LOG_DIR):
+            os.makedirs(CRASH_LOG_DIR)
+
+          with open(f'{CRASH_LOG_DIR}/error.txt', 'a') as f:
+            f.write(f"[{datetime.now()}] sunnylink: {str(e)}\n")
+
+          backoff = min(backoff * 2 * (0.5 + random.random()), 60)
+          time.sleep(backoff)
+
+        if time.monotonic() - start_time > timeout:
+          self._status_update(f"Giving up on sunnylink's registration after {timeout}s. Will retry on next boot.")
+          time.sleep(3)
+          break
+
+    self.params.put("SunnylinkDongleId", sunnylink_dongle_id or UNREGISTERED_SUNNYLINK_DONGLE_ID)
+
+    # Set the last ping time to the current time since we were just talking to the API
+    last_ping = int(time.monotonic() * 1e9) if successful_registration else start_time
+    Params().put("LastSunnylinkPingTime", str(last_ping))
+
+    # Disable sunnylink if registration was not successful
+    if not successful_registration:
+      Params().put_bool("SunnylinkEnabled", False)
+
+    self.spinner = None
+    return sunnylink_dongle_id
diff --git a/sunnypilot/sunnylink/athena/__init__.py b/sunnypilot/sunnylink/athena/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/sunnylink/athena/manage_sunnylinkd.py b/sunnypilot/sunnylink/athena/manage_sunnylinkd.py
new file mode 100755
index 00000000000000..377b6990f78d2f
--- /dev/null
+++ b/sunnypilot/sunnylink/athena/manage_sunnylinkd.py
@@ -0,0 +1,5 @@
+#!/usr/bin/env python3
+from openpilot.system.athena.manage_athenad import manage_athenad
+
+if __name__ == '__main__':
+  manage_athenad("SunnylinkDongleId", "SunnylinkdPid", 'sunnylinkd', 'sunnypilot.sunnylink.athena.sunnylinkd')
diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
new file mode 100755
index 00000000000000..0fb7ea6d9ae85b
--- /dev/null
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -0,0 +1,256 @@
+#!/usr/bin/env python3
+
+from __future__ import annotations
+
+import base64
+import gzip
+import os
+import threading
+import time
+
+from jsonrpc import dispatcher
+from openpilot.common.params import Params
+from openpilot.common.realtime import set_core_affinity
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \
+  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler
+from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
+                       create_connection)
+
+import cereal.messaging as messaging
+from sunnypilot.sunnylink.api import SunnylinkApi
+from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready
+
+SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://ws.stg.api.sunnypilot.ai')
+HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
+LOCAL_PORT_WHITELIST = {8022}
+SUNNYLINK_LOG_ATTR_NAME = "user.sunny.upload"
+SUNNYLINK_RECONNECT_TIMEOUT_S = 70  # FYI changing this will also would require a change on sidebar.cc
+DISALLOW_LOG_UPLOAD = threading.Event()
+
+params = Params()
+sunnylink_api = SunnylinkApi(params.get("SunnylinkDongleId", encoding='utf-8'))
+
+
+def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
+  cloudlog.info("sunnylinkd.handle_long_poll started")
+  sm = messaging.SubMaster(['deviceState'])
+  end_event = threading.Event()
+  comma_prime_cellular_end_event = threading.Event()
+
+  threads = [
+              threading.Thread(target=ws_manage, args=(ws, end_event), name='ws_manage'),
+              threading.Thread(target=ws_recv, args=(ws, end_event), name='ws_recv'),
+              threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
+              threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'),
+              threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
+              # threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
+              # threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
+              # threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
+            ] + [
+              threading.Thread(target=jsonrpc_handler, args=(end_event,), name=f'worker_{x}')
+              for x in range(HANDLER_THREADS)
+            ]
+
+  for thread in threads:
+    thread.start()
+  try:
+    while not end_event.wait(0.1):
+      if not sunnylink_ready(params):
+        cloudlog.warning("Exiting sunnylinkd.handle_long_poll as SunnylinkEnabled is False")
+        break
+
+      sm.update(0)
+      if exit_event is not None and exit_event.is_set():
+        end_event.set()
+        comma_prime_cellular_end_event.set()
+
+      prime_type = params.get("PrimeType", encoding='utf-8') or 0
+      metered = sm['deviceState'].networkMetered
+
+      if DISALLOW_LOG_UPLOAD.is_set() and not comma_prime_cellular_end_event.is_set():
+        cloudlog.debug("sunnylinkd.handle_long_poll: DISALLOW_LOG_UPLOAD, setting comma_prime_cellular_end_event")
+        comma_prime_cellular_end_event.set()
+      elif metered and int(prime_type) > 2:
+        cloudlog.debug(f"sunnylinkd.handle_long_poll: PrimeType({prime_type}) > 2 and networkMetered({metered})")
+        comma_prime_cellular_end_event.set()
+      elif comma_prime_cellular_end_event.is_set() and not DISALLOW_LOG_UPLOAD.is_set():
+        cloudlog.debug(
+          f"sunnylinkd.handle_long_poll: comma_prime_cellular_end_event is set and not PrimeType({prime_type}) > 2 or not networkMetered({metered})")
+        comma_prime_cellular_end_event.clear()
+  finally:
+    end_event.set()
+    comma_prime_cellular_end_event.set()
+    for thread in threads:
+      cloudlog.debug(f"sunnylinkd athena.joining {thread.name}")
+      thread.join()
+      cloudlog.debug(f"sunnylinkd athena.joined {thread.name}")
+
+
+def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
+  last_ping = int(time.monotonic() * 1e9)
+  while not end_event.is_set():
+    try:
+      opcode, data = ws.recv_data(control_frame=True)
+      if opcode in (ABNF.OPCODE_TEXT, ABNF.OPCODE_BINARY):
+        if opcode == ABNF.OPCODE_TEXT:
+          data = data.decode("utf-8")
+        recv_queue.put_nowait(data)
+        cloudlog.debug(f"sunnylinkd.ws_recv.recv {data}")
+      elif opcode in (ABNF.OPCODE_PING, ABNF.OPCODE_PONG):
+        cloudlog.debug("sunnylinkd.ws_recv.pong")
+        last_ping = int(time.monotonic() * 1e9)
+        Params().put("LastSunnylinkPingTime", str(last_ping))
+    except WebSocketTimeoutException:
+      ns_since_last_ping = int(time.monotonic() * 1e9) - last_ping
+      if ns_since_last_ping > SUNNYLINK_RECONNECT_TIMEOUT_S * 1e9:
+        cloudlog.exception("sunnylinkd.ws_recv.timeout")
+        end_event.set()
+    except Exception:
+      cloudlog.exception("sunnylinkd.ws_recv.exception")
+      end_event.set()
+
+
+def ws_ping(ws: WebSocket, end_event: threading.Event) -> None:
+  ws.ping()  # Send the first ping
+  while not end_event.wait(SUNNYLINK_RECONNECT_TIMEOUT_S * 0.7):  # Sleep about 70% before a timeout
+    try:
+      ws.ping()
+      cloudlog.debug("sunnylinkd.ws_recv.ws_ping: Pinging")
+    except Exception:
+      cloudlog.exception("sunnylinkd.ws_ping.exception")
+      end_event.set()
+  cloudlog.debug("sunnylinkd.ws_ping.end_event is set, exiting ws_ping thread")
+
+
+def ws_queue(end_event: threading.Event) -> None:
+  resume_requested = False
+  tries = 0
+
+  while not end_event.is_set() and not resume_requested:
+    try:
+      if not resume_requested:
+        cloudlog.debug("sunnylinkd.ws_queue.resume_queued")
+        sunnylink_api.resume_queued(timeout=29)
+        resume_requested = True
+        tries = 0
+    except Exception:
+      cloudlog.exception("sunnylinkd.ws_queue.resume_queued.exception")
+      resume_requested = False
+      tries += 1
+      time.sleep(backoff(tries))  # Wait for the backoff time before the next attempt
+
+  if end_event.is_set():
+    cloudlog.debug("end_event is set, exiting ws_queue thread")
+  elif resume_requested:
+    cloudlog.debug(f"Resume requested to server after {tries} tries")
+  else:
+    cloudlog.error(f"Reached end of ws_queue while end_event is not set and resume_requested is {resume_requested}")
+
+
+def sunny_log_handler(end_event: threading.Event, comma_prime_cellular_end_event: threading.Event) -> None:
+  while not end_event.wait(0.1):
+    if not comma_prime_cellular_end_event.is_set():
+      log_handler(comma_prime_cellular_end_event, SUNNYLINK_LOG_ATTR_NAME)
+  comma_prime_cellular_end_event.set()
+
+
+@dispatcher.add_method
+def toggleLogUpload(enabled: bool):
+  DISALLOW_LOG_UPLOAD.clear() if enabled and DISALLOW_LOG_UPLOAD.is_set() else DISALLOW_LOG_UPLOAD.set()
+
+
+@dispatcher.add_method
+def getParamsAllKeys() -> list[str]:
+  keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
+  return keys
+
+
+@dispatcher.add_method
+def getParams(params_keys: list[str], compression: bool = False) -> str | dict[str, str]:
+  try:
+    params = Params()
+    params_dict: dict[str, bytes] = {key: params.get(key) or b'' for key in params_keys}
+
+    # Compress the values before encoding to base64 as output from params.get is bytes and same for compression
+    if compression:
+      params_dict = {key: gzip.compress(value) for key, value in params_dict.items()}
+
+    # Last step is to encode the values to base64 and decode to utf-8 for JSON serialization
+    return {key: base64.b64encode(value).decode('utf-8') for key, value in params_dict.items()}
+
+  except Exception as e:
+    cloudlog.exception("sunnylinkd.getParams.exception", e)
+    raise
+
+
+@dispatcher.add_method
+def saveParams(params_to_update: dict[str, str], compression: bool = False) -> None:
+  params = Params()
+  params_dict = {key: base64.b64decode(value) for key, value in params_to_update.items()}
+
+  if compression:
+    params_dict = {key: gzip.decompress(value) for key, value in params_dict.items()}
+
+  for key, value in params_dict.items():
+    try:
+      params.put(key, value)
+    except Exception as e:
+      cloudlog.error(f"sunnylinkd.saveParams.exception {e}")
+
+
+def main(exit_event: threading.Event = None):
+  try:
+    set_core_affinity([0, 1, 2, 3])
+  except Exception:
+    cloudlog.exception("failed to set core affinity")
+
+  while sunnylink_need_register(params):
+    cloudlog.info("Waiting for sunnylink registration to complete")
+    time.sleep(10)
+
+  UploadQueueCache.initialize(upload_queue)
+
+  ws_uri = SUNNYLINK_ATHENA_HOST
+  conn_start = None
+  conn_retries = 0
+  while (exit_event is None or not exit_event.is_set()) and sunnylink_ready(params):
+    try:
+      if conn_start is None:
+        conn_start = time.monotonic()
+
+      cloudlog.event("sunnylinkd.main.connecting_ws", ws_uri=ws_uri, retries=conn_retries)
+      ws = create_connection(
+        ws_uri,
+        cookie=f"jwt={sunnylink_api.get_token()}",
+        enable_multithread=True,
+        timeout=SUNNYLINK_RECONNECT_TIMEOUT_S,
+      )
+      cloudlog.event("sunnylinkd.main.connected_ws", ws_uri=ws_uri, retries=conn_retries,
+                     duration=time.monotonic() - conn_start)
+      conn_start = None
+
+      conn_retries = 0
+      cur_upload_items.clear()
+
+      handle_long_poll(ws, exit_event)
+    except (KeyboardInterrupt, SystemExit):
+      break
+    except (ConnectionError, TimeoutError, WebSocketException):
+      conn_retries += 1
+      params.remove("LastSunnylinkPingTime")
+    except Exception:
+      cloudlog.exception("sunnylinkd.main.exception")
+
+      conn_retries += 1
+      params.remove("LastSunnylinkPingTime")
+
+    time.sleep(backoff(conn_retries))
+
+  if not sunnylink_ready(params):
+    cloudlog.debug("Reached end of sunnylinkd.main while sunnylink is not ready. Waiting 60s before retrying")
+    time.sleep(60)
+
+
+if __name__ == "__main__":
+  main()
diff --git a/sunnypilot/sunnylink/registration_manager.py b/sunnypilot/sunnylink/registration_manager.py
new file mode 100755
index 00000000000000..34323c27893302
--- /dev/null
+++ b/sunnypilot/sunnylink/registration_manager.py
@@ -0,0 +1,29 @@
+#!/usr/bin/env python3
+import time
+
+from openpilot.common.realtime import Ratekeeper
+from openpilot.common.swaglog import cloudlog
+
+from cereal import log, messaging
+from sunnypilot.sunnylink.utils import register_sunnylink
+
+NetworkType = log.DeviceState.NetworkType
+
+
+def main():
+  """The main method is expected to be called by the manager when the device boots up."""
+  rk = Ratekeeper(.5)
+  sm = messaging.SubMaster(['deviceState'], poll='deviceState')
+  while True:
+    sm.update(1000)
+    if sm['deviceState'].networkType != NetworkType.none:
+      break
+
+    cloudlog.info(f"Waiting to become online... {time.monotonic()}")
+    rk.keep_time()
+
+  register_sunnylink()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/sunnypilot/sunnylink/uploader.py b/sunnypilot/sunnylink/uploader.py
new file mode 100755
index 00000000000000..69ef2cfd8ad23a
--- /dev/null
+++ b/sunnypilot/sunnylink/uploader.py
@@ -0,0 +1,310 @@
+#!/usr/bin/env python3
+import bz2
+import datetime
+import io
+import json
+import os
+import random
+import threading
+import time
+import traceback
+from collections.abc import Iterator
+from typing import BinaryIO
+
+import requests
+from openpilot.common.params import Params
+from openpilot.common.realtime import set_core_affinity
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
+
+import cereal.messaging as messaging
+from cereal import log
+from sunnypilot.sunnylink.api import SunnylinkApi
+
+NetworkType = log.DeviceState.NetworkType
+UPLOAD_ATTR_NAME = 'user.sunny.upload'
+
+UPLOAD_ATTR_VALUE = b'1'
+
+UPLOAD_QLOG_QCAM_MAX_SIZE = 5 * 1e6  # MB
+
+allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1"))
+force_wifi = os.getenv("FORCEWIFI") is not None
+fake_upload = os.getenv("FAKEUPLOAD") is not None
+
+OFFROAD_TRANSITION_TIMEOUT = 900.  # wait until offroad for 15 minutes before allowing uploads
+
+
+class FakeRequest:
+  def __init__(self):
+    self.headers = {"Content-Length": "0"}
+
+
+class FakeResponse:
+  def __init__(self):
+    self.status_code = 200
+    self.request = FakeRequest()
+
+
+def get_directory_sort(d: str) -> list[str]:
+  # ensure old format is sorted sooner
+  o = ["0", ] if d.startswith("2024-") else ["1", ]
+  return o + [s.rjust(10, '0') for s in d.rsplit('--', 1)]
+
+
+def listdir_by_creation(d: str) -> list[str]:
+  if not os.path.isdir(d):
+    return []
+
+  try:
+    paths = [f for f in os.listdir(d) if os.path.isdir(os.path.join(d, f))]
+    paths = sorted(paths, key=get_directory_sort)
+    return paths
+  except OSError:
+    cloudlog.exception("listdir_by_creation failed")
+    return []
+
+
+def clear_locks(root: str) -> None:
+  for logdir in os.listdir(root):
+    path = os.path.join(root, logdir)
+    try:
+      for fname in os.listdir(path):
+        if fname.endswith(".lock"):
+          os.unlink(os.path.join(path, fname))
+    except OSError:
+      cloudlog.exception("clear_locks failed")
+
+
+class Uploader:
+  def __init__(self, dongle_id: str, root: str):
+    self.dongle_id = dongle_id
+    self.api = SunnylinkApi(dongle_id)
+    self.root = root
+
+    self.params = Params()
+
+    # stats for last successfully uploaded file
+    self.last_filename = ""
+
+    self.immediate_folders = ["crash/", "boot/"]
+    self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1}
+
+  def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]:
+    r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8")
+    requested_routes = [] if r is None else r.split(",")
+
+    for logdir in listdir_by_creation(self.root):
+      path = os.path.join(self.root, logdir)
+      try:
+        names = os.listdir(path)
+      except OSError:
+        continue
+
+      if any(name.endswith(".lock") for name in names):
+        continue
+
+      for name in sorted(names, key=lambda n: self.immediate_priority.get(n, 1000)):
+        key = os.path.join(logdir, name)
+        fn = os.path.join(path, name)
+        # skip files already uploaded
+        try:
+          ctime = os.path.getctime(fn)
+          is_uploaded = getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE
+        except OSError:
+          cloudlog.event("uploader_getxattr_failed", key=key, fn=fn)
+          # deleter could have deleted, so skip
+          continue
+        if is_uploaded:
+          continue
+
+        # limit uploading on metered connections
+        if metered:
+          dt = datetime.timedelta(hours=12)
+          if logdir in self.immediate_folders and (datetime.datetime.now() - datetime.datetime.fromtimestamp(ctime)) < dt:
+            continue
+
+          if name == "qcamera.ts" and not any(logdir.startswith(r.split('|')[-1]) for r in requested_routes):
+            continue
+
+        yield name, key, fn
+
+  def next_file_to_upload(self, metered: bool) -> tuple[str, str, str] | None:
+    upload_files = list(self.list_upload_files(metered))
+
+    for name, key, fn in upload_files:
+      if any(f in fn for f in self.immediate_folders):
+        return name, key, fn
+
+    return next(
+      ((name, key, fn)
+       for name, key, fn in upload_files if name in self.immediate_priority),
+      None,
+    )
+
+  def do_upload(self, key: str, fn: str):
+    url_resp = self.api.get(
+      f"device/{self.dongle_id}/upload_url/",
+      timeout=10,
+      path=key,
+      access_token=self.api.get_token(),
+    )
+    if url_resp.status_code == 412:
+      return url_resp
+
+    url_resp_json = json.loads(url_resp.text)
+    url = url_resp_json['url']
+    headers = url_resp_json['headers']
+    cloudlog.debug("sunnylink upload_url %s | Headers: %s", url, headers)
+
+    if fake_upload:
+      return FakeResponse()
+
+    with open(fn, "rb") as f:
+      data: BinaryIO
+      if key.endswith('.bz2') and not fn.endswith('.bz2'):
+        compressed = bz2.compress(f.read())
+        data = io.BytesIO(compressed)
+      else:
+        data = f
+
+      return requests.put(url, data=data, headers=headers, timeout=10)
+
+  def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool:
+    try:
+      sz = os.path.getsize(fn)
+    except OSError:
+      cloudlog.exception("upload: getsize failed")
+      return False
+
+    cloudlog.event("upload_start", key=key, fn=fn, sz=sz, network_type=network_type, metered=metered)
+
+    if sz == 0:
+      # tag files of 0 size as uploaded
+      success = True
+    elif name in self.immediate_priority and sz > UPLOAD_QLOG_QCAM_MAX_SIZE:
+      cloudlog.event("uploader_too_large", key=key, fn=fn, sz=sz)
+      success = True
+    else:
+      start_time = time.monotonic()
+
+      stat = None
+      last_exc = None
+      try:
+        stat = self.do_upload(key, fn)
+      except Exception as e:
+        last_exc = (e, traceback.format_exc())
+
+      if stat is not None and stat.status_code in (200, 201, 412):
+        self.last_filename = fn
+        dt = time.monotonic() - start_time
+        if stat.status_code == 412:
+          cloudlog.event("upload_ignored", key=key, fn=fn, sz=sz, network_type=network_type, metered=metered)
+        else:
+          content_length = int(stat.request.headers.get("Content-Length", 0))
+          speed = (content_length / 1e6) / dt
+          cloudlog.event("upload_success", key=key, fn=fn, sz=sz, content_length=content_length,
+                         network_type=network_type, metered=metered, speed=speed)
+        success = True
+      elif stat is not None:  # 401, 403... Not sure why they were up to begin with
+        success = False
+        cloudlog.event("upload_failed with content", stat=stat, exc=last_exc, key=key, fn=fn, sz=sz, network_type=network_type, metered=metered,
+                       error=stat.content.decode("utf-8"))
+      else:
+        success = False
+        cloudlog.event("upload_failed", stat=stat, exc=last_exc, key=key, fn=fn, sz=sz, network_type=network_type, metered=metered)
+
+    if success:
+      # tag file as uploaded
+      try:
+        setxattr(fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE)
+      except OSError:
+        cloudlog.event("uploader_setxattr_failed", exc=last_exc, key=key, fn=fn, sz=sz)
+
+    return success
+
+  def step(self, network_type: int, metered: bool) -> bool | None:
+    d = self.next_file_to_upload(metered)
+    if d is None:
+      return None
+
+    name, key, fn = d
+
+    # qlogs and bootlogs need to be compressed before uploading
+    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')):
+      key += ".bz2"
+
+    return self.upload(name, key, fn, network_type, metered)
+
+
+def main(exit_event: threading.Event = None) -> None:
+  if exit_event is None:
+    exit_event = threading.Event()
+
+  try:
+    set_core_affinity([0, 1, 2, 3])
+  except Exception:
+    cloudlog.exception("failed to set core affinity")
+
+  clear_locks(Paths.log_root())
+
+  params = Params()
+  dongle_id = params.get("SunnylinkDongleId", encoding='utf8')
+
+  offroad_transition_prev = 0.
+  offroad_last = False
+
+  if dongle_id is None:
+    cloudlog.info("uploader missing dongle_id")
+    raise Exception("uploader can't start without dongle id")
+
+  sm = messaging.SubMaster(['deviceState'])
+  uploader = Uploader(dongle_id, Paths.log_root())
+
+  backoff = 0.1
+  while not exit_event.is_set():
+    sm.update(0)
+
+    offroad = params.get_bool("IsOffroad")
+    t = time.monotonic()
+    if offroad and not offroad_last and t > 300.:
+      offroad_transition_prev = time.monotonic()
+    offroad_last = offroad
+
+    network_type = NetworkType.wifi if force_wifi else sm['deviceState'].networkType
+    if network_type == NetworkType.none:
+      if allow_sleep:
+        time.sleep(60 if offroad else 5)
+      continue
+
+    if params.get_bool("DisableOnroadUploads"):
+      if not offroad or (offroad_transition_prev > 0. and t - offroad_transition_prev < OFFROAD_TRANSITION_TIMEOUT):
+        if not offroad:
+          cloudlog.info("not uploading: onroad uploads disabled")
+        else:
+          wait_minutes = int(OFFROAD_TRANSITION_TIMEOUT / 60)
+          time_left = OFFROAD_TRANSITION_TIMEOUT - (t - offroad_transition_prev)
+          if time_left > 2.0 * 60.0:
+            time_left_str = f"{int(time_left / 60)} minute(s)"
+          else:
+            time_left_str = f"{int(time_left)} seconds(s)"
+          cloudlog.info(f"not uploading: waiting until offroad for {wait_minutes} minutes; {time_left_str} left")
+        if allow_sleep:
+          time.sleep(60)
+        continue
+
+    success = uploader.step(sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered)
+    if success is None:
+      backoff = 60 if offroad else 5
+    elif success:
+      backoff = 0.1
+    else:
+      cloudlog.info("upload backoff %r", backoff)
+      backoff = min(backoff * 2, 120)
+    if allow_sleep:
+      time.sleep(backoff + random.uniform(0, backoff))
+
+
+if __name__ == "__main__":
+  main()
diff --git a/sunnypilot/sunnylink/utils.py b/sunnypilot/sunnylink/utils.py
new file mode 100644
index 00000000000000..57523d73945811
--- /dev/null
+++ b/sunnypilot/sunnylink/utils.py
@@ -0,0 +1,48 @@
+from sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID
+from openpilot.common.params import Params
+from openpilot.system.version import is_prebuilt
+
+
+def get_sunnylink_status(params=None) -> tuple[bool, bool]:
+  """Get the status of Sunnylink on the device. Returns a tuple of (is_sunnylink_enabled, is_registered)."""
+  params = params or Params()
+  is_sunnylink_enabled = params.get_bool("SunnylinkEnabled")
+  is_registered = params.get("SunnylinkDongleId", encoding='utf-8') not in (None, UNREGISTERED_SUNNYLINK_DONGLE_ID)
+  return is_sunnylink_enabled, is_registered
+
+
+def sunnylink_ready(params=None) -> bool:
+  """Check if the device is ready to communicate with Sunnylink. That means it is enabled and registered."""
+  params = params or Params()
+  is_sunnylink_enabled, is_registered = get_sunnylink_status(params)
+  return is_sunnylink_enabled and is_registered
+
+
+def use_sunnylink_uploader(params) -> bool:
+  """Check if the device is ready to use Sunnylink and the uploader is enabled."""
+  return sunnylink_ready(params) and params.get_bool("EnableSunnylinkUploader")
+
+
+def sunnylink_need_register(params=None) -> bool:
+  """Check if the device needs to be registered with Sunnylink."""
+  params = params or Params()
+  is_sunnylink_enabled, is_registered = get_sunnylink_status(params)
+  return is_sunnylink_enabled and not is_registered
+
+
+def register_sunnylink():
+  """Register the device with Sunnylink if it is enabled."""
+  extra_args = {}
+
+  if not Params().get_bool("SunnylinkEnabled"):
+    print("Sunnylink is not enabled. Exiting.")
+    exit(0)
+
+  if not is_prebuilt():
+    extra_args = {
+      "verbose": True,
+      "timeout": 60
+    }
+
+  sunnylink_id = SunnylinkApi(None).register_device(None, **extra_args)
+  print(f"SunnyLinkId: {sunnylink_id}")
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 2f455981cce3b2..f35394102b7c63 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -14,6 +14,7 @@
 import tempfile
 import threading
 import time
+import gzip
 import zstandard as zstd
 from dataclasses import asdict, dataclass, replace
 from datetime import datetime
@@ -105,6 +106,7 @@ def from_dict(cls, d: dict) -> UploadItem:
 cur_upload_items: dict[int, UploadItem | None] = {}
 
 
+# TODO-SP: adapt zst for sunnylink
 def strip_zst_extension(fn: str) -> str:
   if fn.endswith('.zst'):
     return fn[:-4]
@@ -334,6 +336,19 @@ def getVersion() -> dict[str, str]:
   }
 
 
+@dispatcher.add_method
+def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str = None, place_details: str = None) -> dict[str, int]:
+  destination = {
+    "latitude": latitude,
+    "longitude": longitude,
+    "place_name": place_name,
+    "place_details": place_details,
+  }
+  Params().put("NavDestination", json.dumps(destination))
+
+  return {"success": 1}
+
+
 def scan_dir(path: str, prefix: str) -> list[str]:
   files = []
   # only walk directories that match the prefix
@@ -547,7 +562,7 @@ def b64jpeg(x):
     raise Exception("not available while camerad is started")
 
 
-def get_logs_to_send_sorted() -> list[str]:
+def get_logs_to_send_sorted(log_attr_name=LOG_ATTR_NAME) -> list[str]:
   # TODO: scan once then use inotify to detect file creation/deletion
   curr_time = int(time.time())
   logs = []
@@ -555,7 +570,7 @@ def get_logs_to_send_sorted() -> list[str]:
     log_path = os.path.join(Paths.swaglog_root(), log_entry)
     time_sent = 0
     try:
-      value = getxattr(log_path, LOG_ATTR_NAME)
+      value = getxattr(log_path, log_attr_name)
       if value is not None:
         time_sent = int.from_bytes(value, sys.byteorder)
     except (ValueError, TypeError):
@@ -567,8 +582,69 @@ def get_logs_to_send_sorted() -> list[str]:
   return sorted(logs)[:-1]
 
 
-def log_handler(end_event: threading.Event) -> None:
+def add_log_to_queue(log_path, log_id, is_sunnylink=False):
+  MAX_SIZE_KB = 32
+  MAX_SIZE_BYTES = MAX_SIZE_KB * 1024
+
+  with open(log_path) as f:
+    data = f.read()
+
+    # Check if the file is empty
+    if not data:
+      cloudlog.warning(f"Log file {log_path} is empty.")
+      return
+
+    # Initialize variables for encoding
+    payload = data
+    is_compressed = False
+
+    # Log the current size of the file
+    current_size = len(json.dumps(payload).encode("utf-8")) + len(log_id.encode("utf-8")) + 100  # Add 100 bytes to account for encoding overhead
+    cloudlog.debug(f"Current size of log file {log_path}: {current_size} bytes")
+
+    if is_sunnylink and current_size > MAX_SIZE_BYTES:
+      # Compress and encode the data if it exceeds the maximum size
+      compressed_data = gzip.compress(data.encode())
+      payload = base64.b64encode(compressed_data).decode()
+      is_compressed = True
+
+      # Log the size after compression and encoding
+      compressed_size = len(compressed_data)
+      encoded_size = len(payload)
+      cloudlog.debug(f"Size of log file {log_path} " +
+                     f"after compression: {compressed_size} bytes, " +
+                     f"after encoding: {encoded_size} bytes")
+
+    jsonrpc = {
+      "method": "forwardLogs",
+      "params": {
+        "logs": payload
+      },
+      "jsonrpc": "2.0",
+      "id": log_id
+    }
+
+    if is_sunnylink and is_compressed:
+      jsonrpc["params"]["compressed"] = is_compressed
+
+    jsonrpc_str = json.dumps(jsonrpc)
+    size_in_bytes = len(jsonrpc_str.encode('utf-8'))
+
+    if is_sunnylink and size_in_bytes <= MAX_SIZE_BYTES:
+      cloudlog.debug(f"Target is sunnylink and log file {log_path} is small enough to send in one request ({size_in_bytes} bytes).")
+      low_priority_send_queue.put_nowait(jsonrpc_str)
+    elif is_sunnylink:
+      cloudlog.warning(f"Target is sunnylink and log file {log_path} is too large to send in one request.")
+    else:
+      cloudlog.debug(f"Target is not sunnylink, proceeding to send log file {log_path} in one request ({size_in_bytes} bytes).")
+      low_priority_send_queue.put_nowait(jsonrpc_str)
+
+
+def log_handler(end_event: threading.Event, log_attr_name=LOG_ATTR_NAME) -> None:
+  is_sunnylink = log_attr_name != LOG_ATTR_NAME
   if PC:
+    cloudlog.debug("athena.log_handler: Not supported on PC")
+    time.sleep(1)
     return
 
   log_files = []
@@ -577,7 +653,7 @@ def log_handler(end_event: threading.Event) -> None:
     try:
       curr_scan = time.monotonic()
       if curr_scan - last_scan > 10:
-        log_files = get_logs_to_send_sorted()
+        log_files = get_logs_to_send_sorted(log_attr_name)
         last_scan = curr_scan
 
       # send one log
@@ -588,18 +664,10 @@ def log_handler(end_event: threading.Event) -> None:
         try:
           curr_time = int(time.time())
           log_path = os.path.join(Paths.swaglog_root(), log_entry)
-          setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder))
-          with open(log_path) as f:
-            jsonrpc = {
-              "method": "forwardLogs",
-              "params": {
-                "logs": f.read()
-              },
-              "jsonrpc": "2.0",
-              "id": log_entry
-            }
-            low_priority_send_queue.put_nowait(json.dumps(jsonrpc))
-            curr_log = log_entry
+          setxattr(log_path, log_attr_name, int.to_bytes(curr_time, 4, sys.byteorder))
+
+          add_log_to_queue(log_path, log_entry, is_sunnylink)
+          curr_log = log_entry
         except OSError:
           pass  # file could be deleted by log rotation
 
@@ -616,7 +684,7 @@ def log_handler(end_event: threading.Event) -> None:
           if log_entry and log_success:
             log_path = os.path.join(Paths.swaglog_root(), log_entry)
             try:
-              setxattr(log_path, LOG_ATTR_NAME, LOG_ATTR_VALUE_MAX_UNIX_TIME)
+              setxattr(log_path, log_attr_name, LOG_ATTR_VALUE_MAX_UNIX_TIME)
             except OSError:
               pass  # file could be deleted by log rotation
           if curr_log == log_entry:
@@ -752,23 +820,24 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None:
   onroad_prev = None
   sock = ws.sock
 
-  while True:
+  while not end_event.wait(5):
     onroad = params.get_bool("IsOnroad")
     if onroad != onroad_prev:
       onroad_prev = onroad
 
       if sock is not None:
-        # While not sending data, onroad, we can expect to time out in 7 + (7 * 2) = 21s
-        #                         offroad, we can expect to time out in 30 + (10 * 3) = 60s
-        # FIXME: TCP_USER_TIMEOUT is effectively 2x for some reason (32s), so it's mostly unused
-        sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0)
-        sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30)
+        if sys.platform == 'darwin':  # macOS
+          sock.setsockopt(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1)
+          sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPALIVE, 7 if onroad else 30)
+        else:
+          # While not sending data, onroad, we can expect to time out in 7 + (7 * 2) = 21s
+          #                         offroad, we can expect to time out in 30 + (10 * 3) = 60s
+          # FIXME: TCP_USER_TIMEOUT is effectively 2x for some reason (32s), so it's mostly unused
+          sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0)
+          sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30)
         sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10)
         sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3)
 
-    if end_event.wait(5):
-      break
-
 
 def backoff(retries: int) -> int:
   return random.randrange(0, min(128, int(2 ** retries)))
diff --git a/system/athena/manage_athenad.py b/system/athena/manage_athenad.py
index f5ab817206a64b..7158cd9220e444 100755
--- a/system/athena/manage_athenad.py
+++ b/system/athena/manage_athenad.py
@@ -13,8 +13,12 @@
 
 
 def main():
+  manage_athenad("DongleId", ATHENA_MGR_PID_PARAM, 'athenad', 'system.athena.athenad')
+
+
+def manage_athenad(dongle_id_param, pid_param, process_name, target):
   params = Params()
-  dongle_id = params.get("DongleId").decode('utf-8')
+  dongle_id = params.get(dongle_id_param, encoding='utf-8')
   build_metadata = get_build_metadata()
 
   cloudlog.bind_global(dongle_id=dongle_id,
@@ -27,17 +31,16 @@ def main():
 
   try:
     while 1:
-      cloudlog.info("starting athena daemon")
-      proc = Process(name='athenad', target=launcher, args=('system.athena.athenad', 'athenad'))
+      cloudlog.info(f"starting {process_name} daemon")
+      proc = Process(name=process_name, target=launcher, args=(target, process_name))
       proc.start()
       proc.join()
-      cloudlog.event("athenad exited", exitcode=proc.exitcode)
+      cloudlog.event(f"{process_name} exited", exitcode=proc.exitcode)
       time.sleep(5)
   except Exception:
-    cloudlog.exception("manage_athenad.exception")
+    cloudlog.exception(f"manage_{process_name}.exception")
   finally:
-    params.remove(ATHENA_MGR_PID_PARAM)
-
+    params.remove(pid_param)
 
 if __name__ == '__main__':
   main()
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 9d94f6423a32e3..9712b63e012fda 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -5,6 +5,7 @@
 from openpilot.common.params import Params
 from openpilot.system.hardware import PC, TICI
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
+from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
 
@@ -57,6 +58,18 @@ def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
 def use_github_runner(started, params, CP: car.CarParams) -> bool:
   return not PC and params.get_bool("EnableGithubRunner") and not params.get_bool("NetworkMetered")
 
+def sunnylink_ready_shim(started, params, CP: car.CarParams) -> bool:
+  """Shim for sunnylink_ready to match the process manager signature."""
+  return sunnylink_ready(params)
+
+def sunnylink_need_register_shim(started, params, CP: car.CarParams) -> bool:
+  """Shim for sunnylink_need_register to match the process manager signature."""
+  return sunnylink_need_register(params)
+
+def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
+  """Shim for use_sunnylink_uploader to match the process manager signature."""
+  return use_sunnylink_uploader(params)
+
 def or_(*fns):
   return lambda *args: operator.or_(*(fn(*args) for fn in fns))
 
@@ -112,6 +125,10 @@ def and_(*fns):
   PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
   PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
   PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
+
+  # sunnylink <3
+  DaemonProcess("manage_sunnylinkd", "sunnypilot.sunnylink.athena.manage_sunnylinkd", "SunnylinkdPid"),
+  PythonProcess("sunnylink_registration_manager", "sunnypilot.sunnylink.registration_manager", sunnylink_need_register_shim),
 ]
 
 # sunnypilot
@@ -122,4 +139,7 @@ def and_(*fns):
 if os.path.exists("./github_runner.sh"):
   procs += [NativeProcess("github_runner_start", "system/manager", ["./github_runner.sh", "start"], and_(only_offroad, use_github_runner), sigkill=False)]
 
+if os.path.exists("../sunnypilot/sunnylink/uploader.py"):
+  procs += [PythonProcess("sunnylink_uploader", "sunnypilot.sunnylink.uploader", use_sunnylink_uploader_shim)]
+
 managed_processes = {p.name: p for p in procs}

From 5b1bfc26db49780666377dab694593cb178d62d7 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 5 Jan 2025 10:47:28 +0100
Subject: [PATCH 0039/1434] ui: add sunnylink settings and sidebar status
 (#503)

* Add Sunnylink integration for improved device communication

This commit introduces Sunnylink support, including modules for API interactions, device registration, logging, and uploader processes. Key changes involve adding Sunnylink-related components, such as sunnylinkd, manage_sunnylinkd, and associated utilities, along with seamless integration into process management.

* Refactor Sunnylink modules and update import paths

Standardize parameter handling in Sunnylink functions by initializing Params within functions as needed. Update imports to use fully-qualified paths for better clarity and consistency. Also, refactor logging messages for improved readability and maintainability.

* Add Sunnylink support and improve log handling

Introduced Sunnylink-specific functionality, including compression for oversized logs and platform-specific socket handling for macOS. Improved logging mechanisms, refactored log queue management, and fixed exception handling in sunnylinkd.

* Refactor and fix minor coding style inconsistencies

Remove unnecessary string concatenation, adjust spacing for better readability, and ensure cleaner code in `athenad.py` and `sunnylink.py`. Added a macOS-specific comment for TCP_KEEPALIVE configuration to improve code clarity.

* Replace platform system check with sys platform in athenad.py

To check for macOS platform, the code in athenad.py has been altered. Originally, the platform.system() function was used. However, the function has been replaced with sys.platform for a more consistent and preferable syntax. Particularly, this has been modified in the context of setting socket options.

* Apply suggestions from code review

Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>

* Simplify imports and reformat API function.

Removed unused `platform` import for cleanup in `athenad.py`. Improved readability of `api_get` in `__init__.py` by reformatting the long return statement into multiple lines.

* Adjust backoff logic and refactor API call formatting.

Introduce randomness to backoff calculation in Sunnylink API to reduce synchronization issues. Minor code refactoring improves readability in the API call logic.

* Refactor Sunnylink network check logic.

Removed hardware-based network check due to performance concerns and replaced it with a real-time device state monitoring loop. This improves efficiency and ensures accurate online status before proceeding with Sunnylink registration.

* Apply suggestions from code review

* `Refactor saveParams error handling and simplify logic`

Removed redundant try-except block wrapping the entire method for clarity. Moved error logging directly inside the loop to handle individual parameter exceptions more effectively. Simplified dictionary construction and improved error logging format.

* Add BACKUP flag to select persistent parameters

This commit introduces a new BACKUP flag and applies it to specific persistent parameters in `params.cc` and `params.h`. The BACKUP flag enhances data retention by designating parameters for inclusion in backups, ensuring crucial information is preserved across sessions.

* Simplify Sunnypilot params formatting

Removed unnecessary blank lines and adjusted the Sunnypilot comment format for better readability and consistency. No functional changes were made.

* SP: Move Sunnypilot-related code to sunnypilot/sunnylink (#504)

* Refactor and relocate sunnylink-related modules

sunnylink components have been reorganized for better modularity and clarity, with files moved under `sunnypilot/sunnylink`. Unused code was removed, and reusable utilities were separated for easier maintenance. Adjusted references across the project to reflect these changes.

* Permissions

* adding init py

* Add sunnylink toggle to developer panel and translations

This commit introduces a new toggle for enabling or disabling sunnylink in the developer panel. Corresponding translation entries have been added for all supported languages to ensure compatibility across the UI.

* Add SunnyLink integration and multi-language support updates

Enhanced SidebarSP with SunnyLink connection status and temperature display. Extended translations for multiple languages, including new strings. Updated build scripts and added utility functions for SunnyPilot-specific features.

* Need it this way as it's intentionally shortened. Sorry

* format

* only block drawing

* format

* format

* fix path

* cleanup translations

* sunnylink panel

* offroad transition

* remove stretch

* add panel to ui preview

* Translating to spanish

* just reorder params

* Refactor sidebar drawing method names and remove unused code.

Renamed `paintSidebar` to `drawSidebar` for better clarity across both `Sidebar` and `SidebarSP` classes. Removed unused utility functions `drawRoundedRect` and `interpColor` to streamline the codebase and improve maintainability.

* Updating translations

---------

Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .codespellignore                              |  1 +
 .github/workflows/ui_preview.yaml             |  2 +-
 common/params.cc                              | 12 +++-
 selfdrive/ui/SConscript                       |  5 +-
 selfdrive/ui/qt/sidebar.cc                    |  6 +-
 selfdrive/ui/qt/sidebar.h                     |  2 +-
 selfdrive/ui/sunnypilot/SConscript            |  8 ++-
 .../qt/offroad/settings/settings.cc           |  2 +
 .../qt/offroad/settings/sunnylink_panel.cc    | 72 +++++++++++++++++++
 .../qt/offroad/settings/sunnylink_panel.h     | 31 ++++++++
 selfdrive/ui/sunnypilot/qt/sidebar.cc         | 37 ++++++++--
 selfdrive/ui/sunnypilot/qt/sidebar.h          | 14 +++-
 selfdrive/ui/sunnypilot/qt/util.cc            | 35 +++++++++
 selfdrive/ui/sunnypilot/qt/util.h             | 18 +++++
 selfdrive/ui/tests/test_ui/run.py             | 19 +++--
 selfdrive/ui/translations/main_ar.ts          | 58 +++++++++++++++
 selfdrive/ui/translations/main_de.ts          | 58 +++++++++++++++
 selfdrive/ui/translations/main_es.ts          | 58 +++++++++++++++
 selfdrive/ui/translations/main_fr.ts          | 58 +++++++++++++++
 selfdrive/ui/translations/main_ja.ts          | 58 +++++++++++++++
 selfdrive/ui/translations/main_ko.ts          | 58 +++++++++++++++
 selfdrive/ui/translations/main_pt-BR.ts       | 58 +++++++++++++++
 selfdrive/ui/translations/main_th.ts          | 58 +++++++++++++++
 selfdrive/ui/translations/main_tr.ts          | 58 +++++++++++++++
 selfdrive/ui/translations/main_zh-CHS.ts      | 58 +++++++++++++++
 selfdrive/ui/translations/main_zh-CHT.ts      | 58 +++++++++++++++
 26 files changed, 881 insertions(+), 21 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/util.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/util.h

diff --git a/.codespellignore b/.codespellignore
index 916169347a53d1..ad053601e6001d 100644
--- a/.codespellignore
+++ b/.codespellignore
@@ -1 +1,2 @@
 Wen
+REGIST
diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index a91fba957f6fd1..0df696fd4b110e 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -86,7 +86,7 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device settings_software settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
+          scenes="homescreen settings_device settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
           A=($scenes)
 
           DIFF=""
diff --git a/common/params.cc b/common/params.cc
index 85dc5646308faa..edf002f10ccef9 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -201,18 +201,24 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterLastFetchTime", PERSISTENT},
     {"Version", PERSISTENT},
 
-    // sunnypilot params
+    // --- sunnypilot params --- //
     {"EnableGithubRunner", PERSISTENT | BACKUP},
-    {"EnableSunnylinkUploader", PERSISTENT | BACKUP},
-    {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},
+
+    // MADS params
     {"Mads", PERSISTENT | BACKUP},
     {"MadsMainCruiseAllowed", PERSISTENT | BACKUP},
     {"MadsPauseLateralOnBrake", PERSISTENT | BACKUP},
     {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
+
+    // Model Manager params
     {"ModelManager_ActiveBundle", PERSISTENT},
     {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_ONROAD_TRANSITION},
     {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"ModelManager_ModelsCache", PERSISTENT | BACKUP},
+
+    // sunnylink params
+    {"EnableSunnylinkUploader", PERSISTENT | BACKUP},
+    {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},
     {"SunnylinkDongleId", PERSISTENT},
     {"SunnylinkdPid", PERSISTENT},
     {"SunnylinkEnabled", PERSISTENT},
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 47ad5bdefa1787..fa2ff3bc762ba9 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -14,14 +14,15 @@ if arch == "Darwin":
 
 sp_widgets_src = []
 sp_qt_src = []
+sp_qt_util = []
 if not GetOption('stock_ui'):
   SConscript(['sunnypilot/SConscript'])
-  Import('sp_widgets_src', 'sp_qt_src')
+  Import('sp_widgets_src', 'sp_qt_src', 'sp_qt_util')
 
 # FIXME: remove this once we're on 5.15 (24.04)
 qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
 
-qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs)
+qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"] + sp_qt_util, LIBS=base_libs)
 widgets_src = ["qt/widgets/input.cc", "qt/widgets/wifi.cc", "qt/prime_state.cc",
                "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc",
                "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc",
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index 866a5b62d0b36b..fd8ea5bcf5e364 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -110,10 +110,10 @@ void Sidebar::updateState(const UIState &s) {
 
 void Sidebar::paintEvent(QPaintEvent *event) {
   QPainter p(this);
-  paintSidebar(p);
+  drawSidebar(p);
 }
 
-void Sidebar::paintSidebar(QPainter &p) {
+void Sidebar::drawSidebar(QPainter &p) {
   p.setPen(Qt::NoPen);
   p.setRenderHint(QPainter::Antialiasing);
 
@@ -140,8 +140,10 @@ void Sidebar::paintSidebar(QPainter &p) {
   const QRect r = QRect(58, 247, width() - 100, 50);
   p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
 
+#ifndef SUNNYPILOT
   // metrics
   drawMetric(p, temp_status.first, temp_status.second, 338);
   drawMetric(p, panda_status.first, panda_status.second, 496);
   drawMetric(p, connect_status.first, connect_status.second, 654);
+#endif
 }
diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h
index b1ce5887f5e06f..3c57d10a1aa3dc 100644
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -40,7 +40,7 @@ public slots:
   void mousePressEvent(QMouseEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override;
   void drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y);
-  virtual void paintSidebar(QPainter &p);
+  virtual void drawSidebar(QPainter &p);
 
   QPixmap home_img, flag_img, settings_img;
   bool onroad, flag_pressed, settings_pressed;
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 3e3bda6b62a5bf..0a5016d58f2bc2 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -4,6 +4,10 @@ widgets_src = [
   "sunnypilot/qt/widgets/scrollview.cc",
 ]
 
+qt_util = [
+  "sunnypilot/qt/util.cc",
+]
+
 qt_src = [
   "sunnypilot/ui.cc",
   "sunnypilot/qt/sidebar.cc",
@@ -11,6 +15,7 @@ qt_src = [
   "sunnypilot/qt/home.cc",
   "sunnypilot/qt/offroad/settings/settings.cc",
   "sunnypilot/qt/offroad/settings/software_panel.cc",
+  "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnypilot_panel.cc",
   "sunnypilot/qt/onroad/onroad_home.cc",
 ]
@@ -21,5 +26,6 @@ sunnypilot_panel_qt_src = [
 
 sp_widgets_src = widgets_src
 sp_qt_src = qt_src + sunnypilot_panel_qt_src
+sp_qt_util = qt_util
 
-Export('sp_widgets_src', 'sp_qt_src')
+Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util")
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
index cd7657e54023a8..b5e87e47c416ef 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
@@ -12,6 +12,7 @@
 #include "selfdrive/ui/qt/offroad/developer_panel.h"
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h"
 
 TogglesPanelSP::TogglesPanelSP(SettingsWindow *parent) : TogglesPanel(parent) {
@@ -69,6 +70,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
   QList<PanelInfo> panels = {
     PanelInfo("   " + tr("Device"), device, "../../sunnypilot/selfdrive/assets/offroad/icon_home.svg"),
     PanelInfo("   " + tr("Network"), networking, "../assets/offroad/icon_network.png"),
+    PanelInfo("   " + tr("sunnylink"), new SunnylinkPanel(this), "../assets/offroad/icon_wifi_strength_full.svg"),
     PanelInfo("   " + tr("Toggles"), toggles, "../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
     PanelInfo("   " + tr("Software"), new SoftwarePanelSP(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
     PanelInfo("   " + tr("sunnypilot"), new SunnypilotPanel(this), "../assets/images/button_home.png"),
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
new file mode 100644
index 00000000000000..12ae2209f2e2a3
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
@@ -0,0 +1,72 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
+
+#include "selfdrive/ui/sunnypilot/qt/util.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
+  main_layout = new QStackedLayout(this);
+  ListWidget *list = new ListWidget(this, false);
+
+  sunnylinkScreen = new QWidget(this);
+  QVBoxLayout *vlayout = new QVBoxLayout(sunnylinkScreen);
+  vlayout->setContentsMargins(50, 20, 50, 20);
+
+  QString sunnylinkEnabledBtnDesc = tr("This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.");
+  sunnylinkEnabledBtn = new ParamControl(
+    "SunnylinkEnabled",
+    tr("Enable sunnylink"),
+    sunnylinkEnabledBtnDesc,
+    "");
+  list->addItem(sunnylinkEnabledBtn);
+
+  connect(sunnylinkEnabledBtn, &ParamControl::showDescriptionEvent, [=]() {
+    // resets the description to the default one for the Easter egg
+    sunnylinkEnabledBtn->setDescription(sunnylinkEnabledBtnDesc);
+  });
+
+  connect(sunnylinkEnabledBtn, &ParamControl::toggleFlipped, [=](bool enabled) {
+    if (enabled) {
+      auto proud_description = "<font color='SeaGreen'>"+ tr("🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀")+ "</font>";
+      sunnylinkEnabledBtn->showDescription();
+      sunnylinkEnabledBtn->setDescription(proud_description);
+    } else {
+      auto shame_description = "<font color='orange'>"+ tr("👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉.")+ "</font>";
+      sunnylinkEnabledBtn->showDescription();
+      sunnylinkEnabledBtn->setDescription(shame_description);
+    }
+
+    updatePanel(offroad);
+  });
+
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &SunnylinkPanel::updatePanel);
+
+  sunnylinkScroller = new ScrollViewSP(list, this);
+  vlayout->addWidget(sunnylinkScroller);
+
+  main_layout->addWidget(sunnylinkScreen);
+}
+
+void SunnylinkPanel::showEvent(QShowEvent *event) {
+  updatePanel(offroad);
+}
+
+void SunnylinkPanel::updatePanel(bool _offroad) {
+  QString sunnylink_device_id = tr("Device ID") + "  " + getSunnylinkDongleId().value_or(tr("N/A"));
+
+  sunnylinkEnabledBtn->setEnabled(_offroad);
+
+  if (sunnylinkEnabledBtn->isToggled()) {
+    sunnylinkEnabledBtn->setValue(sunnylink_device_id);
+  } else {
+    sunnylinkEnabledBtn->setValue("");
+  }
+
+  offroad = _offroad;
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h
new file mode 100644
index 00000000000000..824a081af33a94
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h
@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+class SunnylinkPanel : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit SunnylinkPanel(QWidget *parent = nullptr);
+  void showEvent(QShowEvent *event) override;
+
+public slots:
+  void updatePanel(bool _offroad);
+
+private:
+  Params params;
+  QStackedLayout *main_layout = nullptr;
+  QWidget *sunnylinkScreen = nullptr;
+  ScrollViewSP *sunnylinkScroller = nullptr;
+  bool offroad;
+
+  ParamControl *sunnylinkEnabledBtn;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/sidebar.cc b/selfdrive/ui/sunnypilot/qt/sidebar.cc
index af090e738fbab9..a4dc1d676347ee 100644
--- a/selfdrive/ui/sunnypilot/qt/sidebar.cc
+++ b/selfdrive/ui/sunnypilot/qt/sidebar.cc
@@ -7,12 +7,12 @@
 
 #include "selfdrive/ui/sunnypilot/qt/sidebar.h"
 
-#include <cmath>
-#include <QMouseEvent>
-
 #include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/qt/util.h"
+#include "common/params.h"
 
 SidebarSP::SidebarSP(QWidget *parent) : Sidebar(parent) {
+  // Redirect uiUpdate signal to SidebarSP::updateState instead of Sidebar::updateState
   QObject::disconnect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState);
   QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &SidebarSP::updateState);
 }
@@ -20,8 +20,35 @@ SidebarSP::SidebarSP(QWidget *parent) : Sidebar(parent) {
 void SidebarSP::updateState(const UIStateSP &s) {
   if (!isVisible()) return;
   Sidebar::updateState(s);
+
+  ItemStatus sunnylinkStatus;
+  auto sl_dongle_id = getSunnylinkDongleId();
+  auto last_sunnylink_ping_str = params.get("LastSunnylinkPingTime");
+  auto last_sunnylink_ping = std::stoull(last_sunnylink_ping_str.empty() ? "0" : last_sunnylink_ping_str);
+  auto elapsed_sunnylink_ping = nanos_since_boot() - last_sunnylink_ping;
+  auto sunnylink_enabled = params.getBool("SunnylinkEnabled");
+
+  QString status = tr("DISABLED");
+  QColor color = disabled_color;
+
+  if (sunnylink_enabled && last_sunnylink_ping == 0) {
+    // If sunnylink is enabled, but we don't have a dongle id, and we haven't received a ping yet, we are registering
+    status = sl_dongle_id.has_value() ? tr("OFFLINE") : tr("REGIST...");
+    color = sl_dongle_id.has_value() ? warning_color : progress_color;
+  } else if (sunnylink_enabled) {
+    // If sunnylink is enabled, we are considered online if we have received a ping in the last 80 seconds, else error.
+    status = elapsed_sunnylink_ping < 80000000000ULL ? tr("ONLINE") : tr("ERROR");
+    color = elapsed_sunnylink_ping < 80000000000ULL ? good_color : danger_color;
+  }
+  sunnylinkStatus = ItemStatus{{tr("SUNNYLINK"), status}, color};
+  setProperty("sunnylinkStatus", QVariant::fromValue(sunnylinkStatus));
 }
 
-void SidebarSP::paintSidebar(QPainter &p) {
-  Sidebar::paintSidebar(p);
+void SidebarSP::drawSidebar(QPainter &p) {
+  Sidebar::drawSidebar(p);
+  // metrics
+  drawMetric(p, temp_status.first, temp_status.second, 310);
+  drawMetric(p, panda_status.first, panda_status.second, 440);
+  drawMetric(p, connect_status.first, connect_status.second, 570);
+  drawMetric(p, sunnylink_status.first, sunnylink_status.second, 700);
 }
diff --git a/selfdrive/ui/sunnypilot/qt/sidebar.h b/selfdrive/ui/sunnypilot/qt/sidebar.h
index ff9b78748fc92c..133106cfdffe79 100644
--- a/selfdrive/ui/sunnypilot/qt/sidebar.h
+++ b/selfdrive/ui/sunnypilot/qt/sidebar.h
@@ -15,6 +15,8 @@
 
 class SidebarSP : public Sidebar {
   Q_OBJECT
+  Q_PROPERTY(ItemStatus sunnylinkStatus MEMBER sunnylink_status NOTIFY valueChanged);
+  Q_PROPERTY(QString sidebarTemp MEMBER sidebar_temp_str NOTIFY valueChanged);
 
 public slots:
   void updateState(const UIStateSP &s);
@@ -23,5 +25,15 @@ public slots:
   explicit SidebarSP(QWidget *parent = 0);
 
 private:
-  void paintSidebar(QPainter &p) override;
+  void drawSidebar(QPainter &p) override;
+
+  Params params;
+  QString sidebar_temp = "0";
+  QString sidebar_temp_str = "0";
+
+protected:
+  const QColor progress_color = QColor(3, 132, 252);
+  const QColor disabled_color = QColor(128, 128, 128);
+
+  ItemStatus sunnylink_status;
 };
diff --git a/selfdrive/ui/sunnypilot/qt/util.cc b/selfdrive/ui/sunnypilot/qt/util.cc
new file mode 100644
index 00000000000000..a2bd7bde2b6c55
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/util.cc
@@ -0,0 +1,35 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/util.h"
+#include "selfdrive/ui/qt/util.h"
+
+#include <string>
+#include <vector>
+
+#include <QDir>
+#include <QLayoutItem>
+#include <QPainterPath>
+
+#include "system/hardware/hw.h"
+
+std::optional<QString> getParamIgnoringDefault(const std::string &param_name, const std::string &default_value) {
+  std::string value = Params().get(param_name);
+
+  if (!value.empty() && value != default_value)
+    return QString::fromStdString(value);
+
+  return {};
+}
+
+QString getUserAgent(bool sunnylink) {
+  return (sunnylink ? "sunnypilot-" : "openpilot-") + getVersion();
+}
+
+std::optional<QString> getSunnylinkDongleId() {
+  return getParamIgnoringDefault("SunnylinkDongleId", "UnregisteredDevice");
+}
diff --git a/selfdrive/ui/sunnypilot/qt/util.h b/selfdrive/ui/sunnypilot/qt/util.h
new file mode 100644
index 00000000000000..a6c58eb06e99eb
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/util.h
@@ -0,0 +1,18 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <optional>
+#include <vector>
+
+#include <QPainter>
+#include <QWidget>
+
+QString getUserAgent(bool sunnylink = false);
+std::optional<QString> getSunnylinkDongleId();
+std::optional<QString> getParamIgnoringDefault(const std::string &param_name, const std::string &default_value);
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 847ebaf4e36f62..d8694d174ff879 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -42,17 +42,17 @@ def setup_settings_device(click, pm: PubMaster):
 
 def setup_settings_toggles(click, pm: PubMaster):
   setup_settings_device(click, pm)
-  click(278, 586)
+  click(278, 640)
   time.sleep(UI_DELAY)
 
 def setup_settings_software(click, pm: PubMaster):
   setup_settings_device(click, pm)
-  click(278, 716)
+  click(278, 750)
   time.sleep(UI_DELAY)
 
 def setup_settings_developer(click, pm: PubMaster):
   setup_settings_device(click, pm)
-  click(278, 976)
+  click(278, 970)
   time.sleep(UI_DELAY)
 
 def setup_onroad(click, pm: PubMaster):
@@ -176,16 +176,23 @@ def setup_pair_device(click, pm: PubMaster):
   click(1950, 435)
   click(1800, 900)
 
+def setup_settings_sunnylink(click, pm: PubMaster):
+  Params().put_bool("SunnylinkEnabled", True)
+
+  setup_settings_device(click, pm)
+  click(278, 530)
+  time.sleep(UI_DELAY)
+
 def setup_settings_sunnypilot(click, pm: PubMaster):
   setup_settings_device(click, pm)
-  click(278, 846)
+  click(278, 860)
   time.sleep(UI_DELAY)
 
 def setup_settings_sunnypilot_mads(click, pm: PubMaster):
   Params().put_bool("Mads", True)
 
   setup_settings_device(click, pm)
-  click(278, 846)
+  click(278, 860)
   click(970, 455)
   time.sleep(UI_DELAY)
 
@@ -214,6 +221,7 @@ def setup_settings_sunnypilot_mads(click, pm: PubMaster):
 }
 
 CASES.update({
+  "settings_sunnylink": setup_settings_sunnylink,
   "settings_sunnypilot": setup_settings_sunnypilot,
   "settings_sunnypilot_mads": setup_settings_sunnypilot_mads,
 })
@@ -302,6 +310,7 @@ def create_screenshots():
     with OpenpilotPrefix():
       params = Params()
       params.put("DongleId", "123456789012345")
+      params.put("SunnylinkDongleId", "123456789012345")
       if name == 'prime':
         params.put('PrimeType', '1')
       elif name == 'pair_device':
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 11bcb2155bdc49..244e96b425a6a7 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -725,6 +725,10 @@ This may take up to a minute.</source>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
     </message>
+    <message>
+        <source>sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -911,6 +915,33 @@ This may take up to a minute.</source>
         <translation>5G</translation>
     </message>
 </context>
+<context>
+    <name>SidebarSP</name>
+    <message>
+        <source>DISABLED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation type="unfinished">غير متصل</translation>
+    </message>
+    <message>
+        <source>REGIST...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation type="unfinished">متصل</translation>
+    </message>
+    <message>
+        <source>ERROR</source>
+        <translation type="unfinished">خطأ</translation>
+    </message>
+    <message>
+        <source>SUNNYLINK</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SoftwarePanel</name>
     <message>
@@ -1107,6 +1138,33 @@ This may take up to a minute.</source>
         <translation>تمكين SSH</translation>
     </message>
 </context>
+<context>
+    <name>SunnylinkPanel</name>
+    <message>
+        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation type="unfinished">غير متاح</translation>
+    </message>
+    <message>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device ID</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SunnypilotPanel</name>
     <message>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 447246aad84052..a41205d6d3ed73 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -707,6 +707,10 @@ This may take up to a minute.</source>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
     </message>
+    <message>
+        <source>sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -894,6 +898,33 @@ This may take up to a minute.</source>
         <translation>5G</translation>
     </message>
 </context>
+<context>
+    <name>SidebarSP</name>
+    <message>
+        <source>DISABLED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation type="unfinished">OFFLINE</translation>
+    </message>
+    <message>
+        <source>REGIST...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation type="unfinished">ONLINE</translation>
+    </message>
+    <message>
+        <source>ERROR</source>
+        <translation type="unfinished">FEHLER</translation>
+    </message>
+    <message>
+        <source>SUNNYLINK</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SoftwarePanel</name>
     <message>
@@ -1091,6 +1122,33 @@ This may take up to a minute.</source>
         <translation>SSH aktivieren</translation>
     </message>
 </context>
+<context>
+    <name>SunnylinkPanel</name>
+    <message>
+        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation type="unfinished">Nicht verfügbar</translation>
+    </message>
+    <message>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device ID</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SunnypilotPanel</name>
     <message>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 2c7eac57029a66..f4780d7174694f 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -709,6 +709,10 @@ Esto puede tardar un minuto.</translation>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
     </message>
+    <message>
+        <source>sunnylink</source>
+        <translation>sunnylink</translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -895,6 +899,33 @@ Esto puede tardar un minuto.</translation>
         <translation>5G</translation>
     </message>
 </context>
+<context>
+    <name>SidebarSP</name>
+    <message>
+        <source>DISABLED</source>
+        <translation>DESHABILITADO</translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation type="unfinished">OFFLINE</translation>
+    </message>
+    <message>
+        <source>REGIST...</source>
+        <translation>REGIST...</translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation>EN L�NEA</translation>
+    </message>
+    <message>
+        <source>ERROR</source>
+        <translation>ERROR</translation>
+    </message>
+    <message>
+        <source>SUNNYLINK</source>
+        <translation>SUNNYLINK</translation>
+    </message>
+</context>
 <context>
     <name>SoftwarePanel</name>
     <message>
@@ -1091,6 +1122,33 @@ Esto puede tardar un minuto.</translation>
         <translation>Habilitar SSH</translation>
     </message>
 </context>
+<context>
+    <name>SunnylinkPanel</name>
+    <message>
+        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
+        <translation>Este es el interruptor principal; te permitirá desactivar completamente cualquier connectividad de sunnylink si así lo deseas.</translation>
+    </message>
+    <message>
+        <source>Enable sunnylink</source>
+        <translation>Habilitar sunnylink</translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation type="unfinished">N/A</translation>
+    </message>
+    <message>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation>🎉¡Bienvenido de vuelta! Nos alegra que hayas reactivado sunnylink. 🚀</translation>
+    </message>
+    <message>
+        <source>Device ID</source>
+        <translation>ID del dispositivo</translation>
+    </message>
+    <message>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation>👋No te mentiremos, nos entristece que hayas desactivado sunnylink 😢. Estaremos aquí cuando estes listo para volver 🎉.</translation>
+    </message>
+</context>
 <context>
     <name>SunnypilotPanel</name>
     <message>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 351e684a21f839..5c2472904f2d9e 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -709,6 +709,10 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
     </message>
+    <message>
+        <source>sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -895,6 +899,33 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <translation>5G</translation>
     </message>
 </context>
+<context>
+    <name>SidebarSP</name>
+    <message>
+        <source>DISABLED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation type="unfinished">HORS LIGNE</translation>
+    </message>
+    <message>
+        <source>REGIST...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation type="unfinished">EN LIGNE</translation>
+    </message>
+    <message>
+        <source>ERROR</source>
+        <translation type="unfinished">ERREUR</translation>
+    </message>
+    <message>
+        <source>SUNNYLINK</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SoftwarePanel</name>
     <message>
@@ -1091,6 +1122,33 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <translation>Activer SSH</translation>
     </message>
 </context>
+<context>
+    <name>SunnylinkPanel</name>
+    <message>
+        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation type="unfinished">N/A</translation>
+    </message>
+    <message>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device ID</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SunnypilotPanel</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index f1690bb76df27c..61fe372e36d91c 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -703,6 +703,10 @@ This may take up to a minute.</source>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
     </message>
+    <message>
+        <source>sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -889,6 +893,33 @@ This may take up to a minute.</source>
         <translation>5G</translation>
     </message>
 </context>
+<context>
+    <name>SidebarSP</name>
+    <message>
+        <source>DISABLED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation type="unfinished">オフライン</translation>
+    </message>
+    <message>
+        <source>REGIST...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation type="unfinished">オンライン</translation>
+    </message>
+    <message>
+        <source>ERROR</source>
+        <translation type="unfinished">エラー</translation>
+    </message>
+    <message>
+        <source>SUNNYLINK</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SoftwarePanel</name>
     <message>
@@ -1085,6 +1116,33 @@ This may take up to a minute.</source>
         <translation>SSH を有効化</translation>
     </message>
 </context>
+<context>
+    <name>SunnylinkPanel</name>
+    <message>
+        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation type="unfinished">N/A</translation>
+    </message>
+    <message>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device ID</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SunnypilotPanel</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 2dc036fee92216..6d6244fb78696c 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -705,6 +705,10 @@ This may take up to a minute.</source>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
     </message>
+    <message>
+        <source>sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -891,6 +895,33 @@ This may take up to a minute.</source>
         <translation>5G</translation>
     </message>
 </context>
+<context>
+    <name>SidebarSP</name>
+    <message>
+        <source>DISABLED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation type="unfinished">연결 안�</translation>
+    </message>
+    <message>
+        <source>REGIST...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation type="unfinished">온��</translation>
+    </message>
+    <message>
+        <source>ERROR</source>
+        <translation type="unfinished">오류</translation>
+    </message>
+    <message>
+        <source>SUNNYLINK</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SoftwarePanel</name>
     <message>
@@ -1087,6 +1118,33 @@ This may take up to a minute.</source>
         <translation>SSH 사용</translation>
     </message>
 </context>
+<context>
+    <name>SunnylinkPanel</name>
+    <message>
+        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation type="unfinished">N/A</translation>
+    </message>
+    <message>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device ID</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SunnypilotPanel</name>
     <message>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index ff8a2efeffbd2d..0bb217aa0c5814 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -709,6 +709,10 @@ Isso pode levar até um minuto.</translation>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
     </message>
+    <message>
+        <source>sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -895,6 +899,33 @@ Isso pode levar até um minuto.</translation>
         <translation>5G</translation>
     </message>
 </context>
+<context>
+    <name>SidebarSP</name>
+    <message>
+        <source>DISABLED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation type="unfinished">OFFLINE</translation>
+    </message>
+    <message>
+        <source>REGIST...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation type="unfinished">ONLINE</translation>
+    </message>
+    <message>
+        <source>ERROR</source>
+        <translation type="unfinished">ERRO</translation>
+    </message>
+    <message>
+        <source>SUNNYLINK</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SoftwarePanel</name>
     <message>
@@ -1091,6 +1122,33 @@ Isso pode levar até um minuto.</translation>
         <translation>Habilitar SSH</translation>
     </message>
 </context>
+<context>
+    <name>SunnylinkPanel</name>
+    <message>
+        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation type="unfinished">N/A</translation>
+    </message>
+    <message>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device ID</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SunnypilotPanel</name>
     <message>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 1162f644040245..19f5c20dd3dfae 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -705,6 +705,10 @@ This may take up to a minute.</source>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
     </message>
+    <message>
+        <source>sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -891,6 +895,33 @@ This may take up to a minute.</source>
         <translation>5G</translation>
     </message>
 </context>
+<context>
+    <name>SidebarSP</name>
+    <message>
+        <source>DISABLED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation type="unfinished">ออฟไลน์</translation>
+    </message>
+    <message>
+        <source>REGIST...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation type="unfinished">ออนไลน์</translation>
+    </message>
+    <message>
+        <source>ERROR</source>
+        <translation type="unfinished">เ�ิดข้อผิดพลาด</translation>
+    </message>
+    <message>
+        <source>SUNNYLINK</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SoftwarePanel</name>
     <message>
@@ -1087,6 +1118,33 @@ This may take up to a minute.</source>
         <translation>เปิดใช้งาน SSH</translation>
     </message>
 </context>
+<context>
+    <name>SunnylinkPanel</name>
+    <message>
+        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation type="unfinished">ไม่มี</translation>
+    </message>
+    <message>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device ID</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SunnypilotPanel</name>
     <message>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index fbc9292bc693cf..e5c3f3f45c5d3c 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -703,6 +703,10 @@ This may take up to a minute.</source>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
     </message>
+    <message>
+        <source>sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -889,6 +893,33 @@ This may take up to a minute.</source>
         <translation>5G</translation>
     </message>
 </context>
+<context>
+    <name>SidebarSP</name>
+    <message>
+        <source>DISABLED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation type="unfinished">ÇEVRİMDIŞI</translation>
+    </message>
+    <message>
+        <source>REGIST...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation type="unfinished">ÇEVRİMİÇİ</translation>
+    </message>
+    <message>
+        <source>ERROR</source>
+        <translation type="unfinished">HATA</translation>
+    </message>
+    <message>
+        <source>SUNNYLINK</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SoftwarePanel</name>
     <message>
@@ -1085,6 +1116,33 @@ This may take up to a minute.</source>
         <translation>SSH aç</translation>
     </message>
 </context>
+<context>
+    <name>SunnylinkPanel</name>
+    <message>
+        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation type="unfinished">N/A</translation>
+    </message>
+    <message>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device ID</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SunnypilotPanel</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 7b5a700a552ea0..8b6b64d5558aa1 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -705,6 +705,10 @@ This may take up to a minute.</source>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
     </message>
+    <message>
+        <source>sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -891,6 +895,33 @@ This may take up to a minute.</source>
         <translation>5G</translation>
     </message>
 </context>
+<context>
+    <name>SidebarSP</name>
+    <message>
+        <source>DISABLED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation type="unfinished">离线</translation>
+    </message>
+    <message>
+        <source>REGIST...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation type="unfinished">在线</translation>
+    </message>
+    <message>
+        <source>ERROR</source>
+        <translation type="unfinished">连接出错</translation>
+    </message>
+    <message>
+        <source>SUNNYLINK</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SoftwarePanel</name>
     <message>
@@ -1087,6 +1118,33 @@ This may take up to a minute.</source>
         <translation>�用SSH</translation>
     </message>
 </context>
+<context>
+    <name>SunnylinkPanel</name>
+    <message>
+        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation type="unfinished">N/A</translation>
+    </message>
+    <message>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device ID</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SunnypilotPanel</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index b3f04483cee6ab..0515ac82ae23f0 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -705,6 +705,10 @@ This may take up to a minute.</source>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
     </message>
+    <message>
+        <source>sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -891,6 +895,33 @@ This may take up to a minute.</source>
         <translation>5G</translation>
     </message>
 </context>
+<context>
+    <name>SidebarSP</name>
+    <message>
+        <source>DISABLED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation type="unfinished">已離線</translation>
+    </message>
+    <message>
+        <source>REGIST...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation type="unfinished">已連線</translation>
+    </message>
+    <message>
+        <source>ERROR</source>
+        <translation type="unfinished">錯誤</translation>
+    </message>
+    <message>
+        <source>SUNNYLINK</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SoftwarePanel</name>
     <message>
@@ -1087,6 +1118,33 @@ This may take up to a minute.</source>
         <translation>啟用 SSH �務</translation>
     </message>
 </context>
+<context>
+    <name>SunnylinkPanel</name>
+    <message>
+        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation type="unfinished">無法使用</translation>
+    </message>
+    <message>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device ID</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SunnypilotPanel</name>
     <message>

From c12c22eac788a16ec3c608af695bd148d7bc6bda Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 5 Jan 2025 11:14:18 +0100
Subject: [PATCH 0040/1434] ui: onroad skeleton (#521)

* onroad init

* init model renderer

* Add default virtual destructors to HudRenderer and AnnotatedCameraWidget

This ensures proper cleanup of derived classes if they override these destructors. Adding default destructors promotes better memory safety and adheres to modern C++ best practices.

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/qt/onroad/annotated_camera.h     | 10 +++++++--
 selfdrive/ui/qt/onroad/hud.h                  | 12 ++++++++---
 selfdrive/ui/qt/onroad/onroad_home.h          |  5 ++++-
 selfdrive/ui/sunnypilot/SConscript            |  3 +++
 .../sunnypilot/qt/onroad/annotated_camera.cc  | 16 ++++++++++++++
 .../sunnypilot/qt/onroad/annotated_camera.h   | 18 ++++++++++++++++
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc      | 18 ++++++++++++++++
 selfdrive/ui/sunnypilot/qt/onroad/hud.h       | 21 +++++++++++++++++++
 selfdrive/ui/sunnypilot/qt/onroad/model.cc    |  8 +++++++
 selfdrive/ui/sunnypilot/qt/onroad/model.h     | 15 +++++++++++++
 10 files changed, 120 insertions(+), 6 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/onroad/hud.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/onroad/hud.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/onroad/model.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/onroad/model.h

diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index d205579f6c9059..a161b89ee35d23 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -2,18 +2,24 @@
 
 #include <QVBoxLayout>
 #include <memory>
-#include "selfdrive/ui/qt/onroad/hud.h"
 #include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/driver_monitoring.h"
 #include "selfdrive/ui/qt/onroad/model.h"
 #include "selfdrive/ui/qt/widgets/cameraview.h"
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"
+#else
+#include "selfdrive/ui/qt/onroad/hud.h"
+#endif
+
 class AnnotatedCameraWidget : public CameraWidget {
   Q_OBJECT
 
 public:
   explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
-  void updateState(const UIState &s);
+  virtual ~AnnotatedCameraWidget() = default;
+  virtual void updateState(const UIState &s);
 
 private:
   QVBoxLayout *main_layout;
diff --git a/selfdrive/ui/qt/onroad/hud.h b/selfdrive/ui/qt/onroad/hud.h
index 0b1220a27a766e..893a9133fe000d 100644
--- a/selfdrive/ui/qt/onroad/hud.h
+++ b/selfdrive/ui/qt/onroad/hud.h
@@ -1,17 +1,23 @@
 #pragma once
 
 #include <QPainter>
+
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/ui.h"
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 
 class HudRenderer : public QObject {
   Q_OBJECT
 
 public:
   HudRenderer();
-  void updateState(const UIState &s);
-  void draw(QPainter &p, const QRect &surface_rect);
+  virtual ~HudRenderer() = default;
+  virtual void updateState(const UIState &s);
+  virtual void draw(QPainter &p, const QRect &surface_rect);
 
-private:
+protected:
   void drawSetSpeed(QPainter &p, const QRect &surface_rect);
   void drawCurrentSpeed(QPainter &p, const QRect &surface_rect);
   void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
diff --git a/selfdrive/ui/qt/onroad/onroad_home.h b/selfdrive/ui/qt/onroad/onroad_home.h
index 2224ede32e1555..9b51bb62e4dd66 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.h
+++ b/selfdrive/ui/qt/onroad/onroad_home.h
@@ -1,10 +1,13 @@
 #pragma once
 
 #include "selfdrive/ui/qt/onroad/alerts.h"
-#include "selfdrive/ui/qt/onroad/annotated_camera.h"
 
 #ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h"
 #define UIState UIStateSP
+#define AnnotatedCameraWidget AnnotatedCameraWidgetSP
+#else
+#include "selfdrive/ui/qt/onroad/annotated_camera.h"
 #endif
 
 class OnroadWindow : public QWidget {
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 0a5016d58f2bc2..f1fb707c5aaf9d 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -17,6 +17,9 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/software_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnypilot_panel.cc",
+  "sunnypilot/qt/onroad/annotated_camera.cc",
+  "sunnypilot/qt/onroad/hud.cc",
+  "sunnypilot/qt/onroad/model.cc",
   "sunnypilot/qt/onroad/onroad_home.cc",
 ]
 
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc
new file mode 100644
index 00000000000000..3721a3d198b8ef
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc
@@ -0,0 +1,16 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h"
+
+AnnotatedCameraWidgetSP::AnnotatedCameraWidgetSP(VisionStreamType type, QWidget *parent)
+    : AnnotatedCameraWidget(type, parent) {
+}
+
+void AnnotatedCameraWidgetSP::updateState(const UIState &s) {
+  AnnotatedCameraWidget::updateState(s);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h
new file mode 100644
index 00000000000000..46ce7d4be30ab5
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h
@@ -0,0 +1,18 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/onroad/annotated_camera.h"
+
+class AnnotatedCameraWidgetSP : public AnnotatedCameraWidget {
+  Q_OBJECT
+
+public:
+  explicit AnnotatedCameraWidgetSP(VisionStreamType type, QWidget *parent = nullptr);
+  void updateState(const UIState &s) override;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
new file mode 100644
index 00000000000000..233ca59f98f336
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -0,0 +1,18 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"
+
+HudRendererSP::HudRendererSP() {}
+
+void HudRendererSP::updateState(const UIState &s) {
+  HudRenderer::updateState(s);
+}
+
+void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
+  HudRenderer::draw(p, surface_rect);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
new file mode 100644
index 00000000000000..1e98cd3a526a0f
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -0,0 +1,21 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QPainter>
+
+#include "selfdrive/ui/qt/onroad/hud.h"
+
+class HudRendererSP : public HudRenderer {
+  Q_OBJECT
+
+public:
+  HudRendererSP();
+  void updateState(const UIState &s) override;
+  void draw(QPainter &p, const QRect &surface_rect) override;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.cc b/selfdrive/ui/sunnypilot/qt/onroad/model.cc
new file mode 100644
index 00000000000000..617b64f58e14d2
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/onroad/model.cc
@@ -0,0 +1,8 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/onroad/model.h"
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.h b/selfdrive/ui/sunnypilot/qt/onroad/model.h
new file mode 100644
index 00000000000000..e8594629cb5f93
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/onroad/model.h
@@ -0,0 +1,15 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/onroad/model.h"
+
+class ModelRendererSP : public ModelRenderer {
+public:
+  ModelRendererSP() {}
+};

From f84d27c4ee2308c1012c68355e92e98674a47b9f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 5 Jan 2025 17:47:27 -0500
Subject: [PATCH 0041/1434] models: retain SNPE runner support (#522)

* tinygrad with snpe

* force with snpe to validate

* fix path

* fix more paths

* Adjust modeld execution logic based on active model runner

Introduced a check to conditionally execute `modeld` based on the active model runner. Added support for distinguishing between SNPE and TinyGrad runners using new helper functions and updated `custom.capnp` definitions. This change optimizes process management by ensuring compatibility with the selected model runner.

* Refactor modeld process function checks.

Introduce `is_stock_model` to clarify logic and replace direct uses of `is_snpe_model` where the stock model condition is needed. Additionally, rename the duplicate "modeld" process in sunnyPilot to "modeld_snpe" for clarity and consistency.

* ignore tg

* fix process name

* ruff

* fix thneed paths

* mypy

* remove our own

* use upstream compile3

* fix thneed

* try this

* Revert "remove our own"

This reverts commit 1cf4f57502565c274628e185c66f1eb04c4d9bbe.

* try using compile2.py again

* add back symlink

* fix path

* more fix

* wrong path again

* Revert "wrong path again"

This reverts commit f5301c19d594defb23cda2604168bcb02c830f3e.

* update

* hardcode path to our submodule

* force path

* try this

* fix file name

* try this

* again

* Revert "again"

This reverts commit 17c8cd73768a2de5aaf2a34d202aa6f03d59d72d.

* Revert "try this"

This reverts commit 767f78bbcf17b08edbc20f283d10a1990bf4264f.

* Revert "fix file name"

This reverts commit 485eef68da981da571fe9a9ebf3aecdb95e5588c.

* Revert "try this"

This reverts commit 41fef87680cdda1ba8cbd7e5c59256e6c57010a0.

* Revert "force path"

This reverts commit 5c3b408937bff0f61b150971b328d127501c5bf0.

* Revert "hardcode path to our submodule"

This reverts commit 5ee1950b6f4fce73e7e73b6971b996a9989d0a93.

* Revert "update"

This reverts commit fb313bd7fbeb50111f3c4a11137b4cfd9cabc3fa.

* Reapply "wrong path again"

This reverts commit 309639aeb3575e20b215bbbcc27e48923ee95c87.

* Revert "wrong path again"

This reverts commit f5301c19d594defb23cda2604168bcb02c830f3e.

* Revert "more fix"

This reverts commit 23dd423e78e60bd6a0bd73e921bfba9a5aad88bd.

* Revert "fix path"

This reverts commit 75d338f2bda2dfa77044e33f4c6553390621b13b.

* Revert "add back symlink"

This reverts commit 9f71ad0b8ae2068e431c455af9d4f954d024eec7.

* Revert "try using compile2.py again"

This reverts commit 914117d2e1c6c4270f7bef1a5305847a1d7bab17.

* Reapply "remove our own"

This reverts commit b1996377b346658f2094cba9032a66230784cb3e.

* don't even compile anymore

* need it for default snpe model

* add to lfs

* bring onnx back for sim

* must add this back

* need this

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .gitattributes                                |   2 +
 .gitignore                                    |   1 +
 .gitmodules                                   |   2 +-
 SConstruct                                    |   2 +
 cereal/custom.capnp                           |   5 +
 pyproject.toml                                |   2 +-
 sunnypilot/SConscript                         |   1 +
 sunnypilot/modeld/.gitignore                  |   1 +
 sunnypilot/modeld/SConscript                  |  58 ++++
 sunnypilot/modeld/__init__.py                 |   0
 sunnypilot/modeld/constants.py                |  86 +++++
 sunnypilot/modeld/fill_model_msg.py           | 237 ++++++++++++++
 sunnypilot/modeld/get_model_metadata.py       |  28 ++
 sunnypilot/modeld/modeld                      |  10 +
 sunnypilot/modeld/modeld.py                   | 299 ++++++++++++++++++
 sunnypilot/modeld/models/README.md            |  62 ++++
 sunnypilot/modeld/models/commonmodel.cc       |  69 ++++
 sunnypilot/modeld/models/commonmodel.h        |  98 ++++++
 sunnypilot/modeld/models/commonmodel.pxd      |  26 ++
 sunnypilot/modeld/models/commonmodel_pyx.pxd  |  13 +
 sunnypilot/modeld/models/commonmodel_pyx.pyx  |  76 +++++
 sunnypilot/modeld/models/supercombo.onnx      |   3 +
 sunnypilot/modeld/models/supercombo.thneed    |   3 +
 .../modeld/models/supercombo_metadata.pkl     |   3 +
 sunnypilot/modeld/parse_model_outputs.py      | 103 ++++++
 sunnypilot/modeld/runners/__init__.py         |  27 ++
 sunnypilot/modeld/runners/onnxmodel.py        |  71 +++++
 sunnypilot/modeld/runners/ort_helpers.py      |  36 +++
 sunnypilot/modeld/runners/run.h               |   4 +
 sunnypilot/modeld/runners/runmodel.h          |  49 +++
 sunnypilot/modeld/runners/runmodel.pxd        |  14 +
 sunnypilot/modeld/runners/runmodel_pyx.pxd    |   6 +
 sunnypilot/modeld/runners/runmodel_pyx.pyx    |  37 +++
 sunnypilot/modeld/runners/snpemodel.cc        | 116 +++++++
 sunnypilot/modeld/runners/snpemodel.h         |  52 +++
 sunnypilot/modeld/runners/snpemodel.pxd       |   9 +
 sunnypilot/modeld/runners/snpemodel_pyx.pyx   |  17 +
 sunnypilot/modeld/runners/thneedmodel.cc      |  58 ++++
 sunnypilot/modeld/runners/thneedmodel.h       |  17 +
 sunnypilot/modeld/runners/thneedmodel.pxd     |   9 +
 sunnypilot/modeld/runners/thneedmodel_pyx.pyx |  14 +
 sunnypilot/modeld/thneed/README               |   8 +
 sunnypilot/modeld/thneed/__init__.py          |   0
 sunnypilot/modeld/thneed/serialize.cc         | 154 +++++++++
 sunnypilot/modeld/thneed/thneed.h             | 133 ++++++++
 sunnypilot/modeld/thneed/thneed_common.cc     | 216 +++++++++++++
 sunnypilot/modeld/thneed/thneed_pc.cc         |  32 ++
 sunnypilot/modeld/thneed/thneed_qcom2.cc      | 258 +++++++++++++++
 sunnypilot/modeld/transforms/loadyuv.cc       |  76 +++++
 sunnypilot/modeld/transforms/loadyuv.cl       |  47 +++
 sunnypilot/modeld/transforms/loadyuv.h        |  20 ++
 sunnypilot/modeld/transforms/transform.cc     |  97 ++++++
 sunnypilot/modeld/transforms/transform.cl     |  54 ++++
 sunnypilot/modeld/transforms/transform.h      |  25 ++
 sunnypilot/models/helpers.py                  |  21 ++
 system/manager/process_config.py              |  16 +-
 56 files changed, 2879 insertions(+), 4 deletions(-)
 create mode 100644 sunnypilot/SConscript
 create mode 100644 sunnypilot/modeld/.gitignore
 create mode 100644 sunnypilot/modeld/SConscript
 create mode 100644 sunnypilot/modeld/__init__.py
 create mode 100644 sunnypilot/modeld/constants.py
 create mode 100644 sunnypilot/modeld/fill_model_msg.py
 create mode 100755 sunnypilot/modeld/get_model_metadata.py
 create mode 100755 sunnypilot/modeld/modeld
 create mode 100755 sunnypilot/modeld/modeld.py
 create mode 100644 sunnypilot/modeld/models/README.md
 create mode 100644 sunnypilot/modeld/models/commonmodel.cc
 create mode 100644 sunnypilot/modeld/models/commonmodel.h
 create mode 100644 sunnypilot/modeld/models/commonmodel.pxd
 create mode 100644 sunnypilot/modeld/models/commonmodel_pyx.pxd
 create mode 100644 sunnypilot/modeld/models/commonmodel_pyx.pyx
 create mode 100644 sunnypilot/modeld/models/supercombo.onnx
 create mode 100644 sunnypilot/modeld/models/supercombo.thneed
 create mode 100644 sunnypilot/modeld/models/supercombo_metadata.pkl
 create mode 100644 sunnypilot/modeld/parse_model_outputs.py
 create mode 100644 sunnypilot/modeld/runners/__init__.py
 create mode 100644 sunnypilot/modeld/runners/onnxmodel.py
 create mode 100644 sunnypilot/modeld/runners/ort_helpers.py
 create mode 100644 sunnypilot/modeld/runners/run.h
 create mode 100644 sunnypilot/modeld/runners/runmodel.h
 create mode 100644 sunnypilot/modeld/runners/runmodel.pxd
 create mode 100644 sunnypilot/modeld/runners/runmodel_pyx.pxd
 create mode 100644 sunnypilot/modeld/runners/runmodel_pyx.pyx
 create mode 100644 sunnypilot/modeld/runners/snpemodel.cc
 create mode 100644 sunnypilot/modeld/runners/snpemodel.h
 create mode 100644 sunnypilot/modeld/runners/snpemodel.pxd
 create mode 100644 sunnypilot/modeld/runners/snpemodel_pyx.pyx
 create mode 100644 sunnypilot/modeld/runners/thneedmodel.cc
 create mode 100644 sunnypilot/modeld/runners/thneedmodel.h
 create mode 100644 sunnypilot/modeld/runners/thneedmodel.pxd
 create mode 100644 sunnypilot/modeld/runners/thneedmodel_pyx.pyx
 create mode 100644 sunnypilot/modeld/thneed/README
 create mode 100644 sunnypilot/modeld/thneed/__init__.py
 create mode 100644 sunnypilot/modeld/thneed/serialize.cc
 create mode 100644 sunnypilot/modeld/thneed/thneed.h
 create mode 100644 sunnypilot/modeld/thneed/thneed_common.cc
 create mode 100644 sunnypilot/modeld/thneed/thneed_pc.cc
 create mode 100644 sunnypilot/modeld/thneed/thneed_qcom2.cc
 create mode 100644 sunnypilot/modeld/transforms/loadyuv.cc
 create mode 100644 sunnypilot/modeld/transforms/loadyuv.cl
 create mode 100644 sunnypilot/modeld/transforms/loadyuv.h
 create mode 100644 sunnypilot/modeld/transforms/transform.cc
 create mode 100644 sunnypilot/modeld/transforms/transform.cl
 create mode 100644 sunnypilot/modeld/transforms/transform.h

diff --git a/.gitattributes b/.gitattributes
index df3fc49ede0f1d..69c40549a262c7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3,6 +3,8 @@
 # to move existing files into LFS:
 # git add --renormalize .
 *.onnx filter=lfs diff=lfs merge=lfs -text
+*.thneed filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
 *.svg filter=lfs diff=lfs merge=lfs -text
 *.png filter=lfs diff=lfs merge=lfs -text
 *.gif filter=lfs diff=lfs merge=lfs -text
diff --git a/.gitignore b/.gitignore
index a58a46fef9c045..f05911aef62f4f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -74,6 +74,7 @@ comma*.sh
 selfdrive/modeld/thneed/compile
 selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl
+sunnypilot/modeld/thneed/compile
 
 *.bz2
 *.zst
diff --git a/.gitmodules b/.gitmodules
index 10fa733cf38f7b..f1f7c400dbf050 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -15,4 +15,4 @@
   url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/tinygrad/tinygrad.git
\ No newline at end of file
+  url = https://github.com/commaai/tinygrad.git
diff --git a/SConstruct b/SConstruct
index 39f7d14d03d184..c07ed7ace602d1 100644
--- a/SConstruct
+++ b/SConstruct
@@ -396,6 +396,8 @@ SConscript(['third_party/SConscript'])
 
 SConscript(['selfdrive/SConscript'])
 
+SConscript(['sunnypilot/SConscript'])
+
 if Dir('#tools/cabana/').exists() and GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
   if arch != "larch64":
diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index b2575256d808e5..5007d0675230a4 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -64,6 +64,11 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     progress @1 :Float32;
     eta @2 :UInt32;
   }
+  
+  enum Runner {
+    snpe @0;
+    tinygrad @1;
+  }
 
   struct ModelBundle {
     index @0 :UInt32;
diff --git a/pyproject.toml b/pyproject.toml
index 7a889584a0114f..a4782e2294cbdf 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -137,7 +137,7 @@ allow-direct-references = true
 
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ --ignore=sunnypilot/tinygrad_repo/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
diff --git a/sunnypilot/SConscript b/sunnypilot/SConscript
new file mode 100644
index 00000000000000..8bc5b84ef50131
--- /dev/null
+++ b/sunnypilot/SConscript
@@ -0,0 +1 @@
+SConscript(['modeld/SConscript'])
\ No newline at end of file
diff --git a/sunnypilot/modeld/.gitignore b/sunnypilot/modeld/.gitignore
new file mode 100644
index 00000000000000..742d3d120534b5
--- /dev/null
+++ b/sunnypilot/modeld/.gitignore
@@ -0,0 +1 @@
+*_pyx.cpp
diff --git a/sunnypilot/modeld/SConscript b/sunnypilot/modeld/SConscript
new file mode 100644
index 00000000000000..a979c21612f61b
--- /dev/null
+++ b/sunnypilot/modeld/SConscript
@@ -0,0 +1,58 @@
+import glob
+
+Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
+lenv = env.Clone()
+lenvCython = envCython.Clone()
+
+libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'kj', 'pthread']
+frameworks = []
+
+common_src = [
+  "models/commonmodel.cc",
+  "transforms/loadyuv.cc",
+  "transforms/transform.cc",
+]
+
+thneed_src_common = [
+  "thneed/thneed_common.cc",
+  "thneed/serialize.cc",
+]
+
+thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"]
+thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"]
+thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc
+
+# SNPE except on Mac and ARM Linux
+snpe_lib = []
+if arch != "Darwin" and arch != "aarch64":
+  common_src += ['runners/snpemodel.cc']
+  snpe_lib += ['SNPE']
+
+# OpenCL is a framework on Mac
+if arch == "Darwin":
+  frameworks += ['OpenCL']
+else:
+  libs += ['OpenCL']
+
+# Set path definitions
+for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
+  for xenv in (lenv, lenvCython):
+    xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
+
+# Compile cython
+snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64"
+snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
+snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
+
+cython_libs = envCython["LIBS"] + libs
+snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc'])
+commonmodel_lib = lenv.Library('commonmodel', common_src)
+
+lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
+lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath)
+lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
+
+if arch == 'larch64' or GetOption('pc_thneed'):
+  thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
+  thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
+  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
diff --git a/sunnypilot/modeld/__init__.py b/sunnypilot/modeld/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/modeld/constants.py b/sunnypilot/modeld/constants.py
new file mode 100644
index 00000000000000..bf74c2d1a065ec
--- /dev/null
+++ b/sunnypilot/modeld/constants.py
@@ -0,0 +1,86 @@
+import numpy as np
+
+def index_function(idx, max_val=192, max_idx=32):
+  return (max_val) * ((idx/max_idx)**2)
+
+class ModelConstants:
+  # time and distance indices
+  IDX_N = 33
+  T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]
+  X_IDXS = [index_function(idx, max_val=192.0) for idx in range(IDX_N)]
+  LEAD_T_IDXS = [0., 2., 4., 6., 8., 10.]
+  LEAD_T_OFFSETS = [0., 2., 4.]
+  META_T_IDXS = [2., 4., 6., 8., 10.]
+
+  # model inputs constants
+  MODEL_FREQ = 20
+  FEATURE_LEN = 512
+  FULL_HISTORY_BUFFER_LEN = 99
+  HISTORY_BUFFER_LEN = 24
+  DESIRE_LEN = 8
+  TRAFFIC_CONVENTION_LEN = 2
+  LAT_PLANNER_STATE_LEN = 4
+  LATERAL_CONTROL_PARAMS_LEN = 2
+  PREV_DESIRED_CURV_LEN = 1
+
+  # model outputs constants
+  FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32)
+  FCW_THRESHOLDS_3MS2 = np.array([.7, .7], dtype=np.float32)
+  FCW_5MS2_PROBS_WIDTH = 5
+  FCW_3MS2_PROBS_WIDTH = 2
+
+  DISENGAGE_WIDTH = 5
+  POSE_WIDTH = 6
+  WIDE_FROM_DEVICE_WIDTH = 3
+  SIM_POSE_WIDTH = 6
+  LEAD_WIDTH = 4
+  LANE_LINES_WIDTH = 2
+  ROAD_EDGES_WIDTH = 2
+  PLAN_WIDTH = 15
+  DESIRE_PRED_WIDTH = 8
+  LAT_PLANNER_SOLUTION_WIDTH = 4
+  DESIRED_CURV_WIDTH = 1
+
+  NUM_LANE_LINES = 4
+  NUM_ROAD_EDGES = 2
+
+  LEAD_TRAJ_LEN = 6
+  DESIRE_PRED_LEN = 4
+
+  PLAN_MHP_N = 5
+  LEAD_MHP_N = 2
+  PLAN_MHP_SELECTION = 1
+  LEAD_MHP_SELECTION = 3
+
+  FCW_THRESHOLD_5MS2_HIGH = 0.15
+  FCW_THRESHOLD_5MS2_LOW = 0.05
+  FCW_THRESHOLD_3MS2 = 0.7
+
+  CONFIDENCE_BUFFER_LEN = 5
+  RYG_GREEN = 0.01165
+  RYG_YELLOW = 0.06157
+
+  POLY_PATH_DEGREE = 4
+
+# model outputs slices
+class Plan:
+  POSITION = slice(0, 3)
+  VELOCITY = slice(3, 6)
+  ACCELERATION = slice(6, 9)
+  T_FROM_CURRENT_EULER = slice(9, 12)
+  ORIENTATION_RATE = slice(12, 15)
+
+class Meta:
+  ENGAGED = slice(0, 1)
+  # next 2, 4, 6, 8, 10 seconds
+  GAS_DISENGAGE = slice(1, 31, 6)
+  BRAKE_DISENGAGE = slice(2, 31, 6)
+  STEER_OVERRIDE = slice(3, 31, 6)
+  HARD_BRAKE_3 = slice(4, 31, 6)
+  HARD_BRAKE_4 = slice(5, 31, 6)
+  HARD_BRAKE_5 = slice(6, 31, 6)
+  # next 0, 2, 4, 6, 8, 10 seconds
+  GAS_PRESS = slice(31, 55, 4)
+  BRAKE_PRESS = slice(32, 55, 4)
+  LEFT_BLINKER = slice(33, 55, 4)
+  RIGHT_BLINKER = slice(34, 55, 4)
diff --git a/sunnypilot/modeld/fill_model_msg.py b/sunnypilot/modeld/fill_model_msg.py
new file mode 100644
index 00000000000000..875f823d74841b
--- /dev/null
+++ b/sunnypilot/modeld/fill_model_msg.py
@@ -0,0 +1,237 @@
+import os
+import capnp
+import numpy as np
+from cereal import log
+from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan, Meta
+from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
+
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+
+ConfidenceClass = log.ModelDataV2.ConfidenceClass
+
+def curv_from_psis(psi_target, psi_rate, vego, delay):
+  vego = np.clip(vego, MIN_SPEED, np.inf)
+  curv_from_psi = psi_target / (vego * delay)  # epsilon to prevent divide-by-zero
+  return 2*curv_from_psi - psi_rate / vego
+
+def get_curvature_from_plan(plan, vego, delay):
+  psi_target = np.interp(delay, ModelConstants.T_IDXS, plan[:, Plan.T_FROM_CURRENT_EULER][:, 2])
+  psi_rate = plan[:, Plan.ORIENTATION_RATE][0, 2]
+  return curv_from_psis(psi_target, psi_rate, vego, delay)
+
+class PublishState:
+  def __init__(self):
+    self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
+    self.prev_brake_5ms2_probs = np.zeros(ModelConstants.FCW_5MS2_PROBS_WIDTH, dtype=np.float32)
+    self.prev_brake_3ms2_probs = np.zeros(ModelConstants.FCW_3MS2_PROBS_WIDTH, dtype=np.float32)
+
+def fill_xyzt(builder, t, x, y, z, x_std=None, y_std=None, z_std=None):
+  builder.t = t
+  builder.x = x.tolist()
+  builder.y = y.tolist()
+  builder.z = z.tolist()
+  if x_std is not None:
+    builder.xStd = x_std.tolist()
+  if y_std is not None:
+    builder.yStd = y_std.tolist()
+  if z_std is not None:
+    builder.zStd = z_std.tolist()
+
+def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std=None):
+  builder.t = t
+  builder.x = x.tolist()
+  builder.y = y.tolist()
+  builder.v = v.tolist()
+  builder.a = a.tolist()
+  if x_std is not None:
+    builder.xStd = x_std.tolist()
+  if y_std is not None:
+    builder.yStd = y_std.tolist()
+  if v_std is not None:
+    builder.vStd = v_std.tolist()
+  if a_std is not None:
+    builder.aStd = a_std.tolist()
+
+def fill_xyz_poly(builder, degree, x, y, z):
+  xyz = np.stack([x, y, z], axis=1)
+  coeffs = np.polynomial.polynomial.polyfit(ModelConstants.T_IDXS, xyz, deg=degree)
+  builder.xCoefficients = coeffs[:, 0].tolist()
+  builder.yCoefficients = coeffs[:, 1].tolist()
+  builder.zCoefficients = coeffs[:, 2].tolist()
+
+def fill_lane_line_meta(builder, lane_lines, lane_line_probs):
+  builder.leftY = lane_lines[1].y[0]
+  builder.leftProb = lane_line_probs[1]
+  builder.rightY = lane_lines[2].y[0]
+  builder.rightProb = lane_line_probs[2]
+
+def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
+                   net_output_data: dict[str, np.ndarray], v_ego: float, delay: float,
+                   publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
+                   frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
+                   valid: bool) -> None:
+  frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
+  frame_drop_perc = frame_drop * 100
+  extended_msg.valid = valid
+  base_msg.valid = valid
+
+  desired_curv = float(get_curvature_from_plan(net_output_data['plan'][0], v_ego, delay))
+
+  driving_model_data = base_msg.drivingModelData
+
+  driving_model_data.frameId = vipc_frame_id
+  driving_model_data.frameIdExtra = vipc_frame_id_extra
+  driving_model_data.frameDropPerc = frame_drop_perc
+  driving_model_data.modelExecutionTime = model_execution_time
+
+  action = driving_model_data.action
+  action.desiredCurvature = desired_curv
+
+  modelV2 = extended_msg.modelV2
+  modelV2.frameId = vipc_frame_id
+  modelV2.frameIdExtra = vipc_frame_id_extra
+  modelV2.frameAge = frame_age
+  modelV2.frameDropPerc = frame_drop_perc
+  modelV2.timestampEof = timestamp_eof
+  modelV2.modelExecutionTime = model_execution_time
+
+  # plan
+  position = modelV2.position
+  fill_xyzt(position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T)
+  velocity = modelV2.velocity
+  fill_xyzt(velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T)
+  acceleration = modelV2.acceleration
+  fill_xyzt(acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T)
+  orientation = modelV2.orientation
+  fill_xyzt(orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
+  orientation_rate = modelV2.orientationRate
+  fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
+
+  # temporal pose
+  temporal_pose = modelV2.temporalPose
+  temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
+  temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
+  temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
+  temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
+
+  # poly path
+  poly_path = driving_model_data.path
+  fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
+
+  # lateral planning
+  action = modelV2.action
+  action.desiredCurvature = desired_curv
+
+  # times at X_IDXS according to model plan
+  PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
+  PLAN_T_IDXS[0] = 0.0
+  plan_x = net_output_data['plan'][0,:,Plan.POSITION][:,0].tolist()
+  for xidx in range(1, ModelConstants.IDX_N):
+    tidx = 0
+    # increment tidx until we find an element that's further away than the current xidx
+    while tidx < ModelConstants.IDX_N - 1 and plan_x[tidx+1] < ModelConstants.X_IDXS[xidx]:
+      tidx += 1
+    if tidx == ModelConstants.IDX_N - 1:
+      # if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break
+      PLAN_T_IDXS[xidx] = ModelConstants.T_IDXS[ModelConstants.IDX_N - 1]
+      break
+    # interpolate to find `t` for the current xidx
+    current_x_val = plan_x[tidx]
+    next_x_val = plan_x[tidx+1]
+    p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan')
+    PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx]
+
+  # lane lines
+  modelV2.init('laneLines', 4)
+  for i in range(4):
+    lane_line = modelV2.laneLines[i]
+    fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
+  modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
+  modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
+
+  lane_line_meta = driving_model_data.laneLineMeta
+  fill_lane_line_meta(lane_line_meta, modelV2.laneLines, modelV2.laneLineProbs)
+
+  # road edges
+  modelV2.init('roadEdges', 2)
+  for i in range(2):
+    road_edge = modelV2.roadEdges[i]
+    fill_xyzt(road_edge, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1])
+  modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist()
+
+  # leads
+  modelV2.init('leadsV3', 3)
+  for i in range(3):
+    lead = modelV2.leadsV3[i]
+    fill_xyvat(lead, ModelConstants.LEAD_T_IDXS, *net_output_data['lead'][0,i].T, *net_output_data['lead_stds'][0,i].T)
+    lead.prob = net_output_data['lead_prob'][0,i].tolist()
+    lead.probTime = ModelConstants.LEAD_T_OFFSETS[i]
+
+  # meta
+  meta = modelV2.meta
+  meta.desireState = net_output_data['desire_state'][0].reshape(-1).tolist()
+  meta.desirePrediction = net_output_data['desire_pred'][0].reshape(-1).tolist()
+  meta.engagedProb = net_output_data['meta'][0,Meta.ENGAGED].item()
+  meta.init('disengagePredictions')
+  disengage_predictions = meta.disengagePredictions
+  disengage_predictions.t = ModelConstants.META_T_IDXS
+  disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE].tolist()
+  disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,Meta.GAS_DISENGAGE].tolist()
+  disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,Meta.STEER_OVERRIDE].tolist()
+  disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
+  disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
+  disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
+  disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
+  disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
+
+  publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
+  publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]
+  publish_state.prev_brake_3ms2_probs[:-1] = publish_state.prev_brake_3ms2_probs[1:]
+  publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_3][0]
+  hard_brake_predicted = (publish_state.prev_brake_5ms2_probs > ModelConstants.FCW_THRESHOLDS_5MS2).all() and \
+    (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all()
+  meta.hardBrakePredicted = hard_brake_predicted.item()
+
+  # confidence
+  if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
+    # any disengage prob
+    brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
+    gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]
+    steer_override_probs = net_output_data['meta'][0,Meta.STEER_OVERRIDE]
+    any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs))
+    # independent disengage prob for each 2s slice
+    ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])]
+    # rolling buf for 2, 4, 6, 8, 10s
+    publish_state.disengage_buffer[:-ModelConstants.DISENGAGE_WIDTH] = publish_state.disengage_buffer[ModelConstants.DISENGAGE_WIDTH:]
+    publish_state.disengage_buffer[-ModelConstants.DISENGAGE_WIDTH:] = ind_disengage_probs
+
+  score = 0.
+  for i in range(ModelConstants.DISENGAGE_WIDTH):
+    score += publish_state.disengage_buffer[i*ModelConstants.DISENGAGE_WIDTH+ModelConstants.DISENGAGE_WIDTH-1-i].item() / ModelConstants.DISENGAGE_WIDTH
+  if score < ModelConstants.RYG_GREEN:
+    modelV2.confidence = ConfidenceClass.green
+  elif score < ModelConstants.RYG_YELLOW:
+    modelV2.confidence = ConfidenceClass.yellow
+  else:
+    modelV2.confidence = ConfidenceClass.red
+
+  # raw prediction if enabled
+  if SEND_RAW_PRED:
+    modelV2.rawPredictions = net_output_data['raw_pred'].tobytes()
+
+def fill_pose_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray],
+                  vipc_frame_id: int, vipc_dropped_frames: int, timestamp_eof: int, live_calib_seen: bool) -> None:
+  msg.valid = live_calib_seen & (vipc_dropped_frames < 1)
+  cameraOdometry = msg.cameraOdometry
+
+  cameraOdometry.frameId = vipc_frame_id
+  cameraOdometry.timestampEof = timestamp_eof
+
+  cameraOdometry.trans = net_output_data['pose'][0,:3].tolist()
+  cameraOdometry.rot = net_output_data['pose'][0,3:].tolist()
+  cameraOdometry.wideFromDeviceEuler = net_output_data['wide_from_device_euler'][0,:].tolist()
+  cameraOdometry.roadTransformTrans = net_output_data['road_transform'][0,:3].tolist()
+  cameraOdometry.transStd = net_output_data['pose_stds'][0,:3].tolist()
+  cameraOdometry.rotStd = net_output_data['pose_stds'][0,3:].tolist()
+  cameraOdometry.wideFromDeviceEulerStd = net_output_data['wide_from_device_euler_stds'][0,:].tolist()
+  cameraOdometry.roadTransformTransStd = net_output_data['road_transform_stds'][0,:3].tolist()
diff --git a/sunnypilot/modeld/get_model_metadata.py b/sunnypilot/modeld/get_model_metadata.py
new file mode 100755
index 00000000000000..144860204fd79c
--- /dev/null
+++ b/sunnypilot/modeld/get_model_metadata.py
@@ -0,0 +1,28 @@
+#!/usr/bin/env python3
+import sys
+import pathlib
+import onnx
+import codecs
+import pickle
+
+def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
+  shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
+  name = value_info.name
+  return name, shape
+
+if __name__ == "__main__":
+  model_path = pathlib.Path(sys.argv[1])
+  model = onnx.load(str(model_path))
+  i = [x.key for x in model.metadata_props].index('output_slices')
+  output_slices = model.metadata_props[i].value
+
+  metadata = {}
+  metadata['output_slices'] = pickle.loads(codecs.decode(output_slices.encode(), "base64"))
+  metadata['input_shapes'] = dict([get_name_and_shape(x) for x in model.graph.input])
+  metadata['output_shapes'] = dict([get_name_and_shape(x) for x in model.graph.output])
+
+  metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
+  with open(metadata_path, 'wb') as f:
+    pickle.dump(metadata, f)
+
+  print(f'saved metadata to {metadata_path}')
diff --git a/sunnypilot/modeld/modeld b/sunnypilot/modeld/modeld
new file mode 100755
index 00000000000000..e1cef4dcc35f18
--- /dev/null
+++ b/sunnypilot/modeld/modeld
@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd "$DIR/../../"
+
+if [ -f "$DIR/libthneed.so" ]; then
+  export LD_PRELOAD="$DIR/libthneed.so"
+fi
+
+exec "$DIR/modeld.py" "$@"
diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
new file mode 100755
index 00000000000000..1c14486e61f3af
--- /dev/null
+++ b/sunnypilot/modeld/modeld.py
@@ -0,0 +1,299 @@
+#!/usr/bin/env python3
+import os
+import time
+import pickle
+import numpy as np
+import cereal.messaging as messaging
+from cereal import car, log
+from pathlib import Path
+from setproctitle import setproctitle
+from cereal.messaging import PubMaster, SubMaster
+from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from opendbc.car.car_helpers import get_demo_car_params
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.realtime import config_realtime_process
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.common.transformations.model import get_warp_matrix
+from openpilot.system import sentry
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.sunnypilot.modeld.runners import ModelRunner, Runtime
+from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
+from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
+from openpilot.sunnypilot.modeld.constants import ModelConstants
+from openpilot.sunnypilot.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
+
+PROCESS_NAME = "sunnypilot.modeld.modeld"
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+
+MODEL_PATHS = {
+  ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed',
+  ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'}
+
+METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
+
+
+class FrameMeta:
+  frame_id: int = 0
+  timestamp_sof: int = 0
+  timestamp_eof: int = 0
+
+  def __init__(self, vipc=None):
+    if vipc is not None:
+      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
+
+class ModelState:
+  frame: DrivingModelFrame
+  wide_frame: DrivingModelFrame
+  inputs: dict[str, np.ndarray]
+  output: np.ndarray
+  prev_desire: np.ndarray  # for tracking the rising edge of the pulse
+  model: ModelRunner
+
+  def __init__(self, context: CLContext):
+    self.frame = DrivingModelFrame(context)
+    self.wide_frame = DrivingModelFrame(context)
+    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
+    self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
+    self.desire_20Hz =  np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
+
+    # img buffers are managed in openCL transform code
+    self.inputs = {
+      'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
+      'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
+      'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
+    }
+
+    with open(METADATA_PATH, 'rb') as f:
+      model_metadata = pickle.load(f)
+
+    self.output_slices = model_metadata['output_slices']
+    net_output_size = model_metadata['output_shapes']['outputs'][1]
+    self.output = np.zeros(net_output_size, dtype=np.float32)
+    self.parser = Parser()
+
+    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context)
+    self.model.addInput("input_imgs", None)
+    self.model.addInput("big_input_imgs", None)
+    for k,v in self.inputs.items():
+      self.model.addInput(k, v)
+
+  def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]:
+    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
+    if SEND_RAW_PRED:
+      parsed_model_outputs['raw_pred'] = model_outputs.copy()
+    return parsed_model_outputs
+
+  def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
+                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
+    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
+    inputs['desire'][0] = 0
+    new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
+    self.prev_desire[:] = inputs['desire']
+
+    self.desire_20Hz[:-1] = self.desire_20Hz[1:]
+    self.desire_20Hz[-1] = new_desire
+    self.inputs['desire'][:] = self.desire_20Hz.reshape((25,4,-1)).max(axis=1).flatten()
+
+    self.inputs['traffic_convention'][:] = inputs['traffic_convention']
+
+    self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
+    self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
+
+    if prepare_only:
+      return None
+
+    self.model.execute()
+    outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
+
+    self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
+    self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
+
+    idxs = np.arange(-4,-100,-4)[::-1]
+    self.inputs['features_buffer'][:] = self.full_features_20Hz[idxs].flatten()
+    return outputs
+
+
+def main(demo=False):
+  cloudlog.warning("modeld init")
+
+  sentry.set_tag("daemon", PROCESS_NAME)
+  cloudlog.bind(daemon=PROCESS_NAME)
+  setproctitle(PROCESS_NAME)
+  config_realtime_process(7, 54)
+
+  cloudlog.warning("setting up CL context")
+  cl_context = CLContext()
+  cloudlog.warning("CL context ready; loading model")
+  model = ModelState(cl_context)
+  cloudlog.warning("models loaded, modeld starting")
+
+  # visionipc clients
+  while True:
+    available_streams = VisionIpcClient.available_streams("camerad", block=False)
+    if available_streams:
+      use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams
+      main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams
+      break
+    time.sleep(.1)
+
+  vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD
+  vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context)
+  vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context)
+  cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
+
+  while not vipc_client_main.connect(False):
+    time.sleep(0.1)
+  while use_extra_client and not vipc_client_extra.connect(False):
+    time.sleep(0.1)
+
+  cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})")
+  if use_extra_client:
+    cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
+
+  # messaging
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
+  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
+
+  publish_state = PublishState()
+  params = Params()
+
+  # setup filter to track dropped frames
+  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
+  frame_id = 0
+  last_vipc_frame_id = 0
+  run_count = 0
+
+  model_transform_main = np.zeros((3, 3), dtype=np.float32)
+  model_transform_extra = np.zeros((3, 3), dtype=np.float32)
+  live_calib_seen = False
+  buf_main, buf_extra = None, None
+  meta_main = FrameMeta()
+  meta_extra = FrameMeta()
+
+
+  if demo:
+    CP = get_demo_car_params()
+  else:
+    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
+  cloudlog.info("modeld got CarParams: %s", CP.carName)
+
+  # TODO this needs more thought, use .2s extra for now to estimate other delays
+  steer_delay = CP.steerActuatorDelay + .2
+
+  DH = DesireHelper()
+
+  while True:
+    # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
+    while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
+      buf_main = vipc_client_main.recv()
+      meta_main = FrameMeta(vipc_client_main)
+      if buf_main is None:
+        break
+
+    if buf_main is None:
+      cloudlog.debug("vipc_client_main no frame")
+      continue
+
+    if use_extra_client:
+      # Keep receiving extra frames until frame id matches main camera
+      while True:
+        buf_extra = vipc_client_extra.recv()
+        meta_extra = FrameMeta(vipc_client_extra)
+        if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
+          break
+
+      if buf_extra is None:
+        cloudlog.debug("vipc_client_extra no frame")
+        continue
+
+      if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000:
+        cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\
+                         extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})")
+
+    else:
+      # Use single camera
+      buf_extra = buf_main
+      meta_extra = meta_main
+
+    sm.update(0)
+    desire = DH.desire
+    is_rhd = sm["driverMonitoringState"].isRHD
+    frame_id = sm["roadCameraState"].frameId
+    v_ego = max(sm["carState"].vEgo, 0.)
+    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
+      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
+      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
+      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
+      model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
+      live_calib_seen = True
+
+    traffic_convention = np.zeros(2)
+    traffic_convention[int(is_rhd)] = 1
+
+    vec_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
+    if desire >= 0 and desire < ModelConstants.DESIRE_LEN:
+      vec_desire[desire] = 1
+
+    # tracked dropped frames
+    vipc_dropped_frames = max(0, meta_main.frame_id - last_vipc_frame_id - 1)
+    frames_dropped = frame_dropped_filter.update(min(vipc_dropped_frames, 10))
+    if run_count < 10: # let frame drops warm up
+      frame_dropped_filter.x = 0.
+      frames_dropped = 0.
+    run_count = run_count + 1
+
+    frame_drop_ratio = frames_dropped / (1 + frames_dropped)
+    prepare_only = vipc_dropped_frames > 0
+    if prepare_only:
+      cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
+
+    inputs:dict[str, np.ndarray] = {
+      'desire': vec_desire,
+      'traffic_convention': traffic_convention,
+      }
+
+    mt1 = time.perf_counter()
+    model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
+    mt2 = time.perf_counter()
+    model_execution_time = mt2 - mt1
+
+    if model_output is not None:
+      modelv2_send = messaging.new_message('modelV2')
+      drivingdata_send = messaging.new_message('drivingModelData')
+      posenet_send = messaging.new_message('cameraOdometry')
+      fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay,
+                     publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
+                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
+
+      desire_state = modelv2_send.modelV2.meta.desireState
+      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
+      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
+      lane_change_prob = l_lane_change_prob + r_lane_change_prob
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
+      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
+      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
+      drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
+
+      fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
+      pm.send('modelV2', modelv2_send)
+      pm.send('drivingModelData', drivingdata_send)
+      pm.send('cameraOdometry', posenet_send)
+
+    last_vipc_frame_id = meta_main.frame_id
+
+
+if __name__ == "__main__":
+  try:
+    import argparse
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
+    args = parser.parse_args()
+    main(demo=args.demo)
+  except KeyboardInterrupt:
+    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
+  except Exception:
+    sentry.capture_exception()
+    raise
diff --git a/sunnypilot/modeld/models/README.md b/sunnypilot/modeld/models/README.md
new file mode 100644
index 00000000000000..9e11ca82550c52
--- /dev/null
+++ b/sunnypilot/modeld/models/README.md
@@ -0,0 +1,62 @@
+## Neural networks in openpilot
+To view the architecture of the ONNX networks, you can use [netron](https://netron.app/)
+
+## Supercombo
+### Supercombo input format (Full size: 799906 x float32)
+* **image stream**
+  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
+    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
+      * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
+      * Channel 4 represents the half-res U channel
+      * Channel 5 represents the half-res V channel
+* **wide image stream**
+  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
+    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
+      * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
+      * Channel 4 represents the half-res U channel
+      * Channel 5 represents the half-res V channel
+* **desire**
+  * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8
+* **traffic convention**
+  * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
+* **feature buffer**
+  * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 512
+
+
+### Supercombo output format (Full size: XXX x float32)
+Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d093c29f738adf6a/selfdrive/modeld/models/driving.h#L236) for more.
+
+
+## Driver Monitoring Model
+* .onnx model can be run with onnx runtimes
+* .dlc file is a pre-quantized model and only runs on qualcomm DSPs
+
+### input format
+* single image W = 1440 H = 960 luminance channel (Y) from the planar YUV420 format:
+  * full input size is 1440 * 960 = 1382400
+  * normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner)
+* camera calibration angles (roll, pitch, yaw) from liveCalibration: 3 x float32 inputs
+
+### output format
+* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/selfdrive/modeld/models/dmonitoring.cc#L33))
+  * for each person in the front seats (2 * 41)
+    * face pose: 12 = 6 + 6
+      * face orientation [pitch, yaw, roll] in camera frame: 3
+      * face position [dx, dy] relative to image center: 2
+      * normalized face size: 1
+      * standard deviations for above outputs: 6
+    * face visible probability: 1
+    * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1
+      * eye position and size, and their standard deviations: 8
+      * eye visible probability: 1
+      * eye closed probability: 1
+    * wearing sunglasses probability: 1
+    * face occluded probability: 1
+    * touching wheel probability: 1
+    * paying attention probability: 1
+    * (deprecated) distracted probabilities: 2
+    * using phone probability: 1
+    * distracted probability: 1
+  * common outputs 2
+    * poor camera vision probability: 1
+    * left hand drive probability: 1
diff --git a/sunnypilot/modeld/models/commonmodel.cc b/sunnypilot/modeld/models/commonmodel.cc
new file mode 100644
index 00000000000000..8df11fdf170b88
--- /dev/null
+++ b/sunnypilot/modeld/models/commonmodel.cc
@@ -0,0 +1,69 @@
+#include "sunnypilot/modeld/models/commonmodel.h"
+
+#include <cmath>
+#include <cstring>
+
+#include "common/clutil.h"
+
+DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
+  input_frames = std::make_unique<uint8_t[]>(buf_size);
+  //input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
+  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err));
+  region.origin = 4 * frame_size_bytes;
+  region.size = frame_size_bytes;
+  last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
+
+  loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
+  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
+}
+
+uint8_t* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output) {
+  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
+
+  for (int i = 0; i < 4; i++) {
+    CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
+  }
+  loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
+
+  if (output == NULL) {
+    CL_CHECK(clEnqueueReadBuffer(q, img_buffer_20hz_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[0], 0, nullptr, nullptr));
+    CL_CHECK(clEnqueueReadBuffer(q, last_img_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
+    clFinish(q);
+    return &input_frames[0];
+  } else {
+    copy_queue(&loadyuv, q, img_buffer_20hz_cl, *output, 0, 0, frame_size_bytes);
+    copy_queue(&loadyuv, q, last_img_cl, *output, 0, frame_size_bytes, frame_size_bytes);
+
+    // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
+    clFinish(q);
+    return NULL;
+  }
+}
+
+DrivingModelFrame::~DrivingModelFrame() {
+  deinit_transform();
+  loadyuv_destroy(&loadyuv);
+  CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
+  CL_CHECK(clReleaseMemObject(last_img_cl));
+  CL_CHECK(clReleaseCommandQueue(q));
+}
+
+
+MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
+  input_frames = std::make_unique<uint8_t[]>(buf_size);
+  //input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
+
+  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
+}
+uint8_t* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output) {
+  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
+  CL_CHECK(clEnqueueReadBuffer(q, y_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(uint8_t), input_frames.get(), 0, nullptr, nullptr));
+  clFinish(q);
+  //return &y_cl;
+  return input_frames.get();
+}
+
+MonitoringModelFrame::~MonitoringModelFrame() {
+  deinit_transform();
+  CL_CHECK(clReleaseCommandQueue(q));
+}
diff --git a/sunnypilot/modeld/models/commonmodel.h b/sunnypilot/modeld/models/commonmodel.h
new file mode 100644
index 00000000000000..e55f78e24881d8
--- /dev/null
+++ b/sunnypilot/modeld/models/commonmodel.h
@@ -0,0 +1,98 @@
+#pragma once
+
+#include <cfloat>
+#include <cstdlib>
+#include <cassert>
+
+#include <memory>
+
+#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#include "common/mat.h"
+#include "selfdrive/modeld/transforms/loadyuv.h"
+#include "selfdrive/modeld/transforms/transform.h"
+
+class ModelFrame {
+public:
+  ModelFrame(cl_device_id device_id, cl_context context) {
+    q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
+  }
+  virtual ~ModelFrame() {}
+  virtual uint8_t* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output) { return NULL; }
+  /*
+  uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) {
+    CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr));
+    clFinish(q);
+    return &input_frames[0];
+  }
+  */
+
+  int MODEL_WIDTH;
+  int MODEL_HEIGHT;
+  int MODEL_FRAME_SIZE;
+  int buf_size;
+
+protected:
+  cl_mem y_cl, u_cl, v_cl;
+  Transform transform;
+  cl_command_queue q;
+  std::unique_ptr<uint8_t[]> input_frames;
+
+  void init_transform(cl_device_id device_id, cl_context context, int model_width, int model_height) {
+    y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, model_width * model_height, NULL, &err));
+    u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
+    v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
+    transform_init(&transform, context, device_id);
+  }
+
+  void deinit_transform() {
+    transform_destroy(&transform);
+    CL_CHECK(clReleaseMemObject(v_cl));
+    CL_CHECK(clReleaseMemObject(u_cl));
+    CL_CHECK(clReleaseMemObject(y_cl));
+  }
+
+  void run_transform(cl_mem yuv_cl, int model_width, int model_height, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
+    transform_queue(&transform, q,
+        yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
+        y_cl, u_cl, v_cl, model_width, model_height, projection);
+  }
+};
+
+class DrivingModelFrame : public ModelFrame {
+public:
+  DrivingModelFrame(cl_device_id device_id, cl_context context);
+  ~DrivingModelFrame();
+  uint8_t* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output);
+
+  const int MODEL_WIDTH = 512;
+  const int MODEL_HEIGHT = 256;
+  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
+  const int buf_size = MODEL_FRAME_SIZE * 2;
+  const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
+
+private:
+  LoadYUVState loadyuv;
+  cl_mem img_buffer_20hz_cl, last_img_cl;//, input_frames_cl;
+  cl_buffer_region region;
+};
+
+class MonitoringModelFrame : public ModelFrame {
+public:
+  MonitoringModelFrame(cl_device_id device_id, cl_context context);
+  ~MonitoringModelFrame();
+  uint8_t* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output);
+
+  const int MODEL_WIDTH = 1440;
+  const int MODEL_HEIGHT = 960;
+  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT;
+  const int buf_size = MODEL_FRAME_SIZE;
+
+private:
+  // cl_mem input_frame_cl;
+};
diff --git a/sunnypilot/modeld/models/commonmodel.pxd b/sunnypilot/modeld/models/commonmodel.pxd
new file mode 100644
index 00000000000000..abcf10cec2ab4d
--- /dev/null
+++ b/sunnypilot/modeld/models/commonmodel.pxd
@@ -0,0 +1,26 @@
+# distutils: language = c++
+
+from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem
+
+cdef extern from "common/mat.h":
+  cdef struct mat3:
+    float v[9]
+
+cdef extern from "common/clutil.h":
+  cdef unsigned long CL_DEVICE_TYPE_DEFAULT
+  cl_device_id cl_get_device_id(unsigned long)
+  cl_context cl_create_context(cl_device_id)
+
+cdef extern from "sunnypilot/modeld/models/commonmodel.h":
+  cppclass ModelFrame:
+    int buf_size
+    # unsigned char * buffer_from_cl(cl_mem*, int);
+    unsigned char * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
+
+  cppclass DrivingModelFrame:
+    int buf_size
+    DrivingModelFrame(cl_device_id, cl_context)
+
+  cppclass MonitoringModelFrame:
+    int buf_size
+    MonitoringModelFrame(cl_device_id, cl_context)
diff --git a/sunnypilot/modeld/models/commonmodel_pyx.pxd b/sunnypilot/modeld/models/commonmodel_pyx.pxd
new file mode 100644
index 00000000000000..0bb798625be28d
--- /dev/null
+++ b/sunnypilot/modeld/models/commonmodel_pyx.pxd
@@ -0,0 +1,13 @@
+# distutils: language = c++
+
+from msgq.visionipc.visionipc cimport cl_mem
+from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext
+
+cdef class CLContext(BaseCLContext):
+  pass
+
+cdef class CLMem:
+  cdef cl_mem * mem
+
+  @staticmethod
+  cdef create(void*)
diff --git a/sunnypilot/modeld/models/commonmodel_pyx.pyx b/sunnypilot/modeld/models/commonmodel_pyx.pyx
new file mode 100644
index 00000000000000..7715554207944e
--- /dev/null
+++ b/sunnypilot/modeld/models/commonmodel_pyx.pyx
@@ -0,0 +1,76 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+import numpy as np
+cimport numpy as cnp
+from libc.string cimport memcpy
+from libc.stdint cimport uintptr_t
+
+from msgq.visionipc.visionipc cimport cl_mem
+from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
+from sunnypilot.modeld.models.commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
+from sunnypilot.modeld.models.commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame
+
+
+cdef class CLContext(BaseCLContext):
+  def __cinit__(self):
+    self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
+    self.context = cl_create_context(self.device_id)
+
+cdef class CLMem:
+  @staticmethod
+  cdef create(void * cmem):
+    mem = CLMem()
+    mem.mem = <cl_mem*> cmem
+    return mem
+
+  @property
+  def mem_address(self):
+    return <uintptr_t>(self.mem)
+
+def cl_from_visionbuf(VisionBuf buf):
+  return CLMem.create(<void*>&buf.buf.buf_cl)
+
+
+cdef class ModelFrame:
+  cdef cppModelFrame * frame
+  cdef int buf_size
+
+  def __dealloc__(self):
+    del self.frame
+
+  def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
+    cdef mat3 cprojection
+    memcpy(cprojection.v, &projection[0], 9*sizeof(float))
+    cdef unsigned char * data
+    if output is None:
+      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL)
+    else:
+      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
+    if not data:
+      return None
+
+    return np.asarray(<cnp.uint8_t[:self.buf_size]> data)
+    # return CLMem.create(data)
+
+  # def buffer_from_cl(self, CLMem in_frames):
+  #   cdef unsigned char * data2
+  #   data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size)
+  #   return np.asarray(<cnp.uint8_t[:self.buf_size]> data2)
+
+
+cdef class DrivingModelFrame(ModelFrame):
+  cdef cppDrivingModelFrame * _frame
+
+  def __cinit__(self, CLContext context):
+    self._frame = new cppDrivingModelFrame(context.device_id, context.context)
+    self.frame = <cppModelFrame*>(self._frame)
+    self.buf_size = self._frame.buf_size
+
+cdef class MonitoringModelFrame(ModelFrame):
+  cdef cppMonitoringModelFrame * _frame
+
+  def __cinit__(self, CLContext context):
+    self._frame = new cppMonitoringModelFrame(context.device_id, context.context)
+    self.frame = <cppModelFrame*>(self._frame)
+    self.buf_size = self._frame.buf_size
diff --git a/sunnypilot/modeld/models/supercombo.onnx b/sunnypilot/modeld/models/supercombo.onnx
new file mode 100644
index 00000000000000..384072f426dddd
--- /dev/null
+++ b/sunnypilot/modeld/models/supercombo.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c896681fd6851de3968433e12f37834429eba265e938cf383200be3e5835cec
+size 49096168
diff --git a/sunnypilot/modeld/models/supercombo.thneed b/sunnypilot/modeld/models/supercombo.thneed
new file mode 100644
index 00000000000000..4f48547c7451a3
--- /dev/null
+++ b/sunnypilot/modeld/models/supercombo.thneed
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af2cb689ec9e31292f759b561e70e4558a38f778558dff39ccff460ccafc0d52
+size 49849624
diff --git a/sunnypilot/modeld/models/supercombo_metadata.pkl b/sunnypilot/modeld/models/supercombo_metadata.pkl
new file mode 100644
index 00000000000000..d4783c2507cf00
--- /dev/null
+++ b/sunnypilot/modeld/models/supercombo_metadata.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:441f2865017c07ee0dfb2488c5d86aab00df7ff5c5ec163959f35c33d74b65e6
+size 594
diff --git a/sunnypilot/modeld/parse_model_outputs.py b/sunnypilot/modeld/parse_model_outputs.py
new file mode 100644
index 00000000000000..ad664efc551347
--- /dev/null
+++ b/sunnypilot/modeld/parse_model_outputs.py
@@ -0,0 +1,103 @@
+import numpy as np
+from openpilot.sunnypilot.modeld.constants import ModelConstants
+
+def safe_exp(x, out=None):
+  # -11 is around 10**14, more causes float16 overflow
+  return np.exp(np.clip(x, -np.inf, 11), out=out)
+
+def sigmoid(x):
+  return 1. / (1. + safe_exp(-x))
+
+def softmax(x, axis=-1):
+  x -= np.max(x, axis=axis, keepdims=True)
+  if x.dtype == np.float32 or x.dtype == np.float64:
+    safe_exp(x, out=x)
+  else:
+    x = safe_exp(x)
+  x /= np.sum(x, axis=axis, keepdims=True)
+  return x
+
+class Parser:
+  def __init__(self, ignore_missing=False):
+    self.ignore_missing = ignore_missing
+
+  def check_missing(self, outs, name):
+    if name not in outs and not self.ignore_missing:
+      raise ValueError(f"Missing output {name}")
+    return name not in outs
+
+  def parse_categorical_crossentropy(self, name, outs, out_shape=None):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    if out_shape is not None:
+      raw = raw.reshape((raw.shape[0],) + out_shape)
+    outs[name] = softmax(raw, axis=-1)
+
+  def parse_binary_crossentropy(self, name, outs):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    outs[name] = sigmoid(raw)
+
+  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    raw = raw.reshape((raw.shape[0], max(in_N, 1), -1))
+
+    n_values = (raw.shape[2] - out_N)//2
+    pred_mu = raw[:,:,:n_values]
+    pred_std = safe_exp(raw[:,:,n_values: 2*n_values])
+
+    if in_N > 1:
+      weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype)
+      for i in range(out_N):
+        weights[:,:,i - out_N] = softmax(raw[:,:,i - out_N], axis=-1)
+
+      if out_N == 1:
+        for fidx in range(weights.shape[0]):
+          idxs = np.argsort(weights[fidx][:,0])[::-1]
+          weights[fidx] = weights[fidx][idxs]
+          pred_mu[fidx] = pred_mu[fidx][idxs]
+          pred_std[fidx] = pred_std[fidx][idxs]
+      full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
+      outs[name + '_weights'] = weights
+      outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
+      outs[name + '_stds_hypotheses'] = pred_std.reshape(full_shape)
+
+      pred_mu_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
+      pred_std_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
+      for fidx in range(weights.shape[0]):
+        for hidx in range(out_N):
+          idxs = np.argsort(weights[fidx,:,hidx])[::-1]
+          pred_mu_final[fidx, hidx] = pred_mu[fidx, idxs[0]]
+          pred_std_final[fidx, hidx] = pred_std[fidx, idxs[0]]
+    else:
+      pred_mu_final = pred_mu
+      pred_std_final = pred_std
+
+    if out_N > 1:
+      final_shape = tuple([raw.shape[0], out_N] + list(out_shape))
+    else:
+      final_shape = tuple([raw.shape[0],] + list(out_shape))
+    outs[name] = pred_mu_final.reshape(final_shape)
+    outs[name + '_stds'] = pred_std_final.reshape(final_shape)
+
+  def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
+                   out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
+    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
+    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    if 'lat_planner_solution' in outs:
+      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    for k in ['lead_prob', 'lane_lines_prob', 'meta']:
+      self.parse_binary_crossentropy(k, outs)
+    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
+    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
+    return outs
diff --git a/sunnypilot/modeld/runners/__init__.py b/sunnypilot/modeld/runners/__init__.py
new file mode 100644
index 00000000000000..3f4507e4eb08db
--- /dev/null
+++ b/sunnypilot/modeld/runners/__init__.py
@@ -0,0 +1,27 @@
+import os
+from openpilot.system.hardware import TICI
+from openpilot.sunnypilot.modeld.runners.runmodel_pyx import RunModel, Runtime
+assert Runtime
+
+USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
+USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI))))
+
+class ModelRunner(RunModel):
+  THNEED = 'THNEED'
+  SNPE = 'SNPE'
+  ONNX = 'ONNX'
+
+  def __new__(cls, paths, *args, **kwargs):
+    if ModelRunner.THNEED in paths and USE_THNEED:
+      from openpilot.sunnypilot.modeld.runners.thneedmodel_pyx import ThneedModel as Runner
+      runner_type = ModelRunner.THNEED
+    elif ModelRunner.SNPE in paths and USE_SNPE:
+      from openpilot.sunnypilot.modeld.runners.snpemodel_pyx import SNPEModel as Runner
+      runner_type = ModelRunner.SNPE
+    elif ModelRunner.ONNX in paths:
+      from openpilot.sunnypilot.modeld.runners.onnxmodel import ONNXModel as Runner
+      runner_type = ModelRunner.ONNX
+    else:
+      raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path")
+
+    return Runner(str(paths[runner_type]), *args, **kwargs)
diff --git a/sunnypilot/modeld/runners/onnxmodel.py b/sunnypilot/modeld/runners/onnxmodel.py
new file mode 100644
index 00000000000000..7637e4192e536c
--- /dev/null
+++ b/sunnypilot/modeld/runners/onnxmodel.py
@@ -0,0 +1,71 @@
+import os
+import onnx
+import sys
+import numpy as np
+from typing import Any
+
+from openpilot.sunnypilot.modeld.runners.runmodel_pyx import RunModel
+from openpilot.sunnypilot.modeld.runners.ort_helpers import convert_fp16_to_fp32, ORT_TYPES_TO_NP_TYPES
+
+
+def create_ort_session(path, fp16_to_fp32):
+  os.environ["OMP_NUM_THREADS"] = "4"
+  os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
+
+  import onnxruntime as ort
+  print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
+  options = ort.SessionOptions()
+  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
+
+  provider: str | tuple[str, dict[Any, Any]]
+  if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
+    provider = 'OpenVINOExecutionProvider'
+  elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
+    options.intra_op_num_threads = 2
+    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'EXHAUSTIVE'})
+  else:
+    options.intra_op_num_threads = 2
+    options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
+    options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
+    provider = 'CPUExecutionProvider'
+
+  model_data = convert_fp16_to_fp32(onnx.load(path)) if fp16_to_fp32 else path
+  print("Onnx selected provider: ", [provider], file=sys.stderr)
+  ort_session = ort.InferenceSession(model_data, options, providers=[provider])
+  print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
+  return ort_session
+
+
+class ONNXModel(RunModel):
+  def __init__(self, path, output, runtime, use_tf8, cl_context):
+    self.inputs = {}
+    self.output = output
+
+    self.session = create_ort_session(path, fp16_to_fp32=True)
+    self.input_names = [x.name for x in self.session.get_inputs()]
+    self.input_shapes = {x.name: [1, *x.shape[1:]] for x in self.session.get_inputs()}
+    self.input_dtypes = {x.name: ORT_TYPES_TO_NP_TYPES[x.type] for x in self.session.get_inputs()}
+
+    # run once to initialize CUDA provider
+    if "CUDAExecutionProvider" in self.session.get_providers():
+      self.session.run(None, {k: np.zeros(self.input_shapes[k], dtype=self.input_dtypes[k]) for k in self.input_names})
+    print("ready to run onnx model", self.input_shapes, file=sys.stderr)
+
+  def addInput(self, name, buffer):
+    assert name in self.input_names
+    self.inputs[name] = buffer
+
+  def setInputBuffer(self, name, buffer):
+    assert name in self.inputs
+    self.inputs[name] = buffer
+
+  def getCLBuffer(self, name):
+    return None
+
+  def execute(self):
+    inputs = {k: v.view(self.input_dtypes[k]) for k,v in self.inputs.items()}
+    inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()}
+    outputs = self.session.run(None, inputs)
+    assert len(outputs) == 1, "Only single model outputs are supported"
+    self.output[:] = outputs[0]
+    return self.output
diff --git a/sunnypilot/modeld/runners/ort_helpers.py b/sunnypilot/modeld/runners/ort_helpers.py
new file mode 100644
index 00000000000000..26afb035624a29
--- /dev/null
+++ b/sunnypilot/modeld/runners/ort_helpers.py
@@ -0,0 +1,36 @@
+import onnx
+import onnxruntime as ort
+import numpy as np
+import itertools
+
+ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
+
+def attributeproto_fp16_to_fp32(attr):
+  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
+  attr.data_type = 1
+  attr.raw_data = float32_list.astype(np.float32).tobytes()
+
+def convert_fp16_to_fp32(model):
+  for i in model.graph.initializer:
+    if i.data_type == 10:
+      attributeproto_fp16_to_fp32(i)
+  for i in itertools.chain(model.graph.input, model.graph.output):
+    if i.type.tensor_type.elem_type == 10:
+      i.type.tensor_type.elem_type = 1
+  for i in model.graph.node:
+    if i.op_type == 'Cast' and i.attribute[0].i == 10:
+      i.attribute[0].i = 1
+    for a in i.attribute:
+      if hasattr(a, 't'):
+        if a.t.data_type == 10:
+          attributeproto_fp16_to_fp32(a.t)
+  return model.SerializeToString()
+
+
+def make_onnx_cpu_runner(model_path):
+  options = ort.SessionOptions()
+  options.intra_op_num_threads = 4
+  options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
+  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
+  model_data = convert_fp16_to_fp32(onnx.load(model_path))
+  return ort.InferenceSession(model_data,  options, providers=['CPUExecutionProvider'])
diff --git a/sunnypilot/modeld/runners/run.h b/sunnypilot/modeld/runners/run.h
new file mode 100644
index 00000000000000..84d99fd10fd862
--- /dev/null
+++ b/sunnypilot/modeld/runners/run.h
@@ -0,0 +1,4 @@
+#pragma once
+
+#include "sunnypilot/modeld/runners/runmodel.h"
+#include "sunnypilot/modeld/runners/snpemodel.h"
diff --git a/sunnypilot/modeld/runners/runmodel.h b/sunnypilot/modeld/runners/runmodel.h
new file mode 100644
index 00000000000000..18cc180cb7f1d9
--- /dev/null
+++ b/sunnypilot/modeld/runners/runmodel.h
@@ -0,0 +1,49 @@
+#pragma once
+
+#include <string>
+#include <vector>
+#include <memory>
+#include <cassert>
+
+#include "common/clutil.h"
+#include "common/swaglog.h"
+
+#define USE_CPU_RUNTIME 0
+#define USE_GPU_RUNTIME 1
+#define USE_DSP_RUNTIME 2
+
+struct ModelInput {
+  const std::string name;
+  float *buffer;
+  int size;
+
+  ModelInput(const std::string _name, float *_buffer, int _size) : name(_name), buffer(_buffer), size(_size) {}
+  virtual void setBuffer(float *_buffer, int _size) {
+    assert(size == _size || size == 0);
+    buffer = _buffer;
+    size = _size;
+  }
+};
+
+class RunModel {
+public:
+  std::vector<std::unique_ptr<ModelInput>> inputs;
+
+  virtual ~RunModel() {}
+  virtual void execute() {}
+  virtual void* getCLBuffer(const std::string name) { return nullptr; }
+
+  virtual void addInput(const std::string name, float *buffer, int size) {
+    inputs.push_back(std::unique_ptr<ModelInput>(new ModelInput(name, buffer, size)));
+  }
+  virtual void setInputBuffer(const std::string name, float *buffer, int size) {
+    for (auto &input : inputs) {
+      if (name == input->name) {
+        input->setBuffer(buffer, size);
+        return;
+      }
+    }
+    LOGE("Tried to update input `%s` but no input with this name exists", name.c_str());
+    assert(false);
+  }
+};
diff --git a/sunnypilot/modeld/runners/runmodel.pxd b/sunnypilot/modeld/runners/runmodel.pxd
new file mode 100644
index 00000000000000..b83434473d9b71
--- /dev/null
+++ b/sunnypilot/modeld/runners/runmodel.pxd
@@ -0,0 +1,14 @@
+# distutils: language = c++
+
+from libcpp.string cimport string
+
+cdef extern from "sunnypilot/modeld/runners/runmodel.h":
+  cdef int USE_CPU_RUNTIME
+  cdef int USE_GPU_RUNTIME
+  cdef int USE_DSP_RUNTIME
+
+  cdef cppclass RunModel:
+    void addInput(string, float*, int)
+    void setInputBuffer(string, float*, int)
+    void * getCLBuffer(string)
+    void execute()
diff --git a/sunnypilot/modeld/runners/runmodel_pyx.pxd b/sunnypilot/modeld/runners/runmodel_pyx.pxd
new file mode 100644
index 00000000000000..b6ede7cf37f733
--- /dev/null
+++ b/sunnypilot/modeld/runners/runmodel_pyx.pxd
@@ -0,0 +1,6 @@
+# distutils: language = c++
+
+from .runmodel cimport RunModel as cppRunModel
+
+cdef class RunModel:
+  cdef cppRunModel * model
diff --git a/sunnypilot/modeld/runners/runmodel_pyx.pyx b/sunnypilot/modeld/runners/runmodel_pyx.pyx
new file mode 100644
index 00000000000000..e224b1e4f2c11d
--- /dev/null
+++ b/sunnypilot/modeld/runners/runmodel_pyx.pyx
@@ -0,0 +1,37 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+from libcpp.string cimport string
+
+from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
+from sunnypilot.modeld.models.commonmodel_pyx cimport CLMem
+
+class Runtime:
+  CPU = USE_CPU_RUNTIME
+  GPU = USE_GPU_RUNTIME
+  DSP = USE_DSP_RUNTIME
+
+cdef class RunModel:
+  def __dealloc__(self):
+    del self.model
+
+  def addInput(self, string name, float[:] buffer):
+    if buffer is not None:
+      self.model.addInput(name, &buffer[0], len(buffer))
+    else:
+      self.model.addInput(name, NULL, 0)
+
+  def setInputBuffer(self, string name, float[:] buffer):
+    if buffer is not None:
+      self.model.setInputBuffer(name, &buffer[0], len(buffer))
+    else:
+      self.model.setInputBuffer(name, NULL, 0)
+
+  def getCLBuffer(self, string name):
+    cdef void * cl_buf = self.model.getCLBuffer(name)
+    if not cl_buf:
+      return None
+    return CLMem.create(cl_buf)
+
+  def execute(self):
+    self.model.execute()
diff --git a/sunnypilot/modeld/runners/snpemodel.cc b/sunnypilot/modeld/runners/snpemodel.cc
new file mode 100644
index 00000000000000..ce06ba39f79040
--- /dev/null
+++ b/sunnypilot/modeld/runners/snpemodel.cc
@@ -0,0 +1,116 @@
+#pragma clang diagnostic ignored "-Wexceptions"
+
+#include "sunnypilot/modeld/runners/snpemodel.h"
+
+#include <cstring>
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "common/util.h"
+#include "common/timing.h"
+
+void PrintErrorStringAndExit() {
+  std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
+  std::exit(EXIT_FAILURE);
+}
+
+SNPEModel::SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) {
+  output = _output;
+  output_size = _output_size;
+  use_tf8 = _use_tf8;
+
+#ifdef QCOM2
+  if (runtime == USE_GPU_RUNTIME) {
+    snpe_runtime = zdl::DlSystem::Runtime_t::GPU;
+  } else if (runtime == USE_DSP_RUNTIME) {
+    snpe_runtime = zdl::DlSystem::Runtime_t::DSP;
+  } else {
+    snpe_runtime = zdl::DlSystem::Runtime_t::CPU;
+  }
+  assert(zdl::SNPE::SNPEFactory::isRuntimeAvailable(snpe_runtime));
+#endif
+  model_data = util::read_file(path);
+  assert(model_data.size() > 0);
+
+  // load model
+  std::unique_ptr<zdl::DlContainer::IDlContainer> container = zdl::DlContainer::IDlContainer::open((uint8_t*)model_data.data(), model_data.size());
+  if (!container) { PrintErrorStringAndExit(); }
+  LOGW("loaded model with size: %lu", model_data.size());
+
+  // create model runner
+  zdl::SNPE::SNPEBuilder snpe_builder(container.get());
+  while (!snpe) {
+#ifdef QCOM2
+    snpe = snpe_builder.setOutputLayers({})
+                       .setRuntimeProcessor(snpe_runtime)
+                       .setUseUserSuppliedBuffers(true)
+                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
+                       .build();
+#else
+    snpe = snpe_builder.setOutputLayers({})
+                       .setUseUserSuppliedBuffers(true)
+                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
+                       .build();
+#endif
+    if (!snpe) std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
+  }
+
+  // create output buffer
+  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
+  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
+
+  const auto &output_tensor_names_opt = snpe->getOutputTensorNames();
+  if (!output_tensor_names_opt) throw std::runtime_error("Error obtaining output tensor names");
+  const auto &output_tensor_names = *output_tensor_names_opt;
+  assert(output_tensor_names.size() == 1);
+  const char *output_tensor_name = output_tensor_names.at(0);
+  const zdl::DlSystem::TensorShape &buffer_shape = snpe->getInputOutputBufferAttributes(output_tensor_name)->getDims();
+  if (output_size != 0) {
+    assert(output_size == buffer_shape[1]);
+  } else {
+    output_size = buffer_shape[1];
+  }
+  std::vector<size_t> output_strides = {output_size * sizeof(float), sizeof(float)};
+  output_buffer = ub_factory.createUserBuffer(output, output_size * sizeof(float), output_strides, &ub_encoding_float);
+  output_map.add(output_tensor_name, output_buffer.get());
+}
+
+void SNPEModel::addInput(const std::string name, float *buffer, int size) {
+  const int idx = inputs.size();
+  const auto &input_tensor_names_opt = snpe->getInputTensorNames();
+  if (!input_tensor_names_opt) throw std::runtime_error("Error obtaining input tensor names");
+  const auto &input_tensor_names = *input_tensor_names_opt;
+  const char *input_tensor_name = input_tensor_names.at(idx);
+  const bool input_tf8 = use_tf8 && strcmp(input_tensor_name, "input_img") == 0;  // TODO: This is a terrible hack, get rid of this name check both here and in onnx_runner.py
+  LOGW("adding index %d: %s", idx, input_tensor_name);
+
+  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
+  zdl::DlSystem::UserBufferEncodingTf8 ub_encoding_tf8(0, 1./255); // network takes 0-1
+  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
+  zdl::DlSystem::UserBufferEncoding *input_encoding = input_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_tf8 : (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_float;
+
+  const auto &buffer_shape_opt = snpe->getInputDimensions(input_tensor_name);
+  const zdl::DlSystem::TensorShape &buffer_shape = *buffer_shape_opt;
+  size_t size_of_input = input_tf8 ? sizeof(uint8_t) : sizeof(float);
+  std::vector<size_t> strides(buffer_shape.rank());
+  strides[strides.size() - 1] = size_of_input;
+  size_t product = 1;
+  for (size_t i = 0; i < buffer_shape.rank(); i++) product *= buffer_shape[i];
+  size_t stride = strides[strides.size() - 1];
+  for (size_t i = buffer_shape.rank() - 1; i > 0; i--) {
+    stride *= buffer_shape[i];
+    strides[i-1] = stride;
+  }
+
+  auto input_buffer = ub_factory.createUserBuffer(buffer, product*size_of_input, strides, input_encoding);
+  input_map.add(input_tensor_name, input_buffer.get());
+  inputs.push_back(std::unique_ptr<SNPEModelInput>(new SNPEModelInput(name, buffer, size, std::move(input_buffer))));
+}
+
+void SNPEModel::execute() {
+  if (!snpe->execute(input_map, output_map)) {
+    PrintErrorStringAndExit();
+  }
+}
diff --git a/sunnypilot/modeld/runners/snpemodel.h b/sunnypilot/modeld/runners/snpemodel.h
new file mode 100644
index 00000000000000..bd766242134fef
--- /dev/null
+++ b/sunnypilot/modeld/runners/snpemodel.h
@@ -0,0 +1,52 @@
+#pragma once
+#pragma clang diagnostic ignored "-Wdeprecated-declarations"
+
+#include <memory>
+#include <string>
+#include <utility>
+
+#include <DlContainer/IDlContainer.hpp>
+#include <DlSystem/DlError.hpp>
+#include <DlSystem/ITensor.hpp>
+#include <DlSystem/ITensorFactory.hpp>
+#include <DlSystem/IUserBuffer.hpp>
+#include <DlSystem/IUserBufferFactory.hpp>
+#include <SNPE/SNPE.hpp>
+#include <SNPE/SNPEBuilder.hpp>
+#include <SNPE/SNPEFactory.hpp>
+
+#include "sunnypilot/modeld/runners/runmodel.h"
+
+struct SNPEModelInput : public ModelInput {
+  std::unique_ptr<zdl::DlSystem::IUserBuffer> snpe_buffer;
+
+  SNPEModelInput(const std::string _name, float *_buffer, int _size, std::unique_ptr<zdl::DlSystem::IUserBuffer> _snpe_buffer) : ModelInput(_name, _buffer, _size), snpe_buffer(std::move(_snpe_buffer)) {}
+  void setBuffer(float *_buffer, int _size) {
+    ModelInput::setBuffer(_buffer, _size);
+    assert(snpe_buffer->setBufferAddress(_buffer) == true);
+  }
+};
+
+class SNPEModel : public RunModel {
+public:
+  SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
+  void addInput(const std::string name, float *buffer, int size);
+  void execute();
+
+private:
+  std::string model_data;
+
+#ifdef QCOM2
+  zdl::DlSystem::Runtime_t snpe_runtime;
+#endif
+
+  // snpe model stuff
+  std::unique_ptr<zdl::SNPE::SNPE> snpe;
+  zdl::DlSystem::UserBufferMap input_map;
+  zdl::DlSystem::UserBufferMap output_map;
+  std::unique_ptr<zdl::DlSystem::IUserBuffer> output_buffer;
+
+  bool use_tf8;
+  float *output;
+  size_t output_size;
+};
diff --git a/sunnypilot/modeld/runners/snpemodel.pxd b/sunnypilot/modeld/runners/snpemodel.pxd
new file mode 100644
index 00000000000000..f19501d37d00f2
--- /dev/null
+++ b/sunnypilot/modeld/runners/snpemodel.pxd
@@ -0,0 +1,9 @@
+# distutils: language = c++
+
+from libcpp.string cimport string
+
+from msgq.visionipc.visionipc cimport cl_context
+
+cdef extern from "sunnypilot/modeld/runners/snpemodel.h":
+  cdef cppclass SNPEModel:
+    SNPEModel(string, float*, size_t, int, bool, cl_context)
diff --git a/sunnypilot/modeld/runners/snpemodel_pyx.pyx b/sunnypilot/modeld/runners/snpemodel_pyx.pyx
new file mode 100644
index 00000000000000..d1f24d1ead7be1
--- /dev/null
+++ b/sunnypilot/modeld/runners/snpemodel_pyx.pyx
@@ -0,0 +1,17 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+import os
+from libcpp cimport bool
+from libcpp.string cimport string
+
+from .snpemodel cimport SNPEModel as cppSNPEModel
+from sunnypilot.modeld.models.commonmodel_pyx cimport CLContext
+from sunnypilot.modeld.runners.runmodel_pyx cimport RunModel
+from sunnypilot.modeld.runners.runmodel cimport RunModel as cppRunModel
+
+os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/"
+
+cdef class SNPEModel(RunModel):
+  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
+    self.model = <cppRunModel *> new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/sunnypilot/modeld/runners/thneedmodel.cc b/sunnypilot/modeld/runners/thneedmodel.cc
new file mode 100644
index 00000000000000..d83fc0a5f9c7ee
--- /dev/null
+++ b/sunnypilot/modeld/runners/thneedmodel.cc
@@ -0,0 +1,58 @@
+#include "sunnypilot/modeld/runners/thneedmodel.h"
+
+#include <string>
+
+#include "common/swaglog.h"
+
+ThneedModel::ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool luse_tf8, cl_context context) {
+  thneed = new Thneed(true, context);
+  thneed->load(path.c_str());
+  thneed->clexec();
+
+  recorded = false;
+  output = _output;
+}
+
+void* ThneedModel::getCLBuffer(const std::string name) {
+  int index = -1;
+  for (int i = 0; i < inputs.size(); i++) {
+    if (name == inputs[i]->name) {
+      index = i;
+      break;
+    }
+  }
+
+  if (index == -1) {
+    LOGE("Tried to get CL buffer for input `%s` but no input with this name exists", name.c_str());
+    assert(false);
+  }
+
+  if (thneed->input_clmem.size() >= inputs.size()) {
+    return &thneed->input_clmem[inputs.size() - index - 1];
+  } else {
+    return nullptr;
+  }
+}
+
+void ThneedModel::execute() {
+  if (!recorded) {
+    thneed->record = true;
+    float *input_buffers[inputs.size()];
+    for (int i = 0; i < inputs.size(); i++) {
+      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
+    }
+
+    thneed->copy_inputs(input_buffers);
+    thneed->clexec();
+    thneed->copy_output(output);
+    thneed->stop();
+
+    recorded = true;
+  } else {
+    float *input_buffers[inputs.size()];
+    for (int i = 0; i < inputs.size(); i++) {
+      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
+    }
+    thneed->execute(input_buffers, output);
+  }
+}
diff --git a/sunnypilot/modeld/runners/thneedmodel.h b/sunnypilot/modeld/runners/thneedmodel.h
new file mode 100644
index 00000000000000..ecc7207c1f1fce
--- /dev/null
+++ b/sunnypilot/modeld/runners/thneedmodel.h
@@ -0,0 +1,17 @@
+#pragma once
+
+#include <string>
+
+#include "sunnypilot/modeld/runners/runmodel.h"
+#include "sunnypilot/modeld/thneed/thneed.h"
+
+class ThneedModel : public RunModel {
+public:
+  ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
+  void *getCLBuffer(const std::string name);
+  void execute();
+private:
+  Thneed *thneed = NULL;
+  bool recorded;
+  float *output;
+};
diff --git a/sunnypilot/modeld/runners/thneedmodel.pxd b/sunnypilot/modeld/runners/thneedmodel.pxd
new file mode 100644
index 00000000000000..ace7443b50e42b
--- /dev/null
+++ b/sunnypilot/modeld/runners/thneedmodel.pxd
@@ -0,0 +1,9 @@
+# distutils: language = c++
+
+from libcpp.string cimport string
+
+from msgq.visionipc.visionipc cimport cl_context
+
+cdef extern from "sunnypilot/modeld/runners/thneedmodel.h":
+  cdef cppclass ThneedModel:
+    ThneedModel(string, float*, size_t, int, bool, cl_context)
diff --git a/sunnypilot/modeld/runners/thneedmodel_pyx.pyx b/sunnypilot/modeld/runners/thneedmodel_pyx.pyx
new file mode 100644
index 00000000000000..49de8344c00fa8
--- /dev/null
+++ b/sunnypilot/modeld/runners/thneedmodel_pyx.pyx
@@ -0,0 +1,14 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+from libcpp cimport bool
+from libcpp.string cimport string
+
+from .thneedmodel cimport ThneedModel as cppThneedModel
+from sunnypilot.modeld.models.commonmodel_pyx cimport CLContext
+from sunnypilot.modeld.runners.runmodel_pyx cimport RunModel
+from sunnypilot.modeld.runners.runmodel cimport RunModel as cppRunModel
+
+cdef class ThneedModel(RunModel):
+  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
+    self.model = <cppRunModel *> new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/sunnypilot/modeld/thneed/README b/sunnypilot/modeld/thneed/README
new file mode 100644
index 00000000000000..f3bc66d8fc26ff
--- /dev/null
+++ b/sunnypilot/modeld/thneed/README
@@ -0,0 +1,8 @@
+thneed is an SNPE accelerator. I know SNPE is already an accelerator, but sometimes things need to go even faster..
+
+It runs on the local device, and caches a single model run. Then it replays it, but fast.
+
+thneed slices through abstraction layers like a fish.
+
+You need a thneed.
+
diff --git a/sunnypilot/modeld/thneed/__init__.py b/sunnypilot/modeld/thneed/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/modeld/thneed/serialize.cc b/sunnypilot/modeld/thneed/serialize.cc
new file mode 100644
index 00000000000000..f9a8b288ac4e70
--- /dev/null
+++ b/sunnypilot/modeld/thneed/serialize.cc
@@ -0,0 +1,154 @@
+#include <cassert>
+#include <set>
+
+#include "third_party/json11/json11.hpp"
+#include "common/util.h"
+#include "common/clutil.h"
+#include "common/swaglog.h"
+#include "sunnypilot/modeld/thneed/thneed.h"
+using namespace json11;
+
+extern map<cl_program, string> g_program_source;
+
+void Thneed::load(const char *filename) {
+  LOGD("Thneed::load: loading from %s\n", filename);
+
+  string buf = util::read_file(filename);
+  int jsz = *(int *)buf.data();
+  string jsonerr;
+  string jj(buf.data() + sizeof(int), jsz);
+  Json jdat = Json::parse(jj, jsonerr);
+
+  map<cl_mem, cl_mem> real_mem;
+  real_mem[NULL] = NULL;
+
+  int ptr = sizeof(int)+jsz;
+  for (auto &obj : jdat["objects"].array_items()) {
+    auto mobj = obj.object_items();
+    int sz = mobj["size"].int_value();
+    cl_mem clbuf = NULL;
+
+    if (mobj["buffer_id"].string_value().size() > 0) {
+      // image buffer must already be allocated
+      clbuf = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
+      assert(mobj["needs_load"].bool_value() == false);
+    } else {
+      if (mobj["needs_load"].bool_value()) {
+        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, &buf[ptr], NULL);
+        if (debug >= 1) printf("loading %p %d @ 0x%X\n", clbuf, sz, ptr);
+        ptr += sz;
+      } else {
+        // TODO: is there a faster way to init zeroed out buffers?
+        void *host_zeros = calloc(sz, 1);
+        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, host_zeros, NULL);
+        free(host_zeros);
+      }
+    }
+    assert(clbuf != NULL);
+
+    if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") {
+      cl_image_desc desc = {0};
+      desc.image_type = (mobj["arg_type"] == "image2d_t") ? CL_MEM_OBJECT_IMAGE2D : CL_MEM_OBJECT_IMAGE1D_BUFFER;
+      desc.image_width = mobj["width"].int_value();
+      desc.image_height = mobj["height"].int_value();
+      desc.image_row_pitch = mobj["row_pitch"].int_value();
+      assert(sz == desc.image_height*desc.image_row_pitch);
+#ifdef QCOM2
+      desc.buffer = clbuf;
+#else
+      // TODO: we are creating unused buffers on PC
+      clReleaseMemObject(clbuf);
+#endif
+      cl_image_format format = {0};
+      format.image_channel_order = CL_RGBA;
+      format.image_channel_data_type = mobj["float32"].bool_value() ? CL_FLOAT : CL_HALF_FLOAT;
+
+      cl_int errcode;
+
+#ifndef QCOM2
+      if (mobj["needs_load"].bool_value()) {
+        clbuf = clCreateImage(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, &format, &desc, &buf[ptr-sz], &errcode);
+      } else {
+        clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
+      }
+#else
+      clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
+#endif
+      if (clbuf == NULL) {
+        LOGE("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode),
+             desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer);
+      }
+      assert(clbuf != NULL);
+    }
+
+    real_mem[*(cl_mem*)(mobj["id"].string_value().data())] = clbuf;
+  }
+
+  map<string, cl_program> g_programs;
+  for (const auto &[name, source] : jdat["programs"].object_items()) {
+    if (debug >= 1) printf("building %s with size %zu\n", name.c_str(), source.string_value().size());
+    g_programs[name] = cl_program_from_source(context, device_id, source.string_value());
+  }
+
+  for (auto &obj : jdat["inputs"].array_items()) {
+    auto mobj = obj.object_items();
+    int sz = mobj["size"].int_value();
+    cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
+    input_clmem.push_back(aa);
+    input_sizes.push_back(sz);
+    LOGD("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz);
+
+    cl_int cl_err;
+    void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &cl_err);
+    if (cl_err != CL_SUCCESS) LOGE("clError: %s map %p %d\n", cl_get_error_string(cl_err), aa, sz);
+    assert(cl_err == CL_SUCCESS);
+    inputs.push_back(ret);
+  }
+
+  for (auto &obj : jdat["outputs"].array_items()) {
+    auto mobj = obj.object_items();
+    int sz = mobj["size"].int_value();
+    LOGD("Thneed::save: adding output with size %d\n", sz);
+    // TODO: support multiple outputs
+    output = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
+    assert(output != NULL);
+  }
+
+  for (auto &obj : jdat["binaries"].array_items()) {
+    string name = obj["name"].string_value();
+    size_t length = obj["length"].int_value();
+    if (debug >= 1) printf("binary %s with size %zu\n", name.c_str(), length);
+    g_programs[name] = cl_program_from_binary(context, device_id, (const uint8_t*)&buf[ptr], length);
+    ptr += length;
+  }
+
+  for (auto &obj : jdat["kernels"].array_items()) {
+    auto gws = obj["global_work_size"];
+    auto lws = obj["local_work_size"];
+    auto kk = shared_ptr<CLQueuedKernel>(new CLQueuedKernel(this));
+
+    kk->name = obj["name"].string_value();
+    kk->program = g_programs[kk->name];
+    kk->work_dim = obj["work_dim"].int_value();
+    for (int i = 0; i < kk->work_dim; i++) {
+      kk->global_work_size[i] = gws[i].int_value();
+      kk->local_work_size[i] = lws[i].int_value();
+    }
+    kk->num_args = obj["num_args"].int_value();
+    for (int i = 0; i < kk->num_args; i++) {
+      string arg = obj["args"].array_items()[i].string_value();
+      int arg_size = obj["args_size"].array_items()[i].int_value();
+      kk->args_size.push_back(arg_size);
+      if (arg_size == 8) {
+        cl_mem val = *(cl_mem*)(arg.data());
+        val = real_mem[val];
+        kk->args.push_back(string((char*)&val, sizeof(val)));
+      } else {
+        kk->args.push_back(arg);
+      }
+    }
+    kq.push_back(kk);
+  }
+
+  clFinish(command_queue);
+}
diff --git a/sunnypilot/modeld/thneed/thneed.h b/sunnypilot/modeld/thneed/thneed.h
new file mode 100644
index 00000000000000..47e18e0be3bb30
--- /dev/null
+++ b/sunnypilot/modeld/thneed/thneed.h
@@ -0,0 +1,133 @@
+#pragma once
+
+#ifndef __user
+#define __user __attribute__(())
+#endif
+
+#include <cstdint>
+#include <cstdlib>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <CL/cl.h>
+
+#include "third_party/linux/include/msm_kgsl.h"
+
+using namespace std;
+
+cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value);
+
+namespace json11 {
+  class Json;
+}
+class Thneed;
+
+class GPUMalloc {
+  public:
+    GPUMalloc(int size, int fd);
+    ~GPUMalloc();
+    void *alloc(int size);
+  private:
+    uint64_t base;
+    int remaining;
+};
+
+class CLQueuedKernel {
+  public:
+    CLQueuedKernel(Thneed *lthneed) { thneed = lthneed; }
+    CLQueuedKernel(Thneed *lthneed,
+                   cl_kernel _kernel,
+                   cl_uint _work_dim,
+                   const size_t *_global_work_size,
+                   const size_t *_local_work_size);
+    cl_int exec();
+    void debug_print(bool verbose);
+    int get_arg_num(const char *search_arg_name);
+    cl_program program;
+    string name;
+    cl_uint num_args;
+    vector<string> arg_names;
+    vector<string> arg_types;
+    vector<string> args;
+    vector<int> args_size;
+    cl_kernel kernel = NULL;
+    json11::Json to_json() const;
+
+    cl_uint work_dim;
+    size_t global_work_size[3] = {0};
+    size_t local_work_size[3] = {0};
+  private:
+    Thneed *thneed;
+};
+
+class CachedIoctl {
+  public:
+    virtual void exec() {}
+};
+
+class CachedSync: public CachedIoctl {
+  public:
+    CachedSync(Thneed *lthneed, string ldata) { thneed = lthneed; data = ldata; }
+    void exec();
+  private:
+    Thneed *thneed;
+    string data;
+};
+
+class CachedCommand: public CachedIoctl {
+  public:
+    CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd);
+    void exec();
+  private:
+    void disassemble(int cmd_index);
+    struct kgsl_gpu_command cache;
+    unique_ptr<kgsl_command_object[]> cmds;
+    unique_ptr<kgsl_command_object[]> objs;
+    Thneed *thneed;
+    vector<shared_ptr<CLQueuedKernel> > kq;
+};
+
+class Thneed {
+  public:
+    Thneed(bool do_clinit=false, cl_context _context = NULL);
+    void stop();
+    void execute(float **finputs, float *foutput, bool slow=false);
+    void wait();
+
+    vector<cl_mem> input_clmem;
+    vector<void *> inputs;
+    vector<size_t> input_sizes;
+    cl_mem output = NULL;
+
+    cl_context context = NULL;
+    cl_command_queue command_queue;
+    cl_device_id device_id;
+    int context_id;
+
+    // protected?
+    bool record = false;
+    int debug;
+    int timestamp;
+
+#ifdef QCOM2
+    unique_ptr<GPUMalloc> ram;
+    vector<unique_ptr<CachedIoctl> > cmds;
+    int fd;
+#endif
+
+    // all CL kernels
+    void copy_inputs(float **finputs, bool internal=false);
+    void copy_output(float *foutput);
+    cl_int clexec();
+    vector<shared_ptr<CLQueuedKernel> > kq;
+
+    // pending CL kernels
+    vector<shared_ptr<CLQueuedKernel> > ckq;
+
+    // loading
+    void load(const char *filename);
+  private:
+    void clinit();
+};
+
diff --git a/sunnypilot/modeld/thneed/thneed_common.cc b/sunnypilot/modeld/thneed/thneed_common.cc
new file mode 100644
index 00000000000000..56fbe70d8fdda8
--- /dev/null
+++ b/sunnypilot/modeld/thneed/thneed_common.cc
@@ -0,0 +1,216 @@
+#include "sunnypilot/modeld/thneed/thneed.h"
+
+#include <cassert>
+#include <cstring>
+#include <map>
+
+#include "common/clutil.h"
+#include "common/timing.h"
+
+map<pair<cl_kernel, int>, string> g_args;
+map<pair<cl_kernel, int>, int> g_args_size;
+map<cl_program, string> g_program_source;
+
+void Thneed::stop() {
+  //printf("Thneed::stop: recorded %lu commands\n", cmds.size());
+  record = false;
+}
+
+void Thneed::clinit() {
+  device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
+  if (context == NULL) context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
+  //cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, CL_QUEUE_PROFILING_ENABLE, 0};
+  cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, 0, 0};
+  command_queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
+  printf("Thneed::clinit done\n");
+}
+
+cl_int Thneed::clexec() {
+  if (debug >= 1) printf("Thneed::clexec: running %lu queued kernels\n", kq.size());
+  for (auto &k : kq) {
+    if (record) ckq.push_back(k);
+    cl_int ret = k->exec();
+    assert(ret == CL_SUCCESS);
+  }
+  return clFinish(command_queue);
+}
+
+void Thneed::copy_inputs(float **finputs, bool internal) {
+  for (int idx = 0; idx < inputs.size(); ++idx) {
+    if (debug >= 1) printf("copying %lu -- %p -> %p (cl %p)\n", input_sizes[idx], finputs[idx], inputs[idx], input_clmem[idx]);
+
+    if (internal) {
+      // if it's internal, using memcpy is fine since the buffer sync is cached in the ioctl layer
+      if (finputs[idx] != NULL) memcpy(inputs[idx], finputs[idx], input_sizes[idx]);
+    } else {
+      if (finputs[idx] != NULL) CL_CHECK(clEnqueueWriteBuffer(command_queue, input_clmem[idx], CL_TRUE, 0, input_sizes[idx], finputs[idx], 0, NULL, NULL));
+    }
+  }
+}
+
+void Thneed::copy_output(float *foutput) {
+  if (output != NULL) {
+    size_t sz;
+    clGetMemObjectInfo(output, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
+    if (debug >= 1) printf("copying %lu for output %p -> %p\n", sz, output, foutput);
+    CL_CHECK(clEnqueueReadBuffer(command_queue, output, CL_TRUE, 0, sz, foutput, 0, NULL, NULL));
+  } else {
+    printf("CAUTION: model output is NULL, does it have no outputs?\n");
+  }
+}
+
+// *********** CLQueuedKernel ***********
+
+CLQueuedKernel::CLQueuedKernel(Thneed *lthneed,
+                               cl_kernel _kernel,
+                               cl_uint _work_dim,
+                               const size_t *_global_work_size,
+                               const size_t *_local_work_size) {
+  thneed = lthneed;
+  kernel = _kernel;
+  work_dim = _work_dim;
+  assert(work_dim <= 3);
+  for (int i = 0; i < work_dim; i++) {
+    global_work_size[i] = _global_work_size[i];
+    local_work_size[i] = _local_work_size[i];
+  }
+
+  char _name[0x100];
+  clGetKernelInfo(kernel, CL_KERNEL_FUNCTION_NAME, sizeof(_name), _name, NULL);
+  name = string(_name);
+  clGetKernelInfo(kernel, CL_KERNEL_NUM_ARGS, sizeof(num_args), &num_args, NULL);
+
+  // get args
+  for (int i = 0; i < num_args; i++) {
+    char arg_name[0x100] = {0};
+    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
+    arg_names.push_back(string(arg_name));
+    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
+    arg_types.push_back(string(arg_name));
+
+    args.push_back(g_args[make_pair(kernel, i)]);
+    args_size.push_back(g_args_size[make_pair(kernel, i)]);
+  }
+
+  // get program
+  clGetKernelInfo(kernel, CL_KERNEL_PROGRAM, sizeof(program), &program, NULL);
+}
+
+int CLQueuedKernel::get_arg_num(const char *search_arg_name) {
+  for (int i = 0; i < num_args; i++) {
+    if (arg_names[i] == search_arg_name) return i;
+  }
+  printf("failed to find %s in %s\n", search_arg_name, name.c_str());
+  assert(false);
+}
+
+cl_int CLQueuedKernel::exec() {
+  if (kernel == NULL) {
+    kernel = clCreateKernel(program, name.c_str(), NULL);
+    arg_names.clear();
+    arg_types.clear();
+
+    for (int j = 0; j < num_args; j++) {
+      char arg_name[0x100] = {0};
+      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
+      arg_names.push_back(string(arg_name));
+      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
+      arg_types.push_back(string(arg_name));
+
+      cl_int ret;
+      if (args[j].size() != 0) {
+        assert(args[j].size() == args_size[j]);
+        ret = thneed_clSetKernelArg(kernel, j, args[j].size(), args[j].data());
+      } else {
+        ret = thneed_clSetKernelArg(kernel, j, args_size[j], NULL);
+      }
+      assert(ret == CL_SUCCESS);
+    }
+  }
+
+  if (thneed->debug >= 1) {
+    debug_print(thneed->debug >= 2);
+  }
+
+  return clEnqueueNDRangeKernel(thneed->command_queue,
+    kernel, work_dim, NULL, global_work_size, local_work_size, 0, NULL, NULL);
+}
+
+void CLQueuedKernel::debug_print(bool verbose) {
+  printf("%p %56s -- ", kernel, name.c_str());
+  for (int i = 0; i < work_dim; i++) {
+    printf("%4zu ", global_work_size[i]);
+  }
+  printf(" -- ");
+  for (int i = 0; i < work_dim; i++) {
+    printf("%4zu ", local_work_size[i]);
+  }
+  printf("\n");
+
+  if (verbose) {
+    for (int i = 0; i < num_args; i++) {
+      string arg = args[i];
+      printf("  %s %s", arg_types[i].c_str(), arg_names[i].c_str());
+      void *arg_value = (void*)arg.data();
+      int arg_size = arg.size();
+      if (arg_size == 0) {
+        printf(" (size) %d", args_size[i]);
+      } else if (arg_size == 1) {
+        printf(" = %d", *((char*)arg_value));
+      } else if (arg_size == 2) {
+        printf(" = %d", *((short*)arg_value));
+      } else if (arg_size == 4) {
+        if (arg_types[i] == "float") {
+          printf(" = %f", *((float*)arg_value));
+        } else {
+          printf(" = %d", *((int*)arg_value));
+        }
+      } else if (arg_size == 8) {
+        cl_mem val = (cl_mem)(*((uintptr_t*)arg_value));
+        printf(" = %p", val);
+        if (val != NULL) {
+          cl_mem_object_type obj_type;
+          clGetMemObjectInfo(val, CL_MEM_TYPE, sizeof(obj_type), &obj_type, NULL);
+          if (arg_types[i] == "image2d_t" || arg_types[i] == "image1d_t" || obj_type == CL_MEM_OBJECT_IMAGE2D) {
+            cl_image_format format;
+            size_t width, height, depth, array_size, row_pitch, slice_pitch;
+            cl_mem buf;
+            clGetImageInfo(val, CL_IMAGE_FORMAT, sizeof(format), &format, NULL);
+            assert(format.image_channel_order == CL_RGBA);
+            assert(format.image_channel_data_type == CL_HALF_FLOAT || format.image_channel_data_type == CL_FLOAT);
+            clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL);
+            clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL);
+            clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL);
+            clGetImageInfo(val, CL_IMAGE_DEPTH, sizeof(depth), &depth, NULL);
+            clGetImageInfo(val, CL_IMAGE_ARRAY_SIZE, sizeof(array_size), &array_size, NULL);
+            clGetImageInfo(val, CL_IMAGE_SLICE_PITCH, sizeof(slice_pitch), &slice_pitch, NULL);
+            assert(depth == 0);
+            assert(array_size == 0);
+            assert(slice_pitch == 0);
+
+            clGetImageInfo(val, CL_IMAGE_BUFFER, sizeof(buf), &buf, NULL);
+            size_t sz = 0;
+            if (buf != NULL) clGetMemObjectInfo(buf, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
+            printf(" image %zu x %zu rp %zu @ %p buffer %zu", width, height, row_pitch, buf, sz);
+          } else {
+            size_t sz;
+            clGetMemObjectInfo(val, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
+            printf(" buffer %zu", sz);
+          }
+        }
+      }
+      printf("\n");
+    }
+  }
+}
+
+cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value) {
+  g_args_size[make_pair(kernel, arg_index)] = arg_size;
+  if (arg_value != NULL) {
+    g_args[make_pair(kernel, arg_index)] = string((char*)arg_value, arg_size);
+  } else {
+    g_args[make_pair(kernel, arg_index)] = string("");
+  }
+  cl_int ret = clSetKernelArg(kernel, arg_index, arg_size, arg_value);
+  return ret;
+}
diff --git a/sunnypilot/modeld/thneed/thneed_pc.cc b/sunnypilot/modeld/thneed/thneed_pc.cc
new file mode 100644
index 00000000000000..629d0ee3595b6a
--- /dev/null
+++ b/sunnypilot/modeld/thneed/thneed_pc.cc
@@ -0,0 +1,32 @@
+#include "sunnypilot/modeld/thneed/thneed.h"
+
+#include <cassert>
+
+#include "common/clutil.h"
+#include "common/timing.h"
+
+Thneed::Thneed(bool do_clinit, cl_context _context) {
+  context = _context;
+  if (do_clinit) clinit();
+  char *thneed_debug_env = getenv("THNEED_DEBUG");
+  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
+}
+
+void Thneed::execute(float **finputs, float *foutput, bool slow) {
+  uint64_t tb, te;
+  if (debug >= 1) tb = nanos_since_boot();
+
+  // ****** copy inputs
+  copy_inputs(finputs);
+
+  // ****** run commands
+  clexec();
+
+  // ****** copy outputs
+  copy_output(foutput);
+
+  if (debug >= 1) {
+    te = nanos_since_boot();
+    printf("model exec in %lu us\n", (te-tb)/1000);
+  }
+}
diff --git a/sunnypilot/modeld/thneed/thneed_qcom2.cc b/sunnypilot/modeld/thneed/thneed_qcom2.cc
new file mode 100644
index 00000000000000..b940da1ce1215d
--- /dev/null
+++ b/sunnypilot/modeld/thneed/thneed_qcom2.cc
@@ -0,0 +1,258 @@
+#include "sunnypilot/modeld/thneed/thneed.h"
+
+#include <dlfcn.h>
+#include <sys/mman.h>
+
+#include <cassert>
+#include <cerrno>
+#include <cstring>
+#include <map>
+#include <string>
+
+#include "common/clutil.h"
+#include "common/timing.h"
+
+Thneed *g_thneed = NULL;
+int g_fd = -1;
+
+void hexdump(uint8_t *d, int len) {
+  assert((len%4) == 0);
+  printf("  dumping %p len 0x%x\n", d, len);
+  for (int i = 0; i < len/4; i++) {
+    if (i != 0 && (i%0x10) == 0) printf("\n");
+    printf("%8x ", d[i]);
+  }
+  printf("\n");
+}
+
+// *********** ioctl interceptor ***********
+
+extern "C" {
+
+int (*my_ioctl)(int filedes, unsigned long request, void *argp) = NULL;
+#undef ioctl
+int ioctl(int filedes, unsigned long request, void *argp) {
+  request &= 0xFFFFFFFF;  // needed on QCOM2
+  if (my_ioctl == NULL) my_ioctl = reinterpret_cast<decltype(my_ioctl)>(dlsym(RTLD_NEXT, "ioctl"));
+  Thneed *thneed = g_thneed;
+
+  // save the fd
+  if (request == IOCTL_KGSL_GPUOBJ_ALLOC) g_fd = filedes;
+
+  // note that this runs always, even without a thneed object
+  if (request == IOCTL_KGSL_DRAWCTXT_CREATE) {
+    struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp;
+    create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK;
+    create->flags |= 6 << KGSL_CONTEXT_PRIORITY_SHIFT;   // priority from 1-15, 1 is max priority
+    printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags);
+  }
+
+  if (thneed != NULL) {
+    if (request == IOCTL_KGSL_GPU_COMMAND) {
+      struct kgsl_gpu_command *cmd = (struct kgsl_gpu_command *)argp;
+      if (thneed->record) {
+        thneed->timestamp = cmd->timestamp;
+        thneed->context_id = cmd->context_id;
+        thneed->cmds.push_back(unique_ptr<CachedCommand>(new CachedCommand(thneed, cmd)));
+      }
+      if (thneed->debug >= 1) {
+        printf("IOCTL_KGSL_GPU_COMMAND(%2zu): flags: 0x%lx    context_id: %u  timestamp: %u  numcmds: %d  numobjs: %d\n",
+            thneed->cmds.size(),
+            cmd->flags,
+            cmd->context_id, cmd->timestamp, cmd->numcmds, cmd->numobjs);
+      }
+    } else if (request == IOCTL_KGSL_GPUOBJ_SYNC) {
+      struct kgsl_gpuobj_sync *cmd = (struct kgsl_gpuobj_sync *)argp;
+      struct kgsl_gpuobj_sync_obj *objs = (struct kgsl_gpuobj_sync_obj *)(cmd->objs);
+
+      if (thneed->debug >= 2) {
+        printf("IOCTL_KGSL_GPUOBJ_SYNC count:%d ", cmd->count);
+        for (int i = 0; i < cmd->count; i++) {
+          printf(" -- offset:0x%lx len:0x%lx id:%d op:%d  ", objs[i].offset, objs[i].length, objs[i].id, objs[i].op);
+        }
+        printf("\n");
+      }
+
+      if (thneed->record) {
+        thneed->cmds.push_back(unique_ptr<CachedSync>(new
+              CachedSync(thneed, string((char *)objs, sizeof(struct kgsl_gpuobj_sync_obj)*cmd->count))));
+      }
+    } else if (request == IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID) {
+      struct kgsl_device_waittimestamp_ctxtid *cmd = (struct kgsl_device_waittimestamp_ctxtid *)argp;
+      if (thneed->debug >= 1) {
+        printf("IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID: context_id: %d  timestamp: %d  timeout: %d\n",
+            cmd->context_id, cmd->timestamp, cmd->timeout);
+      }
+    } else if (request == IOCTL_KGSL_SETPROPERTY) {
+      if (thneed->debug >= 1) {
+        struct kgsl_device_getproperty *prop = (struct kgsl_device_getproperty *)argp;
+        printf("IOCTL_KGSL_SETPROPERTY: 0x%x sizebytes:%zu\n", prop->type, prop->sizebytes);
+        if (thneed->debug >= 2) {
+          hexdump((uint8_t *)prop->value, prop->sizebytes);
+          if (prop->type == KGSL_PROP_PWR_CONSTRAINT) {
+            struct kgsl_device_constraint *constraint = (struct kgsl_device_constraint *)prop->value;
+            hexdump((uint8_t *)constraint->data, constraint->size);
+          }
+        }
+      }
+    } else if (request == IOCTL_KGSL_DRAWCTXT_CREATE || request == IOCTL_KGSL_DRAWCTXT_DESTROY) {
+      // this happens
+    } else if (request == IOCTL_KGSL_GPUOBJ_ALLOC || request == IOCTL_KGSL_GPUOBJ_FREE) {
+      // this happens
+    } else {
+      if (thneed->debug >= 1) {
+        printf("other ioctl %lx\n", request);
+      }
+    }
+  }
+
+  int ret = my_ioctl(filedes, request, argp);
+  // NOTE: This error message goes into stdout and messes up pyenv
+  // if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno);
+  return ret;
+}
+
+}
+
+// *********** GPUMalloc ***********
+
+GPUMalloc::GPUMalloc(int size, int fd) {
+  struct kgsl_gpuobj_alloc alloc;
+  memset(&alloc, 0, sizeof(alloc));
+  alloc.size = size;
+  alloc.flags = 0x10000a00;
+  ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc);
+  void *addr = mmap64(NULL, alloc.mmapsize, 0x3, 0x1, fd, alloc.id*0x1000);
+  assert(addr != MAP_FAILED);
+
+  base = (uint64_t)addr;
+  remaining = size;
+}
+
+GPUMalloc::~GPUMalloc() {
+  // TODO: free the GPU malloced area
+}
+
+void *GPUMalloc::alloc(int size) {
+  void *ret = (void*)base;
+  size = (size+0xff) & (~0xFF);
+  assert(size <= remaining);
+  remaining -= size;
+  base += size;
+  return ret;
+}
+
+// *********** CachedSync, at the ioctl layer ***********
+
+void CachedSync::exec() {
+  struct kgsl_gpuobj_sync cmd;
+
+  cmd.objs = (uint64_t)data.data();
+  cmd.obj_len = data.length();
+  cmd.count = data.length() / sizeof(struct kgsl_gpuobj_sync_obj);
+
+  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPUOBJ_SYNC, &cmd);
+  assert(ret == 0);
+}
+
+// *********** CachedCommand, at the ioctl layer ***********
+
+CachedCommand::CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd) {
+  thneed = lthneed;
+  assert(cmd->numsyncs == 0);
+
+  memcpy(&cache, cmd, sizeof(cache));
+
+  if (cmd->numcmds > 0) {
+    cmds = make_unique<struct kgsl_command_object[]>(cmd->numcmds);
+    memcpy(cmds.get(), (void *)cmd->cmdlist, sizeof(struct kgsl_command_object)*cmd->numcmds);
+    cache.cmdlist = (uint64_t)cmds.get();
+    for (int i = 0; i < cmd->numcmds; i++) {
+      void *nn = thneed->ram->alloc(cmds[i].size);
+      memcpy(nn, (void*)cmds[i].gpuaddr, cmds[i].size);
+      cmds[i].gpuaddr = (uint64_t)nn;
+    }
+  }
+
+  if (cmd->numobjs > 0) {
+    objs = make_unique<struct kgsl_command_object[]>(cmd->numobjs);
+    memcpy(objs.get(), (void *)cmd->objlist, sizeof(struct kgsl_command_object)*cmd->numobjs);
+    cache.objlist = (uint64_t)objs.get();
+    for (int i = 0; i < cmd->numobjs; i++) {
+      void *nn = thneed->ram->alloc(objs[i].size);
+      memset(nn, 0, objs[i].size);
+      objs[i].gpuaddr = (uint64_t)nn;
+    }
+  }
+
+  kq = thneed->ckq;
+  thneed->ckq.clear();
+}
+
+void CachedCommand::exec() {
+  cache.timestamp = ++thneed->timestamp;
+  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPU_COMMAND, &cache);
+
+  if (thneed->debug >= 1) printf("CachedCommand::exec got %d\n", ret);
+
+  if (thneed->debug >= 2) {
+    for (auto &it : kq) {
+      it->debug_print(false);
+    }
+  }
+
+  assert(ret == 0);
+}
+
+// *********** Thneed ***********
+
+Thneed::Thneed(bool do_clinit, cl_context _context) {
+  // TODO: QCOM2 actually requires a different context
+  //context = _context;
+  if (do_clinit) clinit();
+  assert(g_fd != -1);
+  fd = g_fd;
+  ram = make_unique<GPUMalloc>(0x80000, fd);
+  timestamp = -1;
+  g_thneed = this;
+  char *thneed_debug_env = getenv("THNEED_DEBUG");
+  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
+}
+
+void Thneed::wait() {
+  struct kgsl_device_waittimestamp_ctxtid wait;
+  wait.context_id = context_id;
+  wait.timestamp = timestamp;
+  wait.timeout = -1;
+
+  uint64_t tb = nanos_since_boot();
+  int wret = ioctl(fd, IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID, &wait);
+  uint64_t te = nanos_since_boot();
+
+  if (debug >= 1) printf("wait %d after %lu us\n", wret, (te-tb)/1000);
+}
+
+void Thneed::execute(float **finputs, float *foutput, bool slow) {
+  uint64_t tb, te;
+  if (debug >= 1) tb = nanos_since_boot();
+
+  // ****** copy inputs
+  copy_inputs(finputs, true);
+
+  // ****** run commands
+  int i = 0;
+  for (auto &it : cmds) {
+    ++i;
+    if (debug >= 1) printf("run %2d @ %7lu us: ", i, (nanos_since_boot()-tb)/1000);
+    it->exec();
+    if ((i == cmds.size()) || slow) wait();
+  }
+
+  // ****** copy outputs
+  copy_output(foutput);
+
+  if (debug >= 1) {
+    te = nanos_since_boot();
+    printf("model exec in %lu us\n", (te-tb)/1000);
+  }
+}
diff --git a/sunnypilot/modeld/transforms/loadyuv.cc b/sunnypilot/modeld/transforms/loadyuv.cc
new file mode 100644
index 00000000000000..c93f5cd038183d
--- /dev/null
+++ b/sunnypilot/modeld/transforms/loadyuv.cc
@@ -0,0 +1,76 @@
+#include "selfdrive/modeld/transforms/loadyuv.h"
+
+#include <cassert>
+#include <cstdio>
+#include <cstring>
+
+void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
+  memset(s, 0, sizeof(*s));
+
+  s->width = width;
+  s->height = height;
+
+  char args[1024];
+  snprintf(args, sizeof(args),
+           "-cl-fast-relaxed-math -cl-denorms-are-zero "
+           "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
+           width, height);
+  cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args);
+
+  s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
+  s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
+  s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err));
+
+  // done with this
+  CL_CHECK(clReleaseProgram(prg));
+}
+
+void loadyuv_destroy(LoadYUVState* s) {
+  CL_CHECK(clReleaseKernel(s->loadys_krnl));
+  CL_CHECK(clReleaseKernel(s->loaduv_krnl));
+  CL_CHECK(clReleaseKernel(s->copy_krnl));
+}
+
+void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
+                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
+                   cl_mem out_cl) {
+  cl_int global_out_off = 0;
+
+  CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
+  CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
+  CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off));
+
+  const size_t loadys_work_size = (s->width*s->height)/8;
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
+                               &loadys_work_size, NULL, 0, 0, NULL));
+
+  const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
+  global_out_off += (s->width*s->height);
+
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl));
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
+                               &loaduv_work_size, NULL, 0, 0, NULL));
+
+  global_out_off += (s->width/2)*(s->height/2);
+
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl));
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
+                               &loaduv_work_size, NULL, 0, 0, NULL));
+}
+
+void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
+                 size_t src_offset, size_t dst_offset, size_t size) {
+  CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src));
+  CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst));
+  CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset));
+  CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset));
+  const size_t copy_work_size = size/8;
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
+                              &copy_work_size, NULL, 0, 0, NULL));
+}
\ No newline at end of file
diff --git a/sunnypilot/modeld/transforms/loadyuv.cl b/sunnypilot/modeld/transforms/loadyuv.cl
new file mode 100644
index 00000000000000..970187a6d70129
--- /dev/null
+++ b/sunnypilot/modeld/transforms/loadyuv.cl
@@ -0,0 +1,47 @@
+#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
+
+__kernel void loadys(__global uchar8 const * const Y,
+                     __global uchar * out,
+                     int out_offset)
+{
+    const int gid = get_global_id(0);
+    const int ois = gid * 8;
+    const int oy = ois / TRANSFORMED_WIDTH;
+    const int ox = ois % TRANSFORMED_WIDTH;
+
+    const uchar8 ys = Y[gid];
+
+    // 02
+    // 13
+
+    __global uchar* outy0;
+    __global uchar* outy1;
+    if ((oy & 1) == 0) {
+      outy0 = out + out_offset; //y0
+      outy1 = out + out_offset + UV_SIZE*2; //y2
+    } else {
+      outy0 = out + out_offset + UV_SIZE; //y1
+      outy1 = out + out_offset + UV_SIZE*3; //y3
+    }
+
+    vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
+    vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
+}
+
+__kernel void loaduv(__global uchar8 const * const in,
+                     __global uchar8 * out,
+                     int out_offset)
+{
+  const int gid = get_global_id(0);
+  const uchar8 inv = in[gid];
+  out[gid + out_offset / 8] = inv;
+}
+
+__kernel void copy(__global uchar8 * in,
+                   __global uchar8 * out,
+                   int in_offset,
+                   int out_offset)
+{
+  const int gid = get_global_id(0);
+  out[gid + out_offset / 8] = in[gid + in_offset / 8];
+}
diff --git a/sunnypilot/modeld/transforms/loadyuv.h b/sunnypilot/modeld/transforms/loadyuv.h
new file mode 100644
index 00000000000000..659059cd25e610
--- /dev/null
+++ b/sunnypilot/modeld/transforms/loadyuv.h
@@ -0,0 +1,20 @@
+#pragma once
+
+#include "common/clutil.h"
+
+typedef struct {
+  int width, height;
+  cl_kernel loadys_krnl, loaduv_krnl, copy_krnl;
+} LoadYUVState;
+
+void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height);
+
+void loadyuv_destroy(LoadYUVState* s);
+
+void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
+                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
+                   cl_mem out_cl);
+
+
+void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
+                 size_t src_offset, size_t dst_offset, size_t size);
\ No newline at end of file
diff --git a/sunnypilot/modeld/transforms/transform.cc b/sunnypilot/modeld/transforms/transform.cc
new file mode 100644
index 00000000000000..305643cf42eaf6
--- /dev/null
+++ b/sunnypilot/modeld/transforms/transform.cc
@@ -0,0 +1,97 @@
+#include "selfdrive/modeld/transforms/transform.h"
+
+#include <cassert>
+#include <cstring>
+
+#include "common/clutil.h"
+
+void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
+  memset(s, 0, sizeof(*s));
+
+  cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, "");
+  s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
+  // done with this
+  CL_CHECK(clReleaseProgram(prg));
+
+  s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
+  s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
+}
+
+void transform_destroy(Transform* s) {
+  CL_CHECK(clReleaseMemObject(s->m_y_cl));
+  CL_CHECK(clReleaseMemObject(s->m_uv_cl));
+  CL_CHECK(clReleaseKernel(s->krnl));
+}
+
+void transform_queue(Transform* s,
+                     cl_command_queue q,
+                     cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
+                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
+                     int out_width, int out_height,
+                     const mat3& projection) {
+  const int zero = 0;
+
+  // sampled using pixel center origin
+  // (because that's how fastcv and opencv does it)
+
+  mat3 projection_y = projection;
+
+  // in and out uv is half the size of y.
+  mat3 projection_uv = transform_scale_buffer(projection, 0.5);
+
+  CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL));
+  CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL));
+
+  const int in_y_width = in_width;
+  const int in_y_height = in_height;
+  const int in_y_px_stride = 1;
+  const int in_uv_width = in_width/2;
+  const int in_uv_height = in_height/2;
+  const int in_uv_px_stride = 2;
+  const int in_u_offset = in_uv_offset;
+  const int in_v_offset = in_uv_offset + 1;
+
+  const int out_y_width = out_width;
+  const int out_y_height = out_height;
+  const int out_uv_width = out_width/2;
+  const int out_uv_height = out_height/2;
+
+  CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv));  // src
+  CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride));  // src_row_stride
+  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride));  // src_px_stride
+  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero));  // src_offset
+  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height));  // src_rows
+  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width));  // src_cols
+  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y));  // dst
+  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width));  // dst_row_stride
+  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
+  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height));  // dst_rows
+  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width));  // dst_cols
+  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl));  // M
+
+  const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height};
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
+                              (const size_t*)&work_size_y, NULL, 0, 0, NULL));
+
+  const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height};
+
+  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride));  // src_px_stride
+  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset));  // src_offset
+  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height));  // src_rows
+  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width));  // src_cols
+  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u));  // dst
+  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width));  // dst_row_stride
+  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
+  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height));  // dst_rows
+  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width));  // dst_cols
+  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl));  // M
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
+                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
+  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset));  // src_ofset
+  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v));  // dst
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
+                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
+}
diff --git a/sunnypilot/modeld/transforms/transform.cl b/sunnypilot/modeld/transforms/transform.cl
new file mode 100644
index 00000000000000..2ca25920cd19be
--- /dev/null
+++ b/sunnypilot/modeld/transforms/transform.cl
@@ -0,0 +1,54 @@
+#define INTER_BITS 5
+#define INTER_TAB_SIZE (1 << INTER_BITS)
+#define INTER_SCALE 1.f / INTER_TAB_SIZE
+
+#define INTER_REMAP_COEF_BITS 15
+#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS)
+
+__kernel void warpPerspective(__global const uchar * src,
+                              int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols,
+                              __global uchar * dst,
+                              int dst_row_stride, int dst_offset, int dst_rows, int dst_cols,
+                              __constant float * M)
+{
+    int dx = get_global_id(0);
+    int dy = get_global_id(1);
+
+    if (dx < dst_cols && dy < dst_rows)
+    {
+        float X0 = M[0] * dx + M[1] * dy + M[2];
+        float Y0 = M[3] * dx + M[4] * dy + M[5];
+        float W = M[6] * dx + M[7] * dy + M[8];
+        W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
+        int X = rint(X0 * W), Y = rint(Y0 * W);
+
+        int sx = convert_short_sat(X >> INTER_BITS);
+        int sy = convert_short_sat(Y >> INTER_BITS);
+
+        short sx_clamp = clamp(sx, 0, src_cols - 1);
+        short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
+        short sy_clamp = clamp(sy, 0, src_rows - 1);
+        short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
+        int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
+        int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
+        int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
+        int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
+
+        short ay = (short)(Y & (INTER_TAB_SIZE - 1));
+        short ax = (short)(X & (INTER_TAB_SIZE - 1));
+        float taby = 1.f/INTER_TAB_SIZE*ay;
+        float tabx = 1.f/INTER_TAB_SIZE*ax;
+
+        int dst_index = mad24(dy, dst_row_stride, dst_offset + dx);
+
+        int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
+        int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE );
+        int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
+        int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE );
+
+        int val = v0 * itab0 +  v1 * itab1 + v2 * itab2 + v3 * itab3;
+
+        uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS);
+        dst[dst_index] = pix;
+    }
+}
diff --git a/sunnypilot/modeld/transforms/transform.h b/sunnypilot/modeld/transforms/transform.h
new file mode 100644
index 00000000000000..771a7054b35d29
--- /dev/null
+++ b/sunnypilot/modeld/transforms/transform.h
@@ -0,0 +1,25 @@
+#pragma once
+
+#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#include "common/mat.h"
+
+typedef struct {
+  cl_kernel krnl;
+  cl_mem m_y_cl, m_uv_cl;
+} Transform;
+
+void transform_init(Transform* s, cl_context ctx, cl_device_id device_id);
+
+void transform_destroy(Transform* transform);
+
+void transform_queue(Transform* s, cl_command_queue q,
+                     cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
+                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
+                     int out_width, int out_height,
+                     const mat3& projection);
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index fe6ac2133ca19d..a53551b4e22f77 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -21,6 +21,7 @@ async def verify_file(file_path: str, expected_hash: str) -> bool:
 
   return sha256_hash.hexdigest().lower() == expected_hash.lower()
 
+
 def get_active_bundle(params: Params) -> custom.ModelManagerSP.ModelBundle:
   """Gets the active model bundle from cache"""
   if params is None:
@@ -30,3 +31,23 @@ def get_active_bundle(params: Params) -> custom.ModelManagerSP.ModelBundle:
     return messaging.log_from_bytes(active_bundle, custom.ModelManagerSP.ModelBundle)
 
   return None
+
+
+def get_model_runner_by_filename(filename: str) -> custom.ModelManagerSP.Runner:
+  if filename.endswith(".thneed"):
+    return custom.ModelManagerSP.Runner.snpe
+
+  if filename.endswith("_tinygrad.pkl"):
+    return custom.ModelManagerSP.Runner.tinygrad
+
+
+def get_active_model_runner(params: Params) -> custom.ModelManagerSP.Runner:
+  """Gets the model runner from the active model bundle. If no active bundle, returns tinygrad"""
+  if params is None:
+    params = Params()
+
+  if active_bundle := get_active_bundle(params):
+    drive_model = next(model for model in active_bundle.models if model.type == custom.ModelManagerSP.Type.drive)
+    return get_model_runner_by_filename(drive_model.fileName)
+
+  return custom.ModelManagerSP.Runner.tinygrad
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 9712b63e012fda..5483f2d9c3e720 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -1,10 +1,12 @@
 import os
 import operator
 
-from cereal import car
+from cereal import car, custom
 from openpilot.common.params import Params
 from openpilot.system.hardware import PC, TICI
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
+
+from sunnypilot.models.helpers import get_active_model_runner
 from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
@@ -70,6 +72,15 @@ def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
   """Shim for use_sunnylink_uploader to match the process manager signature."""
   return use_sunnylink_uploader(params)
 
+def is_snpe_model(started, params, CP: car.CarParams) -> bool:
+  """Check if the active model runner is SNPE."""
+  # TODO-SP: I want to do a little more optimization here to only check this once when we've transitioned from offroad to onroad.
+  return bool(get_active_model_runner(params) == custom.ModelManagerSP.Runner.snpe)
+
+def is_stock_model(started, params, CP: car.CarParams) -> bool:
+  """Check if the active model runner is stock."""
+  return not is_snpe_model(started, params, CP)
+
 def or_(*fns):
   return lambda *args: operator.or_(*(fn(*args) for fn in fns))
 
@@ -92,7 +103,7 @@ def and_(*fns):
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
   # TODO Make python process once TG allows opening QCOM from child proc
-  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
+  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], and_(only_onroad, is_stock_model)),
   NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
   PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
@@ -134,6 +145,7 @@ def and_(*fns):
 # sunnypilot
 procs += [
   PythonProcess("models_manager", "sunnypilot.models.manager", only_offroad),
+  NativeProcess("modeld_snpe", "sunnypilot/modeld", ["./modeld"], and_(only_onroad, is_snpe_model)),
 ]
 
 if os.path.exists("./github_runner.sh"):

From 8970a7aa5b5686ccee62b92a2f99a5dcce2b90da Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Mon, 6 Jan 2025 00:58:10 +0100
Subject: [PATCH 0042/1434] ui: prevent driving model change with offroad
 transition (#524)

* Update model manager logic and handle offroad transitions

Added is_onroad state tracking in SoftwarePanelSP to handle offroad transitions. Updated model manager conditions for improved bundle validation. Removed unnecessary clear operation for ModelManager_DownloadIndex during offroad transitions to optimize behavior.

* Using is_onroad softwarePanel

* Enable model label button only when conditions are met

Previously, the button's state update was misplaced, leading to potential issues with its interactive availability. The logic has been adjusted to ensure it is properly enabled or disabled based on onroad status and download progress. This change improves UX consistency and prevents unintended actions.

* Remove redundant setEnabled call for currentModelLblBtn

The setEnabled call was unnecessary as its functionality was not required in this context. Cleaning up this code improves readability and removes redundant operations. No changes to functionality or behavior were introduced.

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/params.cc                                              | 2 +-
 selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc | 4 +---
 selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h  | 2 +-
 3 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index edf002f10ccef9..bface21619f21f 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -212,7 +212,7 @@ std::unordered_map<std::string, uint32_t> keys = {
 
     // Model Manager params
     {"ModelManager_ActiveBundle", PERSISTENT},
-    {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_ONROAD_TRANSITION},
+    {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"ModelManager_ModelsCache", PERSISTENT | BACKUP},
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
index 6bbef9fb94c17a..e3a9214483a3e1 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
@@ -83,8 +83,6 @@ void SoftwarePanelSP::handleBundleDownloadProgress() {
   if (bundle.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) {
     currentModelLblBtn->showDescription();
   }
-
-  currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
 }
 
 /**
@@ -128,7 +126,6 @@ void SoftwarePanelSP::handleCurrentModelLblBtnClicked() {
     bundleNames.append(index_to_bundle[index]);
   }
 
-  currentModelLblBtn->setEnabled(!is_onroad);
   currentModelLblBtn->setValue(GetActiveModelName());
 
   const QString selectedBundleName = MultiOptionDialog::getSelection(
@@ -161,6 +158,7 @@ void SoftwarePanelSP::updateLabels() {
   }
 
   handleBundleDownloadProgress();
+  currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
   currentModelLblBtn->setValue(GetActiveModelName());
   SoftwarePanel::updateLabels();
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
index fd837e31faf412..7dd9bbc5ec252c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
@@ -24,7 +24,7 @@ class SoftwarePanelSP final : public SoftwarePanel {
     const SubMaster &sm = *(uiStateSP()->sm);
     const auto model_manager = sm["modelManagerSP"].getModelManagerSP();
 
-    if (!model_manager.hasSelectedBundle()) {
+    if (!model_manager.hasSelectedBundle() || !sm.updated("modelManagerSP")) {
       return false;
     }
 

From c13f159a77f523dd09ad3ec714c448df36b20660 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 6 Jan 2025 17:06:50 -0500
Subject: [PATCH 0043/1434] Revert "models: retain SNPE runner support" (#529)

Revert "models: retain SNPE runner support (#522)"

This reverts commit f84d27c4ee2308c1012c68355e92e98674a47b9f.
---
 .gitattributes                                |   2 -
 .gitignore                                    |   1 -
 .gitmodules                                   |   2 +-
 SConstruct                                    |   2 -
 cereal/custom.capnp                           |   5 -
 pyproject.toml                                |   2 +-
 sunnypilot/SConscript                         |   1 -
 sunnypilot/modeld/.gitignore                  |   1 -
 sunnypilot/modeld/SConscript                  |  58 ----
 sunnypilot/modeld/__init__.py                 |   0
 sunnypilot/modeld/constants.py                |  86 -----
 sunnypilot/modeld/fill_model_msg.py           | 237 --------------
 sunnypilot/modeld/get_model_metadata.py       |  28 --
 sunnypilot/modeld/modeld                      |  10 -
 sunnypilot/modeld/modeld.py                   | 299 ------------------
 sunnypilot/modeld/models/README.md            |  62 ----
 sunnypilot/modeld/models/commonmodel.cc       |  69 ----
 sunnypilot/modeld/models/commonmodel.h        |  98 ------
 sunnypilot/modeld/models/commonmodel.pxd      |  26 --
 sunnypilot/modeld/models/commonmodel_pyx.pxd  |  13 -
 sunnypilot/modeld/models/commonmodel_pyx.pyx  |  76 -----
 sunnypilot/modeld/models/supercombo.onnx      |   3 -
 sunnypilot/modeld/models/supercombo.thneed    |   3 -
 .../modeld/models/supercombo_metadata.pkl     |   3 -
 sunnypilot/modeld/parse_model_outputs.py      | 103 ------
 sunnypilot/modeld/runners/__init__.py         |  27 --
 sunnypilot/modeld/runners/onnxmodel.py        |  71 -----
 sunnypilot/modeld/runners/ort_helpers.py      |  36 ---
 sunnypilot/modeld/runners/run.h               |   4 -
 sunnypilot/modeld/runners/runmodel.h          |  49 ---
 sunnypilot/modeld/runners/runmodel.pxd        |  14 -
 sunnypilot/modeld/runners/runmodel_pyx.pxd    |   6 -
 sunnypilot/modeld/runners/runmodel_pyx.pyx    |  37 ---
 sunnypilot/modeld/runners/snpemodel.cc        | 116 -------
 sunnypilot/modeld/runners/snpemodel.h         |  52 ---
 sunnypilot/modeld/runners/snpemodel.pxd       |   9 -
 sunnypilot/modeld/runners/snpemodel_pyx.pyx   |  17 -
 sunnypilot/modeld/runners/thneedmodel.cc      |  58 ----
 sunnypilot/modeld/runners/thneedmodel.h       |  17 -
 sunnypilot/modeld/runners/thneedmodel.pxd     |   9 -
 sunnypilot/modeld/runners/thneedmodel_pyx.pyx |  14 -
 sunnypilot/modeld/thneed/README               |   8 -
 sunnypilot/modeld/thneed/__init__.py          |   0
 sunnypilot/modeld/thneed/serialize.cc         | 154 ---------
 sunnypilot/modeld/thneed/thneed.h             | 133 --------
 sunnypilot/modeld/thneed/thneed_common.cc     | 216 -------------
 sunnypilot/modeld/thneed/thneed_pc.cc         |  32 --
 sunnypilot/modeld/thneed/thneed_qcom2.cc      | 258 ---------------
 sunnypilot/modeld/transforms/loadyuv.cc       |  76 -----
 sunnypilot/modeld/transforms/loadyuv.cl       |  47 ---
 sunnypilot/modeld/transforms/loadyuv.h        |  20 --
 sunnypilot/modeld/transforms/transform.cc     |  97 ------
 sunnypilot/modeld/transforms/transform.cl     |  54 ----
 sunnypilot/modeld/transforms/transform.h      |  25 --
 sunnypilot/models/helpers.py                  |  21 --
 system/manager/process_config.py              |  16 +-
 56 files changed, 4 insertions(+), 2879 deletions(-)
 delete mode 100644 sunnypilot/SConscript
 delete mode 100644 sunnypilot/modeld/.gitignore
 delete mode 100644 sunnypilot/modeld/SConscript
 delete mode 100644 sunnypilot/modeld/__init__.py
 delete mode 100644 sunnypilot/modeld/constants.py
 delete mode 100644 sunnypilot/modeld/fill_model_msg.py
 delete mode 100755 sunnypilot/modeld/get_model_metadata.py
 delete mode 100755 sunnypilot/modeld/modeld
 delete mode 100755 sunnypilot/modeld/modeld.py
 delete mode 100644 sunnypilot/modeld/models/README.md
 delete mode 100644 sunnypilot/modeld/models/commonmodel.cc
 delete mode 100644 sunnypilot/modeld/models/commonmodel.h
 delete mode 100644 sunnypilot/modeld/models/commonmodel.pxd
 delete mode 100644 sunnypilot/modeld/models/commonmodel_pyx.pxd
 delete mode 100644 sunnypilot/modeld/models/commonmodel_pyx.pyx
 delete mode 100644 sunnypilot/modeld/models/supercombo.onnx
 delete mode 100644 sunnypilot/modeld/models/supercombo.thneed
 delete mode 100644 sunnypilot/modeld/models/supercombo_metadata.pkl
 delete mode 100644 sunnypilot/modeld/parse_model_outputs.py
 delete mode 100644 sunnypilot/modeld/runners/__init__.py
 delete mode 100644 sunnypilot/modeld/runners/onnxmodel.py
 delete mode 100644 sunnypilot/modeld/runners/ort_helpers.py
 delete mode 100644 sunnypilot/modeld/runners/run.h
 delete mode 100644 sunnypilot/modeld/runners/runmodel.h
 delete mode 100644 sunnypilot/modeld/runners/runmodel.pxd
 delete mode 100644 sunnypilot/modeld/runners/runmodel_pyx.pxd
 delete mode 100644 sunnypilot/modeld/runners/runmodel_pyx.pyx
 delete mode 100644 sunnypilot/modeld/runners/snpemodel.cc
 delete mode 100644 sunnypilot/modeld/runners/snpemodel.h
 delete mode 100644 sunnypilot/modeld/runners/snpemodel.pxd
 delete mode 100644 sunnypilot/modeld/runners/snpemodel_pyx.pyx
 delete mode 100644 sunnypilot/modeld/runners/thneedmodel.cc
 delete mode 100644 sunnypilot/modeld/runners/thneedmodel.h
 delete mode 100644 sunnypilot/modeld/runners/thneedmodel.pxd
 delete mode 100644 sunnypilot/modeld/runners/thneedmodel_pyx.pyx
 delete mode 100644 sunnypilot/modeld/thneed/README
 delete mode 100644 sunnypilot/modeld/thneed/__init__.py
 delete mode 100644 sunnypilot/modeld/thneed/serialize.cc
 delete mode 100644 sunnypilot/modeld/thneed/thneed.h
 delete mode 100644 sunnypilot/modeld/thneed/thneed_common.cc
 delete mode 100644 sunnypilot/modeld/thneed/thneed_pc.cc
 delete mode 100644 sunnypilot/modeld/thneed/thneed_qcom2.cc
 delete mode 100644 sunnypilot/modeld/transforms/loadyuv.cc
 delete mode 100644 sunnypilot/modeld/transforms/loadyuv.cl
 delete mode 100644 sunnypilot/modeld/transforms/loadyuv.h
 delete mode 100644 sunnypilot/modeld/transforms/transform.cc
 delete mode 100644 sunnypilot/modeld/transforms/transform.cl
 delete mode 100644 sunnypilot/modeld/transforms/transform.h

diff --git a/.gitattributes b/.gitattributes
index 69c40549a262c7..df3fc49ede0f1d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3,8 +3,6 @@
 # to move existing files into LFS:
 # git add --renormalize .
 *.onnx filter=lfs diff=lfs merge=lfs -text
-*.thneed filter=lfs diff=lfs merge=lfs -text
-*.pkl filter=lfs diff=lfs merge=lfs -text
 *.svg filter=lfs diff=lfs merge=lfs -text
 *.png filter=lfs diff=lfs merge=lfs -text
 *.gif filter=lfs diff=lfs merge=lfs -text
diff --git a/.gitignore b/.gitignore
index f05911aef62f4f..a58a46fef9c045 100644
--- a/.gitignore
+++ b/.gitignore
@@ -74,7 +74,6 @@ comma*.sh
 selfdrive/modeld/thneed/compile
 selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl
-sunnypilot/modeld/thneed/compile
 
 *.bz2
 *.zst
diff --git a/.gitmodules b/.gitmodules
index f1f7c400dbf050..10fa733cf38f7b 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -15,4 +15,4 @@
   url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/commaai/tinygrad.git
+  url = https://github.com/tinygrad/tinygrad.git
\ No newline at end of file
diff --git a/SConstruct b/SConstruct
index c07ed7ace602d1..39f7d14d03d184 100644
--- a/SConstruct
+++ b/SConstruct
@@ -396,8 +396,6 @@ SConscript(['third_party/SConscript'])
 
 SConscript(['selfdrive/SConscript'])
 
-SConscript(['sunnypilot/SConscript'])
-
 if Dir('#tools/cabana/').exists() and GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
   if arch != "larch64":
diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 5007d0675230a4..b2575256d808e5 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -64,11 +64,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     progress @1 :Float32;
     eta @2 :UInt32;
   }
-  
-  enum Runner {
-    snpe @0;
-    tinygrad @1;
-  }
 
   struct ModelBundle {
     index @0 :UInt32;
diff --git a/pyproject.toml b/pyproject.toml
index a4782e2294cbdf..7a889584a0114f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -137,7 +137,7 @@ allow-direct-references = true
 
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ --ignore=sunnypilot/tinygrad_repo/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
diff --git a/sunnypilot/SConscript b/sunnypilot/SConscript
deleted file mode 100644
index 8bc5b84ef50131..00000000000000
--- a/sunnypilot/SConscript
+++ /dev/null
@@ -1 +0,0 @@
-SConscript(['modeld/SConscript'])
\ No newline at end of file
diff --git a/sunnypilot/modeld/.gitignore b/sunnypilot/modeld/.gitignore
deleted file mode 100644
index 742d3d120534b5..00000000000000
--- a/sunnypilot/modeld/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-*_pyx.cpp
diff --git a/sunnypilot/modeld/SConscript b/sunnypilot/modeld/SConscript
deleted file mode 100644
index a979c21612f61b..00000000000000
--- a/sunnypilot/modeld/SConscript
+++ /dev/null
@@ -1,58 +0,0 @@
-import glob
-
-Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
-lenv = env.Clone()
-lenvCython = envCython.Clone()
-
-libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'kj', 'pthread']
-frameworks = []
-
-common_src = [
-  "models/commonmodel.cc",
-  "transforms/loadyuv.cc",
-  "transforms/transform.cc",
-]
-
-thneed_src_common = [
-  "thneed/thneed_common.cc",
-  "thneed/serialize.cc",
-]
-
-thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"]
-thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"]
-thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc
-
-# SNPE except on Mac and ARM Linux
-snpe_lib = []
-if arch != "Darwin" and arch != "aarch64":
-  common_src += ['runners/snpemodel.cc']
-  snpe_lib += ['SNPE']
-
-# OpenCL is a framework on Mac
-if arch == "Darwin":
-  frameworks += ['OpenCL']
-else:
-  libs += ['OpenCL']
-
-# Set path definitions
-for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
-  for xenv in (lenv, lenvCython):
-    xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
-
-# Compile cython
-snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64"
-snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
-snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
-
-cython_libs = envCython["LIBS"] + libs
-snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc'])
-commonmodel_lib = lenv.Library('commonmodel', common_src)
-
-lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
-lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath)
-lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
-
-if arch == 'larch64' or GetOption('pc_thneed'):
-  thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
-  thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
-  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
diff --git a/sunnypilot/modeld/__init__.py b/sunnypilot/modeld/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/sunnypilot/modeld/constants.py b/sunnypilot/modeld/constants.py
deleted file mode 100644
index bf74c2d1a065ec..00000000000000
--- a/sunnypilot/modeld/constants.py
+++ /dev/null
@@ -1,86 +0,0 @@
-import numpy as np
-
-def index_function(idx, max_val=192, max_idx=32):
-  return (max_val) * ((idx/max_idx)**2)
-
-class ModelConstants:
-  # time and distance indices
-  IDX_N = 33
-  T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]
-  X_IDXS = [index_function(idx, max_val=192.0) for idx in range(IDX_N)]
-  LEAD_T_IDXS = [0., 2., 4., 6., 8., 10.]
-  LEAD_T_OFFSETS = [0., 2., 4.]
-  META_T_IDXS = [2., 4., 6., 8., 10.]
-
-  # model inputs constants
-  MODEL_FREQ = 20
-  FEATURE_LEN = 512
-  FULL_HISTORY_BUFFER_LEN = 99
-  HISTORY_BUFFER_LEN = 24
-  DESIRE_LEN = 8
-  TRAFFIC_CONVENTION_LEN = 2
-  LAT_PLANNER_STATE_LEN = 4
-  LATERAL_CONTROL_PARAMS_LEN = 2
-  PREV_DESIRED_CURV_LEN = 1
-
-  # model outputs constants
-  FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32)
-  FCW_THRESHOLDS_3MS2 = np.array([.7, .7], dtype=np.float32)
-  FCW_5MS2_PROBS_WIDTH = 5
-  FCW_3MS2_PROBS_WIDTH = 2
-
-  DISENGAGE_WIDTH = 5
-  POSE_WIDTH = 6
-  WIDE_FROM_DEVICE_WIDTH = 3
-  SIM_POSE_WIDTH = 6
-  LEAD_WIDTH = 4
-  LANE_LINES_WIDTH = 2
-  ROAD_EDGES_WIDTH = 2
-  PLAN_WIDTH = 15
-  DESIRE_PRED_WIDTH = 8
-  LAT_PLANNER_SOLUTION_WIDTH = 4
-  DESIRED_CURV_WIDTH = 1
-
-  NUM_LANE_LINES = 4
-  NUM_ROAD_EDGES = 2
-
-  LEAD_TRAJ_LEN = 6
-  DESIRE_PRED_LEN = 4
-
-  PLAN_MHP_N = 5
-  LEAD_MHP_N = 2
-  PLAN_MHP_SELECTION = 1
-  LEAD_MHP_SELECTION = 3
-
-  FCW_THRESHOLD_5MS2_HIGH = 0.15
-  FCW_THRESHOLD_5MS2_LOW = 0.05
-  FCW_THRESHOLD_3MS2 = 0.7
-
-  CONFIDENCE_BUFFER_LEN = 5
-  RYG_GREEN = 0.01165
-  RYG_YELLOW = 0.06157
-
-  POLY_PATH_DEGREE = 4
-
-# model outputs slices
-class Plan:
-  POSITION = slice(0, 3)
-  VELOCITY = slice(3, 6)
-  ACCELERATION = slice(6, 9)
-  T_FROM_CURRENT_EULER = slice(9, 12)
-  ORIENTATION_RATE = slice(12, 15)
-
-class Meta:
-  ENGAGED = slice(0, 1)
-  # next 2, 4, 6, 8, 10 seconds
-  GAS_DISENGAGE = slice(1, 31, 6)
-  BRAKE_DISENGAGE = slice(2, 31, 6)
-  STEER_OVERRIDE = slice(3, 31, 6)
-  HARD_BRAKE_3 = slice(4, 31, 6)
-  HARD_BRAKE_4 = slice(5, 31, 6)
-  HARD_BRAKE_5 = slice(6, 31, 6)
-  # next 0, 2, 4, 6, 8, 10 seconds
-  GAS_PRESS = slice(31, 55, 4)
-  BRAKE_PRESS = slice(32, 55, 4)
-  LEFT_BLINKER = slice(33, 55, 4)
-  RIGHT_BLINKER = slice(34, 55, 4)
diff --git a/sunnypilot/modeld/fill_model_msg.py b/sunnypilot/modeld/fill_model_msg.py
deleted file mode 100644
index 875f823d74841b..00000000000000
--- a/sunnypilot/modeld/fill_model_msg.py
+++ /dev/null
@@ -1,237 +0,0 @@
-import os
-import capnp
-import numpy as np
-from cereal import log
-from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan, Meta
-from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
-
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-
-ConfidenceClass = log.ModelDataV2.ConfidenceClass
-
-def curv_from_psis(psi_target, psi_rate, vego, delay):
-  vego = np.clip(vego, MIN_SPEED, np.inf)
-  curv_from_psi = psi_target / (vego * delay)  # epsilon to prevent divide-by-zero
-  return 2*curv_from_psi - psi_rate / vego
-
-def get_curvature_from_plan(plan, vego, delay):
-  psi_target = np.interp(delay, ModelConstants.T_IDXS, plan[:, Plan.T_FROM_CURRENT_EULER][:, 2])
-  psi_rate = plan[:, Plan.ORIENTATION_RATE][0, 2]
-  return curv_from_psis(psi_target, psi_rate, vego, delay)
-
-class PublishState:
-  def __init__(self):
-    self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
-    self.prev_brake_5ms2_probs = np.zeros(ModelConstants.FCW_5MS2_PROBS_WIDTH, dtype=np.float32)
-    self.prev_brake_3ms2_probs = np.zeros(ModelConstants.FCW_3MS2_PROBS_WIDTH, dtype=np.float32)
-
-def fill_xyzt(builder, t, x, y, z, x_std=None, y_std=None, z_std=None):
-  builder.t = t
-  builder.x = x.tolist()
-  builder.y = y.tolist()
-  builder.z = z.tolist()
-  if x_std is not None:
-    builder.xStd = x_std.tolist()
-  if y_std is not None:
-    builder.yStd = y_std.tolist()
-  if z_std is not None:
-    builder.zStd = z_std.tolist()
-
-def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std=None):
-  builder.t = t
-  builder.x = x.tolist()
-  builder.y = y.tolist()
-  builder.v = v.tolist()
-  builder.a = a.tolist()
-  if x_std is not None:
-    builder.xStd = x_std.tolist()
-  if y_std is not None:
-    builder.yStd = y_std.tolist()
-  if v_std is not None:
-    builder.vStd = v_std.tolist()
-  if a_std is not None:
-    builder.aStd = a_std.tolist()
-
-def fill_xyz_poly(builder, degree, x, y, z):
-  xyz = np.stack([x, y, z], axis=1)
-  coeffs = np.polynomial.polynomial.polyfit(ModelConstants.T_IDXS, xyz, deg=degree)
-  builder.xCoefficients = coeffs[:, 0].tolist()
-  builder.yCoefficients = coeffs[:, 1].tolist()
-  builder.zCoefficients = coeffs[:, 2].tolist()
-
-def fill_lane_line_meta(builder, lane_lines, lane_line_probs):
-  builder.leftY = lane_lines[1].y[0]
-  builder.leftProb = lane_line_probs[1]
-  builder.rightY = lane_lines[2].y[0]
-  builder.rightProb = lane_line_probs[2]
-
-def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
-                   net_output_data: dict[str, np.ndarray], v_ego: float, delay: float,
-                   publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
-                   frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
-                   valid: bool) -> None:
-  frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
-  frame_drop_perc = frame_drop * 100
-  extended_msg.valid = valid
-  base_msg.valid = valid
-
-  desired_curv = float(get_curvature_from_plan(net_output_data['plan'][0], v_ego, delay))
-
-  driving_model_data = base_msg.drivingModelData
-
-  driving_model_data.frameId = vipc_frame_id
-  driving_model_data.frameIdExtra = vipc_frame_id_extra
-  driving_model_data.frameDropPerc = frame_drop_perc
-  driving_model_data.modelExecutionTime = model_execution_time
-
-  action = driving_model_data.action
-  action.desiredCurvature = desired_curv
-
-  modelV2 = extended_msg.modelV2
-  modelV2.frameId = vipc_frame_id
-  modelV2.frameIdExtra = vipc_frame_id_extra
-  modelV2.frameAge = frame_age
-  modelV2.frameDropPerc = frame_drop_perc
-  modelV2.timestampEof = timestamp_eof
-  modelV2.modelExecutionTime = model_execution_time
-
-  # plan
-  position = modelV2.position
-  fill_xyzt(position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T)
-  velocity = modelV2.velocity
-  fill_xyzt(velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T)
-  acceleration = modelV2.acceleration
-  fill_xyzt(acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T)
-  orientation = modelV2.orientation
-  fill_xyzt(orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
-  orientation_rate = modelV2.orientationRate
-  fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
-
-  # temporal pose
-  temporal_pose = modelV2.temporalPose
-  temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
-  temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
-  temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
-  temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
-
-  # poly path
-  poly_path = driving_model_data.path
-  fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
-
-  # lateral planning
-  action = modelV2.action
-  action.desiredCurvature = desired_curv
-
-  # times at X_IDXS according to model plan
-  PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
-  PLAN_T_IDXS[0] = 0.0
-  plan_x = net_output_data['plan'][0,:,Plan.POSITION][:,0].tolist()
-  for xidx in range(1, ModelConstants.IDX_N):
-    tidx = 0
-    # increment tidx until we find an element that's further away than the current xidx
-    while tidx < ModelConstants.IDX_N - 1 and plan_x[tidx+1] < ModelConstants.X_IDXS[xidx]:
-      tidx += 1
-    if tidx == ModelConstants.IDX_N - 1:
-      # if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break
-      PLAN_T_IDXS[xidx] = ModelConstants.T_IDXS[ModelConstants.IDX_N - 1]
-      break
-    # interpolate to find `t` for the current xidx
-    current_x_val = plan_x[tidx]
-    next_x_val = plan_x[tidx+1]
-    p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan')
-    PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx]
-
-  # lane lines
-  modelV2.init('laneLines', 4)
-  for i in range(4):
-    lane_line = modelV2.laneLines[i]
-    fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
-  modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
-  modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
-
-  lane_line_meta = driving_model_data.laneLineMeta
-  fill_lane_line_meta(lane_line_meta, modelV2.laneLines, modelV2.laneLineProbs)
-
-  # road edges
-  modelV2.init('roadEdges', 2)
-  for i in range(2):
-    road_edge = modelV2.roadEdges[i]
-    fill_xyzt(road_edge, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1])
-  modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist()
-
-  # leads
-  modelV2.init('leadsV3', 3)
-  for i in range(3):
-    lead = modelV2.leadsV3[i]
-    fill_xyvat(lead, ModelConstants.LEAD_T_IDXS, *net_output_data['lead'][0,i].T, *net_output_data['lead_stds'][0,i].T)
-    lead.prob = net_output_data['lead_prob'][0,i].tolist()
-    lead.probTime = ModelConstants.LEAD_T_OFFSETS[i]
-
-  # meta
-  meta = modelV2.meta
-  meta.desireState = net_output_data['desire_state'][0].reshape(-1).tolist()
-  meta.desirePrediction = net_output_data['desire_pred'][0].reshape(-1).tolist()
-  meta.engagedProb = net_output_data['meta'][0,Meta.ENGAGED].item()
-  meta.init('disengagePredictions')
-  disengage_predictions = meta.disengagePredictions
-  disengage_predictions.t = ModelConstants.META_T_IDXS
-  disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE].tolist()
-  disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,Meta.GAS_DISENGAGE].tolist()
-  disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,Meta.STEER_OVERRIDE].tolist()
-  disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
-  disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
-  disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
-  disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
-  disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
-
-  publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
-  publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]
-  publish_state.prev_brake_3ms2_probs[:-1] = publish_state.prev_brake_3ms2_probs[1:]
-  publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_3][0]
-  hard_brake_predicted = (publish_state.prev_brake_5ms2_probs > ModelConstants.FCW_THRESHOLDS_5MS2).all() and \
-    (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all()
-  meta.hardBrakePredicted = hard_brake_predicted.item()
-
-  # confidence
-  if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
-    # any disengage prob
-    brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
-    gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]
-    steer_override_probs = net_output_data['meta'][0,Meta.STEER_OVERRIDE]
-    any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs))
-    # independent disengage prob for each 2s slice
-    ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])]
-    # rolling buf for 2, 4, 6, 8, 10s
-    publish_state.disengage_buffer[:-ModelConstants.DISENGAGE_WIDTH] = publish_state.disengage_buffer[ModelConstants.DISENGAGE_WIDTH:]
-    publish_state.disengage_buffer[-ModelConstants.DISENGAGE_WIDTH:] = ind_disengage_probs
-
-  score = 0.
-  for i in range(ModelConstants.DISENGAGE_WIDTH):
-    score += publish_state.disengage_buffer[i*ModelConstants.DISENGAGE_WIDTH+ModelConstants.DISENGAGE_WIDTH-1-i].item() / ModelConstants.DISENGAGE_WIDTH
-  if score < ModelConstants.RYG_GREEN:
-    modelV2.confidence = ConfidenceClass.green
-  elif score < ModelConstants.RYG_YELLOW:
-    modelV2.confidence = ConfidenceClass.yellow
-  else:
-    modelV2.confidence = ConfidenceClass.red
-
-  # raw prediction if enabled
-  if SEND_RAW_PRED:
-    modelV2.rawPredictions = net_output_data['raw_pred'].tobytes()
-
-def fill_pose_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray],
-                  vipc_frame_id: int, vipc_dropped_frames: int, timestamp_eof: int, live_calib_seen: bool) -> None:
-  msg.valid = live_calib_seen & (vipc_dropped_frames < 1)
-  cameraOdometry = msg.cameraOdometry
-
-  cameraOdometry.frameId = vipc_frame_id
-  cameraOdometry.timestampEof = timestamp_eof
-
-  cameraOdometry.trans = net_output_data['pose'][0,:3].tolist()
-  cameraOdometry.rot = net_output_data['pose'][0,3:].tolist()
-  cameraOdometry.wideFromDeviceEuler = net_output_data['wide_from_device_euler'][0,:].tolist()
-  cameraOdometry.roadTransformTrans = net_output_data['road_transform'][0,:3].tolist()
-  cameraOdometry.transStd = net_output_data['pose_stds'][0,:3].tolist()
-  cameraOdometry.rotStd = net_output_data['pose_stds'][0,3:].tolist()
-  cameraOdometry.wideFromDeviceEulerStd = net_output_data['wide_from_device_euler_stds'][0,:].tolist()
-  cameraOdometry.roadTransformTransStd = net_output_data['road_transform_stds'][0,:3].tolist()
diff --git a/sunnypilot/modeld/get_model_metadata.py b/sunnypilot/modeld/get_model_metadata.py
deleted file mode 100755
index 144860204fd79c..00000000000000
--- a/sunnypilot/modeld/get_model_metadata.py
+++ /dev/null
@@ -1,28 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import pathlib
-import onnx
-import codecs
-import pickle
-
-def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
-  shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
-  name = value_info.name
-  return name, shape
-
-if __name__ == "__main__":
-  model_path = pathlib.Path(sys.argv[1])
-  model = onnx.load(str(model_path))
-  i = [x.key for x in model.metadata_props].index('output_slices')
-  output_slices = model.metadata_props[i].value
-
-  metadata = {}
-  metadata['output_slices'] = pickle.loads(codecs.decode(output_slices.encode(), "base64"))
-  metadata['input_shapes'] = dict([get_name_and_shape(x) for x in model.graph.input])
-  metadata['output_shapes'] = dict([get_name_and_shape(x) for x in model.graph.output])
-
-  metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
-  with open(metadata_path, 'wb') as f:
-    pickle.dump(metadata, f)
-
-  print(f'saved metadata to {metadata_path}')
diff --git a/sunnypilot/modeld/modeld b/sunnypilot/modeld/modeld
deleted file mode 100755
index e1cef4dcc35f18..00000000000000
--- a/sunnypilot/modeld/modeld
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env bash
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd "$DIR/../../"
-
-if [ -f "$DIR/libthneed.so" ]; then
-  export LD_PRELOAD="$DIR/libthneed.so"
-fi
-
-exec "$DIR/modeld.py" "$@"
diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
deleted file mode 100755
index 1c14486e61f3af..00000000000000
--- a/sunnypilot/modeld/modeld.py
+++ /dev/null
@@ -1,299 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import pickle
-import numpy as np
-import cereal.messaging as messaging
-from cereal import car, log
-from pathlib import Path
-from setproctitle import setproctitle
-from cereal.messaging import PubMaster, SubMaster
-from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
-from opendbc.car.car_helpers import get_demo_car_params
-from openpilot.common.swaglog import cloudlog
-from openpilot.common.params import Params
-from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import config_realtime_process
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.common.transformations.model import get_warp_matrix
-from openpilot.system import sentry
-from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.sunnypilot.modeld.runners import ModelRunner, Runtime
-from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
-from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
-from openpilot.sunnypilot.modeld.constants import ModelConstants
-from openpilot.sunnypilot.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
-
-PROCESS_NAME = "sunnypilot.modeld.modeld"
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-
-MODEL_PATHS = {
-  ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed',
-  ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'}
-
-METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
-
-
-class FrameMeta:
-  frame_id: int = 0
-  timestamp_sof: int = 0
-  timestamp_eof: int = 0
-
-  def __init__(self, vipc=None):
-    if vipc is not None:
-      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
-
-class ModelState:
-  frame: DrivingModelFrame
-  wide_frame: DrivingModelFrame
-  inputs: dict[str, np.ndarray]
-  output: np.ndarray
-  prev_desire: np.ndarray  # for tracking the rising edge of the pulse
-  model: ModelRunner
-
-  def __init__(self, context: CLContext):
-    self.frame = DrivingModelFrame(context)
-    self.wide_frame = DrivingModelFrame(context)
-    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
-    self.desire_20Hz =  np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
-
-    # img buffers are managed in openCL transform code
-    self.inputs = {
-      'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
-      'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
-      'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
-    }
-
-    with open(METADATA_PATH, 'rb') as f:
-      model_metadata = pickle.load(f)
-
-    self.output_slices = model_metadata['output_slices']
-    net_output_size = model_metadata['output_shapes']['outputs'][1]
-    self.output = np.zeros(net_output_size, dtype=np.float32)
-    self.parser = Parser()
-
-    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context)
-    self.model.addInput("input_imgs", None)
-    self.model.addInput("big_input_imgs", None)
-    for k,v in self.inputs.items():
-      self.model.addInput(k, v)
-
-  def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]:
-    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
-    if SEND_RAW_PRED:
-      parsed_model_outputs['raw_pred'] = model_outputs.copy()
-    return parsed_model_outputs
-
-  def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
-                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
-    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire'][0] = 0
-    new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
-    self.prev_desire[:] = inputs['desire']
-
-    self.desire_20Hz[:-1] = self.desire_20Hz[1:]
-    self.desire_20Hz[-1] = new_desire
-    self.inputs['desire'][:] = self.desire_20Hz.reshape((25,4,-1)).max(axis=1).flatten()
-
-    self.inputs['traffic_convention'][:] = inputs['traffic_convention']
-
-    self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
-    self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
-
-    if prepare_only:
-      return None
-
-    self.model.execute()
-    outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
-
-    self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
-    self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
-
-    idxs = np.arange(-4,-100,-4)[::-1]
-    self.inputs['features_buffer'][:] = self.full_features_20Hz[idxs].flatten()
-    return outputs
-
-
-def main(demo=False):
-  cloudlog.warning("modeld init")
-
-  sentry.set_tag("daemon", PROCESS_NAME)
-  cloudlog.bind(daemon=PROCESS_NAME)
-  setproctitle(PROCESS_NAME)
-  config_realtime_process(7, 54)
-
-  cloudlog.warning("setting up CL context")
-  cl_context = CLContext()
-  cloudlog.warning("CL context ready; loading model")
-  model = ModelState(cl_context)
-  cloudlog.warning("models loaded, modeld starting")
-
-  # visionipc clients
-  while True:
-    available_streams = VisionIpcClient.available_streams("camerad", block=False)
-    if available_streams:
-      use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams
-      main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams
-      break
-    time.sleep(.1)
-
-  vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD
-  vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context)
-  vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context)
-  cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
-
-  while not vipc_client_main.connect(False):
-    time.sleep(0.1)
-  while use_extra_client and not vipc_client_extra.connect(False):
-    time.sleep(0.1)
-
-  cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})")
-  if use_extra_client:
-    cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
-
-  # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
-  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
-
-  publish_state = PublishState()
-  params = Params()
-
-  # setup filter to track dropped frames
-  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
-  frame_id = 0
-  last_vipc_frame_id = 0
-  run_count = 0
-
-  model_transform_main = np.zeros((3, 3), dtype=np.float32)
-  model_transform_extra = np.zeros((3, 3), dtype=np.float32)
-  live_calib_seen = False
-  buf_main, buf_extra = None, None
-  meta_main = FrameMeta()
-  meta_extra = FrameMeta()
-
-
-  if demo:
-    CP = get_demo_car_params()
-  else:
-    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-  cloudlog.info("modeld got CarParams: %s", CP.carName)
-
-  # TODO this needs more thought, use .2s extra for now to estimate other delays
-  steer_delay = CP.steerActuatorDelay + .2
-
-  DH = DesireHelper()
-
-  while True:
-    # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
-    while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
-      buf_main = vipc_client_main.recv()
-      meta_main = FrameMeta(vipc_client_main)
-      if buf_main is None:
-        break
-
-    if buf_main is None:
-      cloudlog.debug("vipc_client_main no frame")
-      continue
-
-    if use_extra_client:
-      # Keep receiving extra frames until frame id matches main camera
-      while True:
-        buf_extra = vipc_client_extra.recv()
-        meta_extra = FrameMeta(vipc_client_extra)
-        if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
-          break
-
-      if buf_extra is None:
-        cloudlog.debug("vipc_client_extra no frame")
-        continue
-
-      if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000:
-        cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\
-                         extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})")
-
-    else:
-      # Use single camera
-      buf_extra = buf_main
-      meta_extra = meta_main
-
-    sm.update(0)
-    desire = DH.desire
-    is_rhd = sm["driverMonitoringState"].isRHD
-    frame_id = sm["roadCameraState"].frameId
-    v_ego = max(sm["carState"].vEgo, 0.)
-    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
-      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
-      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
-      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
-      model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
-      live_calib_seen = True
-
-    traffic_convention = np.zeros(2)
-    traffic_convention[int(is_rhd)] = 1
-
-    vec_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    if desire >= 0 and desire < ModelConstants.DESIRE_LEN:
-      vec_desire[desire] = 1
-
-    # tracked dropped frames
-    vipc_dropped_frames = max(0, meta_main.frame_id - last_vipc_frame_id - 1)
-    frames_dropped = frame_dropped_filter.update(min(vipc_dropped_frames, 10))
-    if run_count < 10: # let frame drops warm up
-      frame_dropped_filter.x = 0.
-      frames_dropped = 0.
-    run_count = run_count + 1
-
-    frame_drop_ratio = frames_dropped / (1 + frames_dropped)
-    prepare_only = vipc_dropped_frames > 0
-    if prepare_only:
-      cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
-
-    inputs:dict[str, np.ndarray] = {
-      'desire': vec_desire,
-      'traffic_convention': traffic_convention,
-      }
-
-    mt1 = time.perf_counter()
-    model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
-    mt2 = time.perf_counter()
-    model_execution_time = mt2 - mt1
-
-    if model_output is not None:
-      modelv2_send = messaging.new_message('modelV2')
-      drivingdata_send = messaging.new_message('drivingModelData')
-      posenet_send = messaging.new_message('cameraOdometry')
-      fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay,
-                     publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
-                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
-
-      desire_state = modelv2_send.modelV2.meta.desireState
-      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
-      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
-      lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
-      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
-      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
-      drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
-      drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
-
-      fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
-      pm.send('modelV2', modelv2_send)
-      pm.send('drivingModelData', drivingdata_send)
-      pm.send('cameraOdometry', posenet_send)
-
-    last_vipc_frame_id = meta_main.frame_id
-
-
-if __name__ == "__main__":
-  try:
-    import argparse
-    parser = argparse.ArgumentParser()
-    parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
-    args = parser.parse_args()
-    main(demo=args.demo)
-  except KeyboardInterrupt:
-    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
-  except Exception:
-    sentry.capture_exception()
-    raise
diff --git a/sunnypilot/modeld/models/README.md b/sunnypilot/modeld/models/README.md
deleted file mode 100644
index 9e11ca82550c52..00000000000000
--- a/sunnypilot/modeld/models/README.md
+++ /dev/null
@@ -1,62 +0,0 @@
-## Neural networks in openpilot
-To view the architecture of the ONNX networks, you can use [netron](https://netron.app/)
-
-## Supercombo
-### Supercombo input format (Full size: 799906 x float32)
-* **image stream**
-  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
-    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
-      * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
-      * Channel 4 represents the half-res U channel
-      * Channel 5 represents the half-res V channel
-* **wide image stream**
-  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
-    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
-      * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
-      * Channel 4 represents the half-res U channel
-      * Channel 5 represents the half-res V channel
-* **desire**
-  * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8
-* **traffic convention**
-  * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
-* **feature buffer**
-  * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 512
-
-
-### Supercombo output format (Full size: XXX x float32)
-Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d093c29f738adf6a/selfdrive/modeld/models/driving.h#L236) for more.
-
-
-## Driver Monitoring Model
-* .onnx model can be run with onnx runtimes
-* .dlc file is a pre-quantized model and only runs on qualcomm DSPs
-
-### input format
-* single image W = 1440 H = 960 luminance channel (Y) from the planar YUV420 format:
-  * full input size is 1440 * 960 = 1382400
-  * normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner)
-* camera calibration angles (roll, pitch, yaw) from liveCalibration: 3 x float32 inputs
-
-### output format
-* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/selfdrive/modeld/models/dmonitoring.cc#L33))
-  * for each person in the front seats (2 * 41)
-    * face pose: 12 = 6 + 6
-      * face orientation [pitch, yaw, roll] in camera frame: 3
-      * face position [dx, dy] relative to image center: 2
-      * normalized face size: 1
-      * standard deviations for above outputs: 6
-    * face visible probability: 1
-    * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1
-      * eye position and size, and their standard deviations: 8
-      * eye visible probability: 1
-      * eye closed probability: 1
-    * wearing sunglasses probability: 1
-    * face occluded probability: 1
-    * touching wheel probability: 1
-    * paying attention probability: 1
-    * (deprecated) distracted probabilities: 2
-    * using phone probability: 1
-    * distracted probability: 1
-  * common outputs 2
-    * poor camera vision probability: 1
-    * left hand drive probability: 1
diff --git a/sunnypilot/modeld/models/commonmodel.cc b/sunnypilot/modeld/models/commonmodel.cc
deleted file mode 100644
index 8df11fdf170b88..00000000000000
--- a/sunnypilot/modeld/models/commonmodel.cc
+++ /dev/null
@@ -1,69 +0,0 @@
-#include "sunnypilot/modeld/models/commonmodel.h"
-
-#include <cmath>
-#include <cstring>
-
-#include "common/clutil.h"
-
-DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
-  input_frames = std::make_unique<uint8_t[]>(buf_size);
-  //input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err));
-  region.origin = 4 * frame_size_bytes;
-  region.size = frame_size_bytes;
-  last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
-
-  loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
-  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
-}
-
-uint8_t* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output) {
-  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
-
-  for (int i = 0; i < 4; i++) {
-    CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
-  }
-  loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
-
-  if (output == NULL) {
-    CL_CHECK(clEnqueueReadBuffer(q, img_buffer_20hz_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[0], 0, nullptr, nullptr));
-    CL_CHECK(clEnqueueReadBuffer(q, last_img_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
-    clFinish(q);
-    return &input_frames[0];
-  } else {
-    copy_queue(&loadyuv, q, img_buffer_20hz_cl, *output, 0, 0, frame_size_bytes);
-    copy_queue(&loadyuv, q, last_img_cl, *output, 0, frame_size_bytes, frame_size_bytes);
-
-    // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
-    clFinish(q);
-    return NULL;
-  }
-}
-
-DrivingModelFrame::~DrivingModelFrame() {
-  deinit_transform();
-  loadyuv_destroy(&loadyuv);
-  CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
-  CL_CHECK(clReleaseMemObject(last_img_cl));
-  CL_CHECK(clReleaseCommandQueue(q));
-}
-
-
-MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
-  input_frames = std::make_unique<uint8_t[]>(buf_size);
-  //input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-
-  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
-}
-uint8_t* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output) {
-  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
-  CL_CHECK(clEnqueueReadBuffer(q, y_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(uint8_t), input_frames.get(), 0, nullptr, nullptr));
-  clFinish(q);
-  //return &y_cl;
-  return input_frames.get();
-}
-
-MonitoringModelFrame::~MonitoringModelFrame() {
-  deinit_transform();
-  CL_CHECK(clReleaseCommandQueue(q));
-}
diff --git a/sunnypilot/modeld/models/commonmodel.h b/sunnypilot/modeld/models/commonmodel.h
deleted file mode 100644
index e55f78e24881d8..00000000000000
--- a/sunnypilot/modeld/models/commonmodel.h
+++ /dev/null
@@ -1,98 +0,0 @@
-#pragma once
-
-#include <cfloat>
-#include <cstdlib>
-#include <cassert>
-
-#include <memory>
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/mat.h"
-#include "selfdrive/modeld/transforms/loadyuv.h"
-#include "selfdrive/modeld/transforms/transform.h"
-
-class ModelFrame {
-public:
-  ModelFrame(cl_device_id device_id, cl_context context) {
-    q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
-  }
-  virtual ~ModelFrame() {}
-  virtual uint8_t* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output) { return NULL; }
-  /*
-  uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) {
-    CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr));
-    clFinish(q);
-    return &input_frames[0];
-  }
-  */
-
-  int MODEL_WIDTH;
-  int MODEL_HEIGHT;
-  int MODEL_FRAME_SIZE;
-  int buf_size;
-
-protected:
-  cl_mem y_cl, u_cl, v_cl;
-  Transform transform;
-  cl_command_queue q;
-  std::unique_ptr<uint8_t[]> input_frames;
-
-  void init_transform(cl_device_id device_id, cl_context context, int model_width, int model_height) {
-    y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, model_width * model_height, NULL, &err));
-    u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
-    v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
-    transform_init(&transform, context, device_id);
-  }
-
-  void deinit_transform() {
-    transform_destroy(&transform);
-    CL_CHECK(clReleaseMemObject(v_cl));
-    CL_CHECK(clReleaseMemObject(u_cl));
-    CL_CHECK(clReleaseMemObject(y_cl));
-  }
-
-  void run_transform(cl_mem yuv_cl, int model_width, int model_height, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-    transform_queue(&transform, q,
-        yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
-        y_cl, u_cl, v_cl, model_width, model_height, projection);
-  }
-};
-
-class DrivingModelFrame : public ModelFrame {
-public:
-  DrivingModelFrame(cl_device_id device_id, cl_context context);
-  ~DrivingModelFrame();
-  uint8_t* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output);
-
-  const int MODEL_WIDTH = 512;
-  const int MODEL_HEIGHT = 256;
-  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
-  const int buf_size = MODEL_FRAME_SIZE * 2;
-  const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
-
-private:
-  LoadYUVState loadyuv;
-  cl_mem img_buffer_20hz_cl, last_img_cl;//, input_frames_cl;
-  cl_buffer_region region;
-};
-
-class MonitoringModelFrame : public ModelFrame {
-public:
-  MonitoringModelFrame(cl_device_id device_id, cl_context context);
-  ~MonitoringModelFrame();
-  uint8_t* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output);
-
-  const int MODEL_WIDTH = 1440;
-  const int MODEL_HEIGHT = 960;
-  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT;
-  const int buf_size = MODEL_FRAME_SIZE;
-
-private:
-  // cl_mem input_frame_cl;
-};
diff --git a/sunnypilot/modeld/models/commonmodel.pxd b/sunnypilot/modeld/models/commonmodel.pxd
deleted file mode 100644
index abcf10cec2ab4d..00000000000000
--- a/sunnypilot/modeld/models/commonmodel.pxd
+++ /dev/null
@@ -1,26 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem
-
-cdef extern from "common/mat.h":
-  cdef struct mat3:
-    float v[9]
-
-cdef extern from "common/clutil.h":
-  cdef unsigned long CL_DEVICE_TYPE_DEFAULT
-  cl_device_id cl_get_device_id(unsigned long)
-  cl_context cl_create_context(cl_device_id)
-
-cdef extern from "sunnypilot/modeld/models/commonmodel.h":
-  cppclass ModelFrame:
-    int buf_size
-    # unsigned char * buffer_from_cl(cl_mem*, int);
-    unsigned char * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
-
-  cppclass DrivingModelFrame:
-    int buf_size
-    DrivingModelFrame(cl_device_id, cl_context)
-
-  cppclass MonitoringModelFrame:
-    int buf_size
-    MonitoringModelFrame(cl_device_id, cl_context)
diff --git a/sunnypilot/modeld/models/commonmodel_pyx.pxd b/sunnypilot/modeld/models/commonmodel_pyx.pxd
deleted file mode 100644
index 0bb798625be28d..00000000000000
--- a/sunnypilot/modeld/models/commonmodel_pyx.pxd
+++ /dev/null
@@ -1,13 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext
-
-cdef class CLContext(BaseCLContext):
-  pass
-
-cdef class CLMem:
-  cdef cl_mem * mem
-
-  @staticmethod
-  cdef create(void*)
diff --git a/sunnypilot/modeld/models/commonmodel_pyx.pyx b/sunnypilot/modeld/models/commonmodel_pyx.pyx
deleted file mode 100644
index 7715554207944e..00000000000000
--- a/sunnypilot/modeld/models/commonmodel_pyx.pyx
+++ /dev/null
@@ -1,76 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import numpy as np
-cimport numpy as cnp
-from libc.string cimport memcpy
-from libc.stdint cimport uintptr_t
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
-from sunnypilot.modeld.models.commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
-from sunnypilot.modeld.models.commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame
-
-
-cdef class CLContext(BaseCLContext):
-  def __cinit__(self):
-    self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
-    self.context = cl_create_context(self.device_id)
-
-cdef class CLMem:
-  @staticmethod
-  cdef create(void * cmem):
-    mem = CLMem()
-    mem.mem = <cl_mem*> cmem
-    return mem
-
-  @property
-  def mem_address(self):
-    return <uintptr_t>(self.mem)
-
-def cl_from_visionbuf(VisionBuf buf):
-  return CLMem.create(<void*>&buf.buf.buf_cl)
-
-
-cdef class ModelFrame:
-  cdef cppModelFrame * frame
-  cdef int buf_size
-
-  def __dealloc__(self):
-    del self.frame
-
-  def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
-    cdef mat3 cprojection
-    memcpy(cprojection.v, &projection[0], 9*sizeof(float))
-    cdef unsigned char * data
-    if output is None:
-      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL)
-    else:
-      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
-    if not data:
-      return None
-
-    return np.asarray(<cnp.uint8_t[:self.buf_size]> data)
-    # return CLMem.create(data)
-
-  # def buffer_from_cl(self, CLMem in_frames):
-  #   cdef unsigned char * data2
-  #   data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size)
-  #   return np.asarray(<cnp.uint8_t[:self.buf_size]> data2)
-
-
-cdef class DrivingModelFrame(ModelFrame):
-  cdef cppDrivingModelFrame * _frame
-
-  def __cinit__(self, CLContext context):
-    self._frame = new cppDrivingModelFrame(context.device_id, context.context)
-    self.frame = <cppModelFrame*>(self._frame)
-    self.buf_size = self._frame.buf_size
-
-cdef class MonitoringModelFrame(ModelFrame):
-  cdef cppMonitoringModelFrame * _frame
-
-  def __cinit__(self, CLContext context):
-    self._frame = new cppMonitoringModelFrame(context.device_id, context.context)
-    self.frame = <cppModelFrame*>(self._frame)
-    self.buf_size = self._frame.buf_size
diff --git a/sunnypilot/modeld/models/supercombo.onnx b/sunnypilot/modeld/models/supercombo.onnx
deleted file mode 100644
index 384072f426dddd..00000000000000
--- a/sunnypilot/modeld/models/supercombo.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0c896681fd6851de3968433e12f37834429eba265e938cf383200be3e5835cec
-size 49096168
diff --git a/sunnypilot/modeld/models/supercombo.thneed b/sunnypilot/modeld/models/supercombo.thneed
deleted file mode 100644
index 4f48547c7451a3..00000000000000
--- a/sunnypilot/modeld/models/supercombo.thneed
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:af2cb689ec9e31292f759b561e70e4558a38f778558dff39ccff460ccafc0d52
-size 49849624
diff --git a/sunnypilot/modeld/models/supercombo_metadata.pkl b/sunnypilot/modeld/models/supercombo_metadata.pkl
deleted file mode 100644
index d4783c2507cf00..00000000000000
--- a/sunnypilot/modeld/models/supercombo_metadata.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:441f2865017c07ee0dfb2488c5d86aab00df7ff5c5ec163959f35c33d74b65e6
-size 594
diff --git a/sunnypilot/modeld/parse_model_outputs.py b/sunnypilot/modeld/parse_model_outputs.py
deleted file mode 100644
index ad664efc551347..00000000000000
--- a/sunnypilot/modeld/parse_model_outputs.py
+++ /dev/null
@@ -1,103 +0,0 @@
-import numpy as np
-from openpilot.sunnypilot.modeld.constants import ModelConstants
-
-def safe_exp(x, out=None):
-  # -11 is around 10**14, more causes float16 overflow
-  return np.exp(np.clip(x, -np.inf, 11), out=out)
-
-def sigmoid(x):
-  return 1. / (1. + safe_exp(-x))
-
-def softmax(x, axis=-1):
-  x -= np.max(x, axis=axis, keepdims=True)
-  if x.dtype == np.float32 or x.dtype == np.float64:
-    safe_exp(x, out=x)
-  else:
-    x = safe_exp(x)
-  x /= np.sum(x, axis=axis, keepdims=True)
-  return x
-
-class Parser:
-  def __init__(self, ignore_missing=False):
-    self.ignore_missing = ignore_missing
-
-  def check_missing(self, outs, name):
-    if name not in outs and not self.ignore_missing:
-      raise ValueError(f"Missing output {name}")
-    return name not in outs
-
-  def parse_categorical_crossentropy(self, name, outs, out_shape=None):
-    if self.check_missing(outs, name):
-      return
-    raw = outs[name]
-    if out_shape is not None:
-      raw = raw.reshape((raw.shape[0],) + out_shape)
-    outs[name] = softmax(raw, axis=-1)
-
-  def parse_binary_crossentropy(self, name, outs):
-    if self.check_missing(outs, name):
-      return
-    raw = outs[name]
-    outs[name] = sigmoid(raw)
-
-  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
-    if self.check_missing(outs, name):
-      return
-    raw = outs[name]
-    raw = raw.reshape((raw.shape[0], max(in_N, 1), -1))
-
-    n_values = (raw.shape[2] - out_N)//2
-    pred_mu = raw[:,:,:n_values]
-    pred_std = safe_exp(raw[:,:,n_values: 2*n_values])
-
-    if in_N > 1:
-      weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype)
-      for i in range(out_N):
-        weights[:,:,i - out_N] = softmax(raw[:,:,i - out_N], axis=-1)
-
-      if out_N == 1:
-        for fidx in range(weights.shape[0]):
-          idxs = np.argsort(weights[fidx][:,0])[::-1]
-          weights[fidx] = weights[fidx][idxs]
-          pred_mu[fidx] = pred_mu[fidx][idxs]
-          pred_std[fidx] = pred_std[fidx][idxs]
-      full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
-      outs[name + '_weights'] = weights
-      outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
-      outs[name + '_stds_hypotheses'] = pred_std.reshape(full_shape)
-
-      pred_mu_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
-      pred_std_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
-      for fidx in range(weights.shape[0]):
-        for hidx in range(out_N):
-          idxs = np.argsort(weights[fidx,:,hidx])[::-1]
-          pred_mu_final[fidx, hidx] = pred_mu[fidx, idxs[0]]
-          pred_std_final[fidx, hidx] = pred_std[fidx, idxs[0]]
-    else:
-      pred_mu_final = pred_mu
-      pred_std_final = pred_std
-
-    if out_N > 1:
-      final_shape = tuple([raw.shape[0], out_N] + list(out_shape))
-    else:
-      final_shape = tuple([raw.shape[0],] + list(out_shape))
-    outs[name] = pred_mu_final.reshape(final_shape)
-    outs[name + '_stds'] = pred_std_final.reshape(final_shape)
-
-  def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
-                   out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
-    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
-    if 'lat_planner_solution' in outs:
-      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
-    for k in ['lead_prob', 'lane_lines_prob', 'meta']:
-      self.parse_binary_crossentropy(k, outs)
-    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
-    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
-    return outs
diff --git a/sunnypilot/modeld/runners/__init__.py b/sunnypilot/modeld/runners/__init__.py
deleted file mode 100644
index 3f4507e4eb08db..00000000000000
--- a/sunnypilot/modeld/runners/__init__.py
+++ /dev/null
@@ -1,27 +0,0 @@
-import os
-from openpilot.system.hardware import TICI
-from openpilot.sunnypilot.modeld.runners.runmodel_pyx import RunModel, Runtime
-assert Runtime
-
-USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
-USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI))))
-
-class ModelRunner(RunModel):
-  THNEED = 'THNEED'
-  SNPE = 'SNPE'
-  ONNX = 'ONNX'
-
-  def __new__(cls, paths, *args, **kwargs):
-    if ModelRunner.THNEED in paths and USE_THNEED:
-      from openpilot.sunnypilot.modeld.runners.thneedmodel_pyx import ThneedModel as Runner
-      runner_type = ModelRunner.THNEED
-    elif ModelRunner.SNPE in paths and USE_SNPE:
-      from openpilot.sunnypilot.modeld.runners.snpemodel_pyx import SNPEModel as Runner
-      runner_type = ModelRunner.SNPE
-    elif ModelRunner.ONNX in paths:
-      from openpilot.sunnypilot.modeld.runners.onnxmodel import ONNXModel as Runner
-      runner_type = ModelRunner.ONNX
-    else:
-      raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path")
-
-    return Runner(str(paths[runner_type]), *args, **kwargs)
diff --git a/sunnypilot/modeld/runners/onnxmodel.py b/sunnypilot/modeld/runners/onnxmodel.py
deleted file mode 100644
index 7637e4192e536c..00000000000000
--- a/sunnypilot/modeld/runners/onnxmodel.py
+++ /dev/null
@@ -1,71 +0,0 @@
-import os
-import onnx
-import sys
-import numpy as np
-from typing import Any
-
-from openpilot.sunnypilot.modeld.runners.runmodel_pyx import RunModel
-from openpilot.sunnypilot.modeld.runners.ort_helpers import convert_fp16_to_fp32, ORT_TYPES_TO_NP_TYPES
-
-
-def create_ort_session(path, fp16_to_fp32):
-  os.environ["OMP_NUM_THREADS"] = "4"
-  os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
-
-  import onnxruntime as ort
-  print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
-  options = ort.SessionOptions()
-  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
-
-  provider: str | tuple[str, dict[Any, Any]]
-  if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
-    provider = 'OpenVINOExecutionProvider'
-  elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
-    options.intra_op_num_threads = 2
-    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'EXHAUSTIVE'})
-  else:
-    options.intra_op_num_threads = 2
-    options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
-    options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
-    provider = 'CPUExecutionProvider'
-
-  model_data = convert_fp16_to_fp32(onnx.load(path)) if fp16_to_fp32 else path
-  print("Onnx selected provider: ", [provider], file=sys.stderr)
-  ort_session = ort.InferenceSession(model_data, options, providers=[provider])
-  print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
-  return ort_session
-
-
-class ONNXModel(RunModel):
-  def __init__(self, path, output, runtime, use_tf8, cl_context):
-    self.inputs = {}
-    self.output = output
-
-    self.session = create_ort_session(path, fp16_to_fp32=True)
-    self.input_names = [x.name for x in self.session.get_inputs()]
-    self.input_shapes = {x.name: [1, *x.shape[1:]] for x in self.session.get_inputs()}
-    self.input_dtypes = {x.name: ORT_TYPES_TO_NP_TYPES[x.type] for x in self.session.get_inputs()}
-
-    # run once to initialize CUDA provider
-    if "CUDAExecutionProvider" in self.session.get_providers():
-      self.session.run(None, {k: np.zeros(self.input_shapes[k], dtype=self.input_dtypes[k]) for k in self.input_names})
-    print("ready to run onnx model", self.input_shapes, file=sys.stderr)
-
-  def addInput(self, name, buffer):
-    assert name in self.input_names
-    self.inputs[name] = buffer
-
-  def setInputBuffer(self, name, buffer):
-    assert name in self.inputs
-    self.inputs[name] = buffer
-
-  def getCLBuffer(self, name):
-    return None
-
-  def execute(self):
-    inputs = {k: v.view(self.input_dtypes[k]) for k,v in self.inputs.items()}
-    inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()}
-    outputs = self.session.run(None, inputs)
-    assert len(outputs) == 1, "Only single model outputs are supported"
-    self.output[:] = outputs[0]
-    return self.output
diff --git a/sunnypilot/modeld/runners/ort_helpers.py b/sunnypilot/modeld/runners/ort_helpers.py
deleted file mode 100644
index 26afb035624a29..00000000000000
--- a/sunnypilot/modeld/runners/ort_helpers.py
+++ /dev/null
@@ -1,36 +0,0 @@
-import onnx
-import onnxruntime as ort
-import numpy as np
-import itertools
-
-ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
-
-def attributeproto_fp16_to_fp32(attr):
-  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
-  attr.data_type = 1
-  attr.raw_data = float32_list.astype(np.float32).tobytes()
-
-def convert_fp16_to_fp32(model):
-  for i in model.graph.initializer:
-    if i.data_type == 10:
-      attributeproto_fp16_to_fp32(i)
-  for i in itertools.chain(model.graph.input, model.graph.output):
-    if i.type.tensor_type.elem_type == 10:
-      i.type.tensor_type.elem_type = 1
-  for i in model.graph.node:
-    if i.op_type == 'Cast' and i.attribute[0].i == 10:
-      i.attribute[0].i = 1
-    for a in i.attribute:
-      if hasattr(a, 't'):
-        if a.t.data_type == 10:
-          attributeproto_fp16_to_fp32(a.t)
-  return model.SerializeToString()
-
-
-def make_onnx_cpu_runner(model_path):
-  options = ort.SessionOptions()
-  options.intra_op_num_threads = 4
-  options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
-  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
-  model_data = convert_fp16_to_fp32(onnx.load(model_path))
-  return ort.InferenceSession(model_data,  options, providers=['CPUExecutionProvider'])
diff --git a/sunnypilot/modeld/runners/run.h b/sunnypilot/modeld/runners/run.h
deleted file mode 100644
index 84d99fd10fd862..00000000000000
--- a/sunnypilot/modeld/runners/run.h
+++ /dev/null
@@ -1,4 +0,0 @@
-#pragma once
-
-#include "sunnypilot/modeld/runners/runmodel.h"
-#include "sunnypilot/modeld/runners/snpemodel.h"
diff --git a/sunnypilot/modeld/runners/runmodel.h b/sunnypilot/modeld/runners/runmodel.h
deleted file mode 100644
index 18cc180cb7f1d9..00000000000000
--- a/sunnypilot/modeld/runners/runmodel.h
+++ /dev/null
@@ -1,49 +0,0 @@
-#pragma once
-
-#include <string>
-#include <vector>
-#include <memory>
-#include <cassert>
-
-#include "common/clutil.h"
-#include "common/swaglog.h"
-
-#define USE_CPU_RUNTIME 0
-#define USE_GPU_RUNTIME 1
-#define USE_DSP_RUNTIME 2
-
-struct ModelInput {
-  const std::string name;
-  float *buffer;
-  int size;
-
-  ModelInput(const std::string _name, float *_buffer, int _size) : name(_name), buffer(_buffer), size(_size) {}
-  virtual void setBuffer(float *_buffer, int _size) {
-    assert(size == _size || size == 0);
-    buffer = _buffer;
-    size = _size;
-  }
-};
-
-class RunModel {
-public:
-  std::vector<std::unique_ptr<ModelInput>> inputs;
-
-  virtual ~RunModel() {}
-  virtual void execute() {}
-  virtual void* getCLBuffer(const std::string name) { return nullptr; }
-
-  virtual void addInput(const std::string name, float *buffer, int size) {
-    inputs.push_back(std::unique_ptr<ModelInput>(new ModelInput(name, buffer, size)));
-  }
-  virtual void setInputBuffer(const std::string name, float *buffer, int size) {
-    for (auto &input : inputs) {
-      if (name == input->name) {
-        input->setBuffer(buffer, size);
-        return;
-      }
-    }
-    LOGE("Tried to update input `%s` but no input with this name exists", name.c_str());
-    assert(false);
-  }
-};
diff --git a/sunnypilot/modeld/runners/runmodel.pxd b/sunnypilot/modeld/runners/runmodel.pxd
deleted file mode 100644
index b83434473d9b71..00000000000000
--- a/sunnypilot/modeld/runners/runmodel.pxd
+++ /dev/null
@@ -1,14 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-cdef extern from "sunnypilot/modeld/runners/runmodel.h":
-  cdef int USE_CPU_RUNTIME
-  cdef int USE_GPU_RUNTIME
-  cdef int USE_DSP_RUNTIME
-
-  cdef cppclass RunModel:
-    void addInput(string, float*, int)
-    void setInputBuffer(string, float*, int)
-    void * getCLBuffer(string)
-    void execute()
diff --git a/sunnypilot/modeld/runners/runmodel_pyx.pxd b/sunnypilot/modeld/runners/runmodel_pyx.pxd
deleted file mode 100644
index b6ede7cf37f733..00000000000000
--- a/sunnypilot/modeld/runners/runmodel_pyx.pxd
+++ /dev/null
@@ -1,6 +0,0 @@
-# distutils: language = c++
-
-from .runmodel cimport RunModel as cppRunModel
-
-cdef class RunModel:
-  cdef cppRunModel * model
diff --git a/sunnypilot/modeld/runners/runmodel_pyx.pyx b/sunnypilot/modeld/runners/runmodel_pyx.pyx
deleted file mode 100644
index e224b1e4f2c11d..00000000000000
--- a/sunnypilot/modeld/runners/runmodel_pyx.pyx
+++ /dev/null
@@ -1,37 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-from libcpp.string cimport string
-
-from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
-from sunnypilot.modeld.models.commonmodel_pyx cimport CLMem
-
-class Runtime:
-  CPU = USE_CPU_RUNTIME
-  GPU = USE_GPU_RUNTIME
-  DSP = USE_DSP_RUNTIME
-
-cdef class RunModel:
-  def __dealloc__(self):
-    del self.model
-
-  def addInput(self, string name, float[:] buffer):
-    if buffer is not None:
-      self.model.addInput(name, &buffer[0], len(buffer))
-    else:
-      self.model.addInput(name, NULL, 0)
-
-  def setInputBuffer(self, string name, float[:] buffer):
-    if buffer is not None:
-      self.model.setInputBuffer(name, &buffer[0], len(buffer))
-    else:
-      self.model.setInputBuffer(name, NULL, 0)
-
-  def getCLBuffer(self, string name):
-    cdef void * cl_buf = self.model.getCLBuffer(name)
-    if not cl_buf:
-      return None
-    return CLMem.create(cl_buf)
-
-  def execute(self):
-    self.model.execute()
diff --git a/sunnypilot/modeld/runners/snpemodel.cc b/sunnypilot/modeld/runners/snpemodel.cc
deleted file mode 100644
index ce06ba39f79040..00000000000000
--- a/sunnypilot/modeld/runners/snpemodel.cc
+++ /dev/null
@@ -1,116 +0,0 @@
-#pragma clang diagnostic ignored "-Wexceptions"
-
-#include "sunnypilot/modeld/runners/snpemodel.h"
-
-#include <cstring>
-#include <memory>
-#include <string>
-#include <utility>
-#include <vector>
-
-#include "common/util.h"
-#include "common/timing.h"
-
-void PrintErrorStringAndExit() {
-  std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
-  std::exit(EXIT_FAILURE);
-}
-
-SNPEModel::SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) {
-  output = _output;
-  output_size = _output_size;
-  use_tf8 = _use_tf8;
-
-#ifdef QCOM2
-  if (runtime == USE_GPU_RUNTIME) {
-    snpe_runtime = zdl::DlSystem::Runtime_t::GPU;
-  } else if (runtime == USE_DSP_RUNTIME) {
-    snpe_runtime = zdl::DlSystem::Runtime_t::DSP;
-  } else {
-    snpe_runtime = zdl::DlSystem::Runtime_t::CPU;
-  }
-  assert(zdl::SNPE::SNPEFactory::isRuntimeAvailable(snpe_runtime));
-#endif
-  model_data = util::read_file(path);
-  assert(model_data.size() > 0);
-
-  // load model
-  std::unique_ptr<zdl::DlContainer::IDlContainer> container = zdl::DlContainer::IDlContainer::open((uint8_t*)model_data.data(), model_data.size());
-  if (!container) { PrintErrorStringAndExit(); }
-  LOGW("loaded model with size: %lu", model_data.size());
-
-  // create model runner
-  zdl::SNPE::SNPEBuilder snpe_builder(container.get());
-  while (!snpe) {
-#ifdef QCOM2
-    snpe = snpe_builder.setOutputLayers({})
-                       .setRuntimeProcessor(snpe_runtime)
-                       .setUseUserSuppliedBuffers(true)
-                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
-                       .build();
-#else
-    snpe = snpe_builder.setOutputLayers({})
-                       .setUseUserSuppliedBuffers(true)
-                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
-                       .build();
-#endif
-    if (!snpe) std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
-  }
-
-  // create output buffer
-  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
-  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
-
-  const auto &output_tensor_names_opt = snpe->getOutputTensorNames();
-  if (!output_tensor_names_opt) throw std::runtime_error("Error obtaining output tensor names");
-  const auto &output_tensor_names = *output_tensor_names_opt;
-  assert(output_tensor_names.size() == 1);
-  const char *output_tensor_name = output_tensor_names.at(0);
-  const zdl::DlSystem::TensorShape &buffer_shape = snpe->getInputOutputBufferAttributes(output_tensor_name)->getDims();
-  if (output_size != 0) {
-    assert(output_size == buffer_shape[1]);
-  } else {
-    output_size = buffer_shape[1];
-  }
-  std::vector<size_t> output_strides = {output_size * sizeof(float), sizeof(float)};
-  output_buffer = ub_factory.createUserBuffer(output, output_size * sizeof(float), output_strides, &ub_encoding_float);
-  output_map.add(output_tensor_name, output_buffer.get());
-}
-
-void SNPEModel::addInput(const std::string name, float *buffer, int size) {
-  const int idx = inputs.size();
-  const auto &input_tensor_names_opt = snpe->getInputTensorNames();
-  if (!input_tensor_names_opt) throw std::runtime_error("Error obtaining input tensor names");
-  const auto &input_tensor_names = *input_tensor_names_opt;
-  const char *input_tensor_name = input_tensor_names.at(idx);
-  const bool input_tf8 = use_tf8 && strcmp(input_tensor_name, "input_img") == 0;  // TODO: This is a terrible hack, get rid of this name check both here and in onnx_runner.py
-  LOGW("adding index %d: %s", idx, input_tensor_name);
-
-  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
-  zdl::DlSystem::UserBufferEncodingTf8 ub_encoding_tf8(0, 1./255); // network takes 0-1
-  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
-  zdl::DlSystem::UserBufferEncoding *input_encoding = input_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_tf8 : (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_float;
-
-  const auto &buffer_shape_opt = snpe->getInputDimensions(input_tensor_name);
-  const zdl::DlSystem::TensorShape &buffer_shape = *buffer_shape_opt;
-  size_t size_of_input = input_tf8 ? sizeof(uint8_t) : sizeof(float);
-  std::vector<size_t> strides(buffer_shape.rank());
-  strides[strides.size() - 1] = size_of_input;
-  size_t product = 1;
-  for (size_t i = 0; i < buffer_shape.rank(); i++) product *= buffer_shape[i];
-  size_t stride = strides[strides.size() - 1];
-  for (size_t i = buffer_shape.rank() - 1; i > 0; i--) {
-    stride *= buffer_shape[i];
-    strides[i-1] = stride;
-  }
-
-  auto input_buffer = ub_factory.createUserBuffer(buffer, product*size_of_input, strides, input_encoding);
-  input_map.add(input_tensor_name, input_buffer.get());
-  inputs.push_back(std::unique_ptr<SNPEModelInput>(new SNPEModelInput(name, buffer, size, std::move(input_buffer))));
-}
-
-void SNPEModel::execute() {
-  if (!snpe->execute(input_map, output_map)) {
-    PrintErrorStringAndExit();
-  }
-}
diff --git a/sunnypilot/modeld/runners/snpemodel.h b/sunnypilot/modeld/runners/snpemodel.h
deleted file mode 100644
index bd766242134fef..00000000000000
--- a/sunnypilot/modeld/runners/snpemodel.h
+++ /dev/null
@@ -1,52 +0,0 @@
-#pragma once
-#pragma clang diagnostic ignored "-Wdeprecated-declarations"
-
-#include <memory>
-#include <string>
-#include <utility>
-
-#include <DlContainer/IDlContainer.hpp>
-#include <DlSystem/DlError.hpp>
-#include <DlSystem/ITensor.hpp>
-#include <DlSystem/ITensorFactory.hpp>
-#include <DlSystem/IUserBuffer.hpp>
-#include <DlSystem/IUserBufferFactory.hpp>
-#include <SNPE/SNPE.hpp>
-#include <SNPE/SNPEBuilder.hpp>
-#include <SNPE/SNPEFactory.hpp>
-
-#include "sunnypilot/modeld/runners/runmodel.h"
-
-struct SNPEModelInput : public ModelInput {
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> snpe_buffer;
-
-  SNPEModelInput(const std::string _name, float *_buffer, int _size, std::unique_ptr<zdl::DlSystem::IUserBuffer> _snpe_buffer) : ModelInput(_name, _buffer, _size), snpe_buffer(std::move(_snpe_buffer)) {}
-  void setBuffer(float *_buffer, int _size) {
-    ModelInput::setBuffer(_buffer, _size);
-    assert(snpe_buffer->setBufferAddress(_buffer) == true);
-  }
-};
-
-class SNPEModel : public RunModel {
-public:
-  SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
-  void addInput(const std::string name, float *buffer, int size);
-  void execute();
-
-private:
-  std::string model_data;
-
-#ifdef QCOM2
-  zdl::DlSystem::Runtime_t snpe_runtime;
-#endif
-
-  // snpe model stuff
-  std::unique_ptr<zdl::SNPE::SNPE> snpe;
-  zdl::DlSystem::UserBufferMap input_map;
-  zdl::DlSystem::UserBufferMap output_map;
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> output_buffer;
-
-  bool use_tf8;
-  float *output;
-  size_t output_size;
-};
diff --git a/sunnypilot/modeld/runners/snpemodel.pxd b/sunnypilot/modeld/runners/snpemodel.pxd
deleted file mode 100644
index f19501d37d00f2..00000000000000
--- a/sunnypilot/modeld/runners/snpemodel.pxd
+++ /dev/null
@@ -1,9 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-from msgq.visionipc.visionipc cimport cl_context
-
-cdef extern from "sunnypilot/modeld/runners/snpemodel.h":
-  cdef cppclass SNPEModel:
-    SNPEModel(string, float*, size_t, int, bool, cl_context)
diff --git a/sunnypilot/modeld/runners/snpemodel_pyx.pyx b/sunnypilot/modeld/runners/snpemodel_pyx.pyx
deleted file mode 100644
index d1f24d1ead7be1..00000000000000
--- a/sunnypilot/modeld/runners/snpemodel_pyx.pyx
+++ /dev/null
@@ -1,17 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import os
-from libcpp cimport bool
-from libcpp.string cimport string
-
-from .snpemodel cimport SNPEModel as cppSNPEModel
-from sunnypilot.modeld.models.commonmodel_pyx cimport CLContext
-from sunnypilot.modeld.runners.runmodel_pyx cimport RunModel
-from sunnypilot.modeld.runners.runmodel cimport RunModel as cppRunModel
-
-os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/"
-
-cdef class SNPEModel(RunModel):
-  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
-    self.model = <cppRunModel *> new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/sunnypilot/modeld/runners/thneedmodel.cc b/sunnypilot/modeld/runners/thneedmodel.cc
deleted file mode 100644
index d83fc0a5f9c7ee..00000000000000
--- a/sunnypilot/modeld/runners/thneedmodel.cc
+++ /dev/null
@@ -1,58 +0,0 @@
-#include "sunnypilot/modeld/runners/thneedmodel.h"
-
-#include <string>
-
-#include "common/swaglog.h"
-
-ThneedModel::ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool luse_tf8, cl_context context) {
-  thneed = new Thneed(true, context);
-  thneed->load(path.c_str());
-  thneed->clexec();
-
-  recorded = false;
-  output = _output;
-}
-
-void* ThneedModel::getCLBuffer(const std::string name) {
-  int index = -1;
-  for (int i = 0; i < inputs.size(); i++) {
-    if (name == inputs[i]->name) {
-      index = i;
-      break;
-    }
-  }
-
-  if (index == -1) {
-    LOGE("Tried to get CL buffer for input `%s` but no input with this name exists", name.c_str());
-    assert(false);
-  }
-
-  if (thneed->input_clmem.size() >= inputs.size()) {
-    return &thneed->input_clmem[inputs.size() - index - 1];
-  } else {
-    return nullptr;
-  }
-}
-
-void ThneedModel::execute() {
-  if (!recorded) {
-    thneed->record = true;
-    float *input_buffers[inputs.size()];
-    for (int i = 0; i < inputs.size(); i++) {
-      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
-    }
-
-    thneed->copy_inputs(input_buffers);
-    thneed->clexec();
-    thneed->copy_output(output);
-    thneed->stop();
-
-    recorded = true;
-  } else {
-    float *input_buffers[inputs.size()];
-    for (int i = 0; i < inputs.size(); i++) {
-      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
-    }
-    thneed->execute(input_buffers, output);
-  }
-}
diff --git a/sunnypilot/modeld/runners/thneedmodel.h b/sunnypilot/modeld/runners/thneedmodel.h
deleted file mode 100644
index ecc7207c1f1fce..00000000000000
--- a/sunnypilot/modeld/runners/thneedmodel.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#pragma once
-
-#include <string>
-
-#include "sunnypilot/modeld/runners/runmodel.h"
-#include "sunnypilot/modeld/thneed/thneed.h"
-
-class ThneedModel : public RunModel {
-public:
-  ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
-  void *getCLBuffer(const std::string name);
-  void execute();
-private:
-  Thneed *thneed = NULL;
-  bool recorded;
-  float *output;
-};
diff --git a/sunnypilot/modeld/runners/thneedmodel.pxd b/sunnypilot/modeld/runners/thneedmodel.pxd
deleted file mode 100644
index ace7443b50e42b..00000000000000
--- a/sunnypilot/modeld/runners/thneedmodel.pxd
+++ /dev/null
@@ -1,9 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-from msgq.visionipc.visionipc cimport cl_context
-
-cdef extern from "sunnypilot/modeld/runners/thneedmodel.h":
-  cdef cppclass ThneedModel:
-    ThneedModel(string, float*, size_t, int, bool, cl_context)
diff --git a/sunnypilot/modeld/runners/thneedmodel_pyx.pyx b/sunnypilot/modeld/runners/thneedmodel_pyx.pyx
deleted file mode 100644
index 49de8344c00fa8..00000000000000
--- a/sunnypilot/modeld/runners/thneedmodel_pyx.pyx
+++ /dev/null
@@ -1,14 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-from libcpp cimport bool
-from libcpp.string cimport string
-
-from .thneedmodel cimport ThneedModel as cppThneedModel
-from sunnypilot.modeld.models.commonmodel_pyx cimport CLContext
-from sunnypilot.modeld.runners.runmodel_pyx cimport RunModel
-from sunnypilot.modeld.runners.runmodel cimport RunModel as cppRunModel
-
-cdef class ThneedModel(RunModel):
-  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
-    self.model = <cppRunModel *> new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/sunnypilot/modeld/thneed/README b/sunnypilot/modeld/thneed/README
deleted file mode 100644
index f3bc66d8fc26ff..00000000000000
--- a/sunnypilot/modeld/thneed/README
+++ /dev/null
@@ -1,8 +0,0 @@
-thneed is an SNPE accelerator. I know SNPE is already an accelerator, but sometimes things need to go even faster..
-
-It runs on the local device, and caches a single model run. Then it replays it, but fast.
-
-thneed slices through abstraction layers like a fish.
-
-You need a thneed.
-
diff --git a/sunnypilot/modeld/thneed/__init__.py b/sunnypilot/modeld/thneed/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/sunnypilot/modeld/thneed/serialize.cc b/sunnypilot/modeld/thneed/serialize.cc
deleted file mode 100644
index f9a8b288ac4e70..00000000000000
--- a/sunnypilot/modeld/thneed/serialize.cc
+++ /dev/null
@@ -1,154 +0,0 @@
-#include <cassert>
-#include <set>
-
-#include "third_party/json11/json11.hpp"
-#include "common/util.h"
-#include "common/clutil.h"
-#include "common/swaglog.h"
-#include "sunnypilot/modeld/thneed/thneed.h"
-using namespace json11;
-
-extern map<cl_program, string> g_program_source;
-
-void Thneed::load(const char *filename) {
-  LOGD("Thneed::load: loading from %s\n", filename);
-
-  string buf = util::read_file(filename);
-  int jsz = *(int *)buf.data();
-  string jsonerr;
-  string jj(buf.data() + sizeof(int), jsz);
-  Json jdat = Json::parse(jj, jsonerr);
-
-  map<cl_mem, cl_mem> real_mem;
-  real_mem[NULL] = NULL;
-
-  int ptr = sizeof(int)+jsz;
-  for (auto &obj : jdat["objects"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    cl_mem clbuf = NULL;
-
-    if (mobj["buffer_id"].string_value().size() > 0) {
-      // image buffer must already be allocated
-      clbuf = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-      assert(mobj["needs_load"].bool_value() == false);
-    } else {
-      if (mobj["needs_load"].bool_value()) {
-        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, &buf[ptr], NULL);
-        if (debug >= 1) printf("loading %p %d @ 0x%X\n", clbuf, sz, ptr);
-        ptr += sz;
-      } else {
-        // TODO: is there a faster way to init zeroed out buffers?
-        void *host_zeros = calloc(sz, 1);
-        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, host_zeros, NULL);
-        free(host_zeros);
-      }
-    }
-    assert(clbuf != NULL);
-
-    if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") {
-      cl_image_desc desc = {0};
-      desc.image_type = (mobj["arg_type"] == "image2d_t") ? CL_MEM_OBJECT_IMAGE2D : CL_MEM_OBJECT_IMAGE1D_BUFFER;
-      desc.image_width = mobj["width"].int_value();
-      desc.image_height = mobj["height"].int_value();
-      desc.image_row_pitch = mobj["row_pitch"].int_value();
-      assert(sz == desc.image_height*desc.image_row_pitch);
-#ifdef QCOM2
-      desc.buffer = clbuf;
-#else
-      // TODO: we are creating unused buffers on PC
-      clReleaseMemObject(clbuf);
-#endif
-      cl_image_format format = {0};
-      format.image_channel_order = CL_RGBA;
-      format.image_channel_data_type = mobj["float32"].bool_value() ? CL_FLOAT : CL_HALF_FLOAT;
-
-      cl_int errcode;
-
-#ifndef QCOM2
-      if (mobj["needs_load"].bool_value()) {
-        clbuf = clCreateImage(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, &format, &desc, &buf[ptr-sz], &errcode);
-      } else {
-        clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
-      }
-#else
-      clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
-#endif
-      if (clbuf == NULL) {
-        LOGE("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode),
-             desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer);
-      }
-      assert(clbuf != NULL);
-    }
-
-    real_mem[*(cl_mem*)(mobj["id"].string_value().data())] = clbuf;
-  }
-
-  map<string, cl_program> g_programs;
-  for (const auto &[name, source] : jdat["programs"].object_items()) {
-    if (debug >= 1) printf("building %s with size %zu\n", name.c_str(), source.string_value().size());
-    g_programs[name] = cl_program_from_source(context, device_id, source.string_value());
-  }
-
-  for (auto &obj : jdat["inputs"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-    input_clmem.push_back(aa);
-    input_sizes.push_back(sz);
-    LOGD("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz);
-
-    cl_int cl_err;
-    void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &cl_err);
-    if (cl_err != CL_SUCCESS) LOGE("clError: %s map %p %d\n", cl_get_error_string(cl_err), aa, sz);
-    assert(cl_err == CL_SUCCESS);
-    inputs.push_back(ret);
-  }
-
-  for (auto &obj : jdat["outputs"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    LOGD("Thneed::save: adding output with size %d\n", sz);
-    // TODO: support multiple outputs
-    output = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-    assert(output != NULL);
-  }
-
-  for (auto &obj : jdat["binaries"].array_items()) {
-    string name = obj["name"].string_value();
-    size_t length = obj["length"].int_value();
-    if (debug >= 1) printf("binary %s with size %zu\n", name.c_str(), length);
-    g_programs[name] = cl_program_from_binary(context, device_id, (const uint8_t*)&buf[ptr], length);
-    ptr += length;
-  }
-
-  for (auto &obj : jdat["kernels"].array_items()) {
-    auto gws = obj["global_work_size"];
-    auto lws = obj["local_work_size"];
-    auto kk = shared_ptr<CLQueuedKernel>(new CLQueuedKernel(this));
-
-    kk->name = obj["name"].string_value();
-    kk->program = g_programs[kk->name];
-    kk->work_dim = obj["work_dim"].int_value();
-    for (int i = 0; i < kk->work_dim; i++) {
-      kk->global_work_size[i] = gws[i].int_value();
-      kk->local_work_size[i] = lws[i].int_value();
-    }
-    kk->num_args = obj["num_args"].int_value();
-    for (int i = 0; i < kk->num_args; i++) {
-      string arg = obj["args"].array_items()[i].string_value();
-      int arg_size = obj["args_size"].array_items()[i].int_value();
-      kk->args_size.push_back(arg_size);
-      if (arg_size == 8) {
-        cl_mem val = *(cl_mem*)(arg.data());
-        val = real_mem[val];
-        kk->args.push_back(string((char*)&val, sizeof(val)));
-      } else {
-        kk->args.push_back(arg);
-      }
-    }
-    kq.push_back(kk);
-  }
-
-  clFinish(command_queue);
-}
diff --git a/sunnypilot/modeld/thneed/thneed.h b/sunnypilot/modeld/thneed/thneed.h
deleted file mode 100644
index 47e18e0be3bb30..00000000000000
--- a/sunnypilot/modeld/thneed/thneed.h
+++ /dev/null
@@ -1,133 +0,0 @@
-#pragma once
-
-#ifndef __user
-#define __user __attribute__(())
-#endif
-
-#include <cstdint>
-#include <cstdlib>
-#include <memory>
-#include <string>
-#include <vector>
-
-#include <CL/cl.h>
-
-#include "third_party/linux/include/msm_kgsl.h"
-
-using namespace std;
-
-cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value);
-
-namespace json11 {
-  class Json;
-}
-class Thneed;
-
-class GPUMalloc {
-  public:
-    GPUMalloc(int size, int fd);
-    ~GPUMalloc();
-    void *alloc(int size);
-  private:
-    uint64_t base;
-    int remaining;
-};
-
-class CLQueuedKernel {
-  public:
-    CLQueuedKernel(Thneed *lthneed) { thneed = lthneed; }
-    CLQueuedKernel(Thneed *lthneed,
-                   cl_kernel _kernel,
-                   cl_uint _work_dim,
-                   const size_t *_global_work_size,
-                   const size_t *_local_work_size);
-    cl_int exec();
-    void debug_print(bool verbose);
-    int get_arg_num(const char *search_arg_name);
-    cl_program program;
-    string name;
-    cl_uint num_args;
-    vector<string> arg_names;
-    vector<string> arg_types;
-    vector<string> args;
-    vector<int> args_size;
-    cl_kernel kernel = NULL;
-    json11::Json to_json() const;
-
-    cl_uint work_dim;
-    size_t global_work_size[3] = {0};
-    size_t local_work_size[3] = {0};
-  private:
-    Thneed *thneed;
-};
-
-class CachedIoctl {
-  public:
-    virtual void exec() {}
-};
-
-class CachedSync: public CachedIoctl {
-  public:
-    CachedSync(Thneed *lthneed, string ldata) { thneed = lthneed; data = ldata; }
-    void exec();
-  private:
-    Thneed *thneed;
-    string data;
-};
-
-class CachedCommand: public CachedIoctl {
-  public:
-    CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd);
-    void exec();
-  private:
-    void disassemble(int cmd_index);
-    struct kgsl_gpu_command cache;
-    unique_ptr<kgsl_command_object[]> cmds;
-    unique_ptr<kgsl_command_object[]> objs;
-    Thneed *thneed;
-    vector<shared_ptr<CLQueuedKernel> > kq;
-};
-
-class Thneed {
-  public:
-    Thneed(bool do_clinit=false, cl_context _context = NULL);
-    void stop();
-    void execute(float **finputs, float *foutput, bool slow=false);
-    void wait();
-
-    vector<cl_mem> input_clmem;
-    vector<void *> inputs;
-    vector<size_t> input_sizes;
-    cl_mem output = NULL;
-
-    cl_context context = NULL;
-    cl_command_queue command_queue;
-    cl_device_id device_id;
-    int context_id;
-
-    // protected?
-    bool record = false;
-    int debug;
-    int timestamp;
-
-#ifdef QCOM2
-    unique_ptr<GPUMalloc> ram;
-    vector<unique_ptr<CachedIoctl> > cmds;
-    int fd;
-#endif
-
-    // all CL kernels
-    void copy_inputs(float **finputs, bool internal=false);
-    void copy_output(float *foutput);
-    cl_int clexec();
-    vector<shared_ptr<CLQueuedKernel> > kq;
-
-    // pending CL kernels
-    vector<shared_ptr<CLQueuedKernel> > ckq;
-
-    // loading
-    void load(const char *filename);
-  private:
-    void clinit();
-};
-
diff --git a/sunnypilot/modeld/thneed/thneed_common.cc b/sunnypilot/modeld/thneed/thneed_common.cc
deleted file mode 100644
index 56fbe70d8fdda8..00000000000000
--- a/sunnypilot/modeld/thneed/thneed_common.cc
+++ /dev/null
@@ -1,216 +0,0 @@
-#include "sunnypilot/modeld/thneed/thneed.h"
-
-#include <cassert>
-#include <cstring>
-#include <map>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-map<pair<cl_kernel, int>, string> g_args;
-map<pair<cl_kernel, int>, int> g_args_size;
-map<cl_program, string> g_program_source;
-
-void Thneed::stop() {
-  //printf("Thneed::stop: recorded %lu commands\n", cmds.size());
-  record = false;
-}
-
-void Thneed::clinit() {
-  device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  if (context == NULL) context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-  //cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, CL_QUEUE_PROFILING_ENABLE, 0};
-  cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, 0, 0};
-  command_queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
-  printf("Thneed::clinit done\n");
-}
-
-cl_int Thneed::clexec() {
-  if (debug >= 1) printf("Thneed::clexec: running %lu queued kernels\n", kq.size());
-  for (auto &k : kq) {
-    if (record) ckq.push_back(k);
-    cl_int ret = k->exec();
-    assert(ret == CL_SUCCESS);
-  }
-  return clFinish(command_queue);
-}
-
-void Thneed::copy_inputs(float **finputs, bool internal) {
-  for (int idx = 0; idx < inputs.size(); ++idx) {
-    if (debug >= 1) printf("copying %lu -- %p -> %p (cl %p)\n", input_sizes[idx], finputs[idx], inputs[idx], input_clmem[idx]);
-
-    if (internal) {
-      // if it's internal, using memcpy is fine since the buffer sync is cached in the ioctl layer
-      if (finputs[idx] != NULL) memcpy(inputs[idx], finputs[idx], input_sizes[idx]);
-    } else {
-      if (finputs[idx] != NULL) CL_CHECK(clEnqueueWriteBuffer(command_queue, input_clmem[idx], CL_TRUE, 0, input_sizes[idx], finputs[idx], 0, NULL, NULL));
-    }
-  }
-}
-
-void Thneed::copy_output(float *foutput) {
-  if (output != NULL) {
-    size_t sz;
-    clGetMemObjectInfo(output, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-    if (debug >= 1) printf("copying %lu for output %p -> %p\n", sz, output, foutput);
-    CL_CHECK(clEnqueueReadBuffer(command_queue, output, CL_TRUE, 0, sz, foutput, 0, NULL, NULL));
-  } else {
-    printf("CAUTION: model output is NULL, does it have no outputs?\n");
-  }
-}
-
-// *********** CLQueuedKernel ***********
-
-CLQueuedKernel::CLQueuedKernel(Thneed *lthneed,
-                               cl_kernel _kernel,
-                               cl_uint _work_dim,
-                               const size_t *_global_work_size,
-                               const size_t *_local_work_size) {
-  thneed = lthneed;
-  kernel = _kernel;
-  work_dim = _work_dim;
-  assert(work_dim <= 3);
-  for (int i = 0; i < work_dim; i++) {
-    global_work_size[i] = _global_work_size[i];
-    local_work_size[i] = _local_work_size[i];
-  }
-
-  char _name[0x100];
-  clGetKernelInfo(kernel, CL_KERNEL_FUNCTION_NAME, sizeof(_name), _name, NULL);
-  name = string(_name);
-  clGetKernelInfo(kernel, CL_KERNEL_NUM_ARGS, sizeof(num_args), &num_args, NULL);
-
-  // get args
-  for (int i = 0; i < num_args; i++) {
-    char arg_name[0x100] = {0};
-    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
-    arg_names.push_back(string(arg_name));
-    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
-    arg_types.push_back(string(arg_name));
-
-    args.push_back(g_args[make_pair(kernel, i)]);
-    args_size.push_back(g_args_size[make_pair(kernel, i)]);
-  }
-
-  // get program
-  clGetKernelInfo(kernel, CL_KERNEL_PROGRAM, sizeof(program), &program, NULL);
-}
-
-int CLQueuedKernel::get_arg_num(const char *search_arg_name) {
-  for (int i = 0; i < num_args; i++) {
-    if (arg_names[i] == search_arg_name) return i;
-  }
-  printf("failed to find %s in %s\n", search_arg_name, name.c_str());
-  assert(false);
-}
-
-cl_int CLQueuedKernel::exec() {
-  if (kernel == NULL) {
-    kernel = clCreateKernel(program, name.c_str(), NULL);
-    arg_names.clear();
-    arg_types.clear();
-
-    for (int j = 0; j < num_args; j++) {
-      char arg_name[0x100] = {0};
-      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
-      arg_names.push_back(string(arg_name));
-      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
-      arg_types.push_back(string(arg_name));
-
-      cl_int ret;
-      if (args[j].size() != 0) {
-        assert(args[j].size() == args_size[j]);
-        ret = thneed_clSetKernelArg(kernel, j, args[j].size(), args[j].data());
-      } else {
-        ret = thneed_clSetKernelArg(kernel, j, args_size[j], NULL);
-      }
-      assert(ret == CL_SUCCESS);
-    }
-  }
-
-  if (thneed->debug >= 1) {
-    debug_print(thneed->debug >= 2);
-  }
-
-  return clEnqueueNDRangeKernel(thneed->command_queue,
-    kernel, work_dim, NULL, global_work_size, local_work_size, 0, NULL, NULL);
-}
-
-void CLQueuedKernel::debug_print(bool verbose) {
-  printf("%p %56s -- ", kernel, name.c_str());
-  for (int i = 0; i < work_dim; i++) {
-    printf("%4zu ", global_work_size[i]);
-  }
-  printf(" -- ");
-  for (int i = 0; i < work_dim; i++) {
-    printf("%4zu ", local_work_size[i]);
-  }
-  printf("\n");
-
-  if (verbose) {
-    for (int i = 0; i < num_args; i++) {
-      string arg = args[i];
-      printf("  %s %s", arg_types[i].c_str(), arg_names[i].c_str());
-      void *arg_value = (void*)arg.data();
-      int arg_size = arg.size();
-      if (arg_size == 0) {
-        printf(" (size) %d", args_size[i]);
-      } else if (arg_size == 1) {
-        printf(" = %d", *((char*)arg_value));
-      } else if (arg_size == 2) {
-        printf(" = %d", *((short*)arg_value));
-      } else if (arg_size == 4) {
-        if (arg_types[i] == "float") {
-          printf(" = %f", *((float*)arg_value));
-        } else {
-          printf(" = %d", *((int*)arg_value));
-        }
-      } else if (arg_size == 8) {
-        cl_mem val = (cl_mem)(*((uintptr_t*)arg_value));
-        printf(" = %p", val);
-        if (val != NULL) {
-          cl_mem_object_type obj_type;
-          clGetMemObjectInfo(val, CL_MEM_TYPE, sizeof(obj_type), &obj_type, NULL);
-          if (arg_types[i] == "image2d_t" || arg_types[i] == "image1d_t" || obj_type == CL_MEM_OBJECT_IMAGE2D) {
-            cl_image_format format;
-            size_t width, height, depth, array_size, row_pitch, slice_pitch;
-            cl_mem buf;
-            clGetImageInfo(val, CL_IMAGE_FORMAT, sizeof(format), &format, NULL);
-            assert(format.image_channel_order == CL_RGBA);
-            assert(format.image_channel_data_type == CL_HALF_FLOAT || format.image_channel_data_type == CL_FLOAT);
-            clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL);
-            clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL);
-            clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL);
-            clGetImageInfo(val, CL_IMAGE_DEPTH, sizeof(depth), &depth, NULL);
-            clGetImageInfo(val, CL_IMAGE_ARRAY_SIZE, sizeof(array_size), &array_size, NULL);
-            clGetImageInfo(val, CL_IMAGE_SLICE_PITCH, sizeof(slice_pitch), &slice_pitch, NULL);
-            assert(depth == 0);
-            assert(array_size == 0);
-            assert(slice_pitch == 0);
-
-            clGetImageInfo(val, CL_IMAGE_BUFFER, sizeof(buf), &buf, NULL);
-            size_t sz = 0;
-            if (buf != NULL) clGetMemObjectInfo(buf, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-            printf(" image %zu x %zu rp %zu @ %p buffer %zu", width, height, row_pitch, buf, sz);
-          } else {
-            size_t sz;
-            clGetMemObjectInfo(val, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-            printf(" buffer %zu", sz);
-          }
-        }
-      }
-      printf("\n");
-    }
-  }
-}
-
-cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value) {
-  g_args_size[make_pair(kernel, arg_index)] = arg_size;
-  if (arg_value != NULL) {
-    g_args[make_pair(kernel, arg_index)] = string((char*)arg_value, arg_size);
-  } else {
-    g_args[make_pair(kernel, arg_index)] = string("");
-  }
-  cl_int ret = clSetKernelArg(kernel, arg_index, arg_size, arg_value);
-  return ret;
-}
diff --git a/sunnypilot/modeld/thneed/thneed_pc.cc b/sunnypilot/modeld/thneed/thneed_pc.cc
deleted file mode 100644
index 629d0ee3595b6a..00000000000000
--- a/sunnypilot/modeld/thneed/thneed_pc.cc
+++ /dev/null
@@ -1,32 +0,0 @@
-#include "sunnypilot/modeld/thneed/thneed.h"
-
-#include <cassert>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-Thneed::Thneed(bool do_clinit, cl_context _context) {
-  context = _context;
-  if (do_clinit) clinit();
-  char *thneed_debug_env = getenv("THNEED_DEBUG");
-  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
-}
-
-void Thneed::execute(float **finputs, float *foutput, bool slow) {
-  uint64_t tb, te;
-  if (debug >= 1) tb = nanos_since_boot();
-
-  // ****** copy inputs
-  copy_inputs(finputs);
-
-  // ****** run commands
-  clexec();
-
-  // ****** copy outputs
-  copy_output(foutput);
-
-  if (debug >= 1) {
-    te = nanos_since_boot();
-    printf("model exec in %lu us\n", (te-tb)/1000);
-  }
-}
diff --git a/sunnypilot/modeld/thneed/thneed_qcom2.cc b/sunnypilot/modeld/thneed/thneed_qcom2.cc
deleted file mode 100644
index b940da1ce1215d..00000000000000
--- a/sunnypilot/modeld/thneed/thneed_qcom2.cc
+++ /dev/null
@@ -1,258 +0,0 @@
-#include "sunnypilot/modeld/thneed/thneed.h"
-
-#include <dlfcn.h>
-#include <sys/mman.h>
-
-#include <cassert>
-#include <cerrno>
-#include <cstring>
-#include <map>
-#include <string>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-Thneed *g_thneed = NULL;
-int g_fd = -1;
-
-void hexdump(uint8_t *d, int len) {
-  assert((len%4) == 0);
-  printf("  dumping %p len 0x%x\n", d, len);
-  for (int i = 0; i < len/4; i++) {
-    if (i != 0 && (i%0x10) == 0) printf("\n");
-    printf("%8x ", d[i]);
-  }
-  printf("\n");
-}
-
-// *********** ioctl interceptor ***********
-
-extern "C" {
-
-int (*my_ioctl)(int filedes, unsigned long request, void *argp) = NULL;
-#undef ioctl
-int ioctl(int filedes, unsigned long request, void *argp) {
-  request &= 0xFFFFFFFF;  // needed on QCOM2
-  if (my_ioctl == NULL) my_ioctl = reinterpret_cast<decltype(my_ioctl)>(dlsym(RTLD_NEXT, "ioctl"));
-  Thneed *thneed = g_thneed;
-
-  // save the fd
-  if (request == IOCTL_KGSL_GPUOBJ_ALLOC) g_fd = filedes;
-
-  // note that this runs always, even without a thneed object
-  if (request == IOCTL_KGSL_DRAWCTXT_CREATE) {
-    struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp;
-    create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK;
-    create->flags |= 6 << KGSL_CONTEXT_PRIORITY_SHIFT;   // priority from 1-15, 1 is max priority
-    printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags);
-  }
-
-  if (thneed != NULL) {
-    if (request == IOCTL_KGSL_GPU_COMMAND) {
-      struct kgsl_gpu_command *cmd = (struct kgsl_gpu_command *)argp;
-      if (thneed->record) {
-        thneed->timestamp = cmd->timestamp;
-        thneed->context_id = cmd->context_id;
-        thneed->cmds.push_back(unique_ptr<CachedCommand>(new CachedCommand(thneed, cmd)));
-      }
-      if (thneed->debug >= 1) {
-        printf("IOCTL_KGSL_GPU_COMMAND(%2zu): flags: 0x%lx    context_id: %u  timestamp: %u  numcmds: %d  numobjs: %d\n",
-            thneed->cmds.size(),
-            cmd->flags,
-            cmd->context_id, cmd->timestamp, cmd->numcmds, cmd->numobjs);
-      }
-    } else if (request == IOCTL_KGSL_GPUOBJ_SYNC) {
-      struct kgsl_gpuobj_sync *cmd = (struct kgsl_gpuobj_sync *)argp;
-      struct kgsl_gpuobj_sync_obj *objs = (struct kgsl_gpuobj_sync_obj *)(cmd->objs);
-
-      if (thneed->debug >= 2) {
-        printf("IOCTL_KGSL_GPUOBJ_SYNC count:%d ", cmd->count);
-        for (int i = 0; i < cmd->count; i++) {
-          printf(" -- offset:0x%lx len:0x%lx id:%d op:%d  ", objs[i].offset, objs[i].length, objs[i].id, objs[i].op);
-        }
-        printf("\n");
-      }
-
-      if (thneed->record) {
-        thneed->cmds.push_back(unique_ptr<CachedSync>(new
-              CachedSync(thneed, string((char *)objs, sizeof(struct kgsl_gpuobj_sync_obj)*cmd->count))));
-      }
-    } else if (request == IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID) {
-      struct kgsl_device_waittimestamp_ctxtid *cmd = (struct kgsl_device_waittimestamp_ctxtid *)argp;
-      if (thneed->debug >= 1) {
-        printf("IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID: context_id: %d  timestamp: %d  timeout: %d\n",
-            cmd->context_id, cmd->timestamp, cmd->timeout);
-      }
-    } else if (request == IOCTL_KGSL_SETPROPERTY) {
-      if (thneed->debug >= 1) {
-        struct kgsl_device_getproperty *prop = (struct kgsl_device_getproperty *)argp;
-        printf("IOCTL_KGSL_SETPROPERTY: 0x%x sizebytes:%zu\n", prop->type, prop->sizebytes);
-        if (thneed->debug >= 2) {
-          hexdump((uint8_t *)prop->value, prop->sizebytes);
-          if (prop->type == KGSL_PROP_PWR_CONSTRAINT) {
-            struct kgsl_device_constraint *constraint = (struct kgsl_device_constraint *)prop->value;
-            hexdump((uint8_t *)constraint->data, constraint->size);
-          }
-        }
-      }
-    } else if (request == IOCTL_KGSL_DRAWCTXT_CREATE || request == IOCTL_KGSL_DRAWCTXT_DESTROY) {
-      // this happens
-    } else if (request == IOCTL_KGSL_GPUOBJ_ALLOC || request == IOCTL_KGSL_GPUOBJ_FREE) {
-      // this happens
-    } else {
-      if (thneed->debug >= 1) {
-        printf("other ioctl %lx\n", request);
-      }
-    }
-  }
-
-  int ret = my_ioctl(filedes, request, argp);
-  // NOTE: This error message goes into stdout and messes up pyenv
-  // if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno);
-  return ret;
-}
-
-}
-
-// *********** GPUMalloc ***********
-
-GPUMalloc::GPUMalloc(int size, int fd) {
-  struct kgsl_gpuobj_alloc alloc;
-  memset(&alloc, 0, sizeof(alloc));
-  alloc.size = size;
-  alloc.flags = 0x10000a00;
-  ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc);
-  void *addr = mmap64(NULL, alloc.mmapsize, 0x3, 0x1, fd, alloc.id*0x1000);
-  assert(addr != MAP_FAILED);
-
-  base = (uint64_t)addr;
-  remaining = size;
-}
-
-GPUMalloc::~GPUMalloc() {
-  // TODO: free the GPU malloced area
-}
-
-void *GPUMalloc::alloc(int size) {
-  void *ret = (void*)base;
-  size = (size+0xff) & (~0xFF);
-  assert(size <= remaining);
-  remaining -= size;
-  base += size;
-  return ret;
-}
-
-// *********** CachedSync, at the ioctl layer ***********
-
-void CachedSync::exec() {
-  struct kgsl_gpuobj_sync cmd;
-
-  cmd.objs = (uint64_t)data.data();
-  cmd.obj_len = data.length();
-  cmd.count = data.length() / sizeof(struct kgsl_gpuobj_sync_obj);
-
-  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPUOBJ_SYNC, &cmd);
-  assert(ret == 0);
-}
-
-// *********** CachedCommand, at the ioctl layer ***********
-
-CachedCommand::CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd) {
-  thneed = lthneed;
-  assert(cmd->numsyncs == 0);
-
-  memcpy(&cache, cmd, sizeof(cache));
-
-  if (cmd->numcmds > 0) {
-    cmds = make_unique<struct kgsl_command_object[]>(cmd->numcmds);
-    memcpy(cmds.get(), (void *)cmd->cmdlist, sizeof(struct kgsl_command_object)*cmd->numcmds);
-    cache.cmdlist = (uint64_t)cmds.get();
-    for (int i = 0; i < cmd->numcmds; i++) {
-      void *nn = thneed->ram->alloc(cmds[i].size);
-      memcpy(nn, (void*)cmds[i].gpuaddr, cmds[i].size);
-      cmds[i].gpuaddr = (uint64_t)nn;
-    }
-  }
-
-  if (cmd->numobjs > 0) {
-    objs = make_unique<struct kgsl_command_object[]>(cmd->numobjs);
-    memcpy(objs.get(), (void *)cmd->objlist, sizeof(struct kgsl_command_object)*cmd->numobjs);
-    cache.objlist = (uint64_t)objs.get();
-    for (int i = 0; i < cmd->numobjs; i++) {
-      void *nn = thneed->ram->alloc(objs[i].size);
-      memset(nn, 0, objs[i].size);
-      objs[i].gpuaddr = (uint64_t)nn;
-    }
-  }
-
-  kq = thneed->ckq;
-  thneed->ckq.clear();
-}
-
-void CachedCommand::exec() {
-  cache.timestamp = ++thneed->timestamp;
-  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPU_COMMAND, &cache);
-
-  if (thneed->debug >= 1) printf("CachedCommand::exec got %d\n", ret);
-
-  if (thneed->debug >= 2) {
-    for (auto &it : kq) {
-      it->debug_print(false);
-    }
-  }
-
-  assert(ret == 0);
-}
-
-// *********** Thneed ***********
-
-Thneed::Thneed(bool do_clinit, cl_context _context) {
-  // TODO: QCOM2 actually requires a different context
-  //context = _context;
-  if (do_clinit) clinit();
-  assert(g_fd != -1);
-  fd = g_fd;
-  ram = make_unique<GPUMalloc>(0x80000, fd);
-  timestamp = -1;
-  g_thneed = this;
-  char *thneed_debug_env = getenv("THNEED_DEBUG");
-  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
-}
-
-void Thneed::wait() {
-  struct kgsl_device_waittimestamp_ctxtid wait;
-  wait.context_id = context_id;
-  wait.timestamp = timestamp;
-  wait.timeout = -1;
-
-  uint64_t tb = nanos_since_boot();
-  int wret = ioctl(fd, IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID, &wait);
-  uint64_t te = nanos_since_boot();
-
-  if (debug >= 1) printf("wait %d after %lu us\n", wret, (te-tb)/1000);
-}
-
-void Thneed::execute(float **finputs, float *foutput, bool slow) {
-  uint64_t tb, te;
-  if (debug >= 1) tb = nanos_since_boot();
-
-  // ****** copy inputs
-  copy_inputs(finputs, true);
-
-  // ****** run commands
-  int i = 0;
-  for (auto &it : cmds) {
-    ++i;
-    if (debug >= 1) printf("run %2d @ %7lu us: ", i, (nanos_since_boot()-tb)/1000);
-    it->exec();
-    if ((i == cmds.size()) || slow) wait();
-  }
-
-  // ****** copy outputs
-  copy_output(foutput);
-
-  if (debug >= 1) {
-    te = nanos_since_boot();
-    printf("model exec in %lu us\n", (te-tb)/1000);
-  }
-}
diff --git a/sunnypilot/modeld/transforms/loadyuv.cc b/sunnypilot/modeld/transforms/loadyuv.cc
deleted file mode 100644
index c93f5cd038183d..00000000000000
--- a/sunnypilot/modeld/transforms/loadyuv.cc
+++ /dev/null
@@ -1,76 +0,0 @@
-#include "selfdrive/modeld/transforms/loadyuv.h"
-
-#include <cassert>
-#include <cstdio>
-#include <cstring>
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
-  memset(s, 0, sizeof(*s));
-
-  s->width = width;
-  s->height = height;
-
-  char args[1024];
-  snprintf(args, sizeof(args),
-           "-cl-fast-relaxed-math -cl-denorms-are-zero "
-           "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
-           width, height);
-  cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args);
-
-  s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
-  s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
-  s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err));
-
-  // done with this
-  CL_CHECK(clReleaseProgram(prg));
-}
-
-void loadyuv_destroy(LoadYUVState* s) {
-  CL_CHECK(clReleaseKernel(s->loadys_krnl));
-  CL_CHECK(clReleaseKernel(s->loaduv_krnl));
-  CL_CHECK(clReleaseKernel(s->copy_krnl));
-}
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl) {
-  cl_int global_out_off = 0;
-
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  const size_t loadys_work_size = (s->width*s->height)/8;
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
-                               &loadys_work_size, NULL, 0, 0, NULL));
-
-  const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
-  global_out_off += (s->width*s->height);
-
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL));
-
-  global_out_off += (s->width/2)*(s->height/2);
-
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL));
-}
-
-void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
-                 size_t src_offset, size_t dst_offset, size_t size) {
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src));
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst));
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset));
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset));
-  const size_t copy_work_size = size/8;
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
-                              &copy_work_size, NULL, 0, 0, NULL));
-}
\ No newline at end of file
diff --git a/sunnypilot/modeld/transforms/loadyuv.cl b/sunnypilot/modeld/transforms/loadyuv.cl
deleted file mode 100644
index 970187a6d70129..00000000000000
--- a/sunnypilot/modeld/transforms/loadyuv.cl
+++ /dev/null
@@ -1,47 +0,0 @@
-#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
-
-__kernel void loadys(__global uchar8 const * const Y,
-                     __global uchar * out,
-                     int out_offset)
-{
-    const int gid = get_global_id(0);
-    const int ois = gid * 8;
-    const int oy = ois / TRANSFORMED_WIDTH;
-    const int ox = ois % TRANSFORMED_WIDTH;
-
-    const uchar8 ys = Y[gid];
-
-    // 02
-    // 13
-
-    __global uchar* outy0;
-    __global uchar* outy1;
-    if ((oy & 1) == 0) {
-      outy0 = out + out_offset; //y0
-      outy1 = out + out_offset + UV_SIZE*2; //y2
-    } else {
-      outy0 = out + out_offset + UV_SIZE; //y1
-      outy1 = out + out_offset + UV_SIZE*3; //y3
-    }
-
-    vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-    vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-}
-
-__kernel void loaduv(__global uchar8 const * const in,
-                     __global uchar8 * out,
-                     int out_offset)
-{
-  const int gid = get_global_id(0);
-  const uchar8 inv = in[gid];
-  out[gid + out_offset / 8] = inv;
-}
-
-__kernel void copy(__global uchar8 * in,
-                   __global uchar8 * out,
-                   int in_offset,
-                   int out_offset)
-{
-  const int gid = get_global_id(0);
-  out[gid + out_offset / 8] = in[gid + in_offset / 8];
-}
diff --git a/sunnypilot/modeld/transforms/loadyuv.h b/sunnypilot/modeld/transforms/loadyuv.h
deleted file mode 100644
index 659059cd25e610..00000000000000
--- a/sunnypilot/modeld/transforms/loadyuv.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#pragma once
-
-#include "common/clutil.h"
-
-typedef struct {
-  int width, height;
-  cl_kernel loadys_krnl, loaduv_krnl, copy_krnl;
-} LoadYUVState;
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height);
-
-void loadyuv_destroy(LoadYUVState* s);
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl);
-
-
-void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
-                 size_t src_offset, size_t dst_offset, size_t size);
\ No newline at end of file
diff --git a/sunnypilot/modeld/transforms/transform.cc b/sunnypilot/modeld/transforms/transform.cc
deleted file mode 100644
index 305643cf42eaf6..00000000000000
--- a/sunnypilot/modeld/transforms/transform.cc
+++ /dev/null
@@ -1,97 +0,0 @@
-#include "selfdrive/modeld/transforms/transform.h"
-
-#include <cassert>
-#include <cstring>
-
-#include "common/clutil.h"
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
-  memset(s, 0, sizeof(*s));
-
-  cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, "");
-  s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
-  // done with this
-  CL_CHECK(clReleaseProgram(prg));
-
-  s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-  s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-}
-
-void transform_destroy(Transform* s) {
-  CL_CHECK(clReleaseMemObject(s->m_y_cl));
-  CL_CHECK(clReleaseMemObject(s->m_uv_cl));
-  CL_CHECK(clReleaseKernel(s->krnl));
-}
-
-void transform_queue(Transform* s,
-                     cl_command_queue q,
-                     cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     const mat3& projection) {
-  const int zero = 0;
-
-  // sampled using pixel center origin
-  // (because that's how fastcv and opencv does it)
-
-  mat3 projection_y = projection;
-
-  // in and out uv is half the size of y.
-  mat3 projection_uv = transform_scale_buffer(projection, 0.5);
-
-  CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL));
-  CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL));
-
-  const int in_y_width = in_width;
-  const int in_y_height = in_height;
-  const int in_y_px_stride = 1;
-  const int in_uv_width = in_width/2;
-  const int in_uv_height = in_height/2;
-  const int in_uv_px_stride = 2;
-  const int in_u_offset = in_uv_offset;
-  const int in_v_offset = in_uv_offset + 1;
-
-  const int out_y_width = out_width;
-  const int out_y_height = out_height;
-  const int out_uv_width = out_width/2;
-  const int out_uv_height = out_height/2;
-
-  CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv));  // src
-  CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride));  // src_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride));  // src_px_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero));  // src_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height));  // src_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width));  // src_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y));  // dst
-  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width));  // dst_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height));  // dst_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width));  // dst_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl));  // M
-
-  const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height};
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_y, NULL, 0, 0, NULL));
-
-  const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height};
-
-  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride));  // src_px_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset));  // src_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height));  // src_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width));  // src_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u));  // dst
-  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width));  // dst_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height));  // dst_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width));  // dst_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl));  // M
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset));  // src_ofset
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v));  // dst
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-}
diff --git a/sunnypilot/modeld/transforms/transform.cl b/sunnypilot/modeld/transforms/transform.cl
deleted file mode 100644
index 2ca25920cd19be..00000000000000
--- a/sunnypilot/modeld/transforms/transform.cl
+++ /dev/null
@@ -1,54 +0,0 @@
-#define INTER_BITS 5
-#define INTER_TAB_SIZE (1 << INTER_BITS)
-#define INTER_SCALE 1.f / INTER_TAB_SIZE
-
-#define INTER_REMAP_COEF_BITS 15
-#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS)
-
-__kernel void warpPerspective(__global const uchar * src,
-                              int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols,
-                              __global uchar * dst,
-                              int dst_row_stride, int dst_offset, int dst_rows, int dst_cols,
-                              __constant float * M)
-{
-    int dx = get_global_id(0);
-    int dy = get_global_id(1);
-
-    if (dx < dst_cols && dy < dst_rows)
-    {
-        float X0 = M[0] * dx + M[1] * dy + M[2];
-        float Y0 = M[3] * dx + M[4] * dy + M[5];
-        float W = M[6] * dx + M[7] * dy + M[8];
-        W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
-        int X = rint(X0 * W), Y = rint(Y0 * W);
-
-        int sx = convert_short_sat(X >> INTER_BITS);
-        int sy = convert_short_sat(Y >> INTER_BITS);
-
-        short sx_clamp = clamp(sx, 0, src_cols - 1);
-        short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
-        short sy_clamp = clamp(sy, 0, src_rows - 1);
-        short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
-        int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
-        int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-        int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
-        int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-
-        short ay = (short)(Y & (INTER_TAB_SIZE - 1));
-        short ax = (short)(X & (INTER_TAB_SIZE - 1));
-        float taby = 1.f/INTER_TAB_SIZE*ay;
-        float tabx = 1.f/INTER_TAB_SIZE*ax;
-
-        int dst_index = mad24(dy, dst_row_stride, dst_offset + dx);
-
-        int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
-        int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE );
-        int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
-        int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE );
-
-        int val = v0 * itab0 +  v1 * itab1 + v2 * itab2 + v3 * itab3;
-
-        uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS);
-        dst[dst_index] = pix;
-    }
-}
diff --git a/sunnypilot/modeld/transforms/transform.h b/sunnypilot/modeld/transforms/transform.h
deleted file mode 100644
index 771a7054b35d29..00000000000000
--- a/sunnypilot/modeld/transforms/transform.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#pragma once
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/mat.h"
-
-typedef struct {
-  cl_kernel krnl;
-  cl_mem m_y_cl, m_uv_cl;
-} Transform;
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id);
-
-void transform_destroy(Transform* transform);
-
-void transform_queue(Transform* s, cl_command_queue q,
-                     cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     const mat3& projection);
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index a53551b4e22f77..fe6ac2133ca19d 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -21,7 +21,6 @@ async def verify_file(file_path: str, expected_hash: str) -> bool:
 
   return sha256_hash.hexdigest().lower() == expected_hash.lower()
 
-
 def get_active_bundle(params: Params) -> custom.ModelManagerSP.ModelBundle:
   """Gets the active model bundle from cache"""
   if params is None:
@@ -31,23 +30,3 @@ def get_active_bundle(params: Params) -> custom.ModelManagerSP.ModelBundle:
     return messaging.log_from_bytes(active_bundle, custom.ModelManagerSP.ModelBundle)
 
   return None
-
-
-def get_model_runner_by_filename(filename: str) -> custom.ModelManagerSP.Runner:
-  if filename.endswith(".thneed"):
-    return custom.ModelManagerSP.Runner.snpe
-
-  if filename.endswith("_tinygrad.pkl"):
-    return custom.ModelManagerSP.Runner.tinygrad
-
-
-def get_active_model_runner(params: Params) -> custom.ModelManagerSP.Runner:
-  """Gets the model runner from the active model bundle. If no active bundle, returns tinygrad"""
-  if params is None:
-    params = Params()
-
-  if active_bundle := get_active_bundle(params):
-    drive_model = next(model for model in active_bundle.models if model.type == custom.ModelManagerSP.Type.drive)
-    return get_model_runner_by_filename(drive_model.fileName)
-
-  return custom.ModelManagerSP.Runner.tinygrad
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 5483f2d9c3e720..9712b63e012fda 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -1,12 +1,10 @@
 import os
 import operator
 
-from cereal import car, custom
+from cereal import car
 from openpilot.common.params import Params
 from openpilot.system.hardware import PC, TICI
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
-
-from sunnypilot.models.helpers import get_active_model_runner
 from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
@@ -72,15 +70,6 @@ def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
   """Shim for use_sunnylink_uploader to match the process manager signature."""
   return use_sunnylink_uploader(params)
 
-def is_snpe_model(started, params, CP: car.CarParams) -> bool:
-  """Check if the active model runner is SNPE."""
-  # TODO-SP: I want to do a little more optimization here to only check this once when we've transitioned from offroad to onroad.
-  return bool(get_active_model_runner(params) == custom.ModelManagerSP.Runner.snpe)
-
-def is_stock_model(started, params, CP: car.CarParams) -> bool:
-  """Check if the active model runner is stock."""
-  return not is_snpe_model(started, params, CP)
-
 def or_(*fns):
   return lambda *args: operator.or_(*(fn(*args) for fn in fns))
 
@@ -103,7 +92,7 @@ def and_(*fns):
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
   # TODO Make python process once TG allows opening QCOM from child proc
-  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], and_(only_onroad, is_stock_model)),
+  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
   NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
   PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
@@ -145,7 +134,6 @@ def and_(*fns):
 # sunnypilot
 procs += [
   PythonProcess("models_manager", "sunnypilot.models.manager", only_offroad),
-  NativeProcess("modeld_snpe", "sunnypilot/modeld", ["./modeld"], and_(only_onroad, is_snpe_model)),
 ]
 
 if os.path.exists("./github_runner.sh"):

From e6829571017bc2ee0b569235ef67df3d1ca1eace Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 7 Jan 2025 01:28:20 -0500
Subject: [PATCH 0044/1434] Sync: `commaai/openpilot:master` into
 `sunnypilot/sunnypilot:master-new` (#533)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* cabana: enhance message heatmap visualization (#34239)

* enhance message heatmap visualization

* TODO

* improve log_factor

* typo

* bit_flip_counts

* Openpilot webcam support improved (#34215)

* control webcam with ENV vars

* WIP: actual instructions

* wording

* file no longer exists

* this is expected behavior, just untested

* more readable

* tested on fresh install

* wording tweaks

* explicit USE_WEBCAM toggle required

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* debug-ability improved

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* newline removed

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Update metadrive wheel (#34292)

* test

* new wheel

* fix IR power scaling (#34293)

* fix IR power scaling

* Update system/hardware/tici/hardware.h

* replay: Update video immediately after seek when paused. (#34237)

replay: Update video immediately after seeking when paused.

Otherwise, if paused then have to resume playback for the video
frame to update and show the new location.

Implemented by temporarily un-pausing replay for a single
frame time.

* cabana: add live and time-window heatmap modes for enhanced signal analysis (#34296)

add live and time-window heatmap modes

* timed: diff against absolute value of timedelta (#34299)

* cabana: miscellaneous bug fixes and enhancements (#34297)

* toHexString

* use QToolBar

* fix incorrect groove rect

* limit CAN_MAX_DATA_BYTES

* add series type selector to chart toolbar

* dim inactive messages

* rename

* add help to chart

* cleanup

* cabana: real-time cursor and video frame sync for chart and video (#34301)

* sync cursor and thumbnail between chart and video

* Revert "replay: Update video immediately after seek when paused. (#34237)"

This reverts commit 3363881844546f7bfb07b8e65ea0941a187c408a.

* use thumbnails while scrubing

* draw alert

* no update on resume

* draw timestamp

* cleanup

* replay:  fix various synchronization and event handling issues (#34254)

fix various synchronization and event handling issues

* cabana: fix crash in live streaming mode by skipping thumbnail display (#34302)

resolve crash in live streaming mode

* bump panda

* [bot] Update Python packages (#34304)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>

* cleanup touch_replay (#34305)

mathematics

* uv from brew doesn't have self update

* Skip registration on newer devices (#34316)

* tici: fix cpp device type (#34315)

fix cpp

* Tinygrad upstream master (#34325)

Upstream master

* [bot] Update Python packages (#34320)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>

* cabana: fix missing transmitter after undoing DBC message removal (#34329)

fix missing transmitter after undoing DBC message removal

* Quick GC pass heading into 2025 (#34330)

* first pass

* bye bye snpe

* [bot] Update Python packages (#34334)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>

* Notre Dame model in tinygrad (#34324)

* release model: 6f23a03f-486b-4d3e-a314-19d149644c7c/700

* old style model in tinygrad

* fix desire

* tg hack

* 20Hz

* no gas probs

* No gas here

* better indexing

---------

Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>

---------

Co-authored-by: Dean Lee <deanlee3@gmail.com>
Co-authored-by: Mike Busuttil <31480000+MikeBusuttil@users.noreply.github.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
Co-authored-by: Angus Gratton <gus@projectgus.com>
Co-authored-by: commaci-public <60409688+commaci-public@users.noreply.github.com>
Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com>
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
---
 .github/PULL_REQUEST_TEMPLATE/bugfix.md       |  15 -
 .github/PULL_REQUEST_TEMPLATE/car_bugfix.md   |  19 -
 .github/PULL_REQUEST_TEMPLATE/car_port.md     |  15 -
 .github/PULL_REQUEST_TEMPLATE/fingerprint.md  |  13 -
 .github/PULL_REQUEST_TEMPLATE/refactor.md     |  15 -
 .github/PULL_REQUEST_TEMPLATE/tuning.md       |  31 -
 .github/build.py                              |  30 -
 SConstruct                                    |   4 -
 cereal/maptile.capnp                          |  49 --
 common/params.cc                              |   1 -
 common/util.cc                                |  23 +
 common/util.h                                 |   1 +
 docs/CARS.md                                  |   9 +-
 opendbc_repo                                  |   2 +-
 panda                                         |   2 +-
 pyproject.toml                                |   6 +-
 scripts/build_small.sh                        |  39 --
 scripts/code_stats.py                         |  54 --
 scripts/count_cars.py                         |  11 -
 scripts/git_rewrite/rewrite-git-history.sh    | 391 ------------
 scripts/git_rewrite/rewrite.sh                |  59 --
 scripts/git_rewrite/tag-commit-map.txt        |  82 ---
 scripts/pyqt_demo.py                          |  14 -
 selfdrive/assets/offroad/icon_plus.png        |   3 -
 .../{internal => }/fuzz_fw_fingerprint.py     |   0
 selfdrive/debug/internal/__init__.py          |   0
 .../measure_modeld_packet_drop.py             |   0
 .../measure_torque_time_to_max.py             |   0
 selfdrive/debug/{internal => }/qlog_size.py   |   0
 selfdrive/debug/touch_replay.py               |   2 +-
 selfdrive/modeld/SConscript                   |   4 -
 selfdrive/modeld/constants.py                 |  20 +-
 selfdrive/modeld/fill_model_msg.py            |  20 +-
 selfdrive/modeld/modeld.py                    |  28 +-
 selfdrive/modeld/models/commonmodel.cc        |   6 +-
 selfdrive/modeld/models/supercombo.onnx       |   4 +-
 selfdrive/modeld/parse_model_outputs.py       |   2 +
 .../modeld/tests/snpe_benchmark/.gitignore    |   1 -
 .../modeld/tests/snpe_benchmark/benchmark.cc  | 192 ------
 .../modeld/tests/snpe_benchmark/benchmark.sh  |   4 -
 selfdrive/test/ciui.py                        |  58 --
 selfdrive/test/docker_tag_multiarch.sh        |  25 -
 selfdrive/test/loop_until_fail.sh             |   8 -
 .../process_replay/imgproc_replay_ref_hash    |   1 -
 selfdrive/test/process_replay/model_replay.py |   2 +-
 selfdrive/test/process_replay/test_imgproc.py |  98 ---
 selfdrive/test/profiling/.gitignore           |   2 -
 selfdrive/test/profiling/__init__.py          |   0
 selfdrive/test/profiling/lib.py               |  91 ---
 selfdrive/test/profiling/profiler.py          |  97 ---
 system/athena/registration.py                 |   8 +-
 system/athena/tests/test_registration.py      |   2 -
 system/hardware/tici/hardware.h               |  12 +-
 system/manager/manager.py                     |   5 +-
 system/manager/process_config.py              |   7 +-
 system/timed.py                               |   2 +-
 .../libPlatformValidatorShared.so             |   3 -
 .../snpe/aarch64-ubuntu-gcc7.5/libSNPE.so     |   3 -
 .../aarch64-ubuntu-gcc7.5/libcalculator.so    |   3 -
 .../snpe/aarch64-ubuntu-gcc7.5/libhta.so      |   3 -
 .../libsnpe_dsp_domains_v2.so                 |   3 -
 third_party/snpe/dsp/libcalculator_skel.so    |   3 -
 .../dsp/libsnpe_dsp_v65_domains_v2_skel.so    |   3 -
 .../dsp/libsnpe_dsp_v66_domains_v2_skel.so    |   3 -
 .../dsp/libsnpe_dsp_v68_domains_v3_skel.so    |   3 -
 third_party/snpe/include/DiagLog/IDiagLog.hpp |  84 ---
 third_party/snpe/include/DiagLog/Options.hpp  |  79 ---
 .../snpe/include/DlContainer/IDlContainer.hpp | 191 ------
 third_party/snpe/include/DlSystem/DlEnums.hpp | 234 -------
 third_party/snpe/include/DlSystem/DlError.hpp | 259 --------
 .../snpe/include/DlSystem/DlOptional.hpp      | 225 -------
 .../snpe/include/DlSystem/DlVersion.hpp       |  78 ---
 .../include/DlSystem/IBufferAttributes.hpp    |  86 ---
 .../include/DlSystem/IOBufferDataTypeMap.hpp  | 127 ----
 third_party/snpe/include/DlSystem/ITensor.hpp | 146 -----
 .../snpe/include/DlSystem/ITensorFactory.hpp  |  92 ---
 .../snpe/include/DlSystem/ITensorItr.hpp      | 182 ------
 .../snpe/include/DlSystem/ITensorItrImpl.hpp  |  42 --
 third_party/snpe/include/DlSystem/IUDL.hpp    | 105 ----
 .../snpe/include/DlSystem/IUserBuffer.hpp     | 358 -----------
 .../include/DlSystem/IUserBufferFactory.hpp   |  81 ---
 .../snpe/include/DlSystem/PlatformConfig.hpp  | 230 -------
 .../snpe/include/DlSystem/RuntimeList.hpp     | 154 -----
 third_party/snpe/include/DlSystem/String.hpp  | 104 ----
 .../snpe/include/DlSystem/StringList.hpp      | 107 ----
 .../snpe/include/DlSystem/TensorMap.hpp       | 120 ----
 .../snpe/include/DlSystem/TensorShape.hpp     | 203 ------
 .../snpe/include/DlSystem/TensorShapeMap.hpp  | 127 ----
 .../snpe/include/DlSystem/UDLContext.hpp      | 243 --------
 third_party/snpe/include/DlSystem/UDLFunc.hpp |  87 ---
 .../snpe/include/DlSystem/UserBufferMap.hpp   | 122 ----
 .../snpe/include/DlSystem/UserMemoryMap.hpp   | 129 ----
 .../snpe/include/DlSystem/ZdlExportDefine.hpp |  13 -
 .../PlatformValidator/PlatformValidator.hpp   | 118 ----
 .../include/SNPE/ApplicationBufferMap.hpp     | 101 ---
 third_party/snpe/include/SNPE/PSNPE.hpp       | 205 ------
 .../snpe/include/SNPE/RuntimeConfigList.hpp   |  85 ---
 third_party/snpe/include/SNPE/SNPE.hpp        | 258 --------
 third_party/snpe/include/SNPE/SNPEBuilder.hpp | 306 ---------
 third_party/snpe/include/SNPE/SNPEFactory.hpp | 220 -------
 .../snpe/include/SNPE/UserBufferList.hpp      |  49 --
 third_party/snpe/include/SnpeUdo/UdoBase.h    | 537 ----------------
 third_party/snpe/include/SnpeUdo/UdoImpl.h    | 343 ----------
 third_party/snpe/include/SnpeUdo/UdoImplCpu.h |  44 --
 third_party/snpe/include/SnpeUdo/UdoImplDsp.h | 207 -------
 third_party/snpe/include/SnpeUdo/UdoImplGpu.h | 112 ----
 third_party/snpe/include/SnpeUdo/UdoReg.h     | 108 ----
 third_party/snpe/include/SnpeUdo/UdoShared.h  |  48 --
 third_party/snpe/larch64                      |   1 -
 third_party/snpe/x86_64                       |   1 -
 .../snpe/x86_64-linux-clang/libHtpPrepare.so  |   3 -
 .../snpe/x86_64-linux-clang/libSNPE.so        |   3 -
 third_party/snpe/x86_64-linux-clang/libomp.so |   3 -
 tinygrad_repo                                 |   2 +-
 tools/cabana/binaryview.cc                    |  75 ++-
 tools/cabana/binaryview.h                     |  16 +-
 tools/cabana/chart/chart.cc                   |   2 +
 tools/cabana/chart/chartswidget.cc            |  56 +-
 tools/cabana/chart/chartswidget.h             |   3 +
 tools/cabana/chart/sparkline.cc               |   8 +-
 tools/cabana/dbc/dbc.cc                       |   1 +
 tools/cabana/dbc/dbc.h                        |   4 +-
 tools/cabana/detailwidget.cc                  |  62 +-
 tools/cabana/detailwidget.h                   |   3 +-
 tools/cabana/mainwin.cc                       |   1 +
 tools/cabana/messageswidget.cc                |  23 +-
 tools/cabana/settings.cc                      |   5 -
 tools/cabana/signalview.cc                    |   2 +-
 tools/cabana/streams/abstractstream.cc        |  58 +-
 tools/cabana/streams/abstractstream.h         |  10 +-
 tools/cabana/streams/replaystream.cc          |   7 +-
 tools/cabana/streams/replaystream.h           |   1 -
 tools/cabana/utils/util.h                     |   1 +
 tools/cabana/videowidget.cc                   | 187 +++---
 tools/cabana/videowidget.h                    |  25 +-
 tools/install_python_dependencies.sh          |   7 +-
 tools/latencylogger/README.md                 |  90 ---
 tools/latencylogger/latency_logger.py         | 239 -------
 tools/plotjuggler/README.md                   |   2 +-
 tools/plotjuggler/layouts/demo.xml            | 104 ----
 tools/replay/replay.cc                        |  69 +--
 tools/replay/replay.h                         |  11 +-
 tools/replay/seg_mgr.cc                       |   2 +-
 tools/replay/seg_mgr.h                        |   4 +-
 tools/replay/timeline.cc                      |   4 +-
 tools/replay/timeline.h                       |  22 +-
 tools/rerun/README.md                         |   6 +-
 tools/rerun/run.sh                            |   9 -
 tools/webcam/README.md                        |  28 +-
 tools/webcam/camerad.py                       |  15 +-
 tools/webcam/start_camerad.sh                 |  14 -
 uv.lock                                       | 585 ++++++++----------
 152 files changed, 788 insertions(+), 9351 deletions(-)
 delete mode 100644 .github/PULL_REQUEST_TEMPLATE/bugfix.md
 delete mode 100644 .github/PULL_REQUEST_TEMPLATE/car_bugfix.md
 delete mode 100644 .github/PULL_REQUEST_TEMPLATE/car_port.md
 delete mode 100644 .github/PULL_REQUEST_TEMPLATE/fingerprint.md
 delete mode 100644 .github/PULL_REQUEST_TEMPLATE/refactor.md
 delete mode 100644 .github/PULL_REQUEST_TEMPLATE/tuning.md
 delete mode 100644 .github/build.py
 delete mode 100644 cereal/maptile.capnp
 delete mode 100755 scripts/build_small.sh
 delete mode 100755 scripts/code_stats.py
 delete mode 100755 scripts/count_cars.py
 delete mode 100755 scripts/git_rewrite/rewrite-git-history.sh
 delete mode 100755 scripts/git_rewrite/rewrite.sh
 delete mode 100644 scripts/git_rewrite/tag-commit-map.txt
 delete mode 100755 scripts/pyqt_demo.py
 delete mode 100644 selfdrive/assets/offroad/icon_plus.png
 rename selfdrive/debug/{internal => }/fuzz_fw_fingerprint.py (100%)
 delete mode 100644 selfdrive/debug/internal/__init__.py
 rename selfdrive/debug/{internal => }/measure_modeld_packet_drop.py (100%)
 rename selfdrive/debug/{internal => }/measure_torque_time_to_max.py (100%)
 rename selfdrive/debug/{internal => }/qlog_size.py (100%)
 delete mode 100644 selfdrive/modeld/tests/snpe_benchmark/.gitignore
 delete mode 100644 selfdrive/modeld/tests/snpe_benchmark/benchmark.cc
 delete mode 100755 selfdrive/modeld/tests/snpe_benchmark/benchmark.sh
 delete mode 100755 selfdrive/test/ciui.py
 delete mode 100755 selfdrive/test/docker_tag_multiarch.sh
 delete mode 100755 selfdrive/test/loop_until_fail.sh
 delete mode 100644 selfdrive/test/process_replay/imgproc_replay_ref_hash
 delete mode 100644 selfdrive/test/process_replay/test_imgproc.py
 delete mode 100644 selfdrive/test/profiling/.gitignore
 delete mode 100644 selfdrive/test/profiling/__init__.py
 delete mode 100644 selfdrive/test/profiling/lib.py
 delete mode 100755 selfdrive/test/profiling/profiler.py
 delete mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
 delete mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
 delete mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
 delete mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
 delete mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
 delete mode 100644 third_party/snpe/dsp/libcalculator_skel.so
 delete mode 100644 third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
 delete mode 100644 third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
 delete mode 100644 third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
 delete mode 100644 third_party/snpe/include/DiagLog/IDiagLog.hpp
 delete mode 100644 third_party/snpe/include/DiagLog/Options.hpp
 delete mode 100644 third_party/snpe/include/DlContainer/IDlContainer.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/DlEnums.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/DlError.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/DlOptional.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/DlVersion.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/IBufferAttributes.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/ITensor.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/ITensorFactory.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/ITensorItr.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/IUDL.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/IUserBuffer.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/PlatformConfig.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/RuntimeList.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/String.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/StringList.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/TensorMap.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/TensorShape.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/TensorShapeMap.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/UDLContext.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/UDLFunc.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/UserBufferMap.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/UserMemoryMap.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
 delete mode 100644 third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
 delete mode 100644 third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
 delete mode 100644 third_party/snpe/include/SNPE/PSNPE.hpp
 delete mode 100644 third_party/snpe/include/SNPE/RuntimeConfigList.hpp
 delete mode 100644 third_party/snpe/include/SNPE/SNPE.hpp
 delete mode 100644 third_party/snpe/include/SNPE/SNPEBuilder.hpp
 delete mode 100644 third_party/snpe/include/SNPE/SNPEFactory.hpp
 delete mode 100644 third_party/snpe/include/SNPE/UserBufferList.hpp
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoBase.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoImpl.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoImplCpu.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoImplDsp.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoImplGpu.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoReg.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoShared.h
 delete mode 120000 third_party/snpe/larch64
 delete mode 120000 third_party/snpe/x86_64
 delete mode 100644 third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
 delete mode 100644 third_party/snpe/x86_64-linux-clang/libSNPE.so
 delete mode 100755 third_party/snpe/x86_64-linux-clang/libomp.so
 delete mode 100644 tools/latencylogger/README.md
 delete mode 100755 tools/latencylogger/latency_logger.py
 delete mode 100644 tools/plotjuggler/layouts/demo.xml
 delete mode 100755 tools/rerun/run.sh
 delete mode 100755 tools/webcam/start_camerad.sh

diff --git a/.github/PULL_REQUEST_TEMPLATE/bugfix.md b/.github/PULL_REQUEST_TEMPLATE/bugfix.md
deleted file mode 100644
index e28661db3b7ab3..00000000000000
--- a/.github/PULL_REQUEST_TEMPLATE/bugfix.md
+++ /dev/null
@@ -1,15 +0,0 @@
----
-name: Bug fix
-about: For openpilot bug fixes
-title: ''
-labels: 'bugfix'
-assignees: ''
----
-
-**Description**
-
-<!-- A description of the bug and the fix. Also link the issue if it exists. -->
-
-**Verification**
-
-<!-- Explain how you tested this bug fix. -->
diff --git a/.github/PULL_REQUEST_TEMPLATE/car_bugfix.md b/.github/PULL_REQUEST_TEMPLATE/car_bugfix.md
deleted file mode 100644
index 76c86346c85491..00000000000000
--- a/.github/PULL_REQUEST_TEMPLATE/car_bugfix.md
+++ /dev/null
@@ -1,19 +0,0 @@
----
-name: Car Bug fix
-about: For vehicle/brand specific bug fixes
-title: ''
-labels: 'car bug fix'
-assignees: ''
----
-
-**Description**
-
-<!-- A description of the bug and the fix. Also link the issue if it exists. -->
-
-**Verification**
-
-<!-- Explain how you tested this bug fix. -->
-
-**Route**
-
-Route: [a route with the bug fix]
diff --git a/.github/PULL_REQUEST_TEMPLATE/car_port.md b/.github/PULL_REQUEST_TEMPLATE/car_port.md
deleted file mode 100644
index c7aa2b96c25a06..00000000000000
--- a/.github/PULL_REQUEST_TEMPLATE/car_port.md
+++ /dev/null
@@ -1,15 +0,0 @@
----
-name: Car port
-about: For new car ports
-title: ''
-labels: 'car port'
-assignees: ''
----
-
-**Checklist**
-
-- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
-- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
-- [ ] route with openpilot:
-- [ ] route with stock system:
-- [ ] car harness used (if comma doesn't sell it, put N/A):
diff --git a/.github/PULL_REQUEST_TEMPLATE/fingerprint.md b/.github/PULL_REQUEST_TEMPLATE/fingerprint.md
deleted file mode 100644
index b94f7dc53f4209..00000000000000
--- a/.github/PULL_REQUEST_TEMPLATE/fingerprint.md
+++ /dev/null
@@ -1,13 +0,0 @@
----
-name: Fingerprint
-about: For adding fingerprints to existing cars
-title: ''
-labels: 'fingerprint'
-assignees: ''
----
-
-**Car**
-Which car (make, model, year) this fingerprint is for
-
-**Route**
-A route with the fingerprint
\ No newline at end of file
diff --git a/.github/PULL_REQUEST_TEMPLATE/refactor.md b/.github/PULL_REQUEST_TEMPLATE/refactor.md
deleted file mode 100644
index 1ee21c1bba1151..00000000000000
--- a/.github/PULL_REQUEST_TEMPLATE/refactor.md
+++ /dev/null
@@ -1,15 +0,0 @@
----
-name: Refactor
-about: For code refactors
-title: ''
-labels: 'refactor'
-assignees: ''
----
-
-**Description**
-
-<!-- A description of the refactor, including the goals it accomplishes. -->
-
-**Verification**
-
-<!-- Explain how you tested the refactor for regressions. -->
diff --git a/.github/PULL_REQUEST_TEMPLATE/tuning.md b/.github/PULL_REQUEST_TEMPLATE/tuning.md
deleted file mode 100644
index 4397e5ad20fed0..00000000000000
--- a/.github/PULL_REQUEST_TEMPLATE/tuning.md
+++ /dev/null
@@ -1,31 +0,0 @@
----
-name: Tuning
-about: For openpilot tuning changes
-title: ''
-labels: 'tuning'
-assignees: ''
----
-
-**Description**
-
-<!-- A description of what is wrong with the current tuning and how the PR addresses this. -->
-
-**Verification**
-
-<!-- To verify tuning, capture the following scenarios (broadly, not exactly), with current tune and this tune.
-Use the PlotJuggler tuning layout to compare planned versus actual behavior.
-
-Run ./juggle.py <route> --layout layouts/tuning.xml , screenshot the full tab of interest, and paste into this PR.
-
-Longitudinal:
-* Maintaining speed at 25, 40, 65mph
-* Driving up and down hills
-* Accelerating from a stop
-* Decelerating to a stop
-* Following large changes in set speed
-* Coming to a stop behind a lead car
-
-Lateral:
-* Straight driving at ~25, ~45 and ~65mph
-* Turns driving at ~25, ~45 and ~65mph
--->
\ No newline at end of file
diff --git a/.github/build.py b/.github/build.py
deleted file mode 100644
index e141ea05df87d6..00000000000000
--- a/.github/build.py
+++ /dev/null
@@ -1,30 +0,0 @@
-import pathlib
-
-GITHUB_FOLDER = pathlib.Path(__file__).parent
-
-PULL_REQUEST_TEMPLATES = (GITHUB_FOLDER / "PULL_REQUEST_TEMPLATE")
-
-order = ["fingerprint", "car_bugfix", "bugfix", "car_port", "refactor"]
-
-def create_pull_request_template():
-  with open(GITHUB_FOLDER / "pull_request_template.md", "w") as f:
-    f.write("<!-- Please copy and paste the relevant template -->\n\n")
-
-    for t in order:
-      template = PULL_REQUEST_TEMPLATES / f"{t}.md"
-      text = template.read_text()
-
-      # Remove metadata for GitHub
-      start = text.find("---")
-      end = text.find("---", start+1)
-      text = text[end + 4:]
-
-      # Remove comments
-      text = text.replace("<!-- ", "").replace("-->", "")
-
-      f.write(f"<!--- ***** Template: {template.stem.replace('_', ' ').title()} *****\n")
-      f.write(text)
-      f.write("\n\n")
-      f.write("-->\n\n")
-
-create_pull_request_template()
diff --git a/SConstruct b/SConstruct
index 39f7d14d03d184..ee52fd12035473 100644
--- a/SConstruct
+++ b/SConstruct
@@ -49,10 +49,6 @@ AddOption('--ccflags',
           default='',
           help='pass arbitrary flags over the command line')
 
-AddOption('--snpe',
-          action='store_true',
-          help='use SNPE on PC')
-
 AddOption('--external-sconscript',
           action='store',
           metavar='FILE',
diff --git a/cereal/maptile.capnp b/cereal/maptile.capnp
deleted file mode 100644
index c8a23a1822b808..00000000000000
--- a/cereal/maptile.capnp
+++ /dev/null
@@ -1,49 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-@0xa086df597ef5d7a0;
-
-# Geometry
-struct Point {
-  x @0: Float64;
-  y @1: Float64;
-  z @2: Float64;
-}
-
-struct PolyLine {
-  points @0: List(Point);
-}
-
-# Map features
-struct Lane {
-  id @0 :Text;
-
-  leftBoundary @1 :LaneBoundary;
-  rightBoundary @2 :LaneBoundary;
-
-  leftAdjacentId @3 :Text;
-  rightAdjacentId @4 :Text;
-
-  inboundIds @5 :List(Text);
-  outboundIds @6 :List(Text);
-
-  struct LaneBoundary {
-    polyLine @0 :PolyLine;
-    startHeading @1 :Float32; # WRT north
-  }
-}
-
-# Map tiles
-struct TileSummary {
-  version @0 :Text;
-  updatedAt @1 :UInt64; # Millis since epoch
-
-  level @2 :UInt8;
-  x @3 :UInt16;
-  y @4 :UInt16;
-}
-
-struct MapTile {
-  summary @0 :TileSummary;
-  lanes @1 :List(Lane);
-}
diff --git a/common/params.cc b/common/params.cc
index bface21619f21f..f07911cea3bbc0 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -133,7 +133,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"GsmRoaming", PERSISTENT | BACKUP},
     {"HardwareSerial", PERSISTENT},
     {"HasAcceptedTerms", PERSISTENT},
-    {"IMEI", PERSISTENT},
     {"InstallDate", PERSISTENT},
     {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
     {"IsEngaged", PERSISTENT},
diff --git a/common/util.cc b/common/util.cc
index 5ffd6e4099f27b..f4c69eb269f6d0 100644
--- a/common/util.cc
+++ b/common/util.cc
@@ -255,6 +255,29 @@ bool ends_with(const std::string& s, const std::string& suffix) {
          strcmp(s.c_str() + (s.size() - suffix.size()), suffix.c_str()) == 0;
 }
 
+std::string strip(const std::string &str) {
+  auto should_trim = [](unsigned char ch) {
+    // trim whitespace or a null character
+    return std::isspace(ch) || ch == '\0';
+  };
+
+  size_t start = 0;
+  while (start < str.size() && should_trim(static_cast<unsigned char>(str[start]))) {
+    start++;
+  }
+
+  if (start == str.size()) {
+    return "";
+  }
+
+  size_t end = str.size() - 1;
+  while (end > 0 && should_trim(static_cast<unsigned char>(str[end]))) {
+    end--;
+  }
+
+  return str.substr(start, end - start + 1);
+}
+
 std::string check_output(const std::string& command) {
   char buffer[128];
   std::string result;
diff --git a/common/util.h b/common/util.h
index 7cfa008509e258..d4106b50028ca4 100644
--- a/common/util.h
+++ b/common/util.h
@@ -74,6 +74,7 @@ float getenv(const char* key, float default_val);
 std::string hexdump(const uint8_t* in, const size_t size);
 bool starts_with(const std::string &s1, const std::string &s2);
 bool ends_with(const std::string &s, const std::string &suffix);
+std::string strip(const std::string &str);
 
 // ***** random helpers *****
 int random_int(int min, int max);
diff --git a/docs/CARS.md b/docs/CARS.md
index c0b0f1706e1b55..10d10d4cfcc9df 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 289 Supported Cars
+# 290 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -56,6 +56,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV60 (Performance Trim) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 Electrified (Australia Only) 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>||
 |Genesis|GV70 Electrified (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023">Buy Here</a></sub></details>||
 |Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -79,7 +80,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
 |Honda|Passport 2019-23|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
-|Honda|Ridgeline 2017-24|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-24">Buy Here</a></sub></details>||
+|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-25">Buy Here</a></sub></details>||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2019">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
@@ -91,7 +92,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Non-US only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Non-US only) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
@@ -294,7 +295,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
 |Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
 |Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
 |Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
 |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
diff --git a/opendbc_repo b/opendbc_repo
index 6525e8b6006f37..6ddebc9a0365d3 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 6525e8b6006f37a1d809d2a617a876410c484ca1
+Subproject commit 6ddebc9a0365d3421bee7cceddb0263c88fb78dd
diff --git a/panda b/panda
index 0d4b79a3c7b9c1..781af8b4f1144c 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 0d4b79a3c7b9c1012832ec414989e56e3a2a8d46
+Subproject commit 781af8b4f1144cf8d1f17e75017589e2013e3cf9
diff --git a/pyproject.toml b/pyproject.toml
index 7a889584a0114f..47a6a37cfe6ba3 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -103,7 +103,6 @@ dev = [
   "lru-dict",
   "matplotlib",
   "parameterized >=0.8, <0.9",
-  #"pprofile",
   "pyautogui",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
   "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
@@ -112,13 +111,10 @@ dev = [
   "tabulate",
   "types-requests",
   "types-tabulate",
-
-  # this is only pinned since 5.15.11 is broken
-  "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
 ]
 
 tools = [
-  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl ; (platform_machine != 'aarch64')",
+  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
   "rerun-sdk >= 0.18",
 ]
 
diff --git a/scripts/build_small.sh b/scripts/build_small.sh
deleted file mode 100755
index 176ca5aaa8f92a..00000000000000
--- a/scripts/build_small.sh
+++ /dev/null
@@ -1,39 +0,0 @@
-#!/usr/bin/env bash
-set -ex
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
-
-# git clone --mirror
-SRC=/tmp/openpilot.git/
-OUT=/tmp/smallpilot/
-
-echo "starting size $(du -hs .git/)"
-
-rm -rf $OUT
-
-cd $SRC
-git remote update
-
-# copy contents
-#rsync -a --exclude='.git/' $DIR $OUT
-
-cp -r $SRC $OUT
-
-cd $OUT
-
-# remove all tags
-git tag -l | xargs git tag -d
-
-# remove non-master branches
-BRANCHES="release2 release3 devel master-ci nightly"
-for branch in $BRANCHES; do
-  git branch -D $branch
-  git branch -D ${branch}-staging || true
-done
-
-#git gc
-git reflog expire --expire=now --all
-git gc --prune=now
-git gc --aggressive --prune=now
-echo "new one is $(du -hs .)"
diff --git a/scripts/code_stats.py b/scripts/code_stats.py
deleted file mode 100755
index 1ffc8901bd973c..00000000000000
--- a/scripts/code_stats.py
+++ /dev/null
@@ -1,54 +0,0 @@
-#!/usr/bin/env python3
-import os
-import ast
-import stat
-import subprocess
-
-fouts = {x.decode('utf-8') for x in subprocess.check_output(['git', 'ls-files']).strip().split()}
-
-pyf = []
-for d in ["cereal", "common", "scripts", "selfdrive", "tools"]:
-  for root, _, files in os.walk(d):
-    for f in files:
-      if f.endswith(".py"):
-        pyf.append(os.path.join(root, f))
-
-imps: set[str] = set()
-
-class Analyzer(ast.NodeVisitor):
-  def visit_Import(self, node):
-    for alias in node.names:
-      imps.add(alias.name)
-    self.generic_visit(node)
-
-  def visit_ImportFrom(self, node):
-    imps.add(node.module)
-    self.generic_visit(node)
-
-tlns = 0
-carlns = 0
-scriptlns = 0
-testlns = 0
-for f in sorted(pyf):
-  if f not in fouts:
-    continue
-  xbit = bool(os.stat(f)[stat.ST_MODE] & stat.S_IXUSR)
-  src = open(f).read()
-  lns = len(src.split("\n"))
-  tree = ast.parse(src)
-  Analyzer().visit(tree)
-  print(f"{lns:5d} {f} {xbit}")
-  if 'test' in f:
-    testlns += lns
-  elif f.startswith(('tools/', 'scripts/', 'selfdrive/debug')):
-    scriptlns += lns
-  elif f.startswith('selfdrive/car'):
-    carlns += lns
-  else:
-    tlns += lns
-
-print(f"{tlns} lines of openpilot python")
-print(f"{carlns} lines of car ports")
-print(f"{scriptlns} lines of tools/scripts/debug")
-print(f"{testlns} lines of tests")
-#print(sorted(list(imps)))
diff --git a/scripts/count_cars.py b/scripts/count_cars.py
deleted file mode 100755
index 19f486735a7a58..00000000000000
--- a/scripts/count_cars.py
+++ /dev/null
@@ -1,11 +0,0 @@
-#!/usr/bin/env python3
-from collections import Counter
-from pprint import pprint
-
-from opendbc.car.docs import get_all_car_docs
-
-if __name__ == "__main__":
-  cars = get_all_car_docs()
-  make_count = Counter(l.make for l in cars)
-  print("\n", "*" * 20, len(cars), "total", "*" * 20, "\n")
-  pprint(make_count)
diff --git a/scripts/git_rewrite/rewrite-git-history.sh b/scripts/git_rewrite/rewrite-git-history.sh
deleted file mode 100755
index cce4455ce5be13..00000000000000
--- a/scripts/git_rewrite/rewrite-git-history.sh
+++ /dev/null
@@ -1,391 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-SRC=/tmp/openpilot/
-SRC_CLONE=/tmp/openpilot-clone/
-OUT=/tmp/openpilot-tiny/
-
-REWRITE_IGNORE_BRANCHES=(
-  dashcam3
-  devel
-  master-ci
-  nightly
-  release2
-  release3
-  release3-staging
-)
-
-VALIDATE_IGNORE_FILES=(
-  ".github/ISSUE_TEMPLATE/bug_report.md"
-  ".github/pull_request_template.md"
-)
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
-
-LOGS_DIR=$DIR/git-rewrite-$(date +"%Y-%m-%dT%H:%M:%S%z")
-mkdir -p $LOGS_DIR
-
-GIT_REWRITE_LOG=$LOGS_DIR/git-rewrite-log.txt
-BRANCH_DIFF_LOG=$LOGS_DIR/branch-diff-log.txt
-COMMIT_DIFF_LOG=$LOGS_DIR/commit-diff-log.txt
-
-START_TIME=$(date +%s)
-exec > >(while IFS= read -r line; do
-  CURRENT_TIME=$(date +%s)
-  ELAPSED_TIME=$((CURRENT_TIME - START_TIME))
-  echo "[${ELAPSED_TIME}s] $line"
-done | tee -a "$GIT_REWRITE_LOG") 2>&1
-
-# INSTALL git-filter-repo
-if [ ! -f /tmp/git-filter-repo ]; then
-  echo "Installing git-filter-repo..."
-  curl -sSo /tmp/git-filter-repo https://raw.githubusercontent.com/newren/git-filter-repo/main/git-filter-repo
-  chmod +x /tmp/git-filter-repo
-fi
-
-# MIRROR openpilot
-if [ ! -d $SRC ]; then
-  echo "Mirroring openpilot..."
-  git clone --mirror https://github.com/commaai/openpilot.git $SRC # 4.18 GiB (488034 objects)
-
-  cd $SRC
-
-  echo "Starting size $(du -sh .)"
-
-  git remote update
-
-  # the git-filter-repo analysis is bliss - can be found in the repo root/filter-repo/analysis
-  echo "Analyzing with git-filter-repo..."
-  /tmp/git-filter-repo --force --analyze
-
-  echo "Pushing to openpilot-archive..."
-  # push to archive repo - in smaller parts because the 2 GB push limit - https://docs.github.com/en/get-started/using-git/troubleshooting-the-2-gb-push-limit
-  ARCHIVE_REPO=git@github.com:commaai/openpilot-archive.git
-  git push --prune $ARCHIVE_REPO +refs/heads/master:refs/heads/master # push master first so it's the default branch (when openpilot-archive is an empty repo)
-  git push --prune $ARCHIVE_REPO +refs/heads/*:refs/heads/* # 956.39 MiB (110725 objects)
-  git push --prune $ARCHIVE_REPO +refs/tags/*:refs/tags/* # 1.75 GiB (21694 objects)
-  # git push --mirror $ARCHIVE_REPO || true # fails to push refs/pull/* (deny updating a hidden ref) for pull requests
-  # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708 and https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
-fi
-
-# REWRITE master and tags
-if [ ! -d $SRC_CLONE ]; then
-  echo "Cloning $SRC..."
-  GIT_LFS_SKIP_SMUDGE=1 git clone $SRC $SRC_CLONE
-
-  cd $SRC_CLONE
-
-  echo "Checking out old history..."
-
-  git checkout tags/v0.7.1 > /dev/null 2>&1
-  # checkout as main, since we need master ref later
-  git checkout -b main
-
-  echo "Creating setup commits..."
-
-  # rm these so we don't get conflicts later
-  git rm -r cereal opendbc panda selfdrive/ui/ui > /dev/null
-  git commit -m "removed conflicting files" > /dev/null
-
-  # skip-smudge to get rid of some lfs errors that it can't find the reference of some lfs files
-  # we don't care about fetching/pushing lfs right now
-  git lfs install --skip-smudge --local
-
-  # squash initial setup commits
-  git cherry-pick -n -X theirs 6c33a5c..59b3d06 > /dev/null
-  git commit -m "switching to master" > /dev/null
-
-  # squash the two commits
-  git reset --soft HEAD~2
-  git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)" -m "removed conflicting files" > /dev/null
-
-  # get commits we want to cherry-pick
-  # will start with the next commit after #59b3d06 tools is local now
-  COMMITS=$(git rev-list --reverse 59b3d06..master)
-
-  # we need this for logging
-  TOTAL_COMMITS=$(echo $COMMITS | wc -w | xargs)
-  CURRENT_COMMIT_NUMBER=0
-
-  # empty this file
-  > commit-map.txt
-
-  echo "Rewriting master commits..."
-
-  for COMMIT in $COMMITS; do
-      CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
-      # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r
-      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"
-
-      # set environment variables to preserve author/committer and dates
-      export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
-      export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT)
-      export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT)
-      export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT)
-      export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT)
-      export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT)
-
-      # cherry-pick the commit
-      if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then
-        # check if the failure is because of an empty commit
-        if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then
-          echo "Empty commit detected. Skipping commit $COMMIT"
-          git cherry-pick --skip
-          # log it was empty to the mapping file
-          echo "$COMMIT EMPTY" >> commit-map.txt
-        else
-          # handle other errors or conflicts
-          echo "Cherry-pick failed. Handling error..."
-          echo "$GIT_OUTPUT"
-          exit 1
-        fi
-      else
-        # capture the new commit hash
-        NEW_COMMIT=$(git rev-parse HEAD)
-
-        # save the old and new commit hashes to the mapping file
-        echo "$COMMIT $NEW_COMMIT" >> commit-map.txt
-
-        # append the old commit ID to the commit message
-        git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
-      fi
-
-    # prune every 3000 commits to avoid gc errors
-    if [ $((CURRENT_COMMIT_NUMBER % 3000)) -eq 0 ]; then
-      echo "Pruning repo..."
-      git gc
-    fi
-  done
-
-  echo "Rewriting tags..."
-
-  # remove all old tags
-  git tag -l | xargs git tag -d
-
-  # read each line from the tag-commit-map.txt
-  while IFS=' ' read -r TAG OLD_COMMIT; do
-    # search for the new commit in commit-map.txt corresponding to the old commit
-    NEW_COMMIT=$(grep "^$OLD_COMMIT " "commit-map.txt" | awk '{print $2}')
-
-    # check if this is a rebased commit
-    if [ -z "$NEW_COMMIT" ]; then
-      # if not, then just use old commit hash
-      NEW_COMMIT=$OLD_COMMIT
-    fi
-
-    echo "Rewriting tag $TAG from commit $NEW_COMMIT"
-    git tag -f "$TAG" "$NEW_COMMIT"
-  done < "$DIR/tag-commit-map.txt"
-
-  # uninstall lfs since we don't want to touch (push to) lfs right now
-  # git push will also push lfs, if we don't uninstall (--local so just for this repo)
-  git lfs uninstall --local
-
-  # force push new master
-  git push --force origin main:master
-
-  # force push new tags
-  git push --force --tags
-fi
-
-# REWRITE branches based on master
-if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
-  cd $SRC_CLONE
-  > rewrite-branches-done
-
-  # empty file
-  > $BRANCH_DIFF_LOG
-
-  echo "Rewriting branches based on master..."
-
-  # will store raw diffs here, if exist
-  mkdir -p differences
-
-  # get a list of all branches except master and REWRITE_IGNORE_BRANCHES
-  BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/.*origin\///' | grep -v '^master$' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n'))
-
-  for BRANCH in $BRANCHES; do
-    # check if the branch is based on master history
-    MERGE_BASE=$(git merge-base master origin/$BRANCH) || true
-    if [ -n "$MERGE_BASE" ]; then
-      echo "Rewriting branch: $BRANCH"
-
-      # create a new branch based on the new master
-      NEW_MERGE_BASE=$(grep "^$MERGE_BASE " "commit-map.txt" | awk '{print $2}')
-      if [ -z "$NEW_MERGE_BASE" ]; then
-        echo "Error: could not find new merge base for branch $BRANCH" >> $BRANCH_DIFF_LOG
-        continue
-      fi
-      git checkout -b ${BRANCH}_new $NEW_MERGE_BASE
-
-      # get the range of commits unique to this branch
-      COMMITS=$(git rev-list --reverse $MERGE_BASE..origin/${BRANCH})
-
-      HAS_ERROR=0
-
-      # simple delimiter
-      echo "BRANCH ${BRANCH}" >> commit-map.txt
-
-      for COMMIT in $COMMITS; do
-        # set environment variables to preserve author/committer and dates
-        export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
-        export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT)
-        export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT)
-        export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT)
-        export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT)
-        export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT)
-
-        # cherry-pick the commit
-        if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then
-          # check if the failure is because of an empty commit
-          if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then
-            echo "Empty commit detected. Skipping commit $COMMIT"
-            git cherry-pick --skip
-            # log it was empty to the mapping file
-            echo "$COMMIT EMPTY" >> commit-map.txt
-          else
-            # handle other errors or conflicts
-            echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> $BRANCH_DIFF_LOG
-            echo "$GIT_OUTPUT" > "$LOGS_DIR/branch-${BRANCH}"
-            git cherry-pick --abort
-            git push --delete origin ${BRANCH}
-            HAS_ERROR=1
-            break
-          fi
-        else
-          # capture the new commit hash
-          NEW_COMMIT=$(git rev-parse HEAD)
-
-          # save the old and new commit hashes to the mapping file
-          echo "$COMMIT $NEW_COMMIT" >> commit-map.txt
-
-          # append the old commit ID to the commit message
-          git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
-        fi
-      done
-
-      # force push the new branch
-      if [ $HAS_ERROR -eq 0 ]; then
-        # git lfs goes haywire here, so we need to install and uninstall
-        # git lfs install --skip-smudge --local
-        git lfs uninstall --local > /dev/null
-        git push -f origin ${BRANCH}_new:${BRANCH}
-      fi
-
-      # clean up local branch
-      git checkout master > /dev/null
-      git branch -D ${BRANCH}_new > /dev/null
-    else
-      echo "Deleting branch $BRANCH as it's not based on master history" >> $BRANCH_DIFF_LOG
-      git push --delete origin ${BRANCH}
-    fi
-  done
-fi
-
-# VALIDATE cherry-pick
-if [ ! -f "$SRC_CLONE/validation-done" ]; then
-  cd $SRC_CLONE
-  > validation-done
-
-  TOTAL_COMMITS=$(grep -cve '^\s*$' commit-map.txt)
-  CURRENT_COMMIT_NUMBER=0
-  COUNT_SAME=0
-  COUNT_DIFF=0
-
-  # empty file
-  > $COMMIT_DIFF_LOG
-
-  echo "Validating commits..."
-
-  # will store raw diffs here, if exist
-  mkdir -p differences
-
-  # read each line from commit-map.txt
-  while IFS=' ' read -r OLD_COMMIT NEW_COMMIT; do
-    if [ "$NEW_COMMIT" == "EMPTY" ]; then
-      continue
-    fi
-    if [ "$OLD_COMMIT" == "BRANCH" ]; then
-      echo "Branch ${NEW_COMMIT} below:" >> $COMMIT_DIFF_LOG
-      continue
-    fi
-    CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
-    # retrieve short hashes and dates for the old and new commits
-    OLD_COMMIT_SHORT=$(git rev-parse --short $OLD_COMMIT)
-    NEW_COMMIT_SHORT=$(git rev-parse --short $NEW_COMMIT)
-    OLD_DATE=$(git show -s --format='%cd' $OLD_COMMIT)
-    NEW_DATE=$(git show -s --format='%cd' $NEW_COMMIT)
-
-    # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r
-    echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"
-
-    # generate lists of files and their hashes for the old and new commits, excluding ignored files
-    OLD_FILES=$(git ls-tree -r $OLD_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
-    NEW_FILES=$(git ls-tree -r $NEW_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
-
-    # Compare the diffs
-    if diff <(echo "$OLD_FILES") <(echo "$NEW_FILES") > /dev/null; then
-      # echo "Old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT are equivalent."
-      COUNT_SAME=$((COUNT_SAME + 1))
-    else
-      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> $COMMIT_DIFF_LOG
-      COUNT_DIFF=$((COUNT_DIFF + 1))
-      set +e
-      diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "$LOGS_DIR/commit-$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT"
-      set -e
-    fi
-  done < "commit-map.txt"
-
-  echo "Summary:" >> $COMMIT_DIFF_LOG
-  echo "Equivalent commits: $COUNT_SAME" >> $COMMIT_DIFF_LOG
-  echo "Different commits: $COUNT_DIFF" >> $COMMIT_DIFF_LOG
-fi
-
-if [ ! -d $OUT ]; then
-  cp -r $SRC $OUT
-
-  cd $OUT
-
-  # remove all non-master branches
-  # git branch | grep -v "^  master$" | grep -v "\*" | xargs git branch -D
-
-  # echo "cleaning up refs"
-  # delete pull request refs since we can't alter them anyway (https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally#error-failed-to-push-some-refs)
-  # git for-each-ref --format='%(refname)' | grep '^refs/pull/' | xargs -I {} git update-ref -d {}
-
-  echo "importing new lfs files"
-  # import "almost" everything to lfs
-  BRANCHES=$(git for-each-ref --format='%(refname)' refs/heads/ | sed 's%refs/heads/%%g' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n') | tr '\n' ' ')
-  git lfs migrate import --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*" $BRANCHES
-
-  echo "reflog and gc"
-  # this is needed after lfs import
-  git reflog expire --expire=now --all
-  git gc --prune=now --aggressive
-
-  # check the git-filter-repo analysis again - can be found in the repo root/filter-repo/analysis
-  echo "Analyzing with git-filter-repo..."
-  /tmp/git-filter-repo --force --analyze
-
-  echo "New size is $(du -sh .)"
-fi
-
-cd $OUT
-
-# fetch all lfs files from https://github.com/commaai/openpilot.git
-# some lfs files are missing on gitlab, but they can be found on github
-git config lfs.url https://github.com/commaai/openpilot.git/info/lfs
-git config lfs.pushurl ssh://git@github.com/commaai/openpilot.git
-git lfs fetch --all || true
-
-# also fetch all lfs files from https://gitlab.com/commaai/openpilot-lfs.git
-git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot-lfs.git
-git lfs fetch --all || true
-
-# final push - will also push lfs
-# TODO: switch to git@github.com:commaai/openpilot.git when ready
-# git push --mirror git@github.com:commaai/openpilot-tiny.git
-# using this instead to ignore refs/pull/* - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
-git push --prune git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*
diff --git a/scripts/git_rewrite/rewrite.sh b/scripts/git_rewrite/rewrite.sh
deleted file mode 100755
index 8a18b15bec9e03..00000000000000
--- a/scripts/git_rewrite/rewrite.sh
+++ /dev/null
@@ -1,59 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
-
-git clone --bare https://github.com/commaai/openpilot
-cp -r openpilot.git openpilot_backup
-cd openpilot.git
-
-# backup old repo
-git push git@github.com:commaai/openpilot-archive.git +refs/heads/master:refs/heads/master
-git push git@github.com:commaai/openpilot-archive.git +refs/heads/*:refs/heads/*
-git push git@github.com:commaai/openpilot-archive.git +refs/tags/*:refs/tags/*
-git push --mirror git@github.com:commaai/openpilot-archive.git
-
-# ignore all release branches
-git for-each-ref --format='delete %(refname)' | grep 'dashcam3\|devel\|master-ci\|nightly\|release2\|release3\|release3-staging' | git update-ref --stdin
-
-# re-tag old releases on master
-declare -A TAGS=( ["f8cb04e4a8b032b72a909f68b808a50936184bee"]="v0.9.7" ["0b4d08fab8e35a264bc7383e878538f8083c33e5"]="v0.9.6" ["3b1e9017c560499786d8a0e46aaaeea65037acac"]="v0.9.5" ["fa310d9e2542cf497d92f007baec8fd751ffa99c"]="v0.9.4" ["8704c1ff952b5c85a44f50143bbd1a4f7b4887e2"]="v0.9.3" ["c7d3b28b93faa6c955fb24bc64031512ee985ee9"]="v0.9.2" ["89f68bf0cbf53a81b0553d3816fdbe522f941fa1"]="v0.9.1" ["58b84fb401a804967aa0dd5ee66fafa90194fd30"]="v0.9.0" ["f41dc62a12cc0f3cb8c5453c0caa0ba21e1bd01e"]="v0.8.16" ["5a7c2f90361e72e9c35e88abd2e11acdc4aba354"]="v0.8.15" ["71901c94dbbaa2f9f156a80c14cc7ea65219fc7c"]="v0.8.14" ["95da47079510afc91665263619e5939126da637c"]="v0.8.13" ["472177e2a8a1d002e56f9096326fd2dff62e54f9"]="v0.8.12" ["08078acbd0b4f7da469c7dff6159000e358974a9"]="v0.8.11" ["687925c775c375495f9827946138a724bde00b9d"]="v0.8.10" ["204e5a090735a059d69c29145a4cee49450da07e"]="v0.8.9" ["4be956f8861ecbb521ef9503a3c87b07c9d36721"]="v0.8.8" ["589f82c76627d634761a31a34b2488403556eb0b"]="v0.8.7" ["507cfc8910f74ddb8810039d68b880b426ff9ff9"]="v0.8.6" ["d47b00b45a866bef088f51d1ff31de5885ab04e9"]="v0.8.5" ["553e7d1cce314e7eb0587186b1764c3ff43bed62"]="v0.8.4" ["9896438d1511602a1ff87f7c4eb3c7172b30104a"]="v0.8.3" ["280192ed1443f112463417c2d815ea8ee2762fbd"]="v0.8.2" ["8039361567e4659eae2a084e6f39f34acadf4cac"]="v0.8.1" ["d56e04c0d960c8d3d4ab88b578dc508a2b4e07dc"]="v0.8" ["3d456e5d0fbf0c9887d0499dee812f2b029edf6d"]="v0.7.10" ["81763a18b5d0e379b749e090ecce36a91fca7c43"]="v0.7.9" ["9bc0b350fd273bbb2deb3dcaef0312944e4f6cfd"]="v0.7.8" ["ede5b632b58c55e4ff003f948efae07fe03c2280"]="v0.7.7" ["775acd11ba2e0a8c2f5a5655338718d796491b36"]="v0.7.6.1" ["302417b4cf0dcf00d45e4995b5410e543ad121d1"]="v0.7.5" ["12ff088b42221dd17d9d97decb1fc61a7cb0a861"]="v0.7.4" ["9563f7730252451fdcba9bc3d9fe36dab9c86a26"]="v0.7.3" ["8321cf283abbc2ca3fda7e0c7a069a77a492fe0c"]="v0.7.2" ["1e1de64a1e59476b7b3d3558b92149246d5c3292"]="v0.7.1" ["a2ae18d1dbd1e59c38ce22fa25ddffbd1d3084e3"]="v0.7" ["d4eb5a6eafdd4803d09e6f3963918216cca5a81f"]="v0.6.6" ["70d17cd69b80e7627dcad8fd5b6438f2309ac307"]="v0.6.5" ["58f376002e0c654fbc2de127765fa297cf694a33"]="v0.6.4" ["d5f9caa82d80cdcc7f1b7748f2cf3ccbf94f82a3"]="v0.6.3" ["095ef5f9f60fca1b269aabcc3cfd322b17b9e674"]="v0.6.2" ["cf5c4aeacb1703d0ffd35bdb5297d3494fee9a22"]="v0.6.1" ["60a20537c5f3fcc7f11946d81aebc8f90c08c117"]="v0.6" ["dd34ccfe288ebda8e2568cf550994ae890379f45"]="v0.5.13" ["3f9059fea886f1fa3b0c19a62a981d891dcc84eb"]="v0.5.12" ["2f92d577f995ff6ae1945ef6b89df3cb69b92999"]="v0.5.11" ["5a9d89ed42ddcd209d001a10d7eb828ef0e6d9de"]="v0.5.10" ["0207a970400ee28d3e366f2e8f5c551281accf02"]="v0.5.9" ["b967da5fc1f7a07e3561db072dd714d325e857b0"]="v0.5.8" ["210db686bb89f8696aa040e6e16de65424b808c9"]="v0.5.7" ["860a48765d1016ba226fb2c64aea35a45fe40e4a"]="v0.5.6" ["8f3539a27b28851153454eb737da9624cccaed2d"]="v0.5.5" ["a422246dc30bce11e970514f13f7c110f4470cc3"]="v0.5.4" ["285c52eb693265a0a530543e9ca0aeb593a2a55e"]="v0.5.3" ["0129a8a4ff8da5314e8e4d4d3336e89667ff6d54"]="v0.5.2" ["6f3d10a4c475c4c4509f0b370805419acd13912d"]="v0.5.1" ["de33bc46452b1046387ee2b3a03191b2c71135fb"]="v0.5" ["ae5cb7a0dab8b1bed9d52292f9b4e8e66a0f8ec9"]="v0.4.7" ["c6df34f55ba8c5a911b60d3f9eb20e3fa45f68c1"]="v0.4.6" ["37285038d3f91fa1b49159c4a35a8383168e644f"]="v0.4.5" ["9a9ff839a9b70cb2601d7696af743f5652395389"]="v0.4.4" ["28c0797d30175043bbfa31307b63aab4197cf996"]="v0.4.2" ["4474b9b3718653aeb0aee26422caefb90460cc0e"]="v0.4.1" ["da52d065a4c4f52d6017a537f3a80326f5af8bdc"]="v0.4.0.2" ["9d3963559ae7b15193057937ff3e72481899f40d"]="v0.3.5"  ["1b8c44b5067525a5d266b6e99799d8097da76a29"]="v0.3.4" ["5cf91d0496688fed4f2a6c7021349b1fc0e057a2"]="v0.3.3" ["7fe46f1e1df5dec08a940451ba0feefd5c039165"]="v0.3.2" ["41e3a0f699f5c39cb61a15c0eb7a4aa816d47c24"]="v0.3.1" ["c5d8aec28b5230d34ae4b677c2091cc3dec7e3e8"]="v0.3.0" ["693bcb0f83478f2651db6bac9be5ca5ad60d03f3"]="v0.2.9" ["95a349abcc050712c50d4d85a1c8a804eee7f6c2"]="v0.2.8" ["c6ba5dc5391d3ca6cda479bf1923b88ce45509a0"]="v0.2.7" ["6c3afeec0fb439070b2912978b8dbb659033b1d9"]="v0.2.6" ["29c58b45882ac79595356caf98580c1d2a626011"]="v0.2.5" ["ecc565aa3fdc4c7e719aadc000e1fdc4d80d4fe0"]="v0.2.4" ["adaa4ed350acda4067fc0b455ad15b54cdf4c768"]="v0.2.3" ["a64b9aa9b8cb5863c917b6926516291a63c02fe5"]="v0.2.2" ["17d9becd3c673091b22f09aa02559a9ed9230f50"]="v0.2.1" ["449b482cc3236ccf31829830b4f6a44b2dcc06c2"]="v0.2" ["e94a30bec07e719c5a7b037ca1f4db8312702cce"]="v0.1" )
-for tag in "${!TAGS[@]}"; do git tag -f "${TAGS[$tag]}" "$tag" ; done
-
-# get master root commit
-ROOT_COMMIT=$(git rev-list --max-parents=0 HEAD | tail -n 1)
-
-# link master and devel
-git replace --graft $ROOT_COMMIT v0.7.1
-git-filter-repo --prune-empty never --force --commit-callback 'h=commit.original_id.decode("utf-8");m=commit.message.decode("utf-8");commit.message=str.encode(m + "\n" + "old-commit-hash: " + h)'
-
-# delete replace refs
-git for-each-ref --format='delete %(refname)' refs/replace | git update-ref --stdin
-
-# machine validation
-tail -n +2 "filter-repo/commit-map" | tr ' ' '\n' | xargs -P $(nproc) -n 2 bash -c 'H1=$(cd ../openpilot_backup && git ls-tree -r $0 | sha1sum) && H2=$(git ls-tree -r $1 | sha1sum) && echo "$H1 $H2" >> /tmp/GIT_HASHES && diff <(echo $H1) <(echo $H2) || exit 255'
-# human validation
-less /tmp/GIT_HASH
-
-# cleanup
-git reflog expire --expire=now --all
-git gc --prune=now --aggressive
-
-# get all lfs files
-set +e
-git config lfs.url https://github.com/commaai/openpilot.git/info/lfs
-git lfs fetch --all
-git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-git lfs fetch --all
-set -e
-
-# add new files to lfs
-git lfs migrate import --everything --include="*.ico,*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,pyextra/**/*,panda/board/**/inc/*.h,panda/board/obj/*.elf,board/inc/*.h,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,*.pro,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,poetry.lock,*.qm"
-
-# set new lfs endpoint
-git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot-lfs.git
-
-# push all branch+tag (scary stuff...)
-git push -f --set-upstream git@github.com:commaai/openpilot.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*
diff --git a/scripts/git_rewrite/tag-commit-map.txt b/scripts/git_rewrite/tag-commit-map.txt
deleted file mode 100644
index 66b1fb00c182a0..00000000000000
--- a/scripts/git_rewrite/tag-commit-map.txt
+++ /dev/null
@@ -1,82 +0,0 @@
-v0.1 e94a30bec07e719c5a7b037ca1f4db8312702cce
-v0.2 449b482cc3236ccf31829830b4f6a44b2dcc06c2
-v0.2.1 17d9becd3c673091b22f09aa02559a9ed9230f50
-v0.2.2 a64b9aa9b8cb5863c917b6926516291a63c02fe5
-v0.2.3 adaa4ed350acda4067fc0b455ad15b54cdf4c768
-v0.2.4 ecc565aa3fdc4c7e719aadc000e1fdc4d80d4fe0
-v0.2.5 29c58b45882ac79595356caf98580c1d2a626011
-v0.2.6 6c3afeec0fb439070b2912978b8dbb659033b1d9
-v0.2.7 c6ba5dc5391d3ca6cda479bf1923b88ce45509a0
-v0.2.8 95a349abcc050712c50d4d85a1c8a804eee7f6c2
-v0.2.9 693bcb0f83478f2651db6bac9be5ca5ad60d03f3
-v0.3.0 c5d8aec28b5230d34ae4b677c2091cc3dec7e3e8
-v0.3.1 41e3a0f699f5c39cb61a15c0eb7a4aa816d47c24
-v0.3.2 7fe46f1e1df5dec08a940451ba0feefd5c039165
-v0.3.3 5cf91d0496688fed4f2a6c7021349b1fc0e057a2
-v0.3.4 1b8c44b5067525a5d266b6e99799d8097da76a29
-v0.3.5 b111277f464cf66fa34b67819a83ea683e0f64df
-v0.4.0.2 da52d065a4c4f52d6017a537f3a80326f5af8bdc
-v0.4.1 4474b9b3718653aeb0aee26422caefb90460cc0e
-v0.4.2 28c0797d30175043bbfa31307b63aab4197cf996
-v0.4.4 9a9ff839a9b70cb2601d7696af743f5652395389
-v0.4.5 37285038d3f91fa1b49159c4a35a8383168e644f
-v0.4.6 c6df34f55ba8c5a911b60d3f9eb20e3fa45f68c1
-v0.4.7 ae5cb7a0dab8b1bed9d52292f9b4e8e66a0f8ec9
-v0.5 de33bc46452b1046387ee2b3a03191b2c71135fb
-v0.5.1 8f22f52235c48eada586795ac57edb22688e4d08
-v0.5.2 0129a8a4ff8da5314e8e4d4d3336e89667ff6d54
-v0.5.3 285c52eb693265a0a530543e9ca0aeb593a2a55e
-v0.5.4 a422246dc30bce11e970514f13f7c110f4470cc3
-v0.5.5 8f3539a27b28851153454eb737da9624cccaed2d
-v0.5.6 860a48765d1016ba226fb2c64aea35a45fe40e4a
-v0.5.7 9ce3045f139ee29bf0eea5ec59dfe7df9c3d2c51
-v0.5.8 2cee2e05ba0f3824fdbb8b957958800fa99071a1
-v0.5.9 ad145da3bcded0fe75306df02061d07a633963c3
-v0.5.10 ff4c1557d8358f158f4358788ff18ef93d2470ef
-v0.5.11 d1866845df423c6855e2b365ff230cf7d89a420b
-v0.5.12 f6e8ef27546e9a406724841e75f8df71cc4c2c97
-v0.5.13 dd34ccfe288ebda8e2568cf550994ae890379f45
-v0.6 60a20537c5f3fcc7f11946d81aebc8f90c08c117
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-v0.6.2 095ef5f9f60fca1b269aabcc3cfd322b17b9e674
-v0.6.3 d5f9caa82d80cdcc7f1b7748f2cf3ccbf94f82a3
-v0.6.4 58f376002e0c654fbc2de127765fa297cf694a33
-v0.6.5 70d17cd69b80e7627dcad8fd5b6438f2309ac307
-v0.6.6 d4eb5a6eafdd4803d09e6f3963918216cca5a81f
-v0.7 a2ae18d1dbd1e59c38ce22fa25ddffbd1d3084e3
-v0.7.1 1e1de64a1e59476b7b3d3558b92149246d5c3292
-v0.7.2 59bd58c940673b4c4a6a86f299022614bcf42b22
-v0.7.3 d7acd8b68f8131e0e714400cf124a3e228638643
-v0.7.4 e93649882c5e914eec4a8b8b593dc0587e497033
-v0.7.5 8abc0afe464626a461d2c7e192c912eeebeccc65
-v0.7.6 69aacd9d179fe6dd3110253a099c38b34cff7899
-v0.7.7 f1caed7299cdba5e45635d8377da6cc1e5fd7072
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-v0.7.9 86dc54b836a973f132ed26db9f5a60b29f9b25b2
-v0.7.10 47a42ff432db8a2494e922ca5e767e58020f0446
-v0.7.11 f46ed718ba8d6bb4d42cd7b0f0150c406017c373
-v0.8 d56e04c0d960c8d3d4ab88b578dc508a2b4e07dc
-v0.8.1 cd6f26664cb8d32a13847d6648567c47c580e248
-v0.8.2 7cc0999aebfe63b6bb6dd83c1dff62c3915c4820
-v0.8.3 986500fe2f10870018f1fba1e5465476b8915977
-v0.8.4 f0d0b82b8d6f5f450952113e234d0a5a49e80c48
-v0.8.5 f5d9ddc6c2a2802a61e5ce590c6b6688bf736a69
-v0.8.6 75904ed7452c6cbfb2a70cd379a899d8a75b97c2
-v0.8.7 4f9e568019492126e236da85b5ca0a059f292900
-v0.8.8 a949a49d5efaaf2d881143d23e9fb5ff9e28e88c
-v0.8.9 a034926264cd1025c69d6ceb3fe444965f960b75
-v0.8.10 59accdd814398b884167c0f41dbf46dcccf0c29c
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-v0.8.12 57871c99031cf597ffa0d819057ac1401e129f32
-v0.8.13 e43e6e876513450d235124fcb711f1724ed9814c
-v0.8.14 71901c94dbbaa2f9f156a80c14cc7ea65219fc7c
-v0.8.15 5a7c2f90361e72e9c35e88abd2e11acdc4aba354
-v0.8.16 f41dc62a12cc0f3cb8c5453c0caa0ba21e1bd01e
-v0.9.0 58b84fb401a804967aa0dd5ee66fafa90194fd30
-v0.9.1 89f68bf0cbf53a81b0553d3816fdbe522f941fa1
-v0.9.2 c7d3b28b93faa6c955fb24bc64031512ee985ee9
-v0.9.3 8704c1ff952b5c85a44f50143bbd1a4f7b4887e2
-v0.9.4 fa310d9e2542cf497d92f007baec8fd751ffa99c
-v0.9.5 3b1e9017c560499786d8a0e46aaaeea65037acac
-v0.9.6 0b4d08fab8e35a264bc7383e878538f8083c33e5
-v0.9.7 f8cb04e4a8b032b72a909f68b808a50936184bee
diff --git a/scripts/pyqt_demo.py b/scripts/pyqt_demo.py
deleted file mode 100755
index 783728bdb88e37..00000000000000
--- a/scripts/pyqt_demo.py
+++ /dev/null
@@ -1,14 +0,0 @@
-#!/usr/bin/env python3
-
-from PyQt5.QtWidgets import QApplication, QLabel
-from openpilot.selfdrive.ui.qt.python_helpers import set_main_window
-
-
-if __name__ == "__main__":
-  app = QApplication([])
-  label = QLabel('Hello World!')
-
-  # Set full screen and rotate
-  set_main_window(label)
-
-  app.exec_()
diff --git a/selfdrive/assets/offroad/icon_plus.png b/selfdrive/assets/offroad/icon_plus.png
deleted file mode 100644
index 6418a37a654ffa..00000000000000
--- a/selfdrive/assets/offroad/icon_plus.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fa3f1c39a4e82adfb52d43fc0ad6773a70dbaa4fc79109a7d6b6c1f73b298eac
-size 2833
diff --git a/selfdrive/debug/internal/fuzz_fw_fingerprint.py b/selfdrive/debug/fuzz_fw_fingerprint.py
similarity index 100%
rename from selfdrive/debug/internal/fuzz_fw_fingerprint.py
rename to selfdrive/debug/fuzz_fw_fingerprint.py
diff --git a/selfdrive/debug/internal/__init__.py b/selfdrive/debug/internal/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/selfdrive/debug/internal/measure_modeld_packet_drop.py b/selfdrive/debug/measure_modeld_packet_drop.py
similarity index 100%
rename from selfdrive/debug/internal/measure_modeld_packet_drop.py
rename to selfdrive/debug/measure_modeld_packet_drop.py
diff --git a/selfdrive/debug/internal/measure_torque_time_to_max.py b/selfdrive/debug/measure_torque_time_to_max.py
similarity index 100%
rename from selfdrive/debug/internal/measure_torque_time_to_max.py
rename to selfdrive/debug/measure_torque_time_to_max.py
diff --git a/selfdrive/debug/internal/qlog_size.py b/selfdrive/debug/qlog_size.py
similarity index 100%
rename from selfdrive/debug/internal/qlog_size.py
rename to selfdrive/debug/qlog_size.py
diff --git a/selfdrive/debug/touch_replay.py b/selfdrive/debug/touch_replay.py
index 1e1596d2640817..6e5ecbbe5b59e8 100755
--- a/selfdrive/debug/touch_replay.py
+++ b/selfdrive/debug/touch_replay.py
@@ -30,7 +30,7 @@
         elif event.type == 3 and event.code == 57 and event.value == -1:
           fingers[current_slot] = [-1, -1]
         elif event.type == 3 and event.code == 53:
-          fingers[current_slot][1] = h - (h - event.value)
+          fingers[current_slot][1] = event.value
           if fingers[current_slot][0] != -1:
             touch_points.append(fingers[current_slot].copy())
         elif event.type == 3 and event.code == 54:
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index ef0fd52f334dcb..cb0ce22d8b4477 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -26,10 +26,6 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor
     xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
 
 # Compile cython
-snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64"
-snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
-snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
-
 cython_libs = envCython["LIBS"] + libs
 commonmodel_lib = lenv.Library('commonmodel', common_src)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
index bf74c2d1a065ec..beb0d22ef5b051 100644
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@@ -16,7 +16,6 @@ class ModelConstants:
   MODEL_FREQ = 20
   FEATURE_LEN = 512
   FULL_HISTORY_BUFFER_LEN = 99
-  HISTORY_BUFFER_LEN = 24
   DESIRE_LEN = 8
   TRAFFIC_CONVENTION_LEN = 2
   LAT_PLANNER_STATE_LEN = 4
@@ -73,14 +72,13 @@ class Plan:
 class Meta:
   ENGAGED = slice(0, 1)
   # next 2, 4, 6, 8, 10 seconds
-  GAS_DISENGAGE = slice(1, 31, 6)
-  BRAKE_DISENGAGE = slice(2, 31, 6)
-  STEER_OVERRIDE = slice(3, 31, 6)
-  HARD_BRAKE_3 = slice(4, 31, 6)
-  HARD_BRAKE_4 = slice(5, 31, 6)
-  HARD_BRAKE_5 = slice(6, 31, 6)
+  GAS_DISENGAGE = slice(1, 36, 7)
+  BRAKE_DISENGAGE = slice(2, 36, 7)
+  STEER_OVERRIDE = slice(3, 36, 7)
+  HARD_BRAKE_3 = slice(4, 36, 7)
+  HARD_BRAKE_4 = slice(5, 36, 7)
+  HARD_BRAKE_5 = slice(6, 36, 7)
+  GAS_PRESS = slice(7, 36, 7)
   # next 0, 2, 4, 6, 8, 10 seconds
-  GAS_PRESS = slice(31, 55, 4)
-  BRAKE_PRESS = slice(32, 55, 4)
-  LEFT_BLINKER = slice(33, 55, 4)
-  RIGHT_BLINKER = slice(34, 55, 4)
+  LEFT_BLINKER = slice(36, 48, 2)
+  RIGHT_BLINKER = slice(37, 48, 2)
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index a13d632aa676f9..3056da937452ee 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -3,21 +3,11 @@
 import numpy as np
 from cereal import log
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
-from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 ConfidenceClass = log.ModelDataV2.ConfidenceClass
 
-def curv_from_psis(psi_target, psi_rate, vego, delay):
-  vego = np.clip(vego, MIN_SPEED, np.inf)
-  curv_from_psi = psi_target / (vego * delay)  # epsilon to prevent divide-by-zero
-  return 2*curv_from_psi - psi_rate / vego
-
-def get_curvature_from_plan(plan, vego, delay):
-  psi_target = np.interp(delay, ModelConstants.T_IDXS, plan[:, Plan.T_FROM_CURRENT_EULER][:, 2])
-  psi_rate = plan[:, Plan.ORIENTATION_RATE][0, 2]
-  return curv_from_psis(psi_target, psi_rate, vego, delay)
 
 class PublishState:
   def __init__(self):
@@ -75,8 +65,6 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   extended_msg.valid = valid
   base_msg.valid = valid
 
-  desired_curv = float(get_curvature_from_plan(net_output_data['plan'][0], v_ego, delay))
-
   driving_model_data = base_msg.drivingModelData
 
   driving_model_data.frameId = vipc_frame_id
@@ -85,7 +73,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   driving_model_data.modelExecutionTime = model_execution_time
 
   action = driving_model_data.action
-  action.desiredCurvature = desired_curv
+  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -120,7 +108,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
 
   # lateral planning
   action = modelV2.action
-  action.desiredCurvature = desired_curv
+  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
 
   # times at X_IDXS according to model plan
   PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
@@ -181,8 +169,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
   disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
   disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
-  disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
-  disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
+  #disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
+  #disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
 
   publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
   publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 49f8c483f05501..5783f6aa8e0425 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -59,14 +59,14 @@ class ModelState:
   def __init__(self, context: CLContext):
     self.frames = {'input_imgs': DrivingModelFrame(context), 'big_input_imgs': DrivingModelFrame(context)}
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
-    self.desire_20Hz =  np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
 
     # img buffers are managed in openCL transform code
     self.numpy_inputs = {
-      'desire': np.zeros((1, (ModelConstants.HISTORY_BUFFER_LEN+1), ModelConstants.DESIRE_LEN), dtype=np.float32),
+      'desire': np.zeros((1, (ModelConstants.FULL_HISTORY_BUFFER_LEN+1), ModelConstants.DESIRE_LEN), dtype=np.float32),
       'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
-      'features_buffer': np.zeros((1, ModelConstants.HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
+      'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
+      'prev_desired_curv': np.zeros((1, (ModelConstants.FULL_HISTORY_BUFFER_LEN+1), ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
+      'features_buffer': np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
     }
 
     with open(METADATA_PATH, 'rb') as f:
@@ -98,11 +98,11 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_
     new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
     self.prev_desire[:] = inputs['desire']
 
-    self.desire_20Hz[:-1] = self.desire_20Hz[1:]
-    self.desire_20Hz[-1] = new_desire
-    self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape((1,25,4,-1)).max(axis=2)
+    self.numpy_inputs['desire'][0,:-1] = self.numpy_inputs['desire'][0,1:]
+    self.numpy_inputs['desire'][0,-1] = new_desire
 
     self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
+    self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
     imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
                'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
 
@@ -113,7 +113,7 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_
           self.tensor_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=dtypes.uint8)
     else:
       for key in imgs_cl:
-        self.numpy_inputs[key] = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key])
+        self.numpy_inputs[key] = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key]).astype(dtype=np.float32)
 
     if prepare_only:
       return None
@@ -125,11 +125,13 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_
 
     outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
 
-    self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
-    self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
+    self.numpy_inputs['features_buffer'][0,:-1] = self.numpy_inputs['features_buffer'][0,1:]
+    self.numpy_inputs['features_buffer'][0,-1] = outputs['hidden_state'][0, :]
 
-    idxs = np.arange(-4,-100,-4)[::-1]
-    self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[idxs]
+
+    # TODO model only uses last value now
+    self.numpy_inputs['prev_desired_curv'][0,:-1] = self.numpy_inputs['prev_desired_curv'][0,1:]
+    self.numpy_inputs['prev_desired_curv'][0,-1,:] = outputs['desired_curvature'][0, :]
     return outputs
 
 
@@ -240,6 +242,7 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
+    lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -270,6 +273,7 @@ def main(demo=False):
     inputs:dict[str, np.ndarray] = {
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
+      'lateral_control_params': lateral_control_params,
       }
 
     mt1 = time.perf_counter()
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index ad2620c7b4a687..9973d185881901 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -8,8 +8,8 @@
 DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
   input_frames = std::make_unique<uint8_t[]>(buf_size);
   input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err));
-  region.origin = 4 * frame_size_bytes;
+  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 2*frame_size_bytes, NULL, &err));
+  region.origin = 1 * frame_size_bytes;
   region.size = frame_size_bytes;
   last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
 
@@ -20,7 +20,7 @@ DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context)
 cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
   run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
 
-  for (int i = 0; i < 4; i++) {
+  for (int i = 0; i < 1; i++) {
     CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
   }
   loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 777aa8aa7e4d35..2e1a60a23eb453 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:72d3d6f8d3c98f5431ec86be77b6350d7d4f43c25075c0106f1d1e7ec7c77668
-size 49096168
+oid sha256:39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4
+size 51453312
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index b699c5fd13593f..4367e9db8a2bcd 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -96,6 +96,8 @@ def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
                    out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     if 'lat_planner_solution' in outs:
       self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    if 'desired_curvature' in outs:
+      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
     for k in ['lead_prob', 'lane_lines_prob', 'meta']:
       self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
diff --git a/selfdrive/modeld/tests/snpe_benchmark/.gitignore b/selfdrive/modeld/tests/snpe_benchmark/.gitignore
deleted file mode 100644
index d83a1b2ff5c336..00000000000000
--- a/selfdrive/modeld/tests/snpe_benchmark/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-benchmark
diff --git a/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc b/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc
deleted file mode 100644
index f72f7fb1a7ac3b..00000000000000
--- a/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc
+++ /dev/null
@@ -1,192 +0,0 @@
-#include <SNPE/SNPE.hpp>
-#include <SNPE/SNPEBuilder.hpp>
-#include <SNPE/SNPEFactory.hpp>
-#include <DlContainer/IDlContainer.hpp>
-#include <DlSystem/DlError.hpp>
-#include <DlSystem/ITensor.hpp>
-#include <DlSystem/ITensorFactory.hpp>
-#include <iostream>
-#include <fstream>
-#include <sstream>
-
-using namespace std;
-
-int64_t timespecDiff(struct timespec *timeA_p, struct timespec *timeB_p) {
-  return ((timeA_p->tv_sec * 1000000000) + timeA_p->tv_nsec) - ((timeB_p->tv_sec * 1000000000) + timeB_p->tv_nsec);
-}
-
-void PrintErrorStringAndExit() {
-  cout << "ERROR!" << endl;
-  const char* const errStr = zdl::DlSystem::getLastErrorString();
-  std::cerr << errStr << std::endl;
-  std::exit(EXIT_FAILURE);
-}
-
-
-zdl::DlSystem::Runtime_t checkRuntime() {
-  static zdl::DlSystem::Version_t Version = zdl::SNPE::SNPEFactory::getLibraryVersion();
-  static zdl::DlSystem::Runtime_t Runtime;
-  std::cout << "SNPE Version: " << Version.asString().c_str() << std::endl; //Print Version number
-  if (zdl::SNPE::SNPEFactory::isRuntimeAvailable(zdl::DlSystem::Runtime_t::DSP)) {
-    std::cout << "Using DSP runtime" << std::endl;
-    Runtime = zdl::DlSystem::Runtime_t::DSP;
-  } else if (zdl::SNPE::SNPEFactory::isRuntimeAvailable(zdl::DlSystem::Runtime_t::GPU)) {
-    std::cout << "Using GPU runtime" << std::endl;
-    Runtime = zdl::DlSystem::Runtime_t::GPU;
-  } else {
-    std::cout << "Using cpu runtime" << std::endl;
-    Runtime = zdl::DlSystem::Runtime_t::CPU;
-  }
-  return Runtime;
-}
-
-void test(char *filename) {
-  static zdl::DlSystem::Runtime_t runtime = checkRuntime();
-  std::unique_ptr<zdl::DlContainer::IDlContainer> container;
-  container = zdl::DlContainer::IDlContainer::open(filename);
-
-  if (!container) { PrintErrorStringAndExit(); }
-  cout << "start build" << endl;
-  std::unique_ptr<zdl::SNPE::SNPE> snpe;
-  {
-    snpe = NULL;
-    zdl::SNPE::SNPEBuilder snpeBuilder(container.get());
-    snpe = snpeBuilder.setOutputLayers({})
-      .setRuntimeProcessor(runtime)
-      .setUseUserSuppliedBuffers(false)
-      //.setDebugMode(true)
-      .build();
-    if (!snpe) {
-      cout << "ERROR!" << endl;
-      const char* const errStr = zdl::DlSystem::getLastErrorString();
-      std::cerr << errStr << std::endl;
-    }
-    cout << "ran snpeBuilder" << endl;
-  }
-
-  const auto &strList_opt = snpe->getInputTensorNames();
-  if (!strList_opt) throw std::runtime_error("Error obtaining input tensor names");
-
-  cout << "get input tensor names done" << endl;
-  const auto &strList = *strList_opt;
-  static zdl::DlSystem::TensorMap inputTensorMap;
-  static zdl::DlSystem::TensorMap outputTensorMap;
-  vector<std::unique_ptr<zdl::DlSystem::ITensor> > inputs;
-  for (int i = 0; i < strList.size(); i++) {
-    cout << "input name: " << strList.at(i) << endl;
-
-    const auto &inputDims_opt = snpe->getInputDimensions(strList.at(i));
-    const auto &inputShape = *inputDims_opt;
-    inputs.push_back(zdl::SNPE::SNPEFactory::getTensorFactory().createTensor(inputShape));
-    inputTensorMap.add(strList.at(i), inputs[i].get());
-  }
-
-  struct timespec start, end;
-  cout << "**** starting benchmark ****" << endl;
-  for (int i = 0; i < 50; i++) {
-    clock_gettime(CLOCK_MONOTONIC, &start);
-    int err = snpe->execute(inputTensorMap, outputTensorMap);
-    assert(err == true);
-    clock_gettime(CLOCK_MONOTONIC, &end);
-    uint64_t timeElapsed = timespecDiff(&end, &start);
-    printf("time: %f ms\n", timeElapsed*1.0/1e6);
-  }
-}
-
-void get_testframe(int index, std::unique_ptr<zdl::DlSystem::ITensor> &input) {
-  FILE * pFile;
-  string filepath="/data/ipt/quantize_samples/sample_input_"+std::to_string(index);
-  pFile = fopen(filepath.c_str(), "rb");
-  int length = 1*6*160*320*4;
-  float * frame_buffer = new float[length/4]; // 32/8
-  fread(frame_buffer, length, 1, pFile);
-  // std::cout << *(frame_buffer+length/4-1) << std::endl;
-  std::copy(frame_buffer, frame_buffer+(length/4), input->begin());
-  fclose(pFile);
-}
-
-void SaveITensor(const std::string& path, const zdl::DlSystem::ITensor* tensor)
-{
-   std::ofstream os(path, std::ofstream::binary);
-   if (!os)
-   {
-      std::cerr << "Failed to open output file for writing: " << path << "\n";
-      std::exit(EXIT_FAILURE);
-   }
-   for ( auto it = tensor->cbegin(); it != tensor->cend(); ++it )
-   {
-      float f = *it;
-      if (!os.write(reinterpret_cast<char*>(&f), sizeof(float)))
-      {
-         std::cerr << "Failed to write data to: " << path << "\n";
-         std::exit(EXIT_FAILURE);
-      }
-   }
-}
-
-void testrun(char* modelfile) {
-  static zdl::DlSystem::Runtime_t runtime = checkRuntime();
-  std::unique_ptr<zdl::DlContainer::IDlContainer> container;
-  container = zdl::DlContainer::IDlContainer::open(modelfile);
-
-  if (!container) { PrintErrorStringAndExit(); }
-  cout << "start build" << endl;
-  std::unique_ptr<zdl::SNPE::SNPE> snpe;
-  {
-    snpe = NULL;
-    zdl::SNPE::SNPEBuilder snpeBuilder(container.get());
-    snpe = snpeBuilder.setOutputLayers({})
-      .setRuntimeProcessor(runtime)
-      .setUseUserSuppliedBuffers(false)
-      //.setDebugMode(true)
-      .build();
-    if (!snpe) {
-      cout << "ERROR!" << endl;
-      const char* const errStr = zdl::DlSystem::getLastErrorString();
-      std::cerr << errStr << std::endl;
-    }
-    cout << "ran snpeBuilder" << endl;
-  }
-
-  const auto &strList_opt = snpe->getInputTensorNames();
-  if (!strList_opt) throw std::runtime_error("Error obtaining input tensor names");
-  cout << "get input tensor names done" << endl;
-
-  const auto &strList = *strList_opt;
-  static zdl::DlSystem::TensorMap inputTensorMap;
-  static zdl::DlSystem::TensorMap outputTensorMap;
-
-  assert(strList.size() == 1);
-  const auto &inputDims_opt = snpe->getInputDimensions(strList.at(0));
-  const auto &inputShape = *inputDims_opt;
-  std::cout << "winkwink" << std::endl;
-
-  for (int i=0; i<10000; i++) {
-    std::unique_ptr<zdl::DlSystem::ITensor> input;
-    input = zdl::SNPE::SNPEFactory::getTensorFactory().createTensor(inputShape);
-    get_testframe(i, input);
-    snpe->execute(input.get(), outputTensorMap);
-    zdl::DlSystem::StringList tensorNames = outputTensorMap.getTensorNames();
-    std::for_each(tensorNames.begin(), tensorNames.end(), [&](const char* name) {
-      std::ostringstream path;
-      path << "/data/opt/Result_" << std::to_string(i) << ".raw";
-      auto tensorPtr = outputTensorMap.getTensor(name);
-      SaveITensor(path.str(), tensorPtr);
-    });
-  }
-}
-
-int main(int argc, char* argv[]) {
-  if (argc < 2) {
-    printf("usage: %s <filename>\n", argv[0]);
-    return -1;
-  }
-
-  if (argc == 2) {
-    while (true) test(argv[1]);
-  } else if (argc == 3) {
-    testrun(argv[1]);
-  }
-  return 0;
-}
-
diff --git a/selfdrive/modeld/tests/snpe_benchmark/benchmark.sh b/selfdrive/modeld/tests/snpe_benchmark/benchmark.sh
deleted file mode 100755
index a9d3f79786a2b0..00000000000000
--- a/selfdrive/modeld/tests/snpe_benchmark/benchmark.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/sh -e
-clang++ -I /data/openpilot/third_party/snpe/include/ -L/data/pythonpath/third_party/snpe/aarch64 -lSNPE benchmark.cc -o benchmark
-export LD_LIBRARY_PATH="/data/pythonpath/third_party/snpe/aarch64/:$HOME/openpilot/third_party/snpe/x86_64/:$LD_LIBRARY_PATH"
-exec ./benchmark $1
diff --git a/selfdrive/test/ciui.py b/selfdrive/test/ciui.py
deleted file mode 100755
index f3b0c1a98f357f..00000000000000
--- a/selfdrive/test/ciui.py
+++ /dev/null
@@ -1,58 +0,0 @@
-#!/usr/bin/env python3
-import signal
-import subprocess
-
-signal.signal(signal.SIGINT, signal.SIG_DFL)
-signal.signal(signal.SIGTERM, signal.SIG_DFL)
-
-from PyQt5.QtCore import QTimer
-from PyQt5.QtWidgets import QApplication, QWidget, QVBoxLayout, QLabel
-from openpilot.selfdrive.ui.qt.python_helpers import set_main_window
-
-class Window(QWidget):
-  def __init__(self, parent=None):
-    super().__init__(parent)
-
-    layout = QVBoxLayout()
-    self.setLayout(layout)
-
-    self.l = QLabel("jenkins runner")
-    layout.addWidget(self.l)
-    layout.addStretch(1)
-    layout.setContentsMargins(20, 20, 20, 20)
-
-    cmds = [
-      "cat /etc/hostname",
-      "echo AGNOS v$(cat /VERSION)",
-      "uptime -p",
-    ]
-    self.labels = {}
-    for c in cmds:
-      self.labels[c] = QLabel(c)
-      layout.addWidget(self.labels[c])
-
-    self.setStyleSheet("""
-      * {
-        color: white;
-        font-size: 55px;
-        background-color: black;
-        font-family: "JetBrains Mono";
-      }
-    """)
-
-    self.timer = QTimer()
-    self.timer.timeout.connect(self.update)
-    self.timer.start(10 * 1000)
-    self.update()
-
-  def update(self):
-    for cmd, label in self.labels.items():
-      out = subprocess.run(cmd, capture_output=True,
-                           shell=True, check=False, encoding='utf8').stdout
-      label.setText(out.strip())
-
-if __name__ == "__main__":
-  app = QApplication([])
-  w = Window()
-  set_main_window(w)
-  app.exec_()
diff --git a/selfdrive/test/docker_tag_multiarch.sh b/selfdrive/test/docker_tag_multiarch.sh
deleted file mode 100755
index c1761802c75214..00000000000000
--- a/selfdrive/test/docker_tag_multiarch.sh
+++ /dev/null
@@ -1,25 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-if [ $# -lt 2 ]; then
-  echo "Usage: $0 <base|docs|sim|prebuilt|cl> <arch1> <arch2> ..."
-  exit 1
-fi
-
-SCRIPT_DIR=$(dirname "$0")
-ARCHS=("${@:2}")
-
-source $SCRIPT_DIR/docker_common.sh $1
-
-MANIFEST_AMENDS=""
-for ARCH in ${ARCHS[@]}; do
-  MANIFEST_AMENDS="$MANIFEST_AMENDS --amend $REMOTE_TAG-$ARCH:$COMMIT_SHA"
-done
-
-docker manifest create $REMOTE_TAG $MANIFEST_AMENDS
-docker manifest create $REMOTE_SHA_TAG $MANIFEST_AMENDS
-
-if [[ -n "$PUSH_IMAGE" ]]; then
-  docker manifest push $REMOTE_TAG
-  docker manifest push $REMOTE_SHA_TAG
-fi
diff --git a/selfdrive/test/loop_until_fail.sh b/selfdrive/test/loop_until_fail.sh
deleted file mode 100755
index b73009dba67cfc..00000000000000
--- a/selfdrive/test/loop_until_fail.sh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-# Loop something forever until it fails, for verifying new tests
-
-while true; do
-  $@
-done
diff --git a/selfdrive/test/process_replay/imgproc_replay_ref_hash b/selfdrive/test/process_replay/imgproc_replay_ref_hash
deleted file mode 100644
index defcb3681c691d..00000000000000
--- a/selfdrive/test/process_replay/imgproc_replay_ref_hash
+++ /dev/null
@@ -1 +0,0 @@
-707434c540e685bbe2886b3ff7c82fd61939d362
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 94803643e01cae..f406b79e10b3d4 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -57,7 +57,7 @@ def generate_report(proposed, master, tmp, commit):
                      (lambda x: x.action.desiredCurvature, "desiredCurvature"),
                      (lambda x: x.leadsV3[0].x[0], "leadsV3.x"),
                      (lambda x: x.laneLines[1].y[0], "laneLines.y"),
-                     (lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs")
+                     #(lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs")
                     ], "modelV2")
   DriverStateV2_Plots = zl([
                      (lambda x: x.wheelOnRightProb, "wheelOnRightProb"),
diff --git a/selfdrive/test/process_replay/test_imgproc.py b/selfdrive/test/process_replay/test_imgproc.py
deleted file mode 100644
index 27d0541a507413..00000000000000
--- a/selfdrive/test/process_replay/test_imgproc.py
+++ /dev/null
@@ -1,98 +0,0 @@
-import os
-import numpy as np
-import hashlib
-
-import pyopencl as cl  # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip install pyopencl`
-
-from openpilot.system.hardware import PC, TICI
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.system.camerad.snapshot.snapshot import yuv_to_rgb
-from openpilot.tools.lib.logreader import LogReader
-
-# TODO: check all sensors
-TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33/0"
-
-cam = DEVICE_CAMERAS[("tici", "ar0231")]
-FRAME_WIDTH, FRAME_HEIGHT = (cam.dcam.width, cam.dcam.height)
-FRAME_STRIDE = FRAME_WIDTH * 12 // 8 + 4
-
-UV_WIDTH = FRAME_WIDTH // 2
-UV_HEIGHT = FRAME_HEIGHT // 2
-UV_SIZE = UV_WIDTH * UV_HEIGHT
-
-
-def init_kernels(frame_offset=0):
-  ctx = cl.create_some_context(interactive=False)
-
-  with open(os.path.join(BASEDIR, 'system/camerad/cameras/process_raw.cl')) as f:
-    build_args = f' -cl-fast-relaxed-math -cl-denorms-are-zero -cl-single-precision-constant -I{BASEDIR}/system/camerad/sensors ' + \
-      f' -DFRAME_WIDTH={FRAME_WIDTH} -DFRAME_HEIGHT={FRAME_WIDTH} -DFRAME_STRIDE={FRAME_STRIDE} -DFRAME_OFFSET={frame_offset} ' + \
-      f' -DRGB_WIDTH={FRAME_WIDTH} -DRGB_HEIGHT={FRAME_HEIGHT} -DYUV_STRIDE={FRAME_WIDTH} -DUV_OFFSET={FRAME_WIDTH*FRAME_HEIGHT}' + \
-      ' -DSENSOR_ID=1 -DVIGNETTING=0 '
-    if PC:
-      build_args += ' -DHALF_AS_FLOAT=1 -cl-std=CL2.0'
-    imgproc_prg = cl.Program(ctx, f.read()).build(options=build_args)
-
-  return ctx, imgproc_prg
-
-def proc_frame(ctx, imgproc_prg, data, rgb=False):
-  q = cl.CommandQueue(ctx)
-
-  yuv_buff = np.empty(FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2, dtype=np.uint8)
-
-  cam_g = cl.Buffer(ctx, cl.mem_flags.READ_ONLY | cl.mem_flags.COPY_HOST_PTR, hostbuf=data)
-  yuv_g = cl.Buffer(ctx, cl.mem_flags.WRITE_ONLY, FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2)
-
-  krn = imgproc_prg.process_raw
-  krn.set_scalar_arg_dtypes([None, None, np.int32])
-  local_worksize = (20, 20) if TICI else (4, 4)
-
-  ev1 = krn(q, (FRAME_WIDTH//2, FRAME_HEIGHT//2), local_worksize, cam_g, yuv_g, 1)
-  cl.enqueue_copy(q, yuv_buff, yuv_g, wait_for=[ev1]).wait()
-  cl.enqueue_barrier(q)
-
-  y = yuv_buff[:FRAME_WIDTH*FRAME_HEIGHT].reshape((FRAME_HEIGHT, FRAME_WIDTH))
-  u = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT::2].reshape((UV_HEIGHT, UV_WIDTH))
-  v = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT+1::2].reshape((UV_HEIGHT, UV_WIDTH))
-
-  if rgb:
-    return yuv_to_rgb(y, u, v)
-  else:
-    return y, u, v
-
-
-def imgproc_replay(lr):
-  ctx, imgproc_prg = init_kernels()
-
-  frames = []
-  for m in lr:
-    if m.which() == 'roadCameraState':
-      cs = m.roadCameraState
-      if cs.image:
-        data = np.frombuffer(cs.image, dtype=np.uint8)
-        img = proc_frame(ctx, imgproc_prg, data)
-
-        frames.append(img)
-
-  return frames
-
-
-if __name__ == "__main__":
-  # load logs
-  lr = list(LogReader(TEST_ROUTE))
-  # run replay
-  out_frames = imgproc_replay(lr)
-
-  all_pix = np.concatenate([np.concatenate([d.flatten() for d in f]) for f in out_frames])
-  pix_hash = hashlib.sha1(all_pix).hexdigest()
-
-  with open('imgproc_replay_ref_hash') as f:
-    ref_hash = f.read()
-
-  if pix_hash != ref_hash:
-    print("result changed! please check kernel")
-    print(f"ref: {ref_hash}")
-    print(f"new: {pix_hash}")
-  else:
-    print("test passed")
diff --git a/selfdrive/test/profiling/.gitignore b/selfdrive/test/profiling/.gitignore
deleted file mode 100644
index 76acac7f93ea12..00000000000000
--- a/selfdrive/test/profiling/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-cachegrind.out.*
-*.prof
diff --git a/selfdrive/test/profiling/__init__.py b/selfdrive/test/profiling/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/selfdrive/test/profiling/lib.py b/selfdrive/test/profiling/lib.py
deleted file mode 100644
index 62bb305ca851d7..00000000000000
--- a/selfdrive/test/profiling/lib.py
+++ /dev/null
@@ -1,91 +0,0 @@
-from collections import defaultdict
-from cereal.services import SERVICE_LIST
-import cereal.messaging as messaging
-import capnp
-
-
-class ReplayDone(Exception):
-  pass
-
-
-class SubSocket:
-  def __init__(self, msgs, trigger):
-    self.i = 0
-    self.trigger = trigger
-    self.msgs = [m.as_builder().to_bytes() for m in msgs if m.which() == trigger]
-    self.max_i = len(self.msgs) - 1
-
-  def receive(self, non_blocking=False):
-    if non_blocking:
-      return None
-
-    if self.i == self.max_i:
-      raise ReplayDone
-
-    while True:
-      msg = self.msgs[self.i]
-      self.i += 1
-      return msg
-
-
-class PubSocket:
-  def send(self, data):
-    pass
-
-
-class SubMaster(messaging.SubMaster):
-  def __init__(self, msgs, trigger, services, check_averag_freq=False):
-    self.frame = 0
-    self.data = {}
-    self.ignore_alive = []
-
-    self.alive = {s: True for s in services}
-    self.updated = {s: False for s in services}
-    self.rcv_time = {s: 0. for s in services}
-    self.rcv_frame = {s: 0 for s in services}
-    self.valid = {s: True for s in services}
-    self.freq_ok = {s: True for s in services}
-    self.freq_tracker = {s: messaging.FrequencyTracker(SERVICE_LIST[s].frequency, SERVICE_LIST[s].frequency, False) for s in services}
-    self.logMonoTime = {}
-    self.sock = {}
-    self.freq = {}
-    self.check_average_freq = check_averag_freq
-    self.non_polled_services = []
-    self.ignore_average_freq = []
-
-    # TODO: specify multiple triggers for service like plannerd that poll on more than one service
-    cur_msgs = []
-    self.msgs = []
-    msgs = [m for m in msgs if m.which() in services]
-
-    for msg in msgs:
-      cur_msgs.append(msg)
-      if msg.which() == trigger:
-        self.msgs.append(cur_msgs)
-        cur_msgs = []
-
-    self.msgs = list(reversed(self.msgs))
-
-    for s in services:
-      self.freq[s] = SERVICE_LIST[s].frequency
-      try:
-        data = messaging.new_message(s)
-      except capnp.lib.capnp.KjException:
-        # lists
-        data = messaging.new_message(s, 0)
-
-      self.data[s] = getattr(data, s)
-      self.logMonoTime[s] = 0
-      self.sock[s] = SubSocket(msgs, s)
-
-  def update(self, timeout=None):
-    if not len(self.msgs):
-      raise ReplayDone
-
-    cur_msgs = self.msgs.pop()
-    self.update_msgs(cur_msgs[0].logMonoTime, self.msgs.pop())
-
-
-class PubMaster(messaging.PubMaster):
-  def __init__(self):
-    self.sock = defaultdict(PubSocket)
diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py
deleted file mode 100755
index d50b157a37efca..00000000000000
--- a/selfdrive/test/profiling/profiler.py
+++ /dev/null
@@ -1,97 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-import cProfile
-import pprofile
-import pyprof2calltree
-
-from opendbc.car.toyota.values import CAR as TOYOTA
-from opendbc.car.honda.values import CAR as HONDA
-from opendbc.car.volkswagen.values import CAR as VW
-from openpilot.common.params import Params
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone
-from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS
-
-BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
-
-CARS = {
-  'toyota': ("0982d79ebb0de295|2021-01-03--20-03-36/6", TOYOTA.TOYOTA_RAV4),
-  'honda': ("0982d79ebb0de295|2021-01-08--10-13-10/6", HONDA.HONDA_CIVIC),
-  "vw": ("ef895f46af5fd73f|2021-05-22--14-06-35/6", VW.AUDI_A3_MK3),
-}
-
-
-def get_inputs(msgs, process, fingerprint):
-  for config in CONFIGS:
-    if config.proc_name == process:
-      sub_socks = list(config.pubs)
-      trigger = sub_socks[0]
-      break
-
-  # some procs block on CarParams
-  for msg in msgs:
-    if msg.which() == 'carParams':
-      m = msg.as_builder()
-      m.carParams.carFingerprint = fingerprint
-      Params().put("CarParams", m.carParams.copy().to_bytes())
-      break
-
-  sm = SubMaster(msgs, trigger, sub_socks)
-  pm = PubMaster()
-  if 'can' in sub_socks:
-    can_sock = SubSocket(msgs, 'can')
-  else:
-    can_sock = None
-  return sm, pm, can_sock
-
-
-def profile(proc, func, car='toyota'):
-  segment, fingerprint = CARS[car]
-  segment = segment.replace('|', '/')
-  rlog_url = f"{BASE_URL}{segment}/rlog.bz2"
-  msgs = list(LogReader(rlog_url)) * int(os.getenv("LOOP", "1"))
-
-  os.environ['FINGERPRINT'] = fingerprint
-  os.environ['SKIP_FW_QUERY'] = "1"
-  os.environ['REPLAY'] = "1"
-
-  def run(sm, pm, can_sock):
-    try:
-      if can_sock is not None:
-        func(sm, pm, can_sock)
-      else:
-        func(sm, pm)
-    except ReplayDone:
-      pass
-
-  # Statistical
-  sm, pm, can_sock = get_inputs(msgs, proc, fingerprint)
-  with pprofile.StatisticalProfile()(period=0.00001) as pr:
-    run(sm, pm, can_sock)
-  pr.dump_stats(f'cachegrind.out.{proc}_statistical')
-
-  # Deterministic
-  sm, pm, can_sock = get_inputs(msgs, proc, fingerprint)
-  with cProfile.Profile() as pr:
-    run(sm, pm, can_sock)
-  pyprof2calltree.convert(pr.getstats(), f'cachegrind.out.{proc}_deterministic')
-
-
-if __name__ == '__main__':
-  from openpilot.selfdrive.controls.controlsd import main as controlsd_thread
-  from openpilot.selfdrive.locationd.paramsd import main as paramsd_thread
-  from openpilot.selfdrive.controls.plannerd import main as plannerd_thread
-
-  procs = {
-    'controlsd': controlsd_thread,
-    'paramsd': paramsd_thread,
-    'plannerd': plannerd_thread,
-  }
-
-  proc = sys.argv[1]
-  if proc not in procs:
-    print(f"{proc} not available")
-    sys.exit(0)
-  else:
-    profile(proc, procs[proc])
diff --git a/system/athena/registration.py b/system/athena/registration.py
index a1e8605a9d5a0b..964fbff51e6cd8 100755
--- a/system/athena/registration.py
+++ b/system/athena/registration.py
@@ -33,20 +33,17 @@ def register(show_spinner=False) -> str | None:
   """
   params = Params()
 
-  IMEI = params.get("IMEI", encoding='utf8')
-  HardwareSerial = params.get("HardwareSerial", encoding='utf8')
   dongle_id: str | None = params.get("DongleId", encoding='utf8')
   if dongle_id is None and Path(Paths.persist_root()+"/comma/dongle_id").is_file():
     # not all devices will have this; added early in comma 3X production (2/28/24)
     with open(Paths.persist_root()+"/comma/dongle_id") as f:
       dongle_id = f.read().strip()
 
-  needs_registration = None in (IMEI, HardwareSerial, dongle_id)
   pubkey = Path(Paths.persist_root()+"/comma/id_rsa.pub")
   if not pubkey.is_file():
     dongle_id = UNREGISTERED_DONGLE_ID
     cloudlog.warning(f"missing public key: {pubkey}")
-  elif needs_registration:
+  elif dongle_id is None:
     if show_spinner:
       spinner = Spinner()
       spinner.update("registering device")
@@ -71,9 +68,6 @@ def register(show_spinner=False) -> str | None:
       if time.monotonic() - start_time > 60 and show_spinner:
         spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")
 
-    params.put("IMEI", imei1)
-    params.put("HardwareSerial", serial)
-
     backoff = 0
     start_time = time.monotonic()
     while True:
diff --git a/system/athena/tests/test_registration.py b/system/athena/tests/test_registration.py
index 17ebaa472d4f13..c1dabb78ecb249 100644
--- a/system/athena/tests/test_registration.py
+++ b/system/athena/tests/test_registration.py
@@ -32,8 +32,6 @@ def _generate_keys(self):
   def test_valid_cache(self, mocker):
     # if all params are written, return the cached dongle id.
     # should work with a dongle ID on either /persist/ or normal params
-    self.params.put("IMEI", "imei")
-    self.params.put("HardwareSerial", "serial")
     self._generate_keys()
 
     dongle = "DONGLE_ID_123"
diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index 20ee88de804224..fcfb07830a4b41 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <cstdlib>
+#include <cassert>
 #include <fstream>
 #include <map>
 #include <string>
@@ -22,7 +23,7 @@ class HardwareTici : public HardwareNone {
 
   static std::string get_name() {
     std::string model = util::read_file("/sys/firmware/devicetree/base/model");
-    return model.substr(std::string("comma ").size());
+    return util::strip(model.substr(std::string("comma ").size()));
   }
 
   static cereal::InitData::DeviceType get_device_type() {
@@ -32,7 +33,8 @@ class HardwareTici : public HardwareNone {
       {"mici", cereal::InitData::DeviceType::MICI}
     };
     auto it = device_map.find(get_name());
-    return it != device_map.end() ? it->second : cereal::InitData::DeviceType::UNKNOWN;
+    assert(it != device_map.end());
+    return it->second;
   }
 
   static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }
@@ -82,17 +84,17 @@ class HardwareTici : public HardwareNone {
       return;
     }
 
-    percent = std::clamp(percent, 0, 100);
+    int value = util::map_val(std::clamp(percent, 0, 100), 0, 100, 0, 255);
 
     std::ofstream torch_brightness("/sys/class/leds/led:torch_2/brightness");
     if (torch_brightness.is_open()) {
-      torch_brightness << percent << "\n";
+      torch_brightness << value << "\n";
       torch_brightness.close();
     }
 
     std::ofstream switch_brightness("/sys/class/leds/led:switch_2/brightness");
     if (switch_brightness.is_open()) {
-      switch_brightness << percent << "\n";
+      switch_brightness << value << "\n";
       switch_brightness.close();
     }
   }
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 5cbc73b8387fd7..7a8ec9fc867587 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -67,7 +67,8 @@ def manager_init() -> None:
   except PermissionError:
     print(f"WARNING: failed to make {Paths.shm_path()}")
 
-  # set version params
+  # set params
+  serial = HARDWARE.get_serial()
   params.put("Version", build_metadata.openpilot.version)
   params.put("TermsVersion", terms_version)
   params.put("TrainingVersion", training_version)
@@ -77,13 +78,13 @@ def manager_init() -> None:
   params.put("GitRemote", build_metadata.openpilot.git_origin)
   params.put_bool("IsTestedBranch", build_metadata.tested_channel)
   params.put_bool("IsReleaseBranch", build_metadata.release_channel)
+  params.put("HardwareSerial", serial)
 
   # set dongle id
   reg_res = register(show_spinner=True)
   if reg_res:
     dongle_id = reg_res
   else:
-    serial = params.get("HardwareSerial")
     raise Exception(f"Registration failed for device {serial}")
   os.environ['DONGLE_ID'] = dongle_id  # Needed for swaglog
   os.environ['GIT_ORIGIN'] = build_metadata.openpilot.git_normalized_origin # Needed for swaglog
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 9712b63e012fda..e6767ae740dedc 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -79,7 +79,8 @@ def and_(*fns):
 procs = [
   DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
 
-  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
+  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),
+  PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
   NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
   NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
   PythonProcess("logmessaged", "system.logmessaged", always_run),
@@ -87,7 +88,7 @@ def and_(*fns):
   PythonProcess("timed", "system.timed", always_run, enabled=not PC),
 
   # TODO Make python process once TG allows opening QCOM from child proc
-  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM)),
+  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(WEBCAM or not PC)),
   NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
@@ -105,7 +106,7 @@ def and_(*fns):
   PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
   PythonProcess("card", "selfdrive.car.card", only_onroad),
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
-  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
+  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(WEBCAM or not PC)),
   PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
   PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
diff --git a/system/timed.py b/system/timed.py
index 3eb84353ad6f2c..de9b0ffb598386 100755
--- a/system/timed.py
+++ b/system/timed.py
@@ -13,7 +13,7 @@
 
 def set_time(new_time):
   diff = datetime.datetime.now() - new_time
-  if diff < datetime.timedelta(seconds=10):
+  if abs(diff) < datetime.timedelta(seconds=10):
     cloudlog.debug(f"Time diff too small: {diff}")
     return
 
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
deleted file mode 100644
index a1c6fed9107b7d..00000000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fb3b1fd29d958e9a3a6625eac9fac9e7cd6eb40309b285ad973324761db0b4c9
-size 1202792
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
deleted file mode 100644
index 54c0c32e41ff53..00000000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:161a5d0bf7347465b53ae49690a38fbacf03d606ef204147b3b148a5f59188da
-size 9008016
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
deleted file mode 100644
index 21542030263916..00000000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7e0e66c12a1eb3b5b4b2b2694831ca51e5132818f400dad789adbcc30e0e0793
-size 14032
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
deleted file mode 100644
index 1d81abd3a5cfac..00000000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:784f2e80fa3534cf7934c5ecbbda37db633104380f2b41d896b4721ad6006eb2
-size 2420312
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
deleted file mode 100644
index 40e3d5af74980e..00000000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:33afe465e74bbe2c409350d2ca8e86cfadf050ceb8feac75a86adc19ff1f9c48
-size 26016
diff --git a/third_party/snpe/dsp/libcalculator_skel.so b/third_party/snpe/dsp/libcalculator_skel.so
deleted file mode 100644
index 9e9e9221be9da2..00000000000000
--- a/third_party/snpe/dsp/libcalculator_skel.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7bee94d38195478ffdd0ce15292a2dfa7813377f4c3b7d99c270e05079d1746b
-size 20828
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
deleted file mode 100644
index 3f1b7a8b8c4a9d..00000000000000
--- a/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4e040c87072aa915c47859c8c7f74076b98c6919b83ddd5dc4bb555870d586a7
-size 1813866
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
deleted file mode 100644
index aa42b5e830c26f..00000000000000
--- a/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:838bc58ac0094ba9593cf7c44ab6e8a94ae3dbbe176e320d9fbe86ceead53c5e
-size 1817962
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
deleted file mode 100644
index 9423da1b94e388..00000000000000
--- a/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:77d025d59521e13e4ed012f0d9d2b684cdb858208d70426078df51219eaeb9bd
-size 10098673
diff --git a/third_party/snpe/include/DiagLog/IDiagLog.hpp b/third_party/snpe/include/DiagLog/IDiagLog.hpp
deleted file mode 100644
index 018b5672561c0b..00000000000000
--- a/third_party/snpe/include/DiagLog/IDiagLog.hpp
+++ /dev/null
@@ -1,84 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#ifndef __IDIAGLOG_HPP_
-#define __IDIAGLOG_HPP_
-
-#include <string>
-
-#include "DiagLog/Options.hpp"
-#include "DlSystem/String.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace DiagLog
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/// @brief .
-///
-/// Interface for controlling logging for zdl components.
-
-class ZDL_EXPORT IDiagLog
-{
-public:
-
-   /// @brief .
-   ///
-   /// Sets the options after initialization occurs.
-   ///
-   /// @param[in] loggingOptions The options to set up diagnostic logging.
-   ///
-   /// @return False if the options could not be set. Ensure logging is not started.
-   virtual bool setOptions(const Options& loggingOptions) = 0;
-
-   /// @brief .
-   ///
-   /// Gets the curent options for the diag logger.
-   ///
-   /// @return Diag log options object.
-   virtual Options getOptions() = 0;
-
-   /// @brief .
-   ///
-   /// Allows for setting the log mask once diag logging has started
-   ///
-   /// @return True if the level was set successfully, false if a failure occurred.
-   virtual bool setDiagLogMask(const std::string& mask) = 0;
-
-   /// @brief .
-   ///
-   /// Allows for setting the log mask once diag logging has started
-   ///
-   /// @return True if the level was set successfully, false if a failure occurred.
-   virtual bool setDiagLogMask(const zdl::DlSystem::String& mask) = 0;
-
-   /// @brief .
-   ///
-   /// Enables logging for zdl components.
-   ///
-   /// Logging should be started prior to the instantiation of zdl components
-   /// to ensure all events are captured.
-   ///
-   /// @return False if diagnostic logging could not be started.
-   virtual bool start(void) = 0;
-
-   /// @brief Disables logging for zdl components.
-   virtual bool stop(void) = 0;
-
-   virtual ~IDiagLog() {};
-};
-
-} // DiagLog namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif
diff --git a/third_party/snpe/include/DiagLog/Options.hpp b/third_party/snpe/include/DiagLog/Options.hpp
deleted file mode 100644
index 798fa3f1240a62..00000000000000
--- a/third_party/snpe/include/DiagLog/Options.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#ifndef __DIAGLOG_OPTIONS_HPP_
-#define __DIAGLOG_OPTIONS_HPP_
-
-#include <string>
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace DiagLog
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/// @brief .
-///
-/// Options for setting up diagnostic logging for zdl components.
-class ZDL_EXPORT Options
-{
-public:
-   Options() :
-      DiagLogMask(""),
-      LogFileDirectory("diaglogs"),
-      LogFileName("DiagLog"),
-      LogFileRotateCount(20),
-      LogFileReplace(true)
-   {
-      // Solves the empty string problem with multiple std libs
-      DiagLogMask.reserve(1);
-   }
-
-   /// @brief .
-   ///
-   /// Enables diag logging only on the specified area mask (DNN_RUNTIME=ON | OFF)
-   std::string DiagLogMask;
-
-   /// @brief .
-   ///
-   /// The path to the directory where log files will be written.
-   /// The path may be relative or absolute. Relative paths are interpreted
-   /// from the current working directory.
-   /// Default value is "diaglogs"
-   std::string LogFileDirectory;
-
-   /// @brief .
-   ///
-   //// The name used for log files. If this value is empty then BaseName will be
-   /// used as the default file name.
-   /// Default value is "DiagLog"
-   std::string LogFileName;
-
-   /// @brief .
-   ///
-   /// The maximum number of log files to create. If set to 0 no log rotation
-   /// will be used and the log file name specified will be used each time, overwriting
-   /// any existing log file that may exist.
-   /// Default value is 20
-   uint32_t LogFileRotateCount;
-
-   /// @brief
-   ///
-   /// If the log file already exists, control whether it will be replaced
-   /// (existing contents truncated), or appended.
-   /// Default value is true
-   bool LogFileReplace;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // DiagLog namespace
-} // zdl namespace
-
-
-#endif
diff --git a/third_party/snpe/include/DlContainer/IDlContainer.hpp b/third_party/snpe/include/DlContainer/IDlContainer.hpp
deleted file mode 100644
index 4e29b39bb41eb8..00000000000000
--- a/third_party/snpe/include/DlContainer/IDlContainer.hpp
+++ /dev/null
@@ -1,191 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef ZEROTH_IDNC_CONTAINER_HPP
-#define ZEROTH_IDNC_CONTAINER_HPP
-
-#include <memory>
-#include <stdint.h>
-#include <string>
-#include <vector>
-#include <set>
-
-#include "DlSystem/ZdlExportDefine.hpp"
-#include "DlSystem/String.hpp"
-
-namespace zdl {
-namespace DlContainer {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-class IDlContainer;
-class dlc_error;
-
-/**
- * The structure of a record in a DL container.
- */
-struct ZDL_EXPORT DlcRecord
-{
-   /// Name of the record.
-   std::string name;
-   /// Byte blob holding the data for the record.
-   std::vector<uint8_t> data;
-
-   DlcRecord();
-   DlcRecord( DlcRecord&& other )
-      : name(std::move(other.name))
-      , data(std::move(other.data))
-   {}
-   DlcRecord(const std::string& new_name)
-      : name(new_name)
-      , data()
-   {
-      if(name.empty())
-      {
-         name.reserve(1);
-      }
-   }
-   DlcRecord(const DlcRecord&) = delete;
-};
-
-// The maximum length of any record name.
-extern const uint32_t RECORD_NAME_MAX_SIZE;
-// The maximum size of the record payload (bytes).
-extern const uint32_t RECORD_DATA_MAX_SIZE;
-// The maximum number of records in an archive at one time.
-extern const uint32_t ARCHIVE_MAX_RECORDS;
-
-/**
- * Represents a container for a neural network model which can
- * be used to load the model into the SNPE runtime.
- */
-class ZDL_EXPORT IDlContainer
-{
-public:
-   /**
-    * Initializes a container from a container archive file.
-    *
-    * @param[in] filename Container archive file path.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const std::string &filename) noexcept;
-
-   /**
-    * Initializes a container from a container archive file.
-    *
-    * @param[in] filename Container archive file path.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const zdl::DlSystem::String &filename) noexcept;
-
-   /**
-    * Initializes a container from a byte buffer.
-    *
-    * @param[in] buffer Byte buffer holding the contents of an archive
-    *                   file.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const std::vector<uint8_t> &buffer) noexcept;
-
-   /**
-    * Initializes a container from a byte buffer.
-    *
-    * @param[in] buffer Byte buffer holding the contents of an archive
-    *                   file.
-    *
-    * @param[in] size Size of the byte buffer.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const uint8_t* buffer, const size_t size) noexcept;
-
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-   /**
-    * Get the record catalog for a container.
-    *
-    * @param[out] catalog Buffer that will hold the record names on
-    *                    return.
-    */
-   virtual void getCatalog(std::set<std::string> &catalog) const = 0;
-
-    /**
-     * Get the record catalog for a container.
-     *
-     * @param[out] catalog Buffer that will hold the record names on
-     *                    return.
-     */
-   virtual void getCatalog(std::set<zdl::DlSystem::String> &catalog) const = 0;
-
-   /**
-    * Get a record from a container by name.
-    *
-    * @param[in] name Name of the record to fetch.
-    * @param[out] record The passed in record will be populated with the
-    *                   record data on return. Note that the caller
-    *                   will own the data in the record and is
-    *                   responsible for freeing it if needed.
-    */
-   virtual void getRecord(const std::string &name, DlcRecord &record) const = 0;
-
-   /**
-    * Get a record from a container by name.
-    *
-    * @param[in] name Name of the record to fetch.
-    * @param[out] record The passed in record will be populated with the
-    *                   record data on return. Note that the caller
-    *                   will own the data in the record and is
-    *                   responsible for freeing it if needed.
-    */
-   virtual void getRecord(const zdl::DlSystem::String &name, DlcRecord &record) const = 0;
-
-   /**
-    * Save the container to an archive on disk. This function will save the
-    * container if the filename is different from the file that it was opened
-    * from, or if at least one record was modified since the container was
-    * opened.
-    *
-    * It will truncate any existing file at the target path.
-    *
-    * @param filename Container archive file path.
-    *
-    * @return indication of success/failure
-    */
-   virtual bool save(const std::string &filename) = 0;
-
-   /**
-    * Save the container to an archive on disk. This function will save the
-    * container if the filename is different from the file that it was opened
-    * from, or if at least one record was modified since the container was
-    * opened.
-    *
-    * It will truncate any existing file at the target path.
-    *
-    * @param filename Container archive file path.
-    *
-    * @return indication of success/failure
-    */
-   virtual bool save (const zdl::DlSystem::String &filename) = 0;
-
-   virtual ~IDlContainer() {}
-};
-
-} // ns DlContainer
-} // ns zdl
-
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/DlEnums.hpp b/third_party/snpe/include/DlSystem/DlEnums.hpp
deleted file mode 100644
index c9b3ef970a2aaa..00000000000000
--- a/third_party/snpe/include/DlSystem/DlEnums.hpp
+++ /dev/null
@@ -1,234 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2014-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _DL_ENUMS_HPP_
-#define _DL_ENUMS_HPP_
-
-#include "DlSystem/ZdlExportDefine.hpp"
-
-
-namespace zdl {
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Enumeration of supported target runtimes.
- */
-enum class Runtime_t
-{
-   /// Run the processing on Snapdragon CPU.
-   /// Data: float 32bit
-   /// Math: float 32bit
-   CPU_FLOAT32  = 0,
-
-   /// Run the processing on the Adreno GPU.
-   /// Data: float 16bit
-   /// Math: float 32bit
-   GPU_FLOAT32_16_HYBRID = 1,
-
-   /// Run the processing on the Hexagon DSP.
-   /// Data: 8bit fixed point Tensorflow style format
-   /// Math: 8bit fixed point Tensorflow style format
-   DSP_FIXED8_TF = 2,
-
-   /// Run the processing on the Adreno GPU.
-   /// Data: float 16bit
-   /// Math: float 16bit
-   GPU_FLOAT16 = 3,
-
-   /// Run the processing on Snapdragon AIX+HVX.
-   /// Data: 8bit fixed point Tensorflow style format
-   /// Math: 8bit fixed point Tensorflow style format
-   AIP_FIXED8_TF = 5,
-   AIP_FIXED_TF = AIP_FIXED8_TF,
-
-   /// Default legacy enum to retain backward compatibility.
-   /// CPU = CPU_FLOAT32
-   CPU = CPU_FLOAT32,
-
-   /// Default legacy enum to retain backward compatibility.
-   /// GPU = GPU_FLOAT32_16_HYBRID
-   GPU = GPU_FLOAT32_16_HYBRID,
-
-   /// Default legacy enum to retain backward compatibility.
-   /// DSP = DSP_FIXED8_TF
-   DSP = DSP_FIXED8_TF,
-
-   /// Special value indicating the property is unset.
-   UNSET = -1
-};
-
-/**
- * Enumeration of runtime available check options.
- */
-enum class RuntimeCheckOption_t
-{
-   /// Perform standard runtime available check
-   DEFAULT = 0,
-   /// Perform standard runtime available check
-   NORMAL_CHECK = 0,
-   /// Perform basic runtime available check, may be runtime specific
-   BASIC_CHECK = 1,
-   /// Perform unsignedPD runtime available check
-   UNSIGNEDPD_CHECK = 2,
-};
-
-/**
- * Enumeration of various performance profiles that can be requested.
- */
-enum class PerformanceProfile_t
-{
-    /// Run in a standard mode.
-    /// This mode will be deprecated in the future and replaced with BALANCED.
-    DEFAULT = 0,
-    /// Run in a balanced mode.
-    BALANCED = 0,
-
-    /// Run in high performance mode
-    HIGH_PERFORMANCE = 1,
-
-    /// Run in a power sensitive mode, at the expense of performance.
-    POWER_SAVER = 2,
-
-    /// Use system settings.  SNPE makes no calls to any performance related APIs.
-    SYSTEM_SETTINGS = 3,
-
-    /// Run in sustained high performance mode
-    SUSTAINED_HIGH_PERFORMANCE = 4,
-
-    /// Run in burst mode
-    BURST = 5,
-
-    /// Run in lower clock than POWER_SAVER, at the expense of performance.
-    LOW_POWER_SAVER = 6,
-
-    /// Run in higher clock and provides better performance than POWER_SAVER.
-    HIGH_POWER_SAVER = 7,
-
-    /// Run in lower balanced mode
-    LOW_BALANCED = 8,
-};
-
-/**
- * Enumeration of various profilngLevels that can be requested.
- */
-enum class ProfilingLevel_t
-{
-    /// No profiling.
-    /// Collects no runtime stats in the DiagLog
-    OFF = 0,
-
-    /// Basic profiling
-    /// Collects some runtime stats in the DiagLog
-    BASIC = 1,
-
-    /// Detailed profiling
-    /// Collects more runtime stats in the DiagLog, including per-layer statistics
-    /// Performance may be impacted
-    DETAILED = 2,
-
-    /// Moderate profiling
-    /// Collects more runtime stats in the DiagLog, no per-layer statistics
-    MODERATE = 3
-};
-
-/**
- * Enumeration of various execution priority hints.
- */
-enum class ExecutionPriorityHint_t
-{
-    /// Normal priority
-    NORMAL = 0,
-
-    /// Higher than normal priority
-    HIGH = 1,
-
-    /// Lower priority
-    LOW = 2
-
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++*/
-
-/**
- * Enumeration that lists the supported image encoding formats.
- */
-enum class ImageEncoding_t
-{
-   /// For unknown image type. Also used as a default value for ImageEncoding_t.
-   UNKNOWN = 0,
-
-   /// The RGB format consists of 3 bytes per pixel: one byte for
-   /// Red, one for Green, and one for Blue. The byte ordering is
-   /// endian independent and is always in RGB byte order.
-   RGB = 1,
-
-   /// The ARGB32 format consists of 4 bytes per pixel: one byte for
-   /// Red, one for Green, one for Blue, and one for the alpha channel.
-   /// The alpha channel is ignored. The byte ordering depends on the
-   /// underlying CPU. For little endian CPUs, the byte order is BGRA.
-   /// For big endian CPUs, the byte order is ARGB.
-   ARGB32 = 2,
-
-   /// The RGBA format consists of 4 bytes per pixel: one byte for
-   /// Red, one for Green, one for Blue, and one for the alpha channel.
-   /// The alpha channel is ignored. The byte ordering is endian independent
-   /// and is always in RGBA byte order.
-   RGBA = 3,
-
-   /// The GRAYSCALE format is for 8-bit grayscale.
-   GRAYSCALE = 4,
-
-   /// NV21 is the Android version of YUV. The Chrominance is down
-   /// sampled and has a subsampling ratio of 4:2:0. Note that this
-   /// image format has 3 channels, but the U and V channels
-   /// are subsampled. For every four Y pixels there is one U and one V pixel. @newpage
-   NV21 = 5,
-
-   /// The BGR format consists of 3 bytes per pixel: one byte for
-   /// Red, one for Green and one for Blue. The byte ordering is
-   /// endian independent and is always BGR byte order.
-   BGR = 6
-};
-
-/**
- * Enumeration that lists the supported LogLevels that can be set by users.
- */
-enum class LogLevel_t
-{
-    /// Enumeration variable to be used by user to set logging level to FATAL.
-    LOG_FATAL = 0,
-
-    /// Enumeration variable to be used by user to set logging level to ERROR.
-    LOG_ERROR = 1,
-
-    /// Enumeration variable to be used by user to set logging level to WARN.
-    LOG_WARN = 2,
-
-    /// Enumeration variable to be used by user to set logging level to INFO.
-    LOG_INFO = 3,
-
-    /// Enumeration variable to be used by user to set logging level to VERBOSE.
-    LOG_VERBOSE = 4
-};
-
-typedef enum : int
-{
-   UNSPECIFIED = 0,
-   FLOATING_POINT_32 = 1,
-   FLOATING_POINT_16 = 2,
-   FIXED_POINT_8 =  3,
-   FIXED_POINT_16 = 4
-} IOBufferDataType_t;
-
-}} // namespaces end
-
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/DlError.hpp b/third_party/snpe/include/DlSystem/DlError.hpp
deleted file mode 100644
index 57592f01baed27..00000000000000
--- a/third_party/snpe/include/DlSystem/DlError.hpp
+++ /dev/null
@@ -1,259 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _DL_ERROR_HPP_
-#define _DL_ERROR_HPP_
-
-#include <stdint.h>
-#include <limits> // numeric_limits
-
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace DlSystem {
-
-// clang and arm gcc different in how ZDL_EXPORT is used with enum class
-#if !defined (__clang__)
-enum class ErrorCode : uint32_t ZDL_EXPORT {
-#else
-enum class ZDL_EXPORT ErrorCode : uint32_t {
-#endif // ARM64V8A
-   NONE = 0,
-
-   // System config errors
-   SNPE_CONFIG_MISSING_PARAM                             = 100,
-   SNPE_CONFIG_INVALID_PARAM                             = 101,
-   SNPE_CONFIG_MISSING_FILE                              = 102,
-   SNPE_CONFIG_NNCONFIG_NOT_SET                          = 103,
-   SNPE_CONFIG_NNCONFIG_INVALID                          = 104,
-   SNPE_CONFIG_WRONG_INPUT_NAME                          = 105,
-   SNPE_CONFIG_INCORRECT_INPUT_DIMENSIONS                = 106,
-   SNPE_CONFIG_DIMENSIONS_MODIFICATION_NOT_SUPPORTED     = 107,
-   SNPE_CONFIG_BOTH_OUTPUT_LAYER_TENSOR_NAMES_SET        = 108,
-
-   SNPE_CONFIG_NNCONFIG_ONLY_TENSOR_SUPPORTED            = 120,
-   SNPE_CONFIG_NNCONFIG_ONLY_USER_BUFFER_SUPPORTED       = 121,
-
-   // DlSystem errors
-   SNPE_DLSYSTEM_MISSING_BUFFER                          = 200,
-   SNPE_DLSYSTEM_TENSOR_CAST_FAILED                      = 201,
-   SNPE_DLSYSTEM_FIXED_POINT_PARAM_INVALID               = 202,
-   SNPE_DLSYSTEM_SIZE_MISMATCH                           = 203,
-   SNPE_DLSYSTEM_NAME_NOT_FOUND                          = 204,
-   SNPE_DLSYSTEM_VALUE_MISMATCH                          = 205,
-   SNPE_DLSYSTEM_INSERT_FAILED                           = 206,
-   SNPE_DLSYSTEM_TENSOR_FILE_READ_FAILED                 = 207,
-   SNPE_DLSYSTEM_DIAGLOG_FAILURE                         = 208,
-   SNPE_DLSYSTEM_LAYER_NOT_SET                           = 209,
-   SNPE_DLSYSTEM_WRONG_NUMBER_INPUT_BUFFERS              = 210,
-   SNPE_DLSYSTEM_RUNTIME_TENSOR_SHAPE_MISMATCH           = 211,
-   SNPE_DLSYSTEM_TENSOR_MISSING                          = 212,
-   SNPE_DLSYSTEM_TENSOR_ITERATION_UNSUPPORTED            = 213,
-   SNPE_DLSYSTEM_BUFFER_MANAGER_MISSING                  = 214,
-   SNPE_DLSYSTEM_RUNTIME_BUFFER_SOURCE_UNSUPPORTED       = 215,
-   SNPE_DLSYSTEM_BUFFER_CAST_FAILED                      = 216,
-   SNPE_DLSYSTEM_WRONG_TRANSITION_TYPE                   = 217,
-   SNPE_DLSYSTEM_LAYER_ALREADY_REGISTERED                = 218,
-   SNPE_DLSYSTEM_TENSOR_DIM_INVALID                      = 219,
-
-   SNPE_DLSYSTEM_BUFFERENCODING_UNKNOWN                  = 240,
-   SNPE_DLSYSTEM_BUFFER_INVALID_PARAM                    = 241,
-
-   // DlContainer errors
-   SNPE_DLCONTAINER_MODEL_PARSING_FAILED                 = 300,
-   SNPE_DLCONTAINER_UNKNOWN_LAYER_CODE                   = 301,
-   SNPE_DLCONTAINER_MISSING_LAYER_PARAM                  = 302,
-   SNPE_DLCONTAINER_LAYER_PARAM_NOT_SUPPORTED            = 303,
-   SNPE_DLCONTAINER_LAYER_PARAM_INVALID                  = 304,
-   SNPE_DLCONTAINER_TENSOR_DATA_MISSING                  = 305,
-   SNPE_DLCONTAINER_MODEL_LOAD_FAILED                    = 306,
-   SNPE_DLCONTAINER_MISSING_RECORDS                      = 307,
-   SNPE_DLCONTAINER_INVALID_RECORD                       = 308,
-   SNPE_DLCONTAINER_WRITE_FAILURE                        = 309,
-   SNPE_DLCONTAINER_READ_FAILURE                         = 310,
-   SNPE_DLCONTAINER_BAD_CONTAINER                        = 311,
-   SNPE_DLCONTAINER_BAD_DNN_FORMAT_VERSION               = 312,
-   SNPE_DLCONTAINER_UNKNOWN_AXIS_ANNOTATION              = 313,
-   SNPE_DLCONTAINER_UNKNOWN_SHUFFLE_TYPE                 = 314,
-   SNPE_DLCONTAINER_TEMP_FILE_FAILURE                    = 315,
-
-   // Network errors
-   SNPE_NETWORK_EMPTY_NETWORK                            = 400,
-   SNPE_NETWORK_CREATION_FAILED                          = 401,
-   SNPE_NETWORK_PARTITION_FAILED                         = 402,
-   SNPE_NETWORK_NO_OUTPUT_DEFINED                        = 403,
-   SNPE_NETWORK_MISMATCH_BETWEEN_NAMES_AND_DIMS          = 404,
-   SNPE_NETWORK_MISSING_INPUT_NAMES                      = 405,
-   SNPE_NETWORK_MISSING_OUTPUT_NAMES                     = 406,
-   SNPE_NETWORK_EXECUTION_FAILED                         = 407,
-
-   // Host runtime errors
-   SNPE_HOST_RUNTIME_TARGET_UNAVAILABLE                  = 500,
-
-   // CPU runtime errors
-   SNPE_CPU_LAYER_NOT_SUPPORTED                          = 600,
-   SNPE_CPU_LAYER_PARAM_NOT_SUPPORTED                    = 601,
-   SNPE_CPU_LAYER_PARAM_INVALID                          = 602,
-   SNPE_CPU_LAYER_PARAM_COMBINATION_INVALID              = 603,
-   SNPE_CPU_BUFFER_NOT_FOUND                             = 604,
-   SNPE_CPU_NETWORK_NOT_SUPPORTED                        = 605,
-   SNPE_CPU_UDO_OPERATION_FAILED                         = 606,
-
-   // CPU fixed-point runtime errors
-   SNPE_CPU_FXP_LAYER_NOT_SUPPORTED                      = 700,
-   SNPE_CPU_FXP_LAYER_PARAM_NOT_SUPPORTED                = 701,
-   SNPE_CPU_FXP_LAYER_PARAM_INVALID                      = 702,
-
-   // GPU runtime errors
-   SNPE_GPU_LAYER_NOT_SUPPORTED                          = 800,
-   SNPE_GPU_LAYER_PARAM_NOT_SUPPORTED                    = 801,
-   SNPE_GPU_LAYER_PARAM_INVALID                          = 802,
-   SNPE_GPU_LAYER_PARAM_COMBINATION_INVALID              = 803,
-   SNPE_GPU_KERNEL_COMPILATION_FAILED                    = 804,
-   SNPE_GPU_CONTEXT_NOT_SET                              = 805,
-   SNPE_GPU_KERNEL_NOT_SET                               = 806,
-   SNPE_GPU_KERNEL_PARAM_INVALID                         = 807,
-   SNPE_GPU_OPENCL_CHECK_FAILED                          = 808,
-   SNPE_GPU_OPENCL_FUNCTION_ERROR                        = 809,
-   SNPE_GPU_BUFFER_NOT_FOUND                             = 810,
-   SNPE_GPU_TENSOR_DIM_INVALID                           = 811,
-   SNPE_GPU_MEMORY_FLAGS_INVALID                         = 812,
-   SNPE_GPU_UNEXPECTED_NUMBER_OF_IO                      = 813,
-   SNPE_GPU_LAYER_PROXY_ERROR                            = 814,
-   SNPE_GPU_BUFFER_IN_USE                                = 815,
-   SNPE_GPU_BUFFER_MODIFICATION_ERROR                    = 816,
-   SNPE_GPU_DATA_ARRANGEMENT_INVALID                     = 817,
-   SNPE_GPU_UDO_OPERATION_FAILED                         = 818,
-   // DSP runtime errors
-   SNPE_DSP_LAYER_NOT_SUPPORTED                          = 900,
-   SNPE_DSP_LAYER_PARAM_NOT_SUPPORTED                    = 901,
-   SNPE_DSP_LAYER_PARAM_INVALID                          = 902,
-   SNPE_DSP_LAYER_PARAM_COMBINATION_INVALID              = 903,
-   SNPE_DSP_STUB_NOT_PRESENT                             = 904,
-   SNPE_DSP_LAYER_NAME_TRUNCATED                         = 905,
-   SNPE_DSP_LAYER_INPUT_BUFFER_NAME_TRUNCATED            = 906,
-   SNPE_DSP_LAYER_OUTPUT_BUFFER_NAME_TRUNCATED           = 907,
-   SNPE_DSP_RUNTIME_COMMUNICATION_ERROR                  = 908,
-   SNPE_DSP_RUNTIME_INVALID_PARAM_ERROR                  = 909,
-   SNPE_DSP_RUNTIME_SYSTEM_ERROR                         = 910,
-   SNPE_DSP_RUNTIME_CRASHED_ERROR                        = 911,
-   SNPE_DSP_BUFFER_SIZE_ERROR                            = 912,
-   SNPE_DSP_UDO_EXECUTE_ERROR                            = 913,
-   SNPE_DSP_UDO_LIB_NOT_REGISTERED_ERROR                 = 914,
-   SNPE_DSP_UDO_INVALID_QUANTIZATION_TYPE_ERROR          = 915,
-   SNPE_DSP_RUNTIME_INVALID_RPC_DRIVER                   = 916,
-   SNPE_DSP_RUNTIME_RPC_PERMISSION_ERROR                 = 917,
-   SNPE_DSP_RUNTIME_DSP_FILE_OPEN_ERROR                  = 918,
-
-   // Model validataion errors
-   SNPE_MODEL_VALIDATION_LAYER_NOT_SUPPORTED             = 1000,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_NOT_SUPPORTED       = 1001,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_INVALID             = 1002,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_MISSING             = 1003,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_COMBINATION_INVALID = 1004,
-   SNPE_MODEL_VALIDATION_LAYER_ORDERING_INVALID          = 1005,
-   SNPE_MODEL_VALIDATION_INVALID_CONSTRAINT              = 1006,
-   SNPE_MODEL_VALIDATION_MISSING_BUFFER                  = 1007,
-   SNPE_MODEL_VALIDATION_BUFFER_REUSE_NOT_SUPPORTED      = 1008,
-   SNPE_MODEL_VALIDATION_LAYER_COULD_NOT_BE_ASSIGNED     = 1009,
-   SNPE_MODEL_VALIDATION_UDO_LAYER_FAILED                = 1010,
-
-   // UDL errors
-   SNPE_UDL_LAYER_EMPTY_UDL_NETWORK                      = 1100,
-   SNPE_UDL_LAYER_PARAM_INVALID                          = 1101,
-   SNPE_UDL_LAYER_INSTANCE_MISSING                       = 1102,
-   SNPE_UDL_LAYER_SETUP_FAILED                           = 1103,
-   SNPE_UDL_EXECUTE_FAILED                               = 1104,
-   SNPE_UDL_BUNDLE_INVALID                               = 1105,
-   SNPE_UDO_REGISTRATION_FAILED                          = 1106,
-   SNPE_UDO_GET_PACKAGE_FAILED                           = 1107,
-   SNPE_UDO_GET_IMPLEMENTATION_FAILED                    = 1108,
-
-   // Dependent library errors
-   SNPE_STD_LIBRARY_ERROR                                = 1200,
-
-   // Unknown exception (catch (...)), Has no component attached to this
-   SNPE_UNKNOWN_EXCEPTION                                = 1210,
-
-   // Storage Errors
-   SNPE_STORAGE_INVALID_KERNEL_REPO                      = 1300,
-
-   // AIP runtime errors
-   SNPE_AIP_LAYER_NOT_SUPPORTED                          = 1400,
-   SNPE_AIP_LAYER_PARAM_NOT_SUPPORTED                    = 1401,
-   SNPE_AIP_LAYER_PARAM_INVALID                          = 1402,
-   SNPE_AIP_LAYER_PARAM_COMBINATION_INVALID              = 1403,
-   SNPE_AIP_STUB_NOT_PRESENT                             = 1404,
-   SNPE_AIP_LAYER_NAME_TRUNCATED                         = 1405,
-   SNPE_AIP_LAYER_INPUT_BUFFER_NAME_TRUNCATED            = 1406,
-   SNPE_AIP_LAYER_OUTPUT_BUFFER_NAME_TRUNCATED           = 1407,
-   SNPE_AIP_RUNTIME_COMMUNICATION_ERROR                  = 1408,
-   SNPE_AIP_RUNTIME_INVALID_PARAM_ERROR                  = 1409,
-   SNPE_AIP_RUNTIME_SYSTEM_ERROR                         = 1410,
-   SNPE_AIP_RUNTIME_TENSOR_MISSING                       = 1411,
-   SNPE_AIP_RUNTIME_TENSOR_SHAPE_MISMATCH                = 1412,
-   SNPE_AIP_RUNTIME_BAD_AIX_RECORD                       = 1413,
-
-   // DlCaching errors
-   SNPE_DLCACHING_INVALID_METADATA                       = 1500,
-   SNPE_DLCACHING_INVALID_INITBLOB                       = 1501,
-
-   // Infrastructure Errors
-   SNPE_INFRA_CLUSTERMGR_INSTANCE_INVALID                = 1600,
-   SNPE_INFRA_CLUSTERMGR_EXECUTE_SYNC_FAILED             = 1601,
-
-   // Memory Errors
-   SNPE_MEMORY_CORRUPTION_ERROR                          = 1700
-
-};
-
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Returns the error code of the last error encountered.
- *
- * @return The error code.
- *
- * @note The returned error code is significant only when the return
- *       value of the call indicated an error.
- */
-ZDL_EXPORT ErrorCode getLastErrorCode();
-
-/**
- * Returns the error string of the last error encountered.
- *
- * @return The error string.
- *
- * @note The returned error string is significant only when the return
- *       value of the call indicated an error.
- */
-ZDL_EXPORT const char* getLastErrorString();
-
-/**
- * Returns the info string of the last error encountered.
- */
-ZDL_EXPORT const char* getLastInfoString();
-
-/**
- * Returns the uint32_t representation of the error code enum.
- *
- * @param[in] code The error code to be converted.
- *
- * @return uint32_t representation of the error code.
- */
-ZDL_EXPORT uint32_t enumToUInt32(zdl::DlSystem::ErrorCode code);
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // DlSystem
-} // zdl
-
-#endif // _DL_ERROR_HPP_
-
diff --git a/third_party/snpe/include/DlSystem/DlOptional.hpp b/third_party/snpe/include/DlSystem/DlOptional.hpp
deleted file mode 100644
index 4f83e6b4e417fc..00000000000000
--- a/third_party/snpe/include/DlSystem/DlOptional.hpp
+++ /dev/null
@@ -1,225 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2016, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _DL_SYSTEM_OPTIONAL_HPP_
-#define _DL_SYSTEM_OPTIONAL_HPP_
-
-#include <cstdio>
-#include <utility>
-#include <stdexcept>
-
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace DlSystem {
-
-template <typename T>
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Class to manage a value that may or may not exist. The boolean value
- * of the Optional class is true if the object contains a value and false
- * if it does not contain a value.
- *
- * The class must be evaluated and confirmed as true (containing a value)
- * before being dereferenced.
- */
-class ZDL_EXPORT Optional final {
-public:
-   enum class LIFECYCLE {
-      NONE = 0,
-      REFERENCE_OWNED = 1,
-      POINTER_OWNED = 2,
-      POINTER_NOT_OWNED = 3
-   };
-
-   struct ReferenceCount {
-      size_t count = 0;
-
-      void increment() { count++; }
-
-      size_t decrement() {
-         if (count > 0) {
-            count--;
-         }
-         return count;
-      }
-   };
-
-   using U = typename std::remove_pointer<T>::type;
-
-   /**
-    * The default constructor is set to not have any value, and is
-    * therefore evaluated as false.
-    */
-   // Do not explicit it so we can return {}
-   Optional() {
-      m_Type = LIFECYCLE::NONE;
-   }
-
-   /**
-    * Construct an Optional class using an object.
-    * @param[in] Reference to an object v
-    * @param[out] Optional instance of object v
-    */
-   template <typename Q = T>
-   Optional (const T& v, typename std::enable_if<!std::is_pointer<Q>::value>::type* = 0)
-           : m_Type(LIFECYCLE::REFERENCE_OWNED) {
-      try {
-         m_StoragePtr = new T(v);
-      } catch (...) {
-         m_StoragePtr = nullptr;
-         m_Type = LIFECYCLE::NONE;
-      }
-   }
-
-   template <typename Q = T>
-   Optional(U* v, LIFECYCLE type, typename std::enable_if<std::is_pointer<Q>::value>::type* = 0)
-           : m_Type(type) {
-      switch (m_Type) {
-         case LIFECYCLE::POINTER_OWNED:
-            m_StoragePtr = v;
-            m_Count = new ReferenceCount();
-            m_Count->increment();
-            break;
-         case LIFECYCLE::POINTER_NOT_OWNED:
-            m_StoragePtr = v;
-            break;
-         case LIFECYCLE::REFERENCE_OWNED:
-            throw std::bad_exception();
-         case LIFECYCLE::NONE:
-            break;
-      }
-   }
-
-   Optional(const Optional &other) : m_Type(other.m_Type), m_Count(other.m_Count) {
-      if (isReference()) {
-         m_StoragePtr = new U(*other.m_StoragePtr);
-      } else if (isPointer()) {
-         m_StoragePtr = other.m_StoragePtr;
-         if (isOwned()) {
-            m_Count->increment();
-         }
-      }
-   }
-
-   Optional& operator=(const Optional& other) noexcept {
-      Optional tmp(other);
-      swap(std::move(tmp));
-      return *this;
-   }
-
-   Optional(Optional&& other) noexcept {
-      swap(std::move(other));
-   }
-
-   Optional& operator=(Optional&& other) noexcept {
-      swap(std::move(other));
-      return *this;
-   }
-
-   ~Optional() {
-      if (isOwned()) {
-         if (isReference() || (isPointer() && m_Count->decrement() == 0)) {
-            delete m_StoragePtr;
-            delete m_Count;
-         }
-      }
-   }
-
-   /**
-    * Boolean value of Optional class is only true when there exists a value.
-    */
-   operator bool() const noexcept { return isValid(); }
-
-   bool operator!() const noexcept { return !isValid(); }
-
-   /**
-    * Get reference of Optional object
-    * @warning User must validate Optional has value before.
-    */
-   const T& operator*() { return this->GetReference(); }
-
-   /**
-    * Get reference of Optional object
-    * @warning User must validate Optional has value before.
-    */
-   const T& operator*() const { return this->GetReference(); }
-
-   operator T&() { return this->GetReference(); }
-
-   T operator->() {
-      T self = this->GetReference();
-      return self;
-   }
-private:
-   void swap(Optional&& other) {
-      m_Type = other.m_Type;
-      m_StoragePtr = other.m_StoragePtr;
-      m_Count = other.m_Count;
-
-      other.m_Type = LIFECYCLE::NONE;
-      other.m_StoragePtr = nullptr;
-      other.m_Count = nullptr;
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U, Q>::value, const Q&>::type GetReference() const noexcept {
-      if (!isReference()) std::terminate();
-      return *static_cast<const Q*>(m_StoragePtr);
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U*, Q>::value, const Q&>::type GetReference() const noexcept {
-      if (!isPointer()) std::terminate();
-      return static_cast<const Q&>(m_StoragePtr);
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U, Q>::value, Q&>::type GetReference() noexcept {
-      if (!isReference()) std::terminate();
-      return *m_StoragePtr;
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U*, Q>::value, Q&>::type GetReference() noexcept {
-      if (!isPointer()) std::terminate();
-      return m_StoragePtr;
-   }
-
-   bool isPointer() const {
-      return m_Type == LIFECYCLE::POINTER_OWNED || m_Type == LIFECYCLE::POINTER_NOT_OWNED;
-   }
-
-   bool isOwned() const {
-      return m_Type == LIFECYCLE::REFERENCE_OWNED || m_Type == LIFECYCLE::POINTER_OWNED;
-   }
-
-   bool isReference() const {
-      return m_Type == LIFECYCLE::REFERENCE_OWNED;
-   }
-
-   bool isValid() const {
-      return m_Type != LIFECYCLE::NONE;
-   }
-
-   U* m_StoragePtr = nullptr;
-   LIFECYCLE m_Type;
-   ReferenceCount *m_Count = nullptr;
-};
-
-} // ns DlSystem
-} // ns zdl
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // _DL_SYSTEM_OPTIONAL_HPP_
diff --git a/third_party/snpe/include/DlSystem/DlVersion.hpp b/third_party/snpe/include/DlSystem/DlVersion.hpp
deleted file mode 100644
index beb8d75f218caf..00000000000000
--- a/third_party/snpe/include/DlSystem/DlVersion.hpp
+++ /dev/null
@@ -1,78 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2014-2015 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-
-#ifndef _DL_VERSION_HPP_
-#define _DL_VERSION_HPP_
-
-#include "ZdlExportDefine.hpp"
-#include <stdint.h>
-#include <string>
-#include "DlSystem/String.hpp"
-
-
-namespace zdl {
-namespace DlSystem
-{
-   class Version_t;
-}}
-
-
-namespace zdl { namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * A class that contains the different portions of a version number.
- */
-class ZDL_EXPORT Version_t
-{
-public:
-   /// Holds the major version number. Changes in this value indicate
-   /// major changes that break backward compatibility.
-   int32_t         Major;
-
-   /// Holds the minor version number. Changes in this value indicate
-   /// minor changes made to library that are backwards compatible
-   /// (such as additions to the interface).
-   int32_t         Minor;
-
-   /// Holds the teeny version number. Changes in this value indicate
-   /// changes such as bug fixes and patches made to the library that
-   /// do not affect the interface.
-   int32_t         Teeny;
-
-   /// This string holds information about the build version.
-   ///
-   std::string     Build;
-
-   static zdl::DlSystem::Version_t fromString(const std::string &stringValue);
-
-   static zdl::DlSystem::Version_t fromString(const zdl::DlSystem::String &stringValue);
-
-   /**
-    * @brief Returns a string in the form Major.Minor.Teeny.Build
-    *
-    * @return A formatted string holding the version information.
-    */
-   const std::string toString() const;
-
-   /**
-    * @brief Returns a string in the form Major.Minor.Teeny.Build
-    *
-    * @return A formatted string holding the version information.
-    */
-   const zdl::DlSystem::String asString() const;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis */
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/IBufferAttributes.hpp b/third_party/snpe/include/DlSystem/IBufferAttributes.hpp
deleted file mode 100644
index f893e0a2370880..00000000000000
--- a/third_party/snpe/include/DlSystem/IBufferAttributes.hpp
+++ /dev/null
@@ -1,86 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2017-2019 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _IBUFFER_ATTRIBUTES_HPP
-#define _IBUFFER_ATTRIBUTES_HPP
-#include "IUserBuffer.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-
-namespace zdl {
-    namespace DlSystem {
-        class UserBufferEncoding;
-    }
-}
-
-namespace zdl {
-namespace DlSystem {
-
-/**
- * @brief IBufferAttributes returns a buffer's dimension and alignment
- *        requirements, along with info on its encoding type
- */
-class ZDL_EXPORT IBufferAttributes {
-public:
-
-    /**
-      * @brief Gets the buffer's element size, in bytes
-      *
-      * This can be used to compute the memory size required
-      * to back this buffer.
-      *
-      * @return Element size, in bytes
-     */
-    virtual size_t getElementSize() const noexcept = 0;
-
-    /**
-      * @brief Gets the element's encoding type
-      *
-      * @return encoding type
-     */
-    virtual zdl::DlSystem::UserBufferEncoding::ElementType_t getEncodingType() const noexcept = 0;
-
-    /**
-      * @brief Gets the number of elements in each dimension
-      *
-      * @return Dimension size, in terms of number of elements
-     */
-    virtual const TensorShape getDims() const noexcept = 0;
-
-    /**
-      * @brief Gets the alignment requirement of each dimension
-      *
-      * Alignment per each dimension is expressed as an multiple, for
-      * example, if one particular dimension can accept multiples of 8,
-      * the alignment will be 8.
-      *
-      * @return Alignment in each dimension, in terms of multiple of
-      *         number of elements
-     */
-    virtual const TensorShape getAlignments() const noexcept = 0;
-
-    /**
-      * @brief Gets the buffer encoding returned from the network responsible
-      * for generating this buffer. Depending on the encoding type, this will
-      * be an instance of an encoding type specific derived class.
-      *
-      * @return Derived user buffer encoding object.
-     */
-    virtual zdl::DlSystem::UserBufferEncoding* getEncoding() const noexcept = 0;
-
-    virtual ~IBufferAttributes() {}
-};
-
-
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}
-}
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp b/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
deleted file mode 100644
index ac33c84af81198..00000000000000
--- a/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
+++ /dev/null
@@ -1,127 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2021-2022 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-
-#ifndef DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
-#define DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
-
-#include <cstddef>
-#include <memory>
-#include "DlSystem/DlEnums.hpp"
-
-namespace DlSystem
-{
-   // Forward declaration of IOBufferDataTypeMapImpl implementation.
-   class IOBufferDataTypeMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * The IoBufferDataTypeMap class definition
- */
-class ZDL_EXPORT IOBufferDataTypeMap final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new Buffer Data type map
-    *
-    */
-   IOBufferDataTypeMap();
-
-   /**
-    * @brief Adds a name and the corresponding buffer data type
-    *        to the map
-    *
-    * @param[name] name The name of the buffer
-    * @param[bufferDataType] buffer Data Type of the buffer
-    *
-    * @note If a buffer with the same name already exists, no new
-    *       buffer is added.
-    */
-   void add(const char* name, zdl::DlSystem::IOBufferDataType_t bufferDataType);
-
-   /**
-    * @brief Removes a buffer name from the map
-    *
-    * @param[name] name The name of the buffer
-    *
-    */
-   void remove(const char* name);
-
-   /**
-    * @brief Returns the type of the named buffer
-    *
-    * @param[name] name The name of the buffer
-    *
-    * @return The type of the buffer, or UNSPECIFIED if the buffer does not exist
-    *
-    */
-   zdl::DlSystem::IOBufferDataType_t getBufferDataType(const char* name);
-
-   /**
-    * @brief Returns the type of the first buffer
-    *
-    * @return The type of the first buffer, or UNSPECIFIED if the map is empty.
-    *
-    */
-   zdl::DlSystem::IOBufferDataType_t getBufferDataType();
-
-   /**
-    * @brief Returns the size of the buffer type map.
-    *
-    * @return The size of the map
-    *
-    */
-   size_t size();
-
-   /**
-    * @brief Checks the existence of the named buffer in the map
-    *
-    * @return True if the named buffer exists, false otherwise.
-    *
-    */
-   bool find(const char* name);
-
-   /**
-    * @brief Resets the map
-    *
-    */
-   void clear();
-
-   /**
-    * @brief Checks whether the map is empty
-    *
-    * @return True if the map is empty, false otherwise.
-    *
-    */
-   bool empty();
-
-   /**
-    * @brief Destroys the map
-    *
-    */
-   ~IOBufferDataTypeMap();
-
-private:
-   std::shared_ptr<::DlSystem::IOBufferDataTypeMapImpl> m_IOBufferDataTypeMapImpl;
-};
-}
-
-}
-#endif
diff --git a/third_party/snpe/include/DlSystem/ITensor.hpp b/third_party/snpe/include/DlSystem/ITensor.hpp
deleted file mode 100644
index 2f006c857fc442..00000000000000
--- a/third_party/snpe/include/DlSystem/ITensor.hpp
+++ /dev/null
@@ -1,146 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_HPP_
-#define _ITENSOR_HPP_
-
-#include "ITensorItr.hpp"
-#include "ITensorItrImpl.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include <memory>
-#include <ostream>
-#include <cmath>
-
-namespace zdl {
-namespace DlSystem
-{
-   class ITensor;
-}}
-
-namespace zdl { namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Represents a tensor which holds n-dimensional data. It is important to
- * understand how the tensor data is represented in memory 
- * relative to the tensor dimensions. Tensors store data in 
- * memory in row-major order (i.e. the last tensor dimension is 
- * the fastest varying one). For example, if you have a two 
- * dimensional tensor with 3 rows and 2 columns (i.e. the tensor 
- * dimensions are 3,2 as returned in tensor dimension vectors)
- * with the following data in terms rows and columns: 
- *  
- * | 1 2 | <br/>
- * | 3 4 | <br/>
- * | 5 6 | <br/>
- *  
- * This data would be stored in memory as 1,2,3,4,5,6. 
- */
-class ZDL_EXPORT ITensor 
-{
-public:
-
-   typedef zdl::DlSystem::ITensorItr<false> iterator;
-   typedef zdl::DlSystem::ITensorItr<true> const_iterator;
-
-   virtual ~ITensor() {}
-
-   /**
-    * Returns a tensor iterator pointing to the beginning 
-    * of the data in the tensor.
-    * 
-    * @return A tensor iterator that points to the first data
-    *         element in the tensor.
-    */
-   virtual iterator begin() = 0;
-
-   /**
-    * Returns the const version of a tensor iterator 
-    * pointing to the beginning of the data in the tensor.
-    * 
-    * @return A tensor const iterator that points to the first data
-    *         element in the tensor.
-    */
-   virtual const_iterator cbegin() const = 0;
-
-   /**
-    * Returns a tensor iterator pointing to the end of the
-    * data in the tensor. This tensor should not be
-    * dereferenced.
-    * 
-    * @return A tensor iterator that points to the end of the data 
-    *         (one past the last element) in the tensor.
-    */
-   virtual iterator end() = 0;
-
-   /**
-    * Returns the const version of a tensor iterator 
-    * pointing to the end of the data in the tensor. This
-    * tensor should not be dereferenced.
-    * 
-    * @return A tensor const iterator that points to the end of the
-    *         data (one past the last element) in the tensor.
-    */
-   virtual const_iterator cend() const = 0;
-
-   /**
-    * @brief Gets the shape of this tensor.
-    *  
-    * The last element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest 
-    * varying dimension, etc. 
-    * 
-    * @return A shape class holding the tensor dimensions.
-    */
-   virtual TensorShape getShape() const = 0;
-
-   /**
-    * Returns the element size of the data in the tensor 
-    * (discounting strides). This is how big a buffer would
-    * need to be to hold the tensor data contiguously in
-    * memory.
-    *  
-    * @return The size of the tensor (in elements).
-    */
-   virtual size_t getSize() const = 0;
-
-   /**
-    * @brief Serializes the tensor to an output stream.
-    * 
-    * @param[in] output The output stream to which to write the tensor 
-    *  
-    * @throw std::runtime_error If the stream is ever in a bad 
-    *        state before the tensor is fully serialized.
-    */
-   virtual void serialize(std::ostream &output) const = 0;
-
-   friend iterator;
-   friend const_iterator;
-
-   virtual bool isQuantized() {return false;}
-   virtual float GetDelta() {return NAN;};
-   virtual float GetOffset() {return NAN;};
-
-protected:
-
-   /**
-    * Returns the tensor iterator implementation.
-    * 
-    * @return A pointer to the tensor iterator implementation.
-    */
-   virtual std::unique_ptr<::DlSystem::ITensorItrImpl> getItrImpl() const = 0;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorFactory.hpp b/third_party/snpe/include/DlSystem/ITensorFactory.hpp
deleted file mode 100644
index 57d2c8ea992375..00000000000000
--- a/third_party/snpe/include/DlSystem/ITensorFactory.hpp
+++ /dev/null
@@ -1,92 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_FACTORY_HPP
-#define _ITENSOR_FACTORY_HPP
-
-#include "ITensor.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include <istream>
-
-namespace zdl {
-    namespace DlSystem
-    {
-        class ITensor;
-        class TensorShape;
-    }
-}
-
-namespace zdl { namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Factory interface class to create ITensor objects.
- */
-class ZDL_EXPORT ITensorFactory
-{
-public:
-   virtual ~ITensorFactory() = default;
-
-   /**
-    * Creates a new ITensor with uninitialized data. 
-    *  
-    * The strides for the tensor will match the tensor dimensions 
-    * (i.e., the tensor data is contiguous in memory).
-    *  
-    * @param[in] shape The dimensions for the tensor in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    * 
-    * @return A pointer to the created tensor or nullptr if creating failed.
-    */
-   virtual std::unique_ptr<ITensor>
-      createTensor(const TensorShape &shape) noexcept = 0;
-
-   /**
-    * Creates a new ITensor by loading it from a file.
-    *  
-    * @param[in] input The input stream from which to read the tensor 
-    *                  data.
-    *  
-    * @return A pointer to the created tensor or nullptr if creating failed.
-    *
-    */
-   virtual std::unique_ptr<ITensor> createTensor(std::istream &input) noexcept = 0;
-
-   /**
-    * Create a new ITensor with specific data.
-    * (i.e. the tensor data is contiguous in memory). This tensor is
-    * primarily used to create a tensor where tensor size can't be
-    * computed directly from dimension. One such example is
-    * NV21-formatted image, or any YUV formatted image
-    *
-    * @param[in] shape The dimensions for the tensor in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-    * @param[in] data The actual data with which the Tensor object is filled.
-    *
-    * @param[in] dataSize The size of data
-    *
-    * @return A pointer to the created tensor
-    */
-   virtual std::unique_ptr<ITensor>
-      createTensor(const TensorShape &shape, const unsigned char *data, size_t dataSize) noexcept = 0;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorItr.hpp b/third_party/snpe/include/DlSystem/ITensorItr.hpp
deleted file mode 100644
index 4ce12a9f113acb..00000000000000
--- a/third_party/snpe/include/DlSystem/ITensorItr.hpp
+++ /dev/null
@@ -1,182 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_ITR_HPP_
-#define _ITENSOR_ITR_HPP_
-
-#include "ZdlExportDefine.hpp"
-#include "ITensorItrImpl.hpp"
-
-#include <memory>
-#include <iterator>
-#include <iostream>
-
-namespace zdl {
-namespace DlSystem
-{
-   template<bool IS_CONST> class ITensorItr;
-   class ITensor;
-   void ZDL_EXPORT fill(ITensorItr<false> first, ITensorItr<false> end, float val);
-   template<class InItr, class OutItr> OutItr ZDL_EXPORT copy(InItr first, InItr last, OutItr result)
-   {
-      return std::copy(first, last, result);
-   }
-}}
-namespace DlSystem
-{
-   class ITensorItrImpl;
-}
-
-namespace zdl { namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * A bidirectional iterator (with limited random access 
- * capabilities) for the zdl::DlSystem::ITensor class.
- *  
- * This is a standard bidrectional iterator and is compatible
- * with standard algorithm functions that operate on bidirectional 
- * access iterators (e.g., std::copy, std::fill, etc.). It uses a
- * template parameter to create const and non-const iterators 
- * from the same code. Iterators are easiest to declare via the 
- * typedefs iterator and const_iterator in the ITensor class 
- * (e.g., zdl::DlSystem::ITensor::iterator). 
- *  
- * Note that if the tensor the iterator is traversing was 
- * created with nondefault (i.e., nontrivial) strides, the 
- * iterator will obey the strides when traversing the tensor 
- * data. 
- *  
- * Also note that nontrivial strides dramatically affect the
- * performance of the iterator (on the order of 20x slower). 
- */ 
-template<bool IS_CONST=true>
-class ZDL_EXPORT ITensorItr : public std::iterator<std::bidirectional_iterator_tag, float>
-{
-public:
-
-   typedef typename std::conditional<IS_CONST, const float&, float&>::type VALUE_REF;
-
-   ITensorItr() = delete;
-   virtual ~ITensorItr() {}
-
-   ITensorItr(std::unique_ptr<::DlSystem::ITensorItrImpl> impl, 
-              bool isTrivial = false, 
-              float* data = nullptr)
-      : m_Impl(impl->clone())
-      , m_IsTrivial(isTrivial)
-      , m_Data(data)
-      , m_DataStart(data) {}
-
-   ITensorItr(const ITensorItr<IS_CONST>& itr)
-      : m_Impl(itr.m_Impl->clone()),
-        m_IsTrivial(itr.m_IsTrivial),
-        m_Data(itr.m_Data),
-        m_DataStart(itr.m_DataStart) {}
-
-   zdl::DlSystem::ITensorItr<IS_CONST>& operator=(const ITensorItr<IS_CONST>& other)
-   {
-      if (this == &other) return *this;
-      m_Impl = std::move(other.m_Impl->clone());
-      m_IsTrivial = other.m_IsTrivial;
-      m_Data = other.m_Data;
-      m_DataStart = other.m_DataStart;
-      return *this;
-   }
-
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator++()
-   {
-      if (m_IsTrivial) m_Data++; else m_Impl->increment();
-      return *this;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST> operator++(int)
-   {
-      ITensorItr tmp(*this);
-      operator++();
-      return tmp;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator--()
-   {
-      if (m_IsTrivial) m_Data--; else m_Impl->decrement();
-      return *this;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST> operator--(int)
-   {
-      ITensorItr tmp(*this);
-      operator--();
-      return tmp;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator+=(int rhs)
-   {
-      if (m_IsTrivial) m_Data += rhs; else m_Impl->increment(rhs);
-      return *this;
-   }
-   inline friend zdl::DlSystem::ITensorItr<IS_CONST> operator+(zdl::DlSystem::ITensorItr<IS_CONST> lhs, int rhs)
-      { lhs += rhs; return lhs; }
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator-=(int rhs)
-   {
-      if (m_IsTrivial) m_Data -= rhs; else m_Impl->decrement(rhs);
-      return *this;
-   }
-   inline friend zdl::DlSystem::ITensorItr<IS_CONST> operator-(zdl::DlSystem::ITensorItr<IS_CONST> lhs, int rhs)
-      { lhs -= rhs; return lhs; }
-
-   inline size_t operator-(const zdl::DlSystem::ITensorItr<IS_CONST>& rhs)
-   {
-      if (m_IsTrivial) return (m_Data - m_DataStart) - (rhs.m_Data - rhs.m_DataStart);
-      return m_Impl->getPosition() - rhs.m_Impl->getPosition();
-   }
-
-   inline friend bool operator<(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-   {
-      if (lhs.m_IsTrivial) return lhs.m_Data < rhs.m_Data;
-      return lhs.m_Impl->dataPointer() < rhs.m_Impl->dataPointer();
-   }
-   inline friend bool operator>(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-      { return rhs < lhs; }
-   inline friend bool operator<=(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-      { return !(lhs > rhs); }
-   inline friend bool operator>=(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-      { return !(lhs < rhs); }
-
-   inline bool operator==(const ITensorItr<IS_CONST>& rhs) const
-   {
-      if (m_IsTrivial) return m_Data == rhs.m_Data;
-      return m_Impl->dataPointer() == rhs.m_Impl->dataPointer();
-   }
-   inline bool operator!=(const ITensorItr<IS_CONST>& rhs) const
-      { return !operator==(rhs); }
-
-   inline VALUE_REF operator[](size_t idx)
-   {
-      if (m_IsTrivial) return *(m_DataStart + idx);
-      return m_Impl->getReferenceAt(idx);
-   }
-   inline VALUE_REF operator*()
-      { if (m_IsTrivial) return *m_Data; else return m_Impl->getReference(); }
-   inline VALUE_REF operator->()
-      { return *(*this); }
-   inline float* dataPointer() const
-      { if (m_IsTrivial) return m_Data; else return m_Impl->dataPointer(); }
-
-
-protected:
-   std::unique_ptr<::DlSystem::ITensorItrImpl> m_Impl;
-   bool m_IsTrivial = false;
-   float* m_Data = nullptr;
-   float* m_DataStart = nullptr;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp b/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
deleted file mode 100644
index 069e7a1d69031f..00000000000000
--- a/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_ITR_IMPL_HPP_
-#define _ITENSOR_ITR_IMPL_HPP_
-
-#include "ZdlExportDefine.hpp"
-
-#include <memory>
-#include <iterator>
-
-namespace DlSystem
-{
-   class ITensorItrImpl;
-}
-
-class ZDL_EXPORT DlSystem::ITensorItrImpl
-{
-public:
-   ITensorItrImpl() {}
-   virtual ~ITensorItrImpl() {}
-
-   virtual float getValue() const = 0;
-   virtual float& getReference() = 0;
-   virtual float& getReferenceAt(size_t idx) = 0;
-   virtual float* dataPointer() const = 0;
-   virtual void increment(int incVal = 1) = 0;
-   virtual void decrement(int decVal = 1) = 0;
-   virtual size_t getPosition() = 0;
-   virtual std::unique_ptr<DlSystem::ITensorItrImpl> clone() = 0;
-
-private:
-   ITensorItrImpl& operator=(const ITensorItrImpl& other) = delete;
-   ITensorItrImpl(const ITensorItrImpl& other) = delete;
-};
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/IUDL.hpp b/third_party/snpe/include/DlSystem/IUDL.hpp
deleted file mode 100644
index a171ac7e81d6a3..00000000000000
--- a/third_party/snpe/include/DlSystem/IUDL.hpp
+++ /dev/null
@@ -1,105 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _DL_SYSTEM_IUDL_HPP_
-#define _DL_SYSTEM_IUDL_HPP_
-
-#include "ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace DlSystem {
-
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- *
- * Base class user concrete UDL implementation.
- *
- * All functions are marked as:
- *
- * - virtual
- * - noexcept
- *
- * User should make sure no exceptions are propagated outside of
- * their module. Errors can be communicated via return values.
- */
-class ZDL_EXPORT IUDL {
-public:
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief .
-    *
-    * Destructor
-    */
-   virtual ~IUDL() = default;
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief Sets up the user's environment.
-    * This is called by the SNPE framework to allow the user the
-    * opportunity to setup anything which is needed for running
-    * user defined layers.
-    *
-    * @param cookie User provided opaque data returned by the SNPE
-    *               runtime
-    *
-    * @param insz How many elements in input size array
-    * @param indim Pointer to a buffer that holds input dimension
-    *               array
-    * @param indimsz Input dimension size  array of the buffer
-    *                 'indim'. Corresponds to indim
-    *
-    * @param outsz How many elements in output size array
-    * @param outdim Pointer to a buffer that holds output
-    *              dimension array
-    * @param outdimsz Output dimension size of the buffer 'oudim'.
-    *                  Corresponds to indim
-    *
-    * @return true on success, false otherwise
-    */
-   virtual bool setup(void *cookie,
-                      size_t insz, const size_t **indim, const size_t *indimsz,
-                      size_t outsz, const size_t **outdim, const size_t *outdimsz)  = 0;
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief Close the instance. Invoked by the SNPE
-    * framework to allow the user the opportunity to release any resources
-    * allocated during setup.
-    *
-    * @param cookie - User provided opaque data returned by the SNPE runtime
-    */
-   virtual void close(void *cookie) noexcept = 0;
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief Execute the user defined layer
-    *
-    * @param cookie User provided opaque data returned by the SNPE 
-    *               runtime
-    *
-    * @param input Const pointer to a float buffer that contains
-    *               the input
-    *
-    * @param output Float pointer to a buffer that would hold
-    *                 the user defined layer's output. This buffer
-    *                 is allocated and owned by SNPE runtime.
-    */
-   virtual bool execute(void *cookie, const float **input, float **output)  = 0;
-};
-
-} // ns DlSystem
-
-} // ns zdl
-
-#endif // _DL_SYSTEM_IUDL_HPP_
diff --git a/third_party/snpe/include/DlSystem/IUserBuffer.hpp b/third_party/snpe/include/DlSystem/IUserBuffer.hpp
deleted file mode 100644
index ea491a545b3269..00000000000000
--- a/third_party/snpe/include/DlSystem/IUserBuffer.hpp
+++ /dev/null
@@ -1,358 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2017-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _IUSER_BUFFER_HPP
-#define _IUSER_BUFFER_HPP
-
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include <math.h>
-
-namespace zdl {
-namespace DlSystem {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-
-/**
-  * @brief .
-  *
-  * A base class buffer encoding type
-  */
-class ZDL_EXPORT UserBufferEncoding {
-public:
-
-    /**
-      * @brief .
-      *
-      * An enum class of all supported element types in a IUserBuffer
-      */
-    enum class ElementType_t
-    {
-        /// Unknown element type.
-        UNKNOWN         = 0,
-
-        /// Each element is presented by float.
-        FLOAT           = 1,
-
-        /// Each element is presented by an unsigned int.
-        UNSIGNED8BIT    = 2,
-
-        /// Each element is presented by an 8-bit quantized value.
-        TF8             = 10,
-
-        /// Each element is presented by an 16-bit quantized value.
-        TF16            = 11
-    };
-
-    /**
-      * @brief Retrieves the size of the element, in bytes.
-      *
-      * @return Size of the element, in bytes.
-     */
-    virtual size_t getElementSize() const noexcept = 0;
-
-    /**
-      * @brief Retrieves the element type
-      *
-      * @return Element type
-     */
-    ElementType_t getElementType() const noexcept {return m_ElementType;};
-
-    virtual ~UserBufferEncoding() {}
-
-protected:
-    UserBufferEncoding(ElementType_t  elementType) : m_ElementType(elementType) {};
-private:
-    const ElementType_t  m_ElementType;
-};
-
-/**
-  * @brief .
-  *
-  * A base class buffer source type
-  *
-  * @note User buffer from CPU support all kinds of runtimes;
-  *       User buffer from GLBUFFER support only GPU runtime.
-  */
-class ZDL_EXPORT UserBufferSource {
-public:
-   enum class SourceType_t
-   {
-      /// Unknown buffer source type.
-      UNKNOWN = 0,
-
-      /// The network inputs are from CPU buffer.
-      CPU = 1,
-
-      /// The network inputs are from OpenGL buffer.
-      GLBUFFER = 2
-   };
-
-   /**
-     * @brief Retrieves the source type
-     *
-     * @return Source type
-    */
-   SourceType_t getSourceType() const noexcept {return m_SourceType;};
-
-protected:
-   UserBufferSource(SourceType_t sourceType): m_SourceType(sourceType) {};
-private:
-   const SourceType_t m_SourceType;
-};
-
-/**
-  * @brief .
-  *
-  * An source type where input data is delivered from OpenGL buffer
-  */
-class ZDL_EXPORT UserBufferSourceGLBuffer : public UserBufferSource{
-public:
-   UserBufferSourceGLBuffer() : UserBufferSource(SourceType_t::GLBUFFER) {};
-};
-
-/**
-  * @brief .
-  *
-  * An encoding type where each element is represented by an unsigned int
-  */
-class ZDL_EXPORT UserBufferEncodingUnsigned8Bit : public UserBufferEncoding {
-public:
-    UserBufferEncodingUnsigned8Bit() : UserBufferEncoding(ElementType_t::UNSIGNED8BIT) {};
-    size_t getElementSize() const noexcept override;
-
-protected:
-    UserBufferEncodingUnsigned8Bit(ElementType_t  elementType) : UserBufferEncoding(elementType) {};
-
-};
-
-/**
-  * @brief .
-  *
-  * An encoding type where each element is represented by a float
-  */
-class ZDL_EXPORT UserBufferEncodingFloat : public UserBufferEncoding {
-public:
-    UserBufferEncodingFloat() : UserBufferEncoding(ElementType_t::FLOAT) {};
-    size_t getElementSize() const noexcept override;
-
-};
-
-/**
-  * @brief .
-  *
-  * An encoding type where each element is represented by tf8, which is an
-  * 8-bit quantizd value, which has an exact representation of 0.0
-  */
-class ZDL_EXPORT UserBufferEncodingTfN : public UserBufferEncoding {
-public:
-   UserBufferEncodingTfN() = delete;
-   UserBufferEncodingTfN(uint64_t stepFor0, float stepSize, uint8_t bWidth=8):
-                                           UserBufferEncoding(getTypeFromWidth(bWidth)),
-                                           bitWidth(bWidth),
-                                           m_StepExactly0(stepFor0),
-                                           m_QuantizedStepSize(stepSize){};
-
-   UserBufferEncodingTfN(const zdl::DlSystem::UserBufferEncoding &ubEncoding) : UserBufferEncoding(ubEncoding.getElementType()){
-            const zdl::DlSystem::UserBufferEncodingTfN* ubEncodingTfN
-                            = dynamic_cast <const zdl::DlSystem::UserBufferEncodingTfN*> (&ubEncoding);
-            if (ubEncodingTfN) {
-                m_StepExactly0 = ubEncodingTfN->getStepExactly0();
-                m_QuantizedStepSize = ubEncodingTfN->getQuantizedStepSize();
-                bitWidth = ubEncodingTfN->bitWidth;
-            }
-   }
-
-   size_t getElementSize() const noexcept override;
-   /**
-      * @brief Sets the step value that represents 0
-      *
-      * @param[in] stepExactly0 The step value that represents 0
-      *
-     */
-   void setStepExactly0(uint64_t stepExactly0) {
-      m_StepExactly0 = stepExactly0;
-   }
-
-   /**
-     * @brief Sets the float value that each step represents
-     *
-     * @param[in] quantizedStepSize The float value of each step size
-     *
-    */
-   void setQuantizedStepSize(const float quantizedStepSize) {
-      m_QuantizedStepSize = quantizedStepSize;
-   }
-
-   /**
-     * @brief Retrieves the step that represents 0.0
-     *
-     * @return Step value
-    */
-   uint64_t getStepExactly0() const {
-      return m_StepExactly0;
-   }
-
-   /**
-    * Calculates the minimum floating point value that
-    * can be represented with this encoding.
-    *
-    * @return Minimum representable floating point value
-    */
-   float getMin() const {
-      return static_cast<float>(m_QuantizedStepSize * (0 - (double)m_StepExactly0));
-   }
-
-   /**
-    * Calculates the maximum floating point value that
-    * can be represented with this encoding.
-    *
-    * @return Maximum representable floating point value
-    */
-   float getMax() const{
-       return static_cast<float>(m_QuantizedStepSize * (pow(2,bitWidth)-1 - (double)m_StepExactly0));
-   };
-
-   /**
-     * @brief Retrieves the step size
-     *
-     * @return Step size
-    */
-   float getQuantizedStepSize() const {
-      return m_QuantizedStepSize;
-   }
-
-   ElementType_t getTypeFromWidth(uint8_t width);
-
-   uint8_t bitWidth;
-protected:
-   uint64_t m_StepExactly0;
-   float m_QuantizedStepSize;
-};
-
-
-class ZDL_EXPORT UserBufferEncodingTf8 : public UserBufferEncodingTfN {
-public:
-    UserBufferEncodingTf8() = delete;
-    UserBufferEncodingTf8(unsigned char stepFor0, float stepSize) :
-            UserBufferEncodingTfN(stepFor0, stepSize) {};
-
-    UserBufferEncodingTf8(const zdl::DlSystem::UserBufferEncoding &ubEncoding) : UserBufferEncodingTfN(ubEncoding){}
-
-/**
-      * @brief Sets the step value that represents 0
-      *
-      * @param[in] stepExactly0 The step value that represents 0
-      *
-     */
-
-    void setStepExactly0(const unsigned char stepExactly0) {
-        UserBufferEncodingTfN::m_StepExactly0 = stepExactly0;
-    }
-
-/**
-      * @brief Retrieves the step that represents 0.0
-      *
-      * @return Step value
-     */
-
-    unsigned char getStepExactly0() const {
-        return UserBufferEncodingTfN::m_StepExactly0;
-    }
-
-};
-
-
-/**
- * @brief UserBuffer contains a pointer and info on how to walk it and interpret its content.
- */
-class ZDL_EXPORT IUserBuffer {
-public:
-    virtual ~IUserBuffer() = default;
-    
-    /**
-      * @brief Retrieves the total number of bytes between elements in each dimension if
-      * the buffer were to be interpreted as a multi-dimensional array.
-      *
-      * @return Number of bytes between elements in each dimension.
-      * e.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would
-      * return strides of [24, 8, 4].
-     */
-    virtual const TensorShape& getStrides() const = 0;
-
-    /**
-      * @brief Retrieves the size of the buffer, in bytes.
-      *
-      * @return Size of the underlying buffer, in bytes.
-     */
-    virtual size_t getSize() const = 0;
-
-    /**
-      * @brief Retrieves the size of the inference data in the buffer, in bytes.
-      *
-      * The inference results from a dynamic-sized model may not be exactly the same size
-      * as the UserBuffer provided to SNPE. This function can be used to get the amount
-      * of output inference data, which may be less or greater than the size of the UserBuffer.
-      *
-      * If the inference results fit in the UserBuffer, getOutputSize() would be less than
-      * or equal to getSize(). But if the inference results were more than the capacity of
-      * the provided UserBuffer, the results would be truncated to fit the UserBuffer. But,
-      * getOutputSize() would be greater than getSize(), which indicates a bigger buffer
-      * needs to be provided to SNPE to hold all of the inference results.
-      *
-      * @return Size required for the buffer to hold all inference results, which can be less
-      * or more than the size of the buffer, in bytes.
-    */
-    virtual size_t getOutputSize() const = 0;
-
-    /**
-      * @brief Changes the underlying memory that backs the UserBuffer.
-      *
-      * This can be used to avoid creating multiple UserBuffer objects
-      * when the only thing that differs is the memory location.
-      *
-      * @param[in] buffer Pointer to the memory location
-      *
-      * @return Whether the set succeeds.
-     */
-    virtual bool setBufferAddress(void *buffer) noexcept = 0;
-
-    /**
-      * @brief Gets a const reference to the data encoding object of
-      *        the underlying buffer
-      *
-      * This is necessary when the UserBuffer is filled by SNPE with
-      * data types such as TF8, where the caller needs to know the quantization
-      * parameters in order to interpret the data properly
-      *
-      * @return A read-only encoding object
-     */
-    virtual const UserBufferEncoding& getEncoding() const noexcept = 0;
-
-    /**
-      * @brief Gets a reference to the data encoding object of
-      *        the underlying buffer
-      *
-      * This is necessary when the UserBuffer is re-used, and the encoding
-      * parameters can change.  For example, each input can be quantized with
-      * different step sizes.
-      *
-      * @return Data encoding meta-data
-     */
-    virtual UserBufferEncoding& getEncoding() noexcept = 0;
-
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}
-}
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp b/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
deleted file mode 100644
index 59803fbd8f8772..00000000000000
--- a/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
+++ /dev/null
@@ -1,81 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _IUSERBUFFER_FACTORY_HPP
-#define _IUSERBUFFER_FACTORY_HPP
-
-#include "IUserBuffer.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include "DlEnums.hpp"
-namespace zdl {
-    namespace DlSystem {
-        class IUserBuffer;
-
-        class TensorShape;
-    }
-}
-
-namespace zdl {
-namespace DlSystem {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-* Factory interface class to create IUserBuffer objects.
-*/
-class ZDL_EXPORT IUserBufferFactory {
-public:
-    virtual ~IUserBufferFactory() = default;
-
-    /**
-     * @brief Creates a UserBuffer
-     *
-     * @param[in] buffer Pointer to the buffer that the caller supplies
-     *
-     * @param[in] bufSize Buffer size, in bytes
-     *
-     * @param[in] strides Total number of bytes between elements in each dimension.
-     *          E.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would have strides of [24, 8, 4].
-     *
-     * @param[in] userBufferEncoding Reference to an UserBufferEncoding object
-     *
-     * @note Caller has to ensure that memory pointed to by buffer stays accessible
-     *       for the lifetime of the object created
-     */
-    virtual std::unique_ptr<IUserBuffer>
-    createUserBuffer(void *buffer, size_t bufSize, const zdl::DlSystem::TensorShape &strides, zdl::DlSystem::UserBufferEncoding* userBufferEncoding) noexcept = 0;
-
-    /**
-     * @brief Creates a UserBuffer
-     *
-     * @param[in] buffer Pointer to the buffer that the caller supplies
-     *
-     * @param[in] bufSize Buffer size, in bytes
-     *
-     * @param[in] strides Total number of bytes between elements in each dimension.
-     *          E.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would have strides of [24, 8, 4].
-     *
-     * @param[in] userBufferEncoding Reference to an UserBufferEncoding object
-     *
-     * @param[in] userBufferSource Reference to an UserBufferSource object
-     *
-     * @note Caller has to ensure that memory pointed to by buffer stays accessible
-     *       for the lifetime of the object created
-     */
-    virtual std::unique_ptr<IUserBuffer>
-    createUserBuffer(void *buffer, size_t bufSize, const zdl::DlSystem::TensorShape &strides, zdl::DlSystem::UserBufferEncoding* userBufferEncoding, zdl::DlSystem::UserBufferSource* userBufferSource) noexcept = 0;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}
-}
-
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/PlatformConfig.hpp b/third_party/snpe/include/DlSystem/PlatformConfig.hpp
deleted file mode 100644
index c7b85f43c1274b..00000000000000
--- a/third_party/snpe/include/DlSystem/PlatformConfig.hpp
+++ /dev/null
@@ -1,230 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017-2018,2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _DL_SYSTEM_PLATFORM_CONFIG_HPP_
-#define _DL_SYSTEM_PLATFORM_CONFIG_HPP_
-
-#include "DlSystem/ZdlExportDefine.hpp"
-#include <string>
-
-namespace zdl{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-
-/**
-  * @brief .
-  *
-  * A structure OpenGL configuration
-  *
-  * @note When certain OpenGL context and display are provided to UserGLConfig for using
-  *       GPU buffer as input directly, the user MUST ensure the particular OpenGL
-  *       context and display remain vaild throughout the execution of neural network models.
-  */
-struct ZDL_EXPORT UserGLConfig
-{
-   /// Holds user EGL context.
-   ///
-   void* userGLContext = nullptr;
-
-   /// Holds user EGL display.
-   void* userGLDisplay = nullptr;
-};
-
-/**
-  * @brief .
-  *
-  * A structure Gpu configuration
-  */
-struct ZDL_EXPORT UserGpuConfig{
-   /// Holds user OpenGL configuration.
-   ///
-   UserGLConfig userGLConfig;
-};
-
-/**
-  * @brief .
-  *
-  * A class user platform configuration
-  */
-class ZDL_EXPORT PlatformConfig
-{
-public:
-
-   /**
-     * @brief .
-     *
-     * An enum class of all supported platform types
-     */
-   enum class PlatformType_t
-   {
-      /// Unknown platform type.
-      UNKNOWN = 0,
-
-      /// Snapdragon CPU.
-      CPU = 1,
-
-      /// Adreno GPU.
-      GPU = 2,
-
-      /// Hexagon DSP.
-      DSP = 3
-   };
-
-   /**
-     * @brief .
-     *
-     * A union class user platform configuration information
-     */
-   union PlatformConfigInfo
-   {
-      /// Holds user GPU Configuration.
-      ///
-      UserGpuConfig userGpuConfig;
-
-      PlatformConfigInfo(){};
-   };
-
-   PlatformConfig() : m_PlatformType(PlatformType_t::UNKNOWN),
-                      m_PlatformOptions("") {};
-
-   /**
-     * @brief Retrieves the platform type
-     *
-     * @return Platform type
-     */
-   PlatformType_t getPlatformType() const {return m_PlatformType;};
-
-   /**
-     * @brief Indicates whther the plaform configuration is valid.
-     *
-     * @return True if the platform configuration is valid; false otherwise.
-     */
-   bool isValid() const {return (PlatformType_t::UNKNOWN != m_PlatformType);};
-
-   /**
-     * @brief Retrieves the Gpu configuration
-     *
-     * @param[out] userGpuConfig The passed in userGpuConfig populated with the Gpu configuration on return.
-     *
-     * @return True if Gpu configuration was retrieved; false otherwise.
-     */
-   bool getUserGpuConfig(UserGpuConfig& userGpuConfig) const
-   {
-      if(m_PlatformType == PlatformType_t::GPU)
-      {
-         userGpuConfig = m_PlatformConfigInfo.userGpuConfig;
-         return true;
-      }
-      else
-      {
-         return false;
-      }
-   }
-
-   /**
-     * @brief Sets the Gpu configuration
-     *
-     * @param[in] userGpuConfig Gpu Configuration
-     *
-     * @return True if Gpu configuration was successfully set; false otherwise.
-     */
-   bool setUserGpuConfig(UserGpuConfig& userGpuConfig)
-   {
-      if((userGpuConfig.userGLConfig.userGLContext != nullptr) && (userGpuConfig.userGLConfig.userGLDisplay != nullptr))
-      {
-         switch (m_PlatformType)
-         {
-         case PlatformType_t::GPU:
-            m_PlatformConfigInfo.userGpuConfig = userGpuConfig;
-            return true;
-         case PlatformType_t::UNKNOWN:
-            m_PlatformType = PlatformType_t::GPU;
-            m_PlatformConfigInfo.userGpuConfig = userGpuConfig;
-            return true;
-         default:
-            return false;
-         }
-      }
-      else
-         return false;
-   }
-
-   /**
-     * @brief Sets the platform options
-     *
-     * @param[in] options Options as a string in the form of "keyword:options"
-     *
-     * @return True if options are pass validation; otherwise false.  If false, the options are not updated.
-     */
-   bool setPlatformOptions(std::string options) {
-      std::string oldOptions = m_PlatformOptions;
-      m_PlatformOptions = options;
-      if (isOptionsValid()) {
-         return true;
-      } else {
-         m_PlatformOptions = oldOptions;
-         return false;
-      }
-   }
-
-   /**
-     * @brief Indicates whther the plaform configuration is valid.
-     *
-     * @return True if the platform configuration is valid; false otherwise.
-     */
-   bool isOptionsValid() const;
-
-   /**
-     * @brief Gets the platform options
-     *
-     * @return Options as a string
-     */
-   std::string getPlatformOptions() const { return m_PlatformOptions; }
-
-    /**
-      * @brief Sets the platform options
-      *
-      * @param[in] optionName Name of platform options"
-      * @param[in] value Value of specified optionName
-      *
-      * @return If true, add "optionName:value" to platform options if optionName don't exist, otherwise update the
-      *         value of specified optionName.
-      *         If false, the platform options will not be changed.
-      */
-   bool setPlatformOptionValue(const std::string& optionName, const std::string& value);
-
-    /**
-       * @brief Removes the platform options
-       *
-       * @param[in] optionName Name of platform options"
-       * @param[in] value Value of specified optionName
-       *
-       * @return If true, removed "optionName:value" to platform options if optionName don't exist, do nothing.
-       *         If false, the platform options will not be changed.
-       */
-    bool removePlatformOptionValue(const std::string& optionName, const std::string& value);
-
-   static void SetIsUserGLBuffer(bool isUserGLBuffer);
-   static bool GetIsUserGLBuffer();
-
-private:
-   PlatformType_t m_PlatformType;
-   PlatformConfigInfo m_PlatformConfigInfo;
-   std::string m_PlatformOptions;
-   static bool m_IsUserGLBuffer;
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}} //namespace end
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/RuntimeList.hpp b/third_party/snpe/include/DlSystem/RuntimeList.hpp
deleted file mode 100644
index 1088a5b31f4538..00000000000000
--- a/third_party/snpe/include/DlSystem/RuntimeList.hpp
+++ /dev/null
@@ -1,154 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2019 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#include "ZdlExportDefine.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/StringList.hpp"
-#include <cstddef>
-#include <memory>
-
-#ifndef DL_SYSTEM_RUNTIME_LIST_HPP
-#define DL_SYSTEM_RUNTIME_LIST_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of Runtime List implementation.
-   class RuntimeListImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing list of runtimes
-  */
-class ZDL_EXPORT RuntimeList final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new runtime list
-    *
-    */
-   RuntimeList();
-
-   /**
-   * @brief .
-   *
-   * copy constructor.
-   * @param[in] other object to copy.
-   */
-   RuntimeList(const RuntimeList& other);
-
-   /**
-   * @brief .
-   *
-   * constructor with single Runtime_t object
-   * @param[in] Runtime_t object
-   */
-   RuntimeList(const zdl::DlSystem::Runtime_t& runtime);
-
-   /**
-    * @brief .
-    *
-    * assignment operator.
-    */
-   RuntimeList& operator=(const RuntimeList& other);
-
-   /**
-    * @brief .
-    *
-    * subscript operator.
-    */
-   Runtime_t& operator[](size_t index);
-
-   /**
-    * @brief Adds runtime to the end of the runtime list
-    *        order of precedence is former followed by latter entry
-    *
-    * @param[in] runtime to add
-    *
-    * Ruturns false If the runtime already exists
-    */
-   bool add(const zdl::DlSystem::Runtime_t& runtime);
-
-   /**
-    * @brief Removes the runtime from the list
-    *
-    * @param[in] runtime to be removed
-    *
-    * @note If the runtime is not found, nothing is done.
-    */
-   void remove(const zdl::DlSystem::Runtime_t runtime) noexcept;
-
-   /**
-    * @brief Returns the number of runtimes in the list
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief Returns true if the list is empty
-    */
-   bool empty() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all runtime from the list
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief .
-    *
-    * Returns a StringList of names from the runtime list in
-    * order of precedence
-    */
-   zdl::DlSystem::StringList getRuntimeListNames() const;
-
-   /**
-    * @brief .
-    *
-    * @param[in] runtime string
-    * Returns a Runtime enum corresponding to the in param string
-    *
-    */
-   static zdl::DlSystem::Runtime_t stringToRuntime(const char* runtimeStr);
-
-   /**
-    * @brief .
-    *
-    * @param[in] runtime
-    * Returns a string corresponding to the in param runtime enum
-    *
-    */
-   static const char* runtimeToString(const zdl::DlSystem::Runtime_t runtime);
-
-   ~RuntimeList();
-
-private:
-   void deepCopy(const RuntimeList &other);
-   std::unique_ptr<::DlSystem::RuntimeListImpl> m_RuntimeListImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_RUNTIME_LIST_HPP
-
diff --git a/third_party/snpe/include/DlSystem/String.hpp b/third_party/snpe/include/DlSystem/String.hpp
deleted file mode 100644
index c1eba3bad96b02..00000000000000
--- a/third_party/snpe/include/DlSystem/String.hpp
+++ /dev/null
@@ -1,104 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef PLATFORM_STANDARD_STRING_HPP
-#define PLATFORM_STANDARD_STRING_HPP
-
-#include <cstdio>
-#include <string>
-#include <ostream>
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Class for wrapping char * as a really stripped down std::string replacement.
- */
-class ZDL_EXPORT String final
-{
-public:
-   String() = delete;
-
-   /**
-    * Construct a string from std::string reference.
-    * @param str Reference to a std::string
-    */
-   explicit String(const std::string& str);
-
-   /**
-    * Construct a string from char* reference.
-    * @param a char*
-    */
-   explicit String(const char* str);
-
-   /**
-    * move constructor.
-    */
-   String(String&& other) noexcept;
-
-   /**
-    * copy constructor.
-    */
-   String(const String& other) = delete;
-
-   /**
-    * assignment operator.
-    */
-   String& operator=(const String&) = delete;
-
-   /**
-    * move assignment operator.
-    */
-   String& operator=(String&&) = delete;
-
-   /**
-    * class comparators
-    */
-   bool operator<(const String& rhs) const noexcept;
-   bool operator>(const String& rhs) const noexcept;
-   bool operator<=(const String& rhs) const noexcept;
-   bool operator>=(const String& rhs) const noexcept;
-   bool operator==(const String& rhs) const noexcept;
-   bool operator!=(const String& rhs) const noexcept;
-
-   /**
-    * class comparators against std::string
-    */
-   bool operator<(const std::string& rhs) const noexcept;
-   bool operator>(const std::string& rhs) const noexcept;
-   bool operator<=(const std::string& rhs) const noexcept;
-   bool operator>=(const std::string& rhs) const noexcept;
-   bool operator==(const std::string& rhs) const noexcept;
-   bool operator!=(const std::string& rhs) const noexcept;
-
-   const char* c_str() const noexcept;
-
-   ~String();
-private:
-
-   char* m_string;
-};
-
-/**
- * overloaded << operator
- */
-ZDL_EXPORT std::ostream& operator<<(std::ostream& os, const String& str) noexcept;
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // PLATFORM_STANDARD_STRING_HPP
diff --git a/third_party/snpe/include/DlSystem/StringList.hpp b/third_party/snpe/include/DlSystem/StringList.hpp
deleted file mode 100644
index a9a7d5ed89674c..00000000000000
--- a/third_party/snpe/include/DlSystem/StringList.hpp
+++ /dev/null
@@ -1,107 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <cstdio>
-#include "ZdlExportDefine.hpp"
-
-#ifndef DL_SYSTEM_STRINGLIST_HPP
-#define DL_SYSTEM_STRINGLIST_HPP
-
-namespace zdl
-{
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Class for holding an order list of null-terminated ASCII strings.
- */
-class ZDL_EXPORT StringList final
-{
-public:
-   StringList() {}
-
-   /**
-    * Construct a string list with some pre-allocated memory.
-    * @warning Contents of the list will be uninitialized
-    * @param[in] length Number of elements for which to pre-allocate space.
-    */
-   explicit StringList(size_t length);
-
-   /**
-    * Append a string to the list.
-    * @param[in] str Null-terminated ASCII string to append to the list.
-    */
-   void append(const char* str);
-
-   /**
-    * Returns the string at the indicated position,
-    *  or an empty string if the positions is greater than the size
-    *  of the list.
-    * @param[in] idx Position in the list of the desired string
-    */
-   const char* at(size_t idx) const noexcept;
-
-   /**
-    * Pointer to the first string in the list.
-    *  Can be used to iterate through the list.
-    */
-   const char** begin() const noexcept;
-
-   /**
-    * Pointer to one after the last string in the list.
-    *  Can be used to iterate through the list.
-    */
-   const char** end() const noexcept;
-
-   /**
-    * Return the number of valid string pointers held by this list.
-    */
-   size_t size() const noexcept;
-
-
-   /**
-    * assignment operator. 
-    */
-   StringList& operator=(const StringList&) noexcept;
-
-   /**
-    * copy constructor.
-    * @param[in] other object to copy.
-    */
-   StringList(const StringList& other);
-
-   /**
-    * move constructor.
-    * @param[in] other object to move.    
-    */
-   StringList(StringList&& other) noexcept;
-
-   ~StringList();
-private:
-   void copy(const StringList& other);
-
-   void resize(size_t length);
-
-   void clear();
-
-   static const char* s_Empty;
-   const char** m_Strings = nullptr;
-   const char** m_End = nullptr;
-   size_t       m_Size = 0;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_STRINGLIST_HPP
-
diff --git a/third_party/snpe/include/DlSystem/TensorMap.hpp b/third_party/snpe/include/DlSystem/TensorMap.hpp
deleted file mode 100644
index feecec666729ad..00000000000000
--- a/third_party/snpe/include/DlSystem/TensorMap.hpp
+++ /dev/null
@@ -1,120 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <memory>
-#include "ZdlExportDefine.hpp"
-#include "ITensor.hpp"
-#include "StringList.hpp"
-
-#ifndef DL_SYSTEM_TENSOR_MAP_HPP
-#define DL_SYSTEM_TENSOR_MAP_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of tensor map implementation.
-   class TensorMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing the map of tensor.
-  */
-class ZDL_EXPORT TensorMap final
-{
-public:
-
-  /**
-   * @brief .
-   *
-   * Creates a new empty tensor map
-   */
-   TensorMap();
-
-  /**
-   * copy constructor.
-   * @param[in] other object to copy. 
-   */
-   TensorMap(const TensorMap& other);
-
-  /**
-    * assignment operator. 
-    */
-   TensorMap& operator=(const TensorMap& other);
-
-   /**
-    * @brief Adds a name and the corresponding tensor pointer
-    *        to the map
-    *
-    * @param[in] name The name of the tensor
-    * @param[out] tensor The pointer to the tensor
-    *
-    * @note If a tensor with the same name already exists, the
-    *       tensor is replaced with the existing tensor.
-    */
-   void add(const char *name, zdl::DlSystem::ITensor *tensor);
-
-   /**
-    * @brief Removes a mapping of tensor and its name by its name
-    *
-    * @param[in] name The name of tensor to be removed
-    *
-    * @note If no tensor with the specified name is found, nothing
-    *       is done.
-    */
-   void remove(const char *name) noexcept;
-
-   /**
-    * @brief Returns the number of tensors in the map
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all tensors from the map
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief Returns the tensor given its name.
-    *  
-    * @param[in] name The name of the tensor to get. 
-    *  
-    * @return nullptr if no tensor with the specified name is 
-    *         found; otherwise, a valid pointer to the tensor.
-    */
-   zdl::DlSystem::ITensor* getTensor(const char *name) const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Returns the names of all tensors
-    */
-   zdl::DlSystem::StringList getTensorNames() const;
-
-   ~TensorMap();
-private:
-   void swap(const TensorMap &other);
-   std::unique_ptr<::DlSystem::TensorMapImpl> m_TensorMapImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_TENSOR_MAP_HPP
-
diff --git a/third_party/snpe/include/DlSystem/TensorShape.hpp b/third_party/snpe/include/DlSystem/TensorShape.hpp
deleted file mode 100644
index 99583dccb40bac..00000000000000
--- a/third_party/snpe/include/DlSystem/TensorShape.hpp
+++ /dev/null
@@ -1,203 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <initializer_list>
-#include <cstdio>
-#include <memory>
-#include <vector>
-#include "ZdlExportDefine.hpp"
-
-#ifndef DL_SYSTEM_TENSOR_SHAPE_HPP
-#define DL_SYSTEM_TENSOR_SHAPE_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of tensor shape implementation.
-   class TensorShapeImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Convenient typedef to represent dimension
- */
-using Dimension = size_t;
-
-/**
-  * @brief .
-  *
-  * A class representing the shape of tensor. It is used at the
-  * time of creation of tensor.
-  */
-class ZDL_EXPORT TensorShape final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new shape with a list of dims specified in
-    * initializer list fashion.
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-    */
-   TensorShape(std::initializer_list<Dimension> dims);
-
-   /**
-    * @brief .
-    *
-    * Creates a new shape with a list of dims specified in array
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-    * @param[in] size Size of the array.
-    *
-    */
-   TensorShape(const Dimension *dims, size_t size);
-
-    /**
-    * @brief .
-    *
-    * Creates a new shape with a vector of dims specified in
-    * vector fashion.
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    * 
-    */   
-   TensorShape(std::vector<Dimension> dims);
-
-   /**
-   * @brief .
-   *   
-   * copy constructor.
-   * @param[in] other object to copy. 
-   */   
-   TensorShape(const TensorShape& other);
-
-   /**
-    * @brief .
-    *  
-    * assignment operator. 
-    */   
-   TensorShape& operator=(const TensorShape& other);
-
-    /**
-    * @brief .
-    *
-    * Creates a new shape with no dims. It can be extended later
-    * by invoking concatenate.
-    */
-   TensorShape();
-
-  /**
-    * @brief .
-    *
-    * Concatenates additional dimensions specified in 
-    * initializer list fashion to the existing dimensions. 
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-   */
-   void concatenate(std::initializer_list<Dimension> dims);
-
-   /**
-    * @brief .
-    *
-    * Concatenates additional dimensions specified in 
-    * the array to the existing dimensions. 
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    * 
-    * @param[in] size Size of the array.
-    *
-   */
-   void concatenate(const Dimension *dims, size_t size);
-
-  /**
-    * @brief .
-    *
-    * Concatenates an additional dimension to the existing
-    * dimensions.
-    *
-    * @param[in] dim The dimensions are specified in which the last element
-    * of the vector represents the fastest varying dimension and the
-    * zeroth element represents the slowest varying, etc.
-    *
-   */
-   void concatenate(const Dimension &dim);
-
-  /**
-    * @brief .
-    *
-    * Retrieves a single dimension, based on its index.
-    *
-    * @return The value of dimension
-    *
-    * @throws std::out_of_range if the index is >= the number of
-    * dimensions (or rank).
-    */
-   Dimension& operator[](size_t index);
-   Dimension& operator[](size_t index) const;
-
-  /**
-    * @brief .
-    *
-    * Retrieves the rank i.e. number of dimensions.
-    *
-    * @return The rank
-    */
-   size_t rank() const;
-
-  /**
-    * @brief .
-    *
-    * Retrieves a pointer to the first dimension of shape
-    *
-    * @return nullptr if no dimension exists; otherwise, points to
-    * the first dimension. 
-    *
-    */
-   const Dimension* getDimensions() const;
-
-   ~TensorShape();
-
-private:
-   void swap(const TensorShape &other);
-   std::unique_ptr<::DlSystem::TensorShapeImpl> m_TensorShapeImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_TENSOR_SHAPE_HPP
-
diff --git a/third_party/snpe/include/DlSystem/TensorShapeMap.hpp b/third_party/snpe/include/DlSystem/TensorShapeMap.hpp
deleted file mode 100644
index cef946e2e6dbc9..00000000000000
--- a/third_party/snpe/include/DlSystem/TensorShapeMap.hpp
+++ /dev/null
@@ -1,127 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <initializer_list>
-#include <cstdio>
-#include <memory>
-#include "ZdlExportDefine.hpp"
-#include "DlSystem/TensorShape.hpp"
-#include "DlSystem/StringList.hpp"
-
-#ifndef DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
-#define DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of tensor shape map implementation.
-   class TensorShapeMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing the map of names and tensorshapes.
-  */
-class ZDL_EXPORT TensorShapeMap final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new tensor shape map
-    *
-    */
-   TensorShapeMap();
-
-   /**
-   * @brief .
-   *
-   * copy constructor.
-   * @param[in] other object to copy.
-   */
-   TensorShapeMap(const TensorShapeMap& other);
-
-   /**
-    * @brief .
-    *
-    * assignment operator.
-    */
-   TensorShapeMap& operator=(const TensorShapeMap& other);
-
-   /**
-    * @brief Adds a name and the corresponding tensor pointer
-    *        to the map
-    *
-    * @param[in] name The name of the tensor
-    * @param[out] tensor The pointer to the tensor
-    *
-    * @note If a tensor with the same name already exists, no new
-    *       tensor is added.
-    */
-   void add(const char *name, const zdl::DlSystem::TensorShape& tensorShape);
-
-   /**
-    * @brief Removes a mapping of tensor and its name by its name
-    *
-    * @param[in] name The name of tensor to be removed
-    *
-    * @note If no tensor with the specified name is found, nothing
-    *       is done.
-    */
-   void remove(const char *name) noexcept;
-
-   /**
-    * @brief Returns the number of tensors in the map
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all tensors from the map
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief Returns the tensor given its name.
-    *
-    * @param[in] name The name of the tensor to get.
-    *
-    * @return nullptr if no tensor with the specified name is
-    *         found; otherwise, a valid pointer to the tensor.
-    */
-   zdl::DlSystem::TensorShape getTensorShape(const char *name) const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Returns the names of all tensor shapes
-    */
-   zdl::DlSystem::StringList getTensorShapeNames() const;
-
-   ~TensorShapeMap();
-private:
-   void swap(const TensorShapeMap &other);
-   std::unique_ptr<::DlSystem::TensorShapeMapImpl> m_TensorShapeMapImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
-
diff --git a/third_party/snpe/include/DlSystem/UDLContext.hpp b/third_party/snpe/include/DlSystem/UDLContext.hpp
deleted file mode 100644
index 21fce1b04ae308..00000000000000
--- a/third_party/snpe/include/DlSystem/UDLContext.hpp
+++ /dev/null
@@ -1,243 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef UDL_CONTEXT_HPP
-#define UDL_CONTEXT_HPP
-
-#include <cstring> // memset
-#include <tuple>
-
-#include "ZdlExportDefine.hpp"
-
-namespace zdl { namespace DlSystem {
-
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- *
- * UDLContext holds the user defined layer context which 
- * consists of a layer name, layer ID, blob and blob size. 
- *  
- * An instance of UDLContext is passed as an argument to the
- * UDLFactoryFunc provided by the user every time the SNPE 
- * runtime encounters an unknown layer descriptor. The instance 
- * of a UDLContext is created by the SNPE runtime and is 
- * consumed by the user's factory function. The user should 
- * obtain a copy of this class and should not assume any 
- * prolonged object lifetime beyond the UDLFactoryFunction.
- */
-class ZDL_EXPORT UDLContext final {
-public:
-   /**
-    * @brief Constructor
-    *
-    * @param[in] name name of the layer
-    *
-    * @param[in] type layer type
-    *
-    * @param[in] id identifier for the layer
-    *
-    * @param[in] id Blob/bytes as packed by the user code as part of
-    *           the Python converter script
-    */
-   UDLContext(const std::string& name,
-              const std::string& type,
-              int32_t id,
-              const std::string& blob) :
-      m_Name(name), m_Type(type), m_Size(blob.size()), m_Id(id) {
-      // FIXME not dealing with alloc error
-      m_Buffer = new uint8_t[m_Size];
-      std::memcpy(m_Buffer, blob.data(), m_Size);
-   }
-
-   /**
-    * @brief .
-    *
-    * Empty constructor is useful for
-    * creating an empty UDLContext and then run copy constructor
-    * from a fully initialized one.
-    */
-   explicit UDLContext() {}
-
-   /**
-    * @brief .
-    *
-    * destructor Deallocates any internal allocated memory
-    */
-   ~UDLContext() { release(); }
-
-   /**
-    * @brief .
-    *
-    * Deallocate any internally allocated memory
-    */
-   void release() {
-      if (m_Buffer && m_Size)
-         std::memset(m_Buffer, 0, m_Size);
-      delete []m_Buffer;
-      m_Buffer = nullptr;
-      m_Size = 0;
-   }
-
-   /**
-    * @brief .
-    *
-    * Copy Constructor - makes a copy from ctx
-    *
-    * @param[in] ctx Source UDLContext to copy from
-    */
-   UDLContext(const UDLContext& ctx) : m_Name(ctx.m_Name),
-      m_Type(ctx.m_Type),
-      m_Id(ctx.m_Id) {
-      std::tuple<uint8_t*, size_t> cpy = ctx.getCopy();
-      // current compiler does not support get<type>
-      m_Buffer = std::get<0>(cpy);
-      m_Size = std::get<1>(cpy);
-   }
-
-   /**
-    * @brief 
-    *
-    * Assignment operator - makes a copy from ctx
-    *
-    * @param[in] ctx Source UDLContext to copy from
-    *
-    * @return this
-    */
-   UDLContext& operator=(const UDLContext& ctx) {
-      UDLContext c (ctx);
-      this->swap(c); // non throwing swap
-      return *this;
-   }
-
-   /**
-    * @brief .
-    *
-    * Move Constructor - Move internals from ctx into this
-    *
-    * @param[in] ctx Source UDLContext to move from
-    */
-   UDLContext(UDLContext&& ctx) :
-      m_Name(std::move(ctx.m_Name)),
-      m_Type(std::move(ctx.m_Type)),
-      m_Buffer(ctx.m_Buffer),
-      m_Size(ctx.m_Size),
-      m_Id(ctx.m_Id) {
-      ctx.clear();
-   }
-
-   /**
-    * @brief .
-    *
-    * Assignment move - Move assignment operator from ctx
-    *
-    * @param[in] ctx Source UDLContext to move from
-    *
-    * @return this
-    */
-   UDLContext& operator=(UDLContext&& ctx) {
-      m_Name = std::move(ctx.m_Name);
-      m_Type = std::move(ctx.m_Type);
-      m_Buffer = ctx.m_Buffer;
-      m_Size = ctx.m_Size;
-      m_Id = ctx.m_Id;
-      ctx.clear();
-      return *this;
-   }
-
-   /**
-    * @brief .
-    *
-    * Obtain the name of the layer
-    *
-    * @return const reference to the name of the layer
-    */
-   const std::string& getName() const noexcept { return m_Name; }
-
-   /**
-    * @brief .
-    *
-    * Obtain the type of the layer
-    *
-    * @return const reference to the type of the layer
-    */
-   const std::string& getType() const noexcept { return m_Type; }
-
-   /**
-    * @brief .
-    *
-    * Obtain the Id of the layer
-    *
-    * @return The id of the layer
-    */
-   int32_t getId() const noexcept  { return m_Id; }
-
-   /**
-    * @brief .
-    *
-    * Obtain the size of the blob
-    *
-    * @return Size of the internal blob
-    */
-   size_t getSize() const noexcept { return m_Size; }
-
-   /**
-    * @brief .
-    *
-    * Get a const pointer to the internal blob
-    *
-    * @return Const pointer to the internal blob
-    */
-   const uint8_t* getBlob() const noexcept { return m_Buffer; }
-
-   /**
-    * @brief .
-    *
-    * Get a copy of the blob/size into a tuple
-    *
-    * @return A tuple with a pointer to a copy of the blob and a
-    *         size
-    */
-   std::tuple<uint8_t*, size_t> getCopy() const {
-      uint8_t* buf = new uint8_t[m_Size];
-      // FIXME missing memcpy
-      std::memcpy(buf, m_Buffer, m_Size);
-      return std::make_tuple(buf, m_Size);
-   }
-
-   /**
-    * @brief .
-    *
-    * Set zeros in the internals members
-    */
-   void clear() {
-      m_Name.clear();
-      m_Type.clear();
-      m_Buffer = 0;
-      m_Size = 0;
-      m_Id = -1;
-   }
-private:
-   void swap(UDLContext& c) noexcept {
-      std::swap(m_Name, c.m_Name);
-      std::swap(m_Type, c.m_Type);
-      std::swap(m_Id,   c.m_Id);
-      std::swap(m_Buffer, c.m_Buffer);
-      std::swap(m_Size, c.m_Size);
-   }
-   std::string m_Name; // name of the layer instance
-   std::string m_Type; // The actual layer type
-   uint8_t*    m_Buffer = nullptr;
-   size_t      m_Size = 0;
-   int32_t     m_Id = -1;
-};
-
-}}
-
-#endif /* UDL_CONTEXT_HPP */
diff --git a/third_party/snpe/include/DlSystem/UDLFunc.hpp b/third_party/snpe/include/DlSystem/UDLFunc.hpp
deleted file mode 100644
index 6a95eef1702ecc..00000000000000
--- a/third_party/snpe/include/DlSystem/UDLFunc.hpp
+++ /dev/null
@@ -1,87 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _UDL_FUNC_HPP_
-#define _UDL_FUNC_HPP_
-
-#include <functional>
-
-#include "ZdlExportDefine.hpp"
-#include <DlSystem/IUDL.hpp>
-
-namespace zdl {
-    namespace DlSystem {
-        class UDLContext;
-    }
-}
-
-namespace zdl { namespace DlSystem {
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- *
- * Definition of UDLFactoyFunc, using/typedef and default FactoryFunction
- * UDLBundle - a simple way to bundle func and cookie into one type
- */
-
-
-/**
- * @brief .
- * 
- * Convenient typedef for user defined layer creation factory
- *
- * @param[out] void* Cookie - a user opaque data that was passed during SNPE's runtime's
- *        CreateInstance. SNPE's runtime is passing this back to the user.
- *
- * @param[out] DlSystem::UDLContext* - The specific Layer Description context what is passe
- *        SNPE runtime.
- *
- * @return IUDL* - a Concrete instance of IUDL derivative
- */
-using UDLFactoryFunc = std::function<zdl::DlSystem::IUDL* (void*, const zdl::DlSystem::UDLContext*)>;
-
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- *
- * default UDL factory implementation
- *
- * @param[out] DlSystem::UDLContext* - The specific Layer Description context what is passe
- *        SNPE runtime.
- *
- * @param[out] void* Cookie - a user opaque data that was passed during SNPE's runtime's
- *        CreateInstance. SNPE's runtime is passing this back to the user.
- * 
- * @return IUDL* - nullptr to indicate SNPE's runtime that there is no specific
- *         implementation for UDL. When SNPE's runtime sees nullptr as a return
- *         value from the factory, it will halt execution if model has an unknown layer
- *
- */
-inline ZDL_EXPORT zdl::DlSystem::IUDL* DefaultUDLFunc(void*, const zdl::DlSystem::UDLContext*) { return nullptr; }
-
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- * 
- * Simple struct to bundle 2 elements.
- * A user defined cookie that would be returned for each
- * IUDL call. The user can place anything there and the
- * SNPE runtime will provide it back
- */
-struct ZDL_EXPORT UDLBundle {
-   void          *cookie = nullptr;
-   UDLFactoryFunc func   = DefaultUDLFunc;
-};
-
-}}
-
-
-#endif // _UDL_FUNC_HPP_
diff --git a/third_party/snpe/include/DlSystem/UserBufferMap.hpp b/third_party/snpe/include/DlSystem/UserBufferMap.hpp
deleted file mode 100644
index a03ddfe1d11ad8..00000000000000
--- a/third_party/snpe/include/DlSystem/UserBufferMap.hpp
+++ /dev/null
@@ -1,122 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <memory>
-#include "ZdlExportDefine.hpp"
-#include "StringList.hpp"
-
-#ifndef DL_SYSTEM_USER_BUFFER_MAP_HPP
-#define DL_SYSTEM_USER_BUFFER_MAP_HPP
-
-namespace DlSystem
-{
-    // Forward declaration of UserBuffer map implementation.
-    class UserBufferMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-class IUserBuffer;
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing the map of UserBuffer.
-  */
-class ZDL_EXPORT UserBufferMap final
-{
-public:
-
-    /**
-     * @brief .
-     *
-     * Creates a new empty UserBuffer map
-     */
-    UserBufferMap();
-
-    /**
-     * copy constructor.
-     * @param[in] other object to copy.
-     */
-    UserBufferMap(const UserBufferMap& other);
-
-    /**
-      * assignment operator.
-      */
-    UserBufferMap& operator=(const UserBufferMap& other);
-
-    /**
-     * @brief Adds a name and the corresponding UserBuffer pointer
-     *        to the map
-     *
-     * @param[in] name The name of the UserBuffer
-     * @param[in] userBuffer The pointer to the UserBuffer
-     *
-     * @note If a UserBuffer with the same name already exists, the new
-     *       UserBuffer pointer would be updated.
-     */
-    void add(const char *name, zdl::DlSystem::IUserBuffer *buffer);
-
-    /**
-     * @brief Removes a mapping of one UserBuffer and its name by its name
-     *
-     * @param[in] name The name of UserBuffer to be removed
-     *
-     * @note If no UserBuffer with the specified name is found, nothing
-     *       is done.
-     */
-    void remove(const char *name) noexcept;
-
-    /**
-     * @brief Returns the number of UserBuffers in the map
-     */
-    size_t size() const noexcept;
-
-    /**
-     * @brief .
-     *
-     * Removes all UserBuffers from the map
-     */
-    void clear() noexcept;
-
-    /**
-     * @brief Returns the UserBuffer given its name.
-     *
-     * @param[in] name The name of the UserBuffer to get.
-     *
-     * @return nullptr if no UserBuffer with the specified name is
-     *         found; otherwise, a valid pointer to the UserBuffer.
-     */
-    zdl::DlSystem::IUserBuffer* getUserBuffer(const char *name) const noexcept;
-
-    /**
-     * @brief .
-     *
-     * Returns the names of all UserBuffers
-     *
-     * @return A list of UserBuffer names.
-     */
-    zdl::DlSystem::StringList getUserBufferNames() const;
-
-    ~UserBufferMap();
-private:
-    void swap(const UserBufferMap &other);
-    std::unique_ptr<::DlSystem::UserBufferMapImpl> m_UserBufferMapImpl;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // DlSystem namespace
-} // zdl namespace
-
-
-#endif // DL_SYSTEM_TENSOR_MAP_HPP
-
diff --git a/third_party/snpe/include/DlSystem/UserMemoryMap.hpp b/third_party/snpe/include/DlSystem/UserMemoryMap.hpp
deleted file mode 100644
index 3685a8ddabed69..00000000000000
--- a/third_party/snpe/include/DlSystem/UserMemoryMap.hpp
+++ /dev/null
@@ -1,129 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <memory>
-#include "ZdlExportDefine.hpp"
-#include "StringList.hpp"
-
-#ifndef DL_SYSTEM_USER_MEMORY_MAP_HPP
-#define DL_SYSTEM_USER_MEMORY_MAP_HPP
-
-namespace DlSystem
-{
-    // Forward declaration of UserMemory map implementation.
-    class UserMemoryMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-class IUserBuffer;
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing the map of UserMemory.
-  */
-class ZDL_EXPORT UserMemoryMap final
-{
-public:
-
-    /**
-     * @brief .
-     *
-     * Creates a new empty UserMemory map
-     */
-    UserMemoryMap();
-
-    /**
-     * copy constructor.
-     * @param[in] other object to copy.
-     */
-    UserMemoryMap(const UserMemoryMap& other);
-
-    /**
-      * assignment operator.
-      */
-    UserMemoryMap& operator=(const UserMemoryMap& other);
-
-    /**
-     * @brief Adds a name and the corresponding buffer address
-     *        to the map
-     *
-     * @param[in] name The name of the UserMemory
-     * @param[in] address The pointer to the Buffer Memory
-     *
-     * @note If a UserBuffer with the same name already exists, the new
-     *       address would be updated.
-     */
-    void add(const char *name, void *address);
-
-    /**
-     * @brief Removes a mapping of one Buffer address and its name by its name
-     *
-     * @param[in] name The name of Memory address to be removed
-     *
-     * @note If no UserBuffer with the specified name is found, nothing
-     *       is done.
-     */
-    void remove(const char *name) noexcept;
-
-    /**
-     * @brief Returns the number of User Memory addresses in the map
-     */
-    size_t size() const noexcept;
-
-    /**
-     * @brief .
-     *
-     * Removes all User Memory from the map
-     */
-    void clear() noexcept;
-
-    /**
-     * @brief .
-     *
-     * Returns the names of all User Memory
-     *
-     * @return A list of Buffer names.
-     */
-    zdl::DlSystem::StringList getUserBufferNames() const;
-
-    /**
-     * @brief Returns the no of UserMemory addresses mapped to the buffer
-     *
-     * @param[in] name The name of the UserMemory
-     *
-     */
-    size_t getUserMemoryAddressCount(const char *name) const noexcept;
-
-    /**
-     * @brief Returns address at a specified index corresponding to a UserMemory buffer name
-     *
-     * @param[in] name The name of the buffer
-     * @param[in] index The index in the list of addresses
-     *
-     */
-    void* getUserMemoryAddressAtIndex(const char *name, uint32_t index) const noexcept;
-
-    ~UserMemoryMap();
-private:
-    void swap(const UserMemoryMap &other);
-    std::unique_ptr<::DlSystem::UserMemoryMapImpl> m_UserMemoryMapImpl;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // DlSystem namespace
-} // zdl namespace
-
-
-#endif // DL_SYSTEM_TENSOR_MAP_HPP
-
diff --git a/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp b/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
deleted file mode 100644
index 92eb786d312f6d..00000000000000
--- a/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
+++ /dev/null
@@ -1,13 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#pragma once
-
-#ifndef ZDL_EXPORT
-#define ZDL_EXPORT
-#endif
diff --git a/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp b/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
deleted file mode 100644
index 66097ba569f629..00000000000000
--- a/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
+++ /dev/null
@@ -1,118 +0,0 @@
-// =============================================================================
-//
-// Copyright (c) 2018-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-// =============================================================================
-
-#ifndef SNPE_PLATFORMVALIDATOR_HPP
-#define SNPE_PLATFORMVALIDATOR_HPP
-
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-#define DO_PRAGMA(s) _Pragma(#s)
-#define NO_WARNING "-Wunused-variable"
-
-#ifdef __clang__
-#define SNPE_DISABLE_WARNINGS(clang_warning,gcc_warning) \
-_Pragma("clang diagnostic push") \
-DO_PRAGMA(clang diagnostic ignored clang_warning)
-
-#define SNPE_ENABLE_WARNINGS \
-_Pragma("clang diagnostic pop")
-
-#elif defined __GNUC__
-#define SNPE_DISABLE_WARNINGS(clang_warning,gcc_warning) \
-_Pragma("GCC diagnostic push") \
-DO_PRAGMA(GCC diagnostic ignored gcc_warning)
-
-#define SNPE_ENABLE_WARNINGS \
-_Pragma("GCC diagnostic pop")
-
-#else
-#define SNPE_DISABLE_WARNINGS(...)
-#define SNPE_ENABLE_WARNINGS
-#endif
-
-SNPE_DISABLE_WARNINGS("-Wdelete-non-virtual-dtor","-Wdelete-non-virtual-dtor")
-#include <string>
-#include <memory>
-SNPE_ENABLE_WARNINGS
-
-namespace zdl
-{
-   namespace SNPE
-   {
-      class PlatformValidator;
-
-      class IPlatformValidatorRuntime;
-   }
-}
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-* The class for checking SNPE compatibility/capability of a device.
-*
-*/
-
-class ZDL_EXPORT zdl::SNPE::PlatformValidator
-{
-public:
-   /**
-    * @brief Default Constructor of the PlatformValidator Class
-    *
-    * @return A new instance of a PlatformValidator object
-    *         that can be used to check the SNPE compatibility
-    *         of a device
-    */
-   PlatformValidator();
-
-   ~PlatformValidator();
-
-   /**
-    * @brief Sets the runtime processor for compatibility check
-    *
-    * @return Void
-    */
-   void setRuntime(zdl::DlSystem::Runtime_t runtime);
-
-   /**
-    * @brief Checks if the Runtime prerequisites for SNPE are available.
-    *
-    * @return True if the Runtime prerequisites are available, else false.
-    */
-   bool isRuntimeAvailable();
-
-   /**
-    * @brief Returns the core version for the Runtime selected.
-    *
-    * @return String which contains the actual core version value
-    */
-   std::string getCoreVersion();
-
-   /**
-    * @brief Returns the library version for the Runtime selected.
-    *
-    * @return String which contains the actual lib version value
-    */
-   std::string getLibVersion();
-
-   /**
-    * @brief Runs a small program on the runtime and Checks if SNPE is supported for Runtime.
-    *
-    * @return If True, the device is ready for SNPE execution, else not.
-    */
-
-   bool runtimeCheck();
-
-private:
-    zdl::DlSystem::Runtime_t m_runtimeType;
-    std::unique_ptr<IPlatformValidatorRuntime> m_platformValidatorRuntime;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif //SNPE_PLATFORMVALIDATOR_HPP
diff --git a/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp b/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
deleted file mode 100644
index 380a3e0e6e77ee..00000000000000
--- a/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
+++ /dev/null
@@ -1,101 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2019 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef PSNPE_APPLICATIONBUFFERMAP_HPP
-#define PSNPE_APPLICATIONBUFFERMAP_HPP
-#include <vector>
-#include <string>
-#include <unordered_map>
-
-#include "DlSystem/UserBufferMap.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace PSNPE
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * A class representing the UserBufferMap of Input and Output asynchronous mode.
- */
-
-class ZDL_EXPORT ApplicationBufferMap final
-{
-
- public:
-   /**
-    * @brief Adds a name and the corresponding buffer
-    *        to the map
-    *
-    * @param[in] name The name of the UserBuffer
-    * @param[in] buffer The vector of the uint8_t data
-    *
-    * @note If a UserBuffer with the same name already exists, the new
-    *       UserBuffer pointer would be updated.
-    */
-   void add(const char* name, std::vector<uint8_t>& buff) noexcept;
-   void add(const char* name, std::vector<float>& buff) noexcept;
-   /**
-    * @brief Removes a mapping of one UserBuffer and its name by its name
-    *
-    * @param[in] name The name of UserBuffer to be removed
-    *
-    * @note If no UserBuffer with the specified name is found, nothing
-    *       is done.
-    */
-   void remove(const char* name) noexcept;
-
-   /**
-    * @brief Returns the number of UserBuffers in the map
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all UserBuffers from the map
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief Returns the UserBuffer given its name.
-    *
-    * @param[in] name The name of the UserBuffer to get.
-    *
-    * @return nullptr if no UserBuffer with the specified name is
-    *         found; otherwise, a valid pointer to the UserBuffer.
-    */
-   const std::vector<uint8_t>& getUserBuffer(const char* name) const;
-   const std::vector<uint8_t>& operator[](const char* name) const;
-   /**
-    * @brief .
-    *
-    * Returns the names of all UserAsyncBufferMap
-    *
-    * @return A list of UserBuffer names.
-    */
-   zdl::DlSystem::StringList getUserBufferNames() const;
-   const std::unordered_map<std::string, std::vector<uint8_t>>& getUserBuffer() const;
-   explicit ApplicationBufferMap();
-   ~ApplicationBufferMap();
-   explicit ApplicationBufferMap(
-     const std::unordered_map<std::string, std::vector<uint8_t>> buffer);
-
- private:
-   std::unordered_map<std::string, std::vector<uint8_t>> m_UserMap;
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-} // namespace PSNPE
-} // namespace zdl
-
-#endif // PSNPE_APPLICATIONBUFFERMAP_HPP
diff --git a/third_party/snpe/include/SNPE/PSNPE.hpp b/third_party/snpe/include/SNPE/PSNPE.hpp
deleted file mode 100644
index a823c0c7fa1d78..00000000000000
--- a/third_party/snpe/include/SNPE/PSNPE.hpp
+++ /dev/null
@@ -1,205 +0,0 @@
-// =============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-// =============================================================================
-
-#ifndef PSNPE_HPP
-#define PSNPE_HPP
-
-#include <cstdlib>
-#include <functional>
-#include "SNPE/SNPE.hpp"
-#include "DlSystem/UserBufferMap.hpp"
-#include "DlContainer/IDlContainer.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-#include "UserBufferList.hpp"
-#include "RuntimeConfigList.hpp"
-#include "ApplicationBufferMap.hpp"
-
-namespace zdl
-{
-namespace PSNPE
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- *@ brief build snpe instance in serial or parallel
- *
- */
-enum ZDL_EXPORT BuildMode {
-   SERIAL = 0,
-   PARALLEL = 1
-};
-/**
- * @brief  Input and output transmission mode
- */
-enum ZDL_EXPORT InputOutputTransmissionMode
-{
-   sync = 0,
-   outputAsync = 1,
-   inputOutputAsync = 2
-};
-
-/**
- * @brief  A structure representing parameters of callback function of Async Output mode
- */
-struct ZDL_EXPORT OutputAsyncCallbackParam
-{
-   size_t dataIndex;
-   bool executeStatus;
-   std::string errorMsg;
-   OutputAsyncCallbackParam(size_t _index,bool _status, const std::string& _errorMsg = std::string())
-     : dataIndex(_index),executeStatus(_status), errorMsg(_errorMsg){};
-};
-/**
- * @brief  A structure representing parameters of callback function of Async Input/Output mode
- */
-struct ZDL_EXPORT InputOutputAsyncCallbackParam
-{
-   size_t dataIndex;
-   const ApplicationBufferMap& outputMap;
-   bool executeStatus;
-   std::string errorMsg;
-   InputOutputAsyncCallbackParam(size_t _index, const ApplicationBufferMap& output_map,bool _status,
-                                 const std::string _ErrorMsg = std::string())
-     : dataIndex(_index)
-     , outputMap(output_map)
-     , executeStatus(_status)
-     , errorMsg(_ErrorMsg){};
-};
-/**
- * @brief  This callback is called when the output data is ready, only use for Output Async mode
- */
-using OutputAsyncCallbackFunc = std::function<void(OutputAsyncCallbackParam)>;
-/**
- * @brief  This callback is called when the output data is ready, only use for Output-Input Async mode
- */
-using InputOutputAsyncCallbackFunc = std::function<void(InputOutputAsyncCallbackParam)>;
-/**
- * @brief   This callback is called when the input data is ready,only use for Output-Input Async mode 
- */
-using InputOutputAsyncInputCallback = std::function<std::shared_ptr<ApplicationBufferMap>(const std::vector<std::string> &,
-    const zdl::DlSystem::StringList &)>;
-/**
- * @brief .
- *
- * A structure PSNPE configuration
- *
- */
-struct ZDL_EXPORT BuildConfig final
-{
-   BuildMode buildMode = BuildMode::SERIAL; ///< Specify build in serial mode or parallel mode
-   zdl::DlContainer::IDlContainer* container;///< The opened container ptr
-   zdl::DlSystem::StringList outputBufferNames;///< Specify the output layer name
-   zdl::DlSystem::StringList outputTensors;///< Specify the output layer name
-   RuntimeConfigList runtimeConfigList;///< The runtime config list for PSNPE, @see RuntimeConfig
-   size_t inputThreadNumbers = 1;///< Specify the number of threads used in the execution phase to process input data, only used in inputOutputAsync mode
-   size_t outputThreadNumbers = 1;///< Specify the number of threads used in the execution phase to process output data, only used in inputOutputAsync and outputAsync mode
-   OutputAsyncCallbackFunc outputCallback;///< The callback to deal with output data ,only used in outputAsync mode
-   InputOutputAsyncCallbackFunc inputOutputCallback;///< The callback to deal with output data ,only used in inputOutputAsync mode
-   InputOutputAsyncInputCallback inputOutputInputCallback;///< The callback to deal with input data ,only used in inputOutputAsync mode
-   InputOutputTransmissionMode inputOutputTransmissionMode = InputOutputTransmissionMode::sync;///< Specify execution mode
-   zdl::DlSystem::ProfilingLevel_t profilingLevel = zdl::DlSystem::ProfilingLevel_t::OFF;///< Specify profiling level for Diaglog
-   uint64_t encode[2] = {0, 0};
-   bool enableInitCache = false;
-   std::string platformOptions;
-   std::string diaglogOutputDir = "./diaglogs/"; ///< Specify a diaglog output directory to save the generated Diaglog files.
-};
-/**
- * @brief .
- *
- * The class for executing SNPE instances in parallel.
- */
-class ZDL_EXPORT PSNPE final
-{
- public:
-   ~PSNPE();
-
-   explicit PSNPE() noexcept :m_TransmissionMode(InputOutputTransmissionMode::sync){};
-
-   /**
-    * @brief Build snpe instances.
-    *
-    */
-   bool build(BuildConfig& buildConfig) noexcept;
-
-   /**
-    * @brief Execute snpe instances in Async Output mode and Sync mode
-    *
-    * @param[in] inputBufferList A list of user buffers that contains the input data
-    *
-    * @param[in,out] outputBufferList A list of user buffers that will hold the output data
-    *
-    */
-   bool execute(UserBufferList& inputBufferList, UserBufferList& outputBufferList) noexcept;
-
-   /**
-    * @brief  Execute snpe instances in Async Input/Output mode
-    *
-    * @param[in]inputMap A map of input buffers that contains input data. The names of buffers
-    *                     need to be matched with names retrived through getInputTensorNames()
-    *
-    * @param dataIndex Index of the input data
-    *
-    * @param isTF8buff Whether prefer to using 8 bit quantized element for inference
-    *
-    * @return True if executed successfully; flase, otherwise.
-    */
-   bool executeInputOutputAsync(const std::vector<std::string>& inputMap, size_t dataIndex, bool isTF8buff) noexcept;
-   bool executeInputOutputAsync(const std::vector<std::string>& inputMap, size_t dataIndex, bool isTF8buff,bool isTF8Outputbuff) noexcept;
-   /**
-    * @brief Returns the input layer names of the network.
-    *
-    * @return StringList which contains the input layer names
-    */
-   const zdl::DlSystem::StringList getInputTensorNames() const noexcept;
-
-   /**
-    * @brief Returns the output layer names of the network.
-    *
-    * @return StringList which contains the output layer names
-    */
-   const zdl::DlSystem::StringList getOutputTensorNames() const noexcept;
-
-   /**
-    * @brief Returns the input tensor dimensions of the network.
-    *
-    * @return TensorShape which contains the dimensions.
-    */
-   const zdl::DlSystem::TensorShape getInputDimensions() const noexcept;
-
-   const zdl::DlSystem::TensorShape getInputDimensions(const char *name) const noexcept;
-
-   /**
-    * @brief Returns attributes of buffers.
-    *
-    * @see zdl::SNPE
-    *
-    * @return BufferAttributes of input/output tensor named.
-    */
-   const zdl::DlSystem::TensorShape getBufferAttributesDims(const char *name) const noexcept;
-
-   zdl::DlSystem::Optional<zdl::DlSystem::IBufferAttributes*> getInputOutputBufferAttributes(const char *name) const noexcept;
-   bool registerIonBuffers(const zdl::DlSystem::UserMemoryMap& ionBufferMap) const noexcept;
-   bool deregisterIonBuffers(const zdl::DlSystem::StringList& ionBufferNames) const noexcept;
-
-   const char* getLastErrorString();
-
- private:
-   PSNPE(const PSNPE&) = delete;
-   PSNPE& operator=(const PSNPE&) = delete;
-   zdl::PSNPE::InputOutputTransmissionMode m_TransmissionMode;
-
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-} // namespace PSNPE
-} // namespace zdl
-#endif // PSNPE_HPP
diff --git a/third_party/snpe/include/SNPE/RuntimeConfigList.hpp b/third_party/snpe/include/SNPE/RuntimeConfigList.hpp
deleted file mode 100644
index 837dba092a1d21..00000000000000
--- a/third_party/snpe/include/SNPE/RuntimeConfigList.hpp
+++ /dev/null
@@ -1,85 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-#ifndef PSNPE_RUNTIMECONFIGLIST_HPP
-#define PSNPE_RUNTIMECONFIGLIST_HPP
-
-#include <iostream>
-#include "DlContainer/IDlContainer.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/RuntimeList.hpp"
-#include "DlSystem/TensorShapeMap.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-namespace zdl {
-namespace PSNPE {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * The structure for configuring a BulkSNPE runtime
- *
- */
-struct ZDL_EXPORT RuntimeConfig final {
-    zdl::DlSystem::Runtime_t runtime;
-    zdl::DlSystem::RuntimeList runtimeList;
-    zdl::DlSystem::PerformanceProfile_t perfProfile;
-    zdl::DlSystem::TensorShapeMap inputDimensionsMap;
-    bool enableCPUFallback;
-    RuntimeConfig()
-        : runtime{zdl::DlSystem::Runtime_t::CPU_FLOAT32},
-          perfProfile{zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE},
-          enableCPUFallback{false} {}
-    RuntimeConfig(const RuntimeConfig& other) {
-        runtime = other.runtime;
-        runtimeList = other.runtimeList;
-        perfProfile = other.perfProfile;
-        enableCPUFallback = other.enableCPUFallback;
-        inputDimensionsMap = other.inputDimensionsMap;
-    }
-
-    RuntimeConfig& operator=(const RuntimeConfig& other) {
-        this->runtimeList = other.runtimeList;
-        this->runtime = other.runtime;
-        this->perfProfile = other.perfProfile;
-        this->enableCPUFallback = other.enableCPUFallback;
-        this->inputDimensionsMap = other.inputDimensionsMap;
-        return *this;
-    }
-
-    ~RuntimeConfig() {}
-};
-
-/**
- * @brief .
- *
- * The class for creating a RuntimeConfig container.
- *
- */
-class ZDL_EXPORT RuntimeConfigList final {
-   public:
-    RuntimeConfigList();
-    RuntimeConfigList(const size_t size);
-    void push_back(const RuntimeConfig& runtimeConfig);
-    RuntimeConfig& operator[](const size_t index);
-    RuntimeConfigList& operator=(const RuntimeConfigList& other);
-    size_t size() const noexcept;
-    size_t capacity() const noexcept;
-    void clear() noexcept;
-    ~RuntimeConfigList() = default;
-
-   private:
-    void swap(const RuntimeConfigList& other);
-    std::vector<RuntimeConfig> m_runtimeConfigs;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}  // namespace PSNPE
-}  // namespace zdl
-#endif  // PSNPE_RUNTIMECONFIGLIST_HPP
diff --git a/third_party/snpe/include/SNPE/SNPE.hpp b/third_party/snpe/include/SNPE/SNPE.hpp
deleted file mode 100644
index 5ab45b82eedc85..00000000000000
--- a/third_party/snpe/include/SNPE/SNPE.hpp
+++ /dev/null
@@ -1,258 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _SNPE_SNPE_HPP_
-#define _SNPE_SNPE_HPP_
-
-#include "DlSystem/DlOptional.hpp"
-#include "DlSystem/DlVersion.hpp"
-#include "DlSystem/IBufferAttributes.hpp"
-#include "DlSystem/ITensor.hpp"
-#include "DlSystem/TensorShape.hpp"
-#include "DlSystem/TensorMap.hpp"
-#include "DlSystem/String.hpp"
-#include "DlSystem/StringList.hpp"
-#include "DlSystem/IUserBuffer.hpp"
-#include "DlSystem/UserBufferMap.hpp"
-#include "DlSystem/UserMemoryMap.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl {
-   namespace SNPE
-   {
-      class SnpeRuntime;
-   }
-}
-namespace zdl {
-   namespace DiagLog
-   {
-      class IDiagLog;
-   }
-}
-
-namespace zdl { namespace SNPE {
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * The SNPE interface class definition
- */
-class ZDL_EXPORT SNPE final
-{
-public:
-
-   // keep this undocumented to be hidden in doxygen using HIDE_UNDOC_MEMBERS
-   explicit SNPE(std::unique_ptr<zdl::SNPE::SnpeRuntime>&& runtime) noexcept;
-   ~SNPE();
-
-   /**
-    * @brief Gets the names of input tensors to the network
-    *
-    * To support multiple input scenarios, where multiple tensors are
-    * passed through execute() in a TensorMap, each tensor needs to
-    * be uniquely named. The names of tensors can be retrieved
-    * through this function.
-    *
-    * In the case of a single input, one name will be returned.
-    *
-    * @note Note that because the returned value is an Optional list,
-    * the list must be verified as boolean true value before being
-    * dereferenced.
-    *
-    * @return An Optional List of input tensor names.
-    *
-    * @see zdl::DlSystem::Optional
-    */
-   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
-      getInputTensorNames() const noexcept;
-
-    /**
-     * @brief Gets the names of output tensors to the network
-     *
-     * @return List of output tensor names.
-     */
-   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
-      getOutputTensorNames() const noexcept;
-
-   /**
-    * @brief Gets the name of output tensor from the input layer name
-    *
-    * @return Output tensor name.
-    */
-   zdl::DlSystem::StringList
-      getOutputTensorNamesByLayerName(const char *name) const noexcept;
-
-   /**
-    * @brief Processes the input data and returns the output
-    *
-    * @param[in] A map of tensors that contains the input data for
-    *            each input. The names of tensors needs to be
-    *            matched with names retrieved through
-    *            getInputTensorNames()
-    *
-    * @param[in,out] An empty map of tensors that will contain the output
-    *                data of potentially multiple layers (the key
-    *                in the map is the layer name) upon return
-    *
-    * @note output tensormap has to be empty.  To forward propagate
-    *       and get results in user-supplied tensors, use
-    *       executeWithSuppliedOutputTensors.
-    */
-   bool execute(const zdl::DlSystem::TensorMap &input,
-                zdl::DlSystem::TensorMap &output) noexcept;
-
-   /**
-    * @brief Processes the input data and returns the output
-    *
-    * @param[in] A single tensor contains the input data.
-    *
-    * @param[in,out] An empty map of tensors that will contain the output
-    *                data of potentially multiple layers (the key
-    *                in the map is the layer name) upon return
-    *
-    * @note output tensormap has to be empty.
-    */
-   bool execute(const zdl::DlSystem::ITensor *input,
-                zdl::DlSystem::TensorMap &output) noexcept;
-
-   /**
-    * @brief Processes the input data and returns the output, using
-    *        user-supplied buffers
-    *
-    * @param[in] A map of UserBuffers that contains the input data for
-    *            each input. The names of UserBuffers needs to be
-    *            matched with names retrieved through
-    *            getInputTensorNames()
-    *
-    * @param[in,out] A map of UserBuffers that will hold the output
-    *                data of potentially multiple layers (the key
-    *                in the map is the UserBuffer name)
-    *
-    * @note input and output UserBuffer maps must be fully pre-populated. with
-    *       dimensions matching what the network expects.
-    *       For example, if there are 5 output UserBuffers they all have to be
-    *       present in map.
-    *
-    *       Caller must guarantee that for the duration of execute(), the buffer
-    *       stored in UserBuffer would remain valid.  For more detail on buffer
-    *       ownership and lifetime requirements, please refer to zdl::DlSystem::UserBuffer
-    *       documentation.
-    */
-   bool execute(const zdl::DlSystem::UserBufferMap &input,
-                const zdl::DlSystem::UserBufferMap &output) noexcept;
-
-
-    /**
-    * @brief Regiter Client ION Buffers
-    * @param[in] A UserMemoryMap of virtual addresses
-    *
-    */
-   bool registerIonBuffers(const zdl::DlSystem::UserMemoryMap& ionBufferMap) noexcept;
-
-    /**
-    * @brief Regiter Client ION Buffers
-    * @param[in] A StringList of ION Buffer names
-    *
-    */
-   bool deregisterIonBuffers(const zdl::DlSystem::StringList& ionBufferNames) noexcept;
-
-    /**
-    * @brief Returns the version string embedded at model conversion
-    * time.
-    *
-    * @return Model version string, which is a free-form string
-    *         supplied at the time of the conversion
-    *
-    */
-   zdl::DlSystem::String getModelVersion() const noexcept;
-
-   /**
-    * @brief Returns the dimensions of the input data to the model in the
-    * form of TensorShape. The dimensions in TensorShape corresponds to
-    * what the tensor dimensions would need to be for an input tensor to
-    * the model.
-    *
-    * @param[in] layer input name.
-    *
-    * @note Note that this function only makes sense for networks 
-    *       that have a fixed input size. For networks in which the
-    *       input size varies with each call of Execute(), this
-    *       function should not be used.
-    *
-    * @note Because the returned type is an Optional instance, it must
-    *       be verified as a boolean true value before being dereferenced.
-    * 
-    * @return An Optional instance of TensorShape that maintains dimensions,
-    *         matching the tensor dimensions for input to the model,
-    *         where the last entry is the fastest varying dimension, etc.
-    *  
-    * @see zdl::DlSystem::ITensor
-    * @see zdl::DlSystem::TensorShape
-    * @see zdl::DlSystem::Optional
-    */
-   zdl::DlSystem::Optional<zdl::DlSystem::TensorShape>
-      getInputDimensions() const noexcept;
-   zdl::DlSystem::Optional<zdl::DlSystem::TensorShape>
-      getInputDimensions(const char *name) const noexcept;
-
-   /**
-    * @brief Gets the output layer(s) for the network. 
-    *  
-    * Note that the output layers returned by this function may be 
-    * different than those specified when the network was created 
-    * via the zdl::SNPE::SNPEBuilder. For example, if the
-    * network was created in debug mode with no explicit output 
-    * layers specified, this will contain all layers.
-    *
-    * @note Note that because the returned value is an Optional StringList,
-    * the list must be verified as a boolean true value before being
-    * dereferenced.
-    *
-    * @return A List of output layer names.
-    *
-    * @see zdl::DlSystem::Optional
-    */
-   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
-      getOutputLayerNames() const noexcept;
-
-   /**
-     * @brief Returns attributes of buffers used to feed input tensors and receive result from output tensors.
-     *
-     * @param[in] Tensor name.
-     *
-     * @return BufferAttributes of input/output tensor named
-     */
-   zdl::DlSystem::Optional<zdl::DlSystem::IBufferAttributes*> getInputOutputBufferAttributes(const char *name) const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Get the diagnostic logging interface
-    *
-    * @note Note that because the returned type is an Optional instance,
-    * it must be verified as a boolean true value before being
-    * dereferenced.
-    *
-    * @see zdl::DlSystem::Optional
-    */
-   zdl::DlSystem::Optional<zdl::DiagLog::IDiagLog*>
-      getDiagLogInterface() noexcept;
-
-private:
-   SNPE(const SNPE&) = delete;
-   SNPE& operator=(const SNPE&) = delete;
-
-   std::unique_ptr<SnpeRuntime> m_Runtime;
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-}}
-
-#endif
diff --git a/third_party/snpe/include/SNPE/SNPEBuilder.hpp b/third_party/snpe/include/SNPE/SNPEBuilder.hpp
deleted file mode 100644
index 5fc7846ced6486..00000000000000
--- a/third_party/snpe/include/SNPE/SNPEBuilder.hpp
+++ /dev/null
@@ -1,306 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2017-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _SNPE_BUILDER_HPP_
-#define _SNPE_BUILDER_HPP_
-
-#include "SNPE/SNPE.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/UDLFunc.hpp"
-#include "DlSystem/DlOptional.hpp"
-#include "DlSystem/TensorShapeMap.hpp"
-#include "DlSystem/PlatformConfig.hpp"
-#include "DlSystem/IOBufferDataTypeMap.hpp"
-#include "DlSystem/RuntimeList.hpp"
-
-namespace zdl {
-   namespace DlContainer
-   {
-      class IDlContainer;
-   }
-}
-
-struct SNPEBuilderImpl;
-
-
-namespace zdl { namespace SNPE {
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * The builder class for creating SNPE objects.
- * Not meant to be extended.
- */
-class ZDL_EXPORT SNPEBuilder final
-{
-private:
-   std::unique_ptr<::SNPEBuilderImpl> m_Impl;
-public:
-
-   /**
-    * @brief Constructor of NeuralNetwork Builder with a supplied model.
-    *
-    * @param[in] container A container holding the model.
-    *
-    * @return A new instance of a SNPEBuilder object
-    *         that can be used to configure and build
-    *         an instance of SNPE.
-    *
-    */
-   explicit SNPEBuilder(
-      zdl::DlContainer::IDlContainer* container);
-   ~SNPEBuilder();
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE. Please use
-    *       setRuntimeProcessorOrder()
-    *
-    * @brief Sets the runtime processor.
-    *
-    * @param[in] targetRuntimeProcessor The target runtime.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setRuntimeProcessor(
-      zdl::DlSystem::Runtime_t targetRuntimeProcessor);
-
-   /**
-    * @brief Requests a performance profile.
-    *
-    * @param[in] targetRuntimeProfile The target performance profile.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setPerformanceProfile(
-      zdl::DlSystem::PerformanceProfile_t performanceProfile);
-
-   /**
-    * @brief Sets the profiling level. Default profiling level for
-    *        SNPEBuilder is off. Off and basic only applies to DSP runtime.
-    *
-    * @param[in] profilingLevel The target profiling level.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setProfilingLevel(
-      zdl::DlSystem::ProfilingLevel_t profilingLevel);
-
-    /**
-     * @brief Sets a preference for execution priority.
-     *
-     * This allows the caller to give coarse hint to SNPE runtime
-     * about the priority of the network.  SNPE runtime is free to use
-     * this information to co-ordinate between different workloads
-     * that may or may not extend beyond SNPE.
-     *
-     * @param[in] ExecutionPriorityHint_t The target performance profile.
-     *
-     * @return The current instance of SNPEBuilder.
-     */
-   SNPEBuilder& setExecutionPriorityHint(
-            zdl::DlSystem::ExecutionPriorityHint_t priority);
-
-    /**
-    * @brief Sets the layers that will generate output.
-    *
-    * @param[in] outputLayerNames List of layer names to
-    *                             output. An empty list will
-    *                             result in only the final
-    *                             layer of the model being
-    *                             the output layer.  The list
-    *                             will be copied.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setOutputLayers(
-      const zdl::DlSystem::StringList& outputLayerNames);
-
-   /**
-   * @brief Sets the output tensor names.
-   *
-   * @param[in] outputTensorNames List of tensor names to
-   *                             output. An empty list will
-   *                             result in producing output for the final
-   *                             output tensor of the model.
-   *                             The list will be copied.
-   *
-   * @return The current instance of SNPEBuilder.
-   */
-   SNPEBuilder& setOutputTensors(
-      const zdl::DlSystem::StringList& outputTensorNames);
-
-   /**
-    * @brief Passes in a User-defined layer.
-    *
-    * @param udlBundle Bundle of udl factory function and a cookie
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setUdlBundle(
-      zdl::DlSystem::UDLBundle udlBundle);
-
-   /**
-    * @brief Sets whether this neural network will perform inference with
-    *        input from user-supplied buffers, and write output to user-supplied
-    *        buffers.  Default behaviour is to use tensors created by
-    *        ITensorFactory.
-    *
-    * @param[in] bufferMode Whether to use user-supplied buffer or not.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setUseUserSuppliedBuffers(
-      bool bufferMode);
-
-    /**
-    * @brief Sets the debug mode of the runtime.
-    *
-    * @param[in] debugMode This enables debug mode for the runtime. It
-    *                      does two things. For an empty
-    *                      outputLayerNames list, all layers will be
-    *                      output. It might also disable some internal
-    *                      runtime optimizations (e.g., some networks
-    *                      might be optimized by combining layers,
-    *                      etc.).
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setDebugMode(
-      bool debugMode);
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE. Please use
-    *       setRuntimeProcessorOrder()
-    *
-    * @brief Sets the mode of CPU fallback functionality.
-    *
-    * @param[in] mode   This flag enables/disables the functionality
-    *                   of CPU fallback. When the CPU fallback
-    *                   functionality is enabled, layers in model that
-    *                   violates runtime constraints will run on CPU
-    *                   while the rest of non-violating layers will
-    *                   run on the chosen runtime processor. In
-    *                   disabled mode, models with layers violating
-    *                   runtime constraints will NOT run on the chosen
-    *                   runtime processor and will result in runtime
-    *                   exception. By default, the functionality is
-    *                   enabled.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setCPUFallbackMode(
-      bool mode);
-
-
-   /**
-    * @brief Sets network's input dimensions to enable resizing of
-    *        the spatial dimensions of each layer for fully convolutional networks,
-    *        and the batch dimension for all networks.
-    *
-    * @param[in] tensorShapeMap The map of input names and their new dimensions.
-    *                           The new dimensions overwrite the input dimensions
-    *                           embedded in the model and then resize each layer
-    *                           of the model. If the model contains
-    *                           layers whose dimensions cannot be resized e.g FullyConnected,
-    *                           exception will be thrown when SNPE instance is actually built.
-    *                           In general the batch dimension is always resizable.
-    *                           After resizing of layers' dimensions in model based
-    *                           on new input dimensions, the new model is revalidated
-    *                           against all runtime constraints, whose failures may
-    *                           result in cpu fallback situation.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setInputDimensions(const zdl::DlSystem::TensorShapeMap& inputDimensionsMap);
-
-   /**
-    * @brief Sets the mode of init caching functionality.
-    *
-    * @param[in] mode   This flag enables/disables the functionality of init caching.
-    *                   When init caching functionality is enabled, a set of init caches
-    *                   will be created during network building/initialization process
-    *                   and will be added to DLC container. If such DLC container is saved
-    *                   by the user, in subsequent network building/initialization processes
-    *                   these init caches will be loaded from the DLC so as to reduce initialization time.
-    *                   In disable mode, no init caches will be added to DLC container.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setInitCacheMode(
-      bool cacheMode);
-
-   /**
-    * @brief Returns an instance of SNPE based on the current parameters.
-    *
-    * @return A new instance of a SNPE object that can be used
-    *         to execute models or null if any errors occur.
-    */
-   std::unique_ptr<SNPE> build() noexcept;
-
-   /**
-    * @brief Sets the platform configuration.
-    *
-    * @param[in] platformConfig The platform configuration.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setPlatformConfig(const zdl::DlSystem::PlatformConfig& platformConfig);
-
-   /**
-    * @brief Sets network's runtime order of precedence. Example:
-    *        CPU_FLOAT32, GPU_FLOAT16, AIP_FIXED8_TF
-    *        Note:- setRuntimeProcessor() or setCPUFallbackMode() will be silently ignored when
-    *        setRuntimeProcessorOrder() is invoked
-    *
-    * @param[in] runtimeList The list of runtime in order of precedence
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setRuntimeProcessorOrder(const zdl::DlSystem::RuntimeList& runtimeList);
-
-    /**
-    * @brief Sets the unconsumed tensors as output
-    *
-    * @param[in] setOutput This enables unconsumed tensors (i.e)
-    *                      outputs which are not inputs to any
-    *                      layer (basically dead ends) to be marked
-    *                      for output
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setUnconsumedTensorsAsOutputs(
-      bool setOutput);
-
-    /**
-    * @brief Execution terminated when exceeding time limit.
-    *        Only valid for dsp runtime currently.
-    *
-    * @param[in] timeout Time limit value
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setTimeOut(
-      uint64_t timeout);
-
-
-   /**
-    * @brief Sets the datatype of the buffer.
-    *        Only valid for dsp runtime currently.
-    *
-    * @param[in] Map of the buffer names and the datatype that needs to be set.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setBufferDataType(const zdl::DlSystem::IOBufferDataTypeMap& dataTypeMap);
-
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}}
-
-#endif
diff --git a/third_party/snpe/include/SNPE/SNPEFactory.hpp b/third_party/snpe/include/SNPE/SNPEFactory.hpp
deleted file mode 100644
index 2d78e81b173d2c..00000000000000
--- a/third_party/snpe/include/SNPE/SNPEFactory.hpp
+++ /dev/null
@@ -1,220 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _SNPE_FACTORY_HPP_
-#define _SNPE_FACTORY_HPP_
-
-#include "SNPE/SNPE.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/UDLFunc.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-#include "DlSystem/DlOptional.hpp"
-
-namespace zdl {
-   namespace DlSystem
-   {
-      class ITensorFactory;
-      class IUserBufferFactory;
-   }
-   namespace DlContainer
-   {
-      class IDlContainer;
-   }
-}
-
-
-
-namespace zdl { namespace SNPE {
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * The factory class for creating SNPE objects.
- *
- */
-class ZDL_EXPORT SNPEFactory
-{
-public:
-
-   /**
-    * Indicates whether the supplied runtime is available on the
-    * current platform.
-    *
-    * @param[in] runtime The target runtime to check.
-    *
-    * @return True if the supplied runtime is available; false,
-    *         otherwise.
-    */
-   static bool isRuntimeAvailable(zdl::DlSystem::Runtime_t runtime);
-
-   /**
-    * Indicates whether the supplied runtime is available on the
-    * current platform.
-    *
-    * @param[in] runtime The target runtime to check.
-    *
-    * @param[in] option Extent to perform runtime available check.
-    *
-    * @return True if the supplied runtime is available; false,
-    *         otherwise.
-    */
-   static bool isRuntimeAvailable(zdl::DlSystem::Runtime_t runtime,
-                                  zdl::DlSystem::RuntimeCheckOption_t option);
-
-   /**
-    * Gets a reference to the tensor factory.
-    *
-    * @return A reference to the tensor factory.
-    */
-   static zdl::DlSystem::ITensorFactory& getTensorFactory();
-
-   /**
-    * Gets a reference to the UserBuffer factory.
-    *
-    * @return A reference to the UserBuffer factory.
-    */
-   static zdl::DlSystem::IUserBufferFactory& getUserBufferFactory();
-
-   /**
-    * Gets the version of the SNPE library.
-    *
-    * @return Version of the SNPE library.
-    *
-    */
-   static zdl::DlSystem::Version_t getLibraryVersion();
-
-   /**
-    * Set the SNPE storage location for all SNPE instances in this
-    * process. Note that this may only be called once, and if so
-    * must be called before creating any SNPE instances.
-    *
-    * @param[in] storagePath Absolute path to a directory which SNPE may
-    *  use for caching and other storage purposes.
-    *
-    * @return True if the supplied path was succesfully set as
-    *  the SNPE storage location, false otherwise.
-    */
-   static bool setSNPEStorageLocation(const char* storagePath);
-
-   /**
-    * @brief Register a user-defined op package with SNPE.
-    *
-    * @param[in] regLibraryPath Path to the registration library
-    *                      that allows clients to register a set of operations that are
-    *                      part of the package, and share op info with SNPE
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool addOpPackage( const std::string& regLibraryPath );
-
-   /**
-    * Indicates whether the OpenGL and OpenCL interoperability is supported
-    * on GPU platform.
-    *
-    * @return True if the OpenGL and OpenCl interop is supported; false,
-    *         otherwise.
-    */
-   static bool isGLCLInteropSupported();
-
-   static const char* getLastError();
-
-   /**
-    * Initializes logging with the specified log level.
-    * initializeLogging with level, is used on Android platforms
-    * and after successful initialization, SNPE
-    * logs are printed in android logcat logs.
-    *
-    * It is recommended to initializeLogging before creating any
-    * SNPE instances, in order to capture information related to
-    * core initialization. If this is called again after first
-    * time initialization, subsequent calls are ignored.
-    * Also, Logging can be re-initialized after a call to
-    * terminateLogging API by calling initializeLogging again.
-    *
-    * A typical usage of Logging life cycle can be
-    * initializeLogging()
-    *        any other SNPE API like isRuntimeAvailable()
-    * * setLogLevel() - optional - can be called anytime
-    *         between initializeLogging & terminateLogging
-    *		  SNPE instance creation, inference, destroy
-    * terminateLogging().
-    *
-    * Please note, enabling logging can have performance impact.
-    *
-    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool initializeLogging(const zdl::DlSystem::LogLevel_t& level);
-
-   /**
-    * Initializes logging with the specified log level and log path.
-    * initializeLogging with level & log path, is used on non Android
-    * platforms and after successful initialization, SNPE
-    * logs are printed in std output & into log files created in the
-    * log path.
-    *
-    * It is recommended to initializeLogging before creating any
-    * SNPE instances, in order to capture information related to
-    * core initialization. If this is called again after first
-    * time initialization, subsequent calls are ignored.
-    * Also, Logging can be re-initialized after a call to
-    * terminateLogging API by calling initializeLogging again.
-    *
-    * A typical usage of Logging life cycle can be
-    * initializeLogging()
-    *        any other SNPE API like isRuntimeAvailable()
-    * * setLogLevel() - optional - can be called anytime
-    *         between initializeLogging & terminateLogging
-    *		  SNPE instance creation, inference, destroy
-    * terminateLogging()
-    *
-    * Please note, enabling logging can have performance impact
-    *
-    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
-    *
-    * @param[in] Path of directory to store logs.
-    *      If path is empty, the default path is "./Log".
-    *      For android, the log path is ignored.
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool initializeLogging(const zdl::DlSystem::LogLevel_t& level, const std::string& logPath);
-
-   /**
-    * Updates the current logging level with the specified level.
-    * setLogLevel is optional, called anytime after initializeLogging
-    * and before terminateLogging, to update the log level set.
-    * Log levels can be updated multiple times by calling setLogLevel
-    * A call to setLogLevel() is ignored if it is made before
-    * initializeLogging() or after terminateLogging()
-    *
-    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool setLogLevel(const zdl::DlSystem::LogLevel_t& level);
-
-   /**
-    * Terminates logging.
-    *
-    * It is recommended to terminateLogging after initializeLogging
-    * in order to disable logging information.
-    * If this is called before initialization or after first time termination,
-    * calls are ignored.
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool terminateLogging(void);
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-}}
-
-
-#endif
diff --git a/third_party/snpe/include/SNPE/UserBufferList.hpp b/third_party/snpe/include/SNPE/UserBufferList.hpp
deleted file mode 100644
index a660bca0f6a525..00000000000000
--- a/third_party/snpe/include/SNPE/UserBufferList.hpp
+++ /dev/null
@@ -1,49 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2019 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-#ifndef PSNPE_USERBUFFERLIST_HPP
-#define PSNPE_USERBUFFERLIST_HPP
-
-#include <vector>
-#include "DlSystem/UserBufferMap.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace PSNPE
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-/**
-* @brief .
-*
-* The class for creating a UserBufferMap container.
-*
-*/
-class ZDL_EXPORT UserBufferList final
-{
-public:
-   UserBufferList();
-   UserBufferList(const size_t size);
-   void push_back(const zdl::DlSystem::UserBufferMap &userBufferMap);
-   zdl::DlSystem::UserBufferMap& operator[](const size_t index);
-   UserBufferList& operator =(const UserBufferList &other);
-   size_t size() const noexcept;
-   size_t capacity() const noexcept;
-   void clear() noexcept;
-   ~UserBufferList() = default;
-
-private:
-   void swap(const UserBufferList &other);
-   std::vector<zdl::DlSystem::UserBufferMap> m_userBufferMaps;
-
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // namespace PSNPE
-} // namespace zdl
-#endif //PSNPE_USERBUFFERLIST_HPP
diff --git a/third_party/snpe/include/SnpeUdo/UdoBase.h b/third_party/snpe/include/SnpeUdo/UdoBase.h
deleted file mode 100644
index 7b2567920e3525..00000000000000
--- a/third_party/snpe/include/SnpeUdo/UdoBase.h
+++ /dev/null
@@ -1,537 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef SNPE_UDO_BASE_H
-#define SNPE_UDO_BASE_H
-
-#include <stdint.h>
-
-// Provide values to use for API version.
-#define API_VERSION_MAJOR 1
-#define API_VERSION_MINOR 6
-#define API_VERSION_TEENY 0
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-// Defines a bitmask of enum values.
-typedef uint32_t SnpeUdo_Bitmask_t;
-typedef SnpeUdo_Bitmask_t Udo_Bitmask_t;
-
-// A string of characters, rather than an array of bytes.
-// Assumed to be UTF-8.
-typedef char* SnpeUdo_String_t;
-typedef SnpeUdo_String_t Udo_String_t;
-
-// The maximum allowable length of a SnpeUdo_String_t in bytes,
-// including null terminator. SNPE will truncate strings longer
-// than this.
-#define SNPE_UDO_MAX_STRING_SIZE 1024
-
-/**
-  * An enum which holds the various error types.
-  * The error types are divided to classes :
-  * 0 - 99    : generic errors
-  * 100 - 200 : errors related to configuration
-  *
-  */
-typedef enum
-{
-   /// No Error
-   SNPE_UDO_NO_ERROR                    = 0,          UDO_NO_ERROR                    = 0,
-   /// Unsupported value for core type
-   SNPE_UDO_WRONG_CORE                  = 1,          UDO_WRONG_CORE                  = 1,
-   /// Invalid attribute/argument passed into UDO API
-   SNPE_UDO_INVALID_ARGUMENT            = 2,          UDO_INVALID_ARGUMENT            = 2,
-   /// Unsupported feature error
-   SNPE_UDO_UNSUPPORTED_FEATURE         = 3,          UDO_UNSUPPORTED_FEATURE         = 3,
-   /// Error relating to memory allocation
-   SNPE_UDO_MEM_ALLOC_ERROR             = 4,          UDO_MEM_ALLOC_ERROR             = 4,
-   /* Configuration Specific errors */
-   /// No op with given attributes available in library
-   SNPE_UDO_WRONG_OPERATION             = 100,        UDO_WRONG_OPERATION             = 100,
-   /// Unsupported value for core type in UDO configuration
-   SNPE_UDO_WRONG_CORE_TYPE             = 101,        UDO_WRONG_CORE_TYPE             = 101,
-   /// Wrong number of params in UDO definition
-   SNPE_UDO_WRONG_NUM_OF_PARAMS         = 102,        UDO_WRONG_NUM_OF_PARAMS         = 102,
-   /// Wrong number of dimensions for tensor(s) in UDO definition
-   SNPE_UDO_WRONG_NUM_OF_DIMENSIONS     = 103,        UDO_WRONG_NUM_OF_DIMENSIONS     = 103,
-   /// Wrong number of input tensors in UDO definition
-   SNPE_UDO_WRONG_NUM_OF_INPUTS         = 104,        UDO_WRONG_NUM_OF_INPUTS         = 104,
-   /// Wrong number of output tensors in UDO definition
-   SNPE_UDO_WRONG_NUM_OF_OUTPUTS        = 105,        UDO_WRONG_NUM_OF_OUTPUTS        = 105,
-   SNPE_UDO_PROGRAM_CACHE_NOT_FOUND     = 106,        UDO_PROGRAM_CACHE_NOT_FOUND     = 106,
-   SNPE_UDO_UNKNOWN_ERROR               = 0xFFFFFFFF, UDO_UNKNOWN_ERROR               = 0xFFFFFFFF
-} SnpeUdo_ErrorType_t;
-
-typedef SnpeUdo_ErrorType_t Udo_ErrorType_t;
-
-/**
-  * An enum which holds the various data types.
-  * Designed to be used as single values or combined into a bitfield parameter
-  * (0x1, 0x2, 0x4, etc)
-  * \n FIXED_XX types are targeted for data in tensors.
-  * \n UINT / INT types are targeted for scalar params
-  */
-typedef enum
-{
-   /// data type: 16-bit floating point
-   SNPE_UDO_DATATYPE_FLOAT_16       = 0x01,        UDO_DATATYPE_FLOAT_16       = 0x01,
-   /// data type: 32-bit floating point
-   SNPE_UDO_DATATYPE_FLOAT_32       = 0x02,        UDO_DATATYPE_FLOAT_32       = 0x02,
-   /// data type: 4-bit fixed point
-   SNPE_UDO_DATATYPE_FIXED_4        = 0x04,        UDO_DATATYPE_FIXED_4        = 0x04,
-   /// data type: 8-bit fixed point
-   SNPE_UDO_DATATYPE_FIXED_8        = 0x08,        UDO_DATATYPE_FIXED_8        = 0x08,
-   /// data type: 16-bit fixed point
-   SNPE_UDO_DATATYPE_FIXED_16       = 0x10,        UDO_DATATYPE_FIXED_16       = 0x10,
-   /// data type: 32-bit fixed point
-   SNPE_UDO_DATATYPE_FIXED_32       = 0x20,        UDO_DATATYPE_FIXED_32       = 0x20,
-   /// data type: 8-bit unsigned integer
-   SNPE_UDO_DATATYPE_UINT_8         = 0x100,       UDO_DATATYPE_UINT_8         = 0x100,
-   /// data type: 16-bit unsigned integer
-   SNPE_UDO_DATATYPE_UINT_16        = 0x200,       UDO_DATATYPE_UINT_16        = 0x200,
-   /// data type: 32-bit unsigned integer
-   SNPE_UDO_DATATYPE_UINT_32        = 0x400,       UDO_DATATYPE_UINT_32        = 0x400,
-   /// data type: 8-bit signed integer
-   SNPE_UDO_DATATYPE_INT_8          = 0x1000,      UDO_DATATYPE_INT_8          = 0x1000,
-   /// data type: 16-bit signed integer
-   SNPE_UDO_DATATYPE_INT_16         = 0x2000,      UDO_DATATYPE_INT_16         = 0x2000,
-   /// data type: 32-bit signed integer
-   SNPE_UDO_DATATYPE_INT_32         = 0x4000,      UDO_DATATYPE_INT_32         = 0x4000,
-   SNPE_UDO_DATATYPE_LAST           = 0xFFFFFFFF,  UDO_DATATYPE_LAST           = 0xFFFFFFFF
-} SnpeUdo_DataType_t;
-
-typedef SnpeUdo_DataType_t Udo_DataType_t;
-
-/**
-  * An enum which holds the various layouts.
-  * Designed to be used as single values or combined into a bitfield parameter
-  * (0x1, 0x2, 0x4, etc)
-  */
-typedef enum
-{
-   /// data layout (4D): NHWC (batch-height-width-channel)
-   SNPE_UDO_LAYOUT_NHWC             = 0x01,        UDO_LAYOUT_NHWC             = 0x01,
-   /// data layout (4D): NCHW (batch-channel-height-width)
-   SNPE_UDO_LAYOUT_NCHW             = 0x02,        UDO_LAYOUT_NCHW             = 0x02,
-   /// data layout (5D): NDHWC (batch-dimension-height-width-channel)
-   SNPE_UDO_LAYOUT_NDHWC            = 0x04,        UDO_LAYOUT_NDHWC            = 0x04,
-   SNPE_UDO_LAYOUT_GPU_OPTIMAL1     = 0x08,        UDO_LAYOUT_GPU_OPTIMAL1     = 0x08,
-   SNPE_UDO_LAYOUT_GPU_OPTIMAL2     = 0x10,        UDO_LAYOUT_GPU_OPTIMAL2     = 0x10,
-   SNPE_UDO_LAYOUT_DSP_OPTIMAL1     = 0x11,        UDO_LAYOUT_DSP_OPTIMAL1     = 0x11,
-   SNPE_UDO_LAYOUT_DSP_OPTIMAL2     = 0x12,        UDO_LAYOUT_DSP_OPTIMAL2     = 0x12,
-   // Indicates no data will be allocated for this tensor.
-   // Used to specify optional inputs/outputs positionally.
-   SNPE_UDO_LAYOUT_NULL             = 0x13,        UDO_LAYOUT_NULL             = 0x13,
-   SNPE_UDO_LAYOUT_LAST             = 0xFFFFFFFF,  UDO_LAYOUT_LAST             = 0xFFFFFFFF
-} SnpeUdo_TensorLayout_t;
-
-typedef SnpeUdo_TensorLayout_t Udo_TensorLayout_t;
-
-/**
-  * An enum which holds the UDO library Core type .
-  * Designed to be used as single values or combined into a bitfield parameter
-  * (0x1, 0x2, 0x4, etc)
-  */
-typedef enum
-{
-   /// Library target IP Core is undefined
-   SNPE_UDO_CORETYPE_UNDEFINED   = 0x00,          UDO_CORETYPE_UNDEFINED   = 0x00,
-   /// Library target IP Core is CPU
-   SNPE_UDO_CORETYPE_CPU         = 0x01,          UDO_CORETYPE_CPU         = 0x01,
-   /// Library target IP Core is GPU
-   SNPE_UDO_CORETYPE_GPU         = 0x02,          UDO_CORETYPE_GPU         = 0x02,
-   /// Library target IP Core is DSP
-   SNPE_UDO_CORETYPE_DSP         = 0x04,          UDO_CORETYPE_DSP         = 0x04,
-   SNPE_UDO_CORETYPE_LAST        = 0xFFFFFFFF,    UDO_CORETYPE_LAST        = 0xFFFFFFFF
-} SnpeUdo_CoreType_t;
-
-typedef SnpeUdo_CoreType_t Udo_CoreType_t;
-
-/**
-  * An enum to specify the parameter type : Scalar or Tensor
-  */
-typedef enum
-{
-   /// UDO static param type: scalar
-   SNPE_UDO_PARAMTYPE_SCALAR = 0x00,         UDO_PARAMTYPE_SCALAR = 0x00,
-   /// UDO static param type: string
-   SNPE_UDO_PARAMTYPE_STRING = 0x01,         UDO_PARAMTYPE_STRING = 0x01,
-   /// UDO static param type: tensor
-   SNPE_UDO_PARAMTYPE_TENSOR = 0x02,         UDO_PARAMTYPE_TENSOR = 0x02,
-   SNPE_UDO_PARAMTYPE_LAST   = 0xFFFFFFFF,   UDO_PARAMTYPE_LAST   = 0xFFFFFFFF
-} SnpeUdo_ParamType_t;
-
-typedef SnpeUdo_ParamType_t Udo_ParamType_t;
-
-/**
-  * An enum to specify quantization type
-  */
-typedef enum
-{
-   /// Tensor Quantization type: NONE. Signifies unquantized tensor data
-   SNPE_UDO_QUANTIZATION_NONE   = 0x00,         UDO_QUANTIZATION_NONE   = 0x00,
-   /// Tensor Quantization type: Tensorflow-style
-   SNPE_UDO_QUANTIZATION_TF     = 0x01,         UDO_QUANTIZATION_TF     = 0x01,
-   SNPE_UDO_QUANTIZATION_QMN    = 0x02,         UDO_QUANTIZATION_QMN    = 0x02,
-   SNPE_UDO_QUANTIZATION_LAST   = 0xFFFFFFFF,   UDO_QUANTIZATION_LAST   = 0xFFFFFFFF
-} SnpeUdo_QuantizationType_t;
-
-typedef SnpeUdo_QuantizationType_t Udo_QuantizationType_t;
-
-/**
- * @brief A struct which is used to provide a version number using 3 values : major, minor, teeny
- *
- */
-typedef struct
-{
-   /// version field: major - for backward-incompatible changes
-   uint32_t major;
-   /// version field: minor - for backward-compatible feature updates
-   uint32_t minor;
-   /// version field: teeny - for minor bug-fixes and clean-up
-   uint32_t teeny;
-} SnpeUdo_Version_t;
-
-typedef SnpeUdo_Version_t Udo_Version_t;
-
-/**
- * @brief A struct returned from version query, contains the Library version and API version
- *
- */
-typedef struct
-{
-   /// Version of UDO library. Controlled by users
-   SnpeUdo_Version_t libVersion;
-   /// Version of SNPE UDO API used in compiling library. Determined by SNPE
-   SnpeUdo_Version_t apiVersion;
-} SnpeUdo_LibVersion_t;
-
-/**
- * @brief A struct returned from version query, contains the package version
- *
- */
-typedef struct
-{
-   /// Version of UDO API used in package.
-   Udo_Version_t apiVersion;
-} Udo_PkgVersion_t;
-
-/**
- * @brief A union to hold the value of a generic type. Allows defining a parameter struct
- * in a generic way, with a "value" location that holds the data regardless of the type.
- *
- */
-typedef union
-{
-   /// value type: float
-   float    floatValue;
-   /// value type: unsigned 32-bit integer
-   uint32_t uint32Value;
-   /// value type: signed 32-bit integer
-   int32_t  int32Value;
-   /// value type: unsigned 16-bit integer
-   uint16_t uint16Value;
-   /// value type: signed 16-bit integer
-   int16_t  int16Value;
-   /// value type: unsigned 8-bit integer
-   uint8_t  uint8Value;
-   /// value type: signed 8-bit integer
-   int8_t   int8Value;
-} SnpeUdo_Value_t;
-
-typedef SnpeUdo_Value_t Udo_Value_t;
-
-/**
- * @brief A struct which defines a scalar parameter : name, data type, and union of values
- *
- */
-typedef struct
-{
-   /// The parameter data type : float, int, etc.
-   SnpeUdo_DataType_t  dataType;
-   /// a union of specified type which holds the data
-   SnpeUdo_Value_t dataValue;
-} SnpeUdo_ScalarParam_t;
-
-typedef SnpeUdo_ScalarParam_t Udo_ScalarParam_t;
-
-/**
- * @brief A struct which defines the quantization parameters in case of Tensorflow style quantization
- *
- */
-typedef struct
-{
-   /// minimum value of the quantization range of data
-   float minValue;
-   /// maximum value of the quantization range of data
-   float maxValue;
-} SnpeUdo_TFQuantize_t;
-
-typedef SnpeUdo_TFQuantize_t Udo_TFQuantize_t;
-
-/**
- * @brief A struct which defines the quantization type, and union of supported quantization structs
- *
- */
-typedef struct
-{
-   /// quantization type (only TF-style currently supported)
-   SnpeUdo_QuantizationType_t quantizeType;
-   union
-   {
-     /// TF-style min-max quantization ranges
-     SnpeUdo_TFQuantize_t TFParams;
-   };
-} SnpeUdo_QuantizeParams_t;
-
-typedef SnpeUdo_QuantizeParams_t Udo_QuantizeParams_t;
-
-/**
- * @brief A struct which defines the datatype associated with a specified core-type
- * This should be used to denote the datatypes for a single tensor info, depending
- * on the intended execution core.
- *
- */
-typedef struct
-{
-    /// The IP Core
-    SnpeUdo_CoreType_t     coreType;
-    /// The associated datatype for this coreType
-    SnpeUdo_DataType_t       dataType;
-} SnpeUdo_PerCoreDatatype_t;
-
-typedef SnpeUdo_PerCoreDatatype_t Udo_PerCoreDatatype_t;
-
-/**
- * @brief A struct which defines a tensor parameter : name, data type, layout, quantization, more.
- *        Also holds a pointer to the tensor data.
- *
- */
-typedef struct
-{
-   /// The maximum allowable dimensions of the tensor. The memory held in
-   /// _tensorData_ is guaranteed to be large enough for this.
-   uint32_t*                maxDimensions;
-   /// The current dimensions of the tensor. An operation may modify the current
-   /// dimensions of its output, to indicate cases where the output has been
-   /// "resized".
-   /// Note that for static parameters, the current and max dimensions must
-   /// match.
-   uint32_t*                currDimensions;
-   /// Quantization params applicable to the tensor. Currently only supports
-   /// Tensorflow quantization style.
-   SnpeUdo_QuantizeParams_t quantizeParams;
-   /// Number of dimensions to the tensor: 3D, 4D, etc.
-   uint32_t                 tensorRank;
-   /// The parameter data type: float, int, etc.
-   SnpeUdo_DataType_t       dataType;
-   /// The tensor layout type: NCHW, NHWC, etc.
-   SnpeUdo_TensorLayout_t   layout;
-   /// Opaque pointer to tensor data. User may be required to re-interpret the pointer
-   /// based on core-specific definitions.
-   void*                    tensorData;
-} SnpeUdo_TensorParam_t;
-
-typedef SnpeUdo_TensorParam_t Udo_TensorParam_t;
-
-/**
- * @brief A struct which defines tensor information for activation tensors only
- *
- * It describes an activation tensor object using its name, the intended layout and the datatype
- * it will take depending on the intended runtime core. The repeated field indicates that
- * that the tensor info describes several input/output activation tensors, which all share the
- * aforementioned properties.
- */
-typedef struct
-{
-    /// The tensor name
-    SnpeUdo_String_t    tensorName;
-    /// The tensor layout type: NCHW, NHWC, etc.
-    SnpeUdo_TensorLayout_t   layout;
-    /// The per core datatype: {SNPE_UDO_DATATYPE, SNPE_UDO_CORE_TYPE}
-    SnpeUdo_PerCoreDatatype_t* perCoreDatatype;
-    /// A boolean field indicating that this tensorinfo will be repeated e.x for ops such as Concat or Split
-    bool repeated;
-    /// A boolean field indicating whether input is static or not.
-    bool isStatic;
-} SnpeUdo_TensorInfo_t;
-
-typedef SnpeUdo_TensorInfo_t Udo_TensorInfo_t;
-
-/**
- * @brief struct which defines a UDO parameter - a union of scalar, tensor and string parameters
- *
- */
-typedef struct
-{
-   /// Type is scalar or tensor
-  SnpeUdo_ParamType_t paramType;
-  /// The param name, for example : "offset", "activation_type"
-  SnpeUdo_String_t    paramName;
-  union
-  {
-    /// scalar param value
-    SnpeUdo_ScalarParam_t scalarParam;
-    /// tensor param value
-    SnpeUdo_TensorParam_t tensorParam;
-    /// string param value
-    SnpeUdo_String_t      stringParam;
-  };
-} SnpeUdo_Param_t;
-
-typedef SnpeUdo_Param_t Udo_Param_t;
-
-/**
- * @brief A struct which defines Operation information which is specific for IP core (CPU, GPU, DSP ...)
- *
- */
-typedef struct
-{
-   /// The IP Core
-   SnpeUdo_CoreType_t     udoCoreType;
-   /// Bitmask, defines supported internal calculation types (like FLOAT_32, etc)
-   /// Based on SnpeUdo_DataType
-   SnpeUdo_Bitmask_t      operationCalculationTypes;
-} SnpeUdo_OpCoreInfo_t;
-
-typedef SnpeUdo_OpCoreInfo_t Udo_OpCoreInfo_t;
-
-/**
- * @brief A struct which defines the common and core-specific Operation information
- *
- */
-typedef struct
-{
-   /// Operation type
-   SnpeUdo_String_t      operationType;
-   /// A bitmask describing which IP Cores (CPU, GPU, DSP ...) support this operation
-   /// Translated based on SnpeUdo_CoreType
-   SnpeUdo_Bitmask_t     supportedByCores;
-   /// Number of static parameters defined by the op
-   uint32_t              numOfStaticParams;
-   /// Array of static parameters. Can be scalar or tensor params
-   SnpeUdo_Param_t*      staticParams;
-   /// Number of input tensors this op receives
-   uint32_t              numOfInputs;
-   /// Array of input tensor names to this operation
-   SnpeUdo_String_t*      inputNames;
-   /// Number of output tensors this op receives
-   uint32_t              numOfOutputs;
-   /// Array of output tensor names to this operation
-   SnpeUdo_String_t*      outputNames;
-   /// Number of cores that the op can execute on
-   uint32_t              numOfCoreInfo;
-   /// Array of per-core information entries
-   SnpeUdo_OpCoreInfo_t* opPerCoreInfo;
-    /// Array of input tensor infos for this operation
-   SnpeUdo_TensorInfo_t*     inputInfos;
-   /// Array of output tensor infos for this operation
-   SnpeUdo_TensorInfo_t*     outputInfos;
-} SnpeUdo_OperationInfo_t;
-
-typedef SnpeUdo_OperationInfo_t Udo_OperationInfo_t;
-
-/**
- * @brief A struct which provides the implementation library info : type, name
- *
- */
-typedef struct
-{
-   /// Defines the IP Core that this implementation library is targeting
-   SnpeUdo_CoreType_t     udoCoreType;
-   /// library name. will be looked at in the standard library path
-   SnpeUdo_String_t       libraryName;
-} SnpeUdo_LibraryInfo_t;
-
-typedef SnpeUdo_LibraryInfo_t Udo_LibraryInfo_t;
-
-/**
- * @brief A struct returned by the registration library and contains information on the UDO package :
- * name, operations, libraries, etc.
- *
- */
-typedef struct
-{
-   /// A string containing the package name
-   SnpeUdo_String_t         packageName;
-   /// A bitmask describing supported IP cores (CPU, GPU, DSP ...)
-   /// Translated based on SnpeUdo_CoreType
-   SnpeUdo_Bitmask_t        supportedCoreTypes;
-   /// The number of implementation libraries in the package
-   uint32_t                numOfImplementationLib;
-   /// Array of implementation libraries names/types
-   SnpeUdo_LibraryInfo_t*   implementationLib;
-   /// A string containing all operation types separated by space
-   SnpeUdo_String_t         operationsString;
-   /// Number of supported operations
-   uint32_t                numOfOperations;
-   /// Array of Operation info structs. Each entry describes one
-   /// Operation (name, params, inputs, outputs)
-   SnpeUdo_OperationInfo_t* operationsInfo;
-} SnpeUdo_RegInfo_t;
-
-typedef SnpeUdo_RegInfo_t Udo_RegInfo_t;
-
-/**
-* @brief A struct returned by the implementation library and contains information on the
-* specific library: name, IP Core, operations, etc.
-*
-*/
-typedef struct
-{
-   /// Defines the IP Core that this implementation library is targeting
-   SnpeUdo_CoreType_t     udoCoreType;
-   /// A string containing the package name
-   SnpeUdo_String_t       packageName;
-   /// A string containing all operation types separated by space
-   SnpeUdo_String_t       operationsString;
-   /// Number of supported operations
-   uint32_t              numOfOperations;
-} SnpeUdo_ImpInfo_t;
-
-typedef SnpeUdo_ImpInfo_t Udo_ImpInfo_t;
-
-/**
- * @brief This struct defines an operation. It is used for validation
- * or creation of an operation.
- * In case of using it for creation, the static params which are tensors
- * contain pointers to the real data (weights, for example), and input/output
- * tensors also include pointers to the buffers used.
- */
-typedef struct
-{
-   /// The IP Core that the operation is defined for - CPU, GPU, DSP...
-   SnpeUdo_CoreType_t      udoCoreType;
-   /// Operation type
-   SnpeUdo_String_t        operationType;
-   /// The number of static parameters provided in the staticParams array.
-   /// this number has to match the number provided by the UDO Registration library information
-   uint32_t               numOfStaticParams;
-   /// Array of static parameters
-   SnpeUdo_Param_t*        staticParams;
-   /// The number of input parameters provided in inputs array.
-   /// this number has to match the number provided by the UDO Registration library information
-   uint32_t               numOfInputs;
-   /// Array of input tensors, providing layout, data type, sizes, etc
-   /// When used to create an operation, also contains the initial location of the data
-   SnpeUdo_TensorParam_t*  inputs;
-   /// The number of output parameters provided in inputs array.
-   /// this number has to match the number provided by the UDO Registration library information
-   uint32_t               numOfOutputs;
-   /// Array of output tensors, providing layout, data type, sizes, etc
-   /// When used to create an operation, also contains the initial location of the data
-   SnpeUdo_TensorParam_t*  outputs;
-} SnpeUdo_OpDefinition_t;
-
-typedef SnpeUdo_OpDefinition_t Udo_OpDefinition_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif //SNPE_UDO_BASE_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImpl.h b/third_party/snpe/include/SnpeUdo/UdoImpl.h
deleted file mode 100644
index a0cb648cf725f8..00000000000000
--- a/third_party/snpe/include/SnpeUdo/UdoImpl.h
+++ /dev/null
@@ -1,343 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef SNPE_UDO_IMPL_H
-#define SNPE_UDO_IMPL_H
-
-#include <stdbool.h>
-
-#include "SnpeUdo/UdoShared.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-typedef struct _SnpeUdo_OpFactory_t* SnpeUdo_OpFactory_t;
-typedef struct _SnpeUdo_Operation_t* SnpeUdo_Operation_t;
-
-typedef SnpeUdo_OpFactory_t Udo_OpFactory_t;
-typedef SnpeUdo_Operation_t Udo_Operation_t;
-
-/**
- * @brief Initialize the shared library's data structures. Calling any other
- *        library function before this one will result in error.
- *
- * @param[in] globalInfrastructure Global core-specific infrastructure to be
- *            used by operations created in this library. The definition and
- *            semantics of this object will be defined in the corresponding
- *            implementation header for the core type.
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_initImplLibrary(void* globalInfrastructure);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_InitImplLibraryFunction_t)(void*);
-
-/**
- * @brief A function to query the API version of the UDO implementation library.
- *        The function populates a SnpeUdo_LibVersion_t struct, which contains a SnpeUdo_Version_t
- *        struct for API version and library version.
- *
- * @param[in, out] version A pointer to struct which contains major, minor, teeny information for
- *                 library and api versions.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getImplVersion(SnpeUdo_LibVersion_t** version);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_getImplVersion_t)(SnpeUdo_LibVersion_t** version);
-
-/**
- * @brief Release the shared library's data structures, and invalidate any
- *        handles returned by the library. The behavior of any outstanding
- *        asynchronous calls made to this library when this function is called
- *        are undefined. All library functions (except SnpeUdo_initImplLibrary) will
- *        return an error after this function has been successfully called.
- *
- *        It should be possible to call SnpeUdo_initImplLibrary after calling this
- *        function, and re-initialize the library.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_terminateImplLibrary(void);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_TerminateImplLibraryFunction_t)(void);
-
-
-/**
- * @brief A function to query info on the UDO implementation library.
- *        The function populates a structure which contains information about
- *        operations that are part of this library
- *
- * @param[in, out] implementationInfo A pointer to struct which contains information
- *                 on the operations
- *
- * @return error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getImpInfo(SnpeUdo_ImpInfo_t** implementationInfo);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_GetImpInfoFunction_t)(SnpeUdo_ImpInfo_t** implementationInfo);
-
-typedef SnpeUdo_GetImpInfoFunction_t Udo_GetImpInfoFunction_t;
-
-/**
- * @brief A function to create an operation factory.
- *        The function receives the operation type, and an array of static parameters,
- *        and returns operation factory handler
- *
- * @param[in] udoCoreType The Core type to create the operation on. An error will
- *            be returned if this does not match the core type of the library.
- *
- * @param[in] perFactoryInfrastructure CreateOpFactory infrastructure appropriate to this
- *            core type. The definition and semantics of this object will be defined
- *            in the corresponding implementation header for the core type.
- *
- * @param[in] operationType A string containing Operation type. for example "MY_CONV"
- *
- * @param[in] numOfStaticParams The number of static parameters.
- *
- * @param[in] staticParams Array of static parameters
- *
- * @param[in,out] opFactory Handler to Operation Factory, to be used when creating operations
- *
- * @return Error Code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_createOpFactory(SnpeUdo_CoreType_t    udoCoreType,
-                        void*                perFactoryInfrastructure,
-                        SnpeUdo_String_t      operationType,
-                        uint32_t             numOfStaticParams,
-                        SnpeUdo_Param_t*      staticParams,
-                        SnpeUdo_OpFactory_t*  opFactory);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_CreateOpFactoryFunction_t)(SnpeUdo_CoreType_t,
-                                     void*,
-                                     SnpeUdo_String_t,
-                                     uint32_t,
-                                     SnpeUdo_Param_t*,
-                                     SnpeUdo_OpFactory_t*);
-
-typedef SnpeUdo_CreateOpFactoryFunction_t Udo_CreateOpFactoryFunction_t;
-
-/**
- * @brief A function to release the resources allocated for an operation factory
- *        created by this library.
- *
- * @param[in] factory The operation factory to release. Upon success this handle will be invalidated.
- *
- * @return Error Code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_releaseOpFactory(SnpeUdo_OpFactory_t opFactory);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ReleaseOpFactoryFunction_t)(SnpeUdo_OpFactory_t);
-
-typedef SnpeUdo_ReleaseOpFactoryFunction_t Udo_ReleaseOpFactoryFunction_t;
-
-/**
- * @brief A function to create an operation from the factory.
- *        The function receives array of inputs and array of outputs, and creates an operation
- *        instance, returning the operation instance handler.
- *
- * @param[in] opFactory OpFactory instance containing the parameters for this operation.
- *
- * @param[in] perOpInfrastructure Per-Op infrastructure for this operation. The definition
- *            and semantics of this object will be defined in the implementation header
- *            appropriate to this core type.
- *
- * @param[in] numOfInputs The number of input tensors this operation will receive.
- *
- * @param[in] inputs Array of input tensors, providing both the sizes and initial
- *            location of the data.
- *
- * @param[in] numOfOutputs Number of output tensors this operation will produce.
- *
- * @param[in] outputs Array of output tensors, providing both the sizes and
- *            initial location of the data.
- *
- * @param[in,out] operation Handle for newly created operation instance.
- *
- * @return Error Code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_createOperation(SnpeUdo_OpFactory_t    opFactory,
-                        void*                 perOpInfrastructure,
-                        uint32_t              numOfInputs,
-                        SnpeUdo_TensorParam_t* inputs,
-                        uint32_t              numOfOutputs,
-                        SnpeUdo_TensorParam_t* outputs,
-                        SnpeUdo_Operation_t*   operation);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_CreateOperationFunction_t)(SnpeUdo_OpFactory_t,
-                                     void*,
-                                     uint32_t,
-                                     SnpeUdo_TensorParam_t*,
-                                     uint32_t,
-                                     SnpeUdo_TensorParam_t*,
-                                     SnpeUdo_Operation_t*);
-
-typedef SnpeUdo_CreateOperationFunction_t Udo_CreateOperationFunction_t;
-
-/**
- * @brief A pointer to notification function.
- *
- *        The notification function supports the non-blocking (e.g. asynchronous) execution use-case.
- *        In case an "executeUdoOp" function is called with "blocking" set to zero, and a
- *        notify function, this function will be called by the implementation library at the
- *        end of execution. The implementation library will pass the notify function the ID
- *        that was provided to it when "executeUdoOp" was called.
- *
- * @param[in] ID 32-bit value, that was provided to executeUdoOp by the calling entity.
- *            Can be used to track the notifications, in case of multiple execute calls issued.
- *
- * @return Error code
- *
- */
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ExternalNotify_t)(const uint32_t ID);
-
-typedef SnpeUdo_ExternalNotify_t Udo_ExternalNotify_t;
-
-/**
- * @brief Operation execution function.
- *
- *        Calling this function will run the operation on set of inputs, generating a set of outputs.
- *        The call can be blocking (synchronous) or non-blocking (asynchronous). To support the
- *        non-blocking mode, the calling entity can pass an ID and a notification function.
- *        At the end of the execution this notification function would be called, passing it the ID.
- *        <b> NOTE: Asynchronous execution mode not supported in this release. </b>
- *
- * @param[in] operation handle to the operation on which execute is invoked
- * @param[in] blocking flag to indicate execution mode.
- *            If set, execution is blocking,
- *            e.g SnpeUdo_executeOp call does not return until execution is done.
- *            If not set, SnpeUdo_executeOp returns immediately, and the
- *            library will call the notification function (if set) when execution is done.
- *
- * @param[in] ID 32-bit number that can be used by the calling entity to track execution
- *            in case of non-blocking execution.
- *            For example, it can be a sequence number, increased by one on each call.
- *
- * @param[in] notifyFunc Pointer to notification function. if the pointer is set, and execution is
- *            non-blocking, the library will call this function at end of execution,
- *            passing the number provided as ID
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_executeOp(SnpeUdo_Operation_t operation,
-                  bool         blocking,
-                  const uint32_t ID,
-                  SnpeUdo_ExternalNotify_t notifyFunc);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ExecuteOpFunction_t)(SnpeUdo_Operation_t,
-                               bool,
-                               const uint32_t,
-                               SnpeUdo_ExternalNotify_t);
-
-typedef SnpeUdo_ExecuteOpFunction_t Udo_ExecuteOpFunction_t;
-
-/**
- * @brief A function to setting the inputs & outputs. part of SnpeUdo_Operation struct,
- *        returned from creation of a new operation instance.
- *        <b> Not supported in this release. </b>
- *
- *        This function allows the calling entity to change some of the inputs and outputs
- *        between calls to execute.
- *        Note that the change is limited to changing the <b> pointer </b> to the tensor data only.
- *        Any other change may be rejected by the implementation library, causing
- *        immediate invalidation of the operation instance
- *
- * @param[in] operation Operation on which IO tensors are set
- *
- * @param[in] inputs array of tensor parameters. The calling entity may provide a subset of the
- *            operation inputs, providing only those that it wants to change.
- *
- * @param[in] outputs array of tensor parameters. The calling entity may provide a subset of the
- *            operation outputs, providing only those that it wants to change.
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_setOpIO(SnpeUdo_Operation_t operation,
-                SnpeUdo_TensorParam_t* inputs,
-                SnpeUdo_TensorParam_t* outputs);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_SetOpIOFunction_t)(SnpeUdo_Operation_t,
-                             SnpeUdo_TensorParam_t*,
-                             SnpeUdo_TensorParam_t*);
-
-typedef SnpeUdo_SetOpIOFunction_t Udo_SetOpIOFunction_t;
-
-/**
- * @brief A function to return execution times.
- *
- *        This function can be called to query the operation execution times on the IP core
- *        on which the operation is run. The time is provided in micro-seconds
- *
- * @param[in] operation Handle to operation whose execution time is being profiled
- *
- * @param[in,out] executionTime pointer to a uint32 value.This function writes the operation
- *                execution time in usec into this value.
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_profileOp(SnpeUdo_Operation_t operation, uint32_t *executionTime);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ProfileOpFunction_t)(SnpeUdo_Operation_t, uint32_t*);
-
-typedef SnpeUdo_ProfileOpFunction_t Udo_ProfileOpFunction_t;
-
-/**
- * @brief A function to release the operation instance
- *        \n When it is called, the implementation library needs to release all resources
- *        allocated for this operation instance.
- *        \n Note that all function pointers which are part of SnpeUdo_Operation become
- *        <b> invalid </b> once releaseUdoOp call returns.
- *
- * @param[in] operation Handle to operation to be released
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_releaseOp(SnpeUdo_Operation_t operation);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ReleaseOpFunction_t)(SnpeUdo_Operation_t);
-
-typedef SnpeUdo_ReleaseOpFunction_t Udo_ReleaseOpFunction_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#ifdef __cplusplus
-} // extern "C"
-#endif
-
-#endif //SNPE_UDO_IMPL_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplCpu.h b/third_party/snpe/include/SnpeUdo/UdoImplCpu.h
deleted file mode 100644
index 3bbe0638e60fc8..00000000000000
--- a/third_party/snpe/include/SnpeUdo/UdoImplCpu.h
+++ /dev/null
@@ -1,44 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-// Header to be used by a CPU UDO Implementation library
-
-#ifndef SNPE_UDO_IMPL_CPU_H
-#define SNPE_UDO_IMPL_CPU_H
-
-#include <stdio.h>
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief This struct provides the infrastructure needed by a developer of
- * CPU UDO Implementation library.
- *
- * The framework/runtime which loads the CPU UDO implementation library provides
- * this infrastructure data to the loaded library at the time of op factory creation.
- * as an opaque pointer. It contains hooks for the UDO library to invoke supported
- * functionality at the time of execution
- *
- * @param getData function pointer to retrieve raw tensor data from opaque pointer
- *  passed into the UDO when creating an instance.
- * @param getDataSize function pointer to retrieve tensor data size from opaque pointer
- */
-
-typedef struct
-{
-   /// function pointer to retrieve raw tensor data from opaque pointer
-   /// passed into the UDO when creating an instance.
-   float* (*getData)(void*);
-   /// function pointer to retrieve tensor data size from opaque pointer
-   size_t (*getDataSize) (void*);
-} SnpeUdo_CpuInfrastructure_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // SNPE_UDO_IMPL_CPU_H
\ No newline at end of file
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplDsp.h b/third_party/snpe/include/SnpeUdo/UdoImplDsp.h
deleted file mode 100644
index b97a6493202ae8..00000000000000
--- a/third_party/snpe/include/SnpeUdo/UdoImplDsp.h
+++ /dev/null
@@ -1,207 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-//==============================================================================
-/*
- * THIS HEADER FILE IS COPIED FROM HEXAGON-NN PROJECT
- *
- */
-//==============================================================================
-
-
-// Header to be used by a DSP Hexnn UDO Implementation library
-
-#ifndef SNPE_UDO_IMPL_DSP_H
-#define SNPE_UDO_IMPL_DSP_H
-#include <stdio.h>
-#include "SnpeUdo/UdoImpl.h"
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief A function to validate that a set of params is supported by an operation
- *        This function is HexNN specific, use case is when registration library is not in use.
- *        Optional function.
- *
- * @param[in] operationType Operation type
- * @param[in] numOfStaticParams Number of static params defined by the op
- * @param[in] staticParams Array of static params to the op
- * @return Error code, indicating if the operation can be created on this set of configuration or not.
- *
- */
-
-SnpeUdo_ErrorType_t
-SnpeUdo_validateOperation (SnpeUdo_String_t operationType,
-                           uint32_t numOfStaticParams,
-                           const SnpeUdo_Param_t* staticParams);
-
-typedef SnpeUdo_ErrorType_t (*SnpeUdo_ValidateOperationFunction_t) (SnpeUdo_String_t,
-                                                                    uint32_t,
-                                                                    const SnpeUdo_Param_t*);
-
-typedef SnpeUdo_ValidateOperationFunction_t Udo_ValidateOperationFunction_t;
-
-// enum used for indicating input/outout tensor data layouts on DSP, plain vs d32
-typedef enum {
-        SNPE_UDO_DSP_TENSOR_LAYOUT_PLAIN = 0x00,        UDO_DSP_TENSOR_LAYOUT_PLAIN = 0x00,
-        SNPE_UDO_DSP_TENSOR_LAYOUT_D32   = 0x01,        UDO_DSP_TENSOR_LAYOUT_D32   = 0x01
-} SnpeUdo_HexNNTensorLayout_t;
-
-typedef SnpeUdo_HexNNTensorLayout_t Udo_HexNNTensorLayout_t;
-
-/**
- * @brief A function to query numbers of inputs and outputs,
- *        quantization type of each input and each output as arrays,
- *        and data layout (plain vs d32) of each input and each output as arrays
- *        of an operation.
- * inputsQuantTypes and inputsLayouts should point to arrays of size numOfInputs
- * outputsQuantTypes and outputsLayouts should point to arrays of size numOfOutputs
- *
- * Note: inputsLayouts and inputsLayouts can point to NULL, in this case, it is
- * assumed all inputs and/or outputs have plain data layouts, i.e. no D32
- *
- * @param[in] operationType Operation type
- * @param[in] numOfStaticParams Number of static params defined by the op
- * @param[in] staticParams Array of static params to the op
- * @param[in,out] numOfInputs Number of input tensors to the op
- * @param[in,out] inputsQuantTypes Array of Quantization info for each input tensor
- * @param[in,out] inputsLayouts Array of layout type for each input tensor
- * @param[in,out] numOfOutputs Number of output tensors to the op
- * @param[in,out] outputsQuantTypes Array of Quantization info for each output tensor
- * @param[in,out] outputsLayouts Array of layout type for each output tensor
- * @return error code, indicating status of query
- */
-
-SnpeUdo_ErrorType_t
-SnpeUdo_queryOperation (SnpeUdo_String_t operationType,
-                        uint32_t numOfStaticParams,
-                        const SnpeUdo_Param_t* staticParams,
-                        uint32_t* numOfInputs,
-                        SnpeUdo_QuantizationType_t** inputsQuantTypes,
-                        SnpeUdo_HexNNTensorLayout_t** inputsLayouts,
-                        uint32_t* numOfOutputs,
-                        SnpeUdo_QuantizationType_t** outputsQuantTypes,
-                        SnpeUdo_HexNNTensorLayout_t** outputsLayouts);
-
-typedef SnpeUdo_ErrorType_t (*SnpeUdo_QueryOperationFunction_t) (SnpeUdo_String_t,
-                                                                 uint32_t,
-                                                                 const SnpeUdo_Param_t*,
-                                                                 uint32_t*,
-                                                                 SnpeUdo_QuantizationType_t**,
-                                                                 SnpeUdo_HexNNTensorLayout_t**,
-                                                                 uint32_t*,
-                                                                 SnpeUdo_QuantizationType_t**,
-                                                                 SnpeUdo_HexNNTensorLayout_t**);
-
-typedef SnpeUdo_QueryOperationFunction_t Udo_QueryOperationFunction_t;
-
-// Global infrastructure functions supported by Hexagon-NN v2
-typedef void (*workerThread_t) (void* perOpInfrastructure, void* userData);
-typedef int (*udoSetOutputTensorSize_t) (void* perOpInfrastructure, uint32_t outIdx, uint32_t size);
-typedef int (*udoGetInputD32Paddings_t) (void* perOpInfrastructure, uint32_t inIdx,
-                                         uint32_t* heightPadBefore, uint32_t* heightPadAfter,
-                                         uint32_t* widthPadBefore, uint32_t* widthPadAfter,
-                                         uint32_t* depthPadBefore, uint32_t* depthPadAfter);
-typedef int (*udoSetOutputD32ShapeSizePaddings_t) (void* perOpInfrastructure, uint32_t outIdx,
-                                                   uint32_t batch,
-                                                   uint32_t height, uint32_t heightPadBefore, uint32_t heightPadAfter,
-                                                   uint32_t width, uint32_t widthPadBefore, uint32_t widthPadAfter,
-                                                   uint32_t depth, uint32_t depthPadBefore, uint32_t depthPadAfter,
-                                                   SnpeUdo_DataType_t dataType);
-typedef void* (*udoMemalign_t) (size_t n, size_t size);
-typedef void* (*udoMalloc_t) (size_t size);
-typedef void* (*udoCalloc_t) (size_t n, size_t size);
-typedef void (*udoFree_t) (void* ptr);
-typedef uint32_t (*udoGetVtcmSize_t) (void* perOpInfrastructure);
-typedef void* (*udoGetVtcmPtr_t) (void* perOpInfrastructure);
-typedef uint32_t (*udoVtcmIsReal_t) (void* perOpInfrastructure);
-typedef void (*udoRunWorkerThreads_t) (void* perOpInfrastructure, uint32_t nThreads, workerThread_t w, void* userData);
-
-typedef struct hexNNv2GlobalInfra {
-    udoSetOutputTensorSize_t udoSetOutputTensorSize;
-    udoGetInputD32Paddings_t udoGetInputD32Paddings;
-    udoSetOutputD32ShapeSizePaddings_t udoSetOutputD32ShapeSizePaddings;
-    udoMemalign_t udoMemalign;
-    udoMalloc_t udoMalloc;
-    udoCalloc_t udoCalloc;
-    udoFree_t udoFree;
-    udoGetVtcmSize_t udoGetVtcmSize;
-    udoGetVtcmPtr_t udoGetVtcmPtr;
-    udoVtcmIsReal_t udoVtcmIsReal;
-    udoRunWorkerThreads_t udoRunWorkerThreads;
-} SnpeUdo_HexNNv2GlobalInfra_t;
-
-typedef SnpeUdo_HexNNv2GlobalInfra_t Udo_HexNNv2GlobalInfra_t;
-
-// hexnn types
-typedef enum hexnnInfraType {
-   UDO_INFRA_HEXNN_V2,
-   UDO_INFRA_HEXNN_V3   // reserved, do not use
-} SnpeUdo_HexNNInfraType_t;
-
-typedef SnpeUdo_HexNNInfraType_t Udo_HexNNInfraType_t;
-
-typedef struct {
-    Udo_CreateOpFactoryFunction_t create_op_factory;
-    Udo_CreateOperationFunction_t create_operation;
-    Udo_ExecuteOpFunction_t execute_op;
-    Udo_ReleaseOpFunction_t release_op;
-    Udo_ReleaseOpFactoryFunction_t release_op_factory;
-    Udo_ValidateOperationFunction_t validate_op;
-    Udo_QueryOperationFunction_t query_op;
-} udo_func_package_t;
-
-/**
- * @brief Infrastructures needed by a developer of DSP Hexnn UDO Implementation library.
- *
- * The framework/runtime which loads the Hexnn UDO implementation library provides
- * this infrastructure to the loaded library by calling "SnpeUdo_initImplLibrary"
- * function, and passing it (cast to void*). The Hexnn UDO library is expected
- * to cast it back to this structure.
- *
- */
-typedef struct dspGlobalInfrastructure {
-    SnpeUdo_Version_t   dspInfraVersion;     // api version
-    SnpeUdo_HexNNInfraType_t infraType;
-    SnpeUdo_HexNNv2GlobalInfra_t hexNNv2Infra;
-} SnpeUdo_DspGlobalInfrastructure_t;
-
-typedef SnpeUdo_DspGlobalInfrastructure_t Udo_DspGlobalInfrastructure_t;
-
-/**
- * hexnn v2 per op factory infrastructure
- *
- * The framework/runtime passes per op factory infrastructure as a void pointer
- * to HexNN UDO implementation library by calling function "SnpeUdo_createOpFactory".
- * UDO implementation library is expected to cast it back to this following struct.
- *
- */
-typedef struct hexnnv2OpFactoryInfra {
-   unsigned long graphId;
-} SnpeUdo_HexNNv2OpFactoryInfra_t;
-
-typedef SnpeUdo_HexNNv2OpFactoryInfra_t Udo_HexNNv2OpFactoryInfra_t;
-
-/**
- * hexnn v2 per operation infrastructure
- *
- * The framework/runtime passes per operation infrastructure as a void pointer
- * to HexNN UDO implementation library by calling function "SnpeUdo_createOperation".
- * UDO implementation library is expected to cast it to the following type and save it.
- *
- * This is needed to be passed back into some functions from global infrastructure.
- *
- */
-typedef void* SnpeUdo_HexNNv2OpInfra_t;
-
-typedef SnpeUdo_HexNNv2OpInfra_t Udo_HexNNv2OpInfra_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // SNPE_UDO_IMPL_DSP_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplGpu.h b/third_party/snpe/include/SnpeUdo/UdoImplGpu.h
deleted file mode 100644
index 1af654d110c26b..00000000000000
--- a/third_party/snpe/include/SnpeUdo/UdoImplGpu.h
+++ /dev/null
@@ -1,112 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-// Header to be used by a GPU UDO Implementation library
-
-#ifndef SNPE_UDO_IMPL_GPU_H
-#define SNPE_UDO_IMPL_GPU_H
-
-#include "CL/cl.h"
-#include "SnpeUdo/UdoBase.h"
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * This header defines version 0.0.0 of the GPU UDO Infrastructure.
- * It defines the interpretation of the global and per-OpFactory infrastructure pointers
- * as well as the interpretation of tensorData pointers.
- *
- * The per-Operation infrastructure pointer is defined to be null, and should not be used.
- *
- * The SnpeUdoTensorParam_t struct below provides the interpretation for
- * the tensorData opaque pointer for SnpeUdoTensorParams representing inputs or outputs.
- *
- * The tensorData opaque pointer populated in SnpeUdoScalarParam_t structs should be interpreted
- * as a host-readable data pointer.
- *
- */
-
-/**
- * @brief Function to retrieve opencl program from Program Cache repository.
- * @param programCache is opaque pointer to Program Cache repository provided by
- * SNPE GPU UDO runtime.
- * @param programName is name associated with opencl program for UDO.
- * @param program is pointer to opencl program which will be populated with
- * valid opencl program if found in Program Cache repository.
- * @return SnpeUdo_ErrorType_t is error type returned. SNPE_UDO_NO_ERROR is returned
- * on success.
- */
-typedef SnpeUdo_ErrorType_t (*SnpeUdo_getProgram_t)
-   (void* programCache, const char* programName, cl_program* program);
-
-/**
- * @brief Function to store valid opencl program in Program Cache repository.
- * @param programCache is opaque pointer to Program Cache repository provided by
- * SNPE GPU UDO runtime.
- * @param programName is name associated with opencl program for UDO.
- * @param program is valid opencl program after program is built.
- * @return SnpeUdo_ErrorType_t is error type returned. SNPE_UDO_NO_ERROR is returned
- * on success.
- * */
-typedef SnpeUdo_ErrorType_t (*SnpeUdo_storeProgram_t)
-   (void* programCache, const char * programName, cl_program program);
-
-/**
- * @brief Global Infrastructure Definition for GPU UDO Implementations.
- */
-typedef struct {
-   // Infrastructure definition version. This header is 0.0.0
-   SnpeUdo_Version_t   gpuInfraVersion;
-   SnpeUdo_getProgram_t SnpeUdo_getProgram;
-   SnpeUdo_storeProgram_t SnpeUdo_storeProgram;
-} SnpeUdo_GpuInfrastructure_t;
-
-/**
- * @brief Per OpFactory Infrastructure Definition for GPU UDO Implementations.
- * @note  This version of the infrastructure definition guarantees that the same
- *        Per OpFactory infrastructure pointer will be provided to all OpFactories
- *        in the same network.
- */
-typedef struct
-{
-   cl_context context;
-   cl_command_queue commandQueue;
-   void* programCache;
-} SnpeUdo_GpuOpFactoryInfrastructure_t;
-
-/**
- * @brief Opaque tensorData definition for operation inputs and outputs.
- *
- * The following is a list of all SnpeUdoTensorLayout_t values supported by the
- * GPU UDO implementation, and how the parameters of the struct should be
- * interpreted in each case:
- *
- * SNPE_UDO_LAYOUT_NHWC:
- *   mem shall be single-element array, pointing to a cl buffer memory object.
- *   the dimensions of this object match the dimensions specified in the encompassing
- *   SnpeUdoTensorParam_t's currDimensions.
- *
- *   memCount shall be 1.
- *
- *   paddedRank and paddedDimensions are undefined and shall be ignored by the UDO
- *   implementation.
- *
- */
-typedef struct
-{
-   cl_mem*   mem;
-   uint32_t  memCount;
-   uint32_t  paddedRank;
-   uint32_t* paddedDimensions;
-
-} SnpeUdo_GpuTensorData_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // SNPE_UDO_IMPL_GPU_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoReg.h b/third_party/snpe/include/SnpeUdo/UdoReg.h
deleted file mode 100644
index a5d239883355ab..00000000000000
--- a/third_party/snpe/include/SnpeUdo/UdoReg.h
+++ /dev/null
@@ -1,108 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef SNPE_UDO_REG_H
-#define SNPE_UDO_REG_H
-
-#include "SnpeUdo/UdoShared.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief Initialize the shared library's data structures. Calling any other
- *        library function before this one will result in an error being returned.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_initRegLibrary(void);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_InitRegLibraryFunction_t)(void);
-
-/**
- * @brief A function to query the API version of the UDO registration library.
- *        The function populates a SnpeUdo_LibVersion_t struct, which contains a SnpeUdo_Version_t
- *        struct for API version and library version.
- *
- * @param[in, out] version A pointer to struct which contains major, minor, teeny information for
- *                 library and api versions.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getRegLibraryVersion(SnpeUdo_LibVersion_t** version);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_getRegLibraryVersion_t)(SnpeUdo_LibVersion_t** version);
-
-/**
- * @brief Release the shared library's data structures, and invalidate any
- *        handles returned by the library. The behavior of any outstanding
- *        asynchronous calls made to this library when this function is called
- *        are undefined. All library functions (except SnpeUdo_InitRegLibrary) will
- *        return an error after this function has been successfully called.
- *
- *        It should be possible to call SnpeUdo_InitRegLibrary after calling this
- *        function, and re-initialize the library.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_terminateRegLibrary(void);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_TerminateRegLibraryFunction_t)(void);
-
-
-/**
- * @brief A function to query the info on the UDO set.
- *        The function populates a structure which contains information about
- *        the package and operations contained in it.
- *
- * @param[in, out] registrationInfo A struct which contains information on the set of UDOs
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getRegInfo(SnpeUdo_RegInfo_t** registrationInfo);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_GetRegInfoFunction_t)(SnpeUdo_RegInfo_t** registrationInfo);
-
-/**
- * @brief A function to validate that a set of params is supported by an operation
- *        The function receives an operation definition struct, and returns if this configuration is
- *        supported (e.g. if an operation can be created using this configuration)
- *
- * @param[in] opDefinition A struct of SnpeUdo_OpDefinition type, containing the information needed to
- *            validate that an operation can be created with this configuration.
- *
- * @return Error code, indicating is the operation can be created on this set or not.
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_validateOperation(SnpeUdo_OpDefinition_t* opDefinition);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ValidateOperationFunction_t)(SnpeUdo_OpDefinition_t* opDefinition);
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#ifdef __cplusplus
-} // extern "C"
-#endif
-
-#endif //SNPE_UDO_REG_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoShared.h b/third_party/snpe/include/SnpeUdo/UdoShared.h
deleted file mode 100644
index 418d9db9e2f91b..00000000000000
--- a/third_party/snpe/include/SnpeUdo/UdoShared.h
+++ /dev/null
@@ -1,48 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef SNPE_UDO_SHARED_H
-#define SNPE_UDO_SHARED_H
-
-#include "SnpeUdo/UdoBase.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief A function to return the various versions as they relate to the UDO
- *        The function returns a struct containing the the following:
- *        libVersion: the version of the implementation library compiled for the UDO. Set by user
- *        apiVersion: the version of the UDO API used in compiling the implementation library.
- *        Set by SNPE
- *
- * @param[in, out] version A pointer to Version struct of type SnpeUdo_LibVersion_t
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getVersion (SnpeUdo_LibVersion_t** version);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_GetVersionFunction_t) (SnpeUdo_LibVersion_t** version);
-
-typedef SnpeUdo_GetVersionFunction_t Udo_GetVersionFunction_t;
-
-#ifdef __cplusplus
-} // extern "C"
-#endif
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // SNPE_UDO_SHARED_H
diff --git a/third_party/snpe/larch64 b/third_party/snpe/larch64
deleted file mode 120000
index 2e2a1c315bf7d8..00000000000000
--- a/third_party/snpe/larch64
+++ /dev/null
@@ -1 +0,0 @@
-aarch64-ubuntu-gcc7.5
\ No newline at end of file
diff --git a/third_party/snpe/x86_64 b/third_party/snpe/x86_64
deleted file mode 120000
index 700025efab335e..00000000000000
--- a/third_party/snpe/x86_64
+++ /dev/null
@@ -1 +0,0 @@
-x86_64-linux-clang
\ No newline at end of file
diff --git a/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so b/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
deleted file mode 100644
index 20d1377a014366..00000000000000
--- a/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c4c33680010a8c7b2eef33e809844c0ad1d5ab0f0ec37abd49d924204670b357
-size 13556072
diff --git a/third_party/snpe/x86_64-linux-clang/libSNPE.so b/third_party/snpe/x86_64-linux-clang/libSNPE.so
deleted file mode 100644
index 0367b1106ba571..00000000000000
--- a/third_party/snpe/x86_64-linux-clang/libSNPE.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:024891d2e4e4e265a1e7e72b27bad41ee6ae077d2197f45959bb32f8071dc8cf
-size 5350008
diff --git a/third_party/snpe/x86_64-linux-clang/libomp.so b/third_party/snpe/x86_64-linux-clang/libomp.so
deleted file mode 100755
index db98cba162e784..00000000000000
--- a/third_party/snpe/x86_64-linux-clang/libomp.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f4784aa68e7ebdbe97db732eab87618b0a5fb73abeab4daed5476e01829b0e6e
-size 759208
diff --git a/tinygrad_repo b/tinygrad_repo
index 480e5e7a1292bf..2619a86d2a6157 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 480e5e7a1292bf2f84e18edffd06a985c4b48e65
+Subproject commit 2619a86d2a6157c12cc9b1773b4a03cf968a1309
diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index 2950a67ff225f1..eb0af5b64a52a5 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -248,6 +248,7 @@ std::tuple<int, int, bool> BinaryView::getSelection(QModelIndex index) {
 
 void BinaryViewModel::refresh() {
   beginResetModel();
+  bit_flip_tracker = {};
   items.clear();
   if (auto dbc_msg = dbc()->msg(msg_id)) {
     row_count = dbc_msg->size;
@@ -295,7 +296,7 @@ void BinaryViewModel::updateItem(int row, int col, uint8_t val, const QColor &co
 void BinaryViewModel::updateState() {
   const auto &last_msg = can->lastMessage(msg_id);
   const auto &binary = last_msg.dat;
-  // data size may changed.
+  // Handle size changes in binary data
   if (binary.size() > row_count) {
     beginInsertRows({}, row_count, binary.size() - 1);
     row_count = binary.size();
@@ -303,26 +304,74 @@ void BinaryViewModel::updateState() {
     endInsertRows();
   }
 
-  const double max_f = 255.0;
-  const double factor = 0.25;
-  const double scaler = max_f / log2(1.0 + factor);
-  for (int i = 0; i < binary.size(); ++i) {
+  auto &bit_flips = heatmap_live_mode ? last_msg.bit_flip_counts : getBitFlipChanges(binary.size());
+  // Find the maximum bit flip count across the message
+  uint32_t max_bit_flip_count = 1;  // Default to 1 to avoid division by zero
+  for (const auto &row : bit_flips) {
+    for (uint32_t count : row) {
+      max_bit_flip_count = std::max(max_bit_flip_count, count);
+    }
+  }
+
+  const double max_alpha = 255.0;
+  const double min_alpha_with_signal = 25.0;  // Base alpha for small flip counts
+  const double min_alpha_no_signal = 10.0;    // Base alpha for small flip counts for no signal bits
+  const double log_factor = 1.0 + 0.2;        // Factor for logarithmic scaling
+  const double log_scaler = max_alpha / log2(log_factor * max_bit_flip_count);
+
+  for (size_t i = 0; i < binary.size(); ++i) {
     for (int j = 0; j < 8; ++j) {
       auto &item = items[i * column_count + j];
-      int val = ((binary[i] >> (7 - j)) & 1) != 0 ? 1 : 0;
-      // Bit update frequency based highlighting
-      double offset = !item.sigs.empty() ? 50 : 0;
-      auto n = last_msg.last_changes[i].bit_change_counts[j];
-      double min_f = n == 0 ? offset : offset + 25;
-      double alpha = std::clamp(offset + log2(1.0 + factor * (double)n / (double)last_msg.count) * scaler, min_f, max_f);
+      int bit_val = (binary[i] >> (7 - j)) & 1;
+
+      double alpha = item.sigs.empty() ? 0 : min_alpha_with_signal;
+      uint32_t flip_count = bit_flips[i][j];
+      if (flip_count > 0) {
+        double normalized_alpha = log2(1.0 + flip_count * log_factor) * log_scaler;
+        double min_alpha = item.sigs.empty() ? min_alpha_no_signal : min_alpha_with_signal;
+        alpha = std::clamp(normalized_alpha, min_alpha, max_alpha);
+      }
+
       auto color = item.bg_color;
       color.setAlpha(alpha);
-      updateItem(i, j, val, color);
+      updateItem(i, j, bit_val, color);
     }
     updateItem(i, 8, binary[i], last_msg.colors[i]);
   }
 }
 
+const std::vector<std::array<uint32_t, 8>> &BinaryViewModel::getBitFlipChanges(size_t msg_size) {
+  // Return cached results if time range and data are unchanged
+  auto time_range = can->timeRange();
+  if (bit_flip_tracker.time_range == time_range && !bit_flip_tracker.flip_counts.empty())
+    return bit_flip_tracker.flip_counts;
+
+  bit_flip_tracker.time_range = time_range;
+  bit_flip_tracker.flip_counts.assign(msg_size, std::array<uint32_t, 8>{});
+
+  // Iterate over events within the specified time range and calculate bit flips
+  auto [first, last] = can->eventsInRange(msg_id, time_range);
+  if (std::distance(first, last) <= 1) return bit_flip_tracker.flip_counts;
+
+  std::vector<uint8_t> prev_values((*first)->dat, (*first)->dat + (*first)->size);
+  for (auto it = std::next(first); it != last; ++it) {
+    const CanEvent *event = *it;
+    int size = std::min<int>(msg_size, event->size);
+    for (int i = 0; i < size; ++i) {
+      const uint8_t diff = event->dat[i] ^ prev_values[i];
+      if (!diff) continue;
+
+      auto &bit_flips = bit_flip_tracker.flip_counts[i];
+      for (int bit = 0; bit < 8; ++bit) {
+        if (diff & (1u << bit)) ++bit_flips[7 - bit];
+      }
+      prev_values[i] = event->dat[i];
+    }
+  }
+
+  return bit_flip_tracker.flip_counts;
+}
+
 QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, int role) const {
   if (orientation == Qt::Vertical) {
     switch (role) {
@@ -388,7 +437,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
       painter->fillRect(option.rect, item->bg_color);
     }
     auto color_role = item->sigs.contains(bin_view->hovered_sig) ? QPalette::BrightText : QPalette::Text;
-    painter->setPen(option.palette.color(color_role));
+    painter->setPen(option.palette.color(bin_view->is_message_active ? QPalette::Normal : QPalette::Disabled, color_role));
   }
 
   if (item->sigs.size() > 1) {
diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h
index 584910dc8304a7..920deb0018effb 100644
--- a/tools/cabana/binaryview.h
+++ b/tools/cabana/binaryview.h
@@ -39,6 +39,12 @@ class BinaryViewModel : public QAbstractTableModel {
   Qt::ItemFlags flags(const QModelIndex &index) const override {
     return (index.column() == column_count - 1) ? Qt::ItemIsEnabled : Qt::ItemIsEnabled | Qt::ItemIsSelectable;
   }
+  const std::vector<std::array<uint32_t, 8>> &getBitFlipChanges(size_t msg_size);
+
+  struct BitFlipTracker {
+    std::optional<std::pair<double, double>> time_range;
+    std::vector<std::array<uint32_t, 8>> flip_counts;
+  } bit_flip_tracker;
 
   struct Item {
     QColor bg_color = QColor(102, 86, 169, 255);
@@ -49,7 +55,7 @@ class BinaryViewModel : public QAbstractTableModel {
     bool valid = false;
   };
   std::vector<Item> items;
-
+  bool heatmap_live_mode = true;
   MessageId msg_id;
   int row_count = 0;
   const int column_count = 9;
@@ -63,8 +69,13 @@ class BinaryView : public QTableView {
   void setMessage(const MessageId &message_id);
   void highlight(const cabana::Signal *sig);
   QSet<const cabana::Signal*> getOverlappingSignals() const;
-  inline void updateState() { model->updateState(); }
+  void updateState() { model->updateState(); }
+  void paintEvent(QPaintEvent *event) override {
+    is_message_active = can->isMessageActive(model->msg_id);
+    QTableView::paintEvent(event);
+  }
   QSize minimumSizeHint() const override;
+  void setHeatmapLiveMode(bool live) { model->heatmap_live_mode = live; updateState(); }
 
 signals:
   void signalClicked(const cabana::Signal *sig);
@@ -86,6 +97,7 @@ class BinaryView : public QTableView {
   QModelIndex anchor_index;
   BinaryViewModel *model;
   BinaryItemDelegate *delegate;
+  bool is_message_active = false;
   const cabana::Signal *resize_sig = nullptr;
   const cabana::Signal *hovered_sig = nullptr;
   friend class BinaryItemDelegate;
diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index 6c13252e80753b..3588c5edc6450e 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -842,6 +842,8 @@ void ChartView::setSeriesType(SeriesType type) {
     }
     updateSeriesPoints();
     updateTitle();
+
+    menu->actions()[(int)type]->setChecked(true);
   }
 }
 
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index e2f0d4d0c9b0c9..08840f46633f10 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -23,7 +23,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   main_layout->setSpacing(0);
 
   // toolbar
-  QToolBar *toolbar = new QToolBar(tr("Charts"), this);
+  toolbar = new QToolBar(tr("Charts"), this);
   int icon_size = style()->pixelMetric(QStyle::PM_SmallIconSize);
   toolbar->setIconSize({icon_size, icon_size});
 
@@ -34,6 +34,21 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   toolbar->addWidget(title_label = new QLabel());
   title_label->setContentsMargins(0, 0, style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing), 0);
 
+  auto chart_type_action = toolbar->addAction("");
+  QMenu *chart_type_menu = new QMenu(this);
+  auto types = std::array{tr("Line"), tr("Step"), tr("Scatter")};
+  for (int i = 0; i < types.size(); ++i) {
+    QString type_text = types[i];
+    chart_type_menu->addAction(type_text, this, [=]() {
+      settings.chart_series_type = i;
+      chart_type_action->setText("Type: " + type_text);
+      settingChanged();
+    });
+  }
+  chart_type_action->setText("Type: " + types[settings.chart_series_type]);
+  chart_type_action->setMenu(chart_type_menu);
+  qobject_cast<QToolButton *>(toolbar->widgetForAction(chart_type_action))->setPopupMode(QToolButton::InstantPopup);
+
   QMenu *menu = new QMenu(this);
   for (int i = 0; i < MAX_COLUMN_COUNT; ++i) {
     menu->addAction(tr("%1").arg(i + 1), [=]() { setColumnCount(i + 1); });
@@ -42,13 +57,13 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   columns_action->setMenu(menu);
   qobject_cast<QToolButton*>(toolbar->widgetForAction(columns_action))->setPopupMode(QToolButton::InstantPopup);
 
-  QLabel *stretch_label = new QLabel(this);
-  stretch_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  toolbar->addWidget(stretch_label);
+  QWidget *spacer = new QWidget(this);
+  spacer->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Preferred);
+  toolbar->addWidget(spacer);
 
   range_lb_action = toolbar->addWidget(range_lb = new QLabel(this));
   range_slider = new LogSlider(1000, Qt::Horizontal, this);
-  range_slider->setMaximumWidth(200);
+  range_slider->setFixedWidth(150 * qApp->devicePixelRatio());
   range_slider->setToolTip(tr("Set the chart range"));
   range_slider->setRange(1, settings.max_cached_minutes * 60);
   range_slider->setSingleStep(1);
@@ -121,10 +136,12 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   setIsDocked(true);
   newTab();
   qApp->installEventFilter(this);
-
   setWhatsThis(tr(R"(
-    <b>Chart view</b><br />
-    <!-- TODO: add descprition here -->
+    <b>Chart View</b><br />
+    <b>Click</b>: Click to seek to a corresponding time.<br />
+    <b>Drag</b>: Zoom into the chart.<br />
+    <b>Shift + Drag</b>: Scrub through the chart to view values.<br />
+    <b>Right Mouse</b>: Open the context menu.<br />
   )"));
 }
 
@@ -176,6 +193,7 @@ QRect ChartsWidget::chartVisibleRect(ChartView *chart) {
 }
 
 void ChartsWidget::showValueTip(double sec) {
+  emit showTip(sec);
   if (sec < 0 && !value_tip_visible_) return;
 
   value_tip_visible_ = sec >= 0;
@@ -219,7 +237,7 @@ void ChartsWidget::setIsDocked(bool docked) {
 
 void ChartsWidget::updateToolBar() {
   title_label->setText(tr("Charts: %1").arg(charts.size()));
-  columns_action->setText(tr("Column: %1").arg(column_count));
+  columns_action->setText(tr("Columns: %1").arg(column_count));
   range_lb->setText(utils::formatSeconds(max_chart_range));
 
   bool is_zoomed = can->timeRange().has_value();
@@ -241,7 +259,9 @@ void ChartsWidget::settingChanged() {
       c->setTheme(theme);
     }
   }
-  range_slider->setRange(1, settings.max_cached_minutes * 60);
+  if (range_slider->maximum() != settings.max_cached_minutes * 60) {
+    range_slider->setRange(1, settings.max_cached_minutes * 60);
+  }
   for (auto c : charts) {
     c->setFixedHeight(settings.chart_height);
     c->setSeriesType((SeriesType)settings.chart_series_type);
@@ -380,7 +400,7 @@ void ChartsWidget::doAutoScroll() {
 }
 
 QSize ChartsWidget::minimumSizeHint() const {
-  return QSize(CHART_MIN_WIDTH, QWidget::minimumSizeHint().height());
+  return QSize(CHART_MIN_WIDTH * 1.5 * qApp->devicePixelRatio(), QWidget::minimumSizeHint().height());
 }
 
 void ChartsWidget::newChart() {
@@ -529,20 +549,14 @@ void ChartsContainer::dropEvent(QDropEvent *event) {
 
 void ChartsContainer::paintEvent(QPaintEvent *ev) {
   if (!drop_indictor_pos.isNull() && !childAt(drop_indictor_pos)) {
-    QRect r;
+    QRect r = geometry();
+    r.setHeight(CHART_SPACING);
     if (auto insert_after = getDropAfter(drop_indictor_pos)) {
-      QRect area = insert_after->geometry();
-      r = QRect(area.left(), area.bottom() + 1, area.width(), CHART_SPACING);
-    } else {
-      r = geometry();
-      r.setHeight(CHART_SPACING);
+      r.moveTop(insert_after->geometry().bottom());
     }
 
     QPainter p(this);
-    p.setPen(QPen(palette().highlight(), 2));
-    p.drawLine(r.topLeft() + QPoint(1, 0), r.bottomLeft() + QPoint(1, 0));
-    p.drawLine(r.topLeft() + QPoint(0, r.height() / 2), r.topRight() + QPoint(0, r.height() / 2));
-    p.drawLine(r.topRight(), r.bottomRight());
+    p.fillRect(r, palette().highlight());
   }
 }
 
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
index bfdaaaa95496b3..46e7f546b02e37 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/tools/cabana/chart/chartswidget.h
@@ -7,6 +7,7 @@
 #include <QLabel>
 #include <QScrollArea>
 #include <QTimer>
+#include <QToolBar>
 #include <QUndoCommand>
 #include <QUndoStack>
 
@@ -52,6 +53,7 @@ public slots:
 signals:
   void toggleChartsDocking();
   void seriesChanged();
+  void showTip(double seconds);
 
 private:
   QSize minimumSizeHint() const override;
@@ -88,6 +90,7 @@ public slots:
   bool is_docked = true;
   ToolButton *dock_btn;
 
+  QToolBar *toolbar;
   QAction *undo_zoom_action;
   QAction *redo_zoom_action;
   QAction *reset_zoom_action;
diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc
index 094fe96182777c..09f86a095a6c42 100644
--- a/tools/cabana/chart/sparkline.cc
+++ b/tools/cabana/chart/sparkline.cc
@@ -5,15 +5,9 @@
 #include <QPainter>
 
 void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size) {
-  const auto &msgs = can->events(msg_id);
-
-  auto range_start = can->toMonoTime(last_msg_ts - range);
-  auto range_end = can->toMonoTime(last_msg_ts);
-  auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), range_start, CompareCanEvent());
-  auto last = std::upper_bound(first, msgs.cend(), range_end, CompareCanEvent());
-
   points.clear();
   double value = 0;
+  auto [first, last] = can->eventsInRange(msg_id, std::make_pair(last_msg_ts -range, last_msg_ts));
   for (auto it = first; it != last; ++it) {
     if (sig->getValue((*it)->dat, (*it)->size, &value)) {
       points.emplace_back(((*it)->mono_time - (*first)->mono_time) / 1e9, value);
diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc
index 149bb9f59a5eb1..ba979f258c263d 100644
--- a/tools/cabana/dbc/dbc.cc
+++ b/tools/cabana/dbc/dbc.cc
@@ -45,6 +45,7 @@ cabana::Msg &cabana::Msg::operator=(const cabana::Msg &other) {
   name = other.name;
   size = other.size;
   comment = other.comment;
+  transmitter = other.transmitter;
 
   for (auto s : sigs) delete s;
   sigs.clear();
diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
index da44319b5c3ab3..d2b25bc5f2f633 100644
--- a/tools/cabana/dbc/dbc.h
+++ b/tools/cabana/dbc/dbc.h
@@ -8,16 +8,16 @@
 #include <QMetaType>
 #include <QString>
 
-
 const QString UNTITLED = "untitled";
 const QString DEFAULT_NODE_NAME = "XXX";
+constexpr int CAN_MAX_DATA_BYTES = 64;
 
 struct MessageId {
   uint8_t source = 0;
   uint32_t address = 0;
 
   QString toString() const {
-    return QString("%1:%2").arg(source).arg(address, 1, 16);
+    return QString("%1:%2").arg(source).arg(QString::number(address, 16).toUpper());
   }
 
   bool operator==(const MessageId &other) const {
diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index 7befadb7227169..2e213988bc7896 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -2,7 +2,8 @@
 
 #include <QFormLayout>
 #include <QMenu>
-#include <QSpacerItem>
+#include <QRadioButton>
+#include <QToolBar>
 
 #include "tools/cabana/commands.h"
 #include "tools/cabana/mainwin.h"
@@ -20,19 +21,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   tabbar->setContextMenuPolicy(Qt::CustomContextMenu);
   main_layout->addWidget(tabbar);
 
-  // message title
-  QHBoxLayout *title_layout = new QHBoxLayout();
-  title_layout->setContentsMargins(3, 6, 3, 0);
-  auto spacer = new QSpacerItem(0, 1);
-  title_layout->addItem(spacer);
-  title_layout->addWidget(name_label = new ElidedLabel(this), 1);
-  name_label->setStyleSheet("QLabel{font-weight:bold;}");
-  name_label->setAlignment(Qt::AlignCenter);
-  auto edit_btn = new ToolButton("pencil", tr("Edit Message"));
-  title_layout->addWidget(edit_btn);
-  title_layout->addWidget(remove_btn = new ToolButton("x-lg", tr("Remove Message")));
-  spacer->changeSize(edit_btn->sizeHint().width() * 2 + 9, 1);
-  main_layout->addLayout(title_layout);
+  createToolBar();
 
   // warning
   warning_widget = new QWidget(this);
@@ -58,8 +47,6 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   tab_widget->addTab(history_log = new LogsWidget(this), utils::icon("stopwatch"), "&Logs");
   main_layout->addWidget(tab_widget);
 
-  QObject::connect(edit_btn, &QToolButton::clicked, this, &DetailWidget::editMsg);
-  QObject::connect(remove_btn, &QToolButton::clicked, this, &DetailWidget::removeMsg);
   QObject::connect(binary_view, &BinaryView::signalHovered, signal_view, &SignalView::signalHovered);
   QObject::connect(binary_view, &BinaryView::signalClicked, [this](const cabana::Signal *s) { signal_view->selectSignal(s, true); });
   QObject::connect(binary_view, &BinaryView::editSignal, signal_view->model, &SignalModel::saveSignal);
@@ -80,6 +67,41 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   QObject::connect(charts, &ChartsWidget::seriesChanged, signal_view, &SignalView::updateChartState);
 }
 
+void DetailWidget::createToolBar() {
+  QToolBar *toolbar = new QToolBar(this);
+  int icon_size = style()->pixelMetric(QStyle::PM_SmallIconSize);
+  toolbar->setIconSize({icon_size, icon_size});
+  toolbar->addWidget(name_label = new ElidedLabel(this));
+  name_label->setStyleSheet("QLabel{font-weight:bold;}");
+
+  QWidget *spacer = new QWidget();
+  spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
+  toolbar->addWidget(spacer);
+
+// Heatmap label and radio buttons
+  toolbar->addWidget(new QLabel(tr("Heatmap:"), this));
+  auto *heatmap_live = new QRadioButton(tr("Live"), this);
+  auto *heatmap_all = new QRadioButton(tr("All"), this);
+  heatmap_live->setChecked(true);
+
+  toolbar->addWidget(heatmap_live);
+  toolbar->addWidget(heatmap_all);
+
+  // Edit and remove buttons
+  toolbar->addSeparator();
+  toolbar->addAction(utils::icon("pencil"), tr("Edit Message"), this, &DetailWidget::editMsg);
+  action_remove_msg = toolbar->addAction(utils::icon("x-lg"), tr("Remove Message"), this, &DetailWidget::removeMsg);
+
+  layout()->addWidget(toolbar);
+
+  connect(heatmap_live, &QAbstractButton::toggled, this, [this](bool on) { binary_view->setHeatmapLiveMode(on); });
+  connect(can, &AbstractStream::timeRangeChanged, this, [=](const std::optional<std::pair<double, double>> &range) {
+    auto text = range ? QString("%1 - %2").arg(range->first, 0, 'f', 3).arg(range->second, 0, 'f', 3) : "All";
+    heatmap_all->setText(text);
+    (range ? heatmap_all : heatmap_live)->setChecked(true);
+  });
+}
+
 void DetailWidget::showTabBarContextMenu(const QPoint &pt) {
   int index = tabbar->tabAt(pt);
   if (index >= 0) {
@@ -131,14 +153,11 @@ void DetailWidget::refresh() {
     for (auto s : binary_view->getOverlappingSignals()) {
       warnings.push_back(tr("%1 has overlapping bits.").arg(s->name));
     }
-  } else {
-    warnings.push_back(tr("Drag-Select in binary view to create new signal."));
   }
-
   QString msg_name = msg ? QString("%1 (%2)").arg(msg->name, msg->transmitter) : msgName(msg_id);
   name_label->setText(msg_name);
   name_label->setToolTip(msg_name);
-  remove_btn->setEnabled(msg != nullptr);
+  action_remove_msg->setEnabled(msg != nullptr);
 
   if (!warnings.isEmpty()) {
     warning_label->setText(warnings.join('\n'));
@@ -184,8 +203,7 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit
   name_edit->setValidator(new NameValidator(name_edit));
 
   form_layout->addRow(tr("Size"), size_spin = new QSpinBox(this));
-  // TODO: limit the maximum?
-  size_spin->setMinimum(1);
+  size_spin->setRange(1, CAN_MAX_DATA_BYTES);
   size_spin->setValue(size);
 
   form_layout->addRow(tr("Node"), node = new QLineEdit(this));
diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h
index 15e1ee5f2f954b..47304fbdc50cf4 100644
--- a/tools/cabana/detailwidget.h
+++ b/tools/cabana/detailwidget.h
@@ -36,6 +36,7 @@ class DetailWidget : public QWidget {
   void refresh();
 
 private:
+  void createToolBar();
   void showTabBarContextMenu(const QPoint &pt);
   void editMsg();
   void removeMsg();
@@ -47,7 +48,7 @@ class DetailWidget : public QWidget {
   QWidget *warning_widget;
   TabBar *tabbar;
   QTabWidget *tab_widget;
-  QToolButton *remove_btn;
+  QAction *action_remove_msg;
   LogsWidget *history_log;
   BinaryView *binary_view;
   SignalView *signal_view;
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index d3f868cd47fdb1..8361befb53aa08 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -191,6 +191,7 @@ void MainWindow::createDockWidgets() {
   video_splitter->handle(1)->setEnabled(!can->liveStreaming());
   video_dock->setWidget(video_splitter);
   QObject::connect(charts_widget, &ChartsWidget::toggleChartsDocking, this, &MainWindow::toggleChartsDocking);
+  QObject::connect(charts_widget, &ChartsWidget::showTip, video_widget, &VideoWidget::showThumbnail);
 }
 
 void MainWindow::createStatusBar() {
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index ecb739a733cb5e..ed9aeaf3114f0a 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -13,21 +13,6 @@
 
 #include "tools/cabana/commands.h"
 
-static bool isMessageActive(const MessageId &id) {
-  if (id.source == INVALID_SOURCE) {
-    return false;
-  }
-  // Check if the message is active based on time difference and frequency
-  const auto &m = can->lastMessage(id);
-  float delta = can->currentSec() - m.ts;
-
-  if (m.freq < std::numeric_limits<double>::epsilon()) {
-    return delta < 1.5;
-  }
-
-  return delta < (5.0 / m.freq) + (1.0 / settings.fps);
-}
-
 MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
@@ -207,7 +192,7 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
     switch (index.column()) {
       case Column::NAME: return item.name;
       case Column::SOURCE: return item.id.source != INVALID_SOURCE ? QString::number(item.id.source) : NA;
-      case Column::ADDRESS: return QString::number(item.id.address, 16);
+      case Column::ADDRESS: return toHexString(item.id.address);
       case Column::NODE: return item.node;
       case Column::FREQ: return item.id.source != INVALID_SOURCE ? getFreq(can->lastMessage(item.id).freq) : NA;
       case Column::COUNT: return item.id.source != INVALID_SOURCE ? QString::number(can->lastMessage(item.id).count) : NA;
@@ -300,7 +285,7 @@ bool MessageListModel::match(const MessageListModel::Item &item) {
         match = parseRange(txt, item.id.source);
         break;
       case Column::ADDRESS:
-        match = QString::number(item.id.address, 16).contains(txt, Qt::CaseInsensitive);
+        match = toHexString(item.id.address).contains(txt, Qt::CaseInsensitive);
         match = match || parseRange(txt, item.id.address, 16);
         break;
       case Column::NODE:
@@ -335,7 +320,7 @@ bool MessageListModel::filterAndSort() {
   std::vector<Item> items;
   items.reserve(all_messages.size());
   for (const auto &id : all_messages) {
-    if (show_inactive_messages || isMessageActive(id)) {
+    if (show_inactive_messages || can->isMessageActive(id)) {
       auto msg = dbc()->msg(id);
       Item item = {.id = id,
                   .name = msg ? msg->name : UNTITLED,
@@ -378,7 +363,7 @@ void MessageListModel::sort(int column, Qt::SortOrder order) {
 
 void MessageView::drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
    const auto &item = ((MessageListModel*)model())->items_[index.row()];
-  if (!isMessageActive(item.id)) {
+  if (!can->isMessageActive(item.id)) {
     QStyleOptionViewItem custom_option = option;
     custom_option.palette.setBrush(QPalette::Text, custom_option.palette.color(QPalette::Disabled, QPalette::Text));
     auto color = QApplication::palette().color(QPalette::HighlightedText);
diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc
index 523cbf3be70c09..cccc9b6d9ab643 100644
--- a/tools/cabana/settings.cc
+++ b/tools/cabana/settings.cc
@@ -89,10 +89,6 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
 
   groupbox = new QGroupBox("Chart");
   form_layout = new QFormLayout(groupbox);
-  form_layout->addRow(tr("Default Series Type"), chart_series_type = new QComboBox(this));
-  chart_series_type->addItems({tr("Line"), tr("Step Line"), tr("Scatter")});
-  chart_series_type->setCurrentIndex(settings.chart_series_type);
-
   form_layout->addRow(tr("Chart Height"), chart_height = new QSpinBox(this));
   chart_height->setRange(100, 500);
   chart_height->setSingleStep(10);
@@ -132,7 +128,6 @@ void SettingsDlg::save() {
   }
   settings.fps = fps->value();
   settings.max_cached_minutes = cached_minutes->value();
-  settings.chart_series_type = chart_series_type->currentIndex();
   settings.chart_height = chart_height->value();
   settings.log_livestream = log_livestream->isChecked();
   settings.log_path = log_path->text();
diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index 130b76d5023144..9fe70c3ee80057 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -382,7 +382,7 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
   } else if (item->type == SignalModel::Item::Size) {
     QSpinBox *spin = new QSpinBox(parent);
     spin->setFrame(false);
-    spin->setRange(1, 64);
+    spin->setRange(1, CAN_MAX_DATA_BYTES);
     return spin;
   } else if (item->type == SignalModel::Item::SignalType) {
     QComboBox *c = new QComboBox(parent);
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 7abeafea94e3ba..2278104c269171 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -39,7 +39,7 @@ void AbstractStream::updateMasks() {
     const int size = std::min(mask.size(), m.last_changes.size());
     for (int i = 0; i < size; ++i) {
       for (int j = 0; j < 8; ++j) {
-        if (((mask[i] >> (7 - j)) & 1) != 0) m.last_changes[i].bit_change_counts[j] = 0;
+        if (((mask[i] >> (7 - j)) & 1) != 0) m.bit_flip_counts[i][j] = 0;
       }
     }
   }
@@ -59,9 +59,9 @@ size_t AbstractStream::suppressHighlighted() {
       if (dt < 2.0) {
         last_change.suppressed = true;
       }
-      last_change.bit_change_counts.fill(0);
       cnt += last_change.suppressed;
     }
+    for (auto &flip_counts : m.bit_flip_counts) flip_counts.fill(0);
   }
   return cnt;
 }
@@ -127,8 +127,22 @@ const CanData &AbstractStream::lastMessage(const MessageId &id) const {
   return it != last_msgs.end() ? it->second : empty_data;
 }
 
+bool AbstractStream::isMessageActive(const MessageId &id) const {
+  if (id.source == INVALID_SOURCE) {
+    return false;
+  }
+  // Check if the message is active based on time difference and frequency
+  const auto &m = lastMessage(id);
+  float delta = currentSec() - m.ts;
+
+  if (m.freq < std::numeric_limits<double>::epsilon()) {
+    return delta < 1.5;
+  }
+
+  return delta < (5.0 / m.freq) + (1.0 / settings.fps);
+}
+
 void AbstractStream::updateLastMsgsTo(double sec) {
-  std::lock_guard lk(mutex_);
   current_sec_ = sec;
   uint64_t last_ts = toMonoTime(sec);
   std::unordered_map<MessageId, CanData> msgs;
@@ -160,10 +174,17 @@ void AbstractStream::updateLastMsgsTo(double sec) {
                     std::any_of(messages_.cbegin(), messages_.cend(),
                                 [this](const auto &m) { return !last_msgs.count(m.first); });
   last_msgs = messages_;
-  mutex_.unlock();
-
   emit msgsReceived(nullptr, id_changed);
-  resumeStream();
+
+  std::lock_guard lk(mutex_);
+  seek_finished_ = true;
+  seek_finished_cv_.notify_one();
+}
+
+void AbstractStream::waitForSeekFinshed() {
+  std::unique_lock lock(mutex_);
+  seek_finished_cv_.wait(lock, [this]() { return seek_finished_; });
+  seek_finished_ = false;
 }
 
 const CanEvent *AbstractStream::newEvent(uint64_t mono_time, const cereal::CanData::Reader &c) {
@@ -200,6 +221,15 @@ void AbstractStream::mergeEvents(const std::vector<const CanEvent *> &events) {
   }
 }
 
+std::pair<CanEventIter, CanEventIter> AbstractStream::eventsInRange(const MessageId &id, std::optional<std::pair<double, double>> time_range) const {
+  const auto &events = can->events(id);
+  if (!time_range) return {events.begin(), events.end()};
+
+  auto first = std::lower_bound(events.begin(), events.end(), can->toMonoTime(time_range->first), CompareCanEvent());
+  auto last = std::upper_bound(events.begin(), events.end(), can->toMonoTime(time_range->second), CompareCanEvent());
+  return {first, last};
+}
+
 namespace {
 
 enum Color { GREYISH_BLUE, CYAN, RED};
@@ -219,15 +249,7 @@ inline QColor blend(const QColor &a, const QColor &b) {
 
 // Calculate the frequency from the past one minute data
 double calc_freq(const MessageId &msg_id, double current_sec) {
-  const auto &events = can->events(msg_id);
-  if (events.empty()) return 0.0;
-
-  auto current_mono_time = can->toMonoTime(current_sec);
-  auto start_mono_time = can->toMonoTime(current_sec - 59);
-
-  auto first = std::lower_bound(events.begin(), events.end(), start_mono_time, CompareCanEvent());
-  auto last = std::upper_bound(first, events.end(), current_mono_time, CompareCanEvent());
-
+  auto [first, last] = can->eventsInRange(msg_id, std::make_pair(current_sec - 59, current_sec));
   int count = std::distance(first, last);
   if (count <= 1) return 0.0;
 
@@ -248,9 +270,10 @@ void CanData::compute(const MessageId &msg_id, const uint8_t *can_data, const in
   }
 
   if (dat.size() != size) {
-    dat.resize(size);
+    dat.assign(can_data, can_data + size);
     colors.assign(size, QColor(0, 0, 0, 0));
     last_changes.resize(size);
+    bit_flip_counts.resize(size);
     std::for_each(last_changes.begin(), last_changes.end(), [current_sec](auto &c) { c.ts = current_sec; });
   } else {
     constexpr int periodic_threshold = 10;
@@ -282,10 +305,11 @@ void CanData::compute(const MessageId &msg_id, const uint8_t *can_data, const in
         }
 
         // Track bit level changes
+        auto &row_bit_flips = bit_flip_counts[i];
         const uint8_t diff = (cur ^ last);
         for (int bit = 0; bit < 8; bit++) {
           if (diff & (1u << bit)) {
-            ++last_change.bit_change_counts[7 - bit];
+            ++row_bit_flips[7 - bit];
           }
         }
 
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index 5ecf086c959ea7..f35b19d34f7045 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -2,6 +2,7 @@
 
 #include <algorithm>
 #include <array>
+#include <condition_variable>
 #include <memory>
 #include <mutex>
 #include <optional>
@@ -33,9 +34,9 @@ struct CanData {
     int delta = 0;
     int same_delta_counter = 0;
     bool suppressed = false;
-    std::array<uint32_t, 8> bit_change_counts;
   };
   std::vector<ByteLastChange> last_changes;
+  std::vector<std::array<uint32_t, 8>> bit_flip_counts;
   double last_freq_update_ts = 0;
 };
 
@@ -53,6 +54,7 @@ struct CompareCanEvent {
 };
 
 typedef std::unordered_map<MessageId, std::vector<const CanEvent *>> MessageEventsMap;
+using CanEventIter = std::vector<const CanEvent *>::const_iterator;
 
 class AbstractStream : public QObject {
   Q_OBJECT
@@ -81,10 +83,12 @@ class AbstractStream : public QObject {
   inline double toSeconds(uint64_t mono_time) const { return std::max(0.0, (mono_time - beginMonoTime()) / 1e9); }
 
   inline const std::unordered_map<MessageId, CanData> &lastMessages() const { return last_msgs; }
+  bool isMessageActive(const MessageId &id) const;
   inline const MessageEventsMap &eventsMap() const { return events_; }
   inline const std::vector<const CanEvent *> &allEvents() const { return all_events_; }
   const CanData &lastMessage(const MessageId &id) const;
   const std::vector<const CanEvent *> &events(const MessageId &id) const;
+  std::pair<CanEventIter, CanEventIter> eventsInRange(const MessageId &id, std::optional<std::pair<double, double>> time_range) const;
 
   size_t suppressHighlighted();
   void clearSuppressed();
@@ -108,7 +112,7 @@ class AbstractStream : public QObject {
   void mergeEvents(const std::vector<const CanEvent *> &events);
   const CanEvent *newEvent(uint64_t mono_time, const cereal::CanData::Reader &c);
   void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size);
-  virtual void resumeStream() {}
+  void waitForSeekFinshed();
   std::vector<const CanEvent *> all_events_;
   double current_sec_ = 0;
   std::optional<std::pair<double, double>> time_range_;
@@ -124,6 +128,8 @@ class AbstractStream : public QObject {
 
   // Members accessed in multiple threads. (mutex protected)
   std::mutex mutex_;
+  std::condition_variable seek_finished_cv_;
+  bool seek_finished_ = false;
   std::set<MessageId> new_msgs_;
   std::unordered_map<MessageId, CanData> messages_;
   std::unordered_map<MessageId, std::vector<uint8_t>> masks_;
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index bfe5ca74da1580..ebe478ded77d1d 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -53,9 +53,12 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
 
   // Forward replay callbacks to corresponding Qt signals.
   replay->onSeeking = [this](double sec) { emit seeking(sec); };
-  replay->onSeekedTo = [this](double sec) { emit seekedTo(sec); };
+  replay->onSeekedTo = [this](double sec) {
+    emit seekedTo(sec);
+    waitForSeekFinshed();
+  };
   replay->onQLogLoaded = [this](std::shared_ptr<LogReader> qlog) { emit qLogLoaded(qlog); };
-  replay->onSegmentsMerged = [this]() { QMetaObject::invokeMethod(this, &ReplayStream::mergeSegments, Qt::QueuedConnection); };
+  replay->onSegmentsMerged = [this]() { QMetaObject::invokeMethod(this, &ReplayStream::mergeSegments, Qt::BlockingQueuedConnection); };
 
   bool success = replay->load();
   if (!success) {
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index 2d7f3351935d9c..df1f2526a5e328 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -32,7 +32,6 @@ class ReplayStream : public AbstractStream {
   inline float getSpeed() const { return replay->getSpeed(); }
   inline Replay *getReplay() const { return replay.get(); }
   inline bool isPaused() const override { return replay->isPaused(); }
-  void resumeStream() override { return replay->resumeStream(); }
   void pause(bool pause) override;
 
 signals:
diff --git a/tools/cabana/utils/util.h b/tools/cabana/utils/util.h
index 0ebd7e41f84681..1aad3103db3e6e 100644
--- a/tools/cabana/utils/util.h
+++ b/tools/cabana/utils/util.h
@@ -163,3 +163,4 @@ public slots:
 
 int num_decimals(double num);
 QString signalToolTip(const cabana::Signal *sig);
+inline QString toHexString(int value) { return QString("0x%1").arg(QString::number(value, 16).toUpper(), 2, '0'); }
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 0b2beb1dd6d333..e792f80a418d81 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -31,9 +31,12 @@ static Replay *getReplay() {
 VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
   setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
   auto main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  main_layout->setSpacing(0);
   if (!can->liveStreaming())
     main_layout->addWidget(createCameraWidget());
-  main_layout->addLayout(createPlaybackController());
+
+  createPlaybackController();
 
   setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum);
   QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState);
@@ -65,15 +68,19 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
           timeline_colors[(int)TimelineType::AlertCritical].name()));
 }
 
-QHBoxLayout *VideoWidget::createPlaybackController() {
-  QHBoxLayout *layout = new QHBoxLayout();
-  layout->addWidget(seek_backward_btn = new ToolButton("rewind", tr("Seek backward")));
-  layout->addWidget(play_btn = new ToolButton("play", tr("Play")));
-  layout->addWidget(seek_forward_btn = new ToolButton("fast-forward", tr("Seek forward")));
+void VideoWidget::createPlaybackController() {
+  QToolBar *toolbar = new QToolBar(this);
+  layout()->addWidget(toolbar);
+
+  int icon_size = style()->pixelMetric(QStyle::PM_SmallIconSize);
+  toolbar->setIconSize({icon_size, icon_size});
+
+  toolbar->addAction(utils::icon("rewind"), tr("Seek backward"), []() { can->seekTo(can->currentSec() - 1); });
+  play_toggle_action = toolbar->addAction(utils::icon("play"), tr("Play"), []() { can->pause(!can->isPaused()); });
+  toolbar->addAction(utils::icon("fast-forward"), tr("Seek forward"), []() { can->seekTo(can->currentSec() + 1); });
 
   if (can->liveStreaming()) {
-    layout->addWidget(skip_to_end_btn = new ToolButton("skip-end", tr("Skip to the end"), this));
-    QObject::connect(skip_to_end_btn, &QToolButton::clicked, [this]() {
+    skip_to_end_action = toolbar->addAction(utils::icon("skip-end"), tr("Skip to the end"), this, [this]() {
       // set speed to 1.0
       speed_btn->menu()->actions()[7]->setChecked(true);
       can->pause(false);
@@ -81,53 +88,48 @@ QHBoxLayout *VideoWidget::createPlaybackController() {
     });
   }
 
-  layout->addWidget(time_btn = new QToolButton);
-  time_btn->setToolTip(settings.absolute_time ? tr("Elapsed time") : tr("Absolute time"));
-  time_btn->setAutoRaise(true);
-  layout->addStretch(0);
+  time_display_action = toolbar->addAction("", this, [this]() {
+    settings.absolute_time = !settings.absolute_time;
+    time_display_action->setToolTip(settings.absolute_time ? tr("Elapsed time") : tr("Absolute time"));
+    updateState();
+  });
+
+  QWidget *spacer = new QWidget();
+  spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
+  toolbar->addWidget(spacer);
 
   if (!can->liveStreaming()) {
-    layout->addWidget(loop_btn = new ToolButton("repeat", tr("Loop playback")));
-    QObject::connect(loop_btn, &QToolButton::clicked, this, &VideoWidget::loopPlaybackClicked);
+    toolbar->addAction(utils::icon("repeat"), tr("Loop playback"), this, &VideoWidget::loopPlaybackClicked);
   }
 
-  // speed selector
-  layout->addWidget(speed_btn = new QToolButton(this));
-  speed_btn->setAutoRaise(true);
+  createSpeedDropdown(toolbar);
+}
+
+void VideoWidget::createSpeedDropdown(QToolBar *toolbar) {
+  toolbar->addWidget(speed_btn = new QToolButton(this));
   speed_btn->setMenu(new QMenu(speed_btn));
   speed_btn->setPopupMode(QToolButton::InstantPopup);
   QActionGroup *speed_group = new QActionGroup(this);
   speed_group->setExclusive(true);
 
-  int max_width = 0;
-  QFont font = speed_btn->font();
-  font.setBold(true);
-  speed_btn->setFont(font);
-  QFontMetrics fm(font);
   for (float speed : {0.01, 0.02, 0.05, 0.1, 0.2, 0.5, 0.8, 1., 2., 3., 5.}) {
-    QString name = QString("%1x").arg(speed);
-    max_width = std::max(max_width, fm.width(name) + fm.horizontalAdvance(QLatin1Char(' ')) * 2);
-
-    QAction *act = new QAction(name, speed_group);
-    act->setCheckable(true);
-    QObject::connect(act, &QAction::toggled, [this, speed]() {
+    auto act = speed_btn->menu()->addAction(QString("%1x").arg(speed), this, [this, speed]() {
       can->setSpeed(speed);
       speed_btn->setText(QString("%1x  ").arg(speed));
     });
-    speed_btn->menu()->addAction(act);
-    if (speed == 1.0)act->setChecked(true);
+
+    speed_group->addAction(act);
+    act->setCheckable(true);
+    if (speed == 1.0) {
+      act->setChecked(true);
+      act->trigger();
+    }
   }
-  speed_btn->setMinimumWidth(max_width + style()->pixelMetric(QStyle::PM_MenuButtonIndicator));
 
-  QObject::connect(play_btn, &QToolButton::clicked, []() { can->pause(!can->isPaused()); });
-  QObject::connect(seek_backward_btn, &QToolButton::clicked, []() { can->seekTo(can->currentSec() - 1); });
-  QObject::connect(seek_forward_btn, &QToolButton::clicked, []() { can->seekTo(can->currentSec() + 1); });
-  QObject::connect(time_btn, &QToolButton::clicked, [this]() {
-    settings.absolute_time = !settings.absolute_time;
-    time_btn->setToolTip(settings.absolute_time ? tr("Elapsed time") : tr("Absolute time"));
-    updateState();
-  });
-  return layout;
+  QFont font = speed_btn->font();
+  font.setBold(true);
+  speed_btn->setFont(font);
+  speed_btn->setMinimumWidth(speed_btn->fontMetrics().width("0.05x  ") + style()->pixelMetric(QStyle::PM_MenuButtonIndicator));
 }
 
 QWidget *VideoWidget::createCameraWidget() {
@@ -150,7 +152,6 @@ QWidget *VideoWidget::createCameraWidget() {
 
   QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); });
   QObject::connect(can, &AbstractStream::paused, cam_widget, [c = cam_widget]() { c->showPausedOverlay(); });
-  QObject::connect(can, &AbstractStream::resume, cam_widget, [c = cam_widget]() { c->update(); });
   QObject::connect(can, &AbstractStream::eventsMerged, this, [this]() { slider->update(); });
   QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(cam_widget, &CameraWidget::vipcAvailableStreamsUpdated, this, &VideoWidget::vipcAvailableStreamsUpdated);
@@ -158,7 +159,7 @@ QWidget *VideoWidget::createCameraWidget() {
     if (index != -1) cam_widget->setStreamType((VisionStreamType)camera_tab->tabData(index).toInt());
   });
   QObject::connect(static_cast<ReplayStream*>(can), &ReplayStream::qLogLoaded, cam_widget, &StreamCameraView::parseQLog, Qt::QueuedConnection);
-  slider->installEventFilter(cam_widget);
+  slider->installEventFilter(this);
   return w;
 }
 
@@ -180,13 +181,13 @@ void VideoWidget::vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams
 void VideoWidget::loopPlaybackClicked() {
   bool is_looping = getReplay()->loop();
   getReplay()->setLoop(!is_looping);
-  loop_btn->setIcon(!is_looping ? "repeat" : "repeat-1");
+  qobject_cast<QAction*>(sender())->setIcon(utils::icon(!is_looping ? "repeat" : "repeat-1"));
 }
 
 void VideoWidget::timeRangeChanged() {
   const auto time_range = can->timeRange();
   if (can->liveStreaming()) {
-    skip_to_end_btn->setEnabled(!time_range.has_value());
+    skip_to_end_action->setEnabled(!time_range.has_value());
     return;
   }
   time_range ? slider->setTimeRange(time_range->first, time_range->second)
@@ -208,28 +209,50 @@ void VideoWidget::updateState() {
     if (camera_tab->count() == 0) {  //  No streams available
       cam_widget->update();          // Manually refresh to show alert events
     }
-    time_btn->setText(QString("%1 / %2").arg(formatTime(can->currentSec(), true),
+    time_display_action->setText(QString("%1 / %2").arg(formatTime(can->currentSec(), true),
                                              formatTime(slider->maximum() / slider->factor)));
   } else {
-    time_btn->setText(formatTime(can->currentSec(), true));
+    time_display_action->setText(formatTime(can->currentSec(), true));
   }
 }
 
 void VideoWidget::updatePlayBtnState() {
-  play_btn->setIcon(can->isPaused() ? "play" : "pause");
-  play_btn->setToolTip(can->isPaused() ? tr("Play") : tr("Pause"));
+  play_toggle_action->setIcon(utils::icon(can->isPaused() ? "play" : "pause"));
+  play_toggle_action->setToolTip(can->isPaused() ? tr("Play") : tr("Pause"));
 }
 
-// Slider
+void VideoWidget::showThumbnail(double seconds) {
+  if (can->liveStreaming()) return;
+
+  cam_widget->thumbnail_dispaly_time = seconds;
+  slider->thumbnail_dispaly_time = seconds;
+  cam_widget->update();
+  slider->update();
+}
+
+bool VideoWidget::eventFilter(QObject *obj, QEvent *event) {
+  if (event->type() == QEvent::MouseMove) {
+    auto [min_sec, max_sec] = can->timeRange().value_or(std::make_pair(can->minSeconds(), can->maxSeconds()));
+    showThumbnail(min_sec + static_cast<QMouseEvent *>(event)->pos().x() * (max_sec - min_sec) / slider->width());
+  } else if (event->type() == QEvent::Leave) {
+    showThumbnail(-1);
+  }
+  return false;
+}
 
+// Slider
 Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) {
   setMouseTracking(true);
 }
 
 void Slider::paintEvent(QPaintEvent *ev) {
   QPainter p(this);
-  QRect r = rect().adjusted(0, 4, 0, -4);
+
+  QStyleOptionSlider opt;
+  initStyleOption(&opt);
+  QRect r = style()->subControlRect(QStyle::CC_Slider, &opt, QStyle::SC_SliderGroove, this);
   p.fillRect(r, timeline_colors[(int)TimelineType::None]);
+
   double min = minimum() / factor;
   double max = maximum() / factor;
 
@@ -254,13 +277,19 @@ void Slider::paintEvent(QPaintEvent *ev) {
     }
   }
 
-  QStyleOptionSlider opt;
-  opt.initFrom(this);
   opt.minimum = minimum();
   opt.maximum = maximum();
   opt.subControls = QStyle::SC_SliderHandle;
   opt.sliderPosition = value();
   style()->drawComplexControl(QStyle::CC_Slider, &opt, &p);
+
+  if (thumbnail_dispaly_time >= 0) {
+    int left = (thumbnail_dispaly_time - min) * width() / (max - min) - 1;
+    QRect rc(left, rect().top() + 1, 2, rect().height() - 2);
+    p.setBrush(palette().highlight());
+    p.setPen(Qt::NoPen);
+    p.drawRoundedRect(rc, 1.5, 1.5);
+  }
 }
 
 void Slider::mousePressEvent(QMouseEvent *e) {
@@ -272,7 +301,6 @@ void Slider::mousePressEvent(QMouseEvent *e) {
 }
 
 // StreamCameraView
-
 StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent)
     : CameraWidget(stream_name, stream_type, parent) {
   fade_animation = new QPropertyAnimation(this, "overlayOpacity");
@@ -294,6 +322,7 @@ void StreamCameraView::parseQLog(std::shared_ptr<LogReader> qlog) {
         QPixmap generated_thumb = generateThumbnail(thumb, can->toSeconds(thumb_data.getTimestampEof()));
         std::lock_guard lock(mutex);
         thumbnails[thumb_data.getTimestampEof()] = generated_thumb;
+        big_thumbnails[thumb_data.getTimestampEof()] = thumb;
       }
     }
   });
@@ -304,12 +333,15 @@ void StreamCameraView::paintGL() {
   CameraWidget::paintGL();
 
   QPainter p(this);
-  if (auto alert = getReplay()->findAlertAtTime(can->currentSec())) {
-    drawAlert(p, rect(), *alert);
+  bool scrubbing = false;
+  if (thumbnail_dispaly_time >= 0) {
+    scrubbing = can->isPaused();
+    scrubbing ? drawScrubThumbnail(p) : drawThumbnail(p);
   }
-  if (thumbnail_pt_) {
-    drawThumbnail(p);
+  if (auto alert = getReplay()->findAlertAtTime(scrubbing ? thumbnail_dispaly_time : can->currentSec())) {
+    drawAlert(p, rect(), *alert);
   }
+
   if (can->isPaused()) {
     p.setPen(QColor(200, 200, 200, static_cast<int>(255 * fade_animation->currentValue().toFloat())));
     p.setFont(QFont(font().family(), 16, QFont::Bold));
@@ -329,25 +361,37 @@ QPixmap StreamCameraView::generateThumbnail(QPixmap thumb, double seconds) {
   return scaled;
 }
 
-void StreamCameraView::drawThumbnail(QPainter &p) {
-  int pos = std::clamp(thumbnail_pt_->x(), 0, width());
-  auto [min_sec, max_sec] = can->timeRange().value_or(std::make_pair(can->minSeconds(), can->maxSeconds()));
-  double seconds = min_sec + pos * (max_sec - min_sec) / width();
+void StreamCameraView::drawScrubThumbnail(QPainter &p) {
+  p.fillRect(rect(), Qt::black);
+  auto it = big_thumbnails.lowerBound(can->toMonoTime(thumbnail_dispaly_time));
+  if (it != big_thumbnails.end()) {
+    QPixmap scaled_thumb = it.value().scaled(rect().size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
+    QRect thumb_rect(rect().center() - scaled_thumb.rect().center(), scaled_thumb.size());
+    p.drawPixmap(thumb_rect.topLeft(), scaled_thumb);
+    drawTime(p, thumb_rect, thumbnail_dispaly_time);
+  }
+}
 
-  auto it = thumbnails.lowerBound(can->toMonoTime(seconds));
+void StreamCameraView::drawThumbnail(QPainter &p) {
+  auto it = thumbnails.lowerBound(can->toMonoTime(thumbnail_dispaly_time));
   if (it != thumbnails.end()) {
     const QPixmap &thumb = it.value();
+    auto [min_sec, max_sec] = can->timeRange().value_or(std::make_pair(can->minSeconds(), can->maxSeconds()));
+    int pos = (thumbnail_dispaly_time - min_sec) * width() / (max_sec - min_sec);
     int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, width() - thumb.width() - THUMBNAIL_MARGIN + 1);
     int y = height() - thumb.height() - THUMBNAIL_MARGIN;
 
     p.drawPixmap(x, y, thumb);
-    p.setPen(QPen(palette().color(QPalette::BrightText), 2));
-    p.setFont(QFont(font().family(), 10));
-    p.drawText(x, y, thumb.width(), thumb.height() - THUMBNAIL_MARGIN,
-               Qt::AlignHCenter | Qt::AlignBottom, QString::number(seconds, 'f', 3));
+    drawTime(p, QRect{x, y, thumb.width(), thumb.height()}, thumbnail_dispaly_time);
   }
 }
 
+void StreamCameraView::drawTime(QPainter &p, const QRect &rect, double seconds) {
+  p.setPen(palette().color(QPalette::BrightText));
+  p.setFont(QFont(font().family(), 10));
+  p.drawText(rect.adjusted(0, 0, 0, -THUMBNAIL_MARGIN), Qt::AlignHCenter | Qt::AlignBottom, QString::number(seconds, 'f', 3));
+}
+
 void StreamCameraView::drawAlert(QPainter &p, const QRect &rect, const Timeline::Entry &alert) {
   p.setPen(QPen(palette().color(QPalette::BrightText), 2));
   QColor color = timeline_colors[int(alert.type)];
@@ -360,14 +404,3 @@ void StreamCameraView::drawAlert(QPainter &p, const QRect &rect, const Timeline:
   p.fillRect(text_rect.left(), r.top(), text_rect.width(), r.height(), color);
   p.drawText(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
 }
-
-bool StreamCameraView::eventFilter(QObject *, QEvent *event) {
-  if (event->type() == QEvent::MouseMove) {
-    thumbnail_pt_ = static_cast<QMouseEvent *>(event)->pos();
-    update();
-  } else if (event->type() == QEvent::Leave) {
-    thumbnail_pt_ = std::nullopt;
-    update();
-  }
-  return false;
-}
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index 78503365e5b80b..1d87a5cfa0fc3b 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -1,15 +1,14 @@
 #pragma once
 
 #include <memory>
-#include <optional>
 #include <set>
 #include <string>
 #include <utility>
 
-#include <QHBoxLayout>
 #include <QFrame>
 #include <QPropertyAnimation>
 #include <QSlider>
+#include <QToolBar>
 #include <QTabBar>
 
 #include "selfdrive/ui/qt/widgets/cameraview.h"
@@ -28,6 +27,7 @@ class Slider : public QSlider {
   void mousePressEvent(QMouseEvent *e) override;
   void paintEvent(QPaintEvent *ev) override;
   const double factor = 1000.0;
+  double thumbnail_dispaly_time = -1;
 };
 
 class StreamCameraView : public CameraWidget {
@@ -43,11 +43,14 @@ class StreamCameraView : public CameraWidget {
   QPixmap generateThumbnail(QPixmap thumbnail, double seconds);
   void drawAlert(QPainter &p, const QRect &rect, const Timeline::Entry &alert);
   void drawThumbnail(QPainter &p);
-  bool eventFilter(QObject *obj, QEvent *event) override;
+  void drawScrubThumbnail(QPainter &p);
+  void drawTime(QPainter &p, const QRect &rect, double seconds);
 
   QPropertyAnimation *fade_animation;
+  QMap<uint64_t, QPixmap> big_thumbnails;
   QMap<uint64_t, QPixmap> thumbnails;
-  std::optional<QPoint> thumbnail_pt_;
+  double thumbnail_dispaly_time = -1;
+  friend class VideoWidget;
 };
 
 class VideoWidget : public QFrame {
@@ -55,25 +58,25 @@ class VideoWidget : public QFrame {
 
 public:
   VideoWidget(QWidget *parnet = nullptr);
+  void showThumbnail(double seconds);
 
 protected:
+  bool eventFilter(QObject *obj, QEvent *event) override;
   QString formatTime(double sec, bool include_milliseconds = false);
   void timeRangeChanged();
   void updateState();
   void updatePlayBtnState();
   QWidget *createCameraWidget();
-  QHBoxLayout *createPlaybackController();
+  void createPlaybackController();
+  void createSpeedDropdown(QToolBar *toolbar);
   void loopPlaybackClicked();
   void vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams);
 
   StreamCameraView *cam_widget;
-  QToolButton *time_btn = nullptr;
-  ToolButton *seek_backward_btn = nullptr;
-  ToolButton *play_btn = nullptr;
-  ToolButton *seek_forward_btn = nullptr;
-  ToolButton *loop_btn = nullptr;
+  QAction *time_display_action = nullptr;
+  QAction *play_toggle_action = nullptr;
   QToolButton *speed_btn = nullptr;
-  ToolButton *skip_to_end_btn = nullptr;
+  QAction *skip_to_end_action = nullptr;
   Slider *slider = nullptr;
   QTabBar *camera_tab = nullptr;
 };
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index 267577d712ace6..b0bb835e649990 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -10,8 +10,11 @@ cd "$ROOT"
 
 # updating uv on macOS results in 403 sometimes
 function update_uv() {
-  for i in $(seq 1 5);
-  do
+  if ! uv self update --help >/dev/null 2>&1; then
+    return 0
+  fi
+
+  for i in $(seq 1 5); do
     if uv self update; then
       return 0
     else
diff --git a/tools/latencylogger/README.md b/tools/latencylogger/README.md
deleted file mode 100644
index 110970308a96b8..00000000000000
--- a/tools/latencylogger/README.md
+++ /dev/null
@@ -1,90 +0,0 @@
-# LatencyLogger
-
-LatencyLogger is a tool to track the time from first pixel to actuation. Timestamps are printed in a table as well as plotted in a graph. Start openpilot with `LOG_TIMESTAMPS=1` set to enable the necessary logging.
-
-## Usage
-
-```
-$ python3 latency_logger.py -h
-usage: latency_logger.py [-h] [--relative] [--demo] [--plot] [route_or_segment_name]
-
-A tool for analyzing openpilot's end-to-end latency
-
-positional arguments:
-  route_or_segment_name
-                        The route to print (default: None)
-
-optional arguments:
-  -h, --help            show this help message and exit
-  --relative            Make timestamps relative to the start of each frame (default: False)
-  --demo                Use the demo route instead of providing one (default: False)
-  --plot                If a plot should be generated (default: False)
-  --offset              Offset service to better visualize overlap (default: False)
-```
-To timestamp an event, use `LOGT("msg")` in c++ code or `cloudlog.timestamp("msg")` in python code. If the print is warning for frameId assignment ambiguity, use `LOGT(frameId ,"msg")`.
-
-## Examples
-
-Timestamps are visualized as diamonds
-
-|  | Relative  | Absolute |
-| ------------- | ------------- | ------------- |
-| Inline | ![inrel](https://user-images.githubusercontent.com/42323981/170559939-465df3b1-bf87-46d5-b5ee-5cc87dc49470.png) | ![inabs](https://user-images.githubusercontent.com/42323981/170559985-a82f87e7-82c4-4e48-a348-4221568dd589.png) |
-| Offset | ![offrel](https://user-images.githubusercontent.com/42323981/170559854-93fba90f-acc4-4d08-b317-d3f8fc649ea8.png) | ![offabs](https://user-images.githubusercontent.com/42323981/170559782-06ed5599-d4e3-4701-ad78-5c1eec6cb61e.png) |
-
-Printed timestamps of a frame with internal durations.
-```
-Frame ID: 1202
-  camerad
-    wideRoadCameraState start of frame                   0.0
-    roadCameraState start of frame                       0.049583
-    wideRoadCameraState published                        35.01206
-    WideRoadCamera: Image set                            35.020028
-    roadCameraState published                            38.508261
-    RoadCamera: Image set                                38.520344
-    RoadCamera: Transformed                              38.616176
-    wideRoadCameraState.processingTime                   3.152403049170971
-    roadCameraState.processingTime                       6.453451234847307
-  modeld
-    Image added                                          40.909841
-    Extra image added                                    42.515027
-    Execution finished                                   63.002552
-    modelV2 published                                    63.148747
-    modelV2.modelExecutionTime                           23.62649142742157
-    modelV2.gpuExecutionTimeDEPRECATED                   0.0
-  plannerd
-    longitudinalPlan published                           69.715999
-    longitudinalPlan.solverExecutionTime                 0.5619999719783664
-  controlsd
-    Data sampled                                         70.217763
-    Events updated                                       71.037178
-    sendcan published                                    72.278775
-    controlsState published                              72.825226
-    Data sampled                                         80.008354
-    Events updated                                       80.787666
-    sendcan published                                    81.849682
-    controlsState published                              82.238323
-    Data sampled                                         90.521123
-    Events updated                                       91.626003
-    sendcan published                                    93.413218
-    controlsState published                              94.143989
-    Data sampled                                         100.991497
-    Events updated                                       101.973774
-    sendcan published                                    103.565575
-    controlsState published                              104.146088
-    Data sampled                                         110.284387
-    Events updated                                       111.183541
-    sendcan published                                    112.981692
-    controlsState published                              113.731994
-  pandad
-    sending sendcan to panda: 250027001751393037323631   81.928119
-    sendcan sent to panda: 250027001751393037323631      82.164834
-    sending sendcan to panda: 250027001751393037323631   93.569986
-    sendcan sent to panda: 250027001751393037323631      93.92795
-    sending sendcan to panda: 250027001751393037323631   103.689167
-    sendcan sent to panda: 250027001751393037323631      104.012235
-    sending sendcan to panda: 250027001751393037323631   113.109555
-    sendcan sent to panda: 250027001751393037323631      113.525487
-    sending sendcan to panda: 250027001751393037323631   122.508434
-    sendcan sent to panda: 250027001751393037323631      122.834314
-```
diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py
deleted file mode 100755
index 65cb6e6c2c4ee5..00000000000000
--- a/tools/latencylogger/latency_logger.py
+++ /dev/null
@@ -1,239 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import json
-import matplotlib.patches as mpatches
-import matplotlib.pyplot as plt
-import sys
-from bisect import bisect_left, bisect_right
-from collections import defaultdict
-
-from openpilot.tools.lib.logreader import LogReader
-
-DEMO_ROUTE = "9f583b1d93915c31|2022-05-18--10-49-51--0"
-
-SERVICES = ['camerad', 'modeld', 'plannerd', 'controlsd', 'pandad']
-MONOTIME_KEYS = ['modelMonoTime', 'lateralPlanMonoTime']
-MSGQ_TO_SERVICE = {
-  'roadCameraState': 'camerad',
-  'wideRoadCameraState': 'camerad',
-  'modelV2': 'modeld',
-  'longitudinalPlan': 'plannerd',
-  'sendcan': 'controlsd',
-  'controlsState': 'controlsd'
-}
-SERVICE_TO_DURATIONS = {
-  'camerad': ['processingTime'],
-  'modeld': ['modelExecutionTime', 'gpuExecutionTimeDEPRECATED'],
-  'plannerd': ['solverExecutionTime'],
-}
-
-def read_logs(lr):
-  data = defaultdict(lambda: defaultdict(lambda: defaultdict(list)))
-  mono_to_frame = {}
-  frame_mismatches = []
-  frame_id_fails = 0
-  latest_sendcan_monotime = 0
-  for msg in lr:
-    if msg.which() == 'sendcan':
-      latest_sendcan_monotime = msg.logMonoTime
-      continue
-
-    if msg.which() in MSGQ_TO_SERVICE:
-      service = MSGQ_TO_SERVICE[msg.which()]
-      msg_obj = getattr(msg, msg.which())
-
-      frame_id = -1
-      if hasattr(msg_obj, "frameId"):
-        frame_id = msg_obj.frameId
-      else:
-        continue_outer = False
-        for key in MONOTIME_KEYS:
-          if hasattr(msg_obj, key):
-            if getattr(msg_obj, key) == 0:
-              # Filter out controlsd messages which arrive before the camera loop
-              continue_outer = True
-            elif getattr(msg_obj, key) in mono_to_frame:
-              frame_id = mono_to_frame[getattr(msg_obj, key)]
-        if continue_outer:
-          continue
-      if frame_id == -1:
-        frame_id_fails += 1
-        continue
-      mono_to_frame[msg.logMonoTime] = frame_id
-      data['timestamp'][frame_id][service].append((msg.which()+" published", msg.logMonoTime))
-
-      next_service = SERVICES[SERVICES.index(service)+1]
-      if not data['start'][frame_id][next_service]:
-        data['start'][frame_id][next_service] = msg.logMonoTime
-      data['end'][frame_id][service] = msg.logMonoTime
-
-      if service in SERVICE_TO_DURATIONS:
-        for duration in SERVICE_TO_DURATIONS[service]:
-          data['duration'][frame_id][service].append((msg.which()+"."+duration, getattr(msg_obj, duration)))
-
-      if service == SERVICES[0]:
-        data['timestamp'][frame_id][service].append((msg.which()+" start of frame", msg_obj.timestampSof))
-        if not data['start'][frame_id][service]:
-          data['start'][frame_id][service] = msg_obj.timestampSof
-      elif msg.which() == 'controlsState':
-        # Sendcan is published before controlsState, but the frameId is retrieved in CS
-        data['timestamp'][frame_id][service].append(("sendcan published", latest_sendcan_monotime))
-      elif msg.which() == 'modelV2':
-        if msg_obj.frameIdExtra != frame_id:
-          frame_mismatches.append(frame_id)
-
-  if frame_id_fails > 20:
-    print("Warning, many frameId fetch fails", frame_id_fails)
-  if len(frame_mismatches) > 20:
-    print("Warning, many frame mismatches", len(frame_mismatches))
-  return (data, frame_mismatches)
-
-# This is not needed in 3.10 as a "key" parameter is added to bisect
-class KeyifyList:
-  def __init__(self, inner, key):
-    self.inner = inner
-    self.key = key
-  def __len__(self):
-    return len(self.inner)
-  def __getitem__(self, k):
-    return self.key(self.inner[k])
-
-def find_frame_id(time, service, start_times, end_times):
-  left = bisect_left(KeyifyList(list(start_times.items()),
-                     lambda x: x[1][service] if x[1][service] else -1), time) - 1
-  right = bisect_right(KeyifyList(list(end_times.items()),
-                      lambda x: x[1][service] if x[1][service] else float("inf")), time)
-  return left, right
-
-def find_t0(start_times, frame_id=-1):
-  frame_id = frame_id if frame_id > -1 else min(start_times.keys())
-  m = max(start_times.keys())
-  while frame_id <= m:
-    for service in SERVICES:
-      if start_times[frame_id][service]:
-        return start_times[frame_id][service]
-    frame_id += 1
-  raise Exception('No start time has been set')
-
-def insert_cloudlogs(lr, timestamps, start_times, end_times):
-  # at least one cloudlog must be made in controlsd
-
-  t0 = find_t0(start_times)
-  failed_inserts = 0
-  latest_controls_frameid = 0
-  for msg in lr:
-    if msg.which() == "logMessage":
-      jmsg = json.loads(msg.logMessage)
-      if "timestamp" in jmsg['msg']:
-        time = int(jmsg['msg']['timestamp']['time'])
-        service = jmsg['ctx']['daemon']
-        event = jmsg['msg']['timestamp']['event']
-        if time < t0:
-          # Filter out controlsd messages which arrive before the camera loop
-          continue
-
-        if "frame_id" in jmsg['msg']['timestamp']:
-          timestamps[int(jmsg['msg']['timestamp']['frame_id'])][service].append((event, time))
-          continue
-
-        if service == "pandad":
-          timestamps[latest_controls_frameid][service].append((event, time))
-          end_times[latest_controls_frameid][service] = time
-        else:
-          frame_id = find_frame_id(time, service, start_times, end_times)
-          if frame_id:
-            if frame_id[0] != frame_id[1]:
-              event += " (warning: ambiguity)"
-            frame_id = frame_id[0]
-            if service == 'controlsd':
-              latest_controls_frameid = frame_id
-            timestamps[frame_id][service].append((event, time))
-          else:
-            failed_inserts += 1
-
-  if latest_controls_frameid == 0:
-    print("Warning: failed to bind pandad logs to a frame ID. Add a timestamp cloudlog in controlsd.")
-  elif failed_inserts > len(timestamps):
-    print(f"Warning: failed to bind {failed_inserts} cloudlog timestamps to a frame ID")
-
-def print_timestamps(timestamps, durations, start_times, relative):
-  t0 = find_t0(start_times)
-  for frame_id in timestamps.keys():
-    print('='*80)
-    print("Frame ID:", frame_id)
-    if relative:
-      t0 = find_t0(start_times, frame_id)
-
-    for service in SERVICES:
-      print("  "+service)
-      events = timestamps[frame_id][service]
-      for event, time in sorted(events, key = lambda x: x[1]):
-        print("    "+f'{event:<53s}{str((time-t0)/1e6):<53s}')
-      for event, time in durations[frame_id][service]:
-        print("    "+f'{event:<53s}{str(time*1000):<53s}')
-
-def graph_timestamps(timestamps, start_times, end_times, relative, offset_services=False, title=""):
-  plt.rcParams.update({'font.size': 18})
-
-  t0 = find_t0(start_times)
-  fig, ax = plt.subplots()
-  ax.set_xlim(0, 130 if relative else 750)
-  ax.set_ylim(0, 17)
-  ax.set_xlabel('Time (milliseconds)')
-  colors = ['blue', 'green', 'red', 'yellow', 'purple']
-  offsets = [[0, -5*j] for j in range(len(SERVICES))] if offset_services else None
-  height = 0.3 if offset_services else 0.9
-  assert len(colors) == len(SERVICES), 'Each service needs a color'
-
-  points = {"x": [], "y": [], "labels": []}
-  for i, (frame_id, services) in enumerate(timestamps.items()):
-    if relative:
-      t0 = find_t0(start_times, frame_id)
-    service_bars = []
-    for service, events in services.items():
-      if start_times[frame_id][service] and end_times[frame_id][service]:
-        start = start_times[frame_id][service]
-        end = end_times[frame_id][service]
-        service_bars.append(((start-t0)/1e6,(end-start)/1e6))
-        for event in events:
-          points['x'].append((event[1]-t0)/1e6)
-          points['y'].append(i)
-          points['labels'].append(event[0])
-    ax.broken_barh(service_bars, (i-height/2, height), facecolors=(colors), alpha=0.5, offsets=offsets)
-
-  ax.scatter(points['x'], points['y'], marker='d', edgecolor='black')
-  for i, label in enumerate(points['labels']):
-    ax.annotate(label, (points['x'][i], points['y'][i]), textcoords="offset points", xytext=(0,10), ha='center')
-
-  plt.title(title)
-  fig.set_size_inches(18, 9)
-  plt.legend(handles=[mpatches.Patch(color=colors[i], label=SERVICES[i]) for i in range(len(SERVICES))])
-  plt.show()
-
-def get_timestamps(lr):
-  lr = list(lr)
-  data, frame_mismatches = read_logs(lr)
-  insert_cloudlogs(lr, data['timestamp'], data['start'], data['end'])
-  return data, frame_mismatches
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="A tool for analyzing openpilot's end-to-end latency",
-                                   formatter_class = argparse.ArgumentDefaultsHelpFormatter)
-  parser.add_argument("--relative", action="store_true", help="Make timestamps relative to the start of each frame")
-  parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
-  parser.add_argument("--plot", action="store_true", help="If a plot should be generated")
-  parser.add_argument("--offset", action="store_true", help="Vertically offset service to better visualize overlap")
-  parser.add_argument("route_or_segment_name", nargs='?', help="The route to print")
-
-  if len(sys.argv) == 1:
-    parser.print_help()
-    sys.exit()
-  args = parser.parse_args()
-
-  r = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
-  lr = LogReader(r, sort_by_time=True)
-
-  data, _ = get_timestamps(lr)
-  print_timestamps(data['timestamp'], data['duration'], data['start'], args.relative)
-  if args.plot:
-    graph_timestamps(data['timestamp'], data['start'], data['end'], args.relative, offset_services=args.offset, title=r)
diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md
index dc301efcb79c8d..794c292e688d8a 100644
--- a/tools/plotjuggler/README.md
+++ b/tools/plotjuggler/README.md
@@ -58,7 +58,7 @@ If streaming to PlotJuggler from a replay on your PC, simply run: `./juggle.py -
 
 For a quick demo, go through the installation step and run this command:
 
-`./juggle.py --demo --layout=layouts/demo.xml`
+`./juggle.py --demo --layout=layouts/tuning.xml`
 
 ## Layouts
 
diff --git a/tools/plotjuggler/layouts/demo.xml b/tools/plotjuggler/layouts/demo.xml
deleted file mode 100644
index 7026221374f8e8..00000000000000
--- a/tools/plotjuggler/layouts/demo.xml
+++ /dev/null
@@ -1,104 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<root version="2.3.8">
- <tabbed_widget parent="main_window" name="Main Window">
-  <Tab tab_name="tab1" containers="1">
-   <Container>
-    <DockSplitter orientation="-" sizes="1" count="1">
-     <DockSplitter orientation="|" sizes="0.5;0.5" count="2">
-      <DockSplitter orientation="-" sizes="0.500497;0.499503" count="2">
-       <DockArea name="...">
-        <plot mode="TimeSeries" style="Lines">
-         <range top="2.762667" bottom="-3.239397" right="56.512723" left="0.000000"/>
-         <limitY/>
-         <curve color="#1f77b4" name="/carState/aEgo"/>
-         <curve color="#17becf" name="/carState/brake"/>
-        </plot>
-       </DockArea>
-       <DockArea name="...">
-        <plot mode="TimeSeries" style="Lines">
-         <range top="5.191867" bottom="-5.724069" right="56.512723" left="0.000000"/>
-         <limitY/>
-         <curve color="#1ac938" name="dv/dt"/>
-        </plot>
-       </DockArea>
-      </DockSplitter>
-      <DockSplitter orientation="-" sizes="0.500497;0.499503" count="2">
-       <DockArea name="...">
-        <plot mode="TimeSeries" style="Lines">
-         <range top="16.065524" bottom="-0.470076" right="56.512723" left="0.000000"/>
-         <limitY/>
-         <curve color="#d62728" name="/carState/vEgo"/>
-         <curve color="#bcbd22" name="/carState/gas"/>
-        </plot>
-       </DockArea>
-       <DockArea name="...">
-        <plot mode="TimeSeries" style="Lines">
-         <range top="1.014703" bottom="-0.012971" right="56.512723" left="0.000000"/>
-         <limitY/>
-         <curve color="#ff7f0e" name="/model/meta/brakeDisengageProb"/>
-         <curve color="#f14cc1" name="/model/meta/engagedProb"/>
-         <curve color="#9467bd" name="/model/meta/steerOverrideProb"/>
-        </plot>
-       </DockArea>
-      </DockSplitter>
-     </DockSplitter>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <currentTabIndex index="0"/>
- </tabbed_widget>
- <use_relative_time_offset enabled="1"/>
- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
- <Plugins>
-  <plugin ID="DataLoad CSV">
-   <default time_axis=""/>
-  </plugin>
-  <plugin ID="DataLoad ROS bags">
-   <use_header_stamp value="false"/>
-   <use_renaming_rules value="true"/>
-   <discard_large_arrays value="true"/>
-   <max_array_size value="100"/>
-  </plugin>
-  <plugin ID="DataLoad Rlog"/>
-  <plugin ID="DataLoad ULog"/>
-  <plugin ID="LSL Subscriber"/>
-  <plugin ID="MQTT Subscriber"/>
-  <plugin ID="ROS Topic Subscriber">
-   <use_header_stamp value="false"/>
-   <use_renaming_rules value="true"/>
-   <discard_large_arrays value="true"/>
-   <max_array_size value="100"/>
-  </plugin>
-  <plugin ID="UDP Server"/>
-  <plugin ID="WebSocket Server"/>
-  <plugin ID="ZMQ Subscriber"/>
-  <plugin status="idle" ID="ROS /rosout Visualization"/>
-  <plugin status="idle" ID="ROS Topic Re-Publisher"/>
- </Plugins>
- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
- <customMathEquations>
-  <snippet name="dv/dt">
-   <global>prevX = 0
-prevY = 0
-is_first = true</global>
-   <function>if (is_first) then
-  is_first = false
-  prevX = time
-  prevY = value
-end
-
-dx = time - prevX
-dy = value - prevY
-prevX = time
-prevY = value
-
-return dy/dx</function>
-   <linkedSource>/carState/vEgo</linkedSource>
-  </snippet>
- </customMathEquations>
- <snippets/>
- <!-- - - - - - - - - - - - - - - -->
-</root>
-
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index 2bd3614530abae..a940b6d04e81a8 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -106,31 +106,27 @@ void Replay::seekTo(double seconds, bool relative) {
   rInfo("Seeking to %d s, segment %d", (int)target_time, target_segment);
   notifyEvent(onSeeking, target_time);
 
-  double seeked_to_sec = -1;
   interruptStream([&]() {
-    current_segment_ = target_segment;
+    current_segment_.store(target_segment);
     cur_mono_time_ = route_start_ts_ + target_time * 1e9;
-    seeking_to_ = target_time;
-
-    if (event_data_->isSegmentLoaded(target_segment)) {
-      seeked_to_sec = *seeking_to_;
-      seeking_to_.reset();
-    }
+    seeking_to_.store(target_time, std::memory_order_relaxed);
     return false;
   });
 
-  checkSeekProgress(seeked_to_sec);
   seg_mgr_->setCurrentSegment(target_segment);
+  checkSeekProgress();
 }
 
-void Replay::checkSeekProgress(double seeked_to_sec) {
-  if (seeked_to_sec >= 0) {
-    if (onSeekedTo) {
-      onSeekedTo(seeked_to_sec);
-    } else {
-      interruptStream([]() { return true; });
-    }
+void Replay::checkSeekProgress() {
+  if (!seg_mgr_->getEventData()->isSegmentLoaded(current_segment_.load())) return;
+
+  double seek_to = seeking_to_.exchange(-1.0, std::memory_order_acquire);
+  if (seek_to >= 0 && onSeekedTo) {
+    onSeekedTo(seek_to);
   }
+
+  // Resume the interrupted stream
+  interruptStream([]() { return true; });
 }
 
 void Replay::seekToFlag(FindFlag flag) {
@@ -152,29 +148,19 @@ void Replay::pause(bool pause) {
 void Replay::handleSegmentMerge() {
   if (exit_) return;
 
-  double seeked_to_sec = -1;
-  interruptStream([&]() {
-    event_data_ = seg_mgr_->getEventData();
-    notifyEvent(onSegmentsMerged);
-
-    bool segment_loaded = event_data_->isSegmentLoaded(current_segment_);
-    if (seeking_to_ && segment_loaded) {
-      seeked_to_sec = *seeking_to_;
-      seeking_to_.reset();
-      return false;
-    }
-    return segment_loaded;
-  });
-
-  checkSeekProgress(seeked_to_sec);
-  if (!stream_thread_.joinable() && !event_data_->events.empty()) {
-    startStream();
+  auto event_data = seg_mgr_->getEventData();
+  if (!stream_thread_.joinable() && !event_data->segments.empty()) {
+    startStream(event_data->segments.begin()->second);
   }
+  notifyEvent(onSegmentsMerged);
+
+  // Interrupt the stream to handle segment merge
+  interruptStream([]() { return false; });
+  checkSeekProgress();
 }
 
-void Replay::startStream() {
-  const auto &cur_segment = event_data_->segments.begin()->second;
-  const auto &events = cur_segment->log->events;
+void Replay::startStream(const std::shared_ptr<Segment> segment) {
+  const auto &events = segment->log->events;
   route_start_ts_ = events.front().mono_time;
   cur_mono_time_ += route_start_ts_ - 1;
 
@@ -212,7 +198,7 @@ void Replay::startStream() {
   if (!hasFlag(REPLAY_FLAG_NO_VIPC)) {
     std::pair<int, int> camera_size[MAX_CAMERAS] = {};
     for (auto type : ALL_CAMERAS) {
-      if (auto &fr = cur_segment->frames[type]) {
+      if (auto &fr = segment->frames[type]) {
         camera_size[type] = {fr->width, fr->height};
       }
     }
@@ -271,6 +257,7 @@ void Replay::streamThread() {
     stream_cv_.wait(lk, [this]() { return exit_ || (events_ready_ && !interrupt_requested_); });
     if (exit_) break;
 
+    event_data_ = seg_mgr_->getEventData();
     const auto &events = event_data_->events;
     auto first = std::upper_bound(events.cbegin(), events.cend(), Event(cur_which, cur_mono_time_, {}));
     if (first == events.cend()) {
@@ -308,11 +295,11 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
 
   for (; !interrupt_requested_ && first != last; ++first) {
     const Event &evt = *first;
-    int segment = toSeconds(evt.mono_time) / 60;
 
-    if (current_segment_ != segment) {
-      current_segment_ = segment;
-      seg_mgr_->setCurrentSegment(current_segment_);
+    int segment = toSeconds(evt.mono_time) / 60;
+    if (current_segment_.load(std::memory_order_relaxed) != segment) {
+      current_segment_.store(segment, std::memory_order_relaxed);
+      seg_mgr_->setCurrentSegment(segment);
     }
 
     // Skip events if socket is not present
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index d549eaefc4dd76..8525a532a1766c 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -55,9 +55,8 @@ class Replay {
   inline const std::string &carFingerprint() const { return car_fingerprint_; }
   inline const std::shared_ptr<std::vector<Timeline::Entry>> getTimeline() const { return timeline_.getEntries(); }
   inline const std::optional<Timeline::Entry> findAlertAtTime(double sec) const { return timeline_.findAlertAtTime(sec); }
-  const std::shared_ptr<SegmentManager::EventData> getEventData() const { return event_data_; }
+  const std::shared_ptr<SegmentManager::EventData> getEventData() const { return seg_mgr_->getEventData(); }
   void installEventFilter(std::function<bool(const Event *)> filter) { event_filter_ = filter; }
-  void resumeStream() { interruptStream([]() { return true; }); }
 
   // Event callback functions
   std::function<void()> onSegmentsMerged = nullptr;
@@ -68,7 +67,7 @@ class Replay {
 private:
   void setupServices(const std::vector<std::string> &allow, const std::vector<std::string> &block);
   void setupSegmentManager(bool has_filters);
-  void startStream();
+  void startStream(const std::shared_ptr<Segment> segment);
   void streamThread();
   void handleSegmentMerge();
   void interruptStream(const std::function<bool()>& update_fn);
@@ -76,7 +75,7 @@ class Replay {
                                                    std::vector<Event>::const_iterator last);
   void publishMessage(const Event *e);
   void publishFrame(const Event *e);
-  void checkSeekProgress(double seeked_to_sec);
+  void checkSeekProgress();
 
   std::unique_ptr<SegmentManager> seg_mgr_;
   Timeline timeline_;
@@ -86,8 +85,8 @@ class Replay {
   std::mutex stream_lock_;
   bool user_paused_ = false;
   std::condition_variable stream_cv_;
-  int current_segment_ = 0;
-  std::optional<double> seeking_to_;
+  std::atomic<int> current_segment_ = 0;
+  std::atomic<double> seeking_to_ = -1.0;
   std::atomic<bool> exit_ = false;
   std::atomic<bool> interrupt_requested_ = false;
   bool events_ready_ = false;
diff --git a/tools/replay/seg_mgr.cc b/tools/replay/seg_mgr.cc
index 954b25e8744f88..8a00d426b1a804 100644
--- a/tools/replay/seg_mgr.cc
+++ b/tools/replay/seg_mgr.cc
@@ -105,7 +105,7 @@ bool SegmentManager::mergeSegments(const SegmentMap::iterator &begin, const Segm
     merged_event_data->segments[n] = segments_.at(n);
   }
 
-  event_data_ = merged_event_data;
+  std::atomic_store(&event_data_, std::move(merged_event_data));
   merged_segments_ = segments_to_merge;
 
   return true;
diff --git a/tools/replay/seg_mgr.h b/tools/replay/seg_mgr.h
index efb3d7f0eadacf..40bdcd51f06d1d 100644
--- a/tools/replay/seg_mgr.h
+++ b/tools/replay/seg_mgr.h
@@ -21,14 +21,14 @@ class SegmentManager {
   };
 
   SegmentManager(const std::string &route_name, uint32_t flags, const std::string &data_dir = "")
-      : flags_(flags), route_(route_name, data_dir) {};
+      : flags_(flags), route_(route_name, data_dir), event_data_(std::make_shared<EventData>()) {}
   ~SegmentManager();
 
   bool load();
   void setCurrentSegment(int seg_num);
   void setCallback(const std::function<void()> &callback) { onSegmentMergedCallback_ = callback; }
   void setFilters(const std::vector<bool> &filters) { filters_ = filters; }
-  const std::shared_ptr<EventData> getEventData() const { return event_data_; }
+  const std::shared_ptr<EventData> getEventData() const { return std::atomic_load(&event_data_); }
   bool hasSegment(int n) const { return segments_.find(n) != segments_.end(); }
 
   Route route_;
diff --git a/tools/replay/timeline.cc b/tools/replay/timeline.cc
index d836de972b60f0..a4c2ffb700c1a4 100644
--- a/tools/replay/timeline.cc
+++ b/tools/replay/timeline.cc
@@ -1,7 +1,7 @@
 #include "tools/replay/timeline.h"
 
-#include <array>
 #include <algorithm>
+#include <array>
 
 #include "cereal/gen/cpp/log.capnp.h"
 
@@ -74,7 +74,7 @@ void Timeline::buildTimeline(const Route &route, uint64_t route_start_ts, bool l
     // Sort and finalize the timeline entries
     auto entries = std::make_shared<std::vector<Entry>>(staging_entries_);
     std::sort(entries->begin(), entries->end(), [](auto &a, auto &b) { return a.start_time < b.start_time; });
-    timeline_entries_ = entries;
+    std::atomic_store(&timeline_entries_, std::move(entries));
 
     callback(log);  // Notify the callback once the log is processed
   }
diff --git a/tools/replay/timeline.h b/tools/replay/timeline.h
index 689a80635f9b0d..74add9e5cc4623 100644
--- a/tools/replay/timeline.h
+++ b/tools/replay/timeline.h
@@ -27,20 +27,20 @@ class Timeline {
                   std::function<void(std::shared_ptr<LogReader>)> callback);
   std::optional<uint64_t> find(double cur_ts, FindFlag flag) const;
   std::optional<Entry> findAlertAtTime(double target_time) const;
-  const std::shared_ptr<std::vector<Entry>> getEntries() const { return timeline_entries_; }
+  const std::shared_ptr<std::vector<Entry>> getEntries() const { return std::atomic_load(&timeline_entries_); }
 
 private:
- void buildTimeline(const Route &route, uint64_t route_start_ts, bool local_cache,
-                    std::function<void(std::shared_ptr<LogReader>)> callback);
- void updateEngagementStatus(const cereal::SelfdriveState::Reader &cs, std::optional<size_t> &idx, double seconds);
- void updateAlertStatus(const cereal::SelfdriveState::Reader &cs, std::optional<size_t> &idx, double seconds);
+  void buildTimeline(const Route &route, uint64_t route_start_ts, bool local_cache,
+                     std::function<void(std::shared_ptr<LogReader>)> callback);
+  void updateEngagementStatus(const cereal::SelfdriveState::Reader &cs, std::optional<size_t> &idx, double seconds);
+  void updateAlertStatus(const cereal::SelfdriveState::Reader &cs, std::optional<size_t> &idx, double seconds);
 
- std::thread thread_;
- std::atomic<bool> should_exit_ = false;
+  std::thread thread_;
+  std::atomic<bool> should_exit_ = false;
 
- // Temporarily holds entries before they are sorted and finalized
- std::vector<Entry> staging_entries_;
+  // Temporarily holds entries before they are sorted and finalized
+  std::vector<Entry> staging_entries_;
 
- // Final sorted timeline entries
- std::shared_ptr<std::vector<Entry>> timeline_entries_;
+  // Final sorted timeline entries
+  std::shared_ptr<std::vector<Entry>> timeline_entries_;
 };
diff --git a/tools/rerun/README.md b/tools/rerun/README.md
index dc0a901e60fed5..11a8d33ee16ab6 100644
--- a/tools/rerun/README.md
+++ b/tools/rerun/README.md
@@ -24,14 +24,14 @@ options:
 
 Examples using route name to observe accelerometer and qcamera:
 
-`./run.sh --qcam "a2a0ccea32023010/2023-07-27--13-01-19"`
+`./run.py --qcam "a2a0ccea32023010/2023-07-27--13-01-19"`
 
 Examples using segment range (more on [SegmentRange](https://github.com/commaai/openpilot/tree/master/tools/lib)):
 
-`./run.sh --qcam "a2a0ccea32023010/2023-07-27--13-01-19/2:4"`
+`./run.py --qcam "a2a0ccea32023010/2023-07-27--13-01-19/2:4"`
 
 ## Cautions:
 - Showing hevc videos (`--fcam`, `--ecam`, and `--dcam`)  are expensive, and it's recommended to use `--qcam` for optimized performance. If possible, limiting your route to a few segments using `SegmentRange` will speed up logging and reduce memory usage
 
 ## Demo
-`./run.sh --qcam --demo`
+`./run.py --qcam --demo`
diff --git a/tools/rerun/run.sh b/tools/rerun/run.sh
deleted file mode 100755
index 0c026153603cbc..00000000000000
--- a/tools/rerun/run.sh
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/usr/bin/env bash
-
-# TODO: remove this file once Rerun has interface to set log message level
-set -e
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-
-RUST_LOG=warn $DIR/run.py $@
-
diff --git a/tools/webcam/README.md b/tools/webcam/README.md
index c756069bb5d683..f4b46d1f66b23c 100644
--- a/tools/webcam/README.md
+++ b/tools/webcam/README.md
@@ -1,7 +1,7 @@
 # Run openpilot with webcam on PC
 
 What's needed:
-- Ubuntu 24.04
+- Ubuntu 24.04 ([WSL2 is not supported](https://github.com/commaai/openpilot/issues/34216))
 - GPU (recommended)
 - Two USB webcams, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615)
 - [Car harness](https://comma.ai/shop/products/comma-car-harness) with black panda to connect to your car
@@ -9,29 +9,27 @@ What's needed:
 That's it!
 
 ## Setup openpilot
+- Follow [this readme](../README.md) to install and build the requirements
+- Install OpenCL Driver
 ```
-cd ~
-git clone https://github.com/commaai/openpilot.git
-```
-- Follow [this readme](https://github.com/commaai/openpilot/tree/master/tools) to install the requirements
-- Install [OpenCL Driver](https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532/l_opencl_p_18.1.0.015.tgz)
-
-## Build openpilot for webcam
-```
-cd ~/openpilot
-USE_WEBCAM=1 scons -j$(nproc)
+sudo apt install pocl-opencl-icd
 ```
 
 ## Connect the hardware
 - Connect the road facing camera first, then the driver facing camera
-- (default indexes are 1 and 2; can be modified in system/camerad/cameras/camera_webcam.cc)
 - Connect your computer to panda
 
 ## GO
 ```
-cd ~/openpilot/system/manager
-NOSENSOR=1 USE_WEBCAM=1 ./manager.py
+USE_WEBCAM=1 system/manager/manager.py
 ```
 - Start the car, then the UI should show the road webcam's view
-- Adjust and secure the webcams (you can run tools/webcam/front_mount_helper.py to help mount the driver camera)
+- Adjust and secure the webcams.
 - Finish calibration and engage!
+
+## Specify Cameras
+
+Use the `ROAD_CAM`, `DRIVER_CAM`, and optional `WIDE_CAM` environment variables to specify which camera is which (ie. `DRIVER_CAM=2` uses `/dev/video2` for the driver-facing camera):
+```
+USE_WEBCAM=1 ROAD_CAM=4 WIDE_CAM=6 system/manager/manager.py
+```
diff --git a/tools/webcam/camerad.py b/tools/webcam/camerad.py
index 778fefb8344667..a0916ed5ee4ee6 100755
--- a/tools/webcam/camerad.py
+++ b/tools/webcam/camerad.py
@@ -9,14 +9,14 @@
 from openpilot.tools.webcam.camera import Camera
 from openpilot.common.realtime import Ratekeeper
 
-DUAL_CAM = os.getenv("DUAL_CAMERA")
+WIDE_CAM = os.getenv("WIDE_CAM")
 CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"])
 CAMERAS = [
-  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("CAMERA_ROAD_ID", "/dev/video0")),
-  CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("CAMERA_DRIVER_ID", "/dev/video1")),
+  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("ROAD_CAM", "0")),
+  CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("DRIVER_CAM", "2")),
 ]
-if DUAL_CAM:
-  CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, DUAL_CAM))
+if WIDE_CAM:
+  CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, WIDE_CAM))
 
 class Camerad:
   def __init__(self):
@@ -25,8 +25,9 @@ def __init__(self):
 
     self.cameras = []
     for c in CAMERAS:
-      print(f"opening {c.msg_name} at {c.cam_id}")
-      cam = Camera(c.msg_name, c.stream_type, c.cam_id)
+      cam_device = f"/dev/video{c.cam_id}"
+      print(f"opening {c.msg_name} at {cam_device}")
+      cam = Camera(c.msg_name, c.stream_type, cam_device)
       self.cameras.append(cam)
       self.vipc_server.create_buffers(c.stream_type, 20, cam.W, cam.H)
 
diff --git a/tools/webcam/start_camerad.sh b/tools/webcam/start_camerad.sh
deleted file mode 100755
index aefc4c062a00aa..00000000000000
--- a/tools/webcam/start_camerad.sh
+++ /dev/null
@@ -1,14 +0,0 @@
-#!/usr/bin/env bash
-
-# export the block below when call manager.py
-export BLOCK="${BLOCK},camerad"
-export USE_WEBCAM="1"
-
-# Change camera index according to your setting
-export CAMERA_ROAD_ID="/dev/video0"
-export CAMERA_DRIVER_ID="/dev/video1"
-#export DUAL_CAMERA="/dev/video2" # optional, camera index for wide road camera
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-
-$DIR/camerad.py
diff --git a/uv.lock b/uv.lock
index f1a5fa99150180..e25fd79c42cc30 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,12 +1,12 @@
 version = 1
 requires-python = ">=3.11, <3.13"
 resolution-markers = [
-    "python_full_version < '3.12' and platform_system == 'Darwin'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'",
-    "(python_full_version < '3.12' and platform_machine != 'aarch64' and platform_system == 'Linux') or (python_full_version < '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
-    "python_full_version >= '3.12' and platform_system == 'Darwin'",
-    "python_full_version >= '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'",
-    "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_system == 'Linux') or (python_full_version >= '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
+    "python_full_version >= '3.12' and sys_platform == 'darwin'",
+    "python_full_version >= '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "(python_full_version >= '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version >= '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')",
+    "python_full_version < '3.12' and sys_platform == 'darwin'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "(python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')",
 ]
 
 [[package]]
@@ -20,7 +20,7 @@ wheels = [
 
 [[package]]
 name = "aiohttp"
-version = "3.11.10"
+version = "3.11.11"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -31,38 +31,38 @@ dependencies = [
     { name = "propcache" },
     { name = "yarl" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/94/c4/3b5a937b16f6c2a0ada842a9066aad0b7a5708427d4a202a07bf09c67cbb/aiohttp-3.11.10.tar.gz", hash = "sha256:b1fc6b45010a8d0ff9e88f9f2418c6fd408c99c211257334aff41597ebece42e", size = 7668832 }
-wheels = [
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+    { url = "https://files.pythonhosted.org/packages/eb/00/020cb222252d833956cb3b07e0e40c9d4b984fbb2dc3923075c8f944497d/ruff-0.8.6-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:9257aa841e9e8d9b727423086f0fa9a86b6b420fbf4bf9e1465d1250ce8e4d8d", size = 10470852 },
+    { url = "https://files.pythonhosted.org/packages/00/56/e6d6578202a0141cd52299fe5acb38b2d873565f4670c7a5373b637cf58d/ruff-0.8.6-py3-none-musllinux_1_2_i686.whl", hash = "sha256:45a56f61b24682f6f6709636949ae8cc82ae229d8d773b4c76c09ec83964a95a", size = 10972997 },
+    { url = "https://files.pythonhosted.org/packages/be/31/dd0db1f4796bda30dea7592f106f3a67a8f00bcd3a50df889fbac58e2786/ruff-0.8.6-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:496dd38a53aa173481a7d8866bcd6451bd934d06976a2505028a50583e001b76", size = 11317760 },
+    { url = "https://files.pythonhosted.org/packages/d4/70/cfcb693dc294e034c6fed837fa2ec98b27cc97a26db5d049345364f504bf/ruff-0.8.6-py3-none-win32.whl", hash = "sha256:e169ea1b9eae61c99b257dc83b9ee6c76f89042752cb2d83486a7d6e48e8f764", size = 8799729 },
+    { url = "https://files.pythonhosted.org/packages/60/22/ae6bcaa0edc83af42751bd193138bfb7598b2990939d3e40494d6c00698c/ruff-0.8.6-py3-none-win_amd64.whl", hash = "sha256:f1d70bef3d16fdc897ee290d7d20da3cbe4e26349f62e8a0274e7a3f4ce7a905", size = 9673857 },
+    { url = "https://files.pythonhosted.org/packages/91/f8/3765e053acd07baa055c96b2065c7fab91f911b3c076dfea71006666f5b0/ruff-0.8.6-py3-none-win_arm64.whl", hash = "sha256:7d7fc2377a04b6e04ffe588caad613d0c460eb2ecba4c0ccbbfe2bc973cbc162", size = 9149556 },
 ]
 
 [[package]]
@@ -4910,11 +4875,11 @@ wheels = [
 
 [[package]]
 name = "setuptools"
-version = "75.6.0"
+version = "75.7.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/43/54/292f26c208734e9a7f067aea4a7e282c080750c4546559b58e2e45413ca0/setuptools-75.6.0.tar.gz", hash = "sha256:8199222558df7c86216af4f84c30e9b34a61d8ba19366cc914424cdbd28252f6", size = 1337429 }
+sdist = { url = "https://files.pythonhosted.org/packages/ac/57/e6f0bde5a2c333a32fbcce201f906c1fd0b3a7144138712a5e9d9598c5ec/setuptools-75.7.0.tar.gz", hash = "sha256:886ff7b16cd342f1d1defc16fc98c9ce3fde69e087a4e1983d7ab634e5f41f4f", size = 1338616 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/55/21/47d163f615df1d30c094f6c8bbb353619274edccf0327b185cc2493c2c33/setuptools-75.6.0-py3-none-any.whl", hash = "sha256:ce74b49e8f7110f9bf04883b730f4765b774ef3ef28f722cce7c273d253aaf7d", size = 1224032 },
+    { url = "https://files.pythonhosted.org/packages/4e/6e/abdfaaf5c294c553e7a81cf5d801fbb4f53f5c5b6646de651f92a2667547/setuptools-75.7.0-py3-none-any.whl", hash = "sha256:84fb203f278ebcf5cd08f97d3fb96d3fbed4b629d500b29ad60d11e00769b183", size = 1224467 },
 ]
 
 [[package]]
@@ -5063,7 +5028,7 @@ name = "tqdm"
 version = "4.67.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "colorama", marker = "platform_system == 'Windows'" },
+    { name = "colorama", marker = "sys_platform == 'win32'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/a8/4b/29b4ef32e036bb34e4ab51796dd745cdba7ed47ad142a9f4a1eb8e0c744d/tqdm-4.67.1.tar.gz", hash = "sha256:f8aef9c52c08c13a65f30ea34f4e5aac3fd1a34959879d7e59e63027286627f2", size = 169737 }
 wheels = [
@@ -5102,11 +5067,11 @@ wheels = [
 
 [[package]]
 name = "urllib3"
-version = "2.2.3"
+version = "2.3.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/ed/63/22ba4ebfe7430b76388e7cd448d5478814d3032121827c12a2cc287e2260/urllib3-2.2.3.tar.gz", hash = "sha256:e7d814a81dad81e6caf2ec9fdedb284ecc9c73076b62654547cc64ccdcae26e9", size = 300677 }
+sdist = { url = "https://files.pythonhosted.org/packages/aa/63/e53da845320b757bf29ef6a9062f5c669fe997973f966045cb019c3f4b66/urllib3-2.3.0.tar.gz", hash = "sha256:f8c5449b3cf0861679ce7e0503c7b44b5ec981bec0d1d3795a07f1ba96f0204d", size = 307268 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/ce/d9/5f4c13cecde62396b0d3fe530a50ccea91e7dfc1ccf0e09c228841bb5ba8/urllib3-2.2.3-py3-none-any.whl", hash = "sha256:ca899ca043dcb1bafa3e262d73aa25c465bfb49e0bd9dd5d59f1d0acba2f8fac", size = 126338 },
+    { url = "https://files.pythonhosted.org/packages/c8/19/4ec628951a74043532ca2cf5d97b7b14863931476d117c471e8e2b1eb39f/urllib3-2.3.0-py3-none-any.whl", hash = "sha256:1cee9ad369867bfdbbb48b7dd50374c0967a0bb7710050facf0dd6911440e3df", size = 128369 },
 ]
 
 [[package]]

From d6ec84c0686aa58cdb3c6a643e4bba1f52a00d94 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 7 Jan 2025 09:48:29 -0500
Subject: [PATCH 0045/1434] System: fix dynamic pathing for crash logs (#535)

---
 sunnypilot/sunnylink/api.py | 2 +-
 system/hardware/hw.py       | 7 +++++++
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/sunnypilot/sunnylink/api.py b/sunnypilot/sunnylink/api.py
index 558a4e8d4a3802..4abefa12f82a05 100644
--- a/sunnypilot/sunnylink/api.py
+++ b/sunnypilot/sunnylink/api.py
@@ -14,7 +14,7 @@
 API_HOST = os.getenv('SUNNYLINK_API_HOST', 'https://stg.api.sunnypilot.ai')
 UNREGISTERED_SUNNYLINK_DONGLE_ID = "UnregisteredDevice"
 MAX_RETRIES = 6
-CRASH_LOG_DIR = '/data/community/crashes'
+CRASH_LOG_DIR = Paths.crash_log_root()
 
 
 class SunnylinkApi(BaseApi):
diff --git a/system/hardware/hw.py b/system/hardware/hw.py
index a80a67d720e5e3..9722e35e30ce48 100644
--- a/system/hardware/hw.py
+++ b/system/hardware/hw.py
@@ -70,3 +70,10 @@ def model_root() -> str:
       return str(Path(Paths.comma_home()) / "media" / "0" / "models")
     else:
       return "/data/media/0/models"
+
+  @staticmethod
+  def crash_log_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "community" / "crashes")
+    else:
+      return "/data/community/crashes"

From 19f3cfd3d70501ed7dc1116988331e4062088654 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 8 Jan 2025 19:57:06 -0500
Subject: [PATCH 0046/1434] ui: update experimental mode button settings index
 (#539)

---
 selfdrive/ui/qt/offroad/experimental_mode.cc | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/offroad/experimental_mode.cc b/selfdrive/ui/qt/offroad/experimental_mode.cc
index b99220c1d18369..457b4053a71d98 100644
--- a/selfdrive/ui/qt/offroad/experimental_mode.cc
+++ b/selfdrive/ui/qt/offroad/experimental_mode.cc
@@ -8,12 +8,18 @@
 
 #include "selfdrive/ui/ui.h"
 
+#ifdef SUNNYPILOT
+constexpr int toggles_settings_index = 3;
+#else
+constexpr int toggles_settings_index = 2;
+#endif
+
 ExperimentalModeButton::ExperimentalModeButton(QWidget *parent) : QPushButton(parent) {
   chill_pixmap = QPixmap("../assets/img_couch.svg").scaledToWidth(img_width, Qt::SmoothTransformation);
   experimental_pixmap = QPixmap("../assets/img_experimental_grey.svg").scaledToWidth(img_width, Qt::SmoothTransformation);
 
   // go to toggles and expand experimental mode description
-  connect(this, &QPushButton::clicked, [=]() { emit openSettings(2, "ExperimentalMode"); });
+  connect(this, &QPushButton::clicked, [=]() { emit openSettings(toggles_settings_index, "ExperimentalMode"); });
 
   setFixedHeight(125);
   QHBoxLayout *main_layout = new QHBoxLayout;

From 8ee28e4f7977773d2eb61e0d614ea122c2217e26 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 8 Jan 2025 20:15:53 -0500
Subject: [PATCH 0047/1434] ui: split offroad home in its own class (#538)

* ui: split offroad home in its own class

* fix
---
 selfdrive/ui/SConscript                       |   2 +-
 selfdrive/ui/qt/home.cc                       | 146 ----------------
 selfdrive/ui/qt/home.h                        |  30 +---
 selfdrive/ui/qt/offroad/offroad_home.cc       | 156 ++++++++++++++++++
 selfdrive/ui/qt/offroad/offroad_home.h        |  51 ++++++
 selfdrive/ui/sunnypilot/SConscript            |   1 +
 .../ui/sunnypilot/qt/offroad/offroad_home.cc  |  11 ++
 .../ui/sunnypilot/qt/offroad/offroad_home.h   |  17 ++
 8 files changed, 240 insertions(+), 174 deletions(-)
 create mode 100644 selfdrive/ui/qt/offroad/offroad_home.cc
 create mode 100644 selfdrive/ui/qt/offroad/offroad_home.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h

diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index fa2ff3bc762ba9..0d2ee4aa19b4a9 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -34,7 +34,7 @@ Export('widgets')
 qt_libs = [widgets, qt_util] + base_libs
 
 qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc",
-          "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
+          "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc", "qt/offroad/offroad_home.cc",
           "qt/offroad/software_settings.cc", "qt/offroad/developer_panel.cc", "qt/offroad/onboarding.cc",
           "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
           "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc", "qt/onroad/model.cc",
diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index f8aa3423d2f58e..ec4d7baa8494db 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -2,8 +2,6 @@
 
 #include <QHBoxLayout>
 #include <QMouseEvent>
-#include <QStackedWidget>
-#include <QVBoxLayout>
 
 #include "selfdrive/ui/qt/offroad/experimental_mode.h"
 #include "selfdrive/ui/qt/util.h"
@@ -82,147 +80,3 @@ void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
     showSidebar(false);
   }
 }
-
-// OffroadHome: the offroad home page
-
-OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
-  QVBoxLayout* main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(40, 40, 40, 40);
-
-  // top header
-  QHBoxLayout* header_layout = new QHBoxLayout();
-  header_layout->setContentsMargins(0, 0, 0, 0);
-  header_layout->setSpacing(16);
-
-  update_notif = new QPushButton(tr("UPDATE"));
-  update_notif->setVisible(false);
-  update_notif->setStyleSheet("background-color: #364DEF;");
-  QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); });
-  header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
-
-  alert_notif = new QPushButton();
-  alert_notif->setVisible(false);
-  alert_notif->setStyleSheet("background-color: #E22C2C;");
-  QObject::connect(alert_notif, &QPushButton::clicked, [=] { center_layout->setCurrentIndex(2); });
-  header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
-
-  version = new ElidedLabel();
-  header_layout->addWidget(version, 0, Qt::AlignHCenter | Qt::AlignRight);
-
-  main_layout->addLayout(header_layout);
-
-  // main content
-  main_layout->addSpacing(25);
-  center_layout = new QStackedLayout();
-
-  QWidget *home_widget = new QWidget(this);
-  {
-    QHBoxLayout *home_layout = new QHBoxLayout(home_widget);
-    home_layout->setContentsMargins(0, 0, 0, 0);
-    home_layout->setSpacing(30);
-
-    // left: PrimeAdWidget
-    QStackedWidget *left_widget = new QStackedWidget(this);
-    QVBoxLayout *left_prime_layout = new QVBoxLayout();
-    left_prime_layout->setContentsMargins(0, 0, 0, 0);
-    QWidget *prime_user = new PrimeUserWidget();
-    prime_user->setStyleSheet(R"(
-    border-radius: 10px;
-    background-color: #333333;
-    )");
-    left_prime_layout->addWidget(prime_user);
-    left_prime_layout->addStretch();
-    left_widget->addWidget(new LayoutWidget(left_prime_layout));
-    left_widget->addWidget(new PrimeAdWidget);
-    left_widget->setStyleSheet("border-radius: 10px;");
-
-    connect(uiState()->prime_state, &PrimeState::changed, [left_widget]() {
-      left_widget->setCurrentIndex(uiState()->prime_state->isSubscribed() ? 0 : 1);
-    });
-
-    home_layout->addWidget(left_widget, 1);
-
-    // right: ExperimentalModeButton, SetupWidget
-    QWidget* right_widget = new QWidget(this);
-    QVBoxLayout* right_column = new QVBoxLayout(right_widget);
-    right_column->setContentsMargins(0, 0, 0, 0);
-    right_widget->setFixedWidth(750);
-    right_column->setSpacing(30);
-
-    ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this);
-    QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings);
-    right_column->addWidget(experimental_mode, 1);
-
-    SetupWidget *setup_widget = new SetupWidget;
-    QObject::connect(setup_widget, &SetupWidget::openSettings, this, &OffroadHome::openSettings);
-    right_column->addWidget(setup_widget, 1);
-
-    home_layout->addWidget(right_widget, 1);
-  }
-  center_layout->addWidget(home_widget);
-
-  // add update & alerts widgets
-  update_widget = new UpdateAlert();
-  QObject::connect(update_widget, &UpdateAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
-  center_layout->addWidget(update_widget);
-  alerts_widget = new OffroadAlert();
-  QObject::connect(alerts_widget, &OffroadAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
-  center_layout->addWidget(alerts_widget);
-
-  main_layout->addLayout(center_layout, 1);
-
-  // set up refresh timer
-  timer = new QTimer(this);
-  timer->callOnTimeout(this, &OffroadHome::refresh);
-
-  setStyleSheet(R"(
-    * {
-      color: white;
-    }
-    OffroadHome {
-      background-color: black;
-    }
-    OffroadHome > QPushButton {
-      padding: 15px 30px;
-      border-radius: 5px;
-      font-size: 40px;
-      font-weight: 500;
-    }
-    OffroadHome > QLabel {
-      font-size: 55px;
-    }
-  )");
-}
-
-void OffroadHome::showEvent(QShowEvent *event) {
-  refresh();
-  timer->start(10 * 1000);
-}
-
-void OffroadHome::hideEvent(QHideEvent *event) {
-  timer->stop();
-}
-
-void OffroadHome::refresh() {
-  version->setText(getBrand() + " " +  QString::fromStdString(params.get("UpdaterCurrentDescription")));
-
-  bool updateAvailable = update_widget->refresh();
-  int alerts = alerts_widget->refresh();
-
-  // pop-up new notification
-  int idx = center_layout->currentIndex();
-  if (!updateAvailable && !alerts) {
-    idx = 0;
-  } else if (updateAvailable && (!update_notif->isVisible() || (!alerts && idx == 2))) {
-    idx = 1;
-  } else if (alerts && (!alert_notif->isVisible() || (!updateAvailable && idx == 1))) {
-    idx = 2;
-  }
-  center_layout->setCurrentIndex(idx);
-
-  update_notif->setVisible(updateAvailable);
-  alert_notif->setVisible(alerts);
-  if (alerts) {
-    alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT")));
-  }
-}
diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h
index f3227c65599e61..6452e15ae05951 100644
--- a/selfdrive/ui/qt/home.h
+++ b/selfdrive/ui/qt/home.h
@@ -7,16 +7,15 @@
 #include <QTimer>
 #include <QWidget>
 
-#include "common/params.h"
-#include "selfdrive/ui/qt/body.h"
-#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
 #include "selfdrive/ui/ui.h"
 
 #ifdef SUNNYPILOT
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 #include "selfdrive/ui/sunnypilot/qt/onroad/onroad_home.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h"
 #include "selfdrive/ui/sunnypilot/qt/sidebar.h"
 #define OnroadWindow OnroadWindowSP
+#define OffroadHome OffroadHomeSP
 #define LayoutWidget LayoutWidgetSP
 #define Sidebar SidebarSP
 #define ElidedLabel ElidedLabelSP
@@ -26,30 +25,7 @@
 #include "selfdrive/ui/qt/sidebar.h"
 #endif
 
-class OffroadHome : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit OffroadHome(QWidget* parent = 0);
-
-signals:
-  void openSettings(int index = 0, const QString &param = "");
-
-private:
-  void showEvent(QShowEvent *event) override;
-  void hideEvent(QHideEvent *event) override;
-  void refresh();
-
-  Params params;
-
-  QTimer* timer;
-  ElidedLabel* version;
-  QStackedLayout* center_layout;
-  UpdateAlert *update_widget;
-  OffroadAlert* alerts_widget;
-  QPushButton* alert_notif;
-  QPushButton* update_notif;
-};
+#include "selfdrive/ui/qt/offroad/offroad_home.h"
 
 class HomeWindow : public QWidget {
   Q_OBJECT
diff --git a/selfdrive/ui/qt/offroad/offroad_home.cc b/selfdrive/ui/qt/offroad/offroad_home.cc
new file mode 100644
index 00000000000000..06385027a21113
--- /dev/null
+++ b/selfdrive/ui/qt/offroad/offroad_home.cc
@@ -0,0 +1,156 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/qt/offroad/offroad_home.h"
+
+#include "selfdrive/ui/qt/offroad/experimental_mode.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/widgets/prime.h"
+
+// OffroadHome: the offroad home page
+
+OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
+  QVBoxLayout* main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(40, 40, 40, 40);
+
+  // top header
+  QHBoxLayout* header_layout = new QHBoxLayout();
+  header_layout->setContentsMargins(0, 0, 0, 0);
+  header_layout->setSpacing(16);
+
+  update_notif = new QPushButton(tr("UPDATE"));
+  update_notif->setVisible(false);
+  update_notif->setStyleSheet("background-color: #364DEF;");
+  QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); });
+  header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
+
+  alert_notif = new QPushButton();
+  alert_notif->setVisible(false);
+  alert_notif->setStyleSheet("background-color: #E22C2C;");
+  QObject::connect(alert_notif, &QPushButton::clicked, [=] { center_layout->setCurrentIndex(2); });
+  header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
+
+  version = new ElidedLabel();
+  header_layout->addWidget(version, 0, Qt::AlignHCenter | Qt::AlignRight);
+
+  main_layout->addLayout(header_layout);
+
+  // main content
+  main_layout->addSpacing(25);
+  center_layout = new QStackedLayout();
+
+  QWidget *home_widget = new QWidget(this);
+  {
+    QHBoxLayout *home_layout = new QHBoxLayout(home_widget);
+    home_layout->setContentsMargins(0, 0, 0, 0);
+    home_layout->setSpacing(30);
+
+    // left: PrimeAdWidget
+    QStackedWidget *left_widget = new QStackedWidget(this);
+    QVBoxLayout *left_prime_layout = new QVBoxLayout();
+    left_prime_layout->setContentsMargins(0, 0, 0, 0);
+    QWidget *prime_user = new PrimeUserWidget();
+    prime_user->setStyleSheet(R"(
+    border-radius: 10px;
+    background-color: #333333;
+    )");
+    left_prime_layout->addWidget(prime_user);
+    left_prime_layout->addStretch();
+    left_widget->addWidget(new LayoutWidget(left_prime_layout));
+    left_widget->addWidget(new PrimeAdWidget);
+    left_widget->setStyleSheet("border-radius: 10px;");
+
+    connect(uiState()->prime_state, &PrimeState::changed, [left_widget]() {
+      left_widget->setCurrentIndex(uiState()->prime_state->isSubscribed() ? 0 : 1);
+    });
+
+    home_layout->addWidget(left_widget, 1);
+
+    // right: ExperimentalModeButton, SetupWidget
+    QWidget* right_widget = new QWidget(this);
+    QVBoxLayout* right_column = new QVBoxLayout(right_widget);
+    right_column->setContentsMargins(0, 0, 0, 0);
+    right_widget->setFixedWidth(750);
+    right_column->setSpacing(30);
+
+    ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this);
+    QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings);
+    right_column->addWidget(experimental_mode, 1);
+
+    SetupWidget *setup_widget = new SetupWidget;
+    QObject::connect(setup_widget, &SetupWidget::openSettings, this, &OffroadHome::openSettings);
+    right_column->addWidget(setup_widget, 1);
+
+    home_layout->addWidget(right_widget, 1);
+  }
+  center_layout->addWidget(home_widget);
+
+  // add update & alerts widgets
+  update_widget = new UpdateAlert();
+  QObject::connect(update_widget, &UpdateAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
+  center_layout->addWidget(update_widget);
+  alerts_widget = new OffroadAlert();
+  QObject::connect(alerts_widget, &OffroadAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
+  center_layout->addWidget(alerts_widget);
+
+  main_layout->addLayout(center_layout, 1);
+
+  // set up refresh timer
+  timer = new QTimer(this);
+  timer->callOnTimeout(this, &OffroadHome::refresh);
+
+  setStyleSheet(R"(
+    * {
+      color: white;
+    }
+    OffroadHome {
+      background-color: black;
+    }
+    OffroadHome > QPushButton {
+      padding: 15px 30px;
+      border-radius: 5px;
+      font-size: 40px;
+      font-weight: 500;
+    }
+    OffroadHome > QLabel {
+      font-size: 55px;
+    }
+  )");
+}
+
+void OffroadHome::showEvent(QShowEvent *event) {
+  refresh();
+  timer->start(10 * 1000);
+}
+
+void OffroadHome::hideEvent(QHideEvent *event) {
+  timer->stop();
+}
+
+void OffroadHome::refresh() {
+  version->setText(getBrand() + " " +  QString::fromStdString(params.get("UpdaterCurrentDescription")));
+
+  bool updateAvailable = update_widget->refresh();
+  int alerts = alerts_widget->refresh();
+
+  // pop-up new notification
+  int idx = center_layout->currentIndex();
+  if (!updateAvailable && !alerts) {
+    idx = 0;
+  } else if (updateAvailable && (!update_notif->isVisible() || (!alerts && idx == 2))) {
+    idx = 1;
+  } else if (alerts && (!alert_notif->isVisible() || (!updateAvailable && idx == 1))) {
+    idx = 2;
+  }
+  center_layout->setCurrentIndex(idx);
+
+  update_notif->setVisible(updateAvailable);
+  alert_notif->setVisible(alerts);
+  if (alerts) {
+    alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT")));
+  }
+}
diff --git a/selfdrive/ui/qt/offroad/offroad_home.h b/selfdrive/ui/qt/offroad/offroad_home.h
new file mode 100644
index 00000000000000..6acf461baa613e
--- /dev/null
+++ b/selfdrive/ui/qt/offroad/offroad_home.h
@@ -0,0 +1,51 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "common/params.h"
+#include "selfdrive/ui/qt/body.h"
+#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
+
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/onroad_home.h"
+#include "selfdrive/ui/sunnypilot/qt/sidebar.h"
+#define OnroadWindow OnroadWindowSP
+#define LayoutWidget LayoutWidgetSP
+#define Sidebar SidebarSP
+#define ElidedLabel ElidedLabelSP
+#else
+#include "selfdrive/ui/qt/widgets/controls.h"
+#include "selfdrive/ui/qt/onroad/onroad_home.h"
+#include "selfdrive/ui/qt/sidebar.h"
+#endif
+
+class OffroadHome : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit OffroadHome(QWidget* parent = 0);
+
+  signals:
+    void openSettings(int index = 0, const QString &param = "");
+
+private:
+  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override;
+  void refresh();
+
+  Params params;
+
+  QTimer* timer;
+  ElidedLabel* version;
+  QStackedLayout* center_layout;
+  UpdateAlert *update_widget;
+  OffroadAlert* alerts_widget;
+  QPushButton* alert_notif;
+  QPushButton* update_notif;
+};
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index f1fb707c5aaf9d..987b0d2e9d5fa8 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -13,6 +13,7 @@ qt_src = [
   "sunnypilot/qt/sidebar.cc",
   "sunnypilot/qt/window.cc",
   "sunnypilot/qt/home.cc",
+  "sunnypilot/qt/offroad/offroad_home.cc",
   "sunnypilot/qt/offroad/settings/settings.cc",
   "sunnypilot/qt/offroad/settings/software_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc b/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc
new file mode 100644
index 00000000000000..66e116bb38e1f7
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc
@@ -0,0 +1,11 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h"
+
+OffroadHomeSP::OffroadHomeSP(QWidget *parent) : OffroadHome(parent) {
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h b/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h
new file mode 100644
index 00000000000000..9710150d574d40
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h
@@ -0,0 +1,17 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/offroad/offroad_home.h"
+
+class OffroadHomeSP : public OffroadHome {
+  Q_OBJECT
+
+public:
+  explicit OffroadHomeSP(QWidget *parent = 0);
+};

From 1b7066eb12196ee80b7755403512870e1231a886 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 8 Jan 2025 21:22:09 -0500
Subject: [PATCH 0048/1434] ui: add drive stats and move comma Prime status on
 offroad home (#537)

ui: add drive stats to offroad home screen
---
 common/params.cc                              |   1 +
 selfdrive/ui/qt/home.h                        |   1 +
 selfdrive/ui/qt/offroad/offroad_home.cc       |   4 +-
 selfdrive/ui/qt/offroad/offroad_home.h        |   6 +
 selfdrive/ui/qt/widgets/prime.cc              |   2 +-
 selfdrive/ui/qt/widgets/prime.h               |   3 +
 selfdrive/ui/sunnypilot/SConscript            |   2 +
 selfdrive/ui/sunnypilot/qt/home.cc            |   2 +
 .../ui/sunnypilot/qt/offroad/offroad_home.cc  |   9 ++
 .../ui/sunnypilot/qt/widgets/drive_stats.cc   | 103 ++++++++++++++++++
 .../ui/sunnypilot/qt/widgets/drive_stats.h    |  32 ++++++
 selfdrive/ui/sunnypilot/qt/widgets/prime.cc   |  19 ++++
 selfdrive/ui/sunnypilot/qt/widgets/prime.h    |  19 ++++
 selfdrive/ui/translations/main_ar.ts          |  27 +++++
 selfdrive/ui/translations/main_de.ts          |  27 +++++
 selfdrive/ui/translations/main_es.ts          |  27 +++++
 selfdrive/ui/translations/main_fr.ts          |  27 +++++
 selfdrive/ui/translations/main_ja.ts          |  27 +++++
 selfdrive/ui/translations/main_ko.ts          |  27 +++++
 selfdrive/ui/translations/main_pt-BR.ts       |  27 +++++
 selfdrive/ui/translations/main_th.ts          |  27 +++++
 selfdrive/ui/translations/main_tr.ts          |  27 +++++
 selfdrive/ui/translations/main_zh-CHS.ts      |  27 +++++
 selfdrive/ui/translations/main_zh-CHT.ts      |  27 +++++
 24 files changed, 498 insertions(+), 2 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/widgets/drive_stats.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/widgets/prime.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/widgets/prime.h

diff --git a/common/params.cc b/common/params.cc
index f07911cea3bbc0..cd4c4060301f3a 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -201,6 +201,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Version", PERSISTENT},
 
     // --- sunnypilot params --- //
+    {"ApiCache_DriveStats", PERSISTENT},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
 
     // MADS params
diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h
index 6452e15ae05951..c29ef4f2feae75 100644
--- a/selfdrive/ui/qt/home.h
+++ b/selfdrive/ui/qt/home.h
@@ -19,6 +19,7 @@
 #define LayoutWidget LayoutWidgetSP
 #define Sidebar SidebarSP
 #define ElidedLabel ElidedLabelSP
+#define SetupWidget SetupWidgetSP
 #else
 #include "selfdrive/ui/qt/widgets/controls.h"
 #include "selfdrive/ui/qt/onroad/onroad_home.h"
diff --git a/selfdrive/ui/qt/offroad/offroad_home.cc b/selfdrive/ui/qt/offroad/offroad_home.cc
index 06385027a21113..6fcb6a71ae62d7 100644
--- a/selfdrive/ui/qt/offroad/offroad_home.cc
+++ b/selfdrive/ui/qt/offroad/offroad_home.cc
@@ -45,10 +45,11 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
 
   QWidget *home_widget = new QWidget(this);
   {
-    QHBoxLayout *home_layout = new QHBoxLayout(home_widget);
+    home_layout = new QHBoxLayout(home_widget);
     home_layout->setContentsMargins(0, 0, 0, 0);
     home_layout->setSpacing(30);
 
+#ifndef SUNNYPILOT
     // left: PrimeAdWidget
     QStackedWidget *left_widget = new QStackedWidget(this);
     QVBoxLayout *left_prime_layout = new QVBoxLayout();
@@ -69,6 +70,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
     });
 
     home_layout->addWidget(left_widget, 1);
+#endif
 
     // right: ExperimentalModeButton, SetupWidget
     QWidget* right_widget = new QWidget(this);
diff --git a/selfdrive/ui/qt/offroad/offroad_home.h b/selfdrive/ui/qt/offroad/offroad_home.h
index 6acf461baa613e..40b63ce8d83cb0 100644
--- a/selfdrive/ui/qt/offroad/offroad_home.h
+++ b/selfdrive/ui/qt/offroad/offroad_home.h
@@ -15,14 +15,17 @@
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 #include "selfdrive/ui/sunnypilot/qt/onroad/onroad_home.h"
 #include "selfdrive/ui/sunnypilot/qt/sidebar.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/prime.h"
 #define OnroadWindow OnroadWindowSP
 #define LayoutWidget LayoutWidgetSP
 #define Sidebar SidebarSP
 #define ElidedLabel ElidedLabelSP
+#define SetupWidget SetupWidgetSP
 #else
 #include "selfdrive/ui/qt/widgets/controls.h"
 #include "selfdrive/ui/qt/onroad/onroad_home.h"
 #include "selfdrive/ui/qt/sidebar.h"
+#include "selfdrive/ui/qt/widgets/prime.h"
 #endif
 
 class OffroadHome : public QFrame {
@@ -34,6 +37,9 @@ class OffroadHome : public QFrame {
   signals:
     void openSettings(int index = 0, const QString &param = "");
 
+protected:
+  QHBoxLayout *home_layout;
+
 private:
   void showEvent(QShowEvent *event) override;
   void hideEvent(QHideEvent *event) override;
diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc
index 62f5c0ab5054bd..85ccfa64be8dbc 100644
--- a/selfdrive/ui/qt/widgets/prime.cc
+++ b/selfdrive/ui/qt/widgets/prime.cc
@@ -221,7 +221,7 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
   outer_layout->addWidget(mainLayout);
 
   QWidget *content = new QWidget;
-  QVBoxLayout *content_layout = new QVBoxLayout(content);
+  content_layout = new QVBoxLayout(content);
   content_layout->setContentsMargins(0, 0, 0, 0);
   content_layout->setSpacing(30);
 
diff --git a/selfdrive/ui/qt/widgets/prime.h b/selfdrive/ui/qt/widgets/prime.h
index d1ba334e81e0d6..7c27b6f7d932f3 100644
--- a/selfdrive/ui/qt/widgets/prime.h
+++ b/selfdrive/ui/qt/widgets/prime.h
@@ -63,6 +63,9 @@ class SetupWidget : public QFrame {
 signals:
   void openSettings(int index = 0, const QString &param = "");
 
+protected:
+  QVBoxLayout *content_layout;
+
 private:
   PairingPopup *popup;
   QStackedWidget *mainLayout;
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 987b0d2e9d5fa8..121f621b4df68c 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -1,6 +1,8 @@
 widgets_src = [
   "sunnypilot/qt/widgets/toggle.cc",
   "sunnypilot/qt/widgets/controls.cc",
+  "sunnypilot/qt/widgets/drive_stats.cc",
+  "sunnypilot/qt/widgets/prime.cc",
   "sunnypilot/qt/widgets/scrollview.cc",
 ]
 
diff --git a/selfdrive/ui/sunnypilot/qt/home.cc b/selfdrive/ui/sunnypilot/qt/home.cc
index 2fd4dcbbee1d7b..92b6e724fe2bfd 100644
--- a/selfdrive/ui/sunnypilot/qt/home.cc
+++ b/selfdrive/ui/sunnypilot/qt/home.cc
@@ -7,6 +7,8 @@
 
 #include "selfdrive/ui/sunnypilot/qt/home.h"
 
+#include "selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h"
+
 HomeWindowSP::HomeWindowSP(QWidget *parent) : HomeWindow(parent) {
 }
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc b/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc
index 66e116bb38e1f7..05b1d80846bdcd 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc
@@ -7,5 +7,14 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h"
 
+#include <QStackedWidget>
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h"
+
 OffroadHomeSP::OffroadHomeSP(QWidget *parent) : OffroadHome(parent) {
+  QStackedWidget *left_widget = new QStackedWidget(this);
+  left_widget->addWidget(new DriveStats(this));
+  left_widget->setStyleSheet("border-radius: 10px;");
+
+  home_layout->insertWidget(0, left_widget);
 }
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.cc b/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.cc
new file mode 100644
index 00000000000000..032abdbbfbbc1b
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.cc
@@ -0,0 +1,103 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h"
+
+#include <QDebug>
+#include <QGridLayout>
+#include <QVBoxLayout>
+
+#include "common/params.h"
+#include "selfdrive/ui/qt/request_repeater.h"
+#include "selfdrive/ui/qt/util.h"
+
+static QLabel* newLabel(const QString& text, const QString &type) {
+  QLabel* label = new QLabel(text);
+  label->setProperty("type", type);
+  return label;
+}
+
+DriveStats::DriveStats(QWidget* parent) : QFrame(parent) {
+  metric_ = Params().getBool("IsMetric");
+
+  QVBoxLayout* main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 50, 50, 60);
+
+  auto add_stats_layouts = [=](const QString &title, StatsLabels& labels) {
+    QGridLayout* grid_layout = new QGridLayout;
+    grid_layout->setVerticalSpacing(10);
+    grid_layout->setContentsMargins(0, 10, 0, 10);
+
+    int row = 0;
+    grid_layout->addWidget(newLabel(title, "title"), row++, 0, 1, 3);
+    grid_layout->addItem(new QSpacerItem(0, 50), row++, 0, 1, 1);
+
+    grid_layout->addWidget(labels.routes = newLabel("0", "number"), row, 0, Qt::AlignLeft);
+    grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft);
+    grid_layout->addWidget(labels.hours = newLabel("0", "number"), row, 2, Qt::AlignLeft);
+
+    grid_layout->addWidget(newLabel((tr("Drives")), "unit"), row + 1, 0, Qt::AlignLeft);
+    grid_layout->addWidget(labels.distance_unit = newLabel(getDistanceUnit(), "unit"), row + 1, 1, Qt::AlignLeft);
+    grid_layout->addWidget(newLabel(tr("Hours"), "unit"), row + 1, 2, Qt::AlignLeft);
+
+    main_layout->addLayout(grid_layout);
+  };
+
+  add_stats_layouts(tr("ALL TIME"), all_);
+  main_layout->addStretch();
+  add_stats_layouts(tr("PAST WEEK"), week_);
+
+  if (auto dongleId = getDongleId()) {
+    QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/stats";
+    RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_DriveStats", 30);
+    QObject::connect(repeater, &RequestRepeater::requestDone, this, &DriveStats::parseResponse);
+  }
+
+  setStyleSheet(R"(
+    DriveStats {
+      background-color: #333333;
+      border-radius: 10px;
+    }
+
+    QLabel[type="title"] { font-size: 51px; font-weight: 500; }
+    QLabel[type="number"] { font-size: 78px; font-weight: 500; }
+    QLabel[type="unit"] { font-size: 51px; font-weight: 300; color: #A0A0A0; }
+  )");
+}
+
+void DriveStats::updateStats() {
+  auto update = [=](const QJsonObject& obj, StatsLabels& labels) {
+    labels.routes->setText(QString::number((int)obj["routes"].toDouble()));
+    labels.distance->setText(QString::number(int(obj["distance"].toDouble() * (metric_ ? MILE_TO_KM : 1))));
+    labels.distance_unit->setText(getDistanceUnit());
+    labels.hours->setText(QString::number((int)(obj["minutes"].toDouble() / 60)));
+  };
+
+  QJsonObject json = stats_.object();
+  update(json["all"].toObject(), all_);
+  update(json["week"].toObject(), week_);
+}
+
+void DriveStats::parseResponse(const QString& response, bool success) {
+  if (!success) return;
+
+  QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8());
+  if (doc.isNull()) {
+    qDebug() << "JSON Parse failed on getting past drives statistics";
+    return;
+  }
+  stats_ = doc;
+  updateStats();
+}
+
+void DriveStats::showEvent(QShowEvent* event) {
+  bool metric = Params().getBool("IsMetric");
+  if (metric_ != metric) {
+    metric_ = metric;
+    updateStats();
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h b/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h
new file mode 100644
index 00000000000000..0b2802ed8c08e6
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h
@@ -0,0 +1,32 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QJsonDocument>
+#include <QLabel>
+
+class DriveStats : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit DriveStats(QWidget* parent = 0);
+
+private:
+  void showEvent(QShowEvent *event) override;
+  void updateStats();
+  inline QString getDistanceUnit() const { return metric_ ? tr("KM") : tr("Miles"); }
+
+  bool metric_;
+  QJsonDocument stats_;
+  struct StatsLabels {
+    QLabel *routes, *distance, *distance_unit, *hours;
+  } all_, week_;
+
+private slots:
+  void parseResponse(const QString &response, bool success);
+};
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/prime.cc b/selfdrive/ui/sunnypilot/qt/widgets/prime.cc
new file mode 100644
index 00000000000000..a1bb85c787a116
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/widgets/prime.cc
@@ -0,0 +1,19 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/prime.h"
+
+SetupWidgetSP::SetupWidgetSP(QWidget *parent) : SetupWidget(parent) {
+  PrimeUserWidget *primeUser = new PrimeUserWidget;
+  content_layout->insertWidget(0, primeUser);
+
+  primeUser->setVisible(uiState()->prime_state->isSubscribed());
+
+  QObject::connect(uiState()->prime_state, &PrimeState::changed, [=]() {
+    primeUser->setVisible(uiState()->prime_state->isSubscribed());
+  });
+}
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/prime.h b/selfdrive/ui/sunnypilot/qt/widgets/prime.h
new file mode 100644
index 00000000000000..598b0e62eb616d
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/widgets/prime.h
@@ -0,0 +1,19 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/widgets/prime.h"
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+
+class SetupWidgetSP : public SetupWidget {
+  Q_OBJECT
+
+public:
+  explicit SetupWidgetSP(QWidget *parent = nullptr);
+};
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 244e96b425a6a7..50e5656d354b4e 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -275,6 +275,33 @@
         <translation>إقران</translation>
     </message>
 </context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <source>Drives</source>
+        <translation>القيادة</translation>
+    </message>
+    <message>
+        <source>Hours</source>
+        <translation>ساعات</translation>
+    </message>
+    <message>
+        <source>ALL TIME</source>
+        <translation>كامل الوقت</translation>
+    </message>
+    <message>
+        <source>PAST WEEK</source>
+        <translation>الأسبوع الماضي</translation>
+    </message>
+    <message>
+        <source>KM</source>
+        <translation>كم</translation>
+    </message>
+    <message>
+        <source>Miles</source>
+        <translation>ميل</translation>
+    </message>
+</context>
 <context>
     <name>DriverViewWindow</name>
     <message>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index a41205d6d3ed73..fa068eefd0f146 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -275,6 +275,33 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <source>Drives</source>
+        <translation>Fahrten</translation>
+    </message>
+    <message>
+        <source>Hours</source>
+        <translation>Stunden</translation>
+    </message>
+    <message>
+        <source>ALL TIME</source>
+        <translation>Gesamtzeit</translation>
+    </message>
+    <message>
+        <source>PAST WEEK</source>
+        <translation>Letzte Woche</translation>
+    </message>
+    <message>
+        <source>KM</source>
+        <translation>KM</translation>
+    </message>
+    <message>
+        <source>Miles</source>
+        <translation>Meilen</translation>
+    </message>
+</context>
 <context>
     <name>DriverViewWindow</name>
     <message>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index f4780d7174694f..0c1f3838274972 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -275,6 +275,33 @@
         <translation>Desactivar para apagar</translation>
     </message>
 </context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <source>Drives</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Hours</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ALL TIME</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAST WEEK</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>KM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Miles</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DriverViewWindow</name>
     <message>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 5c2472904f2d9e..1715ce1270de8e 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -275,6 +275,33 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <source>Drives</source>
+        <translation>Trajets</translation>
+    </message>
+    <message>
+        <source>Hours</source>
+        <translation>Heures</translation>
+    </message>
+    <message>
+        <source>ALL TIME</source>
+        <translation>DEPUIS TOUJOURS</translation>
+    </message>
+    <message>
+        <source>PAST WEEK</source>
+        <translation>CETTE SEMAINE</translation>
+    </message>
+    <message>
+        <source>KM</source>
+        <translation>KM</translation>
+    </message>
+    <message>
+        <source>Miles</source>
+        <translation>Miles</translation>
+    </message>
+</context>
 <context>
     <name>DriverViewWindow</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 61fe372e36d91c..a2264e659b7c62 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -275,6 +275,33 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <source>Drives</source>
+        <translation>�転履歴</translation>
+    </message>
+    <message>
+        <source>Hours</source>
+        <translation>時間</translation>
+    </message>
+    <message>
+        <source>ALL TIME</source>
+        <translation>累計</translation>
+    </message>
+    <message>
+        <source>PAST WEEK</source>
+        <translation>先週</translation>
+    </message>
+    <message>
+        <source>KM</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <source>Miles</source>
+        <translation>マイル</translation>
+    </message>
+</context>
 <context>
     <name>DriverViewWindow</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 6d6244fb78696c..951c146bf42817 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -275,6 +275,33 @@
         <translation>�기화</translation>
     </message>
 </context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <source>Drives</source>
+        <translation>주행</translation>
+    </message>
+    <message>
+        <source>Hours</source>
+        <translation>시간</translation>
+    </message>
+    <message>
+        <source>ALL TIME</source>
+        <translation>ì „ì²´</translation>
+    </message>
+    <message>
+        <source>PAST WEEK</source>
+        <translation>지난 주</translation>
+    </message>
+    <message>
+        <source>KM</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <source>Miles</source>
+        <translation>마�</translation>
+    </message>
+</context>
 <context>
     <name>DriverViewWindow</name>
     <message>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 0bb217aa0c5814..910ec2664073fa 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -275,6 +275,33 @@
         <translation>PAREAR</translation>
     </message>
 </context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <source>Drives</source>
+        <translation>Dirigidas</translation>
+    </message>
+    <message>
+        <source>Hours</source>
+        <translation>Horas</translation>
+    </message>
+    <message>
+        <source>ALL TIME</source>
+        <translation>TOTAL</translation>
+    </message>
+    <message>
+        <source>PAST WEEK</source>
+        <translation>SEMANA PASSADA</translation>
+    </message>
+    <message>
+        <source>KM</source>
+        <translation>KM</translation>
+    </message>
+    <message>
+        <source>Miles</source>
+        <translation>Milhas</translation>
+    </message>
+</context>
 <context>
     <name>DriverViewWindow</name>
     <message>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 19f5c20dd3dfae..469e7934925dfb 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -275,6 +275,33 @@
         <translation>จับคู่</translation>
     </message>
 </context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <source>Drives</source>
+        <translation>�ารขับขี่</translation>
+    </message>
+    <message>
+        <source>Hours</source>
+        <translation>ชั่วโมง</translation>
+    </message>
+    <message>
+        <source>ALL TIME</source>
+        <translation>ทั้งหมด</translation>
+    </message>
+    <message>
+        <source>PAST WEEK</source>
+        <translation>สัปดาห์ที่ผ่านมา</translation>
+    </message>
+    <message>
+        <source>KM</source>
+        <translation>�ิโลเมตร</translation>
+    </message>
+    <message>
+        <source>Miles</source>
+        <translation>ไมล์</translation>
+    </message>
+</context>
 <context>
     <name>DriverViewWindow</name>
     <message>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index e5c3f3f45c5d3c..48edc6c8379df7 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -275,6 +275,33 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <source>Drives</source>
+        <translation>Sürücüler</translation>
+    </message>
+    <message>
+        <source>Hours</source>
+        <translation>Saat</translation>
+    </message>
+    <message>
+        <source>ALL TIME</source>
+        <translation>TÃœM ZAMANLAR</translation>
+    </message>
+    <message>
+        <source>PAST WEEK</source>
+        <translation>GEÇEN HAFTA</translation>
+    </message>
+    <message>
+        <source>KM</source>
+        <translation>KM</translation>
+    </message>
+    <message>
+        <source>Miles</source>
+        <translation>Mil</translation>
+    </message>
+</context>
 <context>
     <name>DriverViewWindow</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 8b6b64d5558aa1..2ad90ae0a989d6 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -275,6 +275,33 @@
         <translation>�对</translation>
     </message>
 </context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <source>Drives</source>
+        <translation>旅程数</translation>
+    </message>
+    <message>
+        <source>Hours</source>
+        <translation>�时</translation>
+    </message>
+    <message>
+        <source>ALL TIME</source>
+        <translation>全部</translation>
+    </message>
+    <message>
+        <source>PAST WEEK</source>
+        <translation>过去一周</translation>
+    </message>
+    <message>
+        <source>KM</source>
+        <translation>公里</translation>
+    </message>
+    <message>
+        <source>Miles</source>
+        <translation>英里</translation>
+    </message>
+</context>
 <context>
     <name>DriverViewWindow</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 0515ac82ae23f0..3ea95f66c56ebd 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -275,6 +275,33 @@
         <translation>��</translation>
     </message>
 </context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <source>Drives</source>
+        <translation>旅程</translation>
+    </message>
+    <message>
+        <source>Hours</source>
+        <translation>�時</translation>
+    </message>
+    <message>
+        <source>ALL TIME</source>
+        <translation>總共</translation>
+    </message>
+    <message>
+        <source>PAST WEEK</source>
+        <translation>上週</translation>
+    </message>
+    <message>
+        <source>KM</source>
+        <translation>公里</translation>
+    </message>
+    <message>
+        <source>Miles</source>
+        <translation>英里</translation>
+    </message>
+</context>
 <context>
     <name>DriverViewWindow</name>
     <message>

From d0f11e59ad3f5e8fb456aab161a4ad58297f8c80 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 8 Jan 2025 21:49:55 -0500
Subject: [PATCH 0049/1434] ui: deprecate `RETURN_IF_SUNNYPILOT` macro and
 cleanup (#540)

---
 selfdrive/ui/qt/home.cc             | 2 --
 selfdrive/ui/qt/offroad/settings.cc | 4 ++--
 selfdrive/ui/qt/util.h              | 6 ------
 selfdrive/ui/qt/widgets/controls.cc | 3 ++-
 selfdrive/ui/ui.cc                  | 6 ++++--
 5 files changed, 8 insertions(+), 13 deletions(-)

diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index ec4d7baa8494db..d2b0fa44d8bd0a 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -3,9 +3,7 @@
 #include <QHBoxLayout>
 #include <QMouseEvent>
 
-#include "selfdrive/ui/qt/offroad/experimental_mode.h"
 #include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/prime.h"
 
 // HomeWindow: the container for the offroad and onroad UIs
 
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 93dcd793c942cb..4911dc71e97edf 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -356,8 +356,7 @@ void SettingsWindow::setCurrentPanel(int index, const QString &param) {
 }
 
 SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
-  RETURN_IF_SUNNYPILOT
-
+#ifndef SUNNYPILOT
   // setup two main layouts
   sidebar_widget = new QWidget;
   QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget);
@@ -457,4 +456,5 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
       border-radius: 30px;
     }
   )");
+#endif
 }
diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h
index 6ea53d354a14d7..2bf1a70a62a437 100644
--- a/selfdrive/ui/qt/util.h
+++ b/selfdrive/ui/qt/util.h
@@ -13,12 +13,6 @@
 #include "cereal/gen/cpp/car.capnp.h"
 #include "common/params.h"
 
-#ifdef SUNNYPILOT
-#define RETURN_IF_SUNNYPILOT return;
-#else
-#define RETURN_IF_SUNNYPILOT  // Do nothing
-#endif
-
 QString getVersion();
 QString getBrand();
 QString getUserAgent();
diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc
index 7dd3178200ffaf..df6e6932c77a65 100644
--- a/selfdrive/ui/qt/widgets/controls.cc
+++ b/selfdrive/ui/qt/widgets/controls.cc
@@ -6,7 +6,7 @@
 #include "selfdrive/ui/qt/util.h"
 
 AbstractControl::AbstractControl(const QString &title, const QString &desc, const QString &icon, QWidget *parent) : QFrame(parent) {
-  RETURN_IF_SUNNYPILOT
+#ifndef SUNNYPILOT
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setMargin(0);
 
@@ -57,6 +57,7 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons
   });
 
   main_layout->addStretch();
+#endif
 }
 
 void AbstractControl::hideEvent(QHideEvent *e) {
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index cc29aa9143d5eb..2bdac39368237a 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -111,15 +111,16 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   prime_state = new PrimeState(this);
   language = QString::fromStdString(Params().get("LanguageSetting"));
 
-  RETURN_IF_SUNNYPILOT
+#ifndef SUNNYPILOT
   // update timer
   timer = new QTimer(this);
   QObject::connect(timer, &QTimer::timeout, this, &UIState::update);
   timer->start(1000 / UI_FREQ);
+#endif
 }
 
 void UIState::update() {
-  RETURN_IF_SUNNYPILOT
+#ifndef SUNNYPILOT
   update_sockets(this);
   update_state(this);
   updateStatus();
@@ -128,6 +129,7 @@ void UIState::update() {
     watchdog_kick(nanos_since_boot());
   }
   emit uiUpdate(*this);
+#endif
 }
 
 Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) {

From b434043db7e68a9e6983baeac0e51021d5cb930e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 8 Jan 2025 22:18:07 -0500
Subject: [PATCH 0050/1434] ci: add optional scroll parameter to setup
 functions in UI preview (#541)

---
 selfdrive/ui/tests/test_ui/run.py | 52 +++++++++++++++++--------------
 1 file changed, 28 insertions(+), 24 deletions(-)

diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index d8694d174ff879..b978bd094c7f1b 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -34,28 +34,28 @@
   "liveCalibration", "modelV2", "radarState", "driverMonitoringState", "carState",
   "driverStateV2", "roadCameraState", "wideRoadCameraState", "driverCameraState"], None)
 
-def setup_homescreen(click, pm: PubMaster):
+def setup_homescreen(click, pm: PubMaster, scroll=None):
   pass
 
-def setup_settings_device(click, pm: PubMaster):
+def setup_settings_device(click, pm: PubMaster, scroll=None):
   click(100, 100)
 
-def setup_settings_toggles(click, pm: PubMaster):
+def setup_settings_toggles(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
   click(278, 640)
   time.sleep(UI_DELAY)
 
-def setup_settings_software(click, pm: PubMaster):
+def setup_settings_software(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
   click(278, 750)
   time.sleep(UI_DELAY)
 
-def setup_settings_developer(click, pm: PubMaster):
+def setup_settings_developer(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
   click(278, 970)
   time.sleep(UI_DELAY)
 
-def setup_onroad(click, pm: PubMaster):
+def setup_onroad(click, pm: PubMaster, scroll=None):
   vipc_server = VisionIpcServer("camerad")
   for stream_type, cam, _ in STREAMS:
     vipc_server.create_buffers(stream_type, 5, cam.width, cam.height)
@@ -87,45 +87,45 @@ def setup_onroad(click, pm: PubMaster):
     packet_id += 1
     time.sleep(0.05)
 
-def setup_onroad_disengaged(click, pm: PubMaster):
+def setup_onroad_disengaged(click, pm: PubMaster, scroll=None):
   DATA['selfdriveState'].selfdriveState.enabled = False
   setup_onroad(click, pm)
   DATA['selfdriveState'].selfdriveState.enabled = True
 
-def setup_onroad_override(click, pm: PubMaster):
+def setup_onroad_override(click, pm: PubMaster, scroll=None):
   DATA['selfdriveState'].selfdriveState.state = log.SelfdriveState.OpenpilotState.overriding
   setup_onroad(click, pm)
   DATA['selfdriveState'].selfdriveState.state = log.SelfdriveState.OpenpilotState.enabled
 
 
-def setup_onroad_wide(click, pm: PubMaster):
+def setup_onroad_wide(click, pm: PubMaster, scroll=None):
   DATA['selfdriveState'].selfdriveState.experimentalMode = True
   DATA["carState"].carState.vEgo = 1
   setup_onroad(click, pm)
 
-def setup_onroad_sidebar(click, pm: PubMaster):
+def setup_onroad_sidebar(click, pm: PubMaster, scroll=None):
   setup_onroad(click, pm)
   click(500, 500)
   setup_onroad(click, pm)
 
-def setup_onroad_wide_sidebar(click, pm: PubMaster):
+def setup_onroad_wide_sidebar(click, pm: PubMaster, scroll=None):
   setup_onroad_wide(click, pm)
   click(500, 500)
   setup_onroad_wide(click, pm)
 
-def setup_body(click, pm: PubMaster):
+def setup_body(click, pm: PubMaster, scroll=None):
   DATA['carParams'].carParams.carName = "BODY"
   DATA['carParams'].carParams.notCar = True
   DATA['carState'].carState.charging = True
   DATA['carState'].carState.fuelGauge = 50.0
   setup_onroad(click, pm)
 
-def setup_keyboard(click, pm: PubMaster):
+def setup_keyboard(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
   click(250, 965)
   click(1930, 228)
 
-def setup_driver_camera(click, pm: PubMaster):
+def setup_driver_camera(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
   click(1950, 435)
   DATA['deviceState'].deviceState.started = False
@@ -145,16 +145,16 @@ def setup_onroad_alert(click, pm: PubMaster, text1, text2, size, status=log.Self
   setup_onroad(click, pm)
   DATA['selfdriveState'] = log_from_bytes(origin_state_bytes).as_builder()
 
-def setup_onroad_alert_small(click, pm: PubMaster):
+def setup_onroad_alert_small(click, pm: PubMaster, scroll=None):
   setup_onroad_alert(click, pm, 'This is a small alert message', '', log.SelfdriveState.AlertSize.small)
 
-def setup_onroad_alert_mid(click, pm: PubMaster):
+def setup_onroad_alert_mid(click, pm: PubMaster, scroll=None):
   setup_onroad_alert(click, pm, 'Medium Alert', 'This is a medium alert message', log.SelfdriveState.AlertSize.mid)
 
-def setup_onroad_alert_full(click, pm: PubMaster):
+def setup_onroad_alert_full(click, pm: PubMaster, scroll=None):
   setup_onroad_alert(click, pm, 'Full Alert', 'This is a full alert message', log.SelfdriveState.AlertSize.full)
 
-def setup_offroad_alert(click, pm: PubMaster):
+def setup_offroad_alert(click, pm: PubMaster, scroll=None):
   for alert in OFFROAD_ALERTS:
     set_offroad_alert(alert, True)
 
@@ -162,7 +162,7 @@ def setup_offroad_alert(click, pm: PubMaster):
   setup_settings_device(click, pm)
   click(100, 100)
 
-def setup_update_available(click, pm: PubMaster):
+def setup_update_available(click, pm: PubMaster, scroll=None):
   Params().put_bool("UpdateAvailable", True)
   release_notes_path = os.path.join(BASEDIR, "RELEASES.md")
   with open(release_notes_path) as file:
@@ -172,23 +172,23 @@ def setup_update_available(click, pm: PubMaster):
   setup_settings_device(click, pm)
   click(100, 100)
 
-def setup_pair_device(click, pm: PubMaster):
+def setup_pair_device(click, pm: PubMaster, scroll=None):
   click(1950, 435)
   click(1800, 900)
 
-def setup_settings_sunnylink(click, pm: PubMaster):
+def setup_settings_sunnylink(click, pm: PubMaster, scroll=None):
   Params().put_bool("SunnylinkEnabled", True)
 
   setup_settings_device(click, pm)
   click(278, 530)
   time.sleep(UI_DELAY)
 
-def setup_settings_sunnypilot(click, pm: PubMaster):
+def setup_settings_sunnypilot(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
   click(278, 860)
   time.sleep(UI_DELAY)
 
-def setup_settings_sunnypilot_mads(click, pm: PubMaster):
+def setup_settings_sunnypilot_mads(click, pm: PubMaster, scroll=None):
   Params().put_bool("Mads", True)
 
   setup_settings_device(click, pm)
@@ -260,10 +260,14 @@ def click(self, x, y, *args, **kwargs):
     pyautogui.click(self.ui.left + x, self.ui.top + y, *args, **kwargs)
     time.sleep(UI_DELAY) # give enough time for the UI to react
 
+  def scroll(self, clicks, x, y, *args, **kwargs):
+    pyautogui.scroll(clicks, self.ui.left + x, self.ui.top + y, *args, **kwargs)
+    time.sleep(UI_DELAY)
+
   @with_processes(["ui"])
   def test_ui(self, name, setup_case):
     self.setup()
-    setup_case(self.click, self.pm)
+    setup_case(self.click, self.pm, self.scroll)
     self.screenshot(name)
 
 def create_screenshots():

From 1b92f6ba3bdbba0f93f3865a46c84e79cb6b65d7 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 8 Jan 2025 22:49:48 -0500
Subject: [PATCH 0051/1434] ui: add trips panel in settings (#542)

* ui: add trips panel in settings

* adjust ui preview clicks

* ci: add optional scroll parameter to setup functions in UI preview

* add trips to ui preview and scrolling for dev panel

* fix keyboard
---
 .github/workflows/ui_preview.yaml             |  2 +-
 selfdrive/ui/sunnypilot/SConscript            |  1 +
 .../qt/offroad/settings/settings.cc           |  2 ++
 .../qt/offroad/settings/trips_panel.cc        | 36 +++++++++++++++++++
 .../qt/offroad/settings/trips_panel.h         | 25 +++++++++++++
 selfdrive/ui/tests/test_ui/run.py             | 19 ++++++----
 selfdrive/ui/translations/main_ar.ts          |  4 +++
 selfdrive/ui/translations/main_de.ts          |  4 +++
 selfdrive/ui/translations/main_es.ts          |  4 +++
 selfdrive/ui/translations/main_fr.ts          |  4 +++
 selfdrive/ui/translations/main_ja.ts          |  4 +++
 selfdrive/ui/translations/main_ko.ts          |  4 +++
 selfdrive/ui/translations/main_pt-BR.ts       |  4 +++
 selfdrive/ui/translations/main_th.ts          |  4 +++
 selfdrive/ui/translations/main_tr.ts          |  4 +++
 selfdrive/ui/translations/main_zh-CHS.ts      |  4 +++
 selfdrive/ui/translations/main_zh-CHT.ts      |  4 +++
 .../selfdrive/assets/offroad/icon_trips.png   |  3 ++
 18 files changed, 125 insertions(+), 7 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h
 create mode 100644 sunnypilot/selfdrive/assets/offroad/icon_trips.png

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 0df696fd4b110e..18f6f472cff4a6 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -86,7 +86,7 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
+          scenes="homescreen settings_device settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads setup_settings_trips settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
           A=($scenes)
 
           DIFF=""
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 121f621b4df68c..8bfe1d79dba8ce 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -20,6 +20,7 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/software_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnypilot_panel.cc",
+  "sunnypilot/qt/offroad/settings/trips_panel.cc",
   "sunnypilot/qt/onroad/annotated_camera.cc",
   "sunnypilot/qt/onroad/hud.cc",
   "sunnypilot/qt/onroad/model.cc",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
index b5e87e47c416ef..d8e9d83deeacd3 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
@@ -14,6 +14,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h"
 
 TogglesPanelSP::TogglesPanelSP(SettingsWindow *parent) : TogglesPanel(parent) {
   QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &TogglesPanelSP::updateState);
@@ -74,6 +75,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
     PanelInfo("   " + tr("Toggles"), toggles, "../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
     PanelInfo("   " + tr("Software"), new SoftwarePanelSP(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
     PanelInfo("   " + tr("sunnypilot"), new SunnypilotPanel(this), "../assets/images/button_home.png"),
+    PanelInfo("   " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
     PanelInfo("   " + tr("Developer"), new DeveloperPanel(this), "../assets/offroad/icon_shell.png"),
   };
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.cc
new file mode 100644
index 00000000000000..dcb16d168dec52
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.cc
@@ -0,0 +1,36 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h"
+
+TripsPanel::TripsPanel(QWidget* parent) : QFrame(parent) {
+  QVBoxLayout* main_layout = new QVBoxLayout(this);
+  main_layout->setMargin(0);
+
+  // main content
+  main_layout->addSpacing(25);
+  center_layout = new QStackedLayout();
+
+  driveStatsWidget = new DriveStats;
+  driveStatsWidget->setStyleSheet(R"(
+    QLabel[type="title"] { font-size: 51px; font-weight: 500; }
+    QLabel[type="number"] { font-size: 78px; font-weight: 500; }
+    QLabel[type="unit"] { font-size: 51px; font-weight: 300; color: #A0A0A0; }
+  )");
+  center_layout->addWidget(driveStatsWidget);
+
+  main_layout->addLayout(center_layout, 1);
+
+  setStyleSheet(R"(
+    * {
+      color: white;
+    }
+    TripsPanel > QLabel {
+      font-size: 55px;
+    }
+  )");
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h
new file mode 100644
index 00000000000000..67a49e21a48047
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h
@@ -0,0 +1,25 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h"
+
+class TripsPanel : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit TripsPanel(QWidget* parent = 0);
+
+private:
+  Params params;
+
+  QStackedLayout* center_layout;
+  DriveStats *driveStatsWidget;
+};
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index b978bd094c7f1b..0c956a10b75afb 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -42,16 +42,17 @@ def setup_settings_device(click, pm: PubMaster, scroll=None):
 
 def setup_settings_toggles(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
-  click(278, 640)
+  click(278, 632)
   time.sleep(UI_DELAY)
 
 def setup_settings_software(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
-  click(278, 750)
+  click(278, 742)
   time.sleep(UI_DELAY)
 
 def setup_settings_developer(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
+  scroll(-100, 278, 962)
   click(278, 970)
   time.sleep(UI_DELAY)
 
@@ -122,7 +123,8 @@ def setup_body(click, pm: PubMaster, scroll=None):
 
 def setup_keyboard(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
-  click(250, 965)
+  scroll(-100, 278, 962)
+  click(278, 970)
   click(1930, 228)
 
 def setup_driver_camera(click, pm: PubMaster, scroll=None):
@@ -180,22 +182,27 @@ def setup_settings_sunnylink(click, pm: PubMaster, scroll=None):
   Params().put_bool("SunnylinkEnabled", True)
 
   setup_settings_device(click, pm)
-  click(278, 530)
+  click(278, 522)
   time.sleep(UI_DELAY)
 
 def setup_settings_sunnypilot(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
-  click(278, 860)
+  click(278, 852)
   time.sleep(UI_DELAY)
 
 def setup_settings_sunnypilot_mads(click, pm: PubMaster, scroll=None):
   Params().put_bool("Mads", True)
 
   setup_settings_device(click, pm)
-  click(278, 860)
+  click(278, 852)
   click(970, 455)
   time.sleep(UI_DELAY)
 
+def setup_settings_trips(click, pm: PubMaster, scroll=None):
+  setup_settings_device(click, pm)
+  click(278, 962)
+  time.sleep(UI_DELAY)
+
 CASES = {
   "homescreen": setup_homescreen,
   "prime": setup_homescreen,
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 50e5656d354b4e..f3fd4ea9562f04 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -756,6 +756,10 @@ This may take up to a minute.</source>
         <source>sunnylink</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index fa068eefd0f146..520699c9931169 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -738,6 +738,10 @@ This may take up to a minute.</source>
         <source>sunnylink</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 0c1f3838274972..d3a0844e1fc17f 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -740,6 +740,10 @@ Esto puede tardar un minuto.</translation>
         <source>sunnylink</source>
         <translation>sunnylink</translation>
     </message>
+    <message>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 1715ce1270de8e..f3630f1cef1198 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -740,6 +740,10 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>sunnylink</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index a2264e659b7c62..ff83139cfc5e21 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -734,6 +734,10 @@ This may take up to a minute.</source>
         <source>sunnylink</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 951c146bf42817..fad75d6ac64862 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -736,6 +736,10 @@ This may take up to a minute.</source>
         <source>sunnylink</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 910ec2664073fa..32a289557fd689 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -740,6 +740,10 @@ Isso pode levar até um minuto.</translation>
         <source>sunnylink</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 469e7934925dfb..39baaf5e7d8948 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -736,6 +736,10 @@ This may take up to a minute.</source>
         <source>sunnylink</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 48edc6c8379df7..349afb7a0b09a1 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -734,6 +734,10 @@ This may take up to a minute.</source>
         <source>sunnylink</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 2ad90ae0a989d6..1ab9de1d7fc4b7 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -736,6 +736,10 @@ This may take up to a minute.</source>
         <source>sunnylink</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 3ea95f66c56ebd..e4f4480b7e6d26 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -736,6 +736,10 @@ This may take up to a minute.</source>
         <source>sunnylink</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_trips.png b/sunnypilot/selfdrive/assets/offroad/icon_trips.png
new file mode 100644
index 00000000000000..95dec05c290b02
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_trips.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8e5ba807427b7533f513fdd9ca270e420f3ccb63b2182203ed71453449c127a
+size 5354

From ec044790fb97a46e1b2c325d12235f39580ec238 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 8 Jan 2025 23:37:41 -0500
Subject: [PATCH 0052/1434] Revert "Sync: `commaai/openpilot:master` into
 `sunnypilot/sunnypilot:master-new`" (#543)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Revert "Sync: `commaai/openpilot:master` into `sunnypilot/sunnypilot:master-n…"

This reverts commit e6829571017bc2ee0b569235ef67df3d1ca1eace.
---
 .github/PULL_REQUEST_TEMPLATE/bugfix.md       |  15 +
 .github/PULL_REQUEST_TEMPLATE/car_bugfix.md   |  19 +
 .github/PULL_REQUEST_TEMPLATE/car_port.md     |  15 +
 .github/PULL_REQUEST_TEMPLATE/fingerprint.md  |  13 +
 .github/PULL_REQUEST_TEMPLATE/refactor.md     |  15 +
 .github/PULL_REQUEST_TEMPLATE/tuning.md       |  31 +
 .github/build.py                              |  30 +
 SConstruct                                    |   4 +
 cereal/maptile.capnp                          |  49 ++
 common/params.cc                              |   1 +
 common/util.cc                                |  23 -
 common/util.h                                 |   1 -
 docs/CARS.md                                  |   9 +-
 opendbc_repo                                  |   2 +-
 panda                                         |   2 +-
 pyproject.toml                                |   6 +-
 scripts/build_small.sh                        |  39 ++
 scripts/code_stats.py                         |  54 ++
 scripts/count_cars.py                         |  11 +
 scripts/git_rewrite/rewrite-git-history.sh    | 391 ++++++++++++
 scripts/git_rewrite/rewrite.sh                |  59 ++
 scripts/git_rewrite/tag-commit-map.txt        |  82 +++
 scripts/pyqt_demo.py                          |  14 +
 selfdrive/assets/offroad/icon_plus.png        |   3 +
 selfdrive/debug/internal/__init__.py          |   0
 .../{ => internal}/fuzz_fw_fingerprint.py     |   0
 .../measure_modeld_packet_drop.py             |   0
 .../measure_torque_time_to_max.py             |   0
 selfdrive/debug/{ => internal}/qlog_size.py   |   0
 selfdrive/debug/touch_replay.py               |   2 +-
 selfdrive/modeld/SConscript                   |   4 +
 selfdrive/modeld/constants.py                 |  20 +-
 selfdrive/modeld/fill_model_msg.py            |  20 +-
 selfdrive/modeld/modeld.py                    |  28 +-
 selfdrive/modeld/models/commonmodel.cc        |   6 +-
 selfdrive/modeld/models/supercombo.onnx       |   4 +-
 selfdrive/modeld/parse_model_outputs.py       |   2 -
 .../modeld/tests/snpe_benchmark/.gitignore    |   1 +
 .../modeld/tests/snpe_benchmark/benchmark.cc  | 192 ++++++
 .../modeld/tests/snpe_benchmark/benchmark.sh  |   4 +
 selfdrive/test/ciui.py                        |  58 ++
 selfdrive/test/docker_tag_multiarch.sh        |  25 +
 selfdrive/test/loop_until_fail.sh             |   8 +
 .../process_replay/imgproc_replay_ref_hash    |   1 +
 selfdrive/test/process_replay/model_replay.py |   2 +-
 selfdrive/test/process_replay/test_imgproc.py |  98 +++
 selfdrive/test/profiling/.gitignore           |   2 +
 selfdrive/test/profiling/__init__.py          |   0
 selfdrive/test/profiling/lib.py               |  91 +++
 selfdrive/test/profiling/profiler.py          |  97 +++
 system/athena/registration.py                 |   8 +-
 system/athena/tests/test_registration.py      |   2 +
 system/hardware/tici/hardware.h               |  12 +-
 system/manager/manager.py                     |   5 +-
 system/manager/process_config.py              |   7 +-
 system/timed.py                               |   2 +-
 .../libPlatformValidatorShared.so             |   3 +
 .../snpe/aarch64-ubuntu-gcc7.5/libSNPE.so     |   3 +
 .../aarch64-ubuntu-gcc7.5/libcalculator.so    |   3 +
 .../snpe/aarch64-ubuntu-gcc7.5/libhta.so      |   3 +
 .../libsnpe_dsp_domains_v2.so                 |   3 +
 third_party/snpe/dsp/libcalculator_skel.so    |   3 +
 .../dsp/libsnpe_dsp_v65_domains_v2_skel.so    |   3 +
 .../dsp/libsnpe_dsp_v66_domains_v2_skel.so    |   3 +
 .../dsp/libsnpe_dsp_v68_domains_v3_skel.so    |   3 +
 third_party/snpe/include/DiagLog/IDiagLog.hpp |  84 +++
 third_party/snpe/include/DiagLog/Options.hpp  |  79 +++
 .../snpe/include/DlContainer/IDlContainer.hpp | 191 ++++++
 third_party/snpe/include/DlSystem/DlEnums.hpp | 234 +++++++
 third_party/snpe/include/DlSystem/DlError.hpp | 259 ++++++++
 .../snpe/include/DlSystem/DlOptional.hpp      | 225 +++++++
 .../snpe/include/DlSystem/DlVersion.hpp       |  78 +++
 .../include/DlSystem/IBufferAttributes.hpp    |  86 +++
 .../include/DlSystem/IOBufferDataTypeMap.hpp  | 127 ++++
 third_party/snpe/include/DlSystem/ITensor.hpp | 146 +++++
 .../snpe/include/DlSystem/ITensorFactory.hpp  |  92 +++
 .../snpe/include/DlSystem/ITensorItr.hpp      | 182 ++++++
 .../snpe/include/DlSystem/ITensorItrImpl.hpp  |  42 ++
 third_party/snpe/include/DlSystem/IUDL.hpp    | 105 ++++
 .../snpe/include/DlSystem/IUserBuffer.hpp     | 358 +++++++++++
 .../include/DlSystem/IUserBufferFactory.hpp   |  81 +++
 .../snpe/include/DlSystem/PlatformConfig.hpp  | 230 +++++++
 .../snpe/include/DlSystem/RuntimeList.hpp     | 154 +++++
 third_party/snpe/include/DlSystem/String.hpp  | 104 ++++
 .../snpe/include/DlSystem/StringList.hpp      | 107 ++++
 .../snpe/include/DlSystem/TensorMap.hpp       | 120 ++++
 .../snpe/include/DlSystem/TensorShape.hpp     | 203 ++++++
 .../snpe/include/DlSystem/TensorShapeMap.hpp  | 127 ++++
 .../snpe/include/DlSystem/UDLContext.hpp      | 243 ++++++++
 third_party/snpe/include/DlSystem/UDLFunc.hpp |  87 +++
 .../snpe/include/DlSystem/UserBufferMap.hpp   | 122 ++++
 .../snpe/include/DlSystem/UserMemoryMap.hpp   | 129 ++++
 .../snpe/include/DlSystem/ZdlExportDefine.hpp |  13 +
 .../PlatformValidator/PlatformValidator.hpp   | 118 ++++
 .../include/SNPE/ApplicationBufferMap.hpp     | 101 +++
 third_party/snpe/include/SNPE/PSNPE.hpp       | 205 ++++++
 .../snpe/include/SNPE/RuntimeConfigList.hpp   |  85 +++
 third_party/snpe/include/SNPE/SNPE.hpp        | 258 ++++++++
 third_party/snpe/include/SNPE/SNPEBuilder.hpp | 306 +++++++++
 third_party/snpe/include/SNPE/SNPEFactory.hpp | 220 +++++++
 .../snpe/include/SNPE/UserBufferList.hpp      |  49 ++
 third_party/snpe/include/SnpeUdo/UdoBase.h    | 537 ++++++++++++++++
 third_party/snpe/include/SnpeUdo/UdoImpl.h    | 343 ++++++++++
 third_party/snpe/include/SnpeUdo/UdoImplCpu.h |  44 ++
 third_party/snpe/include/SnpeUdo/UdoImplDsp.h | 207 +++++++
 third_party/snpe/include/SnpeUdo/UdoImplGpu.h | 112 ++++
 third_party/snpe/include/SnpeUdo/UdoReg.h     | 108 ++++
 third_party/snpe/include/SnpeUdo/UdoShared.h  |  48 ++
 third_party/snpe/larch64                      |   1 +
 third_party/snpe/x86_64                       |   1 +
 .../snpe/x86_64-linux-clang/libHtpPrepare.so  |   3 +
 .../snpe/x86_64-linux-clang/libSNPE.so        |   3 +
 third_party/snpe/x86_64-linux-clang/libomp.so |   3 +
 tinygrad_repo                                 |   2 +-
 tools/cabana/binaryview.cc                    |  75 +--
 tools/cabana/binaryview.h                     |  16 +-
 tools/cabana/chart/chart.cc                   |   2 -
 tools/cabana/chart/chartswidget.cc            |  56 +-
 tools/cabana/chart/chartswidget.h             |   3 -
 tools/cabana/chart/sparkline.cc               |   8 +-
 tools/cabana/dbc/dbc.cc                       |   1 -
 tools/cabana/dbc/dbc.h                        |   4 +-
 tools/cabana/detailwidget.cc                  |  62 +-
 tools/cabana/detailwidget.h                   |   3 +-
 tools/cabana/mainwin.cc                       |   1 -
 tools/cabana/messageswidget.cc                |  23 +-
 tools/cabana/settings.cc                      |   5 +
 tools/cabana/signalview.cc                    |   2 +-
 tools/cabana/streams/abstractstream.cc        |  58 +-
 tools/cabana/streams/abstractstream.h         |  10 +-
 tools/cabana/streams/replaystream.cc          |   7 +-
 tools/cabana/streams/replaystream.h           |   1 +
 tools/cabana/utils/util.h                     |   1 -
 tools/cabana/videowidget.cc                   | 187 +++---
 tools/cabana/videowidget.h                    |  25 +-
 tools/install_python_dependencies.sh          |   7 +-
 tools/latencylogger/README.md                 |  90 +++
 tools/latencylogger/latency_logger.py         | 239 +++++++
 tools/plotjuggler/README.md                   |   2 +-
 tools/plotjuggler/layouts/demo.xml            | 104 ++++
 tools/replay/replay.cc                        |  69 ++-
 tools/replay/replay.h                         |  11 +-
 tools/replay/seg_mgr.cc                       |   2 +-
 tools/replay/seg_mgr.h                        |   4 +-
 tools/replay/timeline.cc                      |   4 +-
 tools/replay/timeline.h                       |  22 +-
 tools/rerun/README.md                         |   6 +-
 tools/rerun/run.sh                            |   9 +
 tools/webcam/README.md                        |  28 +-
 tools/webcam/camerad.py                       |  15 +-
 tools/webcam/start_camerad.sh                 |  14 +
 uv.lock                                       | 585 ++++++++++--------
 152 files changed, 9351 insertions(+), 788 deletions(-)
 create mode 100644 .github/PULL_REQUEST_TEMPLATE/bugfix.md
 create mode 100644 .github/PULL_REQUEST_TEMPLATE/car_bugfix.md
 create mode 100644 .github/PULL_REQUEST_TEMPLATE/car_port.md
 create mode 100644 .github/PULL_REQUEST_TEMPLATE/fingerprint.md
 create mode 100644 .github/PULL_REQUEST_TEMPLATE/refactor.md
 create mode 100644 .github/PULL_REQUEST_TEMPLATE/tuning.md
 create mode 100644 .github/build.py
 create mode 100644 cereal/maptile.capnp
 create mode 100755 scripts/build_small.sh
 create mode 100755 scripts/code_stats.py
 create mode 100755 scripts/count_cars.py
 create mode 100755 scripts/git_rewrite/rewrite-git-history.sh
 create mode 100755 scripts/git_rewrite/rewrite.sh
 create mode 100644 scripts/git_rewrite/tag-commit-map.txt
 create mode 100755 scripts/pyqt_demo.py
 create mode 100644 selfdrive/assets/offroad/icon_plus.png
 create mode 100644 selfdrive/debug/internal/__init__.py
 rename selfdrive/debug/{ => internal}/fuzz_fw_fingerprint.py (100%)
 rename selfdrive/debug/{ => internal}/measure_modeld_packet_drop.py (100%)
 rename selfdrive/debug/{ => internal}/measure_torque_time_to_max.py (100%)
 rename selfdrive/debug/{ => internal}/qlog_size.py (100%)
 create mode 100644 selfdrive/modeld/tests/snpe_benchmark/.gitignore
 create mode 100644 selfdrive/modeld/tests/snpe_benchmark/benchmark.cc
 create mode 100755 selfdrive/modeld/tests/snpe_benchmark/benchmark.sh
 create mode 100755 selfdrive/test/ciui.py
 create mode 100755 selfdrive/test/docker_tag_multiarch.sh
 create mode 100755 selfdrive/test/loop_until_fail.sh
 create mode 100644 selfdrive/test/process_replay/imgproc_replay_ref_hash
 create mode 100644 selfdrive/test/process_replay/test_imgproc.py
 create mode 100644 selfdrive/test/profiling/.gitignore
 create mode 100644 selfdrive/test/profiling/__init__.py
 create mode 100644 selfdrive/test/profiling/lib.py
 create mode 100755 selfdrive/test/profiling/profiler.py
 create mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
 create mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
 create mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
 create mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
 create mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
 create mode 100644 third_party/snpe/dsp/libcalculator_skel.so
 create mode 100644 third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
 create mode 100644 third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
 create mode 100644 third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
 create mode 100644 third_party/snpe/include/DiagLog/IDiagLog.hpp
 create mode 100644 third_party/snpe/include/DiagLog/Options.hpp
 create mode 100644 third_party/snpe/include/DlContainer/IDlContainer.hpp
 create mode 100644 third_party/snpe/include/DlSystem/DlEnums.hpp
 create mode 100644 third_party/snpe/include/DlSystem/DlError.hpp
 create mode 100644 third_party/snpe/include/DlSystem/DlOptional.hpp
 create mode 100644 third_party/snpe/include/DlSystem/DlVersion.hpp
 create mode 100644 third_party/snpe/include/DlSystem/IBufferAttributes.hpp
 create mode 100644 third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
 create mode 100644 third_party/snpe/include/DlSystem/ITensor.hpp
 create mode 100644 third_party/snpe/include/DlSystem/ITensorFactory.hpp
 create mode 100644 third_party/snpe/include/DlSystem/ITensorItr.hpp
 create mode 100644 third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
 create mode 100644 third_party/snpe/include/DlSystem/IUDL.hpp
 create mode 100644 third_party/snpe/include/DlSystem/IUserBuffer.hpp
 create mode 100644 third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
 create mode 100644 third_party/snpe/include/DlSystem/PlatformConfig.hpp
 create mode 100644 third_party/snpe/include/DlSystem/RuntimeList.hpp
 create mode 100644 third_party/snpe/include/DlSystem/String.hpp
 create mode 100644 third_party/snpe/include/DlSystem/StringList.hpp
 create mode 100644 third_party/snpe/include/DlSystem/TensorMap.hpp
 create mode 100644 third_party/snpe/include/DlSystem/TensorShape.hpp
 create mode 100644 third_party/snpe/include/DlSystem/TensorShapeMap.hpp
 create mode 100644 third_party/snpe/include/DlSystem/UDLContext.hpp
 create mode 100644 third_party/snpe/include/DlSystem/UDLFunc.hpp
 create mode 100644 third_party/snpe/include/DlSystem/UserBufferMap.hpp
 create mode 100644 third_party/snpe/include/DlSystem/UserMemoryMap.hpp
 create mode 100644 third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
 create mode 100644 third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
 create mode 100644 third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
 create mode 100644 third_party/snpe/include/SNPE/PSNPE.hpp
 create mode 100644 third_party/snpe/include/SNPE/RuntimeConfigList.hpp
 create mode 100644 third_party/snpe/include/SNPE/SNPE.hpp
 create mode 100644 third_party/snpe/include/SNPE/SNPEBuilder.hpp
 create mode 100644 third_party/snpe/include/SNPE/SNPEFactory.hpp
 create mode 100644 third_party/snpe/include/SNPE/UserBufferList.hpp
 create mode 100644 third_party/snpe/include/SnpeUdo/UdoBase.h
 create mode 100644 third_party/snpe/include/SnpeUdo/UdoImpl.h
 create mode 100644 third_party/snpe/include/SnpeUdo/UdoImplCpu.h
 create mode 100644 third_party/snpe/include/SnpeUdo/UdoImplDsp.h
 create mode 100644 third_party/snpe/include/SnpeUdo/UdoImplGpu.h
 create mode 100644 third_party/snpe/include/SnpeUdo/UdoReg.h
 create mode 100644 third_party/snpe/include/SnpeUdo/UdoShared.h
 create mode 120000 third_party/snpe/larch64
 create mode 120000 third_party/snpe/x86_64
 create mode 100644 third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
 create mode 100644 third_party/snpe/x86_64-linux-clang/libSNPE.so
 create mode 100755 third_party/snpe/x86_64-linux-clang/libomp.so
 create mode 100644 tools/latencylogger/README.md
 create mode 100755 tools/latencylogger/latency_logger.py
 create mode 100644 tools/plotjuggler/layouts/demo.xml
 create mode 100755 tools/rerun/run.sh
 create mode 100755 tools/webcam/start_camerad.sh

diff --git a/.github/PULL_REQUEST_TEMPLATE/bugfix.md b/.github/PULL_REQUEST_TEMPLATE/bugfix.md
new file mode 100644
index 00000000000000..e28661db3b7ab3
--- /dev/null
+++ b/.github/PULL_REQUEST_TEMPLATE/bugfix.md
@@ -0,0 +1,15 @@
+---
+name: Bug fix
+about: For openpilot bug fixes
+title: ''
+labels: 'bugfix'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the bug and the fix. Also link the issue if it exists. -->
+
+**Verification**
+
+<!-- Explain how you tested this bug fix. -->
diff --git a/.github/PULL_REQUEST_TEMPLATE/car_bugfix.md b/.github/PULL_REQUEST_TEMPLATE/car_bugfix.md
new file mode 100644
index 00000000000000..76c86346c85491
--- /dev/null
+++ b/.github/PULL_REQUEST_TEMPLATE/car_bugfix.md
@@ -0,0 +1,19 @@
+---
+name: Car Bug fix
+about: For vehicle/brand specific bug fixes
+title: ''
+labels: 'car bug fix'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the bug and the fix. Also link the issue if it exists. -->
+
+**Verification**
+
+<!-- Explain how you tested this bug fix. -->
+
+**Route**
+
+Route: [a route with the bug fix]
diff --git a/.github/PULL_REQUEST_TEMPLATE/car_port.md b/.github/PULL_REQUEST_TEMPLATE/car_port.md
new file mode 100644
index 00000000000000..c7aa2b96c25a06
--- /dev/null
+++ b/.github/PULL_REQUEST_TEMPLATE/car_port.md
@@ -0,0 +1,15 @@
+---
+name: Car port
+about: For new car ports
+title: ''
+labels: 'car port'
+assignees: ''
+---
+
+**Checklist**
+
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
+- [ ] route with openpilot:
+- [ ] route with stock system:
+- [ ] car harness used (if comma doesn't sell it, put N/A):
diff --git a/.github/PULL_REQUEST_TEMPLATE/fingerprint.md b/.github/PULL_REQUEST_TEMPLATE/fingerprint.md
new file mode 100644
index 00000000000000..b94f7dc53f4209
--- /dev/null
+++ b/.github/PULL_REQUEST_TEMPLATE/fingerprint.md
@@ -0,0 +1,13 @@
+---
+name: Fingerprint
+about: For adding fingerprints to existing cars
+title: ''
+labels: 'fingerprint'
+assignees: ''
+---
+
+**Car**
+Which car (make, model, year) this fingerprint is for
+
+**Route**
+A route with the fingerprint
\ No newline at end of file
diff --git a/.github/PULL_REQUEST_TEMPLATE/refactor.md b/.github/PULL_REQUEST_TEMPLATE/refactor.md
new file mode 100644
index 00000000000000..1ee21c1bba1151
--- /dev/null
+++ b/.github/PULL_REQUEST_TEMPLATE/refactor.md
@@ -0,0 +1,15 @@
+---
+name: Refactor
+about: For code refactors
+title: ''
+labels: 'refactor'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the refactor, including the goals it accomplishes. -->
+
+**Verification**
+
+<!-- Explain how you tested the refactor for regressions. -->
diff --git a/.github/PULL_REQUEST_TEMPLATE/tuning.md b/.github/PULL_REQUEST_TEMPLATE/tuning.md
new file mode 100644
index 00000000000000..4397e5ad20fed0
--- /dev/null
+++ b/.github/PULL_REQUEST_TEMPLATE/tuning.md
@@ -0,0 +1,31 @@
+---
+name: Tuning
+about: For openpilot tuning changes
+title: ''
+labels: 'tuning'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of what is wrong with the current tuning and how the PR addresses this. -->
+
+**Verification**
+
+<!-- To verify tuning, capture the following scenarios (broadly, not exactly), with current tune and this tune.
+Use the PlotJuggler tuning layout to compare planned versus actual behavior.
+
+Run ./juggle.py <route> --layout layouts/tuning.xml , screenshot the full tab of interest, and paste into this PR.
+
+Longitudinal:
+* Maintaining speed at 25, 40, 65mph
+* Driving up and down hills
+* Accelerating from a stop
+* Decelerating to a stop
+* Following large changes in set speed
+* Coming to a stop behind a lead car
+
+Lateral:
+* Straight driving at ~25, ~45 and ~65mph
+* Turns driving at ~25, ~45 and ~65mph
+-->
\ No newline at end of file
diff --git a/.github/build.py b/.github/build.py
new file mode 100644
index 00000000000000..e141ea05df87d6
--- /dev/null
+++ b/.github/build.py
@@ -0,0 +1,30 @@
+import pathlib
+
+GITHUB_FOLDER = pathlib.Path(__file__).parent
+
+PULL_REQUEST_TEMPLATES = (GITHUB_FOLDER / "PULL_REQUEST_TEMPLATE")
+
+order = ["fingerprint", "car_bugfix", "bugfix", "car_port", "refactor"]
+
+def create_pull_request_template():
+  with open(GITHUB_FOLDER / "pull_request_template.md", "w") as f:
+    f.write("<!-- Please copy and paste the relevant template -->\n\n")
+
+    for t in order:
+      template = PULL_REQUEST_TEMPLATES / f"{t}.md"
+      text = template.read_text()
+
+      # Remove metadata for GitHub
+      start = text.find("---")
+      end = text.find("---", start+1)
+      text = text[end + 4:]
+
+      # Remove comments
+      text = text.replace("<!-- ", "").replace("-->", "")
+
+      f.write(f"<!--- ***** Template: {template.stem.replace('_', ' ').title()} *****\n")
+      f.write(text)
+      f.write("\n\n")
+      f.write("-->\n\n")
+
+create_pull_request_template()
diff --git a/SConstruct b/SConstruct
index ee52fd12035473..39f7d14d03d184 100644
--- a/SConstruct
+++ b/SConstruct
@@ -49,6 +49,10 @@ AddOption('--ccflags',
           default='',
           help='pass arbitrary flags over the command line')
 
+AddOption('--snpe',
+          action='store_true',
+          help='use SNPE on PC')
+
 AddOption('--external-sconscript',
           action='store',
           metavar='FILE',
diff --git a/cereal/maptile.capnp b/cereal/maptile.capnp
new file mode 100644
index 00000000000000..c8a23a1822b808
--- /dev/null
+++ b/cereal/maptile.capnp
@@ -0,0 +1,49 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+@0xa086df597ef5d7a0;
+
+# Geometry
+struct Point {
+  x @0: Float64;
+  y @1: Float64;
+  z @2: Float64;
+}
+
+struct PolyLine {
+  points @0: List(Point);
+}
+
+# Map features
+struct Lane {
+  id @0 :Text;
+
+  leftBoundary @1 :LaneBoundary;
+  rightBoundary @2 :LaneBoundary;
+
+  leftAdjacentId @3 :Text;
+  rightAdjacentId @4 :Text;
+
+  inboundIds @5 :List(Text);
+  outboundIds @6 :List(Text);
+
+  struct LaneBoundary {
+    polyLine @0 :PolyLine;
+    startHeading @1 :Float32; # WRT north
+  }
+}
+
+# Map tiles
+struct TileSummary {
+  version @0 :Text;
+  updatedAt @1 :UInt64; # Millis since epoch
+
+  level @2 :UInt8;
+  x @3 :UInt16;
+  y @4 :UInt16;
+}
+
+struct MapTile {
+  summary @0 :TileSummary;
+  lanes @1 :List(Lane);
+}
diff --git a/common/params.cc b/common/params.cc
index cd4c4060301f3a..a1e881c39b40bb 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -133,6 +133,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"GsmRoaming", PERSISTENT | BACKUP},
     {"HardwareSerial", PERSISTENT},
     {"HasAcceptedTerms", PERSISTENT},
+    {"IMEI", PERSISTENT},
     {"InstallDate", PERSISTENT},
     {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
     {"IsEngaged", PERSISTENT},
diff --git a/common/util.cc b/common/util.cc
index f4c69eb269f6d0..5ffd6e4099f27b 100644
--- a/common/util.cc
+++ b/common/util.cc
@@ -255,29 +255,6 @@ bool ends_with(const std::string& s, const std::string& suffix) {
          strcmp(s.c_str() + (s.size() - suffix.size()), suffix.c_str()) == 0;
 }
 
-std::string strip(const std::string &str) {
-  auto should_trim = [](unsigned char ch) {
-    // trim whitespace or a null character
-    return std::isspace(ch) || ch == '\0';
-  };
-
-  size_t start = 0;
-  while (start < str.size() && should_trim(static_cast<unsigned char>(str[start]))) {
-    start++;
-  }
-
-  if (start == str.size()) {
-    return "";
-  }
-
-  size_t end = str.size() - 1;
-  while (end > 0 && should_trim(static_cast<unsigned char>(str[end]))) {
-    end--;
-  }
-
-  return str.substr(start, end - start + 1);
-}
-
 std::string check_output(const std::string& command) {
   char buffer[128];
   std::string result;
diff --git a/common/util.h b/common/util.h
index d4106b50028ca4..7cfa008509e258 100644
--- a/common/util.h
+++ b/common/util.h
@@ -74,7 +74,6 @@ float getenv(const char* key, float default_val);
 std::string hexdump(const uint8_t* in, const size_t size);
 bool starts_with(const std::string &s1, const std::string &s2);
 bool ends_with(const std::string &s, const std::string &suffix);
-std::string strip(const std::string &str);
 
 // ***** random helpers *****
 int random_int(int min, int max);
diff --git a/docs/CARS.md b/docs/CARS.md
index 10d10d4cfcc9df..c0b0f1706e1b55 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 290 Supported Cars
+# 289 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -56,7 +56,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV60 (Performance Trim) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 Electrified (Australia Only) 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>||
 |Genesis|GV70 Electrified (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023">Buy Here</a></sub></details>||
 |Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -80,7 +79,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
 |Honda|Passport 2019-23|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
-|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-25">Buy Here</a></sub></details>||
+|Honda|Ridgeline 2017-24|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-24">Buy Here</a></sub></details>||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2019">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
@@ -92,7 +91,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Non-US only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Non-US only) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
@@ -295,7 +294,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
 |Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
 |Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
 |Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
 |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
diff --git a/opendbc_repo b/opendbc_repo
index 6ddebc9a0365d3..6525e8b6006f37 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 6ddebc9a0365d3421bee7cceddb0263c88fb78dd
+Subproject commit 6525e8b6006f37a1d809d2a617a876410c484ca1
diff --git a/panda b/panda
index 781af8b4f1144c..0d4b79a3c7b9c1 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 781af8b4f1144cf8d1f17e75017589e2013e3cf9
+Subproject commit 0d4b79a3c7b9c1012832ec414989e56e3a2a8d46
diff --git a/pyproject.toml b/pyproject.toml
index 47a6a37cfe6ba3..7a889584a0114f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -103,6 +103,7 @@ dev = [
   "lru-dict",
   "matplotlib",
   "parameterized >=0.8, <0.9",
+  #"pprofile",
   "pyautogui",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
   "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
@@ -111,10 +112,13 @@ dev = [
   "tabulate",
   "types-requests",
   "types-tabulate",
+
+  # this is only pinned since 5.15.11 is broken
+  "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
 ]
 
 tools = [
-  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
+  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl ; (platform_machine != 'aarch64')",
   "rerun-sdk >= 0.18",
 ]
 
diff --git a/scripts/build_small.sh b/scripts/build_small.sh
new file mode 100755
index 00000000000000..176ca5aaa8f92a
--- /dev/null
+++ b/scripts/build_small.sh
@@ -0,0 +1,39 @@
+#!/usr/bin/env bash
+set -ex
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+# git clone --mirror
+SRC=/tmp/openpilot.git/
+OUT=/tmp/smallpilot/
+
+echo "starting size $(du -hs .git/)"
+
+rm -rf $OUT
+
+cd $SRC
+git remote update
+
+# copy contents
+#rsync -a --exclude='.git/' $DIR $OUT
+
+cp -r $SRC $OUT
+
+cd $OUT
+
+# remove all tags
+git tag -l | xargs git tag -d
+
+# remove non-master branches
+BRANCHES="release2 release3 devel master-ci nightly"
+for branch in $BRANCHES; do
+  git branch -D $branch
+  git branch -D ${branch}-staging || true
+done
+
+#git gc
+git reflog expire --expire=now --all
+git gc --prune=now
+git gc --aggressive --prune=now
+echo "new one is $(du -hs .)"
diff --git a/scripts/code_stats.py b/scripts/code_stats.py
new file mode 100755
index 00000000000000..1ffc8901bd973c
--- /dev/null
+++ b/scripts/code_stats.py
@@ -0,0 +1,54 @@
+#!/usr/bin/env python3
+import os
+import ast
+import stat
+import subprocess
+
+fouts = {x.decode('utf-8') for x in subprocess.check_output(['git', 'ls-files']).strip().split()}
+
+pyf = []
+for d in ["cereal", "common", "scripts", "selfdrive", "tools"]:
+  for root, _, files in os.walk(d):
+    for f in files:
+      if f.endswith(".py"):
+        pyf.append(os.path.join(root, f))
+
+imps: set[str] = set()
+
+class Analyzer(ast.NodeVisitor):
+  def visit_Import(self, node):
+    for alias in node.names:
+      imps.add(alias.name)
+    self.generic_visit(node)
+
+  def visit_ImportFrom(self, node):
+    imps.add(node.module)
+    self.generic_visit(node)
+
+tlns = 0
+carlns = 0
+scriptlns = 0
+testlns = 0
+for f in sorted(pyf):
+  if f not in fouts:
+    continue
+  xbit = bool(os.stat(f)[stat.ST_MODE] & stat.S_IXUSR)
+  src = open(f).read()
+  lns = len(src.split("\n"))
+  tree = ast.parse(src)
+  Analyzer().visit(tree)
+  print(f"{lns:5d} {f} {xbit}")
+  if 'test' in f:
+    testlns += lns
+  elif f.startswith(('tools/', 'scripts/', 'selfdrive/debug')):
+    scriptlns += lns
+  elif f.startswith('selfdrive/car'):
+    carlns += lns
+  else:
+    tlns += lns
+
+print(f"{tlns} lines of openpilot python")
+print(f"{carlns} lines of car ports")
+print(f"{scriptlns} lines of tools/scripts/debug")
+print(f"{testlns} lines of tests")
+#print(sorted(list(imps)))
diff --git a/scripts/count_cars.py b/scripts/count_cars.py
new file mode 100755
index 00000000000000..19f486735a7a58
--- /dev/null
+++ b/scripts/count_cars.py
@@ -0,0 +1,11 @@
+#!/usr/bin/env python3
+from collections import Counter
+from pprint import pprint
+
+from opendbc.car.docs import get_all_car_docs
+
+if __name__ == "__main__":
+  cars = get_all_car_docs()
+  make_count = Counter(l.make for l in cars)
+  print("\n", "*" * 20, len(cars), "total", "*" * 20, "\n")
+  pprint(make_count)
diff --git a/scripts/git_rewrite/rewrite-git-history.sh b/scripts/git_rewrite/rewrite-git-history.sh
new file mode 100755
index 00000000000000..cce4455ce5be13
--- /dev/null
+++ b/scripts/git_rewrite/rewrite-git-history.sh
@@ -0,0 +1,391 @@
+#!/usr/bin/env bash
+set -e
+
+SRC=/tmp/openpilot/
+SRC_CLONE=/tmp/openpilot-clone/
+OUT=/tmp/openpilot-tiny/
+
+REWRITE_IGNORE_BRANCHES=(
+  dashcam3
+  devel
+  master-ci
+  nightly
+  release2
+  release3
+  release3-staging
+)
+
+VALIDATE_IGNORE_FILES=(
+  ".github/ISSUE_TEMPLATE/bug_report.md"
+  ".github/pull_request_template.md"
+)
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+LOGS_DIR=$DIR/git-rewrite-$(date +"%Y-%m-%dT%H:%M:%S%z")
+mkdir -p $LOGS_DIR
+
+GIT_REWRITE_LOG=$LOGS_DIR/git-rewrite-log.txt
+BRANCH_DIFF_LOG=$LOGS_DIR/branch-diff-log.txt
+COMMIT_DIFF_LOG=$LOGS_DIR/commit-diff-log.txt
+
+START_TIME=$(date +%s)
+exec > >(while IFS= read -r line; do
+  CURRENT_TIME=$(date +%s)
+  ELAPSED_TIME=$((CURRENT_TIME - START_TIME))
+  echo "[${ELAPSED_TIME}s] $line"
+done | tee -a "$GIT_REWRITE_LOG") 2>&1
+
+# INSTALL git-filter-repo
+if [ ! -f /tmp/git-filter-repo ]; then
+  echo "Installing git-filter-repo..."
+  curl -sSo /tmp/git-filter-repo https://raw.githubusercontent.com/newren/git-filter-repo/main/git-filter-repo
+  chmod +x /tmp/git-filter-repo
+fi
+
+# MIRROR openpilot
+if [ ! -d $SRC ]; then
+  echo "Mirroring openpilot..."
+  git clone --mirror https://github.com/commaai/openpilot.git $SRC # 4.18 GiB (488034 objects)
+
+  cd $SRC
+
+  echo "Starting size $(du -sh .)"
+
+  git remote update
+
+  # the git-filter-repo analysis is bliss - can be found in the repo root/filter-repo/analysis
+  echo "Analyzing with git-filter-repo..."
+  /tmp/git-filter-repo --force --analyze
+
+  echo "Pushing to openpilot-archive..."
+  # push to archive repo - in smaller parts because the 2 GB push limit - https://docs.github.com/en/get-started/using-git/troubleshooting-the-2-gb-push-limit
+  ARCHIVE_REPO=git@github.com:commaai/openpilot-archive.git
+  git push --prune $ARCHIVE_REPO +refs/heads/master:refs/heads/master # push master first so it's the default branch (when openpilot-archive is an empty repo)
+  git push --prune $ARCHIVE_REPO +refs/heads/*:refs/heads/* # 956.39 MiB (110725 objects)
+  git push --prune $ARCHIVE_REPO +refs/tags/*:refs/tags/* # 1.75 GiB (21694 objects)
+  # git push --mirror $ARCHIVE_REPO || true # fails to push refs/pull/* (deny updating a hidden ref) for pull requests
+  # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708 and https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
+fi
+
+# REWRITE master and tags
+if [ ! -d $SRC_CLONE ]; then
+  echo "Cloning $SRC..."
+  GIT_LFS_SKIP_SMUDGE=1 git clone $SRC $SRC_CLONE
+
+  cd $SRC_CLONE
+
+  echo "Checking out old history..."
+
+  git checkout tags/v0.7.1 > /dev/null 2>&1
+  # checkout as main, since we need master ref later
+  git checkout -b main
+
+  echo "Creating setup commits..."
+
+  # rm these so we don't get conflicts later
+  git rm -r cereal opendbc panda selfdrive/ui/ui > /dev/null
+  git commit -m "removed conflicting files" > /dev/null
+
+  # skip-smudge to get rid of some lfs errors that it can't find the reference of some lfs files
+  # we don't care about fetching/pushing lfs right now
+  git lfs install --skip-smudge --local
+
+  # squash initial setup commits
+  git cherry-pick -n -X theirs 6c33a5c..59b3d06 > /dev/null
+  git commit -m "switching to master" > /dev/null
+
+  # squash the two commits
+  git reset --soft HEAD~2
+  git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)" -m "removed conflicting files" > /dev/null
+
+  # get commits we want to cherry-pick
+  # will start with the next commit after #59b3d06 tools is local now
+  COMMITS=$(git rev-list --reverse 59b3d06..master)
+
+  # we need this for logging
+  TOTAL_COMMITS=$(echo $COMMITS | wc -w | xargs)
+  CURRENT_COMMIT_NUMBER=0
+
+  # empty this file
+  > commit-map.txt
+
+  echo "Rewriting master commits..."
+
+  for COMMIT in $COMMITS; do
+      CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
+      # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r
+      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"
+
+      # set environment variables to preserve author/committer and dates
+      export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
+      export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT)
+      export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT)
+      export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT)
+      export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT)
+      export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT)
+
+      # cherry-pick the commit
+      if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then
+        # check if the failure is because of an empty commit
+        if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then
+          echo "Empty commit detected. Skipping commit $COMMIT"
+          git cherry-pick --skip
+          # log it was empty to the mapping file
+          echo "$COMMIT EMPTY" >> commit-map.txt
+        else
+          # handle other errors or conflicts
+          echo "Cherry-pick failed. Handling error..."
+          echo "$GIT_OUTPUT"
+          exit 1
+        fi
+      else
+        # capture the new commit hash
+        NEW_COMMIT=$(git rev-parse HEAD)
+
+        # save the old and new commit hashes to the mapping file
+        echo "$COMMIT $NEW_COMMIT" >> commit-map.txt
+
+        # append the old commit ID to the commit message
+        git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
+      fi
+
+    # prune every 3000 commits to avoid gc errors
+    if [ $((CURRENT_COMMIT_NUMBER % 3000)) -eq 0 ]; then
+      echo "Pruning repo..."
+      git gc
+    fi
+  done
+
+  echo "Rewriting tags..."
+
+  # remove all old tags
+  git tag -l | xargs git tag -d
+
+  # read each line from the tag-commit-map.txt
+  while IFS=' ' read -r TAG OLD_COMMIT; do
+    # search for the new commit in commit-map.txt corresponding to the old commit
+    NEW_COMMIT=$(grep "^$OLD_COMMIT " "commit-map.txt" | awk '{print $2}')
+
+    # check if this is a rebased commit
+    if [ -z "$NEW_COMMIT" ]; then
+      # if not, then just use old commit hash
+      NEW_COMMIT=$OLD_COMMIT
+    fi
+
+    echo "Rewriting tag $TAG from commit $NEW_COMMIT"
+    git tag -f "$TAG" "$NEW_COMMIT"
+  done < "$DIR/tag-commit-map.txt"
+
+  # uninstall lfs since we don't want to touch (push to) lfs right now
+  # git push will also push lfs, if we don't uninstall (--local so just for this repo)
+  git lfs uninstall --local
+
+  # force push new master
+  git push --force origin main:master
+
+  # force push new tags
+  git push --force --tags
+fi
+
+# REWRITE branches based on master
+if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
+  cd $SRC_CLONE
+  > rewrite-branches-done
+
+  # empty file
+  > $BRANCH_DIFF_LOG
+
+  echo "Rewriting branches based on master..."
+
+  # will store raw diffs here, if exist
+  mkdir -p differences
+
+  # get a list of all branches except master and REWRITE_IGNORE_BRANCHES
+  BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/.*origin\///' | grep -v '^master$' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n'))
+
+  for BRANCH in $BRANCHES; do
+    # check if the branch is based on master history
+    MERGE_BASE=$(git merge-base master origin/$BRANCH) || true
+    if [ -n "$MERGE_BASE" ]; then
+      echo "Rewriting branch: $BRANCH"
+
+      # create a new branch based on the new master
+      NEW_MERGE_BASE=$(grep "^$MERGE_BASE " "commit-map.txt" | awk '{print $2}')
+      if [ -z "$NEW_MERGE_BASE" ]; then
+        echo "Error: could not find new merge base for branch $BRANCH" >> $BRANCH_DIFF_LOG
+        continue
+      fi
+      git checkout -b ${BRANCH}_new $NEW_MERGE_BASE
+
+      # get the range of commits unique to this branch
+      COMMITS=$(git rev-list --reverse $MERGE_BASE..origin/${BRANCH})
+
+      HAS_ERROR=0
+
+      # simple delimiter
+      echo "BRANCH ${BRANCH}" >> commit-map.txt
+
+      for COMMIT in $COMMITS; do
+        # set environment variables to preserve author/committer and dates
+        export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
+        export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT)
+        export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT)
+        export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT)
+        export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT)
+        export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT)
+
+        # cherry-pick the commit
+        if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then
+          # check if the failure is because of an empty commit
+          if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then
+            echo "Empty commit detected. Skipping commit $COMMIT"
+            git cherry-pick --skip
+            # log it was empty to the mapping file
+            echo "$COMMIT EMPTY" >> commit-map.txt
+          else
+            # handle other errors or conflicts
+            echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> $BRANCH_DIFF_LOG
+            echo "$GIT_OUTPUT" > "$LOGS_DIR/branch-${BRANCH}"
+            git cherry-pick --abort
+            git push --delete origin ${BRANCH}
+            HAS_ERROR=1
+            break
+          fi
+        else
+          # capture the new commit hash
+          NEW_COMMIT=$(git rev-parse HEAD)
+
+          # save the old and new commit hashes to the mapping file
+          echo "$COMMIT $NEW_COMMIT" >> commit-map.txt
+
+          # append the old commit ID to the commit message
+          git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
+        fi
+      done
+
+      # force push the new branch
+      if [ $HAS_ERROR -eq 0 ]; then
+        # git lfs goes haywire here, so we need to install and uninstall
+        # git lfs install --skip-smudge --local
+        git lfs uninstall --local > /dev/null
+        git push -f origin ${BRANCH}_new:${BRANCH}
+      fi
+
+      # clean up local branch
+      git checkout master > /dev/null
+      git branch -D ${BRANCH}_new > /dev/null
+    else
+      echo "Deleting branch $BRANCH as it's not based on master history" >> $BRANCH_DIFF_LOG
+      git push --delete origin ${BRANCH}
+    fi
+  done
+fi
+
+# VALIDATE cherry-pick
+if [ ! -f "$SRC_CLONE/validation-done" ]; then
+  cd $SRC_CLONE
+  > validation-done
+
+  TOTAL_COMMITS=$(grep -cve '^\s*$' commit-map.txt)
+  CURRENT_COMMIT_NUMBER=0
+  COUNT_SAME=0
+  COUNT_DIFF=0
+
+  # empty file
+  > $COMMIT_DIFF_LOG
+
+  echo "Validating commits..."
+
+  # will store raw diffs here, if exist
+  mkdir -p differences
+
+  # read each line from commit-map.txt
+  while IFS=' ' read -r OLD_COMMIT NEW_COMMIT; do
+    if [ "$NEW_COMMIT" == "EMPTY" ]; then
+      continue
+    fi
+    if [ "$OLD_COMMIT" == "BRANCH" ]; then
+      echo "Branch ${NEW_COMMIT} below:" >> $COMMIT_DIFF_LOG
+      continue
+    fi
+    CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
+    # retrieve short hashes and dates for the old and new commits
+    OLD_COMMIT_SHORT=$(git rev-parse --short $OLD_COMMIT)
+    NEW_COMMIT_SHORT=$(git rev-parse --short $NEW_COMMIT)
+    OLD_DATE=$(git show -s --format='%cd' $OLD_COMMIT)
+    NEW_DATE=$(git show -s --format='%cd' $NEW_COMMIT)
+
+    # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r
+    echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"
+
+    # generate lists of files and their hashes for the old and new commits, excluding ignored files
+    OLD_FILES=$(git ls-tree -r $OLD_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
+    NEW_FILES=$(git ls-tree -r $NEW_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
+
+    # Compare the diffs
+    if diff <(echo "$OLD_FILES") <(echo "$NEW_FILES") > /dev/null; then
+      # echo "Old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT are equivalent."
+      COUNT_SAME=$((COUNT_SAME + 1))
+    else
+      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> $COMMIT_DIFF_LOG
+      COUNT_DIFF=$((COUNT_DIFF + 1))
+      set +e
+      diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "$LOGS_DIR/commit-$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT"
+      set -e
+    fi
+  done < "commit-map.txt"
+
+  echo "Summary:" >> $COMMIT_DIFF_LOG
+  echo "Equivalent commits: $COUNT_SAME" >> $COMMIT_DIFF_LOG
+  echo "Different commits: $COUNT_DIFF" >> $COMMIT_DIFF_LOG
+fi
+
+if [ ! -d $OUT ]; then
+  cp -r $SRC $OUT
+
+  cd $OUT
+
+  # remove all non-master branches
+  # git branch | grep -v "^  master$" | grep -v "\*" | xargs git branch -D
+
+  # echo "cleaning up refs"
+  # delete pull request refs since we can't alter them anyway (https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally#error-failed-to-push-some-refs)
+  # git for-each-ref --format='%(refname)' | grep '^refs/pull/' | xargs -I {} git update-ref -d {}
+
+  echo "importing new lfs files"
+  # import "almost" everything to lfs
+  BRANCHES=$(git for-each-ref --format='%(refname)' refs/heads/ | sed 's%refs/heads/%%g' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n') | tr '\n' ' ')
+  git lfs migrate import --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*" $BRANCHES
+
+  echo "reflog and gc"
+  # this is needed after lfs import
+  git reflog expire --expire=now --all
+  git gc --prune=now --aggressive
+
+  # check the git-filter-repo analysis again - can be found in the repo root/filter-repo/analysis
+  echo "Analyzing with git-filter-repo..."
+  /tmp/git-filter-repo --force --analyze
+
+  echo "New size is $(du -sh .)"
+fi
+
+cd $OUT
+
+# fetch all lfs files from https://github.com/commaai/openpilot.git
+# some lfs files are missing on gitlab, but they can be found on github
+git config lfs.url https://github.com/commaai/openpilot.git/info/lfs
+git config lfs.pushurl ssh://git@github.com/commaai/openpilot.git
+git lfs fetch --all || true
+
+# also fetch all lfs files from https://gitlab.com/commaai/openpilot-lfs.git
+git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot-lfs.git
+git lfs fetch --all || true
+
+# final push - will also push lfs
+# TODO: switch to git@github.com:commaai/openpilot.git when ready
+# git push --mirror git@github.com:commaai/openpilot-tiny.git
+# using this instead to ignore refs/pull/* - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
+git push --prune git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*
diff --git a/scripts/git_rewrite/rewrite.sh b/scripts/git_rewrite/rewrite.sh
new file mode 100755
index 00000000000000..8a18b15bec9e03
--- /dev/null
+++ b/scripts/git_rewrite/rewrite.sh
@@ -0,0 +1,59 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+git clone --bare https://github.com/commaai/openpilot
+cp -r openpilot.git openpilot_backup
+cd openpilot.git
+
+# backup old repo
+git push git@github.com:commaai/openpilot-archive.git +refs/heads/master:refs/heads/master
+git push git@github.com:commaai/openpilot-archive.git +refs/heads/*:refs/heads/*
+git push git@github.com:commaai/openpilot-archive.git +refs/tags/*:refs/tags/*
+git push --mirror git@github.com:commaai/openpilot-archive.git
+
+# ignore all release branches
+git for-each-ref --format='delete %(refname)' | grep 'dashcam3\|devel\|master-ci\|nightly\|release2\|release3\|release3-staging' | git update-ref --stdin
+
+# re-tag old releases on master
+declare -A TAGS=( ["f8cb04e4a8b032b72a909f68b808a50936184bee"]="v0.9.7" ["0b4d08fab8e35a264bc7383e878538f8083c33e5"]="v0.9.6" ["3b1e9017c560499786d8a0e46aaaeea65037acac"]="v0.9.5" ["fa310d9e2542cf497d92f007baec8fd751ffa99c"]="v0.9.4" ["8704c1ff952b5c85a44f50143bbd1a4f7b4887e2"]="v0.9.3" ["c7d3b28b93faa6c955fb24bc64031512ee985ee9"]="v0.9.2" ["89f68bf0cbf53a81b0553d3816fdbe522f941fa1"]="v0.9.1" ["58b84fb401a804967aa0dd5ee66fafa90194fd30"]="v0.9.0" ["f41dc62a12cc0f3cb8c5453c0caa0ba21e1bd01e"]="v0.8.16" ["5a7c2f90361e72e9c35e88abd2e11acdc4aba354"]="v0.8.15" ["71901c94dbbaa2f9f156a80c14cc7ea65219fc7c"]="v0.8.14" ["95da47079510afc91665263619e5939126da637c"]="v0.8.13" ["472177e2a8a1d002e56f9096326fd2dff62e54f9"]="v0.8.12" ["08078acbd0b4f7da469c7dff6159000e358974a9"]="v0.8.11" ["687925c775c375495f9827946138a724bde00b9d"]="v0.8.10" ["204e5a090735a059d69c29145a4cee49450da07e"]="v0.8.9" ["4be956f8861ecbb521ef9503a3c87b07c9d36721"]="v0.8.8" ["589f82c76627d634761a31a34b2488403556eb0b"]="v0.8.7" ["507cfc8910f74ddb8810039d68b880b426ff9ff9"]="v0.8.6" ["d47b00b45a866bef088f51d1ff31de5885ab04e9"]="v0.8.5" ["553e7d1cce314e7eb0587186b1764c3ff43bed62"]="v0.8.4" ["9896438d1511602a1ff87f7c4eb3c7172b30104a"]="v0.8.3" ["280192ed1443f112463417c2d815ea8ee2762fbd"]="v0.8.2" ["8039361567e4659eae2a084e6f39f34acadf4cac"]="v0.8.1" ["d56e04c0d960c8d3d4ab88b578dc508a2b4e07dc"]="v0.8" ["3d456e5d0fbf0c9887d0499dee812f2b029edf6d"]="v0.7.10" ["81763a18b5d0e379b749e090ecce36a91fca7c43"]="v0.7.9" ["9bc0b350fd273bbb2deb3dcaef0312944e4f6cfd"]="v0.7.8" ["ede5b632b58c55e4ff003f948efae07fe03c2280"]="v0.7.7" ["775acd11ba2e0a8c2f5a5655338718d796491b36"]="v0.7.6.1" ["302417b4cf0dcf00d45e4995b5410e543ad121d1"]="v0.7.5" ["12ff088b42221dd17d9d97decb1fc61a7cb0a861"]="v0.7.4" ["9563f7730252451fdcba9bc3d9fe36dab9c86a26"]="v0.7.3" ["8321cf283abbc2ca3fda7e0c7a069a77a492fe0c"]="v0.7.2" ["1e1de64a1e59476b7b3d3558b92149246d5c3292"]="v0.7.1" ["a2ae18d1dbd1e59c38ce22fa25ddffbd1d3084e3"]="v0.7" ["d4eb5a6eafdd4803d09e6f3963918216cca5a81f"]="v0.6.6" ["70d17cd69b80e7627dcad8fd5b6438f2309ac307"]="v0.6.5" ["58f376002e0c654fbc2de127765fa297cf694a33"]="v0.6.4" ["d5f9caa82d80cdcc7f1b7748f2cf3ccbf94f82a3"]="v0.6.3" ["095ef5f9f60fca1b269aabcc3cfd322b17b9e674"]="v0.6.2" ["cf5c4aeacb1703d0ffd35bdb5297d3494fee9a22"]="v0.6.1" ["60a20537c5f3fcc7f11946d81aebc8f90c08c117"]="v0.6" ["dd34ccfe288ebda8e2568cf550994ae890379f45"]="v0.5.13" ["3f9059fea886f1fa3b0c19a62a981d891dcc84eb"]="v0.5.12" ["2f92d577f995ff6ae1945ef6b89df3cb69b92999"]="v0.5.11" ["5a9d89ed42ddcd209d001a10d7eb828ef0e6d9de"]="v0.5.10" ["0207a970400ee28d3e366f2e8f5c551281accf02"]="v0.5.9" ["b967da5fc1f7a07e3561db072dd714d325e857b0"]="v0.5.8" ["210db686bb89f8696aa040e6e16de65424b808c9"]="v0.5.7" ["860a48765d1016ba226fb2c64aea35a45fe40e4a"]="v0.5.6" ["8f3539a27b28851153454eb737da9624cccaed2d"]="v0.5.5" ["a422246dc30bce11e970514f13f7c110f4470cc3"]="v0.5.4" ["285c52eb693265a0a530543e9ca0aeb593a2a55e"]="v0.5.3" ["0129a8a4ff8da5314e8e4d4d3336e89667ff6d54"]="v0.5.2" ["6f3d10a4c475c4c4509f0b370805419acd13912d"]="v0.5.1" ["de33bc46452b1046387ee2b3a03191b2c71135fb"]="v0.5" ["ae5cb7a0dab8b1bed9d52292f9b4e8e66a0f8ec9"]="v0.4.7" ["c6df34f55ba8c5a911b60d3f9eb20e3fa45f68c1"]="v0.4.6" ["37285038d3f91fa1b49159c4a35a8383168e644f"]="v0.4.5" ["9a9ff839a9b70cb2601d7696af743f5652395389"]="v0.4.4" ["28c0797d30175043bbfa31307b63aab4197cf996"]="v0.4.2" ["4474b9b3718653aeb0aee26422caefb90460cc0e"]="v0.4.1" ["da52d065a4c4f52d6017a537f3a80326f5af8bdc"]="v0.4.0.2" ["9d3963559ae7b15193057937ff3e72481899f40d"]="v0.3.5"  ["1b8c44b5067525a5d266b6e99799d8097da76a29"]="v0.3.4" ["5cf91d0496688fed4f2a6c7021349b1fc0e057a2"]="v0.3.3" ["7fe46f1e1df5dec08a940451ba0feefd5c039165"]="v0.3.2" ["41e3a0f699f5c39cb61a15c0eb7a4aa816d47c24"]="v0.3.1" ["c5d8aec28b5230d34ae4b677c2091cc3dec7e3e8"]="v0.3.0" ["693bcb0f83478f2651db6bac9be5ca5ad60d03f3"]="v0.2.9" ["95a349abcc050712c50d4d85a1c8a804eee7f6c2"]="v0.2.8" ["c6ba5dc5391d3ca6cda479bf1923b88ce45509a0"]="v0.2.7" ["6c3afeec0fb439070b2912978b8dbb659033b1d9"]="v0.2.6" ["29c58b45882ac79595356caf98580c1d2a626011"]="v0.2.5" ["ecc565aa3fdc4c7e719aadc000e1fdc4d80d4fe0"]="v0.2.4" ["adaa4ed350acda4067fc0b455ad15b54cdf4c768"]="v0.2.3" ["a64b9aa9b8cb5863c917b6926516291a63c02fe5"]="v0.2.2" ["17d9becd3c673091b22f09aa02559a9ed9230f50"]="v0.2.1" ["449b482cc3236ccf31829830b4f6a44b2dcc06c2"]="v0.2" ["e94a30bec07e719c5a7b037ca1f4db8312702cce"]="v0.1" )
+for tag in "${!TAGS[@]}"; do git tag -f "${TAGS[$tag]}" "$tag" ; done
+
+# get master root commit
+ROOT_COMMIT=$(git rev-list --max-parents=0 HEAD | tail -n 1)
+
+# link master and devel
+git replace --graft $ROOT_COMMIT v0.7.1
+git-filter-repo --prune-empty never --force --commit-callback 'h=commit.original_id.decode("utf-8");m=commit.message.decode("utf-8");commit.message=str.encode(m + "\n" + "old-commit-hash: " + h)'
+
+# delete replace refs
+git for-each-ref --format='delete %(refname)' refs/replace | git update-ref --stdin
+
+# machine validation
+tail -n +2 "filter-repo/commit-map" | tr ' ' '\n' | xargs -P $(nproc) -n 2 bash -c 'H1=$(cd ../openpilot_backup && git ls-tree -r $0 | sha1sum) && H2=$(git ls-tree -r $1 | sha1sum) && echo "$H1 $H2" >> /tmp/GIT_HASHES && diff <(echo $H1) <(echo $H2) || exit 255'
+# human validation
+less /tmp/GIT_HASH
+
+# cleanup
+git reflog expire --expire=now --all
+git gc --prune=now --aggressive
+
+# get all lfs files
+set +e
+git config lfs.url https://github.com/commaai/openpilot.git/info/lfs
+git lfs fetch --all
+git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+git lfs fetch --all
+set -e
+
+# add new files to lfs
+git lfs migrate import --everything --include="*.ico,*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,pyextra/**/*,panda/board/**/inc/*.h,panda/board/obj/*.elf,board/inc/*.h,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,*.pro,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,poetry.lock,*.qm"
+
+# set new lfs endpoint
+git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot-lfs.git
+
+# push all branch+tag (scary stuff...)
+git push -f --set-upstream git@github.com:commaai/openpilot.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*
diff --git a/scripts/git_rewrite/tag-commit-map.txt b/scripts/git_rewrite/tag-commit-map.txt
new file mode 100644
index 00000000000000..66b1fb00c182a0
--- /dev/null
+++ b/scripts/git_rewrite/tag-commit-map.txt
@@ -0,0 +1,82 @@
+v0.1 e94a30bec07e719c5a7b037ca1f4db8312702cce
+v0.2 449b482cc3236ccf31829830b4f6a44b2dcc06c2
+v0.2.1 17d9becd3c673091b22f09aa02559a9ed9230f50
+v0.2.2 a64b9aa9b8cb5863c917b6926516291a63c02fe5
+v0.2.3 adaa4ed350acda4067fc0b455ad15b54cdf4c768
+v0.2.4 ecc565aa3fdc4c7e719aadc000e1fdc4d80d4fe0
+v0.2.5 29c58b45882ac79595356caf98580c1d2a626011
+v0.2.6 6c3afeec0fb439070b2912978b8dbb659033b1d9
+v0.2.7 c6ba5dc5391d3ca6cda479bf1923b88ce45509a0
+v0.2.8 95a349abcc050712c50d4d85a1c8a804eee7f6c2
+v0.2.9 693bcb0f83478f2651db6bac9be5ca5ad60d03f3
+v0.3.0 c5d8aec28b5230d34ae4b677c2091cc3dec7e3e8
+v0.3.1 41e3a0f699f5c39cb61a15c0eb7a4aa816d47c24
+v0.3.2 7fe46f1e1df5dec08a940451ba0feefd5c039165
+v0.3.3 5cf91d0496688fed4f2a6c7021349b1fc0e057a2
+v0.3.4 1b8c44b5067525a5d266b6e99799d8097da76a29
+v0.3.5 b111277f464cf66fa34b67819a83ea683e0f64df
+v0.4.0.2 da52d065a4c4f52d6017a537f3a80326f5af8bdc
+v0.4.1 4474b9b3718653aeb0aee26422caefb90460cc0e
+v0.4.2 28c0797d30175043bbfa31307b63aab4197cf996
+v0.4.4 9a9ff839a9b70cb2601d7696af743f5652395389
+v0.4.5 37285038d3f91fa1b49159c4a35a8383168e644f
+v0.4.6 c6df34f55ba8c5a911b60d3f9eb20e3fa45f68c1
+v0.4.7 ae5cb7a0dab8b1bed9d52292f9b4e8e66a0f8ec9
+v0.5 de33bc46452b1046387ee2b3a03191b2c71135fb
+v0.5.1 8f22f52235c48eada586795ac57edb22688e4d08
+v0.5.2 0129a8a4ff8da5314e8e4d4d3336e89667ff6d54
+v0.5.3 285c52eb693265a0a530543e9ca0aeb593a2a55e
+v0.5.4 a422246dc30bce11e970514f13f7c110f4470cc3
+v0.5.5 8f3539a27b28851153454eb737da9624cccaed2d
+v0.5.6 860a48765d1016ba226fb2c64aea35a45fe40e4a
+v0.5.7 9ce3045f139ee29bf0eea5ec59dfe7df9c3d2c51
+v0.5.8 2cee2e05ba0f3824fdbb8b957958800fa99071a1
+v0.5.9 ad145da3bcded0fe75306df02061d07a633963c3
+v0.5.10 ff4c1557d8358f158f4358788ff18ef93d2470ef
+v0.5.11 d1866845df423c6855e2b365ff230cf7d89a420b
+v0.5.12 f6e8ef27546e9a406724841e75f8df71cc4c2c97
+v0.5.13 dd34ccfe288ebda8e2568cf550994ae890379f45
+v0.6 60a20537c5f3fcc7f11946d81aebc8f90c08c117
+v0.6.1 cf5c4aeacb1703d0ffd35bdb5297d3494fee9a22
+v0.6.2 095ef5f9f60fca1b269aabcc3cfd322b17b9e674
+v0.6.3 d5f9caa82d80cdcc7f1b7748f2cf3ccbf94f82a3
+v0.6.4 58f376002e0c654fbc2de127765fa297cf694a33
+v0.6.5 70d17cd69b80e7627dcad8fd5b6438f2309ac307
+v0.6.6 d4eb5a6eafdd4803d09e6f3963918216cca5a81f
+v0.7 a2ae18d1dbd1e59c38ce22fa25ddffbd1d3084e3
+v0.7.1 1e1de64a1e59476b7b3d3558b92149246d5c3292
+v0.7.2 59bd58c940673b4c4a6a86f299022614bcf42b22
+v0.7.3 d7acd8b68f8131e0e714400cf124a3e228638643
+v0.7.4 e93649882c5e914eec4a8b8b593dc0587e497033
+v0.7.5 8abc0afe464626a461d2c7e192c912eeebeccc65
+v0.7.6 69aacd9d179fe6dd3110253a099c38b34cff7899
+v0.7.7 f1caed7299cdba5e45635d8377da6cc1e5fd7072
+v0.7.8 2189fe8741b635d8394d55dee28959425cfd5ad0
+v0.7.9 86dc54b836a973f132ed26db9f5a60b29f9b25b2
+v0.7.10 47a42ff432db8a2494e922ca5e767e58020f0446
+v0.7.11 f46ed718ba8d6bb4d42cd7b0f0150c406017c373
+v0.8 d56e04c0d960c8d3d4ab88b578dc508a2b4e07dc
+v0.8.1 cd6f26664cb8d32a13847d6648567c47c580e248
+v0.8.2 7cc0999aebfe63b6bb6dd83c1dff62c3915c4820
+v0.8.3 986500fe2f10870018f1fba1e5465476b8915977
+v0.8.4 f0d0b82b8d6f5f450952113e234d0a5a49e80c48
+v0.8.5 f5d9ddc6c2a2802a61e5ce590c6b6688bf736a69
+v0.8.6 75904ed7452c6cbfb2a70cd379a899d8a75b97c2
+v0.8.7 4f9e568019492126e236da85b5ca0a059f292900
+v0.8.8 a949a49d5efaaf2d881143d23e9fb5ff9e28e88c
+v0.8.9 a034926264cd1025c69d6ceb3fe444965f960b75
+v0.8.10 59accdd814398b884167c0f41dbf46dcccf0c29c
+v0.8.11 d630ec9092f039cb5e51c5dd6d92fc47b91407e4
+v0.8.12 57871c99031cf597ffa0d819057ac1401e129f32
+v0.8.13 e43e6e876513450d235124fcb711f1724ed9814c
+v0.8.14 71901c94dbbaa2f9f156a80c14cc7ea65219fc7c
+v0.8.15 5a7c2f90361e72e9c35e88abd2e11acdc4aba354
+v0.8.16 f41dc62a12cc0f3cb8c5453c0caa0ba21e1bd01e
+v0.9.0 58b84fb401a804967aa0dd5ee66fafa90194fd30
+v0.9.1 89f68bf0cbf53a81b0553d3816fdbe522f941fa1
+v0.9.2 c7d3b28b93faa6c955fb24bc64031512ee985ee9
+v0.9.3 8704c1ff952b5c85a44f50143bbd1a4f7b4887e2
+v0.9.4 fa310d9e2542cf497d92f007baec8fd751ffa99c
+v0.9.5 3b1e9017c560499786d8a0e46aaaeea65037acac
+v0.9.6 0b4d08fab8e35a264bc7383e878538f8083c33e5
+v0.9.7 f8cb04e4a8b032b72a909f68b808a50936184bee
diff --git a/scripts/pyqt_demo.py b/scripts/pyqt_demo.py
new file mode 100755
index 00000000000000..783728bdb88e37
--- /dev/null
+++ b/scripts/pyqt_demo.py
@@ -0,0 +1,14 @@
+#!/usr/bin/env python3
+
+from PyQt5.QtWidgets import QApplication, QLabel
+from openpilot.selfdrive.ui.qt.python_helpers import set_main_window
+
+
+if __name__ == "__main__":
+  app = QApplication([])
+  label = QLabel('Hello World!')
+
+  # Set full screen and rotate
+  set_main_window(label)
+
+  app.exec_()
diff --git a/selfdrive/assets/offroad/icon_plus.png b/selfdrive/assets/offroad/icon_plus.png
new file mode 100644
index 00000000000000..6418a37a654ffa
--- /dev/null
+++ b/selfdrive/assets/offroad/icon_plus.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa3f1c39a4e82adfb52d43fc0ad6773a70dbaa4fc79109a7d6b6c1f73b298eac
+size 2833
diff --git a/selfdrive/debug/internal/__init__.py b/selfdrive/debug/internal/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/selfdrive/debug/fuzz_fw_fingerprint.py b/selfdrive/debug/internal/fuzz_fw_fingerprint.py
similarity index 100%
rename from selfdrive/debug/fuzz_fw_fingerprint.py
rename to selfdrive/debug/internal/fuzz_fw_fingerprint.py
diff --git a/selfdrive/debug/measure_modeld_packet_drop.py b/selfdrive/debug/internal/measure_modeld_packet_drop.py
similarity index 100%
rename from selfdrive/debug/measure_modeld_packet_drop.py
rename to selfdrive/debug/internal/measure_modeld_packet_drop.py
diff --git a/selfdrive/debug/measure_torque_time_to_max.py b/selfdrive/debug/internal/measure_torque_time_to_max.py
similarity index 100%
rename from selfdrive/debug/measure_torque_time_to_max.py
rename to selfdrive/debug/internal/measure_torque_time_to_max.py
diff --git a/selfdrive/debug/qlog_size.py b/selfdrive/debug/internal/qlog_size.py
similarity index 100%
rename from selfdrive/debug/qlog_size.py
rename to selfdrive/debug/internal/qlog_size.py
diff --git a/selfdrive/debug/touch_replay.py b/selfdrive/debug/touch_replay.py
index 6e5ecbbe5b59e8..1e1596d2640817 100755
--- a/selfdrive/debug/touch_replay.py
+++ b/selfdrive/debug/touch_replay.py
@@ -30,7 +30,7 @@
         elif event.type == 3 and event.code == 57 and event.value == -1:
           fingers[current_slot] = [-1, -1]
         elif event.type == 3 and event.code == 53:
-          fingers[current_slot][1] = event.value
+          fingers[current_slot][1] = h - (h - event.value)
           if fingers[current_slot][0] != -1:
             touch_points.append(fingers[current_slot].copy())
         elif event.type == 3 and event.code == 54:
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index cb0ce22d8b4477..ef0fd52f334dcb 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -26,6 +26,10 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor
     xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
 
 # Compile cython
+snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64"
+snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
+snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
+
 cython_libs = envCython["LIBS"] + libs
 commonmodel_lib = lenv.Library('commonmodel', common_src)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
index beb0d22ef5b051..bf74c2d1a065ec 100644
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@@ -16,6 +16,7 @@ class ModelConstants:
   MODEL_FREQ = 20
   FEATURE_LEN = 512
   FULL_HISTORY_BUFFER_LEN = 99
+  HISTORY_BUFFER_LEN = 24
   DESIRE_LEN = 8
   TRAFFIC_CONVENTION_LEN = 2
   LAT_PLANNER_STATE_LEN = 4
@@ -72,13 +73,14 @@ class Plan:
 class Meta:
   ENGAGED = slice(0, 1)
   # next 2, 4, 6, 8, 10 seconds
-  GAS_DISENGAGE = slice(1, 36, 7)
-  BRAKE_DISENGAGE = slice(2, 36, 7)
-  STEER_OVERRIDE = slice(3, 36, 7)
-  HARD_BRAKE_3 = slice(4, 36, 7)
-  HARD_BRAKE_4 = slice(5, 36, 7)
-  HARD_BRAKE_5 = slice(6, 36, 7)
-  GAS_PRESS = slice(7, 36, 7)
+  GAS_DISENGAGE = slice(1, 31, 6)
+  BRAKE_DISENGAGE = slice(2, 31, 6)
+  STEER_OVERRIDE = slice(3, 31, 6)
+  HARD_BRAKE_3 = slice(4, 31, 6)
+  HARD_BRAKE_4 = slice(5, 31, 6)
+  HARD_BRAKE_5 = slice(6, 31, 6)
   # next 0, 2, 4, 6, 8, 10 seconds
-  LEFT_BLINKER = slice(36, 48, 2)
-  RIGHT_BLINKER = slice(37, 48, 2)
+  GAS_PRESS = slice(31, 55, 4)
+  BRAKE_PRESS = slice(32, 55, 4)
+  LEFT_BLINKER = slice(33, 55, 4)
+  RIGHT_BLINKER = slice(34, 55, 4)
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 3056da937452ee..a13d632aa676f9 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -3,11 +3,21 @@
 import numpy as np
 from cereal import log
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
+from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 ConfidenceClass = log.ModelDataV2.ConfidenceClass
 
+def curv_from_psis(psi_target, psi_rate, vego, delay):
+  vego = np.clip(vego, MIN_SPEED, np.inf)
+  curv_from_psi = psi_target / (vego * delay)  # epsilon to prevent divide-by-zero
+  return 2*curv_from_psi - psi_rate / vego
+
+def get_curvature_from_plan(plan, vego, delay):
+  psi_target = np.interp(delay, ModelConstants.T_IDXS, plan[:, Plan.T_FROM_CURRENT_EULER][:, 2])
+  psi_rate = plan[:, Plan.ORIENTATION_RATE][0, 2]
+  return curv_from_psis(psi_target, psi_rate, vego, delay)
 
 class PublishState:
   def __init__(self):
@@ -65,6 +75,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   extended_msg.valid = valid
   base_msg.valid = valid
 
+  desired_curv = float(get_curvature_from_plan(net_output_data['plan'][0], v_ego, delay))
+
   driving_model_data = base_msg.drivingModelData
 
   driving_model_data.frameId = vipc_frame_id
@@ -73,7 +85,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   driving_model_data.modelExecutionTime = model_execution_time
 
   action = driving_model_data.action
-  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  action.desiredCurvature = desired_curv
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -108,7 +120,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
 
   # lateral planning
   action = modelV2.action
-  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  action.desiredCurvature = desired_curv
 
   # times at X_IDXS according to model plan
   PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
@@ -169,8 +181,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
   disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
   disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
-  #disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
-  #disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
+  disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
+  disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
 
   publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
   publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 5783f6aa8e0425..49f8c483f05501 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -59,14 +59,14 @@ class ModelState:
   def __init__(self, context: CLContext):
     self.frames = {'input_imgs': DrivingModelFrame(context), 'big_input_imgs': DrivingModelFrame(context)}
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
+    self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
+    self.desire_20Hz =  np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
 
     # img buffers are managed in openCL transform code
     self.numpy_inputs = {
-      'desire': np.zeros((1, (ModelConstants.FULL_HISTORY_BUFFER_LEN+1), ModelConstants.DESIRE_LEN), dtype=np.float32),
+      'desire': np.zeros((1, (ModelConstants.HISTORY_BUFFER_LEN+1), ModelConstants.DESIRE_LEN), dtype=np.float32),
       'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
-      'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
-      'prev_desired_curv': np.zeros((1, (ModelConstants.FULL_HISTORY_BUFFER_LEN+1), ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
-      'features_buffer': np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
+      'features_buffer': np.zeros((1, ModelConstants.HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
     }
 
     with open(METADATA_PATH, 'rb') as f:
@@ -98,11 +98,11 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_
     new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
     self.prev_desire[:] = inputs['desire']
 
-    self.numpy_inputs['desire'][0,:-1] = self.numpy_inputs['desire'][0,1:]
-    self.numpy_inputs['desire'][0,-1] = new_desire
+    self.desire_20Hz[:-1] = self.desire_20Hz[1:]
+    self.desire_20Hz[-1] = new_desire
+    self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape((1,25,4,-1)).max(axis=2)
 
     self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
-    self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
     imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
                'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
 
@@ -113,7 +113,7 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_
           self.tensor_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=dtypes.uint8)
     else:
       for key in imgs_cl:
-        self.numpy_inputs[key] = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key]).astype(dtype=np.float32)
+        self.numpy_inputs[key] = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key])
 
     if prepare_only:
       return None
@@ -125,13 +125,11 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_
 
     outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
 
-    self.numpy_inputs['features_buffer'][0,:-1] = self.numpy_inputs['features_buffer'][0,1:]
-    self.numpy_inputs['features_buffer'][0,-1] = outputs['hidden_state'][0, :]
+    self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
+    self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
 
-
-    # TODO model only uses last value now
-    self.numpy_inputs['prev_desired_curv'][0,:-1] = self.numpy_inputs['prev_desired_curv'][0,1:]
-    self.numpy_inputs['prev_desired_curv'][0,-1,:] = outputs['desired_curvature'][0, :]
+    idxs = np.arange(-4,-100,-4)[::-1]
+    self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[idxs]
     return outputs
 
 
@@ -242,7 +240,6 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -273,7 +270,6 @@ def main(demo=False):
     inputs:dict[str, np.ndarray] = {
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
-      'lateral_control_params': lateral_control_params,
       }
 
     mt1 = time.perf_counter()
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index 9973d185881901..ad2620c7b4a687 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -8,8 +8,8 @@
 DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
   input_frames = std::make_unique<uint8_t[]>(buf_size);
   input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 2*frame_size_bytes, NULL, &err));
-  region.origin = 1 * frame_size_bytes;
+  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err));
+  region.origin = 4 * frame_size_bytes;
   region.size = frame_size_bytes;
   last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
 
@@ -20,7 +20,7 @@ DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context)
 cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
   run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
 
-  for (int i = 0; i < 1; i++) {
+  for (int i = 0; i < 4; i++) {
     CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
   }
   loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 2e1a60a23eb453..777aa8aa7e4d35 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4
-size 51453312
+oid sha256:72d3d6f8d3c98f5431ec86be77b6350d7d4f43c25075c0106f1d1e7ec7c77668
+size 49096168
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index 4367e9db8a2bcd..b699c5fd13593f 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -96,8 +96,6 @@ def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
                    out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     if 'lat_planner_solution' in outs:
       self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
-    if 'desired_curvature' in outs:
-      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
     for k in ['lead_prob', 'lane_lines_prob', 'meta']:
       self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
diff --git a/selfdrive/modeld/tests/snpe_benchmark/.gitignore b/selfdrive/modeld/tests/snpe_benchmark/.gitignore
new file mode 100644
index 00000000000000..d83a1b2ff5c336
--- /dev/null
+++ b/selfdrive/modeld/tests/snpe_benchmark/.gitignore
@@ -0,0 +1 @@
+benchmark
diff --git a/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc b/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc
new file mode 100644
index 00000000000000..f72f7fb1a7ac3b
--- /dev/null
+++ b/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc
@@ -0,0 +1,192 @@
+#include <SNPE/SNPE.hpp>
+#include <SNPE/SNPEBuilder.hpp>
+#include <SNPE/SNPEFactory.hpp>
+#include <DlContainer/IDlContainer.hpp>
+#include <DlSystem/DlError.hpp>
+#include <DlSystem/ITensor.hpp>
+#include <DlSystem/ITensorFactory.hpp>
+#include <iostream>
+#include <fstream>
+#include <sstream>
+
+using namespace std;
+
+int64_t timespecDiff(struct timespec *timeA_p, struct timespec *timeB_p) {
+  return ((timeA_p->tv_sec * 1000000000) + timeA_p->tv_nsec) - ((timeB_p->tv_sec * 1000000000) + timeB_p->tv_nsec);
+}
+
+void PrintErrorStringAndExit() {
+  cout << "ERROR!" << endl;
+  const char* const errStr = zdl::DlSystem::getLastErrorString();
+  std::cerr << errStr << std::endl;
+  std::exit(EXIT_FAILURE);
+}
+
+
+zdl::DlSystem::Runtime_t checkRuntime() {
+  static zdl::DlSystem::Version_t Version = zdl::SNPE::SNPEFactory::getLibraryVersion();
+  static zdl::DlSystem::Runtime_t Runtime;
+  std::cout << "SNPE Version: " << Version.asString().c_str() << std::endl; //Print Version number
+  if (zdl::SNPE::SNPEFactory::isRuntimeAvailable(zdl::DlSystem::Runtime_t::DSP)) {
+    std::cout << "Using DSP runtime" << std::endl;
+    Runtime = zdl::DlSystem::Runtime_t::DSP;
+  } else if (zdl::SNPE::SNPEFactory::isRuntimeAvailable(zdl::DlSystem::Runtime_t::GPU)) {
+    std::cout << "Using GPU runtime" << std::endl;
+    Runtime = zdl::DlSystem::Runtime_t::GPU;
+  } else {
+    std::cout << "Using cpu runtime" << std::endl;
+    Runtime = zdl::DlSystem::Runtime_t::CPU;
+  }
+  return Runtime;
+}
+
+void test(char *filename) {
+  static zdl::DlSystem::Runtime_t runtime = checkRuntime();
+  std::unique_ptr<zdl::DlContainer::IDlContainer> container;
+  container = zdl::DlContainer::IDlContainer::open(filename);
+
+  if (!container) { PrintErrorStringAndExit(); }
+  cout << "start build" << endl;
+  std::unique_ptr<zdl::SNPE::SNPE> snpe;
+  {
+    snpe = NULL;
+    zdl::SNPE::SNPEBuilder snpeBuilder(container.get());
+    snpe = snpeBuilder.setOutputLayers({})
+      .setRuntimeProcessor(runtime)
+      .setUseUserSuppliedBuffers(false)
+      //.setDebugMode(true)
+      .build();
+    if (!snpe) {
+      cout << "ERROR!" << endl;
+      const char* const errStr = zdl::DlSystem::getLastErrorString();
+      std::cerr << errStr << std::endl;
+    }
+    cout << "ran snpeBuilder" << endl;
+  }
+
+  const auto &strList_opt = snpe->getInputTensorNames();
+  if (!strList_opt) throw std::runtime_error("Error obtaining input tensor names");
+
+  cout << "get input tensor names done" << endl;
+  const auto &strList = *strList_opt;
+  static zdl::DlSystem::TensorMap inputTensorMap;
+  static zdl::DlSystem::TensorMap outputTensorMap;
+  vector<std::unique_ptr<zdl::DlSystem::ITensor> > inputs;
+  for (int i = 0; i < strList.size(); i++) {
+    cout << "input name: " << strList.at(i) << endl;
+
+    const auto &inputDims_opt = snpe->getInputDimensions(strList.at(i));
+    const auto &inputShape = *inputDims_opt;
+    inputs.push_back(zdl::SNPE::SNPEFactory::getTensorFactory().createTensor(inputShape));
+    inputTensorMap.add(strList.at(i), inputs[i].get());
+  }
+
+  struct timespec start, end;
+  cout << "**** starting benchmark ****" << endl;
+  for (int i = 0; i < 50; i++) {
+    clock_gettime(CLOCK_MONOTONIC, &start);
+    int err = snpe->execute(inputTensorMap, outputTensorMap);
+    assert(err == true);
+    clock_gettime(CLOCK_MONOTONIC, &end);
+    uint64_t timeElapsed = timespecDiff(&end, &start);
+    printf("time: %f ms\n", timeElapsed*1.0/1e6);
+  }
+}
+
+void get_testframe(int index, std::unique_ptr<zdl::DlSystem::ITensor> &input) {
+  FILE * pFile;
+  string filepath="/data/ipt/quantize_samples/sample_input_"+std::to_string(index);
+  pFile = fopen(filepath.c_str(), "rb");
+  int length = 1*6*160*320*4;
+  float * frame_buffer = new float[length/4]; // 32/8
+  fread(frame_buffer, length, 1, pFile);
+  // std::cout << *(frame_buffer+length/4-1) << std::endl;
+  std::copy(frame_buffer, frame_buffer+(length/4), input->begin());
+  fclose(pFile);
+}
+
+void SaveITensor(const std::string& path, const zdl::DlSystem::ITensor* tensor)
+{
+   std::ofstream os(path, std::ofstream::binary);
+   if (!os)
+   {
+      std::cerr << "Failed to open output file for writing: " << path << "\n";
+      std::exit(EXIT_FAILURE);
+   }
+   for ( auto it = tensor->cbegin(); it != tensor->cend(); ++it )
+   {
+      float f = *it;
+      if (!os.write(reinterpret_cast<char*>(&f), sizeof(float)))
+      {
+         std::cerr << "Failed to write data to: " << path << "\n";
+         std::exit(EXIT_FAILURE);
+      }
+   }
+}
+
+void testrun(char* modelfile) {
+  static zdl::DlSystem::Runtime_t runtime = checkRuntime();
+  std::unique_ptr<zdl::DlContainer::IDlContainer> container;
+  container = zdl::DlContainer::IDlContainer::open(modelfile);
+
+  if (!container) { PrintErrorStringAndExit(); }
+  cout << "start build" << endl;
+  std::unique_ptr<zdl::SNPE::SNPE> snpe;
+  {
+    snpe = NULL;
+    zdl::SNPE::SNPEBuilder snpeBuilder(container.get());
+    snpe = snpeBuilder.setOutputLayers({})
+      .setRuntimeProcessor(runtime)
+      .setUseUserSuppliedBuffers(false)
+      //.setDebugMode(true)
+      .build();
+    if (!snpe) {
+      cout << "ERROR!" << endl;
+      const char* const errStr = zdl::DlSystem::getLastErrorString();
+      std::cerr << errStr << std::endl;
+    }
+    cout << "ran snpeBuilder" << endl;
+  }
+
+  const auto &strList_opt = snpe->getInputTensorNames();
+  if (!strList_opt) throw std::runtime_error("Error obtaining input tensor names");
+  cout << "get input tensor names done" << endl;
+
+  const auto &strList = *strList_opt;
+  static zdl::DlSystem::TensorMap inputTensorMap;
+  static zdl::DlSystem::TensorMap outputTensorMap;
+
+  assert(strList.size() == 1);
+  const auto &inputDims_opt = snpe->getInputDimensions(strList.at(0));
+  const auto &inputShape = *inputDims_opt;
+  std::cout << "winkwink" << std::endl;
+
+  for (int i=0; i<10000; i++) {
+    std::unique_ptr<zdl::DlSystem::ITensor> input;
+    input = zdl::SNPE::SNPEFactory::getTensorFactory().createTensor(inputShape);
+    get_testframe(i, input);
+    snpe->execute(input.get(), outputTensorMap);
+    zdl::DlSystem::StringList tensorNames = outputTensorMap.getTensorNames();
+    std::for_each(tensorNames.begin(), tensorNames.end(), [&](const char* name) {
+      std::ostringstream path;
+      path << "/data/opt/Result_" << std::to_string(i) << ".raw";
+      auto tensorPtr = outputTensorMap.getTensor(name);
+      SaveITensor(path.str(), tensorPtr);
+    });
+  }
+}
+
+int main(int argc, char* argv[]) {
+  if (argc < 2) {
+    printf("usage: %s <filename>\n", argv[0]);
+    return -1;
+  }
+
+  if (argc == 2) {
+    while (true) test(argv[1]);
+  } else if (argc == 3) {
+    testrun(argv[1]);
+  }
+  return 0;
+}
+
diff --git a/selfdrive/modeld/tests/snpe_benchmark/benchmark.sh b/selfdrive/modeld/tests/snpe_benchmark/benchmark.sh
new file mode 100755
index 00000000000000..a9d3f79786a2b0
--- /dev/null
+++ b/selfdrive/modeld/tests/snpe_benchmark/benchmark.sh
@@ -0,0 +1,4 @@
+#!/bin/sh -e
+clang++ -I /data/openpilot/third_party/snpe/include/ -L/data/pythonpath/third_party/snpe/aarch64 -lSNPE benchmark.cc -o benchmark
+export LD_LIBRARY_PATH="/data/pythonpath/third_party/snpe/aarch64/:$HOME/openpilot/third_party/snpe/x86_64/:$LD_LIBRARY_PATH"
+exec ./benchmark $1
diff --git a/selfdrive/test/ciui.py b/selfdrive/test/ciui.py
new file mode 100755
index 00000000000000..f3b0c1a98f357f
--- /dev/null
+++ b/selfdrive/test/ciui.py
@@ -0,0 +1,58 @@
+#!/usr/bin/env python3
+import signal
+import subprocess
+
+signal.signal(signal.SIGINT, signal.SIG_DFL)
+signal.signal(signal.SIGTERM, signal.SIG_DFL)
+
+from PyQt5.QtCore import QTimer
+from PyQt5.QtWidgets import QApplication, QWidget, QVBoxLayout, QLabel
+from openpilot.selfdrive.ui.qt.python_helpers import set_main_window
+
+class Window(QWidget):
+  def __init__(self, parent=None):
+    super().__init__(parent)
+
+    layout = QVBoxLayout()
+    self.setLayout(layout)
+
+    self.l = QLabel("jenkins runner")
+    layout.addWidget(self.l)
+    layout.addStretch(1)
+    layout.setContentsMargins(20, 20, 20, 20)
+
+    cmds = [
+      "cat /etc/hostname",
+      "echo AGNOS v$(cat /VERSION)",
+      "uptime -p",
+    ]
+    self.labels = {}
+    for c in cmds:
+      self.labels[c] = QLabel(c)
+      layout.addWidget(self.labels[c])
+
+    self.setStyleSheet("""
+      * {
+        color: white;
+        font-size: 55px;
+        background-color: black;
+        font-family: "JetBrains Mono";
+      }
+    """)
+
+    self.timer = QTimer()
+    self.timer.timeout.connect(self.update)
+    self.timer.start(10 * 1000)
+    self.update()
+
+  def update(self):
+    for cmd, label in self.labels.items():
+      out = subprocess.run(cmd, capture_output=True,
+                           shell=True, check=False, encoding='utf8').stdout
+      label.setText(out.strip())
+
+if __name__ == "__main__":
+  app = QApplication([])
+  w = Window()
+  set_main_window(w)
+  app.exec_()
diff --git a/selfdrive/test/docker_tag_multiarch.sh b/selfdrive/test/docker_tag_multiarch.sh
new file mode 100755
index 00000000000000..c1761802c75214
--- /dev/null
+++ b/selfdrive/test/docker_tag_multiarch.sh
@@ -0,0 +1,25 @@
+#!/usr/bin/env bash
+set -e
+
+if [ $# -lt 2 ]; then
+  echo "Usage: $0 <base|docs|sim|prebuilt|cl> <arch1> <arch2> ..."
+  exit 1
+fi
+
+SCRIPT_DIR=$(dirname "$0")
+ARCHS=("${@:2}")
+
+source $SCRIPT_DIR/docker_common.sh $1
+
+MANIFEST_AMENDS=""
+for ARCH in ${ARCHS[@]}; do
+  MANIFEST_AMENDS="$MANIFEST_AMENDS --amend $REMOTE_TAG-$ARCH:$COMMIT_SHA"
+done
+
+docker manifest create $REMOTE_TAG $MANIFEST_AMENDS
+docker manifest create $REMOTE_SHA_TAG $MANIFEST_AMENDS
+
+if [[ -n "$PUSH_IMAGE" ]]; then
+  docker manifest push $REMOTE_TAG
+  docker manifest push $REMOTE_SHA_TAG
+fi
diff --git a/selfdrive/test/loop_until_fail.sh b/selfdrive/test/loop_until_fail.sh
new file mode 100755
index 00000000000000..b73009dba67cfc
--- /dev/null
+++ b/selfdrive/test/loop_until_fail.sh
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+set -e
+
+# Loop something forever until it fails, for verifying new tests
+
+while true; do
+  $@
+done
diff --git a/selfdrive/test/process_replay/imgproc_replay_ref_hash b/selfdrive/test/process_replay/imgproc_replay_ref_hash
new file mode 100644
index 00000000000000..defcb3681c691d
--- /dev/null
+++ b/selfdrive/test/process_replay/imgproc_replay_ref_hash
@@ -0,0 +1 @@
+707434c540e685bbe2886b3ff7c82fd61939d362
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index f406b79e10b3d4..94803643e01cae 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -57,7 +57,7 @@ def generate_report(proposed, master, tmp, commit):
                      (lambda x: x.action.desiredCurvature, "desiredCurvature"),
                      (lambda x: x.leadsV3[0].x[0], "leadsV3.x"),
                      (lambda x: x.laneLines[1].y[0], "laneLines.y"),
-                     #(lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs")
+                     (lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs")
                     ], "modelV2")
   DriverStateV2_Plots = zl([
                      (lambda x: x.wheelOnRightProb, "wheelOnRightProb"),
diff --git a/selfdrive/test/process_replay/test_imgproc.py b/selfdrive/test/process_replay/test_imgproc.py
new file mode 100644
index 00000000000000..27d0541a507413
--- /dev/null
+++ b/selfdrive/test/process_replay/test_imgproc.py
@@ -0,0 +1,98 @@
+import os
+import numpy as np
+import hashlib
+
+import pyopencl as cl  # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip install pyopencl`
+
+from openpilot.system.hardware import PC, TICI
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.system.camerad.snapshot.snapshot import yuv_to_rgb
+from openpilot.tools.lib.logreader import LogReader
+
+# TODO: check all sensors
+TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33/0"
+
+cam = DEVICE_CAMERAS[("tici", "ar0231")]
+FRAME_WIDTH, FRAME_HEIGHT = (cam.dcam.width, cam.dcam.height)
+FRAME_STRIDE = FRAME_WIDTH * 12 // 8 + 4
+
+UV_WIDTH = FRAME_WIDTH // 2
+UV_HEIGHT = FRAME_HEIGHT // 2
+UV_SIZE = UV_WIDTH * UV_HEIGHT
+
+
+def init_kernels(frame_offset=0):
+  ctx = cl.create_some_context(interactive=False)
+
+  with open(os.path.join(BASEDIR, 'system/camerad/cameras/process_raw.cl')) as f:
+    build_args = f' -cl-fast-relaxed-math -cl-denorms-are-zero -cl-single-precision-constant -I{BASEDIR}/system/camerad/sensors ' + \
+      f' -DFRAME_WIDTH={FRAME_WIDTH} -DFRAME_HEIGHT={FRAME_WIDTH} -DFRAME_STRIDE={FRAME_STRIDE} -DFRAME_OFFSET={frame_offset} ' + \
+      f' -DRGB_WIDTH={FRAME_WIDTH} -DRGB_HEIGHT={FRAME_HEIGHT} -DYUV_STRIDE={FRAME_WIDTH} -DUV_OFFSET={FRAME_WIDTH*FRAME_HEIGHT}' + \
+      ' -DSENSOR_ID=1 -DVIGNETTING=0 '
+    if PC:
+      build_args += ' -DHALF_AS_FLOAT=1 -cl-std=CL2.0'
+    imgproc_prg = cl.Program(ctx, f.read()).build(options=build_args)
+
+  return ctx, imgproc_prg
+
+def proc_frame(ctx, imgproc_prg, data, rgb=False):
+  q = cl.CommandQueue(ctx)
+
+  yuv_buff = np.empty(FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2, dtype=np.uint8)
+
+  cam_g = cl.Buffer(ctx, cl.mem_flags.READ_ONLY | cl.mem_flags.COPY_HOST_PTR, hostbuf=data)
+  yuv_g = cl.Buffer(ctx, cl.mem_flags.WRITE_ONLY, FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2)
+
+  krn = imgproc_prg.process_raw
+  krn.set_scalar_arg_dtypes([None, None, np.int32])
+  local_worksize = (20, 20) if TICI else (4, 4)
+
+  ev1 = krn(q, (FRAME_WIDTH//2, FRAME_HEIGHT//2), local_worksize, cam_g, yuv_g, 1)
+  cl.enqueue_copy(q, yuv_buff, yuv_g, wait_for=[ev1]).wait()
+  cl.enqueue_barrier(q)
+
+  y = yuv_buff[:FRAME_WIDTH*FRAME_HEIGHT].reshape((FRAME_HEIGHT, FRAME_WIDTH))
+  u = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT::2].reshape((UV_HEIGHT, UV_WIDTH))
+  v = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT+1::2].reshape((UV_HEIGHT, UV_WIDTH))
+
+  if rgb:
+    return yuv_to_rgb(y, u, v)
+  else:
+    return y, u, v
+
+
+def imgproc_replay(lr):
+  ctx, imgproc_prg = init_kernels()
+
+  frames = []
+  for m in lr:
+    if m.which() == 'roadCameraState':
+      cs = m.roadCameraState
+      if cs.image:
+        data = np.frombuffer(cs.image, dtype=np.uint8)
+        img = proc_frame(ctx, imgproc_prg, data)
+
+        frames.append(img)
+
+  return frames
+
+
+if __name__ == "__main__":
+  # load logs
+  lr = list(LogReader(TEST_ROUTE))
+  # run replay
+  out_frames = imgproc_replay(lr)
+
+  all_pix = np.concatenate([np.concatenate([d.flatten() for d in f]) for f in out_frames])
+  pix_hash = hashlib.sha1(all_pix).hexdigest()
+
+  with open('imgproc_replay_ref_hash') as f:
+    ref_hash = f.read()
+
+  if pix_hash != ref_hash:
+    print("result changed! please check kernel")
+    print(f"ref: {ref_hash}")
+    print(f"new: {pix_hash}")
+  else:
+    print("test passed")
diff --git a/selfdrive/test/profiling/.gitignore b/selfdrive/test/profiling/.gitignore
new file mode 100644
index 00000000000000..76acac7f93ea12
--- /dev/null
+++ b/selfdrive/test/profiling/.gitignore
@@ -0,0 +1,2 @@
+cachegrind.out.*
+*.prof
diff --git a/selfdrive/test/profiling/__init__.py b/selfdrive/test/profiling/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/selfdrive/test/profiling/lib.py b/selfdrive/test/profiling/lib.py
new file mode 100644
index 00000000000000..62bb305ca851d7
--- /dev/null
+++ b/selfdrive/test/profiling/lib.py
@@ -0,0 +1,91 @@
+from collections import defaultdict
+from cereal.services import SERVICE_LIST
+import cereal.messaging as messaging
+import capnp
+
+
+class ReplayDone(Exception):
+  pass
+
+
+class SubSocket:
+  def __init__(self, msgs, trigger):
+    self.i = 0
+    self.trigger = trigger
+    self.msgs = [m.as_builder().to_bytes() for m in msgs if m.which() == trigger]
+    self.max_i = len(self.msgs) - 1
+
+  def receive(self, non_blocking=False):
+    if non_blocking:
+      return None
+
+    if self.i == self.max_i:
+      raise ReplayDone
+
+    while True:
+      msg = self.msgs[self.i]
+      self.i += 1
+      return msg
+
+
+class PubSocket:
+  def send(self, data):
+    pass
+
+
+class SubMaster(messaging.SubMaster):
+  def __init__(self, msgs, trigger, services, check_averag_freq=False):
+    self.frame = 0
+    self.data = {}
+    self.ignore_alive = []
+
+    self.alive = {s: True for s in services}
+    self.updated = {s: False for s in services}
+    self.rcv_time = {s: 0. for s in services}
+    self.rcv_frame = {s: 0 for s in services}
+    self.valid = {s: True for s in services}
+    self.freq_ok = {s: True for s in services}
+    self.freq_tracker = {s: messaging.FrequencyTracker(SERVICE_LIST[s].frequency, SERVICE_LIST[s].frequency, False) for s in services}
+    self.logMonoTime = {}
+    self.sock = {}
+    self.freq = {}
+    self.check_average_freq = check_averag_freq
+    self.non_polled_services = []
+    self.ignore_average_freq = []
+
+    # TODO: specify multiple triggers for service like plannerd that poll on more than one service
+    cur_msgs = []
+    self.msgs = []
+    msgs = [m for m in msgs if m.which() in services]
+
+    for msg in msgs:
+      cur_msgs.append(msg)
+      if msg.which() == trigger:
+        self.msgs.append(cur_msgs)
+        cur_msgs = []
+
+    self.msgs = list(reversed(self.msgs))
+
+    for s in services:
+      self.freq[s] = SERVICE_LIST[s].frequency
+      try:
+        data = messaging.new_message(s)
+      except capnp.lib.capnp.KjException:
+        # lists
+        data = messaging.new_message(s, 0)
+
+      self.data[s] = getattr(data, s)
+      self.logMonoTime[s] = 0
+      self.sock[s] = SubSocket(msgs, s)
+
+  def update(self, timeout=None):
+    if not len(self.msgs):
+      raise ReplayDone
+
+    cur_msgs = self.msgs.pop()
+    self.update_msgs(cur_msgs[0].logMonoTime, self.msgs.pop())
+
+
+class PubMaster(messaging.PubMaster):
+  def __init__(self):
+    self.sock = defaultdict(PubSocket)
diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py
new file mode 100755
index 00000000000000..d50b157a37efca
--- /dev/null
+++ b/selfdrive/test/profiling/profiler.py
@@ -0,0 +1,97 @@
+#!/usr/bin/env python3
+import os
+import sys
+import cProfile
+import pprofile
+import pyprof2calltree
+
+from opendbc.car.toyota.values import CAR as TOYOTA
+from opendbc.car.honda.values import CAR as HONDA
+from opendbc.car.volkswagen.values import CAR as VW
+from openpilot.common.params import Params
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone
+from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS
+
+BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
+
+CARS = {
+  'toyota': ("0982d79ebb0de295|2021-01-03--20-03-36/6", TOYOTA.TOYOTA_RAV4),
+  'honda': ("0982d79ebb0de295|2021-01-08--10-13-10/6", HONDA.HONDA_CIVIC),
+  "vw": ("ef895f46af5fd73f|2021-05-22--14-06-35/6", VW.AUDI_A3_MK3),
+}
+
+
+def get_inputs(msgs, process, fingerprint):
+  for config in CONFIGS:
+    if config.proc_name == process:
+      sub_socks = list(config.pubs)
+      trigger = sub_socks[0]
+      break
+
+  # some procs block on CarParams
+  for msg in msgs:
+    if msg.which() == 'carParams':
+      m = msg.as_builder()
+      m.carParams.carFingerprint = fingerprint
+      Params().put("CarParams", m.carParams.copy().to_bytes())
+      break
+
+  sm = SubMaster(msgs, trigger, sub_socks)
+  pm = PubMaster()
+  if 'can' in sub_socks:
+    can_sock = SubSocket(msgs, 'can')
+  else:
+    can_sock = None
+  return sm, pm, can_sock
+
+
+def profile(proc, func, car='toyota'):
+  segment, fingerprint = CARS[car]
+  segment = segment.replace('|', '/')
+  rlog_url = f"{BASE_URL}{segment}/rlog.bz2"
+  msgs = list(LogReader(rlog_url)) * int(os.getenv("LOOP", "1"))
+
+  os.environ['FINGERPRINT'] = fingerprint
+  os.environ['SKIP_FW_QUERY'] = "1"
+  os.environ['REPLAY'] = "1"
+
+  def run(sm, pm, can_sock):
+    try:
+      if can_sock is not None:
+        func(sm, pm, can_sock)
+      else:
+        func(sm, pm)
+    except ReplayDone:
+      pass
+
+  # Statistical
+  sm, pm, can_sock = get_inputs(msgs, proc, fingerprint)
+  with pprofile.StatisticalProfile()(period=0.00001) as pr:
+    run(sm, pm, can_sock)
+  pr.dump_stats(f'cachegrind.out.{proc}_statistical')
+
+  # Deterministic
+  sm, pm, can_sock = get_inputs(msgs, proc, fingerprint)
+  with cProfile.Profile() as pr:
+    run(sm, pm, can_sock)
+  pyprof2calltree.convert(pr.getstats(), f'cachegrind.out.{proc}_deterministic')
+
+
+if __name__ == '__main__':
+  from openpilot.selfdrive.controls.controlsd import main as controlsd_thread
+  from openpilot.selfdrive.locationd.paramsd import main as paramsd_thread
+  from openpilot.selfdrive.controls.plannerd import main as plannerd_thread
+
+  procs = {
+    'controlsd': controlsd_thread,
+    'paramsd': paramsd_thread,
+    'plannerd': plannerd_thread,
+  }
+
+  proc = sys.argv[1]
+  if proc not in procs:
+    print(f"{proc} not available")
+    sys.exit(0)
+  else:
+    profile(proc, procs[proc])
diff --git a/system/athena/registration.py b/system/athena/registration.py
index 964fbff51e6cd8..a1e8605a9d5a0b 100755
--- a/system/athena/registration.py
+++ b/system/athena/registration.py
@@ -33,17 +33,20 @@ def register(show_spinner=False) -> str | None:
   """
   params = Params()
 
+  IMEI = params.get("IMEI", encoding='utf8')
+  HardwareSerial = params.get("HardwareSerial", encoding='utf8')
   dongle_id: str | None = params.get("DongleId", encoding='utf8')
   if dongle_id is None and Path(Paths.persist_root()+"/comma/dongle_id").is_file():
     # not all devices will have this; added early in comma 3X production (2/28/24)
     with open(Paths.persist_root()+"/comma/dongle_id") as f:
       dongle_id = f.read().strip()
 
+  needs_registration = None in (IMEI, HardwareSerial, dongle_id)
   pubkey = Path(Paths.persist_root()+"/comma/id_rsa.pub")
   if not pubkey.is_file():
     dongle_id = UNREGISTERED_DONGLE_ID
     cloudlog.warning(f"missing public key: {pubkey}")
-  elif dongle_id is None:
+  elif needs_registration:
     if show_spinner:
       spinner = Spinner()
       spinner.update("registering device")
@@ -68,6 +71,9 @@ def register(show_spinner=False) -> str | None:
       if time.monotonic() - start_time > 60 and show_spinner:
         spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")
 
+    params.put("IMEI", imei1)
+    params.put("HardwareSerial", serial)
+
     backoff = 0
     start_time = time.monotonic()
     while True:
diff --git a/system/athena/tests/test_registration.py b/system/athena/tests/test_registration.py
index c1dabb78ecb249..17ebaa472d4f13 100644
--- a/system/athena/tests/test_registration.py
+++ b/system/athena/tests/test_registration.py
@@ -32,6 +32,8 @@ def _generate_keys(self):
   def test_valid_cache(self, mocker):
     # if all params are written, return the cached dongle id.
     # should work with a dongle ID on either /persist/ or normal params
+    self.params.put("IMEI", "imei")
+    self.params.put("HardwareSerial", "serial")
     self._generate_keys()
 
     dongle = "DONGLE_ID_123"
diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index fcfb07830a4b41..20ee88de804224 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -1,7 +1,6 @@
 #pragma once
 
 #include <cstdlib>
-#include <cassert>
 #include <fstream>
 #include <map>
 #include <string>
@@ -23,7 +22,7 @@ class HardwareTici : public HardwareNone {
 
   static std::string get_name() {
     std::string model = util::read_file("/sys/firmware/devicetree/base/model");
-    return util::strip(model.substr(std::string("comma ").size()));
+    return model.substr(std::string("comma ").size());
   }
 
   static cereal::InitData::DeviceType get_device_type() {
@@ -33,8 +32,7 @@ class HardwareTici : public HardwareNone {
       {"mici", cereal::InitData::DeviceType::MICI}
     };
     auto it = device_map.find(get_name());
-    assert(it != device_map.end());
-    return it->second;
+    return it != device_map.end() ? it->second : cereal::InitData::DeviceType::UNKNOWN;
   }
 
   static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }
@@ -84,17 +82,17 @@ class HardwareTici : public HardwareNone {
       return;
     }
 
-    int value = util::map_val(std::clamp(percent, 0, 100), 0, 100, 0, 255);
+    percent = std::clamp(percent, 0, 100);
 
     std::ofstream torch_brightness("/sys/class/leds/led:torch_2/brightness");
     if (torch_brightness.is_open()) {
-      torch_brightness << value << "\n";
+      torch_brightness << percent << "\n";
       torch_brightness.close();
     }
 
     std::ofstream switch_brightness("/sys/class/leds/led:switch_2/brightness");
     if (switch_brightness.is_open()) {
-      switch_brightness << value << "\n";
+      switch_brightness << percent << "\n";
       switch_brightness.close();
     }
   }
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 7a8ec9fc867587..5cbc73b8387fd7 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -67,8 +67,7 @@ def manager_init() -> None:
   except PermissionError:
     print(f"WARNING: failed to make {Paths.shm_path()}")
 
-  # set params
-  serial = HARDWARE.get_serial()
+  # set version params
   params.put("Version", build_metadata.openpilot.version)
   params.put("TermsVersion", terms_version)
   params.put("TrainingVersion", training_version)
@@ -78,13 +77,13 @@ def manager_init() -> None:
   params.put("GitRemote", build_metadata.openpilot.git_origin)
   params.put_bool("IsTestedBranch", build_metadata.tested_channel)
   params.put_bool("IsReleaseBranch", build_metadata.release_channel)
-  params.put("HardwareSerial", serial)
 
   # set dongle id
   reg_res = register(show_spinner=True)
   if reg_res:
     dongle_id = reg_res
   else:
+    serial = params.get("HardwareSerial")
     raise Exception(f"Registration failed for device {serial}")
   os.environ['DONGLE_ID'] = dongle_id  # Needed for swaglog
   os.environ['GIT_ORIGIN'] = build_metadata.openpilot.git_normalized_origin # Needed for swaglog
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index e6767ae740dedc..9712b63e012fda 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -79,8 +79,7 @@ def and_(*fns):
 procs = [
   DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
 
-  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),
-  PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
+  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
   NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
   NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
   PythonProcess("logmessaged", "system.logmessaged", always_run),
@@ -88,7 +87,7 @@ def and_(*fns):
   PythonProcess("timed", "system.timed", always_run, enabled=not PC),
 
   # TODO Make python process once TG allows opening QCOM from child proc
-  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(WEBCAM or not PC)),
+  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM)),
   NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
@@ -106,7 +105,7 @@ def and_(*fns):
   PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
   PythonProcess("card", "selfdrive.car.card", only_onroad),
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
-  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(WEBCAM or not PC)),
+  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
   PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
   PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
diff --git a/system/timed.py b/system/timed.py
index de9b0ffb598386..3eb84353ad6f2c 100755
--- a/system/timed.py
+++ b/system/timed.py
@@ -13,7 +13,7 @@
 
 def set_time(new_time):
   diff = datetime.datetime.now() - new_time
-  if abs(diff) < datetime.timedelta(seconds=10):
+  if diff < datetime.timedelta(seconds=10):
     cloudlog.debug(f"Time diff too small: {diff}")
     return
 
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
new file mode 100644
index 00000000000000..a1c6fed9107b7d
--- /dev/null
+++ b/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb3b1fd29d958e9a3a6625eac9fac9e7cd6eb40309b285ad973324761db0b4c9
+size 1202792
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
new file mode 100644
index 00000000000000..54c0c32e41ff53
--- /dev/null
+++ b/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:161a5d0bf7347465b53ae49690a38fbacf03d606ef204147b3b148a5f59188da
+size 9008016
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
new file mode 100644
index 00000000000000..21542030263916
--- /dev/null
+++ b/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e0e66c12a1eb3b5b4b2b2694831ca51e5132818f400dad789adbcc30e0e0793
+size 14032
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
new file mode 100644
index 00000000000000..1d81abd3a5cfac
--- /dev/null
+++ b/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:784f2e80fa3534cf7934c5ecbbda37db633104380f2b41d896b4721ad6006eb2
+size 2420312
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
new file mode 100644
index 00000000000000..40e3d5af74980e
--- /dev/null
+++ b/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33afe465e74bbe2c409350d2ca8e86cfadf050ceb8feac75a86adc19ff1f9c48
+size 26016
diff --git a/third_party/snpe/dsp/libcalculator_skel.so b/third_party/snpe/dsp/libcalculator_skel.so
new file mode 100644
index 00000000000000..9e9e9221be9da2
--- /dev/null
+++ b/third_party/snpe/dsp/libcalculator_skel.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bee94d38195478ffdd0ce15292a2dfa7813377f4c3b7d99c270e05079d1746b
+size 20828
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
new file mode 100644
index 00000000000000..3f1b7a8b8c4a9d
--- /dev/null
+++ b/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e040c87072aa915c47859c8c7f74076b98c6919b83ddd5dc4bb555870d586a7
+size 1813866
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
new file mode 100644
index 00000000000000..aa42b5e830c26f
--- /dev/null
+++ b/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:838bc58ac0094ba9593cf7c44ab6e8a94ae3dbbe176e320d9fbe86ceead53c5e
+size 1817962
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
new file mode 100644
index 00000000000000..9423da1b94e388
--- /dev/null
+++ b/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77d025d59521e13e4ed012f0d9d2b684cdb858208d70426078df51219eaeb9bd
+size 10098673
diff --git a/third_party/snpe/include/DiagLog/IDiagLog.hpp b/third_party/snpe/include/DiagLog/IDiagLog.hpp
new file mode 100644
index 00000000000000..018b5672561c0b
--- /dev/null
+++ b/third_party/snpe/include/DiagLog/IDiagLog.hpp
@@ -0,0 +1,84 @@
+//=============================================================================
+//
+//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#ifndef __IDIAGLOG_HPP_
+#define __IDIAGLOG_HPP_
+
+#include <string>
+
+#include "DiagLog/Options.hpp"
+#include "DlSystem/String.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl
+{
+namespace DiagLog
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/// @brief .
+///
+/// Interface for controlling logging for zdl components.
+
+class ZDL_EXPORT IDiagLog
+{
+public:
+
+   /// @brief .
+   ///
+   /// Sets the options after initialization occurs.
+   ///
+   /// @param[in] loggingOptions The options to set up diagnostic logging.
+   ///
+   /// @return False if the options could not be set. Ensure logging is not started.
+   virtual bool setOptions(const Options& loggingOptions) = 0;
+
+   /// @brief .
+   ///
+   /// Gets the curent options for the diag logger.
+   ///
+   /// @return Diag log options object.
+   virtual Options getOptions() = 0;
+
+   /// @brief .
+   ///
+   /// Allows for setting the log mask once diag logging has started
+   ///
+   /// @return True if the level was set successfully, false if a failure occurred.
+   virtual bool setDiagLogMask(const std::string& mask) = 0;
+
+   /// @brief .
+   ///
+   /// Allows for setting the log mask once diag logging has started
+   ///
+   /// @return True if the level was set successfully, false if a failure occurred.
+   virtual bool setDiagLogMask(const zdl::DlSystem::String& mask) = 0;
+
+   /// @brief .
+   ///
+   /// Enables logging for zdl components.
+   ///
+   /// Logging should be started prior to the instantiation of zdl components
+   /// to ensure all events are captured.
+   ///
+   /// @return False if diagnostic logging could not be started.
+   virtual bool start(void) = 0;
+
+   /// @brief Disables logging for zdl components.
+   virtual bool stop(void) = 0;
+
+   virtual ~IDiagLog() {};
+};
+
+} // DiagLog namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif
diff --git a/third_party/snpe/include/DiagLog/Options.hpp b/third_party/snpe/include/DiagLog/Options.hpp
new file mode 100644
index 00000000000000..798fa3f1240a62
--- /dev/null
+++ b/third_party/snpe/include/DiagLog/Options.hpp
@@ -0,0 +1,79 @@
+//=============================================================================
+//
+//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#ifndef __DIAGLOG_OPTIONS_HPP_
+#define __DIAGLOG_OPTIONS_HPP_
+
+#include <string>
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl
+{
+namespace DiagLog
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/// @brief .
+///
+/// Options for setting up diagnostic logging for zdl components.
+class ZDL_EXPORT Options
+{
+public:
+   Options() :
+      DiagLogMask(""),
+      LogFileDirectory("diaglogs"),
+      LogFileName("DiagLog"),
+      LogFileRotateCount(20),
+      LogFileReplace(true)
+   {
+      // Solves the empty string problem with multiple std libs
+      DiagLogMask.reserve(1);
+   }
+
+   /// @brief .
+   ///
+   /// Enables diag logging only on the specified area mask (DNN_RUNTIME=ON | OFF)
+   std::string DiagLogMask;
+
+   /// @brief .
+   ///
+   /// The path to the directory where log files will be written.
+   /// The path may be relative or absolute. Relative paths are interpreted
+   /// from the current working directory.
+   /// Default value is "diaglogs"
+   std::string LogFileDirectory;
+
+   /// @brief .
+   ///
+   //// The name used for log files. If this value is empty then BaseName will be
+   /// used as the default file name.
+   /// Default value is "DiagLog"
+   std::string LogFileName;
+
+   /// @brief .
+   ///
+   /// The maximum number of log files to create. If set to 0 no log rotation
+   /// will be used and the log file name specified will be used each time, overwriting
+   /// any existing log file that may exist.
+   /// Default value is 20
+   uint32_t LogFileRotateCount;
+
+   /// @brief
+   ///
+   /// If the log file already exists, control whether it will be replaced
+   /// (existing contents truncated), or appended.
+   /// Default value is true
+   bool LogFileReplace;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+} // DiagLog namespace
+} // zdl namespace
+
+
+#endif
diff --git a/third_party/snpe/include/DlContainer/IDlContainer.hpp b/third_party/snpe/include/DlContainer/IDlContainer.hpp
new file mode 100644
index 00000000000000..4e29b39bb41eb8
--- /dev/null
+++ b/third_party/snpe/include/DlContainer/IDlContainer.hpp
@@ -0,0 +1,191 @@
+//=============================================================================
+//
+//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef ZEROTH_IDNC_CONTAINER_HPP
+#define ZEROTH_IDNC_CONTAINER_HPP
+
+#include <memory>
+#include <stdint.h>
+#include <string>
+#include <vector>
+#include <set>
+
+#include "DlSystem/ZdlExportDefine.hpp"
+#include "DlSystem/String.hpp"
+
+namespace zdl {
+namespace DlContainer {
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+class IDlContainer;
+class dlc_error;
+
+/**
+ * The structure of a record in a DL container.
+ */
+struct ZDL_EXPORT DlcRecord
+{
+   /// Name of the record.
+   std::string name;
+   /// Byte blob holding the data for the record.
+   std::vector<uint8_t> data;
+
+   DlcRecord();
+   DlcRecord( DlcRecord&& other )
+      : name(std::move(other.name))
+      , data(std::move(other.data))
+   {}
+   DlcRecord(const std::string& new_name)
+      : name(new_name)
+      , data()
+   {
+      if(name.empty())
+      {
+         name.reserve(1);
+      }
+   }
+   DlcRecord(const DlcRecord&) = delete;
+};
+
+// The maximum length of any record name.
+extern const uint32_t RECORD_NAME_MAX_SIZE;
+// The maximum size of the record payload (bytes).
+extern const uint32_t RECORD_DATA_MAX_SIZE;
+// The maximum number of records in an archive at one time.
+extern const uint32_t ARCHIVE_MAX_RECORDS;
+
+/**
+ * Represents a container for a neural network model which can
+ * be used to load the model into the SNPE runtime.
+ */
+class ZDL_EXPORT IDlContainer
+{
+public:
+   /**
+    * Initializes a container from a container archive file.
+    *
+    * @param[in] filename Container archive file path.
+    *
+    * @return A pointer to the initialized container
+    */
+   static std::unique_ptr<IDlContainer>
+   open(const std::string &filename) noexcept;
+
+   /**
+    * Initializes a container from a container archive file.
+    *
+    * @param[in] filename Container archive file path.
+    *
+    * @return A pointer to the initialized container
+    */
+   static std::unique_ptr<IDlContainer>
+   open(const zdl::DlSystem::String &filename) noexcept;
+
+   /**
+    * Initializes a container from a byte buffer.
+    *
+    * @param[in] buffer Byte buffer holding the contents of an archive
+    *                   file.
+    *
+    * @return A pointer to the initialized container
+    */
+   static std::unique_ptr<IDlContainer>
+   open(const std::vector<uint8_t> &buffer) noexcept;
+
+   /**
+    * Initializes a container from a byte buffer.
+    *
+    * @param[in] buffer Byte buffer holding the contents of an archive
+    *                   file.
+    *
+    * @param[in] size Size of the byte buffer.
+    *
+    * @return A pointer to the initialized container
+    */
+   static std::unique_ptr<IDlContainer>
+   open(const uint8_t* buffer, const size_t size) noexcept;
+
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+   /**
+    * Get the record catalog for a container.
+    *
+    * @param[out] catalog Buffer that will hold the record names on
+    *                    return.
+    */
+   virtual void getCatalog(std::set<std::string> &catalog) const = 0;
+
+    /**
+     * Get the record catalog for a container.
+     *
+     * @param[out] catalog Buffer that will hold the record names on
+     *                    return.
+     */
+   virtual void getCatalog(std::set<zdl::DlSystem::String> &catalog) const = 0;
+
+   /**
+    * Get a record from a container by name.
+    *
+    * @param[in] name Name of the record to fetch.
+    * @param[out] record The passed in record will be populated with the
+    *                   record data on return. Note that the caller
+    *                   will own the data in the record and is
+    *                   responsible for freeing it if needed.
+    */
+   virtual void getRecord(const std::string &name, DlcRecord &record) const = 0;
+
+   /**
+    * Get a record from a container by name.
+    *
+    * @param[in] name Name of the record to fetch.
+    * @param[out] record The passed in record will be populated with the
+    *                   record data on return. Note that the caller
+    *                   will own the data in the record and is
+    *                   responsible for freeing it if needed.
+    */
+   virtual void getRecord(const zdl::DlSystem::String &name, DlcRecord &record) const = 0;
+
+   /**
+    * Save the container to an archive on disk. This function will save the
+    * container if the filename is different from the file that it was opened
+    * from, or if at least one record was modified since the container was
+    * opened.
+    *
+    * It will truncate any existing file at the target path.
+    *
+    * @param filename Container archive file path.
+    *
+    * @return indication of success/failure
+    */
+   virtual bool save(const std::string &filename) = 0;
+
+   /**
+    * Save the container to an archive on disk. This function will save the
+    * container if the filename is different from the file that it was opened
+    * from, or if at least one record was modified since the container was
+    * opened.
+    *
+    * It will truncate any existing file at the target path.
+    *
+    * @param filename Container archive file path.
+    *
+    * @return indication of success/failure
+    */
+   virtual bool save (const zdl::DlSystem::String &filename) = 0;
+
+   virtual ~IDlContainer() {}
+};
+
+} // ns DlContainer
+} // ns zdl
+
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/DlEnums.hpp b/third_party/snpe/include/DlSystem/DlEnums.hpp
new file mode 100644
index 00000000000000..c9b3ef970a2aaa
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/DlEnums.hpp
@@ -0,0 +1,234 @@
+//==============================================================================
+//
+//  Copyright (c) 2014-2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _DL_ENUMS_HPP_
+#define _DL_ENUMS_HPP_
+
+#include "DlSystem/ZdlExportDefine.hpp"
+
+
+namespace zdl {
+namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * Enumeration of supported target runtimes.
+ */
+enum class Runtime_t
+{
+   /// Run the processing on Snapdragon CPU.
+   /// Data: float 32bit
+   /// Math: float 32bit
+   CPU_FLOAT32  = 0,
+
+   /// Run the processing on the Adreno GPU.
+   /// Data: float 16bit
+   /// Math: float 32bit
+   GPU_FLOAT32_16_HYBRID = 1,
+
+   /// Run the processing on the Hexagon DSP.
+   /// Data: 8bit fixed point Tensorflow style format
+   /// Math: 8bit fixed point Tensorflow style format
+   DSP_FIXED8_TF = 2,
+
+   /// Run the processing on the Adreno GPU.
+   /// Data: float 16bit
+   /// Math: float 16bit
+   GPU_FLOAT16 = 3,
+
+   /// Run the processing on Snapdragon AIX+HVX.
+   /// Data: 8bit fixed point Tensorflow style format
+   /// Math: 8bit fixed point Tensorflow style format
+   AIP_FIXED8_TF = 5,
+   AIP_FIXED_TF = AIP_FIXED8_TF,
+
+   /// Default legacy enum to retain backward compatibility.
+   /// CPU = CPU_FLOAT32
+   CPU = CPU_FLOAT32,
+
+   /// Default legacy enum to retain backward compatibility.
+   /// GPU = GPU_FLOAT32_16_HYBRID
+   GPU = GPU_FLOAT32_16_HYBRID,
+
+   /// Default legacy enum to retain backward compatibility.
+   /// DSP = DSP_FIXED8_TF
+   DSP = DSP_FIXED8_TF,
+
+   /// Special value indicating the property is unset.
+   UNSET = -1
+};
+
+/**
+ * Enumeration of runtime available check options.
+ */
+enum class RuntimeCheckOption_t
+{
+   /// Perform standard runtime available check
+   DEFAULT = 0,
+   /// Perform standard runtime available check
+   NORMAL_CHECK = 0,
+   /// Perform basic runtime available check, may be runtime specific
+   BASIC_CHECK = 1,
+   /// Perform unsignedPD runtime available check
+   UNSIGNEDPD_CHECK = 2,
+};
+
+/**
+ * Enumeration of various performance profiles that can be requested.
+ */
+enum class PerformanceProfile_t
+{
+    /// Run in a standard mode.
+    /// This mode will be deprecated in the future and replaced with BALANCED.
+    DEFAULT = 0,
+    /// Run in a balanced mode.
+    BALANCED = 0,
+
+    /// Run in high performance mode
+    HIGH_PERFORMANCE = 1,
+
+    /// Run in a power sensitive mode, at the expense of performance.
+    POWER_SAVER = 2,
+
+    /// Use system settings.  SNPE makes no calls to any performance related APIs.
+    SYSTEM_SETTINGS = 3,
+
+    /// Run in sustained high performance mode
+    SUSTAINED_HIGH_PERFORMANCE = 4,
+
+    /// Run in burst mode
+    BURST = 5,
+
+    /// Run in lower clock than POWER_SAVER, at the expense of performance.
+    LOW_POWER_SAVER = 6,
+
+    /// Run in higher clock and provides better performance than POWER_SAVER.
+    HIGH_POWER_SAVER = 7,
+
+    /// Run in lower balanced mode
+    LOW_BALANCED = 8,
+};
+
+/**
+ * Enumeration of various profilngLevels that can be requested.
+ */
+enum class ProfilingLevel_t
+{
+    /// No profiling.
+    /// Collects no runtime stats in the DiagLog
+    OFF = 0,
+
+    /// Basic profiling
+    /// Collects some runtime stats in the DiagLog
+    BASIC = 1,
+
+    /// Detailed profiling
+    /// Collects more runtime stats in the DiagLog, including per-layer statistics
+    /// Performance may be impacted
+    DETAILED = 2,
+
+    /// Moderate profiling
+    /// Collects more runtime stats in the DiagLog, no per-layer statistics
+    MODERATE = 3
+};
+
+/**
+ * Enumeration of various execution priority hints.
+ */
+enum class ExecutionPriorityHint_t
+{
+    /// Normal priority
+    NORMAL = 0,
+
+    /// Higher than normal priority
+    HIGH = 1,
+
+    /// Lower priority
+    LOW = 2
+
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++*/
+
+/**
+ * Enumeration that lists the supported image encoding formats.
+ */
+enum class ImageEncoding_t
+{
+   /// For unknown image type. Also used as a default value for ImageEncoding_t.
+   UNKNOWN = 0,
+
+   /// The RGB format consists of 3 bytes per pixel: one byte for
+   /// Red, one for Green, and one for Blue. The byte ordering is
+   /// endian independent and is always in RGB byte order.
+   RGB = 1,
+
+   /// The ARGB32 format consists of 4 bytes per pixel: one byte for
+   /// Red, one for Green, one for Blue, and one for the alpha channel.
+   /// The alpha channel is ignored. The byte ordering depends on the
+   /// underlying CPU. For little endian CPUs, the byte order is BGRA.
+   /// For big endian CPUs, the byte order is ARGB.
+   ARGB32 = 2,
+
+   /// The RGBA format consists of 4 bytes per pixel: one byte for
+   /// Red, one for Green, one for Blue, and one for the alpha channel.
+   /// The alpha channel is ignored. The byte ordering is endian independent
+   /// and is always in RGBA byte order.
+   RGBA = 3,
+
+   /// The GRAYSCALE format is for 8-bit grayscale.
+   GRAYSCALE = 4,
+
+   /// NV21 is the Android version of YUV. The Chrominance is down
+   /// sampled and has a subsampling ratio of 4:2:0. Note that this
+   /// image format has 3 channels, but the U and V channels
+   /// are subsampled. For every four Y pixels there is one U and one V pixel. @newpage
+   NV21 = 5,
+
+   /// The BGR format consists of 3 bytes per pixel: one byte for
+   /// Red, one for Green and one for Blue. The byte ordering is
+   /// endian independent and is always BGR byte order.
+   BGR = 6
+};
+
+/**
+ * Enumeration that lists the supported LogLevels that can be set by users.
+ */
+enum class LogLevel_t
+{
+    /// Enumeration variable to be used by user to set logging level to FATAL.
+    LOG_FATAL = 0,
+
+    /// Enumeration variable to be used by user to set logging level to ERROR.
+    LOG_ERROR = 1,
+
+    /// Enumeration variable to be used by user to set logging level to WARN.
+    LOG_WARN = 2,
+
+    /// Enumeration variable to be used by user to set logging level to INFO.
+    LOG_INFO = 3,
+
+    /// Enumeration variable to be used by user to set logging level to VERBOSE.
+    LOG_VERBOSE = 4
+};
+
+typedef enum : int
+{
+   UNSPECIFIED = 0,
+   FLOATING_POINT_32 = 1,
+   FLOATING_POINT_16 = 2,
+   FIXED_POINT_8 =  3,
+   FIXED_POINT_16 = 4
+} IOBufferDataType_t;
+
+}} // namespaces end
+
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/DlError.hpp b/third_party/snpe/include/DlSystem/DlError.hpp
new file mode 100644
index 00000000000000..57592f01baed27
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/DlError.hpp
@@ -0,0 +1,259 @@
+//==============================================================================
+//
+//  Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _DL_ERROR_HPP_
+#define _DL_ERROR_HPP_
+
+#include <stdint.h>
+#include <limits> // numeric_limits
+
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl {
+namespace DlSystem {
+
+// clang and arm gcc different in how ZDL_EXPORT is used with enum class
+#if !defined (__clang__)
+enum class ErrorCode : uint32_t ZDL_EXPORT {
+#else
+enum class ZDL_EXPORT ErrorCode : uint32_t {
+#endif // ARM64V8A
+   NONE = 0,
+
+   // System config errors
+   SNPE_CONFIG_MISSING_PARAM                             = 100,
+   SNPE_CONFIG_INVALID_PARAM                             = 101,
+   SNPE_CONFIG_MISSING_FILE                              = 102,
+   SNPE_CONFIG_NNCONFIG_NOT_SET                          = 103,
+   SNPE_CONFIG_NNCONFIG_INVALID                          = 104,
+   SNPE_CONFIG_WRONG_INPUT_NAME                          = 105,
+   SNPE_CONFIG_INCORRECT_INPUT_DIMENSIONS                = 106,
+   SNPE_CONFIG_DIMENSIONS_MODIFICATION_NOT_SUPPORTED     = 107,
+   SNPE_CONFIG_BOTH_OUTPUT_LAYER_TENSOR_NAMES_SET        = 108,
+
+   SNPE_CONFIG_NNCONFIG_ONLY_TENSOR_SUPPORTED            = 120,
+   SNPE_CONFIG_NNCONFIG_ONLY_USER_BUFFER_SUPPORTED       = 121,
+
+   // DlSystem errors
+   SNPE_DLSYSTEM_MISSING_BUFFER                          = 200,
+   SNPE_DLSYSTEM_TENSOR_CAST_FAILED                      = 201,
+   SNPE_DLSYSTEM_FIXED_POINT_PARAM_INVALID               = 202,
+   SNPE_DLSYSTEM_SIZE_MISMATCH                           = 203,
+   SNPE_DLSYSTEM_NAME_NOT_FOUND                          = 204,
+   SNPE_DLSYSTEM_VALUE_MISMATCH                          = 205,
+   SNPE_DLSYSTEM_INSERT_FAILED                           = 206,
+   SNPE_DLSYSTEM_TENSOR_FILE_READ_FAILED                 = 207,
+   SNPE_DLSYSTEM_DIAGLOG_FAILURE                         = 208,
+   SNPE_DLSYSTEM_LAYER_NOT_SET                           = 209,
+   SNPE_DLSYSTEM_WRONG_NUMBER_INPUT_BUFFERS              = 210,
+   SNPE_DLSYSTEM_RUNTIME_TENSOR_SHAPE_MISMATCH           = 211,
+   SNPE_DLSYSTEM_TENSOR_MISSING                          = 212,
+   SNPE_DLSYSTEM_TENSOR_ITERATION_UNSUPPORTED            = 213,
+   SNPE_DLSYSTEM_BUFFER_MANAGER_MISSING                  = 214,
+   SNPE_DLSYSTEM_RUNTIME_BUFFER_SOURCE_UNSUPPORTED       = 215,
+   SNPE_DLSYSTEM_BUFFER_CAST_FAILED                      = 216,
+   SNPE_DLSYSTEM_WRONG_TRANSITION_TYPE                   = 217,
+   SNPE_DLSYSTEM_LAYER_ALREADY_REGISTERED                = 218,
+   SNPE_DLSYSTEM_TENSOR_DIM_INVALID                      = 219,
+
+   SNPE_DLSYSTEM_BUFFERENCODING_UNKNOWN                  = 240,
+   SNPE_DLSYSTEM_BUFFER_INVALID_PARAM                    = 241,
+
+   // DlContainer errors
+   SNPE_DLCONTAINER_MODEL_PARSING_FAILED                 = 300,
+   SNPE_DLCONTAINER_UNKNOWN_LAYER_CODE                   = 301,
+   SNPE_DLCONTAINER_MISSING_LAYER_PARAM                  = 302,
+   SNPE_DLCONTAINER_LAYER_PARAM_NOT_SUPPORTED            = 303,
+   SNPE_DLCONTAINER_LAYER_PARAM_INVALID                  = 304,
+   SNPE_DLCONTAINER_TENSOR_DATA_MISSING                  = 305,
+   SNPE_DLCONTAINER_MODEL_LOAD_FAILED                    = 306,
+   SNPE_DLCONTAINER_MISSING_RECORDS                      = 307,
+   SNPE_DLCONTAINER_INVALID_RECORD                       = 308,
+   SNPE_DLCONTAINER_WRITE_FAILURE                        = 309,
+   SNPE_DLCONTAINER_READ_FAILURE                         = 310,
+   SNPE_DLCONTAINER_BAD_CONTAINER                        = 311,
+   SNPE_DLCONTAINER_BAD_DNN_FORMAT_VERSION               = 312,
+   SNPE_DLCONTAINER_UNKNOWN_AXIS_ANNOTATION              = 313,
+   SNPE_DLCONTAINER_UNKNOWN_SHUFFLE_TYPE                 = 314,
+   SNPE_DLCONTAINER_TEMP_FILE_FAILURE                    = 315,
+
+   // Network errors
+   SNPE_NETWORK_EMPTY_NETWORK                            = 400,
+   SNPE_NETWORK_CREATION_FAILED                          = 401,
+   SNPE_NETWORK_PARTITION_FAILED                         = 402,
+   SNPE_NETWORK_NO_OUTPUT_DEFINED                        = 403,
+   SNPE_NETWORK_MISMATCH_BETWEEN_NAMES_AND_DIMS          = 404,
+   SNPE_NETWORK_MISSING_INPUT_NAMES                      = 405,
+   SNPE_NETWORK_MISSING_OUTPUT_NAMES                     = 406,
+   SNPE_NETWORK_EXECUTION_FAILED                         = 407,
+
+   // Host runtime errors
+   SNPE_HOST_RUNTIME_TARGET_UNAVAILABLE                  = 500,
+
+   // CPU runtime errors
+   SNPE_CPU_LAYER_NOT_SUPPORTED                          = 600,
+   SNPE_CPU_LAYER_PARAM_NOT_SUPPORTED                    = 601,
+   SNPE_CPU_LAYER_PARAM_INVALID                          = 602,
+   SNPE_CPU_LAYER_PARAM_COMBINATION_INVALID              = 603,
+   SNPE_CPU_BUFFER_NOT_FOUND                             = 604,
+   SNPE_CPU_NETWORK_NOT_SUPPORTED                        = 605,
+   SNPE_CPU_UDO_OPERATION_FAILED                         = 606,
+
+   // CPU fixed-point runtime errors
+   SNPE_CPU_FXP_LAYER_NOT_SUPPORTED                      = 700,
+   SNPE_CPU_FXP_LAYER_PARAM_NOT_SUPPORTED                = 701,
+   SNPE_CPU_FXP_LAYER_PARAM_INVALID                      = 702,
+
+   // GPU runtime errors
+   SNPE_GPU_LAYER_NOT_SUPPORTED                          = 800,
+   SNPE_GPU_LAYER_PARAM_NOT_SUPPORTED                    = 801,
+   SNPE_GPU_LAYER_PARAM_INVALID                          = 802,
+   SNPE_GPU_LAYER_PARAM_COMBINATION_INVALID              = 803,
+   SNPE_GPU_KERNEL_COMPILATION_FAILED                    = 804,
+   SNPE_GPU_CONTEXT_NOT_SET                              = 805,
+   SNPE_GPU_KERNEL_NOT_SET                               = 806,
+   SNPE_GPU_KERNEL_PARAM_INVALID                         = 807,
+   SNPE_GPU_OPENCL_CHECK_FAILED                          = 808,
+   SNPE_GPU_OPENCL_FUNCTION_ERROR                        = 809,
+   SNPE_GPU_BUFFER_NOT_FOUND                             = 810,
+   SNPE_GPU_TENSOR_DIM_INVALID                           = 811,
+   SNPE_GPU_MEMORY_FLAGS_INVALID                         = 812,
+   SNPE_GPU_UNEXPECTED_NUMBER_OF_IO                      = 813,
+   SNPE_GPU_LAYER_PROXY_ERROR                            = 814,
+   SNPE_GPU_BUFFER_IN_USE                                = 815,
+   SNPE_GPU_BUFFER_MODIFICATION_ERROR                    = 816,
+   SNPE_GPU_DATA_ARRANGEMENT_INVALID                     = 817,
+   SNPE_GPU_UDO_OPERATION_FAILED                         = 818,
+   // DSP runtime errors
+   SNPE_DSP_LAYER_NOT_SUPPORTED                          = 900,
+   SNPE_DSP_LAYER_PARAM_NOT_SUPPORTED                    = 901,
+   SNPE_DSP_LAYER_PARAM_INVALID                          = 902,
+   SNPE_DSP_LAYER_PARAM_COMBINATION_INVALID              = 903,
+   SNPE_DSP_STUB_NOT_PRESENT                             = 904,
+   SNPE_DSP_LAYER_NAME_TRUNCATED                         = 905,
+   SNPE_DSP_LAYER_INPUT_BUFFER_NAME_TRUNCATED            = 906,
+   SNPE_DSP_LAYER_OUTPUT_BUFFER_NAME_TRUNCATED           = 907,
+   SNPE_DSP_RUNTIME_COMMUNICATION_ERROR                  = 908,
+   SNPE_DSP_RUNTIME_INVALID_PARAM_ERROR                  = 909,
+   SNPE_DSP_RUNTIME_SYSTEM_ERROR                         = 910,
+   SNPE_DSP_RUNTIME_CRASHED_ERROR                        = 911,
+   SNPE_DSP_BUFFER_SIZE_ERROR                            = 912,
+   SNPE_DSP_UDO_EXECUTE_ERROR                            = 913,
+   SNPE_DSP_UDO_LIB_NOT_REGISTERED_ERROR                 = 914,
+   SNPE_DSP_UDO_INVALID_QUANTIZATION_TYPE_ERROR          = 915,
+   SNPE_DSP_RUNTIME_INVALID_RPC_DRIVER                   = 916,
+   SNPE_DSP_RUNTIME_RPC_PERMISSION_ERROR                 = 917,
+   SNPE_DSP_RUNTIME_DSP_FILE_OPEN_ERROR                  = 918,
+
+   // Model validataion errors
+   SNPE_MODEL_VALIDATION_LAYER_NOT_SUPPORTED             = 1000,
+   SNPE_MODEL_VALIDATION_LAYER_PARAM_NOT_SUPPORTED       = 1001,
+   SNPE_MODEL_VALIDATION_LAYER_PARAM_INVALID             = 1002,
+   SNPE_MODEL_VALIDATION_LAYER_PARAM_MISSING             = 1003,
+   SNPE_MODEL_VALIDATION_LAYER_PARAM_COMBINATION_INVALID = 1004,
+   SNPE_MODEL_VALIDATION_LAYER_ORDERING_INVALID          = 1005,
+   SNPE_MODEL_VALIDATION_INVALID_CONSTRAINT              = 1006,
+   SNPE_MODEL_VALIDATION_MISSING_BUFFER                  = 1007,
+   SNPE_MODEL_VALIDATION_BUFFER_REUSE_NOT_SUPPORTED      = 1008,
+   SNPE_MODEL_VALIDATION_LAYER_COULD_NOT_BE_ASSIGNED     = 1009,
+   SNPE_MODEL_VALIDATION_UDO_LAYER_FAILED                = 1010,
+
+   // UDL errors
+   SNPE_UDL_LAYER_EMPTY_UDL_NETWORK                      = 1100,
+   SNPE_UDL_LAYER_PARAM_INVALID                          = 1101,
+   SNPE_UDL_LAYER_INSTANCE_MISSING                       = 1102,
+   SNPE_UDL_LAYER_SETUP_FAILED                           = 1103,
+   SNPE_UDL_EXECUTE_FAILED                               = 1104,
+   SNPE_UDL_BUNDLE_INVALID                               = 1105,
+   SNPE_UDO_REGISTRATION_FAILED                          = 1106,
+   SNPE_UDO_GET_PACKAGE_FAILED                           = 1107,
+   SNPE_UDO_GET_IMPLEMENTATION_FAILED                    = 1108,
+
+   // Dependent library errors
+   SNPE_STD_LIBRARY_ERROR                                = 1200,
+
+   // Unknown exception (catch (...)), Has no component attached to this
+   SNPE_UNKNOWN_EXCEPTION                                = 1210,
+
+   // Storage Errors
+   SNPE_STORAGE_INVALID_KERNEL_REPO                      = 1300,
+
+   // AIP runtime errors
+   SNPE_AIP_LAYER_NOT_SUPPORTED                          = 1400,
+   SNPE_AIP_LAYER_PARAM_NOT_SUPPORTED                    = 1401,
+   SNPE_AIP_LAYER_PARAM_INVALID                          = 1402,
+   SNPE_AIP_LAYER_PARAM_COMBINATION_INVALID              = 1403,
+   SNPE_AIP_STUB_NOT_PRESENT                             = 1404,
+   SNPE_AIP_LAYER_NAME_TRUNCATED                         = 1405,
+   SNPE_AIP_LAYER_INPUT_BUFFER_NAME_TRUNCATED            = 1406,
+   SNPE_AIP_LAYER_OUTPUT_BUFFER_NAME_TRUNCATED           = 1407,
+   SNPE_AIP_RUNTIME_COMMUNICATION_ERROR                  = 1408,
+   SNPE_AIP_RUNTIME_INVALID_PARAM_ERROR                  = 1409,
+   SNPE_AIP_RUNTIME_SYSTEM_ERROR                         = 1410,
+   SNPE_AIP_RUNTIME_TENSOR_MISSING                       = 1411,
+   SNPE_AIP_RUNTIME_TENSOR_SHAPE_MISMATCH                = 1412,
+   SNPE_AIP_RUNTIME_BAD_AIX_RECORD                       = 1413,
+
+   // DlCaching errors
+   SNPE_DLCACHING_INVALID_METADATA                       = 1500,
+   SNPE_DLCACHING_INVALID_INITBLOB                       = 1501,
+
+   // Infrastructure Errors
+   SNPE_INFRA_CLUSTERMGR_INSTANCE_INVALID                = 1600,
+   SNPE_INFRA_CLUSTERMGR_EXECUTE_SYNC_FAILED             = 1601,
+
+   // Memory Errors
+   SNPE_MEMORY_CORRUPTION_ERROR                          = 1700
+
+};
+
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * Returns the error code of the last error encountered.
+ *
+ * @return The error code.
+ *
+ * @note The returned error code is significant only when the return
+ *       value of the call indicated an error.
+ */
+ZDL_EXPORT ErrorCode getLastErrorCode();
+
+/**
+ * Returns the error string of the last error encountered.
+ *
+ * @return The error string.
+ *
+ * @note The returned error string is significant only when the return
+ *       value of the call indicated an error.
+ */
+ZDL_EXPORT const char* getLastErrorString();
+
+/**
+ * Returns the info string of the last error encountered.
+ */
+ZDL_EXPORT const char* getLastInfoString();
+
+/**
+ * Returns the uint32_t representation of the error code enum.
+ *
+ * @param[in] code The error code to be converted.
+ *
+ * @return uint32_t representation of the error code.
+ */
+ZDL_EXPORT uint32_t enumToUInt32(zdl::DlSystem::ErrorCode code);
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+} // DlSystem
+} // zdl
+
+#endif // _DL_ERROR_HPP_
+
diff --git a/third_party/snpe/include/DlSystem/DlOptional.hpp b/third_party/snpe/include/DlSystem/DlOptional.hpp
new file mode 100644
index 00000000000000..4f83e6b4e417fc
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/DlOptional.hpp
@@ -0,0 +1,225 @@
+//==============================================================================
+//
+//  Copyright (c) 2016, 2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _DL_SYSTEM_OPTIONAL_HPP_
+#define _DL_SYSTEM_OPTIONAL_HPP_
+
+#include <cstdio>
+#include <utility>
+#include <stdexcept>
+
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl {
+namespace DlSystem {
+
+template <typename T>
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * Class to manage a value that may or may not exist. The boolean value
+ * of the Optional class is true if the object contains a value and false
+ * if it does not contain a value.
+ *
+ * The class must be evaluated and confirmed as true (containing a value)
+ * before being dereferenced.
+ */
+class ZDL_EXPORT Optional final {
+public:
+   enum class LIFECYCLE {
+      NONE = 0,
+      REFERENCE_OWNED = 1,
+      POINTER_OWNED = 2,
+      POINTER_NOT_OWNED = 3
+   };
+
+   struct ReferenceCount {
+      size_t count = 0;
+
+      void increment() { count++; }
+
+      size_t decrement() {
+         if (count > 0) {
+            count--;
+         }
+         return count;
+      }
+   };
+
+   using U = typename std::remove_pointer<T>::type;
+
+   /**
+    * The default constructor is set to not have any value, and is
+    * therefore evaluated as false.
+    */
+   // Do not explicit it so we can return {}
+   Optional() {
+      m_Type = LIFECYCLE::NONE;
+   }
+
+   /**
+    * Construct an Optional class using an object.
+    * @param[in] Reference to an object v
+    * @param[out] Optional instance of object v
+    */
+   template <typename Q = T>
+   Optional (const T& v, typename std::enable_if<!std::is_pointer<Q>::value>::type* = 0)
+           : m_Type(LIFECYCLE::REFERENCE_OWNED) {
+      try {
+         m_StoragePtr = new T(v);
+      } catch (...) {
+         m_StoragePtr = nullptr;
+         m_Type = LIFECYCLE::NONE;
+      }
+   }
+
+   template <typename Q = T>
+   Optional(U* v, LIFECYCLE type, typename std::enable_if<std::is_pointer<Q>::value>::type* = 0)
+           : m_Type(type) {
+      switch (m_Type) {
+         case LIFECYCLE::POINTER_OWNED:
+            m_StoragePtr = v;
+            m_Count = new ReferenceCount();
+            m_Count->increment();
+            break;
+         case LIFECYCLE::POINTER_NOT_OWNED:
+            m_StoragePtr = v;
+            break;
+         case LIFECYCLE::REFERENCE_OWNED:
+            throw std::bad_exception();
+         case LIFECYCLE::NONE:
+            break;
+      }
+   }
+
+   Optional(const Optional &other) : m_Type(other.m_Type), m_Count(other.m_Count) {
+      if (isReference()) {
+         m_StoragePtr = new U(*other.m_StoragePtr);
+      } else if (isPointer()) {
+         m_StoragePtr = other.m_StoragePtr;
+         if (isOwned()) {
+            m_Count->increment();
+         }
+      }
+   }
+
+   Optional& operator=(const Optional& other) noexcept {
+      Optional tmp(other);
+      swap(std::move(tmp));
+      return *this;
+   }
+
+   Optional(Optional&& other) noexcept {
+      swap(std::move(other));
+   }
+
+   Optional& operator=(Optional&& other) noexcept {
+      swap(std::move(other));
+      return *this;
+   }
+
+   ~Optional() {
+      if (isOwned()) {
+         if (isReference() || (isPointer() && m_Count->decrement() == 0)) {
+            delete m_StoragePtr;
+            delete m_Count;
+         }
+      }
+   }
+
+   /**
+    * Boolean value of Optional class is only true when there exists a value.
+    */
+   operator bool() const noexcept { return isValid(); }
+
+   bool operator!() const noexcept { return !isValid(); }
+
+   /**
+    * Get reference of Optional object
+    * @warning User must validate Optional has value before.
+    */
+   const T& operator*() { return this->GetReference(); }
+
+   /**
+    * Get reference of Optional object
+    * @warning User must validate Optional has value before.
+    */
+   const T& operator*() const { return this->GetReference(); }
+
+   operator T&() { return this->GetReference(); }
+
+   T operator->() {
+      T self = this->GetReference();
+      return self;
+   }
+private:
+   void swap(Optional&& other) {
+      m_Type = other.m_Type;
+      m_StoragePtr = other.m_StoragePtr;
+      m_Count = other.m_Count;
+
+      other.m_Type = LIFECYCLE::NONE;
+      other.m_StoragePtr = nullptr;
+      other.m_Count = nullptr;
+   }
+
+   template <typename Q = T>
+   typename std::enable_if<std::is_same<U, Q>::value, const Q&>::type GetReference() const noexcept {
+      if (!isReference()) std::terminate();
+      return *static_cast<const Q*>(m_StoragePtr);
+   }
+
+   template <typename Q = T>
+   typename std::enable_if<std::is_same<U*, Q>::value, const Q&>::type GetReference() const noexcept {
+      if (!isPointer()) std::terminate();
+      return static_cast<const Q&>(m_StoragePtr);
+   }
+
+   template <typename Q = T>
+   typename std::enable_if<std::is_same<U, Q>::value, Q&>::type GetReference() noexcept {
+      if (!isReference()) std::terminate();
+      return *m_StoragePtr;
+   }
+
+   template <typename Q = T>
+   typename std::enable_if<std::is_same<U*, Q>::value, Q&>::type GetReference() noexcept {
+      if (!isPointer()) std::terminate();
+      return m_StoragePtr;
+   }
+
+   bool isPointer() const {
+      return m_Type == LIFECYCLE::POINTER_OWNED || m_Type == LIFECYCLE::POINTER_NOT_OWNED;
+   }
+
+   bool isOwned() const {
+      return m_Type == LIFECYCLE::REFERENCE_OWNED || m_Type == LIFECYCLE::POINTER_OWNED;
+   }
+
+   bool isReference() const {
+      return m_Type == LIFECYCLE::REFERENCE_OWNED;
+   }
+
+   bool isValid() const {
+      return m_Type != LIFECYCLE::NONE;
+   }
+
+   U* m_StoragePtr = nullptr;
+   LIFECYCLE m_Type;
+   ReferenceCount *m_Count = nullptr;
+};
+
+} // ns DlSystem
+} // ns zdl
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // _DL_SYSTEM_OPTIONAL_HPP_
diff --git a/third_party/snpe/include/DlSystem/DlVersion.hpp b/third_party/snpe/include/DlSystem/DlVersion.hpp
new file mode 100644
index 00000000000000..beb8d75f218caf
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/DlVersion.hpp
@@ -0,0 +1,78 @@
+//==============================================================================
+//
+//  Copyright (c) 2014-2015 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+
+#ifndef _DL_VERSION_HPP_
+#define _DL_VERSION_HPP_
+
+#include "ZdlExportDefine.hpp"
+#include <stdint.h>
+#include <string>
+#include "DlSystem/String.hpp"
+
+
+namespace zdl {
+namespace DlSystem
+{
+   class Version_t;
+}}
+
+
+namespace zdl { namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * A class that contains the different portions of a version number.
+ */
+class ZDL_EXPORT Version_t
+{
+public:
+   /// Holds the major version number. Changes in this value indicate
+   /// major changes that break backward compatibility.
+   int32_t         Major;
+
+   /// Holds the minor version number. Changes in this value indicate
+   /// minor changes made to library that are backwards compatible
+   /// (such as additions to the interface).
+   int32_t         Minor;
+
+   /// Holds the teeny version number. Changes in this value indicate
+   /// changes such as bug fixes and patches made to the library that
+   /// do not affect the interface.
+   int32_t         Teeny;
+
+   /// This string holds information about the build version.
+   ///
+   std::string     Build;
+
+   static zdl::DlSystem::Version_t fromString(const std::string &stringValue);
+
+   static zdl::DlSystem::Version_t fromString(const zdl::DlSystem::String &stringValue);
+
+   /**
+    * @brief Returns a string in the form Major.Minor.Teeny.Build
+    *
+    * @return A formatted string holding the version information.
+    */
+   const std::string toString() const;
+
+   /**
+    * @brief Returns a string in the form Major.Minor.Teeny.Build
+    *
+    * @return A formatted string holding the version information.
+    */
+   const zdl::DlSystem::String asString() const;
+};
+
+}}
+
+/** @} */ /* end_addtogroup c_plus_plus_apis */
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/IBufferAttributes.hpp b/third_party/snpe/include/DlSystem/IBufferAttributes.hpp
new file mode 100644
index 00000000000000..f893e0a2370880
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/IBufferAttributes.hpp
@@ -0,0 +1,86 @@
+//==============================================================================
+//
+// Copyright (c) 2017-2019 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _IBUFFER_ATTRIBUTES_HPP
+#define _IBUFFER_ATTRIBUTES_HPP
+#include "IUserBuffer.hpp"
+#include "TensorShape.hpp"
+#include "ZdlExportDefine.hpp"
+
+namespace zdl {
+    namespace DlSystem {
+        class UserBufferEncoding;
+    }
+}
+
+namespace zdl {
+namespace DlSystem {
+
+/**
+ * @brief IBufferAttributes returns a buffer's dimension and alignment
+ *        requirements, along with info on its encoding type
+ */
+class ZDL_EXPORT IBufferAttributes {
+public:
+
+    /**
+      * @brief Gets the buffer's element size, in bytes
+      *
+      * This can be used to compute the memory size required
+      * to back this buffer.
+      *
+      * @return Element size, in bytes
+     */
+    virtual size_t getElementSize() const noexcept = 0;
+
+    /**
+      * @brief Gets the element's encoding type
+      *
+      * @return encoding type
+     */
+    virtual zdl::DlSystem::UserBufferEncoding::ElementType_t getEncodingType() const noexcept = 0;
+
+    /**
+      * @brief Gets the number of elements in each dimension
+      *
+      * @return Dimension size, in terms of number of elements
+     */
+    virtual const TensorShape getDims() const noexcept = 0;
+
+    /**
+      * @brief Gets the alignment requirement of each dimension
+      *
+      * Alignment per each dimension is expressed as an multiple, for
+      * example, if one particular dimension can accept multiples of 8,
+      * the alignment will be 8.
+      *
+      * @return Alignment in each dimension, in terms of multiple of
+      *         number of elements
+     */
+    virtual const TensorShape getAlignments() const noexcept = 0;
+
+    /**
+      * @brief Gets the buffer encoding returned from the network responsible
+      * for generating this buffer. Depending on the encoding type, this will
+      * be an instance of an encoding type specific derived class.
+      *
+      * @return Derived user buffer encoding object.
+     */
+    virtual zdl::DlSystem::UserBufferEncoding* getEncoding() const noexcept = 0;
+
+    virtual ~IBufferAttributes() {}
+};
+
+
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}
+}
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp b/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
new file mode 100644
index 00000000000000..ac33c84af81198
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
@@ -0,0 +1,127 @@
+//=============================================================================
+//
+//  Copyright (c) 2021-2022 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+
+#ifndef DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
+#define DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
+
+#include <cstddef>
+#include <memory>
+#include "DlSystem/DlEnums.hpp"
+
+namespace DlSystem
+{
+   // Forward declaration of IOBufferDataTypeMapImpl implementation.
+   class IOBufferDataTypeMapImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * The IoBufferDataTypeMap class definition
+ */
+class ZDL_EXPORT IOBufferDataTypeMap final
+{
+public:
+
+    /**
+    * @brief .
+    *
+    * Creates a new Buffer Data type map
+    *
+    */
+   IOBufferDataTypeMap();
+
+   /**
+    * @brief Adds a name and the corresponding buffer data type
+    *        to the map
+    *
+    * @param[name] name The name of the buffer
+    * @param[bufferDataType] buffer Data Type of the buffer
+    *
+    * @note If a buffer with the same name already exists, no new
+    *       buffer is added.
+    */
+   void add(const char* name, zdl::DlSystem::IOBufferDataType_t bufferDataType);
+
+   /**
+    * @brief Removes a buffer name from the map
+    *
+    * @param[name] name The name of the buffer
+    *
+    */
+   void remove(const char* name);
+
+   /**
+    * @brief Returns the type of the named buffer
+    *
+    * @param[name] name The name of the buffer
+    *
+    * @return The type of the buffer, or UNSPECIFIED if the buffer does not exist
+    *
+    */
+   zdl::DlSystem::IOBufferDataType_t getBufferDataType(const char* name);
+
+   /**
+    * @brief Returns the type of the first buffer
+    *
+    * @return The type of the first buffer, or UNSPECIFIED if the map is empty.
+    *
+    */
+   zdl::DlSystem::IOBufferDataType_t getBufferDataType();
+
+   /**
+    * @brief Returns the size of the buffer type map.
+    *
+    * @return The size of the map
+    *
+    */
+   size_t size();
+
+   /**
+    * @brief Checks the existence of the named buffer in the map
+    *
+    * @return True if the named buffer exists, false otherwise.
+    *
+    */
+   bool find(const char* name);
+
+   /**
+    * @brief Resets the map
+    *
+    */
+   void clear();
+
+   /**
+    * @brief Checks whether the map is empty
+    *
+    * @return True if the map is empty, false otherwise.
+    *
+    */
+   bool empty();
+
+   /**
+    * @brief Destroys the map
+    *
+    */
+   ~IOBufferDataTypeMap();
+
+private:
+   std::shared_ptr<::DlSystem::IOBufferDataTypeMapImpl> m_IOBufferDataTypeMapImpl;
+};
+}
+
+}
+#endif
diff --git a/third_party/snpe/include/DlSystem/ITensor.hpp b/third_party/snpe/include/DlSystem/ITensor.hpp
new file mode 100644
index 00000000000000..2f006c857fc442
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/ITensor.hpp
@@ -0,0 +1,146 @@
+//=============================================================================
+//
+//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _ITENSOR_HPP_
+#define _ITENSOR_HPP_
+
+#include "ITensorItr.hpp"
+#include "ITensorItrImpl.hpp"
+#include "TensorShape.hpp"
+#include "ZdlExportDefine.hpp"
+#include <memory>
+#include <ostream>
+#include <cmath>
+
+namespace zdl {
+namespace DlSystem
+{
+   class ITensor;
+}}
+
+namespace zdl { namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * Represents a tensor which holds n-dimensional data. It is important to
+ * understand how the tensor data is represented in memory 
+ * relative to the tensor dimensions. Tensors store data in 
+ * memory in row-major order (i.e. the last tensor dimension is 
+ * the fastest varying one). For example, if you have a two 
+ * dimensional tensor with 3 rows and 2 columns (i.e. the tensor 
+ * dimensions are 3,2 as returned in tensor dimension vectors)
+ * with the following data in terms rows and columns: 
+ *  
+ * | 1 2 | <br/>
+ * | 3 4 | <br/>
+ * | 5 6 | <br/>
+ *  
+ * This data would be stored in memory as 1,2,3,4,5,6. 
+ */
+class ZDL_EXPORT ITensor 
+{
+public:
+
+   typedef zdl::DlSystem::ITensorItr<false> iterator;
+   typedef zdl::DlSystem::ITensorItr<true> const_iterator;
+
+   virtual ~ITensor() {}
+
+   /**
+    * Returns a tensor iterator pointing to the beginning 
+    * of the data in the tensor.
+    * 
+    * @return A tensor iterator that points to the first data
+    *         element in the tensor.
+    */
+   virtual iterator begin() = 0;
+
+   /**
+    * Returns the const version of a tensor iterator 
+    * pointing to the beginning of the data in the tensor.
+    * 
+    * @return A tensor const iterator that points to the first data
+    *         element in the tensor.
+    */
+   virtual const_iterator cbegin() const = 0;
+
+   /**
+    * Returns a tensor iterator pointing to the end of the
+    * data in the tensor. This tensor should not be
+    * dereferenced.
+    * 
+    * @return A tensor iterator that points to the end of the data 
+    *         (one past the last element) in the tensor.
+    */
+   virtual iterator end() = 0;
+
+   /**
+    * Returns the const version of a tensor iterator 
+    * pointing to the end of the data in the tensor. This
+    * tensor should not be dereferenced.
+    * 
+    * @return A tensor const iterator that points to the end of the
+    *         data (one past the last element) in the tensor.
+    */
+   virtual const_iterator cend() const = 0;
+
+   /**
+    * @brief Gets the shape of this tensor.
+    *  
+    * The last element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest 
+    * varying dimension, etc. 
+    * 
+    * @return A shape class holding the tensor dimensions.
+    */
+   virtual TensorShape getShape() const = 0;
+
+   /**
+    * Returns the element size of the data in the tensor 
+    * (discounting strides). This is how big a buffer would
+    * need to be to hold the tensor data contiguously in
+    * memory.
+    *  
+    * @return The size of the tensor (in elements).
+    */
+   virtual size_t getSize() const = 0;
+
+   /**
+    * @brief Serializes the tensor to an output stream.
+    * 
+    * @param[in] output The output stream to which to write the tensor 
+    *  
+    * @throw std::runtime_error If the stream is ever in a bad 
+    *        state before the tensor is fully serialized.
+    */
+   virtual void serialize(std::ostream &output) const = 0;
+
+   friend iterator;
+   friend const_iterator;
+
+   virtual bool isQuantized() {return false;}
+   virtual float GetDelta() {return NAN;};
+   virtual float GetOffset() {return NAN;};
+
+protected:
+
+   /**
+    * Returns the tensor iterator implementation.
+    * 
+    * @return A pointer to the tensor iterator implementation.
+    */
+   virtual std::unique_ptr<::DlSystem::ITensorItrImpl> getItrImpl() const = 0;
+};
+
+}}
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorFactory.hpp b/third_party/snpe/include/DlSystem/ITensorFactory.hpp
new file mode 100644
index 00000000000000..57d2c8ea992375
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/ITensorFactory.hpp
@@ -0,0 +1,92 @@
+//=============================================================================
+//
+//  Copyright (c) 2015-2016 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _ITENSOR_FACTORY_HPP
+#define _ITENSOR_FACTORY_HPP
+
+#include "ITensor.hpp"
+#include "TensorShape.hpp"
+#include "ZdlExportDefine.hpp"
+#include <istream>
+
+namespace zdl {
+    namespace DlSystem
+    {
+        class ITensor;
+        class TensorShape;
+    }
+}
+
+namespace zdl { namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * Factory interface class to create ITensor objects.
+ */
+class ZDL_EXPORT ITensorFactory
+{
+public:
+   virtual ~ITensorFactory() = default;
+
+   /**
+    * Creates a new ITensor with uninitialized data. 
+    *  
+    * The strides for the tensor will match the tensor dimensions 
+    * (i.e., the tensor data is contiguous in memory).
+    *  
+    * @param[in] shape The dimensions for the tensor in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    * 
+    * @return A pointer to the created tensor or nullptr if creating failed.
+    */
+   virtual std::unique_ptr<ITensor>
+      createTensor(const TensorShape &shape) noexcept = 0;
+
+   /**
+    * Creates a new ITensor by loading it from a file.
+    *  
+    * @param[in] input The input stream from which to read the tensor 
+    *                  data.
+    *  
+    * @return A pointer to the created tensor or nullptr if creating failed.
+    *
+    */
+   virtual std::unique_ptr<ITensor> createTensor(std::istream &input) noexcept = 0;
+
+   /**
+    * Create a new ITensor with specific data.
+    * (i.e. the tensor data is contiguous in memory). This tensor is
+    * primarily used to create a tensor where tensor size can't be
+    * computed directly from dimension. One such example is
+    * NV21-formatted image, or any YUV formatted image
+    *
+    * @param[in] shape The dimensions for the tensor in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    *
+    * @param[in] data The actual data with which the Tensor object is filled.
+    *
+    * @param[in] dataSize The size of data
+    *
+    * @return A pointer to the created tensor
+    */
+   virtual std::unique_ptr<ITensor>
+      createTensor(const TensorShape &shape, const unsigned char *data, size_t dataSize) noexcept = 0;
+};
+
+}}
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorItr.hpp b/third_party/snpe/include/DlSystem/ITensorItr.hpp
new file mode 100644
index 00000000000000..4ce12a9f113acb
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/ITensorItr.hpp
@@ -0,0 +1,182 @@
+//=============================================================================
+//
+//  Copyright (c) 2015 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _ITENSOR_ITR_HPP_
+#define _ITENSOR_ITR_HPP_
+
+#include "ZdlExportDefine.hpp"
+#include "ITensorItrImpl.hpp"
+
+#include <memory>
+#include <iterator>
+#include <iostream>
+
+namespace zdl {
+namespace DlSystem
+{
+   template<bool IS_CONST> class ITensorItr;
+   class ITensor;
+   void ZDL_EXPORT fill(ITensorItr<false> first, ITensorItr<false> end, float val);
+   template<class InItr, class OutItr> OutItr ZDL_EXPORT copy(InItr first, InItr last, OutItr result)
+   {
+      return std::copy(first, last, result);
+   }
+}}
+namespace DlSystem
+{
+   class ITensorItrImpl;
+}
+
+namespace zdl { namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * A bidirectional iterator (with limited random access 
+ * capabilities) for the zdl::DlSystem::ITensor class.
+ *  
+ * This is a standard bidrectional iterator and is compatible
+ * with standard algorithm functions that operate on bidirectional 
+ * access iterators (e.g., std::copy, std::fill, etc.). It uses a
+ * template parameter to create const and non-const iterators 
+ * from the same code. Iterators are easiest to declare via the 
+ * typedefs iterator and const_iterator in the ITensor class 
+ * (e.g., zdl::DlSystem::ITensor::iterator). 
+ *  
+ * Note that if the tensor the iterator is traversing was 
+ * created with nondefault (i.e., nontrivial) strides, the 
+ * iterator will obey the strides when traversing the tensor 
+ * data. 
+ *  
+ * Also note that nontrivial strides dramatically affect the
+ * performance of the iterator (on the order of 20x slower). 
+ */ 
+template<bool IS_CONST=true>
+class ZDL_EXPORT ITensorItr : public std::iterator<std::bidirectional_iterator_tag, float>
+{
+public:
+
+   typedef typename std::conditional<IS_CONST, const float&, float&>::type VALUE_REF;
+
+   ITensorItr() = delete;
+   virtual ~ITensorItr() {}
+
+   ITensorItr(std::unique_ptr<::DlSystem::ITensorItrImpl> impl, 
+              bool isTrivial = false, 
+              float* data = nullptr)
+      : m_Impl(impl->clone())
+      , m_IsTrivial(isTrivial)
+      , m_Data(data)
+      , m_DataStart(data) {}
+
+   ITensorItr(const ITensorItr<IS_CONST>& itr)
+      : m_Impl(itr.m_Impl->clone()),
+        m_IsTrivial(itr.m_IsTrivial),
+        m_Data(itr.m_Data),
+        m_DataStart(itr.m_DataStart) {}
+
+   zdl::DlSystem::ITensorItr<IS_CONST>& operator=(const ITensorItr<IS_CONST>& other)
+   {
+      if (this == &other) return *this;
+      m_Impl = std::move(other.m_Impl->clone());
+      m_IsTrivial = other.m_IsTrivial;
+      m_Data = other.m_Data;
+      m_DataStart = other.m_DataStart;
+      return *this;
+   }
+
+   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator++()
+   {
+      if (m_IsTrivial) m_Data++; else m_Impl->increment();
+      return *this;
+   }
+   inline zdl::DlSystem::ITensorItr<IS_CONST> operator++(int)
+   {
+      ITensorItr tmp(*this);
+      operator++();
+      return tmp;
+   }
+   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator--()
+   {
+      if (m_IsTrivial) m_Data--; else m_Impl->decrement();
+      return *this;
+   }
+   inline zdl::DlSystem::ITensorItr<IS_CONST> operator--(int)
+   {
+      ITensorItr tmp(*this);
+      operator--();
+      return tmp;
+   }
+   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator+=(int rhs)
+   {
+      if (m_IsTrivial) m_Data += rhs; else m_Impl->increment(rhs);
+      return *this;
+   }
+   inline friend zdl::DlSystem::ITensorItr<IS_CONST> operator+(zdl::DlSystem::ITensorItr<IS_CONST> lhs, int rhs)
+      { lhs += rhs; return lhs; }
+   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator-=(int rhs)
+   {
+      if (m_IsTrivial) m_Data -= rhs; else m_Impl->decrement(rhs);
+      return *this;
+   }
+   inline friend zdl::DlSystem::ITensorItr<IS_CONST> operator-(zdl::DlSystem::ITensorItr<IS_CONST> lhs, int rhs)
+      { lhs -= rhs; return lhs; }
+
+   inline size_t operator-(const zdl::DlSystem::ITensorItr<IS_CONST>& rhs)
+   {
+      if (m_IsTrivial) return (m_Data - m_DataStart) - (rhs.m_Data - rhs.m_DataStart);
+      return m_Impl->getPosition() - rhs.m_Impl->getPosition();
+   }
+
+   inline friend bool operator<(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
+   {
+      if (lhs.m_IsTrivial) return lhs.m_Data < rhs.m_Data;
+      return lhs.m_Impl->dataPointer() < rhs.m_Impl->dataPointer();
+   }
+   inline friend bool operator>(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
+      { return rhs < lhs; }
+   inline friend bool operator<=(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
+      { return !(lhs > rhs); }
+   inline friend bool operator>=(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
+      { return !(lhs < rhs); }
+
+   inline bool operator==(const ITensorItr<IS_CONST>& rhs) const
+   {
+      if (m_IsTrivial) return m_Data == rhs.m_Data;
+      return m_Impl->dataPointer() == rhs.m_Impl->dataPointer();
+   }
+   inline bool operator!=(const ITensorItr<IS_CONST>& rhs) const
+      { return !operator==(rhs); }
+
+   inline VALUE_REF operator[](size_t idx)
+   {
+      if (m_IsTrivial) return *(m_DataStart + idx);
+      return m_Impl->getReferenceAt(idx);
+   }
+   inline VALUE_REF operator*()
+      { if (m_IsTrivial) return *m_Data; else return m_Impl->getReference(); }
+   inline VALUE_REF operator->()
+      { return *(*this); }
+   inline float* dataPointer() const
+      { if (m_IsTrivial) return m_Data; else return m_Impl->dataPointer(); }
+
+
+protected:
+   std::unique_ptr<::DlSystem::ITensorItrImpl> m_Impl;
+   bool m_IsTrivial = false;
+   float* m_Data = nullptr;
+   float* m_DataStart = nullptr;
+};
+
+}}
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp b/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
new file mode 100644
index 00000000000000..069e7a1d69031f
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
@@ -0,0 +1,42 @@
+//=============================================================================
+//
+//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _ITENSOR_ITR_IMPL_HPP_
+#define _ITENSOR_ITR_IMPL_HPP_
+
+#include "ZdlExportDefine.hpp"
+
+#include <memory>
+#include <iterator>
+
+namespace DlSystem
+{
+   class ITensorItrImpl;
+}
+
+class ZDL_EXPORT DlSystem::ITensorItrImpl
+{
+public:
+   ITensorItrImpl() {}
+   virtual ~ITensorItrImpl() {}
+
+   virtual float getValue() const = 0;
+   virtual float& getReference() = 0;
+   virtual float& getReferenceAt(size_t idx) = 0;
+   virtual float* dataPointer() const = 0;
+   virtual void increment(int incVal = 1) = 0;
+   virtual void decrement(int decVal = 1) = 0;
+   virtual size_t getPosition() = 0;
+   virtual std::unique_ptr<DlSystem::ITensorItrImpl> clone() = 0;
+
+private:
+   ITensorItrImpl& operator=(const ITensorItrImpl& other) = delete;
+   ITensorItrImpl(const ITensorItrImpl& other) = delete;
+};
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/IUDL.hpp b/third_party/snpe/include/DlSystem/IUDL.hpp
new file mode 100644
index 00000000000000..a171ac7e81d6a3
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/IUDL.hpp
@@ -0,0 +1,105 @@
+//=============================================================================
+//
+//  Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _DL_SYSTEM_IUDL_HPP_
+#define _DL_SYSTEM_IUDL_HPP_
+
+#include "ZdlExportDefine.hpp"
+
+namespace zdl {
+namespace DlSystem {
+
+/**
+ * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+ *
+ * @brief .
+ *
+ * Base class user concrete UDL implementation.
+ *
+ * All functions are marked as:
+ *
+ * - virtual
+ * - noexcept
+ *
+ * User should make sure no exceptions are propagated outside of
+ * their module. Errors can be communicated via return values.
+ */
+class ZDL_EXPORT IUDL {
+public:
+   /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+    *
+    * @brief .
+    *
+    * Destructor
+    */
+   virtual ~IUDL() = default;
+
+   /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+    *
+    * @brief Sets up the user's environment.
+    * This is called by the SNPE framework to allow the user the
+    * opportunity to setup anything which is needed for running
+    * user defined layers.
+    *
+    * @param cookie User provided opaque data returned by the SNPE
+    *               runtime
+    *
+    * @param insz How many elements in input size array
+    * @param indim Pointer to a buffer that holds input dimension
+    *               array
+    * @param indimsz Input dimension size  array of the buffer
+    *                 'indim'. Corresponds to indim
+    *
+    * @param outsz How many elements in output size array
+    * @param outdim Pointer to a buffer that holds output
+    *              dimension array
+    * @param outdimsz Output dimension size of the buffer 'oudim'.
+    *                  Corresponds to indim
+    *
+    * @return true on success, false otherwise
+    */
+   virtual bool setup(void *cookie,
+                      size_t insz, const size_t **indim, const size_t *indimsz,
+                      size_t outsz, const size_t **outdim, const size_t *outdimsz)  = 0;
+
+   /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+    *
+    * @brief Close the instance. Invoked by the SNPE
+    * framework to allow the user the opportunity to release any resources
+    * allocated during setup.
+    *
+    * @param cookie - User provided opaque data returned by the SNPE runtime
+    */
+   virtual void close(void *cookie) noexcept = 0;
+
+   /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+    *
+    * @brief Execute the user defined layer
+    *
+    * @param cookie User provided opaque data returned by the SNPE 
+    *               runtime
+    *
+    * @param input Const pointer to a float buffer that contains
+    *               the input
+    *
+    * @param output Float pointer to a buffer that would hold
+    *                 the user defined layer's output. This buffer
+    *                 is allocated and owned by SNPE runtime.
+    */
+   virtual bool execute(void *cookie, const float **input, float **output)  = 0;
+};
+
+} // ns DlSystem
+
+} // ns zdl
+
+#endif // _DL_SYSTEM_IUDL_HPP_
diff --git a/third_party/snpe/include/DlSystem/IUserBuffer.hpp b/third_party/snpe/include/DlSystem/IUserBuffer.hpp
new file mode 100644
index 00000000000000..ea491a545b3269
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/IUserBuffer.hpp
@@ -0,0 +1,358 @@
+//==============================================================================
+//
+// Copyright (c) 2017-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _IUSER_BUFFER_HPP
+#define _IUSER_BUFFER_HPP
+
+#include "TensorShape.hpp"
+#include "ZdlExportDefine.hpp"
+#include <math.h>
+
+namespace zdl {
+namespace DlSystem {
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+
+/**
+  * @brief .
+  *
+  * A base class buffer encoding type
+  */
+class ZDL_EXPORT UserBufferEncoding {
+public:
+
+    /**
+      * @brief .
+      *
+      * An enum class of all supported element types in a IUserBuffer
+      */
+    enum class ElementType_t
+    {
+        /// Unknown element type.
+        UNKNOWN         = 0,
+
+        /// Each element is presented by float.
+        FLOAT           = 1,
+
+        /// Each element is presented by an unsigned int.
+        UNSIGNED8BIT    = 2,
+
+        /// Each element is presented by an 8-bit quantized value.
+        TF8             = 10,
+
+        /// Each element is presented by an 16-bit quantized value.
+        TF16            = 11
+    };
+
+    /**
+      * @brief Retrieves the size of the element, in bytes.
+      *
+      * @return Size of the element, in bytes.
+     */
+    virtual size_t getElementSize() const noexcept = 0;
+
+    /**
+      * @brief Retrieves the element type
+      *
+      * @return Element type
+     */
+    ElementType_t getElementType() const noexcept {return m_ElementType;};
+
+    virtual ~UserBufferEncoding() {}
+
+protected:
+    UserBufferEncoding(ElementType_t  elementType) : m_ElementType(elementType) {};
+private:
+    const ElementType_t  m_ElementType;
+};
+
+/**
+  * @brief .
+  *
+  * A base class buffer source type
+  *
+  * @note User buffer from CPU support all kinds of runtimes;
+  *       User buffer from GLBUFFER support only GPU runtime.
+  */
+class ZDL_EXPORT UserBufferSource {
+public:
+   enum class SourceType_t
+   {
+      /// Unknown buffer source type.
+      UNKNOWN = 0,
+
+      /// The network inputs are from CPU buffer.
+      CPU = 1,
+
+      /// The network inputs are from OpenGL buffer.
+      GLBUFFER = 2
+   };
+
+   /**
+     * @brief Retrieves the source type
+     *
+     * @return Source type
+    */
+   SourceType_t getSourceType() const noexcept {return m_SourceType;};
+
+protected:
+   UserBufferSource(SourceType_t sourceType): m_SourceType(sourceType) {};
+private:
+   const SourceType_t m_SourceType;
+};
+
+/**
+  * @brief .
+  *
+  * An source type where input data is delivered from OpenGL buffer
+  */
+class ZDL_EXPORT UserBufferSourceGLBuffer : public UserBufferSource{
+public:
+   UserBufferSourceGLBuffer() : UserBufferSource(SourceType_t::GLBUFFER) {};
+};
+
+/**
+  * @brief .
+  *
+  * An encoding type where each element is represented by an unsigned int
+  */
+class ZDL_EXPORT UserBufferEncodingUnsigned8Bit : public UserBufferEncoding {
+public:
+    UserBufferEncodingUnsigned8Bit() : UserBufferEncoding(ElementType_t::UNSIGNED8BIT) {};
+    size_t getElementSize() const noexcept override;
+
+protected:
+    UserBufferEncodingUnsigned8Bit(ElementType_t  elementType) : UserBufferEncoding(elementType) {};
+
+};
+
+/**
+  * @brief .
+  *
+  * An encoding type where each element is represented by a float
+  */
+class ZDL_EXPORT UserBufferEncodingFloat : public UserBufferEncoding {
+public:
+    UserBufferEncodingFloat() : UserBufferEncoding(ElementType_t::FLOAT) {};
+    size_t getElementSize() const noexcept override;
+
+};
+
+/**
+  * @brief .
+  *
+  * An encoding type where each element is represented by tf8, which is an
+  * 8-bit quantizd value, which has an exact representation of 0.0
+  */
+class ZDL_EXPORT UserBufferEncodingTfN : public UserBufferEncoding {
+public:
+   UserBufferEncodingTfN() = delete;
+   UserBufferEncodingTfN(uint64_t stepFor0, float stepSize, uint8_t bWidth=8):
+                                           UserBufferEncoding(getTypeFromWidth(bWidth)),
+                                           bitWidth(bWidth),
+                                           m_StepExactly0(stepFor0),
+                                           m_QuantizedStepSize(stepSize){};
+
+   UserBufferEncodingTfN(const zdl::DlSystem::UserBufferEncoding &ubEncoding) : UserBufferEncoding(ubEncoding.getElementType()){
+            const zdl::DlSystem::UserBufferEncodingTfN* ubEncodingTfN
+                            = dynamic_cast <const zdl::DlSystem::UserBufferEncodingTfN*> (&ubEncoding);
+            if (ubEncodingTfN) {
+                m_StepExactly0 = ubEncodingTfN->getStepExactly0();
+                m_QuantizedStepSize = ubEncodingTfN->getQuantizedStepSize();
+                bitWidth = ubEncodingTfN->bitWidth;
+            }
+   }
+
+   size_t getElementSize() const noexcept override;
+   /**
+      * @brief Sets the step value that represents 0
+      *
+      * @param[in] stepExactly0 The step value that represents 0
+      *
+     */
+   void setStepExactly0(uint64_t stepExactly0) {
+      m_StepExactly0 = stepExactly0;
+   }
+
+   /**
+     * @brief Sets the float value that each step represents
+     *
+     * @param[in] quantizedStepSize The float value of each step size
+     *
+    */
+   void setQuantizedStepSize(const float quantizedStepSize) {
+      m_QuantizedStepSize = quantizedStepSize;
+   }
+
+   /**
+     * @brief Retrieves the step that represents 0.0
+     *
+     * @return Step value
+    */
+   uint64_t getStepExactly0() const {
+      return m_StepExactly0;
+   }
+
+   /**
+    * Calculates the minimum floating point value that
+    * can be represented with this encoding.
+    *
+    * @return Minimum representable floating point value
+    */
+   float getMin() const {
+      return static_cast<float>(m_QuantizedStepSize * (0 - (double)m_StepExactly0));
+   }
+
+   /**
+    * Calculates the maximum floating point value that
+    * can be represented with this encoding.
+    *
+    * @return Maximum representable floating point value
+    */
+   float getMax() const{
+       return static_cast<float>(m_QuantizedStepSize * (pow(2,bitWidth)-1 - (double)m_StepExactly0));
+   };
+
+   /**
+     * @brief Retrieves the step size
+     *
+     * @return Step size
+    */
+   float getQuantizedStepSize() const {
+      return m_QuantizedStepSize;
+   }
+
+   ElementType_t getTypeFromWidth(uint8_t width);
+
+   uint8_t bitWidth;
+protected:
+   uint64_t m_StepExactly0;
+   float m_QuantizedStepSize;
+};
+
+
+class ZDL_EXPORT UserBufferEncodingTf8 : public UserBufferEncodingTfN {
+public:
+    UserBufferEncodingTf8() = delete;
+    UserBufferEncodingTf8(unsigned char stepFor0, float stepSize) :
+            UserBufferEncodingTfN(stepFor0, stepSize) {};
+
+    UserBufferEncodingTf8(const zdl::DlSystem::UserBufferEncoding &ubEncoding) : UserBufferEncodingTfN(ubEncoding){}
+
+/**
+      * @brief Sets the step value that represents 0
+      *
+      * @param[in] stepExactly0 The step value that represents 0
+      *
+     */
+
+    void setStepExactly0(const unsigned char stepExactly0) {
+        UserBufferEncodingTfN::m_StepExactly0 = stepExactly0;
+    }
+
+/**
+      * @brief Retrieves the step that represents 0.0
+      *
+      * @return Step value
+     */
+
+    unsigned char getStepExactly0() const {
+        return UserBufferEncodingTfN::m_StepExactly0;
+    }
+
+};
+
+
+/**
+ * @brief UserBuffer contains a pointer and info on how to walk it and interpret its content.
+ */
+class ZDL_EXPORT IUserBuffer {
+public:
+    virtual ~IUserBuffer() = default;
+    
+    /**
+      * @brief Retrieves the total number of bytes between elements in each dimension if
+      * the buffer were to be interpreted as a multi-dimensional array.
+      *
+      * @return Number of bytes between elements in each dimension.
+      * e.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would
+      * return strides of [24, 8, 4].
+     */
+    virtual const TensorShape& getStrides() const = 0;
+
+    /**
+      * @brief Retrieves the size of the buffer, in bytes.
+      *
+      * @return Size of the underlying buffer, in bytes.
+     */
+    virtual size_t getSize() const = 0;
+
+    /**
+      * @brief Retrieves the size of the inference data in the buffer, in bytes.
+      *
+      * The inference results from a dynamic-sized model may not be exactly the same size
+      * as the UserBuffer provided to SNPE. This function can be used to get the amount
+      * of output inference data, which may be less or greater than the size of the UserBuffer.
+      *
+      * If the inference results fit in the UserBuffer, getOutputSize() would be less than
+      * or equal to getSize(). But if the inference results were more than the capacity of
+      * the provided UserBuffer, the results would be truncated to fit the UserBuffer. But,
+      * getOutputSize() would be greater than getSize(), which indicates a bigger buffer
+      * needs to be provided to SNPE to hold all of the inference results.
+      *
+      * @return Size required for the buffer to hold all inference results, which can be less
+      * or more than the size of the buffer, in bytes.
+    */
+    virtual size_t getOutputSize() const = 0;
+
+    /**
+      * @brief Changes the underlying memory that backs the UserBuffer.
+      *
+      * This can be used to avoid creating multiple UserBuffer objects
+      * when the only thing that differs is the memory location.
+      *
+      * @param[in] buffer Pointer to the memory location
+      *
+      * @return Whether the set succeeds.
+     */
+    virtual bool setBufferAddress(void *buffer) noexcept = 0;
+
+    /**
+      * @brief Gets a const reference to the data encoding object of
+      *        the underlying buffer
+      *
+      * This is necessary when the UserBuffer is filled by SNPE with
+      * data types such as TF8, where the caller needs to know the quantization
+      * parameters in order to interpret the data properly
+      *
+      * @return A read-only encoding object
+     */
+    virtual const UserBufferEncoding& getEncoding() const noexcept = 0;
+
+    /**
+      * @brief Gets a reference to the data encoding object of
+      *        the underlying buffer
+      *
+      * This is necessary when the UserBuffer is re-used, and the encoding
+      * parameters can change.  For example, each input can be quantized with
+      * different step sizes.
+      *
+      * @return Data encoding meta-data
+     */
+    virtual UserBufferEncoding& getEncoding() noexcept = 0;
+
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}
+}
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp b/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
new file mode 100644
index 00000000000000..59803fbd8f8772
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
@@ -0,0 +1,81 @@
+//=============================================================================
+//
+//  Copyright (c) 2017 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _IUSERBUFFER_FACTORY_HPP
+#define _IUSERBUFFER_FACTORY_HPP
+
+#include "IUserBuffer.hpp"
+#include "TensorShape.hpp"
+#include "ZdlExportDefine.hpp"
+#include "DlEnums.hpp"
+namespace zdl {
+    namespace DlSystem {
+        class IUserBuffer;
+
+        class TensorShape;
+    }
+}
+
+namespace zdl {
+namespace DlSystem {
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+* Factory interface class to create IUserBuffer objects.
+*/
+class ZDL_EXPORT IUserBufferFactory {
+public:
+    virtual ~IUserBufferFactory() = default;
+
+    /**
+     * @brief Creates a UserBuffer
+     *
+     * @param[in] buffer Pointer to the buffer that the caller supplies
+     *
+     * @param[in] bufSize Buffer size, in bytes
+     *
+     * @param[in] strides Total number of bytes between elements in each dimension.
+     *          E.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would have strides of [24, 8, 4].
+     *
+     * @param[in] userBufferEncoding Reference to an UserBufferEncoding object
+     *
+     * @note Caller has to ensure that memory pointed to by buffer stays accessible
+     *       for the lifetime of the object created
+     */
+    virtual std::unique_ptr<IUserBuffer>
+    createUserBuffer(void *buffer, size_t bufSize, const zdl::DlSystem::TensorShape &strides, zdl::DlSystem::UserBufferEncoding* userBufferEncoding) noexcept = 0;
+
+    /**
+     * @brief Creates a UserBuffer
+     *
+     * @param[in] buffer Pointer to the buffer that the caller supplies
+     *
+     * @param[in] bufSize Buffer size, in bytes
+     *
+     * @param[in] strides Total number of bytes between elements in each dimension.
+     *          E.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would have strides of [24, 8, 4].
+     *
+     * @param[in] userBufferEncoding Reference to an UserBufferEncoding object
+     *
+     * @param[in] userBufferSource Reference to an UserBufferSource object
+     *
+     * @note Caller has to ensure that memory pointed to by buffer stays accessible
+     *       for the lifetime of the object created
+     */
+    virtual std::unique_ptr<IUserBuffer>
+    createUserBuffer(void *buffer, size_t bufSize, const zdl::DlSystem::TensorShape &strides, zdl::DlSystem::UserBufferEncoding* userBufferEncoding, zdl::DlSystem::UserBufferSource* userBufferSource) noexcept = 0;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}
+}
+
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/PlatformConfig.hpp b/third_party/snpe/include/DlSystem/PlatformConfig.hpp
new file mode 100644
index 00000000000000..c7b85f43c1274b
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/PlatformConfig.hpp
@@ -0,0 +1,230 @@
+//=============================================================================
+//
+//  Copyright (c) 2017-2018,2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _DL_SYSTEM_PLATFORM_CONFIG_HPP_
+#define _DL_SYSTEM_PLATFORM_CONFIG_HPP_
+
+#include "DlSystem/ZdlExportDefine.hpp"
+#include <string>
+
+namespace zdl{
+namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+
+/**
+  * @brief .
+  *
+  * A structure OpenGL configuration
+  *
+  * @note When certain OpenGL context and display are provided to UserGLConfig for using
+  *       GPU buffer as input directly, the user MUST ensure the particular OpenGL
+  *       context and display remain vaild throughout the execution of neural network models.
+  */
+struct ZDL_EXPORT UserGLConfig
+{
+   /// Holds user EGL context.
+   ///
+   void* userGLContext = nullptr;
+
+   /// Holds user EGL display.
+   void* userGLDisplay = nullptr;
+};
+
+/**
+  * @brief .
+  *
+  * A structure Gpu configuration
+  */
+struct ZDL_EXPORT UserGpuConfig{
+   /// Holds user OpenGL configuration.
+   ///
+   UserGLConfig userGLConfig;
+};
+
+/**
+  * @brief .
+  *
+  * A class user platform configuration
+  */
+class ZDL_EXPORT PlatformConfig
+{
+public:
+
+   /**
+     * @brief .
+     *
+     * An enum class of all supported platform types
+     */
+   enum class PlatformType_t
+   {
+      /// Unknown platform type.
+      UNKNOWN = 0,
+
+      /// Snapdragon CPU.
+      CPU = 1,
+
+      /// Adreno GPU.
+      GPU = 2,
+
+      /// Hexagon DSP.
+      DSP = 3
+   };
+
+   /**
+     * @brief .
+     *
+     * A union class user platform configuration information
+     */
+   union PlatformConfigInfo
+   {
+      /// Holds user GPU Configuration.
+      ///
+      UserGpuConfig userGpuConfig;
+
+      PlatformConfigInfo(){};
+   };
+
+   PlatformConfig() : m_PlatformType(PlatformType_t::UNKNOWN),
+                      m_PlatformOptions("") {};
+
+   /**
+     * @brief Retrieves the platform type
+     *
+     * @return Platform type
+     */
+   PlatformType_t getPlatformType() const {return m_PlatformType;};
+
+   /**
+     * @brief Indicates whther the plaform configuration is valid.
+     *
+     * @return True if the platform configuration is valid; false otherwise.
+     */
+   bool isValid() const {return (PlatformType_t::UNKNOWN != m_PlatformType);};
+
+   /**
+     * @brief Retrieves the Gpu configuration
+     *
+     * @param[out] userGpuConfig The passed in userGpuConfig populated with the Gpu configuration on return.
+     *
+     * @return True if Gpu configuration was retrieved; false otherwise.
+     */
+   bool getUserGpuConfig(UserGpuConfig& userGpuConfig) const
+   {
+      if(m_PlatformType == PlatformType_t::GPU)
+      {
+         userGpuConfig = m_PlatformConfigInfo.userGpuConfig;
+         return true;
+      }
+      else
+      {
+         return false;
+      }
+   }
+
+   /**
+     * @brief Sets the Gpu configuration
+     *
+     * @param[in] userGpuConfig Gpu Configuration
+     *
+     * @return True if Gpu configuration was successfully set; false otherwise.
+     */
+   bool setUserGpuConfig(UserGpuConfig& userGpuConfig)
+   {
+      if((userGpuConfig.userGLConfig.userGLContext != nullptr) && (userGpuConfig.userGLConfig.userGLDisplay != nullptr))
+      {
+         switch (m_PlatformType)
+         {
+         case PlatformType_t::GPU:
+            m_PlatformConfigInfo.userGpuConfig = userGpuConfig;
+            return true;
+         case PlatformType_t::UNKNOWN:
+            m_PlatformType = PlatformType_t::GPU;
+            m_PlatformConfigInfo.userGpuConfig = userGpuConfig;
+            return true;
+         default:
+            return false;
+         }
+      }
+      else
+         return false;
+   }
+
+   /**
+     * @brief Sets the platform options
+     *
+     * @param[in] options Options as a string in the form of "keyword:options"
+     *
+     * @return True if options are pass validation; otherwise false.  If false, the options are not updated.
+     */
+   bool setPlatformOptions(std::string options) {
+      std::string oldOptions = m_PlatformOptions;
+      m_PlatformOptions = options;
+      if (isOptionsValid()) {
+         return true;
+      } else {
+         m_PlatformOptions = oldOptions;
+         return false;
+      }
+   }
+
+   /**
+     * @brief Indicates whther the plaform configuration is valid.
+     *
+     * @return True if the platform configuration is valid; false otherwise.
+     */
+   bool isOptionsValid() const;
+
+   /**
+     * @brief Gets the platform options
+     *
+     * @return Options as a string
+     */
+   std::string getPlatformOptions() const { return m_PlatformOptions; }
+
+    /**
+      * @brief Sets the platform options
+      *
+      * @param[in] optionName Name of platform options"
+      * @param[in] value Value of specified optionName
+      *
+      * @return If true, add "optionName:value" to platform options if optionName don't exist, otherwise update the
+      *         value of specified optionName.
+      *         If false, the platform options will not be changed.
+      */
+   bool setPlatformOptionValue(const std::string& optionName, const std::string& value);
+
+    /**
+       * @brief Removes the platform options
+       *
+       * @param[in] optionName Name of platform options"
+       * @param[in] value Value of specified optionName
+       *
+       * @return If true, removed "optionName:value" to platform options if optionName don't exist, do nothing.
+       *         If false, the platform options will not be changed.
+       */
+    bool removePlatformOptionValue(const std::string& optionName, const std::string& value);
+
+   static void SetIsUserGLBuffer(bool isUserGLBuffer);
+   static bool GetIsUserGLBuffer();
+
+private:
+   PlatformType_t m_PlatformType;
+   PlatformConfigInfo m_PlatformConfigInfo;
+   std::string m_PlatformOptions;
+   static bool m_IsUserGLBuffer;
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}} //namespace end
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/RuntimeList.hpp b/third_party/snpe/include/DlSystem/RuntimeList.hpp
new file mode 100644
index 00000000000000..1088a5b31f4538
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/RuntimeList.hpp
@@ -0,0 +1,154 @@
+//=============================================================================
+//
+//  Copyright (c) 2019 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#include "ZdlExportDefine.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/StringList.hpp"
+#include <cstddef>
+#include <memory>
+
+#ifndef DL_SYSTEM_RUNTIME_LIST_HPP
+#define DL_SYSTEM_RUNTIME_LIST_HPP
+
+namespace DlSystem
+{
+   // Forward declaration of Runtime List implementation.
+   class RuntimeListImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+  * @brief .
+  *
+  * A class representing list of runtimes
+  */
+class ZDL_EXPORT RuntimeList final
+{
+public:
+
+    /**
+    * @brief .
+    *
+    * Creates a new runtime list
+    *
+    */
+   RuntimeList();
+
+   /**
+   * @brief .
+   *
+   * copy constructor.
+   * @param[in] other object to copy.
+   */
+   RuntimeList(const RuntimeList& other);
+
+   /**
+   * @brief .
+   *
+   * constructor with single Runtime_t object
+   * @param[in] Runtime_t object
+   */
+   RuntimeList(const zdl::DlSystem::Runtime_t& runtime);
+
+   /**
+    * @brief .
+    *
+    * assignment operator.
+    */
+   RuntimeList& operator=(const RuntimeList& other);
+
+   /**
+    * @brief .
+    *
+    * subscript operator.
+    */
+   Runtime_t& operator[](size_t index);
+
+   /**
+    * @brief Adds runtime to the end of the runtime list
+    *        order of precedence is former followed by latter entry
+    *
+    * @param[in] runtime to add
+    *
+    * Ruturns false If the runtime already exists
+    */
+   bool add(const zdl::DlSystem::Runtime_t& runtime);
+
+   /**
+    * @brief Removes the runtime from the list
+    *
+    * @param[in] runtime to be removed
+    *
+    * @note If the runtime is not found, nothing is done.
+    */
+   void remove(const zdl::DlSystem::Runtime_t runtime) noexcept;
+
+   /**
+    * @brief Returns the number of runtimes in the list
+    */
+   size_t size() const noexcept;
+
+   /**
+    * @brief Returns true if the list is empty
+    */
+   bool empty() const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Removes all runtime from the list
+    */
+   void clear() noexcept;
+
+   /**
+    * @brief .
+    *
+    * Returns a StringList of names from the runtime list in
+    * order of precedence
+    */
+   zdl::DlSystem::StringList getRuntimeListNames() const;
+
+   /**
+    * @brief .
+    *
+    * @param[in] runtime string
+    * Returns a Runtime enum corresponding to the in param string
+    *
+    */
+   static zdl::DlSystem::Runtime_t stringToRuntime(const char* runtimeStr);
+
+   /**
+    * @brief .
+    *
+    * @param[in] runtime
+    * Returns a string corresponding to the in param runtime enum
+    *
+    */
+   static const char* runtimeToString(const zdl::DlSystem::Runtime_t runtime);
+
+   ~RuntimeList();
+
+private:
+   void deepCopy(const RuntimeList &other);
+   std::unique_ptr<::DlSystem::RuntimeListImpl> m_RuntimeListImpl;
+};
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // DL_SYSTEM_RUNTIME_LIST_HPP
+
diff --git a/third_party/snpe/include/DlSystem/String.hpp b/third_party/snpe/include/DlSystem/String.hpp
new file mode 100644
index 00000000000000..c1eba3bad96b02
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/String.hpp
@@ -0,0 +1,104 @@
+//=============================================================================
+//
+//  Copyright (c) 2017, 2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef PLATFORM_STANDARD_STRING_HPP
+#define PLATFORM_STANDARD_STRING_HPP
+
+#include <cstdio>
+#include <string>
+#include <ostream>
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl
+{
+namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * Class for wrapping char * as a really stripped down std::string replacement.
+ */
+class ZDL_EXPORT String final
+{
+public:
+   String() = delete;
+
+   /**
+    * Construct a string from std::string reference.
+    * @param str Reference to a std::string
+    */
+   explicit String(const std::string& str);
+
+   /**
+    * Construct a string from char* reference.
+    * @param a char*
+    */
+   explicit String(const char* str);
+
+   /**
+    * move constructor.
+    */
+   String(String&& other) noexcept;
+
+   /**
+    * copy constructor.
+    */
+   String(const String& other) = delete;
+
+   /**
+    * assignment operator.
+    */
+   String& operator=(const String&) = delete;
+
+   /**
+    * move assignment operator.
+    */
+   String& operator=(String&&) = delete;
+
+   /**
+    * class comparators
+    */
+   bool operator<(const String& rhs) const noexcept;
+   bool operator>(const String& rhs) const noexcept;
+   bool operator<=(const String& rhs) const noexcept;
+   bool operator>=(const String& rhs) const noexcept;
+   bool operator==(const String& rhs) const noexcept;
+   bool operator!=(const String& rhs) const noexcept;
+
+   /**
+    * class comparators against std::string
+    */
+   bool operator<(const std::string& rhs) const noexcept;
+   bool operator>(const std::string& rhs) const noexcept;
+   bool operator<=(const std::string& rhs) const noexcept;
+   bool operator>=(const std::string& rhs) const noexcept;
+   bool operator==(const std::string& rhs) const noexcept;
+   bool operator!=(const std::string& rhs) const noexcept;
+
+   const char* c_str() const noexcept;
+
+   ~String();
+private:
+
+   char* m_string;
+};
+
+/**
+ * overloaded << operator
+ */
+ZDL_EXPORT std::ostream& operator<<(std::ostream& os, const String& str) noexcept;
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // PLATFORM_STANDARD_STRING_HPP
diff --git a/third_party/snpe/include/DlSystem/StringList.hpp b/third_party/snpe/include/DlSystem/StringList.hpp
new file mode 100644
index 00000000000000..a9a7d5ed89674c
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/StringList.hpp
@@ -0,0 +1,107 @@
+//=============================================================================
+//
+//  Copyright (c) 2016 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <cstdio>
+#include "ZdlExportDefine.hpp"
+
+#ifndef DL_SYSTEM_STRINGLIST_HPP
+#define DL_SYSTEM_STRINGLIST_HPP
+
+namespace zdl
+{
+namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * Class for holding an order list of null-terminated ASCII strings.
+ */
+class ZDL_EXPORT StringList final
+{
+public:
+   StringList() {}
+
+   /**
+    * Construct a string list with some pre-allocated memory.
+    * @warning Contents of the list will be uninitialized
+    * @param[in] length Number of elements for which to pre-allocate space.
+    */
+   explicit StringList(size_t length);
+
+   /**
+    * Append a string to the list.
+    * @param[in] str Null-terminated ASCII string to append to the list.
+    */
+   void append(const char* str);
+
+   /**
+    * Returns the string at the indicated position,
+    *  or an empty string if the positions is greater than the size
+    *  of the list.
+    * @param[in] idx Position in the list of the desired string
+    */
+   const char* at(size_t idx) const noexcept;
+
+   /**
+    * Pointer to the first string in the list.
+    *  Can be used to iterate through the list.
+    */
+   const char** begin() const noexcept;
+
+   /**
+    * Pointer to one after the last string in the list.
+    *  Can be used to iterate through the list.
+    */
+   const char** end() const noexcept;
+
+   /**
+    * Return the number of valid string pointers held by this list.
+    */
+   size_t size() const noexcept;
+
+
+   /**
+    * assignment operator. 
+    */
+   StringList& operator=(const StringList&) noexcept;
+
+   /**
+    * copy constructor.
+    * @param[in] other object to copy.
+    */
+   StringList(const StringList& other);
+
+   /**
+    * move constructor.
+    * @param[in] other object to move.    
+    */
+   StringList(StringList&& other) noexcept;
+
+   ~StringList();
+private:
+   void copy(const StringList& other);
+
+   void resize(size_t length);
+
+   void clear();
+
+   static const char* s_Empty;
+   const char** m_Strings = nullptr;
+   const char** m_End = nullptr;
+   size_t       m_Size = 0;
+};
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // DL_SYSTEM_STRINGLIST_HPP
+
diff --git a/third_party/snpe/include/DlSystem/TensorMap.hpp b/third_party/snpe/include/DlSystem/TensorMap.hpp
new file mode 100644
index 00000000000000..feecec666729ad
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/TensorMap.hpp
@@ -0,0 +1,120 @@
+//=============================================================================
+//
+//  Copyright (c) 2016 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <memory>
+#include "ZdlExportDefine.hpp"
+#include "ITensor.hpp"
+#include "StringList.hpp"
+
+#ifndef DL_SYSTEM_TENSOR_MAP_HPP
+#define DL_SYSTEM_TENSOR_MAP_HPP
+
+namespace DlSystem
+{
+   // Forward declaration of tensor map implementation.
+   class TensorMapImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+  * @brief .
+  *
+  * A class representing the map of tensor.
+  */
+class ZDL_EXPORT TensorMap final
+{
+public:
+
+  /**
+   * @brief .
+   *
+   * Creates a new empty tensor map
+   */
+   TensorMap();
+
+  /**
+   * copy constructor.
+   * @param[in] other object to copy. 
+   */
+   TensorMap(const TensorMap& other);
+
+  /**
+    * assignment operator. 
+    */
+   TensorMap& operator=(const TensorMap& other);
+
+   /**
+    * @brief Adds a name and the corresponding tensor pointer
+    *        to the map
+    *
+    * @param[in] name The name of the tensor
+    * @param[out] tensor The pointer to the tensor
+    *
+    * @note If a tensor with the same name already exists, the
+    *       tensor is replaced with the existing tensor.
+    */
+   void add(const char *name, zdl::DlSystem::ITensor *tensor);
+
+   /**
+    * @brief Removes a mapping of tensor and its name by its name
+    *
+    * @param[in] name The name of tensor to be removed
+    *
+    * @note If no tensor with the specified name is found, nothing
+    *       is done.
+    */
+   void remove(const char *name) noexcept;
+
+   /**
+    * @brief Returns the number of tensors in the map
+    */
+   size_t size() const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Removes all tensors from the map
+    */
+   void clear() noexcept;
+
+   /**
+    * @brief Returns the tensor given its name.
+    *  
+    * @param[in] name The name of the tensor to get. 
+    *  
+    * @return nullptr if no tensor with the specified name is 
+    *         found; otherwise, a valid pointer to the tensor.
+    */
+   zdl::DlSystem::ITensor* getTensor(const char *name) const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Returns the names of all tensors
+    */
+   zdl::DlSystem::StringList getTensorNames() const;
+
+   ~TensorMap();
+private:
+   void swap(const TensorMap &other);
+   std::unique_ptr<::DlSystem::TensorMapImpl> m_TensorMapImpl;
+};
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // DL_SYSTEM_TENSOR_MAP_HPP
+
diff --git a/third_party/snpe/include/DlSystem/TensorShape.hpp b/third_party/snpe/include/DlSystem/TensorShape.hpp
new file mode 100644
index 00000000000000..99583dccb40bac
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/TensorShape.hpp
@@ -0,0 +1,203 @@
+//=============================================================================
+//
+//  Copyright (c) 2016 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <initializer_list>
+#include <cstdio>
+#include <memory>
+#include <vector>
+#include "ZdlExportDefine.hpp"
+
+#ifndef DL_SYSTEM_TENSOR_SHAPE_HPP
+#define DL_SYSTEM_TENSOR_SHAPE_HPP
+
+namespace DlSystem
+{
+   // Forward declaration of tensor shape implementation.
+   class TensorShapeImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * Convenient typedef to represent dimension
+ */
+using Dimension = size_t;
+
+/**
+  * @brief .
+  *
+  * A class representing the shape of tensor. It is used at the
+  * time of creation of tensor.
+  */
+class ZDL_EXPORT TensorShape final
+{
+public:
+
+    /**
+    * @brief .
+    *
+    * Creates a new shape with a list of dims specified in
+    * initializer list fashion.
+    *
+    * @param[in] dims The dimensions are specified in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    *
+    */
+   TensorShape(std::initializer_list<Dimension> dims);
+
+   /**
+    * @brief .
+    *
+    * Creates a new shape with a list of dims specified in array
+    *
+    * @param[in] dims The dimensions are specified in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    *
+    * @param[in] size Size of the array.
+    *
+    */
+   TensorShape(const Dimension *dims, size_t size);
+
+    /**
+    * @brief .
+    *
+    * Creates a new shape with a vector of dims specified in
+    * vector fashion.
+    *
+    * @param[in] dims The dimensions are specified in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    * 
+    */   
+   TensorShape(std::vector<Dimension> dims);
+
+   /**
+   * @brief .
+   *   
+   * copy constructor.
+   * @param[in] other object to copy. 
+   */   
+   TensorShape(const TensorShape& other);
+
+   /**
+    * @brief .
+    *  
+    * assignment operator. 
+    */   
+   TensorShape& operator=(const TensorShape& other);
+
+    /**
+    * @brief .
+    *
+    * Creates a new shape with no dims. It can be extended later
+    * by invoking concatenate.
+    */
+   TensorShape();
+
+  /**
+    * @brief .
+    *
+    * Concatenates additional dimensions specified in 
+    * initializer list fashion to the existing dimensions. 
+    *
+    * @param[in] dims The dimensions are specified in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    *
+   */
+   void concatenate(std::initializer_list<Dimension> dims);
+
+   /**
+    * @brief .
+    *
+    * Concatenates additional dimensions specified in 
+    * the array to the existing dimensions. 
+    *
+    * @param[in] dims The dimensions are specified in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    * 
+    * @param[in] size Size of the array.
+    *
+   */
+   void concatenate(const Dimension *dims, size_t size);
+
+  /**
+    * @brief .
+    *
+    * Concatenates an additional dimension to the existing
+    * dimensions.
+    *
+    * @param[in] dim The dimensions are specified in which the last element
+    * of the vector represents the fastest varying dimension and the
+    * zeroth element represents the slowest varying, etc.
+    *
+   */
+   void concatenate(const Dimension &dim);
+
+  /**
+    * @brief .
+    *
+    * Retrieves a single dimension, based on its index.
+    *
+    * @return The value of dimension
+    *
+    * @throws std::out_of_range if the index is >= the number of
+    * dimensions (or rank).
+    */
+   Dimension& operator[](size_t index);
+   Dimension& operator[](size_t index) const;
+
+  /**
+    * @brief .
+    *
+    * Retrieves the rank i.e. number of dimensions.
+    *
+    * @return The rank
+    */
+   size_t rank() const;
+
+  /**
+    * @brief .
+    *
+    * Retrieves a pointer to the first dimension of shape
+    *
+    * @return nullptr if no dimension exists; otherwise, points to
+    * the first dimension. 
+    *
+    */
+   const Dimension* getDimensions() const;
+
+   ~TensorShape();
+
+private:
+   void swap(const TensorShape &other);
+   std::unique_ptr<::DlSystem::TensorShapeImpl> m_TensorShapeImpl;
+};
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // DL_SYSTEM_TENSOR_SHAPE_HPP
+
diff --git a/third_party/snpe/include/DlSystem/TensorShapeMap.hpp b/third_party/snpe/include/DlSystem/TensorShapeMap.hpp
new file mode 100644
index 00000000000000..cef946e2e6dbc9
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/TensorShapeMap.hpp
@@ -0,0 +1,127 @@
+//=============================================================================
+//
+//  Copyright (c) 2017-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <initializer_list>
+#include <cstdio>
+#include <memory>
+#include "ZdlExportDefine.hpp"
+#include "DlSystem/TensorShape.hpp"
+#include "DlSystem/StringList.hpp"
+
+#ifndef DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
+#define DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
+
+namespace DlSystem
+{
+   // Forward declaration of tensor shape map implementation.
+   class TensorShapeMapImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+  * @brief .
+  *
+  * A class representing the map of names and tensorshapes.
+  */
+class ZDL_EXPORT TensorShapeMap final
+{
+public:
+
+    /**
+    * @brief .
+    *
+    * Creates a new tensor shape map
+    *
+    */
+   TensorShapeMap();
+
+   /**
+   * @brief .
+   *
+   * copy constructor.
+   * @param[in] other object to copy.
+   */
+   TensorShapeMap(const TensorShapeMap& other);
+
+   /**
+    * @brief .
+    *
+    * assignment operator.
+    */
+   TensorShapeMap& operator=(const TensorShapeMap& other);
+
+   /**
+    * @brief Adds a name and the corresponding tensor pointer
+    *        to the map
+    *
+    * @param[in] name The name of the tensor
+    * @param[out] tensor The pointer to the tensor
+    *
+    * @note If a tensor with the same name already exists, no new
+    *       tensor is added.
+    */
+   void add(const char *name, const zdl::DlSystem::TensorShape& tensorShape);
+
+   /**
+    * @brief Removes a mapping of tensor and its name by its name
+    *
+    * @param[in] name The name of tensor to be removed
+    *
+    * @note If no tensor with the specified name is found, nothing
+    *       is done.
+    */
+   void remove(const char *name) noexcept;
+
+   /**
+    * @brief Returns the number of tensors in the map
+    */
+   size_t size() const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Removes all tensors from the map
+    */
+   void clear() noexcept;
+
+   /**
+    * @brief Returns the tensor given its name.
+    *
+    * @param[in] name The name of the tensor to get.
+    *
+    * @return nullptr if no tensor with the specified name is
+    *         found; otherwise, a valid pointer to the tensor.
+    */
+   zdl::DlSystem::TensorShape getTensorShape(const char *name) const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Returns the names of all tensor shapes
+    */
+   zdl::DlSystem::StringList getTensorShapeNames() const;
+
+   ~TensorShapeMap();
+private:
+   void swap(const TensorShapeMap &other);
+   std::unique_ptr<::DlSystem::TensorShapeMapImpl> m_TensorShapeMapImpl;
+};
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
+
diff --git a/third_party/snpe/include/DlSystem/UDLContext.hpp b/third_party/snpe/include/DlSystem/UDLContext.hpp
new file mode 100644
index 00000000000000..21fce1b04ae308
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/UDLContext.hpp
@@ -0,0 +1,243 @@
+//==============================================================================
+//
+// Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef UDL_CONTEXT_HPP
+#define UDL_CONTEXT_HPP
+
+#include <cstring> // memset
+#include <tuple>
+
+#include "ZdlExportDefine.hpp"
+
+namespace zdl { namespace DlSystem {
+
+/**
+ * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+ *
+ * @brief .
+ *
+ * UDLContext holds the user defined layer context which 
+ * consists of a layer name, layer ID, blob and blob size. 
+ *  
+ * An instance of UDLContext is passed as an argument to the
+ * UDLFactoryFunc provided by the user every time the SNPE 
+ * runtime encounters an unknown layer descriptor. The instance 
+ * of a UDLContext is created by the SNPE runtime and is 
+ * consumed by the user's factory function. The user should 
+ * obtain a copy of this class and should not assume any 
+ * prolonged object lifetime beyond the UDLFactoryFunction.
+ */
+class ZDL_EXPORT UDLContext final {
+public:
+   /**
+    * @brief Constructor
+    *
+    * @param[in] name name of the layer
+    *
+    * @param[in] type layer type
+    *
+    * @param[in] id identifier for the layer
+    *
+    * @param[in] id Blob/bytes as packed by the user code as part of
+    *           the Python converter script
+    */
+   UDLContext(const std::string& name,
+              const std::string& type,
+              int32_t id,
+              const std::string& blob) :
+      m_Name(name), m_Type(type), m_Size(blob.size()), m_Id(id) {
+      // FIXME not dealing with alloc error
+      m_Buffer = new uint8_t[m_Size];
+      std::memcpy(m_Buffer, blob.data(), m_Size);
+   }
+
+   /**
+    * @brief .
+    *
+    * Empty constructor is useful for
+    * creating an empty UDLContext and then run copy constructor
+    * from a fully initialized one.
+    */
+   explicit UDLContext() {}
+
+   /**
+    * @brief .
+    *
+    * destructor Deallocates any internal allocated memory
+    */
+   ~UDLContext() { release(); }
+
+   /**
+    * @brief .
+    *
+    * Deallocate any internally allocated memory
+    */
+   void release() {
+      if (m_Buffer && m_Size)
+         std::memset(m_Buffer, 0, m_Size);
+      delete []m_Buffer;
+      m_Buffer = nullptr;
+      m_Size = 0;
+   }
+
+   /**
+    * @brief .
+    *
+    * Copy Constructor - makes a copy from ctx
+    *
+    * @param[in] ctx Source UDLContext to copy from
+    */
+   UDLContext(const UDLContext& ctx) : m_Name(ctx.m_Name),
+      m_Type(ctx.m_Type),
+      m_Id(ctx.m_Id) {
+      std::tuple<uint8_t*, size_t> cpy = ctx.getCopy();
+      // current compiler does not support get<type>
+      m_Buffer = std::get<0>(cpy);
+      m_Size = std::get<1>(cpy);
+   }
+
+   /**
+    * @brief 
+    *
+    * Assignment operator - makes a copy from ctx
+    *
+    * @param[in] ctx Source UDLContext to copy from
+    *
+    * @return this
+    */
+   UDLContext& operator=(const UDLContext& ctx) {
+      UDLContext c (ctx);
+      this->swap(c); // non throwing swap
+      return *this;
+   }
+
+   /**
+    * @brief .
+    *
+    * Move Constructor - Move internals from ctx into this
+    *
+    * @param[in] ctx Source UDLContext to move from
+    */
+   UDLContext(UDLContext&& ctx) :
+      m_Name(std::move(ctx.m_Name)),
+      m_Type(std::move(ctx.m_Type)),
+      m_Buffer(ctx.m_Buffer),
+      m_Size(ctx.m_Size),
+      m_Id(ctx.m_Id) {
+      ctx.clear();
+   }
+
+   /**
+    * @brief .
+    *
+    * Assignment move - Move assignment operator from ctx
+    *
+    * @param[in] ctx Source UDLContext to move from
+    *
+    * @return this
+    */
+   UDLContext& operator=(UDLContext&& ctx) {
+      m_Name = std::move(ctx.m_Name);
+      m_Type = std::move(ctx.m_Type);
+      m_Buffer = ctx.m_Buffer;
+      m_Size = ctx.m_Size;
+      m_Id = ctx.m_Id;
+      ctx.clear();
+      return *this;
+   }
+
+   /**
+    * @brief .
+    *
+    * Obtain the name of the layer
+    *
+    * @return const reference to the name of the layer
+    */
+   const std::string& getName() const noexcept { return m_Name; }
+
+   /**
+    * @brief .
+    *
+    * Obtain the type of the layer
+    *
+    * @return const reference to the type of the layer
+    */
+   const std::string& getType() const noexcept { return m_Type; }
+
+   /**
+    * @brief .
+    *
+    * Obtain the Id of the layer
+    *
+    * @return The id of the layer
+    */
+   int32_t getId() const noexcept  { return m_Id; }
+
+   /**
+    * @brief .
+    *
+    * Obtain the size of the blob
+    *
+    * @return Size of the internal blob
+    */
+   size_t getSize() const noexcept { return m_Size; }
+
+   /**
+    * @brief .
+    *
+    * Get a const pointer to the internal blob
+    *
+    * @return Const pointer to the internal blob
+    */
+   const uint8_t* getBlob() const noexcept { return m_Buffer; }
+
+   /**
+    * @brief .
+    *
+    * Get a copy of the blob/size into a tuple
+    *
+    * @return A tuple with a pointer to a copy of the blob and a
+    *         size
+    */
+   std::tuple<uint8_t*, size_t> getCopy() const {
+      uint8_t* buf = new uint8_t[m_Size];
+      // FIXME missing memcpy
+      std::memcpy(buf, m_Buffer, m_Size);
+      return std::make_tuple(buf, m_Size);
+   }
+
+   /**
+    * @brief .
+    *
+    * Set zeros in the internals members
+    */
+   void clear() {
+      m_Name.clear();
+      m_Type.clear();
+      m_Buffer = 0;
+      m_Size = 0;
+      m_Id = -1;
+   }
+private:
+   void swap(UDLContext& c) noexcept {
+      std::swap(m_Name, c.m_Name);
+      std::swap(m_Type, c.m_Type);
+      std::swap(m_Id,   c.m_Id);
+      std::swap(m_Buffer, c.m_Buffer);
+      std::swap(m_Size, c.m_Size);
+   }
+   std::string m_Name; // name of the layer instance
+   std::string m_Type; // The actual layer type
+   uint8_t*    m_Buffer = nullptr;
+   size_t      m_Size = 0;
+   int32_t     m_Id = -1;
+};
+
+}}
+
+#endif /* UDL_CONTEXT_HPP */
diff --git a/third_party/snpe/include/DlSystem/UDLFunc.hpp b/third_party/snpe/include/DlSystem/UDLFunc.hpp
new file mode 100644
index 00000000000000..6a95eef1702ecc
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/UDLFunc.hpp
@@ -0,0 +1,87 @@
+//==============================================================================
+//
+//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _UDL_FUNC_HPP_
+#define _UDL_FUNC_HPP_
+
+#include <functional>
+
+#include "ZdlExportDefine.hpp"
+#include <DlSystem/IUDL.hpp>
+
+namespace zdl {
+    namespace DlSystem {
+        class UDLContext;
+    }
+}
+
+namespace zdl { namespace DlSystem {
+/**
+ * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+ *
+ * @brief .
+ *
+ * Definition of UDLFactoyFunc, using/typedef and default FactoryFunction
+ * UDLBundle - a simple way to bundle func and cookie into one type
+ */
+
+
+/**
+ * @brief .
+ * 
+ * Convenient typedef for user defined layer creation factory
+ *
+ * @param[out] void* Cookie - a user opaque data that was passed during SNPE's runtime's
+ *        CreateInstance. SNPE's runtime is passing this back to the user.
+ *
+ * @param[out] DlSystem::UDLContext* - The specific Layer Description context what is passe
+ *        SNPE runtime.
+ *
+ * @return IUDL* - a Concrete instance of IUDL derivative
+ */
+using UDLFactoryFunc = std::function<zdl::DlSystem::IUDL* (void*, const zdl::DlSystem::UDLContext*)>;
+
+/**
+ * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+ *
+ * @brief .
+ *
+ * default UDL factory implementation
+ *
+ * @param[out] DlSystem::UDLContext* - The specific Layer Description context what is passe
+ *        SNPE runtime.
+ *
+ * @param[out] void* Cookie - a user opaque data that was passed during SNPE's runtime's
+ *        CreateInstance. SNPE's runtime is passing this back to the user.
+ * 
+ * @return IUDL* - nullptr to indicate SNPE's runtime that there is no specific
+ *         implementation for UDL. When SNPE's runtime sees nullptr as a return
+ *         value from the factory, it will halt execution if model has an unknown layer
+ *
+ */
+inline ZDL_EXPORT zdl::DlSystem::IUDL* DefaultUDLFunc(void*, const zdl::DlSystem::UDLContext*) { return nullptr; }
+
+/**
+ * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+ *
+ * @brief .
+ * 
+ * Simple struct to bundle 2 elements.
+ * A user defined cookie that would be returned for each
+ * IUDL call. The user can place anything there and the
+ * SNPE runtime will provide it back
+ */
+struct ZDL_EXPORT UDLBundle {
+   void          *cookie = nullptr;
+   UDLFactoryFunc func   = DefaultUDLFunc;
+};
+
+}}
+
+
+#endif // _UDL_FUNC_HPP_
diff --git a/third_party/snpe/include/DlSystem/UserBufferMap.hpp b/third_party/snpe/include/DlSystem/UserBufferMap.hpp
new file mode 100644
index 00000000000000..a03ddfe1d11ad8
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/UserBufferMap.hpp
@@ -0,0 +1,122 @@
+//=============================================================================
+//
+//  Copyright (c) 2017 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <memory>
+#include "ZdlExportDefine.hpp"
+#include "StringList.hpp"
+
+#ifndef DL_SYSTEM_USER_BUFFER_MAP_HPP
+#define DL_SYSTEM_USER_BUFFER_MAP_HPP
+
+namespace DlSystem
+{
+    // Forward declaration of UserBuffer map implementation.
+    class UserBufferMapImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+class IUserBuffer;
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+  * @brief .
+  *
+  * A class representing the map of UserBuffer.
+  */
+class ZDL_EXPORT UserBufferMap final
+{
+public:
+
+    /**
+     * @brief .
+     *
+     * Creates a new empty UserBuffer map
+     */
+    UserBufferMap();
+
+    /**
+     * copy constructor.
+     * @param[in] other object to copy.
+     */
+    UserBufferMap(const UserBufferMap& other);
+
+    /**
+      * assignment operator.
+      */
+    UserBufferMap& operator=(const UserBufferMap& other);
+
+    /**
+     * @brief Adds a name and the corresponding UserBuffer pointer
+     *        to the map
+     *
+     * @param[in] name The name of the UserBuffer
+     * @param[in] userBuffer The pointer to the UserBuffer
+     *
+     * @note If a UserBuffer with the same name already exists, the new
+     *       UserBuffer pointer would be updated.
+     */
+    void add(const char *name, zdl::DlSystem::IUserBuffer *buffer);
+
+    /**
+     * @brief Removes a mapping of one UserBuffer and its name by its name
+     *
+     * @param[in] name The name of UserBuffer to be removed
+     *
+     * @note If no UserBuffer with the specified name is found, nothing
+     *       is done.
+     */
+    void remove(const char *name) noexcept;
+
+    /**
+     * @brief Returns the number of UserBuffers in the map
+     */
+    size_t size() const noexcept;
+
+    /**
+     * @brief .
+     *
+     * Removes all UserBuffers from the map
+     */
+    void clear() noexcept;
+
+    /**
+     * @brief Returns the UserBuffer given its name.
+     *
+     * @param[in] name The name of the UserBuffer to get.
+     *
+     * @return nullptr if no UserBuffer with the specified name is
+     *         found; otherwise, a valid pointer to the UserBuffer.
+     */
+    zdl::DlSystem::IUserBuffer* getUserBuffer(const char *name) const noexcept;
+
+    /**
+     * @brief .
+     *
+     * Returns the names of all UserBuffers
+     *
+     * @return A list of UserBuffer names.
+     */
+    zdl::DlSystem::StringList getUserBufferNames() const;
+
+    ~UserBufferMap();
+private:
+    void swap(const UserBufferMap &other);
+    std::unique_ptr<::DlSystem::UserBufferMapImpl> m_UserBufferMapImpl;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+} // DlSystem namespace
+} // zdl namespace
+
+
+#endif // DL_SYSTEM_TENSOR_MAP_HPP
+
diff --git a/third_party/snpe/include/DlSystem/UserMemoryMap.hpp b/third_party/snpe/include/DlSystem/UserMemoryMap.hpp
new file mode 100644
index 00000000000000..3685a8ddabed69
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/UserMemoryMap.hpp
@@ -0,0 +1,129 @@
+//=============================================================================
+//
+//  Copyright (c) 2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <memory>
+#include "ZdlExportDefine.hpp"
+#include "StringList.hpp"
+
+#ifndef DL_SYSTEM_USER_MEMORY_MAP_HPP
+#define DL_SYSTEM_USER_MEMORY_MAP_HPP
+
+namespace DlSystem
+{
+    // Forward declaration of UserMemory map implementation.
+    class UserMemoryMapImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+class IUserBuffer;
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+  * @brief .
+  *
+  * A class representing the map of UserMemory.
+  */
+class ZDL_EXPORT UserMemoryMap final
+{
+public:
+
+    /**
+     * @brief .
+     *
+     * Creates a new empty UserMemory map
+     */
+    UserMemoryMap();
+
+    /**
+     * copy constructor.
+     * @param[in] other object to copy.
+     */
+    UserMemoryMap(const UserMemoryMap& other);
+
+    /**
+      * assignment operator.
+      */
+    UserMemoryMap& operator=(const UserMemoryMap& other);
+
+    /**
+     * @brief Adds a name and the corresponding buffer address
+     *        to the map
+     *
+     * @param[in] name The name of the UserMemory
+     * @param[in] address The pointer to the Buffer Memory
+     *
+     * @note If a UserBuffer with the same name already exists, the new
+     *       address would be updated.
+     */
+    void add(const char *name, void *address);
+
+    /**
+     * @brief Removes a mapping of one Buffer address and its name by its name
+     *
+     * @param[in] name The name of Memory address to be removed
+     *
+     * @note If no UserBuffer with the specified name is found, nothing
+     *       is done.
+     */
+    void remove(const char *name) noexcept;
+
+    /**
+     * @brief Returns the number of User Memory addresses in the map
+     */
+    size_t size() const noexcept;
+
+    /**
+     * @brief .
+     *
+     * Removes all User Memory from the map
+     */
+    void clear() noexcept;
+
+    /**
+     * @brief .
+     *
+     * Returns the names of all User Memory
+     *
+     * @return A list of Buffer names.
+     */
+    zdl::DlSystem::StringList getUserBufferNames() const;
+
+    /**
+     * @brief Returns the no of UserMemory addresses mapped to the buffer
+     *
+     * @param[in] name The name of the UserMemory
+     *
+     */
+    size_t getUserMemoryAddressCount(const char *name) const noexcept;
+
+    /**
+     * @brief Returns address at a specified index corresponding to a UserMemory buffer name
+     *
+     * @param[in] name The name of the buffer
+     * @param[in] index The index in the list of addresses
+     *
+     */
+    void* getUserMemoryAddressAtIndex(const char *name, uint32_t index) const noexcept;
+
+    ~UserMemoryMap();
+private:
+    void swap(const UserMemoryMap &other);
+    std::unique_ptr<::DlSystem::UserMemoryMapImpl> m_UserMemoryMapImpl;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+} // DlSystem namespace
+} // zdl namespace
+
+
+#endif // DL_SYSTEM_TENSOR_MAP_HPP
+
diff --git a/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp b/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
new file mode 100644
index 00000000000000..92eb786d312f6d
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
@@ -0,0 +1,13 @@
+//=============================================================================
+//
+//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#pragma once
+
+#ifndef ZDL_EXPORT
+#define ZDL_EXPORT
+#endif
diff --git a/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp b/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
new file mode 100644
index 00000000000000..66097ba569f629
--- /dev/null
+++ b/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
@@ -0,0 +1,118 @@
+// =============================================================================
+//
+// Copyright (c) 2018-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+// =============================================================================
+
+#ifndef SNPE_PLATFORMVALIDATOR_HPP
+#define SNPE_PLATFORMVALIDATOR_HPP
+
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+#define DO_PRAGMA(s) _Pragma(#s)
+#define NO_WARNING "-Wunused-variable"
+
+#ifdef __clang__
+#define SNPE_DISABLE_WARNINGS(clang_warning,gcc_warning) \
+_Pragma("clang diagnostic push") \
+DO_PRAGMA(clang diagnostic ignored clang_warning)
+
+#define SNPE_ENABLE_WARNINGS \
+_Pragma("clang diagnostic pop")
+
+#elif defined __GNUC__
+#define SNPE_DISABLE_WARNINGS(clang_warning,gcc_warning) \
+_Pragma("GCC diagnostic push") \
+DO_PRAGMA(GCC diagnostic ignored gcc_warning)
+
+#define SNPE_ENABLE_WARNINGS \
+_Pragma("GCC diagnostic pop")
+
+#else
+#define SNPE_DISABLE_WARNINGS(...)
+#define SNPE_ENABLE_WARNINGS
+#endif
+
+SNPE_DISABLE_WARNINGS("-Wdelete-non-virtual-dtor","-Wdelete-non-virtual-dtor")
+#include <string>
+#include <memory>
+SNPE_ENABLE_WARNINGS
+
+namespace zdl
+{
+   namespace SNPE
+   {
+      class PlatformValidator;
+
+      class IPlatformValidatorRuntime;
+   }
+}
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+* The class for checking SNPE compatibility/capability of a device.
+*
+*/
+
+class ZDL_EXPORT zdl::SNPE::PlatformValidator
+{
+public:
+   /**
+    * @brief Default Constructor of the PlatformValidator Class
+    *
+    * @return A new instance of a PlatformValidator object
+    *         that can be used to check the SNPE compatibility
+    *         of a device
+    */
+   PlatformValidator();
+
+   ~PlatformValidator();
+
+   /**
+    * @brief Sets the runtime processor for compatibility check
+    *
+    * @return Void
+    */
+   void setRuntime(zdl::DlSystem::Runtime_t runtime);
+
+   /**
+    * @brief Checks if the Runtime prerequisites for SNPE are available.
+    *
+    * @return True if the Runtime prerequisites are available, else false.
+    */
+   bool isRuntimeAvailable();
+
+   /**
+    * @brief Returns the core version for the Runtime selected.
+    *
+    * @return String which contains the actual core version value
+    */
+   std::string getCoreVersion();
+
+   /**
+    * @brief Returns the library version for the Runtime selected.
+    *
+    * @return String which contains the actual lib version value
+    */
+   std::string getLibVersion();
+
+   /**
+    * @brief Runs a small program on the runtime and Checks if SNPE is supported for Runtime.
+    *
+    * @return If True, the device is ready for SNPE execution, else not.
+    */
+
+   bool runtimeCheck();
+
+private:
+    zdl::DlSystem::Runtime_t m_runtimeType;
+    std::unique_ptr<IPlatformValidatorRuntime> m_platformValidatorRuntime;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif //SNPE_PLATFORMVALIDATOR_HPP
diff --git a/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp b/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
new file mode 100644
index 00000000000000..380a3e0e6e77ee
--- /dev/null
+++ b/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
@@ -0,0 +1,101 @@
+//==============================================================================
+//
+//  Copyright (c) 2019 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef PSNPE_APPLICATIONBUFFERMAP_HPP
+#define PSNPE_APPLICATIONBUFFERMAP_HPP
+#include <vector>
+#include <string>
+#include <unordered_map>
+
+#include "DlSystem/UserBufferMap.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl
+{
+namespace PSNPE
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * A class representing the UserBufferMap of Input and Output asynchronous mode.
+ */
+
+class ZDL_EXPORT ApplicationBufferMap final
+{
+
+ public:
+   /**
+    * @brief Adds a name and the corresponding buffer
+    *        to the map
+    *
+    * @param[in] name The name of the UserBuffer
+    * @param[in] buffer The vector of the uint8_t data
+    *
+    * @note If a UserBuffer with the same name already exists, the new
+    *       UserBuffer pointer would be updated.
+    */
+   void add(const char* name, std::vector<uint8_t>& buff) noexcept;
+   void add(const char* name, std::vector<float>& buff) noexcept;
+   /**
+    * @brief Removes a mapping of one UserBuffer and its name by its name
+    *
+    * @param[in] name The name of UserBuffer to be removed
+    *
+    * @note If no UserBuffer with the specified name is found, nothing
+    *       is done.
+    */
+   void remove(const char* name) noexcept;
+
+   /**
+    * @brief Returns the number of UserBuffers in the map
+    */
+   size_t size() const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Removes all UserBuffers from the map
+    */
+   void clear() noexcept;
+
+   /**
+    * @brief Returns the UserBuffer given its name.
+    *
+    * @param[in] name The name of the UserBuffer to get.
+    *
+    * @return nullptr if no UserBuffer with the specified name is
+    *         found; otherwise, a valid pointer to the UserBuffer.
+    */
+   const std::vector<uint8_t>& getUserBuffer(const char* name) const;
+   const std::vector<uint8_t>& operator[](const char* name) const;
+   /**
+    * @brief .
+    *
+    * Returns the names of all UserAsyncBufferMap
+    *
+    * @return A list of UserBuffer names.
+    */
+   zdl::DlSystem::StringList getUserBufferNames() const;
+   const std::unordered_map<std::string, std::vector<uint8_t>>& getUserBuffer() const;
+   explicit ApplicationBufferMap();
+   ~ApplicationBufferMap();
+   explicit ApplicationBufferMap(
+     const std::unordered_map<std::string, std::vector<uint8_t>> buffer);
+
+ private:
+   std::unordered_map<std::string, std::vector<uint8_t>> m_UserMap;
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+} // namespace PSNPE
+} // namespace zdl
+
+#endif // PSNPE_APPLICATIONBUFFERMAP_HPP
diff --git a/third_party/snpe/include/SNPE/PSNPE.hpp b/third_party/snpe/include/SNPE/PSNPE.hpp
new file mode 100644
index 00000000000000..a823c0c7fa1d78
--- /dev/null
+++ b/third_party/snpe/include/SNPE/PSNPE.hpp
@@ -0,0 +1,205 @@
+// =============================================================================
+//
+// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+// =============================================================================
+
+#ifndef PSNPE_HPP
+#define PSNPE_HPP
+
+#include <cstdlib>
+#include <functional>
+#include "SNPE/SNPE.hpp"
+#include "DlSystem/UserBufferMap.hpp"
+#include "DlContainer/IDlContainer.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+#include "UserBufferList.hpp"
+#include "RuntimeConfigList.hpp"
+#include "ApplicationBufferMap.hpp"
+
+namespace zdl
+{
+namespace PSNPE
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ *@ brief build snpe instance in serial or parallel
+ *
+ */
+enum ZDL_EXPORT BuildMode {
+   SERIAL = 0,
+   PARALLEL = 1
+};
+/**
+ * @brief  Input and output transmission mode
+ */
+enum ZDL_EXPORT InputOutputTransmissionMode
+{
+   sync = 0,
+   outputAsync = 1,
+   inputOutputAsync = 2
+};
+
+/**
+ * @brief  A structure representing parameters of callback function of Async Output mode
+ */
+struct ZDL_EXPORT OutputAsyncCallbackParam
+{
+   size_t dataIndex;
+   bool executeStatus;
+   std::string errorMsg;
+   OutputAsyncCallbackParam(size_t _index,bool _status, const std::string& _errorMsg = std::string())
+     : dataIndex(_index),executeStatus(_status), errorMsg(_errorMsg){};
+};
+/**
+ * @brief  A structure representing parameters of callback function of Async Input/Output mode
+ */
+struct ZDL_EXPORT InputOutputAsyncCallbackParam
+{
+   size_t dataIndex;
+   const ApplicationBufferMap& outputMap;
+   bool executeStatus;
+   std::string errorMsg;
+   InputOutputAsyncCallbackParam(size_t _index, const ApplicationBufferMap& output_map,bool _status,
+                                 const std::string _ErrorMsg = std::string())
+     : dataIndex(_index)
+     , outputMap(output_map)
+     , executeStatus(_status)
+     , errorMsg(_ErrorMsg){};
+};
+/**
+ * @brief  This callback is called when the output data is ready, only use for Output Async mode
+ */
+using OutputAsyncCallbackFunc = std::function<void(OutputAsyncCallbackParam)>;
+/**
+ * @brief  This callback is called when the output data is ready, only use for Output-Input Async mode
+ */
+using InputOutputAsyncCallbackFunc = std::function<void(InputOutputAsyncCallbackParam)>;
+/**
+ * @brief   This callback is called when the input data is ready,only use for Output-Input Async mode 
+ */
+using InputOutputAsyncInputCallback = std::function<std::shared_ptr<ApplicationBufferMap>(const std::vector<std::string> &,
+    const zdl::DlSystem::StringList &)>;
+/**
+ * @brief .
+ *
+ * A structure PSNPE configuration
+ *
+ */
+struct ZDL_EXPORT BuildConfig final
+{
+   BuildMode buildMode = BuildMode::SERIAL; ///< Specify build in serial mode or parallel mode
+   zdl::DlContainer::IDlContainer* container;///< The opened container ptr
+   zdl::DlSystem::StringList outputBufferNames;///< Specify the output layer name
+   zdl::DlSystem::StringList outputTensors;///< Specify the output layer name
+   RuntimeConfigList runtimeConfigList;///< The runtime config list for PSNPE, @see RuntimeConfig
+   size_t inputThreadNumbers = 1;///< Specify the number of threads used in the execution phase to process input data, only used in inputOutputAsync mode
+   size_t outputThreadNumbers = 1;///< Specify the number of threads used in the execution phase to process output data, only used in inputOutputAsync and outputAsync mode
+   OutputAsyncCallbackFunc outputCallback;///< The callback to deal with output data ,only used in outputAsync mode
+   InputOutputAsyncCallbackFunc inputOutputCallback;///< The callback to deal with output data ,only used in inputOutputAsync mode
+   InputOutputAsyncInputCallback inputOutputInputCallback;///< The callback to deal with input data ,only used in inputOutputAsync mode
+   InputOutputTransmissionMode inputOutputTransmissionMode = InputOutputTransmissionMode::sync;///< Specify execution mode
+   zdl::DlSystem::ProfilingLevel_t profilingLevel = zdl::DlSystem::ProfilingLevel_t::OFF;///< Specify profiling level for Diaglog
+   uint64_t encode[2] = {0, 0};
+   bool enableInitCache = false;
+   std::string platformOptions;
+   std::string diaglogOutputDir = "./diaglogs/"; ///< Specify a diaglog output directory to save the generated Diaglog files.
+};
+/**
+ * @brief .
+ *
+ * The class for executing SNPE instances in parallel.
+ */
+class ZDL_EXPORT PSNPE final
+{
+ public:
+   ~PSNPE();
+
+   explicit PSNPE() noexcept :m_TransmissionMode(InputOutputTransmissionMode::sync){};
+
+   /**
+    * @brief Build snpe instances.
+    *
+    */
+   bool build(BuildConfig& buildConfig) noexcept;
+
+   /**
+    * @brief Execute snpe instances in Async Output mode and Sync mode
+    *
+    * @param[in] inputBufferList A list of user buffers that contains the input data
+    *
+    * @param[in,out] outputBufferList A list of user buffers that will hold the output data
+    *
+    */
+   bool execute(UserBufferList& inputBufferList, UserBufferList& outputBufferList) noexcept;
+
+   /**
+    * @brief  Execute snpe instances in Async Input/Output mode
+    *
+    * @param[in]inputMap A map of input buffers that contains input data. The names of buffers
+    *                     need to be matched with names retrived through getInputTensorNames()
+    *
+    * @param dataIndex Index of the input data
+    *
+    * @param isTF8buff Whether prefer to using 8 bit quantized element for inference
+    *
+    * @return True if executed successfully; flase, otherwise.
+    */
+   bool executeInputOutputAsync(const std::vector<std::string>& inputMap, size_t dataIndex, bool isTF8buff) noexcept;
+   bool executeInputOutputAsync(const std::vector<std::string>& inputMap, size_t dataIndex, bool isTF8buff,bool isTF8Outputbuff) noexcept;
+   /**
+    * @brief Returns the input layer names of the network.
+    *
+    * @return StringList which contains the input layer names
+    */
+   const zdl::DlSystem::StringList getInputTensorNames() const noexcept;
+
+   /**
+    * @brief Returns the output layer names of the network.
+    *
+    * @return StringList which contains the output layer names
+    */
+   const zdl::DlSystem::StringList getOutputTensorNames() const noexcept;
+
+   /**
+    * @brief Returns the input tensor dimensions of the network.
+    *
+    * @return TensorShape which contains the dimensions.
+    */
+   const zdl::DlSystem::TensorShape getInputDimensions() const noexcept;
+
+   const zdl::DlSystem::TensorShape getInputDimensions(const char *name) const noexcept;
+
+   /**
+    * @brief Returns attributes of buffers.
+    *
+    * @see zdl::SNPE
+    *
+    * @return BufferAttributes of input/output tensor named.
+    */
+   const zdl::DlSystem::TensorShape getBufferAttributesDims(const char *name) const noexcept;
+
+   zdl::DlSystem::Optional<zdl::DlSystem::IBufferAttributes*> getInputOutputBufferAttributes(const char *name) const noexcept;
+   bool registerIonBuffers(const zdl::DlSystem::UserMemoryMap& ionBufferMap) const noexcept;
+   bool deregisterIonBuffers(const zdl::DlSystem::StringList& ionBufferNames) const noexcept;
+
+   const char* getLastErrorString();
+
+ private:
+   PSNPE(const PSNPE&) = delete;
+   PSNPE& operator=(const PSNPE&) = delete;
+   zdl::PSNPE::InputOutputTransmissionMode m_TransmissionMode;
+
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+} // namespace PSNPE
+} // namespace zdl
+#endif // PSNPE_HPP
diff --git a/third_party/snpe/include/SNPE/RuntimeConfigList.hpp b/third_party/snpe/include/SNPE/RuntimeConfigList.hpp
new file mode 100644
index 00000000000000..837dba092a1d21
--- /dev/null
+++ b/third_party/snpe/include/SNPE/RuntimeConfigList.hpp
@@ -0,0 +1,85 @@
+//==============================================================================
+//
+//  Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+#ifndef PSNPE_RUNTIMECONFIGLIST_HPP
+#define PSNPE_RUNTIMECONFIGLIST_HPP
+
+#include <iostream>
+#include "DlContainer/IDlContainer.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/RuntimeList.hpp"
+#include "DlSystem/TensorShapeMap.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+namespace zdl {
+namespace PSNPE {
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * The structure for configuring a BulkSNPE runtime
+ *
+ */
+struct ZDL_EXPORT RuntimeConfig final {
+    zdl::DlSystem::Runtime_t runtime;
+    zdl::DlSystem::RuntimeList runtimeList;
+    zdl::DlSystem::PerformanceProfile_t perfProfile;
+    zdl::DlSystem::TensorShapeMap inputDimensionsMap;
+    bool enableCPUFallback;
+    RuntimeConfig()
+        : runtime{zdl::DlSystem::Runtime_t::CPU_FLOAT32},
+          perfProfile{zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE},
+          enableCPUFallback{false} {}
+    RuntimeConfig(const RuntimeConfig& other) {
+        runtime = other.runtime;
+        runtimeList = other.runtimeList;
+        perfProfile = other.perfProfile;
+        enableCPUFallback = other.enableCPUFallback;
+        inputDimensionsMap = other.inputDimensionsMap;
+    }
+
+    RuntimeConfig& operator=(const RuntimeConfig& other) {
+        this->runtimeList = other.runtimeList;
+        this->runtime = other.runtime;
+        this->perfProfile = other.perfProfile;
+        this->enableCPUFallback = other.enableCPUFallback;
+        this->inputDimensionsMap = other.inputDimensionsMap;
+        return *this;
+    }
+
+    ~RuntimeConfig() {}
+};
+
+/**
+ * @brief .
+ *
+ * The class for creating a RuntimeConfig container.
+ *
+ */
+class ZDL_EXPORT RuntimeConfigList final {
+   public:
+    RuntimeConfigList();
+    RuntimeConfigList(const size_t size);
+    void push_back(const RuntimeConfig& runtimeConfig);
+    RuntimeConfig& operator[](const size_t index);
+    RuntimeConfigList& operator=(const RuntimeConfigList& other);
+    size_t size() const noexcept;
+    size_t capacity() const noexcept;
+    void clear() noexcept;
+    ~RuntimeConfigList() = default;
+
+   private:
+    void swap(const RuntimeConfigList& other);
+    std::vector<RuntimeConfig> m_runtimeConfigs;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}  // namespace PSNPE
+}  // namespace zdl
+#endif  // PSNPE_RUNTIMECONFIGLIST_HPP
diff --git a/third_party/snpe/include/SNPE/SNPE.hpp b/third_party/snpe/include/SNPE/SNPE.hpp
new file mode 100644
index 00000000000000..5ab45b82eedc85
--- /dev/null
+++ b/third_party/snpe/include/SNPE/SNPE.hpp
@@ -0,0 +1,258 @@
+//==============================================================================
+//
+//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _SNPE_SNPE_HPP_
+#define _SNPE_SNPE_HPP_
+
+#include "DlSystem/DlOptional.hpp"
+#include "DlSystem/DlVersion.hpp"
+#include "DlSystem/IBufferAttributes.hpp"
+#include "DlSystem/ITensor.hpp"
+#include "DlSystem/TensorShape.hpp"
+#include "DlSystem/TensorMap.hpp"
+#include "DlSystem/String.hpp"
+#include "DlSystem/StringList.hpp"
+#include "DlSystem/IUserBuffer.hpp"
+#include "DlSystem/UserBufferMap.hpp"
+#include "DlSystem/UserMemoryMap.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl {
+   namespace SNPE
+   {
+      class SnpeRuntime;
+   }
+}
+namespace zdl {
+   namespace DiagLog
+   {
+      class IDiagLog;
+   }
+}
+
+namespace zdl { namespace SNPE {
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * The SNPE interface class definition
+ */
+class ZDL_EXPORT SNPE final
+{
+public:
+
+   // keep this undocumented to be hidden in doxygen using HIDE_UNDOC_MEMBERS
+   explicit SNPE(std::unique_ptr<zdl::SNPE::SnpeRuntime>&& runtime) noexcept;
+   ~SNPE();
+
+   /**
+    * @brief Gets the names of input tensors to the network
+    *
+    * To support multiple input scenarios, where multiple tensors are
+    * passed through execute() in a TensorMap, each tensor needs to
+    * be uniquely named. The names of tensors can be retrieved
+    * through this function.
+    *
+    * In the case of a single input, one name will be returned.
+    *
+    * @note Note that because the returned value is an Optional list,
+    * the list must be verified as boolean true value before being
+    * dereferenced.
+    *
+    * @return An Optional List of input tensor names.
+    *
+    * @see zdl::DlSystem::Optional
+    */
+   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
+      getInputTensorNames() const noexcept;
+
+    /**
+     * @brief Gets the names of output tensors to the network
+     *
+     * @return List of output tensor names.
+     */
+   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
+      getOutputTensorNames() const noexcept;
+
+   /**
+    * @brief Gets the name of output tensor from the input layer name
+    *
+    * @return Output tensor name.
+    */
+   zdl::DlSystem::StringList
+      getOutputTensorNamesByLayerName(const char *name) const noexcept;
+
+   /**
+    * @brief Processes the input data and returns the output
+    *
+    * @param[in] A map of tensors that contains the input data for
+    *            each input. The names of tensors needs to be
+    *            matched with names retrieved through
+    *            getInputTensorNames()
+    *
+    * @param[in,out] An empty map of tensors that will contain the output
+    *                data of potentially multiple layers (the key
+    *                in the map is the layer name) upon return
+    *
+    * @note output tensormap has to be empty.  To forward propagate
+    *       and get results in user-supplied tensors, use
+    *       executeWithSuppliedOutputTensors.
+    */
+   bool execute(const zdl::DlSystem::TensorMap &input,
+                zdl::DlSystem::TensorMap &output) noexcept;
+
+   /**
+    * @brief Processes the input data and returns the output
+    *
+    * @param[in] A single tensor contains the input data.
+    *
+    * @param[in,out] An empty map of tensors that will contain the output
+    *                data of potentially multiple layers (the key
+    *                in the map is the layer name) upon return
+    *
+    * @note output tensormap has to be empty.
+    */
+   bool execute(const zdl::DlSystem::ITensor *input,
+                zdl::DlSystem::TensorMap &output) noexcept;
+
+   /**
+    * @brief Processes the input data and returns the output, using
+    *        user-supplied buffers
+    *
+    * @param[in] A map of UserBuffers that contains the input data for
+    *            each input. The names of UserBuffers needs to be
+    *            matched with names retrieved through
+    *            getInputTensorNames()
+    *
+    * @param[in,out] A map of UserBuffers that will hold the output
+    *                data of potentially multiple layers (the key
+    *                in the map is the UserBuffer name)
+    *
+    * @note input and output UserBuffer maps must be fully pre-populated. with
+    *       dimensions matching what the network expects.
+    *       For example, if there are 5 output UserBuffers they all have to be
+    *       present in map.
+    *
+    *       Caller must guarantee that for the duration of execute(), the buffer
+    *       stored in UserBuffer would remain valid.  For more detail on buffer
+    *       ownership and lifetime requirements, please refer to zdl::DlSystem::UserBuffer
+    *       documentation.
+    */
+   bool execute(const zdl::DlSystem::UserBufferMap &input,
+                const zdl::DlSystem::UserBufferMap &output) noexcept;
+
+
+    /**
+    * @brief Regiter Client ION Buffers
+    * @param[in] A UserMemoryMap of virtual addresses
+    *
+    */
+   bool registerIonBuffers(const zdl::DlSystem::UserMemoryMap& ionBufferMap) noexcept;
+
+    /**
+    * @brief Regiter Client ION Buffers
+    * @param[in] A StringList of ION Buffer names
+    *
+    */
+   bool deregisterIonBuffers(const zdl::DlSystem::StringList& ionBufferNames) noexcept;
+
+    /**
+    * @brief Returns the version string embedded at model conversion
+    * time.
+    *
+    * @return Model version string, which is a free-form string
+    *         supplied at the time of the conversion
+    *
+    */
+   zdl::DlSystem::String getModelVersion() const noexcept;
+
+   /**
+    * @brief Returns the dimensions of the input data to the model in the
+    * form of TensorShape. The dimensions in TensorShape corresponds to
+    * what the tensor dimensions would need to be for an input tensor to
+    * the model.
+    *
+    * @param[in] layer input name.
+    *
+    * @note Note that this function only makes sense for networks 
+    *       that have a fixed input size. For networks in which the
+    *       input size varies with each call of Execute(), this
+    *       function should not be used.
+    *
+    * @note Because the returned type is an Optional instance, it must
+    *       be verified as a boolean true value before being dereferenced.
+    * 
+    * @return An Optional instance of TensorShape that maintains dimensions,
+    *         matching the tensor dimensions for input to the model,
+    *         where the last entry is the fastest varying dimension, etc.
+    *  
+    * @see zdl::DlSystem::ITensor
+    * @see zdl::DlSystem::TensorShape
+    * @see zdl::DlSystem::Optional
+    */
+   zdl::DlSystem::Optional<zdl::DlSystem::TensorShape>
+      getInputDimensions() const noexcept;
+   zdl::DlSystem::Optional<zdl::DlSystem::TensorShape>
+      getInputDimensions(const char *name) const noexcept;
+
+   /**
+    * @brief Gets the output layer(s) for the network. 
+    *  
+    * Note that the output layers returned by this function may be 
+    * different than those specified when the network was created 
+    * via the zdl::SNPE::SNPEBuilder. For example, if the
+    * network was created in debug mode with no explicit output 
+    * layers specified, this will contain all layers.
+    *
+    * @note Note that because the returned value is an Optional StringList,
+    * the list must be verified as a boolean true value before being
+    * dereferenced.
+    *
+    * @return A List of output layer names.
+    *
+    * @see zdl::DlSystem::Optional
+    */
+   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
+      getOutputLayerNames() const noexcept;
+
+   /**
+     * @brief Returns attributes of buffers used to feed input tensors and receive result from output tensors.
+     *
+     * @param[in] Tensor name.
+     *
+     * @return BufferAttributes of input/output tensor named
+     */
+   zdl::DlSystem::Optional<zdl::DlSystem::IBufferAttributes*> getInputOutputBufferAttributes(const char *name) const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Get the diagnostic logging interface
+    *
+    * @note Note that because the returned type is an Optional instance,
+    * it must be verified as a boolean true value before being
+    * dereferenced.
+    *
+    * @see zdl::DlSystem::Optional
+    */
+   zdl::DlSystem::Optional<zdl::DiagLog::IDiagLog*>
+      getDiagLogInterface() noexcept;
+
+private:
+   SNPE(const SNPE&) = delete;
+   SNPE& operator=(const SNPE&) = delete;
+
+   std::unique_ptr<SnpeRuntime> m_Runtime;
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+}}
+
+#endif
diff --git a/third_party/snpe/include/SNPE/SNPEBuilder.hpp b/third_party/snpe/include/SNPE/SNPEBuilder.hpp
new file mode 100644
index 00000000000000..5fc7846ced6486
--- /dev/null
+++ b/third_party/snpe/include/SNPE/SNPEBuilder.hpp
@@ -0,0 +1,306 @@
+//==============================================================================
+//
+//  Copyright (c) 2017-2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _SNPE_BUILDER_HPP_
+#define _SNPE_BUILDER_HPP_
+
+#include "SNPE/SNPE.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/UDLFunc.hpp"
+#include "DlSystem/DlOptional.hpp"
+#include "DlSystem/TensorShapeMap.hpp"
+#include "DlSystem/PlatformConfig.hpp"
+#include "DlSystem/IOBufferDataTypeMap.hpp"
+#include "DlSystem/RuntimeList.hpp"
+
+namespace zdl {
+   namespace DlContainer
+   {
+      class IDlContainer;
+   }
+}
+
+struct SNPEBuilderImpl;
+
+
+namespace zdl { namespace SNPE {
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * The builder class for creating SNPE objects.
+ * Not meant to be extended.
+ */
+class ZDL_EXPORT SNPEBuilder final
+{
+private:
+   std::unique_ptr<::SNPEBuilderImpl> m_Impl;
+public:
+
+   /**
+    * @brief Constructor of NeuralNetwork Builder with a supplied model.
+    *
+    * @param[in] container A container holding the model.
+    *
+    * @return A new instance of a SNPEBuilder object
+    *         that can be used to configure and build
+    *         an instance of SNPE.
+    *
+    */
+   explicit SNPEBuilder(
+      zdl::DlContainer::IDlContainer* container);
+   ~SNPEBuilder();
+
+   /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE. Please use
+    *       setRuntimeProcessorOrder()
+    *
+    * @brief Sets the runtime processor.
+    *
+    * @param[in] targetRuntimeProcessor The target runtime.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setRuntimeProcessor(
+      zdl::DlSystem::Runtime_t targetRuntimeProcessor);
+
+   /**
+    * @brief Requests a performance profile.
+    *
+    * @param[in] targetRuntimeProfile The target performance profile.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setPerformanceProfile(
+      zdl::DlSystem::PerformanceProfile_t performanceProfile);
+
+   /**
+    * @brief Sets the profiling level. Default profiling level for
+    *        SNPEBuilder is off. Off and basic only applies to DSP runtime.
+    *
+    * @param[in] profilingLevel The target profiling level.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setProfilingLevel(
+      zdl::DlSystem::ProfilingLevel_t profilingLevel);
+
+    /**
+     * @brief Sets a preference for execution priority.
+     *
+     * This allows the caller to give coarse hint to SNPE runtime
+     * about the priority of the network.  SNPE runtime is free to use
+     * this information to co-ordinate between different workloads
+     * that may or may not extend beyond SNPE.
+     *
+     * @param[in] ExecutionPriorityHint_t The target performance profile.
+     *
+     * @return The current instance of SNPEBuilder.
+     */
+   SNPEBuilder& setExecutionPriorityHint(
+            zdl::DlSystem::ExecutionPriorityHint_t priority);
+
+    /**
+    * @brief Sets the layers that will generate output.
+    *
+    * @param[in] outputLayerNames List of layer names to
+    *                             output. An empty list will
+    *                             result in only the final
+    *                             layer of the model being
+    *                             the output layer.  The list
+    *                             will be copied.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setOutputLayers(
+      const zdl::DlSystem::StringList& outputLayerNames);
+
+   /**
+   * @brief Sets the output tensor names.
+   *
+   * @param[in] outputTensorNames List of tensor names to
+   *                             output. An empty list will
+   *                             result in producing output for the final
+   *                             output tensor of the model.
+   *                             The list will be copied.
+   *
+   * @return The current instance of SNPEBuilder.
+   */
+   SNPEBuilder& setOutputTensors(
+      const zdl::DlSystem::StringList& outputTensorNames);
+
+   /**
+    * @brief Passes in a User-defined layer.
+    *
+    * @param udlBundle Bundle of udl factory function and a cookie
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setUdlBundle(
+      zdl::DlSystem::UDLBundle udlBundle);
+
+   /**
+    * @brief Sets whether this neural network will perform inference with
+    *        input from user-supplied buffers, and write output to user-supplied
+    *        buffers.  Default behaviour is to use tensors created by
+    *        ITensorFactory.
+    *
+    * @param[in] bufferMode Whether to use user-supplied buffer or not.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setUseUserSuppliedBuffers(
+      bool bufferMode);
+
+    /**
+    * @brief Sets the debug mode of the runtime.
+    *
+    * @param[in] debugMode This enables debug mode for the runtime. It
+    *                      does two things. For an empty
+    *                      outputLayerNames list, all layers will be
+    *                      output. It might also disable some internal
+    *                      runtime optimizations (e.g., some networks
+    *                      might be optimized by combining layers,
+    *                      etc.).
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setDebugMode(
+      bool debugMode);
+
+   /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE. Please use
+    *       setRuntimeProcessorOrder()
+    *
+    * @brief Sets the mode of CPU fallback functionality.
+    *
+    * @param[in] mode   This flag enables/disables the functionality
+    *                   of CPU fallback. When the CPU fallback
+    *                   functionality is enabled, layers in model that
+    *                   violates runtime constraints will run on CPU
+    *                   while the rest of non-violating layers will
+    *                   run on the chosen runtime processor. In
+    *                   disabled mode, models with layers violating
+    *                   runtime constraints will NOT run on the chosen
+    *                   runtime processor and will result in runtime
+    *                   exception. By default, the functionality is
+    *                   enabled.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setCPUFallbackMode(
+      bool mode);
+
+
+   /**
+    * @brief Sets network's input dimensions to enable resizing of
+    *        the spatial dimensions of each layer for fully convolutional networks,
+    *        and the batch dimension for all networks.
+    *
+    * @param[in] tensorShapeMap The map of input names and their new dimensions.
+    *                           The new dimensions overwrite the input dimensions
+    *                           embedded in the model and then resize each layer
+    *                           of the model. If the model contains
+    *                           layers whose dimensions cannot be resized e.g FullyConnected,
+    *                           exception will be thrown when SNPE instance is actually built.
+    *                           In general the batch dimension is always resizable.
+    *                           After resizing of layers' dimensions in model based
+    *                           on new input dimensions, the new model is revalidated
+    *                           against all runtime constraints, whose failures may
+    *                           result in cpu fallback situation.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setInputDimensions(const zdl::DlSystem::TensorShapeMap& inputDimensionsMap);
+
+   /**
+    * @brief Sets the mode of init caching functionality.
+    *
+    * @param[in] mode   This flag enables/disables the functionality of init caching.
+    *                   When init caching functionality is enabled, a set of init caches
+    *                   will be created during network building/initialization process
+    *                   and will be added to DLC container. If such DLC container is saved
+    *                   by the user, in subsequent network building/initialization processes
+    *                   these init caches will be loaded from the DLC so as to reduce initialization time.
+    *                   In disable mode, no init caches will be added to DLC container.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setInitCacheMode(
+      bool cacheMode);
+
+   /**
+    * @brief Returns an instance of SNPE based on the current parameters.
+    *
+    * @return A new instance of a SNPE object that can be used
+    *         to execute models or null if any errors occur.
+    */
+   std::unique_ptr<SNPE> build() noexcept;
+
+   /**
+    * @brief Sets the platform configuration.
+    *
+    * @param[in] platformConfig The platform configuration.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setPlatformConfig(const zdl::DlSystem::PlatformConfig& platformConfig);
+
+   /**
+    * @brief Sets network's runtime order of precedence. Example:
+    *        CPU_FLOAT32, GPU_FLOAT16, AIP_FIXED8_TF
+    *        Note:- setRuntimeProcessor() or setCPUFallbackMode() will be silently ignored when
+    *        setRuntimeProcessorOrder() is invoked
+    *
+    * @param[in] runtimeList The list of runtime in order of precedence
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setRuntimeProcessorOrder(const zdl::DlSystem::RuntimeList& runtimeList);
+
+    /**
+    * @brief Sets the unconsumed tensors as output
+    *
+    * @param[in] setOutput This enables unconsumed tensors (i.e)
+    *                      outputs which are not inputs to any
+    *                      layer (basically dead ends) to be marked
+    *                      for output
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setUnconsumedTensorsAsOutputs(
+      bool setOutput);
+
+    /**
+    * @brief Execution terminated when exceeding time limit.
+    *        Only valid for dsp runtime currently.
+    *
+    * @param[in] timeout Time limit value
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setTimeOut(
+      uint64_t timeout);
+
+
+   /**
+    * @brief Sets the datatype of the buffer.
+    *        Only valid for dsp runtime currently.
+    *
+    * @param[in] Map of the buffer names and the datatype that needs to be set.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setBufferDataType(const zdl::DlSystem::IOBufferDataTypeMap& dataTypeMap);
+
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}}
+
+#endif
diff --git a/third_party/snpe/include/SNPE/SNPEFactory.hpp b/third_party/snpe/include/SNPE/SNPEFactory.hpp
new file mode 100644
index 00000000000000..2d78e81b173d2c
--- /dev/null
+++ b/third_party/snpe/include/SNPE/SNPEFactory.hpp
@@ -0,0 +1,220 @@
+//==============================================================================
+//
+//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _SNPE_FACTORY_HPP_
+#define _SNPE_FACTORY_HPP_
+
+#include "SNPE/SNPE.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/UDLFunc.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+#include "DlSystem/DlOptional.hpp"
+
+namespace zdl {
+   namespace DlSystem
+   {
+      class ITensorFactory;
+      class IUserBufferFactory;
+   }
+   namespace DlContainer
+   {
+      class IDlContainer;
+   }
+}
+
+
+
+namespace zdl { namespace SNPE {
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * The factory class for creating SNPE objects.
+ *
+ */
+class ZDL_EXPORT SNPEFactory
+{
+public:
+
+   /**
+    * Indicates whether the supplied runtime is available on the
+    * current platform.
+    *
+    * @param[in] runtime The target runtime to check.
+    *
+    * @return True if the supplied runtime is available; false,
+    *         otherwise.
+    */
+   static bool isRuntimeAvailable(zdl::DlSystem::Runtime_t runtime);
+
+   /**
+    * Indicates whether the supplied runtime is available on the
+    * current platform.
+    *
+    * @param[in] runtime The target runtime to check.
+    *
+    * @param[in] option Extent to perform runtime available check.
+    *
+    * @return True if the supplied runtime is available; false,
+    *         otherwise.
+    */
+   static bool isRuntimeAvailable(zdl::DlSystem::Runtime_t runtime,
+                                  zdl::DlSystem::RuntimeCheckOption_t option);
+
+   /**
+    * Gets a reference to the tensor factory.
+    *
+    * @return A reference to the tensor factory.
+    */
+   static zdl::DlSystem::ITensorFactory& getTensorFactory();
+
+   /**
+    * Gets a reference to the UserBuffer factory.
+    *
+    * @return A reference to the UserBuffer factory.
+    */
+   static zdl::DlSystem::IUserBufferFactory& getUserBufferFactory();
+
+   /**
+    * Gets the version of the SNPE library.
+    *
+    * @return Version of the SNPE library.
+    *
+    */
+   static zdl::DlSystem::Version_t getLibraryVersion();
+
+   /**
+    * Set the SNPE storage location for all SNPE instances in this
+    * process. Note that this may only be called once, and if so
+    * must be called before creating any SNPE instances.
+    *
+    * @param[in] storagePath Absolute path to a directory which SNPE may
+    *  use for caching and other storage purposes.
+    *
+    * @return True if the supplied path was succesfully set as
+    *  the SNPE storage location, false otherwise.
+    */
+   static bool setSNPEStorageLocation(const char* storagePath);
+
+   /**
+    * @brief Register a user-defined op package with SNPE.
+    *
+    * @param[in] regLibraryPath Path to the registration library
+    *                      that allows clients to register a set of operations that are
+    *                      part of the package, and share op info with SNPE
+    *
+    * @return True if successful, False otherwise.
+    */
+   static bool addOpPackage( const std::string& regLibraryPath );
+
+   /**
+    * Indicates whether the OpenGL and OpenCL interoperability is supported
+    * on GPU platform.
+    *
+    * @return True if the OpenGL and OpenCl interop is supported; false,
+    *         otherwise.
+    */
+   static bool isGLCLInteropSupported();
+
+   static const char* getLastError();
+
+   /**
+    * Initializes logging with the specified log level.
+    * initializeLogging with level, is used on Android platforms
+    * and after successful initialization, SNPE
+    * logs are printed in android logcat logs.
+    *
+    * It is recommended to initializeLogging before creating any
+    * SNPE instances, in order to capture information related to
+    * core initialization. If this is called again after first
+    * time initialization, subsequent calls are ignored.
+    * Also, Logging can be re-initialized after a call to
+    * terminateLogging API by calling initializeLogging again.
+    *
+    * A typical usage of Logging life cycle can be
+    * initializeLogging()
+    *        any other SNPE API like isRuntimeAvailable()
+    * * setLogLevel() - optional - can be called anytime
+    *         between initializeLogging & terminateLogging
+    *		  SNPE instance creation, inference, destroy
+    * terminateLogging().
+    *
+    * Please note, enabling logging can have performance impact.
+    *
+    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
+    *
+    * @return True if successful, False otherwise.
+    */
+   static bool initializeLogging(const zdl::DlSystem::LogLevel_t& level);
+
+   /**
+    * Initializes logging with the specified log level and log path.
+    * initializeLogging with level & log path, is used on non Android
+    * platforms and after successful initialization, SNPE
+    * logs are printed in std output & into log files created in the
+    * log path.
+    *
+    * It is recommended to initializeLogging before creating any
+    * SNPE instances, in order to capture information related to
+    * core initialization. If this is called again after first
+    * time initialization, subsequent calls are ignored.
+    * Also, Logging can be re-initialized after a call to
+    * terminateLogging API by calling initializeLogging again.
+    *
+    * A typical usage of Logging life cycle can be
+    * initializeLogging()
+    *        any other SNPE API like isRuntimeAvailable()
+    * * setLogLevel() - optional - can be called anytime
+    *         between initializeLogging & terminateLogging
+    *		  SNPE instance creation, inference, destroy
+    * terminateLogging()
+    *
+    * Please note, enabling logging can have performance impact
+    *
+    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
+    *
+    * @param[in] Path of directory to store logs.
+    *      If path is empty, the default path is "./Log".
+    *      For android, the log path is ignored.
+    *
+    * @return True if successful, False otherwise.
+    */
+   static bool initializeLogging(const zdl::DlSystem::LogLevel_t& level, const std::string& logPath);
+
+   /**
+    * Updates the current logging level with the specified level.
+    * setLogLevel is optional, called anytime after initializeLogging
+    * and before terminateLogging, to update the log level set.
+    * Log levels can be updated multiple times by calling setLogLevel
+    * A call to setLogLevel() is ignored if it is made before
+    * initializeLogging() or after terminateLogging()
+    *
+    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
+    *
+    * @return True if successful, False otherwise.
+    */
+   static bool setLogLevel(const zdl::DlSystem::LogLevel_t& level);
+
+   /**
+    * Terminates logging.
+    *
+    * It is recommended to terminateLogging after initializeLogging
+    * in order to disable logging information.
+    * If this is called before initialization or after first time termination,
+    * calls are ignored.
+    *
+    * @return True if successful, False otherwise.
+    */
+   static bool terminateLogging(void);
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+}}
+
+
+#endif
diff --git a/third_party/snpe/include/SNPE/UserBufferList.hpp b/third_party/snpe/include/SNPE/UserBufferList.hpp
new file mode 100644
index 00000000000000..a660bca0f6a525
--- /dev/null
+++ b/third_party/snpe/include/SNPE/UserBufferList.hpp
@@ -0,0 +1,49 @@
+//==============================================================================
+//
+//  Copyright (c) 2019 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+#ifndef PSNPE_USERBUFFERLIST_HPP
+#define PSNPE_USERBUFFERLIST_HPP
+
+#include <vector>
+#include "DlSystem/UserBufferMap.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl {
+namespace PSNPE
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+/**
+* @brief .
+*
+* The class for creating a UserBufferMap container.
+*
+*/
+class ZDL_EXPORT UserBufferList final
+{
+public:
+   UserBufferList();
+   UserBufferList(const size_t size);
+   void push_back(const zdl::DlSystem::UserBufferMap &userBufferMap);
+   zdl::DlSystem::UserBufferMap& operator[](const size_t index);
+   UserBufferList& operator =(const UserBufferList &other);
+   size_t size() const noexcept;
+   size_t capacity() const noexcept;
+   void clear() noexcept;
+   ~UserBufferList() = default;
+
+private:
+   void swap(const UserBufferList &other);
+   std::vector<zdl::DlSystem::UserBufferMap> m_userBufferMaps;
+
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+} // namespace PSNPE
+} // namespace zdl
+#endif //PSNPE_USERBUFFERLIST_HPP
diff --git a/third_party/snpe/include/SnpeUdo/UdoBase.h b/third_party/snpe/include/SnpeUdo/UdoBase.h
new file mode 100644
index 00000000000000..7b2567920e3525
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoBase.h
@@ -0,0 +1,537 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef SNPE_UDO_BASE_H
+#define SNPE_UDO_BASE_H
+
+#include <stdint.h>
+
+// Provide values to use for API version.
+#define API_VERSION_MAJOR 1
+#define API_VERSION_MINOR 6
+#define API_VERSION_TEENY 0
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+// Defines a bitmask of enum values.
+typedef uint32_t SnpeUdo_Bitmask_t;
+typedef SnpeUdo_Bitmask_t Udo_Bitmask_t;
+
+// A string of characters, rather than an array of bytes.
+// Assumed to be UTF-8.
+typedef char* SnpeUdo_String_t;
+typedef SnpeUdo_String_t Udo_String_t;
+
+// The maximum allowable length of a SnpeUdo_String_t in bytes,
+// including null terminator. SNPE will truncate strings longer
+// than this.
+#define SNPE_UDO_MAX_STRING_SIZE 1024
+
+/**
+  * An enum which holds the various error types.
+  * The error types are divided to classes :
+  * 0 - 99    : generic errors
+  * 100 - 200 : errors related to configuration
+  *
+  */
+typedef enum
+{
+   /// No Error
+   SNPE_UDO_NO_ERROR                    = 0,          UDO_NO_ERROR                    = 0,
+   /// Unsupported value for core type
+   SNPE_UDO_WRONG_CORE                  = 1,          UDO_WRONG_CORE                  = 1,
+   /// Invalid attribute/argument passed into UDO API
+   SNPE_UDO_INVALID_ARGUMENT            = 2,          UDO_INVALID_ARGUMENT            = 2,
+   /// Unsupported feature error
+   SNPE_UDO_UNSUPPORTED_FEATURE         = 3,          UDO_UNSUPPORTED_FEATURE         = 3,
+   /// Error relating to memory allocation
+   SNPE_UDO_MEM_ALLOC_ERROR             = 4,          UDO_MEM_ALLOC_ERROR             = 4,
+   /* Configuration Specific errors */
+   /// No op with given attributes available in library
+   SNPE_UDO_WRONG_OPERATION             = 100,        UDO_WRONG_OPERATION             = 100,
+   /// Unsupported value for core type in UDO configuration
+   SNPE_UDO_WRONG_CORE_TYPE             = 101,        UDO_WRONG_CORE_TYPE             = 101,
+   /// Wrong number of params in UDO definition
+   SNPE_UDO_WRONG_NUM_OF_PARAMS         = 102,        UDO_WRONG_NUM_OF_PARAMS         = 102,
+   /// Wrong number of dimensions for tensor(s) in UDO definition
+   SNPE_UDO_WRONG_NUM_OF_DIMENSIONS     = 103,        UDO_WRONG_NUM_OF_DIMENSIONS     = 103,
+   /// Wrong number of input tensors in UDO definition
+   SNPE_UDO_WRONG_NUM_OF_INPUTS         = 104,        UDO_WRONG_NUM_OF_INPUTS         = 104,
+   /// Wrong number of output tensors in UDO definition
+   SNPE_UDO_WRONG_NUM_OF_OUTPUTS        = 105,        UDO_WRONG_NUM_OF_OUTPUTS        = 105,
+   SNPE_UDO_PROGRAM_CACHE_NOT_FOUND     = 106,        UDO_PROGRAM_CACHE_NOT_FOUND     = 106,
+   SNPE_UDO_UNKNOWN_ERROR               = 0xFFFFFFFF, UDO_UNKNOWN_ERROR               = 0xFFFFFFFF
+} SnpeUdo_ErrorType_t;
+
+typedef SnpeUdo_ErrorType_t Udo_ErrorType_t;
+
+/**
+  * An enum which holds the various data types.
+  * Designed to be used as single values or combined into a bitfield parameter
+  * (0x1, 0x2, 0x4, etc)
+  * \n FIXED_XX types are targeted for data in tensors.
+  * \n UINT / INT types are targeted for scalar params
+  */
+typedef enum
+{
+   /// data type: 16-bit floating point
+   SNPE_UDO_DATATYPE_FLOAT_16       = 0x01,        UDO_DATATYPE_FLOAT_16       = 0x01,
+   /// data type: 32-bit floating point
+   SNPE_UDO_DATATYPE_FLOAT_32       = 0x02,        UDO_DATATYPE_FLOAT_32       = 0x02,
+   /// data type: 4-bit fixed point
+   SNPE_UDO_DATATYPE_FIXED_4        = 0x04,        UDO_DATATYPE_FIXED_4        = 0x04,
+   /// data type: 8-bit fixed point
+   SNPE_UDO_DATATYPE_FIXED_8        = 0x08,        UDO_DATATYPE_FIXED_8        = 0x08,
+   /// data type: 16-bit fixed point
+   SNPE_UDO_DATATYPE_FIXED_16       = 0x10,        UDO_DATATYPE_FIXED_16       = 0x10,
+   /// data type: 32-bit fixed point
+   SNPE_UDO_DATATYPE_FIXED_32       = 0x20,        UDO_DATATYPE_FIXED_32       = 0x20,
+   /// data type: 8-bit unsigned integer
+   SNPE_UDO_DATATYPE_UINT_8         = 0x100,       UDO_DATATYPE_UINT_8         = 0x100,
+   /// data type: 16-bit unsigned integer
+   SNPE_UDO_DATATYPE_UINT_16        = 0x200,       UDO_DATATYPE_UINT_16        = 0x200,
+   /// data type: 32-bit unsigned integer
+   SNPE_UDO_DATATYPE_UINT_32        = 0x400,       UDO_DATATYPE_UINT_32        = 0x400,
+   /// data type: 8-bit signed integer
+   SNPE_UDO_DATATYPE_INT_8          = 0x1000,      UDO_DATATYPE_INT_8          = 0x1000,
+   /// data type: 16-bit signed integer
+   SNPE_UDO_DATATYPE_INT_16         = 0x2000,      UDO_DATATYPE_INT_16         = 0x2000,
+   /// data type: 32-bit signed integer
+   SNPE_UDO_DATATYPE_INT_32         = 0x4000,      UDO_DATATYPE_INT_32         = 0x4000,
+   SNPE_UDO_DATATYPE_LAST           = 0xFFFFFFFF,  UDO_DATATYPE_LAST           = 0xFFFFFFFF
+} SnpeUdo_DataType_t;
+
+typedef SnpeUdo_DataType_t Udo_DataType_t;
+
+/**
+  * An enum which holds the various layouts.
+  * Designed to be used as single values or combined into a bitfield parameter
+  * (0x1, 0x2, 0x4, etc)
+  */
+typedef enum
+{
+   /// data layout (4D): NHWC (batch-height-width-channel)
+   SNPE_UDO_LAYOUT_NHWC             = 0x01,        UDO_LAYOUT_NHWC             = 0x01,
+   /// data layout (4D): NCHW (batch-channel-height-width)
+   SNPE_UDO_LAYOUT_NCHW             = 0x02,        UDO_LAYOUT_NCHW             = 0x02,
+   /// data layout (5D): NDHWC (batch-dimension-height-width-channel)
+   SNPE_UDO_LAYOUT_NDHWC            = 0x04,        UDO_LAYOUT_NDHWC            = 0x04,
+   SNPE_UDO_LAYOUT_GPU_OPTIMAL1     = 0x08,        UDO_LAYOUT_GPU_OPTIMAL1     = 0x08,
+   SNPE_UDO_LAYOUT_GPU_OPTIMAL2     = 0x10,        UDO_LAYOUT_GPU_OPTIMAL2     = 0x10,
+   SNPE_UDO_LAYOUT_DSP_OPTIMAL1     = 0x11,        UDO_LAYOUT_DSP_OPTIMAL1     = 0x11,
+   SNPE_UDO_LAYOUT_DSP_OPTIMAL2     = 0x12,        UDO_LAYOUT_DSP_OPTIMAL2     = 0x12,
+   // Indicates no data will be allocated for this tensor.
+   // Used to specify optional inputs/outputs positionally.
+   SNPE_UDO_LAYOUT_NULL             = 0x13,        UDO_LAYOUT_NULL             = 0x13,
+   SNPE_UDO_LAYOUT_LAST             = 0xFFFFFFFF,  UDO_LAYOUT_LAST             = 0xFFFFFFFF
+} SnpeUdo_TensorLayout_t;
+
+typedef SnpeUdo_TensorLayout_t Udo_TensorLayout_t;
+
+/**
+  * An enum which holds the UDO library Core type .
+  * Designed to be used as single values or combined into a bitfield parameter
+  * (0x1, 0x2, 0x4, etc)
+  */
+typedef enum
+{
+   /// Library target IP Core is undefined
+   SNPE_UDO_CORETYPE_UNDEFINED   = 0x00,          UDO_CORETYPE_UNDEFINED   = 0x00,
+   /// Library target IP Core is CPU
+   SNPE_UDO_CORETYPE_CPU         = 0x01,          UDO_CORETYPE_CPU         = 0x01,
+   /// Library target IP Core is GPU
+   SNPE_UDO_CORETYPE_GPU         = 0x02,          UDO_CORETYPE_GPU         = 0x02,
+   /// Library target IP Core is DSP
+   SNPE_UDO_CORETYPE_DSP         = 0x04,          UDO_CORETYPE_DSP         = 0x04,
+   SNPE_UDO_CORETYPE_LAST        = 0xFFFFFFFF,    UDO_CORETYPE_LAST        = 0xFFFFFFFF
+} SnpeUdo_CoreType_t;
+
+typedef SnpeUdo_CoreType_t Udo_CoreType_t;
+
+/**
+  * An enum to specify the parameter type : Scalar or Tensor
+  */
+typedef enum
+{
+   /// UDO static param type: scalar
+   SNPE_UDO_PARAMTYPE_SCALAR = 0x00,         UDO_PARAMTYPE_SCALAR = 0x00,
+   /// UDO static param type: string
+   SNPE_UDO_PARAMTYPE_STRING = 0x01,         UDO_PARAMTYPE_STRING = 0x01,
+   /// UDO static param type: tensor
+   SNPE_UDO_PARAMTYPE_TENSOR = 0x02,         UDO_PARAMTYPE_TENSOR = 0x02,
+   SNPE_UDO_PARAMTYPE_LAST   = 0xFFFFFFFF,   UDO_PARAMTYPE_LAST   = 0xFFFFFFFF
+} SnpeUdo_ParamType_t;
+
+typedef SnpeUdo_ParamType_t Udo_ParamType_t;
+
+/**
+  * An enum to specify quantization type
+  */
+typedef enum
+{
+   /// Tensor Quantization type: NONE. Signifies unquantized tensor data
+   SNPE_UDO_QUANTIZATION_NONE   = 0x00,         UDO_QUANTIZATION_NONE   = 0x00,
+   /// Tensor Quantization type: Tensorflow-style
+   SNPE_UDO_QUANTIZATION_TF     = 0x01,         UDO_QUANTIZATION_TF     = 0x01,
+   SNPE_UDO_QUANTIZATION_QMN    = 0x02,         UDO_QUANTIZATION_QMN    = 0x02,
+   SNPE_UDO_QUANTIZATION_LAST   = 0xFFFFFFFF,   UDO_QUANTIZATION_LAST   = 0xFFFFFFFF
+} SnpeUdo_QuantizationType_t;
+
+typedef SnpeUdo_QuantizationType_t Udo_QuantizationType_t;
+
+/**
+ * @brief A struct which is used to provide a version number using 3 values : major, minor, teeny
+ *
+ */
+typedef struct
+{
+   /// version field: major - for backward-incompatible changes
+   uint32_t major;
+   /// version field: minor - for backward-compatible feature updates
+   uint32_t minor;
+   /// version field: teeny - for minor bug-fixes and clean-up
+   uint32_t teeny;
+} SnpeUdo_Version_t;
+
+typedef SnpeUdo_Version_t Udo_Version_t;
+
+/**
+ * @brief A struct returned from version query, contains the Library version and API version
+ *
+ */
+typedef struct
+{
+   /// Version of UDO library. Controlled by users
+   SnpeUdo_Version_t libVersion;
+   /// Version of SNPE UDO API used in compiling library. Determined by SNPE
+   SnpeUdo_Version_t apiVersion;
+} SnpeUdo_LibVersion_t;
+
+/**
+ * @brief A struct returned from version query, contains the package version
+ *
+ */
+typedef struct
+{
+   /// Version of UDO API used in package.
+   Udo_Version_t apiVersion;
+} Udo_PkgVersion_t;
+
+/**
+ * @brief A union to hold the value of a generic type. Allows defining a parameter struct
+ * in a generic way, with a "value" location that holds the data regardless of the type.
+ *
+ */
+typedef union
+{
+   /// value type: float
+   float    floatValue;
+   /// value type: unsigned 32-bit integer
+   uint32_t uint32Value;
+   /// value type: signed 32-bit integer
+   int32_t  int32Value;
+   /// value type: unsigned 16-bit integer
+   uint16_t uint16Value;
+   /// value type: signed 16-bit integer
+   int16_t  int16Value;
+   /// value type: unsigned 8-bit integer
+   uint8_t  uint8Value;
+   /// value type: signed 8-bit integer
+   int8_t   int8Value;
+} SnpeUdo_Value_t;
+
+typedef SnpeUdo_Value_t Udo_Value_t;
+
+/**
+ * @brief A struct which defines a scalar parameter : name, data type, and union of values
+ *
+ */
+typedef struct
+{
+   /// The parameter data type : float, int, etc.
+   SnpeUdo_DataType_t  dataType;
+   /// a union of specified type which holds the data
+   SnpeUdo_Value_t dataValue;
+} SnpeUdo_ScalarParam_t;
+
+typedef SnpeUdo_ScalarParam_t Udo_ScalarParam_t;
+
+/**
+ * @brief A struct which defines the quantization parameters in case of Tensorflow style quantization
+ *
+ */
+typedef struct
+{
+   /// minimum value of the quantization range of data
+   float minValue;
+   /// maximum value of the quantization range of data
+   float maxValue;
+} SnpeUdo_TFQuantize_t;
+
+typedef SnpeUdo_TFQuantize_t Udo_TFQuantize_t;
+
+/**
+ * @brief A struct which defines the quantization type, and union of supported quantization structs
+ *
+ */
+typedef struct
+{
+   /// quantization type (only TF-style currently supported)
+   SnpeUdo_QuantizationType_t quantizeType;
+   union
+   {
+     /// TF-style min-max quantization ranges
+     SnpeUdo_TFQuantize_t TFParams;
+   };
+} SnpeUdo_QuantizeParams_t;
+
+typedef SnpeUdo_QuantizeParams_t Udo_QuantizeParams_t;
+
+/**
+ * @brief A struct which defines the datatype associated with a specified core-type
+ * This should be used to denote the datatypes for a single tensor info, depending
+ * on the intended execution core.
+ *
+ */
+typedef struct
+{
+    /// The IP Core
+    SnpeUdo_CoreType_t     coreType;
+    /// The associated datatype for this coreType
+    SnpeUdo_DataType_t       dataType;
+} SnpeUdo_PerCoreDatatype_t;
+
+typedef SnpeUdo_PerCoreDatatype_t Udo_PerCoreDatatype_t;
+
+/**
+ * @brief A struct which defines a tensor parameter : name, data type, layout, quantization, more.
+ *        Also holds a pointer to the tensor data.
+ *
+ */
+typedef struct
+{
+   /// The maximum allowable dimensions of the tensor. The memory held in
+   /// _tensorData_ is guaranteed to be large enough for this.
+   uint32_t*                maxDimensions;
+   /// The current dimensions of the tensor. An operation may modify the current
+   /// dimensions of its output, to indicate cases where the output has been
+   /// "resized".
+   /// Note that for static parameters, the current and max dimensions must
+   /// match.
+   uint32_t*                currDimensions;
+   /// Quantization params applicable to the tensor. Currently only supports
+   /// Tensorflow quantization style.
+   SnpeUdo_QuantizeParams_t quantizeParams;
+   /// Number of dimensions to the tensor: 3D, 4D, etc.
+   uint32_t                 tensorRank;
+   /// The parameter data type: float, int, etc.
+   SnpeUdo_DataType_t       dataType;
+   /// The tensor layout type: NCHW, NHWC, etc.
+   SnpeUdo_TensorLayout_t   layout;
+   /// Opaque pointer to tensor data. User may be required to re-interpret the pointer
+   /// based on core-specific definitions.
+   void*                    tensorData;
+} SnpeUdo_TensorParam_t;
+
+typedef SnpeUdo_TensorParam_t Udo_TensorParam_t;
+
+/**
+ * @brief A struct which defines tensor information for activation tensors only
+ *
+ * It describes an activation tensor object using its name, the intended layout and the datatype
+ * it will take depending on the intended runtime core. The repeated field indicates that
+ * that the tensor info describes several input/output activation tensors, which all share the
+ * aforementioned properties.
+ */
+typedef struct
+{
+    /// The tensor name
+    SnpeUdo_String_t    tensorName;
+    /// The tensor layout type: NCHW, NHWC, etc.
+    SnpeUdo_TensorLayout_t   layout;
+    /// The per core datatype: {SNPE_UDO_DATATYPE, SNPE_UDO_CORE_TYPE}
+    SnpeUdo_PerCoreDatatype_t* perCoreDatatype;
+    /// A boolean field indicating that this tensorinfo will be repeated e.x for ops such as Concat or Split
+    bool repeated;
+    /// A boolean field indicating whether input is static or not.
+    bool isStatic;
+} SnpeUdo_TensorInfo_t;
+
+typedef SnpeUdo_TensorInfo_t Udo_TensorInfo_t;
+
+/**
+ * @brief struct which defines a UDO parameter - a union of scalar, tensor and string parameters
+ *
+ */
+typedef struct
+{
+   /// Type is scalar or tensor
+  SnpeUdo_ParamType_t paramType;
+  /// The param name, for example : "offset", "activation_type"
+  SnpeUdo_String_t    paramName;
+  union
+  {
+    /// scalar param value
+    SnpeUdo_ScalarParam_t scalarParam;
+    /// tensor param value
+    SnpeUdo_TensorParam_t tensorParam;
+    /// string param value
+    SnpeUdo_String_t      stringParam;
+  };
+} SnpeUdo_Param_t;
+
+typedef SnpeUdo_Param_t Udo_Param_t;
+
+/**
+ * @brief A struct which defines Operation information which is specific for IP core (CPU, GPU, DSP ...)
+ *
+ */
+typedef struct
+{
+   /// The IP Core
+   SnpeUdo_CoreType_t     udoCoreType;
+   /// Bitmask, defines supported internal calculation types (like FLOAT_32, etc)
+   /// Based on SnpeUdo_DataType
+   SnpeUdo_Bitmask_t      operationCalculationTypes;
+} SnpeUdo_OpCoreInfo_t;
+
+typedef SnpeUdo_OpCoreInfo_t Udo_OpCoreInfo_t;
+
+/**
+ * @brief A struct which defines the common and core-specific Operation information
+ *
+ */
+typedef struct
+{
+   /// Operation type
+   SnpeUdo_String_t      operationType;
+   /// A bitmask describing which IP Cores (CPU, GPU, DSP ...) support this operation
+   /// Translated based on SnpeUdo_CoreType
+   SnpeUdo_Bitmask_t     supportedByCores;
+   /// Number of static parameters defined by the op
+   uint32_t              numOfStaticParams;
+   /// Array of static parameters. Can be scalar or tensor params
+   SnpeUdo_Param_t*      staticParams;
+   /// Number of input tensors this op receives
+   uint32_t              numOfInputs;
+   /// Array of input tensor names to this operation
+   SnpeUdo_String_t*      inputNames;
+   /// Number of output tensors this op receives
+   uint32_t              numOfOutputs;
+   /// Array of output tensor names to this operation
+   SnpeUdo_String_t*      outputNames;
+   /// Number of cores that the op can execute on
+   uint32_t              numOfCoreInfo;
+   /// Array of per-core information entries
+   SnpeUdo_OpCoreInfo_t* opPerCoreInfo;
+    /// Array of input tensor infos for this operation
+   SnpeUdo_TensorInfo_t*     inputInfos;
+   /// Array of output tensor infos for this operation
+   SnpeUdo_TensorInfo_t*     outputInfos;
+} SnpeUdo_OperationInfo_t;
+
+typedef SnpeUdo_OperationInfo_t Udo_OperationInfo_t;
+
+/**
+ * @brief A struct which provides the implementation library info : type, name
+ *
+ */
+typedef struct
+{
+   /// Defines the IP Core that this implementation library is targeting
+   SnpeUdo_CoreType_t     udoCoreType;
+   /// library name. will be looked at in the standard library path
+   SnpeUdo_String_t       libraryName;
+} SnpeUdo_LibraryInfo_t;
+
+typedef SnpeUdo_LibraryInfo_t Udo_LibraryInfo_t;
+
+/**
+ * @brief A struct returned by the registration library and contains information on the UDO package :
+ * name, operations, libraries, etc.
+ *
+ */
+typedef struct
+{
+   /// A string containing the package name
+   SnpeUdo_String_t         packageName;
+   /// A bitmask describing supported IP cores (CPU, GPU, DSP ...)
+   /// Translated based on SnpeUdo_CoreType
+   SnpeUdo_Bitmask_t        supportedCoreTypes;
+   /// The number of implementation libraries in the package
+   uint32_t                numOfImplementationLib;
+   /// Array of implementation libraries names/types
+   SnpeUdo_LibraryInfo_t*   implementationLib;
+   /// A string containing all operation types separated by space
+   SnpeUdo_String_t         operationsString;
+   /// Number of supported operations
+   uint32_t                numOfOperations;
+   /// Array of Operation info structs. Each entry describes one
+   /// Operation (name, params, inputs, outputs)
+   SnpeUdo_OperationInfo_t* operationsInfo;
+} SnpeUdo_RegInfo_t;
+
+typedef SnpeUdo_RegInfo_t Udo_RegInfo_t;
+
+/**
+* @brief A struct returned by the implementation library and contains information on the
+* specific library: name, IP Core, operations, etc.
+*
+*/
+typedef struct
+{
+   /// Defines the IP Core that this implementation library is targeting
+   SnpeUdo_CoreType_t     udoCoreType;
+   /// A string containing the package name
+   SnpeUdo_String_t       packageName;
+   /// A string containing all operation types separated by space
+   SnpeUdo_String_t       operationsString;
+   /// Number of supported operations
+   uint32_t              numOfOperations;
+} SnpeUdo_ImpInfo_t;
+
+typedef SnpeUdo_ImpInfo_t Udo_ImpInfo_t;
+
+/**
+ * @brief This struct defines an operation. It is used for validation
+ * or creation of an operation.
+ * In case of using it for creation, the static params which are tensors
+ * contain pointers to the real data (weights, for example), and input/output
+ * tensors also include pointers to the buffers used.
+ */
+typedef struct
+{
+   /// The IP Core that the operation is defined for - CPU, GPU, DSP...
+   SnpeUdo_CoreType_t      udoCoreType;
+   /// Operation type
+   SnpeUdo_String_t        operationType;
+   /// The number of static parameters provided in the staticParams array.
+   /// this number has to match the number provided by the UDO Registration library information
+   uint32_t               numOfStaticParams;
+   /// Array of static parameters
+   SnpeUdo_Param_t*        staticParams;
+   /// The number of input parameters provided in inputs array.
+   /// this number has to match the number provided by the UDO Registration library information
+   uint32_t               numOfInputs;
+   /// Array of input tensors, providing layout, data type, sizes, etc
+   /// When used to create an operation, also contains the initial location of the data
+   SnpeUdo_TensorParam_t*  inputs;
+   /// The number of output parameters provided in inputs array.
+   /// this number has to match the number provided by the UDO Registration library information
+   uint32_t               numOfOutputs;
+   /// Array of output tensors, providing layout, data type, sizes, etc
+   /// When used to create an operation, also contains the initial location of the data
+   SnpeUdo_TensorParam_t*  outputs;
+} SnpeUdo_OpDefinition_t;
+
+typedef SnpeUdo_OpDefinition_t Udo_OpDefinition_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif //SNPE_UDO_BASE_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImpl.h b/third_party/snpe/include/SnpeUdo/UdoImpl.h
new file mode 100644
index 00000000000000..a0cb648cf725f8
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoImpl.h
@@ -0,0 +1,343 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef SNPE_UDO_IMPL_H
+#define SNPE_UDO_IMPL_H
+
+#include <stdbool.h>
+
+#include "SnpeUdo/UdoShared.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+typedef struct _SnpeUdo_OpFactory_t* SnpeUdo_OpFactory_t;
+typedef struct _SnpeUdo_Operation_t* SnpeUdo_Operation_t;
+
+typedef SnpeUdo_OpFactory_t Udo_OpFactory_t;
+typedef SnpeUdo_Operation_t Udo_Operation_t;
+
+/**
+ * @brief Initialize the shared library's data structures. Calling any other
+ *        library function before this one will result in error.
+ *
+ * @param[in] globalInfrastructure Global core-specific infrastructure to be
+ *            used by operations created in this library. The definition and
+ *            semantics of this object will be defined in the corresponding
+ *            implementation header for the core type.
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_initImplLibrary(void* globalInfrastructure);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_InitImplLibraryFunction_t)(void*);
+
+/**
+ * @brief A function to query the API version of the UDO implementation library.
+ *        The function populates a SnpeUdo_LibVersion_t struct, which contains a SnpeUdo_Version_t
+ *        struct for API version and library version.
+ *
+ * @param[in, out] version A pointer to struct which contains major, minor, teeny information for
+ *                 library and api versions.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getImplVersion(SnpeUdo_LibVersion_t** version);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_getImplVersion_t)(SnpeUdo_LibVersion_t** version);
+
+/**
+ * @brief Release the shared library's data structures, and invalidate any
+ *        handles returned by the library. The behavior of any outstanding
+ *        asynchronous calls made to this library when this function is called
+ *        are undefined. All library functions (except SnpeUdo_initImplLibrary) will
+ *        return an error after this function has been successfully called.
+ *
+ *        It should be possible to call SnpeUdo_initImplLibrary after calling this
+ *        function, and re-initialize the library.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_terminateImplLibrary(void);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_TerminateImplLibraryFunction_t)(void);
+
+
+/**
+ * @brief A function to query info on the UDO implementation library.
+ *        The function populates a structure which contains information about
+ *        operations that are part of this library
+ *
+ * @param[in, out] implementationInfo A pointer to struct which contains information
+ *                 on the operations
+ *
+ * @return error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getImpInfo(SnpeUdo_ImpInfo_t** implementationInfo);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_GetImpInfoFunction_t)(SnpeUdo_ImpInfo_t** implementationInfo);
+
+typedef SnpeUdo_GetImpInfoFunction_t Udo_GetImpInfoFunction_t;
+
+/**
+ * @brief A function to create an operation factory.
+ *        The function receives the operation type, and an array of static parameters,
+ *        and returns operation factory handler
+ *
+ * @param[in] udoCoreType The Core type to create the operation on. An error will
+ *            be returned if this does not match the core type of the library.
+ *
+ * @param[in] perFactoryInfrastructure CreateOpFactory infrastructure appropriate to this
+ *            core type. The definition and semantics of this object will be defined
+ *            in the corresponding implementation header for the core type.
+ *
+ * @param[in] operationType A string containing Operation type. for example "MY_CONV"
+ *
+ * @param[in] numOfStaticParams The number of static parameters.
+ *
+ * @param[in] staticParams Array of static parameters
+ *
+ * @param[in,out] opFactory Handler to Operation Factory, to be used when creating operations
+ *
+ * @return Error Code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_createOpFactory(SnpeUdo_CoreType_t    udoCoreType,
+                        void*                perFactoryInfrastructure,
+                        SnpeUdo_String_t      operationType,
+                        uint32_t             numOfStaticParams,
+                        SnpeUdo_Param_t*      staticParams,
+                        SnpeUdo_OpFactory_t*  opFactory);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_CreateOpFactoryFunction_t)(SnpeUdo_CoreType_t,
+                                     void*,
+                                     SnpeUdo_String_t,
+                                     uint32_t,
+                                     SnpeUdo_Param_t*,
+                                     SnpeUdo_OpFactory_t*);
+
+typedef SnpeUdo_CreateOpFactoryFunction_t Udo_CreateOpFactoryFunction_t;
+
+/**
+ * @brief A function to release the resources allocated for an operation factory
+ *        created by this library.
+ *
+ * @param[in] factory The operation factory to release. Upon success this handle will be invalidated.
+ *
+ * @return Error Code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_releaseOpFactory(SnpeUdo_OpFactory_t opFactory);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ReleaseOpFactoryFunction_t)(SnpeUdo_OpFactory_t);
+
+typedef SnpeUdo_ReleaseOpFactoryFunction_t Udo_ReleaseOpFactoryFunction_t;
+
+/**
+ * @brief A function to create an operation from the factory.
+ *        The function receives array of inputs and array of outputs, and creates an operation
+ *        instance, returning the operation instance handler.
+ *
+ * @param[in] opFactory OpFactory instance containing the parameters for this operation.
+ *
+ * @param[in] perOpInfrastructure Per-Op infrastructure for this operation. The definition
+ *            and semantics of this object will be defined in the implementation header
+ *            appropriate to this core type.
+ *
+ * @param[in] numOfInputs The number of input tensors this operation will receive.
+ *
+ * @param[in] inputs Array of input tensors, providing both the sizes and initial
+ *            location of the data.
+ *
+ * @param[in] numOfOutputs Number of output tensors this operation will produce.
+ *
+ * @param[in] outputs Array of output tensors, providing both the sizes and
+ *            initial location of the data.
+ *
+ * @param[in,out] operation Handle for newly created operation instance.
+ *
+ * @return Error Code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_createOperation(SnpeUdo_OpFactory_t    opFactory,
+                        void*                 perOpInfrastructure,
+                        uint32_t              numOfInputs,
+                        SnpeUdo_TensorParam_t* inputs,
+                        uint32_t              numOfOutputs,
+                        SnpeUdo_TensorParam_t* outputs,
+                        SnpeUdo_Operation_t*   operation);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_CreateOperationFunction_t)(SnpeUdo_OpFactory_t,
+                                     void*,
+                                     uint32_t,
+                                     SnpeUdo_TensorParam_t*,
+                                     uint32_t,
+                                     SnpeUdo_TensorParam_t*,
+                                     SnpeUdo_Operation_t*);
+
+typedef SnpeUdo_CreateOperationFunction_t Udo_CreateOperationFunction_t;
+
+/**
+ * @brief A pointer to notification function.
+ *
+ *        The notification function supports the non-blocking (e.g. asynchronous) execution use-case.
+ *        In case an "executeUdoOp" function is called with "blocking" set to zero, and a
+ *        notify function, this function will be called by the implementation library at the
+ *        end of execution. The implementation library will pass the notify function the ID
+ *        that was provided to it when "executeUdoOp" was called.
+ *
+ * @param[in] ID 32-bit value, that was provided to executeUdoOp by the calling entity.
+ *            Can be used to track the notifications, in case of multiple execute calls issued.
+ *
+ * @return Error code
+ *
+ */
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ExternalNotify_t)(const uint32_t ID);
+
+typedef SnpeUdo_ExternalNotify_t Udo_ExternalNotify_t;
+
+/**
+ * @brief Operation execution function.
+ *
+ *        Calling this function will run the operation on set of inputs, generating a set of outputs.
+ *        The call can be blocking (synchronous) or non-blocking (asynchronous). To support the
+ *        non-blocking mode, the calling entity can pass an ID and a notification function.
+ *        At the end of the execution this notification function would be called, passing it the ID.
+ *        <b> NOTE: Asynchronous execution mode not supported in this release. </b>
+ *
+ * @param[in] operation handle to the operation on which execute is invoked
+ * @param[in] blocking flag to indicate execution mode.
+ *            If set, execution is blocking,
+ *            e.g SnpeUdo_executeOp call does not return until execution is done.
+ *            If not set, SnpeUdo_executeOp returns immediately, and the
+ *            library will call the notification function (if set) when execution is done.
+ *
+ * @param[in] ID 32-bit number that can be used by the calling entity to track execution
+ *            in case of non-blocking execution.
+ *            For example, it can be a sequence number, increased by one on each call.
+ *
+ * @param[in] notifyFunc Pointer to notification function. if the pointer is set, and execution is
+ *            non-blocking, the library will call this function at end of execution,
+ *            passing the number provided as ID
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_executeOp(SnpeUdo_Operation_t operation,
+                  bool         blocking,
+                  const uint32_t ID,
+                  SnpeUdo_ExternalNotify_t notifyFunc);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ExecuteOpFunction_t)(SnpeUdo_Operation_t,
+                               bool,
+                               const uint32_t,
+                               SnpeUdo_ExternalNotify_t);
+
+typedef SnpeUdo_ExecuteOpFunction_t Udo_ExecuteOpFunction_t;
+
+/**
+ * @brief A function to setting the inputs & outputs. part of SnpeUdo_Operation struct,
+ *        returned from creation of a new operation instance.
+ *        <b> Not supported in this release. </b>
+ *
+ *        This function allows the calling entity to change some of the inputs and outputs
+ *        between calls to execute.
+ *        Note that the change is limited to changing the <b> pointer </b> to the tensor data only.
+ *        Any other change may be rejected by the implementation library, causing
+ *        immediate invalidation of the operation instance
+ *
+ * @param[in] operation Operation on which IO tensors are set
+ *
+ * @param[in] inputs array of tensor parameters. The calling entity may provide a subset of the
+ *            operation inputs, providing only those that it wants to change.
+ *
+ * @param[in] outputs array of tensor parameters. The calling entity may provide a subset of the
+ *            operation outputs, providing only those that it wants to change.
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_setOpIO(SnpeUdo_Operation_t operation,
+                SnpeUdo_TensorParam_t* inputs,
+                SnpeUdo_TensorParam_t* outputs);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_SetOpIOFunction_t)(SnpeUdo_Operation_t,
+                             SnpeUdo_TensorParam_t*,
+                             SnpeUdo_TensorParam_t*);
+
+typedef SnpeUdo_SetOpIOFunction_t Udo_SetOpIOFunction_t;
+
+/**
+ * @brief A function to return execution times.
+ *
+ *        This function can be called to query the operation execution times on the IP core
+ *        on which the operation is run. The time is provided in micro-seconds
+ *
+ * @param[in] operation Handle to operation whose execution time is being profiled
+ *
+ * @param[in,out] executionTime pointer to a uint32 value.This function writes the operation
+ *                execution time in usec into this value.
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_profileOp(SnpeUdo_Operation_t operation, uint32_t *executionTime);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ProfileOpFunction_t)(SnpeUdo_Operation_t, uint32_t*);
+
+typedef SnpeUdo_ProfileOpFunction_t Udo_ProfileOpFunction_t;
+
+/**
+ * @brief A function to release the operation instance
+ *        \n When it is called, the implementation library needs to release all resources
+ *        allocated for this operation instance.
+ *        \n Note that all function pointers which are part of SnpeUdo_Operation become
+ *        <b> invalid </b> once releaseUdoOp call returns.
+ *
+ * @param[in] operation Handle to operation to be released
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_releaseOp(SnpeUdo_Operation_t operation);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ReleaseOpFunction_t)(SnpeUdo_Operation_t);
+
+typedef SnpeUdo_ReleaseOpFunction_t Udo_ReleaseOpFunction_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif //SNPE_UDO_IMPL_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplCpu.h b/third_party/snpe/include/SnpeUdo/UdoImplCpu.h
new file mode 100644
index 00000000000000..3bbe0638e60fc8
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoImplCpu.h
@@ -0,0 +1,44 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+// Header to be used by a CPU UDO Implementation library
+
+#ifndef SNPE_UDO_IMPL_CPU_H
+#define SNPE_UDO_IMPL_CPU_H
+
+#include <stdio.h>
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief This struct provides the infrastructure needed by a developer of
+ * CPU UDO Implementation library.
+ *
+ * The framework/runtime which loads the CPU UDO implementation library provides
+ * this infrastructure data to the loaded library at the time of op factory creation.
+ * as an opaque pointer. It contains hooks for the UDO library to invoke supported
+ * functionality at the time of execution
+ *
+ * @param getData function pointer to retrieve raw tensor data from opaque pointer
+ *  passed into the UDO when creating an instance.
+ * @param getDataSize function pointer to retrieve tensor data size from opaque pointer
+ */
+
+typedef struct
+{
+   /// function pointer to retrieve raw tensor data from opaque pointer
+   /// passed into the UDO when creating an instance.
+   float* (*getData)(void*);
+   /// function pointer to retrieve tensor data size from opaque pointer
+   size_t (*getDataSize) (void*);
+} SnpeUdo_CpuInfrastructure_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // SNPE_UDO_IMPL_CPU_H
\ No newline at end of file
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplDsp.h b/third_party/snpe/include/SnpeUdo/UdoImplDsp.h
new file mode 100644
index 00000000000000..b97a6493202ae8
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoImplDsp.h
@@ -0,0 +1,207 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+//==============================================================================
+/*
+ * THIS HEADER FILE IS COPIED FROM HEXAGON-NN PROJECT
+ *
+ */
+//==============================================================================
+
+
+// Header to be used by a DSP Hexnn UDO Implementation library
+
+#ifndef SNPE_UDO_IMPL_DSP_H
+#define SNPE_UDO_IMPL_DSP_H
+#include <stdio.h>
+#include "SnpeUdo/UdoImpl.h"
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief A function to validate that a set of params is supported by an operation
+ *        This function is HexNN specific, use case is when registration library is not in use.
+ *        Optional function.
+ *
+ * @param[in] operationType Operation type
+ * @param[in] numOfStaticParams Number of static params defined by the op
+ * @param[in] staticParams Array of static params to the op
+ * @return Error code, indicating if the operation can be created on this set of configuration or not.
+ *
+ */
+
+SnpeUdo_ErrorType_t
+SnpeUdo_validateOperation (SnpeUdo_String_t operationType,
+                           uint32_t numOfStaticParams,
+                           const SnpeUdo_Param_t* staticParams);
+
+typedef SnpeUdo_ErrorType_t (*SnpeUdo_ValidateOperationFunction_t) (SnpeUdo_String_t,
+                                                                    uint32_t,
+                                                                    const SnpeUdo_Param_t*);
+
+typedef SnpeUdo_ValidateOperationFunction_t Udo_ValidateOperationFunction_t;
+
+// enum used for indicating input/outout tensor data layouts on DSP, plain vs d32
+typedef enum {
+        SNPE_UDO_DSP_TENSOR_LAYOUT_PLAIN = 0x00,        UDO_DSP_TENSOR_LAYOUT_PLAIN = 0x00,
+        SNPE_UDO_DSP_TENSOR_LAYOUT_D32   = 0x01,        UDO_DSP_TENSOR_LAYOUT_D32   = 0x01
+} SnpeUdo_HexNNTensorLayout_t;
+
+typedef SnpeUdo_HexNNTensorLayout_t Udo_HexNNTensorLayout_t;
+
+/**
+ * @brief A function to query numbers of inputs and outputs,
+ *        quantization type of each input and each output as arrays,
+ *        and data layout (plain vs d32) of each input and each output as arrays
+ *        of an operation.
+ * inputsQuantTypes and inputsLayouts should point to arrays of size numOfInputs
+ * outputsQuantTypes and outputsLayouts should point to arrays of size numOfOutputs
+ *
+ * Note: inputsLayouts and inputsLayouts can point to NULL, in this case, it is
+ * assumed all inputs and/or outputs have plain data layouts, i.e. no D32
+ *
+ * @param[in] operationType Operation type
+ * @param[in] numOfStaticParams Number of static params defined by the op
+ * @param[in] staticParams Array of static params to the op
+ * @param[in,out] numOfInputs Number of input tensors to the op
+ * @param[in,out] inputsQuantTypes Array of Quantization info for each input tensor
+ * @param[in,out] inputsLayouts Array of layout type for each input tensor
+ * @param[in,out] numOfOutputs Number of output tensors to the op
+ * @param[in,out] outputsQuantTypes Array of Quantization info for each output tensor
+ * @param[in,out] outputsLayouts Array of layout type for each output tensor
+ * @return error code, indicating status of query
+ */
+
+SnpeUdo_ErrorType_t
+SnpeUdo_queryOperation (SnpeUdo_String_t operationType,
+                        uint32_t numOfStaticParams,
+                        const SnpeUdo_Param_t* staticParams,
+                        uint32_t* numOfInputs,
+                        SnpeUdo_QuantizationType_t** inputsQuantTypes,
+                        SnpeUdo_HexNNTensorLayout_t** inputsLayouts,
+                        uint32_t* numOfOutputs,
+                        SnpeUdo_QuantizationType_t** outputsQuantTypes,
+                        SnpeUdo_HexNNTensorLayout_t** outputsLayouts);
+
+typedef SnpeUdo_ErrorType_t (*SnpeUdo_QueryOperationFunction_t) (SnpeUdo_String_t,
+                                                                 uint32_t,
+                                                                 const SnpeUdo_Param_t*,
+                                                                 uint32_t*,
+                                                                 SnpeUdo_QuantizationType_t**,
+                                                                 SnpeUdo_HexNNTensorLayout_t**,
+                                                                 uint32_t*,
+                                                                 SnpeUdo_QuantizationType_t**,
+                                                                 SnpeUdo_HexNNTensorLayout_t**);
+
+typedef SnpeUdo_QueryOperationFunction_t Udo_QueryOperationFunction_t;
+
+// Global infrastructure functions supported by Hexagon-NN v2
+typedef void (*workerThread_t) (void* perOpInfrastructure, void* userData);
+typedef int (*udoSetOutputTensorSize_t) (void* perOpInfrastructure, uint32_t outIdx, uint32_t size);
+typedef int (*udoGetInputD32Paddings_t) (void* perOpInfrastructure, uint32_t inIdx,
+                                         uint32_t* heightPadBefore, uint32_t* heightPadAfter,
+                                         uint32_t* widthPadBefore, uint32_t* widthPadAfter,
+                                         uint32_t* depthPadBefore, uint32_t* depthPadAfter);
+typedef int (*udoSetOutputD32ShapeSizePaddings_t) (void* perOpInfrastructure, uint32_t outIdx,
+                                                   uint32_t batch,
+                                                   uint32_t height, uint32_t heightPadBefore, uint32_t heightPadAfter,
+                                                   uint32_t width, uint32_t widthPadBefore, uint32_t widthPadAfter,
+                                                   uint32_t depth, uint32_t depthPadBefore, uint32_t depthPadAfter,
+                                                   SnpeUdo_DataType_t dataType);
+typedef void* (*udoMemalign_t) (size_t n, size_t size);
+typedef void* (*udoMalloc_t) (size_t size);
+typedef void* (*udoCalloc_t) (size_t n, size_t size);
+typedef void (*udoFree_t) (void* ptr);
+typedef uint32_t (*udoGetVtcmSize_t) (void* perOpInfrastructure);
+typedef void* (*udoGetVtcmPtr_t) (void* perOpInfrastructure);
+typedef uint32_t (*udoVtcmIsReal_t) (void* perOpInfrastructure);
+typedef void (*udoRunWorkerThreads_t) (void* perOpInfrastructure, uint32_t nThreads, workerThread_t w, void* userData);
+
+typedef struct hexNNv2GlobalInfra {
+    udoSetOutputTensorSize_t udoSetOutputTensorSize;
+    udoGetInputD32Paddings_t udoGetInputD32Paddings;
+    udoSetOutputD32ShapeSizePaddings_t udoSetOutputD32ShapeSizePaddings;
+    udoMemalign_t udoMemalign;
+    udoMalloc_t udoMalloc;
+    udoCalloc_t udoCalloc;
+    udoFree_t udoFree;
+    udoGetVtcmSize_t udoGetVtcmSize;
+    udoGetVtcmPtr_t udoGetVtcmPtr;
+    udoVtcmIsReal_t udoVtcmIsReal;
+    udoRunWorkerThreads_t udoRunWorkerThreads;
+} SnpeUdo_HexNNv2GlobalInfra_t;
+
+typedef SnpeUdo_HexNNv2GlobalInfra_t Udo_HexNNv2GlobalInfra_t;
+
+// hexnn types
+typedef enum hexnnInfraType {
+   UDO_INFRA_HEXNN_V2,
+   UDO_INFRA_HEXNN_V3   // reserved, do not use
+} SnpeUdo_HexNNInfraType_t;
+
+typedef SnpeUdo_HexNNInfraType_t Udo_HexNNInfraType_t;
+
+typedef struct {
+    Udo_CreateOpFactoryFunction_t create_op_factory;
+    Udo_CreateOperationFunction_t create_operation;
+    Udo_ExecuteOpFunction_t execute_op;
+    Udo_ReleaseOpFunction_t release_op;
+    Udo_ReleaseOpFactoryFunction_t release_op_factory;
+    Udo_ValidateOperationFunction_t validate_op;
+    Udo_QueryOperationFunction_t query_op;
+} udo_func_package_t;
+
+/**
+ * @brief Infrastructures needed by a developer of DSP Hexnn UDO Implementation library.
+ *
+ * The framework/runtime which loads the Hexnn UDO implementation library provides
+ * this infrastructure to the loaded library by calling "SnpeUdo_initImplLibrary"
+ * function, and passing it (cast to void*). The Hexnn UDO library is expected
+ * to cast it back to this structure.
+ *
+ */
+typedef struct dspGlobalInfrastructure {
+    SnpeUdo_Version_t   dspInfraVersion;     // api version
+    SnpeUdo_HexNNInfraType_t infraType;
+    SnpeUdo_HexNNv2GlobalInfra_t hexNNv2Infra;
+} SnpeUdo_DspGlobalInfrastructure_t;
+
+typedef SnpeUdo_DspGlobalInfrastructure_t Udo_DspGlobalInfrastructure_t;
+
+/**
+ * hexnn v2 per op factory infrastructure
+ *
+ * The framework/runtime passes per op factory infrastructure as a void pointer
+ * to HexNN UDO implementation library by calling function "SnpeUdo_createOpFactory".
+ * UDO implementation library is expected to cast it back to this following struct.
+ *
+ */
+typedef struct hexnnv2OpFactoryInfra {
+   unsigned long graphId;
+} SnpeUdo_HexNNv2OpFactoryInfra_t;
+
+typedef SnpeUdo_HexNNv2OpFactoryInfra_t Udo_HexNNv2OpFactoryInfra_t;
+
+/**
+ * hexnn v2 per operation infrastructure
+ *
+ * The framework/runtime passes per operation infrastructure as a void pointer
+ * to HexNN UDO implementation library by calling function "SnpeUdo_createOperation".
+ * UDO implementation library is expected to cast it to the following type and save it.
+ *
+ * This is needed to be passed back into some functions from global infrastructure.
+ *
+ */
+typedef void* SnpeUdo_HexNNv2OpInfra_t;
+
+typedef SnpeUdo_HexNNv2OpInfra_t Udo_HexNNv2OpInfra_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // SNPE_UDO_IMPL_DSP_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplGpu.h b/third_party/snpe/include/SnpeUdo/UdoImplGpu.h
new file mode 100644
index 00000000000000..1af654d110c26b
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoImplGpu.h
@@ -0,0 +1,112 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+// Header to be used by a GPU UDO Implementation library
+
+#ifndef SNPE_UDO_IMPL_GPU_H
+#define SNPE_UDO_IMPL_GPU_H
+
+#include "CL/cl.h"
+#include "SnpeUdo/UdoBase.h"
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * This header defines version 0.0.0 of the GPU UDO Infrastructure.
+ * It defines the interpretation of the global and per-OpFactory infrastructure pointers
+ * as well as the interpretation of tensorData pointers.
+ *
+ * The per-Operation infrastructure pointer is defined to be null, and should not be used.
+ *
+ * The SnpeUdoTensorParam_t struct below provides the interpretation for
+ * the tensorData opaque pointer for SnpeUdoTensorParams representing inputs or outputs.
+ *
+ * The tensorData opaque pointer populated in SnpeUdoScalarParam_t structs should be interpreted
+ * as a host-readable data pointer.
+ *
+ */
+
+/**
+ * @brief Function to retrieve opencl program from Program Cache repository.
+ * @param programCache is opaque pointer to Program Cache repository provided by
+ * SNPE GPU UDO runtime.
+ * @param programName is name associated with opencl program for UDO.
+ * @param program is pointer to opencl program which will be populated with
+ * valid opencl program if found in Program Cache repository.
+ * @return SnpeUdo_ErrorType_t is error type returned. SNPE_UDO_NO_ERROR is returned
+ * on success.
+ */
+typedef SnpeUdo_ErrorType_t (*SnpeUdo_getProgram_t)
+   (void* programCache, const char* programName, cl_program* program);
+
+/**
+ * @brief Function to store valid opencl program in Program Cache repository.
+ * @param programCache is opaque pointer to Program Cache repository provided by
+ * SNPE GPU UDO runtime.
+ * @param programName is name associated with opencl program for UDO.
+ * @param program is valid opencl program after program is built.
+ * @return SnpeUdo_ErrorType_t is error type returned. SNPE_UDO_NO_ERROR is returned
+ * on success.
+ * */
+typedef SnpeUdo_ErrorType_t (*SnpeUdo_storeProgram_t)
+   (void* programCache, const char * programName, cl_program program);
+
+/**
+ * @brief Global Infrastructure Definition for GPU UDO Implementations.
+ */
+typedef struct {
+   // Infrastructure definition version. This header is 0.0.0
+   SnpeUdo_Version_t   gpuInfraVersion;
+   SnpeUdo_getProgram_t SnpeUdo_getProgram;
+   SnpeUdo_storeProgram_t SnpeUdo_storeProgram;
+} SnpeUdo_GpuInfrastructure_t;
+
+/**
+ * @brief Per OpFactory Infrastructure Definition for GPU UDO Implementations.
+ * @note  This version of the infrastructure definition guarantees that the same
+ *        Per OpFactory infrastructure pointer will be provided to all OpFactories
+ *        in the same network.
+ */
+typedef struct
+{
+   cl_context context;
+   cl_command_queue commandQueue;
+   void* programCache;
+} SnpeUdo_GpuOpFactoryInfrastructure_t;
+
+/**
+ * @brief Opaque tensorData definition for operation inputs and outputs.
+ *
+ * The following is a list of all SnpeUdoTensorLayout_t values supported by the
+ * GPU UDO implementation, and how the parameters of the struct should be
+ * interpreted in each case:
+ *
+ * SNPE_UDO_LAYOUT_NHWC:
+ *   mem shall be single-element array, pointing to a cl buffer memory object.
+ *   the dimensions of this object match the dimensions specified in the encompassing
+ *   SnpeUdoTensorParam_t's currDimensions.
+ *
+ *   memCount shall be 1.
+ *
+ *   paddedRank and paddedDimensions are undefined and shall be ignored by the UDO
+ *   implementation.
+ *
+ */
+typedef struct
+{
+   cl_mem*   mem;
+   uint32_t  memCount;
+   uint32_t  paddedRank;
+   uint32_t* paddedDimensions;
+
+} SnpeUdo_GpuTensorData_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // SNPE_UDO_IMPL_GPU_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoReg.h b/third_party/snpe/include/SnpeUdo/UdoReg.h
new file mode 100644
index 00000000000000..a5d239883355ab
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoReg.h
@@ -0,0 +1,108 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef SNPE_UDO_REG_H
+#define SNPE_UDO_REG_H
+
+#include "SnpeUdo/UdoShared.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief Initialize the shared library's data structures. Calling any other
+ *        library function before this one will result in an error being returned.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_initRegLibrary(void);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_InitRegLibraryFunction_t)(void);
+
+/**
+ * @brief A function to query the API version of the UDO registration library.
+ *        The function populates a SnpeUdo_LibVersion_t struct, which contains a SnpeUdo_Version_t
+ *        struct for API version and library version.
+ *
+ * @param[in, out] version A pointer to struct which contains major, minor, teeny information for
+ *                 library and api versions.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getRegLibraryVersion(SnpeUdo_LibVersion_t** version);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_getRegLibraryVersion_t)(SnpeUdo_LibVersion_t** version);
+
+/**
+ * @brief Release the shared library's data structures, and invalidate any
+ *        handles returned by the library. The behavior of any outstanding
+ *        asynchronous calls made to this library when this function is called
+ *        are undefined. All library functions (except SnpeUdo_InitRegLibrary) will
+ *        return an error after this function has been successfully called.
+ *
+ *        It should be possible to call SnpeUdo_InitRegLibrary after calling this
+ *        function, and re-initialize the library.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_terminateRegLibrary(void);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_TerminateRegLibraryFunction_t)(void);
+
+
+/**
+ * @brief A function to query the info on the UDO set.
+ *        The function populates a structure which contains information about
+ *        the package and operations contained in it.
+ *
+ * @param[in, out] registrationInfo A struct which contains information on the set of UDOs
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getRegInfo(SnpeUdo_RegInfo_t** registrationInfo);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_GetRegInfoFunction_t)(SnpeUdo_RegInfo_t** registrationInfo);
+
+/**
+ * @brief A function to validate that a set of params is supported by an operation
+ *        The function receives an operation definition struct, and returns if this configuration is
+ *        supported (e.g. if an operation can be created using this configuration)
+ *
+ * @param[in] opDefinition A struct of SnpeUdo_OpDefinition type, containing the information needed to
+ *            validate that an operation can be created with this configuration.
+ *
+ * @return Error code, indicating is the operation can be created on this set or not.
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_validateOperation(SnpeUdo_OpDefinition_t* opDefinition);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ValidateOperationFunction_t)(SnpeUdo_OpDefinition_t* opDefinition);
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif //SNPE_UDO_REG_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoShared.h b/third_party/snpe/include/SnpeUdo/UdoShared.h
new file mode 100644
index 00000000000000..418d9db9e2f91b
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoShared.h
@@ -0,0 +1,48 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef SNPE_UDO_SHARED_H
+#define SNPE_UDO_SHARED_H
+
+#include "SnpeUdo/UdoBase.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief A function to return the various versions as they relate to the UDO
+ *        The function returns a struct containing the the following:
+ *        libVersion: the version of the implementation library compiled for the UDO. Set by user
+ *        apiVersion: the version of the UDO API used in compiling the implementation library.
+ *        Set by SNPE
+ *
+ * @param[in, out] version A pointer to Version struct of type SnpeUdo_LibVersion_t
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getVersion (SnpeUdo_LibVersion_t** version);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_GetVersionFunction_t) (SnpeUdo_LibVersion_t** version);
+
+typedef SnpeUdo_GetVersionFunction_t Udo_GetVersionFunction_t;
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // SNPE_UDO_SHARED_H
diff --git a/third_party/snpe/larch64 b/third_party/snpe/larch64
new file mode 120000
index 00000000000000..2e2a1c315bf7d8
--- /dev/null
+++ b/third_party/snpe/larch64
@@ -0,0 +1 @@
+aarch64-ubuntu-gcc7.5
\ No newline at end of file
diff --git a/third_party/snpe/x86_64 b/third_party/snpe/x86_64
new file mode 120000
index 00000000000000..700025efab335e
--- /dev/null
+++ b/third_party/snpe/x86_64
@@ -0,0 +1 @@
+x86_64-linux-clang
\ No newline at end of file
diff --git a/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so b/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
new file mode 100644
index 00000000000000..20d1377a014366
--- /dev/null
+++ b/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4c33680010a8c7b2eef33e809844c0ad1d5ab0f0ec37abd49d924204670b357
+size 13556072
diff --git a/third_party/snpe/x86_64-linux-clang/libSNPE.so b/third_party/snpe/x86_64-linux-clang/libSNPE.so
new file mode 100644
index 00000000000000..0367b1106ba571
--- /dev/null
+++ b/third_party/snpe/x86_64-linux-clang/libSNPE.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:024891d2e4e4e265a1e7e72b27bad41ee6ae077d2197f45959bb32f8071dc8cf
+size 5350008
diff --git a/third_party/snpe/x86_64-linux-clang/libomp.so b/third_party/snpe/x86_64-linux-clang/libomp.so
new file mode 100755
index 00000000000000..db98cba162e784
--- /dev/null
+++ b/third_party/snpe/x86_64-linux-clang/libomp.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4784aa68e7ebdbe97db732eab87618b0a5fb73abeab4daed5476e01829b0e6e
+size 759208
diff --git a/tinygrad_repo b/tinygrad_repo
index 2619a86d2a6157..480e5e7a1292bf 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 2619a86d2a6157c12cc9b1773b4a03cf968a1309
+Subproject commit 480e5e7a1292bf2f84e18edffd06a985c4b48e65
diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index eb0af5b64a52a5..2950a67ff225f1 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -248,7 +248,6 @@ std::tuple<int, int, bool> BinaryView::getSelection(QModelIndex index) {
 
 void BinaryViewModel::refresh() {
   beginResetModel();
-  bit_flip_tracker = {};
   items.clear();
   if (auto dbc_msg = dbc()->msg(msg_id)) {
     row_count = dbc_msg->size;
@@ -296,7 +295,7 @@ void BinaryViewModel::updateItem(int row, int col, uint8_t val, const QColor &co
 void BinaryViewModel::updateState() {
   const auto &last_msg = can->lastMessage(msg_id);
   const auto &binary = last_msg.dat;
-  // Handle size changes in binary data
+  // data size may changed.
   if (binary.size() > row_count) {
     beginInsertRows({}, row_count, binary.size() - 1);
     row_count = binary.size();
@@ -304,74 +303,26 @@ void BinaryViewModel::updateState() {
     endInsertRows();
   }
 
-  auto &bit_flips = heatmap_live_mode ? last_msg.bit_flip_counts : getBitFlipChanges(binary.size());
-  // Find the maximum bit flip count across the message
-  uint32_t max_bit_flip_count = 1;  // Default to 1 to avoid division by zero
-  for (const auto &row : bit_flips) {
-    for (uint32_t count : row) {
-      max_bit_flip_count = std::max(max_bit_flip_count, count);
-    }
-  }
-
-  const double max_alpha = 255.0;
-  const double min_alpha_with_signal = 25.0;  // Base alpha for small flip counts
-  const double min_alpha_no_signal = 10.0;    // Base alpha for small flip counts for no signal bits
-  const double log_factor = 1.0 + 0.2;        // Factor for logarithmic scaling
-  const double log_scaler = max_alpha / log2(log_factor * max_bit_flip_count);
-
-  for (size_t i = 0; i < binary.size(); ++i) {
+  const double max_f = 255.0;
+  const double factor = 0.25;
+  const double scaler = max_f / log2(1.0 + factor);
+  for (int i = 0; i < binary.size(); ++i) {
     for (int j = 0; j < 8; ++j) {
       auto &item = items[i * column_count + j];
-      int bit_val = (binary[i] >> (7 - j)) & 1;
-
-      double alpha = item.sigs.empty() ? 0 : min_alpha_with_signal;
-      uint32_t flip_count = bit_flips[i][j];
-      if (flip_count > 0) {
-        double normalized_alpha = log2(1.0 + flip_count * log_factor) * log_scaler;
-        double min_alpha = item.sigs.empty() ? min_alpha_no_signal : min_alpha_with_signal;
-        alpha = std::clamp(normalized_alpha, min_alpha, max_alpha);
-      }
-
+      int val = ((binary[i] >> (7 - j)) & 1) != 0 ? 1 : 0;
+      // Bit update frequency based highlighting
+      double offset = !item.sigs.empty() ? 50 : 0;
+      auto n = last_msg.last_changes[i].bit_change_counts[j];
+      double min_f = n == 0 ? offset : offset + 25;
+      double alpha = std::clamp(offset + log2(1.0 + factor * (double)n / (double)last_msg.count) * scaler, min_f, max_f);
       auto color = item.bg_color;
       color.setAlpha(alpha);
-      updateItem(i, j, bit_val, color);
+      updateItem(i, j, val, color);
     }
     updateItem(i, 8, binary[i], last_msg.colors[i]);
   }
 }
 
-const std::vector<std::array<uint32_t, 8>> &BinaryViewModel::getBitFlipChanges(size_t msg_size) {
-  // Return cached results if time range and data are unchanged
-  auto time_range = can->timeRange();
-  if (bit_flip_tracker.time_range == time_range && !bit_flip_tracker.flip_counts.empty())
-    return bit_flip_tracker.flip_counts;
-
-  bit_flip_tracker.time_range = time_range;
-  bit_flip_tracker.flip_counts.assign(msg_size, std::array<uint32_t, 8>{});
-
-  // Iterate over events within the specified time range and calculate bit flips
-  auto [first, last] = can->eventsInRange(msg_id, time_range);
-  if (std::distance(first, last) <= 1) return bit_flip_tracker.flip_counts;
-
-  std::vector<uint8_t> prev_values((*first)->dat, (*first)->dat + (*first)->size);
-  for (auto it = std::next(first); it != last; ++it) {
-    const CanEvent *event = *it;
-    int size = std::min<int>(msg_size, event->size);
-    for (int i = 0; i < size; ++i) {
-      const uint8_t diff = event->dat[i] ^ prev_values[i];
-      if (!diff) continue;
-
-      auto &bit_flips = bit_flip_tracker.flip_counts[i];
-      for (int bit = 0; bit < 8; ++bit) {
-        if (diff & (1u << bit)) ++bit_flips[7 - bit];
-      }
-      prev_values[i] = event->dat[i];
-    }
-  }
-
-  return bit_flip_tracker.flip_counts;
-}
-
 QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, int role) const {
   if (orientation == Qt::Vertical) {
     switch (role) {
@@ -437,7 +388,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
       painter->fillRect(option.rect, item->bg_color);
     }
     auto color_role = item->sigs.contains(bin_view->hovered_sig) ? QPalette::BrightText : QPalette::Text;
-    painter->setPen(option.palette.color(bin_view->is_message_active ? QPalette::Normal : QPalette::Disabled, color_role));
+    painter->setPen(option.palette.color(color_role));
   }
 
   if (item->sigs.size() > 1) {
diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h
index 920deb0018effb..584910dc8304a7 100644
--- a/tools/cabana/binaryview.h
+++ b/tools/cabana/binaryview.h
@@ -39,12 +39,6 @@ class BinaryViewModel : public QAbstractTableModel {
   Qt::ItemFlags flags(const QModelIndex &index) const override {
     return (index.column() == column_count - 1) ? Qt::ItemIsEnabled : Qt::ItemIsEnabled | Qt::ItemIsSelectable;
   }
-  const std::vector<std::array<uint32_t, 8>> &getBitFlipChanges(size_t msg_size);
-
-  struct BitFlipTracker {
-    std::optional<std::pair<double, double>> time_range;
-    std::vector<std::array<uint32_t, 8>> flip_counts;
-  } bit_flip_tracker;
 
   struct Item {
     QColor bg_color = QColor(102, 86, 169, 255);
@@ -55,7 +49,7 @@ class BinaryViewModel : public QAbstractTableModel {
     bool valid = false;
   };
   std::vector<Item> items;
-  bool heatmap_live_mode = true;
+
   MessageId msg_id;
   int row_count = 0;
   const int column_count = 9;
@@ -69,13 +63,8 @@ class BinaryView : public QTableView {
   void setMessage(const MessageId &message_id);
   void highlight(const cabana::Signal *sig);
   QSet<const cabana::Signal*> getOverlappingSignals() const;
-  void updateState() { model->updateState(); }
-  void paintEvent(QPaintEvent *event) override {
-    is_message_active = can->isMessageActive(model->msg_id);
-    QTableView::paintEvent(event);
-  }
+  inline void updateState() { model->updateState(); }
   QSize minimumSizeHint() const override;
-  void setHeatmapLiveMode(bool live) { model->heatmap_live_mode = live; updateState(); }
 
 signals:
   void signalClicked(const cabana::Signal *sig);
@@ -97,7 +86,6 @@ class BinaryView : public QTableView {
   QModelIndex anchor_index;
   BinaryViewModel *model;
   BinaryItemDelegate *delegate;
-  bool is_message_active = false;
   const cabana::Signal *resize_sig = nullptr;
   const cabana::Signal *hovered_sig = nullptr;
   friend class BinaryItemDelegate;
diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index 3588c5edc6450e..6c13252e80753b 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -842,8 +842,6 @@ void ChartView::setSeriesType(SeriesType type) {
     }
     updateSeriesPoints();
     updateTitle();
-
-    menu->actions()[(int)type]->setChecked(true);
   }
 }
 
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index 08840f46633f10..e2f0d4d0c9b0c9 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -23,7 +23,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   main_layout->setSpacing(0);
 
   // toolbar
-  toolbar = new QToolBar(tr("Charts"), this);
+  QToolBar *toolbar = new QToolBar(tr("Charts"), this);
   int icon_size = style()->pixelMetric(QStyle::PM_SmallIconSize);
   toolbar->setIconSize({icon_size, icon_size});
 
@@ -34,21 +34,6 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   toolbar->addWidget(title_label = new QLabel());
   title_label->setContentsMargins(0, 0, style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing), 0);
 
-  auto chart_type_action = toolbar->addAction("");
-  QMenu *chart_type_menu = new QMenu(this);
-  auto types = std::array{tr("Line"), tr("Step"), tr("Scatter")};
-  for (int i = 0; i < types.size(); ++i) {
-    QString type_text = types[i];
-    chart_type_menu->addAction(type_text, this, [=]() {
-      settings.chart_series_type = i;
-      chart_type_action->setText("Type: " + type_text);
-      settingChanged();
-    });
-  }
-  chart_type_action->setText("Type: " + types[settings.chart_series_type]);
-  chart_type_action->setMenu(chart_type_menu);
-  qobject_cast<QToolButton *>(toolbar->widgetForAction(chart_type_action))->setPopupMode(QToolButton::InstantPopup);
-
   QMenu *menu = new QMenu(this);
   for (int i = 0; i < MAX_COLUMN_COUNT; ++i) {
     menu->addAction(tr("%1").arg(i + 1), [=]() { setColumnCount(i + 1); });
@@ -57,13 +42,13 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   columns_action->setMenu(menu);
   qobject_cast<QToolButton*>(toolbar->widgetForAction(columns_action))->setPopupMode(QToolButton::InstantPopup);
 
-  QWidget *spacer = new QWidget(this);
-  spacer->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Preferred);
-  toolbar->addWidget(spacer);
+  QLabel *stretch_label = new QLabel(this);
+  stretch_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
+  toolbar->addWidget(stretch_label);
 
   range_lb_action = toolbar->addWidget(range_lb = new QLabel(this));
   range_slider = new LogSlider(1000, Qt::Horizontal, this);
-  range_slider->setFixedWidth(150 * qApp->devicePixelRatio());
+  range_slider->setMaximumWidth(200);
   range_slider->setToolTip(tr("Set the chart range"));
   range_slider->setRange(1, settings.max_cached_minutes * 60);
   range_slider->setSingleStep(1);
@@ -136,12 +121,10 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   setIsDocked(true);
   newTab();
   qApp->installEventFilter(this);
+
   setWhatsThis(tr(R"(
-    <b>Chart View</b><br />
-    <b>Click</b>: Click to seek to a corresponding time.<br />
-    <b>Drag</b>: Zoom into the chart.<br />
-    <b>Shift + Drag</b>: Scrub through the chart to view values.<br />
-    <b>Right Mouse</b>: Open the context menu.<br />
+    <b>Chart view</b><br />
+    <!-- TODO: add descprition here -->
   )"));
 }
 
@@ -193,7 +176,6 @@ QRect ChartsWidget::chartVisibleRect(ChartView *chart) {
 }
 
 void ChartsWidget::showValueTip(double sec) {
-  emit showTip(sec);
   if (sec < 0 && !value_tip_visible_) return;
 
   value_tip_visible_ = sec >= 0;
@@ -237,7 +219,7 @@ void ChartsWidget::setIsDocked(bool docked) {
 
 void ChartsWidget::updateToolBar() {
   title_label->setText(tr("Charts: %1").arg(charts.size()));
-  columns_action->setText(tr("Columns: %1").arg(column_count));
+  columns_action->setText(tr("Column: %1").arg(column_count));
   range_lb->setText(utils::formatSeconds(max_chart_range));
 
   bool is_zoomed = can->timeRange().has_value();
@@ -259,9 +241,7 @@ void ChartsWidget::settingChanged() {
       c->setTheme(theme);
     }
   }
-  if (range_slider->maximum() != settings.max_cached_minutes * 60) {
-    range_slider->setRange(1, settings.max_cached_minutes * 60);
-  }
+  range_slider->setRange(1, settings.max_cached_minutes * 60);
   for (auto c : charts) {
     c->setFixedHeight(settings.chart_height);
     c->setSeriesType((SeriesType)settings.chart_series_type);
@@ -400,7 +380,7 @@ void ChartsWidget::doAutoScroll() {
 }
 
 QSize ChartsWidget::minimumSizeHint() const {
-  return QSize(CHART_MIN_WIDTH * 1.5 * qApp->devicePixelRatio(), QWidget::minimumSizeHint().height());
+  return QSize(CHART_MIN_WIDTH, QWidget::minimumSizeHint().height());
 }
 
 void ChartsWidget::newChart() {
@@ -549,14 +529,20 @@ void ChartsContainer::dropEvent(QDropEvent *event) {
 
 void ChartsContainer::paintEvent(QPaintEvent *ev) {
   if (!drop_indictor_pos.isNull() && !childAt(drop_indictor_pos)) {
-    QRect r = geometry();
-    r.setHeight(CHART_SPACING);
+    QRect r;
     if (auto insert_after = getDropAfter(drop_indictor_pos)) {
-      r.moveTop(insert_after->geometry().bottom());
+      QRect area = insert_after->geometry();
+      r = QRect(area.left(), area.bottom() + 1, area.width(), CHART_SPACING);
+    } else {
+      r = geometry();
+      r.setHeight(CHART_SPACING);
     }
 
     QPainter p(this);
-    p.fillRect(r, palette().highlight());
+    p.setPen(QPen(palette().highlight(), 2));
+    p.drawLine(r.topLeft() + QPoint(1, 0), r.bottomLeft() + QPoint(1, 0));
+    p.drawLine(r.topLeft() + QPoint(0, r.height() / 2), r.topRight() + QPoint(0, r.height() / 2));
+    p.drawLine(r.topRight(), r.bottomRight());
   }
 }
 
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
index 46e7f546b02e37..bfdaaaa95496b3 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/tools/cabana/chart/chartswidget.h
@@ -7,7 +7,6 @@
 #include <QLabel>
 #include <QScrollArea>
 #include <QTimer>
-#include <QToolBar>
 #include <QUndoCommand>
 #include <QUndoStack>
 
@@ -53,7 +52,6 @@ public slots:
 signals:
   void toggleChartsDocking();
   void seriesChanged();
-  void showTip(double seconds);
 
 private:
   QSize minimumSizeHint() const override;
@@ -90,7 +88,6 @@ public slots:
   bool is_docked = true;
   ToolButton *dock_btn;
 
-  QToolBar *toolbar;
   QAction *undo_zoom_action;
   QAction *redo_zoom_action;
   QAction *reset_zoom_action;
diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc
index 09f86a095a6c42..094fe96182777c 100644
--- a/tools/cabana/chart/sparkline.cc
+++ b/tools/cabana/chart/sparkline.cc
@@ -5,9 +5,15 @@
 #include <QPainter>
 
 void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size) {
+  const auto &msgs = can->events(msg_id);
+
+  auto range_start = can->toMonoTime(last_msg_ts - range);
+  auto range_end = can->toMonoTime(last_msg_ts);
+  auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), range_start, CompareCanEvent());
+  auto last = std::upper_bound(first, msgs.cend(), range_end, CompareCanEvent());
+
   points.clear();
   double value = 0;
-  auto [first, last] = can->eventsInRange(msg_id, std::make_pair(last_msg_ts -range, last_msg_ts));
   for (auto it = first; it != last; ++it) {
     if (sig->getValue((*it)->dat, (*it)->size, &value)) {
       points.emplace_back(((*it)->mono_time - (*first)->mono_time) / 1e9, value);
diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc
index ba979f258c263d..149bb9f59a5eb1 100644
--- a/tools/cabana/dbc/dbc.cc
+++ b/tools/cabana/dbc/dbc.cc
@@ -45,7 +45,6 @@ cabana::Msg &cabana::Msg::operator=(const cabana::Msg &other) {
   name = other.name;
   size = other.size;
   comment = other.comment;
-  transmitter = other.transmitter;
 
   for (auto s : sigs) delete s;
   sigs.clear();
diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
index d2b25bc5f2f633..da44319b5c3ab3 100644
--- a/tools/cabana/dbc/dbc.h
+++ b/tools/cabana/dbc/dbc.h
@@ -8,16 +8,16 @@
 #include <QMetaType>
 #include <QString>
 
+
 const QString UNTITLED = "untitled";
 const QString DEFAULT_NODE_NAME = "XXX";
-constexpr int CAN_MAX_DATA_BYTES = 64;
 
 struct MessageId {
   uint8_t source = 0;
   uint32_t address = 0;
 
   QString toString() const {
-    return QString("%1:%2").arg(source).arg(QString::number(address, 16).toUpper());
+    return QString("%1:%2").arg(source).arg(address, 1, 16);
   }
 
   bool operator==(const MessageId &other) const {
diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index 2e213988bc7896..7befadb7227169 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -2,8 +2,7 @@
 
 #include <QFormLayout>
 #include <QMenu>
-#include <QRadioButton>
-#include <QToolBar>
+#include <QSpacerItem>
 
 #include "tools/cabana/commands.h"
 #include "tools/cabana/mainwin.h"
@@ -21,7 +20,19 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   tabbar->setContextMenuPolicy(Qt::CustomContextMenu);
   main_layout->addWidget(tabbar);
 
-  createToolBar();
+  // message title
+  QHBoxLayout *title_layout = new QHBoxLayout();
+  title_layout->setContentsMargins(3, 6, 3, 0);
+  auto spacer = new QSpacerItem(0, 1);
+  title_layout->addItem(spacer);
+  title_layout->addWidget(name_label = new ElidedLabel(this), 1);
+  name_label->setStyleSheet("QLabel{font-weight:bold;}");
+  name_label->setAlignment(Qt::AlignCenter);
+  auto edit_btn = new ToolButton("pencil", tr("Edit Message"));
+  title_layout->addWidget(edit_btn);
+  title_layout->addWidget(remove_btn = new ToolButton("x-lg", tr("Remove Message")));
+  spacer->changeSize(edit_btn->sizeHint().width() * 2 + 9, 1);
+  main_layout->addLayout(title_layout);
 
   // warning
   warning_widget = new QWidget(this);
@@ -47,6 +58,8 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   tab_widget->addTab(history_log = new LogsWidget(this), utils::icon("stopwatch"), "&Logs");
   main_layout->addWidget(tab_widget);
 
+  QObject::connect(edit_btn, &QToolButton::clicked, this, &DetailWidget::editMsg);
+  QObject::connect(remove_btn, &QToolButton::clicked, this, &DetailWidget::removeMsg);
   QObject::connect(binary_view, &BinaryView::signalHovered, signal_view, &SignalView::signalHovered);
   QObject::connect(binary_view, &BinaryView::signalClicked, [this](const cabana::Signal *s) { signal_view->selectSignal(s, true); });
   QObject::connect(binary_view, &BinaryView::editSignal, signal_view->model, &SignalModel::saveSignal);
@@ -67,41 +80,6 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   QObject::connect(charts, &ChartsWidget::seriesChanged, signal_view, &SignalView::updateChartState);
 }
 
-void DetailWidget::createToolBar() {
-  QToolBar *toolbar = new QToolBar(this);
-  int icon_size = style()->pixelMetric(QStyle::PM_SmallIconSize);
-  toolbar->setIconSize({icon_size, icon_size});
-  toolbar->addWidget(name_label = new ElidedLabel(this));
-  name_label->setStyleSheet("QLabel{font-weight:bold;}");
-
-  QWidget *spacer = new QWidget();
-  spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  toolbar->addWidget(spacer);
-
-// Heatmap label and radio buttons
-  toolbar->addWidget(new QLabel(tr("Heatmap:"), this));
-  auto *heatmap_live = new QRadioButton(tr("Live"), this);
-  auto *heatmap_all = new QRadioButton(tr("All"), this);
-  heatmap_live->setChecked(true);
-
-  toolbar->addWidget(heatmap_live);
-  toolbar->addWidget(heatmap_all);
-
-  // Edit and remove buttons
-  toolbar->addSeparator();
-  toolbar->addAction(utils::icon("pencil"), tr("Edit Message"), this, &DetailWidget::editMsg);
-  action_remove_msg = toolbar->addAction(utils::icon("x-lg"), tr("Remove Message"), this, &DetailWidget::removeMsg);
-
-  layout()->addWidget(toolbar);
-
-  connect(heatmap_live, &QAbstractButton::toggled, this, [this](bool on) { binary_view->setHeatmapLiveMode(on); });
-  connect(can, &AbstractStream::timeRangeChanged, this, [=](const std::optional<std::pair<double, double>> &range) {
-    auto text = range ? QString("%1 - %2").arg(range->first, 0, 'f', 3).arg(range->second, 0, 'f', 3) : "All";
-    heatmap_all->setText(text);
-    (range ? heatmap_all : heatmap_live)->setChecked(true);
-  });
-}
-
 void DetailWidget::showTabBarContextMenu(const QPoint &pt) {
   int index = tabbar->tabAt(pt);
   if (index >= 0) {
@@ -153,11 +131,14 @@ void DetailWidget::refresh() {
     for (auto s : binary_view->getOverlappingSignals()) {
       warnings.push_back(tr("%1 has overlapping bits.").arg(s->name));
     }
+  } else {
+    warnings.push_back(tr("Drag-Select in binary view to create new signal."));
   }
+
   QString msg_name = msg ? QString("%1 (%2)").arg(msg->name, msg->transmitter) : msgName(msg_id);
   name_label->setText(msg_name);
   name_label->setToolTip(msg_name);
-  action_remove_msg->setEnabled(msg != nullptr);
+  remove_btn->setEnabled(msg != nullptr);
 
   if (!warnings.isEmpty()) {
     warning_label->setText(warnings.join('\n'));
@@ -203,7 +184,8 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit
   name_edit->setValidator(new NameValidator(name_edit));
 
   form_layout->addRow(tr("Size"), size_spin = new QSpinBox(this));
-  size_spin->setRange(1, CAN_MAX_DATA_BYTES);
+  // TODO: limit the maximum?
+  size_spin->setMinimum(1);
   size_spin->setValue(size);
 
   form_layout->addRow(tr("Node"), node = new QLineEdit(this));
diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h
index 47304fbdc50cf4..15e1ee5f2f954b 100644
--- a/tools/cabana/detailwidget.h
+++ b/tools/cabana/detailwidget.h
@@ -36,7 +36,6 @@ class DetailWidget : public QWidget {
   void refresh();
 
 private:
-  void createToolBar();
   void showTabBarContextMenu(const QPoint &pt);
   void editMsg();
   void removeMsg();
@@ -48,7 +47,7 @@ class DetailWidget : public QWidget {
   QWidget *warning_widget;
   TabBar *tabbar;
   QTabWidget *tab_widget;
-  QAction *action_remove_msg;
+  QToolButton *remove_btn;
   LogsWidget *history_log;
   BinaryView *binary_view;
   SignalView *signal_view;
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index 8361befb53aa08..d3f868cd47fdb1 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -191,7 +191,6 @@ void MainWindow::createDockWidgets() {
   video_splitter->handle(1)->setEnabled(!can->liveStreaming());
   video_dock->setWidget(video_splitter);
   QObject::connect(charts_widget, &ChartsWidget::toggleChartsDocking, this, &MainWindow::toggleChartsDocking);
-  QObject::connect(charts_widget, &ChartsWidget::showTip, video_widget, &VideoWidget::showThumbnail);
 }
 
 void MainWindow::createStatusBar() {
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index ed9aeaf3114f0a..ecb739a733cb5e 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -13,6 +13,21 @@
 
 #include "tools/cabana/commands.h"
 
+static bool isMessageActive(const MessageId &id) {
+  if (id.source == INVALID_SOURCE) {
+    return false;
+  }
+  // Check if the message is active based on time difference and frequency
+  const auto &m = can->lastMessage(id);
+  float delta = can->currentSec() - m.ts;
+
+  if (m.freq < std::numeric_limits<double>::epsilon()) {
+    return delta < 1.5;
+  }
+
+  return delta < (5.0 / m.freq) + (1.0 / settings.fps);
+}
+
 MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
@@ -192,7 +207,7 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
     switch (index.column()) {
       case Column::NAME: return item.name;
       case Column::SOURCE: return item.id.source != INVALID_SOURCE ? QString::number(item.id.source) : NA;
-      case Column::ADDRESS: return toHexString(item.id.address);
+      case Column::ADDRESS: return QString::number(item.id.address, 16);
       case Column::NODE: return item.node;
       case Column::FREQ: return item.id.source != INVALID_SOURCE ? getFreq(can->lastMessage(item.id).freq) : NA;
       case Column::COUNT: return item.id.source != INVALID_SOURCE ? QString::number(can->lastMessage(item.id).count) : NA;
@@ -285,7 +300,7 @@ bool MessageListModel::match(const MessageListModel::Item &item) {
         match = parseRange(txt, item.id.source);
         break;
       case Column::ADDRESS:
-        match = toHexString(item.id.address).contains(txt, Qt::CaseInsensitive);
+        match = QString::number(item.id.address, 16).contains(txt, Qt::CaseInsensitive);
         match = match || parseRange(txt, item.id.address, 16);
         break;
       case Column::NODE:
@@ -320,7 +335,7 @@ bool MessageListModel::filterAndSort() {
   std::vector<Item> items;
   items.reserve(all_messages.size());
   for (const auto &id : all_messages) {
-    if (show_inactive_messages || can->isMessageActive(id)) {
+    if (show_inactive_messages || isMessageActive(id)) {
       auto msg = dbc()->msg(id);
       Item item = {.id = id,
                   .name = msg ? msg->name : UNTITLED,
@@ -363,7 +378,7 @@ void MessageListModel::sort(int column, Qt::SortOrder order) {
 
 void MessageView::drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
    const auto &item = ((MessageListModel*)model())->items_[index.row()];
-  if (!can->isMessageActive(item.id)) {
+  if (!isMessageActive(item.id)) {
     QStyleOptionViewItem custom_option = option;
     custom_option.palette.setBrush(QPalette::Text, custom_option.palette.color(QPalette::Disabled, QPalette::Text));
     auto color = QApplication::palette().color(QPalette::HighlightedText);
diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc
index cccc9b6d9ab643..523cbf3be70c09 100644
--- a/tools/cabana/settings.cc
+++ b/tools/cabana/settings.cc
@@ -89,6 +89,10 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
 
   groupbox = new QGroupBox("Chart");
   form_layout = new QFormLayout(groupbox);
+  form_layout->addRow(tr("Default Series Type"), chart_series_type = new QComboBox(this));
+  chart_series_type->addItems({tr("Line"), tr("Step Line"), tr("Scatter")});
+  chart_series_type->setCurrentIndex(settings.chart_series_type);
+
   form_layout->addRow(tr("Chart Height"), chart_height = new QSpinBox(this));
   chart_height->setRange(100, 500);
   chart_height->setSingleStep(10);
@@ -128,6 +132,7 @@ void SettingsDlg::save() {
   }
   settings.fps = fps->value();
   settings.max_cached_minutes = cached_minutes->value();
+  settings.chart_series_type = chart_series_type->currentIndex();
   settings.chart_height = chart_height->value();
   settings.log_livestream = log_livestream->isChecked();
   settings.log_path = log_path->text();
diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index 9fe70c3ee80057..130b76d5023144 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -382,7 +382,7 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
   } else if (item->type == SignalModel::Item::Size) {
     QSpinBox *spin = new QSpinBox(parent);
     spin->setFrame(false);
-    spin->setRange(1, CAN_MAX_DATA_BYTES);
+    spin->setRange(1, 64);
     return spin;
   } else if (item->type == SignalModel::Item::SignalType) {
     QComboBox *c = new QComboBox(parent);
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 2278104c269171..7abeafea94e3ba 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -39,7 +39,7 @@ void AbstractStream::updateMasks() {
     const int size = std::min(mask.size(), m.last_changes.size());
     for (int i = 0; i < size; ++i) {
       for (int j = 0; j < 8; ++j) {
-        if (((mask[i] >> (7 - j)) & 1) != 0) m.bit_flip_counts[i][j] = 0;
+        if (((mask[i] >> (7 - j)) & 1) != 0) m.last_changes[i].bit_change_counts[j] = 0;
       }
     }
   }
@@ -59,9 +59,9 @@ size_t AbstractStream::suppressHighlighted() {
       if (dt < 2.0) {
         last_change.suppressed = true;
       }
+      last_change.bit_change_counts.fill(0);
       cnt += last_change.suppressed;
     }
-    for (auto &flip_counts : m.bit_flip_counts) flip_counts.fill(0);
   }
   return cnt;
 }
@@ -127,22 +127,8 @@ const CanData &AbstractStream::lastMessage(const MessageId &id) const {
   return it != last_msgs.end() ? it->second : empty_data;
 }
 
-bool AbstractStream::isMessageActive(const MessageId &id) const {
-  if (id.source == INVALID_SOURCE) {
-    return false;
-  }
-  // Check if the message is active based on time difference and frequency
-  const auto &m = lastMessage(id);
-  float delta = currentSec() - m.ts;
-
-  if (m.freq < std::numeric_limits<double>::epsilon()) {
-    return delta < 1.5;
-  }
-
-  return delta < (5.0 / m.freq) + (1.0 / settings.fps);
-}
-
 void AbstractStream::updateLastMsgsTo(double sec) {
+  std::lock_guard lk(mutex_);
   current_sec_ = sec;
   uint64_t last_ts = toMonoTime(sec);
   std::unordered_map<MessageId, CanData> msgs;
@@ -174,17 +160,10 @@ void AbstractStream::updateLastMsgsTo(double sec) {
                     std::any_of(messages_.cbegin(), messages_.cend(),
                                 [this](const auto &m) { return !last_msgs.count(m.first); });
   last_msgs = messages_;
-  emit msgsReceived(nullptr, id_changed);
-
-  std::lock_guard lk(mutex_);
-  seek_finished_ = true;
-  seek_finished_cv_.notify_one();
-}
+  mutex_.unlock();
 
-void AbstractStream::waitForSeekFinshed() {
-  std::unique_lock lock(mutex_);
-  seek_finished_cv_.wait(lock, [this]() { return seek_finished_; });
-  seek_finished_ = false;
+  emit msgsReceived(nullptr, id_changed);
+  resumeStream();
 }
 
 const CanEvent *AbstractStream::newEvent(uint64_t mono_time, const cereal::CanData::Reader &c) {
@@ -221,15 +200,6 @@ void AbstractStream::mergeEvents(const std::vector<const CanEvent *> &events) {
   }
 }
 
-std::pair<CanEventIter, CanEventIter> AbstractStream::eventsInRange(const MessageId &id, std::optional<std::pair<double, double>> time_range) const {
-  const auto &events = can->events(id);
-  if (!time_range) return {events.begin(), events.end()};
-
-  auto first = std::lower_bound(events.begin(), events.end(), can->toMonoTime(time_range->first), CompareCanEvent());
-  auto last = std::upper_bound(events.begin(), events.end(), can->toMonoTime(time_range->second), CompareCanEvent());
-  return {first, last};
-}
-
 namespace {
 
 enum Color { GREYISH_BLUE, CYAN, RED};
@@ -249,7 +219,15 @@ inline QColor blend(const QColor &a, const QColor &b) {
 
 // Calculate the frequency from the past one minute data
 double calc_freq(const MessageId &msg_id, double current_sec) {
-  auto [first, last] = can->eventsInRange(msg_id, std::make_pair(current_sec - 59, current_sec));
+  const auto &events = can->events(msg_id);
+  if (events.empty()) return 0.0;
+
+  auto current_mono_time = can->toMonoTime(current_sec);
+  auto start_mono_time = can->toMonoTime(current_sec - 59);
+
+  auto first = std::lower_bound(events.begin(), events.end(), start_mono_time, CompareCanEvent());
+  auto last = std::upper_bound(first, events.end(), current_mono_time, CompareCanEvent());
+
   int count = std::distance(first, last);
   if (count <= 1) return 0.0;
 
@@ -270,10 +248,9 @@ void CanData::compute(const MessageId &msg_id, const uint8_t *can_data, const in
   }
 
   if (dat.size() != size) {
-    dat.assign(can_data, can_data + size);
+    dat.resize(size);
     colors.assign(size, QColor(0, 0, 0, 0));
     last_changes.resize(size);
-    bit_flip_counts.resize(size);
     std::for_each(last_changes.begin(), last_changes.end(), [current_sec](auto &c) { c.ts = current_sec; });
   } else {
     constexpr int periodic_threshold = 10;
@@ -305,11 +282,10 @@ void CanData::compute(const MessageId &msg_id, const uint8_t *can_data, const in
         }
 
         // Track bit level changes
-        auto &row_bit_flips = bit_flip_counts[i];
         const uint8_t diff = (cur ^ last);
         for (int bit = 0; bit < 8; bit++) {
           if (diff & (1u << bit)) {
-            ++row_bit_flips[7 - bit];
+            ++last_change.bit_change_counts[7 - bit];
           }
         }
 
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index f35b19d34f7045..5ecf086c959ea7 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -2,7 +2,6 @@
 
 #include <algorithm>
 #include <array>
-#include <condition_variable>
 #include <memory>
 #include <mutex>
 #include <optional>
@@ -34,9 +33,9 @@ struct CanData {
     int delta = 0;
     int same_delta_counter = 0;
     bool suppressed = false;
+    std::array<uint32_t, 8> bit_change_counts;
   };
   std::vector<ByteLastChange> last_changes;
-  std::vector<std::array<uint32_t, 8>> bit_flip_counts;
   double last_freq_update_ts = 0;
 };
 
@@ -54,7 +53,6 @@ struct CompareCanEvent {
 };
 
 typedef std::unordered_map<MessageId, std::vector<const CanEvent *>> MessageEventsMap;
-using CanEventIter = std::vector<const CanEvent *>::const_iterator;
 
 class AbstractStream : public QObject {
   Q_OBJECT
@@ -83,12 +81,10 @@ class AbstractStream : public QObject {
   inline double toSeconds(uint64_t mono_time) const { return std::max(0.0, (mono_time - beginMonoTime()) / 1e9); }
 
   inline const std::unordered_map<MessageId, CanData> &lastMessages() const { return last_msgs; }
-  bool isMessageActive(const MessageId &id) const;
   inline const MessageEventsMap &eventsMap() const { return events_; }
   inline const std::vector<const CanEvent *> &allEvents() const { return all_events_; }
   const CanData &lastMessage(const MessageId &id) const;
   const std::vector<const CanEvent *> &events(const MessageId &id) const;
-  std::pair<CanEventIter, CanEventIter> eventsInRange(const MessageId &id, std::optional<std::pair<double, double>> time_range) const;
 
   size_t suppressHighlighted();
   void clearSuppressed();
@@ -112,7 +108,7 @@ class AbstractStream : public QObject {
   void mergeEvents(const std::vector<const CanEvent *> &events);
   const CanEvent *newEvent(uint64_t mono_time, const cereal::CanData::Reader &c);
   void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size);
-  void waitForSeekFinshed();
+  virtual void resumeStream() {}
   std::vector<const CanEvent *> all_events_;
   double current_sec_ = 0;
   std::optional<std::pair<double, double>> time_range_;
@@ -128,8 +124,6 @@ class AbstractStream : public QObject {
 
   // Members accessed in multiple threads. (mutex protected)
   std::mutex mutex_;
-  std::condition_variable seek_finished_cv_;
-  bool seek_finished_ = false;
   std::set<MessageId> new_msgs_;
   std::unordered_map<MessageId, CanData> messages_;
   std::unordered_map<MessageId, std::vector<uint8_t>> masks_;
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index ebe478ded77d1d..bfe5ca74da1580 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -53,12 +53,9 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
 
   // Forward replay callbacks to corresponding Qt signals.
   replay->onSeeking = [this](double sec) { emit seeking(sec); };
-  replay->onSeekedTo = [this](double sec) {
-    emit seekedTo(sec);
-    waitForSeekFinshed();
-  };
+  replay->onSeekedTo = [this](double sec) { emit seekedTo(sec); };
   replay->onQLogLoaded = [this](std::shared_ptr<LogReader> qlog) { emit qLogLoaded(qlog); };
-  replay->onSegmentsMerged = [this]() { QMetaObject::invokeMethod(this, &ReplayStream::mergeSegments, Qt::BlockingQueuedConnection); };
+  replay->onSegmentsMerged = [this]() { QMetaObject::invokeMethod(this, &ReplayStream::mergeSegments, Qt::QueuedConnection); };
 
   bool success = replay->load();
   if (!success) {
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index df1f2526a5e328..2d7f3351935d9c 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -32,6 +32,7 @@ class ReplayStream : public AbstractStream {
   inline float getSpeed() const { return replay->getSpeed(); }
   inline Replay *getReplay() const { return replay.get(); }
   inline bool isPaused() const override { return replay->isPaused(); }
+  void resumeStream() override { return replay->resumeStream(); }
   void pause(bool pause) override;
 
 signals:
diff --git a/tools/cabana/utils/util.h b/tools/cabana/utils/util.h
index 1aad3103db3e6e..0ebd7e41f84681 100644
--- a/tools/cabana/utils/util.h
+++ b/tools/cabana/utils/util.h
@@ -163,4 +163,3 @@ public slots:
 
 int num_decimals(double num);
 QString signalToolTip(const cabana::Signal *sig);
-inline QString toHexString(int value) { return QString("0x%1").arg(QString::number(value, 16).toUpper(), 2, '0'); }
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index e792f80a418d81..0b2beb1dd6d333 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -31,12 +31,9 @@ static Replay *getReplay() {
 VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
   setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
   auto main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-  main_layout->setSpacing(0);
   if (!can->liveStreaming())
     main_layout->addWidget(createCameraWidget());
-
-  createPlaybackController();
+  main_layout->addLayout(createPlaybackController());
 
   setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum);
   QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState);
@@ -68,19 +65,15 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
           timeline_colors[(int)TimelineType::AlertCritical].name()));
 }
 
-void VideoWidget::createPlaybackController() {
-  QToolBar *toolbar = new QToolBar(this);
-  layout()->addWidget(toolbar);
-
-  int icon_size = style()->pixelMetric(QStyle::PM_SmallIconSize);
-  toolbar->setIconSize({icon_size, icon_size});
-
-  toolbar->addAction(utils::icon("rewind"), tr("Seek backward"), []() { can->seekTo(can->currentSec() - 1); });
-  play_toggle_action = toolbar->addAction(utils::icon("play"), tr("Play"), []() { can->pause(!can->isPaused()); });
-  toolbar->addAction(utils::icon("fast-forward"), tr("Seek forward"), []() { can->seekTo(can->currentSec() + 1); });
+QHBoxLayout *VideoWidget::createPlaybackController() {
+  QHBoxLayout *layout = new QHBoxLayout();
+  layout->addWidget(seek_backward_btn = new ToolButton("rewind", tr("Seek backward")));
+  layout->addWidget(play_btn = new ToolButton("play", tr("Play")));
+  layout->addWidget(seek_forward_btn = new ToolButton("fast-forward", tr("Seek forward")));
 
   if (can->liveStreaming()) {
-    skip_to_end_action = toolbar->addAction(utils::icon("skip-end"), tr("Skip to the end"), this, [this]() {
+    layout->addWidget(skip_to_end_btn = new ToolButton("skip-end", tr("Skip to the end"), this));
+    QObject::connect(skip_to_end_btn, &QToolButton::clicked, [this]() {
       // set speed to 1.0
       speed_btn->menu()->actions()[7]->setChecked(true);
       can->pause(false);
@@ -88,48 +81,53 @@ void VideoWidget::createPlaybackController() {
     });
   }
 
-  time_display_action = toolbar->addAction("", this, [this]() {
-    settings.absolute_time = !settings.absolute_time;
-    time_display_action->setToolTip(settings.absolute_time ? tr("Elapsed time") : tr("Absolute time"));
-    updateState();
-  });
-
-  QWidget *spacer = new QWidget();
-  spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  toolbar->addWidget(spacer);
+  layout->addWidget(time_btn = new QToolButton);
+  time_btn->setToolTip(settings.absolute_time ? tr("Elapsed time") : tr("Absolute time"));
+  time_btn->setAutoRaise(true);
+  layout->addStretch(0);
 
   if (!can->liveStreaming()) {
-    toolbar->addAction(utils::icon("repeat"), tr("Loop playback"), this, &VideoWidget::loopPlaybackClicked);
+    layout->addWidget(loop_btn = new ToolButton("repeat", tr("Loop playback")));
+    QObject::connect(loop_btn, &QToolButton::clicked, this, &VideoWidget::loopPlaybackClicked);
   }
 
-  createSpeedDropdown(toolbar);
-}
-
-void VideoWidget::createSpeedDropdown(QToolBar *toolbar) {
-  toolbar->addWidget(speed_btn = new QToolButton(this));
+  // speed selector
+  layout->addWidget(speed_btn = new QToolButton(this));
+  speed_btn->setAutoRaise(true);
   speed_btn->setMenu(new QMenu(speed_btn));
   speed_btn->setPopupMode(QToolButton::InstantPopup);
   QActionGroup *speed_group = new QActionGroup(this);
   speed_group->setExclusive(true);
 
+  int max_width = 0;
+  QFont font = speed_btn->font();
+  font.setBold(true);
+  speed_btn->setFont(font);
+  QFontMetrics fm(font);
   for (float speed : {0.01, 0.02, 0.05, 0.1, 0.2, 0.5, 0.8, 1., 2., 3., 5.}) {
-    auto act = speed_btn->menu()->addAction(QString("%1x").arg(speed), this, [this, speed]() {
+    QString name = QString("%1x").arg(speed);
+    max_width = std::max(max_width, fm.width(name) + fm.horizontalAdvance(QLatin1Char(' ')) * 2);
+
+    QAction *act = new QAction(name, speed_group);
+    act->setCheckable(true);
+    QObject::connect(act, &QAction::toggled, [this, speed]() {
       can->setSpeed(speed);
       speed_btn->setText(QString("%1x  ").arg(speed));
     });
-
-    speed_group->addAction(act);
-    act->setCheckable(true);
-    if (speed == 1.0) {
-      act->setChecked(true);
-      act->trigger();
-    }
+    speed_btn->menu()->addAction(act);
+    if (speed == 1.0)act->setChecked(true);
   }
+  speed_btn->setMinimumWidth(max_width + style()->pixelMetric(QStyle::PM_MenuButtonIndicator));
 
-  QFont font = speed_btn->font();
-  font.setBold(true);
-  speed_btn->setFont(font);
-  speed_btn->setMinimumWidth(speed_btn->fontMetrics().width("0.05x  ") + style()->pixelMetric(QStyle::PM_MenuButtonIndicator));
+  QObject::connect(play_btn, &QToolButton::clicked, []() { can->pause(!can->isPaused()); });
+  QObject::connect(seek_backward_btn, &QToolButton::clicked, []() { can->seekTo(can->currentSec() - 1); });
+  QObject::connect(seek_forward_btn, &QToolButton::clicked, []() { can->seekTo(can->currentSec() + 1); });
+  QObject::connect(time_btn, &QToolButton::clicked, [this]() {
+    settings.absolute_time = !settings.absolute_time;
+    time_btn->setToolTip(settings.absolute_time ? tr("Elapsed time") : tr("Absolute time"));
+    updateState();
+  });
+  return layout;
 }
 
 QWidget *VideoWidget::createCameraWidget() {
@@ -152,6 +150,7 @@ QWidget *VideoWidget::createCameraWidget() {
 
   QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); });
   QObject::connect(can, &AbstractStream::paused, cam_widget, [c = cam_widget]() { c->showPausedOverlay(); });
+  QObject::connect(can, &AbstractStream::resume, cam_widget, [c = cam_widget]() { c->update(); });
   QObject::connect(can, &AbstractStream::eventsMerged, this, [this]() { slider->update(); });
   QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(cam_widget, &CameraWidget::vipcAvailableStreamsUpdated, this, &VideoWidget::vipcAvailableStreamsUpdated);
@@ -159,7 +158,7 @@ QWidget *VideoWidget::createCameraWidget() {
     if (index != -1) cam_widget->setStreamType((VisionStreamType)camera_tab->tabData(index).toInt());
   });
   QObject::connect(static_cast<ReplayStream*>(can), &ReplayStream::qLogLoaded, cam_widget, &StreamCameraView::parseQLog, Qt::QueuedConnection);
-  slider->installEventFilter(this);
+  slider->installEventFilter(cam_widget);
   return w;
 }
 
@@ -181,13 +180,13 @@ void VideoWidget::vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams
 void VideoWidget::loopPlaybackClicked() {
   bool is_looping = getReplay()->loop();
   getReplay()->setLoop(!is_looping);
-  qobject_cast<QAction*>(sender())->setIcon(utils::icon(!is_looping ? "repeat" : "repeat-1"));
+  loop_btn->setIcon(!is_looping ? "repeat" : "repeat-1");
 }
 
 void VideoWidget::timeRangeChanged() {
   const auto time_range = can->timeRange();
   if (can->liveStreaming()) {
-    skip_to_end_action->setEnabled(!time_range.has_value());
+    skip_to_end_btn->setEnabled(!time_range.has_value());
     return;
   }
   time_range ? slider->setTimeRange(time_range->first, time_range->second)
@@ -209,50 +208,28 @@ void VideoWidget::updateState() {
     if (camera_tab->count() == 0) {  //  No streams available
       cam_widget->update();          // Manually refresh to show alert events
     }
-    time_display_action->setText(QString("%1 / %2").arg(formatTime(can->currentSec(), true),
+    time_btn->setText(QString("%1 / %2").arg(formatTime(can->currentSec(), true),
                                              formatTime(slider->maximum() / slider->factor)));
   } else {
-    time_display_action->setText(formatTime(can->currentSec(), true));
+    time_btn->setText(formatTime(can->currentSec(), true));
   }
 }
 
 void VideoWidget::updatePlayBtnState() {
-  play_toggle_action->setIcon(utils::icon(can->isPaused() ? "play" : "pause"));
-  play_toggle_action->setToolTip(can->isPaused() ? tr("Play") : tr("Pause"));
-}
-
-void VideoWidget::showThumbnail(double seconds) {
-  if (can->liveStreaming()) return;
-
-  cam_widget->thumbnail_dispaly_time = seconds;
-  slider->thumbnail_dispaly_time = seconds;
-  cam_widget->update();
-  slider->update();
-}
-
-bool VideoWidget::eventFilter(QObject *obj, QEvent *event) {
-  if (event->type() == QEvent::MouseMove) {
-    auto [min_sec, max_sec] = can->timeRange().value_or(std::make_pair(can->minSeconds(), can->maxSeconds()));
-    showThumbnail(min_sec + static_cast<QMouseEvent *>(event)->pos().x() * (max_sec - min_sec) / slider->width());
-  } else if (event->type() == QEvent::Leave) {
-    showThumbnail(-1);
-  }
-  return false;
+  play_btn->setIcon(can->isPaused() ? "play" : "pause");
+  play_btn->setToolTip(can->isPaused() ? tr("Play") : tr("Pause"));
 }
 
 // Slider
+
 Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) {
   setMouseTracking(true);
 }
 
 void Slider::paintEvent(QPaintEvent *ev) {
   QPainter p(this);
-
-  QStyleOptionSlider opt;
-  initStyleOption(&opt);
-  QRect r = style()->subControlRect(QStyle::CC_Slider, &opt, QStyle::SC_SliderGroove, this);
+  QRect r = rect().adjusted(0, 4, 0, -4);
   p.fillRect(r, timeline_colors[(int)TimelineType::None]);
-
   double min = minimum() / factor;
   double max = maximum() / factor;
 
@@ -277,19 +254,13 @@ void Slider::paintEvent(QPaintEvent *ev) {
     }
   }
 
+  QStyleOptionSlider opt;
+  opt.initFrom(this);
   opt.minimum = minimum();
   opt.maximum = maximum();
   opt.subControls = QStyle::SC_SliderHandle;
   opt.sliderPosition = value();
   style()->drawComplexControl(QStyle::CC_Slider, &opt, &p);
-
-  if (thumbnail_dispaly_time >= 0) {
-    int left = (thumbnail_dispaly_time - min) * width() / (max - min) - 1;
-    QRect rc(left, rect().top() + 1, 2, rect().height() - 2);
-    p.setBrush(palette().highlight());
-    p.setPen(Qt::NoPen);
-    p.drawRoundedRect(rc, 1.5, 1.5);
-  }
 }
 
 void Slider::mousePressEvent(QMouseEvent *e) {
@@ -301,6 +272,7 @@ void Slider::mousePressEvent(QMouseEvent *e) {
 }
 
 // StreamCameraView
+
 StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent)
     : CameraWidget(stream_name, stream_type, parent) {
   fade_animation = new QPropertyAnimation(this, "overlayOpacity");
@@ -322,7 +294,6 @@ void StreamCameraView::parseQLog(std::shared_ptr<LogReader> qlog) {
         QPixmap generated_thumb = generateThumbnail(thumb, can->toSeconds(thumb_data.getTimestampEof()));
         std::lock_guard lock(mutex);
         thumbnails[thumb_data.getTimestampEof()] = generated_thumb;
-        big_thumbnails[thumb_data.getTimestampEof()] = thumb;
       }
     }
   });
@@ -333,15 +304,12 @@ void StreamCameraView::paintGL() {
   CameraWidget::paintGL();
 
   QPainter p(this);
-  bool scrubbing = false;
-  if (thumbnail_dispaly_time >= 0) {
-    scrubbing = can->isPaused();
-    scrubbing ? drawScrubThumbnail(p) : drawThumbnail(p);
-  }
-  if (auto alert = getReplay()->findAlertAtTime(scrubbing ? thumbnail_dispaly_time : can->currentSec())) {
+  if (auto alert = getReplay()->findAlertAtTime(can->currentSec())) {
     drawAlert(p, rect(), *alert);
   }
-
+  if (thumbnail_pt_) {
+    drawThumbnail(p);
+  }
   if (can->isPaused()) {
     p.setPen(QColor(200, 200, 200, static_cast<int>(255 * fade_animation->currentValue().toFloat())));
     p.setFont(QFont(font().family(), 16, QFont::Bold));
@@ -361,37 +329,25 @@ QPixmap StreamCameraView::generateThumbnail(QPixmap thumb, double seconds) {
   return scaled;
 }
 
-void StreamCameraView::drawScrubThumbnail(QPainter &p) {
-  p.fillRect(rect(), Qt::black);
-  auto it = big_thumbnails.lowerBound(can->toMonoTime(thumbnail_dispaly_time));
-  if (it != big_thumbnails.end()) {
-    QPixmap scaled_thumb = it.value().scaled(rect().size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
-    QRect thumb_rect(rect().center() - scaled_thumb.rect().center(), scaled_thumb.size());
-    p.drawPixmap(thumb_rect.topLeft(), scaled_thumb);
-    drawTime(p, thumb_rect, thumbnail_dispaly_time);
-  }
-}
-
 void StreamCameraView::drawThumbnail(QPainter &p) {
-  auto it = thumbnails.lowerBound(can->toMonoTime(thumbnail_dispaly_time));
+  int pos = std::clamp(thumbnail_pt_->x(), 0, width());
+  auto [min_sec, max_sec] = can->timeRange().value_or(std::make_pair(can->minSeconds(), can->maxSeconds()));
+  double seconds = min_sec + pos * (max_sec - min_sec) / width();
+
+  auto it = thumbnails.lowerBound(can->toMonoTime(seconds));
   if (it != thumbnails.end()) {
     const QPixmap &thumb = it.value();
-    auto [min_sec, max_sec] = can->timeRange().value_or(std::make_pair(can->minSeconds(), can->maxSeconds()));
-    int pos = (thumbnail_dispaly_time - min_sec) * width() / (max_sec - min_sec);
     int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, width() - thumb.width() - THUMBNAIL_MARGIN + 1);
     int y = height() - thumb.height() - THUMBNAIL_MARGIN;
 
     p.drawPixmap(x, y, thumb);
-    drawTime(p, QRect{x, y, thumb.width(), thumb.height()}, thumbnail_dispaly_time);
+    p.setPen(QPen(palette().color(QPalette::BrightText), 2));
+    p.setFont(QFont(font().family(), 10));
+    p.drawText(x, y, thumb.width(), thumb.height() - THUMBNAIL_MARGIN,
+               Qt::AlignHCenter | Qt::AlignBottom, QString::number(seconds, 'f', 3));
   }
 }
 
-void StreamCameraView::drawTime(QPainter &p, const QRect &rect, double seconds) {
-  p.setPen(palette().color(QPalette::BrightText));
-  p.setFont(QFont(font().family(), 10));
-  p.drawText(rect.adjusted(0, 0, 0, -THUMBNAIL_MARGIN), Qt::AlignHCenter | Qt::AlignBottom, QString::number(seconds, 'f', 3));
-}
-
 void StreamCameraView::drawAlert(QPainter &p, const QRect &rect, const Timeline::Entry &alert) {
   p.setPen(QPen(palette().color(QPalette::BrightText), 2));
   QColor color = timeline_colors[int(alert.type)];
@@ -404,3 +360,14 @@ void StreamCameraView::drawAlert(QPainter &p, const QRect &rect, const Timeline:
   p.fillRect(text_rect.left(), r.top(), text_rect.width(), r.height(), color);
   p.drawText(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
 }
+
+bool StreamCameraView::eventFilter(QObject *, QEvent *event) {
+  if (event->type() == QEvent::MouseMove) {
+    thumbnail_pt_ = static_cast<QMouseEvent *>(event)->pos();
+    update();
+  } else if (event->type() == QEvent::Leave) {
+    thumbnail_pt_ = std::nullopt;
+    update();
+  }
+  return false;
+}
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index 1d87a5cfa0fc3b..78503365e5b80b 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -1,14 +1,15 @@
 #pragma once
 
 #include <memory>
+#include <optional>
 #include <set>
 #include <string>
 #include <utility>
 
+#include <QHBoxLayout>
 #include <QFrame>
 #include <QPropertyAnimation>
 #include <QSlider>
-#include <QToolBar>
 #include <QTabBar>
 
 #include "selfdrive/ui/qt/widgets/cameraview.h"
@@ -27,7 +28,6 @@ class Slider : public QSlider {
   void mousePressEvent(QMouseEvent *e) override;
   void paintEvent(QPaintEvent *ev) override;
   const double factor = 1000.0;
-  double thumbnail_dispaly_time = -1;
 };
 
 class StreamCameraView : public CameraWidget {
@@ -43,14 +43,11 @@ class StreamCameraView : public CameraWidget {
   QPixmap generateThumbnail(QPixmap thumbnail, double seconds);
   void drawAlert(QPainter &p, const QRect &rect, const Timeline::Entry &alert);
   void drawThumbnail(QPainter &p);
-  void drawScrubThumbnail(QPainter &p);
-  void drawTime(QPainter &p, const QRect &rect, double seconds);
+  bool eventFilter(QObject *obj, QEvent *event) override;
 
   QPropertyAnimation *fade_animation;
-  QMap<uint64_t, QPixmap> big_thumbnails;
   QMap<uint64_t, QPixmap> thumbnails;
-  double thumbnail_dispaly_time = -1;
-  friend class VideoWidget;
+  std::optional<QPoint> thumbnail_pt_;
 };
 
 class VideoWidget : public QFrame {
@@ -58,25 +55,25 @@ class VideoWidget : public QFrame {
 
 public:
   VideoWidget(QWidget *parnet = nullptr);
-  void showThumbnail(double seconds);
 
 protected:
-  bool eventFilter(QObject *obj, QEvent *event) override;
   QString formatTime(double sec, bool include_milliseconds = false);
   void timeRangeChanged();
   void updateState();
   void updatePlayBtnState();
   QWidget *createCameraWidget();
-  void createPlaybackController();
-  void createSpeedDropdown(QToolBar *toolbar);
+  QHBoxLayout *createPlaybackController();
   void loopPlaybackClicked();
   void vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams);
 
   StreamCameraView *cam_widget;
-  QAction *time_display_action = nullptr;
-  QAction *play_toggle_action = nullptr;
+  QToolButton *time_btn = nullptr;
+  ToolButton *seek_backward_btn = nullptr;
+  ToolButton *play_btn = nullptr;
+  ToolButton *seek_forward_btn = nullptr;
+  ToolButton *loop_btn = nullptr;
   QToolButton *speed_btn = nullptr;
-  QAction *skip_to_end_action = nullptr;
+  ToolButton *skip_to_end_btn = nullptr;
   Slider *slider = nullptr;
   QTabBar *camera_tab = nullptr;
 };
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index b0bb835e649990..267577d712ace6 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -10,11 +10,8 @@ cd "$ROOT"
 
 # updating uv on macOS results in 403 sometimes
 function update_uv() {
-  if ! uv self update --help >/dev/null 2>&1; then
-    return 0
-  fi
-
-  for i in $(seq 1 5); do
+  for i in $(seq 1 5);
+  do
     if uv self update; then
       return 0
     else
diff --git a/tools/latencylogger/README.md b/tools/latencylogger/README.md
new file mode 100644
index 00000000000000..110970308a96b8
--- /dev/null
+++ b/tools/latencylogger/README.md
@@ -0,0 +1,90 @@
+# LatencyLogger
+
+LatencyLogger is a tool to track the time from first pixel to actuation. Timestamps are printed in a table as well as plotted in a graph. Start openpilot with `LOG_TIMESTAMPS=1` set to enable the necessary logging.
+
+## Usage
+
+```
+$ python3 latency_logger.py -h
+usage: latency_logger.py [-h] [--relative] [--demo] [--plot] [route_or_segment_name]
+
+A tool for analyzing openpilot's end-to-end latency
+
+positional arguments:
+  route_or_segment_name
+                        The route to print (default: None)
+
+optional arguments:
+  -h, --help            show this help message and exit
+  --relative            Make timestamps relative to the start of each frame (default: False)
+  --demo                Use the demo route instead of providing one (default: False)
+  --plot                If a plot should be generated (default: False)
+  --offset              Offset service to better visualize overlap (default: False)
+```
+To timestamp an event, use `LOGT("msg")` in c++ code or `cloudlog.timestamp("msg")` in python code. If the print is warning for frameId assignment ambiguity, use `LOGT(frameId ,"msg")`.
+
+## Examples
+
+Timestamps are visualized as diamonds
+
+|  | Relative  | Absolute |
+| ------------- | ------------- | ------------- |
+| Inline | ![inrel](https://user-images.githubusercontent.com/42323981/170559939-465df3b1-bf87-46d5-b5ee-5cc87dc49470.png) | ![inabs](https://user-images.githubusercontent.com/42323981/170559985-a82f87e7-82c4-4e48-a348-4221568dd589.png) |
+| Offset | ![offrel](https://user-images.githubusercontent.com/42323981/170559854-93fba90f-acc4-4d08-b317-d3f8fc649ea8.png) | ![offabs](https://user-images.githubusercontent.com/42323981/170559782-06ed5599-d4e3-4701-ad78-5c1eec6cb61e.png) |
+
+Printed timestamps of a frame with internal durations.
+```
+Frame ID: 1202
+  camerad
+    wideRoadCameraState start of frame                   0.0
+    roadCameraState start of frame                       0.049583
+    wideRoadCameraState published                        35.01206
+    WideRoadCamera: Image set                            35.020028
+    roadCameraState published                            38.508261
+    RoadCamera: Image set                                38.520344
+    RoadCamera: Transformed                              38.616176
+    wideRoadCameraState.processingTime                   3.152403049170971
+    roadCameraState.processingTime                       6.453451234847307
+  modeld
+    Image added                                          40.909841
+    Extra image added                                    42.515027
+    Execution finished                                   63.002552
+    modelV2 published                                    63.148747
+    modelV2.modelExecutionTime                           23.62649142742157
+    modelV2.gpuExecutionTimeDEPRECATED                   0.0
+  plannerd
+    longitudinalPlan published                           69.715999
+    longitudinalPlan.solverExecutionTime                 0.5619999719783664
+  controlsd
+    Data sampled                                         70.217763
+    Events updated                                       71.037178
+    sendcan published                                    72.278775
+    controlsState published                              72.825226
+    Data sampled                                         80.008354
+    Events updated                                       80.787666
+    sendcan published                                    81.849682
+    controlsState published                              82.238323
+    Data sampled                                         90.521123
+    Events updated                                       91.626003
+    sendcan published                                    93.413218
+    controlsState published                              94.143989
+    Data sampled                                         100.991497
+    Events updated                                       101.973774
+    sendcan published                                    103.565575
+    controlsState published                              104.146088
+    Data sampled                                         110.284387
+    Events updated                                       111.183541
+    sendcan published                                    112.981692
+    controlsState published                              113.731994
+  pandad
+    sending sendcan to panda: 250027001751393037323631   81.928119
+    sendcan sent to panda: 250027001751393037323631      82.164834
+    sending sendcan to panda: 250027001751393037323631   93.569986
+    sendcan sent to panda: 250027001751393037323631      93.92795
+    sending sendcan to panda: 250027001751393037323631   103.689167
+    sendcan sent to panda: 250027001751393037323631      104.012235
+    sending sendcan to panda: 250027001751393037323631   113.109555
+    sendcan sent to panda: 250027001751393037323631      113.525487
+    sending sendcan to panda: 250027001751393037323631   122.508434
+    sendcan sent to panda: 250027001751393037323631      122.834314
+```
diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py
new file mode 100755
index 00000000000000..65cb6e6c2c4ee5
--- /dev/null
+++ b/tools/latencylogger/latency_logger.py
@@ -0,0 +1,239 @@
+#!/usr/bin/env python3
+import argparse
+import json
+import matplotlib.patches as mpatches
+import matplotlib.pyplot as plt
+import sys
+from bisect import bisect_left, bisect_right
+from collections import defaultdict
+
+from openpilot.tools.lib.logreader import LogReader
+
+DEMO_ROUTE = "9f583b1d93915c31|2022-05-18--10-49-51--0"
+
+SERVICES = ['camerad', 'modeld', 'plannerd', 'controlsd', 'pandad']
+MONOTIME_KEYS = ['modelMonoTime', 'lateralPlanMonoTime']
+MSGQ_TO_SERVICE = {
+  'roadCameraState': 'camerad',
+  'wideRoadCameraState': 'camerad',
+  'modelV2': 'modeld',
+  'longitudinalPlan': 'plannerd',
+  'sendcan': 'controlsd',
+  'controlsState': 'controlsd'
+}
+SERVICE_TO_DURATIONS = {
+  'camerad': ['processingTime'],
+  'modeld': ['modelExecutionTime', 'gpuExecutionTimeDEPRECATED'],
+  'plannerd': ['solverExecutionTime'],
+}
+
+def read_logs(lr):
+  data = defaultdict(lambda: defaultdict(lambda: defaultdict(list)))
+  mono_to_frame = {}
+  frame_mismatches = []
+  frame_id_fails = 0
+  latest_sendcan_monotime = 0
+  for msg in lr:
+    if msg.which() == 'sendcan':
+      latest_sendcan_monotime = msg.logMonoTime
+      continue
+
+    if msg.which() in MSGQ_TO_SERVICE:
+      service = MSGQ_TO_SERVICE[msg.which()]
+      msg_obj = getattr(msg, msg.which())
+
+      frame_id = -1
+      if hasattr(msg_obj, "frameId"):
+        frame_id = msg_obj.frameId
+      else:
+        continue_outer = False
+        for key in MONOTIME_KEYS:
+          if hasattr(msg_obj, key):
+            if getattr(msg_obj, key) == 0:
+              # Filter out controlsd messages which arrive before the camera loop
+              continue_outer = True
+            elif getattr(msg_obj, key) in mono_to_frame:
+              frame_id = mono_to_frame[getattr(msg_obj, key)]
+        if continue_outer:
+          continue
+      if frame_id == -1:
+        frame_id_fails += 1
+        continue
+      mono_to_frame[msg.logMonoTime] = frame_id
+      data['timestamp'][frame_id][service].append((msg.which()+" published", msg.logMonoTime))
+
+      next_service = SERVICES[SERVICES.index(service)+1]
+      if not data['start'][frame_id][next_service]:
+        data['start'][frame_id][next_service] = msg.logMonoTime
+      data['end'][frame_id][service] = msg.logMonoTime
+
+      if service in SERVICE_TO_DURATIONS:
+        for duration in SERVICE_TO_DURATIONS[service]:
+          data['duration'][frame_id][service].append((msg.which()+"."+duration, getattr(msg_obj, duration)))
+
+      if service == SERVICES[0]:
+        data['timestamp'][frame_id][service].append((msg.which()+" start of frame", msg_obj.timestampSof))
+        if not data['start'][frame_id][service]:
+          data['start'][frame_id][service] = msg_obj.timestampSof
+      elif msg.which() == 'controlsState':
+        # Sendcan is published before controlsState, but the frameId is retrieved in CS
+        data['timestamp'][frame_id][service].append(("sendcan published", latest_sendcan_monotime))
+      elif msg.which() == 'modelV2':
+        if msg_obj.frameIdExtra != frame_id:
+          frame_mismatches.append(frame_id)
+
+  if frame_id_fails > 20:
+    print("Warning, many frameId fetch fails", frame_id_fails)
+  if len(frame_mismatches) > 20:
+    print("Warning, many frame mismatches", len(frame_mismatches))
+  return (data, frame_mismatches)
+
+# This is not needed in 3.10 as a "key" parameter is added to bisect
+class KeyifyList:
+  def __init__(self, inner, key):
+    self.inner = inner
+    self.key = key
+  def __len__(self):
+    return len(self.inner)
+  def __getitem__(self, k):
+    return self.key(self.inner[k])
+
+def find_frame_id(time, service, start_times, end_times):
+  left = bisect_left(KeyifyList(list(start_times.items()),
+                     lambda x: x[1][service] if x[1][service] else -1), time) - 1
+  right = bisect_right(KeyifyList(list(end_times.items()),
+                      lambda x: x[1][service] if x[1][service] else float("inf")), time)
+  return left, right
+
+def find_t0(start_times, frame_id=-1):
+  frame_id = frame_id if frame_id > -1 else min(start_times.keys())
+  m = max(start_times.keys())
+  while frame_id <= m:
+    for service in SERVICES:
+      if start_times[frame_id][service]:
+        return start_times[frame_id][service]
+    frame_id += 1
+  raise Exception('No start time has been set')
+
+def insert_cloudlogs(lr, timestamps, start_times, end_times):
+  # at least one cloudlog must be made in controlsd
+
+  t0 = find_t0(start_times)
+  failed_inserts = 0
+  latest_controls_frameid = 0
+  for msg in lr:
+    if msg.which() == "logMessage":
+      jmsg = json.loads(msg.logMessage)
+      if "timestamp" in jmsg['msg']:
+        time = int(jmsg['msg']['timestamp']['time'])
+        service = jmsg['ctx']['daemon']
+        event = jmsg['msg']['timestamp']['event']
+        if time < t0:
+          # Filter out controlsd messages which arrive before the camera loop
+          continue
+
+        if "frame_id" in jmsg['msg']['timestamp']:
+          timestamps[int(jmsg['msg']['timestamp']['frame_id'])][service].append((event, time))
+          continue
+
+        if service == "pandad":
+          timestamps[latest_controls_frameid][service].append((event, time))
+          end_times[latest_controls_frameid][service] = time
+        else:
+          frame_id = find_frame_id(time, service, start_times, end_times)
+          if frame_id:
+            if frame_id[0] != frame_id[1]:
+              event += " (warning: ambiguity)"
+            frame_id = frame_id[0]
+            if service == 'controlsd':
+              latest_controls_frameid = frame_id
+            timestamps[frame_id][service].append((event, time))
+          else:
+            failed_inserts += 1
+
+  if latest_controls_frameid == 0:
+    print("Warning: failed to bind pandad logs to a frame ID. Add a timestamp cloudlog in controlsd.")
+  elif failed_inserts > len(timestamps):
+    print(f"Warning: failed to bind {failed_inserts} cloudlog timestamps to a frame ID")
+
+def print_timestamps(timestamps, durations, start_times, relative):
+  t0 = find_t0(start_times)
+  for frame_id in timestamps.keys():
+    print('='*80)
+    print("Frame ID:", frame_id)
+    if relative:
+      t0 = find_t0(start_times, frame_id)
+
+    for service in SERVICES:
+      print("  "+service)
+      events = timestamps[frame_id][service]
+      for event, time in sorted(events, key = lambda x: x[1]):
+        print("    "+f'{event:<53s}{str((time-t0)/1e6):<53s}')
+      for event, time in durations[frame_id][service]:
+        print("    "+f'{event:<53s}{str(time*1000):<53s}')
+
+def graph_timestamps(timestamps, start_times, end_times, relative, offset_services=False, title=""):
+  plt.rcParams.update({'font.size': 18})
+
+  t0 = find_t0(start_times)
+  fig, ax = plt.subplots()
+  ax.set_xlim(0, 130 if relative else 750)
+  ax.set_ylim(0, 17)
+  ax.set_xlabel('Time (milliseconds)')
+  colors = ['blue', 'green', 'red', 'yellow', 'purple']
+  offsets = [[0, -5*j] for j in range(len(SERVICES))] if offset_services else None
+  height = 0.3 if offset_services else 0.9
+  assert len(colors) == len(SERVICES), 'Each service needs a color'
+
+  points = {"x": [], "y": [], "labels": []}
+  for i, (frame_id, services) in enumerate(timestamps.items()):
+    if relative:
+      t0 = find_t0(start_times, frame_id)
+    service_bars = []
+    for service, events in services.items():
+      if start_times[frame_id][service] and end_times[frame_id][service]:
+        start = start_times[frame_id][service]
+        end = end_times[frame_id][service]
+        service_bars.append(((start-t0)/1e6,(end-start)/1e6))
+        for event in events:
+          points['x'].append((event[1]-t0)/1e6)
+          points['y'].append(i)
+          points['labels'].append(event[0])
+    ax.broken_barh(service_bars, (i-height/2, height), facecolors=(colors), alpha=0.5, offsets=offsets)
+
+  ax.scatter(points['x'], points['y'], marker='d', edgecolor='black')
+  for i, label in enumerate(points['labels']):
+    ax.annotate(label, (points['x'][i], points['y'][i]), textcoords="offset points", xytext=(0,10), ha='center')
+
+  plt.title(title)
+  fig.set_size_inches(18, 9)
+  plt.legend(handles=[mpatches.Patch(color=colors[i], label=SERVICES[i]) for i in range(len(SERVICES))])
+  plt.show()
+
+def get_timestamps(lr):
+  lr = list(lr)
+  data, frame_mismatches = read_logs(lr)
+  insert_cloudlogs(lr, data['timestamp'], data['start'], data['end'])
+  return data, frame_mismatches
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="A tool for analyzing openpilot's end-to-end latency",
+                                   formatter_class = argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("--relative", action="store_true", help="Make timestamps relative to the start of each frame")
+  parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
+  parser.add_argument("--plot", action="store_true", help="If a plot should be generated")
+  parser.add_argument("--offset", action="store_true", help="Vertically offset service to better visualize overlap")
+  parser.add_argument("route_or_segment_name", nargs='?', help="The route to print")
+
+  if len(sys.argv) == 1:
+    parser.print_help()
+    sys.exit()
+  args = parser.parse_args()
+
+  r = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
+  lr = LogReader(r, sort_by_time=True)
+
+  data, _ = get_timestamps(lr)
+  print_timestamps(data['timestamp'], data['duration'], data['start'], args.relative)
+  if args.plot:
+    graph_timestamps(data['timestamp'], data['start'], data['end'], args.relative, offset_services=args.offset, title=r)
diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md
index 794c292e688d8a..dc301efcb79c8d 100644
--- a/tools/plotjuggler/README.md
+++ b/tools/plotjuggler/README.md
@@ -58,7 +58,7 @@ If streaming to PlotJuggler from a replay on your PC, simply run: `./juggle.py -
 
 For a quick demo, go through the installation step and run this command:
 
-`./juggle.py --demo --layout=layouts/tuning.xml`
+`./juggle.py --demo --layout=layouts/demo.xml`
 
 ## Layouts
 
diff --git a/tools/plotjuggler/layouts/demo.xml b/tools/plotjuggler/layouts/demo.xml
new file mode 100644
index 00000000000000..7026221374f8e8
--- /dev/null
+++ b/tools/plotjuggler/layouts/demo.xml
@@ -0,0 +1,104 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root version="2.3.8">
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab tab_name="tab1" containers="1">
+   <Container>
+    <DockSplitter orientation="-" sizes="1" count="1">
+     <DockSplitter orientation="|" sizes="0.5;0.5" count="2">
+      <DockSplitter orientation="-" sizes="0.500497;0.499503" count="2">
+       <DockArea name="...">
+        <plot mode="TimeSeries" style="Lines">
+         <range top="2.762667" bottom="-3.239397" right="56.512723" left="0.000000"/>
+         <limitY/>
+         <curve color="#1f77b4" name="/carState/aEgo"/>
+         <curve color="#17becf" name="/carState/brake"/>
+        </plot>
+       </DockArea>
+       <DockArea name="...">
+        <plot mode="TimeSeries" style="Lines">
+         <range top="5.191867" bottom="-5.724069" right="56.512723" left="0.000000"/>
+         <limitY/>
+         <curve color="#1ac938" name="dv/dt"/>
+        </plot>
+       </DockArea>
+      </DockSplitter>
+      <DockSplitter orientation="-" sizes="0.500497;0.499503" count="2">
+       <DockArea name="...">
+        <plot mode="TimeSeries" style="Lines">
+         <range top="16.065524" bottom="-0.470076" right="56.512723" left="0.000000"/>
+         <limitY/>
+         <curve color="#d62728" name="/carState/vEgo"/>
+         <curve color="#bcbd22" name="/carState/gas"/>
+        </plot>
+       </DockArea>
+       <DockArea name="...">
+        <plot mode="TimeSeries" style="Lines">
+         <range top="1.014703" bottom="-0.012971" right="56.512723" left="0.000000"/>
+         <limitY/>
+         <curve color="#ff7f0e" name="/model/meta/brakeDisengageProb"/>
+         <curve color="#f14cc1" name="/model/meta/engagedProb"/>
+         <curve color="#9467bd" name="/model/meta/steerOverrideProb"/>
+        </plot>
+       </DockArea>
+      </DockSplitter>
+     </DockSplitter>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad CSV">
+   <default time_axis=""/>
+  </plugin>
+  <plugin ID="DataLoad ROS bags">
+   <use_header_stamp value="false"/>
+   <use_renaming_rules value="true"/>
+   <discard_large_arrays value="true"/>
+   <max_array_size value="100"/>
+  </plugin>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="DataLoad ULog"/>
+  <plugin ID="LSL Subscriber"/>
+  <plugin ID="MQTT Subscriber"/>
+  <plugin ID="ROS Topic Subscriber">
+   <use_header_stamp value="false"/>
+   <use_renaming_rules value="true"/>
+   <discard_large_arrays value="true"/>
+   <max_array_size value="100"/>
+  </plugin>
+  <plugin ID="UDP Server"/>
+  <plugin ID="WebSocket Server"/>
+  <plugin ID="ZMQ Subscriber"/>
+  <plugin status="idle" ID="ROS /rosout Visualization"/>
+  <plugin status="idle" ID="ROS Topic Re-Publisher"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <snippet name="dv/dt">
+   <global>prevX = 0
+prevY = 0
+is_first = true</global>
+   <function>if (is_first) then
+  is_first = false
+  prevX = time
+  prevY = value
+end
+
+dx = time - prevX
+dy = value - prevY
+prevX = time
+prevY = value
+
+return dy/dx</function>
+   <linkedSource>/carState/vEgo</linkedSource>
+  </snippet>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index a940b6d04e81a8..2bd3614530abae 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -106,27 +106,31 @@ void Replay::seekTo(double seconds, bool relative) {
   rInfo("Seeking to %d s, segment %d", (int)target_time, target_segment);
   notifyEvent(onSeeking, target_time);
 
+  double seeked_to_sec = -1;
   interruptStream([&]() {
-    current_segment_.store(target_segment);
+    current_segment_ = target_segment;
     cur_mono_time_ = route_start_ts_ + target_time * 1e9;
-    seeking_to_.store(target_time, std::memory_order_relaxed);
+    seeking_to_ = target_time;
+
+    if (event_data_->isSegmentLoaded(target_segment)) {
+      seeked_to_sec = *seeking_to_;
+      seeking_to_.reset();
+    }
     return false;
   });
 
+  checkSeekProgress(seeked_to_sec);
   seg_mgr_->setCurrentSegment(target_segment);
-  checkSeekProgress();
 }
 
-void Replay::checkSeekProgress() {
-  if (!seg_mgr_->getEventData()->isSegmentLoaded(current_segment_.load())) return;
-
-  double seek_to = seeking_to_.exchange(-1.0, std::memory_order_acquire);
-  if (seek_to >= 0 && onSeekedTo) {
-    onSeekedTo(seek_to);
+void Replay::checkSeekProgress(double seeked_to_sec) {
+  if (seeked_to_sec >= 0) {
+    if (onSeekedTo) {
+      onSeekedTo(seeked_to_sec);
+    } else {
+      interruptStream([]() { return true; });
+    }
   }
-
-  // Resume the interrupted stream
-  interruptStream([]() { return true; });
 }
 
 void Replay::seekToFlag(FindFlag flag) {
@@ -148,19 +152,29 @@ void Replay::pause(bool pause) {
 void Replay::handleSegmentMerge() {
   if (exit_) return;
 
-  auto event_data = seg_mgr_->getEventData();
-  if (!stream_thread_.joinable() && !event_data->segments.empty()) {
-    startStream(event_data->segments.begin()->second);
-  }
-  notifyEvent(onSegmentsMerged);
+  double seeked_to_sec = -1;
+  interruptStream([&]() {
+    event_data_ = seg_mgr_->getEventData();
+    notifyEvent(onSegmentsMerged);
 
-  // Interrupt the stream to handle segment merge
-  interruptStream([]() { return false; });
-  checkSeekProgress();
+    bool segment_loaded = event_data_->isSegmentLoaded(current_segment_);
+    if (seeking_to_ && segment_loaded) {
+      seeked_to_sec = *seeking_to_;
+      seeking_to_.reset();
+      return false;
+    }
+    return segment_loaded;
+  });
+
+  checkSeekProgress(seeked_to_sec);
+  if (!stream_thread_.joinable() && !event_data_->events.empty()) {
+    startStream();
+  }
 }
 
-void Replay::startStream(const std::shared_ptr<Segment> segment) {
-  const auto &events = segment->log->events;
+void Replay::startStream() {
+  const auto &cur_segment = event_data_->segments.begin()->second;
+  const auto &events = cur_segment->log->events;
   route_start_ts_ = events.front().mono_time;
   cur_mono_time_ += route_start_ts_ - 1;
 
@@ -198,7 +212,7 @@ void Replay::startStream(const std::shared_ptr<Segment> segment) {
   if (!hasFlag(REPLAY_FLAG_NO_VIPC)) {
     std::pair<int, int> camera_size[MAX_CAMERAS] = {};
     for (auto type : ALL_CAMERAS) {
-      if (auto &fr = segment->frames[type]) {
+      if (auto &fr = cur_segment->frames[type]) {
         camera_size[type] = {fr->width, fr->height};
       }
     }
@@ -257,7 +271,6 @@ void Replay::streamThread() {
     stream_cv_.wait(lk, [this]() { return exit_ || (events_ready_ && !interrupt_requested_); });
     if (exit_) break;
 
-    event_data_ = seg_mgr_->getEventData();
     const auto &events = event_data_->events;
     auto first = std::upper_bound(events.cbegin(), events.cend(), Event(cur_which, cur_mono_time_, {}));
     if (first == events.cend()) {
@@ -295,11 +308,11 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
 
   for (; !interrupt_requested_ && first != last; ++first) {
     const Event &evt = *first;
-
     int segment = toSeconds(evt.mono_time) / 60;
-    if (current_segment_.load(std::memory_order_relaxed) != segment) {
-      current_segment_.store(segment, std::memory_order_relaxed);
-      seg_mgr_->setCurrentSegment(segment);
+
+    if (current_segment_ != segment) {
+      current_segment_ = segment;
+      seg_mgr_->setCurrentSegment(current_segment_);
     }
 
     // Skip events if socket is not present
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 8525a532a1766c..d549eaefc4dd76 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -55,8 +55,9 @@ class Replay {
   inline const std::string &carFingerprint() const { return car_fingerprint_; }
   inline const std::shared_ptr<std::vector<Timeline::Entry>> getTimeline() const { return timeline_.getEntries(); }
   inline const std::optional<Timeline::Entry> findAlertAtTime(double sec) const { return timeline_.findAlertAtTime(sec); }
-  const std::shared_ptr<SegmentManager::EventData> getEventData() const { return seg_mgr_->getEventData(); }
+  const std::shared_ptr<SegmentManager::EventData> getEventData() const { return event_data_; }
   void installEventFilter(std::function<bool(const Event *)> filter) { event_filter_ = filter; }
+  void resumeStream() { interruptStream([]() { return true; }); }
 
   // Event callback functions
   std::function<void()> onSegmentsMerged = nullptr;
@@ -67,7 +68,7 @@ class Replay {
 private:
   void setupServices(const std::vector<std::string> &allow, const std::vector<std::string> &block);
   void setupSegmentManager(bool has_filters);
-  void startStream(const std::shared_ptr<Segment> segment);
+  void startStream();
   void streamThread();
   void handleSegmentMerge();
   void interruptStream(const std::function<bool()>& update_fn);
@@ -75,7 +76,7 @@ class Replay {
                                                    std::vector<Event>::const_iterator last);
   void publishMessage(const Event *e);
   void publishFrame(const Event *e);
-  void checkSeekProgress();
+  void checkSeekProgress(double seeked_to_sec);
 
   std::unique_ptr<SegmentManager> seg_mgr_;
   Timeline timeline_;
@@ -85,8 +86,8 @@ class Replay {
   std::mutex stream_lock_;
   bool user_paused_ = false;
   std::condition_variable stream_cv_;
-  std::atomic<int> current_segment_ = 0;
-  std::atomic<double> seeking_to_ = -1.0;
+  int current_segment_ = 0;
+  std::optional<double> seeking_to_;
   std::atomic<bool> exit_ = false;
   std::atomic<bool> interrupt_requested_ = false;
   bool events_ready_ = false;
diff --git a/tools/replay/seg_mgr.cc b/tools/replay/seg_mgr.cc
index 8a00d426b1a804..954b25e8744f88 100644
--- a/tools/replay/seg_mgr.cc
+++ b/tools/replay/seg_mgr.cc
@@ -105,7 +105,7 @@ bool SegmentManager::mergeSegments(const SegmentMap::iterator &begin, const Segm
     merged_event_data->segments[n] = segments_.at(n);
   }
 
-  std::atomic_store(&event_data_, std::move(merged_event_data));
+  event_data_ = merged_event_data;
   merged_segments_ = segments_to_merge;
 
   return true;
diff --git a/tools/replay/seg_mgr.h b/tools/replay/seg_mgr.h
index 40bdcd51f06d1d..efb3d7f0eadacf 100644
--- a/tools/replay/seg_mgr.h
+++ b/tools/replay/seg_mgr.h
@@ -21,14 +21,14 @@ class SegmentManager {
   };
 
   SegmentManager(const std::string &route_name, uint32_t flags, const std::string &data_dir = "")
-      : flags_(flags), route_(route_name, data_dir), event_data_(std::make_shared<EventData>()) {}
+      : flags_(flags), route_(route_name, data_dir) {};
   ~SegmentManager();
 
   bool load();
   void setCurrentSegment(int seg_num);
   void setCallback(const std::function<void()> &callback) { onSegmentMergedCallback_ = callback; }
   void setFilters(const std::vector<bool> &filters) { filters_ = filters; }
-  const std::shared_ptr<EventData> getEventData() const { return std::atomic_load(&event_data_); }
+  const std::shared_ptr<EventData> getEventData() const { return event_data_; }
   bool hasSegment(int n) const { return segments_.find(n) != segments_.end(); }
 
   Route route_;
diff --git a/tools/replay/timeline.cc b/tools/replay/timeline.cc
index a4c2ffb700c1a4..d836de972b60f0 100644
--- a/tools/replay/timeline.cc
+++ b/tools/replay/timeline.cc
@@ -1,7 +1,7 @@
 #include "tools/replay/timeline.h"
 
-#include <algorithm>
 #include <array>
+#include <algorithm>
 
 #include "cereal/gen/cpp/log.capnp.h"
 
@@ -74,7 +74,7 @@ void Timeline::buildTimeline(const Route &route, uint64_t route_start_ts, bool l
     // Sort and finalize the timeline entries
     auto entries = std::make_shared<std::vector<Entry>>(staging_entries_);
     std::sort(entries->begin(), entries->end(), [](auto &a, auto &b) { return a.start_time < b.start_time; });
-    std::atomic_store(&timeline_entries_, std::move(entries));
+    timeline_entries_ = entries;
 
     callback(log);  // Notify the callback once the log is processed
   }
diff --git a/tools/replay/timeline.h b/tools/replay/timeline.h
index 74add9e5cc4623..689a80635f9b0d 100644
--- a/tools/replay/timeline.h
+++ b/tools/replay/timeline.h
@@ -27,20 +27,20 @@ class Timeline {
                   std::function<void(std::shared_ptr<LogReader>)> callback);
   std::optional<uint64_t> find(double cur_ts, FindFlag flag) const;
   std::optional<Entry> findAlertAtTime(double target_time) const;
-  const std::shared_ptr<std::vector<Entry>> getEntries() const { return std::atomic_load(&timeline_entries_); }
+  const std::shared_ptr<std::vector<Entry>> getEntries() const { return timeline_entries_; }
 
 private:
-  void buildTimeline(const Route &route, uint64_t route_start_ts, bool local_cache,
-                     std::function<void(std::shared_ptr<LogReader>)> callback);
-  void updateEngagementStatus(const cereal::SelfdriveState::Reader &cs, std::optional<size_t> &idx, double seconds);
-  void updateAlertStatus(const cereal::SelfdriveState::Reader &cs, std::optional<size_t> &idx, double seconds);
+ void buildTimeline(const Route &route, uint64_t route_start_ts, bool local_cache,
+                    std::function<void(std::shared_ptr<LogReader>)> callback);
+ void updateEngagementStatus(const cereal::SelfdriveState::Reader &cs, std::optional<size_t> &idx, double seconds);
+ void updateAlertStatus(const cereal::SelfdriveState::Reader &cs, std::optional<size_t> &idx, double seconds);
 
-  std::thread thread_;
-  std::atomic<bool> should_exit_ = false;
+ std::thread thread_;
+ std::atomic<bool> should_exit_ = false;
 
-  // Temporarily holds entries before they are sorted and finalized
-  std::vector<Entry> staging_entries_;
+ // Temporarily holds entries before they are sorted and finalized
+ std::vector<Entry> staging_entries_;
 
-  // Final sorted timeline entries
-  std::shared_ptr<std::vector<Entry>> timeline_entries_;
+ // Final sorted timeline entries
+ std::shared_ptr<std::vector<Entry>> timeline_entries_;
 };
diff --git a/tools/rerun/README.md b/tools/rerun/README.md
index 11a8d33ee16ab6..dc0a901e60fed5 100644
--- a/tools/rerun/README.md
+++ b/tools/rerun/README.md
@@ -24,14 +24,14 @@ options:
 
 Examples using route name to observe accelerometer and qcamera:
 
-`./run.py --qcam "a2a0ccea32023010/2023-07-27--13-01-19"`
+`./run.sh --qcam "a2a0ccea32023010/2023-07-27--13-01-19"`
 
 Examples using segment range (more on [SegmentRange](https://github.com/commaai/openpilot/tree/master/tools/lib)):
 
-`./run.py --qcam "a2a0ccea32023010/2023-07-27--13-01-19/2:4"`
+`./run.sh --qcam "a2a0ccea32023010/2023-07-27--13-01-19/2:4"`
 
 ## Cautions:
 - Showing hevc videos (`--fcam`, `--ecam`, and `--dcam`)  are expensive, and it's recommended to use `--qcam` for optimized performance. If possible, limiting your route to a few segments using `SegmentRange` will speed up logging and reduce memory usage
 
 ## Demo
-`./run.py --qcam --demo`
+`./run.sh --qcam --demo`
diff --git a/tools/rerun/run.sh b/tools/rerun/run.sh
new file mode 100755
index 00000000000000..0c026153603cbc
--- /dev/null
+++ b/tools/rerun/run.sh
@@ -0,0 +1,9 @@
+#!/usr/bin/env bash
+
+# TODO: remove this file once Rerun has interface to set log message level
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+
+RUST_LOG=warn $DIR/run.py $@
+
diff --git a/tools/webcam/README.md b/tools/webcam/README.md
index f4b46d1f66b23c..c756069bb5d683 100644
--- a/tools/webcam/README.md
+++ b/tools/webcam/README.md
@@ -1,7 +1,7 @@
 # Run openpilot with webcam on PC
 
 What's needed:
-- Ubuntu 24.04 ([WSL2 is not supported](https://github.com/commaai/openpilot/issues/34216))
+- Ubuntu 24.04
 - GPU (recommended)
 - Two USB webcams, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615)
 - [Car harness](https://comma.ai/shop/products/comma-car-harness) with black panda to connect to your car
@@ -9,27 +9,29 @@ What's needed:
 That's it!
 
 ## Setup openpilot
-- Follow [this readme](../README.md) to install and build the requirements
-- Install OpenCL Driver
 ```
-sudo apt install pocl-opencl-icd
+cd ~
+git clone https://github.com/commaai/openpilot.git
+```
+- Follow [this readme](https://github.com/commaai/openpilot/tree/master/tools) to install the requirements
+- Install [OpenCL Driver](https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532/l_opencl_p_18.1.0.015.tgz)
+
+## Build openpilot for webcam
+```
+cd ~/openpilot
+USE_WEBCAM=1 scons -j$(nproc)
 ```
 
 ## Connect the hardware
 - Connect the road facing camera first, then the driver facing camera
+- (default indexes are 1 and 2; can be modified in system/camerad/cameras/camera_webcam.cc)
 - Connect your computer to panda
 
 ## GO
 ```
-USE_WEBCAM=1 system/manager/manager.py
+cd ~/openpilot/system/manager
+NOSENSOR=1 USE_WEBCAM=1 ./manager.py
 ```
 - Start the car, then the UI should show the road webcam's view
-- Adjust and secure the webcams.
+- Adjust and secure the webcams (you can run tools/webcam/front_mount_helper.py to help mount the driver camera)
 - Finish calibration and engage!
-
-## Specify Cameras
-
-Use the `ROAD_CAM`, `DRIVER_CAM`, and optional `WIDE_CAM` environment variables to specify which camera is which (ie. `DRIVER_CAM=2` uses `/dev/video2` for the driver-facing camera):
-```
-USE_WEBCAM=1 ROAD_CAM=4 WIDE_CAM=6 system/manager/manager.py
-```
diff --git a/tools/webcam/camerad.py b/tools/webcam/camerad.py
index a0916ed5ee4ee6..778fefb8344667 100755
--- a/tools/webcam/camerad.py
+++ b/tools/webcam/camerad.py
@@ -9,14 +9,14 @@
 from openpilot.tools.webcam.camera import Camera
 from openpilot.common.realtime import Ratekeeper
 
-WIDE_CAM = os.getenv("WIDE_CAM")
+DUAL_CAM = os.getenv("DUAL_CAMERA")
 CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"])
 CAMERAS = [
-  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("ROAD_CAM", "0")),
-  CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("DRIVER_CAM", "2")),
+  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("CAMERA_ROAD_ID", "/dev/video0")),
+  CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("CAMERA_DRIVER_ID", "/dev/video1")),
 ]
-if WIDE_CAM:
-  CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, WIDE_CAM))
+if DUAL_CAM:
+  CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, DUAL_CAM))
 
 class Camerad:
   def __init__(self):
@@ -25,9 +25,8 @@ def __init__(self):
 
     self.cameras = []
     for c in CAMERAS:
-      cam_device = f"/dev/video{c.cam_id}"
-      print(f"opening {c.msg_name} at {cam_device}")
-      cam = Camera(c.msg_name, c.stream_type, cam_device)
+      print(f"opening {c.msg_name} at {c.cam_id}")
+      cam = Camera(c.msg_name, c.stream_type, c.cam_id)
       self.cameras.append(cam)
       self.vipc_server.create_buffers(c.stream_type, 20, cam.W, cam.H)
 
diff --git a/tools/webcam/start_camerad.sh b/tools/webcam/start_camerad.sh
new file mode 100755
index 00000000000000..aefc4c062a00aa
--- /dev/null
+++ b/tools/webcam/start_camerad.sh
@@ -0,0 +1,14 @@
+#!/usr/bin/env bash
+
+# export the block below when call manager.py
+export BLOCK="${BLOCK},camerad"
+export USE_WEBCAM="1"
+
+# Change camera index according to your setting
+export CAMERA_ROAD_ID="/dev/video0"
+export CAMERA_DRIVER_ID="/dev/video1"
+#export DUAL_CAMERA="/dev/video2" # optional, camera index for wide road camera
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+
+$DIR/camerad.py
diff --git a/uv.lock b/uv.lock
index e25fd79c42cc30..f1a5fa99150180 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,12 +1,12 @@
 version = 1
 requires-python = ">=3.11, <3.13"
 resolution-markers = [
-    "python_full_version >= '3.12' and sys_platform == 'darwin'",
-    "python_full_version >= '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
-    "(python_full_version >= '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version >= '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')",
-    "python_full_version < '3.12' and sys_platform == 'darwin'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
-    "(python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')",
+    "python_full_version < '3.12' and platform_system == 'Darwin'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'",
+    "(python_full_version < '3.12' and platform_machine != 'aarch64' and platform_system == 'Linux') or (python_full_version < '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
+    "python_full_version >= '3.12' and platform_system == 'Darwin'",
+    "python_full_version >= '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'",
+    "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_system == 'Linux') or (python_full_version >= '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
 ]
 
 [[package]]
@@ -20,7 +20,7 @@ wheels = [
 
 [[package]]
 name = "aiohttp"
-version = "3.11.11"
+version = "3.11.10"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -31,38 +31,38 @@ dependencies = [
     { name = "propcache" },
     { name = "yarl" },
 ]
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@@ -5028,7 +5063,7 @@ name = "tqdm"
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 source = { registry = "https://pypi.org/simple" }
 dependencies = [
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@@ -5067,11 +5102,11 @@ wheels = [
 
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 [[package]]

From 9e6656fd2e289fd919e1a752409fecf0d8b8133f Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Thu, 9 Jan 2025 10:51:17 +0100
Subject: [PATCH 0053/1434] models: Fix cache expiration logic in fetcher.py

Ensure the cache is treated as expired when last_sync is zero. This prevents potential issues with uninitialized or missing sync timestamps, enhancing reliability.
---
 sunnypilot/models/fetcher.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 67f7efbae978c4..451092ab4c8de8 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -92,7 +92,7 @@ def _is_expired(self) -> bool:
     """Checks if the cache has expired"""
     current_time = int(time.monotonic() * 1e9)
     last_sync = int(self.params.get(self._LAST_SYNC_KEY, encoding="utf-8") or 0)
-    return (current_time - last_sync) >= self.cache_timeout
+    return last_sync == 0 or (current_time - last_sync) >= self.cache_timeout
 
   def get(self) -> tuple[dict, bool]:
     """

From d5f588783052b375a9bd257baf72969dd2babf4c Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Fri, 10 Jan 2025 10:04:38 +0100
Subject: [PATCH 0054/1434] CI: Increase test report creation timeout and
 improve build times (#545)

* Increase timeout for test report creation by 1 minute

Adjusted the `timeout-minutes` value to allow more time for the
test report creation step.

* Add script to disable power save in build workflow

This commit integrates the `disable-powersave.py` script into the sunnypilot build workflow. It ensures power save mode is disabled during the build process, improving reliability and consistency.

* Set PYTHONPATH before running disable-powersave.py

The change ensures the correct Python module path is set when executing the disable-powersave script. This update prevents potential import issues by including the GitHub workspace in the PYTHONPATH.

* Refactor powersave handling with a dedicated script

Replaced inline powersave disable logic with a new script `manage-powersave.py` to handle enabling and disabling power saving mode. Updated the CI workflow to use this script and added a step to re-enable powersave after builds. This improves clarity and modularity for power management operations.

* Enable CPU core count display in power save script

Introduce multiprocessing to show the number of CPU cores available. Added messages to indicate power save mode state and core count, improving script feedback and user clarity.

* Refine power save mode logging output.

Improve clarity of logging messages in `manage-powersave.py` by indicating CPU core counts before and after applying changes. Simplified the power save state message for better readability.

* Updated scons cache key restore logic in GitHub workflows

This commit updates the restore key logic in two GitHub workflow config files (sunnypilot-build-model.yaml and sunnypilot-build-prebuilt.yaml). The restore key sequence has been revised for improved accuracy and consistency. This should optimize the cache hit rate and speed up the subsequent builds.

* Add comments on GitHub Actions cache isolation behavior

Clarifies the cache isolation enforced by GitHub Actions for security reasons. Notes that only caches from the default branch are shared across all builds, and this behavior cannot be changed. This improves maintainability and understanding of the workflow configuration.
---
 .github/workflows/selfdrive_tests.yaml        |  2 +-
 .github/workflows/sunnypilot-build-model.yaml |  9 ++++---
 .../workflows/sunnypilot-build-prebuilt.yaml  | 11 ++++++--
 scripts/manage-powersave.py                   | 27 +++++++++++++++++++
 4 files changed, 43 insertions(+), 6 deletions(-)
 create mode 100755 scripts/manage-powersave.py

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index d0e34860205341..a0ecf017cfb143 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -352,7 +352,7 @@ jobs:
       - name: Build openpilot
         run: ${{ env.RUN }} "scons -j$(nproc)"
       - name: Create Test Report
-        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 1 || 3) }}
+        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 2 || 4) }}
         run: >
             ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                             source selfdrive/test/setup_xvfb.sh &&
diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml
index 9b700e186fb2a9..cef5badf2dc7b8 100644
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -37,12 +37,15 @@ jobs:
         with:
           path: ${{env.SCONS_CACHE_DIR}}
           key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
+          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
+          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
           restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
             scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
             scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
-            scons-${{ runner.os }}-${{ runner.arch }}-master-new
-            scons-${{ runner.os }}-${{ runner.arch }}-master
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
 
       - name: Setup build environment
diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 1c450425d702db..8bb84cda83ece4 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -51,9 +51,10 @@ jobs:
         with:
           path: ${{env.SCONS_CACHE_DIR}}
           key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-${{ github.sha }}
+          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
+          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
           restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.ref_name }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
@@ -119,6 +120,7 @@ jobs:
           if [[ "${{ runner.debug }}" == "1" ]]; then
             printenv
           fi
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
 
       - name: Build Panda
         run: |
@@ -187,6 +189,11 @@ jobs:
           name: prebuilt
           path: prebuilt.tar.gz
 
+      - name: Re-enable powersave
+        if: always()
+        run: |
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
+
   publish:
     concurrency:
       group: publish-${{ github.head_ref || github.ref_name }}
diff --git a/scripts/manage-powersave.py b/scripts/manage-powersave.py
new file mode 100755
index 00000000000000..1a82810a7f9543
--- /dev/null
+++ b/scripts/manage-powersave.py
@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+import argparse
+import multiprocessing
+from openpilot.system.hardware import HARDWARE
+
+
+def main():
+  parser = argparse.ArgumentParser(description='Control power saving mode')
+  parser.add_argument('--enable', action='store_true', help='Enable power saving mode')
+  parser.add_argument('--disable', action='store_true', help='Disable power saving mode')
+  args = parser.parse_args()
+
+  if args.enable and args.disable:
+    parser.error("Cannot specify both --enable and --disable")
+  elif not (args.enable or args.disable):
+    parser.error("Must specify either --enable or --disable")
+
+  print(f"Number of CPU cores available before: [{multiprocessing.cpu_count()}]")
+  HARDWARE.set_power_save(args.enable)
+
+  state = "enabled" if args.enable else "disabled"
+  print(f"Power save mode set to: [{state}]")
+  print(f"Number of CPU cores available now: [{multiprocessing.cpu_count()}]")
+
+
+if __name__ == "__main__":
+  main()

From 56aa07844a3b4316691ba454692016d23b8cd00a Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 10 Jan 2025 08:56:10 -0500
Subject: [PATCH 0055/1434] modeld: retain SNPE and thneed drive model support
 (#530)

* modeld: Retain pre-20hz drive model support

* Method not available anymore on OP

* some fixes

* Revert "Long planner get accel: new function args (#34288)"

* Revert "Fix low-speed allow_throttle behavior in long planner (#33894)"

* Revert "long planner: allow throttle reflects usage (#33792)"

* Revert "Gate acceleration on model gas press predictions (#33643)"

* Reapply "Gate acceleration on model gas press predictions (#33643)"

This reverts commit 76b08e37cb8eb94266ad9f6fed80db227e7c3428.

* Reapply "long planner: allow throttle reflects usage (#33792)"

This reverts commit c75244ca4e9c48084b0205b7c871e1a4e0f4e693.

* Reapply "Fix low-speed allow_throttle behavior in long planner (#33894)"

This reverts commit b2b7d21b7b685a2785d1beede3d223f0bb954807.

* Reapply "Long planner get accel: new function args (#34288)"

This reverts commit 74dca2fccf4da59cc8ac62ba9c0ad10ba3fc264b.

* don't need

* retain snpe

* wrong

* they're symlinks

* remove

* put back into VCS

* add back

* don't include built

* Refactor model runner retrieval with caching support

Added caching for active model runner type via `ModelRunnerTypeCache` to enhance performance and avoid redundant checks. Introduced a `force_check` flag to bypass the cache when necessary. Updated related code to handle cache clearing during onroad transitions.

* Update model runner determination logic with caching fix

Enhances `get_active_model_runner` to utilize caching more effectively by ensuring type consistency and updating cache only when necessary. Also updates `is_snpe_model` to pass the `started` state to the runner determination function, improving behavior for dynamic checks.

* default to none

* enable in next PR

* more

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .gitignore                                    |   3 +
 .gitmodules                                   |   2 +-
 SConstruct                                    |   2 +
 cereal/custom.capnp                           |   5 +
 common/params.cc                              |   1 +
 sunnypilot/SConscript                         |   1 +
 sunnypilot/modeld/.gitignore                  |   1 +
 sunnypilot/modeld/SConscript                  |  65 +++
 sunnypilot/modeld/__init__.py                 |   0
 sunnypilot/modeld/constants.py                |  85 +++
 sunnypilot/modeld/fill_model_msg.py           | 220 +++++++
 sunnypilot/modeld/get_model_metadata.py       |  28 +
 sunnypilot/modeld/modeld                      |  10 +
 sunnypilot/modeld/modeld.py                   | 296 ++++++++++
 sunnypilot/modeld/models/__init__.py          |   0
 sunnypilot/modeld/models/commonmodel.cc       |  50 ++
 sunnypilot/modeld/models/commonmodel.h        |  36 ++
 sunnypilot/modeld/models/commonmodel.pxd      |  18 +
 sunnypilot/modeld/models/commonmodel_pyx.pxd  |  13 +
 sunnypilot/modeld/models/commonmodel_pyx.pyx  |  45 ++
 sunnypilot/modeld/models/supercombo.onnx      |   3 +
 sunnypilot/modeld/parse_model_outputs.py      | 105 ++++
 sunnypilot/modeld/runners/__init__.py         |  27 +
 sunnypilot/modeld/runners/onnxmodel.py        |  98 ++++
 sunnypilot/modeld/runners/run.h               |   4 +
 sunnypilot/modeld/runners/runmodel.h          |  49 ++
 sunnypilot/modeld/runners/runmodel.pxd        |  14 +
 sunnypilot/modeld/runners/runmodel_pyx.pxd    |   6 +
 sunnypilot/modeld/runners/runmodel_pyx.pyx    |  37 ++
 sunnypilot/modeld/runners/snpemodel.cc        | 116 ++++
 sunnypilot/modeld/runners/snpemodel.h         |  52 ++
 sunnypilot/modeld/runners/snpemodel.pxd       |   9 +
 sunnypilot/modeld/runners/snpemodel_pyx.pyx   |  17 +
 sunnypilot/modeld/runners/thneedmodel.cc      |  58 ++
 sunnypilot/modeld/runners/thneedmodel.h       |  17 +
 sunnypilot/modeld/runners/thneedmodel.pxd     |   9 +
 sunnypilot/modeld/runners/thneedmodel_pyx.pyx |  14 +
 sunnypilot/modeld/thneed/README               |   8 +
 sunnypilot/modeld/thneed/__init__.py          |   0
 sunnypilot/modeld/thneed/serialize.cc         | 154 +++++
 sunnypilot/modeld/thneed/thneed.h             | 133 +++++
 sunnypilot/modeld/thneed/thneed_common.cc     | 216 +++++++
 sunnypilot/modeld/thneed/thneed_pc.cc         |  32 ++
 sunnypilot/modeld/thneed/thneed_qcom2.cc      | 258 +++++++++
 sunnypilot/modeld/transforms/loadyuv.cc       |  74 +++
 sunnypilot/modeld/transforms/loadyuv.cl       |  47 ++
 sunnypilot/modeld/transforms/loadyuv.h        |  16 +
 sunnypilot/modeld/transforms/transform.cc     |  97 ++++
 sunnypilot/modeld/transforms/transform.cl     |  54 ++
 sunnypilot/modeld/transforms/transform.h      |  25 +
 sunnypilot/models/helpers.py                  |  49 +-
 system/manager/process_config.py              |  12 +-
 .../libPlatformValidatorShared.so             |   3 +
 .../snpe/aarch64-ubuntu-gcc7.5/libSNPE.so     |   3 +
 .../aarch64-ubuntu-gcc7.5/libcalculator.so    |   3 +
 .../snpe/aarch64-ubuntu-gcc7.5/libhta.so      |   3 +
 .../libsnpe_dsp_domains_v2.so                 |   3 +
 third_party/snpe/dsp/libcalculator_skel.so    |   3 +
 .../dsp/libsnpe_dsp_v65_domains_v2_skel.so    |   3 +
 .../dsp/libsnpe_dsp_v66_domains_v2_skel.so    |   3 +
 .../dsp/libsnpe_dsp_v68_domains_v3_skel.so    |   3 +
 third_party/snpe/include/DiagLog/IDiagLog.hpp |  84 +++
 third_party/snpe/include/DiagLog/Options.hpp  |  79 +++
 .../snpe/include/DlContainer/IDlContainer.hpp | 191 +++++++
 third_party/snpe/include/DlSystem/DlEnums.hpp | 234 ++++++++
 third_party/snpe/include/DlSystem/DlError.hpp | 259 +++++++++
 .../snpe/include/DlSystem/DlOptional.hpp      | 225 ++++++++
 .../snpe/include/DlSystem/DlVersion.hpp       |  78 +++
 .../include/DlSystem/IBufferAttributes.hpp    |  86 +++
 .../include/DlSystem/IOBufferDataTypeMap.hpp  | 127 +++++
 third_party/snpe/include/DlSystem/ITensor.hpp | 146 +++++
 .../snpe/include/DlSystem/ITensorFactory.hpp  |  92 +++
 .../snpe/include/DlSystem/ITensorItr.hpp      | 182 ++++++
 .../snpe/include/DlSystem/ITensorItrImpl.hpp  |  42 ++
 third_party/snpe/include/DlSystem/IUDL.hpp    | 105 ++++
 .../snpe/include/DlSystem/IUserBuffer.hpp     | 358 ++++++++++++
 .../include/DlSystem/IUserBufferFactory.hpp   |  81 +++
 .../snpe/include/DlSystem/PlatformConfig.hpp  | 230 ++++++++
 .../snpe/include/DlSystem/RuntimeList.hpp     | 154 +++++
 third_party/snpe/include/DlSystem/String.hpp  | 104 ++++
 .../snpe/include/DlSystem/StringList.hpp      | 107 ++++
 .../snpe/include/DlSystem/TensorMap.hpp       | 120 ++++
 .../snpe/include/DlSystem/TensorShape.hpp     | 203 +++++++
 .../snpe/include/DlSystem/TensorShapeMap.hpp  | 127 +++++
 .../snpe/include/DlSystem/UDLContext.hpp      | 243 ++++++++
 third_party/snpe/include/DlSystem/UDLFunc.hpp |  87 +++
 .../snpe/include/DlSystem/UserBufferMap.hpp   | 122 ++++
 .../snpe/include/DlSystem/UserMemoryMap.hpp   | 129 +++++
 .../snpe/include/DlSystem/ZdlExportDefine.hpp |  13 +
 .../PlatformValidator/PlatformValidator.hpp   | 118 ++++
 .../include/SNPE/ApplicationBufferMap.hpp     | 101 ++++
 third_party/snpe/include/SNPE/PSNPE.hpp       | 205 +++++++
 .../snpe/include/SNPE/RuntimeConfigList.hpp   |  85 +++
 third_party/snpe/include/SNPE/SNPE.hpp        | 258 +++++++++
 third_party/snpe/include/SNPE/SNPEBuilder.hpp | 306 ++++++++++
 third_party/snpe/include/SNPE/SNPEFactory.hpp | 220 +++++++
 .../snpe/include/SNPE/UserBufferList.hpp      |  49 ++
 third_party/snpe/include/SnpeUdo/UdoBase.h    | 537 ++++++++++++++++++
 third_party/snpe/include/SnpeUdo/UdoImpl.h    | 343 +++++++++++
 third_party/snpe/include/SnpeUdo/UdoImplCpu.h |  44 ++
 third_party/snpe/include/SnpeUdo/UdoImplDsp.h | 207 +++++++
 third_party/snpe/include/SnpeUdo/UdoImplGpu.h | 112 ++++
 third_party/snpe/include/SnpeUdo/UdoReg.h     | 108 ++++
 third_party/snpe/include/SnpeUdo/UdoShared.h  |  48 ++
 third_party/snpe/larch64                      |   1 +
 third_party/snpe/x86_64                       |   1 +
 .../snpe/x86_64-linux-clang/libHtpPrepare.so  |   3 +
 .../snpe/x86_64-linux-clang/libSNPE.so        |   3 +
 third_party/snpe/x86_64-linux-clang/libomp.so |   3 +
 109 files changed, 9475 insertions(+), 3 deletions(-)
 create mode 100644 sunnypilot/SConscript
 create mode 100644 sunnypilot/modeld/.gitignore
 create mode 100644 sunnypilot/modeld/SConscript
 create mode 100644 sunnypilot/modeld/__init__.py
 create mode 100644 sunnypilot/modeld/constants.py
 create mode 100644 sunnypilot/modeld/fill_model_msg.py
 create mode 100755 sunnypilot/modeld/get_model_metadata.py
 create mode 100755 sunnypilot/modeld/modeld
 create mode 100755 sunnypilot/modeld/modeld.py
 create mode 100644 sunnypilot/modeld/models/__init__.py
 create mode 100644 sunnypilot/modeld/models/commonmodel.cc
 create mode 100644 sunnypilot/modeld/models/commonmodel.h
 create mode 100644 sunnypilot/modeld/models/commonmodel.pxd
 create mode 100644 sunnypilot/modeld/models/commonmodel_pyx.pxd
 create mode 100644 sunnypilot/modeld/models/commonmodel_pyx.pyx
 create mode 100644 sunnypilot/modeld/models/supercombo.onnx
 create mode 100644 sunnypilot/modeld/parse_model_outputs.py
 create mode 100644 sunnypilot/modeld/runners/__init__.py
 create mode 100644 sunnypilot/modeld/runners/onnxmodel.py
 create mode 100644 sunnypilot/modeld/runners/run.h
 create mode 100644 sunnypilot/modeld/runners/runmodel.h
 create mode 100644 sunnypilot/modeld/runners/runmodel.pxd
 create mode 100644 sunnypilot/modeld/runners/runmodel_pyx.pxd
 create mode 100644 sunnypilot/modeld/runners/runmodel_pyx.pyx
 create mode 100644 sunnypilot/modeld/runners/snpemodel.cc
 create mode 100644 sunnypilot/modeld/runners/snpemodel.h
 create mode 100644 sunnypilot/modeld/runners/snpemodel.pxd
 create mode 100644 sunnypilot/modeld/runners/snpemodel_pyx.pyx
 create mode 100644 sunnypilot/modeld/runners/thneedmodel.cc
 create mode 100644 sunnypilot/modeld/runners/thneedmodel.h
 create mode 100644 sunnypilot/modeld/runners/thneedmodel.pxd
 create mode 100644 sunnypilot/modeld/runners/thneedmodel_pyx.pyx
 create mode 100644 sunnypilot/modeld/thneed/README
 create mode 100644 sunnypilot/modeld/thneed/__init__.py
 create mode 100644 sunnypilot/modeld/thneed/serialize.cc
 create mode 100644 sunnypilot/modeld/thneed/thneed.h
 create mode 100644 sunnypilot/modeld/thneed/thneed_common.cc
 create mode 100644 sunnypilot/modeld/thneed/thneed_pc.cc
 create mode 100644 sunnypilot/modeld/thneed/thneed_qcom2.cc
 create mode 100644 sunnypilot/modeld/transforms/loadyuv.cc
 create mode 100644 sunnypilot/modeld/transforms/loadyuv.cl
 create mode 100644 sunnypilot/modeld/transforms/loadyuv.h
 create mode 100644 sunnypilot/modeld/transforms/transform.cc
 create mode 100644 sunnypilot/modeld/transforms/transform.cl
 create mode 100644 sunnypilot/modeld/transforms/transform.h
 create mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
 create mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
 create mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
 create mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
 create mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
 create mode 100644 third_party/snpe/dsp/libcalculator_skel.so
 create mode 100644 third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
 create mode 100644 third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
 create mode 100644 third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
 create mode 100644 third_party/snpe/include/DiagLog/IDiagLog.hpp
 create mode 100644 third_party/snpe/include/DiagLog/Options.hpp
 create mode 100644 third_party/snpe/include/DlContainer/IDlContainer.hpp
 create mode 100644 third_party/snpe/include/DlSystem/DlEnums.hpp
 create mode 100644 third_party/snpe/include/DlSystem/DlError.hpp
 create mode 100644 third_party/snpe/include/DlSystem/DlOptional.hpp
 create mode 100644 third_party/snpe/include/DlSystem/DlVersion.hpp
 create mode 100644 third_party/snpe/include/DlSystem/IBufferAttributes.hpp
 create mode 100644 third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
 create mode 100644 third_party/snpe/include/DlSystem/ITensor.hpp
 create mode 100644 third_party/snpe/include/DlSystem/ITensorFactory.hpp
 create mode 100644 third_party/snpe/include/DlSystem/ITensorItr.hpp
 create mode 100644 third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
 create mode 100644 third_party/snpe/include/DlSystem/IUDL.hpp
 create mode 100644 third_party/snpe/include/DlSystem/IUserBuffer.hpp
 create mode 100644 third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
 create mode 100644 third_party/snpe/include/DlSystem/PlatformConfig.hpp
 create mode 100644 third_party/snpe/include/DlSystem/RuntimeList.hpp
 create mode 100644 third_party/snpe/include/DlSystem/String.hpp
 create mode 100644 third_party/snpe/include/DlSystem/StringList.hpp
 create mode 100644 third_party/snpe/include/DlSystem/TensorMap.hpp
 create mode 100644 third_party/snpe/include/DlSystem/TensorShape.hpp
 create mode 100644 third_party/snpe/include/DlSystem/TensorShapeMap.hpp
 create mode 100644 third_party/snpe/include/DlSystem/UDLContext.hpp
 create mode 100644 third_party/snpe/include/DlSystem/UDLFunc.hpp
 create mode 100644 third_party/snpe/include/DlSystem/UserBufferMap.hpp
 create mode 100644 third_party/snpe/include/DlSystem/UserMemoryMap.hpp
 create mode 100644 third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
 create mode 100644 third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
 create mode 100644 third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
 create mode 100644 third_party/snpe/include/SNPE/PSNPE.hpp
 create mode 100644 third_party/snpe/include/SNPE/RuntimeConfigList.hpp
 create mode 100644 third_party/snpe/include/SNPE/SNPE.hpp
 create mode 100644 third_party/snpe/include/SNPE/SNPEBuilder.hpp
 create mode 100644 third_party/snpe/include/SNPE/SNPEFactory.hpp
 create mode 100644 third_party/snpe/include/SNPE/UserBufferList.hpp
 create mode 100644 third_party/snpe/include/SnpeUdo/UdoBase.h
 create mode 100644 third_party/snpe/include/SnpeUdo/UdoImpl.h
 create mode 100644 third_party/snpe/include/SnpeUdo/UdoImplCpu.h
 create mode 100644 third_party/snpe/include/SnpeUdo/UdoImplDsp.h
 create mode 100644 third_party/snpe/include/SnpeUdo/UdoImplGpu.h
 create mode 100644 third_party/snpe/include/SnpeUdo/UdoReg.h
 create mode 100644 third_party/snpe/include/SnpeUdo/UdoShared.h
 create mode 120000 third_party/snpe/larch64
 create mode 120000 third_party/snpe/x86_64
 create mode 100644 third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
 create mode 100644 third_party/snpe/x86_64-linux-clang/libSNPE.so
 create mode 100755 third_party/snpe/x86_64-linux-clang/libomp.so

diff --git a/.gitignore b/.gitignore
index a58a46fef9c045..4e393b88f0233b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -74,6 +74,9 @@ comma*.sh
 selfdrive/modeld/thneed/compile
 selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl
+sunnypilot/modeld/thneed/compile
+sunnypilot/modeld/models/*.thneed
+sunnypilot/modeld/models/*.pkl
 
 *.bz2
 *.zst
diff --git a/.gitmodules b/.gitmodules
index 10fa733cf38f7b..f1f7c400dbf050 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -15,4 +15,4 @@
   url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/tinygrad/tinygrad.git
\ No newline at end of file
+  url = https://github.com/commaai/tinygrad.git
diff --git a/SConstruct b/SConstruct
index ee52fd12035473..de02874102720c 100644
--- a/SConstruct
+++ b/SConstruct
@@ -392,6 +392,8 @@ SConscript(['third_party/SConscript'])
 
 SConscript(['selfdrive/SConscript'])
 
+SConscript(['sunnypilot/SConscript'])
+
 if Dir('#tools/cabana/').exists() and GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
   if arch != "larch64":
diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index b2575256d808e5..5007d0675230a4 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -64,6 +64,11 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     progress @1 :Float32;
     eta @2 :UInt32;
   }
+  
+  enum Runner {
+    snpe @0;
+    tinygrad @1;
+  }
 
   struct ModelBundle {
     index @0 :UInt32;
diff --git a/common/params.cc b/common/params.cc
index cd4c4060301f3a..7c1b21c00c4c3f 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -203,6 +203,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     // --- sunnypilot params --- //
     {"ApiCache_DriveStats", PERSISTENT},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
+    {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
 
     // MADS params
     {"Mads", PERSISTENT | BACKUP},
diff --git a/sunnypilot/SConscript b/sunnypilot/SConscript
new file mode 100644
index 00000000000000..8bc5b84ef50131
--- /dev/null
+++ b/sunnypilot/SConscript
@@ -0,0 +1 @@
+SConscript(['modeld/SConscript'])
\ No newline at end of file
diff --git a/sunnypilot/modeld/.gitignore b/sunnypilot/modeld/.gitignore
new file mode 100644
index 00000000000000..742d3d120534b5
--- /dev/null
+++ b/sunnypilot/modeld/.gitignore
@@ -0,0 +1 @@
+*_pyx.cpp
diff --git a/sunnypilot/modeld/SConscript b/sunnypilot/modeld/SConscript
new file mode 100644
index 00000000000000..2704974da791bb
--- /dev/null
+++ b/sunnypilot/modeld/SConscript
@@ -0,0 +1,65 @@
+import glob
+
+Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
+lenv = env.Clone()
+lenvCython = envCython.Clone()
+
+libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'kj', 'pthread']
+frameworks = []
+
+common_src = [
+  "models/commonmodel.cc",
+  "transforms/loadyuv.cc",
+  "transforms/transform.cc",
+]
+
+thneed_src_common = [
+  "thneed/thneed_common.cc",
+  "thneed/serialize.cc",
+]
+
+thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"]
+thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"]
+thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc
+
+# SNPE except on Mac and ARM Linux
+snpe_lib = []
+if arch != "Darwin" and arch != "aarch64":
+  common_src += ['runners/snpemodel.cc']
+  snpe_lib += ['SNPE']
+
+# OpenCL is a framework on Mac
+if arch == "Darwin":
+  frameworks += ['OpenCL']
+else:
+  libs += ['OpenCL']
+
+# Set path definitions
+for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
+  for xenv in (lenv, lenvCython):
+    xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
+
+# Compile cython
+snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64"
+snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
+snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
+
+cython_libs = envCython["LIBS"] + libs
+snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc'])
+commonmodel_lib = lenv.Library('commonmodel', common_src)
+
+lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
+lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath)
+lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
+
+tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath)]
+
+# Get model metadata
+fn = File("models/supercombo").abspath
+cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
+lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
+
+if arch == "larch64":
+  thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
+  thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
+  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
diff --git a/sunnypilot/modeld/__init__.py b/sunnypilot/modeld/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/modeld/constants.py b/sunnypilot/modeld/constants.py
new file mode 100644
index 00000000000000..82161a5b67d225
--- /dev/null
+++ b/sunnypilot/modeld/constants.py
@@ -0,0 +1,85 @@
+import numpy as np
+
+def index_function(idx, max_val=192, max_idx=32):
+  return (max_val) * ((idx/max_idx)**2)
+
+class ModelConstants:
+  # time and distance indices
+  IDX_N = 33
+  T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]
+  X_IDXS = [index_function(idx, max_val=192.0) for idx in range(IDX_N)]
+  LEAD_T_IDXS = [0., 2., 4., 6., 8., 10.]
+  LEAD_T_OFFSETS = [0., 2., 4.]
+  META_T_IDXS = [2., 4., 6., 8., 10.]
+
+  # model inputs constants
+  MODEL_FREQ = 20
+  FEATURE_LEN = 512
+  HISTORY_BUFFER_LEN = 99
+  DESIRE_LEN = 8
+  TRAFFIC_CONVENTION_LEN = 2
+  LAT_PLANNER_STATE_LEN = 4
+  LATERAL_CONTROL_PARAMS_LEN = 2
+  PREV_DESIRED_CURV_LEN = 1
+
+  # model outputs constants
+  FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32)
+  FCW_THRESHOLDS_3MS2 = np.array([.7, .7], dtype=np.float32)
+  FCW_5MS2_PROBS_WIDTH = 5
+  FCW_3MS2_PROBS_WIDTH = 2
+
+  DISENGAGE_WIDTH = 5
+  POSE_WIDTH = 6
+  WIDE_FROM_DEVICE_WIDTH = 3
+  SIM_POSE_WIDTH = 6
+  LEAD_WIDTH = 4
+  LANE_LINES_WIDTH = 2
+  ROAD_EDGES_WIDTH = 2
+  PLAN_WIDTH = 15
+  DESIRE_PRED_WIDTH = 8
+  LAT_PLANNER_SOLUTION_WIDTH = 4
+  DESIRED_CURV_WIDTH = 1
+
+  NUM_LANE_LINES = 4
+  NUM_ROAD_EDGES = 2
+
+  LEAD_TRAJ_LEN = 6
+  DESIRE_PRED_LEN = 4
+
+  PLAN_MHP_N = 5
+  LEAD_MHP_N = 2
+  PLAN_MHP_SELECTION = 1
+  LEAD_MHP_SELECTION = 3
+
+  FCW_THRESHOLD_5MS2_HIGH = 0.15
+  FCW_THRESHOLD_5MS2_LOW = 0.05
+  FCW_THRESHOLD_3MS2 = 0.7
+
+  CONFIDENCE_BUFFER_LEN = 5
+  RYG_GREEN = 0.01165
+  RYG_YELLOW = 0.06157
+
+  POLY_PATH_DEGREE = 4
+
+# model outputs slices
+class Plan:
+  POSITION = slice(0, 3)
+  VELOCITY = slice(3, 6)
+  ACCELERATION = slice(6, 9)
+  T_FROM_CURRENT_EULER = slice(9, 12)
+  ORIENTATION_RATE = slice(12, 15)
+
+class Meta:
+  ENGAGED = slice(0, 1)
+  # next 2, 4, 6, 8, 10 seconds
+  GAS_DISENGAGE = slice(1, 31, 6)
+  BRAKE_DISENGAGE = slice(2, 31, 6)
+  STEER_OVERRIDE = slice(3, 31, 6)
+  HARD_BRAKE_3 = slice(4, 31, 6)
+  HARD_BRAKE_4 = slice(5, 31, 6)
+  HARD_BRAKE_5 = slice(6, 31, 6)
+  # next 0, 2, 4, 6, 8, 10 seconds
+  GAS_PRESS = slice(31, 55, 4)
+  BRAKE_PRESS = slice(32, 55, 4)
+  LEFT_BLINKER = slice(33, 55, 4)
+  RIGHT_BLINKER = slice(34, 55, 4)
diff --git a/sunnypilot/modeld/fill_model_msg.py b/sunnypilot/modeld/fill_model_msg.py
new file mode 100644
index 00000000000000..672e01dbe914d1
--- /dev/null
+++ b/sunnypilot/modeld/fill_model_msg.py
@@ -0,0 +1,220 @@
+import os
+import capnp
+import numpy as np
+from cereal import log
+from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan, Meta
+
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+
+ConfidenceClass = log.ModelDataV2.ConfidenceClass
+
+class PublishState:
+  def __init__(self):
+    self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
+    self.prev_brake_5ms2_probs = np.zeros(ModelConstants.FCW_5MS2_PROBS_WIDTH, dtype=np.float32)
+    self.prev_brake_3ms2_probs = np.zeros(ModelConstants.FCW_3MS2_PROBS_WIDTH, dtype=np.float32)
+
+def fill_xyzt(builder, t, x, y, z, x_std=None, y_std=None, z_std=None):
+  builder.t = t
+  builder.x = x.tolist()
+  builder.y = y.tolist()
+  builder.z = z.tolist()
+  if x_std is not None:
+    builder.xStd = x_std.tolist()
+  if y_std is not None:
+    builder.yStd = y_std.tolist()
+  if z_std is not None:
+    builder.zStd = z_std.tolist()
+
+def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std=None):
+  builder.t = t
+  builder.x = x.tolist()
+  builder.y = y.tolist()
+  builder.v = v.tolist()
+  builder.a = a.tolist()
+  if x_std is not None:
+    builder.xStd = x_std.tolist()
+  if y_std is not None:
+    builder.yStd = y_std.tolist()
+  if v_std is not None:
+    builder.vStd = v_std.tolist()
+  if a_std is not None:
+    builder.aStd = a_std.tolist()
+
+def fill_xyz_poly(builder, degree, x, y, z):
+  xyz = np.stack([x, y, z], axis=1)
+  coeffs = np.polynomial.polynomial.polyfit(ModelConstants.T_IDXS, xyz, deg=degree)
+  builder.xCoefficients = coeffs[:, 0].tolist()
+  builder.yCoefficients = coeffs[:, 1].tolist()
+  builder.zCoefficients = coeffs[:, 2].tolist()
+
+def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
+                   net_output_data: dict[str, np.ndarray], publish_state: PublishState,
+                   vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
+                   timestamp_eof: int, model_execution_time: float, valid: bool) -> None:
+  frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
+  frame_drop_perc = frame_drop * 100
+  extended_msg.valid = valid
+  base_msg.valid = valid
+
+  driving_model_data = base_msg.drivingModelData
+
+  driving_model_data.frameId = vipc_frame_id
+  driving_model_data.frameIdExtra = vipc_frame_id_extra
+  driving_model_data.frameDropPerc = frame_drop_perc
+  driving_model_data.modelExecutionTime = model_execution_time
+
+  action = driving_model_data.action
+  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+
+  modelV2 = extended_msg.modelV2
+  modelV2.frameId = vipc_frame_id
+  modelV2.frameIdExtra = vipc_frame_id_extra
+  modelV2.frameAge = frame_age
+  modelV2.frameDropPerc = frame_drop_perc
+  modelV2.timestampEof = timestamp_eof
+  modelV2.modelExecutionTime = model_execution_time
+
+  # plan
+  position = modelV2.position
+  fill_xyzt(position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T)
+  velocity = modelV2.velocity
+  fill_xyzt(velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T)
+  acceleration = modelV2.acceleration
+  fill_xyzt(acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T)
+  orientation = modelV2.orientation
+  fill_xyzt(orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
+  orientation_rate = modelV2.orientationRate
+  fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
+
+  # temporal pose
+  temporal_pose = modelV2.temporalPose
+  temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
+  temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
+  temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
+  temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
+
+  # poly path
+  poly_path = driving_model_data.path
+  fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
+
+  # lateral planning
+  action = modelV2.action
+  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+
+  # times at X_IDXS according to model plan
+  PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
+  PLAN_T_IDXS[0] = 0.0
+  plan_x = net_output_data['plan'][0,:,Plan.POSITION][:,0].tolist()
+  for xidx in range(1, ModelConstants.IDX_N):
+    tidx = 0
+    # increment tidx until we find an element that's further away than the current xidx
+    while tidx < ModelConstants.IDX_N - 1 and plan_x[tidx+1] < ModelConstants.X_IDXS[xidx]:
+      tidx += 1
+    if tidx == ModelConstants.IDX_N - 1:
+      # if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break
+      PLAN_T_IDXS[xidx] = ModelConstants.T_IDXS[ModelConstants.IDX_N - 1]
+      break
+    # interpolate to find `t` for the current xidx
+    current_x_val = plan_x[tidx]
+    next_x_val = plan_x[tidx+1]
+    p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan')
+    PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx]
+
+  # lane lines
+  modelV2.init('laneLines', 4)
+  for i in range(4):
+    lane_line = modelV2.laneLines[i]
+    fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
+  modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
+  modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
+
+  lane_line_meta = driving_model_data.laneLineMeta
+  lane_line_meta.leftY = modelV2.laneLines[1].y[0]
+  lane_line_meta.leftProb = modelV2.laneLineProbs[1]
+  lane_line_meta.rightY = modelV2.laneLines[2].y[0]
+  lane_line_meta.rightProb = modelV2.laneLineProbs[2]
+
+  # road edges
+  modelV2.init('roadEdges', 2)
+  for i in range(2):
+    road_edge = modelV2.roadEdges[i]
+    fill_xyzt(road_edge, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1])
+  modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist()
+
+  # leads
+  modelV2.init('leadsV3', 3)
+  for i in range(3):
+    lead = modelV2.leadsV3[i]
+    fill_xyvat(lead, ModelConstants.LEAD_T_IDXS, *net_output_data['lead'][0,i].T, *net_output_data['lead_stds'][0,i].T)
+    lead.prob = net_output_data['lead_prob'][0,i].tolist()
+    lead.probTime = ModelConstants.LEAD_T_OFFSETS[i]
+
+  # meta
+  meta = modelV2.meta
+  meta.desireState = net_output_data['desire_state'][0].reshape(-1).tolist()
+  meta.desirePrediction = net_output_data['desire_pred'][0].reshape(-1).tolist()
+  meta.engagedProb = net_output_data['meta'][0,Meta.ENGAGED].item()
+  meta.init('disengagePredictions')
+  disengage_predictions = meta.disengagePredictions
+  disengage_predictions.t = ModelConstants.META_T_IDXS
+  disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE].tolist()
+  disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,Meta.GAS_DISENGAGE].tolist()
+  disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,Meta.STEER_OVERRIDE].tolist()
+  disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
+  disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
+  disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
+  disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
+  disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
+
+  publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
+  publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]
+  publish_state.prev_brake_3ms2_probs[:-1] = publish_state.prev_brake_3ms2_probs[1:]
+  publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_3][0]
+  hard_brake_predicted = (publish_state.prev_brake_5ms2_probs > ModelConstants.FCW_THRESHOLDS_5MS2).all() and \
+    (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all()
+  meta.hardBrakePredicted = hard_brake_predicted.item()
+
+  # confidence
+  if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
+    # any disengage prob
+    brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
+    gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]
+    steer_override_probs = net_output_data['meta'][0,Meta.STEER_OVERRIDE]
+    any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs))
+    # independent disengage prob for each 2s slice
+    ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])]
+    # rolling buf for 2, 4, 6, 8, 10s
+    publish_state.disengage_buffer[:-ModelConstants.DISENGAGE_WIDTH] = publish_state.disengage_buffer[ModelConstants.DISENGAGE_WIDTH:]
+    publish_state.disengage_buffer[-ModelConstants.DISENGAGE_WIDTH:] = ind_disengage_probs
+
+  score = 0.
+  for i in range(ModelConstants.DISENGAGE_WIDTH):
+    score += publish_state.disengage_buffer[i*ModelConstants.DISENGAGE_WIDTH+ModelConstants.DISENGAGE_WIDTH-1-i].item() / ModelConstants.DISENGAGE_WIDTH
+  if score < ModelConstants.RYG_GREEN:
+    modelV2.confidence = ConfidenceClass.green
+  elif score < ModelConstants.RYG_YELLOW:
+    modelV2.confidence = ConfidenceClass.yellow
+  else:
+    modelV2.confidence = ConfidenceClass.red
+
+  # raw prediction if enabled
+  if SEND_RAW_PRED:
+    modelV2.rawPredictions = net_output_data['raw_pred'].tobytes()
+
+def fill_pose_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray],
+                  vipc_frame_id: int, vipc_dropped_frames: int, timestamp_eof: int, live_calib_seen: bool) -> None:
+  msg.valid = live_calib_seen & (vipc_dropped_frames < 1)
+  cameraOdometry = msg.cameraOdometry
+
+  cameraOdometry.frameId = vipc_frame_id
+  cameraOdometry.timestampEof = timestamp_eof
+
+  cameraOdometry.trans = net_output_data['pose'][0,:3].tolist()
+  cameraOdometry.rot = net_output_data['pose'][0,3:].tolist()
+  cameraOdometry.wideFromDeviceEuler = net_output_data['wide_from_device_euler'][0,:].tolist()
+  cameraOdometry.roadTransformTrans = net_output_data['road_transform'][0,:3].tolist()
+  cameraOdometry.transStd = net_output_data['pose_stds'][0,:3].tolist()
+  cameraOdometry.rotStd = net_output_data['pose_stds'][0,3:].tolist()
+  cameraOdometry.wideFromDeviceEulerStd = net_output_data['wide_from_device_euler_stds'][0,:].tolist()
+  cameraOdometry.roadTransformTransStd = net_output_data['road_transform_stds'][0,:3].tolist()
diff --git a/sunnypilot/modeld/get_model_metadata.py b/sunnypilot/modeld/get_model_metadata.py
new file mode 100755
index 00000000000000..144860204fd79c
--- /dev/null
+++ b/sunnypilot/modeld/get_model_metadata.py
@@ -0,0 +1,28 @@
+#!/usr/bin/env python3
+import sys
+import pathlib
+import onnx
+import codecs
+import pickle
+
+def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
+  shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
+  name = value_info.name
+  return name, shape
+
+if __name__ == "__main__":
+  model_path = pathlib.Path(sys.argv[1])
+  model = onnx.load(str(model_path))
+  i = [x.key for x in model.metadata_props].index('output_slices')
+  output_slices = model.metadata_props[i].value
+
+  metadata = {}
+  metadata['output_slices'] = pickle.loads(codecs.decode(output_slices.encode(), "base64"))
+  metadata['input_shapes'] = dict([get_name_and_shape(x) for x in model.graph.input])
+  metadata['output_shapes'] = dict([get_name_and_shape(x) for x in model.graph.output])
+
+  metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
+  with open(metadata_path, 'wb') as f:
+    pickle.dump(metadata, f)
+
+  print(f'saved metadata to {metadata_path}')
diff --git a/sunnypilot/modeld/modeld b/sunnypilot/modeld/modeld
new file mode 100755
index 00000000000000..e1cef4dcc35f18
--- /dev/null
+++ b/sunnypilot/modeld/modeld
@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd "$DIR/../../"
+
+if [ -f "$DIR/libthneed.so" ]; then
+  export LD_PRELOAD="$DIR/libthneed.so"
+fi
+
+exec "$DIR/modeld.py" "$@"
diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
new file mode 100755
index 00000000000000..ea531dfe189bca
--- /dev/null
+++ b/sunnypilot/modeld/modeld.py
@@ -0,0 +1,296 @@
+#!/usr/bin/env python3
+import os
+import time
+import pickle
+import numpy as np
+import cereal.messaging as messaging
+from cereal import car, log
+from pathlib import Path
+from setproctitle import setproctitle
+from cereal.messaging import PubMaster, SubMaster
+from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from opendbc.car.car_helpers import get_demo_car_params
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.realtime import config_realtime_process
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.common.transformations.model import get_warp_matrix
+from openpilot.system import sentry
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.sunnypilot.modeld.runners import ModelRunner, Runtime
+from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
+from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
+from openpilot.sunnypilot.modeld.constants import ModelConstants
+from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
+
+PROCESS_NAME = "sunnypilot.modeld.modeld"
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+
+MODEL_PATHS = {
+  ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed',
+  ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'}
+
+METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
+
+class FrameMeta:
+  frame_id: int = 0
+  timestamp_sof: int = 0
+  timestamp_eof: int = 0
+
+  def __init__(self, vipc=None):
+    if vipc is not None:
+      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
+
+class ModelState:
+  frame: ModelFrame
+  wide_frame: ModelFrame
+  inputs: dict[str, np.ndarray]
+  output: np.ndarray
+  prev_desire: np.ndarray  # for tracking the rising edge of the pulse
+  model: ModelRunner
+
+  def __init__(self, context: CLContext):
+    self.frame = ModelFrame(context)
+    self.wide_frame = ModelFrame(context)
+    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
+    self.inputs = {
+      'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
+      'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
+      'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32),
+      'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
+      'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
+    }
+
+    with open(METADATA_PATH, 'rb') as f:
+      model_metadata = pickle.load(f)
+
+    self.output_slices = model_metadata['output_slices']
+    net_output_size = model_metadata['output_shapes']['outputs'][1]
+    self.output = np.zeros(net_output_size, dtype=np.float32)
+    self.parser = Parser()
+
+    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context)
+    self.model.addInput("input_imgs", None)
+    self.model.addInput("big_input_imgs", None)
+    for k,v in self.inputs.items():
+      self.model.addInput(k, v)
+
+  def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]:
+    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
+    if SEND_RAW_PRED:
+      parsed_model_outputs['raw_pred'] = model_outputs.copy()
+    return parsed_model_outputs
+
+  def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
+                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
+    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
+    inputs['desire'][0] = 0
+    self.inputs['desire'][:-ModelConstants.DESIRE_LEN] = self.inputs['desire'][ModelConstants.DESIRE_LEN:]
+    self.inputs['desire'][-ModelConstants.DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
+    self.prev_desire[:] = inputs['desire']
+
+    self.inputs['traffic_convention'][:] = inputs['traffic_convention']
+    self.inputs['lateral_control_params'][:] = inputs['lateral_control_params']
+
+    # if getCLBuffer is not None, frame will be None
+    self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
+    if wbuf is not None:
+      self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
+
+    if prepare_only:
+      return None
+
+    self.model.execute()
+    outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
+
+    self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:]
+    self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :]
+    self.inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:]
+    self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][0, :]
+    return outputs
+
+
+def main(demo=False):
+  cloudlog.warning("modeld init")
+
+  sentry.set_tag("daemon", PROCESS_NAME)
+  cloudlog.bind(daemon=PROCESS_NAME)
+  setproctitle(PROCESS_NAME)
+  config_realtime_process(7, 54)
+
+  cloudlog.warning("setting up CL context")
+  cl_context = CLContext()
+  cloudlog.warning("CL context ready; loading model")
+  model = ModelState(cl_context)
+  cloudlog.warning("models loaded, modeld starting")
+
+  # visionipc clients
+  while True:
+    available_streams = VisionIpcClient.available_streams("camerad", block=False)
+    if available_streams:
+      use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams
+      main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams
+      break
+    time.sleep(.1)
+
+  vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD
+  vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context)
+  vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context)
+  cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
+
+  while not vipc_client_main.connect(False):
+    time.sleep(0.1)
+  while use_extra_client and not vipc_client_extra.connect(False):
+    time.sleep(0.1)
+
+  cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})")
+  if use_extra_client:
+    cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
+
+  # messaging
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
+  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
+
+  publish_state = PublishState()
+  params = Params()
+
+  # setup filter to track dropped frames
+  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
+  frame_id = 0
+  last_vipc_frame_id = 0
+  run_count = 0
+
+  model_transform_main = np.zeros((3, 3), dtype=np.float32)
+  model_transform_extra = np.zeros((3, 3), dtype=np.float32)
+  live_calib_seen = False
+  buf_main, buf_extra = None, None
+  meta_main = FrameMeta()
+  meta_extra = FrameMeta()
+
+
+  if demo:
+    CP = get_demo_car_params()
+  else:
+    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
+
+  cloudlog.info("modeld got CarParams: %s", CP.carName)
+
+  # TODO this needs more thought, use .2s extra for now to estimate other delays
+  steer_delay = CP.steerActuatorDelay + .2
+
+  DH = DesireHelper()
+
+  while True:
+    # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
+    while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
+      buf_main = vipc_client_main.recv()
+      meta_main = FrameMeta(vipc_client_main)
+      if buf_main is None:
+        break
+
+    if buf_main is None:
+      cloudlog.debug("vipc_client_main no frame")
+      continue
+
+    if use_extra_client:
+      # Keep receiving extra frames until frame id matches main camera
+      while True:
+        buf_extra = vipc_client_extra.recv()
+        meta_extra = FrameMeta(vipc_client_extra)
+        if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
+          break
+
+      if buf_extra is None:
+        cloudlog.debug("vipc_client_extra no frame")
+        continue
+
+      if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000:
+        cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\
+                         extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})")
+
+    else:
+      # Use single camera
+      buf_extra = buf_main
+      meta_extra = meta_main
+
+    sm.update(0)
+    desire = DH.desire
+    is_rhd = sm["driverMonitoringState"].isRHD
+    frame_id = sm["roadCameraState"].frameId
+    lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
+    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
+      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
+      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
+      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
+      model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
+      live_calib_seen = True
+
+    traffic_convention = np.zeros(2)
+    traffic_convention[int(is_rhd)] = 1
+
+    vec_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
+    if desire >= 0 and desire < ModelConstants.DESIRE_LEN:
+      vec_desire[desire] = 1
+
+    # tracked dropped frames
+    vipc_dropped_frames = max(0, meta_main.frame_id - last_vipc_frame_id - 1)
+    frames_dropped = frame_dropped_filter.update(min(vipc_dropped_frames, 10))
+    if run_count < 10: # let frame drops warm up
+      frame_dropped_filter.x = 0.
+      frames_dropped = 0.
+    run_count = run_count + 1
+
+    frame_drop_ratio = frames_dropped / (1 + frames_dropped)
+    prepare_only = vipc_dropped_frames > 0
+    if prepare_only:
+      cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
+
+    inputs:dict[str, np.ndarray] = {
+      'desire': vec_desire,
+      'traffic_convention': traffic_convention,
+      'lateral_control_params': lateral_control_params,
+      }
+
+    mt1 = time.perf_counter()
+    model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
+    mt2 = time.perf_counter()
+    model_execution_time = mt2 - mt1
+
+    if model_output is not None:
+      modelv2_send = messaging.new_message('modelV2')
+      drivingdata_send = messaging.new_message('drivingModelData')
+      posenet_send = messaging.new_message('cameraOdometry')
+      fill_model_msg(drivingdata_send, modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
+                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
+
+      desire_state = modelv2_send.modelV2.meta.desireState
+      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
+      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
+      lane_change_prob = l_lane_change_prob + r_lane_change_prob
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
+      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
+      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
+      drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
+
+      fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
+      pm.send('modelV2', modelv2_send)
+      pm.send('drivingModelData', drivingdata_send)
+      pm.send('cameraOdometry', posenet_send)
+
+    last_vipc_frame_id = meta_main.frame_id
+
+
+if __name__ == "__main__":
+  try:
+    import argparse
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
+    args = parser.parse_args()
+    main(demo=args.demo)
+  except KeyboardInterrupt:
+    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
+  except Exception:
+    sentry.capture_exception()
+    raise
diff --git a/sunnypilot/modeld/models/__init__.py b/sunnypilot/modeld/models/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/modeld/models/commonmodel.cc b/sunnypilot/modeld/models/commonmodel.cc
new file mode 100644
index 00000000000000..f1e15e5a4edc15
--- /dev/null
+++ b/sunnypilot/modeld/models/commonmodel.cc
@@ -0,0 +1,50 @@
+#include "sunnypilot/modeld/models/commonmodel.h"
+
+#include <cassert>
+#include <cmath>
+#include <cstring>
+
+#include "common/clutil.h"
+
+ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
+  input_frames = std::make_unique<float[]>(buf_size);
+
+  q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
+  y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
+  u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
+  v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
+  net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(float), NULL, &err));
+
+  transform_init(&transform, context, device_id);
+  loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
+}
+
+float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
+  transform_queue(&this->transform, q,
+                  yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
+                  y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
+
+  if (output == NULL) {
+    loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
+
+    std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(float) * MODEL_FRAME_SIZE);
+    CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(float), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
+    clFinish(q);
+    return &input_frames[0];
+  } else {
+    loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, *output, true);
+    // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
+    clFinish(q);
+    return NULL;
+  }
+}
+
+ModelFrame::~ModelFrame() {
+  transform_destroy(&transform);
+  loadyuv_destroy(&loadyuv);
+  CL_CHECK(clReleaseMemObject(net_input_cl));
+  CL_CHECK(clReleaseMemObject(v_cl));
+  CL_CHECK(clReleaseMemObject(u_cl));
+  CL_CHECK(clReleaseMemObject(y_cl));
+  CL_CHECK(clReleaseCommandQueue(q));
+}
diff --git a/sunnypilot/modeld/models/commonmodel.h b/sunnypilot/modeld/models/commonmodel.h
new file mode 100644
index 00000000000000..9d34ebb6d3ea09
--- /dev/null
+++ b/sunnypilot/modeld/models/commonmodel.h
@@ -0,0 +1,36 @@
+#pragma once
+
+#include <cfloat>
+#include <cstdlib>
+
+#include <memory>
+
+#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#include "common/mat.h"
+#include "sunnypilot/modeld/transforms/loadyuv.h"
+#include "sunnypilot/modeld/transforms/transform.h"
+
+class ModelFrame {
+public:
+  ModelFrame(cl_device_id device_id, cl_context context);
+  ~ModelFrame();
+  float* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);
+
+  const int MODEL_WIDTH = 512;
+  const int MODEL_HEIGHT = 256;
+  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
+  const int buf_size = MODEL_FRAME_SIZE * 2;
+
+private:
+  Transform transform;
+  LoadYUVState loadyuv;
+  cl_command_queue q;
+  cl_mem y_cl, u_cl, v_cl, net_input_cl;
+  std::unique_ptr<float[]> input_frames;
+};
diff --git a/sunnypilot/modeld/models/commonmodel.pxd b/sunnypilot/modeld/models/commonmodel.pxd
new file mode 100644
index 00000000000000..c7fd85411d4e29
--- /dev/null
+++ b/sunnypilot/modeld/models/commonmodel.pxd
@@ -0,0 +1,18 @@
+# distutils: language = c++
+
+from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem
+
+cdef extern from "common/mat.h":
+  cdef struct mat3:
+    float v[9]
+
+cdef extern from "common/clutil.h":
+  cdef unsigned long CL_DEVICE_TYPE_DEFAULT
+  cl_device_id cl_get_device_id(unsigned long)
+  cl_context cl_create_context(cl_device_id)
+
+cdef extern from "sunnypilot/modeld/models/commonmodel.h":
+  cppclass ModelFrame:
+    int buf_size
+    ModelFrame(cl_device_id, cl_context)
+    float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
diff --git a/sunnypilot/modeld/models/commonmodel_pyx.pxd b/sunnypilot/modeld/models/commonmodel_pyx.pxd
new file mode 100644
index 00000000000000..0bb798625be28d
--- /dev/null
+++ b/sunnypilot/modeld/models/commonmodel_pyx.pxd
@@ -0,0 +1,13 @@
+# distutils: language = c++
+
+from msgq.visionipc.visionipc cimport cl_mem
+from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext
+
+cdef class CLContext(BaseCLContext):
+  pass
+
+cdef class CLMem:
+  cdef cl_mem * mem
+
+  @staticmethod
+  cdef create(void*)
diff --git a/sunnypilot/modeld/models/commonmodel_pyx.pyx b/sunnypilot/modeld/models/commonmodel_pyx.pyx
new file mode 100644
index 00000000000000..d66fddea54e797
--- /dev/null
+++ b/sunnypilot/modeld/models/commonmodel_pyx.pyx
@@ -0,0 +1,45 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+import numpy as np
+cimport numpy as cnp
+from libc.string cimport memcpy
+
+from msgq.visionipc.visionipc cimport cl_mem
+from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
+from openpilot.sunnypilot.modeld.models.commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
+from openpilot.sunnypilot.modeld.models.commonmodel cimport mat3, ModelFrame as cppModelFrame
+
+
+cdef class CLContext(BaseCLContext):
+  def __cinit__(self):
+    self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
+    self.context = cl_create_context(self.device_id)
+
+cdef class CLMem:
+  @staticmethod
+  cdef create(void * cmem):
+    mem = CLMem()
+    mem.mem = <cl_mem*> cmem
+    return mem
+
+cdef class ModelFrame:
+  cdef cppModelFrame * frame
+
+  def __cinit__(self, CLContext context):
+    self.frame = new cppModelFrame(context.device_id, context.context)
+
+  def __dealloc__(self):
+    del self.frame
+
+  def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
+    cdef mat3 cprojection
+    memcpy(cprojection.v, &projection[0], 9*sizeof(float))
+    cdef float * data
+    if output is None:
+      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL)
+    else:
+      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
+    if not data:
+      return None
+    return np.asarray(<cnp.float32_t[:self.frame.buf_size]> data)
diff --git a/sunnypilot/modeld/models/supercombo.onnx b/sunnypilot/modeld/models/supercombo.onnx
new file mode 100644
index 00000000000000..8b7126c44af68b
--- /dev/null
+++ b/sunnypilot/modeld/models/supercombo.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb2018c74cdd9e5cb070ec7bed7f8581fabd55e39057d0a03aaffd2e42408154
+size 62486347
diff --git a/sunnypilot/modeld/parse_model_outputs.py b/sunnypilot/modeld/parse_model_outputs.py
new file mode 100644
index 00000000000000..8cd4aacd9093b9
--- /dev/null
+++ b/sunnypilot/modeld/parse_model_outputs.py
@@ -0,0 +1,105 @@
+import numpy as np
+from openpilot.sunnypilot.modeld.constants import ModelConstants
+
+def safe_exp(x, out=None):
+  # -11 is around 10**14, more causes float16 overflow
+  return np.exp(np.clip(x, -np.inf, 11), out=out)
+
+def sigmoid(x):
+  return 1. / (1. + safe_exp(-x))
+
+def softmax(x, axis=-1):
+  x -= np.max(x, axis=axis, keepdims=True)
+  if x.dtype == np.float32 or x.dtype == np.float64:
+    safe_exp(x, out=x)
+  else:
+    x = safe_exp(x)
+  x /= np.sum(x, axis=axis, keepdims=True)
+  return x
+
+class Parser:
+  def __init__(self, ignore_missing=False):
+    self.ignore_missing = ignore_missing
+
+  def check_missing(self, outs, name):
+    if name not in outs and not self.ignore_missing:
+      raise ValueError(f"Missing output {name}")
+    return name not in outs
+
+  def parse_categorical_crossentropy(self, name, outs, out_shape=None):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    if out_shape is not None:
+      raw = raw.reshape((raw.shape[0],) + out_shape)
+    outs[name] = softmax(raw, axis=-1)
+
+  def parse_binary_crossentropy(self, name, outs):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    outs[name] = sigmoid(raw)
+
+  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    raw = raw.reshape((raw.shape[0], max(in_N, 1), -1))
+
+    n_values = (raw.shape[2] - out_N)//2
+    pred_mu = raw[:,:,:n_values]
+    pred_std = safe_exp(raw[:,:,n_values: 2*n_values])
+
+    if in_N > 1:
+      weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype)
+      for i in range(out_N):
+        weights[:,:,i - out_N] = softmax(raw[:,:,i - out_N], axis=-1)
+
+      if out_N == 1:
+        for fidx in range(weights.shape[0]):
+          idxs = np.argsort(weights[fidx][:,0])[::-1]
+          weights[fidx] = weights[fidx][idxs]
+          pred_mu[fidx] = pred_mu[fidx][idxs]
+          pred_std[fidx] = pred_std[fidx][idxs]
+      full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
+      outs[name + '_weights'] = weights
+      outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
+      outs[name + '_stds_hypotheses'] = pred_std.reshape(full_shape)
+
+      pred_mu_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
+      pred_std_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
+      for fidx in range(weights.shape[0]):
+        for hidx in range(out_N):
+          idxs = np.argsort(weights[fidx,:,hidx])[::-1]
+          pred_mu_final[fidx, hidx] = pred_mu[fidx, idxs[0]]
+          pred_std_final[fidx, hidx] = pred_std[fidx, idxs[0]]
+    else:
+      pred_mu_final = pred_mu
+      pred_std_final = pred_std
+
+    if out_N > 1:
+      final_shape = tuple([raw.shape[0], out_N] + list(out_shape))
+    else:
+      final_shape = tuple([raw.shape[0],] + list(out_shape))
+    outs[name] = pred_mu_final.reshape(final_shape)
+    outs[name + '_stds'] = pred_std_final.reshape(final_shape)
+
+  def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
+                   out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
+    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
+    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    if 'lat_planner_solution' in outs:
+      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    if 'desired_curvature' in outs:
+      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
+    for k in ['lead_prob', 'lane_lines_prob', 'meta']:
+      self.parse_binary_crossentropy(k, outs)
+    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
+    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
+    return outs
diff --git a/sunnypilot/modeld/runners/__init__.py b/sunnypilot/modeld/runners/__init__.py
new file mode 100644
index 00000000000000..3f4507e4eb08db
--- /dev/null
+++ b/sunnypilot/modeld/runners/__init__.py
@@ -0,0 +1,27 @@
+import os
+from openpilot.system.hardware import TICI
+from openpilot.sunnypilot.modeld.runners.runmodel_pyx import RunModel, Runtime
+assert Runtime
+
+USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
+USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI))))
+
+class ModelRunner(RunModel):
+  THNEED = 'THNEED'
+  SNPE = 'SNPE'
+  ONNX = 'ONNX'
+
+  def __new__(cls, paths, *args, **kwargs):
+    if ModelRunner.THNEED in paths and USE_THNEED:
+      from openpilot.sunnypilot.modeld.runners.thneedmodel_pyx import ThneedModel as Runner
+      runner_type = ModelRunner.THNEED
+    elif ModelRunner.SNPE in paths and USE_SNPE:
+      from openpilot.sunnypilot.modeld.runners.snpemodel_pyx import SNPEModel as Runner
+      runner_type = ModelRunner.SNPE
+    elif ModelRunner.ONNX in paths:
+      from openpilot.sunnypilot.modeld.runners.onnxmodel import ONNXModel as Runner
+      runner_type = ModelRunner.ONNX
+    else:
+      raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path")
+
+    return Runner(str(paths[runner_type]), *args, **kwargs)
diff --git a/sunnypilot/modeld/runners/onnxmodel.py b/sunnypilot/modeld/runners/onnxmodel.py
new file mode 100644
index 00000000000000..047f13dc9d08da
--- /dev/null
+++ b/sunnypilot/modeld/runners/onnxmodel.py
@@ -0,0 +1,98 @@
+import onnx
+import itertools
+import os
+import sys
+import numpy as np
+from typing import Any
+
+from openpilot.sunnypilot.modeld.runners.runmodel_pyx import RunModel
+
+ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
+
+def attributeproto_fp16_to_fp32(attr):
+  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
+  attr.data_type = 1
+  attr.raw_data = float32_list.astype(np.float32).tobytes()
+
+def convert_fp16_to_fp32(onnx_path_or_bytes):
+  if isinstance(onnx_path_or_bytes, bytes):
+    model = onnx.load_from_string(onnx_path_or_bytes)
+  elif isinstance(onnx_path_or_bytes, str):
+    model = onnx.load(onnx_path_or_bytes)
+
+  for i in model.graph.initializer:
+    if i.data_type == 10:
+      attributeproto_fp16_to_fp32(i)
+  for i in itertools.chain(model.graph.input, model.graph.output):
+    if i.type.tensor_type.elem_type == 10:
+      i.type.tensor_type.elem_type = 1
+  for i in model.graph.node:
+    if i.op_type == 'Cast' and i.attribute[0].i == 10:
+      i.attribute[0].i = 1
+    for a in i.attribute:
+      if hasattr(a, 't'):
+        if a.t.data_type == 10:
+          attributeproto_fp16_to_fp32(a.t)
+  return model.SerializeToString()
+
+def create_ort_session(path, fp16_to_fp32):
+  os.environ["OMP_NUM_THREADS"] = "4"
+  os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
+
+  import onnxruntime as ort
+  print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
+  options = ort.SessionOptions()
+  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
+
+  provider: str | tuple[str, dict[Any, Any]]
+  if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
+    provider = 'OpenVINOExecutionProvider'
+  elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
+    options.intra_op_num_threads = 2
+    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'})
+  else:
+    options.intra_op_num_threads = 2
+    options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
+    options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
+    provider = 'CPUExecutionProvider'
+
+  model_data = convert_fp16_to_fp32(path) if fp16_to_fp32 else path
+  print("Onnx selected provider: ", [provider], file=sys.stderr)
+  ort_session = ort.InferenceSession(model_data, options, providers=[provider])
+  print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
+  return ort_session
+
+
+class ONNXModel(RunModel):
+  def __init__(self, path, output, runtime, use_tf8, cl_context):
+    self.inputs = {}
+    self.output = output
+
+    self.session = create_ort_session(path, fp16_to_fp32=True)
+    self.input_names = [x.name for x in self.session.get_inputs()]
+    self.input_shapes = {x.name: [1, *x.shape[1:]] for x in self.session.get_inputs()}
+    self.input_dtypes = {x.name: ORT_TYPES_TO_NP_TYPES[x.type] for x in self.session.get_inputs()}
+
+    # run once to initialize CUDA provider
+    if "CUDAExecutionProvider" in self.session.get_providers():
+      self.session.run(None, {k: np.zeros(self.input_shapes[k], dtype=self.input_dtypes[k]) for k in self.input_names})
+    print("ready to run onnx model", self.input_shapes, file=sys.stderr)
+
+  def addInput(self, name, buffer):
+    assert name in self.input_names
+    self.inputs[name] = buffer
+
+  def setInputBuffer(self, name, buffer):
+    assert name in self.inputs
+    self.inputs[name] = buffer
+
+  def getCLBuffer(self, name):
+    return None
+
+  def execute(self):
+    inputs = {k: v.view(self.input_dtypes[k]) for k,v in self.inputs.items()}
+    inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()}
+    outputs = self.session.run(None, inputs)
+    assert len(outputs) == 1, "Only single model outputs are supported"
+    self.output[:] = outputs[0]
+    return self.output
diff --git a/sunnypilot/modeld/runners/run.h b/sunnypilot/modeld/runners/run.h
new file mode 100644
index 00000000000000..84d99fd10fd862
--- /dev/null
+++ b/sunnypilot/modeld/runners/run.h
@@ -0,0 +1,4 @@
+#pragma once
+
+#include "sunnypilot/modeld/runners/runmodel.h"
+#include "sunnypilot/modeld/runners/snpemodel.h"
diff --git a/sunnypilot/modeld/runners/runmodel.h b/sunnypilot/modeld/runners/runmodel.h
new file mode 100644
index 00000000000000..18cc180cb7f1d9
--- /dev/null
+++ b/sunnypilot/modeld/runners/runmodel.h
@@ -0,0 +1,49 @@
+#pragma once
+
+#include <string>
+#include <vector>
+#include <memory>
+#include <cassert>
+
+#include "common/clutil.h"
+#include "common/swaglog.h"
+
+#define USE_CPU_RUNTIME 0
+#define USE_GPU_RUNTIME 1
+#define USE_DSP_RUNTIME 2
+
+struct ModelInput {
+  const std::string name;
+  float *buffer;
+  int size;
+
+  ModelInput(const std::string _name, float *_buffer, int _size) : name(_name), buffer(_buffer), size(_size) {}
+  virtual void setBuffer(float *_buffer, int _size) {
+    assert(size == _size || size == 0);
+    buffer = _buffer;
+    size = _size;
+  }
+};
+
+class RunModel {
+public:
+  std::vector<std::unique_ptr<ModelInput>> inputs;
+
+  virtual ~RunModel() {}
+  virtual void execute() {}
+  virtual void* getCLBuffer(const std::string name) { return nullptr; }
+
+  virtual void addInput(const std::string name, float *buffer, int size) {
+    inputs.push_back(std::unique_ptr<ModelInput>(new ModelInput(name, buffer, size)));
+  }
+  virtual void setInputBuffer(const std::string name, float *buffer, int size) {
+    for (auto &input : inputs) {
+      if (name == input->name) {
+        input->setBuffer(buffer, size);
+        return;
+      }
+    }
+    LOGE("Tried to update input `%s` but no input with this name exists", name.c_str());
+    assert(false);
+  }
+};
diff --git a/sunnypilot/modeld/runners/runmodel.pxd b/sunnypilot/modeld/runners/runmodel.pxd
new file mode 100644
index 00000000000000..b83434473d9b71
--- /dev/null
+++ b/sunnypilot/modeld/runners/runmodel.pxd
@@ -0,0 +1,14 @@
+# distutils: language = c++
+
+from libcpp.string cimport string
+
+cdef extern from "sunnypilot/modeld/runners/runmodel.h":
+  cdef int USE_CPU_RUNTIME
+  cdef int USE_GPU_RUNTIME
+  cdef int USE_DSP_RUNTIME
+
+  cdef cppclass RunModel:
+    void addInput(string, float*, int)
+    void setInputBuffer(string, float*, int)
+    void * getCLBuffer(string)
+    void execute()
diff --git a/sunnypilot/modeld/runners/runmodel_pyx.pxd b/sunnypilot/modeld/runners/runmodel_pyx.pxd
new file mode 100644
index 00000000000000..b6ede7cf37f733
--- /dev/null
+++ b/sunnypilot/modeld/runners/runmodel_pyx.pxd
@@ -0,0 +1,6 @@
+# distutils: language = c++
+
+from .runmodel cimport RunModel as cppRunModel
+
+cdef class RunModel:
+  cdef cppRunModel * model
diff --git a/sunnypilot/modeld/runners/runmodel_pyx.pyx b/sunnypilot/modeld/runners/runmodel_pyx.pyx
new file mode 100644
index 00000000000000..e224b1e4f2c11d
--- /dev/null
+++ b/sunnypilot/modeld/runners/runmodel_pyx.pyx
@@ -0,0 +1,37 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+from libcpp.string cimport string
+
+from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
+from sunnypilot.modeld.models.commonmodel_pyx cimport CLMem
+
+class Runtime:
+  CPU = USE_CPU_RUNTIME
+  GPU = USE_GPU_RUNTIME
+  DSP = USE_DSP_RUNTIME
+
+cdef class RunModel:
+  def __dealloc__(self):
+    del self.model
+
+  def addInput(self, string name, float[:] buffer):
+    if buffer is not None:
+      self.model.addInput(name, &buffer[0], len(buffer))
+    else:
+      self.model.addInput(name, NULL, 0)
+
+  def setInputBuffer(self, string name, float[:] buffer):
+    if buffer is not None:
+      self.model.setInputBuffer(name, &buffer[0], len(buffer))
+    else:
+      self.model.setInputBuffer(name, NULL, 0)
+
+  def getCLBuffer(self, string name):
+    cdef void * cl_buf = self.model.getCLBuffer(name)
+    if not cl_buf:
+      return None
+    return CLMem.create(cl_buf)
+
+  def execute(self):
+    self.model.execute()
diff --git a/sunnypilot/modeld/runners/snpemodel.cc b/sunnypilot/modeld/runners/snpemodel.cc
new file mode 100644
index 00000000000000..ce06ba39f79040
--- /dev/null
+++ b/sunnypilot/modeld/runners/snpemodel.cc
@@ -0,0 +1,116 @@
+#pragma clang diagnostic ignored "-Wexceptions"
+
+#include "sunnypilot/modeld/runners/snpemodel.h"
+
+#include <cstring>
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "common/util.h"
+#include "common/timing.h"
+
+void PrintErrorStringAndExit() {
+  std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
+  std::exit(EXIT_FAILURE);
+}
+
+SNPEModel::SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) {
+  output = _output;
+  output_size = _output_size;
+  use_tf8 = _use_tf8;
+
+#ifdef QCOM2
+  if (runtime == USE_GPU_RUNTIME) {
+    snpe_runtime = zdl::DlSystem::Runtime_t::GPU;
+  } else if (runtime == USE_DSP_RUNTIME) {
+    snpe_runtime = zdl::DlSystem::Runtime_t::DSP;
+  } else {
+    snpe_runtime = zdl::DlSystem::Runtime_t::CPU;
+  }
+  assert(zdl::SNPE::SNPEFactory::isRuntimeAvailable(snpe_runtime));
+#endif
+  model_data = util::read_file(path);
+  assert(model_data.size() > 0);
+
+  // load model
+  std::unique_ptr<zdl::DlContainer::IDlContainer> container = zdl::DlContainer::IDlContainer::open((uint8_t*)model_data.data(), model_data.size());
+  if (!container) { PrintErrorStringAndExit(); }
+  LOGW("loaded model with size: %lu", model_data.size());
+
+  // create model runner
+  zdl::SNPE::SNPEBuilder snpe_builder(container.get());
+  while (!snpe) {
+#ifdef QCOM2
+    snpe = snpe_builder.setOutputLayers({})
+                       .setRuntimeProcessor(snpe_runtime)
+                       .setUseUserSuppliedBuffers(true)
+                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
+                       .build();
+#else
+    snpe = snpe_builder.setOutputLayers({})
+                       .setUseUserSuppliedBuffers(true)
+                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
+                       .build();
+#endif
+    if (!snpe) std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
+  }
+
+  // create output buffer
+  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
+  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
+
+  const auto &output_tensor_names_opt = snpe->getOutputTensorNames();
+  if (!output_tensor_names_opt) throw std::runtime_error("Error obtaining output tensor names");
+  const auto &output_tensor_names = *output_tensor_names_opt;
+  assert(output_tensor_names.size() == 1);
+  const char *output_tensor_name = output_tensor_names.at(0);
+  const zdl::DlSystem::TensorShape &buffer_shape = snpe->getInputOutputBufferAttributes(output_tensor_name)->getDims();
+  if (output_size != 0) {
+    assert(output_size == buffer_shape[1]);
+  } else {
+    output_size = buffer_shape[1];
+  }
+  std::vector<size_t> output_strides = {output_size * sizeof(float), sizeof(float)};
+  output_buffer = ub_factory.createUserBuffer(output, output_size * sizeof(float), output_strides, &ub_encoding_float);
+  output_map.add(output_tensor_name, output_buffer.get());
+}
+
+void SNPEModel::addInput(const std::string name, float *buffer, int size) {
+  const int idx = inputs.size();
+  const auto &input_tensor_names_opt = snpe->getInputTensorNames();
+  if (!input_tensor_names_opt) throw std::runtime_error("Error obtaining input tensor names");
+  const auto &input_tensor_names = *input_tensor_names_opt;
+  const char *input_tensor_name = input_tensor_names.at(idx);
+  const bool input_tf8 = use_tf8 && strcmp(input_tensor_name, "input_img") == 0;  // TODO: This is a terrible hack, get rid of this name check both here and in onnx_runner.py
+  LOGW("adding index %d: %s", idx, input_tensor_name);
+
+  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
+  zdl::DlSystem::UserBufferEncodingTf8 ub_encoding_tf8(0, 1./255); // network takes 0-1
+  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
+  zdl::DlSystem::UserBufferEncoding *input_encoding = input_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_tf8 : (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_float;
+
+  const auto &buffer_shape_opt = snpe->getInputDimensions(input_tensor_name);
+  const zdl::DlSystem::TensorShape &buffer_shape = *buffer_shape_opt;
+  size_t size_of_input = input_tf8 ? sizeof(uint8_t) : sizeof(float);
+  std::vector<size_t> strides(buffer_shape.rank());
+  strides[strides.size() - 1] = size_of_input;
+  size_t product = 1;
+  for (size_t i = 0; i < buffer_shape.rank(); i++) product *= buffer_shape[i];
+  size_t stride = strides[strides.size() - 1];
+  for (size_t i = buffer_shape.rank() - 1; i > 0; i--) {
+    stride *= buffer_shape[i];
+    strides[i-1] = stride;
+  }
+
+  auto input_buffer = ub_factory.createUserBuffer(buffer, product*size_of_input, strides, input_encoding);
+  input_map.add(input_tensor_name, input_buffer.get());
+  inputs.push_back(std::unique_ptr<SNPEModelInput>(new SNPEModelInput(name, buffer, size, std::move(input_buffer))));
+}
+
+void SNPEModel::execute() {
+  if (!snpe->execute(input_map, output_map)) {
+    PrintErrorStringAndExit();
+  }
+}
diff --git a/sunnypilot/modeld/runners/snpemodel.h b/sunnypilot/modeld/runners/snpemodel.h
new file mode 100644
index 00000000000000..bd766242134fef
--- /dev/null
+++ b/sunnypilot/modeld/runners/snpemodel.h
@@ -0,0 +1,52 @@
+#pragma once
+#pragma clang diagnostic ignored "-Wdeprecated-declarations"
+
+#include <memory>
+#include <string>
+#include <utility>
+
+#include <DlContainer/IDlContainer.hpp>
+#include <DlSystem/DlError.hpp>
+#include <DlSystem/ITensor.hpp>
+#include <DlSystem/ITensorFactory.hpp>
+#include <DlSystem/IUserBuffer.hpp>
+#include <DlSystem/IUserBufferFactory.hpp>
+#include <SNPE/SNPE.hpp>
+#include <SNPE/SNPEBuilder.hpp>
+#include <SNPE/SNPEFactory.hpp>
+
+#include "sunnypilot/modeld/runners/runmodel.h"
+
+struct SNPEModelInput : public ModelInput {
+  std::unique_ptr<zdl::DlSystem::IUserBuffer> snpe_buffer;
+
+  SNPEModelInput(const std::string _name, float *_buffer, int _size, std::unique_ptr<zdl::DlSystem::IUserBuffer> _snpe_buffer) : ModelInput(_name, _buffer, _size), snpe_buffer(std::move(_snpe_buffer)) {}
+  void setBuffer(float *_buffer, int _size) {
+    ModelInput::setBuffer(_buffer, _size);
+    assert(snpe_buffer->setBufferAddress(_buffer) == true);
+  }
+};
+
+class SNPEModel : public RunModel {
+public:
+  SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
+  void addInput(const std::string name, float *buffer, int size);
+  void execute();
+
+private:
+  std::string model_data;
+
+#ifdef QCOM2
+  zdl::DlSystem::Runtime_t snpe_runtime;
+#endif
+
+  // snpe model stuff
+  std::unique_ptr<zdl::SNPE::SNPE> snpe;
+  zdl::DlSystem::UserBufferMap input_map;
+  zdl::DlSystem::UserBufferMap output_map;
+  std::unique_ptr<zdl::DlSystem::IUserBuffer> output_buffer;
+
+  bool use_tf8;
+  float *output;
+  size_t output_size;
+};
diff --git a/sunnypilot/modeld/runners/snpemodel.pxd b/sunnypilot/modeld/runners/snpemodel.pxd
new file mode 100644
index 00000000000000..f19501d37d00f2
--- /dev/null
+++ b/sunnypilot/modeld/runners/snpemodel.pxd
@@ -0,0 +1,9 @@
+# distutils: language = c++
+
+from libcpp.string cimport string
+
+from msgq.visionipc.visionipc cimport cl_context
+
+cdef extern from "sunnypilot/modeld/runners/snpemodel.h":
+  cdef cppclass SNPEModel:
+    SNPEModel(string, float*, size_t, int, bool, cl_context)
diff --git a/sunnypilot/modeld/runners/snpemodel_pyx.pyx b/sunnypilot/modeld/runners/snpemodel_pyx.pyx
new file mode 100644
index 00000000000000..d1f24d1ead7be1
--- /dev/null
+++ b/sunnypilot/modeld/runners/snpemodel_pyx.pyx
@@ -0,0 +1,17 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+import os
+from libcpp cimport bool
+from libcpp.string cimport string
+
+from .snpemodel cimport SNPEModel as cppSNPEModel
+from sunnypilot.modeld.models.commonmodel_pyx cimport CLContext
+from sunnypilot.modeld.runners.runmodel_pyx cimport RunModel
+from sunnypilot.modeld.runners.runmodel cimport RunModel as cppRunModel
+
+os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/"
+
+cdef class SNPEModel(RunModel):
+  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
+    self.model = <cppRunModel *> new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/sunnypilot/modeld/runners/thneedmodel.cc b/sunnypilot/modeld/runners/thneedmodel.cc
new file mode 100644
index 00000000000000..d83fc0a5f9c7ee
--- /dev/null
+++ b/sunnypilot/modeld/runners/thneedmodel.cc
@@ -0,0 +1,58 @@
+#include "sunnypilot/modeld/runners/thneedmodel.h"
+
+#include <string>
+
+#include "common/swaglog.h"
+
+ThneedModel::ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool luse_tf8, cl_context context) {
+  thneed = new Thneed(true, context);
+  thneed->load(path.c_str());
+  thneed->clexec();
+
+  recorded = false;
+  output = _output;
+}
+
+void* ThneedModel::getCLBuffer(const std::string name) {
+  int index = -1;
+  for (int i = 0; i < inputs.size(); i++) {
+    if (name == inputs[i]->name) {
+      index = i;
+      break;
+    }
+  }
+
+  if (index == -1) {
+    LOGE("Tried to get CL buffer for input `%s` but no input with this name exists", name.c_str());
+    assert(false);
+  }
+
+  if (thneed->input_clmem.size() >= inputs.size()) {
+    return &thneed->input_clmem[inputs.size() - index - 1];
+  } else {
+    return nullptr;
+  }
+}
+
+void ThneedModel::execute() {
+  if (!recorded) {
+    thneed->record = true;
+    float *input_buffers[inputs.size()];
+    for (int i = 0; i < inputs.size(); i++) {
+      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
+    }
+
+    thneed->copy_inputs(input_buffers);
+    thneed->clexec();
+    thneed->copy_output(output);
+    thneed->stop();
+
+    recorded = true;
+  } else {
+    float *input_buffers[inputs.size()];
+    for (int i = 0; i < inputs.size(); i++) {
+      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
+    }
+    thneed->execute(input_buffers, output);
+  }
+}
diff --git a/sunnypilot/modeld/runners/thneedmodel.h b/sunnypilot/modeld/runners/thneedmodel.h
new file mode 100644
index 00000000000000..ecc7207c1f1fce
--- /dev/null
+++ b/sunnypilot/modeld/runners/thneedmodel.h
@@ -0,0 +1,17 @@
+#pragma once
+
+#include <string>
+
+#include "sunnypilot/modeld/runners/runmodel.h"
+#include "sunnypilot/modeld/thneed/thneed.h"
+
+class ThneedModel : public RunModel {
+public:
+  ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
+  void *getCLBuffer(const std::string name);
+  void execute();
+private:
+  Thneed *thneed = NULL;
+  bool recorded;
+  float *output;
+};
diff --git a/sunnypilot/modeld/runners/thneedmodel.pxd b/sunnypilot/modeld/runners/thneedmodel.pxd
new file mode 100644
index 00000000000000..ace7443b50e42b
--- /dev/null
+++ b/sunnypilot/modeld/runners/thneedmodel.pxd
@@ -0,0 +1,9 @@
+# distutils: language = c++
+
+from libcpp.string cimport string
+
+from msgq.visionipc.visionipc cimport cl_context
+
+cdef extern from "sunnypilot/modeld/runners/thneedmodel.h":
+  cdef cppclass ThneedModel:
+    ThneedModel(string, float*, size_t, int, bool, cl_context)
diff --git a/sunnypilot/modeld/runners/thneedmodel_pyx.pyx b/sunnypilot/modeld/runners/thneedmodel_pyx.pyx
new file mode 100644
index 00000000000000..49de8344c00fa8
--- /dev/null
+++ b/sunnypilot/modeld/runners/thneedmodel_pyx.pyx
@@ -0,0 +1,14 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+from libcpp cimport bool
+from libcpp.string cimport string
+
+from .thneedmodel cimport ThneedModel as cppThneedModel
+from sunnypilot.modeld.models.commonmodel_pyx cimport CLContext
+from sunnypilot.modeld.runners.runmodel_pyx cimport RunModel
+from sunnypilot.modeld.runners.runmodel cimport RunModel as cppRunModel
+
+cdef class ThneedModel(RunModel):
+  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
+    self.model = <cppRunModel *> new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/sunnypilot/modeld/thneed/README b/sunnypilot/modeld/thneed/README
new file mode 100644
index 00000000000000..f3bc66d8fc26ff
--- /dev/null
+++ b/sunnypilot/modeld/thneed/README
@@ -0,0 +1,8 @@
+thneed is an SNPE accelerator. I know SNPE is already an accelerator, but sometimes things need to go even faster..
+
+It runs on the local device, and caches a single model run. Then it replays it, but fast.
+
+thneed slices through abstraction layers like a fish.
+
+You need a thneed.
+
diff --git a/sunnypilot/modeld/thneed/__init__.py b/sunnypilot/modeld/thneed/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/modeld/thneed/serialize.cc b/sunnypilot/modeld/thneed/serialize.cc
new file mode 100644
index 00000000000000..f9a8b288ac4e70
--- /dev/null
+++ b/sunnypilot/modeld/thneed/serialize.cc
@@ -0,0 +1,154 @@
+#include <cassert>
+#include <set>
+
+#include "third_party/json11/json11.hpp"
+#include "common/util.h"
+#include "common/clutil.h"
+#include "common/swaglog.h"
+#include "sunnypilot/modeld/thneed/thneed.h"
+using namespace json11;
+
+extern map<cl_program, string> g_program_source;
+
+void Thneed::load(const char *filename) {
+  LOGD("Thneed::load: loading from %s\n", filename);
+
+  string buf = util::read_file(filename);
+  int jsz = *(int *)buf.data();
+  string jsonerr;
+  string jj(buf.data() + sizeof(int), jsz);
+  Json jdat = Json::parse(jj, jsonerr);
+
+  map<cl_mem, cl_mem> real_mem;
+  real_mem[NULL] = NULL;
+
+  int ptr = sizeof(int)+jsz;
+  for (auto &obj : jdat["objects"].array_items()) {
+    auto mobj = obj.object_items();
+    int sz = mobj["size"].int_value();
+    cl_mem clbuf = NULL;
+
+    if (mobj["buffer_id"].string_value().size() > 0) {
+      // image buffer must already be allocated
+      clbuf = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
+      assert(mobj["needs_load"].bool_value() == false);
+    } else {
+      if (mobj["needs_load"].bool_value()) {
+        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, &buf[ptr], NULL);
+        if (debug >= 1) printf("loading %p %d @ 0x%X\n", clbuf, sz, ptr);
+        ptr += sz;
+      } else {
+        // TODO: is there a faster way to init zeroed out buffers?
+        void *host_zeros = calloc(sz, 1);
+        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, host_zeros, NULL);
+        free(host_zeros);
+      }
+    }
+    assert(clbuf != NULL);
+
+    if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") {
+      cl_image_desc desc = {0};
+      desc.image_type = (mobj["arg_type"] == "image2d_t") ? CL_MEM_OBJECT_IMAGE2D : CL_MEM_OBJECT_IMAGE1D_BUFFER;
+      desc.image_width = mobj["width"].int_value();
+      desc.image_height = mobj["height"].int_value();
+      desc.image_row_pitch = mobj["row_pitch"].int_value();
+      assert(sz == desc.image_height*desc.image_row_pitch);
+#ifdef QCOM2
+      desc.buffer = clbuf;
+#else
+      // TODO: we are creating unused buffers on PC
+      clReleaseMemObject(clbuf);
+#endif
+      cl_image_format format = {0};
+      format.image_channel_order = CL_RGBA;
+      format.image_channel_data_type = mobj["float32"].bool_value() ? CL_FLOAT : CL_HALF_FLOAT;
+
+      cl_int errcode;
+
+#ifndef QCOM2
+      if (mobj["needs_load"].bool_value()) {
+        clbuf = clCreateImage(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, &format, &desc, &buf[ptr-sz], &errcode);
+      } else {
+        clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
+      }
+#else
+      clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
+#endif
+      if (clbuf == NULL) {
+        LOGE("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode),
+             desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer);
+      }
+      assert(clbuf != NULL);
+    }
+
+    real_mem[*(cl_mem*)(mobj["id"].string_value().data())] = clbuf;
+  }
+
+  map<string, cl_program> g_programs;
+  for (const auto &[name, source] : jdat["programs"].object_items()) {
+    if (debug >= 1) printf("building %s with size %zu\n", name.c_str(), source.string_value().size());
+    g_programs[name] = cl_program_from_source(context, device_id, source.string_value());
+  }
+
+  for (auto &obj : jdat["inputs"].array_items()) {
+    auto mobj = obj.object_items();
+    int sz = mobj["size"].int_value();
+    cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
+    input_clmem.push_back(aa);
+    input_sizes.push_back(sz);
+    LOGD("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz);
+
+    cl_int cl_err;
+    void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &cl_err);
+    if (cl_err != CL_SUCCESS) LOGE("clError: %s map %p %d\n", cl_get_error_string(cl_err), aa, sz);
+    assert(cl_err == CL_SUCCESS);
+    inputs.push_back(ret);
+  }
+
+  for (auto &obj : jdat["outputs"].array_items()) {
+    auto mobj = obj.object_items();
+    int sz = mobj["size"].int_value();
+    LOGD("Thneed::save: adding output with size %d\n", sz);
+    // TODO: support multiple outputs
+    output = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
+    assert(output != NULL);
+  }
+
+  for (auto &obj : jdat["binaries"].array_items()) {
+    string name = obj["name"].string_value();
+    size_t length = obj["length"].int_value();
+    if (debug >= 1) printf("binary %s with size %zu\n", name.c_str(), length);
+    g_programs[name] = cl_program_from_binary(context, device_id, (const uint8_t*)&buf[ptr], length);
+    ptr += length;
+  }
+
+  for (auto &obj : jdat["kernels"].array_items()) {
+    auto gws = obj["global_work_size"];
+    auto lws = obj["local_work_size"];
+    auto kk = shared_ptr<CLQueuedKernel>(new CLQueuedKernel(this));
+
+    kk->name = obj["name"].string_value();
+    kk->program = g_programs[kk->name];
+    kk->work_dim = obj["work_dim"].int_value();
+    for (int i = 0; i < kk->work_dim; i++) {
+      kk->global_work_size[i] = gws[i].int_value();
+      kk->local_work_size[i] = lws[i].int_value();
+    }
+    kk->num_args = obj["num_args"].int_value();
+    for (int i = 0; i < kk->num_args; i++) {
+      string arg = obj["args"].array_items()[i].string_value();
+      int arg_size = obj["args_size"].array_items()[i].int_value();
+      kk->args_size.push_back(arg_size);
+      if (arg_size == 8) {
+        cl_mem val = *(cl_mem*)(arg.data());
+        val = real_mem[val];
+        kk->args.push_back(string((char*)&val, sizeof(val)));
+      } else {
+        kk->args.push_back(arg);
+      }
+    }
+    kq.push_back(kk);
+  }
+
+  clFinish(command_queue);
+}
diff --git a/sunnypilot/modeld/thneed/thneed.h b/sunnypilot/modeld/thneed/thneed.h
new file mode 100644
index 00000000000000..47e18e0be3bb30
--- /dev/null
+++ b/sunnypilot/modeld/thneed/thneed.h
@@ -0,0 +1,133 @@
+#pragma once
+
+#ifndef __user
+#define __user __attribute__(())
+#endif
+
+#include <cstdint>
+#include <cstdlib>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <CL/cl.h>
+
+#include "third_party/linux/include/msm_kgsl.h"
+
+using namespace std;
+
+cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value);
+
+namespace json11 {
+  class Json;
+}
+class Thneed;
+
+class GPUMalloc {
+  public:
+    GPUMalloc(int size, int fd);
+    ~GPUMalloc();
+    void *alloc(int size);
+  private:
+    uint64_t base;
+    int remaining;
+};
+
+class CLQueuedKernel {
+  public:
+    CLQueuedKernel(Thneed *lthneed) { thneed = lthneed; }
+    CLQueuedKernel(Thneed *lthneed,
+                   cl_kernel _kernel,
+                   cl_uint _work_dim,
+                   const size_t *_global_work_size,
+                   const size_t *_local_work_size);
+    cl_int exec();
+    void debug_print(bool verbose);
+    int get_arg_num(const char *search_arg_name);
+    cl_program program;
+    string name;
+    cl_uint num_args;
+    vector<string> arg_names;
+    vector<string> arg_types;
+    vector<string> args;
+    vector<int> args_size;
+    cl_kernel kernel = NULL;
+    json11::Json to_json() const;
+
+    cl_uint work_dim;
+    size_t global_work_size[3] = {0};
+    size_t local_work_size[3] = {0};
+  private:
+    Thneed *thneed;
+};
+
+class CachedIoctl {
+  public:
+    virtual void exec() {}
+};
+
+class CachedSync: public CachedIoctl {
+  public:
+    CachedSync(Thneed *lthneed, string ldata) { thneed = lthneed; data = ldata; }
+    void exec();
+  private:
+    Thneed *thneed;
+    string data;
+};
+
+class CachedCommand: public CachedIoctl {
+  public:
+    CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd);
+    void exec();
+  private:
+    void disassemble(int cmd_index);
+    struct kgsl_gpu_command cache;
+    unique_ptr<kgsl_command_object[]> cmds;
+    unique_ptr<kgsl_command_object[]> objs;
+    Thneed *thneed;
+    vector<shared_ptr<CLQueuedKernel> > kq;
+};
+
+class Thneed {
+  public:
+    Thneed(bool do_clinit=false, cl_context _context = NULL);
+    void stop();
+    void execute(float **finputs, float *foutput, bool slow=false);
+    void wait();
+
+    vector<cl_mem> input_clmem;
+    vector<void *> inputs;
+    vector<size_t> input_sizes;
+    cl_mem output = NULL;
+
+    cl_context context = NULL;
+    cl_command_queue command_queue;
+    cl_device_id device_id;
+    int context_id;
+
+    // protected?
+    bool record = false;
+    int debug;
+    int timestamp;
+
+#ifdef QCOM2
+    unique_ptr<GPUMalloc> ram;
+    vector<unique_ptr<CachedIoctl> > cmds;
+    int fd;
+#endif
+
+    // all CL kernels
+    void copy_inputs(float **finputs, bool internal=false);
+    void copy_output(float *foutput);
+    cl_int clexec();
+    vector<shared_ptr<CLQueuedKernel> > kq;
+
+    // pending CL kernels
+    vector<shared_ptr<CLQueuedKernel> > ckq;
+
+    // loading
+    void load(const char *filename);
+  private:
+    void clinit();
+};
+
diff --git a/sunnypilot/modeld/thneed/thneed_common.cc b/sunnypilot/modeld/thneed/thneed_common.cc
new file mode 100644
index 00000000000000..56fbe70d8fdda8
--- /dev/null
+++ b/sunnypilot/modeld/thneed/thneed_common.cc
@@ -0,0 +1,216 @@
+#include "sunnypilot/modeld/thneed/thneed.h"
+
+#include <cassert>
+#include <cstring>
+#include <map>
+
+#include "common/clutil.h"
+#include "common/timing.h"
+
+map<pair<cl_kernel, int>, string> g_args;
+map<pair<cl_kernel, int>, int> g_args_size;
+map<cl_program, string> g_program_source;
+
+void Thneed::stop() {
+  //printf("Thneed::stop: recorded %lu commands\n", cmds.size());
+  record = false;
+}
+
+void Thneed::clinit() {
+  device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
+  if (context == NULL) context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
+  //cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, CL_QUEUE_PROFILING_ENABLE, 0};
+  cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, 0, 0};
+  command_queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
+  printf("Thneed::clinit done\n");
+}
+
+cl_int Thneed::clexec() {
+  if (debug >= 1) printf("Thneed::clexec: running %lu queued kernels\n", kq.size());
+  for (auto &k : kq) {
+    if (record) ckq.push_back(k);
+    cl_int ret = k->exec();
+    assert(ret == CL_SUCCESS);
+  }
+  return clFinish(command_queue);
+}
+
+void Thneed::copy_inputs(float **finputs, bool internal) {
+  for (int idx = 0; idx < inputs.size(); ++idx) {
+    if (debug >= 1) printf("copying %lu -- %p -> %p (cl %p)\n", input_sizes[idx], finputs[idx], inputs[idx], input_clmem[idx]);
+
+    if (internal) {
+      // if it's internal, using memcpy is fine since the buffer sync is cached in the ioctl layer
+      if (finputs[idx] != NULL) memcpy(inputs[idx], finputs[idx], input_sizes[idx]);
+    } else {
+      if (finputs[idx] != NULL) CL_CHECK(clEnqueueWriteBuffer(command_queue, input_clmem[idx], CL_TRUE, 0, input_sizes[idx], finputs[idx], 0, NULL, NULL));
+    }
+  }
+}
+
+void Thneed::copy_output(float *foutput) {
+  if (output != NULL) {
+    size_t sz;
+    clGetMemObjectInfo(output, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
+    if (debug >= 1) printf("copying %lu for output %p -> %p\n", sz, output, foutput);
+    CL_CHECK(clEnqueueReadBuffer(command_queue, output, CL_TRUE, 0, sz, foutput, 0, NULL, NULL));
+  } else {
+    printf("CAUTION: model output is NULL, does it have no outputs?\n");
+  }
+}
+
+// *********** CLQueuedKernel ***********
+
+CLQueuedKernel::CLQueuedKernel(Thneed *lthneed,
+                               cl_kernel _kernel,
+                               cl_uint _work_dim,
+                               const size_t *_global_work_size,
+                               const size_t *_local_work_size) {
+  thneed = lthneed;
+  kernel = _kernel;
+  work_dim = _work_dim;
+  assert(work_dim <= 3);
+  for (int i = 0; i < work_dim; i++) {
+    global_work_size[i] = _global_work_size[i];
+    local_work_size[i] = _local_work_size[i];
+  }
+
+  char _name[0x100];
+  clGetKernelInfo(kernel, CL_KERNEL_FUNCTION_NAME, sizeof(_name), _name, NULL);
+  name = string(_name);
+  clGetKernelInfo(kernel, CL_KERNEL_NUM_ARGS, sizeof(num_args), &num_args, NULL);
+
+  // get args
+  for (int i = 0; i < num_args; i++) {
+    char arg_name[0x100] = {0};
+    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
+    arg_names.push_back(string(arg_name));
+    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
+    arg_types.push_back(string(arg_name));
+
+    args.push_back(g_args[make_pair(kernel, i)]);
+    args_size.push_back(g_args_size[make_pair(kernel, i)]);
+  }
+
+  // get program
+  clGetKernelInfo(kernel, CL_KERNEL_PROGRAM, sizeof(program), &program, NULL);
+}
+
+int CLQueuedKernel::get_arg_num(const char *search_arg_name) {
+  for (int i = 0; i < num_args; i++) {
+    if (arg_names[i] == search_arg_name) return i;
+  }
+  printf("failed to find %s in %s\n", search_arg_name, name.c_str());
+  assert(false);
+}
+
+cl_int CLQueuedKernel::exec() {
+  if (kernel == NULL) {
+    kernel = clCreateKernel(program, name.c_str(), NULL);
+    arg_names.clear();
+    arg_types.clear();
+
+    for (int j = 0; j < num_args; j++) {
+      char arg_name[0x100] = {0};
+      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
+      arg_names.push_back(string(arg_name));
+      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
+      arg_types.push_back(string(arg_name));
+
+      cl_int ret;
+      if (args[j].size() != 0) {
+        assert(args[j].size() == args_size[j]);
+        ret = thneed_clSetKernelArg(kernel, j, args[j].size(), args[j].data());
+      } else {
+        ret = thneed_clSetKernelArg(kernel, j, args_size[j], NULL);
+      }
+      assert(ret == CL_SUCCESS);
+    }
+  }
+
+  if (thneed->debug >= 1) {
+    debug_print(thneed->debug >= 2);
+  }
+
+  return clEnqueueNDRangeKernel(thneed->command_queue,
+    kernel, work_dim, NULL, global_work_size, local_work_size, 0, NULL, NULL);
+}
+
+void CLQueuedKernel::debug_print(bool verbose) {
+  printf("%p %56s -- ", kernel, name.c_str());
+  for (int i = 0; i < work_dim; i++) {
+    printf("%4zu ", global_work_size[i]);
+  }
+  printf(" -- ");
+  for (int i = 0; i < work_dim; i++) {
+    printf("%4zu ", local_work_size[i]);
+  }
+  printf("\n");
+
+  if (verbose) {
+    for (int i = 0; i < num_args; i++) {
+      string arg = args[i];
+      printf("  %s %s", arg_types[i].c_str(), arg_names[i].c_str());
+      void *arg_value = (void*)arg.data();
+      int arg_size = arg.size();
+      if (arg_size == 0) {
+        printf(" (size) %d", args_size[i]);
+      } else if (arg_size == 1) {
+        printf(" = %d", *((char*)arg_value));
+      } else if (arg_size == 2) {
+        printf(" = %d", *((short*)arg_value));
+      } else if (arg_size == 4) {
+        if (arg_types[i] == "float") {
+          printf(" = %f", *((float*)arg_value));
+        } else {
+          printf(" = %d", *((int*)arg_value));
+        }
+      } else if (arg_size == 8) {
+        cl_mem val = (cl_mem)(*((uintptr_t*)arg_value));
+        printf(" = %p", val);
+        if (val != NULL) {
+          cl_mem_object_type obj_type;
+          clGetMemObjectInfo(val, CL_MEM_TYPE, sizeof(obj_type), &obj_type, NULL);
+          if (arg_types[i] == "image2d_t" || arg_types[i] == "image1d_t" || obj_type == CL_MEM_OBJECT_IMAGE2D) {
+            cl_image_format format;
+            size_t width, height, depth, array_size, row_pitch, slice_pitch;
+            cl_mem buf;
+            clGetImageInfo(val, CL_IMAGE_FORMAT, sizeof(format), &format, NULL);
+            assert(format.image_channel_order == CL_RGBA);
+            assert(format.image_channel_data_type == CL_HALF_FLOAT || format.image_channel_data_type == CL_FLOAT);
+            clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL);
+            clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL);
+            clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL);
+            clGetImageInfo(val, CL_IMAGE_DEPTH, sizeof(depth), &depth, NULL);
+            clGetImageInfo(val, CL_IMAGE_ARRAY_SIZE, sizeof(array_size), &array_size, NULL);
+            clGetImageInfo(val, CL_IMAGE_SLICE_PITCH, sizeof(slice_pitch), &slice_pitch, NULL);
+            assert(depth == 0);
+            assert(array_size == 0);
+            assert(slice_pitch == 0);
+
+            clGetImageInfo(val, CL_IMAGE_BUFFER, sizeof(buf), &buf, NULL);
+            size_t sz = 0;
+            if (buf != NULL) clGetMemObjectInfo(buf, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
+            printf(" image %zu x %zu rp %zu @ %p buffer %zu", width, height, row_pitch, buf, sz);
+          } else {
+            size_t sz;
+            clGetMemObjectInfo(val, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
+            printf(" buffer %zu", sz);
+          }
+        }
+      }
+      printf("\n");
+    }
+  }
+}
+
+cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value) {
+  g_args_size[make_pair(kernel, arg_index)] = arg_size;
+  if (arg_value != NULL) {
+    g_args[make_pair(kernel, arg_index)] = string((char*)arg_value, arg_size);
+  } else {
+    g_args[make_pair(kernel, arg_index)] = string("");
+  }
+  cl_int ret = clSetKernelArg(kernel, arg_index, arg_size, arg_value);
+  return ret;
+}
diff --git a/sunnypilot/modeld/thneed/thneed_pc.cc b/sunnypilot/modeld/thneed/thneed_pc.cc
new file mode 100644
index 00000000000000..629d0ee3595b6a
--- /dev/null
+++ b/sunnypilot/modeld/thneed/thneed_pc.cc
@@ -0,0 +1,32 @@
+#include "sunnypilot/modeld/thneed/thneed.h"
+
+#include <cassert>
+
+#include "common/clutil.h"
+#include "common/timing.h"
+
+Thneed::Thneed(bool do_clinit, cl_context _context) {
+  context = _context;
+  if (do_clinit) clinit();
+  char *thneed_debug_env = getenv("THNEED_DEBUG");
+  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
+}
+
+void Thneed::execute(float **finputs, float *foutput, bool slow) {
+  uint64_t tb, te;
+  if (debug >= 1) tb = nanos_since_boot();
+
+  // ****** copy inputs
+  copy_inputs(finputs);
+
+  // ****** run commands
+  clexec();
+
+  // ****** copy outputs
+  copy_output(foutput);
+
+  if (debug >= 1) {
+    te = nanos_since_boot();
+    printf("model exec in %lu us\n", (te-tb)/1000);
+  }
+}
diff --git a/sunnypilot/modeld/thneed/thneed_qcom2.cc b/sunnypilot/modeld/thneed/thneed_qcom2.cc
new file mode 100644
index 00000000000000..b940da1ce1215d
--- /dev/null
+++ b/sunnypilot/modeld/thneed/thneed_qcom2.cc
@@ -0,0 +1,258 @@
+#include "sunnypilot/modeld/thneed/thneed.h"
+
+#include <dlfcn.h>
+#include <sys/mman.h>
+
+#include <cassert>
+#include <cerrno>
+#include <cstring>
+#include <map>
+#include <string>
+
+#include "common/clutil.h"
+#include "common/timing.h"
+
+Thneed *g_thneed = NULL;
+int g_fd = -1;
+
+void hexdump(uint8_t *d, int len) {
+  assert((len%4) == 0);
+  printf("  dumping %p len 0x%x\n", d, len);
+  for (int i = 0; i < len/4; i++) {
+    if (i != 0 && (i%0x10) == 0) printf("\n");
+    printf("%8x ", d[i]);
+  }
+  printf("\n");
+}
+
+// *********** ioctl interceptor ***********
+
+extern "C" {
+
+int (*my_ioctl)(int filedes, unsigned long request, void *argp) = NULL;
+#undef ioctl
+int ioctl(int filedes, unsigned long request, void *argp) {
+  request &= 0xFFFFFFFF;  // needed on QCOM2
+  if (my_ioctl == NULL) my_ioctl = reinterpret_cast<decltype(my_ioctl)>(dlsym(RTLD_NEXT, "ioctl"));
+  Thneed *thneed = g_thneed;
+
+  // save the fd
+  if (request == IOCTL_KGSL_GPUOBJ_ALLOC) g_fd = filedes;
+
+  // note that this runs always, even without a thneed object
+  if (request == IOCTL_KGSL_DRAWCTXT_CREATE) {
+    struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp;
+    create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK;
+    create->flags |= 6 << KGSL_CONTEXT_PRIORITY_SHIFT;   // priority from 1-15, 1 is max priority
+    printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags);
+  }
+
+  if (thneed != NULL) {
+    if (request == IOCTL_KGSL_GPU_COMMAND) {
+      struct kgsl_gpu_command *cmd = (struct kgsl_gpu_command *)argp;
+      if (thneed->record) {
+        thneed->timestamp = cmd->timestamp;
+        thneed->context_id = cmd->context_id;
+        thneed->cmds.push_back(unique_ptr<CachedCommand>(new CachedCommand(thneed, cmd)));
+      }
+      if (thneed->debug >= 1) {
+        printf("IOCTL_KGSL_GPU_COMMAND(%2zu): flags: 0x%lx    context_id: %u  timestamp: %u  numcmds: %d  numobjs: %d\n",
+            thneed->cmds.size(),
+            cmd->flags,
+            cmd->context_id, cmd->timestamp, cmd->numcmds, cmd->numobjs);
+      }
+    } else if (request == IOCTL_KGSL_GPUOBJ_SYNC) {
+      struct kgsl_gpuobj_sync *cmd = (struct kgsl_gpuobj_sync *)argp;
+      struct kgsl_gpuobj_sync_obj *objs = (struct kgsl_gpuobj_sync_obj *)(cmd->objs);
+
+      if (thneed->debug >= 2) {
+        printf("IOCTL_KGSL_GPUOBJ_SYNC count:%d ", cmd->count);
+        for (int i = 0; i < cmd->count; i++) {
+          printf(" -- offset:0x%lx len:0x%lx id:%d op:%d  ", objs[i].offset, objs[i].length, objs[i].id, objs[i].op);
+        }
+        printf("\n");
+      }
+
+      if (thneed->record) {
+        thneed->cmds.push_back(unique_ptr<CachedSync>(new
+              CachedSync(thneed, string((char *)objs, sizeof(struct kgsl_gpuobj_sync_obj)*cmd->count))));
+      }
+    } else if (request == IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID) {
+      struct kgsl_device_waittimestamp_ctxtid *cmd = (struct kgsl_device_waittimestamp_ctxtid *)argp;
+      if (thneed->debug >= 1) {
+        printf("IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID: context_id: %d  timestamp: %d  timeout: %d\n",
+            cmd->context_id, cmd->timestamp, cmd->timeout);
+      }
+    } else if (request == IOCTL_KGSL_SETPROPERTY) {
+      if (thneed->debug >= 1) {
+        struct kgsl_device_getproperty *prop = (struct kgsl_device_getproperty *)argp;
+        printf("IOCTL_KGSL_SETPROPERTY: 0x%x sizebytes:%zu\n", prop->type, prop->sizebytes);
+        if (thneed->debug >= 2) {
+          hexdump((uint8_t *)prop->value, prop->sizebytes);
+          if (prop->type == KGSL_PROP_PWR_CONSTRAINT) {
+            struct kgsl_device_constraint *constraint = (struct kgsl_device_constraint *)prop->value;
+            hexdump((uint8_t *)constraint->data, constraint->size);
+          }
+        }
+      }
+    } else if (request == IOCTL_KGSL_DRAWCTXT_CREATE || request == IOCTL_KGSL_DRAWCTXT_DESTROY) {
+      // this happens
+    } else if (request == IOCTL_KGSL_GPUOBJ_ALLOC || request == IOCTL_KGSL_GPUOBJ_FREE) {
+      // this happens
+    } else {
+      if (thneed->debug >= 1) {
+        printf("other ioctl %lx\n", request);
+      }
+    }
+  }
+
+  int ret = my_ioctl(filedes, request, argp);
+  // NOTE: This error message goes into stdout and messes up pyenv
+  // if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno);
+  return ret;
+}
+
+}
+
+// *********** GPUMalloc ***********
+
+GPUMalloc::GPUMalloc(int size, int fd) {
+  struct kgsl_gpuobj_alloc alloc;
+  memset(&alloc, 0, sizeof(alloc));
+  alloc.size = size;
+  alloc.flags = 0x10000a00;
+  ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc);
+  void *addr = mmap64(NULL, alloc.mmapsize, 0x3, 0x1, fd, alloc.id*0x1000);
+  assert(addr != MAP_FAILED);
+
+  base = (uint64_t)addr;
+  remaining = size;
+}
+
+GPUMalloc::~GPUMalloc() {
+  // TODO: free the GPU malloced area
+}
+
+void *GPUMalloc::alloc(int size) {
+  void *ret = (void*)base;
+  size = (size+0xff) & (~0xFF);
+  assert(size <= remaining);
+  remaining -= size;
+  base += size;
+  return ret;
+}
+
+// *********** CachedSync, at the ioctl layer ***********
+
+void CachedSync::exec() {
+  struct kgsl_gpuobj_sync cmd;
+
+  cmd.objs = (uint64_t)data.data();
+  cmd.obj_len = data.length();
+  cmd.count = data.length() / sizeof(struct kgsl_gpuobj_sync_obj);
+
+  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPUOBJ_SYNC, &cmd);
+  assert(ret == 0);
+}
+
+// *********** CachedCommand, at the ioctl layer ***********
+
+CachedCommand::CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd) {
+  thneed = lthneed;
+  assert(cmd->numsyncs == 0);
+
+  memcpy(&cache, cmd, sizeof(cache));
+
+  if (cmd->numcmds > 0) {
+    cmds = make_unique<struct kgsl_command_object[]>(cmd->numcmds);
+    memcpy(cmds.get(), (void *)cmd->cmdlist, sizeof(struct kgsl_command_object)*cmd->numcmds);
+    cache.cmdlist = (uint64_t)cmds.get();
+    for (int i = 0; i < cmd->numcmds; i++) {
+      void *nn = thneed->ram->alloc(cmds[i].size);
+      memcpy(nn, (void*)cmds[i].gpuaddr, cmds[i].size);
+      cmds[i].gpuaddr = (uint64_t)nn;
+    }
+  }
+
+  if (cmd->numobjs > 0) {
+    objs = make_unique<struct kgsl_command_object[]>(cmd->numobjs);
+    memcpy(objs.get(), (void *)cmd->objlist, sizeof(struct kgsl_command_object)*cmd->numobjs);
+    cache.objlist = (uint64_t)objs.get();
+    for (int i = 0; i < cmd->numobjs; i++) {
+      void *nn = thneed->ram->alloc(objs[i].size);
+      memset(nn, 0, objs[i].size);
+      objs[i].gpuaddr = (uint64_t)nn;
+    }
+  }
+
+  kq = thneed->ckq;
+  thneed->ckq.clear();
+}
+
+void CachedCommand::exec() {
+  cache.timestamp = ++thneed->timestamp;
+  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPU_COMMAND, &cache);
+
+  if (thneed->debug >= 1) printf("CachedCommand::exec got %d\n", ret);
+
+  if (thneed->debug >= 2) {
+    for (auto &it : kq) {
+      it->debug_print(false);
+    }
+  }
+
+  assert(ret == 0);
+}
+
+// *********** Thneed ***********
+
+Thneed::Thneed(bool do_clinit, cl_context _context) {
+  // TODO: QCOM2 actually requires a different context
+  //context = _context;
+  if (do_clinit) clinit();
+  assert(g_fd != -1);
+  fd = g_fd;
+  ram = make_unique<GPUMalloc>(0x80000, fd);
+  timestamp = -1;
+  g_thneed = this;
+  char *thneed_debug_env = getenv("THNEED_DEBUG");
+  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
+}
+
+void Thneed::wait() {
+  struct kgsl_device_waittimestamp_ctxtid wait;
+  wait.context_id = context_id;
+  wait.timestamp = timestamp;
+  wait.timeout = -1;
+
+  uint64_t tb = nanos_since_boot();
+  int wret = ioctl(fd, IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID, &wait);
+  uint64_t te = nanos_since_boot();
+
+  if (debug >= 1) printf("wait %d after %lu us\n", wret, (te-tb)/1000);
+}
+
+void Thneed::execute(float **finputs, float *foutput, bool slow) {
+  uint64_t tb, te;
+  if (debug >= 1) tb = nanos_since_boot();
+
+  // ****** copy inputs
+  copy_inputs(finputs, true);
+
+  // ****** run commands
+  int i = 0;
+  for (auto &it : cmds) {
+    ++i;
+    if (debug >= 1) printf("run %2d @ %7lu us: ", i, (nanos_since_boot()-tb)/1000);
+    it->exec();
+    if ((i == cmds.size()) || slow) wait();
+  }
+
+  // ****** copy outputs
+  copy_output(foutput);
+
+  if (debug >= 1) {
+    te = nanos_since_boot();
+    printf("model exec in %lu us\n", (te-tb)/1000);
+  }
+}
diff --git a/sunnypilot/modeld/transforms/loadyuv.cc b/sunnypilot/modeld/transforms/loadyuv.cc
new file mode 100644
index 00000000000000..f7d571416ce27f
--- /dev/null
+++ b/sunnypilot/modeld/transforms/loadyuv.cc
@@ -0,0 +1,74 @@
+#include "sunnypilot/modeld/transforms/loadyuv.h"
+
+#include <cassert>
+#include <cstdio>
+#include <cstring>
+
+void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
+  memset(s, 0, sizeof(*s));
+
+  s->width = width;
+  s->height = height;
+
+  char args[1024];
+  snprintf(args, sizeof(args),
+           "-cl-fast-relaxed-math -cl-denorms-are-zero "
+           "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
+           width, height);
+  cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args);
+
+  s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
+  s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
+  s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err));
+
+  // done with this
+  CL_CHECK(clReleaseProgram(prg));
+}
+
+void loadyuv_destroy(LoadYUVState* s) {
+  CL_CHECK(clReleaseKernel(s->loadys_krnl));
+  CL_CHECK(clReleaseKernel(s->loaduv_krnl));
+  CL_CHECK(clReleaseKernel(s->copy_krnl));
+}
+
+void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
+                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
+                   cl_mem out_cl, bool do_shift) {
+  cl_int global_out_off = 0;
+  if (do_shift) {
+    // shift the image in slot 1 to slot 0, then place the new image in slot 1
+    global_out_off += (s->width*s->height) + (s->width/2)*(s->height/2)*2;
+    CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &out_cl));
+    CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_int), &global_out_off));
+    const size_t copy_work_size = global_out_off/8;
+    CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
+                                &copy_work_size, NULL, 0, 0, NULL));
+  }
+
+  CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
+  CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
+  CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off));
+
+  const size_t loadys_work_size = (s->width*s->height)/8;
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
+                               &loadys_work_size, NULL, 0, 0, NULL));
+
+  const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
+  global_out_off += (s->width*s->height);
+
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl));
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
+                               &loaduv_work_size, NULL, 0, 0, NULL));
+
+  global_out_off += (s->width/2)*(s->height/2);
+
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl));
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
+                               &loaduv_work_size, NULL, 0, 0, NULL));
+}
diff --git a/sunnypilot/modeld/transforms/loadyuv.cl b/sunnypilot/modeld/transforms/loadyuv.cl
new file mode 100644
index 00000000000000..7dd3d973a3ef69
--- /dev/null
+++ b/sunnypilot/modeld/transforms/loadyuv.cl
@@ -0,0 +1,47 @@
+#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
+
+__kernel void loadys(__global uchar8 const * const Y,
+                     __global float * out,
+                     int out_offset)
+{
+    const int gid = get_global_id(0);
+    const int ois = gid * 8;
+    const int oy = ois / TRANSFORMED_WIDTH;
+    const int ox = ois % TRANSFORMED_WIDTH;
+
+    const uchar8 ys = Y[gid];
+    const float8 ysf = convert_float8(ys);
+
+    // 02
+    // 13
+
+    __global float* outy0;
+    __global float* outy1;
+    if ((oy & 1) == 0) {
+      outy0 = out + out_offset; //y0
+      outy1 = out + out_offset + UV_SIZE*2; //y2
+    } else {
+      outy0 = out + out_offset + UV_SIZE; //y1
+      outy1 = out + out_offset + UV_SIZE*3; //y3
+    }
+
+    vstore4(ysf.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
+    vstore4(ysf.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
+}
+
+__kernel void loaduv(__global uchar8 const * const in,
+                     __global float8 * out,
+                     int out_offset)
+{
+  const int gid = get_global_id(0);
+  const uchar8 inv = in[gid];
+  const float8 outv  = convert_float8(inv);
+  out[gid + out_offset / 8] = outv;
+}
+
+__kernel void copy(__global float8 * inout,
+                   int in_offset)
+{
+  const int gid = get_global_id(0);
+  inout[gid] = inout[gid + in_offset / 8];
+}
diff --git a/sunnypilot/modeld/transforms/loadyuv.h b/sunnypilot/modeld/transforms/loadyuv.h
new file mode 100644
index 00000000000000..7d27ef5d468dba
--- /dev/null
+++ b/sunnypilot/modeld/transforms/loadyuv.h
@@ -0,0 +1,16 @@
+#pragma once
+
+#include "common/clutil.h"
+
+typedef struct {
+  int width, height;
+  cl_kernel loadys_krnl, loaduv_krnl, copy_krnl;
+} LoadYUVState;
+
+void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height);
+
+void loadyuv_destroy(LoadYUVState* s);
+
+void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
+                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
+                   cl_mem out_cl, bool do_shift = false);
diff --git a/sunnypilot/modeld/transforms/transform.cc b/sunnypilot/modeld/transforms/transform.cc
new file mode 100644
index 00000000000000..ebab670b537091
--- /dev/null
+++ b/sunnypilot/modeld/transforms/transform.cc
@@ -0,0 +1,97 @@
+#include "sunnypilot/modeld/transforms/transform.h"
+
+#include <cassert>
+#include <cstring>
+
+#include "common/clutil.h"
+
+void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
+  memset(s, 0, sizeof(*s));
+
+  cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, "");
+  s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
+  // done with this
+  CL_CHECK(clReleaseProgram(prg));
+
+  s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
+  s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
+}
+
+void transform_destroy(Transform* s) {
+  CL_CHECK(clReleaseMemObject(s->m_y_cl));
+  CL_CHECK(clReleaseMemObject(s->m_uv_cl));
+  CL_CHECK(clReleaseKernel(s->krnl));
+}
+
+void transform_queue(Transform* s,
+                     cl_command_queue q,
+                     cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
+                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
+                     int out_width, int out_height,
+                     const mat3& projection) {
+  const int zero = 0;
+
+  // sampled using pixel center origin
+  // (because that's how fastcv and opencv does it)
+
+  mat3 projection_y = projection;
+
+  // in and out uv is half the size of y.
+  mat3 projection_uv = transform_scale_buffer(projection, 0.5);
+
+  CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL));
+  CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL));
+
+  const int in_y_width = in_width;
+  const int in_y_height = in_height;
+  const int in_y_px_stride = 1;
+  const int in_uv_width = in_width/2;
+  const int in_uv_height = in_height/2;
+  const int in_uv_px_stride = 2;
+  const int in_u_offset = in_uv_offset;
+  const int in_v_offset = in_uv_offset + 1;
+
+  const int out_y_width = out_width;
+  const int out_y_height = out_height;
+  const int out_uv_width = out_width/2;
+  const int out_uv_height = out_height/2;
+
+  CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv));  // src
+  CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride));  // src_row_stride
+  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride));  // src_px_stride
+  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero));  // src_offset
+  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height));  // src_rows
+  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width));  // src_cols
+  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y));  // dst
+  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width));  // dst_row_stride
+  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
+  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height));  // dst_rows
+  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width));  // dst_cols
+  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl));  // M
+
+  const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height};
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
+                              (const size_t*)&work_size_y, NULL, 0, 0, NULL));
+
+  const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height};
+
+  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride));  // src_px_stride
+  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset));  // src_offset
+  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height));  // src_rows
+  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width));  // src_cols
+  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u));  // dst
+  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width));  // dst_row_stride
+  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
+  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height));  // dst_rows
+  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width));  // dst_cols
+  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl));  // M
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
+                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
+  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset));  // src_ofset
+  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v));  // dst
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
+                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
+}
diff --git a/sunnypilot/modeld/transforms/transform.cl b/sunnypilot/modeld/transforms/transform.cl
new file mode 100644
index 00000000000000..2ca25920cd19be
--- /dev/null
+++ b/sunnypilot/modeld/transforms/transform.cl
@@ -0,0 +1,54 @@
+#define INTER_BITS 5
+#define INTER_TAB_SIZE (1 << INTER_BITS)
+#define INTER_SCALE 1.f / INTER_TAB_SIZE
+
+#define INTER_REMAP_COEF_BITS 15
+#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS)
+
+__kernel void warpPerspective(__global const uchar * src,
+                              int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols,
+                              __global uchar * dst,
+                              int dst_row_stride, int dst_offset, int dst_rows, int dst_cols,
+                              __constant float * M)
+{
+    int dx = get_global_id(0);
+    int dy = get_global_id(1);
+
+    if (dx < dst_cols && dy < dst_rows)
+    {
+        float X0 = M[0] * dx + M[1] * dy + M[2];
+        float Y0 = M[3] * dx + M[4] * dy + M[5];
+        float W = M[6] * dx + M[7] * dy + M[8];
+        W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
+        int X = rint(X0 * W), Y = rint(Y0 * W);
+
+        int sx = convert_short_sat(X >> INTER_BITS);
+        int sy = convert_short_sat(Y >> INTER_BITS);
+
+        short sx_clamp = clamp(sx, 0, src_cols - 1);
+        short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
+        short sy_clamp = clamp(sy, 0, src_rows - 1);
+        short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
+        int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
+        int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
+        int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
+        int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
+
+        short ay = (short)(Y & (INTER_TAB_SIZE - 1));
+        short ax = (short)(X & (INTER_TAB_SIZE - 1));
+        float taby = 1.f/INTER_TAB_SIZE*ay;
+        float tabx = 1.f/INTER_TAB_SIZE*ax;
+
+        int dst_index = mad24(dy, dst_row_stride, dst_offset + dx);
+
+        int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
+        int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE );
+        int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
+        int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE );
+
+        int val = v0 * itab0 +  v1 * itab1 + v2 * itab2 + v3 * itab3;
+
+        uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS);
+        dst[dst_index] = pix;
+    }
+}
diff --git a/sunnypilot/modeld/transforms/transform.h b/sunnypilot/modeld/transforms/transform.h
new file mode 100644
index 00000000000000..771a7054b35d29
--- /dev/null
+++ b/sunnypilot/modeld/transforms/transform.h
@@ -0,0 +1,25 @@
+#pragma once
+
+#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#include "common/mat.h"
+
+typedef struct {
+  cl_kernel krnl;
+  cl_mem m_y_cl, m_uv_cl;
+} Transform;
+
+void transform_init(Transform* s, cl_context ctx, cl_device_id device_id);
+
+void transform_destroy(Transform* transform);
+
+void transform_queue(Transform* s, cl_command_queue q,
+                     cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
+                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
+                     int out_width, int out_height,
+                     const mat3& projection);
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index fe6ac2133ca19d..ec6dee465d0bd4 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -21,7 +21,8 @@ async def verify_file(file_path: str, expected_hash: str) -> bool:
 
   return sha256_hash.hexdigest().lower() == expected_hash.lower()
 
-def get_active_bundle(params: Params) -> custom.ModelManagerSP.ModelBundle:
+
+def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundle:
   """Gets the active model bundle from cache"""
   if params is None:
     params = Params()
@@ -30,3 +31,49 @@ def get_active_bundle(params: Params) -> custom.ModelManagerSP.ModelBundle:
     return messaging.log_from_bytes(active_bundle, custom.ModelManagerSP.ModelBundle)
 
   return None
+
+
+def get_model_runner_by_filename(filename: str) -> custom.ModelManagerSP.Runner:
+  if filename.endswith(".thneed"):
+    return custom.ModelManagerSP.Runner.snpe
+
+  if filename.endswith("_tinygrad.pkl"):
+    return custom.ModelManagerSP.Runner.tinygrad
+
+
+def get_active_model_runner(params: Params = None, force_check=False) -> custom.ModelManagerSP.Runner:
+  """
+  Determines and returns the active model runner type, based on provided parameters.
+  The function utilizes caching to prevent redundant calculations and checks.
+
+  If the cached "ModelRunnerTypeCache" exists in the provided parameters and `force_check`
+  is set to False, the cached value is directly returned. Otherwise, the function determines
+  the runner type based on the active model bundle. If a model bundle containing a drive
+  model exists, the runner type is derived based on the filename of the drive model.
+  Finally, it updates the cache with the determined runner type, if needed.
+
+  :param params: The parameter set used to retrieve caching and runner details. If `None`,
+      a default `Params` instance is created internally.
+  :type params: Params
+  :param force_check: A flag indicating whether to bypass cached results and always
+      re-determine the runner type. Defaults to `False`.
+  :type force_check: bool
+  :return: The determined or cached model runner type.
+  :rtype: custom.ModelManagerSP.Runner
+  """
+  if params is None:
+    params = Params()
+
+  if (cached_runner_type := params.get("ModelRunnerTypeCache")) and not force_check:
+    return int(cached_runner_type)
+
+  runner_type = custom.ModelManagerSP.Runner.tinygrad
+
+  if active_bundle := get_active_bundle(params):
+    drive_model = next(model for model in active_bundle.models if model.type == custom.ModelManagerSP.Type.drive)
+    runner_type = get_model_runner_by_filename(drive_model.fileName)
+
+  if cached_runner_type != runner_type:
+    params.put("ModelRunnerTypeCache", str(runner_type))
+
+  return runner_type
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index e6767ae740dedc..2f677f20739523 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -5,6 +5,7 @@
 from openpilot.common.params import Params
 from openpilot.system.hardware import PC, TICI
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
+
 from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
@@ -70,6 +71,14 @@ def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
   """Shim for use_sunnylink_uploader to match the process manager signature."""
   return use_sunnylink_uploader(params)
 
+def is_snpe_model(started, params, CP: car.CarParams) -> bool:
+  """Check if the active model runner is SNPE."""
+  return False  # FIXME-SP: Enable in future PR
+
+def is_stock_model(started, params, CP: car.CarParams) -> bool:
+  """Check if the active model runner is stock."""
+  return not is_snpe_model(started, params, CP)
+
 def or_(*fns):
   return lambda *args: operator.or_(*(fn(*args) for fn in fns))
 
@@ -93,7 +102,7 @@ def and_(*fns):
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
   # TODO Make python process once TG allows opening QCOM from child proc
-  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
+  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], and_(only_onroad, is_stock_model)),
   NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
   PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
@@ -135,6 +144,7 @@ def and_(*fns):
 # sunnypilot
 procs += [
   PythonProcess("models_manager", "sunnypilot.models.manager", only_offroad),
+  NativeProcess("modeld_snpe", "sunnypilot/modeld", ["./modeld"], and_(only_onroad, is_snpe_model)),
 ]
 
 if os.path.exists("./github_runner.sh"):
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
new file mode 100644
index 00000000000000..a1c6fed9107b7d
--- /dev/null
+++ b/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb3b1fd29d958e9a3a6625eac9fac9e7cd6eb40309b285ad973324761db0b4c9
+size 1202792
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
new file mode 100644
index 00000000000000..54c0c32e41ff53
--- /dev/null
+++ b/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:161a5d0bf7347465b53ae49690a38fbacf03d606ef204147b3b148a5f59188da
+size 9008016
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
new file mode 100644
index 00000000000000..21542030263916
--- /dev/null
+++ b/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e0e66c12a1eb3b5b4b2b2694831ca51e5132818f400dad789adbcc30e0e0793
+size 14032
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
new file mode 100644
index 00000000000000..1d81abd3a5cfac
--- /dev/null
+++ b/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2420312
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
new file mode 100644
index 00000000000000..40e3d5af74980e
--- /dev/null
+++ b/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33afe465e74bbe2c409350d2ca8e86cfadf050ceb8feac75a86adc19ff1f9c48
+size 26016
diff --git a/third_party/snpe/dsp/libcalculator_skel.so b/third_party/snpe/dsp/libcalculator_skel.so
new file mode 100644
index 00000000000000..9e9e9221be9da2
--- /dev/null
+++ b/third_party/snpe/dsp/libcalculator_skel.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bee94d38195478ffdd0ce15292a2dfa7813377f4c3b7d99c270e05079d1746b
+size 20828
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
new file mode 100644
index 00000000000000..3f1b7a8b8c4a9d
--- /dev/null
+++ b/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e040c87072aa915c47859c8c7f74076b98c6919b83ddd5dc4bb555870d586a7
+size 1813866
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
new file mode 100644
index 00000000000000..aa42b5e830c26f
--- /dev/null
+++ b/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:838bc58ac0094ba9593cf7c44ab6e8a94ae3dbbe176e320d9fbe86ceead53c5e
+size 1817962
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
new file mode 100644
index 00000000000000..9423da1b94e388
--- /dev/null
+++ b/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77d025d59521e13e4ed012f0d9d2b684cdb858208d70426078df51219eaeb9bd
+size 10098673
diff --git a/third_party/snpe/include/DiagLog/IDiagLog.hpp b/third_party/snpe/include/DiagLog/IDiagLog.hpp
new file mode 100644
index 00000000000000..018b5672561c0b
--- /dev/null
+++ b/third_party/snpe/include/DiagLog/IDiagLog.hpp
@@ -0,0 +1,84 @@
+//=============================================================================
+//
+//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#ifndef __IDIAGLOG_HPP_
+#define __IDIAGLOG_HPP_
+
+#include <string>
+
+#include "DiagLog/Options.hpp"
+#include "DlSystem/String.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl
+{
+namespace DiagLog
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/// @brief .
+///
+/// Interface for controlling logging for zdl components.
+
+class ZDL_EXPORT IDiagLog
+{
+public:
+
+   /// @brief .
+   ///
+   /// Sets the options after initialization occurs.
+   ///
+   /// @param[in] loggingOptions The options to set up diagnostic logging.
+   ///
+   /// @return False if the options could not be set. Ensure logging is not started.
+   virtual bool setOptions(const Options& loggingOptions) = 0;
+
+   /// @brief .
+   ///
+   /// Gets the curent options for the diag logger.
+   ///
+   /// @return Diag log options object.
+   virtual Options getOptions() = 0;
+
+   /// @brief .
+   ///
+   /// Allows for setting the log mask once diag logging has started
+   ///
+   /// @return True if the level was set successfully, false if a failure occurred.
+   virtual bool setDiagLogMask(const std::string& mask) = 0;
+
+   /// @brief .
+   ///
+   /// Allows for setting the log mask once diag logging has started
+   ///
+   /// @return True if the level was set successfully, false if a failure occurred.
+   virtual bool setDiagLogMask(const zdl::DlSystem::String& mask) = 0;
+
+   /// @brief .
+   ///
+   /// Enables logging for zdl components.
+   ///
+   /// Logging should be started prior to the instantiation of zdl components
+   /// to ensure all events are captured.
+   ///
+   /// @return False if diagnostic logging could not be started.
+   virtual bool start(void) = 0;
+
+   /// @brief Disables logging for zdl components.
+   virtual bool stop(void) = 0;
+
+   virtual ~IDiagLog() {};
+};
+
+} // DiagLog namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif
diff --git a/third_party/snpe/include/DiagLog/Options.hpp b/third_party/snpe/include/DiagLog/Options.hpp
new file mode 100644
index 00000000000000..798fa3f1240a62
--- /dev/null
+++ b/third_party/snpe/include/DiagLog/Options.hpp
@@ -0,0 +1,79 @@
+//=============================================================================
+//
+//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#ifndef __DIAGLOG_OPTIONS_HPP_
+#define __DIAGLOG_OPTIONS_HPP_
+
+#include <string>
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl
+{
+namespace DiagLog
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/// @brief .
+///
+/// Options for setting up diagnostic logging for zdl components.
+class ZDL_EXPORT Options
+{
+public:
+   Options() :
+      DiagLogMask(""),
+      LogFileDirectory("diaglogs"),
+      LogFileName("DiagLog"),
+      LogFileRotateCount(20),
+      LogFileReplace(true)
+   {
+      // Solves the empty string problem with multiple std libs
+      DiagLogMask.reserve(1);
+   }
+
+   /// @brief .
+   ///
+   /// Enables diag logging only on the specified area mask (DNN_RUNTIME=ON | OFF)
+   std::string DiagLogMask;
+
+   /// @brief .
+   ///
+   /// The path to the directory where log files will be written.
+   /// The path may be relative or absolute. Relative paths are interpreted
+   /// from the current working directory.
+   /// Default value is "diaglogs"
+   std::string LogFileDirectory;
+
+   /// @brief .
+   ///
+   //// The name used for log files. If this value is empty then BaseName will be
+   /// used as the default file name.
+   /// Default value is "DiagLog"
+   std::string LogFileName;
+
+   /// @brief .
+   ///
+   /// The maximum number of log files to create. If set to 0 no log rotation
+   /// will be used and the log file name specified will be used each time, overwriting
+   /// any existing log file that may exist.
+   /// Default value is 20
+   uint32_t LogFileRotateCount;
+
+   /// @brief
+   ///
+   /// If the log file already exists, control whether it will be replaced
+   /// (existing contents truncated), or appended.
+   /// Default value is true
+   bool LogFileReplace;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+} // DiagLog namespace
+} // zdl namespace
+
+
+#endif
diff --git a/third_party/snpe/include/DlContainer/IDlContainer.hpp b/third_party/snpe/include/DlContainer/IDlContainer.hpp
new file mode 100644
index 00000000000000..4e29b39bb41eb8
--- /dev/null
+++ b/third_party/snpe/include/DlContainer/IDlContainer.hpp
@@ -0,0 +1,191 @@
+//=============================================================================
+//
+//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef ZEROTH_IDNC_CONTAINER_HPP
+#define ZEROTH_IDNC_CONTAINER_HPP
+
+#include <memory>
+#include <stdint.h>
+#include <string>
+#include <vector>
+#include <set>
+
+#include "DlSystem/ZdlExportDefine.hpp"
+#include "DlSystem/String.hpp"
+
+namespace zdl {
+namespace DlContainer {
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+class IDlContainer;
+class dlc_error;
+
+/**
+ * The structure of a record in a DL container.
+ */
+struct ZDL_EXPORT DlcRecord
+{
+   /// Name of the record.
+   std::string name;
+   /// Byte blob holding the data for the record.
+   std::vector<uint8_t> data;
+
+   DlcRecord();
+   DlcRecord( DlcRecord&& other )
+      : name(std::move(other.name))
+      , data(std::move(other.data))
+   {}
+   DlcRecord(const std::string& new_name)
+      : name(new_name)
+      , data()
+   {
+      if(name.empty())
+      {
+         name.reserve(1);
+      }
+   }
+   DlcRecord(const DlcRecord&) = delete;
+};
+
+// The maximum length of any record name.
+extern const uint32_t RECORD_NAME_MAX_SIZE;
+// The maximum size of the record payload (bytes).
+extern const uint32_t RECORD_DATA_MAX_SIZE;
+// The maximum number of records in an archive at one time.
+extern const uint32_t ARCHIVE_MAX_RECORDS;
+
+/**
+ * Represents a container for a neural network model which can
+ * be used to load the model into the SNPE runtime.
+ */
+class ZDL_EXPORT IDlContainer
+{
+public:
+   /**
+    * Initializes a container from a container archive file.
+    *
+    * @param[in] filename Container archive file path.
+    *
+    * @return A pointer to the initialized container
+    */
+   static std::unique_ptr<IDlContainer>
+   open(const std::string &filename) noexcept;
+
+   /**
+    * Initializes a container from a container archive file.
+    *
+    * @param[in] filename Container archive file path.
+    *
+    * @return A pointer to the initialized container
+    */
+   static std::unique_ptr<IDlContainer>
+   open(const zdl::DlSystem::String &filename) noexcept;
+
+   /**
+    * Initializes a container from a byte buffer.
+    *
+    * @param[in] buffer Byte buffer holding the contents of an archive
+    *                   file.
+    *
+    * @return A pointer to the initialized container
+    */
+   static std::unique_ptr<IDlContainer>
+   open(const std::vector<uint8_t> &buffer) noexcept;
+
+   /**
+    * Initializes a container from a byte buffer.
+    *
+    * @param[in] buffer Byte buffer holding the contents of an archive
+    *                   file.
+    *
+    * @param[in] size Size of the byte buffer.
+    *
+    * @return A pointer to the initialized container
+    */
+   static std::unique_ptr<IDlContainer>
+   open(const uint8_t* buffer, const size_t size) noexcept;
+
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+   /**
+    * Get the record catalog for a container.
+    *
+    * @param[out] catalog Buffer that will hold the record names on
+    *                    return.
+    */
+   virtual void getCatalog(std::set<std::string> &catalog) const = 0;
+
+    /**
+     * Get the record catalog for a container.
+     *
+     * @param[out] catalog Buffer that will hold the record names on
+     *                    return.
+     */
+   virtual void getCatalog(std::set<zdl::DlSystem::String> &catalog) const = 0;
+
+   /**
+    * Get a record from a container by name.
+    *
+    * @param[in] name Name of the record to fetch.
+    * @param[out] record The passed in record will be populated with the
+    *                   record data on return. Note that the caller
+    *                   will own the data in the record and is
+    *                   responsible for freeing it if needed.
+    */
+   virtual void getRecord(const std::string &name, DlcRecord &record) const = 0;
+
+   /**
+    * Get a record from a container by name.
+    *
+    * @param[in] name Name of the record to fetch.
+    * @param[out] record The passed in record will be populated with the
+    *                   record data on return. Note that the caller
+    *                   will own the data in the record and is
+    *                   responsible for freeing it if needed.
+    */
+   virtual void getRecord(const zdl::DlSystem::String &name, DlcRecord &record) const = 0;
+
+   /**
+    * Save the container to an archive on disk. This function will save the
+    * container if the filename is different from the file that it was opened
+    * from, or if at least one record was modified since the container was
+    * opened.
+    *
+    * It will truncate any existing file at the target path.
+    *
+    * @param filename Container archive file path.
+    *
+    * @return indication of success/failure
+    */
+   virtual bool save(const std::string &filename) = 0;
+
+   /**
+    * Save the container to an archive on disk. This function will save the
+    * container if the filename is different from the file that it was opened
+    * from, or if at least one record was modified since the container was
+    * opened.
+    *
+    * It will truncate any existing file at the target path.
+    *
+    * @param filename Container archive file path.
+    *
+    * @return indication of success/failure
+    */
+   virtual bool save (const zdl::DlSystem::String &filename) = 0;
+
+   virtual ~IDlContainer() {}
+};
+
+} // ns DlContainer
+} // ns zdl
+
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/DlEnums.hpp b/third_party/snpe/include/DlSystem/DlEnums.hpp
new file mode 100644
index 00000000000000..c9b3ef970a2aaa
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/DlEnums.hpp
@@ -0,0 +1,234 @@
+//==============================================================================
+//
+//  Copyright (c) 2014-2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _DL_ENUMS_HPP_
+#define _DL_ENUMS_HPP_
+
+#include "DlSystem/ZdlExportDefine.hpp"
+
+
+namespace zdl {
+namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * Enumeration of supported target runtimes.
+ */
+enum class Runtime_t
+{
+   /// Run the processing on Snapdragon CPU.
+   /// Data: float 32bit
+   /// Math: float 32bit
+   CPU_FLOAT32  = 0,
+
+   /// Run the processing on the Adreno GPU.
+   /// Data: float 16bit
+   /// Math: float 32bit
+   GPU_FLOAT32_16_HYBRID = 1,
+
+   /// Run the processing on the Hexagon DSP.
+   /// Data: 8bit fixed point Tensorflow style format
+   /// Math: 8bit fixed point Tensorflow style format
+   DSP_FIXED8_TF = 2,
+
+   /// Run the processing on the Adreno GPU.
+   /// Data: float 16bit
+   /// Math: float 16bit
+   GPU_FLOAT16 = 3,
+
+   /// Run the processing on Snapdragon AIX+HVX.
+   /// Data: 8bit fixed point Tensorflow style format
+   /// Math: 8bit fixed point Tensorflow style format
+   AIP_FIXED8_TF = 5,
+   AIP_FIXED_TF = AIP_FIXED8_TF,
+
+   /// Default legacy enum to retain backward compatibility.
+   /// CPU = CPU_FLOAT32
+   CPU = CPU_FLOAT32,
+
+   /// Default legacy enum to retain backward compatibility.
+   /// GPU = GPU_FLOAT32_16_HYBRID
+   GPU = GPU_FLOAT32_16_HYBRID,
+
+   /// Default legacy enum to retain backward compatibility.
+   /// DSP = DSP_FIXED8_TF
+   DSP = DSP_FIXED8_TF,
+
+   /// Special value indicating the property is unset.
+   UNSET = -1
+};
+
+/**
+ * Enumeration of runtime available check options.
+ */
+enum class RuntimeCheckOption_t
+{
+   /// Perform standard runtime available check
+   DEFAULT = 0,
+   /// Perform standard runtime available check
+   NORMAL_CHECK = 0,
+   /// Perform basic runtime available check, may be runtime specific
+   BASIC_CHECK = 1,
+   /// Perform unsignedPD runtime available check
+   UNSIGNEDPD_CHECK = 2,
+};
+
+/**
+ * Enumeration of various performance profiles that can be requested.
+ */
+enum class PerformanceProfile_t
+{
+    /// Run in a standard mode.
+    /// This mode will be deprecated in the future and replaced with BALANCED.
+    DEFAULT = 0,
+    /// Run in a balanced mode.
+    BALANCED = 0,
+
+    /// Run in high performance mode
+    HIGH_PERFORMANCE = 1,
+
+    /// Run in a power sensitive mode, at the expense of performance.
+    POWER_SAVER = 2,
+
+    /// Use system settings.  SNPE makes no calls to any performance related APIs.
+    SYSTEM_SETTINGS = 3,
+
+    /// Run in sustained high performance mode
+    SUSTAINED_HIGH_PERFORMANCE = 4,
+
+    /// Run in burst mode
+    BURST = 5,
+
+    /// Run in lower clock than POWER_SAVER, at the expense of performance.
+    LOW_POWER_SAVER = 6,
+
+    /// Run in higher clock and provides better performance than POWER_SAVER.
+    HIGH_POWER_SAVER = 7,
+
+    /// Run in lower balanced mode
+    LOW_BALANCED = 8,
+};
+
+/**
+ * Enumeration of various profilngLevels that can be requested.
+ */
+enum class ProfilingLevel_t
+{
+    /// No profiling.
+    /// Collects no runtime stats in the DiagLog
+    OFF = 0,
+
+    /// Basic profiling
+    /// Collects some runtime stats in the DiagLog
+    BASIC = 1,
+
+    /// Detailed profiling
+    /// Collects more runtime stats in the DiagLog, including per-layer statistics
+    /// Performance may be impacted
+    DETAILED = 2,
+
+    /// Moderate profiling
+    /// Collects more runtime stats in the DiagLog, no per-layer statistics
+    MODERATE = 3
+};
+
+/**
+ * Enumeration of various execution priority hints.
+ */
+enum class ExecutionPriorityHint_t
+{
+    /// Normal priority
+    NORMAL = 0,
+
+    /// Higher than normal priority
+    HIGH = 1,
+
+    /// Lower priority
+    LOW = 2
+
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++*/
+
+/**
+ * Enumeration that lists the supported image encoding formats.
+ */
+enum class ImageEncoding_t
+{
+   /// For unknown image type. Also used as a default value for ImageEncoding_t.
+   UNKNOWN = 0,
+
+   /// The RGB format consists of 3 bytes per pixel: one byte for
+   /// Red, one for Green, and one for Blue. The byte ordering is
+   /// endian independent and is always in RGB byte order.
+   RGB = 1,
+
+   /// The ARGB32 format consists of 4 bytes per pixel: one byte for
+   /// Red, one for Green, one for Blue, and one for the alpha channel.
+   /// The alpha channel is ignored. The byte ordering depends on the
+   /// underlying CPU. For little endian CPUs, the byte order is BGRA.
+   /// For big endian CPUs, the byte order is ARGB.
+   ARGB32 = 2,
+
+   /// The RGBA format consists of 4 bytes per pixel: one byte for
+   /// Red, one for Green, one for Blue, and one for the alpha channel.
+   /// The alpha channel is ignored. The byte ordering is endian independent
+   /// and is always in RGBA byte order.
+   RGBA = 3,
+
+   /// The GRAYSCALE format is for 8-bit grayscale.
+   GRAYSCALE = 4,
+
+   /// NV21 is the Android version of YUV. The Chrominance is down
+   /// sampled and has a subsampling ratio of 4:2:0. Note that this
+   /// image format has 3 channels, but the U and V channels
+   /// are subsampled. For every four Y pixels there is one U and one V pixel. @newpage
+   NV21 = 5,
+
+   /// The BGR format consists of 3 bytes per pixel: one byte for
+   /// Red, one for Green and one for Blue. The byte ordering is
+   /// endian independent and is always BGR byte order.
+   BGR = 6
+};
+
+/**
+ * Enumeration that lists the supported LogLevels that can be set by users.
+ */
+enum class LogLevel_t
+{
+    /// Enumeration variable to be used by user to set logging level to FATAL.
+    LOG_FATAL = 0,
+
+    /// Enumeration variable to be used by user to set logging level to ERROR.
+    LOG_ERROR = 1,
+
+    /// Enumeration variable to be used by user to set logging level to WARN.
+    LOG_WARN = 2,
+
+    /// Enumeration variable to be used by user to set logging level to INFO.
+    LOG_INFO = 3,
+
+    /// Enumeration variable to be used by user to set logging level to VERBOSE.
+    LOG_VERBOSE = 4
+};
+
+typedef enum : int
+{
+   UNSPECIFIED = 0,
+   FLOATING_POINT_32 = 1,
+   FLOATING_POINT_16 = 2,
+   FIXED_POINT_8 =  3,
+   FIXED_POINT_16 = 4
+} IOBufferDataType_t;
+
+}} // namespaces end
+
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/DlError.hpp b/third_party/snpe/include/DlSystem/DlError.hpp
new file mode 100644
index 00000000000000..57592f01baed27
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/DlError.hpp
@@ -0,0 +1,259 @@
+//==============================================================================
+//
+//  Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _DL_ERROR_HPP_
+#define _DL_ERROR_HPP_
+
+#include <stdint.h>
+#include <limits> // numeric_limits
+
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl {
+namespace DlSystem {
+
+// clang and arm gcc different in how ZDL_EXPORT is used with enum class
+#if !defined (__clang__)
+enum class ErrorCode : uint32_t ZDL_EXPORT {
+#else
+enum class ZDL_EXPORT ErrorCode : uint32_t {
+#endif // ARM64V8A
+   NONE = 0,
+
+   // System config errors
+   SNPE_CONFIG_MISSING_PARAM                             = 100,
+   SNPE_CONFIG_INVALID_PARAM                             = 101,
+   SNPE_CONFIG_MISSING_FILE                              = 102,
+   SNPE_CONFIG_NNCONFIG_NOT_SET                          = 103,
+   SNPE_CONFIG_NNCONFIG_INVALID                          = 104,
+   SNPE_CONFIG_WRONG_INPUT_NAME                          = 105,
+   SNPE_CONFIG_INCORRECT_INPUT_DIMENSIONS                = 106,
+   SNPE_CONFIG_DIMENSIONS_MODIFICATION_NOT_SUPPORTED     = 107,
+   SNPE_CONFIG_BOTH_OUTPUT_LAYER_TENSOR_NAMES_SET        = 108,
+
+   SNPE_CONFIG_NNCONFIG_ONLY_TENSOR_SUPPORTED            = 120,
+   SNPE_CONFIG_NNCONFIG_ONLY_USER_BUFFER_SUPPORTED       = 121,
+
+   // DlSystem errors
+   SNPE_DLSYSTEM_MISSING_BUFFER                          = 200,
+   SNPE_DLSYSTEM_TENSOR_CAST_FAILED                      = 201,
+   SNPE_DLSYSTEM_FIXED_POINT_PARAM_INVALID               = 202,
+   SNPE_DLSYSTEM_SIZE_MISMATCH                           = 203,
+   SNPE_DLSYSTEM_NAME_NOT_FOUND                          = 204,
+   SNPE_DLSYSTEM_VALUE_MISMATCH                          = 205,
+   SNPE_DLSYSTEM_INSERT_FAILED                           = 206,
+   SNPE_DLSYSTEM_TENSOR_FILE_READ_FAILED                 = 207,
+   SNPE_DLSYSTEM_DIAGLOG_FAILURE                         = 208,
+   SNPE_DLSYSTEM_LAYER_NOT_SET                           = 209,
+   SNPE_DLSYSTEM_WRONG_NUMBER_INPUT_BUFFERS              = 210,
+   SNPE_DLSYSTEM_RUNTIME_TENSOR_SHAPE_MISMATCH           = 211,
+   SNPE_DLSYSTEM_TENSOR_MISSING                          = 212,
+   SNPE_DLSYSTEM_TENSOR_ITERATION_UNSUPPORTED            = 213,
+   SNPE_DLSYSTEM_BUFFER_MANAGER_MISSING                  = 214,
+   SNPE_DLSYSTEM_RUNTIME_BUFFER_SOURCE_UNSUPPORTED       = 215,
+   SNPE_DLSYSTEM_BUFFER_CAST_FAILED                      = 216,
+   SNPE_DLSYSTEM_WRONG_TRANSITION_TYPE                   = 217,
+   SNPE_DLSYSTEM_LAYER_ALREADY_REGISTERED                = 218,
+   SNPE_DLSYSTEM_TENSOR_DIM_INVALID                      = 219,
+
+   SNPE_DLSYSTEM_BUFFERENCODING_UNKNOWN                  = 240,
+   SNPE_DLSYSTEM_BUFFER_INVALID_PARAM                    = 241,
+
+   // DlContainer errors
+   SNPE_DLCONTAINER_MODEL_PARSING_FAILED                 = 300,
+   SNPE_DLCONTAINER_UNKNOWN_LAYER_CODE                   = 301,
+   SNPE_DLCONTAINER_MISSING_LAYER_PARAM                  = 302,
+   SNPE_DLCONTAINER_LAYER_PARAM_NOT_SUPPORTED            = 303,
+   SNPE_DLCONTAINER_LAYER_PARAM_INVALID                  = 304,
+   SNPE_DLCONTAINER_TENSOR_DATA_MISSING                  = 305,
+   SNPE_DLCONTAINER_MODEL_LOAD_FAILED                    = 306,
+   SNPE_DLCONTAINER_MISSING_RECORDS                      = 307,
+   SNPE_DLCONTAINER_INVALID_RECORD                       = 308,
+   SNPE_DLCONTAINER_WRITE_FAILURE                        = 309,
+   SNPE_DLCONTAINER_READ_FAILURE                         = 310,
+   SNPE_DLCONTAINER_BAD_CONTAINER                        = 311,
+   SNPE_DLCONTAINER_BAD_DNN_FORMAT_VERSION               = 312,
+   SNPE_DLCONTAINER_UNKNOWN_AXIS_ANNOTATION              = 313,
+   SNPE_DLCONTAINER_UNKNOWN_SHUFFLE_TYPE                 = 314,
+   SNPE_DLCONTAINER_TEMP_FILE_FAILURE                    = 315,
+
+   // Network errors
+   SNPE_NETWORK_EMPTY_NETWORK                            = 400,
+   SNPE_NETWORK_CREATION_FAILED                          = 401,
+   SNPE_NETWORK_PARTITION_FAILED                         = 402,
+   SNPE_NETWORK_NO_OUTPUT_DEFINED                        = 403,
+   SNPE_NETWORK_MISMATCH_BETWEEN_NAMES_AND_DIMS          = 404,
+   SNPE_NETWORK_MISSING_INPUT_NAMES                      = 405,
+   SNPE_NETWORK_MISSING_OUTPUT_NAMES                     = 406,
+   SNPE_NETWORK_EXECUTION_FAILED                         = 407,
+
+   // Host runtime errors
+   SNPE_HOST_RUNTIME_TARGET_UNAVAILABLE                  = 500,
+
+   // CPU runtime errors
+   SNPE_CPU_LAYER_NOT_SUPPORTED                          = 600,
+   SNPE_CPU_LAYER_PARAM_NOT_SUPPORTED                    = 601,
+   SNPE_CPU_LAYER_PARAM_INVALID                          = 602,
+   SNPE_CPU_LAYER_PARAM_COMBINATION_INVALID              = 603,
+   SNPE_CPU_BUFFER_NOT_FOUND                             = 604,
+   SNPE_CPU_NETWORK_NOT_SUPPORTED                        = 605,
+   SNPE_CPU_UDO_OPERATION_FAILED                         = 606,
+
+   // CPU fixed-point runtime errors
+   SNPE_CPU_FXP_LAYER_NOT_SUPPORTED                      = 700,
+   SNPE_CPU_FXP_LAYER_PARAM_NOT_SUPPORTED                = 701,
+   SNPE_CPU_FXP_LAYER_PARAM_INVALID                      = 702,
+
+   // GPU runtime errors
+   SNPE_GPU_LAYER_NOT_SUPPORTED                          = 800,
+   SNPE_GPU_LAYER_PARAM_NOT_SUPPORTED                    = 801,
+   SNPE_GPU_LAYER_PARAM_INVALID                          = 802,
+   SNPE_GPU_LAYER_PARAM_COMBINATION_INVALID              = 803,
+   SNPE_GPU_KERNEL_COMPILATION_FAILED                    = 804,
+   SNPE_GPU_CONTEXT_NOT_SET                              = 805,
+   SNPE_GPU_KERNEL_NOT_SET                               = 806,
+   SNPE_GPU_KERNEL_PARAM_INVALID                         = 807,
+   SNPE_GPU_OPENCL_CHECK_FAILED                          = 808,
+   SNPE_GPU_OPENCL_FUNCTION_ERROR                        = 809,
+   SNPE_GPU_BUFFER_NOT_FOUND                             = 810,
+   SNPE_GPU_TENSOR_DIM_INVALID                           = 811,
+   SNPE_GPU_MEMORY_FLAGS_INVALID                         = 812,
+   SNPE_GPU_UNEXPECTED_NUMBER_OF_IO                      = 813,
+   SNPE_GPU_LAYER_PROXY_ERROR                            = 814,
+   SNPE_GPU_BUFFER_IN_USE                                = 815,
+   SNPE_GPU_BUFFER_MODIFICATION_ERROR                    = 816,
+   SNPE_GPU_DATA_ARRANGEMENT_INVALID                     = 817,
+   SNPE_GPU_UDO_OPERATION_FAILED                         = 818,
+   // DSP runtime errors
+   SNPE_DSP_LAYER_NOT_SUPPORTED                          = 900,
+   SNPE_DSP_LAYER_PARAM_NOT_SUPPORTED                    = 901,
+   SNPE_DSP_LAYER_PARAM_INVALID                          = 902,
+   SNPE_DSP_LAYER_PARAM_COMBINATION_INVALID              = 903,
+   SNPE_DSP_STUB_NOT_PRESENT                             = 904,
+   SNPE_DSP_LAYER_NAME_TRUNCATED                         = 905,
+   SNPE_DSP_LAYER_INPUT_BUFFER_NAME_TRUNCATED            = 906,
+   SNPE_DSP_LAYER_OUTPUT_BUFFER_NAME_TRUNCATED           = 907,
+   SNPE_DSP_RUNTIME_COMMUNICATION_ERROR                  = 908,
+   SNPE_DSP_RUNTIME_INVALID_PARAM_ERROR                  = 909,
+   SNPE_DSP_RUNTIME_SYSTEM_ERROR                         = 910,
+   SNPE_DSP_RUNTIME_CRASHED_ERROR                        = 911,
+   SNPE_DSP_BUFFER_SIZE_ERROR                            = 912,
+   SNPE_DSP_UDO_EXECUTE_ERROR                            = 913,
+   SNPE_DSP_UDO_LIB_NOT_REGISTERED_ERROR                 = 914,
+   SNPE_DSP_UDO_INVALID_QUANTIZATION_TYPE_ERROR          = 915,
+   SNPE_DSP_RUNTIME_INVALID_RPC_DRIVER                   = 916,
+   SNPE_DSP_RUNTIME_RPC_PERMISSION_ERROR                 = 917,
+   SNPE_DSP_RUNTIME_DSP_FILE_OPEN_ERROR                  = 918,
+
+   // Model validataion errors
+   SNPE_MODEL_VALIDATION_LAYER_NOT_SUPPORTED             = 1000,
+   SNPE_MODEL_VALIDATION_LAYER_PARAM_NOT_SUPPORTED       = 1001,
+   SNPE_MODEL_VALIDATION_LAYER_PARAM_INVALID             = 1002,
+   SNPE_MODEL_VALIDATION_LAYER_PARAM_MISSING             = 1003,
+   SNPE_MODEL_VALIDATION_LAYER_PARAM_COMBINATION_INVALID = 1004,
+   SNPE_MODEL_VALIDATION_LAYER_ORDERING_INVALID          = 1005,
+   SNPE_MODEL_VALIDATION_INVALID_CONSTRAINT              = 1006,
+   SNPE_MODEL_VALIDATION_MISSING_BUFFER                  = 1007,
+   SNPE_MODEL_VALIDATION_BUFFER_REUSE_NOT_SUPPORTED      = 1008,
+   SNPE_MODEL_VALIDATION_LAYER_COULD_NOT_BE_ASSIGNED     = 1009,
+   SNPE_MODEL_VALIDATION_UDO_LAYER_FAILED                = 1010,
+
+   // UDL errors
+   SNPE_UDL_LAYER_EMPTY_UDL_NETWORK                      = 1100,
+   SNPE_UDL_LAYER_PARAM_INVALID                          = 1101,
+   SNPE_UDL_LAYER_INSTANCE_MISSING                       = 1102,
+   SNPE_UDL_LAYER_SETUP_FAILED                           = 1103,
+   SNPE_UDL_EXECUTE_FAILED                               = 1104,
+   SNPE_UDL_BUNDLE_INVALID                               = 1105,
+   SNPE_UDO_REGISTRATION_FAILED                          = 1106,
+   SNPE_UDO_GET_PACKAGE_FAILED                           = 1107,
+   SNPE_UDO_GET_IMPLEMENTATION_FAILED                    = 1108,
+
+   // Dependent library errors
+   SNPE_STD_LIBRARY_ERROR                                = 1200,
+
+   // Unknown exception (catch (...)), Has no component attached to this
+   SNPE_UNKNOWN_EXCEPTION                                = 1210,
+
+   // Storage Errors
+   SNPE_STORAGE_INVALID_KERNEL_REPO                      = 1300,
+
+   // AIP runtime errors
+   SNPE_AIP_LAYER_NOT_SUPPORTED                          = 1400,
+   SNPE_AIP_LAYER_PARAM_NOT_SUPPORTED                    = 1401,
+   SNPE_AIP_LAYER_PARAM_INVALID                          = 1402,
+   SNPE_AIP_LAYER_PARAM_COMBINATION_INVALID              = 1403,
+   SNPE_AIP_STUB_NOT_PRESENT                             = 1404,
+   SNPE_AIP_LAYER_NAME_TRUNCATED                         = 1405,
+   SNPE_AIP_LAYER_INPUT_BUFFER_NAME_TRUNCATED            = 1406,
+   SNPE_AIP_LAYER_OUTPUT_BUFFER_NAME_TRUNCATED           = 1407,
+   SNPE_AIP_RUNTIME_COMMUNICATION_ERROR                  = 1408,
+   SNPE_AIP_RUNTIME_INVALID_PARAM_ERROR                  = 1409,
+   SNPE_AIP_RUNTIME_SYSTEM_ERROR                         = 1410,
+   SNPE_AIP_RUNTIME_TENSOR_MISSING                       = 1411,
+   SNPE_AIP_RUNTIME_TENSOR_SHAPE_MISMATCH                = 1412,
+   SNPE_AIP_RUNTIME_BAD_AIX_RECORD                       = 1413,
+
+   // DlCaching errors
+   SNPE_DLCACHING_INVALID_METADATA                       = 1500,
+   SNPE_DLCACHING_INVALID_INITBLOB                       = 1501,
+
+   // Infrastructure Errors
+   SNPE_INFRA_CLUSTERMGR_INSTANCE_INVALID                = 1600,
+   SNPE_INFRA_CLUSTERMGR_EXECUTE_SYNC_FAILED             = 1601,
+
+   // Memory Errors
+   SNPE_MEMORY_CORRUPTION_ERROR                          = 1700
+
+};
+
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * Returns the error code of the last error encountered.
+ *
+ * @return The error code.
+ *
+ * @note The returned error code is significant only when the return
+ *       value of the call indicated an error.
+ */
+ZDL_EXPORT ErrorCode getLastErrorCode();
+
+/**
+ * Returns the error string of the last error encountered.
+ *
+ * @return The error string.
+ *
+ * @note The returned error string is significant only when the return
+ *       value of the call indicated an error.
+ */
+ZDL_EXPORT const char* getLastErrorString();
+
+/**
+ * Returns the info string of the last error encountered.
+ */
+ZDL_EXPORT const char* getLastInfoString();
+
+/**
+ * Returns the uint32_t representation of the error code enum.
+ *
+ * @param[in] code The error code to be converted.
+ *
+ * @return uint32_t representation of the error code.
+ */
+ZDL_EXPORT uint32_t enumToUInt32(zdl::DlSystem::ErrorCode code);
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+} // DlSystem
+} // zdl
+
+#endif // _DL_ERROR_HPP_
+
diff --git a/third_party/snpe/include/DlSystem/DlOptional.hpp b/third_party/snpe/include/DlSystem/DlOptional.hpp
new file mode 100644
index 00000000000000..4f83e6b4e417fc
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/DlOptional.hpp
@@ -0,0 +1,225 @@
+//==============================================================================
+//
+//  Copyright (c) 2016, 2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _DL_SYSTEM_OPTIONAL_HPP_
+#define _DL_SYSTEM_OPTIONAL_HPP_
+
+#include <cstdio>
+#include <utility>
+#include <stdexcept>
+
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl {
+namespace DlSystem {
+
+template <typename T>
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * Class to manage a value that may or may not exist. The boolean value
+ * of the Optional class is true if the object contains a value and false
+ * if it does not contain a value.
+ *
+ * The class must be evaluated and confirmed as true (containing a value)
+ * before being dereferenced.
+ */
+class ZDL_EXPORT Optional final {
+public:
+   enum class LIFECYCLE {
+      NONE = 0,
+      REFERENCE_OWNED = 1,
+      POINTER_OWNED = 2,
+      POINTER_NOT_OWNED = 3
+   };
+
+   struct ReferenceCount {
+      size_t count = 0;
+
+      void increment() { count++; }
+
+      size_t decrement() {
+         if (count > 0) {
+            count--;
+         }
+         return count;
+      }
+   };
+
+   using U = typename std::remove_pointer<T>::type;
+
+   /**
+    * The default constructor is set to not have any value, and is
+    * therefore evaluated as false.
+    */
+   // Do not explicit it so we can return {}
+   Optional() {
+      m_Type = LIFECYCLE::NONE;
+   }
+
+   /**
+    * Construct an Optional class using an object.
+    * @param[in] Reference to an object v
+    * @param[out] Optional instance of object v
+    */
+   template <typename Q = T>
+   Optional (const T& v, typename std::enable_if<!std::is_pointer<Q>::value>::type* = 0)
+           : m_Type(LIFECYCLE::REFERENCE_OWNED) {
+      try {
+         m_StoragePtr = new T(v);
+      } catch (...) {
+         m_StoragePtr = nullptr;
+         m_Type = LIFECYCLE::NONE;
+      }
+   }
+
+   template <typename Q = T>
+   Optional(U* v, LIFECYCLE type, typename std::enable_if<std::is_pointer<Q>::value>::type* = 0)
+           : m_Type(type) {
+      switch (m_Type) {
+         case LIFECYCLE::POINTER_OWNED:
+            m_StoragePtr = v;
+            m_Count = new ReferenceCount();
+            m_Count->increment();
+            break;
+         case LIFECYCLE::POINTER_NOT_OWNED:
+            m_StoragePtr = v;
+            break;
+         case LIFECYCLE::REFERENCE_OWNED:
+            throw std::bad_exception();
+         case LIFECYCLE::NONE:
+            break;
+      }
+   }
+
+   Optional(const Optional &other) : m_Type(other.m_Type), m_Count(other.m_Count) {
+      if (isReference()) {
+         m_StoragePtr = new U(*other.m_StoragePtr);
+      } else if (isPointer()) {
+         m_StoragePtr = other.m_StoragePtr;
+         if (isOwned()) {
+            m_Count->increment();
+         }
+      }
+   }
+
+   Optional& operator=(const Optional& other) noexcept {
+      Optional tmp(other);
+      swap(std::move(tmp));
+      return *this;
+   }
+
+   Optional(Optional&& other) noexcept {
+      swap(std::move(other));
+   }
+
+   Optional& operator=(Optional&& other) noexcept {
+      swap(std::move(other));
+      return *this;
+   }
+
+   ~Optional() {
+      if (isOwned()) {
+         if (isReference() || (isPointer() && m_Count->decrement() == 0)) {
+            delete m_StoragePtr;
+            delete m_Count;
+         }
+      }
+   }
+
+   /**
+    * Boolean value of Optional class is only true when there exists a value.
+    */
+   operator bool() const noexcept { return isValid(); }
+
+   bool operator!() const noexcept { return !isValid(); }
+
+   /**
+    * Get reference of Optional object
+    * @warning User must validate Optional has value before.
+    */
+   const T& operator*() { return this->GetReference(); }
+
+   /**
+    * Get reference of Optional object
+    * @warning User must validate Optional has value before.
+    */
+   const T& operator*() const { return this->GetReference(); }
+
+   operator T&() { return this->GetReference(); }
+
+   T operator->() {
+      T self = this->GetReference();
+      return self;
+   }
+private:
+   void swap(Optional&& other) {
+      m_Type = other.m_Type;
+      m_StoragePtr = other.m_StoragePtr;
+      m_Count = other.m_Count;
+
+      other.m_Type = LIFECYCLE::NONE;
+      other.m_StoragePtr = nullptr;
+      other.m_Count = nullptr;
+   }
+
+   template <typename Q = T>
+   typename std::enable_if<std::is_same<U, Q>::value, const Q&>::type GetReference() const noexcept {
+      if (!isReference()) std::terminate();
+      return *static_cast<const Q*>(m_StoragePtr);
+   }
+
+   template <typename Q = T>
+   typename std::enable_if<std::is_same<U*, Q>::value, const Q&>::type GetReference() const noexcept {
+      if (!isPointer()) std::terminate();
+      return static_cast<const Q&>(m_StoragePtr);
+   }
+
+   template <typename Q = T>
+   typename std::enable_if<std::is_same<U, Q>::value, Q&>::type GetReference() noexcept {
+      if (!isReference()) std::terminate();
+      return *m_StoragePtr;
+   }
+
+   template <typename Q = T>
+   typename std::enable_if<std::is_same<U*, Q>::value, Q&>::type GetReference() noexcept {
+      if (!isPointer()) std::terminate();
+      return m_StoragePtr;
+   }
+
+   bool isPointer() const {
+      return m_Type == LIFECYCLE::POINTER_OWNED || m_Type == LIFECYCLE::POINTER_NOT_OWNED;
+   }
+
+   bool isOwned() const {
+      return m_Type == LIFECYCLE::REFERENCE_OWNED || m_Type == LIFECYCLE::POINTER_OWNED;
+   }
+
+   bool isReference() const {
+      return m_Type == LIFECYCLE::REFERENCE_OWNED;
+   }
+
+   bool isValid() const {
+      return m_Type != LIFECYCLE::NONE;
+   }
+
+   U* m_StoragePtr = nullptr;
+   LIFECYCLE m_Type;
+   ReferenceCount *m_Count = nullptr;
+};
+
+} // ns DlSystem
+} // ns zdl
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // _DL_SYSTEM_OPTIONAL_HPP_
diff --git a/third_party/snpe/include/DlSystem/DlVersion.hpp b/third_party/snpe/include/DlSystem/DlVersion.hpp
new file mode 100644
index 00000000000000..beb8d75f218caf
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/DlVersion.hpp
@@ -0,0 +1,78 @@
+//==============================================================================
+//
+//  Copyright (c) 2014-2015 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+
+#ifndef _DL_VERSION_HPP_
+#define _DL_VERSION_HPP_
+
+#include "ZdlExportDefine.hpp"
+#include <stdint.h>
+#include <string>
+#include "DlSystem/String.hpp"
+
+
+namespace zdl {
+namespace DlSystem
+{
+   class Version_t;
+}}
+
+
+namespace zdl { namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * A class that contains the different portions of a version number.
+ */
+class ZDL_EXPORT Version_t
+{
+public:
+   /// Holds the major version number. Changes in this value indicate
+   /// major changes that break backward compatibility.
+   int32_t         Major;
+
+   /// Holds the minor version number. Changes in this value indicate
+   /// minor changes made to library that are backwards compatible
+   /// (such as additions to the interface).
+   int32_t         Minor;
+
+   /// Holds the teeny version number. Changes in this value indicate
+   /// changes such as bug fixes and patches made to the library that
+   /// do not affect the interface.
+   int32_t         Teeny;
+
+   /// This string holds information about the build version.
+   ///
+   std::string     Build;
+
+   static zdl::DlSystem::Version_t fromString(const std::string &stringValue);
+
+   static zdl::DlSystem::Version_t fromString(const zdl::DlSystem::String &stringValue);
+
+   /**
+    * @brief Returns a string in the form Major.Minor.Teeny.Build
+    *
+    * @return A formatted string holding the version information.
+    */
+   const std::string toString() const;
+
+   /**
+    * @brief Returns a string in the form Major.Minor.Teeny.Build
+    *
+    * @return A formatted string holding the version information.
+    */
+   const zdl::DlSystem::String asString() const;
+};
+
+}}
+
+/** @} */ /* end_addtogroup c_plus_plus_apis */
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/IBufferAttributes.hpp b/third_party/snpe/include/DlSystem/IBufferAttributes.hpp
new file mode 100644
index 00000000000000..f893e0a2370880
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/IBufferAttributes.hpp
@@ -0,0 +1,86 @@
+//==============================================================================
+//
+// Copyright (c) 2017-2019 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _IBUFFER_ATTRIBUTES_HPP
+#define _IBUFFER_ATTRIBUTES_HPP
+#include "IUserBuffer.hpp"
+#include "TensorShape.hpp"
+#include "ZdlExportDefine.hpp"
+
+namespace zdl {
+    namespace DlSystem {
+        class UserBufferEncoding;
+    }
+}
+
+namespace zdl {
+namespace DlSystem {
+
+/**
+ * @brief IBufferAttributes returns a buffer's dimension and alignment
+ *        requirements, along with info on its encoding type
+ */
+class ZDL_EXPORT IBufferAttributes {
+public:
+
+    /**
+      * @brief Gets the buffer's element size, in bytes
+      *
+      * This can be used to compute the memory size required
+      * to back this buffer.
+      *
+      * @return Element size, in bytes
+     */
+    virtual size_t getElementSize() const noexcept = 0;
+
+    /**
+      * @brief Gets the element's encoding type
+      *
+      * @return encoding type
+     */
+    virtual zdl::DlSystem::UserBufferEncoding::ElementType_t getEncodingType() const noexcept = 0;
+
+    /**
+      * @brief Gets the number of elements in each dimension
+      *
+      * @return Dimension size, in terms of number of elements
+     */
+    virtual const TensorShape getDims() const noexcept = 0;
+
+    /**
+      * @brief Gets the alignment requirement of each dimension
+      *
+      * Alignment per each dimension is expressed as an multiple, for
+      * example, if one particular dimension can accept multiples of 8,
+      * the alignment will be 8.
+      *
+      * @return Alignment in each dimension, in terms of multiple of
+      *         number of elements
+     */
+    virtual const TensorShape getAlignments() const noexcept = 0;
+
+    /**
+      * @brief Gets the buffer encoding returned from the network responsible
+      * for generating this buffer. Depending on the encoding type, this will
+      * be an instance of an encoding type specific derived class.
+      *
+      * @return Derived user buffer encoding object.
+     */
+    virtual zdl::DlSystem::UserBufferEncoding* getEncoding() const noexcept = 0;
+
+    virtual ~IBufferAttributes() {}
+};
+
+
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}
+}
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp b/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
new file mode 100644
index 00000000000000..ac33c84af81198
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
@@ -0,0 +1,127 @@
+//=============================================================================
+//
+//  Copyright (c) 2021-2022 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+
+#ifndef DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
+#define DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
+
+#include <cstddef>
+#include <memory>
+#include "DlSystem/DlEnums.hpp"
+
+namespace DlSystem
+{
+   // Forward declaration of IOBufferDataTypeMapImpl implementation.
+   class IOBufferDataTypeMapImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * The IoBufferDataTypeMap class definition
+ */
+class ZDL_EXPORT IOBufferDataTypeMap final
+{
+public:
+
+    /**
+    * @brief .
+    *
+    * Creates a new Buffer Data type map
+    *
+    */
+   IOBufferDataTypeMap();
+
+   /**
+    * @brief Adds a name and the corresponding buffer data type
+    *        to the map
+    *
+    * @param[name] name The name of the buffer
+    * @param[bufferDataType] buffer Data Type of the buffer
+    *
+    * @note If a buffer with the same name already exists, no new
+    *       buffer is added.
+    */
+   void add(const char* name, zdl::DlSystem::IOBufferDataType_t bufferDataType);
+
+   /**
+    * @brief Removes a buffer name from the map
+    *
+    * @param[name] name The name of the buffer
+    *
+    */
+   void remove(const char* name);
+
+   /**
+    * @brief Returns the type of the named buffer
+    *
+    * @param[name] name The name of the buffer
+    *
+    * @return The type of the buffer, or UNSPECIFIED if the buffer does not exist
+    *
+    */
+   zdl::DlSystem::IOBufferDataType_t getBufferDataType(const char* name);
+
+   /**
+    * @brief Returns the type of the first buffer
+    *
+    * @return The type of the first buffer, or UNSPECIFIED if the map is empty.
+    *
+    */
+   zdl::DlSystem::IOBufferDataType_t getBufferDataType();
+
+   /**
+    * @brief Returns the size of the buffer type map.
+    *
+    * @return The size of the map
+    *
+    */
+   size_t size();
+
+   /**
+    * @brief Checks the existence of the named buffer in the map
+    *
+    * @return True if the named buffer exists, false otherwise.
+    *
+    */
+   bool find(const char* name);
+
+   /**
+    * @brief Resets the map
+    *
+    */
+   void clear();
+
+   /**
+    * @brief Checks whether the map is empty
+    *
+    * @return True if the map is empty, false otherwise.
+    *
+    */
+   bool empty();
+
+   /**
+    * @brief Destroys the map
+    *
+    */
+   ~IOBufferDataTypeMap();
+
+private:
+   std::shared_ptr<::DlSystem::IOBufferDataTypeMapImpl> m_IOBufferDataTypeMapImpl;
+};
+}
+
+}
+#endif
diff --git a/third_party/snpe/include/DlSystem/ITensor.hpp b/third_party/snpe/include/DlSystem/ITensor.hpp
new file mode 100644
index 00000000000000..2f006c857fc442
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/ITensor.hpp
@@ -0,0 +1,146 @@
+//=============================================================================
+//
+//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _ITENSOR_HPP_
+#define _ITENSOR_HPP_
+
+#include "ITensorItr.hpp"
+#include "ITensorItrImpl.hpp"
+#include "TensorShape.hpp"
+#include "ZdlExportDefine.hpp"
+#include <memory>
+#include <ostream>
+#include <cmath>
+
+namespace zdl {
+namespace DlSystem
+{
+   class ITensor;
+}}
+
+namespace zdl { namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * Represents a tensor which holds n-dimensional data. It is important to
+ * understand how the tensor data is represented in memory 
+ * relative to the tensor dimensions. Tensors store data in 
+ * memory in row-major order (i.e. the last tensor dimension is 
+ * the fastest varying one). For example, if you have a two 
+ * dimensional tensor with 3 rows and 2 columns (i.e. the tensor 
+ * dimensions are 3,2 as returned in tensor dimension vectors)
+ * with the following data in terms rows and columns: 
+ *  
+ * | 1 2 | <br/>
+ * | 3 4 | <br/>
+ * | 5 6 | <br/>
+ *  
+ * This data would be stored in memory as 1,2,3,4,5,6. 
+ */
+class ZDL_EXPORT ITensor 
+{
+public:
+
+   typedef zdl::DlSystem::ITensorItr<false> iterator;
+   typedef zdl::DlSystem::ITensorItr<true> const_iterator;
+
+   virtual ~ITensor() {}
+
+   /**
+    * Returns a tensor iterator pointing to the beginning 
+    * of the data in the tensor.
+    * 
+    * @return A tensor iterator that points to the first data
+    *         element in the tensor.
+    */
+   virtual iterator begin() = 0;
+
+   /**
+    * Returns the const version of a tensor iterator 
+    * pointing to the beginning of the data in the tensor.
+    * 
+    * @return A tensor const iterator that points to the first data
+    *         element in the tensor.
+    */
+   virtual const_iterator cbegin() const = 0;
+
+   /**
+    * Returns a tensor iterator pointing to the end of the
+    * data in the tensor. This tensor should not be
+    * dereferenced.
+    * 
+    * @return A tensor iterator that points to the end of the data 
+    *         (one past the last element) in the tensor.
+    */
+   virtual iterator end() = 0;
+
+   /**
+    * Returns the const version of a tensor iterator 
+    * pointing to the end of the data in the tensor. This
+    * tensor should not be dereferenced.
+    * 
+    * @return A tensor const iterator that points to the end of the
+    *         data (one past the last element) in the tensor.
+    */
+   virtual const_iterator cend() const = 0;
+
+   /**
+    * @brief Gets the shape of this tensor.
+    *  
+    * The last element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest 
+    * varying dimension, etc. 
+    * 
+    * @return A shape class holding the tensor dimensions.
+    */
+   virtual TensorShape getShape() const = 0;
+
+   /**
+    * Returns the element size of the data in the tensor 
+    * (discounting strides). This is how big a buffer would
+    * need to be to hold the tensor data contiguously in
+    * memory.
+    *  
+    * @return The size of the tensor (in elements).
+    */
+   virtual size_t getSize() const = 0;
+
+   /**
+    * @brief Serializes the tensor to an output stream.
+    * 
+    * @param[in] output The output stream to which to write the tensor 
+    *  
+    * @throw std::runtime_error If the stream is ever in a bad 
+    *        state before the tensor is fully serialized.
+    */
+   virtual void serialize(std::ostream &output) const = 0;
+
+   friend iterator;
+   friend const_iterator;
+
+   virtual bool isQuantized() {return false;}
+   virtual float GetDelta() {return NAN;};
+   virtual float GetOffset() {return NAN;};
+
+protected:
+
+   /**
+    * Returns the tensor iterator implementation.
+    * 
+    * @return A pointer to the tensor iterator implementation.
+    */
+   virtual std::unique_ptr<::DlSystem::ITensorItrImpl> getItrImpl() const = 0;
+};
+
+}}
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorFactory.hpp b/third_party/snpe/include/DlSystem/ITensorFactory.hpp
new file mode 100644
index 00000000000000..57d2c8ea992375
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/ITensorFactory.hpp
@@ -0,0 +1,92 @@
+//=============================================================================
+//
+//  Copyright (c) 2015-2016 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _ITENSOR_FACTORY_HPP
+#define _ITENSOR_FACTORY_HPP
+
+#include "ITensor.hpp"
+#include "TensorShape.hpp"
+#include "ZdlExportDefine.hpp"
+#include <istream>
+
+namespace zdl {
+    namespace DlSystem
+    {
+        class ITensor;
+        class TensorShape;
+    }
+}
+
+namespace zdl { namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * Factory interface class to create ITensor objects.
+ */
+class ZDL_EXPORT ITensorFactory
+{
+public:
+   virtual ~ITensorFactory() = default;
+
+   /**
+    * Creates a new ITensor with uninitialized data. 
+    *  
+    * The strides for the tensor will match the tensor dimensions 
+    * (i.e., the tensor data is contiguous in memory).
+    *  
+    * @param[in] shape The dimensions for the tensor in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    * 
+    * @return A pointer to the created tensor or nullptr if creating failed.
+    */
+   virtual std::unique_ptr<ITensor>
+      createTensor(const TensorShape &shape) noexcept = 0;
+
+   /**
+    * Creates a new ITensor by loading it from a file.
+    *  
+    * @param[in] input The input stream from which to read the tensor 
+    *                  data.
+    *  
+    * @return A pointer to the created tensor or nullptr if creating failed.
+    *
+    */
+   virtual std::unique_ptr<ITensor> createTensor(std::istream &input) noexcept = 0;
+
+   /**
+    * Create a new ITensor with specific data.
+    * (i.e. the tensor data is contiguous in memory). This tensor is
+    * primarily used to create a tensor where tensor size can't be
+    * computed directly from dimension. One such example is
+    * NV21-formatted image, or any YUV formatted image
+    *
+    * @param[in] shape The dimensions for the tensor in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    *
+    * @param[in] data The actual data with which the Tensor object is filled.
+    *
+    * @param[in] dataSize The size of data
+    *
+    * @return A pointer to the created tensor
+    */
+   virtual std::unique_ptr<ITensor>
+      createTensor(const TensorShape &shape, const unsigned char *data, size_t dataSize) noexcept = 0;
+};
+
+}}
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorItr.hpp b/third_party/snpe/include/DlSystem/ITensorItr.hpp
new file mode 100644
index 00000000000000..4ce12a9f113acb
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/ITensorItr.hpp
@@ -0,0 +1,182 @@
+//=============================================================================
+//
+//  Copyright (c) 2015 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _ITENSOR_ITR_HPP_
+#define _ITENSOR_ITR_HPP_
+
+#include "ZdlExportDefine.hpp"
+#include "ITensorItrImpl.hpp"
+
+#include <memory>
+#include <iterator>
+#include <iostream>
+
+namespace zdl {
+namespace DlSystem
+{
+   template<bool IS_CONST> class ITensorItr;
+   class ITensor;
+   void ZDL_EXPORT fill(ITensorItr<false> first, ITensorItr<false> end, float val);
+   template<class InItr, class OutItr> OutItr ZDL_EXPORT copy(InItr first, InItr last, OutItr result)
+   {
+      return std::copy(first, last, result);
+   }
+}}
+namespace DlSystem
+{
+   class ITensorItrImpl;
+}
+
+namespace zdl { namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * A bidirectional iterator (with limited random access 
+ * capabilities) for the zdl::DlSystem::ITensor class.
+ *  
+ * This is a standard bidrectional iterator and is compatible
+ * with standard algorithm functions that operate on bidirectional 
+ * access iterators (e.g., std::copy, std::fill, etc.). It uses a
+ * template parameter to create const and non-const iterators 
+ * from the same code. Iterators are easiest to declare via the 
+ * typedefs iterator and const_iterator in the ITensor class 
+ * (e.g., zdl::DlSystem::ITensor::iterator). 
+ *  
+ * Note that if the tensor the iterator is traversing was 
+ * created with nondefault (i.e., nontrivial) strides, the 
+ * iterator will obey the strides when traversing the tensor 
+ * data. 
+ *  
+ * Also note that nontrivial strides dramatically affect the
+ * performance of the iterator (on the order of 20x slower). 
+ */ 
+template<bool IS_CONST=true>
+class ZDL_EXPORT ITensorItr : public std::iterator<std::bidirectional_iterator_tag, float>
+{
+public:
+
+   typedef typename std::conditional<IS_CONST, const float&, float&>::type VALUE_REF;
+
+   ITensorItr() = delete;
+   virtual ~ITensorItr() {}
+
+   ITensorItr(std::unique_ptr<::DlSystem::ITensorItrImpl> impl, 
+              bool isTrivial = false, 
+              float* data = nullptr)
+      : m_Impl(impl->clone())
+      , m_IsTrivial(isTrivial)
+      , m_Data(data)
+      , m_DataStart(data) {}
+
+   ITensorItr(const ITensorItr<IS_CONST>& itr)
+      : m_Impl(itr.m_Impl->clone()),
+        m_IsTrivial(itr.m_IsTrivial),
+        m_Data(itr.m_Data),
+        m_DataStart(itr.m_DataStart) {}
+
+   zdl::DlSystem::ITensorItr<IS_CONST>& operator=(const ITensorItr<IS_CONST>& other)
+   {
+      if (this == &other) return *this;
+      m_Impl = std::move(other.m_Impl->clone());
+      m_IsTrivial = other.m_IsTrivial;
+      m_Data = other.m_Data;
+      m_DataStart = other.m_DataStart;
+      return *this;
+   }
+
+   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator++()
+   {
+      if (m_IsTrivial) m_Data++; else m_Impl->increment();
+      return *this;
+   }
+   inline zdl::DlSystem::ITensorItr<IS_CONST> operator++(int)
+   {
+      ITensorItr tmp(*this);
+      operator++();
+      return tmp;
+   }
+   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator--()
+   {
+      if (m_IsTrivial) m_Data--; else m_Impl->decrement();
+      return *this;
+   }
+   inline zdl::DlSystem::ITensorItr<IS_CONST> operator--(int)
+   {
+      ITensorItr tmp(*this);
+      operator--();
+      return tmp;
+   }
+   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator+=(int rhs)
+   {
+      if (m_IsTrivial) m_Data += rhs; else m_Impl->increment(rhs);
+      return *this;
+   }
+   inline friend zdl::DlSystem::ITensorItr<IS_CONST> operator+(zdl::DlSystem::ITensorItr<IS_CONST> lhs, int rhs)
+      { lhs += rhs; return lhs; }
+   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator-=(int rhs)
+   {
+      if (m_IsTrivial) m_Data -= rhs; else m_Impl->decrement(rhs);
+      return *this;
+   }
+   inline friend zdl::DlSystem::ITensorItr<IS_CONST> operator-(zdl::DlSystem::ITensorItr<IS_CONST> lhs, int rhs)
+      { lhs -= rhs; return lhs; }
+
+   inline size_t operator-(const zdl::DlSystem::ITensorItr<IS_CONST>& rhs)
+   {
+      if (m_IsTrivial) return (m_Data - m_DataStart) - (rhs.m_Data - rhs.m_DataStart);
+      return m_Impl->getPosition() - rhs.m_Impl->getPosition();
+   }
+
+   inline friend bool operator<(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
+   {
+      if (lhs.m_IsTrivial) return lhs.m_Data < rhs.m_Data;
+      return lhs.m_Impl->dataPointer() < rhs.m_Impl->dataPointer();
+   }
+   inline friend bool operator>(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
+      { return rhs < lhs; }
+   inline friend bool operator<=(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
+      { return !(lhs > rhs); }
+   inline friend bool operator>=(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
+      { return !(lhs < rhs); }
+
+   inline bool operator==(const ITensorItr<IS_CONST>& rhs) const
+   {
+      if (m_IsTrivial) return m_Data == rhs.m_Data;
+      return m_Impl->dataPointer() == rhs.m_Impl->dataPointer();
+   }
+   inline bool operator!=(const ITensorItr<IS_CONST>& rhs) const
+      { return !operator==(rhs); }
+
+   inline VALUE_REF operator[](size_t idx)
+   {
+      if (m_IsTrivial) return *(m_DataStart + idx);
+      return m_Impl->getReferenceAt(idx);
+   }
+   inline VALUE_REF operator*()
+      { if (m_IsTrivial) return *m_Data; else return m_Impl->getReference(); }
+   inline VALUE_REF operator->()
+      { return *(*this); }
+   inline float* dataPointer() const
+      { if (m_IsTrivial) return m_Data; else return m_Impl->dataPointer(); }
+
+
+protected:
+   std::unique_ptr<::DlSystem::ITensorItrImpl> m_Impl;
+   bool m_IsTrivial = false;
+   float* m_Data = nullptr;
+   float* m_DataStart = nullptr;
+};
+
+}}
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp b/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
new file mode 100644
index 00000000000000..069e7a1d69031f
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
@@ -0,0 +1,42 @@
+//=============================================================================
+//
+//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _ITENSOR_ITR_IMPL_HPP_
+#define _ITENSOR_ITR_IMPL_HPP_
+
+#include "ZdlExportDefine.hpp"
+
+#include <memory>
+#include <iterator>
+
+namespace DlSystem
+{
+   class ITensorItrImpl;
+}
+
+class ZDL_EXPORT DlSystem::ITensorItrImpl
+{
+public:
+   ITensorItrImpl() {}
+   virtual ~ITensorItrImpl() {}
+
+   virtual float getValue() const = 0;
+   virtual float& getReference() = 0;
+   virtual float& getReferenceAt(size_t idx) = 0;
+   virtual float* dataPointer() const = 0;
+   virtual void increment(int incVal = 1) = 0;
+   virtual void decrement(int decVal = 1) = 0;
+   virtual size_t getPosition() = 0;
+   virtual std::unique_ptr<DlSystem::ITensorItrImpl> clone() = 0;
+
+private:
+   ITensorItrImpl& operator=(const ITensorItrImpl& other) = delete;
+   ITensorItrImpl(const ITensorItrImpl& other) = delete;
+};
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/IUDL.hpp b/third_party/snpe/include/DlSystem/IUDL.hpp
new file mode 100644
index 00000000000000..a171ac7e81d6a3
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/IUDL.hpp
@@ -0,0 +1,105 @@
+//=============================================================================
+//
+//  Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _DL_SYSTEM_IUDL_HPP_
+#define _DL_SYSTEM_IUDL_HPP_
+
+#include "ZdlExportDefine.hpp"
+
+namespace zdl {
+namespace DlSystem {
+
+/**
+ * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+ *
+ * @brief .
+ *
+ * Base class user concrete UDL implementation.
+ *
+ * All functions are marked as:
+ *
+ * - virtual
+ * - noexcept
+ *
+ * User should make sure no exceptions are propagated outside of
+ * their module. Errors can be communicated via return values.
+ */
+class ZDL_EXPORT IUDL {
+public:
+   /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+    *
+    * @brief .
+    *
+    * Destructor
+    */
+   virtual ~IUDL() = default;
+
+   /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+    *
+    * @brief Sets up the user's environment.
+    * This is called by the SNPE framework to allow the user the
+    * opportunity to setup anything which is needed for running
+    * user defined layers.
+    *
+    * @param cookie User provided opaque data returned by the SNPE
+    *               runtime
+    *
+    * @param insz How many elements in input size array
+    * @param indim Pointer to a buffer that holds input dimension
+    *               array
+    * @param indimsz Input dimension size  array of the buffer
+    *                 'indim'. Corresponds to indim
+    *
+    * @param outsz How many elements in output size array
+    * @param outdim Pointer to a buffer that holds output
+    *              dimension array
+    * @param outdimsz Output dimension size of the buffer 'oudim'.
+    *                  Corresponds to indim
+    *
+    * @return true on success, false otherwise
+    */
+   virtual bool setup(void *cookie,
+                      size_t insz, const size_t **indim, const size_t *indimsz,
+                      size_t outsz, const size_t **outdim, const size_t *outdimsz)  = 0;
+
+   /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+    *
+    * @brief Close the instance. Invoked by the SNPE
+    * framework to allow the user the opportunity to release any resources
+    * allocated during setup.
+    *
+    * @param cookie - User provided opaque data returned by the SNPE runtime
+    */
+   virtual void close(void *cookie) noexcept = 0;
+
+   /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+    *
+    * @brief Execute the user defined layer
+    *
+    * @param cookie User provided opaque data returned by the SNPE 
+    *               runtime
+    *
+    * @param input Const pointer to a float buffer that contains
+    *               the input
+    *
+    * @param output Float pointer to a buffer that would hold
+    *                 the user defined layer's output. This buffer
+    *                 is allocated and owned by SNPE runtime.
+    */
+   virtual bool execute(void *cookie, const float **input, float **output)  = 0;
+};
+
+} // ns DlSystem
+
+} // ns zdl
+
+#endif // _DL_SYSTEM_IUDL_HPP_
diff --git a/third_party/snpe/include/DlSystem/IUserBuffer.hpp b/third_party/snpe/include/DlSystem/IUserBuffer.hpp
new file mode 100644
index 00000000000000..ea491a545b3269
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/IUserBuffer.hpp
@@ -0,0 +1,358 @@
+//==============================================================================
+//
+// Copyright (c) 2017-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _IUSER_BUFFER_HPP
+#define _IUSER_BUFFER_HPP
+
+#include "TensorShape.hpp"
+#include "ZdlExportDefine.hpp"
+#include <math.h>
+
+namespace zdl {
+namespace DlSystem {
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+
+/**
+  * @brief .
+  *
+  * A base class buffer encoding type
+  */
+class ZDL_EXPORT UserBufferEncoding {
+public:
+
+    /**
+      * @brief .
+      *
+      * An enum class of all supported element types in a IUserBuffer
+      */
+    enum class ElementType_t
+    {
+        /// Unknown element type.
+        UNKNOWN         = 0,
+
+        /// Each element is presented by float.
+        FLOAT           = 1,
+
+        /// Each element is presented by an unsigned int.
+        UNSIGNED8BIT    = 2,
+
+        /// Each element is presented by an 8-bit quantized value.
+        TF8             = 10,
+
+        /// Each element is presented by an 16-bit quantized value.
+        TF16            = 11
+    };
+
+    /**
+      * @brief Retrieves the size of the element, in bytes.
+      *
+      * @return Size of the element, in bytes.
+     */
+    virtual size_t getElementSize() const noexcept = 0;
+
+    /**
+      * @brief Retrieves the element type
+      *
+      * @return Element type
+     */
+    ElementType_t getElementType() const noexcept {return m_ElementType;};
+
+    virtual ~UserBufferEncoding() {}
+
+protected:
+    UserBufferEncoding(ElementType_t  elementType) : m_ElementType(elementType) {};
+private:
+    const ElementType_t  m_ElementType;
+};
+
+/**
+  * @brief .
+  *
+  * A base class buffer source type
+  *
+  * @note User buffer from CPU support all kinds of runtimes;
+  *       User buffer from GLBUFFER support only GPU runtime.
+  */
+class ZDL_EXPORT UserBufferSource {
+public:
+   enum class SourceType_t
+   {
+      /// Unknown buffer source type.
+      UNKNOWN = 0,
+
+      /// The network inputs are from CPU buffer.
+      CPU = 1,
+
+      /// The network inputs are from OpenGL buffer.
+      GLBUFFER = 2
+   };
+
+   /**
+     * @brief Retrieves the source type
+     *
+     * @return Source type
+    */
+   SourceType_t getSourceType() const noexcept {return m_SourceType;};
+
+protected:
+   UserBufferSource(SourceType_t sourceType): m_SourceType(sourceType) {};
+private:
+   const SourceType_t m_SourceType;
+};
+
+/**
+  * @brief .
+  *
+  * An source type where input data is delivered from OpenGL buffer
+  */
+class ZDL_EXPORT UserBufferSourceGLBuffer : public UserBufferSource{
+public:
+   UserBufferSourceGLBuffer() : UserBufferSource(SourceType_t::GLBUFFER) {};
+};
+
+/**
+  * @brief .
+  *
+  * An encoding type where each element is represented by an unsigned int
+  */
+class ZDL_EXPORT UserBufferEncodingUnsigned8Bit : public UserBufferEncoding {
+public:
+    UserBufferEncodingUnsigned8Bit() : UserBufferEncoding(ElementType_t::UNSIGNED8BIT) {};
+    size_t getElementSize() const noexcept override;
+
+protected:
+    UserBufferEncodingUnsigned8Bit(ElementType_t  elementType) : UserBufferEncoding(elementType) {};
+
+};
+
+/**
+  * @brief .
+  *
+  * An encoding type where each element is represented by a float
+  */
+class ZDL_EXPORT UserBufferEncodingFloat : public UserBufferEncoding {
+public:
+    UserBufferEncodingFloat() : UserBufferEncoding(ElementType_t::FLOAT) {};
+    size_t getElementSize() const noexcept override;
+
+};
+
+/**
+  * @brief .
+  *
+  * An encoding type where each element is represented by tf8, which is an
+  * 8-bit quantizd value, which has an exact representation of 0.0
+  */
+class ZDL_EXPORT UserBufferEncodingTfN : public UserBufferEncoding {
+public:
+   UserBufferEncodingTfN() = delete;
+   UserBufferEncodingTfN(uint64_t stepFor0, float stepSize, uint8_t bWidth=8):
+                                           UserBufferEncoding(getTypeFromWidth(bWidth)),
+                                           bitWidth(bWidth),
+                                           m_StepExactly0(stepFor0),
+                                           m_QuantizedStepSize(stepSize){};
+
+   UserBufferEncodingTfN(const zdl::DlSystem::UserBufferEncoding &ubEncoding) : UserBufferEncoding(ubEncoding.getElementType()){
+            const zdl::DlSystem::UserBufferEncodingTfN* ubEncodingTfN
+                            = dynamic_cast <const zdl::DlSystem::UserBufferEncodingTfN*> (&ubEncoding);
+            if (ubEncodingTfN) {
+                m_StepExactly0 = ubEncodingTfN->getStepExactly0();
+                m_QuantizedStepSize = ubEncodingTfN->getQuantizedStepSize();
+                bitWidth = ubEncodingTfN->bitWidth;
+            }
+   }
+
+   size_t getElementSize() const noexcept override;
+   /**
+      * @brief Sets the step value that represents 0
+      *
+      * @param[in] stepExactly0 The step value that represents 0
+      *
+     */
+   void setStepExactly0(uint64_t stepExactly0) {
+      m_StepExactly0 = stepExactly0;
+   }
+
+   /**
+     * @brief Sets the float value that each step represents
+     *
+     * @param[in] quantizedStepSize The float value of each step size
+     *
+    */
+   void setQuantizedStepSize(const float quantizedStepSize) {
+      m_QuantizedStepSize = quantizedStepSize;
+   }
+
+   /**
+     * @brief Retrieves the step that represents 0.0
+     *
+     * @return Step value
+    */
+   uint64_t getStepExactly0() const {
+      return m_StepExactly0;
+   }
+
+   /**
+    * Calculates the minimum floating point value that
+    * can be represented with this encoding.
+    *
+    * @return Minimum representable floating point value
+    */
+   float getMin() const {
+      return static_cast<float>(m_QuantizedStepSize * (0 - (double)m_StepExactly0));
+   }
+
+   /**
+    * Calculates the maximum floating point value that
+    * can be represented with this encoding.
+    *
+    * @return Maximum representable floating point value
+    */
+   float getMax() const{
+       return static_cast<float>(m_QuantizedStepSize * (pow(2,bitWidth)-1 - (double)m_StepExactly0));
+   };
+
+   /**
+     * @brief Retrieves the step size
+     *
+     * @return Step size
+    */
+   float getQuantizedStepSize() const {
+      return m_QuantizedStepSize;
+   }
+
+   ElementType_t getTypeFromWidth(uint8_t width);
+
+   uint8_t bitWidth;
+protected:
+   uint64_t m_StepExactly0;
+   float m_QuantizedStepSize;
+};
+
+
+class ZDL_EXPORT UserBufferEncodingTf8 : public UserBufferEncodingTfN {
+public:
+    UserBufferEncodingTf8() = delete;
+    UserBufferEncodingTf8(unsigned char stepFor0, float stepSize) :
+            UserBufferEncodingTfN(stepFor0, stepSize) {};
+
+    UserBufferEncodingTf8(const zdl::DlSystem::UserBufferEncoding &ubEncoding) : UserBufferEncodingTfN(ubEncoding){}
+
+/**
+      * @brief Sets the step value that represents 0
+      *
+      * @param[in] stepExactly0 The step value that represents 0
+      *
+     */
+
+    void setStepExactly0(const unsigned char stepExactly0) {
+        UserBufferEncodingTfN::m_StepExactly0 = stepExactly0;
+    }
+
+/**
+      * @brief Retrieves the step that represents 0.0
+      *
+      * @return Step value
+     */
+
+    unsigned char getStepExactly0() const {
+        return UserBufferEncodingTfN::m_StepExactly0;
+    }
+
+};
+
+
+/**
+ * @brief UserBuffer contains a pointer and info on how to walk it and interpret its content.
+ */
+class ZDL_EXPORT IUserBuffer {
+public:
+    virtual ~IUserBuffer() = default;
+    
+    /**
+      * @brief Retrieves the total number of bytes between elements in each dimension if
+      * the buffer were to be interpreted as a multi-dimensional array.
+      *
+      * @return Number of bytes between elements in each dimension.
+      * e.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would
+      * return strides of [24, 8, 4].
+     */
+    virtual const TensorShape& getStrides() const = 0;
+
+    /**
+      * @brief Retrieves the size of the buffer, in bytes.
+      *
+      * @return Size of the underlying buffer, in bytes.
+     */
+    virtual size_t getSize() const = 0;
+
+    /**
+      * @brief Retrieves the size of the inference data in the buffer, in bytes.
+      *
+      * The inference results from a dynamic-sized model may not be exactly the same size
+      * as the UserBuffer provided to SNPE. This function can be used to get the amount
+      * of output inference data, which may be less or greater than the size of the UserBuffer.
+      *
+      * If the inference results fit in the UserBuffer, getOutputSize() would be less than
+      * or equal to getSize(). But if the inference results were more than the capacity of
+      * the provided UserBuffer, the results would be truncated to fit the UserBuffer. But,
+      * getOutputSize() would be greater than getSize(), which indicates a bigger buffer
+      * needs to be provided to SNPE to hold all of the inference results.
+      *
+      * @return Size required for the buffer to hold all inference results, which can be less
+      * or more than the size of the buffer, in bytes.
+    */
+    virtual size_t getOutputSize() const = 0;
+
+    /**
+      * @brief Changes the underlying memory that backs the UserBuffer.
+      *
+      * This can be used to avoid creating multiple UserBuffer objects
+      * when the only thing that differs is the memory location.
+      *
+      * @param[in] buffer Pointer to the memory location
+      *
+      * @return Whether the set succeeds.
+     */
+    virtual bool setBufferAddress(void *buffer) noexcept = 0;
+
+    /**
+      * @brief Gets a const reference to the data encoding object of
+      *        the underlying buffer
+      *
+      * This is necessary when the UserBuffer is filled by SNPE with
+      * data types such as TF8, where the caller needs to know the quantization
+      * parameters in order to interpret the data properly
+      *
+      * @return A read-only encoding object
+     */
+    virtual const UserBufferEncoding& getEncoding() const noexcept = 0;
+
+    /**
+      * @brief Gets a reference to the data encoding object of
+      *        the underlying buffer
+      *
+      * This is necessary when the UserBuffer is re-used, and the encoding
+      * parameters can change.  For example, each input can be quantized with
+      * different step sizes.
+      *
+      * @return Data encoding meta-data
+     */
+    virtual UserBufferEncoding& getEncoding() noexcept = 0;
+
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}
+}
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp b/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
new file mode 100644
index 00000000000000..59803fbd8f8772
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
@@ -0,0 +1,81 @@
+//=============================================================================
+//
+//  Copyright (c) 2017 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _IUSERBUFFER_FACTORY_HPP
+#define _IUSERBUFFER_FACTORY_HPP
+
+#include "IUserBuffer.hpp"
+#include "TensorShape.hpp"
+#include "ZdlExportDefine.hpp"
+#include "DlEnums.hpp"
+namespace zdl {
+    namespace DlSystem {
+        class IUserBuffer;
+
+        class TensorShape;
+    }
+}
+
+namespace zdl {
+namespace DlSystem {
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+* Factory interface class to create IUserBuffer objects.
+*/
+class ZDL_EXPORT IUserBufferFactory {
+public:
+    virtual ~IUserBufferFactory() = default;
+
+    /**
+     * @brief Creates a UserBuffer
+     *
+     * @param[in] buffer Pointer to the buffer that the caller supplies
+     *
+     * @param[in] bufSize Buffer size, in bytes
+     *
+     * @param[in] strides Total number of bytes between elements in each dimension.
+     *          E.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would have strides of [24, 8, 4].
+     *
+     * @param[in] userBufferEncoding Reference to an UserBufferEncoding object
+     *
+     * @note Caller has to ensure that memory pointed to by buffer stays accessible
+     *       for the lifetime of the object created
+     */
+    virtual std::unique_ptr<IUserBuffer>
+    createUserBuffer(void *buffer, size_t bufSize, const zdl::DlSystem::TensorShape &strides, zdl::DlSystem::UserBufferEncoding* userBufferEncoding) noexcept = 0;
+
+    /**
+     * @brief Creates a UserBuffer
+     *
+     * @param[in] buffer Pointer to the buffer that the caller supplies
+     *
+     * @param[in] bufSize Buffer size, in bytes
+     *
+     * @param[in] strides Total number of bytes between elements in each dimension.
+     *          E.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would have strides of [24, 8, 4].
+     *
+     * @param[in] userBufferEncoding Reference to an UserBufferEncoding object
+     *
+     * @param[in] userBufferSource Reference to an UserBufferSource object
+     *
+     * @note Caller has to ensure that memory pointed to by buffer stays accessible
+     *       for the lifetime of the object created
+     */
+    virtual std::unique_ptr<IUserBuffer>
+    createUserBuffer(void *buffer, size_t bufSize, const zdl::DlSystem::TensorShape &strides, zdl::DlSystem::UserBufferEncoding* userBufferEncoding, zdl::DlSystem::UserBufferSource* userBufferSource) noexcept = 0;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}
+}
+
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/PlatformConfig.hpp b/third_party/snpe/include/DlSystem/PlatformConfig.hpp
new file mode 100644
index 00000000000000..c7b85f43c1274b
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/PlatformConfig.hpp
@@ -0,0 +1,230 @@
+//=============================================================================
+//
+//  Copyright (c) 2017-2018,2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _DL_SYSTEM_PLATFORM_CONFIG_HPP_
+#define _DL_SYSTEM_PLATFORM_CONFIG_HPP_
+
+#include "DlSystem/ZdlExportDefine.hpp"
+#include <string>
+
+namespace zdl{
+namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+
+/**
+  * @brief .
+  *
+  * A structure OpenGL configuration
+  *
+  * @note When certain OpenGL context and display are provided to UserGLConfig for using
+  *       GPU buffer as input directly, the user MUST ensure the particular OpenGL
+  *       context and display remain vaild throughout the execution of neural network models.
+  */
+struct ZDL_EXPORT UserGLConfig
+{
+   /// Holds user EGL context.
+   ///
+   void* userGLContext = nullptr;
+
+   /// Holds user EGL display.
+   void* userGLDisplay = nullptr;
+};
+
+/**
+  * @brief .
+  *
+  * A structure Gpu configuration
+  */
+struct ZDL_EXPORT UserGpuConfig{
+   /// Holds user OpenGL configuration.
+   ///
+   UserGLConfig userGLConfig;
+};
+
+/**
+  * @brief .
+  *
+  * A class user platform configuration
+  */
+class ZDL_EXPORT PlatformConfig
+{
+public:
+
+   /**
+     * @brief .
+     *
+     * An enum class of all supported platform types
+     */
+   enum class PlatformType_t
+   {
+      /// Unknown platform type.
+      UNKNOWN = 0,
+
+      /// Snapdragon CPU.
+      CPU = 1,
+
+      /// Adreno GPU.
+      GPU = 2,
+
+      /// Hexagon DSP.
+      DSP = 3
+   };
+
+   /**
+     * @brief .
+     *
+     * A union class user platform configuration information
+     */
+   union PlatformConfigInfo
+   {
+      /// Holds user GPU Configuration.
+      ///
+      UserGpuConfig userGpuConfig;
+
+      PlatformConfigInfo(){};
+   };
+
+   PlatformConfig() : m_PlatformType(PlatformType_t::UNKNOWN),
+                      m_PlatformOptions("") {};
+
+   /**
+     * @brief Retrieves the platform type
+     *
+     * @return Platform type
+     */
+   PlatformType_t getPlatformType() const {return m_PlatformType;};
+
+   /**
+     * @brief Indicates whther the plaform configuration is valid.
+     *
+     * @return True if the platform configuration is valid; false otherwise.
+     */
+   bool isValid() const {return (PlatformType_t::UNKNOWN != m_PlatformType);};
+
+   /**
+     * @brief Retrieves the Gpu configuration
+     *
+     * @param[out] userGpuConfig The passed in userGpuConfig populated with the Gpu configuration on return.
+     *
+     * @return True if Gpu configuration was retrieved; false otherwise.
+     */
+   bool getUserGpuConfig(UserGpuConfig& userGpuConfig) const
+   {
+      if(m_PlatformType == PlatformType_t::GPU)
+      {
+         userGpuConfig = m_PlatformConfigInfo.userGpuConfig;
+         return true;
+      }
+      else
+      {
+         return false;
+      }
+   }
+
+   /**
+     * @brief Sets the Gpu configuration
+     *
+     * @param[in] userGpuConfig Gpu Configuration
+     *
+     * @return True if Gpu configuration was successfully set; false otherwise.
+     */
+   bool setUserGpuConfig(UserGpuConfig& userGpuConfig)
+   {
+      if((userGpuConfig.userGLConfig.userGLContext != nullptr) && (userGpuConfig.userGLConfig.userGLDisplay != nullptr))
+      {
+         switch (m_PlatformType)
+         {
+         case PlatformType_t::GPU:
+            m_PlatformConfigInfo.userGpuConfig = userGpuConfig;
+            return true;
+         case PlatformType_t::UNKNOWN:
+            m_PlatformType = PlatformType_t::GPU;
+            m_PlatformConfigInfo.userGpuConfig = userGpuConfig;
+            return true;
+         default:
+            return false;
+         }
+      }
+      else
+         return false;
+   }
+
+   /**
+     * @brief Sets the platform options
+     *
+     * @param[in] options Options as a string in the form of "keyword:options"
+     *
+     * @return True if options are pass validation; otherwise false.  If false, the options are not updated.
+     */
+   bool setPlatformOptions(std::string options) {
+      std::string oldOptions = m_PlatformOptions;
+      m_PlatformOptions = options;
+      if (isOptionsValid()) {
+         return true;
+      } else {
+         m_PlatformOptions = oldOptions;
+         return false;
+      }
+   }
+
+   /**
+     * @brief Indicates whther the plaform configuration is valid.
+     *
+     * @return True if the platform configuration is valid; false otherwise.
+     */
+   bool isOptionsValid() const;
+
+   /**
+     * @brief Gets the platform options
+     *
+     * @return Options as a string
+     */
+   std::string getPlatformOptions() const { return m_PlatformOptions; }
+
+    /**
+      * @brief Sets the platform options
+      *
+      * @param[in] optionName Name of platform options"
+      * @param[in] value Value of specified optionName
+      *
+      * @return If true, add "optionName:value" to platform options if optionName don't exist, otherwise update the
+      *         value of specified optionName.
+      *         If false, the platform options will not be changed.
+      */
+   bool setPlatformOptionValue(const std::string& optionName, const std::string& value);
+
+    /**
+       * @brief Removes the platform options
+       *
+       * @param[in] optionName Name of platform options"
+       * @param[in] value Value of specified optionName
+       *
+       * @return If true, removed "optionName:value" to platform options if optionName don't exist, do nothing.
+       *         If false, the platform options will not be changed.
+       */
+    bool removePlatformOptionValue(const std::string& optionName, const std::string& value);
+
+   static void SetIsUserGLBuffer(bool isUserGLBuffer);
+   static bool GetIsUserGLBuffer();
+
+private:
+   PlatformType_t m_PlatformType;
+   PlatformConfigInfo m_PlatformConfigInfo;
+   std::string m_PlatformOptions;
+   static bool m_IsUserGLBuffer;
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}} //namespace end
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/RuntimeList.hpp b/third_party/snpe/include/DlSystem/RuntimeList.hpp
new file mode 100644
index 00000000000000..1088a5b31f4538
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/RuntimeList.hpp
@@ -0,0 +1,154 @@
+//=============================================================================
+//
+//  Copyright (c) 2019 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#include "ZdlExportDefine.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/StringList.hpp"
+#include <cstddef>
+#include <memory>
+
+#ifndef DL_SYSTEM_RUNTIME_LIST_HPP
+#define DL_SYSTEM_RUNTIME_LIST_HPP
+
+namespace DlSystem
+{
+   // Forward declaration of Runtime List implementation.
+   class RuntimeListImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+  * @brief .
+  *
+  * A class representing list of runtimes
+  */
+class ZDL_EXPORT RuntimeList final
+{
+public:
+
+    /**
+    * @brief .
+    *
+    * Creates a new runtime list
+    *
+    */
+   RuntimeList();
+
+   /**
+   * @brief .
+   *
+   * copy constructor.
+   * @param[in] other object to copy.
+   */
+   RuntimeList(const RuntimeList& other);
+
+   /**
+   * @brief .
+   *
+   * constructor with single Runtime_t object
+   * @param[in] Runtime_t object
+   */
+   RuntimeList(const zdl::DlSystem::Runtime_t& runtime);
+
+   /**
+    * @brief .
+    *
+    * assignment operator.
+    */
+   RuntimeList& operator=(const RuntimeList& other);
+
+   /**
+    * @brief .
+    *
+    * subscript operator.
+    */
+   Runtime_t& operator[](size_t index);
+
+   /**
+    * @brief Adds runtime to the end of the runtime list
+    *        order of precedence is former followed by latter entry
+    *
+    * @param[in] runtime to add
+    *
+    * Ruturns false If the runtime already exists
+    */
+   bool add(const zdl::DlSystem::Runtime_t& runtime);
+
+   /**
+    * @brief Removes the runtime from the list
+    *
+    * @param[in] runtime to be removed
+    *
+    * @note If the runtime is not found, nothing is done.
+    */
+   void remove(const zdl::DlSystem::Runtime_t runtime) noexcept;
+
+   /**
+    * @brief Returns the number of runtimes in the list
+    */
+   size_t size() const noexcept;
+
+   /**
+    * @brief Returns true if the list is empty
+    */
+   bool empty() const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Removes all runtime from the list
+    */
+   void clear() noexcept;
+
+   /**
+    * @brief .
+    *
+    * Returns a StringList of names from the runtime list in
+    * order of precedence
+    */
+   zdl::DlSystem::StringList getRuntimeListNames() const;
+
+   /**
+    * @brief .
+    *
+    * @param[in] runtime string
+    * Returns a Runtime enum corresponding to the in param string
+    *
+    */
+   static zdl::DlSystem::Runtime_t stringToRuntime(const char* runtimeStr);
+
+   /**
+    * @brief .
+    *
+    * @param[in] runtime
+    * Returns a string corresponding to the in param runtime enum
+    *
+    */
+   static const char* runtimeToString(const zdl::DlSystem::Runtime_t runtime);
+
+   ~RuntimeList();
+
+private:
+   void deepCopy(const RuntimeList &other);
+   std::unique_ptr<::DlSystem::RuntimeListImpl> m_RuntimeListImpl;
+};
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // DL_SYSTEM_RUNTIME_LIST_HPP
+
diff --git a/third_party/snpe/include/DlSystem/String.hpp b/third_party/snpe/include/DlSystem/String.hpp
new file mode 100644
index 00000000000000..c1eba3bad96b02
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/String.hpp
@@ -0,0 +1,104 @@
+//=============================================================================
+//
+//  Copyright (c) 2017, 2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef PLATFORM_STANDARD_STRING_HPP
+#define PLATFORM_STANDARD_STRING_HPP
+
+#include <cstdio>
+#include <string>
+#include <ostream>
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl
+{
+namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * Class for wrapping char * as a really stripped down std::string replacement.
+ */
+class ZDL_EXPORT String final
+{
+public:
+   String() = delete;
+
+   /**
+    * Construct a string from std::string reference.
+    * @param str Reference to a std::string
+    */
+   explicit String(const std::string& str);
+
+   /**
+    * Construct a string from char* reference.
+    * @param a char*
+    */
+   explicit String(const char* str);
+
+   /**
+    * move constructor.
+    */
+   String(String&& other) noexcept;
+
+   /**
+    * copy constructor.
+    */
+   String(const String& other) = delete;
+
+   /**
+    * assignment operator.
+    */
+   String& operator=(const String&) = delete;
+
+   /**
+    * move assignment operator.
+    */
+   String& operator=(String&&) = delete;
+
+   /**
+    * class comparators
+    */
+   bool operator<(const String& rhs) const noexcept;
+   bool operator>(const String& rhs) const noexcept;
+   bool operator<=(const String& rhs) const noexcept;
+   bool operator>=(const String& rhs) const noexcept;
+   bool operator==(const String& rhs) const noexcept;
+   bool operator!=(const String& rhs) const noexcept;
+
+   /**
+    * class comparators against std::string
+    */
+   bool operator<(const std::string& rhs) const noexcept;
+   bool operator>(const std::string& rhs) const noexcept;
+   bool operator<=(const std::string& rhs) const noexcept;
+   bool operator>=(const std::string& rhs) const noexcept;
+   bool operator==(const std::string& rhs) const noexcept;
+   bool operator!=(const std::string& rhs) const noexcept;
+
+   const char* c_str() const noexcept;
+
+   ~String();
+private:
+
+   char* m_string;
+};
+
+/**
+ * overloaded << operator
+ */
+ZDL_EXPORT std::ostream& operator<<(std::ostream& os, const String& str) noexcept;
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // PLATFORM_STANDARD_STRING_HPP
diff --git a/third_party/snpe/include/DlSystem/StringList.hpp b/third_party/snpe/include/DlSystem/StringList.hpp
new file mode 100644
index 00000000000000..a9a7d5ed89674c
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/StringList.hpp
@@ -0,0 +1,107 @@
+//=============================================================================
+//
+//  Copyright (c) 2016 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <cstdio>
+#include "ZdlExportDefine.hpp"
+
+#ifndef DL_SYSTEM_STRINGLIST_HPP
+#define DL_SYSTEM_STRINGLIST_HPP
+
+namespace zdl
+{
+namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * Class for holding an order list of null-terminated ASCII strings.
+ */
+class ZDL_EXPORT StringList final
+{
+public:
+   StringList() {}
+
+   /**
+    * Construct a string list with some pre-allocated memory.
+    * @warning Contents of the list will be uninitialized
+    * @param[in] length Number of elements for which to pre-allocate space.
+    */
+   explicit StringList(size_t length);
+
+   /**
+    * Append a string to the list.
+    * @param[in] str Null-terminated ASCII string to append to the list.
+    */
+   void append(const char* str);
+
+   /**
+    * Returns the string at the indicated position,
+    *  or an empty string if the positions is greater than the size
+    *  of the list.
+    * @param[in] idx Position in the list of the desired string
+    */
+   const char* at(size_t idx) const noexcept;
+
+   /**
+    * Pointer to the first string in the list.
+    *  Can be used to iterate through the list.
+    */
+   const char** begin() const noexcept;
+
+   /**
+    * Pointer to one after the last string in the list.
+    *  Can be used to iterate through the list.
+    */
+   const char** end() const noexcept;
+
+   /**
+    * Return the number of valid string pointers held by this list.
+    */
+   size_t size() const noexcept;
+
+
+   /**
+    * assignment operator. 
+    */
+   StringList& operator=(const StringList&) noexcept;
+
+   /**
+    * copy constructor.
+    * @param[in] other object to copy.
+    */
+   StringList(const StringList& other);
+
+   /**
+    * move constructor.
+    * @param[in] other object to move.    
+    */
+   StringList(StringList&& other) noexcept;
+
+   ~StringList();
+private:
+   void copy(const StringList& other);
+
+   void resize(size_t length);
+
+   void clear();
+
+   static const char* s_Empty;
+   const char** m_Strings = nullptr;
+   const char** m_End = nullptr;
+   size_t       m_Size = 0;
+};
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // DL_SYSTEM_STRINGLIST_HPP
+
diff --git a/third_party/snpe/include/DlSystem/TensorMap.hpp b/third_party/snpe/include/DlSystem/TensorMap.hpp
new file mode 100644
index 00000000000000..feecec666729ad
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/TensorMap.hpp
@@ -0,0 +1,120 @@
+//=============================================================================
+//
+//  Copyright (c) 2016 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <memory>
+#include "ZdlExportDefine.hpp"
+#include "ITensor.hpp"
+#include "StringList.hpp"
+
+#ifndef DL_SYSTEM_TENSOR_MAP_HPP
+#define DL_SYSTEM_TENSOR_MAP_HPP
+
+namespace DlSystem
+{
+   // Forward declaration of tensor map implementation.
+   class TensorMapImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+  * @brief .
+  *
+  * A class representing the map of tensor.
+  */
+class ZDL_EXPORT TensorMap final
+{
+public:
+
+  /**
+   * @brief .
+   *
+   * Creates a new empty tensor map
+   */
+   TensorMap();
+
+  /**
+   * copy constructor.
+   * @param[in] other object to copy. 
+   */
+   TensorMap(const TensorMap& other);
+
+  /**
+    * assignment operator. 
+    */
+   TensorMap& operator=(const TensorMap& other);
+
+   /**
+    * @brief Adds a name and the corresponding tensor pointer
+    *        to the map
+    *
+    * @param[in] name The name of the tensor
+    * @param[out] tensor The pointer to the tensor
+    *
+    * @note If a tensor with the same name already exists, the
+    *       tensor is replaced with the existing tensor.
+    */
+   void add(const char *name, zdl::DlSystem::ITensor *tensor);
+
+   /**
+    * @brief Removes a mapping of tensor and its name by its name
+    *
+    * @param[in] name The name of tensor to be removed
+    *
+    * @note If no tensor with the specified name is found, nothing
+    *       is done.
+    */
+   void remove(const char *name) noexcept;
+
+   /**
+    * @brief Returns the number of tensors in the map
+    */
+   size_t size() const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Removes all tensors from the map
+    */
+   void clear() noexcept;
+
+   /**
+    * @brief Returns the tensor given its name.
+    *  
+    * @param[in] name The name of the tensor to get. 
+    *  
+    * @return nullptr if no tensor with the specified name is 
+    *         found; otherwise, a valid pointer to the tensor.
+    */
+   zdl::DlSystem::ITensor* getTensor(const char *name) const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Returns the names of all tensors
+    */
+   zdl::DlSystem::StringList getTensorNames() const;
+
+   ~TensorMap();
+private:
+   void swap(const TensorMap &other);
+   std::unique_ptr<::DlSystem::TensorMapImpl> m_TensorMapImpl;
+};
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // DL_SYSTEM_TENSOR_MAP_HPP
+
diff --git a/third_party/snpe/include/DlSystem/TensorShape.hpp b/third_party/snpe/include/DlSystem/TensorShape.hpp
new file mode 100644
index 00000000000000..99583dccb40bac
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/TensorShape.hpp
@@ -0,0 +1,203 @@
+//=============================================================================
+//
+//  Copyright (c) 2016 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <initializer_list>
+#include <cstdio>
+#include <memory>
+#include <vector>
+#include "ZdlExportDefine.hpp"
+
+#ifndef DL_SYSTEM_TENSOR_SHAPE_HPP
+#define DL_SYSTEM_TENSOR_SHAPE_HPP
+
+namespace DlSystem
+{
+   // Forward declaration of tensor shape implementation.
+   class TensorShapeImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * Convenient typedef to represent dimension
+ */
+using Dimension = size_t;
+
+/**
+  * @brief .
+  *
+  * A class representing the shape of tensor. It is used at the
+  * time of creation of tensor.
+  */
+class ZDL_EXPORT TensorShape final
+{
+public:
+
+    /**
+    * @brief .
+    *
+    * Creates a new shape with a list of dims specified in
+    * initializer list fashion.
+    *
+    * @param[in] dims The dimensions are specified in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    *
+    */
+   TensorShape(std::initializer_list<Dimension> dims);
+
+   /**
+    * @brief .
+    *
+    * Creates a new shape with a list of dims specified in array
+    *
+    * @param[in] dims The dimensions are specified in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    *
+    * @param[in] size Size of the array.
+    *
+    */
+   TensorShape(const Dimension *dims, size_t size);
+
+    /**
+    * @brief .
+    *
+    * Creates a new shape with a vector of dims specified in
+    * vector fashion.
+    *
+    * @param[in] dims The dimensions are specified in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    * 
+    */   
+   TensorShape(std::vector<Dimension> dims);
+
+   /**
+   * @brief .
+   *   
+   * copy constructor.
+   * @param[in] other object to copy. 
+   */   
+   TensorShape(const TensorShape& other);
+
+   /**
+    * @brief .
+    *  
+    * assignment operator. 
+    */   
+   TensorShape& operator=(const TensorShape& other);
+
+    /**
+    * @brief .
+    *
+    * Creates a new shape with no dims. It can be extended later
+    * by invoking concatenate.
+    */
+   TensorShape();
+
+  /**
+    * @brief .
+    *
+    * Concatenates additional dimensions specified in 
+    * initializer list fashion to the existing dimensions. 
+    *
+    * @param[in] dims The dimensions are specified in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    *
+   */
+   void concatenate(std::initializer_list<Dimension> dims);
+
+   /**
+    * @brief .
+    *
+    * Concatenates additional dimensions specified in 
+    * the array to the existing dimensions. 
+    *
+    * @param[in] dims The dimensions are specified in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    * 
+    * @param[in] size Size of the array.
+    *
+   */
+   void concatenate(const Dimension *dims, size_t size);
+
+  /**
+    * @brief .
+    *
+    * Concatenates an additional dimension to the existing
+    * dimensions.
+    *
+    * @param[in] dim The dimensions are specified in which the last element
+    * of the vector represents the fastest varying dimension and the
+    * zeroth element represents the slowest varying, etc.
+    *
+   */
+   void concatenate(const Dimension &dim);
+
+  /**
+    * @brief .
+    *
+    * Retrieves a single dimension, based on its index.
+    *
+    * @return The value of dimension
+    *
+    * @throws std::out_of_range if the index is >= the number of
+    * dimensions (or rank).
+    */
+   Dimension& operator[](size_t index);
+   Dimension& operator[](size_t index) const;
+
+  /**
+    * @brief .
+    *
+    * Retrieves the rank i.e. number of dimensions.
+    *
+    * @return The rank
+    */
+   size_t rank() const;
+
+  /**
+    * @brief .
+    *
+    * Retrieves a pointer to the first dimension of shape
+    *
+    * @return nullptr if no dimension exists; otherwise, points to
+    * the first dimension. 
+    *
+    */
+   const Dimension* getDimensions() const;
+
+   ~TensorShape();
+
+private:
+   void swap(const TensorShape &other);
+   std::unique_ptr<::DlSystem::TensorShapeImpl> m_TensorShapeImpl;
+};
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // DL_SYSTEM_TENSOR_SHAPE_HPP
+
diff --git a/third_party/snpe/include/DlSystem/TensorShapeMap.hpp b/third_party/snpe/include/DlSystem/TensorShapeMap.hpp
new file mode 100644
index 00000000000000..cef946e2e6dbc9
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/TensorShapeMap.hpp
@@ -0,0 +1,127 @@
+//=============================================================================
+//
+//  Copyright (c) 2017-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <initializer_list>
+#include <cstdio>
+#include <memory>
+#include "ZdlExportDefine.hpp"
+#include "DlSystem/TensorShape.hpp"
+#include "DlSystem/StringList.hpp"
+
+#ifndef DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
+#define DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
+
+namespace DlSystem
+{
+   // Forward declaration of tensor shape map implementation.
+   class TensorShapeMapImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+  * @brief .
+  *
+  * A class representing the map of names and tensorshapes.
+  */
+class ZDL_EXPORT TensorShapeMap final
+{
+public:
+
+    /**
+    * @brief .
+    *
+    * Creates a new tensor shape map
+    *
+    */
+   TensorShapeMap();
+
+   /**
+   * @brief .
+   *
+   * copy constructor.
+   * @param[in] other object to copy.
+   */
+   TensorShapeMap(const TensorShapeMap& other);
+
+   /**
+    * @brief .
+    *
+    * assignment operator.
+    */
+   TensorShapeMap& operator=(const TensorShapeMap& other);
+
+   /**
+    * @brief Adds a name and the corresponding tensor pointer
+    *        to the map
+    *
+    * @param[in] name The name of the tensor
+    * @param[out] tensor The pointer to the tensor
+    *
+    * @note If a tensor with the same name already exists, no new
+    *       tensor is added.
+    */
+   void add(const char *name, const zdl::DlSystem::TensorShape& tensorShape);
+
+   /**
+    * @brief Removes a mapping of tensor and its name by its name
+    *
+    * @param[in] name The name of tensor to be removed
+    *
+    * @note If no tensor with the specified name is found, nothing
+    *       is done.
+    */
+   void remove(const char *name) noexcept;
+
+   /**
+    * @brief Returns the number of tensors in the map
+    */
+   size_t size() const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Removes all tensors from the map
+    */
+   void clear() noexcept;
+
+   /**
+    * @brief Returns the tensor given its name.
+    *
+    * @param[in] name The name of the tensor to get.
+    *
+    * @return nullptr if no tensor with the specified name is
+    *         found; otherwise, a valid pointer to the tensor.
+    */
+   zdl::DlSystem::TensorShape getTensorShape(const char *name) const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Returns the names of all tensor shapes
+    */
+   zdl::DlSystem::StringList getTensorShapeNames() const;
+
+   ~TensorShapeMap();
+private:
+   void swap(const TensorShapeMap &other);
+   std::unique_ptr<::DlSystem::TensorShapeMapImpl> m_TensorShapeMapImpl;
+};
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
+
diff --git a/third_party/snpe/include/DlSystem/UDLContext.hpp b/third_party/snpe/include/DlSystem/UDLContext.hpp
new file mode 100644
index 00000000000000..21fce1b04ae308
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/UDLContext.hpp
@@ -0,0 +1,243 @@
+//==============================================================================
+//
+// Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef UDL_CONTEXT_HPP
+#define UDL_CONTEXT_HPP
+
+#include <cstring> // memset
+#include <tuple>
+
+#include "ZdlExportDefine.hpp"
+
+namespace zdl { namespace DlSystem {
+
+/**
+ * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+ *
+ * @brief .
+ *
+ * UDLContext holds the user defined layer context which 
+ * consists of a layer name, layer ID, blob and blob size. 
+ *  
+ * An instance of UDLContext is passed as an argument to the
+ * UDLFactoryFunc provided by the user every time the SNPE 
+ * runtime encounters an unknown layer descriptor. The instance 
+ * of a UDLContext is created by the SNPE runtime and is 
+ * consumed by the user's factory function. The user should 
+ * obtain a copy of this class and should not assume any 
+ * prolonged object lifetime beyond the UDLFactoryFunction.
+ */
+class ZDL_EXPORT UDLContext final {
+public:
+   /**
+    * @brief Constructor
+    *
+    * @param[in] name name of the layer
+    *
+    * @param[in] type layer type
+    *
+    * @param[in] id identifier for the layer
+    *
+    * @param[in] id Blob/bytes as packed by the user code as part of
+    *           the Python converter script
+    */
+   UDLContext(const std::string& name,
+              const std::string& type,
+              int32_t id,
+              const std::string& blob) :
+      m_Name(name), m_Type(type), m_Size(blob.size()), m_Id(id) {
+      // FIXME not dealing with alloc error
+      m_Buffer = new uint8_t[m_Size];
+      std::memcpy(m_Buffer, blob.data(), m_Size);
+   }
+
+   /**
+    * @brief .
+    *
+    * Empty constructor is useful for
+    * creating an empty UDLContext and then run copy constructor
+    * from a fully initialized one.
+    */
+   explicit UDLContext() {}
+
+   /**
+    * @brief .
+    *
+    * destructor Deallocates any internal allocated memory
+    */
+   ~UDLContext() { release(); }
+
+   /**
+    * @brief .
+    *
+    * Deallocate any internally allocated memory
+    */
+   void release() {
+      if (m_Buffer && m_Size)
+         std::memset(m_Buffer, 0, m_Size);
+      delete []m_Buffer;
+      m_Buffer = nullptr;
+      m_Size = 0;
+   }
+
+   /**
+    * @brief .
+    *
+    * Copy Constructor - makes a copy from ctx
+    *
+    * @param[in] ctx Source UDLContext to copy from
+    */
+   UDLContext(const UDLContext& ctx) : m_Name(ctx.m_Name),
+      m_Type(ctx.m_Type),
+      m_Id(ctx.m_Id) {
+      std::tuple<uint8_t*, size_t> cpy = ctx.getCopy();
+      // current compiler does not support get<type>
+      m_Buffer = std::get<0>(cpy);
+      m_Size = std::get<1>(cpy);
+   }
+
+   /**
+    * @brief 
+    *
+    * Assignment operator - makes a copy from ctx
+    *
+    * @param[in] ctx Source UDLContext to copy from
+    *
+    * @return this
+    */
+   UDLContext& operator=(const UDLContext& ctx) {
+      UDLContext c (ctx);
+      this->swap(c); // non throwing swap
+      return *this;
+   }
+
+   /**
+    * @brief .
+    *
+    * Move Constructor - Move internals from ctx into this
+    *
+    * @param[in] ctx Source UDLContext to move from
+    */
+   UDLContext(UDLContext&& ctx) :
+      m_Name(std::move(ctx.m_Name)),
+      m_Type(std::move(ctx.m_Type)),
+      m_Buffer(ctx.m_Buffer),
+      m_Size(ctx.m_Size),
+      m_Id(ctx.m_Id) {
+      ctx.clear();
+   }
+
+   /**
+    * @brief .
+    *
+    * Assignment move - Move assignment operator from ctx
+    *
+    * @param[in] ctx Source UDLContext to move from
+    *
+    * @return this
+    */
+   UDLContext& operator=(UDLContext&& ctx) {
+      m_Name = std::move(ctx.m_Name);
+      m_Type = std::move(ctx.m_Type);
+      m_Buffer = ctx.m_Buffer;
+      m_Size = ctx.m_Size;
+      m_Id = ctx.m_Id;
+      ctx.clear();
+      return *this;
+   }
+
+   /**
+    * @brief .
+    *
+    * Obtain the name of the layer
+    *
+    * @return const reference to the name of the layer
+    */
+   const std::string& getName() const noexcept { return m_Name; }
+
+   /**
+    * @brief .
+    *
+    * Obtain the type of the layer
+    *
+    * @return const reference to the type of the layer
+    */
+   const std::string& getType() const noexcept { return m_Type; }
+
+   /**
+    * @brief .
+    *
+    * Obtain the Id of the layer
+    *
+    * @return The id of the layer
+    */
+   int32_t getId() const noexcept  { return m_Id; }
+
+   /**
+    * @brief .
+    *
+    * Obtain the size of the blob
+    *
+    * @return Size of the internal blob
+    */
+   size_t getSize() const noexcept { return m_Size; }
+
+   /**
+    * @brief .
+    *
+    * Get a const pointer to the internal blob
+    *
+    * @return Const pointer to the internal blob
+    */
+   const uint8_t* getBlob() const noexcept { return m_Buffer; }
+
+   /**
+    * @brief .
+    *
+    * Get a copy of the blob/size into a tuple
+    *
+    * @return A tuple with a pointer to a copy of the blob and a
+    *         size
+    */
+   std::tuple<uint8_t*, size_t> getCopy() const {
+      uint8_t* buf = new uint8_t[m_Size];
+      // FIXME missing memcpy
+      std::memcpy(buf, m_Buffer, m_Size);
+      return std::make_tuple(buf, m_Size);
+   }
+
+   /**
+    * @brief .
+    *
+    * Set zeros in the internals members
+    */
+   void clear() {
+      m_Name.clear();
+      m_Type.clear();
+      m_Buffer = 0;
+      m_Size = 0;
+      m_Id = -1;
+   }
+private:
+   void swap(UDLContext& c) noexcept {
+      std::swap(m_Name, c.m_Name);
+      std::swap(m_Type, c.m_Type);
+      std::swap(m_Id,   c.m_Id);
+      std::swap(m_Buffer, c.m_Buffer);
+      std::swap(m_Size, c.m_Size);
+   }
+   std::string m_Name; // name of the layer instance
+   std::string m_Type; // The actual layer type
+   uint8_t*    m_Buffer = nullptr;
+   size_t      m_Size = 0;
+   int32_t     m_Id = -1;
+};
+
+}}
+
+#endif /* UDL_CONTEXT_HPP */
diff --git a/third_party/snpe/include/DlSystem/UDLFunc.hpp b/third_party/snpe/include/DlSystem/UDLFunc.hpp
new file mode 100644
index 00000000000000..6a95eef1702ecc
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/UDLFunc.hpp
@@ -0,0 +1,87 @@
+//==============================================================================
+//
+//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _UDL_FUNC_HPP_
+#define _UDL_FUNC_HPP_
+
+#include <functional>
+
+#include "ZdlExportDefine.hpp"
+#include <DlSystem/IUDL.hpp>
+
+namespace zdl {
+    namespace DlSystem {
+        class UDLContext;
+    }
+}
+
+namespace zdl { namespace DlSystem {
+/**
+ * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+ *
+ * @brief .
+ *
+ * Definition of UDLFactoyFunc, using/typedef and default FactoryFunction
+ * UDLBundle - a simple way to bundle func and cookie into one type
+ */
+
+
+/**
+ * @brief .
+ * 
+ * Convenient typedef for user defined layer creation factory
+ *
+ * @param[out] void* Cookie - a user opaque data that was passed during SNPE's runtime's
+ *        CreateInstance. SNPE's runtime is passing this back to the user.
+ *
+ * @param[out] DlSystem::UDLContext* - The specific Layer Description context what is passe
+ *        SNPE runtime.
+ *
+ * @return IUDL* - a Concrete instance of IUDL derivative
+ */
+using UDLFactoryFunc = std::function<zdl::DlSystem::IUDL* (void*, const zdl::DlSystem::UDLContext*)>;
+
+/**
+ * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+ *
+ * @brief .
+ *
+ * default UDL factory implementation
+ *
+ * @param[out] DlSystem::UDLContext* - The specific Layer Description context what is passe
+ *        SNPE runtime.
+ *
+ * @param[out] void* Cookie - a user opaque data that was passed during SNPE's runtime's
+ *        CreateInstance. SNPE's runtime is passing this back to the user.
+ * 
+ * @return IUDL* - nullptr to indicate SNPE's runtime that there is no specific
+ *         implementation for UDL. When SNPE's runtime sees nullptr as a return
+ *         value from the factory, it will halt execution if model has an unknown layer
+ *
+ */
+inline ZDL_EXPORT zdl::DlSystem::IUDL* DefaultUDLFunc(void*, const zdl::DlSystem::UDLContext*) { return nullptr; }
+
+/**
+ * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+ *
+ * @brief .
+ * 
+ * Simple struct to bundle 2 elements.
+ * A user defined cookie that would be returned for each
+ * IUDL call. The user can place anything there and the
+ * SNPE runtime will provide it back
+ */
+struct ZDL_EXPORT UDLBundle {
+   void          *cookie = nullptr;
+   UDLFactoryFunc func   = DefaultUDLFunc;
+};
+
+}}
+
+
+#endif // _UDL_FUNC_HPP_
diff --git a/third_party/snpe/include/DlSystem/UserBufferMap.hpp b/third_party/snpe/include/DlSystem/UserBufferMap.hpp
new file mode 100644
index 00000000000000..a03ddfe1d11ad8
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/UserBufferMap.hpp
@@ -0,0 +1,122 @@
+//=============================================================================
+//
+//  Copyright (c) 2017 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <memory>
+#include "ZdlExportDefine.hpp"
+#include "StringList.hpp"
+
+#ifndef DL_SYSTEM_USER_BUFFER_MAP_HPP
+#define DL_SYSTEM_USER_BUFFER_MAP_HPP
+
+namespace DlSystem
+{
+    // Forward declaration of UserBuffer map implementation.
+    class UserBufferMapImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+class IUserBuffer;
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+  * @brief .
+  *
+  * A class representing the map of UserBuffer.
+  */
+class ZDL_EXPORT UserBufferMap final
+{
+public:
+
+    /**
+     * @brief .
+     *
+     * Creates a new empty UserBuffer map
+     */
+    UserBufferMap();
+
+    /**
+     * copy constructor.
+     * @param[in] other object to copy.
+     */
+    UserBufferMap(const UserBufferMap& other);
+
+    /**
+      * assignment operator.
+      */
+    UserBufferMap& operator=(const UserBufferMap& other);
+
+    /**
+     * @brief Adds a name and the corresponding UserBuffer pointer
+     *        to the map
+     *
+     * @param[in] name The name of the UserBuffer
+     * @param[in] userBuffer The pointer to the UserBuffer
+     *
+     * @note If a UserBuffer with the same name already exists, the new
+     *       UserBuffer pointer would be updated.
+     */
+    void add(const char *name, zdl::DlSystem::IUserBuffer *buffer);
+
+    /**
+     * @brief Removes a mapping of one UserBuffer and its name by its name
+     *
+     * @param[in] name The name of UserBuffer to be removed
+     *
+     * @note If no UserBuffer with the specified name is found, nothing
+     *       is done.
+     */
+    void remove(const char *name) noexcept;
+
+    /**
+     * @brief Returns the number of UserBuffers in the map
+     */
+    size_t size() const noexcept;
+
+    /**
+     * @brief .
+     *
+     * Removes all UserBuffers from the map
+     */
+    void clear() noexcept;
+
+    /**
+     * @brief Returns the UserBuffer given its name.
+     *
+     * @param[in] name The name of the UserBuffer to get.
+     *
+     * @return nullptr if no UserBuffer with the specified name is
+     *         found; otherwise, a valid pointer to the UserBuffer.
+     */
+    zdl::DlSystem::IUserBuffer* getUserBuffer(const char *name) const noexcept;
+
+    /**
+     * @brief .
+     *
+     * Returns the names of all UserBuffers
+     *
+     * @return A list of UserBuffer names.
+     */
+    zdl::DlSystem::StringList getUserBufferNames() const;
+
+    ~UserBufferMap();
+private:
+    void swap(const UserBufferMap &other);
+    std::unique_ptr<::DlSystem::UserBufferMapImpl> m_UserBufferMapImpl;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+} // DlSystem namespace
+} // zdl namespace
+
+
+#endif // DL_SYSTEM_TENSOR_MAP_HPP
+
diff --git a/third_party/snpe/include/DlSystem/UserMemoryMap.hpp b/third_party/snpe/include/DlSystem/UserMemoryMap.hpp
new file mode 100644
index 00000000000000..3685a8ddabed69
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/UserMemoryMap.hpp
@@ -0,0 +1,129 @@
+//=============================================================================
+//
+//  Copyright (c) 2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <memory>
+#include "ZdlExportDefine.hpp"
+#include "StringList.hpp"
+
+#ifndef DL_SYSTEM_USER_MEMORY_MAP_HPP
+#define DL_SYSTEM_USER_MEMORY_MAP_HPP
+
+namespace DlSystem
+{
+    // Forward declaration of UserMemory map implementation.
+    class UserMemoryMapImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+class IUserBuffer;
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+  * @brief .
+  *
+  * A class representing the map of UserMemory.
+  */
+class ZDL_EXPORT UserMemoryMap final
+{
+public:
+
+    /**
+     * @brief .
+     *
+     * Creates a new empty UserMemory map
+     */
+    UserMemoryMap();
+
+    /**
+     * copy constructor.
+     * @param[in] other object to copy.
+     */
+    UserMemoryMap(const UserMemoryMap& other);
+
+    /**
+      * assignment operator.
+      */
+    UserMemoryMap& operator=(const UserMemoryMap& other);
+
+    /**
+     * @brief Adds a name and the corresponding buffer address
+     *        to the map
+     *
+     * @param[in] name The name of the UserMemory
+     * @param[in] address The pointer to the Buffer Memory
+     *
+     * @note If a UserBuffer with the same name already exists, the new
+     *       address would be updated.
+     */
+    void add(const char *name, void *address);
+
+    /**
+     * @brief Removes a mapping of one Buffer address and its name by its name
+     *
+     * @param[in] name The name of Memory address to be removed
+     *
+     * @note If no UserBuffer with the specified name is found, nothing
+     *       is done.
+     */
+    void remove(const char *name) noexcept;
+
+    /**
+     * @brief Returns the number of User Memory addresses in the map
+     */
+    size_t size() const noexcept;
+
+    /**
+     * @brief .
+     *
+     * Removes all User Memory from the map
+     */
+    void clear() noexcept;
+
+    /**
+     * @brief .
+     *
+     * Returns the names of all User Memory
+     *
+     * @return A list of Buffer names.
+     */
+    zdl::DlSystem::StringList getUserBufferNames() const;
+
+    /**
+     * @brief Returns the no of UserMemory addresses mapped to the buffer
+     *
+     * @param[in] name The name of the UserMemory
+     *
+     */
+    size_t getUserMemoryAddressCount(const char *name) const noexcept;
+
+    /**
+     * @brief Returns address at a specified index corresponding to a UserMemory buffer name
+     *
+     * @param[in] name The name of the buffer
+     * @param[in] index The index in the list of addresses
+     *
+     */
+    void* getUserMemoryAddressAtIndex(const char *name, uint32_t index) const noexcept;
+
+    ~UserMemoryMap();
+private:
+    void swap(const UserMemoryMap &other);
+    std::unique_ptr<::DlSystem::UserMemoryMapImpl> m_UserMemoryMapImpl;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+} // DlSystem namespace
+} // zdl namespace
+
+
+#endif // DL_SYSTEM_TENSOR_MAP_HPP
+
diff --git a/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp b/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
new file mode 100644
index 00000000000000..92eb786d312f6d
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
@@ -0,0 +1,13 @@
+//=============================================================================
+//
+//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#pragma once
+
+#ifndef ZDL_EXPORT
+#define ZDL_EXPORT
+#endif
diff --git a/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp b/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
new file mode 100644
index 00000000000000..66097ba569f629
--- /dev/null
+++ b/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
@@ -0,0 +1,118 @@
+// =============================================================================
+//
+// Copyright (c) 2018-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+// =============================================================================
+
+#ifndef SNPE_PLATFORMVALIDATOR_HPP
+#define SNPE_PLATFORMVALIDATOR_HPP
+
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+#define DO_PRAGMA(s) _Pragma(#s)
+#define NO_WARNING "-Wunused-variable"
+
+#ifdef __clang__
+#define SNPE_DISABLE_WARNINGS(clang_warning,gcc_warning) \
+_Pragma("clang diagnostic push") \
+DO_PRAGMA(clang diagnostic ignored clang_warning)
+
+#define SNPE_ENABLE_WARNINGS \
+_Pragma("clang diagnostic pop")
+
+#elif defined __GNUC__
+#define SNPE_DISABLE_WARNINGS(clang_warning,gcc_warning) \
+_Pragma("GCC diagnostic push") \
+DO_PRAGMA(GCC diagnostic ignored gcc_warning)
+
+#define SNPE_ENABLE_WARNINGS \
+_Pragma("GCC diagnostic pop")
+
+#else
+#define SNPE_DISABLE_WARNINGS(...)
+#define SNPE_ENABLE_WARNINGS
+#endif
+
+SNPE_DISABLE_WARNINGS("-Wdelete-non-virtual-dtor","-Wdelete-non-virtual-dtor")
+#include <string>
+#include <memory>
+SNPE_ENABLE_WARNINGS
+
+namespace zdl
+{
+   namespace SNPE
+   {
+      class PlatformValidator;
+
+      class IPlatformValidatorRuntime;
+   }
+}
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+* The class for checking SNPE compatibility/capability of a device.
+*
+*/
+
+class ZDL_EXPORT zdl::SNPE::PlatformValidator
+{
+public:
+   /**
+    * @brief Default Constructor of the PlatformValidator Class
+    *
+    * @return A new instance of a PlatformValidator object
+    *         that can be used to check the SNPE compatibility
+    *         of a device
+    */
+   PlatformValidator();
+
+   ~PlatformValidator();
+
+   /**
+    * @brief Sets the runtime processor for compatibility check
+    *
+    * @return Void
+    */
+   void setRuntime(zdl::DlSystem::Runtime_t runtime);
+
+   /**
+    * @brief Checks if the Runtime prerequisites for SNPE are available.
+    *
+    * @return True if the Runtime prerequisites are available, else false.
+    */
+   bool isRuntimeAvailable();
+
+   /**
+    * @brief Returns the core version for the Runtime selected.
+    *
+    * @return String which contains the actual core version value
+    */
+   std::string getCoreVersion();
+
+   /**
+    * @brief Returns the library version for the Runtime selected.
+    *
+    * @return String which contains the actual lib version value
+    */
+   std::string getLibVersion();
+
+   /**
+    * @brief Runs a small program on the runtime and Checks if SNPE is supported for Runtime.
+    *
+    * @return If True, the device is ready for SNPE execution, else not.
+    */
+
+   bool runtimeCheck();
+
+private:
+    zdl::DlSystem::Runtime_t m_runtimeType;
+    std::unique_ptr<IPlatformValidatorRuntime> m_platformValidatorRuntime;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif //SNPE_PLATFORMVALIDATOR_HPP
diff --git a/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp b/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
new file mode 100644
index 00000000000000..380a3e0e6e77ee
--- /dev/null
+++ b/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
@@ -0,0 +1,101 @@
+//==============================================================================
+//
+//  Copyright (c) 2019 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef PSNPE_APPLICATIONBUFFERMAP_HPP
+#define PSNPE_APPLICATIONBUFFERMAP_HPP
+#include <vector>
+#include <string>
+#include <unordered_map>
+
+#include "DlSystem/UserBufferMap.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl
+{
+namespace PSNPE
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * A class representing the UserBufferMap of Input and Output asynchronous mode.
+ */
+
+class ZDL_EXPORT ApplicationBufferMap final
+{
+
+ public:
+   /**
+    * @brief Adds a name and the corresponding buffer
+    *        to the map
+    *
+    * @param[in] name The name of the UserBuffer
+    * @param[in] buffer The vector of the uint8_t data
+    *
+    * @note If a UserBuffer with the same name already exists, the new
+    *       UserBuffer pointer would be updated.
+    */
+   void add(const char* name, std::vector<uint8_t>& buff) noexcept;
+   void add(const char* name, std::vector<float>& buff) noexcept;
+   /**
+    * @brief Removes a mapping of one UserBuffer and its name by its name
+    *
+    * @param[in] name The name of UserBuffer to be removed
+    *
+    * @note If no UserBuffer with the specified name is found, nothing
+    *       is done.
+    */
+   void remove(const char* name) noexcept;
+
+   /**
+    * @brief Returns the number of UserBuffers in the map
+    */
+   size_t size() const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Removes all UserBuffers from the map
+    */
+   void clear() noexcept;
+
+   /**
+    * @brief Returns the UserBuffer given its name.
+    *
+    * @param[in] name The name of the UserBuffer to get.
+    *
+    * @return nullptr if no UserBuffer with the specified name is
+    *         found; otherwise, a valid pointer to the UserBuffer.
+    */
+   const std::vector<uint8_t>& getUserBuffer(const char* name) const;
+   const std::vector<uint8_t>& operator[](const char* name) const;
+   /**
+    * @brief .
+    *
+    * Returns the names of all UserAsyncBufferMap
+    *
+    * @return A list of UserBuffer names.
+    */
+   zdl::DlSystem::StringList getUserBufferNames() const;
+   const std::unordered_map<std::string, std::vector<uint8_t>>& getUserBuffer() const;
+   explicit ApplicationBufferMap();
+   ~ApplicationBufferMap();
+   explicit ApplicationBufferMap(
+     const std::unordered_map<std::string, std::vector<uint8_t>> buffer);
+
+ private:
+   std::unordered_map<std::string, std::vector<uint8_t>> m_UserMap;
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+} // namespace PSNPE
+} // namespace zdl
+
+#endif // PSNPE_APPLICATIONBUFFERMAP_HPP
diff --git a/third_party/snpe/include/SNPE/PSNPE.hpp b/third_party/snpe/include/SNPE/PSNPE.hpp
new file mode 100644
index 00000000000000..a823c0c7fa1d78
--- /dev/null
+++ b/third_party/snpe/include/SNPE/PSNPE.hpp
@@ -0,0 +1,205 @@
+// =============================================================================
+//
+// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+// =============================================================================
+
+#ifndef PSNPE_HPP
+#define PSNPE_HPP
+
+#include <cstdlib>
+#include <functional>
+#include "SNPE/SNPE.hpp"
+#include "DlSystem/UserBufferMap.hpp"
+#include "DlContainer/IDlContainer.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+#include "UserBufferList.hpp"
+#include "RuntimeConfigList.hpp"
+#include "ApplicationBufferMap.hpp"
+
+namespace zdl
+{
+namespace PSNPE
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ *@ brief build snpe instance in serial or parallel
+ *
+ */
+enum ZDL_EXPORT BuildMode {
+   SERIAL = 0,
+   PARALLEL = 1
+};
+/**
+ * @brief  Input and output transmission mode
+ */
+enum ZDL_EXPORT InputOutputTransmissionMode
+{
+   sync = 0,
+   outputAsync = 1,
+   inputOutputAsync = 2
+};
+
+/**
+ * @brief  A structure representing parameters of callback function of Async Output mode
+ */
+struct ZDL_EXPORT OutputAsyncCallbackParam
+{
+   size_t dataIndex;
+   bool executeStatus;
+   std::string errorMsg;
+   OutputAsyncCallbackParam(size_t _index,bool _status, const std::string& _errorMsg = std::string())
+     : dataIndex(_index),executeStatus(_status), errorMsg(_errorMsg){};
+};
+/**
+ * @brief  A structure representing parameters of callback function of Async Input/Output mode
+ */
+struct ZDL_EXPORT InputOutputAsyncCallbackParam
+{
+   size_t dataIndex;
+   const ApplicationBufferMap& outputMap;
+   bool executeStatus;
+   std::string errorMsg;
+   InputOutputAsyncCallbackParam(size_t _index, const ApplicationBufferMap& output_map,bool _status,
+                                 const std::string _ErrorMsg = std::string())
+     : dataIndex(_index)
+     , outputMap(output_map)
+     , executeStatus(_status)
+     , errorMsg(_ErrorMsg){};
+};
+/**
+ * @brief  This callback is called when the output data is ready, only use for Output Async mode
+ */
+using OutputAsyncCallbackFunc = std::function<void(OutputAsyncCallbackParam)>;
+/**
+ * @brief  This callback is called when the output data is ready, only use for Output-Input Async mode
+ */
+using InputOutputAsyncCallbackFunc = std::function<void(InputOutputAsyncCallbackParam)>;
+/**
+ * @brief   This callback is called when the input data is ready,only use for Output-Input Async mode 
+ */
+using InputOutputAsyncInputCallback = std::function<std::shared_ptr<ApplicationBufferMap>(const std::vector<std::string> &,
+    const zdl::DlSystem::StringList &)>;
+/**
+ * @brief .
+ *
+ * A structure PSNPE configuration
+ *
+ */
+struct ZDL_EXPORT BuildConfig final
+{
+   BuildMode buildMode = BuildMode::SERIAL; ///< Specify build in serial mode or parallel mode
+   zdl::DlContainer::IDlContainer* container;///< The opened container ptr
+   zdl::DlSystem::StringList outputBufferNames;///< Specify the output layer name
+   zdl::DlSystem::StringList outputTensors;///< Specify the output layer name
+   RuntimeConfigList runtimeConfigList;///< The runtime config list for PSNPE, @see RuntimeConfig
+   size_t inputThreadNumbers = 1;///< Specify the number of threads used in the execution phase to process input data, only used in inputOutputAsync mode
+   size_t outputThreadNumbers = 1;///< Specify the number of threads used in the execution phase to process output data, only used in inputOutputAsync and outputAsync mode
+   OutputAsyncCallbackFunc outputCallback;///< The callback to deal with output data ,only used in outputAsync mode
+   InputOutputAsyncCallbackFunc inputOutputCallback;///< The callback to deal with output data ,only used in inputOutputAsync mode
+   InputOutputAsyncInputCallback inputOutputInputCallback;///< The callback to deal with input data ,only used in inputOutputAsync mode
+   InputOutputTransmissionMode inputOutputTransmissionMode = InputOutputTransmissionMode::sync;///< Specify execution mode
+   zdl::DlSystem::ProfilingLevel_t profilingLevel = zdl::DlSystem::ProfilingLevel_t::OFF;///< Specify profiling level for Diaglog
+   uint64_t encode[2] = {0, 0};
+   bool enableInitCache = false;
+   std::string platformOptions;
+   std::string diaglogOutputDir = "./diaglogs/"; ///< Specify a diaglog output directory to save the generated Diaglog files.
+};
+/**
+ * @brief .
+ *
+ * The class for executing SNPE instances in parallel.
+ */
+class ZDL_EXPORT PSNPE final
+{
+ public:
+   ~PSNPE();
+
+   explicit PSNPE() noexcept :m_TransmissionMode(InputOutputTransmissionMode::sync){};
+
+   /**
+    * @brief Build snpe instances.
+    *
+    */
+   bool build(BuildConfig& buildConfig) noexcept;
+
+   /**
+    * @brief Execute snpe instances in Async Output mode and Sync mode
+    *
+    * @param[in] inputBufferList A list of user buffers that contains the input data
+    *
+    * @param[in,out] outputBufferList A list of user buffers that will hold the output data
+    *
+    */
+   bool execute(UserBufferList& inputBufferList, UserBufferList& outputBufferList) noexcept;
+
+   /**
+    * @brief  Execute snpe instances in Async Input/Output mode
+    *
+    * @param[in]inputMap A map of input buffers that contains input data. The names of buffers
+    *                     need to be matched with names retrived through getInputTensorNames()
+    *
+    * @param dataIndex Index of the input data
+    *
+    * @param isTF8buff Whether prefer to using 8 bit quantized element for inference
+    *
+    * @return True if executed successfully; flase, otherwise.
+    */
+   bool executeInputOutputAsync(const std::vector<std::string>& inputMap, size_t dataIndex, bool isTF8buff) noexcept;
+   bool executeInputOutputAsync(const std::vector<std::string>& inputMap, size_t dataIndex, bool isTF8buff,bool isTF8Outputbuff) noexcept;
+   /**
+    * @brief Returns the input layer names of the network.
+    *
+    * @return StringList which contains the input layer names
+    */
+   const zdl::DlSystem::StringList getInputTensorNames() const noexcept;
+
+   /**
+    * @brief Returns the output layer names of the network.
+    *
+    * @return StringList which contains the output layer names
+    */
+   const zdl::DlSystem::StringList getOutputTensorNames() const noexcept;
+
+   /**
+    * @brief Returns the input tensor dimensions of the network.
+    *
+    * @return TensorShape which contains the dimensions.
+    */
+   const zdl::DlSystem::TensorShape getInputDimensions() const noexcept;
+
+   const zdl::DlSystem::TensorShape getInputDimensions(const char *name) const noexcept;
+
+   /**
+    * @brief Returns attributes of buffers.
+    *
+    * @see zdl::SNPE
+    *
+    * @return BufferAttributes of input/output tensor named.
+    */
+   const zdl::DlSystem::TensorShape getBufferAttributesDims(const char *name) const noexcept;
+
+   zdl::DlSystem::Optional<zdl::DlSystem::IBufferAttributes*> getInputOutputBufferAttributes(const char *name) const noexcept;
+   bool registerIonBuffers(const zdl::DlSystem::UserMemoryMap& ionBufferMap) const noexcept;
+   bool deregisterIonBuffers(const zdl::DlSystem::StringList& ionBufferNames) const noexcept;
+
+   const char* getLastErrorString();
+
+ private:
+   PSNPE(const PSNPE&) = delete;
+   PSNPE& operator=(const PSNPE&) = delete;
+   zdl::PSNPE::InputOutputTransmissionMode m_TransmissionMode;
+
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+} // namespace PSNPE
+} // namespace zdl
+#endif // PSNPE_HPP
diff --git a/third_party/snpe/include/SNPE/RuntimeConfigList.hpp b/third_party/snpe/include/SNPE/RuntimeConfigList.hpp
new file mode 100644
index 00000000000000..837dba092a1d21
--- /dev/null
+++ b/third_party/snpe/include/SNPE/RuntimeConfigList.hpp
@@ -0,0 +1,85 @@
+//==============================================================================
+//
+//  Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+#ifndef PSNPE_RUNTIMECONFIGLIST_HPP
+#define PSNPE_RUNTIMECONFIGLIST_HPP
+
+#include <iostream>
+#include "DlContainer/IDlContainer.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/RuntimeList.hpp"
+#include "DlSystem/TensorShapeMap.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+namespace zdl {
+namespace PSNPE {
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * The structure for configuring a BulkSNPE runtime
+ *
+ */
+struct ZDL_EXPORT RuntimeConfig final {
+    zdl::DlSystem::Runtime_t runtime;
+    zdl::DlSystem::RuntimeList runtimeList;
+    zdl::DlSystem::PerformanceProfile_t perfProfile;
+    zdl::DlSystem::TensorShapeMap inputDimensionsMap;
+    bool enableCPUFallback;
+    RuntimeConfig()
+        : runtime{zdl::DlSystem::Runtime_t::CPU_FLOAT32},
+          perfProfile{zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE},
+          enableCPUFallback{false} {}
+    RuntimeConfig(const RuntimeConfig& other) {
+        runtime = other.runtime;
+        runtimeList = other.runtimeList;
+        perfProfile = other.perfProfile;
+        enableCPUFallback = other.enableCPUFallback;
+        inputDimensionsMap = other.inputDimensionsMap;
+    }
+
+    RuntimeConfig& operator=(const RuntimeConfig& other) {
+        this->runtimeList = other.runtimeList;
+        this->runtime = other.runtime;
+        this->perfProfile = other.perfProfile;
+        this->enableCPUFallback = other.enableCPUFallback;
+        this->inputDimensionsMap = other.inputDimensionsMap;
+        return *this;
+    }
+
+    ~RuntimeConfig() {}
+};
+
+/**
+ * @brief .
+ *
+ * The class for creating a RuntimeConfig container.
+ *
+ */
+class ZDL_EXPORT RuntimeConfigList final {
+   public:
+    RuntimeConfigList();
+    RuntimeConfigList(const size_t size);
+    void push_back(const RuntimeConfig& runtimeConfig);
+    RuntimeConfig& operator[](const size_t index);
+    RuntimeConfigList& operator=(const RuntimeConfigList& other);
+    size_t size() const noexcept;
+    size_t capacity() const noexcept;
+    void clear() noexcept;
+    ~RuntimeConfigList() = default;
+
+   private:
+    void swap(const RuntimeConfigList& other);
+    std::vector<RuntimeConfig> m_runtimeConfigs;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}  // namespace PSNPE
+}  // namespace zdl
+#endif  // PSNPE_RUNTIMECONFIGLIST_HPP
diff --git a/third_party/snpe/include/SNPE/SNPE.hpp b/third_party/snpe/include/SNPE/SNPE.hpp
new file mode 100644
index 00000000000000..5ab45b82eedc85
--- /dev/null
+++ b/third_party/snpe/include/SNPE/SNPE.hpp
@@ -0,0 +1,258 @@
+//==============================================================================
+//
+//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _SNPE_SNPE_HPP_
+#define _SNPE_SNPE_HPP_
+
+#include "DlSystem/DlOptional.hpp"
+#include "DlSystem/DlVersion.hpp"
+#include "DlSystem/IBufferAttributes.hpp"
+#include "DlSystem/ITensor.hpp"
+#include "DlSystem/TensorShape.hpp"
+#include "DlSystem/TensorMap.hpp"
+#include "DlSystem/String.hpp"
+#include "DlSystem/StringList.hpp"
+#include "DlSystem/IUserBuffer.hpp"
+#include "DlSystem/UserBufferMap.hpp"
+#include "DlSystem/UserMemoryMap.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl {
+   namespace SNPE
+   {
+      class SnpeRuntime;
+   }
+}
+namespace zdl {
+   namespace DiagLog
+   {
+      class IDiagLog;
+   }
+}
+
+namespace zdl { namespace SNPE {
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * The SNPE interface class definition
+ */
+class ZDL_EXPORT SNPE final
+{
+public:
+
+   // keep this undocumented to be hidden in doxygen using HIDE_UNDOC_MEMBERS
+   explicit SNPE(std::unique_ptr<zdl::SNPE::SnpeRuntime>&& runtime) noexcept;
+   ~SNPE();
+
+   /**
+    * @brief Gets the names of input tensors to the network
+    *
+    * To support multiple input scenarios, where multiple tensors are
+    * passed through execute() in a TensorMap, each tensor needs to
+    * be uniquely named. The names of tensors can be retrieved
+    * through this function.
+    *
+    * In the case of a single input, one name will be returned.
+    *
+    * @note Note that because the returned value is an Optional list,
+    * the list must be verified as boolean true value before being
+    * dereferenced.
+    *
+    * @return An Optional List of input tensor names.
+    *
+    * @see zdl::DlSystem::Optional
+    */
+   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
+      getInputTensorNames() const noexcept;
+
+    /**
+     * @brief Gets the names of output tensors to the network
+     *
+     * @return List of output tensor names.
+     */
+   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
+      getOutputTensorNames() const noexcept;
+
+   /**
+    * @brief Gets the name of output tensor from the input layer name
+    *
+    * @return Output tensor name.
+    */
+   zdl::DlSystem::StringList
+      getOutputTensorNamesByLayerName(const char *name) const noexcept;
+
+   /**
+    * @brief Processes the input data and returns the output
+    *
+    * @param[in] A map of tensors that contains the input data for
+    *            each input. The names of tensors needs to be
+    *            matched with names retrieved through
+    *            getInputTensorNames()
+    *
+    * @param[in,out] An empty map of tensors that will contain the output
+    *                data of potentially multiple layers (the key
+    *                in the map is the layer name) upon return
+    *
+    * @note output tensormap has to be empty.  To forward propagate
+    *       and get results in user-supplied tensors, use
+    *       executeWithSuppliedOutputTensors.
+    */
+   bool execute(const zdl::DlSystem::TensorMap &input,
+                zdl::DlSystem::TensorMap &output) noexcept;
+
+   /**
+    * @brief Processes the input data and returns the output
+    *
+    * @param[in] A single tensor contains the input data.
+    *
+    * @param[in,out] An empty map of tensors that will contain the output
+    *                data of potentially multiple layers (the key
+    *                in the map is the layer name) upon return
+    *
+    * @note output tensormap has to be empty.
+    */
+   bool execute(const zdl::DlSystem::ITensor *input,
+                zdl::DlSystem::TensorMap &output) noexcept;
+
+   /**
+    * @brief Processes the input data and returns the output, using
+    *        user-supplied buffers
+    *
+    * @param[in] A map of UserBuffers that contains the input data for
+    *            each input. The names of UserBuffers needs to be
+    *            matched with names retrieved through
+    *            getInputTensorNames()
+    *
+    * @param[in,out] A map of UserBuffers that will hold the output
+    *                data of potentially multiple layers (the key
+    *                in the map is the UserBuffer name)
+    *
+    * @note input and output UserBuffer maps must be fully pre-populated. with
+    *       dimensions matching what the network expects.
+    *       For example, if there are 5 output UserBuffers they all have to be
+    *       present in map.
+    *
+    *       Caller must guarantee that for the duration of execute(), the buffer
+    *       stored in UserBuffer would remain valid.  For more detail on buffer
+    *       ownership and lifetime requirements, please refer to zdl::DlSystem::UserBuffer
+    *       documentation.
+    */
+   bool execute(const zdl::DlSystem::UserBufferMap &input,
+                const zdl::DlSystem::UserBufferMap &output) noexcept;
+
+
+    /**
+    * @brief Regiter Client ION Buffers
+    * @param[in] A UserMemoryMap of virtual addresses
+    *
+    */
+   bool registerIonBuffers(const zdl::DlSystem::UserMemoryMap& ionBufferMap) noexcept;
+
+    /**
+    * @brief Regiter Client ION Buffers
+    * @param[in] A StringList of ION Buffer names
+    *
+    */
+   bool deregisterIonBuffers(const zdl::DlSystem::StringList& ionBufferNames) noexcept;
+
+    /**
+    * @brief Returns the version string embedded at model conversion
+    * time.
+    *
+    * @return Model version string, which is a free-form string
+    *         supplied at the time of the conversion
+    *
+    */
+   zdl::DlSystem::String getModelVersion() const noexcept;
+
+   /**
+    * @brief Returns the dimensions of the input data to the model in the
+    * form of TensorShape. The dimensions in TensorShape corresponds to
+    * what the tensor dimensions would need to be for an input tensor to
+    * the model.
+    *
+    * @param[in] layer input name.
+    *
+    * @note Note that this function only makes sense for networks 
+    *       that have a fixed input size. For networks in which the
+    *       input size varies with each call of Execute(), this
+    *       function should not be used.
+    *
+    * @note Because the returned type is an Optional instance, it must
+    *       be verified as a boolean true value before being dereferenced.
+    * 
+    * @return An Optional instance of TensorShape that maintains dimensions,
+    *         matching the tensor dimensions for input to the model,
+    *         where the last entry is the fastest varying dimension, etc.
+    *  
+    * @see zdl::DlSystem::ITensor
+    * @see zdl::DlSystem::TensorShape
+    * @see zdl::DlSystem::Optional
+    */
+   zdl::DlSystem::Optional<zdl::DlSystem::TensorShape>
+      getInputDimensions() const noexcept;
+   zdl::DlSystem::Optional<zdl::DlSystem::TensorShape>
+      getInputDimensions(const char *name) const noexcept;
+
+   /**
+    * @brief Gets the output layer(s) for the network. 
+    *  
+    * Note that the output layers returned by this function may be 
+    * different than those specified when the network was created 
+    * via the zdl::SNPE::SNPEBuilder. For example, if the
+    * network was created in debug mode with no explicit output 
+    * layers specified, this will contain all layers.
+    *
+    * @note Note that because the returned value is an Optional StringList,
+    * the list must be verified as a boolean true value before being
+    * dereferenced.
+    *
+    * @return A List of output layer names.
+    *
+    * @see zdl::DlSystem::Optional
+    */
+   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
+      getOutputLayerNames() const noexcept;
+
+   /**
+     * @brief Returns attributes of buffers used to feed input tensors and receive result from output tensors.
+     *
+     * @param[in] Tensor name.
+     *
+     * @return BufferAttributes of input/output tensor named
+     */
+   zdl::DlSystem::Optional<zdl::DlSystem::IBufferAttributes*> getInputOutputBufferAttributes(const char *name) const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Get the diagnostic logging interface
+    *
+    * @note Note that because the returned type is an Optional instance,
+    * it must be verified as a boolean true value before being
+    * dereferenced.
+    *
+    * @see zdl::DlSystem::Optional
+    */
+   zdl::DlSystem::Optional<zdl::DiagLog::IDiagLog*>
+      getDiagLogInterface() noexcept;
+
+private:
+   SNPE(const SNPE&) = delete;
+   SNPE& operator=(const SNPE&) = delete;
+
+   std::unique_ptr<SnpeRuntime> m_Runtime;
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+}}
+
+#endif
diff --git a/third_party/snpe/include/SNPE/SNPEBuilder.hpp b/third_party/snpe/include/SNPE/SNPEBuilder.hpp
new file mode 100644
index 00000000000000..5fc7846ced6486
--- /dev/null
+++ b/third_party/snpe/include/SNPE/SNPEBuilder.hpp
@@ -0,0 +1,306 @@
+//==============================================================================
+//
+//  Copyright (c) 2017-2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _SNPE_BUILDER_HPP_
+#define _SNPE_BUILDER_HPP_
+
+#include "SNPE/SNPE.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/UDLFunc.hpp"
+#include "DlSystem/DlOptional.hpp"
+#include "DlSystem/TensorShapeMap.hpp"
+#include "DlSystem/PlatformConfig.hpp"
+#include "DlSystem/IOBufferDataTypeMap.hpp"
+#include "DlSystem/RuntimeList.hpp"
+
+namespace zdl {
+   namespace DlContainer
+   {
+      class IDlContainer;
+   }
+}
+
+struct SNPEBuilderImpl;
+
+
+namespace zdl { namespace SNPE {
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * The builder class for creating SNPE objects.
+ * Not meant to be extended.
+ */
+class ZDL_EXPORT SNPEBuilder final
+{
+private:
+   std::unique_ptr<::SNPEBuilderImpl> m_Impl;
+public:
+
+   /**
+    * @brief Constructor of NeuralNetwork Builder with a supplied model.
+    *
+    * @param[in] container A container holding the model.
+    *
+    * @return A new instance of a SNPEBuilder object
+    *         that can be used to configure and build
+    *         an instance of SNPE.
+    *
+    */
+   explicit SNPEBuilder(
+      zdl::DlContainer::IDlContainer* container);
+   ~SNPEBuilder();
+
+   /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE. Please use
+    *       setRuntimeProcessorOrder()
+    *
+    * @brief Sets the runtime processor.
+    *
+    * @param[in] targetRuntimeProcessor The target runtime.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setRuntimeProcessor(
+      zdl::DlSystem::Runtime_t targetRuntimeProcessor);
+
+   /**
+    * @brief Requests a performance profile.
+    *
+    * @param[in] targetRuntimeProfile The target performance profile.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setPerformanceProfile(
+      zdl::DlSystem::PerformanceProfile_t performanceProfile);
+
+   /**
+    * @brief Sets the profiling level. Default profiling level for
+    *        SNPEBuilder is off. Off and basic only applies to DSP runtime.
+    *
+    * @param[in] profilingLevel The target profiling level.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setProfilingLevel(
+      zdl::DlSystem::ProfilingLevel_t profilingLevel);
+
+    /**
+     * @brief Sets a preference for execution priority.
+     *
+     * This allows the caller to give coarse hint to SNPE runtime
+     * about the priority of the network.  SNPE runtime is free to use
+     * this information to co-ordinate between different workloads
+     * that may or may not extend beyond SNPE.
+     *
+     * @param[in] ExecutionPriorityHint_t The target performance profile.
+     *
+     * @return The current instance of SNPEBuilder.
+     */
+   SNPEBuilder& setExecutionPriorityHint(
+            zdl::DlSystem::ExecutionPriorityHint_t priority);
+
+    /**
+    * @brief Sets the layers that will generate output.
+    *
+    * @param[in] outputLayerNames List of layer names to
+    *                             output. An empty list will
+    *                             result in only the final
+    *                             layer of the model being
+    *                             the output layer.  The list
+    *                             will be copied.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setOutputLayers(
+      const zdl::DlSystem::StringList& outputLayerNames);
+
+   /**
+   * @brief Sets the output tensor names.
+   *
+   * @param[in] outputTensorNames List of tensor names to
+   *                             output. An empty list will
+   *                             result in producing output for the final
+   *                             output tensor of the model.
+   *                             The list will be copied.
+   *
+   * @return The current instance of SNPEBuilder.
+   */
+   SNPEBuilder& setOutputTensors(
+      const zdl::DlSystem::StringList& outputTensorNames);
+
+   /**
+    * @brief Passes in a User-defined layer.
+    *
+    * @param udlBundle Bundle of udl factory function and a cookie
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setUdlBundle(
+      zdl::DlSystem::UDLBundle udlBundle);
+
+   /**
+    * @brief Sets whether this neural network will perform inference with
+    *        input from user-supplied buffers, and write output to user-supplied
+    *        buffers.  Default behaviour is to use tensors created by
+    *        ITensorFactory.
+    *
+    * @param[in] bufferMode Whether to use user-supplied buffer or not.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setUseUserSuppliedBuffers(
+      bool bufferMode);
+
+    /**
+    * @brief Sets the debug mode of the runtime.
+    *
+    * @param[in] debugMode This enables debug mode for the runtime. It
+    *                      does two things. For an empty
+    *                      outputLayerNames list, all layers will be
+    *                      output. It might also disable some internal
+    *                      runtime optimizations (e.g., some networks
+    *                      might be optimized by combining layers,
+    *                      etc.).
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setDebugMode(
+      bool debugMode);
+
+   /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE. Please use
+    *       setRuntimeProcessorOrder()
+    *
+    * @brief Sets the mode of CPU fallback functionality.
+    *
+    * @param[in] mode   This flag enables/disables the functionality
+    *                   of CPU fallback. When the CPU fallback
+    *                   functionality is enabled, layers in model that
+    *                   violates runtime constraints will run on CPU
+    *                   while the rest of non-violating layers will
+    *                   run on the chosen runtime processor. In
+    *                   disabled mode, models with layers violating
+    *                   runtime constraints will NOT run on the chosen
+    *                   runtime processor and will result in runtime
+    *                   exception. By default, the functionality is
+    *                   enabled.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setCPUFallbackMode(
+      bool mode);
+
+
+   /**
+    * @brief Sets network's input dimensions to enable resizing of
+    *        the spatial dimensions of each layer for fully convolutional networks,
+    *        and the batch dimension for all networks.
+    *
+    * @param[in] tensorShapeMap The map of input names and their new dimensions.
+    *                           The new dimensions overwrite the input dimensions
+    *                           embedded in the model and then resize each layer
+    *                           of the model. If the model contains
+    *                           layers whose dimensions cannot be resized e.g FullyConnected,
+    *                           exception will be thrown when SNPE instance is actually built.
+    *                           In general the batch dimension is always resizable.
+    *                           After resizing of layers' dimensions in model based
+    *                           on new input dimensions, the new model is revalidated
+    *                           against all runtime constraints, whose failures may
+    *                           result in cpu fallback situation.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setInputDimensions(const zdl::DlSystem::TensorShapeMap& inputDimensionsMap);
+
+   /**
+    * @brief Sets the mode of init caching functionality.
+    *
+    * @param[in] mode   This flag enables/disables the functionality of init caching.
+    *                   When init caching functionality is enabled, a set of init caches
+    *                   will be created during network building/initialization process
+    *                   and will be added to DLC container. If such DLC container is saved
+    *                   by the user, in subsequent network building/initialization processes
+    *                   these init caches will be loaded from the DLC so as to reduce initialization time.
+    *                   In disable mode, no init caches will be added to DLC container.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setInitCacheMode(
+      bool cacheMode);
+
+   /**
+    * @brief Returns an instance of SNPE based on the current parameters.
+    *
+    * @return A new instance of a SNPE object that can be used
+    *         to execute models or null if any errors occur.
+    */
+   std::unique_ptr<SNPE> build() noexcept;
+
+   /**
+    * @brief Sets the platform configuration.
+    *
+    * @param[in] platformConfig The platform configuration.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setPlatformConfig(const zdl::DlSystem::PlatformConfig& platformConfig);
+
+   /**
+    * @brief Sets network's runtime order of precedence. Example:
+    *        CPU_FLOAT32, GPU_FLOAT16, AIP_FIXED8_TF
+    *        Note:- setRuntimeProcessor() or setCPUFallbackMode() will be silently ignored when
+    *        setRuntimeProcessorOrder() is invoked
+    *
+    * @param[in] runtimeList The list of runtime in order of precedence
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setRuntimeProcessorOrder(const zdl::DlSystem::RuntimeList& runtimeList);
+
+    /**
+    * @brief Sets the unconsumed tensors as output
+    *
+    * @param[in] setOutput This enables unconsumed tensors (i.e)
+    *                      outputs which are not inputs to any
+    *                      layer (basically dead ends) to be marked
+    *                      for output
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setUnconsumedTensorsAsOutputs(
+      bool setOutput);
+
+    /**
+    * @brief Execution terminated when exceeding time limit.
+    *        Only valid for dsp runtime currently.
+    *
+    * @param[in] timeout Time limit value
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setTimeOut(
+      uint64_t timeout);
+
+
+   /**
+    * @brief Sets the datatype of the buffer.
+    *        Only valid for dsp runtime currently.
+    *
+    * @param[in] Map of the buffer names and the datatype that needs to be set.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setBufferDataType(const zdl::DlSystem::IOBufferDataTypeMap& dataTypeMap);
+
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}}
+
+#endif
diff --git a/third_party/snpe/include/SNPE/SNPEFactory.hpp b/third_party/snpe/include/SNPE/SNPEFactory.hpp
new file mode 100644
index 00000000000000..2d78e81b173d2c
--- /dev/null
+++ b/third_party/snpe/include/SNPE/SNPEFactory.hpp
@@ -0,0 +1,220 @@
+//==============================================================================
+//
+//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _SNPE_FACTORY_HPP_
+#define _SNPE_FACTORY_HPP_
+
+#include "SNPE/SNPE.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/UDLFunc.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+#include "DlSystem/DlOptional.hpp"
+
+namespace zdl {
+   namespace DlSystem
+   {
+      class ITensorFactory;
+      class IUserBufferFactory;
+   }
+   namespace DlContainer
+   {
+      class IDlContainer;
+   }
+}
+
+
+
+namespace zdl { namespace SNPE {
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * The factory class for creating SNPE objects.
+ *
+ */
+class ZDL_EXPORT SNPEFactory
+{
+public:
+
+   /**
+    * Indicates whether the supplied runtime is available on the
+    * current platform.
+    *
+    * @param[in] runtime The target runtime to check.
+    *
+    * @return True if the supplied runtime is available; false,
+    *         otherwise.
+    */
+   static bool isRuntimeAvailable(zdl::DlSystem::Runtime_t runtime);
+
+   /**
+    * Indicates whether the supplied runtime is available on the
+    * current platform.
+    *
+    * @param[in] runtime The target runtime to check.
+    *
+    * @param[in] option Extent to perform runtime available check.
+    *
+    * @return True if the supplied runtime is available; false,
+    *         otherwise.
+    */
+   static bool isRuntimeAvailable(zdl::DlSystem::Runtime_t runtime,
+                                  zdl::DlSystem::RuntimeCheckOption_t option);
+
+   /**
+    * Gets a reference to the tensor factory.
+    *
+    * @return A reference to the tensor factory.
+    */
+   static zdl::DlSystem::ITensorFactory& getTensorFactory();
+
+   /**
+    * Gets a reference to the UserBuffer factory.
+    *
+    * @return A reference to the UserBuffer factory.
+    */
+   static zdl::DlSystem::IUserBufferFactory& getUserBufferFactory();
+
+   /**
+    * Gets the version of the SNPE library.
+    *
+    * @return Version of the SNPE library.
+    *
+    */
+   static zdl::DlSystem::Version_t getLibraryVersion();
+
+   /**
+    * Set the SNPE storage location for all SNPE instances in this
+    * process. Note that this may only be called once, and if so
+    * must be called before creating any SNPE instances.
+    *
+    * @param[in] storagePath Absolute path to a directory which SNPE may
+    *  use for caching and other storage purposes.
+    *
+    * @return True if the supplied path was succesfully set as
+    *  the SNPE storage location, false otherwise.
+    */
+   static bool setSNPEStorageLocation(const char* storagePath);
+
+   /**
+    * @brief Register a user-defined op package with SNPE.
+    *
+    * @param[in] regLibraryPath Path to the registration library
+    *                      that allows clients to register a set of operations that are
+    *                      part of the package, and share op info with SNPE
+    *
+    * @return True if successful, False otherwise.
+    */
+   static bool addOpPackage( const std::string& regLibraryPath );
+
+   /**
+    * Indicates whether the OpenGL and OpenCL interoperability is supported
+    * on GPU platform.
+    *
+    * @return True if the OpenGL and OpenCl interop is supported; false,
+    *         otherwise.
+    */
+   static bool isGLCLInteropSupported();
+
+   static const char* getLastError();
+
+   /**
+    * Initializes logging with the specified log level.
+    * initializeLogging with level, is used on Android platforms
+    * and after successful initialization, SNPE
+    * logs are printed in android logcat logs.
+    *
+    * It is recommended to initializeLogging before creating any
+    * SNPE instances, in order to capture information related to
+    * core initialization. If this is called again after first
+    * time initialization, subsequent calls are ignored.
+    * Also, Logging can be re-initialized after a call to
+    * terminateLogging API by calling initializeLogging again.
+    *
+    * A typical usage of Logging life cycle can be
+    * initializeLogging()
+    *        any other SNPE API like isRuntimeAvailable()
+    * * setLogLevel() - optional - can be called anytime
+    *         between initializeLogging & terminateLogging
+    *		  SNPE instance creation, inference, destroy
+    * terminateLogging().
+    *
+    * Please note, enabling logging can have performance impact.
+    *
+    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
+    *
+    * @return True if successful, False otherwise.
+    */
+   static bool initializeLogging(const zdl::DlSystem::LogLevel_t& level);
+
+   /**
+    * Initializes logging with the specified log level and log path.
+    * initializeLogging with level & log path, is used on non Android
+    * platforms and after successful initialization, SNPE
+    * logs are printed in std output & into log files created in the
+    * log path.
+    *
+    * It is recommended to initializeLogging before creating any
+    * SNPE instances, in order to capture information related to
+    * core initialization. If this is called again after first
+    * time initialization, subsequent calls are ignored.
+    * Also, Logging can be re-initialized after a call to
+    * terminateLogging API by calling initializeLogging again.
+    *
+    * A typical usage of Logging life cycle can be
+    * initializeLogging()
+    *        any other SNPE API like isRuntimeAvailable()
+    * * setLogLevel() - optional - can be called anytime
+    *         between initializeLogging & terminateLogging
+    *		  SNPE instance creation, inference, destroy
+    * terminateLogging()
+    *
+    * Please note, enabling logging can have performance impact
+    *
+    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
+    *
+    * @param[in] Path of directory to store logs.
+    *      If path is empty, the default path is "./Log".
+    *      For android, the log path is ignored.
+    *
+    * @return True if successful, False otherwise.
+    */
+   static bool initializeLogging(const zdl::DlSystem::LogLevel_t& level, const std::string& logPath);
+
+   /**
+    * Updates the current logging level with the specified level.
+    * setLogLevel is optional, called anytime after initializeLogging
+    * and before terminateLogging, to update the log level set.
+    * Log levels can be updated multiple times by calling setLogLevel
+    * A call to setLogLevel() is ignored if it is made before
+    * initializeLogging() or after terminateLogging()
+    *
+    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
+    *
+    * @return True if successful, False otherwise.
+    */
+   static bool setLogLevel(const zdl::DlSystem::LogLevel_t& level);
+
+   /**
+    * Terminates logging.
+    *
+    * It is recommended to terminateLogging after initializeLogging
+    * in order to disable logging information.
+    * If this is called before initialization or after first time termination,
+    * calls are ignored.
+    *
+    * @return True if successful, False otherwise.
+    */
+   static bool terminateLogging(void);
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+}}
+
+
+#endif
diff --git a/third_party/snpe/include/SNPE/UserBufferList.hpp b/third_party/snpe/include/SNPE/UserBufferList.hpp
new file mode 100644
index 00000000000000..a660bca0f6a525
--- /dev/null
+++ b/third_party/snpe/include/SNPE/UserBufferList.hpp
@@ -0,0 +1,49 @@
+//==============================================================================
+//
+//  Copyright (c) 2019 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+#ifndef PSNPE_USERBUFFERLIST_HPP
+#define PSNPE_USERBUFFERLIST_HPP
+
+#include <vector>
+#include "DlSystem/UserBufferMap.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl {
+namespace PSNPE
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+/**
+* @brief .
+*
+* The class for creating a UserBufferMap container.
+*
+*/
+class ZDL_EXPORT UserBufferList final
+{
+public:
+   UserBufferList();
+   UserBufferList(const size_t size);
+   void push_back(const zdl::DlSystem::UserBufferMap &userBufferMap);
+   zdl::DlSystem::UserBufferMap& operator[](const size_t index);
+   UserBufferList& operator =(const UserBufferList &other);
+   size_t size() const noexcept;
+   size_t capacity() const noexcept;
+   void clear() noexcept;
+   ~UserBufferList() = default;
+
+private:
+   void swap(const UserBufferList &other);
+   std::vector<zdl::DlSystem::UserBufferMap> m_userBufferMaps;
+
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+} // namespace PSNPE
+} // namespace zdl
+#endif //PSNPE_USERBUFFERLIST_HPP
diff --git a/third_party/snpe/include/SnpeUdo/UdoBase.h b/third_party/snpe/include/SnpeUdo/UdoBase.h
new file mode 100644
index 00000000000000..7b2567920e3525
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoBase.h
@@ -0,0 +1,537 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef SNPE_UDO_BASE_H
+#define SNPE_UDO_BASE_H
+
+#include <stdint.h>
+
+// Provide values to use for API version.
+#define API_VERSION_MAJOR 1
+#define API_VERSION_MINOR 6
+#define API_VERSION_TEENY 0
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+// Defines a bitmask of enum values.
+typedef uint32_t SnpeUdo_Bitmask_t;
+typedef SnpeUdo_Bitmask_t Udo_Bitmask_t;
+
+// A string of characters, rather than an array of bytes.
+// Assumed to be UTF-8.
+typedef char* SnpeUdo_String_t;
+typedef SnpeUdo_String_t Udo_String_t;
+
+// The maximum allowable length of a SnpeUdo_String_t in bytes,
+// including null terminator. SNPE will truncate strings longer
+// than this.
+#define SNPE_UDO_MAX_STRING_SIZE 1024
+
+/**
+  * An enum which holds the various error types.
+  * The error types are divided to classes :
+  * 0 - 99    : generic errors
+  * 100 - 200 : errors related to configuration
+  *
+  */
+typedef enum
+{
+   /// No Error
+   SNPE_UDO_NO_ERROR                    = 0,          UDO_NO_ERROR                    = 0,
+   /// Unsupported value for core type
+   SNPE_UDO_WRONG_CORE                  = 1,          UDO_WRONG_CORE                  = 1,
+   /// Invalid attribute/argument passed into UDO API
+   SNPE_UDO_INVALID_ARGUMENT            = 2,          UDO_INVALID_ARGUMENT            = 2,
+   /// Unsupported feature error
+   SNPE_UDO_UNSUPPORTED_FEATURE         = 3,          UDO_UNSUPPORTED_FEATURE         = 3,
+   /// Error relating to memory allocation
+   SNPE_UDO_MEM_ALLOC_ERROR             = 4,          UDO_MEM_ALLOC_ERROR             = 4,
+   /* Configuration Specific errors */
+   /// No op with given attributes available in library
+   SNPE_UDO_WRONG_OPERATION             = 100,        UDO_WRONG_OPERATION             = 100,
+   /// Unsupported value for core type in UDO configuration
+   SNPE_UDO_WRONG_CORE_TYPE             = 101,        UDO_WRONG_CORE_TYPE             = 101,
+   /// Wrong number of params in UDO definition
+   SNPE_UDO_WRONG_NUM_OF_PARAMS         = 102,        UDO_WRONG_NUM_OF_PARAMS         = 102,
+   /// Wrong number of dimensions for tensor(s) in UDO definition
+   SNPE_UDO_WRONG_NUM_OF_DIMENSIONS     = 103,        UDO_WRONG_NUM_OF_DIMENSIONS     = 103,
+   /// Wrong number of input tensors in UDO definition
+   SNPE_UDO_WRONG_NUM_OF_INPUTS         = 104,        UDO_WRONG_NUM_OF_INPUTS         = 104,
+   /// Wrong number of output tensors in UDO definition
+   SNPE_UDO_WRONG_NUM_OF_OUTPUTS        = 105,        UDO_WRONG_NUM_OF_OUTPUTS        = 105,
+   SNPE_UDO_PROGRAM_CACHE_NOT_FOUND     = 106,        UDO_PROGRAM_CACHE_NOT_FOUND     = 106,
+   SNPE_UDO_UNKNOWN_ERROR               = 0xFFFFFFFF, UDO_UNKNOWN_ERROR               = 0xFFFFFFFF
+} SnpeUdo_ErrorType_t;
+
+typedef SnpeUdo_ErrorType_t Udo_ErrorType_t;
+
+/**
+  * An enum which holds the various data types.
+  * Designed to be used as single values or combined into a bitfield parameter
+  * (0x1, 0x2, 0x4, etc)
+  * \n FIXED_XX types are targeted for data in tensors.
+  * \n UINT / INT types are targeted for scalar params
+  */
+typedef enum
+{
+   /// data type: 16-bit floating point
+   SNPE_UDO_DATATYPE_FLOAT_16       = 0x01,        UDO_DATATYPE_FLOAT_16       = 0x01,
+   /// data type: 32-bit floating point
+   SNPE_UDO_DATATYPE_FLOAT_32       = 0x02,        UDO_DATATYPE_FLOAT_32       = 0x02,
+   /// data type: 4-bit fixed point
+   SNPE_UDO_DATATYPE_FIXED_4        = 0x04,        UDO_DATATYPE_FIXED_4        = 0x04,
+   /// data type: 8-bit fixed point
+   SNPE_UDO_DATATYPE_FIXED_8        = 0x08,        UDO_DATATYPE_FIXED_8        = 0x08,
+   /// data type: 16-bit fixed point
+   SNPE_UDO_DATATYPE_FIXED_16       = 0x10,        UDO_DATATYPE_FIXED_16       = 0x10,
+   /// data type: 32-bit fixed point
+   SNPE_UDO_DATATYPE_FIXED_32       = 0x20,        UDO_DATATYPE_FIXED_32       = 0x20,
+   /// data type: 8-bit unsigned integer
+   SNPE_UDO_DATATYPE_UINT_8         = 0x100,       UDO_DATATYPE_UINT_8         = 0x100,
+   /// data type: 16-bit unsigned integer
+   SNPE_UDO_DATATYPE_UINT_16        = 0x200,       UDO_DATATYPE_UINT_16        = 0x200,
+   /// data type: 32-bit unsigned integer
+   SNPE_UDO_DATATYPE_UINT_32        = 0x400,       UDO_DATATYPE_UINT_32        = 0x400,
+   /// data type: 8-bit signed integer
+   SNPE_UDO_DATATYPE_INT_8          = 0x1000,      UDO_DATATYPE_INT_8          = 0x1000,
+   /// data type: 16-bit signed integer
+   SNPE_UDO_DATATYPE_INT_16         = 0x2000,      UDO_DATATYPE_INT_16         = 0x2000,
+   /// data type: 32-bit signed integer
+   SNPE_UDO_DATATYPE_INT_32         = 0x4000,      UDO_DATATYPE_INT_32         = 0x4000,
+   SNPE_UDO_DATATYPE_LAST           = 0xFFFFFFFF,  UDO_DATATYPE_LAST           = 0xFFFFFFFF
+} SnpeUdo_DataType_t;
+
+typedef SnpeUdo_DataType_t Udo_DataType_t;
+
+/**
+  * An enum which holds the various layouts.
+  * Designed to be used as single values or combined into a bitfield parameter
+  * (0x1, 0x2, 0x4, etc)
+  */
+typedef enum
+{
+   /// data layout (4D): NHWC (batch-height-width-channel)
+   SNPE_UDO_LAYOUT_NHWC             = 0x01,        UDO_LAYOUT_NHWC             = 0x01,
+   /// data layout (4D): NCHW (batch-channel-height-width)
+   SNPE_UDO_LAYOUT_NCHW             = 0x02,        UDO_LAYOUT_NCHW             = 0x02,
+   /// data layout (5D): NDHWC (batch-dimension-height-width-channel)
+   SNPE_UDO_LAYOUT_NDHWC            = 0x04,        UDO_LAYOUT_NDHWC            = 0x04,
+   SNPE_UDO_LAYOUT_GPU_OPTIMAL1     = 0x08,        UDO_LAYOUT_GPU_OPTIMAL1     = 0x08,
+   SNPE_UDO_LAYOUT_GPU_OPTIMAL2     = 0x10,        UDO_LAYOUT_GPU_OPTIMAL2     = 0x10,
+   SNPE_UDO_LAYOUT_DSP_OPTIMAL1     = 0x11,        UDO_LAYOUT_DSP_OPTIMAL1     = 0x11,
+   SNPE_UDO_LAYOUT_DSP_OPTIMAL2     = 0x12,        UDO_LAYOUT_DSP_OPTIMAL2     = 0x12,
+   // Indicates no data will be allocated for this tensor.
+   // Used to specify optional inputs/outputs positionally.
+   SNPE_UDO_LAYOUT_NULL             = 0x13,        UDO_LAYOUT_NULL             = 0x13,
+   SNPE_UDO_LAYOUT_LAST             = 0xFFFFFFFF,  UDO_LAYOUT_LAST             = 0xFFFFFFFF
+} SnpeUdo_TensorLayout_t;
+
+typedef SnpeUdo_TensorLayout_t Udo_TensorLayout_t;
+
+/**
+  * An enum which holds the UDO library Core type .
+  * Designed to be used as single values or combined into a bitfield parameter
+  * (0x1, 0x2, 0x4, etc)
+  */
+typedef enum
+{
+   /// Library target IP Core is undefined
+   SNPE_UDO_CORETYPE_UNDEFINED   = 0x00,          UDO_CORETYPE_UNDEFINED   = 0x00,
+   /// Library target IP Core is CPU
+   SNPE_UDO_CORETYPE_CPU         = 0x01,          UDO_CORETYPE_CPU         = 0x01,
+   /// Library target IP Core is GPU
+   SNPE_UDO_CORETYPE_GPU         = 0x02,          UDO_CORETYPE_GPU         = 0x02,
+   /// Library target IP Core is DSP
+   SNPE_UDO_CORETYPE_DSP         = 0x04,          UDO_CORETYPE_DSP         = 0x04,
+   SNPE_UDO_CORETYPE_LAST        = 0xFFFFFFFF,    UDO_CORETYPE_LAST        = 0xFFFFFFFF
+} SnpeUdo_CoreType_t;
+
+typedef SnpeUdo_CoreType_t Udo_CoreType_t;
+
+/**
+  * An enum to specify the parameter type : Scalar or Tensor
+  */
+typedef enum
+{
+   /// UDO static param type: scalar
+   SNPE_UDO_PARAMTYPE_SCALAR = 0x00,         UDO_PARAMTYPE_SCALAR = 0x00,
+   /// UDO static param type: string
+   SNPE_UDO_PARAMTYPE_STRING = 0x01,         UDO_PARAMTYPE_STRING = 0x01,
+   /// UDO static param type: tensor
+   SNPE_UDO_PARAMTYPE_TENSOR = 0x02,         UDO_PARAMTYPE_TENSOR = 0x02,
+   SNPE_UDO_PARAMTYPE_LAST   = 0xFFFFFFFF,   UDO_PARAMTYPE_LAST   = 0xFFFFFFFF
+} SnpeUdo_ParamType_t;
+
+typedef SnpeUdo_ParamType_t Udo_ParamType_t;
+
+/**
+  * An enum to specify quantization type
+  */
+typedef enum
+{
+   /// Tensor Quantization type: NONE. Signifies unquantized tensor data
+   SNPE_UDO_QUANTIZATION_NONE   = 0x00,         UDO_QUANTIZATION_NONE   = 0x00,
+   /// Tensor Quantization type: Tensorflow-style
+   SNPE_UDO_QUANTIZATION_TF     = 0x01,         UDO_QUANTIZATION_TF     = 0x01,
+   SNPE_UDO_QUANTIZATION_QMN    = 0x02,         UDO_QUANTIZATION_QMN    = 0x02,
+   SNPE_UDO_QUANTIZATION_LAST   = 0xFFFFFFFF,   UDO_QUANTIZATION_LAST   = 0xFFFFFFFF
+} SnpeUdo_QuantizationType_t;
+
+typedef SnpeUdo_QuantizationType_t Udo_QuantizationType_t;
+
+/**
+ * @brief A struct which is used to provide a version number using 3 values : major, minor, teeny
+ *
+ */
+typedef struct
+{
+   /// version field: major - for backward-incompatible changes
+   uint32_t major;
+   /// version field: minor - for backward-compatible feature updates
+   uint32_t minor;
+   /// version field: teeny - for minor bug-fixes and clean-up
+   uint32_t teeny;
+} SnpeUdo_Version_t;
+
+typedef SnpeUdo_Version_t Udo_Version_t;
+
+/**
+ * @brief A struct returned from version query, contains the Library version and API version
+ *
+ */
+typedef struct
+{
+   /// Version of UDO library. Controlled by users
+   SnpeUdo_Version_t libVersion;
+   /// Version of SNPE UDO API used in compiling library. Determined by SNPE
+   SnpeUdo_Version_t apiVersion;
+} SnpeUdo_LibVersion_t;
+
+/**
+ * @brief A struct returned from version query, contains the package version
+ *
+ */
+typedef struct
+{
+   /// Version of UDO API used in package.
+   Udo_Version_t apiVersion;
+} Udo_PkgVersion_t;
+
+/**
+ * @brief A union to hold the value of a generic type. Allows defining a parameter struct
+ * in a generic way, with a "value" location that holds the data regardless of the type.
+ *
+ */
+typedef union
+{
+   /// value type: float
+   float    floatValue;
+   /// value type: unsigned 32-bit integer
+   uint32_t uint32Value;
+   /// value type: signed 32-bit integer
+   int32_t  int32Value;
+   /// value type: unsigned 16-bit integer
+   uint16_t uint16Value;
+   /// value type: signed 16-bit integer
+   int16_t  int16Value;
+   /// value type: unsigned 8-bit integer
+   uint8_t  uint8Value;
+   /// value type: signed 8-bit integer
+   int8_t   int8Value;
+} SnpeUdo_Value_t;
+
+typedef SnpeUdo_Value_t Udo_Value_t;
+
+/**
+ * @brief A struct which defines a scalar parameter : name, data type, and union of values
+ *
+ */
+typedef struct
+{
+   /// The parameter data type : float, int, etc.
+   SnpeUdo_DataType_t  dataType;
+   /// a union of specified type which holds the data
+   SnpeUdo_Value_t dataValue;
+} SnpeUdo_ScalarParam_t;
+
+typedef SnpeUdo_ScalarParam_t Udo_ScalarParam_t;
+
+/**
+ * @brief A struct which defines the quantization parameters in case of Tensorflow style quantization
+ *
+ */
+typedef struct
+{
+   /// minimum value of the quantization range of data
+   float minValue;
+   /// maximum value of the quantization range of data
+   float maxValue;
+} SnpeUdo_TFQuantize_t;
+
+typedef SnpeUdo_TFQuantize_t Udo_TFQuantize_t;
+
+/**
+ * @brief A struct which defines the quantization type, and union of supported quantization structs
+ *
+ */
+typedef struct
+{
+   /// quantization type (only TF-style currently supported)
+   SnpeUdo_QuantizationType_t quantizeType;
+   union
+   {
+     /// TF-style min-max quantization ranges
+     SnpeUdo_TFQuantize_t TFParams;
+   };
+} SnpeUdo_QuantizeParams_t;
+
+typedef SnpeUdo_QuantizeParams_t Udo_QuantizeParams_t;
+
+/**
+ * @brief A struct which defines the datatype associated with a specified core-type
+ * This should be used to denote the datatypes for a single tensor info, depending
+ * on the intended execution core.
+ *
+ */
+typedef struct
+{
+    /// The IP Core
+    SnpeUdo_CoreType_t     coreType;
+    /// The associated datatype for this coreType
+    SnpeUdo_DataType_t       dataType;
+} SnpeUdo_PerCoreDatatype_t;
+
+typedef SnpeUdo_PerCoreDatatype_t Udo_PerCoreDatatype_t;
+
+/**
+ * @brief A struct which defines a tensor parameter : name, data type, layout, quantization, more.
+ *        Also holds a pointer to the tensor data.
+ *
+ */
+typedef struct
+{
+   /// The maximum allowable dimensions of the tensor. The memory held in
+   /// _tensorData_ is guaranteed to be large enough for this.
+   uint32_t*                maxDimensions;
+   /// The current dimensions of the tensor. An operation may modify the current
+   /// dimensions of its output, to indicate cases where the output has been
+   /// "resized".
+   /// Note that for static parameters, the current and max dimensions must
+   /// match.
+   uint32_t*                currDimensions;
+   /// Quantization params applicable to the tensor. Currently only supports
+   /// Tensorflow quantization style.
+   SnpeUdo_QuantizeParams_t quantizeParams;
+   /// Number of dimensions to the tensor: 3D, 4D, etc.
+   uint32_t                 tensorRank;
+   /// The parameter data type: float, int, etc.
+   SnpeUdo_DataType_t       dataType;
+   /// The tensor layout type: NCHW, NHWC, etc.
+   SnpeUdo_TensorLayout_t   layout;
+   /// Opaque pointer to tensor data. User may be required to re-interpret the pointer
+   /// based on core-specific definitions.
+   void*                    tensorData;
+} SnpeUdo_TensorParam_t;
+
+typedef SnpeUdo_TensorParam_t Udo_TensorParam_t;
+
+/**
+ * @brief A struct which defines tensor information for activation tensors only
+ *
+ * It describes an activation tensor object using its name, the intended layout and the datatype
+ * it will take depending on the intended runtime core. The repeated field indicates that
+ * that the tensor info describes several input/output activation tensors, which all share the
+ * aforementioned properties.
+ */
+typedef struct
+{
+    /// The tensor name
+    SnpeUdo_String_t    tensorName;
+    /// The tensor layout type: NCHW, NHWC, etc.
+    SnpeUdo_TensorLayout_t   layout;
+    /// The per core datatype: {SNPE_UDO_DATATYPE, SNPE_UDO_CORE_TYPE}
+    SnpeUdo_PerCoreDatatype_t* perCoreDatatype;
+    /// A boolean field indicating that this tensorinfo will be repeated e.x for ops such as Concat or Split
+    bool repeated;
+    /// A boolean field indicating whether input is static or not.
+    bool isStatic;
+} SnpeUdo_TensorInfo_t;
+
+typedef SnpeUdo_TensorInfo_t Udo_TensorInfo_t;
+
+/**
+ * @brief struct which defines a UDO parameter - a union of scalar, tensor and string parameters
+ *
+ */
+typedef struct
+{
+   /// Type is scalar or tensor
+  SnpeUdo_ParamType_t paramType;
+  /// The param name, for example : "offset", "activation_type"
+  SnpeUdo_String_t    paramName;
+  union
+  {
+    /// scalar param value
+    SnpeUdo_ScalarParam_t scalarParam;
+    /// tensor param value
+    SnpeUdo_TensorParam_t tensorParam;
+    /// string param value
+    SnpeUdo_String_t      stringParam;
+  };
+} SnpeUdo_Param_t;
+
+typedef SnpeUdo_Param_t Udo_Param_t;
+
+/**
+ * @brief A struct which defines Operation information which is specific for IP core (CPU, GPU, DSP ...)
+ *
+ */
+typedef struct
+{
+   /// The IP Core
+   SnpeUdo_CoreType_t     udoCoreType;
+   /// Bitmask, defines supported internal calculation types (like FLOAT_32, etc)
+   /// Based on SnpeUdo_DataType
+   SnpeUdo_Bitmask_t      operationCalculationTypes;
+} SnpeUdo_OpCoreInfo_t;
+
+typedef SnpeUdo_OpCoreInfo_t Udo_OpCoreInfo_t;
+
+/**
+ * @brief A struct which defines the common and core-specific Operation information
+ *
+ */
+typedef struct
+{
+   /// Operation type
+   SnpeUdo_String_t      operationType;
+   /// A bitmask describing which IP Cores (CPU, GPU, DSP ...) support this operation
+   /// Translated based on SnpeUdo_CoreType
+   SnpeUdo_Bitmask_t     supportedByCores;
+   /// Number of static parameters defined by the op
+   uint32_t              numOfStaticParams;
+   /// Array of static parameters. Can be scalar or tensor params
+   SnpeUdo_Param_t*      staticParams;
+   /// Number of input tensors this op receives
+   uint32_t              numOfInputs;
+   /// Array of input tensor names to this operation
+   SnpeUdo_String_t*      inputNames;
+   /// Number of output tensors this op receives
+   uint32_t              numOfOutputs;
+   /// Array of output tensor names to this operation
+   SnpeUdo_String_t*      outputNames;
+   /// Number of cores that the op can execute on
+   uint32_t              numOfCoreInfo;
+   /// Array of per-core information entries
+   SnpeUdo_OpCoreInfo_t* opPerCoreInfo;
+    /// Array of input tensor infos for this operation
+   SnpeUdo_TensorInfo_t*     inputInfos;
+   /// Array of output tensor infos for this operation
+   SnpeUdo_TensorInfo_t*     outputInfos;
+} SnpeUdo_OperationInfo_t;
+
+typedef SnpeUdo_OperationInfo_t Udo_OperationInfo_t;
+
+/**
+ * @brief A struct which provides the implementation library info : type, name
+ *
+ */
+typedef struct
+{
+   /// Defines the IP Core that this implementation library is targeting
+   SnpeUdo_CoreType_t     udoCoreType;
+   /// library name. will be looked at in the standard library path
+   SnpeUdo_String_t       libraryName;
+} SnpeUdo_LibraryInfo_t;
+
+typedef SnpeUdo_LibraryInfo_t Udo_LibraryInfo_t;
+
+/**
+ * @brief A struct returned by the registration library and contains information on the UDO package :
+ * name, operations, libraries, etc.
+ *
+ */
+typedef struct
+{
+   /// A string containing the package name
+   SnpeUdo_String_t         packageName;
+   /// A bitmask describing supported IP cores (CPU, GPU, DSP ...)
+   /// Translated based on SnpeUdo_CoreType
+   SnpeUdo_Bitmask_t        supportedCoreTypes;
+   /// The number of implementation libraries in the package
+   uint32_t                numOfImplementationLib;
+   /// Array of implementation libraries names/types
+   SnpeUdo_LibraryInfo_t*   implementationLib;
+   /// A string containing all operation types separated by space
+   SnpeUdo_String_t         operationsString;
+   /// Number of supported operations
+   uint32_t                numOfOperations;
+   /// Array of Operation info structs. Each entry describes one
+   /// Operation (name, params, inputs, outputs)
+   SnpeUdo_OperationInfo_t* operationsInfo;
+} SnpeUdo_RegInfo_t;
+
+typedef SnpeUdo_RegInfo_t Udo_RegInfo_t;
+
+/**
+* @brief A struct returned by the implementation library and contains information on the
+* specific library: name, IP Core, operations, etc.
+*
+*/
+typedef struct
+{
+   /// Defines the IP Core that this implementation library is targeting
+   SnpeUdo_CoreType_t     udoCoreType;
+   /// A string containing the package name
+   SnpeUdo_String_t       packageName;
+   /// A string containing all operation types separated by space
+   SnpeUdo_String_t       operationsString;
+   /// Number of supported operations
+   uint32_t              numOfOperations;
+} SnpeUdo_ImpInfo_t;
+
+typedef SnpeUdo_ImpInfo_t Udo_ImpInfo_t;
+
+/**
+ * @brief This struct defines an operation. It is used for validation
+ * or creation of an operation.
+ * In case of using it for creation, the static params which are tensors
+ * contain pointers to the real data (weights, for example), and input/output
+ * tensors also include pointers to the buffers used.
+ */
+typedef struct
+{
+   /// The IP Core that the operation is defined for - CPU, GPU, DSP...
+   SnpeUdo_CoreType_t      udoCoreType;
+   /// Operation type
+   SnpeUdo_String_t        operationType;
+   /// The number of static parameters provided in the staticParams array.
+   /// this number has to match the number provided by the UDO Registration library information
+   uint32_t               numOfStaticParams;
+   /// Array of static parameters
+   SnpeUdo_Param_t*        staticParams;
+   /// The number of input parameters provided in inputs array.
+   /// this number has to match the number provided by the UDO Registration library information
+   uint32_t               numOfInputs;
+   /// Array of input tensors, providing layout, data type, sizes, etc
+   /// When used to create an operation, also contains the initial location of the data
+   SnpeUdo_TensorParam_t*  inputs;
+   /// The number of output parameters provided in inputs array.
+   /// this number has to match the number provided by the UDO Registration library information
+   uint32_t               numOfOutputs;
+   /// Array of output tensors, providing layout, data type, sizes, etc
+   /// When used to create an operation, also contains the initial location of the data
+   SnpeUdo_TensorParam_t*  outputs;
+} SnpeUdo_OpDefinition_t;
+
+typedef SnpeUdo_OpDefinition_t Udo_OpDefinition_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif //SNPE_UDO_BASE_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImpl.h b/third_party/snpe/include/SnpeUdo/UdoImpl.h
new file mode 100644
index 00000000000000..a0cb648cf725f8
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoImpl.h
@@ -0,0 +1,343 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef SNPE_UDO_IMPL_H
+#define SNPE_UDO_IMPL_H
+
+#include <stdbool.h>
+
+#include "SnpeUdo/UdoShared.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+typedef struct _SnpeUdo_OpFactory_t* SnpeUdo_OpFactory_t;
+typedef struct _SnpeUdo_Operation_t* SnpeUdo_Operation_t;
+
+typedef SnpeUdo_OpFactory_t Udo_OpFactory_t;
+typedef SnpeUdo_Operation_t Udo_Operation_t;
+
+/**
+ * @brief Initialize the shared library's data structures. Calling any other
+ *        library function before this one will result in error.
+ *
+ * @param[in] globalInfrastructure Global core-specific infrastructure to be
+ *            used by operations created in this library. The definition and
+ *            semantics of this object will be defined in the corresponding
+ *            implementation header for the core type.
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_initImplLibrary(void* globalInfrastructure);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_InitImplLibraryFunction_t)(void*);
+
+/**
+ * @brief A function to query the API version of the UDO implementation library.
+ *        The function populates a SnpeUdo_LibVersion_t struct, which contains a SnpeUdo_Version_t
+ *        struct for API version and library version.
+ *
+ * @param[in, out] version A pointer to struct which contains major, minor, teeny information for
+ *                 library and api versions.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getImplVersion(SnpeUdo_LibVersion_t** version);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_getImplVersion_t)(SnpeUdo_LibVersion_t** version);
+
+/**
+ * @brief Release the shared library's data structures, and invalidate any
+ *        handles returned by the library. The behavior of any outstanding
+ *        asynchronous calls made to this library when this function is called
+ *        are undefined. All library functions (except SnpeUdo_initImplLibrary) will
+ *        return an error after this function has been successfully called.
+ *
+ *        It should be possible to call SnpeUdo_initImplLibrary after calling this
+ *        function, and re-initialize the library.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_terminateImplLibrary(void);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_TerminateImplLibraryFunction_t)(void);
+
+
+/**
+ * @brief A function to query info on the UDO implementation library.
+ *        The function populates a structure which contains information about
+ *        operations that are part of this library
+ *
+ * @param[in, out] implementationInfo A pointer to struct which contains information
+ *                 on the operations
+ *
+ * @return error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getImpInfo(SnpeUdo_ImpInfo_t** implementationInfo);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_GetImpInfoFunction_t)(SnpeUdo_ImpInfo_t** implementationInfo);
+
+typedef SnpeUdo_GetImpInfoFunction_t Udo_GetImpInfoFunction_t;
+
+/**
+ * @brief A function to create an operation factory.
+ *        The function receives the operation type, and an array of static parameters,
+ *        and returns operation factory handler
+ *
+ * @param[in] udoCoreType The Core type to create the operation on. An error will
+ *            be returned if this does not match the core type of the library.
+ *
+ * @param[in] perFactoryInfrastructure CreateOpFactory infrastructure appropriate to this
+ *            core type. The definition and semantics of this object will be defined
+ *            in the corresponding implementation header for the core type.
+ *
+ * @param[in] operationType A string containing Operation type. for example "MY_CONV"
+ *
+ * @param[in] numOfStaticParams The number of static parameters.
+ *
+ * @param[in] staticParams Array of static parameters
+ *
+ * @param[in,out] opFactory Handler to Operation Factory, to be used when creating operations
+ *
+ * @return Error Code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_createOpFactory(SnpeUdo_CoreType_t    udoCoreType,
+                        void*                perFactoryInfrastructure,
+                        SnpeUdo_String_t      operationType,
+                        uint32_t             numOfStaticParams,
+                        SnpeUdo_Param_t*      staticParams,
+                        SnpeUdo_OpFactory_t*  opFactory);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_CreateOpFactoryFunction_t)(SnpeUdo_CoreType_t,
+                                     void*,
+                                     SnpeUdo_String_t,
+                                     uint32_t,
+                                     SnpeUdo_Param_t*,
+                                     SnpeUdo_OpFactory_t*);
+
+typedef SnpeUdo_CreateOpFactoryFunction_t Udo_CreateOpFactoryFunction_t;
+
+/**
+ * @brief A function to release the resources allocated for an operation factory
+ *        created by this library.
+ *
+ * @param[in] factory The operation factory to release. Upon success this handle will be invalidated.
+ *
+ * @return Error Code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_releaseOpFactory(SnpeUdo_OpFactory_t opFactory);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ReleaseOpFactoryFunction_t)(SnpeUdo_OpFactory_t);
+
+typedef SnpeUdo_ReleaseOpFactoryFunction_t Udo_ReleaseOpFactoryFunction_t;
+
+/**
+ * @brief A function to create an operation from the factory.
+ *        The function receives array of inputs and array of outputs, and creates an operation
+ *        instance, returning the operation instance handler.
+ *
+ * @param[in] opFactory OpFactory instance containing the parameters for this operation.
+ *
+ * @param[in] perOpInfrastructure Per-Op infrastructure for this operation. The definition
+ *            and semantics of this object will be defined in the implementation header
+ *            appropriate to this core type.
+ *
+ * @param[in] numOfInputs The number of input tensors this operation will receive.
+ *
+ * @param[in] inputs Array of input tensors, providing both the sizes and initial
+ *            location of the data.
+ *
+ * @param[in] numOfOutputs Number of output tensors this operation will produce.
+ *
+ * @param[in] outputs Array of output tensors, providing both the sizes and
+ *            initial location of the data.
+ *
+ * @param[in,out] operation Handle for newly created operation instance.
+ *
+ * @return Error Code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_createOperation(SnpeUdo_OpFactory_t    opFactory,
+                        void*                 perOpInfrastructure,
+                        uint32_t              numOfInputs,
+                        SnpeUdo_TensorParam_t* inputs,
+                        uint32_t              numOfOutputs,
+                        SnpeUdo_TensorParam_t* outputs,
+                        SnpeUdo_Operation_t*   operation);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_CreateOperationFunction_t)(SnpeUdo_OpFactory_t,
+                                     void*,
+                                     uint32_t,
+                                     SnpeUdo_TensorParam_t*,
+                                     uint32_t,
+                                     SnpeUdo_TensorParam_t*,
+                                     SnpeUdo_Operation_t*);
+
+typedef SnpeUdo_CreateOperationFunction_t Udo_CreateOperationFunction_t;
+
+/**
+ * @brief A pointer to notification function.
+ *
+ *        The notification function supports the non-blocking (e.g. asynchronous) execution use-case.
+ *        In case an "executeUdoOp" function is called with "blocking" set to zero, and a
+ *        notify function, this function will be called by the implementation library at the
+ *        end of execution. The implementation library will pass the notify function the ID
+ *        that was provided to it when "executeUdoOp" was called.
+ *
+ * @param[in] ID 32-bit value, that was provided to executeUdoOp by the calling entity.
+ *            Can be used to track the notifications, in case of multiple execute calls issued.
+ *
+ * @return Error code
+ *
+ */
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ExternalNotify_t)(const uint32_t ID);
+
+typedef SnpeUdo_ExternalNotify_t Udo_ExternalNotify_t;
+
+/**
+ * @brief Operation execution function.
+ *
+ *        Calling this function will run the operation on set of inputs, generating a set of outputs.
+ *        The call can be blocking (synchronous) or non-blocking (asynchronous). To support the
+ *        non-blocking mode, the calling entity can pass an ID and a notification function.
+ *        At the end of the execution this notification function would be called, passing it the ID.
+ *        <b> NOTE: Asynchronous execution mode not supported in this release. </b>
+ *
+ * @param[in] operation handle to the operation on which execute is invoked
+ * @param[in] blocking flag to indicate execution mode.
+ *            If set, execution is blocking,
+ *            e.g SnpeUdo_executeOp call does not return until execution is done.
+ *            If not set, SnpeUdo_executeOp returns immediately, and the
+ *            library will call the notification function (if set) when execution is done.
+ *
+ * @param[in] ID 32-bit number that can be used by the calling entity to track execution
+ *            in case of non-blocking execution.
+ *            For example, it can be a sequence number, increased by one on each call.
+ *
+ * @param[in] notifyFunc Pointer to notification function. if the pointer is set, and execution is
+ *            non-blocking, the library will call this function at end of execution,
+ *            passing the number provided as ID
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_executeOp(SnpeUdo_Operation_t operation,
+                  bool         blocking,
+                  const uint32_t ID,
+                  SnpeUdo_ExternalNotify_t notifyFunc);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ExecuteOpFunction_t)(SnpeUdo_Operation_t,
+                               bool,
+                               const uint32_t,
+                               SnpeUdo_ExternalNotify_t);
+
+typedef SnpeUdo_ExecuteOpFunction_t Udo_ExecuteOpFunction_t;
+
+/**
+ * @brief A function to setting the inputs & outputs. part of SnpeUdo_Operation struct,
+ *        returned from creation of a new operation instance.
+ *        <b> Not supported in this release. </b>
+ *
+ *        This function allows the calling entity to change some of the inputs and outputs
+ *        between calls to execute.
+ *        Note that the change is limited to changing the <b> pointer </b> to the tensor data only.
+ *        Any other change may be rejected by the implementation library, causing
+ *        immediate invalidation of the operation instance
+ *
+ * @param[in] operation Operation on which IO tensors are set
+ *
+ * @param[in] inputs array of tensor parameters. The calling entity may provide a subset of the
+ *            operation inputs, providing only those that it wants to change.
+ *
+ * @param[in] outputs array of tensor parameters. The calling entity may provide a subset of the
+ *            operation outputs, providing only those that it wants to change.
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_setOpIO(SnpeUdo_Operation_t operation,
+                SnpeUdo_TensorParam_t* inputs,
+                SnpeUdo_TensorParam_t* outputs);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_SetOpIOFunction_t)(SnpeUdo_Operation_t,
+                             SnpeUdo_TensorParam_t*,
+                             SnpeUdo_TensorParam_t*);
+
+typedef SnpeUdo_SetOpIOFunction_t Udo_SetOpIOFunction_t;
+
+/**
+ * @brief A function to return execution times.
+ *
+ *        This function can be called to query the operation execution times on the IP core
+ *        on which the operation is run. The time is provided in micro-seconds
+ *
+ * @param[in] operation Handle to operation whose execution time is being profiled
+ *
+ * @param[in,out] executionTime pointer to a uint32 value.This function writes the operation
+ *                execution time in usec into this value.
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_profileOp(SnpeUdo_Operation_t operation, uint32_t *executionTime);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ProfileOpFunction_t)(SnpeUdo_Operation_t, uint32_t*);
+
+typedef SnpeUdo_ProfileOpFunction_t Udo_ProfileOpFunction_t;
+
+/**
+ * @brief A function to release the operation instance
+ *        \n When it is called, the implementation library needs to release all resources
+ *        allocated for this operation instance.
+ *        \n Note that all function pointers which are part of SnpeUdo_Operation become
+ *        <b> invalid </b> once releaseUdoOp call returns.
+ *
+ * @param[in] operation Handle to operation to be released
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_releaseOp(SnpeUdo_Operation_t operation);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ReleaseOpFunction_t)(SnpeUdo_Operation_t);
+
+typedef SnpeUdo_ReleaseOpFunction_t Udo_ReleaseOpFunction_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif //SNPE_UDO_IMPL_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplCpu.h b/third_party/snpe/include/SnpeUdo/UdoImplCpu.h
new file mode 100644
index 00000000000000..3bbe0638e60fc8
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoImplCpu.h
@@ -0,0 +1,44 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+// Header to be used by a CPU UDO Implementation library
+
+#ifndef SNPE_UDO_IMPL_CPU_H
+#define SNPE_UDO_IMPL_CPU_H
+
+#include <stdio.h>
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief This struct provides the infrastructure needed by a developer of
+ * CPU UDO Implementation library.
+ *
+ * The framework/runtime which loads the CPU UDO implementation library provides
+ * this infrastructure data to the loaded library at the time of op factory creation.
+ * as an opaque pointer. It contains hooks for the UDO library to invoke supported
+ * functionality at the time of execution
+ *
+ * @param getData function pointer to retrieve raw tensor data from opaque pointer
+ *  passed into the UDO when creating an instance.
+ * @param getDataSize function pointer to retrieve tensor data size from opaque pointer
+ */
+
+typedef struct
+{
+   /// function pointer to retrieve raw tensor data from opaque pointer
+   /// passed into the UDO when creating an instance.
+   float* (*getData)(void*);
+   /// function pointer to retrieve tensor data size from opaque pointer
+   size_t (*getDataSize) (void*);
+} SnpeUdo_CpuInfrastructure_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // SNPE_UDO_IMPL_CPU_H
\ No newline at end of file
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplDsp.h b/third_party/snpe/include/SnpeUdo/UdoImplDsp.h
new file mode 100644
index 00000000000000..b97a6493202ae8
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoImplDsp.h
@@ -0,0 +1,207 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+//==============================================================================
+/*
+ * THIS HEADER FILE IS COPIED FROM HEXAGON-NN PROJECT
+ *
+ */
+//==============================================================================
+
+
+// Header to be used by a DSP Hexnn UDO Implementation library
+
+#ifndef SNPE_UDO_IMPL_DSP_H
+#define SNPE_UDO_IMPL_DSP_H
+#include <stdio.h>
+#include "SnpeUdo/UdoImpl.h"
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief A function to validate that a set of params is supported by an operation
+ *        This function is HexNN specific, use case is when registration library is not in use.
+ *        Optional function.
+ *
+ * @param[in] operationType Operation type
+ * @param[in] numOfStaticParams Number of static params defined by the op
+ * @param[in] staticParams Array of static params to the op
+ * @return Error code, indicating if the operation can be created on this set of configuration or not.
+ *
+ */
+
+SnpeUdo_ErrorType_t
+SnpeUdo_validateOperation (SnpeUdo_String_t operationType,
+                           uint32_t numOfStaticParams,
+                           const SnpeUdo_Param_t* staticParams);
+
+typedef SnpeUdo_ErrorType_t (*SnpeUdo_ValidateOperationFunction_t) (SnpeUdo_String_t,
+                                                                    uint32_t,
+                                                                    const SnpeUdo_Param_t*);
+
+typedef SnpeUdo_ValidateOperationFunction_t Udo_ValidateOperationFunction_t;
+
+// enum used for indicating input/outout tensor data layouts on DSP, plain vs d32
+typedef enum {
+        SNPE_UDO_DSP_TENSOR_LAYOUT_PLAIN = 0x00,        UDO_DSP_TENSOR_LAYOUT_PLAIN = 0x00,
+        SNPE_UDO_DSP_TENSOR_LAYOUT_D32   = 0x01,        UDO_DSP_TENSOR_LAYOUT_D32   = 0x01
+} SnpeUdo_HexNNTensorLayout_t;
+
+typedef SnpeUdo_HexNNTensorLayout_t Udo_HexNNTensorLayout_t;
+
+/**
+ * @brief A function to query numbers of inputs and outputs,
+ *        quantization type of each input and each output as arrays,
+ *        and data layout (plain vs d32) of each input and each output as arrays
+ *        of an operation.
+ * inputsQuantTypes and inputsLayouts should point to arrays of size numOfInputs
+ * outputsQuantTypes and outputsLayouts should point to arrays of size numOfOutputs
+ *
+ * Note: inputsLayouts and inputsLayouts can point to NULL, in this case, it is
+ * assumed all inputs and/or outputs have plain data layouts, i.e. no D32
+ *
+ * @param[in] operationType Operation type
+ * @param[in] numOfStaticParams Number of static params defined by the op
+ * @param[in] staticParams Array of static params to the op
+ * @param[in,out] numOfInputs Number of input tensors to the op
+ * @param[in,out] inputsQuantTypes Array of Quantization info for each input tensor
+ * @param[in,out] inputsLayouts Array of layout type for each input tensor
+ * @param[in,out] numOfOutputs Number of output tensors to the op
+ * @param[in,out] outputsQuantTypes Array of Quantization info for each output tensor
+ * @param[in,out] outputsLayouts Array of layout type for each output tensor
+ * @return error code, indicating status of query
+ */
+
+SnpeUdo_ErrorType_t
+SnpeUdo_queryOperation (SnpeUdo_String_t operationType,
+                        uint32_t numOfStaticParams,
+                        const SnpeUdo_Param_t* staticParams,
+                        uint32_t* numOfInputs,
+                        SnpeUdo_QuantizationType_t** inputsQuantTypes,
+                        SnpeUdo_HexNNTensorLayout_t** inputsLayouts,
+                        uint32_t* numOfOutputs,
+                        SnpeUdo_QuantizationType_t** outputsQuantTypes,
+                        SnpeUdo_HexNNTensorLayout_t** outputsLayouts);
+
+typedef SnpeUdo_ErrorType_t (*SnpeUdo_QueryOperationFunction_t) (SnpeUdo_String_t,
+                                                                 uint32_t,
+                                                                 const SnpeUdo_Param_t*,
+                                                                 uint32_t*,
+                                                                 SnpeUdo_QuantizationType_t**,
+                                                                 SnpeUdo_HexNNTensorLayout_t**,
+                                                                 uint32_t*,
+                                                                 SnpeUdo_QuantizationType_t**,
+                                                                 SnpeUdo_HexNNTensorLayout_t**);
+
+typedef SnpeUdo_QueryOperationFunction_t Udo_QueryOperationFunction_t;
+
+// Global infrastructure functions supported by Hexagon-NN v2
+typedef void (*workerThread_t) (void* perOpInfrastructure, void* userData);
+typedef int (*udoSetOutputTensorSize_t) (void* perOpInfrastructure, uint32_t outIdx, uint32_t size);
+typedef int (*udoGetInputD32Paddings_t) (void* perOpInfrastructure, uint32_t inIdx,
+                                         uint32_t* heightPadBefore, uint32_t* heightPadAfter,
+                                         uint32_t* widthPadBefore, uint32_t* widthPadAfter,
+                                         uint32_t* depthPadBefore, uint32_t* depthPadAfter);
+typedef int (*udoSetOutputD32ShapeSizePaddings_t) (void* perOpInfrastructure, uint32_t outIdx,
+                                                   uint32_t batch,
+                                                   uint32_t height, uint32_t heightPadBefore, uint32_t heightPadAfter,
+                                                   uint32_t width, uint32_t widthPadBefore, uint32_t widthPadAfter,
+                                                   uint32_t depth, uint32_t depthPadBefore, uint32_t depthPadAfter,
+                                                   SnpeUdo_DataType_t dataType);
+typedef void* (*udoMemalign_t) (size_t n, size_t size);
+typedef void* (*udoMalloc_t) (size_t size);
+typedef void* (*udoCalloc_t) (size_t n, size_t size);
+typedef void (*udoFree_t) (void* ptr);
+typedef uint32_t (*udoGetVtcmSize_t) (void* perOpInfrastructure);
+typedef void* (*udoGetVtcmPtr_t) (void* perOpInfrastructure);
+typedef uint32_t (*udoVtcmIsReal_t) (void* perOpInfrastructure);
+typedef void (*udoRunWorkerThreads_t) (void* perOpInfrastructure, uint32_t nThreads, workerThread_t w, void* userData);
+
+typedef struct hexNNv2GlobalInfra {
+    udoSetOutputTensorSize_t udoSetOutputTensorSize;
+    udoGetInputD32Paddings_t udoGetInputD32Paddings;
+    udoSetOutputD32ShapeSizePaddings_t udoSetOutputD32ShapeSizePaddings;
+    udoMemalign_t udoMemalign;
+    udoMalloc_t udoMalloc;
+    udoCalloc_t udoCalloc;
+    udoFree_t udoFree;
+    udoGetVtcmSize_t udoGetVtcmSize;
+    udoGetVtcmPtr_t udoGetVtcmPtr;
+    udoVtcmIsReal_t udoVtcmIsReal;
+    udoRunWorkerThreads_t udoRunWorkerThreads;
+} SnpeUdo_HexNNv2GlobalInfra_t;
+
+typedef SnpeUdo_HexNNv2GlobalInfra_t Udo_HexNNv2GlobalInfra_t;
+
+// hexnn types
+typedef enum hexnnInfraType {
+   UDO_INFRA_HEXNN_V2,
+   UDO_INFRA_HEXNN_V3   // reserved, do not use
+} SnpeUdo_HexNNInfraType_t;
+
+typedef SnpeUdo_HexNNInfraType_t Udo_HexNNInfraType_t;
+
+typedef struct {
+    Udo_CreateOpFactoryFunction_t create_op_factory;
+    Udo_CreateOperationFunction_t create_operation;
+    Udo_ExecuteOpFunction_t execute_op;
+    Udo_ReleaseOpFunction_t release_op;
+    Udo_ReleaseOpFactoryFunction_t release_op_factory;
+    Udo_ValidateOperationFunction_t validate_op;
+    Udo_QueryOperationFunction_t query_op;
+} udo_func_package_t;
+
+/**
+ * @brief Infrastructures needed by a developer of DSP Hexnn UDO Implementation library.
+ *
+ * The framework/runtime which loads the Hexnn UDO implementation library provides
+ * this infrastructure to the loaded library by calling "SnpeUdo_initImplLibrary"
+ * function, and passing it (cast to void*). The Hexnn UDO library is expected
+ * to cast it back to this structure.
+ *
+ */
+typedef struct dspGlobalInfrastructure {
+    SnpeUdo_Version_t   dspInfraVersion;     // api version
+    SnpeUdo_HexNNInfraType_t infraType;
+    SnpeUdo_HexNNv2GlobalInfra_t hexNNv2Infra;
+} SnpeUdo_DspGlobalInfrastructure_t;
+
+typedef SnpeUdo_DspGlobalInfrastructure_t Udo_DspGlobalInfrastructure_t;
+
+/**
+ * hexnn v2 per op factory infrastructure
+ *
+ * The framework/runtime passes per op factory infrastructure as a void pointer
+ * to HexNN UDO implementation library by calling function "SnpeUdo_createOpFactory".
+ * UDO implementation library is expected to cast it back to this following struct.
+ *
+ */
+typedef struct hexnnv2OpFactoryInfra {
+   unsigned long graphId;
+} SnpeUdo_HexNNv2OpFactoryInfra_t;
+
+typedef SnpeUdo_HexNNv2OpFactoryInfra_t Udo_HexNNv2OpFactoryInfra_t;
+
+/**
+ * hexnn v2 per operation infrastructure
+ *
+ * The framework/runtime passes per operation infrastructure as a void pointer
+ * to HexNN UDO implementation library by calling function "SnpeUdo_createOperation".
+ * UDO implementation library is expected to cast it to the following type and save it.
+ *
+ * This is needed to be passed back into some functions from global infrastructure.
+ *
+ */
+typedef void* SnpeUdo_HexNNv2OpInfra_t;
+
+typedef SnpeUdo_HexNNv2OpInfra_t Udo_HexNNv2OpInfra_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // SNPE_UDO_IMPL_DSP_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplGpu.h b/third_party/snpe/include/SnpeUdo/UdoImplGpu.h
new file mode 100644
index 00000000000000..1af654d110c26b
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoImplGpu.h
@@ -0,0 +1,112 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+// Header to be used by a GPU UDO Implementation library
+
+#ifndef SNPE_UDO_IMPL_GPU_H
+#define SNPE_UDO_IMPL_GPU_H
+
+#include "CL/cl.h"
+#include "SnpeUdo/UdoBase.h"
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * This header defines version 0.0.0 of the GPU UDO Infrastructure.
+ * It defines the interpretation of the global and per-OpFactory infrastructure pointers
+ * as well as the interpretation of tensorData pointers.
+ *
+ * The per-Operation infrastructure pointer is defined to be null, and should not be used.
+ *
+ * The SnpeUdoTensorParam_t struct below provides the interpretation for
+ * the tensorData opaque pointer for SnpeUdoTensorParams representing inputs or outputs.
+ *
+ * The tensorData opaque pointer populated in SnpeUdoScalarParam_t structs should be interpreted
+ * as a host-readable data pointer.
+ *
+ */
+
+/**
+ * @brief Function to retrieve opencl program from Program Cache repository.
+ * @param programCache is opaque pointer to Program Cache repository provided by
+ * SNPE GPU UDO runtime.
+ * @param programName is name associated with opencl program for UDO.
+ * @param program is pointer to opencl program which will be populated with
+ * valid opencl program if found in Program Cache repository.
+ * @return SnpeUdo_ErrorType_t is error type returned. SNPE_UDO_NO_ERROR is returned
+ * on success.
+ */
+typedef SnpeUdo_ErrorType_t (*SnpeUdo_getProgram_t)
+   (void* programCache, const char* programName, cl_program* program);
+
+/**
+ * @brief Function to store valid opencl program in Program Cache repository.
+ * @param programCache is opaque pointer to Program Cache repository provided by
+ * SNPE GPU UDO runtime.
+ * @param programName is name associated with opencl program for UDO.
+ * @param program is valid opencl program after program is built.
+ * @return SnpeUdo_ErrorType_t is error type returned. SNPE_UDO_NO_ERROR is returned
+ * on success.
+ * */
+typedef SnpeUdo_ErrorType_t (*SnpeUdo_storeProgram_t)
+   (void* programCache, const char * programName, cl_program program);
+
+/**
+ * @brief Global Infrastructure Definition for GPU UDO Implementations.
+ */
+typedef struct {
+   // Infrastructure definition version. This header is 0.0.0
+   SnpeUdo_Version_t   gpuInfraVersion;
+   SnpeUdo_getProgram_t SnpeUdo_getProgram;
+   SnpeUdo_storeProgram_t SnpeUdo_storeProgram;
+} SnpeUdo_GpuInfrastructure_t;
+
+/**
+ * @brief Per OpFactory Infrastructure Definition for GPU UDO Implementations.
+ * @note  This version of the infrastructure definition guarantees that the same
+ *        Per OpFactory infrastructure pointer will be provided to all OpFactories
+ *        in the same network.
+ */
+typedef struct
+{
+   cl_context context;
+   cl_command_queue commandQueue;
+   void* programCache;
+} SnpeUdo_GpuOpFactoryInfrastructure_t;
+
+/**
+ * @brief Opaque tensorData definition for operation inputs and outputs.
+ *
+ * The following is a list of all SnpeUdoTensorLayout_t values supported by the
+ * GPU UDO implementation, and how the parameters of the struct should be
+ * interpreted in each case:
+ *
+ * SNPE_UDO_LAYOUT_NHWC:
+ *   mem shall be single-element array, pointing to a cl buffer memory object.
+ *   the dimensions of this object match the dimensions specified in the encompassing
+ *   SnpeUdoTensorParam_t's currDimensions.
+ *
+ *   memCount shall be 1.
+ *
+ *   paddedRank and paddedDimensions are undefined and shall be ignored by the UDO
+ *   implementation.
+ *
+ */
+typedef struct
+{
+   cl_mem*   mem;
+   uint32_t  memCount;
+   uint32_t  paddedRank;
+   uint32_t* paddedDimensions;
+
+} SnpeUdo_GpuTensorData_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // SNPE_UDO_IMPL_GPU_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoReg.h b/third_party/snpe/include/SnpeUdo/UdoReg.h
new file mode 100644
index 00000000000000..a5d239883355ab
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoReg.h
@@ -0,0 +1,108 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef SNPE_UDO_REG_H
+#define SNPE_UDO_REG_H
+
+#include "SnpeUdo/UdoShared.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief Initialize the shared library's data structures. Calling any other
+ *        library function before this one will result in an error being returned.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_initRegLibrary(void);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_InitRegLibraryFunction_t)(void);
+
+/**
+ * @brief A function to query the API version of the UDO registration library.
+ *        The function populates a SnpeUdo_LibVersion_t struct, which contains a SnpeUdo_Version_t
+ *        struct for API version and library version.
+ *
+ * @param[in, out] version A pointer to struct which contains major, minor, teeny information for
+ *                 library and api versions.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getRegLibraryVersion(SnpeUdo_LibVersion_t** version);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_getRegLibraryVersion_t)(SnpeUdo_LibVersion_t** version);
+
+/**
+ * @brief Release the shared library's data structures, and invalidate any
+ *        handles returned by the library. The behavior of any outstanding
+ *        asynchronous calls made to this library when this function is called
+ *        are undefined. All library functions (except SnpeUdo_InitRegLibrary) will
+ *        return an error after this function has been successfully called.
+ *
+ *        It should be possible to call SnpeUdo_InitRegLibrary after calling this
+ *        function, and re-initialize the library.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_terminateRegLibrary(void);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_TerminateRegLibraryFunction_t)(void);
+
+
+/**
+ * @brief A function to query the info on the UDO set.
+ *        The function populates a structure which contains information about
+ *        the package and operations contained in it.
+ *
+ * @param[in, out] registrationInfo A struct which contains information on the set of UDOs
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getRegInfo(SnpeUdo_RegInfo_t** registrationInfo);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_GetRegInfoFunction_t)(SnpeUdo_RegInfo_t** registrationInfo);
+
+/**
+ * @brief A function to validate that a set of params is supported by an operation
+ *        The function receives an operation definition struct, and returns if this configuration is
+ *        supported (e.g. if an operation can be created using this configuration)
+ *
+ * @param[in] opDefinition A struct of SnpeUdo_OpDefinition type, containing the information needed to
+ *            validate that an operation can be created with this configuration.
+ *
+ * @return Error code, indicating is the operation can be created on this set or not.
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_validateOperation(SnpeUdo_OpDefinition_t* opDefinition);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ValidateOperationFunction_t)(SnpeUdo_OpDefinition_t* opDefinition);
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif //SNPE_UDO_REG_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoShared.h b/third_party/snpe/include/SnpeUdo/UdoShared.h
new file mode 100644
index 00000000000000..418d9db9e2f91b
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoShared.h
@@ -0,0 +1,48 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef SNPE_UDO_SHARED_H
+#define SNPE_UDO_SHARED_H
+
+#include "SnpeUdo/UdoBase.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief A function to return the various versions as they relate to the UDO
+ *        The function returns a struct containing the the following:
+ *        libVersion: the version of the implementation library compiled for the UDO. Set by user
+ *        apiVersion: the version of the UDO API used in compiling the implementation library.
+ *        Set by SNPE
+ *
+ * @param[in, out] version A pointer to Version struct of type SnpeUdo_LibVersion_t
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getVersion (SnpeUdo_LibVersion_t** version);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_GetVersionFunction_t) (SnpeUdo_LibVersion_t** version);
+
+typedef SnpeUdo_GetVersionFunction_t Udo_GetVersionFunction_t;
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // SNPE_UDO_SHARED_H
diff --git a/third_party/snpe/larch64 b/third_party/snpe/larch64
new file mode 120000
index 00000000000000..2e2a1c315bf7d8
--- /dev/null
+++ b/third_party/snpe/larch64
@@ -0,0 +1 @@
+aarch64-ubuntu-gcc7.5
\ No newline at end of file
diff --git a/third_party/snpe/x86_64 b/third_party/snpe/x86_64
new file mode 120000
index 00000000000000..700025efab335e
--- /dev/null
+++ b/third_party/snpe/x86_64
@@ -0,0 +1 @@
+x86_64-linux-clang
\ No newline at end of file
diff --git a/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so b/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
new file mode 100644
index 00000000000000..20d1377a014366
--- /dev/null
+++ b/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4c33680010a8c7b2eef33e809844c0ad1d5ab0f0ec37abd49d924204670b357
+size 13556072
diff --git a/third_party/snpe/x86_64-linux-clang/libSNPE.so b/third_party/snpe/x86_64-linux-clang/libSNPE.so
new file mode 100644
index 00000000000000..0367b1106ba571
--- /dev/null
+++ b/third_party/snpe/x86_64-linux-clang/libSNPE.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:024891d2e4e4e265a1e7e72b27bad41ee6ae077d2197f45959bb32f8071dc8cf
+size 5350008
diff --git a/third_party/snpe/x86_64-linux-clang/libomp.so b/third_party/snpe/x86_64-linux-clang/libomp.so
new file mode 100755
index 00000000000000..db98cba162e784
--- /dev/null
+++ b/third_party/snpe/x86_64-linux-clang/libomp.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4784aa68e7ebdbe97db732eab87618b0a5fb73abeab4daed5476e01829b0e6e
+size 759208

From b29117c02a7320f6b9f437875dc423579db06926 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 10 Jan 2025 10:59:11 -0500
Subject: [PATCH 0056/1434] ci: generate Trips settings panel for ui preview
 (#546)

ci: generate trips panel for ui preview
---
 selfdrive/ui/tests/test_ui/run.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 0c956a10b75afb..5bc4857689cfaf 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -231,6 +231,7 @@ def setup_settings_trips(click, pm: PubMaster, scroll=None):
   "settings_sunnylink": setup_settings_sunnylink,
   "settings_sunnypilot": setup_settings_sunnypilot,
   "settings_sunnypilot_mads": setup_settings_sunnypilot_mads,
+  "settings_trips": setup_settings_trips,
 })
 
 TEST_DIR = pathlib.Path(__file__).parent

From 5b99c8b185d8d4135d05fa0772c642d61d81898b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 10 Jan 2025 11:25:32 -0500
Subject: [PATCH 0057/1434] Revert "ci: generate Trips settings panel for ui
 preview" (#548)

Revert "ci: generate Trips settings panel for ui preview (#546)"

This reverts commit b29117c02a7320f6b9f437875dc423579db06926.
---
 selfdrive/ui/tests/test_ui/run.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 5bc4857689cfaf..0c956a10b75afb 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -231,7 +231,6 @@ def setup_settings_trips(click, pm: PubMaster, scroll=None):
   "settings_sunnylink": setup_settings_sunnylink,
   "settings_sunnypilot": setup_settings_sunnypilot,
   "settings_sunnypilot_mads": setup_settings_sunnypilot_mads,
-  "settings_trips": setup_settings_trips,
 })
 
 TEST_DIR = pathlib.Path(__file__).parent

From 402ee444b71a10a5a2b2660eeb7a86b4e7474a67 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 10 Jan 2025 16:25:16 -0500
Subject: [PATCH 0058/1434] Revert "modeld: retain SNPE and thneed drive model
 support" (#551)

Revert "modeld: retain SNPE and thneed drive model support (#530)"

This reverts commit 56aa07844a3b4316691ba454692016d23b8cd00a.
---
 .gitignore                                    |   3 -
 .gitmodules                                   |   2 +-
 SConstruct                                    |   2 -
 cereal/custom.capnp                           |   5 -
 common/params.cc                              |   1 -
 sunnypilot/SConscript                         |   1 -
 sunnypilot/modeld/.gitignore                  |   1 -
 sunnypilot/modeld/SConscript                  |  65 ---
 sunnypilot/modeld/__init__.py                 |   0
 sunnypilot/modeld/constants.py                |  85 ---
 sunnypilot/modeld/fill_model_msg.py           | 220 -------
 sunnypilot/modeld/get_model_metadata.py       |  28 -
 sunnypilot/modeld/modeld                      |  10 -
 sunnypilot/modeld/modeld.py                   | 296 ----------
 sunnypilot/modeld/models/__init__.py          |   0
 sunnypilot/modeld/models/commonmodel.cc       |  50 --
 sunnypilot/modeld/models/commonmodel.h        |  36 --
 sunnypilot/modeld/models/commonmodel.pxd      |  18 -
 sunnypilot/modeld/models/commonmodel_pyx.pxd  |  13 -
 sunnypilot/modeld/models/commonmodel_pyx.pyx  |  45 --
 sunnypilot/modeld/models/supercombo.onnx      |   3 -
 sunnypilot/modeld/parse_model_outputs.py      | 105 ----
 sunnypilot/modeld/runners/__init__.py         |  27 -
 sunnypilot/modeld/runners/onnxmodel.py        |  98 ----
 sunnypilot/modeld/runners/run.h               |   4 -
 sunnypilot/modeld/runners/runmodel.h          |  49 --
 sunnypilot/modeld/runners/runmodel.pxd        |  14 -
 sunnypilot/modeld/runners/runmodel_pyx.pxd    |   6 -
 sunnypilot/modeld/runners/runmodel_pyx.pyx    |  37 --
 sunnypilot/modeld/runners/snpemodel.cc        | 116 ----
 sunnypilot/modeld/runners/snpemodel.h         |  52 --
 sunnypilot/modeld/runners/snpemodel.pxd       |   9 -
 sunnypilot/modeld/runners/snpemodel_pyx.pyx   |  17 -
 sunnypilot/modeld/runners/thneedmodel.cc      |  58 --
 sunnypilot/modeld/runners/thneedmodel.h       |  17 -
 sunnypilot/modeld/runners/thneedmodel.pxd     |   9 -
 sunnypilot/modeld/runners/thneedmodel_pyx.pyx |  14 -
 sunnypilot/modeld/thneed/README               |   8 -
 sunnypilot/modeld/thneed/__init__.py          |   0
 sunnypilot/modeld/thneed/serialize.cc         | 154 -----
 sunnypilot/modeld/thneed/thneed.h             | 133 -----
 sunnypilot/modeld/thneed/thneed_common.cc     | 216 -------
 sunnypilot/modeld/thneed/thneed_pc.cc         |  32 --
 sunnypilot/modeld/thneed/thneed_qcom2.cc      | 258 ---------
 sunnypilot/modeld/transforms/loadyuv.cc       |  74 ---
 sunnypilot/modeld/transforms/loadyuv.cl       |  47 --
 sunnypilot/modeld/transforms/loadyuv.h        |  16 -
 sunnypilot/modeld/transforms/transform.cc     |  97 ----
 sunnypilot/modeld/transforms/transform.cl     |  54 --
 sunnypilot/modeld/transforms/transform.h      |  25 -
 sunnypilot/models/helpers.py                  |  49 +-
 system/manager/process_config.py              |  12 +-
 .../libPlatformValidatorShared.so             |   3 -
 .../snpe/aarch64-ubuntu-gcc7.5/libSNPE.so     |   3 -
 .../aarch64-ubuntu-gcc7.5/libcalculator.so    |   3 -
 .../snpe/aarch64-ubuntu-gcc7.5/libhta.so      |   3 -
 .../libsnpe_dsp_domains_v2.so                 |   3 -
 third_party/snpe/dsp/libcalculator_skel.so    |   3 -
 .../dsp/libsnpe_dsp_v65_domains_v2_skel.so    |   3 -
 .../dsp/libsnpe_dsp_v66_domains_v2_skel.so    |   3 -
 .../dsp/libsnpe_dsp_v68_domains_v3_skel.so    |   3 -
 third_party/snpe/include/DiagLog/IDiagLog.hpp |  84 ---
 third_party/snpe/include/DiagLog/Options.hpp  |  79 ---
 .../snpe/include/DlContainer/IDlContainer.hpp | 191 -------
 third_party/snpe/include/DlSystem/DlEnums.hpp | 234 --------
 third_party/snpe/include/DlSystem/DlError.hpp | 259 ---------
 .../snpe/include/DlSystem/DlOptional.hpp      | 225 --------
 .../snpe/include/DlSystem/DlVersion.hpp       |  78 ---
 .../include/DlSystem/IBufferAttributes.hpp    |  86 ---
 .../include/DlSystem/IOBufferDataTypeMap.hpp  | 127 -----
 third_party/snpe/include/DlSystem/ITensor.hpp | 146 -----
 .../snpe/include/DlSystem/ITensorFactory.hpp  |  92 ---
 .../snpe/include/DlSystem/ITensorItr.hpp      | 182 ------
 .../snpe/include/DlSystem/ITensorItrImpl.hpp  |  42 --
 third_party/snpe/include/DlSystem/IUDL.hpp    | 105 ----
 .../snpe/include/DlSystem/IUserBuffer.hpp     | 358 ------------
 .../include/DlSystem/IUserBufferFactory.hpp   |  81 ---
 .../snpe/include/DlSystem/PlatformConfig.hpp  | 230 --------
 .../snpe/include/DlSystem/RuntimeList.hpp     | 154 -----
 third_party/snpe/include/DlSystem/String.hpp  | 104 ----
 .../snpe/include/DlSystem/StringList.hpp      | 107 ----
 .../snpe/include/DlSystem/TensorMap.hpp       | 120 ----
 .../snpe/include/DlSystem/TensorShape.hpp     | 203 -------
 .../snpe/include/DlSystem/TensorShapeMap.hpp  | 127 -----
 .../snpe/include/DlSystem/UDLContext.hpp      | 243 --------
 third_party/snpe/include/DlSystem/UDLFunc.hpp |  87 ---
 .../snpe/include/DlSystem/UserBufferMap.hpp   | 122 ----
 .../snpe/include/DlSystem/UserMemoryMap.hpp   | 129 -----
 .../snpe/include/DlSystem/ZdlExportDefine.hpp |  13 -
 .../PlatformValidator/PlatformValidator.hpp   | 118 ----
 .../include/SNPE/ApplicationBufferMap.hpp     | 101 ----
 third_party/snpe/include/SNPE/PSNPE.hpp       | 205 -------
 .../snpe/include/SNPE/RuntimeConfigList.hpp   |  85 ---
 third_party/snpe/include/SNPE/SNPE.hpp        | 258 ---------
 third_party/snpe/include/SNPE/SNPEBuilder.hpp | 306 ----------
 third_party/snpe/include/SNPE/SNPEFactory.hpp | 220 -------
 .../snpe/include/SNPE/UserBufferList.hpp      |  49 --
 third_party/snpe/include/SnpeUdo/UdoBase.h    | 537 ------------------
 third_party/snpe/include/SnpeUdo/UdoImpl.h    | 343 -----------
 third_party/snpe/include/SnpeUdo/UdoImplCpu.h |  44 --
 third_party/snpe/include/SnpeUdo/UdoImplDsp.h | 207 -------
 third_party/snpe/include/SnpeUdo/UdoImplGpu.h | 112 ----
 third_party/snpe/include/SnpeUdo/UdoReg.h     | 108 ----
 third_party/snpe/include/SnpeUdo/UdoShared.h  |  48 --
 third_party/snpe/larch64                      |   1 -
 third_party/snpe/x86_64                       |   1 -
 .../snpe/x86_64-linux-clang/libHtpPrepare.so  |   3 -
 .../snpe/x86_64-linux-clang/libSNPE.so        |   3 -
 third_party/snpe/x86_64-linux-clang/libomp.so |   3 -
 109 files changed, 3 insertions(+), 9475 deletions(-)
 delete mode 100644 sunnypilot/SConscript
 delete mode 100644 sunnypilot/modeld/.gitignore
 delete mode 100644 sunnypilot/modeld/SConscript
 delete mode 100644 sunnypilot/modeld/__init__.py
 delete mode 100644 sunnypilot/modeld/constants.py
 delete mode 100644 sunnypilot/modeld/fill_model_msg.py
 delete mode 100755 sunnypilot/modeld/get_model_metadata.py
 delete mode 100755 sunnypilot/modeld/modeld
 delete mode 100755 sunnypilot/modeld/modeld.py
 delete mode 100644 sunnypilot/modeld/models/__init__.py
 delete mode 100644 sunnypilot/modeld/models/commonmodel.cc
 delete mode 100644 sunnypilot/modeld/models/commonmodel.h
 delete mode 100644 sunnypilot/modeld/models/commonmodel.pxd
 delete mode 100644 sunnypilot/modeld/models/commonmodel_pyx.pxd
 delete mode 100644 sunnypilot/modeld/models/commonmodel_pyx.pyx
 delete mode 100644 sunnypilot/modeld/models/supercombo.onnx
 delete mode 100644 sunnypilot/modeld/parse_model_outputs.py
 delete mode 100644 sunnypilot/modeld/runners/__init__.py
 delete mode 100644 sunnypilot/modeld/runners/onnxmodel.py
 delete mode 100644 sunnypilot/modeld/runners/run.h
 delete mode 100644 sunnypilot/modeld/runners/runmodel.h
 delete mode 100644 sunnypilot/modeld/runners/runmodel.pxd
 delete mode 100644 sunnypilot/modeld/runners/runmodel_pyx.pxd
 delete mode 100644 sunnypilot/modeld/runners/runmodel_pyx.pyx
 delete mode 100644 sunnypilot/modeld/runners/snpemodel.cc
 delete mode 100644 sunnypilot/modeld/runners/snpemodel.h
 delete mode 100644 sunnypilot/modeld/runners/snpemodel.pxd
 delete mode 100644 sunnypilot/modeld/runners/snpemodel_pyx.pyx
 delete mode 100644 sunnypilot/modeld/runners/thneedmodel.cc
 delete mode 100644 sunnypilot/modeld/runners/thneedmodel.h
 delete mode 100644 sunnypilot/modeld/runners/thneedmodel.pxd
 delete mode 100644 sunnypilot/modeld/runners/thneedmodel_pyx.pyx
 delete mode 100644 sunnypilot/modeld/thneed/README
 delete mode 100644 sunnypilot/modeld/thneed/__init__.py
 delete mode 100644 sunnypilot/modeld/thneed/serialize.cc
 delete mode 100644 sunnypilot/modeld/thneed/thneed.h
 delete mode 100644 sunnypilot/modeld/thneed/thneed_common.cc
 delete mode 100644 sunnypilot/modeld/thneed/thneed_pc.cc
 delete mode 100644 sunnypilot/modeld/thneed/thneed_qcom2.cc
 delete mode 100644 sunnypilot/modeld/transforms/loadyuv.cc
 delete mode 100644 sunnypilot/modeld/transforms/loadyuv.cl
 delete mode 100644 sunnypilot/modeld/transforms/loadyuv.h
 delete mode 100644 sunnypilot/modeld/transforms/transform.cc
 delete mode 100644 sunnypilot/modeld/transforms/transform.cl
 delete mode 100644 sunnypilot/modeld/transforms/transform.h
 delete mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
 delete mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
 delete mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
 delete mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
 delete mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
 delete mode 100644 third_party/snpe/dsp/libcalculator_skel.so
 delete mode 100644 third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
 delete mode 100644 third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
 delete mode 100644 third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
 delete mode 100644 third_party/snpe/include/DiagLog/IDiagLog.hpp
 delete mode 100644 third_party/snpe/include/DiagLog/Options.hpp
 delete mode 100644 third_party/snpe/include/DlContainer/IDlContainer.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/DlEnums.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/DlError.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/DlOptional.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/DlVersion.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/IBufferAttributes.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/ITensor.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/ITensorFactory.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/ITensorItr.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/IUDL.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/IUserBuffer.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/PlatformConfig.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/RuntimeList.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/String.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/StringList.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/TensorMap.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/TensorShape.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/TensorShapeMap.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/UDLContext.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/UDLFunc.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/UserBufferMap.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/UserMemoryMap.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
 delete mode 100644 third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
 delete mode 100644 third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
 delete mode 100644 third_party/snpe/include/SNPE/PSNPE.hpp
 delete mode 100644 third_party/snpe/include/SNPE/RuntimeConfigList.hpp
 delete mode 100644 third_party/snpe/include/SNPE/SNPE.hpp
 delete mode 100644 third_party/snpe/include/SNPE/SNPEBuilder.hpp
 delete mode 100644 third_party/snpe/include/SNPE/SNPEFactory.hpp
 delete mode 100644 third_party/snpe/include/SNPE/UserBufferList.hpp
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoBase.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoImpl.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoImplCpu.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoImplDsp.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoImplGpu.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoReg.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoShared.h
 delete mode 120000 third_party/snpe/larch64
 delete mode 120000 third_party/snpe/x86_64
 delete mode 100644 third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
 delete mode 100644 third_party/snpe/x86_64-linux-clang/libSNPE.so
 delete mode 100755 third_party/snpe/x86_64-linux-clang/libomp.so

diff --git a/.gitignore b/.gitignore
index 4e393b88f0233b..a58a46fef9c045 100644
--- a/.gitignore
+++ b/.gitignore
@@ -74,9 +74,6 @@ comma*.sh
 selfdrive/modeld/thneed/compile
 selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl
-sunnypilot/modeld/thneed/compile
-sunnypilot/modeld/models/*.thneed
-sunnypilot/modeld/models/*.pkl
 
 *.bz2
 *.zst
diff --git a/.gitmodules b/.gitmodules
index f1f7c400dbf050..10fa733cf38f7b 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -15,4 +15,4 @@
   url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/commaai/tinygrad.git
+  url = https://github.com/tinygrad/tinygrad.git
\ No newline at end of file
diff --git a/SConstruct b/SConstruct
index de02874102720c..ee52fd12035473 100644
--- a/SConstruct
+++ b/SConstruct
@@ -392,8 +392,6 @@ SConscript(['third_party/SConscript'])
 
 SConscript(['selfdrive/SConscript'])
 
-SConscript(['sunnypilot/SConscript'])
-
 if Dir('#tools/cabana/').exists() and GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
   if arch != "larch64":
diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 5007d0675230a4..b2575256d808e5 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -64,11 +64,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     progress @1 :Float32;
     eta @2 :UInt32;
   }
-  
-  enum Runner {
-    snpe @0;
-    tinygrad @1;
-  }
 
   struct ModelBundle {
     index @0 :UInt32;
diff --git a/common/params.cc b/common/params.cc
index 7c1b21c00c4c3f..cd4c4060301f3a 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -203,7 +203,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     // --- sunnypilot params --- //
     {"ApiCache_DriveStats", PERSISTENT},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
-    {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
 
     // MADS params
     {"Mads", PERSISTENT | BACKUP},
diff --git a/sunnypilot/SConscript b/sunnypilot/SConscript
deleted file mode 100644
index 8bc5b84ef50131..00000000000000
--- a/sunnypilot/SConscript
+++ /dev/null
@@ -1 +0,0 @@
-SConscript(['modeld/SConscript'])
\ No newline at end of file
diff --git a/sunnypilot/modeld/.gitignore b/sunnypilot/modeld/.gitignore
deleted file mode 100644
index 742d3d120534b5..00000000000000
--- a/sunnypilot/modeld/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-*_pyx.cpp
diff --git a/sunnypilot/modeld/SConscript b/sunnypilot/modeld/SConscript
deleted file mode 100644
index 2704974da791bb..00000000000000
--- a/sunnypilot/modeld/SConscript
+++ /dev/null
@@ -1,65 +0,0 @@
-import glob
-
-Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
-lenv = env.Clone()
-lenvCython = envCython.Clone()
-
-libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'kj', 'pthread']
-frameworks = []
-
-common_src = [
-  "models/commonmodel.cc",
-  "transforms/loadyuv.cc",
-  "transforms/transform.cc",
-]
-
-thneed_src_common = [
-  "thneed/thneed_common.cc",
-  "thneed/serialize.cc",
-]
-
-thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"]
-thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"]
-thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc
-
-# SNPE except on Mac and ARM Linux
-snpe_lib = []
-if arch != "Darwin" and arch != "aarch64":
-  common_src += ['runners/snpemodel.cc']
-  snpe_lib += ['SNPE']
-
-# OpenCL is a framework on Mac
-if arch == "Darwin":
-  frameworks += ['OpenCL']
-else:
-  libs += ['OpenCL']
-
-# Set path definitions
-for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
-  for xenv in (lenv, lenvCython):
-    xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
-
-# Compile cython
-snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64"
-snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
-snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
-
-cython_libs = envCython["LIBS"] + libs
-snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc'])
-commonmodel_lib = lenv.Library('commonmodel', common_src)
-
-lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
-lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath)
-lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
-
-tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath)]
-
-# Get model metadata
-fn = File("models/supercombo").abspath
-cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
-lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
-
-if arch == "larch64":
-  thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
-  thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
-  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
diff --git a/sunnypilot/modeld/__init__.py b/sunnypilot/modeld/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/sunnypilot/modeld/constants.py b/sunnypilot/modeld/constants.py
deleted file mode 100644
index 82161a5b67d225..00000000000000
--- a/sunnypilot/modeld/constants.py
+++ /dev/null
@@ -1,85 +0,0 @@
-import numpy as np
-
-def index_function(idx, max_val=192, max_idx=32):
-  return (max_val) * ((idx/max_idx)**2)
-
-class ModelConstants:
-  # time and distance indices
-  IDX_N = 33
-  T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]
-  X_IDXS = [index_function(idx, max_val=192.0) for idx in range(IDX_N)]
-  LEAD_T_IDXS = [0., 2., 4., 6., 8., 10.]
-  LEAD_T_OFFSETS = [0., 2., 4.]
-  META_T_IDXS = [2., 4., 6., 8., 10.]
-
-  # model inputs constants
-  MODEL_FREQ = 20
-  FEATURE_LEN = 512
-  HISTORY_BUFFER_LEN = 99
-  DESIRE_LEN = 8
-  TRAFFIC_CONVENTION_LEN = 2
-  LAT_PLANNER_STATE_LEN = 4
-  LATERAL_CONTROL_PARAMS_LEN = 2
-  PREV_DESIRED_CURV_LEN = 1
-
-  # model outputs constants
-  FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32)
-  FCW_THRESHOLDS_3MS2 = np.array([.7, .7], dtype=np.float32)
-  FCW_5MS2_PROBS_WIDTH = 5
-  FCW_3MS2_PROBS_WIDTH = 2
-
-  DISENGAGE_WIDTH = 5
-  POSE_WIDTH = 6
-  WIDE_FROM_DEVICE_WIDTH = 3
-  SIM_POSE_WIDTH = 6
-  LEAD_WIDTH = 4
-  LANE_LINES_WIDTH = 2
-  ROAD_EDGES_WIDTH = 2
-  PLAN_WIDTH = 15
-  DESIRE_PRED_WIDTH = 8
-  LAT_PLANNER_SOLUTION_WIDTH = 4
-  DESIRED_CURV_WIDTH = 1
-
-  NUM_LANE_LINES = 4
-  NUM_ROAD_EDGES = 2
-
-  LEAD_TRAJ_LEN = 6
-  DESIRE_PRED_LEN = 4
-
-  PLAN_MHP_N = 5
-  LEAD_MHP_N = 2
-  PLAN_MHP_SELECTION = 1
-  LEAD_MHP_SELECTION = 3
-
-  FCW_THRESHOLD_5MS2_HIGH = 0.15
-  FCW_THRESHOLD_5MS2_LOW = 0.05
-  FCW_THRESHOLD_3MS2 = 0.7
-
-  CONFIDENCE_BUFFER_LEN = 5
-  RYG_GREEN = 0.01165
-  RYG_YELLOW = 0.06157
-
-  POLY_PATH_DEGREE = 4
-
-# model outputs slices
-class Plan:
-  POSITION = slice(0, 3)
-  VELOCITY = slice(3, 6)
-  ACCELERATION = slice(6, 9)
-  T_FROM_CURRENT_EULER = slice(9, 12)
-  ORIENTATION_RATE = slice(12, 15)
-
-class Meta:
-  ENGAGED = slice(0, 1)
-  # next 2, 4, 6, 8, 10 seconds
-  GAS_DISENGAGE = slice(1, 31, 6)
-  BRAKE_DISENGAGE = slice(2, 31, 6)
-  STEER_OVERRIDE = slice(3, 31, 6)
-  HARD_BRAKE_3 = slice(4, 31, 6)
-  HARD_BRAKE_4 = slice(5, 31, 6)
-  HARD_BRAKE_5 = slice(6, 31, 6)
-  # next 0, 2, 4, 6, 8, 10 seconds
-  GAS_PRESS = slice(31, 55, 4)
-  BRAKE_PRESS = slice(32, 55, 4)
-  LEFT_BLINKER = slice(33, 55, 4)
-  RIGHT_BLINKER = slice(34, 55, 4)
diff --git a/sunnypilot/modeld/fill_model_msg.py b/sunnypilot/modeld/fill_model_msg.py
deleted file mode 100644
index 672e01dbe914d1..00000000000000
--- a/sunnypilot/modeld/fill_model_msg.py
+++ /dev/null
@@ -1,220 +0,0 @@
-import os
-import capnp
-import numpy as np
-from cereal import log
-from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan, Meta
-
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-
-ConfidenceClass = log.ModelDataV2.ConfidenceClass
-
-class PublishState:
-  def __init__(self):
-    self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
-    self.prev_brake_5ms2_probs = np.zeros(ModelConstants.FCW_5MS2_PROBS_WIDTH, dtype=np.float32)
-    self.prev_brake_3ms2_probs = np.zeros(ModelConstants.FCW_3MS2_PROBS_WIDTH, dtype=np.float32)
-
-def fill_xyzt(builder, t, x, y, z, x_std=None, y_std=None, z_std=None):
-  builder.t = t
-  builder.x = x.tolist()
-  builder.y = y.tolist()
-  builder.z = z.tolist()
-  if x_std is not None:
-    builder.xStd = x_std.tolist()
-  if y_std is not None:
-    builder.yStd = y_std.tolist()
-  if z_std is not None:
-    builder.zStd = z_std.tolist()
-
-def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std=None):
-  builder.t = t
-  builder.x = x.tolist()
-  builder.y = y.tolist()
-  builder.v = v.tolist()
-  builder.a = a.tolist()
-  if x_std is not None:
-    builder.xStd = x_std.tolist()
-  if y_std is not None:
-    builder.yStd = y_std.tolist()
-  if v_std is not None:
-    builder.vStd = v_std.tolist()
-  if a_std is not None:
-    builder.aStd = a_std.tolist()
-
-def fill_xyz_poly(builder, degree, x, y, z):
-  xyz = np.stack([x, y, z], axis=1)
-  coeffs = np.polynomial.polynomial.polyfit(ModelConstants.T_IDXS, xyz, deg=degree)
-  builder.xCoefficients = coeffs[:, 0].tolist()
-  builder.yCoefficients = coeffs[:, 1].tolist()
-  builder.zCoefficients = coeffs[:, 2].tolist()
-
-def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
-                   net_output_data: dict[str, np.ndarray], publish_state: PublishState,
-                   vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
-                   timestamp_eof: int, model_execution_time: float, valid: bool) -> None:
-  frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
-  frame_drop_perc = frame_drop * 100
-  extended_msg.valid = valid
-  base_msg.valid = valid
-
-  driving_model_data = base_msg.drivingModelData
-
-  driving_model_data.frameId = vipc_frame_id
-  driving_model_data.frameIdExtra = vipc_frame_id_extra
-  driving_model_data.frameDropPerc = frame_drop_perc
-  driving_model_data.modelExecutionTime = model_execution_time
-
-  action = driving_model_data.action
-  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
-
-  modelV2 = extended_msg.modelV2
-  modelV2.frameId = vipc_frame_id
-  modelV2.frameIdExtra = vipc_frame_id_extra
-  modelV2.frameAge = frame_age
-  modelV2.frameDropPerc = frame_drop_perc
-  modelV2.timestampEof = timestamp_eof
-  modelV2.modelExecutionTime = model_execution_time
-
-  # plan
-  position = modelV2.position
-  fill_xyzt(position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T)
-  velocity = modelV2.velocity
-  fill_xyzt(velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T)
-  acceleration = modelV2.acceleration
-  fill_xyzt(acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T)
-  orientation = modelV2.orientation
-  fill_xyzt(orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
-  orientation_rate = modelV2.orientationRate
-  fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
-
-  # temporal pose
-  temporal_pose = modelV2.temporalPose
-  temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
-  temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
-  temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
-  temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
-
-  # poly path
-  poly_path = driving_model_data.path
-  fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
-
-  # lateral planning
-  action = modelV2.action
-  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
-
-  # times at X_IDXS according to model plan
-  PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
-  PLAN_T_IDXS[0] = 0.0
-  plan_x = net_output_data['plan'][0,:,Plan.POSITION][:,0].tolist()
-  for xidx in range(1, ModelConstants.IDX_N):
-    tidx = 0
-    # increment tidx until we find an element that's further away than the current xidx
-    while tidx < ModelConstants.IDX_N - 1 and plan_x[tidx+1] < ModelConstants.X_IDXS[xidx]:
-      tidx += 1
-    if tidx == ModelConstants.IDX_N - 1:
-      # if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break
-      PLAN_T_IDXS[xidx] = ModelConstants.T_IDXS[ModelConstants.IDX_N - 1]
-      break
-    # interpolate to find `t` for the current xidx
-    current_x_val = plan_x[tidx]
-    next_x_val = plan_x[tidx+1]
-    p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan')
-    PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx]
-
-  # lane lines
-  modelV2.init('laneLines', 4)
-  for i in range(4):
-    lane_line = modelV2.laneLines[i]
-    fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
-  modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
-  modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
-
-  lane_line_meta = driving_model_data.laneLineMeta
-  lane_line_meta.leftY = modelV2.laneLines[1].y[0]
-  lane_line_meta.leftProb = modelV2.laneLineProbs[1]
-  lane_line_meta.rightY = modelV2.laneLines[2].y[0]
-  lane_line_meta.rightProb = modelV2.laneLineProbs[2]
-
-  # road edges
-  modelV2.init('roadEdges', 2)
-  for i in range(2):
-    road_edge = modelV2.roadEdges[i]
-    fill_xyzt(road_edge, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1])
-  modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist()
-
-  # leads
-  modelV2.init('leadsV3', 3)
-  for i in range(3):
-    lead = modelV2.leadsV3[i]
-    fill_xyvat(lead, ModelConstants.LEAD_T_IDXS, *net_output_data['lead'][0,i].T, *net_output_data['lead_stds'][0,i].T)
-    lead.prob = net_output_data['lead_prob'][0,i].tolist()
-    lead.probTime = ModelConstants.LEAD_T_OFFSETS[i]
-
-  # meta
-  meta = modelV2.meta
-  meta.desireState = net_output_data['desire_state'][0].reshape(-1).tolist()
-  meta.desirePrediction = net_output_data['desire_pred'][0].reshape(-1).tolist()
-  meta.engagedProb = net_output_data['meta'][0,Meta.ENGAGED].item()
-  meta.init('disengagePredictions')
-  disengage_predictions = meta.disengagePredictions
-  disengage_predictions.t = ModelConstants.META_T_IDXS
-  disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE].tolist()
-  disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,Meta.GAS_DISENGAGE].tolist()
-  disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,Meta.STEER_OVERRIDE].tolist()
-  disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
-  disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
-  disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
-  disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
-  disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
-
-  publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
-  publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]
-  publish_state.prev_brake_3ms2_probs[:-1] = publish_state.prev_brake_3ms2_probs[1:]
-  publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_3][0]
-  hard_brake_predicted = (publish_state.prev_brake_5ms2_probs > ModelConstants.FCW_THRESHOLDS_5MS2).all() and \
-    (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all()
-  meta.hardBrakePredicted = hard_brake_predicted.item()
-
-  # confidence
-  if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
-    # any disengage prob
-    brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
-    gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]
-    steer_override_probs = net_output_data['meta'][0,Meta.STEER_OVERRIDE]
-    any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs))
-    # independent disengage prob for each 2s slice
-    ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])]
-    # rolling buf for 2, 4, 6, 8, 10s
-    publish_state.disengage_buffer[:-ModelConstants.DISENGAGE_WIDTH] = publish_state.disengage_buffer[ModelConstants.DISENGAGE_WIDTH:]
-    publish_state.disengage_buffer[-ModelConstants.DISENGAGE_WIDTH:] = ind_disengage_probs
-
-  score = 0.
-  for i in range(ModelConstants.DISENGAGE_WIDTH):
-    score += publish_state.disengage_buffer[i*ModelConstants.DISENGAGE_WIDTH+ModelConstants.DISENGAGE_WIDTH-1-i].item() / ModelConstants.DISENGAGE_WIDTH
-  if score < ModelConstants.RYG_GREEN:
-    modelV2.confidence = ConfidenceClass.green
-  elif score < ModelConstants.RYG_YELLOW:
-    modelV2.confidence = ConfidenceClass.yellow
-  else:
-    modelV2.confidence = ConfidenceClass.red
-
-  # raw prediction if enabled
-  if SEND_RAW_PRED:
-    modelV2.rawPredictions = net_output_data['raw_pred'].tobytes()
-
-def fill_pose_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray],
-                  vipc_frame_id: int, vipc_dropped_frames: int, timestamp_eof: int, live_calib_seen: bool) -> None:
-  msg.valid = live_calib_seen & (vipc_dropped_frames < 1)
-  cameraOdometry = msg.cameraOdometry
-
-  cameraOdometry.frameId = vipc_frame_id
-  cameraOdometry.timestampEof = timestamp_eof
-
-  cameraOdometry.trans = net_output_data['pose'][0,:3].tolist()
-  cameraOdometry.rot = net_output_data['pose'][0,3:].tolist()
-  cameraOdometry.wideFromDeviceEuler = net_output_data['wide_from_device_euler'][0,:].tolist()
-  cameraOdometry.roadTransformTrans = net_output_data['road_transform'][0,:3].tolist()
-  cameraOdometry.transStd = net_output_data['pose_stds'][0,:3].tolist()
-  cameraOdometry.rotStd = net_output_data['pose_stds'][0,3:].tolist()
-  cameraOdometry.wideFromDeviceEulerStd = net_output_data['wide_from_device_euler_stds'][0,:].tolist()
-  cameraOdometry.roadTransformTransStd = net_output_data['road_transform_stds'][0,:3].tolist()
diff --git a/sunnypilot/modeld/get_model_metadata.py b/sunnypilot/modeld/get_model_metadata.py
deleted file mode 100755
index 144860204fd79c..00000000000000
--- a/sunnypilot/modeld/get_model_metadata.py
+++ /dev/null
@@ -1,28 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import pathlib
-import onnx
-import codecs
-import pickle
-
-def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
-  shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
-  name = value_info.name
-  return name, shape
-
-if __name__ == "__main__":
-  model_path = pathlib.Path(sys.argv[1])
-  model = onnx.load(str(model_path))
-  i = [x.key for x in model.metadata_props].index('output_slices')
-  output_slices = model.metadata_props[i].value
-
-  metadata = {}
-  metadata['output_slices'] = pickle.loads(codecs.decode(output_slices.encode(), "base64"))
-  metadata['input_shapes'] = dict([get_name_and_shape(x) for x in model.graph.input])
-  metadata['output_shapes'] = dict([get_name_and_shape(x) for x in model.graph.output])
-
-  metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
-  with open(metadata_path, 'wb') as f:
-    pickle.dump(metadata, f)
-
-  print(f'saved metadata to {metadata_path}')
diff --git a/sunnypilot/modeld/modeld b/sunnypilot/modeld/modeld
deleted file mode 100755
index e1cef4dcc35f18..00000000000000
--- a/sunnypilot/modeld/modeld
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env bash
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd "$DIR/../../"
-
-if [ -f "$DIR/libthneed.so" ]; then
-  export LD_PRELOAD="$DIR/libthneed.so"
-fi
-
-exec "$DIR/modeld.py" "$@"
diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
deleted file mode 100755
index ea531dfe189bca..00000000000000
--- a/sunnypilot/modeld/modeld.py
+++ /dev/null
@@ -1,296 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import pickle
-import numpy as np
-import cereal.messaging as messaging
-from cereal import car, log
-from pathlib import Path
-from setproctitle import setproctitle
-from cereal.messaging import PubMaster, SubMaster
-from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
-from opendbc.car.car_helpers import get_demo_car_params
-from openpilot.common.swaglog import cloudlog
-from openpilot.common.params import Params
-from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import config_realtime_process
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.common.transformations.model import get_warp_matrix
-from openpilot.system import sentry
-from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.sunnypilot.modeld.runners import ModelRunner, Runtime
-from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
-from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
-from openpilot.sunnypilot.modeld.constants import ModelConstants
-from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
-
-PROCESS_NAME = "sunnypilot.modeld.modeld"
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-
-MODEL_PATHS = {
-  ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed',
-  ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'}
-
-METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
-
-class FrameMeta:
-  frame_id: int = 0
-  timestamp_sof: int = 0
-  timestamp_eof: int = 0
-
-  def __init__(self, vipc=None):
-    if vipc is not None:
-      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
-
-class ModelState:
-  frame: ModelFrame
-  wide_frame: ModelFrame
-  inputs: dict[str, np.ndarray]
-  output: np.ndarray
-  prev_desire: np.ndarray  # for tracking the rising edge of the pulse
-  model: ModelRunner
-
-  def __init__(self, context: CLContext):
-    self.frame = ModelFrame(context)
-    self.wide_frame = ModelFrame(context)
-    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    self.inputs = {
-      'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
-      'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
-      'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32),
-      'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
-      'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
-    }
-
-    with open(METADATA_PATH, 'rb') as f:
-      model_metadata = pickle.load(f)
-
-    self.output_slices = model_metadata['output_slices']
-    net_output_size = model_metadata['output_shapes']['outputs'][1]
-    self.output = np.zeros(net_output_size, dtype=np.float32)
-    self.parser = Parser()
-
-    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context)
-    self.model.addInput("input_imgs", None)
-    self.model.addInput("big_input_imgs", None)
-    for k,v in self.inputs.items():
-      self.model.addInput(k, v)
-
-  def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]:
-    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
-    if SEND_RAW_PRED:
-      parsed_model_outputs['raw_pred'] = model_outputs.copy()
-    return parsed_model_outputs
-
-  def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
-                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
-    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire'][0] = 0
-    self.inputs['desire'][:-ModelConstants.DESIRE_LEN] = self.inputs['desire'][ModelConstants.DESIRE_LEN:]
-    self.inputs['desire'][-ModelConstants.DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
-    self.prev_desire[:] = inputs['desire']
-
-    self.inputs['traffic_convention'][:] = inputs['traffic_convention']
-    self.inputs['lateral_control_params'][:] = inputs['lateral_control_params']
-
-    # if getCLBuffer is not None, frame will be None
-    self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
-    if wbuf is not None:
-      self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
-
-    if prepare_only:
-      return None
-
-    self.model.execute()
-    outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
-
-    self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:]
-    self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :]
-    self.inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:]
-    self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][0, :]
-    return outputs
-
-
-def main(demo=False):
-  cloudlog.warning("modeld init")
-
-  sentry.set_tag("daemon", PROCESS_NAME)
-  cloudlog.bind(daemon=PROCESS_NAME)
-  setproctitle(PROCESS_NAME)
-  config_realtime_process(7, 54)
-
-  cloudlog.warning("setting up CL context")
-  cl_context = CLContext()
-  cloudlog.warning("CL context ready; loading model")
-  model = ModelState(cl_context)
-  cloudlog.warning("models loaded, modeld starting")
-
-  # visionipc clients
-  while True:
-    available_streams = VisionIpcClient.available_streams("camerad", block=False)
-    if available_streams:
-      use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams
-      main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams
-      break
-    time.sleep(.1)
-
-  vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD
-  vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context)
-  vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context)
-  cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
-
-  while not vipc_client_main.connect(False):
-    time.sleep(0.1)
-  while use_extra_client and not vipc_client_extra.connect(False):
-    time.sleep(0.1)
-
-  cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})")
-  if use_extra_client:
-    cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
-
-  # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
-  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
-
-  publish_state = PublishState()
-  params = Params()
-
-  # setup filter to track dropped frames
-  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
-  frame_id = 0
-  last_vipc_frame_id = 0
-  run_count = 0
-
-  model_transform_main = np.zeros((3, 3), dtype=np.float32)
-  model_transform_extra = np.zeros((3, 3), dtype=np.float32)
-  live_calib_seen = False
-  buf_main, buf_extra = None, None
-  meta_main = FrameMeta()
-  meta_extra = FrameMeta()
-
-
-  if demo:
-    CP = get_demo_car_params()
-  else:
-    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-
-  cloudlog.info("modeld got CarParams: %s", CP.carName)
-
-  # TODO this needs more thought, use .2s extra for now to estimate other delays
-  steer_delay = CP.steerActuatorDelay + .2
-
-  DH = DesireHelper()
-
-  while True:
-    # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
-    while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
-      buf_main = vipc_client_main.recv()
-      meta_main = FrameMeta(vipc_client_main)
-      if buf_main is None:
-        break
-
-    if buf_main is None:
-      cloudlog.debug("vipc_client_main no frame")
-      continue
-
-    if use_extra_client:
-      # Keep receiving extra frames until frame id matches main camera
-      while True:
-        buf_extra = vipc_client_extra.recv()
-        meta_extra = FrameMeta(vipc_client_extra)
-        if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
-          break
-
-      if buf_extra is None:
-        cloudlog.debug("vipc_client_extra no frame")
-        continue
-
-      if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000:
-        cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\
-                         extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})")
-
-    else:
-      # Use single camera
-      buf_extra = buf_main
-      meta_extra = meta_main
-
-    sm.update(0)
-    desire = DH.desire
-    is_rhd = sm["driverMonitoringState"].isRHD
-    frame_id = sm["roadCameraState"].frameId
-    lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
-    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
-      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
-      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
-      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
-      model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
-      live_calib_seen = True
-
-    traffic_convention = np.zeros(2)
-    traffic_convention[int(is_rhd)] = 1
-
-    vec_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    if desire >= 0 and desire < ModelConstants.DESIRE_LEN:
-      vec_desire[desire] = 1
-
-    # tracked dropped frames
-    vipc_dropped_frames = max(0, meta_main.frame_id - last_vipc_frame_id - 1)
-    frames_dropped = frame_dropped_filter.update(min(vipc_dropped_frames, 10))
-    if run_count < 10: # let frame drops warm up
-      frame_dropped_filter.x = 0.
-      frames_dropped = 0.
-    run_count = run_count + 1
-
-    frame_drop_ratio = frames_dropped / (1 + frames_dropped)
-    prepare_only = vipc_dropped_frames > 0
-    if prepare_only:
-      cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
-
-    inputs:dict[str, np.ndarray] = {
-      'desire': vec_desire,
-      'traffic_convention': traffic_convention,
-      'lateral_control_params': lateral_control_params,
-      }
-
-    mt1 = time.perf_counter()
-    model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
-    mt2 = time.perf_counter()
-    model_execution_time = mt2 - mt1
-
-    if model_output is not None:
-      modelv2_send = messaging.new_message('modelV2')
-      drivingdata_send = messaging.new_message('drivingModelData')
-      posenet_send = messaging.new_message('cameraOdometry')
-      fill_model_msg(drivingdata_send, modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
-                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
-
-      desire_state = modelv2_send.modelV2.meta.desireState
-      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
-      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
-      lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
-      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
-      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
-      drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
-      drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
-
-      fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
-      pm.send('modelV2', modelv2_send)
-      pm.send('drivingModelData', drivingdata_send)
-      pm.send('cameraOdometry', posenet_send)
-
-    last_vipc_frame_id = meta_main.frame_id
-
-
-if __name__ == "__main__":
-  try:
-    import argparse
-    parser = argparse.ArgumentParser()
-    parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
-    args = parser.parse_args()
-    main(demo=args.demo)
-  except KeyboardInterrupt:
-    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
-  except Exception:
-    sentry.capture_exception()
-    raise
diff --git a/sunnypilot/modeld/models/__init__.py b/sunnypilot/modeld/models/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/sunnypilot/modeld/models/commonmodel.cc b/sunnypilot/modeld/models/commonmodel.cc
deleted file mode 100644
index f1e15e5a4edc15..00000000000000
--- a/sunnypilot/modeld/models/commonmodel.cc
+++ /dev/null
@@ -1,50 +0,0 @@
-#include "sunnypilot/modeld/models/commonmodel.h"
-
-#include <cassert>
-#include <cmath>
-#include <cstring>
-
-#include "common/clutil.h"
-
-ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
-  input_frames = std::make_unique<float[]>(buf_size);
-
-  q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
-  y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
-  u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
-  v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
-  net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(float), NULL, &err));
-
-  transform_init(&transform, context, device_id);
-  loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
-}
-
-float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
-  transform_queue(&this->transform, q,
-                  yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
-                  y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
-
-  if (output == NULL) {
-    loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
-
-    std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(float) * MODEL_FRAME_SIZE);
-    CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(float), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
-    clFinish(q);
-    return &input_frames[0];
-  } else {
-    loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, *output, true);
-    // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
-    clFinish(q);
-    return NULL;
-  }
-}
-
-ModelFrame::~ModelFrame() {
-  transform_destroy(&transform);
-  loadyuv_destroy(&loadyuv);
-  CL_CHECK(clReleaseMemObject(net_input_cl));
-  CL_CHECK(clReleaseMemObject(v_cl));
-  CL_CHECK(clReleaseMemObject(u_cl));
-  CL_CHECK(clReleaseMemObject(y_cl));
-  CL_CHECK(clReleaseCommandQueue(q));
-}
diff --git a/sunnypilot/modeld/models/commonmodel.h b/sunnypilot/modeld/models/commonmodel.h
deleted file mode 100644
index 9d34ebb6d3ea09..00000000000000
--- a/sunnypilot/modeld/models/commonmodel.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#pragma once
-
-#include <cfloat>
-#include <cstdlib>
-
-#include <memory>
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/mat.h"
-#include "sunnypilot/modeld/transforms/loadyuv.h"
-#include "sunnypilot/modeld/transforms/transform.h"
-
-class ModelFrame {
-public:
-  ModelFrame(cl_device_id device_id, cl_context context);
-  ~ModelFrame();
-  float* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);
-
-  const int MODEL_WIDTH = 512;
-  const int MODEL_HEIGHT = 256;
-  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
-  const int buf_size = MODEL_FRAME_SIZE * 2;
-
-private:
-  Transform transform;
-  LoadYUVState loadyuv;
-  cl_command_queue q;
-  cl_mem y_cl, u_cl, v_cl, net_input_cl;
-  std::unique_ptr<float[]> input_frames;
-};
diff --git a/sunnypilot/modeld/models/commonmodel.pxd b/sunnypilot/modeld/models/commonmodel.pxd
deleted file mode 100644
index c7fd85411d4e29..00000000000000
--- a/sunnypilot/modeld/models/commonmodel.pxd
+++ /dev/null
@@ -1,18 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem
-
-cdef extern from "common/mat.h":
-  cdef struct mat3:
-    float v[9]
-
-cdef extern from "common/clutil.h":
-  cdef unsigned long CL_DEVICE_TYPE_DEFAULT
-  cl_device_id cl_get_device_id(unsigned long)
-  cl_context cl_create_context(cl_device_id)
-
-cdef extern from "sunnypilot/modeld/models/commonmodel.h":
-  cppclass ModelFrame:
-    int buf_size
-    ModelFrame(cl_device_id, cl_context)
-    float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
diff --git a/sunnypilot/modeld/models/commonmodel_pyx.pxd b/sunnypilot/modeld/models/commonmodel_pyx.pxd
deleted file mode 100644
index 0bb798625be28d..00000000000000
--- a/sunnypilot/modeld/models/commonmodel_pyx.pxd
+++ /dev/null
@@ -1,13 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext
-
-cdef class CLContext(BaseCLContext):
-  pass
-
-cdef class CLMem:
-  cdef cl_mem * mem
-
-  @staticmethod
-  cdef create(void*)
diff --git a/sunnypilot/modeld/models/commonmodel_pyx.pyx b/sunnypilot/modeld/models/commonmodel_pyx.pyx
deleted file mode 100644
index d66fddea54e797..00000000000000
--- a/sunnypilot/modeld/models/commonmodel_pyx.pyx
+++ /dev/null
@@ -1,45 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import numpy as np
-cimport numpy as cnp
-from libc.string cimport memcpy
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
-from openpilot.sunnypilot.modeld.models.commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
-from openpilot.sunnypilot.modeld.models.commonmodel cimport mat3, ModelFrame as cppModelFrame
-
-
-cdef class CLContext(BaseCLContext):
-  def __cinit__(self):
-    self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
-    self.context = cl_create_context(self.device_id)
-
-cdef class CLMem:
-  @staticmethod
-  cdef create(void * cmem):
-    mem = CLMem()
-    mem.mem = <cl_mem*> cmem
-    return mem
-
-cdef class ModelFrame:
-  cdef cppModelFrame * frame
-
-  def __cinit__(self, CLContext context):
-    self.frame = new cppModelFrame(context.device_id, context.context)
-
-  def __dealloc__(self):
-    del self.frame
-
-  def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
-    cdef mat3 cprojection
-    memcpy(cprojection.v, &projection[0], 9*sizeof(float))
-    cdef float * data
-    if output is None:
-      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL)
-    else:
-      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
-    if not data:
-      return None
-    return np.asarray(<cnp.float32_t[:self.frame.buf_size]> data)
diff --git a/sunnypilot/modeld/models/supercombo.onnx b/sunnypilot/modeld/models/supercombo.onnx
deleted file mode 100644
index 8b7126c44af68b..00000000000000
--- a/sunnypilot/modeld/models/supercombo.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fb2018c74cdd9e5cb070ec7bed7f8581fabd55e39057d0a03aaffd2e42408154
-size 62486347
diff --git a/sunnypilot/modeld/parse_model_outputs.py b/sunnypilot/modeld/parse_model_outputs.py
deleted file mode 100644
index 8cd4aacd9093b9..00000000000000
--- a/sunnypilot/modeld/parse_model_outputs.py
+++ /dev/null
@@ -1,105 +0,0 @@
-import numpy as np
-from openpilot.sunnypilot.modeld.constants import ModelConstants
-
-def safe_exp(x, out=None):
-  # -11 is around 10**14, more causes float16 overflow
-  return np.exp(np.clip(x, -np.inf, 11), out=out)
-
-def sigmoid(x):
-  return 1. / (1. + safe_exp(-x))
-
-def softmax(x, axis=-1):
-  x -= np.max(x, axis=axis, keepdims=True)
-  if x.dtype == np.float32 or x.dtype == np.float64:
-    safe_exp(x, out=x)
-  else:
-    x = safe_exp(x)
-  x /= np.sum(x, axis=axis, keepdims=True)
-  return x
-
-class Parser:
-  def __init__(self, ignore_missing=False):
-    self.ignore_missing = ignore_missing
-
-  def check_missing(self, outs, name):
-    if name not in outs and not self.ignore_missing:
-      raise ValueError(f"Missing output {name}")
-    return name not in outs
-
-  def parse_categorical_crossentropy(self, name, outs, out_shape=None):
-    if self.check_missing(outs, name):
-      return
-    raw = outs[name]
-    if out_shape is not None:
-      raw = raw.reshape((raw.shape[0],) + out_shape)
-    outs[name] = softmax(raw, axis=-1)
-
-  def parse_binary_crossentropy(self, name, outs):
-    if self.check_missing(outs, name):
-      return
-    raw = outs[name]
-    outs[name] = sigmoid(raw)
-
-  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
-    if self.check_missing(outs, name):
-      return
-    raw = outs[name]
-    raw = raw.reshape((raw.shape[0], max(in_N, 1), -1))
-
-    n_values = (raw.shape[2] - out_N)//2
-    pred_mu = raw[:,:,:n_values]
-    pred_std = safe_exp(raw[:,:,n_values: 2*n_values])
-
-    if in_N > 1:
-      weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype)
-      for i in range(out_N):
-        weights[:,:,i - out_N] = softmax(raw[:,:,i - out_N], axis=-1)
-
-      if out_N == 1:
-        for fidx in range(weights.shape[0]):
-          idxs = np.argsort(weights[fidx][:,0])[::-1]
-          weights[fidx] = weights[fidx][idxs]
-          pred_mu[fidx] = pred_mu[fidx][idxs]
-          pred_std[fidx] = pred_std[fidx][idxs]
-      full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
-      outs[name + '_weights'] = weights
-      outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
-      outs[name + '_stds_hypotheses'] = pred_std.reshape(full_shape)
-
-      pred_mu_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
-      pred_std_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
-      for fidx in range(weights.shape[0]):
-        for hidx in range(out_N):
-          idxs = np.argsort(weights[fidx,:,hidx])[::-1]
-          pred_mu_final[fidx, hidx] = pred_mu[fidx, idxs[0]]
-          pred_std_final[fidx, hidx] = pred_std[fidx, idxs[0]]
-    else:
-      pred_mu_final = pred_mu
-      pred_std_final = pred_std
-
-    if out_N > 1:
-      final_shape = tuple([raw.shape[0], out_N] + list(out_shape))
-    else:
-      final_shape = tuple([raw.shape[0],] + list(out_shape))
-    outs[name] = pred_mu_final.reshape(final_shape)
-    outs[name + '_stds'] = pred_std_final.reshape(final_shape)
-
-  def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
-                   out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
-    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
-    if 'lat_planner_solution' in outs:
-      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
-    if 'desired_curvature' in outs:
-      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
-    for k in ['lead_prob', 'lane_lines_prob', 'meta']:
-      self.parse_binary_crossentropy(k, outs)
-    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
-    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
-    return outs
diff --git a/sunnypilot/modeld/runners/__init__.py b/sunnypilot/modeld/runners/__init__.py
deleted file mode 100644
index 3f4507e4eb08db..00000000000000
--- a/sunnypilot/modeld/runners/__init__.py
+++ /dev/null
@@ -1,27 +0,0 @@
-import os
-from openpilot.system.hardware import TICI
-from openpilot.sunnypilot.modeld.runners.runmodel_pyx import RunModel, Runtime
-assert Runtime
-
-USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
-USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI))))
-
-class ModelRunner(RunModel):
-  THNEED = 'THNEED'
-  SNPE = 'SNPE'
-  ONNX = 'ONNX'
-
-  def __new__(cls, paths, *args, **kwargs):
-    if ModelRunner.THNEED in paths and USE_THNEED:
-      from openpilot.sunnypilot.modeld.runners.thneedmodel_pyx import ThneedModel as Runner
-      runner_type = ModelRunner.THNEED
-    elif ModelRunner.SNPE in paths and USE_SNPE:
-      from openpilot.sunnypilot.modeld.runners.snpemodel_pyx import SNPEModel as Runner
-      runner_type = ModelRunner.SNPE
-    elif ModelRunner.ONNX in paths:
-      from openpilot.sunnypilot.modeld.runners.onnxmodel import ONNXModel as Runner
-      runner_type = ModelRunner.ONNX
-    else:
-      raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path")
-
-    return Runner(str(paths[runner_type]), *args, **kwargs)
diff --git a/sunnypilot/modeld/runners/onnxmodel.py b/sunnypilot/modeld/runners/onnxmodel.py
deleted file mode 100644
index 047f13dc9d08da..00000000000000
--- a/sunnypilot/modeld/runners/onnxmodel.py
+++ /dev/null
@@ -1,98 +0,0 @@
-import onnx
-import itertools
-import os
-import sys
-import numpy as np
-from typing import Any
-
-from openpilot.sunnypilot.modeld.runners.runmodel_pyx import RunModel
-
-ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
-
-def attributeproto_fp16_to_fp32(attr):
-  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
-  attr.data_type = 1
-  attr.raw_data = float32_list.astype(np.float32).tobytes()
-
-def convert_fp16_to_fp32(onnx_path_or_bytes):
-  if isinstance(onnx_path_or_bytes, bytes):
-    model = onnx.load_from_string(onnx_path_or_bytes)
-  elif isinstance(onnx_path_or_bytes, str):
-    model = onnx.load(onnx_path_or_bytes)
-
-  for i in model.graph.initializer:
-    if i.data_type == 10:
-      attributeproto_fp16_to_fp32(i)
-  for i in itertools.chain(model.graph.input, model.graph.output):
-    if i.type.tensor_type.elem_type == 10:
-      i.type.tensor_type.elem_type = 1
-  for i in model.graph.node:
-    if i.op_type == 'Cast' and i.attribute[0].i == 10:
-      i.attribute[0].i = 1
-    for a in i.attribute:
-      if hasattr(a, 't'):
-        if a.t.data_type == 10:
-          attributeproto_fp16_to_fp32(a.t)
-  return model.SerializeToString()
-
-def create_ort_session(path, fp16_to_fp32):
-  os.environ["OMP_NUM_THREADS"] = "4"
-  os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
-
-  import onnxruntime as ort
-  print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
-  options = ort.SessionOptions()
-  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
-
-  provider: str | tuple[str, dict[Any, Any]]
-  if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
-    provider = 'OpenVINOExecutionProvider'
-  elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
-    options.intra_op_num_threads = 2
-    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'})
-  else:
-    options.intra_op_num_threads = 2
-    options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
-    options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
-    provider = 'CPUExecutionProvider'
-
-  model_data = convert_fp16_to_fp32(path) if fp16_to_fp32 else path
-  print("Onnx selected provider: ", [provider], file=sys.stderr)
-  ort_session = ort.InferenceSession(model_data, options, providers=[provider])
-  print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
-  return ort_session
-
-
-class ONNXModel(RunModel):
-  def __init__(self, path, output, runtime, use_tf8, cl_context):
-    self.inputs = {}
-    self.output = output
-
-    self.session = create_ort_session(path, fp16_to_fp32=True)
-    self.input_names = [x.name for x in self.session.get_inputs()]
-    self.input_shapes = {x.name: [1, *x.shape[1:]] for x in self.session.get_inputs()}
-    self.input_dtypes = {x.name: ORT_TYPES_TO_NP_TYPES[x.type] for x in self.session.get_inputs()}
-
-    # run once to initialize CUDA provider
-    if "CUDAExecutionProvider" in self.session.get_providers():
-      self.session.run(None, {k: np.zeros(self.input_shapes[k], dtype=self.input_dtypes[k]) for k in self.input_names})
-    print("ready to run onnx model", self.input_shapes, file=sys.stderr)
-
-  def addInput(self, name, buffer):
-    assert name in self.input_names
-    self.inputs[name] = buffer
-
-  def setInputBuffer(self, name, buffer):
-    assert name in self.inputs
-    self.inputs[name] = buffer
-
-  def getCLBuffer(self, name):
-    return None
-
-  def execute(self):
-    inputs = {k: v.view(self.input_dtypes[k]) for k,v in self.inputs.items()}
-    inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()}
-    outputs = self.session.run(None, inputs)
-    assert len(outputs) == 1, "Only single model outputs are supported"
-    self.output[:] = outputs[0]
-    return self.output
diff --git a/sunnypilot/modeld/runners/run.h b/sunnypilot/modeld/runners/run.h
deleted file mode 100644
index 84d99fd10fd862..00000000000000
--- a/sunnypilot/modeld/runners/run.h
+++ /dev/null
@@ -1,4 +0,0 @@
-#pragma once
-
-#include "sunnypilot/modeld/runners/runmodel.h"
-#include "sunnypilot/modeld/runners/snpemodel.h"
diff --git a/sunnypilot/modeld/runners/runmodel.h b/sunnypilot/modeld/runners/runmodel.h
deleted file mode 100644
index 18cc180cb7f1d9..00000000000000
--- a/sunnypilot/modeld/runners/runmodel.h
+++ /dev/null
@@ -1,49 +0,0 @@
-#pragma once
-
-#include <string>
-#include <vector>
-#include <memory>
-#include <cassert>
-
-#include "common/clutil.h"
-#include "common/swaglog.h"
-
-#define USE_CPU_RUNTIME 0
-#define USE_GPU_RUNTIME 1
-#define USE_DSP_RUNTIME 2
-
-struct ModelInput {
-  const std::string name;
-  float *buffer;
-  int size;
-
-  ModelInput(const std::string _name, float *_buffer, int _size) : name(_name), buffer(_buffer), size(_size) {}
-  virtual void setBuffer(float *_buffer, int _size) {
-    assert(size == _size || size == 0);
-    buffer = _buffer;
-    size = _size;
-  }
-};
-
-class RunModel {
-public:
-  std::vector<std::unique_ptr<ModelInput>> inputs;
-
-  virtual ~RunModel() {}
-  virtual void execute() {}
-  virtual void* getCLBuffer(const std::string name) { return nullptr; }
-
-  virtual void addInput(const std::string name, float *buffer, int size) {
-    inputs.push_back(std::unique_ptr<ModelInput>(new ModelInput(name, buffer, size)));
-  }
-  virtual void setInputBuffer(const std::string name, float *buffer, int size) {
-    for (auto &input : inputs) {
-      if (name == input->name) {
-        input->setBuffer(buffer, size);
-        return;
-      }
-    }
-    LOGE("Tried to update input `%s` but no input with this name exists", name.c_str());
-    assert(false);
-  }
-};
diff --git a/sunnypilot/modeld/runners/runmodel.pxd b/sunnypilot/modeld/runners/runmodel.pxd
deleted file mode 100644
index b83434473d9b71..00000000000000
--- a/sunnypilot/modeld/runners/runmodel.pxd
+++ /dev/null
@@ -1,14 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-cdef extern from "sunnypilot/modeld/runners/runmodel.h":
-  cdef int USE_CPU_RUNTIME
-  cdef int USE_GPU_RUNTIME
-  cdef int USE_DSP_RUNTIME
-
-  cdef cppclass RunModel:
-    void addInput(string, float*, int)
-    void setInputBuffer(string, float*, int)
-    void * getCLBuffer(string)
-    void execute()
diff --git a/sunnypilot/modeld/runners/runmodel_pyx.pxd b/sunnypilot/modeld/runners/runmodel_pyx.pxd
deleted file mode 100644
index b6ede7cf37f733..00000000000000
--- a/sunnypilot/modeld/runners/runmodel_pyx.pxd
+++ /dev/null
@@ -1,6 +0,0 @@
-# distutils: language = c++
-
-from .runmodel cimport RunModel as cppRunModel
-
-cdef class RunModel:
-  cdef cppRunModel * model
diff --git a/sunnypilot/modeld/runners/runmodel_pyx.pyx b/sunnypilot/modeld/runners/runmodel_pyx.pyx
deleted file mode 100644
index e224b1e4f2c11d..00000000000000
--- a/sunnypilot/modeld/runners/runmodel_pyx.pyx
+++ /dev/null
@@ -1,37 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-from libcpp.string cimport string
-
-from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
-from sunnypilot.modeld.models.commonmodel_pyx cimport CLMem
-
-class Runtime:
-  CPU = USE_CPU_RUNTIME
-  GPU = USE_GPU_RUNTIME
-  DSP = USE_DSP_RUNTIME
-
-cdef class RunModel:
-  def __dealloc__(self):
-    del self.model
-
-  def addInput(self, string name, float[:] buffer):
-    if buffer is not None:
-      self.model.addInput(name, &buffer[0], len(buffer))
-    else:
-      self.model.addInput(name, NULL, 0)
-
-  def setInputBuffer(self, string name, float[:] buffer):
-    if buffer is not None:
-      self.model.setInputBuffer(name, &buffer[0], len(buffer))
-    else:
-      self.model.setInputBuffer(name, NULL, 0)
-
-  def getCLBuffer(self, string name):
-    cdef void * cl_buf = self.model.getCLBuffer(name)
-    if not cl_buf:
-      return None
-    return CLMem.create(cl_buf)
-
-  def execute(self):
-    self.model.execute()
diff --git a/sunnypilot/modeld/runners/snpemodel.cc b/sunnypilot/modeld/runners/snpemodel.cc
deleted file mode 100644
index ce06ba39f79040..00000000000000
--- a/sunnypilot/modeld/runners/snpemodel.cc
+++ /dev/null
@@ -1,116 +0,0 @@
-#pragma clang diagnostic ignored "-Wexceptions"
-
-#include "sunnypilot/modeld/runners/snpemodel.h"
-
-#include <cstring>
-#include <memory>
-#include <string>
-#include <utility>
-#include <vector>
-
-#include "common/util.h"
-#include "common/timing.h"
-
-void PrintErrorStringAndExit() {
-  std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
-  std::exit(EXIT_FAILURE);
-}
-
-SNPEModel::SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) {
-  output = _output;
-  output_size = _output_size;
-  use_tf8 = _use_tf8;
-
-#ifdef QCOM2
-  if (runtime == USE_GPU_RUNTIME) {
-    snpe_runtime = zdl::DlSystem::Runtime_t::GPU;
-  } else if (runtime == USE_DSP_RUNTIME) {
-    snpe_runtime = zdl::DlSystem::Runtime_t::DSP;
-  } else {
-    snpe_runtime = zdl::DlSystem::Runtime_t::CPU;
-  }
-  assert(zdl::SNPE::SNPEFactory::isRuntimeAvailable(snpe_runtime));
-#endif
-  model_data = util::read_file(path);
-  assert(model_data.size() > 0);
-
-  // load model
-  std::unique_ptr<zdl::DlContainer::IDlContainer> container = zdl::DlContainer::IDlContainer::open((uint8_t*)model_data.data(), model_data.size());
-  if (!container) { PrintErrorStringAndExit(); }
-  LOGW("loaded model with size: %lu", model_data.size());
-
-  // create model runner
-  zdl::SNPE::SNPEBuilder snpe_builder(container.get());
-  while (!snpe) {
-#ifdef QCOM2
-    snpe = snpe_builder.setOutputLayers({})
-                       .setRuntimeProcessor(snpe_runtime)
-                       .setUseUserSuppliedBuffers(true)
-                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
-                       .build();
-#else
-    snpe = snpe_builder.setOutputLayers({})
-                       .setUseUserSuppliedBuffers(true)
-                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
-                       .build();
-#endif
-    if (!snpe) std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
-  }
-
-  // create output buffer
-  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
-  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
-
-  const auto &output_tensor_names_opt = snpe->getOutputTensorNames();
-  if (!output_tensor_names_opt) throw std::runtime_error("Error obtaining output tensor names");
-  const auto &output_tensor_names = *output_tensor_names_opt;
-  assert(output_tensor_names.size() == 1);
-  const char *output_tensor_name = output_tensor_names.at(0);
-  const zdl::DlSystem::TensorShape &buffer_shape = snpe->getInputOutputBufferAttributes(output_tensor_name)->getDims();
-  if (output_size != 0) {
-    assert(output_size == buffer_shape[1]);
-  } else {
-    output_size = buffer_shape[1];
-  }
-  std::vector<size_t> output_strides = {output_size * sizeof(float), sizeof(float)};
-  output_buffer = ub_factory.createUserBuffer(output, output_size * sizeof(float), output_strides, &ub_encoding_float);
-  output_map.add(output_tensor_name, output_buffer.get());
-}
-
-void SNPEModel::addInput(const std::string name, float *buffer, int size) {
-  const int idx = inputs.size();
-  const auto &input_tensor_names_opt = snpe->getInputTensorNames();
-  if (!input_tensor_names_opt) throw std::runtime_error("Error obtaining input tensor names");
-  const auto &input_tensor_names = *input_tensor_names_opt;
-  const char *input_tensor_name = input_tensor_names.at(idx);
-  const bool input_tf8 = use_tf8 && strcmp(input_tensor_name, "input_img") == 0;  // TODO: This is a terrible hack, get rid of this name check both here and in onnx_runner.py
-  LOGW("adding index %d: %s", idx, input_tensor_name);
-
-  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
-  zdl::DlSystem::UserBufferEncodingTf8 ub_encoding_tf8(0, 1./255); // network takes 0-1
-  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
-  zdl::DlSystem::UserBufferEncoding *input_encoding = input_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_tf8 : (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_float;
-
-  const auto &buffer_shape_opt = snpe->getInputDimensions(input_tensor_name);
-  const zdl::DlSystem::TensorShape &buffer_shape = *buffer_shape_opt;
-  size_t size_of_input = input_tf8 ? sizeof(uint8_t) : sizeof(float);
-  std::vector<size_t> strides(buffer_shape.rank());
-  strides[strides.size() - 1] = size_of_input;
-  size_t product = 1;
-  for (size_t i = 0; i < buffer_shape.rank(); i++) product *= buffer_shape[i];
-  size_t stride = strides[strides.size() - 1];
-  for (size_t i = buffer_shape.rank() - 1; i > 0; i--) {
-    stride *= buffer_shape[i];
-    strides[i-1] = stride;
-  }
-
-  auto input_buffer = ub_factory.createUserBuffer(buffer, product*size_of_input, strides, input_encoding);
-  input_map.add(input_tensor_name, input_buffer.get());
-  inputs.push_back(std::unique_ptr<SNPEModelInput>(new SNPEModelInput(name, buffer, size, std::move(input_buffer))));
-}
-
-void SNPEModel::execute() {
-  if (!snpe->execute(input_map, output_map)) {
-    PrintErrorStringAndExit();
-  }
-}
diff --git a/sunnypilot/modeld/runners/snpemodel.h b/sunnypilot/modeld/runners/snpemodel.h
deleted file mode 100644
index bd766242134fef..00000000000000
--- a/sunnypilot/modeld/runners/snpemodel.h
+++ /dev/null
@@ -1,52 +0,0 @@
-#pragma once
-#pragma clang diagnostic ignored "-Wdeprecated-declarations"
-
-#include <memory>
-#include <string>
-#include <utility>
-
-#include <DlContainer/IDlContainer.hpp>
-#include <DlSystem/DlError.hpp>
-#include <DlSystem/ITensor.hpp>
-#include <DlSystem/ITensorFactory.hpp>
-#include <DlSystem/IUserBuffer.hpp>
-#include <DlSystem/IUserBufferFactory.hpp>
-#include <SNPE/SNPE.hpp>
-#include <SNPE/SNPEBuilder.hpp>
-#include <SNPE/SNPEFactory.hpp>
-
-#include "sunnypilot/modeld/runners/runmodel.h"
-
-struct SNPEModelInput : public ModelInput {
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> snpe_buffer;
-
-  SNPEModelInput(const std::string _name, float *_buffer, int _size, std::unique_ptr<zdl::DlSystem::IUserBuffer> _snpe_buffer) : ModelInput(_name, _buffer, _size), snpe_buffer(std::move(_snpe_buffer)) {}
-  void setBuffer(float *_buffer, int _size) {
-    ModelInput::setBuffer(_buffer, _size);
-    assert(snpe_buffer->setBufferAddress(_buffer) == true);
-  }
-};
-
-class SNPEModel : public RunModel {
-public:
-  SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
-  void addInput(const std::string name, float *buffer, int size);
-  void execute();
-
-private:
-  std::string model_data;
-
-#ifdef QCOM2
-  zdl::DlSystem::Runtime_t snpe_runtime;
-#endif
-
-  // snpe model stuff
-  std::unique_ptr<zdl::SNPE::SNPE> snpe;
-  zdl::DlSystem::UserBufferMap input_map;
-  zdl::DlSystem::UserBufferMap output_map;
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> output_buffer;
-
-  bool use_tf8;
-  float *output;
-  size_t output_size;
-};
diff --git a/sunnypilot/modeld/runners/snpemodel.pxd b/sunnypilot/modeld/runners/snpemodel.pxd
deleted file mode 100644
index f19501d37d00f2..00000000000000
--- a/sunnypilot/modeld/runners/snpemodel.pxd
+++ /dev/null
@@ -1,9 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-from msgq.visionipc.visionipc cimport cl_context
-
-cdef extern from "sunnypilot/modeld/runners/snpemodel.h":
-  cdef cppclass SNPEModel:
-    SNPEModel(string, float*, size_t, int, bool, cl_context)
diff --git a/sunnypilot/modeld/runners/snpemodel_pyx.pyx b/sunnypilot/modeld/runners/snpemodel_pyx.pyx
deleted file mode 100644
index d1f24d1ead7be1..00000000000000
--- a/sunnypilot/modeld/runners/snpemodel_pyx.pyx
+++ /dev/null
@@ -1,17 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import os
-from libcpp cimport bool
-from libcpp.string cimport string
-
-from .snpemodel cimport SNPEModel as cppSNPEModel
-from sunnypilot.modeld.models.commonmodel_pyx cimport CLContext
-from sunnypilot.modeld.runners.runmodel_pyx cimport RunModel
-from sunnypilot.modeld.runners.runmodel cimport RunModel as cppRunModel
-
-os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/"
-
-cdef class SNPEModel(RunModel):
-  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
-    self.model = <cppRunModel *> new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/sunnypilot/modeld/runners/thneedmodel.cc b/sunnypilot/modeld/runners/thneedmodel.cc
deleted file mode 100644
index d83fc0a5f9c7ee..00000000000000
--- a/sunnypilot/modeld/runners/thneedmodel.cc
+++ /dev/null
@@ -1,58 +0,0 @@
-#include "sunnypilot/modeld/runners/thneedmodel.h"
-
-#include <string>
-
-#include "common/swaglog.h"
-
-ThneedModel::ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool luse_tf8, cl_context context) {
-  thneed = new Thneed(true, context);
-  thneed->load(path.c_str());
-  thneed->clexec();
-
-  recorded = false;
-  output = _output;
-}
-
-void* ThneedModel::getCLBuffer(const std::string name) {
-  int index = -1;
-  for (int i = 0; i < inputs.size(); i++) {
-    if (name == inputs[i]->name) {
-      index = i;
-      break;
-    }
-  }
-
-  if (index == -1) {
-    LOGE("Tried to get CL buffer for input `%s` but no input with this name exists", name.c_str());
-    assert(false);
-  }
-
-  if (thneed->input_clmem.size() >= inputs.size()) {
-    return &thneed->input_clmem[inputs.size() - index - 1];
-  } else {
-    return nullptr;
-  }
-}
-
-void ThneedModel::execute() {
-  if (!recorded) {
-    thneed->record = true;
-    float *input_buffers[inputs.size()];
-    for (int i = 0; i < inputs.size(); i++) {
-      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
-    }
-
-    thneed->copy_inputs(input_buffers);
-    thneed->clexec();
-    thneed->copy_output(output);
-    thneed->stop();
-
-    recorded = true;
-  } else {
-    float *input_buffers[inputs.size()];
-    for (int i = 0; i < inputs.size(); i++) {
-      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
-    }
-    thneed->execute(input_buffers, output);
-  }
-}
diff --git a/sunnypilot/modeld/runners/thneedmodel.h b/sunnypilot/modeld/runners/thneedmodel.h
deleted file mode 100644
index ecc7207c1f1fce..00000000000000
--- a/sunnypilot/modeld/runners/thneedmodel.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#pragma once
-
-#include <string>
-
-#include "sunnypilot/modeld/runners/runmodel.h"
-#include "sunnypilot/modeld/thneed/thneed.h"
-
-class ThneedModel : public RunModel {
-public:
-  ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
-  void *getCLBuffer(const std::string name);
-  void execute();
-private:
-  Thneed *thneed = NULL;
-  bool recorded;
-  float *output;
-};
diff --git a/sunnypilot/modeld/runners/thneedmodel.pxd b/sunnypilot/modeld/runners/thneedmodel.pxd
deleted file mode 100644
index ace7443b50e42b..00000000000000
--- a/sunnypilot/modeld/runners/thneedmodel.pxd
+++ /dev/null
@@ -1,9 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-from msgq.visionipc.visionipc cimport cl_context
-
-cdef extern from "sunnypilot/modeld/runners/thneedmodel.h":
-  cdef cppclass ThneedModel:
-    ThneedModel(string, float*, size_t, int, bool, cl_context)
diff --git a/sunnypilot/modeld/runners/thneedmodel_pyx.pyx b/sunnypilot/modeld/runners/thneedmodel_pyx.pyx
deleted file mode 100644
index 49de8344c00fa8..00000000000000
--- a/sunnypilot/modeld/runners/thneedmodel_pyx.pyx
+++ /dev/null
@@ -1,14 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-from libcpp cimport bool
-from libcpp.string cimport string
-
-from .thneedmodel cimport ThneedModel as cppThneedModel
-from sunnypilot.modeld.models.commonmodel_pyx cimport CLContext
-from sunnypilot.modeld.runners.runmodel_pyx cimport RunModel
-from sunnypilot.modeld.runners.runmodel cimport RunModel as cppRunModel
-
-cdef class ThneedModel(RunModel):
-  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
-    self.model = <cppRunModel *> new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/sunnypilot/modeld/thneed/README b/sunnypilot/modeld/thneed/README
deleted file mode 100644
index f3bc66d8fc26ff..00000000000000
--- a/sunnypilot/modeld/thneed/README
+++ /dev/null
@@ -1,8 +0,0 @@
-thneed is an SNPE accelerator. I know SNPE is already an accelerator, but sometimes things need to go even faster..
-
-It runs on the local device, and caches a single model run. Then it replays it, but fast.
-
-thneed slices through abstraction layers like a fish.
-
-You need a thneed.
-
diff --git a/sunnypilot/modeld/thneed/__init__.py b/sunnypilot/modeld/thneed/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/sunnypilot/modeld/thneed/serialize.cc b/sunnypilot/modeld/thneed/serialize.cc
deleted file mode 100644
index f9a8b288ac4e70..00000000000000
--- a/sunnypilot/modeld/thneed/serialize.cc
+++ /dev/null
@@ -1,154 +0,0 @@
-#include <cassert>
-#include <set>
-
-#include "third_party/json11/json11.hpp"
-#include "common/util.h"
-#include "common/clutil.h"
-#include "common/swaglog.h"
-#include "sunnypilot/modeld/thneed/thneed.h"
-using namespace json11;
-
-extern map<cl_program, string> g_program_source;
-
-void Thneed::load(const char *filename) {
-  LOGD("Thneed::load: loading from %s\n", filename);
-
-  string buf = util::read_file(filename);
-  int jsz = *(int *)buf.data();
-  string jsonerr;
-  string jj(buf.data() + sizeof(int), jsz);
-  Json jdat = Json::parse(jj, jsonerr);
-
-  map<cl_mem, cl_mem> real_mem;
-  real_mem[NULL] = NULL;
-
-  int ptr = sizeof(int)+jsz;
-  for (auto &obj : jdat["objects"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    cl_mem clbuf = NULL;
-
-    if (mobj["buffer_id"].string_value().size() > 0) {
-      // image buffer must already be allocated
-      clbuf = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-      assert(mobj["needs_load"].bool_value() == false);
-    } else {
-      if (mobj["needs_load"].bool_value()) {
-        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, &buf[ptr], NULL);
-        if (debug >= 1) printf("loading %p %d @ 0x%X\n", clbuf, sz, ptr);
-        ptr += sz;
-      } else {
-        // TODO: is there a faster way to init zeroed out buffers?
-        void *host_zeros = calloc(sz, 1);
-        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, host_zeros, NULL);
-        free(host_zeros);
-      }
-    }
-    assert(clbuf != NULL);
-
-    if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") {
-      cl_image_desc desc = {0};
-      desc.image_type = (mobj["arg_type"] == "image2d_t") ? CL_MEM_OBJECT_IMAGE2D : CL_MEM_OBJECT_IMAGE1D_BUFFER;
-      desc.image_width = mobj["width"].int_value();
-      desc.image_height = mobj["height"].int_value();
-      desc.image_row_pitch = mobj["row_pitch"].int_value();
-      assert(sz == desc.image_height*desc.image_row_pitch);
-#ifdef QCOM2
-      desc.buffer = clbuf;
-#else
-      // TODO: we are creating unused buffers on PC
-      clReleaseMemObject(clbuf);
-#endif
-      cl_image_format format = {0};
-      format.image_channel_order = CL_RGBA;
-      format.image_channel_data_type = mobj["float32"].bool_value() ? CL_FLOAT : CL_HALF_FLOAT;
-
-      cl_int errcode;
-
-#ifndef QCOM2
-      if (mobj["needs_load"].bool_value()) {
-        clbuf = clCreateImage(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, &format, &desc, &buf[ptr-sz], &errcode);
-      } else {
-        clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
-      }
-#else
-      clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
-#endif
-      if (clbuf == NULL) {
-        LOGE("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode),
-             desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer);
-      }
-      assert(clbuf != NULL);
-    }
-
-    real_mem[*(cl_mem*)(mobj["id"].string_value().data())] = clbuf;
-  }
-
-  map<string, cl_program> g_programs;
-  for (const auto &[name, source] : jdat["programs"].object_items()) {
-    if (debug >= 1) printf("building %s with size %zu\n", name.c_str(), source.string_value().size());
-    g_programs[name] = cl_program_from_source(context, device_id, source.string_value());
-  }
-
-  for (auto &obj : jdat["inputs"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-    input_clmem.push_back(aa);
-    input_sizes.push_back(sz);
-    LOGD("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz);
-
-    cl_int cl_err;
-    void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &cl_err);
-    if (cl_err != CL_SUCCESS) LOGE("clError: %s map %p %d\n", cl_get_error_string(cl_err), aa, sz);
-    assert(cl_err == CL_SUCCESS);
-    inputs.push_back(ret);
-  }
-
-  for (auto &obj : jdat["outputs"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    LOGD("Thneed::save: adding output with size %d\n", sz);
-    // TODO: support multiple outputs
-    output = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-    assert(output != NULL);
-  }
-
-  for (auto &obj : jdat["binaries"].array_items()) {
-    string name = obj["name"].string_value();
-    size_t length = obj["length"].int_value();
-    if (debug >= 1) printf("binary %s with size %zu\n", name.c_str(), length);
-    g_programs[name] = cl_program_from_binary(context, device_id, (const uint8_t*)&buf[ptr], length);
-    ptr += length;
-  }
-
-  for (auto &obj : jdat["kernels"].array_items()) {
-    auto gws = obj["global_work_size"];
-    auto lws = obj["local_work_size"];
-    auto kk = shared_ptr<CLQueuedKernel>(new CLQueuedKernel(this));
-
-    kk->name = obj["name"].string_value();
-    kk->program = g_programs[kk->name];
-    kk->work_dim = obj["work_dim"].int_value();
-    for (int i = 0; i < kk->work_dim; i++) {
-      kk->global_work_size[i] = gws[i].int_value();
-      kk->local_work_size[i] = lws[i].int_value();
-    }
-    kk->num_args = obj["num_args"].int_value();
-    for (int i = 0; i < kk->num_args; i++) {
-      string arg = obj["args"].array_items()[i].string_value();
-      int arg_size = obj["args_size"].array_items()[i].int_value();
-      kk->args_size.push_back(arg_size);
-      if (arg_size == 8) {
-        cl_mem val = *(cl_mem*)(arg.data());
-        val = real_mem[val];
-        kk->args.push_back(string((char*)&val, sizeof(val)));
-      } else {
-        kk->args.push_back(arg);
-      }
-    }
-    kq.push_back(kk);
-  }
-
-  clFinish(command_queue);
-}
diff --git a/sunnypilot/modeld/thneed/thneed.h b/sunnypilot/modeld/thneed/thneed.h
deleted file mode 100644
index 47e18e0be3bb30..00000000000000
--- a/sunnypilot/modeld/thneed/thneed.h
+++ /dev/null
@@ -1,133 +0,0 @@
-#pragma once
-
-#ifndef __user
-#define __user __attribute__(())
-#endif
-
-#include <cstdint>
-#include <cstdlib>
-#include <memory>
-#include <string>
-#include <vector>
-
-#include <CL/cl.h>
-
-#include "third_party/linux/include/msm_kgsl.h"
-
-using namespace std;
-
-cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value);
-
-namespace json11 {
-  class Json;
-}
-class Thneed;
-
-class GPUMalloc {
-  public:
-    GPUMalloc(int size, int fd);
-    ~GPUMalloc();
-    void *alloc(int size);
-  private:
-    uint64_t base;
-    int remaining;
-};
-
-class CLQueuedKernel {
-  public:
-    CLQueuedKernel(Thneed *lthneed) { thneed = lthneed; }
-    CLQueuedKernel(Thneed *lthneed,
-                   cl_kernel _kernel,
-                   cl_uint _work_dim,
-                   const size_t *_global_work_size,
-                   const size_t *_local_work_size);
-    cl_int exec();
-    void debug_print(bool verbose);
-    int get_arg_num(const char *search_arg_name);
-    cl_program program;
-    string name;
-    cl_uint num_args;
-    vector<string> arg_names;
-    vector<string> arg_types;
-    vector<string> args;
-    vector<int> args_size;
-    cl_kernel kernel = NULL;
-    json11::Json to_json() const;
-
-    cl_uint work_dim;
-    size_t global_work_size[3] = {0};
-    size_t local_work_size[3] = {0};
-  private:
-    Thneed *thneed;
-};
-
-class CachedIoctl {
-  public:
-    virtual void exec() {}
-};
-
-class CachedSync: public CachedIoctl {
-  public:
-    CachedSync(Thneed *lthneed, string ldata) { thneed = lthneed; data = ldata; }
-    void exec();
-  private:
-    Thneed *thneed;
-    string data;
-};
-
-class CachedCommand: public CachedIoctl {
-  public:
-    CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd);
-    void exec();
-  private:
-    void disassemble(int cmd_index);
-    struct kgsl_gpu_command cache;
-    unique_ptr<kgsl_command_object[]> cmds;
-    unique_ptr<kgsl_command_object[]> objs;
-    Thneed *thneed;
-    vector<shared_ptr<CLQueuedKernel> > kq;
-};
-
-class Thneed {
-  public:
-    Thneed(bool do_clinit=false, cl_context _context = NULL);
-    void stop();
-    void execute(float **finputs, float *foutput, bool slow=false);
-    void wait();
-
-    vector<cl_mem> input_clmem;
-    vector<void *> inputs;
-    vector<size_t> input_sizes;
-    cl_mem output = NULL;
-
-    cl_context context = NULL;
-    cl_command_queue command_queue;
-    cl_device_id device_id;
-    int context_id;
-
-    // protected?
-    bool record = false;
-    int debug;
-    int timestamp;
-
-#ifdef QCOM2
-    unique_ptr<GPUMalloc> ram;
-    vector<unique_ptr<CachedIoctl> > cmds;
-    int fd;
-#endif
-
-    // all CL kernels
-    void copy_inputs(float **finputs, bool internal=false);
-    void copy_output(float *foutput);
-    cl_int clexec();
-    vector<shared_ptr<CLQueuedKernel> > kq;
-
-    // pending CL kernels
-    vector<shared_ptr<CLQueuedKernel> > ckq;
-
-    // loading
-    void load(const char *filename);
-  private:
-    void clinit();
-};
-
diff --git a/sunnypilot/modeld/thneed/thneed_common.cc b/sunnypilot/modeld/thneed/thneed_common.cc
deleted file mode 100644
index 56fbe70d8fdda8..00000000000000
--- a/sunnypilot/modeld/thneed/thneed_common.cc
+++ /dev/null
@@ -1,216 +0,0 @@
-#include "sunnypilot/modeld/thneed/thneed.h"
-
-#include <cassert>
-#include <cstring>
-#include <map>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-map<pair<cl_kernel, int>, string> g_args;
-map<pair<cl_kernel, int>, int> g_args_size;
-map<cl_program, string> g_program_source;
-
-void Thneed::stop() {
-  //printf("Thneed::stop: recorded %lu commands\n", cmds.size());
-  record = false;
-}
-
-void Thneed::clinit() {
-  device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  if (context == NULL) context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-  //cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, CL_QUEUE_PROFILING_ENABLE, 0};
-  cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, 0, 0};
-  command_queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
-  printf("Thneed::clinit done\n");
-}
-
-cl_int Thneed::clexec() {
-  if (debug >= 1) printf("Thneed::clexec: running %lu queued kernels\n", kq.size());
-  for (auto &k : kq) {
-    if (record) ckq.push_back(k);
-    cl_int ret = k->exec();
-    assert(ret == CL_SUCCESS);
-  }
-  return clFinish(command_queue);
-}
-
-void Thneed::copy_inputs(float **finputs, bool internal) {
-  for (int idx = 0; idx < inputs.size(); ++idx) {
-    if (debug >= 1) printf("copying %lu -- %p -> %p (cl %p)\n", input_sizes[idx], finputs[idx], inputs[idx], input_clmem[idx]);
-
-    if (internal) {
-      // if it's internal, using memcpy is fine since the buffer sync is cached in the ioctl layer
-      if (finputs[idx] != NULL) memcpy(inputs[idx], finputs[idx], input_sizes[idx]);
-    } else {
-      if (finputs[idx] != NULL) CL_CHECK(clEnqueueWriteBuffer(command_queue, input_clmem[idx], CL_TRUE, 0, input_sizes[idx], finputs[idx], 0, NULL, NULL));
-    }
-  }
-}
-
-void Thneed::copy_output(float *foutput) {
-  if (output != NULL) {
-    size_t sz;
-    clGetMemObjectInfo(output, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-    if (debug >= 1) printf("copying %lu for output %p -> %p\n", sz, output, foutput);
-    CL_CHECK(clEnqueueReadBuffer(command_queue, output, CL_TRUE, 0, sz, foutput, 0, NULL, NULL));
-  } else {
-    printf("CAUTION: model output is NULL, does it have no outputs?\n");
-  }
-}
-
-// *********** CLQueuedKernel ***********
-
-CLQueuedKernel::CLQueuedKernel(Thneed *lthneed,
-                               cl_kernel _kernel,
-                               cl_uint _work_dim,
-                               const size_t *_global_work_size,
-                               const size_t *_local_work_size) {
-  thneed = lthneed;
-  kernel = _kernel;
-  work_dim = _work_dim;
-  assert(work_dim <= 3);
-  for (int i = 0; i < work_dim; i++) {
-    global_work_size[i] = _global_work_size[i];
-    local_work_size[i] = _local_work_size[i];
-  }
-
-  char _name[0x100];
-  clGetKernelInfo(kernel, CL_KERNEL_FUNCTION_NAME, sizeof(_name), _name, NULL);
-  name = string(_name);
-  clGetKernelInfo(kernel, CL_KERNEL_NUM_ARGS, sizeof(num_args), &num_args, NULL);
-
-  // get args
-  for (int i = 0; i < num_args; i++) {
-    char arg_name[0x100] = {0};
-    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
-    arg_names.push_back(string(arg_name));
-    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
-    arg_types.push_back(string(arg_name));
-
-    args.push_back(g_args[make_pair(kernel, i)]);
-    args_size.push_back(g_args_size[make_pair(kernel, i)]);
-  }
-
-  // get program
-  clGetKernelInfo(kernel, CL_KERNEL_PROGRAM, sizeof(program), &program, NULL);
-}
-
-int CLQueuedKernel::get_arg_num(const char *search_arg_name) {
-  for (int i = 0; i < num_args; i++) {
-    if (arg_names[i] == search_arg_name) return i;
-  }
-  printf("failed to find %s in %s\n", search_arg_name, name.c_str());
-  assert(false);
-}
-
-cl_int CLQueuedKernel::exec() {
-  if (kernel == NULL) {
-    kernel = clCreateKernel(program, name.c_str(), NULL);
-    arg_names.clear();
-    arg_types.clear();
-
-    for (int j = 0; j < num_args; j++) {
-      char arg_name[0x100] = {0};
-      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
-      arg_names.push_back(string(arg_name));
-      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
-      arg_types.push_back(string(arg_name));
-
-      cl_int ret;
-      if (args[j].size() != 0) {
-        assert(args[j].size() == args_size[j]);
-        ret = thneed_clSetKernelArg(kernel, j, args[j].size(), args[j].data());
-      } else {
-        ret = thneed_clSetKernelArg(kernel, j, args_size[j], NULL);
-      }
-      assert(ret == CL_SUCCESS);
-    }
-  }
-
-  if (thneed->debug >= 1) {
-    debug_print(thneed->debug >= 2);
-  }
-
-  return clEnqueueNDRangeKernel(thneed->command_queue,
-    kernel, work_dim, NULL, global_work_size, local_work_size, 0, NULL, NULL);
-}
-
-void CLQueuedKernel::debug_print(bool verbose) {
-  printf("%p %56s -- ", kernel, name.c_str());
-  for (int i = 0; i < work_dim; i++) {
-    printf("%4zu ", global_work_size[i]);
-  }
-  printf(" -- ");
-  for (int i = 0; i < work_dim; i++) {
-    printf("%4zu ", local_work_size[i]);
-  }
-  printf("\n");
-
-  if (verbose) {
-    for (int i = 0; i < num_args; i++) {
-      string arg = args[i];
-      printf("  %s %s", arg_types[i].c_str(), arg_names[i].c_str());
-      void *arg_value = (void*)arg.data();
-      int arg_size = arg.size();
-      if (arg_size == 0) {
-        printf(" (size) %d", args_size[i]);
-      } else if (arg_size == 1) {
-        printf(" = %d", *((char*)arg_value));
-      } else if (arg_size == 2) {
-        printf(" = %d", *((short*)arg_value));
-      } else if (arg_size == 4) {
-        if (arg_types[i] == "float") {
-          printf(" = %f", *((float*)arg_value));
-        } else {
-          printf(" = %d", *((int*)arg_value));
-        }
-      } else if (arg_size == 8) {
-        cl_mem val = (cl_mem)(*((uintptr_t*)arg_value));
-        printf(" = %p", val);
-        if (val != NULL) {
-          cl_mem_object_type obj_type;
-          clGetMemObjectInfo(val, CL_MEM_TYPE, sizeof(obj_type), &obj_type, NULL);
-          if (arg_types[i] == "image2d_t" || arg_types[i] == "image1d_t" || obj_type == CL_MEM_OBJECT_IMAGE2D) {
-            cl_image_format format;
-            size_t width, height, depth, array_size, row_pitch, slice_pitch;
-            cl_mem buf;
-            clGetImageInfo(val, CL_IMAGE_FORMAT, sizeof(format), &format, NULL);
-            assert(format.image_channel_order == CL_RGBA);
-            assert(format.image_channel_data_type == CL_HALF_FLOAT || format.image_channel_data_type == CL_FLOAT);
-            clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL);
-            clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL);
-            clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL);
-            clGetImageInfo(val, CL_IMAGE_DEPTH, sizeof(depth), &depth, NULL);
-            clGetImageInfo(val, CL_IMAGE_ARRAY_SIZE, sizeof(array_size), &array_size, NULL);
-            clGetImageInfo(val, CL_IMAGE_SLICE_PITCH, sizeof(slice_pitch), &slice_pitch, NULL);
-            assert(depth == 0);
-            assert(array_size == 0);
-            assert(slice_pitch == 0);
-
-            clGetImageInfo(val, CL_IMAGE_BUFFER, sizeof(buf), &buf, NULL);
-            size_t sz = 0;
-            if (buf != NULL) clGetMemObjectInfo(buf, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-            printf(" image %zu x %zu rp %zu @ %p buffer %zu", width, height, row_pitch, buf, sz);
-          } else {
-            size_t sz;
-            clGetMemObjectInfo(val, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-            printf(" buffer %zu", sz);
-          }
-        }
-      }
-      printf("\n");
-    }
-  }
-}
-
-cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value) {
-  g_args_size[make_pair(kernel, arg_index)] = arg_size;
-  if (arg_value != NULL) {
-    g_args[make_pair(kernel, arg_index)] = string((char*)arg_value, arg_size);
-  } else {
-    g_args[make_pair(kernel, arg_index)] = string("");
-  }
-  cl_int ret = clSetKernelArg(kernel, arg_index, arg_size, arg_value);
-  return ret;
-}
diff --git a/sunnypilot/modeld/thneed/thneed_pc.cc b/sunnypilot/modeld/thneed/thneed_pc.cc
deleted file mode 100644
index 629d0ee3595b6a..00000000000000
--- a/sunnypilot/modeld/thneed/thneed_pc.cc
+++ /dev/null
@@ -1,32 +0,0 @@
-#include "sunnypilot/modeld/thneed/thneed.h"
-
-#include <cassert>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-Thneed::Thneed(bool do_clinit, cl_context _context) {
-  context = _context;
-  if (do_clinit) clinit();
-  char *thneed_debug_env = getenv("THNEED_DEBUG");
-  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
-}
-
-void Thneed::execute(float **finputs, float *foutput, bool slow) {
-  uint64_t tb, te;
-  if (debug >= 1) tb = nanos_since_boot();
-
-  // ****** copy inputs
-  copy_inputs(finputs);
-
-  // ****** run commands
-  clexec();
-
-  // ****** copy outputs
-  copy_output(foutput);
-
-  if (debug >= 1) {
-    te = nanos_since_boot();
-    printf("model exec in %lu us\n", (te-tb)/1000);
-  }
-}
diff --git a/sunnypilot/modeld/thneed/thneed_qcom2.cc b/sunnypilot/modeld/thneed/thneed_qcom2.cc
deleted file mode 100644
index b940da1ce1215d..00000000000000
--- a/sunnypilot/modeld/thneed/thneed_qcom2.cc
+++ /dev/null
@@ -1,258 +0,0 @@
-#include "sunnypilot/modeld/thneed/thneed.h"
-
-#include <dlfcn.h>
-#include <sys/mman.h>
-
-#include <cassert>
-#include <cerrno>
-#include <cstring>
-#include <map>
-#include <string>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-Thneed *g_thneed = NULL;
-int g_fd = -1;
-
-void hexdump(uint8_t *d, int len) {
-  assert((len%4) == 0);
-  printf("  dumping %p len 0x%x\n", d, len);
-  for (int i = 0; i < len/4; i++) {
-    if (i != 0 && (i%0x10) == 0) printf("\n");
-    printf("%8x ", d[i]);
-  }
-  printf("\n");
-}
-
-// *********** ioctl interceptor ***********
-
-extern "C" {
-
-int (*my_ioctl)(int filedes, unsigned long request, void *argp) = NULL;
-#undef ioctl
-int ioctl(int filedes, unsigned long request, void *argp) {
-  request &= 0xFFFFFFFF;  // needed on QCOM2
-  if (my_ioctl == NULL) my_ioctl = reinterpret_cast<decltype(my_ioctl)>(dlsym(RTLD_NEXT, "ioctl"));
-  Thneed *thneed = g_thneed;
-
-  // save the fd
-  if (request == IOCTL_KGSL_GPUOBJ_ALLOC) g_fd = filedes;
-
-  // note that this runs always, even without a thneed object
-  if (request == IOCTL_KGSL_DRAWCTXT_CREATE) {
-    struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp;
-    create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK;
-    create->flags |= 6 << KGSL_CONTEXT_PRIORITY_SHIFT;   // priority from 1-15, 1 is max priority
-    printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags);
-  }
-
-  if (thneed != NULL) {
-    if (request == IOCTL_KGSL_GPU_COMMAND) {
-      struct kgsl_gpu_command *cmd = (struct kgsl_gpu_command *)argp;
-      if (thneed->record) {
-        thneed->timestamp = cmd->timestamp;
-        thneed->context_id = cmd->context_id;
-        thneed->cmds.push_back(unique_ptr<CachedCommand>(new CachedCommand(thneed, cmd)));
-      }
-      if (thneed->debug >= 1) {
-        printf("IOCTL_KGSL_GPU_COMMAND(%2zu): flags: 0x%lx    context_id: %u  timestamp: %u  numcmds: %d  numobjs: %d\n",
-            thneed->cmds.size(),
-            cmd->flags,
-            cmd->context_id, cmd->timestamp, cmd->numcmds, cmd->numobjs);
-      }
-    } else if (request == IOCTL_KGSL_GPUOBJ_SYNC) {
-      struct kgsl_gpuobj_sync *cmd = (struct kgsl_gpuobj_sync *)argp;
-      struct kgsl_gpuobj_sync_obj *objs = (struct kgsl_gpuobj_sync_obj *)(cmd->objs);
-
-      if (thneed->debug >= 2) {
-        printf("IOCTL_KGSL_GPUOBJ_SYNC count:%d ", cmd->count);
-        for (int i = 0; i < cmd->count; i++) {
-          printf(" -- offset:0x%lx len:0x%lx id:%d op:%d  ", objs[i].offset, objs[i].length, objs[i].id, objs[i].op);
-        }
-        printf("\n");
-      }
-
-      if (thneed->record) {
-        thneed->cmds.push_back(unique_ptr<CachedSync>(new
-              CachedSync(thneed, string((char *)objs, sizeof(struct kgsl_gpuobj_sync_obj)*cmd->count))));
-      }
-    } else if (request == IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID) {
-      struct kgsl_device_waittimestamp_ctxtid *cmd = (struct kgsl_device_waittimestamp_ctxtid *)argp;
-      if (thneed->debug >= 1) {
-        printf("IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID: context_id: %d  timestamp: %d  timeout: %d\n",
-            cmd->context_id, cmd->timestamp, cmd->timeout);
-      }
-    } else if (request == IOCTL_KGSL_SETPROPERTY) {
-      if (thneed->debug >= 1) {
-        struct kgsl_device_getproperty *prop = (struct kgsl_device_getproperty *)argp;
-        printf("IOCTL_KGSL_SETPROPERTY: 0x%x sizebytes:%zu\n", prop->type, prop->sizebytes);
-        if (thneed->debug >= 2) {
-          hexdump((uint8_t *)prop->value, prop->sizebytes);
-          if (prop->type == KGSL_PROP_PWR_CONSTRAINT) {
-            struct kgsl_device_constraint *constraint = (struct kgsl_device_constraint *)prop->value;
-            hexdump((uint8_t *)constraint->data, constraint->size);
-          }
-        }
-      }
-    } else if (request == IOCTL_KGSL_DRAWCTXT_CREATE || request == IOCTL_KGSL_DRAWCTXT_DESTROY) {
-      // this happens
-    } else if (request == IOCTL_KGSL_GPUOBJ_ALLOC || request == IOCTL_KGSL_GPUOBJ_FREE) {
-      // this happens
-    } else {
-      if (thneed->debug >= 1) {
-        printf("other ioctl %lx\n", request);
-      }
-    }
-  }
-
-  int ret = my_ioctl(filedes, request, argp);
-  // NOTE: This error message goes into stdout and messes up pyenv
-  // if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno);
-  return ret;
-}
-
-}
-
-// *********** GPUMalloc ***********
-
-GPUMalloc::GPUMalloc(int size, int fd) {
-  struct kgsl_gpuobj_alloc alloc;
-  memset(&alloc, 0, sizeof(alloc));
-  alloc.size = size;
-  alloc.flags = 0x10000a00;
-  ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc);
-  void *addr = mmap64(NULL, alloc.mmapsize, 0x3, 0x1, fd, alloc.id*0x1000);
-  assert(addr != MAP_FAILED);
-
-  base = (uint64_t)addr;
-  remaining = size;
-}
-
-GPUMalloc::~GPUMalloc() {
-  // TODO: free the GPU malloced area
-}
-
-void *GPUMalloc::alloc(int size) {
-  void *ret = (void*)base;
-  size = (size+0xff) & (~0xFF);
-  assert(size <= remaining);
-  remaining -= size;
-  base += size;
-  return ret;
-}
-
-// *********** CachedSync, at the ioctl layer ***********
-
-void CachedSync::exec() {
-  struct kgsl_gpuobj_sync cmd;
-
-  cmd.objs = (uint64_t)data.data();
-  cmd.obj_len = data.length();
-  cmd.count = data.length() / sizeof(struct kgsl_gpuobj_sync_obj);
-
-  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPUOBJ_SYNC, &cmd);
-  assert(ret == 0);
-}
-
-// *********** CachedCommand, at the ioctl layer ***********
-
-CachedCommand::CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd) {
-  thneed = lthneed;
-  assert(cmd->numsyncs == 0);
-
-  memcpy(&cache, cmd, sizeof(cache));
-
-  if (cmd->numcmds > 0) {
-    cmds = make_unique<struct kgsl_command_object[]>(cmd->numcmds);
-    memcpy(cmds.get(), (void *)cmd->cmdlist, sizeof(struct kgsl_command_object)*cmd->numcmds);
-    cache.cmdlist = (uint64_t)cmds.get();
-    for (int i = 0; i < cmd->numcmds; i++) {
-      void *nn = thneed->ram->alloc(cmds[i].size);
-      memcpy(nn, (void*)cmds[i].gpuaddr, cmds[i].size);
-      cmds[i].gpuaddr = (uint64_t)nn;
-    }
-  }
-
-  if (cmd->numobjs > 0) {
-    objs = make_unique<struct kgsl_command_object[]>(cmd->numobjs);
-    memcpy(objs.get(), (void *)cmd->objlist, sizeof(struct kgsl_command_object)*cmd->numobjs);
-    cache.objlist = (uint64_t)objs.get();
-    for (int i = 0; i < cmd->numobjs; i++) {
-      void *nn = thneed->ram->alloc(objs[i].size);
-      memset(nn, 0, objs[i].size);
-      objs[i].gpuaddr = (uint64_t)nn;
-    }
-  }
-
-  kq = thneed->ckq;
-  thneed->ckq.clear();
-}
-
-void CachedCommand::exec() {
-  cache.timestamp = ++thneed->timestamp;
-  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPU_COMMAND, &cache);
-
-  if (thneed->debug >= 1) printf("CachedCommand::exec got %d\n", ret);
-
-  if (thneed->debug >= 2) {
-    for (auto &it : kq) {
-      it->debug_print(false);
-    }
-  }
-
-  assert(ret == 0);
-}
-
-// *********** Thneed ***********
-
-Thneed::Thneed(bool do_clinit, cl_context _context) {
-  // TODO: QCOM2 actually requires a different context
-  //context = _context;
-  if (do_clinit) clinit();
-  assert(g_fd != -1);
-  fd = g_fd;
-  ram = make_unique<GPUMalloc>(0x80000, fd);
-  timestamp = -1;
-  g_thneed = this;
-  char *thneed_debug_env = getenv("THNEED_DEBUG");
-  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
-}
-
-void Thneed::wait() {
-  struct kgsl_device_waittimestamp_ctxtid wait;
-  wait.context_id = context_id;
-  wait.timestamp = timestamp;
-  wait.timeout = -1;
-
-  uint64_t tb = nanos_since_boot();
-  int wret = ioctl(fd, IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID, &wait);
-  uint64_t te = nanos_since_boot();
-
-  if (debug >= 1) printf("wait %d after %lu us\n", wret, (te-tb)/1000);
-}
-
-void Thneed::execute(float **finputs, float *foutput, bool slow) {
-  uint64_t tb, te;
-  if (debug >= 1) tb = nanos_since_boot();
-
-  // ****** copy inputs
-  copy_inputs(finputs, true);
-
-  // ****** run commands
-  int i = 0;
-  for (auto &it : cmds) {
-    ++i;
-    if (debug >= 1) printf("run %2d @ %7lu us: ", i, (nanos_since_boot()-tb)/1000);
-    it->exec();
-    if ((i == cmds.size()) || slow) wait();
-  }
-
-  // ****** copy outputs
-  copy_output(foutput);
-
-  if (debug >= 1) {
-    te = nanos_since_boot();
-    printf("model exec in %lu us\n", (te-tb)/1000);
-  }
-}
diff --git a/sunnypilot/modeld/transforms/loadyuv.cc b/sunnypilot/modeld/transforms/loadyuv.cc
deleted file mode 100644
index f7d571416ce27f..00000000000000
--- a/sunnypilot/modeld/transforms/loadyuv.cc
+++ /dev/null
@@ -1,74 +0,0 @@
-#include "sunnypilot/modeld/transforms/loadyuv.h"
-
-#include <cassert>
-#include <cstdio>
-#include <cstring>
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
-  memset(s, 0, sizeof(*s));
-
-  s->width = width;
-  s->height = height;
-
-  char args[1024];
-  snprintf(args, sizeof(args),
-           "-cl-fast-relaxed-math -cl-denorms-are-zero "
-           "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
-           width, height);
-  cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args);
-
-  s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
-  s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
-  s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err));
-
-  // done with this
-  CL_CHECK(clReleaseProgram(prg));
-}
-
-void loadyuv_destroy(LoadYUVState* s) {
-  CL_CHECK(clReleaseKernel(s->loadys_krnl));
-  CL_CHECK(clReleaseKernel(s->loaduv_krnl));
-  CL_CHECK(clReleaseKernel(s->copy_krnl));
-}
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl, bool do_shift) {
-  cl_int global_out_off = 0;
-  if (do_shift) {
-    // shift the image in slot 1 to slot 0, then place the new image in slot 1
-    global_out_off += (s->width*s->height) + (s->width/2)*(s->height/2)*2;
-    CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &out_cl));
-    CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_int), &global_out_off));
-    const size_t copy_work_size = global_out_off/8;
-    CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
-                                &copy_work_size, NULL, 0, 0, NULL));
-  }
-
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  const size_t loadys_work_size = (s->width*s->height)/8;
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
-                               &loadys_work_size, NULL, 0, 0, NULL));
-
-  const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
-  global_out_off += (s->width*s->height);
-
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL));
-
-  global_out_off += (s->width/2)*(s->height/2);
-
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL));
-}
diff --git a/sunnypilot/modeld/transforms/loadyuv.cl b/sunnypilot/modeld/transforms/loadyuv.cl
deleted file mode 100644
index 7dd3d973a3ef69..00000000000000
--- a/sunnypilot/modeld/transforms/loadyuv.cl
+++ /dev/null
@@ -1,47 +0,0 @@
-#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
-
-__kernel void loadys(__global uchar8 const * const Y,
-                     __global float * out,
-                     int out_offset)
-{
-    const int gid = get_global_id(0);
-    const int ois = gid * 8;
-    const int oy = ois / TRANSFORMED_WIDTH;
-    const int ox = ois % TRANSFORMED_WIDTH;
-
-    const uchar8 ys = Y[gid];
-    const float8 ysf = convert_float8(ys);
-
-    // 02
-    // 13
-
-    __global float* outy0;
-    __global float* outy1;
-    if ((oy & 1) == 0) {
-      outy0 = out + out_offset; //y0
-      outy1 = out + out_offset + UV_SIZE*2; //y2
-    } else {
-      outy0 = out + out_offset + UV_SIZE; //y1
-      outy1 = out + out_offset + UV_SIZE*3; //y3
-    }
-
-    vstore4(ysf.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-    vstore4(ysf.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-}
-
-__kernel void loaduv(__global uchar8 const * const in,
-                     __global float8 * out,
-                     int out_offset)
-{
-  const int gid = get_global_id(0);
-  const uchar8 inv = in[gid];
-  const float8 outv  = convert_float8(inv);
-  out[gid + out_offset / 8] = outv;
-}
-
-__kernel void copy(__global float8 * inout,
-                   int in_offset)
-{
-  const int gid = get_global_id(0);
-  inout[gid] = inout[gid + in_offset / 8];
-}
diff --git a/sunnypilot/modeld/transforms/loadyuv.h b/sunnypilot/modeld/transforms/loadyuv.h
deleted file mode 100644
index 7d27ef5d468dba..00000000000000
--- a/sunnypilot/modeld/transforms/loadyuv.h
+++ /dev/null
@@ -1,16 +0,0 @@
-#pragma once
-
-#include "common/clutil.h"
-
-typedef struct {
-  int width, height;
-  cl_kernel loadys_krnl, loaduv_krnl, copy_krnl;
-} LoadYUVState;
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height);
-
-void loadyuv_destroy(LoadYUVState* s);
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl, bool do_shift = false);
diff --git a/sunnypilot/modeld/transforms/transform.cc b/sunnypilot/modeld/transforms/transform.cc
deleted file mode 100644
index ebab670b537091..00000000000000
--- a/sunnypilot/modeld/transforms/transform.cc
+++ /dev/null
@@ -1,97 +0,0 @@
-#include "sunnypilot/modeld/transforms/transform.h"
-
-#include <cassert>
-#include <cstring>
-
-#include "common/clutil.h"
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
-  memset(s, 0, sizeof(*s));
-
-  cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, "");
-  s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
-  // done with this
-  CL_CHECK(clReleaseProgram(prg));
-
-  s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-  s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-}
-
-void transform_destroy(Transform* s) {
-  CL_CHECK(clReleaseMemObject(s->m_y_cl));
-  CL_CHECK(clReleaseMemObject(s->m_uv_cl));
-  CL_CHECK(clReleaseKernel(s->krnl));
-}
-
-void transform_queue(Transform* s,
-                     cl_command_queue q,
-                     cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     const mat3& projection) {
-  const int zero = 0;
-
-  // sampled using pixel center origin
-  // (because that's how fastcv and opencv does it)
-
-  mat3 projection_y = projection;
-
-  // in and out uv is half the size of y.
-  mat3 projection_uv = transform_scale_buffer(projection, 0.5);
-
-  CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL));
-  CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL));
-
-  const int in_y_width = in_width;
-  const int in_y_height = in_height;
-  const int in_y_px_stride = 1;
-  const int in_uv_width = in_width/2;
-  const int in_uv_height = in_height/2;
-  const int in_uv_px_stride = 2;
-  const int in_u_offset = in_uv_offset;
-  const int in_v_offset = in_uv_offset + 1;
-
-  const int out_y_width = out_width;
-  const int out_y_height = out_height;
-  const int out_uv_width = out_width/2;
-  const int out_uv_height = out_height/2;
-
-  CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv));  // src
-  CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride));  // src_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride));  // src_px_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero));  // src_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height));  // src_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width));  // src_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y));  // dst
-  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width));  // dst_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height));  // dst_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width));  // dst_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl));  // M
-
-  const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height};
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_y, NULL, 0, 0, NULL));
-
-  const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height};
-
-  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride));  // src_px_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset));  // src_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height));  // src_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width));  // src_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u));  // dst
-  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width));  // dst_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height));  // dst_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width));  // dst_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl));  // M
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset));  // src_ofset
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v));  // dst
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-}
diff --git a/sunnypilot/modeld/transforms/transform.cl b/sunnypilot/modeld/transforms/transform.cl
deleted file mode 100644
index 2ca25920cd19be..00000000000000
--- a/sunnypilot/modeld/transforms/transform.cl
+++ /dev/null
@@ -1,54 +0,0 @@
-#define INTER_BITS 5
-#define INTER_TAB_SIZE (1 << INTER_BITS)
-#define INTER_SCALE 1.f / INTER_TAB_SIZE
-
-#define INTER_REMAP_COEF_BITS 15
-#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS)
-
-__kernel void warpPerspective(__global const uchar * src,
-                              int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols,
-                              __global uchar * dst,
-                              int dst_row_stride, int dst_offset, int dst_rows, int dst_cols,
-                              __constant float * M)
-{
-    int dx = get_global_id(0);
-    int dy = get_global_id(1);
-
-    if (dx < dst_cols && dy < dst_rows)
-    {
-        float X0 = M[0] * dx + M[1] * dy + M[2];
-        float Y0 = M[3] * dx + M[4] * dy + M[5];
-        float W = M[6] * dx + M[7] * dy + M[8];
-        W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
-        int X = rint(X0 * W), Y = rint(Y0 * W);
-
-        int sx = convert_short_sat(X >> INTER_BITS);
-        int sy = convert_short_sat(Y >> INTER_BITS);
-
-        short sx_clamp = clamp(sx, 0, src_cols - 1);
-        short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
-        short sy_clamp = clamp(sy, 0, src_rows - 1);
-        short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
-        int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
-        int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-        int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
-        int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-
-        short ay = (short)(Y & (INTER_TAB_SIZE - 1));
-        short ax = (short)(X & (INTER_TAB_SIZE - 1));
-        float taby = 1.f/INTER_TAB_SIZE*ay;
-        float tabx = 1.f/INTER_TAB_SIZE*ax;
-
-        int dst_index = mad24(dy, dst_row_stride, dst_offset + dx);
-
-        int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
-        int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE );
-        int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
-        int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE );
-
-        int val = v0 * itab0 +  v1 * itab1 + v2 * itab2 + v3 * itab3;
-
-        uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS);
-        dst[dst_index] = pix;
-    }
-}
diff --git a/sunnypilot/modeld/transforms/transform.h b/sunnypilot/modeld/transforms/transform.h
deleted file mode 100644
index 771a7054b35d29..00000000000000
--- a/sunnypilot/modeld/transforms/transform.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#pragma once
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/mat.h"
-
-typedef struct {
-  cl_kernel krnl;
-  cl_mem m_y_cl, m_uv_cl;
-} Transform;
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id);
-
-void transform_destroy(Transform* transform);
-
-void transform_queue(Transform* s, cl_command_queue q,
-                     cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     const mat3& projection);
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index ec6dee465d0bd4..fe6ac2133ca19d 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -21,8 +21,7 @@ async def verify_file(file_path: str, expected_hash: str) -> bool:
 
   return sha256_hash.hexdigest().lower() == expected_hash.lower()
 
-
-def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundle:
+def get_active_bundle(params: Params) -> custom.ModelManagerSP.ModelBundle:
   """Gets the active model bundle from cache"""
   if params is None:
     params = Params()
@@ -31,49 +30,3 @@ def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundl
     return messaging.log_from_bytes(active_bundle, custom.ModelManagerSP.ModelBundle)
 
   return None
-
-
-def get_model_runner_by_filename(filename: str) -> custom.ModelManagerSP.Runner:
-  if filename.endswith(".thneed"):
-    return custom.ModelManagerSP.Runner.snpe
-
-  if filename.endswith("_tinygrad.pkl"):
-    return custom.ModelManagerSP.Runner.tinygrad
-
-
-def get_active_model_runner(params: Params = None, force_check=False) -> custom.ModelManagerSP.Runner:
-  """
-  Determines and returns the active model runner type, based on provided parameters.
-  The function utilizes caching to prevent redundant calculations and checks.
-
-  If the cached "ModelRunnerTypeCache" exists in the provided parameters and `force_check`
-  is set to False, the cached value is directly returned. Otherwise, the function determines
-  the runner type based on the active model bundle. If a model bundle containing a drive
-  model exists, the runner type is derived based on the filename of the drive model.
-  Finally, it updates the cache with the determined runner type, if needed.
-
-  :param params: The parameter set used to retrieve caching and runner details. If `None`,
-      a default `Params` instance is created internally.
-  :type params: Params
-  :param force_check: A flag indicating whether to bypass cached results and always
-      re-determine the runner type. Defaults to `False`.
-  :type force_check: bool
-  :return: The determined or cached model runner type.
-  :rtype: custom.ModelManagerSP.Runner
-  """
-  if params is None:
-    params = Params()
-
-  if (cached_runner_type := params.get("ModelRunnerTypeCache")) and not force_check:
-    return int(cached_runner_type)
-
-  runner_type = custom.ModelManagerSP.Runner.tinygrad
-
-  if active_bundle := get_active_bundle(params):
-    drive_model = next(model for model in active_bundle.models if model.type == custom.ModelManagerSP.Type.drive)
-    runner_type = get_model_runner_by_filename(drive_model.fileName)
-
-  if cached_runner_type != runner_type:
-    params.put("ModelRunnerTypeCache", str(runner_type))
-
-  return runner_type
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 2f677f20739523..e6767ae740dedc 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -5,7 +5,6 @@
 from openpilot.common.params import Params
 from openpilot.system.hardware import PC, TICI
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
-
 from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
@@ -71,14 +70,6 @@ def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
   """Shim for use_sunnylink_uploader to match the process manager signature."""
   return use_sunnylink_uploader(params)
 
-def is_snpe_model(started, params, CP: car.CarParams) -> bool:
-  """Check if the active model runner is SNPE."""
-  return False  # FIXME-SP: Enable in future PR
-
-def is_stock_model(started, params, CP: car.CarParams) -> bool:
-  """Check if the active model runner is stock."""
-  return not is_snpe_model(started, params, CP)
-
 def or_(*fns):
   return lambda *args: operator.or_(*(fn(*args) for fn in fns))
 
@@ -102,7 +93,7 @@ def and_(*fns):
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
   # TODO Make python process once TG allows opening QCOM from child proc
-  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], and_(only_onroad, is_stock_model)),
+  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
   NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
   PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
@@ -144,7 +135,6 @@ def and_(*fns):
 # sunnypilot
 procs += [
   PythonProcess("models_manager", "sunnypilot.models.manager", only_offroad),
-  NativeProcess("modeld_snpe", "sunnypilot/modeld", ["./modeld"], and_(only_onroad, is_snpe_model)),
 ]
 
 if os.path.exists("./github_runner.sh"):
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
deleted file mode 100644
index a1c6fed9107b7d..00000000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fb3b1fd29d958e9a3a6625eac9fac9e7cd6eb40309b285ad973324761db0b4c9
-size 1202792
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
deleted file mode 100644
index 54c0c32e41ff53..00000000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:161a5d0bf7347465b53ae49690a38fbacf03d606ef204147b3b148a5f59188da
-size 9008016
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
deleted file mode 100644
index 21542030263916..00000000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7e0e66c12a1eb3b5b4b2b2694831ca51e5132818f400dad789adbcc30e0e0793
-size 14032
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
deleted file mode 100644
index 1d81abd3a5cfac..00000000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:784f2e80fa3534cf7934c5ecbbda37db633104380f2b41d896b4721ad6006eb2
-size 2420312
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
deleted file mode 100644
index 40e3d5af74980e..00000000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:33afe465e74bbe2c409350d2ca8e86cfadf050ceb8feac75a86adc19ff1f9c48
-size 26016
diff --git a/third_party/snpe/dsp/libcalculator_skel.so b/third_party/snpe/dsp/libcalculator_skel.so
deleted file mode 100644
index 9e9e9221be9da2..00000000000000
--- a/third_party/snpe/dsp/libcalculator_skel.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7bee94d38195478ffdd0ce15292a2dfa7813377f4c3b7d99c270e05079d1746b
-size 20828
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
deleted file mode 100644
index 3f1b7a8b8c4a9d..00000000000000
--- a/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4e040c87072aa915c47859c8c7f74076b98c6919b83ddd5dc4bb555870d586a7
-size 1813866
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
deleted file mode 100644
index aa42b5e830c26f..00000000000000
--- a/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:838bc58ac0094ba9593cf7c44ab6e8a94ae3dbbe176e320d9fbe86ceead53c5e
-size 1817962
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
deleted file mode 100644
index 9423da1b94e388..00000000000000
--- a/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:77d025d59521e13e4ed012f0d9d2b684cdb858208d70426078df51219eaeb9bd
-size 10098673
diff --git a/third_party/snpe/include/DiagLog/IDiagLog.hpp b/third_party/snpe/include/DiagLog/IDiagLog.hpp
deleted file mode 100644
index 018b5672561c0b..00000000000000
--- a/third_party/snpe/include/DiagLog/IDiagLog.hpp
+++ /dev/null
@@ -1,84 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#ifndef __IDIAGLOG_HPP_
-#define __IDIAGLOG_HPP_
-
-#include <string>
-
-#include "DiagLog/Options.hpp"
-#include "DlSystem/String.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace DiagLog
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/// @brief .
-///
-/// Interface for controlling logging for zdl components.
-
-class ZDL_EXPORT IDiagLog
-{
-public:
-
-   /// @brief .
-   ///
-   /// Sets the options after initialization occurs.
-   ///
-   /// @param[in] loggingOptions The options to set up diagnostic logging.
-   ///
-   /// @return False if the options could not be set. Ensure logging is not started.
-   virtual bool setOptions(const Options& loggingOptions) = 0;
-
-   /// @brief .
-   ///
-   /// Gets the curent options for the diag logger.
-   ///
-   /// @return Diag log options object.
-   virtual Options getOptions() = 0;
-
-   /// @brief .
-   ///
-   /// Allows for setting the log mask once diag logging has started
-   ///
-   /// @return True if the level was set successfully, false if a failure occurred.
-   virtual bool setDiagLogMask(const std::string& mask) = 0;
-
-   /// @brief .
-   ///
-   /// Allows for setting the log mask once diag logging has started
-   ///
-   /// @return True if the level was set successfully, false if a failure occurred.
-   virtual bool setDiagLogMask(const zdl::DlSystem::String& mask) = 0;
-
-   /// @brief .
-   ///
-   /// Enables logging for zdl components.
-   ///
-   /// Logging should be started prior to the instantiation of zdl components
-   /// to ensure all events are captured.
-   ///
-   /// @return False if diagnostic logging could not be started.
-   virtual bool start(void) = 0;
-
-   /// @brief Disables logging for zdl components.
-   virtual bool stop(void) = 0;
-
-   virtual ~IDiagLog() {};
-};
-
-} // DiagLog namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif
diff --git a/third_party/snpe/include/DiagLog/Options.hpp b/third_party/snpe/include/DiagLog/Options.hpp
deleted file mode 100644
index 798fa3f1240a62..00000000000000
--- a/third_party/snpe/include/DiagLog/Options.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#ifndef __DIAGLOG_OPTIONS_HPP_
-#define __DIAGLOG_OPTIONS_HPP_
-
-#include <string>
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace DiagLog
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/// @brief .
-///
-/// Options for setting up diagnostic logging for zdl components.
-class ZDL_EXPORT Options
-{
-public:
-   Options() :
-      DiagLogMask(""),
-      LogFileDirectory("diaglogs"),
-      LogFileName("DiagLog"),
-      LogFileRotateCount(20),
-      LogFileReplace(true)
-   {
-      // Solves the empty string problem with multiple std libs
-      DiagLogMask.reserve(1);
-   }
-
-   /// @brief .
-   ///
-   /// Enables diag logging only on the specified area mask (DNN_RUNTIME=ON | OFF)
-   std::string DiagLogMask;
-
-   /// @brief .
-   ///
-   /// The path to the directory where log files will be written.
-   /// The path may be relative or absolute. Relative paths are interpreted
-   /// from the current working directory.
-   /// Default value is "diaglogs"
-   std::string LogFileDirectory;
-
-   /// @brief .
-   ///
-   //// The name used for log files. If this value is empty then BaseName will be
-   /// used as the default file name.
-   /// Default value is "DiagLog"
-   std::string LogFileName;
-
-   /// @brief .
-   ///
-   /// The maximum number of log files to create. If set to 0 no log rotation
-   /// will be used and the log file name specified will be used each time, overwriting
-   /// any existing log file that may exist.
-   /// Default value is 20
-   uint32_t LogFileRotateCount;
-
-   /// @brief
-   ///
-   /// If the log file already exists, control whether it will be replaced
-   /// (existing contents truncated), or appended.
-   /// Default value is true
-   bool LogFileReplace;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // DiagLog namespace
-} // zdl namespace
-
-
-#endif
diff --git a/third_party/snpe/include/DlContainer/IDlContainer.hpp b/third_party/snpe/include/DlContainer/IDlContainer.hpp
deleted file mode 100644
index 4e29b39bb41eb8..00000000000000
--- a/third_party/snpe/include/DlContainer/IDlContainer.hpp
+++ /dev/null
@@ -1,191 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef ZEROTH_IDNC_CONTAINER_HPP
-#define ZEROTH_IDNC_CONTAINER_HPP
-
-#include <memory>
-#include <stdint.h>
-#include <string>
-#include <vector>
-#include <set>
-
-#include "DlSystem/ZdlExportDefine.hpp"
-#include "DlSystem/String.hpp"
-
-namespace zdl {
-namespace DlContainer {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-class IDlContainer;
-class dlc_error;
-
-/**
- * The structure of a record in a DL container.
- */
-struct ZDL_EXPORT DlcRecord
-{
-   /// Name of the record.
-   std::string name;
-   /// Byte blob holding the data for the record.
-   std::vector<uint8_t> data;
-
-   DlcRecord();
-   DlcRecord( DlcRecord&& other )
-      : name(std::move(other.name))
-      , data(std::move(other.data))
-   {}
-   DlcRecord(const std::string& new_name)
-      : name(new_name)
-      , data()
-   {
-      if(name.empty())
-      {
-         name.reserve(1);
-      }
-   }
-   DlcRecord(const DlcRecord&) = delete;
-};
-
-// The maximum length of any record name.
-extern const uint32_t RECORD_NAME_MAX_SIZE;
-// The maximum size of the record payload (bytes).
-extern const uint32_t RECORD_DATA_MAX_SIZE;
-// The maximum number of records in an archive at one time.
-extern const uint32_t ARCHIVE_MAX_RECORDS;
-
-/**
- * Represents a container for a neural network model which can
- * be used to load the model into the SNPE runtime.
- */
-class ZDL_EXPORT IDlContainer
-{
-public:
-   /**
-    * Initializes a container from a container archive file.
-    *
-    * @param[in] filename Container archive file path.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const std::string &filename) noexcept;
-
-   /**
-    * Initializes a container from a container archive file.
-    *
-    * @param[in] filename Container archive file path.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const zdl::DlSystem::String &filename) noexcept;
-
-   /**
-    * Initializes a container from a byte buffer.
-    *
-    * @param[in] buffer Byte buffer holding the contents of an archive
-    *                   file.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const std::vector<uint8_t> &buffer) noexcept;
-
-   /**
-    * Initializes a container from a byte buffer.
-    *
-    * @param[in] buffer Byte buffer holding the contents of an archive
-    *                   file.
-    *
-    * @param[in] size Size of the byte buffer.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const uint8_t* buffer, const size_t size) noexcept;
-
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-   /**
-    * Get the record catalog for a container.
-    *
-    * @param[out] catalog Buffer that will hold the record names on
-    *                    return.
-    */
-   virtual void getCatalog(std::set<std::string> &catalog) const = 0;
-
-    /**
-     * Get the record catalog for a container.
-     *
-     * @param[out] catalog Buffer that will hold the record names on
-     *                    return.
-     */
-   virtual void getCatalog(std::set<zdl::DlSystem::String> &catalog) const = 0;
-
-   /**
-    * Get a record from a container by name.
-    *
-    * @param[in] name Name of the record to fetch.
-    * @param[out] record The passed in record will be populated with the
-    *                   record data on return. Note that the caller
-    *                   will own the data in the record and is
-    *                   responsible for freeing it if needed.
-    */
-   virtual void getRecord(const std::string &name, DlcRecord &record) const = 0;
-
-   /**
-    * Get a record from a container by name.
-    *
-    * @param[in] name Name of the record to fetch.
-    * @param[out] record The passed in record will be populated with the
-    *                   record data on return. Note that the caller
-    *                   will own the data in the record and is
-    *                   responsible for freeing it if needed.
-    */
-   virtual void getRecord(const zdl::DlSystem::String &name, DlcRecord &record) const = 0;
-
-   /**
-    * Save the container to an archive on disk. This function will save the
-    * container if the filename is different from the file that it was opened
-    * from, or if at least one record was modified since the container was
-    * opened.
-    *
-    * It will truncate any existing file at the target path.
-    *
-    * @param filename Container archive file path.
-    *
-    * @return indication of success/failure
-    */
-   virtual bool save(const std::string &filename) = 0;
-
-   /**
-    * Save the container to an archive on disk. This function will save the
-    * container if the filename is different from the file that it was opened
-    * from, or if at least one record was modified since the container was
-    * opened.
-    *
-    * It will truncate any existing file at the target path.
-    *
-    * @param filename Container archive file path.
-    *
-    * @return indication of success/failure
-    */
-   virtual bool save (const zdl::DlSystem::String &filename) = 0;
-
-   virtual ~IDlContainer() {}
-};
-
-} // ns DlContainer
-} // ns zdl
-
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/DlEnums.hpp b/third_party/snpe/include/DlSystem/DlEnums.hpp
deleted file mode 100644
index c9b3ef970a2aaa..00000000000000
--- a/third_party/snpe/include/DlSystem/DlEnums.hpp
+++ /dev/null
@@ -1,234 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2014-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _DL_ENUMS_HPP_
-#define _DL_ENUMS_HPP_
-
-#include "DlSystem/ZdlExportDefine.hpp"
-
-
-namespace zdl {
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Enumeration of supported target runtimes.
- */
-enum class Runtime_t
-{
-   /// Run the processing on Snapdragon CPU.
-   /// Data: float 32bit
-   /// Math: float 32bit
-   CPU_FLOAT32  = 0,
-
-   /// Run the processing on the Adreno GPU.
-   /// Data: float 16bit
-   /// Math: float 32bit
-   GPU_FLOAT32_16_HYBRID = 1,
-
-   /// Run the processing on the Hexagon DSP.
-   /// Data: 8bit fixed point Tensorflow style format
-   /// Math: 8bit fixed point Tensorflow style format
-   DSP_FIXED8_TF = 2,
-
-   /// Run the processing on the Adreno GPU.
-   /// Data: float 16bit
-   /// Math: float 16bit
-   GPU_FLOAT16 = 3,
-
-   /// Run the processing on Snapdragon AIX+HVX.
-   /// Data: 8bit fixed point Tensorflow style format
-   /// Math: 8bit fixed point Tensorflow style format
-   AIP_FIXED8_TF = 5,
-   AIP_FIXED_TF = AIP_FIXED8_TF,
-
-   /// Default legacy enum to retain backward compatibility.
-   /// CPU = CPU_FLOAT32
-   CPU = CPU_FLOAT32,
-
-   /// Default legacy enum to retain backward compatibility.
-   /// GPU = GPU_FLOAT32_16_HYBRID
-   GPU = GPU_FLOAT32_16_HYBRID,
-
-   /// Default legacy enum to retain backward compatibility.
-   /// DSP = DSP_FIXED8_TF
-   DSP = DSP_FIXED8_TF,
-
-   /// Special value indicating the property is unset.
-   UNSET = -1
-};
-
-/**
- * Enumeration of runtime available check options.
- */
-enum class RuntimeCheckOption_t
-{
-   /// Perform standard runtime available check
-   DEFAULT = 0,
-   /// Perform standard runtime available check
-   NORMAL_CHECK = 0,
-   /// Perform basic runtime available check, may be runtime specific
-   BASIC_CHECK = 1,
-   /// Perform unsignedPD runtime available check
-   UNSIGNEDPD_CHECK = 2,
-};
-
-/**
- * Enumeration of various performance profiles that can be requested.
- */
-enum class PerformanceProfile_t
-{
-    /// Run in a standard mode.
-    /// This mode will be deprecated in the future and replaced with BALANCED.
-    DEFAULT = 0,
-    /// Run in a balanced mode.
-    BALANCED = 0,
-
-    /// Run in high performance mode
-    HIGH_PERFORMANCE = 1,
-
-    /// Run in a power sensitive mode, at the expense of performance.
-    POWER_SAVER = 2,
-
-    /// Use system settings.  SNPE makes no calls to any performance related APIs.
-    SYSTEM_SETTINGS = 3,
-
-    /// Run in sustained high performance mode
-    SUSTAINED_HIGH_PERFORMANCE = 4,
-
-    /// Run in burst mode
-    BURST = 5,
-
-    /// Run in lower clock than POWER_SAVER, at the expense of performance.
-    LOW_POWER_SAVER = 6,
-
-    /// Run in higher clock and provides better performance than POWER_SAVER.
-    HIGH_POWER_SAVER = 7,
-
-    /// Run in lower balanced mode
-    LOW_BALANCED = 8,
-};
-
-/**
- * Enumeration of various profilngLevels that can be requested.
- */
-enum class ProfilingLevel_t
-{
-    /// No profiling.
-    /// Collects no runtime stats in the DiagLog
-    OFF = 0,
-
-    /// Basic profiling
-    /// Collects some runtime stats in the DiagLog
-    BASIC = 1,
-
-    /// Detailed profiling
-    /// Collects more runtime stats in the DiagLog, including per-layer statistics
-    /// Performance may be impacted
-    DETAILED = 2,
-
-    /// Moderate profiling
-    /// Collects more runtime stats in the DiagLog, no per-layer statistics
-    MODERATE = 3
-};
-
-/**
- * Enumeration of various execution priority hints.
- */
-enum class ExecutionPriorityHint_t
-{
-    /// Normal priority
-    NORMAL = 0,
-
-    /// Higher than normal priority
-    HIGH = 1,
-
-    /// Lower priority
-    LOW = 2
-
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++*/
-
-/**
- * Enumeration that lists the supported image encoding formats.
- */
-enum class ImageEncoding_t
-{
-   /// For unknown image type. Also used as a default value for ImageEncoding_t.
-   UNKNOWN = 0,
-
-   /// The RGB format consists of 3 bytes per pixel: one byte for
-   /// Red, one for Green, and one for Blue. The byte ordering is
-   /// endian independent and is always in RGB byte order.
-   RGB = 1,
-
-   /// The ARGB32 format consists of 4 bytes per pixel: one byte for
-   /// Red, one for Green, one for Blue, and one for the alpha channel.
-   /// The alpha channel is ignored. The byte ordering depends on the
-   /// underlying CPU. For little endian CPUs, the byte order is BGRA.
-   /// For big endian CPUs, the byte order is ARGB.
-   ARGB32 = 2,
-
-   /// The RGBA format consists of 4 bytes per pixel: one byte for
-   /// Red, one for Green, one for Blue, and one for the alpha channel.
-   /// The alpha channel is ignored. The byte ordering is endian independent
-   /// and is always in RGBA byte order.
-   RGBA = 3,
-
-   /// The GRAYSCALE format is for 8-bit grayscale.
-   GRAYSCALE = 4,
-
-   /// NV21 is the Android version of YUV. The Chrominance is down
-   /// sampled and has a subsampling ratio of 4:2:0. Note that this
-   /// image format has 3 channels, but the U and V channels
-   /// are subsampled. For every four Y pixels there is one U and one V pixel. @newpage
-   NV21 = 5,
-
-   /// The BGR format consists of 3 bytes per pixel: one byte for
-   /// Red, one for Green and one for Blue. The byte ordering is
-   /// endian independent and is always BGR byte order.
-   BGR = 6
-};
-
-/**
- * Enumeration that lists the supported LogLevels that can be set by users.
- */
-enum class LogLevel_t
-{
-    /// Enumeration variable to be used by user to set logging level to FATAL.
-    LOG_FATAL = 0,
-
-    /// Enumeration variable to be used by user to set logging level to ERROR.
-    LOG_ERROR = 1,
-
-    /// Enumeration variable to be used by user to set logging level to WARN.
-    LOG_WARN = 2,
-
-    /// Enumeration variable to be used by user to set logging level to INFO.
-    LOG_INFO = 3,
-
-    /// Enumeration variable to be used by user to set logging level to VERBOSE.
-    LOG_VERBOSE = 4
-};
-
-typedef enum : int
-{
-   UNSPECIFIED = 0,
-   FLOATING_POINT_32 = 1,
-   FLOATING_POINT_16 = 2,
-   FIXED_POINT_8 =  3,
-   FIXED_POINT_16 = 4
-} IOBufferDataType_t;
-
-}} // namespaces end
-
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/DlError.hpp b/third_party/snpe/include/DlSystem/DlError.hpp
deleted file mode 100644
index 57592f01baed27..00000000000000
--- a/third_party/snpe/include/DlSystem/DlError.hpp
+++ /dev/null
@@ -1,259 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _DL_ERROR_HPP_
-#define _DL_ERROR_HPP_
-
-#include <stdint.h>
-#include <limits> // numeric_limits
-
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace DlSystem {
-
-// clang and arm gcc different in how ZDL_EXPORT is used with enum class
-#if !defined (__clang__)
-enum class ErrorCode : uint32_t ZDL_EXPORT {
-#else
-enum class ZDL_EXPORT ErrorCode : uint32_t {
-#endif // ARM64V8A
-   NONE = 0,
-
-   // System config errors
-   SNPE_CONFIG_MISSING_PARAM                             = 100,
-   SNPE_CONFIG_INVALID_PARAM                             = 101,
-   SNPE_CONFIG_MISSING_FILE                              = 102,
-   SNPE_CONFIG_NNCONFIG_NOT_SET                          = 103,
-   SNPE_CONFIG_NNCONFIG_INVALID                          = 104,
-   SNPE_CONFIG_WRONG_INPUT_NAME                          = 105,
-   SNPE_CONFIG_INCORRECT_INPUT_DIMENSIONS                = 106,
-   SNPE_CONFIG_DIMENSIONS_MODIFICATION_NOT_SUPPORTED     = 107,
-   SNPE_CONFIG_BOTH_OUTPUT_LAYER_TENSOR_NAMES_SET        = 108,
-
-   SNPE_CONFIG_NNCONFIG_ONLY_TENSOR_SUPPORTED            = 120,
-   SNPE_CONFIG_NNCONFIG_ONLY_USER_BUFFER_SUPPORTED       = 121,
-
-   // DlSystem errors
-   SNPE_DLSYSTEM_MISSING_BUFFER                          = 200,
-   SNPE_DLSYSTEM_TENSOR_CAST_FAILED                      = 201,
-   SNPE_DLSYSTEM_FIXED_POINT_PARAM_INVALID               = 202,
-   SNPE_DLSYSTEM_SIZE_MISMATCH                           = 203,
-   SNPE_DLSYSTEM_NAME_NOT_FOUND                          = 204,
-   SNPE_DLSYSTEM_VALUE_MISMATCH                          = 205,
-   SNPE_DLSYSTEM_INSERT_FAILED                           = 206,
-   SNPE_DLSYSTEM_TENSOR_FILE_READ_FAILED                 = 207,
-   SNPE_DLSYSTEM_DIAGLOG_FAILURE                         = 208,
-   SNPE_DLSYSTEM_LAYER_NOT_SET                           = 209,
-   SNPE_DLSYSTEM_WRONG_NUMBER_INPUT_BUFFERS              = 210,
-   SNPE_DLSYSTEM_RUNTIME_TENSOR_SHAPE_MISMATCH           = 211,
-   SNPE_DLSYSTEM_TENSOR_MISSING                          = 212,
-   SNPE_DLSYSTEM_TENSOR_ITERATION_UNSUPPORTED            = 213,
-   SNPE_DLSYSTEM_BUFFER_MANAGER_MISSING                  = 214,
-   SNPE_DLSYSTEM_RUNTIME_BUFFER_SOURCE_UNSUPPORTED       = 215,
-   SNPE_DLSYSTEM_BUFFER_CAST_FAILED                      = 216,
-   SNPE_DLSYSTEM_WRONG_TRANSITION_TYPE                   = 217,
-   SNPE_DLSYSTEM_LAYER_ALREADY_REGISTERED                = 218,
-   SNPE_DLSYSTEM_TENSOR_DIM_INVALID                      = 219,
-
-   SNPE_DLSYSTEM_BUFFERENCODING_UNKNOWN                  = 240,
-   SNPE_DLSYSTEM_BUFFER_INVALID_PARAM                    = 241,
-
-   // DlContainer errors
-   SNPE_DLCONTAINER_MODEL_PARSING_FAILED                 = 300,
-   SNPE_DLCONTAINER_UNKNOWN_LAYER_CODE                   = 301,
-   SNPE_DLCONTAINER_MISSING_LAYER_PARAM                  = 302,
-   SNPE_DLCONTAINER_LAYER_PARAM_NOT_SUPPORTED            = 303,
-   SNPE_DLCONTAINER_LAYER_PARAM_INVALID                  = 304,
-   SNPE_DLCONTAINER_TENSOR_DATA_MISSING                  = 305,
-   SNPE_DLCONTAINER_MODEL_LOAD_FAILED                    = 306,
-   SNPE_DLCONTAINER_MISSING_RECORDS                      = 307,
-   SNPE_DLCONTAINER_INVALID_RECORD                       = 308,
-   SNPE_DLCONTAINER_WRITE_FAILURE                        = 309,
-   SNPE_DLCONTAINER_READ_FAILURE                         = 310,
-   SNPE_DLCONTAINER_BAD_CONTAINER                        = 311,
-   SNPE_DLCONTAINER_BAD_DNN_FORMAT_VERSION               = 312,
-   SNPE_DLCONTAINER_UNKNOWN_AXIS_ANNOTATION              = 313,
-   SNPE_DLCONTAINER_UNKNOWN_SHUFFLE_TYPE                 = 314,
-   SNPE_DLCONTAINER_TEMP_FILE_FAILURE                    = 315,
-
-   // Network errors
-   SNPE_NETWORK_EMPTY_NETWORK                            = 400,
-   SNPE_NETWORK_CREATION_FAILED                          = 401,
-   SNPE_NETWORK_PARTITION_FAILED                         = 402,
-   SNPE_NETWORK_NO_OUTPUT_DEFINED                        = 403,
-   SNPE_NETWORK_MISMATCH_BETWEEN_NAMES_AND_DIMS          = 404,
-   SNPE_NETWORK_MISSING_INPUT_NAMES                      = 405,
-   SNPE_NETWORK_MISSING_OUTPUT_NAMES                     = 406,
-   SNPE_NETWORK_EXECUTION_FAILED                         = 407,
-
-   // Host runtime errors
-   SNPE_HOST_RUNTIME_TARGET_UNAVAILABLE                  = 500,
-
-   // CPU runtime errors
-   SNPE_CPU_LAYER_NOT_SUPPORTED                          = 600,
-   SNPE_CPU_LAYER_PARAM_NOT_SUPPORTED                    = 601,
-   SNPE_CPU_LAYER_PARAM_INVALID                          = 602,
-   SNPE_CPU_LAYER_PARAM_COMBINATION_INVALID              = 603,
-   SNPE_CPU_BUFFER_NOT_FOUND                             = 604,
-   SNPE_CPU_NETWORK_NOT_SUPPORTED                        = 605,
-   SNPE_CPU_UDO_OPERATION_FAILED                         = 606,
-
-   // CPU fixed-point runtime errors
-   SNPE_CPU_FXP_LAYER_NOT_SUPPORTED                      = 700,
-   SNPE_CPU_FXP_LAYER_PARAM_NOT_SUPPORTED                = 701,
-   SNPE_CPU_FXP_LAYER_PARAM_INVALID                      = 702,
-
-   // GPU runtime errors
-   SNPE_GPU_LAYER_NOT_SUPPORTED                          = 800,
-   SNPE_GPU_LAYER_PARAM_NOT_SUPPORTED                    = 801,
-   SNPE_GPU_LAYER_PARAM_INVALID                          = 802,
-   SNPE_GPU_LAYER_PARAM_COMBINATION_INVALID              = 803,
-   SNPE_GPU_KERNEL_COMPILATION_FAILED                    = 804,
-   SNPE_GPU_CONTEXT_NOT_SET                              = 805,
-   SNPE_GPU_KERNEL_NOT_SET                               = 806,
-   SNPE_GPU_KERNEL_PARAM_INVALID                         = 807,
-   SNPE_GPU_OPENCL_CHECK_FAILED                          = 808,
-   SNPE_GPU_OPENCL_FUNCTION_ERROR                        = 809,
-   SNPE_GPU_BUFFER_NOT_FOUND                             = 810,
-   SNPE_GPU_TENSOR_DIM_INVALID                           = 811,
-   SNPE_GPU_MEMORY_FLAGS_INVALID                         = 812,
-   SNPE_GPU_UNEXPECTED_NUMBER_OF_IO                      = 813,
-   SNPE_GPU_LAYER_PROXY_ERROR                            = 814,
-   SNPE_GPU_BUFFER_IN_USE                                = 815,
-   SNPE_GPU_BUFFER_MODIFICATION_ERROR                    = 816,
-   SNPE_GPU_DATA_ARRANGEMENT_INVALID                     = 817,
-   SNPE_GPU_UDO_OPERATION_FAILED                         = 818,
-   // DSP runtime errors
-   SNPE_DSP_LAYER_NOT_SUPPORTED                          = 900,
-   SNPE_DSP_LAYER_PARAM_NOT_SUPPORTED                    = 901,
-   SNPE_DSP_LAYER_PARAM_INVALID                          = 902,
-   SNPE_DSP_LAYER_PARAM_COMBINATION_INVALID              = 903,
-   SNPE_DSP_STUB_NOT_PRESENT                             = 904,
-   SNPE_DSP_LAYER_NAME_TRUNCATED                         = 905,
-   SNPE_DSP_LAYER_INPUT_BUFFER_NAME_TRUNCATED            = 906,
-   SNPE_DSP_LAYER_OUTPUT_BUFFER_NAME_TRUNCATED           = 907,
-   SNPE_DSP_RUNTIME_COMMUNICATION_ERROR                  = 908,
-   SNPE_DSP_RUNTIME_INVALID_PARAM_ERROR                  = 909,
-   SNPE_DSP_RUNTIME_SYSTEM_ERROR                         = 910,
-   SNPE_DSP_RUNTIME_CRASHED_ERROR                        = 911,
-   SNPE_DSP_BUFFER_SIZE_ERROR                            = 912,
-   SNPE_DSP_UDO_EXECUTE_ERROR                            = 913,
-   SNPE_DSP_UDO_LIB_NOT_REGISTERED_ERROR                 = 914,
-   SNPE_DSP_UDO_INVALID_QUANTIZATION_TYPE_ERROR          = 915,
-   SNPE_DSP_RUNTIME_INVALID_RPC_DRIVER                   = 916,
-   SNPE_DSP_RUNTIME_RPC_PERMISSION_ERROR                 = 917,
-   SNPE_DSP_RUNTIME_DSP_FILE_OPEN_ERROR                  = 918,
-
-   // Model validataion errors
-   SNPE_MODEL_VALIDATION_LAYER_NOT_SUPPORTED             = 1000,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_NOT_SUPPORTED       = 1001,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_INVALID             = 1002,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_MISSING             = 1003,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_COMBINATION_INVALID = 1004,
-   SNPE_MODEL_VALIDATION_LAYER_ORDERING_INVALID          = 1005,
-   SNPE_MODEL_VALIDATION_INVALID_CONSTRAINT              = 1006,
-   SNPE_MODEL_VALIDATION_MISSING_BUFFER                  = 1007,
-   SNPE_MODEL_VALIDATION_BUFFER_REUSE_NOT_SUPPORTED      = 1008,
-   SNPE_MODEL_VALIDATION_LAYER_COULD_NOT_BE_ASSIGNED     = 1009,
-   SNPE_MODEL_VALIDATION_UDO_LAYER_FAILED                = 1010,
-
-   // UDL errors
-   SNPE_UDL_LAYER_EMPTY_UDL_NETWORK                      = 1100,
-   SNPE_UDL_LAYER_PARAM_INVALID                          = 1101,
-   SNPE_UDL_LAYER_INSTANCE_MISSING                       = 1102,
-   SNPE_UDL_LAYER_SETUP_FAILED                           = 1103,
-   SNPE_UDL_EXECUTE_FAILED                               = 1104,
-   SNPE_UDL_BUNDLE_INVALID                               = 1105,
-   SNPE_UDO_REGISTRATION_FAILED                          = 1106,
-   SNPE_UDO_GET_PACKAGE_FAILED                           = 1107,
-   SNPE_UDO_GET_IMPLEMENTATION_FAILED                    = 1108,
-
-   // Dependent library errors
-   SNPE_STD_LIBRARY_ERROR                                = 1200,
-
-   // Unknown exception (catch (...)), Has no component attached to this
-   SNPE_UNKNOWN_EXCEPTION                                = 1210,
-
-   // Storage Errors
-   SNPE_STORAGE_INVALID_KERNEL_REPO                      = 1300,
-
-   // AIP runtime errors
-   SNPE_AIP_LAYER_NOT_SUPPORTED                          = 1400,
-   SNPE_AIP_LAYER_PARAM_NOT_SUPPORTED                    = 1401,
-   SNPE_AIP_LAYER_PARAM_INVALID                          = 1402,
-   SNPE_AIP_LAYER_PARAM_COMBINATION_INVALID              = 1403,
-   SNPE_AIP_STUB_NOT_PRESENT                             = 1404,
-   SNPE_AIP_LAYER_NAME_TRUNCATED                         = 1405,
-   SNPE_AIP_LAYER_INPUT_BUFFER_NAME_TRUNCATED            = 1406,
-   SNPE_AIP_LAYER_OUTPUT_BUFFER_NAME_TRUNCATED           = 1407,
-   SNPE_AIP_RUNTIME_COMMUNICATION_ERROR                  = 1408,
-   SNPE_AIP_RUNTIME_INVALID_PARAM_ERROR                  = 1409,
-   SNPE_AIP_RUNTIME_SYSTEM_ERROR                         = 1410,
-   SNPE_AIP_RUNTIME_TENSOR_MISSING                       = 1411,
-   SNPE_AIP_RUNTIME_TENSOR_SHAPE_MISMATCH                = 1412,
-   SNPE_AIP_RUNTIME_BAD_AIX_RECORD                       = 1413,
-
-   // DlCaching errors
-   SNPE_DLCACHING_INVALID_METADATA                       = 1500,
-   SNPE_DLCACHING_INVALID_INITBLOB                       = 1501,
-
-   // Infrastructure Errors
-   SNPE_INFRA_CLUSTERMGR_INSTANCE_INVALID                = 1600,
-   SNPE_INFRA_CLUSTERMGR_EXECUTE_SYNC_FAILED             = 1601,
-
-   // Memory Errors
-   SNPE_MEMORY_CORRUPTION_ERROR                          = 1700
-
-};
-
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Returns the error code of the last error encountered.
- *
- * @return The error code.
- *
- * @note The returned error code is significant only when the return
- *       value of the call indicated an error.
- */
-ZDL_EXPORT ErrorCode getLastErrorCode();
-
-/**
- * Returns the error string of the last error encountered.
- *
- * @return The error string.
- *
- * @note The returned error string is significant only when the return
- *       value of the call indicated an error.
- */
-ZDL_EXPORT const char* getLastErrorString();
-
-/**
- * Returns the info string of the last error encountered.
- */
-ZDL_EXPORT const char* getLastInfoString();
-
-/**
- * Returns the uint32_t representation of the error code enum.
- *
- * @param[in] code The error code to be converted.
- *
- * @return uint32_t representation of the error code.
- */
-ZDL_EXPORT uint32_t enumToUInt32(zdl::DlSystem::ErrorCode code);
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // DlSystem
-} // zdl
-
-#endif // _DL_ERROR_HPP_
-
diff --git a/third_party/snpe/include/DlSystem/DlOptional.hpp b/third_party/snpe/include/DlSystem/DlOptional.hpp
deleted file mode 100644
index 4f83e6b4e417fc..00000000000000
--- a/third_party/snpe/include/DlSystem/DlOptional.hpp
+++ /dev/null
@@ -1,225 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2016, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _DL_SYSTEM_OPTIONAL_HPP_
-#define _DL_SYSTEM_OPTIONAL_HPP_
-
-#include <cstdio>
-#include <utility>
-#include <stdexcept>
-
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace DlSystem {
-
-template <typename T>
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Class to manage a value that may or may not exist. The boolean value
- * of the Optional class is true if the object contains a value and false
- * if it does not contain a value.
- *
- * The class must be evaluated and confirmed as true (containing a value)
- * before being dereferenced.
- */
-class ZDL_EXPORT Optional final {
-public:
-   enum class LIFECYCLE {
-      NONE = 0,
-      REFERENCE_OWNED = 1,
-      POINTER_OWNED = 2,
-      POINTER_NOT_OWNED = 3
-   };
-
-   struct ReferenceCount {
-      size_t count = 0;
-
-      void increment() { count++; }
-
-      size_t decrement() {
-         if (count > 0) {
-            count--;
-         }
-         return count;
-      }
-   };
-
-   using U = typename std::remove_pointer<T>::type;
-
-   /**
-    * The default constructor is set to not have any value, and is
-    * therefore evaluated as false.
-    */
-   // Do not explicit it so we can return {}
-   Optional() {
-      m_Type = LIFECYCLE::NONE;
-   }
-
-   /**
-    * Construct an Optional class using an object.
-    * @param[in] Reference to an object v
-    * @param[out] Optional instance of object v
-    */
-   template <typename Q = T>
-   Optional (const T& v, typename std::enable_if<!std::is_pointer<Q>::value>::type* = 0)
-           : m_Type(LIFECYCLE::REFERENCE_OWNED) {
-      try {
-         m_StoragePtr = new T(v);
-      } catch (...) {
-         m_StoragePtr = nullptr;
-         m_Type = LIFECYCLE::NONE;
-      }
-   }
-
-   template <typename Q = T>
-   Optional(U* v, LIFECYCLE type, typename std::enable_if<std::is_pointer<Q>::value>::type* = 0)
-           : m_Type(type) {
-      switch (m_Type) {
-         case LIFECYCLE::POINTER_OWNED:
-            m_StoragePtr = v;
-            m_Count = new ReferenceCount();
-            m_Count->increment();
-            break;
-         case LIFECYCLE::POINTER_NOT_OWNED:
-            m_StoragePtr = v;
-            break;
-         case LIFECYCLE::REFERENCE_OWNED:
-            throw std::bad_exception();
-         case LIFECYCLE::NONE:
-            break;
-      }
-   }
-
-   Optional(const Optional &other) : m_Type(other.m_Type), m_Count(other.m_Count) {
-      if (isReference()) {
-         m_StoragePtr = new U(*other.m_StoragePtr);
-      } else if (isPointer()) {
-         m_StoragePtr = other.m_StoragePtr;
-         if (isOwned()) {
-            m_Count->increment();
-         }
-      }
-   }
-
-   Optional& operator=(const Optional& other) noexcept {
-      Optional tmp(other);
-      swap(std::move(tmp));
-      return *this;
-   }
-
-   Optional(Optional&& other) noexcept {
-      swap(std::move(other));
-   }
-
-   Optional& operator=(Optional&& other) noexcept {
-      swap(std::move(other));
-      return *this;
-   }
-
-   ~Optional() {
-      if (isOwned()) {
-         if (isReference() || (isPointer() && m_Count->decrement() == 0)) {
-            delete m_StoragePtr;
-            delete m_Count;
-         }
-      }
-   }
-
-   /**
-    * Boolean value of Optional class is only true when there exists a value.
-    */
-   operator bool() const noexcept { return isValid(); }
-
-   bool operator!() const noexcept { return !isValid(); }
-
-   /**
-    * Get reference of Optional object
-    * @warning User must validate Optional has value before.
-    */
-   const T& operator*() { return this->GetReference(); }
-
-   /**
-    * Get reference of Optional object
-    * @warning User must validate Optional has value before.
-    */
-   const T& operator*() const { return this->GetReference(); }
-
-   operator T&() { return this->GetReference(); }
-
-   T operator->() {
-      T self = this->GetReference();
-      return self;
-   }
-private:
-   void swap(Optional&& other) {
-      m_Type = other.m_Type;
-      m_StoragePtr = other.m_StoragePtr;
-      m_Count = other.m_Count;
-
-      other.m_Type = LIFECYCLE::NONE;
-      other.m_StoragePtr = nullptr;
-      other.m_Count = nullptr;
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U, Q>::value, const Q&>::type GetReference() const noexcept {
-      if (!isReference()) std::terminate();
-      return *static_cast<const Q*>(m_StoragePtr);
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U*, Q>::value, const Q&>::type GetReference() const noexcept {
-      if (!isPointer()) std::terminate();
-      return static_cast<const Q&>(m_StoragePtr);
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U, Q>::value, Q&>::type GetReference() noexcept {
-      if (!isReference()) std::terminate();
-      return *m_StoragePtr;
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U*, Q>::value, Q&>::type GetReference() noexcept {
-      if (!isPointer()) std::terminate();
-      return m_StoragePtr;
-   }
-
-   bool isPointer() const {
-      return m_Type == LIFECYCLE::POINTER_OWNED || m_Type == LIFECYCLE::POINTER_NOT_OWNED;
-   }
-
-   bool isOwned() const {
-      return m_Type == LIFECYCLE::REFERENCE_OWNED || m_Type == LIFECYCLE::POINTER_OWNED;
-   }
-
-   bool isReference() const {
-      return m_Type == LIFECYCLE::REFERENCE_OWNED;
-   }
-
-   bool isValid() const {
-      return m_Type != LIFECYCLE::NONE;
-   }
-
-   U* m_StoragePtr = nullptr;
-   LIFECYCLE m_Type;
-   ReferenceCount *m_Count = nullptr;
-};
-
-} // ns DlSystem
-} // ns zdl
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // _DL_SYSTEM_OPTIONAL_HPP_
diff --git a/third_party/snpe/include/DlSystem/DlVersion.hpp b/third_party/snpe/include/DlSystem/DlVersion.hpp
deleted file mode 100644
index beb8d75f218caf..00000000000000
--- a/third_party/snpe/include/DlSystem/DlVersion.hpp
+++ /dev/null
@@ -1,78 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2014-2015 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-
-#ifndef _DL_VERSION_HPP_
-#define _DL_VERSION_HPP_
-
-#include "ZdlExportDefine.hpp"
-#include <stdint.h>
-#include <string>
-#include "DlSystem/String.hpp"
-
-
-namespace zdl {
-namespace DlSystem
-{
-   class Version_t;
-}}
-
-
-namespace zdl { namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * A class that contains the different portions of a version number.
- */
-class ZDL_EXPORT Version_t
-{
-public:
-   /// Holds the major version number. Changes in this value indicate
-   /// major changes that break backward compatibility.
-   int32_t         Major;
-
-   /// Holds the minor version number. Changes in this value indicate
-   /// minor changes made to library that are backwards compatible
-   /// (such as additions to the interface).
-   int32_t         Minor;
-
-   /// Holds the teeny version number. Changes in this value indicate
-   /// changes such as bug fixes and patches made to the library that
-   /// do not affect the interface.
-   int32_t         Teeny;
-
-   /// This string holds information about the build version.
-   ///
-   std::string     Build;
-
-   static zdl::DlSystem::Version_t fromString(const std::string &stringValue);
-
-   static zdl::DlSystem::Version_t fromString(const zdl::DlSystem::String &stringValue);
-
-   /**
-    * @brief Returns a string in the form Major.Minor.Teeny.Build
-    *
-    * @return A formatted string holding the version information.
-    */
-   const std::string toString() const;
-
-   /**
-    * @brief Returns a string in the form Major.Minor.Teeny.Build
-    *
-    * @return A formatted string holding the version information.
-    */
-   const zdl::DlSystem::String asString() const;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis */
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/IBufferAttributes.hpp b/third_party/snpe/include/DlSystem/IBufferAttributes.hpp
deleted file mode 100644
index f893e0a2370880..00000000000000
--- a/third_party/snpe/include/DlSystem/IBufferAttributes.hpp
+++ /dev/null
@@ -1,86 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2017-2019 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _IBUFFER_ATTRIBUTES_HPP
-#define _IBUFFER_ATTRIBUTES_HPP
-#include "IUserBuffer.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-
-namespace zdl {
-    namespace DlSystem {
-        class UserBufferEncoding;
-    }
-}
-
-namespace zdl {
-namespace DlSystem {
-
-/**
- * @brief IBufferAttributes returns a buffer's dimension and alignment
- *        requirements, along with info on its encoding type
- */
-class ZDL_EXPORT IBufferAttributes {
-public:
-
-    /**
-      * @brief Gets the buffer's element size, in bytes
-      *
-      * This can be used to compute the memory size required
-      * to back this buffer.
-      *
-      * @return Element size, in bytes
-     */
-    virtual size_t getElementSize() const noexcept = 0;
-
-    /**
-      * @brief Gets the element's encoding type
-      *
-      * @return encoding type
-     */
-    virtual zdl::DlSystem::UserBufferEncoding::ElementType_t getEncodingType() const noexcept = 0;
-
-    /**
-      * @brief Gets the number of elements in each dimension
-      *
-      * @return Dimension size, in terms of number of elements
-     */
-    virtual const TensorShape getDims() const noexcept = 0;
-
-    /**
-      * @brief Gets the alignment requirement of each dimension
-      *
-      * Alignment per each dimension is expressed as an multiple, for
-      * example, if one particular dimension can accept multiples of 8,
-      * the alignment will be 8.
-      *
-      * @return Alignment in each dimension, in terms of multiple of
-      *         number of elements
-     */
-    virtual const TensorShape getAlignments() const noexcept = 0;
-
-    /**
-      * @brief Gets the buffer encoding returned from the network responsible
-      * for generating this buffer. Depending on the encoding type, this will
-      * be an instance of an encoding type specific derived class.
-      *
-      * @return Derived user buffer encoding object.
-     */
-    virtual zdl::DlSystem::UserBufferEncoding* getEncoding() const noexcept = 0;
-
-    virtual ~IBufferAttributes() {}
-};
-
-
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}
-}
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp b/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
deleted file mode 100644
index ac33c84af81198..00000000000000
--- a/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
+++ /dev/null
@@ -1,127 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2021-2022 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-
-#ifndef DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
-#define DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
-
-#include <cstddef>
-#include <memory>
-#include "DlSystem/DlEnums.hpp"
-
-namespace DlSystem
-{
-   // Forward declaration of IOBufferDataTypeMapImpl implementation.
-   class IOBufferDataTypeMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * The IoBufferDataTypeMap class definition
- */
-class ZDL_EXPORT IOBufferDataTypeMap final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new Buffer Data type map
-    *
-    */
-   IOBufferDataTypeMap();
-
-   /**
-    * @brief Adds a name and the corresponding buffer data type
-    *        to the map
-    *
-    * @param[name] name The name of the buffer
-    * @param[bufferDataType] buffer Data Type of the buffer
-    *
-    * @note If a buffer with the same name already exists, no new
-    *       buffer is added.
-    */
-   void add(const char* name, zdl::DlSystem::IOBufferDataType_t bufferDataType);
-
-   /**
-    * @brief Removes a buffer name from the map
-    *
-    * @param[name] name The name of the buffer
-    *
-    */
-   void remove(const char* name);
-
-   /**
-    * @brief Returns the type of the named buffer
-    *
-    * @param[name] name The name of the buffer
-    *
-    * @return The type of the buffer, or UNSPECIFIED if the buffer does not exist
-    *
-    */
-   zdl::DlSystem::IOBufferDataType_t getBufferDataType(const char* name);
-
-   /**
-    * @brief Returns the type of the first buffer
-    *
-    * @return The type of the first buffer, or UNSPECIFIED if the map is empty.
-    *
-    */
-   zdl::DlSystem::IOBufferDataType_t getBufferDataType();
-
-   /**
-    * @brief Returns the size of the buffer type map.
-    *
-    * @return The size of the map
-    *
-    */
-   size_t size();
-
-   /**
-    * @brief Checks the existence of the named buffer in the map
-    *
-    * @return True if the named buffer exists, false otherwise.
-    *
-    */
-   bool find(const char* name);
-
-   /**
-    * @brief Resets the map
-    *
-    */
-   void clear();
-
-   /**
-    * @brief Checks whether the map is empty
-    *
-    * @return True if the map is empty, false otherwise.
-    *
-    */
-   bool empty();
-
-   /**
-    * @brief Destroys the map
-    *
-    */
-   ~IOBufferDataTypeMap();
-
-private:
-   std::shared_ptr<::DlSystem::IOBufferDataTypeMapImpl> m_IOBufferDataTypeMapImpl;
-};
-}
-
-}
-#endif
diff --git a/third_party/snpe/include/DlSystem/ITensor.hpp b/third_party/snpe/include/DlSystem/ITensor.hpp
deleted file mode 100644
index 2f006c857fc442..00000000000000
--- a/third_party/snpe/include/DlSystem/ITensor.hpp
+++ /dev/null
@@ -1,146 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_HPP_
-#define _ITENSOR_HPP_
-
-#include "ITensorItr.hpp"
-#include "ITensorItrImpl.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include <memory>
-#include <ostream>
-#include <cmath>
-
-namespace zdl {
-namespace DlSystem
-{
-   class ITensor;
-}}
-
-namespace zdl { namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Represents a tensor which holds n-dimensional data. It is important to
- * understand how the tensor data is represented in memory 
- * relative to the tensor dimensions. Tensors store data in 
- * memory in row-major order (i.e. the last tensor dimension is 
- * the fastest varying one). For example, if you have a two 
- * dimensional tensor with 3 rows and 2 columns (i.e. the tensor 
- * dimensions are 3,2 as returned in tensor dimension vectors)
- * with the following data in terms rows and columns: 
- *  
- * | 1 2 | <br/>
- * | 3 4 | <br/>
- * | 5 6 | <br/>
- *  
- * This data would be stored in memory as 1,2,3,4,5,6. 
- */
-class ZDL_EXPORT ITensor 
-{
-public:
-
-   typedef zdl::DlSystem::ITensorItr<false> iterator;
-   typedef zdl::DlSystem::ITensorItr<true> const_iterator;
-
-   virtual ~ITensor() {}
-
-   /**
-    * Returns a tensor iterator pointing to the beginning 
-    * of the data in the tensor.
-    * 
-    * @return A tensor iterator that points to the first data
-    *         element in the tensor.
-    */
-   virtual iterator begin() = 0;
-
-   /**
-    * Returns the const version of a tensor iterator 
-    * pointing to the beginning of the data in the tensor.
-    * 
-    * @return A tensor const iterator that points to the first data
-    *         element in the tensor.
-    */
-   virtual const_iterator cbegin() const = 0;
-
-   /**
-    * Returns a tensor iterator pointing to the end of the
-    * data in the tensor. This tensor should not be
-    * dereferenced.
-    * 
-    * @return A tensor iterator that points to the end of the data 
-    *         (one past the last element) in the tensor.
-    */
-   virtual iterator end() = 0;
-
-   /**
-    * Returns the const version of a tensor iterator 
-    * pointing to the end of the data in the tensor. This
-    * tensor should not be dereferenced.
-    * 
-    * @return A tensor const iterator that points to the end of the
-    *         data (one past the last element) in the tensor.
-    */
-   virtual const_iterator cend() const = 0;
-
-   /**
-    * @brief Gets the shape of this tensor.
-    *  
-    * The last element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest 
-    * varying dimension, etc. 
-    * 
-    * @return A shape class holding the tensor dimensions.
-    */
-   virtual TensorShape getShape() const = 0;
-
-   /**
-    * Returns the element size of the data in the tensor 
-    * (discounting strides). This is how big a buffer would
-    * need to be to hold the tensor data contiguously in
-    * memory.
-    *  
-    * @return The size of the tensor (in elements).
-    */
-   virtual size_t getSize() const = 0;
-
-   /**
-    * @brief Serializes the tensor to an output stream.
-    * 
-    * @param[in] output The output stream to which to write the tensor 
-    *  
-    * @throw std::runtime_error If the stream is ever in a bad 
-    *        state before the tensor is fully serialized.
-    */
-   virtual void serialize(std::ostream &output) const = 0;
-
-   friend iterator;
-   friend const_iterator;
-
-   virtual bool isQuantized() {return false;}
-   virtual float GetDelta() {return NAN;};
-   virtual float GetOffset() {return NAN;};
-
-protected:
-
-   /**
-    * Returns the tensor iterator implementation.
-    * 
-    * @return A pointer to the tensor iterator implementation.
-    */
-   virtual std::unique_ptr<::DlSystem::ITensorItrImpl> getItrImpl() const = 0;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorFactory.hpp b/third_party/snpe/include/DlSystem/ITensorFactory.hpp
deleted file mode 100644
index 57d2c8ea992375..00000000000000
--- a/third_party/snpe/include/DlSystem/ITensorFactory.hpp
+++ /dev/null
@@ -1,92 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_FACTORY_HPP
-#define _ITENSOR_FACTORY_HPP
-
-#include "ITensor.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include <istream>
-
-namespace zdl {
-    namespace DlSystem
-    {
-        class ITensor;
-        class TensorShape;
-    }
-}
-
-namespace zdl { namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Factory interface class to create ITensor objects.
- */
-class ZDL_EXPORT ITensorFactory
-{
-public:
-   virtual ~ITensorFactory() = default;
-
-   /**
-    * Creates a new ITensor with uninitialized data. 
-    *  
-    * The strides for the tensor will match the tensor dimensions 
-    * (i.e., the tensor data is contiguous in memory).
-    *  
-    * @param[in] shape The dimensions for the tensor in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    * 
-    * @return A pointer to the created tensor or nullptr if creating failed.
-    */
-   virtual std::unique_ptr<ITensor>
-      createTensor(const TensorShape &shape) noexcept = 0;
-
-   /**
-    * Creates a new ITensor by loading it from a file.
-    *  
-    * @param[in] input The input stream from which to read the tensor 
-    *                  data.
-    *  
-    * @return A pointer to the created tensor or nullptr if creating failed.
-    *
-    */
-   virtual std::unique_ptr<ITensor> createTensor(std::istream &input) noexcept = 0;
-
-   /**
-    * Create a new ITensor with specific data.
-    * (i.e. the tensor data is contiguous in memory). This tensor is
-    * primarily used to create a tensor where tensor size can't be
-    * computed directly from dimension. One such example is
-    * NV21-formatted image, or any YUV formatted image
-    *
-    * @param[in] shape The dimensions for the tensor in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-    * @param[in] data The actual data with which the Tensor object is filled.
-    *
-    * @param[in] dataSize The size of data
-    *
-    * @return A pointer to the created tensor
-    */
-   virtual std::unique_ptr<ITensor>
-      createTensor(const TensorShape &shape, const unsigned char *data, size_t dataSize) noexcept = 0;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorItr.hpp b/third_party/snpe/include/DlSystem/ITensorItr.hpp
deleted file mode 100644
index 4ce12a9f113acb..00000000000000
--- a/third_party/snpe/include/DlSystem/ITensorItr.hpp
+++ /dev/null
@@ -1,182 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_ITR_HPP_
-#define _ITENSOR_ITR_HPP_
-
-#include "ZdlExportDefine.hpp"
-#include "ITensorItrImpl.hpp"
-
-#include <memory>
-#include <iterator>
-#include <iostream>
-
-namespace zdl {
-namespace DlSystem
-{
-   template<bool IS_CONST> class ITensorItr;
-   class ITensor;
-   void ZDL_EXPORT fill(ITensorItr<false> first, ITensorItr<false> end, float val);
-   template<class InItr, class OutItr> OutItr ZDL_EXPORT copy(InItr first, InItr last, OutItr result)
-   {
-      return std::copy(first, last, result);
-   }
-}}
-namespace DlSystem
-{
-   class ITensorItrImpl;
-}
-
-namespace zdl { namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * A bidirectional iterator (with limited random access 
- * capabilities) for the zdl::DlSystem::ITensor class.
- *  
- * This is a standard bidrectional iterator and is compatible
- * with standard algorithm functions that operate on bidirectional 
- * access iterators (e.g., std::copy, std::fill, etc.). It uses a
- * template parameter to create const and non-const iterators 
- * from the same code. Iterators are easiest to declare via the 
- * typedefs iterator and const_iterator in the ITensor class 
- * (e.g., zdl::DlSystem::ITensor::iterator). 
- *  
- * Note that if the tensor the iterator is traversing was 
- * created with nondefault (i.e., nontrivial) strides, the 
- * iterator will obey the strides when traversing the tensor 
- * data. 
- *  
- * Also note that nontrivial strides dramatically affect the
- * performance of the iterator (on the order of 20x slower). 
- */ 
-template<bool IS_CONST=true>
-class ZDL_EXPORT ITensorItr : public std::iterator<std::bidirectional_iterator_tag, float>
-{
-public:
-
-   typedef typename std::conditional<IS_CONST, const float&, float&>::type VALUE_REF;
-
-   ITensorItr() = delete;
-   virtual ~ITensorItr() {}
-
-   ITensorItr(std::unique_ptr<::DlSystem::ITensorItrImpl> impl, 
-              bool isTrivial = false, 
-              float* data = nullptr)
-      : m_Impl(impl->clone())
-      , m_IsTrivial(isTrivial)
-      , m_Data(data)
-      , m_DataStart(data) {}
-
-   ITensorItr(const ITensorItr<IS_CONST>& itr)
-      : m_Impl(itr.m_Impl->clone()),
-        m_IsTrivial(itr.m_IsTrivial),
-        m_Data(itr.m_Data),
-        m_DataStart(itr.m_DataStart) {}
-
-   zdl::DlSystem::ITensorItr<IS_CONST>& operator=(const ITensorItr<IS_CONST>& other)
-   {
-      if (this == &other) return *this;
-      m_Impl = std::move(other.m_Impl->clone());
-      m_IsTrivial = other.m_IsTrivial;
-      m_Data = other.m_Data;
-      m_DataStart = other.m_DataStart;
-      return *this;
-   }
-
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator++()
-   {
-      if (m_IsTrivial) m_Data++; else m_Impl->increment();
-      return *this;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST> operator++(int)
-   {
-      ITensorItr tmp(*this);
-      operator++();
-      return tmp;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator--()
-   {
-      if (m_IsTrivial) m_Data--; else m_Impl->decrement();
-      return *this;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST> operator--(int)
-   {
-      ITensorItr tmp(*this);
-      operator--();
-      return tmp;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator+=(int rhs)
-   {
-      if (m_IsTrivial) m_Data += rhs; else m_Impl->increment(rhs);
-      return *this;
-   }
-   inline friend zdl::DlSystem::ITensorItr<IS_CONST> operator+(zdl::DlSystem::ITensorItr<IS_CONST> lhs, int rhs)
-      { lhs += rhs; return lhs; }
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator-=(int rhs)
-   {
-      if (m_IsTrivial) m_Data -= rhs; else m_Impl->decrement(rhs);
-      return *this;
-   }
-   inline friend zdl::DlSystem::ITensorItr<IS_CONST> operator-(zdl::DlSystem::ITensorItr<IS_CONST> lhs, int rhs)
-      { lhs -= rhs; return lhs; }
-
-   inline size_t operator-(const zdl::DlSystem::ITensorItr<IS_CONST>& rhs)
-   {
-      if (m_IsTrivial) return (m_Data - m_DataStart) - (rhs.m_Data - rhs.m_DataStart);
-      return m_Impl->getPosition() - rhs.m_Impl->getPosition();
-   }
-
-   inline friend bool operator<(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-   {
-      if (lhs.m_IsTrivial) return lhs.m_Data < rhs.m_Data;
-      return lhs.m_Impl->dataPointer() < rhs.m_Impl->dataPointer();
-   }
-   inline friend bool operator>(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-      { return rhs < lhs; }
-   inline friend bool operator<=(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-      { return !(lhs > rhs); }
-   inline friend bool operator>=(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-      { return !(lhs < rhs); }
-
-   inline bool operator==(const ITensorItr<IS_CONST>& rhs) const
-   {
-      if (m_IsTrivial) return m_Data == rhs.m_Data;
-      return m_Impl->dataPointer() == rhs.m_Impl->dataPointer();
-   }
-   inline bool operator!=(const ITensorItr<IS_CONST>& rhs) const
-      { return !operator==(rhs); }
-
-   inline VALUE_REF operator[](size_t idx)
-   {
-      if (m_IsTrivial) return *(m_DataStart + idx);
-      return m_Impl->getReferenceAt(idx);
-   }
-   inline VALUE_REF operator*()
-      { if (m_IsTrivial) return *m_Data; else return m_Impl->getReference(); }
-   inline VALUE_REF operator->()
-      { return *(*this); }
-   inline float* dataPointer() const
-      { if (m_IsTrivial) return m_Data; else return m_Impl->dataPointer(); }
-
-
-protected:
-   std::unique_ptr<::DlSystem::ITensorItrImpl> m_Impl;
-   bool m_IsTrivial = false;
-   float* m_Data = nullptr;
-   float* m_DataStart = nullptr;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp b/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
deleted file mode 100644
index 069e7a1d69031f..00000000000000
--- a/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_ITR_IMPL_HPP_
-#define _ITENSOR_ITR_IMPL_HPP_
-
-#include "ZdlExportDefine.hpp"
-
-#include <memory>
-#include <iterator>
-
-namespace DlSystem
-{
-   class ITensorItrImpl;
-}
-
-class ZDL_EXPORT DlSystem::ITensorItrImpl
-{
-public:
-   ITensorItrImpl() {}
-   virtual ~ITensorItrImpl() {}
-
-   virtual float getValue() const = 0;
-   virtual float& getReference() = 0;
-   virtual float& getReferenceAt(size_t idx) = 0;
-   virtual float* dataPointer() const = 0;
-   virtual void increment(int incVal = 1) = 0;
-   virtual void decrement(int decVal = 1) = 0;
-   virtual size_t getPosition() = 0;
-   virtual std::unique_ptr<DlSystem::ITensorItrImpl> clone() = 0;
-
-private:
-   ITensorItrImpl& operator=(const ITensorItrImpl& other) = delete;
-   ITensorItrImpl(const ITensorItrImpl& other) = delete;
-};
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/IUDL.hpp b/third_party/snpe/include/DlSystem/IUDL.hpp
deleted file mode 100644
index a171ac7e81d6a3..00000000000000
--- a/third_party/snpe/include/DlSystem/IUDL.hpp
+++ /dev/null
@@ -1,105 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _DL_SYSTEM_IUDL_HPP_
-#define _DL_SYSTEM_IUDL_HPP_
-
-#include "ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace DlSystem {
-
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- *
- * Base class user concrete UDL implementation.
- *
- * All functions are marked as:
- *
- * - virtual
- * - noexcept
- *
- * User should make sure no exceptions are propagated outside of
- * their module. Errors can be communicated via return values.
- */
-class ZDL_EXPORT IUDL {
-public:
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief .
-    *
-    * Destructor
-    */
-   virtual ~IUDL() = default;
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief Sets up the user's environment.
-    * This is called by the SNPE framework to allow the user the
-    * opportunity to setup anything which is needed for running
-    * user defined layers.
-    *
-    * @param cookie User provided opaque data returned by the SNPE
-    *               runtime
-    *
-    * @param insz How many elements in input size array
-    * @param indim Pointer to a buffer that holds input dimension
-    *               array
-    * @param indimsz Input dimension size  array of the buffer
-    *                 'indim'. Corresponds to indim
-    *
-    * @param outsz How many elements in output size array
-    * @param outdim Pointer to a buffer that holds output
-    *              dimension array
-    * @param outdimsz Output dimension size of the buffer 'oudim'.
-    *                  Corresponds to indim
-    *
-    * @return true on success, false otherwise
-    */
-   virtual bool setup(void *cookie,
-                      size_t insz, const size_t **indim, const size_t *indimsz,
-                      size_t outsz, const size_t **outdim, const size_t *outdimsz)  = 0;
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief Close the instance. Invoked by the SNPE
-    * framework to allow the user the opportunity to release any resources
-    * allocated during setup.
-    *
-    * @param cookie - User provided opaque data returned by the SNPE runtime
-    */
-   virtual void close(void *cookie) noexcept = 0;
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief Execute the user defined layer
-    *
-    * @param cookie User provided opaque data returned by the SNPE 
-    *               runtime
-    *
-    * @param input Const pointer to a float buffer that contains
-    *               the input
-    *
-    * @param output Float pointer to a buffer that would hold
-    *                 the user defined layer's output. This buffer
-    *                 is allocated and owned by SNPE runtime.
-    */
-   virtual bool execute(void *cookie, const float **input, float **output)  = 0;
-};
-
-} // ns DlSystem
-
-} // ns zdl
-
-#endif // _DL_SYSTEM_IUDL_HPP_
diff --git a/third_party/snpe/include/DlSystem/IUserBuffer.hpp b/third_party/snpe/include/DlSystem/IUserBuffer.hpp
deleted file mode 100644
index ea491a545b3269..00000000000000
--- a/third_party/snpe/include/DlSystem/IUserBuffer.hpp
+++ /dev/null
@@ -1,358 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2017-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _IUSER_BUFFER_HPP
-#define _IUSER_BUFFER_HPP
-
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include <math.h>
-
-namespace zdl {
-namespace DlSystem {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-
-/**
-  * @brief .
-  *
-  * A base class buffer encoding type
-  */
-class ZDL_EXPORT UserBufferEncoding {
-public:
-
-    /**
-      * @brief .
-      *
-      * An enum class of all supported element types in a IUserBuffer
-      */
-    enum class ElementType_t
-    {
-        /// Unknown element type.
-        UNKNOWN         = 0,
-
-        /// Each element is presented by float.
-        FLOAT           = 1,
-
-        /// Each element is presented by an unsigned int.
-        UNSIGNED8BIT    = 2,
-
-        /// Each element is presented by an 8-bit quantized value.
-        TF8             = 10,
-
-        /// Each element is presented by an 16-bit quantized value.
-        TF16            = 11
-    };
-
-    /**
-      * @brief Retrieves the size of the element, in bytes.
-      *
-      * @return Size of the element, in bytes.
-     */
-    virtual size_t getElementSize() const noexcept = 0;
-
-    /**
-      * @brief Retrieves the element type
-      *
-      * @return Element type
-     */
-    ElementType_t getElementType() const noexcept {return m_ElementType;};
-
-    virtual ~UserBufferEncoding() {}
-
-protected:
-    UserBufferEncoding(ElementType_t  elementType) : m_ElementType(elementType) {};
-private:
-    const ElementType_t  m_ElementType;
-};
-
-/**
-  * @brief .
-  *
-  * A base class buffer source type
-  *
-  * @note User buffer from CPU support all kinds of runtimes;
-  *       User buffer from GLBUFFER support only GPU runtime.
-  */
-class ZDL_EXPORT UserBufferSource {
-public:
-   enum class SourceType_t
-   {
-      /// Unknown buffer source type.
-      UNKNOWN = 0,
-
-      /// The network inputs are from CPU buffer.
-      CPU = 1,
-
-      /// The network inputs are from OpenGL buffer.
-      GLBUFFER = 2
-   };
-
-   /**
-     * @brief Retrieves the source type
-     *
-     * @return Source type
-    */
-   SourceType_t getSourceType() const noexcept {return m_SourceType;};
-
-protected:
-   UserBufferSource(SourceType_t sourceType): m_SourceType(sourceType) {};
-private:
-   const SourceType_t m_SourceType;
-};
-
-/**
-  * @brief .
-  *
-  * An source type where input data is delivered from OpenGL buffer
-  */
-class ZDL_EXPORT UserBufferSourceGLBuffer : public UserBufferSource{
-public:
-   UserBufferSourceGLBuffer() : UserBufferSource(SourceType_t::GLBUFFER) {};
-};
-
-/**
-  * @brief .
-  *
-  * An encoding type where each element is represented by an unsigned int
-  */
-class ZDL_EXPORT UserBufferEncodingUnsigned8Bit : public UserBufferEncoding {
-public:
-    UserBufferEncodingUnsigned8Bit() : UserBufferEncoding(ElementType_t::UNSIGNED8BIT) {};
-    size_t getElementSize() const noexcept override;
-
-protected:
-    UserBufferEncodingUnsigned8Bit(ElementType_t  elementType) : UserBufferEncoding(elementType) {};
-
-};
-
-/**
-  * @brief .
-  *
-  * An encoding type where each element is represented by a float
-  */
-class ZDL_EXPORT UserBufferEncodingFloat : public UserBufferEncoding {
-public:
-    UserBufferEncodingFloat() : UserBufferEncoding(ElementType_t::FLOAT) {};
-    size_t getElementSize() const noexcept override;
-
-};
-
-/**
-  * @brief .
-  *
-  * An encoding type where each element is represented by tf8, which is an
-  * 8-bit quantizd value, which has an exact representation of 0.0
-  */
-class ZDL_EXPORT UserBufferEncodingTfN : public UserBufferEncoding {
-public:
-   UserBufferEncodingTfN() = delete;
-   UserBufferEncodingTfN(uint64_t stepFor0, float stepSize, uint8_t bWidth=8):
-                                           UserBufferEncoding(getTypeFromWidth(bWidth)),
-                                           bitWidth(bWidth),
-                                           m_StepExactly0(stepFor0),
-                                           m_QuantizedStepSize(stepSize){};
-
-   UserBufferEncodingTfN(const zdl::DlSystem::UserBufferEncoding &ubEncoding) : UserBufferEncoding(ubEncoding.getElementType()){
-            const zdl::DlSystem::UserBufferEncodingTfN* ubEncodingTfN
-                            = dynamic_cast <const zdl::DlSystem::UserBufferEncodingTfN*> (&ubEncoding);
-            if (ubEncodingTfN) {
-                m_StepExactly0 = ubEncodingTfN->getStepExactly0();
-                m_QuantizedStepSize = ubEncodingTfN->getQuantizedStepSize();
-                bitWidth = ubEncodingTfN->bitWidth;
-            }
-   }
-
-   size_t getElementSize() const noexcept override;
-   /**
-      * @brief Sets the step value that represents 0
-      *
-      * @param[in] stepExactly0 The step value that represents 0
-      *
-     */
-   void setStepExactly0(uint64_t stepExactly0) {
-      m_StepExactly0 = stepExactly0;
-   }
-
-   /**
-     * @brief Sets the float value that each step represents
-     *
-     * @param[in] quantizedStepSize The float value of each step size
-     *
-    */
-   void setQuantizedStepSize(const float quantizedStepSize) {
-      m_QuantizedStepSize = quantizedStepSize;
-   }
-
-   /**
-     * @brief Retrieves the step that represents 0.0
-     *
-     * @return Step value
-    */
-   uint64_t getStepExactly0() const {
-      return m_StepExactly0;
-   }
-
-   /**
-    * Calculates the minimum floating point value that
-    * can be represented with this encoding.
-    *
-    * @return Minimum representable floating point value
-    */
-   float getMin() const {
-      return static_cast<float>(m_QuantizedStepSize * (0 - (double)m_StepExactly0));
-   }
-
-   /**
-    * Calculates the maximum floating point value that
-    * can be represented with this encoding.
-    *
-    * @return Maximum representable floating point value
-    */
-   float getMax() const{
-       return static_cast<float>(m_QuantizedStepSize * (pow(2,bitWidth)-1 - (double)m_StepExactly0));
-   };
-
-   /**
-     * @brief Retrieves the step size
-     *
-     * @return Step size
-    */
-   float getQuantizedStepSize() const {
-      return m_QuantizedStepSize;
-   }
-
-   ElementType_t getTypeFromWidth(uint8_t width);
-
-   uint8_t bitWidth;
-protected:
-   uint64_t m_StepExactly0;
-   float m_QuantizedStepSize;
-};
-
-
-class ZDL_EXPORT UserBufferEncodingTf8 : public UserBufferEncodingTfN {
-public:
-    UserBufferEncodingTf8() = delete;
-    UserBufferEncodingTf8(unsigned char stepFor0, float stepSize) :
-            UserBufferEncodingTfN(stepFor0, stepSize) {};
-
-    UserBufferEncodingTf8(const zdl::DlSystem::UserBufferEncoding &ubEncoding) : UserBufferEncodingTfN(ubEncoding){}
-
-/**
-      * @brief Sets the step value that represents 0
-      *
-      * @param[in] stepExactly0 The step value that represents 0
-      *
-     */
-
-    void setStepExactly0(const unsigned char stepExactly0) {
-        UserBufferEncodingTfN::m_StepExactly0 = stepExactly0;
-    }
-
-/**
-      * @brief Retrieves the step that represents 0.0
-      *
-      * @return Step value
-     */
-
-    unsigned char getStepExactly0() const {
-        return UserBufferEncodingTfN::m_StepExactly0;
-    }
-
-};
-
-
-/**
- * @brief UserBuffer contains a pointer and info on how to walk it and interpret its content.
- */
-class ZDL_EXPORT IUserBuffer {
-public:
-    virtual ~IUserBuffer() = default;
-    
-    /**
-      * @brief Retrieves the total number of bytes between elements in each dimension if
-      * the buffer were to be interpreted as a multi-dimensional array.
-      *
-      * @return Number of bytes between elements in each dimension.
-      * e.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would
-      * return strides of [24, 8, 4].
-     */
-    virtual const TensorShape& getStrides() const = 0;
-
-    /**
-      * @brief Retrieves the size of the buffer, in bytes.
-      *
-      * @return Size of the underlying buffer, in bytes.
-     */
-    virtual size_t getSize() const = 0;
-
-    /**
-      * @brief Retrieves the size of the inference data in the buffer, in bytes.
-      *
-      * The inference results from a dynamic-sized model may not be exactly the same size
-      * as the UserBuffer provided to SNPE. This function can be used to get the amount
-      * of output inference data, which may be less or greater than the size of the UserBuffer.
-      *
-      * If the inference results fit in the UserBuffer, getOutputSize() would be less than
-      * or equal to getSize(). But if the inference results were more than the capacity of
-      * the provided UserBuffer, the results would be truncated to fit the UserBuffer. But,
-      * getOutputSize() would be greater than getSize(), which indicates a bigger buffer
-      * needs to be provided to SNPE to hold all of the inference results.
-      *
-      * @return Size required for the buffer to hold all inference results, which can be less
-      * or more than the size of the buffer, in bytes.
-    */
-    virtual size_t getOutputSize() const = 0;
-
-    /**
-      * @brief Changes the underlying memory that backs the UserBuffer.
-      *
-      * This can be used to avoid creating multiple UserBuffer objects
-      * when the only thing that differs is the memory location.
-      *
-      * @param[in] buffer Pointer to the memory location
-      *
-      * @return Whether the set succeeds.
-     */
-    virtual bool setBufferAddress(void *buffer) noexcept = 0;
-
-    /**
-      * @brief Gets a const reference to the data encoding object of
-      *        the underlying buffer
-      *
-      * This is necessary when the UserBuffer is filled by SNPE with
-      * data types such as TF8, where the caller needs to know the quantization
-      * parameters in order to interpret the data properly
-      *
-      * @return A read-only encoding object
-     */
-    virtual const UserBufferEncoding& getEncoding() const noexcept = 0;
-
-    /**
-      * @brief Gets a reference to the data encoding object of
-      *        the underlying buffer
-      *
-      * This is necessary when the UserBuffer is re-used, and the encoding
-      * parameters can change.  For example, each input can be quantized with
-      * different step sizes.
-      *
-      * @return Data encoding meta-data
-     */
-    virtual UserBufferEncoding& getEncoding() noexcept = 0;
-
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}
-}
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp b/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
deleted file mode 100644
index 59803fbd8f8772..00000000000000
--- a/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
+++ /dev/null
@@ -1,81 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _IUSERBUFFER_FACTORY_HPP
-#define _IUSERBUFFER_FACTORY_HPP
-
-#include "IUserBuffer.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include "DlEnums.hpp"
-namespace zdl {
-    namespace DlSystem {
-        class IUserBuffer;
-
-        class TensorShape;
-    }
-}
-
-namespace zdl {
-namespace DlSystem {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-* Factory interface class to create IUserBuffer objects.
-*/
-class ZDL_EXPORT IUserBufferFactory {
-public:
-    virtual ~IUserBufferFactory() = default;
-
-    /**
-     * @brief Creates a UserBuffer
-     *
-     * @param[in] buffer Pointer to the buffer that the caller supplies
-     *
-     * @param[in] bufSize Buffer size, in bytes
-     *
-     * @param[in] strides Total number of bytes between elements in each dimension.
-     *          E.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would have strides of [24, 8, 4].
-     *
-     * @param[in] userBufferEncoding Reference to an UserBufferEncoding object
-     *
-     * @note Caller has to ensure that memory pointed to by buffer stays accessible
-     *       for the lifetime of the object created
-     */
-    virtual std::unique_ptr<IUserBuffer>
-    createUserBuffer(void *buffer, size_t bufSize, const zdl::DlSystem::TensorShape &strides, zdl::DlSystem::UserBufferEncoding* userBufferEncoding) noexcept = 0;
-
-    /**
-     * @brief Creates a UserBuffer
-     *
-     * @param[in] buffer Pointer to the buffer that the caller supplies
-     *
-     * @param[in] bufSize Buffer size, in bytes
-     *
-     * @param[in] strides Total number of bytes between elements in each dimension.
-     *          E.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would have strides of [24, 8, 4].
-     *
-     * @param[in] userBufferEncoding Reference to an UserBufferEncoding object
-     *
-     * @param[in] userBufferSource Reference to an UserBufferSource object
-     *
-     * @note Caller has to ensure that memory pointed to by buffer stays accessible
-     *       for the lifetime of the object created
-     */
-    virtual std::unique_ptr<IUserBuffer>
-    createUserBuffer(void *buffer, size_t bufSize, const zdl::DlSystem::TensorShape &strides, zdl::DlSystem::UserBufferEncoding* userBufferEncoding, zdl::DlSystem::UserBufferSource* userBufferSource) noexcept = 0;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}
-}
-
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/PlatformConfig.hpp b/third_party/snpe/include/DlSystem/PlatformConfig.hpp
deleted file mode 100644
index c7b85f43c1274b..00000000000000
--- a/third_party/snpe/include/DlSystem/PlatformConfig.hpp
+++ /dev/null
@@ -1,230 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017-2018,2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _DL_SYSTEM_PLATFORM_CONFIG_HPP_
-#define _DL_SYSTEM_PLATFORM_CONFIG_HPP_
-
-#include "DlSystem/ZdlExportDefine.hpp"
-#include <string>
-
-namespace zdl{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-
-/**
-  * @brief .
-  *
-  * A structure OpenGL configuration
-  *
-  * @note When certain OpenGL context and display are provided to UserGLConfig for using
-  *       GPU buffer as input directly, the user MUST ensure the particular OpenGL
-  *       context and display remain vaild throughout the execution of neural network models.
-  */
-struct ZDL_EXPORT UserGLConfig
-{
-   /// Holds user EGL context.
-   ///
-   void* userGLContext = nullptr;
-
-   /// Holds user EGL display.
-   void* userGLDisplay = nullptr;
-};
-
-/**
-  * @brief .
-  *
-  * A structure Gpu configuration
-  */
-struct ZDL_EXPORT UserGpuConfig{
-   /// Holds user OpenGL configuration.
-   ///
-   UserGLConfig userGLConfig;
-};
-
-/**
-  * @brief .
-  *
-  * A class user platform configuration
-  */
-class ZDL_EXPORT PlatformConfig
-{
-public:
-
-   /**
-     * @brief .
-     *
-     * An enum class of all supported platform types
-     */
-   enum class PlatformType_t
-   {
-      /// Unknown platform type.
-      UNKNOWN = 0,
-
-      /// Snapdragon CPU.
-      CPU = 1,
-
-      /// Adreno GPU.
-      GPU = 2,
-
-      /// Hexagon DSP.
-      DSP = 3
-   };
-
-   /**
-     * @brief .
-     *
-     * A union class user platform configuration information
-     */
-   union PlatformConfigInfo
-   {
-      /// Holds user GPU Configuration.
-      ///
-      UserGpuConfig userGpuConfig;
-
-      PlatformConfigInfo(){};
-   };
-
-   PlatformConfig() : m_PlatformType(PlatformType_t::UNKNOWN),
-                      m_PlatformOptions("") {};
-
-   /**
-     * @brief Retrieves the platform type
-     *
-     * @return Platform type
-     */
-   PlatformType_t getPlatformType() const {return m_PlatformType;};
-
-   /**
-     * @brief Indicates whther the plaform configuration is valid.
-     *
-     * @return True if the platform configuration is valid; false otherwise.
-     */
-   bool isValid() const {return (PlatformType_t::UNKNOWN != m_PlatformType);};
-
-   /**
-     * @brief Retrieves the Gpu configuration
-     *
-     * @param[out] userGpuConfig The passed in userGpuConfig populated with the Gpu configuration on return.
-     *
-     * @return True if Gpu configuration was retrieved; false otherwise.
-     */
-   bool getUserGpuConfig(UserGpuConfig& userGpuConfig) const
-   {
-      if(m_PlatformType == PlatformType_t::GPU)
-      {
-         userGpuConfig = m_PlatformConfigInfo.userGpuConfig;
-         return true;
-      }
-      else
-      {
-         return false;
-      }
-   }
-
-   /**
-     * @brief Sets the Gpu configuration
-     *
-     * @param[in] userGpuConfig Gpu Configuration
-     *
-     * @return True if Gpu configuration was successfully set; false otherwise.
-     */
-   bool setUserGpuConfig(UserGpuConfig& userGpuConfig)
-   {
-      if((userGpuConfig.userGLConfig.userGLContext != nullptr) && (userGpuConfig.userGLConfig.userGLDisplay != nullptr))
-      {
-         switch (m_PlatformType)
-         {
-         case PlatformType_t::GPU:
-            m_PlatformConfigInfo.userGpuConfig = userGpuConfig;
-            return true;
-         case PlatformType_t::UNKNOWN:
-            m_PlatformType = PlatformType_t::GPU;
-            m_PlatformConfigInfo.userGpuConfig = userGpuConfig;
-            return true;
-         default:
-            return false;
-         }
-      }
-      else
-         return false;
-   }
-
-   /**
-     * @brief Sets the platform options
-     *
-     * @param[in] options Options as a string in the form of "keyword:options"
-     *
-     * @return True if options are pass validation; otherwise false.  If false, the options are not updated.
-     */
-   bool setPlatformOptions(std::string options) {
-      std::string oldOptions = m_PlatformOptions;
-      m_PlatformOptions = options;
-      if (isOptionsValid()) {
-         return true;
-      } else {
-         m_PlatformOptions = oldOptions;
-         return false;
-      }
-   }
-
-   /**
-     * @brief Indicates whther the plaform configuration is valid.
-     *
-     * @return True if the platform configuration is valid; false otherwise.
-     */
-   bool isOptionsValid() const;
-
-   /**
-     * @brief Gets the platform options
-     *
-     * @return Options as a string
-     */
-   std::string getPlatformOptions() const { return m_PlatformOptions; }
-
-    /**
-      * @brief Sets the platform options
-      *
-      * @param[in] optionName Name of platform options"
-      * @param[in] value Value of specified optionName
-      *
-      * @return If true, add "optionName:value" to platform options if optionName don't exist, otherwise update the
-      *         value of specified optionName.
-      *         If false, the platform options will not be changed.
-      */
-   bool setPlatformOptionValue(const std::string& optionName, const std::string& value);
-
-    /**
-       * @brief Removes the platform options
-       *
-       * @param[in] optionName Name of platform options"
-       * @param[in] value Value of specified optionName
-       *
-       * @return If true, removed "optionName:value" to platform options if optionName don't exist, do nothing.
-       *         If false, the platform options will not be changed.
-       */
-    bool removePlatformOptionValue(const std::string& optionName, const std::string& value);
-
-   static void SetIsUserGLBuffer(bool isUserGLBuffer);
-   static bool GetIsUserGLBuffer();
-
-private:
-   PlatformType_t m_PlatformType;
-   PlatformConfigInfo m_PlatformConfigInfo;
-   std::string m_PlatformOptions;
-   static bool m_IsUserGLBuffer;
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}} //namespace end
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/RuntimeList.hpp b/third_party/snpe/include/DlSystem/RuntimeList.hpp
deleted file mode 100644
index 1088a5b31f4538..00000000000000
--- a/third_party/snpe/include/DlSystem/RuntimeList.hpp
+++ /dev/null
@@ -1,154 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2019 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#include "ZdlExportDefine.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/StringList.hpp"
-#include <cstddef>
-#include <memory>
-
-#ifndef DL_SYSTEM_RUNTIME_LIST_HPP
-#define DL_SYSTEM_RUNTIME_LIST_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of Runtime List implementation.
-   class RuntimeListImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing list of runtimes
-  */
-class ZDL_EXPORT RuntimeList final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new runtime list
-    *
-    */
-   RuntimeList();
-
-   /**
-   * @brief .
-   *
-   * copy constructor.
-   * @param[in] other object to copy.
-   */
-   RuntimeList(const RuntimeList& other);
-
-   /**
-   * @brief .
-   *
-   * constructor with single Runtime_t object
-   * @param[in] Runtime_t object
-   */
-   RuntimeList(const zdl::DlSystem::Runtime_t& runtime);
-
-   /**
-    * @brief .
-    *
-    * assignment operator.
-    */
-   RuntimeList& operator=(const RuntimeList& other);
-
-   /**
-    * @brief .
-    *
-    * subscript operator.
-    */
-   Runtime_t& operator[](size_t index);
-
-   /**
-    * @brief Adds runtime to the end of the runtime list
-    *        order of precedence is former followed by latter entry
-    *
-    * @param[in] runtime to add
-    *
-    * Ruturns false If the runtime already exists
-    */
-   bool add(const zdl::DlSystem::Runtime_t& runtime);
-
-   /**
-    * @brief Removes the runtime from the list
-    *
-    * @param[in] runtime to be removed
-    *
-    * @note If the runtime is not found, nothing is done.
-    */
-   void remove(const zdl::DlSystem::Runtime_t runtime) noexcept;
-
-   /**
-    * @brief Returns the number of runtimes in the list
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief Returns true if the list is empty
-    */
-   bool empty() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all runtime from the list
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief .
-    *
-    * Returns a StringList of names from the runtime list in
-    * order of precedence
-    */
-   zdl::DlSystem::StringList getRuntimeListNames() const;
-
-   /**
-    * @brief .
-    *
-    * @param[in] runtime string
-    * Returns a Runtime enum corresponding to the in param string
-    *
-    */
-   static zdl::DlSystem::Runtime_t stringToRuntime(const char* runtimeStr);
-
-   /**
-    * @brief .
-    *
-    * @param[in] runtime
-    * Returns a string corresponding to the in param runtime enum
-    *
-    */
-   static const char* runtimeToString(const zdl::DlSystem::Runtime_t runtime);
-
-   ~RuntimeList();
-
-private:
-   void deepCopy(const RuntimeList &other);
-   std::unique_ptr<::DlSystem::RuntimeListImpl> m_RuntimeListImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_RUNTIME_LIST_HPP
-
diff --git a/third_party/snpe/include/DlSystem/String.hpp b/third_party/snpe/include/DlSystem/String.hpp
deleted file mode 100644
index c1eba3bad96b02..00000000000000
--- a/third_party/snpe/include/DlSystem/String.hpp
+++ /dev/null
@@ -1,104 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef PLATFORM_STANDARD_STRING_HPP
-#define PLATFORM_STANDARD_STRING_HPP
-
-#include <cstdio>
-#include <string>
-#include <ostream>
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Class for wrapping char * as a really stripped down std::string replacement.
- */
-class ZDL_EXPORT String final
-{
-public:
-   String() = delete;
-
-   /**
-    * Construct a string from std::string reference.
-    * @param str Reference to a std::string
-    */
-   explicit String(const std::string& str);
-
-   /**
-    * Construct a string from char* reference.
-    * @param a char*
-    */
-   explicit String(const char* str);
-
-   /**
-    * move constructor.
-    */
-   String(String&& other) noexcept;
-
-   /**
-    * copy constructor.
-    */
-   String(const String& other) = delete;
-
-   /**
-    * assignment operator.
-    */
-   String& operator=(const String&) = delete;
-
-   /**
-    * move assignment operator.
-    */
-   String& operator=(String&&) = delete;
-
-   /**
-    * class comparators
-    */
-   bool operator<(const String& rhs) const noexcept;
-   bool operator>(const String& rhs) const noexcept;
-   bool operator<=(const String& rhs) const noexcept;
-   bool operator>=(const String& rhs) const noexcept;
-   bool operator==(const String& rhs) const noexcept;
-   bool operator!=(const String& rhs) const noexcept;
-
-   /**
-    * class comparators against std::string
-    */
-   bool operator<(const std::string& rhs) const noexcept;
-   bool operator>(const std::string& rhs) const noexcept;
-   bool operator<=(const std::string& rhs) const noexcept;
-   bool operator>=(const std::string& rhs) const noexcept;
-   bool operator==(const std::string& rhs) const noexcept;
-   bool operator!=(const std::string& rhs) const noexcept;
-
-   const char* c_str() const noexcept;
-
-   ~String();
-private:
-
-   char* m_string;
-};
-
-/**
- * overloaded << operator
- */
-ZDL_EXPORT std::ostream& operator<<(std::ostream& os, const String& str) noexcept;
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // PLATFORM_STANDARD_STRING_HPP
diff --git a/third_party/snpe/include/DlSystem/StringList.hpp b/third_party/snpe/include/DlSystem/StringList.hpp
deleted file mode 100644
index a9a7d5ed89674c..00000000000000
--- a/third_party/snpe/include/DlSystem/StringList.hpp
+++ /dev/null
@@ -1,107 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <cstdio>
-#include "ZdlExportDefine.hpp"
-
-#ifndef DL_SYSTEM_STRINGLIST_HPP
-#define DL_SYSTEM_STRINGLIST_HPP
-
-namespace zdl
-{
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Class for holding an order list of null-terminated ASCII strings.
- */
-class ZDL_EXPORT StringList final
-{
-public:
-   StringList() {}
-
-   /**
-    * Construct a string list with some pre-allocated memory.
-    * @warning Contents of the list will be uninitialized
-    * @param[in] length Number of elements for which to pre-allocate space.
-    */
-   explicit StringList(size_t length);
-
-   /**
-    * Append a string to the list.
-    * @param[in] str Null-terminated ASCII string to append to the list.
-    */
-   void append(const char* str);
-
-   /**
-    * Returns the string at the indicated position,
-    *  or an empty string if the positions is greater than the size
-    *  of the list.
-    * @param[in] idx Position in the list of the desired string
-    */
-   const char* at(size_t idx) const noexcept;
-
-   /**
-    * Pointer to the first string in the list.
-    *  Can be used to iterate through the list.
-    */
-   const char** begin() const noexcept;
-
-   /**
-    * Pointer to one after the last string in the list.
-    *  Can be used to iterate through the list.
-    */
-   const char** end() const noexcept;
-
-   /**
-    * Return the number of valid string pointers held by this list.
-    */
-   size_t size() const noexcept;
-
-
-   /**
-    * assignment operator. 
-    */
-   StringList& operator=(const StringList&) noexcept;
-
-   /**
-    * copy constructor.
-    * @param[in] other object to copy.
-    */
-   StringList(const StringList& other);
-
-   /**
-    * move constructor.
-    * @param[in] other object to move.    
-    */
-   StringList(StringList&& other) noexcept;
-
-   ~StringList();
-private:
-   void copy(const StringList& other);
-
-   void resize(size_t length);
-
-   void clear();
-
-   static const char* s_Empty;
-   const char** m_Strings = nullptr;
-   const char** m_End = nullptr;
-   size_t       m_Size = 0;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_STRINGLIST_HPP
-
diff --git a/third_party/snpe/include/DlSystem/TensorMap.hpp b/third_party/snpe/include/DlSystem/TensorMap.hpp
deleted file mode 100644
index feecec666729ad..00000000000000
--- a/third_party/snpe/include/DlSystem/TensorMap.hpp
+++ /dev/null
@@ -1,120 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <memory>
-#include "ZdlExportDefine.hpp"
-#include "ITensor.hpp"
-#include "StringList.hpp"
-
-#ifndef DL_SYSTEM_TENSOR_MAP_HPP
-#define DL_SYSTEM_TENSOR_MAP_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of tensor map implementation.
-   class TensorMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing the map of tensor.
-  */
-class ZDL_EXPORT TensorMap final
-{
-public:
-
-  /**
-   * @brief .
-   *
-   * Creates a new empty tensor map
-   */
-   TensorMap();
-
-  /**
-   * copy constructor.
-   * @param[in] other object to copy. 
-   */
-   TensorMap(const TensorMap& other);
-
-  /**
-    * assignment operator. 
-    */
-   TensorMap& operator=(const TensorMap& other);
-
-   /**
-    * @brief Adds a name and the corresponding tensor pointer
-    *        to the map
-    *
-    * @param[in] name The name of the tensor
-    * @param[out] tensor The pointer to the tensor
-    *
-    * @note If a tensor with the same name already exists, the
-    *       tensor is replaced with the existing tensor.
-    */
-   void add(const char *name, zdl::DlSystem::ITensor *tensor);
-
-   /**
-    * @brief Removes a mapping of tensor and its name by its name
-    *
-    * @param[in] name The name of tensor to be removed
-    *
-    * @note If no tensor with the specified name is found, nothing
-    *       is done.
-    */
-   void remove(const char *name) noexcept;
-
-   /**
-    * @brief Returns the number of tensors in the map
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all tensors from the map
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief Returns the tensor given its name.
-    *  
-    * @param[in] name The name of the tensor to get. 
-    *  
-    * @return nullptr if no tensor with the specified name is 
-    *         found; otherwise, a valid pointer to the tensor.
-    */
-   zdl::DlSystem::ITensor* getTensor(const char *name) const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Returns the names of all tensors
-    */
-   zdl::DlSystem::StringList getTensorNames() const;
-
-   ~TensorMap();
-private:
-   void swap(const TensorMap &other);
-   std::unique_ptr<::DlSystem::TensorMapImpl> m_TensorMapImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_TENSOR_MAP_HPP
-
diff --git a/third_party/snpe/include/DlSystem/TensorShape.hpp b/third_party/snpe/include/DlSystem/TensorShape.hpp
deleted file mode 100644
index 99583dccb40bac..00000000000000
--- a/third_party/snpe/include/DlSystem/TensorShape.hpp
+++ /dev/null
@@ -1,203 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <initializer_list>
-#include <cstdio>
-#include <memory>
-#include <vector>
-#include "ZdlExportDefine.hpp"
-
-#ifndef DL_SYSTEM_TENSOR_SHAPE_HPP
-#define DL_SYSTEM_TENSOR_SHAPE_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of tensor shape implementation.
-   class TensorShapeImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Convenient typedef to represent dimension
- */
-using Dimension = size_t;
-
-/**
-  * @brief .
-  *
-  * A class representing the shape of tensor. It is used at the
-  * time of creation of tensor.
-  */
-class ZDL_EXPORT TensorShape final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new shape with a list of dims specified in
-    * initializer list fashion.
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-    */
-   TensorShape(std::initializer_list<Dimension> dims);
-
-   /**
-    * @brief .
-    *
-    * Creates a new shape with a list of dims specified in array
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-    * @param[in] size Size of the array.
-    *
-    */
-   TensorShape(const Dimension *dims, size_t size);
-
-    /**
-    * @brief .
-    *
-    * Creates a new shape with a vector of dims specified in
-    * vector fashion.
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    * 
-    */   
-   TensorShape(std::vector<Dimension> dims);
-
-   /**
-   * @brief .
-   *   
-   * copy constructor.
-   * @param[in] other object to copy. 
-   */   
-   TensorShape(const TensorShape& other);
-
-   /**
-    * @brief .
-    *  
-    * assignment operator. 
-    */   
-   TensorShape& operator=(const TensorShape& other);
-
-    /**
-    * @brief .
-    *
-    * Creates a new shape with no dims. It can be extended later
-    * by invoking concatenate.
-    */
-   TensorShape();
-
-  /**
-    * @brief .
-    *
-    * Concatenates additional dimensions specified in 
-    * initializer list fashion to the existing dimensions. 
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-   */
-   void concatenate(std::initializer_list<Dimension> dims);
-
-   /**
-    * @brief .
-    *
-    * Concatenates additional dimensions specified in 
-    * the array to the existing dimensions. 
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    * 
-    * @param[in] size Size of the array.
-    *
-   */
-   void concatenate(const Dimension *dims, size_t size);
-
-  /**
-    * @brief .
-    *
-    * Concatenates an additional dimension to the existing
-    * dimensions.
-    *
-    * @param[in] dim The dimensions are specified in which the last element
-    * of the vector represents the fastest varying dimension and the
-    * zeroth element represents the slowest varying, etc.
-    *
-   */
-   void concatenate(const Dimension &dim);
-
-  /**
-    * @brief .
-    *
-    * Retrieves a single dimension, based on its index.
-    *
-    * @return The value of dimension
-    *
-    * @throws std::out_of_range if the index is >= the number of
-    * dimensions (or rank).
-    */
-   Dimension& operator[](size_t index);
-   Dimension& operator[](size_t index) const;
-
-  /**
-    * @brief .
-    *
-    * Retrieves the rank i.e. number of dimensions.
-    *
-    * @return The rank
-    */
-   size_t rank() const;
-
-  /**
-    * @brief .
-    *
-    * Retrieves a pointer to the first dimension of shape
-    *
-    * @return nullptr if no dimension exists; otherwise, points to
-    * the first dimension. 
-    *
-    */
-   const Dimension* getDimensions() const;
-
-   ~TensorShape();
-
-private:
-   void swap(const TensorShape &other);
-   std::unique_ptr<::DlSystem::TensorShapeImpl> m_TensorShapeImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_TENSOR_SHAPE_HPP
-
diff --git a/third_party/snpe/include/DlSystem/TensorShapeMap.hpp b/third_party/snpe/include/DlSystem/TensorShapeMap.hpp
deleted file mode 100644
index cef946e2e6dbc9..00000000000000
--- a/third_party/snpe/include/DlSystem/TensorShapeMap.hpp
+++ /dev/null
@@ -1,127 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <initializer_list>
-#include <cstdio>
-#include <memory>
-#include "ZdlExportDefine.hpp"
-#include "DlSystem/TensorShape.hpp"
-#include "DlSystem/StringList.hpp"
-
-#ifndef DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
-#define DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of tensor shape map implementation.
-   class TensorShapeMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing the map of names and tensorshapes.
-  */
-class ZDL_EXPORT TensorShapeMap final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new tensor shape map
-    *
-    */
-   TensorShapeMap();
-
-   /**
-   * @brief .
-   *
-   * copy constructor.
-   * @param[in] other object to copy.
-   */
-   TensorShapeMap(const TensorShapeMap& other);
-
-   /**
-    * @brief .
-    *
-    * assignment operator.
-    */
-   TensorShapeMap& operator=(const TensorShapeMap& other);
-
-   /**
-    * @brief Adds a name and the corresponding tensor pointer
-    *        to the map
-    *
-    * @param[in] name The name of the tensor
-    * @param[out] tensor The pointer to the tensor
-    *
-    * @note If a tensor with the same name already exists, no new
-    *       tensor is added.
-    */
-   void add(const char *name, const zdl::DlSystem::TensorShape& tensorShape);
-
-   /**
-    * @brief Removes a mapping of tensor and its name by its name
-    *
-    * @param[in] name The name of tensor to be removed
-    *
-    * @note If no tensor with the specified name is found, nothing
-    *       is done.
-    */
-   void remove(const char *name) noexcept;
-
-   /**
-    * @brief Returns the number of tensors in the map
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all tensors from the map
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief Returns the tensor given its name.
-    *
-    * @param[in] name The name of the tensor to get.
-    *
-    * @return nullptr if no tensor with the specified name is
-    *         found; otherwise, a valid pointer to the tensor.
-    */
-   zdl::DlSystem::TensorShape getTensorShape(const char *name) const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Returns the names of all tensor shapes
-    */
-   zdl::DlSystem::StringList getTensorShapeNames() const;
-
-   ~TensorShapeMap();
-private:
-   void swap(const TensorShapeMap &other);
-   std::unique_ptr<::DlSystem::TensorShapeMapImpl> m_TensorShapeMapImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
-
diff --git a/third_party/snpe/include/DlSystem/UDLContext.hpp b/third_party/snpe/include/DlSystem/UDLContext.hpp
deleted file mode 100644
index 21fce1b04ae308..00000000000000
--- a/third_party/snpe/include/DlSystem/UDLContext.hpp
+++ /dev/null
@@ -1,243 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef UDL_CONTEXT_HPP
-#define UDL_CONTEXT_HPP
-
-#include <cstring> // memset
-#include <tuple>
-
-#include "ZdlExportDefine.hpp"
-
-namespace zdl { namespace DlSystem {
-
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- *
- * UDLContext holds the user defined layer context which 
- * consists of a layer name, layer ID, blob and blob size. 
- *  
- * An instance of UDLContext is passed as an argument to the
- * UDLFactoryFunc provided by the user every time the SNPE 
- * runtime encounters an unknown layer descriptor. The instance 
- * of a UDLContext is created by the SNPE runtime and is 
- * consumed by the user's factory function. The user should 
- * obtain a copy of this class and should not assume any 
- * prolonged object lifetime beyond the UDLFactoryFunction.
- */
-class ZDL_EXPORT UDLContext final {
-public:
-   /**
-    * @brief Constructor
-    *
-    * @param[in] name name of the layer
-    *
-    * @param[in] type layer type
-    *
-    * @param[in] id identifier for the layer
-    *
-    * @param[in] id Blob/bytes as packed by the user code as part of
-    *           the Python converter script
-    */
-   UDLContext(const std::string& name,
-              const std::string& type,
-              int32_t id,
-              const std::string& blob) :
-      m_Name(name), m_Type(type), m_Size(blob.size()), m_Id(id) {
-      // FIXME not dealing with alloc error
-      m_Buffer = new uint8_t[m_Size];
-      std::memcpy(m_Buffer, blob.data(), m_Size);
-   }
-
-   /**
-    * @brief .
-    *
-    * Empty constructor is useful for
-    * creating an empty UDLContext and then run copy constructor
-    * from a fully initialized one.
-    */
-   explicit UDLContext() {}
-
-   /**
-    * @brief .
-    *
-    * destructor Deallocates any internal allocated memory
-    */
-   ~UDLContext() { release(); }
-
-   /**
-    * @brief .
-    *
-    * Deallocate any internally allocated memory
-    */
-   void release() {
-      if (m_Buffer && m_Size)
-         std::memset(m_Buffer, 0, m_Size);
-      delete []m_Buffer;
-      m_Buffer = nullptr;
-      m_Size = 0;
-   }
-
-   /**
-    * @brief .
-    *
-    * Copy Constructor - makes a copy from ctx
-    *
-    * @param[in] ctx Source UDLContext to copy from
-    */
-   UDLContext(const UDLContext& ctx) : m_Name(ctx.m_Name),
-      m_Type(ctx.m_Type),
-      m_Id(ctx.m_Id) {
-      std::tuple<uint8_t*, size_t> cpy = ctx.getCopy();
-      // current compiler does not support get<type>
-      m_Buffer = std::get<0>(cpy);
-      m_Size = std::get<1>(cpy);
-   }
-
-   /**
-    * @brief 
-    *
-    * Assignment operator - makes a copy from ctx
-    *
-    * @param[in] ctx Source UDLContext to copy from
-    *
-    * @return this
-    */
-   UDLContext& operator=(const UDLContext& ctx) {
-      UDLContext c (ctx);
-      this->swap(c); // non throwing swap
-      return *this;
-   }
-
-   /**
-    * @brief .
-    *
-    * Move Constructor - Move internals from ctx into this
-    *
-    * @param[in] ctx Source UDLContext to move from
-    */
-   UDLContext(UDLContext&& ctx) :
-      m_Name(std::move(ctx.m_Name)),
-      m_Type(std::move(ctx.m_Type)),
-      m_Buffer(ctx.m_Buffer),
-      m_Size(ctx.m_Size),
-      m_Id(ctx.m_Id) {
-      ctx.clear();
-   }
-
-   /**
-    * @brief .
-    *
-    * Assignment move - Move assignment operator from ctx
-    *
-    * @param[in] ctx Source UDLContext to move from
-    *
-    * @return this
-    */
-   UDLContext& operator=(UDLContext&& ctx) {
-      m_Name = std::move(ctx.m_Name);
-      m_Type = std::move(ctx.m_Type);
-      m_Buffer = ctx.m_Buffer;
-      m_Size = ctx.m_Size;
-      m_Id = ctx.m_Id;
-      ctx.clear();
-      return *this;
-   }
-
-   /**
-    * @brief .
-    *
-    * Obtain the name of the layer
-    *
-    * @return const reference to the name of the layer
-    */
-   const std::string& getName() const noexcept { return m_Name; }
-
-   /**
-    * @brief .
-    *
-    * Obtain the type of the layer
-    *
-    * @return const reference to the type of the layer
-    */
-   const std::string& getType() const noexcept { return m_Type; }
-
-   /**
-    * @brief .
-    *
-    * Obtain the Id of the layer
-    *
-    * @return The id of the layer
-    */
-   int32_t getId() const noexcept  { return m_Id; }
-
-   /**
-    * @brief .
-    *
-    * Obtain the size of the blob
-    *
-    * @return Size of the internal blob
-    */
-   size_t getSize() const noexcept { return m_Size; }
-
-   /**
-    * @brief .
-    *
-    * Get a const pointer to the internal blob
-    *
-    * @return Const pointer to the internal blob
-    */
-   const uint8_t* getBlob() const noexcept { return m_Buffer; }
-
-   /**
-    * @brief .
-    *
-    * Get a copy of the blob/size into a tuple
-    *
-    * @return A tuple with a pointer to a copy of the blob and a
-    *         size
-    */
-   std::tuple<uint8_t*, size_t> getCopy() const {
-      uint8_t* buf = new uint8_t[m_Size];
-      // FIXME missing memcpy
-      std::memcpy(buf, m_Buffer, m_Size);
-      return std::make_tuple(buf, m_Size);
-   }
-
-   /**
-    * @brief .
-    *
-    * Set zeros in the internals members
-    */
-   void clear() {
-      m_Name.clear();
-      m_Type.clear();
-      m_Buffer = 0;
-      m_Size = 0;
-      m_Id = -1;
-   }
-private:
-   void swap(UDLContext& c) noexcept {
-      std::swap(m_Name, c.m_Name);
-      std::swap(m_Type, c.m_Type);
-      std::swap(m_Id,   c.m_Id);
-      std::swap(m_Buffer, c.m_Buffer);
-      std::swap(m_Size, c.m_Size);
-   }
-   std::string m_Name; // name of the layer instance
-   std::string m_Type; // The actual layer type
-   uint8_t*    m_Buffer = nullptr;
-   size_t      m_Size = 0;
-   int32_t     m_Id = -1;
-};
-
-}}
-
-#endif /* UDL_CONTEXT_HPP */
diff --git a/third_party/snpe/include/DlSystem/UDLFunc.hpp b/third_party/snpe/include/DlSystem/UDLFunc.hpp
deleted file mode 100644
index 6a95eef1702ecc..00000000000000
--- a/third_party/snpe/include/DlSystem/UDLFunc.hpp
+++ /dev/null
@@ -1,87 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _UDL_FUNC_HPP_
-#define _UDL_FUNC_HPP_
-
-#include <functional>
-
-#include "ZdlExportDefine.hpp"
-#include <DlSystem/IUDL.hpp>
-
-namespace zdl {
-    namespace DlSystem {
-        class UDLContext;
-    }
-}
-
-namespace zdl { namespace DlSystem {
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- *
- * Definition of UDLFactoyFunc, using/typedef and default FactoryFunction
- * UDLBundle - a simple way to bundle func and cookie into one type
- */
-
-
-/**
- * @brief .
- * 
- * Convenient typedef for user defined layer creation factory
- *
- * @param[out] void* Cookie - a user opaque data that was passed during SNPE's runtime's
- *        CreateInstance. SNPE's runtime is passing this back to the user.
- *
- * @param[out] DlSystem::UDLContext* - The specific Layer Description context what is passe
- *        SNPE runtime.
- *
- * @return IUDL* - a Concrete instance of IUDL derivative
- */
-using UDLFactoryFunc = std::function<zdl::DlSystem::IUDL* (void*, const zdl::DlSystem::UDLContext*)>;
-
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- *
- * default UDL factory implementation
- *
- * @param[out] DlSystem::UDLContext* - The specific Layer Description context what is passe
- *        SNPE runtime.
- *
- * @param[out] void* Cookie - a user opaque data that was passed during SNPE's runtime's
- *        CreateInstance. SNPE's runtime is passing this back to the user.
- * 
- * @return IUDL* - nullptr to indicate SNPE's runtime that there is no specific
- *         implementation for UDL. When SNPE's runtime sees nullptr as a return
- *         value from the factory, it will halt execution if model has an unknown layer
- *
- */
-inline ZDL_EXPORT zdl::DlSystem::IUDL* DefaultUDLFunc(void*, const zdl::DlSystem::UDLContext*) { return nullptr; }
-
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- * 
- * Simple struct to bundle 2 elements.
- * A user defined cookie that would be returned for each
- * IUDL call. The user can place anything there and the
- * SNPE runtime will provide it back
- */
-struct ZDL_EXPORT UDLBundle {
-   void          *cookie = nullptr;
-   UDLFactoryFunc func   = DefaultUDLFunc;
-};
-
-}}
-
-
-#endif // _UDL_FUNC_HPP_
diff --git a/third_party/snpe/include/DlSystem/UserBufferMap.hpp b/third_party/snpe/include/DlSystem/UserBufferMap.hpp
deleted file mode 100644
index a03ddfe1d11ad8..00000000000000
--- a/third_party/snpe/include/DlSystem/UserBufferMap.hpp
+++ /dev/null
@@ -1,122 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <memory>
-#include "ZdlExportDefine.hpp"
-#include "StringList.hpp"
-
-#ifndef DL_SYSTEM_USER_BUFFER_MAP_HPP
-#define DL_SYSTEM_USER_BUFFER_MAP_HPP
-
-namespace DlSystem
-{
-    // Forward declaration of UserBuffer map implementation.
-    class UserBufferMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-class IUserBuffer;
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing the map of UserBuffer.
-  */
-class ZDL_EXPORT UserBufferMap final
-{
-public:
-
-    /**
-     * @brief .
-     *
-     * Creates a new empty UserBuffer map
-     */
-    UserBufferMap();
-
-    /**
-     * copy constructor.
-     * @param[in] other object to copy.
-     */
-    UserBufferMap(const UserBufferMap& other);
-
-    /**
-      * assignment operator.
-      */
-    UserBufferMap& operator=(const UserBufferMap& other);
-
-    /**
-     * @brief Adds a name and the corresponding UserBuffer pointer
-     *        to the map
-     *
-     * @param[in] name The name of the UserBuffer
-     * @param[in] userBuffer The pointer to the UserBuffer
-     *
-     * @note If a UserBuffer with the same name already exists, the new
-     *       UserBuffer pointer would be updated.
-     */
-    void add(const char *name, zdl::DlSystem::IUserBuffer *buffer);
-
-    /**
-     * @brief Removes a mapping of one UserBuffer and its name by its name
-     *
-     * @param[in] name The name of UserBuffer to be removed
-     *
-     * @note If no UserBuffer with the specified name is found, nothing
-     *       is done.
-     */
-    void remove(const char *name) noexcept;
-
-    /**
-     * @brief Returns the number of UserBuffers in the map
-     */
-    size_t size() const noexcept;
-
-    /**
-     * @brief .
-     *
-     * Removes all UserBuffers from the map
-     */
-    void clear() noexcept;
-
-    /**
-     * @brief Returns the UserBuffer given its name.
-     *
-     * @param[in] name The name of the UserBuffer to get.
-     *
-     * @return nullptr if no UserBuffer with the specified name is
-     *         found; otherwise, a valid pointer to the UserBuffer.
-     */
-    zdl::DlSystem::IUserBuffer* getUserBuffer(const char *name) const noexcept;
-
-    /**
-     * @brief .
-     *
-     * Returns the names of all UserBuffers
-     *
-     * @return A list of UserBuffer names.
-     */
-    zdl::DlSystem::StringList getUserBufferNames() const;
-
-    ~UserBufferMap();
-private:
-    void swap(const UserBufferMap &other);
-    std::unique_ptr<::DlSystem::UserBufferMapImpl> m_UserBufferMapImpl;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // DlSystem namespace
-} // zdl namespace
-
-
-#endif // DL_SYSTEM_TENSOR_MAP_HPP
-
diff --git a/third_party/snpe/include/DlSystem/UserMemoryMap.hpp b/third_party/snpe/include/DlSystem/UserMemoryMap.hpp
deleted file mode 100644
index 3685a8ddabed69..00000000000000
--- a/third_party/snpe/include/DlSystem/UserMemoryMap.hpp
+++ /dev/null
@@ -1,129 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <memory>
-#include "ZdlExportDefine.hpp"
-#include "StringList.hpp"
-
-#ifndef DL_SYSTEM_USER_MEMORY_MAP_HPP
-#define DL_SYSTEM_USER_MEMORY_MAP_HPP
-
-namespace DlSystem
-{
-    // Forward declaration of UserMemory map implementation.
-    class UserMemoryMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-class IUserBuffer;
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing the map of UserMemory.
-  */
-class ZDL_EXPORT UserMemoryMap final
-{
-public:
-
-    /**
-     * @brief .
-     *
-     * Creates a new empty UserMemory map
-     */
-    UserMemoryMap();
-
-    /**
-     * copy constructor.
-     * @param[in] other object to copy.
-     */
-    UserMemoryMap(const UserMemoryMap& other);
-
-    /**
-      * assignment operator.
-      */
-    UserMemoryMap& operator=(const UserMemoryMap& other);
-
-    /**
-     * @brief Adds a name and the corresponding buffer address
-     *        to the map
-     *
-     * @param[in] name The name of the UserMemory
-     * @param[in] address The pointer to the Buffer Memory
-     *
-     * @note If a UserBuffer with the same name already exists, the new
-     *       address would be updated.
-     */
-    void add(const char *name, void *address);
-
-    /**
-     * @brief Removes a mapping of one Buffer address and its name by its name
-     *
-     * @param[in] name The name of Memory address to be removed
-     *
-     * @note If no UserBuffer with the specified name is found, nothing
-     *       is done.
-     */
-    void remove(const char *name) noexcept;
-
-    /**
-     * @brief Returns the number of User Memory addresses in the map
-     */
-    size_t size() const noexcept;
-
-    /**
-     * @brief .
-     *
-     * Removes all User Memory from the map
-     */
-    void clear() noexcept;
-
-    /**
-     * @brief .
-     *
-     * Returns the names of all User Memory
-     *
-     * @return A list of Buffer names.
-     */
-    zdl::DlSystem::StringList getUserBufferNames() const;
-
-    /**
-     * @brief Returns the no of UserMemory addresses mapped to the buffer
-     *
-     * @param[in] name The name of the UserMemory
-     *
-     */
-    size_t getUserMemoryAddressCount(const char *name) const noexcept;
-
-    /**
-     * @brief Returns address at a specified index corresponding to a UserMemory buffer name
-     *
-     * @param[in] name The name of the buffer
-     * @param[in] index The index in the list of addresses
-     *
-     */
-    void* getUserMemoryAddressAtIndex(const char *name, uint32_t index) const noexcept;
-
-    ~UserMemoryMap();
-private:
-    void swap(const UserMemoryMap &other);
-    std::unique_ptr<::DlSystem::UserMemoryMapImpl> m_UserMemoryMapImpl;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // DlSystem namespace
-} // zdl namespace
-
-
-#endif // DL_SYSTEM_TENSOR_MAP_HPP
-
diff --git a/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp b/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
deleted file mode 100644
index 92eb786d312f6d..00000000000000
--- a/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
+++ /dev/null
@@ -1,13 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#pragma once
-
-#ifndef ZDL_EXPORT
-#define ZDL_EXPORT
-#endif
diff --git a/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp b/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
deleted file mode 100644
index 66097ba569f629..00000000000000
--- a/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
+++ /dev/null
@@ -1,118 +0,0 @@
-// =============================================================================
-//
-// Copyright (c) 2018-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-// =============================================================================
-
-#ifndef SNPE_PLATFORMVALIDATOR_HPP
-#define SNPE_PLATFORMVALIDATOR_HPP
-
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-#define DO_PRAGMA(s) _Pragma(#s)
-#define NO_WARNING "-Wunused-variable"
-
-#ifdef __clang__
-#define SNPE_DISABLE_WARNINGS(clang_warning,gcc_warning) \
-_Pragma("clang diagnostic push") \
-DO_PRAGMA(clang diagnostic ignored clang_warning)
-
-#define SNPE_ENABLE_WARNINGS \
-_Pragma("clang diagnostic pop")
-
-#elif defined __GNUC__
-#define SNPE_DISABLE_WARNINGS(clang_warning,gcc_warning) \
-_Pragma("GCC diagnostic push") \
-DO_PRAGMA(GCC diagnostic ignored gcc_warning)
-
-#define SNPE_ENABLE_WARNINGS \
-_Pragma("GCC diagnostic pop")
-
-#else
-#define SNPE_DISABLE_WARNINGS(...)
-#define SNPE_ENABLE_WARNINGS
-#endif
-
-SNPE_DISABLE_WARNINGS("-Wdelete-non-virtual-dtor","-Wdelete-non-virtual-dtor")
-#include <string>
-#include <memory>
-SNPE_ENABLE_WARNINGS
-
-namespace zdl
-{
-   namespace SNPE
-   {
-      class PlatformValidator;
-
-      class IPlatformValidatorRuntime;
-   }
-}
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-* The class for checking SNPE compatibility/capability of a device.
-*
-*/
-
-class ZDL_EXPORT zdl::SNPE::PlatformValidator
-{
-public:
-   /**
-    * @brief Default Constructor of the PlatformValidator Class
-    *
-    * @return A new instance of a PlatformValidator object
-    *         that can be used to check the SNPE compatibility
-    *         of a device
-    */
-   PlatformValidator();
-
-   ~PlatformValidator();
-
-   /**
-    * @brief Sets the runtime processor for compatibility check
-    *
-    * @return Void
-    */
-   void setRuntime(zdl::DlSystem::Runtime_t runtime);
-
-   /**
-    * @brief Checks if the Runtime prerequisites for SNPE are available.
-    *
-    * @return True if the Runtime prerequisites are available, else false.
-    */
-   bool isRuntimeAvailable();
-
-   /**
-    * @brief Returns the core version for the Runtime selected.
-    *
-    * @return String which contains the actual core version value
-    */
-   std::string getCoreVersion();
-
-   /**
-    * @brief Returns the library version for the Runtime selected.
-    *
-    * @return String which contains the actual lib version value
-    */
-   std::string getLibVersion();
-
-   /**
-    * @brief Runs a small program on the runtime and Checks if SNPE is supported for Runtime.
-    *
-    * @return If True, the device is ready for SNPE execution, else not.
-    */
-
-   bool runtimeCheck();
-
-private:
-    zdl::DlSystem::Runtime_t m_runtimeType;
-    std::unique_ptr<IPlatformValidatorRuntime> m_platformValidatorRuntime;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif //SNPE_PLATFORMVALIDATOR_HPP
diff --git a/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp b/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
deleted file mode 100644
index 380a3e0e6e77ee..00000000000000
--- a/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
+++ /dev/null
@@ -1,101 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2019 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef PSNPE_APPLICATIONBUFFERMAP_HPP
-#define PSNPE_APPLICATIONBUFFERMAP_HPP
-#include <vector>
-#include <string>
-#include <unordered_map>
-
-#include "DlSystem/UserBufferMap.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace PSNPE
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * A class representing the UserBufferMap of Input and Output asynchronous mode.
- */
-
-class ZDL_EXPORT ApplicationBufferMap final
-{
-
- public:
-   /**
-    * @brief Adds a name and the corresponding buffer
-    *        to the map
-    *
-    * @param[in] name The name of the UserBuffer
-    * @param[in] buffer The vector of the uint8_t data
-    *
-    * @note If a UserBuffer with the same name already exists, the new
-    *       UserBuffer pointer would be updated.
-    */
-   void add(const char* name, std::vector<uint8_t>& buff) noexcept;
-   void add(const char* name, std::vector<float>& buff) noexcept;
-   /**
-    * @brief Removes a mapping of one UserBuffer and its name by its name
-    *
-    * @param[in] name The name of UserBuffer to be removed
-    *
-    * @note If no UserBuffer with the specified name is found, nothing
-    *       is done.
-    */
-   void remove(const char* name) noexcept;
-
-   /**
-    * @brief Returns the number of UserBuffers in the map
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all UserBuffers from the map
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief Returns the UserBuffer given its name.
-    *
-    * @param[in] name The name of the UserBuffer to get.
-    *
-    * @return nullptr if no UserBuffer with the specified name is
-    *         found; otherwise, a valid pointer to the UserBuffer.
-    */
-   const std::vector<uint8_t>& getUserBuffer(const char* name) const;
-   const std::vector<uint8_t>& operator[](const char* name) const;
-   /**
-    * @brief .
-    *
-    * Returns the names of all UserAsyncBufferMap
-    *
-    * @return A list of UserBuffer names.
-    */
-   zdl::DlSystem::StringList getUserBufferNames() const;
-   const std::unordered_map<std::string, std::vector<uint8_t>>& getUserBuffer() const;
-   explicit ApplicationBufferMap();
-   ~ApplicationBufferMap();
-   explicit ApplicationBufferMap(
-     const std::unordered_map<std::string, std::vector<uint8_t>> buffer);
-
- private:
-   std::unordered_map<std::string, std::vector<uint8_t>> m_UserMap;
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-} // namespace PSNPE
-} // namespace zdl
-
-#endif // PSNPE_APPLICATIONBUFFERMAP_HPP
diff --git a/third_party/snpe/include/SNPE/PSNPE.hpp b/third_party/snpe/include/SNPE/PSNPE.hpp
deleted file mode 100644
index a823c0c7fa1d78..00000000000000
--- a/third_party/snpe/include/SNPE/PSNPE.hpp
+++ /dev/null
@@ -1,205 +0,0 @@
-// =============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-// =============================================================================
-
-#ifndef PSNPE_HPP
-#define PSNPE_HPP
-
-#include <cstdlib>
-#include <functional>
-#include "SNPE/SNPE.hpp"
-#include "DlSystem/UserBufferMap.hpp"
-#include "DlContainer/IDlContainer.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-#include "UserBufferList.hpp"
-#include "RuntimeConfigList.hpp"
-#include "ApplicationBufferMap.hpp"
-
-namespace zdl
-{
-namespace PSNPE
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- *@ brief build snpe instance in serial or parallel
- *
- */
-enum ZDL_EXPORT BuildMode {
-   SERIAL = 0,
-   PARALLEL = 1
-};
-/**
- * @brief  Input and output transmission mode
- */
-enum ZDL_EXPORT InputOutputTransmissionMode
-{
-   sync = 0,
-   outputAsync = 1,
-   inputOutputAsync = 2
-};
-
-/**
- * @brief  A structure representing parameters of callback function of Async Output mode
- */
-struct ZDL_EXPORT OutputAsyncCallbackParam
-{
-   size_t dataIndex;
-   bool executeStatus;
-   std::string errorMsg;
-   OutputAsyncCallbackParam(size_t _index,bool _status, const std::string& _errorMsg = std::string())
-     : dataIndex(_index),executeStatus(_status), errorMsg(_errorMsg){};
-};
-/**
- * @brief  A structure representing parameters of callback function of Async Input/Output mode
- */
-struct ZDL_EXPORT InputOutputAsyncCallbackParam
-{
-   size_t dataIndex;
-   const ApplicationBufferMap& outputMap;
-   bool executeStatus;
-   std::string errorMsg;
-   InputOutputAsyncCallbackParam(size_t _index, const ApplicationBufferMap& output_map,bool _status,
-                                 const std::string _ErrorMsg = std::string())
-     : dataIndex(_index)
-     , outputMap(output_map)
-     , executeStatus(_status)
-     , errorMsg(_ErrorMsg){};
-};
-/**
- * @brief  This callback is called when the output data is ready, only use for Output Async mode
- */
-using OutputAsyncCallbackFunc = std::function<void(OutputAsyncCallbackParam)>;
-/**
- * @brief  This callback is called when the output data is ready, only use for Output-Input Async mode
- */
-using InputOutputAsyncCallbackFunc = std::function<void(InputOutputAsyncCallbackParam)>;
-/**
- * @brief   This callback is called when the input data is ready,only use for Output-Input Async mode 
- */
-using InputOutputAsyncInputCallback = std::function<std::shared_ptr<ApplicationBufferMap>(const std::vector<std::string> &,
-    const zdl::DlSystem::StringList &)>;
-/**
- * @brief .
- *
- * A structure PSNPE configuration
- *
- */
-struct ZDL_EXPORT BuildConfig final
-{
-   BuildMode buildMode = BuildMode::SERIAL; ///< Specify build in serial mode or parallel mode
-   zdl::DlContainer::IDlContainer* container;///< The opened container ptr
-   zdl::DlSystem::StringList outputBufferNames;///< Specify the output layer name
-   zdl::DlSystem::StringList outputTensors;///< Specify the output layer name
-   RuntimeConfigList runtimeConfigList;///< The runtime config list for PSNPE, @see RuntimeConfig
-   size_t inputThreadNumbers = 1;///< Specify the number of threads used in the execution phase to process input data, only used in inputOutputAsync mode
-   size_t outputThreadNumbers = 1;///< Specify the number of threads used in the execution phase to process output data, only used in inputOutputAsync and outputAsync mode
-   OutputAsyncCallbackFunc outputCallback;///< The callback to deal with output data ,only used in outputAsync mode
-   InputOutputAsyncCallbackFunc inputOutputCallback;///< The callback to deal with output data ,only used in inputOutputAsync mode
-   InputOutputAsyncInputCallback inputOutputInputCallback;///< The callback to deal with input data ,only used in inputOutputAsync mode
-   InputOutputTransmissionMode inputOutputTransmissionMode = InputOutputTransmissionMode::sync;///< Specify execution mode
-   zdl::DlSystem::ProfilingLevel_t profilingLevel = zdl::DlSystem::ProfilingLevel_t::OFF;///< Specify profiling level for Diaglog
-   uint64_t encode[2] = {0, 0};
-   bool enableInitCache = false;
-   std::string platformOptions;
-   std::string diaglogOutputDir = "./diaglogs/"; ///< Specify a diaglog output directory to save the generated Diaglog files.
-};
-/**
- * @brief .
- *
- * The class for executing SNPE instances in parallel.
- */
-class ZDL_EXPORT PSNPE final
-{
- public:
-   ~PSNPE();
-
-   explicit PSNPE() noexcept :m_TransmissionMode(InputOutputTransmissionMode::sync){};
-
-   /**
-    * @brief Build snpe instances.
-    *
-    */
-   bool build(BuildConfig& buildConfig) noexcept;
-
-   /**
-    * @brief Execute snpe instances in Async Output mode and Sync mode
-    *
-    * @param[in] inputBufferList A list of user buffers that contains the input data
-    *
-    * @param[in,out] outputBufferList A list of user buffers that will hold the output data
-    *
-    */
-   bool execute(UserBufferList& inputBufferList, UserBufferList& outputBufferList) noexcept;
-
-   /**
-    * @brief  Execute snpe instances in Async Input/Output mode
-    *
-    * @param[in]inputMap A map of input buffers that contains input data. The names of buffers
-    *                     need to be matched with names retrived through getInputTensorNames()
-    *
-    * @param dataIndex Index of the input data
-    *
-    * @param isTF8buff Whether prefer to using 8 bit quantized element for inference
-    *
-    * @return True if executed successfully; flase, otherwise.
-    */
-   bool executeInputOutputAsync(const std::vector<std::string>& inputMap, size_t dataIndex, bool isTF8buff) noexcept;
-   bool executeInputOutputAsync(const std::vector<std::string>& inputMap, size_t dataIndex, bool isTF8buff,bool isTF8Outputbuff) noexcept;
-   /**
-    * @brief Returns the input layer names of the network.
-    *
-    * @return StringList which contains the input layer names
-    */
-   const zdl::DlSystem::StringList getInputTensorNames() const noexcept;
-
-   /**
-    * @brief Returns the output layer names of the network.
-    *
-    * @return StringList which contains the output layer names
-    */
-   const zdl::DlSystem::StringList getOutputTensorNames() const noexcept;
-
-   /**
-    * @brief Returns the input tensor dimensions of the network.
-    *
-    * @return TensorShape which contains the dimensions.
-    */
-   const zdl::DlSystem::TensorShape getInputDimensions() const noexcept;
-
-   const zdl::DlSystem::TensorShape getInputDimensions(const char *name) const noexcept;
-
-   /**
-    * @brief Returns attributes of buffers.
-    *
-    * @see zdl::SNPE
-    *
-    * @return BufferAttributes of input/output tensor named.
-    */
-   const zdl::DlSystem::TensorShape getBufferAttributesDims(const char *name) const noexcept;
-
-   zdl::DlSystem::Optional<zdl::DlSystem::IBufferAttributes*> getInputOutputBufferAttributes(const char *name) const noexcept;
-   bool registerIonBuffers(const zdl::DlSystem::UserMemoryMap& ionBufferMap) const noexcept;
-   bool deregisterIonBuffers(const zdl::DlSystem::StringList& ionBufferNames) const noexcept;
-
-   const char* getLastErrorString();
-
- private:
-   PSNPE(const PSNPE&) = delete;
-   PSNPE& operator=(const PSNPE&) = delete;
-   zdl::PSNPE::InputOutputTransmissionMode m_TransmissionMode;
-
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-} // namespace PSNPE
-} // namespace zdl
-#endif // PSNPE_HPP
diff --git a/third_party/snpe/include/SNPE/RuntimeConfigList.hpp b/third_party/snpe/include/SNPE/RuntimeConfigList.hpp
deleted file mode 100644
index 837dba092a1d21..00000000000000
--- a/third_party/snpe/include/SNPE/RuntimeConfigList.hpp
+++ /dev/null
@@ -1,85 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-#ifndef PSNPE_RUNTIMECONFIGLIST_HPP
-#define PSNPE_RUNTIMECONFIGLIST_HPP
-
-#include <iostream>
-#include "DlContainer/IDlContainer.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/RuntimeList.hpp"
-#include "DlSystem/TensorShapeMap.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-namespace zdl {
-namespace PSNPE {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * The structure for configuring a BulkSNPE runtime
- *
- */
-struct ZDL_EXPORT RuntimeConfig final {
-    zdl::DlSystem::Runtime_t runtime;
-    zdl::DlSystem::RuntimeList runtimeList;
-    zdl::DlSystem::PerformanceProfile_t perfProfile;
-    zdl::DlSystem::TensorShapeMap inputDimensionsMap;
-    bool enableCPUFallback;
-    RuntimeConfig()
-        : runtime{zdl::DlSystem::Runtime_t::CPU_FLOAT32},
-          perfProfile{zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE},
-          enableCPUFallback{false} {}
-    RuntimeConfig(const RuntimeConfig& other) {
-        runtime = other.runtime;
-        runtimeList = other.runtimeList;
-        perfProfile = other.perfProfile;
-        enableCPUFallback = other.enableCPUFallback;
-        inputDimensionsMap = other.inputDimensionsMap;
-    }
-
-    RuntimeConfig& operator=(const RuntimeConfig& other) {
-        this->runtimeList = other.runtimeList;
-        this->runtime = other.runtime;
-        this->perfProfile = other.perfProfile;
-        this->enableCPUFallback = other.enableCPUFallback;
-        this->inputDimensionsMap = other.inputDimensionsMap;
-        return *this;
-    }
-
-    ~RuntimeConfig() {}
-};
-
-/**
- * @brief .
- *
- * The class for creating a RuntimeConfig container.
- *
- */
-class ZDL_EXPORT RuntimeConfigList final {
-   public:
-    RuntimeConfigList();
-    RuntimeConfigList(const size_t size);
-    void push_back(const RuntimeConfig& runtimeConfig);
-    RuntimeConfig& operator[](const size_t index);
-    RuntimeConfigList& operator=(const RuntimeConfigList& other);
-    size_t size() const noexcept;
-    size_t capacity() const noexcept;
-    void clear() noexcept;
-    ~RuntimeConfigList() = default;
-
-   private:
-    void swap(const RuntimeConfigList& other);
-    std::vector<RuntimeConfig> m_runtimeConfigs;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}  // namespace PSNPE
-}  // namespace zdl
-#endif  // PSNPE_RUNTIMECONFIGLIST_HPP
diff --git a/third_party/snpe/include/SNPE/SNPE.hpp b/third_party/snpe/include/SNPE/SNPE.hpp
deleted file mode 100644
index 5ab45b82eedc85..00000000000000
--- a/third_party/snpe/include/SNPE/SNPE.hpp
+++ /dev/null
@@ -1,258 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _SNPE_SNPE_HPP_
-#define _SNPE_SNPE_HPP_
-
-#include "DlSystem/DlOptional.hpp"
-#include "DlSystem/DlVersion.hpp"
-#include "DlSystem/IBufferAttributes.hpp"
-#include "DlSystem/ITensor.hpp"
-#include "DlSystem/TensorShape.hpp"
-#include "DlSystem/TensorMap.hpp"
-#include "DlSystem/String.hpp"
-#include "DlSystem/StringList.hpp"
-#include "DlSystem/IUserBuffer.hpp"
-#include "DlSystem/UserBufferMap.hpp"
-#include "DlSystem/UserMemoryMap.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl {
-   namespace SNPE
-   {
-      class SnpeRuntime;
-   }
-}
-namespace zdl {
-   namespace DiagLog
-   {
-      class IDiagLog;
-   }
-}
-
-namespace zdl { namespace SNPE {
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * The SNPE interface class definition
- */
-class ZDL_EXPORT SNPE final
-{
-public:
-
-   // keep this undocumented to be hidden in doxygen using HIDE_UNDOC_MEMBERS
-   explicit SNPE(std::unique_ptr<zdl::SNPE::SnpeRuntime>&& runtime) noexcept;
-   ~SNPE();
-
-   /**
-    * @brief Gets the names of input tensors to the network
-    *
-    * To support multiple input scenarios, where multiple tensors are
-    * passed through execute() in a TensorMap, each tensor needs to
-    * be uniquely named. The names of tensors can be retrieved
-    * through this function.
-    *
-    * In the case of a single input, one name will be returned.
-    *
-    * @note Note that because the returned value is an Optional list,
-    * the list must be verified as boolean true value before being
-    * dereferenced.
-    *
-    * @return An Optional List of input tensor names.
-    *
-    * @see zdl::DlSystem::Optional
-    */
-   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
-      getInputTensorNames() const noexcept;
-
-    /**
-     * @brief Gets the names of output tensors to the network
-     *
-     * @return List of output tensor names.
-     */
-   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
-      getOutputTensorNames() const noexcept;
-
-   /**
-    * @brief Gets the name of output tensor from the input layer name
-    *
-    * @return Output tensor name.
-    */
-   zdl::DlSystem::StringList
-      getOutputTensorNamesByLayerName(const char *name) const noexcept;
-
-   /**
-    * @brief Processes the input data and returns the output
-    *
-    * @param[in] A map of tensors that contains the input data for
-    *            each input. The names of tensors needs to be
-    *            matched with names retrieved through
-    *            getInputTensorNames()
-    *
-    * @param[in,out] An empty map of tensors that will contain the output
-    *                data of potentially multiple layers (the key
-    *                in the map is the layer name) upon return
-    *
-    * @note output tensormap has to be empty.  To forward propagate
-    *       and get results in user-supplied tensors, use
-    *       executeWithSuppliedOutputTensors.
-    */
-   bool execute(const zdl::DlSystem::TensorMap &input,
-                zdl::DlSystem::TensorMap &output) noexcept;
-
-   /**
-    * @brief Processes the input data and returns the output
-    *
-    * @param[in] A single tensor contains the input data.
-    *
-    * @param[in,out] An empty map of tensors that will contain the output
-    *                data of potentially multiple layers (the key
-    *                in the map is the layer name) upon return
-    *
-    * @note output tensormap has to be empty.
-    */
-   bool execute(const zdl::DlSystem::ITensor *input,
-                zdl::DlSystem::TensorMap &output) noexcept;
-
-   /**
-    * @brief Processes the input data and returns the output, using
-    *        user-supplied buffers
-    *
-    * @param[in] A map of UserBuffers that contains the input data for
-    *            each input. The names of UserBuffers needs to be
-    *            matched with names retrieved through
-    *            getInputTensorNames()
-    *
-    * @param[in,out] A map of UserBuffers that will hold the output
-    *                data of potentially multiple layers (the key
-    *                in the map is the UserBuffer name)
-    *
-    * @note input and output UserBuffer maps must be fully pre-populated. with
-    *       dimensions matching what the network expects.
-    *       For example, if there are 5 output UserBuffers they all have to be
-    *       present in map.
-    *
-    *       Caller must guarantee that for the duration of execute(), the buffer
-    *       stored in UserBuffer would remain valid.  For more detail on buffer
-    *       ownership and lifetime requirements, please refer to zdl::DlSystem::UserBuffer
-    *       documentation.
-    */
-   bool execute(const zdl::DlSystem::UserBufferMap &input,
-                const zdl::DlSystem::UserBufferMap &output) noexcept;
-
-
-    /**
-    * @brief Regiter Client ION Buffers
-    * @param[in] A UserMemoryMap of virtual addresses
-    *
-    */
-   bool registerIonBuffers(const zdl::DlSystem::UserMemoryMap& ionBufferMap) noexcept;
-
-    /**
-    * @brief Regiter Client ION Buffers
-    * @param[in] A StringList of ION Buffer names
-    *
-    */
-   bool deregisterIonBuffers(const zdl::DlSystem::StringList& ionBufferNames) noexcept;
-
-    /**
-    * @brief Returns the version string embedded at model conversion
-    * time.
-    *
-    * @return Model version string, which is a free-form string
-    *         supplied at the time of the conversion
-    *
-    */
-   zdl::DlSystem::String getModelVersion() const noexcept;
-
-   /**
-    * @brief Returns the dimensions of the input data to the model in the
-    * form of TensorShape. The dimensions in TensorShape corresponds to
-    * what the tensor dimensions would need to be for an input tensor to
-    * the model.
-    *
-    * @param[in] layer input name.
-    *
-    * @note Note that this function only makes sense for networks 
-    *       that have a fixed input size. For networks in which the
-    *       input size varies with each call of Execute(), this
-    *       function should not be used.
-    *
-    * @note Because the returned type is an Optional instance, it must
-    *       be verified as a boolean true value before being dereferenced.
-    * 
-    * @return An Optional instance of TensorShape that maintains dimensions,
-    *         matching the tensor dimensions for input to the model,
-    *         where the last entry is the fastest varying dimension, etc.
-    *  
-    * @see zdl::DlSystem::ITensor
-    * @see zdl::DlSystem::TensorShape
-    * @see zdl::DlSystem::Optional
-    */
-   zdl::DlSystem::Optional<zdl::DlSystem::TensorShape>
-      getInputDimensions() const noexcept;
-   zdl::DlSystem::Optional<zdl::DlSystem::TensorShape>
-      getInputDimensions(const char *name) const noexcept;
-
-   /**
-    * @brief Gets the output layer(s) for the network. 
-    *  
-    * Note that the output layers returned by this function may be 
-    * different than those specified when the network was created 
-    * via the zdl::SNPE::SNPEBuilder. For example, if the
-    * network was created in debug mode with no explicit output 
-    * layers specified, this will contain all layers.
-    *
-    * @note Note that because the returned value is an Optional StringList,
-    * the list must be verified as a boolean true value before being
-    * dereferenced.
-    *
-    * @return A List of output layer names.
-    *
-    * @see zdl::DlSystem::Optional
-    */
-   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
-      getOutputLayerNames() const noexcept;
-
-   /**
-     * @brief Returns attributes of buffers used to feed input tensors and receive result from output tensors.
-     *
-     * @param[in] Tensor name.
-     *
-     * @return BufferAttributes of input/output tensor named
-     */
-   zdl::DlSystem::Optional<zdl::DlSystem::IBufferAttributes*> getInputOutputBufferAttributes(const char *name) const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Get the diagnostic logging interface
-    *
-    * @note Note that because the returned type is an Optional instance,
-    * it must be verified as a boolean true value before being
-    * dereferenced.
-    *
-    * @see zdl::DlSystem::Optional
-    */
-   zdl::DlSystem::Optional<zdl::DiagLog::IDiagLog*>
-      getDiagLogInterface() noexcept;
-
-private:
-   SNPE(const SNPE&) = delete;
-   SNPE& operator=(const SNPE&) = delete;
-
-   std::unique_ptr<SnpeRuntime> m_Runtime;
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-}}
-
-#endif
diff --git a/third_party/snpe/include/SNPE/SNPEBuilder.hpp b/third_party/snpe/include/SNPE/SNPEBuilder.hpp
deleted file mode 100644
index 5fc7846ced6486..00000000000000
--- a/third_party/snpe/include/SNPE/SNPEBuilder.hpp
+++ /dev/null
@@ -1,306 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2017-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _SNPE_BUILDER_HPP_
-#define _SNPE_BUILDER_HPP_
-
-#include "SNPE/SNPE.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/UDLFunc.hpp"
-#include "DlSystem/DlOptional.hpp"
-#include "DlSystem/TensorShapeMap.hpp"
-#include "DlSystem/PlatformConfig.hpp"
-#include "DlSystem/IOBufferDataTypeMap.hpp"
-#include "DlSystem/RuntimeList.hpp"
-
-namespace zdl {
-   namespace DlContainer
-   {
-      class IDlContainer;
-   }
-}
-
-struct SNPEBuilderImpl;
-
-
-namespace zdl { namespace SNPE {
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * The builder class for creating SNPE objects.
- * Not meant to be extended.
- */
-class ZDL_EXPORT SNPEBuilder final
-{
-private:
-   std::unique_ptr<::SNPEBuilderImpl> m_Impl;
-public:
-
-   /**
-    * @brief Constructor of NeuralNetwork Builder with a supplied model.
-    *
-    * @param[in] container A container holding the model.
-    *
-    * @return A new instance of a SNPEBuilder object
-    *         that can be used to configure and build
-    *         an instance of SNPE.
-    *
-    */
-   explicit SNPEBuilder(
-      zdl::DlContainer::IDlContainer* container);
-   ~SNPEBuilder();
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE. Please use
-    *       setRuntimeProcessorOrder()
-    *
-    * @brief Sets the runtime processor.
-    *
-    * @param[in] targetRuntimeProcessor The target runtime.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setRuntimeProcessor(
-      zdl::DlSystem::Runtime_t targetRuntimeProcessor);
-
-   /**
-    * @brief Requests a performance profile.
-    *
-    * @param[in] targetRuntimeProfile The target performance profile.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setPerformanceProfile(
-      zdl::DlSystem::PerformanceProfile_t performanceProfile);
-
-   /**
-    * @brief Sets the profiling level. Default profiling level for
-    *        SNPEBuilder is off. Off and basic only applies to DSP runtime.
-    *
-    * @param[in] profilingLevel The target profiling level.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setProfilingLevel(
-      zdl::DlSystem::ProfilingLevel_t profilingLevel);
-
-    /**
-     * @brief Sets a preference for execution priority.
-     *
-     * This allows the caller to give coarse hint to SNPE runtime
-     * about the priority of the network.  SNPE runtime is free to use
-     * this information to co-ordinate between different workloads
-     * that may or may not extend beyond SNPE.
-     *
-     * @param[in] ExecutionPriorityHint_t The target performance profile.
-     *
-     * @return The current instance of SNPEBuilder.
-     */
-   SNPEBuilder& setExecutionPriorityHint(
-            zdl::DlSystem::ExecutionPriorityHint_t priority);
-
-    /**
-    * @brief Sets the layers that will generate output.
-    *
-    * @param[in] outputLayerNames List of layer names to
-    *                             output. An empty list will
-    *                             result in only the final
-    *                             layer of the model being
-    *                             the output layer.  The list
-    *                             will be copied.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setOutputLayers(
-      const zdl::DlSystem::StringList& outputLayerNames);
-
-   /**
-   * @brief Sets the output tensor names.
-   *
-   * @param[in] outputTensorNames List of tensor names to
-   *                             output. An empty list will
-   *                             result in producing output for the final
-   *                             output tensor of the model.
-   *                             The list will be copied.
-   *
-   * @return The current instance of SNPEBuilder.
-   */
-   SNPEBuilder& setOutputTensors(
-      const zdl::DlSystem::StringList& outputTensorNames);
-
-   /**
-    * @brief Passes in a User-defined layer.
-    *
-    * @param udlBundle Bundle of udl factory function and a cookie
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setUdlBundle(
-      zdl::DlSystem::UDLBundle udlBundle);
-
-   /**
-    * @brief Sets whether this neural network will perform inference with
-    *        input from user-supplied buffers, and write output to user-supplied
-    *        buffers.  Default behaviour is to use tensors created by
-    *        ITensorFactory.
-    *
-    * @param[in] bufferMode Whether to use user-supplied buffer or not.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setUseUserSuppliedBuffers(
-      bool bufferMode);
-
-    /**
-    * @brief Sets the debug mode of the runtime.
-    *
-    * @param[in] debugMode This enables debug mode for the runtime. It
-    *                      does two things. For an empty
-    *                      outputLayerNames list, all layers will be
-    *                      output. It might also disable some internal
-    *                      runtime optimizations (e.g., some networks
-    *                      might be optimized by combining layers,
-    *                      etc.).
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setDebugMode(
-      bool debugMode);
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE. Please use
-    *       setRuntimeProcessorOrder()
-    *
-    * @brief Sets the mode of CPU fallback functionality.
-    *
-    * @param[in] mode   This flag enables/disables the functionality
-    *                   of CPU fallback. When the CPU fallback
-    *                   functionality is enabled, layers in model that
-    *                   violates runtime constraints will run on CPU
-    *                   while the rest of non-violating layers will
-    *                   run on the chosen runtime processor. In
-    *                   disabled mode, models with layers violating
-    *                   runtime constraints will NOT run on the chosen
-    *                   runtime processor and will result in runtime
-    *                   exception. By default, the functionality is
-    *                   enabled.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setCPUFallbackMode(
-      bool mode);
-
-
-   /**
-    * @brief Sets network's input dimensions to enable resizing of
-    *        the spatial dimensions of each layer for fully convolutional networks,
-    *        and the batch dimension for all networks.
-    *
-    * @param[in] tensorShapeMap The map of input names and their new dimensions.
-    *                           The new dimensions overwrite the input dimensions
-    *                           embedded in the model and then resize each layer
-    *                           of the model. If the model contains
-    *                           layers whose dimensions cannot be resized e.g FullyConnected,
-    *                           exception will be thrown when SNPE instance is actually built.
-    *                           In general the batch dimension is always resizable.
-    *                           After resizing of layers' dimensions in model based
-    *                           on new input dimensions, the new model is revalidated
-    *                           against all runtime constraints, whose failures may
-    *                           result in cpu fallback situation.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setInputDimensions(const zdl::DlSystem::TensorShapeMap& inputDimensionsMap);
-
-   /**
-    * @brief Sets the mode of init caching functionality.
-    *
-    * @param[in] mode   This flag enables/disables the functionality of init caching.
-    *                   When init caching functionality is enabled, a set of init caches
-    *                   will be created during network building/initialization process
-    *                   and will be added to DLC container. If such DLC container is saved
-    *                   by the user, in subsequent network building/initialization processes
-    *                   these init caches will be loaded from the DLC so as to reduce initialization time.
-    *                   In disable mode, no init caches will be added to DLC container.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setInitCacheMode(
-      bool cacheMode);
-
-   /**
-    * @brief Returns an instance of SNPE based on the current parameters.
-    *
-    * @return A new instance of a SNPE object that can be used
-    *         to execute models or null if any errors occur.
-    */
-   std::unique_ptr<SNPE> build() noexcept;
-
-   /**
-    * @brief Sets the platform configuration.
-    *
-    * @param[in] platformConfig The platform configuration.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setPlatformConfig(const zdl::DlSystem::PlatformConfig& platformConfig);
-
-   /**
-    * @brief Sets network's runtime order of precedence. Example:
-    *        CPU_FLOAT32, GPU_FLOAT16, AIP_FIXED8_TF
-    *        Note:- setRuntimeProcessor() or setCPUFallbackMode() will be silently ignored when
-    *        setRuntimeProcessorOrder() is invoked
-    *
-    * @param[in] runtimeList The list of runtime in order of precedence
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setRuntimeProcessorOrder(const zdl::DlSystem::RuntimeList& runtimeList);
-
-    /**
-    * @brief Sets the unconsumed tensors as output
-    *
-    * @param[in] setOutput This enables unconsumed tensors (i.e)
-    *                      outputs which are not inputs to any
-    *                      layer (basically dead ends) to be marked
-    *                      for output
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setUnconsumedTensorsAsOutputs(
-      bool setOutput);
-
-    /**
-    * @brief Execution terminated when exceeding time limit.
-    *        Only valid for dsp runtime currently.
-    *
-    * @param[in] timeout Time limit value
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setTimeOut(
-      uint64_t timeout);
-
-
-   /**
-    * @brief Sets the datatype of the buffer.
-    *        Only valid for dsp runtime currently.
-    *
-    * @param[in] Map of the buffer names and the datatype that needs to be set.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setBufferDataType(const zdl::DlSystem::IOBufferDataTypeMap& dataTypeMap);
-
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}}
-
-#endif
diff --git a/third_party/snpe/include/SNPE/SNPEFactory.hpp b/third_party/snpe/include/SNPE/SNPEFactory.hpp
deleted file mode 100644
index 2d78e81b173d2c..00000000000000
--- a/third_party/snpe/include/SNPE/SNPEFactory.hpp
+++ /dev/null
@@ -1,220 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _SNPE_FACTORY_HPP_
-#define _SNPE_FACTORY_HPP_
-
-#include "SNPE/SNPE.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/UDLFunc.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-#include "DlSystem/DlOptional.hpp"
-
-namespace zdl {
-   namespace DlSystem
-   {
-      class ITensorFactory;
-      class IUserBufferFactory;
-   }
-   namespace DlContainer
-   {
-      class IDlContainer;
-   }
-}
-
-
-
-namespace zdl { namespace SNPE {
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * The factory class for creating SNPE objects.
- *
- */
-class ZDL_EXPORT SNPEFactory
-{
-public:
-
-   /**
-    * Indicates whether the supplied runtime is available on the
-    * current platform.
-    *
-    * @param[in] runtime The target runtime to check.
-    *
-    * @return True if the supplied runtime is available; false,
-    *         otherwise.
-    */
-   static bool isRuntimeAvailable(zdl::DlSystem::Runtime_t runtime);
-
-   /**
-    * Indicates whether the supplied runtime is available on the
-    * current platform.
-    *
-    * @param[in] runtime The target runtime to check.
-    *
-    * @param[in] option Extent to perform runtime available check.
-    *
-    * @return True if the supplied runtime is available; false,
-    *         otherwise.
-    */
-   static bool isRuntimeAvailable(zdl::DlSystem::Runtime_t runtime,
-                                  zdl::DlSystem::RuntimeCheckOption_t option);
-
-   /**
-    * Gets a reference to the tensor factory.
-    *
-    * @return A reference to the tensor factory.
-    */
-   static zdl::DlSystem::ITensorFactory& getTensorFactory();
-
-   /**
-    * Gets a reference to the UserBuffer factory.
-    *
-    * @return A reference to the UserBuffer factory.
-    */
-   static zdl::DlSystem::IUserBufferFactory& getUserBufferFactory();
-
-   /**
-    * Gets the version of the SNPE library.
-    *
-    * @return Version of the SNPE library.
-    *
-    */
-   static zdl::DlSystem::Version_t getLibraryVersion();
-
-   /**
-    * Set the SNPE storage location for all SNPE instances in this
-    * process. Note that this may only be called once, and if so
-    * must be called before creating any SNPE instances.
-    *
-    * @param[in] storagePath Absolute path to a directory which SNPE may
-    *  use for caching and other storage purposes.
-    *
-    * @return True if the supplied path was succesfully set as
-    *  the SNPE storage location, false otherwise.
-    */
-   static bool setSNPEStorageLocation(const char* storagePath);
-
-   /**
-    * @brief Register a user-defined op package with SNPE.
-    *
-    * @param[in] regLibraryPath Path to the registration library
-    *                      that allows clients to register a set of operations that are
-    *                      part of the package, and share op info with SNPE
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool addOpPackage( const std::string& regLibraryPath );
-
-   /**
-    * Indicates whether the OpenGL and OpenCL interoperability is supported
-    * on GPU platform.
-    *
-    * @return True if the OpenGL and OpenCl interop is supported; false,
-    *         otherwise.
-    */
-   static bool isGLCLInteropSupported();
-
-   static const char* getLastError();
-
-   /**
-    * Initializes logging with the specified log level.
-    * initializeLogging with level, is used on Android platforms
-    * and after successful initialization, SNPE
-    * logs are printed in android logcat logs.
-    *
-    * It is recommended to initializeLogging before creating any
-    * SNPE instances, in order to capture information related to
-    * core initialization. If this is called again after first
-    * time initialization, subsequent calls are ignored.
-    * Also, Logging can be re-initialized after a call to
-    * terminateLogging API by calling initializeLogging again.
-    *
-    * A typical usage of Logging life cycle can be
-    * initializeLogging()
-    *        any other SNPE API like isRuntimeAvailable()
-    * * setLogLevel() - optional - can be called anytime
-    *         between initializeLogging & terminateLogging
-    *		  SNPE instance creation, inference, destroy
-    * terminateLogging().
-    *
-    * Please note, enabling logging can have performance impact.
-    *
-    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool initializeLogging(const zdl::DlSystem::LogLevel_t& level);
-
-   /**
-    * Initializes logging with the specified log level and log path.
-    * initializeLogging with level & log path, is used on non Android
-    * platforms and after successful initialization, SNPE
-    * logs are printed in std output & into log files created in the
-    * log path.
-    *
-    * It is recommended to initializeLogging before creating any
-    * SNPE instances, in order to capture information related to
-    * core initialization. If this is called again after first
-    * time initialization, subsequent calls are ignored.
-    * Also, Logging can be re-initialized after a call to
-    * terminateLogging API by calling initializeLogging again.
-    *
-    * A typical usage of Logging life cycle can be
-    * initializeLogging()
-    *        any other SNPE API like isRuntimeAvailable()
-    * * setLogLevel() - optional - can be called anytime
-    *         between initializeLogging & terminateLogging
-    *		  SNPE instance creation, inference, destroy
-    * terminateLogging()
-    *
-    * Please note, enabling logging can have performance impact
-    *
-    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
-    *
-    * @param[in] Path of directory to store logs.
-    *      If path is empty, the default path is "./Log".
-    *      For android, the log path is ignored.
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool initializeLogging(const zdl::DlSystem::LogLevel_t& level, const std::string& logPath);
-
-   /**
-    * Updates the current logging level with the specified level.
-    * setLogLevel is optional, called anytime after initializeLogging
-    * and before terminateLogging, to update the log level set.
-    * Log levels can be updated multiple times by calling setLogLevel
-    * A call to setLogLevel() is ignored if it is made before
-    * initializeLogging() or after terminateLogging()
-    *
-    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool setLogLevel(const zdl::DlSystem::LogLevel_t& level);
-
-   /**
-    * Terminates logging.
-    *
-    * It is recommended to terminateLogging after initializeLogging
-    * in order to disable logging information.
-    * If this is called before initialization or after first time termination,
-    * calls are ignored.
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool terminateLogging(void);
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-}}
-
-
-#endif
diff --git a/third_party/snpe/include/SNPE/UserBufferList.hpp b/third_party/snpe/include/SNPE/UserBufferList.hpp
deleted file mode 100644
index a660bca0f6a525..00000000000000
--- a/third_party/snpe/include/SNPE/UserBufferList.hpp
+++ /dev/null
@@ -1,49 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2019 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-#ifndef PSNPE_USERBUFFERLIST_HPP
-#define PSNPE_USERBUFFERLIST_HPP
-
-#include <vector>
-#include "DlSystem/UserBufferMap.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace PSNPE
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-/**
-* @brief .
-*
-* The class for creating a UserBufferMap container.
-*
-*/
-class ZDL_EXPORT UserBufferList final
-{
-public:
-   UserBufferList();
-   UserBufferList(const size_t size);
-   void push_back(const zdl::DlSystem::UserBufferMap &userBufferMap);
-   zdl::DlSystem::UserBufferMap& operator[](const size_t index);
-   UserBufferList& operator =(const UserBufferList &other);
-   size_t size() const noexcept;
-   size_t capacity() const noexcept;
-   void clear() noexcept;
-   ~UserBufferList() = default;
-
-private:
-   void swap(const UserBufferList &other);
-   std::vector<zdl::DlSystem::UserBufferMap> m_userBufferMaps;
-
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // namespace PSNPE
-} // namespace zdl
-#endif //PSNPE_USERBUFFERLIST_HPP
diff --git a/third_party/snpe/include/SnpeUdo/UdoBase.h b/third_party/snpe/include/SnpeUdo/UdoBase.h
deleted file mode 100644
index 7b2567920e3525..00000000000000
--- a/third_party/snpe/include/SnpeUdo/UdoBase.h
+++ /dev/null
@@ -1,537 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef SNPE_UDO_BASE_H
-#define SNPE_UDO_BASE_H
-
-#include <stdint.h>
-
-// Provide values to use for API version.
-#define API_VERSION_MAJOR 1
-#define API_VERSION_MINOR 6
-#define API_VERSION_TEENY 0
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-// Defines a bitmask of enum values.
-typedef uint32_t SnpeUdo_Bitmask_t;
-typedef SnpeUdo_Bitmask_t Udo_Bitmask_t;
-
-// A string of characters, rather than an array of bytes.
-// Assumed to be UTF-8.
-typedef char* SnpeUdo_String_t;
-typedef SnpeUdo_String_t Udo_String_t;
-
-// The maximum allowable length of a SnpeUdo_String_t in bytes,
-// including null terminator. SNPE will truncate strings longer
-// than this.
-#define SNPE_UDO_MAX_STRING_SIZE 1024
-
-/**
-  * An enum which holds the various error types.
-  * The error types are divided to classes :
-  * 0 - 99    : generic errors
-  * 100 - 200 : errors related to configuration
-  *
-  */
-typedef enum
-{
-   /// No Error
-   SNPE_UDO_NO_ERROR                    = 0,          UDO_NO_ERROR                    = 0,
-   /// Unsupported value for core type
-   SNPE_UDO_WRONG_CORE                  = 1,          UDO_WRONG_CORE                  = 1,
-   /// Invalid attribute/argument passed into UDO API
-   SNPE_UDO_INVALID_ARGUMENT            = 2,          UDO_INVALID_ARGUMENT            = 2,
-   /// Unsupported feature error
-   SNPE_UDO_UNSUPPORTED_FEATURE         = 3,          UDO_UNSUPPORTED_FEATURE         = 3,
-   /// Error relating to memory allocation
-   SNPE_UDO_MEM_ALLOC_ERROR             = 4,          UDO_MEM_ALLOC_ERROR             = 4,
-   /* Configuration Specific errors */
-   /// No op with given attributes available in library
-   SNPE_UDO_WRONG_OPERATION             = 100,        UDO_WRONG_OPERATION             = 100,
-   /// Unsupported value for core type in UDO configuration
-   SNPE_UDO_WRONG_CORE_TYPE             = 101,        UDO_WRONG_CORE_TYPE             = 101,
-   /// Wrong number of params in UDO definition
-   SNPE_UDO_WRONG_NUM_OF_PARAMS         = 102,        UDO_WRONG_NUM_OF_PARAMS         = 102,
-   /// Wrong number of dimensions for tensor(s) in UDO definition
-   SNPE_UDO_WRONG_NUM_OF_DIMENSIONS     = 103,        UDO_WRONG_NUM_OF_DIMENSIONS     = 103,
-   /// Wrong number of input tensors in UDO definition
-   SNPE_UDO_WRONG_NUM_OF_INPUTS         = 104,        UDO_WRONG_NUM_OF_INPUTS         = 104,
-   /// Wrong number of output tensors in UDO definition
-   SNPE_UDO_WRONG_NUM_OF_OUTPUTS        = 105,        UDO_WRONG_NUM_OF_OUTPUTS        = 105,
-   SNPE_UDO_PROGRAM_CACHE_NOT_FOUND     = 106,        UDO_PROGRAM_CACHE_NOT_FOUND     = 106,
-   SNPE_UDO_UNKNOWN_ERROR               = 0xFFFFFFFF, UDO_UNKNOWN_ERROR               = 0xFFFFFFFF
-} SnpeUdo_ErrorType_t;
-
-typedef SnpeUdo_ErrorType_t Udo_ErrorType_t;
-
-/**
-  * An enum which holds the various data types.
-  * Designed to be used as single values or combined into a bitfield parameter
-  * (0x1, 0x2, 0x4, etc)
-  * \n FIXED_XX types are targeted for data in tensors.
-  * \n UINT / INT types are targeted for scalar params
-  */
-typedef enum
-{
-   /// data type: 16-bit floating point
-   SNPE_UDO_DATATYPE_FLOAT_16       = 0x01,        UDO_DATATYPE_FLOAT_16       = 0x01,
-   /// data type: 32-bit floating point
-   SNPE_UDO_DATATYPE_FLOAT_32       = 0x02,        UDO_DATATYPE_FLOAT_32       = 0x02,
-   /// data type: 4-bit fixed point
-   SNPE_UDO_DATATYPE_FIXED_4        = 0x04,        UDO_DATATYPE_FIXED_4        = 0x04,
-   /// data type: 8-bit fixed point
-   SNPE_UDO_DATATYPE_FIXED_8        = 0x08,        UDO_DATATYPE_FIXED_8        = 0x08,
-   /// data type: 16-bit fixed point
-   SNPE_UDO_DATATYPE_FIXED_16       = 0x10,        UDO_DATATYPE_FIXED_16       = 0x10,
-   /// data type: 32-bit fixed point
-   SNPE_UDO_DATATYPE_FIXED_32       = 0x20,        UDO_DATATYPE_FIXED_32       = 0x20,
-   /// data type: 8-bit unsigned integer
-   SNPE_UDO_DATATYPE_UINT_8         = 0x100,       UDO_DATATYPE_UINT_8         = 0x100,
-   /// data type: 16-bit unsigned integer
-   SNPE_UDO_DATATYPE_UINT_16        = 0x200,       UDO_DATATYPE_UINT_16        = 0x200,
-   /// data type: 32-bit unsigned integer
-   SNPE_UDO_DATATYPE_UINT_32        = 0x400,       UDO_DATATYPE_UINT_32        = 0x400,
-   /// data type: 8-bit signed integer
-   SNPE_UDO_DATATYPE_INT_8          = 0x1000,      UDO_DATATYPE_INT_8          = 0x1000,
-   /// data type: 16-bit signed integer
-   SNPE_UDO_DATATYPE_INT_16         = 0x2000,      UDO_DATATYPE_INT_16         = 0x2000,
-   /// data type: 32-bit signed integer
-   SNPE_UDO_DATATYPE_INT_32         = 0x4000,      UDO_DATATYPE_INT_32         = 0x4000,
-   SNPE_UDO_DATATYPE_LAST           = 0xFFFFFFFF,  UDO_DATATYPE_LAST           = 0xFFFFFFFF
-} SnpeUdo_DataType_t;
-
-typedef SnpeUdo_DataType_t Udo_DataType_t;
-
-/**
-  * An enum which holds the various layouts.
-  * Designed to be used as single values or combined into a bitfield parameter
-  * (0x1, 0x2, 0x4, etc)
-  */
-typedef enum
-{
-   /// data layout (4D): NHWC (batch-height-width-channel)
-   SNPE_UDO_LAYOUT_NHWC             = 0x01,        UDO_LAYOUT_NHWC             = 0x01,
-   /// data layout (4D): NCHW (batch-channel-height-width)
-   SNPE_UDO_LAYOUT_NCHW             = 0x02,        UDO_LAYOUT_NCHW             = 0x02,
-   /// data layout (5D): NDHWC (batch-dimension-height-width-channel)
-   SNPE_UDO_LAYOUT_NDHWC            = 0x04,        UDO_LAYOUT_NDHWC            = 0x04,
-   SNPE_UDO_LAYOUT_GPU_OPTIMAL1     = 0x08,        UDO_LAYOUT_GPU_OPTIMAL1     = 0x08,
-   SNPE_UDO_LAYOUT_GPU_OPTIMAL2     = 0x10,        UDO_LAYOUT_GPU_OPTIMAL2     = 0x10,
-   SNPE_UDO_LAYOUT_DSP_OPTIMAL1     = 0x11,        UDO_LAYOUT_DSP_OPTIMAL1     = 0x11,
-   SNPE_UDO_LAYOUT_DSP_OPTIMAL2     = 0x12,        UDO_LAYOUT_DSP_OPTIMAL2     = 0x12,
-   // Indicates no data will be allocated for this tensor.
-   // Used to specify optional inputs/outputs positionally.
-   SNPE_UDO_LAYOUT_NULL             = 0x13,        UDO_LAYOUT_NULL             = 0x13,
-   SNPE_UDO_LAYOUT_LAST             = 0xFFFFFFFF,  UDO_LAYOUT_LAST             = 0xFFFFFFFF
-} SnpeUdo_TensorLayout_t;
-
-typedef SnpeUdo_TensorLayout_t Udo_TensorLayout_t;
-
-/**
-  * An enum which holds the UDO library Core type .
-  * Designed to be used as single values or combined into a bitfield parameter
-  * (0x1, 0x2, 0x4, etc)
-  */
-typedef enum
-{
-   /// Library target IP Core is undefined
-   SNPE_UDO_CORETYPE_UNDEFINED   = 0x00,          UDO_CORETYPE_UNDEFINED   = 0x00,
-   /// Library target IP Core is CPU
-   SNPE_UDO_CORETYPE_CPU         = 0x01,          UDO_CORETYPE_CPU         = 0x01,
-   /// Library target IP Core is GPU
-   SNPE_UDO_CORETYPE_GPU         = 0x02,          UDO_CORETYPE_GPU         = 0x02,
-   /// Library target IP Core is DSP
-   SNPE_UDO_CORETYPE_DSP         = 0x04,          UDO_CORETYPE_DSP         = 0x04,
-   SNPE_UDO_CORETYPE_LAST        = 0xFFFFFFFF,    UDO_CORETYPE_LAST        = 0xFFFFFFFF
-} SnpeUdo_CoreType_t;
-
-typedef SnpeUdo_CoreType_t Udo_CoreType_t;
-
-/**
-  * An enum to specify the parameter type : Scalar or Tensor
-  */
-typedef enum
-{
-   /// UDO static param type: scalar
-   SNPE_UDO_PARAMTYPE_SCALAR = 0x00,         UDO_PARAMTYPE_SCALAR = 0x00,
-   /// UDO static param type: string
-   SNPE_UDO_PARAMTYPE_STRING = 0x01,         UDO_PARAMTYPE_STRING = 0x01,
-   /// UDO static param type: tensor
-   SNPE_UDO_PARAMTYPE_TENSOR = 0x02,         UDO_PARAMTYPE_TENSOR = 0x02,
-   SNPE_UDO_PARAMTYPE_LAST   = 0xFFFFFFFF,   UDO_PARAMTYPE_LAST   = 0xFFFFFFFF
-} SnpeUdo_ParamType_t;
-
-typedef SnpeUdo_ParamType_t Udo_ParamType_t;
-
-/**
-  * An enum to specify quantization type
-  */
-typedef enum
-{
-   /// Tensor Quantization type: NONE. Signifies unquantized tensor data
-   SNPE_UDO_QUANTIZATION_NONE   = 0x00,         UDO_QUANTIZATION_NONE   = 0x00,
-   /// Tensor Quantization type: Tensorflow-style
-   SNPE_UDO_QUANTIZATION_TF     = 0x01,         UDO_QUANTIZATION_TF     = 0x01,
-   SNPE_UDO_QUANTIZATION_QMN    = 0x02,         UDO_QUANTIZATION_QMN    = 0x02,
-   SNPE_UDO_QUANTIZATION_LAST   = 0xFFFFFFFF,   UDO_QUANTIZATION_LAST   = 0xFFFFFFFF
-} SnpeUdo_QuantizationType_t;
-
-typedef SnpeUdo_QuantizationType_t Udo_QuantizationType_t;
-
-/**
- * @brief A struct which is used to provide a version number using 3 values : major, minor, teeny
- *
- */
-typedef struct
-{
-   /// version field: major - for backward-incompatible changes
-   uint32_t major;
-   /// version field: minor - for backward-compatible feature updates
-   uint32_t minor;
-   /// version field: teeny - for minor bug-fixes and clean-up
-   uint32_t teeny;
-} SnpeUdo_Version_t;
-
-typedef SnpeUdo_Version_t Udo_Version_t;
-
-/**
- * @brief A struct returned from version query, contains the Library version and API version
- *
- */
-typedef struct
-{
-   /// Version of UDO library. Controlled by users
-   SnpeUdo_Version_t libVersion;
-   /// Version of SNPE UDO API used in compiling library. Determined by SNPE
-   SnpeUdo_Version_t apiVersion;
-} SnpeUdo_LibVersion_t;
-
-/**
- * @brief A struct returned from version query, contains the package version
- *
- */
-typedef struct
-{
-   /// Version of UDO API used in package.
-   Udo_Version_t apiVersion;
-} Udo_PkgVersion_t;
-
-/**
- * @brief A union to hold the value of a generic type. Allows defining a parameter struct
- * in a generic way, with a "value" location that holds the data regardless of the type.
- *
- */
-typedef union
-{
-   /// value type: float
-   float    floatValue;
-   /// value type: unsigned 32-bit integer
-   uint32_t uint32Value;
-   /// value type: signed 32-bit integer
-   int32_t  int32Value;
-   /// value type: unsigned 16-bit integer
-   uint16_t uint16Value;
-   /// value type: signed 16-bit integer
-   int16_t  int16Value;
-   /// value type: unsigned 8-bit integer
-   uint8_t  uint8Value;
-   /// value type: signed 8-bit integer
-   int8_t   int8Value;
-} SnpeUdo_Value_t;
-
-typedef SnpeUdo_Value_t Udo_Value_t;
-
-/**
- * @brief A struct which defines a scalar parameter : name, data type, and union of values
- *
- */
-typedef struct
-{
-   /// The parameter data type : float, int, etc.
-   SnpeUdo_DataType_t  dataType;
-   /// a union of specified type which holds the data
-   SnpeUdo_Value_t dataValue;
-} SnpeUdo_ScalarParam_t;
-
-typedef SnpeUdo_ScalarParam_t Udo_ScalarParam_t;
-
-/**
- * @brief A struct which defines the quantization parameters in case of Tensorflow style quantization
- *
- */
-typedef struct
-{
-   /// minimum value of the quantization range of data
-   float minValue;
-   /// maximum value of the quantization range of data
-   float maxValue;
-} SnpeUdo_TFQuantize_t;
-
-typedef SnpeUdo_TFQuantize_t Udo_TFQuantize_t;
-
-/**
- * @brief A struct which defines the quantization type, and union of supported quantization structs
- *
- */
-typedef struct
-{
-   /// quantization type (only TF-style currently supported)
-   SnpeUdo_QuantizationType_t quantizeType;
-   union
-   {
-     /// TF-style min-max quantization ranges
-     SnpeUdo_TFQuantize_t TFParams;
-   };
-} SnpeUdo_QuantizeParams_t;
-
-typedef SnpeUdo_QuantizeParams_t Udo_QuantizeParams_t;
-
-/**
- * @brief A struct which defines the datatype associated with a specified core-type
- * This should be used to denote the datatypes for a single tensor info, depending
- * on the intended execution core.
- *
- */
-typedef struct
-{
-    /// The IP Core
-    SnpeUdo_CoreType_t     coreType;
-    /// The associated datatype for this coreType
-    SnpeUdo_DataType_t       dataType;
-} SnpeUdo_PerCoreDatatype_t;
-
-typedef SnpeUdo_PerCoreDatatype_t Udo_PerCoreDatatype_t;
-
-/**
- * @brief A struct which defines a tensor parameter : name, data type, layout, quantization, more.
- *        Also holds a pointer to the tensor data.
- *
- */
-typedef struct
-{
-   /// The maximum allowable dimensions of the tensor. The memory held in
-   /// _tensorData_ is guaranteed to be large enough for this.
-   uint32_t*                maxDimensions;
-   /// The current dimensions of the tensor. An operation may modify the current
-   /// dimensions of its output, to indicate cases where the output has been
-   /// "resized".
-   /// Note that for static parameters, the current and max dimensions must
-   /// match.
-   uint32_t*                currDimensions;
-   /// Quantization params applicable to the tensor. Currently only supports
-   /// Tensorflow quantization style.
-   SnpeUdo_QuantizeParams_t quantizeParams;
-   /// Number of dimensions to the tensor: 3D, 4D, etc.
-   uint32_t                 tensorRank;
-   /// The parameter data type: float, int, etc.
-   SnpeUdo_DataType_t       dataType;
-   /// The tensor layout type: NCHW, NHWC, etc.
-   SnpeUdo_TensorLayout_t   layout;
-   /// Opaque pointer to tensor data. User may be required to re-interpret the pointer
-   /// based on core-specific definitions.
-   void*                    tensorData;
-} SnpeUdo_TensorParam_t;
-
-typedef SnpeUdo_TensorParam_t Udo_TensorParam_t;
-
-/**
- * @brief A struct which defines tensor information for activation tensors only
- *
- * It describes an activation tensor object using its name, the intended layout and the datatype
- * it will take depending on the intended runtime core. The repeated field indicates that
- * that the tensor info describes several input/output activation tensors, which all share the
- * aforementioned properties.
- */
-typedef struct
-{
-    /// The tensor name
-    SnpeUdo_String_t    tensorName;
-    /// The tensor layout type: NCHW, NHWC, etc.
-    SnpeUdo_TensorLayout_t   layout;
-    /// The per core datatype: {SNPE_UDO_DATATYPE, SNPE_UDO_CORE_TYPE}
-    SnpeUdo_PerCoreDatatype_t* perCoreDatatype;
-    /// A boolean field indicating that this tensorinfo will be repeated e.x for ops such as Concat or Split
-    bool repeated;
-    /// A boolean field indicating whether input is static or not.
-    bool isStatic;
-} SnpeUdo_TensorInfo_t;
-
-typedef SnpeUdo_TensorInfo_t Udo_TensorInfo_t;
-
-/**
- * @brief struct which defines a UDO parameter - a union of scalar, tensor and string parameters
- *
- */
-typedef struct
-{
-   /// Type is scalar or tensor
-  SnpeUdo_ParamType_t paramType;
-  /// The param name, for example : "offset", "activation_type"
-  SnpeUdo_String_t    paramName;
-  union
-  {
-    /// scalar param value
-    SnpeUdo_ScalarParam_t scalarParam;
-    /// tensor param value
-    SnpeUdo_TensorParam_t tensorParam;
-    /// string param value
-    SnpeUdo_String_t      stringParam;
-  };
-} SnpeUdo_Param_t;
-
-typedef SnpeUdo_Param_t Udo_Param_t;
-
-/**
- * @brief A struct which defines Operation information which is specific for IP core (CPU, GPU, DSP ...)
- *
- */
-typedef struct
-{
-   /// The IP Core
-   SnpeUdo_CoreType_t     udoCoreType;
-   /// Bitmask, defines supported internal calculation types (like FLOAT_32, etc)
-   /// Based on SnpeUdo_DataType
-   SnpeUdo_Bitmask_t      operationCalculationTypes;
-} SnpeUdo_OpCoreInfo_t;
-
-typedef SnpeUdo_OpCoreInfo_t Udo_OpCoreInfo_t;
-
-/**
- * @brief A struct which defines the common and core-specific Operation information
- *
- */
-typedef struct
-{
-   /// Operation type
-   SnpeUdo_String_t      operationType;
-   /// A bitmask describing which IP Cores (CPU, GPU, DSP ...) support this operation
-   /// Translated based on SnpeUdo_CoreType
-   SnpeUdo_Bitmask_t     supportedByCores;
-   /// Number of static parameters defined by the op
-   uint32_t              numOfStaticParams;
-   /// Array of static parameters. Can be scalar or tensor params
-   SnpeUdo_Param_t*      staticParams;
-   /// Number of input tensors this op receives
-   uint32_t              numOfInputs;
-   /// Array of input tensor names to this operation
-   SnpeUdo_String_t*      inputNames;
-   /// Number of output tensors this op receives
-   uint32_t              numOfOutputs;
-   /// Array of output tensor names to this operation
-   SnpeUdo_String_t*      outputNames;
-   /// Number of cores that the op can execute on
-   uint32_t              numOfCoreInfo;
-   /// Array of per-core information entries
-   SnpeUdo_OpCoreInfo_t* opPerCoreInfo;
-    /// Array of input tensor infos for this operation
-   SnpeUdo_TensorInfo_t*     inputInfos;
-   /// Array of output tensor infos for this operation
-   SnpeUdo_TensorInfo_t*     outputInfos;
-} SnpeUdo_OperationInfo_t;
-
-typedef SnpeUdo_OperationInfo_t Udo_OperationInfo_t;
-
-/**
- * @brief A struct which provides the implementation library info : type, name
- *
- */
-typedef struct
-{
-   /// Defines the IP Core that this implementation library is targeting
-   SnpeUdo_CoreType_t     udoCoreType;
-   /// library name. will be looked at in the standard library path
-   SnpeUdo_String_t       libraryName;
-} SnpeUdo_LibraryInfo_t;
-
-typedef SnpeUdo_LibraryInfo_t Udo_LibraryInfo_t;
-
-/**
- * @brief A struct returned by the registration library and contains information on the UDO package :
- * name, operations, libraries, etc.
- *
- */
-typedef struct
-{
-   /// A string containing the package name
-   SnpeUdo_String_t         packageName;
-   /// A bitmask describing supported IP cores (CPU, GPU, DSP ...)
-   /// Translated based on SnpeUdo_CoreType
-   SnpeUdo_Bitmask_t        supportedCoreTypes;
-   /// The number of implementation libraries in the package
-   uint32_t                numOfImplementationLib;
-   /// Array of implementation libraries names/types
-   SnpeUdo_LibraryInfo_t*   implementationLib;
-   /// A string containing all operation types separated by space
-   SnpeUdo_String_t         operationsString;
-   /// Number of supported operations
-   uint32_t                numOfOperations;
-   /// Array of Operation info structs. Each entry describes one
-   /// Operation (name, params, inputs, outputs)
-   SnpeUdo_OperationInfo_t* operationsInfo;
-} SnpeUdo_RegInfo_t;
-
-typedef SnpeUdo_RegInfo_t Udo_RegInfo_t;
-
-/**
-* @brief A struct returned by the implementation library and contains information on the
-* specific library: name, IP Core, operations, etc.
-*
-*/
-typedef struct
-{
-   /// Defines the IP Core that this implementation library is targeting
-   SnpeUdo_CoreType_t     udoCoreType;
-   /// A string containing the package name
-   SnpeUdo_String_t       packageName;
-   /// A string containing all operation types separated by space
-   SnpeUdo_String_t       operationsString;
-   /// Number of supported operations
-   uint32_t              numOfOperations;
-} SnpeUdo_ImpInfo_t;
-
-typedef SnpeUdo_ImpInfo_t Udo_ImpInfo_t;
-
-/**
- * @brief This struct defines an operation. It is used for validation
- * or creation of an operation.
- * In case of using it for creation, the static params which are tensors
- * contain pointers to the real data (weights, for example), and input/output
- * tensors also include pointers to the buffers used.
- */
-typedef struct
-{
-   /// The IP Core that the operation is defined for - CPU, GPU, DSP...
-   SnpeUdo_CoreType_t      udoCoreType;
-   /// Operation type
-   SnpeUdo_String_t        operationType;
-   /// The number of static parameters provided in the staticParams array.
-   /// this number has to match the number provided by the UDO Registration library information
-   uint32_t               numOfStaticParams;
-   /// Array of static parameters
-   SnpeUdo_Param_t*        staticParams;
-   /// The number of input parameters provided in inputs array.
-   /// this number has to match the number provided by the UDO Registration library information
-   uint32_t               numOfInputs;
-   /// Array of input tensors, providing layout, data type, sizes, etc
-   /// When used to create an operation, also contains the initial location of the data
-   SnpeUdo_TensorParam_t*  inputs;
-   /// The number of output parameters provided in inputs array.
-   /// this number has to match the number provided by the UDO Registration library information
-   uint32_t               numOfOutputs;
-   /// Array of output tensors, providing layout, data type, sizes, etc
-   /// When used to create an operation, also contains the initial location of the data
-   SnpeUdo_TensorParam_t*  outputs;
-} SnpeUdo_OpDefinition_t;
-
-typedef SnpeUdo_OpDefinition_t Udo_OpDefinition_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif //SNPE_UDO_BASE_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImpl.h b/third_party/snpe/include/SnpeUdo/UdoImpl.h
deleted file mode 100644
index a0cb648cf725f8..00000000000000
--- a/third_party/snpe/include/SnpeUdo/UdoImpl.h
+++ /dev/null
@@ -1,343 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef SNPE_UDO_IMPL_H
-#define SNPE_UDO_IMPL_H
-
-#include <stdbool.h>
-
-#include "SnpeUdo/UdoShared.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-typedef struct _SnpeUdo_OpFactory_t* SnpeUdo_OpFactory_t;
-typedef struct _SnpeUdo_Operation_t* SnpeUdo_Operation_t;
-
-typedef SnpeUdo_OpFactory_t Udo_OpFactory_t;
-typedef SnpeUdo_Operation_t Udo_Operation_t;
-
-/**
- * @brief Initialize the shared library's data structures. Calling any other
- *        library function before this one will result in error.
- *
- * @param[in] globalInfrastructure Global core-specific infrastructure to be
- *            used by operations created in this library. The definition and
- *            semantics of this object will be defined in the corresponding
- *            implementation header for the core type.
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_initImplLibrary(void* globalInfrastructure);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_InitImplLibraryFunction_t)(void*);
-
-/**
- * @brief A function to query the API version of the UDO implementation library.
- *        The function populates a SnpeUdo_LibVersion_t struct, which contains a SnpeUdo_Version_t
- *        struct for API version and library version.
- *
- * @param[in, out] version A pointer to struct which contains major, minor, teeny information for
- *                 library and api versions.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getImplVersion(SnpeUdo_LibVersion_t** version);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_getImplVersion_t)(SnpeUdo_LibVersion_t** version);
-
-/**
- * @brief Release the shared library's data structures, and invalidate any
- *        handles returned by the library. The behavior of any outstanding
- *        asynchronous calls made to this library when this function is called
- *        are undefined. All library functions (except SnpeUdo_initImplLibrary) will
- *        return an error after this function has been successfully called.
- *
- *        It should be possible to call SnpeUdo_initImplLibrary after calling this
- *        function, and re-initialize the library.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_terminateImplLibrary(void);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_TerminateImplLibraryFunction_t)(void);
-
-
-/**
- * @brief A function to query info on the UDO implementation library.
- *        The function populates a structure which contains information about
- *        operations that are part of this library
- *
- * @param[in, out] implementationInfo A pointer to struct which contains information
- *                 on the operations
- *
- * @return error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getImpInfo(SnpeUdo_ImpInfo_t** implementationInfo);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_GetImpInfoFunction_t)(SnpeUdo_ImpInfo_t** implementationInfo);
-
-typedef SnpeUdo_GetImpInfoFunction_t Udo_GetImpInfoFunction_t;
-
-/**
- * @brief A function to create an operation factory.
- *        The function receives the operation type, and an array of static parameters,
- *        and returns operation factory handler
- *
- * @param[in] udoCoreType The Core type to create the operation on. An error will
- *            be returned if this does not match the core type of the library.
- *
- * @param[in] perFactoryInfrastructure CreateOpFactory infrastructure appropriate to this
- *            core type. The definition and semantics of this object will be defined
- *            in the corresponding implementation header for the core type.
- *
- * @param[in] operationType A string containing Operation type. for example "MY_CONV"
- *
- * @param[in] numOfStaticParams The number of static parameters.
- *
- * @param[in] staticParams Array of static parameters
- *
- * @param[in,out] opFactory Handler to Operation Factory, to be used when creating operations
- *
- * @return Error Code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_createOpFactory(SnpeUdo_CoreType_t    udoCoreType,
-                        void*                perFactoryInfrastructure,
-                        SnpeUdo_String_t      operationType,
-                        uint32_t             numOfStaticParams,
-                        SnpeUdo_Param_t*      staticParams,
-                        SnpeUdo_OpFactory_t*  opFactory);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_CreateOpFactoryFunction_t)(SnpeUdo_CoreType_t,
-                                     void*,
-                                     SnpeUdo_String_t,
-                                     uint32_t,
-                                     SnpeUdo_Param_t*,
-                                     SnpeUdo_OpFactory_t*);
-
-typedef SnpeUdo_CreateOpFactoryFunction_t Udo_CreateOpFactoryFunction_t;
-
-/**
- * @brief A function to release the resources allocated for an operation factory
- *        created by this library.
- *
- * @param[in] factory The operation factory to release. Upon success this handle will be invalidated.
- *
- * @return Error Code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_releaseOpFactory(SnpeUdo_OpFactory_t opFactory);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ReleaseOpFactoryFunction_t)(SnpeUdo_OpFactory_t);
-
-typedef SnpeUdo_ReleaseOpFactoryFunction_t Udo_ReleaseOpFactoryFunction_t;
-
-/**
- * @brief A function to create an operation from the factory.
- *        The function receives array of inputs and array of outputs, and creates an operation
- *        instance, returning the operation instance handler.
- *
- * @param[in] opFactory OpFactory instance containing the parameters for this operation.
- *
- * @param[in] perOpInfrastructure Per-Op infrastructure for this operation. The definition
- *            and semantics of this object will be defined in the implementation header
- *            appropriate to this core type.
- *
- * @param[in] numOfInputs The number of input tensors this operation will receive.
- *
- * @param[in] inputs Array of input tensors, providing both the sizes and initial
- *            location of the data.
- *
- * @param[in] numOfOutputs Number of output tensors this operation will produce.
- *
- * @param[in] outputs Array of output tensors, providing both the sizes and
- *            initial location of the data.
- *
- * @param[in,out] operation Handle for newly created operation instance.
- *
- * @return Error Code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_createOperation(SnpeUdo_OpFactory_t    opFactory,
-                        void*                 perOpInfrastructure,
-                        uint32_t              numOfInputs,
-                        SnpeUdo_TensorParam_t* inputs,
-                        uint32_t              numOfOutputs,
-                        SnpeUdo_TensorParam_t* outputs,
-                        SnpeUdo_Operation_t*   operation);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_CreateOperationFunction_t)(SnpeUdo_OpFactory_t,
-                                     void*,
-                                     uint32_t,
-                                     SnpeUdo_TensorParam_t*,
-                                     uint32_t,
-                                     SnpeUdo_TensorParam_t*,
-                                     SnpeUdo_Operation_t*);
-
-typedef SnpeUdo_CreateOperationFunction_t Udo_CreateOperationFunction_t;
-
-/**
- * @brief A pointer to notification function.
- *
- *        The notification function supports the non-blocking (e.g. asynchronous) execution use-case.
- *        In case an "executeUdoOp" function is called with "blocking" set to zero, and a
- *        notify function, this function will be called by the implementation library at the
- *        end of execution. The implementation library will pass the notify function the ID
- *        that was provided to it when "executeUdoOp" was called.
- *
- * @param[in] ID 32-bit value, that was provided to executeUdoOp by the calling entity.
- *            Can be used to track the notifications, in case of multiple execute calls issued.
- *
- * @return Error code
- *
- */
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ExternalNotify_t)(const uint32_t ID);
-
-typedef SnpeUdo_ExternalNotify_t Udo_ExternalNotify_t;
-
-/**
- * @brief Operation execution function.
- *
- *        Calling this function will run the operation on set of inputs, generating a set of outputs.
- *        The call can be blocking (synchronous) or non-blocking (asynchronous). To support the
- *        non-blocking mode, the calling entity can pass an ID and a notification function.
- *        At the end of the execution this notification function would be called, passing it the ID.
- *        <b> NOTE: Asynchronous execution mode not supported in this release. </b>
- *
- * @param[in] operation handle to the operation on which execute is invoked
- * @param[in] blocking flag to indicate execution mode.
- *            If set, execution is blocking,
- *            e.g SnpeUdo_executeOp call does not return until execution is done.
- *            If not set, SnpeUdo_executeOp returns immediately, and the
- *            library will call the notification function (if set) when execution is done.
- *
- * @param[in] ID 32-bit number that can be used by the calling entity to track execution
- *            in case of non-blocking execution.
- *            For example, it can be a sequence number, increased by one on each call.
- *
- * @param[in] notifyFunc Pointer to notification function. if the pointer is set, and execution is
- *            non-blocking, the library will call this function at end of execution,
- *            passing the number provided as ID
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_executeOp(SnpeUdo_Operation_t operation,
-                  bool         blocking,
-                  const uint32_t ID,
-                  SnpeUdo_ExternalNotify_t notifyFunc);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ExecuteOpFunction_t)(SnpeUdo_Operation_t,
-                               bool,
-                               const uint32_t,
-                               SnpeUdo_ExternalNotify_t);
-
-typedef SnpeUdo_ExecuteOpFunction_t Udo_ExecuteOpFunction_t;
-
-/**
- * @brief A function to setting the inputs & outputs. part of SnpeUdo_Operation struct,
- *        returned from creation of a new operation instance.
- *        <b> Not supported in this release. </b>
- *
- *        This function allows the calling entity to change some of the inputs and outputs
- *        between calls to execute.
- *        Note that the change is limited to changing the <b> pointer </b> to the tensor data only.
- *        Any other change may be rejected by the implementation library, causing
- *        immediate invalidation of the operation instance
- *
- * @param[in] operation Operation on which IO tensors are set
- *
- * @param[in] inputs array of tensor parameters. The calling entity may provide a subset of the
- *            operation inputs, providing only those that it wants to change.
- *
- * @param[in] outputs array of tensor parameters. The calling entity may provide a subset of the
- *            operation outputs, providing only those that it wants to change.
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_setOpIO(SnpeUdo_Operation_t operation,
-                SnpeUdo_TensorParam_t* inputs,
-                SnpeUdo_TensorParam_t* outputs);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_SetOpIOFunction_t)(SnpeUdo_Operation_t,
-                             SnpeUdo_TensorParam_t*,
-                             SnpeUdo_TensorParam_t*);
-
-typedef SnpeUdo_SetOpIOFunction_t Udo_SetOpIOFunction_t;
-
-/**
- * @brief A function to return execution times.
- *
- *        This function can be called to query the operation execution times on the IP core
- *        on which the operation is run. The time is provided in micro-seconds
- *
- * @param[in] operation Handle to operation whose execution time is being profiled
- *
- * @param[in,out] executionTime pointer to a uint32 value.This function writes the operation
- *                execution time in usec into this value.
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_profileOp(SnpeUdo_Operation_t operation, uint32_t *executionTime);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ProfileOpFunction_t)(SnpeUdo_Operation_t, uint32_t*);
-
-typedef SnpeUdo_ProfileOpFunction_t Udo_ProfileOpFunction_t;
-
-/**
- * @brief A function to release the operation instance
- *        \n When it is called, the implementation library needs to release all resources
- *        allocated for this operation instance.
- *        \n Note that all function pointers which are part of SnpeUdo_Operation become
- *        <b> invalid </b> once releaseUdoOp call returns.
- *
- * @param[in] operation Handle to operation to be released
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_releaseOp(SnpeUdo_Operation_t operation);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ReleaseOpFunction_t)(SnpeUdo_Operation_t);
-
-typedef SnpeUdo_ReleaseOpFunction_t Udo_ReleaseOpFunction_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#ifdef __cplusplus
-} // extern "C"
-#endif
-
-#endif //SNPE_UDO_IMPL_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplCpu.h b/third_party/snpe/include/SnpeUdo/UdoImplCpu.h
deleted file mode 100644
index 3bbe0638e60fc8..00000000000000
--- a/third_party/snpe/include/SnpeUdo/UdoImplCpu.h
+++ /dev/null
@@ -1,44 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-// Header to be used by a CPU UDO Implementation library
-
-#ifndef SNPE_UDO_IMPL_CPU_H
-#define SNPE_UDO_IMPL_CPU_H
-
-#include <stdio.h>
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief This struct provides the infrastructure needed by a developer of
- * CPU UDO Implementation library.
- *
- * The framework/runtime which loads the CPU UDO implementation library provides
- * this infrastructure data to the loaded library at the time of op factory creation.
- * as an opaque pointer. It contains hooks for the UDO library to invoke supported
- * functionality at the time of execution
- *
- * @param getData function pointer to retrieve raw tensor data from opaque pointer
- *  passed into the UDO when creating an instance.
- * @param getDataSize function pointer to retrieve tensor data size from opaque pointer
- */
-
-typedef struct
-{
-   /// function pointer to retrieve raw tensor data from opaque pointer
-   /// passed into the UDO when creating an instance.
-   float* (*getData)(void*);
-   /// function pointer to retrieve tensor data size from opaque pointer
-   size_t (*getDataSize) (void*);
-} SnpeUdo_CpuInfrastructure_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // SNPE_UDO_IMPL_CPU_H
\ No newline at end of file
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplDsp.h b/third_party/snpe/include/SnpeUdo/UdoImplDsp.h
deleted file mode 100644
index b97a6493202ae8..00000000000000
--- a/third_party/snpe/include/SnpeUdo/UdoImplDsp.h
+++ /dev/null
@@ -1,207 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-//==============================================================================
-/*
- * THIS HEADER FILE IS COPIED FROM HEXAGON-NN PROJECT
- *
- */
-//==============================================================================
-
-
-// Header to be used by a DSP Hexnn UDO Implementation library
-
-#ifndef SNPE_UDO_IMPL_DSP_H
-#define SNPE_UDO_IMPL_DSP_H
-#include <stdio.h>
-#include "SnpeUdo/UdoImpl.h"
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief A function to validate that a set of params is supported by an operation
- *        This function is HexNN specific, use case is when registration library is not in use.
- *        Optional function.
- *
- * @param[in] operationType Operation type
- * @param[in] numOfStaticParams Number of static params defined by the op
- * @param[in] staticParams Array of static params to the op
- * @return Error code, indicating if the operation can be created on this set of configuration or not.
- *
- */
-
-SnpeUdo_ErrorType_t
-SnpeUdo_validateOperation (SnpeUdo_String_t operationType,
-                           uint32_t numOfStaticParams,
-                           const SnpeUdo_Param_t* staticParams);
-
-typedef SnpeUdo_ErrorType_t (*SnpeUdo_ValidateOperationFunction_t) (SnpeUdo_String_t,
-                                                                    uint32_t,
-                                                                    const SnpeUdo_Param_t*);
-
-typedef SnpeUdo_ValidateOperationFunction_t Udo_ValidateOperationFunction_t;
-
-// enum used for indicating input/outout tensor data layouts on DSP, plain vs d32
-typedef enum {
-        SNPE_UDO_DSP_TENSOR_LAYOUT_PLAIN = 0x00,        UDO_DSP_TENSOR_LAYOUT_PLAIN = 0x00,
-        SNPE_UDO_DSP_TENSOR_LAYOUT_D32   = 0x01,        UDO_DSP_TENSOR_LAYOUT_D32   = 0x01
-} SnpeUdo_HexNNTensorLayout_t;
-
-typedef SnpeUdo_HexNNTensorLayout_t Udo_HexNNTensorLayout_t;
-
-/**
- * @brief A function to query numbers of inputs and outputs,
- *        quantization type of each input and each output as arrays,
- *        and data layout (plain vs d32) of each input and each output as arrays
- *        of an operation.
- * inputsQuantTypes and inputsLayouts should point to arrays of size numOfInputs
- * outputsQuantTypes and outputsLayouts should point to arrays of size numOfOutputs
- *
- * Note: inputsLayouts and inputsLayouts can point to NULL, in this case, it is
- * assumed all inputs and/or outputs have plain data layouts, i.e. no D32
- *
- * @param[in] operationType Operation type
- * @param[in] numOfStaticParams Number of static params defined by the op
- * @param[in] staticParams Array of static params to the op
- * @param[in,out] numOfInputs Number of input tensors to the op
- * @param[in,out] inputsQuantTypes Array of Quantization info for each input tensor
- * @param[in,out] inputsLayouts Array of layout type for each input tensor
- * @param[in,out] numOfOutputs Number of output tensors to the op
- * @param[in,out] outputsQuantTypes Array of Quantization info for each output tensor
- * @param[in,out] outputsLayouts Array of layout type for each output tensor
- * @return error code, indicating status of query
- */
-
-SnpeUdo_ErrorType_t
-SnpeUdo_queryOperation (SnpeUdo_String_t operationType,
-                        uint32_t numOfStaticParams,
-                        const SnpeUdo_Param_t* staticParams,
-                        uint32_t* numOfInputs,
-                        SnpeUdo_QuantizationType_t** inputsQuantTypes,
-                        SnpeUdo_HexNNTensorLayout_t** inputsLayouts,
-                        uint32_t* numOfOutputs,
-                        SnpeUdo_QuantizationType_t** outputsQuantTypes,
-                        SnpeUdo_HexNNTensorLayout_t** outputsLayouts);
-
-typedef SnpeUdo_ErrorType_t (*SnpeUdo_QueryOperationFunction_t) (SnpeUdo_String_t,
-                                                                 uint32_t,
-                                                                 const SnpeUdo_Param_t*,
-                                                                 uint32_t*,
-                                                                 SnpeUdo_QuantizationType_t**,
-                                                                 SnpeUdo_HexNNTensorLayout_t**,
-                                                                 uint32_t*,
-                                                                 SnpeUdo_QuantizationType_t**,
-                                                                 SnpeUdo_HexNNTensorLayout_t**);
-
-typedef SnpeUdo_QueryOperationFunction_t Udo_QueryOperationFunction_t;
-
-// Global infrastructure functions supported by Hexagon-NN v2
-typedef void (*workerThread_t) (void* perOpInfrastructure, void* userData);
-typedef int (*udoSetOutputTensorSize_t) (void* perOpInfrastructure, uint32_t outIdx, uint32_t size);
-typedef int (*udoGetInputD32Paddings_t) (void* perOpInfrastructure, uint32_t inIdx,
-                                         uint32_t* heightPadBefore, uint32_t* heightPadAfter,
-                                         uint32_t* widthPadBefore, uint32_t* widthPadAfter,
-                                         uint32_t* depthPadBefore, uint32_t* depthPadAfter);
-typedef int (*udoSetOutputD32ShapeSizePaddings_t) (void* perOpInfrastructure, uint32_t outIdx,
-                                                   uint32_t batch,
-                                                   uint32_t height, uint32_t heightPadBefore, uint32_t heightPadAfter,
-                                                   uint32_t width, uint32_t widthPadBefore, uint32_t widthPadAfter,
-                                                   uint32_t depth, uint32_t depthPadBefore, uint32_t depthPadAfter,
-                                                   SnpeUdo_DataType_t dataType);
-typedef void* (*udoMemalign_t) (size_t n, size_t size);
-typedef void* (*udoMalloc_t) (size_t size);
-typedef void* (*udoCalloc_t) (size_t n, size_t size);
-typedef void (*udoFree_t) (void* ptr);
-typedef uint32_t (*udoGetVtcmSize_t) (void* perOpInfrastructure);
-typedef void* (*udoGetVtcmPtr_t) (void* perOpInfrastructure);
-typedef uint32_t (*udoVtcmIsReal_t) (void* perOpInfrastructure);
-typedef void (*udoRunWorkerThreads_t) (void* perOpInfrastructure, uint32_t nThreads, workerThread_t w, void* userData);
-
-typedef struct hexNNv2GlobalInfra {
-    udoSetOutputTensorSize_t udoSetOutputTensorSize;
-    udoGetInputD32Paddings_t udoGetInputD32Paddings;
-    udoSetOutputD32ShapeSizePaddings_t udoSetOutputD32ShapeSizePaddings;
-    udoMemalign_t udoMemalign;
-    udoMalloc_t udoMalloc;
-    udoCalloc_t udoCalloc;
-    udoFree_t udoFree;
-    udoGetVtcmSize_t udoGetVtcmSize;
-    udoGetVtcmPtr_t udoGetVtcmPtr;
-    udoVtcmIsReal_t udoVtcmIsReal;
-    udoRunWorkerThreads_t udoRunWorkerThreads;
-} SnpeUdo_HexNNv2GlobalInfra_t;
-
-typedef SnpeUdo_HexNNv2GlobalInfra_t Udo_HexNNv2GlobalInfra_t;
-
-// hexnn types
-typedef enum hexnnInfraType {
-   UDO_INFRA_HEXNN_V2,
-   UDO_INFRA_HEXNN_V3   // reserved, do not use
-} SnpeUdo_HexNNInfraType_t;
-
-typedef SnpeUdo_HexNNInfraType_t Udo_HexNNInfraType_t;
-
-typedef struct {
-    Udo_CreateOpFactoryFunction_t create_op_factory;
-    Udo_CreateOperationFunction_t create_operation;
-    Udo_ExecuteOpFunction_t execute_op;
-    Udo_ReleaseOpFunction_t release_op;
-    Udo_ReleaseOpFactoryFunction_t release_op_factory;
-    Udo_ValidateOperationFunction_t validate_op;
-    Udo_QueryOperationFunction_t query_op;
-} udo_func_package_t;
-
-/**
- * @brief Infrastructures needed by a developer of DSP Hexnn UDO Implementation library.
- *
- * The framework/runtime which loads the Hexnn UDO implementation library provides
- * this infrastructure to the loaded library by calling "SnpeUdo_initImplLibrary"
- * function, and passing it (cast to void*). The Hexnn UDO library is expected
- * to cast it back to this structure.
- *
- */
-typedef struct dspGlobalInfrastructure {
-    SnpeUdo_Version_t   dspInfraVersion;     // api version
-    SnpeUdo_HexNNInfraType_t infraType;
-    SnpeUdo_HexNNv2GlobalInfra_t hexNNv2Infra;
-} SnpeUdo_DspGlobalInfrastructure_t;
-
-typedef SnpeUdo_DspGlobalInfrastructure_t Udo_DspGlobalInfrastructure_t;
-
-/**
- * hexnn v2 per op factory infrastructure
- *
- * The framework/runtime passes per op factory infrastructure as a void pointer
- * to HexNN UDO implementation library by calling function "SnpeUdo_createOpFactory".
- * UDO implementation library is expected to cast it back to this following struct.
- *
- */
-typedef struct hexnnv2OpFactoryInfra {
-   unsigned long graphId;
-} SnpeUdo_HexNNv2OpFactoryInfra_t;
-
-typedef SnpeUdo_HexNNv2OpFactoryInfra_t Udo_HexNNv2OpFactoryInfra_t;
-
-/**
- * hexnn v2 per operation infrastructure
- *
- * The framework/runtime passes per operation infrastructure as a void pointer
- * to HexNN UDO implementation library by calling function "SnpeUdo_createOperation".
- * UDO implementation library is expected to cast it to the following type and save it.
- *
- * This is needed to be passed back into some functions from global infrastructure.
- *
- */
-typedef void* SnpeUdo_HexNNv2OpInfra_t;
-
-typedef SnpeUdo_HexNNv2OpInfra_t Udo_HexNNv2OpInfra_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // SNPE_UDO_IMPL_DSP_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplGpu.h b/third_party/snpe/include/SnpeUdo/UdoImplGpu.h
deleted file mode 100644
index 1af654d110c26b..00000000000000
--- a/third_party/snpe/include/SnpeUdo/UdoImplGpu.h
+++ /dev/null
@@ -1,112 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-// Header to be used by a GPU UDO Implementation library
-
-#ifndef SNPE_UDO_IMPL_GPU_H
-#define SNPE_UDO_IMPL_GPU_H
-
-#include "CL/cl.h"
-#include "SnpeUdo/UdoBase.h"
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * This header defines version 0.0.0 of the GPU UDO Infrastructure.
- * It defines the interpretation of the global and per-OpFactory infrastructure pointers
- * as well as the interpretation of tensorData pointers.
- *
- * The per-Operation infrastructure pointer is defined to be null, and should not be used.
- *
- * The SnpeUdoTensorParam_t struct below provides the interpretation for
- * the tensorData opaque pointer for SnpeUdoTensorParams representing inputs or outputs.
- *
- * The tensorData opaque pointer populated in SnpeUdoScalarParam_t structs should be interpreted
- * as a host-readable data pointer.
- *
- */
-
-/**
- * @brief Function to retrieve opencl program from Program Cache repository.
- * @param programCache is opaque pointer to Program Cache repository provided by
- * SNPE GPU UDO runtime.
- * @param programName is name associated with opencl program for UDO.
- * @param program is pointer to opencl program which will be populated with
- * valid opencl program if found in Program Cache repository.
- * @return SnpeUdo_ErrorType_t is error type returned. SNPE_UDO_NO_ERROR is returned
- * on success.
- */
-typedef SnpeUdo_ErrorType_t (*SnpeUdo_getProgram_t)
-   (void* programCache, const char* programName, cl_program* program);
-
-/**
- * @brief Function to store valid opencl program in Program Cache repository.
- * @param programCache is opaque pointer to Program Cache repository provided by
- * SNPE GPU UDO runtime.
- * @param programName is name associated with opencl program for UDO.
- * @param program is valid opencl program after program is built.
- * @return SnpeUdo_ErrorType_t is error type returned. SNPE_UDO_NO_ERROR is returned
- * on success.
- * */
-typedef SnpeUdo_ErrorType_t (*SnpeUdo_storeProgram_t)
-   (void* programCache, const char * programName, cl_program program);
-
-/**
- * @brief Global Infrastructure Definition for GPU UDO Implementations.
- */
-typedef struct {
-   // Infrastructure definition version. This header is 0.0.0
-   SnpeUdo_Version_t   gpuInfraVersion;
-   SnpeUdo_getProgram_t SnpeUdo_getProgram;
-   SnpeUdo_storeProgram_t SnpeUdo_storeProgram;
-} SnpeUdo_GpuInfrastructure_t;
-
-/**
- * @brief Per OpFactory Infrastructure Definition for GPU UDO Implementations.
- * @note  This version of the infrastructure definition guarantees that the same
- *        Per OpFactory infrastructure pointer will be provided to all OpFactories
- *        in the same network.
- */
-typedef struct
-{
-   cl_context context;
-   cl_command_queue commandQueue;
-   void* programCache;
-} SnpeUdo_GpuOpFactoryInfrastructure_t;
-
-/**
- * @brief Opaque tensorData definition for operation inputs and outputs.
- *
- * The following is a list of all SnpeUdoTensorLayout_t values supported by the
- * GPU UDO implementation, and how the parameters of the struct should be
- * interpreted in each case:
- *
- * SNPE_UDO_LAYOUT_NHWC:
- *   mem shall be single-element array, pointing to a cl buffer memory object.
- *   the dimensions of this object match the dimensions specified in the encompassing
- *   SnpeUdoTensorParam_t's currDimensions.
- *
- *   memCount shall be 1.
- *
- *   paddedRank and paddedDimensions are undefined and shall be ignored by the UDO
- *   implementation.
- *
- */
-typedef struct
-{
-   cl_mem*   mem;
-   uint32_t  memCount;
-   uint32_t  paddedRank;
-   uint32_t* paddedDimensions;
-
-} SnpeUdo_GpuTensorData_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // SNPE_UDO_IMPL_GPU_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoReg.h b/third_party/snpe/include/SnpeUdo/UdoReg.h
deleted file mode 100644
index a5d239883355ab..00000000000000
--- a/third_party/snpe/include/SnpeUdo/UdoReg.h
+++ /dev/null
@@ -1,108 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef SNPE_UDO_REG_H
-#define SNPE_UDO_REG_H
-
-#include "SnpeUdo/UdoShared.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief Initialize the shared library's data structures. Calling any other
- *        library function before this one will result in an error being returned.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_initRegLibrary(void);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_InitRegLibraryFunction_t)(void);
-
-/**
- * @brief A function to query the API version of the UDO registration library.
- *        The function populates a SnpeUdo_LibVersion_t struct, which contains a SnpeUdo_Version_t
- *        struct for API version and library version.
- *
- * @param[in, out] version A pointer to struct which contains major, minor, teeny information for
- *                 library and api versions.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getRegLibraryVersion(SnpeUdo_LibVersion_t** version);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_getRegLibraryVersion_t)(SnpeUdo_LibVersion_t** version);
-
-/**
- * @brief Release the shared library's data structures, and invalidate any
- *        handles returned by the library. The behavior of any outstanding
- *        asynchronous calls made to this library when this function is called
- *        are undefined. All library functions (except SnpeUdo_InitRegLibrary) will
- *        return an error after this function has been successfully called.
- *
- *        It should be possible to call SnpeUdo_InitRegLibrary after calling this
- *        function, and re-initialize the library.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_terminateRegLibrary(void);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_TerminateRegLibraryFunction_t)(void);
-
-
-/**
- * @brief A function to query the info on the UDO set.
- *        The function populates a structure which contains information about
- *        the package and operations contained in it.
- *
- * @param[in, out] registrationInfo A struct which contains information on the set of UDOs
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getRegInfo(SnpeUdo_RegInfo_t** registrationInfo);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_GetRegInfoFunction_t)(SnpeUdo_RegInfo_t** registrationInfo);
-
-/**
- * @brief A function to validate that a set of params is supported by an operation
- *        The function receives an operation definition struct, and returns if this configuration is
- *        supported (e.g. if an operation can be created using this configuration)
- *
- * @param[in] opDefinition A struct of SnpeUdo_OpDefinition type, containing the information needed to
- *            validate that an operation can be created with this configuration.
- *
- * @return Error code, indicating is the operation can be created on this set or not.
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_validateOperation(SnpeUdo_OpDefinition_t* opDefinition);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ValidateOperationFunction_t)(SnpeUdo_OpDefinition_t* opDefinition);
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#ifdef __cplusplus
-} // extern "C"
-#endif
-
-#endif //SNPE_UDO_REG_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoShared.h b/third_party/snpe/include/SnpeUdo/UdoShared.h
deleted file mode 100644
index 418d9db9e2f91b..00000000000000
--- a/third_party/snpe/include/SnpeUdo/UdoShared.h
+++ /dev/null
@@ -1,48 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef SNPE_UDO_SHARED_H
-#define SNPE_UDO_SHARED_H
-
-#include "SnpeUdo/UdoBase.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief A function to return the various versions as they relate to the UDO
- *        The function returns a struct containing the the following:
- *        libVersion: the version of the implementation library compiled for the UDO. Set by user
- *        apiVersion: the version of the UDO API used in compiling the implementation library.
- *        Set by SNPE
- *
- * @param[in, out] version A pointer to Version struct of type SnpeUdo_LibVersion_t
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getVersion (SnpeUdo_LibVersion_t** version);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_GetVersionFunction_t) (SnpeUdo_LibVersion_t** version);
-
-typedef SnpeUdo_GetVersionFunction_t Udo_GetVersionFunction_t;
-
-#ifdef __cplusplus
-} // extern "C"
-#endif
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // SNPE_UDO_SHARED_H
diff --git a/third_party/snpe/larch64 b/third_party/snpe/larch64
deleted file mode 120000
index 2e2a1c315bf7d8..00000000000000
--- a/third_party/snpe/larch64
+++ /dev/null
@@ -1 +0,0 @@
-aarch64-ubuntu-gcc7.5
\ No newline at end of file
diff --git a/third_party/snpe/x86_64 b/third_party/snpe/x86_64
deleted file mode 120000
index 700025efab335e..00000000000000
--- a/third_party/snpe/x86_64
+++ /dev/null
@@ -1 +0,0 @@
-x86_64-linux-clang
\ No newline at end of file
diff --git a/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so b/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
deleted file mode 100644
index 20d1377a014366..00000000000000
--- a/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c4c33680010a8c7b2eef33e809844c0ad1d5ab0f0ec37abd49d924204670b357
-size 13556072
diff --git a/third_party/snpe/x86_64-linux-clang/libSNPE.so b/third_party/snpe/x86_64-linux-clang/libSNPE.so
deleted file mode 100644
index 0367b1106ba571..00000000000000
--- a/third_party/snpe/x86_64-linux-clang/libSNPE.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:024891d2e4e4e265a1e7e72b27bad41ee6ae077d2197f45959bb32f8071dc8cf
-size 5350008
diff --git a/third_party/snpe/x86_64-linux-clang/libomp.so b/third_party/snpe/x86_64-linux-clang/libomp.so
deleted file mode 100755
index db98cba162e784..00000000000000
--- a/third_party/snpe/x86_64-linux-clang/libomp.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f4784aa68e7ebdbe97db732eab87618b0a5fb73abeab4daed5476e01829b0e6e
-size 759208

From 73291283257bf415abd3f7eab6c6eee99a1cda38 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 10 Jan 2025 17:48:04 -0500
Subject: [PATCH 0059/1434] ci: generate Trips panel for ui preview (#549)

* ci: generate trips panel for ui preview

* fix name
---
 .github/workflows/ui_preview.yaml | 2 +-
 selfdrive/ui/tests/test_ui/run.py | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 18f6f472cff4a6..2739cc5e8e6a6e 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -86,7 +86,7 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads setup_settings_trips settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
+          scenes="homescreen settings_device settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
           A=($scenes)
 
           DIFF=""
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 0c956a10b75afb..5bc4857689cfaf 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -231,6 +231,7 @@ def setup_settings_trips(click, pm: PubMaster, scroll=None):
   "settings_sunnylink": setup_settings_sunnylink,
   "settings_sunnypilot": setup_settings_sunnypilot,
   "settings_sunnypilot_mads": setup_settings_sunnypilot_mads,
+  "settings_trips": setup_settings_trips,
 })
 
 TEST_DIR = pathlib.Path(__file__).parent

From acd46aa94b0600464b1c10589fdee5834553a1c0 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 10 Jan 2025 18:34:06 -0500
Subject: [PATCH 0060/1434] modeld: retain SNPE and thneed drive model support
 (#555)

* modeld: Retain pre-20hz drive model support

* Method not available anymore on OP

* some fixes

* Revert "Long planner get accel: new function args (#34288)"

* Revert "Fix low-speed allow_throttle behavior in long planner (#33894)"

* Revert "long planner: allow throttle reflects usage (#33792)"

* Revert "Gate acceleration on model gas press predictions (#33643)"

* Reapply "Gate acceleration on model gas press predictions (#33643)"

This reverts commit 76b08e37cb8eb94266ad9f6fed80db227e7c3428.

* Reapply "long planner: allow throttle reflects usage (#33792)"

This reverts commit c75244ca4e9c48084b0205b7c871e1a4e0f4e693.

* Reapply "Fix low-speed allow_throttle behavior in long planner (#33894)"

This reverts commit b2b7d21b7b685a2785d1beede3d223f0bb954807.

* Reapply "Long planner get accel: new function args (#34288)"

This reverts commit 74dca2fccf4da59cc8ac62ba9c0ad10ba3fc264b.

* don't need

* retain snpe

* wrong

* they're symlinks

* remove

* put back into VCS

* add back

* don't include built

* Refactor model runner retrieval with caching support

Added caching for active model runner type via `ModelRunnerTypeCache` to enhance performance and avoid redundant checks. Introduced a `force_check` flag to bypass the cache when necessary. Updated related code to handle cache clearing during onroad transitions.

* Update model runner determination logic with caching fix

Enhances `get_active_model_runner` to utilize caching more effectively by ensuring type consistency and updating cache only when necessary. Also updates `is_snpe_model` to pass the `started` state to the runner determination function, improving behavior for dynamic checks.

* default to none

* enable in next PR

* more

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .gitignore                                    |   3 +
 .gitmodules                                   |   2 +-
 SConstruct                                    |   2 +
 cereal/custom.capnp                           |   5 +
 common/params.cc                              |   1 +
 sunnypilot/SConscript                         |   1 +
 sunnypilot/modeld/.gitignore                  |   1 +
 sunnypilot/modeld/SConscript                  |  65 +++
 sunnypilot/modeld/__init__.py                 |   0
 sunnypilot/modeld/constants.py                |  85 +++
 sunnypilot/modeld/fill_model_msg.py           | 220 +++++++
 sunnypilot/modeld/get_model_metadata.py       |  28 +
 sunnypilot/modeld/modeld                      |  10 +
 sunnypilot/modeld/modeld.py                   | 296 ++++++++++
 sunnypilot/modeld/models/__init__.py          |   0
 sunnypilot/modeld/models/commonmodel.cc       |  50 ++
 sunnypilot/modeld/models/commonmodel.h        |  36 ++
 sunnypilot/modeld/models/commonmodel.pxd      |  18 +
 sunnypilot/modeld/models/commonmodel_pyx.pxd  |  13 +
 sunnypilot/modeld/models/commonmodel_pyx.pyx  |  45 ++
 sunnypilot/modeld/models/supercombo.onnx      |   3 +
 sunnypilot/modeld/parse_model_outputs.py      | 105 ++++
 sunnypilot/modeld/runners/__init__.py         |  27 +
 sunnypilot/modeld/runners/onnxmodel.py        |  98 ++++
 sunnypilot/modeld/runners/run.h               |   4 +
 sunnypilot/modeld/runners/runmodel.h          |  49 ++
 sunnypilot/modeld/runners/runmodel.pxd        |  14 +
 sunnypilot/modeld/runners/runmodel_pyx.pxd    |   6 +
 sunnypilot/modeld/runners/runmodel_pyx.pyx    |  37 ++
 sunnypilot/modeld/runners/snpemodel.cc        | 116 ++++
 sunnypilot/modeld/runners/snpemodel.h         |  52 ++
 sunnypilot/modeld/runners/snpemodel.pxd       |   9 +
 sunnypilot/modeld/runners/snpemodel_pyx.pyx   |  17 +
 sunnypilot/modeld/runners/thneedmodel.cc      |  58 ++
 sunnypilot/modeld/runners/thneedmodel.h       |  17 +
 sunnypilot/modeld/runners/thneedmodel.pxd     |   9 +
 sunnypilot/modeld/runners/thneedmodel_pyx.pyx |  14 +
 sunnypilot/modeld/thneed/README               |   8 +
 sunnypilot/modeld/thneed/__init__.py          |   0
 sunnypilot/modeld/thneed/serialize.cc         | 154 +++++
 sunnypilot/modeld/thneed/thneed.h             | 133 +++++
 sunnypilot/modeld/thneed/thneed_common.cc     | 216 +++++++
 sunnypilot/modeld/thneed/thneed_pc.cc         |  32 ++
 sunnypilot/modeld/thneed/thneed_qcom2.cc      | 258 +++++++++
 sunnypilot/modeld/transforms/loadyuv.cc       |  74 +++
 sunnypilot/modeld/transforms/loadyuv.cl       |  47 ++
 sunnypilot/modeld/transforms/loadyuv.h        |  16 +
 sunnypilot/modeld/transforms/transform.cc     |  97 ++++
 sunnypilot/modeld/transforms/transform.cl     |  54 ++
 sunnypilot/modeld/transforms/transform.h      |  25 +
 sunnypilot/models/helpers.py                  |  49 +-
 system/manager/process_config.py              |  12 +-
 .../libPlatformValidatorShared.so             |   3 +
 .../snpe/aarch64-ubuntu-gcc7.5/libSNPE.so     |   3 +
 .../aarch64-ubuntu-gcc7.5/libcalculator.so    |   3 +
 .../snpe/aarch64-ubuntu-gcc7.5/libhta.so      |   3 +
 .../libsnpe_dsp_domains_v2.so                 |   3 +
 third_party/snpe/dsp/libcalculator_skel.so    |   3 +
 .../dsp/libsnpe_dsp_v65_domains_v2_skel.so    |   3 +
 .../dsp/libsnpe_dsp_v66_domains_v2_skel.so    |   3 +
 .../dsp/libsnpe_dsp_v68_domains_v3_skel.so    |   3 +
 third_party/snpe/include/DiagLog/IDiagLog.hpp |  84 +++
 third_party/snpe/include/DiagLog/Options.hpp  |  79 +++
 .../snpe/include/DlContainer/IDlContainer.hpp | 191 +++++++
 third_party/snpe/include/DlSystem/DlEnums.hpp | 234 ++++++++
 third_party/snpe/include/DlSystem/DlError.hpp | 259 +++++++++
 .../snpe/include/DlSystem/DlOptional.hpp      | 225 ++++++++
 .../snpe/include/DlSystem/DlVersion.hpp       |  78 +++
 .../include/DlSystem/IBufferAttributes.hpp    |  86 +++
 .../include/DlSystem/IOBufferDataTypeMap.hpp  | 127 +++++
 third_party/snpe/include/DlSystem/ITensor.hpp | 146 +++++
 .../snpe/include/DlSystem/ITensorFactory.hpp  |  92 +++
 .../snpe/include/DlSystem/ITensorItr.hpp      | 182 ++++++
 .../snpe/include/DlSystem/ITensorItrImpl.hpp  |  42 ++
 third_party/snpe/include/DlSystem/IUDL.hpp    | 105 ++++
 .../snpe/include/DlSystem/IUserBuffer.hpp     | 358 ++++++++++++
 .../include/DlSystem/IUserBufferFactory.hpp   |  81 +++
 .../snpe/include/DlSystem/PlatformConfig.hpp  | 230 ++++++++
 .../snpe/include/DlSystem/RuntimeList.hpp     | 154 +++++
 third_party/snpe/include/DlSystem/String.hpp  | 104 ++++
 .../snpe/include/DlSystem/StringList.hpp      | 107 ++++
 .../snpe/include/DlSystem/TensorMap.hpp       | 120 ++++
 .../snpe/include/DlSystem/TensorShape.hpp     | 203 +++++++
 .../snpe/include/DlSystem/TensorShapeMap.hpp  | 127 +++++
 .../snpe/include/DlSystem/UDLContext.hpp      | 243 ++++++++
 third_party/snpe/include/DlSystem/UDLFunc.hpp |  87 +++
 .../snpe/include/DlSystem/UserBufferMap.hpp   | 122 ++++
 .../snpe/include/DlSystem/UserMemoryMap.hpp   | 129 +++++
 .../snpe/include/DlSystem/ZdlExportDefine.hpp |  13 +
 .../PlatformValidator/PlatformValidator.hpp   | 118 ++++
 .../include/SNPE/ApplicationBufferMap.hpp     | 101 ++++
 third_party/snpe/include/SNPE/PSNPE.hpp       | 205 +++++++
 .../snpe/include/SNPE/RuntimeConfigList.hpp   |  85 +++
 third_party/snpe/include/SNPE/SNPE.hpp        | 258 +++++++++
 third_party/snpe/include/SNPE/SNPEBuilder.hpp | 306 ++++++++++
 third_party/snpe/include/SNPE/SNPEFactory.hpp | 220 +++++++
 .../snpe/include/SNPE/UserBufferList.hpp      |  49 ++
 third_party/snpe/include/SnpeUdo/UdoBase.h    | 537 ++++++++++++++++++
 third_party/snpe/include/SnpeUdo/UdoImpl.h    | 343 +++++++++++
 third_party/snpe/include/SnpeUdo/UdoImplCpu.h |  44 ++
 third_party/snpe/include/SnpeUdo/UdoImplDsp.h | 207 +++++++
 third_party/snpe/include/SnpeUdo/UdoImplGpu.h | 112 ++++
 third_party/snpe/include/SnpeUdo/UdoReg.h     | 108 ++++
 third_party/snpe/include/SnpeUdo/UdoShared.h  |  48 ++
 third_party/snpe/larch64                      |   1 +
 third_party/snpe/x86_64                       |   1 +
 .../snpe/x86_64-linux-clang/libHtpPrepare.so  |   3 +
 .../snpe/x86_64-linux-clang/libSNPE.so        |   3 +
 third_party/snpe/x86_64-linux-clang/libomp.so |   3 +
 109 files changed, 9475 insertions(+), 3 deletions(-)
 create mode 100644 sunnypilot/SConscript
 create mode 100644 sunnypilot/modeld/.gitignore
 create mode 100644 sunnypilot/modeld/SConscript
 create mode 100644 sunnypilot/modeld/__init__.py
 create mode 100644 sunnypilot/modeld/constants.py
 create mode 100644 sunnypilot/modeld/fill_model_msg.py
 create mode 100755 sunnypilot/modeld/get_model_metadata.py
 create mode 100755 sunnypilot/modeld/modeld
 create mode 100755 sunnypilot/modeld/modeld.py
 create mode 100644 sunnypilot/modeld/models/__init__.py
 create mode 100644 sunnypilot/modeld/models/commonmodel.cc
 create mode 100644 sunnypilot/modeld/models/commonmodel.h
 create mode 100644 sunnypilot/modeld/models/commonmodel.pxd
 create mode 100644 sunnypilot/modeld/models/commonmodel_pyx.pxd
 create mode 100644 sunnypilot/modeld/models/commonmodel_pyx.pyx
 create mode 100644 sunnypilot/modeld/models/supercombo.onnx
 create mode 100644 sunnypilot/modeld/parse_model_outputs.py
 create mode 100644 sunnypilot/modeld/runners/__init__.py
 create mode 100644 sunnypilot/modeld/runners/onnxmodel.py
 create mode 100644 sunnypilot/modeld/runners/run.h
 create mode 100644 sunnypilot/modeld/runners/runmodel.h
 create mode 100644 sunnypilot/modeld/runners/runmodel.pxd
 create mode 100644 sunnypilot/modeld/runners/runmodel_pyx.pxd
 create mode 100644 sunnypilot/modeld/runners/runmodel_pyx.pyx
 create mode 100644 sunnypilot/modeld/runners/snpemodel.cc
 create mode 100644 sunnypilot/modeld/runners/snpemodel.h
 create mode 100644 sunnypilot/modeld/runners/snpemodel.pxd
 create mode 100644 sunnypilot/modeld/runners/snpemodel_pyx.pyx
 create mode 100644 sunnypilot/modeld/runners/thneedmodel.cc
 create mode 100644 sunnypilot/modeld/runners/thneedmodel.h
 create mode 100644 sunnypilot/modeld/runners/thneedmodel.pxd
 create mode 100644 sunnypilot/modeld/runners/thneedmodel_pyx.pyx
 create mode 100644 sunnypilot/modeld/thneed/README
 create mode 100644 sunnypilot/modeld/thneed/__init__.py
 create mode 100644 sunnypilot/modeld/thneed/serialize.cc
 create mode 100644 sunnypilot/modeld/thneed/thneed.h
 create mode 100644 sunnypilot/modeld/thneed/thneed_common.cc
 create mode 100644 sunnypilot/modeld/thneed/thneed_pc.cc
 create mode 100644 sunnypilot/modeld/thneed/thneed_qcom2.cc
 create mode 100644 sunnypilot/modeld/transforms/loadyuv.cc
 create mode 100644 sunnypilot/modeld/transforms/loadyuv.cl
 create mode 100644 sunnypilot/modeld/transforms/loadyuv.h
 create mode 100644 sunnypilot/modeld/transforms/transform.cc
 create mode 100644 sunnypilot/modeld/transforms/transform.cl
 create mode 100644 sunnypilot/modeld/transforms/transform.h
 create mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
 create mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
 create mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
 create mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
 create mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
 create mode 100644 third_party/snpe/dsp/libcalculator_skel.so
 create mode 100644 third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
 create mode 100644 third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
 create mode 100644 third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
 create mode 100644 third_party/snpe/include/DiagLog/IDiagLog.hpp
 create mode 100644 third_party/snpe/include/DiagLog/Options.hpp
 create mode 100644 third_party/snpe/include/DlContainer/IDlContainer.hpp
 create mode 100644 third_party/snpe/include/DlSystem/DlEnums.hpp
 create mode 100644 third_party/snpe/include/DlSystem/DlError.hpp
 create mode 100644 third_party/snpe/include/DlSystem/DlOptional.hpp
 create mode 100644 third_party/snpe/include/DlSystem/DlVersion.hpp
 create mode 100644 third_party/snpe/include/DlSystem/IBufferAttributes.hpp
 create mode 100644 third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
 create mode 100644 third_party/snpe/include/DlSystem/ITensor.hpp
 create mode 100644 third_party/snpe/include/DlSystem/ITensorFactory.hpp
 create mode 100644 third_party/snpe/include/DlSystem/ITensorItr.hpp
 create mode 100644 third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
 create mode 100644 third_party/snpe/include/DlSystem/IUDL.hpp
 create mode 100644 third_party/snpe/include/DlSystem/IUserBuffer.hpp
 create mode 100644 third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
 create mode 100644 third_party/snpe/include/DlSystem/PlatformConfig.hpp
 create mode 100644 third_party/snpe/include/DlSystem/RuntimeList.hpp
 create mode 100644 third_party/snpe/include/DlSystem/String.hpp
 create mode 100644 third_party/snpe/include/DlSystem/StringList.hpp
 create mode 100644 third_party/snpe/include/DlSystem/TensorMap.hpp
 create mode 100644 third_party/snpe/include/DlSystem/TensorShape.hpp
 create mode 100644 third_party/snpe/include/DlSystem/TensorShapeMap.hpp
 create mode 100644 third_party/snpe/include/DlSystem/UDLContext.hpp
 create mode 100644 third_party/snpe/include/DlSystem/UDLFunc.hpp
 create mode 100644 third_party/snpe/include/DlSystem/UserBufferMap.hpp
 create mode 100644 third_party/snpe/include/DlSystem/UserMemoryMap.hpp
 create mode 100644 third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
 create mode 100644 third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
 create mode 100644 third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
 create mode 100644 third_party/snpe/include/SNPE/PSNPE.hpp
 create mode 100644 third_party/snpe/include/SNPE/RuntimeConfigList.hpp
 create mode 100644 third_party/snpe/include/SNPE/SNPE.hpp
 create mode 100644 third_party/snpe/include/SNPE/SNPEBuilder.hpp
 create mode 100644 third_party/snpe/include/SNPE/SNPEFactory.hpp
 create mode 100644 third_party/snpe/include/SNPE/UserBufferList.hpp
 create mode 100644 third_party/snpe/include/SnpeUdo/UdoBase.h
 create mode 100644 third_party/snpe/include/SnpeUdo/UdoImpl.h
 create mode 100644 third_party/snpe/include/SnpeUdo/UdoImplCpu.h
 create mode 100644 third_party/snpe/include/SnpeUdo/UdoImplDsp.h
 create mode 100644 third_party/snpe/include/SnpeUdo/UdoImplGpu.h
 create mode 100644 third_party/snpe/include/SnpeUdo/UdoReg.h
 create mode 100644 third_party/snpe/include/SnpeUdo/UdoShared.h
 create mode 120000 third_party/snpe/larch64
 create mode 120000 third_party/snpe/x86_64
 create mode 100644 third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
 create mode 100644 third_party/snpe/x86_64-linux-clang/libSNPE.so
 create mode 100755 third_party/snpe/x86_64-linux-clang/libomp.so

diff --git a/.gitignore b/.gitignore
index a58a46fef9c045..4e393b88f0233b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -74,6 +74,9 @@ comma*.sh
 selfdrive/modeld/thneed/compile
 selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl
+sunnypilot/modeld/thneed/compile
+sunnypilot/modeld/models/*.thneed
+sunnypilot/modeld/models/*.pkl
 
 *.bz2
 *.zst
diff --git a/.gitmodules b/.gitmodules
index 10fa733cf38f7b..f1f7c400dbf050 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -15,4 +15,4 @@
   url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/tinygrad/tinygrad.git
\ No newline at end of file
+  url = https://github.com/commaai/tinygrad.git
diff --git a/SConstruct b/SConstruct
index ee52fd12035473..de02874102720c 100644
--- a/SConstruct
+++ b/SConstruct
@@ -392,6 +392,8 @@ SConscript(['third_party/SConscript'])
 
 SConscript(['selfdrive/SConscript'])
 
+SConscript(['sunnypilot/SConscript'])
+
 if Dir('#tools/cabana/').exists() and GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
   if arch != "larch64":
diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index b2575256d808e5..5007d0675230a4 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -64,6 +64,11 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     progress @1 :Float32;
     eta @2 :UInt32;
   }
+  
+  enum Runner {
+    snpe @0;
+    tinygrad @1;
+  }
 
   struct ModelBundle {
     index @0 :UInt32;
diff --git a/common/params.cc b/common/params.cc
index cd4c4060301f3a..7c1b21c00c4c3f 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -203,6 +203,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     // --- sunnypilot params --- //
     {"ApiCache_DriveStats", PERSISTENT},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
+    {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
 
     // MADS params
     {"Mads", PERSISTENT | BACKUP},
diff --git a/sunnypilot/SConscript b/sunnypilot/SConscript
new file mode 100644
index 00000000000000..8bc5b84ef50131
--- /dev/null
+++ b/sunnypilot/SConscript
@@ -0,0 +1 @@
+SConscript(['modeld/SConscript'])
\ No newline at end of file
diff --git a/sunnypilot/modeld/.gitignore b/sunnypilot/modeld/.gitignore
new file mode 100644
index 00000000000000..742d3d120534b5
--- /dev/null
+++ b/sunnypilot/modeld/.gitignore
@@ -0,0 +1 @@
+*_pyx.cpp
diff --git a/sunnypilot/modeld/SConscript b/sunnypilot/modeld/SConscript
new file mode 100644
index 00000000000000..2704974da791bb
--- /dev/null
+++ b/sunnypilot/modeld/SConscript
@@ -0,0 +1,65 @@
+import glob
+
+Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
+lenv = env.Clone()
+lenvCython = envCython.Clone()
+
+libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'kj', 'pthread']
+frameworks = []
+
+common_src = [
+  "models/commonmodel.cc",
+  "transforms/loadyuv.cc",
+  "transforms/transform.cc",
+]
+
+thneed_src_common = [
+  "thneed/thneed_common.cc",
+  "thneed/serialize.cc",
+]
+
+thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"]
+thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"]
+thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc
+
+# SNPE except on Mac and ARM Linux
+snpe_lib = []
+if arch != "Darwin" and arch != "aarch64":
+  common_src += ['runners/snpemodel.cc']
+  snpe_lib += ['SNPE']
+
+# OpenCL is a framework on Mac
+if arch == "Darwin":
+  frameworks += ['OpenCL']
+else:
+  libs += ['OpenCL']
+
+# Set path definitions
+for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
+  for xenv in (lenv, lenvCython):
+    xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
+
+# Compile cython
+snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64"
+snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
+snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
+
+cython_libs = envCython["LIBS"] + libs
+snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc'])
+commonmodel_lib = lenv.Library('commonmodel', common_src)
+
+lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
+lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath)
+lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
+
+tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath)]
+
+# Get model metadata
+fn = File("models/supercombo").abspath
+cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
+lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
+
+if arch == "larch64":
+  thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
+  thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
+  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
diff --git a/sunnypilot/modeld/__init__.py b/sunnypilot/modeld/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/modeld/constants.py b/sunnypilot/modeld/constants.py
new file mode 100644
index 00000000000000..82161a5b67d225
--- /dev/null
+++ b/sunnypilot/modeld/constants.py
@@ -0,0 +1,85 @@
+import numpy as np
+
+def index_function(idx, max_val=192, max_idx=32):
+  return (max_val) * ((idx/max_idx)**2)
+
+class ModelConstants:
+  # time and distance indices
+  IDX_N = 33
+  T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]
+  X_IDXS = [index_function(idx, max_val=192.0) for idx in range(IDX_N)]
+  LEAD_T_IDXS = [0., 2., 4., 6., 8., 10.]
+  LEAD_T_OFFSETS = [0., 2., 4.]
+  META_T_IDXS = [2., 4., 6., 8., 10.]
+
+  # model inputs constants
+  MODEL_FREQ = 20
+  FEATURE_LEN = 512
+  HISTORY_BUFFER_LEN = 99
+  DESIRE_LEN = 8
+  TRAFFIC_CONVENTION_LEN = 2
+  LAT_PLANNER_STATE_LEN = 4
+  LATERAL_CONTROL_PARAMS_LEN = 2
+  PREV_DESIRED_CURV_LEN = 1
+
+  # model outputs constants
+  FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32)
+  FCW_THRESHOLDS_3MS2 = np.array([.7, .7], dtype=np.float32)
+  FCW_5MS2_PROBS_WIDTH = 5
+  FCW_3MS2_PROBS_WIDTH = 2
+
+  DISENGAGE_WIDTH = 5
+  POSE_WIDTH = 6
+  WIDE_FROM_DEVICE_WIDTH = 3
+  SIM_POSE_WIDTH = 6
+  LEAD_WIDTH = 4
+  LANE_LINES_WIDTH = 2
+  ROAD_EDGES_WIDTH = 2
+  PLAN_WIDTH = 15
+  DESIRE_PRED_WIDTH = 8
+  LAT_PLANNER_SOLUTION_WIDTH = 4
+  DESIRED_CURV_WIDTH = 1
+
+  NUM_LANE_LINES = 4
+  NUM_ROAD_EDGES = 2
+
+  LEAD_TRAJ_LEN = 6
+  DESIRE_PRED_LEN = 4
+
+  PLAN_MHP_N = 5
+  LEAD_MHP_N = 2
+  PLAN_MHP_SELECTION = 1
+  LEAD_MHP_SELECTION = 3
+
+  FCW_THRESHOLD_5MS2_HIGH = 0.15
+  FCW_THRESHOLD_5MS2_LOW = 0.05
+  FCW_THRESHOLD_3MS2 = 0.7
+
+  CONFIDENCE_BUFFER_LEN = 5
+  RYG_GREEN = 0.01165
+  RYG_YELLOW = 0.06157
+
+  POLY_PATH_DEGREE = 4
+
+# model outputs slices
+class Plan:
+  POSITION = slice(0, 3)
+  VELOCITY = slice(3, 6)
+  ACCELERATION = slice(6, 9)
+  T_FROM_CURRENT_EULER = slice(9, 12)
+  ORIENTATION_RATE = slice(12, 15)
+
+class Meta:
+  ENGAGED = slice(0, 1)
+  # next 2, 4, 6, 8, 10 seconds
+  GAS_DISENGAGE = slice(1, 31, 6)
+  BRAKE_DISENGAGE = slice(2, 31, 6)
+  STEER_OVERRIDE = slice(3, 31, 6)
+  HARD_BRAKE_3 = slice(4, 31, 6)
+  HARD_BRAKE_4 = slice(5, 31, 6)
+  HARD_BRAKE_5 = slice(6, 31, 6)
+  # next 0, 2, 4, 6, 8, 10 seconds
+  GAS_PRESS = slice(31, 55, 4)
+  BRAKE_PRESS = slice(32, 55, 4)
+  LEFT_BLINKER = slice(33, 55, 4)
+  RIGHT_BLINKER = slice(34, 55, 4)
diff --git a/sunnypilot/modeld/fill_model_msg.py b/sunnypilot/modeld/fill_model_msg.py
new file mode 100644
index 00000000000000..672e01dbe914d1
--- /dev/null
+++ b/sunnypilot/modeld/fill_model_msg.py
@@ -0,0 +1,220 @@
+import os
+import capnp
+import numpy as np
+from cereal import log
+from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan, Meta
+
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+
+ConfidenceClass = log.ModelDataV2.ConfidenceClass
+
+class PublishState:
+  def __init__(self):
+    self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
+    self.prev_brake_5ms2_probs = np.zeros(ModelConstants.FCW_5MS2_PROBS_WIDTH, dtype=np.float32)
+    self.prev_brake_3ms2_probs = np.zeros(ModelConstants.FCW_3MS2_PROBS_WIDTH, dtype=np.float32)
+
+def fill_xyzt(builder, t, x, y, z, x_std=None, y_std=None, z_std=None):
+  builder.t = t
+  builder.x = x.tolist()
+  builder.y = y.tolist()
+  builder.z = z.tolist()
+  if x_std is not None:
+    builder.xStd = x_std.tolist()
+  if y_std is not None:
+    builder.yStd = y_std.tolist()
+  if z_std is not None:
+    builder.zStd = z_std.tolist()
+
+def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std=None):
+  builder.t = t
+  builder.x = x.tolist()
+  builder.y = y.tolist()
+  builder.v = v.tolist()
+  builder.a = a.tolist()
+  if x_std is not None:
+    builder.xStd = x_std.tolist()
+  if y_std is not None:
+    builder.yStd = y_std.tolist()
+  if v_std is not None:
+    builder.vStd = v_std.tolist()
+  if a_std is not None:
+    builder.aStd = a_std.tolist()
+
+def fill_xyz_poly(builder, degree, x, y, z):
+  xyz = np.stack([x, y, z], axis=1)
+  coeffs = np.polynomial.polynomial.polyfit(ModelConstants.T_IDXS, xyz, deg=degree)
+  builder.xCoefficients = coeffs[:, 0].tolist()
+  builder.yCoefficients = coeffs[:, 1].tolist()
+  builder.zCoefficients = coeffs[:, 2].tolist()
+
+def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
+                   net_output_data: dict[str, np.ndarray], publish_state: PublishState,
+                   vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
+                   timestamp_eof: int, model_execution_time: float, valid: bool) -> None:
+  frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
+  frame_drop_perc = frame_drop * 100
+  extended_msg.valid = valid
+  base_msg.valid = valid
+
+  driving_model_data = base_msg.drivingModelData
+
+  driving_model_data.frameId = vipc_frame_id
+  driving_model_data.frameIdExtra = vipc_frame_id_extra
+  driving_model_data.frameDropPerc = frame_drop_perc
+  driving_model_data.modelExecutionTime = model_execution_time
+
+  action = driving_model_data.action
+  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+
+  modelV2 = extended_msg.modelV2
+  modelV2.frameId = vipc_frame_id
+  modelV2.frameIdExtra = vipc_frame_id_extra
+  modelV2.frameAge = frame_age
+  modelV2.frameDropPerc = frame_drop_perc
+  modelV2.timestampEof = timestamp_eof
+  modelV2.modelExecutionTime = model_execution_time
+
+  # plan
+  position = modelV2.position
+  fill_xyzt(position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T)
+  velocity = modelV2.velocity
+  fill_xyzt(velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T)
+  acceleration = modelV2.acceleration
+  fill_xyzt(acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T)
+  orientation = modelV2.orientation
+  fill_xyzt(orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
+  orientation_rate = modelV2.orientationRate
+  fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
+
+  # temporal pose
+  temporal_pose = modelV2.temporalPose
+  temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
+  temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
+  temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
+  temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
+
+  # poly path
+  poly_path = driving_model_data.path
+  fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
+
+  # lateral planning
+  action = modelV2.action
+  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+
+  # times at X_IDXS according to model plan
+  PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
+  PLAN_T_IDXS[0] = 0.0
+  plan_x = net_output_data['plan'][0,:,Plan.POSITION][:,0].tolist()
+  for xidx in range(1, ModelConstants.IDX_N):
+    tidx = 0
+    # increment tidx until we find an element that's further away than the current xidx
+    while tidx < ModelConstants.IDX_N - 1 and plan_x[tidx+1] < ModelConstants.X_IDXS[xidx]:
+      tidx += 1
+    if tidx == ModelConstants.IDX_N - 1:
+      # if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break
+      PLAN_T_IDXS[xidx] = ModelConstants.T_IDXS[ModelConstants.IDX_N - 1]
+      break
+    # interpolate to find `t` for the current xidx
+    current_x_val = plan_x[tidx]
+    next_x_val = plan_x[tidx+1]
+    p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan')
+    PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx]
+
+  # lane lines
+  modelV2.init('laneLines', 4)
+  for i in range(4):
+    lane_line = modelV2.laneLines[i]
+    fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
+  modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
+  modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
+
+  lane_line_meta = driving_model_data.laneLineMeta
+  lane_line_meta.leftY = modelV2.laneLines[1].y[0]
+  lane_line_meta.leftProb = modelV2.laneLineProbs[1]
+  lane_line_meta.rightY = modelV2.laneLines[2].y[0]
+  lane_line_meta.rightProb = modelV2.laneLineProbs[2]
+
+  # road edges
+  modelV2.init('roadEdges', 2)
+  for i in range(2):
+    road_edge = modelV2.roadEdges[i]
+    fill_xyzt(road_edge, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1])
+  modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist()
+
+  # leads
+  modelV2.init('leadsV3', 3)
+  for i in range(3):
+    lead = modelV2.leadsV3[i]
+    fill_xyvat(lead, ModelConstants.LEAD_T_IDXS, *net_output_data['lead'][0,i].T, *net_output_data['lead_stds'][0,i].T)
+    lead.prob = net_output_data['lead_prob'][0,i].tolist()
+    lead.probTime = ModelConstants.LEAD_T_OFFSETS[i]
+
+  # meta
+  meta = modelV2.meta
+  meta.desireState = net_output_data['desire_state'][0].reshape(-1).tolist()
+  meta.desirePrediction = net_output_data['desire_pred'][0].reshape(-1).tolist()
+  meta.engagedProb = net_output_data['meta'][0,Meta.ENGAGED].item()
+  meta.init('disengagePredictions')
+  disengage_predictions = meta.disengagePredictions
+  disengage_predictions.t = ModelConstants.META_T_IDXS
+  disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE].tolist()
+  disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,Meta.GAS_DISENGAGE].tolist()
+  disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,Meta.STEER_OVERRIDE].tolist()
+  disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
+  disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
+  disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
+  disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
+  disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
+
+  publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
+  publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]
+  publish_state.prev_brake_3ms2_probs[:-1] = publish_state.prev_brake_3ms2_probs[1:]
+  publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_3][0]
+  hard_brake_predicted = (publish_state.prev_brake_5ms2_probs > ModelConstants.FCW_THRESHOLDS_5MS2).all() and \
+    (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all()
+  meta.hardBrakePredicted = hard_brake_predicted.item()
+
+  # confidence
+  if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
+    # any disengage prob
+    brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
+    gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]
+    steer_override_probs = net_output_data['meta'][0,Meta.STEER_OVERRIDE]
+    any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs))
+    # independent disengage prob for each 2s slice
+    ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])]
+    # rolling buf for 2, 4, 6, 8, 10s
+    publish_state.disengage_buffer[:-ModelConstants.DISENGAGE_WIDTH] = publish_state.disengage_buffer[ModelConstants.DISENGAGE_WIDTH:]
+    publish_state.disengage_buffer[-ModelConstants.DISENGAGE_WIDTH:] = ind_disengage_probs
+
+  score = 0.
+  for i in range(ModelConstants.DISENGAGE_WIDTH):
+    score += publish_state.disengage_buffer[i*ModelConstants.DISENGAGE_WIDTH+ModelConstants.DISENGAGE_WIDTH-1-i].item() / ModelConstants.DISENGAGE_WIDTH
+  if score < ModelConstants.RYG_GREEN:
+    modelV2.confidence = ConfidenceClass.green
+  elif score < ModelConstants.RYG_YELLOW:
+    modelV2.confidence = ConfidenceClass.yellow
+  else:
+    modelV2.confidence = ConfidenceClass.red
+
+  # raw prediction if enabled
+  if SEND_RAW_PRED:
+    modelV2.rawPredictions = net_output_data['raw_pred'].tobytes()
+
+def fill_pose_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray],
+                  vipc_frame_id: int, vipc_dropped_frames: int, timestamp_eof: int, live_calib_seen: bool) -> None:
+  msg.valid = live_calib_seen & (vipc_dropped_frames < 1)
+  cameraOdometry = msg.cameraOdometry
+
+  cameraOdometry.frameId = vipc_frame_id
+  cameraOdometry.timestampEof = timestamp_eof
+
+  cameraOdometry.trans = net_output_data['pose'][0,:3].tolist()
+  cameraOdometry.rot = net_output_data['pose'][0,3:].tolist()
+  cameraOdometry.wideFromDeviceEuler = net_output_data['wide_from_device_euler'][0,:].tolist()
+  cameraOdometry.roadTransformTrans = net_output_data['road_transform'][0,:3].tolist()
+  cameraOdometry.transStd = net_output_data['pose_stds'][0,:3].tolist()
+  cameraOdometry.rotStd = net_output_data['pose_stds'][0,3:].tolist()
+  cameraOdometry.wideFromDeviceEulerStd = net_output_data['wide_from_device_euler_stds'][0,:].tolist()
+  cameraOdometry.roadTransformTransStd = net_output_data['road_transform_stds'][0,:3].tolist()
diff --git a/sunnypilot/modeld/get_model_metadata.py b/sunnypilot/modeld/get_model_metadata.py
new file mode 100755
index 00000000000000..144860204fd79c
--- /dev/null
+++ b/sunnypilot/modeld/get_model_metadata.py
@@ -0,0 +1,28 @@
+#!/usr/bin/env python3
+import sys
+import pathlib
+import onnx
+import codecs
+import pickle
+
+def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
+  shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
+  name = value_info.name
+  return name, shape
+
+if __name__ == "__main__":
+  model_path = pathlib.Path(sys.argv[1])
+  model = onnx.load(str(model_path))
+  i = [x.key for x in model.metadata_props].index('output_slices')
+  output_slices = model.metadata_props[i].value
+
+  metadata = {}
+  metadata['output_slices'] = pickle.loads(codecs.decode(output_slices.encode(), "base64"))
+  metadata['input_shapes'] = dict([get_name_and_shape(x) for x in model.graph.input])
+  metadata['output_shapes'] = dict([get_name_and_shape(x) for x in model.graph.output])
+
+  metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
+  with open(metadata_path, 'wb') as f:
+    pickle.dump(metadata, f)
+
+  print(f'saved metadata to {metadata_path}')
diff --git a/sunnypilot/modeld/modeld b/sunnypilot/modeld/modeld
new file mode 100755
index 00000000000000..e1cef4dcc35f18
--- /dev/null
+++ b/sunnypilot/modeld/modeld
@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd "$DIR/../../"
+
+if [ -f "$DIR/libthneed.so" ]; then
+  export LD_PRELOAD="$DIR/libthneed.so"
+fi
+
+exec "$DIR/modeld.py" "$@"
diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
new file mode 100755
index 00000000000000..ea531dfe189bca
--- /dev/null
+++ b/sunnypilot/modeld/modeld.py
@@ -0,0 +1,296 @@
+#!/usr/bin/env python3
+import os
+import time
+import pickle
+import numpy as np
+import cereal.messaging as messaging
+from cereal import car, log
+from pathlib import Path
+from setproctitle import setproctitle
+from cereal.messaging import PubMaster, SubMaster
+from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from opendbc.car.car_helpers import get_demo_car_params
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.realtime import config_realtime_process
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.common.transformations.model import get_warp_matrix
+from openpilot.system import sentry
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.sunnypilot.modeld.runners import ModelRunner, Runtime
+from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
+from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
+from openpilot.sunnypilot.modeld.constants import ModelConstants
+from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
+
+PROCESS_NAME = "sunnypilot.modeld.modeld"
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+
+MODEL_PATHS = {
+  ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed',
+  ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'}
+
+METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
+
+class FrameMeta:
+  frame_id: int = 0
+  timestamp_sof: int = 0
+  timestamp_eof: int = 0
+
+  def __init__(self, vipc=None):
+    if vipc is not None:
+      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
+
+class ModelState:
+  frame: ModelFrame
+  wide_frame: ModelFrame
+  inputs: dict[str, np.ndarray]
+  output: np.ndarray
+  prev_desire: np.ndarray  # for tracking the rising edge of the pulse
+  model: ModelRunner
+
+  def __init__(self, context: CLContext):
+    self.frame = ModelFrame(context)
+    self.wide_frame = ModelFrame(context)
+    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
+    self.inputs = {
+      'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
+      'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
+      'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32),
+      'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
+      'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
+    }
+
+    with open(METADATA_PATH, 'rb') as f:
+      model_metadata = pickle.load(f)
+
+    self.output_slices = model_metadata['output_slices']
+    net_output_size = model_metadata['output_shapes']['outputs'][1]
+    self.output = np.zeros(net_output_size, dtype=np.float32)
+    self.parser = Parser()
+
+    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context)
+    self.model.addInput("input_imgs", None)
+    self.model.addInput("big_input_imgs", None)
+    for k,v in self.inputs.items():
+      self.model.addInput(k, v)
+
+  def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]:
+    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
+    if SEND_RAW_PRED:
+      parsed_model_outputs['raw_pred'] = model_outputs.copy()
+    return parsed_model_outputs
+
+  def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
+                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
+    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
+    inputs['desire'][0] = 0
+    self.inputs['desire'][:-ModelConstants.DESIRE_LEN] = self.inputs['desire'][ModelConstants.DESIRE_LEN:]
+    self.inputs['desire'][-ModelConstants.DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
+    self.prev_desire[:] = inputs['desire']
+
+    self.inputs['traffic_convention'][:] = inputs['traffic_convention']
+    self.inputs['lateral_control_params'][:] = inputs['lateral_control_params']
+
+    # if getCLBuffer is not None, frame will be None
+    self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
+    if wbuf is not None:
+      self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
+
+    if prepare_only:
+      return None
+
+    self.model.execute()
+    outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
+
+    self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:]
+    self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :]
+    self.inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:]
+    self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][0, :]
+    return outputs
+
+
+def main(demo=False):
+  cloudlog.warning("modeld init")
+
+  sentry.set_tag("daemon", PROCESS_NAME)
+  cloudlog.bind(daemon=PROCESS_NAME)
+  setproctitle(PROCESS_NAME)
+  config_realtime_process(7, 54)
+
+  cloudlog.warning("setting up CL context")
+  cl_context = CLContext()
+  cloudlog.warning("CL context ready; loading model")
+  model = ModelState(cl_context)
+  cloudlog.warning("models loaded, modeld starting")
+
+  # visionipc clients
+  while True:
+    available_streams = VisionIpcClient.available_streams("camerad", block=False)
+    if available_streams:
+      use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams
+      main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams
+      break
+    time.sleep(.1)
+
+  vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD
+  vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context)
+  vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context)
+  cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
+
+  while not vipc_client_main.connect(False):
+    time.sleep(0.1)
+  while use_extra_client and not vipc_client_extra.connect(False):
+    time.sleep(0.1)
+
+  cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})")
+  if use_extra_client:
+    cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
+
+  # messaging
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
+  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
+
+  publish_state = PublishState()
+  params = Params()
+
+  # setup filter to track dropped frames
+  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
+  frame_id = 0
+  last_vipc_frame_id = 0
+  run_count = 0
+
+  model_transform_main = np.zeros((3, 3), dtype=np.float32)
+  model_transform_extra = np.zeros((3, 3), dtype=np.float32)
+  live_calib_seen = False
+  buf_main, buf_extra = None, None
+  meta_main = FrameMeta()
+  meta_extra = FrameMeta()
+
+
+  if demo:
+    CP = get_demo_car_params()
+  else:
+    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
+
+  cloudlog.info("modeld got CarParams: %s", CP.carName)
+
+  # TODO this needs more thought, use .2s extra for now to estimate other delays
+  steer_delay = CP.steerActuatorDelay + .2
+
+  DH = DesireHelper()
+
+  while True:
+    # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
+    while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
+      buf_main = vipc_client_main.recv()
+      meta_main = FrameMeta(vipc_client_main)
+      if buf_main is None:
+        break
+
+    if buf_main is None:
+      cloudlog.debug("vipc_client_main no frame")
+      continue
+
+    if use_extra_client:
+      # Keep receiving extra frames until frame id matches main camera
+      while True:
+        buf_extra = vipc_client_extra.recv()
+        meta_extra = FrameMeta(vipc_client_extra)
+        if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
+          break
+
+      if buf_extra is None:
+        cloudlog.debug("vipc_client_extra no frame")
+        continue
+
+      if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000:
+        cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\
+                         extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})")
+
+    else:
+      # Use single camera
+      buf_extra = buf_main
+      meta_extra = meta_main
+
+    sm.update(0)
+    desire = DH.desire
+    is_rhd = sm["driverMonitoringState"].isRHD
+    frame_id = sm["roadCameraState"].frameId
+    lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
+    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
+      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
+      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
+      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
+      model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
+      live_calib_seen = True
+
+    traffic_convention = np.zeros(2)
+    traffic_convention[int(is_rhd)] = 1
+
+    vec_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
+    if desire >= 0 and desire < ModelConstants.DESIRE_LEN:
+      vec_desire[desire] = 1
+
+    # tracked dropped frames
+    vipc_dropped_frames = max(0, meta_main.frame_id - last_vipc_frame_id - 1)
+    frames_dropped = frame_dropped_filter.update(min(vipc_dropped_frames, 10))
+    if run_count < 10: # let frame drops warm up
+      frame_dropped_filter.x = 0.
+      frames_dropped = 0.
+    run_count = run_count + 1
+
+    frame_drop_ratio = frames_dropped / (1 + frames_dropped)
+    prepare_only = vipc_dropped_frames > 0
+    if prepare_only:
+      cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
+
+    inputs:dict[str, np.ndarray] = {
+      'desire': vec_desire,
+      'traffic_convention': traffic_convention,
+      'lateral_control_params': lateral_control_params,
+      }
+
+    mt1 = time.perf_counter()
+    model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
+    mt2 = time.perf_counter()
+    model_execution_time = mt2 - mt1
+
+    if model_output is not None:
+      modelv2_send = messaging.new_message('modelV2')
+      drivingdata_send = messaging.new_message('drivingModelData')
+      posenet_send = messaging.new_message('cameraOdometry')
+      fill_model_msg(drivingdata_send, modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
+                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
+
+      desire_state = modelv2_send.modelV2.meta.desireState
+      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
+      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
+      lane_change_prob = l_lane_change_prob + r_lane_change_prob
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
+      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
+      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
+      drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
+
+      fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
+      pm.send('modelV2', modelv2_send)
+      pm.send('drivingModelData', drivingdata_send)
+      pm.send('cameraOdometry', posenet_send)
+
+    last_vipc_frame_id = meta_main.frame_id
+
+
+if __name__ == "__main__":
+  try:
+    import argparse
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
+    args = parser.parse_args()
+    main(demo=args.demo)
+  except KeyboardInterrupt:
+    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
+  except Exception:
+    sentry.capture_exception()
+    raise
diff --git a/sunnypilot/modeld/models/__init__.py b/sunnypilot/modeld/models/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/modeld/models/commonmodel.cc b/sunnypilot/modeld/models/commonmodel.cc
new file mode 100644
index 00000000000000..f1e15e5a4edc15
--- /dev/null
+++ b/sunnypilot/modeld/models/commonmodel.cc
@@ -0,0 +1,50 @@
+#include "sunnypilot/modeld/models/commonmodel.h"
+
+#include <cassert>
+#include <cmath>
+#include <cstring>
+
+#include "common/clutil.h"
+
+ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
+  input_frames = std::make_unique<float[]>(buf_size);
+
+  q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
+  y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
+  u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
+  v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
+  net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(float), NULL, &err));
+
+  transform_init(&transform, context, device_id);
+  loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
+}
+
+float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
+  transform_queue(&this->transform, q,
+                  yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
+                  y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
+
+  if (output == NULL) {
+    loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
+
+    std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(float) * MODEL_FRAME_SIZE);
+    CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(float), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
+    clFinish(q);
+    return &input_frames[0];
+  } else {
+    loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, *output, true);
+    // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
+    clFinish(q);
+    return NULL;
+  }
+}
+
+ModelFrame::~ModelFrame() {
+  transform_destroy(&transform);
+  loadyuv_destroy(&loadyuv);
+  CL_CHECK(clReleaseMemObject(net_input_cl));
+  CL_CHECK(clReleaseMemObject(v_cl));
+  CL_CHECK(clReleaseMemObject(u_cl));
+  CL_CHECK(clReleaseMemObject(y_cl));
+  CL_CHECK(clReleaseCommandQueue(q));
+}
diff --git a/sunnypilot/modeld/models/commonmodel.h b/sunnypilot/modeld/models/commonmodel.h
new file mode 100644
index 00000000000000..9d34ebb6d3ea09
--- /dev/null
+++ b/sunnypilot/modeld/models/commonmodel.h
@@ -0,0 +1,36 @@
+#pragma once
+
+#include <cfloat>
+#include <cstdlib>
+
+#include <memory>
+
+#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#include "common/mat.h"
+#include "sunnypilot/modeld/transforms/loadyuv.h"
+#include "sunnypilot/modeld/transforms/transform.h"
+
+class ModelFrame {
+public:
+  ModelFrame(cl_device_id device_id, cl_context context);
+  ~ModelFrame();
+  float* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);
+
+  const int MODEL_WIDTH = 512;
+  const int MODEL_HEIGHT = 256;
+  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
+  const int buf_size = MODEL_FRAME_SIZE * 2;
+
+private:
+  Transform transform;
+  LoadYUVState loadyuv;
+  cl_command_queue q;
+  cl_mem y_cl, u_cl, v_cl, net_input_cl;
+  std::unique_ptr<float[]> input_frames;
+};
diff --git a/sunnypilot/modeld/models/commonmodel.pxd b/sunnypilot/modeld/models/commonmodel.pxd
new file mode 100644
index 00000000000000..c7fd85411d4e29
--- /dev/null
+++ b/sunnypilot/modeld/models/commonmodel.pxd
@@ -0,0 +1,18 @@
+# distutils: language = c++
+
+from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem
+
+cdef extern from "common/mat.h":
+  cdef struct mat3:
+    float v[9]
+
+cdef extern from "common/clutil.h":
+  cdef unsigned long CL_DEVICE_TYPE_DEFAULT
+  cl_device_id cl_get_device_id(unsigned long)
+  cl_context cl_create_context(cl_device_id)
+
+cdef extern from "sunnypilot/modeld/models/commonmodel.h":
+  cppclass ModelFrame:
+    int buf_size
+    ModelFrame(cl_device_id, cl_context)
+    float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
diff --git a/sunnypilot/modeld/models/commonmodel_pyx.pxd b/sunnypilot/modeld/models/commonmodel_pyx.pxd
new file mode 100644
index 00000000000000..0bb798625be28d
--- /dev/null
+++ b/sunnypilot/modeld/models/commonmodel_pyx.pxd
@@ -0,0 +1,13 @@
+# distutils: language = c++
+
+from msgq.visionipc.visionipc cimport cl_mem
+from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext
+
+cdef class CLContext(BaseCLContext):
+  pass
+
+cdef class CLMem:
+  cdef cl_mem * mem
+
+  @staticmethod
+  cdef create(void*)
diff --git a/sunnypilot/modeld/models/commonmodel_pyx.pyx b/sunnypilot/modeld/models/commonmodel_pyx.pyx
new file mode 100644
index 00000000000000..d66fddea54e797
--- /dev/null
+++ b/sunnypilot/modeld/models/commonmodel_pyx.pyx
@@ -0,0 +1,45 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+import numpy as np
+cimport numpy as cnp
+from libc.string cimport memcpy
+
+from msgq.visionipc.visionipc cimport cl_mem
+from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
+from openpilot.sunnypilot.modeld.models.commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
+from openpilot.sunnypilot.modeld.models.commonmodel cimport mat3, ModelFrame as cppModelFrame
+
+
+cdef class CLContext(BaseCLContext):
+  def __cinit__(self):
+    self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
+    self.context = cl_create_context(self.device_id)
+
+cdef class CLMem:
+  @staticmethod
+  cdef create(void * cmem):
+    mem = CLMem()
+    mem.mem = <cl_mem*> cmem
+    return mem
+
+cdef class ModelFrame:
+  cdef cppModelFrame * frame
+
+  def __cinit__(self, CLContext context):
+    self.frame = new cppModelFrame(context.device_id, context.context)
+
+  def __dealloc__(self):
+    del self.frame
+
+  def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
+    cdef mat3 cprojection
+    memcpy(cprojection.v, &projection[0], 9*sizeof(float))
+    cdef float * data
+    if output is None:
+      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL)
+    else:
+      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
+    if not data:
+      return None
+    return np.asarray(<cnp.float32_t[:self.frame.buf_size]> data)
diff --git a/sunnypilot/modeld/models/supercombo.onnx b/sunnypilot/modeld/models/supercombo.onnx
new file mode 100644
index 00000000000000..8b7126c44af68b
--- /dev/null
+++ b/sunnypilot/modeld/models/supercombo.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb2018c74cdd9e5cb070ec7bed7f8581fabd55e39057d0a03aaffd2e42408154
+size 62486347
diff --git a/sunnypilot/modeld/parse_model_outputs.py b/sunnypilot/modeld/parse_model_outputs.py
new file mode 100644
index 00000000000000..8cd4aacd9093b9
--- /dev/null
+++ b/sunnypilot/modeld/parse_model_outputs.py
@@ -0,0 +1,105 @@
+import numpy as np
+from openpilot.sunnypilot.modeld.constants import ModelConstants
+
+def safe_exp(x, out=None):
+  # -11 is around 10**14, more causes float16 overflow
+  return np.exp(np.clip(x, -np.inf, 11), out=out)
+
+def sigmoid(x):
+  return 1. / (1. + safe_exp(-x))
+
+def softmax(x, axis=-1):
+  x -= np.max(x, axis=axis, keepdims=True)
+  if x.dtype == np.float32 or x.dtype == np.float64:
+    safe_exp(x, out=x)
+  else:
+    x = safe_exp(x)
+  x /= np.sum(x, axis=axis, keepdims=True)
+  return x
+
+class Parser:
+  def __init__(self, ignore_missing=False):
+    self.ignore_missing = ignore_missing
+
+  def check_missing(self, outs, name):
+    if name not in outs and not self.ignore_missing:
+      raise ValueError(f"Missing output {name}")
+    return name not in outs
+
+  def parse_categorical_crossentropy(self, name, outs, out_shape=None):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    if out_shape is not None:
+      raw = raw.reshape((raw.shape[0],) + out_shape)
+    outs[name] = softmax(raw, axis=-1)
+
+  def parse_binary_crossentropy(self, name, outs):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    outs[name] = sigmoid(raw)
+
+  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    raw = raw.reshape((raw.shape[0], max(in_N, 1), -1))
+
+    n_values = (raw.shape[2] - out_N)//2
+    pred_mu = raw[:,:,:n_values]
+    pred_std = safe_exp(raw[:,:,n_values: 2*n_values])
+
+    if in_N > 1:
+      weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype)
+      for i in range(out_N):
+        weights[:,:,i - out_N] = softmax(raw[:,:,i - out_N], axis=-1)
+
+      if out_N == 1:
+        for fidx in range(weights.shape[0]):
+          idxs = np.argsort(weights[fidx][:,0])[::-1]
+          weights[fidx] = weights[fidx][idxs]
+          pred_mu[fidx] = pred_mu[fidx][idxs]
+          pred_std[fidx] = pred_std[fidx][idxs]
+      full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
+      outs[name + '_weights'] = weights
+      outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
+      outs[name + '_stds_hypotheses'] = pred_std.reshape(full_shape)
+
+      pred_mu_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
+      pred_std_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
+      for fidx in range(weights.shape[0]):
+        for hidx in range(out_N):
+          idxs = np.argsort(weights[fidx,:,hidx])[::-1]
+          pred_mu_final[fidx, hidx] = pred_mu[fidx, idxs[0]]
+          pred_std_final[fidx, hidx] = pred_std[fidx, idxs[0]]
+    else:
+      pred_mu_final = pred_mu
+      pred_std_final = pred_std
+
+    if out_N > 1:
+      final_shape = tuple([raw.shape[0], out_N] + list(out_shape))
+    else:
+      final_shape = tuple([raw.shape[0],] + list(out_shape))
+    outs[name] = pred_mu_final.reshape(final_shape)
+    outs[name + '_stds'] = pred_std_final.reshape(final_shape)
+
+  def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
+                   out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
+    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
+    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    if 'lat_planner_solution' in outs:
+      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    if 'desired_curvature' in outs:
+      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
+    for k in ['lead_prob', 'lane_lines_prob', 'meta']:
+      self.parse_binary_crossentropy(k, outs)
+    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
+    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
+    return outs
diff --git a/sunnypilot/modeld/runners/__init__.py b/sunnypilot/modeld/runners/__init__.py
new file mode 100644
index 00000000000000..3f4507e4eb08db
--- /dev/null
+++ b/sunnypilot/modeld/runners/__init__.py
@@ -0,0 +1,27 @@
+import os
+from openpilot.system.hardware import TICI
+from openpilot.sunnypilot.modeld.runners.runmodel_pyx import RunModel, Runtime
+assert Runtime
+
+USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
+USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI))))
+
+class ModelRunner(RunModel):
+  THNEED = 'THNEED'
+  SNPE = 'SNPE'
+  ONNX = 'ONNX'
+
+  def __new__(cls, paths, *args, **kwargs):
+    if ModelRunner.THNEED in paths and USE_THNEED:
+      from openpilot.sunnypilot.modeld.runners.thneedmodel_pyx import ThneedModel as Runner
+      runner_type = ModelRunner.THNEED
+    elif ModelRunner.SNPE in paths and USE_SNPE:
+      from openpilot.sunnypilot.modeld.runners.snpemodel_pyx import SNPEModel as Runner
+      runner_type = ModelRunner.SNPE
+    elif ModelRunner.ONNX in paths:
+      from openpilot.sunnypilot.modeld.runners.onnxmodel import ONNXModel as Runner
+      runner_type = ModelRunner.ONNX
+    else:
+      raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path")
+
+    return Runner(str(paths[runner_type]), *args, **kwargs)
diff --git a/sunnypilot/modeld/runners/onnxmodel.py b/sunnypilot/modeld/runners/onnxmodel.py
new file mode 100644
index 00000000000000..047f13dc9d08da
--- /dev/null
+++ b/sunnypilot/modeld/runners/onnxmodel.py
@@ -0,0 +1,98 @@
+import onnx
+import itertools
+import os
+import sys
+import numpy as np
+from typing import Any
+
+from openpilot.sunnypilot.modeld.runners.runmodel_pyx import RunModel
+
+ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
+
+def attributeproto_fp16_to_fp32(attr):
+  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
+  attr.data_type = 1
+  attr.raw_data = float32_list.astype(np.float32).tobytes()
+
+def convert_fp16_to_fp32(onnx_path_or_bytes):
+  if isinstance(onnx_path_or_bytes, bytes):
+    model = onnx.load_from_string(onnx_path_or_bytes)
+  elif isinstance(onnx_path_or_bytes, str):
+    model = onnx.load(onnx_path_or_bytes)
+
+  for i in model.graph.initializer:
+    if i.data_type == 10:
+      attributeproto_fp16_to_fp32(i)
+  for i in itertools.chain(model.graph.input, model.graph.output):
+    if i.type.tensor_type.elem_type == 10:
+      i.type.tensor_type.elem_type = 1
+  for i in model.graph.node:
+    if i.op_type == 'Cast' and i.attribute[0].i == 10:
+      i.attribute[0].i = 1
+    for a in i.attribute:
+      if hasattr(a, 't'):
+        if a.t.data_type == 10:
+          attributeproto_fp16_to_fp32(a.t)
+  return model.SerializeToString()
+
+def create_ort_session(path, fp16_to_fp32):
+  os.environ["OMP_NUM_THREADS"] = "4"
+  os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
+
+  import onnxruntime as ort
+  print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
+  options = ort.SessionOptions()
+  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
+
+  provider: str | tuple[str, dict[Any, Any]]
+  if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
+    provider = 'OpenVINOExecutionProvider'
+  elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
+    options.intra_op_num_threads = 2
+    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'})
+  else:
+    options.intra_op_num_threads = 2
+    options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
+    options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
+    provider = 'CPUExecutionProvider'
+
+  model_data = convert_fp16_to_fp32(path) if fp16_to_fp32 else path
+  print("Onnx selected provider: ", [provider], file=sys.stderr)
+  ort_session = ort.InferenceSession(model_data, options, providers=[provider])
+  print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
+  return ort_session
+
+
+class ONNXModel(RunModel):
+  def __init__(self, path, output, runtime, use_tf8, cl_context):
+    self.inputs = {}
+    self.output = output
+
+    self.session = create_ort_session(path, fp16_to_fp32=True)
+    self.input_names = [x.name for x in self.session.get_inputs()]
+    self.input_shapes = {x.name: [1, *x.shape[1:]] for x in self.session.get_inputs()}
+    self.input_dtypes = {x.name: ORT_TYPES_TO_NP_TYPES[x.type] for x in self.session.get_inputs()}
+
+    # run once to initialize CUDA provider
+    if "CUDAExecutionProvider" in self.session.get_providers():
+      self.session.run(None, {k: np.zeros(self.input_shapes[k], dtype=self.input_dtypes[k]) for k in self.input_names})
+    print("ready to run onnx model", self.input_shapes, file=sys.stderr)
+
+  def addInput(self, name, buffer):
+    assert name in self.input_names
+    self.inputs[name] = buffer
+
+  def setInputBuffer(self, name, buffer):
+    assert name in self.inputs
+    self.inputs[name] = buffer
+
+  def getCLBuffer(self, name):
+    return None
+
+  def execute(self):
+    inputs = {k: v.view(self.input_dtypes[k]) for k,v in self.inputs.items()}
+    inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()}
+    outputs = self.session.run(None, inputs)
+    assert len(outputs) == 1, "Only single model outputs are supported"
+    self.output[:] = outputs[0]
+    return self.output
diff --git a/sunnypilot/modeld/runners/run.h b/sunnypilot/modeld/runners/run.h
new file mode 100644
index 00000000000000..84d99fd10fd862
--- /dev/null
+++ b/sunnypilot/modeld/runners/run.h
@@ -0,0 +1,4 @@
+#pragma once
+
+#include "sunnypilot/modeld/runners/runmodel.h"
+#include "sunnypilot/modeld/runners/snpemodel.h"
diff --git a/sunnypilot/modeld/runners/runmodel.h b/sunnypilot/modeld/runners/runmodel.h
new file mode 100644
index 00000000000000..18cc180cb7f1d9
--- /dev/null
+++ b/sunnypilot/modeld/runners/runmodel.h
@@ -0,0 +1,49 @@
+#pragma once
+
+#include <string>
+#include <vector>
+#include <memory>
+#include <cassert>
+
+#include "common/clutil.h"
+#include "common/swaglog.h"
+
+#define USE_CPU_RUNTIME 0
+#define USE_GPU_RUNTIME 1
+#define USE_DSP_RUNTIME 2
+
+struct ModelInput {
+  const std::string name;
+  float *buffer;
+  int size;
+
+  ModelInput(const std::string _name, float *_buffer, int _size) : name(_name), buffer(_buffer), size(_size) {}
+  virtual void setBuffer(float *_buffer, int _size) {
+    assert(size == _size || size == 0);
+    buffer = _buffer;
+    size = _size;
+  }
+};
+
+class RunModel {
+public:
+  std::vector<std::unique_ptr<ModelInput>> inputs;
+
+  virtual ~RunModel() {}
+  virtual void execute() {}
+  virtual void* getCLBuffer(const std::string name) { return nullptr; }
+
+  virtual void addInput(const std::string name, float *buffer, int size) {
+    inputs.push_back(std::unique_ptr<ModelInput>(new ModelInput(name, buffer, size)));
+  }
+  virtual void setInputBuffer(const std::string name, float *buffer, int size) {
+    for (auto &input : inputs) {
+      if (name == input->name) {
+        input->setBuffer(buffer, size);
+        return;
+      }
+    }
+    LOGE("Tried to update input `%s` but no input with this name exists", name.c_str());
+    assert(false);
+  }
+};
diff --git a/sunnypilot/modeld/runners/runmodel.pxd b/sunnypilot/modeld/runners/runmodel.pxd
new file mode 100644
index 00000000000000..b83434473d9b71
--- /dev/null
+++ b/sunnypilot/modeld/runners/runmodel.pxd
@@ -0,0 +1,14 @@
+# distutils: language = c++
+
+from libcpp.string cimport string
+
+cdef extern from "sunnypilot/modeld/runners/runmodel.h":
+  cdef int USE_CPU_RUNTIME
+  cdef int USE_GPU_RUNTIME
+  cdef int USE_DSP_RUNTIME
+
+  cdef cppclass RunModel:
+    void addInput(string, float*, int)
+    void setInputBuffer(string, float*, int)
+    void * getCLBuffer(string)
+    void execute()
diff --git a/sunnypilot/modeld/runners/runmodel_pyx.pxd b/sunnypilot/modeld/runners/runmodel_pyx.pxd
new file mode 100644
index 00000000000000..b6ede7cf37f733
--- /dev/null
+++ b/sunnypilot/modeld/runners/runmodel_pyx.pxd
@@ -0,0 +1,6 @@
+# distutils: language = c++
+
+from .runmodel cimport RunModel as cppRunModel
+
+cdef class RunModel:
+  cdef cppRunModel * model
diff --git a/sunnypilot/modeld/runners/runmodel_pyx.pyx b/sunnypilot/modeld/runners/runmodel_pyx.pyx
new file mode 100644
index 00000000000000..e224b1e4f2c11d
--- /dev/null
+++ b/sunnypilot/modeld/runners/runmodel_pyx.pyx
@@ -0,0 +1,37 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+from libcpp.string cimport string
+
+from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
+from sunnypilot.modeld.models.commonmodel_pyx cimport CLMem
+
+class Runtime:
+  CPU = USE_CPU_RUNTIME
+  GPU = USE_GPU_RUNTIME
+  DSP = USE_DSP_RUNTIME
+
+cdef class RunModel:
+  def __dealloc__(self):
+    del self.model
+
+  def addInput(self, string name, float[:] buffer):
+    if buffer is not None:
+      self.model.addInput(name, &buffer[0], len(buffer))
+    else:
+      self.model.addInput(name, NULL, 0)
+
+  def setInputBuffer(self, string name, float[:] buffer):
+    if buffer is not None:
+      self.model.setInputBuffer(name, &buffer[0], len(buffer))
+    else:
+      self.model.setInputBuffer(name, NULL, 0)
+
+  def getCLBuffer(self, string name):
+    cdef void * cl_buf = self.model.getCLBuffer(name)
+    if not cl_buf:
+      return None
+    return CLMem.create(cl_buf)
+
+  def execute(self):
+    self.model.execute()
diff --git a/sunnypilot/modeld/runners/snpemodel.cc b/sunnypilot/modeld/runners/snpemodel.cc
new file mode 100644
index 00000000000000..ce06ba39f79040
--- /dev/null
+++ b/sunnypilot/modeld/runners/snpemodel.cc
@@ -0,0 +1,116 @@
+#pragma clang diagnostic ignored "-Wexceptions"
+
+#include "sunnypilot/modeld/runners/snpemodel.h"
+
+#include <cstring>
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "common/util.h"
+#include "common/timing.h"
+
+void PrintErrorStringAndExit() {
+  std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
+  std::exit(EXIT_FAILURE);
+}
+
+SNPEModel::SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) {
+  output = _output;
+  output_size = _output_size;
+  use_tf8 = _use_tf8;
+
+#ifdef QCOM2
+  if (runtime == USE_GPU_RUNTIME) {
+    snpe_runtime = zdl::DlSystem::Runtime_t::GPU;
+  } else if (runtime == USE_DSP_RUNTIME) {
+    snpe_runtime = zdl::DlSystem::Runtime_t::DSP;
+  } else {
+    snpe_runtime = zdl::DlSystem::Runtime_t::CPU;
+  }
+  assert(zdl::SNPE::SNPEFactory::isRuntimeAvailable(snpe_runtime));
+#endif
+  model_data = util::read_file(path);
+  assert(model_data.size() > 0);
+
+  // load model
+  std::unique_ptr<zdl::DlContainer::IDlContainer> container = zdl::DlContainer::IDlContainer::open((uint8_t*)model_data.data(), model_data.size());
+  if (!container) { PrintErrorStringAndExit(); }
+  LOGW("loaded model with size: %lu", model_data.size());
+
+  // create model runner
+  zdl::SNPE::SNPEBuilder snpe_builder(container.get());
+  while (!snpe) {
+#ifdef QCOM2
+    snpe = snpe_builder.setOutputLayers({})
+                       .setRuntimeProcessor(snpe_runtime)
+                       .setUseUserSuppliedBuffers(true)
+                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
+                       .build();
+#else
+    snpe = snpe_builder.setOutputLayers({})
+                       .setUseUserSuppliedBuffers(true)
+                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
+                       .build();
+#endif
+    if (!snpe) std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
+  }
+
+  // create output buffer
+  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
+  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
+
+  const auto &output_tensor_names_opt = snpe->getOutputTensorNames();
+  if (!output_tensor_names_opt) throw std::runtime_error("Error obtaining output tensor names");
+  const auto &output_tensor_names = *output_tensor_names_opt;
+  assert(output_tensor_names.size() == 1);
+  const char *output_tensor_name = output_tensor_names.at(0);
+  const zdl::DlSystem::TensorShape &buffer_shape = snpe->getInputOutputBufferAttributes(output_tensor_name)->getDims();
+  if (output_size != 0) {
+    assert(output_size == buffer_shape[1]);
+  } else {
+    output_size = buffer_shape[1];
+  }
+  std::vector<size_t> output_strides = {output_size * sizeof(float), sizeof(float)};
+  output_buffer = ub_factory.createUserBuffer(output, output_size * sizeof(float), output_strides, &ub_encoding_float);
+  output_map.add(output_tensor_name, output_buffer.get());
+}
+
+void SNPEModel::addInput(const std::string name, float *buffer, int size) {
+  const int idx = inputs.size();
+  const auto &input_tensor_names_opt = snpe->getInputTensorNames();
+  if (!input_tensor_names_opt) throw std::runtime_error("Error obtaining input tensor names");
+  const auto &input_tensor_names = *input_tensor_names_opt;
+  const char *input_tensor_name = input_tensor_names.at(idx);
+  const bool input_tf8 = use_tf8 && strcmp(input_tensor_name, "input_img") == 0;  // TODO: This is a terrible hack, get rid of this name check both here and in onnx_runner.py
+  LOGW("adding index %d: %s", idx, input_tensor_name);
+
+  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
+  zdl::DlSystem::UserBufferEncodingTf8 ub_encoding_tf8(0, 1./255); // network takes 0-1
+  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
+  zdl::DlSystem::UserBufferEncoding *input_encoding = input_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_tf8 : (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_float;
+
+  const auto &buffer_shape_opt = snpe->getInputDimensions(input_tensor_name);
+  const zdl::DlSystem::TensorShape &buffer_shape = *buffer_shape_opt;
+  size_t size_of_input = input_tf8 ? sizeof(uint8_t) : sizeof(float);
+  std::vector<size_t> strides(buffer_shape.rank());
+  strides[strides.size() - 1] = size_of_input;
+  size_t product = 1;
+  for (size_t i = 0; i < buffer_shape.rank(); i++) product *= buffer_shape[i];
+  size_t stride = strides[strides.size() - 1];
+  for (size_t i = buffer_shape.rank() - 1; i > 0; i--) {
+    stride *= buffer_shape[i];
+    strides[i-1] = stride;
+  }
+
+  auto input_buffer = ub_factory.createUserBuffer(buffer, product*size_of_input, strides, input_encoding);
+  input_map.add(input_tensor_name, input_buffer.get());
+  inputs.push_back(std::unique_ptr<SNPEModelInput>(new SNPEModelInput(name, buffer, size, std::move(input_buffer))));
+}
+
+void SNPEModel::execute() {
+  if (!snpe->execute(input_map, output_map)) {
+    PrintErrorStringAndExit();
+  }
+}
diff --git a/sunnypilot/modeld/runners/snpemodel.h b/sunnypilot/modeld/runners/snpemodel.h
new file mode 100644
index 00000000000000..bd766242134fef
--- /dev/null
+++ b/sunnypilot/modeld/runners/snpemodel.h
@@ -0,0 +1,52 @@
+#pragma once
+#pragma clang diagnostic ignored "-Wdeprecated-declarations"
+
+#include <memory>
+#include <string>
+#include <utility>
+
+#include <DlContainer/IDlContainer.hpp>
+#include <DlSystem/DlError.hpp>
+#include <DlSystem/ITensor.hpp>
+#include <DlSystem/ITensorFactory.hpp>
+#include <DlSystem/IUserBuffer.hpp>
+#include <DlSystem/IUserBufferFactory.hpp>
+#include <SNPE/SNPE.hpp>
+#include <SNPE/SNPEBuilder.hpp>
+#include <SNPE/SNPEFactory.hpp>
+
+#include "sunnypilot/modeld/runners/runmodel.h"
+
+struct SNPEModelInput : public ModelInput {
+  std::unique_ptr<zdl::DlSystem::IUserBuffer> snpe_buffer;
+
+  SNPEModelInput(const std::string _name, float *_buffer, int _size, std::unique_ptr<zdl::DlSystem::IUserBuffer> _snpe_buffer) : ModelInput(_name, _buffer, _size), snpe_buffer(std::move(_snpe_buffer)) {}
+  void setBuffer(float *_buffer, int _size) {
+    ModelInput::setBuffer(_buffer, _size);
+    assert(snpe_buffer->setBufferAddress(_buffer) == true);
+  }
+};
+
+class SNPEModel : public RunModel {
+public:
+  SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
+  void addInput(const std::string name, float *buffer, int size);
+  void execute();
+
+private:
+  std::string model_data;
+
+#ifdef QCOM2
+  zdl::DlSystem::Runtime_t snpe_runtime;
+#endif
+
+  // snpe model stuff
+  std::unique_ptr<zdl::SNPE::SNPE> snpe;
+  zdl::DlSystem::UserBufferMap input_map;
+  zdl::DlSystem::UserBufferMap output_map;
+  std::unique_ptr<zdl::DlSystem::IUserBuffer> output_buffer;
+
+  bool use_tf8;
+  float *output;
+  size_t output_size;
+};
diff --git a/sunnypilot/modeld/runners/snpemodel.pxd b/sunnypilot/modeld/runners/snpemodel.pxd
new file mode 100644
index 00000000000000..f19501d37d00f2
--- /dev/null
+++ b/sunnypilot/modeld/runners/snpemodel.pxd
@@ -0,0 +1,9 @@
+# distutils: language = c++
+
+from libcpp.string cimport string
+
+from msgq.visionipc.visionipc cimport cl_context
+
+cdef extern from "sunnypilot/modeld/runners/snpemodel.h":
+  cdef cppclass SNPEModel:
+    SNPEModel(string, float*, size_t, int, bool, cl_context)
diff --git a/sunnypilot/modeld/runners/snpemodel_pyx.pyx b/sunnypilot/modeld/runners/snpemodel_pyx.pyx
new file mode 100644
index 00000000000000..d1f24d1ead7be1
--- /dev/null
+++ b/sunnypilot/modeld/runners/snpemodel_pyx.pyx
@@ -0,0 +1,17 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+import os
+from libcpp cimport bool
+from libcpp.string cimport string
+
+from .snpemodel cimport SNPEModel as cppSNPEModel
+from sunnypilot.modeld.models.commonmodel_pyx cimport CLContext
+from sunnypilot.modeld.runners.runmodel_pyx cimport RunModel
+from sunnypilot.modeld.runners.runmodel cimport RunModel as cppRunModel
+
+os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/"
+
+cdef class SNPEModel(RunModel):
+  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
+    self.model = <cppRunModel *> new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/sunnypilot/modeld/runners/thneedmodel.cc b/sunnypilot/modeld/runners/thneedmodel.cc
new file mode 100644
index 00000000000000..d83fc0a5f9c7ee
--- /dev/null
+++ b/sunnypilot/modeld/runners/thneedmodel.cc
@@ -0,0 +1,58 @@
+#include "sunnypilot/modeld/runners/thneedmodel.h"
+
+#include <string>
+
+#include "common/swaglog.h"
+
+ThneedModel::ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool luse_tf8, cl_context context) {
+  thneed = new Thneed(true, context);
+  thneed->load(path.c_str());
+  thneed->clexec();
+
+  recorded = false;
+  output = _output;
+}
+
+void* ThneedModel::getCLBuffer(const std::string name) {
+  int index = -1;
+  for (int i = 0; i < inputs.size(); i++) {
+    if (name == inputs[i]->name) {
+      index = i;
+      break;
+    }
+  }
+
+  if (index == -1) {
+    LOGE("Tried to get CL buffer for input `%s` but no input with this name exists", name.c_str());
+    assert(false);
+  }
+
+  if (thneed->input_clmem.size() >= inputs.size()) {
+    return &thneed->input_clmem[inputs.size() - index - 1];
+  } else {
+    return nullptr;
+  }
+}
+
+void ThneedModel::execute() {
+  if (!recorded) {
+    thneed->record = true;
+    float *input_buffers[inputs.size()];
+    for (int i = 0; i < inputs.size(); i++) {
+      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
+    }
+
+    thneed->copy_inputs(input_buffers);
+    thneed->clexec();
+    thneed->copy_output(output);
+    thneed->stop();
+
+    recorded = true;
+  } else {
+    float *input_buffers[inputs.size()];
+    for (int i = 0; i < inputs.size(); i++) {
+      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
+    }
+    thneed->execute(input_buffers, output);
+  }
+}
diff --git a/sunnypilot/modeld/runners/thneedmodel.h b/sunnypilot/modeld/runners/thneedmodel.h
new file mode 100644
index 00000000000000..ecc7207c1f1fce
--- /dev/null
+++ b/sunnypilot/modeld/runners/thneedmodel.h
@@ -0,0 +1,17 @@
+#pragma once
+
+#include <string>
+
+#include "sunnypilot/modeld/runners/runmodel.h"
+#include "sunnypilot/modeld/thneed/thneed.h"
+
+class ThneedModel : public RunModel {
+public:
+  ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
+  void *getCLBuffer(const std::string name);
+  void execute();
+private:
+  Thneed *thneed = NULL;
+  bool recorded;
+  float *output;
+};
diff --git a/sunnypilot/modeld/runners/thneedmodel.pxd b/sunnypilot/modeld/runners/thneedmodel.pxd
new file mode 100644
index 00000000000000..ace7443b50e42b
--- /dev/null
+++ b/sunnypilot/modeld/runners/thneedmodel.pxd
@@ -0,0 +1,9 @@
+# distutils: language = c++
+
+from libcpp.string cimport string
+
+from msgq.visionipc.visionipc cimport cl_context
+
+cdef extern from "sunnypilot/modeld/runners/thneedmodel.h":
+  cdef cppclass ThneedModel:
+    ThneedModel(string, float*, size_t, int, bool, cl_context)
diff --git a/sunnypilot/modeld/runners/thneedmodel_pyx.pyx b/sunnypilot/modeld/runners/thneedmodel_pyx.pyx
new file mode 100644
index 00000000000000..49de8344c00fa8
--- /dev/null
+++ b/sunnypilot/modeld/runners/thneedmodel_pyx.pyx
@@ -0,0 +1,14 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+from libcpp cimport bool
+from libcpp.string cimport string
+
+from .thneedmodel cimport ThneedModel as cppThneedModel
+from sunnypilot.modeld.models.commonmodel_pyx cimport CLContext
+from sunnypilot.modeld.runners.runmodel_pyx cimport RunModel
+from sunnypilot.modeld.runners.runmodel cimport RunModel as cppRunModel
+
+cdef class ThneedModel(RunModel):
+  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
+    self.model = <cppRunModel *> new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/sunnypilot/modeld/thneed/README b/sunnypilot/modeld/thneed/README
new file mode 100644
index 00000000000000..f3bc66d8fc26ff
--- /dev/null
+++ b/sunnypilot/modeld/thneed/README
@@ -0,0 +1,8 @@
+thneed is an SNPE accelerator. I know SNPE is already an accelerator, but sometimes things need to go even faster..
+
+It runs on the local device, and caches a single model run. Then it replays it, but fast.
+
+thneed slices through abstraction layers like a fish.
+
+You need a thneed.
+
diff --git a/sunnypilot/modeld/thneed/__init__.py b/sunnypilot/modeld/thneed/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/modeld/thneed/serialize.cc b/sunnypilot/modeld/thneed/serialize.cc
new file mode 100644
index 00000000000000..f9a8b288ac4e70
--- /dev/null
+++ b/sunnypilot/modeld/thneed/serialize.cc
@@ -0,0 +1,154 @@
+#include <cassert>
+#include <set>
+
+#include "third_party/json11/json11.hpp"
+#include "common/util.h"
+#include "common/clutil.h"
+#include "common/swaglog.h"
+#include "sunnypilot/modeld/thneed/thneed.h"
+using namespace json11;
+
+extern map<cl_program, string> g_program_source;
+
+void Thneed::load(const char *filename) {
+  LOGD("Thneed::load: loading from %s\n", filename);
+
+  string buf = util::read_file(filename);
+  int jsz = *(int *)buf.data();
+  string jsonerr;
+  string jj(buf.data() + sizeof(int), jsz);
+  Json jdat = Json::parse(jj, jsonerr);
+
+  map<cl_mem, cl_mem> real_mem;
+  real_mem[NULL] = NULL;
+
+  int ptr = sizeof(int)+jsz;
+  for (auto &obj : jdat["objects"].array_items()) {
+    auto mobj = obj.object_items();
+    int sz = mobj["size"].int_value();
+    cl_mem clbuf = NULL;
+
+    if (mobj["buffer_id"].string_value().size() > 0) {
+      // image buffer must already be allocated
+      clbuf = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
+      assert(mobj["needs_load"].bool_value() == false);
+    } else {
+      if (mobj["needs_load"].bool_value()) {
+        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, &buf[ptr], NULL);
+        if (debug >= 1) printf("loading %p %d @ 0x%X\n", clbuf, sz, ptr);
+        ptr += sz;
+      } else {
+        // TODO: is there a faster way to init zeroed out buffers?
+        void *host_zeros = calloc(sz, 1);
+        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, host_zeros, NULL);
+        free(host_zeros);
+      }
+    }
+    assert(clbuf != NULL);
+
+    if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") {
+      cl_image_desc desc = {0};
+      desc.image_type = (mobj["arg_type"] == "image2d_t") ? CL_MEM_OBJECT_IMAGE2D : CL_MEM_OBJECT_IMAGE1D_BUFFER;
+      desc.image_width = mobj["width"].int_value();
+      desc.image_height = mobj["height"].int_value();
+      desc.image_row_pitch = mobj["row_pitch"].int_value();
+      assert(sz == desc.image_height*desc.image_row_pitch);
+#ifdef QCOM2
+      desc.buffer = clbuf;
+#else
+      // TODO: we are creating unused buffers on PC
+      clReleaseMemObject(clbuf);
+#endif
+      cl_image_format format = {0};
+      format.image_channel_order = CL_RGBA;
+      format.image_channel_data_type = mobj["float32"].bool_value() ? CL_FLOAT : CL_HALF_FLOAT;
+
+      cl_int errcode;
+
+#ifndef QCOM2
+      if (mobj["needs_load"].bool_value()) {
+        clbuf = clCreateImage(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, &format, &desc, &buf[ptr-sz], &errcode);
+      } else {
+        clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
+      }
+#else
+      clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
+#endif
+      if (clbuf == NULL) {
+        LOGE("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode),
+             desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer);
+      }
+      assert(clbuf != NULL);
+    }
+
+    real_mem[*(cl_mem*)(mobj["id"].string_value().data())] = clbuf;
+  }
+
+  map<string, cl_program> g_programs;
+  for (const auto &[name, source] : jdat["programs"].object_items()) {
+    if (debug >= 1) printf("building %s with size %zu\n", name.c_str(), source.string_value().size());
+    g_programs[name] = cl_program_from_source(context, device_id, source.string_value());
+  }
+
+  for (auto &obj : jdat["inputs"].array_items()) {
+    auto mobj = obj.object_items();
+    int sz = mobj["size"].int_value();
+    cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
+    input_clmem.push_back(aa);
+    input_sizes.push_back(sz);
+    LOGD("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz);
+
+    cl_int cl_err;
+    void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &cl_err);
+    if (cl_err != CL_SUCCESS) LOGE("clError: %s map %p %d\n", cl_get_error_string(cl_err), aa, sz);
+    assert(cl_err == CL_SUCCESS);
+    inputs.push_back(ret);
+  }
+
+  for (auto &obj : jdat["outputs"].array_items()) {
+    auto mobj = obj.object_items();
+    int sz = mobj["size"].int_value();
+    LOGD("Thneed::save: adding output with size %d\n", sz);
+    // TODO: support multiple outputs
+    output = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
+    assert(output != NULL);
+  }
+
+  for (auto &obj : jdat["binaries"].array_items()) {
+    string name = obj["name"].string_value();
+    size_t length = obj["length"].int_value();
+    if (debug >= 1) printf("binary %s with size %zu\n", name.c_str(), length);
+    g_programs[name] = cl_program_from_binary(context, device_id, (const uint8_t*)&buf[ptr], length);
+    ptr += length;
+  }
+
+  for (auto &obj : jdat["kernels"].array_items()) {
+    auto gws = obj["global_work_size"];
+    auto lws = obj["local_work_size"];
+    auto kk = shared_ptr<CLQueuedKernel>(new CLQueuedKernel(this));
+
+    kk->name = obj["name"].string_value();
+    kk->program = g_programs[kk->name];
+    kk->work_dim = obj["work_dim"].int_value();
+    for (int i = 0; i < kk->work_dim; i++) {
+      kk->global_work_size[i] = gws[i].int_value();
+      kk->local_work_size[i] = lws[i].int_value();
+    }
+    kk->num_args = obj["num_args"].int_value();
+    for (int i = 0; i < kk->num_args; i++) {
+      string arg = obj["args"].array_items()[i].string_value();
+      int arg_size = obj["args_size"].array_items()[i].int_value();
+      kk->args_size.push_back(arg_size);
+      if (arg_size == 8) {
+        cl_mem val = *(cl_mem*)(arg.data());
+        val = real_mem[val];
+        kk->args.push_back(string((char*)&val, sizeof(val)));
+      } else {
+        kk->args.push_back(arg);
+      }
+    }
+    kq.push_back(kk);
+  }
+
+  clFinish(command_queue);
+}
diff --git a/sunnypilot/modeld/thneed/thneed.h b/sunnypilot/modeld/thneed/thneed.h
new file mode 100644
index 00000000000000..47e18e0be3bb30
--- /dev/null
+++ b/sunnypilot/modeld/thneed/thneed.h
@@ -0,0 +1,133 @@
+#pragma once
+
+#ifndef __user
+#define __user __attribute__(())
+#endif
+
+#include <cstdint>
+#include <cstdlib>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <CL/cl.h>
+
+#include "third_party/linux/include/msm_kgsl.h"
+
+using namespace std;
+
+cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value);
+
+namespace json11 {
+  class Json;
+}
+class Thneed;
+
+class GPUMalloc {
+  public:
+    GPUMalloc(int size, int fd);
+    ~GPUMalloc();
+    void *alloc(int size);
+  private:
+    uint64_t base;
+    int remaining;
+};
+
+class CLQueuedKernel {
+  public:
+    CLQueuedKernel(Thneed *lthneed) { thneed = lthneed; }
+    CLQueuedKernel(Thneed *lthneed,
+                   cl_kernel _kernel,
+                   cl_uint _work_dim,
+                   const size_t *_global_work_size,
+                   const size_t *_local_work_size);
+    cl_int exec();
+    void debug_print(bool verbose);
+    int get_arg_num(const char *search_arg_name);
+    cl_program program;
+    string name;
+    cl_uint num_args;
+    vector<string> arg_names;
+    vector<string> arg_types;
+    vector<string> args;
+    vector<int> args_size;
+    cl_kernel kernel = NULL;
+    json11::Json to_json() const;
+
+    cl_uint work_dim;
+    size_t global_work_size[3] = {0};
+    size_t local_work_size[3] = {0};
+  private:
+    Thneed *thneed;
+};
+
+class CachedIoctl {
+  public:
+    virtual void exec() {}
+};
+
+class CachedSync: public CachedIoctl {
+  public:
+    CachedSync(Thneed *lthneed, string ldata) { thneed = lthneed; data = ldata; }
+    void exec();
+  private:
+    Thneed *thneed;
+    string data;
+};
+
+class CachedCommand: public CachedIoctl {
+  public:
+    CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd);
+    void exec();
+  private:
+    void disassemble(int cmd_index);
+    struct kgsl_gpu_command cache;
+    unique_ptr<kgsl_command_object[]> cmds;
+    unique_ptr<kgsl_command_object[]> objs;
+    Thneed *thneed;
+    vector<shared_ptr<CLQueuedKernel> > kq;
+};
+
+class Thneed {
+  public:
+    Thneed(bool do_clinit=false, cl_context _context = NULL);
+    void stop();
+    void execute(float **finputs, float *foutput, bool slow=false);
+    void wait();
+
+    vector<cl_mem> input_clmem;
+    vector<void *> inputs;
+    vector<size_t> input_sizes;
+    cl_mem output = NULL;
+
+    cl_context context = NULL;
+    cl_command_queue command_queue;
+    cl_device_id device_id;
+    int context_id;
+
+    // protected?
+    bool record = false;
+    int debug;
+    int timestamp;
+
+#ifdef QCOM2
+    unique_ptr<GPUMalloc> ram;
+    vector<unique_ptr<CachedIoctl> > cmds;
+    int fd;
+#endif
+
+    // all CL kernels
+    void copy_inputs(float **finputs, bool internal=false);
+    void copy_output(float *foutput);
+    cl_int clexec();
+    vector<shared_ptr<CLQueuedKernel> > kq;
+
+    // pending CL kernels
+    vector<shared_ptr<CLQueuedKernel> > ckq;
+
+    // loading
+    void load(const char *filename);
+  private:
+    void clinit();
+};
+
diff --git a/sunnypilot/modeld/thneed/thneed_common.cc b/sunnypilot/modeld/thneed/thneed_common.cc
new file mode 100644
index 00000000000000..56fbe70d8fdda8
--- /dev/null
+++ b/sunnypilot/modeld/thneed/thneed_common.cc
@@ -0,0 +1,216 @@
+#include "sunnypilot/modeld/thneed/thneed.h"
+
+#include <cassert>
+#include <cstring>
+#include <map>
+
+#include "common/clutil.h"
+#include "common/timing.h"
+
+map<pair<cl_kernel, int>, string> g_args;
+map<pair<cl_kernel, int>, int> g_args_size;
+map<cl_program, string> g_program_source;
+
+void Thneed::stop() {
+  //printf("Thneed::stop: recorded %lu commands\n", cmds.size());
+  record = false;
+}
+
+void Thneed::clinit() {
+  device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
+  if (context == NULL) context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
+  //cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, CL_QUEUE_PROFILING_ENABLE, 0};
+  cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, 0, 0};
+  command_queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
+  printf("Thneed::clinit done\n");
+}
+
+cl_int Thneed::clexec() {
+  if (debug >= 1) printf("Thneed::clexec: running %lu queued kernels\n", kq.size());
+  for (auto &k : kq) {
+    if (record) ckq.push_back(k);
+    cl_int ret = k->exec();
+    assert(ret == CL_SUCCESS);
+  }
+  return clFinish(command_queue);
+}
+
+void Thneed::copy_inputs(float **finputs, bool internal) {
+  for (int idx = 0; idx < inputs.size(); ++idx) {
+    if (debug >= 1) printf("copying %lu -- %p -> %p (cl %p)\n", input_sizes[idx], finputs[idx], inputs[idx], input_clmem[idx]);
+
+    if (internal) {
+      // if it's internal, using memcpy is fine since the buffer sync is cached in the ioctl layer
+      if (finputs[idx] != NULL) memcpy(inputs[idx], finputs[idx], input_sizes[idx]);
+    } else {
+      if (finputs[idx] != NULL) CL_CHECK(clEnqueueWriteBuffer(command_queue, input_clmem[idx], CL_TRUE, 0, input_sizes[idx], finputs[idx], 0, NULL, NULL));
+    }
+  }
+}
+
+void Thneed::copy_output(float *foutput) {
+  if (output != NULL) {
+    size_t sz;
+    clGetMemObjectInfo(output, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
+    if (debug >= 1) printf("copying %lu for output %p -> %p\n", sz, output, foutput);
+    CL_CHECK(clEnqueueReadBuffer(command_queue, output, CL_TRUE, 0, sz, foutput, 0, NULL, NULL));
+  } else {
+    printf("CAUTION: model output is NULL, does it have no outputs?\n");
+  }
+}
+
+// *********** CLQueuedKernel ***********
+
+CLQueuedKernel::CLQueuedKernel(Thneed *lthneed,
+                               cl_kernel _kernel,
+                               cl_uint _work_dim,
+                               const size_t *_global_work_size,
+                               const size_t *_local_work_size) {
+  thneed = lthneed;
+  kernel = _kernel;
+  work_dim = _work_dim;
+  assert(work_dim <= 3);
+  for (int i = 0; i < work_dim; i++) {
+    global_work_size[i] = _global_work_size[i];
+    local_work_size[i] = _local_work_size[i];
+  }
+
+  char _name[0x100];
+  clGetKernelInfo(kernel, CL_KERNEL_FUNCTION_NAME, sizeof(_name), _name, NULL);
+  name = string(_name);
+  clGetKernelInfo(kernel, CL_KERNEL_NUM_ARGS, sizeof(num_args), &num_args, NULL);
+
+  // get args
+  for (int i = 0; i < num_args; i++) {
+    char arg_name[0x100] = {0};
+    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
+    arg_names.push_back(string(arg_name));
+    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
+    arg_types.push_back(string(arg_name));
+
+    args.push_back(g_args[make_pair(kernel, i)]);
+    args_size.push_back(g_args_size[make_pair(kernel, i)]);
+  }
+
+  // get program
+  clGetKernelInfo(kernel, CL_KERNEL_PROGRAM, sizeof(program), &program, NULL);
+}
+
+int CLQueuedKernel::get_arg_num(const char *search_arg_name) {
+  for (int i = 0; i < num_args; i++) {
+    if (arg_names[i] == search_arg_name) return i;
+  }
+  printf("failed to find %s in %s\n", search_arg_name, name.c_str());
+  assert(false);
+}
+
+cl_int CLQueuedKernel::exec() {
+  if (kernel == NULL) {
+    kernel = clCreateKernel(program, name.c_str(), NULL);
+    arg_names.clear();
+    arg_types.clear();
+
+    for (int j = 0; j < num_args; j++) {
+      char arg_name[0x100] = {0};
+      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
+      arg_names.push_back(string(arg_name));
+      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
+      arg_types.push_back(string(arg_name));
+
+      cl_int ret;
+      if (args[j].size() != 0) {
+        assert(args[j].size() == args_size[j]);
+        ret = thneed_clSetKernelArg(kernel, j, args[j].size(), args[j].data());
+      } else {
+        ret = thneed_clSetKernelArg(kernel, j, args_size[j], NULL);
+      }
+      assert(ret == CL_SUCCESS);
+    }
+  }
+
+  if (thneed->debug >= 1) {
+    debug_print(thneed->debug >= 2);
+  }
+
+  return clEnqueueNDRangeKernel(thneed->command_queue,
+    kernel, work_dim, NULL, global_work_size, local_work_size, 0, NULL, NULL);
+}
+
+void CLQueuedKernel::debug_print(bool verbose) {
+  printf("%p %56s -- ", kernel, name.c_str());
+  for (int i = 0; i < work_dim; i++) {
+    printf("%4zu ", global_work_size[i]);
+  }
+  printf(" -- ");
+  for (int i = 0; i < work_dim; i++) {
+    printf("%4zu ", local_work_size[i]);
+  }
+  printf("\n");
+
+  if (verbose) {
+    for (int i = 0; i < num_args; i++) {
+      string arg = args[i];
+      printf("  %s %s", arg_types[i].c_str(), arg_names[i].c_str());
+      void *arg_value = (void*)arg.data();
+      int arg_size = arg.size();
+      if (arg_size == 0) {
+        printf(" (size) %d", args_size[i]);
+      } else if (arg_size == 1) {
+        printf(" = %d", *((char*)arg_value));
+      } else if (arg_size == 2) {
+        printf(" = %d", *((short*)arg_value));
+      } else if (arg_size == 4) {
+        if (arg_types[i] == "float") {
+          printf(" = %f", *((float*)arg_value));
+        } else {
+          printf(" = %d", *((int*)arg_value));
+        }
+      } else if (arg_size == 8) {
+        cl_mem val = (cl_mem)(*((uintptr_t*)arg_value));
+        printf(" = %p", val);
+        if (val != NULL) {
+          cl_mem_object_type obj_type;
+          clGetMemObjectInfo(val, CL_MEM_TYPE, sizeof(obj_type), &obj_type, NULL);
+          if (arg_types[i] == "image2d_t" || arg_types[i] == "image1d_t" || obj_type == CL_MEM_OBJECT_IMAGE2D) {
+            cl_image_format format;
+            size_t width, height, depth, array_size, row_pitch, slice_pitch;
+            cl_mem buf;
+            clGetImageInfo(val, CL_IMAGE_FORMAT, sizeof(format), &format, NULL);
+            assert(format.image_channel_order == CL_RGBA);
+            assert(format.image_channel_data_type == CL_HALF_FLOAT || format.image_channel_data_type == CL_FLOAT);
+            clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL);
+            clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL);
+            clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL);
+            clGetImageInfo(val, CL_IMAGE_DEPTH, sizeof(depth), &depth, NULL);
+            clGetImageInfo(val, CL_IMAGE_ARRAY_SIZE, sizeof(array_size), &array_size, NULL);
+            clGetImageInfo(val, CL_IMAGE_SLICE_PITCH, sizeof(slice_pitch), &slice_pitch, NULL);
+            assert(depth == 0);
+            assert(array_size == 0);
+            assert(slice_pitch == 0);
+
+            clGetImageInfo(val, CL_IMAGE_BUFFER, sizeof(buf), &buf, NULL);
+            size_t sz = 0;
+            if (buf != NULL) clGetMemObjectInfo(buf, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
+            printf(" image %zu x %zu rp %zu @ %p buffer %zu", width, height, row_pitch, buf, sz);
+          } else {
+            size_t sz;
+            clGetMemObjectInfo(val, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
+            printf(" buffer %zu", sz);
+          }
+        }
+      }
+      printf("\n");
+    }
+  }
+}
+
+cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value) {
+  g_args_size[make_pair(kernel, arg_index)] = arg_size;
+  if (arg_value != NULL) {
+    g_args[make_pair(kernel, arg_index)] = string((char*)arg_value, arg_size);
+  } else {
+    g_args[make_pair(kernel, arg_index)] = string("");
+  }
+  cl_int ret = clSetKernelArg(kernel, arg_index, arg_size, arg_value);
+  return ret;
+}
diff --git a/sunnypilot/modeld/thneed/thneed_pc.cc b/sunnypilot/modeld/thneed/thneed_pc.cc
new file mode 100644
index 00000000000000..629d0ee3595b6a
--- /dev/null
+++ b/sunnypilot/modeld/thneed/thneed_pc.cc
@@ -0,0 +1,32 @@
+#include "sunnypilot/modeld/thneed/thneed.h"
+
+#include <cassert>
+
+#include "common/clutil.h"
+#include "common/timing.h"
+
+Thneed::Thneed(bool do_clinit, cl_context _context) {
+  context = _context;
+  if (do_clinit) clinit();
+  char *thneed_debug_env = getenv("THNEED_DEBUG");
+  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
+}
+
+void Thneed::execute(float **finputs, float *foutput, bool slow) {
+  uint64_t tb, te;
+  if (debug >= 1) tb = nanos_since_boot();
+
+  // ****** copy inputs
+  copy_inputs(finputs);
+
+  // ****** run commands
+  clexec();
+
+  // ****** copy outputs
+  copy_output(foutput);
+
+  if (debug >= 1) {
+    te = nanos_since_boot();
+    printf("model exec in %lu us\n", (te-tb)/1000);
+  }
+}
diff --git a/sunnypilot/modeld/thneed/thneed_qcom2.cc b/sunnypilot/modeld/thneed/thneed_qcom2.cc
new file mode 100644
index 00000000000000..b940da1ce1215d
--- /dev/null
+++ b/sunnypilot/modeld/thneed/thneed_qcom2.cc
@@ -0,0 +1,258 @@
+#include "sunnypilot/modeld/thneed/thneed.h"
+
+#include <dlfcn.h>
+#include <sys/mman.h>
+
+#include <cassert>
+#include <cerrno>
+#include <cstring>
+#include <map>
+#include <string>
+
+#include "common/clutil.h"
+#include "common/timing.h"
+
+Thneed *g_thneed = NULL;
+int g_fd = -1;
+
+void hexdump(uint8_t *d, int len) {
+  assert((len%4) == 0);
+  printf("  dumping %p len 0x%x\n", d, len);
+  for (int i = 0; i < len/4; i++) {
+    if (i != 0 && (i%0x10) == 0) printf("\n");
+    printf("%8x ", d[i]);
+  }
+  printf("\n");
+}
+
+// *********** ioctl interceptor ***********
+
+extern "C" {
+
+int (*my_ioctl)(int filedes, unsigned long request, void *argp) = NULL;
+#undef ioctl
+int ioctl(int filedes, unsigned long request, void *argp) {
+  request &= 0xFFFFFFFF;  // needed on QCOM2
+  if (my_ioctl == NULL) my_ioctl = reinterpret_cast<decltype(my_ioctl)>(dlsym(RTLD_NEXT, "ioctl"));
+  Thneed *thneed = g_thneed;
+
+  // save the fd
+  if (request == IOCTL_KGSL_GPUOBJ_ALLOC) g_fd = filedes;
+
+  // note that this runs always, even without a thneed object
+  if (request == IOCTL_KGSL_DRAWCTXT_CREATE) {
+    struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp;
+    create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK;
+    create->flags |= 6 << KGSL_CONTEXT_PRIORITY_SHIFT;   // priority from 1-15, 1 is max priority
+    printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags);
+  }
+
+  if (thneed != NULL) {
+    if (request == IOCTL_KGSL_GPU_COMMAND) {
+      struct kgsl_gpu_command *cmd = (struct kgsl_gpu_command *)argp;
+      if (thneed->record) {
+        thneed->timestamp = cmd->timestamp;
+        thneed->context_id = cmd->context_id;
+        thneed->cmds.push_back(unique_ptr<CachedCommand>(new CachedCommand(thneed, cmd)));
+      }
+      if (thneed->debug >= 1) {
+        printf("IOCTL_KGSL_GPU_COMMAND(%2zu): flags: 0x%lx    context_id: %u  timestamp: %u  numcmds: %d  numobjs: %d\n",
+            thneed->cmds.size(),
+            cmd->flags,
+            cmd->context_id, cmd->timestamp, cmd->numcmds, cmd->numobjs);
+      }
+    } else if (request == IOCTL_KGSL_GPUOBJ_SYNC) {
+      struct kgsl_gpuobj_sync *cmd = (struct kgsl_gpuobj_sync *)argp;
+      struct kgsl_gpuobj_sync_obj *objs = (struct kgsl_gpuobj_sync_obj *)(cmd->objs);
+
+      if (thneed->debug >= 2) {
+        printf("IOCTL_KGSL_GPUOBJ_SYNC count:%d ", cmd->count);
+        for (int i = 0; i < cmd->count; i++) {
+          printf(" -- offset:0x%lx len:0x%lx id:%d op:%d  ", objs[i].offset, objs[i].length, objs[i].id, objs[i].op);
+        }
+        printf("\n");
+      }
+
+      if (thneed->record) {
+        thneed->cmds.push_back(unique_ptr<CachedSync>(new
+              CachedSync(thneed, string((char *)objs, sizeof(struct kgsl_gpuobj_sync_obj)*cmd->count))));
+      }
+    } else if (request == IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID) {
+      struct kgsl_device_waittimestamp_ctxtid *cmd = (struct kgsl_device_waittimestamp_ctxtid *)argp;
+      if (thneed->debug >= 1) {
+        printf("IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID: context_id: %d  timestamp: %d  timeout: %d\n",
+            cmd->context_id, cmd->timestamp, cmd->timeout);
+      }
+    } else if (request == IOCTL_KGSL_SETPROPERTY) {
+      if (thneed->debug >= 1) {
+        struct kgsl_device_getproperty *prop = (struct kgsl_device_getproperty *)argp;
+        printf("IOCTL_KGSL_SETPROPERTY: 0x%x sizebytes:%zu\n", prop->type, prop->sizebytes);
+        if (thneed->debug >= 2) {
+          hexdump((uint8_t *)prop->value, prop->sizebytes);
+          if (prop->type == KGSL_PROP_PWR_CONSTRAINT) {
+            struct kgsl_device_constraint *constraint = (struct kgsl_device_constraint *)prop->value;
+            hexdump((uint8_t *)constraint->data, constraint->size);
+          }
+        }
+      }
+    } else if (request == IOCTL_KGSL_DRAWCTXT_CREATE || request == IOCTL_KGSL_DRAWCTXT_DESTROY) {
+      // this happens
+    } else if (request == IOCTL_KGSL_GPUOBJ_ALLOC || request == IOCTL_KGSL_GPUOBJ_FREE) {
+      // this happens
+    } else {
+      if (thneed->debug >= 1) {
+        printf("other ioctl %lx\n", request);
+      }
+    }
+  }
+
+  int ret = my_ioctl(filedes, request, argp);
+  // NOTE: This error message goes into stdout and messes up pyenv
+  // if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno);
+  return ret;
+}
+
+}
+
+// *********** GPUMalloc ***********
+
+GPUMalloc::GPUMalloc(int size, int fd) {
+  struct kgsl_gpuobj_alloc alloc;
+  memset(&alloc, 0, sizeof(alloc));
+  alloc.size = size;
+  alloc.flags = 0x10000a00;
+  ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc);
+  void *addr = mmap64(NULL, alloc.mmapsize, 0x3, 0x1, fd, alloc.id*0x1000);
+  assert(addr != MAP_FAILED);
+
+  base = (uint64_t)addr;
+  remaining = size;
+}
+
+GPUMalloc::~GPUMalloc() {
+  // TODO: free the GPU malloced area
+}
+
+void *GPUMalloc::alloc(int size) {
+  void *ret = (void*)base;
+  size = (size+0xff) & (~0xFF);
+  assert(size <= remaining);
+  remaining -= size;
+  base += size;
+  return ret;
+}
+
+// *********** CachedSync, at the ioctl layer ***********
+
+void CachedSync::exec() {
+  struct kgsl_gpuobj_sync cmd;
+
+  cmd.objs = (uint64_t)data.data();
+  cmd.obj_len = data.length();
+  cmd.count = data.length() / sizeof(struct kgsl_gpuobj_sync_obj);
+
+  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPUOBJ_SYNC, &cmd);
+  assert(ret == 0);
+}
+
+// *********** CachedCommand, at the ioctl layer ***********
+
+CachedCommand::CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd) {
+  thneed = lthneed;
+  assert(cmd->numsyncs == 0);
+
+  memcpy(&cache, cmd, sizeof(cache));
+
+  if (cmd->numcmds > 0) {
+    cmds = make_unique<struct kgsl_command_object[]>(cmd->numcmds);
+    memcpy(cmds.get(), (void *)cmd->cmdlist, sizeof(struct kgsl_command_object)*cmd->numcmds);
+    cache.cmdlist = (uint64_t)cmds.get();
+    for (int i = 0; i < cmd->numcmds; i++) {
+      void *nn = thneed->ram->alloc(cmds[i].size);
+      memcpy(nn, (void*)cmds[i].gpuaddr, cmds[i].size);
+      cmds[i].gpuaddr = (uint64_t)nn;
+    }
+  }
+
+  if (cmd->numobjs > 0) {
+    objs = make_unique<struct kgsl_command_object[]>(cmd->numobjs);
+    memcpy(objs.get(), (void *)cmd->objlist, sizeof(struct kgsl_command_object)*cmd->numobjs);
+    cache.objlist = (uint64_t)objs.get();
+    for (int i = 0; i < cmd->numobjs; i++) {
+      void *nn = thneed->ram->alloc(objs[i].size);
+      memset(nn, 0, objs[i].size);
+      objs[i].gpuaddr = (uint64_t)nn;
+    }
+  }
+
+  kq = thneed->ckq;
+  thneed->ckq.clear();
+}
+
+void CachedCommand::exec() {
+  cache.timestamp = ++thneed->timestamp;
+  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPU_COMMAND, &cache);
+
+  if (thneed->debug >= 1) printf("CachedCommand::exec got %d\n", ret);
+
+  if (thneed->debug >= 2) {
+    for (auto &it : kq) {
+      it->debug_print(false);
+    }
+  }
+
+  assert(ret == 0);
+}
+
+// *********** Thneed ***********
+
+Thneed::Thneed(bool do_clinit, cl_context _context) {
+  // TODO: QCOM2 actually requires a different context
+  //context = _context;
+  if (do_clinit) clinit();
+  assert(g_fd != -1);
+  fd = g_fd;
+  ram = make_unique<GPUMalloc>(0x80000, fd);
+  timestamp = -1;
+  g_thneed = this;
+  char *thneed_debug_env = getenv("THNEED_DEBUG");
+  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
+}
+
+void Thneed::wait() {
+  struct kgsl_device_waittimestamp_ctxtid wait;
+  wait.context_id = context_id;
+  wait.timestamp = timestamp;
+  wait.timeout = -1;
+
+  uint64_t tb = nanos_since_boot();
+  int wret = ioctl(fd, IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID, &wait);
+  uint64_t te = nanos_since_boot();
+
+  if (debug >= 1) printf("wait %d after %lu us\n", wret, (te-tb)/1000);
+}
+
+void Thneed::execute(float **finputs, float *foutput, bool slow) {
+  uint64_t tb, te;
+  if (debug >= 1) tb = nanos_since_boot();
+
+  // ****** copy inputs
+  copy_inputs(finputs, true);
+
+  // ****** run commands
+  int i = 0;
+  for (auto &it : cmds) {
+    ++i;
+    if (debug >= 1) printf("run %2d @ %7lu us: ", i, (nanos_since_boot()-tb)/1000);
+    it->exec();
+    if ((i == cmds.size()) || slow) wait();
+  }
+
+  // ****** copy outputs
+  copy_output(foutput);
+
+  if (debug >= 1) {
+    te = nanos_since_boot();
+    printf("model exec in %lu us\n", (te-tb)/1000);
+  }
+}
diff --git a/sunnypilot/modeld/transforms/loadyuv.cc b/sunnypilot/modeld/transforms/loadyuv.cc
new file mode 100644
index 00000000000000..f7d571416ce27f
--- /dev/null
+++ b/sunnypilot/modeld/transforms/loadyuv.cc
@@ -0,0 +1,74 @@
+#include "sunnypilot/modeld/transforms/loadyuv.h"
+
+#include <cassert>
+#include <cstdio>
+#include <cstring>
+
+void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
+  memset(s, 0, sizeof(*s));
+
+  s->width = width;
+  s->height = height;
+
+  char args[1024];
+  snprintf(args, sizeof(args),
+           "-cl-fast-relaxed-math -cl-denorms-are-zero "
+           "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
+           width, height);
+  cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args);
+
+  s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
+  s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
+  s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err));
+
+  // done with this
+  CL_CHECK(clReleaseProgram(prg));
+}
+
+void loadyuv_destroy(LoadYUVState* s) {
+  CL_CHECK(clReleaseKernel(s->loadys_krnl));
+  CL_CHECK(clReleaseKernel(s->loaduv_krnl));
+  CL_CHECK(clReleaseKernel(s->copy_krnl));
+}
+
+void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
+                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
+                   cl_mem out_cl, bool do_shift) {
+  cl_int global_out_off = 0;
+  if (do_shift) {
+    // shift the image in slot 1 to slot 0, then place the new image in slot 1
+    global_out_off += (s->width*s->height) + (s->width/2)*(s->height/2)*2;
+    CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &out_cl));
+    CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_int), &global_out_off));
+    const size_t copy_work_size = global_out_off/8;
+    CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
+                                &copy_work_size, NULL, 0, 0, NULL));
+  }
+
+  CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
+  CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
+  CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off));
+
+  const size_t loadys_work_size = (s->width*s->height)/8;
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
+                               &loadys_work_size, NULL, 0, 0, NULL));
+
+  const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
+  global_out_off += (s->width*s->height);
+
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl));
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
+                               &loaduv_work_size, NULL, 0, 0, NULL));
+
+  global_out_off += (s->width/2)*(s->height/2);
+
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl));
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
+                               &loaduv_work_size, NULL, 0, 0, NULL));
+}
diff --git a/sunnypilot/modeld/transforms/loadyuv.cl b/sunnypilot/modeld/transforms/loadyuv.cl
new file mode 100644
index 00000000000000..7dd3d973a3ef69
--- /dev/null
+++ b/sunnypilot/modeld/transforms/loadyuv.cl
@@ -0,0 +1,47 @@
+#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
+
+__kernel void loadys(__global uchar8 const * const Y,
+                     __global float * out,
+                     int out_offset)
+{
+    const int gid = get_global_id(0);
+    const int ois = gid * 8;
+    const int oy = ois / TRANSFORMED_WIDTH;
+    const int ox = ois % TRANSFORMED_WIDTH;
+
+    const uchar8 ys = Y[gid];
+    const float8 ysf = convert_float8(ys);
+
+    // 02
+    // 13
+
+    __global float* outy0;
+    __global float* outy1;
+    if ((oy & 1) == 0) {
+      outy0 = out + out_offset; //y0
+      outy1 = out + out_offset + UV_SIZE*2; //y2
+    } else {
+      outy0 = out + out_offset + UV_SIZE; //y1
+      outy1 = out + out_offset + UV_SIZE*3; //y3
+    }
+
+    vstore4(ysf.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
+    vstore4(ysf.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
+}
+
+__kernel void loaduv(__global uchar8 const * const in,
+                     __global float8 * out,
+                     int out_offset)
+{
+  const int gid = get_global_id(0);
+  const uchar8 inv = in[gid];
+  const float8 outv  = convert_float8(inv);
+  out[gid + out_offset / 8] = outv;
+}
+
+__kernel void copy(__global float8 * inout,
+                   int in_offset)
+{
+  const int gid = get_global_id(0);
+  inout[gid] = inout[gid + in_offset / 8];
+}
diff --git a/sunnypilot/modeld/transforms/loadyuv.h b/sunnypilot/modeld/transforms/loadyuv.h
new file mode 100644
index 00000000000000..7d27ef5d468dba
--- /dev/null
+++ b/sunnypilot/modeld/transforms/loadyuv.h
@@ -0,0 +1,16 @@
+#pragma once
+
+#include "common/clutil.h"
+
+typedef struct {
+  int width, height;
+  cl_kernel loadys_krnl, loaduv_krnl, copy_krnl;
+} LoadYUVState;
+
+void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height);
+
+void loadyuv_destroy(LoadYUVState* s);
+
+void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
+                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
+                   cl_mem out_cl, bool do_shift = false);
diff --git a/sunnypilot/modeld/transforms/transform.cc b/sunnypilot/modeld/transforms/transform.cc
new file mode 100644
index 00000000000000..ebab670b537091
--- /dev/null
+++ b/sunnypilot/modeld/transforms/transform.cc
@@ -0,0 +1,97 @@
+#include "sunnypilot/modeld/transforms/transform.h"
+
+#include <cassert>
+#include <cstring>
+
+#include "common/clutil.h"
+
+void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
+  memset(s, 0, sizeof(*s));
+
+  cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, "");
+  s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
+  // done with this
+  CL_CHECK(clReleaseProgram(prg));
+
+  s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
+  s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
+}
+
+void transform_destroy(Transform* s) {
+  CL_CHECK(clReleaseMemObject(s->m_y_cl));
+  CL_CHECK(clReleaseMemObject(s->m_uv_cl));
+  CL_CHECK(clReleaseKernel(s->krnl));
+}
+
+void transform_queue(Transform* s,
+                     cl_command_queue q,
+                     cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
+                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
+                     int out_width, int out_height,
+                     const mat3& projection) {
+  const int zero = 0;
+
+  // sampled using pixel center origin
+  // (because that's how fastcv and opencv does it)
+
+  mat3 projection_y = projection;
+
+  // in and out uv is half the size of y.
+  mat3 projection_uv = transform_scale_buffer(projection, 0.5);
+
+  CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL));
+  CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL));
+
+  const int in_y_width = in_width;
+  const int in_y_height = in_height;
+  const int in_y_px_stride = 1;
+  const int in_uv_width = in_width/2;
+  const int in_uv_height = in_height/2;
+  const int in_uv_px_stride = 2;
+  const int in_u_offset = in_uv_offset;
+  const int in_v_offset = in_uv_offset + 1;
+
+  const int out_y_width = out_width;
+  const int out_y_height = out_height;
+  const int out_uv_width = out_width/2;
+  const int out_uv_height = out_height/2;
+
+  CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv));  // src
+  CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride));  // src_row_stride
+  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride));  // src_px_stride
+  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero));  // src_offset
+  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height));  // src_rows
+  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width));  // src_cols
+  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y));  // dst
+  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width));  // dst_row_stride
+  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
+  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height));  // dst_rows
+  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width));  // dst_cols
+  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl));  // M
+
+  const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height};
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
+                              (const size_t*)&work_size_y, NULL, 0, 0, NULL));
+
+  const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height};
+
+  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride));  // src_px_stride
+  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset));  // src_offset
+  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height));  // src_rows
+  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width));  // src_cols
+  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u));  // dst
+  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width));  // dst_row_stride
+  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
+  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height));  // dst_rows
+  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width));  // dst_cols
+  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl));  // M
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
+                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
+  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset));  // src_ofset
+  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v));  // dst
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
+                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
+}
diff --git a/sunnypilot/modeld/transforms/transform.cl b/sunnypilot/modeld/transforms/transform.cl
new file mode 100644
index 00000000000000..2ca25920cd19be
--- /dev/null
+++ b/sunnypilot/modeld/transforms/transform.cl
@@ -0,0 +1,54 @@
+#define INTER_BITS 5
+#define INTER_TAB_SIZE (1 << INTER_BITS)
+#define INTER_SCALE 1.f / INTER_TAB_SIZE
+
+#define INTER_REMAP_COEF_BITS 15
+#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS)
+
+__kernel void warpPerspective(__global const uchar * src,
+                              int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols,
+                              __global uchar * dst,
+                              int dst_row_stride, int dst_offset, int dst_rows, int dst_cols,
+                              __constant float * M)
+{
+    int dx = get_global_id(0);
+    int dy = get_global_id(1);
+
+    if (dx < dst_cols && dy < dst_rows)
+    {
+        float X0 = M[0] * dx + M[1] * dy + M[2];
+        float Y0 = M[3] * dx + M[4] * dy + M[5];
+        float W = M[6] * dx + M[7] * dy + M[8];
+        W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
+        int X = rint(X0 * W), Y = rint(Y0 * W);
+
+        int sx = convert_short_sat(X >> INTER_BITS);
+        int sy = convert_short_sat(Y >> INTER_BITS);
+
+        short sx_clamp = clamp(sx, 0, src_cols - 1);
+        short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
+        short sy_clamp = clamp(sy, 0, src_rows - 1);
+        short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
+        int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
+        int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
+        int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
+        int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
+
+        short ay = (short)(Y & (INTER_TAB_SIZE - 1));
+        short ax = (short)(X & (INTER_TAB_SIZE - 1));
+        float taby = 1.f/INTER_TAB_SIZE*ay;
+        float tabx = 1.f/INTER_TAB_SIZE*ax;
+
+        int dst_index = mad24(dy, dst_row_stride, dst_offset + dx);
+
+        int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
+        int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE );
+        int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
+        int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE );
+
+        int val = v0 * itab0 +  v1 * itab1 + v2 * itab2 + v3 * itab3;
+
+        uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS);
+        dst[dst_index] = pix;
+    }
+}
diff --git a/sunnypilot/modeld/transforms/transform.h b/sunnypilot/modeld/transforms/transform.h
new file mode 100644
index 00000000000000..771a7054b35d29
--- /dev/null
+++ b/sunnypilot/modeld/transforms/transform.h
@@ -0,0 +1,25 @@
+#pragma once
+
+#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#include "common/mat.h"
+
+typedef struct {
+  cl_kernel krnl;
+  cl_mem m_y_cl, m_uv_cl;
+} Transform;
+
+void transform_init(Transform* s, cl_context ctx, cl_device_id device_id);
+
+void transform_destroy(Transform* transform);
+
+void transform_queue(Transform* s, cl_command_queue q,
+                     cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
+                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
+                     int out_width, int out_height,
+                     const mat3& projection);
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index fe6ac2133ca19d..ec6dee465d0bd4 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -21,7 +21,8 @@ async def verify_file(file_path: str, expected_hash: str) -> bool:
 
   return sha256_hash.hexdigest().lower() == expected_hash.lower()
 
-def get_active_bundle(params: Params) -> custom.ModelManagerSP.ModelBundle:
+
+def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundle:
   """Gets the active model bundle from cache"""
   if params is None:
     params = Params()
@@ -30,3 +31,49 @@ def get_active_bundle(params: Params) -> custom.ModelManagerSP.ModelBundle:
     return messaging.log_from_bytes(active_bundle, custom.ModelManagerSP.ModelBundle)
 
   return None
+
+
+def get_model_runner_by_filename(filename: str) -> custom.ModelManagerSP.Runner:
+  if filename.endswith(".thneed"):
+    return custom.ModelManagerSP.Runner.snpe
+
+  if filename.endswith("_tinygrad.pkl"):
+    return custom.ModelManagerSP.Runner.tinygrad
+
+
+def get_active_model_runner(params: Params = None, force_check=False) -> custom.ModelManagerSP.Runner:
+  """
+  Determines and returns the active model runner type, based on provided parameters.
+  The function utilizes caching to prevent redundant calculations and checks.
+
+  If the cached "ModelRunnerTypeCache" exists in the provided parameters and `force_check`
+  is set to False, the cached value is directly returned. Otherwise, the function determines
+  the runner type based on the active model bundle. If a model bundle containing a drive
+  model exists, the runner type is derived based on the filename of the drive model.
+  Finally, it updates the cache with the determined runner type, if needed.
+
+  :param params: The parameter set used to retrieve caching and runner details. If `None`,
+      a default `Params` instance is created internally.
+  :type params: Params
+  :param force_check: A flag indicating whether to bypass cached results and always
+      re-determine the runner type. Defaults to `False`.
+  :type force_check: bool
+  :return: The determined or cached model runner type.
+  :rtype: custom.ModelManagerSP.Runner
+  """
+  if params is None:
+    params = Params()
+
+  if (cached_runner_type := params.get("ModelRunnerTypeCache")) and not force_check:
+    return int(cached_runner_type)
+
+  runner_type = custom.ModelManagerSP.Runner.tinygrad
+
+  if active_bundle := get_active_bundle(params):
+    drive_model = next(model for model in active_bundle.models if model.type == custom.ModelManagerSP.Type.drive)
+    runner_type = get_model_runner_by_filename(drive_model.fileName)
+
+  if cached_runner_type != runner_type:
+    params.put("ModelRunnerTypeCache", str(runner_type))
+
+  return runner_type
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index e6767ae740dedc..2f677f20739523 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -5,6 +5,7 @@
 from openpilot.common.params import Params
 from openpilot.system.hardware import PC, TICI
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
+
 from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
@@ -70,6 +71,14 @@ def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
   """Shim for use_sunnylink_uploader to match the process manager signature."""
   return use_sunnylink_uploader(params)
 
+def is_snpe_model(started, params, CP: car.CarParams) -> bool:
+  """Check if the active model runner is SNPE."""
+  return False  # FIXME-SP: Enable in future PR
+
+def is_stock_model(started, params, CP: car.CarParams) -> bool:
+  """Check if the active model runner is stock."""
+  return not is_snpe_model(started, params, CP)
+
 def or_(*fns):
   return lambda *args: operator.or_(*(fn(*args) for fn in fns))
 
@@ -93,7 +102,7 @@ def and_(*fns):
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
   # TODO Make python process once TG allows opening QCOM from child proc
-  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
+  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], and_(only_onroad, is_stock_model)),
   NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
   PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
@@ -135,6 +144,7 @@ def and_(*fns):
 # sunnypilot
 procs += [
   PythonProcess("models_manager", "sunnypilot.models.manager", only_offroad),
+  NativeProcess("modeld_snpe", "sunnypilot/modeld", ["./modeld"], and_(only_onroad, is_snpe_model)),
 ]
 
 if os.path.exists("./github_runner.sh"):
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
new file mode 100644
index 00000000000000..a1c6fed9107b7d
--- /dev/null
+++ b/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb3b1fd29d958e9a3a6625eac9fac9e7cd6eb40309b285ad973324761db0b4c9
+size 1202792
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
new file mode 100644
index 00000000000000..54c0c32e41ff53
--- /dev/null
+++ b/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:161a5d0bf7347465b53ae49690a38fbacf03d606ef204147b3b148a5f59188da
+size 9008016
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
new file mode 100644
index 00000000000000..21542030263916
--- /dev/null
+++ b/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e0e66c12a1eb3b5b4b2b2694831ca51e5132818f400dad789adbcc30e0e0793
+size 14032
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
new file mode 100644
index 00000000000000..1d81abd3a5cfac
--- /dev/null
+++ b/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:784f2e80fa3534cf7934c5ecbbda37db633104380f2b41d896b4721ad6006eb2
+size 2420312
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
new file mode 100644
index 00000000000000..40e3d5af74980e
--- /dev/null
+++ b/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33afe465e74bbe2c409350d2ca8e86cfadf050ceb8feac75a86adc19ff1f9c48
+size 26016
diff --git a/third_party/snpe/dsp/libcalculator_skel.so b/third_party/snpe/dsp/libcalculator_skel.so
new file mode 100644
index 00000000000000..9e9e9221be9da2
--- /dev/null
+++ b/third_party/snpe/dsp/libcalculator_skel.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bee94d38195478ffdd0ce15292a2dfa7813377f4c3b7d99c270e05079d1746b
+size 20828
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
new file mode 100644
index 00000000000000..3f1b7a8b8c4a9d
--- /dev/null
+++ b/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e040c87072aa915c47859c8c7f74076b98c6919b83ddd5dc4bb555870d586a7
+size 1813866
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
new file mode 100644
index 00000000000000..aa42b5e830c26f
--- /dev/null
+++ b/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:838bc58ac0094ba9593cf7c44ab6e8a94ae3dbbe176e320d9fbe86ceead53c5e
+size 1817962
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
new file mode 100644
index 00000000000000..9423da1b94e388
--- /dev/null
+++ b/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77d025d59521e13e4ed012f0d9d2b684cdb858208d70426078df51219eaeb9bd
+size 10098673
diff --git a/third_party/snpe/include/DiagLog/IDiagLog.hpp b/third_party/snpe/include/DiagLog/IDiagLog.hpp
new file mode 100644
index 00000000000000..018b5672561c0b
--- /dev/null
+++ b/third_party/snpe/include/DiagLog/IDiagLog.hpp
@@ -0,0 +1,84 @@
+//=============================================================================
+//
+//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#ifndef __IDIAGLOG_HPP_
+#define __IDIAGLOG_HPP_
+
+#include <string>
+
+#include "DiagLog/Options.hpp"
+#include "DlSystem/String.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl
+{
+namespace DiagLog
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/// @brief .
+///
+/// Interface for controlling logging for zdl components.
+
+class ZDL_EXPORT IDiagLog
+{
+public:
+
+   /// @brief .
+   ///
+   /// Sets the options after initialization occurs.
+   ///
+   /// @param[in] loggingOptions The options to set up diagnostic logging.
+   ///
+   /// @return False if the options could not be set. Ensure logging is not started.
+   virtual bool setOptions(const Options& loggingOptions) = 0;
+
+   /// @brief .
+   ///
+   /// Gets the curent options for the diag logger.
+   ///
+   /// @return Diag log options object.
+   virtual Options getOptions() = 0;
+
+   /// @brief .
+   ///
+   /// Allows for setting the log mask once diag logging has started
+   ///
+   /// @return True if the level was set successfully, false if a failure occurred.
+   virtual bool setDiagLogMask(const std::string& mask) = 0;
+
+   /// @brief .
+   ///
+   /// Allows for setting the log mask once diag logging has started
+   ///
+   /// @return True if the level was set successfully, false if a failure occurred.
+   virtual bool setDiagLogMask(const zdl::DlSystem::String& mask) = 0;
+
+   /// @brief .
+   ///
+   /// Enables logging for zdl components.
+   ///
+   /// Logging should be started prior to the instantiation of zdl components
+   /// to ensure all events are captured.
+   ///
+   /// @return False if diagnostic logging could not be started.
+   virtual bool start(void) = 0;
+
+   /// @brief Disables logging for zdl components.
+   virtual bool stop(void) = 0;
+
+   virtual ~IDiagLog() {};
+};
+
+} // DiagLog namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif
diff --git a/third_party/snpe/include/DiagLog/Options.hpp b/third_party/snpe/include/DiagLog/Options.hpp
new file mode 100644
index 00000000000000..798fa3f1240a62
--- /dev/null
+++ b/third_party/snpe/include/DiagLog/Options.hpp
@@ -0,0 +1,79 @@
+//=============================================================================
+//
+//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#ifndef __DIAGLOG_OPTIONS_HPP_
+#define __DIAGLOG_OPTIONS_HPP_
+
+#include <string>
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl
+{
+namespace DiagLog
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/// @brief .
+///
+/// Options for setting up diagnostic logging for zdl components.
+class ZDL_EXPORT Options
+{
+public:
+   Options() :
+      DiagLogMask(""),
+      LogFileDirectory("diaglogs"),
+      LogFileName("DiagLog"),
+      LogFileRotateCount(20),
+      LogFileReplace(true)
+   {
+      // Solves the empty string problem with multiple std libs
+      DiagLogMask.reserve(1);
+   }
+
+   /// @brief .
+   ///
+   /// Enables diag logging only on the specified area mask (DNN_RUNTIME=ON | OFF)
+   std::string DiagLogMask;
+
+   /// @brief .
+   ///
+   /// The path to the directory where log files will be written.
+   /// The path may be relative or absolute. Relative paths are interpreted
+   /// from the current working directory.
+   /// Default value is "diaglogs"
+   std::string LogFileDirectory;
+
+   /// @brief .
+   ///
+   //// The name used for log files. If this value is empty then BaseName will be
+   /// used as the default file name.
+   /// Default value is "DiagLog"
+   std::string LogFileName;
+
+   /// @brief .
+   ///
+   /// The maximum number of log files to create. If set to 0 no log rotation
+   /// will be used and the log file name specified will be used each time, overwriting
+   /// any existing log file that may exist.
+   /// Default value is 20
+   uint32_t LogFileRotateCount;
+
+   /// @brief
+   ///
+   /// If the log file already exists, control whether it will be replaced
+   /// (existing contents truncated), or appended.
+   /// Default value is true
+   bool LogFileReplace;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+} // DiagLog namespace
+} // zdl namespace
+
+
+#endif
diff --git a/third_party/snpe/include/DlContainer/IDlContainer.hpp b/third_party/snpe/include/DlContainer/IDlContainer.hpp
new file mode 100644
index 00000000000000..4e29b39bb41eb8
--- /dev/null
+++ b/third_party/snpe/include/DlContainer/IDlContainer.hpp
@@ -0,0 +1,191 @@
+//=============================================================================
+//
+//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef ZEROTH_IDNC_CONTAINER_HPP
+#define ZEROTH_IDNC_CONTAINER_HPP
+
+#include <memory>
+#include <stdint.h>
+#include <string>
+#include <vector>
+#include <set>
+
+#include "DlSystem/ZdlExportDefine.hpp"
+#include "DlSystem/String.hpp"
+
+namespace zdl {
+namespace DlContainer {
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+class IDlContainer;
+class dlc_error;
+
+/**
+ * The structure of a record in a DL container.
+ */
+struct ZDL_EXPORT DlcRecord
+{
+   /// Name of the record.
+   std::string name;
+   /// Byte blob holding the data for the record.
+   std::vector<uint8_t> data;
+
+   DlcRecord();
+   DlcRecord( DlcRecord&& other )
+      : name(std::move(other.name))
+      , data(std::move(other.data))
+   {}
+   DlcRecord(const std::string& new_name)
+      : name(new_name)
+      , data()
+   {
+      if(name.empty())
+      {
+         name.reserve(1);
+      }
+   }
+   DlcRecord(const DlcRecord&) = delete;
+};
+
+// The maximum length of any record name.
+extern const uint32_t RECORD_NAME_MAX_SIZE;
+// The maximum size of the record payload (bytes).
+extern const uint32_t RECORD_DATA_MAX_SIZE;
+// The maximum number of records in an archive at one time.
+extern const uint32_t ARCHIVE_MAX_RECORDS;
+
+/**
+ * Represents a container for a neural network model which can
+ * be used to load the model into the SNPE runtime.
+ */
+class ZDL_EXPORT IDlContainer
+{
+public:
+   /**
+    * Initializes a container from a container archive file.
+    *
+    * @param[in] filename Container archive file path.
+    *
+    * @return A pointer to the initialized container
+    */
+   static std::unique_ptr<IDlContainer>
+   open(const std::string &filename) noexcept;
+
+   /**
+    * Initializes a container from a container archive file.
+    *
+    * @param[in] filename Container archive file path.
+    *
+    * @return A pointer to the initialized container
+    */
+   static std::unique_ptr<IDlContainer>
+   open(const zdl::DlSystem::String &filename) noexcept;
+
+   /**
+    * Initializes a container from a byte buffer.
+    *
+    * @param[in] buffer Byte buffer holding the contents of an archive
+    *                   file.
+    *
+    * @return A pointer to the initialized container
+    */
+   static std::unique_ptr<IDlContainer>
+   open(const std::vector<uint8_t> &buffer) noexcept;
+
+   /**
+    * Initializes a container from a byte buffer.
+    *
+    * @param[in] buffer Byte buffer holding the contents of an archive
+    *                   file.
+    *
+    * @param[in] size Size of the byte buffer.
+    *
+    * @return A pointer to the initialized container
+    */
+   static std::unique_ptr<IDlContainer>
+   open(const uint8_t* buffer, const size_t size) noexcept;
+
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+   /**
+    * Get the record catalog for a container.
+    *
+    * @param[out] catalog Buffer that will hold the record names on
+    *                    return.
+    */
+   virtual void getCatalog(std::set<std::string> &catalog) const = 0;
+
+    /**
+     * Get the record catalog for a container.
+     *
+     * @param[out] catalog Buffer that will hold the record names on
+     *                    return.
+     */
+   virtual void getCatalog(std::set<zdl::DlSystem::String> &catalog) const = 0;
+
+   /**
+    * Get a record from a container by name.
+    *
+    * @param[in] name Name of the record to fetch.
+    * @param[out] record The passed in record will be populated with the
+    *                   record data on return. Note that the caller
+    *                   will own the data in the record and is
+    *                   responsible for freeing it if needed.
+    */
+   virtual void getRecord(const std::string &name, DlcRecord &record) const = 0;
+
+   /**
+    * Get a record from a container by name.
+    *
+    * @param[in] name Name of the record to fetch.
+    * @param[out] record The passed in record will be populated with the
+    *                   record data on return. Note that the caller
+    *                   will own the data in the record and is
+    *                   responsible for freeing it if needed.
+    */
+   virtual void getRecord(const zdl::DlSystem::String &name, DlcRecord &record) const = 0;
+
+   /**
+    * Save the container to an archive on disk. This function will save the
+    * container if the filename is different from the file that it was opened
+    * from, or if at least one record was modified since the container was
+    * opened.
+    *
+    * It will truncate any existing file at the target path.
+    *
+    * @param filename Container archive file path.
+    *
+    * @return indication of success/failure
+    */
+   virtual bool save(const std::string &filename) = 0;
+
+   /**
+    * Save the container to an archive on disk. This function will save the
+    * container if the filename is different from the file that it was opened
+    * from, or if at least one record was modified since the container was
+    * opened.
+    *
+    * It will truncate any existing file at the target path.
+    *
+    * @param filename Container archive file path.
+    *
+    * @return indication of success/failure
+    */
+   virtual bool save (const zdl::DlSystem::String &filename) = 0;
+
+   virtual ~IDlContainer() {}
+};
+
+} // ns DlContainer
+} // ns zdl
+
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/DlEnums.hpp b/third_party/snpe/include/DlSystem/DlEnums.hpp
new file mode 100644
index 00000000000000..c9b3ef970a2aaa
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/DlEnums.hpp
@@ -0,0 +1,234 @@
+//==============================================================================
+//
+//  Copyright (c) 2014-2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _DL_ENUMS_HPP_
+#define _DL_ENUMS_HPP_
+
+#include "DlSystem/ZdlExportDefine.hpp"
+
+
+namespace zdl {
+namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * Enumeration of supported target runtimes.
+ */
+enum class Runtime_t
+{
+   /// Run the processing on Snapdragon CPU.
+   /// Data: float 32bit
+   /// Math: float 32bit
+   CPU_FLOAT32  = 0,
+
+   /// Run the processing on the Adreno GPU.
+   /// Data: float 16bit
+   /// Math: float 32bit
+   GPU_FLOAT32_16_HYBRID = 1,
+
+   /// Run the processing on the Hexagon DSP.
+   /// Data: 8bit fixed point Tensorflow style format
+   /// Math: 8bit fixed point Tensorflow style format
+   DSP_FIXED8_TF = 2,
+
+   /// Run the processing on the Adreno GPU.
+   /// Data: float 16bit
+   /// Math: float 16bit
+   GPU_FLOAT16 = 3,
+
+   /// Run the processing on Snapdragon AIX+HVX.
+   /// Data: 8bit fixed point Tensorflow style format
+   /// Math: 8bit fixed point Tensorflow style format
+   AIP_FIXED8_TF = 5,
+   AIP_FIXED_TF = AIP_FIXED8_TF,
+
+   /// Default legacy enum to retain backward compatibility.
+   /// CPU = CPU_FLOAT32
+   CPU = CPU_FLOAT32,
+
+   /// Default legacy enum to retain backward compatibility.
+   /// GPU = GPU_FLOAT32_16_HYBRID
+   GPU = GPU_FLOAT32_16_HYBRID,
+
+   /// Default legacy enum to retain backward compatibility.
+   /// DSP = DSP_FIXED8_TF
+   DSP = DSP_FIXED8_TF,
+
+   /// Special value indicating the property is unset.
+   UNSET = -1
+};
+
+/**
+ * Enumeration of runtime available check options.
+ */
+enum class RuntimeCheckOption_t
+{
+   /// Perform standard runtime available check
+   DEFAULT = 0,
+   /// Perform standard runtime available check
+   NORMAL_CHECK = 0,
+   /// Perform basic runtime available check, may be runtime specific
+   BASIC_CHECK = 1,
+   /// Perform unsignedPD runtime available check
+   UNSIGNEDPD_CHECK = 2,
+};
+
+/**
+ * Enumeration of various performance profiles that can be requested.
+ */
+enum class PerformanceProfile_t
+{
+    /// Run in a standard mode.
+    /// This mode will be deprecated in the future and replaced with BALANCED.
+    DEFAULT = 0,
+    /// Run in a balanced mode.
+    BALANCED = 0,
+
+    /// Run in high performance mode
+    HIGH_PERFORMANCE = 1,
+
+    /// Run in a power sensitive mode, at the expense of performance.
+    POWER_SAVER = 2,
+
+    /// Use system settings.  SNPE makes no calls to any performance related APIs.
+    SYSTEM_SETTINGS = 3,
+
+    /// Run in sustained high performance mode
+    SUSTAINED_HIGH_PERFORMANCE = 4,
+
+    /// Run in burst mode
+    BURST = 5,
+
+    /// Run in lower clock than POWER_SAVER, at the expense of performance.
+    LOW_POWER_SAVER = 6,
+
+    /// Run in higher clock and provides better performance than POWER_SAVER.
+    HIGH_POWER_SAVER = 7,
+
+    /// Run in lower balanced mode
+    LOW_BALANCED = 8,
+};
+
+/**
+ * Enumeration of various profilngLevels that can be requested.
+ */
+enum class ProfilingLevel_t
+{
+    /// No profiling.
+    /// Collects no runtime stats in the DiagLog
+    OFF = 0,
+
+    /// Basic profiling
+    /// Collects some runtime stats in the DiagLog
+    BASIC = 1,
+
+    /// Detailed profiling
+    /// Collects more runtime stats in the DiagLog, including per-layer statistics
+    /// Performance may be impacted
+    DETAILED = 2,
+
+    /// Moderate profiling
+    /// Collects more runtime stats in the DiagLog, no per-layer statistics
+    MODERATE = 3
+};
+
+/**
+ * Enumeration of various execution priority hints.
+ */
+enum class ExecutionPriorityHint_t
+{
+    /// Normal priority
+    NORMAL = 0,
+
+    /// Higher than normal priority
+    HIGH = 1,
+
+    /// Lower priority
+    LOW = 2
+
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++*/
+
+/**
+ * Enumeration that lists the supported image encoding formats.
+ */
+enum class ImageEncoding_t
+{
+   /// For unknown image type. Also used as a default value for ImageEncoding_t.
+   UNKNOWN = 0,
+
+   /// The RGB format consists of 3 bytes per pixel: one byte for
+   /// Red, one for Green, and one for Blue. The byte ordering is
+   /// endian independent and is always in RGB byte order.
+   RGB = 1,
+
+   /// The ARGB32 format consists of 4 bytes per pixel: one byte for
+   /// Red, one for Green, one for Blue, and one for the alpha channel.
+   /// The alpha channel is ignored. The byte ordering depends on the
+   /// underlying CPU. For little endian CPUs, the byte order is BGRA.
+   /// For big endian CPUs, the byte order is ARGB.
+   ARGB32 = 2,
+
+   /// The RGBA format consists of 4 bytes per pixel: one byte for
+   /// Red, one for Green, one for Blue, and one for the alpha channel.
+   /// The alpha channel is ignored. The byte ordering is endian independent
+   /// and is always in RGBA byte order.
+   RGBA = 3,
+
+   /// The GRAYSCALE format is for 8-bit grayscale.
+   GRAYSCALE = 4,
+
+   /// NV21 is the Android version of YUV. The Chrominance is down
+   /// sampled and has a subsampling ratio of 4:2:0. Note that this
+   /// image format has 3 channels, but the U and V channels
+   /// are subsampled. For every four Y pixels there is one U and one V pixel. @newpage
+   NV21 = 5,
+
+   /// The BGR format consists of 3 bytes per pixel: one byte for
+   /// Red, one for Green and one for Blue. The byte ordering is
+   /// endian independent and is always BGR byte order.
+   BGR = 6
+};
+
+/**
+ * Enumeration that lists the supported LogLevels that can be set by users.
+ */
+enum class LogLevel_t
+{
+    /// Enumeration variable to be used by user to set logging level to FATAL.
+    LOG_FATAL = 0,
+
+    /// Enumeration variable to be used by user to set logging level to ERROR.
+    LOG_ERROR = 1,
+
+    /// Enumeration variable to be used by user to set logging level to WARN.
+    LOG_WARN = 2,
+
+    /// Enumeration variable to be used by user to set logging level to INFO.
+    LOG_INFO = 3,
+
+    /// Enumeration variable to be used by user to set logging level to VERBOSE.
+    LOG_VERBOSE = 4
+};
+
+typedef enum : int
+{
+   UNSPECIFIED = 0,
+   FLOATING_POINT_32 = 1,
+   FLOATING_POINT_16 = 2,
+   FIXED_POINT_8 =  3,
+   FIXED_POINT_16 = 4
+} IOBufferDataType_t;
+
+}} // namespaces end
+
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/DlError.hpp b/third_party/snpe/include/DlSystem/DlError.hpp
new file mode 100644
index 00000000000000..57592f01baed27
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/DlError.hpp
@@ -0,0 +1,259 @@
+//==============================================================================
+//
+//  Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _DL_ERROR_HPP_
+#define _DL_ERROR_HPP_
+
+#include <stdint.h>
+#include <limits> // numeric_limits
+
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl {
+namespace DlSystem {
+
+// clang and arm gcc different in how ZDL_EXPORT is used with enum class
+#if !defined (__clang__)
+enum class ErrorCode : uint32_t ZDL_EXPORT {
+#else
+enum class ZDL_EXPORT ErrorCode : uint32_t {
+#endif // ARM64V8A
+   NONE = 0,
+
+   // System config errors
+   SNPE_CONFIG_MISSING_PARAM                             = 100,
+   SNPE_CONFIG_INVALID_PARAM                             = 101,
+   SNPE_CONFIG_MISSING_FILE                              = 102,
+   SNPE_CONFIG_NNCONFIG_NOT_SET                          = 103,
+   SNPE_CONFIG_NNCONFIG_INVALID                          = 104,
+   SNPE_CONFIG_WRONG_INPUT_NAME                          = 105,
+   SNPE_CONFIG_INCORRECT_INPUT_DIMENSIONS                = 106,
+   SNPE_CONFIG_DIMENSIONS_MODIFICATION_NOT_SUPPORTED     = 107,
+   SNPE_CONFIG_BOTH_OUTPUT_LAYER_TENSOR_NAMES_SET        = 108,
+
+   SNPE_CONFIG_NNCONFIG_ONLY_TENSOR_SUPPORTED            = 120,
+   SNPE_CONFIG_NNCONFIG_ONLY_USER_BUFFER_SUPPORTED       = 121,
+
+   // DlSystem errors
+   SNPE_DLSYSTEM_MISSING_BUFFER                          = 200,
+   SNPE_DLSYSTEM_TENSOR_CAST_FAILED                      = 201,
+   SNPE_DLSYSTEM_FIXED_POINT_PARAM_INVALID               = 202,
+   SNPE_DLSYSTEM_SIZE_MISMATCH                           = 203,
+   SNPE_DLSYSTEM_NAME_NOT_FOUND                          = 204,
+   SNPE_DLSYSTEM_VALUE_MISMATCH                          = 205,
+   SNPE_DLSYSTEM_INSERT_FAILED                           = 206,
+   SNPE_DLSYSTEM_TENSOR_FILE_READ_FAILED                 = 207,
+   SNPE_DLSYSTEM_DIAGLOG_FAILURE                         = 208,
+   SNPE_DLSYSTEM_LAYER_NOT_SET                           = 209,
+   SNPE_DLSYSTEM_WRONG_NUMBER_INPUT_BUFFERS              = 210,
+   SNPE_DLSYSTEM_RUNTIME_TENSOR_SHAPE_MISMATCH           = 211,
+   SNPE_DLSYSTEM_TENSOR_MISSING                          = 212,
+   SNPE_DLSYSTEM_TENSOR_ITERATION_UNSUPPORTED            = 213,
+   SNPE_DLSYSTEM_BUFFER_MANAGER_MISSING                  = 214,
+   SNPE_DLSYSTEM_RUNTIME_BUFFER_SOURCE_UNSUPPORTED       = 215,
+   SNPE_DLSYSTEM_BUFFER_CAST_FAILED                      = 216,
+   SNPE_DLSYSTEM_WRONG_TRANSITION_TYPE                   = 217,
+   SNPE_DLSYSTEM_LAYER_ALREADY_REGISTERED                = 218,
+   SNPE_DLSYSTEM_TENSOR_DIM_INVALID                      = 219,
+
+   SNPE_DLSYSTEM_BUFFERENCODING_UNKNOWN                  = 240,
+   SNPE_DLSYSTEM_BUFFER_INVALID_PARAM                    = 241,
+
+   // DlContainer errors
+   SNPE_DLCONTAINER_MODEL_PARSING_FAILED                 = 300,
+   SNPE_DLCONTAINER_UNKNOWN_LAYER_CODE                   = 301,
+   SNPE_DLCONTAINER_MISSING_LAYER_PARAM                  = 302,
+   SNPE_DLCONTAINER_LAYER_PARAM_NOT_SUPPORTED            = 303,
+   SNPE_DLCONTAINER_LAYER_PARAM_INVALID                  = 304,
+   SNPE_DLCONTAINER_TENSOR_DATA_MISSING                  = 305,
+   SNPE_DLCONTAINER_MODEL_LOAD_FAILED                    = 306,
+   SNPE_DLCONTAINER_MISSING_RECORDS                      = 307,
+   SNPE_DLCONTAINER_INVALID_RECORD                       = 308,
+   SNPE_DLCONTAINER_WRITE_FAILURE                        = 309,
+   SNPE_DLCONTAINER_READ_FAILURE                         = 310,
+   SNPE_DLCONTAINER_BAD_CONTAINER                        = 311,
+   SNPE_DLCONTAINER_BAD_DNN_FORMAT_VERSION               = 312,
+   SNPE_DLCONTAINER_UNKNOWN_AXIS_ANNOTATION              = 313,
+   SNPE_DLCONTAINER_UNKNOWN_SHUFFLE_TYPE                 = 314,
+   SNPE_DLCONTAINER_TEMP_FILE_FAILURE                    = 315,
+
+   // Network errors
+   SNPE_NETWORK_EMPTY_NETWORK                            = 400,
+   SNPE_NETWORK_CREATION_FAILED                          = 401,
+   SNPE_NETWORK_PARTITION_FAILED                         = 402,
+   SNPE_NETWORK_NO_OUTPUT_DEFINED                        = 403,
+   SNPE_NETWORK_MISMATCH_BETWEEN_NAMES_AND_DIMS          = 404,
+   SNPE_NETWORK_MISSING_INPUT_NAMES                      = 405,
+   SNPE_NETWORK_MISSING_OUTPUT_NAMES                     = 406,
+   SNPE_NETWORK_EXECUTION_FAILED                         = 407,
+
+   // Host runtime errors
+   SNPE_HOST_RUNTIME_TARGET_UNAVAILABLE                  = 500,
+
+   // CPU runtime errors
+   SNPE_CPU_LAYER_NOT_SUPPORTED                          = 600,
+   SNPE_CPU_LAYER_PARAM_NOT_SUPPORTED                    = 601,
+   SNPE_CPU_LAYER_PARAM_INVALID                          = 602,
+   SNPE_CPU_LAYER_PARAM_COMBINATION_INVALID              = 603,
+   SNPE_CPU_BUFFER_NOT_FOUND                             = 604,
+   SNPE_CPU_NETWORK_NOT_SUPPORTED                        = 605,
+   SNPE_CPU_UDO_OPERATION_FAILED                         = 606,
+
+   // CPU fixed-point runtime errors
+   SNPE_CPU_FXP_LAYER_NOT_SUPPORTED                      = 700,
+   SNPE_CPU_FXP_LAYER_PARAM_NOT_SUPPORTED                = 701,
+   SNPE_CPU_FXP_LAYER_PARAM_INVALID                      = 702,
+
+   // GPU runtime errors
+   SNPE_GPU_LAYER_NOT_SUPPORTED                          = 800,
+   SNPE_GPU_LAYER_PARAM_NOT_SUPPORTED                    = 801,
+   SNPE_GPU_LAYER_PARAM_INVALID                          = 802,
+   SNPE_GPU_LAYER_PARAM_COMBINATION_INVALID              = 803,
+   SNPE_GPU_KERNEL_COMPILATION_FAILED                    = 804,
+   SNPE_GPU_CONTEXT_NOT_SET                              = 805,
+   SNPE_GPU_KERNEL_NOT_SET                               = 806,
+   SNPE_GPU_KERNEL_PARAM_INVALID                         = 807,
+   SNPE_GPU_OPENCL_CHECK_FAILED                          = 808,
+   SNPE_GPU_OPENCL_FUNCTION_ERROR                        = 809,
+   SNPE_GPU_BUFFER_NOT_FOUND                             = 810,
+   SNPE_GPU_TENSOR_DIM_INVALID                           = 811,
+   SNPE_GPU_MEMORY_FLAGS_INVALID                         = 812,
+   SNPE_GPU_UNEXPECTED_NUMBER_OF_IO                      = 813,
+   SNPE_GPU_LAYER_PROXY_ERROR                            = 814,
+   SNPE_GPU_BUFFER_IN_USE                                = 815,
+   SNPE_GPU_BUFFER_MODIFICATION_ERROR                    = 816,
+   SNPE_GPU_DATA_ARRANGEMENT_INVALID                     = 817,
+   SNPE_GPU_UDO_OPERATION_FAILED                         = 818,
+   // DSP runtime errors
+   SNPE_DSP_LAYER_NOT_SUPPORTED                          = 900,
+   SNPE_DSP_LAYER_PARAM_NOT_SUPPORTED                    = 901,
+   SNPE_DSP_LAYER_PARAM_INVALID                          = 902,
+   SNPE_DSP_LAYER_PARAM_COMBINATION_INVALID              = 903,
+   SNPE_DSP_STUB_NOT_PRESENT                             = 904,
+   SNPE_DSP_LAYER_NAME_TRUNCATED                         = 905,
+   SNPE_DSP_LAYER_INPUT_BUFFER_NAME_TRUNCATED            = 906,
+   SNPE_DSP_LAYER_OUTPUT_BUFFER_NAME_TRUNCATED           = 907,
+   SNPE_DSP_RUNTIME_COMMUNICATION_ERROR                  = 908,
+   SNPE_DSP_RUNTIME_INVALID_PARAM_ERROR                  = 909,
+   SNPE_DSP_RUNTIME_SYSTEM_ERROR                         = 910,
+   SNPE_DSP_RUNTIME_CRASHED_ERROR                        = 911,
+   SNPE_DSP_BUFFER_SIZE_ERROR                            = 912,
+   SNPE_DSP_UDO_EXECUTE_ERROR                            = 913,
+   SNPE_DSP_UDO_LIB_NOT_REGISTERED_ERROR                 = 914,
+   SNPE_DSP_UDO_INVALID_QUANTIZATION_TYPE_ERROR          = 915,
+   SNPE_DSP_RUNTIME_INVALID_RPC_DRIVER                   = 916,
+   SNPE_DSP_RUNTIME_RPC_PERMISSION_ERROR                 = 917,
+   SNPE_DSP_RUNTIME_DSP_FILE_OPEN_ERROR                  = 918,
+
+   // Model validataion errors
+   SNPE_MODEL_VALIDATION_LAYER_NOT_SUPPORTED             = 1000,
+   SNPE_MODEL_VALIDATION_LAYER_PARAM_NOT_SUPPORTED       = 1001,
+   SNPE_MODEL_VALIDATION_LAYER_PARAM_INVALID             = 1002,
+   SNPE_MODEL_VALIDATION_LAYER_PARAM_MISSING             = 1003,
+   SNPE_MODEL_VALIDATION_LAYER_PARAM_COMBINATION_INVALID = 1004,
+   SNPE_MODEL_VALIDATION_LAYER_ORDERING_INVALID          = 1005,
+   SNPE_MODEL_VALIDATION_INVALID_CONSTRAINT              = 1006,
+   SNPE_MODEL_VALIDATION_MISSING_BUFFER                  = 1007,
+   SNPE_MODEL_VALIDATION_BUFFER_REUSE_NOT_SUPPORTED      = 1008,
+   SNPE_MODEL_VALIDATION_LAYER_COULD_NOT_BE_ASSIGNED     = 1009,
+   SNPE_MODEL_VALIDATION_UDO_LAYER_FAILED                = 1010,
+
+   // UDL errors
+   SNPE_UDL_LAYER_EMPTY_UDL_NETWORK                      = 1100,
+   SNPE_UDL_LAYER_PARAM_INVALID                          = 1101,
+   SNPE_UDL_LAYER_INSTANCE_MISSING                       = 1102,
+   SNPE_UDL_LAYER_SETUP_FAILED                           = 1103,
+   SNPE_UDL_EXECUTE_FAILED                               = 1104,
+   SNPE_UDL_BUNDLE_INVALID                               = 1105,
+   SNPE_UDO_REGISTRATION_FAILED                          = 1106,
+   SNPE_UDO_GET_PACKAGE_FAILED                           = 1107,
+   SNPE_UDO_GET_IMPLEMENTATION_FAILED                    = 1108,
+
+   // Dependent library errors
+   SNPE_STD_LIBRARY_ERROR                                = 1200,
+
+   // Unknown exception (catch (...)), Has no component attached to this
+   SNPE_UNKNOWN_EXCEPTION                                = 1210,
+
+   // Storage Errors
+   SNPE_STORAGE_INVALID_KERNEL_REPO                      = 1300,
+
+   // AIP runtime errors
+   SNPE_AIP_LAYER_NOT_SUPPORTED                          = 1400,
+   SNPE_AIP_LAYER_PARAM_NOT_SUPPORTED                    = 1401,
+   SNPE_AIP_LAYER_PARAM_INVALID                          = 1402,
+   SNPE_AIP_LAYER_PARAM_COMBINATION_INVALID              = 1403,
+   SNPE_AIP_STUB_NOT_PRESENT                             = 1404,
+   SNPE_AIP_LAYER_NAME_TRUNCATED                         = 1405,
+   SNPE_AIP_LAYER_INPUT_BUFFER_NAME_TRUNCATED            = 1406,
+   SNPE_AIP_LAYER_OUTPUT_BUFFER_NAME_TRUNCATED           = 1407,
+   SNPE_AIP_RUNTIME_COMMUNICATION_ERROR                  = 1408,
+   SNPE_AIP_RUNTIME_INVALID_PARAM_ERROR                  = 1409,
+   SNPE_AIP_RUNTIME_SYSTEM_ERROR                         = 1410,
+   SNPE_AIP_RUNTIME_TENSOR_MISSING                       = 1411,
+   SNPE_AIP_RUNTIME_TENSOR_SHAPE_MISMATCH                = 1412,
+   SNPE_AIP_RUNTIME_BAD_AIX_RECORD                       = 1413,
+
+   // DlCaching errors
+   SNPE_DLCACHING_INVALID_METADATA                       = 1500,
+   SNPE_DLCACHING_INVALID_INITBLOB                       = 1501,
+
+   // Infrastructure Errors
+   SNPE_INFRA_CLUSTERMGR_INSTANCE_INVALID                = 1600,
+   SNPE_INFRA_CLUSTERMGR_EXECUTE_SYNC_FAILED             = 1601,
+
+   // Memory Errors
+   SNPE_MEMORY_CORRUPTION_ERROR                          = 1700
+
+};
+
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * Returns the error code of the last error encountered.
+ *
+ * @return The error code.
+ *
+ * @note The returned error code is significant only when the return
+ *       value of the call indicated an error.
+ */
+ZDL_EXPORT ErrorCode getLastErrorCode();
+
+/**
+ * Returns the error string of the last error encountered.
+ *
+ * @return The error string.
+ *
+ * @note The returned error string is significant only when the return
+ *       value of the call indicated an error.
+ */
+ZDL_EXPORT const char* getLastErrorString();
+
+/**
+ * Returns the info string of the last error encountered.
+ */
+ZDL_EXPORT const char* getLastInfoString();
+
+/**
+ * Returns the uint32_t representation of the error code enum.
+ *
+ * @param[in] code The error code to be converted.
+ *
+ * @return uint32_t representation of the error code.
+ */
+ZDL_EXPORT uint32_t enumToUInt32(zdl::DlSystem::ErrorCode code);
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+} // DlSystem
+} // zdl
+
+#endif // _DL_ERROR_HPP_
+
diff --git a/third_party/snpe/include/DlSystem/DlOptional.hpp b/third_party/snpe/include/DlSystem/DlOptional.hpp
new file mode 100644
index 00000000000000..4f83e6b4e417fc
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/DlOptional.hpp
@@ -0,0 +1,225 @@
+//==============================================================================
+//
+//  Copyright (c) 2016, 2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _DL_SYSTEM_OPTIONAL_HPP_
+#define _DL_SYSTEM_OPTIONAL_HPP_
+
+#include <cstdio>
+#include <utility>
+#include <stdexcept>
+
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl {
+namespace DlSystem {
+
+template <typename T>
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * Class to manage a value that may or may not exist. The boolean value
+ * of the Optional class is true if the object contains a value and false
+ * if it does not contain a value.
+ *
+ * The class must be evaluated and confirmed as true (containing a value)
+ * before being dereferenced.
+ */
+class ZDL_EXPORT Optional final {
+public:
+   enum class LIFECYCLE {
+      NONE = 0,
+      REFERENCE_OWNED = 1,
+      POINTER_OWNED = 2,
+      POINTER_NOT_OWNED = 3
+   };
+
+   struct ReferenceCount {
+      size_t count = 0;
+
+      void increment() { count++; }
+
+      size_t decrement() {
+         if (count > 0) {
+            count--;
+         }
+         return count;
+      }
+   };
+
+   using U = typename std::remove_pointer<T>::type;
+
+   /**
+    * The default constructor is set to not have any value, and is
+    * therefore evaluated as false.
+    */
+   // Do not explicit it so we can return {}
+   Optional() {
+      m_Type = LIFECYCLE::NONE;
+   }
+
+   /**
+    * Construct an Optional class using an object.
+    * @param[in] Reference to an object v
+    * @param[out] Optional instance of object v
+    */
+   template <typename Q = T>
+   Optional (const T& v, typename std::enable_if<!std::is_pointer<Q>::value>::type* = 0)
+           : m_Type(LIFECYCLE::REFERENCE_OWNED) {
+      try {
+         m_StoragePtr = new T(v);
+      } catch (...) {
+         m_StoragePtr = nullptr;
+         m_Type = LIFECYCLE::NONE;
+      }
+   }
+
+   template <typename Q = T>
+   Optional(U* v, LIFECYCLE type, typename std::enable_if<std::is_pointer<Q>::value>::type* = 0)
+           : m_Type(type) {
+      switch (m_Type) {
+         case LIFECYCLE::POINTER_OWNED:
+            m_StoragePtr = v;
+            m_Count = new ReferenceCount();
+            m_Count->increment();
+            break;
+         case LIFECYCLE::POINTER_NOT_OWNED:
+            m_StoragePtr = v;
+            break;
+         case LIFECYCLE::REFERENCE_OWNED:
+            throw std::bad_exception();
+         case LIFECYCLE::NONE:
+            break;
+      }
+   }
+
+   Optional(const Optional &other) : m_Type(other.m_Type), m_Count(other.m_Count) {
+      if (isReference()) {
+         m_StoragePtr = new U(*other.m_StoragePtr);
+      } else if (isPointer()) {
+         m_StoragePtr = other.m_StoragePtr;
+         if (isOwned()) {
+            m_Count->increment();
+         }
+      }
+   }
+
+   Optional& operator=(const Optional& other) noexcept {
+      Optional tmp(other);
+      swap(std::move(tmp));
+      return *this;
+   }
+
+   Optional(Optional&& other) noexcept {
+      swap(std::move(other));
+   }
+
+   Optional& operator=(Optional&& other) noexcept {
+      swap(std::move(other));
+      return *this;
+   }
+
+   ~Optional() {
+      if (isOwned()) {
+         if (isReference() || (isPointer() && m_Count->decrement() == 0)) {
+            delete m_StoragePtr;
+            delete m_Count;
+         }
+      }
+   }
+
+   /**
+    * Boolean value of Optional class is only true when there exists a value.
+    */
+   operator bool() const noexcept { return isValid(); }
+
+   bool operator!() const noexcept { return !isValid(); }
+
+   /**
+    * Get reference of Optional object
+    * @warning User must validate Optional has value before.
+    */
+   const T& operator*() { return this->GetReference(); }
+
+   /**
+    * Get reference of Optional object
+    * @warning User must validate Optional has value before.
+    */
+   const T& operator*() const { return this->GetReference(); }
+
+   operator T&() { return this->GetReference(); }
+
+   T operator->() {
+      T self = this->GetReference();
+      return self;
+   }
+private:
+   void swap(Optional&& other) {
+      m_Type = other.m_Type;
+      m_StoragePtr = other.m_StoragePtr;
+      m_Count = other.m_Count;
+
+      other.m_Type = LIFECYCLE::NONE;
+      other.m_StoragePtr = nullptr;
+      other.m_Count = nullptr;
+   }
+
+   template <typename Q = T>
+   typename std::enable_if<std::is_same<U, Q>::value, const Q&>::type GetReference() const noexcept {
+      if (!isReference()) std::terminate();
+      return *static_cast<const Q*>(m_StoragePtr);
+   }
+
+   template <typename Q = T>
+   typename std::enable_if<std::is_same<U*, Q>::value, const Q&>::type GetReference() const noexcept {
+      if (!isPointer()) std::terminate();
+      return static_cast<const Q&>(m_StoragePtr);
+   }
+
+   template <typename Q = T>
+   typename std::enable_if<std::is_same<U, Q>::value, Q&>::type GetReference() noexcept {
+      if (!isReference()) std::terminate();
+      return *m_StoragePtr;
+   }
+
+   template <typename Q = T>
+   typename std::enable_if<std::is_same<U*, Q>::value, Q&>::type GetReference() noexcept {
+      if (!isPointer()) std::terminate();
+      return m_StoragePtr;
+   }
+
+   bool isPointer() const {
+      return m_Type == LIFECYCLE::POINTER_OWNED || m_Type == LIFECYCLE::POINTER_NOT_OWNED;
+   }
+
+   bool isOwned() const {
+      return m_Type == LIFECYCLE::REFERENCE_OWNED || m_Type == LIFECYCLE::POINTER_OWNED;
+   }
+
+   bool isReference() const {
+      return m_Type == LIFECYCLE::REFERENCE_OWNED;
+   }
+
+   bool isValid() const {
+      return m_Type != LIFECYCLE::NONE;
+   }
+
+   U* m_StoragePtr = nullptr;
+   LIFECYCLE m_Type;
+   ReferenceCount *m_Count = nullptr;
+};
+
+} // ns DlSystem
+} // ns zdl
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // _DL_SYSTEM_OPTIONAL_HPP_
diff --git a/third_party/snpe/include/DlSystem/DlVersion.hpp b/third_party/snpe/include/DlSystem/DlVersion.hpp
new file mode 100644
index 00000000000000..beb8d75f218caf
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/DlVersion.hpp
@@ -0,0 +1,78 @@
+//==============================================================================
+//
+//  Copyright (c) 2014-2015 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+
+#ifndef _DL_VERSION_HPP_
+#define _DL_VERSION_HPP_
+
+#include "ZdlExportDefine.hpp"
+#include <stdint.h>
+#include <string>
+#include "DlSystem/String.hpp"
+
+
+namespace zdl {
+namespace DlSystem
+{
+   class Version_t;
+}}
+
+
+namespace zdl { namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * A class that contains the different portions of a version number.
+ */
+class ZDL_EXPORT Version_t
+{
+public:
+   /// Holds the major version number. Changes in this value indicate
+   /// major changes that break backward compatibility.
+   int32_t         Major;
+
+   /// Holds the minor version number. Changes in this value indicate
+   /// minor changes made to library that are backwards compatible
+   /// (such as additions to the interface).
+   int32_t         Minor;
+
+   /// Holds the teeny version number. Changes in this value indicate
+   /// changes such as bug fixes and patches made to the library that
+   /// do not affect the interface.
+   int32_t         Teeny;
+
+   /// This string holds information about the build version.
+   ///
+   std::string     Build;
+
+   static zdl::DlSystem::Version_t fromString(const std::string &stringValue);
+
+   static zdl::DlSystem::Version_t fromString(const zdl::DlSystem::String &stringValue);
+
+   /**
+    * @brief Returns a string in the form Major.Minor.Teeny.Build
+    *
+    * @return A formatted string holding the version information.
+    */
+   const std::string toString() const;
+
+   /**
+    * @brief Returns a string in the form Major.Minor.Teeny.Build
+    *
+    * @return A formatted string holding the version information.
+    */
+   const zdl::DlSystem::String asString() const;
+};
+
+}}
+
+/** @} */ /* end_addtogroup c_plus_plus_apis */
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/IBufferAttributes.hpp b/third_party/snpe/include/DlSystem/IBufferAttributes.hpp
new file mode 100644
index 00000000000000..f893e0a2370880
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/IBufferAttributes.hpp
@@ -0,0 +1,86 @@
+//==============================================================================
+//
+// Copyright (c) 2017-2019 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _IBUFFER_ATTRIBUTES_HPP
+#define _IBUFFER_ATTRIBUTES_HPP
+#include "IUserBuffer.hpp"
+#include "TensorShape.hpp"
+#include "ZdlExportDefine.hpp"
+
+namespace zdl {
+    namespace DlSystem {
+        class UserBufferEncoding;
+    }
+}
+
+namespace zdl {
+namespace DlSystem {
+
+/**
+ * @brief IBufferAttributes returns a buffer's dimension and alignment
+ *        requirements, along with info on its encoding type
+ */
+class ZDL_EXPORT IBufferAttributes {
+public:
+
+    /**
+      * @brief Gets the buffer's element size, in bytes
+      *
+      * This can be used to compute the memory size required
+      * to back this buffer.
+      *
+      * @return Element size, in bytes
+     */
+    virtual size_t getElementSize() const noexcept = 0;
+
+    /**
+      * @brief Gets the element's encoding type
+      *
+      * @return encoding type
+     */
+    virtual zdl::DlSystem::UserBufferEncoding::ElementType_t getEncodingType() const noexcept = 0;
+
+    /**
+      * @brief Gets the number of elements in each dimension
+      *
+      * @return Dimension size, in terms of number of elements
+     */
+    virtual const TensorShape getDims() const noexcept = 0;
+
+    /**
+      * @brief Gets the alignment requirement of each dimension
+      *
+      * Alignment per each dimension is expressed as an multiple, for
+      * example, if one particular dimension can accept multiples of 8,
+      * the alignment will be 8.
+      *
+      * @return Alignment in each dimension, in terms of multiple of
+      *         number of elements
+     */
+    virtual const TensorShape getAlignments() const noexcept = 0;
+
+    /**
+      * @brief Gets the buffer encoding returned from the network responsible
+      * for generating this buffer. Depending on the encoding type, this will
+      * be an instance of an encoding type specific derived class.
+      *
+      * @return Derived user buffer encoding object.
+     */
+    virtual zdl::DlSystem::UserBufferEncoding* getEncoding() const noexcept = 0;
+
+    virtual ~IBufferAttributes() {}
+};
+
+
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}
+}
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp b/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
new file mode 100644
index 00000000000000..ac33c84af81198
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
@@ -0,0 +1,127 @@
+//=============================================================================
+//
+//  Copyright (c) 2021-2022 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+
+#ifndef DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
+#define DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
+
+#include <cstddef>
+#include <memory>
+#include "DlSystem/DlEnums.hpp"
+
+namespace DlSystem
+{
+   // Forward declaration of IOBufferDataTypeMapImpl implementation.
+   class IOBufferDataTypeMapImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * The IoBufferDataTypeMap class definition
+ */
+class ZDL_EXPORT IOBufferDataTypeMap final
+{
+public:
+
+    /**
+    * @brief .
+    *
+    * Creates a new Buffer Data type map
+    *
+    */
+   IOBufferDataTypeMap();
+
+   /**
+    * @brief Adds a name and the corresponding buffer data type
+    *        to the map
+    *
+    * @param[name] name The name of the buffer
+    * @param[bufferDataType] buffer Data Type of the buffer
+    *
+    * @note If a buffer with the same name already exists, no new
+    *       buffer is added.
+    */
+   void add(const char* name, zdl::DlSystem::IOBufferDataType_t bufferDataType);
+
+   /**
+    * @brief Removes a buffer name from the map
+    *
+    * @param[name] name The name of the buffer
+    *
+    */
+   void remove(const char* name);
+
+   /**
+    * @brief Returns the type of the named buffer
+    *
+    * @param[name] name The name of the buffer
+    *
+    * @return The type of the buffer, or UNSPECIFIED if the buffer does not exist
+    *
+    */
+   zdl::DlSystem::IOBufferDataType_t getBufferDataType(const char* name);
+
+   /**
+    * @brief Returns the type of the first buffer
+    *
+    * @return The type of the first buffer, or UNSPECIFIED if the map is empty.
+    *
+    */
+   zdl::DlSystem::IOBufferDataType_t getBufferDataType();
+
+   /**
+    * @brief Returns the size of the buffer type map.
+    *
+    * @return The size of the map
+    *
+    */
+   size_t size();
+
+   /**
+    * @brief Checks the existence of the named buffer in the map
+    *
+    * @return True if the named buffer exists, false otherwise.
+    *
+    */
+   bool find(const char* name);
+
+   /**
+    * @brief Resets the map
+    *
+    */
+   void clear();
+
+   /**
+    * @brief Checks whether the map is empty
+    *
+    * @return True if the map is empty, false otherwise.
+    *
+    */
+   bool empty();
+
+   /**
+    * @brief Destroys the map
+    *
+    */
+   ~IOBufferDataTypeMap();
+
+private:
+   std::shared_ptr<::DlSystem::IOBufferDataTypeMapImpl> m_IOBufferDataTypeMapImpl;
+};
+}
+
+}
+#endif
diff --git a/third_party/snpe/include/DlSystem/ITensor.hpp b/third_party/snpe/include/DlSystem/ITensor.hpp
new file mode 100644
index 00000000000000..2f006c857fc442
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/ITensor.hpp
@@ -0,0 +1,146 @@
+//=============================================================================
+//
+//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _ITENSOR_HPP_
+#define _ITENSOR_HPP_
+
+#include "ITensorItr.hpp"
+#include "ITensorItrImpl.hpp"
+#include "TensorShape.hpp"
+#include "ZdlExportDefine.hpp"
+#include <memory>
+#include <ostream>
+#include <cmath>
+
+namespace zdl {
+namespace DlSystem
+{
+   class ITensor;
+}}
+
+namespace zdl { namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * Represents a tensor which holds n-dimensional data. It is important to
+ * understand how the tensor data is represented in memory 
+ * relative to the tensor dimensions. Tensors store data in 
+ * memory in row-major order (i.e. the last tensor dimension is 
+ * the fastest varying one). For example, if you have a two 
+ * dimensional tensor with 3 rows and 2 columns (i.e. the tensor 
+ * dimensions are 3,2 as returned in tensor dimension vectors)
+ * with the following data in terms rows and columns: 
+ *  
+ * | 1 2 | <br/>
+ * | 3 4 | <br/>
+ * | 5 6 | <br/>
+ *  
+ * This data would be stored in memory as 1,2,3,4,5,6. 
+ */
+class ZDL_EXPORT ITensor 
+{
+public:
+
+   typedef zdl::DlSystem::ITensorItr<false> iterator;
+   typedef zdl::DlSystem::ITensorItr<true> const_iterator;
+
+   virtual ~ITensor() {}
+
+   /**
+    * Returns a tensor iterator pointing to the beginning 
+    * of the data in the tensor.
+    * 
+    * @return A tensor iterator that points to the first data
+    *         element in the tensor.
+    */
+   virtual iterator begin() = 0;
+
+   /**
+    * Returns the const version of a tensor iterator 
+    * pointing to the beginning of the data in the tensor.
+    * 
+    * @return A tensor const iterator that points to the first data
+    *         element in the tensor.
+    */
+   virtual const_iterator cbegin() const = 0;
+
+   /**
+    * Returns a tensor iterator pointing to the end of the
+    * data in the tensor. This tensor should not be
+    * dereferenced.
+    * 
+    * @return A tensor iterator that points to the end of the data 
+    *         (one past the last element) in the tensor.
+    */
+   virtual iterator end() = 0;
+
+   /**
+    * Returns the const version of a tensor iterator 
+    * pointing to the end of the data in the tensor. This
+    * tensor should not be dereferenced.
+    * 
+    * @return A tensor const iterator that points to the end of the
+    *         data (one past the last element) in the tensor.
+    */
+   virtual const_iterator cend() const = 0;
+
+   /**
+    * @brief Gets the shape of this tensor.
+    *  
+    * The last element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest 
+    * varying dimension, etc. 
+    * 
+    * @return A shape class holding the tensor dimensions.
+    */
+   virtual TensorShape getShape() const = 0;
+
+   /**
+    * Returns the element size of the data in the tensor 
+    * (discounting strides). This is how big a buffer would
+    * need to be to hold the tensor data contiguously in
+    * memory.
+    *  
+    * @return The size of the tensor (in elements).
+    */
+   virtual size_t getSize() const = 0;
+
+   /**
+    * @brief Serializes the tensor to an output stream.
+    * 
+    * @param[in] output The output stream to which to write the tensor 
+    *  
+    * @throw std::runtime_error If the stream is ever in a bad 
+    *        state before the tensor is fully serialized.
+    */
+   virtual void serialize(std::ostream &output) const = 0;
+
+   friend iterator;
+   friend const_iterator;
+
+   virtual bool isQuantized() {return false;}
+   virtual float GetDelta() {return NAN;};
+   virtual float GetOffset() {return NAN;};
+
+protected:
+
+   /**
+    * Returns the tensor iterator implementation.
+    * 
+    * @return A pointer to the tensor iterator implementation.
+    */
+   virtual std::unique_ptr<::DlSystem::ITensorItrImpl> getItrImpl() const = 0;
+};
+
+}}
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorFactory.hpp b/third_party/snpe/include/DlSystem/ITensorFactory.hpp
new file mode 100644
index 00000000000000..57d2c8ea992375
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/ITensorFactory.hpp
@@ -0,0 +1,92 @@
+//=============================================================================
+//
+//  Copyright (c) 2015-2016 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _ITENSOR_FACTORY_HPP
+#define _ITENSOR_FACTORY_HPP
+
+#include "ITensor.hpp"
+#include "TensorShape.hpp"
+#include "ZdlExportDefine.hpp"
+#include <istream>
+
+namespace zdl {
+    namespace DlSystem
+    {
+        class ITensor;
+        class TensorShape;
+    }
+}
+
+namespace zdl { namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * Factory interface class to create ITensor objects.
+ */
+class ZDL_EXPORT ITensorFactory
+{
+public:
+   virtual ~ITensorFactory() = default;
+
+   /**
+    * Creates a new ITensor with uninitialized data. 
+    *  
+    * The strides for the tensor will match the tensor dimensions 
+    * (i.e., the tensor data is contiguous in memory).
+    *  
+    * @param[in] shape The dimensions for the tensor in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    * 
+    * @return A pointer to the created tensor or nullptr if creating failed.
+    */
+   virtual std::unique_ptr<ITensor>
+      createTensor(const TensorShape &shape) noexcept = 0;
+
+   /**
+    * Creates a new ITensor by loading it from a file.
+    *  
+    * @param[in] input The input stream from which to read the tensor 
+    *                  data.
+    *  
+    * @return A pointer to the created tensor or nullptr if creating failed.
+    *
+    */
+   virtual std::unique_ptr<ITensor> createTensor(std::istream &input) noexcept = 0;
+
+   /**
+    * Create a new ITensor with specific data.
+    * (i.e. the tensor data is contiguous in memory). This tensor is
+    * primarily used to create a tensor where tensor size can't be
+    * computed directly from dimension. One such example is
+    * NV21-formatted image, or any YUV formatted image
+    *
+    * @param[in] shape The dimensions for the tensor in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    *
+    * @param[in] data The actual data with which the Tensor object is filled.
+    *
+    * @param[in] dataSize The size of data
+    *
+    * @return A pointer to the created tensor
+    */
+   virtual std::unique_ptr<ITensor>
+      createTensor(const TensorShape &shape, const unsigned char *data, size_t dataSize) noexcept = 0;
+};
+
+}}
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorItr.hpp b/third_party/snpe/include/DlSystem/ITensorItr.hpp
new file mode 100644
index 00000000000000..4ce12a9f113acb
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/ITensorItr.hpp
@@ -0,0 +1,182 @@
+//=============================================================================
+//
+//  Copyright (c) 2015 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _ITENSOR_ITR_HPP_
+#define _ITENSOR_ITR_HPP_
+
+#include "ZdlExportDefine.hpp"
+#include "ITensorItrImpl.hpp"
+
+#include <memory>
+#include <iterator>
+#include <iostream>
+
+namespace zdl {
+namespace DlSystem
+{
+   template<bool IS_CONST> class ITensorItr;
+   class ITensor;
+   void ZDL_EXPORT fill(ITensorItr<false> first, ITensorItr<false> end, float val);
+   template<class InItr, class OutItr> OutItr ZDL_EXPORT copy(InItr first, InItr last, OutItr result)
+   {
+      return std::copy(first, last, result);
+   }
+}}
+namespace DlSystem
+{
+   class ITensorItrImpl;
+}
+
+namespace zdl { namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * A bidirectional iterator (with limited random access 
+ * capabilities) for the zdl::DlSystem::ITensor class.
+ *  
+ * This is a standard bidrectional iterator and is compatible
+ * with standard algorithm functions that operate on bidirectional 
+ * access iterators (e.g., std::copy, std::fill, etc.). It uses a
+ * template parameter to create const and non-const iterators 
+ * from the same code. Iterators are easiest to declare via the 
+ * typedefs iterator and const_iterator in the ITensor class 
+ * (e.g., zdl::DlSystem::ITensor::iterator). 
+ *  
+ * Note that if the tensor the iterator is traversing was 
+ * created with nondefault (i.e., nontrivial) strides, the 
+ * iterator will obey the strides when traversing the tensor 
+ * data. 
+ *  
+ * Also note that nontrivial strides dramatically affect the
+ * performance of the iterator (on the order of 20x slower). 
+ */ 
+template<bool IS_CONST=true>
+class ZDL_EXPORT ITensorItr : public std::iterator<std::bidirectional_iterator_tag, float>
+{
+public:
+
+   typedef typename std::conditional<IS_CONST, const float&, float&>::type VALUE_REF;
+
+   ITensorItr() = delete;
+   virtual ~ITensorItr() {}
+
+   ITensorItr(std::unique_ptr<::DlSystem::ITensorItrImpl> impl, 
+              bool isTrivial = false, 
+              float* data = nullptr)
+      : m_Impl(impl->clone())
+      , m_IsTrivial(isTrivial)
+      , m_Data(data)
+      , m_DataStart(data) {}
+
+   ITensorItr(const ITensorItr<IS_CONST>& itr)
+      : m_Impl(itr.m_Impl->clone()),
+        m_IsTrivial(itr.m_IsTrivial),
+        m_Data(itr.m_Data),
+        m_DataStart(itr.m_DataStart) {}
+
+   zdl::DlSystem::ITensorItr<IS_CONST>& operator=(const ITensorItr<IS_CONST>& other)
+   {
+      if (this == &other) return *this;
+      m_Impl = std::move(other.m_Impl->clone());
+      m_IsTrivial = other.m_IsTrivial;
+      m_Data = other.m_Data;
+      m_DataStart = other.m_DataStart;
+      return *this;
+   }
+
+   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator++()
+   {
+      if (m_IsTrivial) m_Data++; else m_Impl->increment();
+      return *this;
+   }
+   inline zdl::DlSystem::ITensorItr<IS_CONST> operator++(int)
+   {
+      ITensorItr tmp(*this);
+      operator++();
+      return tmp;
+   }
+   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator--()
+   {
+      if (m_IsTrivial) m_Data--; else m_Impl->decrement();
+      return *this;
+   }
+   inline zdl::DlSystem::ITensorItr<IS_CONST> operator--(int)
+   {
+      ITensorItr tmp(*this);
+      operator--();
+      return tmp;
+   }
+   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator+=(int rhs)
+   {
+      if (m_IsTrivial) m_Data += rhs; else m_Impl->increment(rhs);
+      return *this;
+   }
+   inline friend zdl::DlSystem::ITensorItr<IS_CONST> operator+(zdl::DlSystem::ITensorItr<IS_CONST> lhs, int rhs)
+      { lhs += rhs; return lhs; }
+   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator-=(int rhs)
+   {
+      if (m_IsTrivial) m_Data -= rhs; else m_Impl->decrement(rhs);
+      return *this;
+   }
+   inline friend zdl::DlSystem::ITensorItr<IS_CONST> operator-(zdl::DlSystem::ITensorItr<IS_CONST> lhs, int rhs)
+      { lhs -= rhs; return lhs; }
+
+   inline size_t operator-(const zdl::DlSystem::ITensorItr<IS_CONST>& rhs)
+   {
+      if (m_IsTrivial) return (m_Data - m_DataStart) - (rhs.m_Data - rhs.m_DataStart);
+      return m_Impl->getPosition() - rhs.m_Impl->getPosition();
+   }
+
+   inline friend bool operator<(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
+   {
+      if (lhs.m_IsTrivial) return lhs.m_Data < rhs.m_Data;
+      return lhs.m_Impl->dataPointer() < rhs.m_Impl->dataPointer();
+   }
+   inline friend bool operator>(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
+      { return rhs < lhs; }
+   inline friend bool operator<=(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
+      { return !(lhs > rhs); }
+   inline friend bool operator>=(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
+      { return !(lhs < rhs); }
+
+   inline bool operator==(const ITensorItr<IS_CONST>& rhs) const
+   {
+      if (m_IsTrivial) return m_Data == rhs.m_Data;
+      return m_Impl->dataPointer() == rhs.m_Impl->dataPointer();
+   }
+   inline bool operator!=(const ITensorItr<IS_CONST>& rhs) const
+      { return !operator==(rhs); }
+
+   inline VALUE_REF operator[](size_t idx)
+   {
+      if (m_IsTrivial) return *(m_DataStart + idx);
+      return m_Impl->getReferenceAt(idx);
+   }
+   inline VALUE_REF operator*()
+      { if (m_IsTrivial) return *m_Data; else return m_Impl->getReference(); }
+   inline VALUE_REF operator->()
+      { return *(*this); }
+   inline float* dataPointer() const
+      { if (m_IsTrivial) return m_Data; else return m_Impl->dataPointer(); }
+
+
+protected:
+   std::unique_ptr<::DlSystem::ITensorItrImpl> m_Impl;
+   bool m_IsTrivial = false;
+   float* m_Data = nullptr;
+   float* m_DataStart = nullptr;
+};
+
+}}
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp b/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
new file mode 100644
index 00000000000000..069e7a1d69031f
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
@@ -0,0 +1,42 @@
+//=============================================================================
+//
+//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _ITENSOR_ITR_IMPL_HPP_
+#define _ITENSOR_ITR_IMPL_HPP_
+
+#include "ZdlExportDefine.hpp"
+
+#include <memory>
+#include <iterator>
+
+namespace DlSystem
+{
+   class ITensorItrImpl;
+}
+
+class ZDL_EXPORT DlSystem::ITensorItrImpl
+{
+public:
+   ITensorItrImpl() {}
+   virtual ~ITensorItrImpl() {}
+
+   virtual float getValue() const = 0;
+   virtual float& getReference() = 0;
+   virtual float& getReferenceAt(size_t idx) = 0;
+   virtual float* dataPointer() const = 0;
+   virtual void increment(int incVal = 1) = 0;
+   virtual void decrement(int decVal = 1) = 0;
+   virtual size_t getPosition() = 0;
+   virtual std::unique_ptr<DlSystem::ITensorItrImpl> clone() = 0;
+
+private:
+   ITensorItrImpl& operator=(const ITensorItrImpl& other) = delete;
+   ITensorItrImpl(const ITensorItrImpl& other) = delete;
+};
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/IUDL.hpp b/third_party/snpe/include/DlSystem/IUDL.hpp
new file mode 100644
index 00000000000000..a171ac7e81d6a3
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/IUDL.hpp
@@ -0,0 +1,105 @@
+//=============================================================================
+//
+//  Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _DL_SYSTEM_IUDL_HPP_
+#define _DL_SYSTEM_IUDL_HPP_
+
+#include "ZdlExportDefine.hpp"
+
+namespace zdl {
+namespace DlSystem {
+
+/**
+ * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+ *
+ * @brief .
+ *
+ * Base class user concrete UDL implementation.
+ *
+ * All functions are marked as:
+ *
+ * - virtual
+ * - noexcept
+ *
+ * User should make sure no exceptions are propagated outside of
+ * their module. Errors can be communicated via return values.
+ */
+class ZDL_EXPORT IUDL {
+public:
+   /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+    *
+    * @brief .
+    *
+    * Destructor
+    */
+   virtual ~IUDL() = default;
+
+   /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+    *
+    * @brief Sets up the user's environment.
+    * This is called by the SNPE framework to allow the user the
+    * opportunity to setup anything which is needed for running
+    * user defined layers.
+    *
+    * @param cookie User provided opaque data returned by the SNPE
+    *               runtime
+    *
+    * @param insz How many elements in input size array
+    * @param indim Pointer to a buffer that holds input dimension
+    *               array
+    * @param indimsz Input dimension size  array of the buffer
+    *                 'indim'. Corresponds to indim
+    *
+    * @param outsz How many elements in output size array
+    * @param outdim Pointer to a buffer that holds output
+    *              dimension array
+    * @param outdimsz Output dimension size of the buffer 'oudim'.
+    *                  Corresponds to indim
+    *
+    * @return true on success, false otherwise
+    */
+   virtual bool setup(void *cookie,
+                      size_t insz, const size_t **indim, const size_t *indimsz,
+                      size_t outsz, const size_t **outdim, const size_t *outdimsz)  = 0;
+
+   /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+    *
+    * @brief Close the instance. Invoked by the SNPE
+    * framework to allow the user the opportunity to release any resources
+    * allocated during setup.
+    *
+    * @param cookie - User provided opaque data returned by the SNPE runtime
+    */
+   virtual void close(void *cookie) noexcept = 0;
+
+   /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+    *
+    * @brief Execute the user defined layer
+    *
+    * @param cookie User provided opaque data returned by the SNPE 
+    *               runtime
+    *
+    * @param input Const pointer to a float buffer that contains
+    *               the input
+    *
+    * @param output Float pointer to a buffer that would hold
+    *                 the user defined layer's output. This buffer
+    *                 is allocated and owned by SNPE runtime.
+    */
+   virtual bool execute(void *cookie, const float **input, float **output)  = 0;
+};
+
+} // ns DlSystem
+
+} // ns zdl
+
+#endif // _DL_SYSTEM_IUDL_HPP_
diff --git a/third_party/snpe/include/DlSystem/IUserBuffer.hpp b/third_party/snpe/include/DlSystem/IUserBuffer.hpp
new file mode 100644
index 00000000000000..ea491a545b3269
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/IUserBuffer.hpp
@@ -0,0 +1,358 @@
+//==============================================================================
+//
+// Copyright (c) 2017-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _IUSER_BUFFER_HPP
+#define _IUSER_BUFFER_HPP
+
+#include "TensorShape.hpp"
+#include "ZdlExportDefine.hpp"
+#include <math.h>
+
+namespace zdl {
+namespace DlSystem {
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+
+/**
+  * @brief .
+  *
+  * A base class buffer encoding type
+  */
+class ZDL_EXPORT UserBufferEncoding {
+public:
+
+    /**
+      * @brief .
+      *
+      * An enum class of all supported element types in a IUserBuffer
+      */
+    enum class ElementType_t
+    {
+        /// Unknown element type.
+        UNKNOWN         = 0,
+
+        /// Each element is presented by float.
+        FLOAT           = 1,
+
+        /// Each element is presented by an unsigned int.
+        UNSIGNED8BIT    = 2,
+
+        /// Each element is presented by an 8-bit quantized value.
+        TF8             = 10,
+
+        /// Each element is presented by an 16-bit quantized value.
+        TF16            = 11
+    };
+
+    /**
+      * @brief Retrieves the size of the element, in bytes.
+      *
+      * @return Size of the element, in bytes.
+     */
+    virtual size_t getElementSize() const noexcept = 0;
+
+    /**
+      * @brief Retrieves the element type
+      *
+      * @return Element type
+     */
+    ElementType_t getElementType() const noexcept {return m_ElementType;};
+
+    virtual ~UserBufferEncoding() {}
+
+protected:
+    UserBufferEncoding(ElementType_t  elementType) : m_ElementType(elementType) {};
+private:
+    const ElementType_t  m_ElementType;
+};
+
+/**
+  * @brief .
+  *
+  * A base class buffer source type
+  *
+  * @note User buffer from CPU support all kinds of runtimes;
+  *       User buffer from GLBUFFER support only GPU runtime.
+  */
+class ZDL_EXPORT UserBufferSource {
+public:
+   enum class SourceType_t
+   {
+      /// Unknown buffer source type.
+      UNKNOWN = 0,
+
+      /// The network inputs are from CPU buffer.
+      CPU = 1,
+
+      /// The network inputs are from OpenGL buffer.
+      GLBUFFER = 2
+   };
+
+   /**
+     * @brief Retrieves the source type
+     *
+     * @return Source type
+    */
+   SourceType_t getSourceType() const noexcept {return m_SourceType;};
+
+protected:
+   UserBufferSource(SourceType_t sourceType): m_SourceType(sourceType) {};
+private:
+   const SourceType_t m_SourceType;
+};
+
+/**
+  * @brief .
+  *
+  * An source type where input data is delivered from OpenGL buffer
+  */
+class ZDL_EXPORT UserBufferSourceGLBuffer : public UserBufferSource{
+public:
+   UserBufferSourceGLBuffer() : UserBufferSource(SourceType_t::GLBUFFER) {};
+};
+
+/**
+  * @brief .
+  *
+  * An encoding type where each element is represented by an unsigned int
+  */
+class ZDL_EXPORT UserBufferEncodingUnsigned8Bit : public UserBufferEncoding {
+public:
+    UserBufferEncodingUnsigned8Bit() : UserBufferEncoding(ElementType_t::UNSIGNED8BIT) {};
+    size_t getElementSize() const noexcept override;
+
+protected:
+    UserBufferEncodingUnsigned8Bit(ElementType_t  elementType) : UserBufferEncoding(elementType) {};
+
+};
+
+/**
+  * @brief .
+  *
+  * An encoding type where each element is represented by a float
+  */
+class ZDL_EXPORT UserBufferEncodingFloat : public UserBufferEncoding {
+public:
+    UserBufferEncodingFloat() : UserBufferEncoding(ElementType_t::FLOAT) {};
+    size_t getElementSize() const noexcept override;
+
+};
+
+/**
+  * @brief .
+  *
+  * An encoding type where each element is represented by tf8, which is an
+  * 8-bit quantizd value, which has an exact representation of 0.0
+  */
+class ZDL_EXPORT UserBufferEncodingTfN : public UserBufferEncoding {
+public:
+   UserBufferEncodingTfN() = delete;
+   UserBufferEncodingTfN(uint64_t stepFor0, float stepSize, uint8_t bWidth=8):
+                                           UserBufferEncoding(getTypeFromWidth(bWidth)),
+                                           bitWidth(bWidth),
+                                           m_StepExactly0(stepFor0),
+                                           m_QuantizedStepSize(stepSize){};
+
+   UserBufferEncodingTfN(const zdl::DlSystem::UserBufferEncoding &ubEncoding) : UserBufferEncoding(ubEncoding.getElementType()){
+            const zdl::DlSystem::UserBufferEncodingTfN* ubEncodingTfN
+                            = dynamic_cast <const zdl::DlSystem::UserBufferEncodingTfN*> (&ubEncoding);
+            if (ubEncodingTfN) {
+                m_StepExactly0 = ubEncodingTfN->getStepExactly0();
+                m_QuantizedStepSize = ubEncodingTfN->getQuantizedStepSize();
+                bitWidth = ubEncodingTfN->bitWidth;
+            }
+   }
+
+   size_t getElementSize() const noexcept override;
+   /**
+      * @brief Sets the step value that represents 0
+      *
+      * @param[in] stepExactly0 The step value that represents 0
+      *
+     */
+   void setStepExactly0(uint64_t stepExactly0) {
+      m_StepExactly0 = stepExactly0;
+   }
+
+   /**
+     * @brief Sets the float value that each step represents
+     *
+     * @param[in] quantizedStepSize The float value of each step size
+     *
+    */
+   void setQuantizedStepSize(const float quantizedStepSize) {
+      m_QuantizedStepSize = quantizedStepSize;
+   }
+
+   /**
+     * @brief Retrieves the step that represents 0.0
+     *
+     * @return Step value
+    */
+   uint64_t getStepExactly0() const {
+      return m_StepExactly0;
+   }
+
+   /**
+    * Calculates the minimum floating point value that
+    * can be represented with this encoding.
+    *
+    * @return Minimum representable floating point value
+    */
+   float getMin() const {
+      return static_cast<float>(m_QuantizedStepSize * (0 - (double)m_StepExactly0));
+   }
+
+   /**
+    * Calculates the maximum floating point value that
+    * can be represented with this encoding.
+    *
+    * @return Maximum representable floating point value
+    */
+   float getMax() const{
+       return static_cast<float>(m_QuantizedStepSize * (pow(2,bitWidth)-1 - (double)m_StepExactly0));
+   };
+
+   /**
+     * @brief Retrieves the step size
+     *
+     * @return Step size
+    */
+   float getQuantizedStepSize() const {
+      return m_QuantizedStepSize;
+   }
+
+   ElementType_t getTypeFromWidth(uint8_t width);
+
+   uint8_t bitWidth;
+protected:
+   uint64_t m_StepExactly0;
+   float m_QuantizedStepSize;
+};
+
+
+class ZDL_EXPORT UserBufferEncodingTf8 : public UserBufferEncodingTfN {
+public:
+    UserBufferEncodingTf8() = delete;
+    UserBufferEncodingTf8(unsigned char stepFor0, float stepSize) :
+            UserBufferEncodingTfN(stepFor0, stepSize) {};
+
+    UserBufferEncodingTf8(const zdl::DlSystem::UserBufferEncoding &ubEncoding) : UserBufferEncodingTfN(ubEncoding){}
+
+/**
+      * @brief Sets the step value that represents 0
+      *
+      * @param[in] stepExactly0 The step value that represents 0
+      *
+     */
+
+    void setStepExactly0(const unsigned char stepExactly0) {
+        UserBufferEncodingTfN::m_StepExactly0 = stepExactly0;
+    }
+
+/**
+      * @brief Retrieves the step that represents 0.0
+      *
+      * @return Step value
+     */
+
+    unsigned char getStepExactly0() const {
+        return UserBufferEncodingTfN::m_StepExactly0;
+    }
+
+};
+
+
+/**
+ * @brief UserBuffer contains a pointer and info on how to walk it and interpret its content.
+ */
+class ZDL_EXPORT IUserBuffer {
+public:
+    virtual ~IUserBuffer() = default;
+    
+    /**
+      * @brief Retrieves the total number of bytes between elements in each dimension if
+      * the buffer were to be interpreted as a multi-dimensional array.
+      *
+      * @return Number of bytes between elements in each dimension.
+      * e.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would
+      * return strides of [24, 8, 4].
+     */
+    virtual const TensorShape& getStrides() const = 0;
+
+    /**
+      * @brief Retrieves the size of the buffer, in bytes.
+      *
+      * @return Size of the underlying buffer, in bytes.
+     */
+    virtual size_t getSize() const = 0;
+
+    /**
+      * @brief Retrieves the size of the inference data in the buffer, in bytes.
+      *
+      * The inference results from a dynamic-sized model may not be exactly the same size
+      * as the UserBuffer provided to SNPE. This function can be used to get the amount
+      * of output inference data, which may be less or greater than the size of the UserBuffer.
+      *
+      * If the inference results fit in the UserBuffer, getOutputSize() would be less than
+      * or equal to getSize(). But if the inference results were more than the capacity of
+      * the provided UserBuffer, the results would be truncated to fit the UserBuffer. But,
+      * getOutputSize() would be greater than getSize(), which indicates a bigger buffer
+      * needs to be provided to SNPE to hold all of the inference results.
+      *
+      * @return Size required for the buffer to hold all inference results, which can be less
+      * or more than the size of the buffer, in bytes.
+    */
+    virtual size_t getOutputSize() const = 0;
+
+    /**
+      * @brief Changes the underlying memory that backs the UserBuffer.
+      *
+      * This can be used to avoid creating multiple UserBuffer objects
+      * when the only thing that differs is the memory location.
+      *
+      * @param[in] buffer Pointer to the memory location
+      *
+      * @return Whether the set succeeds.
+     */
+    virtual bool setBufferAddress(void *buffer) noexcept = 0;
+
+    /**
+      * @brief Gets a const reference to the data encoding object of
+      *        the underlying buffer
+      *
+      * This is necessary when the UserBuffer is filled by SNPE with
+      * data types such as TF8, where the caller needs to know the quantization
+      * parameters in order to interpret the data properly
+      *
+      * @return A read-only encoding object
+     */
+    virtual const UserBufferEncoding& getEncoding() const noexcept = 0;
+
+    /**
+      * @brief Gets a reference to the data encoding object of
+      *        the underlying buffer
+      *
+      * This is necessary when the UserBuffer is re-used, and the encoding
+      * parameters can change.  For example, each input can be quantized with
+      * different step sizes.
+      *
+      * @return Data encoding meta-data
+     */
+    virtual UserBufferEncoding& getEncoding() noexcept = 0;
+
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}
+}
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp b/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
new file mode 100644
index 00000000000000..59803fbd8f8772
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
@@ -0,0 +1,81 @@
+//=============================================================================
+//
+//  Copyright (c) 2017 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _IUSERBUFFER_FACTORY_HPP
+#define _IUSERBUFFER_FACTORY_HPP
+
+#include "IUserBuffer.hpp"
+#include "TensorShape.hpp"
+#include "ZdlExportDefine.hpp"
+#include "DlEnums.hpp"
+namespace zdl {
+    namespace DlSystem {
+        class IUserBuffer;
+
+        class TensorShape;
+    }
+}
+
+namespace zdl {
+namespace DlSystem {
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+* Factory interface class to create IUserBuffer objects.
+*/
+class ZDL_EXPORT IUserBufferFactory {
+public:
+    virtual ~IUserBufferFactory() = default;
+
+    /**
+     * @brief Creates a UserBuffer
+     *
+     * @param[in] buffer Pointer to the buffer that the caller supplies
+     *
+     * @param[in] bufSize Buffer size, in bytes
+     *
+     * @param[in] strides Total number of bytes between elements in each dimension.
+     *          E.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would have strides of [24, 8, 4].
+     *
+     * @param[in] userBufferEncoding Reference to an UserBufferEncoding object
+     *
+     * @note Caller has to ensure that memory pointed to by buffer stays accessible
+     *       for the lifetime of the object created
+     */
+    virtual std::unique_ptr<IUserBuffer>
+    createUserBuffer(void *buffer, size_t bufSize, const zdl::DlSystem::TensorShape &strides, zdl::DlSystem::UserBufferEncoding* userBufferEncoding) noexcept = 0;
+
+    /**
+     * @brief Creates a UserBuffer
+     *
+     * @param[in] buffer Pointer to the buffer that the caller supplies
+     *
+     * @param[in] bufSize Buffer size, in bytes
+     *
+     * @param[in] strides Total number of bytes between elements in each dimension.
+     *          E.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would have strides of [24, 8, 4].
+     *
+     * @param[in] userBufferEncoding Reference to an UserBufferEncoding object
+     *
+     * @param[in] userBufferSource Reference to an UserBufferSource object
+     *
+     * @note Caller has to ensure that memory pointed to by buffer stays accessible
+     *       for the lifetime of the object created
+     */
+    virtual std::unique_ptr<IUserBuffer>
+    createUserBuffer(void *buffer, size_t bufSize, const zdl::DlSystem::TensorShape &strides, zdl::DlSystem::UserBufferEncoding* userBufferEncoding, zdl::DlSystem::UserBufferSource* userBufferSource) noexcept = 0;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}
+}
+
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/PlatformConfig.hpp b/third_party/snpe/include/DlSystem/PlatformConfig.hpp
new file mode 100644
index 00000000000000..c7b85f43c1274b
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/PlatformConfig.hpp
@@ -0,0 +1,230 @@
+//=============================================================================
+//
+//  Copyright (c) 2017-2018,2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _DL_SYSTEM_PLATFORM_CONFIG_HPP_
+#define _DL_SYSTEM_PLATFORM_CONFIG_HPP_
+
+#include "DlSystem/ZdlExportDefine.hpp"
+#include <string>
+
+namespace zdl{
+namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+
+/**
+  * @brief .
+  *
+  * A structure OpenGL configuration
+  *
+  * @note When certain OpenGL context and display are provided to UserGLConfig for using
+  *       GPU buffer as input directly, the user MUST ensure the particular OpenGL
+  *       context and display remain vaild throughout the execution of neural network models.
+  */
+struct ZDL_EXPORT UserGLConfig
+{
+   /// Holds user EGL context.
+   ///
+   void* userGLContext = nullptr;
+
+   /// Holds user EGL display.
+   void* userGLDisplay = nullptr;
+};
+
+/**
+  * @brief .
+  *
+  * A structure Gpu configuration
+  */
+struct ZDL_EXPORT UserGpuConfig{
+   /// Holds user OpenGL configuration.
+   ///
+   UserGLConfig userGLConfig;
+};
+
+/**
+  * @brief .
+  *
+  * A class user platform configuration
+  */
+class ZDL_EXPORT PlatformConfig
+{
+public:
+
+   /**
+     * @brief .
+     *
+     * An enum class of all supported platform types
+     */
+   enum class PlatformType_t
+   {
+      /// Unknown platform type.
+      UNKNOWN = 0,
+
+      /// Snapdragon CPU.
+      CPU = 1,
+
+      /// Adreno GPU.
+      GPU = 2,
+
+      /// Hexagon DSP.
+      DSP = 3
+   };
+
+   /**
+     * @brief .
+     *
+     * A union class user platform configuration information
+     */
+   union PlatformConfigInfo
+   {
+      /// Holds user GPU Configuration.
+      ///
+      UserGpuConfig userGpuConfig;
+
+      PlatformConfigInfo(){};
+   };
+
+   PlatformConfig() : m_PlatformType(PlatformType_t::UNKNOWN),
+                      m_PlatformOptions("") {};
+
+   /**
+     * @brief Retrieves the platform type
+     *
+     * @return Platform type
+     */
+   PlatformType_t getPlatformType() const {return m_PlatformType;};
+
+   /**
+     * @brief Indicates whther the plaform configuration is valid.
+     *
+     * @return True if the platform configuration is valid; false otherwise.
+     */
+   bool isValid() const {return (PlatformType_t::UNKNOWN != m_PlatformType);};
+
+   /**
+     * @brief Retrieves the Gpu configuration
+     *
+     * @param[out] userGpuConfig The passed in userGpuConfig populated with the Gpu configuration on return.
+     *
+     * @return True if Gpu configuration was retrieved; false otherwise.
+     */
+   bool getUserGpuConfig(UserGpuConfig& userGpuConfig) const
+   {
+      if(m_PlatformType == PlatformType_t::GPU)
+      {
+         userGpuConfig = m_PlatformConfigInfo.userGpuConfig;
+         return true;
+      }
+      else
+      {
+         return false;
+      }
+   }
+
+   /**
+     * @brief Sets the Gpu configuration
+     *
+     * @param[in] userGpuConfig Gpu Configuration
+     *
+     * @return True if Gpu configuration was successfully set; false otherwise.
+     */
+   bool setUserGpuConfig(UserGpuConfig& userGpuConfig)
+   {
+      if((userGpuConfig.userGLConfig.userGLContext != nullptr) && (userGpuConfig.userGLConfig.userGLDisplay != nullptr))
+      {
+         switch (m_PlatformType)
+         {
+         case PlatformType_t::GPU:
+            m_PlatformConfigInfo.userGpuConfig = userGpuConfig;
+            return true;
+         case PlatformType_t::UNKNOWN:
+            m_PlatformType = PlatformType_t::GPU;
+            m_PlatformConfigInfo.userGpuConfig = userGpuConfig;
+            return true;
+         default:
+            return false;
+         }
+      }
+      else
+         return false;
+   }
+
+   /**
+     * @brief Sets the platform options
+     *
+     * @param[in] options Options as a string in the form of "keyword:options"
+     *
+     * @return True if options are pass validation; otherwise false.  If false, the options are not updated.
+     */
+   bool setPlatformOptions(std::string options) {
+      std::string oldOptions = m_PlatformOptions;
+      m_PlatformOptions = options;
+      if (isOptionsValid()) {
+         return true;
+      } else {
+         m_PlatformOptions = oldOptions;
+         return false;
+      }
+   }
+
+   /**
+     * @brief Indicates whther the plaform configuration is valid.
+     *
+     * @return True if the platform configuration is valid; false otherwise.
+     */
+   bool isOptionsValid() const;
+
+   /**
+     * @brief Gets the platform options
+     *
+     * @return Options as a string
+     */
+   std::string getPlatformOptions() const { return m_PlatformOptions; }
+
+    /**
+      * @brief Sets the platform options
+      *
+      * @param[in] optionName Name of platform options"
+      * @param[in] value Value of specified optionName
+      *
+      * @return If true, add "optionName:value" to platform options if optionName don't exist, otherwise update the
+      *         value of specified optionName.
+      *         If false, the platform options will not be changed.
+      */
+   bool setPlatformOptionValue(const std::string& optionName, const std::string& value);
+
+    /**
+       * @brief Removes the platform options
+       *
+       * @param[in] optionName Name of platform options"
+       * @param[in] value Value of specified optionName
+       *
+       * @return If true, removed "optionName:value" to platform options if optionName don't exist, do nothing.
+       *         If false, the platform options will not be changed.
+       */
+    bool removePlatformOptionValue(const std::string& optionName, const std::string& value);
+
+   static void SetIsUserGLBuffer(bool isUserGLBuffer);
+   static bool GetIsUserGLBuffer();
+
+private:
+   PlatformType_t m_PlatformType;
+   PlatformConfigInfo m_PlatformConfigInfo;
+   std::string m_PlatformOptions;
+   static bool m_IsUserGLBuffer;
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}} //namespace end
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/RuntimeList.hpp b/third_party/snpe/include/DlSystem/RuntimeList.hpp
new file mode 100644
index 00000000000000..1088a5b31f4538
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/RuntimeList.hpp
@@ -0,0 +1,154 @@
+//=============================================================================
+//
+//  Copyright (c) 2019 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#include "ZdlExportDefine.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/StringList.hpp"
+#include <cstddef>
+#include <memory>
+
+#ifndef DL_SYSTEM_RUNTIME_LIST_HPP
+#define DL_SYSTEM_RUNTIME_LIST_HPP
+
+namespace DlSystem
+{
+   // Forward declaration of Runtime List implementation.
+   class RuntimeListImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+  * @brief .
+  *
+  * A class representing list of runtimes
+  */
+class ZDL_EXPORT RuntimeList final
+{
+public:
+
+    /**
+    * @brief .
+    *
+    * Creates a new runtime list
+    *
+    */
+   RuntimeList();
+
+   /**
+   * @brief .
+   *
+   * copy constructor.
+   * @param[in] other object to copy.
+   */
+   RuntimeList(const RuntimeList& other);
+
+   /**
+   * @brief .
+   *
+   * constructor with single Runtime_t object
+   * @param[in] Runtime_t object
+   */
+   RuntimeList(const zdl::DlSystem::Runtime_t& runtime);
+
+   /**
+    * @brief .
+    *
+    * assignment operator.
+    */
+   RuntimeList& operator=(const RuntimeList& other);
+
+   /**
+    * @brief .
+    *
+    * subscript operator.
+    */
+   Runtime_t& operator[](size_t index);
+
+   /**
+    * @brief Adds runtime to the end of the runtime list
+    *        order of precedence is former followed by latter entry
+    *
+    * @param[in] runtime to add
+    *
+    * Ruturns false If the runtime already exists
+    */
+   bool add(const zdl::DlSystem::Runtime_t& runtime);
+
+   /**
+    * @brief Removes the runtime from the list
+    *
+    * @param[in] runtime to be removed
+    *
+    * @note If the runtime is not found, nothing is done.
+    */
+   void remove(const zdl::DlSystem::Runtime_t runtime) noexcept;
+
+   /**
+    * @brief Returns the number of runtimes in the list
+    */
+   size_t size() const noexcept;
+
+   /**
+    * @brief Returns true if the list is empty
+    */
+   bool empty() const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Removes all runtime from the list
+    */
+   void clear() noexcept;
+
+   /**
+    * @brief .
+    *
+    * Returns a StringList of names from the runtime list in
+    * order of precedence
+    */
+   zdl::DlSystem::StringList getRuntimeListNames() const;
+
+   /**
+    * @brief .
+    *
+    * @param[in] runtime string
+    * Returns a Runtime enum corresponding to the in param string
+    *
+    */
+   static zdl::DlSystem::Runtime_t stringToRuntime(const char* runtimeStr);
+
+   /**
+    * @brief .
+    *
+    * @param[in] runtime
+    * Returns a string corresponding to the in param runtime enum
+    *
+    */
+   static const char* runtimeToString(const zdl::DlSystem::Runtime_t runtime);
+
+   ~RuntimeList();
+
+private:
+   void deepCopy(const RuntimeList &other);
+   std::unique_ptr<::DlSystem::RuntimeListImpl> m_RuntimeListImpl;
+};
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // DL_SYSTEM_RUNTIME_LIST_HPP
+
diff --git a/third_party/snpe/include/DlSystem/String.hpp b/third_party/snpe/include/DlSystem/String.hpp
new file mode 100644
index 00000000000000..c1eba3bad96b02
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/String.hpp
@@ -0,0 +1,104 @@
+//=============================================================================
+//
+//  Copyright (c) 2017, 2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef PLATFORM_STANDARD_STRING_HPP
+#define PLATFORM_STANDARD_STRING_HPP
+
+#include <cstdio>
+#include <string>
+#include <ostream>
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl
+{
+namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * Class for wrapping char * as a really stripped down std::string replacement.
+ */
+class ZDL_EXPORT String final
+{
+public:
+   String() = delete;
+
+   /**
+    * Construct a string from std::string reference.
+    * @param str Reference to a std::string
+    */
+   explicit String(const std::string& str);
+
+   /**
+    * Construct a string from char* reference.
+    * @param a char*
+    */
+   explicit String(const char* str);
+
+   /**
+    * move constructor.
+    */
+   String(String&& other) noexcept;
+
+   /**
+    * copy constructor.
+    */
+   String(const String& other) = delete;
+
+   /**
+    * assignment operator.
+    */
+   String& operator=(const String&) = delete;
+
+   /**
+    * move assignment operator.
+    */
+   String& operator=(String&&) = delete;
+
+   /**
+    * class comparators
+    */
+   bool operator<(const String& rhs) const noexcept;
+   bool operator>(const String& rhs) const noexcept;
+   bool operator<=(const String& rhs) const noexcept;
+   bool operator>=(const String& rhs) const noexcept;
+   bool operator==(const String& rhs) const noexcept;
+   bool operator!=(const String& rhs) const noexcept;
+
+   /**
+    * class comparators against std::string
+    */
+   bool operator<(const std::string& rhs) const noexcept;
+   bool operator>(const std::string& rhs) const noexcept;
+   bool operator<=(const std::string& rhs) const noexcept;
+   bool operator>=(const std::string& rhs) const noexcept;
+   bool operator==(const std::string& rhs) const noexcept;
+   bool operator!=(const std::string& rhs) const noexcept;
+
+   const char* c_str() const noexcept;
+
+   ~String();
+private:
+
+   char* m_string;
+};
+
+/**
+ * overloaded << operator
+ */
+ZDL_EXPORT std::ostream& operator<<(std::ostream& os, const String& str) noexcept;
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // PLATFORM_STANDARD_STRING_HPP
diff --git a/third_party/snpe/include/DlSystem/StringList.hpp b/third_party/snpe/include/DlSystem/StringList.hpp
new file mode 100644
index 00000000000000..a9a7d5ed89674c
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/StringList.hpp
@@ -0,0 +1,107 @@
+//=============================================================================
+//
+//  Copyright (c) 2016 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <cstdio>
+#include "ZdlExportDefine.hpp"
+
+#ifndef DL_SYSTEM_STRINGLIST_HPP
+#define DL_SYSTEM_STRINGLIST_HPP
+
+namespace zdl
+{
+namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * Class for holding an order list of null-terminated ASCII strings.
+ */
+class ZDL_EXPORT StringList final
+{
+public:
+   StringList() {}
+
+   /**
+    * Construct a string list with some pre-allocated memory.
+    * @warning Contents of the list will be uninitialized
+    * @param[in] length Number of elements for which to pre-allocate space.
+    */
+   explicit StringList(size_t length);
+
+   /**
+    * Append a string to the list.
+    * @param[in] str Null-terminated ASCII string to append to the list.
+    */
+   void append(const char* str);
+
+   /**
+    * Returns the string at the indicated position,
+    *  or an empty string if the positions is greater than the size
+    *  of the list.
+    * @param[in] idx Position in the list of the desired string
+    */
+   const char* at(size_t idx) const noexcept;
+
+   /**
+    * Pointer to the first string in the list.
+    *  Can be used to iterate through the list.
+    */
+   const char** begin() const noexcept;
+
+   /**
+    * Pointer to one after the last string in the list.
+    *  Can be used to iterate through the list.
+    */
+   const char** end() const noexcept;
+
+   /**
+    * Return the number of valid string pointers held by this list.
+    */
+   size_t size() const noexcept;
+
+
+   /**
+    * assignment operator. 
+    */
+   StringList& operator=(const StringList&) noexcept;
+
+   /**
+    * copy constructor.
+    * @param[in] other object to copy.
+    */
+   StringList(const StringList& other);
+
+   /**
+    * move constructor.
+    * @param[in] other object to move.    
+    */
+   StringList(StringList&& other) noexcept;
+
+   ~StringList();
+private:
+   void copy(const StringList& other);
+
+   void resize(size_t length);
+
+   void clear();
+
+   static const char* s_Empty;
+   const char** m_Strings = nullptr;
+   const char** m_End = nullptr;
+   size_t       m_Size = 0;
+};
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // DL_SYSTEM_STRINGLIST_HPP
+
diff --git a/third_party/snpe/include/DlSystem/TensorMap.hpp b/third_party/snpe/include/DlSystem/TensorMap.hpp
new file mode 100644
index 00000000000000..feecec666729ad
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/TensorMap.hpp
@@ -0,0 +1,120 @@
+//=============================================================================
+//
+//  Copyright (c) 2016 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <memory>
+#include "ZdlExportDefine.hpp"
+#include "ITensor.hpp"
+#include "StringList.hpp"
+
+#ifndef DL_SYSTEM_TENSOR_MAP_HPP
+#define DL_SYSTEM_TENSOR_MAP_HPP
+
+namespace DlSystem
+{
+   // Forward declaration of tensor map implementation.
+   class TensorMapImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+  * @brief .
+  *
+  * A class representing the map of tensor.
+  */
+class ZDL_EXPORT TensorMap final
+{
+public:
+
+  /**
+   * @brief .
+   *
+   * Creates a new empty tensor map
+   */
+   TensorMap();
+
+  /**
+   * copy constructor.
+   * @param[in] other object to copy. 
+   */
+   TensorMap(const TensorMap& other);
+
+  /**
+    * assignment operator. 
+    */
+   TensorMap& operator=(const TensorMap& other);
+
+   /**
+    * @brief Adds a name and the corresponding tensor pointer
+    *        to the map
+    *
+    * @param[in] name The name of the tensor
+    * @param[out] tensor The pointer to the tensor
+    *
+    * @note If a tensor with the same name already exists, the
+    *       tensor is replaced with the existing tensor.
+    */
+   void add(const char *name, zdl::DlSystem::ITensor *tensor);
+
+   /**
+    * @brief Removes a mapping of tensor and its name by its name
+    *
+    * @param[in] name The name of tensor to be removed
+    *
+    * @note If no tensor with the specified name is found, nothing
+    *       is done.
+    */
+   void remove(const char *name) noexcept;
+
+   /**
+    * @brief Returns the number of tensors in the map
+    */
+   size_t size() const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Removes all tensors from the map
+    */
+   void clear() noexcept;
+
+   /**
+    * @brief Returns the tensor given its name.
+    *  
+    * @param[in] name The name of the tensor to get. 
+    *  
+    * @return nullptr if no tensor with the specified name is 
+    *         found; otherwise, a valid pointer to the tensor.
+    */
+   zdl::DlSystem::ITensor* getTensor(const char *name) const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Returns the names of all tensors
+    */
+   zdl::DlSystem::StringList getTensorNames() const;
+
+   ~TensorMap();
+private:
+   void swap(const TensorMap &other);
+   std::unique_ptr<::DlSystem::TensorMapImpl> m_TensorMapImpl;
+};
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // DL_SYSTEM_TENSOR_MAP_HPP
+
diff --git a/third_party/snpe/include/DlSystem/TensorShape.hpp b/third_party/snpe/include/DlSystem/TensorShape.hpp
new file mode 100644
index 00000000000000..99583dccb40bac
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/TensorShape.hpp
@@ -0,0 +1,203 @@
+//=============================================================================
+//
+//  Copyright (c) 2016 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <initializer_list>
+#include <cstdio>
+#include <memory>
+#include <vector>
+#include "ZdlExportDefine.hpp"
+
+#ifndef DL_SYSTEM_TENSOR_SHAPE_HPP
+#define DL_SYSTEM_TENSOR_SHAPE_HPP
+
+namespace DlSystem
+{
+   // Forward declaration of tensor shape implementation.
+   class TensorShapeImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * Convenient typedef to represent dimension
+ */
+using Dimension = size_t;
+
+/**
+  * @brief .
+  *
+  * A class representing the shape of tensor. It is used at the
+  * time of creation of tensor.
+  */
+class ZDL_EXPORT TensorShape final
+{
+public:
+
+    /**
+    * @brief .
+    *
+    * Creates a new shape with a list of dims specified in
+    * initializer list fashion.
+    *
+    * @param[in] dims The dimensions are specified in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    *
+    */
+   TensorShape(std::initializer_list<Dimension> dims);
+
+   /**
+    * @brief .
+    *
+    * Creates a new shape with a list of dims specified in array
+    *
+    * @param[in] dims The dimensions are specified in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    *
+    * @param[in] size Size of the array.
+    *
+    */
+   TensorShape(const Dimension *dims, size_t size);
+
+    /**
+    * @brief .
+    *
+    * Creates a new shape with a vector of dims specified in
+    * vector fashion.
+    *
+    * @param[in] dims The dimensions are specified in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    * 
+    */   
+   TensorShape(std::vector<Dimension> dims);
+
+   /**
+   * @brief .
+   *   
+   * copy constructor.
+   * @param[in] other object to copy. 
+   */   
+   TensorShape(const TensorShape& other);
+
+   /**
+    * @brief .
+    *  
+    * assignment operator. 
+    */   
+   TensorShape& operator=(const TensorShape& other);
+
+    /**
+    * @brief .
+    *
+    * Creates a new shape with no dims. It can be extended later
+    * by invoking concatenate.
+    */
+   TensorShape();
+
+  /**
+    * @brief .
+    *
+    * Concatenates additional dimensions specified in 
+    * initializer list fashion to the existing dimensions. 
+    *
+    * @param[in] dims The dimensions are specified in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    *
+   */
+   void concatenate(std::initializer_list<Dimension> dims);
+
+   /**
+    * @brief .
+    *
+    * Concatenates additional dimensions specified in 
+    * the array to the existing dimensions. 
+    *
+    * @param[in] dims The dimensions are specified in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    * 
+    * @param[in] size Size of the array.
+    *
+   */
+   void concatenate(const Dimension *dims, size_t size);
+
+  /**
+    * @brief .
+    *
+    * Concatenates an additional dimension to the existing
+    * dimensions.
+    *
+    * @param[in] dim The dimensions are specified in which the last element
+    * of the vector represents the fastest varying dimension and the
+    * zeroth element represents the slowest varying, etc.
+    *
+   */
+   void concatenate(const Dimension &dim);
+
+  /**
+    * @brief .
+    *
+    * Retrieves a single dimension, based on its index.
+    *
+    * @return The value of dimension
+    *
+    * @throws std::out_of_range if the index is >= the number of
+    * dimensions (or rank).
+    */
+   Dimension& operator[](size_t index);
+   Dimension& operator[](size_t index) const;
+
+  /**
+    * @brief .
+    *
+    * Retrieves the rank i.e. number of dimensions.
+    *
+    * @return The rank
+    */
+   size_t rank() const;
+
+  /**
+    * @brief .
+    *
+    * Retrieves a pointer to the first dimension of shape
+    *
+    * @return nullptr if no dimension exists; otherwise, points to
+    * the first dimension. 
+    *
+    */
+   const Dimension* getDimensions() const;
+
+   ~TensorShape();
+
+private:
+   void swap(const TensorShape &other);
+   std::unique_ptr<::DlSystem::TensorShapeImpl> m_TensorShapeImpl;
+};
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // DL_SYSTEM_TENSOR_SHAPE_HPP
+
diff --git a/third_party/snpe/include/DlSystem/TensorShapeMap.hpp b/third_party/snpe/include/DlSystem/TensorShapeMap.hpp
new file mode 100644
index 00000000000000..cef946e2e6dbc9
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/TensorShapeMap.hpp
@@ -0,0 +1,127 @@
+//=============================================================================
+//
+//  Copyright (c) 2017-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <initializer_list>
+#include <cstdio>
+#include <memory>
+#include "ZdlExportDefine.hpp"
+#include "DlSystem/TensorShape.hpp"
+#include "DlSystem/StringList.hpp"
+
+#ifndef DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
+#define DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
+
+namespace DlSystem
+{
+   // Forward declaration of tensor shape map implementation.
+   class TensorShapeMapImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+  * @brief .
+  *
+  * A class representing the map of names and tensorshapes.
+  */
+class ZDL_EXPORT TensorShapeMap final
+{
+public:
+
+    /**
+    * @brief .
+    *
+    * Creates a new tensor shape map
+    *
+    */
+   TensorShapeMap();
+
+   /**
+   * @brief .
+   *
+   * copy constructor.
+   * @param[in] other object to copy.
+   */
+   TensorShapeMap(const TensorShapeMap& other);
+
+   /**
+    * @brief .
+    *
+    * assignment operator.
+    */
+   TensorShapeMap& operator=(const TensorShapeMap& other);
+
+   /**
+    * @brief Adds a name and the corresponding tensor pointer
+    *        to the map
+    *
+    * @param[in] name The name of the tensor
+    * @param[out] tensor The pointer to the tensor
+    *
+    * @note If a tensor with the same name already exists, no new
+    *       tensor is added.
+    */
+   void add(const char *name, const zdl::DlSystem::TensorShape& tensorShape);
+
+   /**
+    * @brief Removes a mapping of tensor and its name by its name
+    *
+    * @param[in] name The name of tensor to be removed
+    *
+    * @note If no tensor with the specified name is found, nothing
+    *       is done.
+    */
+   void remove(const char *name) noexcept;
+
+   /**
+    * @brief Returns the number of tensors in the map
+    */
+   size_t size() const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Removes all tensors from the map
+    */
+   void clear() noexcept;
+
+   /**
+    * @brief Returns the tensor given its name.
+    *
+    * @param[in] name The name of the tensor to get.
+    *
+    * @return nullptr if no tensor with the specified name is
+    *         found; otherwise, a valid pointer to the tensor.
+    */
+   zdl::DlSystem::TensorShape getTensorShape(const char *name) const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Returns the names of all tensor shapes
+    */
+   zdl::DlSystem::StringList getTensorShapeNames() const;
+
+   ~TensorShapeMap();
+private:
+   void swap(const TensorShapeMap &other);
+   std::unique_ptr<::DlSystem::TensorShapeMapImpl> m_TensorShapeMapImpl;
+};
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
+
diff --git a/third_party/snpe/include/DlSystem/UDLContext.hpp b/third_party/snpe/include/DlSystem/UDLContext.hpp
new file mode 100644
index 00000000000000..21fce1b04ae308
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/UDLContext.hpp
@@ -0,0 +1,243 @@
+//==============================================================================
+//
+// Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef UDL_CONTEXT_HPP
+#define UDL_CONTEXT_HPP
+
+#include <cstring> // memset
+#include <tuple>
+
+#include "ZdlExportDefine.hpp"
+
+namespace zdl { namespace DlSystem {
+
+/**
+ * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+ *
+ * @brief .
+ *
+ * UDLContext holds the user defined layer context which 
+ * consists of a layer name, layer ID, blob and blob size. 
+ *  
+ * An instance of UDLContext is passed as an argument to the
+ * UDLFactoryFunc provided by the user every time the SNPE 
+ * runtime encounters an unknown layer descriptor. The instance 
+ * of a UDLContext is created by the SNPE runtime and is 
+ * consumed by the user's factory function. The user should 
+ * obtain a copy of this class and should not assume any 
+ * prolonged object lifetime beyond the UDLFactoryFunction.
+ */
+class ZDL_EXPORT UDLContext final {
+public:
+   /**
+    * @brief Constructor
+    *
+    * @param[in] name name of the layer
+    *
+    * @param[in] type layer type
+    *
+    * @param[in] id identifier for the layer
+    *
+    * @param[in] id Blob/bytes as packed by the user code as part of
+    *           the Python converter script
+    */
+   UDLContext(const std::string& name,
+              const std::string& type,
+              int32_t id,
+              const std::string& blob) :
+      m_Name(name), m_Type(type), m_Size(blob.size()), m_Id(id) {
+      // FIXME not dealing with alloc error
+      m_Buffer = new uint8_t[m_Size];
+      std::memcpy(m_Buffer, blob.data(), m_Size);
+   }
+
+   /**
+    * @brief .
+    *
+    * Empty constructor is useful for
+    * creating an empty UDLContext and then run copy constructor
+    * from a fully initialized one.
+    */
+   explicit UDLContext() {}
+
+   /**
+    * @brief .
+    *
+    * destructor Deallocates any internal allocated memory
+    */
+   ~UDLContext() { release(); }
+
+   /**
+    * @brief .
+    *
+    * Deallocate any internally allocated memory
+    */
+   void release() {
+      if (m_Buffer && m_Size)
+         std::memset(m_Buffer, 0, m_Size);
+      delete []m_Buffer;
+      m_Buffer = nullptr;
+      m_Size = 0;
+   }
+
+   /**
+    * @brief .
+    *
+    * Copy Constructor - makes a copy from ctx
+    *
+    * @param[in] ctx Source UDLContext to copy from
+    */
+   UDLContext(const UDLContext& ctx) : m_Name(ctx.m_Name),
+      m_Type(ctx.m_Type),
+      m_Id(ctx.m_Id) {
+      std::tuple<uint8_t*, size_t> cpy = ctx.getCopy();
+      // current compiler does not support get<type>
+      m_Buffer = std::get<0>(cpy);
+      m_Size = std::get<1>(cpy);
+   }
+
+   /**
+    * @brief 
+    *
+    * Assignment operator - makes a copy from ctx
+    *
+    * @param[in] ctx Source UDLContext to copy from
+    *
+    * @return this
+    */
+   UDLContext& operator=(const UDLContext& ctx) {
+      UDLContext c (ctx);
+      this->swap(c); // non throwing swap
+      return *this;
+   }
+
+   /**
+    * @brief .
+    *
+    * Move Constructor - Move internals from ctx into this
+    *
+    * @param[in] ctx Source UDLContext to move from
+    */
+   UDLContext(UDLContext&& ctx) :
+      m_Name(std::move(ctx.m_Name)),
+      m_Type(std::move(ctx.m_Type)),
+      m_Buffer(ctx.m_Buffer),
+      m_Size(ctx.m_Size),
+      m_Id(ctx.m_Id) {
+      ctx.clear();
+   }
+
+   /**
+    * @brief .
+    *
+    * Assignment move - Move assignment operator from ctx
+    *
+    * @param[in] ctx Source UDLContext to move from
+    *
+    * @return this
+    */
+   UDLContext& operator=(UDLContext&& ctx) {
+      m_Name = std::move(ctx.m_Name);
+      m_Type = std::move(ctx.m_Type);
+      m_Buffer = ctx.m_Buffer;
+      m_Size = ctx.m_Size;
+      m_Id = ctx.m_Id;
+      ctx.clear();
+      return *this;
+   }
+
+   /**
+    * @brief .
+    *
+    * Obtain the name of the layer
+    *
+    * @return const reference to the name of the layer
+    */
+   const std::string& getName() const noexcept { return m_Name; }
+
+   /**
+    * @brief .
+    *
+    * Obtain the type of the layer
+    *
+    * @return const reference to the type of the layer
+    */
+   const std::string& getType() const noexcept { return m_Type; }
+
+   /**
+    * @brief .
+    *
+    * Obtain the Id of the layer
+    *
+    * @return The id of the layer
+    */
+   int32_t getId() const noexcept  { return m_Id; }
+
+   /**
+    * @brief .
+    *
+    * Obtain the size of the blob
+    *
+    * @return Size of the internal blob
+    */
+   size_t getSize() const noexcept { return m_Size; }
+
+   /**
+    * @brief .
+    *
+    * Get a const pointer to the internal blob
+    *
+    * @return Const pointer to the internal blob
+    */
+   const uint8_t* getBlob() const noexcept { return m_Buffer; }
+
+   /**
+    * @brief .
+    *
+    * Get a copy of the blob/size into a tuple
+    *
+    * @return A tuple with a pointer to a copy of the blob and a
+    *         size
+    */
+   std::tuple<uint8_t*, size_t> getCopy() const {
+      uint8_t* buf = new uint8_t[m_Size];
+      // FIXME missing memcpy
+      std::memcpy(buf, m_Buffer, m_Size);
+      return std::make_tuple(buf, m_Size);
+   }
+
+   /**
+    * @brief .
+    *
+    * Set zeros in the internals members
+    */
+   void clear() {
+      m_Name.clear();
+      m_Type.clear();
+      m_Buffer = 0;
+      m_Size = 0;
+      m_Id = -1;
+   }
+private:
+   void swap(UDLContext& c) noexcept {
+      std::swap(m_Name, c.m_Name);
+      std::swap(m_Type, c.m_Type);
+      std::swap(m_Id,   c.m_Id);
+      std::swap(m_Buffer, c.m_Buffer);
+      std::swap(m_Size, c.m_Size);
+   }
+   std::string m_Name; // name of the layer instance
+   std::string m_Type; // The actual layer type
+   uint8_t*    m_Buffer = nullptr;
+   size_t      m_Size = 0;
+   int32_t     m_Id = -1;
+};
+
+}}
+
+#endif /* UDL_CONTEXT_HPP */
diff --git a/third_party/snpe/include/DlSystem/UDLFunc.hpp b/third_party/snpe/include/DlSystem/UDLFunc.hpp
new file mode 100644
index 00000000000000..6a95eef1702ecc
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/UDLFunc.hpp
@@ -0,0 +1,87 @@
+//==============================================================================
+//
+//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _UDL_FUNC_HPP_
+#define _UDL_FUNC_HPP_
+
+#include <functional>
+
+#include "ZdlExportDefine.hpp"
+#include <DlSystem/IUDL.hpp>
+
+namespace zdl {
+    namespace DlSystem {
+        class UDLContext;
+    }
+}
+
+namespace zdl { namespace DlSystem {
+/**
+ * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+ *
+ * @brief .
+ *
+ * Definition of UDLFactoyFunc, using/typedef and default FactoryFunction
+ * UDLBundle - a simple way to bundle func and cookie into one type
+ */
+
+
+/**
+ * @brief .
+ * 
+ * Convenient typedef for user defined layer creation factory
+ *
+ * @param[out] void* Cookie - a user opaque data that was passed during SNPE's runtime's
+ *        CreateInstance. SNPE's runtime is passing this back to the user.
+ *
+ * @param[out] DlSystem::UDLContext* - The specific Layer Description context what is passe
+ *        SNPE runtime.
+ *
+ * @return IUDL* - a Concrete instance of IUDL derivative
+ */
+using UDLFactoryFunc = std::function<zdl::DlSystem::IUDL* (void*, const zdl::DlSystem::UDLContext*)>;
+
+/**
+ * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+ *
+ * @brief .
+ *
+ * default UDL factory implementation
+ *
+ * @param[out] DlSystem::UDLContext* - The specific Layer Description context what is passe
+ *        SNPE runtime.
+ *
+ * @param[out] void* Cookie - a user opaque data that was passed during SNPE's runtime's
+ *        CreateInstance. SNPE's runtime is passing this back to the user.
+ * 
+ * @return IUDL* - nullptr to indicate SNPE's runtime that there is no specific
+ *         implementation for UDL. When SNPE's runtime sees nullptr as a return
+ *         value from the factory, it will halt execution if model has an unknown layer
+ *
+ */
+inline ZDL_EXPORT zdl::DlSystem::IUDL* DefaultUDLFunc(void*, const zdl::DlSystem::UDLContext*) { return nullptr; }
+
+/**
+ * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+ *
+ * @brief .
+ * 
+ * Simple struct to bundle 2 elements.
+ * A user defined cookie that would be returned for each
+ * IUDL call. The user can place anything there and the
+ * SNPE runtime will provide it back
+ */
+struct ZDL_EXPORT UDLBundle {
+   void          *cookie = nullptr;
+   UDLFactoryFunc func   = DefaultUDLFunc;
+};
+
+}}
+
+
+#endif // _UDL_FUNC_HPP_
diff --git a/third_party/snpe/include/DlSystem/UserBufferMap.hpp b/third_party/snpe/include/DlSystem/UserBufferMap.hpp
new file mode 100644
index 00000000000000..a03ddfe1d11ad8
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/UserBufferMap.hpp
@@ -0,0 +1,122 @@
+//=============================================================================
+//
+//  Copyright (c) 2017 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <memory>
+#include "ZdlExportDefine.hpp"
+#include "StringList.hpp"
+
+#ifndef DL_SYSTEM_USER_BUFFER_MAP_HPP
+#define DL_SYSTEM_USER_BUFFER_MAP_HPP
+
+namespace DlSystem
+{
+    // Forward declaration of UserBuffer map implementation.
+    class UserBufferMapImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+class IUserBuffer;
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+  * @brief .
+  *
+  * A class representing the map of UserBuffer.
+  */
+class ZDL_EXPORT UserBufferMap final
+{
+public:
+
+    /**
+     * @brief .
+     *
+     * Creates a new empty UserBuffer map
+     */
+    UserBufferMap();
+
+    /**
+     * copy constructor.
+     * @param[in] other object to copy.
+     */
+    UserBufferMap(const UserBufferMap& other);
+
+    /**
+      * assignment operator.
+      */
+    UserBufferMap& operator=(const UserBufferMap& other);
+
+    /**
+     * @brief Adds a name and the corresponding UserBuffer pointer
+     *        to the map
+     *
+     * @param[in] name The name of the UserBuffer
+     * @param[in] userBuffer The pointer to the UserBuffer
+     *
+     * @note If a UserBuffer with the same name already exists, the new
+     *       UserBuffer pointer would be updated.
+     */
+    void add(const char *name, zdl::DlSystem::IUserBuffer *buffer);
+
+    /**
+     * @brief Removes a mapping of one UserBuffer and its name by its name
+     *
+     * @param[in] name The name of UserBuffer to be removed
+     *
+     * @note If no UserBuffer with the specified name is found, nothing
+     *       is done.
+     */
+    void remove(const char *name) noexcept;
+
+    /**
+     * @brief Returns the number of UserBuffers in the map
+     */
+    size_t size() const noexcept;
+
+    /**
+     * @brief .
+     *
+     * Removes all UserBuffers from the map
+     */
+    void clear() noexcept;
+
+    /**
+     * @brief Returns the UserBuffer given its name.
+     *
+     * @param[in] name The name of the UserBuffer to get.
+     *
+     * @return nullptr if no UserBuffer with the specified name is
+     *         found; otherwise, a valid pointer to the UserBuffer.
+     */
+    zdl::DlSystem::IUserBuffer* getUserBuffer(const char *name) const noexcept;
+
+    /**
+     * @brief .
+     *
+     * Returns the names of all UserBuffers
+     *
+     * @return A list of UserBuffer names.
+     */
+    zdl::DlSystem::StringList getUserBufferNames() const;
+
+    ~UserBufferMap();
+private:
+    void swap(const UserBufferMap &other);
+    std::unique_ptr<::DlSystem::UserBufferMapImpl> m_UserBufferMapImpl;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+} // DlSystem namespace
+} // zdl namespace
+
+
+#endif // DL_SYSTEM_TENSOR_MAP_HPP
+
diff --git a/third_party/snpe/include/DlSystem/UserMemoryMap.hpp b/third_party/snpe/include/DlSystem/UserMemoryMap.hpp
new file mode 100644
index 00000000000000..3685a8ddabed69
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/UserMemoryMap.hpp
@@ -0,0 +1,129 @@
+//=============================================================================
+//
+//  Copyright (c) 2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <memory>
+#include "ZdlExportDefine.hpp"
+#include "StringList.hpp"
+
+#ifndef DL_SYSTEM_USER_MEMORY_MAP_HPP
+#define DL_SYSTEM_USER_MEMORY_MAP_HPP
+
+namespace DlSystem
+{
+    // Forward declaration of UserMemory map implementation.
+    class UserMemoryMapImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+class IUserBuffer;
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+  * @brief .
+  *
+  * A class representing the map of UserMemory.
+  */
+class ZDL_EXPORT UserMemoryMap final
+{
+public:
+
+    /**
+     * @brief .
+     *
+     * Creates a new empty UserMemory map
+     */
+    UserMemoryMap();
+
+    /**
+     * copy constructor.
+     * @param[in] other object to copy.
+     */
+    UserMemoryMap(const UserMemoryMap& other);
+
+    /**
+      * assignment operator.
+      */
+    UserMemoryMap& operator=(const UserMemoryMap& other);
+
+    /**
+     * @brief Adds a name and the corresponding buffer address
+     *        to the map
+     *
+     * @param[in] name The name of the UserMemory
+     * @param[in] address The pointer to the Buffer Memory
+     *
+     * @note If a UserBuffer with the same name already exists, the new
+     *       address would be updated.
+     */
+    void add(const char *name, void *address);
+
+    /**
+     * @brief Removes a mapping of one Buffer address and its name by its name
+     *
+     * @param[in] name The name of Memory address to be removed
+     *
+     * @note If no UserBuffer with the specified name is found, nothing
+     *       is done.
+     */
+    void remove(const char *name) noexcept;
+
+    /**
+     * @brief Returns the number of User Memory addresses in the map
+     */
+    size_t size() const noexcept;
+
+    /**
+     * @brief .
+     *
+     * Removes all User Memory from the map
+     */
+    void clear() noexcept;
+
+    /**
+     * @brief .
+     *
+     * Returns the names of all User Memory
+     *
+     * @return A list of Buffer names.
+     */
+    zdl::DlSystem::StringList getUserBufferNames() const;
+
+    /**
+     * @brief Returns the no of UserMemory addresses mapped to the buffer
+     *
+     * @param[in] name The name of the UserMemory
+     *
+     */
+    size_t getUserMemoryAddressCount(const char *name) const noexcept;
+
+    /**
+     * @brief Returns address at a specified index corresponding to a UserMemory buffer name
+     *
+     * @param[in] name The name of the buffer
+     * @param[in] index The index in the list of addresses
+     *
+     */
+    void* getUserMemoryAddressAtIndex(const char *name, uint32_t index) const noexcept;
+
+    ~UserMemoryMap();
+private:
+    void swap(const UserMemoryMap &other);
+    std::unique_ptr<::DlSystem::UserMemoryMapImpl> m_UserMemoryMapImpl;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+} // DlSystem namespace
+} // zdl namespace
+
+
+#endif // DL_SYSTEM_TENSOR_MAP_HPP
+
diff --git a/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp b/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
new file mode 100644
index 00000000000000..92eb786d312f6d
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
@@ -0,0 +1,13 @@
+//=============================================================================
+//
+//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#pragma once
+
+#ifndef ZDL_EXPORT
+#define ZDL_EXPORT
+#endif
diff --git a/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp b/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
new file mode 100644
index 00000000000000..66097ba569f629
--- /dev/null
+++ b/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
@@ -0,0 +1,118 @@
+// =============================================================================
+//
+// Copyright (c) 2018-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+// =============================================================================
+
+#ifndef SNPE_PLATFORMVALIDATOR_HPP
+#define SNPE_PLATFORMVALIDATOR_HPP
+
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+#define DO_PRAGMA(s) _Pragma(#s)
+#define NO_WARNING "-Wunused-variable"
+
+#ifdef __clang__
+#define SNPE_DISABLE_WARNINGS(clang_warning,gcc_warning) \
+_Pragma("clang diagnostic push") \
+DO_PRAGMA(clang diagnostic ignored clang_warning)
+
+#define SNPE_ENABLE_WARNINGS \
+_Pragma("clang diagnostic pop")
+
+#elif defined __GNUC__
+#define SNPE_DISABLE_WARNINGS(clang_warning,gcc_warning) \
+_Pragma("GCC diagnostic push") \
+DO_PRAGMA(GCC diagnostic ignored gcc_warning)
+
+#define SNPE_ENABLE_WARNINGS \
+_Pragma("GCC diagnostic pop")
+
+#else
+#define SNPE_DISABLE_WARNINGS(...)
+#define SNPE_ENABLE_WARNINGS
+#endif
+
+SNPE_DISABLE_WARNINGS("-Wdelete-non-virtual-dtor","-Wdelete-non-virtual-dtor")
+#include <string>
+#include <memory>
+SNPE_ENABLE_WARNINGS
+
+namespace zdl
+{
+   namespace SNPE
+   {
+      class PlatformValidator;
+
+      class IPlatformValidatorRuntime;
+   }
+}
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+* The class for checking SNPE compatibility/capability of a device.
+*
+*/
+
+class ZDL_EXPORT zdl::SNPE::PlatformValidator
+{
+public:
+   /**
+    * @brief Default Constructor of the PlatformValidator Class
+    *
+    * @return A new instance of a PlatformValidator object
+    *         that can be used to check the SNPE compatibility
+    *         of a device
+    */
+   PlatformValidator();
+
+   ~PlatformValidator();
+
+   /**
+    * @brief Sets the runtime processor for compatibility check
+    *
+    * @return Void
+    */
+   void setRuntime(zdl::DlSystem::Runtime_t runtime);
+
+   /**
+    * @brief Checks if the Runtime prerequisites for SNPE are available.
+    *
+    * @return True if the Runtime prerequisites are available, else false.
+    */
+   bool isRuntimeAvailable();
+
+   /**
+    * @brief Returns the core version for the Runtime selected.
+    *
+    * @return String which contains the actual core version value
+    */
+   std::string getCoreVersion();
+
+   /**
+    * @brief Returns the library version for the Runtime selected.
+    *
+    * @return String which contains the actual lib version value
+    */
+   std::string getLibVersion();
+
+   /**
+    * @brief Runs a small program on the runtime and Checks if SNPE is supported for Runtime.
+    *
+    * @return If True, the device is ready for SNPE execution, else not.
+    */
+
+   bool runtimeCheck();
+
+private:
+    zdl::DlSystem::Runtime_t m_runtimeType;
+    std::unique_ptr<IPlatformValidatorRuntime> m_platformValidatorRuntime;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif //SNPE_PLATFORMVALIDATOR_HPP
diff --git a/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp b/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
new file mode 100644
index 00000000000000..380a3e0e6e77ee
--- /dev/null
+++ b/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
@@ -0,0 +1,101 @@
+//==============================================================================
+//
+//  Copyright (c) 2019 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef PSNPE_APPLICATIONBUFFERMAP_HPP
+#define PSNPE_APPLICATIONBUFFERMAP_HPP
+#include <vector>
+#include <string>
+#include <unordered_map>
+
+#include "DlSystem/UserBufferMap.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl
+{
+namespace PSNPE
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * A class representing the UserBufferMap of Input and Output asynchronous mode.
+ */
+
+class ZDL_EXPORT ApplicationBufferMap final
+{
+
+ public:
+   /**
+    * @brief Adds a name and the corresponding buffer
+    *        to the map
+    *
+    * @param[in] name The name of the UserBuffer
+    * @param[in] buffer The vector of the uint8_t data
+    *
+    * @note If a UserBuffer with the same name already exists, the new
+    *       UserBuffer pointer would be updated.
+    */
+   void add(const char* name, std::vector<uint8_t>& buff) noexcept;
+   void add(const char* name, std::vector<float>& buff) noexcept;
+   /**
+    * @brief Removes a mapping of one UserBuffer and its name by its name
+    *
+    * @param[in] name The name of UserBuffer to be removed
+    *
+    * @note If no UserBuffer with the specified name is found, nothing
+    *       is done.
+    */
+   void remove(const char* name) noexcept;
+
+   /**
+    * @brief Returns the number of UserBuffers in the map
+    */
+   size_t size() const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Removes all UserBuffers from the map
+    */
+   void clear() noexcept;
+
+   /**
+    * @brief Returns the UserBuffer given its name.
+    *
+    * @param[in] name The name of the UserBuffer to get.
+    *
+    * @return nullptr if no UserBuffer with the specified name is
+    *         found; otherwise, a valid pointer to the UserBuffer.
+    */
+   const std::vector<uint8_t>& getUserBuffer(const char* name) const;
+   const std::vector<uint8_t>& operator[](const char* name) const;
+   /**
+    * @brief .
+    *
+    * Returns the names of all UserAsyncBufferMap
+    *
+    * @return A list of UserBuffer names.
+    */
+   zdl::DlSystem::StringList getUserBufferNames() const;
+   const std::unordered_map<std::string, std::vector<uint8_t>>& getUserBuffer() const;
+   explicit ApplicationBufferMap();
+   ~ApplicationBufferMap();
+   explicit ApplicationBufferMap(
+     const std::unordered_map<std::string, std::vector<uint8_t>> buffer);
+
+ private:
+   std::unordered_map<std::string, std::vector<uint8_t>> m_UserMap;
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+} // namespace PSNPE
+} // namespace zdl
+
+#endif // PSNPE_APPLICATIONBUFFERMAP_HPP
diff --git a/third_party/snpe/include/SNPE/PSNPE.hpp b/third_party/snpe/include/SNPE/PSNPE.hpp
new file mode 100644
index 00000000000000..a823c0c7fa1d78
--- /dev/null
+++ b/third_party/snpe/include/SNPE/PSNPE.hpp
@@ -0,0 +1,205 @@
+// =============================================================================
+//
+// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+// =============================================================================
+
+#ifndef PSNPE_HPP
+#define PSNPE_HPP
+
+#include <cstdlib>
+#include <functional>
+#include "SNPE/SNPE.hpp"
+#include "DlSystem/UserBufferMap.hpp"
+#include "DlContainer/IDlContainer.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+#include "UserBufferList.hpp"
+#include "RuntimeConfigList.hpp"
+#include "ApplicationBufferMap.hpp"
+
+namespace zdl
+{
+namespace PSNPE
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ *@ brief build snpe instance in serial or parallel
+ *
+ */
+enum ZDL_EXPORT BuildMode {
+   SERIAL = 0,
+   PARALLEL = 1
+};
+/**
+ * @brief  Input and output transmission mode
+ */
+enum ZDL_EXPORT InputOutputTransmissionMode
+{
+   sync = 0,
+   outputAsync = 1,
+   inputOutputAsync = 2
+};
+
+/**
+ * @brief  A structure representing parameters of callback function of Async Output mode
+ */
+struct ZDL_EXPORT OutputAsyncCallbackParam
+{
+   size_t dataIndex;
+   bool executeStatus;
+   std::string errorMsg;
+   OutputAsyncCallbackParam(size_t _index,bool _status, const std::string& _errorMsg = std::string())
+     : dataIndex(_index),executeStatus(_status), errorMsg(_errorMsg){};
+};
+/**
+ * @brief  A structure representing parameters of callback function of Async Input/Output mode
+ */
+struct ZDL_EXPORT InputOutputAsyncCallbackParam
+{
+   size_t dataIndex;
+   const ApplicationBufferMap& outputMap;
+   bool executeStatus;
+   std::string errorMsg;
+   InputOutputAsyncCallbackParam(size_t _index, const ApplicationBufferMap& output_map,bool _status,
+                                 const std::string _ErrorMsg = std::string())
+     : dataIndex(_index)
+     , outputMap(output_map)
+     , executeStatus(_status)
+     , errorMsg(_ErrorMsg){};
+};
+/**
+ * @brief  This callback is called when the output data is ready, only use for Output Async mode
+ */
+using OutputAsyncCallbackFunc = std::function<void(OutputAsyncCallbackParam)>;
+/**
+ * @brief  This callback is called when the output data is ready, only use for Output-Input Async mode
+ */
+using InputOutputAsyncCallbackFunc = std::function<void(InputOutputAsyncCallbackParam)>;
+/**
+ * @brief   This callback is called when the input data is ready,only use for Output-Input Async mode 
+ */
+using InputOutputAsyncInputCallback = std::function<std::shared_ptr<ApplicationBufferMap>(const std::vector<std::string> &,
+    const zdl::DlSystem::StringList &)>;
+/**
+ * @brief .
+ *
+ * A structure PSNPE configuration
+ *
+ */
+struct ZDL_EXPORT BuildConfig final
+{
+   BuildMode buildMode = BuildMode::SERIAL; ///< Specify build in serial mode or parallel mode
+   zdl::DlContainer::IDlContainer* container;///< The opened container ptr
+   zdl::DlSystem::StringList outputBufferNames;///< Specify the output layer name
+   zdl::DlSystem::StringList outputTensors;///< Specify the output layer name
+   RuntimeConfigList runtimeConfigList;///< The runtime config list for PSNPE, @see RuntimeConfig
+   size_t inputThreadNumbers = 1;///< Specify the number of threads used in the execution phase to process input data, only used in inputOutputAsync mode
+   size_t outputThreadNumbers = 1;///< Specify the number of threads used in the execution phase to process output data, only used in inputOutputAsync and outputAsync mode
+   OutputAsyncCallbackFunc outputCallback;///< The callback to deal with output data ,only used in outputAsync mode
+   InputOutputAsyncCallbackFunc inputOutputCallback;///< The callback to deal with output data ,only used in inputOutputAsync mode
+   InputOutputAsyncInputCallback inputOutputInputCallback;///< The callback to deal with input data ,only used in inputOutputAsync mode
+   InputOutputTransmissionMode inputOutputTransmissionMode = InputOutputTransmissionMode::sync;///< Specify execution mode
+   zdl::DlSystem::ProfilingLevel_t profilingLevel = zdl::DlSystem::ProfilingLevel_t::OFF;///< Specify profiling level for Diaglog
+   uint64_t encode[2] = {0, 0};
+   bool enableInitCache = false;
+   std::string platformOptions;
+   std::string diaglogOutputDir = "./diaglogs/"; ///< Specify a diaglog output directory to save the generated Diaglog files.
+};
+/**
+ * @brief .
+ *
+ * The class for executing SNPE instances in parallel.
+ */
+class ZDL_EXPORT PSNPE final
+{
+ public:
+   ~PSNPE();
+
+   explicit PSNPE() noexcept :m_TransmissionMode(InputOutputTransmissionMode::sync){};
+
+   /**
+    * @brief Build snpe instances.
+    *
+    */
+   bool build(BuildConfig& buildConfig) noexcept;
+
+   /**
+    * @brief Execute snpe instances in Async Output mode and Sync mode
+    *
+    * @param[in] inputBufferList A list of user buffers that contains the input data
+    *
+    * @param[in,out] outputBufferList A list of user buffers that will hold the output data
+    *
+    */
+   bool execute(UserBufferList& inputBufferList, UserBufferList& outputBufferList) noexcept;
+
+   /**
+    * @brief  Execute snpe instances in Async Input/Output mode
+    *
+    * @param[in]inputMap A map of input buffers that contains input data. The names of buffers
+    *                     need to be matched with names retrived through getInputTensorNames()
+    *
+    * @param dataIndex Index of the input data
+    *
+    * @param isTF8buff Whether prefer to using 8 bit quantized element for inference
+    *
+    * @return True if executed successfully; flase, otherwise.
+    */
+   bool executeInputOutputAsync(const std::vector<std::string>& inputMap, size_t dataIndex, bool isTF8buff) noexcept;
+   bool executeInputOutputAsync(const std::vector<std::string>& inputMap, size_t dataIndex, bool isTF8buff,bool isTF8Outputbuff) noexcept;
+   /**
+    * @brief Returns the input layer names of the network.
+    *
+    * @return StringList which contains the input layer names
+    */
+   const zdl::DlSystem::StringList getInputTensorNames() const noexcept;
+
+   /**
+    * @brief Returns the output layer names of the network.
+    *
+    * @return StringList which contains the output layer names
+    */
+   const zdl::DlSystem::StringList getOutputTensorNames() const noexcept;
+
+   /**
+    * @brief Returns the input tensor dimensions of the network.
+    *
+    * @return TensorShape which contains the dimensions.
+    */
+   const zdl::DlSystem::TensorShape getInputDimensions() const noexcept;
+
+   const zdl::DlSystem::TensorShape getInputDimensions(const char *name) const noexcept;
+
+   /**
+    * @brief Returns attributes of buffers.
+    *
+    * @see zdl::SNPE
+    *
+    * @return BufferAttributes of input/output tensor named.
+    */
+   const zdl::DlSystem::TensorShape getBufferAttributesDims(const char *name) const noexcept;
+
+   zdl::DlSystem::Optional<zdl::DlSystem::IBufferAttributes*> getInputOutputBufferAttributes(const char *name) const noexcept;
+   bool registerIonBuffers(const zdl::DlSystem::UserMemoryMap& ionBufferMap) const noexcept;
+   bool deregisterIonBuffers(const zdl::DlSystem::StringList& ionBufferNames) const noexcept;
+
+   const char* getLastErrorString();
+
+ private:
+   PSNPE(const PSNPE&) = delete;
+   PSNPE& operator=(const PSNPE&) = delete;
+   zdl::PSNPE::InputOutputTransmissionMode m_TransmissionMode;
+
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+} // namespace PSNPE
+} // namespace zdl
+#endif // PSNPE_HPP
diff --git a/third_party/snpe/include/SNPE/RuntimeConfigList.hpp b/third_party/snpe/include/SNPE/RuntimeConfigList.hpp
new file mode 100644
index 00000000000000..837dba092a1d21
--- /dev/null
+++ b/third_party/snpe/include/SNPE/RuntimeConfigList.hpp
@@ -0,0 +1,85 @@
+//==============================================================================
+//
+//  Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+#ifndef PSNPE_RUNTIMECONFIGLIST_HPP
+#define PSNPE_RUNTIMECONFIGLIST_HPP
+
+#include <iostream>
+#include "DlContainer/IDlContainer.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/RuntimeList.hpp"
+#include "DlSystem/TensorShapeMap.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+namespace zdl {
+namespace PSNPE {
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * The structure for configuring a BulkSNPE runtime
+ *
+ */
+struct ZDL_EXPORT RuntimeConfig final {
+    zdl::DlSystem::Runtime_t runtime;
+    zdl::DlSystem::RuntimeList runtimeList;
+    zdl::DlSystem::PerformanceProfile_t perfProfile;
+    zdl::DlSystem::TensorShapeMap inputDimensionsMap;
+    bool enableCPUFallback;
+    RuntimeConfig()
+        : runtime{zdl::DlSystem::Runtime_t::CPU_FLOAT32},
+          perfProfile{zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE},
+          enableCPUFallback{false} {}
+    RuntimeConfig(const RuntimeConfig& other) {
+        runtime = other.runtime;
+        runtimeList = other.runtimeList;
+        perfProfile = other.perfProfile;
+        enableCPUFallback = other.enableCPUFallback;
+        inputDimensionsMap = other.inputDimensionsMap;
+    }
+
+    RuntimeConfig& operator=(const RuntimeConfig& other) {
+        this->runtimeList = other.runtimeList;
+        this->runtime = other.runtime;
+        this->perfProfile = other.perfProfile;
+        this->enableCPUFallback = other.enableCPUFallback;
+        this->inputDimensionsMap = other.inputDimensionsMap;
+        return *this;
+    }
+
+    ~RuntimeConfig() {}
+};
+
+/**
+ * @brief .
+ *
+ * The class for creating a RuntimeConfig container.
+ *
+ */
+class ZDL_EXPORT RuntimeConfigList final {
+   public:
+    RuntimeConfigList();
+    RuntimeConfigList(const size_t size);
+    void push_back(const RuntimeConfig& runtimeConfig);
+    RuntimeConfig& operator[](const size_t index);
+    RuntimeConfigList& operator=(const RuntimeConfigList& other);
+    size_t size() const noexcept;
+    size_t capacity() const noexcept;
+    void clear() noexcept;
+    ~RuntimeConfigList() = default;
+
+   private:
+    void swap(const RuntimeConfigList& other);
+    std::vector<RuntimeConfig> m_runtimeConfigs;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}  // namespace PSNPE
+}  // namespace zdl
+#endif  // PSNPE_RUNTIMECONFIGLIST_HPP
diff --git a/third_party/snpe/include/SNPE/SNPE.hpp b/third_party/snpe/include/SNPE/SNPE.hpp
new file mode 100644
index 00000000000000..5ab45b82eedc85
--- /dev/null
+++ b/third_party/snpe/include/SNPE/SNPE.hpp
@@ -0,0 +1,258 @@
+//==============================================================================
+//
+//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _SNPE_SNPE_HPP_
+#define _SNPE_SNPE_HPP_
+
+#include "DlSystem/DlOptional.hpp"
+#include "DlSystem/DlVersion.hpp"
+#include "DlSystem/IBufferAttributes.hpp"
+#include "DlSystem/ITensor.hpp"
+#include "DlSystem/TensorShape.hpp"
+#include "DlSystem/TensorMap.hpp"
+#include "DlSystem/String.hpp"
+#include "DlSystem/StringList.hpp"
+#include "DlSystem/IUserBuffer.hpp"
+#include "DlSystem/UserBufferMap.hpp"
+#include "DlSystem/UserMemoryMap.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl {
+   namespace SNPE
+   {
+      class SnpeRuntime;
+   }
+}
+namespace zdl {
+   namespace DiagLog
+   {
+      class IDiagLog;
+   }
+}
+
+namespace zdl { namespace SNPE {
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * The SNPE interface class definition
+ */
+class ZDL_EXPORT SNPE final
+{
+public:
+
+   // keep this undocumented to be hidden in doxygen using HIDE_UNDOC_MEMBERS
+   explicit SNPE(std::unique_ptr<zdl::SNPE::SnpeRuntime>&& runtime) noexcept;
+   ~SNPE();
+
+   /**
+    * @brief Gets the names of input tensors to the network
+    *
+    * To support multiple input scenarios, where multiple tensors are
+    * passed through execute() in a TensorMap, each tensor needs to
+    * be uniquely named. The names of tensors can be retrieved
+    * through this function.
+    *
+    * In the case of a single input, one name will be returned.
+    *
+    * @note Note that because the returned value is an Optional list,
+    * the list must be verified as boolean true value before being
+    * dereferenced.
+    *
+    * @return An Optional List of input tensor names.
+    *
+    * @see zdl::DlSystem::Optional
+    */
+   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
+      getInputTensorNames() const noexcept;
+
+    /**
+     * @brief Gets the names of output tensors to the network
+     *
+     * @return List of output tensor names.
+     */
+   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
+      getOutputTensorNames() const noexcept;
+
+   /**
+    * @brief Gets the name of output tensor from the input layer name
+    *
+    * @return Output tensor name.
+    */
+   zdl::DlSystem::StringList
+      getOutputTensorNamesByLayerName(const char *name) const noexcept;
+
+   /**
+    * @brief Processes the input data and returns the output
+    *
+    * @param[in] A map of tensors that contains the input data for
+    *            each input. The names of tensors needs to be
+    *            matched with names retrieved through
+    *            getInputTensorNames()
+    *
+    * @param[in,out] An empty map of tensors that will contain the output
+    *                data of potentially multiple layers (the key
+    *                in the map is the layer name) upon return
+    *
+    * @note output tensormap has to be empty.  To forward propagate
+    *       and get results in user-supplied tensors, use
+    *       executeWithSuppliedOutputTensors.
+    */
+   bool execute(const zdl::DlSystem::TensorMap &input,
+                zdl::DlSystem::TensorMap &output) noexcept;
+
+   /**
+    * @brief Processes the input data and returns the output
+    *
+    * @param[in] A single tensor contains the input data.
+    *
+    * @param[in,out] An empty map of tensors that will contain the output
+    *                data of potentially multiple layers (the key
+    *                in the map is the layer name) upon return
+    *
+    * @note output tensormap has to be empty.
+    */
+   bool execute(const zdl::DlSystem::ITensor *input,
+                zdl::DlSystem::TensorMap &output) noexcept;
+
+   /**
+    * @brief Processes the input data and returns the output, using
+    *        user-supplied buffers
+    *
+    * @param[in] A map of UserBuffers that contains the input data for
+    *            each input. The names of UserBuffers needs to be
+    *            matched with names retrieved through
+    *            getInputTensorNames()
+    *
+    * @param[in,out] A map of UserBuffers that will hold the output
+    *                data of potentially multiple layers (the key
+    *                in the map is the UserBuffer name)
+    *
+    * @note input and output UserBuffer maps must be fully pre-populated. with
+    *       dimensions matching what the network expects.
+    *       For example, if there are 5 output UserBuffers they all have to be
+    *       present in map.
+    *
+    *       Caller must guarantee that for the duration of execute(), the buffer
+    *       stored in UserBuffer would remain valid.  For more detail on buffer
+    *       ownership and lifetime requirements, please refer to zdl::DlSystem::UserBuffer
+    *       documentation.
+    */
+   bool execute(const zdl::DlSystem::UserBufferMap &input,
+                const zdl::DlSystem::UserBufferMap &output) noexcept;
+
+
+    /**
+    * @brief Regiter Client ION Buffers
+    * @param[in] A UserMemoryMap of virtual addresses
+    *
+    */
+   bool registerIonBuffers(const zdl::DlSystem::UserMemoryMap& ionBufferMap) noexcept;
+
+    /**
+    * @brief Regiter Client ION Buffers
+    * @param[in] A StringList of ION Buffer names
+    *
+    */
+   bool deregisterIonBuffers(const zdl::DlSystem::StringList& ionBufferNames) noexcept;
+
+    /**
+    * @brief Returns the version string embedded at model conversion
+    * time.
+    *
+    * @return Model version string, which is a free-form string
+    *         supplied at the time of the conversion
+    *
+    */
+   zdl::DlSystem::String getModelVersion() const noexcept;
+
+   /**
+    * @brief Returns the dimensions of the input data to the model in the
+    * form of TensorShape. The dimensions in TensorShape corresponds to
+    * what the tensor dimensions would need to be for an input tensor to
+    * the model.
+    *
+    * @param[in] layer input name.
+    *
+    * @note Note that this function only makes sense for networks 
+    *       that have a fixed input size. For networks in which the
+    *       input size varies with each call of Execute(), this
+    *       function should not be used.
+    *
+    * @note Because the returned type is an Optional instance, it must
+    *       be verified as a boolean true value before being dereferenced.
+    * 
+    * @return An Optional instance of TensorShape that maintains dimensions,
+    *         matching the tensor dimensions for input to the model,
+    *         where the last entry is the fastest varying dimension, etc.
+    *  
+    * @see zdl::DlSystem::ITensor
+    * @see zdl::DlSystem::TensorShape
+    * @see zdl::DlSystem::Optional
+    */
+   zdl::DlSystem::Optional<zdl::DlSystem::TensorShape>
+      getInputDimensions() const noexcept;
+   zdl::DlSystem::Optional<zdl::DlSystem::TensorShape>
+      getInputDimensions(const char *name) const noexcept;
+
+   /**
+    * @brief Gets the output layer(s) for the network. 
+    *  
+    * Note that the output layers returned by this function may be 
+    * different than those specified when the network was created 
+    * via the zdl::SNPE::SNPEBuilder. For example, if the
+    * network was created in debug mode with no explicit output 
+    * layers specified, this will contain all layers.
+    *
+    * @note Note that because the returned value is an Optional StringList,
+    * the list must be verified as a boolean true value before being
+    * dereferenced.
+    *
+    * @return A List of output layer names.
+    *
+    * @see zdl::DlSystem::Optional
+    */
+   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
+      getOutputLayerNames() const noexcept;
+
+   /**
+     * @brief Returns attributes of buffers used to feed input tensors and receive result from output tensors.
+     *
+     * @param[in] Tensor name.
+     *
+     * @return BufferAttributes of input/output tensor named
+     */
+   zdl::DlSystem::Optional<zdl::DlSystem::IBufferAttributes*> getInputOutputBufferAttributes(const char *name) const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Get the diagnostic logging interface
+    *
+    * @note Note that because the returned type is an Optional instance,
+    * it must be verified as a boolean true value before being
+    * dereferenced.
+    *
+    * @see zdl::DlSystem::Optional
+    */
+   zdl::DlSystem::Optional<zdl::DiagLog::IDiagLog*>
+      getDiagLogInterface() noexcept;
+
+private:
+   SNPE(const SNPE&) = delete;
+   SNPE& operator=(const SNPE&) = delete;
+
+   std::unique_ptr<SnpeRuntime> m_Runtime;
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+}}
+
+#endif
diff --git a/third_party/snpe/include/SNPE/SNPEBuilder.hpp b/third_party/snpe/include/SNPE/SNPEBuilder.hpp
new file mode 100644
index 00000000000000..5fc7846ced6486
--- /dev/null
+++ b/third_party/snpe/include/SNPE/SNPEBuilder.hpp
@@ -0,0 +1,306 @@
+//==============================================================================
+//
+//  Copyright (c) 2017-2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _SNPE_BUILDER_HPP_
+#define _SNPE_BUILDER_HPP_
+
+#include "SNPE/SNPE.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/UDLFunc.hpp"
+#include "DlSystem/DlOptional.hpp"
+#include "DlSystem/TensorShapeMap.hpp"
+#include "DlSystem/PlatformConfig.hpp"
+#include "DlSystem/IOBufferDataTypeMap.hpp"
+#include "DlSystem/RuntimeList.hpp"
+
+namespace zdl {
+   namespace DlContainer
+   {
+      class IDlContainer;
+   }
+}
+
+struct SNPEBuilderImpl;
+
+
+namespace zdl { namespace SNPE {
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * The builder class for creating SNPE objects.
+ * Not meant to be extended.
+ */
+class ZDL_EXPORT SNPEBuilder final
+{
+private:
+   std::unique_ptr<::SNPEBuilderImpl> m_Impl;
+public:
+
+   /**
+    * @brief Constructor of NeuralNetwork Builder with a supplied model.
+    *
+    * @param[in] container A container holding the model.
+    *
+    * @return A new instance of a SNPEBuilder object
+    *         that can be used to configure and build
+    *         an instance of SNPE.
+    *
+    */
+   explicit SNPEBuilder(
+      zdl::DlContainer::IDlContainer* container);
+   ~SNPEBuilder();
+
+   /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE. Please use
+    *       setRuntimeProcessorOrder()
+    *
+    * @brief Sets the runtime processor.
+    *
+    * @param[in] targetRuntimeProcessor The target runtime.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setRuntimeProcessor(
+      zdl::DlSystem::Runtime_t targetRuntimeProcessor);
+
+   /**
+    * @brief Requests a performance profile.
+    *
+    * @param[in] targetRuntimeProfile The target performance profile.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setPerformanceProfile(
+      zdl::DlSystem::PerformanceProfile_t performanceProfile);
+
+   /**
+    * @brief Sets the profiling level. Default profiling level for
+    *        SNPEBuilder is off. Off and basic only applies to DSP runtime.
+    *
+    * @param[in] profilingLevel The target profiling level.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setProfilingLevel(
+      zdl::DlSystem::ProfilingLevel_t profilingLevel);
+
+    /**
+     * @brief Sets a preference for execution priority.
+     *
+     * This allows the caller to give coarse hint to SNPE runtime
+     * about the priority of the network.  SNPE runtime is free to use
+     * this information to co-ordinate between different workloads
+     * that may or may not extend beyond SNPE.
+     *
+     * @param[in] ExecutionPriorityHint_t The target performance profile.
+     *
+     * @return The current instance of SNPEBuilder.
+     */
+   SNPEBuilder& setExecutionPriorityHint(
+            zdl::DlSystem::ExecutionPriorityHint_t priority);
+
+    /**
+    * @brief Sets the layers that will generate output.
+    *
+    * @param[in] outputLayerNames List of layer names to
+    *                             output. An empty list will
+    *                             result in only the final
+    *                             layer of the model being
+    *                             the output layer.  The list
+    *                             will be copied.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setOutputLayers(
+      const zdl::DlSystem::StringList& outputLayerNames);
+
+   /**
+   * @brief Sets the output tensor names.
+   *
+   * @param[in] outputTensorNames List of tensor names to
+   *                             output. An empty list will
+   *                             result in producing output for the final
+   *                             output tensor of the model.
+   *                             The list will be copied.
+   *
+   * @return The current instance of SNPEBuilder.
+   */
+   SNPEBuilder& setOutputTensors(
+      const zdl::DlSystem::StringList& outputTensorNames);
+
+   /**
+    * @brief Passes in a User-defined layer.
+    *
+    * @param udlBundle Bundle of udl factory function and a cookie
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setUdlBundle(
+      zdl::DlSystem::UDLBundle udlBundle);
+
+   /**
+    * @brief Sets whether this neural network will perform inference with
+    *        input from user-supplied buffers, and write output to user-supplied
+    *        buffers.  Default behaviour is to use tensors created by
+    *        ITensorFactory.
+    *
+    * @param[in] bufferMode Whether to use user-supplied buffer or not.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setUseUserSuppliedBuffers(
+      bool bufferMode);
+
+    /**
+    * @brief Sets the debug mode of the runtime.
+    *
+    * @param[in] debugMode This enables debug mode for the runtime. It
+    *                      does two things. For an empty
+    *                      outputLayerNames list, all layers will be
+    *                      output. It might also disable some internal
+    *                      runtime optimizations (e.g., some networks
+    *                      might be optimized by combining layers,
+    *                      etc.).
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setDebugMode(
+      bool debugMode);
+
+   /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE. Please use
+    *       setRuntimeProcessorOrder()
+    *
+    * @brief Sets the mode of CPU fallback functionality.
+    *
+    * @param[in] mode   This flag enables/disables the functionality
+    *                   of CPU fallback. When the CPU fallback
+    *                   functionality is enabled, layers in model that
+    *                   violates runtime constraints will run on CPU
+    *                   while the rest of non-violating layers will
+    *                   run on the chosen runtime processor. In
+    *                   disabled mode, models with layers violating
+    *                   runtime constraints will NOT run on the chosen
+    *                   runtime processor and will result in runtime
+    *                   exception. By default, the functionality is
+    *                   enabled.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setCPUFallbackMode(
+      bool mode);
+
+
+   /**
+    * @brief Sets network's input dimensions to enable resizing of
+    *        the spatial dimensions of each layer for fully convolutional networks,
+    *        and the batch dimension for all networks.
+    *
+    * @param[in] tensorShapeMap The map of input names and their new dimensions.
+    *                           The new dimensions overwrite the input dimensions
+    *                           embedded in the model and then resize each layer
+    *                           of the model. If the model contains
+    *                           layers whose dimensions cannot be resized e.g FullyConnected,
+    *                           exception will be thrown when SNPE instance is actually built.
+    *                           In general the batch dimension is always resizable.
+    *                           After resizing of layers' dimensions in model based
+    *                           on new input dimensions, the new model is revalidated
+    *                           against all runtime constraints, whose failures may
+    *                           result in cpu fallback situation.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setInputDimensions(const zdl::DlSystem::TensorShapeMap& inputDimensionsMap);
+
+   /**
+    * @brief Sets the mode of init caching functionality.
+    *
+    * @param[in] mode   This flag enables/disables the functionality of init caching.
+    *                   When init caching functionality is enabled, a set of init caches
+    *                   will be created during network building/initialization process
+    *                   and will be added to DLC container. If such DLC container is saved
+    *                   by the user, in subsequent network building/initialization processes
+    *                   these init caches will be loaded from the DLC so as to reduce initialization time.
+    *                   In disable mode, no init caches will be added to DLC container.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setInitCacheMode(
+      bool cacheMode);
+
+   /**
+    * @brief Returns an instance of SNPE based on the current parameters.
+    *
+    * @return A new instance of a SNPE object that can be used
+    *         to execute models or null if any errors occur.
+    */
+   std::unique_ptr<SNPE> build() noexcept;
+
+   /**
+    * @brief Sets the platform configuration.
+    *
+    * @param[in] platformConfig The platform configuration.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setPlatformConfig(const zdl::DlSystem::PlatformConfig& platformConfig);
+
+   /**
+    * @brief Sets network's runtime order of precedence. Example:
+    *        CPU_FLOAT32, GPU_FLOAT16, AIP_FIXED8_TF
+    *        Note:- setRuntimeProcessor() or setCPUFallbackMode() will be silently ignored when
+    *        setRuntimeProcessorOrder() is invoked
+    *
+    * @param[in] runtimeList The list of runtime in order of precedence
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setRuntimeProcessorOrder(const zdl::DlSystem::RuntimeList& runtimeList);
+
+    /**
+    * @brief Sets the unconsumed tensors as output
+    *
+    * @param[in] setOutput This enables unconsumed tensors (i.e)
+    *                      outputs which are not inputs to any
+    *                      layer (basically dead ends) to be marked
+    *                      for output
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setUnconsumedTensorsAsOutputs(
+      bool setOutput);
+
+    /**
+    * @brief Execution terminated when exceeding time limit.
+    *        Only valid for dsp runtime currently.
+    *
+    * @param[in] timeout Time limit value
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setTimeOut(
+      uint64_t timeout);
+
+
+   /**
+    * @brief Sets the datatype of the buffer.
+    *        Only valid for dsp runtime currently.
+    *
+    * @param[in] Map of the buffer names and the datatype that needs to be set.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setBufferDataType(const zdl::DlSystem::IOBufferDataTypeMap& dataTypeMap);
+
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}}
+
+#endif
diff --git a/third_party/snpe/include/SNPE/SNPEFactory.hpp b/third_party/snpe/include/SNPE/SNPEFactory.hpp
new file mode 100644
index 00000000000000..2d78e81b173d2c
--- /dev/null
+++ b/third_party/snpe/include/SNPE/SNPEFactory.hpp
@@ -0,0 +1,220 @@
+//==============================================================================
+//
+//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _SNPE_FACTORY_HPP_
+#define _SNPE_FACTORY_HPP_
+
+#include "SNPE/SNPE.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/UDLFunc.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+#include "DlSystem/DlOptional.hpp"
+
+namespace zdl {
+   namespace DlSystem
+   {
+      class ITensorFactory;
+      class IUserBufferFactory;
+   }
+   namespace DlContainer
+   {
+      class IDlContainer;
+   }
+}
+
+
+
+namespace zdl { namespace SNPE {
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * The factory class for creating SNPE objects.
+ *
+ */
+class ZDL_EXPORT SNPEFactory
+{
+public:
+
+   /**
+    * Indicates whether the supplied runtime is available on the
+    * current platform.
+    *
+    * @param[in] runtime The target runtime to check.
+    *
+    * @return True if the supplied runtime is available; false,
+    *         otherwise.
+    */
+   static bool isRuntimeAvailable(zdl::DlSystem::Runtime_t runtime);
+
+   /**
+    * Indicates whether the supplied runtime is available on the
+    * current platform.
+    *
+    * @param[in] runtime The target runtime to check.
+    *
+    * @param[in] option Extent to perform runtime available check.
+    *
+    * @return True if the supplied runtime is available; false,
+    *         otherwise.
+    */
+   static bool isRuntimeAvailable(zdl::DlSystem::Runtime_t runtime,
+                                  zdl::DlSystem::RuntimeCheckOption_t option);
+
+   /**
+    * Gets a reference to the tensor factory.
+    *
+    * @return A reference to the tensor factory.
+    */
+   static zdl::DlSystem::ITensorFactory& getTensorFactory();
+
+   /**
+    * Gets a reference to the UserBuffer factory.
+    *
+    * @return A reference to the UserBuffer factory.
+    */
+   static zdl::DlSystem::IUserBufferFactory& getUserBufferFactory();
+
+   /**
+    * Gets the version of the SNPE library.
+    *
+    * @return Version of the SNPE library.
+    *
+    */
+   static zdl::DlSystem::Version_t getLibraryVersion();
+
+   /**
+    * Set the SNPE storage location for all SNPE instances in this
+    * process. Note that this may only be called once, and if so
+    * must be called before creating any SNPE instances.
+    *
+    * @param[in] storagePath Absolute path to a directory which SNPE may
+    *  use for caching and other storage purposes.
+    *
+    * @return True if the supplied path was succesfully set as
+    *  the SNPE storage location, false otherwise.
+    */
+   static bool setSNPEStorageLocation(const char* storagePath);
+
+   /**
+    * @brief Register a user-defined op package with SNPE.
+    *
+    * @param[in] regLibraryPath Path to the registration library
+    *                      that allows clients to register a set of operations that are
+    *                      part of the package, and share op info with SNPE
+    *
+    * @return True if successful, False otherwise.
+    */
+   static bool addOpPackage( const std::string& regLibraryPath );
+
+   /**
+    * Indicates whether the OpenGL and OpenCL interoperability is supported
+    * on GPU platform.
+    *
+    * @return True if the OpenGL and OpenCl interop is supported; false,
+    *         otherwise.
+    */
+   static bool isGLCLInteropSupported();
+
+   static const char* getLastError();
+
+   /**
+    * Initializes logging with the specified log level.
+    * initializeLogging with level, is used on Android platforms
+    * and after successful initialization, SNPE
+    * logs are printed in android logcat logs.
+    *
+    * It is recommended to initializeLogging before creating any
+    * SNPE instances, in order to capture information related to
+    * core initialization. If this is called again after first
+    * time initialization, subsequent calls are ignored.
+    * Also, Logging can be re-initialized after a call to
+    * terminateLogging API by calling initializeLogging again.
+    *
+    * A typical usage of Logging life cycle can be
+    * initializeLogging()
+    *        any other SNPE API like isRuntimeAvailable()
+    * * setLogLevel() - optional - can be called anytime
+    *         between initializeLogging & terminateLogging
+    *		  SNPE instance creation, inference, destroy
+    * terminateLogging().
+    *
+    * Please note, enabling logging can have performance impact.
+    *
+    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
+    *
+    * @return True if successful, False otherwise.
+    */
+   static bool initializeLogging(const zdl::DlSystem::LogLevel_t& level);
+
+   /**
+    * Initializes logging with the specified log level and log path.
+    * initializeLogging with level & log path, is used on non Android
+    * platforms and after successful initialization, SNPE
+    * logs are printed in std output & into log files created in the
+    * log path.
+    *
+    * It is recommended to initializeLogging before creating any
+    * SNPE instances, in order to capture information related to
+    * core initialization. If this is called again after first
+    * time initialization, subsequent calls are ignored.
+    * Also, Logging can be re-initialized after a call to
+    * terminateLogging API by calling initializeLogging again.
+    *
+    * A typical usage of Logging life cycle can be
+    * initializeLogging()
+    *        any other SNPE API like isRuntimeAvailable()
+    * * setLogLevel() - optional - can be called anytime
+    *         between initializeLogging & terminateLogging
+    *		  SNPE instance creation, inference, destroy
+    * terminateLogging()
+    *
+    * Please note, enabling logging can have performance impact
+    *
+    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
+    *
+    * @param[in] Path of directory to store logs.
+    *      If path is empty, the default path is "./Log".
+    *      For android, the log path is ignored.
+    *
+    * @return True if successful, False otherwise.
+    */
+   static bool initializeLogging(const zdl::DlSystem::LogLevel_t& level, const std::string& logPath);
+
+   /**
+    * Updates the current logging level with the specified level.
+    * setLogLevel is optional, called anytime after initializeLogging
+    * and before terminateLogging, to update the log level set.
+    * Log levels can be updated multiple times by calling setLogLevel
+    * A call to setLogLevel() is ignored if it is made before
+    * initializeLogging() or after terminateLogging()
+    *
+    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
+    *
+    * @return True if successful, False otherwise.
+    */
+   static bool setLogLevel(const zdl::DlSystem::LogLevel_t& level);
+
+   /**
+    * Terminates logging.
+    *
+    * It is recommended to terminateLogging after initializeLogging
+    * in order to disable logging information.
+    * If this is called before initialization or after first time termination,
+    * calls are ignored.
+    *
+    * @return True if successful, False otherwise.
+    */
+   static bool terminateLogging(void);
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+}}
+
+
+#endif
diff --git a/third_party/snpe/include/SNPE/UserBufferList.hpp b/third_party/snpe/include/SNPE/UserBufferList.hpp
new file mode 100644
index 00000000000000..a660bca0f6a525
--- /dev/null
+++ b/third_party/snpe/include/SNPE/UserBufferList.hpp
@@ -0,0 +1,49 @@
+//==============================================================================
+//
+//  Copyright (c) 2019 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+#ifndef PSNPE_USERBUFFERLIST_HPP
+#define PSNPE_USERBUFFERLIST_HPP
+
+#include <vector>
+#include "DlSystem/UserBufferMap.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl {
+namespace PSNPE
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+/**
+* @brief .
+*
+* The class for creating a UserBufferMap container.
+*
+*/
+class ZDL_EXPORT UserBufferList final
+{
+public:
+   UserBufferList();
+   UserBufferList(const size_t size);
+   void push_back(const zdl::DlSystem::UserBufferMap &userBufferMap);
+   zdl::DlSystem::UserBufferMap& operator[](const size_t index);
+   UserBufferList& operator =(const UserBufferList &other);
+   size_t size() const noexcept;
+   size_t capacity() const noexcept;
+   void clear() noexcept;
+   ~UserBufferList() = default;
+
+private:
+   void swap(const UserBufferList &other);
+   std::vector<zdl::DlSystem::UserBufferMap> m_userBufferMaps;
+
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+} // namespace PSNPE
+} // namespace zdl
+#endif //PSNPE_USERBUFFERLIST_HPP
diff --git a/third_party/snpe/include/SnpeUdo/UdoBase.h b/third_party/snpe/include/SnpeUdo/UdoBase.h
new file mode 100644
index 00000000000000..7b2567920e3525
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoBase.h
@@ -0,0 +1,537 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef SNPE_UDO_BASE_H
+#define SNPE_UDO_BASE_H
+
+#include <stdint.h>
+
+// Provide values to use for API version.
+#define API_VERSION_MAJOR 1
+#define API_VERSION_MINOR 6
+#define API_VERSION_TEENY 0
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+// Defines a bitmask of enum values.
+typedef uint32_t SnpeUdo_Bitmask_t;
+typedef SnpeUdo_Bitmask_t Udo_Bitmask_t;
+
+// A string of characters, rather than an array of bytes.
+// Assumed to be UTF-8.
+typedef char* SnpeUdo_String_t;
+typedef SnpeUdo_String_t Udo_String_t;
+
+// The maximum allowable length of a SnpeUdo_String_t in bytes,
+// including null terminator. SNPE will truncate strings longer
+// than this.
+#define SNPE_UDO_MAX_STRING_SIZE 1024
+
+/**
+  * An enum which holds the various error types.
+  * The error types are divided to classes :
+  * 0 - 99    : generic errors
+  * 100 - 200 : errors related to configuration
+  *
+  */
+typedef enum
+{
+   /// No Error
+   SNPE_UDO_NO_ERROR                    = 0,          UDO_NO_ERROR                    = 0,
+   /// Unsupported value for core type
+   SNPE_UDO_WRONG_CORE                  = 1,          UDO_WRONG_CORE                  = 1,
+   /// Invalid attribute/argument passed into UDO API
+   SNPE_UDO_INVALID_ARGUMENT            = 2,          UDO_INVALID_ARGUMENT            = 2,
+   /// Unsupported feature error
+   SNPE_UDO_UNSUPPORTED_FEATURE         = 3,          UDO_UNSUPPORTED_FEATURE         = 3,
+   /// Error relating to memory allocation
+   SNPE_UDO_MEM_ALLOC_ERROR             = 4,          UDO_MEM_ALLOC_ERROR             = 4,
+   /* Configuration Specific errors */
+   /// No op with given attributes available in library
+   SNPE_UDO_WRONG_OPERATION             = 100,        UDO_WRONG_OPERATION             = 100,
+   /// Unsupported value for core type in UDO configuration
+   SNPE_UDO_WRONG_CORE_TYPE             = 101,        UDO_WRONG_CORE_TYPE             = 101,
+   /// Wrong number of params in UDO definition
+   SNPE_UDO_WRONG_NUM_OF_PARAMS         = 102,        UDO_WRONG_NUM_OF_PARAMS         = 102,
+   /// Wrong number of dimensions for tensor(s) in UDO definition
+   SNPE_UDO_WRONG_NUM_OF_DIMENSIONS     = 103,        UDO_WRONG_NUM_OF_DIMENSIONS     = 103,
+   /// Wrong number of input tensors in UDO definition
+   SNPE_UDO_WRONG_NUM_OF_INPUTS         = 104,        UDO_WRONG_NUM_OF_INPUTS         = 104,
+   /// Wrong number of output tensors in UDO definition
+   SNPE_UDO_WRONG_NUM_OF_OUTPUTS        = 105,        UDO_WRONG_NUM_OF_OUTPUTS        = 105,
+   SNPE_UDO_PROGRAM_CACHE_NOT_FOUND     = 106,        UDO_PROGRAM_CACHE_NOT_FOUND     = 106,
+   SNPE_UDO_UNKNOWN_ERROR               = 0xFFFFFFFF, UDO_UNKNOWN_ERROR               = 0xFFFFFFFF
+} SnpeUdo_ErrorType_t;
+
+typedef SnpeUdo_ErrorType_t Udo_ErrorType_t;
+
+/**
+  * An enum which holds the various data types.
+  * Designed to be used as single values or combined into a bitfield parameter
+  * (0x1, 0x2, 0x4, etc)
+  * \n FIXED_XX types are targeted for data in tensors.
+  * \n UINT / INT types are targeted for scalar params
+  */
+typedef enum
+{
+   /// data type: 16-bit floating point
+   SNPE_UDO_DATATYPE_FLOAT_16       = 0x01,        UDO_DATATYPE_FLOAT_16       = 0x01,
+   /// data type: 32-bit floating point
+   SNPE_UDO_DATATYPE_FLOAT_32       = 0x02,        UDO_DATATYPE_FLOAT_32       = 0x02,
+   /// data type: 4-bit fixed point
+   SNPE_UDO_DATATYPE_FIXED_4        = 0x04,        UDO_DATATYPE_FIXED_4        = 0x04,
+   /// data type: 8-bit fixed point
+   SNPE_UDO_DATATYPE_FIXED_8        = 0x08,        UDO_DATATYPE_FIXED_8        = 0x08,
+   /// data type: 16-bit fixed point
+   SNPE_UDO_DATATYPE_FIXED_16       = 0x10,        UDO_DATATYPE_FIXED_16       = 0x10,
+   /// data type: 32-bit fixed point
+   SNPE_UDO_DATATYPE_FIXED_32       = 0x20,        UDO_DATATYPE_FIXED_32       = 0x20,
+   /// data type: 8-bit unsigned integer
+   SNPE_UDO_DATATYPE_UINT_8         = 0x100,       UDO_DATATYPE_UINT_8         = 0x100,
+   /// data type: 16-bit unsigned integer
+   SNPE_UDO_DATATYPE_UINT_16        = 0x200,       UDO_DATATYPE_UINT_16        = 0x200,
+   /// data type: 32-bit unsigned integer
+   SNPE_UDO_DATATYPE_UINT_32        = 0x400,       UDO_DATATYPE_UINT_32        = 0x400,
+   /// data type: 8-bit signed integer
+   SNPE_UDO_DATATYPE_INT_8          = 0x1000,      UDO_DATATYPE_INT_8          = 0x1000,
+   /// data type: 16-bit signed integer
+   SNPE_UDO_DATATYPE_INT_16         = 0x2000,      UDO_DATATYPE_INT_16         = 0x2000,
+   /// data type: 32-bit signed integer
+   SNPE_UDO_DATATYPE_INT_32         = 0x4000,      UDO_DATATYPE_INT_32         = 0x4000,
+   SNPE_UDO_DATATYPE_LAST           = 0xFFFFFFFF,  UDO_DATATYPE_LAST           = 0xFFFFFFFF
+} SnpeUdo_DataType_t;
+
+typedef SnpeUdo_DataType_t Udo_DataType_t;
+
+/**
+  * An enum which holds the various layouts.
+  * Designed to be used as single values or combined into a bitfield parameter
+  * (0x1, 0x2, 0x4, etc)
+  */
+typedef enum
+{
+   /// data layout (4D): NHWC (batch-height-width-channel)
+   SNPE_UDO_LAYOUT_NHWC             = 0x01,        UDO_LAYOUT_NHWC             = 0x01,
+   /// data layout (4D): NCHW (batch-channel-height-width)
+   SNPE_UDO_LAYOUT_NCHW             = 0x02,        UDO_LAYOUT_NCHW             = 0x02,
+   /// data layout (5D): NDHWC (batch-dimension-height-width-channel)
+   SNPE_UDO_LAYOUT_NDHWC            = 0x04,        UDO_LAYOUT_NDHWC            = 0x04,
+   SNPE_UDO_LAYOUT_GPU_OPTIMAL1     = 0x08,        UDO_LAYOUT_GPU_OPTIMAL1     = 0x08,
+   SNPE_UDO_LAYOUT_GPU_OPTIMAL2     = 0x10,        UDO_LAYOUT_GPU_OPTIMAL2     = 0x10,
+   SNPE_UDO_LAYOUT_DSP_OPTIMAL1     = 0x11,        UDO_LAYOUT_DSP_OPTIMAL1     = 0x11,
+   SNPE_UDO_LAYOUT_DSP_OPTIMAL2     = 0x12,        UDO_LAYOUT_DSP_OPTIMAL2     = 0x12,
+   // Indicates no data will be allocated for this tensor.
+   // Used to specify optional inputs/outputs positionally.
+   SNPE_UDO_LAYOUT_NULL             = 0x13,        UDO_LAYOUT_NULL             = 0x13,
+   SNPE_UDO_LAYOUT_LAST             = 0xFFFFFFFF,  UDO_LAYOUT_LAST             = 0xFFFFFFFF
+} SnpeUdo_TensorLayout_t;
+
+typedef SnpeUdo_TensorLayout_t Udo_TensorLayout_t;
+
+/**
+  * An enum which holds the UDO library Core type .
+  * Designed to be used as single values or combined into a bitfield parameter
+  * (0x1, 0x2, 0x4, etc)
+  */
+typedef enum
+{
+   /// Library target IP Core is undefined
+   SNPE_UDO_CORETYPE_UNDEFINED   = 0x00,          UDO_CORETYPE_UNDEFINED   = 0x00,
+   /// Library target IP Core is CPU
+   SNPE_UDO_CORETYPE_CPU         = 0x01,          UDO_CORETYPE_CPU         = 0x01,
+   /// Library target IP Core is GPU
+   SNPE_UDO_CORETYPE_GPU         = 0x02,          UDO_CORETYPE_GPU         = 0x02,
+   /// Library target IP Core is DSP
+   SNPE_UDO_CORETYPE_DSP         = 0x04,          UDO_CORETYPE_DSP         = 0x04,
+   SNPE_UDO_CORETYPE_LAST        = 0xFFFFFFFF,    UDO_CORETYPE_LAST        = 0xFFFFFFFF
+} SnpeUdo_CoreType_t;
+
+typedef SnpeUdo_CoreType_t Udo_CoreType_t;
+
+/**
+  * An enum to specify the parameter type : Scalar or Tensor
+  */
+typedef enum
+{
+   /// UDO static param type: scalar
+   SNPE_UDO_PARAMTYPE_SCALAR = 0x00,         UDO_PARAMTYPE_SCALAR = 0x00,
+   /// UDO static param type: string
+   SNPE_UDO_PARAMTYPE_STRING = 0x01,         UDO_PARAMTYPE_STRING = 0x01,
+   /// UDO static param type: tensor
+   SNPE_UDO_PARAMTYPE_TENSOR = 0x02,         UDO_PARAMTYPE_TENSOR = 0x02,
+   SNPE_UDO_PARAMTYPE_LAST   = 0xFFFFFFFF,   UDO_PARAMTYPE_LAST   = 0xFFFFFFFF
+} SnpeUdo_ParamType_t;
+
+typedef SnpeUdo_ParamType_t Udo_ParamType_t;
+
+/**
+  * An enum to specify quantization type
+  */
+typedef enum
+{
+   /// Tensor Quantization type: NONE. Signifies unquantized tensor data
+   SNPE_UDO_QUANTIZATION_NONE   = 0x00,         UDO_QUANTIZATION_NONE   = 0x00,
+   /// Tensor Quantization type: Tensorflow-style
+   SNPE_UDO_QUANTIZATION_TF     = 0x01,         UDO_QUANTIZATION_TF     = 0x01,
+   SNPE_UDO_QUANTIZATION_QMN    = 0x02,         UDO_QUANTIZATION_QMN    = 0x02,
+   SNPE_UDO_QUANTIZATION_LAST   = 0xFFFFFFFF,   UDO_QUANTIZATION_LAST   = 0xFFFFFFFF
+} SnpeUdo_QuantizationType_t;
+
+typedef SnpeUdo_QuantizationType_t Udo_QuantizationType_t;
+
+/**
+ * @brief A struct which is used to provide a version number using 3 values : major, minor, teeny
+ *
+ */
+typedef struct
+{
+   /// version field: major - for backward-incompatible changes
+   uint32_t major;
+   /// version field: minor - for backward-compatible feature updates
+   uint32_t minor;
+   /// version field: teeny - for minor bug-fixes and clean-up
+   uint32_t teeny;
+} SnpeUdo_Version_t;
+
+typedef SnpeUdo_Version_t Udo_Version_t;
+
+/**
+ * @brief A struct returned from version query, contains the Library version and API version
+ *
+ */
+typedef struct
+{
+   /// Version of UDO library. Controlled by users
+   SnpeUdo_Version_t libVersion;
+   /// Version of SNPE UDO API used in compiling library. Determined by SNPE
+   SnpeUdo_Version_t apiVersion;
+} SnpeUdo_LibVersion_t;
+
+/**
+ * @brief A struct returned from version query, contains the package version
+ *
+ */
+typedef struct
+{
+   /// Version of UDO API used in package.
+   Udo_Version_t apiVersion;
+} Udo_PkgVersion_t;
+
+/**
+ * @brief A union to hold the value of a generic type. Allows defining a parameter struct
+ * in a generic way, with a "value" location that holds the data regardless of the type.
+ *
+ */
+typedef union
+{
+   /// value type: float
+   float    floatValue;
+   /// value type: unsigned 32-bit integer
+   uint32_t uint32Value;
+   /// value type: signed 32-bit integer
+   int32_t  int32Value;
+   /// value type: unsigned 16-bit integer
+   uint16_t uint16Value;
+   /// value type: signed 16-bit integer
+   int16_t  int16Value;
+   /// value type: unsigned 8-bit integer
+   uint8_t  uint8Value;
+   /// value type: signed 8-bit integer
+   int8_t   int8Value;
+} SnpeUdo_Value_t;
+
+typedef SnpeUdo_Value_t Udo_Value_t;
+
+/**
+ * @brief A struct which defines a scalar parameter : name, data type, and union of values
+ *
+ */
+typedef struct
+{
+   /// The parameter data type : float, int, etc.
+   SnpeUdo_DataType_t  dataType;
+   /// a union of specified type which holds the data
+   SnpeUdo_Value_t dataValue;
+} SnpeUdo_ScalarParam_t;
+
+typedef SnpeUdo_ScalarParam_t Udo_ScalarParam_t;
+
+/**
+ * @brief A struct which defines the quantization parameters in case of Tensorflow style quantization
+ *
+ */
+typedef struct
+{
+   /// minimum value of the quantization range of data
+   float minValue;
+   /// maximum value of the quantization range of data
+   float maxValue;
+} SnpeUdo_TFQuantize_t;
+
+typedef SnpeUdo_TFQuantize_t Udo_TFQuantize_t;
+
+/**
+ * @brief A struct which defines the quantization type, and union of supported quantization structs
+ *
+ */
+typedef struct
+{
+   /// quantization type (only TF-style currently supported)
+   SnpeUdo_QuantizationType_t quantizeType;
+   union
+   {
+     /// TF-style min-max quantization ranges
+     SnpeUdo_TFQuantize_t TFParams;
+   };
+} SnpeUdo_QuantizeParams_t;
+
+typedef SnpeUdo_QuantizeParams_t Udo_QuantizeParams_t;
+
+/**
+ * @brief A struct which defines the datatype associated with a specified core-type
+ * This should be used to denote the datatypes for a single tensor info, depending
+ * on the intended execution core.
+ *
+ */
+typedef struct
+{
+    /// The IP Core
+    SnpeUdo_CoreType_t     coreType;
+    /// The associated datatype for this coreType
+    SnpeUdo_DataType_t       dataType;
+} SnpeUdo_PerCoreDatatype_t;
+
+typedef SnpeUdo_PerCoreDatatype_t Udo_PerCoreDatatype_t;
+
+/**
+ * @brief A struct which defines a tensor parameter : name, data type, layout, quantization, more.
+ *        Also holds a pointer to the tensor data.
+ *
+ */
+typedef struct
+{
+   /// The maximum allowable dimensions of the tensor. The memory held in
+   /// _tensorData_ is guaranteed to be large enough for this.
+   uint32_t*                maxDimensions;
+   /// The current dimensions of the tensor. An operation may modify the current
+   /// dimensions of its output, to indicate cases where the output has been
+   /// "resized".
+   /// Note that for static parameters, the current and max dimensions must
+   /// match.
+   uint32_t*                currDimensions;
+   /// Quantization params applicable to the tensor. Currently only supports
+   /// Tensorflow quantization style.
+   SnpeUdo_QuantizeParams_t quantizeParams;
+   /// Number of dimensions to the tensor: 3D, 4D, etc.
+   uint32_t                 tensorRank;
+   /// The parameter data type: float, int, etc.
+   SnpeUdo_DataType_t       dataType;
+   /// The tensor layout type: NCHW, NHWC, etc.
+   SnpeUdo_TensorLayout_t   layout;
+   /// Opaque pointer to tensor data. User may be required to re-interpret the pointer
+   /// based on core-specific definitions.
+   void*                    tensorData;
+} SnpeUdo_TensorParam_t;
+
+typedef SnpeUdo_TensorParam_t Udo_TensorParam_t;
+
+/**
+ * @brief A struct which defines tensor information for activation tensors only
+ *
+ * It describes an activation tensor object using its name, the intended layout and the datatype
+ * it will take depending on the intended runtime core. The repeated field indicates that
+ * that the tensor info describes several input/output activation tensors, which all share the
+ * aforementioned properties.
+ */
+typedef struct
+{
+    /// The tensor name
+    SnpeUdo_String_t    tensorName;
+    /// The tensor layout type: NCHW, NHWC, etc.
+    SnpeUdo_TensorLayout_t   layout;
+    /// The per core datatype: {SNPE_UDO_DATATYPE, SNPE_UDO_CORE_TYPE}
+    SnpeUdo_PerCoreDatatype_t* perCoreDatatype;
+    /// A boolean field indicating that this tensorinfo will be repeated e.x for ops such as Concat or Split
+    bool repeated;
+    /// A boolean field indicating whether input is static or not.
+    bool isStatic;
+} SnpeUdo_TensorInfo_t;
+
+typedef SnpeUdo_TensorInfo_t Udo_TensorInfo_t;
+
+/**
+ * @brief struct which defines a UDO parameter - a union of scalar, tensor and string parameters
+ *
+ */
+typedef struct
+{
+   /// Type is scalar or tensor
+  SnpeUdo_ParamType_t paramType;
+  /// The param name, for example : "offset", "activation_type"
+  SnpeUdo_String_t    paramName;
+  union
+  {
+    /// scalar param value
+    SnpeUdo_ScalarParam_t scalarParam;
+    /// tensor param value
+    SnpeUdo_TensorParam_t tensorParam;
+    /// string param value
+    SnpeUdo_String_t      stringParam;
+  };
+} SnpeUdo_Param_t;
+
+typedef SnpeUdo_Param_t Udo_Param_t;
+
+/**
+ * @brief A struct which defines Operation information which is specific for IP core (CPU, GPU, DSP ...)
+ *
+ */
+typedef struct
+{
+   /// The IP Core
+   SnpeUdo_CoreType_t     udoCoreType;
+   /// Bitmask, defines supported internal calculation types (like FLOAT_32, etc)
+   /// Based on SnpeUdo_DataType
+   SnpeUdo_Bitmask_t      operationCalculationTypes;
+} SnpeUdo_OpCoreInfo_t;
+
+typedef SnpeUdo_OpCoreInfo_t Udo_OpCoreInfo_t;
+
+/**
+ * @brief A struct which defines the common and core-specific Operation information
+ *
+ */
+typedef struct
+{
+   /// Operation type
+   SnpeUdo_String_t      operationType;
+   /// A bitmask describing which IP Cores (CPU, GPU, DSP ...) support this operation
+   /// Translated based on SnpeUdo_CoreType
+   SnpeUdo_Bitmask_t     supportedByCores;
+   /// Number of static parameters defined by the op
+   uint32_t              numOfStaticParams;
+   /// Array of static parameters. Can be scalar or tensor params
+   SnpeUdo_Param_t*      staticParams;
+   /// Number of input tensors this op receives
+   uint32_t              numOfInputs;
+   /// Array of input tensor names to this operation
+   SnpeUdo_String_t*      inputNames;
+   /// Number of output tensors this op receives
+   uint32_t              numOfOutputs;
+   /// Array of output tensor names to this operation
+   SnpeUdo_String_t*      outputNames;
+   /// Number of cores that the op can execute on
+   uint32_t              numOfCoreInfo;
+   /// Array of per-core information entries
+   SnpeUdo_OpCoreInfo_t* opPerCoreInfo;
+    /// Array of input tensor infos for this operation
+   SnpeUdo_TensorInfo_t*     inputInfos;
+   /// Array of output tensor infos for this operation
+   SnpeUdo_TensorInfo_t*     outputInfos;
+} SnpeUdo_OperationInfo_t;
+
+typedef SnpeUdo_OperationInfo_t Udo_OperationInfo_t;
+
+/**
+ * @brief A struct which provides the implementation library info : type, name
+ *
+ */
+typedef struct
+{
+   /// Defines the IP Core that this implementation library is targeting
+   SnpeUdo_CoreType_t     udoCoreType;
+   /// library name. will be looked at in the standard library path
+   SnpeUdo_String_t       libraryName;
+} SnpeUdo_LibraryInfo_t;
+
+typedef SnpeUdo_LibraryInfo_t Udo_LibraryInfo_t;
+
+/**
+ * @brief A struct returned by the registration library and contains information on the UDO package :
+ * name, operations, libraries, etc.
+ *
+ */
+typedef struct
+{
+   /// A string containing the package name
+   SnpeUdo_String_t         packageName;
+   /// A bitmask describing supported IP cores (CPU, GPU, DSP ...)
+   /// Translated based on SnpeUdo_CoreType
+   SnpeUdo_Bitmask_t        supportedCoreTypes;
+   /// The number of implementation libraries in the package
+   uint32_t                numOfImplementationLib;
+   /// Array of implementation libraries names/types
+   SnpeUdo_LibraryInfo_t*   implementationLib;
+   /// A string containing all operation types separated by space
+   SnpeUdo_String_t         operationsString;
+   /// Number of supported operations
+   uint32_t                numOfOperations;
+   /// Array of Operation info structs. Each entry describes one
+   /// Operation (name, params, inputs, outputs)
+   SnpeUdo_OperationInfo_t* operationsInfo;
+} SnpeUdo_RegInfo_t;
+
+typedef SnpeUdo_RegInfo_t Udo_RegInfo_t;
+
+/**
+* @brief A struct returned by the implementation library and contains information on the
+* specific library: name, IP Core, operations, etc.
+*
+*/
+typedef struct
+{
+   /// Defines the IP Core that this implementation library is targeting
+   SnpeUdo_CoreType_t     udoCoreType;
+   /// A string containing the package name
+   SnpeUdo_String_t       packageName;
+   /// A string containing all operation types separated by space
+   SnpeUdo_String_t       operationsString;
+   /// Number of supported operations
+   uint32_t              numOfOperations;
+} SnpeUdo_ImpInfo_t;
+
+typedef SnpeUdo_ImpInfo_t Udo_ImpInfo_t;
+
+/**
+ * @brief This struct defines an operation. It is used for validation
+ * or creation of an operation.
+ * In case of using it for creation, the static params which are tensors
+ * contain pointers to the real data (weights, for example), and input/output
+ * tensors also include pointers to the buffers used.
+ */
+typedef struct
+{
+   /// The IP Core that the operation is defined for - CPU, GPU, DSP...
+   SnpeUdo_CoreType_t      udoCoreType;
+   /// Operation type
+   SnpeUdo_String_t        operationType;
+   /// The number of static parameters provided in the staticParams array.
+   /// this number has to match the number provided by the UDO Registration library information
+   uint32_t               numOfStaticParams;
+   /// Array of static parameters
+   SnpeUdo_Param_t*        staticParams;
+   /// The number of input parameters provided in inputs array.
+   /// this number has to match the number provided by the UDO Registration library information
+   uint32_t               numOfInputs;
+   /// Array of input tensors, providing layout, data type, sizes, etc
+   /// When used to create an operation, also contains the initial location of the data
+   SnpeUdo_TensorParam_t*  inputs;
+   /// The number of output parameters provided in inputs array.
+   /// this number has to match the number provided by the UDO Registration library information
+   uint32_t               numOfOutputs;
+   /// Array of output tensors, providing layout, data type, sizes, etc
+   /// When used to create an operation, also contains the initial location of the data
+   SnpeUdo_TensorParam_t*  outputs;
+} SnpeUdo_OpDefinition_t;
+
+typedef SnpeUdo_OpDefinition_t Udo_OpDefinition_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif //SNPE_UDO_BASE_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImpl.h b/third_party/snpe/include/SnpeUdo/UdoImpl.h
new file mode 100644
index 00000000000000..a0cb648cf725f8
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoImpl.h
@@ -0,0 +1,343 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef SNPE_UDO_IMPL_H
+#define SNPE_UDO_IMPL_H
+
+#include <stdbool.h>
+
+#include "SnpeUdo/UdoShared.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+typedef struct _SnpeUdo_OpFactory_t* SnpeUdo_OpFactory_t;
+typedef struct _SnpeUdo_Operation_t* SnpeUdo_Operation_t;
+
+typedef SnpeUdo_OpFactory_t Udo_OpFactory_t;
+typedef SnpeUdo_Operation_t Udo_Operation_t;
+
+/**
+ * @brief Initialize the shared library's data structures. Calling any other
+ *        library function before this one will result in error.
+ *
+ * @param[in] globalInfrastructure Global core-specific infrastructure to be
+ *            used by operations created in this library. The definition and
+ *            semantics of this object will be defined in the corresponding
+ *            implementation header for the core type.
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_initImplLibrary(void* globalInfrastructure);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_InitImplLibraryFunction_t)(void*);
+
+/**
+ * @brief A function to query the API version of the UDO implementation library.
+ *        The function populates a SnpeUdo_LibVersion_t struct, which contains a SnpeUdo_Version_t
+ *        struct for API version and library version.
+ *
+ * @param[in, out] version A pointer to struct which contains major, minor, teeny information for
+ *                 library and api versions.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getImplVersion(SnpeUdo_LibVersion_t** version);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_getImplVersion_t)(SnpeUdo_LibVersion_t** version);
+
+/**
+ * @brief Release the shared library's data structures, and invalidate any
+ *        handles returned by the library. The behavior of any outstanding
+ *        asynchronous calls made to this library when this function is called
+ *        are undefined. All library functions (except SnpeUdo_initImplLibrary) will
+ *        return an error after this function has been successfully called.
+ *
+ *        It should be possible to call SnpeUdo_initImplLibrary after calling this
+ *        function, and re-initialize the library.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_terminateImplLibrary(void);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_TerminateImplLibraryFunction_t)(void);
+
+
+/**
+ * @brief A function to query info on the UDO implementation library.
+ *        The function populates a structure which contains information about
+ *        operations that are part of this library
+ *
+ * @param[in, out] implementationInfo A pointer to struct which contains information
+ *                 on the operations
+ *
+ * @return error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getImpInfo(SnpeUdo_ImpInfo_t** implementationInfo);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_GetImpInfoFunction_t)(SnpeUdo_ImpInfo_t** implementationInfo);
+
+typedef SnpeUdo_GetImpInfoFunction_t Udo_GetImpInfoFunction_t;
+
+/**
+ * @brief A function to create an operation factory.
+ *        The function receives the operation type, and an array of static parameters,
+ *        and returns operation factory handler
+ *
+ * @param[in] udoCoreType The Core type to create the operation on. An error will
+ *            be returned if this does not match the core type of the library.
+ *
+ * @param[in] perFactoryInfrastructure CreateOpFactory infrastructure appropriate to this
+ *            core type. The definition and semantics of this object will be defined
+ *            in the corresponding implementation header for the core type.
+ *
+ * @param[in] operationType A string containing Operation type. for example "MY_CONV"
+ *
+ * @param[in] numOfStaticParams The number of static parameters.
+ *
+ * @param[in] staticParams Array of static parameters
+ *
+ * @param[in,out] opFactory Handler to Operation Factory, to be used when creating operations
+ *
+ * @return Error Code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_createOpFactory(SnpeUdo_CoreType_t    udoCoreType,
+                        void*                perFactoryInfrastructure,
+                        SnpeUdo_String_t      operationType,
+                        uint32_t             numOfStaticParams,
+                        SnpeUdo_Param_t*      staticParams,
+                        SnpeUdo_OpFactory_t*  opFactory);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_CreateOpFactoryFunction_t)(SnpeUdo_CoreType_t,
+                                     void*,
+                                     SnpeUdo_String_t,
+                                     uint32_t,
+                                     SnpeUdo_Param_t*,
+                                     SnpeUdo_OpFactory_t*);
+
+typedef SnpeUdo_CreateOpFactoryFunction_t Udo_CreateOpFactoryFunction_t;
+
+/**
+ * @brief A function to release the resources allocated for an operation factory
+ *        created by this library.
+ *
+ * @param[in] factory The operation factory to release. Upon success this handle will be invalidated.
+ *
+ * @return Error Code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_releaseOpFactory(SnpeUdo_OpFactory_t opFactory);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ReleaseOpFactoryFunction_t)(SnpeUdo_OpFactory_t);
+
+typedef SnpeUdo_ReleaseOpFactoryFunction_t Udo_ReleaseOpFactoryFunction_t;
+
+/**
+ * @brief A function to create an operation from the factory.
+ *        The function receives array of inputs and array of outputs, and creates an operation
+ *        instance, returning the operation instance handler.
+ *
+ * @param[in] opFactory OpFactory instance containing the parameters for this operation.
+ *
+ * @param[in] perOpInfrastructure Per-Op infrastructure for this operation. The definition
+ *            and semantics of this object will be defined in the implementation header
+ *            appropriate to this core type.
+ *
+ * @param[in] numOfInputs The number of input tensors this operation will receive.
+ *
+ * @param[in] inputs Array of input tensors, providing both the sizes and initial
+ *            location of the data.
+ *
+ * @param[in] numOfOutputs Number of output tensors this operation will produce.
+ *
+ * @param[in] outputs Array of output tensors, providing both the sizes and
+ *            initial location of the data.
+ *
+ * @param[in,out] operation Handle for newly created operation instance.
+ *
+ * @return Error Code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_createOperation(SnpeUdo_OpFactory_t    opFactory,
+                        void*                 perOpInfrastructure,
+                        uint32_t              numOfInputs,
+                        SnpeUdo_TensorParam_t* inputs,
+                        uint32_t              numOfOutputs,
+                        SnpeUdo_TensorParam_t* outputs,
+                        SnpeUdo_Operation_t*   operation);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_CreateOperationFunction_t)(SnpeUdo_OpFactory_t,
+                                     void*,
+                                     uint32_t,
+                                     SnpeUdo_TensorParam_t*,
+                                     uint32_t,
+                                     SnpeUdo_TensorParam_t*,
+                                     SnpeUdo_Operation_t*);
+
+typedef SnpeUdo_CreateOperationFunction_t Udo_CreateOperationFunction_t;
+
+/**
+ * @brief A pointer to notification function.
+ *
+ *        The notification function supports the non-blocking (e.g. asynchronous) execution use-case.
+ *        In case an "executeUdoOp" function is called with "blocking" set to zero, and a
+ *        notify function, this function will be called by the implementation library at the
+ *        end of execution. The implementation library will pass the notify function the ID
+ *        that was provided to it when "executeUdoOp" was called.
+ *
+ * @param[in] ID 32-bit value, that was provided to executeUdoOp by the calling entity.
+ *            Can be used to track the notifications, in case of multiple execute calls issued.
+ *
+ * @return Error code
+ *
+ */
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ExternalNotify_t)(const uint32_t ID);
+
+typedef SnpeUdo_ExternalNotify_t Udo_ExternalNotify_t;
+
+/**
+ * @brief Operation execution function.
+ *
+ *        Calling this function will run the operation on set of inputs, generating a set of outputs.
+ *        The call can be blocking (synchronous) or non-blocking (asynchronous). To support the
+ *        non-blocking mode, the calling entity can pass an ID and a notification function.
+ *        At the end of the execution this notification function would be called, passing it the ID.
+ *        <b> NOTE: Asynchronous execution mode not supported in this release. </b>
+ *
+ * @param[in] operation handle to the operation on which execute is invoked
+ * @param[in] blocking flag to indicate execution mode.
+ *            If set, execution is blocking,
+ *            e.g SnpeUdo_executeOp call does not return until execution is done.
+ *            If not set, SnpeUdo_executeOp returns immediately, and the
+ *            library will call the notification function (if set) when execution is done.
+ *
+ * @param[in] ID 32-bit number that can be used by the calling entity to track execution
+ *            in case of non-blocking execution.
+ *            For example, it can be a sequence number, increased by one on each call.
+ *
+ * @param[in] notifyFunc Pointer to notification function. if the pointer is set, and execution is
+ *            non-blocking, the library will call this function at end of execution,
+ *            passing the number provided as ID
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_executeOp(SnpeUdo_Operation_t operation,
+                  bool         blocking,
+                  const uint32_t ID,
+                  SnpeUdo_ExternalNotify_t notifyFunc);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ExecuteOpFunction_t)(SnpeUdo_Operation_t,
+                               bool,
+                               const uint32_t,
+                               SnpeUdo_ExternalNotify_t);
+
+typedef SnpeUdo_ExecuteOpFunction_t Udo_ExecuteOpFunction_t;
+
+/**
+ * @brief A function to setting the inputs & outputs. part of SnpeUdo_Operation struct,
+ *        returned from creation of a new operation instance.
+ *        <b> Not supported in this release. </b>
+ *
+ *        This function allows the calling entity to change some of the inputs and outputs
+ *        between calls to execute.
+ *        Note that the change is limited to changing the <b> pointer </b> to the tensor data only.
+ *        Any other change may be rejected by the implementation library, causing
+ *        immediate invalidation of the operation instance
+ *
+ * @param[in] operation Operation on which IO tensors are set
+ *
+ * @param[in] inputs array of tensor parameters. The calling entity may provide a subset of the
+ *            operation inputs, providing only those that it wants to change.
+ *
+ * @param[in] outputs array of tensor parameters. The calling entity may provide a subset of the
+ *            operation outputs, providing only those that it wants to change.
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_setOpIO(SnpeUdo_Operation_t operation,
+                SnpeUdo_TensorParam_t* inputs,
+                SnpeUdo_TensorParam_t* outputs);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_SetOpIOFunction_t)(SnpeUdo_Operation_t,
+                             SnpeUdo_TensorParam_t*,
+                             SnpeUdo_TensorParam_t*);
+
+typedef SnpeUdo_SetOpIOFunction_t Udo_SetOpIOFunction_t;
+
+/**
+ * @brief A function to return execution times.
+ *
+ *        This function can be called to query the operation execution times on the IP core
+ *        on which the operation is run. The time is provided in micro-seconds
+ *
+ * @param[in] operation Handle to operation whose execution time is being profiled
+ *
+ * @param[in,out] executionTime pointer to a uint32 value.This function writes the operation
+ *                execution time in usec into this value.
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_profileOp(SnpeUdo_Operation_t operation, uint32_t *executionTime);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ProfileOpFunction_t)(SnpeUdo_Operation_t, uint32_t*);
+
+typedef SnpeUdo_ProfileOpFunction_t Udo_ProfileOpFunction_t;
+
+/**
+ * @brief A function to release the operation instance
+ *        \n When it is called, the implementation library needs to release all resources
+ *        allocated for this operation instance.
+ *        \n Note that all function pointers which are part of SnpeUdo_Operation become
+ *        <b> invalid </b> once releaseUdoOp call returns.
+ *
+ * @param[in] operation Handle to operation to be released
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_releaseOp(SnpeUdo_Operation_t operation);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ReleaseOpFunction_t)(SnpeUdo_Operation_t);
+
+typedef SnpeUdo_ReleaseOpFunction_t Udo_ReleaseOpFunction_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif //SNPE_UDO_IMPL_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplCpu.h b/third_party/snpe/include/SnpeUdo/UdoImplCpu.h
new file mode 100644
index 00000000000000..3bbe0638e60fc8
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoImplCpu.h
@@ -0,0 +1,44 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+// Header to be used by a CPU UDO Implementation library
+
+#ifndef SNPE_UDO_IMPL_CPU_H
+#define SNPE_UDO_IMPL_CPU_H
+
+#include <stdio.h>
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief This struct provides the infrastructure needed by a developer of
+ * CPU UDO Implementation library.
+ *
+ * The framework/runtime which loads the CPU UDO implementation library provides
+ * this infrastructure data to the loaded library at the time of op factory creation.
+ * as an opaque pointer. It contains hooks for the UDO library to invoke supported
+ * functionality at the time of execution
+ *
+ * @param getData function pointer to retrieve raw tensor data from opaque pointer
+ *  passed into the UDO when creating an instance.
+ * @param getDataSize function pointer to retrieve tensor data size from opaque pointer
+ */
+
+typedef struct
+{
+   /// function pointer to retrieve raw tensor data from opaque pointer
+   /// passed into the UDO when creating an instance.
+   float* (*getData)(void*);
+   /// function pointer to retrieve tensor data size from opaque pointer
+   size_t (*getDataSize) (void*);
+} SnpeUdo_CpuInfrastructure_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // SNPE_UDO_IMPL_CPU_H
\ No newline at end of file
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplDsp.h b/third_party/snpe/include/SnpeUdo/UdoImplDsp.h
new file mode 100644
index 00000000000000..b97a6493202ae8
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoImplDsp.h
@@ -0,0 +1,207 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+//==============================================================================
+/*
+ * THIS HEADER FILE IS COPIED FROM HEXAGON-NN PROJECT
+ *
+ */
+//==============================================================================
+
+
+// Header to be used by a DSP Hexnn UDO Implementation library
+
+#ifndef SNPE_UDO_IMPL_DSP_H
+#define SNPE_UDO_IMPL_DSP_H
+#include <stdio.h>
+#include "SnpeUdo/UdoImpl.h"
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief A function to validate that a set of params is supported by an operation
+ *        This function is HexNN specific, use case is when registration library is not in use.
+ *        Optional function.
+ *
+ * @param[in] operationType Operation type
+ * @param[in] numOfStaticParams Number of static params defined by the op
+ * @param[in] staticParams Array of static params to the op
+ * @return Error code, indicating if the operation can be created on this set of configuration or not.
+ *
+ */
+
+SnpeUdo_ErrorType_t
+SnpeUdo_validateOperation (SnpeUdo_String_t operationType,
+                           uint32_t numOfStaticParams,
+                           const SnpeUdo_Param_t* staticParams);
+
+typedef SnpeUdo_ErrorType_t (*SnpeUdo_ValidateOperationFunction_t) (SnpeUdo_String_t,
+                                                                    uint32_t,
+                                                                    const SnpeUdo_Param_t*);
+
+typedef SnpeUdo_ValidateOperationFunction_t Udo_ValidateOperationFunction_t;
+
+// enum used for indicating input/outout tensor data layouts on DSP, plain vs d32
+typedef enum {
+        SNPE_UDO_DSP_TENSOR_LAYOUT_PLAIN = 0x00,        UDO_DSP_TENSOR_LAYOUT_PLAIN = 0x00,
+        SNPE_UDO_DSP_TENSOR_LAYOUT_D32   = 0x01,        UDO_DSP_TENSOR_LAYOUT_D32   = 0x01
+} SnpeUdo_HexNNTensorLayout_t;
+
+typedef SnpeUdo_HexNNTensorLayout_t Udo_HexNNTensorLayout_t;
+
+/**
+ * @brief A function to query numbers of inputs and outputs,
+ *        quantization type of each input and each output as arrays,
+ *        and data layout (plain vs d32) of each input and each output as arrays
+ *        of an operation.
+ * inputsQuantTypes and inputsLayouts should point to arrays of size numOfInputs
+ * outputsQuantTypes and outputsLayouts should point to arrays of size numOfOutputs
+ *
+ * Note: inputsLayouts and inputsLayouts can point to NULL, in this case, it is
+ * assumed all inputs and/or outputs have plain data layouts, i.e. no D32
+ *
+ * @param[in] operationType Operation type
+ * @param[in] numOfStaticParams Number of static params defined by the op
+ * @param[in] staticParams Array of static params to the op
+ * @param[in,out] numOfInputs Number of input tensors to the op
+ * @param[in,out] inputsQuantTypes Array of Quantization info for each input tensor
+ * @param[in,out] inputsLayouts Array of layout type for each input tensor
+ * @param[in,out] numOfOutputs Number of output tensors to the op
+ * @param[in,out] outputsQuantTypes Array of Quantization info for each output tensor
+ * @param[in,out] outputsLayouts Array of layout type for each output tensor
+ * @return error code, indicating status of query
+ */
+
+SnpeUdo_ErrorType_t
+SnpeUdo_queryOperation (SnpeUdo_String_t operationType,
+                        uint32_t numOfStaticParams,
+                        const SnpeUdo_Param_t* staticParams,
+                        uint32_t* numOfInputs,
+                        SnpeUdo_QuantizationType_t** inputsQuantTypes,
+                        SnpeUdo_HexNNTensorLayout_t** inputsLayouts,
+                        uint32_t* numOfOutputs,
+                        SnpeUdo_QuantizationType_t** outputsQuantTypes,
+                        SnpeUdo_HexNNTensorLayout_t** outputsLayouts);
+
+typedef SnpeUdo_ErrorType_t (*SnpeUdo_QueryOperationFunction_t) (SnpeUdo_String_t,
+                                                                 uint32_t,
+                                                                 const SnpeUdo_Param_t*,
+                                                                 uint32_t*,
+                                                                 SnpeUdo_QuantizationType_t**,
+                                                                 SnpeUdo_HexNNTensorLayout_t**,
+                                                                 uint32_t*,
+                                                                 SnpeUdo_QuantizationType_t**,
+                                                                 SnpeUdo_HexNNTensorLayout_t**);
+
+typedef SnpeUdo_QueryOperationFunction_t Udo_QueryOperationFunction_t;
+
+// Global infrastructure functions supported by Hexagon-NN v2
+typedef void (*workerThread_t) (void* perOpInfrastructure, void* userData);
+typedef int (*udoSetOutputTensorSize_t) (void* perOpInfrastructure, uint32_t outIdx, uint32_t size);
+typedef int (*udoGetInputD32Paddings_t) (void* perOpInfrastructure, uint32_t inIdx,
+                                         uint32_t* heightPadBefore, uint32_t* heightPadAfter,
+                                         uint32_t* widthPadBefore, uint32_t* widthPadAfter,
+                                         uint32_t* depthPadBefore, uint32_t* depthPadAfter);
+typedef int (*udoSetOutputD32ShapeSizePaddings_t) (void* perOpInfrastructure, uint32_t outIdx,
+                                                   uint32_t batch,
+                                                   uint32_t height, uint32_t heightPadBefore, uint32_t heightPadAfter,
+                                                   uint32_t width, uint32_t widthPadBefore, uint32_t widthPadAfter,
+                                                   uint32_t depth, uint32_t depthPadBefore, uint32_t depthPadAfter,
+                                                   SnpeUdo_DataType_t dataType);
+typedef void* (*udoMemalign_t) (size_t n, size_t size);
+typedef void* (*udoMalloc_t) (size_t size);
+typedef void* (*udoCalloc_t) (size_t n, size_t size);
+typedef void (*udoFree_t) (void* ptr);
+typedef uint32_t (*udoGetVtcmSize_t) (void* perOpInfrastructure);
+typedef void* (*udoGetVtcmPtr_t) (void* perOpInfrastructure);
+typedef uint32_t (*udoVtcmIsReal_t) (void* perOpInfrastructure);
+typedef void (*udoRunWorkerThreads_t) (void* perOpInfrastructure, uint32_t nThreads, workerThread_t w, void* userData);
+
+typedef struct hexNNv2GlobalInfra {
+    udoSetOutputTensorSize_t udoSetOutputTensorSize;
+    udoGetInputD32Paddings_t udoGetInputD32Paddings;
+    udoSetOutputD32ShapeSizePaddings_t udoSetOutputD32ShapeSizePaddings;
+    udoMemalign_t udoMemalign;
+    udoMalloc_t udoMalloc;
+    udoCalloc_t udoCalloc;
+    udoFree_t udoFree;
+    udoGetVtcmSize_t udoGetVtcmSize;
+    udoGetVtcmPtr_t udoGetVtcmPtr;
+    udoVtcmIsReal_t udoVtcmIsReal;
+    udoRunWorkerThreads_t udoRunWorkerThreads;
+} SnpeUdo_HexNNv2GlobalInfra_t;
+
+typedef SnpeUdo_HexNNv2GlobalInfra_t Udo_HexNNv2GlobalInfra_t;
+
+// hexnn types
+typedef enum hexnnInfraType {
+   UDO_INFRA_HEXNN_V2,
+   UDO_INFRA_HEXNN_V3   // reserved, do not use
+} SnpeUdo_HexNNInfraType_t;
+
+typedef SnpeUdo_HexNNInfraType_t Udo_HexNNInfraType_t;
+
+typedef struct {
+    Udo_CreateOpFactoryFunction_t create_op_factory;
+    Udo_CreateOperationFunction_t create_operation;
+    Udo_ExecuteOpFunction_t execute_op;
+    Udo_ReleaseOpFunction_t release_op;
+    Udo_ReleaseOpFactoryFunction_t release_op_factory;
+    Udo_ValidateOperationFunction_t validate_op;
+    Udo_QueryOperationFunction_t query_op;
+} udo_func_package_t;
+
+/**
+ * @brief Infrastructures needed by a developer of DSP Hexnn UDO Implementation library.
+ *
+ * The framework/runtime which loads the Hexnn UDO implementation library provides
+ * this infrastructure to the loaded library by calling "SnpeUdo_initImplLibrary"
+ * function, and passing it (cast to void*). The Hexnn UDO library is expected
+ * to cast it back to this structure.
+ *
+ */
+typedef struct dspGlobalInfrastructure {
+    SnpeUdo_Version_t   dspInfraVersion;     // api version
+    SnpeUdo_HexNNInfraType_t infraType;
+    SnpeUdo_HexNNv2GlobalInfra_t hexNNv2Infra;
+} SnpeUdo_DspGlobalInfrastructure_t;
+
+typedef SnpeUdo_DspGlobalInfrastructure_t Udo_DspGlobalInfrastructure_t;
+
+/**
+ * hexnn v2 per op factory infrastructure
+ *
+ * The framework/runtime passes per op factory infrastructure as a void pointer
+ * to HexNN UDO implementation library by calling function "SnpeUdo_createOpFactory".
+ * UDO implementation library is expected to cast it back to this following struct.
+ *
+ */
+typedef struct hexnnv2OpFactoryInfra {
+   unsigned long graphId;
+} SnpeUdo_HexNNv2OpFactoryInfra_t;
+
+typedef SnpeUdo_HexNNv2OpFactoryInfra_t Udo_HexNNv2OpFactoryInfra_t;
+
+/**
+ * hexnn v2 per operation infrastructure
+ *
+ * The framework/runtime passes per operation infrastructure as a void pointer
+ * to HexNN UDO implementation library by calling function "SnpeUdo_createOperation".
+ * UDO implementation library is expected to cast it to the following type and save it.
+ *
+ * This is needed to be passed back into some functions from global infrastructure.
+ *
+ */
+typedef void* SnpeUdo_HexNNv2OpInfra_t;
+
+typedef SnpeUdo_HexNNv2OpInfra_t Udo_HexNNv2OpInfra_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // SNPE_UDO_IMPL_DSP_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplGpu.h b/third_party/snpe/include/SnpeUdo/UdoImplGpu.h
new file mode 100644
index 00000000000000..1af654d110c26b
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoImplGpu.h
@@ -0,0 +1,112 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+// Header to be used by a GPU UDO Implementation library
+
+#ifndef SNPE_UDO_IMPL_GPU_H
+#define SNPE_UDO_IMPL_GPU_H
+
+#include "CL/cl.h"
+#include "SnpeUdo/UdoBase.h"
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * This header defines version 0.0.0 of the GPU UDO Infrastructure.
+ * It defines the interpretation of the global and per-OpFactory infrastructure pointers
+ * as well as the interpretation of tensorData pointers.
+ *
+ * The per-Operation infrastructure pointer is defined to be null, and should not be used.
+ *
+ * The SnpeUdoTensorParam_t struct below provides the interpretation for
+ * the tensorData opaque pointer for SnpeUdoTensorParams representing inputs or outputs.
+ *
+ * The tensorData opaque pointer populated in SnpeUdoScalarParam_t structs should be interpreted
+ * as a host-readable data pointer.
+ *
+ */
+
+/**
+ * @brief Function to retrieve opencl program from Program Cache repository.
+ * @param programCache is opaque pointer to Program Cache repository provided by
+ * SNPE GPU UDO runtime.
+ * @param programName is name associated with opencl program for UDO.
+ * @param program is pointer to opencl program which will be populated with
+ * valid opencl program if found in Program Cache repository.
+ * @return SnpeUdo_ErrorType_t is error type returned. SNPE_UDO_NO_ERROR is returned
+ * on success.
+ */
+typedef SnpeUdo_ErrorType_t (*SnpeUdo_getProgram_t)
+   (void* programCache, const char* programName, cl_program* program);
+
+/**
+ * @brief Function to store valid opencl program in Program Cache repository.
+ * @param programCache is opaque pointer to Program Cache repository provided by
+ * SNPE GPU UDO runtime.
+ * @param programName is name associated with opencl program for UDO.
+ * @param program is valid opencl program after program is built.
+ * @return SnpeUdo_ErrorType_t is error type returned. SNPE_UDO_NO_ERROR is returned
+ * on success.
+ * */
+typedef SnpeUdo_ErrorType_t (*SnpeUdo_storeProgram_t)
+   (void* programCache, const char * programName, cl_program program);
+
+/**
+ * @brief Global Infrastructure Definition for GPU UDO Implementations.
+ */
+typedef struct {
+   // Infrastructure definition version. This header is 0.0.0
+   SnpeUdo_Version_t   gpuInfraVersion;
+   SnpeUdo_getProgram_t SnpeUdo_getProgram;
+   SnpeUdo_storeProgram_t SnpeUdo_storeProgram;
+} SnpeUdo_GpuInfrastructure_t;
+
+/**
+ * @brief Per OpFactory Infrastructure Definition for GPU UDO Implementations.
+ * @note  This version of the infrastructure definition guarantees that the same
+ *        Per OpFactory infrastructure pointer will be provided to all OpFactories
+ *        in the same network.
+ */
+typedef struct
+{
+   cl_context context;
+   cl_command_queue commandQueue;
+   void* programCache;
+} SnpeUdo_GpuOpFactoryInfrastructure_t;
+
+/**
+ * @brief Opaque tensorData definition for operation inputs and outputs.
+ *
+ * The following is a list of all SnpeUdoTensorLayout_t values supported by the
+ * GPU UDO implementation, and how the parameters of the struct should be
+ * interpreted in each case:
+ *
+ * SNPE_UDO_LAYOUT_NHWC:
+ *   mem shall be single-element array, pointing to a cl buffer memory object.
+ *   the dimensions of this object match the dimensions specified in the encompassing
+ *   SnpeUdoTensorParam_t's currDimensions.
+ *
+ *   memCount shall be 1.
+ *
+ *   paddedRank and paddedDimensions are undefined and shall be ignored by the UDO
+ *   implementation.
+ *
+ */
+typedef struct
+{
+   cl_mem*   mem;
+   uint32_t  memCount;
+   uint32_t  paddedRank;
+   uint32_t* paddedDimensions;
+
+} SnpeUdo_GpuTensorData_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // SNPE_UDO_IMPL_GPU_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoReg.h b/third_party/snpe/include/SnpeUdo/UdoReg.h
new file mode 100644
index 00000000000000..a5d239883355ab
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoReg.h
@@ -0,0 +1,108 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef SNPE_UDO_REG_H
+#define SNPE_UDO_REG_H
+
+#include "SnpeUdo/UdoShared.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief Initialize the shared library's data structures. Calling any other
+ *        library function before this one will result in an error being returned.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_initRegLibrary(void);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_InitRegLibraryFunction_t)(void);
+
+/**
+ * @brief A function to query the API version of the UDO registration library.
+ *        The function populates a SnpeUdo_LibVersion_t struct, which contains a SnpeUdo_Version_t
+ *        struct for API version and library version.
+ *
+ * @param[in, out] version A pointer to struct which contains major, minor, teeny information for
+ *                 library and api versions.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getRegLibraryVersion(SnpeUdo_LibVersion_t** version);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_getRegLibraryVersion_t)(SnpeUdo_LibVersion_t** version);
+
+/**
+ * @brief Release the shared library's data structures, and invalidate any
+ *        handles returned by the library. The behavior of any outstanding
+ *        asynchronous calls made to this library when this function is called
+ *        are undefined. All library functions (except SnpeUdo_InitRegLibrary) will
+ *        return an error after this function has been successfully called.
+ *
+ *        It should be possible to call SnpeUdo_InitRegLibrary after calling this
+ *        function, and re-initialize the library.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_terminateRegLibrary(void);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_TerminateRegLibraryFunction_t)(void);
+
+
+/**
+ * @brief A function to query the info on the UDO set.
+ *        The function populates a structure which contains information about
+ *        the package and operations contained in it.
+ *
+ * @param[in, out] registrationInfo A struct which contains information on the set of UDOs
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getRegInfo(SnpeUdo_RegInfo_t** registrationInfo);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_GetRegInfoFunction_t)(SnpeUdo_RegInfo_t** registrationInfo);
+
+/**
+ * @brief A function to validate that a set of params is supported by an operation
+ *        The function receives an operation definition struct, and returns if this configuration is
+ *        supported (e.g. if an operation can be created using this configuration)
+ *
+ * @param[in] opDefinition A struct of SnpeUdo_OpDefinition type, containing the information needed to
+ *            validate that an operation can be created with this configuration.
+ *
+ * @return Error code, indicating is the operation can be created on this set or not.
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_validateOperation(SnpeUdo_OpDefinition_t* opDefinition);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ValidateOperationFunction_t)(SnpeUdo_OpDefinition_t* opDefinition);
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif //SNPE_UDO_REG_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoShared.h b/third_party/snpe/include/SnpeUdo/UdoShared.h
new file mode 100644
index 00000000000000..418d9db9e2f91b
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoShared.h
@@ -0,0 +1,48 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef SNPE_UDO_SHARED_H
+#define SNPE_UDO_SHARED_H
+
+#include "SnpeUdo/UdoBase.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief A function to return the various versions as they relate to the UDO
+ *        The function returns a struct containing the the following:
+ *        libVersion: the version of the implementation library compiled for the UDO. Set by user
+ *        apiVersion: the version of the UDO API used in compiling the implementation library.
+ *        Set by SNPE
+ *
+ * @param[in, out] version A pointer to Version struct of type SnpeUdo_LibVersion_t
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getVersion (SnpeUdo_LibVersion_t** version);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_GetVersionFunction_t) (SnpeUdo_LibVersion_t** version);
+
+typedef SnpeUdo_GetVersionFunction_t Udo_GetVersionFunction_t;
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // SNPE_UDO_SHARED_H
diff --git a/third_party/snpe/larch64 b/third_party/snpe/larch64
new file mode 120000
index 00000000000000..2e2a1c315bf7d8
--- /dev/null
+++ b/third_party/snpe/larch64
@@ -0,0 +1 @@
+aarch64-ubuntu-gcc7.5
\ No newline at end of file
diff --git a/third_party/snpe/x86_64 b/third_party/snpe/x86_64
new file mode 120000
index 00000000000000..700025efab335e
--- /dev/null
+++ b/third_party/snpe/x86_64
@@ -0,0 +1 @@
+x86_64-linux-clang
\ No newline at end of file
diff --git a/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so b/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
new file mode 100644
index 00000000000000..20d1377a014366
--- /dev/null
+++ b/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4c33680010a8c7b2eef33e809844c0ad1d5ab0f0ec37abd49d924204670b357
+size 13556072
diff --git a/third_party/snpe/x86_64-linux-clang/libSNPE.so b/third_party/snpe/x86_64-linux-clang/libSNPE.so
new file mode 100644
index 00000000000000..0367b1106ba571
--- /dev/null
+++ b/third_party/snpe/x86_64-linux-clang/libSNPE.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:024891d2e4e4e265a1e7e72b27bad41ee6ae077d2197f45959bb32f8071dc8cf
+size 5350008
diff --git a/third_party/snpe/x86_64-linux-clang/libomp.so b/third_party/snpe/x86_64-linux-clang/libomp.so
new file mode 100755
index 00000000000000..db98cba162e784
--- /dev/null
+++ b/third_party/snpe/x86_64-linux-clang/libomp.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4784aa68e7ebdbe97db732eab87618b0a5fb73abeab4daed5476e01829b0e6e
+size 759208

From 72a4e0970a39c51708e2249d50ef009b30817a17 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 10 Jan 2025 19:27:41 -0500
Subject: [PATCH 0061/1434] MADS: Filter disengage events without lateral
 control impact (#556)

---
 sunnypilot/mads/mads.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index f385a9aba2222b..78645668872cbc 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -124,6 +124,9 @@ def transition_paused_state():
           self.events.add(EventName.silentLkasEnable)
 
       self.events.remove(EventName.preEnableStandstill)
+      self.events.remove(EventName.belowEngageSpeed)
+      self.events.remove(EventName.speedTooLow)
+      self.events.remove(EventName.cruiseDisabled)
 
     if self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable):
       update_unified_engagement_mode()

From 898b7f28a853ee5a78cc36c45cd107551e36404f Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 12 Jan 2025 01:23:00 +0100
Subject: [PATCH 0062/1434] Better model builder (#559)

* Add job to fetch and upload model artifacts

Introduced a new `get_model` job to retrieve and upload model artifacts as part of the workflow. Updated the `build_model` job to download and clean up model files before building, ensuring an isolated and streamlined process. These changes improve modularity and artifact handling in the CI pipeline.

* Refine model file handling in build workflow

Restrict deletion and download commands to ".onnx" files to prevent unintended removal or overwriting of non-ONNX files. This ensures a more targeted and safer workflow for handling model artifacts.

* Update model artifact handling in build workflow

Changed artifact upload path to include only .onnx files and commented out the deletion of existing models. Also added a dependency for the build stage to ensure proper execution sequence.

* Update build workflow to refine model artifact handling

Removed unused code for deleting models and fixed the artifact path. Added a reference file logging custom name and upstream branch for better traceability. These changes streamline the workflow and improve clarity.

* Set dynamic run-name for sunnypilot build workflow

Added a customizable `run-name` field in the sunnypilot build model workflow. This allows more informative and dynamic naming based on input parameters such as `custom_name` or `upstream_branch`. Improves clarity and traceability in workflow runs.

* Add customization options and metadata generation to build

Introduce new inputs for file name prefix and 20Hz model specification in the workflow. Enable renaming of model files, generation of file hashes, and creation of a `metadata.json` file containing build details. This improves flexibility and enhances artifact information management.

* Refactor CI workflow to remove redundant get_model job

The `get_model` job has been removed, and its relevant steps have been merged into the `build_model` job to streamline the workflow. Additionally, a patch for `SConstruct` has been added to support an arbitrary cache directory configuration. This simplifies the pipeline while maintaining functionality.

* powersave ok ok

* Revert "powersave ok ok"

This reverts commit 716b9f1e2dcf51313997e09809a1f4fc74b49855.

* Update build process to use .thneed files over .pkl

Replaced .pkl file references with .thneed in the sunnypilot build workflow. Adjusted file renaming, hashing, and metadata handling to align with the new file format. This ensures compatibility with the updated file structure.

* let's seeeeeeeeee

* Remove unused CXXFLAGS from build step in workflow

CXXFLAGS options `-Wno-vla-extension` and `-Wno-vla-cxx-extension` were removed from the `scons` command as they are no longer necessary. This simplifies the build configuration and ensures cleaner workflows.
---
 .github/workflows/sunnypilot-build-model.yaml | 44 +++++++++++++++++++
 1 file changed, 44 insertions(+)

diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml
index cef5badf2dc7b8..e845d80c662664 100644
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -18,6 +18,18 @@ on:
         description: 'Custom name for the model'
         required: false
         type: string
+      file_name:
+        description: 'File name prefix for the model files'
+        required: false
+        type: string
+      is_20hz:
+        description: 'Is this a 20Hz model'
+        required: false
+        type: boolean
+        default: false
+
+
+run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
 
 jobs:
   build_model:
@@ -72,6 +84,8 @@ jobs:
         run: |
           sudo rm -rf ${OUTPUT_DIR}
           mkdir -p ${OUTPUT_DIR}
+          
+          # Copy the model files
           rsync -avm \
             --include='*.dlc' \
             --include='*.thneed' \
@@ -81,6 +95,36 @@ jobs:
             --delete-excluded \
             --chown=comma:comma \
             ./selfdrive/modeld/models/ ${OUTPUT_DIR}/
+          
+          # Rename files if file_name is provided
+          if [ ! -z "${{ inputs.file_name }}" ]; then
+            mv ${OUTPUT_DIR}/supercombo.thneed ${OUTPUT_DIR}/supercombo-${{ inputs.file_name }}.thneed
+            mv ${OUTPUT_DIR}/supercombo_metadata.pkl ${OUTPUT_DIR}/supercombo-${{ inputs.file_name }}_metadata.pkl
+          fi
+          
+          # Calculate SHA256 hashes
+          HASH=$(sha256sum ${OUTPUT_DIR}/supercombo*.thneed | cut -d' ' -f1)
+          METADATA_HASH=$(sha256sum ${OUTPUT_DIR}/supercombo*_metadata.pkl | cut -d' ' -f1)
+          
+          # Create metadata.json
+          cat > ${OUTPUT_DIR}/metadata.json << EOF
+          {
+            "display_name": "${{ inputs.custom_name || inputs.upstream_branch }}",
+            "full_name": "${{ inputs.file_name || 'default' }}",
+            "is_20hz": ${{ inputs.is_20hz || false }},
+            "files": {
+              "drive_model": {
+                "file_name": "$(basename ${OUTPUT_DIR}/supercombo*.thneed)",
+                "sha256": "${HASH}"
+              },
+              "metadata": {
+                "file_name": "$(basename ${OUTPUT_DIR}/supercombo*_metadata.pkl)",
+                "sha256": "${METADATA_HASH}"
+              }
+            },
+            "ref": "${{ inputs.upstream_branch }}",
+            "build_time": "$(date -u +"%Y-%m-%dT%H:%M:%SZ")"
+          }     
 
       - name: Upload Build Artifacts
         uses: actions/upload-artifact@v4

From 9ccc5cc3eaf9503bc05a8453993dac32df83049b Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 12 Jan 2025 04:32:01 +0100
Subject: [PATCH 0063/1434] models: retain pre-20hz drive model support  (#531)

* modeld: Retain pre-20hz drive model support

* Method not available anymore on OP

* some fixes

* Revert "Long planner get accel: new function args (#34288)"

* Revert "Fix low-speed allow_throttle behavior in long planner (#33894)"

* Revert "long planner: allow throttle reflects usage (#33792)"

* Revert "Gate acceleration on model gas press predictions (#33643)"

* Reapply "Gate acceleration on model gas press predictions (#33643)"

This reverts commit 76b08e37cb8eb94266ad9f6fed80db227e7c3428.

* Reapply "long planner: allow throttle reflects usage (#33792)"

This reverts commit c75244ca4e9c48084b0205b7c871e1a4e0f4e693.

* Reapply "Fix low-speed allow_throttle behavior in long planner (#33894)"

This reverts commit b2b7d21b7b685a2785d1beede3d223f0bb954807.

* Reapply "Long planner get accel: new function args (#34288)"

This reverts commit 74dca2fccf4da59cc8ac62ba9c0ad10ba3fc264b.

* don't need

* retain snpe

* wrong

* they're symlinks

* remove

* put back into VCS

* add back

* don't include built

* Refactor model runner retrieval with caching support

Added caching for active model runner type via `ModelRunnerTypeCache` to enhance performance and avoid redundant checks. Introduced a `force_check` flag to bypass the cache when necessary. Updated related code to handle cache clearing during onroad transitions.

* Update model runner determination logic with caching fix

Enhances `get_active_model_runner` to utilize caching more effectively by ensuring type consistency and updating cache only when necessary. Also updates `is_snpe_model` to pass the `started` state to the runner determination function, improving behavior for dynamic checks.

* parse inputs via metadata

* load model and metadata dynamically

* cherry pick from devtekve as base

* lateral_control_params & prev_desired_curv: MLSIM V0 to Null Pointer

* old desired_curv data: MLSIM V1 to Postal Service

* Bringing what was on master back then

* Cleaning up

* Refactor model pipeline for modularity and dynamic input handling

Refactored the model pipeline by introducing helper functions to modularize model loading, metadata extraction, and input preparation. Improved flexibility in handling dynamic input keys and parsing outputs based on model configuration. Removed deprecated or unused code segments for cleaner and more maintainable structure.

* Push NDv2 because why not and fix modeld

* `Refactor model parsing and clean unused code dependencies`

Simplified `parse_outputs` by removing unnecessary `input_keys` parameter, ensuring cleaner logic. Updated `PROCESS_NAME` for standardization and eliminated deprecated `Pathlib` dependencies in model paths. Minor adjustments improve input handling for lateral control parameters.

* Refactor model and metadata loading functions.

Simplified and clarified `load_model` by renaming it to `get_model_path` and removing redundant variable assignments. Streamlined `load_metadata` by directly returning the loaded metadata without intermediate variables. These changes improve code readability and maintainability.

* Refactor modeld process selection based on SNPE support.

Introduce conditional logic to determine and start the appropriate modeld process (SNPE or default) based on hardware support. This improves flexibility and ensures correct process management.

* Walrus baby

* Update longitudinal_planner.py

* Improve model download progress handling and translations

Refactored model download status handling logic for better clarity and added mechanisms to track status changes efficiently. Updated UI text and translations across multiple languages to reflect consistent and accurate model download states.

* Revert "Update longitudinal_planner.py"

This reverts commit b44a687e4cfb1e2708457478e8626c731f42db0c.

* Fix variable naming for curvature size in modeld.py

Renamed the variable `len` to `length` to avoid conflict with the built-in `len()` function, improving code clarity and preventing potential errors. Also removed trailing spaces in commented-out sections for better formatting consistency.

* sync with upstream

* some are different

* should work

* sim_pose only exists in in ndv3 and prior

* dynamic meta constants

* fix

* uiview: disable power saving

* fix this

* ain't coasting for y'all

* Static analysis

* Refactor initialization of model inputs for clarity.

Removed redundant pre-initialization of `driving_style`, `nav_features`, and `nav_instructions` variables. Instead, directly initialize these within their respective conditional blocks for better readability and reduced memory usage.

* default to none

* enable in next PR

* more

* Revert "more"

This reverts commit f5a4220588c5b014b29173f8f89e1fecdec25336.

* Revert "enable in next PR"

This reverts commit 621cc4f18ead8489cb05a22a73b48e5e4fe33787.

* no need to cast bool

* nuke

* fix desired curvature for pre LAv1 models

* mypy

* static

* fix

* new json

* Going to a test branch with a different model json list

* renamed model json

* Update model runner handling in custom.capnp and helpers

Refactored model runner logic by introducing a `runner` field in `custom.capnp` and simplifying `get_active_model_runner` logic. Removed deprecated function `get_model_runner_by_filename` and added a temporary filter in `fetcher.py` to enforce `snpe` until full tinygrad support is implemented.

* Revert "Update model runner handling in custom.capnp and helpers"

This reverts commit f34d872c1369fa5479496ba4e0cce7b3063ab358.

* Revert "renamed model json"

This reverts commit 15c6ed303b01ab78d1a576dc1d4ad105db7518df.

* Revert "Going to a test branch with a different model json list"

This reverts commit 4c1408fee524656049ac6502ac4f578e5b632d54.

* Reapply "renamed model json"

This reverts commit c6fec6912a1517d161dc9b23dce43ddf46866312.

Reapply "Going to a test branch with a different model json list"

This reverts commit 83e253e9a3b6573191d907584d6368d991395b0a.

* Add 'runner' property to 'ModelBundle' and update relevant functions

The 'ModelBundle' class in 'custom.capnp' has been extended to include a 'runner' property. This required updating 'fetcher.py' to handle the 'runner' property when parsing model bundles. Additionally, the helper function 'get_model_runner_by_filename' has been removed from 'helpers.py' as it is no longer needed because the 'runner' property provides this information. The 'get_active_model_runner' function has also been updated in light of these changes.

* Refine bundle selection logic in SoftwarePanelSP

Improve logic for determining which model bundle to display by considering download status and failure state. Remove unnecessary function call to enhance clarity and maintainability.

* tmp

* Add retrieval of active model bundle in manager loop

Introduce a call to `get_active_bundle` to fetch the active model bundle and store it in `self.active_bundle`. This ensures the active bundle is always up-to-date during the model management process.

* Add "Use Default" option for model selection

Introduced a "Use Default" option in the model selection dropdown, allowing users to reset to the default model. Adjusted logic to handle default selection and ensure proper parameter updates. Fixed bundle status handling during the download process in the model manager.

* Refactor type hint in active_bundle assignment.

Removed an unnecessary type hint in the active_bundle assignment for cleaner and more maintainable code. This change does not affect functionality but improves code readability.

* no nested

* update json url

* split out

* format

* condense

* more

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>
---
 cereal/custom.capnp                           |  1 +
 selfdrive/debug/uiview.py                     | 11 ++-
 .../qt/offroad/settings/software_panel.cc     | 68 +++++++++-----
 .../qt/offroad/settings/software_panel.h      |  9 +-
 selfdrive/ui/translations/main_ar.ts          | 32 +++++--
 selfdrive/ui/translations/main_de.ts          | 32 +++++--
 selfdrive/ui/translations/main_es.ts          | 36 ++++++--
 selfdrive/ui/translations/main_fr.ts          | 32 +++++--
 selfdrive/ui/translations/main_ja.ts          | 32 +++++--
 selfdrive/ui/translations/main_ko.ts          | 32 +++++--
 selfdrive/ui/translations/main_pt-BR.ts       | 32 +++++--
 selfdrive/ui/translations/main_th.ts          | 32 +++++--
 selfdrive/ui/translations/main_tr.ts          | 32 +++++--
 selfdrive/ui/translations/main_zh-CHS.ts      | 32 +++++--
 selfdrive/ui/translations/main_zh-CHT.ts      | 32 +++++--
 sunnypilot/modeld/constants.py                | 33 +++++++
 sunnypilot/modeld/fill_model_msg.py           | 49 ++++++----
 sunnypilot/modeld/modeld.py                   | 68 +++++++++-----
 sunnypilot/modeld/parse_model_outputs.py      |  2 +
 sunnypilot/modeld/runners/run_helpers.py      | 90 +++++++++++++++++++
 sunnypilot/models/fetcher.py                  |  3 +
 sunnypilot/models/helpers.py                  | 16 +---
 sunnypilot/models/manager.py                  |  9 +-
 .../selfdrive/controls/lib/drive_helpers.py   | 27 ++++++
 system/manager/process_config.py              |  5 +-
 25 files changed, 589 insertions(+), 158 deletions(-)
 create mode 100644 sunnypilot/modeld/runners/run_helpers.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/drive_helpers.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 5007d0675230a4..3ddeed75f6e510 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -78,6 +78,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     status @4 :DownloadStatus;
     generation @5 :UInt32;
     environment @6 :Text;
+    runner @7 :Runner;
   }
 }
 
diff --git a/selfdrive/debug/uiview.py b/selfdrive/debug/uiview.py
index 8e75769a85ec64..ad7b997fa51a98 100755
--- a/selfdrive/debug/uiview.py
+++ b/selfdrive/debug/uiview.py
@@ -3,14 +3,19 @@
 
 from cereal import car, log, messaging
 from openpilot.common.params import Params
-from openpilot.system.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes, is_snpe_model
 from openpilot.system.hardware import HARDWARE
 
 if __name__ == "__main__":
   CP = car.CarParams(notCar=True, wheelbase=1, steerRatio=10)
-  Params().put("CarParams", CP.to_bytes())
+  params = Params()
+  params.put("CarParams", CP.to_bytes())
+  if use_snpe_modeld := is_snpe_model(False, params, CP):
+    print("Using SNPE modeld")
+  HARDWARE.set_power_save(False)
 
-  procs = ['camerad', 'ui', 'modeld', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
+  procs = ['camerad', 'ui', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
+  procs += ["modeld_snpe" if use_snpe_modeld else "modeld"]
   for p in procs:
     managed_processes[p].start()
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
index e3a9214483a3e1..1c05bb32e28fa7 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
@@ -29,16 +29,17 @@ SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) {
  * Reads status from modelManagerSP cereal message and displays status for all models
  */
 void SoftwarePanelSP::handleBundleDownloadProgress() {
-  const SubMaster &sm = *(uiStateSP()->sm);
-  const auto model_manager = sm["modelManagerSP"].getModelManagerSP();
-
-  if (!model_manager.hasSelectedBundle()) {
-    currentModelLblBtn->setDescription("");
+  using DS = cereal::ModelManagerSP::DownloadStatus;
+  if (!model_manager.hasSelectedBundle() && !model_manager.hasActiveBundle()) {
+    currentModelLblBtn->setDescription(tr("No custom model selected!"));
     return;
   }
 
-  const auto &bundle = model_manager.getSelectedBundle();
+  const bool showSelectedBundle = model_manager.hasSelectedBundle() && (isDownloading() || model_manager.getSelectedBundle().getStatus() == DS::FAILED);
+  const auto &bundle = showSelectedBundle ? model_manager.getSelectedBundle() : model_manager.getActiveBundle();
   const auto &models = bundle.getModels();
+  download_status = bundle.getStatus();
+  const auto download_status_changed = prev_download_status != download_status;
   QStringList status;
 
   // Get status for each model type in order
@@ -67,9 +68,9 @@ void SoftwarePanelSP::handleBundleDownloadProgress() {
     if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) {
       line = tr("Downloading %1 model [%2]... (%3%)").arg(typeName, modelName).arg(progress.getProgress(), 0, 'f', 2);
     } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADED) {
-      line = tr("%1 model [%2] downloaded").arg(typeName, modelName);
+      line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("downloaded") : tr("ready"));
     } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::CACHED) {
-      line = tr("%1 model [%2] from cache").arg(typeName, modelName);
+      line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("from cache") : tr("ready"));
     } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::FAILED) {
       line = tr("%1 model [%2] download failed").arg(typeName, modelName);
     } else {
@@ -80,9 +81,19 @@ void SoftwarePanelSP::handleBundleDownloadProgress() {
 
   currentModelLblBtn->setDescription(status.join("\n"));
 
-  if (bundle.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) {
-    currentModelLblBtn->showDescription();
+  if (prev_download_status != download_status) {
+    switch (bundle.getStatus()) {
+      case cereal::ModelManagerSP::DownloadStatus::DOWNLOADING:
+      case cereal::ModelManagerSP::DownloadStatus::CACHED:
+      case cereal::ModelManagerSP::DownloadStatus::DOWNLOADED:
+        currentModelLblBtn->showDescription();
+        break;
+      case cereal::ModelManagerSP::DownloadStatus::FAILED:
+      default:
+        break;
+    }
   }
+  prev_download_status = download_status;
 }
 
 /**
@@ -90,9 +101,6 @@ void SoftwarePanelSP::handleBundleDownloadProgress() {
  * @return Display name of the selected bundle or default model name
  */
 QString SoftwarePanelSP::GetActiveModelName() {
-  const SubMaster &sm = *(uiStateSP()->sm);
-  const auto model_manager = sm["modelManagerSP"].getModelManagerSP();
-
   if (model_manager.hasActiveBundle()) {
     return QString::fromStdString(model_manager.getActiveBundle().getDisplayName());
   }
@@ -100,6 +108,11 @@ QString SoftwarePanelSP::GetActiveModelName() {
   return "";
 }
 
+void SoftwarePanelSP::updateModelManagerState() {
+  const SubMaster &sm = *(uiStateSP()->sm);
+  model_manager = sm["modelManagerSP"].getModelManagerSP();
+}
+
 /**
  * @brief Handles the model bundle selection button click
  * Displays available bundles, allows selection, and initiates download
@@ -108,9 +121,6 @@ void SoftwarePanelSP::handleCurrentModelLblBtnClicked() {
   currentModelLblBtn->setEnabled(false);
   currentModelLblBtn->setValue(tr("Fetching models..."));
 
-  const SubMaster &sm = *(uiStateSP()->sm);
-  const auto model_manager = sm["modelManagerSP"].getModelManagerSP();
-
   // Create mapping of bundle indices to display names
   QMap<uint32_t, QString> index_to_bundle;
   const auto bundles = model_manager.getAvailableBundles();
@@ -120,6 +130,9 @@ void SoftwarePanelSP::handleCurrentModelLblBtnClicked() {
 
   // Sort bundles by index in descending order
   QStringList bundleNames;
+  // Add "Default" as the first option
+  bundleNames.append(tr("Use Default"));
+
   auto indices = index_to_bundle.keys();
   std::sort(indices.begin(), indices.end(), std::greater<uint32_t>());
   for (const auto &index: indices) {
@@ -135,14 +148,21 @@ void SoftwarePanelSP::handleCurrentModelLblBtnClicked() {
     return;
   }
 
-  // Find selected bundle and initiate download
-  for (const auto &bundle: bundles) {
-    if (QString::fromStdString(bundle.getDisplayName()) == selectedBundleName) {
-      params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex()));
-      if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) {
-        showResetParamsDialog();
+  // Handle "Stock" selection differently
+  if (selectedBundleName == tr("Use Default")) {
+    params.remove("ModelManager_ActiveBundle");
+    currentModelLblBtn->setValue(tr("Default"));
+    showResetParamsDialog();
+  } else {
+    // Find selected bundle and initiate download
+    for (const auto &bundle: bundles) {
+      if (QString::fromStdString(bundle.getDisplayName()) == selectedBundleName) {
+        params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex()));
+        if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) {
+          showResetParamsDialog();
+        }
+        break;
       }
-      break;
     }
   }
 
@@ -157,9 +177,11 @@ void SoftwarePanelSP::updateLabels() {
     return;
   }
 
+  updateModelManagerState();
   handleBundleDownloadProgress();
   currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
   currentModelLblBtn->setValue(GetActiveModelName());
+
   SoftwarePanel::updateLabels();
 }
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
index 7dd9bbc5ec252c..6e93c19e3ec472 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
@@ -19,12 +19,10 @@ class SoftwarePanelSP final : public SoftwarePanel {
 
 private:
   QString GetActiveModelName();
+  void updateModelManagerState();
 
   bool isDownloading() const {
-    const SubMaster &sm = *(uiStateSP()->sm);
-    const auto model_manager = sm["modelManagerSP"].getModelManagerSP();
-
-    if (!model_manager.hasSelectedBundle() || !sm.updated("modelManagerSP")) {
+    if (!model_manager.hasSelectedBundle()) {
       return false;
     }
 
@@ -37,6 +35,9 @@ class SoftwarePanelSP final : public SoftwarePanel {
   void handleCurrentModelLblBtnClicked();
   void handleBundleDownloadProgress();
   void showResetParamsDialog();
+  cereal::ModelManagerSP::Reader model_manager;
+  cereal::ModelManagerSP::DownloadStatus download_status{};
+  cereal::ModelManagerSP::DownloadStatus prev_download_status{};
 
   bool canContinueOnMeteredDialog() {
     if (!is_metered) return true;
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index f3fd4ea9562f04..5dbd71ff195298 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -1099,27 +1099,47 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] downloaded</source>
+        <source>%1 model [%2] download failed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] download failed</source>
+        <source>Select a Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] from cache</source>
+        <source>Fetching models...</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a Model</source>
+        <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Fetching models...</source>
+        <source>%1 model [%2] %3</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Model download has started in the background.</source>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 520699c9931169..9d6d626552042f 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -1083,27 +1083,47 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] downloaded</source>
+        <source>%1 model [%2] download failed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] download failed</source>
+        <source>Select a Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] from cache</source>
+        <source>Fetching models...</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a Model</source>
+        <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Fetching models...</source>
+        <source>%1 model [%2] %3</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Model download has started in the background.</source>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index d3a0844e1fc17f..773704061afad4 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -1090,22 +1090,42 @@ Esto puede tardar un minuto.</translation>
         <source>Downloading %1 model [%2]... (%3%)</source>
         <translation>Descargando modelo de %1 [%2]... (%3%)</translation>
     </message>
-    <message>
-        <source>%1 model [%2] downloaded</source>
-        <translation>Modelo de %1 [%2] descargado</translation>
-    </message>
     <message>
         <source>%1 model [%2] download failed</source>
         <translation>Falló descarga modelo de %1 [%2]</translation>
     </message>
-    <message>
-        <source>%1 model [%2] from cache</source>
-        <translation>Modelo de %1 [%2] desde caché</translation>
-    </message>
     <message>
         <source>Select a Model</source>
         <translation>Selecciona un Modelo</translation>
     </message>
+    <message>
+        <source>%1 model [%2] %3</source>
+        <translation>Modelo de %1 [%2] %3</translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation>descargado</translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation>listo</translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation>desde caché</translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation>Por Defecto</translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation>No hay ningún modelo personalizado elegido!.</translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation>Por Defecto</translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index f3630f1cef1198..4173a6218a8424 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -1083,27 +1083,47 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] downloaded</source>
+        <source>%1 model [%2] download failed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] download failed</source>
+        <source>Select a Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] from cache</source>
+        <source>Fetching models...</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a Model</source>
+        <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Fetching models...</source>
+        <source>%1 model [%2] %3</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Model download has started in the background.</source>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index ff83139cfc5e21..5e0ac26d299e9c 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -1077,27 +1077,47 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] downloaded</source>
+        <source>%1 model [%2] download failed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] download failed</source>
+        <source>Select a Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] from cache</source>
+        <source>Fetching models...</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a Model</source>
+        <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Fetching models...</source>
+        <source>%1 model [%2] %3</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Model download has started in the background.</source>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index fad75d6ac64862..899f92c03399c6 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -1079,27 +1079,47 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] downloaded</source>
+        <source>%1 model [%2] download failed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] download failed</source>
+        <source>Select a Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] from cache</source>
+        <source>Fetching models...</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a Model</source>
+        <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Fetching models...</source>
+        <source>%1 model [%2] %3</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Model download has started in the background.</source>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 32a289557fd689..997e202cc2c7fc 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -1083,27 +1083,47 @@ Isso pode levar até um minuto.</translation>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] downloaded</source>
+        <source>%1 model [%2] download failed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] download failed</source>
+        <source>Select a Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] from cache</source>
+        <source>Fetching models...</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a Model</source>
+        <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Fetching models...</source>
+        <source>%1 model [%2] %3</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Model download has started in the background.</source>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 39baaf5e7d8948..54221383b4d32a 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -1079,27 +1079,47 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] downloaded</source>
+        <source>%1 model [%2] download failed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] download failed</source>
+        <source>Select a Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] from cache</source>
+        <source>Fetching models...</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a Model</source>
+        <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Fetching models...</source>
+        <source>%1 model [%2] %3</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Model download has started in the background.</source>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 349afb7a0b09a1..9deae8ba4f79db 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -1077,27 +1077,47 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] downloaded</source>
+        <source>%1 model [%2] download failed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] download failed</source>
+        <source>Select a Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] from cache</source>
+        <source>Fetching models...</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a Model</source>
+        <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Fetching models...</source>
+        <source>%1 model [%2] %3</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Model download has started in the background.</source>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 1ab9de1d7fc4b7..30550519a55f4e 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -1079,27 +1079,47 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] downloaded</source>
+        <source>%1 model [%2] download failed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] download failed</source>
+        <source>Select a Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] from cache</source>
+        <source>Fetching models...</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a Model</source>
+        <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Fetching models...</source>
+        <source>%1 model [%2] %3</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Model download has started in the background.</source>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index e4f4480b7e6d26..f5e89aa4db5ff2 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -1079,27 +1079,47 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] downloaded</source>
+        <source>%1 model [%2] download failed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] download failed</source>
+        <source>Select a Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] from cache</source>
+        <source>Fetching models...</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a Model</source>
+        <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Fetching models...</source>
+        <source>%1 model [%2] %3</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Model download has started in the background.</source>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/sunnypilot/modeld/constants.py b/sunnypilot/modeld/constants.py
index 82161a5b67d225..8f63afa4617805 100644
--- a/sunnypilot/modeld/constants.py
+++ b/sunnypilot/modeld/constants.py
@@ -18,6 +18,8 @@ class ModelConstants:
   HISTORY_BUFFER_LEN = 99
   DESIRE_LEN = 8
   TRAFFIC_CONVENTION_LEN = 2
+  NAV_FEATURE_LEN = 256
+  NAV_INSTRUCTION_LEN = 150
   LAT_PLANNER_STATE_LEN = 4
   LATERAL_CONTROL_PARAMS_LEN = 2
   PREV_DESIRED_CURV_LEN = 1
@@ -83,3 +85,34 @@ class Meta:
   BRAKE_PRESS = slice(32, 55, 4)
   LEFT_BLINKER = slice(33, 55, 4)
   RIGHT_BLINKER = slice(34, 55, 4)
+
+
+class MetaTombRaider:
+  ENGAGED = slice(0, 1)
+  # next 2, 4, 6, 8, 10 seconds
+  GAS_DISENGAGE = slice(1, 41, 8)
+  BRAKE_DISENGAGE = slice(2, 41, 8)
+  STEER_OVERRIDE = slice(3, 41, 8)
+  HARD_BRAKE_3 = slice(4, 41, 8)
+  HARD_BRAKE_4 = slice(5, 41, 8)
+  HARD_BRAKE_5 = slice(6, 41, 8)
+  GAS_PRESS = slice(7, 41, 8)
+  BRAKE_PRESS = slice(8, 41, 8)
+  # next 0, 2, 4, 6, 8, 10 seconds
+  LEFT_BLINKER = slice(41, 53, 2)
+  RIGHT_BLINKER = slice(42, 53, 2)
+
+
+class MetaSimPose:
+  ENGAGED = slice(0, 1)
+  # next 2, 4, 6, 8, 10 seconds
+  GAS_DISENGAGE = slice(1, 36, 7)
+  BRAKE_DISENGAGE = slice(2, 36, 7)
+  STEER_OVERRIDE = slice(3, 36, 7)
+  HARD_BRAKE_3 = slice(4, 36, 7)
+  HARD_BRAKE_4 = slice(5, 36, 7)
+  HARD_BRAKE_5 = slice(6, 36, 7)
+  GAS_PRESS = slice(7, 36, 7)
+  # next 0, 2, 4, 6, 8, 10 seconds
+  LEFT_BLINKER = slice(36, 48, 2)
+  RIGHT_BLINKER = slice(37, 48, 2)
diff --git a/sunnypilot/modeld/fill_model_msg.py b/sunnypilot/modeld/fill_model_msg.py
index 672e01dbe914d1..1c40425bdd0389 100644
--- a/sunnypilot/modeld/fill_model_msg.py
+++ b/sunnypilot/modeld/fill_model_msg.py
@@ -2,7 +2,8 @@
 import capnp
 import numpy as np
 from cereal import log
-from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan, Meta
+from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
+from openpilot.sunnypilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_lag_adjusted_curvature, MIN_SPEED
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
@@ -51,12 +52,23 @@ def fill_xyz_poly(builder, degree, x, y, z):
 def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
                    net_output_data: dict[str, np.ndarray], publish_state: PublishState,
                    vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
-                   timestamp_eof: int, model_execution_time: float, valid: bool) -> None:
+                   timestamp_eof: int, model_execution_time: float, valid: bool,
+                   v_ego: float, steer_delay: float, meta_const) -> None:
   frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
   frame_drop_perc = frame_drop * 100
   extended_msg.valid = valid
   base_msg.valid = valid
 
+  if 'lat_planner_solution' in net_output_data:
+    x, y, yaw, yawRate = [net_output_data['lat_planner_solution'][0, :, i].tolist() for i in range(4)]
+    x_sol = np.column_stack([x, y, yaw, yawRate])
+    v_ego = max(MIN_SPEED, v_ego)
+    psis = x_sol[0:CONTROL_N, 2].tolist()
+    curvatures = (x_sol[0:CONTROL_N, 3] / v_ego).tolist()
+    desired_curvature = get_lag_adjusted_curvature(steer_delay, v_ego, psis, curvatures)
+  else:
+    desired_curvature = float(net_output_data['desired_curvature'][0, 0])
+
   driving_model_data = base_msg.drivingModelData
 
   driving_model_data.frameId = vipc_frame_id
@@ -65,7 +77,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   driving_model_data.modelExecutionTime = model_execution_time
 
   action = driving_model_data.action
-  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  action.desiredCurvature = desired_curvature
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -100,7 +112,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
 
   # lateral planning
   action = modelV2.action
-  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  action.desiredCurvature = desired_curvature
 
   # times at X_IDXS according to model plan
   PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
@@ -154,23 +166,24 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   meta = modelV2.meta
   meta.desireState = net_output_data['desire_state'][0].reshape(-1).tolist()
   meta.desirePrediction = net_output_data['desire_pred'][0].reshape(-1).tolist()
-  meta.engagedProb = net_output_data['meta'][0,Meta.ENGAGED].item()
+  meta.engagedProb = net_output_data['meta'][0,meta_const.ENGAGED].item()
   meta.init('disengagePredictions')
   disengage_predictions = meta.disengagePredictions
   disengage_predictions.t = ModelConstants.META_T_IDXS
-  disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE].tolist()
-  disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,Meta.GAS_DISENGAGE].tolist()
-  disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,Meta.STEER_OVERRIDE].tolist()
-  disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
-  disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
-  disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
-  disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
-  disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
+  disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,meta_const.BRAKE_DISENGAGE].tolist()
+  disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,meta_const.GAS_DISENGAGE].tolist()
+  disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,meta_const.STEER_OVERRIDE].tolist()
+  disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,meta_const.HARD_BRAKE_3].tolist()
+  disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,meta_const.HARD_BRAKE_4].tolist()
+  disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,meta_const.HARD_BRAKE_5].tolist()
+  if 'sim_pose' not in net_output_data:
+    disengage_predictions.gasPressProbs = net_output_data['meta'][0,meta_const.GAS_PRESS].tolist()
+    disengage_predictions.brakePressProbs = net_output_data['meta'][0,meta_const.BRAKE_PRESS].tolist()
 
   publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
-  publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]
+  publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,meta_const.HARD_BRAKE_5][0]
   publish_state.prev_brake_3ms2_probs[:-1] = publish_state.prev_brake_3ms2_probs[1:]
-  publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_3][0]
+  publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,meta_const.HARD_BRAKE_3][0]
   hard_brake_predicted = (publish_state.prev_brake_5ms2_probs > ModelConstants.FCW_THRESHOLDS_5MS2).all() and \
     (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all()
   meta.hardBrakePredicted = hard_brake_predicted.item()
@@ -178,9 +191,9 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   # confidence
   if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
     # any disengage prob
-    brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
-    gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]
-    steer_override_probs = net_output_data['meta'][0,Meta.STEER_OVERRIDE]
+    brake_disengage_probs = net_output_data['meta'][0,meta_const.BRAKE_DISENGAGE]
+    gas_disengage_probs = net_output_data['meta'][0,meta_const.GAS_DISENGAGE]
+    steer_override_probs = net_output_data['meta'][0,meta_const.STEER_OVERRIDE]
     any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs))
     # independent disengage prob for each 2s slice
     ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])]
diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
index ea531dfe189bca..ff5b83def410b0 100755
--- a/sunnypilot/modeld/modeld.py
+++ b/sunnypilot/modeld/modeld.py
@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 import os
 import time
-import pickle
 import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
@@ -13,7 +12,8 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import config_realtime_process
+from openpilot.common.realtime import DT_MDL, config_realtime_process
+from openpilot.common.numpy_fast import interp
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
@@ -23,8 +23,9 @@
 from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.sunnypilot.modeld.constants import ModelConstants
 from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
+from openpilot.sunnypilot.modeld.runners.run_helpers import get_model_path, load_metadata, prepare_inputs, load_meta_constants
 
-PROCESS_NAME = "sunnypilot.modeld.modeld"
+PROCESS_NAME = "selfdrive.modeld.modeld_snpe"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 MODEL_PATHS = {
@@ -54,23 +55,18 @@ def __init__(self, context: CLContext):
     self.frame = ModelFrame(context)
     self.wide_frame = ModelFrame(context)
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    self.inputs = {
-      'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
-      'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
-      'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32),
-      'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
-      'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
-    }
-
-    with open(METADATA_PATH, 'rb') as f:
-      model_metadata = pickle.load(f)
-
-    self.output_slices = model_metadata['output_slices']
-    net_output_size = model_metadata['output_shapes']['outputs'][1]
+
+    model_paths = get_model_path()
+    self.model_metadata = load_metadata()
+    self.inputs = prepare_inputs(self.model_metadata)
+    self.meta = load_meta_constants(self.model_metadata)
+
+    self.output_slices = self.model_metadata['output_slices']
+    net_output_size = self.model_metadata['output_shapes']['outputs'][1]
     self.output = np.zeros(net_output_size, dtype=np.float32)
     self.parser = Parser()
 
-    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context)
+    self.model = ModelRunner(model_paths, self.output, Runtime.GPU, False, context)
     self.model.addInput("input_imgs", None)
     self.model.addInput("big_input_imgs", None)
     for k,v in self.inputs.items():
@@ -90,8 +86,9 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_
     self.inputs['desire'][-ModelConstants.DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
     self.prev_desire[:] = inputs['desire']
 
-    self.inputs['traffic_convention'][:] = inputs['traffic_convention']
-    self.inputs['lateral_control_params'][:] = inputs['lateral_control_params']
+    for k in self.inputs:
+      if k in inputs and k != 'desire':
+        self.inputs[k][:] = inputs[k]
 
     # if getCLBuffer is not None, frame will be None
     self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
@@ -106,8 +103,19 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_
 
     self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:]
     self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :]
-    self.inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:]
-    self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][0, :]
+
+    if "lat_planner_solution" in outputs and "lat_planner_state" in self.inputs.keys():
+      self.inputs['lat_planner_state'][2] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 2])
+      self.inputs['lat_planner_state'][3] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 3])
+
+    if "desired_curvature" in outputs:
+      if "prev_desired_curvs" in self.inputs.keys():
+        self.inputs['prev_desired_curvs'][:-1] = self.inputs['prev_desired_curvs'][1:]
+        self.inputs['prev_desired_curvs'][-1] = outputs['desired_curvature'][0, 0]
+
+      if "prev_desired_curv" in self.inputs.keys():
+        self.inputs['prev_desired_curv'][:-1] = self.inputs['prev_desired_curv'][1:]
+        self.inputs['prev_desired_curv'][-1:] = outputs['desired_curvature'][0, :]
     return outputs
 
 
@@ -216,9 +224,9 @@ def main(demo=False):
 
     sm.update(0)
     desire = DH.desire
+    v_ego = sm["carState"].vEgo
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
-    lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -249,9 +257,20 @@ def main(demo=False):
     inputs:dict[str, np.ndarray] = {
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
-      'lateral_control_params': lateral_control_params,
       }
 
+    if "lateral_control_params" in model.inputs.keys():
+      inputs['lateral_control_params'] = np.array([max(v_ego, 0.), steer_delay], dtype=np.float32)
+
+    if "driving_style" in model.inputs.keys():
+      inputs['driving_style'] = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32)
+
+    if "nav_features" in model.inputs.keys():
+      inputs['nav_features'] = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32)
+
+    if "nav_instructions" in model.inputs.keys():
+      inputs['nav_instructions'] = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32)
+
     mt1 = time.perf_counter()
     model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
     mt2 = time.perf_counter()
@@ -262,7 +281,8 @@ def main(demo=False):
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
       fill_model_msg(drivingdata_send, modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
-                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
+                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen,
+                     v_ego, steer_delay, model.meta)
 
       desire_state = modelv2_send.modelV2.meta.desireState
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
diff --git a/sunnypilot/modeld/parse_model_outputs.py b/sunnypilot/modeld/parse_model_outputs.py
index 8cd4aacd9093b9..9cd5f1465c21d9 100644
--- a/sunnypilot/modeld/parse_model_outputs.py
+++ b/sunnypilot/modeld/parse_model_outputs.py
@@ -91,6 +91,8 @@ def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    if 'sim_pose' in outs:
+      self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
     self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
                    out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
diff --git a/sunnypilot/modeld/runners/run_helpers.py b/sunnypilot/modeld/runners/run_helpers.py
new file mode 100644
index 00000000000000..cc4c6445834260
--- /dev/null
+++ b/sunnypilot/modeld/runners/run_helpers.py
@@ -0,0 +1,90 @@
+# Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+#
+# This file is part of sunnypilot and is licensed under the MIT License.
+# See the LICENSE.md file in the root directory for more details.
+
+import os
+import pickle
+import numpy as np
+
+from cereal import custom
+from openpilot.sunnypilot.modeld.constants import Meta, MetaTombRaider, MetaSimPose
+from openpilot.sunnypilot.modeld.runners import ModelRunner
+from openpilot.sunnypilot.models.helpers import get_active_bundle
+from openpilot.system.hardware import PC
+from openpilot.system.hardware.hw import Paths
+from pathlib import Path
+
+USE_ONNX = os.getenv('USE_ONNX', PC)
+
+CUSTOM_MODEL_PATH = Paths.model_root()
+METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
+
+ModelManager = custom.ModelManagerSP
+
+
+def get_model_path():
+  if USE_ONNX:
+    return {ModelRunner.ONNX: Path(__file__).parent / '../models/supercombo.onnx'}
+
+  if bundle := get_active_bundle():
+    drive_model = next(model for model in bundle.models if model.type == ModelManager.Type.drive)
+    return {ModelRunner.THNEED: f"{CUSTOM_MODEL_PATH}/{drive_model.fileName}"}
+
+  return {ModelRunner.THNEED: Path(__file__).parent / '../models/supercombo.thneed'}
+
+
+def load_metadata():
+  metadata_path = METADATA_PATH
+
+  if bundle := get_active_bundle():
+    metadata_model = next(model for model in bundle.models if model.type == ModelManager.Type.metadata)
+    metadata_path = f"{CUSTOM_MODEL_PATH}/{metadata_model.fileName}"
+
+  with open(metadata_path, 'rb') as f:
+    return pickle.load(f)
+
+
+def prepare_inputs(model_metadata) -> dict[str, np.ndarray]:
+  # img buffers are managed in openCL transform code so we don't pass them as inputs
+  inputs = {
+    k: np.zeros(v, dtype=np.float32).flatten()
+    for k, v in model_metadata['input_shapes'].items()
+    if 'img' not in k
+  }
+
+  return inputs
+
+
+def load_meta_constants(model_metadata):
+  """
+  Determines and loads the appropriate meta model class based on the metadata provided. The function checks
+  specific keys and conditions within the provided metadata dictionary to identify the corresponding meta
+  model class to return.
+
+  :param model_metadata: Dictionary containing metadata about the model. It includes
+      details such as input shapes, output slices, and other configurations for identifying
+      metadata-dependent meta model classes.
+  :type model_metadata: dict
+  :return: The appropriate meta model class (Meta, MetaSimPose, or MetaTombRaider)
+      based on the conditions and metadata provided.
+  :rtype: type
+  """
+  meta = Meta  # Default Meta
+
+  if 'sim_pose' in model_metadata['input_shapes'].keys():
+    # Meta for models with sim_pose input
+    meta = MetaSimPose
+  else:
+    # Meta for Tomb Raider, it does not include sim_pose input but has the same meta slice as previous models
+    meta_slice = model_metadata['output_slices']['meta']
+    meta_tf_slice = slice(5868, 5921, None)
+
+    if (
+          meta_slice.start == meta_tf_slice.start and
+          meta_slice.stop == meta_tf_slice.stop and
+          meta_slice.step == meta_tf_slice.step
+    ):
+      meta = MetaTombRaider
+
+  return meta
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 451092ab4c8de8..2a1fa1d8f2a4ea 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -71,11 +71,14 @@ def _parse_bundle(key: str, value: dict) -> custom.ModelManagerSP.ModelBundle:
     model_bundle.status = 0
     model_bundle.generation = int(value["generation"])
     model_bundle.environment = value["environment"]
+    model_bundle.runner = value.get("runner", custom.ModelManagerSP.Runner.snpe)
 
     return model_bundle
 
   @staticmethod
   def parse_models(json_data: dict) -> list[custom.ModelManagerSP.ModelBundle]:
+    # TODO-SP: Remove the following filter once we add support for tinygrad model switcher
+    json_data = {k: v for k, v in json_data.items() if v.get("runner", -1) == custom.ModelManagerSP.Runner.snpe}
     return [ModelParser._parse_bundle(key, value) for key, value in json_data.items()]
 
 
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index ec6dee465d0bd4..868d1fa5e5f398 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -33,14 +33,6 @@ def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundl
   return None
 
 
-def get_model_runner_by_filename(filename: str) -> custom.ModelManagerSP.Runner:
-  if filename.endswith(".thneed"):
-    return custom.ModelManagerSP.Runner.snpe
-
-  if filename.endswith("_tinygrad.pkl"):
-    return custom.ModelManagerSP.Runner.tinygrad
-
-
 def get_active_model_runner(params: Params = None, force_check=False) -> custom.ModelManagerSP.Runner:
   """
   Determines and returns the active model runner type, based on provided parameters.
@@ -65,15 +57,15 @@ def get_active_model_runner(params: Params = None, force_check=False) -> custom.
     params = Params()
 
   if (cached_runner_type := params.get("ModelRunnerTypeCache")) and not force_check:
-    return int(cached_runner_type)
+    if isinstance(cached_runner_type, str) and cached_runner_type.isdigit():
+      return int(cached_runner_type)
 
   runner_type = custom.ModelManagerSP.Runner.tinygrad
 
   if active_bundle := get_active_bundle(params):
-    drive_model = next(model for model in active_bundle.models if model.type == custom.ModelManagerSP.Type.drive)
-    runner_type = get_model_runner_by_filename(drive_model.fileName)
+    runner_type = active_bundle.runner.raw
 
   if cached_runner_type != runner_type:
-    params.put("ModelRunnerTypeCache", str(runner_type))
+    params.put("ModelRunnerTypeCache", str(int(runner_type)))
 
   return runner_type
diff --git a/sunnypilot/models/manager.py b/sunnypilot/models/manager.py
index 4226c6c67957ee..06705bd5ce8fef 100644
--- a/sunnypilot/models/manager.py
+++ b/sunnypilot/models/manager.py
@@ -128,12 +128,12 @@ async def _download_bundle(self, model_bundle: custom.ModelManagerSP.ModelBundle
     os.makedirs(destination_path, exist_ok=True)
 
     try:
-      tasks = [self._process_model(model, destination_path)
-               for model in self.selected_bundle.models]
+      tasks = [self._process_model(model, destination_path) for model in self.selected_bundle.models]
       await asyncio.gather(*tasks)
-      self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.downloaded
       self.active_bundle = self.selected_bundle
-      self.params.put("ModelManager_ActiveBundle", self.selected_bundle.to_bytes())
+      self.active_bundle.status = custom.ModelManagerSP.DownloadStatus.downloaded
+      self.params.put("ModelManager_ActiveBundle", self.active_bundle.to_bytes())
+      self.selected_bundle = None
 
     except Exception:
       self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
@@ -153,6 +153,7 @@ def main_thread(self) -> None:
     while True:
       try:
         self.available_models = self.model_fetcher.get_available_models()
+        self.active_bundle = get_active_bundle(self.params)
 
         if index_to_download := self.params.get("ModelManager_DownloadIndex", block=False, encoding="utf-8"):
           if model_to_download := next((model for model in self.available_models if model.index == int(index_to_download)), None):
diff --git a/sunnypilot/selfdrive/controls/lib/drive_helpers.py b/sunnypilot/selfdrive/controls/lib/drive_helpers.py
new file mode 100644
index 00000000000000..393166ae75a011
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/drive_helpers.py
@@ -0,0 +1,27 @@
+from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, MAX_LATERAL_JERK
+from openpilot.sunnypilot.modeld.constants import ModelConstants
+
+
+def get_lag_adjusted_curvature(steer_delay, v_ego, psis, curvatures):
+  if len(psis) != CONTROL_N:
+    psis = [0.0]*CONTROL_N
+    curvatures = [0.0]*CONTROL_N
+  v_ego = max(MIN_SPEED, v_ego)
+
+  # MPC can plan to turn the wheel and turn back before t_delay. This means
+  # in high delay cases some corrections never even get commanded. So just use
+  # psi to calculate a simple linearization of desired curvature
+  current_curvature_desired = curvatures[0]
+  psi = interp(steer_delay, ModelConstants.T_IDXS[:CONTROL_N], psis)
+  average_curvature_desired = psi / (v_ego * steer_delay)
+  desired_curvature = 2 * average_curvature_desired - current_curvature_desired
+
+  # This is the "desired rate of the setpoint" not an actual desired rate
+  max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
+  safe_desired_curvature = clip(desired_curvature,
+                                current_curvature_desired - max_curvature_rate * DT_MDL,
+                                current_curvature_desired + max_curvature_rate * DT_MDL)
+
+  return safe_desired_curvature
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 2f677f20739523..c23c6ca248fc9f 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -1,11 +1,12 @@
 import os
 import operator
 
-from cereal import car
+from cereal import car, custom
 from openpilot.common.params import Params
 from openpilot.system.hardware import PC, TICI
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
 
+from sunnypilot.models.helpers import get_active_model_runner
 from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
@@ -73,7 +74,7 @@ def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
 
 def is_snpe_model(started, params, CP: car.CarParams) -> bool:
   """Check if the active model runner is SNPE."""
-  return False  # FIXME-SP: Enable in future PR
+  return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.snpe)
 
 def is_stock_model(started, params, CP: car.CarParams) -> bool:
   """Check if the active model runner is stock."""

From 2f2b13382b94adba2c083253b09831ecab97dc5b Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 12 Jan 2025 11:37:02 +0100
Subject: [PATCH 0064/1434] CI: update install script to allow restore of
 github runner after agnos update (#562)

* Refactor GitHub runner installation script

Enhance the script with modular functions for better readability and maintenance. Add support for restoration mode, enabling the recovery of existing runner configurations. Improve error handling, argument parsing, and system configuration setup.

* Ensure runner directory existence before restoration

Add a prerequisite check to verify the runner directory exists, preventing restoration failures due to a missing directory. Adjust exit code logic for proper handling when no restoration is required.

* rw not needed until a bit later

* Refactor system configuration handling and remount logic.

Reorganized system setup functions and centralized remount logic for consistency and clarity. Improved script structure by separating utility and setup functions, ensuring proper remounting behavior with a robust exit trap. Reduced redundancy and enhanced maintainability.

* silly change
---
 release/ci/install_github_runner.sh | 204 +++++++++++++++++++++-------
 1 file changed, 155 insertions(+), 49 deletions(-)

diff --git a/release/ci/install_github_runner.sh b/release/ci/install_github_runner.sh
index 1b138996d6716f..d678b79a8a4308 100755
--- a/release/ci/install_github_runner.sh
+++ b/release/ci/install_github_runner.sh
@@ -4,6 +4,7 @@ set -e
 # Default values
 DEFAULT_REPO_URL="https://github.com/sunnypilot"
 START_AT_BOOT=false
+RESTORE_MODE=false
 
 # Parse command line arguments
 while [[ $# -gt 0 ]]; do
@@ -20,6 +21,10 @@ while [[ $# -gt 0 ]]; do
             REPO_URL="$2"
             shift 2
             ;;
+        --restore)
+            RESTORE_MODE=true
+            shift
+            ;;
         *)
             if [ -z "$GITHUB_TOKEN" ]; then
                 GITHUB_TOKEN="$1"
@@ -31,19 +36,6 @@ while [[ $# -gt 0 ]]; do
     esac
 done
 
-# Check required arguments
-if [ -z "$GITHUB_TOKEN" ]; then
-    echo "Usage: $0 [--start-at-boot] [--token <github_token>] [--repo <repository_url>]"
-    echo "Required argument: github_token"
-    echo "Optional arguments:"
-    echo "  --start-at-boot    Enable auto-start at boot (default: false)"
-    echo "  --repo            Repository URL (default: ${DEFAULT_REPO_URL})"
-    exit 1
-fi
-
-# Set repository URL if not provided
-REPO_URL="${REPO_URL:-$DEFAULT_REPO_URL}"
-
 # Determine BASE_DIR based on mount point
 if mountpoint -q /data/media; then
     BASE_DIR="/data/media/0/github"
@@ -60,20 +52,19 @@ LOGS_DIR="${BASE_DIR}/logs"
 CACHE_DIR="${BASE_DIR}/cache"
 OPENPILOT_DIR="${BASE_DIR}/openpilot"
 
-create_directories() {
-    sudo mkdir -p "$RUNNER_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
-    mkdir -p "/data/openpilot"
-    sudo chown -R comma:comma "/data/openpilot"
+# Basic utility functions (no dependencies)
+remount_rw() {
+    sudo mount -o remount,rw /
 }
 
-download_and_setup_runner() {
-    cd "$RUNNER_DIR"
-    curl -o actions-runner-linux-arm64-2.321.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.321.0/actions-runner-linux-arm64-2.321.0.tar.gz
-    tar xzf ./actions-runner-linux-arm64-2.321.0.tar.gz
-    rm ./actions-runner-linux-arm64-2.321.0.tar.gz
-    chmod +x ./config.sh
+remount_ro() {
+    sync || true  # Try to sync but continue even if it fails
+    sudo mount -o remount,ro /  # Always try to remount as read-only
 }
 
+# Always ensure we try to remount as read-only on exit
+trap remount_ro EXIT
+
 setup_runner_user() {
     sudo useradd --comment 'GitHub Runner' --create-home --home-dir ${BASE_DIR} ${RUNNER_USER} --shell /bin/bash -G ${USER_GROUPS} || sudo usermod -aG ${USER_GROUPS} ${RUNNER_USER}
     export BASE_DIR
@@ -84,18 +75,45 @@ create_sudoers_entry() {
     sudo grep -qxF "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" /etc/sudoers || echo "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" | sudo tee -a /etc/sudoers
 }
 
-configure_runner() {
-    cd "$RUNNER_DIR"
-    sudo -u ${RUNNER_USER} ./config.sh --url "$REPO_URL" --token "$GITHUB_TOKEN" --name $(hostname) --runnergroup "tici-tizi" --labels "tici" --work "$BUILDS_DIR" --unattended
-}
-
 set_directory_permissions() {
     sudo chown -R ${RUNNER_USER}:comma "$BASE_DIR"
     sudo chmod g+rwx "$BASE_DIR"
     sudo chmod g+s "$BASE_DIR"
 }
 
-modify_service_template() {
+setup_directories() {
+    echo "Creating necessary directories..."
+    sudo mkdir -p "$RUNNER_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
+    mkdir -p "/data/openpilot"
+    sudo chown -R comma:comma "/data/openpilot"
+}
+
+# System configuration functions (depends on basic utility functions)
+setup_system_configs() {
+    echo "Setting up system configurations..."
+    setup_runner_user
+    create_sudoers_entry
+    set_directory_permissions
+}
+
+# Runner setup functions
+install_runner() {
+    echo "Downloading and setting up runner..."
+    cd "$RUNNER_DIR"
+    curl -o actions-runner-linux-arm64-2.321.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.321.0/actions-runner-linux-arm64-2.321.0.tar.gz
+    tar xzf ./actions-runner-linux-arm64-2.321.0.tar.gz
+    rm ./actions-runner-linux-arm64-2.321.0.tar.gz
+    chmod +x ./config.sh
+}
+
+configure_runner() {
+    echo "Configuring runner..."
+    cd "$RUNNER_DIR"
+    sudo -u ${RUNNER_USER} ./config.sh --url "$REPO_URL" --token "$GITHUB_TOKEN" --name $(hostname) --runnergroup "tici-tizi" --labels "tici" --work "$BUILDS_DIR" --unattended
+}
+
+create_service_template() {
+    echo "Creating service template..."
     cat <<EOL > "$RUNNER_DIR/bin/actions.runner.service.template"
 [Unit]
 Description={{Description}}
@@ -120,28 +138,116 @@ WantedBy=multi-user.target
 EOL
 }
 
-# Make filesystem writable
-sudo mount -o remount,rw /
+install_service() {
+    echo "Installing systemd service..."
+    cd "$RUNNER_DIR"
+    sudo ./svc.sh install $RUNNER_USER
+
+    if [ "$START_AT_BOOT" = false ]; then
+        local service_name
+        if [ -f "${RUNNER_DIR}/.service" ]; then
+            service_name=$(cat "${RUNNER_DIR}/.service")
+        else
+            service_name="actions.runner.sunnypilot.$(uname -n)"
+        fi
+        sudo systemctl disable "${service_name}"
+    fi
+}
 
-# Ensure filesystem is remounted as read-only on script exit
-trap "sudo mount -o remount,ro /" EXIT
+check_restore_prerequisites() {
+    local needs_restore=false
+    local can_restore=false
+    local service_name=""
+
+    # Check if base runner directory exists
+    if [ ! -d "${RUNNER_DIR}" ]; then
+        echo "ERROR: Runner directory ${RUNNER_DIR} does not exist"
+        echo "This directory is required for restore operations"
+        exit 1
+    fi
+
+    # First check if we have the required files for restoration
+    if [ -f "${RUNNER_DIR}/.credentials" ] && [ -f "${RUNNER_DIR}/.service" ]; then
+        can_restore=true
+        service_name=$(cat "${RUNNER_DIR}/.service")
+        echo "Found required runner configuration files"
+    else
+        echo "Missing required runner configuration files"
+        echo "Required: .credentials and .service files in ${RUNNER_DIR}"
+        exit 1
+    fi
+
+    # Then check if restoration is needed (if either service or user is missing)
+    if ! systemctl list-unit-files "${service_name}" &>/dev/null; then
+        echo "Service ${service_name} not found in systemd"
+        needs_restore=true
+    fi
+
+    if ! id "${RUNNER_USER}" &>/dev/null; then
+        echo "User ${RUNNER_USER} does not exist"
+        needs_restore=true
+    fi
+
+    # Only proceed if we can restore AND need to restore
+    if [ "$can_restore" = true ] && [ "$needs_restore" = true ]; then
+        echo "Restoration is needed and possible"
+        return 0
+    else
+        if [ "$needs_restore" = false ]; then
+            echo "System is already properly configured (user and service exist)"
+        fi
+        exit 0
+    fi
+}
 
-# Execute installation steps
-setup_runner_user
-create_sudoers_entry
-create_directories
-download_and_setup_runner
-modify_service_template
-configure_runner
-set_directory_permissions
+perform_restore() {
+    echo "Starting runner restoration..."
+    setup_directories
+    remount_rw
+    setup_system_configs
+    install_service
+    remount_ro
+    echo "Runner restoration completed successfully"
+}
 
-# Install and start service using built-in installer
-cd "$RUNNER_DIR"
-sudo ./svc.sh install $RUNNER_USER
+perform_install() {
+    echo "Starting fresh installation..."
+    setup_directories
+    install_runner
+    create_service_template
+    remount_rw
+    setup_system_configs
+    configure_runner
+    install_service
+    remount_ro
+    echo "Installation completed successfully"
+}
 
-# Handle auto-start configuration
-if [ "$START_AT_BOOT" = false ]; then
-    sudo systemctl disable actions.runner.sunnypilot.$(uname -n)
-fi
+main() {
+    if [ "$RESTORE_MODE" = true ]; then
+        echo "Running in restore mode - will only restore system configurations..."
+        check_restore_prerequisites
+        perform_restore
+    else
+        # Check required arguments for normal installation
+        if [ -z "$GITHUB_TOKEN" ]; then
+            echo "Usage: $0 [--start-at-boot] [--token <github_token>] [--repo <repository_url>] [--restore]"
+            echo "Required argument (except for --restore): github_token"
+            echo "Optional arguments:"
+            echo "  --start-at-boot    Enable auto-start at boot (default: false)"
+            echo "  --repo            Repository URL (default: ${DEFAULT_REPO_URL})"
+            echo "  --restore         Restore existing runner configuration"
+            exit 1
+        fi
+
+        # Set repository URL if not provided
+        REPO_URL="${REPO_URL:-$DEFAULT_REPO_URL}"
+        perform_install
+    fi
+
+    echo "Starting runner service..."
+    cd "$RUNNER_DIR"
+    sudo ./svc.sh start
+}
 
-sudo ./svc.sh start
\ No newline at end of file
+main

From 4a60eb50e5541eed8c0b16834c2ab817fafab18d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 12 Jan 2025 15:29:08 -0500
Subject: [PATCH 0065/1434] ui: new design for Device panel buttons (#557)

* init btns

* better design

* force offroad in another PR

* old calibration design for now

* revert

* ci: fix position

* try this

* check ci

* Revert "check ci"

This reverts commit 80795cc700e01183a1ba6e2831e23f7346dedde0.

* test more ci

* Revert "test more ci"

This reverts commit 05670b5ad66799c2278074ac9d086e66b574a449.

* nuke more on CI

* unlikely but why not

* Revert "unlikely but why not"

This reverts commit 72f45a7516174e230e6a52268e0684a0fed4b76f.

* Revert "nuke more on CI"

This reverts commit 7f406efc244fc72cdb748f5de027e1fa266dead8.

* try this

* Revert "try this"

This reverts commit 3ce67680675bcecc04515c798276ffef79442c72.

* same across
---
 selfdrive/ui/qt/offroad/settings.cc           | 11 ++-
 selfdrive/ui/sunnypilot/SConscript            |  1 +
 .../qt/offroad/settings/device_panel.cc       | 88 +++++++++++++++++++
 .../qt/offroad/settings/device_panel.h        | 51 +++++++++++
 .../qt/offroad/settings/settings.cc           | 11 +--
 .../sunnypilot/qt/offroad/settings/settings.h |  2 +-
 .../qt/offroad/settings/sunnypilot_panel.cc   |  4 +-
 .../qt/offroad/settings/sunnypilot_panel.h    |  2 +-
 selfdrive/ui/sunnypilot/qt/widgets/controls.h |  4 +-
 selfdrive/ui/tests/test_ui/run.py             |  2 +-
 selfdrive/ui/translations/main_ar.ts          | 39 ++++++++
 selfdrive/ui/translations/main_de.ts          | 39 ++++++++
 selfdrive/ui/translations/main_es.ts          | 39 ++++++++
 selfdrive/ui/translations/main_fr.ts          | 39 ++++++++
 selfdrive/ui/translations/main_ja.ts          | 39 ++++++++
 selfdrive/ui/translations/main_ko.ts          | 39 ++++++++
 selfdrive/ui/translations/main_pt-BR.ts       | 39 ++++++++
 selfdrive/ui/translations/main_th.ts          | 39 ++++++++
 selfdrive/ui/translations/main_tr.ts          | 39 ++++++++
 selfdrive/ui/translations/main_zh-CHS.ts      | 39 ++++++++
 selfdrive/ui/translations/main_zh-CHT.ts      | 39 ++++++++
 21 files changed, 590 insertions(+), 15 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 4911dc71e97edf..b633bdf33a6a8b 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -203,6 +203,11 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(pair_device);
 
+  QObject::connect(uiState()->prime_state, &PrimeState::changed, [this] (PrimeState::Type type) {
+    pair_device->setVisible(type == PrimeState::PRIME_TYPE_UNPAIRED);
+  });
+
+#ifndef SUNNYPILOT
   // offroad-only buttons
 
   auto dcamBtn = new ButtonControl(tr("Driver Camera"), tr("PREVIEW"),
@@ -214,6 +219,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
     dcamBtn->setEnabled(true);
   });
   addItem(dcamBtn);
+#endif
 
   auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), "");
   connect(resetCalibBtn, &ButtonControl::showDescriptionEvent, this, &DevicePanel::updateCalibDescription);
@@ -225,6 +231,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(resetCalibBtn);
 
+#ifndef SUNNYPILOT
   auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot"));
   connect(retrainingBtn, &ButtonControl::clicked, [=]() {
     if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) {
@@ -255,9 +262,6 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(translateBtn);
 
-  QObject::connect(uiState()->prime_state, &PrimeState::changed, [this] (PrimeState::Type type) {
-    pair_device->setVisible(type == PrimeState::PRIME_TYPE_UNPAIRED);
-  });
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     for (auto btn : findChildren<ButtonControl *>()) {
       if (btn != pair_device) {
@@ -291,6 +295,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
     #poweroff_btn:pressed { background-color: #FF2424; }
   )");
   addItem(power_layout);
+#endif
 }
 
 void DevicePanel::updateCalibDescription() {
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 8bfe1d79dba8ce..821801e5a70652 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -16,6 +16,7 @@ qt_src = [
   "sunnypilot/qt/window.cc",
   "sunnypilot/qt/home.cc",
   "sunnypilot/qt/offroad/offroad_home.cc",
+  "sunnypilot/qt/offroad/settings/device_panel.cc",
   "sunnypilot/qt/offroad/settings/settings.cc",
   "sunnypilot/qt/offroad/settings/software_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
new file mode 100644
index 00000000000000..36a56c9d8897a8
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -0,0 +1,88 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h"
+
+#include "common/watchdog.h"
+#include "selfdrive/ui/qt/offroad/driverview.h"
+#include "selfdrive/ui/qt/qt_window.h"
+
+DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
+  QGridLayout *device_grid_layout = new QGridLayout();
+  device_grid_layout->setSpacing(30);
+  device_grid_layout->setHorizontalSpacing(5);
+  device_grid_layout->setVerticalSpacing(25);
+
+  std::vector<std::pair<QString, QString>> device_btns = {
+    {"dcamBtn", tr("Driver Camera Preview")},
+    {"retrainingBtn", tr("Training Guide")},
+    {"regulatoryBtn", tr("Regulatory")},
+    {"translateBtn", tr("Language")},
+  };
+
+  for (int i = 0; i < device_btns.size(); i++) {
+    auto *btn = new PushButtonSP(device_btns[i].second, 720, this);
+    device_grid_layout->addWidget(btn, i / 2, i % 2);
+    buttons[device_btns[i].first] = btn;
+  }
+
+  connect(buttons["dcamBtn"], &PushButtonSP::clicked, [this]() {
+    buttons["dcamBtn"]->setEnabled(false);
+    DriverViewDialog driver_view(this);
+    driver_view.exec();
+    buttons["dcamBtn"]->setEnabled(true);
+  });
+
+  connect(buttons["retrainingBtn"], &PushButtonSP::clicked, [=]() {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) {
+      emit reviewTrainingGuide();
+    }
+  });
+
+  if (Hardware::TICI()) {
+    connect(buttons["regulatoryBtn"], &PushButtonSP::clicked, [=]() {
+      const std::string txt = util::read_file("../assets/offroad/fcc.html");
+      ConfirmationDialog::rich(QString::fromStdString(txt), this);
+    });
+  } else {
+    buttons["regulatoryBtn"]->setEnabled(false);
+  }
+
+  connect(buttons["translateBtn"], &PushButtonSP::clicked, [=]() {
+    QMap<QString, QString> langs = getSupportedLanguages();
+    QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), langs.key(uiState()->language), this);
+    if (!selection.isEmpty()) {
+      // put language setting, exit Qt UI, and trigger fast restart
+      params.put("LanguageSetting", langs[selection].toStdString());
+      qApp->exit(18);
+      watchdog_kick(0);
+    }
+  });
+
+  addItem(device_grid_layout);
+
+  // offroad mode and power buttons
+
+  QHBoxLayout *power_layout = new QHBoxLayout();
+  power_layout->setSpacing(5);
+
+  QPushButton *rebootBtn = new PushButtonSP(tr("Reboot"), 720, this);
+  rebootBtn->setStyleSheet(rebootButtonStyle);
+  power_layout->addWidget(rebootBtn);
+  QObject::connect(rebootBtn, &PushButtonSP::clicked, this, &DevicePanelSP::reboot);
+
+  QPushButton *poweroffBtn = new PushButtonSP(tr("Power Off"), 720, this);
+  poweroffBtn->setStyleSheet(powerOffButtonStyle);
+  power_layout->addWidget(poweroffBtn);
+  QObject::connect(poweroffBtn, &PushButtonSP::clicked, this, &DevicePanelSP::poweroff);
+
+  if (!Hardware::PC()) {
+    connect(uiState(), &UIState::offroadTransition, poweroffBtn, &PushButtonSP::setVisible);
+  }
+
+  addItem(power_layout);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
new file mode 100644
index 00000000000000..f1a18a82570e19
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
@@ -0,0 +1,51 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class DevicePanelSP : public DevicePanel {
+  Q_OBJECT
+
+public:
+  explicit DevicePanelSP(SettingsWindowSP *parent = 0);
+
+private:
+  std::map<QString, PushButtonSP*> buttons;
+
+  const QString rebootButtonStyle = R"(
+    PushButtonSP {
+      border-radius: 20px;
+      font-size: 50px;
+      font-weight: 450;
+      height: 150px;
+      padding: 0 25px 0 25px;
+      color: #FFFFFF;
+      background-color: #393939;
+    }
+    PushButtonSP:pressed {
+      background-color: #4A4A4A;
+    }
+  )";
+
+  const QString powerOffButtonStyle = R"(
+    PushButtonSP {
+      border-radius: 20px;
+      font-size: 50px;
+      font-weight: 450;
+      height: 150px;
+      padding: 0 25px 0 25px;
+      color: #FFFFFF;
+      background-color: #E22C2C;
+    }
+    PushButtonSP:pressed {
+      background-color: #FF2424;
+    }
+  )";
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
index d8e9d83deeacd3..9338b93220d0d5 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
@@ -11,12 +11,13 @@
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 #include "selfdrive/ui/qt/offroad/developer_panel.h"
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h"
 
-TogglesPanelSP::TogglesPanelSP(SettingsWindow *parent) : TogglesPanel(parent) {
+TogglesPanelSP::TogglesPanelSP(SettingsWindowSP *parent) : TogglesPanel(parent) {
   QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &TogglesPanelSP::updateState);
 }
 
@@ -50,7 +51,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
   )");
   close_btn->setFixedSize(152, 152);
   close_btn_layout->addWidget(close_btn, 0, Qt::AlignLeft);
-  QObject::connect(close_btn, &QPushButton::clicked, this, &SettingsWindow::closeSettings);
+  QObject::connect(close_btn, &QPushButton::clicked, this, &SettingsWindowSP::closeSettings);
 
   // setup buttons widget
   QWidget *buttons_widget = new QWidget;
@@ -59,11 +60,11 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
   buttons_layout->addSpacing(10);
 
   // setup panels
-  DevicePanel *device = new DevicePanel(this);
-  QObject::connect(device, &DevicePanel::reviewTrainingGuide, this, &SettingsWindow::reviewTrainingGuide);
+  DevicePanelSP *device = new DevicePanelSP(this);
+  QObject::connect(device, &DevicePanelSP::reviewTrainingGuide, this, &SettingsWindowSP::reviewTrainingGuide);
 
   TogglesPanelSP *toggles = new TogglesPanelSP(this);
-  QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
+  QObject::connect(this, &SettingsWindowSP::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
 
   auto networking = new Networking(this);
   QObject::connect(uiState()->prime_state, &PrimeState::changed, networking, &Networking::setPrimeType);
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h
index 5678a3171bfb20..2fe511cc48ef9d 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h
@@ -32,7 +32,7 @@ class TogglesPanelSP : public TogglesPanel {
   Q_OBJECT
 
 public:
-  explicit TogglesPanelSP(SettingsWindow *parent);
+  explicit TogglesPanelSP(SettingsWindowSP *parent);
 
 private slots:
   void updateState(const UIStateSP &s);
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc
index 6671208fea556d..82d07febb83063 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc
@@ -27,13 +27,13 @@ SunnypilotPanel::SunnypilotPanel(SettingsWindowSP *parent) : QFrame(parent) {
   madsToggle->setConfirmation(true, false);
   list->addItem(madsToggle);
 
-  madsSettingsButton = new SubPanelButton(tr("Customize MADS"));
+  madsSettingsButton = new PushButtonSP(tr("Customize MADS"));
   madsSettingsButton->setObjectName("mads_btn");
   connect(madsSettingsButton, &QPushButton::clicked, [=]() {
     sunnypilotScroller->setLastScrollPosition();
     main_layout->setCurrentWidget(madsWidget);
   });
-  QObject::connect(madsToggle, &ToggleControl::toggleFlipped, madsSettingsButton, &SubPanelButton::setEnabled);
+  QObject::connect(madsToggle, &ToggleControl::toggleFlipped, madsSettingsButton, &PushButtonSP::setEnabled);
 
   madsWidget = new MadsSettings(this);
   connect(madsWidget, &MadsSettings::backPress, [=]() {
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h
index 807752247373f9..e955995b34248a 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h
@@ -35,6 +35,6 @@ public slots:
   bool offroad;
 
   ParamControl *madsToggle;
-  SubPanelButton *madsSettingsButton;
+  PushButtonSP *madsSettingsButton;
   MadsSettings *madsWidget = nullptr;
 };
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index a5071d97e7686c..a7c60980fa876b 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -546,11 +546,11 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
   bool button_enabled = true;
 };
 
-class SubPanelButton : public QPushButton {
+class PushButtonSP : public QPushButton {
   Q_OBJECT
 
 public:
-  SubPanelButton(const QString &text, const int minimum_button_width = 800, QWidget *parent = nullptr) : QPushButton(text, parent) {
+  PushButtonSP(const QString &text, const int minimum_button_width = 800, QWidget *parent = nullptr) : QPushButton(text, parent) {
     const QString buttonStyle = R"(
       QPushButton {
         border-radius: 20px;
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 5bc4857689cfaf..e3c71050ba535a 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -129,7 +129,7 @@ def setup_keyboard(click, pm: PubMaster, scroll=None):
 
 def setup_driver_camera(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
-  click(1950, 435)
+  click(950, 620)
   DATA['deviceState'].deviceState.started = False
   setup_onroad(click, pm)
   DATA['deviceState'].deviceState.started = True
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 5dbd71ff195298..bd1452612c2849 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -275,6 +275,45 @@
         <translation>إقران</translation>
     </message>
 </context>
+<context>
+    <name>DevicePanelSP</name>
+    <message>
+        <source>Driver Camera Preview</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Training Guide</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Language</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">إعادة التشغيل</translation>
+    </message>
+    <message>
+        <source>Regulatory</source>
+        <translation type="unfinished">التنظيمية</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation type="unfinished">هل أنت متأكد أنك تريد مراجعة دليل التدريب؟</translation>
+    </message>
+    <message>
+        <source>Review</source>
+        <translation type="unfinished">مراجعة</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation type="unfinished">اختر لغة</translation>
+    </message>
+    <message>
+        <source>Power Off</source>
+        <translation type="unfinished">إيقا� التشغيل</translation>
+    </message>
+</context>
 <context>
     <name>DriveStats</name>
     <message>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 9d6d626552042f..f015d2ea5f3b09 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -275,6 +275,45 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>DevicePanelSP</name>
+    <message>
+        <source>Driver Camera Preview</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Training Guide</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Language</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">Neustart</translation>
+    </message>
+    <message>
+        <source>Regulatory</source>
+        <translation type="unfinished">Rechtliche Hinweise</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation type="unfinished">Bist du sicher, dass du die Trainingsanleitung wiederholen möchtest?</translation>
+    </message>
+    <message>
+        <source>Review</source>
+        <translation type="unfinished">Überprüfen</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation type="unfinished">Sprache wählen</translation>
+    </message>
+    <message>
+        <source>Power Off</source>
+        <translation type="unfinished">Ausschalten</translation>
+    </message>
+</context>
 <context>
     <name>DriveStats</name>
     <message>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 773704061afad4..658f131a36b219 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -275,6 +275,45 @@
         <translation>Desactivar para apagar</translation>
     </message>
 </context>
+<context>
+    <name>DevicePanelSP</name>
+    <message>
+        <source>Driver Camera Preview</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Training Guide</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Language</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">Reiniciar</translation>
+    </message>
+    <message>
+        <source>Regulatory</source>
+        <translation type="unfinished">Regulador</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation type="unfinished">¿Seguro que quiere revisar la guía de entrenamiento?</translation>
+    </message>
+    <message>
+        <source>Review</source>
+        <translation type="unfinished">Revisar</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Power Off</source>
+        <translation type="unfinished">Apagar</translation>
+    </message>
+</context>
 <context>
     <name>DriveStats</name>
     <message>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 4173a6218a8424..7e2f6649d63573 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -275,6 +275,45 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>DevicePanelSP</name>
+    <message>
+        <source>Driver Camera Preview</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Training Guide</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Language</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">Redémarrer</translation>
+    </message>
+    <message>
+        <source>Regulatory</source>
+        <translation type="unfinished">Réglementaire</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation type="unfinished">Êtes-vous sûr de vouloir revoir le guide de formation ?</translation>
+    </message>
+    <message>
+        <source>Review</source>
+        <translation type="unfinished">Revoir</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation type="unfinished">Choisir une langue</translation>
+    </message>
+    <message>
+        <source>Power Off</source>
+        <translation type="unfinished">Éteindre</translation>
+    </message>
+</context>
 <context>
     <name>DriveStats</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 5e0ac26d299e9c..0229a36bd6d79e 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -275,6 +275,45 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>DevicePanelSP</name>
+    <message>
+        <source>Driver Camera Preview</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Training Guide</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Language</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">�起動</translation>
+    </message>
+    <message>
+        <source>Regulatory</source>
+        <translation type="unfinished">�証情報</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation type="unfinished">使�方�確�を����？</translation>
+    </message>
+    <message>
+        <source>Review</source>
+        <translation type="unfinished">確�</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation type="unfinished">言語を�択</translation>
+    </message>
+    <message>
+        <source>Power Off</source>
+        <translation type="unfinished">電�を切る</translation>
+    </message>
+</context>
 <context>
     <name>DriveStats</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 899f92c03399c6..0b1c82e92c39f7 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -275,6 +275,45 @@
         <translation>�기화</translation>
     </message>
 </context>
+<context>
+    <name>DevicePanelSP</name>
+    <message>
+        <source>Driver Camera Preview</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Training Guide</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Language</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">재부팅</translation>
+    </message>
+    <message>
+        <source>Regulatory</source>
+        <translation type="unfinished">규제</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation type="unfinished">트레�� 가�드를 다시 확�하시겠습니까?</translation>
+    </message>
+    <message>
+        <source>Review</source>
+        <translation type="unfinished">다시보기</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation type="unfinished">언어를 선�하세요</translation>
+    </message>
+    <message>
+        <source>Power Off</source>
+        <translation type="unfinished">전� �기</translation>
+    </message>
+</context>
 <context>
     <name>DriveStats</name>
     <message>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 997e202cc2c7fc..2a2693961e0398 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -275,6 +275,45 @@
         <translation>PAREAR</translation>
     </message>
 </context>
+<context>
+    <name>DevicePanelSP</name>
+    <message>
+        <source>Driver Camera Preview</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Training Guide</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Language</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">Reiniciar</translation>
+    </message>
+    <message>
+        <source>Regulatory</source>
+        <translation type="unfinished">Regulatório</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation type="unfinished">Tem certeza que quer rever o treinamento?</translation>
+    </message>
+    <message>
+        <source>Review</source>
+        <translation type="unfinished">Revisar</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation type="unfinished">Selecione o Idioma</translation>
+    </message>
+    <message>
+        <source>Power Off</source>
+        <translation type="unfinished">Desligar</translation>
+    </message>
+</context>
 <context>
     <name>DriveStats</name>
     <message>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 54221383b4d32a..c2557a6faa6230 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -275,6 +275,45 @@
         <translation>จับคู่</translation>
     </message>
 </context>
+<context>
+    <name>DevicePanelSP</name>
+    <message>
+        <source>Driver Camera Preview</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Training Guide</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Language</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">รีบูต</translation>
+    </message>
+    <message>
+        <source>Regulatory</source>
+        <translation type="unfinished">ระเบียบข้อบังคับ</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation type="unfinished">คุณ�น่ใจหรือไม่ว่าต้อง�ารทบทวนคู่มือ�ารใช้งาน?</translation>
+    </message>
+    <message>
+        <source>Review</source>
+        <translation type="unfinished">ทบทวน</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation type="unfinished">เลือ�ภาษา</translation>
+    </message>
+    <message>
+        <source>Power Off</source>
+        <translation type="unfinished">ปิดเครื่อง</translation>
+    </message>
+</context>
 <context>
     <name>DriveStats</name>
     <message>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 9deae8ba4f79db..ac22574b9769df 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -275,6 +275,45 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>DevicePanelSP</name>
+    <message>
+        <source>Driver Camera Preview</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Training Guide</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Language</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">Yeniden baÅŸlat</translation>
+    </message>
+    <message>
+        <source>Regulatory</source>
+        <translation type="unfinished">Mevzuat</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation type="unfinished">Eğitim kılavuzunu incelemek istediğinizden emin misiniz?</translation>
+    </message>
+    <message>
+        <source>Review</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation type="unfinished">Dil seçin</translation>
+    </message>
+    <message>
+        <source>Power Off</source>
+        <translation type="unfinished">Sistemi kapat</translation>
+    </message>
+</context>
 <context>
     <name>DriveStats</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 30550519a55f4e..d284bbac6e8528 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -275,6 +275,45 @@
         <translation>�对</translation>
     </message>
 </context>
+<context>
+    <name>DevicePanelSP</name>
+    <message>
+        <source>Driver Camera Preview</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Training Guide</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Language</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">��</translation>
+    </message>
+    <message>
+        <source>Regulatory</source>
+        <translation type="unfinished">监管信�</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation type="unfinished">您确定�查看新手指��？</translation>
+    </message>
+    <message>
+        <source>Review</source>
+        <translation type="unfinished">预览</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation type="unfinished">选择语言</translation>
+    </message>
+    <message>
+        <source>Power Off</source>
+        <translation type="unfinished">关机</translation>
+    </message>
+</context>
 <context>
     <name>DriveStats</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index f5e89aa4db5ff2..37c9d0c70fb8b7 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -275,6 +275,45 @@
         <translation>��</translation>
     </message>
 </context>
+<context>
+    <name>DevicePanelSP</name>
+    <message>
+        <source>Driver Camera Preview</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Training Guide</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Language</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">�新啟動</translation>
+    </message>
+    <message>
+        <source>Regulatory</source>
+        <translation type="unfinished">法�/監管</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation type="unfinished">您確定�觀看使用教學嗎？</translation>
+    </message>
+    <message>
+        <source>Review</source>
+        <translation type="unfinished">回顧</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation type="unfinished">�擇語言</translation>
+    </message>
+    <message>
+        <source>Power Off</source>
+        <translation type="unfinished">關機</translation>
+    </message>
+</context>
 <context>
     <name>DriveStats</name>
     <message>

From bba3c39e2fa8f1daacefc92aed606f0b983fc0a5 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Sun, 12 Jan 2025 17:11:58 -0700
Subject: [PATCH 0066/1434] Longitudinal: Dynamic Experimental Control (#564)

* init dec

* Update sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py

Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>

* Update sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py

Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>

* fix static test

* ff

* fix static test

* unitee testt

* Refactor test_dynamic_controller and fix formatting issues

Added a new import for STOP_AND_GO_FRAME and corrected a float initialization for v_ego in MockCarState. Also fixed indentation in the test_standstill_detection method for consistency.

* Refactor test indentation for dynamic controller tests

Adjust indentation and formatting in test_dynamic_controller.py to ensure consistency and readability. This change does not alter functionality but improves the maintainability of the test code.

* Migrated to pytest using claude

* Integrate radar parameter into dynamic controller's pytest tests

Added a `has_radar` parameter to the test functions in the dynamic controller's pytest file. This allows each function to run both with and without radar inputs, thus enhancing the coverage of our test cases.

* Disabling unittest file to allow checks on the pipeline to succeed.

Pending to remove this, but leaving it to validate the move to pytest is okay before merging

* Replace unittest with pytest for dynamic controller tests

Migrated dynamic controller tests from unittest to pytest for improved readability and maintainability. Refactored mock setup using pytest fixtures and monkeypatching while preserving test coverage.

* new line...

* Refactor and modularize DynamicExperimentalController logic

Moved DynamicExperimentalController logic and helper functions to a dedicated module for better readability and maintainability. Simplified longitudinal planner logic by introducing reusable methods to manage MPC mode and longitudinal plan publishing. Adjusted file structure for dynamic controller-related components and updated relevant imports.

* Add missing import for messaging in helpers.py

The `messaging` module was added to resolve potential issues with undefined references. This change ensures all required imports are present, improving the reliability and maintainability of the code.

* Format

* Formatting

* rebase fix

* Refactor MpcSource definition and update references.

Moved MpcSource enum into LongitudinalPlanSP for better encapsulation. Updated references in helpers.py to use the new path. This change improves code organization and maintains functionality.

* Format

* Refactor DEC into a dedicated longitudinal planner class

Move Dynamic Experimental Control (DEC) logic to a new `DecLongitudinalPlanner` class for better modularity and maintainability. This simplifies the `LongitudinalPlanner` by delegating DEC-specific behavior and consolidates related methods into a single file. Additionally, redundant code was removed to improve readability and reduce complexity.

* **Refactor DEC module structure for better organization**

Moved DEC-related files from `dec` to `lib` for improved clarity and consistency within the project structure. Updated all relevant import paths to reflect the new locations. Ensured functionality remains unaffected with these changes.

* static test

* static

* had moved to car_state

* cleanup

* some more

* static method

* move around

* more cleanup

* stuff

* into their own

* rename

* check live param

* sync with stock

* type hint

* unused

* smoother trans

* window time

* fix type hint

* pass sm.frame from plannerd

* more fixes

* more

* more explicit

* fix test

* Revert "fix test"

This reverts commit 635b15f2bc11a8ddd5c4194546d51df33de324a0.

* Revert "pass sm.frame from plannerd"

This reverts commit a8deaa69b89f599f86ae517827a570789566e079.

* use internal frame

---------

Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 cereal/custom.capnp                           |   9 +-
 cereal/log.capnp                              |   2 +-
 cereal/services.py                            |   1 +
 common/params.cc                              |   2 +
 .../controls/lib/longitudinal_planner.py      |   9 +-
 selfdrive/controls/plannerd.py                |   2 +-
 selfdrive/ui/qt/offroad/settings.cc           |   6 +
 selfdrive/ui/translations/main_ar.ts          |   8 +
 selfdrive/ui/translations/main_de.ts          |   8 +
 selfdrive/ui/translations/main_es.ts          |   8 +
 selfdrive/ui/translations/main_fr.ts          |   8 +
 selfdrive/ui/translations/main_ja.ts          |   8 +
 selfdrive/ui/translations/main_ko.ts          |   8 +
 selfdrive/ui/translations/main_pt-BR.ts       |   8 +
 selfdrive/ui/translations/main_th.ts          |   8 +
 selfdrive/ui/translations/main_tr.ts          |   8 +
 selfdrive/ui/translations/main_zh-CHS.ts      |   8 +
 selfdrive/ui/translations/main_zh-CHT.ts      |   8 +
 sunnypilot/selfdrive/__init__.py              |   0
 sunnypilot/selfdrive/controls/__init__.py     |   0
 sunnypilot/selfdrive/controls/lib/__init__.py |   0
 .../selfdrive/controls/lib/dec/__init__.py    |   0
 sunnypilot/selfdrive/controls/lib/dec/dec.py  | 399 ++++++++++++++++++
 .../selfdrive/controls/lib/dec/helpers.py     |  46 ++
 .../controls/lib/dec/tests/__init__.py        |   0
 .../dec/tests/pytest_dynamic_controller.py    | 257 +++++++++++
 system/manager/manager.py                     |   1 +
 27 files changed, 818 insertions(+), 4 deletions(-)
 create mode 100644 sunnypilot/selfdrive/__init__.py
 create mode 100644 sunnypilot/selfdrive/controls/__init__.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/__init__.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/dec/__init__.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/dec/dec.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/dec/helpers.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/dec/tests/__init__.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 3ddeed75f6e510..bffc1e4d3bc1fb 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -82,7 +82,14 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
   }
 }
 
-struct CustomReserved2 @0xf35cc4560bbf6ec2 {
+struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
+  mpcSource @0 :MpcSource;
+  dynamicExperimentalControl @1 :Bool;
+  
+  enum MpcSource {
+    acc @0;
+    blended @1;
+  }
 }
 
 struct CustomReserved3 @0xda96579883444c35 {
diff --git a/cereal/log.capnp b/cereal/log.capnp
index d5fbad6fe8318f..80a5034392cdd1 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2633,7 +2633,7 @@ struct Event {
     # *********** Custom: reserved for forks ***********
     selfdriveStateSP @107 :Custom.SelfdriveStateSP;
     modelManagerSP @108 :Custom.ModelManagerSP;
-    customReserved2 @109 :Custom.CustomReserved2;
+    longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
     customReserved3 @110 :Custom.CustomReserved3;
     customReserved4 @111 :Custom.CustomReserved4;
     customReserved5 @112 :Custom.CustomReserved5;
diff --git a/cereal/services.py b/cereal/services.py
index 346bf81a090080..ae4a35b3e4c7de 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -77,6 +77,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   # sunnypilot
   "modelManagerSP": (False, 1., 1),
   "selfdriveStateSP": (True, 100., 10),
+  "longitudinalPlanSP": (True, 20., 10),
 
   # debug
   "uiDebug": (True, 0., 1),
diff --git a/common/params.cc b/common/params.cc
index 7c1b21c00c4c3f..3c11e034cba429 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -223,6 +223,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SunnylinkDongleId", PERSISTENT},
     {"SunnylinkdPid", PERSISTENT},
     {"SunnylinkEnabled", PERSISTENT},
+
+    {"DynamicExperimentalControl", PERSISTENT},
 };
 
 } // namespace
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index eba8019117166b..2272ebfeb81da4 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -16,6 +16,8 @@
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog
 
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.helpers import DecPlanner
+
 LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MIN = -1.2
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
@@ -67,10 +69,11 @@ def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
   return a_target, should_stop
 
 
-class LongitudinalPlanner:
+class LongitudinalPlanner(DecPlanner):
   def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
     self.mpc = LongitudinalMpc(dt=dt)
+    DecPlanner.__init__(self, self.CP, self.mpc)
     self.fcw = False
     self.dt = dt
     self.allow_throttle = True
@@ -105,7 +108,10 @@ def parse_model(model_msg, model_error):
     return x, v, a, j, throttle_prob
 
   def update(self, sm):
+    DecPlanner.update(self, sm)
     self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
+    if dec_mpc_mode := self.get_mpc_mode(sm):
+      self.mpc.mode = dec_mpc_mode
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -206,3 +212,4 @@ def publish(self, sm, pm):
     longitudinalPlan.allowThrottle = self.allow_throttle
 
     pm.send('longitudinalPlan', plan_send)
+    self.publish_longitudinal_plan_sp(sm, pm)
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index bcfc4d0c14809b..16ac80db604f27 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -18,7 +18,7 @@ def main():
 
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
-  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance'])
+  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index b633bdf33a6a8b..7f710328cce3d1 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -40,6 +40,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "",
       "../assets/img_experimental_white.svg",
     },
+    {
+      "DynamicExperimentalControl",
+      tr("Enable Dynamic Experimental Control"),
+      tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
+      "../assets/offroad/icon_blank.png",
+    },
     {
       "DisengageOnAccelerator",
       tr("Disengage on Accelerator Pedal"),
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index bd1452612c2849..4f7a2222bd258f 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -1411,6 +1411,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>تمكين مراقبة السائق حتى عندما لا يكون نظام OpenPilot م��عّلاً.</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index f015d2ea5f3b09..6eaab9998992cd 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -1395,6 +1395,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 658f131a36b219..58fb2696c6e799 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -1395,6 +1395,14 @@ Esto puede tardar un minuto.</translation>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation>Activar el control longitudinal (fase experimental) para permitir el modo Experimental.</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 7e2f6649d63573..b9be52acd8ba32 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -1395,6 +1395,14 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 0229a36bd6d79e..4f757d5f0cfe07 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -1389,6 +1389,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 0b1c82e92c39f7..ebc217e55609cc 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -1391,6 +1391,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>Openpilot� 활성화�지 않� 경우�� 드��버 모니터�� 활성화합니다.</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 2a2693961e0398..4d24c47d488e35 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -1395,6 +1395,14 @@ Isso pode levar até um minuto.</translation>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>Habilite o monitoramento do motorista mesmo quando o openpilot não estiver acionado.</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index c2557a6faa6230..08ce8b7647ad72 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -1391,6 +1391,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index ac22574b9769df..00377779581282 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -1389,6 +1389,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index d284bbac6e8528..517ad5fd1d308e 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -1391,6 +1391,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>�使在openpilot未激活时也�用驾驶员监控。</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 37c9d0c70fb8b7..6f82c97e9f5cd3 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -1391,6 +1391,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>�使在openpilot未激活時也啟用駕駛監控。</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/sunnypilot/selfdrive/__init__.py b/sunnypilot/selfdrive/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/controls/__init__.py b/sunnypilot/selfdrive/controls/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/controls/lib/__init__.py b/sunnypilot/selfdrive/controls/lib/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/controls/lib/dec/__init__.py b/sunnypilot/selfdrive/controls/lib/dec/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/controls/lib/dec/dec.py b/sunnypilot/selfdrive/controls/lib/dec/dec.py
new file mode 100644
index 00000000000000..eb7660965e147f
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/dec/dec.py
@@ -0,0 +1,399 @@
+# The MIT License
+#
+# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+#
+# Version = 2024-7-11
+
+import numpy as np
+
+from cereal import messaging
+from openpilot.common.numpy_fast import interp
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+
+# d-e2e, from modeldata.h
+TRAJECTORY_SIZE = 33
+
+LEAD_WINDOW_SIZE = 4
+LEAD_PROB = 0.6
+
+SLOW_DOWN_WINDOW_SIZE = 4
+SLOW_DOWN_PROB = 0.6
+
+SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
+SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.]
+
+SLOWNESS_WINDOW_SIZE = 12
+SLOWNESS_PROB = 0.5
+SLOWNESS_CRUISE_OFFSET = 1.05
+
+DANGEROUS_TTC_WINDOW_SIZE = 3
+DANGEROUS_TTC = 2.3
+
+HIGHWAY_CRUISE_KPH = 70
+
+STOP_AND_GO_FRAME = 60
+
+SET_MODE_TIMEOUT = 10
+
+MPC_FCW_WINDOW_SIZE = 10
+MPC_FCW_PROB = 0.5
+
+V_ACC_MIN = 9.72
+
+
+class SNG_State:
+  off = 0
+  stopped = 1
+  going = 2
+
+
+class GenericMovingAverageCalculator:
+  def __init__(self, window_size):
+    self.window_size = window_size
+    self.data = []
+    self.total = 0
+
+  def add_data(self, value: float) -> None:
+    if len(self.data) == self.window_size:
+      self.total -= self.data.pop(0)
+    self.data.append(value)
+    self.total += value
+
+  def get_moving_average(self) -> float | None:
+    return None if len(self.data) == 0 else self.total / len(self.data)
+
+  def reset_data(self) -> None:
+    self.data = []
+    self.total = 0
+
+
+class WeightedMovingAverageCalculator:
+  def __init__(self, window_size):
+    self.window_size = window_size
+    self.data = []
+    self.weights = np.linspace(1, 3, window_size)  # Linear weights, adjust as needed
+
+  def add_data(self, value: float) -> None:
+    if len(self.data) == self.window_size:
+      self.data.pop(0)
+    self.data.append(value)
+
+  def get_weighted_average(self) -> float | None:
+    if len(self.data) == 0:
+      return None
+    weighted_sum: float = float(np.dot(self.data, self.weights[-len(self.data):]))
+    weight_total: float = float(np.sum(self.weights[-len(self.data):]))
+    return weighted_sum / weight_total
+
+  def reset_data(self) -> None:
+    self.data = []
+
+
+class DynamicExperimentalController:
+  def __init__(self, params=None):
+    self._params = params or Params()
+    self._is_enabled: bool = self._params.get_bool("DynamicExperimentalControl")
+    self._mode: str = 'acc'
+    self._mode_prev: str = 'acc'
+    self._mode_changed: bool = False
+    self._frame: int = 0
+
+    # Use weighted moving average for filtering leads
+    self._lead_gmac = WeightedMovingAverageCalculator(window_size=LEAD_WINDOW_SIZE)
+    self._has_lead_filtered = False
+    self._has_lead_filtered_prev = False
+
+    self._slow_down_gmac = WeightedMovingAverageCalculator(window_size=SLOW_DOWN_WINDOW_SIZE)
+    self._has_slow_down = False
+
+    self._has_blinkers = False
+
+    self._slowness_gmac = WeightedMovingAverageCalculator(window_size=SLOWNESS_WINDOW_SIZE)
+    self._has_slowness = False
+
+    self._has_nav_instruction = False
+
+    self._dangerous_ttc_gmac = WeightedMovingAverageCalculator(window_size=DANGEROUS_TTC_WINDOW_SIZE)
+    self._has_dangerous_ttc = False
+
+    self._v_ego_kph = 0.
+    self._v_cruise_kph = 0.
+
+    self._has_lead = False
+
+    self._has_standstill = False
+    self._has_standstill_prev = False
+
+    self._sng_transit_frame = 0
+    self._sng_state = SNG_State.off
+
+    self._mpc_fcw_gmac = WeightedMovingAverageCalculator(window_size=MPC_FCW_WINDOW_SIZE)
+    self._has_mpc_fcw = False
+    self._mpc_fcw_crash_cnt = 0
+
+    self._set_mode_timeout = 0
+
+  @staticmethod
+  def _anomaly_detection(recent_data: list[float], threshold: float = 2.0, context_check: bool = True) -> bool:
+    """
+    Basic anomaly detection using standard deviation.
+    """
+    if len(recent_data) < 5:
+      return False
+    mean: float = float(np.mean(recent_data))
+    std_dev: float = float(np.std(recent_data))
+    anomaly: bool = bool(recent_data[-1] > mean + threshold * std_dev)
+
+    # Context check to ensure repeated anomaly
+    if context_check:
+      return bool(np.count_nonzero(np.array(recent_data) > mean + threshold * std_dev) > 1)
+    return anomaly
+
+  def _adaptive_slowdown_threshold(self) -> float:
+    """
+    Adapts the slow-down threshold based on vehicle speed and recent behavior.
+    """
+    adaptive_threshold: float = float(
+      interp(self._v_ego_kph, SLOW_DOWN_BP, SLOW_DOWN_DIST) * (1.0 + 0.05 * np.log(1 + len(self._slow_down_gmac.data)))
+    )
+    return adaptive_threshold
+
+  def _smoothed_lead_detection(self, lead_prob: float, smoothing_factor: float = 0.2) -> bool:
+    """
+    Smoothing the lead detection to avoid erratic behavior.
+    """
+    self._has_lead_filtered = (1 - smoothing_factor) * self._has_lead_filtered + smoothing_factor * lead_prob
+    return bool(self._has_lead_filtered > LEAD_PROB)
+
+  def _adaptive_lead_prob_threshold(self) -> float:
+    """
+    Adapts lead probability threshold based on driving conditions.
+    """
+    if self._v_ego_kph > HIGHWAY_CRUISE_KPH:
+      return float(LEAD_PROB + 0.1)  # Increase the threshold on highways
+    return float(LEAD_PROB)
+
+  def _update(self, sm: messaging.SubMaster) -> None:
+    car_state = sm['carState']
+    lead_one = sm['radarState'].leadOne
+    md = sm['modelV2']
+
+    self._v_ego_kph = car_state.vEgo * 3.6
+    self._v_cruise_kph = car_state.vCruise
+    self._has_lead = lead_one.status
+    self._has_standstill = car_state.standstill
+
+    # fcw detection
+    self._mpc_fcw_gmac.add_data(self._mpc_fcw_crash_cnt > 0)
+    self._has_mpc_fcw = self._mpc_fcw_gmac.get_weighted_average() > MPC_FCW_PROB
+
+    # nav enable detection
+    # self._has_nav_instruction = md.navEnabledDEPRECATED and maneuver_distance / max(car_state.vEgo, 1) < 13
+
+    # lead detection with smoothing
+    self._lead_gmac.add_data(lead_one.status)
+    #self._has_lead_filtered = self._lead_gmac.get_weighted_average() > LEAD_PROB
+    lead_prob = self._lead_gmac.get_weighted_average() or 0
+    self._has_lead_filtered = self._smoothed_lead_detection(lead_prob)
+
+    # adaptive slow down detection
+    adaptive_threshold = self._adaptive_slowdown_threshold()
+    slow_down_trigger = len(md.orientation.x) == len(md.position.x) == TRAJECTORY_SIZE and md.position.x[TRAJECTORY_SIZE - 1] < adaptive_threshold
+    self._slow_down_gmac.add_data(slow_down_trigger)
+    self._has_slow_down = self._slow_down_gmac.get_weighted_average() > SLOW_DOWN_PROB
+
+    # anomaly detection for slow down events
+    if self._anomaly_detection(self._slow_down_gmac.data):
+      # Handle anomaly: potentially log it, adjust behavior, or issue a warning
+      self._has_slow_down = False  # Reset slow down if anomaly detected
+
+    # blinker detection
+    self._has_blinkers = car_state.leftBlinker or car_state.rightBlinker
+
+    # sng detection
+    if self._has_standstill:
+      self._sng_state = SNG_State.stopped
+      self._sng_transit_frame = 0
+    else:
+      if self._sng_transit_frame == 0:
+        if self._sng_state == SNG_State.stopped:
+          self._sng_state = SNG_State.going
+          self._sng_transit_frame = STOP_AND_GO_FRAME
+        elif self._sng_state == SNG_State.going:
+          self._sng_state = SNG_State.off
+      elif self._sng_transit_frame > 0:
+        self._sng_transit_frame -= 1
+
+    # slowness detection
+    if not self._has_standstill:
+      self._slowness_gmac.add_data(self._v_ego_kph <= (self._v_cruise_kph * SLOWNESS_CRUISE_OFFSET))
+      self._has_slowness = self._slowness_gmac.get_weighted_average() > SLOWNESS_PROB
+
+    # dangerous TTC detection
+    if not self._has_lead_filtered and self._has_lead_filtered_prev:
+      self._dangerous_ttc_gmac.reset_data()
+      self._has_dangerous_ttc = False
+
+    if self._has_lead and car_state.vEgo >= 0.01:
+      self._dangerous_ttc_gmac.add_data(lead_one.dRel / car_state.vEgo)
+
+    self._has_dangerous_ttc = self._dangerous_ttc_gmac.get_weighted_average() is not None and self._dangerous_ttc_gmac.get_weighted_average() <= DANGEROUS_TTC
+
+    # keep prev values
+    self._has_standstill_prev = self._has_standstill
+    self._has_lead_filtered_prev = self._has_lead_filtered
+
+  def _radarless_mode(self) -> None:
+    # when mpc fcw crash prob is high
+    # use blended to slow down quickly
+    if self._has_mpc_fcw:
+      self._set_mode('blended')
+      return
+
+    # Nav enabled and distance to upcoming turning is 300 or below
+    # if self._has_nav_instruction:
+    #  self._set_mode('blended')
+    #  return
+
+    # when blinker is on and speed is driving below V_ACC_MIN: blended
+    # we don't want it to switch mode at higher speed, blended may trigger hard brake
+    # if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
+    #  self._set_mode('blended')
+    #  return
+
+    # when at highway cruise and SNG: blended
+    # ensuring blended mode is used because acc is bad at catching SNG lead car
+    # especially those who accel very fast and then brake very hard.
+    # if self._sng_state == SNG_State.going and self._v_cruise_kph >= V_ACC_MIN:
+    #  self._set_mode('blended')
+    #  return
+
+    # when standstill: blended
+    # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
+    if self._has_standstill:
+      self._set_mode('blended')
+      return
+
+    # when detecting slow down scenario: blended
+    # e.g. traffic light, curve, stop sign etc.
+    if self._has_slow_down:
+      self._set_mode('blended')
+      return
+
+    # when detecting lead slow down: blended
+    # use blended for higher braking capability
+    if self._has_dangerous_ttc:
+      self._set_mode('blended')
+      return
+
+    # car driving at speed lower than set speed: acc
+    if self._has_slowness:
+      self._set_mode('acc')
+      return
+
+    self._set_mode('acc')
+
+  def _radar_mode(self) -> None:
+    # when mpc fcw crash prob is high
+    # use blended to slow down quickly
+    if self._has_mpc_fcw:
+      self._set_mode('blended')
+      return
+
+    # If there is a filtered lead, the vehicle is not in standstill, and the lead vehicle's yRel meets the condition,
+    if self._has_lead_filtered and not self._has_standstill:
+      self._set_mode('acc')
+      return
+
+    # when blinker is on and speed is driving below V_ACC_MIN: blended
+    # we don't want it to switch mode at higher speed, blended may trigger hard brake
+    # if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
+    #  self._set_mode('blended')
+    #  return
+
+    # when standstill: blended
+    # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
+    if self._has_standstill:
+      self._set_mode('blended')
+      return
+
+    # when detecting slow down scenario: blended
+    # e.g. traffic light, curve, stop sign etc.
+    if self._has_slow_down:
+      self._set_mode('blended')
+      return
+
+    # car driving at speed lower than set speed: acc
+    if self._has_slowness:
+      self._set_mode('acc')
+      return
+
+    # Nav enabled and distance to upcoming turning is 300 or below
+    # if self._has_nav_instruction:
+    #  self._set_mode('blended')
+    #  return
+
+    self._set_mode('acc')
+
+  def get_mpc_mode(self) -> str:
+    return str(self._mode)
+
+  def has_changed(self) -> bool:
+    return bool(self._mode_changed)
+
+  def set_enabled(self, enabled: bool) -> None:
+    self._is_enabled = enabled
+
+  def is_enabled(self) -> bool:
+    return self._is_enabled
+
+  def set_mpc_fcw_crash_cnt(self, crash_cnt: float) -> None:
+    self._mpc_fcw_crash_cnt = crash_cnt
+
+  def _set_mode(self, mode: str) -> None:
+    if self._set_mode_timeout == 0:
+      self._mode = mode
+      if mode == 'blended':
+        self._set_mode_timeout = SET_MODE_TIMEOUT
+
+    if self._set_mode_timeout > 0:
+      self._set_mode_timeout -= 1
+
+  def _read_params(self) -> None:
+    if self._frame % int(1. / DT_MDL) == 0:
+      self._is_enabled = self._params.get_bool("DynamicExperimentalControl")
+
+  def update(self, radar_unavailable: bool, sm: messaging.SubMaster) -> None:
+    self._read_params()
+
+    if self._is_enabled:
+      self._update(sm)
+
+      if radar_unavailable:
+        self._radarless_mode()
+      else:
+        self._radar_mode()
+
+    self._mode_changed = self._mode != self._mode_prev
+    self._mode_prev = self._mode
+
+    self._frame += 1
diff --git a/sunnypilot/selfdrive/controls/lib/dec/helpers.py b/sunnypilot/selfdrive/controls/lib/dec/helpers.py
new file mode 100644
index 00000000000000..602d3b64ba7b50
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/dec/helpers.py
@@ -0,0 +1,46 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from cereal import messaging, custom
+from opendbc.car import structs
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
+
+MpcSource = custom.LongitudinalPlanSP.MpcSource
+
+
+class DecPlanner:
+  def __init__(self, CP: structs.CarParams, mpc):
+    self.CP = CP
+    self.mpc = mpc
+
+    self.is_enabled = False
+
+    self.dynamic_experimental_controller = DynamicExperimentalController()
+
+  def get_mpc_mode(self, sm: messaging.SubMaster):
+    if not self.is_enabled or not sm['selfdriveState'].experimentalMode:
+      return None
+
+    return self.dynamic_experimental_controller.get_mpc_mode()
+
+  def update(self, sm: messaging.SubMaster) -> None:
+    self.dynamic_experimental_controller.set_mpc_fcw_crash_cnt(self.mpc.crash_cnt)
+    self.dynamic_experimental_controller.update(self.CP.radarUnavailable, sm)
+
+  def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
+    plan_sp_send = messaging.new_message('longitudinalPlanSP')
+
+    plan_sp_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
+
+    longitudinalPlanSP = plan_sp_send.longitudinalPlanSP
+
+    # DEC
+    longitudinalPlanSP.mpcSource = MpcSource.blended if self.mpc.mode == 'blended' else MpcSource.acc
+
+    longitudinalPlanSP.dynamicExperimentalControl = self.dynamic_experimental_controller.is_enabled()
+
+    pm.send('longitudinalPlanSP', plan_sp_send)
diff --git a/sunnypilot/selfdrive/controls/lib/dec/tests/__init__.py b/sunnypilot/selfdrive/controls/lib/dec/tests/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py b/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
new file mode 100644
index 00000000000000..af77639424b3dd
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
@@ -0,0 +1,257 @@
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import (
+  DynamicExperimentalController,
+  TRAJECTORY_SIZE,
+  LEAD_WINDOW_SIZE,
+  SLOW_DOWN_WINDOW_SIZE,
+  DANGEROUS_TTC_WINDOW_SIZE,
+  MPC_FCW_WINDOW_SIZE,
+  SNG_State,
+  STOP_AND_GO_FRAME
+)
+
+import pytest
+import numpy as np
+from openpilot.common.params import Params
+
+class MockInterp:
+  def __call__(self, x, xp, fp):
+    return np.interp(x, xp, fp)
+
+class MockCarState:
+  def __init__(self, v_ego=0., standstill=False, left_blinker=False, right_blinker=False):
+    self.vEgo = v_ego
+    self.standstill = standstill
+    self.leftBlinker = left_blinker
+    self.rightBlinker = right_blinker
+
+class MockLeadOne:
+  def __init__(self, status=False, d_rel=0):
+    self.status = status
+    self.dRel = d_rel
+
+class MockModelData:
+  def __init__(self, x_vals=None, positions=None):
+    self.orientation = type('Orientation', (), {'x': x_vals})()
+    self.position = type('Position', (), {'x': positions})()
+
+class MockControlState:
+  def __init__(self, v_cruise=0):
+    self.vCruise = v_cruise
+
+@pytest.fixture
+def interp(monkeypatch):
+  mock_interp = MockInterp()
+  monkeypatch.setattr('openpilot.common.numpy_fast.interp', mock_interp)
+  return mock_interp
+
+@pytest.fixture
+def controller(interp):
+  params = Params()
+  params.put_bool("DynamicExperimentalControl", True)
+  controller = DynamicExperimentalController()
+  return controller
+
+def test_initial_state(controller):
+  """Test initial state of the controller"""
+  assert controller._mode == 'acc'
+  assert not controller._has_lead
+  assert not controller._has_standstill
+  assert controller._sng_state == SNG_State.off
+  assert not controller._has_lead_filtered
+  assert not controller._has_slow_down
+  assert not controller._has_dangerous_ttc
+  assert not controller._has_mpc_fcw
+
+@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
+def test_standstill_detection(controller, has_radar):
+  """Test standstill detection and state transitions"""
+  car_state = MockCarState(standstill=True)
+  lead_one = MockLeadOne()
+  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
+  controls_state = MockControlState()
+
+  # Test transition to standstill
+  controller.update(not has_radar, car_state, lead_one, md, controls_state)
+  assert controller._sng_state == SNG_State.stopped
+  assert controller.get_mpc_mode() == 'blended'
+
+  # Test transition from standstill to moving
+  car_state.standstill = False
+  controller.update(not has_radar, car_state, lead_one, md, controls_state)
+  assert controller._sng_state == SNG_State.going
+
+  # Test complete transition to normal driving
+  for _ in range(STOP_AND_GO_FRAME + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+  assert controller._sng_state == SNG_State.off
+
+@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
+def test_lead_detection(controller, has_radar):
+  """Test lead vehicle detection and filtering"""
+  car_state = MockCarState(v_ego=20)  # 72 kph
+  lead_one = MockLeadOne(status=True, d_rel=50)  # Safe distance
+  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
+  controls_state = MockControlState(v_cruise=72)
+
+  # Let moving average stabilize
+  for _ in range(LEAD_WINDOW_SIZE + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert controller._has_lead_filtered
+  expected_mode = 'acc' if has_radar else 'blended'
+  assert controller.get_mpc_mode() == expected_mode
+
+  # Test lead loss detection
+  lead_one.status = False
+  for _ in range(LEAD_WINDOW_SIZE + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert not controller._has_lead_filtered
+
+@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
+def test_slow_down_detection(controller, has_radar):
+  """Test slow down detection based on trajectory"""
+  car_state = MockCarState(v_ego=10/3.6)  # 10 kph
+  lead_one = MockLeadOne()
+  x_vals = [0] * TRAJECTORY_SIZE
+  positions = [20] * TRAJECTORY_SIZE  # Position within slow down threshold
+  md = MockModelData(x_vals=x_vals, positions=positions)
+  controls_state = MockControlState(v_cruise=30)
+
+  # Test slow down detection
+  for _ in range(SLOW_DOWN_WINDOW_SIZE + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert controller._has_slow_down
+  assert controller.get_mpc_mode() == 'blended'
+
+  # Test slow down recovery
+  positions = [200] * TRAJECTORY_SIZE  # Position outside slow down threshold
+  md = MockModelData(x_vals=x_vals, positions=positions)
+  for _ in range(SLOW_DOWN_WINDOW_SIZE + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert not controller._has_slow_down
+
+@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
+def test_dangerous_ttc_detection(controller, has_radar):
+  """Test Time-To-Collision detection and handling"""
+  car_state = MockCarState(v_ego=10)  # 36 kph
+  lead_one = MockLeadOne(status=True)
+  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
+  controls_state = MockControlState(v_cruise=36)
+
+  # First establish normal conditions with lead
+  lead_one.dRel = 100  # Safe distance
+  for _ in range(LEAD_WINDOW_SIZE + 1):  # First establish lead detection
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert controller._has_lead_filtered  # Verify lead is detected
+
+  # Now test dangerous TTC detection
+  lead_one.dRel = 10  # 10m distance - should trigger dangerous TTC
+  # TTC = dRel/vEgo = 10/10 = 1s (which is less than DANGEROUS_TTC = 2.3s)
+
+  # Need to update multiple times to allow the weighted average to stabilize
+  for _ in range(DANGEROUS_TTC_WINDOW_SIZE * 2):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert controller._has_dangerous_ttc, "TTC of 1s should be considered dangerous"
+  expected_mode = 'acc' if has_radar else 'blended'
+  assert controller.get_mpc_mode() == expected_mode, f"Should be in [{expected_mode}] mode with dangerous TTC"
+
+@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
+def test_mode_transitions(controller, has_radar):
+  """Test comprehensive mode transitions under different conditions"""
+  # Initialize with normal driving conditions
+  car_state = MockCarState(v_ego=25)  # 90 kph
+  lead_one = MockLeadOne(status=False)
+  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[200] * TRAJECTORY_SIZE)
+  controls_state = MockControlState(v_cruise=100)
+
+  def stabilize_filters():
+    """Helper to let all moving averages stabilize"""
+    for _ in range(max(LEAD_WINDOW_SIZE, SLOW_DOWN_WINDOW_SIZE,
+                       DANGEROUS_TTC_WINDOW_SIZE, MPC_FCW_WINDOW_SIZE) + 1):
+      controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  # Test 1: Normal driving -> ACC mode
+  stabilize_filters()
+  assert controller.get_mpc_mode() == 'acc', "Should be in ACC mode under normal driving conditions"
+
+  # Test 2: Standstill -> Blended mode
+  car_state.standstill = True
+  controller.update(not has_radar, car_state, lead_one, md, controls_state)
+  assert controller.get_mpc_mode() == 'blended', "Should be in blended mode during standstill"
+
+  # Test 3: Lead car appears -> ACC mode
+  car_state = MockCarState(v_ego=20)  # Reset car state
+  lead_one.status = True
+  lead_one.dRel = 50  # Safe distance
+  stabilize_filters()
+  assert not controller._has_dangerous_ttc, "Should not have dangerous TTC"
+  assert controller.get_mpc_mode() == 'acc', "Should be in ACC mode with safe lead distance"
+
+  # Test 4: Dangerous TTC -> Blended mode
+  car_state = MockCarState(v_ego=20)  # 72 kph
+  lead_one.status = True
+  lead_one.dRel = 50  # First establish normal lead detection
+
+  # First establish lead detection
+  for _ in range(LEAD_WINDOW_SIZE + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert controller._has_lead_filtered  # Verify lead is detected
+
+  # Now create dangerous TTC condition
+  lead_one.dRel = 20  # This creates a TTC of 1s, well below DANGEROUS_TTC
+
+  for _ in range(DANGEROUS_TTC_WINDOW_SIZE * 2):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert controller._has_dangerous_ttc, "Should detect dangerous TTC condition"
+  expected_mode = 'acc' if has_radar else 'blended'
+  assert controller.get_mpc_mode() == expected_mode, f"Should be in [{expected_mode}] mode with dangerous TTC"
+
+@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
+def test_mpc_fcw_handling(controller, has_radar):
+  """Test MPC FCW crash count handling and mode transitions"""
+  car_state = MockCarState(v_ego=20)
+  lead_one = MockLeadOne()
+  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
+  controls_state = MockControlState(v_cruise=72)
+
+  # Test FCW activation
+  controller.set_mpc_fcw_crash_cnt(5)
+  for _ in range(MPC_FCW_WINDOW_SIZE + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert controller._has_mpc_fcw
+  assert controller.get_mpc_mode() == 'blended'
+
+  # Test FCW recovery
+  controller.set_mpc_fcw_crash_cnt(0)
+  for _ in range(MPC_FCW_WINDOW_SIZE + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert not controller._has_mpc_fcw
+
+def test_radar_unavailable_handling(controller):
+  """Test behavior transitions between radar available and unavailable states"""
+  car_state = MockCarState(v_ego=27.78)  # 100 kph
+  lead_one = MockLeadOne(status=True, d_rel=50)
+  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
+  controls_state = MockControlState(v_cruise=100)
+
+  # Test with radar available
+  for _ in range(LEAD_WINDOW_SIZE + 1):
+    controller.update(False, car_state, lead_one, md, controls_state)
+  radar_mode = controller.get_mpc_mode()
+
+  # Test with radar unavailable
+  for _ in range(LEAD_WINDOW_SIZE + 1):
+    controller.update(True, car_state, lead_one, md, controls_state)
+  radarless_mode = controller.get_mpc_mode()
+
+  assert radar_mode is not None
+  assert radarless_mode is not None
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 7a8ec9fc867587..499ed6474bb83b 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -43,6 +43,7 @@ def manager_init() -> None:
   ]
 
   sunnypilot_default_params: list[tuple[str, str | bytes]] = [
+    ("DynamicExperimentalControl", "0"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
     ("MadsPauseLateralOnBrake", "0"),

From c3bfd1702830535ab0be99eb84ea0c8b80f82c07 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Sun, 12 Jan 2025 22:17:15 -0700
Subject: [PATCH 0067/1434] Revert "Longitudinal: Dynamic Experimental Control"
 (#571)

Revert "Longitudinal: Dynamic Experimental Control (#564)"

This reverts commit bba3c39e2fa8f1daacefc92aed606f0b983fc0a5.
---
 cereal/custom.capnp                           |   9 +-
 cereal/log.capnp                              |   2 +-
 cereal/services.py                            |   1 -
 common/params.cc                              |   2 -
 .../controls/lib/longitudinal_planner.py      |   9 +-
 selfdrive/controls/plannerd.py                |   2 +-
 selfdrive/ui/qt/offroad/settings.cc           |   6 -
 selfdrive/ui/translations/main_ar.ts          |   8 -
 selfdrive/ui/translations/main_de.ts          |   8 -
 selfdrive/ui/translations/main_es.ts          |   8 -
 selfdrive/ui/translations/main_fr.ts          |   8 -
 selfdrive/ui/translations/main_ja.ts          |   8 -
 selfdrive/ui/translations/main_ko.ts          |   8 -
 selfdrive/ui/translations/main_pt-BR.ts       |   8 -
 selfdrive/ui/translations/main_th.ts          |   8 -
 selfdrive/ui/translations/main_tr.ts          |   8 -
 selfdrive/ui/translations/main_zh-CHS.ts      |   8 -
 selfdrive/ui/translations/main_zh-CHT.ts      |   8 -
 sunnypilot/selfdrive/__init__.py              |   0
 sunnypilot/selfdrive/controls/__init__.py     |   0
 sunnypilot/selfdrive/controls/lib/__init__.py |   0
 .../selfdrive/controls/lib/dec/__init__.py    |   0
 sunnypilot/selfdrive/controls/lib/dec/dec.py  | 399 ------------------
 .../selfdrive/controls/lib/dec/helpers.py     |  46 --
 .../controls/lib/dec/tests/__init__.py        |   0
 .../dec/tests/pytest_dynamic_controller.py    | 257 -----------
 system/manager/manager.py                     |   1 -
 27 files changed, 4 insertions(+), 818 deletions(-)
 delete mode 100644 sunnypilot/selfdrive/__init__.py
 delete mode 100644 sunnypilot/selfdrive/controls/__init__.py
 delete mode 100644 sunnypilot/selfdrive/controls/lib/__init__.py
 delete mode 100644 sunnypilot/selfdrive/controls/lib/dec/__init__.py
 delete mode 100644 sunnypilot/selfdrive/controls/lib/dec/dec.py
 delete mode 100644 sunnypilot/selfdrive/controls/lib/dec/helpers.py
 delete mode 100644 sunnypilot/selfdrive/controls/lib/dec/tests/__init__.py
 delete mode 100644 sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index bffc1e4d3bc1fb..3ddeed75f6e510 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -82,14 +82,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
   }
 }
 
-struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
-  mpcSource @0 :MpcSource;
-  dynamicExperimentalControl @1 :Bool;
-  
-  enum MpcSource {
-    acc @0;
-    blended @1;
-  }
+struct CustomReserved2 @0xf35cc4560bbf6ec2 {
 }
 
 struct CustomReserved3 @0xda96579883444c35 {
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 80a5034392cdd1..d5fbad6fe8318f 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2633,7 +2633,7 @@ struct Event {
     # *********** Custom: reserved for forks ***********
     selfdriveStateSP @107 :Custom.SelfdriveStateSP;
     modelManagerSP @108 :Custom.ModelManagerSP;
-    longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
+    customReserved2 @109 :Custom.CustomReserved2;
     customReserved3 @110 :Custom.CustomReserved3;
     customReserved4 @111 :Custom.CustomReserved4;
     customReserved5 @112 :Custom.CustomReserved5;
diff --git a/cereal/services.py b/cereal/services.py
index ae4a35b3e4c7de..346bf81a090080 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -77,7 +77,6 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   # sunnypilot
   "modelManagerSP": (False, 1., 1),
   "selfdriveStateSP": (True, 100., 10),
-  "longitudinalPlanSP": (True, 20., 10),
 
   # debug
   "uiDebug": (True, 0., 1),
diff --git a/common/params.cc b/common/params.cc
index 3c11e034cba429..7c1b21c00c4c3f 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -223,8 +223,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SunnylinkDongleId", PERSISTENT},
     {"SunnylinkdPid", PERSISTENT},
     {"SunnylinkEnabled", PERSISTENT},
-
-    {"DynamicExperimentalControl", PERSISTENT},
 };
 
 } // namespace
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 2272ebfeb81da4..eba8019117166b 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -16,8 +16,6 @@
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog
 
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.helpers import DecPlanner
-
 LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MIN = -1.2
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
@@ -69,11 +67,10 @@ def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
   return a_target, should_stop
 
 
-class LongitudinalPlanner(DecPlanner):
+class LongitudinalPlanner:
   def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
     self.mpc = LongitudinalMpc(dt=dt)
-    DecPlanner.__init__(self, self.CP, self.mpc)
     self.fcw = False
     self.dt = dt
     self.allow_throttle = True
@@ -108,10 +105,7 @@ def parse_model(model_msg, model_error):
     return x, v, a, j, throttle_prob
 
   def update(self, sm):
-    DecPlanner.update(self, sm)
     self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
-    if dec_mpc_mode := self.get_mpc_mode(sm):
-      self.mpc.mode = dec_mpc_mode
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -212,4 +206,3 @@ def publish(self, sm, pm):
     longitudinalPlan.allowThrottle = self.allow_throttle
 
     pm.send('longitudinalPlan', plan_send)
-    self.publish_longitudinal_plan_sp(sm, pm)
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 16ac80db604f27..bcfc4d0c14809b 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -18,7 +18,7 @@ def main():
 
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
-  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
+  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 7f710328cce3d1..b633bdf33a6a8b 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -40,12 +40,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "",
       "../assets/img_experimental_white.svg",
     },
-    {
-      "DynamicExperimentalControl",
-      tr("Enable Dynamic Experimental Control"),
-      tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
-      "../assets/offroad/icon_blank.png",
-    },
     {
       "DisengageOnAccelerator",
       tr("Disengage on Accelerator Pedal"),
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 4f7a2222bd258f..bd1452612c2849 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -1411,14 +1411,6 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>تمكين مراقبة السائق حتى عندما لا يكون نظام OpenPilot م��عّلاً.</translation>
     </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 6eaab9998992cd..f015d2ea5f3b09 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -1395,14 +1395,6 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 58fb2696c6e799..658f131a36b219 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -1395,14 +1395,6 @@ Esto puede tardar un minuto.</translation>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation>Activar el control longitudinal (fase experimental) para permitir el modo Experimental.</translation>
     </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index b9be52acd8ba32..7e2f6649d63573 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -1395,14 +1395,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 4f757d5f0cfe07..0229a36bd6d79e 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -1389,14 +1389,6 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index ebc217e55609cc..0b1c82e92c39f7 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -1391,14 +1391,6 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>Openpilot� 활성화�지 않� 경우�� 드��버 모니터�� 활성화합니다.</translation>
     </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 4d24c47d488e35..2a2693961e0398 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -1395,14 +1395,6 @@ Isso pode levar até um minuto.</translation>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>Habilite o monitoramento do motorista mesmo quando o openpilot não estiver acionado.</translation>
     </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 08ce8b7647ad72..c2557a6faa6230 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -1391,14 +1391,6 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 00377779581282..ac22574b9769df 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -1389,14 +1389,6 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 517ad5fd1d308e..d284bbac6e8528 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -1391,14 +1391,6 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>�使在openpilot未激活时也�用驾驶员监控。</translation>
     </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 6f82c97e9f5cd3..37c9d0c70fb8b7 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -1391,14 +1391,6 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>�使在openpilot未激活時也啟用駕駛監控。</translation>
     </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/sunnypilot/selfdrive/__init__.py b/sunnypilot/selfdrive/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/sunnypilot/selfdrive/controls/__init__.py b/sunnypilot/selfdrive/controls/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/sunnypilot/selfdrive/controls/lib/__init__.py b/sunnypilot/selfdrive/controls/lib/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/sunnypilot/selfdrive/controls/lib/dec/__init__.py b/sunnypilot/selfdrive/controls/lib/dec/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/sunnypilot/selfdrive/controls/lib/dec/dec.py b/sunnypilot/selfdrive/controls/lib/dec/dec.py
deleted file mode 100644
index eb7660965e147f..00000000000000
--- a/sunnypilot/selfdrive/controls/lib/dec/dec.py
+++ /dev/null
@@ -1,399 +0,0 @@
-# The MIT License
-#
-# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
-#
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-#
-# The above copyright notice and this permission notice shall be included in
-# all copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-# THE SOFTWARE.
-#
-# Version = 2024-7-11
-
-import numpy as np
-
-from cereal import messaging
-from openpilot.common.numpy_fast import interp
-from openpilot.common.params import Params
-from openpilot.common.realtime import DT_MDL
-
-# d-e2e, from modeldata.h
-TRAJECTORY_SIZE = 33
-
-LEAD_WINDOW_SIZE = 4
-LEAD_PROB = 0.6
-
-SLOW_DOWN_WINDOW_SIZE = 4
-SLOW_DOWN_PROB = 0.6
-
-SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
-SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.]
-
-SLOWNESS_WINDOW_SIZE = 12
-SLOWNESS_PROB = 0.5
-SLOWNESS_CRUISE_OFFSET = 1.05
-
-DANGEROUS_TTC_WINDOW_SIZE = 3
-DANGEROUS_TTC = 2.3
-
-HIGHWAY_CRUISE_KPH = 70
-
-STOP_AND_GO_FRAME = 60
-
-SET_MODE_TIMEOUT = 10
-
-MPC_FCW_WINDOW_SIZE = 10
-MPC_FCW_PROB = 0.5
-
-V_ACC_MIN = 9.72
-
-
-class SNG_State:
-  off = 0
-  stopped = 1
-  going = 2
-
-
-class GenericMovingAverageCalculator:
-  def __init__(self, window_size):
-    self.window_size = window_size
-    self.data = []
-    self.total = 0
-
-  def add_data(self, value: float) -> None:
-    if len(self.data) == self.window_size:
-      self.total -= self.data.pop(0)
-    self.data.append(value)
-    self.total += value
-
-  def get_moving_average(self) -> float | None:
-    return None if len(self.data) == 0 else self.total / len(self.data)
-
-  def reset_data(self) -> None:
-    self.data = []
-    self.total = 0
-
-
-class WeightedMovingAverageCalculator:
-  def __init__(self, window_size):
-    self.window_size = window_size
-    self.data = []
-    self.weights = np.linspace(1, 3, window_size)  # Linear weights, adjust as needed
-
-  def add_data(self, value: float) -> None:
-    if len(self.data) == self.window_size:
-      self.data.pop(0)
-    self.data.append(value)
-
-  def get_weighted_average(self) -> float | None:
-    if len(self.data) == 0:
-      return None
-    weighted_sum: float = float(np.dot(self.data, self.weights[-len(self.data):]))
-    weight_total: float = float(np.sum(self.weights[-len(self.data):]))
-    return weighted_sum / weight_total
-
-  def reset_data(self) -> None:
-    self.data = []
-
-
-class DynamicExperimentalController:
-  def __init__(self, params=None):
-    self._params = params or Params()
-    self._is_enabled: bool = self._params.get_bool("DynamicExperimentalControl")
-    self._mode: str = 'acc'
-    self._mode_prev: str = 'acc'
-    self._mode_changed: bool = False
-    self._frame: int = 0
-
-    # Use weighted moving average for filtering leads
-    self._lead_gmac = WeightedMovingAverageCalculator(window_size=LEAD_WINDOW_SIZE)
-    self._has_lead_filtered = False
-    self._has_lead_filtered_prev = False
-
-    self._slow_down_gmac = WeightedMovingAverageCalculator(window_size=SLOW_DOWN_WINDOW_SIZE)
-    self._has_slow_down = False
-
-    self._has_blinkers = False
-
-    self._slowness_gmac = WeightedMovingAverageCalculator(window_size=SLOWNESS_WINDOW_SIZE)
-    self._has_slowness = False
-
-    self._has_nav_instruction = False
-
-    self._dangerous_ttc_gmac = WeightedMovingAverageCalculator(window_size=DANGEROUS_TTC_WINDOW_SIZE)
-    self._has_dangerous_ttc = False
-
-    self._v_ego_kph = 0.
-    self._v_cruise_kph = 0.
-
-    self._has_lead = False
-
-    self._has_standstill = False
-    self._has_standstill_prev = False
-
-    self._sng_transit_frame = 0
-    self._sng_state = SNG_State.off
-
-    self._mpc_fcw_gmac = WeightedMovingAverageCalculator(window_size=MPC_FCW_WINDOW_SIZE)
-    self._has_mpc_fcw = False
-    self._mpc_fcw_crash_cnt = 0
-
-    self._set_mode_timeout = 0
-
-  @staticmethod
-  def _anomaly_detection(recent_data: list[float], threshold: float = 2.0, context_check: bool = True) -> bool:
-    """
-    Basic anomaly detection using standard deviation.
-    """
-    if len(recent_data) < 5:
-      return False
-    mean: float = float(np.mean(recent_data))
-    std_dev: float = float(np.std(recent_data))
-    anomaly: bool = bool(recent_data[-1] > mean + threshold * std_dev)
-
-    # Context check to ensure repeated anomaly
-    if context_check:
-      return bool(np.count_nonzero(np.array(recent_data) > mean + threshold * std_dev) > 1)
-    return anomaly
-
-  def _adaptive_slowdown_threshold(self) -> float:
-    """
-    Adapts the slow-down threshold based on vehicle speed and recent behavior.
-    """
-    adaptive_threshold: float = float(
-      interp(self._v_ego_kph, SLOW_DOWN_BP, SLOW_DOWN_DIST) * (1.0 + 0.05 * np.log(1 + len(self._slow_down_gmac.data)))
-    )
-    return adaptive_threshold
-
-  def _smoothed_lead_detection(self, lead_prob: float, smoothing_factor: float = 0.2) -> bool:
-    """
-    Smoothing the lead detection to avoid erratic behavior.
-    """
-    self._has_lead_filtered = (1 - smoothing_factor) * self._has_lead_filtered + smoothing_factor * lead_prob
-    return bool(self._has_lead_filtered > LEAD_PROB)
-
-  def _adaptive_lead_prob_threshold(self) -> float:
-    """
-    Adapts lead probability threshold based on driving conditions.
-    """
-    if self._v_ego_kph > HIGHWAY_CRUISE_KPH:
-      return float(LEAD_PROB + 0.1)  # Increase the threshold on highways
-    return float(LEAD_PROB)
-
-  def _update(self, sm: messaging.SubMaster) -> None:
-    car_state = sm['carState']
-    lead_one = sm['radarState'].leadOne
-    md = sm['modelV2']
-
-    self._v_ego_kph = car_state.vEgo * 3.6
-    self._v_cruise_kph = car_state.vCruise
-    self._has_lead = lead_one.status
-    self._has_standstill = car_state.standstill
-
-    # fcw detection
-    self._mpc_fcw_gmac.add_data(self._mpc_fcw_crash_cnt > 0)
-    self._has_mpc_fcw = self._mpc_fcw_gmac.get_weighted_average() > MPC_FCW_PROB
-
-    # nav enable detection
-    # self._has_nav_instruction = md.navEnabledDEPRECATED and maneuver_distance / max(car_state.vEgo, 1) < 13
-
-    # lead detection with smoothing
-    self._lead_gmac.add_data(lead_one.status)
-    #self._has_lead_filtered = self._lead_gmac.get_weighted_average() > LEAD_PROB
-    lead_prob = self._lead_gmac.get_weighted_average() or 0
-    self._has_lead_filtered = self._smoothed_lead_detection(lead_prob)
-
-    # adaptive slow down detection
-    adaptive_threshold = self._adaptive_slowdown_threshold()
-    slow_down_trigger = len(md.orientation.x) == len(md.position.x) == TRAJECTORY_SIZE and md.position.x[TRAJECTORY_SIZE - 1] < adaptive_threshold
-    self._slow_down_gmac.add_data(slow_down_trigger)
-    self._has_slow_down = self._slow_down_gmac.get_weighted_average() > SLOW_DOWN_PROB
-
-    # anomaly detection for slow down events
-    if self._anomaly_detection(self._slow_down_gmac.data):
-      # Handle anomaly: potentially log it, adjust behavior, or issue a warning
-      self._has_slow_down = False  # Reset slow down if anomaly detected
-
-    # blinker detection
-    self._has_blinkers = car_state.leftBlinker or car_state.rightBlinker
-
-    # sng detection
-    if self._has_standstill:
-      self._sng_state = SNG_State.stopped
-      self._sng_transit_frame = 0
-    else:
-      if self._sng_transit_frame == 0:
-        if self._sng_state == SNG_State.stopped:
-          self._sng_state = SNG_State.going
-          self._sng_transit_frame = STOP_AND_GO_FRAME
-        elif self._sng_state == SNG_State.going:
-          self._sng_state = SNG_State.off
-      elif self._sng_transit_frame > 0:
-        self._sng_transit_frame -= 1
-
-    # slowness detection
-    if not self._has_standstill:
-      self._slowness_gmac.add_data(self._v_ego_kph <= (self._v_cruise_kph * SLOWNESS_CRUISE_OFFSET))
-      self._has_slowness = self._slowness_gmac.get_weighted_average() > SLOWNESS_PROB
-
-    # dangerous TTC detection
-    if not self._has_lead_filtered and self._has_lead_filtered_prev:
-      self._dangerous_ttc_gmac.reset_data()
-      self._has_dangerous_ttc = False
-
-    if self._has_lead and car_state.vEgo >= 0.01:
-      self._dangerous_ttc_gmac.add_data(lead_one.dRel / car_state.vEgo)
-
-    self._has_dangerous_ttc = self._dangerous_ttc_gmac.get_weighted_average() is not None and self._dangerous_ttc_gmac.get_weighted_average() <= DANGEROUS_TTC
-
-    # keep prev values
-    self._has_standstill_prev = self._has_standstill
-    self._has_lead_filtered_prev = self._has_lead_filtered
-
-  def _radarless_mode(self) -> None:
-    # when mpc fcw crash prob is high
-    # use blended to slow down quickly
-    if self._has_mpc_fcw:
-      self._set_mode('blended')
-      return
-
-    # Nav enabled and distance to upcoming turning is 300 or below
-    # if self._has_nav_instruction:
-    #  self._set_mode('blended')
-    #  return
-
-    # when blinker is on and speed is driving below V_ACC_MIN: blended
-    # we don't want it to switch mode at higher speed, blended may trigger hard brake
-    # if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
-    #  self._set_mode('blended')
-    #  return
-
-    # when at highway cruise and SNG: blended
-    # ensuring blended mode is used because acc is bad at catching SNG lead car
-    # especially those who accel very fast and then brake very hard.
-    # if self._sng_state == SNG_State.going and self._v_cruise_kph >= V_ACC_MIN:
-    #  self._set_mode('blended')
-    #  return
-
-    # when standstill: blended
-    # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
-    if self._has_standstill:
-      self._set_mode('blended')
-      return
-
-    # when detecting slow down scenario: blended
-    # e.g. traffic light, curve, stop sign etc.
-    if self._has_slow_down:
-      self._set_mode('blended')
-      return
-
-    # when detecting lead slow down: blended
-    # use blended for higher braking capability
-    if self._has_dangerous_ttc:
-      self._set_mode('blended')
-      return
-
-    # car driving at speed lower than set speed: acc
-    if self._has_slowness:
-      self._set_mode('acc')
-      return
-
-    self._set_mode('acc')
-
-  def _radar_mode(self) -> None:
-    # when mpc fcw crash prob is high
-    # use blended to slow down quickly
-    if self._has_mpc_fcw:
-      self._set_mode('blended')
-      return
-
-    # If there is a filtered lead, the vehicle is not in standstill, and the lead vehicle's yRel meets the condition,
-    if self._has_lead_filtered and not self._has_standstill:
-      self._set_mode('acc')
-      return
-
-    # when blinker is on and speed is driving below V_ACC_MIN: blended
-    # we don't want it to switch mode at higher speed, blended may trigger hard brake
-    # if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
-    #  self._set_mode('blended')
-    #  return
-
-    # when standstill: blended
-    # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
-    if self._has_standstill:
-      self._set_mode('blended')
-      return
-
-    # when detecting slow down scenario: blended
-    # e.g. traffic light, curve, stop sign etc.
-    if self._has_slow_down:
-      self._set_mode('blended')
-      return
-
-    # car driving at speed lower than set speed: acc
-    if self._has_slowness:
-      self._set_mode('acc')
-      return
-
-    # Nav enabled and distance to upcoming turning is 300 or below
-    # if self._has_nav_instruction:
-    #  self._set_mode('blended')
-    #  return
-
-    self._set_mode('acc')
-
-  def get_mpc_mode(self) -> str:
-    return str(self._mode)
-
-  def has_changed(self) -> bool:
-    return bool(self._mode_changed)
-
-  def set_enabled(self, enabled: bool) -> None:
-    self._is_enabled = enabled
-
-  def is_enabled(self) -> bool:
-    return self._is_enabled
-
-  def set_mpc_fcw_crash_cnt(self, crash_cnt: float) -> None:
-    self._mpc_fcw_crash_cnt = crash_cnt
-
-  def _set_mode(self, mode: str) -> None:
-    if self._set_mode_timeout == 0:
-      self._mode = mode
-      if mode == 'blended':
-        self._set_mode_timeout = SET_MODE_TIMEOUT
-
-    if self._set_mode_timeout > 0:
-      self._set_mode_timeout -= 1
-
-  def _read_params(self) -> None:
-    if self._frame % int(1. / DT_MDL) == 0:
-      self._is_enabled = self._params.get_bool("DynamicExperimentalControl")
-
-  def update(self, radar_unavailable: bool, sm: messaging.SubMaster) -> None:
-    self._read_params()
-
-    if self._is_enabled:
-      self._update(sm)
-
-      if radar_unavailable:
-        self._radarless_mode()
-      else:
-        self._radar_mode()
-
-    self._mode_changed = self._mode != self._mode_prev
-    self._mode_prev = self._mode
-
-    self._frame += 1
diff --git a/sunnypilot/selfdrive/controls/lib/dec/helpers.py b/sunnypilot/selfdrive/controls/lib/dec/helpers.py
deleted file mode 100644
index 602d3b64ba7b50..00000000000000
--- a/sunnypilot/selfdrive/controls/lib/dec/helpers.py
+++ /dev/null
@@ -1,46 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-from cereal import messaging, custom
-from opendbc.car import structs
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
-
-MpcSource = custom.LongitudinalPlanSP.MpcSource
-
-
-class DecPlanner:
-  def __init__(self, CP: structs.CarParams, mpc):
-    self.CP = CP
-    self.mpc = mpc
-
-    self.is_enabled = False
-
-    self.dynamic_experimental_controller = DynamicExperimentalController()
-
-  def get_mpc_mode(self, sm: messaging.SubMaster):
-    if not self.is_enabled or not sm['selfdriveState'].experimentalMode:
-      return None
-
-    return self.dynamic_experimental_controller.get_mpc_mode()
-
-  def update(self, sm: messaging.SubMaster) -> None:
-    self.dynamic_experimental_controller.set_mpc_fcw_crash_cnt(self.mpc.crash_cnt)
-    self.dynamic_experimental_controller.update(self.CP.radarUnavailable, sm)
-
-  def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
-    plan_sp_send = messaging.new_message('longitudinalPlanSP')
-
-    plan_sp_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
-
-    longitudinalPlanSP = plan_sp_send.longitudinalPlanSP
-
-    # DEC
-    longitudinalPlanSP.mpcSource = MpcSource.blended if self.mpc.mode == 'blended' else MpcSource.acc
-
-    longitudinalPlanSP.dynamicExperimentalControl = self.dynamic_experimental_controller.is_enabled()
-
-    pm.send('longitudinalPlanSP', plan_sp_send)
diff --git a/sunnypilot/selfdrive/controls/lib/dec/tests/__init__.py b/sunnypilot/selfdrive/controls/lib/dec/tests/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py b/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
deleted file mode 100644
index af77639424b3dd..00000000000000
--- a/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
+++ /dev/null
@@ -1,257 +0,0 @@
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import (
-  DynamicExperimentalController,
-  TRAJECTORY_SIZE,
-  LEAD_WINDOW_SIZE,
-  SLOW_DOWN_WINDOW_SIZE,
-  DANGEROUS_TTC_WINDOW_SIZE,
-  MPC_FCW_WINDOW_SIZE,
-  SNG_State,
-  STOP_AND_GO_FRAME
-)
-
-import pytest
-import numpy as np
-from openpilot.common.params import Params
-
-class MockInterp:
-  def __call__(self, x, xp, fp):
-    return np.interp(x, xp, fp)
-
-class MockCarState:
-  def __init__(self, v_ego=0., standstill=False, left_blinker=False, right_blinker=False):
-    self.vEgo = v_ego
-    self.standstill = standstill
-    self.leftBlinker = left_blinker
-    self.rightBlinker = right_blinker
-
-class MockLeadOne:
-  def __init__(self, status=False, d_rel=0):
-    self.status = status
-    self.dRel = d_rel
-
-class MockModelData:
-  def __init__(self, x_vals=None, positions=None):
-    self.orientation = type('Orientation', (), {'x': x_vals})()
-    self.position = type('Position', (), {'x': positions})()
-
-class MockControlState:
-  def __init__(self, v_cruise=0):
-    self.vCruise = v_cruise
-
-@pytest.fixture
-def interp(monkeypatch):
-  mock_interp = MockInterp()
-  monkeypatch.setattr('openpilot.common.numpy_fast.interp', mock_interp)
-  return mock_interp
-
-@pytest.fixture
-def controller(interp):
-  params = Params()
-  params.put_bool("DynamicExperimentalControl", True)
-  controller = DynamicExperimentalController()
-  return controller
-
-def test_initial_state(controller):
-  """Test initial state of the controller"""
-  assert controller._mode == 'acc'
-  assert not controller._has_lead
-  assert not controller._has_standstill
-  assert controller._sng_state == SNG_State.off
-  assert not controller._has_lead_filtered
-  assert not controller._has_slow_down
-  assert not controller._has_dangerous_ttc
-  assert not controller._has_mpc_fcw
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_standstill_detection(controller, has_radar):
-  """Test standstill detection and state transitions"""
-  car_state = MockCarState(standstill=True)
-  lead_one = MockLeadOne()
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState()
-
-  # Test transition to standstill
-  controller.update(not has_radar, car_state, lead_one, md, controls_state)
-  assert controller._sng_state == SNG_State.stopped
-  assert controller.get_mpc_mode() == 'blended'
-
-  # Test transition from standstill to moving
-  car_state.standstill = False
-  controller.update(not has_radar, car_state, lead_one, md, controls_state)
-  assert controller._sng_state == SNG_State.going
-
-  # Test complete transition to normal driving
-  for _ in range(STOP_AND_GO_FRAME + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-  assert controller._sng_state == SNG_State.off
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_lead_detection(controller, has_radar):
-  """Test lead vehicle detection and filtering"""
-  car_state = MockCarState(v_ego=20)  # 72 kph
-  lead_one = MockLeadOne(status=True, d_rel=50)  # Safe distance
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=72)
-
-  # Let moving average stabilize
-  for _ in range(LEAD_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_lead_filtered
-  expected_mode = 'acc' if has_radar else 'blended'
-  assert controller.get_mpc_mode() == expected_mode
-
-  # Test lead loss detection
-  lead_one.status = False
-  for _ in range(LEAD_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert not controller._has_lead_filtered
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_slow_down_detection(controller, has_radar):
-  """Test slow down detection based on trajectory"""
-  car_state = MockCarState(v_ego=10/3.6)  # 10 kph
-  lead_one = MockLeadOne()
-  x_vals = [0] * TRAJECTORY_SIZE
-  positions = [20] * TRAJECTORY_SIZE  # Position within slow down threshold
-  md = MockModelData(x_vals=x_vals, positions=positions)
-  controls_state = MockControlState(v_cruise=30)
-
-  # Test slow down detection
-  for _ in range(SLOW_DOWN_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_slow_down
-  assert controller.get_mpc_mode() == 'blended'
-
-  # Test slow down recovery
-  positions = [200] * TRAJECTORY_SIZE  # Position outside slow down threshold
-  md = MockModelData(x_vals=x_vals, positions=positions)
-  for _ in range(SLOW_DOWN_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert not controller._has_slow_down
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_dangerous_ttc_detection(controller, has_radar):
-  """Test Time-To-Collision detection and handling"""
-  car_state = MockCarState(v_ego=10)  # 36 kph
-  lead_one = MockLeadOne(status=True)
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=36)
-
-  # First establish normal conditions with lead
-  lead_one.dRel = 100  # Safe distance
-  for _ in range(LEAD_WINDOW_SIZE + 1):  # First establish lead detection
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_lead_filtered  # Verify lead is detected
-
-  # Now test dangerous TTC detection
-  lead_one.dRel = 10  # 10m distance - should trigger dangerous TTC
-  # TTC = dRel/vEgo = 10/10 = 1s (which is less than DANGEROUS_TTC = 2.3s)
-
-  # Need to update multiple times to allow the weighted average to stabilize
-  for _ in range(DANGEROUS_TTC_WINDOW_SIZE * 2):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_dangerous_ttc, "TTC of 1s should be considered dangerous"
-  expected_mode = 'acc' if has_radar else 'blended'
-  assert controller.get_mpc_mode() == expected_mode, f"Should be in [{expected_mode}] mode with dangerous TTC"
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_mode_transitions(controller, has_radar):
-  """Test comprehensive mode transitions under different conditions"""
-  # Initialize with normal driving conditions
-  car_state = MockCarState(v_ego=25)  # 90 kph
-  lead_one = MockLeadOne(status=False)
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[200] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=100)
-
-  def stabilize_filters():
-    """Helper to let all moving averages stabilize"""
-    for _ in range(max(LEAD_WINDOW_SIZE, SLOW_DOWN_WINDOW_SIZE,
-                       DANGEROUS_TTC_WINDOW_SIZE, MPC_FCW_WINDOW_SIZE) + 1):
-      controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  # Test 1: Normal driving -> ACC mode
-  stabilize_filters()
-  assert controller.get_mpc_mode() == 'acc', "Should be in ACC mode under normal driving conditions"
-
-  # Test 2: Standstill -> Blended mode
-  car_state.standstill = True
-  controller.update(not has_radar, car_state, lead_one, md, controls_state)
-  assert controller.get_mpc_mode() == 'blended', "Should be in blended mode during standstill"
-
-  # Test 3: Lead car appears -> ACC mode
-  car_state = MockCarState(v_ego=20)  # Reset car state
-  lead_one.status = True
-  lead_one.dRel = 50  # Safe distance
-  stabilize_filters()
-  assert not controller._has_dangerous_ttc, "Should not have dangerous TTC"
-  assert controller.get_mpc_mode() == 'acc', "Should be in ACC mode with safe lead distance"
-
-  # Test 4: Dangerous TTC -> Blended mode
-  car_state = MockCarState(v_ego=20)  # 72 kph
-  lead_one.status = True
-  lead_one.dRel = 50  # First establish normal lead detection
-
-  # First establish lead detection
-  for _ in range(LEAD_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_lead_filtered  # Verify lead is detected
-
-  # Now create dangerous TTC condition
-  lead_one.dRel = 20  # This creates a TTC of 1s, well below DANGEROUS_TTC
-
-  for _ in range(DANGEROUS_TTC_WINDOW_SIZE * 2):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_dangerous_ttc, "Should detect dangerous TTC condition"
-  expected_mode = 'acc' if has_radar else 'blended'
-  assert controller.get_mpc_mode() == expected_mode, f"Should be in [{expected_mode}] mode with dangerous TTC"
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_mpc_fcw_handling(controller, has_radar):
-  """Test MPC FCW crash count handling and mode transitions"""
-  car_state = MockCarState(v_ego=20)
-  lead_one = MockLeadOne()
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=72)
-
-  # Test FCW activation
-  controller.set_mpc_fcw_crash_cnt(5)
-  for _ in range(MPC_FCW_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_mpc_fcw
-  assert controller.get_mpc_mode() == 'blended'
-
-  # Test FCW recovery
-  controller.set_mpc_fcw_crash_cnt(0)
-  for _ in range(MPC_FCW_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert not controller._has_mpc_fcw
-
-def test_radar_unavailable_handling(controller):
-  """Test behavior transitions between radar available and unavailable states"""
-  car_state = MockCarState(v_ego=27.78)  # 100 kph
-  lead_one = MockLeadOne(status=True, d_rel=50)
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=100)
-
-  # Test with radar available
-  for _ in range(LEAD_WINDOW_SIZE + 1):
-    controller.update(False, car_state, lead_one, md, controls_state)
-  radar_mode = controller.get_mpc_mode()
-
-  # Test with radar unavailable
-  for _ in range(LEAD_WINDOW_SIZE + 1):
-    controller.update(True, car_state, lead_one, md, controls_state)
-  radarless_mode = controller.get_mpc_mode()
-
-  assert radar_mode is not None
-  assert radarless_mode is not None
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 499ed6474bb83b..7a8ec9fc867587 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -43,7 +43,6 @@ def manager_init() -> None:
   ]
 
   sunnypilot_default_params: list[tuple[str, str | bytes]] = [
-    ("DynamicExperimentalControl", "0"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
     ("MadsPauseLateralOnBrake", "0"),

From 01c5dbdc4cc9cda824db217c91977b5c862e675d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 13 Jan 2025 16:14:00 -0500
Subject: [PATCH 0068/1434] Hyundai CAN: auto-enable radar tracks on applicable
 Mando radar (#561)

* more

* event and checks

* comments

* missed events

* retry 2 times is enough

* rename to radar tracks

* fix data type

* more rename

* bump opendbc

* drain first

* put it behind a toggle lol

* re-enable

* update comments

* revert lead smoothing

* Revert "revert lead smoothing"

This reverts commit 872267970c3dd1dbfd64a5bdd21d2e1b9ea600bf.

* real events and radard engagement

* only show up for hyundai with mando

* update translations

* bump opendbc

* fix event name

* update description

* move above

* translations

---------

Co-authored-by: rav4kumar <meetkumardesai@gmail.com>
---
 cereal/log.capnp                           |  1 +
 common/params.cc                           |  6 ++++
 opendbc_repo                               |  2 +-
 selfdrive/car/card.py                      |  3 ++
 selfdrive/selfdrived/events.py             |  3 ++
 selfdrive/selfdrived/selfdrived.py         |  7 ++++
 selfdrive/ui/qt/offroad/developer_panel.cc | 18 ++++++++++
 selfdrive/ui/qt/offroad/developer_panel.h  |  1 +
 selfdrive/ui/translations/main_ar.ts       |  8 +++++
 selfdrive/ui/translations/main_de.ts       |  8 +++++
 selfdrive/ui/translations/main_es.ts       |  8 +++++
 selfdrive/ui/translations/main_fr.ts       |  8 +++++
 selfdrive/ui/translations/main_ja.ts       |  8 +++++
 selfdrive/ui/translations/main_ko.ts       |  8 +++++
 selfdrive/ui/translations/main_pt-BR.ts    |  8 +++++
 selfdrive/ui/translations/main_th.ts       |  8 +++++
 selfdrive/ui/translations/main_tr.ts       |  8 +++++
 selfdrive/ui/translations/main_zh-CHS.ts   |  8 +++++
 selfdrive/ui/translations/main_zh-CHT.ts   |  8 +++++
 sunnypilot/selfdrive/car/car_specific.py   | 34 ++++++++++++++++++
 sunnypilot/selfdrive/car/interfaces.py     | 41 ++++++++++++++++++++++
 21 files changed, 203 insertions(+), 1 deletion(-)
 create mode 100644 sunnypilot/selfdrive/car/car_specific.py
 create mode 100644 sunnypilot/selfdrive/car/interfaces.py

diff --git a/cereal/log.capnp b/cereal/log.capnp
index d5fbad6fe8318f..fb38185dfeeccb 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -198,6 +198,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     silentSeatbeltNotLatched @161;
     silentParkBrake @162;
     controlsMismatchLateral @163;
+    hyundaiRadarTracksConfirmed @164;
 
     soundsUnavailableDEPRECATED @47;
   }
diff --git a/common/params.cc b/common/params.cc
index 7c1b21c00c4c3f..d86dd58c9f034c 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -223,6 +223,12 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SunnylinkDongleId", PERSISTENT},
     {"SunnylinkdPid", PERSISTENT},
     {"SunnylinkEnabled", PERSISTENT},
+
+    // sunnypilot car specific params
+    {"HyundaiRadarTracks", PERSISTENT},
+    {"HyundaiRadarTracksConfirmed", PERSISTENT},
+    {"HyundaiRadarTracksPersistent", PERSISTENT},
+    {"HyundaiRadarTracksToggle", PERSISTENT},
 };
 
 } // namespace
diff --git a/opendbc_repo b/opendbc_repo
index 6ddebc9a0365d3..6a2ad131ebfe7a 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 6ddebc9a0365d3421bee7cceddb0263c88fb78dd
+Subproject commit 6a2ad131ebfe7a15dca5aae391ef5225189c3c2d
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 1852dccf74d884..e093b5e0d0f982 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -23,6 +23,7 @@
 from openpilot.selfdrive.car.car_specific import MockCarState
 
 from openpilot.sunnypilot.mads.mads import MadsParams
+from openpilot.sunnypilot.selfdrive.car.interfaces import setup_car_interface_sp, initialize_car_interface_sp
 
 REPLAY = "REPLAY" in os.environ
 
@@ -100,6 +101,7 @@ def __init__(self, CI=None, RI=None) -> None:
           cached_params = _cached_params
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
+      setup_car_interface_sp(self.CI.CP, self.params)
       self.RI = get_radar_interface(self.CI.CP)
       self.CP = self.CI.CP
 
@@ -230,6 +232,7 @@ def controls_update(self, CS: car.CarState, CC: car.CarControl):
       # Initialize CarInterface, once controls are ready
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
       self.CI.init(self.CP, *self.can_callbacks)
+      initialize_car_interface_sp(self.CP, self.params, *self.can_callbacks)
       # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 672d809dd9c585..481a33079b6fec 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -1061,6 +1061,9 @@ def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
     ET.NO_ENTRY: NoEntryAlert("Controls Mismatch: Lateral"),
   },
 
+  EventName.hyundaiRadarTracksConfirmed: {
+    ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
+  }
 
 }
 
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 8328bf67f0b29f..759682f44f69be 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -24,6 +24,7 @@
 from openpilot.system.version import get_build_metadata
 
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
@@ -137,6 +138,8 @@ def __init__(self, CP=None):
     sock_services = list(self.pm.sock.keys()) + ['selfdriveStateSP']
     self.pm = messaging.PubMaster(sock_services)
 
+    self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
+
   def update_events(self, CS):
     """Compute onroadEvents from carState"""
 
@@ -177,6 +180,9 @@ def update_events(self, CS):
       car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg()
       self.events.add_from_msg(car_events)
 
+      car_events_sp = self.car_events_sp.update().to_msg()
+      self.events.add_from_msg(car_events_sp)
+
       if self.CP.notCar:
         # wait for everything to init first
         if self.sm.frame > int(5. / DT_CTRL) and self.initialized:
@@ -495,6 +501,7 @@ def params_thread(self, evt):
       self.personality = self.read_personality_param()
 
       self.mads.read_params()
+      self.car_events_sp.read_params()
       time.sleep(0.1)
 
   def run(self):
diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc
index eee48a6bdb7597..1a362f62c631d1 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.cc
+++ b/selfdrive/ui/qt/offroad/developer_panel.cc
@@ -29,6 +29,18 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(longManeuverToggle);
 
+  // TODO-SP: Move to Vehicles panel when ported back
+  hyundaiRadarTracksToggle = new ParamControl(
+    "HyundaiRadarTracksToggle",
+    tr("Hyundai: Enable Radar Tracks"),
+    tr("Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. "
+       "This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance."), "");
+  hyundaiRadarTracksToggle->setConfirmation(true, false);
+  QObject::connect(hyundaiRadarTracksToggle, &ParamControl::toggleFlipped, [=](bool state) {
+    updateToggles(offroad);
+  });
+  addItem(hyundaiRadarTracksToggle);
+
   auto enableGithubRunner = new ParamControl("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "");
   addItem(enableGithubRunner);
 
@@ -51,9 +63,15 @@ void DeveloperPanel::updateToggles(bool _offroad) {
     AlignedBuffer aligned_buf;
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    auto hyundai = CP.getCarName() == "hyundai";
+    auto hyundai_mando_radar = hyundai && (CP.getFlags() & 4096);
+
     longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad);
+    hyundaiRadarTracksToggle->setVisible(hyundai_mando_radar && hasLongitudinalControl(CP));
   } else {
     longManeuverToggle->setEnabled(false);
+    hyundaiRadarTracksToggle->setVisible(false);
   }
 
   offroad = _offroad;
diff --git a/selfdrive/ui/qt/offroad/developer_panel.h b/selfdrive/ui/qt/offroad/developer_panel.h
index 0351cd045ccbf6..5dc5a5c4943d3b 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.h
+++ b/selfdrive/ui/qt/offroad/developer_panel.h
@@ -16,6 +16,7 @@ class DeveloperPanel : public ListWidget {
   Params params;
   ParamControl* joystickToggle;
   ParamControl* longManeuverToggle;
+  ParamControl* hyundaiRadarTracksToggle;
   bool is_release;
   bool offroad;
 
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index bd1452612c2849..482893fae525aa 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -131,6 +131,14 @@
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hyundai: Enable Radar Tracks</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index f015d2ea5f3b09..3129b79f0daa04 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -131,6 +131,14 @@
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hyundai: Enable Radar Tracks</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 658f131a36b219..dd58f9ddb525d9 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -131,6 +131,14 @@
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hyundai: Enable Radar Tracks</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 7e2f6649d63573..dac8c0373b9266 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -131,6 +131,14 @@
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hyundai: Enable Radar Tracks</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 0229a36bd6d79e..28a4db8a8f783f 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -131,6 +131,14 @@
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hyundai: Enable Radar Tracks</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 0b1c82e92c39f7..af62de8bd587ae 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -131,6 +131,14 @@
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hyundai: Enable Radar Tracks</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 2a2693961e0398..004f03affe859f 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -131,6 +131,14 @@
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hyundai: Enable Radar Tracks</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index c2557a6faa6230..1c28c0ebd17ccd 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -131,6 +131,14 @@
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hyundai: Enable Radar Tracks</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index ac22574b9769df..81bc70e154abeb 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -131,6 +131,14 @@
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hyundai: Enable Radar Tracks</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index d284bbac6e8528..81de7f76b8645b 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -131,6 +131,14 @@
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hyundai: Enable Radar Tracks</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 37c9d0c70fb8b7..0f8a40ed2982fd 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -131,6 +131,14 @@
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hyundai: Enable Radar Tracks</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/sunnypilot/selfdrive/car/car_specific.py b/sunnypilot/selfdrive/car/car_specific.py
new file mode 100644
index 00000000000000..5abb5603d6a472
--- /dev/null
+++ b/sunnypilot/selfdrive/car/car_specific.py
@@ -0,0 +1,34 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from cereal import log
+from opendbc.car import structs
+
+from openpilot.selfdrive.selfdrived.events import Events
+
+EventName = log.OnroadEvent.EventName
+
+
+class CarSpecificEventsSP:
+  def __init__(self, CP: structs.CarParams, params):
+    self.CP = CP
+    self.params = params
+
+    self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks")
+    self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed")
+
+  def read_params(self):
+    self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks")
+    self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed")
+
+  def update(self):
+    events = Events()
+    if self.CP.carName == 'hyundai':
+      if self.hyundai_radar_tracks and not self.hyundai_radar_tracks_confirmed:
+        events.add(EventName.hyundaiRadarTracksConfirmed)
+
+    return events
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
new file mode 100644
index 00000000000000..a92f8f60bef5b2
--- /dev/null
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -0,0 +1,41 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from opendbc.car import Bus, structs
+from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable
+from opendbc.car.car_helpers import can_fingerprint
+from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
+from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC
+from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
+
+
+def setup_car_interface_sp(CP: structs.CarParams, params):
+  if CP.carName == 'hyundai':
+    if CP.flags & HyundaiFlags.MANDO_RADAR and CP.radarUnavailable:
+      # Having this automatic without a toggle causes a weird process replay diff because
+      # somehow it sees fewer logs than intended
+      if params.get_bool("HyundaiRadarTracksToggle"):
+        CP.sunnypilotFlags |= HyundaiFlagsSP.ENABLE_RADAR_TRACKS.value
+        if params.get_bool("HyundaiRadarTracks"):
+          CP.radarUnavailable = False
+
+
+def initialize_car_interface_sp(CP: structs.CarParams, params, can_recv: CanRecvCallable, can_send: CanSendCallable):
+  if CP.carName == 'hyundai':
+    if CP.sunnypilotFlags & HyundaiFlagsSP.ENABLE_RADAR_TRACKS:
+      can_recv()
+      _, fingerprint = can_fingerprint(can_recv)
+      radar_unavailable = RADAR_START_ADDR not in fingerprint[1] or Bus.radar not in HYUNDAI_DBC[CP.carFingerprint]
+
+      radar_tracks = params.get_bool("HyundaiRadarTracks")
+      radar_tracks_persistent = params.get_bool("HyundaiRadarTracksPersistent")
+
+      params.put_bool_nonblocking("HyundaiRadarTracksConfirmed", radar_tracks)
+
+      if not radar_tracks_persistent:
+        params.put_bool_nonblocking("HyundaiRadarTracks", not radar_unavailable)
+        params.put_bool_nonblocking("HyundaiRadarTracksPersistent", True)

From ce3c55c691c58ef94cbfad7393999718ff8dfff1 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 16 Jan 2025 17:13:53 -0500
Subject: [PATCH 0069/1434] test_processes: update ref logs to afde277

---
 ..._calibrationd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...-45-08--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...-45-08--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...--0_controlsd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ..._dmonitoringd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...--0_locationd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...08--0_paramsd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...08--0_plannerd_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...08--0_plannerd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...-08--0_radard_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...-0_selfdrived_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...08--0_torqued_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...5-08--0_ubloxd_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...5-08--0_ubloxd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...-03-23--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...-03-23--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...-56-31--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...-56-31--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...-51-30--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...-51-30--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...-15-31--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...-15-31--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...-47-37--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...-47-37--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...-09-15--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...-09-15--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ..._calibrationd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...-08-24--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...-08-24--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...--0_controlsd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ..._dmonitoringd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...--0_locationd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...24--0_paramsd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...24--0_plannerd_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...24--0_plannerd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...-24--0_radard_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...--0_selfdrived_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...--0_selfdrived_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...24--0_torqued_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...8-24--0_ubloxd_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...8-24--0_ubloxd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...-13-04--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...-13-04--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ..._calibrationd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...-38-51--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...-38-51--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...--0_controlsd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ..._dmonitoringd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...--0_locationd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...51--0_paramsd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...51--0_plannerd_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...51--0_plannerd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...-51--0_radard_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...--0_selfdrived_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...--0_selfdrived_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...51--0_torqued_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...8-51--0_ubloxd_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...8-51--0_ubloxd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...-36-22--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...-36-22--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ..._calibrationd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...-06-45--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...-06-45--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...--0_controlsd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ..._dmonitoringd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...--0_locationd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...45--0_paramsd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...45--0_plannerd_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...45--0_plannerd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...-45--0_radard_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...--0_selfdrived_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...--0_selfdrived_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...45--0_torqued_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...6-45--0_ubloxd_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...6-45--0_ubloxd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...-21-55--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...-21-55--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ..._calibrationd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...-54-01--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...-54-01--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...--0_controlsd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ..._dmonitoringd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...--0_locationd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...01--0_paramsd_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...01--0_plannerd_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...01--0_plannerd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...-01--0_radard_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...--0_selfdrived_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...--0_selfdrived_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...01--0_torqued_afde2771f8a70171349c733f4a9500d33988edff.zst} | 0
 ...4-01--0_ubloxd_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...4-01--0_ubloxd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...-02-54--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...-02-54--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...-18-02--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...-18-02--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 ...-59-03--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 +++
 ...-59-03--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst | 3 ---
 selfdrive/test/process_replay/ref_commit                       | 2 +-
 99 files changed, 94 insertions(+), 94 deletions(-)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_radard_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_radard_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_torqued_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_torqued_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen306779F6870|2024-10-03--04-03-23--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen306779F6870|2024-10-03--04-03-23--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen4CE950B0267|2024-08-30--02-51-30--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen4CE950B0267|2024-08-30--02-51-30--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen58464878D07|2024-08-30--03-15-31--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen58464878D07|2024-08-30--03-15-31--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen6E484EDAB96|2024-08-30--02-47-37--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen6E484EDAB96|2024-08-30--02-47-37--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen720F2BA4CF6|2024-08-30--03-09-15--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen720F2BA4CF6|2024-08-30--03-09-15--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_calibrationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regen756F8230C21|2024-11-07--00-08-24--0_calibrationd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_controlsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regen756F8230C21|2024-11-07--00-08-24--0_controlsd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_dmonitoringd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regen756F8230C21|2024-11-07--00-08-24--0_dmonitoringd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_locationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regen756F8230C21|2024-11-07--00-08-24--0_locationd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_paramsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regen756F8230C21|2024-11-07--00-08-24--0_paramsd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_plannerd_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_plannerd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_radard_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regen756F8230C21|2024-11-07--00-08-24--0_radard_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_selfdrived_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_selfdrived_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_torqued_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regen756F8230C21|2024-11-07--00-08-24--0_torqued_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_ubloxd_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_ubloxd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9ADBECBCD1C|2024-08-30--03-13-04--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9ADBECBCD1C|2024-08-30--03-13-04--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_calibrationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_calibrationd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_controlsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_controlsd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_dmonitoringd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_dmonitoringd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_locationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_locationd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_paramsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_paramsd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_plannerd_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_plannerd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_radard_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_radard_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_selfdrived_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_selfdrived_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_torqued_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_torqued_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_ubloxd_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_ubloxd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenA67A128BCD8|2024-08-30--02-36-22--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenA67A128BCD8|2024-08-30--02-36-22--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_calibrationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_calibrationd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_controlsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_controlsd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_dmonitoringd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_dmonitoringd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_locationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_locationd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_paramsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_paramsd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_plannerd_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_plannerd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_radard_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_radard_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_selfdrived_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_selfdrived_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_torqued_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_torqued_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_ubloxd_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_ubloxd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenACF84CCF482|2024-08-30--03-21-55--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenACF84CCF482|2024-08-30--03-21-55--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_calibrationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_calibrationd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_controlsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_controlsd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_dmonitoringd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_dmonitoringd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_locationd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_locationd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_paramsd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_paramsd_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_radard_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_radard_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_selfdrived_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_selfdrived_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_afde2771f8a70171349c733f4a9500d33988edff.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst

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rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_afde2771f8a70171349c733f4a9500d33988edff.zst
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
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--- a/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7dcbf1c3abe76b2a6b1627c43ce5ecd2d56cb8ed52d4486415cdf6d6eb22fc07
-size 265784
diff --git a/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst b/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
new file mode 100644
index 00000000000000..3164a77f982cee
--- /dev/null
+++ b/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:799b230f211c69b1706b1226fe87989fd726d96a2cebbaaacf30180e89137b75
+size 272009
diff --git a/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst b/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
deleted file mode 100644
index 7e9a5b95ca0759..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:14da7fa2937fb1942522abc8718058dbea20bc3837137a1139993eab86d9de6e
-size 271996
diff --git a/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst b/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
new file mode 100644
index 00000000000000..1c71c64440cfdf
--- /dev/null
+++ b/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c0b370f4926ae2a366f115952ab37a6ba4b8a957553c4369870b077d95e1282
+size 332381
diff --git a/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst b/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
deleted file mode 100644
index 80185eeec9476c..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b6894fd7505e5fedd290e9ce2d12e60784bedd27bb4fa36311ac20296ba98e78
-size 332419
diff --git a/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst b/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
new file mode 100644
index 00000000000000..5565c4c591b298
--- /dev/null
+++ b/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93e3b5fcf899ae095b8a1a34126436fd14f101aeca7749925b3958aec04e6b61
+size 294565
diff --git a/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst b/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
deleted file mode 100644
index 9643c423b2c1a7..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_efa9c321c2f985d948b5d9a5e708f5d2d31b7737.zst
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:bd052d9eedfbecd39080ec35b98c6e223b95efc73401ccb3b273eeaf8dcd3559
-size 294546
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index ee53ef9b0bffd6..574cddb4532896 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-efa9c321c2f985d948b5d9a5e708f5d2d31b7737
\ No newline at end of file
+afde2771f8a70171349c733f4a9500d33988edff
\ No newline at end of file

From d15d56b16196dc39529861799a2231e9509bc62c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 17 Jan 2025 12:22:45 -0500
Subject: [PATCH 0070/1434] sentry: log fingerprints and save exceptions (#581)

* sentry: log fingerprints and save exceptions

* no point

* remove unused imports

* use deprecated

* have to do this

* remove

* cap

* no duplicate

* typo

* don't use deprecated method

* wrap them around

* do this instead

* new endpoint

* no need
---
 selfdrive/car/card.py                  |  9 ++-
 sunnypilot/selfdrive/car/interfaces.py |  9 +++
 system/sentry.py                       | 92 +++++++++++++++++++++++---
 3 files changed, 98 insertions(+), 12 deletions(-)

diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index eecdbf67298fae..5cb3b6f5982833 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -23,7 +23,7 @@
 from openpilot.selfdrive.car.car_specific import MockCarState
 
 from openpilot.sunnypilot.mads.mads import MadsParams
-from openpilot.sunnypilot.selfdrive.car.interfaces import setup_car_interface_sp, initialize_car_interface_sp
+from openpilot.sunnypilot.selfdrive.car import interfaces
 
 REPLAY = "REPLAY" in os.environ
 
@@ -102,7 +102,7 @@ def __init__(self, CI=None, RI=None) -> None:
           cached_params = _cached_params
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
-      setup_car_interface_sp(self.CI.CP, self.params)
+      interfaces.setup_car_interface_sp(self.CI.CP, self.params)
       self.RI = get_radar_interface(self.CI.CP)
       self.CP = self.CI.CP
 
@@ -164,6 +164,9 @@ def __init__(self, CI=None, RI=None) -> None:
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
+    # log fingerprint in sentry
+    interfaces.log_fingerprint(self.CP)
+
   def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
     """carState update loop, driven by can"""
 
@@ -237,7 +240,7 @@ def controls_update(self, CS: car.CarState, CC: car.CarControl):
       # Initialize CarInterface, once controls are ready
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
       self.CI.init(self.CP, *self.can_callbacks)
-      initialize_car_interface_sp(self.CP, self.params, *self.can_callbacks)
+      interfaces.initialize_car_interface_sp(self.CP, self.params, *self.can_callbacks)
       # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index a92f8f60bef5b2..ff541ea9ed0b34 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -12,6 +12,15 @@
 from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 
+import openpilot.system.sentry as sentry
+
+
+def log_fingerprint(CP: structs.CarParams) -> None:
+  if CP.carFingerprint == "MOCK":
+    sentry.capture_fingerprint_mock()
+  else:
+    sentry.capture_fingerprint(CP.carFingerprint, CP.carName)
+
 
 def setup_car_interface_sp(CP: structs.CarParams, params):
   if CP.carName == 'hyundai':
diff --git a/system/sentry.py b/system/sentry.py
index 63bf789b6fa250..e9605bf7193686 100644
--- a/system/sentry.py
+++ b/system/sentry.py
@@ -1,26 +1,35 @@
 """Install exception handler for process crash."""
+import os
+import traceback
+from datetime import datetime
 import sentry_sdk
 from enum import Enum
 from sentry_sdk.integrations.threading import ThreadingIntegration
 
 from openpilot.common.params import Params
-from openpilot.system.athena.registration import is_registered_device
-from openpilot.system.hardware import HARDWARE, PC
+from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_build_metadata, get_version
 
+from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
+
+CRASHES_DIR = Paths.crash_log_root()
+
 
 class SentryProject(Enum):
   # python project
-  SELFDRIVE = "https://6f3c7076c1e14b2aa10f5dde6dda0cc4@o33823.ingest.sentry.io/77924"
+  SELFDRIVE = "https://186a6736b7927e5ae9b92c869ba81b6b@o1138119.ingest.us.sentry.io/4508660076052480"
   # native project
-  SELFDRIVE_NATIVE = "https://3e4b586ed21a4479ad5d85083b639bc6@o33823.ingest.sentry.io/157615"
+  SELFDRIVE_NATIVE = SELFDRIVE
 
 
 def report_tombstone(fn: str, message: str, contents: str) -> None:
   cloudlog.error({'tombstone': message})
 
   with sentry_sdk.configure_scope() as scope:
+    set_user()
     scope.set_extra("tombstone_fn", fn)
     scope.set_extra("tombstone", contents)
     sentry_sdk.capture_message(message=message)
@@ -31,25 +40,89 @@ def capture_exception(*args, **kwargs) -> None:
   cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1))
 
   try:
+    save_exception(traceback.format_exc())
+
+    set_user()
     sentry_sdk.capture_exception(*args, **kwargs)
     sentry_sdk.flush()  # https://github.com/getsentry/sentry-python/issues/291
   except Exception:
     cloudlog.exception("sentry exception")
 
 
+def save_exception(content: str) -> None:
+  try:
+    if not os.path.exists(CRASHES_DIR):
+      os.makedirs(CRASHES_DIR)
+
+    files = [
+      os.path.join(CRASHES_DIR, datetime.now().strftime("%Y-%m-%d--%H-%M-%S.log")),
+      os.path.join(CRASHES_DIR, "error.log")
+    ]
+
+    for fn in files:
+      with open(fn, 'w') as f:
+        if fn == "error.log":
+          lines = content.splitlines()[-3:]
+          f.write("\n".join(lines))
+        else:
+          f.write(content)
+
+    cloudlog.error(f"logged crash to {files}")
+  except Exception:
+    cloudlog.exception("error when attempting to save exception")
+
+
+def capture_fingerprint_mock() -> None:
+  try:
+    set_user()
+    message = "car doesn't match any fingerprints"
+    sentry_sdk.capture_message(message=message, level="error")
+    sentry_sdk.flush()
+  except Exception as e:
+    cloudlog.exception(f"sentry fingerprint MOCK exception: {e}")
+
+
+def capture_fingerprint(candidate: str, car_name: str) -> None:
+  try:
+    set_user()
+    sentry_sdk.set_tag("carFingerprint", candidate)
+    sentry_sdk.set_tag("carName", car_name)
+
+    message = f"Fingerprinted {candidate}"
+    sentry_sdk.capture_message(message=message, level="info")
+    sentry_sdk.flush()
+  except Exception as e:
+    cloudlog.exception(f"sentry fingerprint exception: {e}")
+
+
 def set_tag(key: str, value: str) -> None:
   sentry_sdk.set_tag(key, value)
 
 
+def set_user() -> None:
+  dongle_id, git_username, _ = get_properties()
+  sentry_sdk.set_user({"id": dongle_id, "name": git_username})
+
+
+def get_properties() -> tuple[str, str, str]:
+  params = Params()
+  hardware_serial: str = params.get("HardwareSerial", encoding='utf-8') or ""
+  git_username: str = params.get("GithubUsername", encoding='utf-8') or ""
+  dongle_id: str = params.get("DongleId", encoding='utf-8') or f"{UNREGISTERED_DONGLE_ID}-{hardware_serial}"
+  sunnylink_dongle_id: str = params.get("SunnylinkDongleId", encoding='utf-8') or UNREGISTERED_SUNNYLINK_DONGLE_ID
+
+  return dongle_id, git_username, sunnylink_dongle_id
+
+
 def init(project: SentryProject) -> bool:
   build_metadata = get_build_metadata()
   # forks like to mess with this, so double check
-  comma_remote = build_metadata.openpilot.comma_remote and "commaai" in build_metadata.openpilot.git_origin
-  if not comma_remote or not is_registered_device() or PC:
-    return False
+  # comma_remote = build_metadata.openpilot.comma_remote and "commaai" in build_metadata.openpilot.git_origin
+  # if not comma_remote or not is_registered_device() or PC:
+  #   return False
 
   env = "release" if build_metadata.tested_channel else "master"
-  dongle_id = Params().get("DongleId", encoding='utf-8')
+  dongle_id, git_username, sunnylink_dongle_id = get_properties()
 
   integrations = []
   if project == SentryProject.SELFDRIVE:
@@ -63,11 +136,12 @@ def init(project: SentryProject) -> bool:
                   max_value_length=8192,
                   environment=env)
 
-  sentry_sdk.set_user({"id": dongle_id})
+  sentry_sdk.set_user({"id": dongle_id, "name": git_username})
   sentry_sdk.set_tag("dirty", build_metadata.openpilot.is_dirty)
   sentry_sdk.set_tag("origin", build_metadata.openpilot.git_origin)
   sentry_sdk.set_tag("branch", build_metadata.channel)
   sentry_sdk.set_tag("commit", build_metadata.openpilot.git_commit)
   sentry_sdk.set_tag("device", HARDWARE.get_device_type())
+  sentry_sdk.set_tag("sunnylink_dongle_id", sunnylink_dongle_id)
 
   return True

From ac255742b6bc1241e31c1876f789e199e36f6007 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 17 Jan 2025 21:22:50 -0500
Subject: [PATCH 0071/1434] MADS: Toyota: remove LKAS button support (#583)

* MADS: Toyota: remove LKAS button support

* remove mads button test

* bump submodules

* bump submodules

* test_processes: update ref logs to 4b12690
---
 opendbc_repo                                                   | 2 +-
 panda                                                          | 2 +-
 ..._calibrationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...-45-08--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 +++
 ...-45-08--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 ---
 ...--0_controlsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ..._dmonitoringd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...--0_locationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...08--0_paramsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...08--0_plannerd_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 +++
 ...08--0_plannerd_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 ---
 ...-08--0_radard_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...-0_selfdrived_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...08--0_torqued_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...-08--0_ubloxd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...-03-23--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 +++
 ...-03-23--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 ---
 ...-56-31--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 +++
 ...-56-31--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 ---
 ...-51-30--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 +++
 ...-51-30--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 ---
 ...-15-31--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 +++
 ...-15-31--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 ---
 ...-47-37--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 +++
 ...-47-37--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 ---
 ...-09-15--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 +++
 ...-09-15--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 ---
 ..._calibrationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...-08-24--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 +++
 ...-08-24--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 ---
 ...--0_controlsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ..._dmonitoringd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...--0_locationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...24--0_paramsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...24--0_plannerd_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 +++
 ...24--0_plannerd_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 ---
 ...-24--0_radard_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...-0_selfdrived_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...24--0_torqued_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...-24--0_ubloxd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...-13-04--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 +++
 ...-13-04--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 ---
 ..._calibrationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...-38-51--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 +++
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 ...--0_controlsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ..._dmonitoringd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
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 ...51--0_plannerd_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 +++
 ...51--0_plannerd_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 ---
 ...-51--0_radard_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...-0_selfdrived_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
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 ...-51--0_ubloxd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...-36-22--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 +++
 ...-36-22--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 ---
 ..._calibrationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...-06-45--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 +++
 ...-06-45--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 ---
 ...--0_controlsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ..._dmonitoringd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...--0_locationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...45--0_paramsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...45--0_plannerd_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 +++
 ...45--0_plannerd_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 ---
 ...-45--0_radard_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...-0_selfdrived_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...45--0_torqued_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...-45--0_ubloxd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...-21-55--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 +++
 ...-21-55--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 ---
 ..._calibrationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...-54-01--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 +++
 ...-54-01--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 ---
 ...--0_controlsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ..._dmonitoringd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...--0_locationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...01--0_paramsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...01--0_plannerd_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 +++
 ...01--0_plannerd_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 ---
 ...-01--0_radard_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...-0_selfdrived_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...01--0_torqued_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...-01--0_ubloxd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} | 0
 ...-02-54--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 +++
 ...-02-54--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 ---
 ...-18-02--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 +++
 ...-18-02--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 ---
 ...-59-03--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 +++
 ...-59-03--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst | 3 ---
 selfdrive/test/process_replay/ref_commit                       | 2 +-
 92 files changed, 69 insertions(+), 69 deletions(-)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_afde2771f8a70171349c733f4a9500d33988edff.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_afde2771f8a70171349c733f4a9500d33988edff.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_afde2771f8a70171349c733f4a9500d33988edff.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_afde2771f8a70171349c733f4a9500d33988edff.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_afde2771f8a70171349c733f4a9500d33988edff.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_afde2771f8a70171349c733f4a9500d33988edff.zst
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_radard_afde2771f8a70171349c733f4a9500d33988edff.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_radard_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_afde2771f8a70171349c733f4a9500d33988edff.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_torqued_afde2771f8a70171349c733f4a9500d33988edff.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_torqued_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_afde2771f8a70171349c733f4a9500d33988edff.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen306779F6870|2024-10-03--04-03-23--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen306779F6870|2024-10-03--04-03-23--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen4CE950B0267|2024-08-30--02-51-30--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen4CE950B0267|2024-08-30--02-51-30--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen58464878D07|2024-08-30--03-15-31--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen58464878D07|2024-08-30--03-15-31--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen6E484EDAB96|2024-08-30--02-47-37--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen6E484EDAB96|2024-08-30--02-47-37--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen720F2BA4CF6|2024-08-30--03-09-15--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen720F2BA4CF6|2024-08-30--03-09-15--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_calibrationd_afde2771f8a70171349c733f4a9500d33988edff.zst => regen756F8230C21|2024-11-07--00-08-24--0_calibrationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_controlsd_afde2771f8a70171349c733f4a9500d33988edff.zst => regen756F8230C21|2024-11-07--00-08-24--0_controlsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_dmonitoringd_afde2771f8a70171349c733f4a9500d33988edff.zst => regen756F8230C21|2024-11-07--00-08-24--0_dmonitoringd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_locationd_afde2771f8a70171349c733f4a9500d33988edff.zst => regen756F8230C21|2024-11-07--00-08-24--0_locationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_paramsd_afde2771f8a70171349c733f4a9500d33988edff.zst => regen756F8230C21|2024-11-07--00-08-24--0_paramsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_plannerd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_plannerd_afde2771f8a70171349c733f4a9500d33988edff.zst
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_radard_afde2771f8a70171349c733f4a9500d33988edff.zst => regen756F8230C21|2024-11-07--00-08-24--0_radard_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_selfdrived_afde2771f8a70171349c733f4a9500d33988edff.zst => regen756F8230C21|2024-11-07--00-08-24--0_selfdrived_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_torqued_afde2771f8a70171349c733f4a9500d33988edff.zst => regen756F8230C21|2024-11-07--00-08-24--0_torqued_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_ubloxd_afde2771f8a70171349c733f4a9500d33988edff.zst => regen756F8230C21|2024-11-07--00-08-24--0_ubloxd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9ADBECBCD1C|2024-08-30--03-13-04--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9ADBECBCD1C|2024-08-30--03-13-04--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_calibrationd_afde2771f8a70171349c733f4a9500d33988edff.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_calibrationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_controlsd_afde2771f8a70171349c733f4a9500d33988edff.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_controlsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_dmonitoringd_afde2771f8a70171349c733f4a9500d33988edff.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_dmonitoringd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_locationd_afde2771f8a70171349c733f4a9500d33988edff.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_locationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_paramsd_afde2771f8a70171349c733f4a9500d33988edff.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_paramsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_plannerd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_plannerd_afde2771f8a70171349c733f4a9500d33988edff.zst
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_radard_afde2771f8a70171349c733f4a9500d33988edff.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_radard_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_selfdrived_afde2771f8a70171349c733f4a9500d33988edff.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_selfdrived_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_torqued_afde2771f8a70171349c733f4a9500d33988edff.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_torqued_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_ubloxd_afde2771f8a70171349c733f4a9500d33988edff.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_ubloxd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regenA67A128BCD8|2024-08-30--02-36-22--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenA67A128BCD8|2024-08-30--02-36-22--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_calibrationd_afde2771f8a70171349c733f4a9500d33988edff.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_calibrationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_controlsd_afde2771f8a70171349c733f4a9500d33988edff.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_controlsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_dmonitoringd_afde2771f8a70171349c733f4a9500d33988edff.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_dmonitoringd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_locationd_afde2771f8a70171349c733f4a9500d33988edff.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_locationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_paramsd_afde2771f8a70171349c733f4a9500d33988edff.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_paramsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_plannerd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_plannerd_afde2771f8a70171349c733f4a9500d33988edff.zst
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_radard_afde2771f8a70171349c733f4a9500d33988edff.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_radard_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_selfdrived_afde2771f8a70171349c733f4a9500d33988edff.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_selfdrived_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_torqued_afde2771f8a70171349c733f4a9500d33988edff.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_torqued_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_ubloxd_afde2771f8a70171349c733f4a9500d33988edff.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_ubloxd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regenACF84CCF482|2024-08-30--03-21-55--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenACF84CCF482|2024-08-30--03-21-55--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_calibrationd_afde2771f8a70171349c733f4a9500d33988edff.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_calibrationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_controlsd_afde2771f8a70171349c733f4a9500d33988edff.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_controlsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_dmonitoringd_afde2771f8a70171349c733f4a9500d33988edff.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_dmonitoringd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_locationd_afde2771f8a70171349c733f4a9500d33988edff.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_locationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_paramsd_afde2771f8a70171349c733f4a9500d33988edff.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_paramsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_afde2771f8a70171349c733f4a9500d33988edff.zst
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_radard_afde2771f8a70171349c733f4a9500d33988edff.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_radard_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_selfdrived_afde2771f8a70171349c733f4a9500d33988edff.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_selfdrived_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_afde2771f8a70171349c733f4a9500d33988edff.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_afde2771f8a70171349c733f4a9500d33988edff.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_4b12690274eb951346624fbf58075c82ad5e73d1.zst} (100%)
 create mode 100644 selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst

diff --git a/opendbc_repo b/opendbc_repo
index 003db4f6c6cba2..d641a960a777a4 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 003db4f6c6cba2b36cc01f4cba6056ecef37f6f1
+Subproject commit d641a960a777a41f0d573644e38b81db9ce03737
diff --git a/panda b/panda
index 96632fa921d161..7b0e3f195553c1 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
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+Subproject commit 7b0e3f195553c16e25b3b65334acf0b4b157cfd6
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_afde2771f8a70171349c733f4a9500d33988edff.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_afde2771f8a70171349c733f4a9500d33988edff.zst
rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
new file mode 100644
index 00000000000000..282e143bfb35fd
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diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
deleted file mode 100644
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diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_afde2771f8a70171349c733f4a9500d33988edff.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_afde2771f8a70171349c733f4a9500d33988edff.zst
rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_afde2771f8a70171349c733f4a9500d33988edff.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_afde2771f8a70171349c733f4a9500d33988edff.zst
rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_afde2771f8a70171349c733f4a9500d33988edff.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_afde2771f8a70171349c733f4a9500d33988edff.zst
rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_afde2771f8a70171349c733f4a9500d33988edff.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_afde2771f8a70171349c733f4a9500d33988edff.zst
rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_4b12690274eb951346624fbf58075c82ad5e73d1.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
new file mode 100644
index 00000000000000..03966043005d45
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diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_afde2771f8a70171349c733f4a9500d33988edff.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_afde2771f8a70171349c733f4a9500d33988edff.zst
deleted file mode 100644
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diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_radard_afde2771f8a70171349c733f4a9500d33988edff.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_radard_4b12690274eb951346624fbf58075c82ad5e73d1.zst
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rename from selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_radard_afde2771f8a70171349c733f4a9500d33988edff.zst
rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_radard_4b12690274eb951346624fbf58075c82ad5e73d1.zst
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_afde2771f8a70171349c733f4a9500d33988edff.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_4b12690274eb951346624fbf58075c82ad5e73d1.zst
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rename from selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_afde2771f8a70171349c733f4a9500d33988edff.zst
rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_4b12690274eb951346624fbf58075c82ad5e73d1.zst
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similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_torqued_afde2771f8a70171349c733f4a9500d33988edff.zst
rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_torqued_4b12690274eb951346624fbf58075c82ad5e73d1.zst
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_afde2771f8a70171349c733f4a9500d33988edff.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
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rename from selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_afde2771f8a70171349c733f4a9500d33988edff.zst
rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
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new file mode 100644
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diff --git a/selfdrive/test/process_replay/fakedata/regen306779F6870|2024-10-03--04-03-23--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst b/selfdrive/test/process_replay/fakedata/regen306779F6870|2024-10-03--04-03-23--0_card_afde2771f8a70171349c733f4a9500d33988edff.zst
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diff --git a/selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst b/selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
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+++ /dev/null
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diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 574cddb4532896..76015fd17d8387 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-afde2771f8a70171349c733f4a9500d33988edff
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+4b12690274eb951346624fbf58075c82ad5e73d1
\ No newline at end of file

From 1a3f86a5425aea8e49a5f7a8787207e8211a8d8f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 17 Jan 2025 21:38:29 -0500
Subject: [PATCH 0072/1434] ui: Transition offroad state for Device panel
 buttons (#584)

---
 selfdrive/ui/qt/offroad/settings.cc                         | 2 ++
 selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc | 6 ++++++
 2 files changed, 8 insertions(+)

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index b633bdf33a6a8b..64c610db5516c1 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -261,6 +261,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
     }
   });
   addItem(translateBtn);
+#endif
 
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     for (auto btn : findChildren<ButtonControl *>()) {
@@ -270,6 +271,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
     }
   });
 
+#ifndef SUNNYPILOT
   // power buttons
   QHBoxLayout *power_layout = new QHBoxLayout();
   power_layout->setSpacing(30);
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index 36a56c9d8897a8..c7c9a6140995ad 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -65,6 +65,12 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
 
   addItem(device_grid_layout);
 
+  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
+    for (auto btn : findChildren<PushButtonSP*>()) {
+      btn->setEnabled(offroad);
+    }
+  });
+
   // offroad mode and power buttons
 
   QHBoxLayout *power_layout = new QHBoxLayout();

From da980312d9aefd034acef52f2edaeacbddf0cca0 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 18 Jan 2025 14:29:20 +0100
Subject: [PATCH 0073/1434] Add Release Drafter configuration and workflow
 (#586)

* Add configuration files for Release Drafter

This commit introduces two configuration files for the Release Drafter. These include release-drafter.yml which will help categorize changes into features, bug fixes, and maintenance, and workflows/release-drafter.yml which defines a GitHub actions workflow to update release drafts.

* Work on both master branches

* Meh static and i dont need this tbh
---
 .github/release-drafter.yml           | 43 +++++++++++++++++++++++++++
 .github/workflows/release-drafter.yml | 29 ++++++++++++++++++
 2 files changed, 72 insertions(+)
 create mode 100644 .github/release-drafter.yml
 create mode 100644 .github/workflows/release-drafter.yml

diff --git a/.github/release-drafter.yml b/.github/release-drafter.yml
new file mode 100644
index 00000000000000..128bdefdf6fabc
--- /dev/null
+++ b/.github/release-drafter.yml
@@ -0,0 +1,43 @@
+categories:
+  - title: '🚀 Features'
+    labels:
+      - 'feature'
+      - 'enhancement'
+  - title: '� Bug Fixes'
+    labels:
+      - 'fix'
+      - 'bugfix'
+      - 'bug'
+  - title: '🧰 Maintenance'
+    label: 'chore'
+change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
+change-title-escapes: '\<*_&'
+replacers:
+  - search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
+    replace: 'sunnypilot'
+  - search: '/\b[Ss][Pp]\b/g'
+    replace: 'SP'
+version-resolver:
+  major:
+    labels:
+      - 'major'
+  minor:
+    labels:
+      - 'minor'
+  patch:
+    labels:
+      - 'patch'
+  default: patch
+name-template: 'v$RESOLVED_VERSION 🚀'
+tag-template: 'v$RESOLVED_VERSION'
+version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
+tag-prefix: "v0." # The day OP becomes v1, we need to bump this 
+prerelease-identifier: "staging"
+template: |
+  ## Changes
+
+  $CHANGES
+
+  ## Contributors
+
+  Thanks to $CONTRIBUTORS for your contributions to this release!
diff --git a/.github/workflows/release-drafter.yml b/.github/workflows/release-drafter.yml
new file mode 100644
index 00000000000000..62712a770c9ed1
--- /dev/null
+++ b/.github/workflows/release-drafter.yml
@@ -0,0 +1,29 @@
+name: Release Drafter
+
+on:
+  push:
+    branches:
+      - master-new
+      - master
+    tags:
+      - 'v*'
+  pull_request_target:
+    types: [opened, reopened, synchronize]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  update_release_draft:
+    permissions:
+      contents: write
+      pull-requests: write
+    runs-on: ubuntu-latest
+    steps:
+      - uses: release-drafter/release-drafter@v6
+        with:
+          config-name: release-drafter.yml
+          prerelease: ${{ !startsWith(github.ref, 'refs/tags/v') }}
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

From 027023a7ff509a0d387f444911f4897af6bfa768 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 18 Jan 2025 15:10:13 +0100
Subject: [PATCH 0074/1434] CI: Update release drafter config (#588)

* Remove contributors section from release drafter template

The contributors section has been removed to simplify the release notes format. This change ensures a cleaner and more focused release draft template.

* Update release-drafter config with new labels and options

Added 'exclude-labels' to filter out 'no-changelog' items and improved category settings with 'collapse-after'. Introduced 'sort-by' for title-based sorting to enhance organization.
---
 .github/release-drafter.yml | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/.github/release-drafter.yml b/.github/release-drafter.yml
index 128bdefdf6fabc..b55523a37bb75c 100644
--- a/.github/release-drafter.yml
+++ b/.github/release-drafter.yml
@@ -1,17 +1,22 @@
+exclude-labels:
+  - 'no-changelog'
 categories:
   - title: '🚀 Features'
     labels:
       - 'feature'
       - 'enhancement'
   - title: '� Bug Fixes'
+    collapse-after: 5
     labels:
       - 'fix'
       - 'bugfix'
       - 'bug'
   - title: '🧰 Maintenance'
+    collapse-after: 5
     label: 'chore'
 change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
 change-title-escapes: '\<*_&'
+sort-by: title
 replacers:
   - search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
     replace: 'sunnypilot'
@@ -37,7 +42,3 @@ template: |
   ## Changes
 
   $CHANGES
-
-  ## Contributors
-
-  Thanks to $CONTRIBUTORS for your contributions to this release!

From f5764c2edf7560351d2f06191782ed7abe7f42b6 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 18 Jan 2025 15:16:43 +0100
Subject: [PATCH 0075/1434] ci: release drafter sort by default (time)

Using sort by title made things look out of order. If we want to organize them a bit furter, we can do that manually before moving forward with a release.
---
 .github/release-drafter.yml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/.github/release-drafter.yml b/.github/release-drafter.yml
index b55523a37bb75c..a868ebb11cd9c5 100644
--- a/.github/release-drafter.yml
+++ b/.github/release-drafter.yml
@@ -16,7 +16,6 @@ categories:
     label: 'chore'
 change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
 change-title-escapes: '\<*_&'
-sort-by: title
 replacers:
   - search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
     replace: 'sunnypilot'
@@ -36,7 +35,7 @@ version-resolver:
 name-template: 'v$RESOLVED_VERSION 🚀'
 tag-template: 'v$RESOLVED_VERSION'
 version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
-tag-prefix: "v0." # The day OP becomes v1, we need to bump this 
+tag-prefix: "v0." # The day OP becomes v1, we need to bump this
 prerelease-identifier: "staging"
 template: |
   ## Changes

From 4e6cc1f3bc2df070d7b0946d21d09860bf67edf3 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 18 Jan 2025 15:22:15 -0500
Subject: [PATCH 0076/1434] ui: Hide regulatory button on non-comma devices
 (#585)

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .../qt/offroad/settings/device_panel.cc           | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index c7c9a6140995ad..25bce83e433ae1 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -24,10 +24,21 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
     {"translateBtn", tr("Language")},
   };
 
+  int row = 0, col = 0;
   for (int i = 0; i < device_btns.size(); i++) {
+    if (device_btns[i].first == "regulatoryBtn" && !Hardware::TICI()) {
+      continue;
+    }
+
     auto *btn = new PushButtonSP(device_btns[i].second, 720, this);
-    device_grid_layout->addWidget(btn, i / 2, i % 2);
+    device_grid_layout->addWidget(btn, row, col);
     buttons[device_btns[i].first] = btn;
+
+    col++;
+    if (col > 1) {
+      col = 0;
+      row++;
+    }
   }
 
   connect(buttons["dcamBtn"], &PushButtonSP::clicked, [this]() {
@@ -48,8 +59,6 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
       const std::string txt = util::read_file("../assets/offroad/fcc.html");
       ConfirmationDialog::rich(QString::fromStdString(txt), this);
     });
-  } else {
-    buttons["regulatoryBtn"]->setEnabled(false);
   }
 
   connect(buttons["translateBtn"], &PushButtonSP::clicked, [=]() {

From 073887221d296ca463d17bf544c1774495c2b00f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 19 Jan 2025 02:48:53 -0500
Subject: [PATCH 0077/1434] MADS: Honda: controls, events, and cluster updates
 (#589)

* MADS: Honda: Cluster icons and events updates

* bump opendbc

* nuke them all to test

* try this

* bring them back

* fix icons

* MADS: Honda: Allow steering

* rename

* match stock

* bump submodules
---
 opendbc_repo            | 2 +-
 panda                   | 2 +-
 sunnypilot/mads/mads.py | 1 +
 3 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index d641a960a777a4..1213a9c994a765 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit d641a960a777a41f0d573644e38b81db9ce03737
+Subproject commit 1213a9c994a7651acdd644183c8ea55e15029fdf
diff --git a/panda b/panda
index 7b0e3f195553c1..d3252abcc45e14 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 7b0e3f195553c16e25b3b65334acf0b4b157cfd6
+Subproject commit d3252abcc45e148f659aa3e52f53e42783edceec
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 78645668872cbc..85d71d04284d2c 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -127,6 +127,7 @@ def transition_paused_state():
       self.events.remove(EventName.belowEngageSpeed)
       self.events.remove(EventName.speedTooLow)
       self.events.remove(EventName.cruiseDisabled)
+      self.events.remove(EventName.manualRestart)
 
     if self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable):
       update_unified_engagement_mode()

From 155f9ee3b92e839ae539ceda622ea9142bf7134c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 19 Jan 2025 02:50:02 -0500
Subject: [PATCH 0078/1434] bump submodules

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 1213a9c994a765..038c84a84efe19 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 1213a9c994a7651acdd644183c8ea55e15029fdf
+Subproject commit 038c84a84efe19c0e5e5c4683f3b1543a04021b2

From 177bfc9ba7701f1071befa312158e1f909807364 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 19 Jan 2025 04:00:05 -0500
Subject: [PATCH 0079/1434] ui: Model Selector: display prompt with rich text
 widget (#591)

---
 .../qt/offroad/settings/software_panel.cc     | 11 +++++++---
 .../qt/offroad/settings/software_panel.h      |  2 +-
 selfdrive/ui/translations/main_ar.ts          | 20 +++++++++++++++----
 selfdrive/ui/translations/main_de.ts          | 20 +++++++++++++++----
 selfdrive/ui/translations/main_es.ts          | 20 +++++++++++++++----
 selfdrive/ui/translations/main_fr.ts          | 20 +++++++++++++++----
 selfdrive/ui/translations/main_ja.ts          | 20 +++++++++++++++----
 selfdrive/ui/translations/main_ko.ts          | 20 +++++++++++++++----
 selfdrive/ui/translations/main_pt-BR.ts       | 20 +++++++++++++++----
 selfdrive/ui/translations/main_th.ts          | 20 +++++++++++++++----
 selfdrive/ui/translations/main_tr.ts          | 20 +++++++++++++++----
 selfdrive/ui/translations/main_zh-CHS.ts      | 20 +++++++++++++++----
 selfdrive/ui/translations/main_zh-CHT.ts      | 20 +++++++++++++++----
 13 files changed, 185 insertions(+), 48 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
index 1c05bb32e28fa7..2f10d7d147e6af 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
@@ -189,11 +189,16 @@ void SoftwarePanelSP::updateLabels() {
  * @brief Shows dialog prompting user to reset calibration after model download
  */
 void SoftwarePanelSP::showResetParamsDialog() {
-  const auto confirmMsg = tr("Model download has started in the background.") + "\n" +
-                          tr("We STRONGLY suggest you to reset calibration. Would you like to do that now?");
+  const auto confirmMsg = QString("%1<br><br><b>%2</b><br><br><b>%3</b>")
+                          .arg(tr("Model download has started in the background."))
+                          .arg(tr("We STRONGLY suggest you to reset calibration."))
+                          .arg(tr("Would you like to do that now?"));
   const auto button_text = tr("Reset Calibration");
 
-  if (showConfirmationDialog(confirmMsg, button_text, false)) {
+  QString content("<body><h2 style=\"text-align: center;\">" + tr("Driving Model Selector") + "</h2><br>"
+                  "<p style=\"text-align: center; margin: 0 128px; font-size: 50px;\">" + confirmMsg + "</p></body>");
+
+  if (showConfirmationDialog(content, button_text, false)) {
     params.remove("CalibrationParams");
     params.remove("LiveTorqueParameters");
   }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
index 6e93c19e3ec472..d0299d6efd6a3c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
@@ -53,7 +53,7 @@ class SoftwarePanelSP final : public SoftwarePanel {
     const QString final_message = QString("%1%2").arg(!message.isEmpty() ? message + "\n" : QString(), warning_message);
     const QString final_buttonText = !confirmButtonText.isEmpty() ? confirmButtonText : QString(tr("Continue") + " %1").arg(show_metered_warning ? tr("on Metered") : "");
 
-    return ConfirmationDialog::confirm(final_message, final_buttonText, parent);
+    return ConfirmationDialog(final_message, final_buttonText, tr("Cancel"), true, parent).exec();
   }
 
   bool is_metered{};
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 46747257afc9c7..6f81a1b88bfc0d 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -1105,10 +1105,6 @@ This may take up to a minute.</source>
         <source>SELECT</source>
         <translation type="unfinished">اختيار</translation>
     </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reset Calibration</source>
         <translation type="unfinished">إعادة ضبط المعايرة</translation>
@@ -1193,6 +1189,22 @@ This may take up to a minute.</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">إلغاء</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index dfd810f95ead1f..e3e2e4d75d6c20 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -1089,10 +1089,6 @@ This may take up to a minute.</source>
         <source>SELECT</source>
         <translation type="unfinished">AUSWÄHLEN</translation>
     </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reset Calibration</source>
         <translation type="unfinished">Neu kalibrieren</translation>
@@ -1177,6 +1173,22 @@ This may take up to a minute.</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Abbrechen</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 18b299869b00c8..607c3b384e9c40 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -1089,10 +1089,6 @@ Esto puede tardar un minuto.</translation>
         <source>SELECT</source>
         <translation type="unfinished">SELECCIONAR</translation>
     </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reset Calibration</source>
         <translation type="unfinished">Formatear Calibración</translation>
@@ -1177,6 +1173,22 @@ Esto puede tardar un minuto.</translation>
         <source>Default</source>
         <translation>Por Defecto</translation>
     </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index b4379bda70ea88..7be68ea7526cc1 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -1089,10 +1089,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>SELECT</source>
         <translation type="unfinished">SÉLECTIONNER</translation>
     </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reset Calibration</source>
         <translation type="unfinished">Réinitialiser la calibration</translation>
@@ -1177,6 +1173,22 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Annuler</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 782fde3d2aee39..19bb73dc1f0b05 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -1083,10 +1083,6 @@ This may take up to a minute.</source>
         <source>SELECT</source>
         <translation type="unfinished">�択</translation>
     </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reset Calibration</source>
         <translation type="unfinished">ｷｬﾘﾌﾞﾚｰｼｮ�をﾘｾｯﾄ</translation>
@@ -1171,6 +1167,22 @@ This may take up to a minute.</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">キャンセル</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 768981205d65a8..3a75e104d870a0 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -1085,10 +1085,6 @@ This may take up to a minute.</source>
         <source>SELECT</source>
         <translation type="unfinished">선�</translation>
     </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reset Calibration</source>
         <translation type="unfinished">캘리브레�션 초기화</translation>
@@ -1173,6 +1169,22 @@ This may take up to a minute.</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">취소</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 748cece4b33574..109ac6f7829a1b 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -1089,10 +1089,6 @@ Isso pode levar até um minuto.</translation>
         <source>SELECT</source>
         <translation type="unfinished">SELECIONE</translation>
     </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reset Calibration</source>
         <translation type="unfinished">Reinicializar Calibragem</translation>
@@ -1177,6 +1173,22 @@ Isso pode levar até um minuto.</translation>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 4e10fd94c0438a..e0fcfeee33edc8 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -1085,10 +1085,6 @@ This may take up to a minute.</source>
         <source>SELECT</source>
         <translation type="unfinished">เลือ�</translation>
     </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reset Calibration</source>
         <translation type="unfinished">รีเซ็ต�ารคาลิเบรท</translation>
@@ -1173,6 +1169,22 @@ This may take up to a minute.</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">ย�เลิ�</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 1e1f4b09391106..03ca8504ae5739 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -1083,10 +1083,6 @@ This may take up to a minute.</source>
         <source>SELECT</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reset Calibration</source>
         <translation type="unfinished">Kalibrasyonu sıfırla</translation>
@@ -1171,6 +1167,22 @@ This may take up to a minute.</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index e3be287ab55f2d..437f84d4c7438d 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -1085,10 +1085,6 @@ This may take up to a minute.</source>
         <source>SELECT</source>
         <translation type="unfinished">选择</translation>
     </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reset Calibration</source>
         <translation type="unfinished">�置设备校准</translation>
@@ -1173,6 +1169,22 @@ This may take up to a minute.</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">�消</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 088d80366e8e17..b321c6e7a69a6e 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -1085,10 +1085,6 @@ This may take up to a minute.</source>
         <source>SELECT</source>
         <translation type="unfinished">��</translation>
     </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reset Calibration</source>
         <translation type="unfinished">�設校準</translation>
@@ -1173,6 +1169,22 @@ This may take up to a minute.</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">�消</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>

From 5c38aeae0bddb41aad16f39ad62c77ea6870f67b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 19 Jan 2025 12:04:54 -0500
Subject: [PATCH 0080/1434] Longitudinal: Dynamic Experimental Control (#572)

* init dec

* Update sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py

Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>

* Update sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py

Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>

* fix static test

* ff

* fix static test

* unitee testt

* Refactor test_dynamic_controller and fix formatting issues

Added a new import for STOP_AND_GO_FRAME and corrected a float initialization for v_ego in MockCarState. Also fixed indentation in the test_standstill_detection method for consistency.

* Refactor test indentation for dynamic controller tests

Adjust indentation and formatting in test_dynamic_controller.py to ensure consistency and readability. This change does not alter functionality but improves the maintainability of the test code.

* Migrated to pytest using claude

* Integrate radar parameter into dynamic controller's pytest tests

Added a `has_radar` parameter to the test functions in the dynamic controller's pytest file. This allows each function to run both with and without radar inputs, thus enhancing the coverage of our test cases.

* Disabling unittest file to allow checks on the pipeline to succeed.

Pending to remove this, but leaving it to validate the move to pytest is okay before merging

* Replace unittest with pytest for dynamic controller tests

Migrated dynamic controller tests from unittest to pytest for improved readability and maintainability. Refactored mock setup using pytest fixtures and monkeypatching while preserving test coverage.

* new line...

* Refactor and modularize DynamicExperimentalController logic

Moved DynamicExperimentalController logic and helper functions to a dedicated module for better readability and maintainability. Simplified longitudinal planner logic by introducing reusable methods to manage MPC mode and longitudinal plan publishing. Adjusted file structure for dynamic controller-related components and updated relevant imports.

* Add missing import for messaging in helpers.py

The `messaging` module was added to resolve potential issues with undefined references. This change ensures all required imports are present, improving the reliability and maintainability of the code.

* Format

* Formatting

* rebase fix

* Refactor MpcSource definition and update references.

Moved MpcSource enum into LongitudinalPlanSP for better encapsulation. Updated references in helpers.py to use the new path. This change improves code organization and maintains functionality.

* Format

* Refactor DEC into a dedicated longitudinal planner class

Move Dynamic Experimental Control (DEC) logic to a new `DecLongitudinalPlanner` class for better modularity and maintainability. This simplifies the `LongitudinalPlanner` by delegating DEC-specific behavior and consolidates related methods into a single file. Additionally, redundant code was removed to improve readability and reduce complexity.

* **Refactor DEC module structure for better organization**

Moved DEC-related files from `dec` to `lib` for improved clarity and consistency within the project structure. Updated all relevant import paths to reflect the new locations. Ensured functionality remains unaffected with these changes.

* static test

* static

* had moved to car_state

* cleanup

* some more

* static method

* move around

* more cleanup

* stuff

* into their own

* rename

* check live param

* sync with stock

* type hint

* unused

* smoother trans

* window time

* fix type hint

* pass sm.frame from plannerd

* more fixes

* more

* more explicit

* fix test

* Revert "fix test"

This reverts commit 635b15f2bc11a8ddd5c4194546d51df33de324a0.

* Revert "pass sm.frame from plannerd"

This reverts commit a8deaa69b89f599f86ae517827a570789566e079.

* use internal frame

* update name

* never used

* this is why it was never using DEC

* more logs

* slight cleanup

* remove to fail test

* update name

* more

* rename

* move around

* explicit type hints

* move to constants py

* Revert "explicit type hints"

This reverts commit c205497b

* more

* don't set to exp mode initial if DEC is active

* use walrus for None

* Revert "use walrus for None"

This reverts commit 5f2396d490deded87d43e378bd9e74738fe307b0.

* fix wrong typing and variable name

* use walrus (needs cleanup)

* fix tests

* revert smooht lead for now

* dec: how good is FirstOrderFilter?

* Update dec.py

* dec: faster ?

* Revert "dec: faster ?"

This reverts commit 40259cd22ad23d01e63a9faa47a0cf0edcc73399.

* Revert "Update dec.py"

This reverts commit 3f29ccbd99c538e9f3d11c6178bc90b0a2ed3f7b.

* Revert "dec: how good is FirstOrderFilter?"

This reverts commit 01e06df542894b468fb9460c60bca1b09bed4eec.

* Update slow-down logic and constants for improved behavior

Adjust the slowdown scaling factor and anomaly handling to refine behavior without abrupt resets. Modify constants to increase window size and adjust probabilities and distances for smoother adaptation. Update version to reflect the new changes.

* Fix lead detection fallback for weighted average check.

Add a fallback value of -1 when computing the weighted average to prevent errors caused by invalid or None values. This ensures robust lead detection and avoids potential crashes or undefined behavior.

* visuals for DEC

* try this

* add opacity

* should be active and dimmer

* even dimmer

* Update dec.py

* Update constants.py

* use another method for drawing

* migrate to sp only

* fix

* init

---------

Co-authored-by: rav4kumar <meetkumardesai@gmail.com>
Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>
Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 cereal/custom.capnp                           |  14 +-
 cereal/log.capnp                              |   2 +-
 cereal/services.py                            |   1 +
 common/params.cc                              |   2 +
 selfdrive/car/card.py                         |   9 +-
 selfdrive/car/cruise.py                       |   5 +-
 selfdrive/car/tests/test_cruise_speed.py      |  27 +-
 .../controls/lib/longitudinal_planner.py      |  10 +-
 selfdrive/controls/plannerd.py                |   2 +-
 selfdrive/ui/qt/offroad/settings.cc           |   6 +
 selfdrive/ui/qt/onroad/annotated_camera.h     |   4 +-
 selfdrive/ui/qt/onroad/buttons.cc             |   4 +
 selfdrive/ui/qt/onroad/buttons.h              |   6 +-
 selfdrive/ui/sunnypilot/SConscript            |   1 +
 selfdrive/ui/sunnypilot/qt/onroad/buttons.cc  |  51 +++
 selfdrive/ui/sunnypilot/qt/onroad/buttons.h   |  24 ++
 selfdrive/ui/sunnypilot/ui.cc                 |   2 +-
 selfdrive/ui/translations/main_ar.ts          |   8 +
 selfdrive/ui/translations/main_de.ts          |   8 +
 selfdrive/ui/translations/main_es.ts          |   8 +
 selfdrive/ui/translations/main_fr.ts          |   8 +
 selfdrive/ui/translations/main_ja.ts          |   8 +
 selfdrive/ui/translations/main_ko.ts          |   8 +
 selfdrive/ui/translations/main_pt-BR.ts       |   8 +
 selfdrive/ui/translations/main_th.ts          |   8 +
 selfdrive/ui/translations/main_tr.ts          |   8 +
 selfdrive/ui/translations/main_zh-CHS.ts      |   8 +
 selfdrive/ui/translations/main_zh-CHT.ts      |   8 +
 sunnypilot/selfdrive/__init__.py              |   0
 sunnypilot/selfdrive/controls/__init__.py     |   0
 sunnypilot/selfdrive/controls/lib/__init__.py |   0
 .../selfdrive/controls/lib/dec/__init__.py    |   0
 .../selfdrive/controls/lib/dec/constants.py   |  26 ++
 sunnypilot/selfdrive/controls/lib/dec/dec.py  | 390 ++++++++++++++++++
 .../controls/lib/dec/tests/__init__.py        |   0
 .../dec/tests/pytest_dynamic_controller.py    | 248 +++++++++++
 .../controls/lib/longitudinal_planner.py      |  41 ++
 system/manager/manager.py                     |   1 +
 38 files changed, 941 insertions(+), 23 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/onroad/buttons.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/onroad/buttons.h
 create mode 100644 sunnypilot/selfdrive/__init__.py
 create mode 100644 sunnypilot/selfdrive/controls/__init__.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/__init__.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/dec/__init__.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/dec/constants.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/dec/dec.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/dec/tests/__init__.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 1d825270fbb619..f95e0bf810fa87 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -84,7 +84,19 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
   }
 }
 
-struct CustomReserved2 @0xf35cc4560bbf6ec2 {
+struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
+  dec @0 :DynamicExperimentalControl;
+
+  struct DynamicExperimentalControl {
+    state @0 :DynamicExperimentalControlState;
+    enabled @1 :Bool;
+    active @2 :Bool;
+
+    enum DynamicExperimentalControlState {
+      acc @0;
+      blended @1;
+    }
+  }
 }
 
 struct CustomReserved3 @0xda96579883444c35 {
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 9705875c4288e5..7d1d2ac5f897cd 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2641,7 +2641,7 @@ struct Event {
     # DON'T change which struct it points to
     selfdriveStateSP @107 :Custom.SelfdriveStateSP;
     modelManagerSP @108 :Custom.ModelManagerSP;
-    customReserved2 @109 :Custom.CustomReserved2;
+    longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
     customReserved3 @110 :Custom.CustomReserved3;
     customReserved4 @111 :Custom.CustomReserved4;
     customReserved5 @112 :Custom.CustomReserved5;
diff --git a/cereal/services.py b/cereal/services.py
index 346bf81a090080..ae4a35b3e4c7de 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -77,6 +77,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   # sunnypilot
   "modelManagerSP": (False, 1., 1),
   "selfdriveStateSP": (True, 100., 10),
+  "longitudinalPlanSP": (True, 20., 10),
 
   # debug
   "uiDebug": (True, 0., 1),
diff --git a/common/params.cc b/common/params.cc
index d86dd58c9f034c..e8e05ff6b26350 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -229,6 +229,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"HyundaiRadarTracksConfirmed", PERSISTENT},
     {"HyundaiRadarTracksPersistent", PERSISTENT},
     {"HyundaiRadarTracksToggle", PERSISTENT},
+
+    {"DynamicExperimentalControl", PERSISTENT},
 };
 
 } // namespace
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 4432d1f0b5c941..eeeafe52bf2abe 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -122,6 +122,9 @@ def __init__(self, CI=None, RI=None) -> None:
     MadsParams().set_alternative_experience(self.CP)
     MadsParams().set_car_specific_params(self.CP)
 
+    # Dynamic Experimental Control
+    self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
+
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
@@ -204,7 +207,7 @@ def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
     self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
     if self.sm['carControl'].enabled and not self.CC_prev.enabled:
       # Use CarState w/ buttons from the step selfdrived enables on
-      self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode)
+      self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode, self.dynamic_experimental_control)
 
     # TODO: mirror the carState.cruiseState struct?
     CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
@@ -278,6 +281,10 @@ def params_thread(self, evt):
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
+
+      # sunnypilot
+      self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
+
       time.sleep(0.1)
 
   def card_thread(self):
diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index 697d0273a58402..ba726edb851171 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -120,12 +120,13 @@ def update_button_timers(self, CS, enabled):
         self.button_timers[b.type.raw] = 1 if b.pressed else 0
         self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}
 
-  def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
+  def initialize_v_cruise(self, CS, experimental_mode: bool, dynamic_experimental_control: bool) -> None:
     # initializing is handled by the PCM
     if self.CP.pcmCruise:
       return
 
-    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
+    initial_experimental_mode = experimental_mode and not dynamic_experimental_control
+    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if initial_experimental_mode else V_CRUISE_INITIAL
 
     if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_initialized:
       self.v_cruise_kph = self.v_cruise_kph_last
diff --git a/selfdrive/car/tests/test_cruise_speed.py b/selfdrive/car/tests/test_cruise_speed.py
index 7bda3a24eb31ac..dd78b7768089ea 100644
--- a/selfdrive/car/tests/test_cruise_speed.py
+++ b/selfdrive/car/tests/test_cruise_speed.py
@@ -57,16 +57,16 @@ def reset_cruise_speed_state(self):
     for _ in range(2):
       self.v_cruise_helper.update_v_cruise(car.CarState(cruiseState={"available": False}), enabled=False, is_metric=False)
 
-  def enable(self, v_ego, experimental_mode):
+  def enable(self, v_ego, experimental_mode, dynamic_experimental_control):
     # Simulates user pressing set with a current speed
-    self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode)
+    self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode, dynamic_experimental_control)
 
   def test_adjust_speed(self):
     """
     Asserts speed changes on falling edges of buttons.
     """
 
-    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
+    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
 
     for btn in (ButtonType.accelCruise, ButtonType.decelCruise):
       for pressed in (True, False):
@@ -90,7 +90,7 @@ def test_rising_edge_enable(self):
       CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=pressed)]
       self.v_cruise_helper.update_v_cruise(CS, enabled=enabled, is_metric=False)
       if pressed:
-        self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
+        self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
 
       # Expected diff on enabling. Speed should not change on falling edge of pressed
       assert not pressed == self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last
@@ -100,7 +100,7 @@ def test_resume_in_standstill(self):
     Asserts we don't increment set speed if user presses resume/accel to exit cruise standstill.
     """
 
-    self.enable(0, False)
+    self.enable(0, False, False)
 
     for standstill in (True, False):
       for pressed in (True, False):
@@ -120,7 +120,7 @@ def test_set_gas_pressed(self):
 
     for v_ego in np.linspace(0, 100, 101):
       self.reset_cruise_speed_state()
-      self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
+      self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
 
       # first decrement speed, then perform gas pressed logic
       expected_v_cruise_kph = self.v_cruise_helper.v_cruise_kph - IMPERIAL_INCREMENT
@@ -142,10 +142,11 @@ def test_initialize_v_cruise(self):
     """
 
     for experimental_mode in (True, False):
-      for v_ego in np.linspace(0, 100, 101):
-        self.reset_cruise_speed_state()
-        assert not self.v_cruise_helper.v_cruise_initialized
-
-        self.enable(float(v_ego), experimental_mode)
-        assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
-        assert self.v_cruise_helper.v_cruise_initialized
+      for dynamic_experimental_control in (True, False):
+        for v_ego in np.linspace(0, 100, 101):
+          self.reset_cruise_speed_state()
+          assert not self.v_cruise_helper.v_cruise_initialized
+
+          self.enable(float(v_ego), experimental_mode, dynamic_experimental_control)
+          assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
+          assert self.v_cruise_helper.v_cruise_initialized
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 5560dfbb09ac2a..45b683df21f34e 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -15,6 +15,8 @@
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog
 
+from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP
+
 LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MIN = -1.2
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
@@ -66,10 +68,11 @@ def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
   return a_target, should_stop
 
 
-class LongitudinalPlanner:
+class LongitudinalPlanner(LongitudinalPlannerSP):
   def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
     self.mpc = LongitudinalMpc(dt=dt)
+    LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
     self.fcw = False
     self.dt = dt
     self.allow_throttle = True
@@ -104,7 +107,10 @@ def parse_model(model_msg, model_error):
     return x, v, a, j, throttle_prob
 
   def update(self, sm):
+    LongitudinalPlannerSP.update(self, sm)
     self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
+    if dec_mpc_mode := self.get_mpc_mode():
+      self.mpc.mode = dec_mpc_mode
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -205,3 +211,5 @@ def publish(self, sm, pm):
     longitudinalPlan.allowThrottle = bool(self.allow_throttle)
 
     pm.send('longitudinalPlan', plan_send)
+
+    self.publish_longitudinal_plan_sp(sm, pm)
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index bcfc4d0c14809b..16ac80db604f27 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -18,7 +18,7 @@ def main():
 
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
-  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance'])
+  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 64c610db5516c1..0d7ecf671e4c73 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -40,6 +40,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "",
       "../assets/img_experimental_white.svg",
     },
+    {
+      "DynamicExperimentalControl",
+      tr("Enable Dynamic Experimental Control"),
+      tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
+      "../assets/offroad/icon_blank.png",
+    },
     {
       "DisengageOnAccelerator",
       tr("Disengage on Accelerator Pedal"),
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index a161b89ee35d23..219b39546ff166 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -2,14 +2,16 @@
 
 #include <QVBoxLayout>
 #include <memory>
-#include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/driver_monitoring.h"
 #include "selfdrive/ui/qt/onroad/model.h"
 #include "selfdrive/ui/qt/widgets/cameraview.h"
 
 #ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/qt/onroad/buttons.h"
 #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"
+#define ExperimentalButton ExperimentalButtonSP
 #else
+#include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/hud.h"
 #endif
 
diff --git a/selfdrive/ui/qt/onroad/buttons.cc b/selfdrive/ui/qt/onroad/buttons.cc
index 2c2cc672b9aeba..94f042c406ca82 100644
--- a/selfdrive/ui/qt/onroad/buttons.cc
+++ b/selfdrive/ui/qt/onroad/buttons.cc
@@ -44,6 +44,10 @@ void ExperimentalButton::updateState(const UIState &s) {
 
 void ExperimentalButton::paintEvent(QPaintEvent *event) {
   QPainter p(this);
+  drawButton(p);
+}
+
+void ExperimentalButton::drawButton(QPainter &p) {
   QPixmap img = experimental_mode ? experimental_img : engage_img;
   drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
 }
diff --git a/selfdrive/ui/qt/onroad/buttons.h b/selfdrive/ui/qt/onroad/buttons.h
index 3afaed33f4e446..fca909f9b2b93d 100644
--- a/selfdrive/ui/qt/onroad/buttons.h
+++ b/selfdrive/ui/qt/onroad/buttons.h
@@ -16,13 +16,17 @@ class ExperimentalButton : public QPushButton {
 
 public:
   explicit ExperimentalButton(QWidget *parent = 0);
-  void updateState(const UIState &s);
+  virtual void updateState(const UIState &s);
 
 private:
   void paintEvent(QPaintEvent *event) override;
   void changeMode();
 
   Params params;
+
+protected:
+  virtual void drawButton(QPainter &p);
+
   QPixmap engage_img;
   QPixmap experimental_img;
   bool experimental_mode;
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 821801e5a70652..629d014b70f90b 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -23,6 +23,7 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/sunnypilot_panel.cc",
   "sunnypilot/qt/offroad/settings/trips_panel.cc",
   "sunnypilot/qt/onroad/annotated_camera.cc",
+  "sunnypilot/qt/onroad/buttons.cc",
   "sunnypilot/qt/onroad/hud.cc",
   "sunnypilot/qt/onroad/model.cc",
   "sunnypilot/qt/onroad/onroad_home.cc",
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/buttons.cc b/selfdrive/ui/sunnypilot/qt/onroad/buttons.cc
new file mode 100644
index 00000000000000..97f6a391ce5824
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/onroad/buttons.cc
@@ -0,0 +1,51 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/onroad/buttons.h"
+
+#include <QPainter>
+
+ExperimentalButtonSP::ExperimentalButtonSP(QWidget *parent) : ExperimentalButton(parent) {
+  QObject::disconnect(uiState(), &UIState::uiUpdate, this, &ExperimentalButton::updateState);
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &ExperimentalButtonSP::updateState);
+}
+
+void ExperimentalButtonSP::updateState(const UIState &s) {
+  ExperimentalButton::updateState(s);
+  const auto long_plan_sp = (*s.sm)["longitudinalPlanSP"].getLongitudinalPlanSP();
+
+  int mode = int(long_plan_sp.getDec().getState());
+  if ((long_plan_sp.getDec().getActive() != dynamic_experimental_control) || (mode != dec_mpc_mode)) {
+    dynamic_experimental_control = long_plan_sp.getDec().getActive();
+    dec_mpc_mode = mode;
+    update();
+  }
+}
+
+void ExperimentalButtonSP::drawButton(QPainter &p) {
+  if (dynamic_experimental_control) {
+    QPixmap left_half = engage_img.copy(0, 0, engage_img.width() / 2, engage_img.height());
+    QPixmap right_half = experimental_img.copy(experimental_img.width() / 2, 0, experimental_img.width() / 2, experimental_img.height());
+
+    QPixmap combined_img(engage_img.width(), engage_img.height());
+    combined_img.fill(Qt::transparent);
+
+    QPainter combined_painter(&combined_img);
+
+    combined_painter.setOpacity(dec_mpc_mode == 1 ? 0.1 : 1.0);
+    combined_painter.drawPixmap(0, 0, left_half);
+
+    combined_painter.setOpacity(dec_mpc_mode == 1 ? 1.0 : 0.1);
+    combined_painter.drawPixmap(engage_img.width() / 2, 0, right_half);
+
+    combined_painter.end();
+
+    drawIcon(p, QPoint(btn_size / 2, btn_size / 2), combined_img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
+  } else {
+    ExperimentalButton::drawButton(p);
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/buttons.h b/selfdrive/ui/sunnypilot/qt/onroad/buttons.h
new file mode 100644
index 00000000000000..ce62a69e2df146
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/onroad/buttons.h
@@ -0,0 +1,24 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/onroad/buttons.h"
+
+class ExperimentalButtonSP : public ExperimentalButton {
+  Q_OBJECT
+
+public:
+  explicit ExperimentalButtonSP(QWidget *parent = nullptr);
+  void updateState(const UIState &s) override;
+
+private:
+  void drawButton(QPainter &p) override;
+
+  bool dynamic_experimental_control;
+  int dec_mpc_mode;
+};
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index b27c8398050f5d..37da83949b57cf 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -18,7 +18,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
-    "modelManagerSP", "selfdriveStateSP",
+    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP",
   });
 
   // update timer
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 6f81a1b88bfc0d..9d81ba75380d1d 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -1435,6 +1435,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>تمكين مراقبة السائق حتى عندما لا يكون نظام OpenPilot م��عّلاً.</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index e3e2e4d75d6c20..690b0e4be4af0d 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -1419,6 +1419,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 607c3b384e9c40..93c275403667fa 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -1419,6 +1419,14 @@ Esto puede tardar un minuto.</translation>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation>Activar el control longitudinal (fase experimental) para permitir el modo Experimental.</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 7be68ea7526cc1..56a08ca630c9cf 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -1419,6 +1419,14 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 19bb73dc1f0b05..6fa9925ff7375a 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -1413,6 +1413,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 3a75e104d870a0..3b425b05482c8f 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -1415,6 +1415,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>Openpilot� 활성화�지 않� 경우�� 드��버 모니터�� 활성화합니다.</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 109ac6f7829a1b..86add7472aa900 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -1419,6 +1419,14 @@ Isso pode levar até um minuto.</translation>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>Habilite o monitoramento do motorista mesmo quando o openpilot não estiver acionado.</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index e0fcfeee33edc8..d28da2a63a4046 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -1415,6 +1415,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 03ca8504ae5739..8cc5bb0134a775 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -1413,6 +1413,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 437f84d4c7438d..1973416537d69d 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -1415,6 +1415,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>�使在openpilot未激活时也�用驾驶员监控。</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index b321c6e7a69a6e..dc82be95cca769 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -1415,6 +1415,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>�使在openpilot未激活時也啟用駕駛監控。</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/sunnypilot/selfdrive/__init__.py b/sunnypilot/selfdrive/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/controls/__init__.py b/sunnypilot/selfdrive/controls/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/controls/lib/__init__.py b/sunnypilot/selfdrive/controls/lib/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/controls/lib/dec/__init__.py b/sunnypilot/selfdrive/controls/lib/dec/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/controls/lib/dec/constants.py b/sunnypilot/selfdrive/controls/lib/dec/constants.py
new file mode 100644
index 00000000000000..c1e37266065557
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/dec/constants.py
@@ -0,0 +1,26 @@
+class WMACConstants:
+  LEAD_WINDOW_SIZE = 5
+  LEAD_PROB = 0.5
+
+  SLOW_DOWN_WINDOW_SIZE = 4
+  SLOW_DOWN_PROB = 0.6
+
+  SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
+  #SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.]
+  SLOW_DOWN_DIST = [30., 45., 60., 80., 100., 120., 135., 150.]
+
+  SLOWNESS_WINDOW_SIZE = 12
+  SLOWNESS_PROB = 0.5
+  SLOWNESS_CRUISE_OFFSET = 1.05
+
+  DANGEROUS_TTC_WINDOW_SIZE = 3
+  DANGEROUS_TTC = 2.3
+
+  MPC_FCW_WINDOW_SIZE = 10
+  MPC_FCW_PROB = 0.5
+
+
+class SNG_State:
+  off = 0
+  stopped = 1
+  going = 2
diff --git a/sunnypilot/selfdrive/controls/lib/dec/dec.py b/sunnypilot/selfdrive/controls/lib/dec/dec.py
new file mode 100644
index 00000000000000..cb4ab2519ed960
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/dec/dec.py
@@ -0,0 +1,390 @@
+# The MIT License
+#
+# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+#
+# Version = 2025-1-18
+
+import numpy as np
+
+from cereal import messaging
+from opendbc.car import structs
+from openpilot.common.numpy_fast import interp
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants, SNG_State
+
+# d-e2e, from modeldata.h
+TRAJECTORY_SIZE = 33
+
+HIGHWAY_CRUISE_KPH = 70
+
+STOP_AND_GO_FRAME = 60
+
+SET_MODE_TIMEOUT = 10
+
+V_ACC_MIN = 9.72
+
+
+class GenericMovingAverageCalculator:
+  def __init__(self, window_size):
+    self.window_size = window_size
+    self.data = []
+    self.total = 0
+
+  def add_data(self, value: float) -> None:
+    if len(self.data) == self.window_size:
+      self.total -= self.data.pop(0)
+    self.data.append(value)
+    self.total += value
+
+  def get_moving_average(self) -> float | None:
+    return None if len(self.data) == 0 else self.total / len(self.data)
+
+  def reset_data(self) -> None:
+    self.data = []
+    self.total = 0
+
+
+class WeightedMovingAverageCalculator:
+  def __init__(self, window_size):
+    self.window_size = window_size
+    self.data = []
+    self.weights = np.linspace(1, 3, window_size)  # Linear weights, adjust as needed
+
+  def add_data(self, value: float) -> None:
+    if len(self.data) == self.window_size:
+      self.data.pop(0)
+    self.data.append(value)
+
+  def get_weighted_average(self) -> float | None:
+    if len(self.data) == 0:
+      return None
+    weighted_sum: float = float(np.dot(self.data, self.weights[-len(self.data):]))
+    weight_total: float = float(np.sum(self.weights[-len(self.data):]))
+    return weighted_sum / weight_total
+
+  def reset_data(self) -> None:
+    self.data = []
+
+
+class DynamicExperimentalController:
+  def __init__(self, CP: structs.CarParams, mpc, params=None):
+    self._CP = CP
+    self._mpc = mpc
+    self._params = params or Params()
+    self._enabled: bool = self._params.get_bool("DynamicExperimentalControl")
+    self._active: bool = False
+    self._mode: str = 'acc'
+    self._frame: int = 0
+
+    # Use weighted moving average for filtering leads
+    self._lead_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.LEAD_WINDOW_SIZE)
+    self._has_lead_filtered = False
+    self._has_lead_filtered_prev = False
+
+    self._slow_down_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.SLOW_DOWN_WINDOW_SIZE)
+    self._has_slow_down: bool = False
+    self._slow_down_confidence: float = 0.0
+
+    self._has_blinkers = False
+
+    self._slowness_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.SLOWNESS_WINDOW_SIZE)
+    self._has_slowness: bool = False
+
+    self._has_nav_instruction = False
+
+    self._dangerous_ttc_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.DANGEROUS_TTC_WINDOW_SIZE)
+    self._has_dangerous_ttc: bool = False
+
+    self._v_ego_kph = 0.
+    self._v_cruise_kph = 0.
+
+    self._has_lead = False
+
+    self._has_standstill = False
+    self._has_standstill_prev = False
+
+    self._sng_transit_frame = 0
+    self._sng_state = SNG_State.off
+
+    self._mpc_fcw_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.MPC_FCW_WINDOW_SIZE)
+    self._has_mpc_fcw: bool = False
+    self._mpc_fcw_crash_cnt = 0
+
+    self._set_mode_timeout = 0
+
+  def _read_params(self) -> None:
+    if self._frame % int(1. / DT_MDL) == 0:
+      self._enabled = self._params.get_bool("DynamicExperimentalControl")
+
+  def mode(self) -> str:
+    return str(self._mode)
+
+  def enabled(self) -> bool:
+    return self._enabled
+
+  def active(self) -> bool:
+    return self._active
+
+  @staticmethod
+  def _anomaly_detection(recent_data: list[float], threshold: float = 2.0, context_check: bool = True) -> bool:
+    """
+    Basic anomaly detection using standard deviation.
+    """
+    if len(recent_data) < 5:
+      return False
+    mean: float = float(np.mean(recent_data))
+    std_dev: float = float(np.std(recent_data))
+    anomaly: bool = bool(recent_data[-1] > mean + threshold * std_dev)
+
+    # Context check to ensure repeated anomaly
+    if context_check:
+      return np.count_nonzero(np.array(recent_data) > mean + threshold * std_dev) > 1
+    return anomaly
+
+  def _adaptive_slowdown_threshold(self) -> float:
+    """
+    Adapts the slow-down threshold based on vehicle speed and recent behavior.
+    """
+    slowdown_scaling_factor: float = (1.0 + 0.05 * np.log(1 + len(self._slow_down_gmac.data)))
+    adaptive_threshold: float = float(
+      interp(self._v_ego_kph, WMACConstants.SLOW_DOWN_BP, WMACConstants.SLOW_DOWN_DIST) * slowdown_scaling_factor
+    )
+    return adaptive_threshold
+
+  def _smoothed_lead_detection(self, lead_prob: float, smoothing_factor: float = 0.2):
+    """
+    Smoothing the lead detection to avoid erratic behavior.
+    """
+    lead_filtering: float = (1 - smoothing_factor) * self._has_lead_filtered + smoothing_factor * lead_prob
+    return lead_filtering > WMACConstants.LEAD_PROB
+
+  def _adaptive_lead_prob_threshold(self) -> float:
+    """
+    Adapts lead probability threshold based on driving conditions.
+    """
+    if self._v_ego_kph > HIGHWAY_CRUISE_KPH:
+      return float(WMACConstants.LEAD_PROB + 0.1)  # Increase the threshold on highways
+    return float(WMACConstants.LEAD_PROB)
+
+  def _update_calculations(self, sm: messaging.SubMaster) -> None:
+    car_state = sm['carState']
+    lead_one = sm['radarState'].leadOne
+    md = sm['modelV2']
+
+    self._v_ego_kph = car_state.vEgo * 3.6
+    self._v_cruise_kph = car_state.vCruise
+    self._has_lead = lead_one.status
+    self._has_standstill = car_state.standstill
+
+    # fcw detection
+    self._mpc_fcw_gmac.add_data(self._mpc_fcw_crash_cnt > 0)
+    if _mpc_fcw_weighted_average := self._mpc_fcw_gmac.get_weighted_average():
+      self._has_mpc_fcw = _mpc_fcw_weighted_average > WMACConstants.MPC_FCW_PROB
+    else:
+      self._has_mpc_fcw = False
+
+    # nav enable detection
+    # self._has_nav_instruction = md.navEnabledDEPRECATED and maneuver_distance / max(car_state.vEgo, 1) < 13
+
+    # lead detection with smoothing
+    self._lead_gmac.add_data(lead_one.status)
+    self._has_lead_filtered = (self._lead_gmac.get_weighted_average() or -1.) > WMACConstants.LEAD_PROB
+    #lead_prob = self._lead_gmac.get_weighted_average() or 0
+    #self._has_lead_filtered = self._smoothed_lead_detection(lead_prob)
+
+    # adaptive slow down detection
+    adaptive_threshold = self._adaptive_slowdown_threshold()
+    slow_down_trigger = len(md.orientation.x) == len(md.position.x) == TRAJECTORY_SIZE and md.position.x[TRAJECTORY_SIZE - 1] < adaptive_threshold
+    self._slow_down_gmac.add_data(slow_down_trigger)
+    if _has_slow_down_weighted_average := self._slow_down_gmac.get_weighted_average():
+      self._has_slow_down = _has_slow_down_weighted_average > WMACConstants.SLOW_DOWN_PROB
+      self._slow_down_confidence = _has_slow_down_weighted_average  # Store confidence level
+    else:
+      self._has_slow_down = False
+      self._slow_down_confidence = 0.0  # No confidence if no slowdown
+
+    # anomaly detection for slow down events
+    if self._anomaly_detection(self._slow_down_gmac.data):
+      self._slow_down_confidence *= 0.85  # Reduce confidence
+      self._has_slow_down = self._slow_down_confidence > WMACConstants.SLOW_DOWN_PROB
+
+    # blinker detection
+    self._has_blinkers = car_state.leftBlinker or car_state.rightBlinker
+
+    # sng detection
+    if self._has_standstill:
+      self._sng_state = SNG_State.stopped
+      self._sng_transit_frame = 0
+    else:
+      if self._sng_transit_frame == 0:
+        if self._sng_state == SNG_State.stopped:
+          self._sng_state = SNG_State.going
+          self._sng_transit_frame = STOP_AND_GO_FRAME
+        elif self._sng_state == SNG_State.going:
+          self._sng_state = SNG_State.off
+      elif self._sng_transit_frame > 0:
+        self._sng_transit_frame -= 1
+
+    # slowness detection
+    if not self._has_standstill:
+      self._slowness_gmac.add_data(self._v_ego_kph <= (self._v_cruise_kph * WMACConstants.SLOWNESS_CRUISE_OFFSET))
+      if _slowness_weighted_average := self._slowness_gmac.get_weighted_average():
+        self._has_slowness = _slowness_weighted_average > WMACConstants.SLOWNESS_PROB
+      else:
+        self._has_slowness = False
+
+    # dangerous TTC detection
+    if not self._has_lead_filtered and self._has_lead_filtered_prev:
+      self._dangerous_ttc_gmac.reset_data()
+      self._has_dangerous_ttc = False
+
+    if self._has_lead and car_state.vEgo >= 0.01:
+      self._dangerous_ttc_gmac.add_data(lead_one.dRel / car_state.vEgo)
+
+    if _dangerous_ttc_weighted_average := self._dangerous_ttc_gmac.get_weighted_average():
+      self._has_dangerous_ttc = _dangerous_ttc_weighted_average <= WMACConstants.DANGEROUS_TTC
+    else:
+      self._has_dangerous_ttc = False
+
+    # keep prev values
+    self._has_standstill_prev = self._has_standstill
+    self._has_lead_filtered_prev = self._has_lead_filtered
+
+  def _radarless_mode(self) -> None:
+    # when mpc fcw crash prob is high
+    # use blended to slow down quickly
+    if self._has_mpc_fcw:
+      self._set_mode('blended')
+      return
+
+    # Nav enabled and distance to upcoming turning is 300 or below
+    # if self._has_nav_instruction:
+    #  self._set_mode('blended')
+    #  return
+
+    # when blinker is on and speed is driving below V_ACC_MIN: blended
+    # we don't want it to switch mode at higher speed, blended may trigger hard brake
+    # if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
+    #  self._set_mode('blended')
+    #  return
+
+    # when at highway cruise and SNG: blended
+    # ensuring blended mode is used because acc is bad at catching SNG lead car
+    # especially those who accel very fast and then brake very hard.
+    # if self._sng_state == SNG_State.going and self._v_cruise_kph >= V_ACC_MIN:
+    #  self._set_mode('blended')
+    #  return
+
+    # when standstill: blended
+    # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
+    if self._has_standstill:
+      self._set_mode('blended')
+      return
+
+    # when detecting slow down scenario: blended
+    # e.g. traffic light, curve, stop sign etc.
+    if self._has_slow_down:
+      self._set_mode('blended')
+      return
+
+    # when detecting lead slow down: blended
+    # use blended for higher braking capability
+    if self._has_dangerous_ttc:
+      self._set_mode('blended')
+      return
+
+    # car driving at speed lower than set speed: acc
+    if self._has_slowness:
+      self._set_mode('acc')
+      return
+
+    self._set_mode('acc')
+
+  def _radar_mode(self) -> None:
+    # when mpc fcw crash prob is high
+    # use blended to slow down quickly
+    if self._has_mpc_fcw:
+      self._set_mode('blended')
+      return
+
+    # If there is a filtered lead, the vehicle is not in standstill, and the lead vehicle's yRel meets the condition,
+    if self._has_lead_filtered and not self._has_standstill:
+      self._set_mode('acc')
+      return
+
+    # when blinker is on and speed is driving below V_ACC_MIN: blended
+    # we don't want it to switch mode at higher speed, blended may trigger hard brake
+    # if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
+    #  self._set_mode('blended')
+    #  return
+
+    # when standstill: blended
+    # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
+    if self._has_standstill:
+      self._set_mode('blended')
+      return
+
+    # when detecting slow down scenario: blended
+    # e.g. traffic light, curve, stop sign etc.
+    if self._has_slow_down:
+      self._set_mode('blended')
+      return
+
+    # car driving at speed lower than set speed: acc
+    if self._has_slowness:
+      self._set_mode('acc')
+      return
+
+    # Nav enabled and distance to upcoming turning is 300 or below
+    # if self._has_nav_instruction:
+    #  self._set_mode('blended')
+    #  return
+
+    self._set_mode('acc')
+
+  def set_mpc_fcw_crash_cnt(self) -> None:
+    self._mpc_fcw_crash_cnt = self._mpc.crash_cnt
+
+  def _set_mode(self, mode: str) -> None:
+    if self._set_mode_timeout == 0:
+      self._mode = mode
+      if mode == 'blended':
+        self._set_mode_timeout = SET_MODE_TIMEOUT
+
+    if self._set_mode_timeout > 0:
+      self._set_mode_timeout -= 1
+
+  def update(self, sm: messaging.SubMaster) -> None:
+    self._read_params()
+
+    self.set_mpc_fcw_crash_cnt()
+
+    self._update_calculations(sm)
+
+    if self._CP.radarUnavailable:
+      self._radarless_mode()
+    else:
+      self._radar_mode()
+
+    self._active = sm['selfdriveState'].experimentalMode and self._enabled
+
+    self._frame += 1
diff --git a/sunnypilot/selfdrive/controls/lib/dec/tests/__init__.py b/sunnypilot/selfdrive/controls/lib/dec/tests/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py b/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
new file mode 100644
index 00000000000000..741d9e017008f5
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
@@ -0,0 +1,248 @@
+import pytest
+import numpy as np
+from openpilot.common.params import Params
+
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants, SNG_State
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController, TRAJECTORY_SIZE, STOP_AND_GO_FRAME
+
+class MockInterp:
+  def __call__(self, x, xp, fp):
+    return np.interp(x, xp, fp)
+
+class MockCarState:
+  def __init__(self, v_ego=0., standstill=False, left_blinker=False, right_blinker=False):
+    self.vEgo = v_ego
+    self.standstill = standstill
+    self.leftBlinker = left_blinker
+    self.rightBlinker = right_blinker
+
+class MockLeadOne:
+  def __init__(self, status=False, d_rel=0):
+    self.status = status
+    self.dRel = d_rel
+
+class MockModelData:
+  def __init__(self, x_vals=None, positions=None):
+    self.orientation = type('Orientation', (), {'x': x_vals})()
+    self.position = type('Position', (), {'x': positions})()
+
+class MockControlState:
+  def __init__(self, v_cruise=0):
+    self.vCruise = v_cruise
+
+@pytest.fixture
+def interp(monkeypatch):
+  mock_interp = MockInterp()
+  monkeypatch.setattr('openpilot.common.numpy_fast.interp', mock_interp)
+  return mock_interp
+
+@pytest.fixture
+def controller(interp):
+  params = Params()
+  params.put_bool("DynamicExperimentalControl", True)
+  return DynamicExperimentalController()
+
+def test_initial_state(controller):
+  """Test initial state of the controller"""
+  assert controller._mode == 'acc'
+  assert not controller._has_lead
+  assert not controller._has_standstill
+  assert controller._sng_state == SNG_State.off
+  assert not controller._has_lead_filtered
+  assert not controller._has_slow_down
+  assert not controller._has_dangerous_ttc
+  assert not controller._has_mpc_fcw
+
+@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
+def test_standstill_detection(controller, has_radar):
+  """Test standstill detection and state transitions"""
+  car_state = MockCarState(standstill=True)
+  lead_one = MockLeadOne()
+  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
+  controls_state = MockControlState()
+
+  # Test transition to standstill
+  controller.update(not has_radar, car_state, lead_one, md, controls_state)
+  assert controller._sng_state == SNG_State.stopped
+  assert controller.get_mpc_mode() == 'blended'
+
+  # Test transition from standstill to moving
+  car_state.standstill = False
+  controller.update(not has_radar, car_state, lead_one, md, controls_state)
+  assert controller._sng_state == SNG_State.going
+
+  # Test complete transition to normal driving
+  for _ in range(STOP_AND_GO_FRAME + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+  assert controller._sng_state == SNG_State.off
+
+@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
+def test_lead_detection(controller, has_radar):
+  """Test lead vehicle detection and filtering"""
+  car_state = MockCarState(v_ego=20)  # 72 kph
+  lead_one = MockLeadOne(status=True, d_rel=50)  # Safe distance
+  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
+  controls_state = MockControlState(v_cruise=72)
+
+  # Let moving average stabilize
+  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert controller._has_lead_filtered
+  expected_mode = 'acc' if has_radar else 'blended'
+  assert controller.get_mpc_mode() == expected_mode
+
+  # Test lead loss detection
+  lead_one.status = False
+  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert not controller._has_lead_filtered
+
+@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
+def test_slow_down_detection(controller, has_radar):
+  """Test slow down detection based on trajectory"""
+  car_state = MockCarState(v_ego=10/3.6)  # 10 kph
+  lead_one = MockLeadOne()
+  x_vals = [0] * TRAJECTORY_SIZE
+  positions = [20] * TRAJECTORY_SIZE  # Position within slow down threshold
+  md = MockModelData(x_vals=x_vals, positions=positions)
+  controls_state = MockControlState(v_cruise=30)
+
+  # Test slow down detection
+  for _ in range(WMACConstants.SLOW_DOWN_WINDOW_SIZE + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert controller._has_slow_down
+  assert controller.get_mpc_mode() == 'blended'
+
+  # Test slow down recovery
+  positions = [200] * TRAJECTORY_SIZE  # Position outside slow down threshold
+  md = MockModelData(x_vals=x_vals, positions=positions)
+  for _ in range(WMACConstants.SLOW_DOWN_WINDOW_SIZE + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert not controller._has_slow_down
+
+@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
+def test_dangerous_ttc_detection(controller, has_radar):
+  """Test Time-To-Collision detection and handling"""
+  car_state = MockCarState(v_ego=10)  # 36 kph
+  lead_one = MockLeadOne(status=True)
+  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
+  controls_state = MockControlState(v_cruise=36)
+
+  # First establish normal conditions with lead
+  lead_one.dRel = 100  # Safe distance
+  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):  # First establish lead detection
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert controller._has_lead_filtered  # Verify lead is detected
+
+  # Now test dangerous TTC detection
+  lead_one.dRel = 10  # 10m distance - should trigger dangerous TTC
+  # TTC = dRel/vEgo = 10/10 = 1s (which is less than DANGEROUS_TTC = 2.3s)
+
+  # Need to update multiple times to allow the weighted average to stabilize
+  for _ in range(WMACConstants.DANGEROUS_TTC_WINDOW_SIZE * 2):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert controller._has_dangerous_ttc, "TTC of 1s should be considered dangerous"
+  expected_mode = 'acc' if has_radar else 'blended'
+  assert controller.get_mpc_mode() == expected_mode, f"Should be in [{expected_mode}] mode with dangerous TTC"
+
+@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
+def test_mode_transitions(controller, has_radar):
+  """Test comprehensive mode transitions under different conditions"""
+  # Initialize with normal driving conditions
+  car_state = MockCarState(v_ego=25)  # 90 kph
+  lead_one = MockLeadOne(status=False)
+  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[200] * TRAJECTORY_SIZE)
+  controls_state = MockControlState(v_cruise=100)
+
+  def stabilize_filters():
+    """Helper to let all moving averages stabilize"""
+    for _ in range(max(WMACConstants.LEAD_WINDOW_SIZE, WMACConstants.SLOW_DOWN_WINDOW_SIZE,
+                       WMACConstants.DANGEROUS_TTC_WINDOW_SIZE, WMACConstants.MPC_FCW_WINDOW_SIZE) + 1):
+      controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  # Test 1: Normal driving -> ACC mode
+  stabilize_filters()
+  assert controller.get_mpc_mode() == 'acc', "Should be in ACC mode under normal driving conditions"
+
+  # Test 2: Standstill -> Blended mode
+  car_state.standstill = True
+  controller.update(not has_radar, car_state, lead_one, md, controls_state)
+  assert controller.get_mpc_mode() == 'blended', "Should be in blended mode during standstill"
+
+  # Test 3: Lead car appears -> ACC mode
+  car_state = MockCarState(v_ego=20)  # Reset car state
+  lead_one.status = True
+  lead_one.dRel = 50  # Safe distance
+  stabilize_filters()
+  assert not controller._has_dangerous_ttc, "Should not have dangerous TTC"
+  assert controller.get_mpc_mode() == 'acc', "Should be in ACC mode with safe lead distance"
+
+  # Test 4: Dangerous TTC -> Blended mode
+  car_state = MockCarState(v_ego=20)  # 72 kph
+  lead_one.status = True
+  lead_one.dRel = 50  # First establish normal lead detection
+
+  # First establish lead detection
+  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert controller._has_lead_filtered  # Verify lead is detected
+
+  # Now create dangerous TTC condition
+  lead_one.dRel = 20  # This creates a TTC of 1s, well below DANGEROUS_TTC
+
+  for _ in range(WMACConstants.DANGEROUS_TTC_WINDOW_SIZE * 2):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert controller._has_dangerous_ttc, "Should detect dangerous TTC condition"
+  expected_mode = 'acc' if has_radar else 'blended'
+  assert controller.get_mpc_mode() == expected_mode, f"Should be in [{expected_mode}] mode with dangerous TTC"
+
+@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
+def test_mpc_fcw_handling(controller, has_radar):
+  """Test MPC FCW crash count handling and mode transitions"""
+  car_state = MockCarState(v_ego=20)
+  lead_one = MockLeadOne()
+  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
+  controls_state = MockControlState(v_cruise=72)
+
+  # Test FCW activation
+  controller.set_mpc_fcw_crash_cnt(5)
+  for _ in range(WMACConstants.MPC_FCW_WINDOW_SIZE + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert controller._has_mpc_fcw
+  assert controller.get_mpc_mode() == 'blended'
+
+  # Test FCW recovery
+  controller.set_mpc_fcw_crash_cnt(0)
+  for _ in range(WMACConstants.MPC_FCW_WINDOW_SIZE + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert not controller._has_mpc_fcw
+
+def test_radar_unavailable_handling(controller):
+  """Test behavior transitions between radar available and unavailable states"""
+  car_state = MockCarState(v_ego=27.78)  # 100 kph
+  lead_one = MockLeadOne(status=True, d_rel=50)
+  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
+  controls_state = MockControlState(v_cruise=100)
+
+  # Test with radar available
+  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
+    controller.update(False, car_state, lead_one, md, controls_state)
+  radar_mode = controller.get_mpc_mode()
+
+  # Test with radar unavailable
+  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
+    controller.update(True, car_state, lead_one, md, controls_state)
+  radarless_mode = controller.get_mpc_mode()
+
+  assert radar_mode is not None
+  assert radarless_mode is not None
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
new file mode 100644
index 00000000000000..56f32373d5075e
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -0,0 +1,41 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from cereal import messaging, custom
+from opendbc.car import structs
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
+
+DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
+
+
+class LongitudinalPlannerSP:
+  def __init__(self, CP: structs.CarParams, mpc):
+    self.dec = DynamicExperimentalController(CP, mpc)
+
+  def get_mpc_mode(self) -> str | None:
+    if not self.dec.active():
+      return None
+
+    return self.dec.mode()
+
+  def update(self, sm: messaging.SubMaster) -> None:
+    self.dec.update(sm)
+
+  def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
+    plan_sp_send = messaging.new_message('longitudinalPlanSP')
+
+    plan_sp_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
+
+    longitudinalPlanSP = plan_sp_send.longitudinalPlanSP
+
+    # Dynamic Experimental Control
+    dec = longitudinalPlanSP.dec
+    dec.state = DecState.blended if self.dec.mode() == 'blended' else DecState.acc
+    dec.enabled = self.dec.enabled()
+    dec.active = self.dec.active()
+
+    pm.send('longitudinalPlanSP', plan_sp_send)
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 7a8ec9fc867587..499ed6474bb83b 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -43,6 +43,7 @@ def manager_init() -> None:
   ]
 
   sunnypilot_default_params: list[tuple[str, str | bytes]] = [
+    ("DynamicExperimentalControl", "0"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
     ("MadsPauseLateralOnBrake", "0"),

From 485ac322500107daba8e33f7c29c8186e06f31d2 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 19 Jan 2025 15:23:51 -0500
Subject: [PATCH 0081/1434] Longitudinal: Distance button hold to toggle
 Chill/Experimental Mode (#576)

* Longitudinal: Distance button hold to toggle Chill/Experimental Mode

* unused

* fix

* no need

* Refactor: Introduce ButtonHoldTracker to manage button hold durations (#593)

Add ButtonHoldTracker for button hold logic and tests

Introduce a new `ButtonHoldTracker` class to manage button hold durations, replacing manual timer handling in `ExperimentalSwitcher`. Updated `ExperimentalSwitcher` to leverage this implementation for cleaner and more modular code. Added comprehensive unit tests for both `ButtonHoldTracker` and `ExperimentalSwitcher` to ensure functionality and edge case coverage.

* Revert "Refactor: Introduce ButtonHoldTracker to manage button hold durations (#593)"

This reverts commit 7ee7e73ce708f9b52aabed23e398ccf94b1834cf.

* less in selfdrived

* pass carparams into child

* tests for cruisehelper

* rename these bad bois (happy now @devtekve? xD)

* Apply suggestions from code review

Co-authored-by: DevTekVE <devtekve@gmail.com>

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 cereal/log.capnp                              |  1 +
 selfdrive/selfdrived/events.py                |  4 ++
 selfdrive/selfdrived/selfdrived.py            | 15 +++--
 sunnypilot/selfdrive/car/__init__.py          |  0
 sunnypilot/selfdrive/car/cruise_helpers.py    | 50 ++++++++++++++
 sunnypilot/selfdrive/car/tests/__init__.py    |  0
 .../selfdrive/car/tests/test_cruise_mode.py   | 66 +++++++++++++++++++
 7 files changed, 132 insertions(+), 4 deletions(-)
 create mode 100644 sunnypilot/selfdrive/car/__init__.py
 create mode 100644 sunnypilot/selfdrive/car/cruise_helpers.py
 create mode 100644 sunnypilot/selfdrive/car/tests/__init__.py
 create mode 100644 sunnypilot/selfdrive/car/tests/test_cruise_mode.py

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 7d1d2ac5f897cd..512b4f67b41d8d 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -199,6 +199,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     silentParkBrake @162;
     controlsMismatchLateral @163;
     hyundaiRadarTracksConfirmed @164;
+    experimentalModeSwitched @165;
 
     soundsUnavailableDEPRECATED @47;
   }
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index aab9bc433b02b1..ca068c0b15a3f2 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -1066,6 +1066,10 @@ def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
 
   EventName.hyundaiRadarTracksConfirmed: {
     ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
+  },
+
+  EventName.experimentalModeSwitched: {
+    ET.WARNING: NormalPermanentAlert("Experimental Mode Switched", duration=1.5)
   }
 
 }
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index ce92c381d96d83..b3148c53179442 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -25,6 +25,7 @@
 
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
+from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
 
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
@@ -44,7 +45,7 @@
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 
 
-class SelfdriveD:
+class SelfdriveD(CruiseHelper):
   def __init__(self, CP=None):
     self.params = Params()
 
@@ -140,6 +141,8 @@ def __init__(self, CP=None):
 
     self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
 
+    CruiseHelper.__init__(self, self.CP)
+
   def update_events(self, CS):
     """Compute onroadEvents from carState"""
 
@@ -367,12 +370,16 @@ def update_events(self, CS):
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
 
+    CruiseHelper.update(self, CS, self.events, self.experimental_mode)
+
     # decrement personality on distance button press
     if self.CP.openpilotLongitudinalControl:
       if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
-        self.personality = (self.personality - 1) % 3
-        self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
-        self.events.add(EventName.personalityChanged)
+        if not self.experimental_mode_switched:
+          self.personality = (self.personality - 1) % 3
+          self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
+          self.events.add(EventName.personalityChanged)
+        self.experimental_mode_switched = False
 
   def data_sample(self):
     car_state = messaging.recv_one(self.car_state_sock)
diff --git a/sunnypilot/selfdrive/car/__init__.py b/sunnypilot/selfdrive/car/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/car/cruise_helpers.py b/sunnypilot/selfdrive/car/cruise_helpers.py
new file mode 100644
index 00000000000000..24ad6638de035d
--- /dev/null
+++ b/sunnypilot/selfdrive/car/cruise_helpers.py
@@ -0,0 +1,50 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from cereal import car, log
+from opendbc.car import structs
+from openpilot.common.params import Params
+
+ButtonType = car.CarState.ButtonEvent.Type
+EventName = log.OnroadEvent.EventName
+
+DISTANCE_LONG_PRESS = 50
+
+
+class CruiseHelper:
+  def __init__(self, CP: structs.CarParams):
+    self.CP = CP
+    self.params = Params()
+
+    self.button_frame_counts = {ButtonType.gapAdjustCruise: 0}
+    self._experimental_mode = False
+    self.experimental_mode_switched = False
+
+  def update(self, CS, events, experimental_mode) -> None:
+    if self.CP.openpilotLongitudinalControl:
+      if CS.cruiseState.available:
+        self.update_button_frame_counts(CS)
+
+        # toggle experimental mode once on distance button hold
+        self.update_experimental_mode(events, experimental_mode)
+
+  def update_button_frame_counts(self, CS) -> None:
+    for button in self.button_frame_counts:
+      if self.button_frame_counts[button] > 0:
+        self.button_frame_counts[button] += 1
+
+    for button_event in CS.buttonEvents:
+      button = button_event.type.raw
+      if button in self.button_frame_counts:
+        self.button_frame_counts[button] = int(button_event.pressed)
+
+  def update_experimental_mode(self, events, experimental_mode) -> None:
+    if self.button_frame_counts[ButtonType.gapAdjustCruise] >= DISTANCE_LONG_PRESS and not self.experimental_mode_switched:
+      self._experimental_mode = not experimental_mode
+      self.params.put_bool_nonblocking("ExperimentalMode", self._experimental_mode)
+      events.add(EventName.experimentalModeSwitched)
+      self.experimental_mode_switched = True
diff --git a/sunnypilot/selfdrive/car/tests/__init__.py b/sunnypilot/selfdrive/car/tests/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/car/tests/test_cruise_mode.py b/sunnypilot/selfdrive/car/tests/test_cruise_mode.py
new file mode 100644
index 00000000000000..26338319f5183b
--- /dev/null
+++ b/sunnypilot/selfdrive/car/tests/test_cruise_mode.py
@@ -0,0 +1,66 @@
+from parameterized import parameterized_class
+from cereal import car
+from openpilot.selfdrive.selfdrived.events import Events
+from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper, DISTANCE_LONG_PRESS
+
+ButtonEvent = car.CarState.ButtonEvent
+ButtonType = car.CarState.ButtonEvent.Type
+
+
+@parameterized_class(('openpilot_longitudinal',), [(True,)])
+class TestCruiseHelper:
+  def setup_method(self):
+    self.CP = car.CarParams(openpilotLongitudinalControl=self.openpilot_longitudinal)
+    self.cruise_helper = CruiseHelper(self.CP)
+    self.cruise_helper.experimental_mode_switched = False
+    self.events = Events()
+
+  def reset(self):
+    for _ in range(2):
+      CS = car.CarState(cruiseState={"available": False})
+      CS.buttonEvents = [ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=False)]
+      self.cruise_helper._experimental_mode = False
+      self.cruise_helper.experimental_mode_switched = False
+      self.cruise_helper.update(CS, self.events, False)
+
+
+  def test_gap_adjust_cruise_long_press_toggle_mode(self) -> None:
+    for pressed in (True, False):
+      for experimental_mode in (True, False):
+        self.reset()
+        self.cruise_helper._experimental_mode = experimental_mode
+        toggled_mode = not experimental_mode if pressed else experimental_mode
+
+        for i in range(DISTANCE_LONG_PRESS):
+          CS = car.CarState(cruiseState={"available": True})
+          CS.buttonEvents = [ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=pressed)] if i == 0 else []
+          self.cruise_helper.update(CS, self.events, experimental_mode)
+
+        # mode should be toggled
+        assert self.cruise_helper._experimental_mode == toggled_mode
+        assert self.cruise_helper.experimental_mode_switched is pressed
+
+        # keep holding button after switching mode
+        for _ in range(DISTANCE_LONG_PRESS):
+          CS = car.CarState(cruiseState={"available": True})
+          CS.buttonEvents = [ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=pressed)]
+          self.cruise_helper.update(CS, self.events, toggled_mode)
+
+        # mode should not be toggled
+        assert self.cruise_helper._experimental_mode == toggled_mode
+        assert self.cruise_helper.experimental_mode_switched is pressed
+
+  def test_gap_adjust_cruise_short_press_toggle_mode(self) -> None:
+    for pressed in (True, False):
+      for experimental_mode in (True, False):
+        self.reset()
+        self.cruise_helper._experimental_mode = experimental_mode
+
+        for i in range(DISTANCE_LONG_PRESS - 1):
+          CS = car.CarState(cruiseState={"available": True})
+          CS.buttonEvents = [ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=pressed)] if i == 0 else []
+          self.cruise_helper.update(CS, self.events, experimental_mode)
+
+        # mode should not be toggled
+        assert self.cruise_helper._experimental_mode == experimental_mode
+        assert self.cruise_helper.experimental_mode_switched is False

From 837eea06a4a33f0b962a29a0be6ede3270821f6b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 19 Jan 2025 20:48:16 -0500
Subject: [PATCH 0082/1434] MADS: remove `controlsAllowedLat` to maintain
 compatibility with stock cereal (#597)

* MADS: remove `controlsAllowedLat` to maintain compatibility with stock cereal

* unused

* bump panda
---
 cereal/log.capnp                   |  2 +-
 panda                              |  2 +-
 selfdrive/pandad/pandad.cc         |  1 -
 selfdrive/selfdrived/selfdrived.py |  2 +-
 sunnypilot/mads/mads.py            | 24 ++++--------------------
 5 files changed, 7 insertions(+), 24 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 512b4f67b41d8d..45e9d0a8faafe8 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -665,7 +665,6 @@ struct PandaState @0xa7649e2575e4591e {
 
   # safety stuff
   controlsAllowed @3 :Bool;
-  controlsAllowedLat @5 :Bool;
   safetyRxInvalid @19 :UInt32;
   safetyTxBlocked @24 :UInt32;
   safetyModel @14 :Car.CarParams.SafetyModel;
@@ -773,6 +772,7 @@ struct PandaState @0xa7649e2575e4591e {
   }
 
   gasInterceptorDetectedDEPRECATED @4 :Bool;
+  startedSignalDetectedDEPRECATED @5 :Bool;
   hasGpsDEPRECATED @6 :Bool;
   gmlanSendErrsDEPRECATED @9 :UInt32;
   fanSpeedRpmDEPRECATED @11 :UInt16;
diff --git a/panda b/panda
index d3252abcc45e14..928b0eb2256bcd 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit d3252abcc45e148f659aa3e52f53e42783edceec
+Subproject commit 928b0eb2256bcdf00c18677d7e2df922afa36241
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index 0e8884c33d1a8e..470836ec828bef 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -158,7 +158,6 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
   ps.setIgnitionLine(health.ignition_line_pkt);
   ps.setIgnitionCan(health.ignition_can_pkt);
   ps.setControlsAllowed(health.controls_allowed_pkt);
-  ps.setControlsAllowedLat(health.controls_allowed_lat_pkt);
   ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
   ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
   ps.setPandaType(hw_type);
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index b3148c53179442..17dd70b3a461a1 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -489,7 +489,7 @@ def step(self):
     if not self.CP.passive and self.initialized:
       self.enabled, self.active = self.state_machine.update(self.events)
     if not self.CP.notCar:
-      self.mads.update(CS, self.sm)
+      self.mads.update(CS)
     self.update_alerts(CS)
 
     self.publish_selfdriveState(CS)
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 85d71d04284d2c..81c9d6fb5c417a 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -24,7 +24,7 @@
 Last updated: July 29, 2024
 """
 
-from cereal import messaging, car, log, custom
+from cereal import car, log, custom
 
 from opendbc.car.hyundai.values import HyundaiFlags
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
@@ -48,7 +48,6 @@ def __init__(self, selfdrive):
     self.enabled = False
     self.active = False
     self.available = False
-    self.mismatch_counter = 0
     self.allow_always = False
     self.selfdrive = selfdrive
     self.selfdrive.enabled_prev = False
@@ -70,20 +69,7 @@ def read_params(self):
     self.main_enabled_toggle = self.mads_params.read_param("MadsMainCruiseAllowed")
     self.unified_engagement_mode = self.mads_params.read_param("MadsUnifiedEngagementMode")
 
-  def update_controls_mismatch(self, sm: messaging.SubMaster):
-    heartbeat_engaged = self.active if self.pause_lateral_on_brake_toggle else self.enabled
-
-    if not heartbeat_engaged:
-      self.mismatch_counter = 0
-
-    if heartbeat_engaged and any(not ps.controlsAllowedLat for ps in sm['pandaStates']
-                                 if ps.safetyModel not in IGNORED_SAFETY_MODES):
-      self.mismatch_counter += 1
-
-    if self.mismatch_counter >= 200:
-      self.events.add(EventName.controlsMismatchLateral)
-
-  def update_events(self, CS: car.CarState, sm: messaging.SubMaster):
+  def update_events(self, CS: car.CarState):
     def update_unified_engagement_mode():
       uem_blocked = self.enabled or (self.selfdrive.enabled and self.selfdrive.enabled_prev)
       if (self.unified_engagement_mode and uem_blocked) or not self.unified_engagement_mode:
@@ -161,13 +147,11 @@ def transition_paused_state():
     if not any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents):
       self.events.remove(EventName.wrongCarMode)
 
-    self.update_controls_mismatch(sm)
-
-  def update(self, CS: car.CarState, sm: messaging.SubMaster):
+  def update(self, CS: car.CarState):
     if not self.enabled_toggle:
       return
 
-    self.update_events(CS, sm)
+    self.update_events(CS)
 
     if not self.selfdrive.CP.passive and self.selfdrive.initialized:
       self.enabled, self.active = self.state_machine.update(self.events)

From d58b0f403fca8a7b894946b541d1d09d452a1b45 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 20 Jan 2025 01:37:58 -0500
Subject: [PATCH 0083/1434] bump submodules

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 928b0eb2256bcd..84836fd802fa67 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 928b0eb2256bcdf00c18677d7e2df922afa36241
+Subproject commit 84836fd802fa679ac637973be0c0118f7338a649

From c9961f15900144f515e5591f6496e16c629ba6fc Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 20 Jan 2025 13:23:44 -0500
Subject: [PATCH 0084/1434] Events: Migrate sunnypilot onroad events to its own
 cereal (#598)

* Events: Migrate sunnypilot onroad events to its own cereal

* more

* slightly more

* typing

* fix more

* fix mads state machine tests

* readjust order

* fix event

* abstract

* need these

* move around

* let's make sure it cleared on every loop

* Update selfdrive/selfdrived/alertmanager.py

Co-authored-by: DevTekVE <devtekve@gmail.com>

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 cereal/custom.capnp                           |  34 ++
 cereal/log.capnp                              |  77 +----
 cereal/services.py                            |   1 +
 selfdrive/selfdrived/alertmanager.py          |   3 +-
 selfdrive/selfdrived/events.py                | 304 +-----------------
 selfdrive/selfdrived/selfdrived.py            |  29 +-
 .../selfdrived/tests/test_alertmanager.py     |   4 +-
 sunnypilot/mads/mads.py                       |  36 ++-
 sunnypilot/mads/state.py                      |  51 +--
 .../mads/tests/test_mads_state_machine.py     |  79 ++---
 sunnypilot/selfdrive/car/car_specific.py      |  10 +-
 sunnypilot/selfdrive/car/cruise_helpers.py    |   6 +-
 sunnypilot/selfdrive/selfdrived/__init__.py   |   0
 sunnypilot/selfdrive/selfdrived/events.py     | 133 ++++++++
 .../selfdrive/selfdrived/events_base.py       | 225 +++++++++++++
 15 files changed, 540 insertions(+), 452 deletions(-)
 create mode 100644 sunnypilot/selfdrive/selfdrived/__init__.py
 create mode 100644 sunnypilot/selfdrive/selfdrived/events.py
 create mode 100644 sunnypilot/selfdrive/selfdrived/events_base.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index f95e0bf810fa87..33aef6df4fe5d2 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -10,6 +10,40 @@ $Cxx.namespace("cereal");
 # DO rename the structs
 # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
 
+struct OnroadEventSP {
+  name @0 :EventName;
+
+  # event types
+  enable @1 :Bool;
+  noEntry @2 :Bool;
+  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
+  userDisable @4 :Bool;
+  softDisable @5 :Bool;
+  immediateDisable @6 :Bool;
+  preEnable @7 :Bool;
+  permanent @8 :Bool; # alerts presented regardless of openpilot state
+  overrideLateral @10 :Bool;
+  overrideLongitudinal @9 :Bool;
+
+  enum EventName {
+    lkasEnable @0;
+    lkasDisable @1;
+    manualSteeringRequired @2;
+    manualLongitudinalRequired @3;
+    silentLkasEnable @4;
+    silentLkasDisable @5;
+    silentBrakeHold @6;
+    silentWrongGear @7;
+    silentReverseGear @8;
+    silentDoorOpen @9;
+    silentSeatbeltNotLatched @10;
+    silentParkBrake @11;
+    controlsMismatchLateral @12;
+    hyundaiRadarTracksConfirmed @13;
+    experimentalModeSwitched @14;
+  }
+}
+
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
 
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 45e9d0a8faafe8..f8000ec1ebb906 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -125,81 +125,6 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     espActive @90;
     personalityChanged @91;
     aeb @92;
-    eventReserved93 @93;
-    eventReserved94 @94;
-    eventReserved95 @95;
-    eventReserved96 @96;
-    eventReserved97 @97;
-    eventReserved98 @98;
-    eventReserved99 @99;
-    eventReserved100 @100;
-    eventReserved101 @101;
-    eventReserved102 @102;
-    eventReserved103 @103;
-    eventReserved104 @104;
-    eventReserved105 @105;
-    eventReserved106 @106;
-    eventReserved107 @107;
-    eventReserved108 @108;
-    eventReserved109 @109;
-    eventReserved110 @110;
-    eventReserved111 @111;
-    eventReserved112 @112;
-    eventReserved113 @113;
-    eventReserved114 @114;
-    eventReserved115 @115;
-    eventReserved116 @116;
-    eventReserved117 @117;
-    eventReserved118 @118;
-    eventReserved119 @119;
-    eventReserved120 @120;
-    eventReserved121 @121;
-    eventReserved122 @122;
-    eventReserved123 @123;
-    eventReserved124 @124;
-    eventReserved125 @125;
-    eventReserved126 @126;
-    eventReserved127 @127;
-    eventReserved128 @128;
-    eventReserved129 @129;
-    eventReserved130 @130;
-    eventReserved131 @131;
-    eventReserved132 @132;
-    eventReserved133 @133;
-    eventReserved134 @134;
-    eventReserved135 @135;
-    eventReserved136 @136;
-    eventReserved137 @137;
-    eventReserved138 @138;
-    eventReserved139 @139;
-    eventReserved140 @140;
-    eventReserved141 @141;
-    eventReserved142 @142;
-    eventReserved143 @143;
-    eventReserved144 @144;
-    eventReserved145 @145;
-    eventReserved146 @146;
-    eventReserved147 @147;
-    eventReserved148 @148;
-    eventReserved149 @149;
-    eventReserved150 @150;
-
-    # sunnypilot
-    lkasEnable @151;
-    lkasDisable @152;
-    manualSteeringRequired @153;
-    manualLongitudinalRequired @154;
-    silentLkasEnable @155;
-    silentLkasDisable @156;
-    silentBrakeHold @157;
-    silentWrongGear @158;
-    silentReverseGear @159;
-    silentDoorOpen @160;
-    silentSeatbeltNotLatched @161;
-    silentParkBrake @162;
-    controlsMismatchLateral @163;
-    hyundaiRadarTracksConfirmed @164;
-    experimentalModeSwitched @165;
 
     soundsUnavailableDEPRECATED @47;
   }
@@ -2643,7 +2568,7 @@ struct Event {
     selfdriveStateSP @107 :Custom.SelfdriveStateSP;
     modelManagerSP @108 :Custom.ModelManagerSP;
     longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
-    customReserved3 @110 :Custom.CustomReserved3;
+    onroadEventsSP @110 :List(Custom.OnroadEventSP);
     customReserved4 @111 :Custom.CustomReserved4;
     customReserved5 @112 :Custom.CustomReserved5;
     customReserved6 @113 :Custom.CustomReserved6;
diff --git a/cereal/services.py b/cereal/services.py
index ae4a35b3e4c7de..f2f3da04273f9c 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -78,6 +78,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "modelManagerSP": (False, 1., 1),
   "selfdriveStateSP": (True, 100., 10),
   "longitudinalPlanSP": (True, 20., 10),
+  "onroadEventsSP": (True, 1., 1),
 
   # debug
   "uiDebug": (True, 0., 1),
diff --git a/selfdrive/selfdrived/alertmanager.py b/selfdrive/selfdrived/alertmanager.py
index ac1006ff258c01..79897404e48f67 100644
--- a/selfdrive/selfdrived/alertmanager.py
+++ b/selfdrive/selfdrived/alertmanager.py
@@ -6,7 +6,8 @@
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.selfdrive.selfdrived.events import Alert, EmptyAlert
+from openpilot.selfdrive.selfdrived.events import Alert
+from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EmptyAlert
 
 
 with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as f:
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index ca068c0b15a3f2..3bc50cde18a3a7 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -1,9 +1,6 @@
 #!/usr/bin/env python3
-import bisect
 import math
 import os
-from enum import IntEnum
-from collections.abc import Callable
 
 from cereal import log, car
 import cereal.messaging as messaging
@@ -12,6 +9,11 @@
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
 
+from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
+  NoEntryAlert, SoftDisableAlert, UserSoftDisableAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, \
+  StartupAlert, AlertCallbackType
+
+
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -19,201 +21,23 @@
 EventName = log.OnroadEvent.EventName
 
 
-# Alert priorities
-class Priority(IntEnum):
-  LOWEST = 0
-  LOWER = 1
-  LOW = 2
-  MID = 3
-  HIGH = 4
-  HIGHEST = 5
-
-
-# Event types
-class ET:
-  ENABLE = 'enable'
-  PRE_ENABLE = 'preEnable'
-  OVERRIDE_LATERAL = 'overrideLateral'
-  OVERRIDE_LONGITUDINAL = 'overrideLongitudinal'
-  NO_ENTRY = 'noEntry'
-  WARNING = 'warning'
-  USER_DISABLE = 'userDisable'
-  SOFT_DISABLE = 'softDisable'
-  IMMEDIATE_DISABLE = 'immediateDisable'
-  PERMANENT = 'permanent'
-
-
 # get event name from enum
 EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}
 
 
-class Events:
+class Events(EventsBase):
   def __init__(self):
-    self.events: list[int] = []
-    self.static_events: list[int] = []
+    super().__init__()
     self.event_counters = dict.fromkeys(EVENTS.keys(), 0)
 
-  @property
-  def names(self) -> list[int]:
-    return self.events
-
-  def __len__(self) -> int:
-    return len(self.events)
-
-  def add(self, event_name: int, static: bool=False) -> None:
-    if static:
-      bisect.insort(self.static_events, event_name)
-    bisect.insort(self.events, event_name)
-
-  def clear(self) -> None:
-    self.event_counters = {k: (v + 1 if k in self.events else 0) for k, v in self.event_counters.items()}
-    self.events = self.static_events.copy()
-
-  def contains(self, event_type: str) -> bool:
-    return any(event_type in EVENTS.get(e, {}) for e in self.events)
-
-  def create_alerts(self, event_types: list[str], callback_args=None):
-    if callback_args is None:
-      callback_args = []
-
-    ret = []
-    for e in self.events:
-      types = EVENTS[e].keys()
-      for et in event_types:
-        if et in types:
-          alert = EVENTS[e][et]
-          if not isinstance(alert, Alert):
-            alert = alert(*callback_args)
-
-          if DT_CTRL * (self.event_counters[e] + 1) >= alert.creation_delay:
-            alert.alert_type = f"{EVENT_NAME[e]}/{et}"
-            alert.event_type = et
-            ret.append(alert)
-    return ret
-
-  def add_from_msg(self, events):
-    for e in events:
-      bisect.insort(self.events, e.name.raw)
-
-  def to_msg(self):
-    ret = []
-    for event_name in self.events:
-      event = log.OnroadEvent.new_message()
-      event.name = event_name
-      for event_type in EVENTS.get(event_name, {}):
-        setattr(event, event_type, True)
-      ret.append(event)
-    return ret
-
-  def has(self, event_name: int) -> bool:
-    return event_name in self.events
-
-  def contains_in_list(self, events_list: list[int]) -> bool:
-    return any(event_name in self.events for event_name in events_list)
-
-  def remove(self, event_name: int, static: bool = False) -> None:
-    if static and event_name in self.static_events:
-      self.static_events.remove(event_name)
-
-    if event_name in self.events:
-      self.event_counters[event_name] = self.event_counters[event_name] + 1
-      self.events.remove(event_name)
-
-  def replace(self, prev_event_name: int, cur_event_name: int, static: bool = False) -> None:
-    self.remove(prev_event_name, static)
-    self.add(cur_event_name, static)
-
-
-class Alert:
-  def __init__(self,
-               alert_text_1: str,
-               alert_text_2: str,
-               alert_status: log.SelfdriveState.AlertStatus,
-               alert_size: log.SelfdriveState.AlertSize,
-               priority: Priority,
-               visual_alert: car.CarControl.HUDControl.VisualAlert,
-               audible_alert: car.CarControl.HUDControl.AudibleAlert,
-               duration: float,
-               creation_delay: float = 0.):
-
-    self.alert_text_1 = alert_text_1
-    self.alert_text_2 = alert_text_2
-    self.alert_status = alert_status
-    self.alert_size = alert_size
-    self.priority = priority
-    self.visual_alert = visual_alert
-    self.audible_alert = audible_alert
-
-    self.duration = int(duration / DT_CTRL)
-
-    self.creation_delay = creation_delay
-
-    self.alert_type = ""
-    self.event_type: str | None = None
-
-  def __str__(self) -> str:
-    return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}"
-
-  def __gt__(self, alert2) -> bool:
-    if not isinstance(alert2, Alert):
-      return False
-    return self.priority > alert2.priority
-
-EmptyAlert = Alert("" , "", AlertStatus.normal, AlertSize.none, Priority.LOWEST,
-                   VisualAlert.none, AudibleAlert.none, 0)
-
-class NoEntryAlert(Alert):
-  def __init__(self, alert_text_2: str,
-               alert_text_1: str = "openpilot Unavailable",
-               visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
-    super().__init__(alert_text_1, alert_text_2, AlertStatus.normal,
-                     AlertSize.mid, Priority.LOW, visual_alert,
-                     AudibleAlert.refuse, 3.)
-
-
-class SoftDisableAlert(Alert):
-  def __init__(self, alert_text_2: str):
-    super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
-                     AlertStatus.userPrompt, AlertSize.full,
-                     Priority.MID, VisualAlert.steerRequired,
-                     AudibleAlert.warningSoft, 2.),
-
-
-# less harsh version of SoftDisable, where the condition is user-triggered
-class UserSoftDisableAlert(SoftDisableAlert):
-  def __init__(self, alert_text_2: str):
-    super().__init__(alert_text_2),
-    self.alert_text_1 = "openpilot will disengage"
-
-
-class ImmediateDisableAlert(Alert):
-  def __init__(self, alert_text_2: str):
-    super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
-                     AlertStatus.critical, AlertSize.full,
-                     Priority.HIGHEST, VisualAlert.steerRequired,
-                     AudibleAlert.warningImmediate, 4.),
-
-
-class EngagementAlert(Alert):
-  def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert):
-    super().__init__("", "",
-                     AlertStatus.normal, AlertSize.none,
-                     Priority.MID, VisualAlert.none,
-                     audible_alert, .2),
-
-
-class NormalPermanentAlert(Alert):
-  def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2, priority: Priority = Priority.LOWER, creation_delay: float = 0.):
-    super().__init__(alert_text_1, alert_text_2,
-                     AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small,
-                     priority, VisualAlert.none, AudibleAlert.none, duration, creation_delay=creation_delay),
+  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]:
+    return EVENTS
 
+  def get_event_name(self, event: int):
+    return EVENT_NAME[event]
 
-class StartupAlert(Alert):
-  def __init__(self, alert_text_1: str, alert_text_2: str = "Always keep hands on wheel and eyes on road", alert_status=AlertStatus.normal):
-    super().__init__(alert_text_1, alert_text_2,
-                     alert_status, AlertSize.mid,
-                     Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.),
+  def get_event_msg_type(self):
+    return log.OnroadEvent
 
 
 # ********** helper functions **********
@@ -225,8 +49,6 @@ def get_display_speed(speed_ms: float, metric: bool) -> str:
 
 # ********** alert callback functions **********
 
-AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster, bool, int, log.ControlsState], Alert]
-
 
 def soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
   def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
@@ -972,106 +794,6 @@ def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
     ET.WARNING: personality_changed_alert,
   },
 
-  # sunnypilot
-  EventName.lkasEnable: {
-    ET.ENABLE: EngagementAlert(AudibleAlert.engage),
-  },
-
-  EventName.lkasDisable: {
-    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
-  },
-
-  EventName.manualSteeringRequired: {
-    ET.USER_DISABLE: Alert(
-      "Automatic Lane Centering is OFF",
-      "Manual Steering Required",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.disengage, 1.),
-  },
-
-  EventName.manualLongitudinalRequired: {
-    ET.WARNING: Alert(
-      "Smart/Adaptive Cruise Control: OFF",
-      "Manual Speed Control Required",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
-  },
-
-  EventName.silentLkasEnable: {
-    ET.ENABLE: EngagementAlert(AudibleAlert.none),
-  },
-
-  EventName.silentLkasDisable: {
-    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
-  },
-
-  EventName.silentBrakeHold: {
-    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
-    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
-  },
-
-  EventName.silentWrongGear: {
-    ET.WARNING: Alert(
-      "",
-      "",
-      AlertStatus.normal, AlertSize.none,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
-    ET.NO_ENTRY: Alert(
-      "Gear not D",
-      "openpilot Unavailable",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.),
-  },
-
-  EventName.silentReverseGear: {
-    ET.PERMANENT: Alert(
-      "Reverse\nGear",
-      "",
-      AlertStatus.normal, AlertSize.full,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
-    ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
-  },
-
-  EventName.silentDoorOpen: {
-    ET.WARNING: Alert(
-      "",
-      "",
-      AlertStatus.normal, AlertSize.none,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
-    ET.NO_ENTRY: NoEntryAlert("Door Open"),
-  },
-
-  EventName.silentSeatbeltNotLatched: {
-    ET.WARNING: Alert(
-      "",
-      "",
-      AlertStatus.normal, AlertSize.none,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
-    ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"),
-  },
-
-  EventName.silentParkBrake: {
-    ET.WARNING: Alert(
-      "",
-      "",
-      AlertStatus.normal, AlertSize.none,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
-    ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"),
-  },
-
-  EventName.controlsMismatchLateral: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch: Lateral"),
-    ET.NO_ENTRY: NoEntryAlert("Controls Mismatch: Lateral"),
-  },
-
-  EventName.hyundaiRadarTracksConfirmed: {
-    ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
-  },
-
-  EventName.experimentalModeSwitched: {
-    ET.WARNING: NormalPermanentAlert("Experimental Mode Switched", duration=1.5)
-  }
-
 }
 
 
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 17dd70b3a461a1..1c669621afb1d2 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -26,6 +26,7 @@
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
@@ -135,8 +136,11 @@ def __init__(self, CP=None):
     elif self.CP.passive:
       self.events.add(EventName.dashcamMode, static=True)
 
+    self.events_sp = EventsSP()
+    self.events_sp_prev = []
+
     self.mads = ModularAssistiveDrivingSystem(self)
-    sock_services = list(self.pm.sock.keys()) + ['selfdriveStateSP']
+    sock_services = list(self.pm.sock.keys()) + ['selfdriveStateSP', 'onroadEventsSP']
     self.pm = messaging.PubMaster(sock_services)
 
     self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
@@ -147,6 +151,7 @@ def update_events(self, CS):
     """Compute onroadEvents from carState"""
 
     self.events.clear()
+    self.events_sp.clear()
 
     if self.sm['controlsState'].lateralControlState.which() == 'debugState':
       self.events.add(EventName.joystickDebug)
@@ -184,7 +189,7 @@ def update_events(self, CS):
       self.events.add_from_msg(car_events)
 
       car_events_sp = self.car_events_sp.update().to_msg()
-      self.events.add_from_msg(car_events_sp)
+      self.events_sp.add_from_msg(car_events_sp)
 
       if self.CP.notCar:
         # wait for everything to init first
@@ -370,7 +375,7 @@ def update_events(self, CS):
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
 
-    CruiseHelper.update(self, CS, self.events, self.experimental_mode)
+    CruiseHelper.update(self, CS, self.events_sp, self.experimental_mode)
 
     # decrement personality on distance button press
     if self.CP.openpilotLongitudinalControl:
@@ -436,9 +441,13 @@ def update_alerts(self, CS):
       clear_event_types.add(ET.NO_ENTRY)
 
     pers = LONGITUDINAL_PERSONALITY_MAP[self.personality]
-    alerts = self.events.create_alerts(self.state_machine.current_alert_types, [self.CP, CS, self.sm, self.is_metric,
-                                                                                self.state_machine.soft_disable_timer, pers])
-    self.AM.add_many(self.sm.frame, alerts)
+    callback_args = [self.CP, CS, self.sm, self.is_metric,
+                     self.state_machine.soft_disable_timer, pers]
+
+    alerts = self.events.create_alerts(self.state_machine.current_alert_types, callback_args)
+    alerts_sp = self.events_sp.create_alerts(self.state_machine.current_alert_types, callback_args)
+
+    self.AM.add_many(self.sm.frame, alerts + alerts_sp)
     self.AM.process_alerts(self.sm.frame, clear_event_types)
 
   def publish_selfdriveState(self, CS):
@@ -483,6 +492,14 @@ def publish_selfdriveState(self, CS):
 
     self.pm.send('selfdriveStateSP', ss_sp_msg)
 
+    # onroadEventsSP - logged every second or on change
+    if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events_sp.names != self.events_sp_prev):
+      ce_send_sp = messaging.new_message('onroadEventsSP', len(self.events_sp))
+      ce_send_sp.valid = True
+      ce_send_sp.onroadEventsSP = self.events_sp.to_msg()
+      self.pm.send('onroadEventsSP', ce_send_sp)
+    self.events_sp_prev = self.events_sp.names.copy()
+
   def step(self):
     CS = self.data_sample()
     self.update_events(CS)
diff --git a/selfdrive/selfdrived/tests/test_alertmanager.py b/selfdrive/selfdrived/tests/test_alertmanager.py
index 030b7d4515c2f2..8f7c79878c76a6 100644
--- a/selfdrive/selfdrived/tests/test_alertmanager.py
+++ b/selfdrive/selfdrived/tests/test_alertmanager.py
@@ -1,8 +1,10 @@
 import random
 
-from openpilot.selfdrive.selfdrived.events import Alert, EmptyAlert, EVENTS
+from openpilot.selfdrive.selfdrived.events import Alert, EVENTS
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager
 
+from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EmptyAlert
+
 
 class TestAlertManager:
 
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 81c9d6fb5c417a..aa002bb5dd0e37 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -35,6 +35,7 @@
 State = custom.SelfdriveStateSP.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = log.OnroadEvent.EventName
+EventNameSP = custom.OnroadEventSP.EventName
 SafetyModel = car.CarParams.SafetyModel
 
 SET_SPEED_BUTTONS = (ButtonType.accelCruise, ButtonType.resumeCruise, ButtonType.decelCruise, ButtonType.setCruise)
@@ -53,6 +54,7 @@ def __init__(self, selfdrive):
     self.selfdrive.enabled_prev = False
     self.state_machine = StateMachine(self)
     self.events = self.selfdrive.events
+    self.events_sp = self.selfdrive.events_sp
 
     if self.selfdrive.CP.carName == "hyundai":
       if (self.selfdrive.CP.sunnypilotFlags & HyundaiFlagsSP.HAS_LFA_BUTTON) or \
@@ -78,26 +80,30 @@ def update_unified_engagement_mode():
 
     def transition_paused_state():
       if self.state_machine.state != State.paused:
-        self.events.add(EventName.silentLkasDisable)
+        self.events_sp.add(EventNameSP.silentLkasDisable)
+
+    def replace_event(old_event: int, new_event: int):
+      self.events.remove(old_event)
+      self.events_sp.add(new_event)
 
     if not self.selfdrive.enabled and self.enabled:
       if self.events.has(EventName.doorOpen):
-        self.events.replace(EventName.doorOpen, EventName.silentDoorOpen)
+        replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen)
         transition_paused_state()
       if self.events.has(EventName.seatbeltNotLatched):
-        self.events.replace(EventName.seatbeltNotLatched, EventName.silentSeatbeltNotLatched)
+        replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
         transition_paused_state()
       if self.events.has(EventName.wrongGear):
-        self.events.replace(EventName.wrongGear, EventName.silentWrongGear)
+        replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
         transition_paused_state()
       if self.events.has(EventName.reverseGear):
-        self.events.replace(EventName.reverseGear, EventName.silentReverseGear)
+        replace_event(EventName.reverseGear, EventNameSP.silentReverseGear)
         transition_paused_state()
       if self.events.has(EventName.brakeHold):
-        self.events.replace(EventName.brakeHold, EventName.silentBrakeHold)
+        replace_event(EventName.brakeHold, EventNameSP.silentBrakeHold)
         transition_paused_state()
       if self.events.has(EventName.parkBrake):
-        self.events.replace(EventName.parkBrake, EventName.silentParkBrake)
+        replace_event(EventName.parkBrake, EventNameSP.silentParkBrake)
         transition_paused_state()
 
       if self.pause_lateral_on_brake_toggle:
@@ -107,7 +113,7 @@ def transition_paused_state():
       if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \
          not self.events.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
         if self.state_machine.state == State.paused:
-          self.events.add(EventName.silentLkasEnable)
+          self.events_sp.add(EventNameSP.silentLkasEnable)
 
       self.events.remove(EventName.preEnableStandstill)
       self.events.remove(EventName.belowEngageSpeed)
@@ -120,25 +126,25 @@ def transition_paused_state():
     else:
       if self.main_enabled_toggle:
         if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available:
-          self.events.add(EventName.lkasEnable)
+          self.events_sp.add(EventNameSP.lkasEnable)
 
     for be in CS.buttonEvents:
       if be.type == ButtonType.cancel:
         if not self.selfdrive.enabled and self.selfdrive.enabled_prev:
-          self.events.add(EventName.manualLongitudinalRequired)
+          self.events_sp.add(EventNameSP.manualLongitudinalRequired)
       if be.type == ButtonType.lkas and be.pressed and (CS.cruiseState.available or self.allow_always):
         if self.enabled:
           if self.selfdrive.enabled:
-            self.events.add(EventName.manualSteeringRequired)
+            self.events_sp.add(EventNameSP.manualSteeringRequired)
           else:
-            self.events.add(EventName.lkasDisable)
+            self.events_sp.add(EventNameSP.lkasDisable)
         else:
-          self.events.add(EventName.lkasEnable)
+          self.events_sp.add(EventNameSP.lkasEnable)
 
     if not CS.cruiseState.available:
       self.events.remove(EventName.buttonEnable)
       if self.selfdrive.CS_prev.cruiseState.available:
-        self.events.add(EventName.lkasDisable)
+        self.events_sp.add(EventNameSP.lkasDisable)
 
     self.events.remove(EventName.pcmDisable)
     self.events.remove(EventName.buttonCancel)
@@ -154,7 +160,7 @@ def update(self, CS: car.CarState):
     self.update_events(CS)
 
     if not self.selfdrive.CP.passive and self.selfdrive.initialized:
-      self.enabled, self.active = self.state_machine.update(self.events)
+      self.enabled, self.active = self.state_machine.update(self.events, self.events_sp)
 
     # Copy of previous SelfdriveD states for MADS events handling
     self.selfdrive.enabled_prev = self.selfdrive.enabled
diff --git a/sunnypilot/mads/state.py b/sunnypilot/mads/state.py
index de6ed537d4d0ab..092a3113451354 100644
--- a/sunnypilot/mads/state.py
+++ b/sunnypilot/mads/state.py
@@ -29,14 +29,17 @@
 from openpilot.selfdrive.selfdrived.state import SOFT_DISABLE_TIME
 from openpilot.common.realtime import DT_CTRL
 
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+
 State = custom.SelfdriveStateSP.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 EventName = log.OnroadEvent.EventName
+EventNameSP = custom.OnroadEventSP.EventName
 
 ACTIVE_STATES = (State.enabled, State.softDisabling, State.overriding)
 ENABLED_STATES = (State.paused, *ACTIVE_STATES)
 
-GEARS_ALLOW_PAUSED_SILENT = [EventName.silentWrongGear, EventName.silentReverseGear, EventName.silentBrakeHold,
-                             EventName.silentDoorOpen, EventName.silentSeatbeltNotLatched, EventName.silentParkBrake]
+GEARS_ALLOW_PAUSED_SILENT = [EventNameSP.silentWrongGear, EventNameSP.silentReverseGear, EventNameSP.silentBrakeHold,
+                             EventNameSP.silentDoorOpen, EventNameSP.silentSeatbeltNotLatched, EventNameSP.silentParkBrake]
 GEARS_ALLOW_PAUSED = [EventName.wrongGear, EventName.reverseGear, EventName.brakeHold,
                       EventName.doorOpen, EventName.seatbeltNotLatched, EventName.parkBrake,
                       *GEARS_ALLOW_PAUSED_SILENT]
@@ -49,45 +52,57 @@ def __init__(self, mads):
 
     self.state = State.disabled
 
+    self._events = Events()
+    self._events_sp = EventsSP()
+
   def add_current_alert_types(self, alert_type):
     if not self.selfdrive.enabled:
       self.ss_state_machine.current_alert_types.append(alert_type)
 
-  def update(self, events: Events):
+  def check_contains(self, event_type: str) -> bool:
+    return bool(self._events.contains(event_type) or self._events_sp.contains(event_type))
+
+  def check_contains_in_list(self, events_list: list[int]) -> bool:
+    return bool(self._events.contains_in_list(events_list) or self._events_sp.contains_in_list(events_list))
+
+  def update(self, events: Events, events_sp: EventsSP):
     # soft disable timer and current alert types are from the state machine of openpilot
     # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state
 
+    self._events = events
+    self._events_sp = events_sp
+
     # ENABLED, SOFT DISABLING, PAUSED, OVERRIDING
     if self.state != State.disabled:
       # user and immediate disable always have priority in a non-disabled state
-      if events.contains(ET.USER_DISABLE):
-        if events.has(EventName.silentLkasDisable) or events.has(EventName.silentBrakeHold):
+      if self.check_contains(ET.USER_DISABLE):
+        if events_sp.has(EventNameSP.silentLkasDisable) or events_sp.has(EventNameSP.silentBrakeHold):
           self.state = State.paused
         else:
           self.state = State.disabled
         self.ss_state_machine.current_alert_types.append(ET.USER_DISABLE)
 
-      elif events.contains(ET.IMMEDIATE_DISABLE):
+      elif self.check_contains(ET.IMMEDIATE_DISABLE):
         self.state = State.disabled
         self.add_current_alert_types(ET.IMMEDIATE_DISABLE)
 
       else:
         # ENABLED
         if self.state == State.enabled:
-          if events.contains(ET.SOFT_DISABLE):
+          if self.check_contains(ET.SOFT_DISABLE):
             self.state = State.softDisabling
             if not self.selfdrive.enabled:
               self.ss_state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
               self.ss_state_machine.current_alert_types.append(ET.SOFT_DISABLE)
 
-          elif events.contains(ET.OVERRIDE_LATERAL):
+          elif self.check_contains(ET.OVERRIDE_LATERAL):
             self.state = State.overriding
             self.add_current_alert_types(ET.OVERRIDE_LATERAL)
 
         # SOFT DISABLING
         elif self.state == State.softDisabling:
-          if not events.contains(ET.SOFT_DISABLE):
+          if not self.check_contains(ET.SOFT_DISABLE):
             # no more soft disabling condition, so go back to ENABLED
             self.state = State.enabled
 
@@ -99,12 +114,12 @@ def update(self, events: Events):
 
         # PAUSED
         elif self.state == State.paused:
-          if events.contains(ET.ENABLE):
-            if events.contains(ET.NO_ENTRY):
+          if self.check_contains(ET.ENABLE):
+            if self.check_contains(ET.NO_ENTRY):
               self.add_current_alert_types(ET.NO_ENTRY)
 
             else:
-              if events.contains(ET.OVERRIDE_LATERAL):
+              if self.check_contains(ET.OVERRIDE_LATERAL):
                 self.state = State.overriding
               else:
                 self.state = State.enabled
@@ -112,26 +127,26 @@ def update(self, events: Events):
 
         # OVERRIDING
         elif self.state == State.overriding:
-          if events.contains(ET.SOFT_DISABLE):
+          if self.check_contains(ET.SOFT_DISABLE):
             self.state = State.softDisabling
             if not self.selfdrive.enabled:
               self.ss_state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
               self.ss_state_machine.current_alert_types.append(ET.SOFT_DISABLE)
-          elif not events.contains(ET.OVERRIDE_LATERAL):
+          elif not self.check_contains(ET.OVERRIDE_LATERAL):
             self.state = State.enabled
           else:
             self.ss_state_machine.current_alert_types += [ET.OVERRIDE_LATERAL]
 
     # DISABLED
     elif self.state == State.disabled:
-      if events.contains(ET.ENABLE):
-        if events.contains(ET.NO_ENTRY):
-          if events.contains_in_list(GEARS_ALLOW_PAUSED):
+      if self.check_contains(ET.ENABLE):
+        if self.check_contains(ET.NO_ENTRY):
+          if self.check_contains_in_list(GEARS_ALLOW_PAUSED):
             self.state = State.paused
           self.add_current_alert_types(ET.NO_ENTRY)
 
         else:
-          if events.contains(ET.OVERRIDE_LATERAL):
+          if self.check_contains(ET.OVERRIDE_LATERAL):
             self.state = State.overriding
           else:
             self.state = State.enabled
diff --git a/sunnypilot/mads/tests/test_mads_state_machine.py b/sunnypilot/mads/tests/test_mads_state_machine.py
index 5646c96760869d..97412f7b7d5a94 100644
--- a/sunnypilot/mads/tests/test_mads_state_machine.py
+++ b/sunnypilot/mads/tests/test_mads_state_machine.py
@@ -27,13 +27,14 @@
 import pytest
 from pytest_mock import MockerFixture
 
-from cereal import log, custom
+from cereal import custom
 from openpilot.common.realtime import DT_CTRL
 from openpilot.sunnypilot.mads.state import StateMachine, SOFT_DISABLE_TIME, GEARS_ALLOW_PAUSED
-from openpilot.selfdrive.selfdrived.events import Events, ET, EVENTS, NormalPermanentAlert
+from openpilot.selfdrive.selfdrived.events import ET, NormalPermanentAlert
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EVENTS_SP
 
 State = custom.SelfdriveStateSP.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
-EventName = log.OnroadEvent.EventName
+EventNameSP = custom.OnroadEventSP.EventName
 
 # The event types that maintain the current state
 MAINTAIN_STATES = {State.enabled: (None,), State.disabled: (None,), State.softDisabling: (ET.SOFT_DISABLE,),
@@ -47,7 +48,7 @@ def make_event(event_types):
   event = {}
   for ev in event_types:
     event[ev] = NormalPermanentAlert("alert")
-  EVENTS[0] = event
+  EVENTS_SP[0] = event
   return 0
 
 
@@ -62,87 +63,93 @@ class TestMADSStateMachine:
   @pytest.fixture(autouse=True)
   def setup_method(self, mocker: MockerFixture):
     self.mads = MockMADS(mocker)
-    self.events = Events()
     self.state_machine = StateMachine(self.mads)
+    self.events = self.state_machine._events
+    self.events_sp = self.state_machine._events_sp
     self.mads.selfdrive.state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
 
+  def reset(self):
+    self.events.clear()
+    self.events_sp.clear()
+    self.state_machine.state = State.disabled
+
   def test_immediate_disable(self):
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
-        self.events.add(make_event([et, ET.IMMEDIATE_DISABLE]))
+        self.events_sp.add(make_event([et, ET.IMMEDIATE_DISABLE]))
         self.state_machine.state = state
-        self.state_machine.update(self.events)
+        self.state_machine.update(self.events, self.events_sp)
         assert State.disabled == self.state_machine.state
-        self.events.clear()
+        self.reset()
 
   def test_user_disable(self):
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
-        self.events.add(make_event([et, ET.USER_DISABLE]))
+        self.events_sp.add(make_event([et, ET.USER_DISABLE]))
         self.state_machine.state = state
-        self.state_machine.update(self.events)
+        self.state_machine.update(self.events, self.events_sp)
         assert State.disabled == self.state_machine.state
-        self.events.clear()
+        self.reset()
 
   def test_user_disable_to_paused(self):
-    paused_events = (EventName.silentLkasDisable, EventName.silentBrakeHold)
+    paused_events = (EventNameSP.silentLkasDisable, EventNameSP.silentBrakeHold)
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
-        self.events.add(make_event([et, ET.USER_DISABLE]))
+        self.events_sp.add(make_event([et, ET.USER_DISABLE]))
         for en in paused_events:
-          self.events.add(en)
+          self.events_sp.add(en)
           self.state_machine.state = state
-          self.state_machine.update(self.events)
-          final_state = State.paused if self.events.has(en) and state != State.disabled else State.disabled
+          self.state_machine.update(self.events, self.events_sp)
+          final_state = State.paused if self.events_sp.has(en) and state != State.disabled else State.disabled
           assert self.state_machine.state == final_state
-          self.events.clear()
+          self.reset()
 
   def test_soft_disable(self):
     for state in ALL_STATES:
       if state == State.paused:  # paused considers USER_DISABLE instead
         continue
       for et in MAINTAIN_STATES[state]:
-        self.events.add(make_event([et, ET.SOFT_DISABLE]))
+        self.events_sp.add(make_event([et, ET.SOFT_DISABLE]))
         self.state_machine.state = state
-        self.state_machine.update(self.events)
+        self.state_machine.update(self.events, self.events_sp)
         assert self.state_machine.state == State.disabled if state == State.disabled else State.softDisabling
-        self.events.clear()
+        self.reset()
 
   def test_soft_disable_timer(self):
     self.state_machine.state = State.enabled
-    self.events.add(make_event([ET.SOFT_DISABLE]))
-    self.state_machine.update(self.events)
+    self.events_sp.add(make_event([ET.SOFT_DISABLE]))
+    self.state_machine.update(self.events, self.events_sp)
     for _ in range(int(SOFT_DISABLE_TIME / DT_CTRL)):
       assert self.state_machine.state == State.softDisabling
       self.mads.selfdrive.state_machine.soft_disable_timer -= 1
-      self.state_machine.update(self.events)
+      self.state_machine.update(self.events, self.events_sp)
 
     assert self.state_machine.state == State.disabled
 
   def test_no_entry(self):
     for et in ENABLE_EVENT_TYPES:
-      self.events.add(make_event([ET.NO_ENTRY, et]))
-      if not self.events.contains_in_list(GEARS_ALLOW_PAUSED):
-        self.state_machine.update(self.events)
+      self.events_sp.add(make_event([ET.NO_ENTRY, et]))
+      if not self.state_machine.check_contains_in_list(GEARS_ALLOW_PAUSED):
+        self.state_machine.update(self.events, self.events_sp)
         assert self.state_machine.state == State.disabled
-        self.events.clear()
+        self.reset()
 
   def test_no_entry_paused(self):
     self.state_machine.state = State.paused
-    self.events.add(make_event([ET.NO_ENTRY]))
-    self.state_machine.update(self.events)
+    self.events_sp.add(make_event([ET.NO_ENTRY]))
+    self.state_machine.update(self.events, self.events_sp)
     assert self.state_machine.state == State.paused
 
   def test_override_lateral(self):
     self.state_machine.state = State.enabled
-    self.events.add(make_event([ET.OVERRIDE_LATERAL]))
-    self.state_machine.update(self.events)
+    self.events_sp.add(make_event([ET.OVERRIDE_LATERAL]))
+    self.state_machine.update(self.events, self.events_sp)
     assert self.state_machine.state == State.overriding
 
   def test_paused_to_enabled(self):
     self.state_machine.state = State.paused
-    self.events.add(make_event([ET.ENABLE]))
-    self.state_machine.update(self.events)
+    self.events_sp.add(make_event([ET.ENABLE]))
+    self.state_machine.update(self.events, self.events_sp)
     assert self.state_machine.state == State.enabled
 
   def test_maintain_states(self):
@@ -150,7 +157,7 @@ def test_maintain_states(self):
       for et in MAINTAIN_STATES[state]:
         self.state_machine.state = state
         if et is not None:
-          self.events.add(make_event([et]))
-        self.state_machine.update(self.events)
+          self.events_sp.add(make_event([et]))
+        self.state_machine.update(self.events, self.events_sp)
         assert self.state_machine.state == state
-        self.events.clear()
+        self.reset()
diff --git a/sunnypilot/selfdrive/car/car_specific.py b/sunnypilot/selfdrive/car/car_specific.py
index 5abb5603d6a472..a8ad11ae309bdb 100644
--- a/sunnypilot/selfdrive/car/car_specific.py
+++ b/sunnypilot/selfdrive/car/car_specific.py
@@ -5,12 +5,12 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import log
+from cereal import custom
 from opendbc.car import structs
 
-from openpilot.selfdrive.selfdrived.events import Events
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
-EventName = log.OnroadEvent.EventName
+EventNameSP = custom.OnroadEventSP.EventName
 
 
 class CarSpecificEventsSP:
@@ -26,9 +26,9 @@ def read_params(self):
     self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed")
 
   def update(self):
-    events = Events()
+    events = EventsSP()
     if self.CP.carName == 'hyundai':
       if self.hyundai_radar_tracks and not self.hyundai_radar_tracks_confirmed:
-        events.add(EventName.hyundaiRadarTracksConfirmed)
+        events.add(EventNameSP.hyundaiRadarTracksConfirmed)
 
     return events
diff --git a/sunnypilot/selfdrive/car/cruise_helpers.py b/sunnypilot/selfdrive/car/cruise_helpers.py
index 24ad6638de035d..1c0026e12fd5b4 100644
--- a/sunnypilot/selfdrive/car/cruise_helpers.py
+++ b/sunnypilot/selfdrive/car/cruise_helpers.py
@@ -5,12 +5,12 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import car, log
+from cereal import car, custom
 from opendbc.car import structs
 from openpilot.common.params import Params
 
 ButtonType = car.CarState.ButtonEvent.Type
-EventName = log.OnroadEvent.EventName
+EventNameSP = custom.OnroadEventSP.EventName
 
 DISTANCE_LONG_PRESS = 50
 
@@ -46,5 +46,5 @@ def update_experimental_mode(self, events, experimental_mode) -> None:
     if self.button_frame_counts[ButtonType.gapAdjustCruise] >= DISTANCE_LONG_PRESS and not self.experimental_mode_switched:
       self._experimental_mode = not experimental_mode
       self.params.put_bool_nonblocking("ExperimentalMode", self._experimental_mode)
-      events.add(EventName.experimentalModeSwitched)
+      events.add(EventNameSP.experimentalModeSwitched)
       self.experimental_mode_switched = True
diff --git a/sunnypilot/selfdrive/selfdrived/__init__.py b/sunnypilot/selfdrive/selfdrived/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py
new file mode 100644
index 00000000000000..ac564692a82834
--- /dev/null
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -0,0 +1,133 @@
+from cereal import log, car, custom
+from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
+  NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType
+
+
+AlertSize = log.SelfdriveState.AlertSize
+AlertStatus = log.SelfdriveState.AlertStatus
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+EventNameSP = custom.OnroadEventSP.EventName
+
+
+# get event name from enum
+EVENT_NAME_SP = {v: k for k, v in EventNameSP.schema.enumerants.items()}
+
+
+class EventsSP(EventsBase):
+  def __init__(self):
+    super().__init__()
+    self.event_counters = dict.fromkeys(EVENTS_SP.keys(), 0)
+
+  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]:
+    return EVENTS_SP
+
+  def get_event_name(self, event: int):
+    return EVENT_NAME_SP[event]
+
+  def get_event_msg_type(self):
+    return custom.OnroadEventSP
+
+
+EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
+  # sunnypilot
+  EventNameSP.lkasEnable: {
+    ET.ENABLE: EngagementAlert(AudibleAlert.engage),
+  },
+
+  EventNameSP.lkasDisable: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+  },
+
+  EventNameSP.manualSteeringRequired: {
+    ET.USER_DISABLE: Alert(
+      "Automatic Lane Centering is OFF",
+      "Manual Steering Required",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.disengage, 1.),
+  },
+
+  EventNameSP.manualLongitudinalRequired: {
+    ET.WARNING: Alert(
+      "Smart/Adaptive Cruise Control: OFF",
+      "Manual Speed Control Required",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
+  },
+
+  EventNameSP.silentLkasEnable: {
+    ET.ENABLE: EngagementAlert(AudibleAlert.none),
+  },
+
+  EventNameSP.silentLkasDisable: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
+  },
+
+  EventNameSP.silentBrakeHold: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
+    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
+  },
+
+  EventNameSP.silentWrongGear: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: Alert(
+      "Gear not D",
+      "openpilot Unavailable",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.),
+  },
+
+  EventNameSP.silentReverseGear: {
+    ET.PERMANENT: Alert(
+      "Reverse\nGear",
+      "",
+      AlertStatus.normal, AlertSize.full,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
+    ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
+  },
+
+  EventNameSP.silentDoorOpen: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Door Open"),
+  },
+
+  EventNameSP.silentSeatbeltNotLatched: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"),
+  },
+
+  EventNameSP.silentParkBrake: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"),
+  },
+
+  EventNameSP.controlsMismatchLateral: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch: Lateral"),
+    ET.NO_ENTRY: NoEntryAlert("Controls Mismatch: Lateral"),
+  },
+
+  EventNameSP.hyundaiRadarTracksConfirmed: {
+    ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
+  },
+
+  EventNameSP.experimentalModeSwitched: {
+    ET.WARNING: NormalPermanentAlert("Experimental Mode Switched", duration=1.5)
+  }
+
+}
diff --git a/sunnypilot/selfdrive/selfdrived/events_base.py b/sunnypilot/selfdrive/selfdrived/events_base.py
new file mode 100644
index 00000000000000..505c500c409b93
--- /dev/null
+++ b/sunnypilot/selfdrive/selfdrived/events_base.py
@@ -0,0 +1,225 @@
+import bisect
+from enum import IntEnum
+from abc import abstractmethod
+from collections.abc import Callable
+
+from cereal import log, car
+import cereal.messaging as messaging
+from openpilot.common.realtime import DT_CTRL
+
+AlertSize = log.SelfdriveState.AlertSize
+AlertStatus = log.SelfdriveState.AlertStatus
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+
+
+# Alert priorities
+class Priority(IntEnum):
+  LOWEST = 0
+  LOWER = 1
+  LOW = 2
+  MID = 3
+  HIGH = 4
+  HIGHEST = 5
+
+
+# Event types
+class ET:
+  ENABLE = 'enable'
+  PRE_ENABLE = 'preEnable'
+  OVERRIDE_LATERAL = 'overrideLateral'
+  OVERRIDE_LONGITUDINAL = 'overrideLongitudinal'
+  NO_ENTRY = 'noEntry'
+  WARNING = 'warning'
+  USER_DISABLE = 'userDisable'
+  SOFT_DISABLE = 'softDisable'
+  IMMEDIATE_DISABLE = 'immediateDisable'
+  PERMANENT = 'permanent'
+
+
+class Alert:
+  def __init__(self,
+               alert_text_1: str,
+               alert_text_2: str,
+               alert_status: log.SelfdriveState.AlertStatus,
+               alert_size: log.SelfdriveState.AlertSize,
+               priority: Priority,
+               visual_alert: car.CarControl.HUDControl.VisualAlert,
+               audible_alert: car.CarControl.HUDControl.AudibleAlert,
+               duration: float,
+               creation_delay: float = 0.):
+
+    self.alert_text_1 = alert_text_1
+    self.alert_text_2 = alert_text_2
+    self.alert_status = alert_status
+    self.alert_size = alert_size
+    self.priority = priority
+    self.visual_alert = visual_alert
+    self.audible_alert = audible_alert
+
+    self.duration = int(duration / DT_CTRL)
+
+    self.creation_delay = creation_delay
+
+    self.alert_type = ""
+    self.event_type: str | None = None
+
+  def __str__(self) -> str:
+    return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}"
+
+  def __gt__(self, alert2) -> bool:
+    if not isinstance(alert2, Alert):
+      return False
+    return self.priority > alert2.priority
+
+class AlertBase(Alert):
+  def __init__(self, alert_text_1: str, alert_text_2: str, alert_status: log.SelfdriveState.AlertStatus,
+               alert_size: log.SelfdriveState.AlertSize, priority: Priority,
+               visual_alert: car.CarControl.HUDControl.VisualAlert,
+               audible_alert: car.CarControl.HUDControl.AudibleAlert, duration: float):
+    super().__init__(alert_text_1, alert_text_2, alert_status, alert_size, priority, visual_alert, audible_alert, duration)
+
+
+AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster, bool, int, log.ControlsState], Alert]
+
+
+class EventsBase:
+  def __init__(self):
+    self.events: list[int] = []
+    self.static_events: list[int] = []
+    self.event_counters = {}
+
+  @property
+  def names(self) -> list[int]:
+    return self.events
+
+  def __len__(self) -> int:
+    return len(self.events)
+
+  def add(self, event_name: int, static: bool = False) -> None:
+    if static:
+      bisect.insort(self.static_events, event_name)
+    bisect.insort(self.events, event_name)
+
+  def clear(self) -> None:
+    self.event_counters = {k: (v + 1 if k in self.events else 0) for k, v in self.event_counters.items()}
+    self.events = self.static_events.copy()
+
+  def contains(self, event_type: str) -> bool:
+    return any(event_type in self.get_events_mapping().get(e, {}) for e in self.events)
+
+  def create_alerts(self, event_types: list[str], callback_args=None):
+    if callback_args is None:
+      callback_args = []
+
+    ret = []
+    for e in self.events:
+      types = self.get_events_mapping()[e].keys()
+      for et in event_types:
+        if et in types:
+          alert = self.get_events_mapping()[e][et]
+          if not isinstance(alert, Alert):
+            alert = alert(*callback_args)
+
+          if DT_CTRL * (self.event_counters[e] + 1) >= alert.creation_delay:
+            alert.alert_type = f"{self.get_event_name(e)}/{et}"
+            alert.event_type = et
+            ret.append(alert)
+    return ret
+
+  def add_from_msg(self, events):
+    for e in events:
+      bisect.insort(self.events, e.name.raw)
+
+  def to_msg(self):
+    ret = []
+    for event_name in self.events:
+      event = self.get_event_msg_type().new_message()
+      event.name = event_name
+      for event_type in self.get_events_mapping().get(event_name, {}):
+        setattr(event, event_type, True)
+      ret.append(event)
+    return ret
+
+  def has(self, event_name: int) -> bool:
+    return event_name in self.events
+
+  def contains_in_list(self, events_list: list[int]) -> bool:
+    return any(event_name in self.events for event_name in events_list)
+
+  def remove(self, event_name: int, static: bool = False) -> None:
+    if static and event_name in self.static_events:
+      self.static_events.remove(event_name)
+
+    if event_name in self.events:
+      self.event_counters[event_name] = self.event_counters[event_name] + 1
+      self.events.remove(event_name)
+
+  @abstractmethod
+  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]:
+    raise NotImplementedError
+
+  @abstractmethod
+  def get_event_name(self, event: int) -> str:
+    raise NotImplementedError
+
+  @abstractmethod
+  def get_event_msg_type(self):
+    raise NotImplementedError
+
+
+EmptyAlert = Alert("" , "", AlertStatus.normal, AlertSize.none, Priority.LOWEST,
+                   VisualAlert.none, AudibleAlert.none, 0)
+
+class NoEntryAlert(Alert):
+  def __init__(self, alert_text_2: str,
+               alert_text_1: str = "openpilot Unavailable",
+               visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
+    super().__init__(alert_text_1, alert_text_2, AlertStatus.normal,
+                     AlertSize.mid, Priority.LOW, visual_alert,
+                     AudibleAlert.refuse, 3.)
+
+
+class SoftDisableAlert(Alert):
+  def __init__(self, alert_text_2: str):
+    super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
+                     AlertStatus.userPrompt, AlertSize.full,
+                     Priority.MID, VisualAlert.steerRequired,
+                     AudibleAlert.warningSoft, 2.),
+
+
+# less harsh version of SoftDisable, where the condition is user-triggered
+class UserSoftDisableAlert(SoftDisableAlert):
+  def __init__(self, alert_text_2: str):
+    super().__init__(alert_text_2),
+    self.alert_text_1 = "openpilot will disengage"
+
+
+class ImmediateDisableAlert(Alert):
+  def __init__(self, alert_text_2: str):
+    super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
+                     AlertStatus.critical, AlertSize.full,
+                     Priority.HIGHEST, VisualAlert.steerRequired,
+                     AudibleAlert.warningImmediate, 4.),
+
+
+class EngagementAlert(Alert):
+  def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert):
+    super().__init__("", "",
+                     AlertStatus.normal, AlertSize.none,
+                     Priority.MID, VisualAlert.none,
+                     audible_alert, .2),
+
+
+class NormalPermanentAlert(Alert):
+  def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2, priority: Priority = Priority.LOWER, creation_delay: float = 0.):
+    super().__init__(alert_text_1, alert_text_2,
+                     AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small,
+                     priority, VisualAlert.none, AudibleAlert.none, duration, creation_delay=creation_delay),
+
+
+class StartupAlert(Alert):
+  def __init__(self, alert_text_1: str, alert_text_2: str = "Always keep hands on wheel and eyes on road", alert_status=AlertStatus.normal):
+    super().__init__(alert_text_1, alert_text_2,
+                     alert_status, AlertSize.mid,
+                     Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.),

From bc67effb6d710e90c0dce9e25fd6b6d728065515 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 20 Jan 2025 16:04:56 -0500
Subject: [PATCH 0085/1434] ui: Keep power buttons clickable while onroad
 (#601)

---
 .../qt/offroad/settings/device_panel.cc        | 18 ++++++++++--------
 1 file changed, 10 insertions(+), 8 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index 25bce83e433ae1..89fe0bacf6b994 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -74,23 +74,17 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
 
   addItem(device_grid_layout);
 
-  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
-    for (auto btn : findChildren<PushButtonSP*>()) {
-      btn->setEnabled(offroad);
-    }
-  });
-
   // offroad mode and power buttons
 
   QHBoxLayout *power_layout = new QHBoxLayout();
   power_layout->setSpacing(5);
 
-  QPushButton *rebootBtn = new PushButtonSP(tr("Reboot"), 720, this);
+  PushButtonSP *rebootBtn = new PushButtonSP(tr("Reboot"), 720, this);
   rebootBtn->setStyleSheet(rebootButtonStyle);
   power_layout->addWidget(rebootBtn);
   QObject::connect(rebootBtn, &PushButtonSP::clicked, this, &DevicePanelSP::reboot);
 
-  QPushButton *poweroffBtn = new PushButtonSP(tr("Power Off"), 720, this);
+  PushButtonSP *poweroffBtn = new PushButtonSP(tr("Power Off"), 720, this);
   poweroffBtn->setStyleSheet(powerOffButtonStyle);
   power_layout->addWidget(poweroffBtn);
   QObject::connect(poweroffBtn, &PushButtonSP::clicked, this, &DevicePanelSP::poweroff);
@@ -100,4 +94,12 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
   }
 
   addItem(power_layout);
+
+  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
+    for (auto btn : findChildren<PushButtonSP*>()) {
+      if (btn != rebootBtn && btn != poweroffBtn) {
+        btn->setEnabled(offroad);
+      }
+    }
+  });
 }

From 5f10529a88b91f46ed14caac6a58c47cb1aa4a80 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 20 Jan 2025 16:59:54 -0500
Subject: [PATCH 0086/1434] Device: Offroad Mode (#596)

* try scrolling

* Revert "try scrolling"

This reverts commit 18cc0828c0efe1ea0ed9d56c1788756a37b011d3.

* init

* event

* add logic

* last bit

* expose toggle

* update toggle

* add offroad btn to it

* fix

* update
---
 common/params.cc                              |  2 +
 selfdrive/pandad/panda_safety.cc              |  5 ++
 selfdrive/pandad/pandad.cc                    | 10 ++--
 selfdrive/pandad/pandad.h                     |  1 +
 selfdrive/selfdrived/alerts_offroad.json      |  4 ++
 .../qt/offroad/settings/device_panel.cc       | 51 ++++++++++++++++++-
 .../qt/offroad/settings/device_panel.h        | 34 +++++++++++++
 selfdrive/ui/translations/main_ar.ts          | 32 ++++++++++++
 selfdrive/ui/translations/main_de.ts          | 32 ++++++++++++
 selfdrive/ui/translations/main_es.ts          | 32 ++++++++++++
 selfdrive/ui/translations/main_fr.ts          | 32 ++++++++++++
 selfdrive/ui/translations/main_ja.ts          | 32 ++++++++++++
 selfdrive/ui/translations/main_ko.ts          | 32 ++++++++++++
 selfdrive/ui/translations/main_pt-BR.ts       | 32 ++++++++++++
 selfdrive/ui/translations/main_th.ts          | 32 ++++++++++++
 selfdrive/ui/translations/main_tr.ts          | 32 ++++++++++++
 selfdrive/ui/translations/main_zh-CHS.ts      | 32 ++++++++++++
 selfdrive/ui/translations/main_zh-CHT.ts      | 32 ++++++++++++
 system/hardware/hardwared.py                  |  8 ++-
 19 files changed, 459 insertions(+), 8 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index e8e05ff6b26350..82bce27d0c276b 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -204,6 +204,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ApiCache_DriveStats", PERSISTENT},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
     {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
+    {"OffroadMode", CLEAR_ON_MANAGER_START},
+    {"OffroadMode_Status", CLEAR_ON_MANAGER_START},
 
     // MADS params
     {"Mads", PERSISTENT | BACKUP},
diff --git a/selfdrive/pandad/panda_safety.cc b/selfdrive/pandad/panda_safety.cc
index 0a14894677fcdc..6d5e5ce4f3f83d 100644
--- a/selfdrive/pandad/panda_safety.cc
+++ b/selfdrive/pandad/panda_safety.cc
@@ -81,3 +81,8 @@ void PandaSafety::setSafetyMode(const std::string &params_string) {
     pandas_[i]->set_safety_model(safety_model, safety_param);
   }
 }
+
+bool PandaSafety::getOffroadMode() {
+  auto offroad_mode = params_.getBool("OffroadMode");
+  return offroad_mode;
+}
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index 470836ec828bef..7d3af5fe56c96d 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -205,7 +205,7 @@ void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const
   cs.setCanCoreResetCnt(can_health.can_core_reset_cnt);
 }
 
-std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started) {
+std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started, PandaSafety *panda_safety) {
   bool ignition_local = false;
   const uint32_t pandas_cnt = pandas.size();
 
@@ -253,7 +253,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
       health.ignition_line_pkt = 0;
     }
 
-    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0));
+    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !panda_safety->getOffroadMode();
 
     pandaStates.push_back(health);
   }
@@ -340,7 +340,7 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
   pm->send("peripheralState", msg);
 }
 
-void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoofing_started) {
+void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoofing_started, PandaSafety *panda_safety) {
   static SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"});
 
   std::vector<std::string> connected_serials;
@@ -349,7 +349,7 @@ void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoof
   }
 
   {
-    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started);
+    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started, panda_safety);
     if (!ignition_opt) {
       LOGE("Failed to get ignition_opt");
       return;
@@ -461,7 +461,7 @@ void pandad_run(std::vector<Panda *> &pandas) {
 
     // Process panda state at 10 Hz
     if (rk.frame() % 10 == 0) {
-      process_panda_state(pandas, &pm, spoofing_started);
+      process_panda_state(pandas, &pm, spoofing_started, &panda_safety);
       panda_safety.configureSafetyMode();
     }
 
diff --git a/selfdrive/pandad/pandad.h b/selfdrive/pandad/pandad.h
index dedd8ae79a219b..b338b70378b500 100644
--- a/selfdrive/pandad/pandad.h
+++ b/selfdrive/pandad/pandad.h
@@ -12,6 +12,7 @@ class PandaSafety {
 public:
   PandaSafety(const std::vector<Panda *> &pandas) : pandas_(pandas) {}
   void configureSafetyMode();
+  bool getOffroadMode();
 
 private:
   void updateMultiplexingMode();
diff --git a/selfdrive/selfdrived/alerts_offroad.json b/selfdrive/selfdrived/alerts_offroad.json
index 86e07d3213945f..1660e5d9242bc9 100644
--- a/selfdrive/selfdrived/alerts_offroad.json
+++ b/selfdrive/selfdrived/alerts_offroad.json
@@ -44,5 +44,9 @@
   "Offroad_Recalibration": {
     "text": "openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.",
     "severity": 0
+  },
+  "OffroadMode_Status": {
+    "text": "sunnypilot is now in Always Offroad mode. sunnypilot won't start until Always Offroad mode is disabled. Go to \"Settings\" -> \"Device\" to exit Always Offroad mode.",
+    "severity": 1
   }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index 89fe0bacf6b994..1d9e973b5daa39 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -93,13 +93,60 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
     connect(uiState(), &UIState::offroadTransition, poweroffBtn, &PushButtonSP::setVisible);
   }
 
-  addItem(power_layout);
+  offroadBtn = new PushButtonSP(tr("Offroad Mode"));
+  offroadBtn->setFixedWidth(power_layout->sizeHint().width());
+  QObject::connect(offroadBtn, &PushButtonSP::clicked, this, &DevicePanelSP::setOffroadMode);
+
+  QVBoxLayout *power_group_layout = new QVBoxLayout();
+  power_group_layout->setSpacing(30);
+  power_group_layout->addWidget(offroadBtn, 0, Qt::AlignHCenter);
+  power_group_layout->addLayout(power_layout);
+
+  addItem(power_group_layout);
 
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     for (auto btn : findChildren<PushButtonSP*>()) {
-      if (btn != rebootBtn && btn != poweroffBtn) {
+      if (btn != rebootBtn && btn != poweroffBtn && btn != offroadBtn) {
         btn->setEnabled(offroad);
       }
     }
   });
 }
+
+void DevicePanelSP::setOffroadMode() {
+  if (!uiState()->engaged()) {
+    if (params.getBool("OffroadMode")) {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to exit Always Offroad mode?"), tr("Confirm"), this)) {
+        // Check engaged again in case it changed while the dialog was open
+        if (!uiState()->engaged()) {
+          params.remove("OffroadMode");
+        }
+      }
+    } else {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to enter Always Offroad mode?"), tr("Confirm"), this)) {
+        // Check engaged again in case it changed while the dialog was open
+        if (!uiState()->engaged()) {
+          params.putBool("OffroadMode", true);
+        }
+      }
+    }
+  } else {
+    ConfirmationDialog::alert(tr("Disengage to Enter Always Offroad Mode"), this);
+  }
+
+  updateState();
+}
+
+void DevicePanelSP::showEvent(QShowEvent *event) {
+  updateState();
+}
+
+void DevicePanelSP::updateState() {
+  if (!isVisible()) {
+    return;
+  }
+
+  bool offroad_mode_param = params.getBool("OffroadMode");
+  offroadBtn->setText(offroad_mode_param ? tr("Exit Always Offroad") : tr("Always Offroad"));
+  offroadBtn->setStyleSheet(offroad_mode_param ? alwaysOffroadStyle : autoOffroadStyle);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
index f1a18a82570e19..a781019e5ec9f3 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
@@ -15,9 +15,43 @@ class DevicePanelSP : public DevicePanel {
 
 public:
   explicit DevicePanelSP(SettingsWindowSP *parent = 0);
+  void showEvent(QShowEvent *event) override;
+  void setOffroadMode();
+  void updateState();
 
 private:
   std::map<QString, PushButtonSP*> buttons;
+  PushButtonSP *offroadBtn;
+
+  const QString alwaysOffroadStyle = R"(
+    PushButtonSP {
+      border-radius: 20px;
+      font-size: 50px;
+      font-weight: 450;
+      height: 150px;
+      padding: 0 25px 0 25px;
+      color: #FFFFFF;
+      background-color: #393939;
+    }
+    PushButtonSP:pressed {
+      background-color: #4A4A4A;
+    }
+  )";
+
+  const QString autoOffroadStyle = R"(
+    PushButtonSP {
+      border-radius: 20px;
+      font-size: 50px;
+      font-weight: 450;
+      height: 150px;
+      padding: 0 25px 0 25px;
+      color: #FFFFFF;
+      background-color: #E22C2C;
+    }
+    PushButtonSP:pressed {
+      background-color: #FF2424;
+    }
+  )";
 
   const QString rebootButtonStyle = R"(
     PushButtonSP {
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 9d81ba75380d1d..9bcda5568b46a3 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -321,6 +321,34 @@
         <source>Power Off</source>
         <translation type="unfinished">إيقا� التشغيل</translation>
     </message>
+    <message>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">تأكيد</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -527,6 +555,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation>لقد اكتش� openpilot تغييراً �ي موقع تركيب الجهاز. تأكد من تثبيت الجهاز بشكل كامل �ي موقعه وتثبيته بإحكام على الزجاج الأمامي.</translation>
     </message>
+    <message>
+        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 690b0e4be4af0d..9b83f74562a57d 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -321,6 +321,34 @@
         <source>Power Off</source>
         <translation type="unfinished">Ausschalten</translation>
     </message>
+    <message>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Bestätigen</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -522,6 +550,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 93c275403667fa..0e50b06ceb5ea7 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -321,6 +321,34 @@
         <source>Power Off</source>
         <translation type="unfinished">Apagar</translation>
     </message>
+    <message>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Confirmar</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -523,6 +551,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation>openpilot detectó un cambio en la posición de montaje del dispositivo. Asegúrese de que el dispositivo esté completamente asentado en el soporte y que el soporte esté firmemente asegurado al parabrisas.</translation>
     </message>
+    <message>
+        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 56a08ca630c9cf..bb6b95eb623ef3 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -321,6 +321,34 @@
         <source>Power Off</source>
         <translation type="unfinished">Éteindre</translation>
     </message>
+    <message>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Confirmer</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -523,6 +551,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation>openpilot a détecté un changement dans la position de montage de l&apos;appareil. Assurez-vous que l&apos;appareil est totalement inséré dans le support et que le support est fermement fixé au pare-brise.</translation>
     </message>
+    <message>
+        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 6fa9925ff7375a..a6104916ea03b7 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -321,6 +321,34 @@
         <source>Power Off</source>
         <translation type="unfinished">電�を切る</translation>
     </message>
+    <message>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">確�</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -521,6 +549,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 3b425b05482c8f..25add500465dff 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -321,6 +321,34 @@
         <source>Power Off</source>
         <translation type="unfinished">전� �기</translation>
     </message>
+    <message>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">확�</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -522,6 +550,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
         <translation>장치 온�가 너무 높습니다. 시작하기 전� 온�를 낮춰주세요. 현재 내부 부품 온�: %1</translation>
     </message>
+    <message>
+        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 86add7472aa900..e1c0fc11ca19c3 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -321,6 +321,34 @@
         <source>Power Off</source>
         <translation type="unfinished">Desligar</translation>
     </message>
+    <message>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Confirmar</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -523,6 +551,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
         <translation>Temperatura do dispositivo muito alta. O sistema está sendo resfriado antes de iniciar. A temperatura atual do componente interno é: %1</translation>
     </message>
+    <message>
+        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index d28da2a63a4046..a79c23d1c91e87 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -321,6 +321,34 @@
         <source>Power Off</source>
         <translation type="unfinished">ปิดเครื่อง</translation>
     </message>
+    <message>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">ยืนยัน</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -522,6 +550,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation>openpilot ตรวจพบ�ารเปลี่ยน�ปลงของตำ�หน่งที่ติดตั้ง �รุณาตรวจสอบว่าได้เลื่อนอุป�รณ์เข้า�ับจุดติดตั้งจนสุด�ล้ว �ละจุดติดตั้งได้ยึดติด�ับ�ระจ�หน้าอย่าง�น่นหนา</translation>
     </message>
+    <message>
+        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 8cc5bb0134a775..f43c332a74b7ca 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -321,6 +321,34 @@
         <source>Power Off</source>
         <translation type="unfinished">Sistemi kapat</translation>
     </message>
+    <message>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Onayla</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -521,6 +549,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 1973416537d69d..204171430dbbc8 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -321,6 +321,34 @@
         <source>Power Off</source>
         <translation type="unfinished">关机</translation>
     </message>
+    <message>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">确认</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -522,6 +550,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
         <translation>设备温度过高。系统正在冷�中，等冷�完毕��会�动。目�内部组件温度：%1</translation>
     </message>
+    <message>
+        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index dc82be95cca769..f5cf33d543319e 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -321,6 +321,34 @@
         <source>Power Off</source>
         <translation type="unfinished">關機</translation>
     </message>
+    <message>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">確�</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -522,6 +550,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
         <translation>�置溫度�高。系統正在冷�中，等冷�完畢後�會啟動。目�內部組件溫度：%1</translation>
     </message>
+    <message>
+        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index b6de91818e922e..bb90c12ba2d2e5 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -310,6 +310,12 @@ def hardware_thread(end_event, hw_queue) -> None:
     # ensure device is fully booted
     startup_conditions["device_booted"] = startup_conditions.get("device_booted", False) or HARDWARE.booted()
 
+    # user-forced status
+    offroad_mode = params.get_bool("OffroadMode")
+    startup_conditions["not_always_offroad"] = not offroad_mode
+    onroad_conditions["not_always_offroad"] = not offroad_mode
+    set_offroad_alert("OffroadMode_Status", offroad_mode)
+
     # if the temperature enters the danger zone, go offroad to cool down
     onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
     extra_text = f"{offroad_comp_temp:.1f}C"
@@ -392,7 +398,7 @@ def hardware_thread(end_event, hw_queue) -> None:
       cloudlog.warning(f"shutting device down, offroad since {off_ts}")
       params.put_bool("DoShutdown", True)
 
-    msg.deviceState.started = started_ts is not None
+    msg.deviceState.started = started_ts is not None and not offroad_mode
     msg.deviceState.startedMonoTime = int(1e9*(started_ts or 0))
 
     last_ping = params.get("LastAthenaPingTime")

From 4730a192b142c8199c79ac3195c4b59eee3e1600 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 20 Jan 2025 21:50:54 -0500
Subject: [PATCH 0087/1434] Revert "Events: Migrate sunnypilot onroad events to
 its own cereal" (#602)

Revert "Events: Migrate sunnypilot onroad events to its own cereal (#598)"

This reverts commit c9961f15900144f515e5591f6496e16c629ba6fc.
---
 cereal/custom.capnp                           |  34 --
 cereal/log.capnp                              |  77 ++++-
 cereal/services.py                            |   1 -
 selfdrive/selfdrived/alertmanager.py          |   3 +-
 selfdrive/selfdrived/events.py                | 304 +++++++++++++++++-
 selfdrive/selfdrived/selfdrived.py            |  29 +-
 .../selfdrived/tests/test_alertmanager.py     |   4 +-
 sunnypilot/mads/mads.py                       |  36 +--
 sunnypilot/mads/state.py                      |  51 ++-
 .../mads/tests/test_mads_state_machine.py     |  79 +++--
 sunnypilot/selfdrive/car/car_specific.py      |  10 +-
 sunnypilot/selfdrive/car/cruise_helpers.py    |   6 +-
 sunnypilot/selfdrive/selfdrived/__init__.py   |   0
 sunnypilot/selfdrive/selfdrived/events.py     | 133 --------
 .../selfdrive/selfdrived/events_base.py       | 225 -------------
 15 files changed, 452 insertions(+), 540 deletions(-)
 delete mode 100644 sunnypilot/selfdrive/selfdrived/__init__.py
 delete mode 100644 sunnypilot/selfdrive/selfdrived/events.py
 delete mode 100644 sunnypilot/selfdrive/selfdrived/events_base.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 33aef6df4fe5d2..f95e0bf810fa87 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -10,40 +10,6 @@ $Cxx.namespace("cereal");
 # DO rename the structs
 # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
 
-struct OnroadEventSP {
-  name @0 :EventName;
-
-  # event types
-  enable @1 :Bool;
-  noEntry @2 :Bool;
-  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
-  userDisable @4 :Bool;
-  softDisable @5 :Bool;
-  immediateDisable @6 :Bool;
-  preEnable @7 :Bool;
-  permanent @8 :Bool; # alerts presented regardless of openpilot state
-  overrideLateral @10 :Bool;
-  overrideLongitudinal @9 :Bool;
-
-  enum EventName {
-    lkasEnable @0;
-    lkasDisable @1;
-    manualSteeringRequired @2;
-    manualLongitudinalRequired @3;
-    silentLkasEnable @4;
-    silentLkasDisable @5;
-    silentBrakeHold @6;
-    silentWrongGear @7;
-    silentReverseGear @8;
-    silentDoorOpen @9;
-    silentSeatbeltNotLatched @10;
-    silentParkBrake @11;
-    controlsMismatchLateral @12;
-    hyundaiRadarTracksConfirmed @13;
-    experimentalModeSwitched @14;
-  }
-}
-
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
 
diff --git a/cereal/log.capnp b/cereal/log.capnp
index f8000ec1ebb906..45e9d0a8faafe8 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -125,6 +125,81 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     espActive @90;
     personalityChanged @91;
     aeb @92;
+    eventReserved93 @93;
+    eventReserved94 @94;
+    eventReserved95 @95;
+    eventReserved96 @96;
+    eventReserved97 @97;
+    eventReserved98 @98;
+    eventReserved99 @99;
+    eventReserved100 @100;
+    eventReserved101 @101;
+    eventReserved102 @102;
+    eventReserved103 @103;
+    eventReserved104 @104;
+    eventReserved105 @105;
+    eventReserved106 @106;
+    eventReserved107 @107;
+    eventReserved108 @108;
+    eventReserved109 @109;
+    eventReserved110 @110;
+    eventReserved111 @111;
+    eventReserved112 @112;
+    eventReserved113 @113;
+    eventReserved114 @114;
+    eventReserved115 @115;
+    eventReserved116 @116;
+    eventReserved117 @117;
+    eventReserved118 @118;
+    eventReserved119 @119;
+    eventReserved120 @120;
+    eventReserved121 @121;
+    eventReserved122 @122;
+    eventReserved123 @123;
+    eventReserved124 @124;
+    eventReserved125 @125;
+    eventReserved126 @126;
+    eventReserved127 @127;
+    eventReserved128 @128;
+    eventReserved129 @129;
+    eventReserved130 @130;
+    eventReserved131 @131;
+    eventReserved132 @132;
+    eventReserved133 @133;
+    eventReserved134 @134;
+    eventReserved135 @135;
+    eventReserved136 @136;
+    eventReserved137 @137;
+    eventReserved138 @138;
+    eventReserved139 @139;
+    eventReserved140 @140;
+    eventReserved141 @141;
+    eventReserved142 @142;
+    eventReserved143 @143;
+    eventReserved144 @144;
+    eventReserved145 @145;
+    eventReserved146 @146;
+    eventReserved147 @147;
+    eventReserved148 @148;
+    eventReserved149 @149;
+    eventReserved150 @150;
+
+    # sunnypilot
+    lkasEnable @151;
+    lkasDisable @152;
+    manualSteeringRequired @153;
+    manualLongitudinalRequired @154;
+    silentLkasEnable @155;
+    silentLkasDisable @156;
+    silentBrakeHold @157;
+    silentWrongGear @158;
+    silentReverseGear @159;
+    silentDoorOpen @160;
+    silentSeatbeltNotLatched @161;
+    silentParkBrake @162;
+    controlsMismatchLateral @163;
+    hyundaiRadarTracksConfirmed @164;
+    experimentalModeSwitched @165;
 
     soundsUnavailableDEPRECATED @47;
   }
@@ -2568,7 +2643,7 @@ struct Event {
     selfdriveStateSP @107 :Custom.SelfdriveStateSP;
     modelManagerSP @108 :Custom.ModelManagerSP;
     longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
-    onroadEventsSP @110 :List(Custom.OnroadEventSP);
+    customReserved3 @110 :Custom.CustomReserved3;
     customReserved4 @111 :Custom.CustomReserved4;
     customReserved5 @112 :Custom.CustomReserved5;
     customReserved6 @113 :Custom.CustomReserved6;
diff --git a/cereal/services.py b/cereal/services.py
index f2f3da04273f9c..ae4a35b3e4c7de 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -78,7 +78,6 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "modelManagerSP": (False, 1., 1),
   "selfdriveStateSP": (True, 100., 10),
   "longitudinalPlanSP": (True, 20., 10),
-  "onroadEventsSP": (True, 1., 1),
 
   # debug
   "uiDebug": (True, 0., 1),
diff --git a/selfdrive/selfdrived/alertmanager.py b/selfdrive/selfdrived/alertmanager.py
index 79897404e48f67..ac1006ff258c01 100644
--- a/selfdrive/selfdrived/alertmanager.py
+++ b/selfdrive/selfdrived/alertmanager.py
@@ -6,8 +6,7 @@
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.selfdrive.selfdrived.events import Alert
-from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EmptyAlert
+from openpilot.selfdrive.selfdrived.events import Alert, EmptyAlert
 
 
 with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as f:
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 3bc50cde18a3a7..ca068c0b15a3f2 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -1,6 +1,9 @@
 #!/usr/bin/env python3
+import bisect
 import math
 import os
+from enum import IntEnum
+from collections.abc import Callable
 
 from cereal import log, car
 import cereal.messaging as messaging
@@ -9,11 +12,6 @@
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
 
-from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
-  NoEntryAlert, SoftDisableAlert, UserSoftDisableAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, \
-  StartupAlert, AlertCallbackType
-
-
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -21,23 +19,201 @@
 EventName = log.OnroadEvent.EventName
 
 
+# Alert priorities
+class Priority(IntEnum):
+  LOWEST = 0
+  LOWER = 1
+  LOW = 2
+  MID = 3
+  HIGH = 4
+  HIGHEST = 5
+
+
+# Event types
+class ET:
+  ENABLE = 'enable'
+  PRE_ENABLE = 'preEnable'
+  OVERRIDE_LATERAL = 'overrideLateral'
+  OVERRIDE_LONGITUDINAL = 'overrideLongitudinal'
+  NO_ENTRY = 'noEntry'
+  WARNING = 'warning'
+  USER_DISABLE = 'userDisable'
+  SOFT_DISABLE = 'softDisable'
+  IMMEDIATE_DISABLE = 'immediateDisable'
+  PERMANENT = 'permanent'
+
+
 # get event name from enum
 EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}
 
 
-class Events(EventsBase):
+class Events:
   def __init__(self):
-    super().__init__()
+    self.events: list[int] = []
+    self.static_events: list[int] = []
     self.event_counters = dict.fromkeys(EVENTS.keys(), 0)
 
-  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]:
-    return EVENTS
+  @property
+  def names(self) -> list[int]:
+    return self.events
+
+  def __len__(self) -> int:
+    return len(self.events)
+
+  def add(self, event_name: int, static: bool=False) -> None:
+    if static:
+      bisect.insort(self.static_events, event_name)
+    bisect.insort(self.events, event_name)
+
+  def clear(self) -> None:
+    self.event_counters = {k: (v + 1 if k in self.events else 0) for k, v in self.event_counters.items()}
+    self.events = self.static_events.copy()
+
+  def contains(self, event_type: str) -> bool:
+    return any(event_type in EVENTS.get(e, {}) for e in self.events)
+
+  def create_alerts(self, event_types: list[str], callback_args=None):
+    if callback_args is None:
+      callback_args = []
+
+    ret = []
+    for e in self.events:
+      types = EVENTS[e].keys()
+      for et in event_types:
+        if et in types:
+          alert = EVENTS[e][et]
+          if not isinstance(alert, Alert):
+            alert = alert(*callback_args)
+
+          if DT_CTRL * (self.event_counters[e] + 1) >= alert.creation_delay:
+            alert.alert_type = f"{EVENT_NAME[e]}/{et}"
+            alert.event_type = et
+            ret.append(alert)
+    return ret
+
+  def add_from_msg(self, events):
+    for e in events:
+      bisect.insort(self.events, e.name.raw)
+
+  def to_msg(self):
+    ret = []
+    for event_name in self.events:
+      event = log.OnroadEvent.new_message()
+      event.name = event_name
+      for event_type in EVENTS.get(event_name, {}):
+        setattr(event, event_type, True)
+      ret.append(event)
+    return ret
+
+  def has(self, event_name: int) -> bool:
+    return event_name in self.events
+
+  def contains_in_list(self, events_list: list[int]) -> bool:
+    return any(event_name in self.events for event_name in events_list)
+
+  def remove(self, event_name: int, static: bool = False) -> None:
+    if static and event_name in self.static_events:
+      self.static_events.remove(event_name)
+
+    if event_name in self.events:
+      self.event_counters[event_name] = self.event_counters[event_name] + 1
+      self.events.remove(event_name)
+
+  def replace(self, prev_event_name: int, cur_event_name: int, static: bool = False) -> None:
+    self.remove(prev_event_name, static)
+    self.add(cur_event_name, static)
+
+
+class Alert:
+  def __init__(self,
+               alert_text_1: str,
+               alert_text_2: str,
+               alert_status: log.SelfdriveState.AlertStatus,
+               alert_size: log.SelfdriveState.AlertSize,
+               priority: Priority,
+               visual_alert: car.CarControl.HUDControl.VisualAlert,
+               audible_alert: car.CarControl.HUDControl.AudibleAlert,
+               duration: float,
+               creation_delay: float = 0.):
+
+    self.alert_text_1 = alert_text_1
+    self.alert_text_2 = alert_text_2
+    self.alert_status = alert_status
+    self.alert_size = alert_size
+    self.priority = priority
+    self.visual_alert = visual_alert
+    self.audible_alert = audible_alert
+
+    self.duration = int(duration / DT_CTRL)
+
+    self.creation_delay = creation_delay
+
+    self.alert_type = ""
+    self.event_type: str | None = None
+
+  def __str__(self) -> str:
+    return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}"
+
+  def __gt__(self, alert2) -> bool:
+    if not isinstance(alert2, Alert):
+      return False
+    return self.priority > alert2.priority
+
+EmptyAlert = Alert("" , "", AlertStatus.normal, AlertSize.none, Priority.LOWEST,
+                   VisualAlert.none, AudibleAlert.none, 0)
+
+class NoEntryAlert(Alert):
+  def __init__(self, alert_text_2: str,
+               alert_text_1: str = "openpilot Unavailable",
+               visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
+    super().__init__(alert_text_1, alert_text_2, AlertStatus.normal,
+                     AlertSize.mid, Priority.LOW, visual_alert,
+                     AudibleAlert.refuse, 3.)
+
+
+class SoftDisableAlert(Alert):
+  def __init__(self, alert_text_2: str):
+    super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
+                     AlertStatus.userPrompt, AlertSize.full,
+                     Priority.MID, VisualAlert.steerRequired,
+                     AudibleAlert.warningSoft, 2.),
+
+
+# less harsh version of SoftDisable, where the condition is user-triggered
+class UserSoftDisableAlert(SoftDisableAlert):
+  def __init__(self, alert_text_2: str):
+    super().__init__(alert_text_2),
+    self.alert_text_1 = "openpilot will disengage"
+
+
+class ImmediateDisableAlert(Alert):
+  def __init__(self, alert_text_2: str):
+    super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
+                     AlertStatus.critical, AlertSize.full,
+                     Priority.HIGHEST, VisualAlert.steerRequired,
+                     AudibleAlert.warningImmediate, 4.),
+
+
+class EngagementAlert(Alert):
+  def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert):
+    super().__init__("", "",
+                     AlertStatus.normal, AlertSize.none,
+                     Priority.MID, VisualAlert.none,
+                     audible_alert, .2),
+
+
+class NormalPermanentAlert(Alert):
+  def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2, priority: Priority = Priority.LOWER, creation_delay: float = 0.):
+    super().__init__(alert_text_1, alert_text_2,
+                     AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small,
+                     priority, VisualAlert.none, AudibleAlert.none, duration, creation_delay=creation_delay),
 
-  def get_event_name(self, event: int):
-    return EVENT_NAME[event]
 
-  def get_event_msg_type(self):
-    return log.OnroadEvent
+class StartupAlert(Alert):
+  def __init__(self, alert_text_1: str, alert_text_2: str = "Always keep hands on wheel and eyes on road", alert_status=AlertStatus.normal):
+    super().__init__(alert_text_1, alert_text_2,
+                     alert_status, AlertSize.mid,
+                     Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.),
 
 
 # ********** helper functions **********
@@ -49,6 +225,8 @@ def get_display_speed(speed_ms: float, metric: bool) -> str:
 
 # ********** alert callback functions **********
 
+AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster, bool, int, log.ControlsState], Alert]
+
 
 def soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
   def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
@@ -794,6 +972,106 @@ def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
     ET.WARNING: personality_changed_alert,
   },
 
+  # sunnypilot
+  EventName.lkasEnable: {
+    ET.ENABLE: EngagementAlert(AudibleAlert.engage),
+  },
+
+  EventName.lkasDisable: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+  },
+
+  EventName.manualSteeringRequired: {
+    ET.USER_DISABLE: Alert(
+      "Automatic Lane Centering is OFF",
+      "Manual Steering Required",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.disengage, 1.),
+  },
+
+  EventName.manualLongitudinalRequired: {
+    ET.WARNING: Alert(
+      "Smart/Adaptive Cruise Control: OFF",
+      "Manual Speed Control Required",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
+  },
+
+  EventName.silentLkasEnable: {
+    ET.ENABLE: EngagementAlert(AudibleAlert.none),
+  },
+
+  EventName.silentLkasDisable: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
+  },
+
+  EventName.silentBrakeHold: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
+    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
+  },
+
+  EventName.silentWrongGear: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: Alert(
+      "Gear not D",
+      "openpilot Unavailable",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.),
+  },
+
+  EventName.silentReverseGear: {
+    ET.PERMANENT: Alert(
+      "Reverse\nGear",
+      "",
+      AlertStatus.normal, AlertSize.full,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
+    ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
+  },
+
+  EventName.silentDoorOpen: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Door Open"),
+  },
+
+  EventName.silentSeatbeltNotLatched: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"),
+  },
+
+  EventName.silentParkBrake: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"),
+  },
+
+  EventName.controlsMismatchLateral: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch: Lateral"),
+    ET.NO_ENTRY: NoEntryAlert("Controls Mismatch: Lateral"),
+  },
+
+  EventName.hyundaiRadarTracksConfirmed: {
+    ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
+  },
+
+  EventName.experimentalModeSwitched: {
+    ET.WARNING: NormalPermanentAlert("Experimental Mode Switched", duration=1.5)
+  }
+
 }
 
 
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 1c669621afb1d2..17dd70b3a461a1 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -26,7 +26,6 @@
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
-from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
@@ -136,11 +135,8 @@ def __init__(self, CP=None):
     elif self.CP.passive:
       self.events.add(EventName.dashcamMode, static=True)
 
-    self.events_sp = EventsSP()
-    self.events_sp_prev = []
-
     self.mads = ModularAssistiveDrivingSystem(self)
-    sock_services = list(self.pm.sock.keys()) + ['selfdriveStateSP', 'onroadEventsSP']
+    sock_services = list(self.pm.sock.keys()) + ['selfdriveStateSP']
     self.pm = messaging.PubMaster(sock_services)
 
     self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
@@ -151,7 +147,6 @@ def update_events(self, CS):
     """Compute onroadEvents from carState"""
 
     self.events.clear()
-    self.events_sp.clear()
 
     if self.sm['controlsState'].lateralControlState.which() == 'debugState':
       self.events.add(EventName.joystickDebug)
@@ -189,7 +184,7 @@ def update_events(self, CS):
       self.events.add_from_msg(car_events)
 
       car_events_sp = self.car_events_sp.update().to_msg()
-      self.events_sp.add_from_msg(car_events_sp)
+      self.events.add_from_msg(car_events_sp)
 
       if self.CP.notCar:
         # wait for everything to init first
@@ -375,7 +370,7 @@ def update_events(self, CS):
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
 
-    CruiseHelper.update(self, CS, self.events_sp, self.experimental_mode)
+    CruiseHelper.update(self, CS, self.events, self.experimental_mode)
 
     # decrement personality on distance button press
     if self.CP.openpilotLongitudinalControl:
@@ -441,13 +436,9 @@ def update_alerts(self, CS):
       clear_event_types.add(ET.NO_ENTRY)
 
     pers = LONGITUDINAL_PERSONALITY_MAP[self.personality]
-    callback_args = [self.CP, CS, self.sm, self.is_metric,
-                     self.state_machine.soft_disable_timer, pers]
-
-    alerts = self.events.create_alerts(self.state_machine.current_alert_types, callback_args)
-    alerts_sp = self.events_sp.create_alerts(self.state_machine.current_alert_types, callback_args)
-
-    self.AM.add_many(self.sm.frame, alerts + alerts_sp)
+    alerts = self.events.create_alerts(self.state_machine.current_alert_types, [self.CP, CS, self.sm, self.is_metric,
+                                                                                self.state_machine.soft_disable_timer, pers])
+    self.AM.add_many(self.sm.frame, alerts)
     self.AM.process_alerts(self.sm.frame, clear_event_types)
 
   def publish_selfdriveState(self, CS):
@@ -492,14 +483,6 @@ def publish_selfdriveState(self, CS):
 
     self.pm.send('selfdriveStateSP', ss_sp_msg)
 
-    # onroadEventsSP - logged every second or on change
-    if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events_sp.names != self.events_sp_prev):
-      ce_send_sp = messaging.new_message('onroadEventsSP', len(self.events_sp))
-      ce_send_sp.valid = True
-      ce_send_sp.onroadEventsSP = self.events_sp.to_msg()
-      self.pm.send('onroadEventsSP', ce_send_sp)
-    self.events_sp_prev = self.events_sp.names.copy()
-
   def step(self):
     CS = self.data_sample()
     self.update_events(CS)
diff --git a/selfdrive/selfdrived/tests/test_alertmanager.py b/selfdrive/selfdrived/tests/test_alertmanager.py
index 8f7c79878c76a6..030b7d4515c2f2 100644
--- a/selfdrive/selfdrived/tests/test_alertmanager.py
+++ b/selfdrive/selfdrived/tests/test_alertmanager.py
@@ -1,10 +1,8 @@
 import random
 
-from openpilot.selfdrive.selfdrived.events import Alert, EVENTS
+from openpilot.selfdrive.selfdrived.events import Alert, EmptyAlert, EVENTS
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager
 
-from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EmptyAlert
-
 
 class TestAlertManager:
 
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index aa002bb5dd0e37..81c9d6fb5c417a 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -35,7 +35,6 @@
 State = custom.SelfdriveStateSP.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = log.OnroadEvent.EventName
-EventNameSP = custom.OnroadEventSP.EventName
 SafetyModel = car.CarParams.SafetyModel
 
 SET_SPEED_BUTTONS = (ButtonType.accelCruise, ButtonType.resumeCruise, ButtonType.decelCruise, ButtonType.setCruise)
@@ -54,7 +53,6 @@ def __init__(self, selfdrive):
     self.selfdrive.enabled_prev = False
     self.state_machine = StateMachine(self)
     self.events = self.selfdrive.events
-    self.events_sp = self.selfdrive.events_sp
 
     if self.selfdrive.CP.carName == "hyundai":
       if (self.selfdrive.CP.sunnypilotFlags & HyundaiFlagsSP.HAS_LFA_BUTTON) or \
@@ -80,30 +78,26 @@ def update_unified_engagement_mode():
 
     def transition_paused_state():
       if self.state_machine.state != State.paused:
-        self.events_sp.add(EventNameSP.silentLkasDisable)
-
-    def replace_event(old_event: int, new_event: int):
-      self.events.remove(old_event)
-      self.events_sp.add(new_event)
+        self.events.add(EventName.silentLkasDisable)
 
     if not self.selfdrive.enabled and self.enabled:
       if self.events.has(EventName.doorOpen):
-        replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen)
+        self.events.replace(EventName.doorOpen, EventName.silentDoorOpen)
         transition_paused_state()
       if self.events.has(EventName.seatbeltNotLatched):
-        replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
+        self.events.replace(EventName.seatbeltNotLatched, EventName.silentSeatbeltNotLatched)
         transition_paused_state()
       if self.events.has(EventName.wrongGear):
-        replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
+        self.events.replace(EventName.wrongGear, EventName.silentWrongGear)
         transition_paused_state()
       if self.events.has(EventName.reverseGear):
-        replace_event(EventName.reverseGear, EventNameSP.silentReverseGear)
+        self.events.replace(EventName.reverseGear, EventName.silentReverseGear)
         transition_paused_state()
       if self.events.has(EventName.brakeHold):
-        replace_event(EventName.brakeHold, EventNameSP.silentBrakeHold)
+        self.events.replace(EventName.brakeHold, EventName.silentBrakeHold)
         transition_paused_state()
       if self.events.has(EventName.parkBrake):
-        replace_event(EventName.parkBrake, EventNameSP.silentParkBrake)
+        self.events.replace(EventName.parkBrake, EventName.silentParkBrake)
         transition_paused_state()
 
       if self.pause_lateral_on_brake_toggle:
@@ -113,7 +107,7 @@ def replace_event(old_event: int, new_event: int):
       if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \
          not self.events.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
         if self.state_machine.state == State.paused:
-          self.events_sp.add(EventNameSP.silentLkasEnable)
+          self.events.add(EventName.silentLkasEnable)
 
       self.events.remove(EventName.preEnableStandstill)
       self.events.remove(EventName.belowEngageSpeed)
@@ -126,25 +120,25 @@ def replace_event(old_event: int, new_event: int):
     else:
       if self.main_enabled_toggle:
         if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available:
-          self.events_sp.add(EventNameSP.lkasEnable)
+          self.events.add(EventName.lkasEnable)
 
     for be in CS.buttonEvents:
       if be.type == ButtonType.cancel:
         if not self.selfdrive.enabled and self.selfdrive.enabled_prev:
-          self.events_sp.add(EventNameSP.manualLongitudinalRequired)
+          self.events.add(EventName.manualLongitudinalRequired)
       if be.type == ButtonType.lkas and be.pressed and (CS.cruiseState.available or self.allow_always):
         if self.enabled:
           if self.selfdrive.enabled:
-            self.events_sp.add(EventNameSP.manualSteeringRequired)
+            self.events.add(EventName.manualSteeringRequired)
           else:
-            self.events_sp.add(EventNameSP.lkasDisable)
+            self.events.add(EventName.lkasDisable)
         else:
-          self.events_sp.add(EventNameSP.lkasEnable)
+          self.events.add(EventName.lkasEnable)
 
     if not CS.cruiseState.available:
       self.events.remove(EventName.buttonEnable)
       if self.selfdrive.CS_prev.cruiseState.available:
-        self.events_sp.add(EventNameSP.lkasDisable)
+        self.events.add(EventName.lkasDisable)
 
     self.events.remove(EventName.pcmDisable)
     self.events.remove(EventName.buttonCancel)
@@ -160,7 +154,7 @@ def update(self, CS: car.CarState):
     self.update_events(CS)
 
     if not self.selfdrive.CP.passive and self.selfdrive.initialized:
-      self.enabled, self.active = self.state_machine.update(self.events, self.events_sp)
+      self.enabled, self.active = self.state_machine.update(self.events)
 
     # Copy of previous SelfdriveD states for MADS events handling
     self.selfdrive.enabled_prev = self.selfdrive.enabled
diff --git a/sunnypilot/mads/state.py b/sunnypilot/mads/state.py
index 092a3113451354..de6ed537d4d0ab 100644
--- a/sunnypilot/mads/state.py
+++ b/sunnypilot/mads/state.py
@@ -29,17 +29,14 @@
 from openpilot.selfdrive.selfdrived.state import SOFT_DISABLE_TIME
 from openpilot.common.realtime import DT_CTRL
 
-from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
-
 State = custom.SelfdriveStateSP.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 EventName = log.OnroadEvent.EventName
-EventNameSP = custom.OnroadEventSP.EventName
 
 ACTIVE_STATES = (State.enabled, State.softDisabling, State.overriding)
 ENABLED_STATES = (State.paused, *ACTIVE_STATES)
 
-GEARS_ALLOW_PAUSED_SILENT = [EventNameSP.silentWrongGear, EventNameSP.silentReverseGear, EventNameSP.silentBrakeHold,
-                             EventNameSP.silentDoorOpen, EventNameSP.silentSeatbeltNotLatched, EventNameSP.silentParkBrake]
+GEARS_ALLOW_PAUSED_SILENT = [EventName.silentWrongGear, EventName.silentReverseGear, EventName.silentBrakeHold,
+                             EventName.silentDoorOpen, EventName.silentSeatbeltNotLatched, EventName.silentParkBrake]
 GEARS_ALLOW_PAUSED = [EventName.wrongGear, EventName.reverseGear, EventName.brakeHold,
                       EventName.doorOpen, EventName.seatbeltNotLatched, EventName.parkBrake,
                       *GEARS_ALLOW_PAUSED_SILENT]
@@ -52,57 +49,45 @@ def __init__(self, mads):
 
     self.state = State.disabled
 
-    self._events = Events()
-    self._events_sp = EventsSP()
-
   def add_current_alert_types(self, alert_type):
     if not self.selfdrive.enabled:
       self.ss_state_machine.current_alert_types.append(alert_type)
 
-  def check_contains(self, event_type: str) -> bool:
-    return bool(self._events.contains(event_type) or self._events_sp.contains(event_type))
-
-  def check_contains_in_list(self, events_list: list[int]) -> bool:
-    return bool(self._events.contains_in_list(events_list) or self._events_sp.contains_in_list(events_list))
-
-  def update(self, events: Events, events_sp: EventsSP):
+  def update(self, events: Events):
     # soft disable timer and current alert types are from the state machine of openpilot
     # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state
 
-    self._events = events
-    self._events_sp = events_sp
-
     # ENABLED, SOFT DISABLING, PAUSED, OVERRIDING
     if self.state != State.disabled:
       # user and immediate disable always have priority in a non-disabled state
-      if self.check_contains(ET.USER_DISABLE):
-        if events_sp.has(EventNameSP.silentLkasDisable) or events_sp.has(EventNameSP.silentBrakeHold):
+      if events.contains(ET.USER_DISABLE):
+        if events.has(EventName.silentLkasDisable) or events.has(EventName.silentBrakeHold):
           self.state = State.paused
         else:
           self.state = State.disabled
         self.ss_state_machine.current_alert_types.append(ET.USER_DISABLE)
 
-      elif self.check_contains(ET.IMMEDIATE_DISABLE):
+      elif events.contains(ET.IMMEDIATE_DISABLE):
         self.state = State.disabled
         self.add_current_alert_types(ET.IMMEDIATE_DISABLE)
 
       else:
         # ENABLED
         if self.state == State.enabled:
-          if self.check_contains(ET.SOFT_DISABLE):
+          if events.contains(ET.SOFT_DISABLE):
             self.state = State.softDisabling
             if not self.selfdrive.enabled:
               self.ss_state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
               self.ss_state_machine.current_alert_types.append(ET.SOFT_DISABLE)
 
-          elif self.check_contains(ET.OVERRIDE_LATERAL):
+          elif events.contains(ET.OVERRIDE_LATERAL):
             self.state = State.overriding
             self.add_current_alert_types(ET.OVERRIDE_LATERAL)
 
         # SOFT DISABLING
         elif self.state == State.softDisabling:
-          if not self.check_contains(ET.SOFT_DISABLE):
+          if not events.contains(ET.SOFT_DISABLE):
             # no more soft disabling condition, so go back to ENABLED
             self.state = State.enabled
 
@@ -114,12 +99,12 @@ def update(self, events: Events, events_sp: EventsSP):
 
         # PAUSED
         elif self.state == State.paused:
-          if self.check_contains(ET.ENABLE):
-            if self.check_contains(ET.NO_ENTRY):
+          if events.contains(ET.ENABLE):
+            if events.contains(ET.NO_ENTRY):
               self.add_current_alert_types(ET.NO_ENTRY)
 
             else:
-              if self.check_contains(ET.OVERRIDE_LATERAL):
+              if events.contains(ET.OVERRIDE_LATERAL):
                 self.state = State.overriding
               else:
                 self.state = State.enabled
@@ -127,26 +112,26 @@ def update(self, events: Events, events_sp: EventsSP):
 
         # OVERRIDING
         elif self.state == State.overriding:
-          if self.check_contains(ET.SOFT_DISABLE):
+          if events.contains(ET.SOFT_DISABLE):
             self.state = State.softDisabling
             if not self.selfdrive.enabled:
               self.ss_state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
               self.ss_state_machine.current_alert_types.append(ET.SOFT_DISABLE)
-          elif not self.check_contains(ET.OVERRIDE_LATERAL):
+          elif not events.contains(ET.OVERRIDE_LATERAL):
             self.state = State.enabled
           else:
             self.ss_state_machine.current_alert_types += [ET.OVERRIDE_LATERAL]
 
     # DISABLED
     elif self.state == State.disabled:
-      if self.check_contains(ET.ENABLE):
-        if self.check_contains(ET.NO_ENTRY):
-          if self.check_contains_in_list(GEARS_ALLOW_PAUSED):
+      if events.contains(ET.ENABLE):
+        if events.contains(ET.NO_ENTRY):
+          if events.contains_in_list(GEARS_ALLOW_PAUSED):
             self.state = State.paused
           self.add_current_alert_types(ET.NO_ENTRY)
 
         else:
-          if self.check_contains(ET.OVERRIDE_LATERAL):
+          if events.contains(ET.OVERRIDE_LATERAL):
             self.state = State.overriding
           else:
             self.state = State.enabled
diff --git a/sunnypilot/mads/tests/test_mads_state_machine.py b/sunnypilot/mads/tests/test_mads_state_machine.py
index 97412f7b7d5a94..5646c96760869d 100644
--- a/sunnypilot/mads/tests/test_mads_state_machine.py
+++ b/sunnypilot/mads/tests/test_mads_state_machine.py
@@ -27,14 +27,13 @@
 import pytest
 from pytest_mock import MockerFixture
 
-from cereal import custom
+from cereal import log, custom
 from openpilot.common.realtime import DT_CTRL
 from openpilot.sunnypilot.mads.state import StateMachine, SOFT_DISABLE_TIME, GEARS_ALLOW_PAUSED
-from openpilot.selfdrive.selfdrived.events import ET, NormalPermanentAlert
-from openpilot.sunnypilot.selfdrive.selfdrived.events import EVENTS_SP
+from openpilot.selfdrive.selfdrived.events import Events, ET, EVENTS, NormalPermanentAlert
 
 State = custom.SelfdriveStateSP.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
-EventNameSP = custom.OnroadEventSP.EventName
+EventName = log.OnroadEvent.EventName
 
 # The event types that maintain the current state
 MAINTAIN_STATES = {State.enabled: (None,), State.disabled: (None,), State.softDisabling: (ET.SOFT_DISABLE,),
@@ -48,7 +47,7 @@ def make_event(event_types):
   event = {}
   for ev in event_types:
     event[ev] = NormalPermanentAlert("alert")
-  EVENTS_SP[0] = event
+  EVENTS[0] = event
   return 0
 
 
@@ -63,93 +62,87 @@ class TestMADSStateMachine:
   @pytest.fixture(autouse=True)
   def setup_method(self, mocker: MockerFixture):
     self.mads = MockMADS(mocker)
+    self.events = Events()
     self.state_machine = StateMachine(self.mads)
-    self.events = self.state_machine._events
-    self.events_sp = self.state_machine._events_sp
     self.mads.selfdrive.state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
 
-  def reset(self):
-    self.events.clear()
-    self.events_sp.clear()
-    self.state_machine.state = State.disabled
-
   def test_immediate_disable(self):
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
-        self.events_sp.add(make_event([et, ET.IMMEDIATE_DISABLE]))
+        self.events.add(make_event([et, ET.IMMEDIATE_DISABLE]))
         self.state_machine.state = state
-        self.state_machine.update(self.events, self.events_sp)
+        self.state_machine.update(self.events)
         assert State.disabled == self.state_machine.state
-        self.reset()
+        self.events.clear()
 
   def test_user_disable(self):
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
-        self.events_sp.add(make_event([et, ET.USER_DISABLE]))
+        self.events.add(make_event([et, ET.USER_DISABLE]))
         self.state_machine.state = state
-        self.state_machine.update(self.events, self.events_sp)
+        self.state_machine.update(self.events)
         assert State.disabled == self.state_machine.state
-        self.reset()
+        self.events.clear()
 
   def test_user_disable_to_paused(self):
-    paused_events = (EventNameSP.silentLkasDisable, EventNameSP.silentBrakeHold)
+    paused_events = (EventName.silentLkasDisable, EventName.silentBrakeHold)
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
-        self.events_sp.add(make_event([et, ET.USER_DISABLE]))
+        self.events.add(make_event([et, ET.USER_DISABLE]))
         for en in paused_events:
-          self.events_sp.add(en)
+          self.events.add(en)
           self.state_machine.state = state
-          self.state_machine.update(self.events, self.events_sp)
-          final_state = State.paused if self.events_sp.has(en) and state != State.disabled else State.disabled
+          self.state_machine.update(self.events)
+          final_state = State.paused if self.events.has(en) and state != State.disabled else State.disabled
           assert self.state_machine.state == final_state
-          self.reset()
+          self.events.clear()
 
   def test_soft_disable(self):
     for state in ALL_STATES:
       if state == State.paused:  # paused considers USER_DISABLE instead
         continue
       for et in MAINTAIN_STATES[state]:
-        self.events_sp.add(make_event([et, ET.SOFT_DISABLE]))
+        self.events.add(make_event([et, ET.SOFT_DISABLE]))
         self.state_machine.state = state
-        self.state_machine.update(self.events, self.events_sp)
+        self.state_machine.update(self.events)
         assert self.state_machine.state == State.disabled if state == State.disabled else State.softDisabling
-        self.reset()
+        self.events.clear()
 
   def test_soft_disable_timer(self):
     self.state_machine.state = State.enabled
-    self.events_sp.add(make_event([ET.SOFT_DISABLE]))
-    self.state_machine.update(self.events, self.events_sp)
+    self.events.add(make_event([ET.SOFT_DISABLE]))
+    self.state_machine.update(self.events)
     for _ in range(int(SOFT_DISABLE_TIME / DT_CTRL)):
       assert self.state_machine.state == State.softDisabling
       self.mads.selfdrive.state_machine.soft_disable_timer -= 1
-      self.state_machine.update(self.events, self.events_sp)
+      self.state_machine.update(self.events)
 
     assert self.state_machine.state == State.disabled
 
   def test_no_entry(self):
     for et in ENABLE_EVENT_TYPES:
-      self.events_sp.add(make_event([ET.NO_ENTRY, et]))
-      if not self.state_machine.check_contains_in_list(GEARS_ALLOW_PAUSED):
-        self.state_machine.update(self.events, self.events_sp)
+      self.events.add(make_event([ET.NO_ENTRY, et]))
+      if not self.events.contains_in_list(GEARS_ALLOW_PAUSED):
+        self.state_machine.update(self.events)
         assert self.state_machine.state == State.disabled
-        self.reset()
+        self.events.clear()
 
   def test_no_entry_paused(self):
     self.state_machine.state = State.paused
-    self.events_sp.add(make_event([ET.NO_ENTRY]))
-    self.state_machine.update(self.events, self.events_sp)
+    self.events.add(make_event([ET.NO_ENTRY]))
+    self.state_machine.update(self.events)
     assert self.state_machine.state == State.paused
 
   def test_override_lateral(self):
     self.state_machine.state = State.enabled
-    self.events_sp.add(make_event([ET.OVERRIDE_LATERAL]))
-    self.state_machine.update(self.events, self.events_sp)
+    self.events.add(make_event([ET.OVERRIDE_LATERAL]))
+    self.state_machine.update(self.events)
     assert self.state_machine.state == State.overriding
 
   def test_paused_to_enabled(self):
     self.state_machine.state = State.paused
-    self.events_sp.add(make_event([ET.ENABLE]))
-    self.state_machine.update(self.events, self.events_sp)
+    self.events.add(make_event([ET.ENABLE]))
+    self.state_machine.update(self.events)
     assert self.state_machine.state == State.enabled
 
   def test_maintain_states(self):
@@ -157,7 +150,7 @@ def test_maintain_states(self):
       for et in MAINTAIN_STATES[state]:
         self.state_machine.state = state
         if et is not None:
-          self.events_sp.add(make_event([et]))
-        self.state_machine.update(self.events, self.events_sp)
+          self.events.add(make_event([et]))
+        self.state_machine.update(self.events)
         assert self.state_machine.state == state
-        self.reset()
+        self.events.clear()
diff --git a/sunnypilot/selfdrive/car/car_specific.py b/sunnypilot/selfdrive/car/car_specific.py
index a8ad11ae309bdb..5abb5603d6a472 100644
--- a/sunnypilot/selfdrive/car/car_specific.py
+++ b/sunnypilot/selfdrive/car/car_specific.py
@@ -5,12 +5,12 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import custom
+from cereal import log
 from opendbc.car import structs
 
-from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+from openpilot.selfdrive.selfdrived.events import Events
 
-EventNameSP = custom.OnroadEventSP.EventName
+EventName = log.OnroadEvent.EventName
 
 
 class CarSpecificEventsSP:
@@ -26,9 +26,9 @@ def read_params(self):
     self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed")
 
   def update(self):
-    events = EventsSP()
+    events = Events()
     if self.CP.carName == 'hyundai':
       if self.hyundai_radar_tracks and not self.hyundai_radar_tracks_confirmed:
-        events.add(EventNameSP.hyundaiRadarTracksConfirmed)
+        events.add(EventName.hyundaiRadarTracksConfirmed)
 
     return events
diff --git a/sunnypilot/selfdrive/car/cruise_helpers.py b/sunnypilot/selfdrive/car/cruise_helpers.py
index 1c0026e12fd5b4..24ad6638de035d 100644
--- a/sunnypilot/selfdrive/car/cruise_helpers.py
+++ b/sunnypilot/selfdrive/car/cruise_helpers.py
@@ -5,12 +5,12 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import car, custom
+from cereal import car, log
 from opendbc.car import structs
 from openpilot.common.params import Params
 
 ButtonType = car.CarState.ButtonEvent.Type
-EventNameSP = custom.OnroadEventSP.EventName
+EventName = log.OnroadEvent.EventName
 
 DISTANCE_LONG_PRESS = 50
 
@@ -46,5 +46,5 @@ def update_experimental_mode(self, events, experimental_mode) -> None:
     if self.button_frame_counts[ButtonType.gapAdjustCruise] >= DISTANCE_LONG_PRESS and not self.experimental_mode_switched:
       self._experimental_mode = not experimental_mode
       self.params.put_bool_nonblocking("ExperimentalMode", self._experimental_mode)
-      events.add(EventNameSP.experimentalModeSwitched)
+      events.add(EventName.experimentalModeSwitched)
       self.experimental_mode_switched = True
diff --git a/sunnypilot/selfdrive/selfdrived/__init__.py b/sunnypilot/selfdrive/selfdrived/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py
deleted file mode 100644
index ac564692a82834..00000000000000
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ /dev/null
@@ -1,133 +0,0 @@
-from cereal import log, car, custom
-from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
-  NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType
-
-
-AlertSize = log.SelfdriveState.AlertSize
-AlertStatus = log.SelfdriveState.AlertStatus
-VisualAlert = car.CarControl.HUDControl.VisualAlert
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
-EventNameSP = custom.OnroadEventSP.EventName
-
-
-# get event name from enum
-EVENT_NAME_SP = {v: k for k, v in EventNameSP.schema.enumerants.items()}
-
-
-class EventsSP(EventsBase):
-  def __init__(self):
-    super().__init__()
-    self.event_counters = dict.fromkeys(EVENTS_SP.keys(), 0)
-
-  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]:
-    return EVENTS_SP
-
-  def get_event_name(self, event: int):
-    return EVENT_NAME_SP[event]
-
-  def get_event_msg_type(self):
-    return custom.OnroadEventSP
-
-
-EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
-  # sunnypilot
-  EventNameSP.lkasEnable: {
-    ET.ENABLE: EngagementAlert(AudibleAlert.engage),
-  },
-
-  EventNameSP.lkasDisable: {
-    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
-  },
-
-  EventNameSP.manualSteeringRequired: {
-    ET.USER_DISABLE: Alert(
-      "Automatic Lane Centering is OFF",
-      "Manual Steering Required",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.disengage, 1.),
-  },
-
-  EventNameSP.manualLongitudinalRequired: {
-    ET.WARNING: Alert(
-      "Smart/Adaptive Cruise Control: OFF",
-      "Manual Speed Control Required",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
-  },
-
-  EventNameSP.silentLkasEnable: {
-    ET.ENABLE: EngagementAlert(AudibleAlert.none),
-  },
-
-  EventNameSP.silentLkasDisable: {
-    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
-  },
-
-  EventNameSP.silentBrakeHold: {
-    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
-    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
-  },
-
-  EventNameSP.silentWrongGear: {
-    ET.WARNING: Alert(
-      "",
-      "",
-      AlertStatus.normal, AlertSize.none,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
-    ET.NO_ENTRY: Alert(
-      "Gear not D",
-      "openpilot Unavailable",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.),
-  },
-
-  EventNameSP.silentReverseGear: {
-    ET.PERMANENT: Alert(
-      "Reverse\nGear",
-      "",
-      AlertStatus.normal, AlertSize.full,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
-    ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
-  },
-
-  EventNameSP.silentDoorOpen: {
-    ET.WARNING: Alert(
-      "",
-      "",
-      AlertStatus.normal, AlertSize.none,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
-    ET.NO_ENTRY: NoEntryAlert("Door Open"),
-  },
-
-  EventNameSP.silentSeatbeltNotLatched: {
-    ET.WARNING: Alert(
-      "",
-      "",
-      AlertStatus.normal, AlertSize.none,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
-    ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"),
-  },
-
-  EventNameSP.silentParkBrake: {
-    ET.WARNING: Alert(
-      "",
-      "",
-      AlertStatus.normal, AlertSize.none,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
-    ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"),
-  },
-
-  EventNameSP.controlsMismatchLateral: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch: Lateral"),
-    ET.NO_ENTRY: NoEntryAlert("Controls Mismatch: Lateral"),
-  },
-
-  EventNameSP.hyundaiRadarTracksConfirmed: {
-    ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
-  },
-
-  EventNameSP.experimentalModeSwitched: {
-    ET.WARNING: NormalPermanentAlert("Experimental Mode Switched", duration=1.5)
-  }
-
-}
diff --git a/sunnypilot/selfdrive/selfdrived/events_base.py b/sunnypilot/selfdrive/selfdrived/events_base.py
deleted file mode 100644
index 505c500c409b93..00000000000000
--- a/sunnypilot/selfdrive/selfdrived/events_base.py
+++ /dev/null
@@ -1,225 +0,0 @@
-import bisect
-from enum import IntEnum
-from abc import abstractmethod
-from collections.abc import Callable
-
-from cereal import log, car
-import cereal.messaging as messaging
-from openpilot.common.realtime import DT_CTRL
-
-AlertSize = log.SelfdriveState.AlertSize
-AlertStatus = log.SelfdriveState.AlertStatus
-VisualAlert = car.CarControl.HUDControl.VisualAlert
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
-
-
-# Alert priorities
-class Priority(IntEnum):
-  LOWEST = 0
-  LOWER = 1
-  LOW = 2
-  MID = 3
-  HIGH = 4
-  HIGHEST = 5
-
-
-# Event types
-class ET:
-  ENABLE = 'enable'
-  PRE_ENABLE = 'preEnable'
-  OVERRIDE_LATERAL = 'overrideLateral'
-  OVERRIDE_LONGITUDINAL = 'overrideLongitudinal'
-  NO_ENTRY = 'noEntry'
-  WARNING = 'warning'
-  USER_DISABLE = 'userDisable'
-  SOFT_DISABLE = 'softDisable'
-  IMMEDIATE_DISABLE = 'immediateDisable'
-  PERMANENT = 'permanent'
-
-
-class Alert:
-  def __init__(self,
-               alert_text_1: str,
-               alert_text_2: str,
-               alert_status: log.SelfdriveState.AlertStatus,
-               alert_size: log.SelfdriveState.AlertSize,
-               priority: Priority,
-               visual_alert: car.CarControl.HUDControl.VisualAlert,
-               audible_alert: car.CarControl.HUDControl.AudibleAlert,
-               duration: float,
-               creation_delay: float = 0.):
-
-    self.alert_text_1 = alert_text_1
-    self.alert_text_2 = alert_text_2
-    self.alert_status = alert_status
-    self.alert_size = alert_size
-    self.priority = priority
-    self.visual_alert = visual_alert
-    self.audible_alert = audible_alert
-
-    self.duration = int(duration / DT_CTRL)
-
-    self.creation_delay = creation_delay
-
-    self.alert_type = ""
-    self.event_type: str | None = None
-
-  def __str__(self) -> str:
-    return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}"
-
-  def __gt__(self, alert2) -> bool:
-    if not isinstance(alert2, Alert):
-      return False
-    return self.priority > alert2.priority
-
-class AlertBase(Alert):
-  def __init__(self, alert_text_1: str, alert_text_2: str, alert_status: log.SelfdriveState.AlertStatus,
-               alert_size: log.SelfdriveState.AlertSize, priority: Priority,
-               visual_alert: car.CarControl.HUDControl.VisualAlert,
-               audible_alert: car.CarControl.HUDControl.AudibleAlert, duration: float):
-    super().__init__(alert_text_1, alert_text_2, alert_status, alert_size, priority, visual_alert, audible_alert, duration)
-
-
-AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster, bool, int, log.ControlsState], Alert]
-
-
-class EventsBase:
-  def __init__(self):
-    self.events: list[int] = []
-    self.static_events: list[int] = []
-    self.event_counters = {}
-
-  @property
-  def names(self) -> list[int]:
-    return self.events
-
-  def __len__(self) -> int:
-    return len(self.events)
-
-  def add(self, event_name: int, static: bool = False) -> None:
-    if static:
-      bisect.insort(self.static_events, event_name)
-    bisect.insort(self.events, event_name)
-
-  def clear(self) -> None:
-    self.event_counters = {k: (v + 1 if k in self.events else 0) for k, v in self.event_counters.items()}
-    self.events = self.static_events.copy()
-
-  def contains(self, event_type: str) -> bool:
-    return any(event_type in self.get_events_mapping().get(e, {}) for e in self.events)
-
-  def create_alerts(self, event_types: list[str], callback_args=None):
-    if callback_args is None:
-      callback_args = []
-
-    ret = []
-    for e in self.events:
-      types = self.get_events_mapping()[e].keys()
-      for et in event_types:
-        if et in types:
-          alert = self.get_events_mapping()[e][et]
-          if not isinstance(alert, Alert):
-            alert = alert(*callback_args)
-
-          if DT_CTRL * (self.event_counters[e] + 1) >= alert.creation_delay:
-            alert.alert_type = f"{self.get_event_name(e)}/{et}"
-            alert.event_type = et
-            ret.append(alert)
-    return ret
-
-  def add_from_msg(self, events):
-    for e in events:
-      bisect.insort(self.events, e.name.raw)
-
-  def to_msg(self):
-    ret = []
-    for event_name in self.events:
-      event = self.get_event_msg_type().new_message()
-      event.name = event_name
-      for event_type in self.get_events_mapping().get(event_name, {}):
-        setattr(event, event_type, True)
-      ret.append(event)
-    return ret
-
-  def has(self, event_name: int) -> bool:
-    return event_name in self.events
-
-  def contains_in_list(self, events_list: list[int]) -> bool:
-    return any(event_name in self.events for event_name in events_list)
-
-  def remove(self, event_name: int, static: bool = False) -> None:
-    if static and event_name in self.static_events:
-      self.static_events.remove(event_name)
-
-    if event_name in self.events:
-      self.event_counters[event_name] = self.event_counters[event_name] + 1
-      self.events.remove(event_name)
-
-  @abstractmethod
-  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]:
-    raise NotImplementedError
-
-  @abstractmethod
-  def get_event_name(self, event: int) -> str:
-    raise NotImplementedError
-
-  @abstractmethod
-  def get_event_msg_type(self):
-    raise NotImplementedError
-
-
-EmptyAlert = Alert("" , "", AlertStatus.normal, AlertSize.none, Priority.LOWEST,
-                   VisualAlert.none, AudibleAlert.none, 0)
-
-class NoEntryAlert(Alert):
-  def __init__(self, alert_text_2: str,
-               alert_text_1: str = "openpilot Unavailable",
-               visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
-    super().__init__(alert_text_1, alert_text_2, AlertStatus.normal,
-                     AlertSize.mid, Priority.LOW, visual_alert,
-                     AudibleAlert.refuse, 3.)
-
-
-class SoftDisableAlert(Alert):
-  def __init__(self, alert_text_2: str):
-    super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
-                     AlertStatus.userPrompt, AlertSize.full,
-                     Priority.MID, VisualAlert.steerRequired,
-                     AudibleAlert.warningSoft, 2.),
-
-
-# less harsh version of SoftDisable, where the condition is user-triggered
-class UserSoftDisableAlert(SoftDisableAlert):
-  def __init__(self, alert_text_2: str):
-    super().__init__(alert_text_2),
-    self.alert_text_1 = "openpilot will disengage"
-
-
-class ImmediateDisableAlert(Alert):
-  def __init__(self, alert_text_2: str):
-    super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
-                     AlertStatus.critical, AlertSize.full,
-                     Priority.HIGHEST, VisualAlert.steerRequired,
-                     AudibleAlert.warningImmediate, 4.),
-
-
-class EngagementAlert(Alert):
-  def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert):
-    super().__init__("", "",
-                     AlertStatus.normal, AlertSize.none,
-                     Priority.MID, VisualAlert.none,
-                     audible_alert, .2),
-
-
-class NormalPermanentAlert(Alert):
-  def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2, priority: Priority = Priority.LOWER, creation_delay: float = 0.):
-    super().__init__(alert_text_1, alert_text_2,
-                     AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small,
-                     priority, VisualAlert.none, AudibleAlert.none, duration, creation_delay=creation_delay),
-
-
-class StartupAlert(Alert):
-  def __init__(self, alert_text_1: str, alert_text_2: str = "Always keep hands on wheel and eyes on road", alert_status=AlertStatus.normal):
-    super().__init__(alert_text_1, alert_text_2,
-                     alert_status, AlertSize.mid,
-                     Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.),

From d08fd2578463e4ff152d4e914595e26da99949b7 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 20 Jan 2025 22:18:19 -0500
Subject: [PATCH 0088/1434] Events: Migrate sunnypilot onroad events to its own
 cereal (#603)

* Events: Migrate sunnypilot onroad events to its own cereal

* more

* slightly more

* typing

* fix more

* fix mads state machine tests

* readjust order

* fix event

* abstract

* need these

* move around

* let's make sure it cleared on every loop

* Update selfdrive/selfdrived/alertmanager.py

Co-authored-by: DevTekVE <devtekve@gmail.com>

* use upstream custom struct

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 cereal/custom.capnp                           |  33 +-
 cereal/log.capnp                              |  77 +----
 cereal/services.py                            |   1 +
 selfdrive/selfdrived/alertmanager.py          |   3 +-
 selfdrive/selfdrived/events.py                | 304 +-----------------
 selfdrive/selfdrived/selfdrived.py            |  29 +-
 .../selfdrived/tests/test_alertmanager.py     |   4 +-
 sunnypilot/mads/mads.py                       |  36 ++-
 sunnypilot/mads/state.py                      |  51 +--
 .../mads/tests/test_mads_state_machine.py     |  79 ++---
 sunnypilot/selfdrive/car/car_specific.py      |  10 +-
 sunnypilot/selfdrive/car/cruise_helpers.py    |   6 +-
 sunnypilot/selfdrive/selfdrived/__init__.py   |   0
 sunnypilot/selfdrive/selfdrived/events.py     | 133 ++++++++
 .../selfdrive/selfdrived/events_base.py       | 225 +++++++++++++
 15 files changed, 538 insertions(+), 453 deletions(-)
 create mode 100644 sunnypilot/selfdrive/selfdrived/__init__.py
 create mode 100644 sunnypilot/selfdrive/selfdrived/events.py
 create mode 100644 sunnypilot/selfdrive/selfdrived/events_base.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index f95e0bf810fa87..fbd96fba63f4ed 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -99,7 +99,38 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   }
 }
 
-struct CustomReserved3 @0xda96579883444c35 {
+struct OnroadEventSP @0xda96579883444c35 {
+  name @0 :EventName;
+
+  # event types
+  enable @1 :Bool;
+  noEntry @2 :Bool;
+  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
+  userDisable @4 :Bool;
+  softDisable @5 :Bool;
+  immediateDisable @6 :Bool;
+  preEnable @7 :Bool;
+  permanent @8 :Bool; # alerts presented regardless of openpilot state
+  overrideLateral @10 :Bool;
+  overrideLongitudinal @9 :Bool;
+
+  enum EventName {
+    lkasEnable @0;
+    lkasDisable @1;
+    manualSteeringRequired @2;
+    manualLongitudinalRequired @3;
+    silentLkasEnable @4;
+    silentLkasDisable @5;
+    silentBrakeHold @6;
+    silentWrongGear @7;
+    silentReverseGear @8;
+    silentDoorOpen @9;
+    silentSeatbeltNotLatched @10;
+    silentParkBrake @11;
+    controlsMismatchLateral @12;
+    hyundaiRadarTracksConfirmed @13;
+    experimentalModeSwitched @14;
+  }
 }
 
 struct CustomReserved4 @0x80ae746ee2596b11 {
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 45e9d0a8faafe8..f8000ec1ebb906 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -125,81 +125,6 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     espActive @90;
     personalityChanged @91;
     aeb @92;
-    eventReserved93 @93;
-    eventReserved94 @94;
-    eventReserved95 @95;
-    eventReserved96 @96;
-    eventReserved97 @97;
-    eventReserved98 @98;
-    eventReserved99 @99;
-    eventReserved100 @100;
-    eventReserved101 @101;
-    eventReserved102 @102;
-    eventReserved103 @103;
-    eventReserved104 @104;
-    eventReserved105 @105;
-    eventReserved106 @106;
-    eventReserved107 @107;
-    eventReserved108 @108;
-    eventReserved109 @109;
-    eventReserved110 @110;
-    eventReserved111 @111;
-    eventReserved112 @112;
-    eventReserved113 @113;
-    eventReserved114 @114;
-    eventReserved115 @115;
-    eventReserved116 @116;
-    eventReserved117 @117;
-    eventReserved118 @118;
-    eventReserved119 @119;
-    eventReserved120 @120;
-    eventReserved121 @121;
-    eventReserved122 @122;
-    eventReserved123 @123;
-    eventReserved124 @124;
-    eventReserved125 @125;
-    eventReserved126 @126;
-    eventReserved127 @127;
-    eventReserved128 @128;
-    eventReserved129 @129;
-    eventReserved130 @130;
-    eventReserved131 @131;
-    eventReserved132 @132;
-    eventReserved133 @133;
-    eventReserved134 @134;
-    eventReserved135 @135;
-    eventReserved136 @136;
-    eventReserved137 @137;
-    eventReserved138 @138;
-    eventReserved139 @139;
-    eventReserved140 @140;
-    eventReserved141 @141;
-    eventReserved142 @142;
-    eventReserved143 @143;
-    eventReserved144 @144;
-    eventReserved145 @145;
-    eventReserved146 @146;
-    eventReserved147 @147;
-    eventReserved148 @148;
-    eventReserved149 @149;
-    eventReserved150 @150;
-
-    # sunnypilot
-    lkasEnable @151;
-    lkasDisable @152;
-    manualSteeringRequired @153;
-    manualLongitudinalRequired @154;
-    silentLkasEnable @155;
-    silentLkasDisable @156;
-    silentBrakeHold @157;
-    silentWrongGear @158;
-    silentReverseGear @159;
-    silentDoorOpen @160;
-    silentSeatbeltNotLatched @161;
-    silentParkBrake @162;
-    controlsMismatchLateral @163;
-    hyundaiRadarTracksConfirmed @164;
-    experimentalModeSwitched @165;
 
     soundsUnavailableDEPRECATED @47;
   }
@@ -2643,7 +2568,7 @@ struct Event {
     selfdriveStateSP @107 :Custom.SelfdriveStateSP;
     modelManagerSP @108 :Custom.ModelManagerSP;
     longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
-    customReserved3 @110 :Custom.CustomReserved3;
+    onroadEventsSP @110 :List(Custom.OnroadEventSP);
     customReserved4 @111 :Custom.CustomReserved4;
     customReserved5 @112 :Custom.CustomReserved5;
     customReserved6 @113 :Custom.CustomReserved6;
diff --git a/cereal/services.py b/cereal/services.py
index ae4a35b3e4c7de..f2f3da04273f9c 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -78,6 +78,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "modelManagerSP": (False, 1., 1),
   "selfdriveStateSP": (True, 100., 10),
   "longitudinalPlanSP": (True, 20., 10),
+  "onroadEventsSP": (True, 1., 1),
 
   # debug
   "uiDebug": (True, 0., 1),
diff --git a/selfdrive/selfdrived/alertmanager.py b/selfdrive/selfdrived/alertmanager.py
index ac1006ff258c01..79897404e48f67 100644
--- a/selfdrive/selfdrived/alertmanager.py
+++ b/selfdrive/selfdrived/alertmanager.py
@@ -6,7 +6,8 @@
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.selfdrive.selfdrived.events import Alert, EmptyAlert
+from openpilot.selfdrive.selfdrived.events import Alert
+from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EmptyAlert
 
 
 with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as f:
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index ca068c0b15a3f2..3bc50cde18a3a7 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -1,9 +1,6 @@
 #!/usr/bin/env python3
-import bisect
 import math
 import os
-from enum import IntEnum
-from collections.abc import Callable
 
 from cereal import log, car
 import cereal.messaging as messaging
@@ -12,6 +9,11 @@
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
 
+from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
+  NoEntryAlert, SoftDisableAlert, UserSoftDisableAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, \
+  StartupAlert, AlertCallbackType
+
+
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -19,201 +21,23 @@
 EventName = log.OnroadEvent.EventName
 
 
-# Alert priorities
-class Priority(IntEnum):
-  LOWEST = 0
-  LOWER = 1
-  LOW = 2
-  MID = 3
-  HIGH = 4
-  HIGHEST = 5
-
-
-# Event types
-class ET:
-  ENABLE = 'enable'
-  PRE_ENABLE = 'preEnable'
-  OVERRIDE_LATERAL = 'overrideLateral'
-  OVERRIDE_LONGITUDINAL = 'overrideLongitudinal'
-  NO_ENTRY = 'noEntry'
-  WARNING = 'warning'
-  USER_DISABLE = 'userDisable'
-  SOFT_DISABLE = 'softDisable'
-  IMMEDIATE_DISABLE = 'immediateDisable'
-  PERMANENT = 'permanent'
-
-
 # get event name from enum
 EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}
 
 
-class Events:
+class Events(EventsBase):
   def __init__(self):
-    self.events: list[int] = []
-    self.static_events: list[int] = []
+    super().__init__()
     self.event_counters = dict.fromkeys(EVENTS.keys(), 0)
 
-  @property
-  def names(self) -> list[int]:
-    return self.events
-
-  def __len__(self) -> int:
-    return len(self.events)
-
-  def add(self, event_name: int, static: bool=False) -> None:
-    if static:
-      bisect.insort(self.static_events, event_name)
-    bisect.insort(self.events, event_name)
-
-  def clear(self) -> None:
-    self.event_counters = {k: (v + 1 if k in self.events else 0) for k, v in self.event_counters.items()}
-    self.events = self.static_events.copy()
-
-  def contains(self, event_type: str) -> bool:
-    return any(event_type in EVENTS.get(e, {}) for e in self.events)
-
-  def create_alerts(self, event_types: list[str], callback_args=None):
-    if callback_args is None:
-      callback_args = []
-
-    ret = []
-    for e in self.events:
-      types = EVENTS[e].keys()
-      for et in event_types:
-        if et in types:
-          alert = EVENTS[e][et]
-          if not isinstance(alert, Alert):
-            alert = alert(*callback_args)
-
-          if DT_CTRL * (self.event_counters[e] + 1) >= alert.creation_delay:
-            alert.alert_type = f"{EVENT_NAME[e]}/{et}"
-            alert.event_type = et
-            ret.append(alert)
-    return ret
-
-  def add_from_msg(self, events):
-    for e in events:
-      bisect.insort(self.events, e.name.raw)
-
-  def to_msg(self):
-    ret = []
-    for event_name in self.events:
-      event = log.OnroadEvent.new_message()
-      event.name = event_name
-      for event_type in EVENTS.get(event_name, {}):
-        setattr(event, event_type, True)
-      ret.append(event)
-    return ret
-
-  def has(self, event_name: int) -> bool:
-    return event_name in self.events
-
-  def contains_in_list(self, events_list: list[int]) -> bool:
-    return any(event_name in self.events for event_name in events_list)
-
-  def remove(self, event_name: int, static: bool = False) -> None:
-    if static and event_name in self.static_events:
-      self.static_events.remove(event_name)
-
-    if event_name in self.events:
-      self.event_counters[event_name] = self.event_counters[event_name] + 1
-      self.events.remove(event_name)
-
-  def replace(self, prev_event_name: int, cur_event_name: int, static: bool = False) -> None:
-    self.remove(prev_event_name, static)
-    self.add(cur_event_name, static)
-
-
-class Alert:
-  def __init__(self,
-               alert_text_1: str,
-               alert_text_2: str,
-               alert_status: log.SelfdriveState.AlertStatus,
-               alert_size: log.SelfdriveState.AlertSize,
-               priority: Priority,
-               visual_alert: car.CarControl.HUDControl.VisualAlert,
-               audible_alert: car.CarControl.HUDControl.AudibleAlert,
-               duration: float,
-               creation_delay: float = 0.):
-
-    self.alert_text_1 = alert_text_1
-    self.alert_text_2 = alert_text_2
-    self.alert_status = alert_status
-    self.alert_size = alert_size
-    self.priority = priority
-    self.visual_alert = visual_alert
-    self.audible_alert = audible_alert
-
-    self.duration = int(duration / DT_CTRL)
-
-    self.creation_delay = creation_delay
-
-    self.alert_type = ""
-    self.event_type: str | None = None
-
-  def __str__(self) -> str:
-    return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}"
-
-  def __gt__(self, alert2) -> bool:
-    if not isinstance(alert2, Alert):
-      return False
-    return self.priority > alert2.priority
-
-EmptyAlert = Alert("" , "", AlertStatus.normal, AlertSize.none, Priority.LOWEST,
-                   VisualAlert.none, AudibleAlert.none, 0)
-
-class NoEntryAlert(Alert):
-  def __init__(self, alert_text_2: str,
-               alert_text_1: str = "openpilot Unavailable",
-               visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
-    super().__init__(alert_text_1, alert_text_2, AlertStatus.normal,
-                     AlertSize.mid, Priority.LOW, visual_alert,
-                     AudibleAlert.refuse, 3.)
-
-
-class SoftDisableAlert(Alert):
-  def __init__(self, alert_text_2: str):
-    super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
-                     AlertStatus.userPrompt, AlertSize.full,
-                     Priority.MID, VisualAlert.steerRequired,
-                     AudibleAlert.warningSoft, 2.),
-
-
-# less harsh version of SoftDisable, where the condition is user-triggered
-class UserSoftDisableAlert(SoftDisableAlert):
-  def __init__(self, alert_text_2: str):
-    super().__init__(alert_text_2),
-    self.alert_text_1 = "openpilot will disengage"
-
-
-class ImmediateDisableAlert(Alert):
-  def __init__(self, alert_text_2: str):
-    super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
-                     AlertStatus.critical, AlertSize.full,
-                     Priority.HIGHEST, VisualAlert.steerRequired,
-                     AudibleAlert.warningImmediate, 4.),
-
-
-class EngagementAlert(Alert):
-  def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert):
-    super().__init__("", "",
-                     AlertStatus.normal, AlertSize.none,
-                     Priority.MID, VisualAlert.none,
-                     audible_alert, .2),
-
-
-class NormalPermanentAlert(Alert):
-  def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2, priority: Priority = Priority.LOWER, creation_delay: float = 0.):
-    super().__init__(alert_text_1, alert_text_2,
-                     AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small,
-                     priority, VisualAlert.none, AudibleAlert.none, duration, creation_delay=creation_delay),
+  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]:
+    return EVENTS
 
+  def get_event_name(self, event: int):
+    return EVENT_NAME[event]
 
-class StartupAlert(Alert):
-  def __init__(self, alert_text_1: str, alert_text_2: str = "Always keep hands on wheel and eyes on road", alert_status=AlertStatus.normal):
-    super().__init__(alert_text_1, alert_text_2,
-                     alert_status, AlertSize.mid,
-                     Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.),
+  def get_event_msg_type(self):
+    return log.OnroadEvent
 
 
 # ********** helper functions **********
@@ -225,8 +49,6 @@ def get_display_speed(speed_ms: float, metric: bool) -> str:
 
 # ********** alert callback functions **********
 
-AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster, bool, int, log.ControlsState], Alert]
-
 
 def soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
   def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
@@ -972,106 +794,6 @@ def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
     ET.WARNING: personality_changed_alert,
   },
 
-  # sunnypilot
-  EventName.lkasEnable: {
-    ET.ENABLE: EngagementAlert(AudibleAlert.engage),
-  },
-
-  EventName.lkasDisable: {
-    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
-  },
-
-  EventName.manualSteeringRequired: {
-    ET.USER_DISABLE: Alert(
-      "Automatic Lane Centering is OFF",
-      "Manual Steering Required",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.disengage, 1.),
-  },
-
-  EventName.manualLongitudinalRequired: {
-    ET.WARNING: Alert(
-      "Smart/Adaptive Cruise Control: OFF",
-      "Manual Speed Control Required",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
-  },
-
-  EventName.silentLkasEnable: {
-    ET.ENABLE: EngagementAlert(AudibleAlert.none),
-  },
-
-  EventName.silentLkasDisable: {
-    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
-  },
-
-  EventName.silentBrakeHold: {
-    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
-    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
-  },
-
-  EventName.silentWrongGear: {
-    ET.WARNING: Alert(
-      "",
-      "",
-      AlertStatus.normal, AlertSize.none,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
-    ET.NO_ENTRY: Alert(
-      "Gear not D",
-      "openpilot Unavailable",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.),
-  },
-
-  EventName.silentReverseGear: {
-    ET.PERMANENT: Alert(
-      "Reverse\nGear",
-      "",
-      AlertStatus.normal, AlertSize.full,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
-    ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
-  },
-
-  EventName.silentDoorOpen: {
-    ET.WARNING: Alert(
-      "",
-      "",
-      AlertStatus.normal, AlertSize.none,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
-    ET.NO_ENTRY: NoEntryAlert("Door Open"),
-  },
-
-  EventName.silentSeatbeltNotLatched: {
-    ET.WARNING: Alert(
-      "",
-      "",
-      AlertStatus.normal, AlertSize.none,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
-    ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"),
-  },
-
-  EventName.silentParkBrake: {
-    ET.WARNING: Alert(
-      "",
-      "",
-      AlertStatus.normal, AlertSize.none,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
-    ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"),
-  },
-
-  EventName.controlsMismatchLateral: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch: Lateral"),
-    ET.NO_ENTRY: NoEntryAlert("Controls Mismatch: Lateral"),
-  },
-
-  EventName.hyundaiRadarTracksConfirmed: {
-    ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
-  },
-
-  EventName.experimentalModeSwitched: {
-    ET.WARNING: NormalPermanentAlert("Experimental Mode Switched", duration=1.5)
-  }
-
 }
 
 
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 17dd70b3a461a1..1c669621afb1d2 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -26,6 +26,7 @@
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
@@ -135,8 +136,11 @@ def __init__(self, CP=None):
     elif self.CP.passive:
       self.events.add(EventName.dashcamMode, static=True)
 
+    self.events_sp = EventsSP()
+    self.events_sp_prev = []
+
     self.mads = ModularAssistiveDrivingSystem(self)
-    sock_services = list(self.pm.sock.keys()) + ['selfdriveStateSP']
+    sock_services = list(self.pm.sock.keys()) + ['selfdriveStateSP', 'onroadEventsSP']
     self.pm = messaging.PubMaster(sock_services)
 
     self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
@@ -147,6 +151,7 @@ def update_events(self, CS):
     """Compute onroadEvents from carState"""
 
     self.events.clear()
+    self.events_sp.clear()
 
     if self.sm['controlsState'].lateralControlState.which() == 'debugState':
       self.events.add(EventName.joystickDebug)
@@ -184,7 +189,7 @@ def update_events(self, CS):
       self.events.add_from_msg(car_events)
 
       car_events_sp = self.car_events_sp.update().to_msg()
-      self.events.add_from_msg(car_events_sp)
+      self.events_sp.add_from_msg(car_events_sp)
 
       if self.CP.notCar:
         # wait for everything to init first
@@ -370,7 +375,7 @@ def update_events(self, CS):
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
 
-    CruiseHelper.update(self, CS, self.events, self.experimental_mode)
+    CruiseHelper.update(self, CS, self.events_sp, self.experimental_mode)
 
     # decrement personality on distance button press
     if self.CP.openpilotLongitudinalControl:
@@ -436,9 +441,13 @@ def update_alerts(self, CS):
       clear_event_types.add(ET.NO_ENTRY)
 
     pers = LONGITUDINAL_PERSONALITY_MAP[self.personality]
-    alerts = self.events.create_alerts(self.state_machine.current_alert_types, [self.CP, CS, self.sm, self.is_metric,
-                                                                                self.state_machine.soft_disable_timer, pers])
-    self.AM.add_many(self.sm.frame, alerts)
+    callback_args = [self.CP, CS, self.sm, self.is_metric,
+                     self.state_machine.soft_disable_timer, pers]
+
+    alerts = self.events.create_alerts(self.state_machine.current_alert_types, callback_args)
+    alerts_sp = self.events_sp.create_alerts(self.state_machine.current_alert_types, callback_args)
+
+    self.AM.add_many(self.sm.frame, alerts + alerts_sp)
     self.AM.process_alerts(self.sm.frame, clear_event_types)
 
   def publish_selfdriveState(self, CS):
@@ -483,6 +492,14 @@ def publish_selfdriveState(self, CS):
 
     self.pm.send('selfdriveStateSP', ss_sp_msg)
 
+    # onroadEventsSP - logged every second or on change
+    if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events_sp.names != self.events_sp_prev):
+      ce_send_sp = messaging.new_message('onroadEventsSP', len(self.events_sp))
+      ce_send_sp.valid = True
+      ce_send_sp.onroadEventsSP = self.events_sp.to_msg()
+      self.pm.send('onroadEventsSP', ce_send_sp)
+    self.events_sp_prev = self.events_sp.names.copy()
+
   def step(self):
     CS = self.data_sample()
     self.update_events(CS)
diff --git a/selfdrive/selfdrived/tests/test_alertmanager.py b/selfdrive/selfdrived/tests/test_alertmanager.py
index 030b7d4515c2f2..8f7c79878c76a6 100644
--- a/selfdrive/selfdrived/tests/test_alertmanager.py
+++ b/selfdrive/selfdrived/tests/test_alertmanager.py
@@ -1,8 +1,10 @@
 import random
 
-from openpilot.selfdrive.selfdrived.events import Alert, EmptyAlert, EVENTS
+from openpilot.selfdrive.selfdrived.events import Alert, EVENTS
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager
 
+from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EmptyAlert
+
 
 class TestAlertManager:
 
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 81c9d6fb5c417a..aa002bb5dd0e37 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -35,6 +35,7 @@
 State = custom.SelfdriveStateSP.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = log.OnroadEvent.EventName
+EventNameSP = custom.OnroadEventSP.EventName
 SafetyModel = car.CarParams.SafetyModel
 
 SET_SPEED_BUTTONS = (ButtonType.accelCruise, ButtonType.resumeCruise, ButtonType.decelCruise, ButtonType.setCruise)
@@ -53,6 +54,7 @@ def __init__(self, selfdrive):
     self.selfdrive.enabled_prev = False
     self.state_machine = StateMachine(self)
     self.events = self.selfdrive.events
+    self.events_sp = self.selfdrive.events_sp
 
     if self.selfdrive.CP.carName == "hyundai":
       if (self.selfdrive.CP.sunnypilotFlags & HyundaiFlagsSP.HAS_LFA_BUTTON) or \
@@ -78,26 +80,30 @@ def update_unified_engagement_mode():
 
     def transition_paused_state():
       if self.state_machine.state != State.paused:
-        self.events.add(EventName.silentLkasDisable)
+        self.events_sp.add(EventNameSP.silentLkasDisable)
+
+    def replace_event(old_event: int, new_event: int):
+      self.events.remove(old_event)
+      self.events_sp.add(new_event)
 
     if not self.selfdrive.enabled and self.enabled:
       if self.events.has(EventName.doorOpen):
-        self.events.replace(EventName.doorOpen, EventName.silentDoorOpen)
+        replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen)
         transition_paused_state()
       if self.events.has(EventName.seatbeltNotLatched):
-        self.events.replace(EventName.seatbeltNotLatched, EventName.silentSeatbeltNotLatched)
+        replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
         transition_paused_state()
       if self.events.has(EventName.wrongGear):
-        self.events.replace(EventName.wrongGear, EventName.silentWrongGear)
+        replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
         transition_paused_state()
       if self.events.has(EventName.reverseGear):
-        self.events.replace(EventName.reverseGear, EventName.silentReverseGear)
+        replace_event(EventName.reverseGear, EventNameSP.silentReverseGear)
         transition_paused_state()
       if self.events.has(EventName.brakeHold):
-        self.events.replace(EventName.brakeHold, EventName.silentBrakeHold)
+        replace_event(EventName.brakeHold, EventNameSP.silentBrakeHold)
         transition_paused_state()
       if self.events.has(EventName.parkBrake):
-        self.events.replace(EventName.parkBrake, EventName.silentParkBrake)
+        replace_event(EventName.parkBrake, EventNameSP.silentParkBrake)
         transition_paused_state()
 
       if self.pause_lateral_on_brake_toggle:
@@ -107,7 +113,7 @@ def transition_paused_state():
       if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \
          not self.events.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
         if self.state_machine.state == State.paused:
-          self.events.add(EventName.silentLkasEnable)
+          self.events_sp.add(EventNameSP.silentLkasEnable)
 
       self.events.remove(EventName.preEnableStandstill)
       self.events.remove(EventName.belowEngageSpeed)
@@ -120,25 +126,25 @@ def transition_paused_state():
     else:
       if self.main_enabled_toggle:
         if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available:
-          self.events.add(EventName.lkasEnable)
+          self.events_sp.add(EventNameSP.lkasEnable)
 
     for be in CS.buttonEvents:
       if be.type == ButtonType.cancel:
         if not self.selfdrive.enabled and self.selfdrive.enabled_prev:
-          self.events.add(EventName.manualLongitudinalRequired)
+          self.events_sp.add(EventNameSP.manualLongitudinalRequired)
       if be.type == ButtonType.lkas and be.pressed and (CS.cruiseState.available or self.allow_always):
         if self.enabled:
           if self.selfdrive.enabled:
-            self.events.add(EventName.manualSteeringRequired)
+            self.events_sp.add(EventNameSP.manualSteeringRequired)
           else:
-            self.events.add(EventName.lkasDisable)
+            self.events_sp.add(EventNameSP.lkasDisable)
         else:
-          self.events.add(EventName.lkasEnable)
+          self.events_sp.add(EventNameSP.lkasEnable)
 
     if not CS.cruiseState.available:
       self.events.remove(EventName.buttonEnable)
       if self.selfdrive.CS_prev.cruiseState.available:
-        self.events.add(EventName.lkasDisable)
+        self.events_sp.add(EventNameSP.lkasDisable)
 
     self.events.remove(EventName.pcmDisable)
     self.events.remove(EventName.buttonCancel)
@@ -154,7 +160,7 @@ def update(self, CS: car.CarState):
     self.update_events(CS)
 
     if not self.selfdrive.CP.passive and self.selfdrive.initialized:
-      self.enabled, self.active = self.state_machine.update(self.events)
+      self.enabled, self.active = self.state_machine.update(self.events, self.events_sp)
 
     # Copy of previous SelfdriveD states for MADS events handling
     self.selfdrive.enabled_prev = self.selfdrive.enabled
diff --git a/sunnypilot/mads/state.py b/sunnypilot/mads/state.py
index de6ed537d4d0ab..092a3113451354 100644
--- a/sunnypilot/mads/state.py
+++ b/sunnypilot/mads/state.py
@@ -29,14 +29,17 @@
 from openpilot.selfdrive.selfdrived.state import SOFT_DISABLE_TIME
 from openpilot.common.realtime import DT_CTRL
 
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+
 State = custom.SelfdriveStateSP.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 EventName = log.OnroadEvent.EventName
+EventNameSP = custom.OnroadEventSP.EventName
 
 ACTIVE_STATES = (State.enabled, State.softDisabling, State.overriding)
 ENABLED_STATES = (State.paused, *ACTIVE_STATES)
 
-GEARS_ALLOW_PAUSED_SILENT = [EventName.silentWrongGear, EventName.silentReverseGear, EventName.silentBrakeHold,
-                             EventName.silentDoorOpen, EventName.silentSeatbeltNotLatched, EventName.silentParkBrake]
+GEARS_ALLOW_PAUSED_SILENT = [EventNameSP.silentWrongGear, EventNameSP.silentReverseGear, EventNameSP.silentBrakeHold,
+                             EventNameSP.silentDoorOpen, EventNameSP.silentSeatbeltNotLatched, EventNameSP.silentParkBrake]
 GEARS_ALLOW_PAUSED = [EventName.wrongGear, EventName.reverseGear, EventName.brakeHold,
                       EventName.doorOpen, EventName.seatbeltNotLatched, EventName.parkBrake,
                       *GEARS_ALLOW_PAUSED_SILENT]
@@ -49,45 +52,57 @@ def __init__(self, mads):
 
     self.state = State.disabled
 
+    self._events = Events()
+    self._events_sp = EventsSP()
+
   def add_current_alert_types(self, alert_type):
     if not self.selfdrive.enabled:
       self.ss_state_machine.current_alert_types.append(alert_type)
 
-  def update(self, events: Events):
+  def check_contains(self, event_type: str) -> bool:
+    return bool(self._events.contains(event_type) or self._events_sp.contains(event_type))
+
+  def check_contains_in_list(self, events_list: list[int]) -> bool:
+    return bool(self._events.contains_in_list(events_list) or self._events_sp.contains_in_list(events_list))
+
+  def update(self, events: Events, events_sp: EventsSP):
     # soft disable timer and current alert types are from the state machine of openpilot
     # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state
 
+    self._events = events
+    self._events_sp = events_sp
+
     # ENABLED, SOFT DISABLING, PAUSED, OVERRIDING
     if self.state != State.disabled:
       # user and immediate disable always have priority in a non-disabled state
-      if events.contains(ET.USER_DISABLE):
-        if events.has(EventName.silentLkasDisable) or events.has(EventName.silentBrakeHold):
+      if self.check_contains(ET.USER_DISABLE):
+        if events_sp.has(EventNameSP.silentLkasDisable) or events_sp.has(EventNameSP.silentBrakeHold):
           self.state = State.paused
         else:
           self.state = State.disabled
         self.ss_state_machine.current_alert_types.append(ET.USER_DISABLE)
 
-      elif events.contains(ET.IMMEDIATE_DISABLE):
+      elif self.check_contains(ET.IMMEDIATE_DISABLE):
         self.state = State.disabled
         self.add_current_alert_types(ET.IMMEDIATE_DISABLE)
 
       else:
         # ENABLED
         if self.state == State.enabled:
-          if events.contains(ET.SOFT_DISABLE):
+          if self.check_contains(ET.SOFT_DISABLE):
             self.state = State.softDisabling
             if not self.selfdrive.enabled:
               self.ss_state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
               self.ss_state_machine.current_alert_types.append(ET.SOFT_DISABLE)
 
-          elif events.contains(ET.OVERRIDE_LATERAL):
+          elif self.check_contains(ET.OVERRIDE_LATERAL):
             self.state = State.overriding
             self.add_current_alert_types(ET.OVERRIDE_LATERAL)
 
         # SOFT DISABLING
         elif self.state == State.softDisabling:
-          if not events.contains(ET.SOFT_DISABLE):
+          if not self.check_contains(ET.SOFT_DISABLE):
             # no more soft disabling condition, so go back to ENABLED
             self.state = State.enabled
 
@@ -99,12 +114,12 @@ def update(self, events: Events):
 
         # PAUSED
         elif self.state == State.paused:
-          if events.contains(ET.ENABLE):
-            if events.contains(ET.NO_ENTRY):
+          if self.check_contains(ET.ENABLE):
+            if self.check_contains(ET.NO_ENTRY):
               self.add_current_alert_types(ET.NO_ENTRY)
 
             else:
-              if events.contains(ET.OVERRIDE_LATERAL):
+              if self.check_contains(ET.OVERRIDE_LATERAL):
                 self.state = State.overriding
               else:
                 self.state = State.enabled
@@ -112,26 +127,26 @@ def update(self, events: Events):
 
         # OVERRIDING
         elif self.state == State.overriding:
-          if events.contains(ET.SOFT_DISABLE):
+          if self.check_contains(ET.SOFT_DISABLE):
             self.state = State.softDisabling
             if not self.selfdrive.enabled:
               self.ss_state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
               self.ss_state_machine.current_alert_types.append(ET.SOFT_DISABLE)
-          elif not events.contains(ET.OVERRIDE_LATERAL):
+          elif not self.check_contains(ET.OVERRIDE_LATERAL):
             self.state = State.enabled
           else:
             self.ss_state_machine.current_alert_types += [ET.OVERRIDE_LATERAL]
 
     # DISABLED
     elif self.state == State.disabled:
-      if events.contains(ET.ENABLE):
-        if events.contains(ET.NO_ENTRY):
-          if events.contains_in_list(GEARS_ALLOW_PAUSED):
+      if self.check_contains(ET.ENABLE):
+        if self.check_contains(ET.NO_ENTRY):
+          if self.check_contains_in_list(GEARS_ALLOW_PAUSED):
             self.state = State.paused
           self.add_current_alert_types(ET.NO_ENTRY)
 
         else:
-          if events.contains(ET.OVERRIDE_LATERAL):
+          if self.check_contains(ET.OVERRIDE_LATERAL):
             self.state = State.overriding
           else:
             self.state = State.enabled
diff --git a/sunnypilot/mads/tests/test_mads_state_machine.py b/sunnypilot/mads/tests/test_mads_state_machine.py
index 5646c96760869d..97412f7b7d5a94 100644
--- a/sunnypilot/mads/tests/test_mads_state_machine.py
+++ b/sunnypilot/mads/tests/test_mads_state_machine.py
@@ -27,13 +27,14 @@
 import pytest
 from pytest_mock import MockerFixture
 
-from cereal import log, custom
+from cereal import custom
 from openpilot.common.realtime import DT_CTRL
 from openpilot.sunnypilot.mads.state import StateMachine, SOFT_DISABLE_TIME, GEARS_ALLOW_PAUSED
-from openpilot.selfdrive.selfdrived.events import Events, ET, EVENTS, NormalPermanentAlert
+from openpilot.selfdrive.selfdrived.events import ET, NormalPermanentAlert
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EVENTS_SP
 
 State = custom.SelfdriveStateSP.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
-EventName = log.OnroadEvent.EventName
+EventNameSP = custom.OnroadEventSP.EventName
 
 # The event types that maintain the current state
 MAINTAIN_STATES = {State.enabled: (None,), State.disabled: (None,), State.softDisabling: (ET.SOFT_DISABLE,),
@@ -47,7 +48,7 @@ def make_event(event_types):
   event = {}
   for ev in event_types:
     event[ev] = NormalPermanentAlert("alert")
-  EVENTS[0] = event
+  EVENTS_SP[0] = event
   return 0
 
 
@@ -62,87 +63,93 @@ class TestMADSStateMachine:
   @pytest.fixture(autouse=True)
   def setup_method(self, mocker: MockerFixture):
     self.mads = MockMADS(mocker)
-    self.events = Events()
     self.state_machine = StateMachine(self.mads)
+    self.events = self.state_machine._events
+    self.events_sp = self.state_machine._events_sp
     self.mads.selfdrive.state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
 
+  def reset(self):
+    self.events.clear()
+    self.events_sp.clear()
+    self.state_machine.state = State.disabled
+
   def test_immediate_disable(self):
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
-        self.events.add(make_event([et, ET.IMMEDIATE_DISABLE]))
+        self.events_sp.add(make_event([et, ET.IMMEDIATE_DISABLE]))
         self.state_machine.state = state
-        self.state_machine.update(self.events)
+        self.state_machine.update(self.events, self.events_sp)
         assert State.disabled == self.state_machine.state
-        self.events.clear()
+        self.reset()
 
   def test_user_disable(self):
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
-        self.events.add(make_event([et, ET.USER_DISABLE]))
+        self.events_sp.add(make_event([et, ET.USER_DISABLE]))
         self.state_machine.state = state
-        self.state_machine.update(self.events)
+        self.state_machine.update(self.events, self.events_sp)
         assert State.disabled == self.state_machine.state
-        self.events.clear()
+        self.reset()
 
   def test_user_disable_to_paused(self):
-    paused_events = (EventName.silentLkasDisable, EventName.silentBrakeHold)
+    paused_events = (EventNameSP.silentLkasDisable, EventNameSP.silentBrakeHold)
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
-        self.events.add(make_event([et, ET.USER_DISABLE]))
+        self.events_sp.add(make_event([et, ET.USER_DISABLE]))
         for en in paused_events:
-          self.events.add(en)
+          self.events_sp.add(en)
           self.state_machine.state = state
-          self.state_machine.update(self.events)
-          final_state = State.paused if self.events.has(en) and state != State.disabled else State.disabled
+          self.state_machine.update(self.events, self.events_sp)
+          final_state = State.paused if self.events_sp.has(en) and state != State.disabled else State.disabled
           assert self.state_machine.state == final_state
-          self.events.clear()
+          self.reset()
 
   def test_soft_disable(self):
     for state in ALL_STATES:
       if state == State.paused:  # paused considers USER_DISABLE instead
         continue
       for et in MAINTAIN_STATES[state]:
-        self.events.add(make_event([et, ET.SOFT_DISABLE]))
+        self.events_sp.add(make_event([et, ET.SOFT_DISABLE]))
         self.state_machine.state = state
-        self.state_machine.update(self.events)
+        self.state_machine.update(self.events, self.events_sp)
         assert self.state_machine.state == State.disabled if state == State.disabled else State.softDisabling
-        self.events.clear()
+        self.reset()
 
   def test_soft_disable_timer(self):
     self.state_machine.state = State.enabled
-    self.events.add(make_event([ET.SOFT_DISABLE]))
-    self.state_machine.update(self.events)
+    self.events_sp.add(make_event([ET.SOFT_DISABLE]))
+    self.state_machine.update(self.events, self.events_sp)
     for _ in range(int(SOFT_DISABLE_TIME / DT_CTRL)):
       assert self.state_machine.state == State.softDisabling
       self.mads.selfdrive.state_machine.soft_disable_timer -= 1
-      self.state_machine.update(self.events)
+      self.state_machine.update(self.events, self.events_sp)
 
     assert self.state_machine.state == State.disabled
 
   def test_no_entry(self):
     for et in ENABLE_EVENT_TYPES:
-      self.events.add(make_event([ET.NO_ENTRY, et]))
-      if not self.events.contains_in_list(GEARS_ALLOW_PAUSED):
-        self.state_machine.update(self.events)
+      self.events_sp.add(make_event([ET.NO_ENTRY, et]))
+      if not self.state_machine.check_contains_in_list(GEARS_ALLOW_PAUSED):
+        self.state_machine.update(self.events, self.events_sp)
         assert self.state_machine.state == State.disabled
-        self.events.clear()
+        self.reset()
 
   def test_no_entry_paused(self):
     self.state_machine.state = State.paused
-    self.events.add(make_event([ET.NO_ENTRY]))
-    self.state_machine.update(self.events)
+    self.events_sp.add(make_event([ET.NO_ENTRY]))
+    self.state_machine.update(self.events, self.events_sp)
     assert self.state_machine.state == State.paused
 
   def test_override_lateral(self):
     self.state_machine.state = State.enabled
-    self.events.add(make_event([ET.OVERRIDE_LATERAL]))
-    self.state_machine.update(self.events)
+    self.events_sp.add(make_event([ET.OVERRIDE_LATERAL]))
+    self.state_machine.update(self.events, self.events_sp)
     assert self.state_machine.state == State.overriding
 
   def test_paused_to_enabled(self):
     self.state_machine.state = State.paused
-    self.events.add(make_event([ET.ENABLE]))
-    self.state_machine.update(self.events)
+    self.events_sp.add(make_event([ET.ENABLE]))
+    self.state_machine.update(self.events, self.events_sp)
     assert self.state_machine.state == State.enabled
 
   def test_maintain_states(self):
@@ -150,7 +157,7 @@ def test_maintain_states(self):
       for et in MAINTAIN_STATES[state]:
         self.state_machine.state = state
         if et is not None:
-          self.events.add(make_event([et]))
-        self.state_machine.update(self.events)
+          self.events_sp.add(make_event([et]))
+        self.state_machine.update(self.events, self.events_sp)
         assert self.state_machine.state == state
-        self.events.clear()
+        self.reset()
diff --git a/sunnypilot/selfdrive/car/car_specific.py b/sunnypilot/selfdrive/car/car_specific.py
index 5abb5603d6a472..a8ad11ae309bdb 100644
--- a/sunnypilot/selfdrive/car/car_specific.py
+++ b/sunnypilot/selfdrive/car/car_specific.py
@@ -5,12 +5,12 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import log
+from cereal import custom
 from opendbc.car import structs
 
-from openpilot.selfdrive.selfdrived.events import Events
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
-EventName = log.OnroadEvent.EventName
+EventNameSP = custom.OnroadEventSP.EventName
 
 
 class CarSpecificEventsSP:
@@ -26,9 +26,9 @@ def read_params(self):
     self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed")
 
   def update(self):
-    events = Events()
+    events = EventsSP()
     if self.CP.carName == 'hyundai':
       if self.hyundai_radar_tracks and not self.hyundai_radar_tracks_confirmed:
-        events.add(EventName.hyundaiRadarTracksConfirmed)
+        events.add(EventNameSP.hyundaiRadarTracksConfirmed)
 
     return events
diff --git a/sunnypilot/selfdrive/car/cruise_helpers.py b/sunnypilot/selfdrive/car/cruise_helpers.py
index 24ad6638de035d..1c0026e12fd5b4 100644
--- a/sunnypilot/selfdrive/car/cruise_helpers.py
+++ b/sunnypilot/selfdrive/car/cruise_helpers.py
@@ -5,12 +5,12 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import car, log
+from cereal import car, custom
 from opendbc.car import structs
 from openpilot.common.params import Params
 
 ButtonType = car.CarState.ButtonEvent.Type
-EventName = log.OnroadEvent.EventName
+EventNameSP = custom.OnroadEventSP.EventName
 
 DISTANCE_LONG_PRESS = 50
 
@@ -46,5 +46,5 @@ def update_experimental_mode(self, events, experimental_mode) -> None:
     if self.button_frame_counts[ButtonType.gapAdjustCruise] >= DISTANCE_LONG_PRESS and not self.experimental_mode_switched:
       self._experimental_mode = not experimental_mode
       self.params.put_bool_nonblocking("ExperimentalMode", self._experimental_mode)
-      events.add(EventName.experimentalModeSwitched)
+      events.add(EventNameSP.experimentalModeSwitched)
       self.experimental_mode_switched = True
diff --git a/sunnypilot/selfdrive/selfdrived/__init__.py b/sunnypilot/selfdrive/selfdrived/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py
new file mode 100644
index 00000000000000..ac564692a82834
--- /dev/null
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -0,0 +1,133 @@
+from cereal import log, car, custom
+from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
+  NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType
+
+
+AlertSize = log.SelfdriveState.AlertSize
+AlertStatus = log.SelfdriveState.AlertStatus
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+EventNameSP = custom.OnroadEventSP.EventName
+
+
+# get event name from enum
+EVENT_NAME_SP = {v: k for k, v in EventNameSP.schema.enumerants.items()}
+
+
+class EventsSP(EventsBase):
+  def __init__(self):
+    super().__init__()
+    self.event_counters = dict.fromkeys(EVENTS_SP.keys(), 0)
+
+  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]:
+    return EVENTS_SP
+
+  def get_event_name(self, event: int):
+    return EVENT_NAME_SP[event]
+
+  def get_event_msg_type(self):
+    return custom.OnroadEventSP
+
+
+EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
+  # sunnypilot
+  EventNameSP.lkasEnable: {
+    ET.ENABLE: EngagementAlert(AudibleAlert.engage),
+  },
+
+  EventNameSP.lkasDisable: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+  },
+
+  EventNameSP.manualSteeringRequired: {
+    ET.USER_DISABLE: Alert(
+      "Automatic Lane Centering is OFF",
+      "Manual Steering Required",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.disengage, 1.),
+  },
+
+  EventNameSP.manualLongitudinalRequired: {
+    ET.WARNING: Alert(
+      "Smart/Adaptive Cruise Control: OFF",
+      "Manual Speed Control Required",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
+  },
+
+  EventNameSP.silentLkasEnable: {
+    ET.ENABLE: EngagementAlert(AudibleAlert.none),
+  },
+
+  EventNameSP.silentLkasDisable: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
+  },
+
+  EventNameSP.silentBrakeHold: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
+    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
+  },
+
+  EventNameSP.silentWrongGear: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: Alert(
+      "Gear not D",
+      "openpilot Unavailable",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.),
+  },
+
+  EventNameSP.silentReverseGear: {
+    ET.PERMANENT: Alert(
+      "Reverse\nGear",
+      "",
+      AlertStatus.normal, AlertSize.full,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
+    ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
+  },
+
+  EventNameSP.silentDoorOpen: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Door Open"),
+  },
+
+  EventNameSP.silentSeatbeltNotLatched: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"),
+  },
+
+  EventNameSP.silentParkBrake: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"),
+  },
+
+  EventNameSP.controlsMismatchLateral: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch: Lateral"),
+    ET.NO_ENTRY: NoEntryAlert("Controls Mismatch: Lateral"),
+  },
+
+  EventNameSP.hyundaiRadarTracksConfirmed: {
+    ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
+  },
+
+  EventNameSP.experimentalModeSwitched: {
+    ET.WARNING: NormalPermanentAlert("Experimental Mode Switched", duration=1.5)
+  }
+
+}
diff --git a/sunnypilot/selfdrive/selfdrived/events_base.py b/sunnypilot/selfdrive/selfdrived/events_base.py
new file mode 100644
index 00000000000000..505c500c409b93
--- /dev/null
+++ b/sunnypilot/selfdrive/selfdrived/events_base.py
@@ -0,0 +1,225 @@
+import bisect
+from enum import IntEnum
+from abc import abstractmethod
+from collections.abc import Callable
+
+from cereal import log, car
+import cereal.messaging as messaging
+from openpilot.common.realtime import DT_CTRL
+
+AlertSize = log.SelfdriveState.AlertSize
+AlertStatus = log.SelfdriveState.AlertStatus
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+
+
+# Alert priorities
+class Priority(IntEnum):
+  LOWEST = 0
+  LOWER = 1
+  LOW = 2
+  MID = 3
+  HIGH = 4
+  HIGHEST = 5
+
+
+# Event types
+class ET:
+  ENABLE = 'enable'
+  PRE_ENABLE = 'preEnable'
+  OVERRIDE_LATERAL = 'overrideLateral'
+  OVERRIDE_LONGITUDINAL = 'overrideLongitudinal'
+  NO_ENTRY = 'noEntry'
+  WARNING = 'warning'
+  USER_DISABLE = 'userDisable'
+  SOFT_DISABLE = 'softDisable'
+  IMMEDIATE_DISABLE = 'immediateDisable'
+  PERMANENT = 'permanent'
+
+
+class Alert:
+  def __init__(self,
+               alert_text_1: str,
+               alert_text_2: str,
+               alert_status: log.SelfdriveState.AlertStatus,
+               alert_size: log.SelfdriveState.AlertSize,
+               priority: Priority,
+               visual_alert: car.CarControl.HUDControl.VisualAlert,
+               audible_alert: car.CarControl.HUDControl.AudibleAlert,
+               duration: float,
+               creation_delay: float = 0.):
+
+    self.alert_text_1 = alert_text_1
+    self.alert_text_2 = alert_text_2
+    self.alert_status = alert_status
+    self.alert_size = alert_size
+    self.priority = priority
+    self.visual_alert = visual_alert
+    self.audible_alert = audible_alert
+
+    self.duration = int(duration / DT_CTRL)
+
+    self.creation_delay = creation_delay
+
+    self.alert_type = ""
+    self.event_type: str | None = None
+
+  def __str__(self) -> str:
+    return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}"
+
+  def __gt__(self, alert2) -> bool:
+    if not isinstance(alert2, Alert):
+      return False
+    return self.priority > alert2.priority
+
+class AlertBase(Alert):
+  def __init__(self, alert_text_1: str, alert_text_2: str, alert_status: log.SelfdriveState.AlertStatus,
+               alert_size: log.SelfdriveState.AlertSize, priority: Priority,
+               visual_alert: car.CarControl.HUDControl.VisualAlert,
+               audible_alert: car.CarControl.HUDControl.AudibleAlert, duration: float):
+    super().__init__(alert_text_1, alert_text_2, alert_status, alert_size, priority, visual_alert, audible_alert, duration)
+
+
+AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster, bool, int, log.ControlsState], Alert]
+
+
+class EventsBase:
+  def __init__(self):
+    self.events: list[int] = []
+    self.static_events: list[int] = []
+    self.event_counters = {}
+
+  @property
+  def names(self) -> list[int]:
+    return self.events
+
+  def __len__(self) -> int:
+    return len(self.events)
+
+  def add(self, event_name: int, static: bool = False) -> None:
+    if static:
+      bisect.insort(self.static_events, event_name)
+    bisect.insort(self.events, event_name)
+
+  def clear(self) -> None:
+    self.event_counters = {k: (v + 1 if k in self.events else 0) for k, v in self.event_counters.items()}
+    self.events = self.static_events.copy()
+
+  def contains(self, event_type: str) -> bool:
+    return any(event_type in self.get_events_mapping().get(e, {}) for e in self.events)
+
+  def create_alerts(self, event_types: list[str], callback_args=None):
+    if callback_args is None:
+      callback_args = []
+
+    ret = []
+    for e in self.events:
+      types = self.get_events_mapping()[e].keys()
+      for et in event_types:
+        if et in types:
+          alert = self.get_events_mapping()[e][et]
+          if not isinstance(alert, Alert):
+            alert = alert(*callback_args)
+
+          if DT_CTRL * (self.event_counters[e] + 1) >= alert.creation_delay:
+            alert.alert_type = f"{self.get_event_name(e)}/{et}"
+            alert.event_type = et
+            ret.append(alert)
+    return ret
+
+  def add_from_msg(self, events):
+    for e in events:
+      bisect.insort(self.events, e.name.raw)
+
+  def to_msg(self):
+    ret = []
+    for event_name in self.events:
+      event = self.get_event_msg_type().new_message()
+      event.name = event_name
+      for event_type in self.get_events_mapping().get(event_name, {}):
+        setattr(event, event_type, True)
+      ret.append(event)
+    return ret
+
+  def has(self, event_name: int) -> bool:
+    return event_name in self.events
+
+  def contains_in_list(self, events_list: list[int]) -> bool:
+    return any(event_name in self.events for event_name in events_list)
+
+  def remove(self, event_name: int, static: bool = False) -> None:
+    if static and event_name in self.static_events:
+      self.static_events.remove(event_name)
+
+    if event_name in self.events:
+      self.event_counters[event_name] = self.event_counters[event_name] + 1
+      self.events.remove(event_name)
+
+  @abstractmethod
+  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]:
+    raise NotImplementedError
+
+  @abstractmethod
+  def get_event_name(self, event: int) -> str:
+    raise NotImplementedError
+
+  @abstractmethod
+  def get_event_msg_type(self):
+    raise NotImplementedError
+
+
+EmptyAlert = Alert("" , "", AlertStatus.normal, AlertSize.none, Priority.LOWEST,
+                   VisualAlert.none, AudibleAlert.none, 0)
+
+class NoEntryAlert(Alert):
+  def __init__(self, alert_text_2: str,
+               alert_text_1: str = "openpilot Unavailable",
+               visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
+    super().__init__(alert_text_1, alert_text_2, AlertStatus.normal,
+                     AlertSize.mid, Priority.LOW, visual_alert,
+                     AudibleAlert.refuse, 3.)
+
+
+class SoftDisableAlert(Alert):
+  def __init__(self, alert_text_2: str):
+    super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
+                     AlertStatus.userPrompt, AlertSize.full,
+                     Priority.MID, VisualAlert.steerRequired,
+                     AudibleAlert.warningSoft, 2.),
+
+
+# less harsh version of SoftDisable, where the condition is user-triggered
+class UserSoftDisableAlert(SoftDisableAlert):
+  def __init__(self, alert_text_2: str):
+    super().__init__(alert_text_2),
+    self.alert_text_1 = "openpilot will disengage"
+
+
+class ImmediateDisableAlert(Alert):
+  def __init__(self, alert_text_2: str):
+    super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
+                     AlertStatus.critical, AlertSize.full,
+                     Priority.HIGHEST, VisualAlert.steerRequired,
+                     AudibleAlert.warningImmediate, 4.),
+
+
+class EngagementAlert(Alert):
+  def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert):
+    super().__init__("", "",
+                     AlertStatus.normal, AlertSize.none,
+                     Priority.MID, VisualAlert.none,
+                     audible_alert, .2),
+
+
+class NormalPermanentAlert(Alert):
+  def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2, priority: Priority = Priority.LOWER, creation_delay: float = 0.):
+    super().__init__(alert_text_1, alert_text_2,
+                     AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small,
+                     priority, VisualAlert.none, AudibleAlert.none, duration, creation_delay=creation_delay),
+
+
+class StartupAlert(Alert):
+  def __init__(self, alert_text_1: str, alert_text_2: str = "Always keep hands on wheel and eyes on road", alert_status=AlertStatus.normal):
+    super().__init__(alert_text_1, alert_text_2,
+                     alert_status, AlertSize.mid,
+                     Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.),

From 3e4be4a39303994189b40c6c7bd63fd2b8cddd89 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Wed, 22 Jan 2025 09:30:53 +0100
Subject: [PATCH 0089/1434] ci: Add branch reset workflow and improve squash
 script (#579)

* Add nightly branch reset workflow and improve squash script

Introduced a GitHub Actions workflow to reset and squash PRs nightly for the `master-dev-c3-new-test` branch. Enhanced `squash_and_merge.py` to handle more specific exit codes and `squash_and_merge_prs.py` to streamline PR processing. Updated argument handling in scripts and added validation for squash script execution.

* Forcing to show up

* UnForcing to show up

* Refactor branch handling to use inputs/environments directly

Removed intermediate step for setting branch variables and updated logic to use `inputs` or environment variables directly. Simplifies the workflow and improves maintainability by reducing redundancy and reliance on unnecessary outputs.

* Fix Python script invocation in CI workflow.

Replaced implicit script execution with an explicit `python3` command to ensure compatibility and consistency in the workflow. This change resolves potential issues with shell defaults or system configurations.

* Update branch reset logic in workflow script

Replaces checkout-based branch reset with deletion and recreation to ensure the target branch correctly points to the source branch. This change handles cases where the target branch may already exist.

* Refactor PR data handling to parse JSON input.

Updated the script to parse and handle PR data as JSON, ensuring proper data structure during processing. Adjusted functions to operate on parsed JSON instead of raw arguments for improved clarity and error handling.

* Refactor PR processing to streamline branch handling

Removed redundant `fetch_pr_branches` function and integrated branch fetching directly into `process_pr`. Simplified subprocess calls for clarity and added branch cleanup to prevent conflicts. This improves code maintainability and execution efficiency.

* Add PR number to squash and merge commit titles

This change appends the PR number to the title used in squash and merge commits, improving traceability and clarity in the commit history. The modification ensures easier identification of commits linked to specific pull requests.

* Enhance PR processing with sorting and additional checks

Implemented sorting of PRs by creation date and added checks for merge conflicts, commit data availability, and status check completion. Updated nightly squash script to provide detailed feedback via PR comments for skipped PRs. These changes improve the reliability and traceability of the merge process.

* Add traceback logging to error handling in squash_and_merge_prs

Enhanced error reporting by including full traceback details when an exception occurs in the `process_pr` function. This aids in debugging by providing more context on failures.

* Refactor and add debug output to PR merge check logic

Simplified multi-line statements into single lines for clarity and added debug `print` statements to log `merge_status` and its output. These changes enhance readability and facilitate debugging of the merge conflict check process.

* Add GITHUB_TOKEN to environment for CI workflow

Ensure the workflow has access to the GITHUB_TOKEN for authentication. This is necessary for interacting securely with the GitHub API during the CI process. Without this, some steps may fail due to lack of authorization.

* Enable scheduled workflow execution at midnight UTC

Reactivates the cron schedule for the workflow to run daily at midnight UTC. This ensures the workflow executes automatically without manual triggers, maintaining regular updates or checks.

* test

* Update workflow to trigger and monitor selfdrive tests

Replaced the direct triggering of the prebuilt workflow with a step to trigger and wait for the completion of selfdrive tests. Ensures prebuilt workflow runs only if selfdrive tests succeed, improving reliability of the CI process.

* Refine workflow trigger to fetch run URL and ID

Updated the workflow script to extract the run URL and derive the workflow ID from it. This ensures more accurate handling and tracking of GitHub Actions runs.

* Simplify selfdrive test triggering in workflow

Replaces custom script with a reusable GitHub Action to trigger and wait for selfdrive test completion. This improves maintainability and reduces complexity in the workflow file. Adjusts subsequent prebuilt workflow trigger to ensure compatibility.

* Remove duplicate prebuilt workflow trigger step

The redundant step for triggering the sunnypilot prebuilt workflow has been removed. This cleanup avoids unnecessary duplication and ensures a more streamlined workflow definition.

* Update selfdrive test trigger to use GitHub CLI commands

Replaced the third-party action with GitHub CLI for triggering and monitoring selfdrive tests. This change improves maintainability and reduces reliance on external dependencies. Updated related steps to ensure compatibility with the new approach.

* Add delay to ensure selfdrive tests workflow starts

Introduce a 120-second sleep before fetching the latest run ID to allow sufficient time for the selfdrive tests action to initialize. This prevents potential issues caused by attempting to retrieve the run ID too early.

* Improve push step to check for diffs before execution

Added logic to verify if there are differences between local and remote branches before attempting a push. This prevents unnecessary pushes and skips subsequent workflows when no changes are detected. Updated dependent steps to conditionally run based on the presence of changes.

* Update target branch and improve squash comment clarity

Renamed the default target branch from `master-dev-c3-new-test` to `nightly` in the workflow configuration. Enhanced squash process comments to dynamically reflect the `target_branch` value for better clarity and consistency.

* Add missing newline at end of file

Ensures the file complies with POSIX standards by including a newline at the end. This improves consistency and prevents potential issues with some tools or systems.

* Update default target branch and disable nightly schedule

Changed the default target branch to 'master-dev-c3-new' for workflow consistency. Commented out the nightly schedule to temporarily disable automated runs. No functional changes were made to other parts of the workflow.

* Refactored squash and merge scripts for improved PR handling

In this commit, significant updates have been made to the 'squash_and_merge.py' and 'squash_and_merge_prs.py' scripts related to how pull requests (PRs) are processed.

A 'source-branch' argument has been added to the argument parser. The merging command has been changed from 'merge' to 'rebase'.

The PR processing function has been refined. Specifically, PR validation is now a separate function confirming the conditions 'branch name', 'commit data', 'check pass status', and 'mergeability'. Now, any failures under these conditions result in skipping the PR with an appropriate warning.

The target branch is deleted if it exists, before a new one is created from the source branch. The squash script now runs with more structured arguments.

These changes generally improve PR handling in CI/CD pipelines, making them more efficient and error-resistant.

* Add 'PullRequest' to .codespellignore

This update includes 'PullRequest' in the .codespellignore file to prevent it from being flagged as a spelling error. It helps streamline code reviews and reduces false positives during spell checks.
---
 .codespellignore                              |   1 +
 .../sunnypilot-master-dev-c3-prep.yaml        | 162 +++++++++++++++++
 release/ci/squash_and_merge.py                |  12 +-
 release/ci/squash_and_merge_prs.py            | 163 ++++++++++++++++++
 4 files changed, 332 insertions(+), 6 deletions(-)
 create mode 100644 .github/workflows/sunnypilot-master-dev-c3-prep.yaml
 create mode 100755 release/ci/squash_and_merge_prs.py

diff --git a/.codespellignore b/.codespellignore
index ad053601e6001d..6af9bb0f357d64 100644
--- a/.codespellignore
+++ b/.codespellignore
@@ -1,2 +1,3 @@
 Wen
 REGIST
+PullRequest
diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
new file mode 100644
index 00000000000000..2f3cbd68c12752
--- /dev/null
+++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
@@ -0,0 +1,162 @@
+name: Nightly Branch Reset and PR Squash
+
+env:
+  DEFAULT_SOURCE_BRANCH: "master-new"
+  DEFAULT_TARGET_BRANCH: "nightly"
+  PR_LABEL: "dev-c3"
+
+on:
+  workflow_dispatch:
+    inputs:
+      source_branch:
+        description: 'Source branch to reset from'
+        required: true
+        default: 'master-new'
+        type: string
+      target_branch:
+        description: 'Target branch to reset and squash into'
+        required: true
+        default: 'master-dev-c3-new'
+        type: string
+#  schedule:
+#     - cron: '0 0 * * *'  # Run at midnight UTC for nightly
+
+jobs:
+  reset-and-squash:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0  # Fetch all history for all branches
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Configure Git
+        run: |
+          git config --global user.name 'github-actions[bot]'
+          git config --global user.email 'github-actions[bot]@users.noreply.github.com'
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.10'
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install PyGithub
+
+      - name: Check branches exist
+        run: |
+          # Check if source branch exists
+          if ! git ls-remote --heads origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} | grep -q "${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"; then
+            echo "Source branch ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} does not exist!"
+            exit 1
+          fi
+          
+          # Make sure we have the latest source branch
+          git fetch origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
+          
+          # Check if target branch exists
+          if ! git ls-remote --heads origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} | grep -q "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"; then
+            echo "Target branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} does not exist, creating it from ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
+            git checkout -b ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
+            git push origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
+          else
+            # Fetch target branch if it exists
+            git fetch origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
+          fi
+
+      - name: Reset target branch
+        run: |
+          echo "Resetting ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} to match ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
+          # Delete if exists and recreate pointing to source
+          git branch -D ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} || true
+          git branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
+
+      - name: Get PRs to squash
+        id: get-prs
+        run: |
+          # Use GitHub API to get PRs with specific label, ordered by creation date
+          PR_LIST=$(gh api graphql -f query='
+            query($label:String!) {
+              search(query: $label, type:ISSUE, first:100) {
+                nodes {
+                  ... on PullRequest {
+                    number
+                    headRefName
+                    title
+                    createdAt
+                    commits(last: 1) {
+                      nodes {
+                        commit {
+                          statusCheckRollup {
+                            state
+                          }
+                        }
+                      }
+                    }
+                  }
+                }
+              }
+            }' -F label="is:pr is:open label:${PR_LABEL} sort:created-asc")
+          
+          echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Process PRs
+        run: |
+          python3 ${{ github.workspace }}/release/ci/squash_and_merge_prs.py \
+            --pr-data '${{ steps.get-prs.outputs.PR_LIST }}' \
+            --target-branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} \
+            --squash-script-path '${{ github.workspace }}/release/ci/squash_and_merge.py'
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Push changes if there are diffs
+        id: push-changes  # Add an id so we can reference this step
+        run: |
+          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
+
+          # Fetch the latest from remote
+          git fetch origin $TARGET_BRANCH
+
+          # Check for diffs between local and remote
+          if git diff $TARGET_BRANCH origin/$TARGET_BRANCH --quiet; then
+            echo "No changes to push - local and remote branches are identical"
+            echo "has_changes=false" >> $GITHUB_OUTPUT
+            exit 0
+          fi
+
+          # If we get here, there are diffs, so push
+          if ! git push origin $TARGET_BRANCH --force; then
+            echo "Failed to push changes to $TARGET_BRANCH"
+            exit 1
+          fi
+
+          echo "Branch $TARGET_BRANCH has been reset and updated with squashed PRs"
+          echo "has_changes=true" >> $GITHUB_OUTPUT
+
+      - name: Trigger and wait for selfdrive tests
+        if: steps.push-changes.outputs.has_changes == 'true'
+        run: |
+          echo "Triggering selfdrive tests..."
+          gh workflow run selfdrive_tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
+
+          echo "Sleeping for 120s to give plenty of time for the action to start and then we wait"
+          sleep 120
+
+          echo "Getting latest run ID..."
+          RUN_ID=$(gh run list --workflow=selfdrive_tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
+
+          echo "Watching run ID: $RUN_ID"
+          gh run watch "$RUN_ID"
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Trigger prebuilt workflow
+        if: success() && steps.push-changes.outputs.has_changes == 'true'
+        run: |
+          gh workflow run sunnypilot-build-prebuilt.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/release/ci/squash_and_merge.py b/release/ci/squash_and_merge.py
index 804b2119cb100f..7ab088801bd135 100755
--- a/release/ci/squash_and_merge.py
+++ b/release/ci/squash_and_merge.py
@@ -117,7 +117,7 @@ def cleanup_handler(signum=None, frame=None):
         if temp_branch:
           run_command(f"git branch -D {temp_branch}")
         print("\nOperation interrupted, but changes were already restored.")
-        sys.exit(1)
+        sys.exit(3)
 
       # First, switch back to original branch
       current = get_current_branch()
@@ -139,12 +139,12 @@ def cleanup_handler(signum=None, frame=None):
 
       if signum:
         print("\nOperation interrupted. Cleaned up and restored original state.")
-        sys.exit(1)
+        sys.exit(4)
 
     except Exception as e:
       print(f"Error during cleanup: {e}")
       if signum:
-        sys.exit(1)
+        sys.exit(5)
 
   try:
     # Set up signal handlers
@@ -275,7 +275,7 @@ class State:
         return False
 
       print(f"Attempting to merge changes from {temp_branch}...")
-      code, _, error = run_command(f"git merge {temp_branch}")
+      code, _, error = run_command(f"git rebase {temp_branch}")
 
       if code != 0:
         print(f"\nMerge failed with error: {error}")
@@ -344,7 +344,7 @@ def main():
   parser.add_argument('--push', action='store_true',
                       help='Push changes to remote after squashing')
 
-  args = parser.parse_args()
+  args, unknown = parser.parse_known_args()
 
   # Determine source branch early
   source_branch = args.source
@@ -354,7 +354,7 @@ def main():
       sys.exit(1)
 
   if not squash_and_merge(source_branch, args.target, args.title, args.backup, args.push):
-    sys.exit(1)
+    sys.exit(2)
 
 
 if __name__ == "__main__":
diff --git a/release/ci/squash_and_merge_prs.py b/release/ci/squash_and_merge_prs.py
new file mode 100755
index 00000000000000..11bb67b5a4fd40
--- /dev/null
+++ b/release/ci/squash_and_merge_prs.py
@@ -0,0 +1,163 @@
+#!/usr/bin/env python3
+
+import subprocess
+import sys
+import os
+import argparse
+import json
+from datetime import datetime
+
+
+def setup_argument_parser():
+    parser = argparse.ArgumentParser(description='Process and squash GitHub PRs')
+    parser.add_argument('--pr-data', type=str, help='PR data in JSON format')
+    parser.add_argument('--source-branch', type=str, default='master-new',
+                        help='Source branch for merging')
+    parser.add_argument('--target-branch', type=str, default='master-dev-c3-new-test',
+                        help='Target branch for merging')
+    parser.add_argument('--squash-script-path', type=str, required=True,
+                        help='Path to the squash_and_merge.py script')
+    return parser
+
+
+def validate_squash_script(script_path):
+    if not os.path.isfile(script_path):
+        raise FileNotFoundError(f"Squash script not found at: {script_path}")
+    if not os.access(script_path, os.X_OK):
+        raise PermissionError(f"Squash script is not executable: {script_path}")
+
+
+def sort_prs_by_creation(pr_data):
+    """Sort PRs by creation date"""
+    nodes = (pr_data.get('data', {}).get('search', {}).get('nodes', []))
+
+    return sorted(
+        nodes,
+        key=lambda x: datetime.fromisoformat(x.get('createdAt', '').replace('Z', '+00:00'))
+    )
+
+
+def add_pr_comment(pr_number, comment):
+    """Add a comment to a PR using gh cli"""
+    try:
+        subprocess.run(
+            ['gh', 'pr', 'comment', str(pr_number), '--body', comment],
+            check=True,
+            capture_output=True,
+            text=True
+        )
+    except subprocess.CalledProcessError as e:
+        print(f"Failed to add comment to PR #{pr_number}: {e.stderr}")
+
+
+def validate_pr(pr):
+    """Validate a PR and return (is_valid, skip_reason)"""
+    pr_number = pr.get('number', 'UNKNOWN')
+    branch = pr.get('headRefName', '')
+
+    if not branch:
+        return False, f"Missing branch name for PR #{pr_number}"
+
+    # Check if checks have passed
+    commits = pr.get('commits', {}).get('nodes', [])
+    if not commits:
+        return False, "No commit data found"
+
+    status = commits[0].get('commit', {}).get('statusCheckRollup', {})
+    if not status or status.get('state') != 'SUCCESS':
+        return False, "Not all checks have passed"
+
+    # Check for merge conflicts
+    merge_status = subprocess.run(['gh', 'pr', 'view', str(pr_number), '--json', 'mergeable,mergeStateStatus'], capture_output=True, text=True)
+    merge_data = json.loads(merge_status.stdout)
+    if not merge_data.get('mergeable'):
+        return False, "Merge conflicts detected"
+
+    if (mergeStateStatus := merge_data.get('mergeStateStatus')) != "CLEAN":
+        return False, f"Branch is `{mergeStateStatus}`"
+
+    return True, None
+
+
+def process_pr(pr_data, source_branch, target_branch, squash_script_path):
+    try:
+        nodes = sort_prs_by_creation(pr_data)
+        if not nodes:
+            print("No PRs to squash")
+            return 0
+
+        print(f"Deleting target branch {target_branch}")
+        subprocess.run(['git', 'branch', '-D', target_branch], check=False)
+        subprocess.run(['git', 'branch', target_branch, f'origin/{source_branch}'], check=True)
+        success_count = 0
+        for pr in nodes:
+            pr_number = pr.get('number', 'UNKNOWN')
+            branch = pr.get('headRefName', '')
+            title = pr.get('title', '')
+            is_valid, skip_reason = validate_pr(pr)
+
+            if not is_valid:
+                print(f"Warning: {skip_reason} for PR #{pr_number}, skipping")
+                add_pr_comment(pr_number, f"⚠� This PR was skipped in the automated `{target_branch}` squash because {skip_reason}.")
+                continue
+
+            try:
+                # Fetch PR branch
+                subprocess.run(['git', 'fetch', 'origin', branch], check=True)
+                # Delete branch if it exists (ignore errors if it doesn't)
+                subprocess.run(['git', 'branch', '-D', branch], check=False)
+                # Create new branch pointing to origin's branch
+                subprocess.run(['git', 'branch', branch, f'origin/{branch}'], check=True)
+
+                # Run squash script
+                subprocess.run([
+                    squash_script_path,
+                    '--target', target_branch,
+                    '--source', branch,
+                    '--title', f"{title} (#{pr_number})",
+                ], check=True)
+
+                print(f"Successfully processed PR #{pr_number}")
+                success_count += 1
+
+            except subprocess.CalledProcessError as e:
+                print(f"Error processing PR #{pr_number}:")
+                print(f"Command failed with exit code {e.returncode}")
+                error_output = getattr(e, 'stderr', 'No error output available')
+                print(f"Error output: {error_output}")
+                add_pr_comment(pr_number, f"⚠� Error during automated {target_branch} squash:\n```\n{error_output}\n```")
+                continue
+            except Exception as e:
+                print(f"Unexpected error processing PR #{pr_number}: {str(e)}")
+                continue
+
+        return success_count
+
+    except Exception as e:
+        import traceback
+        print(f"Error in process_pr: {str(e)}")
+        print("Full traceback:")
+        print(traceback.format_exc())
+        return 0
+
+
+def main():
+    parser = setup_argument_parser()
+    try:
+        args = parser.parse_args()
+        validate_squash_script(args.squash_script_path)
+        pr_data_json = json.loads(args.pr_data)
+
+        # Process the PRs
+        success_count = process_pr(pr_data_json, args.source_branch, args.target_branch, args.squash_script_path)
+        print(f"Successfully processed {success_count} PRs")
+
+    except Exception as e:
+        print(f"Fatal error: {str(e)}", file=sys.stderr)
+        return 1
+
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())

From 8d7315fa280a588d208d19343aae97343ccdecee Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Wed, 22 Jan 2025 11:35:12 +0100
Subject: [PATCH 0090/1434] ci: Add support for "settings_network" and
 "settings_network_advanced" scene in UI tests (#609)

* Add support for "settings_network" scene in UI tests

Updated the workflow and test script to include the "settings_network" scene. Introduced a new setup function for "settings_network" and registered it in the scene-to-function mapping. This ensures proper handling and testing of network settings in the UI.

* Static analysis lol

* Add support for "settings_network_advanced" scene

Extend UI tests and workflow to include the "settings_network_advanced" scene. Updated the YAML workflow and test script to handle this new scene for comprehensive coverage.
---
 .github/workflows/ui_preview.yaml |  2 +-
 selfdrive/ui/tests/test_ui/run.py | 10 ++++++++++
 2 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 3e8c2be4baece1..140240dc9ce5ab 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -86,7 +86,7 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard keyboard_uppercase"
+          scenes="homescreen settings_device settings_network settings_network_advanced settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard keyboard_uppercase"
           A=($scenes)
 
           DIFF=""
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 0a9f3a3e445d54..929c04727aa851 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -40,6 +40,14 @@ def setup_homescreen(click, pm: PubMaster, scroll=None):
 def setup_settings_device(click, pm: PubMaster, scroll=None):
   click(100, 100)
 
+def setup_settings_network(click, pm: PubMaster, scroll=None):
+  setup_settings_device(click, pm)
+  click(278, 405)
+
+def setup_settings_network_advanced(click, pm: PubMaster, scroll=None):
+  setup_settings_network(click, pm)
+  click(1913, 90)
+
 def setup_settings_toggles(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
   click(278, 632)
@@ -212,6 +220,8 @@ def setup_settings_trips(click, pm: PubMaster, scroll=None):
   "prime": setup_homescreen,
   "pair_device": setup_pair_device,
   "settings_device": setup_settings_device,
+  "settings_network": setup_settings_network,
+  "settings_network_advanced": setup_settings_network_advanced,
   "settings_toggles": setup_settings_toggles,
   "settings_software": setup_settings_software,
   "settings_developer": setup_settings_developer,

From 9fe4d7ecc77bccb52f1529f1f763580e37d387a0 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Wed, 22 Jan 2025 12:04:11 +0100
Subject: [PATCH 0091/1434] ui: Add Wi-Fi scan button to network settings
 (#608)

* Implemented custom Networking class for sunnypilot UI

This modification introduced a new 'NetworkingSP' class for the sunnypilot user interface. It's based on the existing Networking class, but tailored to the specific needs of the sunnypilot UI. This class adds a new 'Scan' button to the Wi-Fi screen and implements an additional layout to accommodate both 'Scan' and 'Advanced' buttons. It also contains updates to the file inclusions in 'settings.cc' to use the new class. Moreover, the accessibility of several member variables in the original Networking class has been updated from 'private' to 'protected'. This change enhances the modifiability and extensibility of the class structure.

* Add Spanish translations for networking scan messages

Added translations for "Scan" and "Scanning..." in the Spanish localization file. These updates ensure proper display and functionality in the networking scan feature for Spanish-speaking users.

* updating lang files

* Refactor networking component and clean up unused code.

Removed unnecessary comments and unused includes to enhance readability and maintainability. Refactored variable declarations for consistency and streamlined layout adjustments in the networking UI code.
---
 selfdrive/ui/qt/network/networking.h          |  2 +-
 selfdrive/ui/sunnypilot/SConscript            |  1 +
 .../ui/sunnypilot/qt/network/networking.cc    | 45 +++++++++++++++++++
 .../ui/sunnypilot/qt/network/networking.h     | 17 +++++++
 .../qt/offroad/settings/settings.cc           |  6 +--
 selfdrive/ui/translations/main_ar.ts          | 15 +++++++
 selfdrive/ui/translations/main_de.ts          | 15 +++++++
 selfdrive/ui/translations/main_es.ts          | 11 +++++
 selfdrive/ui/translations/main_fr.ts          | 15 +++++++
 selfdrive/ui/translations/main_ja.ts          | 15 +++++++
 selfdrive/ui/translations/main_ko.ts          | 15 +++++++
 selfdrive/ui/translations/main_pt-BR.ts       | 15 +++++++
 selfdrive/ui/translations/main_th.ts          | 15 +++++++
 selfdrive/ui/translations/main_tr.ts          | 15 +++++++
 selfdrive/ui/translations/main_zh-CHS.ts      | 15 +++++++
 selfdrive/ui/translations/main_zh-CHT.ts      | 15 +++++++
 16 files changed, 228 insertions(+), 4 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/network/networking.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/network/networking.h

diff --git a/selfdrive/ui/qt/network/networking.h b/selfdrive/ui/qt/network/networking.h
index 2d924588f090e4..a5bb83f8ac62fc 100644
--- a/selfdrive/ui/qt/network/networking.h
+++ b/selfdrive/ui/qt/network/networking.h
@@ -97,7 +97,7 @@ class Networking : public QFrame {
   void setPrimeType(PrimeState::Type type);
   WifiManager* wifi = nullptr;
 
-private:
+protected:
   QStackedLayout* main_layout = nullptr;
   QWidget* wifiScreen = nullptr;
   AdvancedNetworking* an = nullptr;
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 629d014b70f90b..7cf552d32f82a5 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -4,6 +4,7 @@ widgets_src = [
   "sunnypilot/qt/widgets/drive_stats.cc",
   "sunnypilot/qt/widgets/prime.cc",
   "sunnypilot/qt/widgets/scrollview.cc",
+  "sunnypilot/qt/network/networking.cc",
 ]
 
 qt_util = [
diff --git a/selfdrive/ui/sunnypilot/qt/network/networking.cc b/selfdrive/ui/sunnypilot/qt/network/networking.cc
new file mode 100644
index 00000000000000..3db65a5b5106de
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/network/networking.cc
@@ -0,0 +1,45 @@
+#include "selfdrive/ui/sunnypilot/qt/network/networking.h"
+#include <QVBoxLayout>
+#include <QPushButton>
+#include <QStackedLayout>
+
+NetworkingSP::NetworkingSP(QWidget *parent) : Networking(parent) {
+  auto vlayout = wifiScreen->findChild<QVBoxLayout*>();
+  auto hlayout = new QHBoxLayout();
+  
+  // Create and setup scan button
+  auto scanButton = new QPushButton(tr("Scan"));
+  scanButton->setObjectName("scan_btn");
+  scanButton->setFixedSize(400, 100);
+
+  connect(wifi, &WifiManager::refreshSignal, this, [=]() { scanButton->setText(tr("Scan")); scanButton->setEnabled(true); });
+  connect(scanButton, &QPushButton::clicked, [=]() { scanButton->setText(tr("Scanning...")); scanButton->setEnabled(false); wifi->requestScan(); });
+
+  hlayout->addWidget(scanButton);
+  hlayout->addStretch(1);
+
+  // Look for an existing Advanced button
+  QPushButton* existingAdvanced = wifiScreen->findChild<QPushButton*>("advanced_btn");
+  if (existingAdvanced) {
+    hlayout->addWidget(existingAdvanced);
+  }
+
+  // Insert our new layout at the top of vlayout
+  vlayout->setMargin(40);
+  vlayout->insertLayout(0, hlayout);
+
+  // Add our scan button to the existing style selectors
+  auto newStyleSheet = styleSheet().replace(
+    ", #advanced_btn ",
+    ", #advanced_btn, #scan_btn "
+  ).replace(
+    ", #advanced_btn:pressed",
+    ", #advanced_btn:pressed, #scan_btn:pressed"
+  ).append(R"(
+    #scan_btn:disabled {
+      background-color: #121212;
+      color: #33FFFFFF;
+    }
+  )");
+  setStyleSheet(newStyleSheet);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/network/networking.h b/selfdrive/ui/sunnypilot/qt/network/networking.h
new file mode 100644
index 00000000000000..3370751bf58b1f
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/network/networking.h
@@ -0,0 +1,17 @@
+/**
+* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+#include "selfdrive/ui/qt/network/networking.h"
+
+
+class NetworkingSP : public Networking {
+    Q_OBJECT
+
+public:
+    explicit NetworkingSP(QWidget *parent = nullptr);
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
index 9338b93220d0d5..3dbaca1aa74c65 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
@@ -7,9 +7,9 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
-#include "selfdrive/ui/qt/network/networking.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 #include "selfdrive/ui/qt/offroad/developer_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/network/networking.h"
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
@@ -66,8 +66,8 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
   TogglesPanelSP *toggles = new TogglesPanelSP(this);
   QObject::connect(this, &SettingsWindowSP::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
 
-  auto networking = new Networking(this);
-  QObject::connect(uiState()->prime_state, &PrimeState::changed, networking, &Networking::setPrimeType);
+  auto networking = new NetworkingSP(this);
+  QObject::connect(uiState()->prime_state, &PrimeState::changed, networking, &NetworkingSP::setPrimeType);
 
   QList<PanelInfo> panels = {
     PanelInfo("   " + tr("Device"), device, "../../sunnypilot/selfdrive/assets/offroad/icon_home.svg"),
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 9bcda5568b46a3..7a8bbdf49861ff 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -507,6 +507,21 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>كلمة مرور خاطئة</translation>
     </message>
 </context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">متقدم</translation>
+    </message>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 9b83f74562a57d..7a014c744109f5 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -503,6 +503,21 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Falsches Passwort</translation>
     </message>
 </context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">Erweitert</translation>
+    </message>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 0e50b06ceb5ea7..aa11fd67806845 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -503,6 +503,17 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Contraseña incorrecta</translation>
     </message>
 </context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Scan</source>
+        <translation>Escanear</translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation>Escaneando...</translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index bb6b95eb623ef3..658e8d7151848a 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -503,6 +503,21 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Mot de passe incorrect</translation>
     </message>
 </context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">Avancé</translation>
+    </message>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index a6104916ea03b7..09e45b367ad5c8 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -502,6 +502,21 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>ﾊﾟｽﾜｰﾄﾞ�間������</translation>
     </message>
 </context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">詳細</translation>
+    </message>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 25add500465dff..c90c6bfc18f0f0 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -502,6 +502,21 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>비밀번호가 틀렸습니다</translation>
     </message>
 </context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">고급 설정</translation>
+    </message>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index e1c0fc11ca19c3..244cd6f76e2653 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -503,6 +503,21 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Senha incorreta</translation>
     </message>
 </context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">Avançado</translation>
+    </message>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index a79c23d1c91e87..15a8d4b16ebcb3 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -502,6 +502,21 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>รหัสผ่านผิด</translation>
     </message>
 </context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">ขั้นสูง</translation>
+    </message>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index f43c332a74b7ca..4652de1197d42b 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -502,6 +502,21 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Yalnış parola</translation>
     </message>
 </context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">Gelişmiş Seçenekler</translation>
+    </message>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 204171430dbbc8..915804f7e932e4 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -502,6 +502,21 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>密�错误</translation>
     </message>
 </context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">高级</translation>
+    </message>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index f5cf33d543319e..6b47598370e3b6 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -502,6 +502,21 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>密碼錯誤</translation>
     </message>
 </context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">進階</translation>
+    </message>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>

From 403d77ff3fb894d825e569bbb0eeeb88b4a64b2d Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Wed, 22 Jan 2025 13:41:56 +0100
Subject: [PATCH 0092/1434] ci: squash and merge script update to allow merging
 less restrictively (#610)

Fix branch status check for merge readiness

Previously, any non-"CLEAN" status prevented merging. The check now specifically fails only if the branch is "BEHIND", allowing other statuses to proceed if valid. This ensures more accurate merge validations.
---
 release/ci/squash_and_merge_prs.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/release/ci/squash_and_merge_prs.py b/release/ci/squash_and_merge_prs.py
index 11bb67b5a4fd40..28ffd5fc3a235b 100755
--- a/release/ci/squash_and_merge_prs.py
+++ b/release/ci/squash_and_merge_prs.py
@@ -73,7 +73,7 @@ def validate_pr(pr):
     if not merge_data.get('mergeable'):
         return False, "Merge conflicts detected"
 
-    if (mergeStateStatus := merge_data.get('mergeStateStatus')) != "CLEAN":
+    if (mergeStateStatus := merge_data.get('mergeStateStatus')) == "BEHIND":
         return False, f"Branch is `{mergeStateStatus}`"
 
     return True, None

From 3e7240516e8672eaab85faf1fb3351c65f12fe79 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 22 Jan 2025 14:22:32 -0500
Subject: [PATCH 0093/1434] Car: Migrate sunnypilot `CarParams` to its own
 cereal (#604)

* sp flags

* pass CP_SP to card and car interfaces

* CP_SP in radar interface

* bump opendbc

* use dataclass like old times

* bump opendbc

* write to params for controls

* fix test models

* fix

* need to use copy instead

* fix data type

* add service

* more

* fix

* Revert "fix"

This reverts commit 74723d7fb277907e174c021af14ecbcdb54f1586.

* Revert "fix data type"

This reverts commit 02355f44df2e9fca06d565b2e30641ff8d62f1a3.

* missed

* more

* no more lagging

* Reapply "fix data type"

This reverts commit dbf1b8583fe1843db91c6fb5c96cf1fb3be5ef79.

* Reapply "fix"

This reverts commit 9cbce9968a6bf245087681d5061a39db90873226.

* Revert "Reapply "fix""

This reverts commit 1871919b633c6f94627b2574299740c6c3f6738e.

* Revert "Reapply "fix data type""

This reverts commit 5e95752fd5e7d754acdaa83855ec8868ece290f2.

* no longer

* Revert "no longer"

This reverts commit 66ee1ba1513b43b0b07d8344e0dfb13752f6872d.

* Reapply "Reapply "fix data type""

This reverts commit 670a3843338490fa7fbf23bbe7bf47c261ded9c8.

* Reapply "Reapply "fix""

This reverts commit 42f09f955c84391d01866f3d48717382547f8b85.

* only for car params sp

* rename

* fix more test

* no need for process replay

* pass stock car params to sp set car params

* pass stock car params to sp set car params

* deprecate CarParams.sunnypilotFlags to CarParamsSP.flags

* missed arg

* fix tests

* tests fixed

* need to pass this too

* must generate cp_sp!

* fix typing

* must be initialized prior can comm callback!

* no more cancer (@devtekve)

* remove more cancer

* Refactor `get_non_essential_params_sp` to simplify arguments (#612)

* Refactor 'get_non_essential_params_sp' function calls in tests

In both `test_latcontrol.py` and `process_replay.py`, simplified the function calls to 'get_non_essential_params_sp'. Removed an unnecessary call to 'get_non_essential_params'. This change makes the code cleaner and more efficient by reducing redundancy in the function calls. This modification also ensures consistency across different code files.

* Refactor get_non_essential_params_sp to take car_params.

Simplify parameters by modifying `get_non_essential_params_sp` to use `car_params` as input. Adjust related calls in test files and process replay to match the updated method signature. This improves code clarity and reduces redundancy.

* bump opendbc

* Refactor parameter handling for `get_params_sp`.

Removed unnecessary reassignment of `car_params` in calls to `get_params_sp`, ensuring a cleaner and more streamlined code structure. This change improves code clarity and eliminates redundant operations. All relevant assertions and behavior remain unaffected.

* bumping opedbc

* bump opendbc

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 cereal/custom.capnp                           |  3 +-
 cereal/log.capnp                              |  2 +-
 cereal/services.py                            |  1 +
 common/params.cc                              |  3 ++
 opendbc_repo                                  |  2 +-
 selfdrive/car/card.py                         | 35 ++++++++++----
 selfdrive/car/helpers.py                      | 46 +++++++++++++++++++
 selfdrive/car/tests/test_car_interfaces.py    |  5 +-
 selfdrive/car/tests/test_models.py            | 11 +++--
 selfdrive/controls/controlsd.py               | 14 +++---
 .../controls/lib/tests/test_latcontrol.py     |  3 +-
 selfdrive/selfdrived/selfdrived.py            | 15 ++++--
 .../test/process_replay/process_replay.py     |  7 ++-
 sunnypilot/mads/helpers.py                    |  4 +-
 sunnypilot/mads/mads.py                       |  2 +-
 sunnypilot/selfdrive/car/interfaces.py        |  9 ++--
 16 files changed, 125 insertions(+), 37 deletions(-)
 create mode 100644 selfdrive/car/helpers.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index fbd96fba63f4ed..f324ef5daa1578 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -133,7 +133,8 @@ struct OnroadEventSP @0xda96579883444c35 {
   }
 }
 
-struct CustomReserved4 @0x80ae746ee2596b11 {
+struct CarParamsSP @0x80ae746ee2596b11 {
+  flags @0 :UInt32;  # flags for car specific quirks in sunnypilot
 }
 
 struct CustomReserved5 @0xa5cd762cd951a455 {
diff --git a/cereal/log.capnp b/cereal/log.capnp
index f8000ec1ebb906..95f741ee3d1c36 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2569,7 +2569,7 @@ struct Event {
     modelManagerSP @108 :Custom.ModelManagerSP;
     longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
     onroadEventsSP @110 :List(Custom.OnroadEventSP);
-    customReserved4 @111 :Custom.CustomReserved4;
+    carParamsSP @111 :Custom.CarParamsSP;
     customReserved5 @112 :Custom.CustomReserved5;
     customReserved6 @113 :Custom.CustomReserved6;
     customReserved7 @114 :Custom.CustomReserved7;
diff --git a/cereal/services.py b/cereal/services.py
index f2f3da04273f9c..e39284d55ae808 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -79,6 +79,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "selfdriveStateSP": (True, 100., 10),
   "longitudinalPlanSP": (True, 20., 10),
   "onroadEventsSP": (True, 1., 1),
+  "carParamsSP": (True, 0.02, 1),
 
   # debug
   "uiDebug": (True, 0., 1),
diff --git a/common/params.cc b/common/params.cc
index 82bce27d0c276b..989c8e1a90c462 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -202,6 +202,9 @@ std::unordered_map<std::string, uint32_t> keys = {
 
     // --- sunnypilot params --- //
     {"ApiCache_DriveStats", PERSISTENT},
+    {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
+    {"CarParamsSPPersistent", PERSISTENT},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
     {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
     {"OffroadMode", CLEAR_ON_MANAGER_START},
diff --git a/opendbc_repo b/opendbc_repo
index 038c84a84efe19..2bd2bcdf5db6db 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 038c84a84efe19c0e5e5c4683f3b1543a04021b2
+Subproject commit 2bd2bcdf5db6db09ac36851f2760804039a5a52a
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index eeeafe52bf2abe..5c2baed71d9fbb 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -5,7 +5,7 @@
 
 import cereal.messaging as messaging
 
-from cereal import car, log
+from cereal import car, log, custom
 
 from panda import ALTERNATIVE_EXPERIENCE
 
@@ -21,6 +21,7 @@
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
+from openpilot.selfdrive.car.helpers import convert_to_capnp
 
 from openpilot.sunnypilot.mads.mads import MadsParams
 from openpilot.sunnypilot.selfdrive.car import interfaces
@@ -66,11 +67,13 @@ class Car:
   CI: CarInterfaceBase
   RI: RadarInterfaceBase
   CP: car.CarParams
+  CP_SP: structs.CarParamsSP
+  CP_SP_capnp: custom.CarParamsSP
 
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
     self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
-    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'])
+    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP'])
 
     self.can_rcv_cum_timeout_counter = 0
 
@@ -102,14 +105,15 @@ def __init__(self, CI=None, RI=None) -> None:
           cached_params = _cached_params
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
-      interfaces.setup_car_interface_sp(self.CI.CP, self.params)
-      self.RI = get_radar_interface(self.CI.CP)
+      interfaces.setup_car_interface_sp(self.CI.CP, self.CI.CP_SP, self.params)
+      self.RI = get_radar_interface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP
+      self.CP_SP = self.CI.CP_SP
 
       # continue onto next fingerprinting step in pandad
       self.params.put_bool("FirmwareQueryDone", True)
     else:
-      self.CI, self.CP = CI, CI.CP
+      self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
       self.RI = RI
 
     # set alternative experiences from parameters
@@ -120,7 +124,7 @@ def __init__(self, CI=None, RI=None) -> None:
 
     # mads
     MadsParams().set_alternative_experience(self.CP)
-    MadsParams().set_car_specific_params(self.CP)
+    MadsParams().set_car_specific_params(self.CP, self.CP_SP)
 
     # Dynamic Experimental Control
     self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
@@ -167,6 +171,14 @@ def __init__(self, CI=None, RI=None) -> None:
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
+    # Write CarParamsSP for controls
+    # convert to pycapnp representation for caching and logging
+    self.CP_SP_capnp = convert_to_capnp(self.CP_SP)
+    cp_sp_bytes = self.CP_SP_capnp.to_bytes()
+    self.params.put("CarParamsSP", cp_sp_bytes)
+    self.params.put_nonblocking("CarParamsSPCache", cp_sp_bytes)
+    self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
+
     self.mock_carstate = MockCarState()
     self.v_cruise_helper = VCruiseHelper(self.CP)
 
@@ -245,14 +257,21 @@ def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None):
       tracks_msg.liveTracks = RD
       self.pm.send('liveTracks', tracks_msg)
 
+    # carParamsSP - logged every 50 seconds (> 1 per segment)
+    if self.sm.frame % int(50. / DT_CTRL) == 0:
+      cp_sp_send = messaging.new_message('carParamsSP')
+      cp_sp_send.valid = True
+      cp_sp_send.carParamsSP = self.CP_SP_capnp
+      self.pm.send('carParamsSP', cp_sp_send)
+
   def controls_update(self, CS: car.CarState, CC: car.CarControl):
     """control update loop, driven by carControl"""
 
     if not self.initialized_prev:
       # Initialize CarInterface, once controls are ready
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
-      self.CI.init(self.CP, *self.can_callbacks)
-      interfaces.initialize_car_interface_sp(self.CP, self.params, *self.can_callbacks)
+      self.CI.init(self.CP, self.CP_SP, *self.can_callbacks)
+      interfaces.initialize_car_interface_sp(self.CP, self.CP_SP, self.params, *self.can_callbacks)
       # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
new file mode 100644
index 00000000000000..cb4a6bc674062e
--- /dev/null
+++ b/selfdrive/car/helpers.py
@@ -0,0 +1,46 @@
+import capnp
+from typing import Any
+
+from cereal import custom
+from opendbc.car import structs
+
+_FIELDS = '__dataclass_fields__'  # copy of dataclasses._FIELDS
+
+
+def is_dataclass(obj):
+  """Similar to dataclasses.is_dataclass without instance type check checking"""
+  return hasattr(obj, _FIELDS)
+
+
+def _asdictref_inner(obj) -> dict[str, Any] | Any:
+  if is_dataclass(obj):
+    ret = {}
+    for field in getattr(obj, _FIELDS):  # similar to dataclasses.fields()
+      ret[field] = _asdictref_inner(getattr(obj, field))
+    return ret
+  elif isinstance(obj, (tuple, list)):
+    return type(obj)(_asdictref_inner(v) for v in obj)
+  else:
+    return obj
+
+
+def asdictref(obj) -> dict[str, Any]:
+  """
+  Similar to dataclasses.asdict without recursive type checking and copy.deepcopy
+  Note that the resulting dict will contain references to the original struct as a result
+  """
+  if not is_dataclass(obj):
+    raise TypeError("asdictref() should be called on dataclass instances")
+
+  return _asdictref_inner(obj)
+
+
+def convert_to_capnp(struct: structs.CarParamsSP) -> capnp.lib.capnp._DynamicStructBuilder:
+  struct_dict = asdictref(struct)
+
+  if isinstance(struct, structs.CarParamsSP):
+    struct_capnp = custom.CarParamsSP.new_message(**struct_dict)
+  else:
+    raise ValueError(f"Unsupported struct type: {type(struct)}")
+
+  return struct_capnp
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 4370ea141ba7d5..b64fa09d8bc1f0 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -40,9 +40,12 @@ def test_car_interfaces(self, car_name, data):
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
                                          experimental_long=args['experimental_long'], docs=False)
+    car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
+                                                           experimental_long=args['experimental_long'], docs=False)
     car_params = car_params.as_reader()
-    car_interface = CarInterface(car_params, CarController, CarState)
+    car_interface = CarInterface(car_params, car_params_sp, CarController, CarState)
     assert car_params
+    assert car_params_sp
     assert car_interface
 
     assert car_params.mass > 1
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index ee60c47021a51a..88e4e34c161d49 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -1,4 +1,5 @@
 import capnp
+import copy
 import os
 import pytest
 import random
@@ -158,7 +159,9 @@ def setUpClass(cls):
 
     cls.CarInterface, cls.CarController, cls.CarState, cls.RadarInterface = interfaces[cls.platform]
     cls.CP = cls.CarInterface.get_params(cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
+    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
     assert cls.CP
+    assert cls.CP_SP
     assert cls.CP.carFingerprint == cls.platform
 
     os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -168,7 +171,7 @@ def tearDownClass(cls):
     del cls.can_msgs
 
   def setUp(self):
-    self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState)
+    self.CI = self.CarInterface(self.CP.copy(), copy.deepcopy(self.CP_SP), self.CarController, self.CarState)
     assert self.CI
 
     Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled)
@@ -217,7 +220,7 @@ def test_car_interface(self):
     self.assertEqual(can_invalid_cnt, 0)
 
   def test_radar_interface(self):
-    RI = self.RadarInterface(self.CP)
+    RI = self.RadarInterface(self.CP, self.CP_SP)
     assert RI
 
     # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting,
@@ -277,7 +280,7 @@ def test_panda_safety_tx_cases(self, data=None):
     def test_car_controller(car_control):
       now_nanos = 0
       msgs_sent = 0
-      CI = self.CarInterface(self.CP, self.CarController, self.CarState)
+      CI = self.CarInterface(self.CP, self.CP_SP, self.CarController, self.CarState)
       for _ in range(round(10.0 / DT_CTRL)):  # make sure we hit the slowest messages
         CI.update([])
         _, sendcan = CI.apply(car_control, now_nanos)
@@ -387,7 +390,7 @@ def test_panda_safety_carstate(self):
     controls_allowed_prev = False
     CS_prev = car.CarState.new_message()
     checks = defaultdict(int)
-    selfdrived = SelfdriveD(CP=self.CP)
+    selfdrived = SelfdriveD(CP=self.CP, CP_SP=self.CP_SP)
     selfdrived.initialized = True
     for idx, can in enumerate(self.can_msgs):
       CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))).as_reader()
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index ba09841381f3b7..94a4a36256b40c 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -2,7 +2,7 @@
 import math
 from typing import SupportsFloat
 
-from cereal import car, log
+from cereal import car, log, custom
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
@@ -34,11 +34,16 @@ def __init__(self) -> None:
     self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
     cloudlog.info("controlsd got CarParams")
 
-    self.CI = get_car_interface(self.CP)
+    cloudlog.info("controlsd is waiting for CarParamsSP")
+    self.CP_SP = messaging.log_from_bytes(self.params.get("CarParamsSP", block=True), custom.CarParamsSP)
+    cloudlog.info("controlsd got CarParamsSP")
+
+    self.CI = get_car_interface(self.CP, self.CP_SP)
 
     self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
                                    'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
-                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='selfdriveState')
+                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + ['selfdriveStateSP'],
+                                  poll='selfdriveState')
     self.pm = messaging.PubMaster(['carControl', 'controlsState'])
 
     self.steer_limited = False
@@ -57,9 +62,6 @@ def __init__(self) -> None:
     elif self.CP.lateralTuning.which() == 'torque':
       self.LaC = LatControlTorque(self.CP, self.CI)
 
-    data_services = list(self.sm.data.keys()) + ['selfdriveStateSP']
-    self.sm = messaging.SubMaster(data_services, poll='selfdriveState')
-
   def update(self):
     self.sm.update(15)
     if self.sm.updated["liveCalibration"]:
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index ba4bd0faeceb4a..5ea0aa15f4a454 100644
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -19,7 +19,8 @@ class TestLatControl:
   def test_saturation(self, car_name, controller):
     CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)
-    CI = CarInterface(CP, CarController, CarState)
+    CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
+    CI = CarInterface(CP, CP_SP, CarController, CarState)
     VM = VehicleModel(CP)
 
     controller = controller(CP.as_reader(), CI)
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 1c669621afb1d2..d352ca7c1b32f2 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -5,7 +5,7 @@
 
 import cereal.messaging as messaging
 
-from cereal import car, log
+from cereal import car, log, custom
 from msgq.visionipc import VisionIpcClient, VisionStreamType
 from panda import ALTERNATIVE_EXPERIENCE
 
@@ -47,7 +47,7 @@
 
 
 class SelfdriveD(CruiseHelper):
-  def __init__(self, CP=None):
+  def __init__(self, CP=None, CP_SP=None):
     self.params = Params()
 
     # Ensure the current branch is cached, otherwise the first cycle lags
@@ -60,11 +60,18 @@ def __init__(self, CP=None):
     else:
       self.CP = CP
 
+    if CP_SP is None:
+      cloudlog.info("selfdrived is waiting for CarParamsSP")
+      self.CP_SP = messaging.log_from_bytes(self.params.get("CarParamsSP", block=True), custom.CarParamsSP)
+      cloudlog.info("selfdrived got CarParamsSP")
+    else:
+      self.CP_SP = CP_SP
+
     self.car_events = CarSpecificEvents(self.CP)
     self.disengage_on_accelerator = not (self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS)
 
     # Setup sockets
-    self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'])
+    self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'] + ['selfdriveStateSP', 'onroadEventsSP'])
 
     self.gps_location_service = get_gps_location_service(self.params)
     self.gps_packets = [self.gps_location_service]
@@ -140,8 +147,6 @@ def __init__(self, CP=None):
     self.events_sp_prev = []
 
     self.mads = ModularAssistiveDrivingSystem(self)
-    sock_services = list(self.pm.sock.keys()) + ['selfdriveStateSP', 'onroadEventsSP']
-    self.pm = messaging.PubMaster(sock_services)
 
     self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
 
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 45210f16480158..f33bd95811f19d 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -23,7 +23,7 @@
 from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
-from openpilot.selfdrive.car.card import can_comm_callbacks
+from openpilot.selfdrive.car.card import can_comm_callbacks, convert_to_capnp
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
@@ -344,6 +344,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
   if fingerprint:
     CarInterface, _, _, _ = interfaces[fingerprint]
     CP = CarInterface.get_non_essential_params(fingerprint)
+    CP_SP = CarInterface.get_non_essential_params_sp(CP, fingerprint)
   else:
     can = DummySocket()
     sendcan = DummySocket()
@@ -364,12 +365,14 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
       with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
         cached_params = _cached_params
 
-    CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params).CP
+    _CI = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params)
+    CP, CP_SP = _CI.CP, _CI.CP_SP
 
     if not params.get_bool("DisengageOnAccelerator"):
       CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
   params.put("CarParams", CP.to_bytes())
+  params.put("CarParamsSP", convert_to_capnp(CP_SP).to_bytes())
 
 
 def selfdrived_rcv_callback(msg, cfg, frame):
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index 2a5d43ea52826a..6d34757a07f26c 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -48,13 +48,13 @@ def set_alternative_experience(self, CP):
       if pause_lateral_on_brake:
         CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISENGAGE_LATERAL_ON_BRAKE
 
-  def set_car_specific_params(self, CP):
+  def set_car_specific_params(self, CP, CP_SP):
     if CP.carName == "hyundai":
       # TODO-SP: This should be separated from MADS module for future implementations
       #          Use "HyundaiLongitudinalMainCruiseToggleable" param
       hyundai_cruise_main_toggleable = True
       if hyundai_cruise_main_toggleable:
-        CP.sunnypilotFlags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
+        CP_SP.flags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
         CP.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG_MAIN_CRUISE_TOGGLEABLE
 
     # MADS is currently not supported in Tesla due to lack of consistent states to engage controls
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index aa002bb5dd0e37..486696a6813a18 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -57,7 +57,7 @@ def __init__(self, selfdrive):
     self.events_sp = self.selfdrive.events_sp
 
     if self.selfdrive.CP.carName == "hyundai":
-      if (self.selfdrive.CP.sunnypilotFlags & HyundaiFlagsSP.HAS_LFA_BUTTON) or \
+      if (self.selfdrive.CP_SP.flags & HyundaiFlagsSP.HAS_LFA_BUTTON) or \
             (self.selfdrive.CP.flags & HyundaiFlags.CANFD):
         self.allow_always = True
 
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index ff541ea9ed0b34..a41ec16a467772 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -22,20 +22,21 @@ def log_fingerprint(CP: structs.CarParams) -> None:
     sentry.capture_fingerprint(CP.carFingerprint, CP.carName)
 
 
-def setup_car_interface_sp(CP: structs.CarParams, params):
+def setup_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params):
   if CP.carName == 'hyundai':
     if CP.flags & HyundaiFlags.MANDO_RADAR and CP.radarUnavailable:
       # Having this automatic without a toggle causes a weird process replay diff because
       # somehow it sees fewer logs than intended
       if params.get_bool("HyundaiRadarTracksToggle"):
-        CP.sunnypilotFlags |= HyundaiFlagsSP.ENABLE_RADAR_TRACKS.value
+        CP_SP.flags |= HyundaiFlagsSP.ENABLE_RADAR_TRACKS.value
         if params.get_bool("HyundaiRadarTracks"):
           CP.radarUnavailable = False
 
 
-def initialize_car_interface_sp(CP: structs.CarParams, params, can_recv: CanRecvCallable, can_send: CanSendCallable):
+def initialize_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params, can_recv: CanRecvCallable,
+                                can_send: CanSendCallable):
   if CP.carName == 'hyundai':
-    if CP.sunnypilotFlags & HyundaiFlagsSP.ENABLE_RADAR_TRACKS:
+    if CP_SP.flags & HyundaiFlagsSP.ENABLE_RADAR_TRACKS:
       can_recv()
       _, fingerprint = can_fingerprint(can_recv)
       radar_unavailable = RADAR_START_ADDR not in fingerprint[1] or Bus.radar not in HYUNDAI_DBC[CP.carFingerprint]

From f1837b85021d6379ffc9f5d8101dd612dc7749ac Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 22 Jan 2025 15:05:10 -0500
Subject: [PATCH 0094/1434] Sentry: sets environment tag (#605)

* Sentry: sets environment tag

* master channel

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 system/sentry.py  |  6 +-----
 system/version.py | 24 ++++++++++++++++++++++--
 2 files changed, 23 insertions(+), 7 deletions(-)

diff --git a/system/sentry.py b/system/sentry.py
index e9605bf7193686..2f918ebc4912fd 100644
--- a/system/sentry.py
+++ b/system/sentry.py
@@ -116,12 +116,8 @@ def get_properties() -> tuple[str, str, str]:
 
 def init(project: SentryProject) -> bool:
   build_metadata = get_build_metadata()
-  # forks like to mess with this, so double check
-  # comma_remote = build_metadata.openpilot.comma_remote and "commaai" in build_metadata.openpilot.git_origin
-  # if not comma_remote or not is_registered_device() or PC:
-  #   return False
 
-  env = "release" if build_metadata.tested_channel else "master"
+  env = build_metadata.channel_type
   dongle_id, git_username, sunnylink_dongle_id = get_properties()
 
   integrations = []
diff --git a/system/version.py b/system/version.py
index 2d8a387bf740d5..11c6ced2b7b051 100755
--- a/system/version.py
+++ b/system/version.py
@@ -10,8 +10,11 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date
 
-RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly']
-TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev']
+RELEASE_SP_BRANCHES = ['release-c3']
+TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new']
+MASTER_SP_BRANCHES = ['master', 'master-new']
+RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly'] + RELEASE_SP_BRANCHES
+TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + TESTED_SP_BRANCHES
 
 BUILD_METADATA_FILENAME = "build.json"
 
@@ -110,6 +113,23 @@ def canonical(self) -> str:
   def ui_description(self) -> str:
     return f"{self.openpilot.version} / {self.openpilot.git_commit[:6]} / {self.channel}"
 
+  @property
+  def master_channel(self) -> bool:
+    return self.channel in MASTER_SP_BRANCHES
+
+  @property
+  def channel_type(self) -> str:
+    if self.channel.startswith("dev-"):
+      return "development"
+    elif self.channel.startswith("staging-"):
+      return "staging"
+    elif self.master_channel:
+      return "master"
+    elif self.tested_channel:
+      return "release"
+    else:
+      return "feature"
+
 
 def build_metadata_from_dict(build_metadata: dict) -> BuildMetadata:
   channel = build_metadata.get("channel", "unknown")

From 213b97777440f737f6e0138c73f027e889e1e63c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 23 Jan 2025 10:47:16 -0500
Subject: [PATCH 0095/1434] Car: Migrate sunnypilot `CarControl` to its own
 cereal (#606)

* carControlSP and move MADS to outside structs

* publish it

* apply to all car controller

* migrate sunnypilotParams

* migrate madsEnabled

* tldr

* convert to capnp

* unused

* wrong module

* fix name

* cancer is right (all tests should be passing now)

* bump opendbc
---
 cereal/custom.capnp                           | 33 ++++++++++---------
 cereal/log.capnp                              |  2 +-
 cereal/services.py                            |  1 +
 opendbc_repo                                  |  2 +-
 selfdrive/car/card.py                         | 10 +++---
 selfdrive/car/helpers.py                      | 13 ++++++++
 selfdrive/car/tests/test_car_interfaces.py    | 10 ++++--
 selfdrive/car/tests/test_models.py            | 14 ++++----
 selfdrive/controls/controlsd.py               | 23 ++++++++-----
 selfdrive/ui/ui.cc                            |  4 +--
 sunnypilot/mads/mads.py                       |  2 +-
 sunnypilot/mads/state.py                      |  2 +-
 .../mads/tests/test_mads_state_machine.py     |  2 +-
 13 files changed, 72 insertions(+), 46 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index f324ef5daa1578..b75983e9a2f61e 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -10,23 +10,23 @@ $Cxx.namespace("cereal");
 # DO rename the structs
 # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
 
+struct ModularAssistiveDrivingSystem {
+  state @0 :ModularAssistiveDrivingSystemState;
+  enabled @1 :Bool;
+  active @2 :Bool;
+  available @3 :Bool;
+
+  enum ModularAssistiveDrivingSystemState {
+    disabled @0;
+    paused @1;
+    enabled @2;
+    softDisabling @3;
+    overriding @4;
+  }
+}
+
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
-
-  struct ModularAssistiveDrivingSystem {
-    state @0 :ModularAssistiveDrivingSystemState;
-    enabled @1 :Bool;
-    active @2 :Bool;
-    available @3 :Bool;
-
-    enum ModularAssistiveDrivingSystemState {
-      disabled @0;
-      paused @1;
-      enabled @2;
-      softDisabling @3;
-      overriding @4;
-    }
-  }
 }
 
 struct ModelManagerSP @0xaedffd8f31e7b55d {
@@ -137,7 +137,8 @@ struct CarParamsSP @0x80ae746ee2596b11 {
   flags @0 :UInt32;  # flags for car specific quirks in sunnypilot
 }
 
-struct CustomReserved5 @0xa5cd762cd951a455 {
+struct CarControlSP @0xa5cd762cd951a455 {
+  mads @0 :ModularAssistiveDrivingSystem;
 }
 
 struct CustomReserved6 @0xf98d843bfd7004a3 {
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 95f741ee3d1c36..4b0e10c3f5214d 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2570,7 +2570,7 @@ struct Event {
     longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
     onroadEventsSP @110 :List(Custom.OnroadEventSP);
     carParamsSP @111 :Custom.CarParamsSP;
-    customReserved5 @112 :Custom.CustomReserved5;
+    carControlSP @112 :Custom.CarControlSP;
     customReserved6 @113 :Custom.CustomReserved6;
     customReserved7 @114 :Custom.CustomReserved7;
     customReserved8 @115 :Custom.CustomReserved8;
diff --git a/cereal/services.py b/cereal/services.py
index e39284d55ae808..f6f90d62a1d311 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -80,6 +80,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "longitudinalPlanSP": (True, 20., 10),
   "onroadEventsSP": (True, 1., 1),
   "carParamsSP": (True, 0.02, 1),
+  "carControlSP": (True, 100., 10),
 
   # debug
   "uiDebug": (True, 0., 1),
diff --git a/opendbc_repo b/opendbc_repo
index 2bd2bcdf5db6db..5e5885c75b0486 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 2bd2bcdf5db6db09ac36851f2760804039a5a52a
+Subproject commit 5e5885c75b0486c2ac4b75924a81412f65b09f57
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 5c2baed71d9fbb..62ecb1cbaee374 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -21,7 +21,7 @@
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
-from openpilot.selfdrive.car.helpers import convert_to_capnp
+from openpilot.selfdrive.car.helpers import convert_carControlSP, convert_to_capnp
 
 from openpilot.sunnypilot.mads.mads import MadsParams
 from openpilot.sunnypilot.selfdrive.car import interfaces
@@ -72,7 +72,7 @@ class Car:
 
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
+    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP'])
     self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP'])
 
     self.can_rcv_cum_timeout_counter = 0
@@ -264,7 +264,7 @@ def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None):
       cp_sp_send.carParamsSP = self.CP_SP_capnp
       self.pm.send('carParamsSP', cp_sp_send)
 
-  def controls_update(self, CS: car.CarState, CC: car.CarControl):
+  def controls_update(self, CS: car.CarState, CC: car.CarControl, CC_SP: custom.CarControlSP):
     """control update loop, driven by carControl"""
 
     if not self.initialized_prev:
@@ -278,7 +278,7 @@ def controls_update(self, CS: car.CarState, CC: car.CarControl):
     if self.sm.all_alive(['carControl']):
       # send car controls over can
       now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
-      self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
+      self.last_actuators_output, can_sends = self.CI.apply(CC, convert_carControlSP(CC_SP), now_nanos)
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
       self.CC_prev = CC
@@ -291,7 +291,7 @@ def step(self):
     initialized = (not any(e.name == EventName.selfdriveInitializing for e in self.sm['onroadEvents']) and
                    self.sm.seen['onroadEvents'])
     if not self.CP.passive and initialized:
-      self.controls_update(CS, self.sm['carControl'])
+      self.controls_update(CS, self.sm['carControl'], self.sm['carControlSP'])
 
     self.initialized_prev = initialized
     self.CS_prev = CS
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
index cb4a6bc674062e..3f7a322c080af9 100644
--- a/selfdrive/car/helpers.py
+++ b/selfdrive/car/helpers.py
@@ -44,3 +44,16 @@ def convert_to_capnp(struct: structs.CarParamsSP) -> capnp.lib.capnp._DynamicStr
     raise ValueError(f"Unsupported struct type: {type(struct)}")
 
   return struct_capnp
+
+
+def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> structs.CarControlSP:
+  # TODO: recursively handle any car struct as needed
+  def remove_deprecated(s: dict) -> dict:
+    return {k: v for k, v in s.items() if not k.endswith('DEPRECATED')}
+
+  struct_dict = struct.to_dict()
+  struct_dataclass = structs.CarControlSP(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
+
+  struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {})))
+
+  return struct_dataclass
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index b64fa09d8bc1f0..10b245d1b5c3e4 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -4,7 +4,7 @@
 from hypothesis import Phase, given, settings
 from parameterized import parameterized
 
-from cereal import car
+from cereal import car, custom
 from opendbc.car import DT_CTRL
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.structs import CarParams
@@ -12,6 +12,7 @@
 from opendbc.car.fingerprints import all_known_cars
 from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
 from opendbc.car.mock.values import CAR as MOCK
+from openpilot.selfdrive.car.helpers import convert_carControlSP
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
@@ -72,13 +73,16 @@ def test_car_interfaces(self, car_name, data):
         assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0
 
     cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
+    cc_sp_msg = FuzzyGenerator.get_random_msg(data.draw, custom.CarControlSP, real_floats=True)
     # Run car interface
     now_nanos = 0
     CC = car.CarControl.new_message(**cc_msg)
     CC = CC.as_reader()
+    CC_SP = custom.CarControlSP.new_message(**cc_sp_msg)
+    CC_SP = convert_carControlSP(CC_SP.as_reader())
     for _ in range(10):
       car_interface.update([])
-      car_interface.apply(CC, now_nanos)
+      car_interface.apply(CC, CC_SP, now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10 ms
 
     CC = car.CarControl.new_message(**cc_msg)
@@ -86,7 +90,7 @@ def test_car_interfaces(self, car_name, data):
     CC = CC.as_reader()
     for _ in range(10):
       car_interface.update([])
-      car_interface.apply(CC, now_nanos)
+      car_interface.apply(CC, CC_SP, now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10ms
 
     # Test controller initialization
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 88e4e34c161d49..9214066ecb5d5f 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -205,10 +205,11 @@ def test_car_interface(self):
     can_invalid_cnt = 0
     can_valid = False
     CC = structs.CarControl().as_reader()
+    CC_SP = structs.CarControlSP()
 
     for i, msg in enumerate(self.can_msgs):
       CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
-      self.CI.apply(CC, msg.logMonoTime)
+      self.CI.apply(CC, CC_SP, msg.logMonoTime)
 
       if CS.canValid:
         can_valid = True
@@ -277,13 +278,13 @@ def test_panda_safety_tx_cases(self, data=None):
     if self.CP.notCar:
       self.skipTest("Skipping test for notCar")
 
-    def test_car_controller(car_control):
+    def test_car_controller(car_control, car_control_sp):
       now_nanos = 0
       msgs_sent = 0
       CI = self.CarInterface(self.CP, self.CP_SP, self.CarController, self.CarState)
       for _ in range(round(10.0 / DT_CTRL)):  # make sure we hit the slowest messages
         CI.update([])
-        _, sendcan = CI.apply(car_control, now_nanos)
+        _, sendcan = CI.apply(car_control, car_control_sp, now_nanos)
 
         now_nanos += DT_CTRL * 1e9
         msgs_sent += len(sendcan)
@@ -296,17 +297,18 @@ def test_car_controller(car_control):
 
     # Make sure we can send all messages while inactive
     CC = structs.CarControl()
-    test_car_controller(CC.as_reader())
+    CC_SP = structs.CarControlSP()
+    test_car_controller(CC.as_reader(), CC_SP)
 
     # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
     self.safety.set_cruise_engaged_prev(True)
     CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(cancel=True))
-    test_car_controller(CC.as_reader())
+    test_car_controller(CC.as_reader(), CC_SP)
 
     # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
     self.safety.set_controls_allowed(True)
     CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(resume=True))
-    test_car_controller(CC.as_reader())
+    test_car_controller(CC.as_reader(), CC_SP)
 
   # Skip stdout/stderr capture with pytest, causes elevated memory usage
   @pytest.mark.nocapture
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 94a4a36256b40c..fb5bb87480974a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -19,8 +19,6 @@
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
-from opendbc.sunnypilot import SunnypilotParamFlags
-
 State = log.SelfdriveState.OpenpilotState
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -44,7 +42,7 @@ def __init__(self) -> None:
                                    'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
                                    'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + ['selfdriveStateSP'],
                                   poll='selfdriveState')
-    self.pm = messaging.PubMaster(['carControl', 'controlsState'])
+    self.pm = messaging.PubMaster(['carControl', 'controlsState'] + ['carControlSP'])
 
     self.steer_limited = False
     self.desired_curvature = 0.0
@@ -96,9 +94,7 @@ def state_control(self):
     standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
 
     ss_sp = self.sm['selfdriveStateSP']
-    CC.madsEnabled = ss_sp.mads.enabled
     if ss_sp.mads.available:
-      CC.sunnypilotParams |= SunnypilotParamFlags.ENABLE_MADS.value
       _lat_active = ss_sp.mads.active
     else:
       _lat_active = self.sm['selfdriveState'].active
@@ -141,9 +137,12 @@ def state_control(self):
         cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
         setattr(actuators, p, 0.0)
 
-    return CC, lac_log
+    CC_SP = custom.CarControlSP.new_message()
+    CC_SP.mads = ss_sp.mads
+
+    return CC, CC_SP, lac_log
 
-  def publish(self, CC, lac_log):
+  def publish(self, CC, CC_SP, lac_log):
     CS = self.sm['carState']
 
     # Orientation and angle rates can be useful for carcontroller
@@ -219,12 +218,18 @@ def publish(self, CC, lac_log):
     cc_send.carControl = CC
     self.pm.send('carControl', cc_send)
 
+    # carControlSP
+    cc_sp_send = messaging.new_message('carControlSP')
+    cc_sp_send.valid = CS.canValid
+    cc_sp_send.carControlSP = CC_SP
+    self.pm.send('carControlSP', cc_sp_send)
+
   def run(self):
     rk = Ratekeeper(100, print_delay_threshold=None)
     while True:
       self.update()
-      CC, lac_log = self.state_control()
-      self.publish(CC, lac_log)
+      CC, CC_SP, lac_log = self.state_control()
+      self.publish(CC, CC_SP, lac_log)
       rk.monitor_time()
 
 def main():
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 2bdac39368237a..3b565e0e13983a 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -75,8 +75,8 @@ void UIState::updateStatus() {
     auto state = ss.getState();
     auto state_mads = mads.getState();
     if (state == cereal::SelfdriveState::OpenpilotState::PRE_ENABLED || state == cereal::SelfdriveState::OpenpilotState::OVERRIDING ||
-        state_mads == cereal::SelfdriveStateSP::ModularAssistiveDrivingSystem::ModularAssistiveDrivingSystemState::PAUSED ||
-        state_mads == cereal::SelfdriveStateSP::ModularAssistiveDrivingSystem::ModularAssistiveDrivingSystemState::OVERRIDING) {
+        state_mads == cereal::ModularAssistiveDrivingSystem::ModularAssistiveDrivingSystemState::PAUSED ||
+        state_mads == cereal::ModularAssistiveDrivingSystem::ModularAssistiveDrivingSystemState::OVERRIDING) {
       status = STATUS_OVERRIDE;
     } else {
       if (mads.getAvailable()) {
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 486696a6813a18..0e938b897da790 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -32,7 +32,7 @@
 from openpilot.sunnypilot.mads.helpers import MadsParams
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
-State = custom.SelfdriveStateSP.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
+State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = log.OnroadEvent.EventName
 EventNameSP = custom.OnroadEventSP.EventName
diff --git a/sunnypilot/mads/state.py b/sunnypilot/mads/state.py
index 092a3113451354..342b481dd307f5 100644
--- a/sunnypilot/mads/state.py
+++ b/sunnypilot/mads/state.py
@@ -31,7 +31,7 @@
 
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
-State = custom.SelfdriveStateSP.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
+State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 EventName = log.OnroadEvent.EventName
 EventNameSP = custom.OnroadEventSP.EventName
 
diff --git a/sunnypilot/mads/tests/test_mads_state_machine.py b/sunnypilot/mads/tests/test_mads_state_machine.py
index 97412f7b7d5a94..694d62362fb7c6 100644
--- a/sunnypilot/mads/tests/test_mads_state_machine.py
+++ b/sunnypilot/mads/tests/test_mads_state_machine.py
@@ -33,7 +33,7 @@
 from openpilot.selfdrive.selfdrived.events import ET, NormalPermanentAlert
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EVENTS_SP
 
-State = custom.SelfdriveStateSP.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
+State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 EventNameSP = custom.OnroadEventSP.EventName
 
 # The event types that maintain the current state

From c392b2b26955561852f93c10cbc5b38526df92f9 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Fri, 24 Jan 2025 06:01:14 +0100
Subject: [PATCH 0096/1434] modeld: legacy MLSIM driving models support (#595)

* Add buffer length parameter for enhanced frame handling

Introduce a configurable `buffer_length` parameter to `DrivingModelFrame` to support dynamic buffer sizes, enabling better handling of different frame rates like 20Hz. Updates include necessary adjustments in buffer initialization, copying logic, and related model inputs for improved compatibility and flexibility.

* Rename variable `len` to `length` to avoid shadowing built-in.

Replaced the usage of `len` with `length` across the code to prevent conflicts with Python's built-in `len` function. This improves code clarity and reduces potential errors or misunderstandings in variable usage.

* Fix spacing inconsistency in modeld.py

    Added a missing newline for better code readability and consistency. This change has no impact on functionality but improves code formatting.

* Move numpy_inputs initialization to correct position

Repositioned the `numpy_inputs` initialization to align with the input shape processing logic. This ensures consistency in buffer management and clarifies the flow of code execution related to input handling.

* Add 20Hz model state, smart input, and model switcher classes

Introduce `ModelState20Hz`, `ModelSmartInput`, and `ModelSwitcher` for enhanced modularity and flexibility in modeld. Refactor `ModelState` to inherit from these new classes, enabling support for 20Hz processing and smart input initialization. Update associated files to handle the new buffer length parameter and metadata management.

* Refactor `modeld` to streamline feature handling logic

Simplified feature processing for both standard and "smart input" modes by consolidating logic into reusable methods. Updated variable naming, formatting, and spacing for consistency and readability. This refactor enhances maintainability and reduces redundancy in feature update operations.

* Silence debug print statements and use cloudlog for warnings.

Commented out a debug print statement in `commonmodel.cc` to reduce noise. Replaced `print` statements with `cloudlog.warning` in `model_smart_input.py` for improved logging consistency and better integration with the logging system.

* Clean up formatting and fix minor style inconsistencies

Removed unnecessary blank lines and adjusted spacing to standardize code style across the file. These changes improve readability without altering functionality or logic.

* Refactor modeld logic and remove unused 20Hz and smart inputs

Eliminated `ModelSmartInput`, `ModelSwitcher`, and `ModelState20Hz` classes, simplifying model state handling. Centralized model processing within a unified `ModelState` class and moved related code into `sunnypilot/modeld_20hz`. This improves maintainability by removing unused features and consolidating model execution logic, aligning with current system requirements.

* clean

* Remove debug print statement in commonmodel.cc

The `printf` statement logging buffer movement details was removed as it is unnecessary for release builds. This helps streamline the code and avoid excessive console output during execution.

* Refactor model handling for 20Hz and introduce model runners

Introduce ModelRunner abstraction with TinygradRunner and ONNXRunner to streamline model handling for TICI and non-TICI hardware. Added support for dynamic input preparation and 20Hz models while simplifying the model parsing logic. This improves modularity, readability, and extensibility for future updates.

* Remove unused import and fix import order in model_runner.py

This commit removes the unused 'dtypes' import from tinygrad.tensor and adjusts the import order for cleaner code. These changes enhance readability and maintain coding standards.

* Add is20hz field to custom.capnp schema

Introduce a new boolean field `is20hz` to the `custom.capnp` schema. This allows the system to identify 20Hz-specific configurations or data processing. No changes to existing behavior are introduced for non-20Hz cases.

* Add Meta20hz class for 20Hz model message handling.

Introduces a new Meta20hz class for filling 20Hz model messages, encapsulating functionality for curvature, lane lines, road edges, and more. Refactored `modeld.py` to utilize the new class, improving modularity and maintainability. Minor adjustments were made to initialize and handle model metadata.

* Refactor import paths to align with `openpilot` structure.

Updated several import statements to use the `openpilot` namespace for better consistency and organization. This aligns the sunnypilot components more closely with the overall project structure.

* Refactor modeld to support 20Hz models and modularize runners

Replaced legacy runner logic with a unified ONNX and Tinygrad runner to support 20Hz models. Centralized model metadata management and optimized input preparation for adaptability. Updated curvature handling and output parsing for improved modularity and maintainability.

* Add 20Hz metadata handling for model predictions

Introduce `Meta20hz` class for 20Hz-specific metadata and implement dynamic loading of meta model classes in `meta_helper.py`. Update `fill_model_msg.py` to use the new metadata structure, ensuring seamless integration with 20Hz models. Adjust imports in `model_runner.py` to align with project structure.

* "Refactor modeld_20hz to modeld_v2 with cleanup"

Refactored `modeld_20hz` module to `modeld_v2` for improved clarity and consistency. Removed unused code and aligned imports across modules to reflect the new structure. Enhanced maintainability by restructuring model-related files and updating references accordingly.

* Refactor variable names and adjust imports for clarity.

Renamed `len` to `length` to avoid conflict with the built-in function and improve readability. Reorganized imports in `fill_model_msg.py` for better structure and consistency.

* "Add missing newline at end of file in __init__.py

Ensure proper formatting by adding a newline at the end of the file. This adheres to POSIX standards and improves compatibility with some tools and version control systems."

* Handle model runner initialization errors gracefully

Wrap the model runner initialization in a try-except block to catch and log exceptions. This ensures that failures during initialization are logged with detailed information, improving debugging and error tracing.

* Refactor curvature calculation for clarity and reuse.

Introduce a dedicated `get_curvature_from_output` function to handle desired curvature retrieval, improving code readability and reusability. Replace redundant logic in curvature calculation with the new function to streamline the flow.

* Make 20Hz-specific variables conditional in modeld.py

Moved the initialization of 20Hz-specific variables to be conditional based on the `is_20hz` flag. This ensures that unnecessary memory allocations are avoided when the model is not running at 20Hz, improving efficiency and clarity.

* cleanup

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 cereal/custom.capnp                         |   1 +
 selfdrive/modeld/__init__.py                |   5 +
 selfdrive/modeld/fill_model_msg.py          |  60 ++++++---
 selfdrive/modeld/modeld.py                  | 134 ++++++++++----------
 selfdrive/modeld/models/commonmodel.cc      |   9 +-
 selfdrive/modeld/models/commonmodel.h       |   3 +-
 selfdrive/modeld/models/commonmodel.pxd     |   2 +-
 selfdrive/modeld/models/commonmodel_pyx.pyx |   6 +-
 sunnypilot/modeld_v2/__init__.py            |   0
 sunnypilot/modeld_v2/meta_20hz.py           |  17 +++
 sunnypilot/modeld_v2/meta_helper.py         |  26 ++++
 sunnypilot/modeld_v2/model_runner.py        | 134 ++++++++++++++++++++
 sunnypilot/models/fetcher.py                |   3 +-
 13 files changed, 303 insertions(+), 97 deletions(-)
 create mode 100644 sunnypilot/modeld_v2/__init__.py
 create mode 100644 sunnypilot/modeld_v2/meta_20hz.py
 create mode 100644 sunnypilot/modeld_v2/meta_helper.py
 create mode 100644 sunnypilot/modeld_v2/model_runner.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index b75983e9a2f61e..3aa9c7ad18e408 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -81,6 +81,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     generation @5 :UInt32;
     environment @6 :Text;
     runner @7 :Runner;
+    is20hz @8 :Bool;
   }
 }
 
diff --git a/selfdrive/modeld/__init__.py b/selfdrive/modeld/__init__.py
index e69de29bb2d1d6..639622e8274288 100644
--- a/selfdrive/modeld/__init__.py
+++ b/selfdrive/modeld/__init__.py
@@ -0,0 +1,5 @@
+from pathlib import Path
+
+MODEL_PATH = Path(__file__).parent / 'models/supercombo.onnx'
+MODEL_PKL_PATH = Path(__file__).parent / 'models/supercombo_tinygrad.pkl'
+METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 3056da937452ee..3f5bf2f271ab9e 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -2,13 +2,33 @@
 import capnp
 import numpy as np
 from cereal import log
-from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
+from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
+from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 ConfidenceClass = log.ModelDataV2.ConfidenceClass
 
 
+def curv_from_psis(psi_target, psi_rate, vego, delay):
+  vego = np.clip(vego, MIN_SPEED, np.inf)
+  curv_from_psi = psi_target / (vego * delay)  # epsilon to prevent divide-by-zero
+  return 2 * curv_from_psi - psi_rate / vego
+
+
+def get_curvature_from_plan(plan, vego, delay):
+  psi_target = np.interp(delay, ModelConstants.T_IDXS, plan[:, Plan.T_FROM_CURRENT_EULER][:, 2])
+  psi_rate = plan[:, Plan.ORIENTATION_RATE][0, 2]
+  return curv_from_psis(psi_target, psi_rate, vego, delay)
+
+
+def get_curvature_from_output(output, vego, delay):
+  if desired_curv := output.get('desired_curvature'):  # If the model outputs the desired curvature, use that directly
+    return float(desired_curv[0, 0])
+
+  return float(get_curvature_from_plan(output['plan'][0], vego, delay))
+
+
 class PublishState:
   def __init__(self):
     self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
@@ -59,12 +79,14 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
                    net_output_data: dict[str, np.ndarray], v_ego: float, delay: float,
                    publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
                    frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
-                   valid: bool) -> None:
+                   valid: bool, model_meta) -> None:
   frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
   frame_drop_perc = frame_drop * 100
   extended_msg.valid = valid
   base_msg.valid = valid
 
+  desired_curvature = float(get_curvature_from_output(net_output_data, v_ego, delay))
+
   driving_model_data = base_msg.drivingModelData
 
   driving_model_data.frameId = vipc_frame_id
@@ -73,7 +95,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   driving_model_data.modelExecutionTime = model_execution_time
 
   action = driving_model_data.action
-  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  action.desiredCurvature = desired_curvature
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -108,7 +130,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
 
   # lateral planning
   action = modelV2.action
-  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  action.desiredCurvature = desired_curvature
 
   # times at X_IDXS according to model plan
   PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
@@ -159,23 +181,25 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   meta = modelV2.meta
   meta.desireState = net_output_data['desire_state'][0].reshape(-1).tolist()
   meta.desirePrediction = net_output_data['desire_pred'][0].reshape(-1).tolist()
-  meta.engagedProb = net_output_data['meta'][0,Meta.ENGAGED].item()
+  meta.engagedProb = net_output_data['meta'][0,model_meta.ENGAGED].item()
   meta.init('disengagePredictions')
   disengage_predictions = meta.disengagePredictions
   disengage_predictions.t = ModelConstants.META_T_IDXS
-  disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE].tolist()
-  disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,Meta.GAS_DISENGAGE].tolist()
-  disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,Meta.STEER_OVERRIDE].tolist()
-  disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
-  disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
-  disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
-  #disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
-  #disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
+  disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,model_meta.BRAKE_DISENGAGE].tolist()
+  disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,model_meta.GAS_DISENGAGE].tolist()
+  disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,model_meta.STEER_OVERRIDE].tolist()
+  disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,model_meta.HARD_BRAKE_3].tolist()
+  disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,model_meta.HARD_BRAKE_4].tolist()
+  disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,model_meta.HARD_BRAKE_5].tolist()
+
+  if hasattr(model_meta, 'GAS_PRESS') and hasattr(model_meta, 'BRAKE_PRESS'):
+    disengage_predictions.gasPressProbs = net_output_data['meta'][0,model_meta.GAS_PRESS].tolist()
+    disengage_predictions.brakePressProbs = net_output_data['meta'][0,model_meta.BRAKE_PRESS].tolist()
 
   publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
-  publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]
+  publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,model_meta.HARD_BRAKE_5][0]
   publish_state.prev_brake_3ms2_probs[:-1] = publish_state.prev_brake_3ms2_probs[1:]
-  publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_3][0]
+  publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,model_meta.HARD_BRAKE_3][0]
   hard_brake_predicted = (publish_state.prev_brake_5ms2_probs > ModelConstants.FCW_THRESHOLDS_5MS2).all() and \
     (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all()
   meta.hardBrakePredicted = hard_brake_predicted.item()
@@ -183,9 +207,9 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   # confidence
   if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
     # any disengage prob
-    brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
-    gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]
-    steer_override_probs = net_output_data['meta'][0,Meta.STEER_OVERRIDE]
+    brake_disengage_probs = net_output_data['meta'][0,model_meta.BRAKE_DISENGAGE]
+    gas_disengage_probs = net_output_data['meta'][0,model_meta.GAS_DISENGAGE]
+    steer_override_probs = net_output_data['meta'][0,model_meta.STEER_OVERRIDE]
     any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs))
     # independent disengage prob for each 2s slice
     ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])]
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 5783f6aa8e0425..3d7e385d6fbd73 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,21 +1,11 @@
 #!/usr/bin/env python3
-import os
 from openpilot.system.hardware import TICI
 
 #
-if TICI:
-  from tinygrad.tensor import Tensor
-  from tinygrad.dtype import dtypes
-  from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
-  os.environ['QCOM'] = '1'
-else:
-  from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner
 import time
-import pickle
 import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
-from pathlib import Path
 from setproctitle import setproctitle
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
@@ -33,13 +23,11 @@
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 
+from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
+from openpilot.sunnypilot.modeld_v2.model_runner import ONNXRunner, TinygradRunner
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
-MODEL_PATH = Path(__file__).parent / 'models/supercombo.onnx'
-MODEL_PKL_PATH = Path(__file__).parent / 'models/supercombo_tinygrad.pkl'
-METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
 
 class FrameMeta:
   frame_id: int = 0
@@ -57,39 +45,35 @@ class ModelState:
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
   def __init__(self, context: CLContext):
-    self.frames = {'input_imgs': DrivingModelFrame(context), 'big_input_imgs': DrivingModelFrame(context)}
+    try:
+      self.model_runner = TinygradRunner() if TICI else ONNXRunner()
+    except Exception as e:
+      cloudlog.exception(f"Failed to initialize model runner: {str(e)}")
+
+    buffer_length = 5 if self.model_runner.is_20hz else 2
+    self.frames = {'input_imgs': DrivingModelFrame(context, buffer_length), 'big_input_imgs': DrivingModelFrame(context, buffer_length)}
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
+    if self.model_runner.is_20hz:
+      self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
+      self.desire_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
 
     # img buffers are managed in openCL transform code
-    self.numpy_inputs = {
-      'desire': np.zeros((1, (ModelConstants.FULL_HISTORY_BUFFER_LEN+1), ModelConstants.DESIRE_LEN), dtype=np.float32),
-      'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
-      'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
-      'prev_desired_curv': np.zeros((1, (ModelConstants.FULL_HISTORY_BUFFER_LEN+1), ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
-      'features_buffer': np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
-    }
+    self.numpy_inputs = {}
 
-    with open(METADATA_PATH, 'rb') as f:
-      model_metadata = pickle.load(f)
-    self.input_shapes =  model_metadata['input_shapes']
+    for key, shape in self.model_runner.input_shapes.items():
+      if key not in self.frames: # Managed by opencl
+        self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
 
-    self.output_slices = model_metadata['output_slices']
-    net_output_size = model_metadata['output_shapes']['outputs'][1]
-    self.output = np.zeros(net_output_size, dtype=np.float32)
     self.parser = Parser()
 
-    if TICI:
-      self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
-      with open(MODEL_PKL_PATH, "rb") as f:
-        self.model_run = pickle.load(f)
-    else:
-      self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)
+    if self.model_runner.is_20hz:
+      net_output_size = self.model_runner.model_metadata['output_shapes']['outputs'][1]
+      self.output = np.zeros(net_output_size, dtype=np.float32)
 
-  def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]:
-    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
-    if SEND_RAW_PRED:
-      parsed_model_outputs['raw_pred'] = model_outputs.copy()
-    return parsed_model_outputs
+      num_elements = self.numpy_inputs['features_buffer'].shape[1]
+      step_size = int(-100 / num_elements)
+      self.full_features_20Hz_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
+      self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1, self.numpy_inputs['desire'].shape[2])
 
   def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
@@ -98,40 +82,53 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_
     new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
     self.prev_desire[:] = inputs['desire']
 
-    self.numpy_inputs['desire'][0,:-1] = self.numpy_inputs['desire'][0,1:]
-    self.numpy_inputs['desire'][0,-1] = new_desire
+    if self.model_runner.is_20hz:
+      self.desire_20Hz[:-1] = self.desire_20Hz[1:]
+      self.desire_20Hz[-1] = new_desire
+      self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape(self.desire_reshape_dims).max(axis=2)
+    else:
+      length = inputs['desire'].shape[0]
+      self.numpy_inputs['desire'][0, :-1] = self.numpy_inputs['desire'][0, 1:]
+      self.numpy_inputs['desire'][0, -1, :length] = new_desire[:length]
+
+    for key in self.numpy_inputs:
+      if key in inputs and key not in ['desire']:
+        self.numpy_inputs[key][:] = inputs[key]
 
-    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
-    self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
     imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
                'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
 
-    if TICI:
-      # The imgs tensors are backed by opencl memory, only need init once
-      for key in imgs_cl:
-        if key not in self.tensor_inputs:
-          self.tensor_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=dtypes.uint8)
-    else:
-      for key in imgs_cl:
-        self.numpy_inputs[key] = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key]).astype(dtype=np.float32)
+    # Prepare inputs using the model runner
+    self.model_runner.prepare_inputs(imgs_cl, self.numpy_inputs, self.frames)
 
     if prepare_only:
       return None
 
-    if TICI:
-      self.output = self.model_run(**self.tensor_inputs).numpy().flatten()
-    else:
-      self.output = self.onnx_cpu_runner.run(None, self.numpy_inputs)[0].flatten()
+    # Run model inference
+    self.output = self.model_runner.run_model()
+    outputs = self.parser.parse_outputs(self.model_runner.slice_outputs(self.output))
 
-    outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
-
-    self.numpy_inputs['features_buffer'][0,:-1] = self.numpy_inputs['features_buffer'][0,1:]
-    self.numpy_inputs['features_buffer'][0,-1] = outputs['hidden_state'][0, :]
-
-
-    # TODO model only uses last value now
-    self.numpy_inputs['prev_desired_curv'][0,:-1] = self.numpy_inputs['prev_desired_curv'][0,1:]
-    self.numpy_inputs['prev_desired_curv'][0,-1,:] = outputs['desired_curvature'][0, :]
+    if self.model_runner.is_20hz:
+      self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
+      self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
+      self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[self.full_features_20Hz_idxs]
+    else:
+      feature_len = outputs['hidden_state'].shape[1]
+      self.numpy_inputs['features_buffer'][0, :-1] = self.numpy_inputs['features_buffer'][0, 1:]
+      self.numpy_inputs['features_buffer'][0, -1, :feature_len] = outputs['hidden_state'][0, :feature_len]
+
+    if "desired_curvature" in outputs:
+      input_name_prev = None
+
+      if "prev_desired_curvs" in self.numpy_inputs.keys():
+        input_name_prev = 'prev_desired_curvs'
+      elif "prev_desired_curv" in self.numpy_inputs.keys():
+        input_name_prev = 'prev_desired_curv'
+
+      if input_name_prev is not None:
+        length = outputs['desired_curvature'][0].size
+        self.numpy_inputs[input_name_prev][0, :-length, 0] = self.numpy_inputs[input_name_prev][0, length:, 0]
+        self.numpy_inputs[input_name_prev][0, -length:, 0] = outputs['desired_curvature'][0]
     return outputs
 
 
@@ -242,7 +239,6 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -273,8 +269,10 @@ def main(demo=False):
     inputs:dict[str, np.ndarray] = {
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
-      'lateral_control_params': lateral_control_params,
-      }
+    }
+
+    if "lateral_control_params" in model.numpy_inputs.keys():
+      inputs['lateral_control_params'] = np.array([v_ego, steer_delay], dtype=np.float32)
 
     mt1 = time.perf_counter()
     model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
@@ -287,7 +285,7 @@ def main(demo=False):
       posenet_send = messaging.new_message('cameraOdometry')
       fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
-                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
+                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, load_meta_constants())
 
       desire_state = modelv2_send.modelV2.meta.desireState
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index 9973d185881901..399836b0c6eb7d 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -5,13 +5,14 @@
 
 #include "common/clutil.h"
 
-DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
+DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, uint8_t buffer_length) : ModelFrame(device_id, context), buffer_length(buffer_length) {
   input_frames = std::make_unique<uint8_t[]>(buf_size);
   input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 2*frame_size_bytes, NULL, &err));
-  region.origin = 1 * frame_size_bytes;
+  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buffer_length*frame_size_bytes, NULL, &err));
+  region.origin = (buffer_length - 1)  * frame_size_bytes;
   region.size = frame_size_bytes;
   last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
+  // printf("Buffer length: %d, region origin: %lu, region size: %lu\n", buffer_length, region.origin, region.size);
 
   loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
   init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
@@ -20,7 +21,7 @@ DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context)
 cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
   run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
 
-  for (int i = 0; i < 1; i++) {
+  for (int i = 0; i < (buffer_length - 1); i++) {
     CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
   }
   loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
index 14409943e43481..3b5db05c772342 100644
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -64,7 +64,7 @@ class ModelFrame {
 
 class DrivingModelFrame : public ModelFrame {
 public:
-  DrivingModelFrame(cl_device_id device_id, cl_context context);
+  DrivingModelFrame(cl_device_id device_id, cl_context context, uint8_t buffer_length);
   ~DrivingModelFrame();
   cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
 
@@ -73,6 +73,7 @@ class DrivingModelFrame : public ModelFrame {
   const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
   const int buf_size = MODEL_FRAME_SIZE * 2;
   const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
+  const uint8_t buffer_length;
 
 private:
   LoadYUVState loadyuv;
diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd
index b4f08b12aabe02..f640597b80db3e 100644
--- a/selfdrive/modeld/models/commonmodel.pxd
+++ b/selfdrive/modeld/models/commonmodel.pxd
@@ -20,7 +20,7 @@ cdef extern from "selfdrive/modeld/models/commonmodel.h":
 
   cppclass DrivingModelFrame:
     int buf_size
-    DrivingModelFrame(cl_device_id, cl_context)
+    DrivingModelFrame(cl_device_id, cl_context, unsigned char)
 
   cppclass MonitoringModelFrame:
     int buf_size
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
index 7b3a5bb342addb..78a891f031e0bb 100644
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ b/selfdrive/modeld/models/commonmodel_pyx.pyx
@@ -4,7 +4,7 @@
 import numpy as np
 cimport numpy as cnp
 from libc.string cimport memcpy
-from libc.stdint cimport uintptr_t
+from libc.stdint cimport uintptr_t, uint8_t
 
 from msgq.visionipc.visionipc cimport cl_mem
 from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
@@ -59,8 +59,8 @@ cdef class ModelFrame:
 cdef class DrivingModelFrame(ModelFrame):
   cdef cppDrivingModelFrame * _frame
 
-  def __cinit__(self, CLContext context):
-    self._frame = new cppDrivingModelFrame(context.device_id, context.context)
+  def __cinit__(self, CLContext context, int buffer_length=2):
+    self._frame = new cppDrivingModelFrame(context.device_id, context.context, buffer_length)
     self.frame = <cppModelFrame*>(self._frame)
     self.buf_size = self._frame.buf_size
 
diff --git a/sunnypilot/modeld_v2/__init__.py b/sunnypilot/modeld_v2/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/modeld_v2/meta_20hz.py b/sunnypilot/modeld_v2/meta_20hz.py
new file mode 100644
index 00000000000000..77a815ee82abb3
--- /dev/null
+++ b/sunnypilot/modeld_v2/meta_20hz.py
@@ -0,0 +1,17 @@
+from openpilot.selfdrive.modeld.constants import Meta
+
+
+class Meta20hz(Meta):
+  ENGAGED = slice(0, 1)
+  # next 2, 4, 6, 8, 10 seconds
+  GAS_DISENGAGE = slice(1, 31, 6)
+  BRAKE_DISENGAGE = slice(2, 31, 6)
+  STEER_OVERRIDE = slice(3, 31, 6)
+  HARD_BRAKE_3 = slice(4, 31, 6)
+  HARD_BRAKE_4 = slice(5, 31, 6)
+  HARD_BRAKE_5 = slice(6, 31, 6)
+  # next 0, 2, 4, 6, 8, 10 seconds
+  GAS_PRESS = slice(31, 55, 4)
+  BRAKE_PRESS = slice(32, 55, 4)
+  LEFT_BLINKER = slice(33, 55, 4)
+  RIGHT_BLINKER = slice(34, 55, 4)
diff --git a/sunnypilot/modeld_v2/meta_helper.py b/sunnypilot/modeld_v2/meta_helper.py
new file mode 100644
index 00000000000000..b9c6b98c9c4774
--- /dev/null
+++ b/sunnypilot/modeld_v2/meta_helper.py
@@ -0,0 +1,26 @@
+from openpilot.selfdrive.modeld.constants import Meta
+from cereal import custom
+from openpilot.sunnypilot.modeld_v2.meta_20hz import Meta20hz
+from openpilot.sunnypilot.models.helpers import get_active_bundle
+
+ModelBundle = custom.ModelManagerSP.ModelBundle
+
+
+def load_meta_constants():
+  """
+  Determines and loads the appropriate meta model class based on the metadata provided. The function checks
+  specific keys and conditions within the provided metadata dictionary to identify the corresponding meta
+  model class to return.
+
+  :param model_metadata: Dictionary containing metadata about the model. It includes
+      details such as input shapes, output slices, and other configurations for identifying
+      metadata-dependent meta model classes.
+  :type model_metadata: dict
+  :return: The appropriate meta model class (Meta, MetaSimPose, or MetaTombRaider)
+      based on the conditions and metadata provided.
+  :rtype: type
+  """
+  if (bundle := get_active_bundle()) and bundle.is20hz:
+    return Meta20hz
+
+  return Meta  # Default
diff --git a/sunnypilot/modeld_v2/model_runner.py b/sunnypilot/modeld_v2/model_runner.py
new file mode 100644
index 00000000000000..500a34a4ecd754
--- /dev/null
+++ b/sunnypilot/modeld_v2/model_runner.py
@@ -0,0 +1,134 @@
+import os
+import pickle
+from abc import ABC, abstractmethod
+import numpy as np
+
+from cereal import custom
+from openpilot.selfdrive.modeld import MODEL_PATH, MODEL_PKL_PATH, METADATA_PATH
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLMem
+from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner, ORT_TYPES_TO_NP_TYPES
+from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
+from openpilot.system.hardware import TICI
+from openpilot.system.hardware.hw import Paths
+
+from openpilot.sunnypilot.models.helpers import get_active_bundle
+from tinygrad.tensor import Tensor
+
+if TICI:
+  os.environ['QCOM'] = '1'
+
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+CUSTOM_MODEL_PATH = Paths.model_root()
+ModelManager = custom.ModelManagerSP
+
+
+class ModelRunner(ABC):
+  """Abstract base class for model runners that defines the interface for running ML models."""
+
+  def __init__(self):
+    """Initialize the model runner with paths to model and metadata files."""
+    metadata_path = METADATA_PATH
+    self.is_20hz = None
+    self._drive_model = None
+    self._metadata_model = None
+
+    if bundle := get_active_bundle():
+      bundle_models = {model.type.raw: model for model in bundle.models}
+      self._drive_model = bundle_models.get(ModelManager.Type.drive)
+      self._metadata_model = bundle_models.get(ModelManager.Type.metadata)
+      self.is_20hz = bundle.is20hz
+
+    # Override the metadata path if a metadata model is found in the active bundle
+    if self._metadata_model:
+      metadata_path = f"{CUSTOM_MODEL_PATH}/{self._metadata_model.fileName}"
+
+    with open(metadata_path, 'rb') as f:
+      self.model_metadata = pickle.load(f)
+
+    self.input_shapes = self.model_metadata['input_shapes']
+    self.output_slices = self.model_metadata['output_slices']
+    self.inputs: dict = {}
+
+  @abstractmethod
+  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray], frames: dict[str, DrivingModelFrame]) -> dict:
+    """Prepare inputs for model inference."""
+    raise NotImplementedError
+
+  @abstractmethod
+  def run_model(self):
+    """Run model inference with prepared inputs."""
+
+  def slice_outputs(self, model_outputs: np.ndarray) -> dict:
+    """Slice model outputs according to metadata configuration."""
+    parsed_outputs = {k: model_outputs[np.newaxis, v] for k, v in self.output_slices.items()}
+    if SEND_RAW_PRED:
+      parsed_outputs['raw_pred'] = model_outputs.copy()
+    return parsed_outputs
+
+
+class TinygradRunner(ModelRunner):
+  """Tinygrad implementation of model runner for TICI hardware."""
+
+  def __init__(self):
+    super().__init__()
+
+    model_pkl_path = MODEL_PKL_PATH
+    if self._drive_model:
+      model_pkl_path = f"{CUSTOM_MODEL_PATH}/{self._drive_model.fileName}"
+      assert model_pkl_path.endswith('_tinygrad.pkl'), f"Invalid model file: {model_pkl_path} for TinygradRunner"
+
+    # Load Tinygrad model
+    with open(model_pkl_path, "rb") as f:
+      try:
+        self.model_run = pickle.load(f)
+      except FileNotFoundError as e:
+        assert "/dev/kgsl-3d0" not in str(e), "Model was built on C3 or C3X, but is being loaded on PC"
+        raise
+
+    self.input_to_dtype = {}
+    self.input_to_device = {}
+
+    for idx, name in enumerate(self.model_run.captured.expected_names):
+      self.input_to_dtype[name] = self.model_run.captured.expected_st_vars_dtype_device[idx][2]  # 2 is the dtype
+      self.input_to_device[name] = self.model_run.captured.expected_st_vars_dtype_device[idx][3]  # 3 is the device
+
+  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray], frames: dict[str, DrivingModelFrame]) -> dict:
+    # Initialize image tensors if not already done
+    for key in imgs_cl:
+      if TICI and key not in self.inputs:
+        self.inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=self.input_to_dtype[key])
+      elif not TICI:
+        shape = frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key])
+        self.inputs[key] = Tensor(shape, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize()
+
+    # Update numpy inputs
+    for key, value in numpy_inputs.items():
+      if key not in imgs_cl:
+        self.inputs[key] = Tensor(value, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize()
+
+    return self.inputs
+
+  def run_model(self):
+    return self.model_run(**self.inputs).numpy().flatten()
+
+
+class ONNXRunner(ModelRunner):
+  """ONNX implementation of model runner for non-TICI hardware."""
+
+  def __init__(self):
+    super().__init__()
+    self.runner = make_onnx_cpu_runner(MODEL_PATH)
+
+    self.input_to_nptype = {
+      model_input.name: ORT_TYPES_TO_NP_TYPES[model_input.type]
+      for model_input in self.runner.get_inputs()
+    }
+
+  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray], frames: dict[str, DrivingModelFrame]) -> dict:
+    self.inputs = numpy_inputs
+    for key in imgs_cl:
+      self.inputs[key] = frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key]).astype(dtype=self.input_to_nptype[key])
+    return self.inputs
+
+  def run_model(self):
+    return self.runner.run(None, self.inputs)[0].flatten()
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 2a1fa1d8f2a4ea..f543b00a791ba8 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -72,13 +72,12 @@ def _parse_bundle(key: str, value: dict) -> custom.ModelManagerSP.ModelBundle:
     model_bundle.generation = int(value["generation"])
     model_bundle.environment = value["environment"]
     model_bundle.runner = value.get("runner", custom.ModelManagerSP.Runner.snpe)
+    model_bundle.is20hz = value.get("is_20hz", False)
 
     return model_bundle
 
   @staticmethod
   def parse_models(json_data: dict) -> list[custom.ModelManagerSP.ModelBundle]:
-    # TODO-SP: Remove the following filter once we add support for tinygrad model switcher
-    json_data = {k: v for k, v in json_data.items() if v.get("runner", -1) == custom.ModelManagerSP.Runner.snpe}
     return [ModelParser._parse_bundle(key, value) for key, value in json_data.items()]
 
 

From c51e74e6aff93d365219b43a892c6b66b068ae4d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 24 Jan 2025 21:57:46 -0500
Subject: [PATCH 0097/1434] ui: Vehicle panel in settings (#617)

* ui: Vehicle panel in settings

* fix click
---
 .github/workflows/ui_preview.yaml               |  2 +-
 selfdrive/ui/sunnypilot/SConscript              |  1 +
 .../sunnypilot/qt/offroad/settings/settings.cc  |  2 ++
 .../qt/offroad/settings/vehicle_panel.cc        | 11 +++++++++++
 .../qt/offroad/settings/vehicle_panel.h         | 17 +++++++++++++++++
 selfdrive/ui/tests/test_ui/run.py               |  9 ++++++++-
 selfdrive/ui/translations/main_ar.ts            |  4 ++++
 selfdrive/ui/translations/main_de.ts            |  4 ++++
 selfdrive/ui/translations/main_es.ts            |  4 ++++
 selfdrive/ui/translations/main_fr.ts            |  4 ++++
 selfdrive/ui/translations/main_ja.ts            |  4 ++++
 selfdrive/ui/translations/main_ko.ts            |  4 ++++
 selfdrive/ui/translations/main_pt-BR.ts         |  4 ++++
 selfdrive/ui/translations/main_th.ts            |  4 ++++
 selfdrive/ui/translations/main_tr.ts            |  4 ++++
 selfdrive/ui/translations/main_zh-CHS.ts        |  4 ++++
 selfdrive/ui/translations/main_zh-CHT.ts        |  4 ++++
 .../selfdrive/assets/offroad/icon_vehicle.png   |  3 +++
 18 files changed, 87 insertions(+), 2 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
 create mode 100644 sunnypilot/selfdrive/assets/offroad/icon_vehicle.png

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 140240dc9ce5ab..8a017536878faa 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -86,7 +86,7 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device settings_network settings_network_advanced settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard keyboard_uppercase"
+          scenes="homescreen settings_device settings_network settings_network_advanced settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_vehicle settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard keyboard_uppercase"
           A=($scenes)
 
           DIFF=""
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 7cf552d32f82a5..e80ecf7867565a 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -23,6 +23,7 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnypilot_panel.cc",
   "sunnypilot/qt/offroad/settings/trips_panel.cc",
+  "sunnypilot/qt/offroad/settings/vehicle_panel.cc",
   "sunnypilot/qt/onroad/annotated_camera.cc",
   "sunnypilot/qt/onroad/buttons.cc",
   "sunnypilot/qt/onroad/hud.cc",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
index 3dbaca1aa74c65..cb2258cca6521f 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
@@ -16,6 +16,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"
 
 TogglesPanelSP::TogglesPanelSP(SettingsWindowSP *parent) : TogglesPanel(parent) {
   QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &TogglesPanelSP::updateState);
@@ -77,6 +78,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
     PanelInfo("   " + tr("Software"), new SoftwarePanelSP(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
     PanelInfo("   " + tr("sunnypilot"), new SunnypilotPanel(this), "../assets/images/button_home.png"),
     PanelInfo("   " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
+    PanelInfo("   " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
     PanelInfo("   " + tr("Developer"), new DeveloperPanel(this), "../assets/offroad/icon_shell.png"),
   };
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
new file mode 100644
index 00000000000000..b0e0abae9911ee
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
@@ -0,0 +1,11 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"
+
+VehiclePanel::VehiclePanel(QWidget *parent) : QWidget(parent) {
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
new file mode 100644
index 00000000000000..840fe1e4b6a261
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
@@ -0,0 +1,17 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+
+class VehiclePanel : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit VehiclePanel(QWidget *parent = nullptr);
+};
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 929c04727aa851..7803d1f3c4de45 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -60,7 +60,7 @@ def setup_settings_software(click, pm: PubMaster, scroll=None):
 
 def setup_settings_developer(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
-  scroll(-100, 278, 962)
+  scroll(-400, 278, 962)
   click(278, 970)
   time.sleep(UI_DELAY)
 
@@ -215,6 +215,12 @@ def setup_settings_trips(click, pm: PubMaster, scroll=None):
   click(278, 962)
   time.sleep(UI_DELAY)
 
+def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
+  setup_settings_device(click, pm)
+  scroll(-400, 278, 862)
+  click(278, 862)
+  time.sleep(UI_DELAY)
+
 CASES = {
   "homescreen": setup_homescreen,
   "prime": setup_homescreen,
@@ -247,6 +253,7 @@ def setup_settings_trips(click, pm: PubMaster, scroll=None):
   "settings_sunnypilot": setup_settings_sunnypilot,
   "settings_sunnypilot_mads": setup_settings_sunnypilot_mads,
   "settings_trips": setup_settings_trips,
+  "settings_vehicle": setup_settings_vehicle,
 })
 
 TEST_DIR = pathlib.Path(__file__).parent
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 7a8bbdf49861ff..ddfffa248ca34d 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -858,6 +858,10 @@ This may take up to a minute.</source>
         <source>Trips</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 7a014c744109f5..3f495b79983807 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -840,6 +840,10 @@ This may take up to a minute.</source>
         <source>Trips</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index aa11fd67806845..86ea11fb4e644e 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -838,6 +838,10 @@ Esto puede tardar un minuto.</translation>
         <source>Trips</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 658e8d7151848a..202f0b9027f158 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -842,6 +842,10 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Trips</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 09e45b367ad5c8..59cb8071b40c9b 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -836,6 +836,10 @@ This may take up to a minute.</source>
         <source>Trips</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index c90c6bfc18f0f0..2bac59dfc1f34f 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -838,6 +838,10 @@ This may take up to a minute.</source>
         <source>Trips</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 244cd6f76e2653..9c5f08036b1258 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -842,6 +842,10 @@ Isso pode levar até um minuto.</translation>
         <source>Trips</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 15a8d4b16ebcb3..dd45f23fe9016d 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -838,6 +838,10 @@ This may take up to a minute.</source>
         <source>Trips</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 4652de1197d42b..4623e3e139c3a5 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -836,6 +836,10 @@ This may take up to a minute.</source>
         <source>Trips</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 915804f7e932e4..d84924e8be8117 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -838,6 +838,10 @@ This may take up to a minute.</source>
         <source>Trips</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 6b47598370e3b6..88ba7c029f52c7 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -838,6 +838,10 @@ This may take up to a minute.</source>
         <source>Trips</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_vehicle.png b/sunnypilot/selfdrive/assets/offroad/icon_vehicle.png
new file mode 100644
index 00000000000000..4c036d9602bc46
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_vehicle.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d7726f7c6a8106c767ae974ce7395a399dbf0a934779a7710b748917c29cf6e
+size 11365

From 8801d1eb8e11efb7b9679f999925e8d35c02fda0 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 25 Jan 2025 22:51:46 -0500
Subject: [PATCH 0098/1434] test_processes: update ref logs to 7e5a84b

---
 ..._calibrationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} | 0
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 ...-09-15--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 +++
 ..._calibrationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} | 0
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 ...-18-02--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 +++
 ...-59-03--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst | 3 ---
 ...-59-03--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 +++
 selfdrive/test/process_replay/ref_commit                       | 2 +-
 90 files changed, 67 insertions(+), 67 deletions(-)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_radard_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_radard_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_torqued_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_torqued_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen306779F6870|2024-10-03--04-03-23--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen306779F6870|2024-10-03--04-03-23--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen4CE950B0267|2024-08-30--02-51-30--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen4CE950B0267|2024-08-30--02-51-30--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen58464878D07|2024-08-30--03-15-31--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen58464878D07|2024-08-30--03-15-31--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen6E484EDAB96|2024-08-30--02-47-37--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen6E484EDAB96|2024-08-30--02-47-37--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen720F2BA4CF6|2024-08-30--03-09-15--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen720F2BA4CF6|2024-08-30--03-09-15--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_calibrationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen756F8230C21|2024-11-07--00-08-24--0_calibrationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_controlsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen756F8230C21|2024-11-07--00-08-24--0_controlsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_dmonitoringd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen756F8230C21|2024-11-07--00-08-24--0_dmonitoringd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_locationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen756F8230C21|2024-11-07--00-08-24--0_locationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_paramsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen756F8230C21|2024-11-07--00-08-24--0_paramsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_plannerd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_plannerd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_radard_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen756F8230C21|2024-11-07--00-08-24--0_radard_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_selfdrived_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen756F8230C21|2024-11-07--00-08-24--0_selfdrived_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_torqued_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen756F8230C21|2024-11-07--00-08-24--0_torqued_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_ubloxd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen756F8230C21|2024-11-07--00-08-24--0_ubloxd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9ADBECBCD1C|2024-08-30--03-13-04--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9ADBECBCD1C|2024-08-30--03-13-04--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_calibrationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_calibrationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_controlsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_controlsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_dmonitoringd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_dmonitoringd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_locationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_locationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_paramsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_paramsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_plannerd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_plannerd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_radard_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_radard_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_selfdrived_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_selfdrived_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_torqued_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_torqued_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_ubloxd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_ubloxd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenA67A128BCD8|2024-08-30--02-36-22--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenA67A128BCD8|2024-08-30--02-36-22--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_calibrationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_calibrationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_controlsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_controlsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_dmonitoringd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_dmonitoringd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_locationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_locationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_paramsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_paramsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_plannerd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_plannerd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_radard_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_radard_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_selfdrived_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_selfdrived_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_torqued_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_torqued_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_ubloxd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_ubloxd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenACF84CCF482|2024-08-30--03-21-55--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenACF84CCF482|2024-08-30--03-21-55--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_calibrationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_calibrationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_controlsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_controlsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_dmonitoringd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_dmonitoringd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_locationd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_locationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_paramsd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_paramsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_radard_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_radard_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_selfdrived_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_selfdrived_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_4b12690274eb951346624fbf58075c82ad5e73d1.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst

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rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
deleted file mode 100644
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diff --git a/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst b/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
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diff --git a/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst b/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
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diff --git a/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst b/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst
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+++ /dev/null
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diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 76015fd17d8387..ae24ab1c915431 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-4b12690274eb951346624fbf58075c82ad5e73d1
\ No newline at end of file
+7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6
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From 767880ffafceafdd491cfb9f6274a92cf0aabcc4 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 27 Jan 2025 22:49:28 -0500
Subject: [PATCH 0099/1434] ui: Display default driving model name (#623)

* ui: Display default driving model if in use

* add ref commit and tests

* fix commit

* update msg

* update msg

* fix lint

* use sha256 hash instead
---
 common/model.h                                |  1 +
 .../qt/offroad/settings/software_panel.cc     |  4 ++-
 sunnypilot/modeld/tests/model_hash            |  1 +
 sunnypilot/modeld/tests/test_default_model.py | 34 +++++++++++++++++++
 4 files changed, 39 insertions(+), 1 deletion(-)
 create mode 100644 common/model.h
 create mode 100644 sunnypilot/modeld/tests/model_hash
 create mode 100644 sunnypilot/modeld/tests/test_default_model.py

diff --git a/common/model.h b/common/model.h
new file mode 100644
index 00000000000000..4444601f339476
--- /dev/null
+++ b/common/model.h
@@ -0,0 +1 @@
+#define DEFAULT_MODEL "Notre Dame (Default)"
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
index 2f10d7d147e6af..ddee1362bb3a7a 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
@@ -10,6 +10,8 @@
 #include <algorithm>
 #include <QJsonDocument>
 
+#include "common/model.h"
+
 /**
  * @brief Constructs the software panel with model bundle selection functionality
  * @param parent Parent widget
@@ -105,7 +107,7 @@ QString SoftwarePanelSP::GetActiveModelName() {
     return QString::fromStdString(model_manager.getActiveBundle().getDisplayName());
   }
 
-  return "";
+  return DEFAULT_MODEL;
 }
 
 void SoftwarePanelSP::updateModelManagerState() {
diff --git a/sunnypilot/modeld/tests/model_hash b/sunnypilot/modeld/tests/model_hash
new file mode 100644
index 00000000000000..f7ef0739bac607
--- /dev/null
+++ b/sunnypilot/modeld/tests/model_hash
@@ -0,0 +1 @@
+39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4
\ No newline at end of file
diff --git a/sunnypilot/modeld/tests/test_default_model.py b/sunnypilot/modeld/tests/test_default_model.py
new file mode 100644
index 00000000000000..6f3c835f24d4a9
--- /dev/null
+++ b/sunnypilot/modeld/tests/test_default_model.py
@@ -0,0 +1,34 @@
+import os
+import hashlib
+
+from openpilot.common.basedir import BASEDIR
+
+MODEL_HASH_DIR = os.path.dirname(os.path.abspath(__file__))
+
+
+class TestDefaultModel:
+  @classmethod
+  def setup_class(cls):
+    cls.onnx_path = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "supercombo.onnx")
+    cls.current_hash_path = os.path.join(MODEL_HASH_DIR, "model_hash")
+
+  @staticmethod
+  def get_hash(path: str) -> str:
+    sha256_hash = hashlib.sha256()
+    with open(path, "rb") as f:
+      for byte_block in iter(lambda: f.read(4096), b""):
+        sha256_hash.update(byte_block)
+    return sha256_hash.hexdigest()
+
+  def test_compare_onnx_hashes(self):
+    new_hash = self.get_hash(str(self.onnx_path))
+
+    with open(self.current_hash_path) as f:
+      current_hash = f.read().strip()
+
+    assert new_hash == current_hash, (
+      "Driving model updated!\n" +
+      f"Current hash: {current_hash}\n" +
+      f"New hash: {new_hash}\n" +
+      "Please update common/model.h if the default driving model name has changed."
+    )

From 977b164dd3f171c67193dd08f31c73bf2a917be5 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 1 Feb 2025 00:55:09 -0500
Subject: [PATCH 0100/1434] Vehicle Selector (#619)

* QFrame

* symlink for OP

* symlink dat

* search with user input

* single list is fine

* bump opendbc

* set actual fingerprint

* more precision search

* different prompt in onroad/offroad

* confirm/cancel

* set while initializing

* tldr

* show demo car

* old qt

* need that param too

* use toList

* Need to be str

* Encoding

* generate `car.CarParams.brand` in json

* start cleanup

* generate no car docs platforms

* add brand to parser

* include all dashcamOnly platforms

* pass all fields to a platform in json

* introduce `getPlatformBundle`

* extract platform from CarPlatformBundle directly

* Fix name

* do not include dashcamOnly yet

* slight cleanup

* bump opendbc

* it's a json now

* split set platform

* move loadPlatformList to sp util

* add year list to bundle

* bros

* missed header

* invoke platform selector on show event
---
 common/params.cc                              |   1 +
 opendbc_repo                                  |   2 +-
 selfdrive/car/card.py                         |   5 +-
 selfdrive/ui/sunnypilot/SConscript            |   6 +-
 .../settings/vehicle/platform_selector.cc     | 187 ++++++++++++++++++
 .../settings/vehicle/platform_selector.h      |  29 +++
 .../qt/offroad/settings/vehicle_panel.cc      |  31 ++-
 .../qt/offroad/settings/vehicle_panel.h       |  14 +-
 selfdrive/ui/sunnypilot/qt/util.cc            |  45 +++++
 selfdrive/ui/sunnypilot/qt/util.h             |   2 +
 selfdrive/ui/tests/test_ui/run.py             |   8 +
 selfdrive/ui/translations/main_ar.ts          |  55 ++++++
 selfdrive/ui/translations/main_de.ts          |  55 ++++++
 selfdrive/ui/translations/main_es.ts          |  55 ++++++
 selfdrive/ui/translations/main_fr.ts          |  55 ++++++
 selfdrive/ui/translations/main_ja.ts          |  55 ++++++
 selfdrive/ui/translations/main_ko.ts          |  55 ++++++
 selfdrive/ui/translations/main_pt-BR.ts       |  55 ++++++
 selfdrive/ui/translations/main_th.ts          |  55 ++++++
 selfdrive/ui/translations/main_tr.ts          |  55 ++++++
 selfdrive/ui/translations/main_zh-CHS.ts      |  55 ++++++
 selfdrive/ui/translations/main_zh-CHT.ts      |  55 ++++++
 sunnypilot/selfdrive/car/car_list.json        |   1 +
 23 files changed, 931 insertions(+), 5 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h
 create mode 120000 sunnypilot/selfdrive/car/car_list.json

diff --git a/common/params.cc b/common/params.cc
index e7b6b104d448bc..174d21d2ec51d5 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -206,6 +206,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
     {"CarParamsSPPersistent", PERSISTENT},
+    {"CarPlatformBundle", PERSISTENT},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
     {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
     {"OffroadMode", CLEAR_ON_MANAGER_START},
diff --git a/opendbc_repo b/opendbc_repo
index 4fa4acd981b681..cd086f3e5e0edd 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 4fa4acd981b681d01a0677319d5c8a7b5b1cb141
+Subproject commit cd086f3e5e0edd00bfafcd51c736b9e72b01d763
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 90195e09cbd46b..d7827ce4519420 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import json
 import os
 import time
 import threading
@@ -104,7 +105,9 @@ def __init__(self, CI=None, RI=None) -> None:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
           cached_params = _cached_params
 
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
+      fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle", encoding='utf-8') or "{}").get("platform", None)
+
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params, fixed_fingerprint)
       interfaces.setup_car_interface_sp(self.CI.CP, self.CI.CP_SP, self.params)
       self.RI = get_radar_interface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index e80ecf7867565a..2975450124a066 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -35,8 +35,12 @@ sunnypilot_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc",
 ]
 
+vehicle_panel_qt_src = [
+  "sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc",
+]
+
 sp_widgets_src = widgets_src
-sp_qt_src = qt_src + sunnypilot_panel_qt_src
+sp_qt_src = qt_src + sunnypilot_panel_qt_src + vehicle_panel_qt_src
 sp_qt_util = qt_util
 
 Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util")
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
new file mode 100644
index 00000000000000..c9e82fd8269f51
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
@@ -0,0 +1,187 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h"
+
+#include <QJsonArray>
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <QMap>
+
+#include "selfdrive/ui/sunnypilot/qt/util.h"
+
+QVariant PlatformSelector::getPlatformBundle(const QString &key) {
+  QString platform_bundle = QString::fromStdString(params.get("CarPlatformBundle"));
+  if (!platform_bundle.isEmpty()) {
+    QJsonDocument json = QJsonDocument::fromJson(platform_bundle.toUtf8());
+    if (!json.isNull() && json.isObject()) {
+      return json.object().value(key).toVariant();
+    }
+  }
+  return {};
+}
+
+PlatformSelector::PlatformSelector() : ButtonControl(tr("Vehicle"), "", "") {
+  platforms = loadPlatformList();
+
+  QObject::connect(this, &ButtonControl::clicked, [=]() {
+    if (text() == tr("SEARCH")) {
+      QString query = InputDialog::getText(tr("Search your vehicle"), this, tr("Enter model year (e.g., 2021) and model name (Toyota Corolla):"), false);
+      if (query.length() > 0) {
+        setText(tr("SEARCHING"));
+        setEnabled(false);
+        searchPlatforms(query);
+        refresh(offroad);
+      }
+    } else {
+      params.remove("CarPlatformBundle");
+      refresh(offroad);
+    }
+  });
+
+  refresh(offroad);
+}
+
+void PlatformSelector::refresh(bool _offroad) {
+  QString name = getPlatformBundle("name").toString();
+  setValue(name);
+  setText(name.isEmpty() ? tr("SEARCH") : tr("REMOVE"));
+  setEnabled(true);
+
+  offroad = _offroad;
+}
+
+void PlatformSelector::setPlatform(const QString &platform) {
+  QVariantMap platform_data = platforms[platform];
+
+  const QString offroad_msg = offroad ? tr("This setting will take effect immediately.") :
+                                        tr("This setting will take effect once the device enters offroad state.");
+  const QString msg = QString("<b>%1</b><br><br>%2")
+                      .arg(platform, offroad_msg);
+
+  QString content("<body><h2 style=\"text-align: center;\">" + tr("Vehicle Selector") + "</h2><br>"
+                  "<p style=\"text-align: center; margin: 0 128px; font-size: 50px;\">" + msg + "</p></body>");
+
+  if (ConfirmationDialog(content, tr("Confirm"), tr("Cancel"), true, this).exec()) {
+    QJsonObject json_bundle;
+    json_bundle["platform"] = platform_data["platform"].toString();
+    json_bundle["name"] = platform;
+    json_bundle["make"] = platform_data["make"].toString();
+    json_bundle["brand"] = platform_data["brand"].toString();
+    json_bundle["model"] = platform_data["model"].toString();
+    json_bundle["package"] = platform_data["package"].toString();
+
+    QVariantList yearList = platform_data["year"].toList();
+    QJsonArray yearArray;
+    for (const QVariant &year : yearList) {
+      yearArray.append(year.toString());
+    }
+    json_bundle["year"] = yearArray;
+
+    QString json_bundle_str = QString::fromUtf8(QJsonDocument(json_bundle).toJson(QJsonDocument::Compact));
+
+    params.put("CarPlatformBundle", json_bundle_str.toStdString());
+  }
+}
+
+void PlatformSelector::searchPlatforms(const QString &query) {
+  if (query.isEmpty()) {
+    return;
+  }
+
+  QSet<QString> matched_cars;
+
+  QString normalized_query = query.simplified().toLower();
+  QStringList tokens = normalized_query.split(" ", QString::SkipEmptyParts);
+
+  int search_year = -1;
+  QStringList search_terms;
+
+  for (const QString &token : tokens) {
+    bool ok;
+    int year = token.toInt(&ok);
+    if (ok && year >= 1900 && year <= 2100) {
+      search_year = year;
+    } else {
+      search_terms << token;
+    }
+  }
+
+  for (auto it = platforms.constBegin(); it != platforms.constEnd(); ++it) {
+    QString platform_name = it.key();
+    QVariantMap platform_data = it.value();
+
+    if (search_year != -1) {
+      QVariantList year_list = platform_data["year"].toList();
+      bool year_match = false;
+      for (const QVariant &year_var : year_list) {
+        int year = year_var.toString().toInt();
+        if (year == search_year) {
+          year_match = true;
+          break;
+        }
+      }
+      if (!year_match) continue;
+    }
+
+    QString normalized_make = platform_data["make"].toString().normalized(QString::NormalizationForm_KD).toLower();
+    QString normalized_model = platform_data["model"].toString().normalized(QString::NormalizationForm_KD).toLower();
+    normalized_make.remove(QRegExp("[^a-zA-Z0-9\\s]"));
+    normalized_model.remove(QRegExp("[^a-zA-Z0-9\\s]"));
+
+    bool all_terms_match = true;
+    for (const QString &term : search_terms) {
+      QString normalized_term = term.normalized(QString::NormalizationForm_KD).toLower();
+      normalized_term.remove(QRegExp("[^a-zA-Z0-9\\s]"));
+
+      bool term_matched = false;
+
+      if (normalized_make.contains(normalized_term, Qt::CaseInsensitive)) {
+        term_matched = true;
+      }
+
+      if (!term_matched) {
+        if (term.contains(QRegExp("[a-z]\\d|\\d[a-z]", Qt::CaseInsensitive))) {
+          QString clean_model = normalized_model;
+          QString clean_term = normalized_term;
+          clean_model.remove(" ");
+          clean_term.remove(" ");
+          if (clean_model.contains(clean_term, Qt::CaseInsensitive)) {
+            term_matched = true;
+          }
+        } else {
+          if (normalized_model.contains(normalized_term, Qt::CaseInsensitive)) {
+            term_matched = true;
+          }
+        }
+      }
+
+      if (!term_matched) {
+        all_terms_match = false;
+        break;
+      }
+    }
+
+    if (all_terms_match) {
+      matched_cars.insert(platform_name);
+    }
+  }
+
+  QStringList results = matched_cars.toList();
+  results.sort();
+
+  if (results.isEmpty()) {
+    ConfirmationDialog::alert(tr("No vehicles found for query: %1").arg(query), this);
+    return;
+  }
+
+  QString selected_platform = MultiOptionDialog::getSelection(tr("Select a vehicle"), results, "", this);
+
+  if (!selected_platform.isEmpty()) {
+    setPlatform(selected_platform);
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h
new file mode 100644
index 00000000000000..8a618320098c84
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h
@@ -0,0 +1,29 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+
+class PlatformSelector : public ButtonControl {
+  Q_OBJECT
+
+public:
+  PlatformSelector();
+  QVariant getPlatformBundle(const QString &key);
+
+public slots:
+  void refresh(bool _offroad);
+
+private:
+  void searchPlatforms(const QString &query);
+  void setPlatform(const QString &platform = "");
+  QMap<QString, QVariantMap> platforms;
+
+  Params params;
+  bool offroad;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
index b0e0abae9911ee..cc3e6df183ca94 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
@@ -7,5 +7,34 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"
 
-VehiclePanel::VehiclePanel(QWidget *parent) : QWidget(parent) {
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
+  main_layout = new QStackedLayout(this);
+  ListWidget *list = new ListWidget(this);
+
+  vehicleScreen = new QWidget(this);
+  QVBoxLayout *vlayout = new QVBoxLayout(vehicleScreen);
+  vlayout->setContentsMargins(50, 20, 50, 20);
+
+  platformSelector = new PlatformSelector();
+  list->addItem(platformSelector);
+
+  ScrollViewSP *scroller = new ScrollViewSP(list, this);
+  vlayout->addWidget(scroller);
+
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &VehiclePanel::updatePanel);
+
+  main_layout->addWidget(vehicleScreen);
+  main_layout->setCurrentWidget(vehicleScreen);
+}
+
+void VehiclePanel::showEvent(QShowEvent *event) {
+  updatePanel(offroad);
+}
+
+void VehiclePanel::updatePanel(bool _offroad) {
+  platformSelector->refresh(_offroad);
+
+  offroad = _offroad;
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
index 840fe1e4b6a261..f6265da7a62c5c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
@@ -9,9 +9,21 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
-class VehiclePanel : public QWidget {
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h"
+
+class VehiclePanel : public QFrame {
   Q_OBJECT
 
 public:
   explicit VehiclePanel(QWidget *parent = nullptr);
+  void showEvent(QShowEvent *event) override;
+
+public slots:
+  void updatePanel(bool _offroad);
+
+private:
+  QStackedLayout* main_layout = nullptr;
+  QWidget* vehicleScreen = nullptr;
+  PlatformSelector *platformSelector = nullptr;
+  bool offroad;
 };
diff --git a/selfdrive/ui/sunnypilot/qt/util.cc b/selfdrive/ui/sunnypilot/qt/util.cc
index a2bd7bde2b6c55..c729eaafd59a75 100644
--- a/selfdrive/ui/sunnypilot/qt/util.cc
+++ b/selfdrive/ui/sunnypilot/qt/util.cc
@@ -12,8 +12,12 @@
 #include <vector>
 
 #include <QDir>
+#include <QJsonArray>
+#include <QJsonDocument>
+#include <QJsonObject>
 #include <QLayoutItem>
 #include <QPainterPath>
+#include <QVariant>
 
 #include "system/hardware/hw.h"
 
@@ -33,3 +37,44 @@ QString getUserAgent(bool sunnylink) {
 std::optional<QString> getSunnylinkDongleId() {
   return getParamIgnoringDefault("SunnylinkDongleId", "UnregisteredDevice");
 }
+
+QMap<QString, QVariantMap> loadPlatformList() {
+  QMap<QString, QVariantMap> _platforms;
+
+  std::string json_data = util::read_file("../../sunnypilot/selfdrive/car/car_list.json");
+
+  if (json_data.empty()) {
+    return _platforms;
+  }
+
+  QJsonParseError json_error{};
+  QJsonDocument doc = QJsonDocument::fromJson(QString::fromStdString(json_data).toUtf8(), &json_error);
+  if (doc.isNull()) {
+    return _platforms;
+  }
+
+  if (doc.isObject()) {
+    QJsonObject obj = doc.object();
+    for (const QString &key : obj.keys()) {
+      QJsonObject attributes = obj.value(key).toObject();
+      QVariantMap platform_data;
+
+      QJsonArray yearArray = attributes.value("year").toArray();
+      QVariantList yearList;
+      for (const QJsonValue &year : yearArray) {
+        yearList.append(year.toString());
+      }
+
+      platform_data["year"] = yearList;
+      platform_data["make"] = attributes.value("make").toString();
+      platform_data["brand"] = attributes.value("brand").toString();
+      platform_data["model"] = attributes.value("model").toString();
+      platform_data["platform"] = attributes.value("platform").toString();
+      platform_data["package"] = attributes.value("package").toString();
+
+      _platforms[key] = platform_data;
+    }
+  }
+
+  return _platforms;
+}
diff --git a/selfdrive/ui/sunnypilot/qt/util.h b/selfdrive/ui/sunnypilot/qt/util.h
index a6c58eb06e99eb..0a581579e2415e 100644
--- a/selfdrive/ui/sunnypilot/qt/util.h
+++ b/selfdrive/ui/sunnypilot/qt/util.h
@@ -10,9 +10,11 @@
 #include <optional>
 #include <vector>
 
+#include <QMap>
 #include <QPainter>
 #include <QWidget>
 
 QString getUserAgent(bool sunnylink = false);
 std::optional<QString> getSunnylinkDongleId();
 std::optional<QString> getParamIgnoringDefault(const std::string &param_name, const std::string &default_value);
+QMap<QString, QVariantMap> loadPlatformList();
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 7c3a095cfe988d..8eb5eb4fd92f43 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -1,5 +1,6 @@
 from collections import namedtuple
 import capnp
+import json
 import pathlib
 import shutil
 import sys
@@ -220,6 +221,13 @@ def setup_settings_trips(click, pm: PubMaster, scroll=None):
   time.sleep(UI_DELAY)
 
 def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
+  Params().put("CarPlatformBundle", json.dumps(
+    {
+      "platform": "HONDA_CIVIC_2022",
+      "name": "Honda Civic 2022-24"
+    }
+  ))
+
   setup_settings_device(click, pm)
   scroll(-400, 278, 862)
   click(278, 862)
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 50ea0539d09651..4f9a1bf0b787e3 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -674,6 +674,61 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation type="unfinished">إلغاء</translation>
     </message>
 </context>
+<context>
+    <name>PlatformSelector</name>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Search your vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCHING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No vehicles found for query: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect once the device enters offroad state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect immediately.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">تأكيد</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">إلغاء</translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation type="unfinished">إزالة</translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index de38c13687a1b4..fc200009d7ad20 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -669,6 +669,61 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Aktivieren</translation>
     </message>
 </context>
+<context>
+    <name>PlatformSelector</name>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Search your vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCHING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No vehicles found for query: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect once the device enters offroad state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect immediately.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Bestätigen</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Abbrechen</translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation type="unfinished">LÖSCHEN</translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 93ebf64b440248..a5aba6531777bc 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -670,6 +670,61 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Cancelar</translation>
     </message>
 </context>
+<context>
+    <name>PlatformSelector</name>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Search your vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCHING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No vehicles found for query: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect once the device enters offroad state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect immediately.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Confirmar</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation type="unfinished">ELIMINAR</translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 00f8cfc02d9a03..26290da1c46a03 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -670,6 +670,61 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Annuler</translation>
     </message>
 </context>
+<context>
+    <name>PlatformSelector</name>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Search your vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCHING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No vehicles found for query: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect once the device enters offroad state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect immediately.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Confirmer</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Annuler</translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation type="unfinished">SUPPRIMER</translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 2792a5effee9cd..a40a9f16128db3 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -669,6 +669,61 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>を有効化</translation>
     </message>
 </context>
+<context>
+    <name>PlatformSelector</name>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Search your vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCHING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No vehicles found for query: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect once the device enters offroad state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect immediately.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">確�</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">キャンセル</translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation type="unfinished">削除</translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index c7849a2903b4f0..17ac40644e36eb 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -669,6 +669,61 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>활성화</translation>
     </message>
 </context>
+<context>
+    <name>PlatformSelector</name>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Search your vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCHING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No vehicles found for query: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect once the device enters offroad state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect immediately.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">확�</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">취소</translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation type="unfinished">삭제</translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 7355c10916e874..b3ffdf2c4dca85 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -670,6 +670,61 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Ativar</translation>
     </message>
 </context>
+<context>
+    <name>PlatformSelector</name>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Search your vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCHING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No vehicles found for query: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect once the device enters offroad state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect immediately.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Confirmar</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation type="unfinished">REMOVER</translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 977c4a9e4f8f1d..b62c8c1094e7f6 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -669,6 +669,61 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>ย�เลิ�</translation>
     </message>
 </context>
+<context>
+    <name>PlatformSelector</name>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Search your vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCHING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No vehicles found for query: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect once the device enters offroad state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect immediately.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">ยืนยัน</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">ย�เลิ�</translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation type="unfinished">ลบ</translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 6e73e46d3b4e4e..bc91ec18baf95f 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -668,6 +668,61 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>PlatformSelector</name>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Search your vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCHING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No vehicles found for query: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect once the device enters offroad state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect immediately.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Onayla</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation type="unfinished">KALDIR</translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 2bd7e9ecc2c7e6..0098f01420273a 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -669,6 +669,61 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>�用</translation>
     </message>
 </context>
+<context>
+    <name>PlatformSelector</name>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Search your vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCHING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No vehicles found for query: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect once the device enters offroad state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect immediately.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">确认</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">�消</translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation type="unfinished">删除</translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 5cc18511a132bd..5cb3b9cf977be9 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -669,6 +669,61 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>啟用</translation>
     </message>
 </context>
+<context>
+    <name>PlatformSelector</name>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Search your vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCHING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No vehicles found for query: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect once the device enters offroad state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect immediately.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">確�</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">�消</translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation type="unfinished">移除</translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
diff --git a/sunnypilot/selfdrive/car/car_list.json b/sunnypilot/selfdrive/car/car_list.json
new file mode 120000
index 00000000000000..a4ae7b75f9629a
--- /dev/null
+++ b/sunnypilot/selfdrive/car/car_list.json
@@ -0,0 +1 @@
+../../../opendbc_repo/opendbc/sunnypilot/car/car_list.json
\ No newline at end of file

From 17b3092e76758fcfc2fd4748e25746bb5b5e07ab Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 1 Feb 2025 02:55:52 -0500
Subject: [PATCH 0101/1434] modeld: script to generate new default model hash
 and name (#629)

* modeld: script to generate new default model hash and name

* break CI intentionally to trigger new changes

* more verbose and fix

* more verbose hehe
---
 sunnypilot/modeld/default_model.py            | 64 +++++++++++++++++++
 sunnypilot/modeld/tests/test_default_model.py | 31 ++-------
 2 files changed, 68 insertions(+), 27 deletions(-)
 create mode 100644 sunnypilot/modeld/default_model.py

diff --git a/sunnypilot/modeld/default_model.py b/sunnypilot/modeld/default_model.py
new file mode 100644
index 00000000000000..21f73ee8b44fc1
--- /dev/null
+++ b/sunnypilot/modeld/default_model.py
@@ -0,0 +1,64 @@
+import argparse
+import os
+import hashlib
+
+from openpilot.common.basedir import BASEDIR
+
+DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "common", "model.h")
+MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "modeld", "tests", "model_hash")
+ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "supercombo.onnx")
+
+
+def get_hash(path: str) -> str:
+  sha256_hash = hashlib.sha256()
+  with open(path, "rb") as f:
+    for byte_block in iter(lambda: f.read(4096), b""):
+      sha256_hash.update(byte_block)
+  return sha256_hash.hexdigest()
+
+
+def update_model_hash():
+  new_hash = get_hash(ONNX_PATH)
+  with open(MODEL_HASH_PATH, "w") as f:
+    f.write(new_hash)
+  print(f"Generated and updated new hash to {MODEL_HASH_PATH}")
+
+
+def get_current_default_model_name():
+  print("[GET DEFAULT MODEL NAME]")
+  with open(DEFAULT_MODEL_NAME_PATH) as f:
+    name = f.read().split('"')[1]
+  print(f'Current default model name: "{name}"')
+
+  return name
+
+
+def update_default_model_name(name: str):
+  print("[CHANGE DEFAULT MODEL NAME]")
+  with open(DEFAULT_MODEL_NAME_PATH, "w") as f:
+    f.write(f'#define DEFAULT_MODEL "{name}"\n')
+  print(f'New default model name: "{name}"')
+  print("[DONE]")
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Update default model name and hash")
+  parser.add_argument("--new_name", type=str, help="New default model name")
+  args = parser.parse_args()
+
+  if not args.new_name:
+    print("Warning: No new default model name provided. Use --new_name to specify")
+    print("Default model name and hash will not be updated! (aborted)")
+    exit(0)
+
+  current_name = get_current_default_model_name()
+  new_name = f"{args.new_name} (Default)"
+  if current_name == new_name:
+    print(f'Proposed default model name: "{new_name}"')
+    confirm = input("Proposed default model name is the same as the current default model name. Confirm? (y/n):").upper().strip()
+    if confirm != "Y":
+      print("Default model name and hash will not be updated! (aborted)")
+      exit(0)
+
+  update_default_model_name(new_name)
+  update_model_hash()
diff --git a/sunnypilot/modeld/tests/test_default_model.py b/sunnypilot/modeld/tests/test_default_model.py
index 6f3c835f24d4a9..3e3c14523c2a5c 100644
--- a/sunnypilot/modeld/tests/test_default_model.py
+++ b/sunnypilot/modeld/tests/test_default_model.py
@@ -1,34 +1,11 @@
-import os
-import hashlib
-
-from openpilot.common.basedir import BASEDIR
-
-MODEL_HASH_DIR = os.path.dirname(os.path.abspath(__file__))
+from openpilot.sunnypilot.modeld.default_model import get_hash, MODEL_HASH_PATH, ONNX_PATH
 
 
 class TestDefaultModel:
-  @classmethod
-  def setup_class(cls):
-    cls.onnx_path = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "supercombo.onnx")
-    cls.current_hash_path = os.path.join(MODEL_HASH_DIR, "model_hash")
-
-  @staticmethod
-  def get_hash(path: str) -> str:
-    sha256_hash = hashlib.sha256()
-    with open(path, "rb") as f:
-      for byte_block in iter(lambda: f.read(4096), b""):
-        sha256_hash.update(byte_block)
-    return sha256_hash.hexdigest()
-
   def test_compare_onnx_hashes(self):
-    new_hash = self.get_hash(str(self.onnx_path))
+    new_hash = get_hash(ONNX_PATH)
 
-    with open(self.current_hash_path) as f:
+    with open(MODEL_HASH_PATH) as f:
       current_hash = f.read().strip()
 
-    assert new_hash == current_hash, (
-      "Driving model updated!\n" +
-      f"Current hash: {current_hash}\n" +
-      f"New hash: {new_hash}\n" +
-      "Please update common/model.h if the default driving model name has changed."
-    )
+    assert new_hash == current_hash, "Run sunnypilot/modeld/default_model.py to update the default model name and hash"

From d7087d312ccc1ef16c11ce1865f72747632c856c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 1 Feb 2025 22:11:10 -0500
Subject: [PATCH 0102/1434] MADS: Properly handle gear events (#628)

* MADS: Properly handle gear events

* use referenced object directly

* fix tests

* unused

* rename
---
 sunnypilot/mads/mads.py                       |  4 +-
 sunnypilot/mads/state.py                      | 25 +++-----
 .../mads/tests/test_mads_state_machine.py     | 62 +++++++++----------
 3 files changed, 42 insertions(+), 49 deletions(-)

diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 5846dc4fda0f77..6335517a43c10a 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -111,7 +111,7 @@ def replace_event(old_event: int, new_event: int):
           transition_paused_state()
 
       if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \
-         not self.events.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
+         not self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
         if self.state_machine.state == State.paused:
           self.events_sp.add(EventNameSP.silentLkasEnable)
 
@@ -160,7 +160,7 @@ def update(self, CS: car.CarState):
     self.update_events(CS)
 
     if not self.selfdrive.CP.passive and self.selfdrive.initialized:
-      self.enabled, self.active = self.state_machine.update(self.events, self.events_sp)
+      self.enabled, self.active = self.state_machine.update()
 
     # Copy of previous SelfdriveD states for MADS events handling
     self.selfdrive.enabled_prev = self.selfdrive.enabled
diff --git a/sunnypilot/mads/state.py b/sunnypilot/mads/state.py
index 342b481dd307f5..e3acf3a0e09ea9 100644
--- a/sunnypilot/mads/state.py
+++ b/sunnypilot/mads/state.py
@@ -25,12 +25,10 @@
 """
 
 from cereal import log, custom
-from openpilot.selfdrive.selfdrived.events import ET, Events
+from openpilot.selfdrive.selfdrived.events import ET
 from openpilot.selfdrive.selfdrived.state import SOFT_DISABLE_TIME
 from openpilot.common.realtime import DT_CTRL
 
-from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
-
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 EventName = log.OnroadEvent.EventName
 EventNameSP = custom.OnroadEventSP.EventName
@@ -41,20 +39,18 @@
 GEARS_ALLOW_PAUSED_SILENT = [EventNameSP.silentWrongGear, EventNameSP.silentReverseGear, EventNameSP.silentBrakeHold,
                              EventNameSP.silentDoorOpen, EventNameSP.silentSeatbeltNotLatched, EventNameSP.silentParkBrake]
 GEARS_ALLOW_PAUSED = [EventName.wrongGear, EventName.reverseGear, EventName.brakeHold,
-                      EventName.doorOpen, EventName.seatbeltNotLatched, EventName.parkBrake,
-                      *GEARS_ALLOW_PAUSED_SILENT]
+                      EventName.doorOpen, EventName.seatbeltNotLatched, EventName.parkBrake]
 
 
 class StateMachine:
   def __init__(self, mads):
     self.selfdrive = mads.selfdrive
     self.ss_state_machine = mads.selfdrive.state_machine
+    self._events = mads.selfdrive.events
+    self._events_sp = mads.selfdrive.events_sp
 
     self.state = State.disabled
 
-    self._events = Events()
-    self._events_sp = EventsSP()
-
   def add_current_alert_types(self, alert_type):
     if not self.selfdrive.enabled:
       self.ss_state_machine.current_alert_types.append(alert_type)
@@ -62,22 +58,19 @@ def add_current_alert_types(self, alert_type):
   def check_contains(self, event_type: str) -> bool:
     return bool(self._events.contains(event_type) or self._events_sp.contains(event_type))
 
-  def check_contains_in_list(self, events_list: list[int]) -> bool:
-    return bool(self._events.contains_in_list(events_list) or self._events_sp.contains_in_list(events_list))
+  def check_contains_in_list(self) -> bool:
+    return bool(self._events.contains_in_list(GEARS_ALLOW_PAUSED) or self._events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT))
 
-  def update(self, events: Events, events_sp: EventsSP):
+  def update(self):
     # soft disable timer and current alert types are from the state machine of openpilot
     # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state
 
-    self._events = events
-    self._events_sp = events_sp
-
     # ENABLED, SOFT DISABLING, PAUSED, OVERRIDING
     if self.state != State.disabled:
       # user and immediate disable always have priority in a non-disabled state
       if self.check_contains(ET.USER_DISABLE):
-        if events_sp.has(EventNameSP.silentLkasDisable) or events_sp.has(EventNameSP.silentBrakeHold):
+        if self._events_sp.has(EventNameSP.silentLkasDisable) or self._events_sp.has(EventNameSP.silentBrakeHold):
           self.state = State.paused
         else:
           self.state = State.disabled
@@ -141,7 +134,7 @@ def update(self, events: Events, events_sp: EventsSP):
     elif self.state == State.disabled:
       if self.check_contains(ET.ENABLE):
         if self.check_contains(ET.NO_ENTRY):
-          if self.check_contains_in_list(GEARS_ALLOW_PAUSED):
+          if self.check_contains_in_list():
             self.state = State.paused
           self.add_current_alert_types(ET.NO_ENTRY)
 
diff --git a/sunnypilot/mads/tests/test_mads_state_machine.py b/sunnypilot/mads/tests/test_mads_state_machine.py
index 694d62362fb7c6..546893d285875f 100644
--- a/sunnypilot/mads/tests/test_mads_state_machine.py
+++ b/sunnypilot/mads/tests/test_mads_state_machine.py
@@ -29,9 +29,9 @@
 
 from cereal import custom
 from openpilot.common.realtime import DT_CTRL
-from openpilot.sunnypilot.mads.state import StateMachine, SOFT_DISABLE_TIME, GEARS_ALLOW_PAUSED
-from openpilot.selfdrive.selfdrived.events import ET, NormalPermanentAlert
-from openpilot.sunnypilot.selfdrive.selfdrived.events import EVENTS_SP
+from openpilot.sunnypilot.mads.state import StateMachine, SOFT_DISABLE_TIME
+from openpilot.selfdrive.selfdrived.events import ET, NormalPermanentAlert, Events
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP, EVENTS_SP
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 EventNameSP = custom.OnroadEventSP.EventName
@@ -56,7 +56,8 @@ class MockMADS:
   def __init__(self, mocker: MockerFixture):
     self.selfdrive = mocker.MagicMock()
     self.selfdrive.state_machine = mocker.MagicMock()
-    self.selfdrive.active = False
+    self.selfdrive.events = Events()
+    self.selfdrive.events_sp = EventsSP()
 
 
 class TestMADSStateMachine:
@@ -64,32 +65,31 @@ class TestMADSStateMachine:
   def setup_method(self, mocker: MockerFixture):
     self.mads = MockMADS(mocker)
     self.state_machine = StateMachine(self.mads)
-    self.events = self.state_machine._events
-    self.events_sp = self.state_machine._events_sp
+    self.events = self.mads.selfdrive.events
+    self.events_sp = self.mads.selfdrive.events_sp
     self.mads.selfdrive.state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
 
-  def reset(self):
+  def clear_events(self):
     self.events.clear()
     self.events_sp.clear()
-    self.state_machine.state = State.disabled
 
   def test_immediate_disable(self):
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
         self.events_sp.add(make_event([et, ET.IMMEDIATE_DISABLE]))
         self.state_machine.state = state
-        self.state_machine.update(self.events, self.events_sp)
+        self.state_machine.update()
         assert State.disabled == self.state_machine.state
-        self.reset()
+        self.clear_events()
 
   def test_user_disable(self):
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
         self.events_sp.add(make_event([et, ET.USER_DISABLE]))
         self.state_machine.state = state
-        self.state_machine.update(self.events, self.events_sp)
+        self.state_machine.update()
         assert State.disabled == self.state_machine.state
-        self.reset()
+        self.clear_events()
 
   def test_user_disable_to_paused(self):
     paused_events = (EventNameSP.silentLkasDisable, EventNameSP.silentBrakeHold)
@@ -99,65 +99,65 @@ def test_user_disable_to_paused(self):
         for en in paused_events:
           self.events_sp.add(en)
           self.state_machine.state = state
-          self.state_machine.update(self.events, self.events_sp)
+          self.state_machine.update()
           final_state = State.paused if self.events_sp.has(en) and state != State.disabled else State.disabled
           assert self.state_machine.state == final_state
-          self.reset()
+          self.clear_events()
 
   def test_soft_disable(self):
     for state in ALL_STATES:
-      if state == State.paused:  # paused considers USER_DISABLE instead
-        continue
       for et in MAINTAIN_STATES[state]:
         self.events_sp.add(make_event([et, ET.SOFT_DISABLE]))
         self.state_machine.state = state
-        self.state_machine.update(self.events, self.events_sp)
+        self.state_machine.update()
         assert self.state_machine.state == State.disabled if state == State.disabled else State.softDisabling
-        self.reset()
+        self.clear_events()
 
   def test_soft_disable_timer(self):
     self.state_machine.state = State.enabled
     self.events_sp.add(make_event([ET.SOFT_DISABLE]))
-    self.state_machine.update(self.events, self.events_sp)
+    self.state_machine.update()
     for _ in range(int(SOFT_DISABLE_TIME / DT_CTRL)):
       assert self.state_machine.state == State.softDisabling
       self.mads.selfdrive.state_machine.soft_disable_timer -= 1
-      self.state_machine.update(self.events, self.events_sp)
+      self.state_machine.update()
 
     assert self.state_machine.state == State.disabled
+    self.clear_events()
 
   def test_no_entry(self):
     for et in ENABLE_EVENT_TYPES:
       self.events_sp.add(make_event([ET.NO_ENTRY, et]))
-      if not self.state_machine.check_contains_in_list(GEARS_ALLOW_PAUSED):
-        self.state_machine.update(self.events, self.events_sp)
-        assert self.state_machine.state == State.disabled
-        self.reset()
+      self.state_machine.update()
+      assert self.state_machine.state == State.disabled
+      self.clear_events()
 
   def test_no_entry_paused(self):
     self.state_machine.state = State.paused
     self.events_sp.add(make_event([ET.NO_ENTRY]))
-    self.state_machine.update(self.events, self.events_sp)
+    self.state_machine.update()
     assert self.state_machine.state == State.paused
+    self.clear_events()
 
   def test_override_lateral(self):
     self.state_machine.state = State.enabled
     self.events_sp.add(make_event([ET.OVERRIDE_LATERAL]))
-    self.state_machine.update(self.events, self.events_sp)
+    self.state_machine.update()
     assert self.state_machine.state == State.overriding
+    self.clear_events()
 
   def test_paused_to_enabled(self):
     self.state_machine.state = State.paused
     self.events_sp.add(make_event([ET.ENABLE]))
-    self.state_machine.update(self.events, self.events_sp)
+    self.state_machine.update()
     assert self.state_machine.state == State.enabled
+    self.clear_events()
 
   def test_maintain_states(self):
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
         self.state_machine.state = state
-        if et is not None:
-          self.events_sp.add(make_event([et]))
-        self.state_machine.update(self.events, self.events_sp)
+        self.events_sp.add(make_event([et]))
+        self.state_machine.update()
         assert self.state_machine.state == state
-        self.reset()
+        self.clear_events()

From bb407ae9bf159e02f83ec8dbede425befb09f947 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 1 Feb 2025 22:26:19 -0500
Subject: [PATCH 0103/1434] MADS: mute `canBusMissing` if vehicle is in Park
 and enabled (#613)

* Car: mute `canBusMissing` if vehicle is in Park

* only when mads is enabled
---
 selfdrive/selfdrived/selfdrived.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index d216290f98d00c..677c0b1e363c28 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -380,6 +380,10 @@ def update_events(self, CS):
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
 
+    # mute canBusMissing event if in Park, as it sometimes may trigger a false alarm with MADS in Paused state
+    if CS.gearShifter == car.CarState.GearShifter.park and self.mads.enabled:
+      self.events.remove(EventName.canBusMissing)
+
     CruiseHelper.update(self, CS, self.events_sp, self.experimental_mode)
 
     # decrement personality on distance button press

From 564914c3a45a09bef614fef20f87f27ecb63821e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 16 Feb 2025 22:11:44 -0500
Subject: [PATCH 0104/1434] test_processes: update ref logs to a0a1635

---
 ..._calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...-45-08--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 ---
 ...-45-08--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 +++
 ...--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ..._dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...08--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...08--0_plannerd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 ---
 ...08--0_plannerd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 +++
 ...-08--0_radard_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...-0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...08--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...-08--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...-03-23--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 ---
 ...-03-23--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 +++
 ...-56-31--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 ---
 ...-56-31--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 +++
 ...-51-30--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 ---
 ...-51-30--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 +++
 ...-15-31--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 ---
 ...-15-31--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 +++
 ...-47-37--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 ---
 ...-47-37--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 +++
 ...-09-15--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 ---
 ...-09-15--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 +++
 ..._calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...-08-24--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 ---
 ...-08-24--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 +++
 ...--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ..._dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...24--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...24--0_plannerd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 ---
 ...24--0_plannerd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 +++
 ...-24--0_radard_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...-0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...24--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...-24--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...-13-04--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 ---
 ...-13-04--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 +++
 ..._calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...-38-51--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 ---
 ...-38-51--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 +++
 ...--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ..._dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...51--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...51--0_plannerd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 ---
 ...51--0_plannerd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 +++
 ...-51--0_radard_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...-0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...51--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...-51--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...-36-22--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 ---
 ...-36-22--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 +++
 ..._calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...-06-45--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 ---
 ...-06-45--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 +++
 ...--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ..._dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...45--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...45--0_plannerd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 ---
 ...45--0_plannerd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 +++
 ...-45--0_radard_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...-0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...45--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...-45--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...-21-55--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 ---
 ...-21-55--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 +++
 ..._calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...-54-01--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 ---
 ...-54-01--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 +++
 ...--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ..._dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...01--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...01--0_plannerd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 ---
 ...01--0_plannerd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 +++
 ...-01--0_radard_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...-0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...01--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...-01--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} | 0
 ...-02-54--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 ---
 ...-02-54--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 +++
 ...-18-02--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 ---
 ...-18-02--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 +++
 ...-59-03--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst | 3 ---
 ...-59-03--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 +++
 selfdrive/test/process_replay/ref_commit                       | 2 +-
 90 files changed, 67 insertions(+), 67 deletions(-)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_radard_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_radard_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_torqued_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen306779F6870|2024-10-03--04-03-23--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen306779F6870|2024-10-03--04-03-23--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen4CE950B0267|2024-08-30--02-51-30--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen4CE950B0267|2024-08-30--02-51-30--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen58464878D07|2024-08-30--03-15-31--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen58464878D07|2024-08-30--03-15-31--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen6E484EDAB96|2024-08-30--02-47-37--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen6E484EDAB96|2024-08-30--02-47-37--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen720F2BA4CF6|2024-08-30--03-09-15--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen720F2BA4CF6|2024-08-30--03-09-15--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_calibrationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen756F8230C21|2024-11-07--00-08-24--0_calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_controlsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen756F8230C21|2024-11-07--00-08-24--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_dmonitoringd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen756F8230C21|2024-11-07--00-08-24--0_dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_locationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen756F8230C21|2024-11-07--00-08-24--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_paramsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen756F8230C21|2024-11-07--00-08-24--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_plannerd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_plannerd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_radard_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen756F8230C21|2024-11-07--00-08-24--0_radard_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_selfdrived_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen756F8230C21|2024-11-07--00-08-24--0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_torqued_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen756F8230C21|2024-11-07--00-08-24--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen756F8230C21|2024-11-07--00-08-24--0_ubloxd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen756F8230C21|2024-11-07--00-08-24--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9ADBECBCD1C|2024-08-30--03-13-04--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9ADBECBCD1C|2024-08-30--03-13-04--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_calibrationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_controlsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_dmonitoringd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_locationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_paramsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_plannerd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_plannerd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_radard_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_radard_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_selfdrived_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_torqued_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regen9CBD921E93E|2024-08-30--02-38-51--0_ubloxd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regen9CBD921E93E|2024-08-30--02-38-51--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenA67A128BCD8|2024-08-30--02-36-22--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenA67A128BCD8|2024-08-30--02-36-22--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_calibrationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_controlsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_dmonitoringd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_locationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_paramsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_plannerd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_plannerd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_radard_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_radard_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_selfdrived_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_torqued_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenAA1FF48CF1F|2024-08-30--03-06-45--0_ubloxd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regenAA1FF48CF1F|2024-08-30--03-06-45--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenACF84CCF482|2024-08-30--03-21-55--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenACF84CCF482|2024-08-30--03-21-55--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_calibrationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_controlsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_dmonitoringd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_locationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_paramsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_radard_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_radard_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_selfdrived_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 rename selfdrive/test/process_replay/fakedata/{regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst => regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst} (100%)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
 create mode 100644 selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst

diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
deleted file mode 100644
index a615f193761ff3..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
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diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
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rename to selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_radard_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
similarity index 100%
rename from selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6.zst
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diff --git a/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst b/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
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index ae24ab1c915431..65120c58b5df9b 100644
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+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
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From cce0f149765ae70fa772f723567a962931a941f4 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 1 Mar 2025 15:29:31 +0100
Subject: [PATCH 0105/1434] CI: Fix runner install script (#639)

Not sure why it stopped working before but this should work now
---
 release/ci/install_github_runner.sh | 35 ++++++++++++++++++-----------
 1 file changed, 22 insertions(+), 13 deletions(-)

diff --git a/release/ci/install_github_runner.sh b/release/ci/install_github_runner.sh
index d678b79a8a4308..f6b1e217c5cbca 100755
--- a/release/ci/install_github_runner.sh
+++ b/release/ci/install_github_runner.sh
@@ -67,8 +67,6 @@ trap remount_ro EXIT
 
 setup_runner_user() {
     sudo useradd --comment 'GitHub Runner' --create-home --home-dir ${BASE_DIR} ${RUNNER_USER} --shell /bin/bash -G ${USER_GROUPS} || sudo usermod -aG ${USER_GROUPS} ${RUNNER_USER}
-    export BASE_DIR
-    sudo -u ${RUNNER_USER} bash -c "truncate -s 0 '${BASE_DIR}/.bash_logout'"
 }
 
 create_sudoers_entry() {
@@ -77,8 +75,8 @@ create_sudoers_entry() {
 
 set_directory_permissions() {
     sudo chown -R ${RUNNER_USER}:comma "$BASE_DIR"
-    sudo chmod g+rwx "$BASE_DIR"
-    sudo chmod g+s "$BASE_DIR"
+    sudo chmod -R g+rwx "$BASE_DIR"
+    sudo find "$BASE_DIR" -type d -exec chmod g+s {} +
 }
 
 setup_directories() {
@@ -86,30 +84,42 @@ setup_directories() {
     sudo mkdir -p "$RUNNER_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
     mkdir -p "/data/openpilot"
     sudo chown -R comma:comma "/data/openpilot"
+    sync
+}
+
+wipe_bash_logout() {
+  export BASE_DIR
+  sudo -u ${RUNNER_USER} bash -c "touch ${BASE_DIR}/.bash_logout"
+  sudo -u ${RUNNER_USER} bash -c "truncate -s 0 '${BASE_DIR}/.bash_logout'"
 }
 
 # System configuration functions (depends on basic utility functions)
 setup_system_configs() {
     echo "Setting up system configurations..."
+    remount_rw
     setup_runner_user
     create_sudoers_entry
+    remount_ro
     set_directory_permissions
+    wipe_bash_logout
 }
 
 # Runner setup functions
 install_runner() {
     echo "Downloading and setting up runner..."
     cd "$RUNNER_DIR"
-    curl -o actions-runner-linux-arm64-2.321.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.321.0/actions-runner-linux-arm64-2.321.0.tar.gz
-    tar xzf ./actions-runner-linux-arm64-2.321.0.tar.gz
-    rm ./actions-runner-linux-arm64-2.321.0.tar.gz
-    chmod +x ./config.sh
+    curl -o actions-runner-linux-arm64-2.322.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.322.0/actions-runner-linux-arm64-2.322.0.tar.gz
+    sudo -u ${RUNNER_USER} tar -xzf ./actions-runner-linux-arm64-2.322.0.tar.gz
+    sudo rm ./actions-runner-linux-arm64-2.322.0.tar.gz
+    sudo chmod +x ./config.sh
 }
 
 configure_runner() {
+    remount_rw
     echo "Configuring runner..."
     cd "$RUNNER_DIR"
     sudo -u ${RUNNER_USER} ./config.sh --url "$REPO_URL" --token "$GITHUB_TOKEN" --name $(hostname) --runnergroup "tici-tizi" --labels "tici" --work "$BUILDS_DIR" --unattended
+    remount_ro
 }
 
 create_service_template() {
@@ -139,6 +149,7 @@ EOL
 }
 
 install_service() {
+    remount_rw
     echo "Installing systemd service..."
     cd "$RUNNER_DIR"
     sudo ./svc.sh install $RUNNER_USER
@@ -152,6 +163,7 @@ install_service() {
         fi
         sudo systemctl disable "${service_name}"
     fi
+    remount_ro
 }
 
 check_restore_prerequisites() {
@@ -203,23 +215,20 @@ check_restore_prerequisites() {
 perform_restore() {
     echo "Starting runner restoration..."
     setup_directories
-    remount_rw
     setup_system_configs
     install_service
-    remount_ro
     echo "Runner restoration completed successfully"
 }
 
 perform_install() {
     echo "Starting fresh installation..."
     setup_directories
+    setup_system_configs
     install_runner
+    set_directory_permissions
     create_service_template
-    remount_rw
-    setup_system_configs
     configure_runner
     install_service
-    remount_ro
     echo "Installation completed successfully"
 }
 

From 1a8dd310ae9c558ad6b041b08911bd56870796a2 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 2 Mar 2025 20:49:30 +0100
Subject: [PATCH 0106/1434] Model: split modeld into it's own contained modeld
 implementation (#642)

* Add support for TinyGrad model runner processing

Introduced a new function `is_tinygrad_model` to detect TinyGrad as an active model runner. Updated the `is_stock_model` logic to account for TinyGrad models and added a new process entry for TinyGrad in the model manager. This enables handling TinyGrad models alongside existing configurations.

adding modeld back

Add support for `modeld_v2` and update paths for consistency

Updated `SConscript` files to integrate `modeld_v2` alongside `modeld` and adjusted script paths for correct metadata handling. Adjusted various configurations and scripts, such as `labeler.yaml` and `build_release.sh`, to include `modeld_v2` and ensure cohesive project structure.

Refactor imports to use updated `modeld_v2` paths.

Replaced outdated `modeld` references with their `modeld_v2` counterparts for consistency and clarity across the codebase. Also updated `.gitignore` to accommodate new directory structure. This change ensures better maintainability and alignment with the new directory schema.

Refactor and reorganize modeld to sunnypilot/modeld_v2 structure.

Moved and renamed `modeld` components to the new `sunnypilot/modeld_v2` directory for better organization and modularity. Updated imports and file references to align with the new structure, ensuring compatibility and functionality. Streamlined project structure to improve maintainability and future development.

* typo

* Use `stock` model runner and refactor model checks.

Replaces outdated model detection logic with unified `stock` runner integration, simplifying the decision flow for model selection. Includes `stock` as a new enum in the `Runner` type and updates affected references accordingly.

* Handle missing 'sim_pose' in model outputs gracefully.

Added conditional checks to ensure the code handles cases where 'sim_pose' is absent in the model outputs. Fallback behaviors use 'plan' data when 'sim_pose' is unavailable, preventing potential errors and enhancing robustness.
---
 .github/labeler.yaml                          |   2 +-
 .gitignore                                    |   6 +-
 cereal/custom.capnp                           |   1 +
 conftest.py                                   |   1 +
 release/build_release.sh                      |   1 +
 selfdrive/debug/uiview.py                     |  10 +-
 sunnypilot/SConscript                         |   3 +-
 sunnypilot/modeld/SConscript                  |   2 +-
 sunnypilot/modeld_v2/.gitignore               |   1 +
 sunnypilot/modeld_v2/SConscript               |  50 +++
 sunnypilot/modeld_v2/__init__.py              |   5 +
 sunnypilot/modeld_v2/constants.py             |  84 +++++
 sunnypilot/modeld_v2/dmonitoringmodeld        |   4 +
 sunnypilot/modeld_v2/dmonitoringmodeld.py     | 192 +++++++++++
 sunnypilot/modeld_v2/fill_model_msg.py        | 245 ++++++++++++++
 sunnypilot/modeld_v2/get_model_metadata.py    |  28 ++
 sunnypilot/modeld_v2/meta_20hz.py             |   2 +-
 sunnypilot/modeld_v2/meta_helper.py           |   2 +-
 sunnypilot/modeld_v2/model_runner.py          |   8 +-
 sunnypilot/modeld_v2/modeld                   |   4 +
 sunnypilot/modeld_v2/modeld.py                | 318 ++++++++++++++++++
 sunnypilot/modeld_v2/models/README.md         |  62 ++++
 sunnypilot/modeld_v2/models/__init__.py       |   0
 sunnypilot/modeld_v2/models/commonmodel.cc    |  62 ++++
 sunnypilot/modeld_v2/models/commonmodel.h     |  97 ++++++
 sunnypilot/modeld_v2/models/commonmodel.pxd   |  27 ++
 .../modeld_v2/models/commonmodel_pyx.pxd      |  13 +
 .../modeld_v2/models/commonmodel_pyx.pyx      |  74 ++++
 .../models/dmonitoring_model.current          |   2 +
 .../modeld_v2/models/dmonitoring_model.onnx   |   3 +
 sunnypilot/modeld_v2/models/supercombo.onnx   |   3 +
 sunnypilot/modeld_v2/parse_model_outputs.py   | 107 ++++++
 sunnypilot/modeld_v2/runners/ort_helpers.py   |  36 ++
 .../modeld_v2/runners/tinygrad_helpers.py     |   8 +
 sunnypilot/modeld_v2/tests/__init__.py        |   0
 sunnypilot/modeld_v2/tests/dmon_lag/repro.cc  | 101 ++++++
 sunnypilot/modeld_v2/tests/test_modeld.py     | 102 ++++++
 sunnypilot/modeld_v2/tests/tf_test/build.sh   |   2 +
 sunnypilot/modeld_v2/tests/tf_test/main.cc    |  69 ++++
 .../modeld_v2/tests/tf_test/pb_loader.py      |   8 +
 .../modeld_v2/tests/timing/benchmark.py       |  39 +++
 sunnypilot/modeld_v2/transforms/loadyuv.cc    |  76 +++++
 sunnypilot/modeld_v2/transforms/loadyuv.cl    |  47 +++
 sunnypilot/modeld_v2/transforms/loadyuv.h     |  20 ++
 sunnypilot/modeld_v2/transforms/transform.cc  |  97 ++++++
 sunnypilot/modeld_v2/transforms/transform.cl  |  54 +++
 sunnypilot/modeld_v2/transforms/transform.h   |  25 ++
 sunnypilot/models/helpers.py                  |   2 +-
 system/manager/process_config.py              |   7 +-
 49 files changed, 2096 insertions(+), 16 deletions(-)
 create mode 100644 sunnypilot/modeld_v2/.gitignore
 create mode 100644 sunnypilot/modeld_v2/SConscript
 create mode 100644 sunnypilot/modeld_v2/constants.py
 create mode 100755 sunnypilot/modeld_v2/dmonitoringmodeld
 create mode 100755 sunnypilot/modeld_v2/dmonitoringmodeld.py
 create mode 100644 sunnypilot/modeld_v2/fill_model_msg.py
 create mode 100755 sunnypilot/modeld_v2/get_model_metadata.py
 create mode 100755 sunnypilot/modeld_v2/modeld
 create mode 100755 sunnypilot/modeld_v2/modeld.py
 create mode 100644 sunnypilot/modeld_v2/models/README.md
 create mode 100644 sunnypilot/modeld_v2/models/__init__.py
 create mode 100644 sunnypilot/modeld_v2/models/commonmodel.cc
 create mode 100644 sunnypilot/modeld_v2/models/commonmodel.h
 create mode 100644 sunnypilot/modeld_v2/models/commonmodel.pxd
 create mode 100644 sunnypilot/modeld_v2/models/commonmodel_pyx.pxd
 create mode 100644 sunnypilot/modeld_v2/models/commonmodel_pyx.pyx
 create mode 100644 sunnypilot/modeld_v2/models/dmonitoring_model.current
 create mode 100644 sunnypilot/modeld_v2/models/dmonitoring_model.onnx
 create mode 100644 sunnypilot/modeld_v2/models/supercombo.onnx
 create mode 100644 sunnypilot/modeld_v2/parse_model_outputs.py
 create mode 100644 sunnypilot/modeld_v2/runners/ort_helpers.py
 create mode 100644 sunnypilot/modeld_v2/runners/tinygrad_helpers.py
 create mode 100644 sunnypilot/modeld_v2/tests/__init__.py
 create mode 100644 sunnypilot/modeld_v2/tests/dmon_lag/repro.cc
 create mode 100644 sunnypilot/modeld_v2/tests/test_modeld.py
 create mode 100755 sunnypilot/modeld_v2/tests/tf_test/build.sh
 create mode 100644 sunnypilot/modeld_v2/tests/tf_test/main.cc
 create mode 100755 sunnypilot/modeld_v2/tests/tf_test/pb_loader.py
 create mode 100755 sunnypilot/modeld_v2/tests/timing/benchmark.py
 create mode 100644 sunnypilot/modeld_v2/transforms/loadyuv.cc
 create mode 100644 sunnypilot/modeld_v2/transforms/loadyuv.cl
 create mode 100644 sunnypilot/modeld_v2/transforms/loadyuv.h
 create mode 100644 sunnypilot/modeld_v2/transforms/transform.cc
 create mode 100644 sunnypilot/modeld_v2/transforms/transform.cl
 create mode 100644 sunnypilot/modeld_v2/transforms/transform.h

diff --git a/.github/labeler.yaml b/.github/labeler.yaml
index db1f976da839a5..0b1fcac0ece628 100644
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@@ -24,4 +24,4 @@ multilanguage:
 
 autonomy:
   - changed-files:
-    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"
+    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit,sunnypilot/modeld*/models/**}"
diff --git a/.gitignore b/.gitignore
index 4e393b88f0233b..2d9e7a374f6189 100644
--- a/.gitignore
+++ b/.gitignore
@@ -74,9 +74,9 @@ comma*.sh
 selfdrive/modeld/thneed/compile
 selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl
-sunnypilot/modeld/thneed/compile
-sunnypilot/modeld/models/*.thneed
-sunnypilot/modeld/models/*.pkl
+sunnypilot/modeld*/thneed/compile
+sunnypilot/modeld*/models/*.thneed
+sunnypilot/modeld*/models/*.pkl
 
 *.bz2
 *.zst
diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 3aa9c7ad18e408..36cc2c9498d048 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -70,6 +70,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
   enum Runner {
     snpe @0;
     tinygrad @1;
+    stock @2;
   }
 
   struct ModelBundle {
diff --git a/conftest.py b/conftest.py
index 7ee0c789435537..29921c787afe9f 100644
--- a/conftest.py
+++ b/conftest.py
@@ -19,6 +19,7 @@
 collect_ignore_glob = [
   "selfdrive/debug/*.py",
   "selfdrive/modeld/*.py",
+  "sunnypilot/modeld*/*.py",
 ]
 
 
diff --git a/release/build_release.sh b/release/build_release.sh
index 8b26dc74ab4282..e7fbad6f71b0bd 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -75,6 +75,7 @@ find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile release/
 rm selfdrive/modeld/models/supercombo.onnx
+rm sunnypilot/modeld*/models/supercombo.onnx
 
 find third_party/ -name '*x86*' -exec rm -r {} +
 find third_party/ -name '*Darwin*' -exec rm -r {} +
diff --git a/selfdrive/debug/uiview.py b/selfdrive/debug/uiview.py
index ad7b997fa51a98..ad3ccea036620d 100755
--- a/selfdrive/debug/uiview.py
+++ b/selfdrive/debug/uiview.py
@@ -3,19 +3,25 @@
 
 from cereal import car, log, messaging
 from openpilot.common.params import Params
-from openpilot.system.manager.process_config import managed_processes, is_snpe_model
+from openpilot.system.manager.process_config import managed_processes, is_snpe_model, is_tinygrad_model, is_stock_model
 from openpilot.system.hardware import HARDWARE
 
 if __name__ == "__main__":
   CP = car.CarParams(notCar=True, wheelbase=1, steerRatio=10)
   params = Params()
   params.put("CarParams", CP.to_bytes())
+
   if use_snpe_modeld := is_snpe_model(False, params, CP):
     print("Using SNPE modeld")
+  if use_tinygrad_modeld := is_tinygrad_model(False, params, CP):
+    print("Using TinyGrad modeld")
+  if use_stock_modeld := is_stock_model(False, params, CP):
+    print("Using stock modeld")
+
   HARDWARE.set_power_save(False)
 
   procs = ['camerad', 'ui', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
-  procs += ["modeld_snpe" if use_snpe_modeld else "modeld"]
+  procs += ["modeld_snpe" if use_snpe_modeld else "modeld_tinygrad" if use_tinygrad_modeld else "modeld"]
   for p in procs:
     managed_processes[p].start()
 
diff --git a/sunnypilot/SConscript b/sunnypilot/SConscript
index 8bc5b84ef50131..3aa302b92b0dda 100644
--- a/sunnypilot/SConscript
+++ b/sunnypilot/SConscript
@@ -1 +1,2 @@
-SConscript(['modeld/SConscript'])
\ No newline at end of file
+SConscript(['modeld/SConscript'])
+SConscript(['modeld_v2/SConscript'])
\ No newline at end of file
diff --git a/sunnypilot/modeld/SConscript b/sunnypilot/modeld/SConscript
index 2704974da791bb..90fb80975f9f22 100644
--- a/sunnypilot/modeld/SConscript
+++ b/sunnypilot/modeld/SConscript
@@ -56,7 +56,7 @@ tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "
 
 # Get model metadata
 fn = File("models/supercombo").abspath
-cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
+cmd = f'python3 {Dir("#sunnypilot/modeld").abspath}/get_model_metadata.py {fn}.onnx'
 lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
 
 if arch == "larch64":
diff --git a/sunnypilot/modeld_v2/.gitignore b/sunnypilot/modeld_v2/.gitignore
new file mode 100644
index 00000000000000..742d3d120534b5
--- /dev/null
+++ b/sunnypilot/modeld_v2/.gitignore
@@ -0,0 +1 @@
+*_pyx.cpp
diff --git a/sunnypilot/modeld_v2/SConscript b/sunnypilot/modeld_v2/SConscript
new file mode 100644
index 00000000000000..1a173dcdebd137
--- /dev/null
+++ b/sunnypilot/modeld_v2/SConscript
@@ -0,0 +1,50 @@
+import glob
+
+Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
+lenv = env.Clone()
+lenvCython = envCython.Clone()
+
+libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'kj', 'pthread']
+frameworks = []
+
+common_src = [
+  "models/commonmodel.cc",
+  "transforms/loadyuv.cc",
+  "transforms/transform.cc",
+]
+
+
+# OpenCL is a framework on Mac
+if arch == "Darwin":
+  frameworks += ['OpenCL']
+else:
+  libs += ['OpenCL']
+
+# Set path definitions
+for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
+  for xenv in (lenv, lenvCython):
+    xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
+
+# Compile cython
+cython_libs = envCython["LIBS"] + libs
+commonmodel_lib = lenv.Library('commonmodel', common_src)
+lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
+tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
+
+# Get model metadata
+fn = File("models/supercombo").abspath
+cmd = f'python3 {Dir("#sunnypilot/modeld_v2").abspath}/get_model_metadata.py {fn}.onnx'
+lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
+
+# Compile tinygrad model
+pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
+if arch == 'larch64':
+  device_string = 'QCOM=1'
+else:
+  device_string = 'CLANG=1 IMAGE=0'
+
+for model_name in ['supercombo', 'dmonitoring_model']:
+  fn = File(f"models/{model_name}").abspath
+  cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
+  lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
+
diff --git a/sunnypilot/modeld_v2/__init__.py b/sunnypilot/modeld_v2/__init__.py
index e69de29bb2d1d6..639622e8274288 100644
--- a/sunnypilot/modeld_v2/__init__.py
+++ b/sunnypilot/modeld_v2/__init__.py
@@ -0,0 +1,5 @@
+from pathlib import Path
+
+MODEL_PATH = Path(__file__).parent / 'models/supercombo.onnx'
+MODEL_PKL_PATH = Path(__file__).parent / 'models/supercombo_tinygrad.pkl'
+METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
diff --git a/sunnypilot/modeld_v2/constants.py b/sunnypilot/modeld_v2/constants.py
new file mode 100644
index 00000000000000..cf5157591ed72f
--- /dev/null
+++ b/sunnypilot/modeld_v2/constants.py
@@ -0,0 +1,84 @@
+import numpy as np
+
+def index_function(idx, max_val=192, max_idx=32):
+  return (max_val) * ((idx/max_idx)**2)
+
+class ModelConstants:
+  # time and distance indices
+  IDX_N = 33
+  T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]
+  X_IDXS = [index_function(idx, max_val=192.0) for idx in range(IDX_N)]
+  LEAD_T_IDXS = [0., 2., 4., 6., 8., 10.]
+  LEAD_T_OFFSETS = [0., 2., 4.]
+  META_T_IDXS = [2., 4., 6., 8., 10.]
+
+  # model inputs constants
+  MODEL_FREQ = 20
+  FEATURE_LEN = 512
+  FULL_HISTORY_BUFFER_LEN = 99
+  DESIRE_LEN = 8
+  TRAFFIC_CONVENTION_LEN = 2
+  LAT_PLANNER_STATE_LEN = 4
+  LATERAL_CONTROL_PARAMS_LEN = 2
+  PREV_DESIRED_CURV_LEN = 1
+
+  # model outputs constants
+  FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32)
+  FCW_THRESHOLDS_3MS2 = np.array([.7, .7], dtype=np.float32)
+  FCW_5MS2_PROBS_WIDTH = 5
+  FCW_3MS2_PROBS_WIDTH = 2
+
+  DISENGAGE_WIDTH = 5
+  POSE_WIDTH = 6
+  WIDE_FROM_DEVICE_WIDTH = 3
+  LEAD_WIDTH = 4
+  LANE_LINES_WIDTH = 2
+  ROAD_EDGES_WIDTH = 2
+  PLAN_WIDTH = 15
+  DESIRE_PRED_WIDTH = 8
+  LAT_PLANNER_SOLUTION_WIDTH = 4
+  DESIRED_CURV_WIDTH = 1
+
+  NUM_LANE_LINES = 4
+  NUM_ROAD_EDGES = 2
+
+  LEAD_TRAJ_LEN = 6
+  DESIRE_PRED_LEN = 4
+
+  PLAN_MHP_N = 5
+  LEAD_MHP_N = 2
+  PLAN_MHP_SELECTION = 1
+  LEAD_MHP_SELECTION = 3
+
+  FCW_THRESHOLD_5MS2_HIGH = 0.15
+  FCW_THRESHOLD_5MS2_LOW = 0.05
+  FCW_THRESHOLD_3MS2 = 0.7
+
+  CONFIDENCE_BUFFER_LEN = 5
+  RYG_GREEN = 0.01165
+  RYG_YELLOW = 0.06157
+
+  POLY_PATH_DEGREE = 4
+
+# model outputs slices
+class Plan:
+  POSITION = slice(0, 3)
+  VELOCITY = slice(3, 6)
+  ACCELERATION = slice(6, 9)
+  T_FROM_CURRENT_EULER = slice(9, 12)
+  ORIENTATION_RATE = slice(12, 15)
+
+class Meta:
+  ENGAGED = slice(0, 1)
+  # next 2, 4, 6, 8, 10 seconds
+  GAS_DISENGAGE = slice(1, 31, 6)
+  BRAKE_DISENGAGE = slice(2, 31, 6)
+  STEER_OVERRIDE = slice(3, 31, 6)
+  HARD_BRAKE_3 = slice(4, 31, 6)
+  HARD_BRAKE_4 = slice(5, 31, 6)
+  HARD_BRAKE_5 = slice(6, 31, 6)
+  # next 0, 2, 4, 6, 8, 10 seconds
+  GAS_PRESS = slice(31, 55, 4)
+  BRAKE_PRESS = slice(32, 55, 4)
+  LEFT_BLINKER = slice(33, 55, 4)
+  RIGHT_BLINKER = slice(34, 55, 4)
diff --git a/sunnypilot/modeld_v2/dmonitoringmodeld b/sunnypilot/modeld_v2/dmonitoringmodeld
new file mode 100755
index 00000000000000..90b43800fedf14
--- /dev/null
+++ b/sunnypilot/modeld_v2/dmonitoringmodeld
@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+exec "$DIR/dmonitoringmodeld.py" "$@"
diff --git a/sunnypilot/modeld_v2/dmonitoringmodeld.py b/sunnypilot/modeld_v2/dmonitoringmodeld.py
new file mode 100755
index 00000000000000..4469618c8800b9
--- /dev/null
+++ b/sunnypilot/modeld_v2/dmonitoringmodeld.py
@@ -0,0 +1,192 @@
+#!/usr/bin/env python3
+import os
+from openpilot.system.hardware import TICI
+if TICI:
+  from tinygrad.tensor import Tensor
+  from tinygrad.dtype import dtypes
+  from openpilot.sunnypilot.modeld_v2.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
+  os.environ['QCOM'] = '1'
+else:
+  from openpilot.sunnypilot.modeld_v2.runners.ort_helpers import make_onnx_cpu_runner
+import math
+import time
+import pickle
+import ctypes
+import numpy as np
+from pathlib import Path
+from setproctitle import setproctitle
+
+from cereal import messaging
+from cereal.messaging import PubMaster, SubMaster
+from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.realtime import config_realtime_process
+from openpilot.common.transformations.model import dmonitoringmodel_intrinsics, DM_INPUT_SIZE
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import CLContext, MonitoringModelFrame
+from openpilot.sunnypilot.modeld_v2.parse_model_outputs import sigmoid
+from openpilot.system import sentry
+
+MODEL_WIDTH, MODEL_HEIGHT = DM_INPUT_SIZE
+CALIB_LEN = 3
+FEATURE_LEN = 512
+OUTPUT_SIZE = 84 + FEATURE_LEN
+
+PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+MODEL_PATH = Path(__file__).parent / 'models/dmonitoring_model.onnx'
+MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
+
+
+class DriverStateResult(ctypes.Structure):
+  _fields_ = [
+    ("face_orientation", ctypes.c_float*3),
+    ("face_position", ctypes.c_float*3),
+    ("face_orientation_std", ctypes.c_float*3),
+    ("face_position_std", ctypes.c_float*3),
+    ("face_prob", ctypes.c_float),
+    ("_unused_a", ctypes.c_float*8),
+    ("left_eye_prob", ctypes.c_float),
+    ("_unused_b", ctypes.c_float*8),
+    ("right_eye_prob", ctypes.c_float),
+    ("left_blink_prob", ctypes.c_float),
+    ("right_blink_prob", ctypes.c_float),
+    ("sunglasses_prob", ctypes.c_float),
+    ("occluded_prob", ctypes.c_float),
+    ("ready_prob", ctypes.c_float*4),
+    ("not_ready_prob", ctypes.c_float*2)]
+
+
+class DMonitoringModelResult(ctypes.Structure):
+  _fields_ = [
+    ("driver_state_lhd", DriverStateResult),
+    ("driver_state_rhd", DriverStateResult),
+    ("poor_vision_prob", ctypes.c_float),
+    ("wheel_on_right_prob", ctypes.c_float),
+    ("features", ctypes.c_float*FEATURE_LEN)]
+
+
+class ModelState:
+  inputs: dict[str, np.ndarray]
+  output: np.ndarray
+
+  def __init__(self, cl_ctx):
+    assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
+
+    self.frame = MonitoringModelFrame(cl_ctx)
+    self.numpy_inputs = {
+      'calib': np.zeros((1, CALIB_LEN), dtype=np.float32),
+    }
+
+    if TICI:
+      self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
+      with open(MODEL_PKL_PATH, "rb") as f:
+        self.model_run = pickle.load(f)
+    else:
+      self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)
+
+  def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
+    self.numpy_inputs['calib'][0,:] = calib
+
+    t1 = time.perf_counter()
+
+    input_img_cl = self.frame.prepare(buf, transform.flatten())
+    if TICI:
+      # The imgs tensors are backed by opencl memory, only need init once
+      if 'input_img' not in self.tensor_inputs:
+        self.tensor_inputs['input_img'] = qcom_tensor_from_opencl_address(input_img_cl.mem_address, (1, MODEL_WIDTH*MODEL_HEIGHT), dtype=dtypes.uint8)
+    else:
+      self.numpy_inputs['input_img'] = self.frame.buffer_from_cl(input_img_cl).reshape((1, MODEL_WIDTH*MODEL_HEIGHT))
+
+    if TICI:
+      output = self.model_run(**self.tensor_inputs).numpy().flatten()
+    else:
+      output = self.onnx_cpu_runner.run(None, self.numpy_inputs)[0].flatten()
+
+    t2 = time.perf_counter()
+    return output, t2 - t1
+
+
+def fill_driver_state(msg, ds_result: DriverStateResult):
+  msg.faceOrientation = list(ds_result.face_orientation)
+  msg.faceOrientationStd = [math.exp(x) for x in ds_result.face_orientation_std]
+  msg.facePosition = list(ds_result.face_position[:2])
+  msg.facePositionStd = [math.exp(x) for x in ds_result.face_position_std[:2]]
+  msg.faceProb = float(sigmoid(ds_result.face_prob))
+  msg.leftEyeProb = float(sigmoid(ds_result.left_eye_prob))
+  msg.rightEyeProb = float(sigmoid(ds_result.right_eye_prob))
+  msg.leftBlinkProb = float(sigmoid(ds_result.left_blink_prob))
+  msg.rightBlinkProb = float(sigmoid(ds_result.right_blink_prob))
+  msg.sunglassesProb = float(sigmoid(ds_result.sunglasses_prob))
+  msg.occludedProb = float(sigmoid(ds_result.occluded_prob))
+  msg.readyProb = [float(sigmoid(x)) for x in ds_result.ready_prob]
+  msg.notReadyProb = [float(sigmoid(x)) for x in ds_result.not_ready_prob]
+
+
+def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, gpu_execution_time: float):
+  model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents
+  msg = messaging.new_message('driverStateV2', valid=True)
+  ds = msg.driverStateV2
+  ds.frameId = frame_id
+  ds.modelExecutionTime = execution_time
+  ds.gpuExecutionTime = gpu_execution_time
+  ds.poorVisionProb = float(sigmoid(model_result.poor_vision_prob))
+  ds.wheelOnRightProb = float(sigmoid(model_result.wheel_on_right_prob))
+  ds.rawPredictions = model_output.tobytes() if SEND_RAW_PRED else b''
+  fill_driver_state(ds.leftDriverData, model_result.driver_state_lhd)
+  fill_driver_state(ds.rightDriverData, model_result.driver_state_rhd)
+  return msg
+
+
+def main():
+  setproctitle(PROCESS_NAME)
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  sentry.set_tag("daemon", PROCESS_NAME)
+  cloudlog.bind(daemon=PROCESS_NAME)
+
+  cl_context = CLContext()
+  model = ModelState(cl_context)
+  cloudlog.warning("models loaded, dmonitoringmodeld starting")
+
+  cloudlog.warning("connecting to driver stream")
+  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context)
+  while not vipc_client.connect(False):
+    time.sleep(0.1)
+  assert vipc_client.is_connected()
+  cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")
+
+  sm = SubMaster(["liveCalibration"])
+  pm = PubMaster(["driverStateV2"])
+
+  calib = np.zeros(CALIB_LEN, dtype=np.float32)
+  model_transform = None
+
+  while True:
+    buf = vipc_client.recv()
+    if buf is None:
+      continue
+
+    if model_transform is None:
+      cam = _os_fisheye if buf.width == _os_fisheye.width else _ar_ox_fisheye
+      model_transform = np.linalg.inv(np.dot(dmonitoringmodel_intrinsics, np.linalg.inv(cam.intrinsics))).astype(np.float32)
+
+    sm.update(0)
+    if sm.updated["liveCalibration"]:
+      calib[:] = np.array(sm["liveCalibration"].rpyCalib)
+
+    t1 = time.perf_counter()
+    model_output, gpu_execution_time = model.run(buf, calib, model_transform)
+    t2 = time.perf_counter()
+
+    pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time))
+
+
+if __name__ == "__main__":
+  try:
+    main()
+  except KeyboardInterrupt:
+    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
+  except Exception:
+    sentry.capture_exception()
+    raise
diff --git a/sunnypilot/modeld_v2/fill_model_msg.py b/sunnypilot/modeld_v2/fill_model_msg.py
new file mode 100644
index 00000000000000..c6129936cad020
--- /dev/null
+++ b/sunnypilot/modeld_v2/fill_model_msg.py
@@ -0,0 +1,245 @@
+import os
+import capnp
+import numpy as np
+from cereal import log
+from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, Plan
+from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
+
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+
+ConfidenceClass = log.ModelDataV2.ConfidenceClass
+
+
+def curv_from_psis(psi_target, psi_rate, vego, delay):
+  vego = np.clip(vego, MIN_SPEED, np.inf)
+  curv_from_psi = psi_target / (vego * delay)  # epsilon to prevent divide-by-zero
+  return 2 * curv_from_psi - psi_rate / vego
+
+
+def get_curvature_from_plan(plan, vego, delay):
+  psi_target = np.interp(delay, ModelConstants.T_IDXS, plan[:, Plan.T_FROM_CURRENT_EULER][:, 2])
+  psi_rate = plan[:, Plan.ORIENTATION_RATE][0, 2]
+  return curv_from_psis(psi_target, psi_rate, vego, delay)
+
+
+def get_curvature_from_output(output, vego, delay):
+  if desired_curv := output.get('desired_curvature'):  # If the model outputs the desired curvature, use that directly
+    return float(desired_curv[0, 0])
+
+  return float(get_curvature_from_plan(output['plan'][0], vego, delay))
+
+
+class PublishState:
+  def __init__(self):
+    self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
+    self.prev_brake_5ms2_probs = np.zeros(ModelConstants.FCW_5MS2_PROBS_WIDTH, dtype=np.float32)
+    self.prev_brake_3ms2_probs = np.zeros(ModelConstants.FCW_3MS2_PROBS_WIDTH, dtype=np.float32)
+
+def fill_xyzt(builder, t, x, y, z, x_std=None, y_std=None, z_std=None):
+  builder.t = t
+  builder.x = x.tolist()
+  builder.y = y.tolist()
+  builder.z = z.tolist()
+  if x_std is not None:
+    builder.xStd = x_std.tolist()
+  if y_std is not None:
+    builder.yStd = y_std.tolist()
+  if z_std is not None:
+    builder.zStd = z_std.tolist()
+
+def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std=None):
+  builder.t = t
+  builder.x = x.tolist()
+  builder.y = y.tolist()
+  builder.v = v.tolist()
+  builder.a = a.tolist()
+  if x_std is not None:
+    builder.xStd = x_std.tolist()
+  if y_std is not None:
+    builder.yStd = y_std.tolist()
+  if v_std is not None:
+    builder.vStd = v_std.tolist()
+  if a_std is not None:
+    builder.aStd = a_std.tolist()
+
+def fill_xyz_poly(builder, degree, x, y, z):
+  xyz = np.stack([x, y, z], axis=1)
+  coeffs = np.polynomial.polynomial.polyfit(ModelConstants.T_IDXS, xyz, deg=degree)
+  builder.xCoefficients = coeffs[:, 0].tolist()
+  builder.yCoefficients = coeffs[:, 1].tolist()
+  builder.zCoefficients = coeffs[:, 2].tolist()
+
+def fill_lane_line_meta(builder, lane_lines, lane_line_probs):
+  builder.leftY = lane_lines[1].y[0]
+  builder.leftProb = lane_line_probs[1]
+  builder.rightY = lane_lines[2].y[0]
+  builder.rightProb = lane_line_probs[2]
+
+def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
+                   net_output_data: dict[str, np.ndarray], v_ego: float, delay: float,
+                   publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
+                   frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
+                   valid: bool, model_meta) -> None:
+  frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
+  frame_drop_perc = frame_drop * 100
+  extended_msg.valid = valid
+  base_msg.valid = valid
+
+  desired_curvature = float(get_curvature_from_output(net_output_data, v_ego, delay))
+
+  driving_model_data = base_msg.drivingModelData
+
+  driving_model_data.frameId = vipc_frame_id
+  driving_model_data.frameIdExtra = vipc_frame_id_extra
+  driving_model_data.frameDropPerc = frame_drop_perc
+  driving_model_data.modelExecutionTime = model_execution_time
+  driving_model_data.action.desiredCurvature = desired_curvature
+
+  modelV2 = extended_msg.modelV2
+  modelV2.frameId = vipc_frame_id
+  modelV2.frameIdExtra = vipc_frame_id_extra
+  modelV2.frameAge = frame_age
+  modelV2.frameDropPerc = frame_drop_perc
+  modelV2.timestampEof = timestamp_eof
+  modelV2.modelExecutionTime = model_execution_time
+
+  # plan
+  fill_xyzt(modelV2.position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T)
+  fill_xyzt(modelV2.velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T)
+  fill_xyzt(modelV2.acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T)
+  fill_xyzt(modelV2.orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
+  fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
+
+  # temporal pose
+  temporal_pose = modelV2.temporalPose
+  if 'sim_pose' in net_output_data:
+    temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
+    temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
+    temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
+    temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
+  else:
+    temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
+    temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
+    temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
+    temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
+
+  # poly path
+  fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
+
+  # lateral planning
+  modelV2.action.desiredCurvature = desired_curvature
+
+  # times at X_IDXS according to model plan
+  PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
+  PLAN_T_IDXS[0] = 0.0
+  plan_x = net_output_data['plan'][0,:,Plan.POSITION][:,0].tolist()
+  for xidx in range(1, ModelConstants.IDX_N):
+    tidx = 0
+    # increment tidx until we find an element that's further away than the current xidx
+    while tidx < ModelConstants.IDX_N - 1 and plan_x[tidx+1] < ModelConstants.X_IDXS[xidx]:
+      tidx += 1
+    if tidx == ModelConstants.IDX_N - 1:
+      # if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break
+      PLAN_T_IDXS[xidx] = ModelConstants.T_IDXS[ModelConstants.IDX_N - 1]
+      break
+    # interpolate to find `t` for the current xidx
+    current_x_val = plan_x[tidx]
+    next_x_val = plan_x[tidx+1]
+    p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan')
+    PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx]
+
+  # lane lines
+  modelV2.init('laneLines', 4)
+  for i in range(4):
+    lane_line = modelV2.laneLines[i]
+    fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
+  modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
+  modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
+
+  fill_lane_line_meta(driving_model_data.laneLineMeta, modelV2.laneLines, modelV2.laneLineProbs)
+
+  # road edges
+  modelV2.init('roadEdges', 2)
+  for i in range(2):
+    road_edge = modelV2.roadEdges[i]
+    fill_xyzt(road_edge, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1])
+  modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist()
+
+  # leads
+  modelV2.init('leadsV3', 3)
+  for i in range(3):
+    lead = modelV2.leadsV3[i]
+    fill_xyvat(lead, ModelConstants.LEAD_T_IDXS, *net_output_data['lead'][0,i].T, *net_output_data['lead_stds'][0,i].T)
+    lead.prob = net_output_data['lead_prob'][0,i].tolist()
+    lead.probTime = ModelConstants.LEAD_T_OFFSETS[i]
+
+  # meta
+  meta = modelV2.meta
+  meta.desireState = net_output_data['desire_state'][0].reshape(-1).tolist()
+  meta.desirePrediction = net_output_data['desire_pred'][0].reshape(-1).tolist()
+  meta.engagedProb = net_output_data['meta'][0,model_meta.ENGAGED].item()
+  meta.init('disengagePredictions')
+  disengage_predictions = meta.disengagePredictions
+  disengage_predictions.t = ModelConstants.META_T_IDXS
+  disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,model_meta.BRAKE_DISENGAGE].tolist()
+  disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,model_meta.GAS_DISENGAGE].tolist()
+  disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,model_meta.STEER_OVERRIDE].tolist()
+  disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,model_meta.HARD_BRAKE_3].tolist()
+  disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,model_meta.HARD_BRAKE_4].tolist()
+  disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,model_meta.HARD_BRAKE_5].tolist()
+
+  if hasattr(model_meta, 'GAS_PRESS') and hasattr(model_meta, 'BRAKE_PRESS'):
+    disengage_predictions.gasPressProbs = net_output_data['meta'][0,model_meta.GAS_PRESS].tolist()
+    disengage_predictions.brakePressProbs = net_output_data['meta'][0,model_meta.BRAKE_PRESS].tolist()
+
+  publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
+  publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,model_meta.HARD_BRAKE_5][0]
+  publish_state.prev_brake_3ms2_probs[:-1] = publish_state.prev_brake_3ms2_probs[1:]
+  publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,model_meta.HARD_BRAKE_3][0]
+  hard_brake_predicted = (publish_state.prev_brake_5ms2_probs > ModelConstants.FCW_THRESHOLDS_5MS2).all() and \
+    (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all()
+  meta.hardBrakePredicted = hard_brake_predicted.item()
+
+  # confidence
+  if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
+    # any disengage prob
+    brake_disengage_probs = net_output_data['meta'][0,model_meta.BRAKE_DISENGAGE]
+    gas_disengage_probs = net_output_data['meta'][0,model_meta.GAS_DISENGAGE]
+    steer_override_probs = net_output_data['meta'][0,model_meta.STEER_OVERRIDE]
+    any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs))
+    # independent disengage prob for each 2s slice
+    ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])]
+    # rolling buf for 2, 4, 6, 8, 10s
+    publish_state.disengage_buffer[:-ModelConstants.DISENGAGE_WIDTH] = publish_state.disengage_buffer[ModelConstants.DISENGAGE_WIDTH:]
+    publish_state.disengage_buffer[-ModelConstants.DISENGAGE_WIDTH:] = ind_disengage_probs
+
+  score = 0.
+  for i in range(ModelConstants.DISENGAGE_WIDTH):
+    score += publish_state.disengage_buffer[i*ModelConstants.DISENGAGE_WIDTH+ModelConstants.DISENGAGE_WIDTH-1-i].item() / ModelConstants.DISENGAGE_WIDTH
+  if score < ModelConstants.RYG_GREEN:
+    modelV2.confidence = ConfidenceClass.green
+  elif score < ModelConstants.RYG_YELLOW:
+    modelV2.confidence = ConfidenceClass.yellow
+  else:
+    modelV2.confidence = ConfidenceClass.red
+
+  # raw prediction if enabled
+  if SEND_RAW_PRED:
+    modelV2.rawPredictions = net_output_data['raw_pred'].tobytes()
+
+def fill_pose_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray],
+                  vipc_frame_id: int, vipc_dropped_frames: int, timestamp_eof: int, live_calib_seen: bool) -> None:
+  msg.valid = live_calib_seen & (vipc_dropped_frames < 1)
+  cameraOdometry = msg.cameraOdometry
+
+  cameraOdometry.frameId = vipc_frame_id
+  cameraOdometry.timestampEof = timestamp_eof
+
+  cameraOdometry.trans = net_output_data['pose'][0,:3].tolist()
+  cameraOdometry.rot = net_output_data['pose'][0,3:].tolist()
+  cameraOdometry.wideFromDeviceEuler = net_output_data['wide_from_device_euler'][0,:].tolist()
+  cameraOdometry.roadTransformTrans = net_output_data['road_transform'][0,:3].tolist()
+  cameraOdometry.transStd = net_output_data['pose_stds'][0,:3].tolist()
+  cameraOdometry.rotStd = net_output_data['pose_stds'][0,3:].tolist()
+  cameraOdometry.wideFromDeviceEulerStd = net_output_data['wide_from_device_euler_stds'][0,:].tolist()
+  cameraOdometry.roadTransformTransStd = net_output_data['road_transform_stds'][0,:3].tolist()
diff --git a/sunnypilot/modeld_v2/get_model_metadata.py b/sunnypilot/modeld_v2/get_model_metadata.py
new file mode 100755
index 00000000000000..144860204fd79c
--- /dev/null
+++ b/sunnypilot/modeld_v2/get_model_metadata.py
@@ -0,0 +1,28 @@
+#!/usr/bin/env python3
+import sys
+import pathlib
+import onnx
+import codecs
+import pickle
+
+def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
+  shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
+  name = value_info.name
+  return name, shape
+
+if __name__ == "__main__":
+  model_path = pathlib.Path(sys.argv[1])
+  model = onnx.load(str(model_path))
+  i = [x.key for x in model.metadata_props].index('output_slices')
+  output_slices = model.metadata_props[i].value
+
+  metadata = {}
+  metadata['output_slices'] = pickle.loads(codecs.decode(output_slices.encode(), "base64"))
+  metadata['input_shapes'] = dict([get_name_and_shape(x) for x in model.graph.input])
+  metadata['output_shapes'] = dict([get_name_and_shape(x) for x in model.graph.output])
+
+  metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
+  with open(metadata_path, 'wb') as f:
+    pickle.dump(metadata, f)
+
+  print(f'saved metadata to {metadata_path}')
diff --git a/sunnypilot/modeld_v2/meta_20hz.py b/sunnypilot/modeld_v2/meta_20hz.py
index 77a815ee82abb3..8a61925aaa4b92 100644
--- a/sunnypilot/modeld_v2/meta_20hz.py
+++ b/sunnypilot/modeld_v2/meta_20hz.py
@@ -1,4 +1,4 @@
-from openpilot.selfdrive.modeld.constants import Meta
+from openpilot.sunnypilot.modeld_v2.constants import Meta
 
 
 class Meta20hz(Meta):
diff --git a/sunnypilot/modeld_v2/meta_helper.py b/sunnypilot/modeld_v2/meta_helper.py
index b9c6b98c9c4774..3fa10b2415702f 100644
--- a/sunnypilot/modeld_v2/meta_helper.py
+++ b/sunnypilot/modeld_v2/meta_helper.py
@@ -1,4 +1,4 @@
-from openpilot.selfdrive.modeld.constants import Meta
+from openpilot.sunnypilot.modeld_v2.constants import Meta
 from cereal import custom
 from openpilot.sunnypilot.modeld_v2.meta_20hz import Meta20hz
 from openpilot.sunnypilot.models.helpers import get_active_bundle
diff --git a/sunnypilot/modeld_v2/model_runner.py b/sunnypilot/modeld_v2/model_runner.py
index 500a34a4ecd754..82fc3f5196ef11 100644
--- a/sunnypilot/modeld_v2/model_runner.py
+++ b/sunnypilot/modeld_v2/model_runner.py
@@ -4,10 +4,10 @@
 import numpy as np
 
 from cereal import custom
-from openpilot.selfdrive.modeld import MODEL_PATH, MODEL_PKL_PATH, METADATA_PATH
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLMem
-from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner, ORT_TYPES_TO_NP_TYPES
-from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
+from openpilot.sunnypilot.modeld_v2 import MODEL_PATH, MODEL_PKL_PATH, METADATA_PATH
+from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLMem
+from openpilot.sunnypilot.modeld_v2.runners.ort_helpers import make_onnx_cpu_runner, ORT_TYPES_TO_NP_TYPES
+from openpilot.sunnypilot.modeld_v2.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
 from openpilot.system.hardware import TICI
 from openpilot.system.hardware.hw import Paths
 
diff --git a/sunnypilot/modeld_v2/modeld b/sunnypilot/modeld_v2/modeld
new file mode 100755
index 00000000000000..5ba46885548af1
--- /dev/null
+++ b/sunnypilot/modeld_v2/modeld
@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+exec "$DIR/modeld.py" "$@"
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
new file mode 100755
index 00000000000000..bc67db297d457f
--- /dev/null
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -0,0 +1,318 @@
+#!/usr/bin/env python3
+from openpilot.system.hardware import TICI
+
+#
+import time
+import numpy as np
+import cereal.messaging as messaging
+from cereal import car, log
+from setproctitle import setproctitle
+from cereal.messaging import PubMaster, SubMaster
+from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from opendbc.car.car_helpers import get_demo_car_params
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.realtime import config_realtime_process
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.common.transformations.model import get_warp_matrix
+from openpilot.system import sentry
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser
+from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
+from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
+from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLContext
+
+from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
+from openpilot.sunnypilot.modeld_v2.model_runner import ONNXRunner, TinygradRunner
+
+PROCESS_NAME = "selfdrive.modeld.modeld"
+
+
+class FrameMeta:
+  frame_id: int = 0
+  timestamp_sof: int = 0
+  timestamp_eof: int = 0
+
+  def __init__(self, vipc=None):
+    if vipc is not None:
+      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
+
+class ModelState:
+  frames: dict[str, DrivingModelFrame]
+  inputs: dict[str, np.ndarray]
+  output: np.ndarray
+  prev_desire: np.ndarray  # for tracking the rising edge of the pulse
+
+  def __init__(self, context: CLContext):
+    try:
+      self.model_runner = TinygradRunner() if TICI else ONNXRunner()
+    except Exception as e:
+      cloudlog.exception(f"Failed to initialize model runner: {str(e)}")
+
+    buffer_length = 5 if self.model_runner.is_20hz else 2
+    self.frames = {'input_imgs': DrivingModelFrame(context, buffer_length), 'big_input_imgs': DrivingModelFrame(context, buffer_length)}
+    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
+    if self.model_runner.is_20hz:
+      self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
+      self.desire_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
+
+    # img buffers are managed in openCL transform code
+    self.numpy_inputs = {}
+
+    for key, shape in self.model_runner.input_shapes.items():
+      if key not in self.frames: # Managed by opencl
+        self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
+
+    self.parser = Parser()
+
+    if self.model_runner.is_20hz:
+      net_output_size = self.model_runner.model_metadata['output_shapes']['outputs'][1]
+      self.output = np.zeros(net_output_size, dtype=np.float32)
+
+      num_elements = self.numpy_inputs['features_buffer'].shape[1]
+      step_size = int(-100 / num_elements)
+      self.full_features_20Hz_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
+      self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1, self.numpy_inputs['desire'].shape[2])
+
+  def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
+                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
+    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
+    inputs['desire'][0] = 0
+    new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
+    self.prev_desire[:] = inputs['desire']
+
+    if self.model_runner.is_20hz:
+      self.desire_20Hz[:-1] = self.desire_20Hz[1:]
+      self.desire_20Hz[-1] = new_desire
+      self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape(self.desire_reshape_dims).max(axis=2)
+    else:
+      length = inputs['desire'].shape[0]
+      self.numpy_inputs['desire'][0, :-1] = self.numpy_inputs['desire'][0, 1:]
+      self.numpy_inputs['desire'][0, -1, :length] = new_desire[:length]
+
+    for key in self.numpy_inputs:
+      if key in inputs and key not in ['desire']:
+        self.numpy_inputs[key][:] = inputs[key]
+
+    imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
+               'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
+
+    # Prepare inputs using the model runner
+    self.model_runner.prepare_inputs(imgs_cl, self.numpy_inputs, self.frames)
+
+    if prepare_only:
+      return None
+
+    # Run model inference
+    self.output = self.model_runner.run_model()
+    outputs = self.parser.parse_outputs(self.model_runner.slice_outputs(self.output))
+
+    if self.model_runner.is_20hz:
+      self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
+      self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
+      self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[self.full_features_20Hz_idxs]
+    else:
+      feature_len = outputs['hidden_state'].shape[1]
+      self.numpy_inputs['features_buffer'][0, :-1] = self.numpy_inputs['features_buffer'][0, 1:]
+      self.numpy_inputs['features_buffer'][0, -1, :feature_len] = outputs['hidden_state'][0, :feature_len]
+
+    if "desired_curvature" in outputs:
+      input_name_prev = None
+
+      if "prev_desired_curvs" in self.numpy_inputs.keys():
+        input_name_prev = 'prev_desired_curvs'
+      elif "prev_desired_curv" in self.numpy_inputs.keys():
+        input_name_prev = 'prev_desired_curv'
+
+      if input_name_prev is not None:
+        length = outputs['desired_curvature'][0].size
+        self.numpy_inputs[input_name_prev][0, :-length, 0] = self.numpy_inputs[input_name_prev][0, length:, 0]
+        self.numpy_inputs[input_name_prev][0, -length:, 0] = outputs['desired_curvature'][0]
+    return outputs
+
+
+def main(demo=False):
+  cloudlog.warning("modeld init")
+
+  sentry.set_tag("daemon", PROCESS_NAME)
+  cloudlog.bind(daemon=PROCESS_NAME)
+  setproctitle(PROCESS_NAME)
+  config_realtime_process(7, 54)
+
+  cloudlog.warning("setting up CL context")
+  cl_context = CLContext()
+  cloudlog.warning("CL context ready; loading model")
+  model = ModelState(cl_context)
+  cloudlog.warning("models loaded, modeld starting")
+
+  # visionipc clients
+  while True:
+    available_streams = VisionIpcClient.available_streams("camerad", block=False)
+    if available_streams:
+      use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams
+      main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams
+      break
+    time.sleep(.1)
+
+  vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD
+  vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context)
+  vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context)
+  cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
+
+  while not vipc_client_main.connect(False):
+    time.sleep(0.1)
+  while use_extra_client and not vipc_client_extra.connect(False):
+    time.sleep(0.1)
+
+  cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})")
+  if use_extra_client:
+    cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
+
+  # messaging
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
+  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
+
+  publish_state = PublishState()
+  params = Params()
+
+  # setup filter to track dropped frames
+  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
+  frame_id = 0
+  last_vipc_frame_id = 0
+  run_count = 0
+
+  model_transform_main = np.zeros((3, 3), dtype=np.float32)
+  model_transform_extra = np.zeros((3, 3), dtype=np.float32)
+  live_calib_seen = False
+  buf_main, buf_extra = None, None
+  meta_main = FrameMeta()
+  meta_extra = FrameMeta()
+
+
+  if demo:
+    CP = get_demo_car_params()
+  else:
+    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
+  cloudlog.info("modeld got CarParams: %s", CP.brand)
+
+  # TODO this needs more thought, use .2s extra for now to estimate other delays
+  steer_delay = CP.steerActuatorDelay + .2
+
+  DH = DesireHelper()
+
+  while True:
+    # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
+    while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
+      buf_main = vipc_client_main.recv()
+      meta_main = FrameMeta(vipc_client_main)
+      if buf_main is None:
+        break
+
+    if buf_main is None:
+      cloudlog.debug("vipc_client_main no frame")
+      continue
+
+    if use_extra_client:
+      # Keep receiving extra frames until frame id matches main camera
+      while True:
+        buf_extra = vipc_client_extra.recv()
+        meta_extra = FrameMeta(vipc_client_extra)
+        if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
+          break
+
+      if buf_extra is None:
+        cloudlog.debug("vipc_client_extra no frame")
+        continue
+
+      if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000:
+        cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\
+                         extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})")
+
+    else:
+      # Use single camera
+      buf_extra = buf_main
+      meta_extra = meta_main
+
+    sm.update(0)
+    desire = DH.desire
+    is_rhd = sm["driverMonitoringState"].isRHD
+    frame_id = sm["roadCameraState"].frameId
+    v_ego = max(sm["carState"].vEgo, 0.)
+    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
+      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
+      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
+      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
+      model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
+      live_calib_seen = True
+
+    traffic_convention = np.zeros(2)
+    traffic_convention[int(is_rhd)] = 1
+
+    vec_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
+    if desire >= 0 and desire < ModelConstants.DESIRE_LEN:
+      vec_desire[desire] = 1
+
+    # tracked dropped frames
+    vipc_dropped_frames = max(0, meta_main.frame_id - last_vipc_frame_id - 1)
+    frames_dropped = frame_dropped_filter.update(min(vipc_dropped_frames, 10))
+    if run_count < 10: # let frame drops warm up
+      frame_dropped_filter.x = 0.
+      frames_dropped = 0.
+    run_count = run_count + 1
+
+    frame_drop_ratio = frames_dropped / (1 + frames_dropped)
+    prepare_only = vipc_dropped_frames > 0
+    if prepare_only:
+      cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
+
+    inputs:dict[str, np.ndarray] = {
+      'desire': vec_desire,
+      'traffic_convention': traffic_convention,
+    }
+
+    if "lateral_control_params" in model.numpy_inputs.keys():
+      inputs['lateral_control_params'] = np.array([v_ego, steer_delay], dtype=np.float32)
+
+    mt1 = time.perf_counter()
+    model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
+    mt2 = time.perf_counter()
+    model_execution_time = mt2 - mt1
+
+    if model_output is not None:
+      modelv2_send = messaging.new_message('modelV2')
+      drivingdata_send = messaging.new_message('drivingModelData')
+      posenet_send = messaging.new_message('cameraOdometry')
+      fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay,
+                     publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
+                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, load_meta_constants())
+
+      desire_state = modelv2_send.modelV2.meta.desireState
+      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
+      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
+      lane_change_prob = l_lane_change_prob + r_lane_change_prob
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
+      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
+      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
+      drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
+
+      fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
+      pm.send('modelV2', modelv2_send)
+      pm.send('drivingModelData', drivingdata_send)
+      pm.send('cameraOdometry', posenet_send)
+    last_vipc_frame_id = meta_main.frame_id
+
+
+if __name__ == "__main__":
+  try:
+    import argparse
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
+    args = parser.parse_args()
+    main(demo=args.demo)
+  except KeyboardInterrupt:
+    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
+  except Exception:
+    sentry.capture_exception()
+    raise
diff --git a/sunnypilot/modeld_v2/models/README.md b/sunnypilot/modeld_v2/models/README.md
new file mode 100644
index 00000000000000..9e11ca82550c52
--- /dev/null
+++ b/sunnypilot/modeld_v2/models/README.md
@@ -0,0 +1,62 @@
+## Neural networks in openpilot
+To view the architecture of the ONNX networks, you can use [netron](https://netron.app/)
+
+## Supercombo
+### Supercombo input format (Full size: 799906 x float32)
+* **image stream**
+  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
+    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
+      * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
+      * Channel 4 represents the half-res U channel
+      * Channel 5 represents the half-res V channel
+* **wide image stream**
+  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
+    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
+      * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
+      * Channel 4 represents the half-res U channel
+      * Channel 5 represents the half-res V channel
+* **desire**
+  * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8
+* **traffic convention**
+  * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
+* **feature buffer**
+  * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 512
+
+
+### Supercombo output format (Full size: XXX x float32)
+Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d093c29f738adf6a/selfdrive/modeld/models/driving.h#L236) for more.
+
+
+## Driver Monitoring Model
+* .onnx model can be run with onnx runtimes
+* .dlc file is a pre-quantized model and only runs on qualcomm DSPs
+
+### input format
+* single image W = 1440 H = 960 luminance channel (Y) from the planar YUV420 format:
+  * full input size is 1440 * 960 = 1382400
+  * normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner)
+* camera calibration angles (roll, pitch, yaw) from liveCalibration: 3 x float32 inputs
+
+### output format
+* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/selfdrive/modeld/models/dmonitoring.cc#L33))
+  * for each person in the front seats (2 * 41)
+    * face pose: 12 = 6 + 6
+      * face orientation [pitch, yaw, roll] in camera frame: 3
+      * face position [dx, dy] relative to image center: 2
+      * normalized face size: 1
+      * standard deviations for above outputs: 6
+    * face visible probability: 1
+    * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1
+      * eye position and size, and their standard deviations: 8
+      * eye visible probability: 1
+      * eye closed probability: 1
+    * wearing sunglasses probability: 1
+    * face occluded probability: 1
+    * touching wheel probability: 1
+    * paying attention probability: 1
+    * (deprecated) distracted probabilities: 2
+    * using phone probability: 1
+    * distracted probability: 1
+  * common outputs 2
+    * poor camera vision probability: 1
+    * left hand drive probability: 1
diff --git a/sunnypilot/modeld_v2/models/__init__.py b/sunnypilot/modeld_v2/models/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/modeld_v2/models/commonmodel.cc b/sunnypilot/modeld_v2/models/commonmodel.cc
new file mode 100644
index 00000000000000..5cd3a84fccc350
--- /dev/null
+++ b/sunnypilot/modeld_v2/models/commonmodel.cc
@@ -0,0 +1,62 @@
+#include "sunnypilot/modeld_v2/models/commonmodel.h"
+
+#include <cmath>
+#include <cstring>
+
+#include "common/clutil.h"
+
+DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, uint8_t buffer_length) : ModelFrame(device_id, context), buffer_length(buffer_length) {
+  input_frames = std::make_unique<uint8_t[]>(buf_size);
+  input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
+  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buffer_length*frame_size_bytes, NULL, &err));
+  region.origin = (buffer_length - 1)  * frame_size_bytes;
+  region.size = frame_size_bytes;
+  last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
+  // printf("Buffer length: %d, region origin: %lu, region size: %lu\n", buffer_length, region.origin, region.size);
+
+  loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
+  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
+}
+
+cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
+  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
+
+  for (int i = 0; i < (buffer_length - 1); i++) {
+    CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
+  }
+  loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
+
+  copy_queue(&loadyuv, q, img_buffer_20hz_cl, input_frames_cl, 0, 0, frame_size_bytes);
+  copy_queue(&loadyuv, q, last_img_cl, input_frames_cl, 0, frame_size_bytes, frame_size_bytes);
+
+  // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
+  clFinish(q);
+  return &input_frames_cl;
+}
+
+DrivingModelFrame::~DrivingModelFrame() {
+  deinit_transform();
+  loadyuv_destroy(&loadyuv);
+  CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
+  CL_CHECK(clReleaseMemObject(last_img_cl));
+  CL_CHECK(clReleaseCommandQueue(q));
+}
+
+
+MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
+  input_frames = std::make_unique<uint8_t[]>(buf_size);
+  input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
+
+  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
+}
+
+cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
+  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
+  clFinish(q);
+  return &y_cl;
+}
+
+MonitoringModelFrame::~MonitoringModelFrame() {
+  deinit_transform();
+  CL_CHECK(clReleaseCommandQueue(q));
+}
diff --git a/sunnypilot/modeld_v2/models/commonmodel.h b/sunnypilot/modeld_v2/models/commonmodel.h
new file mode 100644
index 00000000000000..8203e064e06ab3
--- /dev/null
+++ b/sunnypilot/modeld_v2/models/commonmodel.h
@@ -0,0 +1,97 @@
+#pragma once
+
+#include <cfloat>
+#include <cstdlib>
+#include <cassert>
+
+#include <memory>
+
+#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#include "common/mat.h"
+#include "sunnypilot/modeld_v2/transforms/loadyuv.h"
+#include "sunnypilot/modeld_v2/transforms/transform.h"
+
+class ModelFrame {
+public:
+  ModelFrame(cl_device_id device_id, cl_context context) {
+    q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
+  }
+  virtual ~ModelFrame() {}
+  virtual cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { return NULL; }
+  uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) {
+    CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr));
+    clFinish(q);
+    return &input_frames[0];
+  }
+
+  int MODEL_WIDTH;
+  int MODEL_HEIGHT;
+  int MODEL_FRAME_SIZE;
+  int buf_size;
+
+protected:
+  cl_mem y_cl, u_cl, v_cl;
+  Transform transform;
+  cl_command_queue q;
+  std::unique_ptr<uint8_t[]> input_frames;
+
+  void init_transform(cl_device_id device_id, cl_context context, int model_width, int model_height) {
+    y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, model_width * model_height, NULL, &err));
+    u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
+    v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
+    transform_init(&transform, context, device_id);
+  }
+
+  void deinit_transform() {
+    transform_destroy(&transform);
+    CL_CHECK(clReleaseMemObject(v_cl));
+    CL_CHECK(clReleaseMemObject(u_cl));
+    CL_CHECK(clReleaseMemObject(y_cl));
+  }
+
+  void run_transform(cl_mem yuv_cl, int model_width, int model_height, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
+    transform_queue(&transform, q,
+        yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
+        y_cl, u_cl, v_cl, model_width, model_height, projection);
+  }
+};
+
+class DrivingModelFrame : public ModelFrame {
+public:
+  DrivingModelFrame(cl_device_id device_id, cl_context context, uint8_t buffer_length);
+  ~DrivingModelFrame();
+  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
+
+  const int MODEL_WIDTH = 512;
+  const int MODEL_HEIGHT = 256;
+  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
+  const int buf_size = MODEL_FRAME_SIZE * 2;
+  const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
+  const uint8_t buffer_length;
+
+private:
+  LoadYUVState loadyuv;
+  cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl;
+  cl_buffer_region region;
+};
+
+class MonitoringModelFrame : public ModelFrame {
+public:
+  MonitoringModelFrame(cl_device_id device_id, cl_context context);
+  ~MonitoringModelFrame();
+  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
+
+  const int MODEL_WIDTH = 1440;
+  const int MODEL_HEIGHT = 960;
+  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT;
+  const int buf_size = MODEL_FRAME_SIZE;
+
+private:
+  cl_mem input_frame_cl;
+};
diff --git a/sunnypilot/modeld_v2/models/commonmodel.pxd b/sunnypilot/modeld_v2/models/commonmodel.pxd
new file mode 100644
index 00000000000000..55023ac4b90f2a
--- /dev/null
+++ b/sunnypilot/modeld_v2/models/commonmodel.pxd
@@ -0,0 +1,27 @@
+# distutils: language = c++
+
+from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem
+
+cdef extern from "common/mat.h":
+  cdef struct mat3:
+    float v[9]
+
+cdef extern from "common/clutil.h":
+  cdef unsigned long CL_DEVICE_TYPE_DEFAULT
+  cl_device_id cl_get_device_id(unsigned long)
+  cl_context cl_create_context(cl_device_id)
+  void cl_release_context(cl_context)
+
+cdef extern from "sunnypilot/modeld_v2/models/commonmodel.h":
+  cppclass ModelFrame:
+    int buf_size
+    unsigned char * buffer_from_cl(cl_mem*, int);
+    cl_mem * prepare(cl_mem, int, int, int, int, mat3)
+
+  cppclass DrivingModelFrame:
+    int buf_size
+    DrivingModelFrame(cl_device_id, cl_context, unsigned char)
+
+  cppclass MonitoringModelFrame:
+    int buf_size
+    MonitoringModelFrame(cl_device_id, cl_context)
diff --git a/sunnypilot/modeld_v2/models/commonmodel_pyx.pxd b/sunnypilot/modeld_v2/models/commonmodel_pyx.pxd
new file mode 100644
index 00000000000000..0bb798625be28d
--- /dev/null
+++ b/sunnypilot/modeld_v2/models/commonmodel_pyx.pxd
@@ -0,0 +1,13 @@
+# distutils: language = c++
+
+from msgq.visionipc.visionipc cimport cl_mem
+from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext
+
+cdef class CLContext(BaseCLContext):
+  pass
+
+cdef class CLMem:
+  cdef cl_mem * mem
+
+  @staticmethod
+  cdef create(void*)
diff --git a/sunnypilot/modeld_v2/models/commonmodel_pyx.pyx b/sunnypilot/modeld_v2/models/commonmodel_pyx.pyx
new file mode 100644
index 00000000000000..78a891f031e0bb
--- /dev/null
+++ b/sunnypilot/modeld_v2/models/commonmodel_pyx.pyx
@@ -0,0 +1,74 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+import numpy as np
+cimport numpy as cnp
+from libc.string cimport memcpy
+from libc.stdint cimport uintptr_t, uint8_t
+
+from msgq.visionipc.visionipc cimport cl_mem
+from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
+from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context, cl_release_context
+from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame
+
+
+cdef class CLContext(BaseCLContext):
+  def __cinit__(self):
+    self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
+    self.context = cl_create_context(self.device_id)
+
+  def __dealloc__(self):
+    if self.context:
+      cl_release_context(self.context)
+
+cdef class CLMem:
+  @staticmethod
+  cdef create(void * cmem):
+    mem = CLMem()
+    mem.mem = <cl_mem*> cmem
+    return mem
+
+  @property
+  def mem_address(self):
+    return <uintptr_t>(self.mem)
+
+def cl_from_visionbuf(VisionBuf buf):
+  return CLMem.create(<void*>&buf.buf.buf_cl)
+
+
+cdef class ModelFrame:
+  cdef cppModelFrame * frame
+  cdef int buf_size
+
+  def __dealloc__(self):
+    del self.frame
+
+  def prepare(self, VisionBuf buf, float[:] projection):
+    cdef mat3 cprojection
+    memcpy(cprojection.v, &projection[0], 9*sizeof(float))
+    cdef cl_mem * data
+    data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection)
+    return CLMem.create(data)
+
+  def buffer_from_cl(self, CLMem in_frames):
+    cdef unsigned char * data2
+    data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size)
+    return np.asarray(<cnp.uint8_t[:self.buf_size]> data2)
+
+
+cdef class DrivingModelFrame(ModelFrame):
+  cdef cppDrivingModelFrame * _frame
+
+  def __cinit__(self, CLContext context, int buffer_length=2):
+    self._frame = new cppDrivingModelFrame(context.device_id, context.context, buffer_length)
+    self.frame = <cppModelFrame*>(self._frame)
+    self.buf_size = self._frame.buf_size
+
+cdef class MonitoringModelFrame(ModelFrame):
+  cdef cppMonitoringModelFrame * _frame
+
+  def __cinit__(self, CLContext context):
+    self._frame = new cppMonitoringModelFrame(context.device_id, context.context)
+    self.frame = <cppModelFrame*>(self._frame)
+    self.buf_size = self._frame.buf_size
+
diff --git a/sunnypilot/modeld_v2/models/dmonitoring_model.current b/sunnypilot/modeld_v2/models/dmonitoring_model.current
new file mode 100644
index 00000000000000..121871ef2b690b
--- /dev/null
+++ b/sunnypilot/modeld_v2/models/dmonitoring_model.current
@@ -0,0 +1,2 @@
+fa69be01-b430-4504-9d72-7dcb058eb6dd
+d9fb22d1c4fa3ca3d201dbc8edf1d0f0918e53e6
diff --git a/sunnypilot/modeld_v2/models/dmonitoring_model.onnx b/sunnypilot/modeld_v2/models/dmonitoring_model.onnx
new file mode 100644
index 00000000000000..dcc727510e3f08
--- /dev/null
+++ b/sunnypilot/modeld_v2/models/dmonitoring_model.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50efe6451a3fb3fa04b6bb0e846544533329bd46ecefe9e657e91214dee2aaeb
+size 7196502
diff --git a/sunnypilot/modeld_v2/models/supercombo.onnx b/sunnypilot/modeld_v2/models/supercombo.onnx
new file mode 100644
index 00000000000000..4c9f795574412e
--- /dev/null
+++ b/sunnypilot/modeld_v2/models/supercombo.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d21daa542227ecc5972da45df4e26f018ba113c0461f270e367d57e3ad89221a
+size 51461700
diff --git a/sunnypilot/modeld_v2/parse_model_outputs.py b/sunnypilot/modeld_v2/parse_model_outputs.py
new file mode 100644
index 00000000000000..c71a146454db72
--- /dev/null
+++ b/sunnypilot/modeld_v2/parse_model_outputs.py
@@ -0,0 +1,107 @@
+import numpy as np
+from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
+
+def safe_exp(x, out=None):
+  # -11 is around 10**14, more causes float16 overflow
+  return np.exp(np.clip(x, -np.inf, 11), out=out)
+
+def sigmoid(x):
+  return 1. / (1. + safe_exp(-x))
+
+def softmax(x, axis=-1):
+  x -= np.max(x, axis=axis, keepdims=True)
+  if x.dtype == np.float32 or x.dtype == np.float64:
+    safe_exp(x, out=x)
+  else:
+    x = safe_exp(x)
+  x /= np.sum(x, axis=axis, keepdims=True)
+  return x
+
+class Parser:
+  def __init__(self, ignore_missing=False):
+    self.ignore_missing = ignore_missing
+
+  def check_missing(self, outs, name):
+    if name not in outs and not self.ignore_missing:
+      raise ValueError(f"Missing output {name}")
+    return name not in outs
+
+  def parse_categorical_crossentropy(self, name, outs, out_shape=None):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    if out_shape is not None:
+      raw = raw.reshape((raw.shape[0],) + out_shape)
+    outs[name] = softmax(raw, axis=-1)
+
+  def parse_binary_crossentropy(self, name, outs):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    outs[name] = sigmoid(raw)
+
+  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    raw = raw.reshape((raw.shape[0], max(in_N, 1), -1))
+
+    n_values = (raw.shape[2] - out_N)//2
+    pred_mu = raw[:,:,:n_values]
+    pred_std = safe_exp(raw[:,:,n_values: 2*n_values])
+
+    if in_N > 1:
+      weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype)
+      for i in range(out_N):
+        weights[:,:,i - out_N] = softmax(raw[:,:,i - out_N], axis=-1)
+
+      if out_N == 1:
+        for fidx in range(weights.shape[0]):
+          idxs = np.argsort(weights[fidx][:,0])[::-1]
+          weights[fidx] = weights[fidx][idxs]
+          pred_mu[fidx] = pred_mu[fidx][idxs]
+          pred_std[fidx] = pred_std[fidx][idxs]
+      full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
+      outs[name + '_weights'] = weights
+      outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
+      outs[name + '_stds_hypotheses'] = pred_std.reshape(full_shape)
+
+      pred_mu_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
+      pred_std_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
+      for fidx in range(weights.shape[0]):
+        for hidx in range(out_N):
+          idxs = np.argsort(weights[fidx,:,hidx])[::-1]
+          pred_mu_final[fidx, hidx] = pred_mu[fidx, idxs[0]]
+          pred_std_final[fidx, hidx] = pred_std[fidx, idxs[0]]
+    else:
+      pred_mu_final = pred_mu
+      pred_std_final = pred_std
+
+    if out_N > 1:
+      final_shape = tuple([raw.shape[0], out_N] + list(out_shape))
+    else:
+      final_shape = tuple([raw.shape[0],] + list(out_shape))
+    outs[name] = pred_mu_final.reshape(final_shape)
+    outs[name + '_stds'] = pred_std_final.reshape(final_shape)
+
+  def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
+                   out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
+    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    if 'sim_pose' in outs:
+      self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
+    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    if 'lat_planner_solution' in outs:
+      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    if 'desired_curvature' in outs:
+      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
+    for k in ['lead_prob', 'lane_lines_prob', 'meta']:
+      self.parse_binary_crossentropy(k, outs)
+    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
+    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
+    return outs
diff --git a/sunnypilot/modeld_v2/runners/ort_helpers.py b/sunnypilot/modeld_v2/runners/ort_helpers.py
new file mode 100644
index 00000000000000..26afb035624a29
--- /dev/null
+++ b/sunnypilot/modeld_v2/runners/ort_helpers.py
@@ -0,0 +1,36 @@
+import onnx
+import onnxruntime as ort
+import numpy as np
+import itertools
+
+ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
+
+def attributeproto_fp16_to_fp32(attr):
+  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
+  attr.data_type = 1
+  attr.raw_data = float32_list.astype(np.float32).tobytes()
+
+def convert_fp16_to_fp32(model):
+  for i in model.graph.initializer:
+    if i.data_type == 10:
+      attributeproto_fp16_to_fp32(i)
+  for i in itertools.chain(model.graph.input, model.graph.output):
+    if i.type.tensor_type.elem_type == 10:
+      i.type.tensor_type.elem_type = 1
+  for i in model.graph.node:
+    if i.op_type == 'Cast' and i.attribute[0].i == 10:
+      i.attribute[0].i = 1
+    for a in i.attribute:
+      if hasattr(a, 't'):
+        if a.t.data_type == 10:
+          attributeproto_fp16_to_fp32(a.t)
+  return model.SerializeToString()
+
+
+def make_onnx_cpu_runner(model_path):
+  options = ort.SessionOptions()
+  options.intra_op_num_threads = 4
+  options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
+  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
+  model_data = convert_fp16_to_fp32(onnx.load(model_path))
+  return ort.InferenceSession(model_data,  options, providers=['CPUExecutionProvider'])
diff --git a/sunnypilot/modeld_v2/runners/tinygrad_helpers.py b/sunnypilot/modeld_v2/runners/tinygrad_helpers.py
new file mode 100644
index 00000000000000..776381341cf373
--- /dev/null
+++ b/sunnypilot/modeld_v2/runners/tinygrad_helpers.py
@@ -0,0 +1,8 @@
+
+from tinygrad.tensor import Tensor
+from tinygrad.helpers import to_mv
+
+def qcom_tensor_from_opencl_address(opencl_address, shape, dtype):
+  cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0]
+  rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer.
+  return Tensor.from_blob(rawbuf_ptr, shape, dtype=dtype, device='QCOM')
diff --git a/sunnypilot/modeld_v2/tests/__init__.py b/sunnypilot/modeld_v2/tests/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/modeld_v2/tests/dmon_lag/repro.cc b/sunnypilot/modeld_v2/tests/dmon_lag/repro.cc
new file mode 100644
index 00000000000000..c4c1c65cbe86a7
--- /dev/null
+++ b/sunnypilot/modeld_v2/tests/dmon_lag/repro.cc
@@ -0,0 +1,101 @@
+// clang++ -O2 repro.cc && ./a.out
+
+#include <sched.h>
+#include <sys/types.h>
+#include <unistd.h>
+
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <ctime>
+
+static inline double millis_since_boot() {
+  struct timespec t;
+  clock_gettime(CLOCK_BOOTTIME, &t);
+  return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6;
+}
+
+#define MODEL_WIDTH 320
+#define MODEL_HEIGHT 640
+
+// null function still breaks it
+#define input_lambda(x) x
+
+// this is copied from models/dmonitoring.cc, and is the code that triggers the issue
+void inner(uint8_t *resized_buf, float *net_input_buf) {
+  int resized_width = MODEL_WIDTH;
+  int resized_height = MODEL_HEIGHT;
+
+  // one shot conversion, O(n) anyway
+  // yuvframe2tensor, normalize
+  for (int r = 0; r < MODEL_HEIGHT/2; r++) {
+    for (int c = 0; c < MODEL_WIDTH/2; c++) {
+      // Y_ul
+      net_input_buf[(c*MODEL_HEIGHT/2) + r] = input_lambda(resized_buf[(2*r*resized_width) + (2*c)]);
+      // Y_ur
+      net_input_buf[(c*MODEL_HEIGHT/2) + r + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width) + (2*c+1)]);
+      // Y_dl
+      net_input_buf[(c*MODEL_HEIGHT/2) + r + ((MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c)]);
+      // Y_dr
+      net_input_buf[(c*MODEL_HEIGHT/2) + r + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c+1)]);
+      // U
+      net_input_buf[(c*MODEL_HEIGHT/2) + r + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + (r*resized_width/2) + c]);
+      // V
+      net_input_buf[(c*MODEL_HEIGHT/2) + r + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + ((resized_width/2)*(resized_height/2)) + (r*resized_width/2) + c]);
+    }
+  }
+}
+
+float trial() {
+  int resized_width = MODEL_WIDTH;
+  int resized_height = MODEL_HEIGHT;
+
+  int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
+
+  // allocate the buffers
+  uint8_t *resized_buf = (uint8_t*)malloc(resized_width*resized_height*3/2);
+  float *net_input_buf = (float*)malloc(yuv_buf_len*sizeof(float));
+  printf("allocate -- %p 0x%x -- %p 0x%lx\n", resized_buf, resized_width*resized_height*3/2, net_input_buf, yuv_buf_len*sizeof(float));
+
+  // test for bad buffers
+  static int CNT = 20;
+  float avg = 0.0;
+  for (int i = 0; i < CNT; i++) {
+    double s4 = millis_since_boot();
+    inner(resized_buf, net_input_buf);
+    double s5 = millis_since_boot();
+    avg += s5-s4;
+  }
+  avg /= CNT;
+
+  // once it's bad, it's reliably bad
+  if (avg > 10) {
+    printf("HIT %f\n", avg);
+    printf("BAD\n");
+
+    for (int i = 0; i < 200; i++) {
+      double s4 = millis_since_boot();
+      inner(resized_buf, net_input_buf);
+      double s5 = millis_since_boot();
+      printf("%.2f   ", s5-s4);
+    }
+    printf("\n");
+
+    exit(0);
+  }
+
+  // don't free so we get a different buffer each time
+  //free(resized_buf);
+  //free(net_input_buf);
+
+  return avg;
+}
+
+int main() {
+  while (true) {
+    float ret = trial();
+    printf("got %f\n", ret);
+  }
+}
+
diff --git a/sunnypilot/modeld_v2/tests/test_modeld.py b/sunnypilot/modeld_v2/tests/test_modeld.py
new file mode 100644
index 00000000000000..6927c9e4731ef3
--- /dev/null
+++ b/sunnypilot/modeld_v2/tests/test_modeld.py
@@ -0,0 +1,102 @@
+import numpy as np
+import random
+
+import cereal.messaging as messaging
+from msgq.visionipc import VisionIpcServer, VisionStreamType
+from opendbc.car.car_helpers import get_demo_car_params
+from openpilot.common.params import Params
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.common.realtime import DT_MDL
+from openpilot.system.manager.process_config import managed_processes
+from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
+
+CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam
+IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8)
+IMG_BYTES = IMG.flatten().tobytes()
+
+
+class TestModeld:
+
+  def setup_method(self):
+    self.vipc_server = VisionIpcServer("camerad")
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height)
+    self.vipc_server.start_listener()
+    Params().put("CarParams", get_demo_car_params().to_bytes())
+
+    self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
+    self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration'])
+
+    managed_processes['modeld'].start()
+    self.pm.wait_for_readers_to_update("roadCameraState", 10)
+
+  def teardown_method(self):
+    managed_processes['modeld'].stop()
+    del self.vipc_server
+
+  def _send_frames(self, frame_id, cams=None):
+    if cams is None:
+      cams = ('roadCameraState', 'wideRoadCameraState')
+
+    cs = None
+    for cam in cams:
+      msg = messaging.new_message(cam)
+      cs = getattr(msg, cam)
+      cs.frameId = frame_id
+      cs.timestampSof = int((frame_id * DT_MDL) * 1e9)
+      cs.timestampEof = int(cs.timestampSof + (DT_MDL * 1e9))
+      cam_meta = meta_from_camera_state(cam)
+
+      self.pm.send(msg.which(), msg)
+      self.vipc_server.send(cam_meta.stream, IMG_BYTES, cs.frameId,
+                            cs.timestampSof, cs.timestampEof)
+    return cs
+
+  def _wait(self):
+    self.sm.update(5000)
+    if self.sm['modelV2'].frameId != self.sm['cameraOdometry'].frameId:
+      self.sm.update(1000)
+
+  def test_modeld(self):
+    for n in range(1, 500):
+      cs = self._send_frames(n)
+      self._wait()
+
+      mdl = self.sm['modelV2']
+      assert mdl.frameId == n
+      assert mdl.frameIdExtra == n
+      assert mdl.timestampEof == cs.timestampEof
+      assert mdl.frameAge == 0
+      assert mdl.frameDropPerc == 0
+
+      odo = self.sm['cameraOdometry']
+      assert odo.frameId == n
+      assert odo.timestampEof == cs.timestampEof
+
+  def test_dropped_frames(self):
+    """
+      modeld should only run on consecutive road frames
+    """
+    frame_id = -1
+    road_frames = list()
+    for n in range(1, 50):
+      if (random.random() < 0.1) and n > 3:
+        cams = random.choice([(), ('wideRoadCameraState', )])
+        self._send_frames(n, cams)
+      else:
+        self._send_frames(n)
+        road_frames.append(n)
+      self._wait()
+
+      if len(road_frames) < 3 or road_frames[-1] - road_frames[-2] == 1:
+        frame_id = road_frames[-1]
+
+      mdl = self.sm['modelV2']
+      odo = self.sm['cameraOdometry']
+      assert mdl.frameId == frame_id
+      assert mdl.frameIdExtra == frame_id
+      assert odo.frameId == frame_id
+      if n != frame_id:
+        assert not self.sm.updated['modelV2']
+        assert not self.sm.updated['cameraOdometry']
diff --git a/sunnypilot/modeld_v2/tests/tf_test/build.sh b/sunnypilot/modeld_v2/tests/tf_test/build.sh
new file mode 100755
index 00000000000000..df1d24761e9b07
--- /dev/null
+++ b/sunnypilot/modeld_v2/tests/tf_test/build.sh
@@ -0,0 +1,2 @@
+#!/usr/bin/env bash
+clang++ -I /home/batman/one/external/tensorflow/include/ -L /home/batman/one/external/tensorflow/lib -Wl,-rpath=/home/batman/one/external/tensorflow/lib main.cc -ltensorflow
diff --git a/sunnypilot/modeld_v2/tests/tf_test/main.cc b/sunnypilot/modeld_v2/tests/tf_test/main.cc
new file mode 100644
index 00000000000000..b00f7f95e8db2e
--- /dev/null
+++ b/sunnypilot/modeld_v2/tests/tf_test/main.cc
@@ -0,0 +1,69 @@
+#include <cassert>
+#include <cstdio>
+#include <cstdlib>
+#include "tensorflow/c/c_api.h"
+
+void* read_file(const char* path, size_t* out_len) {
+  FILE* f = fopen(path, "r");
+  if (!f) {
+    return NULL;
+  }
+  fseek(f, 0, SEEK_END);
+  long f_len = ftell(f);
+  rewind(f);
+
+  char* buf = (char*)calloc(f_len, 1);
+  assert(buf);
+
+  size_t num_read = fread(buf, f_len, 1, f);
+  fclose(f);
+
+  if (num_read != 1) {
+    free(buf);
+    return NULL;
+  }
+
+  if (out_len) {
+    *out_len = f_len;
+  }
+
+  return buf;
+}
+
+static void DeallocateBuffer(void* data, size_t) {
+  free(data);
+}
+
+int main(int argc, char* argv[]) {
+  TF_Buffer* buf;
+  TF_Graph* graph;
+  TF_Status* status;
+  char *path = argv[1];
+
+  // load model
+  {
+    size_t model_size;
+    char tmp[1024];
+    snprintf(tmp, sizeof(tmp), "%s.pb", path);
+    printf("loading model %s\n", tmp);
+    uint8_t *model_data = (uint8_t *)read_file(tmp, &model_size);
+    buf = TF_NewBuffer();
+    buf->data = model_data;
+    buf->length = model_size;
+    buf->data_deallocator = DeallocateBuffer;
+    printf("loaded model of size %d\n", model_size);
+  }
+
+  // import graph
+  status = TF_NewStatus();
+  graph = TF_NewGraph();
+  TF_ImportGraphDefOptions *opts = TF_NewImportGraphDefOptions();
+  TF_GraphImportGraphDef(graph, buf, opts, status);
+  TF_DeleteImportGraphDefOptions(opts);
+  TF_DeleteBuffer(buf);
+  if (TF_GetCode(status) != TF_OK) {
+    printf("FAIL: %s\n", TF_Message(status));
+  } else {
+    printf("SUCCESS\n");
+  }
+}
diff --git a/sunnypilot/modeld_v2/tests/tf_test/pb_loader.py b/sunnypilot/modeld_v2/tests/tf_test/pb_loader.py
new file mode 100755
index 00000000000000..3e476628ebd0e7
--- /dev/null
+++ b/sunnypilot/modeld_v2/tests/tf_test/pb_loader.py
@@ -0,0 +1,8 @@
+#!/usr/bin/env python3
+import sys
+import tensorflow as tf
+
+with open(sys.argv[1], "rb") as f:
+  graph_def = tf.compat.v1.GraphDef()
+  graph_def.ParseFromString(f.read())
+  #tf.io.write_graph(graph_def, '', sys.argv[1]+".try")
diff --git a/sunnypilot/modeld_v2/tests/timing/benchmark.py b/sunnypilot/modeld_v2/tests/timing/benchmark.py
new file mode 100755
index 00000000000000..c629ec2fff5050
--- /dev/null
+++ b/sunnypilot/modeld_v2/tests/timing/benchmark.py
@@ -0,0 +1,39 @@
+#!/usr/bin/env python3
+# type: ignore
+
+import os
+import time
+import numpy as np
+
+import cereal.messaging as messaging
+from openpilot.system.manager.process_config import managed_processes
+
+
+N = int(os.getenv("N", "5"))
+TIME = int(os.getenv("TIME", "30"))
+
+if __name__ == "__main__":
+  sock = messaging.sub_sock('modelV2', conflate=False, timeout=1000)
+
+  execution_times = []
+
+  for _ in range(N):
+    os.environ['LOGPRINT'] = 'debug'
+    managed_processes['modeld'].start()
+    time.sleep(5)
+
+    t = []
+    start = time.monotonic()
+    while time.monotonic() - start < TIME:
+      msgs = messaging.drain_sock(sock, wait_for_one=True)
+      for m in msgs:
+        t.append(m.modelV2.modelExecutionTime)
+
+    execution_times.append(np.array(t[10:]) * 1000)
+    managed_processes['modeld'].stop()
+
+  print("\n\n")
+  print(f"ran modeld {N} times for {TIME}s each")
+  for _, t in enumerate(execution_times):
+    print(f"\tavg: {sum(t)/len(t):0.2f}ms, min: {min(t):0.2f}ms, max: {max(t):0.2f}ms")
+  print("\n\n")
diff --git a/sunnypilot/modeld_v2/transforms/loadyuv.cc b/sunnypilot/modeld_v2/transforms/loadyuv.cc
new file mode 100644
index 00000000000000..eb669a5929526e
--- /dev/null
+++ b/sunnypilot/modeld_v2/transforms/loadyuv.cc
@@ -0,0 +1,76 @@
+#include "sunnypilot/modeld_v2/transforms/loadyuv.h"
+
+#include <cassert>
+#include <cstdio>
+#include <cstring>
+
+void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
+  memset(s, 0, sizeof(*s));
+
+  s->width = width;
+  s->height = height;
+
+  char args[1024];
+  snprintf(args, sizeof(args),
+           "-cl-fast-relaxed-math -cl-denorms-are-zero "
+           "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
+           width, height);
+  cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args);
+
+  s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
+  s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
+  s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err));
+
+  // done with this
+  CL_CHECK(clReleaseProgram(prg));
+}
+
+void loadyuv_destroy(LoadYUVState* s) {
+  CL_CHECK(clReleaseKernel(s->loadys_krnl));
+  CL_CHECK(clReleaseKernel(s->loaduv_krnl));
+  CL_CHECK(clReleaseKernel(s->copy_krnl));
+}
+
+void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
+                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
+                   cl_mem out_cl) {
+  cl_int global_out_off = 0;
+
+  CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
+  CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
+  CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off));
+
+  const size_t loadys_work_size = (s->width*s->height)/8;
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
+                               &loadys_work_size, NULL, 0, 0, NULL));
+
+  const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
+  global_out_off += (s->width*s->height);
+
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl));
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
+                               &loaduv_work_size, NULL, 0, 0, NULL));
+
+  global_out_off += (s->width/2)*(s->height/2);
+
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl));
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
+                               &loaduv_work_size, NULL, 0, 0, NULL));
+}
+
+void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
+                 size_t src_offset, size_t dst_offset, size_t size) {
+  CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src));
+  CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst));
+  CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset));
+  CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset));
+  const size_t copy_work_size = size/8;
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
+                              &copy_work_size, NULL, 0, 0, NULL));
+}
\ No newline at end of file
diff --git a/sunnypilot/modeld_v2/transforms/loadyuv.cl b/sunnypilot/modeld_v2/transforms/loadyuv.cl
new file mode 100644
index 00000000000000..970187a6d70129
--- /dev/null
+++ b/sunnypilot/modeld_v2/transforms/loadyuv.cl
@@ -0,0 +1,47 @@
+#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
+
+__kernel void loadys(__global uchar8 const * const Y,
+                     __global uchar * out,
+                     int out_offset)
+{
+    const int gid = get_global_id(0);
+    const int ois = gid * 8;
+    const int oy = ois / TRANSFORMED_WIDTH;
+    const int ox = ois % TRANSFORMED_WIDTH;
+
+    const uchar8 ys = Y[gid];
+
+    // 02
+    // 13
+
+    __global uchar* outy0;
+    __global uchar* outy1;
+    if ((oy & 1) == 0) {
+      outy0 = out + out_offset; //y0
+      outy1 = out + out_offset + UV_SIZE*2; //y2
+    } else {
+      outy0 = out + out_offset + UV_SIZE; //y1
+      outy1 = out + out_offset + UV_SIZE*3; //y3
+    }
+
+    vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
+    vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
+}
+
+__kernel void loaduv(__global uchar8 const * const in,
+                     __global uchar8 * out,
+                     int out_offset)
+{
+  const int gid = get_global_id(0);
+  const uchar8 inv = in[gid];
+  out[gid + out_offset / 8] = inv;
+}
+
+__kernel void copy(__global uchar8 * in,
+                   __global uchar8 * out,
+                   int in_offset,
+                   int out_offset)
+{
+  const int gid = get_global_id(0);
+  out[gid + out_offset / 8] = in[gid + in_offset / 8];
+}
diff --git a/sunnypilot/modeld_v2/transforms/loadyuv.h b/sunnypilot/modeld_v2/transforms/loadyuv.h
new file mode 100644
index 00000000000000..659059cd25e610
--- /dev/null
+++ b/sunnypilot/modeld_v2/transforms/loadyuv.h
@@ -0,0 +1,20 @@
+#pragma once
+
+#include "common/clutil.h"
+
+typedef struct {
+  int width, height;
+  cl_kernel loadys_krnl, loaduv_krnl, copy_krnl;
+} LoadYUVState;
+
+void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height);
+
+void loadyuv_destroy(LoadYUVState* s);
+
+void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
+                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
+                   cl_mem out_cl);
+
+
+void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
+                 size_t src_offset, size_t dst_offset, size_t size);
\ No newline at end of file
diff --git a/sunnypilot/modeld_v2/transforms/transform.cc b/sunnypilot/modeld_v2/transforms/transform.cc
new file mode 100644
index 00000000000000..adc9bcebf4ccce
--- /dev/null
+++ b/sunnypilot/modeld_v2/transforms/transform.cc
@@ -0,0 +1,97 @@
+#include "sunnypilot/modeld_v2/transforms/transform.h"
+
+#include <cassert>
+#include <cstring>
+
+#include "common/clutil.h"
+
+void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
+  memset(s, 0, sizeof(*s));
+
+  cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, "");
+  s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
+  // done with this
+  CL_CHECK(clReleaseProgram(prg));
+
+  s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
+  s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
+}
+
+void transform_destroy(Transform* s) {
+  CL_CHECK(clReleaseMemObject(s->m_y_cl));
+  CL_CHECK(clReleaseMemObject(s->m_uv_cl));
+  CL_CHECK(clReleaseKernel(s->krnl));
+}
+
+void transform_queue(Transform* s,
+                     cl_command_queue q,
+                     cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
+                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
+                     int out_width, int out_height,
+                     const mat3& projection) {
+  const int zero = 0;
+
+  // sampled using pixel center origin
+  // (because that's how fastcv and opencv does it)
+
+  mat3 projection_y = projection;
+
+  // in and out uv is half the size of y.
+  mat3 projection_uv = transform_scale_buffer(projection, 0.5);
+
+  CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL));
+  CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL));
+
+  const int in_y_width = in_width;
+  const int in_y_height = in_height;
+  const int in_y_px_stride = 1;
+  const int in_uv_width = in_width/2;
+  const int in_uv_height = in_height/2;
+  const int in_uv_px_stride = 2;
+  const int in_u_offset = in_uv_offset;
+  const int in_v_offset = in_uv_offset + 1;
+
+  const int out_y_width = out_width;
+  const int out_y_height = out_height;
+  const int out_uv_width = out_width/2;
+  const int out_uv_height = out_height/2;
+
+  CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv));  // src
+  CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride));  // src_row_stride
+  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride));  // src_px_stride
+  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero));  // src_offset
+  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height));  // src_rows
+  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width));  // src_cols
+  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y));  // dst
+  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width));  // dst_row_stride
+  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
+  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height));  // dst_rows
+  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width));  // dst_cols
+  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl));  // M
+
+  const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height};
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
+                              (const size_t*)&work_size_y, NULL, 0, 0, NULL));
+
+  const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height};
+
+  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride));  // src_px_stride
+  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset));  // src_offset
+  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height));  // src_rows
+  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width));  // src_cols
+  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u));  // dst
+  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width));  // dst_row_stride
+  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
+  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height));  // dst_rows
+  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width));  // dst_cols
+  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl));  // M
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
+                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
+  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset));  // src_ofset
+  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v));  // dst
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
+                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
+}
diff --git a/sunnypilot/modeld_v2/transforms/transform.cl b/sunnypilot/modeld_v2/transforms/transform.cl
new file mode 100644
index 00000000000000..2ca25920cd19be
--- /dev/null
+++ b/sunnypilot/modeld_v2/transforms/transform.cl
@@ -0,0 +1,54 @@
+#define INTER_BITS 5
+#define INTER_TAB_SIZE (1 << INTER_BITS)
+#define INTER_SCALE 1.f / INTER_TAB_SIZE
+
+#define INTER_REMAP_COEF_BITS 15
+#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS)
+
+__kernel void warpPerspective(__global const uchar * src,
+                              int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols,
+                              __global uchar * dst,
+                              int dst_row_stride, int dst_offset, int dst_rows, int dst_cols,
+                              __constant float * M)
+{
+    int dx = get_global_id(0);
+    int dy = get_global_id(1);
+
+    if (dx < dst_cols && dy < dst_rows)
+    {
+        float X0 = M[0] * dx + M[1] * dy + M[2];
+        float Y0 = M[3] * dx + M[4] * dy + M[5];
+        float W = M[6] * dx + M[7] * dy + M[8];
+        W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
+        int X = rint(X0 * W), Y = rint(Y0 * W);
+
+        int sx = convert_short_sat(X >> INTER_BITS);
+        int sy = convert_short_sat(Y >> INTER_BITS);
+
+        short sx_clamp = clamp(sx, 0, src_cols - 1);
+        short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
+        short sy_clamp = clamp(sy, 0, src_rows - 1);
+        short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
+        int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
+        int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
+        int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
+        int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
+
+        short ay = (short)(Y & (INTER_TAB_SIZE - 1));
+        short ax = (short)(X & (INTER_TAB_SIZE - 1));
+        float taby = 1.f/INTER_TAB_SIZE*ay;
+        float tabx = 1.f/INTER_TAB_SIZE*ax;
+
+        int dst_index = mad24(dy, dst_row_stride, dst_offset + dx);
+
+        int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
+        int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE );
+        int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
+        int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE );
+
+        int val = v0 * itab0 +  v1 * itab1 + v2 * itab2 + v3 * itab3;
+
+        uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS);
+        dst[dst_index] = pix;
+    }
+}
diff --git a/sunnypilot/modeld_v2/transforms/transform.h b/sunnypilot/modeld_v2/transforms/transform.h
new file mode 100644
index 00000000000000..771a7054b35d29
--- /dev/null
+++ b/sunnypilot/modeld_v2/transforms/transform.h
@@ -0,0 +1,25 @@
+#pragma once
+
+#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#include "common/mat.h"
+
+typedef struct {
+  cl_kernel krnl;
+  cl_mem m_y_cl, m_uv_cl;
+} Transform;
+
+void transform_init(Transform* s, cl_context ctx, cl_device_id device_id);
+
+void transform_destroy(Transform* transform);
+
+void transform_queue(Transform* s, cl_command_queue q,
+                     cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
+                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
+                     int out_width, int out_height,
+                     const mat3& projection);
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index 868d1fa5e5f398..915f1a42069086 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -60,7 +60,7 @@ def get_active_model_runner(params: Params = None, force_check=False) -> custom.
     if isinstance(cached_runner_type, str) and cached_runner_type.isdigit():
       return int(cached_runner_type)
 
-  runner_type = custom.ModelManagerSP.Runner.tinygrad
+  runner_type = custom.ModelManagerSP.Runner.stock
 
   if active_bundle := get_active_bundle(params):
     runner_type = active_bundle.runner.raw
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 4473b77960c9a2..77c73cad160ceb 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -76,9 +76,13 @@ def is_snpe_model(started, params, CP: car.CarParams) -> bool:
   """Check if the active model runner is SNPE."""
   return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.snpe)
 
+def is_tinygrad_model(started, params, CP: car.CarParams) -> bool:
+  """Check if the active model runner is SNPE."""
+  return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.tinygrad)
+
 def is_stock_model(started, params, CP: car.CarParams) -> bool:
   """Check if the active model runner is stock."""
-  return not is_snpe_model(started, params, CP)
+  return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.stock)
 
 def or_(*fns):
   return lambda *args: operator.or_(*(fn(*args) for fn in fns))
@@ -146,6 +150,7 @@ def and_(*fns):
 procs += [
   PythonProcess("models_manager", "sunnypilot.models.manager", only_offroad),
   NativeProcess("modeld_snpe", "sunnypilot/modeld", ["./modeld"], and_(only_onroad, is_snpe_model)),
+  NativeProcess("modeld_tinygrad", "sunnypilot/modeld_v2", ["./modeld"], and_(only_onroad, is_tinygrad_model)),
 ]
 
 if os.path.exists("./github_runner.sh"):

From b791d4ed55a963027db9c86391dc9d5dd1f9f9df Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 2 Mar 2025 20:52:44 +0100
Subject: [PATCH 0107/1434] Model: Handle missing 'sim_pose' gracefully in
 model outputs. (#644)

Handle missing 'sim_pose' gracefully in model outputs.

Check for the presence of 'sim_pose' in output data before processing. If absent, fallback to using 'plan' data to populate temporal pose fields, ensuring robustness and preventing potential runtime errors.
---
 selfdrive/modeld/fill_model_msg.py      | 15 +++++++++++----
 selfdrive/modeld/parse_model_outputs.py |  3 ++-
 2 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index f53ed2e1a8ec86..753ac89c7848e3 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -112,10 +112,17 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
 
   # temporal pose
   temporal_pose = modelV2.temporalPose
-  temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-  temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-  temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
-  temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
+  if 'sim_pose' in net_output_data:
+    temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
+    temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
+    temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
+    temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
+  else:
+    temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
+    temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
+    temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
+    temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
+
 
   # poly path
   fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index 9b162efe897a5e..d3c090649eecf3 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -91,7 +91,8 @@ def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    if 'sim_pose' in outs:
+      self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
     self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
                    out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))

From 8c3f8064b296aa969ee2eb299d3686f6cdb74660 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Thu, 6 Mar 2025 09:34:33 +0100
Subject: [PATCH 0108/1434] Uploading codeowners (#645)

---
 .github/CODEOWNERS | 2 ++
 1 file changed, 2 insertions(+)
 create mode 100644 .github/CODEOWNERS

diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
new file mode 100644
index 00000000000000..5a34045f2fef47
--- /dev/null
+++ b/.github/CODEOWNERS
@@ -0,0 +1,2 @@
+*       @sunnypilot/dev-internal
+/.github/ @devtekve @sunnyhaibin
\ No newline at end of file

From 17d292c773603b9fb6cfe992421a607d58ee4c47 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Thu, 6 Mar 2025 09:38:58 +0100
Subject: [PATCH 0109/1434] CI: Protecting /release/ci with CODEOWNERS

---
 .github/CODEOWNERS | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 5a34045f2fef47..65d2f5588e29b5 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -1,2 +1,3 @@
 *       @sunnypilot/dev-internal
-/.github/ @devtekve @sunnyhaibin
\ No newline at end of file
+/.github/ @devtekve @sunnyhaibin
+/release/ci/ @devtekve @sunnyhaibin
\ No newline at end of file

From a51ed062ca1d78d2e5158509fdfce82e761e1734 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Thu, 6 Mar 2025 10:24:14 +0100
Subject: [PATCH 0110/1434] CI: allow 1 retry for first time contributor and
 fork and skip sync lfs on fork PRs (#646)

* Update workflow condition to skip forked PRs during sync

This change ensures the LFS maintenance workflow does not run for pull requests originating from forked repositories. It enhances efficiency by avoiding unnecessary sync actions in these cases.

* Modified retry conditions in GitHub workflow file

Adjusted the retry conditions in the GitHub workflow setup file. The updated condition allows for a second attempt if the pull request originator is a 'FIRST_TIME_CONTRIBUTOR' from a forked repository. This modification lends more flexibility to first-time contributors by providing them with an additional chance to pass the tests.
---
 .github/workflows/lfs-maintenance.yaml | 2 +-
 .github/workflows/setup/action.yaml    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/lfs-maintenance.yaml b/.github/workflows/lfs-maintenance.yaml
index d2e7bb2e7ed640..019262715a26fa 100644
--- a/.github/workflows/lfs-maintenance.yaml
+++ b/.github/workflows/lfs-maintenance.yaml
@@ -23,7 +23,7 @@ jobs:
   sync:
     runs-on: ubuntu-latest
     # Skip if PR is in draft mode
-    if: github.event_name != 'pull_request' || (github.event_name == 'pull_request' && github.event.pull_request.draft == false)
+    if: github.event_name != 'pull_request' || (github.event_name == 'pull_request' && github.event.pull_request.draft == false) || !github.event.pull_request.head.repo.fork
     steps:
       - name: Checkout Repository
         uses: actions/checkout@v4
diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
index 818060c3b010cc..181ad54eaf4994 100644
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -19,7 +19,7 @@ runs:
     - shell: bash
       name: No retries!
       run: |
-        if [ "${{ github.run_attempt }}" -gt 1 ]; then
+        if [ "${{ github.run_attempt }}" -gt ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.author_association == 'FIRST_TIME_CONTRIBUTOR' && 2 || 1}} ]; then
           echo -e "\033[0;31m##################################################"
           echo -e "\033[0;31m    Retries not allowed! Fix the flaky test!      "
           echo -e "\033[0;31m##################################################\033[0m"

From 7ddaf52b2b480f7ae38534c2739f875d34201bb8 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Thu, 6 Mar 2025 15:02:29 +0100
Subject: [PATCH 0111/1434] CI: adjust allow 1 retry for first time contributor
 and fork and skip sync lfs on fork PRs (#647)

* Update workflow condition to skip forked PRs during sync

This change ensures the LFS maintenance workflow does not run for pull requests originating from forked repositories. It enhances efficiency by avoiding unnecessary sync actions in these cases.

* Modified retry conditions in GitHub workflow file

Adjusted the retry conditions in the GitHub workflow setup file. The updated condition allows for a second attempt if the pull request originator is a 'FIRST_TIME_CONTRIBUTOR' from a forked repository. This modification lends more flexibility to first-time contributors by providing them with an additional chance to pass the tests.

* test

* test2

* test3

* Fix conditional logic for retry check in workflow script

The condition now correctly checks if the pull request is not from a fork using 'false' instead of 'true'. This ensures proper validation of retry attempts based on the contributor and repository source.

* Fix placement of event JSON logging in workflow script

Moved the `toJSON(github.event)` logging statement to ensure it runs after retry logic validation. This improves the logical flow of the script and maintains appropriate debugging output.

* Add debug logs for PR metadata and run attempt values

This change introduces debug logs to output key PR metadata, such as fork status, author association, and the GitHub run attempt value. These logs will aid in debugging and provide better visibility into workflow execution.

* Add debug log for PR fork and author association check

This change adds a debug log to display the evaluation of the fork and author association condition in the workflow. It helps in troubleshooting PR handling logic and ensures better visibility into the condition being assessed.

* Fix logical negation for fork checks in workflow script

Correct the evaluation of fork status using proper negation syntax. This ensures accurate logic in pull request conditions, improving the reliability of the workflow execution.

* Add log for first-time contributor check in workflow

This adds a debug statement to log whether the PR author is a first-time contributor. It helps improve observability and makes it easier to debug workflows involving author associations.

* Simplify log output in GitHub action script

Removed unnecessary debug echo statements to streamline the script and improve readability. Retained essential logic to handle retries and enforce restrictions on test flakiness.

* Simplify retry logic for pull request contributors.

Updated the condition to correctly identify and handle retries for first-time contributors and forked repositories. This ensures a clearer and more accurate retry policy in the workflow.

* Refine workflow conditions for PR checks and retries

Adjusted conditional logic in `lfs-maintenance.yaml` to improve readability and ensure proper handling of draft PRs. Updated retry logic in `setup/action.yaml` to reflect correct author association for stricter validations.
---
 .github/workflows/lfs-maintenance.yaml | 2 +-
 .github/workflows/setup/action.yaml    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/lfs-maintenance.yaml b/.github/workflows/lfs-maintenance.yaml
index 019262715a26fa..954dc9128d1dc6 100644
--- a/.github/workflows/lfs-maintenance.yaml
+++ b/.github/workflows/lfs-maintenance.yaml
@@ -23,7 +23,7 @@ jobs:
   sync:
     runs-on: ubuntu-latest
     # Skip if PR is in draft mode
-    if: github.event_name != 'pull_request' || (github.event_name == 'pull_request' && github.event.pull_request.draft == false) || !github.event.pull_request.head.repo.fork
+    if: (github.event_name != 'pull_request' || (github.event_name == 'pull_request' && github.event.pull_request.draft == false)) && !github.event.pull_request.head.repo.fork
     steps:
       - name: Checkout Repository
         uses: actions/checkout@v4
diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
index 181ad54eaf4994..70177885a7384c 100644
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -19,7 +19,7 @@ runs:
     - shell: bash
       name: No retries!
       run: |
-        if [ "${{ github.run_attempt }}" -gt ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.author_association == 'FIRST_TIME_CONTRIBUTOR' && 2 || 1}} ]; then
+        if [ "${{ github.run_attempt }}" -gt ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.author_association == 'NONE' && 2 || 1}} ]; then
           echo -e "\033[0;31m##################################################"
           echo -e "\033[0;31m    Retries not allowed! Fix the flaky test!      "
           echo -e "\033[0;31m##################################################\033[0m"

From d0f590b55ed324540440fc52e5c438645e3bcef1 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 9 Mar 2025 05:06:26 +0100
Subject: [PATCH 0112/1434] CI: use one label for `runs-on` (#650)

* test

* Fix runs-on so that things acutally run otherwise they get stuck due to gh change

* Add repository condition to process_replay in CI workflow

Restrict the process_replay job to run only for the commaai/openpilot repository. This change temporarily blocks execution for forks or other repositories.

* in another PR

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .github/workflows/selfdrive_tests.yaml | 24 ++++++++----------------
 1 file changed, 8 insertions(+), 16 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 684eb0efc16659..270ffff43993c9 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -36,8 +36,7 @@ jobs:
     if: github.repository == 'commaai/openpilot' # build_release blocked for the time being to only comma as we may have a different process.
     name: build release
     runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+      - 'ubuntu-24.04'
     env:
       STRIPPED_DIR: /tmp/releasepilot
     steps:
@@ -71,8 +70,7 @@ jobs:
 
   build:
     runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+      - 'ubuntu-24.04'
     steps:
     - uses: actions/checkout@v4
       with:
@@ -118,8 +116,7 @@ jobs:
   static_analysis:
     name: static analysis
     runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+      - 'ubuntu-latest'
     env:
       PYTHONWARNINGS: default
     steps:
@@ -134,8 +131,7 @@ jobs:
   unit_tests:
     name: unit tests
     runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+      - 'ubuntu-24.04'
     steps:
     - uses: actions/checkout@v4
       with:
@@ -161,8 +157,7 @@ jobs:
   process_replay:
     name: process replay
     runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+      - 'ubuntu-24.04'
     steps:
     - uses: actions/checkout@v4
       with:
@@ -214,8 +209,7 @@ jobs:
   test_cars:
     name: cars
     runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+      - 'ubuntu-24.04'
     strategy:
       fail-fast: false
       matrix:
@@ -306,8 +300,7 @@ jobs:
   simulator_driving:
     name: simulator driving
     runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+      - 'ubuntu-24.04'
     if: (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
     steps:
     - uses: actions/checkout@v4
@@ -328,8 +321,7 @@ jobs:
     # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
     name: Create UI Report
     runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+      - 'ubuntu-24.04'
     steps:
       - uses: actions/checkout@v4
         with:

From f9952d7cb75455a38741fdf4d7df02f0d19dbfc9 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 8 Mar 2025 23:30:44 -0500
Subject: [PATCH 0113/1434] CI: Disable `process_replay` and remove `fakedata`
 (#651)

* CI: Disable process_replay

* remove fakedata

* don't bump panda yet
---
 .gitattributes                                                 | 1 -
 .github/workflows/selfdrive_tests.yaml                         | 1 +
 scripts/lint/lint.sh                                           | 2 +-
 selfdrive/test/process_replay/.gitignore                       | 2 +-
 ...0_calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-45-08--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...8--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...0_dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...8--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-08--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...08--0_plannerd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...5-08--0_radard_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...--0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-08--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...5-08--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-03-23--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-56-31--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-51-30--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-15-31--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-47-37--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-09-15--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...0_calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-08-24--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...4--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...0_dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...4--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-24--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...24--0_plannerd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...8-24--0_radard_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...--0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-24--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...8-24--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-13-04--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...0_calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-38-51--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...1--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...0_dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...1--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-51--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...51--0_plannerd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...8-51--0_radard_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...--0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-51--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...8-51--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-36-22--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...0_calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-06-45--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...5--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...0_dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...5--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-45--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...45--0_plannerd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...6-45--0_radard_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...--0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-45--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...6-45--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-21-55--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...0_calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-54-01--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...1--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...0_dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...1--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-01--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...01--0_plannerd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...4-01--0_radard_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...--0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-01--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...4-01--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-02-54--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-18-02--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 ...-59-03--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst | 3 ---
 71 files changed, 3 insertions(+), 204 deletions(-)
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_radard_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen306779F6870|2024-10-03--04-03-23--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen4CE950B0267|2024-08-30--02-51-30--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen58464878D07|2024-08-30--03-15-31--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen6E484EDAB96|2024-08-30--02-47-37--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen720F2BA4CF6|2024-08-30--03-09-15--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_plannerd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_radard_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9ADBECBCD1C|2024-08-30--03-13-04--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_plannerd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_radard_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenA67A128BCD8|2024-08-30--02-36-22--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_plannerd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_radard_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenACF84CCF482|2024-08-30--03-21-55--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_radard_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
 delete mode 100644 selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst

diff --git a/.gitattributes b/.gitattributes
index df3fc49ede0f1d..eda2505d0e3ac8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -9,7 +9,6 @@
 *.ttf filter=lfs diff=lfs merge=lfs -text
 *.wav filter=lfs diff=lfs merge=lfs -text
 
-selfdrive/test/process_replay/fakedata/*.zst filter=lfs diff=lfs merge=lfs -text
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
 system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
 selfdrive/ui/qt/spinner_larch64 filter=lfs diff=lfs merge=lfs -text
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 270ffff43993c9..0a04b86f2bcda3 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -156,6 +156,7 @@ jobs:
 
   process_replay:
     name: process replay
+    if: github.repository == 'commaai/openpilot'  # disable process_replay for forks
     runs-on:
       - 'ubuntu-24.04'
     steps:
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index a316aac56f9144..ebbc6cbaba050a 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -13,7 +13,7 @@ cd $ROOT
 
 FAILED=0
 
-IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md|.*\.zst"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
 IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
 
 function run() {
diff --git a/selfdrive/test/process_replay/.gitignore b/selfdrive/test/process_replay/.gitignore
index 1745db77e7df78..a35cd58d415c63 100644
--- a/selfdrive/test/process_replay/.gitignore
+++ b/selfdrive/test/process_replay/.gitignore
@@ -1 +1 @@
-!fakedata/*
+fakedata/
diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
deleted file mode 100644
index 11b4facff0f085..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_calibrationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
+++ /dev/null
@@ -1,3 +0,0 @@
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diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
deleted file mode 100644
index e6c4eeb266d600..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
+++ /dev/null
@@ -1,3 +0,0 @@
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diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
deleted file mode 100644
index ffecbdc836876e..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_controlsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
+++ /dev/null
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diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
deleted file mode 100644
index 72d5c8ba435459..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_dmonitoringd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
+++ /dev/null
@@ -1,3 +0,0 @@
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diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
deleted file mode 100644
index ea9bcc1e9725c0..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_locationd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
+++ /dev/null
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diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
deleted file mode 100644
index cdeeac2a8343d6..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_paramsd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
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deleted file mode 100644
index 85f0424824157f..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
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deleted file mode 100644
index 6a29b6b4079764..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_radard_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
+++ /dev/null
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diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
deleted file mode 100644
index b68013dff16f53..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_selfdrived_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
+++ /dev/null
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diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
deleted file mode 100644
index 723f39a7a9248c..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
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diff --git a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst b/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
deleted file mode 100644
index 259ddfe78b3f92..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
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diff --git a/selfdrive/test/process_replay/fakedata/regen306779F6870|2024-10-03--04-03-23--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst b/selfdrive/test/process_replay/fakedata/regen306779F6870|2024-10-03--04-03-23--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
deleted file mode 100644
index 0ba0f95a0e299b..00000000000000
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diff --git a/selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst b/selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
deleted file mode 100644
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--- a/selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
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-version https://git-lfs.github.com/spec/v1
-oid sha256:9fd65f8c4769f5cd41d9399c8218f2dd2c876d2ccea6504dc5838eee652234a8
-size 30366
diff --git a/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst b/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
deleted file mode 100644
index 81f48308cf84b6..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_torqued_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9796b749a3cbd3b30336b1e4ac9cefd17586ffc523c9955ffe8cb07c504d15b2
-size 1196
diff --git a/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst b/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
deleted file mode 100644
index 787c8f5c61d26a..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_ubloxd_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:925cd984b03fbb2a43f06da107611303382c6596a140f2f36ef8c0b8541a5c72
-size 265878
diff --git a/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst b/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
deleted file mode 100644
index 825606d2f8539e..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regenDB02684E00A|2024-08-30--03-02-54--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:057a7299ad30d26f1254f41681742653433ae8aea491fafddde7f6b1392629a3
-size 271984
diff --git a/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst b/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
deleted file mode 100644
index 8fc3c8bf02c86f..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regenED976DEB757|2024-08-30--03-18-02--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 332382
diff --git a/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst b/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
deleted file mode 100644
index 40622ef48d8035..00000000000000
--- a/selfdrive/test/process_replay/fakedata/regenF3DBBA9E8DF|2024-08-30--02-59-03--0_card_a0a1635c552b2909fe808726ca0cd9201fcaea6a.zst
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0e04f4f74317af38c82643f986c1acd90244504bf4fd912526c87e6cb6745d6c
-size 294484

From 1779a76d3c708cf77afed44cd0d6ab5a578599d6 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 9 Mar 2025 15:00:12 +0100
Subject: [PATCH 0114/1434] Update default model to "Filet o Fish"

Changed the DEFAULT_MODEL constant and updated the associated model hash to reflect the new default. This ensures consistency between the code and the new model configuration.
---
 common/model.h                     | 2 +-
 sunnypilot/models/tests/model_hash | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/common/model.h b/common/model.h
index 3dc83af543032b..6a3286acce8e63 100644
--- a/common/model.h
+++ b/common/model.h
@@ -1 +1 @@
-#define DEFAULT_MODEL "Not Too Shabby (Default)"
+#define DEFAULT_MODEL "Filet o Fish (Default)"
diff --git a/sunnypilot/models/tests/model_hash b/sunnypilot/models/tests/model_hash
index 1f2d773fab639e..2f50b2085c33de 100644
--- a/sunnypilot/models/tests/model_hash
+++ b/sunnypilot/models/tests/model_hash
@@ -1 +1 @@
-c0636e407aa49a3e227d63dd7bc9c625fa681c10a11af1ab4e11214cface123e
\ No newline at end of file
+dec34c57c4131f6fca5d1035201d1afbf43e5250cede7bfdc798371af008afad
\ No newline at end of file

From 425f5ebb2ed76647e5f9928a47bd4cfc1c2543ee Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 9 Mar 2025 17:57:59 +0100
Subject: [PATCH 0115/1434] Add clutil_legacy for OpenCL program support

Introduce `clutil_legacy` to handle OpenCL program creation from binaries and error string mapping. This improves modularity and prepares for enhanced OpenCL compatibility across platforms.
---
 sunnypilot/modeld/thneed/clutil_legacy.cc | 115 ++++++++++++++++++++++
 sunnypilot/modeld/thneed/clutil_legacy.h  |  13 +++
 sunnypilot/modeld/thneed/serialize.cc     |   1 +
 3 files changed, 129 insertions(+)
 create mode 100644 sunnypilot/modeld/thneed/clutil_legacy.cc
 create mode 100644 sunnypilot/modeld/thneed/clutil_legacy.h

diff --git a/sunnypilot/modeld/thneed/clutil_legacy.cc b/sunnypilot/modeld/thneed/clutil_legacy.cc
new file mode 100644
index 00000000000000..42a4c1467555ea
--- /dev/null
+++ b/sunnypilot/modeld/thneed/clutil_legacy.cc
@@ -0,0 +1,115 @@
+#include "common/clutil.h"
+
+#include <cassert>
+#include <iostream>
+#include <memory>
+
+#include "common/util.h"
+#include "common/swaglog.h"
+#include "sunnypilot/modeld/thneed/clutil_legacy.h"
+
+cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args) {
+  cl_program prg = CL_CHECK_ERR(clCreateProgramWithBinary(ctx, 1, &device_id, &length, &binary, NULL, &err));
+  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
+    cl_print_build_errors(prg, device_id);
+    assert(0);
+  }
+  return prg;
+}
+
+// Given a cl code and return a string representation
+#define CL_ERR_TO_STR(err) case err: return #err
+const char* cl_get_error_string(int err) {
+  switch (err) {
+    CL_ERR_TO_STR(CL_SUCCESS);
+    CL_ERR_TO_STR(CL_DEVICE_NOT_FOUND);
+    CL_ERR_TO_STR(CL_DEVICE_NOT_AVAILABLE);
+    CL_ERR_TO_STR(CL_COMPILER_NOT_AVAILABLE);
+    CL_ERR_TO_STR(CL_MEM_OBJECT_ALLOCATION_FAILURE);
+    CL_ERR_TO_STR(CL_OUT_OF_RESOURCES);
+    CL_ERR_TO_STR(CL_OUT_OF_HOST_MEMORY);
+    CL_ERR_TO_STR(CL_PROFILING_INFO_NOT_AVAILABLE);
+    CL_ERR_TO_STR(CL_MEM_COPY_OVERLAP);
+    CL_ERR_TO_STR(CL_IMAGE_FORMAT_MISMATCH);
+    CL_ERR_TO_STR(CL_IMAGE_FORMAT_NOT_SUPPORTED);
+    CL_ERR_TO_STR(CL_MAP_FAILURE);
+    CL_ERR_TO_STR(CL_MISALIGNED_SUB_BUFFER_OFFSET);
+    CL_ERR_TO_STR(CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST);
+    CL_ERR_TO_STR(CL_COMPILE_PROGRAM_FAILURE);
+    CL_ERR_TO_STR(CL_LINKER_NOT_AVAILABLE);
+    CL_ERR_TO_STR(CL_LINK_PROGRAM_FAILURE);
+    CL_ERR_TO_STR(CL_DEVICE_PARTITION_FAILED);
+    CL_ERR_TO_STR(CL_KERNEL_ARG_INFO_NOT_AVAILABLE);
+    CL_ERR_TO_STR(CL_INVALID_VALUE);
+    CL_ERR_TO_STR(CL_INVALID_DEVICE_TYPE);
+    CL_ERR_TO_STR(CL_INVALID_PLATFORM);
+    CL_ERR_TO_STR(CL_INVALID_DEVICE);
+    CL_ERR_TO_STR(CL_INVALID_CONTEXT);
+    CL_ERR_TO_STR(CL_INVALID_QUEUE_PROPERTIES);
+    CL_ERR_TO_STR(CL_INVALID_COMMAND_QUEUE);
+    CL_ERR_TO_STR(CL_INVALID_HOST_PTR);
+    CL_ERR_TO_STR(CL_INVALID_MEM_OBJECT);
+    CL_ERR_TO_STR(CL_INVALID_IMAGE_FORMAT_DESCRIPTOR);
+    CL_ERR_TO_STR(CL_INVALID_IMAGE_SIZE);
+    CL_ERR_TO_STR(CL_INVALID_SAMPLER);
+    CL_ERR_TO_STR(CL_INVALID_BINARY);
+    CL_ERR_TO_STR(CL_INVALID_BUILD_OPTIONS);
+    CL_ERR_TO_STR(CL_INVALID_PROGRAM);
+    CL_ERR_TO_STR(CL_INVALID_PROGRAM_EXECUTABLE);
+    CL_ERR_TO_STR(CL_INVALID_KERNEL_NAME);
+    CL_ERR_TO_STR(CL_INVALID_KERNEL_DEFINITION);
+    CL_ERR_TO_STR(CL_INVALID_KERNEL);
+    CL_ERR_TO_STR(CL_INVALID_ARG_INDEX);
+    CL_ERR_TO_STR(CL_INVALID_ARG_VALUE);
+    CL_ERR_TO_STR(CL_INVALID_ARG_SIZE);
+    CL_ERR_TO_STR(CL_INVALID_KERNEL_ARGS);
+    CL_ERR_TO_STR(CL_INVALID_WORK_DIMENSION);
+    CL_ERR_TO_STR(CL_INVALID_WORK_GROUP_SIZE);
+    CL_ERR_TO_STR(CL_INVALID_WORK_ITEM_SIZE);
+    CL_ERR_TO_STR(CL_INVALID_GLOBAL_OFFSET);
+    CL_ERR_TO_STR(CL_INVALID_EVENT_WAIT_LIST);
+    CL_ERR_TO_STR(CL_INVALID_EVENT);
+    CL_ERR_TO_STR(CL_INVALID_OPERATION);
+    CL_ERR_TO_STR(CL_INVALID_GL_OBJECT);
+    CL_ERR_TO_STR(CL_INVALID_BUFFER_SIZE);
+    CL_ERR_TO_STR(CL_INVALID_MIP_LEVEL);
+    CL_ERR_TO_STR(CL_INVALID_GLOBAL_WORK_SIZE);
+    CL_ERR_TO_STR(CL_INVALID_PROPERTY);
+    CL_ERR_TO_STR(CL_INVALID_IMAGE_DESCRIPTOR);
+    CL_ERR_TO_STR(CL_INVALID_COMPILER_OPTIONS);
+    CL_ERR_TO_STR(CL_INVALID_LINKER_OPTIONS);
+    CL_ERR_TO_STR(CL_INVALID_DEVICE_PARTITION_COUNT);
+    case -69: return "CL_INVALID_PIPE_SIZE";
+    case -70: return "CL_INVALID_DEVICE_QUEUE";
+    case -71: return "CL_INVALID_SPEC_ID";
+    case -72: return "CL_MAX_SIZE_RESTRICTION_EXCEEDED";
+    case -1002: return "CL_INVALID_D3D10_DEVICE_KHR";
+    case -1003: return "CL_INVALID_D3D10_RESOURCE_KHR";
+    case -1004: return "CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR";
+    case -1005: return "CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR";
+    case -1006: return "CL_INVALID_D3D11_DEVICE_KHR";
+    case -1007: return "CL_INVALID_D3D11_RESOURCE_KHR";
+    case -1008: return "CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR";
+    case -1009: return "CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR";
+    case -1010: return "CL_INVALID_DX9_MEDIA_ADAPTER_KHR";
+    case -1011: return "CL_INVALID_DX9_MEDIA_SURFACE_KHR";
+    case -1012: return "CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR";
+    case -1013: return "CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR";
+    case -1093: return "CL_INVALID_EGL_OBJECT_KHR";
+    case -1092: return "CL_EGL_RESOURCE_NOT_ACQUIRED_KHR";
+    case -1001: return "CL_PLATFORM_NOT_FOUND_KHR";
+    case -1057: return "CL_DEVICE_PARTITION_FAILED_EXT";
+    case -1058: return "CL_INVALID_PARTITION_COUNT_EXT";
+    case -1059: return "CL_INVALID_PARTITION_NAME_EXT";
+    case -1094: return "CL_INVALID_ACCELERATOR_INTEL";
+    case -1095: return "CL_INVALID_ACCELERATOR_TYPE_INTEL";
+    case -1096: return "CL_INVALID_ACCELERATOR_DESCRIPTOR_INTEL";
+    case -1097: return "CL_ACCELERATOR_TYPE_NOT_SUPPORTED_INTEL";
+    case -1000: return "CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR";
+    case -1098: return "CL_INVALID_VA_API_MEDIA_ADAPTER_INTEL";
+    case -1099: return "CL_INVALID_VA_API_MEDIA_SURFACE_INTEL";
+    case -1100: return "CL_VA_API_MEDIA_SURFACE_ALREADY_ACQUIRED_INTEL";
+    case -1101: return "CL_VA_API_MEDIA_SURFACE_NOT_ACQUIRED_INTEL";
+    default: return "CL_UNKNOWN_ERROR";
+  }
+}
\ No newline at end of file
diff --git a/sunnypilot/modeld/thneed/clutil_legacy.h b/sunnypilot/modeld/thneed/clutil_legacy.h
new file mode 100644
index 00000000000000..8aebdcf1a9e6cc
--- /dev/null
+++ b/sunnypilot/modeld/thneed/clutil_legacy.h
@@ -0,0 +1,13 @@
+#pragma once
+
+#include "common/clutil.h"
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#include <string>
+
+cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
+const char* cl_get_error_string(int err);
\ No newline at end of file
diff --git a/sunnypilot/modeld/thneed/serialize.cc b/sunnypilot/modeld/thneed/serialize.cc
index f9a8b288ac4e70..9279a90e0fdaaa 100644
--- a/sunnypilot/modeld/thneed/serialize.cc
+++ b/sunnypilot/modeld/thneed/serialize.cc
@@ -6,6 +6,7 @@
 #include "common/clutil.h"
 #include "common/swaglog.h"
 #include "sunnypilot/modeld/thneed/thneed.h"
+#include "sunnypilot/modeld/thneed/clutil_legacy.h"
 using namespace json11;
 
 extern map<cl_program, string> g_program_source;

From ba3acbce0ab0624e2f726cd23bc247ef49e95cb7 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 9 Mar 2025 18:29:32 +0100
Subject: [PATCH 0116/1434] Add cl_print_build_errors to handle OpenCL build
 errors

This function logs detailed build failure information, including the status and build log retrieved from OpenCL. It provides better debugging support for diagnosing issues with OpenCL program compilation.
---
 sunnypilot/modeld/SConscript              |  1 +
 sunnypilot/modeld/thneed/clutil_legacy.cc | 11 +++++++++++
 2 files changed, 12 insertions(+)

diff --git a/sunnypilot/modeld/SConscript b/sunnypilot/modeld/SConscript
index 90fb80975f9f22..1a54fe1e32bd58 100644
--- a/sunnypilot/modeld/SConscript
+++ b/sunnypilot/modeld/SConscript
@@ -14,6 +14,7 @@ common_src = [
 ]
 
 thneed_src_common = [
+  "thneed/clutil_legacy.cc",
   "thneed/thneed_common.cc",
   "thneed/serialize.cc",
 ]
diff --git a/sunnypilot/modeld/thneed/clutil_legacy.cc b/sunnypilot/modeld/thneed/clutil_legacy.cc
index 42a4c1467555ea..3bf93164325135 100644
--- a/sunnypilot/modeld/thneed/clutil_legacy.cc
+++ b/sunnypilot/modeld/thneed/clutil_legacy.cc
@@ -8,6 +8,17 @@
 #include "common/swaglog.h"
 #include "sunnypilot/modeld/thneed/clutil_legacy.h"
 
+void cl_print_build_errors(cl_program program, cl_device_id device) {
+  cl_build_status status;
+  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
+  size_t log_size;
+  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
+  std::string log(log_size, '\0');
+  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
+
+  LOGE("build failed; status=%d, log: %s", status, log.c_str());
+}
+
 cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args) {
   cl_program prg = CL_CHECK_ERR(clCreateProgramWithBinary(ctx, 1, &device_id, &length, &binary, NULL, &err));
   if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {

From 141a7f5f72d6ed1c5b466a30ee55f5b58f3dac46 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 9 Mar 2025 19:07:59 +0100
Subject: [PATCH 0117/1434] Use numpy directly instead of numpy_fast for clip
 and interp

Replaced occurrences of `openpilot.common.numpy_fast` with direct imports from `numpy` across multiple files. This simplifies dependencies and ensures consistency with standard Python library usage. Adjusted tests to mock `numpy` functions accordingly.
---
 sunnypilot/modeld/modeld.py                                     | 2 +-
 sunnypilot/selfdrive/controls/lib/dec/dec.py                    | 2 +-
 .../controls/lib/dec/tests/pytest_dynamic_controller.py         | 2 +-
 sunnypilot/selfdrive/controls/lib/drive_helpers.py              | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
index 487d1fd84263a4..a58a5671007c56 100755
--- a/sunnypilot/modeld/modeld.py
+++ b/sunnypilot/modeld/modeld.py
@@ -13,7 +13,7 @@
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL, config_realtime_process
-from openpilot.common.numpy_fast import interp
+from numpy import interp
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
diff --git a/sunnypilot/selfdrive/controls/lib/dec/dec.py b/sunnypilot/selfdrive/controls/lib/dec/dec.py
index cb4ab2519ed960..0c33da500aa0e8 100644
--- a/sunnypilot/selfdrive/controls/lib/dec/dec.py
+++ b/sunnypilot/selfdrive/controls/lib/dec/dec.py
@@ -26,7 +26,7 @@
 
 from cereal import messaging
 from opendbc.car import structs
-from openpilot.common.numpy_fast import interp
+from numpy import interp
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants, SNG_State
diff --git a/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py b/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
index 741d9e017008f5..d15d88aefeeab0 100644
--- a/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
+++ b/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
@@ -33,7 +33,7 @@ def __init__(self, v_cruise=0):
 @pytest.fixture
 def interp(monkeypatch):
   mock_interp = MockInterp()
-  monkeypatch.setattr('openpilot.common.numpy_fast.interp', mock_interp)
+  monkeypatch.setattr('numpy.interp', mock_interp)
   return mock_interp
 
 @pytest.fixture
diff --git a/sunnypilot/selfdrive/controls/lib/drive_helpers.py b/sunnypilot/selfdrive/controls/lib/drive_helpers.py
index 393166ae75a011..c6d8d85454d99b 100644
--- a/sunnypilot/selfdrive/controls/lib/drive_helpers.py
+++ b/sunnypilot/selfdrive/controls/lib/drive_helpers.py
@@ -1,4 +1,4 @@
-from openpilot.common.numpy_fast import clip, interp
+from numpy import clip, interp
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, MAX_LATERAL_JERK
 from openpilot.sunnypilot.modeld.constants import ModelConstants

From 0798ebab07814c20a47de9ec7a35216bb66e6a2f Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 9 Mar 2025 21:15:25 +0100
Subject: [PATCH 0118/1434] Bumping refs

---
 msgq_repo    | 2 +-
 opendbc_repo | 2 +-
 panda        | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/msgq_repo b/msgq_repo
index 3705ed0b29562c..e40720fb5d325b 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit 3705ed0b29562c5e5c8bb6600e2617a7817ba816
+Subproject commit e40720fb5d325bccf358c647630eda619a01a948
diff --git a/opendbc_repo b/opendbc_repo
index 4b2472a6df1bfe..3cfc935d35c941 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 4b2472a6df1bfe6fdce328a47c2190b2a35dd279
+Subproject commit 3cfc935d35c9419d2449cceaa04d2ed88fbffabf
diff --git a/panda b/panda
index 5389b01bdb6265..5479e1572ad1d2 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 5389b01bdb6265826adcf858d0b719644db4f87e
+Subproject commit 5479e1572ad1d2733c54e0acdd1a8fa6a960fab9

From 6ed459d7cd73974ea440e2a369aa9d7508928502 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 12 Mar 2025 23:10:44 -0400
Subject: [PATCH 0119/1434] Bump opendbc

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 3cfc935d35c941..484a9b08f1caeb 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 3cfc935d35c9419d2449cceaa04d2ed88fbffabf
+Subproject commit 484a9b08f1caeba3e3d15e31ee8a8ccba648916c

From 4879e2f5ec7f38bfe938d79de0be9f787f893dcf Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 13 Mar 2025 04:26:18 -0400
Subject: [PATCH 0120/1434] Bump opendbc

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 9cb8254180ae24..9b83f9519db61c 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 9cb8254180ae2462e25cd2abce6485b55f02b605
+Subproject commit 9b83f9519db61c96facb5e20b35d69c13ef3bd91

From db0ce99c016cbd7a8668d837702999e57f183c47 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 15 Mar 2025 17:55:41 -0400
Subject: [PATCH 0121/1434] Car interface: custom safety params (#659)

* init

* do it for hyundai

* Bump submodules

* no complaints

* use latest opendbc pr ref

* don't need this for leaf for now

* bump opendbc

* gotta set the sp safety flags in test models and safety replay!

* actually fetch CP_SP

* set safety param for lda button availability (lol forgot)

* use GET_FLAG

* Add TODO-SP

* bump submodules
---
 cereal/custom.capnp                |  3 ++-
 panda                              |  2 +-
 selfdrive/car/tests/test_models.py |  3 +++
 selfdrive/pandad/panda.cc          |  4 ++--
 selfdrive/pandad/panda.h           |  2 +-
 selfdrive/pandad/panda_safety.cc   | 21 ++++++++++++++-------
 selfdrive/pandad/pandad.h          |  4 ++--
 sunnypilot/mads/helpers.py         |  5 ++---
 8 files changed, 27 insertions(+), 17 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 36cc2c9498d048..524ecdd65799a8 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -136,7 +136,8 @@ struct OnroadEventSP @0xda96579883444c35 {
 }
 
 struct CarParamsSP @0x80ae746ee2596b11 {
-  flags @0 :UInt32;  # flags for car specific quirks in sunnypilot
+  flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
+  safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
 }
 
 struct CarControlSP @0xa5cd762cd951a455 {
diff --git a/panda b/panda
index 5479e1572ad1d2..ccb9581b1ce08f 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 5479e1572ad1d2733c54e0acdd1a8fa6a960fab9
+Subproject commit ccb9581b1ce08ff899b50d986c5e2b155ce8c339
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 7698c12c078489..573d818365aef4 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -172,6 +172,9 @@ def setUp(self):
     # TODO: check safetyModel is in release panda build
     self.safety = libsafety_py.libsafety
 
+    safety_param_sp = self.CP_SP.safetyParam
+    self.safety.set_current_safety_param_sp(safety_param_sp)
+
     cfg = self.CP.safetyConfigs[-1]
     set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam)
     self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}")
diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc
index 45d835e5a466db..8d8984c2d20e8f 100644
--- a/selfdrive/pandad/panda.cc
+++ b/selfdrive/pandad/panda.cc
@@ -62,8 +62,8 @@ void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16
   handle->control_write(0xdc, (uint16_t)safety_model, safety_param);
 }
 
-void Panda::set_alternative_experience(uint16_t alternative_experience) {
-  handle->control_write(0xdf, alternative_experience, 0);
+void Panda::set_alternative_experience(uint16_t alternative_experience, uint16_t safety_param_sp) {
+  handle->control_write(0xdf, alternative_experience, safety_param_sp);
 }
 
 cereal::PandaState::PandaType Panda::get_hw_type() {
diff --git a/selfdrive/pandad/panda.h b/selfdrive/pandad/panda.h
index 3e0f4b8507c80c..5ed87104df709c 100644
--- a/selfdrive/pandad/panda.h
+++ b/selfdrive/pandad/panda.h
@@ -63,7 +63,7 @@ class Panda {
   // Panda functionality
   cereal::PandaState::PandaType get_hw_type();
   void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
-  void set_alternative_experience(uint16_t alternative_experience);
+  void set_alternative_experience(uint16_t alternative_experience, uint16_t safety_param_sp=0U);
   void set_fan_speed(uint16_t fan_speed);
   uint16_t get_fan_speed();
   void set_ir_pwr(uint16_t ir_pwr);
diff --git a/selfdrive/pandad/panda_safety.cc b/selfdrive/pandad/panda_safety.cc
index 6d5e5ce4f3f83d..ef9b459e5bf7d7 100644
--- a/selfdrive/pandad/panda_safety.cc
+++ b/selfdrive/pandad/panda_safety.cc
@@ -10,7 +10,8 @@ void PandaSafety::configureSafetyMode() {
 
     auto car_params = fetchCarParams();
     if (!car_params.empty()) {
-      LOGW("got %lu bytes CarParams", car_params.size());
+      LOGW("got %lu bytes CarParams", car_params[0].size());
+      LOGW("got %lu bytes CarParamsSP", car_params[1].size());
       setSafetyMode(car_params);
       safety_configured_ = true;
     }
@@ -43,7 +44,8 @@ void PandaSafety::updateMultiplexingMode() {
   }
 }
 
-std::string PandaSafety::fetchCarParams() {
+// TODO-SP: Use structs instead of vector
+std::vector<std::string> PandaSafety::fetchCarParams() {
   if (!params_.getBool("FirmwareQueryDone")) {
     return {};
   }
@@ -56,16 +58,21 @@ std::string PandaSafety::fetchCarParams() {
   if (!params_.getBool("ControlsReady")) {
     return {};
   }
-  return params_.get("CarParams");
+  return {params_.get("CarParams"), params_.get("CarParamsSP")};
 }
 
-void PandaSafety::setSafetyMode(const std::string &params_string) {
+// TODO-SP: Use structs instead of vector
+void PandaSafety::setSafetyMode(const std::vector<std::string> &params_string) {
   AlignedBuffer aligned_buf;
-  capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params_string.data(), params_string.size()));
+  capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params_string[0].data(), params_string[0].size()));
   cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
 
+  capnp::FlatArrayMessageReader cmsg_sp(aligned_buf.align(params_string[1].data(), params_string[1].size()));
+  cereal::CarParamsSP::Reader car_params_sp = cmsg_sp.getRoot<cereal::CarParamsSP>();
+
   auto safety_configs = car_params.getSafetyConfigs();
   uint16_t alternative_experience = car_params.getAlternativeExperience();
+  uint16_t safety_param_sp = car_params_sp.getSafetyParam();
 
   for (int i = 0; i < pandas_.size(); ++i) {
     // Default to SILENT safety model if not specified
@@ -76,8 +83,8 @@ void PandaSafety::setSafetyMode(const std::string &params_string) {
       safety_param = safety_configs[i].getSafetyParam();
     }
 
-    LOGW("Panda %d: setting safety model: %d, param: %d, alternative experience: %d", i, (int)safety_model, safety_param, alternative_experience);
-    pandas_[i]->set_alternative_experience(alternative_experience);
+    LOGW("Panda %d: setting safety model: %d, param: %d, alternative experience: %d, param_sp: %d", i, (int)safety_model, safety_param, alternative_experience, safety_param_sp);
+    pandas_[i]->set_alternative_experience(alternative_experience, safety_param_sp);
     pandas_[i]->set_safety_model(safety_model, safety_param);
   }
 }
diff --git a/selfdrive/pandad/pandad.h b/selfdrive/pandad/pandad.h
index b338b70378b500..7b37fbe59a5818 100644
--- a/selfdrive/pandad/pandad.h
+++ b/selfdrive/pandad/pandad.h
@@ -16,8 +16,8 @@ class PandaSafety {
 
 private:
   void updateMultiplexingMode();
-  std::string fetchCarParams();
-  void setSafetyMode(const std::string &params_string);
+  std::vector<std::string> fetchCarParams();
+  void setSafetyMode(const std::vector<std::string> &params_string);
 
   bool initialized_ = false;
   bool log_once_ = false;
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index 9dc47b26a86123..16a5a74dac6f1f 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -27,8 +27,7 @@
 from openpilot.common.params import Params
 
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
-from opendbc.car.hyundai.values import HyundaiSafetyFlags
-from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
+from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP
 
 
 class MadsParams:
@@ -55,7 +54,7 @@ def set_car_specific_params(self, CP, CP_SP):
       hyundai_cruise_main_toggleable = True
       if hyundai_cruise_main_toggleable:
         CP_SP.flags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
-        CP.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.FLAG_HYUNDAI_LONG_MAIN_CRUISE_TOGGLEABLE.value
+        CP_SP.safetyParam |= HyundaiSafetyFlagsSP.LONG_MAIN_CRUISE_TOGGLEABLE
 
     # MADS is currently not supported in Tesla due to lack of consistent states to engage controls
     # TODO-SP: To enable MADS for Tesla, identify consistent signals for MADS toggling

From 7f669ec1e7a47640a3213f5b9aced78bc6ff81fe Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 15 Mar 2025 22:28:32 -0400
Subject: [PATCH 0122/1434] MADS: Disable for Rivian (#663)

---
 sunnypilot/mads/helpers.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index 16a5a74dac6f1f..8a7ffe80ec0e00 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -60,3 +60,8 @@ def set_car_specific_params(self, CP, CP_SP):
     # TODO-SP: To enable MADS for Tesla, identify consistent signals for MADS toggling
     if CP.brand == "tesla":
       self.params.remove("Mads")
+
+    # MADS is currently not supported in Rivian due to lack of consistent states to engage controls
+    # TODO-SP: To enable MADS for Rivian, identify consistent signals for MADS toggling
+    if CP.brand == "rivian":
+      self.params.remove("Mads")

From 4ef46251a7a9267ee24f37288d7e185ddaf91faa Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 16 Mar 2025 00:09:11 -0400
Subject: [PATCH 0123/1434] ui: Trim panel name for Firehose panel redirect
 (#664)

* ui: Trim panel name for Firehose panel redirect

* unused

* extra
---
 selfdrive/ui/qt/offroad/settings.cc | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index c6d3520712ef81..a5bfe61ffd2530 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -344,7 +344,11 @@ void SettingsWindow::setCurrentPanel(int index, const QString &param) {
       
       // Find the panel by name
       for (int i = 0; i < nav_btns->buttons().size(); i++) {
-        if (nav_btns->buttons()[i]->text() == tr(panelName.toStdString().c_str())) {
+        bool panel_trimmed = false;
+#ifdef SUNNYPILOT
+        panel_trimmed = nav_btns->buttons()[i]->text().trimmed() == tr(panelName.toStdString().c_str());
+#endif
+        if ((nav_btns->buttons()[i]->text() == tr(panelName.toStdString().c_str())) || panel_trimmed) {
           index = i;
           break;
         }

From f50d7a1842bf93f4f5b6ff08707089046d4061ca Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 16 Mar 2025 02:34:25 -0400
Subject: [PATCH 0124/1434] ui: Update FirehosePanel with sunnypilot ui updates
 (#666)

---
 selfdrive/ui/qt/offroad/firehose.cc | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/selfdrive/ui/qt/offroad/firehose.cc b/selfdrive/ui/qt/offroad/firehose.cc
index fd173a1c7afd00..e6a9c5c6e97397 100644
--- a/selfdrive/ui/qt/offroad/firehose.cc
+++ b/selfdrive/ui/qt/offroad/firehose.cc
@@ -12,6 +12,10 @@
 #include <QJsonObject>
 #include <QTimer>
 
+#ifdef SUNNYPILOT
+#define UIState UIStateSP
+#endif
+
 FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent) {
   layout = new QVBoxLayout(this);
   layout->setContentsMargins(40, 40, 40, 40);

From 4fbf7a81b43a2030355f4194fe8374857a0eb350 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 16 Mar 2025 16:12:43 +0100
Subject: [PATCH 0125/1434] sunnylink: Fix IMEI fetching during registration
 (#661)

Fix getting the imei for the registration
---
 sunnypilot/sunnylink/api.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/sunnylink/api.py b/sunnypilot/sunnylink/api.py
index 4abefa12f82a05..9f82fd2d206eb0 100644
--- a/sunnypilot/sunnylink/api.py
+++ b/sunnypilot/sunnylink/api.py
@@ -55,7 +55,7 @@ def _resolve_imeis(self):
     imei_try = 0
     while imei1 is None and imei2 is None and imei_try < MAX_RETRIES:
       try:
-        imei1, imei2 = self.params.get("IMEI", encoding='utf8') or HARDWARE.get_imei(0), HARDWARE.get_imei(1)
+        imei1, imei2 = HARDWARE.get_imei(0), HARDWARE.get_imei(1)
       except Exception:
         self._status_update(f"Error getting imei, trying again... [{imei_try + 1}/{MAX_RETRIES}]")
         time.sleep(1)

From 61b9d81ba6aa6dd3ad1c8620939957fe2d252644 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 16 Mar 2025 17:08:21 +0100
Subject: [PATCH 0126/1434] CI: identify new screenshots in UI preview (#668)

Added checks for new UI files in PRs

The git workflow script `ui_preview.yaml` has been modified. The script now checks if the master branch contains a file corresponding to a UI file present in the PR. If a UI file in the PR does not have a match on the master branch, it is marked as new. These enhancements improve the comparison of UI changes between the master and PR branches, particularly with the identification of new UI files.
---
 .github/workflows/ui_preview.yaml | 15 ++++++++++++++-
 1 file changed, 14 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 2ded4a2d2acf6b..28198d7dbb7ffb 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -95,8 +95,21 @@ jobs:
 
           for ((i=0; i<${#A[*]}; i=i+1));
           do
+            # Check if the master file exists
+            if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then
+              # This is a new file in PR UI that doesn't exist in master
+              DIFF="${DIFF}<details open>"
+              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{blue}\\text{NEW}}\$\$</summary>"
+              DIFF="${DIFF}<table>"
+
+              DIFF="${DIFF}<tr>"
+              DIFF="${DIFF}  <td> master <img src=\"https://dummyimage.com/1986x993/000000/ffffff?text=Not+in+master\"> </td>"
+              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+              DIFF="${DIFF}</tr>"
 
-            if ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
+              DIFF="${DIFF}</table>"
+              DIFF="${DIFF}</details>"
+            elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
               convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
               composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
               convert -delay 100 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif

From 89e385b692bb09b1cefd8ee3df4a4be82d0fcc9b Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 16 Mar 2025 18:01:31 +0100
Subject: [PATCH 0127/1434] CI: update default screenshot in UI preview (#669)

Jason Jason...
---
 .github/workflows/ui_preview.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 28198d7dbb7ffb..9963f2958cadfa 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -99,11 +99,11 @@ jobs:
             if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then
               # This is a new file in PR UI that doesn't exist in master
               DIFF="${DIFF}<details open>"
-              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{blue}\\text{NEW}}\$\$</summary>"
+              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
               DIFF="${DIFF}<table>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://dummyimage.com/1986x993/000000/ffffff?text=Not+in+master\"> </td>"
+              DIFF="${DIFF}  <td> master <img src=\"https://dummyimage.com/1986x993/000000/ffffff?text=++Not+in+master\"> </td>"
               DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
               DIFF="${DIFF}</tr>"
 

From cac85271150a2e421233073c2269092868fb13d6 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 16 Mar 2025 21:22:14 +0100
Subject: [PATCH 0128/1434] sunnylink: pairing and sponsorship (#523)

* Refactor sunnylink panel code for clarity and initialization fixes.

Replaced explicit pointer types with `auto` for cleaner code and added proper initialization for the `offroad` boolean member. Simplified toggle logic by consolidating description updates for enabling/disabling sunnylink. These changes improve code readability and maintainability.

* Add Sunnylink sponsor and GitHub pairing functionality

This update introduces a feature to manage sponsorship-based roles and GitHub account pairing for Sunnylink. It includes new sponsor popups, sponsor-specific widgets, QR code logic, and backend API integrations. Additionally, new models and services support sponsor tier management and user-role synchronization.

* Translation files

* Param keys

* Add setup functions for SunnyLink sponsor and pair buttons

Introduce `setup_settings_sunnylink_sponsor_button` and `setup_settings_sunnylink_pair_button` to handle specific SunnyLink UI interactions. These functions streamline button clicks for sponsor and pairing actions within SunnyLink settings.

* Add new SunnyLink test cases for sponsor and pair buttons

Added `settings_sunnylink_sponsor_button` and `settings_sunnylink_pair_button` to the UI test case dictionary. This extends the SunnyLink test coverage to include sponsor and pairing functionalities.

* No need to import sunnylink from here, and it causes just circular dependency

* Enhance SunnylinkPanel functionality in off-road settings

This commit enhances the functionality of the SunnylinkPanel in the off-road settings of the SunnyPilot user interface. A paramWatcher is added to the SunnylinkPanel to observe "SunnylinkEnabled" parameter changes. Update functionalities are enhanced to handle showing and hiding of components based on various circumstances, such as whether the system is 'on-road' or 'off-road', and whether Sunnylink is enabled or not. The stopSunnylink and startSunnylink functions were also added to start or stop processes accordingly when Sunnylink is enabled or disabled. Additionally, the ui.h file is updated to efficiently handle Sunnylink roles and device users.

* Refactor SunnylinkPanel initialization and handling.

Reorganized SunnylinkPanel to improve structure and clarity by separating sunnylink client initialization and list widget setup. Enabled automatic sunnylink startup when the feature is enabled. Added minor formatting fixes for label display consistency.

* Add missing include for <optional> in ui.h

Including <optional> ensures compatibility with standard C++ features and prevents potential compilation errors. This addition aligns with best practices for maintaining robust and clean code.

* Updated setup_settings_sunnylink_sponsor_button and setup_settings_sunnylink_pair_button function signatures

Added an optional 'scroll' parameter to the setup_settings_sunnylink_sponsor_button and setup_settings_sunnylink_pair_button functions in the test_ui module. The modifications were made to allow for more flexible function usage by potentially enabling scroll operations during the execution of these UI setup steps.

* Enable Sunnylink initialization on panel show event

Begin Sunnylink connection automatically when the panel is displayed, ensuring the feature is active if enabled. Additionally, update the sponsor button text formatting for more concise styling.

* Translations

* Added checks for new UI files in PRs

The git workflow script `ui_preview.yaml` has been modified. The script now checks if the master branch contains a file corresponding to a UI file present in the PR. If a UI file in the PR does not have a match on the master branch, it is marked as new. These enhancements improve the comparison of UI changes between the master and PR branches, particularly with the identification of new UI files.

* cleanup

* duh

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/api/__init__.py                        |  13 +-
 common/params_keys.h                          |   2 +
 selfdrive/ui/qt/api.cc                        |  25 +--
 selfdrive/ui/qt/api.h                         |  13 +-
 selfdrive/ui/sunnypilot/SConscript            |  12 +-
 selfdrive/ui/sunnypilot/qt/api.cc             |  63 ++++++++
 selfdrive/ui/sunnypilot/qt/api.h              |  36 +++++
 .../qt/network/sunnylink/models/role_model.h  |  56 +++++++
 .../sunnylink/models/sponsor_role_model.h     |  83 ++++++++++
 .../qt/network/sunnylink/models/user_model.h  |  37 +++++
 .../sunnylink/services/base_device_service.cc |  57 +++++++
 .../sunnylink/services/base_device_service.h  |  31 ++++
 .../sunnylink/services/role_service.cc        |  36 +++++
 .../network/sunnylink/services/role_service.h |  32 ++++
 .../sunnylink/services/user_service.cc        |  42 ++++++
 .../network/sunnylink/services/user_service.h |  32 ++++
 .../qt/network/sunnylink/sunnylink_client.cc  |  14 ++
 .../qt/network/sunnylink/sunnylink_client.h   |  22 +++
 .../settings/sunnylink/sponsor_widget.cc      | 142 ++++++++++++++++++
 .../settings/sunnylink/sponsor_widget.h       |  48 ++++++
 .../qt/offroad/settings/sunnylink_panel.cc    | 131 +++++++++++++---
 .../qt/offroad/settings/sunnylink_panel.h     |  20 ++-
 .../ui/sunnypilot/qt/request_repeater.cc      |  41 +++++
 selfdrive/ui/sunnypilot/qt/request_repeater.h |  33 ++++
 selfdrive/ui/sunnypilot/ui.cc                 |  10 ++
 selfdrive/ui/sunnypilot/ui.h                  |  47 ++++++
 selfdrive/ui/tests/test_ui/run.py             |  12 ++
 selfdrive/ui/translations/main_ar.ts          |  85 ++++++++++-
 selfdrive/ui/translations/main_de.ts          |  83 ++++++++++
 selfdrive/ui/translations/main_es.ts          |  87 +++++++++++
 selfdrive/ui/translations/main_fr.ts          |  83 ++++++++++
 selfdrive/ui/translations/main_ja.ts          |  85 ++++++++++-
 selfdrive/ui/translations/main_ko.ts          |  85 ++++++++++-
 selfdrive/ui/translations/main_pt-BR.ts       |  85 ++++++++++-
 selfdrive/ui/translations/main_th.ts          |  83 ++++++++++
 selfdrive/ui/translations/main_tr.ts          |  83 ++++++++++
 selfdrive/ui/translations/main_zh-CHS.ts      |  85 ++++++++++-
 selfdrive/ui/translations/main_zh-CHT.ts      |  85 ++++++++++-
 38 files changed, 1969 insertions(+), 50 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/api.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/api.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/network/sunnylink/models/sponsor_role_model.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/network/sunnylink/models/user_model.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/network/sunnylink/services/base_device_service.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/network/sunnylink/services/base_device_service.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/network/sunnylink/services/role_service.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/network/sunnylink/services/role_service.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/request_repeater.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/request_repeater.h

diff --git a/common/api/__init__.py b/common/api/__init__.py
index 5542760802a198..3e238ccc7aefb1 100644
--- a/common/api/__init__.py
+++ b/common/api/__init__.py
@@ -1,13 +1,9 @@
 from openpilot.common.api.comma_connect import CommaConnectApi
-from sunnypilot.sunnylink.api import SunnylinkApi
 
 
 class Api:
-  def __init__(self, dongle_id, use_sunnylink=False):
-    if use_sunnylink:
-      self.service = SunnylinkApi(dongle_id)
-    else:
-      self.service = CommaConnectApi(dongle_id)
+  def __init__(self, dongle_id):
+    self.service = CommaConnectApi(dongle_id)
 
   def request(self, method, endpoint, **params):
     return self.service.request(method, endpoint, **params)
@@ -22,6 +18,5 @@ def get_token(self, expiry_hours=1):
     return self.service.get_token(expiry_hours)
 
 
-def api_get(endpoint, method='GET', timeout=None, access_token=None, use_sunnylink=False, **params):
-  return SunnylinkApi(None).api_get(endpoint, method, timeout, access_token, **params) if use_sunnylink \
-    else CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
+def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
+  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
diff --git a/common/params_keys.h b/common/params_keys.h
index 307f7ada4646f6..6bcf897c3e231d 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -144,6 +144,8 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     // sunnylink params
     {"EnableSunnylinkUploader", PERSISTENT | BACKUP},
     {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},
+    {"SunnylinkCache_Roles", PERSISTENT},
+    {"SunnylinkCache_Users", PERSISTENT},
     {"SunnylinkDongleId", PERSISTENT},
     {"SunnylinkdPid", PERSISTENT},
     {"SunnylinkEnabled", PERSISTENT},
diff --git a/selfdrive/ui/qt/api.cc b/selfdrive/ui/qt/api.cc
index 6889b40e51518b..85a3144bd22dc9 100644
--- a/selfdrive/ui/qt/api.cc
+++ b/selfdrive/ui/qt/api.cc
@@ -79,31 +79,36 @@ bool HttpRequest::timeout() const {
   return reply && reply->error() == QNetworkReply::OperationCanceledError;
 }
 
-void HttpRequest::sendRequest(const QString &requestURL, const HttpRequest::Method method) {
-  if (active()) {
-    qDebug() << "HttpRequest is active";
-    return;
-  }
+QNetworkRequest HttpRequest::prepareRequest(const QString &requestURL) {
+  QNetworkRequest request;
   QString token;
   if (create_jwt) {
-    token = CommaApi::create_jwt();
+    token = GetJwtToken();
   } else {
     QString token_json = QString::fromStdString(util::read_file(util::getenv("HOME") + "/.comma/auth.json"));
     QJsonDocument json_d = QJsonDocument::fromJson(token_json.toUtf8());
     token = json_d["access_token"].toString();
   }
 
-  QNetworkRequest request;
   request.setUrl(QUrl(requestURL));
-  request.setRawHeader("User-Agent", getUserAgent().toUtf8());
+  request.setRawHeader("User-Agent", GetUserAgent().toUtf8());
 
   if (!token.isEmpty()) {
     request.setRawHeader(QByteArray("Authorization"), ("JWT " + token).toUtf8());
   }
+  return request;
+}
 
-  if (method == HttpRequest::Method::GET) {
+void HttpRequest::sendRequest(const QString &requestURL, const Method method) {
+  if (active()) {
+    qDebug() << "HttpRequest is active";
+    return;
+  }
+  
+  QNetworkRequest request = prepareRequest(requestURL);
+  if (method == Method::GET) {
     reply = nam()->get(request);
-  } else if (method == HttpRequest::Method::DELETE) {
+  } else if (method == Method::DELETE) {
     reply = nam()->deleteResource(request);
   }
 
diff --git a/selfdrive/ui/qt/api.h b/selfdrive/ui/qt/api.h
index ad64d7e7228320..80b85f7ca7c891 100644
--- a/selfdrive/ui/qt/api.h
+++ b/selfdrive/ui/qt/api.h
@@ -5,6 +5,7 @@
 #include <QString>
 #include <QTimer>
 
+#include "util.h"
 #include "common/util.h"
 
 namespace CommaApi {
@@ -23,10 +24,11 @@ class HttpRequest : public QObject {
   Q_OBJECT
 
 public:
-  enum class Method {GET, DELETE};
+  enum class Method {GET, DELETE, POST, PUT};
 
   explicit HttpRequest(QObject* parent, bool create_jwt = true, int timeout = 20000);
-  void sendRequest(const QString &requestURL, const Method method = Method::GET);
+  virtual void sendRequest(const QString &requestURL, Method method);
+  void sendRequest(const QString &requestURL) { sendRequest(requestURL, Method::GET);}
   bool active() const;
   bool timeout() const;
 
@@ -35,13 +37,14 @@ class HttpRequest : public QObject {
 
 protected:
   QNetworkReply *reply = nullptr;
-
-private:
   static QNetworkAccessManager *nam();
   QTimer *networkTimer = nullptr;
   bool create_jwt;
+  virtual QNetworkRequest prepareRequest(const QString& requestURL);
+  [[nodiscard]] virtual QString GetJwtToken() const { return CommaApi::create_jwt(); }
+  [[nodiscard]] virtual QString GetUserAgent() const { return getUserAgent(); }
 
-private slots:
+protected slots:
   void requestTimeout();
   void requestFinished();
 };
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 2975450124a066..4ebfc10940cf97 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -1,4 +1,5 @@
 widgets_src = [
+  "sunnypilot/qt/request_repeater.cc",
   "sunnypilot/qt/widgets/toggle.cc",
   "sunnypilot/qt/widgets/controls.cc",
   "sunnypilot/qt/widgets/drive_stats.cc",
@@ -13,6 +14,7 @@ qt_util = [
 
 qt_src = [
   "sunnypilot/ui.cc",
+  "sunnypilot/qt/api.cc",
   "sunnypilot/qt/sidebar.cc",
   "sunnypilot/qt/window.cc",
   "sunnypilot/qt/home.cc",
@@ -21,6 +23,7 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/settings.cc",
   "sunnypilot/qt/offroad/settings/software_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
+  "sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc",
   "sunnypilot/qt/offroad/settings/sunnypilot_panel.cc",
   "sunnypilot/qt/offroad/settings/trips_panel.cc",
   "sunnypilot/qt/offroad/settings/vehicle_panel.cc",
@@ -35,11 +38,18 @@ sunnypilot_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc",
 ]
 
+network_src = [
+  "sunnypilot/qt/network/sunnylink/sunnylink_client.cc",
+  "sunnypilot/qt/network/sunnylink/services/base_device_service.cc",
+  "sunnypilot/qt/network/sunnylink/services/role_service.cc",
+  "sunnypilot/qt/network/sunnylink/services/user_service.cc",
+]
+
 vehicle_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc",
 ]
 
-sp_widgets_src = widgets_src
+sp_widgets_src = widgets_src + network_src
 sp_qt_src = qt_src + sunnypilot_panel_qt_src + vehicle_panel_qt_src
 sp_qt_util = qt_util
 
diff --git a/selfdrive/ui/sunnypilot/qt/api.cc b/selfdrive/ui/sunnypilot/qt/api.cc
new file mode 100644
index 00000000000000..d75d8d39f0cc20
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/api.cc
@@ -0,0 +1,63 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/api.h"
+
+#include <QApplication>
+#include <QJsonDocument>
+
+#include "util.h"
+#include "selfdrive/ui/qt/util.h"
+
+namespace SunnylinkApi {
+  QString create_jwt(const QJsonObject &payloads, int expiry, bool sunnylink) {
+    QJsonObject header = {{"alg", "RS256"}};
+
+    auto t = QDateTime::currentSecsSinceEpoch();
+    auto dongle_id = sunnylink ? getSunnylinkDongleId() : getDongleId();
+    QJsonObject payload = {{"identity", dongle_id.value_or("")}, {"nbf", t}, {"iat", t}, {"exp", t + expiry}};
+    for (auto it = payloads.begin(); it != payloads.end(); ++it) {
+      payload.insert(it.key(), it.value());
+    }
+
+    auto b64_opts = QByteArray::Base64UrlEncoding | QByteArray::OmitTrailingEquals;
+    QString jwt = QJsonDocument(header).toJson(QJsonDocument::Compact).toBase64(b64_opts) + '.' +
+                  QJsonDocument(payload).toJson(QJsonDocument::Compact).toBase64(b64_opts);
+
+    auto hash = QCryptographicHash::hash(jwt.toUtf8(), QCryptographicHash::Sha256);
+    return jwt + "." + CommaApi::rsa_sign(hash).toBase64(b64_opts);
+  }
+} // namespace SunnylinkApi
+
+void HttpRequestSP::sendRequest(const QString& requestURL, Method method, const QByteArray& payload) {
+  if (active()) {
+    return;
+  }
+  QNetworkRequest request = prepareRequest(requestURL);
+
+  if(!payload.isEmpty() && (method == Method::POST || method == Method::PUT)) {
+    request.setHeader(QNetworkRequest::ContentTypeHeader, "application/json");
+  }
+
+  switch (method) {
+    case Method::GET:
+      reply = nam()->get(request);
+      break;
+    case Method::DELETE:
+      reply = nam()->deleteResource(request);
+      break;
+    case Method::POST:
+      reply = nam()->post(request, payload);
+      break;
+    case Method::PUT:
+      reply = nam()->put(request, payload);
+      break;
+  }
+
+  networkTimer->start();
+  connect(reply, &QNetworkReply::finished, this, &HttpRequestSP::requestFinished);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/api.h b/selfdrive/ui/sunnypilot/qt/api.h
new file mode 100644
index 00000000000000..592b2e668f62f2
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/api.h
@@ -0,0 +1,36 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/api.h"
+#include "selfdrive/ui/sunnypilot/qt/util.h"
+#include "common/util.h"
+
+namespace SunnylinkApi {
+  QByteArray rsa_encrypt(const QByteArray& data);
+  QByteArray rsa_decrypt(const QByteArray& data);
+  QString create_jwt(const QJsonObject& payloads = {}, int expiry = 3600, bool sunnylink = false);
+}
+
+class HttpRequestSP : public HttpRequest {
+  Q_OBJECT
+
+public:
+  explicit HttpRequestSP(QObject* parent, bool create_jwt = true, int timeout = 20000, bool sunnylink = false) :
+    HttpRequest(parent, create_jwt, timeout), sunnylink(sunnylink) {}
+
+  using HttpRequest::sendRequest;
+  void sendRequest(const QString& requestURL, Method method, const QByteArray& payload);
+
+private:
+  bool sunnylink;
+
+protected:
+  [[nodiscard]] QString GetJwtToken() const override { return SunnylinkApi::create_jwt({}, 3600, sunnylink); }
+  [[nodiscard]] QString GetUserAgent() const override { return getUserAgent(sunnylink); }
+};
diff --git a/selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h b/selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h
new file mode 100644
index 00000000000000..04b4dccf14131f
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h
@@ -0,0 +1,56 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QJsonObject>
+
+enum class RoleType {
+  ReadOnly,
+  Sponsor,
+  Admin
+};
+
+// haha, a role model xD
+class RoleModel {
+protected:
+  QJsonObject m_raw_json_object;
+
+public:
+  RoleType roleType;
+
+  explicit RoleModel(const RoleType &roleType) : roleType(roleType) { m_raw_json_object = toJson(); }
+  explicit RoleModel(const QJsonObject &json) : RoleModel(stringToRoleType(json["role_type"].toString())) { m_raw_json_object = json; }
+
+  [[nodiscard]] QJsonObject toJson() const {
+    QJsonObject json;
+    json["role_type"] = roleTypeToString(roleType);
+    return json;
+  }
+
+  static RoleType stringToRoleType(const QString &roleTypeString) {
+    if (roleTypeString == "ReadOnly") return RoleType::ReadOnly;
+    if (roleTypeString == "Sponsor")  return RoleType::Sponsor;
+
+    return RoleType::Admin;  // Default to Admin
+  }
+
+  static QString roleTypeToString(const RoleType &roleType) {
+    switch (roleType) {
+      case RoleType::ReadOnly:
+        return "ReadOnly";
+      case RoleType::Sponsor:
+        return "Sponsor";
+      default:  // RoleType::Admin
+        return "Admin";
+    }
+  }
+
+  template <typename T, typename = typename std::enable_if<std::is_base_of<RoleModel, T>::value>::type> T as() const {
+    return T(m_raw_json_object);
+  }
+};
diff --git a/selfdrive/ui/sunnypilot/qt/network/sunnylink/models/sponsor_role_model.h b/selfdrive/ui/sunnypilot/qt/network/sunnylink/models/sponsor_role_model.h
new file mode 100644
index 00000000000000..7e1772b591c731
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/network/sunnylink/models/sponsor_role_model.h
@@ -0,0 +1,83 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QJsonObject>
+
+enum class SponsorTier {
+  Free,
+  Novice,
+  Supporter,
+  Contributor,
+  Benefactor,
+  Guardian,
+};
+
+// haha, a role model xD
+class SponsorRoleModel final : RoleModel {
+public:
+  SponsorTier roleTier;
+
+  explicit SponsorRoleModel(const RoleType &roleType, const SponsorTier &roleTier) : RoleModel(roleType), roleTier(roleTier) {}
+  explicit SponsorRoleModel(const QJsonObject &json) : RoleModel(json), roleTier(stringToSponsorTier(json["role_tier"].toString())) {}
+
+  [[nodiscard]] QJsonObject toJson() const {
+    QJsonObject json = RoleModel::toJson();
+    json["role_tier"] = sponsorTierToString(roleTier);
+    return json;
+  }
+
+  static SponsorTier stringToSponsorTier(const QString &sponsorTierString) {
+    const auto sponsorTierStringLower = sponsorTierString.toLower();
+    if (sponsorTierStringLower == "guardian")    return SponsorTier::Guardian;
+    if (sponsorTierStringLower == "novice")      return SponsorTier::Novice;
+    if (sponsorTierStringLower == "supporter")   return SponsorTier::Supporter;
+    if (sponsorTierStringLower == "contributor") return SponsorTier::Contributor;
+    if (sponsorTierStringLower == "benefactor")  return SponsorTier::Benefactor;
+
+    // Default to Free
+    return SponsorTier::Free;
+  }
+
+  static QString sponsorTierToString(const SponsorTier &sponsorTier) {
+    switch (sponsorTier) {
+      case SponsorTier::Guardian:
+        return "Guardian";
+      case SponsorTier::Novice:
+        return "Novice";
+      case SponsorTier::Supporter:
+        return "Supporter";
+      case SponsorTier::Contributor:
+        return "Contributor";
+      case SponsorTier::Benefactor:
+        return "Benefactor";
+
+      default:  // SponsorTier::Free
+        return "Free";
+    }
+  }
+  [[nodiscard]] auto getSponsorTierString() const { return sponsorTierToString(roleTier); }
+
+  static QString sponsorTierToColor(const SponsorTier &sponsorTier) {
+    switch (sponsorTier) {
+      case SponsorTier::Guardian:
+        return "gold";
+      case SponsorTier::Benefactor:
+        return "mediumseagreen";
+      case SponsorTier::Contributor:
+        return "steelblue";
+      case SponsorTier::Supporter:
+        return "mediumpurple";
+      case SponsorTier::Novice:
+        return "white";
+      default:  // SponsorTier::Free
+        return "silver";
+    }
+  }
+  [[nodiscard]] auto getSponsorTierColor() const { return sponsorTierToColor(roleTier); }
+};
diff --git a/selfdrive/ui/sunnypilot/qt/network/sunnylink/models/user_model.h b/selfdrive/ui/sunnypilot/qt/network/sunnylink/models/user_model.h
new file mode 100644
index 00000000000000..4d255ac8e353fa
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/network/sunnylink/models/user_model.h
@@ -0,0 +1,37 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QJsonObject>
+
+class UserModel {
+public:
+  QString device_id;
+  QString user_id;
+  qint64 created_at;
+  qint64 updated_at;
+  QString token_hash;
+
+  explicit UserModel(const QJsonObject &json) {
+    device_id = json["device_id"].toString();
+    user_id = json["user_id"].toString();
+    created_at = json["created_at"].toInt();
+    updated_at = json["updated_at"].toInt();
+    token_hash = json["token_hash"].toString();
+  }
+
+  [[nodiscard]] QJsonObject toJson() const {
+    QJsonObject json;
+    json["device_id"] = device_id;
+    json["user_id"] = user_id;
+    json["created_at"] = created_at;
+    json["updated_at"] = updated_at;
+    json["token_hash"] = token_hash;
+    return json;
+  }
+};
diff --git a/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/base_device_service.cc b/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/base_device_service.cc
new file mode 100644
index 00000000000000..3919a1821fd7bf
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/base_device_service.cc
@@ -0,0 +1,57 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink//services/base_device_service.h"
+
+#include "selfdrive/ui/sunnypilot/qt/request_repeater.h"
+
+#include "common/swaglog.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
+
+BaseDeviceService::BaseDeviceService(QObject* parent) : QObject(parent) {
+  param_watcher = new ParamWatcher(this);
+  connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
+    paramsRefresh();
+  });
+  param_watcher->addParam("SunnylinkEnabled");
+}
+
+void BaseDeviceService::paramsRefresh() {
+}
+
+void BaseDeviceService::loadDeviceData(const QString &url, bool poll) {
+  if (!is_sunnylink_enabled()) {
+    LOGW("Sunnylink is not enabled, refusing to load data.");
+    return;
+  }
+
+  auto sl_dongle_id = getSunnylinkDongleId();
+  if (!sl_dongle_id.has_value())
+    return;
+
+  QString fullUrl = SUNNYLINK_BASE_URL + "/device/" + *sl_dongle_id + url;
+  if (poll && !isCurrentyPolling()) {
+    LOGD("Polling %s", qPrintable(fullUrl));
+    LOGD("Cache key: SunnylinkCache_%s", qPrintable(QString(getCacheKey())));
+    repeater = new RequestRepeaterSP(this, fullUrl, "SunnylinkCache_" + getCacheKey(), 60, false, true);
+    connect(repeater, &RequestRepeaterSP::requestDone, this, &BaseDeviceService::handleResponse);
+  } else if (isCurrentyPolling()) {
+    repeater->ForceUpdate();
+  } else {
+    LOGD("Sending one-time %s", qPrintable(fullUrl));
+    initial_request = new HttpRequestSP(this, true, 10000, true);
+    connect(initial_request, &HttpRequestSP::requestDone, this, &BaseDeviceService::handleResponse);
+  }
+}
+
+void BaseDeviceService::stopPolling() {
+  if (repeater != nullptr) {
+    repeater->deleteLater();
+    repeater = nullptr;
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/base_device_service.h b/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/base_device_service.h
new file mode 100644
index 00000000000000..8ef99d101337ed
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/base_device_service.h
@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/request_repeater.h"
+#include "selfdrive/ui/qt/util.h"
+
+class BaseDeviceService : public QObject {
+  Q_OBJECT
+
+protected:
+  void paramsRefresh();
+  void loadDeviceData(const QString &url, bool poll = false);
+  virtual void handleResponse(const QString &response, bool success) = 0;
+
+  static bool is_sunnylink_enabled() { return Params().getBool("SunnylinkEnabled");}
+  ParamWatcher* param_watcher;
+  HttpRequestSP* initial_request = nullptr;
+  RequestRepeaterSP* repeater = nullptr;
+
+public:
+  explicit BaseDeviceService(QObject* parent = nullptr);
+  virtual QString getCacheKey() const = 0;
+  bool isCurrentyPolling() {return repeater != nullptr;}
+  void stopPolling();
+};
diff --git a/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/role_service.cc b/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/role_service.cc
new file mode 100644
index 00000000000000..bffe32839f4d16
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/role_service.cc
@@ -0,0 +1,36 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/services/role_service.h"
+
+#include <QJsonArray>
+#include <QJsonDocument>
+
+RoleService::RoleService(QObject* parent) : BaseDeviceService(parent) {}
+
+void RoleService::load() {
+  loadDeviceData(url);
+}
+
+void RoleService::startPolling() {
+  loadDeviceData(url, true);
+}
+
+void RoleService::handleResponse(const QString &response, bool success) {
+  if (!success) return;
+
+  QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8());
+  QJsonArray jsonArray = doc.array();
+
+  std::vector<RoleModel> roles;
+  for (const auto &value : jsonArray) {
+    roles.emplace_back(value.toObject());
+  }
+
+  emit rolesReady(roles);
+  uiStateSP()->setSunnylinkRoles(roles);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/role_service.h b/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/role_service.h
new file mode 100644
index 00000000000000..abd0e1ab83c25b
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/role_service.h
@@ -0,0 +1,32 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <vector>
+
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/services/base_device_service.h"
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h"
+
+class RoleService : public BaseDeviceService {
+  Q_OBJECT
+
+public:
+  explicit RoleService(QObject* parent = nullptr);
+  void load();
+  void startPolling();
+  [[nodiscard]] QString getCacheKey() const final { return "Roles"; }
+
+signals:
+  void rolesReady(const std::vector<RoleModel> &roles);
+
+protected:
+  void handleResponse(const QString&response, bool success) override;
+
+private:
+  QString url = "/roles";
+};
diff --git a/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.cc b/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.cc
new file mode 100644
index 00000000000000..cd16360c26fb95
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.cc
@@ -0,0 +1,42 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.h"
+
+#include <QJsonArray>
+#include <QJsonDocument>
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+
+UserService::UserService(QObject* parent) : BaseDeviceService(parent) {
+  url = "/users";
+}
+
+void UserService::load() {
+  loadDeviceData(url);
+}
+
+void UserService::startPolling() {
+  loadDeviceData(url, true);
+}
+
+void UserService::handleResponse(const QString &response, bool success) {
+  if (!success) {
+    return;
+  }
+
+  QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8());
+  QJsonArray jsonArray = doc.array();
+
+  std::vector<UserModel> users;
+  for (const auto &value : jsonArray) {
+    users.emplace_back(value.toObject());
+  }
+
+  emit usersReady(users);
+  uiStateSP()->setSunnylinkDeviceUsers(users);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.h b/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.h
new file mode 100644
index 00000000000000..90eb354751c8d4
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.h
@@ -0,0 +1,32 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <vector>
+
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/services/base_device_service.h"
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/user_model.h"
+
+class UserService : public BaseDeviceService {
+  Q_OBJECT
+
+public:
+  explicit UserService(QObject* parent = nullptr);
+  void load();
+  void startPolling();
+  [[nodiscard]] QString getCacheKey() const final { return "Users"; };
+
+signals:
+  void usersReady(const std::vector<UserModel>&users);
+
+protected:
+  void handleResponse(const QString&response, bool success) override;
+
+private:
+  QString url = "/users";
+};
diff --git a/selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.cc b/selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.cc
new file mode 100644
index 00000000000000..4428eb55c49492
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.cc
@@ -0,0 +1,14 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.h"
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.h"
+
+SunnylinkClient::SunnylinkClient(QObject* parent) : QObject(parent) {
+  role_service = new RoleService(parent);
+  user_service = new UserService(parent);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.h b/selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.h
new file mode 100644
index 00000000000000..09614499265ad3
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.h
@@ -0,0 +1,22 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QObject>
+
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/services/role_service.h"
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.h"
+
+class SunnylinkClient : public QObject {
+  Q_OBJECT
+
+public:
+  explicit SunnylinkClient(QObject* parent);
+  RoleService* role_service;
+  UserService* user_service;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc
new file mode 100644
index 00000000000000..7b5ce48238050b
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc
@@ -0,0 +1,142 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.h"
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/api.h"
+#include "selfdrive/ui/sunnypilot/qt/util.h"
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.h"
+
+// Sponsor Upsell
+using qrcodegen::QrCode;
+
+SunnylinkSponsorQRWidget::SunnylinkSponsorQRWidget(bool sponsor_pair, QWidget* parent) : QWidget(parent), sponsor_pair(sponsor_pair) {
+  timer = new QTimer(this);
+  connect(timer, &QTimer::timeout, this, &SunnylinkSponsorQRWidget::refresh);
+}
+
+void SunnylinkSponsorQRWidget::showEvent(QShowEvent *event) {
+  refresh();
+  timer->start(5 * 60 * 1000);
+  device()->setOffroadBrightness(100);
+}
+
+void SunnylinkSponsorQRWidget::hideEvent(QHideEvent *event) {
+  timer->stop();
+  device()->setOffroadBrightness(BACKLIGHT_OFFROAD);
+}
+
+void SunnylinkSponsorQRWidget::refresh() {
+  QString qrString;
+
+  if (sponsor_pair) {
+    QString token = SunnylinkApi::create_jwt({}, 3600, true);
+    auto sl_dongle_id = getSunnylinkDongleId();
+    QByteArray payload = QString("1|" + sl_dongle_id.value_or("") + "|" + token).toUtf8().toBase64();
+    qrString = SUNNYLINK_BASE_URL + "/sso?state=" + payload;
+  } else {
+    qrString = "https://github.com/sponsors/sunnyhaibin";
+  }
+
+  this->updateQrCode(qrString);
+  update();
+}
+
+void SunnylinkSponsorQRWidget::updateQrCode(const QString &text) {
+  QrCode qr = QrCode::encodeText(text.toUtf8().data(), QrCode::Ecc::LOW);
+  qint32 sz = qr.getSize();
+  QImage im(sz, sz, QImage::Format_RGB32);
+
+  QRgb black = qRgb(0, 0, 0);
+  QRgb white = qRgb(255, 255, 255);
+  for (int y = 0; y < sz; y++) {
+    for (int x = 0; x < sz; x++) {
+      im.setPixel(x, y, qr.getModule(x, y) ? black : white);
+    }
+  }
+
+  // Integer division to prevent anti-aliasing
+  int final_sz = ((width() / sz) - 1) * sz;
+  img = QPixmap::fromImage(im.scaled(final_sz, final_sz, Qt::KeepAspectRatio), Qt::MonoOnly);
+}
+
+void SunnylinkSponsorQRWidget::paintEvent(QPaintEvent *e) {
+  QPainter p(this);
+  p.fillRect(rect(), Qt::white);
+
+  QSize s = (size() - img.size()) / 2;
+  p.drawPixmap(s.width(), s.height(), img);
+}
+
+QStringList SunnylinkSponsorPopup::getInstructions(bool sponsor_pair) {
+  QStringList instructions;
+  if (sponsor_pair) {
+    instructions << tr("Scan the QR code to login to your GitHub account")
+                 << tr("Follow the prompts to complete the pairing process")
+                 << tr("Re-enter the \"sunnylink\" panel to verify sponsorship status")
+                 << tr("If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot");
+  } else {
+    instructions << tr("Scan the QR code to visit sunnyhaibin's GitHub Sponsors page")
+                 << tr("Choose your sponsorship tier and confirm your support")
+                 << tr("Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status");
+  }
+  return instructions;
+}
+
+SunnylinkSponsorPopup::SunnylinkSponsorPopup(bool sponsor_pair, QWidget *parent) : DialogBase(parent), sponsor_pair(sponsor_pair) {
+  auto *hlayout = new QHBoxLayout(this);
+  auto sunnylink_client = new SunnylinkClient(this);
+  hlayout->setContentsMargins(0, 0, 0, 0);
+  hlayout->setSpacing(0);
+
+  setStyleSheet("SunnylinkSponsorPopup { background-color: #E0E0E0; }");
+
+  // text
+  auto vlayout = new QVBoxLayout();
+  vlayout->setContentsMargins(85, 70, 50, 70);
+  vlayout->setSpacing(50);
+  hlayout->addLayout(vlayout, 1);
+  {
+    auto close = new QPushButton(QIcon(":/icons/close.svg"), "", this);
+    close->setIconSize(QSize(80, 80));
+    close->setStyleSheet("border: none;");
+    vlayout->addWidget(close, 0, Qt::AlignLeft);
+    connect(close, &QPushButton::clicked, this, [=] {
+      sunnylink_client->role_service->load();
+      sunnylink_client->user_service->load();
+      QDialog::reject();
+    });
+
+    //vlayout->addSpacing(30);
+
+    const QString titleText = sponsor_pair ? tr("Pair your GitHub account") : tr("Early Access: Become a sunnypilot Sponsor");
+    const auto title = new QLabel(titleText, this);
+    title->setStyleSheet("font-size: 75px; color: black;");
+    title->setWordWrap(true);
+    vlayout->addWidget(title);
+
+    QStringList instructions = getInstructions(sponsor_pair);
+    QString instructionsHtml = "<ol type='1' style='margin-left: 15px;'>";
+    for (const auto & instruction : instructions) {
+      instructionsHtml += QString("<li style='margin-bottom: 50px;'>%1</li>").arg(instruction);
+    }
+    instructionsHtml += "</ol>";
+    const auto instructionsLabel = new QLabel(instructionsHtml, this);
+
+
+    instructionsLabel->setStyleSheet("font-size: 47px; font-weight: bold; color: black;");
+    instructionsLabel->setWordWrap(true);
+    vlayout->addWidget(instructionsLabel);
+
+    vlayout->addStretch();
+  }
+
+  // QR code
+  auto *qr = new SunnylinkSponsorQRWidget(sponsor_pair, this);
+  hlayout->addWidget(qr, 1);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.h
new file mode 100644
index 00000000000000..9f15a6084fba62
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.h
@@ -0,0 +1,48 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QrCode.hpp>
+#include <QtCore/qjsonobject.h>
+
+#include "common/util.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+const QString SUNNYLINK_BASE_URL = util::getenv("SUNNYLINK_API_HOST", "https://stg.api.sunnypilot.ai").c_str();
+
+class SunnylinkSponsorQRWidget : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit SunnylinkSponsorQRWidget(bool sponsor_pair = false, QWidget* parent = 0);
+  void paintEvent(QPaintEvent*) override;
+
+private:
+  QPixmap img;
+  QTimer *timer;
+  void updateQrCode(const QString &text);
+  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override;
+
+  bool sponsor_pair = false;
+
+private slots:
+  void refresh();
+};
+
+// sponsor popup widget
+class SunnylinkSponsorPopup : public DialogBase {
+  Q_OBJECT
+
+public:
+  explicit SunnylinkSponsorPopup(bool sponsor_pair = false, QWidget* parent = 0);
+
+private:
+  static QStringList getInstructions(bool sponsor_pair);
+  bool sponsor_pair = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
index 12ae2209f2e2a3..706e89ddf07213 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
@@ -12,12 +12,26 @@
 
 SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   main_layout = new QStackedLayout(this);
-  ListWidget *list = new ListWidget(this, false);
+  sunnylink_client = new SunnylinkClient(this);
+  param_watcher = new ParamWatcher(this);
+  param_watcher->addParam("SunnylinkEnabled");
+  connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
+    paramsRefresh(param_name, param_value);
+  });
+
+  is_sunnylink_enabled = Params().getBool("SunnylinkEnabled");
+  connect(uiStateSP(), &UIStateSP::sunnylinkRolesChanged, this, &SunnylinkPanel::updatePanel);
+  connect(uiStateSP(), &UIStateSP::sunnylinkDeviceUsersChanged, this, &SunnylinkPanel::updatePanel);
+  connect(uiStateSP(), &UIStateSP::offroadTransition, [=](bool offroad) {
+    is_onroad = !offroad;
+    updatePanel();
+  });
 
   sunnylinkScreen = new QWidget(this);
-  QVBoxLayout *vlayout = new QVBoxLayout(sunnylinkScreen);
+  auto vlayout = new QVBoxLayout(sunnylinkScreen);
   vlayout->setContentsMargins(50, 20, 50, 20);
 
+  auto *list = new ListWidget(this, false);
   QString sunnylinkEnabledBtnDesc = tr("This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.");
   sunnylinkEnabledBtn = new ParamControl(
     "SunnylinkEnabled",
@@ -26,23 +40,47 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
     "");
   list->addItem(sunnylinkEnabledBtn);
 
+  status_popup = new SunnylinkSponsorPopup(false, this);
+  sponsorBtn = new ButtonControlSP(
+    tr("Sponsor Status"), tr("SPONSOR"),
+    tr("Become a sponsor of sunnypilot to get early access to sunnylink features when they become available."));
+  list->addItem(sponsorBtn);
+  connect(sponsorBtn, &ButtonControlSP::clicked, [=]() {
+    status_popup->exec();
+  });
+  list->addItem(horizontal_line());
+
+  pair_popup = new SunnylinkSponsorPopup(true, this);
+  pairSponsorBtn = new ButtonControlSP(
+    tr("Pair GitHub Account"), tr("PAIR"),
+    tr("Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.") + "🌟");
+  list->addItem(pairSponsorBtn);
+  connect(pairSponsorBtn, &ButtonControlSP::clicked, [=]() {
+    if (getSunnylinkDongleId().value_or(tr("N/A")) == "N/A") {
+      ConfirmationDialog::alert(tr("sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again."), this);
+    } else {
+      pair_popup->exec();
+    }
+  });
+  list->addItem(horizontal_line());
+
   connect(sunnylinkEnabledBtn, &ParamControl::showDescriptionEvent, [=]() {
     // resets the description to the default one for the Easter egg
     sunnylinkEnabledBtn->setDescription(sunnylinkEnabledBtnDesc);
   });
 
   connect(sunnylinkEnabledBtn, &ParamControl::toggleFlipped, [=](bool enabled) {
+    QString description;
     if (enabled) {
-      auto proud_description = "<font color='SeaGreen'>"+ tr("🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀")+ "</font>";
-      sunnylinkEnabledBtn->showDescription();
-      sunnylinkEnabledBtn->setDescription(proud_description);
+      description = "<font color='SeaGreen'>"+ tr("🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀")+ "</font>";
     } else {
-      auto shame_description = "<font color='orange'>"+ tr("👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉.")+ "</font>";
-      sunnylinkEnabledBtn->showDescription();
-      sunnylinkEnabledBtn->setDescription(shame_description);
+      description = "<font color='orange'>"+ tr("👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉.")+ "</font>";
+
     }
+    sunnylinkEnabledBtn->showDescription();
+    sunnylinkEnabledBtn->setDescription(description);
 
-    updatePanel(offroad);
+    updatePanel();
   });
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &SunnylinkPanel::updatePanel);
@@ -51,22 +89,81 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   vlayout->addWidget(sunnylinkScroller);
 
   main_layout->addWidget(sunnylinkScreen);
+
+  if (is_sunnylink_enabled) {
+    startSunnylink();
+  }
+}
+
+void SunnylinkPanel::paramsRefresh(const QString &param_name, const QString &param_value) {
+  // We do it on paramsRefresh because the toggleEvent happens before the value is updated
+  if (param_name == "SunnylinkEnabled" && param_value == "1") {
+    startSunnylink();
+  } else if (param_name == "SunnylinkEnabled" && param_value == "0") {
+    stopSunnylink();
+  }
+
+  updatePanel();
+}
+
+void SunnylinkPanel::startSunnylink() const {
+  if (!sunnylink_client->role_service->isCurrentyPolling()) {
+    sunnylink_client->role_service->startPolling();
+  } else {
+    sunnylink_client->role_service->load();
+  }
+
+  if (!sunnylink_client->user_service->isCurrentyPolling()) {
+    sunnylink_client->user_service->startPolling();
+  } else {
+    sunnylink_client->user_service->load();
+  }
+}
+
+void SunnylinkPanel::stopSunnylink() const {
+  sunnylink_client->role_service->stopPolling();
+  sunnylink_client->user_service->stopPolling();
 }
 
 void SunnylinkPanel::showEvent(QShowEvent *event) {
-  updatePanel(offroad);
+  updatePanel();
+  if (is_sunnylink_enabled) {
+      startSunnylink();
+  }
 }
 
-void SunnylinkPanel::updatePanel(bool _offroad) {
-  QString sunnylink_device_id = tr("Device ID") + "  " + getSunnylinkDongleId().value_or(tr("N/A"));
+void SunnylinkPanel::updatePanel() {
+  if (!isVisible()) {
+    return;
+  }
+
+  const auto sunnylinkDongleId = getSunnylinkDongleId().value_or(tr("N/A"));
+  sunnylinkEnabledBtn->setEnabled(!is_onroad);
 
-  sunnylinkEnabledBtn->setEnabled(_offroad);
+  is_sunnylink_enabled = Params().getBool("SunnylinkEnabled");
+  bool is_sub = uiStateSP()->isSunnylinkSponsor() && is_sunnylink_enabled;
+  auto max_current_sponsor_rule = uiStateSP()->sunnylinkSponsorRole();
+  auto role_name = max_current_sponsor_rule.getSponsorTierString();
+  std::optional role_color = max_current_sponsor_rule.getSponsorTierColor();
+  bool is_paired = uiStateSP()->isSunnylinkPaired();
+  auto paired_users = uiStateSP()->sunnylinkDeviceUsers();
 
-  if (sunnylinkEnabledBtn->isToggled()) {
-    sunnylinkEnabledBtn->setValue(sunnylink_device_id);
-  } else {
+  sunnylinkEnabledBtn->setEnabled(!is_onroad);
+  sunnylinkEnabledBtn->setValue(tr("Device ID") + " " + sunnylinkDongleId);
+
+  sponsorBtn->setEnabled(!is_onroad && is_sunnylink_enabled);
+  sponsorBtn->setText(is_sub ? tr("THANKS ♥")/* + " ♥�"*/ : tr("SPONSOR"));
+  sponsorBtn->setValue(is_sub ? tr(role_name.toStdString().c_str()) : tr("Not Sponsor"), role_color);
+
+  pairSponsorBtn->setEnabled(!is_onroad && is_sunnylink_enabled);
+  pairSponsorBtn->setValue(is_paired ? tr("Paired") : tr("Not Paired"));
+
+
+  if (!is_sunnylink_enabled) {
     sunnylinkEnabledBtn->setValue("");
+    sponsorBtn->setValue("");
+    pairSponsorBtn->setValue("");
   }
 
-  offroad = _offroad;
+  update();
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h
index 824a081af33a94..d231757e366d9e 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h
@@ -7,7 +7,10 @@
 
 #pragma once
 
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.h"
+
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
 class SunnylinkPanel : public QFrame {
@@ -16,16 +19,29 @@ class SunnylinkPanel : public QFrame {
 public:
   explicit SunnylinkPanel(QWidget *parent = nullptr);
   void showEvent(QShowEvent *event) override;
+  void paramsRefresh(const QString&param_name, const QString&param_value);
 
 public slots:
-  void updatePanel(bool _offroad);
+  void updatePanel();
 
 private:
   Params params;
   QStackedLayout *main_layout = nullptr;
   QWidget *sunnylinkScreen = nullptr;
   ScrollViewSP *sunnylinkScroller = nullptr;
-  bool offroad;
+  SunnylinkSponsorPopup *status_popup;
+  SunnylinkSponsorPopup *pair_popup;
+  ButtonControlSP* sponsorBtn;
+  ButtonControlSP* pairSponsorBtn;
+  SunnylinkClient* sunnylink_client;
 
   ParamControl *sunnylinkEnabledBtn;
+  bool is_onroad = false;
+  bool is_backup = false;
+  bool is_restore = false;
+  bool is_sunnylink_enabled = false;
+  ParamWatcher *param_watcher;
+  QString sunnylinkBtnDescription;
+  void stopSunnylink() const;
+  void startSunnylink() const;
 };
diff --git a/selfdrive/ui/sunnypilot/qt/request_repeater.cc b/selfdrive/ui/sunnypilot/qt/request_repeater.cc
new file mode 100644
index 00000000000000..e137d5617278c4
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/request_repeater.cc
@@ -0,0 +1,41 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/request_repeater.h"
+
+RequestRepeaterSP::RequestRepeaterSP(QObject *parent, const QString &requestURL, const QString &cacheKey,
+                                 int period, bool whileOnroad, bool sunnylink) : HttpRequestSP(parent, true, 20000, sunnylink) {
+  request_url = requestURL;
+  while_onroad = whileOnroad;
+  timer = new QTimer(this);
+  timer->setTimerType(Qt::VeryCoarseTimer);
+  connect(timer, &QTimer::timeout, [=]() { this->timerTick(); });
+  timer->start(period * 1000);
+
+  if (!cacheKey.isEmpty()) {
+    prevResp = QString::fromStdString(params.get(cacheKey.toStdString()));
+    if (!prevResp.isEmpty()) {
+      QTimer::singleShot(500, [=]() { emit requestDone(prevResp, true, QNetworkReply::NoError); });
+    }
+    connect(this, &HttpRequest::requestDone, [=](const QString &resp, bool success) {
+      if (success && resp != prevResp) {
+        params.put(cacheKey.toStdString(), resp.toStdString());
+        prevResp = resp;
+      }
+    });
+  }
+
+  // Don't wait for the timer to fire to send the first request
+  ForceUpdate();
+}
+
+void RequestRepeaterSP::timerTick() {
+  if ((!uiState()->scene.started || while_onroad) && device()->isAwake() && !active()) {
+    LOGD("Sending request for %s", qPrintable(request_url));
+    sendRequest(request_url);
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/request_repeater.h b/selfdrive/ui/sunnypilot/qt/request_repeater.h
new file mode 100644
index 00000000000000..0cdb370f9b836e
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/request_repeater.h
@@ -0,0 +1,33 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/request_repeater.h"
+
+#include "common/swaglog.h"
+#include "common/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/api.h"
+
+class RequestRepeaterSP : public HttpRequestSP {
+
+private:
+  Params params;
+  QTimer *timer;
+  QString prevResp;
+  QString request_url;
+  bool while_onroad;
+  void timerTick();
+
+public:
+  RequestRepeaterSP(QObject *parent, const QString &requestURL, const QString &cacheKey = "", int period = 0, bool whileOnroad=false, bool sunnylink = false);
+  void ForceUpdate() {
+    LOGD("Forcing update for %s", qPrintable(request_url));
+    timerTick();
+  }
+};
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index 37da83949b57cf..e27771b9bb5a46 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -48,6 +48,16 @@ UIStateSP *uiStateSP() {
   return &ui_state;
 }
 
+void UIStateSP::setSunnylinkRoles(const std::vector<RoleModel>& roles) {
+  sunnylinkRoles = roles;
+  emit sunnylinkRolesChanged(roles);
+}
+
+void UIStateSP::setSunnylinkDeviceUsers(const std::vector<UserModel>& users) {
+  sunnylinkUsers = users;
+  emit sunnylinkDeviceUsersChanged(users);
+}
+
 DeviceSP *deviceSP() {
   static DeviceSP _device;
   return &_device;
diff --git a/selfdrive/ui/sunnypilot/ui.h b/selfdrive/ui/sunnypilot/ui.h
index 65c92379695295..08e1d37b0f343a 100644
--- a/selfdrive/ui/sunnypilot/ui.h
+++ b/selfdrive/ui/sunnypilot/ui.h
@@ -7,6 +7,11 @@
 
 #pragma once
 
+#include <optional>
+
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/user_model.h"
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h"
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/sponsor_role_model.h"
 #include "selfdrive/ui/ui.h"
 
 class UIStateSP : public UIState {
@@ -15,12 +20,54 @@ class UIStateSP : public UIState {
 public:
   UIStateSP(QObject *parent = 0);
   void updateStatus() override;
+  void setSunnylinkRoles(const std::vector<RoleModel> &roles);
+  void setSunnylinkDeviceUsers(const std::vector<UserModel> &users);
+
+  inline std::vector<RoleModel> sunnylinkDeviceRoles() const { return sunnylinkRoles; }
+  inline bool isSunnylinkAdmin() const {
+    return std::any_of(sunnylinkRoles.begin(), sunnylinkRoles.end(), [](const RoleModel &role) {
+      return role.roleType == RoleType::Admin;
+    });
+  }
+  inline bool isSunnylinkSponsor() const {
+    return std::any_of(sunnylinkRoles.begin(), sunnylinkRoles.end(), [](const RoleModel &role) {
+      return role.roleType == RoleType::Sponsor && role.as<SponsorRoleModel>().roleTier != SponsorTier::Free;
+    });
+  }
+  inline SponsorRoleModel sunnylinkSponsorRole() const {
+    std::optional<SponsorRoleModel> sponsorRoleWithHighestTier = std::nullopt;
+    for (const auto &role : sunnylinkRoles) {
+      if(role.roleType != RoleType::Sponsor)
+        continue;
+
+      if (auto sponsorRole = role.as<SponsorRoleModel>(); !sponsorRoleWithHighestTier.has_value() || sponsorRoleWithHighestTier->roleTier < sponsorRole.roleTier) {
+        sponsorRoleWithHighestTier = sponsorRole;
+      }
+    }
+    return sponsorRoleWithHighestTier.value_or(SponsorRoleModel(RoleType::Sponsor, SponsorTier::Free));
+  }
+  inline SponsorTier sunnylinkSponsorTier() const {
+    return sunnylinkSponsorRole().roleTier;
+  }
+  inline std::vector<UserModel> sunnylinkDeviceUsers() const { return sunnylinkUsers; }
+  inline bool isSunnylinkPaired() const {
+    return std::any_of(sunnylinkUsers.begin(), sunnylinkUsers.end(), [](const UserModel &user) {
+      return user.user_id.toLower() != "unregisteredsponsor" && user.user_id.toLower() != "temporarysponsor";
+    });
+  }
 
 signals:
+  void sunnylinkRoleChanged(bool subscriber);
+  void sunnylinkRolesChanged(std::vector<RoleModel> roles);
+  void sunnylinkDeviceUsersChanged(std::vector<UserModel> users);
   void uiUpdate(const UIStateSP &s);
 
 private slots:
   void update() override;
+
+private:
+  std::vector<RoleModel> sunnylinkRoles = {};
+  std::vector<UserModel> sunnylinkUsers = {};
 };
 
 UIStateSP *uiStateSP();
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index f371c7bbae726e..f3fd6aa9151b65 100755
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -207,6 +207,16 @@ def setup_settings_sunnylink(click, pm: PubMaster, scroll=None):
   click(278, 522)
   time.sleep(UI_DELAY)
 
+def setup_settings_sunnylink_sponsor_button(click, pm: PubMaster, scroll=None):
+  setup_settings_sunnylink(click, pm)
+  click(1967, 225)
+  time.sleep(UI_DELAY)
+
+def setup_settings_sunnylink_pair_button(click, pm: PubMaster, scroll=None):
+  setup_settings_sunnylink(click, pm)
+  click(1967, 432)
+  time.sleep(UI_DELAY)
+
 def setup_settings_sunnypilot(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
   click(278, 852)
@@ -268,6 +278,8 @@ def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
 
 CASES.update({
   "settings_sunnylink": setup_settings_sunnylink,
+  "settings_sunnylink_sponsor_button": setup_settings_sunnylink_sponsor_button,
+  "settings_sunnylink_pair_button": setup_settings_sunnylink_pair_button,
   "settings_sunnypilot": setup_settings_sunnypilot,
   "settings_sunnypilot_mads": setup_settings_sunnypilot_mads,
   "settings_trips": setup_settings_trips,
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 40c61f8cd4d6d9..4cb648dc3d00b8 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -981,7 +981,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Firehose</source>
-        <translation type="unfinished"></translation>
+        <translation type="unfinished">خرطوم الحريق</translation>
     </message>
 </context>
 <context>
@@ -1450,6 +1450,89 @@ This may take up to a minute.</source>
         <source>N/A</source>
         <translation type="unfinished">غير متاح</translation>
     </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">إقران</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 773a354d9ecedc..5a994c4ad67280 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -1428,6 +1428,89 @@ This may take up to a minute.</source>
         <source>N/A</source>
         <translation type="unfinished">Nicht verfügbar</translation>
     </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 5e3b854f8c5f2c..77b1ecb6e438b9 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -1428,6 +1428,93 @@ Esto puede tardar un minuto.</translation>
         <source>N/A</source>
         <translation type="unfinished">N/A</translation>
     </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished">Estado de patrocinio</translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished">PATROCINADOR</translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished">Conviértete en patrocinador de sunnypilot para obtener acceso anticipado a las funciones de sunnylink cuando estén disponibles.</translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished">Emparejar cuenta de GitHub</translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">EMPAREJAR</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished">Empareja tu cuenta de GitHub para otorgar a tu dispositivo beneficios de patrocinador, incluido acceso a la API en sunnylink.</translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished">ID del dongle de sunnylink no encontrado. Esto puede deberse a una conexión débil o a un problema de registro en sunnylink. Por favor, reinicia y vuelve a intentarlo.</translation>
+    </message>
+    <message>
+        <source>THANKS</source>
+        <translation type="obsolete">GRACIAS</translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished">No patrocinador</translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished">Emparejado</translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished">No emparejado</translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished">GRACIAS ♥</translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished">Escanea el código QR para iniciar sesión en tu cuenta de GitHub</translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished">Sigue las indicaciones para completar el proceso de emparejamiento</translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished">Vuelve a ingresar al panel de &quot;sunnylink&quot; para verificar el estado de patrocinio</translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished">Si el estado de patrocinio no se actualizó, por favor contacta a un moderador en Discord en https://discord.gg/sunnypilot</translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished">Escanea el código QR para visitar la página de GitHub Sponsors de sunnyhaibin</translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished">Elige tu nivel de patrocinio y confirma tu apoyo</translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished">Únete a nuestra comunidad en Discord en https://discord.gg/sunnypilot y contacta a un moderador para confirmar tu estado de patrocinio</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished">Empareja tu cuenta de GitHub</translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished">Acceso temprano: conviértete en patrocinador de sunnypilot</translation>
+    </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 88484e6220c479..94ebdb0a15b9d8 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -1428,6 +1428,89 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>N/A</source>
         <translation type="unfinished">N/A</translation>
     </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">ASSOCIER</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 0cda3f4c737a6c..1c6ab9a8b40db8 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -954,7 +954,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Firehose</source>
-        <translation type="unfinished"></translation>
+        <translation type="unfinished">データ学習</translation>
     </message>
 </context>
 <context>
@@ -1423,6 +1423,89 @@ This may take up to a minute.</source>
         <source>N/A</source>
         <translation type="unfinished">該当��</translation>
     </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">OK</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 7e190c12b026ab..3286cc081f58fc 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -956,7 +956,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Firehose</source>
-        <translation type="unfinished"></translation>
+        <translation type="unfinished">파�어호스</translation>
     </message>
 </context>
 <context>
@@ -1425,6 +1425,89 @@ This may take up to a minute.</source>
         <source>N/A</source>
         <translation type="unfinished">N/A</translation>
     </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">�기화</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 742da57160d8fc..7a18c35989d6dd 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -961,7 +961,7 @@ Isso pode levar até um minuto.</translation>
     </message>
     <message>
         <source>Firehose</source>
-        <translation type="unfinished"></translation>
+        <translation type="unfinished">Firehose</translation>
     </message>
 </context>
 <context>
@@ -1430,6 +1430,89 @@ Isso pode levar até um minuto.</translation>
         <source>N/A</source>
         <translation type="unfinished">N/A</translation>
     </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">PAREAR</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 4a66da11563c92..abb3088dfe6194 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -1423,6 +1423,89 @@ This may take up to a minute.</source>
         <source>N/A</source>
         <translation type="unfinished">ไม่มี</translation>
     </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">จับคู่</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 6a344607fdcdaf..4e0e93c708ed0b 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -1421,6 +1421,89 @@ This may take up to a minute.</source>
         <source>N/A</source>
         <translation type="unfinished">N/A</translation>
     </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index dd98792569fdf8..caa32b4f2b394c 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -954,7 +954,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Firehose</source>
-        <translation type="unfinished"></translation>
+        <translation type="unfinished">训练上传</translation>
     </message>
 </context>
 <context>
@@ -1423,6 +1423,89 @@ This may take up to a minute.</source>
         <source>N/A</source>
         <translation type="unfinished">N/A</translation>
     </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">�对</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 25c5afbdfc80f4..da6e52702a6cb2 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -954,7 +954,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Firehose</source>
-        <translation type="unfinished"></translation>
+        <translation type="unfinished">訓練上傳</translation>
     </message>
 </context>
 <context>
@@ -1423,6 +1423,89 @@ This may take up to a minute.</source>
         <source>N/A</source>
         <translation type="unfinished">無法使用</translation>
     </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">��</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>

From 42871f7a9d20363244c944a6b17baf4e09eb3991 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 16 Mar 2025 19:53:53 -0400
Subject: [PATCH 0129/1434] pandad: dedicated aligned buffer for
 deserialization (#671)

* pandad: dedicated aligned buffer for deserialization

* ide pls
---
 selfdrive/pandad/panda_safety.cc | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/pandad/panda_safety.cc b/selfdrive/pandad/panda_safety.cc
index ef9b459e5bf7d7..48589c4146e99b 100644
--- a/selfdrive/pandad/panda_safety.cc
+++ b/selfdrive/pandad/panda_safety.cc
@@ -64,10 +64,12 @@ std::vector<std::string> PandaSafety::fetchCarParams() {
 // TODO-SP: Use structs instead of vector
 void PandaSafety::setSafetyMode(const std::vector<std::string> &params_string) {
   AlignedBuffer aligned_buf;
+  AlignedBuffer aligned_buf_sp;
+
   capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params_string[0].data(), params_string[0].size()));
   cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
 
-  capnp::FlatArrayMessageReader cmsg_sp(aligned_buf.align(params_string[1].data(), params_string[1].size()));
+  capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(params_string[1].data(), params_string[1].size()));
   cereal::CarParamsSP::Reader car_params_sp = cmsg_sp.getRoot<cereal::CarParamsSP>();
 
   auto safety_configs = car_params.getSafetyConfigs();

From b95140666bdb3376b35d39587db2411d4e3c4675 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 17 Mar 2025 00:20:13 -0400
Subject: [PATCH 0130/1434] ci: remove sunnylink pairing QR code from UI
 preview (#673)

---
 selfdrive/ui/tests/test_ui/run.py | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index f3fd6aa9151b65..797a5f70b711fd 100755
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -212,11 +212,6 @@ def setup_settings_sunnylink_sponsor_button(click, pm: PubMaster, scroll=None):
   click(1967, 225)
   time.sleep(UI_DELAY)
 
-def setup_settings_sunnylink_pair_button(click, pm: PubMaster, scroll=None):
-  setup_settings_sunnylink(click, pm)
-  click(1967, 432)
-  time.sleep(UI_DELAY)
-
 def setup_settings_sunnypilot(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
   click(278, 852)
@@ -279,7 +274,6 @@ def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
 CASES.update({
   "settings_sunnylink": setup_settings_sunnylink,
   "settings_sunnylink_sponsor_button": setup_settings_sunnylink_sponsor_button,
-  "settings_sunnylink_pair_button": setup_settings_sunnylink_pair_button,
   "settings_sunnypilot": setup_settings_sunnypilot,
   "settings_sunnypilot_mads": setup_settings_sunnypilot_mads,
   "settings_trips": setup_settings_trips,

From 4a04819d964ec6360e2e1fc80c614fe4b8bdf01d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 17 Mar 2025 00:36:32 -0400
Subject: [PATCH 0131/1434] Redirect license to LICENSE.md (#672)

* Redirect license to LICENSE.md

* bump
---
 opendbc_repo                                  |  2 +-
 .../ui/sunnypilot/qt/network/networking.h     |  2 +-
 sunnypilot/mads/helpers.py                    | 23 ++-----------------
 sunnypilot/mads/mads.py                       | 23 ++-----------------
 sunnypilot/mads/state.py                      | 23 ++-----------------
 .../mads/tests/test_mads_state_machine.py     | 23 ++-----------------
 sunnypilot/modeld/runners/run_helpers.py      | 10 ++++----
 sunnypilot/models/fetcher.py                  | 10 ++++----
 sunnypilot/models/helpers.py                  | 10 ++++----
 sunnypilot/models/manager.py                  | 10 ++++----
 .../models/tests/model_manager_audit.py       | 10 ++++----
 11 files changed, 40 insertions(+), 106 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 9b83f9519db61c..9fbd19d3a6d45f 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 9b83f9519db61c96facb5e20b35d69c13ef3bd91
+Subproject commit 9fbd19d3a6d45f5cd0bb979e0b1d2e2247246b85
diff --git a/selfdrive/ui/sunnypilot/qt/network/networking.h b/selfdrive/ui/sunnypilot/qt/network/networking.h
index 3370751bf58b1f..f220b8a50a848a 100644
--- a/selfdrive/ui/sunnypilot/qt/network/networking.h
+++ b/selfdrive/ui/sunnypilot/qt/network/networking.h
@@ -1,5 +1,5 @@
 /**
-* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
  *
  * This file is part of sunnypilot and is licensed under the MIT License.
  * See the LICENSE.md file in the root directory for more details.
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index 8a7ffe80ec0e00..46f65c999ba366 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -1,27 +1,8 @@
 """
-The MIT License
-
 Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
-Last updated: July 29, 2024
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
 """
 
 from openpilot.common.params import Params
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 9e53a8eeed629d..991e345ce8762a 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -1,27 +1,8 @@
 """
-The MIT License
-
 Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
-Last updated: July 29, 2024
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
 """
 
 from cereal import car, log, custom
diff --git a/sunnypilot/mads/state.py b/sunnypilot/mads/state.py
index e3acf3a0e09ea9..89ae506ac88c46 100644
--- a/sunnypilot/mads/state.py
+++ b/sunnypilot/mads/state.py
@@ -1,27 +1,8 @@
 """
-The MIT License
-
 Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
-Last updated: July 29, 2024
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
 """
 
 from cereal import log, custom
diff --git a/sunnypilot/mads/tests/test_mads_state_machine.py b/sunnypilot/mads/tests/test_mads_state_machine.py
index 546893d285875f..51013b0bafcf08 100644
--- a/sunnypilot/mads/tests/test_mads_state_machine.py
+++ b/sunnypilot/mads/tests/test_mads_state_machine.py
@@ -1,27 +1,8 @@
 """
-The MIT License
-
 Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
-Last updated: July 29, 2024
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
 """
 
 import pytest
diff --git a/sunnypilot/modeld/runners/run_helpers.py b/sunnypilot/modeld/runners/run_helpers.py
index cc4c6445834260..5470106f1d959f 100644
--- a/sunnypilot/modeld/runners/run_helpers.py
+++ b/sunnypilot/modeld/runners/run_helpers.py
@@ -1,7 +1,9 @@
-# Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-#
-# This file is part of sunnypilot and is licensed under the MIT License.
-# See the LICENSE.md file in the root directory for more details.
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
 
 import os
 import pickle
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index f543b00a791ba8..d9aa54aa88c653 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -1,7 +1,9 @@
-# Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-#
-# This file is part of sunnypilot and is licensed under the MIT License.
-# See the LICENSE.md file in the root directory for more details.
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
 
 import json
 import time
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index 915f1a42069086..dbdef55900bde0 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -1,7 +1,9 @@
-# Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-#
-# This file is part of sunnypilot and is licensed under the MIT License.
-# See the LICENSE.md file in the root directory for more details.
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
 
 import hashlib
 import os
diff --git a/sunnypilot/models/manager.py b/sunnypilot/models/manager.py
index 06705bd5ce8fef..5fbad6cd8e6736 100644
--- a/sunnypilot/models/manager.py
+++ b/sunnypilot/models/manager.py
@@ -1,7 +1,9 @@
-# Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-#
-# This file is part of sunnypilot and is licensed under the MIT License.
-# See the LICENSE.md file in the root directory for more details.
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
 
 import asyncio
 import os
diff --git a/sunnypilot/models/tests/model_manager_audit.py b/sunnypilot/models/tests/model_manager_audit.py
index 1a1ea38e5bb0e5..4cd2b7d78ecd4f 100644
--- a/sunnypilot/models/tests/model_manager_audit.py
+++ b/sunnypilot/models/tests/model_manager_audit.py
@@ -1,7 +1,9 @@
-# Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-#
-# This file is part of sunnypilot and is licensed under the MIT License.
-# See the LICENSE.md file in the root directory for more details.
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
 
 from cereal import messaging, custom
 

From 3177142bfcb7555976b3de2f092ba0d7e93002d5 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 17 Mar 2025 03:49:27 -0400
Subject: [PATCH 0132/1434] ci: update existing comment during Squash and Merge
 (#674)

* format

* ci: update existing comment during Squash and Merge

* dynamic target branch

* test label

* try again

* no f

* test

* should be edit-last

* quote

* fix arg

* final

* bold it

* revert
---
 release/ci/squash_and_merge_prs.py | 276 ++++++++++++++++-------------
 1 file changed, 155 insertions(+), 121 deletions(-)

diff --git a/release/ci/squash_and_merge_prs.py b/release/ci/squash_and_merge_prs.py
index 28ffd5fc3a235b..3abe06705acba3 100755
--- a/release/ci/squash_and_merge_prs.py
+++ b/release/ci/squash_and_merge_prs.py
@@ -9,155 +9,189 @@
 
 
 def setup_argument_parser():
-    parser = argparse.ArgumentParser(description='Process and squash GitHub PRs')
-    parser.add_argument('--pr-data', type=str, help='PR data in JSON format')
-    parser.add_argument('--source-branch', type=str, default='master-new',
-                        help='Source branch for merging')
-    parser.add_argument('--target-branch', type=str, default='master-dev-c3-new-test',
-                        help='Target branch for merging')
-    parser.add_argument('--squash-script-path', type=str, required=True,
-                        help='Path to the squash_and_merge.py script')
-    return parser
+  parser = argparse.ArgumentParser(description='Process and squash GitHub PRs')
+  parser.add_argument('--pr-data', type=str, help='PR data in JSON format')
+  parser.add_argument('--source-branch', type=str, default='master-new',
+                      help='Source branch for merging')
+  parser.add_argument('--target-branch', type=str, default='master-dev-c3-new-test',
+                      help='Target branch for merging')
+  parser.add_argument('--squash-script-path', type=str, required=True,
+                      help='Path to the squash_and_merge.py script')
+  return parser
 
 
 def validate_squash_script(script_path):
-    if not os.path.isfile(script_path):
-        raise FileNotFoundError(f"Squash script not found at: {script_path}")
-    if not os.access(script_path, os.X_OK):
-        raise PermissionError(f"Squash script is not executable: {script_path}")
+  if not os.path.isfile(script_path):
+    raise FileNotFoundError(f"Squash script not found at: {script_path}")
+  if not os.access(script_path, os.X_OK):
+    raise PermissionError(f"Squash script is not executable: {script_path}")
 
 
 def sort_prs_by_creation(pr_data):
-    """Sort PRs by creation date"""
-    nodes = (pr_data.get('data', {}).get('search', {}).get('nodes', []))
+  """Sort PRs by creation date"""
+  nodes = (pr_data.get('data', {}).get('search', {}).get('nodes', []))
 
-    return sorted(
-        nodes,
-        key=lambda x: datetime.fromisoformat(x.get('createdAt', '').replace('Z', '+00:00'))
-    )
+  return sorted(
+    nodes,
+    key=lambda x: datetime.fromisoformat(x.get('createdAt', '').replace('Z', '+00:00'))
+  )
 
 
 def add_pr_comment(pr_number, comment):
-    """Add a comment to a PR using gh cli"""
-    try:
-        subprocess.run(
-            ['gh', 'pr', 'comment', str(pr_number), '--body', comment],
-            check=True,
-            capture_output=True,
-            text=True
-        )
-    except subprocess.CalledProcessError as e:
-        print(f"Failed to add comment to PR #{pr_number}: {e.stderr}")
+  """Add or update a comment to a PR using gh cli"""
+  title = "## Squash and Merge"
+
+  try:
+    result = subprocess.run(
+      ['gh', 'pr', 'view', str(pr_number), '--json', 'comments'],
+      check=True,
+      capture_output=True,
+      text=True
+    )
+
+    comments_data = json.loads(result.stdout)
+    has_existing_comment = False
+
+    for pr_comment in comments_data['comments']:
+      if pr_comment['body'].startswith(title):
+        has_existing_comment = True
+        break
+
+    full_comment = f"{title}\n\n{comment}"
+
+    if has_existing_comment:
+      subprocess.run(
+        ['gh', 'pr', 'comment', '--edit-last', f"#{pr_number}", '--body', full_comment],
+        check=True,
+        capture_output=True,
+        text=True
+      )
+    else:
+      subprocess.run(
+        ['gh', 'pr', 'comment', f"#{pr_number}", '--body', full_comment],
+        check=True,
+        capture_output=True,
+        text=True
+      )
+
+  except subprocess.CalledProcessError as e:
+    print(f"Failed to add/update comment on PR #{pr_number}: {e.stderr}")
+  except json.JSONDecodeError:
+    print(f"Failed to parse comments data for PR #{pr_number}")
+
 
 
 def validate_pr(pr):
-    """Validate a PR and return (is_valid, skip_reason)"""
-    pr_number = pr.get('number', 'UNKNOWN')
-    branch = pr.get('headRefName', '')
+  """Validate a PR and return (is_valid, skip_reason)"""
+  pr_number = pr.get('number', 'UNKNOWN')
+  branch = pr.get('headRefName', '')
 
-    if not branch:
-        return False, f"Missing branch name for PR #{pr_number}"
+  if not branch:
+    return False, f"missing branch name for PR #{pr_number}"
 
-    # Check if checks have passed
-    commits = pr.get('commits', {}).get('nodes', [])
-    if not commits:
-        return False, "No commit data found"
+  # Check if checks have passed
+  commits = pr.get('commits', {}).get('nodes', [])
+  if not commits:
+    return False, "no commit data found"
 
-    status = commits[0].get('commit', {}).get('statusCheckRollup', {})
-    if not status or status.get('state') != 'SUCCESS':
-        return False, "Not all checks have passed"
+  status = commits[0].get('commit', {}).get('statusCheckRollup', {})
+  if not status or status.get('state') != 'SUCCESS':
+    return False, "not all checks have passed"
 
-    # Check for merge conflicts
-    merge_status = subprocess.run(['gh', 'pr', 'view', str(pr_number), '--json', 'mergeable,mergeStateStatus'], capture_output=True, text=True)
-    merge_data = json.loads(merge_status.stdout)
-    if not merge_data.get('mergeable'):
-        return False, "Merge conflicts detected"
+  # Check for merge conflicts
+  merge_status = subprocess.run(['gh', 'pr', 'view', str(pr_number), '--json', 'mergeable,mergeStateStatus'],
+                                capture_output=True, text=True)
+  merge_data = json.loads(merge_status.stdout)
+  if not merge_data.get('mergeable'):
+    return False, "merge conflicts detected"
 
-    if (mergeStateStatus := merge_data.get('mergeStateStatus')) == "BEHIND":
-        return False, f"Branch is `{mergeStateStatus}`"
+  if (mergeStateStatus := merge_data.get('mergeStateStatus')) == "BEHIND":
+    return False, f"branch is `{mergeStateStatus}`"
 
-    return True, None
+  return True, None
 
 
 def process_pr(pr_data, source_branch, target_branch, squash_script_path):
-    try:
-        nodes = sort_prs_by_creation(pr_data)
-        if not nodes:
-            print("No PRs to squash")
-            return 0
-
-        print(f"Deleting target branch {target_branch}")
-        subprocess.run(['git', 'branch', '-D', target_branch], check=False)
-        subprocess.run(['git', 'branch', target_branch, f'origin/{source_branch}'], check=True)
-        success_count = 0
-        for pr in nodes:
-            pr_number = pr.get('number', 'UNKNOWN')
-            branch = pr.get('headRefName', '')
-            title = pr.get('title', '')
-            is_valid, skip_reason = validate_pr(pr)
-
-            if not is_valid:
-                print(f"Warning: {skip_reason} for PR #{pr_number}, skipping")
-                add_pr_comment(pr_number, f"⚠� This PR was skipped in the automated `{target_branch}` squash because {skip_reason}.")
-                continue
-
-            try:
-                # Fetch PR branch
-                subprocess.run(['git', 'fetch', 'origin', branch], check=True)
-                # Delete branch if it exists (ignore errors if it doesn't)
-                subprocess.run(['git', 'branch', '-D', branch], check=False)
-                # Create new branch pointing to origin's branch
-                subprocess.run(['git', 'branch', branch, f'origin/{branch}'], check=True)
-
-                # Run squash script
-                subprocess.run([
-                    squash_script_path,
-                    '--target', target_branch,
-                    '--source', branch,
-                    '--title', f"{title} (#{pr_number})",
-                ], check=True)
-
-                print(f"Successfully processed PR #{pr_number}")
-                success_count += 1
-
-            except subprocess.CalledProcessError as e:
-                print(f"Error processing PR #{pr_number}:")
-                print(f"Command failed with exit code {e.returncode}")
-                error_output = getattr(e, 'stderr', 'No error output available')
-                print(f"Error output: {error_output}")
-                add_pr_comment(pr_number, f"⚠� Error during automated {target_branch} squash:\n```\n{error_output}\n```")
-                continue
-            except Exception as e:
-                print(f"Unexpected error processing PR #{pr_number}: {str(e)}")
-                continue
-
-        return success_count
-
-    except Exception as e:
-        import traceback
-        print(f"Error in process_pr: {str(e)}")
-        print("Full traceback:")
-        print(traceback.format_exc())
-        return 0
+  try:
+    nodes = sort_prs_by_creation(pr_data)
+    if not nodes:
+      print("No PRs to squash")
+      return 0
+
+    print(f"Deleting target branch {target_branch}")
+    subprocess.run(['git', 'branch', '-D', target_branch], check=False)
+    subprocess.run(['git', 'branch', target_branch, f'origin/{source_branch}'], check=True)
+    success_count = 0
+    for pr in nodes:
+      pr_number = pr.get('number', 'UNKNOWN')
+      branch = pr.get('headRefName', '')
+      title = pr.get('title', '')
+      is_valid, skip_reason = validate_pr(pr)
+
+      if not is_valid:
+        print(f"Warning: {skip_reason} for PR #{pr_number}, skipping")
+        add_pr_comment(pr_number,
+                       f"⚠� This PR was skipped in the automated `{target_branch}` squash because **{skip_reason}**.")
+        continue
+
+      try:
+        # Fetch PR branch
+        subprocess.run(['git', 'fetch', 'origin', branch], check=True)
+        # Delete branch if it exists (ignore errors if it doesn't)
+        subprocess.run(['git', 'branch', '-D', branch], check=False)
+        # Create new branch pointing to origin's branch
+        subprocess.run(['git', 'branch', branch, f'origin/{branch}'], check=True)
+
+        # Run squash script
+        subprocess.run([
+          squash_script_path,
+          '--target', target_branch,
+          '--source', branch,
+          '--title', f"{title} (#{pr_number})",
+        ], check=True)
+
+        print(f"Successfully processed PR #{pr_number}")
+        success_count += 1
+
+      except subprocess.CalledProcessError as e:
+        print(f"Error processing PR #{pr_number}:")
+        print(f"Command failed with exit code {e.returncode}")
+        error_output = getattr(e, 'stderr', 'No error output available')
+        print(f"Error output: {error_output}")
+        add_pr_comment(pr_number,
+                       f"⚠� Error during automated `{target_branch}` squash:\n```\n{error_output}\n```")
+        continue
+      except Exception as e:
+        print(f"Unexpected error processing PR #{pr_number}: {str(e)}")
+        continue
+
+    return success_count
+
+  except Exception as e:
+    import traceback
+    print(f"Error in process_pr: {str(e)}")
+    print("Full traceback:")
+    print(traceback.format_exc())
+    return 0
 
 
 def main():
-    parser = setup_argument_parser()
-    try:
-        args = parser.parse_args()
-        validate_squash_script(args.squash_script_path)
-        pr_data_json = json.loads(args.pr_data)
+  parser = setup_argument_parser()
+  try:
+    args = parser.parse_args()
+    validate_squash_script(args.squash_script_path)
+    pr_data_json = json.loads(args.pr_data)
 
-        # Process the PRs
-        success_count = process_pr(pr_data_json, args.source_branch, args.target_branch, args.squash_script_path)
-        print(f"Successfully processed {success_count} PRs")
+    # Process the PRs
+    success_count = process_pr(pr_data_json, args.source_branch, args.target_branch, args.squash_script_path)
+    print(f"Successfully processed {success_count} PRs")
 
-    except Exception as e:
-        print(f"Fatal error: {str(e)}", file=sys.stderr)
-        return 1
+  except Exception as e:
+    print(f"Fatal error: {str(e)}", file=sys.stderr)
+    return 1
 
-    return 0
+  return 0
 
 
 if __name__ == "__main__":
-    sys.exit(main())
+  sys.exit(main())

From 6ad4ebdae64e7e7ecdee6463e40f3af53d461bc6 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 19 Mar 2025 00:45:53 -0400
Subject: [PATCH 0133/1434] MADS: cleanup param assignments (#683)

---
 selfdrive/car/card.py      |  6 ++---
 sunnypilot/mads/helpers.py | 54 +++++++++++++++++---------------------
 sunnypilot/mads/mads.py    | 16 +++++------
 3 files changed, 34 insertions(+), 42 deletions(-)

diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 39344f485ffff4..33c229958d1509 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -24,7 +24,7 @@
 from openpilot.selfdrive.car.car_specific import MockCarState
 from openpilot.selfdrive.car.helpers import convert_carControlSP, convert_to_capnp
 
-from openpilot.sunnypilot.mads.mads import MadsParams
+from openpilot.sunnypilot.mads.helpers import set_alternative_experience, set_car_specific_params
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
 
 REPLAY = "REPLAY" in os.environ
@@ -126,8 +126,8 @@ def __init__(self, CI=None, RI=None) -> None:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
     # mads
-    MadsParams().set_alternative_experience(self.CP)
-    MadsParams().set_car_specific_params(self.CP, self.CP_SP)
+    set_alternative_experience(self.CP, self.params)
+    set_car_specific_params(self.CP, self.CP_SP, self.params)
 
     # Dynamic Experimental Control
     self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index 46f65c999ba366..831a75699e9e00 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -6,43 +6,37 @@
 """
 
 from openpilot.common.params import Params
-
+from opendbc.car import structs
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP
 
 
-class MadsParams:
-  def __init__(self):
-    self.params = Params()
-
-  def read_param(self, key: str):
-    return self.params.get_bool(key)
+def set_alternative_experience(CP: structs.CarParams, params: Params):
+  enabled = params.get_bool("Mads")
+  pause_lateral_on_brake = params.get_bool("MadsPauseLateralOnBrake")
 
-  def set_alternative_experience(self, CP):
-    enabled = self.read_param("Mads")
-    pause_lateral_on_brake = self.read_param("MadsPauseLateralOnBrake")
+  if enabled:
+    CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
 
-    if enabled:
-      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
+    if pause_lateral_on_brake:
+      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISENGAGE_LATERAL_ON_BRAKE
 
-      if pause_lateral_on_brake:
-        CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISENGAGE_LATERAL_ON_BRAKE
 
-  def set_car_specific_params(self, CP, CP_SP):
-    if CP.brand == "hyundai":
-      # TODO-SP: This should be separated from MADS module for future implementations
-      #          Use "HyundaiLongitudinalMainCruiseToggleable" param
-      hyundai_cruise_main_toggleable = True
-      if hyundai_cruise_main_toggleable:
-        CP_SP.flags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
-        CP_SP.safetyParam |= HyundaiSafetyFlagsSP.LONG_MAIN_CRUISE_TOGGLEABLE
+def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
+  if CP.brand == "hyundai":
+    # TODO-SP: This should be separated from MADS module for future implementations
+    #          Use "HyundaiLongitudinalMainCruiseToggleable" param
+    hyundai_cruise_main_toggleable = True
+    if hyundai_cruise_main_toggleable:
+      CP_SP.flags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
+      CP_SP.safetyParam |= HyundaiSafetyFlagsSP.LONG_MAIN_CRUISE_TOGGLEABLE
 
-    # MADS is currently not supported in Tesla due to lack of consistent states to engage controls
-    # TODO-SP: To enable MADS for Tesla, identify consistent signals for MADS toggling
-    if CP.brand == "tesla":
-      self.params.remove("Mads")
+  # MADS is currently not supported in Tesla due to lack of consistent states to engage controls
+  # TODO-SP: To enable MADS for Tesla, identify consistent signals for MADS toggling
+  if CP.brand == "tesla":
+    params.remove("Mads")
 
-    # MADS is currently not supported in Rivian due to lack of consistent states to engage controls
-    # TODO-SP: To enable MADS for Rivian, identify consistent signals for MADS toggling
-    if CP.brand == "rivian":
-      self.params.remove("Mads")
+  # MADS is currently not supported in Rivian due to lack of consistent states to engage controls
+  # TODO-SP: To enable MADS for Rivian, identify consistent signals for MADS toggling
+  if CP.brand == "rivian":
+    params.remove("Mads")
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 991e345ce8762a..632ca7f2a4bbf1 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -8,8 +8,6 @@
 from cereal import car, log, custom
 
 from opendbc.car.hyundai.values import HyundaiFlags
-
-from openpilot.sunnypilot.mads.helpers import MadsParams
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -24,7 +22,7 @@
 
 class ModularAssistiveDrivingSystem:
   def __init__(self, selfdrive):
-    self.mads_params = MadsParams()
+    self.params = selfdrive.params
 
     self.enabled = False
     self.active = False
@@ -41,14 +39,14 @@ def __init__(self, selfdrive):
         self.allow_always = True
 
     # read params on init
-    self.enabled_toggle = self.mads_params.read_param("Mads")
-    self.main_enabled_toggle = self.mads_params.read_param("MadsMainCruiseAllowed")
-    self.pause_lateral_on_brake_toggle = self.mads_params.read_param("MadsPauseLateralOnBrake")
-    self.unified_engagement_mode = self.mads_params.read_param("MadsUnifiedEngagementMode")
+    self.enabled_toggle = self.params.get_bool("Mads")
+    self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
+    self.pause_lateral_on_brake_toggle = self.params.get_bool("MadsPauseLateralOnBrake")
+    self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def read_params(self):
-    self.main_enabled_toggle = self.mads_params.read_param("MadsMainCruiseAllowed")
-    self.unified_engagement_mode = self.mads_params.read_param("MadsUnifiedEngagementMode")
+    self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
+    self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def update_events(self, CS: car.CarState):
     def update_unified_engagement_mode():

From ad67bdc853e380f44a80413744171e389fe78607 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 19 Mar 2025 10:11:07 -0400
Subject: [PATCH 0134/1434] ci: disable prebuilts on pull requests (#685)

---
 .github/workflows/sunnypilot-build-prebuilt.yaml | 2 --
 1 file changed, 2 deletions(-)

diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 8bb84cda83ece4..cbe2b73be30c04 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -21,8 +21,6 @@ on:
   push:
     branches: [ master, master-new, master-dev-c3-new ]
     tags: [ '*' ]
-  pull_request:
-    branches: [ master, master-new ]
   workflow_dispatch:
     inputs:
       extra_version:

From 4525659a7eb56b3a37332479b1c7490c83d1e504 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 19 Mar 2025 13:57:15 -0400
Subject: [PATCH 0135/1434] MADS: Steering Mode on Brake Pedal Press (#684)

* MADS: cleanup param assignments

* MADS: Steering Mode on Brake Pedal Press

* bump opendbc

* translations

* make sure to initialize

* ci try this

* Revert "ci try this"

This reverts commit da975f61c34752cdad8a7dc7f08b196d2e8e2bf4.

* Revert "translations"

This reverts commit a65aad59114d40cf1486146fedc10c3683241b9c.
---
 common/params_keys.h                          |  2 +-
 opendbc_repo                                  |  2 +-
 selfdrive/pandad/pandad.cc                    |  4 ++--
 .../settings/sunnypilot/mads_settings.cc      | 18 +++++++++-------
 .../settings/sunnypilot/mads_settings.h       |  2 +-
 sunnypilot/mads/helpers.py                    | 21 ++++++++++++++++---
 sunnypilot/mads/mads.py                       | 13 +++++++++---
 system/manager/manager.py                     |  2 +-
 8 files changed, 44 insertions(+), 20 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 6bcf897c3e231d..d88189d4322eea 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -132,7 +132,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     // MADS params
     {"Mads", PERSISTENT | BACKUP},
     {"MadsMainCruiseAllowed", PERSISTENT | BACKUP},
-    {"MadsPauseLateralOnBrake", PERSISTENT | BACKUP},
+    {"MadsSteeringMode", PERSISTENT | BACKUP},
     {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
 
     // Model Manager params
diff --git a/opendbc_repo b/opendbc_repo
index 9298a1ac9ddcd0..e670860afd704e 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 9298a1ac9ddcd0fed977cd518fc62c45b780ef36
+Subproject commit e670860afd704e684c58d7a62a7dfda67bb51e44
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index 3025d0091b09c8..c0ff2db3996bd2 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -41,7 +41,7 @@
 #define CUTOFF_IL 400
 #define SATURATE_IL 1000
 
-#define ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE 2048
+#define ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE 2048
 
 ExitHandler do_exit;
 
@@ -57,7 +57,7 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {
 
 bool process_mads_heartbeat(SubMaster *sm) {
   const int &alt_exp = (*sm)["carParams"].getCarParams().getAlternativeExperience();
-  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE) != 0;
+  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE) != 0;
 
   const auto &mads = (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads();
   const bool heartbeat_type = disengage_lateral_on_brake ? mads.getActive() : mads.getEnabled();
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc
index e6e18f262e645e..985e89ebca9cca 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc
@@ -39,17 +39,19 @@ MadsSettings::MadsSettings(QWidget *parent) : QWidget(parent) {
     "");
   list->addItem(madsUnifiedEngagementModeToggle);
 
-  // Pause Lateral On Brake
-  std::vector<QString> lateral_on_brake_texts{tr("Remain Active"), tr("Pause Steering")};
-  madsPauseLateralOnBrake = new ButtonParamControl(
-    "MadsPauseLateralOnBrake",
-    tr("Steering Mode After Braking"),
+  // Steering Mode On Brake
+  std::vector<QString> lateral_on_brake_texts{tr("Disengage"), tr("Remain Active"), tr("Pause Steering")};
+  madsSteeringMode = new ButtonParamControl(
+    "MadsSteeringMode",
+    tr("Steering Mode on Brake Pedal"),
     tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.\n\n"
-       "Remain Active: ALC will remain active even after the brake pedal is pressed.\nPause Steering: ALC will be paused after the brake pedal is manually pressed."),
+       "Disengage: ALC will be disengaged after the brake pedal is pressed.\n"
+       "Remain Active: ALC will remain active even after the brake pedal is pressed.\n"
+       "Pause Steering: ALC will be paused when the brake pedal is manually pressed."),
     "",
     lateral_on_brake_texts,
     500);
-  list->addItem(madsPauseLateralOnBrake);
+  list->addItem(madsSteeringMode);
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &MadsSettings::updateToggles);
 
@@ -61,7 +63,7 @@ void MadsSettings::showEvent(QShowEvent *event) {
 }
 
 void MadsSettings::updateToggles(bool _offroad) {
-  madsPauseLateralOnBrake->setEnabled(_offroad);
+  madsSteeringMode->setEnabled(_offroad);
 
   offroad = _offroad;
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h
index fccb4cbb842068..312c4f0db0b6eb 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h
@@ -32,5 +32,5 @@ public slots:
 
   ParamControl *madsMainCruiseToggle;
   ParamControl *madsUnifiedEngagementModeToggle;
-  ButtonParamControl *madsPauseLateralOnBrake;
+  ButtonParamControl *madsSteeringMode;
 };
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index 831a75699e9e00..4a3f964882c3f5 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -11,15 +11,30 @@
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP
 
 
+class MadsSteeringModeOnBrake:
+  DISENGAGE = 0
+  REMAIN_ACTIVE = 1
+  PAUSE = 2
+
+
+def read_steering_mode_param(params: Params):
+  try:
+    return int(params.get("MadsSteeringMode"))
+  except (ValueError, TypeError):
+    return f"{MadsSteeringModeOnBrake.REMAIN_ACTIVE}"
+
+
 def set_alternative_experience(CP: structs.CarParams, params: Params):
   enabled = params.get_bool("Mads")
-  pause_lateral_on_brake = params.get_bool("MadsPauseLateralOnBrake")
+  steering_mode = read_steering_mode_param(params)
 
   if enabled:
     CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
 
-    if pause_lateral_on_brake:
-      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISENGAGE_LATERAL_ON_BRAKE
+    if steering_mode == MadsSteeringModeOnBrake.DISENGAGE:
+      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISENGAGE_LATERAL_ON_BRAKE
+    elif steering_mode == MadsSteeringModeOnBrake.PAUSE:
+      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_PAUSE_LATERAL_ON_BRAKE
 
 
 def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 632ca7f2a4bbf1..384e48b3faada3 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -8,6 +8,7 @@
 from cereal import car, log, custom
 
 from opendbc.car.hyundai.values import HyundaiFlags
+from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -41,7 +42,7 @@ def __init__(self, selfdrive):
     # read params on init
     self.enabled_toggle = self.params.get_bool("Mads")
     self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
-    self.pause_lateral_on_brake_toggle = self.params.get_bool("MadsPauseLateralOnBrake")
+    self.steering_mode_on_brake = read_steering_mode_param(self.params)
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def read_params(self):
@@ -83,11 +84,11 @@ def replace_event(old_event: int, new_event: int):
         replace_event(EventName.parkBrake, EventNameSP.silentParkBrake)
         transition_paused_state()
 
-      if self.pause_lateral_on_brake_toggle:
+      if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE:
         if CS.brakePressed:
           transition_paused_state()
 
-      if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \
+      if not (self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE and CS.brakePressed) and \
          not self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
         if self.state_machine.state == State.paused:
           self.events_sp.add(EventNameSP.silentLkasEnable)
@@ -123,6 +124,12 @@ def replace_event(old_event: int, new_event: int):
       if self.selfdrive.CS_prev.cruiseState.available:
         self.events_sp.add(EventNameSP.lkasDisable)
 
+    if self.steering_mode_on_brake == MadsSteeringModeOnBrake.DISENGAGE:
+      # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
+      if (CS.brakePressed and (not self.selfdrive.CS_prev.brakePressed or not CS.standstill)) or \
+         (CS.regenBraking and (not self.selfdrive.CS_prev.regenBraking or not CS.standstill)):
+        self.events_sp.add(EventNameSP.lkasDisable)
+
     self.events.remove(EventName.pcmDisable)
     self.events.remove(EventName.buttonCancel)
     self.events.remove(EventName.pedalPressed)
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 499ed6474bb83b..d5da6724277c02 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -46,7 +46,7 @@ def manager_init() -> None:
     ("DynamicExperimentalControl", "0"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
-    ("MadsPauseLateralOnBrake", "0"),
+    ("MadsSteeringMode", "1"),
     ("MadsUnifiedEngagementMode", "1"),
     ("ModelManager_LastSyncTime", "0"),
     ("ModelManager_ModelsCache", "")

From dd37a35b59d921d14b94e361241b3ecf107050fc Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 19 Mar 2025 16:02:45 -0400
Subject: [PATCH 0136/1434] Revert "MADS: Steering Mode on Brake Pedal Press"
 (#686)

* Revert "MADS: Steering Mode on Brake Pedal Press (#684)"

This reverts commit 4525659a7eb56b3a37332479b1c7490c83d1e504.

* bump
---
 common/params_keys.h                          |  2 +-
 opendbc_repo                                  |  2 +-
 selfdrive/pandad/pandad.cc                    |  4 ++--
 .../settings/sunnypilot/mads_settings.cc      | 18 +++++++---------
 .../settings/sunnypilot/mads_settings.h       |  2 +-
 sunnypilot/mads/helpers.py                    | 21 +++----------------
 sunnypilot/mads/mads.py                       | 13 +++---------
 system/manager/manager.py                     |  2 +-
 8 files changed, 20 insertions(+), 44 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index d88189d4322eea..6bcf897c3e231d 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -132,7 +132,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     // MADS params
     {"Mads", PERSISTENT | BACKUP},
     {"MadsMainCruiseAllowed", PERSISTENT | BACKUP},
-    {"MadsSteeringMode", PERSISTENT | BACKUP},
+    {"MadsPauseLateralOnBrake", PERSISTENT | BACKUP},
     {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
 
     // Model Manager params
diff --git a/opendbc_repo b/opendbc_repo
index e670860afd704e..c00137782e6931 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit e670860afd704e684c58d7a62a7dfda67bb51e44
+Subproject commit c00137782e6931ec09c109777199ad86d4955955
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index c0ff2db3996bd2..3025d0091b09c8 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -41,7 +41,7 @@
 #define CUTOFF_IL 400
 #define SATURATE_IL 1000
 
-#define ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE 2048
+#define ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE 2048
 
 ExitHandler do_exit;
 
@@ -57,7 +57,7 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {
 
 bool process_mads_heartbeat(SubMaster *sm) {
   const int &alt_exp = (*sm)["carParams"].getCarParams().getAlternativeExperience();
-  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE) != 0;
+  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE) != 0;
 
   const auto &mads = (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads();
   const bool heartbeat_type = disengage_lateral_on_brake ? mads.getActive() : mads.getEnabled();
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc
index 985e89ebca9cca..e6e18f262e645e 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc
@@ -39,19 +39,17 @@ MadsSettings::MadsSettings(QWidget *parent) : QWidget(parent) {
     "");
   list->addItem(madsUnifiedEngagementModeToggle);
 
-  // Steering Mode On Brake
-  std::vector<QString> lateral_on_brake_texts{tr("Disengage"), tr("Remain Active"), tr("Pause Steering")};
-  madsSteeringMode = new ButtonParamControl(
-    "MadsSteeringMode",
-    tr("Steering Mode on Brake Pedal"),
+  // Pause Lateral On Brake
+  std::vector<QString> lateral_on_brake_texts{tr("Remain Active"), tr("Pause Steering")};
+  madsPauseLateralOnBrake = new ButtonParamControl(
+    "MadsPauseLateralOnBrake",
+    tr("Steering Mode After Braking"),
     tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.\n\n"
-       "Disengage: ALC will be disengaged after the brake pedal is pressed.\n"
-       "Remain Active: ALC will remain active even after the brake pedal is pressed.\n"
-       "Pause Steering: ALC will be paused when the brake pedal is manually pressed."),
+       "Remain Active: ALC will remain active even after the brake pedal is pressed.\nPause Steering: ALC will be paused after the brake pedal is manually pressed."),
     "",
     lateral_on_brake_texts,
     500);
-  list->addItem(madsSteeringMode);
+  list->addItem(madsPauseLateralOnBrake);
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &MadsSettings::updateToggles);
 
@@ -63,7 +61,7 @@ void MadsSettings::showEvent(QShowEvent *event) {
 }
 
 void MadsSettings::updateToggles(bool _offroad) {
-  madsSteeringMode->setEnabled(_offroad);
+  madsPauseLateralOnBrake->setEnabled(_offroad);
 
   offroad = _offroad;
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h
index 312c4f0db0b6eb..fccb4cbb842068 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h
@@ -32,5 +32,5 @@ public slots:
 
   ParamControl *madsMainCruiseToggle;
   ParamControl *madsUnifiedEngagementModeToggle;
-  ButtonParamControl *madsSteeringMode;
+  ButtonParamControl *madsPauseLateralOnBrake;
 };
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index 4a3f964882c3f5..831a75699e9e00 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -11,30 +11,15 @@
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP
 
 
-class MadsSteeringModeOnBrake:
-  DISENGAGE = 0
-  REMAIN_ACTIVE = 1
-  PAUSE = 2
-
-
-def read_steering_mode_param(params: Params):
-  try:
-    return int(params.get("MadsSteeringMode"))
-  except (ValueError, TypeError):
-    return f"{MadsSteeringModeOnBrake.REMAIN_ACTIVE}"
-
-
 def set_alternative_experience(CP: structs.CarParams, params: Params):
   enabled = params.get_bool("Mads")
-  steering_mode = read_steering_mode_param(params)
+  pause_lateral_on_brake = params.get_bool("MadsPauseLateralOnBrake")
 
   if enabled:
     CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
 
-    if steering_mode == MadsSteeringModeOnBrake.DISENGAGE:
-      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISENGAGE_LATERAL_ON_BRAKE
-    elif steering_mode == MadsSteeringModeOnBrake.PAUSE:
-      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_PAUSE_LATERAL_ON_BRAKE
+    if pause_lateral_on_brake:
+      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISENGAGE_LATERAL_ON_BRAKE
 
 
 def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 384e48b3faada3..632ca7f2a4bbf1 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -8,7 +8,6 @@
 from cereal import car, log, custom
 
 from opendbc.car.hyundai.values import HyundaiFlags
-from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -42,7 +41,7 @@ def __init__(self, selfdrive):
     # read params on init
     self.enabled_toggle = self.params.get_bool("Mads")
     self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
-    self.steering_mode_on_brake = read_steering_mode_param(self.params)
+    self.pause_lateral_on_brake_toggle = self.params.get_bool("MadsPauseLateralOnBrake")
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def read_params(self):
@@ -84,11 +83,11 @@ def replace_event(old_event: int, new_event: int):
         replace_event(EventName.parkBrake, EventNameSP.silentParkBrake)
         transition_paused_state()
 
-      if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE:
+      if self.pause_lateral_on_brake_toggle:
         if CS.brakePressed:
           transition_paused_state()
 
-      if not (self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE and CS.brakePressed) and \
+      if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \
          not self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
         if self.state_machine.state == State.paused:
           self.events_sp.add(EventNameSP.silentLkasEnable)
@@ -124,12 +123,6 @@ def replace_event(old_event: int, new_event: int):
       if self.selfdrive.CS_prev.cruiseState.available:
         self.events_sp.add(EventNameSP.lkasDisable)
 
-    if self.steering_mode_on_brake == MadsSteeringModeOnBrake.DISENGAGE:
-      # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
-      if (CS.brakePressed and (not self.selfdrive.CS_prev.brakePressed or not CS.standstill)) or \
-         (CS.regenBraking and (not self.selfdrive.CS_prev.regenBraking or not CS.standstill)):
-        self.events_sp.add(EventNameSP.lkasDisable)
-
     self.events.remove(EventName.pcmDisable)
     self.events.remove(EventName.buttonCancel)
     self.events.remove(EventName.pedalPressed)
diff --git a/system/manager/manager.py b/system/manager/manager.py
index d5da6724277c02..499ed6474bb83b 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -46,7 +46,7 @@ def manager_init() -> None:
     ("DynamicExperimentalControl", "0"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
-    ("MadsSteeringMode", "1"),
+    ("MadsPauseLateralOnBrake", "0"),
     ("MadsUnifiedEngagementMode", "1"),
     ("ModelManager_LastSyncTime", "0"),
     ("ModelManager_ModelsCache", "")

From d2846741bccb17efc458d1a8f98ef9837928eeee Mon Sep 17 00:00:00 2001
From: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Date: Wed, 19 Mar 2025 14:06:42 -0700
Subject: [PATCH 0137/1434] ui: Error log button to Developer panel (#627)

* Add error log to developer panel

* Testing debug

* Fix condition for retry handling in action workflow

Updated the logic to properly check for 'NONE' author association instead of 'FIRST_TIME_CONTRIBUTOR' when determining retry limits. This ensures the workflow behaves as intended for contributors without prior activity.

* Clean

* Refine workflow condition logic for PR checks

Updated the `if` condition in the lfs-maintenance workflow to improve clarity and ensure proper evaluation. This change aligns the logical grouping for better readability and correctness in forked PR handling.

* Add lang files

* Update selfdrive/ui/qt/offroad/developer_panel.cc

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

* Refactor GitHub runner control to local variable

Replaced the `enableGithubRunner` member variable with a local variable, as it is not used elsewhere in the class. Simplified visibility management for developer panel toggles in release branches.

* Updating translations

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/qt/offroad/developer_panel.cc | 11 +++++++++++
 selfdrive/ui/qt/offroad/developer_panel.h  |  1 +
 selfdrive/ui/translations/main_ar.ts       | 12 ++++++++++++
 selfdrive/ui/translations/main_de.ts       | 12 ++++++++++++
 selfdrive/ui/translations/main_es.ts       | 12 ++++++++++++
 selfdrive/ui/translations/main_fr.ts       | 12 ++++++++++++
 selfdrive/ui/translations/main_ja.ts       | 12 ++++++++++++
 selfdrive/ui/translations/main_ko.ts       | 12 ++++++++++++
 selfdrive/ui/translations/main_pt-BR.ts    | 12 ++++++++++++
 selfdrive/ui/translations/main_th.ts       | 12 ++++++++++++
 selfdrive/ui/translations/main_tr.ts       | 12 ++++++++++++
 selfdrive/ui/translations/main_zh-CHS.ts   | 12 ++++++++++++
 selfdrive/ui/translations/main_zh-CHT.ts   | 12 ++++++++++++
 13 files changed, 144 insertions(+)

diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc
index e679720a1beda3..b918a9353db24c 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.cc
+++ b/selfdrive/ui/qt/offroad/developer_panel.cc
@@ -60,6 +60,14 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   auto enableGithubRunner = new ParamControl("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "");
   addItem(enableGithubRunner);
 
+  // error log button
+  errorLogBtn = new ButtonControl(tr("Error Log"), tr("VIEW"), tr("View the error log for sunnypilot crashes."));
+  connect(errorLogBtn, &ButtonControl::clicked, [=]() {
+    std::string txt = util::read_file("/data/community/crashes/error.log");
+    ConfirmationDialog::rich(QString::fromStdString(txt), this);
+  });
+  addItem(errorLogBtn);
+
   // Joystick and longitudinal maneuvers should be hidden on release branches
   is_release = params.getBool("IsReleaseBranch");
 
@@ -112,6 +120,9 @@ void DeveloperPanel::updateToggles(bool _offroad) {
   }
   experimentalLongitudinalToggle->refresh();
 
+  // Handle specific controls visibility for release branches
+  errorLogBtn->setVisible(!is_release);
+
   offroad = _offroad;
 }
 
diff --git a/selfdrive/ui/qt/offroad/developer_panel.h b/selfdrive/ui/qt/offroad/developer_panel.h
index beecc24deeb630..c1783444ea300a 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.h
+++ b/selfdrive/ui/qt/offroad/developer_panel.h
@@ -16,6 +16,7 @@ class DeveloperPanel : public ListWidget {
   Params params;
   ParamControl* adbToggle;
   ParamControl* joystickToggle;
+  ButtonControl* errorLogBtn;
   ParamControl* longManeuverToggle;
   ParamControl* experimentalLongitudinalToggle;
   ParamControl* hyundaiRadarTracksToggle;
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 4cb648dc3d00b8..643d563a780096 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -159,6 +159,18 @@
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">عرض</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 5a994c4ad67280..622a822ba9d1f8 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -159,6 +159,18 @@
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">ANSEHEN</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 77b1ecb6e438b9..25ed875effbd8d 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -159,6 +159,18 @@
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">VER</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 94ebdb0a15b9d8..2da3eabafee02f 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -159,6 +159,18 @@
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">VOIR</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 1c6ab9a8b40db8..9d20a1e7d2dec9 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -159,6 +159,18 @@
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">確�</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 3286cc081f58fc..8a7dc29fd34f9e 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -159,6 +159,18 @@
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">보기</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 7a18c35989d6dd..5fc837513d5946 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -159,6 +159,18 @@
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">VER</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index abb3088dfe6194..ca3effbb72a9ed 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -159,6 +159,18 @@
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">ดู</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 4e0e93c708ed0b..a03a63dfb7d495 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -159,6 +159,18 @@
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">BAK</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index c9807fa2d65dc3..6b1bee2d9e2db5 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -159,6 +159,18 @@
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">查看</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 1df2d934a85bd7..17fa912d2014bd 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -159,6 +159,18 @@
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">觀看</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

From 01998f864d04489804a586a4ff0d85f77c4fd5f2 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Wed, 19 Mar 2025 22:47:39 +0100
Subject: [PATCH 0138/1434] sunnylink: Improve API initialization and enhance
 WebSocket security (#662)

Refactor sunnylinkd for better readability and SSL support

Reorganized variable handling for Sunnylink API initialization. Updated WebSocket connection to use Authorization header and added SSL configuration based on the connection type. This enhances code clarity and ensures secure connections when not on localhost.

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/sunnylink/athena/sunnylinkd.py | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index 0fb7ea6d9ae85b..2c4b95fa464e45 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -5,6 +5,7 @@
 import base64
 import gzip
 import os
+import ssl
 import threading
 import time
 
@@ -29,7 +30,8 @@
 DISALLOW_LOG_UPLOAD = threading.Event()
 
 params = Params()
-sunnylink_api = SunnylinkApi(params.get("SunnylinkDongleId", encoding='utf-8'))
+sunnylink_dongle_id = params.get("SunnylinkDongleId", encoding='utf-8')
+sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
 
 
 def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
@@ -211,7 +213,7 @@ def main(exit_event: threading.Event = None):
 
   UploadQueueCache.initialize(upload_queue)
 
-  ws_uri = SUNNYLINK_ATHENA_HOST
+  ws_uri = f"{SUNNYLINK_ATHENA_HOST}"
   conn_start = None
   conn_retries = 0
   while (exit_event is None or not exit_event.is_set()) and sunnylink_ready(params):
@@ -222,8 +224,9 @@ def main(exit_event: threading.Event = None):
       cloudlog.event("sunnylinkd.main.connecting_ws", ws_uri=ws_uri, retries=conn_retries)
       ws = create_connection(
         ws_uri,
-        cookie=f"jwt={sunnylink_api.get_token()}",
+        header={"Authorization": f"Bearer {sunnylink_api.get_token()}"},
         enable_multithread=True,
+        sslopt={"cert_reqs": ssl.CERT_NONE if "localhost" in ws_uri else ssl.CERT_REQUIRED},
         timeout=SUNNYLINK_RECONNECT_TIMEOUT_S,
       )
       cloudlog.event("sunnylinkd.main.connected_ws", ws_uri=ws_uri, retries=conn_retries,

From bf2731b4705161c5c11e1359242abed27790984f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 19 Mar 2025 18:24:56 -0400
Subject: [PATCH 0139/1434] MADS: Steering Mode on Brake Pedal Press (#687)

* reimplement

* bump opendbc

* Apply suggestions from code review

Co-authored-by: DevTekVE <devtekve@gmail.com>

* update toggle positions

* translations from bot later

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 common/params_keys.h                          |  2 +-
 opendbc_repo                                  |  2 +-
 selfdrive/pandad/pandad.cc                    |  4 ++--
 .../settings/sunnypilot/mads_settings.cc      | 18 +++++++++-------
 .../settings/sunnypilot/mads_settings.h       |  2 +-
 sunnypilot/mads/helpers.py                    | 21 ++++++++++++++++---
 sunnypilot/mads/mads.py                       | 13 +++++++++---
 system/manager/manager.py                     |  2 +-
 8 files changed, 44 insertions(+), 20 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 6bcf897c3e231d..d88189d4322eea 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -132,7 +132,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     // MADS params
     {"Mads", PERSISTENT | BACKUP},
     {"MadsMainCruiseAllowed", PERSISTENT | BACKUP},
-    {"MadsPauseLateralOnBrake", PERSISTENT | BACKUP},
+    {"MadsSteeringMode", PERSISTENT | BACKUP},
     {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
 
     // Model Manager params
diff --git a/opendbc_repo b/opendbc_repo
index c00137782e6931..a26ea1e3ee982a 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit c00137782e6931ec09c109777199ad86d4955955
+Subproject commit a26ea1e3ee982a4b2c377f5f75fdde63cba6a007
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index 3025d0091b09c8..c0ff2db3996bd2 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -41,7 +41,7 @@
 #define CUTOFF_IL 400
 #define SATURATE_IL 1000
 
-#define ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE 2048
+#define ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE 2048
 
 ExitHandler do_exit;
 
@@ -57,7 +57,7 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {
 
 bool process_mads_heartbeat(SubMaster *sm) {
   const int &alt_exp = (*sm)["carParams"].getCarParams().getAlternativeExperience();
-  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE) != 0;
+  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE) != 0;
 
   const auto &mads = (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads();
   const bool heartbeat_type = disengage_lateral_on_brake ? mads.getActive() : mads.getEnabled();
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc
index e6e18f262e645e..d178c59b07dd8a 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc
@@ -39,17 +39,19 @@ MadsSettings::MadsSettings(QWidget *parent) : QWidget(parent) {
     "");
   list->addItem(madsUnifiedEngagementModeToggle);
 
-  // Pause Lateral On Brake
-  std::vector<QString> lateral_on_brake_texts{tr("Remain Active"), tr("Pause Steering")};
-  madsPauseLateralOnBrake = new ButtonParamControl(
-    "MadsPauseLateralOnBrake",
-    tr("Steering Mode After Braking"),
+  // Steering Mode On Brake
+  std::vector<QString> lateral_on_brake_texts{tr("Remain Active"), tr("Pause Steering"), tr("Disengage")};
+  madsSteeringMode = new ButtonParamControl(
+    "MadsSteeringMode",
+    tr("Steering Mode on Brake Pedal"),
     tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.\n\n"
-       "Remain Active: ALC will remain active even after the brake pedal is pressed.\nPause Steering: ALC will be paused after the brake pedal is manually pressed."),
+       "Remain Active: ALC will remain active even after the brake pedal is pressed.\n"
+       "Pause Steering: ALC will be paused when the brake pedal is manually pressed."),
+       "Disengage: ALC will be disengaged after the brake pedal is pressed.\n"
     "",
     lateral_on_brake_texts,
     500);
-  list->addItem(madsPauseLateralOnBrake);
+  list->addItem(madsSteeringMode);
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &MadsSettings::updateToggles);
 
@@ -61,7 +63,7 @@ void MadsSettings::showEvent(QShowEvent *event) {
 }
 
 void MadsSettings::updateToggles(bool _offroad) {
-  madsPauseLateralOnBrake->setEnabled(_offroad);
+  madsSteeringMode->setEnabled(_offroad);
 
   offroad = _offroad;
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h
index fccb4cbb842068..312c4f0db0b6eb 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h
@@ -32,5 +32,5 @@ public slots:
 
   ParamControl *madsMainCruiseToggle;
   ParamControl *madsUnifiedEngagementModeToggle;
-  ButtonParamControl *madsPauseLateralOnBrake;
+  ButtonParamControl *madsSteeringMode;
 };
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index 831a75699e9e00..36a7380e790f4b 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -11,15 +11,30 @@
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP
 
 
+class MadsSteeringModeOnBrake:
+  REMAIN_ACTIVE = 0
+  PAUSE = 1
+  DISENGAGE = 2
+
+
+def read_steering_mode_param(params: Params):
+  try:
+    return int(params.get("MadsSteeringMode"))
+  except (ValueError, TypeError):
+    return f"{MadsSteeringModeOnBrake.REMAIN_ACTIVE}"
+
+
 def set_alternative_experience(CP: structs.CarParams, params: Params):
   enabled = params.get_bool("Mads")
-  pause_lateral_on_brake = params.get_bool("MadsPauseLateralOnBrake")
+  steering_mode = read_steering_mode_param(params)
 
   if enabled:
     CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
 
-    if pause_lateral_on_brake:
-      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISENGAGE_LATERAL_ON_BRAKE
+    if steering_mode == MadsSteeringModeOnBrake.DISENGAGE:
+      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISENGAGE_LATERAL_ON_BRAKE
+    elif steering_mode == MadsSteeringModeOnBrake.PAUSE:
+      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_PAUSE_LATERAL_ON_BRAKE
 
 
 def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 632ca7f2a4bbf1..384e48b3faada3 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -8,6 +8,7 @@
 from cereal import car, log, custom
 
 from opendbc.car.hyundai.values import HyundaiFlags
+from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -41,7 +42,7 @@ def __init__(self, selfdrive):
     # read params on init
     self.enabled_toggle = self.params.get_bool("Mads")
     self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
-    self.pause_lateral_on_brake_toggle = self.params.get_bool("MadsPauseLateralOnBrake")
+    self.steering_mode_on_brake = read_steering_mode_param(self.params)
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def read_params(self):
@@ -83,11 +84,11 @@ def replace_event(old_event: int, new_event: int):
         replace_event(EventName.parkBrake, EventNameSP.silentParkBrake)
         transition_paused_state()
 
-      if self.pause_lateral_on_brake_toggle:
+      if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE:
         if CS.brakePressed:
           transition_paused_state()
 
-      if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \
+      if not (self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE and CS.brakePressed) and \
          not self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
         if self.state_machine.state == State.paused:
           self.events_sp.add(EventNameSP.silentLkasEnable)
@@ -123,6 +124,12 @@ def replace_event(old_event: int, new_event: int):
       if self.selfdrive.CS_prev.cruiseState.available:
         self.events_sp.add(EventNameSP.lkasDisable)
 
+    if self.steering_mode_on_brake == MadsSteeringModeOnBrake.DISENGAGE:
+      # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
+      if (CS.brakePressed and (not self.selfdrive.CS_prev.brakePressed or not CS.standstill)) or \
+         (CS.regenBraking and (not self.selfdrive.CS_prev.regenBraking or not CS.standstill)):
+        self.events_sp.add(EventNameSP.lkasDisable)
+
     self.events.remove(EventName.pcmDisable)
     self.events.remove(EventName.buttonCancel)
     self.events.remove(EventName.pedalPressed)
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 499ed6474bb83b..d4595ec3275008 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -46,7 +46,7 @@ def manager_init() -> None:
     ("DynamicExperimentalControl", "0"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
-    ("MadsPauseLateralOnBrake", "0"),
+    ("MadsSteeringMode", "0"),
     ("MadsUnifiedEngagementMode", "1"),
     ("ModelManager_LastSyncTime", "0"),
     ("ModelManager_ModelsCache", "")

From 47c8ac24316f3ba436bae4c0c4cff176584db12e Mon Sep 17 00:00:00 2001
From: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Date: Wed, 19 Mar 2025 16:16:54 -0700
Subject: [PATCH 0140/1434] ui: Developer Panel Fixes (#688)

* Add error log to developer panel

* Add lang files

* Refactor GitHub runner control to local variable

Replaced the `enableGithubRunner` member variable with a local variable, as it is not used elsewhere in the class. Simplified visibility management for developer panel toggles in release branches.

* Modifying visibility rules for developer panel controls

This commit modifies the visibility settings for controls within the developer panel such as `enableGithubRunner`, `errorLogBtn`, `joystickToggle` and `longManeuverToggle`. The visibility of these controls is now dependent on whether the software is running in release mode. This update ensures that certain settings are hidden from the end user in the release version, enhancing the user interface by simplifying it and preventing potential user confusion.

* Translation files

* we already handle this in stock

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/qt/offroad/developer_panel.cc | 4 +++-
 selfdrive/ui/qt/offroad/developer_panel.h  | 1 +
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc
index b918a9353db24c..be1c6657627256 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.cc
+++ b/selfdrive/ui/qt/offroad/developer_panel.cc
@@ -57,7 +57,7 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(hyundaiRadarTracksToggle);
 
-  auto enableGithubRunner = new ParamControl("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "");
+  enableGithubRunner = new ParamControl("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "");
   addItem(enableGithubRunner);
 
   // error log button
@@ -121,7 +121,9 @@ void DeveloperPanel::updateToggles(bool _offroad) {
   experimentalLongitudinalToggle->refresh();
 
   // Handle specific controls visibility for release branches
+  enableGithubRunner->setVisible(!is_release);
   errorLogBtn->setVisible(!is_release);
+  joystickToggle->setVisible(!is_release);
 
   offroad = _offroad;
 }
diff --git a/selfdrive/ui/qt/offroad/developer_panel.h b/selfdrive/ui/qt/offroad/developer_panel.h
index c1783444ea300a..591e5f0fdfdc3f 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.h
+++ b/selfdrive/ui/qt/offroad/developer_panel.h
@@ -20,6 +20,7 @@ class DeveloperPanel : public ListWidget {
   ParamControl* longManeuverToggle;
   ParamControl* experimentalLongitudinalToggle;
   ParamControl* hyundaiRadarTracksToggle;
+  ParamControl* enableGithubRunner;
   bool is_release;
   bool offroad = false;
 

From d21e351003a6f1df08676b06ba2eb61c9e061180 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 20 Mar 2025 16:01:08 -0400
Subject: [PATCH 0141/1434] Controls: Lateral Accel Torque Control Extension
 (#690)

* init

* more init

* keep it alive

* fixes

* more fixes

* more fix

* new submodule for nn data

* bump submodule

* update path to submodule

* spacing???

* update submodule path

* update submodule path

* bump

* dump

* bump

* introduce params

* Add Neural Network Lateral Control toggle to developer panel

This introduces a new toggle for enabling Neural Network Lateral Control (NNLC), providing detailed descriptions of its functionality and compatibility. It includes UI integration, car compatibility checks, and feedback links for unsupported vehicles.

* decouple even more

* static

* codespell

* remove debug

* in structs

* fix import

* convert to capnp

* fixes

* debug

* only initialize if NNLC is enabled or allow to enable

* oops

* fix initialization

* only allow engage if nnlc is off

* fix toggle param

* fix tests

* lint

* fix more test

* capnp test

* try this out

* validate if it's not None

* make it 33 to match

* align

* share the same friction input calculation

* return stock values if not enabled

* unused

* split base and child

* space

* rename

* NeuralNetworkFeedForwardModel

* less

* just use file name

* try this

* more explicit

* rename

* move it

* child class for additional controllers

* rename

* time to split out custom lateral acceleration

* move around

* space

* fix

* TODO-SP

* TODO-SP

* split nnlc and custom lat accel

* more

* not yet

* comment

* fix

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 selfdrive/car/tests/test_car_interfaces.py    |   8 +-
 selfdrive/controls/controlsd.py               |   8 +-
 selfdrive/controls/lib/latcontrol.py          |   2 +-
 selfdrive/controls/lib/latcontrol_angle.py    |   4 +-
 selfdrive/controls/lib/latcontrol_pid.py      |   4 +-
 selfdrive/controls/lib/latcontrol_torque.py   |  13 +-
 .../controls/lib/tests/test_latcontrol.py     |   4 +-
 .../controls/lib/latcontrol_torque_ext.py     |  26 ++++
 .../lib/latcontrol_torque_ext_base.py         | 121 ++++++++++++++++++
 9 files changed, 175 insertions(+), 15 deletions(-)
 create mode 100644 sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py

diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 9e6b96ba59bc43..d5aa53249080a2 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -42,7 +42,7 @@ def test_car_interfaces(self, car_name, data):
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
                                          experimental_long=args['experimental_long'], docs=False)
     car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
-                                                           experimental_long=args['experimental_long'], docs=False)
+                                               experimental_long=args['experimental_long'], docs=False)
     car_params = car_params.as_reader()
     car_interface = CarInterface(car_params, car_params_sp)
     assert car_params
@@ -100,8 +100,8 @@ def test_car_interfaces(self, car_name, data):
     #  hypothesis also slows down significantly with just one more message draw
     LongControl(car_params)
     if car_params.steerControlType == CarParams.SteerControlType.angle:
-      LatControlAngle(car_params, car_interface)
+      LatControlAngle(car_params, car_params_sp, car_interface)
     elif car_params.lateralTuning.which() == 'pid':
-      LatControlPID(car_params, car_interface)
+      LatControlPID(car_params, car_params_sp, car_interface)
     elif car_params.lateralTuning.which() == 'torque':
-      LatControlTorque(car_params, car_interface)
+      LatControlTorque(car_params, car_params_sp, car_interface)
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index f9ba54bfa73597..294722c06a6bf8 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -55,11 +55,11 @@ def __init__(self) -> None:
     self.VM = VehicleModel(self.CP)
     self.LaC: LatControl
     if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-      self.LaC = LatControlAngle(self.CP, self.CI)
+      self.LaC = LatControlAngle(self.CP, self.CP_SP, self.CI)
     elif self.CP.lateralTuning.which() == 'pid':
-      self.LaC = LatControlPID(self.CP, self.CI)
+      self.LaC = LatControlPID(self.CP, self.CP_SP, self.CI)
     elif self.CP.lateralTuning.which() == 'torque':
-      self.LaC = LatControlTorque(self.CP, self.CI)
+      self.LaC = LatControlTorque(self.CP, self.CP_SP, self.CI)
 
   def update(self):
     self.sm.update(15)
@@ -85,6 +85,8 @@ def state_control(self):
         self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
                                            torque_params.frictionCoefficientFiltered)
 
+      self.LaC.extension.update_model_v2(self.sm['modelV2'])
+
     long_plan = self.sm['longitudinalPlan']
     model_v2 = self.sm['modelV2']
 
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index dcf0003430176a..6bbce95bbc30f8 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -7,7 +7,7 @@
 
 
 class LatControl(ABC):
-  def __init__(self, CP, CI):
+  def __init__(self, CP, CP_SP, CI):
     self.sat_count_rate = 1.0 * DT_CTRL
     self.sat_limit = CP.steerLimitTimer
     self.sat_count = 0.
diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index 1b249a3d1aa3fc..7bd0abc1153eb0 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -7,8 +7,8 @@
 
 
 class LatControlAngle(LatControl):
-  def __init__(self, CP, CI):
-    super().__init__(CP, CI)
+  def __init__(self, CP, CP_SP, CI):
+    super().__init__(CP, CP_SP, CI)
     self.sat_check_min_speed = 5.
 
   def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
index 1f1199565ec0bf..eb8a1ed5f91f9b 100644
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@@ -6,8 +6,8 @@
 
 
 class LatControlPID(LatControl):
-  def __init__(self, CP, CI):
-    super().__init__(CP, CI)
+  def __init__(self, CP, CP_SP, CI):
+    super().__init__(CP, CP_SP, CI)
     self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
                              (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
                              k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 3aef57baca17e9..613824a4eda26a 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -7,6 +7,8 @@
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
 
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext import LatControlTorqueExt
+
 # At higher speeds (25+mph) we can assume:
 # Lateral acceleration achieved by a specific car correlates to
 # torque applied to the steering rack. It does not correlate to
@@ -23,8 +25,8 @@
 
 
 class LatControlTorque(LatControl):
-  def __init__(self, CP, CI):
-    super().__init__(CP, CI)
+  def __init__(self, CP, CP_SP, CI):
+    super().__init__(CP, CP_SP, CI)
     self.torque_params = CP.lateralTuning.torque.as_builder()
     self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
                              k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
@@ -32,6 +34,8 @@ def __init__(self, CP, CI):
     self.use_steering_angle = self.torque_params.useSteeringAngle
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
 
+    self.extension = LatControlTorqueExt(self, CP, CP_SP)
+
   def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
     self.torque_params.latAccelFactor = latAccelFactor
     self.torque_params.latAccelOffset = latAccelOffset
@@ -73,6 +77,11 @@ def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curv
                                           desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, friction_compensation=True,
                                           gravity_adjusted=True)
 
+      # Lateral acceleration torque controller extension updates
+      # Overrides stock ff and pid_log.error
+      ff, pid_log = self.extension.update(CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
+                                          desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel)
+
       freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
       output_torque = self.pid.update(pid_log.error,
                                       feedforward=ff,
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index 299652ff18edd6..aee020c020f5aa 100644
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -6,6 +6,7 @@
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.nissan.values import CAR as NISSAN
 from opendbc.car.vehicle_model import VehicleModel
+from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
@@ -21,9 +22,10 @@ def test_saturation(self, car_name, controller):
     CP = CarInterface.get_non_essential_params(car_name)
     CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
     CI = CarInterface(CP, CP_SP)
+    CP_SP = convert_to_capnp(CP_SP)
     VM = VehicleModel(CP)
 
-    controller = controller(CP.as_reader(), CI)
+    controller = controller(CP.as_reader(), CP_SP.as_reader(), CI)
 
     CS = car.CarState.new_message()
     CS.vEgo = 30
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
new file mode 100644
index 00000000000000..1166cb32d6b32b
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
@@ -0,0 +1,26 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase
+
+
+class LatControlTorqueExt(LatControlTorqueExtBase):
+  def __init__(self, lac_torque, CP, CP_SP):
+    super().__init__(lac_torque, CP, CP_SP)
+
+  def update(self, CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
+             desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel):
+    self._ff = ff
+    self._pid_log = pid_log
+    self._setpoint = setpoint
+    self._measurement = measurement
+    self._lateral_accel_deadzone = lateral_accel_deadzone
+    self._desired_lateral_accel = desired_lateral_accel
+    self._actual_lateral_accel = actual_lateral_accel
+
+    self.update_calculations(CS, VM, desired_lateral_accel)
+
+    return self._ff, self._pid_log
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
new file mode 100644
index 00000000000000..48d98501b238e1
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
@@ -0,0 +1,121 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import math
+import numpy as np
+
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
+from openpilot.selfdrive.modeld.constants import ModelConstants
+
+LAT_PLAN_MIN_IDX = 5
+
+
+def get_predicted_lateral_jerk(lat_accels, t_diffs):
+  # compute finite difference between subsequent model_v2.acceleration.y values
+  # this is just two calls of np.diff followed by an element-wise division
+  lat_accel_diffs = np.diff(lat_accels)
+  lat_jerk = lat_accel_diffs / t_diffs
+  # return as python list
+  return lat_jerk.tolist()
+
+
+def sign(x):
+  return 1.0 if x > 0.0 else (-1.0 if x < 0.0 else 0.0)
+
+
+def get_lookahead_value(future_vals, current_val):
+  if len(future_vals) == 0:
+    return current_val
+
+  same_sign_vals = [v for v in future_vals if sign(v) == sign(current_val)]
+
+  # if any future val has opposite sign of current val, return 0
+  if len(same_sign_vals) < len(future_vals):
+    return 0.0
+
+  # otherwise return the value with minimum absolute value
+  min_val = min(same_sign_vals + [current_val], key=lambda x: abs(x))
+  return min_val
+
+
+class LatControlTorqueExtBase:
+  def __init__(self, lac_torque, CP, CP_SP):
+    self.model_v2 = None
+    self.model_valid = False
+    self.use_steering_angle = lac_torque.use_steering_angle
+
+    self.actual_lateral_jerk: float = 0.0
+    self.lateral_jerk_setpoint: float = 0.0
+    self.lateral_jerk_measurement: float = 0.0
+    self.lookahead_lateral_jerk: float = 0.0
+
+    self.torque_from_lateral_accel = lac_torque.torque_from_lateral_accel
+    self.torque_params = lac_torque.torque_params
+
+    self._ff = 0.0
+    self._pid_log = None
+    self._setpoint = 0.0
+    self._measurement = 0.0
+    self._lateral_accel_deadzone = 0.0
+    self._desired_lateral_accel = 0.0
+    self._actual_lateral_accel = 0.0
+
+    # twilsonco's Lateral Neural Network Feedforward
+    # Instantaneous lateral jerk changes very rapidly, making it not useful on its own,
+    # however, we can "look ahead" to the future planned lateral jerk in order to gauge
+    # whether the current desired lateral jerk will persist into the future, i.e.
+    # whether it's "deliberate" or not. This allows us to simply ignore short-lived jerk.
+    # Note that LAT_PLAN_MIN_IDX is defined above and is used in order to prevent
+    # using a "future" value that is actually planned to occur before the "current" desired
+    # value, which is offset by the steerActuatorDelay.
+    # TODO-SP: Reevaluate lookahead v values that determines how low a desired lateral jerk signal needs to
+    #          persist in order to be used.
+    self.friction_look_ahead_v = [1.4, 2.0]  # how many seconds in the future to look ahead in [0, ~2.1] in 0.1 increments
+    self.friction_look_ahead_bp = [9.0, 30.0]  # corresponding speeds in m/s in [0, ~40] in 1.0 increments
+
+    # Scaling the lateral acceleration "friction response" could be helpful for some.
+    # Increase for a stronger response, decrease for a weaker response.
+    self.lat_jerk_friction_factor = 0.4
+    self.lat_accel_friction_factor = 0.7  # in [0, 3], in 0.05 increments. 3 is arbitrary safety limit
+
+    # precompute time differences between ModelConstants.T_IDXS
+    self.t_diffs = np.diff(ModelConstants.T_IDXS)
+    self.desired_lat_jerk_time = CP.steerActuatorDelay + 0.3
+
+  def update_model_v2(self, model_v2):
+    self.model_v2 = model_v2
+    self.model_valid = self.model_v2 is not None and len(self.model_v2.orientation.x) >= CONTROL_N
+
+  def update_friction_input(self, val_1, val_2):
+    _error = val_1 - val_2
+    _value = self.lat_accel_friction_factor * _error + self.lat_jerk_friction_factor * self.lookahead_lateral_jerk
+
+    return _value
+
+  def update_calculations(self, CS, VM, desired_lateral_accel):
+    self.actual_lateral_jerk = 0.0
+    self.lateral_jerk_setpoint = 0.0
+    self.lateral_jerk_measurement = 0.0
+    self.lookahead_lateral_jerk = 0.0
+
+    if self.use_steering_angle:
+      actual_curvature_rate = -VM.calc_curvature(math.radians(CS.steeringRateDeg), CS.vEgo, 0.0)
+      self.actual_lateral_jerk = actual_curvature_rate * CS.vEgo ** 2
+
+    if self.model_valid:
+      # prepare "look-ahead" desired lateral jerk
+      lookahead = np.interp(CS.vEgo, self.friction_look_ahead_bp, self.friction_look_ahead_v)
+      friction_upper_idx = next((i for i, val in enumerate(ModelConstants.T_IDXS) if val > lookahead), 16)
+      predicted_lateral_jerk = get_predicted_lateral_jerk(self.model_v2.acceleration.y, self.t_diffs)
+      desired_lateral_jerk = (np.interp(self.desired_lat_jerk_time, ModelConstants.T_IDXS,
+                              self.model_v2.acceleration.y) - desired_lateral_accel) / self.desired_lat_jerk_time
+      self.lookahead_lateral_jerk = get_lookahead_value(predicted_lateral_jerk[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_lateral_jerk)
+      if not self.use_steering_angle or self.lookahead_lateral_jerk == 0.0:
+        self.lookahead_lateral_jerk = 0.0
+        self.actual_lateral_jerk = 0.0
+        self.lat_accel_friction_factor = 1.0
+      self.lateral_jerk_setpoint = self.lat_jerk_friction_factor * self.lookahead_lateral_jerk
+      self.lateral_jerk_measurement = self.lat_jerk_friction_factor * self.actual_lateral_jerk

From a2628fe4f69df545c471be7515d908c8d516dabc Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 20 Mar 2025 17:01:47 -0400
Subject: [PATCH 0142/1434] ui: sunnypilot Panel -> Steering Panel (#691)

* ui: sunnypilot Panel -> Steering Panel

* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
---
 selfdrive/ui/sunnypilot/SConscript                   |  8 ++++----
 .../{sunnypilot => lateral}/mads_settings.cc         |  2 +-
 .../settings/{sunnypilot => lateral}/mads_settings.h |  0
 .../{sunnypilot_panel.cc => lateral_panel.cc}        | 12 ++++++------
 .../settings/{sunnypilot_panel.h => lateral_panel.h} |  6 +++---
 .../ui/sunnypilot/qt/offroad/settings/settings.cc    |  6 +++---
 6 files changed, 17 insertions(+), 17 deletions(-)
 rename selfdrive/ui/sunnypilot/qt/offroad/settings/{sunnypilot => lateral}/mads_settings.cc (96%)
 rename selfdrive/ui/sunnypilot/qt/offroad/settings/{sunnypilot => lateral}/mads_settings.h (100%)
 rename selfdrive/ui/sunnypilot/qt/offroad/settings/{sunnypilot_panel.cc => lateral_panel.cc} (87%)
 rename selfdrive/ui/sunnypilot/qt/offroad/settings/{sunnypilot_panel.h => lateral_panel.h} (83%)

diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 4ebfc10940cf97..6866bfb7d8cda7 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -20,11 +20,11 @@ qt_src = [
   "sunnypilot/qt/home.cc",
   "sunnypilot/qt/offroad/offroad_home.cc",
   "sunnypilot/qt/offroad/settings/device_panel.cc",
+  "sunnypilot/qt/offroad/settings/lateral_panel.cc",
   "sunnypilot/qt/offroad/settings/settings.cc",
   "sunnypilot/qt/offroad/settings/software_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc",
-  "sunnypilot/qt/offroad/settings/sunnypilot_panel.cc",
   "sunnypilot/qt/offroad/settings/trips_panel.cc",
   "sunnypilot/qt/offroad/settings/vehicle_panel.cc",
   "sunnypilot/qt/onroad/annotated_camera.cc",
@@ -34,8 +34,8 @@ qt_src = [
   "sunnypilot/qt/onroad/onroad_home.cc",
 ]
 
-sunnypilot_panel_qt_src = [
-  "sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc",
+lateral_panel_qt_src = [
+  "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
 ]
 
 network_src = [
@@ -50,7 +50,7 @@ vehicle_panel_qt_src = [
 ]
 
 sp_widgets_src = widgets_src + network_src
-sp_qt_src = qt_src + sunnypilot_panel_qt_src + vehicle_panel_qt_src
+sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src
 sp_qt_util = qt_util
 
 Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util")
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
similarity index 96%
rename from selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc
rename to selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
index d178c59b07dd8a..fd5d2fd5c8c10c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
@@ -5,7 +5,7 @@
  * See the LICENSE.md file in the root directory for more details.
  */
 
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
 
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
similarity index 100%
rename from selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h
rename to selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
similarity index 87%
rename from selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc
rename to selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
index 82d07febb83063..e604b03ba91a07 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
@@ -5,12 +5,12 @@
  * See the LICENSE.md file in the root directory for more details.
  */
 
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h"
 
 #include "common/util.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
-SunnypilotPanel::SunnypilotPanel(SettingsWindowSP *parent) : QFrame(parent) {
+LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
   main_layout = new QStackedLayout(this);
   ListWidget *list = new ListWidget(this, false);
 
@@ -45,7 +45,7 @@ SunnypilotPanel::SunnypilotPanel(SettingsWindowSP *parent) : QFrame(parent) {
   toggleOffroadOnly = {
     madsToggle,
   };
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &SunnypilotPanel::updateToggles);
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &LateralPanel::updateToggles);
 
   sunnypilotScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(sunnypilotScroller);
@@ -71,15 +71,15 @@ SunnypilotPanel::SunnypilotPanel(SettingsWindowSP *parent) : QFrame(parent) {
   main_layout->setCurrentWidget(sunnypilotScreen);
 }
 
-void SunnypilotPanel::showEvent(QShowEvent *event) {
+void LateralPanel::showEvent(QShowEvent *event) {
   updateToggles(offroad);
 }
 
-void SunnypilotPanel::hideEvent(QHideEvent *event) {
+void LateralPanel::hideEvent(QHideEvent *event) {
   main_layout->setCurrentWidget(sunnypilotScreen);
 }
 
-void SunnypilotPanel::updateToggles(bool _offroad) {
+void LateralPanel::updateToggles(bool _offroad) {
   for (auto *toggle : toggleOffroadOnly) {
     toggle->setEnabled(_offroad);
   }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
similarity index 83%
rename from selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h
rename to selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
index e955995b34248a..7cc4b6f11d28af 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
@@ -11,16 +11,16 @@
 #include <string>
 
 #include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
-class SunnypilotPanel : public QFrame {
+class LateralPanel : public QFrame {
   Q_OBJECT
 
 public:
-  explicit SunnypilotPanel(SettingsWindowSP *parent = nullptr);
+  explicit LateralPanel(SettingsWindowSP *parent = nullptr);
   void showEvent(QShowEvent *event) override;
   void hideEvent(QHideEvent* event) override;
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
index a27561edf64c0c..65e9744ed94f00 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
@@ -15,7 +15,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"
 
@@ -78,7 +78,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
     PanelInfo("   " + tr("sunnylink"), new SunnylinkPanel(this), "../assets/offroad/icon_wifi_strength_full.svg"),
     PanelInfo("   " + tr("Toggles"), toggles, "../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
     PanelInfo("   " + tr("Software"), new SoftwarePanelSP(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
-    PanelInfo("   " + tr("sunnypilot"), new SunnypilotPanel(this), "../assets/images/button_home.png"),
+    PanelInfo("   " + tr("Steering"), new LateralPanel(this), "../assets/images/button_home.png"),
     PanelInfo("   " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
     PanelInfo("   " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
     PanelInfo("   " + tr("Firehose"), new FirehosePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_firehose.svg"),
@@ -117,7 +117,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
     nav_btns->addButton(btn);
     buttons_layout->addWidget(btn, 0, Qt::AlignLeft | Qt::AlignBottom);
 
-    const int lr_margin = (name != ("   " + tr("Network")) || (name != ("   " + tr("sunnypilot")))) ? 50 : 0;  // Network and sunnypilot panel handles its own margins
+    const int lr_margin = (name != ("   " + tr("Network"))) ? 50 : 0;  // Network panel handles its own margins
     panel->setContentsMargins(lr_margin, 25, lr_margin, 25);
 
     ScrollViewSP *panel_frame = new ScrollViewSP(panel, this);

From 75c9db260fe9544d79fffe298ad3fe46134fc998 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 21 Mar 2025 01:02:09 -0400
Subject: [PATCH 0143/1434] ui: reset all sunnypilot settings (#692)

* ui: reset all sunnypilot settings

* Update selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc

Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>

---------

Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
---
 .../ui/sunnypilot/qt/offroad/settings/device_panel.cc  | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index 5ca3d90323a470..46f388c75e0337 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -21,6 +21,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
     {"retrainingBtn", tr("Training Guide")},
     {"regulatoryBtn", tr("Regulatory")},
     {"translateBtn", tr("Language")},
+    {"resetParams", tr("Reset Settings")},
   };
 
   int row = 0, col = 0;
@@ -66,6 +67,15 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
     }
   });
 
+  connect(buttons["resetParams"], &PushButtonSP::clicked, [=]() {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to reset all sunnypilot settings to default ? This cannot be undone."), tr("Reset"), this)) {
+      int rm = std::system("sudo rm -rf /data/params/d/*");
+      if (rm == 0) {
+        Hardware::reboot();
+      }
+    }
+  });
+
   addItem(device_grid_layout);
 
   // offroad mode and power buttons

From ecb4026269b793c6c1b03f61aaff8a3eeaa2939d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 21 Mar 2025 15:38:31 -0400
Subject: [PATCH 0144/1434] Controls: Neural Network Lateral Control (NNLC) for
 Torque Lateral Accel Control (#667)

* init

* more init

* keep it alive

* fixes

* more fixes

* more fix

* new submodule for nn data

* bump submodule

* update path to submodule

* spacing???

* update submodule path

* update submodule path

* bump

* dump

* bump

* introduce params

* Add Neural Network Lateral Control toggle to developer panel

This introduces a new toggle for enabling Neural Network Lateral Control (NNLC), providing detailed descriptions of its functionality and compatibility. It includes UI integration, car compatibility checks, and feedback links for unsupported vehicles.

* decouple even more

* static

* codespell

* remove debug

* in structs

* fix import

* convert to capnp

* fixes

* debug

* only initialize if NNLC is enabled or allow to enable

* oops

* fix initialization

* only allow engage if nnlc is off

* fix toggle param

* fix tests

* lint

* fix more test

* capnp test

* try this out

* validate if it's not None

* make it 33 to match

* align

* share the same friction input calculation

* return stock values if not enabled

* unused

* split base and child

* space

* rename

* NeuralNetworkFeedForwardModel

* less

* just use file name

* try this

* more explicit

* rename

* move it

* child class for additional controllers

* rename

* time to split out custom lateral acceleration

* move around

* space

* fix

* TODO-SP

* TODO-SP

* update regardless, it's an extension now

* update name and expose toggle

* ui: sunnypilot Panel -> Steering Panel

* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h

* merge

* move to steering panel

* no need for this

* live params in a thread

* no live for now

* new structs

* more ui

* more flexible

* more ui

* no longer needed

* another ui

* cereal changes

* bump opendbc

* simplify checks

* all in one place

* split Enhanced Lat Accel

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .gitmodules                                   |   3 +
 cereal/custom.capnp                           |  12 ++
 common/params_keys.h                          |   3 +
 opendbc_repo                                  |   2 +-
 selfdrive/ui/sunnypilot/SConscript            |   1 +
 .../lateral/neural_network_lateral_control.cc |  63 +++++++++++
 .../lateral/neural_network_lateral_control.h  |  64 +++++++++++
 .../qt/offroad/settings/lateral_panel.cc      |  15 ++-
 .../qt/offroad/settings/lateral_panel.h       |   2 +
 sunnypilot/neural_network_data                |   1 +
 sunnypilot/selfdrive/car/interfaces.py        |  24 ++++
 .../controls/lib/latcontrol_torque_ext.py     |   6 +-
 .../selfdrive/controls/lib/nnlc/__init__.py   |   0
 .../selfdrive/controls/lib/nnlc/helpers.py    |  58 ++++++++++
 .../selfdrive/controls/lib/nnlc/model.py      |  81 +++++++++++++
 .../selfdrive/controls/lib/nnlc/nnlc.py       | 106 ++++++++++++++++++
 system/manager/manager.py                     |   3 +-
 17 files changed, 439 insertions(+), 5 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h
 create mode 160000 sunnypilot/neural_network_data
 create mode 100644 sunnypilot/selfdrive/controls/lib/nnlc/__init__.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/nnlc/model.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py

diff --git a/.gitmodules b/.gitmodules
index f1f7c400dbf050..b9f0336a0e3b81 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -16,3 +16,6 @@
 [submodule "tinygrad"]
   path = tinygrad_repo
   url = https://github.com/commaai/tinygrad.git
+[submodule "sunnypilot/neural_network_data"]
+  path = sunnypilot/neural_network_data
+  url = https://github.com/sunnypilot/neural-network-data.git
diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 524ecdd65799a8..4d245c006bbefa 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -138,6 +138,18 @@ struct OnroadEventSP @0xda96579883444c35 {
 struct CarParamsSP @0x80ae746ee2596b11 {
   flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
   safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
+
+  neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
+
+  struct NeuralNetworkLateralControl {
+    model @0 :Model;
+    fuzzyFingerprint @1 :Bool;
+
+    struct Model {
+      path @0 :Text;
+      name @1 :Text;
+    }
+  }
 }
 
 struct CarControlSP @0xa5cd762cd951a455 {
diff --git a/common/params_keys.h b/common/params_keys.h
index d88189d4322eea..f95539963d7ddf 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -141,6 +141,9 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"ModelManager_ModelsCache", PERSISTENT | BACKUP},
 
+    // Neural Network Lateral Control
+    {"NeuralNetworkLateralControl", PERSISTENT | BACKUP},
+
     // sunnylink params
     {"EnableSunnylinkUploader", PERSISTENT | BACKUP},
     {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},
diff --git a/opendbc_repo b/opendbc_repo
index a26ea1e3ee982a..c10bc5bd85a66b 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit a26ea1e3ee982a4b2c377f5f75fdde63cba6a007
+Subproject commit c10bc5bd85a66b61e9f917a56154b6e3e2414288
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 6866bfb7d8cda7..24c98c9868f6a2 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -36,6 +36,7 @@ qt_src = [
 
 lateral_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
+  "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
 ]
 
 network_src = [
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc
new file mode 100644
index 00000000000000..d3bc0fffa7b170
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc
@@ -0,0 +1,63 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
+
+NeuralNetworkLateralControl::NeuralNetworkLateralControl() :
+  ParamControl("NeuralNetworkLateralControl", tr("Neural Network Lateral Control (NNLC)"),  "", "") {
+  setConfirmation(true, false);
+  updateToggle();
+}
+
+void NeuralNetworkLateralControl::showEvent(QShowEvent *event) {
+  updateToggle();
+}
+
+void NeuralNetworkLateralControl::updateToggle() {
+  QString statusInitText = "<font color='yellow'>" + STATUS_CHECK_COMPATIBILITY + "</font>";
+  QString notLoadedText = "<font color='yellow'>" + STATUS_NOT_LOADED + "</font>";
+  QString loadedText = "<font color=#00ff00>" + STATUS_LOADED + "</font>";
+
+  auto cp_bytes = params.get("CarParamsPersistent");
+  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
+  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    AlignedBuffer aligned_buf_sp;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
+
+    if (CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE) {
+      params.remove("NeuralNetworkLateralControl");
+      setDescription(nnffDescriptionBuilder(STATUS_NOT_AVAILABLE));
+      setEnabled(false);
+    } else {
+      QString nn_model_name = QString::fromStdString(CP_SP.getNeuralNetworkLateralControl().getModel().getName());
+      QString nn_fuzzy = CP_SP.getNeuralNetworkLateralControl().getFuzzyFingerprint() ?
+                         STATUS_MATCH_FUZZY : STATUS_MATCH_EXACT;
+
+      if (nn_model_name.isEmpty()) {
+        setDescription(nnffDescriptionBuilder(statusInitText));
+      } else if (nn_model_name == "MOCK") {
+        setDescription(nnffDescriptionBuilder(
+          notLoadedText + "<br>" + buildSupportText(SUPPORT_DONATE_LOGS)
+        ));
+      } else {
+        QString statusText = loadedText + " | " + STATUS_MATCH + " = " + nn_fuzzy + " | " + nn_model_name;
+        QString explanationText = EXPLANATION_MATCH + " " + buildSupportText(SUPPORT_ISSUES);
+        setDescription(nnffDescriptionBuilder(statusText + "<br><br>" + explanationText));
+      }
+    }
+  } else {
+    setDescription(nnffDescriptionBuilder(statusInitText));
+  }
+
+  if (getDescription() != getBaseDescription()) {
+    showDescription();
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h
new file mode 100644
index 00000000000000..18a3fac187324c
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h
@@ -0,0 +1,64 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <map>
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+
+class NeuralNetworkLateralControl : public ParamControl {
+  Q_OBJECT
+
+public:
+  NeuralNetworkLateralControl();
+  void showEvent(QShowEvent *event) override;
+
+public slots:
+  void updateToggle();
+
+private:
+  Params params;
+
+  void refresh();
+
+  // Status messages
+  const QString STATUS_NOT_AVAILABLE = tr("NNLC is currently not available on this platform.");
+  const QString STATUS_CHECK_COMPATIBILITY = tr("Start the car to check car compatibility");
+  const QString STATUS_NOT_LOADED = tr("NNLC Not Loaded");
+  const QString STATUS_LOADED = tr("NNLC Loaded");
+  const QString STATUS_MATCH = tr("Match");
+  const QString STATUS_MATCH_EXACT = tr("Exact");
+  const QString STATUS_MATCH_FUZZY = tr("Fuzzy");
+
+  // Explanations
+  const QString EXPLANATION_MATCH = tr("Match: \"Exact\" is ideal, but \"Fuzzy\" is fine too.");
+  const QString EXPLANATION_FEATURE = tr("Formerly known as <b>\"NNFF\"</b>, this replaces the lateral <b>\"torque\"</b> controller, "
+                                            "with one using a neural network trained on each car's (actually, each separate EPS firmware) driving data for increased controls accuracy.");
+
+  // Support information
+  const QString SUPPORT_CHANNEL = "<font color='white'><b>#tuning-nnlc</b></font>";
+  const QString SUPPORT_REACH_OUT = tr("Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server");
+  const QString SUPPORT_FEEDBACK = tr("with feedback, or to provide log data for your car if your car is currently unsupported:");
+  const QString SUPPORT_ISSUES = tr("if there are any issues:");
+  const QString SUPPORT_DONATE_LOGS = tr("and donate logs to get NNLC loaded for your car:");
+
+  // Description builders
+  QString buildSupportText(const QString& context) const {
+    return SUPPORT_REACH_OUT + " " + context + " " + SUPPORT_CHANNEL;
+  }
+
+  QString nnffDescriptionBuilder(const QString &custom_description) const {
+    return "<b>" + custom_description + "</b><br><br>" + getBaseDescription();
+  }
+
+  QString getBaseDescription() const {
+    return EXPLANATION_FEATURE + "<br><br>" + buildSupportText(SUPPORT_FEEDBACK);
+  }
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
index e604b03ba91a07..750e26c118fd38 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
@@ -42,8 +42,21 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
   });
   list->addItem(madsSettingsButton);
 
+  nnlcToggle = new NeuralNetworkLateralControl();
+  list->addItem(nnlcToggle);
+
+  QObject::connect(nnlcToggle, &ParamControl::toggleFlipped, [=](bool state) {
+    if (state) {
+      nnlcToggle->showDescription();
+    } else {
+      nnlcToggle->hideDescription();
+    }
+
+    nnlcToggle->updateToggle();
+  });
+
   toggleOffroadOnly = {
-    madsToggle,
+    madsToggle, nnlcToggle,
   };
   QObject::connect(uiState(), &UIState::offroadTransition, this, &LateralPanel::updateToggles);
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
index 7cc4b6f11d28af..0857e6ebd5468a 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
@@ -12,6 +12,7 @@
 
 #include "selfdrive/ui/sunnypilot/ui.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
@@ -37,4 +38,5 @@ public slots:
   ParamControl *madsToggle;
   PushButtonSP *madsSettingsButton;
   MadsSettings *madsWidget = nullptr;
+  NeuralNetworkLateralControl *nnlcToggle = nullptr;
 };
diff --git a/sunnypilot/neural_network_data b/sunnypilot/neural_network_data
new file mode 160000
index 00000000000000..1acc8f75fbdf2e
--- /dev/null
+++ b/sunnypilot/neural_network_data
@@ -0,0 +1 @@
+Subproject commit 1acc8f75fbdf2ea38e0234e8f7410f85778fe487
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index 375ce7fa7fa134..0f36d345731512 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -8,9 +8,12 @@
 from opendbc.car import Bus, structs
 from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable
 from opendbc.car.car_helpers import can_fingerprint
+from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
 from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
+from openpilot.common.swaglog import cloudlog
+from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_model_path
 
 import openpilot.system.sentry as sentry
 
@@ -22,6 +25,25 @@ def log_fingerprint(CP: structs.CarParams) -> None:
     sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
 
 
+def initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params, enabled: bool = False) -> None:
+  nnlc_model_path, nnlc_model_name, exact_match = get_nn_model_path(CP)
+
+  if nnlc_model_path is None:
+    cloudlog.error({"nnlc event": "car doesn't match any Neural Network model"})
+    nnlc_model_path = "MOCK"
+    nnlc_model_name = "MOCK"
+
+  if nnlc_model_path != "MOCK" and CP.steerControlType != structs.CarParams.SteerControlType.angle:
+    enabled = params.get_bool("NeuralNetworkLateralControl")
+
+  if enabled:
+    CarInterfaceBase.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)
+
+  CP_SP.neuralNetworkLateralControl.model.path = nnlc_model_path
+  CP_SP.neuralNetworkLateralControl.model.name = nnlc_model_name
+  CP_SP.neuralNetworkLateralControl.fuzzyFingerprint = not exact_match
+
+
 def setup_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params):
   if CP.brand == 'hyundai':
     if CP.flags & HyundaiFlags.MANDO_RADAR and CP.radarUnavailable:
@@ -32,6 +54,8 @@ def setup_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, pa
         if params.get_bool("HyundaiRadarTracks"):
           CP.radarUnavailable = False
 
+  initialize_neural_network_lateral_control(CP, CP_SP, params)
+
 
 def initialize_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params, can_recv: CanRecvCallable,
                                 can_send: CanSendCallable):
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
index 1166cb32d6b32b..ee8d64dcd079a2 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
@@ -4,10 +4,11 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase
 
+from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.nnlc import NeuralNetworkLateralControl
 
-class LatControlTorqueExt(LatControlTorqueExtBase):
+
+class LatControlTorqueExt(NeuralNetworkLateralControl):
   def __init__(self, lac_torque, CP, CP_SP):
     super().__init__(lac_torque, CP, CP_SP)
 
@@ -22,5 +23,6 @@ def update(self, CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_
     self._actual_lateral_accel = actual_lateral_accel
 
     self.update_calculations(CS, VM, desired_lateral_accel)
+    self.update_neural_network_feedforward(CS, params, calibrated_pose)
 
     return self._ff, self._pid_log
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/__init__.py b/sunnypilot/selfdrive/controls/lib/nnlc/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py b/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
new file mode 100644
index 00000000000000..5f68a0a28e27e0
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
@@ -0,0 +1,58 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import os
+from difflib import SequenceMatcher
+
+from opendbc.car import structs
+from openpilot.common.basedir import BASEDIR
+
+TORQUE_NN_MODEL_PATH = os.path.join(BASEDIR, "sunnypilot", "neural_network_data", "neural_network_lateral_control")
+
+
+def similarity(s1: str, s2: str) -> float:
+  return SequenceMatcher(None, s1, s2).ratio()
+
+
+def get_nn_model_path(CP: structs.CarParams) -> tuple[str | None, str, bool]:
+  exact_match = True
+  car_fingerprint = CP.carFingerprint
+  eps_fw = str(next((fw.fwVersion for fw in CP.carFw if fw.ecu == "eps"), ""))
+  model_name = ""
+
+  def check_nn_path(nn_candidate):
+    _model_path = None
+    _max_similarity = -1.0
+    for f in os.listdir(TORQUE_NN_MODEL_PATH):
+      if f.endswith(".json"):
+        model = os.path.splitext(f)[0]
+        similarity_score = similarity(model, nn_candidate)
+        if similarity_score > _max_similarity:
+          _max_similarity = similarity_score
+          _model_path = os.path.join(TORQUE_NN_MODEL_PATH, f)
+    return _model_path, _max_similarity
+
+  if len(eps_fw) > 3:
+    eps_fw = eps_fw.replace("\\", "")
+    nn_candidate = f"{car_fingerprint} {eps_fw}"
+    model_path, max_similarity = check_nn_path(nn_candidate)
+
+    if model_path is not None and car_fingerprint in model_path and max_similarity >= 0.9:
+      model_name = os.path.splitext(os.path.basename(model_path))[0]
+      exact_match = max_similarity >= 0.99
+      return model_path, model_name, exact_match
+
+  nn_candidate = car_fingerprint
+  model_path, max_similarity = check_nn_path(nn_candidate)
+
+  if model_path is None or car_fingerprint not in model_path or max_similarity < 0.9:
+    model_path = None
+
+  if model_path is not None:
+    model_name = os.path.splitext(os.path.basename(model_path))[0]
+    exact_match = max_similarity >= 0.99
+
+  return model_path, model_name, exact_match
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/model.py b/sunnypilot/selfdrive/controls/lib/nnlc/model.py
new file mode 100644
index 00000000000000..1e527c73700ebd
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/model.py
@@ -0,0 +1,81 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from json import load
+import numpy as np
+
+# dict used to rename activation functions whose names aren't valid python identifiers
+ACTIVATION_FUNCTION_NAMES = {'σ': 'sigmoid'}
+
+
+class NNTorqueModel:
+  def __init__(self, params_file, zero_bias=False):
+    with open(params_file) as f:
+      params = load(f)
+
+    self.input_size = params["input_size"]
+    self.output_size = params["output_size"]
+    self.input_mean = np.array(params["input_mean"], dtype=np.float32).T
+    self.input_std = np.array(params["input_std"], dtype=np.float32).T
+    self.layers = []
+    self.friction_override = False
+
+    for layer_params in params["layers"]:
+      W = np.array(layer_params[next(key for key in layer_params.keys() if key.endswith('_W'))], dtype=np.float32).T
+      b = np.array(layer_params[next(key for key in layer_params.keys() if key.endswith('_b'))], dtype=np.float32).T
+      if zero_bias:
+        b = np.zeros_like(b)
+      activation = layer_params["activation"]
+      for k, v in ACTIVATION_FUNCTION_NAMES.items():
+        activation = activation.replace(k, v)
+      self.layers.append((W, b, activation))
+
+    self.validate_layers()
+    self.check_for_friction_override()
+
+  # Begin activation functions.
+  # These are called by name using the keys in the model json file
+  @staticmethod
+  def sigmoid(x):
+    return 1 / (1 + np.exp(-x))
+
+  @staticmethod
+  def identity(x):
+    return x
+  # End activation functions
+
+  def forward(self, x):
+    for W, b, activation in self.layers:
+      x = getattr(self, activation)(x.dot(W) + b)
+    return x
+
+  def evaluate(self, input_array):
+    in_len = len(input_array)
+    if in_len != self.input_size:
+      # If the input is length 2-4, then it's a simplified evaluation.
+      # In that case, need to add on zeros to fill out the input array to match the correct length.
+      if 2 <= in_len:
+        input_array = input_array + [0] * (self.input_size - in_len)
+      else:
+        raise ValueError(f"Input array length {len(input_array)} must be length 2 or greater")
+
+    input_array = np.array(input_array, dtype=np.float32)
+
+    # Rescale the input array using the input_mean and input_std
+    input_array = (input_array - self.input_mean) / self.input_std
+
+    output_array = self.forward(input_array)
+
+    return float(output_array[0, 0])
+
+  def validate_layers(self):
+    for _, _, activation in self.layers:
+      if not hasattr(self, activation):
+        raise ValueError(f"Unknown activation: {activation}")
+
+  def check_for_friction_override(self):
+    y = self.evaluate([10.0, 0.0, 0.2])
+    self.friction_override = (y < 0.1)
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
new file mode 100644
index 00000000000000..e1208ab829a797
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
@@ -0,0 +1,106 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from collections import deque
+import math
+import numpy as np
+
+from opendbc.car.interfaces import LatControlInputs
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.params import Params
+from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase
+from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.model import NNTorqueModel
+
+
+# At a given roll, if pitch magnitude increases, the
+# gravitational acceleration component starts pointing
+# in the longitudinal direction, decreasing the lateral
+# acceleration component. Here we do the same thing
+# to the roll value itself, then passed to nnff.
+def roll_pitch_adjust(roll, pitch):
+  return roll * math.cos(pitch)
+
+
+class NeuralNetworkLateralControl(LatControlTorqueExtBase):
+  def __init__(self, lac_torque, CP, CP_SP):
+    super().__init__(lac_torque, CP, CP_SP)
+    self.params = Params()
+    self.enabled = self.params.get_bool("NeuralNetworkLateralControl")
+
+    # NN model takes current v_ego, lateral_accel, lat accel/jerk error, roll, and past/future/planned data
+    # of lat accel and roll
+    # Past value is computed using previous desired lat accel and observed roll
+    # Only initialize NNTorqueModel if enabled
+    self.model = NNTorqueModel(CP_SP.neuralNetworkLateralControl.model.path) if self.enabled else None
+
+    self.pitch = FirstOrderFilter(0.0, 0.5, 0.01)
+    self.pitch_last = 0.0
+
+    # setup future time offsets
+    self.nn_time_offset = CP.steerActuatorDelay + 0.2
+    future_times = [0.3, 0.6, 1.0, 1.5] # seconds in the future
+    self.nn_future_times = [i + self.nn_time_offset for i in future_times]
+
+    # setup past time offsets
+    self.past_times = [-0.3, -0.2, -0.1]
+    history_check_frames = [int(abs(i)*100) for i in self.past_times]
+    self.history_frame_offsets = [history_check_frames[0] - i for i in history_check_frames]
+    self.lateral_accel_desired_deque = deque(maxlen=history_check_frames[0])
+    self.roll_deque = deque(maxlen=history_check_frames[0])
+    self.error_deque = deque(maxlen=history_check_frames[0])
+    self.past_future_len = len(self.past_times) + len(self.nn_future_times)
+
+  def update_neural_network_feedforward(self, CS, params, calibrated_pose):
+    if not self.enabled or not self.model_valid:
+      return
+
+    # update past data
+    roll = params.roll
+    if calibrated_pose is not None:
+      pitch = self.pitch.update(calibrated_pose.orientation.pitch)
+      roll = roll_pitch_adjust(roll, pitch)
+      self.pitch_last = pitch
+    self.roll_deque.append(roll)
+    self.lateral_accel_desired_deque.append(self._desired_lateral_accel)
+
+    # prepare past and future values
+    # adjust future times to account for longitudinal acceleration
+    adjusted_future_times = [t + 0.5 * CS.aEgo * (t / max(CS.vEgo, 1.0)) for t in self.nn_future_times]
+    past_rolls = [self.roll_deque[min(len(self.roll_deque) - 1, i)] for i in self.history_frame_offsets]
+    future_rolls = [roll_pitch_adjust(np.interp(t, ModelConstants.T_IDXS, self.model_v2.orientation.x) + roll,
+                                      np.interp(t, ModelConstants.T_IDXS, self.model_v2.orientation.y) + self.pitch_last) for t in
+                    adjusted_future_times]
+    past_lateral_accels_desired = [self.lateral_accel_desired_deque[min(len(self.lateral_accel_desired_deque) - 1, i)]
+                                   for i in self.history_frame_offsets]
+    future_planned_lateral_accels = [np.interp(t, ModelConstants.T_IDXS, self.model_v2.acceleration.y) for t in
+                                     adjusted_future_times]
+
+    # compute NNFF error response
+    nnff_setpoint_input = [CS.vEgo, self._setpoint, self.lateral_jerk_setpoint, roll] \
+                          + [self._setpoint] * self.past_future_len \
+                          + past_rolls + future_rolls
+    # past lateral accel error shouldn't count, so use past desired like the setpoint input
+    nnff_measurement_input = [CS.vEgo, self._measurement, self.lateral_jerk_measurement, roll] \
+                             + [self._measurement] * self.past_future_len \
+                             + past_rolls + future_rolls
+    torque_from_setpoint = self.model.evaluate(nnff_setpoint_input)
+    torque_from_measurement = self.model.evaluate(nnff_measurement_input)
+    self._pid_log.error = torque_from_setpoint - torque_from_measurement
+
+    # compute feedforward (same as nn setpoint output)
+    friction_input = self.update_friction_input(self._setpoint, self._measurement)
+    nn_input = [CS.vEgo, self._desired_lateral_accel, friction_input, roll] \
+               + past_lateral_accels_desired + future_planned_lateral_accels \
+               + past_rolls + future_rolls
+    self._ff = self.model.evaluate(nn_input)
+
+    # apply friction override for cars with low NN friction response
+    if self.model.friction_override:
+      self._pid_log.error += self.torque_from_lateral_accel(LatControlInputs(0.0, 0.0, CS.vEgo, CS.aEgo), self.torque_params,
+                                                            friction_input,
+                                                            self._lateral_accel_deadzone, friction_compensation=True,
+                                                            gravity_adjusted=False)
diff --git a/system/manager/manager.py b/system/manager/manager.py
index d4595ec3275008..9266a62aaecb4d 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -49,7 +49,8 @@ def manager_init() -> None:
     ("MadsSteeringMode", "0"),
     ("MadsUnifiedEngagementMode", "1"),
     ("ModelManager_LastSyncTime", "0"),
-    ("ModelManager_ModelsCache", "")
+    ("ModelManager_ModelsCache", ""),
+    ("NeuralNetworkLateralControl", "0"),
   ]
 
   if params.get_bool("RecordFrontLock"):

From 0990212edc641378140b3b6ac339f4a0ae14391b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 21 Mar 2025 16:13:50 -0400
Subject: [PATCH 0145/1434] Revert "Controls: Neural Network Lateral Control
 (NNLC) for Torque Lateral Accel Control" (#694)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Revert "Controls: Neural Network Lateral Control (NNLC) for Torque Lateral Ac…"

This reverts commit ecb4026269b793c6c1b03f61aaff8a3eeaa2939d.
---
 .gitmodules                                   |   3 -
 cereal/custom.capnp                           |  12 --
 common/params_keys.h                          |   3 -
 opendbc_repo                                  |   2 +-
 selfdrive/ui/sunnypilot/SConscript            |   1 -
 .../lateral/neural_network_lateral_control.cc |  63 -----------
 .../lateral/neural_network_lateral_control.h  |  64 -----------
 .../qt/offroad/settings/lateral_panel.cc      |  15 +--
 .../qt/offroad/settings/lateral_panel.h       |   2 -
 sunnypilot/neural_network_data                |   1 -
 sunnypilot/selfdrive/car/interfaces.py        |  24 ----
 .../controls/lib/latcontrol_torque_ext.py     |   6 +-
 .../selfdrive/controls/lib/nnlc/__init__.py   |   0
 .../selfdrive/controls/lib/nnlc/helpers.py    |  58 ----------
 .../selfdrive/controls/lib/nnlc/model.py      |  81 -------------
 .../selfdrive/controls/lib/nnlc/nnlc.py       | 106 ------------------
 system/manager/manager.py                     |   3 +-
 17 files changed, 5 insertions(+), 439 deletions(-)
 delete mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc
 delete mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h
 delete mode 160000 sunnypilot/neural_network_data
 delete mode 100644 sunnypilot/selfdrive/controls/lib/nnlc/__init__.py
 delete mode 100644 sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
 delete mode 100644 sunnypilot/selfdrive/controls/lib/nnlc/model.py
 delete mode 100644 sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py

diff --git a/.gitmodules b/.gitmodules
index b9f0336a0e3b81..f1f7c400dbf050 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -16,6 +16,3 @@
 [submodule "tinygrad"]
   path = tinygrad_repo
   url = https://github.com/commaai/tinygrad.git
-[submodule "sunnypilot/neural_network_data"]
-  path = sunnypilot/neural_network_data
-  url = https://github.com/sunnypilot/neural-network-data.git
diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 4d245c006bbefa..524ecdd65799a8 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -138,18 +138,6 @@ struct OnroadEventSP @0xda96579883444c35 {
 struct CarParamsSP @0x80ae746ee2596b11 {
   flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
   safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
-
-  neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
-
-  struct NeuralNetworkLateralControl {
-    model @0 :Model;
-    fuzzyFingerprint @1 :Bool;
-
-    struct Model {
-      path @0 :Text;
-      name @1 :Text;
-    }
-  }
 }
 
 struct CarControlSP @0xa5cd762cd951a455 {
diff --git a/common/params_keys.h b/common/params_keys.h
index f95539963d7ddf..d88189d4322eea 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -141,9 +141,6 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"ModelManager_ModelsCache", PERSISTENT | BACKUP},
 
-    // Neural Network Lateral Control
-    {"NeuralNetworkLateralControl", PERSISTENT | BACKUP},
-
     // sunnylink params
     {"EnableSunnylinkUploader", PERSISTENT | BACKUP},
     {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},
diff --git a/opendbc_repo b/opendbc_repo
index c10bc5bd85a66b..a26ea1e3ee982a 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit c10bc5bd85a66b61e9f917a56154b6e3e2414288
+Subproject commit a26ea1e3ee982a4b2c377f5f75fdde63cba6a007
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 24c98c9868f6a2..6866bfb7d8cda7 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -36,7 +36,6 @@ qt_src = [
 
 lateral_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
-  "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
 ]
 
 network_src = [
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc
deleted file mode 100644
index d3bc0fffa7b170..00000000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc
+++ /dev/null
@@ -1,63 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
-
-NeuralNetworkLateralControl::NeuralNetworkLateralControl() :
-  ParamControl("NeuralNetworkLateralControl", tr("Neural Network Lateral Control (NNLC)"),  "", "") {
-  setConfirmation(true, false);
-  updateToggle();
-}
-
-void NeuralNetworkLateralControl::showEvent(QShowEvent *event) {
-  updateToggle();
-}
-
-void NeuralNetworkLateralControl::updateToggle() {
-  QString statusInitText = "<font color='yellow'>" + STATUS_CHECK_COMPATIBILITY + "</font>";
-  QString notLoadedText = "<font color='yellow'>" + STATUS_NOT_LOADED + "</font>";
-  QString loadedText = "<font color=#00ff00>" + STATUS_LOADED + "</font>";
-
-  auto cp_bytes = params.get("CarParamsPersistent");
-  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
-  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
-    AlignedBuffer aligned_buf;
-    AlignedBuffer aligned_buf_sp;
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
-    capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
-    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
-
-    if (CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE) {
-      params.remove("NeuralNetworkLateralControl");
-      setDescription(nnffDescriptionBuilder(STATUS_NOT_AVAILABLE));
-      setEnabled(false);
-    } else {
-      QString nn_model_name = QString::fromStdString(CP_SP.getNeuralNetworkLateralControl().getModel().getName());
-      QString nn_fuzzy = CP_SP.getNeuralNetworkLateralControl().getFuzzyFingerprint() ?
-                         STATUS_MATCH_FUZZY : STATUS_MATCH_EXACT;
-
-      if (nn_model_name.isEmpty()) {
-        setDescription(nnffDescriptionBuilder(statusInitText));
-      } else if (nn_model_name == "MOCK") {
-        setDescription(nnffDescriptionBuilder(
-          notLoadedText + "<br>" + buildSupportText(SUPPORT_DONATE_LOGS)
-        ));
-      } else {
-        QString statusText = loadedText + " | " + STATUS_MATCH + " = " + nn_fuzzy + " | " + nn_model_name;
-        QString explanationText = EXPLANATION_MATCH + " " + buildSupportText(SUPPORT_ISSUES);
-        setDescription(nnffDescriptionBuilder(statusText + "<br><br>" + explanationText));
-      }
-    }
-  } else {
-    setDescription(nnffDescriptionBuilder(statusInitText));
-  }
-
-  if (getDescription() != getBaseDescription()) {
-    showDescription();
-  }
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h
deleted file mode 100644
index 18a3fac187324c..00000000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include <map>
-
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-
-class NeuralNetworkLateralControl : public ParamControl {
-  Q_OBJECT
-
-public:
-  NeuralNetworkLateralControl();
-  void showEvent(QShowEvent *event) override;
-
-public slots:
-  void updateToggle();
-
-private:
-  Params params;
-
-  void refresh();
-
-  // Status messages
-  const QString STATUS_NOT_AVAILABLE = tr("NNLC is currently not available on this platform.");
-  const QString STATUS_CHECK_COMPATIBILITY = tr("Start the car to check car compatibility");
-  const QString STATUS_NOT_LOADED = tr("NNLC Not Loaded");
-  const QString STATUS_LOADED = tr("NNLC Loaded");
-  const QString STATUS_MATCH = tr("Match");
-  const QString STATUS_MATCH_EXACT = tr("Exact");
-  const QString STATUS_MATCH_FUZZY = tr("Fuzzy");
-
-  // Explanations
-  const QString EXPLANATION_MATCH = tr("Match: \"Exact\" is ideal, but \"Fuzzy\" is fine too.");
-  const QString EXPLANATION_FEATURE = tr("Formerly known as <b>\"NNFF\"</b>, this replaces the lateral <b>\"torque\"</b> controller, "
-                                            "with one using a neural network trained on each car's (actually, each separate EPS firmware) driving data for increased controls accuracy.");
-
-  // Support information
-  const QString SUPPORT_CHANNEL = "<font color='white'><b>#tuning-nnlc</b></font>";
-  const QString SUPPORT_REACH_OUT = tr("Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server");
-  const QString SUPPORT_FEEDBACK = tr("with feedback, or to provide log data for your car if your car is currently unsupported:");
-  const QString SUPPORT_ISSUES = tr("if there are any issues:");
-  const QString SUPPORT_DONATE_LOGS = tr("and donate logs to get NNLC loaded for your car:");
-
-  // Description builders
-  QString buildSupportText(const QString& context) const {
-    return SUPPORT_REACH_OUT + " " + context + " " + SUPPORT_CHANNEL;
-  }
-
-  QString nnffDescriptionBuilder(const QString &custom_description) const {
-    return "<b>" + custom_description + "</b><br><br>" + getBaseDescription();
-  }
-
-  QString getBaseDescription() const {
-    return EXPLANATION_FEATURE + "<br><br>" + buildSupportText(SUPPORT_FEEDBACK);
-  }
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
index 750e26c118fd38..e604b03ba91a07 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
@@ -42,21 +42,8 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
   });
   list->addItem(madsSettingsButton);
 
-  nnlcToggle = new NeuralNetworkLateralControl();
-  list->addItem(nnlcToggle);
-
-  QObject::connect(nnlcToggle, &ParamControl::toggleFlipped, [=](bool state) {
-    if (state) {
-      nnlcToggle->showDescription();
-    } else {
-      nnlcToggle->hideDescription();
-    }
-
-    nnlcToggle->updateToggle();
-  });
-
   toggleOffroadOnly = {
-    madsToggle, nnlcToggle,
+    madsToggle,
   };
   QObject::connect(uiState(), &UIState::offroadTransition, this, &LateralPanel::updateToggles);
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
index 0857e6ebd5468a..7cc4b6f11d28af 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
@@ -12,7 +12,6 @@
 
 #include "selfdrive/ui/sunnypilot/ui.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
@@ -38,5 +37,4 @@ public slots:
   ParamControl *madsToggle;
   PushButtonSP *madsSettingsButton;
   MadsSettings *madsWidget = nullptr;
-  NeuralNetworkLateralControl *nnlcToggle = nullptr;
 };
diff --git a/sunnypilot/neural_network_data b/sunnypilot/neural_network_data
deleted file mode 160000
index 1acc8f75fbdf2e..00000000000000
--- a/sunnypilot/neural_network_data
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 1acc8f75fbdf2ea38e0234e8f7410f85778fe487
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index 0f36d345731512..375ce7fa7fa134 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -8,12 +8,9 @@
 from opendbc.car import Bus, structs
 from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable
 from opendbc.car.car_helpers import can_fingerprint
-from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
 from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
-from openpilot.common.swaglog import cloudlog
-from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_model_path
 
 import openpilot.system.sentry as sentry
 
@@ -25,25 +22,6 @@ def log_fingerprint(CP: structs.CarParams) -> None:
     sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
 
 
-def initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params, enabled: bool = False) -> None:
-  nnlc_model_path, nnlc_model_name, exact_match = get_nn_model_path(CP)
-
-  if nnlc_model_path is None:
-    cloudlog.error({"nnlc event": "car doesn't match any Neural Network model"})
-    nnlc_model_path = "MOCK"
-    nnlc_model_name = "MOCK"
-
-  if nnlc_model_path != "MOCK" and CP.steerControlType != structs.CarParams.SteerControlType.angle:
-    enabled = params.get_bool("NeuralNetworkLateralControl")
-
-  if enabled:
-    CarInterfaceBase.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)
-
-  CP_SP.neuralNetworkLateralControl.model.path = nnlc_model_path
-  CP_SP.neuralNetworkLateralControl.model.name = nnlc_model_name
-  CP_SP.neuralNetworkLateralControl.fuzzyFingerprint = not exact_match
-
-
 def setup_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params):
   if CP.brand == 'hyundai':
     if CP.flags & HyundaiFlags.MANDO_RADAR and CP.radarUnavailable:
@@ -54,8 +32,6 @@ def setup_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, pa
         if params.get_bool("HyundaiRadarTracks"):
           CP.radarUnavailable = False
 
-  initialize_neural_network_lateral_control(CP, CP_SP, params)
-
 
 def initialize_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params, can_recv: CanRecvCallable,
                                 can_send: CanSendCallable):
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
index ee8d64dcd079a2..1166cb32d6b32b 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
@@ -4,11 +4,10 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase
 
-from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.nnlc import NeuralNetworkLateralControl
 
-
-class LatControlTorqueExt(NeuralNetworkLateralControl):
+class LatControlTorqueExt(LatControlTorqueExtBase):
   def __init__(self, lac_torque, CP, CP_SP):
     super().__init__(lac_torque, CP, CP_SP)
 
@@ -23,6 +22,5 @@ def update(self, CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_
     self._actual_lateral_accel = actual_lateral_accel
 
     self.update_calculations(CS, VM, desired_lateral_accel)
-    self.update_neural_network_feedforward(CS, params, calibrated_pose)
 
     return self._ff, self._pid_log
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/__init__.py b/sunnypilot/selfdrive/controls/lib/nnlc/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py b/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
deleted file mode 100644
index 5f68a0a28e27e0..00000000000000
--- a/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
+++ /dev/null
@@ -1,58 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import os
-from difflib import SequenceMatcher
-
-from opendbc.car import structs
-from openpilot.common.basedir import BASEDIR
-
-TORQUE_NN_MODEL_PATH = os.path.join(BASEDIR, "sunnypilot", "neural_network_data", "neural_network_lateral_control")
-
-
-def similarity(s1: str, s2: str) -> float:
-  return SequenceMatcher(None, s1, s2).ratio()
-
-
-def get_nn_model_path(CP: structs.CarParams) -> tuple[str | None, str, bool]:
-  exact_match = True
-  car_fingerprint = CP.carFingerprint
-  eps_fw = str(next((fw.fwVersion for fw in CP.carFw if fw.ecu == "eps"), ""))
-  model_name = ""
-
-  def check_nn_path(nn_candidate):
-    _model_path = None
-    _max_similarity = -1.0
-    for f in os.listdir(TORQUE_NN_MODEL_PATH):
-      if f.endswith(".json"):
-        model = os.path.splitext(f)[0]
-        similarity_score = similarity(model, nn_candidate)
-        if similarity_score > _max_similarity:
-          _max_similarity = similarity_score
-          _model_path = os.path.join(TORQUE_NN_MODEL_PATH, f)
-    return _model_path, _max_similarity
-
-  if len(eps_fw) > 3:
-    eps_fw = eps_fw.replace("\\", "")
-    nn_candidate = f"{car_fingerprint} {eps_fw}"
-    model_path, max_similarity = check_nn_path(nn_candidate)
-
-    if model_path is not None and car_fingerprint in model_path and max_similarity >= 0.9:
-      model_name = os.path.splitext(os.path.basename(model_path))[0]
-      exact_match = max_similarity >= 0.99
-      return model_path, model_name, exact_match
-
-  nn_candidate = car_fingerprint
-  model_path, max_similarity = check_nn_path(nn_candidate)
-
-  if model_path is None or car_fingerprint not in model_path or max_similarity < 0.9:
-    model_path = None
-
-  if model_path is not None:
-    model_name = os.path.splitext(os.path.basename(model_path))[0]
-    exact_match = max_similarity >= 0.99
-
-  return model_path, model_name, exact_match
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/model.py b/sunnypilot/selfdrive/controls/lib/nnlc/model.py
deleted file mode 100644
index 1e527c73700ebd..00000000000000
--- a/sunnypilot/selfdrive/controls/lib/nnlc/model.py
+++ /dev/null
@@ -1,81 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from json import load
-import numpy as np
-
-# dict used to rename activation functions whose names aren't valid python identifiers
-ACTIVATION_FUNCTION_NAMES = {'σ': 'sigmoid'}
-
-
-class NNTorqueModel:
-  def __init__(self, params_file, zero_bias=False):
-    with open(params_file) as f:
-      params = load(f)
-
-    self.input_size = params["input_size"]
-    self.output_size = params["output_size"]
-    self.input_mean = np.array(params["input_mean"], dtype=np.float32).T
-    self.input_std = np.array(params["input_std"], dtype=np.float32).T
-    self.layers = []
-    self.friction_override = False
-
-    for layer_params in params["layers"]:
-      W = np.array(layer_params[next(key for key in layer_params.keys() if key.endswith('_W'))], dtype=np.float32).T
-      b = np.array(layer_params[next(key for key in layer_params.keys() if key.endswith('_b'))], dtype=np.float32).T
-      if zero_bias:
-        b = np.zeros_like(b)
-      activation = layer_params["activation"]
-      for k, v in ACTIVATION_FUNCTION_NAMES.items():
-        activation = activation.replace(k, v)
-      self.layers.append((W, b, activation))
-
-    self.validate_layers()
-    self.check_for_friction_override()
-
-  # Begin activation functions.
-  # These are called by name using the keys in the model json file
-  @staticmethod
-  def sigmoid(x):
-    return 1 / (1 + np.exp(-x))
-
-  @staticmethod
-  def identity(x):
-    return x
-  # End activation functions
-
-  def forward(self, x):
-    for W, b, activation in self.layers:
-      x = getattr(self, activation)(x.dot(W) + b)
-    return x
-
-  def evaluate(self, input_array):
-    in_len = len(input_array)
-    if in_len != self.input_size:
-      # If the input is length 2-4, then it's a simplified evaluation.
-      # In that case, need to add on zeros to fill out the input array to match the correct length.
-      if 2 <= in_len:
-        input_array = input_array + [0] * (self.input_size - in_len)
-      else:
-        raise ValueError(f"Input array length {len(input_array)} must be length 2 or greater")
-
-    input_array = np.array(input_array, dtype=np.float32)
-
-    # Rescale the input array using the input_mean and input_std
-    input_array = (input_array - self.input_mean) / self.input_std
-
-    output_array = self.forward(input_array)
-
-    return float(output_array[0, 0])
-
-  def validate_layers(self):
-    for _, _, activation in self.layers:
-      if not hasattr(self, activation):
-        raise ValueError(f"Unknown activation: {activation}")
-
-  def check_for_friction_override(self):
-    y = self.evaluate([10.0, 0.0, 0.2])
-    self.friction_override = (y < 0.1)
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
deleted file mode 100644
index e1208ab829a797..00000000000000
--- a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
+++ /dev/null
@@ -1,106 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from collections import deque
-import math
-import numpy as np
-
-from opendbc.car.interfaces import LatControlInputs
-from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.params import Params
-from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase
-from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.model import NNTorqueModel
-
-
-# At a given roll, if pitch magnitude increases, the
-# gravitational acceleration component starts pointing
-# in the longitudinal direction, decreasing the lateral
-# acceleration component. Here we do the same thing
-# to the roll value itself, then passed to nnff.
-def roll_pitch_adjust(roll, pitch):
-  return roll * math.cos(pitch)
-
-
-class NeuralNetworkLateralControl(LatControlTorqueExtBase):
-  def __init__(self, lac_torque, CP, CP_SP):
-    super().__init__(lac_torque, CP, CP_SP)
-    self.params = Params()
-    self.enabled = self.params.get_bool("NeuralNetworkLateralControl")
-
-    # NN model takes current v_ego, lateral_accel, lat accel/jerk error, roll, and past/future/planned data
-    # of lat accel and roll
-    # Past value is computed using previous desired lat accel and observed roll
-    # Only initialize NNTorqueModel if enabled
-    self.model = NNTorqueModel(CP_SP.neuralNetworkLateralControl.model.path) if self.enabled else None
-
-    self.pitch = FirstOrderFilter(0.0, 0.5, 0.01)
-    self.pitch_last = 0.0
-
-    # setup future time offsets
-    self.nn_time_offset = CP.steerActuatorDelay + 0.2
-    future_times = [0.3, 0.6, 1.0, 1.5] # seconds in the future
-    self.nn_future_times = [i + self.nn_time_offset for i in future_times]
-
-    # setup past time offsets
-    self.past_times = [-0.3, -0.2, -0.1]
-    history_check_frames = [int(abs(i)*100) for i in self.past_times]
-    self.history_frame_offsets = [history_check_frames[0] - i for i in history_check_frames]
-    self.lateral_accel_desired_deque = deque(maxlen=history_check_frames[0])
-    self.roll_deque = deque(maxlen=history_check_frames[0])
-    self.error_deque = deque(maxlen=history_check_frames[0])
-    self.past_future_len = len(self.past_times) + len(self.nn_future_times)
-
-  def update_neural_network_feedforward(self, CS, params, calibrated_pose):
-    if not self.enabled or not self.model_valid:
-      return
-
-    # update past data
-    roll = params.roll
-    if calibrated_pose is not None:
-      pitch = self.pitch.update(calibrated_pose.orientation.pitch)
-      roll = roll_pitch_adjust(roll, pitch)
-      self.pitch_last = pitch
-    self.roll_deque.append(roll)
-    self.lateral_accel_desired_deque.append(self._desired_lateral_accel)
-
-    # prepare past and future values
-    # adjust future times to account for longitudinal acceleration
-    adjusted_future_times = [t + 0.5 * CS.aEgo * (t / max(CS.vEgo, 1.0)) for t in self.nn_future_times]
-    past_rolls = [self.roll_deque[min(len(self.roll_deque) - 1, i)] for i in self.history_frame_offsets]
-    future_rolls = [roll_pitch_adjust(np.interp(t, ModelConstants.T_IDXS, self.model_v2.orientation.x) + roll,
-                                      np.interp(t, ModelConstants.T_IDXS, self.model_v2.orientation.y) + self.pitch_last) for t in
-                    adjusted_future_times]
-    past_lateral_accels_desired = [self.lateral_accel_desired_deque[min(len(self.lateral_accel_desired_deque) - 1, i)]
-                                   for i in self.history_frame_offsets]
-    future_planned_lateral_accels = [np.interp(t, ModelConstants.T_IDXS, self.model_v2.acceleration.y) for t in
-                                     adjusted_future_times]
-
-    # compute NNFF error response
-    nnff_setpoint_input = [CS.vEgo, self._setpoint, self.lateral_jerk_setpoint, roll] \
-                          + [self._setpoint] * self.past_future_len \
-                          + past_rolls + future_rolls
-    # past lateral accel error shouldn't count, so use past desired like the setpoint input
-    nnff_measurement_input = [CS.vEgo, self._measurement, self.lateral_jerk_measurement, roll] \
-                             + [self._measurement] * self.past_future_len \
-                             + past_rolls + future_rolls
-    torque_from_setpoint = self.model.evaluate(nnff_setpoint_input)
-    torque_from_measurement = self.model.evaluate(nnff_measurement_input)
-    self._pid_log.error = torque_from_setpoint - torque_from_measurement
-
-    # compute feedforward (same as nn setpoint output)
-    friction_input = self.update_friction_input(self._setpoint, self._measurement)
-    nn_input = [CS.vEgo, self._desired_lateral_accel, friction_input, roll] \
-               + past_lateral_accels_desired + future_planned_lateral_accels \
-               + past_rolls + future_rolls
-    self._ff = self.model.evaluate(nn_input)
-
-    # apply friction override for cars with low NN friction response
-    if self.model.friction_override:
-      self._pid_log.error += self.torque_from_lateral_accel(LatControlInputs(0.0, 0.0, CS.vEgo, CS.aEgo), self.torque_params,
-                                                            friction_input,
-                                                            self._lateral_accel_deadzone, friction_compensation=True,
-                                                            gravity_adjusted=False)
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 9266a62aaecb4d..d4595ec3275008 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -49,8 +49,7 @@ def manager_init() -> None:
     ("MadsSteeringMode", "0"),
     ("MadsUnifiedEngagementMode", "1"),
     ("ModelManager_LastSyncTime", "0"),
-    ("ModelManager_ModelsCache", ""),
-    ("NeuralNetworkLateralControl", "0"),
+    ("ModelManager_ModelsCache", "")
   ]
 
   if params.get_bool("RecordFrontLock"):

From 309304a352f1c2d940393c881f08743c05784f0b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 22 Mar 2025 09:40:29 -0400
Subject: [PATCH 0146/1434] Controls: Neural Network Lateral Control (NNLC) for
 Torque Lateral Accel Control (#695)

* init

* more init

* keep it alive

* fixes

* more fixes

* more fix

* new submodule for nn data

* bump submodule

* update path to submodule

* spacing???

* update submodule path

* update submodule path

* bump

* dump

* bump

* introduce params

* Add Neural Network Lateral Control toggle to developer panel

This introduces a new toggle for enabling Neural Network Lateral Control (NNLC), providing detailed descriptions of its functionality and compatibility. It includes UI integration, car compatibility checks, and feedback links for unsupported vehicles.

* decouple even more

* static

* codespell

* remove debug

* in structs

* fix import

* convert to capnp

* fixes

* debug

* only initialize if NNLC is enabled or allow to enable

* oops

* fix initialization

* only allow engage if nnlc is off

* fix toggle param

* fix tests

* lint

* fix more test

* capnp test

* try this out

* validate if it's not None

* make it 33 to match

* align

* share the same friction input calculation

* return stock values if not enabled

* unused

* split base and child

* space

* rename

* NeuralNetworkFeedForwardModel

* less

* just use file name

* try this

* more explicit

* rename

* move it

* child class for additional controllers

* rename

* time to split out custom lateral acceleration

* move around

* space

* fix

* TODO-SP

* TODO-SP

* update regardless, it's an extension now

* update name and expose toggle

* ui: sunnypilot Panel -> Steering Panel

* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h

* merge

* move to steering panel

* no need for this

* live params in a thread

* no live for now

* new structs

* more ui

* more flexible

* more ui

* no longer needed

* another ui

* cereal changes

* bump opendbc

* simplify checks

* all in one place

* split Enhanced Lat Accel

* handle unrecognized platform

* test for fingerprinting

* fix fingerprint

* NNLC: Mock data for unrecognized cars

* fix fingerprints

* test to verify model loading

* bump neural_network_data

* use pytest

* use different one for now

* fix ui preview alignments

* typing

* more type

* show a platform

* show match

* init params for tests

* ok ruff

* make sure to loop through tests

* ok again ruff

* ok we need this lol

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .gitmodules                                   |   3 +
 cereal/custom.capnp                           |  12 ++
 common/params_keys.h                          |   3 +
 opendbc_repo                                  |   2 +-
 selfdrive/car/tests/test_car_interfaces.py    |   3 +
 .../controls/lib/tests/test_latcontrol.py     |   2 +
 selfdrive/ui/sunnypilot/SConscript            |   1 +
 .../lateral/neural_network_lateral_control.cc |  63 +++++++++++
 .../lateral/neural_network_lateral_control.h  |  64 +++++++++++
 .../qt/offroad/settings/lateral_panel.cc      |  15 ++-
 .../qt/offroad/settings/lateral_panel.h       |   2 +
 selfdrive/ui/tests/test_ui/run.py             |  20 +++-
 sunnypilot/neural_network_data                |   1 +
 sunnypilot/selfdrive/car/interfaces.py        |  32 +++++-
 .../controls/lib/latcontrol_torque_ext.py     |   6 +-
 .../selfdrive/controls/lib/nnlc/__init__.py   |   0
 .../selfdrive/controls/lib/nnlc/helpers.py    |  57 ++++++++++
 .../selfdrive/controls/lib/nnlc/model.py      |  81 +++++++++++++
 .../selfdrive/controls/lib/nnlc/nnlc.py       | 107 ++++++++++++++++++
 .../controls/lib/nnlc/tests/__init__.py       |   0
 .../lib/nnlc/tests/test_fingerprint.py        |  44 +++++++
 .../lib/nnlc/tests/test_load_model.py         |  32 ++++++
 system/manager/manager.py                     |   3 +-
 23 files changed, 541 insertions(+), 12 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h
 create mode 160000 sunnypilot/neural_network_data
 create mode 100644 sunnypilot/selfdrive/controls/lib/nnlc/__init__.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/nnlc/model.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/nnlc/tests/__init__.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py

diff --git a/.gitmodules b/.gitmodules
index f1f7c400dbf050..b9f0336a0e3b81 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -16,3 +16,6 @@
 [submodule "tinygrad"]
   path = tinygrad_repo
   url = https://github.com/commaai/tinygrad.git
+[submodule "sunnypilot/neural_network_data"]
+  path = sunnypilot/neural_network_data
+  url = https://github.com/sunnypilot/neural-network-data.git
diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 524ecdd65799a8..4d245c006bbefa 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -138,6 +138,18 @@ struct OnroadEventSP @0xda96579883444c35 {
 struct CarParamsSP @0x80ae746ee2596b11 {
   flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
   safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
+
+  neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
+
+  struct NeuralNetworkLateralControl {
+    model @0 :Model;
+    fuzzyFingerprint @1 :Bool;
+
+    struct Model {
+      path @0 :Text;
+      name @1 :Text;
+    }
+  }
 }
 
 struct CarControlSP @0xa5cd762cd951a455 {
diff --git a/common/params_keys.h b/common/params_keys.h
index d88189d4322eea..f95539963d7ddf 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -141,6 +141,9 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"ModelManager_ModelsCache", PERSISTENT | BACKUP},
 
+    // Neural Network Lateral Control
+    {"NeuralNetworkLateralControl", PERSISTENT | BACKUP},
+
     // sunnylink params
     {"EnableSunnylinkUploader", PERSISTENT | BACKUP},
     {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},
diff --git a/opendbc_repo b/opendbc_repo
index a26ea1e3ee982a..c10bc5bd85a66b 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit a26ea1e3ee982a4b2c377f5f75fdde63cba6a007
+Subproject commit c10bc5bd85a66b61e9f917a56154b6e3e2414288
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index d5aa53249080a2..cb6260f1951b61 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -19,6 +19,8 @@
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
 
+from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
+
 ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}
 ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus}
 
@@ -43,6 +45,7 @@ def test_car_interfaces(self, car_name, data):
                                          experimental_long=args['experimental_long'], docs=False)
     car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
                                                experimental_long=args['experimental_long'], docs=False)
+    sunnypilot_interfaces.setup_car_interface_sp(car_params, car_params_sp)
     car_params = car_params.as_reader()
     car_interface = CarInterface(car_params, car_params_sp)
     assert car_params
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index aee020c020f5aa..ed620c69cf5ae7 100644
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -12,6 +12,7 @@
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.locationd.helpers import Pose
 from openpilot.common.mock.generators import generate_livePose
+from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
 
 
 class TestLatControl:
@@ -22,6 +23,7 @@ def test_saturation(self, car_name, controller):
     CP = CarInterface.get_non_essential_params(car_name)
     CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
     CI = CarInterface(CP, CP_SP)
+    sunnypilot_interfaces.setup_car_interface_sp(CP, CP_SP)
     CP_SP = convert_to_capnp(CP_SP)
     VM = VehicleModel(CP)
 
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 6866bfb7d8cda7..24c98c9868f6a2 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -36,6 +36,7 @@ qt_src = [
 
 lateral_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
+  "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
 ]
 
 network_src = [
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc
new file mode 100644
index 00000000000000..d3bc0fffa7b170
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc
@@ -0,0 +1,63 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
+
+NeuralNetworkLateralControl::NeuralNetworkLateralControl() :
+  ParamControl("NeuralNetworkLateralControl", tr("Neural Network Lateral Control (NNLC)"),  "", "") {
+  setConfirmation(true, false);
+  updateToggle();
+}
+
+void NeuralNetworkLateralControl::showEvent(QShowEvent *event) {
+  updateToggle();
+}
+
+void NeuralNetworkLateralControl::updateToggle() {
+  QString statusInitText = "<font color='yellow'>" + STATUS_CHECK_COMPATIBILITY + "</font>";
+  QString notLoadedText = "<font color='yellow'>" + STATUS_NOT_LOADED + "</font>";
+  QString loadedText = "<font color=#00ff00>" + STATUS_LOADED + "</font>";
+
+  auto cp_bytes = params.get("CarParamsPersistent");
+  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
+  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    AlignedBuffer aligned_buf_sp;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
+
+    if (CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE) {
+      params.remove("NeuralNetworkLateralControl");
+      setDescription(nnffDescriptionBuilder(STATUS_NOT_AVAILABLE));
+      setEnabled(false);
+    } else {
+      QString nn_model_name = QString::fromStdString(CP_SP.getNeuralNetworkLateralControl().getModel().getName());
+      QString nn_fuzzy = CP_SP.getNeuralNetworkLateralControl().getFuzzyFingerprint() ?
+                         STATUS_MATCH_FUZZY : STATUS_MATCH_EXACT;
+
+      if (nn_model_name.isEmpty()) {
+        setDescription(nnffDescriptionBuilder(statusInitText));
+      } else if (nn_model_name == "MOCK") {
+        setDescription(nnffDescriptionBuilder(
+          notLoadedText + "<br>" + buildSupportText(SUPPORT_DONATE_LOGS)
+        ));
+      } else {
+        QString statusText = loadedText + " | " + STATUS_MATCH + " = " + nn_fuzzy + " | " + nn_model_name;
+        QString explanationText = EXPLANATION_MATCH + " " + buildSupportText(SUPPORT_ISSUES);
+        setDescription(nnffDescriptionBuilder(statusText + "<br><br>" + explanationText));
+      }
+    }
+  } else {
+    setDescription(nnffDescriptionBuilder(statusInitText));
+  }
+
+  if (getDescription() != getBaseDescription()) {
+    showDescription();
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h
new file mode 100644
index 00000000000000..18a3fac187324c
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h
@@ -0,0 +1,64 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <map>
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+
+class NeuralNetworkLateralControl : public ParamControl {
+  Q_OBJECT
+
+public:
+  NeuralNetworkLateralControl();
+  void showEvent(QShowEvent *event) override;
+
+public slots:
+  void updateToggle();
+
+private:
+  Params params;
+
+  void refresh();
+
+  // Status messages
+  const QString STATUS_NOT_AVAILABLE = tr("NNLC is currently not available on this platform.");
+  const QString STATUS_CHECK_COMPATIBILITY = tr("Start the car to check car compatibility");
+  const QString STATUS_NOT_LOADED = tr("NNLC Not Loaded");
+  const QString STATUS_LOADED = tr("NNLC Loaded");
+  const QString STATUS_MATCH = tr("Match");
+  const QString STATUS_MATCH_EXACT = tr("Exact");
+  const QString STATUS_MATCH_FUZZY = tr("Fuzzy");
+
+  // Explanations
+  const QString EXPLANATION_MATCH = tr("Match: \"Exact\" is ideal, but \"Fuzzy\" is fine too.");
+  const QString EXPLANATION_FEATURE = tr("Formerly known as <b>\"NNFF\"</b>, this replaces the lateral <b>\"torque\"</b> controller, "
+                                            "with one using a neural network trained on each car's (actually, each separate EPS firmware) driving data for increased controls accuracy.");
+
+  // Support information
+  const QString SUPPORT_CHANNEL = "<font color='white'><b>#tuning-nnlc</b></font>";
+  const QString SUPPORT_REACH_OUT = tr("Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server");
+  const QString SUPPORT_FEEDBACK = tr("with feedback, or to provide log data for your car if your car is currently unsupported:");
+  const QString SUPPORT_ISSUES = tr("if there are any issues:");
+  const QString SUPPORT_DONATE_LOGS = tr("and donate logs to get NNLC loaded for your car:");
+
+  // Description builders
+  QString buildSupportText(const QString& context) const {
+    return SUPPORT_REACH_OUT + " " + context + " " + SUPPORT_CHANNEL;
+  }
+
+  QString nnffDescriptionBuilder(const QString &custom_description) const {
+    return "<b>" + custom_description + "</b><br><br>" + getBaseDescription();
+  }
+
+  QString getBaseDescription() const {
+    return EXPLANATION_FEATURE + "<br><br>" + buildSupportText(SUPPORT_FEEDBACK);
+  }
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
index e604b03ba91a07..750e26c118fd38 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
@@ -42,8 +42,21 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
   });
   list->addItem(madsSettingsButton);
 
+  nnlcToggle = new NeuralNetworkLateralControl();
+  list->addItem(nnlcToggle);
+
+  QObject::connect(nnlcToggle, &ParamControl::toggleFlipped, [=](bool state) {
+    if (state) {
+      nnlcToggle->showDescription();
+    } else {
+      nnlcToggle->hideDescription();
+    }
+
+    nnlcToggle->updateToggle();
+  });
+
   toggleOffroadOnly = {
-    madsToggle,
+    madsToggle, nnlcToggle,
   };
   QObject::connect(uiState(), &UIState::offroadTransition, this, &LateralPanel::updateToggles);
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
index 7cc4b6f11d28af..0857e6ebd5468a 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
@@ -12,6 +12,7 @@
 
 #include "selfdrive/ui/sunnypilot/ui.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
@@ -37,4 +38,5 @@ public slots:
   ParamControl *madsToggle;
   PushButtonSP *madsSettingsButton;
   MadsSettings *madsWidget = nullptr;
+  NeuralNetworkLateralControl *nnlcToggle = nullptr;
 };
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 797a5f70b711fd..1d7437bf6511c7 100755
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -11,7 +11,7 @@
 import time
 from collections import namedtuple
 
-from cereal import car, log
+from cereal import car, log, custom
 from msgq.visionipc import VisionIpcServer, VisionStreamType
 from cereal.messaging import PubMaster, log_from_bytes, sub_sock
 from openpilot.common.basedir import BASEDIR
@@ -212,17 +212,25 @@ def setup_settings_sunnylink_sponsor_button(click, pm: PubMaster, scroll=None):
   click(1967, 225)
   time.sleep(UI_DELAY)
 
-def setup_settings_sunnypilot(click, pm: PubMaster, scroll=None):
+def setup_settings_steering(click, pm: PubMaster, scroll=None):
+  CP = car.CarParams()
+  CP.carFingerprint = "HONDA_CIVIC"
+  CP_SP = custom.CarParamsSP()
+  CP_SP.neuralNetworkLateralControl.model.name = CP.carFingerprint
+  CP_SP.neuralNetworkLateralControl.fuzzyFingerprint = True
+  Params().put("CarParamsPersistent", CP.to_bytes())
+  Params().put("CarParamsSPPersistent", CP_SP.to_bytes())
+
   setup_settings_device(click, pm)
   click(278, 852)
   time.sleep(UI_DELAY)
 
-def setup_settings_sunnypilot_mads(click, pm: PubMaster, scroll=None):
+def setup_settings_steering_mads(click, pm: PubMaster, scroll=None):
   Params().put_bool("Mads", True)
 
   setup_settings_device(click, pm)
   click(278, 852)
-  click(970, 455)
+  click(970, 250)
   time.sleep(UI_DELAY)
 
 def setup_settings_trips(click, pm: PubMaster, scroll=None):
@@ -274,8 +282,8 @@ def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
 CASES.update({
   "settings_sunnylink": setup_settings_sunnylink,
   "settings_sunnylink_sponsor_button": setup_settings_sunnylink_sponsor_button,
-  "settings_sunnypilot": setup_settings_sunnypilot,
-  "settings_sunnypilot_mads": setup_settings_sunnypilot_mads,
+  "settings_steering": setup_settings_steering,
+  "settings_steering_mads": setup_settings_steering_mads,
   "settings_trips": setup_settings_trips,
   "settings_vehicle": setup_settings_vehicle,
 })
diff --git a/sunnypilot/neural_network_data b/sunnypilot/neural_network_data
new file mode 160000
index 00000000000000..61dbe23f5d6e30
--- /dev/null
+++ b/sunnypilot/neural_network_data
@@ -0,0 +1 @@
+Subproject commit 61dbe23f5d6e3086cc549f7c598090256ad6bd87
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index 375ce7fa7fa134..cd0d0780360ad1 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -8,9 +8,13 @@
 from opendbc.car import Bus, structs
 from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable
 from opendbc.car.car_helpers import can_fingerprint
+from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
 from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_model_path
 
 import openpilot.system.sentry as sentry
 
@@ -22,7 +26,31 @@ def log_fingerprint(CP: structs.CarParams) -> None:
     sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
 
 
-def setup_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params):
+def initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None,
+                                              enabled: bool = False) -> None:
+  if params is None:
+    params = Params()
+
+  nnlc_model_path, nnlc_model_name, exact_match = get_nn_model_path(CP)
+
+  if nnlc_model_name == "MOCK":
+    cloudlog.error({"nnlc event": "car doesn't match any Neural Network model"})
+
+  if nnlc_model_name != "MOCK" and CP.steerControlType != structs.CarParams.SteerControlType.angle:
+    enabled = params.get_bool("NeuralNetworkLateralControl")
+
+  if enabled:
+    CarInterfaceBase.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)
+
+  CP_SP.neuralNetworkLateralControl.model.path = nnlc_model_path
+  CP_SP.neuralNetworkLateralControl.model.name = nnlc_model_name
+  CP_SP.neuralNetworkLateralControl.fuzzyFingerprint = not exact_match
+
+
+def setup_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None):
+  if params is None:
+    params = Params()
+
   if CP.brand == 'hyundai':
     if CP.flags & HyundaiFlags.MANDO_RADAR and CP.radarUnavailable:
       # Having this automatic without a toggle causes a weird process replay diff because
@@ -32,6 +60,8 @@ def setup_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, pa
         if params.get_bool("HyundaiRadarTracks"):
           CP.radarUnavailable = False
 
+  initialize_neural_network_lateral_control(CP, CP_SP, params)
+
 
 def initialize_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params, can_recv: CanRecvCallable,
                                 can_send: CanSendCallable):
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
index 1166cb32d6b32b..ee8d64dcd079a2 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
@@ -4,10 +4,11 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase
 
+from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.nnlc import NeuralNetworkLateralControl
 
-class LatControlTorqueExt(LatControlTorqueExtBase):
+
+class LatControlTorqueExt(NeuralNetworkLateralControl):
   def __init__(self, lac_torque, CP, CP_SP):
     super().__init__(lac_torque, CP, CP_SP)
 
@@ -22,5 +23,6 @@ def update(self, CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_
     self._actual_lateral_accel = actual_lateral_accel
 
     self.update_calculations(CS, VM, desired_lateral_accel)
+    self.update_neural_network_feedforward(CS, params, calibrated_pose)
 
     return self._ff, self._pid_log
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/__init__.py b/sunnypilot/selfdrive/controls/lib/nnlc/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py b/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
new file mode 100644
index 00000000000000..d533eb1265eced
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
@@ -0,0 +1,57 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import os
+from difflib import SequenceMatcher
+
+from opendbc.car import structs
+from openpilot.common.basedir import BASEDIR
+
+TORQUE_NN_MODEL_PATH = os.path.join(BASEDIR, "sunnypilot", "neural_network_data", "neural_network_lateral_control")
+MOCK_MODEL_PATH = os.path.join(TORQUE_NN_MODEL_PATH, "MOCK.json")
+
+
+def similarity(s1: str, s2: str) -> float:
+  return SequenceMatcher(None, s1, s2).ratio()
+
+
+def get_nn_model_path(CP: structs.CarParams) -> tuple[str, str, bool]:
+  car_fingerprint = CP.carFingerprint
+  eps_fw = str(next((fw.fwVersion for fw in CP.carFw if fw.ecu == "eps"), ""))
+
+  def check_nn_path(_nn_candidate):
+    _model_path = None
+    _max_similarity = -1.0
+    for f in os.listdir(TORQUE_NN_MODEL_PATH):
+      if f.endswith(".json"):
+        model = os.path.splitext(f)[0]
+        similarity_score = similarity(model, _nn_candidate)
+        if similarity_score > _max_similarity:
+          _max_similarity = similarity_score
+          _model_path = os.path.join(TORQUE_NN_MODEL_PATH, f)
+    return _model_path, _max_similarity
+
+  if len(eps_fw) > 3:
+    eps_fw = eps_fw.replace("\\", "")
+    nn_candidate = f"{car_fingerprint} {eps_fw}"
+  else:
+    nn_candidate = car_fingerprint
+
+  model_path, max_similarity = check_nn_path(nn_candidate)
+
+  if car_fingerprint not in model_path or 0.0 <= max_similarity < 0.8:
+    nn_candidate = car_fingerprint
+    model_path, max_similarity = check_nn_path(nn_candidate)
+    if 0.0 <= max_similarity < 0.8:
+      model_path = MOCK_MODEL_PATH
+
+  if CP.steerControlType == structs.CarParams.SteerControlType.angle:
+    model_path = MOCK_MODEL_PATH
+
+  model_name = os.path.splitext(os.path.basename(model_path))[0]
+  exact_match = max_similarity >= 0.99
+
+  return model_path, model_name, exact_match
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/model.py b/sunnypilot/selfdrive/controls/lib/nnlc/model.py
new file mode 100644
index 00000000000000..1e527c73700ebd
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/model.py
@@ -0,0 +1,81 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from json import load
+import numpy as np
+
+# dict used to rename activation functions whose names aren't valid python identifiers
+ACTIVATION_FUNCTION_NAMES = {'σ': 'sigmoid'}
+
+
+class NNTorqueModel:
+  def __init__(self, params_file, zero_bias=False):
+    with open(params_file) as f:
+      params = load(f)
+
+    self.input_size = params["input_size"]
+    self.output_size = params["output_size"]
+    self.input_mean = np.array(params["input_mean"], dtype=np.float32).T
+    self.input_std = np.array(params["input_std"], dtype=np.float32).T
+    self.layers = []
+    self.friction_override = False
+
+    for layer_params in params["layers"]:
+      W = np.array(layer_params[next(key for key in layer_params.keys() if key.endswith('_W'))], dtype=np.float32).T
+      b = np.array(layer_params[next(key for key in layer_params.keys() if key.endswith('_b'))], dtype=np.float32).T
+      if zero_bias:
+        b = np.zeros_like(b)
+      activation = layer_params["activation"]
+      for k, v in ACTIVATION_FUNCTION_NAMES.items():
+        activation = activation.replace(k, v)
+      self.layers.append((W, b, activation))
+
+    self.validate_layers()
+    self.check_for_friction_override()
+
+  # Begin activation functions.
+  # These are called by name using the keys in the model json file
+  @staticmethod
+  def sigmoid(x):
+    return 1 / (1 + np.exp(-x))
+
+  @staticmethod
+  def identity(x):
+    return x
+  # End activation functions
+
+  def forward(self, x):
+    for W, b, activation in self.layers:
+      x = getattr(self, activation)(x.dot(W) + b)
+    return x
+
+  def evaluate(self, input_array):
+    in_len = len(input_array)
+    if in_len != self.input_size:
+      # If the input is length 2-4, then it's a simplified evaluation.
+      # In that case, need to add on zeros to fill out the input array to match the correct length.
+      if 2 <= in_len:
+        input_array = input_array + [0] * (self.input_size - in_len)
+      else:
+        raise ValueError(f"Input array length {len(input_array)} must be length 2 or greater")
+
+    input_array = np.array(input_array, dtype=np.float32)
+
+    # Rescale the input array using the input_mean and input_std
+    input_array = (input_array - self.input_mean) / self.input_std
+
+    output_array = self.forward(input_array)
+
+    return float(output_array[0, 0])
+
+  def validate_layers(self):
+    for _, _, activation in self.layers:
+      if not hasattr(self, activation):
+        raise ValueError(f"Unknown activation: {activation}")
+
+  def check_for_friction_override(self):
+    y = self.evaluate([10.0, 0.0, 0.2])
+    self.friction_override = (y < 0.1)
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
new file mode 100644
index 00000000000000..aee359574b2a9a
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
@@ -0,0 +1,107 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from collections import deque
+import math
+import numpy as np
+
+from opendbc.car.interfaces import LatControlInputs
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.params import Params
+from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase
+from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import MOCK_MODEL_PATH
+from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.model import NNTorqueModel
+
+
+# At a given roll, if pitch magnitude increases, the
+# gravitational acceleration component starts pointing
+# in the longitudinal direction, decreasing the lateral
+# acceleration component. Here we do the same thing
+# to the roll value itself, then passed to nnff.
+def roll_pitch_adjust(roll, pitch):
+  return roll * math.cos(pitch)
+
+
+class NeuralNetworkLateralControl(LatControlTorqueExtBase):
+  def __init__(self, lac_torque, CP, CP_SP):
+    super().__init__(lac_torque, CP, CP_SP)
+    self.params = Params()
+    self.enabled = self.params.get_bool("NeuralNetworkLateralControl")
+    self.has_nn_model = CP_SP.neuralNetworkLateralControl.model.path != MOCK_MODEL_PATH
+
+    # NN model takes current v_ego, lateral_accel, lat accel/jerk error, roll, and past/future/planned data
+    # of lat accel and roll
+    # Past value is computed using previous desired lat accel and observed roll
+    self.model = NNTorqueModel(CP_SP.neuralNetworkLateralControl.model.path)
+
+    self.pitch = FirstOrderFilter(0.0, 0.5, 0.01)
+    self.pitch_last = 0.0
+
+    # setup future time offsets
+    self.nn_time_offset = CP.steerActuatorDelay + 0.2
+    future_times = [0.3, 0.6, 1.0, 1.5] # seconds in the future
+    self.nn_future_times = [i + self.nn_time_offset for i in future_times]
+
+    # setup past time offsets
+    self.past_times = [-0.3, -0.2, -0.1]
+    history_check_frames = [int(abs(i)*100) for i in self.past_times]
+    self.history_frame_offsets = [history_check_frames[0] - i for i in history_check_frames]
+    self.lateral_accel_desired_deque = deque(maxlen=history_check_frames[0])
+    self.roll_deque = deque(maxlen=history_check_frames[0])
+    self.error_deque = deque(maxlen=history_check_frames[0])
+    self.past_future_len = len(self.past_times) + len(self.nn_future_times)
+
+  def update_neural_network_feedforward(self, CS, params, calibrated_pose) -> None:
+    if not self.enabled or not self.model_valid or not self.has_nn_model:
+      return
+
+    # update past data
+    roll = params.roll
+    if calibrated_pose is not None:
+      pitch = self.pitch.update(calibrated_pose.orientation.pitch)
+      roll = roll_pitch_adjust(roll, pitch)
+      self.pitch_last = pitch
+    self.roll_deque.append(roll)
+    self.lateral_accel_desired_deque.append(self._desired_lateral_accel)
+
+    # prepare past and future values
+    # adjust future times to account for longitudinal acceleration
+    adjusted_future_times = [t + 0.5 * CS.aEgo * (t / max(CS.vEgo, 1.0)) for t in self.nn_future_times]
+    past_rolls = [self.roll_deque[min(len(self.roll_deque) - 1, i)] for i in self.history_frame_offsets]
+    future_rolls = [roll_pitch_adjust(np.interp(t, ModelConstants.T_IDXS, self.model_v2.orientation.x) + roll,
+                                      np.interp(t, ModelConstants.T_IDXS, self.model_v2.orientation.y) + self.pitch_last) for t in
+                    adjusted_future_times]
+    past_lateral_accels_desired = [self.lateral_accel_desired_deque[min(len(self.lateral_accel_desired_deque) - 1, i)]
+                                   for i in self.history_frame_offsets]
+    future_planned_lateral_accels = [np.interp(t, ModelConstants.T_IDXS, self.model_v2.acceleration.y) for t in
+                                     adjusted_future_times]
+
+    # compute NNFF error response
+    nnff_setpoint_input = [CS.vEgo, self._setpoint, self.lateral_jerk_setpoint, roll] \
+                          + [self._setpoint] * self.past_future_len \
+                          + past_rolls + future_rolls
+    # past lateral accel error shouldn't count, so use past desired like the setpoint input
+    nnff_measurement_input = [CS.vEgo, self._measurement, self.lateral_jerk_measurement, roll] \
+                             + [self._measurement] * self.past_future_len \
+                             + past_rolls + future_rolls
+    torque_from_setpoint = self.model.evaluate(nnff_setpoint_input)
+    torque_from_measurement = self.model.evaluate(nnff_measurement_input)
+    self._pid_log.error = torque_from_setpoint - torque_from_measurement
+
+    # compute feedforward (same as nn setpoint output)
+    friction_input = self.update_friction_input(self._setpoint, self._measurement)
+    nn_input = [CS.vEgo, self._desired_lateral_accel, friction_input, roll] \
+               + past_lateral_accels_desired + future_planned_lateral_accels \
+               + past_rolls + future_rolls
+    self._ff = self.model.evaluate(nn_input)
+
+    # apply friction override for cars with low NN friction response
+    if self.model.friction_override:
+      self._pid_log.error += self.torque_from_lateral_accel(LatControlInputs(0.0, 0.0, CS.vEgo, CS.aEgo), self.torque_params,
+                                                            friction_input,
+                                                            self._lateral_accel_deadzone, friction_compensation=True,
+                                                            gravity_adjusted=False)
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/__init__.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
new file mode 100644
index 00000000000000..b659e213d10c3a
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
@@ -0,0 +1,44 @@
+from parameterized import parameterized
+
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.honda.values import CAR as HONDA
+from opendbc.car.hyundai.values import CAR as HYUNDAI
+from opendbc.car.nissan.values import CAR as NISSAN
+from opendbc.car.toyota.values import CAR as TOYOTA
+from opendbc.car.tesla.values import CAR as TESLA
+from openpilot.common.params import Params
+from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
+
+
+FINGERPRINT_EXACT_MATCH = [HONDA.HONDA_CIVIC_BOSCH, TOYOTA.TOYOTA_RAV4_TSS2_2022, HYUNDAI.HYUNDAI_IONIQ_5]
+FINGERPRINT_FUZZY_MATCH = [HONDA.HONDA_CIVIC_BOSCH_DIESEL, HYUNDAI.GENESIS_G70_2020, HYUNDAI.HYUNDAI_IONIQ_6]
+FINGERPRINT_ANGLE_NO_MATCH = [TOYOTA.TOYOTA_RAV4_TSS2_2023, NISSAN.NISSAN_LEAF, TESLA.TESLA_MODEL_3]
+
+
+class TestNNLCFingerprintBase:
+
+  @staticmethod
+  def _setup_platform(car_name):
+    CarInterface = interfaces[car_name]
+    CP = CarInterface.get_non_essential_params(car_name)
+    CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
+    CI = CarInterface(CP, CP_SP)
+
+    sunnypilot_interfaces.setup_car_interface_sp(CP, CP_SP, Params())
+
+    return CI
+
+  @parameterized.expand(FINGERPRINT_EXACT_MATCH)
+  def test_exact_fingerprint(self, car_name):
+    CI = self._setup_platform(car_name)
+    assert CI.CP_SP.neuralNetworkLateralControl.model.name != "MOCK" and not CI.CP_SP.neuralNetworkLateralControl.fuzzyFingerprint
+
+  @parameterized.expand(FINGERPRINT_FUZZY_MATCH)
+  def test_fuzzy_fingerprint(self, car_name):
+    CI = self._setup_platform(car_name)
+    assert CI.CP_SP.neuralNetworkLateralControl.model.name != "MOCK" and CI.CP_SP.neuralNetworkLateralControl.fuzzyFingerprint
+
+  @parameterized.expand(FINGERPRINT_ANGLE_NO_MATCH)
+  def test_no_fingerprint(self, car_name):
+    CI = self._setup_platform(car_name)
+    assert CI.CP_SP.neuralNetworkLateralControl.model.name == "MOCK"
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
new file mode 100644
index 00000000000000..7c70f4fa07ffd2
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
@@ -0,0 +1,32 @@
+from numpy.ma.testutils import assert_equal
+from parameterized import parameterized
+
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.honda.values import CAR as HONDA
+from opendbc.car.hyundai.values import CAR as HYUNDAI
+from opendbc.car.toyota.values import CAR as TOYOTA
+from openpilot.common.params import Params
+from openpilot.selfdrive.car.helpers import convert_to_capnp
+from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
+from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
+
+
+class TestNNTorqueModel:
+
+  @parameterized.expand([(HONDA.HONDA_CIVIC, True), (TOYOTA.TOYOTA_RAV4, True), (HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN, False)])
+  def test_load_model(self, car_name, should_load_model):
+    params = Params()
+    params.put_bool("NeuralNetworkLateralControl", True)
+
+    CarInterface = interfaces[car_name]
+    CP = CarInterface.get_non_essential_params(car_name)
+    CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
+    CI = CarInterface(CP, CP_SP)
+
+    sunnypilot_interfaces.setup_car_interface_sp(CP, CP_SP, params)
+
+    CP_SP = convert_to_capnp(CP_SP)
+
+    controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI)
+
+    assert_equal(should_load_model, controller.extension.has_nn_model)
diff --git a/system/manager/manager.py b/system/manager/manager.py
index d4595ec3275008..9266a62aaecb4d 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -49,7 +49,8 @@ def manager_init() -> None:
     ("MadsSteeringMode", "0"),
     ("MadsUnifiedEngagementMode", "1"),
     ("ModelManager_LastSyncTime", "0"),
-    ("ModelManager_ModelsCache", "")
+    ("ModelManager_ModelsCache", ""),
+    ("NeuralNetworkLateralControl", "0"),
   ]
 
   if params.get_bool("RecordFrontLock"):

From c70d3db1e64dcb90f94a30267031cb7b8526903e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 22 Mar 2025 10:29:24 -0400
Subject: [PATCH 0147/1434] Params: support filtering by `ParamKeyType` for
 `allKeys` (#696)

---
 common/params.cc      | 6 ++++--
 common/params.h       | 2 +-
 common/params_pyx.pyx | 7 ++++---
 3 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index d1e5a36462448e..94fbfa4a717b53 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -103,10 +103,12 @@ Params::~Params() {
   assert(queue.empty());
 }
 
-std::vector<std::string> Params::allKeys() const {
+std::vector<std::string> Params::allKeys(ParamKeyType type) const {
   std::vector<std::string> ret;
   for (auto &p : keys) {
-    ret.push_back(p.first);
+    if (type == ALL || (p.second & type)) {
+      ret.push_back(p.first);
+    }
   }
   return ret;
 }
diff --git a/common/params.h b/common/params.h
index b40371f9766bdc..73e21a3feef2e0 100644
--- a/common/params.h
+++ b/common/params.h
@@ -28,7 +28,7 @@ class Params {
   Params(const Params&) = delete;
   Params& operator=(const Params&) = delete;
 
-  std::vector<std::string> allKeys() const;
+  std::vector<std::string> allKeys(ParamKeyType type = ALL) const;
   bool checkKey(const std::string &key);
   ParamKeyType getKeyType(const std::string &key);
   inline std::string getParamPath(const std::string &key = {}) {
diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
index 2d11ab649d672e..e851020d83f840 100644
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -11,6 +11,7 @@ cdef extern from "common/params.h":
     CLEAR_ON_ONROAD_TRANSITION
     CLEAR_ON_OFFROAD_TRANSITION
     DEVELOPMENT_ONLY
+    BACKUP
     ALL
 
   cdef cppclass c_Params "Params":
@@ -25,7 +26,7 @@ cdef extern from "common/params.h":
     bool checkKey(string) nogil
     string getParamPath(string) nogil
     void clearAll(ParamKeyType)
-    vector[string] allKeys()
+    vector[string] allKeys(ParamKeyType)
 
 
 def ensure_bytes(v):
@@ -119,5 +120,5 @@ cdef class Params:
     cdef string key_bytes = ensure_bytes(key)
     return self.p.getParamPath(key_bytes).decode("utf-8")
 
-  def all_keys(self):
-    return self.p.allKeys()
+  def all_keys(self, type=ParamKeyType.ALL):
+    return self.p.allKeys(type)

From efb44aeecdcaafc1af27729e35035e702b951e77 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 22 Mar 2025 11:18:32 -0400
Subject: [PATCH 0148/1434] ui: Fix NNLC toggle not staying in persistent state
 (#697)

The `showEvent` method in `NeuralNetworkLateralControl` was removed as it duplicated functionality now handled in `LateralPanel`. The unused `refresh` method was also removed to streamline the code and improve maintainability.
---
 .../settings/lateral/neural_network_lateral_control.cc        | 4 ----
 .../offroad/settings/lateral/neural_network_lateral_control.h | 3 ---
 selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc  | 1 +
 3 files changed, 1 insertion(+), 7 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc
index d3bc0fffa7b170..0b66b8366001ea 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc
@@ -13,10 +13,6 @@ NeuralNetworkLateralControl::NeuralNetworkLateralControl() :
   updateToggle();
 }
 
-void NeuralNetworkLateralControl::showEvent(QShowEvent *event) {
-  updateToggle();
-}
-
 void NeuralNetworkLateralControl::updateToggle() {
   QString statusInitText = "<font color='yellow'>" + STATUS_CHECK_COMPATIBILITY + "</font>";
   QString notLoadedText = "<font color='yellow'>" + STATUS_NOT_LOADED + "</font>";
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h
index 18a3fac187324c..df80fbf0972c7c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h
@@ -18,7 +18,6 @@ class NeuralNetworkLateralControl : public ParamControl {
 
 public:
   NeuralNetworkLateralControl();
-  void showEvent(QShowEvent *event) override;
 
 public slots:
   void updateToggle();
@@ -26,8 +25,6 @@ public slots:
 private:
   Params params;
 
-  void refresh();
-
   // Status messages
   const QString STATUS_NOT_AVAILABLE = tr("NNLC is currently not available on this platform.");
   const QString STATUS_CHECK_COMPATIBILITY = tr("Start the car to check car compatibility");
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
index 750e26c118fd38..aaf3201f2a6478 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
@@ -85,6 +85,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
 }
 
 void LateralPanel::showEvent(QShowEvent *event) {
+  nnlcToggle->updateToggle();
   updateToggles(offroad);
 }
 

From 43e43849ad5645d7ae2c6a39cc5617bbdbccad55 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 22 Mar 2025 16:58:04 +0100
Subject: [PATCH 0149/1434] sunnylink: Settings backup & restore (#681)

* Add AES encryption and utility methods

This commit introduces a new AESCipher class that can be used for AES encryption with support for both AES-128 and AES-256. It also adds a set of utility functions, including methods for RSA to AES key derivation, file decryption and compression, and encryption and decompression. These changes provide fundamental cryptographic functionalities for data security within the system.

* Revised backup management system with new structures

This update introduces important revisions to the backup management system. A new struct named 'BackupManagerSP' has been integrated into the 'custom.capnp' file, replacing 'CustomReserved6'. This new struct includes several variables that help keep track of backup and restore status, progress and related messages.

Additional code modifications were made in 'base.py' and 'api.py' to include a 'json' parameter in the 'api_get' method. Lastly, 'manager.py' has been updated with functions to manage device configuration backups to and from sunnylink.

The changes promote better handling and management of data backup and restoration processes. The update is specifically designed to ensure that the backup information is well integrated into the system, with properly tracked status and progress.

* Refactor `allKeys` to filter by parameter key type

Updated the `allKeys` method to support filtering by `ParamKeyType`, allowing more specific key retrieval. Added a default value for backward compatibility and updated related bindings and keys to reflect this change.

* Improve Backup and Restore mechanisms

The commit refactors and improves several aspects of the backup and restore mechanisms in the `BackupManagerSP` class.

These improvements include removing redundant status tracking variables and replacing them with unified ones, updating the messaging system to handle all changes correctly, and including an enumeration `OperationType` to keep track of the type of operation currently being processed.

This commit also applies stricter conditions for restore operations, such that it only restores parameters that are currently marked as backupable, and skips those that are not. This is a preventive measure against potential issues when restoring parameters that are no longer relevant or could conflict with current versions.

Also, the encryption and decryption methods were updated to use AES-256 for more security. These changes have increased the robustness and reliability of the backup and restoration processes.

* copyright

* Add backup_manager process to offroad sunnypilot tasks

The backup_manager process is introduced to handle backups during offroad mode when SunnyLink is ready. This ensures proper backup management functionality integrated into the system.

* Simplify backup endpoint construction in restore method

Replaced conditional expression with a more concise and readable `or` operation for constructing the backup endpoint. This makes the code cleaner and easier to maintain while preserving functionality.

* Added support for backing up and restoring sunnypilot settings

An update to the sunnypilot functionality now provides two new features that allow users to backup and restore their sunnypilot settings. The changes include the addition of UI controls for initiating backup and restore operations, and the creation of a system-wide state management function for tracking these operations. This enhancement significantly improves the user experience by providing a safety net for user settings in case of software failures, bugs, or unintended changes.

* Refactor type hints to use PEP 604 syntax for clarity

Replaced `Optional` and `Dict` type hints with `|` and `dict` syntax for improved readability and compliance with Python 3.10+. Updated related imports and adjusted list comprehension for cleaner code.

* Update import path for hardware module in utils.py

Replaced the import path for the `Paths` module to align with the new directory structure under `openpilot`. This ensures compatibility with recent project reorganization and avoids import errors.

* Improve RSA key handling and fix backup status comparison

Added explicit RSA key type checks to handle invalid key formats. Enhanced type safety in `manager.py` by ensuring the backup status comparison returns a boolean. These changes improve robustness and error handling in backups.

* format

* more

* Improve backup and restore flow with progress tracking and fixes

Added proper progress tracking and cleanup logic during restore operations. Enhanced restore experience by resetting progress after completion and introducing confirmation dialogs for errors and completion. Updated API compatibility with a version query parameter for backups.

* Enable backup button only when restore process is complete

Previously, the backup button could be enabled during a restore operation, which might cause unintended behavior. This update introduces a check to ensure the backup button remains disabled while a restore process is active. This improves user experience and prevents potential conflicts.

* Fix restore button state handling during restore process

Ensure the restore button is disabled consistently when a restore is in progress. This prevents user interaction issues and aligns the button state with the restore operation status.

* "Refactor restore logic and improve button state handling"

Replaced `is_restoring` with `restore_request_pending` for clarity and better state management. Adjusted button behavior to immediately disable upon user action, ensuring improved UX and preventing repeat inputs. Refined restore completion flow for better consistency and reliability.

* Refine restore process logic for SunnyLink settings.

Introduced `restore_request_started` to improve handling of restore states and ensure accurate UI updates during the process. Adjusted case handling to enhance clarity and maintain proper behavior when restoring settings, especially during ongoing or completed requests.

* revert

* move around

* fix enabled states for different statuses

* add prompt to notify backup is complete

* same states as restore

* disable buttons if sunnylink is off

* can use the same texts

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 cereal/custom.capnp                           |  41 ++-
 cereal/log.capnp                              |   2 +-
 cereal/services.py                            |   1 +
 common/api/base.py                            |   4 +-
 common/params_keys.h                          |   4 +
 .../qt/offroad/settings/sunnylink_panel.cc    | 111 +++++++-
 .../qt/offroad/settings/sunnylink_panel.h     |  20 +-
 selfdrive/ui/sunnypilot/ui.cc                 |   2 +-
 sunnypilot/sunnylink/api.py                   |   4 +-
 sunnypilot/sunnylink/backups/AESCipher.py     |  34 +++
 sunnypilot/sunnylink/backups/__init__.py      |   0
 sunnypilot/sunnylink/backups/manager.py       | 268 ++++++++++++++++++
 sunnypilot/sunnylink/backups/utils.py         | 170 +++++++++++
 system/manager/process_config.py              |   4 +
 14 files changed, 648 insertions(+), 17 deletions(-)
 create mode 100644 sunnypilot/sunnylink/backups/AESCipher.py
 create mode 100644 sunnypilot/sunnylink/backups/__init__.py
 create mode 100644 sunnypilot/sunnylink/backups/manager.py
 create mode 100644 sunnypilot/sunnylink/backups/utils.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 4d245c006bbefa..9c280349c11f97 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -156,7 +156,46 @@ struct CarControlSP @0xa5cd762cd951a455 {
   mads @0 :ModularAssistiveDrivingSystem;
 }
 
-struct CustomReserved6 @0xf98d843bfd7004a3 {
+struct BackupManagerSP @0xf98d843bfd7004a3 {
+  backupStatus @0 :Status;
+  restoreStatus @1 :Status;
+  backupProgress @2 :Float32;
+  restoreProgress @3 :Float32;
+  lastError @4 :Text;
+  currentBackup @5 :BackupInfo;
+  backupHistory @6 :List(BackupInfo);
+  
+  enum Status {
+    idle @0;
+    inProgress @1;
+    completed @2;
+    failed @3;
+  }
+  
+  struct Version {
+    major @0 :UInt16;
+    minor @1 :UInt16;
+    patch @2 :UInt16;
+    build @3 :UInt16;
+    branch @4 :Text;
+  }
+  
+  struct MetadataEntry {
+    key @0 :Text;
+    value @1 :Text;
+    tags @2 :List(Text);
+  }
+  
+  struct BackupInfo {
+    deviceId @0 :Text;
+    version @1 :UInt32;
+    config @2 :Text;
+    isEncrypted @3 :Bool;
+    createdAt @4 :Text;  # ISO timestamp
+    updatedAt @5 :Text;  # ISO timestamp
+    sunnypilotVersion @6 :Version;
+    backupMetadata @7 :List(MetadataEntry);
+  }
 }
 
 struct CustomReserved7 @0xb86e6369214c01c8 {
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 0587ba96fc2bf8..0d1fcf19a3e783 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2582,7 +2582,7 @@ struct Event {
     onroadEventsSP @110 :List(Custom.OnroadEventSP);
     carParamsSP @111 :Custom.CarParamsSP;
     carControlSP @112 :Custom.CarControlSP;
-    customReserved6 @113 :Custom.CustomReserved6;
+    backupManagerSP @113 :Custom.BackupManagerSP;
     customReserved7 @114 :Custom.CustomReserved7;
     customReserved8 @115 :Custom.CustomReserved8;
     customReserved9 @116 :Custom.CustomReserved9;
diff --git a/cereal/services.py b/cereal/services.py
index 602524a71d6a93..a5ef1e08f7ad6b 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -76,6 +76,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
 
   # sunnypilot
   "modelManagerSP": (False, 1., 1),
+  "backupManagerSP": (False, 1., 1),
   "selfdriveStateSP": (True, 100., 10),
   "longitudinalPlanSP": (True, 20., 10),
   "onroadEventsSP": (True, 1., 1),
diff --git a/common/api/base.py b/common/api/base.py
index 0707c1ccac1c89..d40b47d49d4e86 100644
--- a/common/api/base.py
+++ b/common/api/base.py
@@ -45,7 +45,7 @@ def remove_non_ascii_chars(self, text):
     ascii_encoded_text = normalized_text.encode('ascii', 'ignore')
     return ascii_encoded_text.decode()
 
-  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, **params):
+  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, json=None, **params):
     headers = {}
     if access_token is not None:
       headers['Authorization'] = "JWT " + access_token
@@ -53,4 +53,4 @@ def api_get(self, endpoint, method='GET', timeout=None, access_token=None, **par
     version = self.remove_non_ascii_chars(get_version())
     headers['User-Agent'] = self.user_agent + version
 
-    return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, params=params)
+    return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
diff --git a/common/params_keys.h b/common/params_keys.h
index f95539963d7ddf..8237bdabb1361b 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -153,6 +153,10 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"SunnylinkdPid", PERSISTENT},
     {"SunnylinkEnabled", PERSISTENT},
 
+    // Backup Manager params
+    {"BackupManager_CreateBackup", PERSISTENT},
+    {"BackupManager_RestoreVersion", PERSISTENT},
+
     // sunnypilot car specific params
     {"HyundaiRadarTracks", PERSISTENT},
     {"HyundaiRadarTracksConfirmed", PERSISTENT},
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
index 706e89ddf07213..c9eccb2c428612 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
@@ -7,8 +7,10 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
 
+#include "common/watchdog.h"
 #include "selfdrive/ui/sunnypilot/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include <QtConcurrent>
 
 SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   main_layout = new QStackedLayout(this);
@@ -75,7 +77,6 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
       description = "<font color='SeaGreen'>"+ tr("🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀")+ "</font>";
     } else {
       description = "<font color='orange'>"+ tr("👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉.")+ "</font>";
-
     }
     sunnylinkEnabledBtn->showDescription();
     sunnylinkEnabledBtn->setDescription(description);
@@ -83,7 +84,38 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
     updatePanel();
   });
 
+  // Backup Settings
+  backupSettings = new PushButtonSP(tr("Backup Settings"), 730, this);
+  backupSettings->setObjectName("backup_btn");
+  connect(backupSettings, &QPushButton::clicked, [=]() {
+    backupSettings->setEnabled(false);
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to backup sunnypilot settings?"), tr("Back Up"), this)) {
+      params.putBool("BackupManager_CreateBackup", true);
+      backup_request_pending = true;
+    }
+  });
+
+  // Restore Settings
+  restoreSettings = new PushButtonSP(tr("Restore Settings"), 730, this);
+  restoreSettings->setObjectName("restore_btn");
+  connect(restoreSettings, &QPushButton::clicked, [=]() {
+    restoreSettings->setEnabled(false);
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to restore the last backed up sunnypilot settings?"), tr("Restore"), this)) {
+      params.put("BackupManager_RestoreVersion", "latest");
+      restore_request_pending = true;
+    }
+  });
+  // Settings Restore and Settings Backup in the same horizontal space
+  auto settings_layout = new QHBoxLayout;
+  settings_layout->setContentsMargins(0, 0, 0, 30);
+  settings_layout->addWidget(backupSettings);
+  settings_layout->addSpacing(10);
+  settings_layout->addWidget(restoreSettings);
+  settings_layout->setAlignment(Qt::AlignLeft);
+  list->addItem(settings_layout);
+
   QObject::connect(uiState(), &UIState::offroadTransition, this, &SunnylinkPanel::updatePanel);
+  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &SunnylinkPanel::updatePanel);
 
   sunnylinkScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(sunnylinkScroller);
@@ -95,6 +127,76 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   }
 }
 
+void SunnylinkPanel::updateBackupManagerState() {
+  const SubMaster &sm = *(uiStateSP()->sm);
+  backup_manager = sm["backupManagerSP"].getBackupManagerSP();
+}
+
+void SunnylinkPanel::handleBackupProgress() {
+  auto backup_status = backup_manager.getBackupStatus();
+  auto restore_status = backup_manager.getRestoreStatus();
+  auto backup_progress = backup_manager.getBackupProgress();
+  auto restore_progress = backup_manager.getRestoreProgress();
+
+  switch (backup_status) {
+    case cereal::BackupManagerSP::Status::IN_PROGRESS:
+      backup_request_pending = false;
+      backup_request_started = true;
+      backupSettings->setEnabled(false);
+      backupSettings->setText(QString(tr("Backup in progress %1%").arg(backup_progress)));
+    break;
+    case cereal::BackupManagerSP::Status::FAILED:
+      backup_request_pending = false;
+      backup_request_started = false;
+      backupSettings->setEnabled(!is_onroad);
+      backupSettings->setText(tr("Backup Failed"));
+    break;
+    case cereal::BackupManagerSP::Status::COMPLETED:
+      backup_request_pending = false;
+      break;
+    default:
+      if (!backup_request_pending && backup_request_started) {
+        backup_request_started = false;
+        ConfirmationDialog::alert(tr("Settings backup completed."), this);
+      } else {
+        backupSettings->setEnabled(!is_onroad && !backup_request_pending && is_sunnylink_enabled);
+      }
+      backupSettings->setText(tr("Backup Settings"));
+    break;
+  }
+
+  switch (restore_status) {
+    case cereal::BackupManagerSP::Status::IN_PROGRESS:
+      restore_request_pending = false;
+      restore_request_started = true;
+      restoreSettings->setEnabled(false);
+      restoreSettings->setText(QString(tr("Restore in progress %1%").arg(restore_progress)));
+      break;
+    case cereal::BackupManagerSP::Status::FAILED:
+      restore_request_pending = false;
+      restore_request_started = false;
+      restoreSettings->setEnabled(!is_onroad);
+      restoreSettings->setText(tr("Restore Failed"));
+      ConfirmationDialog::alert(tr("Unable to restore the settings, try again later."), this);
+      break;
+    case cereal::BackupManagerSP::Status::COMPLETED:
+      restore_request_pending = false;
+      break;
+    default:
+      if (!restore_request_pending && restore_request_started) {
+        restore_request_started = false;
+        if (ConfirmationDialog::alert(tr("Settings restored. Confirm to restart the interface."), this)) {
+          qApp->exit(18);
+          watchdog_kick(0);
+        }
+      } else {
+        restoreSettings->setEnabled(!is_onroad && !restore_request_pending && is_sunnylink_enabled);
+      }
+      restoreSettings->setText(tr("Restore Settings"));
+    break;
+  }
+}
+
 void SunnylinkPanel::paramsRefresh(const QString &param_name, const QString &param_value) {
   // We do it on paramsRefresh because the toggleEvent happens before the value is updated
   if (param_name == "SunnylinkEnabled" && param_value == "1") {
@@ -128,7 +230,7 @@ void SunnylinkPanel::stopSunnylink() const {
 void SunnylinkPanel::showEvent(QShowEvent *event) {
   updatePanel();
   if (is_sunnylink_enabled) {
-      startSunnylink();
+    startSunnylink();
   }
 }
 
@@ -137,6 +239,8 @@ void SunnylinkPanel::updatePanel() {
     return;
   }
 
+  updateBackupManagerState();
+  handleBackupProgress();
   const auto sunnylinkDongleId = getSunnylinkDongleId().value_or(tr("N/A"));
   sunnylinkEnabledBtn->setEnabled(!is_onroad);
 
@@ -152,13 +256,12 @@ void SunnylinkPanel::updatePanel() {
   sunnylinkEnabledBtn->setValue(tr("Device ID") + " " + sunnylinkDongleId);
 
   sponsorBtn->setEnabled(!is_onroad && is_sunnylink_enabled);
-  sponsorBtn->setText(is_sub ? tr("THANKS ♥")/* + " ♥�"*/ : tr("SPONSOR"));
+  sponsorBtn->setText(is_sub ? tr("THANKS ♥") : tr("SPONSOR"));
   sponsorBtn->setValue(is_sub ? tr(role_name.toStdString().c_str()) : tr("Not Sponsor"), role_color);
 
   pairSponsorBtn->setEnabled(!is_onroad && is_sunnylink_enabled);
   pairSponsorBtn->setValue(is_paired ? tr("Paired") : tr("Not Paired"));
 
-
   if (!is_sunnylink_enabled) {
     sunnylinkEnabledBtn->setValue("");
     sponsorBtn->setValue("");
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h
index d231757e366d9e..e17c68d3a32994 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h
@@ -19,7 +19,9 @@ class SunnylinkPanel : public QFrame {
 public:
   explicit SunnylinkPanel(QWidget *parent = nullptr);
   void showEvent(QShowEvent *event) override;
-  void paramsRefresh(const QString&param_name, const QString&param_value);
+  void paramsRefresh(const QString &param_name, const QString &param_value);
+  void updateBackupManagerState();
+  void handleBackupProgress();
 
 public slots:
   void updatePanel();
@@ -31,17 +33,23 @@ public slots:
   ScrollViewSP *sunnylinkScroller = nullptr;
   SunnylinkSponsorPopup *status_popup;
   SunnylinkSponsorPopup *pair_popup;
-  ButtonControlSP* sponsorBtn;
-  ButtonControlSP* pairSponsorBtn;
-  SunnylinkClient* sunnylink_client;
+  ButtonControlSP *sponsorBtn;
+  ButtonControlSP *pairSponsorBtn;
+  SunnylinkClient *sunnylink_client;
+  cereal::BackupManagerSP::Reader backup_manager;
 
   ParamControl *sunnylinkEnabledBtn;
   bool is_onroad = false;
-  bool is_backup = false;
-  bool is_restore = false;
   bool is_sunnylink_enabled = false;
+  bool backup_request_pending = false;
+  bool backup_request_started = false;
+  bool restore_request_pending = false;
+  bool restore_request_started = false;
   ParamWatcher *param_watcher;
   QString sunnylinkBtnDescription;
+  PushButtonSP *restoreSettings;
+  PushButtonSP *backupSettings;
+
   void stopSunnylink() const;
   void startSunnylink() const;
 };
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index e27771b9bb5a46..586a03b1dd6229 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -18,7 +18,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
-    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP",
+    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP"
   });
 
   // update timer
diff --git a/sunnypilot/sunnylink/api.py b/sunnypilot/sunnylink/api.py
index 9f82fd2d206eb0..eb9343af9a75ab 100644
--- a/sunnypilot/sunnylink/api.py
+++ b/sunnypilot/sunnylink/api.py
@@ -24,11 +24,11 @@ def __init__(self, dongle_id):
     self.spinner = None
     self.params = Params()
 
-  def api_get(self, endpoint, method='GET', timeout=10, access_token=None, **kwargs):
+  def api_get(self, endpoint, method='GET', timeout=10, access_token=None, json=None, **kwargs):
     if not self.params.get_bool("SunnylinkEnabled"):
       return None
 
-    return super().api_get(endpoint, method, timeout, access_token, **kwargs)
+    return super().api_get(endpoint, method, timeout, access_token, json, **kwargs)
 
   def resume_queued(self, timeout=10, **kwargs):
     sunnylinkId, commaId = self._resolve_dongle_ids()
diff --git a/sunnypilot/sunnylink/backups/AESCipher.py b/sunnypilot/sunnylink/backups/AESCipher.py
new file mode 100644
index 00000000000000..36cb149bba1640
--- /dev/null
+++ b/sunnypilot/sunnylink/backups/AESCipher.py
@@ -0,0 +1,34 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from Crypto.Cipher import AES
+
+
+class AESCipher:
+  def __init__(self, key: bytes, iv: bytes):
+    if len(key) not in (16, 32):
+      raise ValueError("Key must be 16 bytes (AES-128) or 32 bytes (AES-256).")
+    if len(iv) != 16:
+      raise ValueError("IV must be 16 bytes.")
+
+    self.key = key
+    self.iv = iv
+
+  def encrypt(self, data: bytes) -> bytes:
+    block_size = 16
+    padding_length = block_size - (len(data) % block_size)
+    padding = bytes([padding_length]) * padding_length
+    padded_data = data + padding
+
+    cipher = AES.new(self.key, AES.MODE_CBC, self.iv)
+    return cipher.encrypt(padded_data)
+
+  def decrypt(self, encrypted_data: bytes) -> bytes:
+    cipher = AES.new(self.key, AES.MODE_CBC, self.iv)
+    decrypted_data = cipher.decrypt(encrypted_data)
+    padding_length = decrypted_data[-1]
+    return decrypted_data[:-padding_length]
diff --git a/sunnypilot/sunnylink/backups/__init__.py b/sunnypilot/sunnylink/backups/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/sunnylink/backups/manager.py b/sunnypilot/sunnylink/backups/manager.py
new file mode 100644
index 00000000000000..7f3eddeaa8abda
--- /dev/null
+++ b/sunnypilot/sunnylink/backups/manager.py
@@ -0,0 +1,268 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import base64
+import json
+import time
+from enum import Enum
+from typing import Any
+
+from openpilot.common.git import get_branch
+from openpilot.common.params import Params, ParamKeyType
+from openpilot.common.realtime import Ratekeeper
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.version import get_version
+
+from cereal import messaging, custom
+from sunnypilot.sunnylink.api import SunnylinkApi
+from sunnypilot.sunnylink.backups.utils import decrypt_compressed_data, encrypt_compress_data, SnakeCaseEncoder
+
+
+class OperationType(Enum):
+  BACKUP = "backup"
+  RESTORE = "restore"
+
+
+class BackupManagerSP:
+  """Manages device configuration backups to/from sunnylink"""
+
+  def __init__(self):
+    self.params = Params()
+    self.device_id = self.params.get("SunnylinkDongleId", encoding="utf8")
+    self.api = SunnylinkApi(self.device_id)
+    self.pm = messaging.PubMaster(["backupManagerSP"])
+
+    # Status tracking
+    self.backup_status = custom.BackupManagerSP.Status.idle
+    self.restore_status = custom.BackupManagerSP.Status.idle
+
+    # Unified progress & operation type (only one operation runs at a time)
+    self.progress = 0.0
+    self.operation: OperationType | None = None
+
+    self.last_error = ""
+
+  def _report_status(self) -> None:
+    """Reports current backup manager state through the messaging system."""
+    msg = messaging.new_message('backupManagerSP', valid=True)
+    backup_state = msg.backupManagerSP
+
+    backup_state.backupStatus = self.backup_status
+    backup_state.restoreStatus = self.restore_status
+    # Both progress fields use the unified progress value
+    backup_state.backupProgress = self.progress
+    backup_state.restoreProgress = self.progress
+    backup_state.lastError = self.last_error
+
+    # Optionally, add a field for operation type if supported:
+    # backup_state.operationType = self.operation.value if self.operation else "none"
+
+    self.pm.send('backupManagerSP', msg)
+
+  def _update_progress(self, progress: float, op_type: OperationType) -> None:
+    """Updates the unified progress and operation type, then reports status."""
+    self.progress = progress
+    self.operation = op_type
+    self._report_status()
+
+  def _collect_config_data(self) -> dict[str, Any]:
+    """Collects configuration data to be backed up."""
+    config_data = {}
+    params_to_backup = [k.decode('utf-8') for k in self.params.all_keys(ParamKeyType.BACKUP)]
+    for param in params_to_backup:
+      value = self.params.get(param)
+      if value is not None:
+        config_data[param] = base64.b64encode(value).decode('utf-8')
+    return config_data
+
+  def _get_metadata_value(self, metadata_list, key, default_value=None):
+    return next((entry.get("value") for entry in metadata_list if entry.get("key") == key), default_value)
+
+  async def create_backup(self) -> bool:
+    """Creates and uploads a new backup to sunnylink."""
+    try:
+      self.backup_status = custom.BackupManagerSP.Status.inProgress
+      self._update_progress(0.0, OperationType.BACKUP)
+
+      # Collect configuration data
+      config_data = self._collect_config_data()
+      self._update_progress(25.0, OperationType.BACKUP)
+
+      # Serialize and encrypt config data
+      config_json = json.dumps(config_data)
+      encrypted_config = encrypt_compress_data(config_json, use_aes_256=True)
+      self._update_progress(50.0, OperationType.BACKUP)
+
+      backup_info = custom.BackupManagerSP.BackupInfo()
+      backup_info.deviceId = self.device_id
+      backup_info.config = encrypted_config
+      backup_info.isEncrypted = True
+      backup_info.createdAt = time.strftime("%Y-%m-%d %H:%M:%S", time.gmtime())
+      backup_info.updatedAt = backup_info.createdAt
+      backup_info.sunnypilotVersion = self._get_current_version()
+      backup_info.backupMetadata = [
+        custom.BackupManagerSP.MetadataEntry(key="creator", value="BackupManagerSP"),
+        custom.BackupManagerSP.MetadataEntry(key="all_values_encoded", value="True"),
+        custom.BackupManagerSP.MetadataEntry(key="AES", value="256")
+      ]
+
+      payload = json.loads(json.dumps(backup_info.to_dict(), cls=SnakeCaseEncoder))
+      self._update_progress(75.0, OperationType.BACKUP)
+
+      # Upload to sunnylink
+      result = self.api.api_get(
+        f"backup/{self.device_id}",
+        method='PUT',
+        access_token=self.api.get_token(),
+        json=payload
+      )
+
+      if result:
+        self.backup_status = custom.BackupManagerSP.Status.completed
+        self._update_progress(100.0, OperationType.BACKUP)
+      else:
+        self.backup_status = custom.BackupManagerSP.Status.failed
+        self.last_error = "Failed to upload backup"
+        self._report_status()
+
+      return bool(self.backup_status == custom.BackupManagerSP.Status.completed)
+
+    except Exception as e:
+      cloudlog.exception(f"Error creating backup: {str(e)}")
+      self.backup_status = custom.BackupManagerSP.Status.failed
+      self.last_error = str(e)
+      self._report_status()
+      return False
+
+  async def restore_backup(self, version: int | None = None) -> bool:
+    """Restores a backup from sunnylink."""
+    try:
+      self.restore_status = custom.BackupManagerSP.Status.inProgress
+      self._update_progress(0.0, OperationType.RESTORE)
+
+      # Get backup data from API for the specified version
+      endpoint = f"backup/{self.device_id}" + f"/{version or ''}" + "?api-version=1"
+      backup_data = self.api.api_get(endpoint, access_token=self.api.get_token())
+      if not backup_data:
+        raise Exception(f"No backup found for device {self.device_id}")
+
+      self._update_progress(25.0, OperationType.RESTORE)
+
+      data = backup_data.json()
+      backup_metadata = data.get("backup_metadata", [])
+      encrypted_config = data.get("config", "")
+      if not encrypted_config:
+        raise Exception("Empty backup configuration")
+      self._update_progress(50.0, OperationType.RESTORE)
+
+      # Decrypt config and load data
+      use_aes_256 = self._get_metadata_value(backup_metadata, "AES", "128") == "256"
+      config_json = decrypt_compressed_data(encrypted_config, use_aes_256)
+      if not config_json:
+        raise Exception("Failed to decrypt backup configuration")
+
+      config_data = json.loads(config_json)
+      self._update_progress(75.0, OperationType.RESTORE)
+
+      # Apply configuration
+      all_values_encoded = self._get_metadata_value(backup_metadata, "all_values_encoded", "false")
+      self._apply_config(config_data, str(all_values_encoded).lower() == "true")
+
+      self.restore_status = custom.BackupManagerSP.Status.completed
+      self._update_progress(100.0, OperationType.RESTORE)
+      return True
+
+    except Exception as e:
+      cloudlog.exception(f"Error restoring backup: {str(e)}")
+      self.restore_status = custom.BackupManagerSP.Status.failed
+      self.last_error = str(e)
+      self._report_status()
+      return False
+
+  def _apply_config(self, config_data: dict[str, str], all_values_encoded: bool = False) -> None:
+    """Applies configuration data from a backup, but only for parameters marked as backupable."""
+    # Get the current list of parameters that can be backed up
+    backupable_params = [k.decode('utf-8') for k in self.params.all_keys(ParamKeyType.BACKUP)]
+
+    # Count for logging/reporting
+    restored_count = 0
+    skipped_count = 0
+
+    for param, encoded_value in config_data.items():
+      try:
+        # Only restore parameters that are currently marked as backupable
+        if param in backupable_params:
+          value = base64.b64decode(encoded_value) if all_values_encoded else encoded_value
+          self.params.put(param, value)
+          restored_count += 1
+        else:
+          skipped_count += 1
+          cloudlog.info(f"Skipped restoring param {param}: not marked for backup in current version")
+      except Exception as e:
+        cloudlog.error(f"Failed to restore param {param}: {str(e)}")
+
+    cloudlog.info(f"Restore complete: {restored_count} params restored, {skipped_count} params skipped")
+
+  def _get_current_version(self) -> custom.BackupManagerSP.Version:
+    """Gets current sunnypilot version information."""
+    version_obj = custom.BackupManagerSP.Version()
+    version_parts = get_version().split('.')
+    version_obj.major = int(version_parts[0]) if len(version_parts) > 0 else 0
+    version_obj.minor = int(version_parts[1]) if len(version_parts) > 1 else 0
+    version_obj.patch = int(version_parts[2]) if len(version_parts) > 2 else 0
+    version_obj.build = int(version_parts[3]) if len(version_parts) > 3 else 0
+    version_obj.branch = get_branch()
+    return version_obj
+
+  async def main_thread(self) -> None:
+    """Main thread for backup management."""
+    rk = Ratekeeper(1, print_delay_threshold=None)
+    reset_progress = False
+
+    while True:
+      try:
+        if reset_progress:
+          self.progress = 100.0
+          self.operation = None
+          self.restore_status = custom.BackupManagerSP.Status.idle
+          self.backup_status = custom.BackupManagerSP.Status.idle
+
+        # Check for backup command
+        if self.params.get_bool("BackupManager_CreateBackup"):
+          try:
+            await self.create_backup()
+            reset_progress = True
+          finally:
+            self.params.remove("BackupManager_CreateBackup")
+
+        # Check for restore command
+        restore_version = self.params.get("BackupManager_RestoreVersion", encoding="utf8")
+        if restore_version:
+          try:
+            version = int(restore_version) if restore_version.isdigit() else None
+            await self.restore_backup(version)
+            reset_progress = True
+          finally:
+            self.params.remove("BackupManager_RestoreVersion")
+
+        self._report_status()
+        rk.keep_time()
+
+      except Exception as e:
+        cloudlog.exception(f"Error in backup manager main thread: {str(e)}")
+        self.last_error = str(e)
+        self._report_status()
+        rk.keep_time()
+
+
+def main():
+  import asyncio
+  asyncio.run(BackupManagerSP().main_thread())
+
+
+if __name__ == "__main__":
+  main()
diff --git a/sunnypilot/sunnylink/backups/utils.py b/sunnypilot/sunnylink/backups/utils.py
new file mode 100644
index 00000000000000..bcf7ea8ebb9b78
--- /dev/null
+++ b/sunnypilot/sunnylink/backups/utils.py
@@ -0,0 +1,170 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import base64
+import hashlib
+import zlib
+import re
+import json
+from pathlib import Path
+
+from cryptography.hazmat.backends import default_backend
+from cryptography.hazmat.primitives import serialization
+from cryptography.hazmat.primitives.asymmetric import rsa
+
+from sunnypilot.sunnylink.backups.AESCipher import AESCipher
+from openpilot.system.hardware.hw import Paths
+
+
+class KeyDerivation:
+  @staticmethod
+  def _load_key(file_path: str) -> bytes:
+    with open(file_path, 'rb') as f:
+      return f.read()
+
+  @staticmethod
+  def derive_aes_key_iv_from_rsa(key_path: str, use_aes_256: bool) -> tuple[bytes, bytes]:
+    rsa_key_pem: bytes = KeyDerivation._load_key(key_path)
+    key_plain = rsa_key_pem.decode(errors="ignore")
+
+    if "private" in key_plain.lower():
+      private_key = serialization.load_pem_private_key(rsa_key_pem, password=None, backend=default_backend())
+      if not isinstance(private_key, rsa.RSAPrivateKey):
+        raise ValueError("Invalid RSA key format: Unable to determine if key is public or private.")
+
+      der_data = private_key.private_bytes(
+        encoding=serialization.Encoding.DER,
+        format=serialization.PrivateFormat.TraditionalOpenSSL,
+        encryption_algorithm=serialization.NoEncryption()
+      )
+    elif "public" in key_plain.lower():
+      public_key = serialization.load_pem_public_key(rsa_key_pem, backend=default_backend())
+      if not isinstance(public_key, rsa.RSAPublicKey):
+        raise ValueError("Invalid RSA key format: Unable to determine if key is public or private.")
+
+      der_data = public_key.public_bytes(encoding=serialization.Encoding.DER, format=serialization.PublicFormat.PKCS1)
+    else:
+      raise ValueError("Unknown key format: Unable to determine if key is public or private.")
+
+    sha256_hash = hashlib.sha256(der_data).digest()
+    aes_key = sha256_hash[:32] if use_aes_256 else sha256_hash[:16]
+    aes_iv = sha256_hash[16:32]
+
+    return aes_key, aes_iv
+
+
+def qUncompress(data):
+  """
+  Decompress data using zlib.
+
+  Args:
+      data (bytes): Compressed data
+
+  Returns:
+      bytes: Decompressed data
+  """
+  data_stripped_4 = data[4:]
+  return zlib.decompress(data_stripped_4)
+
+
+def qCompress(data):
+  """
+  Compress data using zlib.
+
+  Args:
+      data (bytes): Data to compress
+
+  Returns:
+      bytes: Compressed data
+  """
+  compressed_data = zlib.compress(data, level=9)
+  return b"ZLIB" + compressed_data
+
+
+def decrypt_compressed_data(encrypted_base64, use_aes_256=False):
+  """
+  Decrypt and decompress data from base64 string.
+
+  Args:
+      encrypted_base64 (str): Base64 encoded encrypted data
+      key_path (str, optional): Path to RSA public key
+
+  Returns:
+      str: Decrypted and decompressed string
+  """
+  key_path = Path(f"{Paths.persist_root()}/comma/id_rsa") if use_aes_256 else Path(f"{Paths.persist_root()}/comma/id_rsa.pub")
+  try:
+    # Decode base64
+    encrypted_data = base64.b64decode(encrypted_base64)
+
+    # Decrypt
+    key, iv = KeyDerivation.derive_aes_key_iv_from_rsa(str(key_path), use_aes_256)
+    cipher = AESCipher(key, iv)
+    decrypted_data = cipher.decrypt(encrypted_data)
+
+    # Decompress
+    decompressed_data = qUncompress(decrypted_data)
+
+    # Decode UTF-8
+    result = decompressed_data.decode('utf-8')
+    return result
+  except Exception as e:
+    print(f"Decryption and decompression failed: {e}")
+    return ""
+
+
+def encrypt_compress_data(text, use_aes_256=True):
+  """
+  Compress and encrypt string data to base64.
+
+  Args:
+      text (str): Text to compress and encrypt
+      key_path (str, optional): Path to RSA public key
+
+  Returns:
+      str: Base64 encoded encrypted data
+  """
+  key_path = Path(f"{Paths.persist_root()}/comma/id_rsa") if use_aes_256 else Path(f"{Paths.persist_root()}/comma/id_rsa.pub")
+  try:
+    # Encode to UTF-8
+    text_bytes = text.encode('utf-8')
+
+    # Compress
+    compressed_data = qCompress(text_bytes)
+
+    # Encrypt
+    key, iv = KeyDerivation.derive_aes_key_iv_from_rsa(str(key_path), use_aes_256)
+    cipher = AESCipher(key, iv)
+    encrypted_data = cipher.encrypt(compressed_data)
+
+    # Encode to base64
+    result = base64.b64encode(encrypted_data).decode('utf-8')
+    return result
+  except Exception as e:
+    print(f"Compression and encryption failed: {e}")
+    return ""
+
+
+def camel_to_snake(name):
+  """Convert camelCase to snake_case."""
+  name = re.sub('(.)([A-Z][a-z]+)', r'\1_\2', name)
+  return re.sub('([a-z0-9])([A-Z])', r'\1_\2', name).lower()
+
+
+def transform_dict(obj):
+  """Recursively transform dictionary keys from camelCase to snake_case."""
+  if isinstance(obj, dict):
+    return {camel_to_snake(k): transform_dict(v) for k, v in obj.items()}
+  elif isinstance(obj, list):
+    return [transform_dict(item) for item in obj]
+  return obj
+
+
+class SnakeCaseEncoder(json.JSONEncoder):
+  def encode(self, obj):
+    transformed_obj = transform_dict(obj)
+    return super().encode(transformed_obj)
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 1d2ca45944cd41..7a37e59d934152 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -148,9 +148,13 @@ def and_(*fns):
 
 # sunnypilot
 procs += [
+  # Models
   PythonProcess("models_manager", "sunnypilot.models.manager", only_offroad),
   NativeProcess("modeld_snpe", "sunnypilot/modeld", ["./modeld"], and_(only_onroad, is_snpe_model)),
   NativeProcess("modeld_tinygrad", "sunnypilot/modeld_v2", ["./modeld"], and_(only_onroad, is_tinygrad_model)),
+
+  # Backup
+  PythonProcess("backup_manager", "sunnypilot.sunnylink.backups.manager", and_(only_offroad, sunnylink_ready_shim)),
 ]
 
 if os.path.exists("./github_runner.sh"):

From 002a37cdc4dffda59f2e183fa676caeb5dd88a1a Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 22 Mar 2025 16:20:19 -0400
Subject: [PATCH 0150/1434] ui: show branch selector in all branches (#698)

---
 selfdrive/ui/qt/offroad/software_settings.cc | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc
index 9bc3fad3c9b67a..449f3c52034918 100644
--- a/selfdrive/ui/qt/offroad/software_settings.cc
+++ b/selfdrive/ui/qt/offroad/software_settings.cc
@@ -70,9 +70,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
       checkForUpdates();
     }
   });
-  if (!params.getBool("IsTestedBranch")) {
-    addItem(targetBranchBtn);
-  }
+  addItem(targetBranchBtn);
 
   // uninstall button
   auto uninstallBtn = new ButtonControl(tr("Uninstall %1").arg(getBrand()), tr("UNINSTALL"));

From bab2d776b6eaf24a56c7cd4631940dd5c16dc505 Mon Sep 17 00:00:00 2001
From: Tim Wilson <twilsonco@gmail.com>
Date: Sat, 22 Mar 2025 17:49:05 -0600
Subject: [PATCH 0151/1434] NNLC: use torque substitutes as fuzzy fingerprints
 (#700)

* NNLC: use torque substitutes as fuzzy fingerprints

* substitutes are not exact matches

* update nnlc helpers

for extra nnlc model path checks, take the first one that passes.

* Update sunnypilot/selfdrive/controls/lib/nnlc/helpers.py

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/selfdrive/controls/lib/nnlc/helpers.py  | 14 ++++++++++++--
 .../controls/lib/nnlc/tests/test_load_model.py     |  7 +++----
 2 files changed, 15 insertions(+), 6 deletions(-)

diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py b/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
index d533eb1265eced..0ea920f1982ba4 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
@@ -5,12 +5,14 @@
 See the LICENSE.md file in the root directory for more details.
 """
 import os
+import tomllib
 from difflib import SequenceMatcher
 
 from opendbc.car import structs
 from openpilot.common.basedir import BASEDIR
 
 TORQUE_NN_MODEL_PATH = os.path.join(BASEDIR, "sunnypilot", "neural_network_data", "neural_network_lateral_control")
+TORQUE_NN_MODEL_SUBSTITUTE_PATH = os.path.join(BASEDIR, "opendbc", "car", "torque_data/substitute.toml")
 MOCK_MODEL_PATH = os.path.join(TORQUE_NN_MODEL_PATH, "MOCK.json")
 
 
@@ -42,16 +44,24 @@ def check_nn_path(_nn_candidate):
 
   model_path, max_similarity = check_nn_path(nn_candidate)
 
+  exact_match = max_similarity >= 0.99
+
   if car_fingerprint not in model_path or 0.0 <= max_similarity < 0.8:
     nn_candidate = car_fingerprint
     model_path, max_similarity = check_nn_path(nn_candidate)
     if 0.0 <= max_similarity < 0.8:
-      model_path = MOCK_MODEL_PATH
+      with open(TORQUE_NN_MODEL_SUBSTITUTE_PATH, 'rb') as f:
+        sub = tomllib.load(f)
+      sub_candidate = sub.get(car_fingerprint, car_fingerprint)
+
+      for candidate in [car_fingerprint, sub_candidate]:
+        model_path, max_similarity = check_nn_path(candidate)
+
+      exact_match = False
 
   if CP.steerControlType == structs.CarParams.SteerControlType.angle:
     model_path = MOCK_MODEL_PATH
 
   model_name = os.path.splitext(os.path.basename(model_path))[0]
-  exact_match = max_similarity >= 0.99
 
   return model_path, model_name, exact_match
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
index 7c70f4fa07ffd2..f7683082995b17 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
@@ -1,4 +1,3 @@
-from numpy.ma.testutils import assert_equal
 from parameterized import parameterized
 
 from opendbc.car.car_helpers import interfaces
@@ -13,8 +12,8 @@
 
 class TestNNTorqueModel:
 
-  @parameterized.expand([(HONDA.HONDA_CIVIC, True), (TOYOTA.TOYOTA_RAV4, True), (HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN, False)])
-  def test_load_model(self, car_name, should_load_model):
+  @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN])
+  def test_load_model(self, car_name):
     params = Params()
     params.put_bool("NeuralNetworkLateralControl", True)
 
@@ -29,4 +28,4 @@ def test_load_model(self, car_name, should_load_model):
 
     controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI)
 
-    assert_equal(should_load_model, controller.extension.has_nn_model)
+    assert controller.extension.has_nn_model

From ed39aaddbc4a9d527dbf914b51cffeae4b9869cf Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 22 Mar 2025 22:41:42 -0400
Subject: [PATCH 0152/1434] ui: use `allKeys` to reset sunnypilot settings
 (#699)

* ui: exclude certain params from deletion during settings reset

* clear all and exclude directly and only reboot after confirmation

* cleaner

* handle this instead

* send it

* 1-liner

* nuke nuke

* space

* less
---
 .../qt/offroad/settings/device_panel.cc       | 22 ++++++++++++-------
 .../qt/offroad/settings/device_panel.h        |  1 +
 2 files changed, 15 insertions(+), 8 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index 46f388c75e0337..ca6d6c62fad83e 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -67,14 +67,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
     }
   });
 
-  connect(buttons["resetParams"], &PushButtonSP::clicked, [=]() {
-    if (ConfirmationDialog::confirm(tr("Are you sure you want to reset all sunnypilot settings to default ? This cannot be undone."), tr("Reset"), this)) {
-      int rm = std::system("sudo rm -rf /data/params/d/*");
-      if (rm == 0) {
-        Hardware::reboot();
-      }
-    }
-  });
+  connect(buttons["resetParams"], &PushButtonSP::clicked, this, &DevicePanelSP::resetSettings);
 
   addItem(device_grid_layout);
 
@@ -141,6 +134,19 @@ void DevicePanelSP::setOffroadMode() {
   updateState();
 }
 
+void DevicePanelSP::resetSettings() {
+  if (ConfirmationDialog::confirm(tr("Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back."), tr("Reset"), this)) {
+    if (ConfirmationDialog::confirm(tr("The reset cannot be undone. You have been warned."), tr("Confirm"), this)) {
+      const std::vector<std::string> keys = params.allKeys();
+      for (const auto& key : keys) {
+        params.remove(key);
+      }
+
+      Hardware::reboot();
+    }
+  }
+}
+
 void DevicePanelSP::showEvent(QShowEvent *event) {
   updateState();
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
index a781019e5ec9f3..dc77aa464767a1 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
@@ -18,6 +18,7 @@ class DevicePanelSP : public DevicePanel {
   void showEvent(QShowEvent *event) override;
   void setOffroadMode();
   void updateState();
+  void resetSettings();
 
 private:
   std::map<QString, PushButtonSP*> buttons;

From e6177c49aa08667e5c5450314244629b625f2b4f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 22 Mar 2025 22:48:58 -0400
Subject: [PATCH 0153/1434] athenad: avoid infinite loop waiting for comma
 registration (#701)

Athenad: avoid infinite loop waiting for comma registration
---
 system/athena/registration.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/system/athena/registration.py b/system/athena/registration.py
index 964fbff51e6cd8..fce984c03ac8ef 100755
--- a/system/athena/registration.py
+++ b/system/athena/registration.py
@@ -91,6 +91,7 @@ def register(show_spinner=False) -> str | None:
 
       if time.monotonic() - start_time > 60 and show_spinner:
         spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")
+        return UNREGISTERED_DONGLE_ID  # hotfix to prevent an infinite wait for registration
 
     if show_spinner:
       spinner.close()

From a307a085917d98f72a519573d02693179bfd2819 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 23 Mar 2025 15:50:21 -0400
Subject: [PATCH 0154/1434] ui: fix offset with `OptionControlSP` for macOS
 (#705)

ui: fix offset with `OptionControlSP`
---
 selfdrive/ui/sunnypilot/qt/widgets/controls.h | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index a7c60980fa876b..1578130bbb8947 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -520,7 +520,11 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
     }
 
     // Draw the rectangle
+#ifdef __APPLE__
+    QRect rect(0, !_title.isEmpty() ? (h - 16) : 20, w, h);
+#else
     QRect rect(0, !_title.isEmpty() ? (h - 24) : 20, w, h);
+#endif
     p.setBrush(QColor(button_enabled ? "#b24a4a4a" : "#121212")); // Background color
     p.setPen(QPen(Qt::NoPen));
     p.drawRoundedRect(rect, 20, 20);

From 96d73fe2b33633bbca788ef25c1e465ca9637fb9 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Sun, 23 Mar 2025 16:04:12 -0400
Subject: [PATCH 0155/1434] NNLC: bump max similarity for higher accuracy
 (#704)

Update helpers.py

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/selfdrive/controls/lib/nnlc/helpers.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py b/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
index 0ea920f1982ba4..8c33fec0231b84 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
@@ -46,10 +46,10 @@ def check_nn_path(_nn_candidate):
 
   exact_match = max_similarity >= 0.99
 
-  if car_fingerprint not in model_path or 0.0 <= max_similarity < 0.8:
+  if car_fingerprint not in model_path or 0.0 <= max_similarity < 0.9:
     nn_candidate = car_fingerprint
     model_path, max_similarity = check_nn_path(nn_candidate)
-    if 0.0 <= max_similarity < 0.8:
+    if 0.0 <= max_similarity < 0.9:
       with open(TORQUE_NN_MODEL_SUBSTITUTE_PATH, 'rb') as f:
         sub = tomllib.load(f)
       sub_candidate = sub.get(car_fingerprint, car_fingerprint)

From 982674b4a71e900fe7263371390d4316d6f99f46 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 23 Mar 2025 22:54:40 -0400
Subject: [PATCH 0156/1434] ui: support dynamic state updates for
 `PushButtonSP` (#708)

* ui: support dynamic state updates for `PushButtonSP`

* test btn

* override mouse release events

* Revert "test btn"

This reverts commit cd9c9dde9a37a8b2c7de7ad123cbb53f80e9e5e6.

* Reapply "test btn"

This reverts commit 9b36b2e08500d81cecb95f6c47a66a43e2dcd1b4.

* abstract param flipping

* Revert "Reapply "test btn""

This reverts commit 8104a262b02303b1c6fe2df00b2d65408fa010ea.

* update device panel handling for the new param
---
 .../qt/offroad/settings/device_panel.cc       | 22 ++++---
 selfdrive/ui/sunnypilot/qt/widgets/controls.h | 66 +++++++++++++++----
 2 files changed, 65 insertions(+), 23 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index ca6d6c62fad83e..eef025b0a5e3b5 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -16,23 +16,25 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
   device_grid_layout->setHorizontalSpacing(5);
   device_grid_layout->setVerticalSpacing(25);
 
-  std::vector<std::pair<QString, QString>> device_btns = {
-    {"dcamBtn", tr("Driver Camera Preview")},
-    {"retrainingBtn", tr("Training Guide")},
-    {"regulatoryBtn", tr("Regulatory")},
-    {"translateBtn", tr("Language")},
-    {"resetParams", tr("Reset Settings")},
+  std::vector<std::tuple<QString, QString, QString>> device_btns = {
+    {"dcamBtn", tr("Driver Camera Preview"), ""},
+    {"retrainingBtn", tr("Training Guide"), ""},
+    {"regulatoryBtn", tr("Regulatory"), ""},
+    {"translateBtn", tr("Language"), ""},
+    {"resetParams", tr("Reset Settings"), ""},
   };
 
   int row = 0, col = 0;
-  for (int i = 0; i < device_btns.size(); i++) {
-    if (device_btns[i].first == "regulatoryBtn" && !Hardware::TICI()) {
+  for (const auto &[id, text, param] : device_btns) {
+    if (id == "regulatoryBtn" && !Hardware::TICI()) {
       continue;
     }
 
-    auto *btn = new PushButtonSP(device_btns[i].second, 720, this);
+    auto *btn = new PushButtonSP(text, 720, this, param);
+    btn->setObjectName(id);
+
     device_grid_layout->addWidget(btn, row, col);
-    buttons[device_btns[i].first] = btn;
+    buttons[id] = btn;
 
     col++;
     if (col > 1) {
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index 1578130bbb8947..acbc3ea3c401f5 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -554,8 +554,8 @@ class PushButtonSP : public QPushButton {
   Q_OBJECT
 
 public:
-  PushButtonSP(const QString &text, const int minimum_button_width = 800, QWidget *parent = nullptr) : QPushButton(text, parent) {
-    const QString buttonStyle = R"(
+  PushButtonSP(const QString &text, const int minimum_button_width = 800, QWidget *parent = nullptr, const QString &param = "") : QPushButton(text, parent) {
+    buttonStyle = R"(
       QPushButton {
         border-radius: 20px;
         font-size: 50px;
@@ -564,21 +564,61 @@ class PushButtonSP : public QPushButton {
         padding: 0 25px 0 25px;
         color: #FFFFFF;
       }
-      QPushButton:enabled {
-        background-color: #393939;
-      }
-      QPushButton:pressed {
-        background-color: #4A4A4A;
-      }
-      QPushButton:disabled {
-        background-color: #121212;
-        color: #5C5C5C;
-      }
     )";
 
-    setStyleSheet(buttonStyle);
+    if (!param.isEmpty()) {
+      key = param.toStdString();
+      refresh();
+    } else {
+      updateStyle(false);
+    }
+
     setFixedWidth(minimum_button_width);
   }
+
+  void refresh() {
+    if (!key.empty()) {
+      bool state = params.getBool(key);
+      if (state != is_enabled) {
+        is_enabled = state;
+      }
+      updateStyle(is_enabled);
+    }
+  }
+
+  void updateButton() {
+    if (!key.empty()) {
+      params.putBool(key, !is_enabled);
+      refresh();
+    }
+  }
+
+protected:
+  // Override mouse release event to handle style updates smoothly
+  void mouseReleaseEvent(QMouseEvent *event) override {
+    if (!key.empty()) {
+      bool next_state = !params.getBool(key);
+      updateStyle(next_state);
+    }
+    QPushButton::mouseReleaseEvent(event);
+  }
+
+private:
+  std::string key = "";
+  Params params;
+  bool is_enabled;
+  QString buttonStyle;
+
+  QString btn_enabled_off_style = "QPushButton:enabled { background-color: #393939; }";
+  QString btn_enabled_on_style = "QPushButton:enabled { background-color: #1e79e8; }";
+  QString btn_pressed_style = "QPushButton:pressed { background-color: #4A4A4A; }";
+  QString btn_disabled_stype = "QPushButton:disabled { background-color: #121212; color: #5C5C5C; }";
+
+  void updateStyle(bool enabled) {
+    QString enabled_style = enabled ? btn_enabled_on_style : btn_enabled_off_style;
+
+    setStyleSheet(buttonStyle + enabled_style + btn_pressed_style + btn_disabled_stype);
+  }
 };
 
 class PanelBackButton : public QPushButton {

From 029a601674d5647508f93ea81abcd9fc94a20427 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Sun, 23 Mar 2025 20:15:11 -0700
Subject: [PATCH 0157/1434] Device: Quiet Mode (#654)

* init quiet mode

* only for sunny

* static

* toggle

* let's back this up

* review sugg

* oh okay

* review

* fix: ensure boolean conversion for QuietDrive parameter

* Refactor return statement to use boolean conversion for clarity in quiet mode logic

* Update selfdrive/ui/sunnypilot/quietmode.py

* rename

* sunny

* Revert "sunny"

This reverts commit 6ac4cf4b8d3b0f8576cdec0146f3815a662a01a5.

* sunny

* Revert "sunny"

This reverts commit c2bffddc052bdc2e269f3f7070934037c490810a.

* sunny

* ui: support dynamic state updates for `PushButtonSP`

* test btn

* override mouse release events

* Revert "test btn"

This reverts commit cd9c9dde9a37a8b2c7de7ad123cbb53f80e9e5e6.

* Reapply "test btn"

This reverts commit 9b36b2e08500d81cecb95f6c47a66a43e2dcd1b4.

* abstract param flipping

* Revert "Reapply "test btn""

This reverts commit 8104a262b02303b1c6fe2df00b2d65408fa010ea.

* use new button state for PushButtonSP

* Quiet Drive -> Quiet Mode

* driver camera btn moved

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/params_keys.h                          |  1 +
 selfdrive/ui/soundd.py                        | 10 ++++-
 .../qt/offroad/settings/device_panel.cc       |  3 ++
 selfdrive/ui/sunnypilot/quiet_mode.py         | 39 +++++++++++++++++++
 selfdrive/ui/tests/test_ui/run.py             |  2 +-
 system/manager/manager.py                     |  1 +
 6 files changed, 53 insertions(+), 3 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/quiet_mode.py

diff --git a/common/params_keys.h b/common/params_keys.h
index 8237bdabb1361b..710a354a688d52 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -128,6 +128,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
     {"OffroadMode", CLEAR_ON_MANAGER_START},
     {"OffroadMode_Status", CLEAR_ON_MANAGER_START},
+    {"QuietMode", PERSISTENT | BACKUP},
 
     // MADS params
     {"Mads", PERSISTENT | BACKUP},
diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index 8b5fc8bd04a6ed..facb3983399973 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -13,6 +13,8 @@
 
 from openpilot.system import micd
 
+from openpilot.selfdrive.ui.sunnypilot.quiet_mode import QuietMode
+
 SAMPLE_RATE = 48000
 SAMPLE_BUFFER = 4096 # (approx 100ms)
 MAX_VOLUME = 1.0
@@ -50,8 +52,10 @@ def check_selfdrive_timeout_alert(sm):
   return False
 
 
-class Soundd:
+class Soundd(QuietMode):
   def __init__(self):
+    super().__init__()
+
     self.load_sounds()
 
     self.current_alert = AudibleAlert.none
@@ -81,7 +85,7 @@ def get_sound_data(self, frames): # get "frames" worth of data from the current
 
     ret = np.zeros(frames, dtype=np.float32)
 
-    if self.current_alert != AudibleAlert.none:
+    if self.should_play_sound(self.current_alert):
       num_loops = sound_list[self.current_alert][1]
       sound_data = self.loaded_sounds[self.current_alert]
       written_frames = 0
@@ -144,6 +148,8 @@ def soundd_thread(self):
       while True:
         sm.update(0)
 
+        self.load_param()
+
         if sm.updated['microphone'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
           self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
           self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index eef025b0a5e3b5..f26ed0a1985e56 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -17,6 +17,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
   device_grid_layout->setVerticalSpacing(25);
 
   std::vector<std::tuple<QString, QString, QString>> device_btns = {
+    {"quietModeBtn", tr("Quiet Mode"), "QuietMode"},
     {"dcamBtn", tr("Driver Camera Preview"), ""},
     {"retrainingBtn", tr("Training Guide"), ""},
     {"regulatoryBtn", tr("Regulatory"), ""},
@@ -45,6 +46,8 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
 
   connect(buttons["dcamBtn"], &PushButtonSP::clicked, [=]() { emit showDriverView(); });
 
+  connect(buttons["quietModeBtn"], &PushButtonSP::clicked, buttons["quietModeBtn"], &PushButtonSP::updateButton);
+
   connect(buttons["retrainingBtn"], &PushButtonSP::clicked, [=]() {
     if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) {
       emit reviewTrainingGuide();
diff --git a/selfdrive/ui/sunnypilot/quiet_mode.py b/selfdrive/ui/sunnypilot/quiet_mode.py
new file mode 100644
index 00000000000000..893df95033b91c
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/quiet_mode.py
@@ -0,0 +1,39 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from cereal import car
+
+from openpilot.common.params import Params
+
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+
+ALERTS_ALWAYS_PLAY = {
+  AudibleAlert.warningSoft,
+  AudibleAlert.warningImmediate,
+  AudibleAlert.promptDistracted,
+  AudibleAlert.promptRepeat,
+}
+
+class QuietMode:
+  def __init__(self):
+    self.params = Params()
+    self.enabled: bool = self.params.get_bool("QuietMode")
+    self._frame = 0
+
+  def load_param(self) -> None:
+    self._frame += 1
+    if self._frame % 50 == 0:  # 2.5 seconds
+      self.enabled = self.params.get_bool("QuietMode")
+
+  def should_play_sound(self, current_alert: int) -> bool:
+    """
+    Check if a sound should be played based on the Quiet Mode setting
+    and the current alert.
+    """
+    if not self.enabled:
+      return bool(current_alert != AudibleAlert.none)
+
+    return current_alert in ALERTS_ALWAYS_PLAY
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 1d7437bf6511c7..c28b578d955009 100755
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -151,7 +151,7 @@ def setup_keyboard_uppercase(click, pm: PubMaster, scroll=None):
 
 def setup_driver_camera(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
-  click(950, 620)
+  click(1720, 620)
   DATA['deviceState'].deviceState.started = False
   setup_onroad(click, pm)
   DATA['deviceState'].deviceState.started = True
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 9266a62aaecb4d..bcc2ff5c2890e6 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -51,6 +51,7 @@ def manager_init() -> None:
     ("ModelManager_LastSyncTime", "0"),
     ("ModelManager_ModelsCache", ""),
     ("NeuralNetworkLateralControl", "0"),
+    ("QuietMode", "0"),
   ]
 
   if params.get_bool("RecordFrontLock"):

From cc1b2332775d93a2ea740a51b36e79f8ac5dfa97 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 24 Mar 2025 00:32:31 -0400
Subject: [PATCH 0158/1434] ui: vertical space for `ListWidget` (#706)

---
 selfdrive/ui/sunnypilot/qt/widgets/controls.cc | 7 +++++++
 selfdrive/ui/sunnypilot/qt/widgets/controls.h  | 1 +
 2 files changed, 8 insertions(+)

diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
index 0c0e1740013f89..d02efc0a8d86f1 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
@@ -22,6 +22,13 @@ QFrame *horizontal_line(QWidget *parent) {
   return line;
 }
 
+QFrame *vertical_space(int height, QWidget *parent) {
+  QFrame *v_space = new QFrame(parent);
+  v_space->setFrameShape(QFrame::StyledPanel);
+  v_space->setFixedHeight(height);
+  return v_space;
+}
+
 // AbstractControlSP
 
 AbstractControlSP::AbstractControlSP(const QString &title, const QString &desc, const QString &icon, QWidget *parent)
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index acbc3ea3c401f5..f46031088fa9a0 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -18,6 +18,7 @@
 #include "selfdrive/ui/sunnypilot/qt/widgets/toggle.h"
 
 QFrame *horizontal_line(QWidget *parent = nullptr);
+QFrame *vertical_space(int height = 10, QWidget *parent = nullptr);
 
 inline void ReplaceWidget(QWidget *old_widget, QWidget *new_widget) {
   if (old_widget && old_widget->parentWidget() && old_widget->parentWidget()->layout()) {

From 34bbdf4d7fa9966a05ef2a783c0bf7d7d3dc242c Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Mon, 24 Mar 2025 19:26:48 -0700
Subject: [PATCH 0159/1434] Controls: Automatic lane change (#653)

* init alc controller

* only for sunny

* rebase fix

* ui

* add ui preview

* Update common/params_keys.h

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

* Update selfdrive/ui/sunnypilot/SConscript

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

* review sugg

* code review

* renaming

* move around

* style

* fix types and params exceptions handling

* take out magic numbers

* more

* rename

* shorter

* make sure reset happens at the end of every DH loop

* split into multiple updates

* just 3 seconds

* use default states

* oops

* more readable

* oops

* some space and lines

* run in DH loop directly

* adjust ui preview

* nudgeless should process immediately

* check option instead

* more explicit

* even more explicit

* tests

* brake pedal release should not allow auto lane change (caught by test)

* unnecessary

* no continuous auto lane change

* Revert "unnecessary"

This reverts commit 93d135b54a812e94d23951ca8ea52ff944cfd29a.

* more tests

* less

* less less

* update again

* more cleanup

* better

* AutoLaneChangeState -> AutoLaneChangeMode

* update

* lint

* unused

* test all states

* license

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/params_keys.h                          |   2 +
 selfdrive/controls/lib/desire_helper.py       |   9 +-
 selfdrive/ui/sunnypilot/SConscript            |   1 +
 .../settings/lateral/lane_change_settings.cc  | 111 ++++++++++
 .../settings/lateral/lane_change_settings.h   |  51 +++++
 .../qt/offroad/settings/lateral_panel.cc      |  24 +++
 .../qt/offroad/settings/lateral_panel.h       |   3 +
 selfdrive/ui/tests/test_ui/run.py             |   7 +
 .../controls/lib/auto_lane_change.py          | 115 ++++++++++
 .../lib/tests/test_auto_lane_change.py        | 198 ++++++++++++++++++
 system/manager/manager.py                     |   2 +
 11 files changed, 522 insertions(+), 1 deletion(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h
 create mode 100644 sunnypilot/selfdrive/controls/lib/auto_lane_change.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py

diff --git a/common/params_keys.h b/common/params_keys.h
index 710a354a688d52..be038f5a2a4943 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -120,6 +120,8 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
 
     // --- sunnypilot params --- //
     {"ApiCache_DriveStats", PERSISTENT},
+    {"AutoLaneChangeBsmDelay", PERSISTENT},
+    {"AutoLaneChangeTimer", PERSISTENT},
     {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
     {"CarParamsSPPersistent", PERSISTENT},
diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index 90b68586497777..34ea4ff1bb6b27 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -1,6 +1,7 @@
 from cereal import log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController
 
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -39,8 +40,10 @@ def __init__(self):
     self.keep_pulse_timer = 0.0
     self.prev_one_blinker = False
     self.desire = log.Desire.none
+    self.alc = AutoLaneChangeController(self)
 
   def update(self, carstate, lateral_active, lane_change_prob):
+    self.alc.update_params()
     v_ego = carstate.vEgo
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
     below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
@@ -67,10 +70,12 @@ def update(self, carstate, lateral_active, lane_change_prob):
         blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
                               (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
 
+        self.alc.update_lane_change(blindspot_detected, carstate.brakePressed)
+
         if not one_blinker or below_lane_change_speed:
           self.lane_change_state = LaneChangeState.off
           self.lane_change_direction = LaneChangeDirection.none
-        elif torque_applied and not blindspot_detected:
+        elif (torque_applied or self.alc.auto_lane_change_allowed) and not blindspot_detected:
           self.lane_change_state = LaneChangeState.laneChangeStarting
 
       # LaneChangeState.laneChangeStarting
@@ -112,3 +117,5 @@ def update(self, carstate, lateral_active, lane_change_prob):
         self.keep_pulse_timer = 0.0
       elif self.desire in (log.Desire.keepLeft, log.Desire.keepRight):
         self.desire = log.Desire.none
+
+    self.alc.update_state()
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 24c98c9868f6a2..30748098a3cfea 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -35,6 +35,7 @@ qt_src = [
 ]
 
 lateral_panel_qt_src = [
+  "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
 ]
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc
new file mode 100644
index 00000000000000..53717508bff50e
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc
@@ -0,0 +1,111 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ *
+ * Created by kumar on March 10, 2025
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+#include <map>
+#include <string>
+#include <tuple>
+#include <vector>
+
+LaneChangeSettings::LaneChangeSettings(QWidget* parent) : QWidget(parent) {
+  QVBoxLayout* main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 20, 50, 20);
+  main_layout->setSpacing(20);
+
+  // Back button
+  PanelBackButton* back = new PanelBackButton(tr("Back"));
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  ListWidgetSP *list = new ListWidgetSP(this, false);
+  // param, title, desc, icon
+  std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
+    {
+      "AutoLaneChangeBsmDelay",
+      tr("Auto Lane Change: Delay with Blind Spot"),
+      tr("Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering."),
+      "../assets/offroad/icon_blank.png",
+    },
+  };
+
+  // Controls: Auto Lane Change Timer
+  autoLaneChangeTimer = new AutoLaneChangeTimer();
+  autoLaneChangeTimer->setUpdateOtherToggles(true);
+  autoLaneChangeTimer->showDescription();
+  connect(autoLaneChangeTimer, &OptionControlSP::updateLabels, autoLaneChangeTimer, &AutoLaneChangeTimer::refresh);
+  connect(autoLaneChangeTimer, &AutoLaneChangeTimer::updateOtherToggles, this, &LaneChangeSettings::updateToggles);
+  list->addItem(autoLaneChangeTimer);
+
+  for (auto &[param, title, desc, icon] : toggle_defs) {
+    auto toggle = new ParamControlSP(param, title, desc, icon, this);
+    list->addItem(toggle);
+    toggles[param.toStdString()] = toggle;
+  }
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void LaneChangeSettings::showEvent(QShowEvent *event) {
+  updateToggles();
+}
+
+void LaneChangeSettings::updateToggles() {
+  if (!isVisible()) {
+    return;
+  }
+
+  auto auto_lane_change_bsm_delay_toggle = toggles["AutoLaneChangeBsmDelay"];
+  auto autoLaneChangeTimer_param = std::atoi(params.get("AutoLaneChangeTimer").c_str());
+
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    if (!CP.getEnableBsm()) {
+      params.remove("AutoLaneChangeBsmDelay");
+    }
+    auto_lane_change_bsm_delay_toggle->setEnabled(CP.getEnableBsm() && (autoLaneChangeTimer_param > 0));
+    auto_lane_change_bsm_delay_toggle->refresh();
+  } else {
+    auto_lane_change_bsm_delay_toggle->setEnabled(false);
+  }
+}
+
+// Auto Lane Change Timer (ALCT)
+AutoLaneChangeTimer::AutoLaneChangeTimer() : OptionControlSP(
+  "AutoLaneChangeTimer",
+  tr("Auto Lane Change by Blinker"),
+  tr("Set a timer to delay the auto lane change operation when the blinker is used. "
+     "No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.\n"
+     "Please use caution when using this feature. Only use the blinker when traffic and road conditions permit."),
+  "../assets/offroad/icon_blank.png",
+  {-1, 5}) {
+
+  refresh();
+}
+
+void AutoLaneChangeTimer::refresh() {
+  QString option = QString::fromStdString(params.get("AutoLaneChangeTimer"));
+  const QString second = tr("s");
+
+  static const QMap<QString, QString> options = {
+    {"-1", tr("Off")},
+    {"0",  tr("Nudge")},
+    {"1",  tr("Nudgeless")},
+    {"2",  "0.5 " + second},
+    {"3",  "1 "   + second},
+    {"4",  "2 "   + second},
+    {"5",  "3 "   + second},
+  };
+
+  setLabel(options.value(option, tr("Nudge")));
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h
new file mode 100644
index 00000000000000..5bd458c47d63cf
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h
@@ -0,0 +1,51 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <map>
+#include <string>
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class AutoLaneChangeTimer : public OptionControlSP {
+  Q_OBJECT
+
+public:
+  AutoLaneChangeTimer();
+
+  void refresh();
+
+signals:
+  void toggleUpdated();
+
+private:
+  Params params;
+};
+
+
+class LaneChangeSettings : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit LaneChangeSettings(QWidget* parent = nullptr);
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void backPress();
+
+public slots:
+  void updateToggles();
+
+private:
+  Params params;
+  std::map<std::string, ParamControlSP*> toggles;
+
+  AutoLaneChangeTimer *autoLaneChangeTimer;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
index aaf3201f2a6478..3fde7fd5fc9340 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
@@ -42,6 +42,29 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
   });
   list->addItem(madsSettingsButton);
 
+  list->addItem(vertical_space());
+  list->addItem(horizontal_line());
+  list->addItem(vertical_space());
+
+  // Lane Change Settings
+  laneChangeSettingsButton = new PushButtonSP(tr("Customize Lane Change"));
+  laneChangeSettingsButton->setObjectName("lane_change_btn");
+  connect(laneChangeSettingsButton, &QPushButton::clicked, [=]() {
+    sunnypilotScroller->setLastScrollPosition();
+    main_layout->setCurrentWidget(laneChangeWidget);
+  });
+
+  laneChangeWidget = new LaneChangeSettings(this);
+  connect(laneChangeWidget, &LaneChangeSettings::backPress, [=]() {
+    sunnypilotScroller->restoreScrollPosition();
+    main_layout->setCurrentWidget(sunnypilotScreen);
+  });
+  list->addItem(laneChangeSettingsButton);
+
+  list->addItem(vertical_space(0));
+  list->addItem(horizontal_line());
+
+  // Neural Network Lateral Control
   nnlcToggle = new NeuralNetworkLateralControl();
   list->addItem(nnlcToggle);
 
@@ -65,6 +88,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
 
   main_layout->addWidget(sunnypilotScreen);
   main_layout->addWidget(madsWidget);
+  main_layout->addWidget(laneChangeWidget);
 
   setStyleSheet(R"(
     #back_btn {
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
index 0857e6ebd5468a..1b77939ee8db02 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
@@ -13,6 +13,7 @@
 #include "selfdrive/ui/sunnypilot/ui.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
@@ -38,5 +39,7 @@ public slots:
   ParamControl *madsToggle;
   PushButtonSP *madsSettingsButton;
   MadsSettings *madsWidget = nullptr;
+  PushButtonSP *laneChangeSettingsButton;
+  LaneChangeSettings *laneChangeWidget = nullptr;
   NeuralNetworkLateralControl *nnlcToggle = nullptr;
 };
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index c28b578d955009..6d7e6352baf8d5 100755
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -233,6 +233,12 @@ def setup_settings_steering_mads(click, pm: PubMaster, scroll=None):
   click(970, 250)
   time.sleep(UI_DELAY)
 
+def setup_settings_steering_alc(click, pm: PubMaster, scroll=None):
+  setup_settings_device(click, pm)
+  click(278, 852)
+  click(970, 534)
+  time.sleep(UI_DELAY)
+
 def setup_settings_trips(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
   click(278, 962)
@@ -284,6 +290,7 @@ def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
   "settings_sunnylink_sponsor_button": setup_settings_sunnylink_sponsor_button,
   "settings_steering": setup_settings_steering,
   "settings_steering_mads": setup_settings_steering_mads,
+  "settings_steering_alc": setup_settings_steering_alc,
   "settings_trips": setup_settings_trips,
   "settings_vehicle": setup_settings_vehicle,
 })
diff --git a/sunnypilot/selfdrive/controls/lib/auto_lane_change.py b/sunnypilot/selfdrive/controls/lib/auto_lane_change.py
new file mode 100644
index 00000000000000..29056d5ac561bd
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/auto_lane_change.py
@@ -0,0 +1,115 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from cereal import log
+
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+
+
+class AutoLaneChangeMode:
+  OFF = -1
+  NUDGE = 0  # default
+  NUDGELESS = 1
+  HALF_SECOND = 2
+  ONE_SECOND = 3
+  TWO_SECONDS = 4
+  THREE_SECONDS = 5
+
+
+AUTO_LANE_CHANGE_TIMER = {
+  AutoLaneChangeMode.OFF: 0.0,            # Off
+  AutoLaneChangeMode.NUDGE: 0.0,          # Nudge
+  AutoLaneChangeMode.NUDGELESS: 0.05,     # Nudgeless
+  AutoLaneChangeMode.HALF_SECOND: 0.5,    # 0.5-second delay
+  AutoLaneChangeMode.ONE_SECOND: 1.0,     # 1-second delay
+  AutoLaneChangeMode.TWO_SECONDS: 2.0,    # 2-second delay
+  AutoLaneChangeMode.THREE_SECONDS: 3.0,  # 3-second delay
+}
+
+ONE_SECOND_DELAY = -1
+
+
+class AutoLaneChangeController:
+  def __init__(self, desire_helper):
+    self.DH = desire_helper
+    self.params = Params()
+
+    self.lane_change_wait_timer = 0.0
+    self.param_read_counter = 0
+    self.lane_change_delay = 0.0
+
+    self.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+    self.lane_change_bsm_delay = False
+
+    self.prev_brake_pressed = False
+    self.auto_lane_change_allowed = False
+    self.prev_lane_change = False
+
+    self.read_params()
+
+  def reset(self) -> None:
+    # Auto reset if parent state indicates we should
+    if self.DH.lane_change_state == log.LaneChangeState.off and \
+       self.DH.lane_change_direction == log.LaneChangeDirection.none:
+      self.lane_change_wait_timer = 0.0
+      self.prev_brake_pressed = False
+      self.prev_lane_change = False
+
+  def read_params(self) -> None:
+    self.lane_change_bsm_delay = self.params.get_bool("AutoLaneChangeBsmDelay")
+    try:
+      self.lane_change_set_timer = int(self.params.get("AutoLaneChangeTimer", encoding="utf8"))
+    except (ValueError, TypeError):
+      self.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+
+  def update_params(self) -> None:
+    if self.param_read_counter % 50 == 0:
+      self.read_params()
+    self.param_read_counter += 1
+
+  def update_lane_change_timers(self, blindspot_detected: bool) -> None:
+    self.lane_change_delay = AUTO_LANE_CHANGE_TIMER.get(self.lane_change_set_timer,
+                                                        AUTO_LANE_CHANGE_TIMER[AutoLaneChangeMode.NUDGE])
+
+    self.lane_change_wait_timer += DT_MDL
+
+    if self.lane_change_bsm_delay and blindspot_detected and self.lane_change_delay > 0:
+      if self.lane_change_delay == AUTO_LANE_CHANGE_TIMER[AutoLaneChangeMode.NUDGELESS]:
+        self.lane_change_wait_timer = ONE_SECOND_DELAY
+      else:
+        self.lane_change_wait_timer = self.lane_change_delay + ONE_SECOND_DELAY
+
+  def update_allowed(self) -> bool:
+    # Auto lane change allowed if:
+    # 1. A valid delay is set (non-zero)
+    # 2. Brake wasn't previously pressed
+    # 3. We've waited long enough
+
+    if self.lane_change_set_timer in (AutoLaneChangeMode.OFF, AutoLaneChangeMode.NUDGE):
+      return False
+
+    if self.prev_brake_pressed:
+      return False
+
+    if self.prev_lane_change:
+      return False
+
+    return bool(self.lane_change_wait_timer > self.lane_change_delay)
+
+  def update_lane_change(self, blindspot_detected: bool, brake_pressed: bool) -> None:
+    if brake_pressed and not self.prev_brake_pressed:
+      self.prev_brake_pressed = brake_pressed
+
+    self.update_lane_change_timers(blindspot_detected)
+
+    self.auto_lane_change_allowed = self.update_allowed()
+
+  def update_state(self):
+    if self.DH.lane_change_state == log.LaneChangeState.laneChangeStarting:
+      self.prev_lane_change = True
+
+    self.reset()
diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py b/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
new file mode 100644
index 00000000000000..c1b3053207b2fb
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
@@ -0,0 +1,198 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from parameterized import parameterized
+
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper, LaneChangeState, LaneChangeDirection
+from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode, \
+  AUTO_LANE_CHANGE_TIMER, ONE_SECOND_DELAY
+
+AUTO_LANE_CHANGE_TIMER_COMBOS = [
+  (AutoLaneChangeMode.NUDGELESS, AUTO_LANE_CHANGE_TIMER[AutoLaneChangeMode.NUDGELESS]),
+  (AutoLaneChangeMode.HALF_SECOND, AUTO_LANE_CHANGE_TIMER[AutoLaneChangeMode.HALF_SECOND]),
+  (AutoLaneChangeMode.ONE_SECOND, AUTO_LANE_CHANGE_TIMER[AutoLaneChangeMode.ONE_SECOND]),
+  (AutoLaneChangeMode.TWO_SECONDS, AUTO_LANE_CHANGE_TIMER[AutoLaneChangeMode.TWO_SECONDS]),
+  (AutoLaneChangeMode.THREE_SECONDS, AUTO_LANE_CHANGE_TIMER[AutoLaneChangeMode.THREE_SECONDS])
+]
+
+
+class TestAutoLaneChangeController:
+  def setup_method(self):
+    self.DH = DesireHelper()
+    self.alc = AutoLaneChangeController(self.DH)
+
+  def _reset_states(self):
+    self.alc.lane_change_bsm_delay = False
+    self.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+    self.lane_change_wait_timer = 0.0
+    self.prev_brake_pressed = False
+    self.prev_lane_change = False
+
+  def test_reset(self):
+    """Test that reset correctly sets timers back to default."""
+    # Set some non-default values
+    self.alc.lane_change_wait_timer = 2.0
+    self.alc.prev_brake_pressed = True
+
+    # Set the DesireHelper to trigger a reset
+    self.DH.lane_change_state = LaneChangeState.off
+    self.DH.lane_change_direction = LaneChangeDirection.none
+
+    # Call reset
+    self.alc.reset()
+
+    # Check values were reset
+    assert self.alc.lane_change_wait_timer == 0.0
+    assert not self.alc.prev_brake_pressed
+
+  @parameterized.expand([(AutoLaneChangeMode.OFF, ), (AutoLaneChangeMode.NUDGE, )])
+  def test_off_and_nudge_mode(self, timer_state):
+    """Test the default OFF and NUDGE mode behavior."""
+    self._reset_states()
+    # Setup mode
+    self.alc.lane_change_bsm_delay = False  # BSM delay off
+    self.alc.lane_change_set_timer = timer_state
+
+    # Update controller
+    num_updates = int(5.0 / DT_MDL)
+    for _ in range(num_updates):  # Run for 5 seconds
+      self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+
+    # Mode should not allow lane change immediately
+    assert not self.alc.auto_lane_change_allowed
+
+  def test_nudgeless_mode(self):
+    """Test the NUDGELESS mode behavior."""
+    self._reset_states()
+    # Setup NUDGELESS mode
+    self.alc.lane_change_bsm_delay = False  # BSM delay off
+    self.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGELESS
+
+    # Update controller once to read params
+    self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+
+    # Update multiple times to exceed the timer threshold
+    for _ in range(1):  # Should exceed 0.1s with multiple DT_MDL updates
+      self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+
+    # Now lane change should be allowed
+    assert self.alc.lane_change_wait_timer > self.alc.lane_change_delay
+    assert self.alc.auto_lane_change_allowed
+
+  @parameterized.expand(AUTO_LANE_CHANGE_TIMER_COMBOS)
+  def test_timers(self, timer_state, timer_delay):
+      self._reset_states()
+      self.alc.lane_change_bsm_delay = False  # BSM delay off
+      self.alc.lane_change_set_timer = timer_state
+
+      # Update controller once
+      self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+
+      # The timer should still be below the threshold after one update
+      assert not self.alc.auto_lane_change_allowed
+
+      # Update enough times to exceed the threshold (seconds / DT_MDL)
+      num_updates = int(timer_delay / DT_MDL) + 1  # Add one extra updates to ensure we exceed the threshold
+      for _ in range(num_updates):
+        self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+
+      # Now lane change should be allowed
+      assert self.alc.lane_change_wait_timer > self.alc.lane_change_delay
+      assert self.alc.auto_lane_change_allowed
+
+  @parameterized.expand(AUTO_LANE_CHANGE_TIMER_COMBOS)
+  def test_brake_pressed_disables_auto_lane_change(self, timer_state, timer_delay):
+    """Test that pressing the brake disables auto lane change."""
+    self._reset_states()
+    # Setup auto lane change mode
+    self.alc.lane_change_bsm_delay = False
+    self.alc.lane_change_set_timer = timer_state
+    num_updates = int(timer_delay / DT_MDL) + 1  # Add one extra updates to ensure we exceed the threshold
+
+    # Update with brake pressed for 1 second
+    for _ in range(num_updates):
+      self.alc.update_lane_change(blindspot_detected=False, brake_pressed=True)
+
+    # Even though it is an auto lane change mode, lane change should be disallowed due to brake pressed prior initiating lane change
+    assert not self.alc.auto_lane_change_allowed
+
+    # Check that prev_brake_pressed is saved
+    assert self.alc.prev_brake_pressed
+
+    # Even releasing brake shouldn't allow auto lane change
+    for _ in range(num_updates):
+      self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+
+    assert not self.alc.auto_lane_change_allowed
+
+  @parameterized.expand(AUTO_LANE_CHANGE_TIMER_COMBOS)
+  def test_blindspot_detected_with_bsm_delay(self, timer_state, timer_delay):
+    """Test behavior when blindspot is detected with BSM delay enabled."""
+    # Blindspot detected - should prevent auto lane change
+    self._reset_states()
+    self.alc.lane_change_bsm_delay = True  # BSM delay on
+    self.alc.lane_change_set_timer = timer_state
+
+    # Update with blindspot detected - this should prevent auto lane change
+    self.alc.update_lane_change(blindspot_detected=True, brake_pressed=False)
+    assert not self.alc.auto_lane_change_allowed
+
+    # Keep updating with blindspot detected - should still prevent auto lane change
+    num_updates = int(timer_delay / DT_MDL) + 1  # Add one extra updates to ensure we exceed the threshold
+    for _ in range(num_updates):
+      self.alc.update_lane_change(blindspot_detected=True, brake_pressed=False)
+    assert not self.alc.auto_lane_change_allowed
+
+  @parameterized.expand(AUTO_LANE_CHANGE_TIMER_COMBOS)
+  def test_blindspot_detected_then_undetected_with_bsm_delay(self, timer_state, timer_delay):
+    """Test behavior when blindspot is detected then undetected with BSM delay enabled."""
+    # Blindspot clears - should allow auto lane change after sufficient time
+    self._reset_states()
+    self.alc.lane_change_bsm_delay = True
+    self.alc.lane_change_set_timer = timer_state
+
+    # First update with blindspot detected to set the negative timer
+    self.alc.update_lane_change(blindspot_detected=True, brake_pressed=False)
+    assert not self.alc.auto_lane_change_allowed
+
+    # Now update with blindspot cleared - should start incrementing timer from negative value
+    num_updates = int((timer_delay + abs(ONE_SECOND_DELAY)) / DT_MDL) + 1
+    for _ in range(num_updates):
+      self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+
+    # After sufficient updates with no blindspot, auto lane change should be allowed
+    assert self.alc.auto_lane_change_allowed
+
+  @parameterized.expand(AUTO_LANE_CHANGE_TIMER_COMBOS)
+  def test_disallow_continuous_auto_lane_change(self, timer_state, timer_delay):
+      self._reset_states()
+      self.alc.lane_change_bsm_delay = False  # BSM delay off
+      self.alc.lane_change_set_timer = timer_state
+      num_updates = int(timer_delay / DT_MDL) + 1  # Add one extra updates to ensure we exceed the threshold
+
+      # Update enough times to exceed the threshold (seconds / DT_MDL)
+      for _ in range(num_updates):
+        self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+
+      # Now lane change should be allowed
+      assert self.alc.lane_change_wait_timer > self.alc.lane_change_delay
+      assert self.alc.auto_lane_change_allowed
+
+      # Simulate lane change is initiated
+      self.DH.lane_change_state = LaneChangeState.laneChangeStarting
+      self.alc.update_state()
+
+      # Simulate lane change is completed, and one_blinker stays on
+      self.DH.lane_change_state = LaneChangeState.preLaneChange
+      self.alc.update_state()
+
+      # Update enough times to exceed the threshold (seconds / DT_MDL)
+      for _ in range(num_updates):
+        self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+
+      assert not self.alc.auto_lane_change_allowed
diff --git a/system/manager/manager.py b/system/manager/manager.py
index bcc2ff5c2890e6..eb6c60c9eef833 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -43,6 +43,8 @@ def manager_init() -> None:
   ]
 
   sunnypilot_default_params: list[tuple[str, str | bytes]] = [
+    ("AutoLaneChangeTimer", "0"),
+    ("AutoLaneChangeBsmDelay", "0"),
     ("DynamicExperimentalControl", "0"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),

From 45c8f5c9d5b5abb8df4558cee6a4f2fa8ffe563d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 24 Mar 2025 22:56:19 -0400
Subject: [PATCH 0160/1434] ci: Update PR title formatting for Squash and Merge
 (#711)

Changed the PR reference format from (`#123`) to (PR-123) in squash commit messages
to prevent GitHub from automatically adding reference comments to PRs when
`master-dev-c3-new` is force pushed.
---
 release/ci/squash_and_merge_prs.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/release/ci/squash_and_merge_prs.py b/release/ci/squash_and_merge_prs.py
index 3abe06705acba3..259adcbb2ec724 100755
--- a/release/ci/squash_and_merge_prs.py
+++ b/release/ci/squash_and_merge_prs.py
@@ -147,7 +147,7 @@ def process_pr(pr_data, source_branch, target_branch, squash_script_path):
           squash_script_path,
           '--target', target_branch,
           '--source', branch,
-          '--title', f"{title} (#{pr_number})",
+          '--title', f"{title} (PR-{pr_number})",
         ], check=True)
 
         print(f"Successfully processed PR #{pr_number}")

From da79b6d494661ab41da6fb35390823adc6bb60cd Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Mon, 24 Mar 2025 23:05:20 -0400
Subject: [PATCH 0161/1434] ui: new icon for Lateral panel (#707)

* Create icon_lateral.svg

* Update settings.cc

* Delete icon_lateral.svg

* Create icon_lateral.png

* Update settings.cc

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc | 2 +-
 sunnypilot/selfdrive/assets/offroad/icon_lateral.png    | 3 +++
 2 files changed, 4 insertions(+), 1 deletion(-)
 create mode 100644 sunnypilot/selfdrive/assets/offroad/icon_lateral.png

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
index 65e9744ed94f00..6588c1a6bd96f1 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
@@ -78,7 +78,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
     PanelInfo("   " + tr("sunnylink"), new SunnylinkPanel(this), "../assets/offroad/icon_wifi_strength_full.svg"),
     PanelInfo("   " + tr("Toggles"), toggles, "../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
     PanelInfo("   " + tr("Software"), new SoftwarePanelSP(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
-    PanelInfo("   " + tr("Steering"), new LateralPanel(this), "../assets/images/button_home.png"),
+    PanelInfo("   " + tr("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
     PanelInfo("   " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
     PanelInfo("   " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
     PanelInfo("   " + tr("Firehose"), new FirehosePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_firehose.svg"),
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_lateral.png b/sunnypilot/selfdrive/assets/offroad/icon_lateral.png
new file mode 100644
index 00000000000000..06dbfda947d901
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_lateral.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f993debd55727b9ad0c726b8a0d5ec76b146ee3f296b30eba8e53d61b33b24fd
+size 21750

From 4055efdf4bafddd11127637fd2fbd2bc8f0c2620 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 25 Mar 2025 00:25:04 -0400
Subject: [PATCH 0162/1434] ci: add commit SHA to build notifications (#712)

This change includes the current commit SHA in the workflow outputs of the sunnypilot-build-prebuilt.yaml file. It provides better traceability for builds, ensuring each workflow run is linked to the exact commit it was triggered from.
---
 .github/workflows/sunnypilot-build-prebuilt.yaml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index cbe2b73be30c04..6bd72ef50e677a 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -38,6 +38,7 @@ jobs:
       new_branch: ${{ steps.set-env.outputs.new_branch }}
       version: ${{ steps.set-env.outputs.version }}
       extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
+      commit_sha: ${{ steps.set-env.outputs.commit_sha }}
     steps:
       - uses: actions/checkout@v4
         with:
@@ -94,6 +95,7 @@ jobs:
           echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
           [[ ! -z "$EXTRA_VERSION_IDENTIFIER" ]] && echo "extra_version_identifier=$EXTRA_VERSION_IDENTIFIER" >> $GITHUB_OUTPUT
           [[ ! -z "$VERSION" ]] && echo "version=$VERSION" >> $GITHUB_OUTPUT
+          echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
           
           # Set up common environment
           source /etc/profile;

From 5ce03e6ecf1d138af19b60411f0067941319aaf8 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Tue, 25 Mar 2025 03:23:21 -0400
Subject: [PATCH 0163/1434] ui: display fingerprint as fallback in platform
 selector (#709)

Update platform_selector.cc
---
 .../offroad/settings/vehicle/platform_selector.cc | 15 +++++++++++++--
 1 file changed, 13 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
index c9e82fd8269f51..d4950bf2a81a97 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
@@ -48,8 +48,19 @@ PlatformSelector::PlatformSelector() : ButtonControl(tr("Vehicle"), "", "") {
 
 void PlatformSelector::refresh(bool _offroad) {
   QString name = getPlatformBundle("name").toString();
-  setValue(name);
-  setText(name.isEmpty() ? tr("SEARCH") : tr("REMOVE"));
+  if (!name.isEmpty()) {
+    setValue(name);
+    setText(tr("REMOVE"));
+  } else {
+    setText(tr("SEARCH"));
+    auto cp_bytes = params.get("CarParamsPersistent");
+    if (!cp_bytes.empty()) {
+      AlignedBuffer aligned_buf;
+      capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+      cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+      setValue(QString::fromStdString(CP.getCarFingerprint().cStr()));
+    }
+  }
   setEnabled(true);
 
   offroad = _offroad;

From 65853f011178b7ca6154c786ce7424c1ce1d678d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 26 Mar 2025 01:08:22 -0400
Subject: [PATCH 0164/1434] NNLC: Fix exact match consistency (#716)

Move the exact_match calculation after updating model_path and max_similarity to ensure consistency. This prevents potential discrepancies when rechecking NN paths and enhances code maintainability.
---
 sunnypilot/selfdrive/controls/lib/nnlc/helpers.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py b/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
index 8c33fec0231b84..c34fa435c254c1 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
@@ -43,12 +43,13 @@ def check_nn_path(_nn_candidate):
     nn_candidate = car_fingerprint
 
   model_path, max_similarity = check_nn_path(nn_candidate)
-
   exact_match = max_similarity >= 0.99
 
   if car_fingerprint not in model_path or 0.0 <= max_similarity < 0.9:
     nn_candidate = car_fingerprint
     model_path, max_similarity = check_nn_path(nn_candidate)
+    exact_match = max_similarity >= 0.99
+
     if 0.0 <= max_similarity < 0.9:
       with open(TORQUE_NN_MODEL_SUBSTITUTE_PATH, 'rb') as f:
         sub = tomllib.load(f)

From e15974345bd41b6f9577afc03cc670280275a0b3 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Wed, 26 Mar 2025 08:26:21 +0100
Subject: [PATCH 0165/1434] modeld: Enforce float type for
 `lag_adjusted_curvature` (#714)

Convert safe_desired_curvature to float before returning.

This ensures the returned value is explicitly a float, avoiding an issue when serializing it on capnp as it does not recognize numpy.float

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/selfdrive/controls/lib/drive_helpers.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/selfdrive/controls/lib/drive_helpers.py b/sunnypilot/selfdrive/controls/lib/drive_helpers.py
index c6d8d85454d99b..b0fda7bd8c274e 100644
--- a/sunnypilot/selfdrive/controls/lib/drive_helpers.py
+++ b/sunnypilot/selfdrive/controls/lib/drive_helpers.py
@@ -24,4 +24,4 @@ def get_lag_adjusted_curvature(steer_delay, v_ego, psis, curvatures):
                                 current_curvature_desired - max_curvature_rate * DT_MDL,
                                 current_curvature_desired + max_curvature_rate * DT_MDL)
 
-  return safe_desired_curvature
+  return float(safe_desired_curvature)

From 245605dc55da8ba0793fa88f0286a70f5a36c39a Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 29 Mar 2025 12:42:54 +0100
Subject: [PATCH 0166/1434] ci: Add LFS configuration and GitLab SSH to squash
 & merge script (#725)

Integrate GitLab LFS handling by configuring LFS URLs and enabling SSH setup. This includes adding public GitLab keys and updating the workflow to support secure connections for LFS operations. Ensures proper handling of large files and seamless integration with GitLab.
---
 .../sunnypilot-master-dev-c3-prep.yaml         | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
index 2f3cbd68c12752..54b80f362714b3 100644
--- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
@@ -4,6 +4,8 @@ env:
   DEFAULT_SOURCE_BRANCH: "master-new"
   DEFAULT_TARGET_BRANCH: "nightly"
   PR_LABEL: "dev-c3"
+  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
+  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
 
 on:
   workflow_dispatch:
@@ -34,6 +36,15 @@ jobs:
         run: |
           git config --global user.name 'github-actions[bot]'
           git config --global user.email 'github-actions[bot]@users.noreply.github.com'
+          
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
+
+      - name: Add GitLab public keys
+        run: |
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
 
       - name: Set up Python
         uses: actions/setup-python@v5
@@ -113,6 +124,13 @@ jobs:
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: Update LFS Config
+        run: |
+          echo '[lfs]' > .lfsconfig
+          echo '    url = ${{ env.LFS_URL }}' >> .lfsconfig
+          echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
+          echo '    locksverify = false' >> .lfsconfig
+
       - name: Push changes if there are diffs
         id: push-changes  # Add an id so we can reference this step
         run: |

From 4268d7a19c82c2731b019ede045626f675d81cb3 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 29 Mar 2025 22:34:31 +0100
Subject: [PATCH 0167/1434] Events: Refactor `OnroadEventSP` structure and add
 upstream cereal validation (#722)

* Refactor OnroadEventSP structure to contain list of events

A restructuring of the OnroadEventSP structure has been undertaken to accommodate a list of 'Event' substructures. The change is reflected in different files where OnroadEventSP is used. This update allows for more efficient management of multiple events by grouping them together under the revised OnroadEventSP structure.

* Rename `OnroadEventSP` to `OnroadEventsSP` across codebase.

Updated all references to `OnroadEventSP` to ensure consistency with the renamed struct `OnroadEventsSP`. This change improves code clarity and aligns naming conventions across modules.

* Add optional debug logging to schema validation script

Introduced a `DEBUG` flag and a `print_debug` function to streamline debug output management. This replaces direct `print` calls with conditional logging to control verbosity during execution.

Refactor structural validation logic in cereal test

Simplify the iteration over read_instances to streamline structural validation. Removed redundant comparisons and improved error handling to detect unreadable fields more effectively. Updated error messages for better clarity during debugging.

Update build command to include 'cereal' target in CI

Modified the scons build command in selfdrive_tests workflow to explicitly build the 'cereal' target. This ensures necessary components are included during the CI process, improving reliability and consistency.

Added workflow for cereal validation artifacts generation and validation against upstream

This commit encompasses significant changes to .github/workflows/selfdrive_tests.yaml, including the addition of two new jobs. One is responsible for 'Generating cereal validation artifacts' and the other for 'Validating cereal with Upstream'. This includes generating cereal schemas, building openpilot, and running validation schema instances against master. Furthermore, a new Python script (validate_sp_cereal_upstream.py) was also added to perform cereal schema instance generation and validation. These changes aim to enhance the testing process, ensuring schema compatibility and integration quality.

* Relocate cereal validation to a dedicated GitHub workflow

This commit introduces a distinct GitHub workflow for cereal validation named 'cereal_validation.yaml'. This workflow includes two jobs: one for generating cereal validation artifacts and another for validating cereal with the upstream project. Previously, these operations were included as separate jobs in 'selfdrive_tests.yaml'. However, the decoupling in this commit allows for a better organization of GitHub workflows within the project. Additionally, this separation allows these workflows to be individually configured and run, providing a greater degree of flexibility in managing our continuous integration activities.

* Rename workflow to "cereal validation" for clarity.

Updated the workflow name in the GitHub Actions configuration to better reflect its purpose. This change improves maintainability and ensures clearer identification of the workflow's function.

* Add LFS configuration and GitLab SSH setup to workflow

Integrate GitLab LFS handling by configuring LFS URLs and enabling SSH setup. This includes adding public GitLab keys and updating the workflow to support secure connections for LFS operations. Ensures proper handling of large files and seamless integration with GitLab.

* rename

* format

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .github/workflows/cereal_validation.yaml      |  77 ++++++
 cereal/custom.capnp                           |  30 ++-
 cereal/log.capnp                              |   2 +-
 .../tests/validate_sp_cereal_upstream.py      | 222 ++++++++++++++++++
 selfdrive/selfdrived/selfdrived.py            |   4 +-
 sunnypilot/selfdrive/selfdrived/events.py     |   2 +-
 6 files changed, 320 insertions(+), 17 deletions(-)
 create mode 100644 .github/workflows/cereal_validation.yaml
 create mode 100755 cereal/messaging/tests/validate_sp_cereal_upstream.py

diff --git a/.github/workflows/cereal_validation.yaml b/.github/workflows/cereal_validation.yaml
new file mode 100644
index 00000000000000..5d75b6bc1396eb
--- /dev/null
+++ b/.github/workflows/cereal_validation.yaml
@@ -0,0 +1,77 @@
+name: cereal validation
+
+on:
+  push:
+    branches:
+      - master
+      - master-new
+  pull_request:
+    paths:
+      - 'cereal/**'
+  workflow_dispatch:
+  workflow_call:
+    inputs:
+      run_number:
+        default: '1'
+        required: true
+        type: string
+
+concurrency:
+  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  cancel-in-progress: true
+
+env:
+  PYTHONWARNINGS: error
+  BASE_IMAGE: openpilot-base
+  BUILD: selfdrive/test/docker_build.sh base
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+
+jobs:
+  generate_cereal_artifact:
+    name: Generate cereal validation artifacts
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+      - uses: ./.github/workflows/setup-with-retry
+      - name: Build openpilot
+        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
+      - name: Generate the log file
+        run: |
+          ${{ env.RUN }} "cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin" && \
+          ls -la
+          ls -la cereal/messaging/tests
+      - name: 'Prepare artifact'
+        run: |
+          mkdir -p "cereal/messaging/tests/cereal_validations"
+          cp cereal/messaging/tests/validate_sp_cereal_upstream.py "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py"
+          cp schema_instances.bin "cereal/messaging/tests/cereal_validations/schema_instances.bin"
+      - name: 'Upload Artifact'
+        uses: actions/upload-artifact@v4
+        with:
+          name: cereal_validations
+          path: cereal/messaging/tests/cereal_validations
+
+  validate_cereal_with_upstream:
+    name: Validate cereal with Upstream
+    runs-on: ubuntu-24.04
+    needs: generate_cereal_artifact
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: 'commaai/openpilot'
+          submodules: true
+          ref: "refs/heads/master"
+      - uses: ./.github/workflows/setup-with-retry
+      - name: Build openpilot
+        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
+      - name: Download build artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: cereal_validations
+          path: cereal/messaging/tests/cereal_validations
+      - name: 'Run the validation'
+        run: |
+          chmod +x cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
+          ${{ env.RUN }} "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f cereal/messaging/tests/cereal_validations/schema_instances.bin"
diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 9c280349c11f97..8d09392fc4a5d6 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -102,19 +102,23 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
 }
 
 struct OnroadEventSP @0xda96579883444c35 {
-  name @0 :EventName;
-
-  # event types
-  enable @1 :Bool;
-  noEntry @2 :Bool;
-  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
-  userDisable @4 :Bool;
-  softDisable @5 :Bool;
-  immediateDisable @6 :Bool;
-  preEnable @7 :Bool;
-  permanent @8 :Bool; # alerts presented regardless of openpilot state
-  overrideLateral @10 :Bool;
-  overrideLongitudinal @9 :Bool;
+  events @0 :List(Event);
+
+  struct Event {
+    name @0 :EventName;
+
+    # event types
+    enable @1 :Bool;
+    noEntry @2 :Bool;
+    warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
+    userDisable @4 :Bool;
+    softDisable @5 :Bool;
+    immediateDisable @6 :Bool;
+    preEnable @7 :Bool;
+    permanent @8 :Bool; # alerts presented regardless of openpilot state
+    overrideLateral @10 :Bool;
+    overrideLongitudinal @9 :Bool;
+  }
 
   enum EventName {
     lkasEnable @0;
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 0d1fcf19a3e783..8595bcda020cac 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2579,7 +2579,7 @@ struct Event {
     selfdriveStateSP @107 :Custom.SelfdriveStateSP;
     modelManagerSP @108 :Custom.ModelManagerSP;
     longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
-    onroadEventsSP @110 :List(Custom.OnroadEventSP);
+    onroadEventsSP @110 :Custom.OnroadEventSP;
     carParamsSP @111 :Custom.CarParamsSP;
     carControlSP @112 :Custom.CarControlSP;
     backupManagerSP @113 :Custom.BackupManagerSP;
diff --git a/cereal/messaging/tests/validate_sp_cereal_upstream.py b/cereal/messaging/tests/validate_sp_cereal_upstream.py
new file mode 100755
index 00000000000000..9ccd6533ce84b6
--- /dev/null
+++ b/cereal/messaging/tests/validate_sp_cereal_upstream.py
@@ -0,0 +1,222 @@
+#!/usr/bin/env python3
+import argparse
+import sys
+from typing import Any, List, Tuple
+
+DEBUG = False
+
+
+def print_debug(string: str) -> None:
+  if DEBUG:
+    print(string)
+
+
+def create_schema_instance(struct: Any, prop: Tuple[str, Any]) -> Any:
+  """
+  Create a new instance of a schema type, handling different field types.
+
+  Args:
+      struct: The Cap'n Proto schema structure
+      prop: A tuple containing the field name and field metadata
+
+  Returns:
+      A new initialized schema instance
+  """
+  struct_instance = struct.new_message()
+  field_name, field_metadata = prop
+
+  try:
+    field_type = field_metadata.proto.slot.type.which()
+
+    # Initialize different types of fields
+    if field_type in ('list', 'text', 'data'):
+      struct_instance.init(field_name, 1)
+      print_debug(f"Initialized list/text/data field: {field_name}")
+    elif field_type in ('struct', 'object'):
+      struct_instance.init(field_name)
+      print_debug(f"Initialized struct/object field: {field_name}")
+
+    return struct_instance
+
+  except Exception as e:
+    print(f"Error creating instance for {field_name}: {e}")
+    return None
+
+
+def get_schema_fields(schema_struct: Any) -> List[Tuple[str, Any]]:
+  """
+  Retrieve all fields from a given schema structure.
+
+  Args:
+      schema_struct: The Cap'n Proto schema structure
+
+  Returns:
+      A list of field names and their metadata
+  """
+  try:
+    # Get all fields from the schema
+    schema_fields = list(schema_struct.schema.fields.items())
+
+    print_debug("Discovered schema fields:")
+    for field_name, field_metadata in schema_fields:
+      print_debug(f"- {field_name}")
+
+    return schema_fields
+
+  except Exception as e:
+    print(f"Error retrieving schema fields: {e}")
+    return []
+
+
+def generate_schema_instances(schema_struct: Any) -> List[Any]:
+  """
+  Generate instances for all fields in a given schema.
+
+  Args:
+      schema_struct: The Cap'n Proto schema structure
+
+  Returns:
+      A list of schema instances
+  """
+  schema_fields = get_schema_fields(schema_struct)
+  instances = []
+
+  for field_prop in schema_fields:
+    try:
+      instance = create_schema_instance(schema_struct, field_prop)
+      if instance is not None:
+        instances.append(instance)
+    except Exception as e:
+      print(f"Skipping field due to error: {e}")
+
+  print(f"Generated {len(instances)} schema instances")
+  return instances
+
+
+def persist_instances(instances: List[Any], filename: str) -> None:
+  """
+  Write schema instances to a binary file.
+
+  Args:
+      instances: List of schema instances
+      filename: Output file path
+  """
+  try:
+    with open(filename, 'wb') as f:
+      for instance in instances:
+        f.write(instance.to_bytes())
+
+    print(f"Successfully wrote {len(instances)} instances to {filename}")
+
+  except Exception as e:
+    print(f"Error persisting instances: {e}")
+    sys.exit(1)
+
+
+def read_instances(filename: str, schema_type: Any) -> List[Any]:
+  """
+  Read schema instances from a binary file.
+
+  Args:
+      filename: Input file path
+      schema_type: The schema type to use for reading
+
+  Returns:
+      A list of read schema instances
+  """
+  try:
+    with open(filename, 'rb') as f:
+      data = f.read()
+
+    instances = list(schema_type.read_multiple_bytes(data))
+
+    print(f"Read {len(instances)} instances from {filename}")
+    return instances
+
+  except Exception as e:
+    print(f"Error reading instances: {e}")
+    sys.exit(1)
+
+
+def compare_schemas(original_instances: List[Any], read_instances: List[Any]) -> bool:
+  """
+  Compare original and read-back instances to detect potential breaking changes.
+
+  Args:
+      original_instances: List of originally generated instances
+      read_instances: List of instances read back from file
+
+  Returns:
+      Boolean indicating whether schemas appear compatible
+  """
+  if len(original_instances) != len(read_instances):
+    print("� Schema Compatibility Warning: Instance count mismatch")
+    return False
+
+  compatible = True
+  for struct in read_instances:
+    try:
+      getattr(struct, struct.which())  # Attempting to access the field to validate readability
+    except Exception as e:
+      print(f"� Structural change detected: {struct.which()} is not readable.\nFull error: {e}")
+      compatible = False
+
+  return compatible
+
+
+def main():
+  """
+  CLI entry point for schema compatibility testing.
+  """
+  # Setup argument parser
+  parser = argparse.ArgumentParser(
+    description='Cap\'n Proto Schema Compatibility Testing Tool',
+    epilog='Test schema compatibility by generating and reading back instances.'
+  )
+
+  # Add mutually exclusive group for generation or reading mode
+  mode_group = parser.add_mutually_exclusive_group(required=True)
+  mode_group.add_argument('-g', '--generate', action='store_true',
+                          help='Generate schema instances')
+  mode_group.add_argument('-r', '--read', action='store_true',
+                          help='Read and validate schema instances')
+
+  # Common arguments
+  parser.add_argument('-f', '--file',
+                      default='schema_instances.bin',
+                      help='Output/input binary file (default: schema_instances.bin)')
+
+  # Parse arguments
+  args = parser.parse_args()
+
+  # Import the schema dynamically 
+  try:
+    from cereal import log
+    schema_type = log.Event
+  except ImportError:
+    print("Error: Unable to import schema. Ensure 'cereal' is installed.")
+    sys.exit(1)
+
+  # Execute based on mode
+  if args.generate:
+    print("🔧 Generating Schema Instances")
+    instances = generate_schema_instances(schema_type)
+    persist_instances(instances, args.file)
+    print("✅ Instance generation complete")
+
+  elif args.read:
+    print("� Reading and Validating Schema Instances")
+    generated_instances = generate_schema_instances(schema_type)
+    read_back_instances = read_instances(args.file, schema_type)
+
+    # Compare schemas
+    if compare_schemas(generated_instances, read_back_instances):
+      print("✅ Schema Compatibility: No breaking changes detected")
+      sys.exit(0)
+    else:
+      print("� Potential Schema Breaking Changes Detected")
+      sys.exit(1)
+
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 9a28a36169bc2a..b6a3348d5a8109 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -509,9 +509,9 @@ def publish_selfdriveState(self, CS):
 
     # onroadEventsSP - logged every second or on change
     if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events_sp.names != self.events_sp_prev):
-      ce_send_sp = messaging.new_message('onroadEventsSP', len(self.events_sp))
+      ce_send_sp = messaging.new_message('onroadEventsSP')
       ce_send_sp.valid = True
-      ce_send_sp.onroadEventsSP = self.events_sp.to_msg()
+      ce_send_sp.onroadEventsSP.events = self.events_sp.to_msg()
       self.pm.send('onroadEventsSP', ce_send_sp)
     self.events_sp_prev = self.events_sp.names.copy()
 
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py
index ac564692a82834..7767a6db706c04 100644
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -26,7 +26,7 @@ def get_event_name(self, event: int):
     return EVENT_NAME_SP[event]
 
   def get_event_msg_type(self):
-    return custom.OnroadEventSP
+    return custom.OnroadEventSP.Event
 
 
 EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {

From 6b3f75bbf0784fa516e5030de5d9f2cb68ca041e Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 29 Mar 2025 22:54:49 +0100
Subject: [PATCH 0168/1434] CI: refactor Squash and Merge with simplified
 branch merging (#726)

* Refactor squash and merge script for improved simplicity

Simplified the squash_and_merge.py script by replacing redundant utility functions and consolidating logic. Enhanced usability by aligning command-line arguments and leveraging streamlined git operations to improve maintainability and reliability.

* Fix argument names in squash PR script

Renamed CLI arguments from '--base' and '--source' to '--target' and '--base' to align with expected input format. This ensures the script runs correctly with proper argument mapping.

* Fix incorrect base branch argument in squash script

    Updated the `--base` argument to use `source_branch` instead of `branch` to ensure the squash script processes the correct base branch. Also adjusted the command to include `branch` as a separate argument for clarity and correctness.

* Reset to a clean state after squash error.

Add a `git reset --hard` command to ensure the repository returns to a clean state after encountering errors during the squash and merge process. This prevents lingering changes from affecting subsequent operations.

* Improve error handling in squash_and_merge_prs.py

Capture and display both stdout and stderr in error cases to provide more informative feedback. Adjust the PR comment to include available output for better debugging.

* Refactor PR squash process to enhance error handling.

Modify subprocess handling to use `result.returncode` for error checks instead of relying on exceptions. Consolidate error output retrieval and logging for better clarity, while maintaining the workflow for resetting changes on failure.

* Fix incorrect return in PR processing loop

Replaced `return` with `continue` to ensure all PRs in the loop are processed before exiting. This prevents premature termination of the function and ensures accurate success count reporting.

* Simplify subprocess output handling in squash_and_merge.py

Replaced labeled print statements with direct output of stdout and stderr. This change ensures cleaner logs and remains consistent with the function's purpose of output handling during subprocess execution.

* Update subprocess.run calls to use capture_output parameter

Replaced `stdout` and `stderr` with the `capture_output` parameter for cleaner and more concise subprocess handling. Also removed extraneous whitespace for improved code readability.

* testing moving the squash script given that it's called iteratively and switching branch might miss it

* format

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../sunnypilot-master-dev-c3-prep.yaml        |  12 +-
 release/ci/squash_and_merge.py                | 387 ++----------------
 release/ci/squash_and_merge_prs.py            |  27 +-
 3 files changed, 62 insertions(+), 364 deletions(-)

diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
index 54b80f362714b3..0a6a76099f1274 100644
--- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
@@ -36,7 +36,7 @@ jobs:
         run: |
           git config --global user.name 'github-actions[bot]'
           git config --global user.email 'github-actions[bot]@users.noreply.github.com'
-          
+
       - name: Set up SSH
         uses: webfactory/ssh-agent@v0.9.0
         with:
@@ -63,10 +63,10 @@ jobs:
             echo "Source branch ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} does not exist!"
             exit 1
           fi
-          
+
           # Make sure we have the latest source branch
           git fetch origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-          
+
           # Check if target branch exists
           if ! git ls-remote --heads origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} | grep -q "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"; then
             echo "Target branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} does not exist, creating it from ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
@@ -110,17 +110,19 @@ jobs:
                 }
               }
             }' -F label="is:pr is:open label:${PR_LABEL} sort:created-asc")
-          
+
           echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
         env:
           GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Process PRs
         run: |
+          cp ${{ github.workspace }}/release/ci/squash_and_merge.py /tmp/squash_and_merge.py && \
+          chmod +x /tmp/squash_and_merge.py && \
           python3 ${{ github.workspace }}/release/ci/squash_and_merge_prs.py \
             --pr-data '${{ steps.get-prs.outputs.PR_LIST }}' \
             --target-branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} \
-            --squash-script-path '${{ github.workspace }}/release/ci/squash_and_merge.py'
+            --squash-script-path '/tmp/squash_and_merge.py'
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
 
diff --git a/release/ci/squash_and_merge.py b/release/ci/squash_and_merge.py
index 7ab088801bd135..f41e03903df69e 100755
--- a/release/ci/squash_and_merge.py
+++ b/release/ci/squash_and_merge.py
@@ -1,360 +1,53 @@
 #!/usr/bin/env python3
-import argparse
 import subprocess
 import sys
-import shutil
-import signal
-import contextlib
-import tempfile
-import os
-
-
-def run_command(command: str) -> tuple[int, str, str]:
-  """Run a shell command and return exit code, stdout, and stderr."""
-  process = subprocess.Popen(
-    command,
-    shell=True,
-    stdout=subprocess.PIPE,
-    stderr=subprocess.PIPE,
-    text=True
-  )
-  stdout, stderr = process.communicate()
-  return process.returncode, stdout.strip(), stderr.strip()
-
-
-def is_gh_available() -> bool:
-  """Check if GitHub CLI is available."""
-  return shutil.which('gh') is not None
-
-
-def get_current_branch() -> str | None:
-  """Get the name of the current git branch."""
-  code, output, error = run_command("git rev-parse --abbrev-ref HEAD")
-  if code != 0:
-    print(f"Error getting current branch: {error}")
-    return None
-  return output
-
-
-def backup_branch(branch_name: str) -> bool:
-  """Create a backup of the current branch."""
-  backup_name = f"{branch_name}-backup-$(date +%Y%m%d_%H%M%S)"
-  code, _, error = run_command(f"git branch {backup_name}")
-  if code != 0:
-    print(f"Error creating backup branch: {error}")
-    return False
-  print(f"Created backup branch: {backup_name}")
-  return True
-
-
-def get_commit_messages(source_branch: str, target_branch: str) -> list[str] | None:
-  """Get all commit messages between source and target branches."""
-  code, output, error = run_command(f"git log {target_branch}..{source_branch} --format=%B")
-  if code != 0:
-    print(f"Error getting commit messages: {error}")
-    return None
-  return [msg.strip() for msg in output.splitlines() if msg and not msg.startswith('Merge')]
-
-
-def get_pr_info(branch_name: str) -> str | None:
-  """Get PR title using GitHub CLI."""
-  if not is_gh_available():
-    print("Warning: GitHub CLI not found. Install it to auto-fetch PR titles:")
-    print("  https://cli.github.com/")
-    return None
-
-  # Try to get PR info using gh cli
-  code, output, error = run_command(f"gh pr view --json title --jq .title {branch_name}")
-  if code != 0:
-    print(f"No open PR found for branch '{branch_name}'")
-    return None
-
-  return output
-
-
-def create_squash_message(pr_title: str | None, commit_messages: list[str], source_branch: str) -> str:
-  """Create a squash commit message from PR title and commit messages."""
-  parts = []
-
-  # Add PR title if provided
-  if pr_title:
-    parts.append(pr_title)
-  else:
-    parts.append(f"Squashed changes from {source_branch}")
-  parts.append("")  # Empty line after title
-
-  # Add original commits section
-  if commit_messages:
-    parts.append("Original commits:")
-    parts.append("")  # Empty line before list
-    parts.extend(f"* {msg}" for msg in commit_messages)
-
-  return '\n'.join(parts)
-
-
-def prompt_for_title() -> str:
-  """Prompt user for a commit title."""
-  return input("Enter commit title (or press Enter to use default): ").strip()
-
-
-@contextlib.contextmanager
-def workspace_manager(original_branch: str):
-  """Context manager to handle workspace state and cleanup."""
-  stash_created = False
-  stash_restored = False
-  temp_branch: str | None = None
-
-  def cleanup_handler(signum=None, frame=None):
-    """Clean up workspace state."""
-    nonlocal temp_branch, stash_created, stash_restored
-    try:
-      if signum and stash_restored:
-        # If we're handling Ctrl+C but stash was already restored,
-        # just clean up branches and exit
-        current = get_current_branch()
-        if current and current != original_branch:
-          run_command(f"git checkout {original_branch}")
-        if temp_branch:
-          run_command(f"git branch -D {temp_branch}")
-        print("\nOperation interrupted, but changes were already restored.")
-        sys.exit(3)
-
-      # First, switch back to original branch
-      current = get_current_branch()
-      if current and current != original_branch:
-        run_command(f"git checkout {original_branch}")
-
-      # Then clean up temp branch
-      if temp_branch:
-        run_command(f"git branch -D {temp_branch}")
-
-      # Finally, restore stash if needed - AFTER switching branches
-      if stash_created and not stash_restored:
-        print("Restoring your uncommitted changes...")
-        code, stash_list, _ = run_command("git stash list")
-        if code == 0 and "Automatic stash by squash script" in stash_list:
-          run_command("git stash pop")
-          stash_restored = True
-          stash_created = False
-
-      if signum:
-        print("\nOperation interrupted. Cleaned up and restored original state.")
-        sys.exit(4)
-
-    except Exception as e:
-      print(f"Error during cleanup: {e}")
-      if signum:
-        sys.exit(5)
-
-  try:
-    # Set up signal handlers
-    signal.signal(signal.SIGINT, cleanup_handler)
-    signal.signal(signal.SIGTERM, cleanup_handler)
-
-    # Check for changes (including untracked files)
-    code, output, _ = run_command("git status --porcelain")
-    if output:
-      print("Stashing uncommitted changes...")
-      run_command("git stash push -u -m 'Automatic stash by squash script'")
-      stash_created = True
-
-    yield lambda x: setattr(x, 'temp_branch', temp_branch)
-
-  except Exception as e:
-    print(f"\nError occurred: {str(e)}")
-    cleanup_handler()
-    raise
-  finally:
-    cleanup_handler()
-
-
-def create_commit_with_message(message: str) -> bool:
-  """Create a commit with the given message using a temporary file."""
-  try:
-    with tempfile.NamedTemporaryFile(mode='w', delete=False) as f:
-      f.write(message)
-      temp_path = f.name
-
-    # Use the temporary file for the commit message
-    code, _, error = run_command(f"git commit -F {temp_path}")
-    os.unlink(temp_path)  # Clean up the temp file
-
-    if code != 0:
-      print(f"Error creating commit: {error}")
-      return False
-    return True
-  except Exception as e:
-    print(f"Error handling commit message: {e}")
-    if os.path.exists(temp_path):
-      os.unlink(temp_path)
-    return False
+import argparse
 
 
-def squash_and_merge(source_branch: str, target_branch: str, manual_title: str | None, backup: bool = False, push: bool = False) -> bool:
+def run_git_command(command, check=True):
   """
-  Squash the source branch and merge into target branch.
+  Runs a git command and returns the trimmed stdout output.
+  Exits the script if the command fails.
   """
-  # Get original branch right away
-  original_branch = get_current_branch()
-  if not original_branch:
-    return False
-
-  class State:
-    temp_branch: str | None = None
-
-  state = State()
-
-  with workspace_manager(original_branch) as set_temp_branch:
-    # Validate source branch exists
-    code, _, error = run_command(f"git rev-parse --verify {source_branch}")
-    if code != 0:
-      print(f"Error: Source branch {source_branch} not found")
-      return False
-
-    if source_branch == target_branch:
-      print(f"Error: Source and target branches cannot be the same ({source_branch})")
-      return False
-
-    # Ensure target branch exists
-    code, _, error = run_command(f"git rev-parse --verify {target_branch}")
-    if code != 0:
-      print(f"Error: Target branch {target_branch} not found")
-      return False
-
-    # Find merge base
-    code, merge_base, error = run_command(f"git merge-base {target_branch} {source_branch}")
-    if code != 0:
-      print(f"Error finding merge base: {error}")
-      return False
-
-    # Create backup unless explicitly skipped
-    if backup and not backup_branch(source_branch):
-      return False
-
-    # Get commit messages
-    commit_messages = get_commit_messages(source_branch, target_branch)
-    if commit_messages is None:
-      return False
-
-    # Get title (priority: manual title > PR title > prompt user)
-    title = manual_title
-    if not title:
-      title = get_pr_info(source_branch)
-    if not title:
-      title = prompt_for_title()
-
-    try:
-      # Create and switch to temporary branch
-      temp_branch = f"temp-squash-{source_branch}"
-      state.temp_branch = temp_branch
-      set_temp_branch(state)
-
-      print(f"\nCreating temporary branch {temp_branch}...")
-      code, _, error = run_command(f"git checkout -b {temp_branch} {source_branch}")
-      if code != 0:
-        print(f"Error creating temp branch: {error}")
-        return False
-
-      print("Preparing squash by resetting temporary branch to merge base...")
-      code, _, error = run_command(f"git reset --soft {merge_base}")
-      if code != 0:
-        print(f"Error resetting for squash: {error}")
-        return False
-
-      # Create commit with message
-      print("Creating squash commit...")
-      squash_message = create_squash_message(title, commit_messages, source_branch)
-      if not create_commit_with_message(squash_message):
-        return False
-
-      # Switch to target and try merge
-      print(f"\nSwitching to target branch {target_branch}...")
-      code, _, error = run_command(f"git checkout {target_branch}")
-      if code != 0:
-        print(f"Error checking out target branch: {error}")
-        return False
-
-      print(f"Attempting to merge changes from {temp_branch}...")
-      code, _, error = run_command(f"git rebase {temp_branch}")
-
-      if code != 0:
-        print(f"\nMerge failed with error: {error}")
-        print("\nThe squash was successful, and your changes are preserved in the temporary branch.")
-        print("To complete the merge manually, follow these steps:")
-        print(f"\n1. Your squashed changes are in branch: '{temp_branch}'")
-        print(f"2. The target branch is: '{target_branch}'")
-        print("\nTo resolve the conflicts:")
-        print(f"   git checkout {target_branch}")
-        print(f"   git merge {temp_branch}")
-        print("   # resolve conflicts in your editor")
-        print("   git add <resolved-files>")
-        print("   git commit")
-        print(f"   git push origin {target_branch}  # when ready to push")
-        print("\nTo clean up after successful merge:")
-        print(f"   git branch -D {temp_branch}")
-
-        # Make sure to abort the merge
-        print("\nAborting current merge attempt...")
-        run_command("git merge --abort")
-
-        # Return to original branch, but keep temp branch
-        print(f"Returning to {original_branch}...")
-        run_command(f"git checkout {original_branch}")
-        return False
-
-      # Clean up temp branch on success
-      run_command(f"git branch -D {temp_branch}")
-
-      # Push if requested
-      if push:
-        code, _, error = run_command(f"git push origin {target_branch}")
-        if code != 0:
-          print(f"Error pushing to {target_branch}: {error}")
-          return False
-        print(f"Successfully pushed to {target_branch}")
-      else:
-        print(f"Changes squashed and merged into {target_branch} locally")
-        print(f"To push the changes: git push origin {target_branch}")
-
-      # Return to original branch
-      code, _, error = run_command(f"git checkout {original_branch}")
-      if code != 0:
-        print(f"Warning: Failed to return to original branch: {error}")
-        return False
-
-      return True
-
-    except Exception as e:
-      print(f"Error during squash process: {e}")
-      return False
+  print(f"Running: {' '.join(command)}")
+  result = subprocess.run(command, capture_output=True, text=True)
+  if check and result.returncode != 0:
+    print(result.stdout.strip())
+    print(result.stderr.strip())
+    sys.exit(result.returncode)
+  return result.stdout.strip()
 
 
 def main():
-  parser = argparse.ArgumentParser(
-    description='Squash branch and merge into target branch'
-  )
-  parser.add_argument('--target', '-t', required=True,
-                      help='Target branch to merge changes into')
-  parser.add_argument('--source', '-s',
-                      help='Source branch to squash (default: current branch)')
-  parser.add_argument('--title', '-m',
-                      help='Optional manual title (overrides PR title)')
-  parser.add_argument('--backup', action='store_true',
-                      help='Creates a backup branch for the source branch')
-  parser.add_argument('--push', action='store_true',
-                      help='Push changes to remote after squashing')
-
-  args, unknown = parser.parse_known_args()
-
-  # Determine source branch early
-  source_branch = args.source
-  if not source_branch:
-    source_branch = get_current_branch()
-    if not source_branch:
-      sys.exit(1)
-
-  if not squash_and_merge(source_branch, args.target, args.title, args.backup, args.push):
-    sys.exit(2)
+  parser = argparse.ArgumentParser(description="Merge multiple branches with squash merges.")
+  parser.add_argument("--base", required=True, help="The base branch name from which the target branch will be created.")
+  parser.add_argument("--target", required=True, help="The target branch name to merge into.")
+  parser.add_argument("--title", required=False, help="Title for the commit")
+
+  parser.add_argument("branches", nargs="+", help="List of branch names to merge into the target branch.")
+  args = parser.parse_args()
+
+  # Checkout the base branch to ensure a common starting point.
+  run_git_command(["git", "checkout", args.base])
+
+  # Check if the target branch exists. If not, create it from the base branch.
+  branch_list = run_git_command(["git", "branch"], check=False)
+  branch_names = [line.strip("* ").strip() for line in branch_list.splitlines()]
+  if args.target in branch_names:
+    run_git_command(["git", "checkout", args.target])
+  else:
+    run_git_command(["git", "checkout", "-b", args.target])
+
+  # Iterate over each branch, merging it with a squash merge.
+  for branch in args.branches:
+    print(f"Merging branch '{branch}' with a squash merge.")
+    # Merge the branch without creating a merge commit.
+    run_git_command(["git", "merge", "--squash", branch])
+    # Commit the squashed changes with an appropriate message.
+    commit_message = args.title or f"Squashed merge of branch '{branch}'"
+    run_git_command(["git", "commit", "-m", commit_message])
+
+  print(f"All branches have been merged with squashed commits into '{args.target}'.")
 
 
 if __name__ == "__main__":
diff --git a/release/ci/squash_and_merge_prs.py b/release/ci/squash_and_merge_prs.py
index 259adcbb2ec724..5cd1b95746c59b 100755
--- a/release/ci/squash_and_merge_prs.py
+++ b/release/ci/squash_and_merge_prs.py
@@ -80,7 +80,6 @@ def add_pr_comment(pr_number, comment):
     print(f"Failed to parse comments data for PR #{pr_number}")
 
 
-
 def validate_pr(pr):
   """Validate a PR and return (is_valid, skip_reason)"""
   pr_number = pr.get('number', 'UNKNOWN')
@@ -143,26 +142,30 @@ def process_pr(pr_data, source_branch, target_branch, squash_script_path):
         subprocess.run(['git', 'branch', branch, f'origin/{branch}'], check=True)
 
         # Run squash script
-        subprocess.run([
+        result = subprocess.run([
           squash_script_path,
           '--target', target_branch,
-          '--source', branch,
+          '--base', source_branch,
           '--title', f"{title} (PR-{pr_number})",
-        ], check=True)
+          branch,
+        ], capture_output=True, text=True)
 
-        print(f"Successfully processed PR #{pr_number}")
-        success_count += 1
+        print(result.stdout)
+        if result.returncode == 0:
+          print(f"Successfully processed PR #{pr_number}")
+          success_count += 1
+          continue
 
-      except subprocess.CalledProcessError as e:
         print(f"Error processing PR #{pr_number}:")
-        print(f"Command failed with exit code {e.returncode}")
-        error_output = getattr(e, 'stderr', 'No error output available')
-        print(f"Error output: {error_output}")
-        add_pr_comment(pr_number,
-                       f"⚠� Error during automated `{target_branch}` squash:\n```\n{error_output}\n```")
+        print(f"Command failed with exit code {result.returncode}")
+        output = result.stdout
+        print(f"Error output: {output}")
+        add_pr_comment(pr_number, f"⚠� Error during automated `{target_branch}` squash:\n```\n{output}\n```")
+        subprocess.run(['git', 'reset', '--hard'], check=True)
         continue
       except Exception as e:
         print(f"Unexpected error processing PR #{pr_number}: {str(e)}")
+        subprocess.run(['git', 'reset', '--hard'], check=True)
         continue
 
     return success_count

From 63ba5e864f6861f014bcead12677eb1073aaab71 Mon Sep 17 00:00:00 2001
From: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 29 Mar 2025 19:45:15 -0700
Subject: [PATCH 0169/1434] car: abstract sunnypilot interfaces (#721)

* Method abstracting radar tracks in interfaces.py This makes the code more maintainable for future implementations to this file

* Method abstracting radar tracks in interfaces.py This makes the code more maintainable for future implementations to this file

* Add type annotation to params in initialize_car_interface_sp

* rename

* just internal

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/car/card.py                          |  4 ++--
 selfdrive/car/tests/test_car_interfaces.py     |  2 +-
 .../controls/lib/tests/test_latcontrol.py      |  2 +-
 sunnypilot/selfdrive/car/interfaces.py         | 18 +++++++++++++-----
 .../lib/nnlc/tests/test_fingerprint.py         |  2 +-
 .../controls/lib/nnlc/tests/test_load_model.py |  2 +-
 6 files changed, 19 insertions(+), 11 deletions(-)

diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 33c229958d1509..1cfab5f7537a8c 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -108,7 +108,7 @@ def __init__(self, CI=None, RI=None) -> None:
       fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle", encoding='utf-8') or "{}").get("platform", None)
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params, fixed_fingerprint)
-      sunnypilot_interfaces.setup_car_interface_sp(self.CI.CP, self.CI.CP_SP, self.params)
+      sunnypilot_interfaces.setup_interfaces(self.CI.CP, self.CI.CP_SP, self.params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP
       self.CP_SP = self.CI.CP_SP
@@ -274,7 +274,7 @@ def controls_update(self, CS: car.CarState, CC: car.CarControl, CC_SP: custom.Ca
       # Initialize CarInterface, once controls are ready
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
       self.CI.init(self.CP, self.CP_SP, *self.can_callbacks)
-      sunnypilot_interfaces.initialize_car_interface_sp(self.CP, self.CP_SP, self.params, *self.can_callbacks)
+      sunnypilot_interfaces.init_interfaces(self.CP, self.CP_SP, self.params, *self.can_callbacks)
       # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index cb6260f1951b61..60020fe972a129 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -45,7 +45,7 @@ def test_car_interfaces(self, car_name, data):
                                          experimental_long=args['experimental_long'], docs=False)
     car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
                                                experimental_long=args['experimental_long'], docs=False)
-    sunnypilot_interfaces.setup_car_interface_sp(car_params, car_params_sp)
+    sunnypilot_interfaces.setup_interfaces(car_params, car_params_sp)
     car_params = car_params.as_reader()
     car_interface = CarInterface(car_params, car_params_sp)
     assert car_params
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index ed620c69cf5ae7..3bf9be9d925fa0 100644
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -23,7 +23,7 @@ def test_saturation(self, car_name, controller):
     CP = CarInterface.get_non_essential_params(car_name)
     CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
     CI = CarInterface(CP, CP_SP)
-    sunnypilot_interfaces.setup_car_interface_sp(CP, CP_SP)
+    sunnypilot_interfaces.setup_interfaces(CP, CP_SP)
     CP_SP = convert_to_capnp(CP_SP)
     VM = VehicleModel(CP)
 
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index cd0d0780360ad1..5fac76c283dd2e 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -26,7 +26,7 @@ def log_fingerprint(CP: structs.CarParams) -> None:
     sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
 
 
-def initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None,
+def _initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None,
                                               enabled: bool = False) -> None:
   if params is None:
     params = Params()
@@ -47,7 +47,7 @@ def initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: stru
   CP_SP.neuralNetworkLateralControl.fuzzyFingerprint = not exact_match
 
 
-def setup_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None):
+def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
   if params is None:
     params = Params()
 
@@ -60,11 +60,14 @@ def setup_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, pa
         if params.get_bool("HyundaiRadarTracks"):
           CP.radarUnavailable = False
 
-  initialize_neural_network_lateral_control(CP, CP_SP, params)
 
+def setup_interfaces(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None):
+  _initialize_neural_network_lateral_control(CP, CP_SP, params)
+  _initialize_radar_tracks(CP, CP_SP, params)
 
-def initialize_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params, can_recv: CanRecvCallable,
-                                can_send: CanSendCallable):
+
+def _enable_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP, can_recv: CanRecvCallable,
+                        params: Params) -> None:
   if CP.brand == 'hyundai':
     if CP_SP.flags & HyundaiFlagsSP.ENABLE_RADAR_TRACKS:
       can_recv()
@@ -79,3 +82,8 @@ def initialize_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsS
       if not radar_tracks_persistent:
         params.put_bool_nonblocking("HyundaiRadarTracks", not radar_unavailable)
         params.put_bool_nonblocking("HyundaiRadarTracksPersistent", True)
+
+
+def init_interfaces(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params,
+                                can_recv: CanRecvCallable, can_send: CanSendCallable):
+  _enable_radar_tracks(CP, CP_SP, can_recv, params)
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
index b659e213d10c3a..97f927502a41f0 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
@@ -24,7 +24,7 @@ def _setup_platform(car_name):
     CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
     CI = CarInterface(CP, CP_SP)
 
-    sunnypilot_interfaces.setup_car_interface_sp(CP, CP_SP, Params())
+    sunnypilot_interfaces.setup_interfaces(CP, CP_SP, Params())
 
     return CI
 
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
index f7683082995b17..38fd99483157df 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
@@ -22,7 +22,7 @@ def test_load_model(self, car_name):
     CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
     CI = CarInterface(CP, CP_SP)
 
-    sunnypilot_interfaces.setup_car_interface_sp(CP, CP_SP, params)
+    sunnypilot_interfaces.setup_interfaces(CP, CP_SP, params)
 
     CP_SP = convert_to_capnp(CP_SP)
 

From 87ff98dc7c0cf3525d5211620939e8eba01e0fd9 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 3 Apr 2025 23:11:27 -0400
Subject: [PATCH 0170/1434] ui: update names (#678)

* ui: update names

* Revert "ui: update names"

This reverts commit 313510c8c0f112758ca1cc3e625d47ba47989bd5.

* gone

* init

* Changed all occurrences of 'openpilot' to 'sunnypilot'

All instances of 'openpilot' in the user interface, documentation, and prompts have been updated to 'sunnypilot'. These changes include source strings, warning messages, and the prompts shown to users. The adjustment is part of the rebranding process and aims to avoid any uncertainty or confusion for users.

* vanish translations

* translations

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 selfdrive/selfdrived/alerts_offroad.json      |   8 +-
 selfdrive/ui/qt/network/wifi_manager.cc       |   2 +-
 selfdrive/ui/qt/offroad/developer_panel.cc    |   8 +-
 selfdrive/ui/qt/offroad/firehose.cc           |   4 +-
 selfdrive/ui/qt/offroad/onboarding.cc         |   6 +-
 selfdrive/ui/qt/offroad/settings.cc           |  28 +-
 selfdrive/ui/qt/onroad/alerts.cc              |   2 +-
 selfdrive/ui/qt/setup/setup.cc                |   4 +-
 selfdrive/ui/qt/util.cc                       |   2 +-
 .../qt/offroad/settings/lateral_panel.cc      |   2 +-
 selfdrive/ui/translations/main_ar.ts          | 356 ++++++++++++----
 selfdrive/ui/translations/main_de.ts          | 308 +++++++++++---
 selfdrive/ui/translations/main_es.ts          | 380 ++++++++++++-----
 selfdrive/ui/translations/main_fr.ts          | 346 +++++++++++----
 selfdrive/ui/translations/main_ja.ts          | 372 ++++++++++++-----
 selfdrive/ui/translations/main_ko.ts          | 372 ++++++++++++-----
 selfdrive/ui/translations/main_nl.ts          |  52 +--
 selfdrive/ui/translations/main_pl.ts          |  48 +--
 selfdrive/ui/translations/main_pt-BR.ts       | 358 ++++++++++++----
 selfdrive/ui/translations/main_th.ts          | 394 +++++++++++++-----
 selfdrive/ui/translations/main_tr.ts          | 314 +++++++++++---
 selfdrive/ui/translations/main_zh-CHS.ts      | 362 ++++++++++++----
 selfdrive/ui/translations/main_zh-CHT.ts      | 358 ++++++++++++----
 tools/replay/consoleui.cc                     |   2 +-
 24 files changed, 3035 insertions(+), 1053 deletions(-)

diff --git a/selfdrive/selfdrived/alerts_offroad.json b/selfdrive/selfdrived/alerts_offroad.json
index 1660e5d9242bc9..68f59493988f7e 100644
--- a/selfdrive/selfdrived/alerts_offroad.json
+++ b/selfdrive/selfdrived/alerts_offroad.json
@@ -4,12 +4,12 @@
     "severity": 0
   },
   "Offroad_ConnectivityNeededPrompt": {
-    "text": "Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1",
+    "text": "Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won't engage in %1",
     "severity": 0,
     "_comment": "Set extra field to number of days"
   },
   "Offroad_ConnectivityNeeded": {
-    "text": "Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates.",
+    "text": "Connect to internet to check for updates. sunnypilot won't automatically start until it connects to internet to check for updates.",
     "severity": 1
   },
   "Offroad_UpdateFailed": {
@@ -38,11 +38,11 @@
     "severity": 1
   },
   "Offroad_CarUnrecognized": {
-    "text": "openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.",
+    "text": "sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.",
     "severity": 0
   },
   "Offroad_Recalibration": {
-    "text": "openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.",
+    "text": "sunnypilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.",
     "severity": 0
   },
   "OffroadMode_Status": {
diff --git a/selfdrive/ui/qt/network/wifi_manager.cc b/selfdrive/ui/qt/network/wifi_manager.cc
index 17172106345798..f0f851f9fb5b47 100644
--- a/selfdrive/ui/qt/network/wifi_manager.cc
+++ b/selfdrive/ui/qt/network/wifi_manager.cc
@@ -186,7 +186,7 @@ void WifiManager::connect(const Network &n, const bool is_hidden, const QString
   Connection connection;
   connection["connection"]["type"] = "802-11-wireless";
   connection["connection"]["uuid"] = QUuid::createUuid().toString().remove('{').remove('}');
-  connection["connection"]["id"] = "openpilot connection " + QString::fromStdString(n.ssid.toStdString());
+  connection["connection"]["id"] = "sunnypilot connection " + QString::fromStdString(n.ssid.toStdString());
   connection["connection"]["autoconnect-retries"] = 0;
 
   connection["802-11-wireless"]["ssid"] = n.ssid;
diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc
index be1c6657627256..efada663c4b1f7 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.cc
+++ b/selfdrive/ui/qt/offroad/developer_panel.cc
@@ -32,11 +32,11 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
 
   experimentalLongitudinalToggle = new ParamControl(
     "ExperimentalLongitudinalEnabled",
-    tr("openpilot Longitudinal Control (Alpha)"),
+    tr("sunnypilot Longitudinal Control (Alpha)"),
     QString("<b>%1</b><br><br>%2")
-      .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
-      .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
-              "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
+      .arg(tr("WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
+      .arg(tr("On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. "
+              "Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.")),
     ""
   );
   experimentalLongitudinalToggle->setConfirmation(true, false);
diff --git a/selfdrive/ui/qt/offroad/firehose.cc b/selfdrive/ui/qt/offroad/firehose.cc
index 31d241ba1badbe..c710a8bf28551c 100644
--- a/selfdrive/ui/qt/offroad/firehose.cc
+++ b/selfdrive/ui/qt/offroad/firehose.cc
@@ -33,7 +33,7 @@ FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent)
   content_layout->setSpacing(20);
 
   // Top description
-  QLabel *description = new QLabel(tr("openpilot learns to drive by watching humans, like you, drive.\n\nFirehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode."));
+  QLabel *description = new QLabel(tr("sunnypilot learns to drive by watching humans, like you, drive.\n\nFirehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode."));
   description->setStyleSheet("font-size: 45px; padding-bottom: 20px;");
   description->setWordWrap(true);
   content_layout->addWidget(description);
@@ -73,7 +73,7 @@ FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent)
     "<i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br>"
     "<i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br>"
     "<i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br>"
-    "<i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training."
+    "<i>Does it matter which software I run?</i> Yes, only upstream sunnypilot (and particular forks) are able to be used for training."
   ));
   detailed_instructions->setStyleSheet("font-size: 40px; color: #E4E4E4;");
   detailed_instructions->setWordWrap(true);
diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc
index 1390566671a41e..309a73b9393937 100644
--- a/selfdrive/ui/qt/offroad/onboarding.cc
+++ b/selfdrive/ui/qt/offroad/onboarding.cc
@@ -91,12 +91,12 @@ void TermsPage::showEvent(QShowEvent *event) {
   vlayout->setContentsMargins(165, 165, 165, 0);
   main_layout->addLayout(vlayout);
 
-  QLabel *title = new QLabel(tr("Welcome to openpilot"));
+  QLabel *title = new QLabel(tr("Welcome to sunnypilot"));
   title->setStyleSheet("font-size: 90px; font-weight: 500;");
   vlayout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
 
   vlayout->addSpacing(90);
-  QLabel *desc = new QLabel(tr("You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing."));
+  QLabel *desc = new QLabel(tr("You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing."));
   desc->setWordWrap(true);
   desc->setStyleSheet("font-size: 80px; font-weight: 300;");
   vlayout->addWidget(desc, 0);
@@ -135,7 +135,7 @@ void DeclinePage::showEvent(QShowEvent *event) {
   main_layout->setSpacing(40);
 
   QLabel *text = new QLabel(this);
-  text->setText(tr("You must accept the Terms and Conditions in order to use openpilot."));
+  text->setText(tr("You must accept the Terms and Conditions in order to use sunnypilot."));
   text->setStyleSheet(R"(font-size: 80px; font-weight: 300; margin: 200px;)");
   text->setWordWrap(true);
   main_layout->addWidget(text, 0, Qt::AlignCenter);
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index a5bfe61ffd2530..f0332dbe34d59d 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -21,8 +21,8 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
     {
       "OpenpilotEnabledToggle",
-      tr("Enable openpilot"),
-      tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."),
+      tr("Enable sunnypilot"),
+      tr("Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."),
       "../assets/img_chffr_wheel.png",
     },
     {
@@ -40,7 +40,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
     {
       "DisengageOnAccelerator",
       tr("Disengage on Accelerator Pedal"),
-      tr("When enabled, pressing the accelerator pedal will disengage openpilot."),
+      tr("When enabled, pressing the accelerator pedal will disengage sunnypilot."),
       "../assets/offroad/icon_disengage_on_accelerator.svg",
     },
     {
@@ -52,7 +52,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
     {
       "AlwaysOnDM",
       tr("Always-On Driver Monitoring"),
-      tr("Enable driver monitoring even when openpilot is not engaged."),
+      tr("Enable driver monitoring even when sunnypilot is not engaged."),
       "../assets/offroad/icon_monitoring.png",
     },
     {
@@ -72,8 +72,8 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
 
   std::vector<QString> longi_button_texts{tr("Aggressive"), tr("Standard"), tr("Relaxed")};
   long_personality_setting = new ButtonParamControl("LongitudinalPersonality", tr("Driving Personality"),
-                                          tr("Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. "
-                                             "In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with "
+                                          tr("Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. "
+                                             "In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with "
                                              "your steering wheel distance button."),
                                           "../assets/offroad/icon_speed_limit.png",
                                           longi_button_texts);
@@ -130,9 +130,9 @@ void TogglesPanel::updateToggles() {
                                           "%3<br>"
                                           "<h4>%4</h4><br>"
                                           "%5<br>")
-                                  .arg(tr("openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below:"))
+                                  .arg(tr("sunnypilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below:"))
                                   .arg(tr("End-to-End Longitudinal Control"))
-                                  .arg(tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. "
+                                  .arg(tr("Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. "
                                           "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; "
                                           "mistakes should be expected."))
                                   .arg(tr("New Driving Visualization"))
@@ -159,12 +159,12 @@ void TogglesPanel::updateToggles() {
       const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");
 
       QString long_desc = unavailable + " " + \
-                          tr("openpilot longitudinal control may come in a future update.");
+                          tr("sunnypilot longitudinal control may come in a future update.");
       if (CP.getExperimentalLongitudinalAvailable()) {
         if (is_release) {
-          long_desc = unavailable + " " + tr("An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");
+          long_desc = unavailable + " " + tr("An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");
         } else {
-          long_desc = tr("Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.");
+          long_desc = tr("Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.");
         }
       }
       experimental_mode_toggle->setDescription("<b>" + long_desc + "</b><br><br>" + e2e_description);
@@ -213,7 +213,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   addItem(resetCalibBtn);
 
 #ifndef SUNNYPILOT
-  auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot"));
+  auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of sunnypilot"));
   connect(retrainingBtn, &ButtonControl::clicked, [=]() {
     if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) {
       emit reviewTrainingGuide();
@@ -283,8 +283,8 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
 
 void DevicePanel::updateCalibDescription() {
   QString desc =
-      tr("openpilot requires the device to be mounted within 4° left or right and "
-         "within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.");
+      tr("sunnypilot requires the device to be mounted within 4° left or right and "
+         "within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.");
   std::string calib_bytes = params.get("CalibrationParams");
   if (!calib_bytes.empty()) {
     try {
diff --git a/selfdrive/ui/qt/onroad/alerts.cc b/selfdrive/ui/qt/onroad/alerts.cc
index 0236e20f168476..d6829c6b08d156 100644
--- a/selfdrive/ui/qt/onroad/alerts.cc
+++ b/selfdrive/ui/qt/onroad/alerts.cc
@@ -35,7 +35,7 @@ OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started
     // Handle selfdrive timeout
     if (selfdrive_frame < started_frame) {
       // car is started, but selfdriveState hasn't been seen at all
-      a = {tr("openpilot Unavailable"), tr("Waiting to start"),
+      a = {tr("sunnypilot Unavailable"), tr("Waiting to start"),
            "selfdriveWaiting", cereal::SelfdriveState::AlertSize::MID,
            cereal::SelfdriveState::AlertStatus::NORMAL};
     } else if (ss_missing > SELFDRIVE_STATE_TIMEOUT && !Hardware::PC()) {
diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc
index dfa9e12b4e4fd7..a9d447fc1b14da 100644
--- a/selfdrive/ui/qt/setup/setup.cc
+++ b/selfdrive/ui/qt/setup/setup.cc
@@ -274,11 +274,11 @@ QWidget * Setup::software_selection() {
 
   main_layout->addSpacing(50);
 
-  // openpilot + custom radio buttons
+  // sunnypilot + custom radio buttons
   QButtonGroup *group = new QButtonGroup(widget);
   group->setExclusive(true);
 
-  QWidget *openpilot = radio_button(tr("openpilot"), group);
+  QWidget *openpilot = radio_button(tr("sunnypilot"), group);
   main_layout->addWidget(openpilot);
 
   main_layout->addSpacing(30);
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index 399a1a98d7b374..ee090f24d75a76 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -26,7 +26,7 @@ QString getVersion() {
 }
 
 QString getBrand() {
-  return QObject::tr("openpilot");
+  return QObject::tr("sunnypilot");
 }
 
 QString getUserAgent() {
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
index 3fde7fd5fc9340..75cd13664dc8bc 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
@@ -22,7 +22,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
   madsToggle = new ParamControl(
     "Mads",
     tr("Modular Assistive Driving System (MADS)"),
-    tr("Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement."),
+    tr("Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement."),
     "");
   madsToggle->setConfirmation(true, false);
   list->addItem(madsToggle);
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index ca046f71a9cf6e..751ae7ce9bfbb9 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -87,6 +87,34 @@
         <translation>من أجل &quot;%1&quot;</translation>
     </message>
 </context>
+<context>
+    <name>AutoLaneChangeTimer</name>
+    <message>
+        <source>Auto Lane Change by Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudge</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudgeless</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -101,8 +129,8 @@
 <context>
     <name>DeclinePage</name>
     <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>يجب عليك قبول الشروط والأحكام من أجل استخدام openpilot.</translation>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation>يجب عليك قبول الشروط والأحكام من أجل استخدام sunnypilot.</translation>
     </message>
     <message>
         <source>Back</source>
@@ -124,16 +152,16 @@
         <translation>وضع المناورة الطولية</translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>التحكم الطولي openpilot (أل�ا)</translation>
+        <source>sunnypilot Longitudinal Control (Alpha)</source>
+        <translation>التحكم الطولي sunnypilot (أل�ا)</translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>تحذير: التحكم الطولي �ي openpilot �ي المرحلة أل�ا لهذه السيارة، وسيقوم بتعطيل مكابح الطوارئ الآلية (AEB).</translation>
+        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>تحذير: التحكم الطولي �ي sunnypilot �ي المرحلة أل�ا لهذه السيارة، وسيقوم بتعطيل مكابح الطوارئ الآلية (AEB).</translation>
     </message>
     <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>�ي هذه السيارة يعمل openpilot ا�تراضياً بالشكل المدمج �ي التحكم التكي�ي �ي السرعة بدلاً من التحكم الطولي. قم بتمكين هذا الخيار من أجل الانتقال إلى التحكم الطولي. يوصى بتمكين الوضع التجريبي عند استخدام وضع التحكم الطولي أل�ا من openpilot.</translation>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
+        <translation>�ي هذه السيارة يعمل sunnypilot ا�تراضياً بالشكل المدمج �ي التحكم التكي�ي �ي السرعة بدلاً من التحكم الطولي. قم بتمكين هذا الخيار من أجل الانتقال إلى التحكم الطولي. يوصى بتمكين الوضع التجريبي عند استخدام وضع التحكم الطولي أل�ا من sunnypilot.</translation>
     </message>
     <message>
         <source>Enable ADB</source>
@@ -219,8 +247,8 @@
         <translation>مراجعة</translation>
     </message>
     <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>مراجعة الأدوار والميزات والقيود �ي openpilot</translation>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation>مراجعة الأدوار والميزات والقيود �ي sunnypilot</translation>
     </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
@@ -255,8 +283,8 @@
         <translation>إيقا� التشغيل</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>يحتاج openpilot أن يتم ضبط الجهاز ضمن حدود 4 درجات يميناً أو يساراً و5 درجات نحو الأعلى أو 9 نحو الأس�ل. يقوم openpilot بالمعايرة باستمرار، ونادراً ما يحتاج إلى عملية إعادة الضبط.</translation>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>يحتاج sunnypilot أن يتم ضبط الجهاز ضمن حدود 4 درجات يميناً أو يساراً و5 درجات نحو الأعلى أو 9 نحو الأس�ل. يقوم sunnypilot بالمعايرة باستمرار، ونادراً ما يحتاج إلى عملية إعادة الضبط.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -381,6 +409,26 @@
         <source>Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Quiet Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset</source>
+        <translation type="unfinished">إعادة الضبط</translation>
+    </message>
+    <message>
+        <source>The reset cannot be undone. You have been warned.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -433,14 +481,6 @@
         <source>🔥 Firehose Mode 🔥</source>
         <translation>🔥 وضع خرطوم الحريق 🔥</translation>
     </message>
-    <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
-
-Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation>يتعلم تطبيق openpilot كي�ية القيادة من خلال مشاهدة البشر، مثلك، أثناء القيادة.
-
-يتيح لك وضع خرطوم الحريق زيادة تحميلات بيانات التدريب لتحسين نماذج القيادة �ي OpenPilot. كلما زادت البيانات، زادت النماذج، مما يعني وضعًا تجريبيًا أ�ضل.</translation>
-    </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
         <translation>وضع خرطوم الحريق: نشط</translation>
@@ -450,8 +490,8 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>نشط</translation>
     </message>
     <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation>للحصول على أقصى �عالية، أحضر جهازك إلى الداخل واتصل بمحول USB-C جيد وشبكة Wi-Fi أسبوعياً.&lt;br&gt;&lt;br&gt;يمكن أن يعمل وضع خرطوم الحريق أيضاً أثناء القيادة إذا كنت متصلاً بنقطة اتصال أو ببطاقة SIM غير محدودة.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;الأسئلة المتكررة&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;هل يهم كي� أو أين أقود؟&lt;/i&gt; لا، �قط قد كما ت�عل عادة.&lt;br&gt;&lt;br&gt;&lt;i&gt;هل يتم سحب كل مقاطع رحلاتي �ي وضع خرطوم الحريق؟&lt;/i&gt; لا، نقوم بسحب مجموعة مختارة من مقاطع رحلاتك.&lt;br&gt;&lt;br&gt;&lt;i&gt;ما هو محول USB-C الجيد؟&lt;/i&gt; أي شاحن سريع للهات� أو اللابتوب يجب أن يكون مناسباً.&lt;br&gt;&lt;br&gt;&lt;i&gt;هل يهم أي برنامج أستخدم؟&lt;/i&gt; نعم، �قط النسخة الأصلية من openpilot (وأ�رع معينة) يمكن استخدامها للتدريب.</translation>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
+        <translation>للحصول على أقصى �عالية، أحضر جهازك إلى الداخل واتصل بمحول USB-C جيد وشبكة Wi-Fi أسبوعياً.&lt;br&gt;&lt;br&gt;يمكن أن يعمل وضع خرطوم الحريق أيضاً أثناء القيادة إذا كنت متصلاً بنقطة اتصال أو ببطاقة SIM غير محدودة.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;الأسئلة المتكررة&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;هل يهم كي� أو أين أقود؟&lt;/i&gt; لا، �قط قد كما ت�عل عادة.&lt;br&gt;&lt;br&gt;&lt;i&gt;هل يتم سحب كل مقاطع رحلاتي �ي وضع خرطوم الحريق؟&lt;/i&gt; لا، نقوم بسحب مجموعة مختارة من مقاطع رحلاتك.&lt;br&gt;&lt;br&gt;&lt;i&gt;ما هو محول USB-C الجيد؟&lt;/i&gt; أي شاحن سريع للهات� أو اللابتوب يجب أن يكون مناسباً.&lt;br&gt;&lt;br&gt;&lt;i&gt;هل يهم أي برنامج أستخدم؟&lt;/i&gt; نعم، �قط النسخة الأصلية من sunnypilot (وأ�رع معينة) يمكن استخدامها للتدريب.</translation>
     </message>
     <message numerus="yes">
         <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
@@ -464,6 +504,12 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
             <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك �ي مجموعة بيانات التدريب.</numerusform>
         </translation>
     </message>
+    <message>
+        <source>sunnypilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
         <translation type="unfinished"></translation>
@@ -509,6 +555,40 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>جار� التثبيت...</translation>
     </message>
 </context>
+<context>
+    <name>LaneChangeSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">السابق</translation>
+    </message>
+    <message>
+        <source>Auto Lane Change: Delay with Blind Spot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LateralPanel</name>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Lane Change</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>MadsSettings</name>
     <message>
@@ -540,14 +620,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Steering Mode After Braking</source>
+        <source>Disengage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode on Brake Pedal</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
 
 Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
+Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -592,6 +676,65 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>NeuralNetworkLateralControl</name>
+    <message>
+        <source>Neural Network Lateral Control (NNLC)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC is currently not available on this platform.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the car to check car compatibility</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Not Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exact</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fuzzy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>if there are any issues:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>and donate logs to get NNLC loaded for your car:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
@@ -599,12 +742,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>درجة حرارة الجهاز مرت�عة جداً. يقوم النظام بالتبريد قبل البدء. درجة الحرارة الحالية للمكونات الداخلية: %1</translation>
     </message>
     <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation>اتصل �وراً بالإنترنت للتحقق من وجود تحديثات. إذا لم تكم متصلاً بالإنترنت �إن openpilot لن يساهم �ي %1</translation>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
+        <translation>اتصل �وراً بالإنترنت للتحقق من وجود تحديثات. إذا لم تكم متصلاً بالإنترنت �إن sunnypilot لن يساهم �ي %1</translation>
     </message>
     <message>
-        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>اتصل بالإنترنت للتحقق من وجود تحديثات. لا يعمل openpilot تلقائياً إلا إذا اتصل بالإنترنت من أجل التحقق من التحديثات.</translation>
+        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>اتصل بالإنترنت للتحقق من وجود تحديثات. لا يعمل sunnypilot تلقائياً إلا إذا اتصل بالإنترنت من أجل التحقق من التحديثات.</translation>
     </message>
     <message>
         <source>Unable to download updates
@@ -633,12 +776,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>تم اكتشا� محرك NVMe غير مدعوم. قد يستهلك الجهاز قدراً أكبر بكثير من الطاقة، وزيادة �ي ارت�اع درجة الحرارة بسبب وجود NVMe غير مدعوم.</translation>
     </message>
     <message>
-        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>لم يكن openpilot قادراً على تحديد سيارتك. إما أن تكون سيارتك غير مدعومة أو أنه لم يتم التعر� على وحدة التحكم الإلكتروني (ECUs) �يها. يرجى تقديم طلب سحب من أجل إضا�ة نسخ برمجيات ثابتة إلى السيارة المناسبة. هل تحتاج إلى أي مساعدة؟ لا تتردد �ي التواصل مع doscord.comma.ai.</translation>
+        <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>لم يكن sunnypilot قادراً على تحديد سيارتك. إما أن تكون سيارتك غير مدعومة أو أنه لم يتم التعر� على وحدة التحكم الإلكتروني (ECUs) �يها. يرجى تقديم طلب سحب من أجل إضا�ة نسخ برمجيات ثابتة إلى السيارة المناسبة. هل تحتاج إلى أي مساعدة؟ لا تتردد �ي التواصل مع doscord.comma.ai.</translation>
     </message>
     <message>
-        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation>لقد اكتش� openpilot تغييراً �ي موقع تركيب الجهاز. تأكد من تثبيت الجهاز بشكل كامل �ي موقعه وتثبيته بإحكام على الزجاج الأمامي.</translation>
+        <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>لقد اكتش� sunnypilot تغييراً �ي موقع تركيب الجهاز. تأكد من تثبيت الجهاز بشكل كامل �ي موقعه وتثبيته بإحكام على الزجاج الأمامي.</translation>
     </message>
     <message>
         <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
@@ -663,8 +806,8 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 <context>
     <name>OnroadAlerts</name>
     <message>
-        <source>openpilot Unavailable</source>
-        <translation>openpilot غير متو�ر</translation>
+        <source>sunnypilot Unavailable</source>
+        <translation>sunnypilot غير متو�ر</translation>
     </message>
     <message>
         <source>TAKE CONTROL IMMEDIATELY</source>
@@ -836,8 +979,8 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>إغلاق</translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
     </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
@@ -975,10 +1118,6 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation type="unfinished">البرنامج</translation>
     </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Trips</source>
         <translation type="unfinished"></translation>
@@ -995,6 +1134,10 @@ This may take up to a minute.</source>
         <source>Firehose</source>
         <translation type="unfinished">خرطوم الحريق</translation>
     </message>
+    <message>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1083,8 +1226,8 @@ This may take up to a minute.</source>
         <translation>اختر البرنامج للتثبيت</translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
     </message>
     <message>
         <source>Custom Software</source>
@@ -1506,6 +1649,58 @@ This may take up to a minute.</source>
         <source>THANKS ♥</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Backup Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to backup sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Back Up</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings backup completed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to restore the settings, try again later.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings restored. Confirm to restart the interface.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -1546,21 +1741,6 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
-<context>
-    <name>SunnypilotPanel</name>
-    <message>
-        <source>Modular Assistive Driving System (MADS)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>TermsPage</name>
     <message>
@@ -1572,24 +1752,16 @@ This may take up to a minute.</source>
         <translation>أوا�ق</translation>
     </message>
     <message>
-        <source>Welcome to openpilot</source>
-        <translation>مرحباً بكم �ي openpilot</translation>
+        <source>Welcome to sunnypilot</source>
+        <translation>مرحباً بكم �ي sunnypilot</translation>
     </message>
     <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation>يجب عليك قبول الشروط والأحكام لاستخدام openpilot. اقرأ أحدث الشروط على &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; قبل الاستمرار.</translation>
+        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <translation>يجب عليك قبول الشروط والأحكام لاستخدام sunnypilot. اقرأ أحدث الشروط على &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; قبل الاستمرار.</translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>تمكين openpilot</translation>
-    </message>
-    <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>استخدم نظام openpilot من أجل الضبط التكي�ي للسرعة والح�اظ على مساعدة السائق للبقاء �ي المسار. انتباهك مطلوب �ي جميع الأوقات مع استخدام هذه الميزة. يعمل هذا التغيير �ي الإعدادات عند إيقا� تشغيل السيارة.</translation>
-    </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
         <translation>قم بتمكين تحذيرات مغادرة المسار</translation>
@@ -1619,8 +1791,8 @@ This may take up to a minute.</source>
         <translation>�ك الارتباط عن دواسة الوقود</translation>
     </message>
     <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>عند تمكين هذه الميزة، �إن الضغط على دواسة الوقود سيؤدي إلى �ك ارتباط openpilot.</translation>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation>عند تمكين هذه الميزة، �إن الضغط على دواسة الوقود سيؤدي إلى �ك ارتباط sunnypilot.</translation>
     </message>
     <message>
         <source>Experimental Mode</source>
@@ -1643,16 +1815,16 @@ This may take up to a minute.</source>
         <translation>شخصية القيادة</translation>
     </message>
     <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>يتم وضع openpilot بشكل قياسي �ي &lt;b&gt;وضعية الراحة&lt;/b&gt;. يمكن الوضع التجريبي &lt;b&gt;ميزات المستوى أل�ا&lt;/b&gt; التي لا تكون جاهزة �ي وضع الراحة:</translation>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation>يتم وضع sunnypilot بشكل قياسي �ي &lt;b&gt;وضعية الراحة&lt;/b&gt;. يمكن الوضع التجريبي &lt;b&gt;ميزات المستوى أل�ا&lt;/b&gt; التي لا تكون جاهزة �ي وضع الراحة:</translation>
     </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
         <translation>التحكم الطولي من طر� إلى طر�</translation>
     </message>
     <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>دع نظام القيادة يتحكم بالوقود والمكابح. سيقوم openpilot بالقيادة كما لو أنه كائن بشري، بما �ي ذلك التوق� عند الإشارة الحمراء، وإشارات التوق�. وبما أن نمط القيادة يحدد سرعة القيادة، �إن السرعة المضبوطة تشكل الحد الأقصى �قط. هذه خاصية الجودة أل�ا، �يجب توقع حدوث الأخطاء.</translation>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation>دع نظام القيادة يتحكم بالوقود والمكابح. سيقوم sunnypilot بالقيادة كما لو أنه كائن بشري، بما �ي ذلك التوق� عند الإشارة الحمراء، وإشارات التوق�. وبما أن نمط القيادة يحدد سرعة القيادة، �إن السرعة المضبوطة تشكل الحد الأقصى �قط. هذه خاصية الجودة أل�ا، �يجب توقع حدوث الأخطاء.</translation>
     </message>
     <message>
         <source>New Driving Visualization</source>
@@ -1663,20 +1835,20 @@ This may take up to a minute.</source>
         <translation>الوضع التجريبي غير متو�ر حالياً �ي هذه السيارة نظراً لاستخدام رصيد التحكم التكي�ي بالسرعة من أجل التحكم الطولي.</translation>
     </message>
     <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation>قد يتم الحصول على التحكم الطولي �ي openpilot �ي عمليات التحديث المستقبلية.</translation>
+        <source>sunnypilot longitudinal control may come in a future update.</source>
+        <translation>قد يتم الحصول على التحكم الطولي �ي sunnypilot �ي عمليات التحديث المستقبلية.</translation>
     </message>
     <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>يمكن اختبار نسخة أل�ا من التحكم الطولي من openpilot، مع الوضع التجريبي، لكن على ال�روع غير المطلقة.</translation>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>يمكن اختبار نسخة أل�ا من التحكم الطولي من sunnypilot، مع الوضع التجريبي، لكن على ال�روع غير المطلقة.</translation>
     </message>
     <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>تمكين التحكم الطولي من openpilot (أل�ا) للسماح بالوضع التجريبي.</translation>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>تمكين التحكم الطولي من sunnypilot (أل�ا) للسماح بالوضع التجريبي.</translation>
     </message>
     <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>يوصى بالمعيار. �ي الوضع العدواني، سيتبع الطيار الم�توح السيارات الرائدة بشكل أقرب ويكون أكثر عدوانية مع البنزين وال�رامل. �ي الوضع المريح، سيبقى openpilot بعيدًا عن السيارات الرائدة. �ي السيارات المدعومة، يمكنك التنقل بين هذه الشخصيات باستخدام زر مسا�ة عجلة القيادة.</translation>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation>يوصى بالمعيار. �ي الوضع العدواني، سيتبع الطيار الم�توح السيارات الرائدة بشكل أقرب ويكون أكثر عدوانية مع البنزين وال�رامل. �ي الوضع المريح، سيبقى sunnypilot بعيدًا عن السيارات الرائدة. �ي السيارات المدعومة، يمكنك التنقل بين هذه الشخصيات باستخدام زر مسا�ة عجلة القيادة.</translation>
     </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
@@ -1687,7 +1859,7 @@ This may take up to a minute.</source>
         <translation>مراقبة السائق المستمرة</translation>
     </message>
     <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
         <translation>تمكين مراقبة السائق حتى عندما لا يكون نظام OpenPilot م��عّلاً.</translation>
     </message>
     <message>
@@ -1698,6 +1870,14 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnypilot</source>
+        <translation>تمكين sunnypilot</translation>
+    </message>
+    <message>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>استخدم نظام sunnypilot من أجل الضبط التكي�ي للسرعة والح�اظ على مساعدة السائق للبقاء �ي المسار. انتباهك مطلوب �ي جميع الأوقات مع استخدام هذه الميزة. يعمل هذا التغيير �ي الإعدادات عند إيقا� تشغيل السيارة.</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1740,14 +1920,14 @@ This may take up to a minute.</source>
         <source>Open</source>
         <translation>ان�تح</translation>
     </message>
-    <message>
-        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation>قم بزيادة تحميلات بيانات التدريب الخاصة بك لتحسين نماذج القيادة الخاصة بـ openpilot.</translation>
-    </message>
     <message>
         <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
         <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; وضع خرطوم الحريق &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
     </message>
+    <message>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WifiUI</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index d0214a2600ae1d..0036d2e768e8c2 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -87,6 +87,34 @@
         <translation type="unfinished">für &quot;%1&quot;</translation>
     </message>
 </context>
+<context>
+    <name>AutoLaneChangeTimer</name>
+    <message>
+        <source>Auto Lane Change by Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudge</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudgeless</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -101,7 +129,7 @@
 <context>
     <name>DeclinePage</name>
     <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
         <translation>Du musst die Nutzungsbedingungen akzeptieren, um Openpilot zu benutzen.</translation>
     </message>
     <message>
@@ -124,15 +152,15 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
+        <source>sunnypilot Longitudinal Control (Alpha)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -219,7 +247,7 @@
         <translation>TRAINING</translation>
     </message>
     <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
         <translation>Wiederhole die Regeln, Fähigkeiten und Limitierungen von Openpilot</translation>
     </message>
     <message>
@@ -255,7 +283,7 @@
         <translation>Ausschalten</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
         <translation>Damit Openpilot funktioniert, darf die Installationsposition nicht mehr als 4° nach rechts/links, 5° nach oben und 9° nach unten abweichen. Openpilot kalibriert sich durchgehend, ein Zurücksetzen ist selten notwendig.</translation>
     </message>
     <message>
@@ -381,6 +409,26 @@
         <source>Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Quiet Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset</source>
+        <translation type="unfinished">Zurücksetzen</translation>
+    </message>
+    <message>
+        <source>The reset cannot be undone. You have been warned.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -433,12 +481,6 @@
         <source>🔥 Firehose Mode 🔥</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
-
-Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
         <translation type="unfinished"></translation>
@@ -448,7 +490,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
         <translation type="unfinished"></translation>
     </message>
     <message numerus="yes">
@@ -458,6 +500,12 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
             <numerusform></numerusform>
         </translation>
     </message>
+    <message>
+        <source>sunnypilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
         <translation type="unfinished"></translation>
@@ -499,6 +547,40 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>Installiere...</translation>
     </message>
 </context>
+<context>
+    <name>LaneChangeSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">Zurück</translation>
+    </message>
+    <message>
+        <source>Auto Lane Change: Delay with Blind Spot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LateralPanel</name>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Lane Change</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>MadsSettings</name>
     <message>
@@ -530,14 +612,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Steering Mode After Braking</source>
+        <source>Disengage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode on Brake Pedal</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
 
 Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
+Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -582,14 +668,73 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>NeuralNetworkLateralControl</name>
+    <message>
+        <source>Neural Network Lateral Control (NNLC)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC is currently not available on this platform.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the car to check car compatibility</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Not Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exact</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fuzzy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>if there are any issues:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>and donate logs to get NNLC loaded for your car:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -618,11 +763,11 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -652,7 +797,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 <context>
     <name>OnroadAlerts</name>
     <message>
-        <source>openpilot Unavailable</source>
+        <source>sunnypilot Unavailable</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -825,8 +970,8 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Verlassen</translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
     </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
@@ -951,10 +1096,6 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation type="unfinished">Software</translation>
     </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Trips</source>
         <translation type="unfinished"></translation>
@@ -971,6 +1112,10 @@ This may take up to a minute.</source>
         <source>Firehose</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1059,8 +1204,8 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation type="unfinished">openpilot</translation>
+        <source>sunnypilot</source>
+        <translation type="unfinished">sunnypilot</translation>
     </message>
     <message>
         <source>Custom Software</source>
@@ -1484,6 +1629,58 @@ This may take up to a minute.</source>
         <source>THANKS ♥</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Backup Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to backup sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Back Up</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings backup completed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to restore the settings, try again later.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings restored. Confirm to restart the interface.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -1524,21 +1721,6 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
-<context>
-    <name>SunnypilotPanel</name>
-    <message>
-        <source>Modular Assistive Driving System (MADS)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>TermsPage</name>
     <message>
@@ -1550,24 +1732,16 @@ This may take up to a minute.</source>
         <translation>Zustimmen</translation>
     </message>
     <message>
-        <source>Welcome to openpilot</source>
+        <source>Welcome to sunnypilot</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>Openpilot aktivieren</translation>
-    </message>
-    <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Benutze das Openpilot System als adaptiven Tempomaten und Spurhalteassistenten. Deine Aufmerksamkeit ist jederzeit erforderlich, um diese Funktion zu nutzen. Diese Einstellung wird übernommen, wenn das Auto aus ist.</translation>
-    </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
         <translation>Spurverlassenswarnungen aktivieren</translation>
@@ -1593,7 +1767,7 @@ This may take up to a minute.</source>
         <translation>Lade Daten der Fahreraufmerksamkeitsüberwachungskamera hoch, um die Fahreraufmerksamkeitsüberwachungsalgorithmen zu verbessern.</translation>
     </message>
     <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
         <translation>Wenn aktiviert, deaktiviert sich Openpilot sobald das Gaspedal betätigt wird.</translation>
     </message>
     <message>
@@ -1605,11 +1779,11 @@ This may take up to a minute.</source>
         <translation>Bei Gasbetätigung ausschalten</translation>
     </message>
     <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
         <translation>Openpilot fährt standardmäßig im &lt;b&gt;entspannten Modus&lt;/b&gt;. Der Experimentelle Modus aktiviert&lt;b&gt;Alpha-level Funktionen&lt;/b&gt;, die noch nicht für den entspannten Modus bereit sind. Die experimentellen Funktionen sind die Folgenden:</translation>
     </message>
     <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
         <translation>Lass das Fahrmodell Gas und Bremse kontrollieren. Openpilot wird so fahren, wie es dies von einem Menschen erwarten würde; inklusive des Anhaltens für Ampeln und Stoppschildern. Da das Fahrmodell entscheidet wie schnell es fährt stellt die gesetzte Geschwindigkeit lediglich das obere Limit dar. Dies ist ein Alpha-level Funktion. Fehler sind zu erwarten.</translation>
     </message>
     <message>
@@ -1641,19 +1815,19 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
+        <source>sunnypilot longitudinal control may come in a future update.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1665,7 +1839,7 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1676,6 +1850,14 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnypilot</source>
+        <translation>sunnypilot aktivieren</translation>
+    </message>
+    <message>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>Benutze das sunnypilot System als adaptiven Tempomaten und Spurhalteassistenten. Deine Aufmerksamkeit ist jederzeit erforderlich, um diese Funktion zu nutzen. Diese Einstellung wird übernommen, wenn das Auto aus ist.</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1719,11 +1901,11 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 8ef33c39463d66..82f585a43cdd05 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -87,6 +87,34 @@
         <translation>para &quot;%1&quot;</translation>
     </message>
 </context>
+<context>
+    <name>AutoLaneChangeTimer</name>
+    <message>
+        <source>Auto Lane Change by Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudge</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudgeless</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -101,8 +129,8 @@
 <context>
     <name>DeclinePage</name>
     <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>Debe aceptar los términos y condiciones para poder utilizar openpilot.</translation>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation>Debe aceptar los términos y condiciones para poder utilizar sunnypilot.</translation>
     </message>
     <message>
         <source>Back</source>
@@ -124,24 +152,24 @@
         <translation>Modo de maniobra longitudinal</translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>Control longitudinal de openpilot (fase experimental)</translation>
+        <source>sunnypilot Longitudinal Control (Alpha)</source>
+        <translation>Control longitudinal de sunnypilot (fase experimental)</translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>AVISO: el control longitudinal de openpilot está en fase experimental para este automóvil y desactivará el Frenado Automático de Emergencia (AEB).</translation>
+        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>AVISO: el control longitudinal de sunnypilot está en fase experimental para este automóvil y desactivará el Frenado Automático de Emergencia (AEB).</translation>
     </message>
     <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>En este automóvil, openpilot se configura de manera predeterminada con el Autocrucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de openpilot. Habilita esta opción para cambiar al control longitudinal de openpilot. Se recomienda activar el modo experimental al habilitar el control longitudinal de openpilot (aún en fase experimental).</translation>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
+        <translation>En este automóvil, sunnypilot se configura de manera predeterminada con el Autocrucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de sunnypilot. Habilita esta opción para cambiar al control longitudinal de sunnypilot. Se recomienda activar el modo experimental al habilitar el control longitudinal de sunnypilot (aún en fase experimental).</translation>
     </message>
     <message>
         <source>Enable ADB</source>
-        <translation>Activar ADB</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
-        <translation>ADB (Android Debug Bridge) permite conectar a su dispositivo por USB o por red. Visite https://docs.comma.ai/how-to/connect-to-comma para más información.</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Hyundai: Enable Radar Tracks</source>
@@ -235,8 +263,8 @@
         <translation>REVISAR</translation>
     </message>
     <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>Revisar las reglas, características y limitaciones de openpilot</translation>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation>Revisar las reglas, características y limitaciones de sunnypilot</translation>
     </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
@@ -275,8 +303,8 @@
         <translation>Apagar</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot requiere que el dispositivo sea montado entre 4° grados a la izquierda o derecha y entre 5° grados hacia arriba o 9° grados hacia abajo. openpilot está constantemente en calibración, formatear rara vez es necesario.</translation>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>sunnypilot requiere que el dispositivo sea montado entre 4° grados a la izquierda o derecha y entre 5° grados hacia arriba o 9° grados hacia abajo. sunnypilot está constantemente en calibración, formatear rara vez es necesario.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -381,6 +409,26 @@
         <source>Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Quiet Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset</source>
+        <translation type="unfinished">Formatear</translation>
+    </message>
+    <message>
+        <source>The reset cannot be undone. You have been warned.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -431,38 +479,36 @@
     <name>FirehosePanel</name>
     <message>
         <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 Modo Firehose 🔥</translation>
-    </message>
-    <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
-
-Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation>openpilot aprende a conducir observando a humanos, como tú, conducir.
-
-El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para mejorar los modelos de conducción de openpilot. Más datos significan modelos más grandes, lo que significa un mejor Modo Experimental.</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
-        <translation>Modo Firehose: ACTIVO</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <source>ACTIVE</source>
-        <translation>ACTIVO</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation>Para máxima efectividad, traiga su dispositivo adentro y conéctelo a un buen adaptador USB-C y Wi-Fi semanalmente.&lt;br&gt;&lt;br&gt;El Modo Firehose también puede funcionar mientras conduce si está conectado a un punto de acceso o tarjeta SIM ilimitada.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Preguntas Frecuentes&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;¿Importa cómo o dónde conduzco?&lt;/i&gt; No, solo conduzca como lo haría normalmente.&lt;br&gt;&lt;br&gt;&lt;i&gt;¿Se extraen todos mis segmentos en el Modo Firehose?&lt;/i&gt; No, seleccionamos selectivamente un subconjunto de sus segmentos.&lt;br&gt;&lt;br&gt;&lt;i&gt;¿Qué es un buen adaptador USB-C?&lt;/i&gt; Cualquier cargador rápido de teléfono o portátil debería funcionar.&lt;br&gt;&lt;br&gt;&lt;i&gt;¿Importa qué software ejecuto?&lt;/i&gt; Sí, solo el openpilot original (y forks específicos) pueden usarse para el entrenamiento.</translation>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message numerus="yes">
         <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
-        <translation>
-            <numerusform>&lt;b&gt;%n segmento&lt;/b&gt; de tu conducción está en el conjunto de datos de entrenamiento hasta ahora.</numerusform>
-            <numerusform>&lt;b&gt;%n segmentos&lt;/b&gt; de tu conducción están en el conjunto de datos de entrenamiento hasta ahora.</numerusform>
+        <translation type="unfinished">
+            <numerusform></numerusform>
+            <numerusform></numerusform>
         </translation>
     </message>
+    <message>
+        <source>sunnypilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVO&lt;/span&gt;: conéctate a una red sin límite de datos</translation>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -501,6 +547,40 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para
         <translation>Instalando...</translation>
     </message>
 </context>
+<context>
+    <name>LaneChangeSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto Lane Change: Delay with Blind Spot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LateralPanel</name>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Lane Change</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>MadsSettings</name>
     <message>
@@ -532,14 +612,18 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Steering Mode After Braking</source>
+        <source>Disengage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode on Brake Pedal</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
 
 Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
+Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -584,6 +668,65 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>NeuralNetworkLateralControl</name>
+    <message>
+        <source>Neural Network Lateral Control (NNLC)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC is currently not available on this platform.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the car to check car compatibility</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Not Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exact</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fuzzy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>if there are any issues:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>and donate logs to get NNLC loaded for your car:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
@@ -591,12 +734,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>La temperatura del dispositivo es muy alta. El sistema se está enfriando antes de iniciar. Temperatura actual del componente interno: %1</translation>
     </message>
     <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation>Conéctese inmediatamente al internet para buscar actualizaciones. Si no se conecta al internet, openpilot no iniciará en %1</translation>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
+        <translation>Conéctese inmediatamente al internet para buscar actualizaciones. Si no se conecta al internet, sunnypilot no iniciará en %1</translation>
     </message>
     <message>
-        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>Conectese al internet para buscar actualizaciones. openpilot no iniciará automáticamente hasta conectarse al internet para buscar actualizaciones.</translation>
+        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>Conectese al internet para buscar actualizaciones. sunnypilot no iniciará automáticamente hasta conectarse al internet para buscar actualizaciones.</translation>
     </message>
     <message>
         <source>Unable to download updates
@@ -625,12 +768,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Se detectó una unidad NVMe incompatible. El dispositivo puede consumir mucha más energía y sobrecalentarse debido a esto.</translation>
     </message>
     <message>
-        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot no pudo identificar su automóvil. Su automóvil no es compatible o no se reconocen sus ECU. Por favor haga un pull request para agregar las versiones de firmware del vehículo adecuado. ¿Necesita ayuda? Únase a discord.comma.ai.</translation>
+        <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>sunnypilot no pudo identificar su automóvil. Su automóvil no es compatible o no se reconocen sus ECU. Por favor haga un pull request para agregar las versiones de firmware del vehículo adecuado. ¿Necesita ayuda? Únase a discord.comma.ai.</translation>
     </message>
     <message>
-        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation>openpilot detectó un cambio en la posición de montaje del dispositivo. Asegúrese de que el dispositivo esté completamente asentado en el soporte y que el soporte esté firmemente asegurado al parabrisas.</translation>
+        <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>sunnypilot detectó un cambio en la posición de montaje del dispositivo. Asegúrese de que el dispositivo esté completamente asentado en el soporte y que el soporte esté firmemente asegurado al parabrisas.</translation>
     </message>
     <message>
         <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
@@ -655,8 +798,8 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 <context>
     <name>OnroadAlerts</name>
     <message>
-        <source>openpilot Unavailable</source>
-        <translation>openpilot no disponible</translation>
+        <source>sunnypilot Unavailable</source>
+        <translation>sunnypilot no disponible</translation>
     </message>
     <message>
         <source>TAKE CONTROL IMMEDIATELY</source>
@@ -828,8 +971,8 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Salir</translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
     </message>
     <message>
         <source>now</source>
@@ -926,7 +1069,7 @@ Esto puede tardar un minuto.</translation>
     </message>
     <message>
         <source>Firehose</source>
-        <translation>Firehose</translation>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -955,10 +1098,6 @@ Esto puede tardar un minuto.</translation>
         <source>Software</source>
         <translation type="unfinished">Software</translation>
     </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Trips</source>
         <translation type="unfinished"></translation>
@@ -975,6 +1114,10 @@ Esto puede tardar un minuto.</translation>
         <source>Firehose</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1035,8 +1178,8 @@ Esto puede tardar un minuto.</translation>
         <translation>Elija el software a instalar</translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
     </message>
     <message>
         <source>Custom Software</source>
@@ -1470,10 +1613,6 @@ Esto puede tardar un minuto.</translation>
         <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
         <translation type="unfinished">ID del dongle de sunnylink no encontrado. Esto puede deberse a una conexión débil o a un problema de registro en sunnylink. Por favor, reinicia y vuelve a intentarlo.</translation>
     </message>
-    <message>
-        <source>THANKS</source>
-        <translation type="obsolete">GRACIAS</translation>
-    </message>
     <message>
         <source>Not Sponsor</source>
         <translation type="unfinished">No patrocinador</translation>
@@ -1490,6 +1629,58 @@ Esto puede tardar un minuto.</translation>
         <source>THANKS ♥</source>
         <translation type="unfinished">GRACIAS ♥</translation>
     </message>
+    <message>
+        <source>Backup Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to backup sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Back Up</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings backup completed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to restore the settings, try again later.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings restored. Confirm to restart the interface.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -1530,21 +1721,6 @@ Esto puede tardar un minuto.</translation>
         <translation type="unfinished">Acceso temprano: conviértete en patrocinador de sunnypilot</translation>
     </message>
 </context>
-<context>
-    <name>SunnypilotPanel</name>
-    <message>
-        <source>Modular Assistive Driving System (MADS)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>TermsPage</name>
     <message>
@@ -1556,24 +1732,16 @@ Esto puede tardar un minuto.</translation>
         <translation>Aceptar</translation>
     </message>
     <message>
-        <source>Welcome to openpilot</source>
-        <translation>Bienvenido a openpilot</translation>
+        <source>Welcome to sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation>Debe aceptar los Términos y Condiciones para usar openpilot. Lea los términos más recientes en &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; antes de continuar.</translation>
+        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>Activar openpilot</translation>
-    </message>
-    <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Utilice el sistema openpilot para acceder a un autocrucero adaptativo y asistencia al conductor para mantenerse en el carril. Se requiere su atención en todo momento para utilizar esta función. Cambiar esta configuración solo tendrá efecto con el auto apagado.</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>Modo Experimental</translation>
@@ -1583,8 +1751,8 @@ Esto puede tardar un minuto.</translation>
         <translation>Desactivar con el Acelerador</translation>
     </message>
     <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>Cuando esté activado, presionar el acelerador deshabilitará openpilot.</translation>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation>Cuando esté activado, presionar el acelerador deshabilitará sunnypilot.</translation>
     </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
@@ -1599,7 +1767,7 @@ Esto puede tardar un minuto.</translation>
         <translation>Monitoreo Permanente del Conductor</translation>
     </message>
     <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
         <translation>Habilitar el monitoreo del conductor incluso cuando Openpilot no esté activado.</translation>
     </message>
     <message>
@@ -1635,20 +1803,20 @@ Esto puede tardar un minuto.</translation>
         <translation>Personalidad de conducción</translation>
     </message>
     <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>Se recomienda el modo estándar. En el modo agresivo, openpilot seguirá más cerca a los autos delante suyo y será más agresivo con el acelerador y el freno. En modo relajado, openpilot se mantendrá más alejado de los autos delante suyo. En automóviles compatibles, puede recorrer estas personalidades con el botón de distancia del volante.</translation>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation>Se recomienda el modo estándar. En el modo agresivo, sunnypilot seguirá más cerca a los autos delante suyo y será más agresivo con el acelerador y el freno. En modo relajado, sunnypilot se mantendrá más alejado de los autos delante suyo. En automóviles compatibles, puede recorrer estas personalidades con el botón de distancia del volante.</translation>
     </message>
     <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>openpilot por defecto conduce en &lt;b&gt;modo chill&lt;/b&gt;. El modo Experimental activa &lt;b&gt;funcionalidades en fase experimental&lt;/b&gt;, que no están listas para el modo chill. Las funcionalidades del modo expeimental están listados abajo:</translation>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation>sunnypilot por defecto conduce en &lt;b&gt;modo chill&lt;/b&gt;. El modo Experimental activa &lt;b&gt;funcionalidades en fase experimental&lt;/b&gt;, que no están listas para el modo chill. Las funcionalidades del modo expeimental están listados abajo:</translation>
     </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
         <translation>Control Longitudinal de Punta a Punta</translation>
     </message>
     <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>Dajar que el modelo de conducción controle la aceleración y el frenado. openpilot conducirá como piensa que lo haría una persona, incluiyendo parar en los semáforos en rojo y las señales de alto. Dado que el modelo decide la velocidad de conducción, la velocidad de crucero establecida solo actuará como el límite superior. Este recurso aún está en fase experimental; deberían esperarse errores.</translation>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation>Dajar que el modelo de conducción controle la aceleración y el frenado. sunnypilot conducirá como piensa que lo haría una persona, incluiyendo parar en los semáforos en rojo y las señales de alto. Dado que el modelo decide la velocidad de conducción, la velocidad de crucero establecida solo actuará como el límite superior. Este recurso aún está en fase experimental; deberían esperarse errores.</translation>
     </message>
     <message>
         <source>New Driving Visualization</source>
@@ -1663,15 +1831,15 @@ Esto puede tardar un minuto.</translation>
         <translation>El modo Experimental no está disponible actualmente para este auto, ya que el ACC default del auto está siendo usado para el control longitudinal.</translation>
     </message>
     <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation>El control longitudinal de openpilot podrá llegar en futuras actualizaciones.</translation>
+        <source>sunnypilot longitudinal control may come in a future update.</source>
+        <translation>El control longitudinal de sunnypilot podrá llegar en futuras actualizaciones.</translation>
     </message>
     <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>Se puede probar una versión experimental del control longitudinal openpilot, junto con el modo Experimental, en ramas no liberadas.</translation>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>Se puede probar una versión experimental del control longitudinal sunnypilot, junto con el modo Experimental, en ramas no liberadas.</translation>
     </message>
     <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation>Activar el control longitudinal (fase experimental) para permitir el modo Experimental.</translation>
     </message>
     <message>
@@ -1682,6 +1850,14 @@ Esto puede tardar un minuto.</translation>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnypilot</source>
+        <translation>Activar sunnypilot</translation>
+    </message>
+    <message>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>Utilice el sistema sunnypilot para acceder a un autocrucero adaptativo y asistencia al conductor para mantenerse en el carril. Se requiere su atención en todo momento para utilizar esta función. Cambiar esta configuración solo tendrá efecto con el auto apagado.</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1722,15 +1898,15 @@ Esto puede tardar un minuto.</translation>
     <name>WiFiPromptWidget</name>
     <message>
         <source>Open</source>
-        <translation>Abrir</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation>Maximice sus cargas de datos de entrenamiento para mejorar los modelos de conducción de openpilot.</translation>
+        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
-        <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Modo Firehose &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 6e012818b0997c..fba7af60d96bed 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -87,6 +87,34 @@
         <translation>pour &quot;%1&quot;</translation>
     </message>
 </context>
+<context>
+    <name>AutoLaneChangeTimer</name>
+    <message>
+        <source>Auto Lane Change by Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudge</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudgeless</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -101,8 +129,8 @@
 <context>
     <name>DeclinePage</name>
     <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>Vous devez accepter les conditions générales pour utiliser openpilot.</translation>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation>Vous devez accepter les conditions générales pour utiliser sunnypilot.</translation>
     </message>
     <message>
         <source>Back</source>
@@ -124,16 +152,16 @@
         <translation>Mode manœuvre longitudinale</translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>Contrôle longitudinal openpilot (Alpha)</translation>
+        <source>sunnypilot Longitudinal Control (Alpha)</source>
+        <translation>Contrôle longitudinal sunnypilot (Alpha)</translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>ATTENTION : le contrôle longitudinal openpilot est en alpha pour cette voiture et désactivera le freinage d&apos;urgence automatique (AEB).</translation>
+        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>ATTENTION : le contrôle longitudinal sunnypilot est en alpha pour cette voiture et désactivera le freinage d&apos;urgence automatique (AEB).</translation>
     </message>
     <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>Sur cette voiture, openpilot utilise par défaut le régulateur de vitesse adaptatif intégré à la voiture plutôt que le contrôle longitudinal d&apos;openpilot. Activez ceci pour passer au contrôle longitudinal openpilot. Il est recommandé d&apos;activer le mode expérimental lors de l&apos;activation du contrôle longitudinal openpilot alpha.</translation>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
+        <translation>Sur cette voiture, sunnypilot utilise par défaut le régulateur de vitesse adaptatif intégré à la voiture plutôt que le contrôle longitudinal d&apos;sunnypilot. Activez ceci pour passer au contrôle longitudinal sunnypilot. Il est recommandé d&apos;activer le mode expérimental lors de l&apos;activation du contrôle longitudinal sunnypilot alpha.</translation>
     </message>
     <message>
         <source>Enable ADB</source>
@@ -223,8 +251,8 @@
         <translation>REVOIR</translation>
     </message>
     <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>Revoir les règles, fonctionnalités et limitations d&apos;openpilot</translation>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation>Revoir les règles, fonctionnalités et limitations d&apos;sunnypilot</translation>
     </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
@@ -263,8 +291,8 @@
         <translation>Éteindre</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot nécessite que l&apos;appareil soit monté à 4° à gauche ou à droite et à 5° vers le haut ou 9° vers le bas. openpilot se calibre en continu, la réinitialisation est rarement nécessaire.</translation>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>sunnypilot nécessite que l&apos;appareil soit monté à 4° à gauche ou à droite et à 5° vers le haut ou 9° vers le bas. sunnypilot se calibre en continu, la réinitialisation est rarement nécessaire.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -381,6 +409,26 @@
         <source>Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Quiet Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset</source>
+        <translation type="unfinished">Réinitialiser</translation>
+    </message>
+    <message>
+        <source>The reset cannot be undone. You have been warned.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -433,12 +481,6 @@
         <source>🔥 Firehose Mode 🔥</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
-
-Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
         <translation type="unfinished"></translation>
@@ -448,7 +490,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
         <translation type="unfinished"></translation>
     </message>
     <message numerus="yes">
@@ -458,6 +500,12 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
             <numerusform></numerusform>
         </translation>
     </message>
+    <message>
+        <source>sunnypilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
         <translation type="unfinished"></translation>
@@ -499,6 +547,40 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>Installation...</translation>
     </message>
 </context>
+<context>
+    <name>LaneChangeSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">Retour</translation>
+    </message>
+    <message>
+        <source>Auto Lane Change: Delay with Blind Spot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LateralPanel</name>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Lane Change</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>MadsSettings</name>
     <message>
@@ -530,14 +612,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Steering Mode After Braking</source>
+        <source>Disengage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode on Brake Pedal</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
 
 Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
+Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -582,6 +668,65 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>NeuralNetworkLateralControl</name>
+    <message>
+        <source>Neural Network Lateral Control (NNLC)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC is currently not available on this platform.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the car to check car compatibility</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Not Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exact</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fuzzy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>if there are any issues:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>and donate logs to get NNLC loaded for your car:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
@@ -589,12 +734,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Température de l&apos;appareil trop élevée. Le système doit refroidir avant de démarrer. Température actuelle de l&apos;appareil : %1</translation>
     </message>
     <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation>Connectez-vous immédiatement à internet pour vérifier les mises à jour. Si vous ne vous connectez pas à internet, openpilot ne s&apos;engagera pas dans %1</translation>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
+        <translation>Connectez-vous immédiatement à internet pour vérifier les mises à jour. Si vous ne vous connectez pas à internet, sunnypilot ne s&apos;engagera pas dans %1</translation>
     </message>
     <message>
-        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>Connectez l&apos;appareil à internet pour vérifier les mises à jour. openpilot ne démarrera pas automatiquement tant qu&apos;il ne se connecte pas à internet pour vérifier les mises à jour.</translation>
+        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>Connectez l&apos;appareil à internet pour vérifier les mises à jour. sunnypilot ne démarrera pas automatiquement tant qu&apos;il ne se connecte pas à internet pour vérifier les mises à jour.</translation>
     </message>
     <message>
         <source>Unable to download updates
@@ -623,12 +768,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Disque NVMe non supporté détecté. L&apos;appareil peut consommer beaucoup plus d&apos;énergie et surchauffer en raison du NVMe non supporté.</translation>
     </message>
     <message>
-        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot n&apos;a pas pu identifier votre voiture. Votre voiture n&apos;est pas supportée ou ses ECUs ne sont pas reconnues. Veuillez soumettre un pull request pour ajouter les versions de firmware au véhicule approprié. Besoin d&apos;aide ? Rejoignez discord.comma.ai.</translation>
+        <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>sunnypilot n&apos;a pas pu identifier votre voiture. Votre voiture n&apos;est pas supportée ou ses ECUs ne sont pas reconnues. Veuillez soumettre un pull request pour ajouter les versions de firmware au véhicule approprié. Besoin d&apos;aide ? Rejoignez discord.comma.ai.</translation>
     </message>
     <message>
-        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation>openpilot a détecté un changement dans la position de montage de l&apos;appareil. Assurez-vous que l&apos;appareil est totalement inséré dans le support et que le support est fermement fixé au pare-brise.</translation>
+        <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>sunnypilot a détecté un changement dans la position de montage de l&apos;appareil. Assurez-vous que l&apos;appareil est totalement inséré dans le support et que le support est fermement fixé au pare-brise.</translation>
     </message>
     <message>
         <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
@@ -653,8 +798,8 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 <context>
     <name>OnroadAlerts</name>
     <message>
-        <source>openpilot Unavailable</source>
-        <translation>openpilot indisponible</translation>
+        <source>sunnypilot Unavailable</source>
+        <translation>sunnypilot indisponible</translation>
     </message>
     <message>
         <source>TAKE CONTROL IMMEDIATELY</source>
@@ -826,8 +971,8 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Quitter</translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
     </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
@@ -953,10 +1098,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Software</source>
         <translation type="unfinished">Logiciel</translation>
     </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Trips</source>
         <translation type="unfinished"></translation>
@@ -973,6 +1114,10 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Firehose</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1061,8 +1206,8 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <translation>Choisir le logiciel à installer</translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
     </message>
     <message>
         <source>Custom Software</source>
@@ -1484,6 +1629,58 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>THANKS ♥</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Backup Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to backup sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Back Up</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings backup completed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to restore the settings, try again later.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings restored. Confirm to restart the interface.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -1524,21 +1721,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <translation type="unfinished"></translation>
     </message>
 </context>
-<context>
-    <name>SunnypilotPanel</name>
-    <message>
-        <source>Modular Assistive Driving System (MADS)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>TermsPage</name>
     <message>
@@ -1550,24 +1732,16 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <translation>Accepter</translation>
     </message>
     <message>
-        <source>Welcome to openpilot</source>
+        <source>Welcome to sunnypilot</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>Activer openpilot</translation>
-    </message>
-    <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Utilisez le système openpilot pour le régulateur de vitesse adaptatif et l&apos;assistance au maintien de voie. Votre attention est requise en permanence pour utiliser cette fonctionnalité. La modification de ce paramètre prend effet lorsque la voiture est éteinte.</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>Mode expérimental</translation>
@@ -1577,8 +1751,8 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <translation>Désengager avec la pédale d&apos;accélérateur</translation>
     </message>
     <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>Lorsqu&apos;il est activé, appuyer sur la pédale d&apos;accélérateur désengagera openpilot.</translation>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation>Lorsqu&apos;il est activé, appuyer sur la pédale d&apos;accélérateur désengagera sunnypilot.</translation>
     </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
@@ -1621,12 +1795,12 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <translation>Personnalité de conduite</translation>
     </message>
     <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>Par défaut, openpilot conduit en &lt;b&gt;mode détente&lt;/b&gt;. Le mode expérimental permet d&apos;activer des &lt;b&gt;fonctionnalités alpha&lt;/b&gt; qui ne sont pas prêtes pour le mode détente. Les fonctionnalités expérimentales sont listées ci-dessous :</translation>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation>Par défaut, sunnypilot conduit en &lt;b&gt;mode détente&lt;/b&gt;. Le mode expérimental permet d&apos;activer des &lt;b&gt;fonctionnalités alpha&lt;/b&gt; qui ne sont pas prêtes pour le mode détente. Les fonctionnalités expérimentales sont listées ci-dessous :</translation>
     </message>
     <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>Laissez le modèle de conduite contrôler l&apos;accélérateur et les freins. openpilot conduira comme il pense qu&apos;un humain le ferait, y compris s&apos;arrêter aux feux rouges et aux panneaux stop. Comme le modèle de conduite décide de la vitesse à adopter, la vitesse définie ne servira que de limite supérieure. Cette fonctionnalité est de qualité alpha ; des erreurs sont à prévoir.</translation>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation>Laissez le modèle de conduite contrôler l&apos;accélérateur et les freins. sunnypilot conduira comme il pense qu&apos;un humain le ferait, y compris s&apos;arrêter aux feux rouges et aux panneaux stop. Comme le modèle de conduite décide de la vitesse à adopter, la vitesse définie ne servira que de limite supérieure. Cette fonctionnalité est de qualité alpha ; des erreurs sont à prévoir.</translation>
     </message>
     <message>
         <source>New Driving Visualization</source>
@@ -1637,24 +1811,24 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <translation>Le mode expérimental est actuellement indisponible pour cette voiture car le régulateur de vitesse adaptatif d&apos;origine est utilisé pour le contrôle longitudinal.</translation>
     </message>
     <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation>Le contrôle longitudinal openpilot pourrait être disponible dans une future mise à jour.</translation>
+        <source>sunnypilot longitudinal control may come in a future update.</source>
+        <translation>Le contrôle longitudinal sunnypilot pourrait être disponible dans une future mise à jour.</translation>
     </message>
     <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>Une version alpha du contrôle longitudinal openpilot peut être testée, avec le mode expérimental, sur des branches non publiées.</translation>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>Une version alpha du contrôle longitudinal sunnypilot peut être testée, avec le mode expérimental, sur des branches non publiées.</translation>
     </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
         <translation>Contrôle longitudinal de bout en bout</translation>
     </message>
     <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>Activer le contrôle longitudinal d&apos;openpilot (en alpha) pour autoriser le mode expérimental.</translation>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>Activer le contrôle longitudinal d&apos;sunnypilot (en alpha) pour autoriser le mode expérimental.</translation>
     </message>
     <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>Le mode Standard est recommandé. En mode Agressif, openpilot suivra les véhicules de plus près et sera plus dynamique avec l&apos;accélérateur et le frein. En mode Détendu, openpilot maintiendra une distance plus importante avec les véhicules qui précèdent. Sur les véhicules compatibles, vous pouvez alterner entre ces personnalités à l&apos;aide du bouton de distance au volant.</translation>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation>Le mode Standard est recommandé. En mode Agressif, sunnypilot suivra les véhicules de plus près et sera plus dynamique avec l&apos;accélérateur et le frein. En mode Détendu, sunnypilot maintiendra une distance plus importante avec les véhicules qui précèdent. Sur les véhicules compatibles, vous pouvez alterner entre ces personnalités à l&apos;aide du bouton de distance au volant.</translation>
     </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
@@ -1665,8 +1839,8 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <translation>Surveillance continue du conducteur</translation>
     </message>
     <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation>Activer la surveillance conducteur lorsque openpilot n&apos;est pas actif.</translation>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
+        <translation>Activer la surveillance conducteur lorsque sunnypilot n&apos;est pas actif.</translation>
     </message>
     <message>
         <source>Enable Dynamic Experimental Control</source>
@@ -1676,6 +1850,14 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnypilot</source>
+        <translation>Activer sunnypilot</translation>
+    </message>
+    <message>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>Utilisez le système sunnypilot pour le régulateur de vitesse adaptatif et l&apos;assistance au maintien de voie. Votre attention est requise en permanence pour utiliser cette fonctionnalité. La modification de ce paramètre prend effet lorsque la voiture est éteinte.</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1719,11 +1901,11 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 858bf230c27f71..1aae1bf45c5c4b 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -87,6 +87,34 @@
         <translation>[%1]</translation>
     </message>
 </context>
+<context>
+    <name>AutoLaneChangeTimer</name>
+    <message>
+        <source>Auto Lane Change by Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudge</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudgeless</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -101,8 +129,8 @@
 <context>
     <name>DeclinePage</name>
     <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>openpilotを使用�る����利用�約����る必���り��</translation>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation>sunnypilotを使用�る����利用�約����る必���り��</translation>
     </message>
     <message>
         <source>Back</source>
@@ -124,16 +152,16 @@
         <translation>アクセル制御マニュー�ー</translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>openpilotアクセル制御(Alpha)</translation>
+        <source>sunnypilot Longitudinal Control (Alpha)</source>
+        <translation>sunnypilotアクセル制御(Alpha)</translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>��車��openpilot�アクセル制御�アルファ版��り�自動緊急ブレーキ(AEB)�無効化�れ��。</translation>
+        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>��車��sunnypilot�アクセル制御�アルファ版��り�自動緊急ブレーキ(AEB)�無効化�れ��。</translation>
     </message>
     <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>��車���openpilot�車両内蔵�ACC(アダプティブクルーズコントロール)をデフォルト���使用��openpilot�アクセル制御�無効化�れ����。アクセル制御をopenpilot�切り替�る����設定を有効�������。���時�Experimentalモードを推奨���。</translation>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
+        <translation>��車���sunnypilot�車両内蔵�ACC(アダプティブクルーズコントロール)をデフォルト���使用��sunnypilot�アクセル制御�無効化�れ����。アクセル制御をsunnypilot�切り替�る����設定を有効�������。���時�Experimentalモードを推奨���。</translation>
     </message>
     <message>
         <source>Enable ADB</source>
@@ -219,8 +247,8 @@
         <translation>確�</translation>
     </message>
     <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>openpilot�ルール�機能��よ�制�を確�������</translation>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation>sunnypilot�ルール�機能��よ�制�を確�������</translation>
     </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
@@ -255,8 +283,8 @@
         <translation>パワーオフ</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot�本体�左�4°以内�上5°下9°以内�角度��付�る必���り��。常�キャリブレーション�れ��りリセット���ん�必��り��ん。</translation>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>sunnypilot�本体�左�4°以内�上5°下9°以内�角度��付�る必���り��。常�キャリブレーション�れ��りリセット���ん�必��り��ん。</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -381,6 +409,26 @@
         <source>Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Quiet Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset</source>
+        <translation type="unfinished">リセット</translation>
+    </message>
+    <message>
+        <source>The reset cannot be undone. You have been warned.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -433,32 +481,30 @@
         <source>🔥 Firehose Mode 🔥</source>
         <translation>🔥 Firehoseモード 🔥</translation>
     </message>
-    <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
-
-Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation>openpilot�人間��る�����転�ら学��AI学習���。
-
-Firehoseモードを有効��る��学習データを最大�アップロード��openpilot��転モデルを�上��る�������。より多��データ�より大��モデル��り�Experimentalモード�精度を�上����。</translation>
-    </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
-        <translation>Firehoseモード: 作動中</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <source>ACTIVE</source>
-        <translation>動作中</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation>最大�効果を得る����デ�イスを屋内���込��大容��USB-C充電器�Wi-Fi�毎週接続������。&lt;br&gt;&lt;br&gt;Firehoseモード�公衆無線LANや大容�契約�SIMカード�接続���れ���転中�も動作���。&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;よ��る質�(FAQ)&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;�転�やり方や走る場所������？&lt;/i&gt; ����普段��り��転�る���大丈夫��。&lt;br&gt;&lt;br&gt;&lt;i&gt;Firehoseモード��全��データ�アップロード�れ���？&lt;/i&gt; ����アップロード�るデータを���������。&lt;br&gt;&lt;br&gt;&lt;i&gt;大容��USB-C充電器��何���？&lt;/i&gt; スマートフォンやノートパソコンを高速�充電��るも�を使��下��。&lt;br&gt;&lt;br&gt;&lt;i&gt;��フォークを使��������？&lt;/i&gt;���トレーニング��公��openpilot(�よ�特定�フォーク)���使用����。</translation>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message numerus="yes">
         <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
-        <translation>
-            <numerusform>�����転�&lt;b&gt;%nセグメント&lt;/b&gt;��れ���トレーニングデータ���れ����。</numerusform>
+        <translation type="unfinished">
+            <numerusform></numerusform>
         </translation>
     </message>
+    <message>
+        <source>sunnypilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
         <translation type="unfinished"></translation>
@@ -499,6 +545,40 @@ Firehoseモードを有効��る��学習データを最大�アップロ
         <translation>インストール中...</translation>
     </message>
 </context>
+<context>
+    <name>LaneChangeSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">戻る</translation>
+    </message>
+    <message>
+        <source>Auto Lane Change: Delay with Blind Spot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LateralPanel</name>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Lane Change</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>MadsSettings</name>
     <message>
@@ -530,14 +610,18 @@ Firehoseモードを有効��る��学習データを最大�アップロ
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Steering Mode After Braking</source>
+        <source>Disengage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode on Brake Pedal</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
 
 Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
+Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -582,15 +666,74 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>NeuralNetworkLateralControl</name>
+    <message>
+        <source>Neural Network Lateral Control (NNLC)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC is currently not available on this platform.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the car to check car compatibility</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Not Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exact</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fuzzy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>if there are any issues:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>and donate logs to get NNLC loaded for your car:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation>インター�ット�接続��アップデートを確�������。未接続�����openpilotを使用�����り��。��[%1]</translation>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
+        <translation>インター�ット�接続��アップデートを確�������。未接続�����sunnypilotを使用�����り��。��[%1]</translation>
     </message>
     <message>
-        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>インター�ット�接続��アップデートを確�������。接続�る��openpilot�使用����ん。</translation>
+        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>インター�ット�接続��アップデートを確�������。接続�る��sunnypilot�使用����ん。</translation>
     </message>
     <message>
         <source>Unable to download updates
@@ -619,12 +762,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>�サ�ート�SSDドライブ(NVMe)�検出�れ���。��ドライブを使用�る�デ�イス�多大�電力を消費��熱�る�能性��り��。</translation>
     </message>
     <message>
-        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot�車両を識別����ん���。車�未対応���ECU��識�れ�����能性��り��。該当車両�ファームウェア�ージョンを追加�る���プルリクエスト������。サ�ート�必��場�� discord.comma.ai ��加�る�������。</translation>
+        <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>sunnypilot�車両を識別����ん���。車�未対応���ECU��識�れ�����能性��り��。該当車両�ファームウェア�ージョンを追加�る���プルリクエスト������。サ�ート�必��場�� discord.comma.ai ��加�る�������。</translation>
     </message>
     <message>
-        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation>openpilot�デ�イス��り付��置��れを検出����。デ�イス�固定�マウント�フロントガラス����り��り付�られ��る��を確�������。</translation>
+        <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>sunnypilot�デ�イス��り付��置��れを検出����。デ�イス�固定�マウント�フロントガラス����り��り付�られ��る��を確�������。</translation>
     </message>
     <message>
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
@@ -653,8 +796,8 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 <context>
     <name>OnroadAlerts</name>
     <message>
-        <source>openpilot Unavailable</source>
-        <translation>openpilot�使用����ん</translation>
+        <source>sunnypilot Unavailable</source>
+        <translation>sunnypilot�使用����ん</translation>
     </message>
     <message>
         <source>TAKE CONTROL IMMEDIATELY</source>
@@ -826,8 +969,8 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>閉�る</translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
     </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
@@ -950,10 +1093,6 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation type="unfinished">ソフト</translation>
     </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Trips</source>
         <translation type="unfinished"></translation>
@@ -970,6 +1109,10 @@ This may take up to a minute.</source>
         <source>Firehose</source>
         <translation type="unfinished">データ学習</translation>
     </message>
+    <message>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1058,8 +1201,8 @@ This may take up to a minute.</source>
         <translation>インストール�るソフトウェアを�択������。</translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
     </message>
     <message>
         <source>Custom Software</source>
@@ -1373,7 +1516,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>警告: �れ�GitHub�設定��る����公開��� SSH アクセスを許��るも���。自分以外�GitHubユーザー�を入力��������。comma�スタッフ�GitHub�ユーザー�を追加�るよ��願��る����り��ん。</translation>
+        <translation>警告: �れ��GitHub �設定��る����公開��� SSH アクセスを許��るも���。自分以外� GitHub �ユーザー�を入力��������。comma�スタッフ� GitHub �ユーザー�を追加�るよ��願��る����り��ん。</translation>
     </message>
     <message>
         <source>ADD</source>
@@ -1381,7 +1524,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Enter your GitHub username</source>
-        <translation>GitHub�ユーザー�を入力������</translation>
+        <translation>GitHub �ユーザー�を入力������</translation>
     </message>
     <message>
         <source>LOADING</source>
@@ -1481,6 +1624,58 @@ This may take up to a minute.</source>
         <source>THANKS ♥</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Backup Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to backup sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Back Up</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings backup completed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to restore the settings, try again later.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings restored. Confirm to restart the interface.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -1521,21 +1716,6 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
-<context>
-    <name>SunnypilotPanel</name>
-    <message>
-        <source>Modular Assistive Driving System (MADS)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>TermsPage</name>
     <message>
@@ -1547,27 +1727,19 @@ This may take up to a minute.</source>
         <translation>��</translation>
     </message>
     <message>
-        <source>Welcome to openpilot</source>
-        <translation>openpilot�よ���</translation>
+        <source>Welcome to sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation>openpilotを使用�る��利用�約����る必���り��。続行�る��最新��約を以下��確�����: &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt;</translation>
+        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>openpilotを有効化</translation>
-    </message>
-    <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>openpilot�よるアダプティブクルーズコントロール�レーンキープアシストを利用���。��機能を利用�る際�常��方��注��必���。��設定を変更�車�電��必���。</translation>
-    </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
-        <translation>車線逸脱警報�有効化</translation>
+        <translation>車線逸脱警報機能�有効化</translation>
     </message>
     <message>
         <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
@@ -1594,20 +1766,20 @@ This may take up to a minute.</source>
         <translation>アクセルを�む��転サ�ートを中断</translation>
     </message>
     <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>��機能を有効化�る��openpilotを利用中�アクセルを�む�openpilot�よる�転サ�ートを中断���。</translation>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation>��機能を有効化�る��sunnypilotを利用中�アクセルを�む�sunnypilot�よる�転サ�ートを中断���。</translation>
     </message>
     <message>
         <source>Experimental Mode</source>
         <translation>Experimentalモード</translation>
     </message>
     <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>openpilot�標準��ゆ��り�����る�転を�供���。��Experimental(実験)モードを有効��る��以下�アグレッシブ�開発中�機能を利用�る事�����。</translation>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation>sunnypilot�標準��ゆ��り�����る�転を�供���。��Experimental(実験)モードを有効��る��以下�アグレッシブ�開発中�機能を利用�る事�����。</translation>
     </message>
     <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>openpilot�アクセル�ブレーキを任���。openpilot�赤信�や一時�止サイン���止を���人間���よ��考���転を行���。openpilot��転速度を決定�る�������設定�る速度�上�速度��り��。��機能�実験段階����openpilot��転ミス�常�備��注�������。</translation>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation>sunnypilot�アクセル�ブレーキを任���。sunnypilot�赤信�や一時�止サイン���止を���人間���よ��考���転を行���。sunnypilot��転速度を決定�る�������設定�る速度�上�速度��り��。��機能�実験段階����sunnypilot��転ミス�常�備��注�������。</translation>
     </message>
     <message>
         <source>New Driving Visualization</source>
@@ -1638,20 +1810,20 @@ This may take up to a minute.</source>
         <translation>End-to-Endアクセル制御</translation>
     </message>
     <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation>openpilot�アクセル制御�将��アップデート�利用��る�能性��り��。</translation>
+        <source>sunnypilot longitudinal control may come in a future update.</source>
+        <translation>sunnypilot�アクセル制御�将��アップデート�利用��る�能性��り��。</translation>
     </message>
     <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>openpilot�アルファ版アクセル制御��Experimentalモード�共��リリース�ブラン��テスト�る�������。</translation>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>sunnypilot�アルファ版アクセル制御��Experimentalモード�共��リリース�ブラン��テスト�る�������。</translation>
     </message>
     <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>openpilot�アクセル制御機能(アルファ)を有効����Experimentalモードを許�������。</translation>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>sunnypilot�アクセル制御機能(アルファ)を有効����Experimentalモードを許�������。</translation>
     </message>
     <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>標準モード�推奨�れ��。アグレッシブモード��openpilot�先行車�近���追従��アクセル�ブレーキ�より強気��り��。リラックスモード��openpilot�先行車�ら�離を���走行���。サ�ート�れ��る車両��ステアリングホイール��離ボタン��れら�モードを切り替�る�������。</translation>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation>標準モード�推奨�れ��。アグレッシブモード��sunnypilot�先行車�近���追従��アクセル�ブレーキ�より強気��り��。リラックスモード��sunnypilot�先行車�ら�離を���走行���。サ�ート�れ��る車両��ステアリングホイール��離ボタン��れら�モードを切り替�る�������。</translation>
     </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
@@ -1662,8 +1834,8 @@ This may take up to a minute.</source>
         <translation>�転者�常時モニタリング</translation>
     </message>
     <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation>openpilot�作動�����場��も�転者モニタリングを有効��る。</translation>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
+        <translation>sunnypilot�作動�����場��も�転者モニタリングを有効��る。</translation>
     </message>
     <message>
         <source>Enable Dynamic Experimental Control</source>
@@ -1673,6 +1845,14 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnypilot</source>
+        <translation>sunnypilot を有効化</translation>
+    </message>
+    <message>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>sunnypilot�よるアダプティブクルーズコントロール�レーンキープアシストを利用���。��機能を利用�る際�常��方��注��必���。��設定を変更�車�電��必���。</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1715,14 +1895,14 @@ This may take up to a minute.</source>
         <source>Open</source>
         <translation>開�</translation>
     </message>
-    <message>
-        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation>openpilot��転モデルを改善�る����大容��学習データをアップロード��下��。</translation>
-    </message>
     <message>
         <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
         <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehoseモード &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
     </message>
+    <message>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WifiUI</name>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index d8ba4090c2ea74..34be6e5a2e6bc4 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -87,6 +87,34 @@
         <translation>&quot;%1&quot;� 접�하려면 비밀번호가 필요합니다</translation>
     </message>
 </context>
+<context>
+    <name>AutoLaneChangeTimer</name>
+    <message>
+        <source>Auto Lane Change by Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudge</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudgeless</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -101,8 +129,8 @@
 <context>
     <name>DeclinePage</name>
     <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>오픈파�럿� 사용하려면 �용약관� ��해야 합니다.</translation>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation>sunnypilot� 사용하려면 �용약관� ��해야 합니다.</translation>
     </message>
     <message>
         <source>Back</source>
@@ -121,19 +149,19 @@
     </message>
     <message>
         <source>Longitudinal Maneuver Mode</source>
-        <translation>가�� 제어 조작 모드</translation>
+        <translation>롱컨 제어 모드</translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>오픈파�럿 가�� 제어 (알파)</translation>
+        <source>sunnypilot Longitudinal Control (Alpha)</source>
+        <translation>sunnypilot 가�� 제어 (알파)</translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>경고: 오픈파�럿 가�� 제어는 알파 기능으로 차량� ��긴급제�(AEB)기능� 작�하지 않습니다.</translation>
+        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>경고: sunnypilot 가�� 제어는 알파 기능으로 차량� ��긴급제�(AEB)기능� 작�하지 않습니다.</translation>
     </message>
     <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>� 차량�서 오픈파�럿� 오픈파�럿 가�� 제어 대신 기본�으로 차량� ACC로 가��� 제어합니다. 오픈파�럿 가�� 제어로 전환하려면 � 기능� 활성화하세요. 오픈파�럿 가�� 제어 알파 기능� 활성화하는 경우 실험 모드 활성화를 권장합니다.</translation>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
+        <translation>� 차량�서 sunnypilot� sunnypilot 가�� 제어 대신 기본�으로 차량� ACC로 가��� 제어합니다. sunnypilot 가�� 제어로 전환하려면 � 기능� 활성화하세요. sunnypilot 가�� 제어 알파 기능� 활성화하는 경우 실험 모드 활성화를 권장합니다.</translation>
     </message>
     <message>
         <source>Enable ADB</source>
@@ -219,8 +247,8 @@
         <translation>다시보기</translation>
     </message>
     <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>오픈파�럿� 규칙, 기능 � 제한 다시 확�</translation>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation>sunnypilot� 규칙, 기능 � 제한 다시 확�</translation>
     </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
@@ -255,8 +283,8 @@
         <translation>전� �기</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>오픈파�럿 장치는 좌우 4°, 위로 5°, 아래로 9° �내 ��로 장착�어야 합니다. 오픈파�럿� 지��으로 �� 보정�며 재설정� 거� 필요하지 않습니다.</translation>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>sunnypilot 장치는 좌우 4°, 위로 5°, 아래로 9° �내 ��로 장착�어야 합니다. sunnypilot� 지��으로 �� 보정�며 재설정� 거� 필요하지 않습니다.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -381,6 +409,26 @@
         <source>Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Quiet Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset</source>
+        <translation type="unfinished">초기화</translation>
+    </message>
+    <message>
+        <source>The reset cannot be undone. You have been warned.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -433,35 +481,33 @@
         <source>🔥 Firehose Mode 🔥</source>
         <translation>🔥 파�어호스 모드 🔥</translation>
     </message>
-    <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
-
-Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation>오픈파�럿� 여러분과 같� 사람� 운전하는 모습� 보면서 운전하는 법� 배�니다.
-
-파�어호스 모드를 사용하면 학습 ��터 업로드를 최대화하여 오픈파�럿� 주행 모�� 개선할 수 있습니다. � 많� ��터는 � � 모�� �미하며, �는 � 나� 실험 모드를 �미합니다.</translation>
-    </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
         <translation>파�어호스 모드: 활성화</translation>
     </message>
     <message>
         <source>ACTIVE</source>
-        <translation>활성 �태</translation>
+        <translation>활성화</translation>
     </message>
     <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation>최대한� 효과를 얻으려면 매주 장치를 실내로 가져와 좋� USB-C 충전기와 Wi-Fi� 연결하세요.&lt;br&gt;&lt;br&gt;파�어호스 모드는 핫스팟 �는 무제한 네트워�� 연결� 경우 주행 중�� 작�할 수 있습니다.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;�주 묻는 질문&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;운전 방법�나 장소가 중요한가요?&lt;/i&gt; 아니요, �소처럼 운전하시면 �니다.&lt;br&gt;&lt;br&gt;&lt;i&gt;파�어호스 모드�서 제 모든 구간� 가져오나요?&lt;br&gt;&lt;br&gt;&lt;i&gt; 아니요, 저�는 여러분� 구간 중 �부를 선별�으로 가져옵니다.&lt;br&gt;&lt;br&gt;&lt;i&gt;좋� USB-C 충전기는 무엇�가요?&lt;/i&gt; 휴대��나 노트�충전� 가능한 고� 충전기�면 괜찮습니다.&lt;br&gt;&lt;br&gt;&lt;i&gt;어떤 소프트웨어를 실행하는지가 중요한가요?&lt;/i&gt; 예, 오� 공� 오픈파�럿� 특정 ��만 트레��� 사용할 수 있습니다.</translation>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
+        <translation>최대한� 효과를 얻으려면 매주 장치를 실내로 가져와 좋� USB-C 케�블� 연결하고 Wi-Fi� 연결하세요.&lt;br&gt;&lt;br&gt;파�어호스 모드는 핫스팟 �는 무제한 SIM 카드� 연결� 경우�는 운전 중�� 작�할 수 있습니다.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;�주 묻는 질문&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;운전 방법�나 장소가 중요한가요?&lt;/i&gt; 아니요, �소처럼 운전하시면 �니다.&lt;br&gt;&lt;br&gt;&lt;i&gt;파�어호스 모드�서 제 모든 구간� 가져오나요?.&lt;br&gt;&lt;br&gt;&lt;i&gt; 아니요, 저�는 여러분� 구간 중 �부를 선별�으로 가져옵니다.&lt;br&gt;&lt;br&gt;&lt;i&gt;좋� USB-C 케�블� 무엇�가요?&lt;/i&gt; 휴대��나 노트� 고� 충전기가 있으면 �니다.&lt;br&gt;&lt;br&gt;&lt;i&gt;어떤 소프트웨어를 실행하는지가 중요한가요?&lt;/i&gt; 예, 오� 공� sunnypilot� 특정 ��만 트레��� 사용할 수 있습니다.</translation>
     </message>
     <message numerus="yes">
         <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
-        <translation>
-            <numerusform>&lt;b&gt;%n 구간&lt;/b&gt; � 운전� 지금까지� 학습 ��터셋� �함�어 있습니다.</numerusform>
+        <translation type="unfinished">
+            <numerusform></numerusform>
         </translation>
     </message>
+    <message>
+        <source>sunnypilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;비활성 �태&lt;/span&gt;: 무제한 네트워�� 연결 하세요</translation>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -499,6 +545,40 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>설치 중...</translation>
     </message>
 </context>
+<context>
+    <name>LaneChangeSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">뒤로</translation>
+    </message>
+    <message>
+        <source>Auto Lane Change: Delay with Blind Spot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LateralPanel</name>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Lane Change</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>MadsSettings</name>
     <message>
@@ -530,14 +610,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Steering Mode After Braking</source>
+        <source>Disengage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode on Brake Pedal</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
 
 Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
+Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -582,15 +666,74 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>NeuralNetworkLateralControl</name>
+    <message>
+        <source>Neural Network Lateral Control (NNLC)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC is currently not available on this platform.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the car to check car compatibility</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Not Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exact</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fuzzy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>if there are any issues:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>and donate logs to get NNLC loaded for your car:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation>즉시 �터넷� 연결하여 업��트를 확�하세요. �터넷� 연결�어 있지 않으면 %1 �후�는 오픈파�럿� 활성화�지 않습니다.</translation>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
+        <translation>즉시 �터넷� 연결하여 업��트를 확�하세요. �터넷� 연결�어 있지 않으면 %1 �후�는 sunnypilot� 활성화�지 않습니다.</translation>
     </message>
     <message>
-        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>업��트 확�� 위해 �터넷 연결� 필요합니다. 오픈파�럿� 업��트 확�� 위해 �터넷� 연결� 때까지 ��으로 시작�지 않습니다.</translation>
+        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>업��트를 확�하려면 �터넷� 연결하세요. sunnypilot� 업��트를 확�하기 위해 �터넷� 연결할 때까지 ��으로 시작�지 않습니다.</translation>
     </message>
     <message>
         <source>Unable to download updates
@@ -619,16 +762,16 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>지��지 않는 NVMe 드��브가 �지�었습니다. 지��지 않는 NVMe 드��브는 많� 전력� 소비하고 장치를 과열시킬 수 있습니다.</translation>
     </message>
     <message>
-        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>오픈파�럿� 차량� �별할 수 없습니다. 지��지 않는 차량�거나 ECU가 ���지 않습니다. 해당 차량� 맞는 펌웨어 버전� 추가하려면 PR� 제출하세요. �움� 필요하시면 discord.comma.ai� 참여하세요.</translation>
+        <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>sunnypilot� 차량� �별할 수 없습니다. 지��지 않는 차량�거나 ECU가 ���지 않습니다. 해당 차량� 맞는 펌웨어 버전� 추가하려면 PR� 제출하세요. �움� 필요하시면 discord.comma.ai� 가입하세요.</translation>
     </message>
     <message>
-        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation>오픈파�럿 장치� 장착 위치가 변경�었습니다. 장치가 마운트� 완전히 장착�고 마운트가 앞유리� 단단히 고정�었는지 확�하세요. </translation>
+        <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>sunnypilot 장치� 장착 위치가 변경�었습니다. 장치가 마운트� 완전히 장착�고 마운트가 앞유리� 단단히 고정�었는지 확�하세요. </translation>
     </message>
     <message>
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>장치 온�가 너무 높습니다. 시작하기 전� 시스템� 냉�하고 있습니다. 현재 내부 구성 요소 온�: %1</translation>
+        <translation>장치� 온�가 너무 높습니다. 시작 전� 온�를 낮춰주세요. 현재 내부 구성 요소 온�: %1</translation>
     </message>
     <message>
         <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
@@ -653,7 +796,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 <context>
     <name>OnroadAlerts</name>
     <message>
-        <source>openpilot Unavailable</source>
+        <source>sunnypilot Unavailable</source>
         <translation>오픈파�럿� 사용할수없습니다</translation>
     </message>
     <message>
@@ -781,7 +924,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
     </message>
     <message>
         <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>connect.comma.ai�서 comma prime 사용�로 등�하세요</translation>
+        <translation>connect.comma.ai� 접�하여 comma prime 회�으로 등�하세요</translation>
     </message>
     <message>
         <source>PRIME FEATURES:</source>
@@ -797,7 +940,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
     </message>
     <message>
         <source>1 year of drive storage</source>
-        <translation>1년간 주행 로그 저장</translation>
+        <translation>1년간 드��브 로그 저장</translation>
     </message>
     <message>
         <source>Remote snapshots</source>
@@ -826,8 +969,8 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>종료</translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>오픈파�럿</translation>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
     </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
@@ -950,10 +1093,6 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation type="unfinished">소프트웨어</translation>
     </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Trips</source>
         <translation type="unfinished"></translation>
@@ -970,6 +1109,10 @@ This may take up to a minute.</source>
         <source>Firehose</source>
         <translation type="unfinished">파�어호스</translation>
     </message>
+    <message>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1058,8 +1201,8 @@ This may take up to a minute.</source>
         <translation>설치할 소프트웨어 선�</translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>오픈파�럿</translation>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
     </message>
     <message>
         <source>Custom Software</source>
@@ -1481,6 +1624,58 @@ This may take up to a minute.</source>
         <source>THANKS ♥</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Backup Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to backup sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Back Up</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings backup completed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to restore the settings, try again later.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings restored. Confirm to restart the interface.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -1521,21 +1716,6 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
-<context>
-    <name>SunnypilotPanel</name>
-    <message>
-        <source>Modular Assistive Driving System (MADS)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>TermsPage</name>
     <message>
@@ -1547,24 +1727,16 @@ This may take up to a minute.</source>
         <translation>��</translation>
     </message>
     <message>
-        <source>Welcome to openpilot</source>
-        <translation>오픈파�럿� 오신 것� 환�합니다.</translation>
+        <source>Welcome to sunnypilot</source>
+        <translation>오픈 파�럿� 오신 것� 환�합니다.</translation>
     </message>
     <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
         <translation>오픈파�럿� 사용하려면 �용약관� ��해야 합니다. 최신 약관� &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; �서 최신 약관� �� 후 계�하세요.</translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>오픈파�럿 사용</translation>
-    </message>
-    <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>오픈파�럿 시스템� 사용하여 어댑티브 �루즈 컨트롤과 차로 유지 보조 기능� 활용하십시오. � 기능� 사용할 때�는 항� 주�를 기울여야 합니다. 설정 변경� 차량� 재시�해야 �용�니다.</translation>
-    </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
         <translation>차선 �탈 경고 활성화</translation>
@@ -1594,20 +1766,20 @@ This may take up to a minute.</source>
         <translation>가�페달 조작 시 해제</translation>
     </message>
     <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>활성화� 경우 가� 페달� 밟으면 오픈파�럿� 해제�니다.</translation>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation>활성화� 경우 가� 페달� 밟으면 sunnypilot� 해제�니다.</translation>
     </message>
     <message>
         <source>Experimental Mode</source>
         <translation>실험 모드</translation>
     </message>
     <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>오픈파�럿� 기본�으로 &lt;b&gt;안정 모드&lt;/b&gt;로 주행합니다. 실험 모드는 안정화�지 않� &lt;b&gt;알파 수준� 기능&lt;/b&gt;� 활성화합니다. 실험 모드� 기능� 아래와 같습니다:</translation>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation>sunnypilot� 기본�으로 &lt;b&gt;안정 모드&lt;/b&gt;로 주행합니다. 실험 모드는 안정화�지 않� &lt;b&gt;알파 수준� 기능&lt;/b&gt;� 활성화합니다. 실험 모드� 기능� 아래와 같습니다:</translation>
     </message>
     <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>주행모�� 가��� 제어하�� 합니다. 오픈파�럿� 빨간불과 정지신호를 보고 정지하는것� �함하여 사람� 운전하는 방�대로 작�하며 주행 모�� ��를 결정하므로 설정 ��는 최대 제한 ��로만 작�합니다. �는 알파 수준� 기능�며 오류가 발�할수있으니 사용� 주�해야 합니다.</translation>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation>sunnypilot� 주행모�� 가��� 제어합니다. sunnypilot� 신호등과 정지 표지�� 보고 멈추는 것� �함하여 �간� 운전하는 것처럼 ��하고 주행합니다. 주행 모�� 주행할 ��를 결정하므로 설정� ��는 최대 주행 ��로만 기능합니다. � 기능� 알파 수준�므로 사용� �별히 주�해야 합니다.</translation>
     </message>
     <message>
         <source>New Driving Visualization</source>
@@ -1615,11 +1787,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>차량� ACC가 가�� 제어� 사용�기 때문�, � 차량�서는 실험 모드를 사용할 수 없습니다.</translation>
+        <translation>차량� 장착� ACC로 가��� 제어하기 때문� 현재 � 차량�서는 실험 모드를 사용할 수 없습니다.</translation>
     </message>
     <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation>오픈파�럿 가�� 제어는 향후 업��트�서 지�� 수 있습니다.</translation>
+        <source>sunnypilot longitudinal control may come in a future update.</source>
+        <translation>sunnypilot 가�� 제어는 향후 업��트�서 지�� 수 있습니다.</translation>
     </message>
     <message>
         <source>Aggressive</source>
@@ -1638,20 +1810,20 @@ This may take up to a minute.</source>
         <translation>주행 모드</translation>
     </message>
     <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>오픈파�럿 가�� 제어 알파 버전� 비 릴리즈 브랜치�서 실험 모드와 함께 테스트할 수 있습니다.</translation>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>sunnypilot 가�� 제어 알파 버전� 비 릴리즈 브랜치�서 실험 모드와 함께 테스트할 수 있습니다.</translation>
     </message>
     <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>실험 모드를 사용하려면 오픈파�럿 E2E 가�� 제어 (알파) 토글� 활성화하세요.</translation>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>실험 모드를 사용하려면 sunnypilot E2E 가�� 제어 (알파) 토글� 활성화하세요.</translation>
     </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
         <translation>E2E 가�� 제어</translation>
     </message>
     <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>표준 모드를 권장합니다. 공격� 모드� 오픈파�럿� 선� 차량� � 가까� 따�가고 가��제어를 사용하여 �욱 공격�으로 움�입니다. 편안한 모드� 오픈파�럿� 선� 차량으로부터 � 멀리 떨어져 있습니다. 지��는 차량�서는 차간거리 버튼� 사용하여 �러한 특성� 순환할 수 있습니다.</translation>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation>표준 모드를 권장합니다. 공격� 모드� sunnypilot� 선� 차량� � 가까� 따�가고 가��제어를 사용하여 �욱 공격�으로 움�입니다. 편안한 모드� sunnypilot� 선� 차량으로부터 � 멀리 떨어져 있습니다. 지��는 차량�서는 스티어� 휠 거리 버튼� 사용하여 �러한 특성� 순환할 수 있습니다.</translation>
     </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
@@ -1662,8 +1834,8 @@ This may take up to a minute.</source>
         <translation>�시 운전� 모니터�</translation>
     </message>
     <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation>오픈파�럿� 활성화�지 않� 경우�� 드��버 모니터�� 활성화합니다.</translation>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
+        <translation>sunnypilot� 활성화�지 않� 경우�� 드��버 모니터�� 활성화합니다.</translation>
     </message>
     <message>
         <source>Enable Dynamic Experimental Control</source>
@@ -1673,6 +1845,14 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnypilot</source>
+        <translation>sunnypilot 사용</translation>
+    </message>
+    <message>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>어댑티브 �루즈 컨트롤 � 차로 유지 보조를 위해 sunnypilot 시스템� 사용할 수 있습니다. � 기능� 사용할 때�는 언제나 주�를 기울여야 합니다. 설정� 변경하면 차량 시�� 꺼졌� 때 �용�니다.</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1715,14 +1895,14 @@ This may take up to a minute.</source>
         <source>Open</source>
         <translation>열기</translation>
     </message>
-    <message>
-        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation>오픈파�럿� 주행 모� 개선� 위해 학습 ��터 업로드를 최대화하세요.</translation>
-    </message>
     <message>
         <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
         <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; 파�어호스 모드 &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
     </message>
+    <message>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WifiUI</name>
diff --git a/selfdrive/ui/translations/main_nl.ts b/selfdrive/ui/translations/main_nl.ts
index 10651a416011ff..2bfc83677394c5 100644
--- a/selfdrive/ui/translations/main_nl.ts
+++ b/selfdrive/ui/translations/main_nl.ts
@@ -104,8 +104,8 @@
 <context>
     <name>DeclinePage</name>
     <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>U moet de Algemene Voorwaarden accepteren om openpilot te gebruiken.</translation>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation>U moet de Algemene Voorwaarden accepteren om sunnypilot te gebruiken.</translation>
     </message>
     <message>
         <source>Back</source>
@@ -163,8 +163,8 @@
         <translation>BEKIJKEN</translation>
     </message>
     <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>Bekijk de regels, functies en beperkingen van openpilot</translation>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation>Bekijk de regels, functies en beperkingen van sunnypilot</translation>
     </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
@@ -199,8 +199,8 @@
         <translation>Uitschakelen</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot vereist dat het apparaat binnen 4° links of rechts en binnen 5° omhoog of 8° omlaag wordt gemonteerd. openpilot kalibreert continu, resetten is zelden nodig.</translation>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>sunnypilot vereist dat het apparaat binnen 4° links of rechts en binnen 5° omhoog of 8° omlaag wordt gemonteerd. sunnypilot kalibreert continu, resetten is zelden nodig.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -228,7 +228,7 @@
     </message>
     <message>
         <source>Disengage to Reboot</source>
-        <translation>Deactiveer openpilot om opnieuw op te starten</translation>
+        <translation>Deactiveer sunnypilot om opnieuw op te starten</translation>
     </message>
     <message>
         <source>Are you sure you want to power off?</source>
@@ -236,7 +236,7 @@
     </message>
     <message>
         <source>Disengage to Power Off</source>
-        <translation>Deactiveer openpilot om uit te schakelen</translation>
+        <translation>Deactiveer sunnypilot om uit te schakelen</translation>
     </message>
 </context>
 <context>
@@ -525,8 +525,8 @@ ingesteld</translation>
         <translation>dashcam</translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
     </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
@@ -827,8 +827,8 @@ ingesteld</translation>
         <translation type="vanished">Laatste Updatecontrole</translation>
     </message>
     <message>
-        <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
-        <translation type="vanished">De laatste keer dat openpilot met succes heeft gecontroleerd op een update. De updater werkt alleen als de auto is uitgeschakeld.</translation>
+        <source>The last time sunnypilot successfully checked for an update. The updater only runs while the car is off.</source>
+        <translation type="vanished">De laatste keer dat sunnypilot met succes heeft gecontroleerd op een update. De updater werkt alleen als de auto is uitgeschakeld.</translation>
     </message>
     <message>
         <source>Check for Update</source>
@@ -975,12 +975,12 @@ ingesteld</translation>
 <context>
     <name>TogglesPanel</name>
     <message>
-        <source>Enable openpilot</source>
-        <translation>openpilot Inschakelen</translation>
+        <source>Enable sunnypilot</source>
+        <translation>sunnypilot Inschakelen</translation>
     </message>
     <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Gebruik het openpilot-systeem voor adaptieve cruisecontrol en rijstrookassistentie. Uw aandacht is te allen tijde vereist om deze functie te gebruiken. Het wijzigen van deze instelling wordt van kracht wanneer de auto wordt uitgeschakeld.</translation>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>Gebruik het sunnypilot-systeem voor adaptieve cruisecontrol en rijstrookassistentie. Uw aandacht is te allen tijde vereist om deze functie te gebruiken. Het wijzigen van deze instelling wordt van kracht wanneer de auto wordt uitgeschakeld.</translation>
     </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
@@ -1011,8 +1011,8 @@ ingesteld</translation>
         <translation>Deactiveren Met Gaspedaal</translation>
     </message>
     <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>Indien ingeschakeld, zal het indrukken van het gaspedaal openpilot deactiveren.</translation>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation>Indien ingeschakeld, zal het indrukken van het gaspedaal sunnypilot deactiveren.</translation>
     </message>
     <message>
         <source>Show ETA in 24h Format</source>
@@ -1031,31 +1031,31 @@ ingesteld</translation>
         <translation>Toon kaart links in gesplitste schermweergave.</translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control</source>
-        <translation type="vanished">openpilot Longitudinale Controle</translation>
+        <source>sunnypilot Longitudinal Control</source>
+        <translation type="vanished">sunnypilot Longitudinale Controle</translation>
     </message>
     <message>
-        <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
-        <translation type="vanished">openpilot zal de radar van de auto uitschakelen en de controle over gas en remmen overnemen. Waarschuwing: hierdoor wordt AEB (automatische noodrem) uitgeschakeld!</translation>
+        <source>sunnypilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
+        <translation type="vanished">sunnypilot zal de radar van de auto uitschakelen en de controle over gas en remmen overnemen. Waarschuwing: hierdoor wordt AEB (automatische noodrem) uitgeschakeld!</translation>
     </message>
     <message>
         <source>🌮 End-to-end longitudinal (extremely alpha) 🌮</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Experimental openpilot Longitudinal Control</source>
+        <source>Experimental sunnypilot Longitudinal Control</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
+        <source>&lt;b&gt;WARNING: sunnypilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would. Super experimental.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot longitudinal control is not currently available for this car.</source>
+        <source>sunnypilot longitudinal control is not currently available for this car.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
diff --git a/selfdrive/ui/translations/main_pl.ts b/selfdrive/ui/translations/main_pl.ts
index 4f8b03ef50d02b..6e9170d298b4c9 100644
--- a/selfdrive/ui/translations/main_pl.ts
+++ b/selfdrive/ui/translations/main_pl.ts
@@ -104,8 +104,8 @@
 <context>
     <name>DeclinePage</name>
     <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>Aby korzystać z openpilota musisz zaakceptować regulamin.</translation>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation>Aby korzystać z sunnypilota musisz zaakceptować regulamin.</translation>
     </message>
     <message>
         <source>Back</source>
@@ -163,8 +163,8 @@
         <translation>ZAPOZNAJ SIĘ</translation>
     </message>
     <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>Zapoznaj siÄ™ z zasadami, funkcjami i ograniczeniami openpilota</translation>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation>Zapoznaj siÄ™ z zasadami, funkcjami i ograniczeniami sunnypilota</translation>
     </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
@@ -199,8 +199,8 @@
         <translation>Wyłącz</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot wymaga, aby urządzenie było zamontowane z maksymalnym odchyłem 4° poziomo, 5° w górę oraz 8° w dół. openpilot jest ciągle kalibrowany, rzadko konieczne jest resetowania urządzenia.</translation>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>sunnypilot wymaga, aby urządzenie było zamontowane z maksymalnym odchyłem 4° poziomo, 5° w górę oraz 8° w dół. sunnypilot jest ciągle kalibrowany, rzadko konieczne jest resetowania urządzenia.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -526,8 +526,8 @@ nie zostało ustawione</translation>
         <translation>wideorejestrator</translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
     </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
@@ -831,8 +831,8 @@ nie zostało ustawione</translation>
         <translation type="vanished">Ostatnie sprawdzenie aktualizacji</translation>
     </message>
     <message>
-        <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
-        <translation type="vanished">Ostatni raz kiedy openpilot znalazł aktualizację. Aktualizator może być uruchomiony wyłącznie wtedy, kiedy pojazd jest wyłączony.</translation>
+        <source>The last time sunnypilot successfully checked for an update. The updater only runs while the car is off.</source>
+        <translation type="vanished">Ostatni raz kiedy sunnypilot znalazł aktualizację. Aktualizator może być uruchomiony wyłącznie wtedy, kiedy pojazd jest wyłączony.</translation>
     </message>
     <message>
         <source>Check for Update</source>
@@ -979,12 +979,12 @@ nie zostało ustawione</translation>
 <context>
     <name>TogglesPanel</name>
     <message>
-        <source>Enable openpilot</source>
-        <translation>WÅ‚Ä…cz openpilota</translation>
+        <source>Enable sunnypilot</source>
+        <translation>WÅ‚Ä…cz sunnypilota</translation>
     </message>
     <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Użyj openpilota do zachowania bezpiecznego odstępu między pojazdami i do asystowania w utrzymywaniu pasa ruchu. Twoja pełna uwaga jest wymagana przez cały czas korzystania z tej funkcji. Ustawienie to może być wdrożone wyłącznie wtedy, gdy pojazd jest wyłączony.</translation>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>Użyj sunnypilota do zachowania bezpiecznego odstępu między pojazdami i do asystowania w utrzymywaniu pasa ruchu. Twoja pełna uwaga jest wymagana przez cały czas korzystania z tej funkcji. Ustawienie to może być wdrożone wyłącznie wtedy, gdy pojazd jest wyłączony.</translation>
     </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
@@ -1015,8 +1015,8 @@ nie zostało ustawione</translation>
         <translation>Odłącz poprzez naciśnięcie gazu</translation>
     </message>
     <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>Po włączeniu, naciśnięcie na pedał gazu odłączy openpilota.</translation>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation>Po włączeniu, naciśnięcie na pedał gazu odłączy sunnypilota.</translation>
     </message>
     <message>
         <source>Show ETA in 24h Format</source>
@@ -1035,31 +1035,31 @@ nie zostało ustawione</translation>
         <translation>Pokaż mapę po lewej stronie kiedy ekran jest podzielony.</translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control</source>
-        <translation type="vanished">Kontrola wzdłużna openpilota</translation>
+        <source>sunnypilot Longitudinal Control</source>
+        <translation type="vanished">Kontrola wzdłużna sunnypilota</translation>
     </message>
     <message>
-        <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
-        <translation type="vanished">openpilot wyłączy radar samochodu i przejmie kontrolę nad gazem i hamulcem. Ostrzeżenie: wyłączony zostanie system AEB!</translation>
+        <source>sunnypilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
+        <translation type="vanished">sunnypilot wyłączy radar samochodu i przejmie kontrolę nad gazem i hamulcem. Ostrzeżenie: wyłączony zostanie system AEB!</translation>
     </message>
     <message>
         <source>🌮 End-to-end longitudinal (extremely alpha) 🌮</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Experimental openpilot Longitudinal Control</source>
+        <source>Experimental sunnypilot Longitudinal Control</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
+        <source>&lt;b&gt;WARNING: sunnypilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would. Super experimental.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot longitudinal control is not currently available for this car.</source>
+        <source>sunnypilot longitudinal control is not currently available for this car.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index fc1727ad1121f5..ec237fca109703 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -87,6 +87,34 @@
         <translation>para &quot;%1&quot;</translation>
     </message>
 </context>
+<context>
+    <name>AutoLaneChangeTimer</name>
+    <message>
+        <source>Auto Lane Change by Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudge</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudgeless</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -101,8 +129,8 @@
 <context>
     <name>DeclinePage</name>
     <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>Você precisa aceitar os Termos e Condições para utilizar openpilot.</translation>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation>Você precisa aceitar os Termos e Condições para utilizar sunnypilot.</translation>
     </message>
     <message>
         <source>Back</source>
@@ -124,16 +152,16 @@
         <translation>Modo Longitudinal Maneuver</translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>Controle Longitudinal openpilot (Embrionário)</translation>
+        <source>sunnypilot Longitudinal Control (Alpha)</source>
+        <translation>Controle Longitudinal sunnypilot (Embrionário)</translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>AVISO: o controle longitudinal openpilot está em estado embrionário para este carro e desativará a Frenagem Automática de Emergência (AEB).</translation>
+        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>AVISO: o controle longitudinal sunnypilot está em estado embrionário para este carro e desativará a Frenagem Automática de Emergência (AEB).</translation>
     </message>
     <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>Neste carro, o openpilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do openpilot. Habilite isso para alternar para o controle longitudinal openpilot. Recomenda-se ativar o modo Experimental ao ativar o embrionário controle longitudinal openpilot.</translation>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
+        <translation>Neste carro, o sunnypilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do sunnypilot. Habilite isso para alternar para o controle longitudinal sunnypilot. Recomenda-se ativar o modo Experimental ao ativar o embrionário controle longitudinal sunnypilot.</translation>
     </message>
     <message>
         <source>Enable ADB</source>
@@ -219,8 +247,8 @@
         <translation>REVISAR</translation>
     </message>
     <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>Revisar regras, aprimoramentos e limitações do openpilot</translation>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation>Revisar regras, aprimoramentos e limitações do sunnypilot</translation>
     </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
@@ -255,8 +283,8 @@
         <translation>Desligar</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>O openpilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 9° para baixo. O openpilot está continuamente calibrando, resetar raramente é necessário.</translation>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>O sunnypilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 9° para baixo. O sunnypilot está continuamente calibrando, resetar raramente é necessário.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -381,6 +409,26 @@
         <source>Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Quiet Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset</source>
+        <translation type="unfinished">Resetar</translation>
+    </message>
+    <message>
+        <source>The reset cannot be undone. You have been warned.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -433,14 +481,6 @@
         <source>🔥 Firehose Mode 🔥</source>
         <translation>🔥 Modo Firehose 🔥</translation>
     </message>
-    <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
-
-Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation>O openpilot aprende a dirigir observando humanos, como você, dirigirem.
-
-O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar os modelos de direção do openpilot. Mais dados significam modelos maiores, o que resulta em um Modo Experimental melhor.</translation>
-    </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
         <translation>Modo Firehose: ATIVO</translation>
@@ -450,8 +490,8 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar
         <translation>ATIVO</translation>
     </message>
     <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation>Para maior eficácia, leve seu dispositivo para dentro de casa e conecte-o a um bom adaptador USB-C e Wi-Fi semanalmente.&lt;br&gt;&lt;br&gt;O Modo Firehose também pode funcionar enquanto você dirige, se estiver conectado a um hotspot ou a um chip SIM com dados ilimitados.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Perguntas Frequentes&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Importa como ou onde eu dirijo?&lt;/i&gt; Não, basta dirigir normalmente.&lt;br&gt;&lt;br&gt;&lt;i&gt;Todos os meus segmentos são enviados no Modo Firehose?&lt;/i&gt; Não, selecionamos apenas um subconjunto dos seus segmentos.&lt;br&gt;&lt;br&gt;&lt;i&gt;Qual é um bom adaptador USB-C?&lt;/i&gt; Qualquer carregador rápido de telefone ou laptop deve ser suficiente.&lt;br&gt;&lt;br&gt;&lt;i&gt;Importa qual software eu uso?&lt;/i&gt; Sim, apenas o openpilot oficial (e alguns forks específicos) podem ser usados para treinamento.</translation>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
+        <translation>Para maior eficácia, leve seu dispositivo para dentro de casa e conecte-o a um bom adaptador USB-C e Wi-Fi semanalmente.&lt;br&gt;&lt;br&gt;O Modo Firehose também pode funcionar enquanto você dirige, se estiver conectado a um hotspot ou a um chip SIM com dados ilimitados.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Perguntas Frequentes&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Importa como ou onde eu dirijo?&lt;/i&gt; Não, basta dirigir normalmente.&lt;br&gt;&lt;br&gt;&lt;i&gt;Todos os meus segmentos são enviados no Modo Firehose?&lt;/i&gt; Não, selecionamos apenas um subconjunto dos seus segmentos.&lt;br&gt;&lt;br&gt;&lt;i&gt;Qual é um bom adaptador USB-C?&lt;/i&gt; Qualquer carregador rápido de telefone ou laptop deve ser suficiente.&lt;br&gt;&lt;br&gt;&lt;i&gt;Importa qual software eu uso?&lt;/i&gt; Sim, apenas o sunnypilot oficial (e alguns forks específicos) podem ser usados para treinamento.</translation>
     </message>
     <message numerus="yes">
         <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
@@ -460,6 +500,12 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar
             <numerusform>&lt;b&gt;%n segmentos&lt;/b&gt; da sua direção estão no conjunto de dados de treinamento até agora.</numerusform>
         </translation>
     </message>
+    <message>
+        <source>sunnypilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
         <translation type="unfinished"></translation>
@@ -501,6 +547,40 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar
         <translation>Instalando...</translation>
     </message>
 </context>
+<context>
+    <name>LaneChangeSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">Voltar</translation>
+    </message>
+    <message>
+        <source>Auto Lane Change: Delay with Blind Spot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LateralPanel</name>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Lane Change</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>MadsSettings</name>
     <message>
@@ -532,14 +612,18 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Steering Mode After Braking</source>
+        <source>Disengage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode on Brake Pedal</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
 
 Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
+Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -584,15 +668,74 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>NeuralNetworkLateralControl</name>
+    <message>
+        <source>Neural Network Lateral Control (NNLC)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC is currently not available on this platform.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the car to check car compatibility</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Not Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exact</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fuzzy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>if there are any issues:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>and donate logs to get NNLC loaded for your car:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation>Conecte-se imediatamente à internet para verificar se há atualizações. Se você não se conectar à internet em %1 não será possível acionar o openpilot.</translation>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
+        <translation>Conecte-se imediatamente à internet para verificar se há atualizações. Se você não se conectar à internet em %1 não será possível acionar o sunnypilot.</translation>
     </message>
     <message>
-        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>Conecte-se à internet para verificar se há atualizações. O openpilot não será iniciado automaticamente até que ele se conecte à internet para verificar se há atualizações.</translation>
+        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>Conecte-se à internet para verificar se há atualizações. O sunnypilot não será iniciado automaticamente até que ele se conecte à internet para verificar se há atualizações.</translation>
     </message>
     <message>
         <source>Unable to download updates
@@ -621,12 +764,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Unidade NVMe não suportada detectada. O dispositivo pode consumir significativamente mais energia e superaquecimento devido ao NVMe não suportado.</translation>
     </message>
     <message>
-        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>O openpilot não conseguiu identificar o seu carro. Seu carro não é suportado ou seus ECUs não são reconhecidos. Envie um pull request para adicionar as versões de firmware ao veículo adequado. Precisa de ajuda? Junte-se discord.comma.ai.</translation>
+        <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>O sunnypilot não conseguiu identificar o seu carro. Seu carro não é suportado ou seus ECUs não são reconhecidos. Envie um pull request para adicionar as versões de firmware ao veículo adequado. Precisa de ajuda? Junte-se discord.comma.ai.</translation>
     </message>
     <message>
-        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation>O openpilot detectou uma mudança na posição de montagem do dispositivo. Verifique se o dispositivo está totalmente encaixado no suporte e se o suporte está firmemente preso ao para-brisa.</translation>
+        <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>O sunnypilot detectou uma mudança na posição de montagem do dispositivo. Verifique se o dispositivo está totalmente encaixado no suporte e se o suporte está firmemente preso ao para-brisa.</translation>
     </message>
     <message>
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
@@ -655,8 +798,8 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 <context>
     <name>OnroadAlerts</name>
     <message>
-        <source>openpilot Unavailable</source>
-        <translation>openpilot Indisponível</translation>
+        <source>sunnypilot Unavailable</source>
+        <translation>sunnypilot Indisponível</translation>
     </message>
     <message>
         <source>TAKE CONTROL IMMEDIATELY</source>
@@ -828,8 +971,8 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Sair</translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
     </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
@@ -955,10 +1098,6 @@ Isso pode levar até um minuto.</translation>
         <source>Software</source>
         <translation type="unfinished">Software</translation>
     </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Trips</source>
         <translation type="unfinished"></translation>
@@ -975,6 +1114,10 @@ Isso pode levar até um minuto.</translation>
         <source>Firehose</source>
         <translation type="unfinished">Firehose</translation>
     </message>
+    <message>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1063,8 +1206,8 @@ Isso pode levar até um minuto.</translation>
         <translation>Escolha o Software a ser Instalado</translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
     </message>
     <message>
         <source>Custom Software</source>
@@ -1486,6 +1629,58 @@ Isso pode levar até um minuto.</translation>
         <source>THANKS ♥</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Backup Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to backup sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Back Up</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings backup completed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to restore the settings, try again later.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings restored. Confirm to restart the interface.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -1526,21 +1721,6 @@ Isso pode levar até um minuto.</translation>
         <translation type="unfinished"></translation>
     </message>
 </context>
-<context>
-    <name>SunnypilotPanel</name>
-    <message>
-        <source>Modular Assistive Driving System (MADS)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>TermsPage</name>
     <message>
@@ -1552,24 +1732,16 @@ Isso pode levar até um minuto.</translation>
         <translation>Concordo</translation>
     </message>
     <message>
-        <source>Welcome to openpilot</source>
-        <translation>Bem vindo ao openpilot</translation>
+        <source>Welcome to sunnypilot</source>
+        <translation>Bem vindo ao sunnypilot</translation>
     </message>
     <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation>Você deve aceitar os Termos e Condições para usar o openpilot. Leia os termos mais recentes em &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; antes de continuar.</translation>
+        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <translation>Você deve aceitar os Termos e Condições para usar o sunnypilot. Leia os termos mais recentes em &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; antes de continuar.</translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>Ativar openpilot</translation>
-    </message>
-    <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Use o sistema openpilot para controle de cruzeiro adaptativo e assistência ao motorista de manutenção de faixa. Sua atenção é necessária o tempo todo para usar esse recurso. A alteração desta configuração tem efeito quando o carro é desligado.</translation>
-    </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
         <translation>Ativar Avisos de Saída de Faixa</translation>
@@ -1599,20 +1771,20 @@ Isso pode levar até um minuto.</translation>
         <translation>Desacionar com Pedal do Acelerador</translation>
     </message>
     <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>Quando ativado, pressionar o pedal do acelerador desacionará o openpilot.</translation>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation>Quando ativado, pressionar o pedal do acelerador desacionará o sunnypilot.</translation>
     </message>
     <message>
         <source>Experimental Mode</source>
         <translation>Modo Experimental</translation>
     </message>
     <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>openpilot por padrão funciona em &lt;b&gt;modo chill&lt;/b&gt;. modo Experimental ativa &lt;b&gt;recursos de nível-embrionário&lt;/b&gt; que não estão prontos para o modo chill. Recursos experimentais estão listados abaixo:</translation>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation>sunnypilot por padrão funciona em &lt;b&gt;modo chill&lt;/b&gt;. modo Experimental ativa &lt;b&gt;recursos de nível-embrionário&lt;/b&gt; que não estão prontos para o modo chill. Recursos experimentais estão listados abaixo:</translation>
     </message>
     <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>Deixe o modelo de IA controlar o acelerador e os freios. O openpilot irá dirigir como pensa que um humano faria, incluindo parar em sinais vermelhos e sinais de parada. Uma vez que o modelo de condução decide a velocidade a conduzir, a velocidade definida apenas funcionará como um limite superior. Este é um recurso de qualidade embrionária; erros devem ser esperados.</translation>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation>Deixe o modelo de IA controlar o acelerador e os freios. O sunnypilot irá dirigir como pensa que um humano faria, incluindo parar em sinais vermelhos e sinais de parada. Uma vez que o modelo de condução decide a velocidade a conduzir, a velocidade definida apenas funcionará como um limite superior. Este é um recurso de qualidade embrionária; erros devem ser esperados.</translation>
     </message>
     <message>
         <source>New Driving Visualization</source>
@@ -1623,8 +1795,8 @@ Isso pode levar até um minuto.</translation>
         <translation>O modo Experimental está atualmente indisponível para este carro já que o ACC original do carro é usado para controle longitudinal.</translation>
     </message>
     <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation>O controle longitudinal openpilot poderá vir em uma atualização futura.</translation>
+        <source>sunnypilot longitudinal control may come in a future update.</source>
+        <translation>O controle longitudinal sunnypilot poderá vir em uma atualização futura.</translation>
     </message>
     <message>
         <source>Aggressive</source>
@@ -1643,20 +1815,20 @@ Isso pode levar até um minuto.</translation>
         <translation>Temperamento de Direção</translation>
     </message>
     <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>Uma versão embrionária do controle longitudinal openpilot pode ser testada em conjunto com o modo Experimental, em branches que não sejam de produção.</translation>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>Uma versão embrionária do controle longitudinal sunnypilot pode ser testada em conjunto com o modo Experimental, em branches que não sejam de produção.</translation>
     </message>
     <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>Habilite o controle longitudinal (embrionário) openpilot para permitir o modo Experimental.</translation>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>Habilite o controle longitudinal (embrionário) sunnypilot para permitir o modo Experimental.</translation>
     </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
         <translation>Controle Longitudinal de Ponta a Ponta</translation>
     </message>
     <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>Neutro é o recomendado. No modo disputa o openpilot seguirá o carro da frente mais de perto e será mais agressivo com a aceleração e frenagem. No modo calmo o openpilot se manterá mais longe do carro da frente. Em carros compatíveis, você pode alternar esses temperamentos com o botão de distância do volante.</translation>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation>Neutro é o recomendado. No modo disputa o sunnypilot seguirá o carro da frente mais de perto e será mais agressivo com a aceleração e frenagem. No modo calmo o sunnypilot se manterá mais longe do carro da frente. Em carros compatíveis, você pode alternar esses temperamentos com o botão de distância do volante.</translation>
     </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
@@ -1667,8 +1839,8 @@ Isso pode levar até um minuto.</translation>
         <translation>Monitoramento do Motorista Sempre Ativo</translation>
     </message>
     <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation>Habilite o monitoramento do motorista mesmo quando o openpilot não estiver acionado.</translation>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
+        <translation>Habilite o monitoramento do motorista mesmo quando o sunnypilot não estiver acionado.</translation>
     </message>
     <message>
         <source>Enable Dynamic Experimental Control</source>
@@ -1678,6 +1850,14 @@ Isso pode levar até um minuto.</translation>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnypilot</source>
+        <translation>Ativar sunnypilot</translation>
+    </message>
+    <message>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>Use o sistema sunnypilot para controle de cruzeiro adaptativo e assistência ao motorista de manutenção de faixa. Sua atenção é necessária o tempo todo para usar esse recurso. A alteração desta configuração tem efeito quando o carro é desligado.</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1720,14 +1900,14 @@ Isso pode levar até um minuto.</translation>
         <source>Open</source>
         <translation>Abrir</translation>
     </message>
-    <message>
-        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation>Maximize seus envios de dados de treinamento para melhorar os modelos de direção do openpilot.</translation>
-    </message>
     <message>
         <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
         <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Modo Firehose &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
     </message>
+    <message>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WifiUI</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index c7d55ff1214d23..765aff4ab05d18 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -87,6 +87,34 @@
         <translation>สำหรับ &quot;%1&quot;</translation>
     </message>
 </context>
+<context>
+    <name>AutoLaneChangeTimer</name>
+    <message>
+        <source>Auto Lane Change by Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudge</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudgeless</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -101,8 +129,8 @@
 <context>
     <name>DeclinePage</name>
     <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>คุณต้องยอมรับเงื่อนไข�ละข้อต�ลง เพื่อใช้งาน openpilot</translation>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation>คุณต้องยอมรับเงื่อนไข�ละข้อต�ลง เพื่อใช้งาน sunnypilot</translation>
     </message>
     <message>
         <source>Back</source>
@@ -117,31 +145,31 @@
     <name>DeveloperPanel</name>
     <message>
         <source>Joystick Debug Mode</source>
-        <translation>โหมดดีบั�จอยสติ๊�</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Longitudinal Maneuver Mode</source>
-        <translation>โหมด�ารควบคุม�ารเร่ง/เบรค</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>ระบบควบคุม�ารเร่ง/เบรคโดย openpilot (Alpha)</translation>
+        <source>sunnypilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished">ระบบควบคุม�ารเร่ง/เบรคโดย sunnypilot (Alpha)</translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>คำเตือน: �ารควบคุม�ารเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha �ละระบบเบรคฉุ�เฉินอัตโนมัติ (AEB) จะถู�ปิด</translation>
+        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished">คำเตือน: �ารควบคุม�ารเร่ง/เบรคโดย sunnypilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha �ละระบบเบรคฉุ�เฉินอัตโนมัติ (AEB) จะถู�ปิด</translation>
     </message>
     <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>โดยป�ติสำหรับรถคันนี้ openpilot จะควบคุม�ารเร่ง/เบรคด้วยระบบ ACC จา�โรงงาน �ทน�ารควยคุมโดย openpilot เปิดสวิตซ์นี้เพื่อให้ openpilot ควบคุม�ารเร่ง/เบรค �นะนำให้เปิดโหมดทดลองเมื่อต้อง�ารให้ openpilot ควบคุม�ารเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha</translation>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
+        <translation type="unfinished">โดยป�ติสำหรับรถคันนี้ sunnypilot จะควบคุม�ารเร่ง/เบรคด้วยระบบ ACC จา�โรงงาน �ทน�ารควยคุมโดย sunnypilot เปิดสวิตซ์นี้เพื่อให้ sunnypilot ควบคุม�ารเร่ง/เบรค �นะนำให้เปิดโหมดทดลองเมื่อต้อง�ารให้ sunnypilot ควบคุม�ารเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha</translation>
     </message>
     <message>
         <source>Enable ADB</source>
-        <translation>เปิด ADB</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
-        <translation>ADB (Android Debug Bridge) อนุ�าตให้เชื่อมต่ออุป�รณ์ของคุณผ่าน USB หรือผ่านเครือข่าย ดูข้อมูลเพิ่มเติมที่ https://docs.comma.ai/how-to/connect-to-comma</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Hyundai: Enable Radar Tracks</source>
@@ -219,8 +247,8 @@
         <translation>ทบทวน</translation>
     </message>
     <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>ตรวจสอบ�ฎ คุณสมบัติ �ละข้อจำ�ัดของ openpilot</translation>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation>ตรวจสอบ�ฎ คุณสมบัติ �ละข้อจำ�ัดของ sunnypilot</translation>
     </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
@@ -255,8 +283,8 @@
         <translation>ปิดเครื่อง</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot �ำหนดให้ติดตั้งอุป�รณ์ โดยสามารถเอียงด้านซ้ายหรือขวาไม่เ�ิน 4° �ละเอียงขึ้นด้านบนไม่เ�ิน 5° หรือเอียงลงด้านล่างไม่เ�ิน 9° openpilot ทำ�ารคาลิเบรทอย่างต่อเนื่อง �ทบจะไม่จำเป็นต้องทำ�ารรีเซ็ต�ารคาลิเบรท</translation>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>sunnypilot �ำหนดให้ติดตั้งอุป�รณ์ โดยสามารถเอียงด้านซ้ายหรือขวาไม่เ�ิน 4° �ละเอียงขึ้นด้านบนไม่เ�ิน 5° หรือเอียงลงด้านล่างไม่เ�ิน 9° sunnypilot ทำ�ารคาลิเบรทอย่างต่อเนื่อง �ทบจะไม่จำเป็นต้องทำ�ารรีเซ็ต�ารคาลิเบรท</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -381,6 +409,26 @@
         <source>Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Quiet Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset</source>
+        <translation type="unfinished">รีเซ็ต</translation>
+    </message>
+    <message>
+        <source>The reset cannot be undone. You have been warned.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -431,37 +479,35 @@
     <name>FirehosePanel</name>
     <message>
         <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 โหมดสายยางดับเพลิง 🔥</translation>
-    </message>
-    <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
-
-Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation>openpilot เรียนรู้วิธีขับรถจา��ารเ�้าดู�ารขับขี่ของมนุษย์เช่นคุณ
-
-โหมดสายยางดับเพลิงช่วยให้คุณอัปโหลดข้อมูล�าร�ึ��นได้มา�ที่สุด เพื่อนำไปพัฒนาโมเดล�ารขับขี่ของ openpilot ข้อมูลที่มา�ขึ้นหมายถึงโมเดลที่ให�่ขึ้น �ละนั่นหมายถึงโหมดทดลองที่ดีขึ้น</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
-        <translation>โหมดสายยางดับเพลิง: เปิดใช้งาน</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <source>ACTIVE</source>
-        <translation>เปิดใช้งาน</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation>เพื่อประสิทธิภาพสูงสุด ควรนำอุป�รณ์เข้ามาข้างใน เชื่อมต่อ�ับอะ�ดปเตอร์ USB-C คุณภาพดี �ละ Wi-Fi สัปดาห์ละครั้ง&lt;br&gt;&lt;br&gt;โหมดสายยางดับเพลิงยังสามารถทำงานระหว่างขับรถได้ หา�เชื่อมต่อ�ับฮอตสปอตหรือซิม�าร์ดที่มีเน็ตไม่จำ�ัด&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;คำถามที่พบบ่อย&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;วิธี�ารขับหรือสถานที่ขับขี่มีผลหรือไม่?&lt;/i&gt;ไม่มีผล �ค่ขับขี่ตามป�ติของคุณ&lt;br&gt;&lt;br&gt;&lt;i&gt;เซ�เมนต์ทั้งหมดของฉันจะถู�ดึงข้อมูลในโหมดสายยางดับเพลิงหรือไม่?&lt;/i&gt;ไม่ใช่ เราจะเลือ�ดึงข้อมูลเพียงบางส่วนจา�เซ�เมนต์ของคุณ&lt;br&gt;&lt;br&gt;&lt;i&gt;อะ�ดปเตอร์ USB-C �บบไหนดี?&lt;/i&gt;ที่ชาร์จเร็วของโทรศัพท์หรือ�ล็ปท็อป�บบใด�็ได้ สามารถใช้ได้&lt;br&gt;&lt;br&gt;&lt;i&gt;ซอฟต์�วร์ที่ใช้มีผลหรือไม่?&lt;/i&gt;มีผล เฉพาะ openpilot ตัวหลั� (�ละ fork เฉพาะบางตัว) เท่านั้น ที่สามารถนำข้อมูลไปใช้�ึ��นโมเดลได้</translation>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message numerus="yes">
         <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
-        <translation>
-            <numerusform>มี�ารขับขี่ของคุณ &lt;b&gt;%n เซ�เมนต์&lt;/b&gt; อยู่ในชุดข้อมูล�าร�ึ��น�ล้วในขณะนี้</numerusform>
+        <translation type="unfinished">
+            <numerusform></numerusform>
         </translation>
     </message>
+    <message>
+        <source>sunnypilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;ไม่เปิดใช้งาน&lt;/span&gt;: เชื่อมต่อ�ับเครือข่ายที่ไม่จำ�ัดข้อมูล</translation>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -499,6 +545,40 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>�ำลังติดตั้ง...</translation>
     </message>
 </context>
+<context>
+    <name>LaneChangeSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">ย้อน�ลับ</translation>
+    </message>
+    <message>
+        <source>Auto Lane Change: Delay with Blind Spot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LateralPanel</name>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Lane Change</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>MadsSettings</name>
     <message>
@@ -530,14 +610,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Steering Mode After Braking</source>
+        <source>Disengage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode on Brake Pedal</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
 
 Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
+Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -582,6 +666,65 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>NeuralNetworkLateralControl</name>
+    <message>
+        <source>Neural Network Lateral Control (NNLC)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC is currently not available on this platform.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the car to check car compatibility</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Not Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exact</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fuzzy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>if there are any issues:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>and donate logs to get NNLC loaded for your car:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
@@ -589,12 +732,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>อุณหภูมิของอุป�รณ์สูงเ�ินไป ระบบ�ำลังทำความเย็น�่อนเริ่ม อุณหภูมิของชิ้นส่วนภายในปัจจุบัน: %1</translation>
     </message>
     <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation>�รุณาเชื่อมต่ออินเตอร์เน็ตเพื่อตรวจสอบอัปเดทเดี๋ยวนี้ ถ้าคุณไม่เชื่อมต่ออินเตอร์เน็ต openpilot จะไม่ทำงานในอี� %1</translation>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
+        <translation>�รุณาเชื่อมต่ออินเตอร์เน็ตเพื่อตรวจสอบอัปเดทเดี๋ยวนี้ ถ้าคุณไม่เชื่อมต่ออินเตอร์เน็ต sunnypilot จะไม่ทำงานในอี� %1</translation>
     </message>
     <message>
-        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>�รุณาเชื่อมต่ออินเตอร์เน็ตเพื่อตรวจสอบอัปเดท openpilot จะไม่เริ่มทำงานอัตโนมัติจน�ว่าจะได้เชื่อมต่อ�ับอินเตอร์เน็ตเพื่อตรวจสอบอัปเดท</translation>
+        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>�รุณาเชื่อมต่ออินเตอร์เน็ตเพื่อตรวจสอบอัปเดท sunnypilot จะไม่เริ่มทำงานอัตโนมัติจน�ว่าจะได้เชื่อมต่อ�ับอินเตอร์เน็ตเพื่อตรวจสอบอัปเดท</translation>
     </message>
     <message>
         <source>Unable to download updates
@@ -623,12 +766,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>ตรวจพบไดร์ฟ NVMe ที่ไม่รองรับ อุป�รณ์อาจใช้พลังงานมา�ขึ้น�ละร้อนเ�ินไปเนื่องจา�ไดร์ฟ NVMe ที่ไม่รองรับ</translation>
     </message>
     <message>
-        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot ไม่สามารถระบุรถยนต์ของคุณได้ ระบบอาจไม่รองรับรถยนต์ของคุณหรือไม่รู้จั� ECU �รุณาส่ง pull request เพื่อเพิ่มรุ่นของเฟิร์ม�วร์ให้�ับรถยนต์ที่เหมาะสม หา�ต้อง�ารความช่วยเหลือให้เข้าร่วม discord.comma.ai</translation>
+        <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>sunnypilot ไม่สามารถระบุรถยนต์ของคุณได้ ระบบอาจไม่รองรับรถยนต์ของคุณหรือไม่รู้จั� ECU �รุณาส่ง pull request เพื่อเพิ่มรุ่นของเฟิร์ม�วร์ให้�ับรถยนต์ที่เหมาะสม หา�ต้อง�ารความช่วยเหลือให้เข้าร่วม discord.comma.ai</translation>
     </message>
     <message>
-        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation>openpilot ตรวจพบ�ารเปลี่ยน�ปลงของตำ�หน่งที่ติดตั้ง �รุณาตรวจสอบว่าได้เลื่อนอุป�รณ์เข้า�ับจุดติดตั้งจนสุด�ล้ว �ละจุดติดตั้งได้ยึดติด�ับ�ระจ�หน้าอย่าง�น่นหนา</translation>
+        <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>sunnypilot ตรวจพบ�ารเปลี่ยน�ปลงของตำ�หน่งที่ติดตั้ง �รุณาตรวจสอบว่าได้เลื่อนอุป�รณ์เข้า�ับจุดติดตั้งจนสุด�ล้ว �ละจุดติดตั้งได้ยึดติด�ับ�ระจ�หน้าอย่าง�น่นหนา</translation>
     </message>
     <message>
         <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
@@ -653,8 +796,8 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 <context>
     <name>OnroadAlerts</name>
     <message>
-        <source>openpilot Unavailable</source>
-        <translation>openpilot ไม่สามารถใช้งานได้</translation>
+        <source>sunnypilot Unavailable</source>
+        <translation>sunnypilot ไม่สามารถใช้งานได้</translation>
     </message>
     <message>
         <source>TAKE CONTROL IMMEDIATELY</source>
@@ -666,11 +809,11 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
     </message>
     <message>
         <source>Waiting to start</source>
-        <translation>รอเริ่มทำงาน</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <source>System Unresponsive</source>
-        <translation>ระบบไม่ตอบสนอง</translation>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -693,7 +836,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
     </message>
     <message>
         <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation>�รุณาเชื่อมต่อ Wi-Fi เพื่อทำ�ารจับคู่ครั้ง�ร�ให้เสร็จสิ้น</translation>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -801,7 +944,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
     </message>
     <message>
         <source>Remote snapshots</source>
-        <translation>ภาพถ่ายระยะไ�ล</translation>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -826,8 +969,8 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>ปิด</translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
     </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
@@ -917,11 +1060,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Developer</source>
-        <translation>นั�พัฒนา</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Firehose</source>
-        <translation>สายยางดับเพลิง</translation>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -950,10 +1093,6 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation type="unfinished">ซอฟต์�วร์</translation>
     </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Trips</source>
         <translation type="unfinished"></translation>
@@ -970,6 +1109,10 @@ This may take up to a minute.</source>
         <source>Firehose</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1058,8 +1201,8 @@ This may take up to a minute.</source>
         <translation>เลือ�ซอฟต์�วร์ที่จะติดตั้ง</translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
     </message>
     <message>
         <source>Custom Software</source>
@@ -1481,6 +1624,58 @@ This may take up to a minute.</source>
         <source>THANKS ♥</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Backup Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to backup sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Back Up</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings backup completed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to restore the settings, try again later.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings restored. Confirm to restart the interface.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -1521,21 +1716,6 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
-<context>
-    <name>SunnypilotPanel</name>
-    <message>
-        <source>Modular Assistive Driving System (MADS)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>TermsPage</name>
     <message>
@@ -1547,24 +1727,16 @@ This may take up to a minute.</source>
         <translation>ยอมรับ</translation>
     </message>
     <message>
-        <source>Welcome to openpilot</source>
-        <translation>ยินดีต้อนรับสู่ openpilot</translation>
+        <source>Welcome to sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation>คุณต้องยอมรับข้อ�ำหนด�ละเงื่อนไขเพื่อใช้งาน openpilot อ่านข้อ�ำหนดล่าสุดได้ที่ &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; �่อนดำเนิน�ารต่อ</translation>
+        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>เปิดใช้งาน openpilot</translation>
-    </message>
-    <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>ใช้ระบบ openpilot สำหรับระบบควบคุมความเร็วอัตโนมัติ �ละระบบช่วยควบคุมรถให้อยู่ในเลน คุณจำเป็นต้องให้ความสนใจตลอดเวลาที่ใช้คุณสมบัตินี้ �ารเปลี่ยน�ารตั้งค่านี้จะมีผลเมื่อคุณดับเครื่องยนต์</translation>
-    </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
         <translation>เปิดใช้งาน�ารเตือน�ารออ�นอ�เลน</translation>
@@ -1594,20 +1766,20 @@ This may take up to a minute.</source>
         <translation>ย�เลิ�ระบบช่วยขับเมื่อเหยียบคันเร่ง</translation>
     </message>
     <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>เมื่อเปิดใช้งาน �าร�ด�ป้นคันเร่งจะเป็น�ารย�เลิ�ระบบช่วยขับโดย openpilot</translation>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation>เมื่อเปิดใช้งาน �าร�ด�ป้นคันเร่งจะเป็น�ารย�เลิ�ระบบช่วยขับโดย sunnypilot</translation>
     </message>
     <message>
         <source>Experimental Mode</source>
         <translation>โหมดทดลอง</translation>
     </message>
     <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>โดยป�ติ openpilot จะขับใน&lt;b&gt;โหมดชิล&lt;/b&gt; เปิดโหมดทดลองเพื่อใช้&lt;b&gt;ความสามารถในขั้นพัฒนา&lt;/b&gt; ซึ่งยังไม่พร้อมสำหรับโหมดชิล ความสามารถในขั้นพัฒนามีดังนี้:</translation>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation>โดยป�ติ sunnypilot จะขับใน&lt;b&gt;โหมดชิล&lt;/b&gt; เปิดโหมดทดลองเพื่อใช้&lt;b&gt;ความสามารถในขั้นพัฒนา&lt;/b&gt; ซึ่งยังไม่พร้อมสำหรับโหมดชิล ความสามารถในขั้นพัฒนามีดังนี้:</translation>
     </message>
     <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>ให้ openpilot ควบคุม�ารเร่ง/เบรค โดย openpilot จะขับอย่างที่มนุษย์คิด รวมถึง�ารหยุดที่ไฟ�ดง �ละป้ายหยุดรถ เนื่องจา� openpilot จะ�ำหนดความเร็วใน�ารขับด้วยตัวเอง �ารตั้งความเร็วจะเป็นเพียง�าร�ำหนดความเร็วสูงสูดเท่านั้น ความสามารถนี้ยังอยู่ในขั้นพัฒนา อาจเ�ิดข้อผิดพลาดขึ้นได้</translation>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation>ให้ sunnypilot ควบคุม�ารเร่ง/เบรค โดย sunnypilot จะขับอย่างที่มนุษย์คิด รวมถึง�ารหยุดที่ไฟ�ดง �ละป้ายหยุดรถ เนื่องจา� sunnypilot จะ�ำหนดความเร็วใน�ารขับด้วยตัวเอง �ารตั้งความเร็วจะเป็นเพียง�าร�ำหนดความเร็วสูงสูดเท่านั้น ความสามารถนี้ยังอยู่ในขั้นพัฒนา อาจเ�ิดข้อผิดพลาดขึ้นได้</translation>
     </message>
     <message>
         <source>New Driving Visualization</source>
@@ -1618,8 +1790,8 @@ This may take up to a minute.</source>
         <translation>ขณะนี้โหมดทดลองไม่สามารถใช้งานได้ในรถคันนี้ เนื่องจา�เปิดใช้ระบบควบคุม�ารเร่ง/เบรคของรถที่ติดตั้งจา�โรงงานอยู่</translation>
     </message>
     <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation>ระบบควบคุม�ารเร่ง/เบรคโดย openpilot อาจมาใน�ารอัปเดตในอนาคต</translation>
+        <source>sunnypilot longitudinal control may come in a future update.</source>
+        <translation>ระบบควบคุม�ารเร่ง/เบรคโดย sunnypilot อาจมาใน�ารอัปเดตในอนาคต</translation>
     </message>
     <message>
         <source>Aggressive</source>
@@ -1638,20 +1810,20 @@ This may take up to a minute.</source>
         <translation>บุคลิ��ารขับขี่</translation>
     </message>
     <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>ระบบควบคุม�ารเร่ง/เบรคโดย openpilot เวอร์ชัน alpha สามารถทดสอบได้พร้อม�ับโหมด�ารทดลอง บน branch ที่�ำลังพัฒนา</translation>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>ระบบควบคุม�ารเร่ง/เบรคโดย sunnypilot เวอร์ชัน alpha สามารถทดสอบได้พร้อม�ับโหมด�ารทดลอง บน branch ที่�ำลังพัฒนา</translation>
     </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
         <translation>ควบคุมเร่ง/เบรค�บบ End-to-End</translation>
     </message>
     <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>เปิดระบบควบคุม�ารเร่ง/เบรคโดย openpilot (alpha) เพื่อเปิดใช้งานโหมดทดลอง</translation>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>เปิดระบบควบคุม�ารเร่ง/เบรคโดย sunnypilot (alpha) เพื่อเปิดใช้งานโหมดทดลอง</translation>
     </message>
     <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>�นะนำให้ใช้�บบมาตร�าน ในโหมดดุดัน openpilot จะตามรถคันหน้าใ�ล้ขึ้น�ละเร่ง�ละเบรค�บบดุดันมา�ขึ้น ในโหมดผ่อนคลาย openpilot จะอยู่ห่างจา�รถคันหน้ามา�ขึ้น ในรถรุ่นที่รองรับคุณสามารถเปลี่ยนบุคลิ�ไป�บบต่าง ๆ โดยใช้ปุ่มปรับระยะห่างบนพวงมาลัย</translation>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation>�นะนำให้ใช้�บบมาตร�าน ในโหมดดุดัน sunnypilot จะตามรถคันหน้าใ�ล้ขึ้น�ละเร่ง�ละเบรค�บบดุดันมา�ขึ้น ในโหมดผ่อนคลาย sunnypilot จะอยู่ห่างจา�รถคันหน้ามา�ขึ้น ในรถรุ่นที่รองรับคุณสามารถเปลี่ยนบุคลิ�ไป�บบต่าง ๆ โดยใช้ปุ่มปรับระยะห่างบนพวงมาลัย</translation>
     </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
@@ -1659,11 +1831,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Always-On Driver Monitoring</source>
-        <translation>�ารเ�้าระวังผู้ขับขี่ตลอดเวลา</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation>เปิดใช้งาน�ารเ�้าระวังผู้ขับขี่�ม้เมื่อ openpilot ไม่ได้เข้าควบคุมอยู่</translation>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Enable Dynamic Experimental Control</source>
@@ -1673,6 +1845,14 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnypilot</source>
+        <translation>เปิดใช้งาน sunnypilot</translation>
+    </message>
+    <message>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>ใช้ระบบ sunnypilot สำหรับระบบควบคุมความเร็วอัตโนมัติ �ละระบบช่วยควบคุมรถให้อยู่ในเลน คุณจำเป็นต้องให้ความสนใจตลอดเวลาที่ใช้คุณสมบัตินี้ �ารเปลี่ยน�ารตั้งค่านี้จะมีผลเมื่อคุณดับเครื่องยนต์</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1713,15 +1893,15 @@ This may take up to a minute.</source>
     <name>WiFiPromptWidget</name>
     <message>
         <source>Open</source>
-        <translation>เปิด</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation>อัปโหลดข้อมูล�าร�ึ��นให้ได้มา�ที่สุด เพื่อพัฒนาโมเดล�ารขับขี่ของ openpilot</translation>
+        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
-        <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; โหมดสายยางดับเพลิง &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 049dd6ba011607..1ddf267e4b626b 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -87,6 +87,34 @@
         <translation type="unfinished">için &quot;%1&quot;</translation>
     </message>
 </context>
+<context>
+    <name>AutoLaneChangeTimer</name>
+    <message>
+        <source>Auto Lane Change by Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudge</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudgeless</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -101,7 +129,7 @@
 <context>
     <name>DeclinePage</name>
     <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
         <translation>Openpilotu kullanmak için Kullanıcı Koşullarını kabul etmelisiniz.</translation>
     </message>
     <message>
@@ -124,15 +152,15 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
+        <source>sunnypilot Longitudinal Control (Alpha)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -219,8 +247,8 @@
         <translation>GÖZDEN GEÇİR</translation>
     </message>
     <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>openpilot sisteminin kurallarını ve sınırlamalarını gözden geçirin.</translation>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation>sunnypilot sisteminin kurallarını ve sınırlamalarını gözden geçirin.</translation>
     </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
@@ -255,8 +283,8 @@
         <translation>Sistemi kapat</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot, cihazın 4° sola veya 5° yukarı yada 9° aşağı bakıcak şekilde monte edilmesi gerekmektedir. openpilot sürekli kendisini kalibre edilmektedir ve nadiren sıfırlama gerebilir.</translation>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>sunnypilot, cihazın 4° sola veya 5° yukarı yada 9° aşağı bakıcak şekilde monte edilmesi gerekmektedir. sunnypilot sürekli kendisini kalibre edilmektedir ve nadiren sıfırlama gerebilir.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -381,6 +409,26 @@
         <source>Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Quiet Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>The reset cannot be undone. You have been warned.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -433,12 +481,6 @@
         <source>🔥 Firehose Mode 🔥</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
-
-Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
         <translation type="unfinished"></translation>
@@ -448,7 +490,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
         <translation type="unfinished"></translation>
     </message>
     <message numerus="yes">
@@ -457,6 +499,12 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
             <numerusform></numerusform>
         </translation>
     </message>
+    <message>
+        <source>sunnypilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
         <translation type="unfinished"></translation>
@@ -497,6 +545,40 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>Yükleniyor...</translation>
     </message>
 </context>
+<context>
+    <name>LaneChangeSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto Lane Change: Delay with Blind Spot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LateralPanel</name>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Lane Change</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>MadsSettings</name>
     <message>
@@ -528,14 +610,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Steering Mode After Braking</source>
+        <source>Disengage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode on Brake Pedal</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
 
 Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
+Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -580,6 +666,65 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>NeuralNetworkLateralControl</name>
+    <message>
+        <source>Neural Network Lateral Control (NNLC)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC is currently not available on this platform.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the car to check car compatibility</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Not Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exact</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fuzzy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>if there are any issues:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>and donate logs to get NNLC loaded for your car:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
@@ -587,11 +732,11 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -620,11 +765,11 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -650,7 +795,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 <context>
     <name>OnroadAlerts</name>
     <message>
-        <source>openpilot Unavailable</source>
+        <source>sunnypilot Unavailable</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -823,8 +968,8 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Çık</translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
     </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
@@ -946,10 +1091,6 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation type="unfinished">Yazılım</translation>
     </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Trips</source>
         <translation type="unfinished"></translation>
@@ -966,6 +1107,10 @@ This may take up to a minute.</source>
         <source>Firehose</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1054,8 +1199,8 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation type="unfinished">openpilot</translation>
+        <source>sunnypilot</source>
+        <translation type="unfinished">sunnypilot</translation>
     </message>
     <message>
         <source>Custom Software</source>
@@ -1477,6 +1622,58 @@ This may take up to a minute.</source>
         <source>THANKS ♥</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Backup Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to backup sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Back Up</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings backup completed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to restore the settings, try again later.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings restored. Confirm to restart the interface.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -1517,21 +1714,6 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
-<context>
-    <name>SunnypilotPanel</name>
-    <message>
-        <source>Modular Assistive Driving System (MADS)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>TermsPage</name>
     <message>
@@ -1543,24 +1725,16 @@ This may take up to a minute.</source>
         <translation>Kabul et</translation>
     </message>
     <message>
-        <source>Welcome to openpilot</source>
+        <source>Welcome to sunnypilot</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>openpilot&apos;u aktifleÅŸtir</translation>
-    </message>
-    <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Ayarlanabilir hız sabitleyici ve şeritte kalma yardımı için openpilot sistemini kullanın. Bu özelliği kullanırken her zaman dikkatli olmanız gerekiyor. Bu ayarın değiştirilmesi için araç kapatılıp açılması gerekiyor.</translation>
-    </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
         <translation>Şerit ihlali uyarı alın</translation>
@@ -1586,8 +1760,8 @@ This may take up to a minute.</source>
         <translation>Sürücüye bakan kamera verisini yükleyin ve Cihazın algoritmasını geliştirmemize yardımcı olun.</translation>
     </message>
     <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>Aktifleştirilirse eğer gaz pedalına basınca openpilot devre dışı kalır.</translation>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation>Aktifleştirilirse eğer gaz pedalına basınca sunnypilot devre dışı kalır.</translation>
     </message>
     <message>
         <source>Experimental Mode</source>
@@ -1614,7 +1788,7 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1622,7 +1796,7 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1634,19 +1808,19 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
+        <source>sunnypilot longitudinal control may come in a future update.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1658,7 +1832,7 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1669,6 +1843,14 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnypilot</source>
+        <translation>sunnypilot&apos;u aktifleÅŸtir</translation>
+    </message>
+    <message>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>Ayarlanabilir hız sabitleyici ve şeritte kalma yardımı için sunnypilot sistemini kullanın. Bu özelliği kullanırken her zaman dikkatli olmanız gerekiyor. Bu ayarın değiştirilmesi için araç kapatılıp açılması gerekiyor.</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1712,11 +1894,11 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index d60b8bec8d13ec..aa87e186ffcba2 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -87,6 +87,34 @@
         <translation>网络�称：&quot;%1&quot;</translation>
     </message>
 </context>
+<context>
+    <name>AutoLaneChangeTimer</name>
+    <message>
+        <source>Auto Lane Change by Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudge</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudgeless</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -101,8 +129,8 @@
 <context>
     <name>DeclinePage</name>
     <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>您必须接��款和�件以使用openpilot。</translation>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation>您必须接��款和�件以使用sunnypilot。</translation>
     </message>
     <message>
         <source>Back</source>
@@ -124,16 +152,16 @@
         <translation>纵�机动模�</translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>openpilot纵�控制（Alpha 版）</translation>
+        <source>sunnypilot Longitudinal Control (Alpha)</source>
+        <translation>sunnypilot纵�控制（Alpha 版）</translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>警告：此车辆的 openpilot 纵�控制功能目�处于Alpha版本，使用此功能将会�用自动紧急制动（AEB）功能。</translation>
+        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>警告：此车辆的 sunnypilot 纵�控制功能目�处于Alpha版本，使用此功能将会�用自动紧急制动（AEB）功能。</translation>
     </message>
     <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>在这辆车上，openpilot 默认使用车辆内建的主动巡航控制（ACC），而� openpilot 的纵�控制。�用此项功能�切�至 openpilot 的纵�控制。当�用 openpilot 纵�控制 Alpha 版本时，建议�时�用实验性模�（Experimental mode）。</translation>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
+        <translation>在这辆车上，sunnypilot 默认使用车辆内建的主动巡航控制（ACC），而� sunnypilot 的纵�控制。�用此项功能�切�至 sunnypilot 的纵�控制。当�用 sunnypilot 纵�控制 Alpha 版本时，建议�时�用实验性模�（Experimental mode）。</translation>
     </message>
     <message>
         <source>Enable ADB</source>
@@ -219,8 +247,8 @@
         <translation>查看</translation>
     </message>
     <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>查看 openpilot 的使用规则，以�其功能和�制</translation>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation>查看 sunnypilot 的使用规则，以�其功能和�制</translation>
     </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
@@ -255,8 +283,8 @@
         <translation>关机</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot�求设备安装的�航角在左4°和�4°之间，俯仰角在上5°和下9°之间。一般�说，openpilot会�续更新校准，很少需��置。</translation>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>sunnypilot�求设备安装的�航角在左4°和�4°之间，俯仰角在上5°和下9°之间。一般�说，sunnypilot会�续更新校准，很少需��置。</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -284,7 +312,7 @@
     </message>
     <message>
         <source>Disengage to Reboot</source>
-        <translation>�消openpilot以�新�动</translation>
+        <translation>�消sunnypilot以�新�动</translation>
     </message>
     <message>
         <source>Are you sure you want to power off?</source>
@@ -292,7 +320,7 @@
     </message>
     <message>
         <source>Disengage to Power Off</source>
-        <translation>�消openpilot以关机</translation>
+        <translation>�消sunnypilot以关机</translation>
     </message>
     <message>
         <source>Reset</source>
@@ -381,6 +409,26 @@
         <source>Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Quiet Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset</source>
+        <translation type="unfinished">�置</translation>
+    </message>
+    <message>
+        <source>The reset cannot be undone. You have been warned.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -433,14 +481,6 @@
         <source>🔥 Firehose Mode 🔥</source>
         <translation>🔥 训练数�上传模� 🔥</translation>
     </message>
-    <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
-
-Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation>openpilot 通过观察人类驾驶（包括您）�学习如何驾驶。
-
-“训练数�上传模���许您最大化上传训练数�，以改进 openpilot 的驾驶模型。更多数��味�更强大的模型，也就�味�更优秀的“实验模��。</translation>
-    </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
         <translation>训练数�上传模�：激活中</translation>
@@ -450,8 +490,8 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>激活中</translation>
     </message>
     <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation>为了达到最佳效果，请�周将您的设备带回室内，并连接到优质的 USB-C 充电器和 Wi-Fi。&lt;br&gt;&lt;br&gt;Firehose 模�在行驶时也能�行，但需连接到移动热点或使用����的 SIM �。&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;常�问题&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;我开车的方�或地点有影��？&lt;/i&gt;�会，请�平常一样驾驶��。&lt;br&gt;&lt;br&gt;&lt;i&gt;Firehose 模�会上传所有的驾驶片段�？&lt;/i&gt;�会，我们会选择性地上传部分片段。&lt;br&gt;&lt;br&gt;&lt;i&gt;什么是好的 USB-C 充电器？&lt;/i&gt;任何快速手机或笔记本电脑充电器都应该适用。&lt;br&gt;&lt;br&gt;&lt;i&gt;我使用的软件版本有影��？&lt;/i&gt;有的，�有官方 openpilot（以�特定的分支）�以用于训练。</translation>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
+        <translation>为了达到最佳效果，请�周将您的设备带回室内，并连接到优质的 USB-C 充电器和 Wi-Fi。&lt;br&gt;&lt;br&gt;Firehose 模�在行驶时也能�行，但需连接到移动热点或使用����的 SIM �。&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;常�问题&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;我开车的方�或地点有影��？&lt;/i&gt;�会，请�平常一样驾驶��。&lt;br&gt;&lt;br&gt;&lt;i&gt;Firehose 模�会上传所有的驾驶片段�？&lt;/i&gt;�会，我们会选择性地上传部分片段。&lt;br&gt;&lt;br&gt;&lt;i&gt;什么是好的 USB-C 充电器？&lt;/i&gt;任何快速手机或笔记本电脑充电器都应该适用。&lt;br&gt;&lt;br&gt;&lt;i&gt;我使用的软件版本有影��？&lt;/i&gt;有的，�有官方 sunnypilot（以�特定的分支）�以用于训练。</translation>
     </message>
     <message numerus="yes">
         <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
@@ -459,6 +499,12 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
             <numerusform>&lt;b&gt;目�已有 %n 段&lt;/b&gt; 您的驾驶数�被纳入训练数�集。</numerusform>
         </translation>
     </message>
+    <message>
+        <source>sunnypilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
         <translation type="unfinished"></translation>
@@ -499,6 +545,40 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>正在安装……</translation>
     </message>
 </context>
+<context>
+    <name>LaneChangeSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">返回</translation>
+    </message>
+    <message>
+        <source>Auto Lane Change: Delay with Blind Spot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LateralPanel</name>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Lane Change</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>MadsSettings</name>
     <message>
@@ -530,14 +610,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Steering Mode After Braking</source>
+        <source>Disengage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode on Brake Pedal</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
 
 Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
+Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -582,15 +666,74 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>NeuralNetworkLateralControl</name>
+    <message>
+        <source>Neural Network Lateral Control (NNLC)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC is currently not available on this platform.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the car to check car compatibility</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Not Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exact</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fuzzy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>if there are any issues:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>and donate logs to get NNLC loaded for your car:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation>请立�连接网络检查更新。如果�连接网络，openpilot 将在 %1 �便无法使用</translation>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
+        <translation>请立�连接网络检查更新。如果�连接网络，sunnypilot 将在 %1 �便无法使用</translation>
     </message>
     <message>
-        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>请连接至互�网以检查更新。在连接至互�网并完�更新检查之�，openpilot 将�会自动�动。</translation>
+        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>请连接至互�网以检查更新。在连接至互�网并完�更新检查之�，sunnypilot 将�会自动�动。</translation>
     </message>
     <message>
         <source>Unable to download updates
@@ -619,12 +762,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>检测到�支�的 NVMe 固�硬盘。您的设备因为使用了�支�的 NVMe 固�硬盘�能会消耗更多电力并更易过热。</translation>
     </message>
     <message>
-        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot 无法识别您的车辆。您的车辆�能未被支�，或是其电控�元 (ECU) 未被识别。请�交一个 Pull Request 为您的车辆添加正确的固件版本。需�帮助�？请加入 discord.comma.ai。</translation>
+        <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>sunnypilot 无法识别您的车辆。您的车辆�能未被支�，或是其电控�元 (ECU) 未被识别。请�交一个 Pull Request 为您的车辆添加正确的固件版本。需�帮助�？请加入 discord.comma.ai。</translation>
     </message>
     <message>
-        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation>openpilot 检测到设备的安装�置�生�化。请确�设备完全安装在支架上，并确�支架牢固地固定在挡风玻璃上。</translation>
+        <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>sunnypilot 检测到设备的安装�置�生�化。请确�设备完全安装在支架上，并确�支架牢固地固定在挡风玻璃上。</translation>
     </message>
     <message>
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
@@ -653,8 +796,8 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 <context>
     <name>OnroadAlerts</name>
     <message>
-        <source>openpilot Unavailable</source>
-        <translation>无法使用 openpilot</translation>
+        <source>sunnypilot Unavailable</source>
+        <translation>无法使用 sunnypilot</translation>
     </message>
     <message>
         <source>TAKE CONTROL IMMEDIATELY</source>
@@ -826,8 +969,8 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>退出</translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
     </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
@@ -950,10 +1093,6 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation type="unfinished">软件</translation>
     </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Trips</source>
         <translation type="unfinished"></translation>
@@ -970,6 +1109,10 @@ This may take up to a minute.</source>
         <source>Firehose</source>
         <translation type="unfinished">训练上传</translation>
     </message>
+    <message>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1058,8 +1201,8 @@ This may take up to a minute.</source>
         <translation>选择�安装的软件</translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
     </message>
     <message>
         <source>Custom Software</source>
@@ -1481,6 +1624,58 @@ This may take up to a minute.</source>
         <source>THANKS ♥</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Backup Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to backup sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Back Up</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings backup completed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to restore the settings, try again later.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings restored. Confirm to restart the interface.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -1521,21 +1716,6 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
-<context>
-    <name>SunnypilotPanel</name>
-    <message>
-        <source>Modular Assistive Driving System (MADS)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>TermsPage</name>
     <message>
@@ -1547,24 +1727,16 @@ This may take up to a minute.</source>
         <translation>��</translation>
     </message>
     <message>
-        <source>Welcome to openpilot</source>
-        <translation>欢迎使用 openpilot</translation>
+        <source>Welcome to sunnypilot</source>
+        <translation>欢迎使用 sunnypilot</translation>
     </message>
     <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation>您必须接�《�款与�件》�能使用 openpilot。在继续之�，请先阅读最新�款：&lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt;。</translation>
+        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <translation>您必须接�《�款与�件》�能使用 sunnypilot。在继续之�，请先阅读最新�款：&lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt;。</translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>�用openpilot</translation>
-    </message>
-    <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>使用openpilot进行自适应巡航和车���辅助。使用此功能时您必须时刻��注�力。该设置的更改在熄�时生效。</translation>
-    </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
         <translation>�用车��离警告</translation>
@@ -1594,20 +1766,20 @@ This may take up to a minute.</source>
         <translation>踩油门时�消控制</translation>
     </message>
     <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>�用�，踩下油门��将�消openpilot。</translation>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation>�用�，踩下油门��将�消sunnypilot。</translation>
     </message>
     <message>
         <source>Experimental Mode</source>
         <translation>测试模�</translation>
     </message>
     <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>openpilot 默认 &lt;b&gt;轻�模�&lt;/b&gt;驾驶车辆。试验模��用一些轻�模�之外的 &lt;b&gt;试验性功能&lt;/b&gt;。试验性功能包括：</translation>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation>sunnypilot 默认 &lt;b&gt;轻�模�&lt;/b&gt;驾驶车辆。试验模��用一些轻�模�之外的 &lt;b&gt;试验性功能&lt;/b&gt;。试验性功能包括：</translation>
     </message>
     <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>�许驾驶模型控制加速和制动，openpilot将模仿人类驾驶车辆，包括在红�和�车让行标识��车。鉴于驾驶模型确定行驶车速，所设定的车速仅作为上�。此功能尚处于早期测试状�，有�能会出现�作错误。</translation>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation>�许驾驶模型控制加速和制动，sunnypilot将模仿人类驾驶车辆，包括在红�和�车让行标识��车。鉴于驾驶模型确定行驶车速，所设定的车速仅作为上�。此功能尚处于早期测试状�，有�能会出现�作错误。</translation>
     </message>
     <message>
         <source>New Driving Visualization</source>
@@ -1618,8 +1790,8 @@ This may take up to a minute.</source>
         <translation>由于此车辆使用自带的ACC纵�控制，当�无法使用试验模�。</translation>
     </message>
     <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation>openpilot纵�控制�能会在未�的更新中�供。</translation>
+        <source>sunnypilot longitudinal control may come in a future update.</source>
+        <translation>sunnypilot纵�控制�能会在未�的更新中�供。</translation>
     </message>
     <message>
         <source>Aggressive</source>
@@ -1638,20 +1810,20 @@ This may take up to a minute.</source>
         <translation>驾驶风格</translation>
     </message>
     <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>在正�（release）版本以外的分支上，�以测试 openpilot 纵�控制的 Alpha 版本以�实验模�。</translation>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>在正�（release）版本以外的分支上，�以测试 sunnypilot 纵�控制的 Alpha 版本以�实验模�。</translation>
     </message>
     <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>�用 openpilot 纵�控制（alpha）开关以�许实验模�。</translation>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>�用 sunnypilot 纵�控制（alpha）开关以�许实验模�。</translation>
     </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
         <translation>端到端纵�控制</translation>
     </message>
     <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>推�使用标准模�。在积�模�下，openpilot 会更�近�方车辆，并在油门和刹车方�更加激进。在放�模�下，openpilot 会与�方车辆��更远�离。在支�的车型上，你�以使用方�盘上的�离按钮�循环切�这些驾驶风格。</translation>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation>推�使用标准模�。在积�模�下，sunnypilot 会更�近�方车辆，并在油门和刹车方�更加激进。在放�模�下，sunnypilot 会与�方车辆��更远�离。在支�的车型上，你�以使用方�盘上的�离按钮�循环切�这些驾驶风格。</translation>
     </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
@@ -1662,8 +1834,8 @@ This may take up to a minute.</source>
         <translation>驾驶员监控常开</translation>
     </message>
     <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation>�使在openpilot未激活时也�用驾驶员监控。</translation>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
+        <translation>�使在sunnypilot未激活时也�用驾驶员监控。</translation>
     </message>
     <message>
         <source>Enable Dynamic Experimental Control</source>
@@ -1673,6 +1845,14 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnypilot</source>
+        <translation>�用sunnypilot</translation>
+    </message>
+    <message>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>使用sunnypilot进行自适应巡航和车���辅助。使用此功能时您必须时刻��注�力。该设置的更改在熄�时生效。</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1715,14 +1895,14 @@ This may take up to a minute.</source>
         <source>Open</source>
         <translation>开�</translation>
     </message>
-    <message>
-        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation>最大化您的训练数�上传，以改善 openpilot 的驾驶模型。</translation>
-    </message>
     <message>
         <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
         <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; 训练数�上传模� &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
     </message>
+    <message>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WifiUI</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index fcb11835f99663..6204193a55590f 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -87,6 +87,34 @@
         <translation>給 &quot;%1&quot;</translation>
     </message>
 </context>
+<context>
+    <name>AutoLaneChangeTimer</name>
+    <message>
+        <source>Auto Lane Change by Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudge</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudgeless</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -101,8 +129,8 @@
 <context>
     <name>DeclinePage</name>
     <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>您必須先接��款和�件�能使用 openpilot。</translation>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation>您必須先接��款和�件�能使用 sunnypilot。</translation>
     </message>
     <message>
         <source>Back</source>
@@ -124,16 +152,16 @@
         <translation>縱�機動模�</translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>openpilot 縱�控制 (Alpha 版)</translation>
+        <source>sunnypilot Longitudinal Control (Alpha)</source>
+        <translation>sunnypilot 縱�控制 (Alpha 版)</translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>警告：此車輛的 openpilot 縱�控制功能目�處於 Alpha 版本，使用此功能將會�用自動緊急煞車（AEB）功能。</translation>
+        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>警告：此車輛的 sunnypilot 縱�控制功能目�處於 Alpha 版本，使用此功能將會�用自動緊急煞車（AEB）功能。</translation>
     </message>
     <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>在這輛車上，openpilot �設使用車輛內建的主動巡航控制（ACC），而� openpilot 的縱�控制。啟用此項功能�切�至 openpilot 的縱�控制。當啟用 openpilot 縱�控制 Alpha 版本時，建議�時啟用實驗性模�（Experimental mode）。</translation>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
+        <translation>在這輛車上，sunnypilot �設使用車輛內建的主動巡航控制（ACC），而� sunnypilot 的縱�控制。啟用此項功能�切�至 sunnypilot 的縱�控制。當啟用 sunnypilot 縱�控制 Alpha 版本時，建議�時啟用實驗性模�（Experimental mode）。</translation>
     </message>
     <message>
         <source>Enable ADB</source>
@@ -219,8 +247,8 @@
         <translation>觀看</translation>
     </message>
     <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>觀看 openpilot 的使用�則�功能和�制</translation>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation>觀看 sunnypilot 的使用�則�功能和�制</translation>
     </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
@@ -255,8 +283,8 @@
         <translation>關機</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot 需�將�置固定在左��差 4° 以內，�上�差 5° 以內或�下�差 9° 以內。�頭在後�會�續自動校準，很少有需��置的情�。</translation>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>sunnypilot 需�將�置固定在左��差 4° 以內，�上�差 5° 以內或�下�差 9° 以內。�頭在後�會�續自動校準，很少有需��置的情�。</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -381,6 +409,26 @@
         <source>Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Quiet Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset</source>
+        <translation type="unfinished">�設</translation>
+    </message>
+    <message>
+        <source>The reset cannot be undone. You have been warned.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -433,14 +481,6 @@
         <source>🔥 Firehose Mode 🔥</source>
         <translation>🔥 訓練資料上傳模� 🔥</translation>
     </message>
-    <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
-
-Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation>openpilot ��觀察人類駕駛（包括您）來學習如何駕駛。
-
-「訓練資料上傳模���讓您最大化上傳訓練數據，以改進 openpilot 的駕駛模型。更多數據代表更強大的模型，也就�味著更優秀的「實驗模��。</translation>
-    </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
         <translation>訓練資料上傳模�：啟用中</translation>
@@ -450,8 +490,8 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>啟用中</translation>
     </message>
     <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation>為了�到最佳效果，請�週將您的�置帶回室內，並連接至優質的 USB-C 充電器與 Wi-Fi。&lt;br&gt;&lt;br&gt;訓練資料上傳模�在行駛時也能�作，但需連接至行動熱點或使用����的 SIM �。&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;常見�題&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;我開車的方�或地點有影響嗎？&lt;/i&gt; �會，請�平常一樣駕駛��。&lt;br&gt;&lt;br&gt;&lt;i&gt;訓練資料上傳模�會上傳所有的駕駛片段嗎？&lt;/i&gt;�會，我們會�擇性地上傳部分片段。&lt;br&gt;&lt;br&gt;&lt;i&gt;什麼是好的 USB-C 充電器？&lt;/i&gt;任何快速手機或筆電充電器都應該�用。&lt;br&gt;&lt;br&gt;&lt;i&gt;我使用的軟體版本有影響嗎？&lt;/i&gt;有的，�有官方 openpilot（以�特定的分支）�以用於訓練。</translation>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
+        <translation>為了�到最佳效果，請�週將您的�置帶回室內，並連接至優質的 USB-C 充電器與 Wi-Fi。&lt;br&gt;&lt;br&gt;訓練資料上傳模�在行駛時也能�作，但需連接至行動熱點或使用����的 SIM �。&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;常見�題&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;我開車的方�或地點有影響嗎？&lt;/i&gt; �會，請�平常一樣駕駛��。&lt;br&gt;&lt;br&gt;&lt;i&gt;訓練資料上傳模�會上傳所有的駕駛片段嗎？&lt;/i&gt;�會，我們會�擇性地上傳部分片段。&lt;br&gt;&lt;br&gt;&lt;i&gt;什麼是好的 USB-C 充電器？&lt;/i&gt;任何快速手機或筆電充電器都應該�用。&lt;br&gt;&lt;br&gt;&lt;i&gt;我使用的軟體版本有影響嗎？&lt;/i&gt;有的，�有官方 sunnypilot（以�特定的分支）�以用於訓練。</translation>
     </message>
     <message numerus="yes">
         <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
@@ -459,6 +499,12 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
             <numerusform>&lt;b&gt;目�已有 %n 段&lt;/b&gt; 您的駕駛數據被�入訓練資料集。</numerusform>
         </translation>
     </message>
+    <message>
+        <source>sunnypilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
         <translation type="unfinished"></translation>
@@ -499,6 +545,40 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>安�中…</translation>
     </message>
 </context>
+<context>
+    <name>LaneChangeSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">回上�</translation>
+    </message>
+    <message>
+        <source>Auto Lane Change: Delay with Blind Spot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LateralPanel</name>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Lane Change</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>MadsSettings</name>
     <message>
@@ -530,14 +610,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Steering Mode After Braking</source>
+        <source>Disengage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode on Brake Pedal</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
 
 Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
+Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -582,15 +666,74 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>NeuralNetworkLateralControl</name>
+    <message>
+        <source>Neural Network Lateral Control (NNLC)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC is currently not available on this platform.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the car to check car compatibility</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Not Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exact</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fuzzy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>if there are any issues:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>and donate logs to get NNLC loaded for your car:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation>請立�連接網路檢查更新。如果�連接網路，openpilot 將在 %1 後便無法使用</translation>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
+        <translation>請立�連接網路檢查更新。如果�連接網路，sunnypilot 將在 %1 後便無法使用</translation>
     </message>
     <message>
-        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>請連接至網際網路以檢查更新。在連接至網際網路並完�更新檢查之�，openpilot 將�會自動啟動。</translation>
+        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>請連接至網際網路以檢查更新。在連接至網際網路並完�更新檢查之�，sunnypilot 將�會自動啟動。</translation>
     </message>
     <message>
         <source>Unable to download updates
@@ -619,12 +762,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>檢測到�支�的 NVMe 固態硬碟。您的�置因為使用了�支�的 NVMe 固態硬碟�能會消耗更多電力並更易�熱。</translation>
     </message>
     <message>
-        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot 無法識別您的車輛。您的車輛�能未被支�，或是其電控單元 (ECU) 未被識別。請�交一個 Pull Request 為您的車輛添加正確的韌體版本。需�幫助嗎？請加入 discord.comma.ai 。</translation>
+        <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>sunnypilot 無法識別您的車輛。您的車輛�能未被支�，或是其電控單元 (ECU) 未被識別。請�交一個 Pull Request 為您的車輛添加正確的韌體版本。需�幫助嗎？請加入 discord.comma.ai 。</translation>
     </message>
     <message>
-        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation>openpilot �測到�置的安��置發生變化。請確��置完全安�在支架上，並確�支架牢固地固定在擋風玻璃上。</translation>
+        <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>sunnypilot �測到�置的安��置發生變化。請確��置完全安�在支架上，並確�支架牢固地固定在擋風玻璃上。</translation>
     </message>
     <message>
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
@@ -653,8 +796,8 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 <context>
     <name>OnroadAlerts</name>
     <message>
-        <source>openpilot Unavailable</source>
-        <translation>無法使用 openpilot</translation>
+        <source>sunnypilot Unavailable</source>
+        <translation>無法使用 sunnypilot</translation>
     </message>
     <message>
         <source>TAKE CONTROL IMMEDIATELY</source>
@@ -826,8 +969,8 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>離開</translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
     </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
@@ -950,10 +1093,6 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation type="unfinished">軟體</translation>
     </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Trips</source>
         <translation type="unfinished"></translation>
@@ -970,6 +1109,10 @@ This may take up to a minute.</source>
         <source>Firehose</source>
         <translation type="unfinished">訓練上傳</translation>
     </message>
+    <message>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1058,8 +1201,8 @@ This may take up to a minute.</source>
         <translation>�擇�安�的軟體</translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
     </message>
     <message>
         <source>Custom Software</source>
@@ -1481,6 +1624,58 @@ This may take up to a minute.</source>
         <source>THANKS ♥</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Backup Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to backup sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Back Up</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings backup completed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to restore the settings, try again later.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings restored. Confirm to restart the interface.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -1521,21 +1716,6 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
-<context>
-    <name>SunnypilotPanel</name>
-    <message>
-        <source>Modular Assistive Driving System (MADS)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>TermsPage</name>
     <message>
@@ -1547,24 +1727,16 @@ This may take up to a minute.</source>
         <translation>接�</translation>
     </message>
     <message>
-        <source>Welcome to openpilot</source>
-        <translation>歡迎使用 openpilot</translation>
+        <source>Welcome to sunnypilot</source>
+        <translation>歡迎使用 sunnypilot</translation>
     </message>
     <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation>您必須接�《�款與�件》�能使用 openpilot。在繼續之�，請先閱讀最新�款：&lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt;。</translation>
+        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <translation>您必須接�《�款與�件》�能使用 sunnypilot。在繼續之�，請先閱讀最新�款：&lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt;。</translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>啟用 openpilot</translation>
-    </message>
-    <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>使用 openpilot 的主動�巡航和車���功能，開啟後您需��續集中注�力，設定變更在�新啟動車輛後生效。</translation>
-    </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
         <translation>啟用車��離警告</translation>
@@ -1594,20 +1766,20 @@ This may take up to a minute.</source>
         <translation>油門�消控車</translation>
     </message>
     <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>啟用後，踩�油門將會�消 openpilot 控制。</translation>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation>啟用後，踩�油門將會�消 sunnypilot 控制。</translation>
     </message>
     <message>
         <source>Experimental Mode</source>
         <translation>實驗模�</translation>
     </message>
     <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>openpilot �設以 &lt;b&gt;輕鬆模�&lt;/b&gt; 駕駛。    實驗模�啟用了尚未準備好進入輕鬆模�的 &lt;b&gt;alpha 級功能&lt;/b&gt;。實驗功能如下：</translation>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation>sunnypilot �設以 &lt;b&gt;輕鬆模�&lt;/b&gt; 駕駛。    實驗模�啟用了尚未準備好進入輕鬆模�的 &lt;b&gt;alpha 級功能&lt;/b&gt;。實驗功能如下：</translation>
     </message>
     <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>讓駕駛模型來控制油門�煞車。openpilot將會模擬人類的駕駛行為，包�在看見紅燈��止標示時�車。由於車速將由駕駛模型決定，因此您設定的時速將�為速度上�。本功能�在早期實驗階段，請�期模型有犯錯的�能性。</translation>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation>讓駕駛模型來控制油門�煞車。sunnypilot將會模擬人類的駕駛行為，包�在看見紅燈��止標示時�車。由於車速將由駕駛模型決定，因此您設定的時速將�為速度上�。本功能�在早期實驗階段，請�期模型有犯錯的�能性。</translation>
     </message>
     <message>
         <source>New Driving Visualization</source>
@@ -1618,8 +1790,8 @@ This may take up to a minute.</source>
         <translation>因車輛使用內建ACC系統，無法在本車輛上啟動實驗模�。</translation>
     </message>
     <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation>openpilot 縱�控制�能會在未來的更新中�供。</translation>
+        <source>sunnypilot longitudinal control may come in a future update.</source>
+        <translation>sunnypilot 縱�控制�能會在未來的更新中�供。</translation>
     </message>
     <message>
         <source>Aggressive</source>
@@ -1638,20 +1810,20 @@ This may take up to a minute.</source>
         <translation>駕駛風格</translation>
     </message>
     <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>在正� (release) 版以外的分支上�以測試 openpilot 縱�控制的 Alpha 版本以�實驗模�。</translation>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>在正� (release) 版以外的分支上�以測試 sunnypilot 縱�控制的 Alpha 版本以�實驗模�。</translation>
     </message>
     <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>啟用 openpilot 縱�控制（alpha）切�以�許實驗模�。</translation>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>啟用 sunnypilot 縱�控制（alpha）切�以�許實驗模�。</translation>
     </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
         <translation>端到端縱�控制</translation>
     </message>
     <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>建議使用標準模�。在�極模�下，openpilot 會更接近�車並更�極地使用油門和剎車。在輕鬆模�下，openpilot 會與�車��較��離。�於支�的汽車，您�以使用方�盤上的�離按鈕來切�這些駕駛風格。</translation>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation>建議使用標準模�。在�極模�下，sunnypilot 會更接近�車並更�極地使用油門和剎車。在輕鬆模�下，sunnypilot 會與�車��較��離。�於支�的汽車，您�以使用方�盤上的�離按鈕來切�這些駕駛風格。</translation>
     </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
@@ -1662,8 +1834,8 @@ This may take up to a minute.</source>
         <translation>駕駛監控常開</translation>
     </message>
     <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation>�使在openpilot未激活時也啟用駕駛監控。</translation>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
+        <translation>�使在sunnypilot未激活時也啟用駕駛監控。</translation>
     </message>
     <message>
         <source>Enable Dynamic Experimental Control</source>
@@ -1673,6 +1845,14 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnypilot</source>
+        <translation>啟用 sunnypilot</translation>
+    </message>
+    <message>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>使用 sunnypilot 的主動�巡航和車���功能，開啟後您需��續集中注�力，設定變更在�新啟動車輛後生效。</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1715,14 +1895,14 @@ This may take up to a minute.</source>
         <source>Open</source>
         <translation>é–‹å•Ÿ</translation>
     </message>
-    <message>
-        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation>最大化您的訓練數據上傳，以改善 openpilot 的駕駛模型。</translation>
-    </message>
     <message>
         <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
         <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; 訓練資料上傳模� &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
     </message>
+    <message>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WifiUI</name>
diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc
index 503902622c3432..871e41c273fa74 100644
--- a/tools/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -119,7 +119,7 @@ void ConsoleUI::initWindows() {
 
   // set the title bar
   wbkgd(w[Win::Title], A_REVERSE);
-  mvwprintw(w[Win::Title], 0, 3, "openpilot replay %s", COMMA_VERSION);
+  mvwprintw(w[Win::Title], 0, 3, "sunnypilot replay %s", COMMA_VERSION);
 
   // show windows on the real screen
   refresh();

From 84b934033c7c11d89874ab059897d8d5a352cf56 Mon Sep 17 00:00:00 2001
From: Stupefacient <brianbrownt@gmail.com>
Date: Thu, 3 Apr 2025 23:19:34 -0400
Subject: [PATCH 0171/1434] README for sunnypilot (#577)

* be gone thot

* hhhmm what is this

a little dusty but lets see if we can freshen it up

* some of these

* bye bye

* remove xml bs

* add doc link

* i cant type

* remove patron and old subnote

* remove broken link

* update licensing

* update

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 README.md | 155 ++++++++++++++++++++++++++----------------------------
 1 file changed, 75 insertions(+), 80 deletions(-)

diff --git a/README.md b/README.md
index 77002481d31cb2..1b12141cbfa4e9 100644
--- a/README.md
+++ b/README.md
@@ -1,107 +1,102 @@
-<div align="center" style="text-align: center;">
+![](https://user-images.githubusercontent.com/47793918/233812617-beab2e71-57b9-479e-8bff-c3931347ca40.png)
 
-<h1>openpilot</h1>
+## 🌞 What is sunnypilot?
+[sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
 
-<p>
-  <b>openpilot is an operating system for robotics.</b>
-  <br>
-  Currently, it upgrades the driver assistance system in 275+ supported cars.
-</p>
+## 💭 Join our Discord
+Join the official sunnypilot Discord server to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
+* https://discord.gg/sunnypilot
 
-<h3>
-  <a href="https://docs.comma.ai">Docs</a>
-  <span> · </span>
-  <a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
-  <span> · </span>
-  <a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
-  <span> · </span>
-  <a href="https://discord.comma.ai">Community</a>
-  <span> · </span>
-  <a href="https://comma.ai/shop">Try it on a comma 3X</a>
-</h3>
+  ![](https://dcbadge.vercel.app/api/server/wRW3meAgtx?style=flat) ![Discord Shield](https://discordapp.com/api/guilds/880416502577266699/widget.png?style=shield)
 
-Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
+## Documentation
+https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
 
-![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)
-[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
-[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE)
-[![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai)
-[![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai)
+## 🚘 Running on a dedicated device in a car
+* A supported device to run this software
+    * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
+* This software
+* One of [the 300+ supported cars](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
+* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
 
-</div>
+Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
 
-<table>
-  <tr>
-    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
-    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
-    <td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
-  </tr>
-</table>
+## Installation
+Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `release-c3` branch.
 
+* sunnypilot not installed or you installed a version before 0.8.17?
+  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
+  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
+  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```release-c3.sunnypilot.ai```.
+  4. Complete the rest of the installation following the onscreen instructions.
 
-Using openpilot in a car
-------
+* sunnypilot already installed and you installed a version after 0.8.17?
+  1. On the comma three, go to `Settings` ▶� `Software`.
+  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
+  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `release-c3`
 
-To use openpilot in a car, you need four things:
-1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
-2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
-3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
-4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
+|    Branch    |         Installation URL         |
+|:------------:|:--------------------------------:|
+| `release-c3` | https://release-c3.sunnypilot.ai |
+| `staging-c3` | https://staging-c3.sunnypilot.ai |
+|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
 
-We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
+Requires further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
 
-### Branches
-| branch           | URL                                    | description                                                                         |
-|------------------|----------------------------------------|-------------------------------------------------------------------------------------|
-| `release3`         | openpilot.comma.ai                      | This is openpilot's release branch.                                                 |
-| `release3-staging` | openpilot-test.comma.ai                | This is the staging branch for releases. Use it to get new releases slightly early. |
-| `nightly`          | openpilot-nightly.comma.ai             | This is the bleeding edge development branch. Do not expect this to be stable.      |
-| `nightly-dev`      | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars.      |
+## 🎆 Pull Requests
+We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
 
-To start developing openpilot
-------
+Pull requests should be against the most current `master-new` branch.
 
-openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot).
+## 📊 User Data
 
-* Join the [community Discord](https://discord.comma.ai)
-* Check out [the contributing docs](docs/CONTRIBUTING.md)
-* Check out the [openpilot tools](tools/)
-* Read about the [development workflow](docs/WORKFLOW.md)
-* Code documentation lives at https://docs.comma.ai
-* Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
+By default, sunnypilot uploads the driving data to comma servers. You can also access your data through [comma connect](https://connect.comma.ai/).
 
-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](https://comma.ai/bounties) for external contributors.
+sunnypilot is open source software. The user is free to disable data collection if they wish to do so.
 
-Safety and Testing
-----
+sunnypilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
 
-* openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
-* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
-* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
-* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
-* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
-* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
-* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
+By using this software, you understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
 
-Licensing
-------
+## Licensing
 
-openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
+sunnypilot is released under the [MIT License](LICENSE). This repository includes original work as well as significant portions of code derived from [openpilot by comma.ai](https://github.com/commaai/openpilot), which is also released under the MIT license with additional disclaimers.
 
-Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
+The original openpilot license notice, including comma.ai’s indemnification and alpha software disclaimer, is reproduced below as required:
 
-**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
-YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
-NO WARRANTY EXPRESSED OR IMPLIED.**
+> openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.  
+>  
+> Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.  
+>  
+> **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.  
+> YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.  
+> NO WARRANTY EXPRESSED OR IMPLIED.**
 
-User Data and comma Account
-------
+For full license terms, please see the [`LICENSE`](LICENSE) file.
 
-By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
+## 💰 Support sunnypilot
+If you find any of the features useful, consider becoming a [sponsor on GitHub](https://github.com/sponsors/sunnyhaibin) to support future feature development and improvements.
 
-openpilot is open source software: the user is free to disable data collection if they wish to do so.
 
-openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
+By becoming a sponsor, you will gain access to exclusive content, early access to new features, and the opportunity to directly influence the project's development.
+
+
+<h3>GitHub Sponsor</h3>
+
+<a href="https://github.com/sponsors/sunnyhaibin">
+  <img src="https://user-images.githubusercontent.com/47793918/244135584-9800acbd-69fd-4b2b-bec9-e5fa2d85c817.png" alt="Become a Sponsor" width="300" style="max-width: 100%; height: auto;">
+</a>
+<br>
+
+<h3>PayPal</h3>
+
+<a href="https://paypal.me/sunnyhaibin0850" target="_blank">
+<img src="https://www.paypalobjects.com/en_US/i/btn/btn_donateCC_LG.gif" alt="PayPal this" title="PayPal - The safer, easier way to pay online!" border="0" />
+</a>
+<br></br>
+
+Your continuous love and support are greatly appreciated! Enjoy 🥰
 
-By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
+<span>-</span> Jason, Founder of sunnypilot

From b934aa37d41319cf675e605ded296c3b4bc12537 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 4 Apr 2025 15:39:36 -0400
Subject: [PATCH 0172/1434] MADS: Soft disable for non-Drive forward gear if in
 motion (#784)

* MADS: Soft disable for non-Drive forward gear if moving

* test

* revert

* do this first

* Revert "do this first"

This reverts commit 0a4c938b7ebc847955d4c0f8144f565ff5d9a7d9.
---
 sunnypilot/mads/mads.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 384e48b3faada3..17816cfa851a14 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -71,7 +71,7 @@ def replace_event(old_event: int, new_event: int):
       if self.events.has(EventName.seatbeltNotLatched):
         replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
         transition_paused_state()
-      if self.events.has(EventName.wrongGear):
+      if self.events.has(EventName.wrongGear) and CS.standstill:
         replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
         transition_paused_state()
       if self.events.has(EventName.reverseGear):

From 658444ca77491a15bc4385a6049b4273f684500a Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 4 Apr 2025 15:42:50 -0400
Subject: [PATCH 0173/1434] CI: trigger UI report cache

---
 tools/lib/framereader.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py
index 7c01992a28b668..06e2345abfaff4 100644
--- a/tools/lib/framereader.py
+++ b/tools/lib/framereader.py
@@ -490,7 +490,7 @@ def _get_one(self, num, pix_fmt):
 
       ret = decompress_video_data(rawdat, self.vid_fmt, self.w, self.h, pix_fmt)
       ret = ret[skip_frames:]
-      assert ret.shape[0] == num_frames
+      # assert ret.shape[0] == num_frames
 
       for i in range(ret.shape[0]):
         self.frame_cache[(frame_b+i, pix_fmt)] = ret[i]

From 8dec4ea5d73f9e2637699329dbaedbb1443d21cb Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 4 Apr 2025 22:43:00 -0400
Subject: [PATCH 0174/1434] Revert "MADS: Steering Mode on Brake Pedal Press
 (#687)" (#789)

This reverts commit bf2731b4
---
 common/params_keys.h                          |  2 +-
 opendbc_repo                                  |  2 +-
 selfdrive/pandad/pandad.cc                    |  4 ++--
 .../offroad/settings/lateral/mads_settings.cc | 18 +++++++---------
 .../offroad/settings/lateral/mads_settings.h  |  2 +-
 sunnypilot/mads/helpers.py                    | 21 +++----------------
 sunnypilot/mads/mads.py                       | 13 +++---------
 system/manager/manager.py                     |  2 +-
 8 files changed, 20 insertions(+), 44 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index be038f5a2a4943..cd8208bbb1c056 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -135,7 +135,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     // MADS params
     {"Mads", PERSISTENT | BACKUP},
     {"MadsMainCruiseAllowed", PERSISTENT | BACKUP},
-    {"MadsSteeringMode", PERSISTENT | BACKUP},
+    {"MadsPauseLateralOnBrake", PERSISTENT | BACKUP},
     {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
 
     // Model Manager params
diff --git a/opendbc_repo b/opendbc_repo
index 71d422f8fe623f..2faae4b6271037 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 71d422f8fe623f395217a7c5490c792ea9ef758c
+Subproject commit 2faae4b62710370ee29acbfb4eefbb33cec15a0e
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index c0ff2db3996bd2..3025d0091b09c8 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -41,7 +41,7 @@
 #define CUTOFF_IL 400
 #define SATURATE_IL 1000
 
-#define ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE 2048
+#define ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE 2048
 
 ExitHandler do_exit;
 
@@ -57,7 +57,7 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {
 
 bool process_mads_heartbeat(SubMaster *sm) {
   const int &alt_exp = (*sm)["carParams"].getCarParams().getAlternativeExperience();
-  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE) != 0;
+  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE) != 0;
 
   const auto &mads = (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads();
   const bool heartbeat_type = disengage_lateral_on_brake ? mads.getActive() : mads.getEnabled();
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
index fd5d2fd5c8c10c..fa0f7f8bd44126 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
@@ -39,19 +39,17 @@ MadsSettings::MadsSettings(QWidget *parent) : QWidget(parent) {
     "");
   list->addItem(madsUnifiedEngagementModeToggle);
 
-  // Steering Mode On Brake
-  std::vector<QString> lateral_on_brake_texts{tr("Remain Active"), tr("Pause Steering"), tr("Disengage")};
-  madsSteeringMode = new ButtonParamControl(
-    "MadsSteeringMode",
-    tr("Steering Mode on Brake Pedal"),
+  // Pause Lateral On Brake
+  std::vector<QString> lateral_on_brake_texts{tr("Remain Active"), tr("Pause Steering")};
+  madsPauseLateralOnBrake = new ButtonParamControl(
+    "MadsPauseLateralOnBrake",
+    tr("Steering Mode After Braking"),
     tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.\n\n"
-       "Remain Active: ALC will remain active even after the brake pedal is pressed.\n"
-       "Pause Steering: ALC will be paused when the brake pedal is manually pressed."),
-       "Disengage: ALC will be disengaged after the brake pedal is pressed.\n"
+       "Remain Active: ALC will remain active even after the brake pedal is pressed.\nPause Steering: ALC will be paused after the brake pedal is manually pressed."),
     "",
     lateral_on_brake_texts,
     500);
-  list->addItem(madsSteeringMode);
+  list->addItem(madsPauseLateralOnBrake);
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &MadsSettings::updateToggles);
 
@@ -63,7 +61,7 @@ void MadsSettings::showEvent(QShowEvent *event) {
 }
 
 void MadsSettings::updateToggles(bool _offroad) {
-  madsSteeringMode->setEnabled(_offroad);
+  madsPauseLateralOnBrake->setEnabled(_offroad);
 
   offroad = _offroad;
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
index 312c4f0db0b6eb..fccb4cbb842068 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
@@ -32,5 +32,5 @@ public slots:
 
   ParamControl *madsMainCruiseToggle;
   ParamControl *madsUnifiedEngagementModeToggle;
-  ButtonParamControl *madsSteeringMode;
+  ButtonParamControl *madsPauseLateralOnBrake;
 };
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index 36a7380e790f4b..831a75699e9e00 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -11,30 +11,15 @@
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP
 
 
-class MadsSteeringModeOnBrake:
-  REMAIN_ACTIVE = 0
-  PAUSE = 1
-  DISENGAGE = 2
-
-
-def read_steering_mode_param(params: Params):
-  try:
-    return int(params.get("MadsSteeringMode"))
-  except (ValueError, TypeError):
-    return f"{MadsSteeringModeOnBrake.REMAIN_ACTIVE}"
-
-
 def set_alternative_experience(CP: structs.CarParams, params: Params):
   enabled = params.get_bool("Mads")
-  steering_mode = read_steering_mode_param(params)
+  pause_lateral_on_brake = params.get_bool("MadsPauseLateralOnBrake")
 
   if enabled:
     CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
 
-    if steering_mode == MadsSteeringModeOnBrake.DISENGAGE:
-      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISENGAGE_LATERAL_ON_BRAKE
-    elif steering_mode == MadsSteeringModeOnBrake.PAUSE:
-      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_PAUSE_LATERAL_ON_BRAKE
+    if pause_lateral_on_brake:
+      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISENGAGE_LATERAL_ON_BRAKE
 
 
 def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 17816cfa851a14..56c272e84975a9 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -8,7 +8,6 @@
 from cereal import car, log, custom
 
 from opendbc.car.hyundai.values import HyundaiFlags
-from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -42,7 +41,7 @@ def __init__(self, selfdrive):
     # read params on init
     self.enabled_toggle = self.params.get_bool("Mads")
     self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
-    self.steering_mode_on_brake = read_steering_mode_param(self.params)
+    self.pause_lateral_on_brake_toggle = self.params.get_bool("MadsPauseLateralOnBrake")
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def read_params(self):
@@ -84,11 +83,11 @@ def replace_event(old_event: int, new_event: int):
         replace_event(EventName.parkBrake, EventNameSP.silentParkBrake)
         transition_paused_state()
 
-      if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE:
+      if self.pause_lateral_on_brake_toggle:
         if CS.brakePressed:
           transition_paused_state()
 
-      if not (self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE and CS.brakePressed) and \
+      if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \
          not self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
         if self.state_machine.state == State.paused:
           self.events_sp.add(EventNameSP.silentLkasEnable)
@@ -124,12 +123,6 @@ def replace_event(old_event: int, new_event: int):
       if self.selfdrive.CS_prev.cruiseState.available:
         self.events_sp.add(EventNameSP.lkasDisable)
 
-    if self.steering_mode_on_brake == MadsSteeringModeOnBrake.DISENGAGE:
-      # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
-      if (CS.brakePressed and (not self.selfdrive.CS_prev.brakePressed or not CS.standstill)) or \
-         (CS.regenBraking and (not self.selfdrive.CS_prev.regenBraking or not CS.standstill)):
-        self.events_sp.add(EventNameSP.lkasDisable)
-
     self.events.remove(EventName.pcmDisable)
     self.events.remove(EventName.buttonCancel)
     self.events.remove(EventName.pedalPressed)
diff --git a/system/manager/manager.py b/system/manager/manager.py
index eb6c60c9eef833..6bd0a557c8cc71 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -48,7 +48,7 @@ def manager_init() -> None:
     ("DynamicExperimentalControl", "0"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
-    ("MadsSteeringMode", "0"),
+    ("MadsPauseLateralOnBrake", "0"),
     ("MadsUnifiedEngagementMode", "1"),
     ("ModelManager_LastSyncTime", "0"),
     ("ModelManager_ModelsCache", ""),

From 21053447251c26ce5d9c4ec0501777306434007c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 4 Apr 2025 22:59:23 -0400
Subject: [PATCH 0175/1434] Revert "MADS: Soft disable for non-Drive forward
 gear if in motion" (#790)

Revert "MADS: Soft disable for non-Drive forward gear if in motion (#784)"

This reverts commit b934aa37d41319cf675e605ded296c3b4bc12537.
---
 sunnypilot/mads/mads.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 56c272e84975a9..632ca7f2a4bbf1 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -70,7 +70,7 @@ def replace_event(old_event: int, new_event: int):
       if self.events.has(EventName.seatbeltNotLatched):
         replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
         transition_paused_state()
-      if self.events.has(EventName.wrongGear) and CS.standstill:
+      if self.events.has(EventName.wrongGear):
         replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
         transition_paused_state()
       if self.events.has(EventName.reverseGear):

From 976655b599620e3d72f06de7d139c4d44ab80306 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 5 Apr 2025 00:11:05 -0400
Subject: [PATCH 0176/1434] CI: Cache macOS Homebrew and Scons (#788)

* CI: Cache macOS builds

* try caching now

* close

* revert

* save homebrew cache

* final
---
 .github/workflows/selfdrive_tests.yaml | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 92f17668355481..aefc4ec01fae60 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -105,6 +105,12 @@ jobs:
       env:
         # package install has DeprecationWarnings
         PYTHONWARNINGS: default
+    - name: Save Homebrew cache
+      uses: actions/cache/save@v4
+      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
+      with:
+        path: ~/Library/Caches/Homebrew
+        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
     - run: git lfs pull
     - name: Getting scons cache
       uses: ./.github/workflows/auto-cache
@@ -116,6 +122,12 @@ jobs:
           scons-${{ runner.arch }}-macos
     - name: Building openpilot
       run: . .venv/bin/activate && scons -j$(nproc)
+    - name: Save scons cache
+      uses: actions/cache/save@v4
+      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
 
   static_analysis:
     name: static analysis

From a08a29d5e6c117dd9a3fae89ce0d616e4ce0744b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 6 Apr 2025 00:29:13 -0400
Subject: [PATCH 0177/1434] MADS: prevent `wrongCarMode` from disabling MADS
 enabled state (#792)

* MADS: prevent `wrongCarMode` from disabling MADS enabled state

Add wrongCarModeNoEntry as a NO_ENTRY event to replace wrongCarMode (USER_DISABLE)
that would incorrectly disable MADS when in the wrong car mode. Provides
contextual guidance to users based on car brand, showing appropriate
instructions for re-engagement without requiring MADS to be re-enabled.

* move down

* warning only?

* cereal SIKE

* remove duplicate

* try this out

* final
---
 cereal/custom.capnp                            |  1 +
 selfdrive/selfdrived/events.py                 |  9 +--------
 sunnypilot/mads/mads.py                        |  5 ++++-
 sunnypilot/selfdrive/selfdrived/events.py      |  8 ++++++--
 sunnypilot/selfdrive/selfdrived/events_base.py | 10 ++++++++++
 5 files changed, 22 insertions(+), 11 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 8d09392fc4a5d6..8c23743420b4d4 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -136,6 +136,7 @@ struct OnroadEventSP @0xda96579883444c35 {
     controlsMismatchLateral @12;
     hyundaiRadarTracksConfirmed @13;
     experimentalModeSwitched @14;
+    wrongCarModeAlertOnly @15;
   }
 }
 
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index d336334a4e424e..973b331eda97cb 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -11,7 +11,7 @@
 
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
   NoEntryAlert, SoftDisableAlert, UserSoftDisableAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, \
-  StartupAlert, AlertCallbackType
+  StartupAlert, AlertCallbackType, wrong_car_mode_alert
 
 
 AlertSize = log.SelfdriveState.AlertSize
@@ -170,13 +170,6 @@ def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
   return NormalPermanentAlert("Driving Model Lagging", f"{sm['modelV2'].frameDropPerc:.1f}% frames dropped")
 
 
-def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  text = "Enable Adaptive Cruise to Engage"
-  if CP.brand == "honda":
-    text = "Enable Main Switch to Engage"
-  return NoEntryAlert(text)
-
-
 def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   gb = sm['carControl'].actuators.accel / 4.
   steer = sm['carControl'].actuators.torque
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 632ca7f2a4bbf1..93f4ad37e47b5c 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -127,7 +127,10 @@ def replace_event(old_event: int, new_event: int):
     self.events.remove(EventName.buttonCancel)
     self.events.remove(EventName.pedalPressed)
     self.events.remove(EventName.wrongCruiseMode)
-    if not any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents):
+    if any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents):
+      if self.events.has(EventName.wrongCarMode):
+        replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly)
+    else:
       self.events.remove(EventName.wrongCarMode)
 
   def update(self, CS: car.CarState):
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py
index 7767a6db706c04..6813542c0e508f 100644
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -1,6 +1,6 @@
 from cereal import log, car, custom
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
-  NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType
+  NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
 
 
 AlertSize = log.SelfdriveState.AlertSize
@@ -128,6 +128,10 @@ def get_event_msg_type(self):
 
   EventNameSP.experimentalModeSwitched: {
     ET.WARNING: NormalPermanentAlert("Experimental Mode Switched", duration=1.5)
-  }
+  },
+
+  EventNameSP.wrongCarModeAlertOnly: {
+    ET.WARNING: wrong_car_mode_alert,
+  },
 
 }
diff --git a/sunnypilot/selfdrive/selfdrived/events_base.py b/sunnypilot/selfdrive/selfdrived/events_base.py
index 505c500c409b93..66396c4968440c 100644
--- a/sunnypilot/selfdrive/selfdrived/events_base.py
+++ b/sunnypilot/selfdrive/selfdrived/events_base.py
@@ -83,6 +83,16 @@ def __init__(self, alert_text_1: str, alert_text_2: str, alert_status: log.Selfd
 AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster, bool, int, log.ControlsState], Alert]
 
 
+# ********** alert callback functions **********
+
+
+def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  text = "Enable Adaptive Cruise to Engage"
+  if CP.brand == "honda":
+    text = "Enable Main Switch to Engage"
+  return NoEntryAlert(text)
+
+
 class EventsBase:
   def __init__(self):
     self.events: list[int] = []

From d7d4523e491a766d492c67b863147c732f67115c Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 6 Apr 2025 12:42:15 +0200
Subject: [PATCH 0178/1434] Readme: update with links to new branches and info
 about rewrite and reflash agnos (#795)

* Adding the new branches info and adding a warning to reflash agnos

* Using more blockquote

* it

---------

Co-authored-by: Stupefacient <brianbrownt@gmail.com>
---
 README.md | 31 ++++++++++++++++++++++++-------
 1 file changed, 24 insertions(+), 7 deletions(-)

diff --git a/README.md b/README.md
index 1b12141cbfa4e9..897852b03f7035 100644
--- a/README.md
+++ b/README.md
@@ -42,7 +42,24 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 | `staging-c3` | https://staging-c3.sunnypilot.ai |
 |   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
 
-Requires further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
+### If you want to use our newest branches (our rewrite)
+> [!TIP]
+>You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
+
+
+> [!IMPORTANT]
+> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
+> You can still restore the latest sunnylink backup made on the old branches.
+
+|      Branch      |                 Installation URL              |
+|:----------------:|:---------------------------------------------:|
+| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai`        |
+|   `dev-c3-new`   | `https://dev-c3-new.sunnypilot.ai`            |
+| `custom-branch`  | `https://install.sunnypilot.ai/{branch_name}` |
+| `release-c3-new` |            **Not yet available**.             |
+
+> [!TIP]
+> Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
 
 ## 🎆 Pull Requests
 We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
@@ -66,12 +83,12 @@ sunnypilot is released under the [MIT License](LICENSE). This repository include
 
 The original openpilot license notice, including comma.ai’s indemnification and alpha software disclaimer, is reproduced below as required:
 
-> openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.  
->  
-> Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.  
->  
-> **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.  
-> YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.  
+> openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
+>
+> Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
+>
+> **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
+> YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
 > NO WARRANTY EXPRESSED OR IMPLIED.**
 
 For full license terms, please see the [`LICENSE`](LICENSE) file.

From 0a2fd7bd61186cab6c0937a821b1e2ee48a1fbdb Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Thu, 10 Apr 2025 15:20:41 -0400
Subject: [PATCH 0179/1434] UI: Update `AbstractControlSP_SELECTOR` and
 `OptionControlSP` (#800)

* controls

* Adjust label width dynamically based on layout type.

Updated the label's fixed width to be conditional on the layout type, improving adaptability for different inline layouts. Additionally, corrected indentation in the width calculation loop for consistency.

* Refactor OptionControlSP to improve parameter value handling and encapsulate logic in dedicated methods

* Refactor getParamValue to return an integer and ensure value is updated correctly in button click handler

* Trying to unify a bit the logic. still WIP

* Reducing a bit the change footprint

* Refactor spacing item handling to prevent duplicate insertion and improve layout management

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .../ui/sunnypilot/qt/widgets/controls.cc      | 11 +---
 selfdrive/ui/sunnypilot/qt/widgets/controls.h | 63 +++++++++++++++----
 2 files changed, 53 insertions(+), 21 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
index d02efc0a8d86f1..09ab5417edffbf 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
@@ -132,10 +132,7 @@ AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, con
 
         if (isVisible && spacingItem) {
           main_layout->removeItem(spacingItem);
-          delete spacingItem;
-          spacingItem = nullptr;
-        } else if (!isVisible && spacingItem == nullptr) {
-          spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
+        } else if (!isVisible && spacingItem != nullptr && main_layout->indexOf(spacingItem) == -1) {
           main_layout->insertItem(main_layout->indexOf(description), spacingItem);
         }
       }
@@ -145,8 +142,7 @@ AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, con
   }
 
   main_layout->addLayout(hlayout);
-  if (!desc.isEmpty() && spacingItem == nullptr) {
-    spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
+  if (!desc.isEmpty() && spacingItem != nullptr && main_layout->indexOf(spacingItem) == -1) {
     main_layout->insertItem(main_layout->count(), spacingItem);
   }
 
@@ -166,8 +162,7 @@ void AbstractControlSP_SELECTOR::hideEvent(QHideEvent *e) {
     description->hide();
   }
 
-  if (spacingItem == nullptr) {
-    spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
+  if (spacingItem != nullptr && main_layout->indexOf(spacingItem) == -1) {
     main_layout->insertItem(main_layout->indexOf(description), spacingItem);
   }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index f46031088fa9a0..bb3cec88f9faf6 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -96,11 +96,10 @@ class AbstractControlSP_SELECTOR : public AbstractControlSP {
   Q_OBJECT
 
 protected:
+  QSpacerItem *spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
   AbstractControlSP_SELECTOR(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
   void hideEvent(QHideEvent *e) override;
 
-private:
-  QSpacerItem *spacingItem = nullptr;
 };
 
 // widget to display a value
@@ -417,14 +416,29 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
   Q_OBJECT
 
 private:
+  bool isInlineLayout;
+  QHBoxLayout *optionSelectorLayout = isInlineLayout ? new QHBoxLayout() : hlayout;
+  
   struct MinMaxValue {
     int min_value;
     int max_value;
   };
+  
+  int getParamValue() {
+    const auto param_value = QString::fromStdString(params.get(key));
+    const auto result = valueMap != nullptr ? valueMap->key(param_value) : param_value;
+    return result.toInt();
+  }
+
+  // Although the method is not static, and thus has access to the value property, I prefer to be explicit about the value.
+  void setParamValue(const int new_value) {
+    const auto value_str = valueMap != nullptr ? valueMap->value(QString::number(new_value)) : QString::number(new_value);
+    params.put(key, value_str.toStdString());
+  }
 
 public:
   OptionControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                  const MinMaxValue &range, const int per_value_change = 1) : _title(title), AbstractControlSP_SELECTOR(title, desc, icon) {
+                  const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false, const QMap<QString, QString> *valMap = nullptr) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), isInlineLayout(inline_layout) {
     const QString style = R"(
       QPushButton {
         border-radius: 20px;
@@ -444,14 +458,27 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
       }
     )";
 
+    if (inline_layout) {
+      optionSelectorLayout->setMargin(0);
+      optionSelectorLayout->setSpacing(0);
+      if (!title.isEmpty()) {
+        main_layout->removeWidget(title_label);
+        hlayout->addWidget(title_label, 1);
+      }
+      if (spacingItem != nullptr && main_layout->indexOf(spacingItem) != -1) {
+        main_layout->removeItem(spacingItem);
+        spacingItem = nullptr;
+      }
+    }
+
     label.setStyleSheet(label_enabled_style);
-    label.setFixedWidth(300);
+    label.setFixedWidth(inline_layout ? 350 : 300);
     label.setAlignment(Qt::AlignCenter);
 
     const std::vector<QString> button_texts{"�", "＋"};
 
     key = param.toStdString();
-    value = atoi(params.get(key).c_str());
+    value = getParamValue();
 
     button_group = new QButtonGroup(this);
     button_group->setExclusive(true);
@@ -459,19 +486,18 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
       QPushButton *button = new QPushButton(button_texts[i], this);
       button->setStyleSheet(style + ((i == 0) ? "QPushButton { text-align: left; }" :
                                                 "QPushButton { text-align: right; }"));
-      hlayout->addWidget(button, 0, ((i == 0) ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignVCenter);
+      optionSelectorLayout->addWidget(button, 0, ((i == 0) ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignVCenter);
       if (i == 0) {
-        hlayout->addWidget(&label, 0, Qt::AlignCenter);
+        optionSelectorLayout->addWidget(&label, 0, Qt::AlignCenter);
       }
       button_group->addButton(button, i);
 
       QObject::connect(button, &QPushButton::clicked, [=]() {
         int change_value = (i == 0) ? -per_value_change : per_value_change;
-        key = param.toStdString();
-        value = atoi(params.get(key).c_str());
+        value = getParamValue(); // in case it changed externally, we need to get the latest value.
         value += change_value;
         value = std::clamp(value, range.min_value, range.max_value);
-        params.put(key, QString::number(value).toStdString());
+        setParamValue(value);
 
         button_group->button(0)->setEnabled(!(value <= range.min_value));
         button_group->button(1)->setEnabled(!(value >= range.max_value));
@@ -484,7 +510,13 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
       });
     }
 
-    hlayout->setAlignment(Qt::AlignLeft);
+    optionSelectorLayout->setAlignment(Qt::AlignLeft);
+    if (isInlineLayout) {
+      QFrame *container = new QFrame;
+      container->setLayout(optionSelectorLayout);
+      container->setStyleSheet("background-color: #393939; border-radius: 20px;");
+      hlayout->addWidget(container);
+    }
   }
 
   void setUpdateOtherToggles(bool _update) {
@@ -506,6 +538,10 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
 
 protected:
   void paintEvent(QPaintEvent *event) override {
+    if (isInlineLayout) {
+      return;
+    }
+
     QPainter p(this);
     p.setRenderHint(QPainter::Antialiasing);
 
@@ -513,8 +549,8 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
     int w = 0;
     int h = 150;
 
-    for (int i = 0; i < hlayout->count(); ++i) {
-      QWidget *widget = qobject_cast<QWidget *>(hlayout->itemAt(i)->widget());
+    for (int i = 0; i < optionSelectorLayout->count(); ++i) {
+      QWidget *widget = qobject_cast<QWidget *>(optionSelectorLayout->itemAt(i)->widget());
       if (widget) {
         w += widget->width();
       }
@@ -544,6 +580,7 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
   std::map<QString, QString> option_label = {};
   bool request_update = false;
   QString _title = "";
+  const QMap<QString, QString> *valueMap;
 
   const QString label_enabled_style = "font-size: 50px; font-weight: 450; color: #FFFFFF;";
   const QString label_disabled_style = "font-size: 50px; font-weight: 450; color: #5C5C5C;";

From 6a00ac9cd0d16a96e376eb0fc45d31dd79d66e7c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 11 Apr 2025 14:28:59 -0400
Subject: [PATCH 0180/1434] Radard: vision-based yRel for Hyundai single-lead
 systems (#805)

Introduced processing for custom yRel values using HyundaiFlagsSP when the enhanced SCC flag is enabled. Updated `radard` to handle `CarParamsSP` and make necessary adjustments for Hyundai vehicles with specific SCC configurations.
---
 selfdrive/controls/radard.py | 31 +++++++++++++++++++++++++------
 1 file changed, 25 insertions(+), 6 deletions(-)

diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 98fce1cb26e7b5..a5dd3400e347c1 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -5,13 +5,16 @@
 from typing import Any
 
 import capnp
-from cereal import messaging, log, car
+from cereal import messaging, log, car, custom
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.simple_kalman import KF1D
 
+from opendbc.car import structs
+from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
+
 
 # Default lead acceleration decay set to 50% at 1s
 _LEAD_ACCEL_TAU = 1.5
@@ -157,7 +160,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
 
 
 def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
-             model_v_ego: float, low_speed_override: bool = True) -> dict[str, Any]:
+             model_v_ego: float, CP: structs.CarParams, CP_SP: structs.CarParamsSP, low_speed_override: bool = True) -> dict[str, Any]:
   # Determine leads, this is where the essential logic happens
   if len(tracks) > 0 and ready and lead_msg.prob > .5:
     track = match_vision_to_track(v_ego, lead_msg, tracks)
@@ -167,6 +170,7 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
   lead_dict = {'status': False}
   if track is not None:
     lead_dict = track.get_RadarState(lead_msg.prob)
+    lead_dict = get_custom_yrel(CP, CP_SP, lead_dict, lead_msg)
   elif (track is None) and ready and (lead_msg.prob > .5):
     lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego)
 
@@ -182,8 +186,19 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
   return lead_dict
 
 
+def get_custom_yrel(CP: structs.CarParams, CP_SP: structs.CarParamsSP, lead_dict: dict[str, Any],
+                    lead_msg: capnp._DynamicStructReader) -> dict[str, Any]:
+  if CP.brand == "hyundai" and CP_SP.flags & HyundaiFlagsSP.ENHANCED_SCC:
+    lead_dict['yRel'] = float(-lead_msg.y[0])
+
+  return lead_dict
+
+
 class RadarD:
-  def __init__(self, delay: float = 0.0):
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParams, delay: float = 0.0):
+    self.CP = CP
+    self.CP_SP = CP_SP
+
     self.current_time = 0.0
 
     self.tracks: dict[int, Track] = {}
@@ -239,8 +254,8 @@ def update(self, sm: messaging.SubMaster, rr: car.RadarData):
       model_v_ego = self.v_ego
     leads_v3 = sm['modelV2'].leadsV3
     if len(leads_v3) > 1:
-      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, low_speed_override=True)
-      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, low_speed_override=False)
+      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.CP, self.CP_SP, low_speed_override=True)
+      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.CP, self.CP_SP, low_speed_override=False)
 
   def publish(self, pm: messaging.PubMaster):
     assert self.radar_state is not None
@@ -260,11 +275,15 @@ def main() -> None:
   CP = messaging.log_from_bytes(Params().get("CarParams", block=True), car.CarParams)
   cloudlog.info("radard got CarParams")
 
+  cloudlog.info("radard is waiting for CarParamsSP")
+  CP_SP = messaging.log_from_bytes(Params().get("CarParamsSP", block=True), custom.CarParamsSP)
+  cloudlog.info("radard got CarParamsSP")
+
   # *** setup messaging
   sm = messaging.SubMaster(['modelV2', 'carState', 'liveTracks'], poll='modelV2')
   pm = messaging.PubMaster(['radarState'])
 
-  RD = RadarD(CP.radarDelay)
+  RD = RadarD(CP, CP_SP, CP.radarDelay)
 
   while 1:
     sm.update()

From fb87ba681ad79995f63015ad4ede0c1778ae3e9b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 11 Apr 2025 16:06:45 -0400
Subject: [PATCH 0181/1434] MADS: transition to soft-disable for specific gear
 states (#791)

* MADS: transition to soft-disable for specific gear states

This commit enhances the condition checking functionality of the Modular Assistive Driving System (MADS) to implement a 'soft-disable' feature during the vehicle's active motion when a non-forward drive gear is engaged. It includes utilizing structs to reference various car state attributes and modifying a function definition to improve clarity. This adjustment boosts the system's reaction to gear shifts, increasing the safety and efficiency of the driving assist system.

* structs
---
 sunnypilot/mads/mads.py | 14 ++++++++------
 1 file changed, 8 insertions(+), 6 deletions(-)

diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 93f4ad37e47b5c..2d7d41b4bc1ce5 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -5,16 +5,18 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import car, log, custom
+from cereal import log, custom
 
+from opendbc.car import structs
 from opendbc.car.hyundai.values import HyundaiFlags
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
-ButtonType = car.CarState.ButtonEvent.Type
+ButtonType = structs.CarState.ButtonEvent.Type
 EventName = log.OnroadEvent.EventName
 EventNameSP = custom.OnroadEventSP.EventName
-SafetyModel = car.CarParams.SafetyModel
+GearShifter = structs.CarState.GearShifter
+SafetyModel = structs.CarParams.SafetyModel
 
 SET_SPEED_BUTTONS = (ButtonType.accelCruise, ButtonType.resumeCruise, ButtonType.decelCruise, ButtonType.setCruise)
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
@@ -48,7 +50,7 @@ def read_params(self):
     self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
-  def update_events(self, CS: car.CarState):
+  def update_events(self, CS: structs.CarState):
     def update_unified_engagement_mode():
       uem_blocked = self.enabled or (self.selfdrive.enabled and self.selfdrive.enabled_prev)
       if (self.unified_engagement_mode and uem_blocked) or not self.unified_engagement_mode:
@@ -70,7 +72,7 @@ def replace_event(old_event: int, new_event: int):
       if self.events.has(EventName.seatbeltNotLatched):
         replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
         transition_paused_state()
-      if self.events.has(EventName.wrongGear):
+      if self.events.has(EventName.wrongGear) and (CS.standstill or CS.gearShifter == GearShifter.reverse):
         replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
         transition_paused_state()
       if self.events.has(EventName.reverseGear):
@@ -133,7 +135,7 @@ def replace_event(old_event: int, new_event: int):
     else:
       self.events.remove(EventName.wrongCarMode)
 
-  def update(self, CS: car.CarState):
+  def update(self, CS: structs.CarState):
     if not self.enabled_toggle:
       return
 

From 92707e891237abf8a6852cb96205073fea553f65 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 11 Apr 2025 16:21:49 -0400
Subject: [PATCH 0182/1434] UI: Device & Sunnylink Panels - Standardize push
 button size & alignment (#806)

* layout adjustments

* sunnylink_panel

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../qt/offroad/settings/device_panel.cc       | 21 ++++++++++---------
 .../qt/offroad/settings/sunnylink_panel.cc    |  9 ++++----
 2 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index f26ed0a1985e56..b685116c96eb13 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -31,15 +31,16 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
       continue;
     }
 
-    auto *btn = new PushButtonSP(text, 720, this, param);
+    auto *btn = new PushButtonSP(text, 750, this, param);
     btn->setObjectName(id);
-
-    device_grid_layout->addWidget(btn, row, col);
     buttons[id] = btn;
 
-    col++;
-    if (col > 1) {
-      col = 0;
+    if (col==0) {
+      device_grid_layout->addWidget(btn, row, col, Qt::AlignLeft);
+      col++;
+    } else {
+      device_grid_layout->addWidget(btn, row, col, Qt::AlignRight);
+      col=0;
       row++;
     }
   }
@@ -79,14 +80,14 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
   // offroad mode and power buttons
 
   QHBoxLayout *power_layout = new QHBoxLayout();
-  power_layout->setSpacing(5);
+  power_layout->setSpacing(25);
 
-  PushButtonSP *rebootBtn = new PushButtonSP(tr("Reboot"), 720, this);
+  PushButtonSP *rebootBtn = new PushButtonSP(tr("Reboot"), 750, this);
   rebootBtn->setStyleSheet(rebootButtonStyle);
   power_layout->addWidget(rebootBtn);
   QObject::connect(rebootBtn, &PushButtonSP::clicked, this, &DevicePanelSP::reboot);
 
-  PushButtonSP *poweroffBtn = new PushButtonSP(tr("Power Off"), 720, this);
+  PushButtonSP *poweroffBtn = new PushButtonSP(tr("Power Off"), 750, this);
   poweroffBtn->setStyleSheet(powerOffButtonStyle);
   power_layout->addWidget(poweroffBtn);
   QObject::connect(poweroffBtn, &PushButtonSP::clicked, this, &DevicePanelSP::poweroff);
@@ -100,7 +101,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
   QObject::connect(offroadBtn, &PushButtonSP::clicked, this, &DevicePanelSP::setOffroadMode);
 
   QVBoxLayout *power_group_layout = new QVBoxLayout();
-  power_group_layout->setSpacing(30);
+  power_group_layout->setSpacing(25);
   power_group_layout->addWidget(offroadBtn, 0, Qt::AlignHCenter);
   power_group_layout->addLayout(power_layout);
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
index c9eccb2c428612..1358cbc959da26 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
@@ -85,7 +85,7 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   });
 
   // Backup Settings
-  backupSettings = new PushButtonSP(tr("Backup Settings"), 730, this);
+  backupSettings = new PushButtonSP(tr("Backup Settings"), 750, this);
   backupSettings->setObjectName("backup_btn");
   connect(backupSettings, &QPushButton::clicked, [=]() {
     backupSettings->setEnabled(false);
@@ -96,7 +96,7 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   });
 
   // Restore Settings
-  restoreSettings = new PushButtonSP(tr("Restore Settings"), 730, this);
+  restoreSettings = new PushButtonSP(tr("Restore Settings"), 750, this);
   restoreSettings->setObjectName("restore_btn");
   connect(restoreSettings, &QPushButton::clicked, [=]() {
     restoreSettings->setEnabled(false);
@@ -108,10 +108,9 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   // Settings Restore and Settings Backup in the same horizontal space
   auto settings_layout = new QHBoxLayout;
   settings_layout->setContentsMargins(0, 0, 0, 30);
-  settings_layout->addWidget(backupSettings);
+  settings_layout->addWidget(backupSettings, 0, Qt::AlignLeft);
   settings_layout->addSpacing(10);
-  settings_layout->addWidget(restoreSettings);
-  settings_layout->setAlignment(Qt::AlignLeft);
+  settings_layout->addWidget(restoreSettings, 0, Qt::AlignRight);
   list->addItem(settings_layout);
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &SunnylinkPanel::updatePanel);

From a598d385f2db0f31c58505cbe9c46912b805598e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 12 Apr 2025 05:47:00 -0400
Subject: [PATCH 0183/1434] ci: Remove redundant Panda build step from prebuilt
 workflow (#810)

The Panda build step was unnecessary as it is not utilized in this workflow. This change simplifies the workflow and reduces redundant actions, improving efficiency.
---
 .github/workflows/sunnypilot-build-prebuilt.yaml | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 6bd72ef50e677a..c7c72919c509df 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -122,10 +122,6 @@ jobs:
           fi
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
 
-      - name: Build Panda
-        run: |
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} ${{ github.workspace }}/panda
-
       - name: Build Main Project
         run: |
           export PYTHONPATH="$BUILD_DIR"

From f1d703e6e4dc3c7514c51ef1c215d8c4887a8f5e Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sat, 12 Apr 2025 10:33:17 -0400
Subject: [PATCH 0184/1434] Device: Customizable Max Time Offroad (#796)

* Max Time Offroad

* Refactor & Fix param

* Error Handling

* rename SP variable

* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h

Co-authored-by: DevTekVE <devtekve@gmail.com>

* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h

Co-authored-by: DevTekVE <devtekve@gmail.com>

* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h

Co-authored-by: DevTekVE <devtekve@gmail.com>

* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h

Co-authored-by: DevTekVE <devtekve@gmail.com>

* Update selfdrive/ui/sunnypilot/qt/widgets/controls.cc

Co-authored-by: DevTekVE <devtekve@gmail.com>

* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/max_time_offroad.h

Co-authored-by: DevTekVE <devtekve@gmail.com>

* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/max_time_offroad.cc

Co-authored-by: DevTekVE <devtekve@gmail.com>

* UI layout changes for better alignment

selector is not big enough -> make it bigger ;)

OptionControlSP now includes a QMap argument to allow actual values to be set in param directly

* Rebase & resolve reviews

* change default to be closer to OP default

* me dumb

* MaxTimeOffroad: Add support for 30h limit and improve label formatting

* power_monitoring: Refactor MaxTimeOffroad parameter handling for clarity

* test: Add unit tests for MaxTimeOffroad parameter handling

* power_monitoring: Update MaxTimeOffroad handling to use seconds and improve shutdown logic

* power_monitoring: Improve exception handling and remove redundant shutdown check for MaxTimeOffroad

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/params_keys.h                          |  1 +
 selfdrive/ui/sunnypilot/SConscript            |  1 +
 .../qt/offroad/settings/device_panel.cc       |  5 ++
 .../qt/offroad/settings/device_panel.h        |  2 +
 .../qt/offroad/settings/max_time_offroad.cc   | 53 +++++++++++++++++++
 .../qt/offroad/settings/max_time_offroad.h    | 25 +++++++++
 system/hardware/power_monitoring.py           | 20 ++++++-
 .../hardware/tests/test_power_monitoring.py   | 37 ++++++++++++-
 system/manager/manager.py                     |  1 +
 9 files changed, 142 insertions(+), 3 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h

diff --git a/common/params_keys.h b/common/params_keys.h
index cd8208bbb1c056..2eef3487205d9c 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -127,6 +127,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"CarParamsSPPersistent", PERSISTENT},
     {"CarPlatformBundle", PERSISTENT},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
+    {"MaxTimeOffroad", PERSISTENT | BACKUP},
     {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
     {"OffroadMode", CLEAR_ON_MANAGER_START},
     {"OffroadMode_Status", CLEAR_ON_MANAGER_START},
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 30748098a3cfea..deeec44732f0c8 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -21,6 +21,7 @@ qt_src = [
   "sunnypilot/qt/offroad/offroad_home.cc",
   "sunnypilot/qt/offroad/settings/device_panel.cc",
   "sunnypilot/qt/offroad/settings/lateral_panel.cc",
+  "sunnypilot/qt/offroad/settings/max_time_offroad.cc",
   "sunnypilot/qt/offroad/settings/settings.cc",
   "sunnypilot/qt/offroad/settings/software_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index b685116c96eb13..3e613e1022227f 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -75,6 +75,11 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
 
   connect(buttons["resetParams"], &PushButtonSP::clicked, this, &DevicePanelSP::resetSettings);
 
+  // Max Time Offroad
+  maxTimeOffroad = new MaxTimeOffroad();
+  connect(maxTimeOffroad, &OptionControlSP::updateLabels, maxTimeOffroad, &MaxTimeOffroad::refresh);
+  addItem(maxTimeOffroad);
+
   addItem(device_grid_layout);
 
   // offroad mode and power buttons
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
index dc77aa464767a1..7b7412a73982a7 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
@@ -7,6 +7,7 @@
 
 #pragma once
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
@@ -23,6 +24,7 @@ class DevicePanelSP : public DevicePanel {
 private:
   std::map<QString, PushButtonSP*> buttons;
   PushButtonSP *offroadBtn;
+  MaxTimeOffroad *maxTimeOffroad;
 
   const QString alwaysOffroadStyle = R"(
     PushButtonSP {
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.cc
new file mode 100644
index 00000000000000..4cc7351b039770
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.cc
@@ -0,0 +1,53 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h"
+
+// Map of Max Offroad Time Options (Minutes)
+const QMap<QString, QString> MaxTimeOffroad::offroad_time_options = {
+  {"0", "0"}, // Always On
+  {"1", "5"},
+  {"2", "10"},
+  {"3", "15"},
+  {"4", "30"},
+  {"5", "60"},
+  {"6", "120"},
+  {"7", "180"},
+  {"8", "300"},
+  {"9", "600"},
+  {"10", "1440"},
+  {"11", "1800"}
+};
+
+MaxTimeOffroad::MaxTimeOffroad() : OptionControlSP(
+  "MaxTimeOffroad",
+  tr("Max Time Offroad"),
+  tr("Device will automatically shutdown after set time once the engine is turned off.<br/>(30h is the default)"),
+  "../assets/offroad/icon_blank.png",
+  {0, 11}, 1, true, &offroad_time_options) {
+
+  refresh();
+}
+
+void MaxTimeOffroad::refresh() {
+  const int maxOffroadInMinutes = QString::fromStdString(params.get("MaxTimeOffroad")).toInt();
+  const bool useHours = maxOffroadInMinutes >= 60;
+  
+  QString label;
+  if (maxOffroadInMinutes == 0) {
+    label = tr("Always On");
+  } else {
+    const int value = useHours ? maxOffroadInMinutes / 60 : maxOffroadInMinutes;
+    label = QString("%1%2").arg(value).arg(useHours ? tr("h") : tr("m"));
+  }
+  
+  if (maxOffroadInMinutes == 1800) {
+    label += tr(" (default)");
+  }
+  
+  setLabel(label);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h
new file mode 100644
index 00000000000000..31c6a335c7bc6f
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h
@@ -0,0 +1,25 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class MaxTimeOffroad : public OptionControlSP {
+  Q_OBJECT
+
+public:
+  static const QMap<QString, QString> offroad_time_options;
+
+  MaxTimeOffroad();
+  void refresh();
+
+private:
+  Params params;
+};
diff --git a/system/hardware/power_monitoring.py b/system/hardware/power_monitoring.py
index 5a94625b486b1e..952aebd9d7fa6b 100644
--- a/system/hardware/power_monitoring.py
+++ b/system/hardware/power_monitoring.py
@@ -106,7 +106,23 @@ def get_power_used(self) -> int:
   def get_car_battery_capacity(self) -> int:
     return int(self.car_battery_capacity_uWh)
 
-  # See if we need to shutdown
+  # Max Time Offroad
+  def max_time_offroad_exceeded(self, offroad_time):
+    """
+    Check if the max time offroad has been exceeded. If the value is 0, it means no limit.
+    :param offroad_time: Time spent offroad in seconds
+    :return: True if the max time offroad has been exceeded, False otherwise
+    """
+    try:
+      param = self.params.get("MaxTimeOffroad", encoding="utf8")
+      sp_max_time_val_s = int(param) * 60 if param is not None and int(param) >= 0 else MAX_TIME_OFFROAD_S
+    except Exception:
+      sp_max_time_val_s = MAX_TIME_OFFROAD_S
+
+    return sp_max_time_val_s > 0 and offroad_time >= sp_max_time_val_s
+
+
+# See if we need to shutdown
   def should_shutdown(self, ignition: bool, in_car: bool, offroad_timestamp: float | None, started_seen: bool):
     if offroad_timestamp is None:
       return False
@@ -116,7 +132,7 @@ def should_shutdown(self, ignition: bool, in_car: bool, offroad_timestamp: float
     offroad_time = (now - offroad_timestamp)
     low_voltage_shutdown = (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3) and
                             offroad_time > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S)
-    should_shutdown |= offroad_time > MAX_TIME_OFFROAD_S
+    should_shutdown |= self.max_time_offroad_exceeded(offroad_time)
     should_shutdown |= low_voltage_shutdown
     should_shutdown |= (self.car_battery_capacity_uWh <= 0)
     should_shutdown &= not ignition
diff --git a/system/hardware/tests/test_power_monitoring.py b/system/hardware/tests/test_power_monitoring.py
index 1dff6c6c5f728e..3eec13dc4c5937 100644
--- a/system/hardware/tests/test_power_monitoring.py
+++ b/system/hardware/tests/test_power_monitoring.py
@@ -2,7 +2,7 @@
 
 from openpilot.common.params import Params
 from openpilot.system.hardware.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
-                                                CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S
+  CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S, MAX_TIME_OFFROAD_S
 
 # Create fake time
 ssb = 0.
@@ -197,3 +197,38 @@ def test_delay_shutdown_time(self):
                                        offroad_timestamp,
                                        started_seen), \
                     f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time"
+
+  @pytest.mark.parametrize(
+    "max_time_offroad, offroad_time_min, expected_result",
+    [
+      # No max time set – fallback to default (30 hours)
+      (None, 0, False),
+      (None, MAX_TIME_OFFROAD_S + 1, True),  # exceeds 30h (1800+ mins)
+
+      # Valid max time values (in minutes)
+      ("60", 59, False),  # under limit
+      ("60", 120, True),  # over limit
+      ("10", 8, False),  # under limit
+      ("10", 11, True),  # over limit
+
+      # Edge case: max time is zero → no limit enforced
+      ("0", 0, False),
+      ("0", 400, False),
+
+      # Invalid max time formats or negative values → fallback to 30 hours
+      ("invalid", 100, False),  # should fallback to 30h
+      ("-1", MAX_TIME_OFFROAD_S + 1, True),  # should fallback to 30h, and exceed it
+    ]
+  )
+  def test_max_time_offroad_exceeded(self, max_time_offroad, offroad_time_min, expected_result):
+    # Set the parameter if provided
+    if max_time_offroad is not None:
+      self.params.put("MaxTimeOffroad", max_time_offroad)
+
+    # Convert offroad time from minutes to seconds
+    offroad_time_s = offroad_time_min * 60
+
+    pm = PowerMonitoring()
+    result = pm.max_time_offroad_exceeded(offroad_time_s)
+
+    assert result == expected_result
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 6bd0a557c8cc71..1feab03a1ff7cf 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -50,6 +50,7 @@ def manager_init() -> None:
     ("MadsMainCruiseAllowed", "1"),
     ("MadsPauseLateralOnBrake", "0"),
     ("MadsUnifiedEngagementMode", "1"),
+    ("MaxTimeOffroad", "1800"),
     ("ModelManager_LastSyncTime", "0"),
     ("ModelManager_ModelsCache", ""),
     ("NeuralNetworkLateralControl", "0"),

From 43eefed5142bdf523dd2402085744f1086d3100f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 12 Apr 2025 12:22:42 -0400
Subject: [PATCH 0185/1434] Hyundai longitudinal: Parse lead info for
 camera-based SCC platforms (#809)

* Hyundai longitudinal: Parse lead info for camera-based SCC platforms

* fix

* update

* bump

* update tests

* lol why is this here

* bump

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
---
 opendbc_repo                 | 2 +-
 selfdrive/controls/radard.py | 4 +++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 807ce9ff4329c4..7942a631bd4ff8 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 807ce9ff4329c4b42c3a331204bd9a7c130cbde4
+Subproject commit 7942a631bd4ff84a6a20ad36a16a36861eaf2543
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index a5dd3400e347c1..bee42440542a0f 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -13,6 +13,7 @@
 from openpilot.common.simple_kalman import KF1D
 
 from opendbc.car import structs
+from opendbc.car.hyundai.values import HyundaiFlags
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 
 
@@ -188,7 +189,8 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
 
 def get_custom_yrel(CP: structs.CarParams, CP_SP: structs.CarParamsSP, lead_dict: dict[str, Any],
                     lead_msg: capnp._DynamicStructReader) -> dict[str, Any]:
-  if CP.brand == "hyundai" and CP_SP.flags & HyundaiFlagsSP.ENHANCED_SCC:
+  if CP.brand == "hyundai" and (CP_SP.flags & HyundaiFlagsSP.ENHANCED_SCC or
+                                CP.flags & (HyundaiFlags.CANFD_CAMERA_SCC | HyundaiFlags.CAMERA_SCC)):
     lead_dict['yRel'] = float(-lead_msg.y[0])
 
   return lead_dict

From 6bd47c4eec1042ff98d36ddae952b8e3f49c8ad3 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 13 Apr 2025 21:39:26 +0200
Subject: [PATCH 0186/1434] Models: point to v2 of driving models json for
 recompiled models (#817)

Use newer model version json since they have been recompiled
---
 sunnypilot/models/fetcher.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index d9aa54aa88c653..3e3e479903c02d 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -122,7 +122,7 @@ def set(self, data: dict) -> None:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models.json"
+  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v2.json"
 
   def __init__(self, params: Params):
     self.params = params

From b9d584245f7c72f0d5720f1079531546b152a986 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Mon, 14 Apr 2025 19:29:33 +0200
Subject: [PATCH 0187/1434] ci: update squash script for external contributors
 (#811)

* Get head ref info

* Simpify adding the comment with the newest flagg by gh cli

* Dynamic origin

* Enhance PR processing: add label handling for forked PRs and improve variable naming

* Refactor PR label handling: use constant for trust-fork label and improve comments

* Fix remote addition in PR processing: change subprocess call to not check for errors

* Refactor PR comment handling: support multiple comments and improve clarity

* Refactor PR processing: streamline comment handling and improve error management

* Refactor add_pr_comments function: specify comments type as list of strings

* Maybe we don't prevent "behind" branches to be merged as lon as the PR itself is mergeable

* lint, leave me alone

---------

Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
---
 .../sunnypilot-master-dev-c3-prep.yaml        | 11 +++
 release/ci/squash_and_merge_prs.py            | 94 ++++++++++---------
 2 files changed, 61 insertions(+), 44 deletions(-)

diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
index 0a6a76099f1274..f6b7497420bbcc 100644
--- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
@@ -97,6 +97,17 @@ jobs:
                     headRefName
                     title
                     createdAt
+                    labels(last:10) {
+                      nodes {
+                        name
+                      }
+                    }
+                    headRepository {
+                      name
+                      nameWithOwner
+                      url
+                      isFork
+                    }
                     commits(last: 1) {
                       nodes {
                         commit {
diff --git a/release/ci/squash_and_merge_prs.py b/release/ci/squash_and_merge_prs.py
index 5cd1b95746c59b..6d8f70f349ed55 100755
--- a/release/ci/squash_and_merge_prs.py
+++ b/release/ci/squash_and_merge_prs.py
@@ -7,6 +7,7 @@
 import json
 from datetime import datetime
 
+TRUST_FORK_LABEL = "trust-fork-pr"
 
 def setup_argument_parser():
   parser = argparse.ArgumentParser(description='Process and squash GitHub PRs')
@@ -37,43 +38,25 @@ def sort_prs_by_creation(pr_data):
   )
 
 
-def add_pr_comment(pr_number, comment):
+def add_pr_comments(pr_number, comments: list[str]):
+  """Adds or updates a comment with multiple comments to a PR using gh cli"""
+  comment = "\n___\n".join(comments)
+  _add_pr_comment(pr_number, comment)
+
+
+def _add_pr_comment(pr_number, comment):
   """Add or update a comment to a PR using gh cli"""
   title = "## Squash and Merge"
 
   try:
-    result = subprocess.run(
-      ['gh', 'pr', 'view', str(pr_number), '--json', 'comments'],
+    full_comment = f"{title}\n\n{comment}"
+    subprocess.run(
+      ['gh', 'pr', 'comment', '--edit-last', '--create-if-none', f"#{pr_number}", '--body', full_comment],
       check=True,
       capture_output=True,
       text=True
     )
 
-    comments_data = json.loads(result.stdout)
-    has_existing_comment = False
-
-    for pr_comment in comments_data['comments']:
-      if pr_comment['body'].startswith(title):
-        has_existing_comment = True
-        break
-
-    full_comment = f"{title}\n\n{comment}"
-
-    if has_existing_comment:
-      subprocess.run(
-        ['gh', 'pr', 'comment', '--edit-last', f"#{pr_number}", '--body', full_comment],
-        check=True,
-        capture_output=True,
-        text=True
-      )
-    else:
-      subprocess.run(
-        ['gh', 'pr', 'comment', f"#{pr_number}", '--body', full_comment],
-        check=True,
-        capture_output=True,
-        text=True
-      )
-
   except subprocess.CalledProcessError as e:
     print(f"Failed to add/update comment on PR #{pr_number}: {e.stderr}")
   except json.JSONDecodeError:
@@ -104,8 +87,8 @@ def validate_pr(pr):
   if not merge_data.get('mergeable'):
     return False, "merge conflicts detected"
 
-  if (mergeStateStatus := merge_data.get('mergeStateStatus')) == "BEHIND":
-    return False, f"branch is `{mergeStateStatus}`"
+  # if (mergeStateStatus := merge_data.get('mergeStateStatus')) == "BEHIND":
+  #   return False, f"branch is `{mergeStateStatus}`"
 
   return True, None
 
@@ -122,24 +105,43 @@ def process_pr(pr_data, source_branch, target_branch, squash_script_path):
     subprocess.run(['git', 'branch', target_branch, f'origin/{source_branch}'], check=True)
     success_count = 0
     for pr in nodes:
-      pr_number = pr.get('number', 'UNKNOWN')
-      branch = pr.get('headRefName', '')
-      title = pr.get('title', '')
-      is_valid, skip_reason = validate_pr(pr)
-
-      if not is_valid:
-        print(f"Warning: {skip_reason} for PR #{pr_number}, skipping")
-        add_pr_comment(pr_number,
-                       f"⚠� This PR was skipped in the automated `{target_branch}` squash because **{skip_reason}**.")
-        continue
-
+      pr_comments = []
       try:
+        pr_number = pr.get('number', 'UNKNOWN')
+        branch = pr.get('headRefName', '')
+        title = pr.get('title', '')
+        head_repository = pr.get('headRepository', {})
+        pr_labels = pr.get('labels', {}).get('nodes', [])
+        is_fork = head_repository.get('isFork', False)
+        trust_fork = any(label.get('name') == TRUST_FORK_LABEL for label in pr_labels)
+        is_valid, skip_reason = validate_pr(pr)
+        origin = "origin" if not head_repository.get('isFork', False) else head_repository.get('nameWithOwner', 'origin')
+
+        if is_fork and trust_fork:
+          print(f"Removing label `{TRUST_FORK_LABEL}` from PR #{pr_number} as it is being processed")
+          subprocess.run(['gh', 'pr', 'edit', str(pr_number), '--remove-label', TRUST_FORK_LABEL], check=True)
+          pr_comments.append(f"ℹ�� This PR is from a fork. The `{TRUST_FORK_LABEL}` label was removed as it is being processed right now.")
+          print(f"Adding remote {origin} for PR #{pr_number}")
+          subprocess.run(['git', 'remote', 'add', origin, head_repository.get('url')], check=False)
+
+        if is_fork and not trust_fork:
+          pr_comments.append(
+            f"⚠� This PR is from a fork. Please add the `{TRUST_FORK_LABEL}` label to include it in the squash." +
+            "\n**Note**: The label is removed after the squash is done and must be added again for the next execution for security reasons."
+          )
+          continue
+
+        if not is_valid:
+          print(f"Warning: {skip_reason} for PR #{pr_number}, skipping")
+          pr_comments.append(f"⚠� This PR was skipped in the automated `{target_branch}` squash because **{skip_reason}**.")
+          continue
+
         # Fetch PR branch
-        subprocess.run(['git', 'fetch', 'origin', branch], check=True)
+        subprocess.run(['git', 'fetch', origin, branch], check=True)
         # Delete branch if it exists (ignore errors if it doesn't)
         subprocess.run(['git', 'branch', '-D', branch], check=False)
         # Create new branch pointing to origin's branch
-        subprocess.run(['git', 'branch', branch, f'origin/{branch}'], check=True)
+        subprocess.run(['git', 'branch', branch, f'{origin}/{branch}'], check=True)
 
         # Run squash script
         result = subprocess.run([
@@ -160,13 +162,17 @@ def process_pr(pr_data, source_branch, target_branch, squash_script_path):
         print(f"Command failed with exit code {result.returncode}")
         output = result.stdout
         print(f"Error output: {output}")
-        add_pr_comment(pr_number, f"⚠� Error during automated `{target_branch}` squash:\n```\n{output}\n```")
+        pr_comments.append(f"⚠� Error during automated `{target_branch}` squash:\n```\n{output}\n```")
         subprocess.run(['git', 'reset', '--hard'], check=True)
         continue
       except Exception as e:
         print(f"Unexpected error processing PR #{pr_number}: {str(e)}")
+        pr_comments.append(f"⚠� Unexpected error during automated `{target_branch}` squash:\n```\n{str(e)}\n```")
         subprocess.run(['git', 'reset', '--hard'], check=True)
         continue
+      finally:
+        if pr_comments:
+          add_pr_comments(pr_number, pr_comments)  # This "commits" all the comments generated on this run before leaving loop on continue.
 
     return success_count
 

From b41ace34cc2ec5f0be2d5b19204fc34a3822f9c0 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Mon, 14 Apr 2025 20:18:05 +0200
Subject: [PATCH 0188/1434] sunnylink: fix sunnylink backup restore version
 parsing (#816)

* improvement

* fix: Improve version parsing logic for sunnypilot

---------

Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/sunnylink/backups/manager.py | 23 ++++++++++++++++++-----
 1 file changed, 18 insertions(+), 5 deletions(-)

diff --git a/sunnypilot/sunnylink/backups/manager.py b/sunnypilot/sunnylink/backups/manager.py
index 7f3eddeaa8abda..d6408d7ba7e7f1 100644
--- a/sunnypilot/sunnylink/backups/manager.py
+++ b/sunnypilot/sunnylink/backups/manager.py
@@ -210,12 +210,25 @@ def _apply_config(self, config_data: dict[str, str], all_values_encoded: bool =
   def _get_current_version(self) -> custom.BackupManagerSP.Version:
     """Gets current sunnypilot version information."""
     version_obj = custom.BackupManagerSP.Version()
-    version_parts = get_version().split('.')
-    version_obj.major = int(version_parts[0]) if len(version_parts) > 0 else 0
-    version_obj.minor = int(version_parts[1]) if len(version_parts) > 1 else 0
-    version_obj.patch = int(version_parts[2]) if len(version_parts) > 2 else 0
-    version_obj.build = int(version_parts[3]) if len(version_parts) > 3 else 0
+    version_str = get_version()
+
+    version_parts = version_str.split('-')  # For when version is like "1.2.3-456"
+    version_nums = version_parts[0].split('.')
+
+    # Extract build number from hyphen format or as 4th version component
+    build = 0
+    if len(version_parts) > 1 and version_parts[1].isdigit():
+      build = int(version_parts[1])
+    elif len(version_nums) > 3 and version_nums[3].isdigit():
+      build = int(version_nums[3])
+
+    # Set version components with safer defaults
+    version_obj.major = int(version_nums[0]) if len(version_nums) > 0 and version_nums[0].isdigit() else 0
+    version_obj.minor = int(version_nums[1]) if len(version_nums) > 1 and version_nums[1].isdigit() else 0
+    version_obj.patch = int(version_nums[2]) if len(version_nums) > 2 and version_nums[2].isdigit() else 0
+    version_obj.build = build
     version_obj.branch = get_branch()
+
     return version_obj
 
   async def main_thread(self) -> None:

From 3615b1a20371c8e074f591030fb56c770db7c08c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 14 Apr 2025 14:50:21 -0400
Subject: [PATCH 0189/1434] DM: Enforce monitoring of MADS state in driver
 monitoring (#818)

* DM: Enforce monitoring of MADS state in driver monitoring

Added `selfdriveStateSP.mads.enabled` to track MADS engagement. This ensures monitoring logic accounts for MADS alongside the existing selfdrive state checks, improving feature integration and event handling.

* how
---
 selfdrive/monitoring/dmonitoringd.py | 3 ++-
 selfdrive/monitoring/helpers.py      | 4 ++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index f137b406b49134..d0d28ebac1c443 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -10,7 +10,8 @@ def dmonitoringd_thread():
 
   params = Params()
   pm = messaging.PubMaster(['driverMonitoringState'])
-  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2'], poll='driverStateV2')
+  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2',
+                            'selfdriveStateSP'], poll='driverStateV2')
 
   DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
 
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 337be3a2aee5e7..76a07b079d409b 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -403,13 +403,13 @@ def run_step(self, sm):
       driver_state=sm['driverStateV2'],
       cal_rpy=sm['liveCalibration'].rpyCalib,
       car_speed=sm['carState'].vEgo,
-      op_engaged=sm['selfdriveState'].enabled
+      op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.enabled
     )
 
     # Update distraction events
     self._update_events(
       driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed,
-      op_engaged=sm['selfdriveState'].enabled,
+      op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.enabled,
       standstill=sm['carState'].standstill,
       wrong_gear=sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park],
       car_speed=sm['carState'].vEgo

From 4c8ed8030447948d33e3178b112d73009f14afb5 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 15 Apr 2025 00:04:57 -0400
Subject: [PATCH 0190/1434] Update Python packages (#819)

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 7942a631bd4ff8..d2002787f60362 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 7942a631bd4ff84a6a20ad36a16a36861eaf2543
+Subproject commit d2002787f60362c4678da24a5bed69f45d17499b

From a867dea6810ffd74bf68142e631a091bf0e76a4b Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Tue, 15 Apr 2025 12:12:08 -0400
Subject: [PATCH 0191/1434] UI: Bugfix Max Time Offroad (#820)

bugfixes

Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
---
 selfdrive/ui/sunnypilot/qt/widgets/controls.h | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index bb3cec88f9faf6..d1edaf8621c996 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -418,12 +418,12 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
 private:
   bool isInlineLayout;
   QHBoxLayout *optionSelectorLayout = isInlineLayout ? new QHBoxLayout() : hlayout;
-  
+
   struct MinMaxValue {
     int min_value;
     int max_value;
   };
-  
+
   int getParamValue() {
     const auto param_value = QString::fromStdString(params.get(key));
     const auto result = valueMap != nullptr ? valueMap->key(param_value) : param_value;
@@ -490,6 +490,8 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
       if (i == 0) {
         optionSelectorLayout->addWidget(&label, 0, Qt::AlignCenter);
       }
+      button->setEnabled((i == 0) ? !(value <= range.min_value) : !(value >= range.max_value));
+      button->setFocusPolicy(Qt::NoFocus); // This prevents unintended scroll due to loss of focus when the button gets disabled based on min/max values
       button_group->addButton(button, i);
 
       QObject::connect(button, &QPushButton::clicked, [=]() {

From 224f43b6fa41db34116b588252e9dbeb25e2fc49 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Tue, 15 Apr 2025 21:53:29 +0200
Subject: [PATCH 0192/1434] CI: Improve `dev-c3-new` auto build (#825)

* force commit to force PR

* ci: add job to manage PR labels and remove trust label on new commits

* Add pull request trigger

* empty commit to test

* ci: update pull request label management logic and remove FORCE_RUN flag

* ci: update trust label management to use TRUST_FORK_PR_LABEL

* ci: update workflow to manage PR labels and adjust trigger conditions

* ci: rename jobs in workflow for consistency and clarity

* ci: add unleash-nightly-squash branch to workflow

* ci: add checkout step with GITHUB_TOKEN to workflow

* force wait

* what happens if negated the wait

* ci: add 'Wait for Tests' action to monitor workflow execution

* ci: update wait-for-tests action conditions and cleanup

* ci: refine conditions for managing PR labels and waiting for tests

* ci: enhance PR label conditions for workflow execution

* Cant use env on if

* maybe

* ci: update pull request workflow conditions and cleanup

* Missing end of line

* ci: rename workflow and update job name for clarity

* Cleaning

* ci: refine conditions for pull request handling in workflow

* ci: update handling of TRUST_FORK_LABEL in PR processing

* ci: remove fork trust warning from PR processing

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../sunnypilot-master-dev-c3-prep.yaml        | 83 ++++++++++++++++++-
 .github/workflows/wait-for-action/action.yaml | 44 ++++++++++
 release/ci/squash_and_merge_prs.py            | 10 ---
 3 files changed, 123 insertions(+), 14 deletions(-)
 create mode 100644 .github/workflows/wait-for-action/action.yaml

diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
index f6b7497420bbcc..b252f42d7dfafe 100644
--- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
@@ -1,13 +1,23 @@
-name: Nightly Branch Reset and PR Squash
+name: Build dev-c3-new
 
 env:
   DEFAULT_SOURCE_BRANCH: "master-new"
-  DEFAULT_TARGET_BRANCH: "nightly"
+  DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
   PR_LABEL: "dev-c3"
+  TRUST_FORK_PR_LABEL: "trust-fork-pr"
   LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
   LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
 
 on:
+  push:
+    branches:
+      - master
+      - master-new    
+  pull_request_target:
+    types: [ synchronize, opened, labeled ]  
+    branches:    
+      - 'master'        
+      - 'master-new'            
   workflow_dispatch:
     inputs:
       source_branch:
@@ -20,18 +30,83 @@ on:
         required: true
         default: 'master-dev-c3-new'
         type: string
-#  schedule:
-#     - cron: '0 0 * * *'  # Run at midnight UTC for nightly
 
 jobs:
+  manage-pr-labels:
+    name: Remove trust-fork-pr label if present
+    runs-on: ubuntu-latest
+    if: (github.event.pull_request.head.repo.fork && (github.event_name == 'pull_request_target' && github.event.action == 'synchronize'))
+    steps:
+      - name: Check if PR has dev-c3 label
+        id: check-labels
+        uses: actions/github-script@v7
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          script: |
+            const prNumber = context.payload.pull_request.number;
+            const { data: labels } = await github.rest.issues.listLabelsOnIssue({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: prNumber
+            });
+            
+            const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL);
+            const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL);
+            
+            console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
+            console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
+            
+            core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
+            core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
+
+      - name: Remove trust-fork-pr label if present
+        if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
+        uses: actions/github-script@v7
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          script: |
+            const prNumber = context.payload.pull_request.number;
+            
+            await github.rest.issues.removeLabel({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: prNumber,
+              name: process.env.TRUST_FORK_PR_LABEL
+            });
+            
+            console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
+            
+            // Add a comment to the PR
+            await github.rest.issues.createComment({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: prNumber,
+              body: `The \`${process.env.TRUST_FORK_PR_LABEL}\` label has been automatically removed because new commits were pushed to this PR. This PR will need to be re-reviewed before the label can be applied again.`
+            });
+
   reset-and-squash:
     runs-on: ubuntu-latest
+    if: (
+            (github.event_name == 'workflow_dispatch')
+            || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
+            || (github.event_name == 'pull_request_target' && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+        )
     steps:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0  # Fetch all history for all branches
           token: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: Wait for Tests
+        uses: ./.github/workflows/wait-for-action # Path to where you place the action
+        if: (
+                (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
+                || (github.event_name == 'pull_request_target' && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+            )
+        with:
+          workflow: selfdrive_tests.yaml # The workflow file to monitor
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+
       - name: Configure Git
         run: |
           git config --global user.name 'github-actions[bot]'
diff --git a/.github/workflows/wait-for-action/action.yaml b/.github/workflows/wait-for-action/action.yaml
new file mode 100644
index 00000000000000..574ef15186981e
--- /dev/null
+++ b/.github/workflows/wait-for-action/action.yaml
@@ -0,0 +1,44 @@
+name: 'Wait for Tests'
+description: 'Action to wait for workflow tests to start and complete'
+inputs:
+  workflow:
+    description: 'The workflow file name to monitor'
+    required: true
+    default: 'selfdrive_tests.yaml'
+  branch:
+    description: 'The branch to monitor (defaults to current branch)'
+    required: false
+    default: ''
+  github-token:
+    description: 'GitHub token for API access'
+    required: true
+  wait-time:
+    description: 'Initial sleep time in seconds before monitoring starts'
+    required: false
+    default: '30'
+  should-wait-for-start:
+    description: 'Whether to wait for tests to start'
+    required: false
+    default: false
+
+runs:
+  using: 'composite'
+  steps:
+    - name: Wait for tests to start
+      if: inputs.should-wait-for-start == 'true'
+      shell: bash
+      run: |
+        echo "Sleeping for ${{ inputs.wait-time }} seconds to give some time for the action to start and then we'll wait"
+        sleep ${{ inputs.wait-time }}
+
+    - name: Wait for tests to finish
+      shell: bash
+      run: |
+        BRANCH="${{ inputs.branch || github.head_ref || github.ref_name }}"
+        
+        echo "Looking for workflow runs of ${{ inputs.workflow }} on branch $BRANCH"
+        RUN_ID=$(gh run list --workflow=${{ inputs.workflow }} --branch="$BRANCH" --limit=1 --json databaseId --jq '.[0].databaseId')
+        echo "Watching run ID: $RUN_ID"
+        gh run watch "$RUN_ID"
+      env:
+        GITHUB_TOKEN: ${{ inputs.github-token }}
diff --git a/release/ci/squash_and_merge_prs.py b/release/ci/squash_and_merge_prs.py
index 6d8f70f349ed55..64fa32551273e7 100755
--- a/release/ci/squash_and_merge_prs.py
+++ b/release/ci/squash_and_merge_prs.py
@@ -118,19 +118,9 @@ def process_pr(pr_data, source_branch, target_branch, squash_script_path):
         origin = "origin" if not head_repository.get('isFork', False) else head_repository.get('nameWithOwner', 'origin')
 
         if is_fork and trust_fork:
-          print(f"Removing label `{TRUST_FORK_LABEL}` from PR #{pr_number} as it is being processed")
-          subprocess.run(['gh', 'pr', 'edit', str(pr_number), '--remove-label', TRUST_FORK_LABEL], check=True)
-          pr_comments.append(f"ℹ�� This PR is from a fork. The `{TRUST_FORK_LABEL}` label was removed as it is being processed right now.")
           print(f"Adding remote {origin} for PR #{pr_number}")
           subprocess.run(['git', 'remote', 'add', origin, head_repository.get('url')], check=False)
 
-        if is_fork and not trust_fork:
-          pr_comments.append(
-            f"⚠� This PR is from a fork. Please add the `{TRUST_FORK_LABEL}` label to include it in the squash." +
-            "\n**Note**: The label is removed after the squash is done and must be added again for the next execution for security reasons."
-          )
-          continue
-
         if not is_valid:
           print(f"Warning: {skip_reason} for PR #{pr_number}, skipping")
           pr_comments.append(f"⚠� This PR was skipped in the automated `{target_branch}` squash because **{skip_reason}**.")

From 702a75530763d59d5425b956caff678e6fbe72fc Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Wed, 16 Apr 2025 12:05:44 +0200
Subject: [PATCH 0193/1434] CI: Update PR list query to exclude draft pull
 requests (#829)

---
 .github/workflows/sunnypilot-master-dev-c3-prep.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
index b252f42d7dfafe..1246b96780096b 100644
--- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
@@ -195,7 +195,7 @@ jobs:
                   }
                 }
               }
-            }' -F label="is:pr is:open label:${PR_LABEL} sort:created-asc")
+            }' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc")
 
           echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
         env:

From bdcc9d579fe3756ea86add06cd909ae5a7a80dc8 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 17 Apr 2025 13:03:07 -0400
Subject: [PATCH 0194/1434] Revert "DM: Enforce monitoring of MADS state in
 driver monitoring" (#830)

Revert "DM: Enforce monitoring of MADS state in driver monitoring (#818)"

This reverts commit 3615b1a20371c8e074f591030fb56c770db7c08c.
---
 selfdrive/monitoring/dmonitoringd.py | 3 +--
 selfdrive/monitoring/helpers.py      | 4 ++--
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index d0d28ebac1c443..f137b406b49134 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -10,8 +10,7 @@ def dmonitoringd_thread():
 
   params = Params()
   pm = messaging.PubMaster(['driverMonitoringState'])
-  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2',
-                            'selfdriveStateSP'], poll='driverStateV2')
+  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2'], poll='driverStateV2')
 
   DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
 
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 76a07b079d409b..337be3a2aee5e7 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -403,13 +403,13 @@ def run_step(self, sm):
       driver_state=sm['driverStateV2'],
       cal_rpy=sm['liveCalibration'].rpyCalib,
       car_speed=sm['carState'].vEgo,
-      op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.enabled
+      op_engaged=sm['selfdriveState'].enabled
     )
 
     # Update distraction events
     self._update_events(
       driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed,
-      op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.enabled,
+      op_engaged=sm['selfdriveState'].enabled,
       standstill=sm['carState'].standstill,
       wrong_gear=sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park],
       car_speed=sm['carState'].vEgo

From 86a390780e60736569edf6ad3873d961a4f712f1 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 17 Apr 2025 13:31:43 -0400
Subject: [PATCH 0195/1434] DM: Enforce monitoring of MADS state in driver
 monitoring (#831)

* DM: Enforce monitoring of MADS state in driver monitoring

Added `selfdriveStateSP.mads.enabled` to track MADS engagement. This ensures monitoring logic accounts for MADS alongside the existing selfdrive state checks, improving feature integration and event handling.

* how

* okay, only when active
---
 selfdrive/monitoring/dmonitoringd.py | 3 ++-
 selfdrive/monitoring/helpers.py      | 4 ++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index f137b406b49134..d0d28ebac1c443 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -10,7 +10,8 @@ def dmonitoringd_thread():
 
   params = Params()
   pm = messaging.PubMaster(['driverMonitoringState'])
-  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2'], poll='driverStateV2')
+  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2',
+                            'selfdriveStateSP'], poll='driverStateV2')
 
   DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
 
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 337be3a2aee5e7..0ff7a52a927556 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -403,13 +403,13 @@ def run_step(self, sm):
       driver_state=sm['driverStateV2'],
       cal_rpy=sm['liveCalibration'].rpyCalib,
       car_speed=sm['carState'].vEgo,
-      op_engaged=sm['selfdriveState'].enabled
+      op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.active
     )
 
     # Update distraction events
     self._update_events(
       driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed,
-      op_engaged=sm['selfdriveState'].enabled,
+      op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.active,
       standstill=sm['carState'].standstill,
       wrong_gear=sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park],
       car_speed=sm['carState'].vEgo

From 65431f4e2f0a6835fa2f4a2a9d2dc5a0ce227e74 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Fri, 18 Apr 2025 11:02:50 -0700
Subject: [PATCH 0196/1434] DEC: adjust dynamic speed adaptation parameters
 (#813)

* early and better

* Update sunnypilot/selfdrive/controls/lib/dec/constants.py

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
---
 sunnypilot/selfdrive/controls/lib/dec/constants.py | 5 ++---
 sunnypilot/selfdrive/controls/lib/dec/dec.py       | 2 +-
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/sunnypilot/selfdrive/controls/lib/dec/constants.py b/sunnypilot/selfdrive/controls/lib/dec/constants.py
index c1e37266065557..48f4203e934f93 100644
--- a/sunnypilot/selfdrive/controls/lib/dec/constants.py
+++ b/sunnypilot/selfdrive/controls/lib/dec/constants.py
@@ -2,12 +2,11 @@ class WMACConstants:
   LEAD_WINDOW_SIZE = 5
   LEAD_PROB = 0.5
 
-  SLOW_DOWN_WINDOW_SIZE = 4
+  SLOW_DOWN_WINDOW_SIZE = 5
   SLOW_DOWN_PROB = 0.6
 
   SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
-  #SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.]
-  SLOW_DOWN_DIST = [30., 45., 60., 80., 100., 120., 135., 150.]
+  SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.]
 
   SLOWNESS_WINDOW_SIZE = 12
   SLOWNESS_PROB = 0.5
diff --git a/sunnypilot/selfdrive/controls/lib/dec/dec.py b/sunnypilot/selfdrive/controls/lib/dec/dec.py
index 0c33da500aa0e8..812e5cc15fb5a0 100644
--- a/sunnypilot/selfdrive/controls/lib/dec/dec.py
+++ b/sunnypilot/selfdrive/controls/lib/dec/dec.py
@@ -164,7 +164,7 @@ def _adaptive_slowdown_threshold(self) -> float:
     """
     Adapts the slow-down threshold based on vehicle speed and recent behavior.
     """
-    slowdown_scaling_factor: float = (1.0 + 0.05 * np.log(1 + len(self._slow_down_gmac.data)))
+    slowdown_scaling_factor: float = (1.0 + 0.03 * np.log(1 + len(self._slow_down_gmac.data)))
     adaptive_threshold: float = float(
       interp(self._v_ego_kph, WMACConstants.SLOW_DOWN_BP, WMACConstants.SLOW_DOWN_DIST) * slowdown_scaling_factor
     )

From 1db91d6257a21c428eb1851458a5bff02194ab45 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 19 Apr 2025 07:53:20 +0200
Subject: [PATCH 0197/1434] ci: ui preview add unicode characters and emojis
 (#835)

Add unicode characters and emojis!
---
 Dockerfile.openpilot_base | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 44d8d95e95d926..04fb589bf67150 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -60,6 +60,7 @@ ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
 ENV QTWEBENGINE_DISABLE_SANDBOX=1
 
 RUN dbus-uuidgen > /etc/machine-id
+RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
 
 ARG USER=batman
 ARG USER_UID=1001

From bcdb5466380e9e789afaa9b03620607c11d6719c Mon Sep 17 00:00:00 2001
From: Tim Wilson <twilsonco@gmail.com>
Date: Sat, 19 Apr 2025 09:47:47 -0600
Subject: [PATCH 0198/1434] NNLC: decreased low-speed factor (#822)

* NNLC: decreased low-speed factor

* np.float to float

* format

* add tests for sanity check

---------

Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/controls/lib/latcontrol_torque.py   |  3 +-
 .../controls/lib/latcontrol_torque_ext.py     |  5 +-
 .../lib/latcontrol_torque_ext_base.py         |  2 +
 .../selfdrive/controls/lib/nnlc/nnlc.py       |  7 +++
 .../controls/lib/nnlc/tests/test_nnlc.py      | 56 +++++++++++++++++++
 5 files changed, 71 insertions(+), 2 deletions(-)
 create mode 100644 sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 613824a4eda26a..5edf4cf91b0a02 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -80,7 +80,8 @@ def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curv
       # Lateral acceleration torque controller extension updates
       # Overrides stock ff and pid_log.error
       ff, pid_log = self.extension.update(CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
-                                          desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel)
+                                          desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
+                                          desired_curvature, actual_curvature)
 
       freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
       output_torque = self.pid.update(pid_log.error,
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
index ee8d64dcd079a2..fe54f46ca79456 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
@@ -13,7 +13,8 @@ def __init__(self, lac_torque, CP, CP_SP):
     super().__init__(lac_torque, CP, CP_SP)
 
   def update(self, CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
-             desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel):
+             desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
+             desired_curvature, actual_curvature):
     self._ff = ff
     self._pid_log = pid_log
     self._setpoint = setpoint
@@ -21,6 +22,8 @@ def update(self, CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_
     self._lateral_accel_deadzone = lateral_accel_deadzone
     self._desired_lateral_accel = desired_lateral_accel
     self._actual_lateral_accel = actual_lateral_accel
+    self._desired_curvature = desired_curvature
+    self._actual_curvature = actual_curvature
 
     self.update_calculations(CS, VM, desired_lateral_accel)
     self.update_neural_network_feedforward(CS, params, calibrated_pose)
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
index 48d98501b238e1..800bbac67a5fa1 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
@@ -62,6 +62,8 @@ def __init__(self, lac_torque, CP, CP_SP):
     self._lateral_accel_deadzone = 0.0
     self._desired_lateral_accel = 0.0
     self._actual_lateral_accel = 0.0
+    self._desired_curvature = 0.0
+    self._actual_curvature = 0.0
 
     # twilsonco's Lateral Neural Network Feedforward
     # Instantaneous lateral jerk changes very rapidly, making it not useful on its own,
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
index aee359574b2a9a..ba4285ba2b6cb0 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
@@ -16,6 +16,9 @@
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import MOCK_MODEL_PATH
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.model import NNTorqueModel
 
+LOW_SPEED_X = [0, 10, 20, 30]
+LOW_SPEED_Y = [12, 3, 1, 0]
+
 
 # At a given roll, if pitch magnitude increases, the
 # gravitational acceleration component starts pointing
@@ -59,6 +62,10 @@ def update_neural_network_feedforward(self, CS, params, calibrated_pose) -> None
     if not self.enabled or not self.model_valid or not self.has_nn_model:
       return
 
+    low_speed_factor = float(np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)) ** 2
+    self._setpoint = self._desired_lateral_accel + low_speed_factor * self._desired_curvature
+    self._measurement = self._actual_lateral_accel + low_speed_factor * self._actual_curvature
+
     # update past data
     roll = params.roll
     if calibrated_pose is not None:
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
new file mode 100644
index 00000000000000..c7227c2d5174a5
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
@@ -0,0 +1,56 @@
+from parameterized import parameterized
+
+from cereal import car, log
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.honda.values import CAR as HONDA
+from opendbc.car.hyundai.values import CAR as HYUNDAI
+from opendbc.car.toyota.values import CAR as TOYOTA
+from opendbc.car.vehicle_model import VehicleModel
+from openpilot.common.params import Params
+from openpilot.selfdrive.car.helpers import convert_to_capnp
+from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
+from openpilot.selfdrive.locationd.helpers import Pose
+from openpilot.common.mock.generators import generate_livePose
+from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
+
+
+class TestNeuralNetworkLateralControl:
+
+  @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN])
+  def test_saturation(self, car_name):
+    params = Params()
+    params.put_bool("NeuralNetworkLateralControl", True)
+
+    CarInterface = interfaces[car_name]
+    CP = CarInterface.get_non_essential_params(car_name)
+    CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
+    CI = CarInterface(CP, CP_SP)
+
+    sunnypilot_interfaces.setup_interfaces(CP, CP_SP, params)
+
+    CP_SP = convert_to_capnp(CP_SP)
+    VM = VehicleModel(CP)
+
+    controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI)
+
+    CS = car.CarState.new_message()
+    CS.vEgo = 30
+    CS.steeringPressed = False
+
+    params = log.LiveParametersData.new_message()
+
+    lp = generate_livePose()
+    pose = Pose.from_live_pose(lp.livePose)
+
+    # Saturate for curvature limited and controller limited
+    for _ in range(1000):
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
+    assert lac_log.saturated
+
+    for _ in range(1000):
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False)
+    assert not lac_log.saturated
+
+    for _ in range(1000):
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False)
+    assert lac_log.saturated

From 1bf752fc79611a9a73876ad5d5dfb50adce4e26f Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Sat, 19 Apr 2025 12:15:28 -0700
Subject: [PATCH 0199/1434] bugfix: Auto lane change - Add mode to disable lane
 changes (#826)

* off is off

* sugg

* line

* Update sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 selfdrive/controls/lib/desire_helper.py           |  4 ++--
 .../controls/lib/tests/test_auto_lane_change.py   | 15 +++++++++++++++
 2 files changed, 17 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index 34ea4ff1bb6b27..23386e2ad7dc25 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -1,7 +1,7 @@
 from cereal import log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController
+from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
 
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -48,7 +48,7 @@ def update(self, carstate, lateral_active, lane_change_prob):
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
     below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
 
-    if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
+    if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.alc.lane_change_set_timer == AutoLaneChangeMode.OFF:
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
     else:
diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py b/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
index c1b3053207b2fb..5d1fa360ed2162 100644
--- a/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
+++ b/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
@@ -51,6 +51,7 @@ def test_reset(self):
     assert not self.alc.prev_brake_pressed
 
   @parameterized.expand([(AutoLaneChangeMode.OFF, ), (AutoLaneChangeMode.NUDGE, )])
+
   def test_off_and_nudge_mode(self, timer_state):
     """Test the default OFF and NUDGE mode behavior."""
     self._reset_states()
@@ -196,3 +197,17 @@ def test_disallow_continuous_auto_lane_change(self, timer_state, timer_delay):
         self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
 
       assert not self.alc.auto_lane_change_allowed
+
+  def test_auto_lane_change_mode_off_disallows_lane_change(self):
+    """Test that OFF mode never allows auto lane change."""
+    self._reset_states()
+    self.alc.lane_change_bsm_delay = False
+    self.alc.lane_change_set_timer = AutoLaneChangeMode.OFF
+
+    # Simulate updates for a long period of time (e.g., 10 seconds)
+    num_updates = int(10.0 / DT_MDL)
+    for _ in range(num_updates):
+      self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+
+    # Lane change should never be allowed
+    assert not self.alc.auto_lane_change_allowed

From 2fe3c2748edfa862184227bc21554508daf03b85 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 19 Apr 2025 21:41:11 -0400
Subject: [PATCH 0200/1434] NNLC: use `safe_exp` to prevent overflow in
 `sigmoid` (#836)

* test

* prevent overflowing

* unused
---
 .../selfdrive/controls/lib/nnlc/model.py      |  4 ++-
 .../controls/lib/nnlc/tests/test_nnlc.py      | 35 ++++++++++++++++++-
 2 files changed, 37 insertions(+), 2 deletions(-)

diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/model.py b/sunnypilot/selfdrive/controls/lib/nnlc/model.py
index 1e527c73700ebd..ab6706bf361da3 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/model.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/model.py
@@ -7,6 +7,8 @@
 from json import load
 import numpy as np
 
+from openpilot.selfdrive.modeld.parse_model_outputs import safe_exp
+
 # dict used to rename activation functions whose names aren't valid python identifiers
 ACTIVATION_FUNCTION_NAMES = {'σ': 'sigmoid'}
 
@@ -40,7 +42,7 @@ def __init__(self, params_file, zero_bias=False):
   # These are called by name using the keys in the model json file
   @staticmethod
   def sigmoid(x):
-    return 1 / (1 + np.exp(-x))
+    return 1 / (1 + safe_exp(-x))
 
   @staticmethod
   def identity(x):
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
index c7227c2d5174a5..4e2649f2ff63e1 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
@@ -1,6 +1,7 @@
+import numpy as np
 from parameterized import parameterized
 
-from cereal import car, log
+from cereal import car, log, messaging
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.hyundai.values import CAR as HYUNDAI
@@ -12,6 +13,30 @@
 from openpilot.selfdrive.locationd.helpers import Pose
 from openpilot.common.mock.generators import generate_livePose
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
+from openpilot.selfdrive.modeld.constants import ModelConstants
+
+
+def generate_modelV2():
+  model = messaging.new_message('modelV2')
+  position = log.XYZTData.new_message()
+  speed = 30
+  position.x = [float(x) for x in (speed + 0.5) * np.array(ModelConstants.T_IDXS)]
+  model.modelV2.position = position
+  orientation = log.XYZTData.new_message()
+  curvature = 0.05
+  orientation.x = [float(curvature) for _ in ModelConstants.T_IDXS]
+  orientation.y = [0.0 for _ in ModelConstants.T_IDXS]
+  model.modelV2.orientation = orientation
+  velocity = log.XYZTData.new_message()
+  velocity.x = [float(x) for x in (speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)]
+  velocity.x[0] = float(speed)  # always start at current speed
+  model.modelV2.velocity = velocity
+  acceleration = log.XYZTData.new_message()
+  acceleration.x = [float(x) for x in np.zeros_like(ModelConstants.T_IDXS)]
+  acceleration.y = [float(y) for y in np.zeros_like(ModelConstants.T_IDXS)]
+  model.modelV2.acceleration = acceleration
+
+  return model
 
 
 class TestNeuralNetworkLateralControl:
@@ -42,15 +67,23 @@ def test_saturation(self, car_name):
     lp = generate_livePose()
     pose = Pose.from_live_pose(lp.livePose)
 
+    mdl = generate_modelV2()
+    sm = {'modelV2': mdl.modelV2}
+    model_v2 = sm['modelV2']
+    controller.extension.model_v2 = model_v2
+
     # Saturate for curvature limited and controller limited
     for _ in range(1000):
+      controller.extension.update_model_v2(model_v2)
       _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
     assert lac_log.saturated
 
     for _ in range(1000):
+      controller.extension.update_model_v2(model_v2)
       _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False)
     assert not lac_log.saturated
 
     for _ in range(1000):
+      controller.extension.update_model_v2(model_v2)
       _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False)
     assert lac_log.saturated

From a87986dd825b62a19b195c5459321b35ad512a7c Mon Sep 17 00:00:00 2001
From: Tim Wilson <twilsonco@gmail.com>
Date: Sat, 19 Apr 2025 19:53:57 -0600
Subject: [PATCH 0201/1434] NNLC: fix weak torque in high lat-accel turns
 (#823)

* NNLC: fix weak torque in high lat-accel turns

* np.float to float

---------

Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py | 18 +++++++++++++++++-
 1 file changed, 17 insertions(+), 1 deletion(-)

diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
index ba4285ba2b6cb0..218bbb9f6a51bf 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
@@ -12,7 +12,7 @@
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase, sign
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import MOCK_MODEL_PATH
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.model import NNTorqueModel
 
@@ -99,6 +99,22 @@ def update_neural_network_feedforward(self, CS, params, calibrated_pose) -> None
     torque_from_measurement = self.model.evaluate(nnff_measurement_input)
     self._pid_log.error = torque_from_setpoint - torque_from_measurement
 
+    # The "pure" NNLC error response can be too weak for cars whose models were trained
+    # with a lack of high-magnitude lateral acceleration data, for which the NNLC model
+    # torque response flattens out at high lateral accelerations.
+    # This workaround blends in a guaranteed stronger error response only when the
+    # desired lateral acceleration is high enough to warrant it, by using the lateral acceleration
+    # error as the input to the NNLC model. This is not ideal, and potentially degrades the NNLC
+    # accuracy for cars that don't have this issue, but it's necessary until a better NNLC model
+    # structure is used that doesn't create this issue when high-magnitude data is missing.
+    error_blend_factor = float(np.interp(abs(self._desired_lateral_accel), [1.0, 2.0], [0.0, 1.0]))
+    if error_blend_factor > 0.0:  # blend in stronger error response when in high lat accel
+      # NNFF inputs 5+ are optional, and if left out are replaced with 0.0 inside the NNFF class
+      nnff_error_input = [CS.vEgo, self._setpoint - self._measurement, self.lateral_jerk_setpoint - self.lateral_jerk_measurement, 0.0]
+      torque_from_error = self.model.evaluate(nnff_error_input)
+      if sign(self._pid_log.error) == sign(torque_from_error) and abs(self._pid_log.error) < abs(torque_from_error):
+        self._pid_log.error = self._pid_log.error * (1.0 - error_blend_factor) + torque_from_error * error_blend_factor
+
     # compute feedforward (same as nn setpoint output)
     friction_input = self.update_friction_input(self._setpoint, self._measurement)
     nn_input = [CS.vEgo, self._desired_lateral_accel, friction_input, roll] \

From 4ea982ca37cbad859eb6d8561d7e363560b26fd2 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 20 Apr 2025 12:06:28 +0200
Subject: [PATCH 0202/1434] ci: trigger prebuilt builds via label from PR

* ci: enhance pull request handling for prebuilt workflows

* ci: add wait-for-action step to monitor selfdrive_tests workflow

* ci: add validation job to monitor selfdrive_tests for prebuilt workflows

* test

* force negative condition to validate flow

* force negative condition to validate flow

* ci: add wait_for_tests input to control selfdrive_tests workflow execution

* ci: update description for wait_for_tests input in workflow

* Cleaning

* Remove PR label when triggered by the label

* Rename

* Changing to target and only caring about labeled for the time being

* gh action needs cancelled not canceled

* Line ending
---
 .codespellignore                              |  1 +
 .../workflows/sunnypilot-build-prebuilt.yaml  | 51 ++++++++++++++++---
 2 files changed, 46 insertions(+), 6 deletions(-)

diff --git a/.codespellignore b/.codespellignore
index 6af9bb0f357d64..c7beb6f04f2072 100644
--- a/.codespellignore
+++ b/.codespellignore
@@ -1,3 +1,4 @@
 Wen
 REGIST
 PullRequest
+cancelled
diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index c7c72919c509df..241228598d4864 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -21,15 +21,30 @@ on:
   push:
     branches: [ master, master-new, master-dev-c3-new ]
     tags: [ '*' ]
+  pull_request_target:
+    types: [ labeled ]
   workflow_dispatch:
     inputs:
-      extra_version:
-        description: 'Extra version identifier'
+      wait_for_tests:
+        description: 'Wait for selfdrive_tests to finish'
         required: false
-        default: ''
+        type: boolean
+        default: false
 
 jobs:
+  validate_tests:
+    runs-on: ubuntu-24.04
+    if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains('pull_request', github.event_name) && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    steps:
+      - uses: actions/checkout@v4
+      - name: Wait for Tests
+        uses: ./.github/workflows/wait-for-action # Path to where you place the action
+        with:
+          workflow: selfdrive_tests.yaml # The workflow file to monitor
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+
   build:
+    needs: [ validate_tests ]
     concurrency:
       group: build-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: false
@@ -39,6 +54,7 @@ jobs:
       version: ${{ steps.set-env.outputs.version }}
       extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
       commit_sha: ${{ steps.set-env.outputs.commit_sha }}
+    if: always() && !failure() && !cancelled()
     steps:
       - uses: actions/checkout@v4
         with:
@@ -194,10 +210,10 @@ jobs:
     concurrency:
       group: publish-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: true
-    if: ${{ github.event_name != 'pull_request' || github.event_name == 'pull_request' && github.event.pull_request.draft }} 
+    if: ${{ !contains('pull_request', github.event_name) || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt') }}
     needs: build
     runs-on: ubuntu-24.04
-    environment: ${{ contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) && 'auto-deploy' || 'feature-branch' }}
+    environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}
     steps:
       - uses: actions/checkout@v4
 
@@ -268,4 +284,27 @@ jobs:
           echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
           echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
           echo "3. Update as needed (JSON array with no spaces)"
-        shell: alpine.sh {0}
\ No newline at end of file
+        shell: alpine.sh {0}
+  
+  manage-pr-labels:
+    name: Remove prebuilt label
+    runs-on: ubuntu-latest
+    if: (always() && contains('pull_request', github.event_name) && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    env:
+      LABEL: prebuilt
+    steps:
+      - name: Remove trust-fork-pr label if present
+        uses: actions/github-script@v7
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          script: |
+            const prNumber = context.payload.pull_request.number;
+
+            await github.rest.issues.removeLabel({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: prNumber,
+              name: process.env.LABEL
+            });
+
+            console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);

From 898f30744f17a3abcb129921b48c7ab622bb431c Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 20 Apr 2025 13:04:35 +0200
Subject: [PATCH 0203/1434] ci: avoid deadlock on dev-c3 branch build when PR
 labeled dev-c3 (#839)

* ci: enhance PR checks to validate individual check runs before merging and ignore reset-and-squash as candidate for fail

* reset and squash script shouldn't will be cancelled only if a push to master has been made which always should take priority. The rest will be put on hold to avoid parallel squash scripts running

* Set concurrencty at workflow level?

* Set concurrencty at workflow level?

* change trigger to pull_request to validate

* Reducing the types of "pull request" events

* Keep it as target

* Playing eith run name a little

* Change to pull request not target

* simplifying

* set to just pull request without target

* maintain as pull request target
---
 .../sunnypilot-master-dev-c3-prep.yaml        | 14 +++++---
 release/ci/squash_and_merge_prs.py            | 32 ++++++++++++++++---
 2 files changed, 38 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
index 1246b96780096b..7fdcb368ec0395 100644
--- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
@@ -14,7 +14,7 @@ on:
       - master
       - master-new    
   pull_request_target:
-    types: [ synchronize, opened, labeled ]  
+    types: [ synchronize, labeled ]  
     branches:    
       - 'master'        
       - 'master-new'            
@@ -31,11 +31,17 @@ on:
         default: 'master-dev-c3-new'
         type: string
 
+concurrency:
+  group: ${{ github.workflow }}
+  cancel-in-progress: ${{ github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }}
+  
+run-name: ${{ github.event.pull_request.head.repo.fork && (contains('pull_request', github.event_name) && github.event.action == 'synchronize') && format('{0} - {1}', github.workflow, github.event.action) || format('{0} - {1}', github.workflow, github.event_name) }}
+
 jobs:
   manage-pr-labels:
     name: Remove trust-fork-pr label if present
     runs-on: ubuntu-latest
-    if: (github.event.pull_request.head.repo.fork && (github.event_name == 'pull_request_target' && github.event.action == 'synchronize'))
+    if: (github.event.pull_request.head.repo.fork && (contains('pull_request', github.event_name) && github.event.action == 'synchronize'))
     steps:
       - name: Check if PR has dev-c3 label
         id: check-labels
@@ -89,7 +95,7 @@ jobs:
     if: (
             (github.event_name == 'workflow_dispatch')
             || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-            || (github.event_name == 'pull_request_target' && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+            || (contains('pull_request', github.event_name) && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
         )
     steps:
       - uses: actions/checkout@v4
@@ -101,7 +107,7 @@ jobs:
         uses: ./.github/workflows/wait-for-action # Path to where you place the action
         if: (
                 (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-                || (github.event_name == 'pull_request_target' && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+                || (contains('pull_request', github.event_name) && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
             )
         with:
           workflow: selfdrive_tests.yaml # The workflow file to monitor
diff --git a/release/ci/squash_and_merge_prs.py b/release/ci/squash_and_merge_prs.py
index 64fa32551273e7..b26b08d500ffa3 100755
--- a/release/ci/squash_and_merge_prs.py
+++ b/release/ci/squash_and_merge_prs.py
@@ -76,9 +76,36 @@ def validate_pr(pr):
   if not commits:
     return False, "no commit data found"
 
+  # First check if we have the rollup status
   status = commits[0].get('commit', {}).get('statusCheckRollup', {})
+
+  # If status is not SUCCESS, we need to check individual check runs
   if not status or status.get('state') != 'SUCCESS':
-    return False, "not all checks have passed"
+    # Get detailed check runs for this PR
+    checks_output = subprocess.run(
+      ['gh', 'pr', 'checks', str(pr_number), '--json', 'name,state'],
+      capture_output=True, text=True
+    )
+
+    try:
+      checks_data = json.loads(checks_output.stdout)
+
+      # Check if all checks are successful except for our reset-and-squash check
+      for check in checks_data:
+        check_name = check.get('name', '')
+        check_state = check.get('state', '')
+
+        # Skip our own check and any skipped checks
+        if check_name == 'reset-and-squash' or check_state == 'SKIPPED':
+          continue
+
+        # If any other check is not successful, the PR is not valid
+        if check_state != 'SUCCESS':
+          return False, f"check '{check_name}' has state '{check_state}'"
+
+    except json.JSONDecodeError:
+      # If we can't parse the JSON, fall back to the original check
+      return False, "unable to verify check status"
 
   # Check for merge conflicts
   merge_status = subprocess.run(['gh', 'pr', 'view', str(pr_number), '--json', 'mergeable,mergeStateStatus'],
@@ -87,9 +114,6 @@ def validate_pr(pr):
   if not merge_data.get('mergeable'):
     return False, "merge conflicts detected"
 
-  # if (mergeStateStatus := merge_data.get('mergeStateStatus')) == "BEHIND":
-  #   return False, f"branch is `{mergeStateStatus}`"
-
   return True, None
 
 

From 511e4c59198b08384e46619c94d066ee95204ac4 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 20 Apr 2025 13:34:24 +0200
Subject: [PATCH 0204/1434] ci: update auto pr review config and split turst
 fork pr (#842)

* Updating auto pr labeler

* auto pr review revamp

* Leaving event as pull request :)

* Check permission

* add chore

* Bringing back as original
---
 .github/labeler.yaml                          |  6 +-
 .github/workflows/auto_pr_review.yaml         | 77 ++++++++++++++-----
 .../sunnypilot-master-dev-c3-prep.yaml        | 55 +------------
 3 files changed, 64 insertions(+), 74 deletions(-)

diff --git a/.github/labeler.yaml b/.github/labeler.yaml
index 0b1fcac0ece628..01b6ae93430871 100644
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@@ -1,7 +1,11 @@
-CI / testing:
+ci:
   - changed-files:
     - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"
 
+chore:
+  - changed-files:
+      - any-glob-to-all-files: "{.github/**}"
+
 car:
   - changed-files:
     - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
index 33940b6d4bacf3..b7bc0150072010 100644
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -9,6 +9,7 @@ jobs:
     permissions:
       contents: read
       pull-requests: write
+      issues: write
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
@@ -28,25 +29,63 @@ jobs:
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
-        target: /^(?!master$).*/
-        exclude: /commaai:.*/
+        target: /^(?!master-new$).*/
+        exclude: /sunnypilot:.*/
         change-to: ${{ github.base_ref }}
         already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master` branch"
+        already-exists-comment: "Your PR should be made against the `master-new` branch"
 
-    # Welcome comment
-    - name: "First timers PR"
-      uses: actions/first-interaction@v1
-      if: github.event.pull_request.head.repo.full_name != 'sunnypilot/sunnypilot'
-      with:
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        pr-message: |
-            <!-- _(run_id **${{ github.run_id }}**)_ -->
-            Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
-            * Convert your PR to a draft unless it's ready to review
-            * Read the [contributing docs](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md)
-            * Before marking as "ready for review", ensure:
-              * the goal is clearly stated in the description
-              * all the tests are passing
-              * the change is [something we merge](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
-              * include a route or your device' dongle ID if relevant
+  update-pr-labels:
+    name: Update fork's PR Labels
+    runs-on: ubuntu-latest
+    if: (github.event.pull_request.head.repo.fork && (contains('pull_request', github.event_name) && github.event.action == 'synchronize'))
+    env: 
+      PR_LABEL: 'dev-c3'
+      TRUST_FORK_PR_LABEL: 'trust-fork-pr'
+    steps:
+      - name: Check if PR has dev-c3 label
+        id: check-labels
+        uses: actions/github-script@v7
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          script: |
+            const prNumber = context.payload.pull_request.number;
+            const { data: labels } = await github.rest.issues.listLabelsOnIssue({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: prNumber
+            });
+            
+            const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL);
+            const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL);
+            
+            console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
+            console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
+            
+            core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
+            core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
+      
+      - name: Remove trust-fork-pr label if present
+        if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
+        uses: actions/github-script@v7
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          script: |
+            const prNumber = context.payload.pull_request.number;
+            
+            await github.rest.issues.removeLabel({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: prNumber,
+              name: process.env.TRUST_FORK_PR_LABEL
+            });
+            
+            console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
+            
+            // Add a comment to the PR
+            await github.rest.issues.createComment({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: prNumber,
+              body: `The \`${process.env.TRUST_FORK_PR_LABEL}\` label has been automatically removed because new commits were pushed to this PR. This PR will need to be re-reviewed before the label can be applied again.`
+            });
diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
index 7fdcb368ec0395..2d6924d204cefe 100644
--- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
@@ -4,7 +4,6 @@ env:
   DEFAULT_SOURCE_BRANCH: "master-new"
   DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
   PR_LABEL: "dev-c3"
-  TRUST_FORK_PR_LABEL: "trust-fork-pr"
   LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
   LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
 
@@ -35,61 +34,9 @@ concurrency:
   group: ${{ github.workflow }}
   cancel-in-progress: ${{ github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }}
   
-run-name: ${{ github.event.pull_request.head.repo.fork && (contains('pull_request', github.event_name) && github.event.action == 'synchronize') && format('{0} - {1}', github.workflow, github.event.action) || format('{0} - {1}', github.workflow, github.event_name) }}
+run-name: ${{ contains('pull_request', github.event_name) && github.event.action == 'synchronize' && format('{0} - {1}', github.workflow, github.event.action) || format('{0} - {1}', github.workflow, github.event_name) }}
 
 jobs:
-  manage-pr-labels:
-    name: Remove trust-fork-pr label if present
-    runs-on: ubuntu-latest
-    if: (github.event.pull_request.head.repo.fork && (contains('pull_request', github.event_name) && github.event.action == 'synchronize'))
-    steps:
-      - name: Check if PR has dev-c3 label
-        id: check-labels
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-            const { data: labels } = await github.rest.issues.listLabelsOnIssue({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber
-            });
-            
-            const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL);
-            const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL);
-            
-            console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
-            console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
-            
-            core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
-            core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
-
-      - name: Remove trust-fork-pr label if present
-        if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-            
-            await github.rest.issues.removeLabel({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              name: process.env.TRUST_FORK_PR_LABEL
-            });
-            
-            console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
-            
-            // Add a comment to the PR
-            await github.rest.issues.createComment({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              body: `The \`${process.env.TRUST_FORK_PR_LABEL}\` label has been automatically removed because new commits were pushed to this PR. This PR will need to be re-reviewed before the label can be applied again.`
-            });
-
   reset-and-squash:
     runs-on: ubuntu-latest
     if: (

From d0c209575e5419674de94e364077d508b53b0f7c Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 20 Apr 2025 14:06:24 +0200
Subject: [PATCH 0205/1434] ci: bugfix flipped contains check for pull requests

---
 .github/workflows/auto_pr_review.yaml                | 2 +-
 .github/workflows/sunnypilot-build-prebuilt.yaml     | 6 +++---
 .github/workflows/sunnypilot-master-dev-c3-prep.yaml | 6 +++---
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
index b7bc0150072010..d3cfa60d923c68 100644
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -38,7 +38,7 @@ jobs:
   update-pr-labels:
     name: Update fork's PR Labels
     runs-on: ubuntu-latest
-    if: (github.event.pull_request.head.repo.fork && (contains('pull_request', github.event_name) && github.event.action == 'synchronize'))
+    if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
     env: 
       PR_LABEL: 'dev-c3'
       TRUST_FORK_PR_LABEL: 'trust-fork-pr'
diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 241228598d4864..50c47c510ee210 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -34,7 +34,7 @@ on:
 jobs:
   validate_tests:
     runs-on: ubuntu-24.04
-    if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains('pull_request', github.event_name) && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
     steps:
       - uses: actions/checkout@v4
       - name: Wait for Tests
@@ -210,7 +210,7 @@ jobs:
     concurrency:
       group: publish-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: true
-    if: ${{ !contains('pull_request', github.event_name) || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt') }}
+    if: ${{ !contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt') }}
     needs: build
     runs-on: ubuntu-24.04
     environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}
@@ -289,7 +289,7 @@ jobs:
   manage-pr-labels:
     name: Remove prebuilt label
     runs-on: ubuntu-latest
-    if: (always() && contains('pull_request', github.event_name) && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    if: (always() && contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
     env:
       LABEL: prebuilt
     steps:
diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
index 2d6924d204cefe..1385a32aa52edc 100644
--- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
@@ -34,7 +34,7 @@ concurrency:
   group: ${{ github.workflow }}
   cancel-in-progress: ${{ github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }}
   
-run-name: ${{ contains('pull_request', github.event_name) && github.event.action == 'synchronize' && format('{0} - {1}', github.workflow, github.event.action) || format('{0} - {1}', github.workflow, github.event_name) }}
+run-name: ${{ contains(github.event_name, 'pull_request') && github.event.action == 'synchronize' && format('{0} - {1}', github.workflow, github.event.action) || format('{0} - {1}', github.workflow, github.event_name) }}
 
 jobs:
   reset-and-squash:
@@ -42,7 +42,7 @@ jobs:
     if: (
             (github.event_name == 'workflow_dispatch')
             || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-            || (contains('pull_request', github.event_name) && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+            || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
         )
     steps:
       - uses: actions/checkout@v4
@@ -54,7 +54,7 @@ jobs:
         uses: ./.github/workflows/wait-for-action # Path to where you place the action
         if: (
                 (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-                || (contains('pull_request', github.event_name) && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+                || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
             )
         with:
           workflow: selfdrive_tests.yaml # The workflow file to monitor

From 9a1e420fa781ca059337b8b665e38ff53027e4e8 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 20 Apr 2025 14:19:31 +0200
Subject: [PATCH 0206/1434] ci: bugfix cancelling only when push to master or
 workflow dispatch.

Otherwise don't let it cancel as it seems that when running with pull_request_target we are with ref pointing to target and thus the cancel condition was being met
---
 .github/workflows/sunnypilot-master-dev-c3-prep.yaml | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
index 1385a32aa52edc..031be6a50d1b08 100644
--- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
@@ -13,7 +13,7 @@ on:
       - master
       - master-new    
   pull_request_target:
-    types: [ synchronize, labeled ]  
+    types: [ labeled ]  
     branches:    
       - 'master'        
       - 'master-new'            
@@ -29,12 +29,15 @@ on:
         required: true
         default: 'master-dev-c3-new'
         type: string
+      cancel_in_progress:
+        description: 'Cancel any in-progress runs of this workflow'
+        required: false
+        default: true
+        type: boolean
 
 concurrency:
   group: ${{ github.workflow }}
-  cancel-in-progress: ${{ github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }}
-  
-run-name: ${{ contains(github.event_name, 'pull_request') && github.event.action == 'synchronize' && format('{0} - {1}', github.workflow, github.event.action) || format('{0} - {1}', github.workflow, github.event_name) }}
+  cancel-in-progress: ${{ inputs.cancel_in_progress || github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }}
 
 jobs:
   reset-and-squash:

From b64ceb41ed903703138db323936f09835032fd2a Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 20 Apr 2025 21:18:11 +0200
Subject: [PATCH 0207/1434] ci: improve conditions for publish and notify steps
 in workflow (#844)

---
 .github/workflows/sunnypilot-build-prebuilt.yaml | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 50c47c510ee210..156e10515b7ab0 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -206,12 +206,13 @@ jobs:
         run: |
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
 
+
   publish:
     concurrency:
       group: publish-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: true
-    if: ${{ !contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt') }}
-    needs: build
+    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    needs: [ build ]
     runs-on: ubuntu-24.04
     environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}
     steps:
@@ -257,7 +258,7 @@ jobs:
   notify:
     needs: [ build, publish ]
     runs-on: ubuntu-24.04
-    if: success()
+    if: ${{ (always() && !failure() && !cancelled()) }}
     steps:
       - uses: actions/checkout@v4
       - name: Setup Alpine Linux environment

From 0102a1c704dcf3b5dc00e98fa1390a993507acb2 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 22 Apr 2025 00:03:06 -0400
Subject: [PATCH 0208/1434] DM: Use `carControl.latActive` for MADS DM
 monitoring (#845)

---
 selfdrive/monitoring/dmonitoringd.py | 2 +-
 selfdrive/monitoring/helpers.py      | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index d0d28ebac1c443..71733f99fc093b 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -11,7 +11,7 @@ def dmonitoringd_thread():
   params = Params()
   pm = messaging.PubMaster(['driverMonitoringState'])
   sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2',
-                            'selfdriveStateSP'], poll='driverStateV2')
+                            'carControl'], poll='driverStateV2')
 
   DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
 
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 0ff7a52a927556..67776994f091b1 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -403,13 +403,13 @@ def run_step(self, sm):
       driver_state=sm['driverStateV2'],
       cal_rpy=sm['liveCalibration'].rpyCalib,
       car_speed=sm['carState'].vEgo,
-      op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.active
+      op_engaged=sm['selfdriveState'].enabled or sm['carControl'].latActive
     )
 
     # Update distraction events
     self._update_events(
       driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed,
-      op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.active,
+      op_engaged=sm['selfdriveState'].enabled or sm['carControl'].latActive,
       standstill=sm['carState'].standstill,
       wrong_gear=sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park],
       car_speed=sm['carState'].vEgo

From fd0d4a5aab7d3c34fb649f5ca330a5871390168d Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Tue, 22 Apr 2025 14:54:18 +0200
Subject: [PATCH 0209/1434] ci: fixes for trigger conditions on sync (#847)

pull_request_target is needed for security, but at the same time it makes life a little harder because the ref is different so we need to do some work to make sure we get what we are supposed to get
---
 .../workflows/sunnypilot-build-prebuilt.yaml   | 18 ++++++++++++++----
 1 file changed, 14 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 156e10515b7ab0..c203edfa75a525 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -54,11 +54,13 @@ jobs:
       version: ${{ steps.set-env.outputs.version }}
       extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
       commit_sha: ${{ steps.set-env.outputs.commit_sha }}
-    if: always() && !failure() && !cancelled()
+    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
     steps:
       - uses: actions/checkout@v4
         with:
           submodules: recursive
+          ref: ${{ github.head_ref || github.ref_name }}
+          repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }}
       - run: git lfs pull
 
       - name: Cache SCons
@@ -75,15 +77,16 @@ jobs:
             scons-${{ runner.os }}-${{ runner.arch }}
 
       - name: Set Configuration
+        if: (!github.event.pull_request.head.repo.fork)
         run: |
-          if [[ "${{ github.ref_name }}" == "${{ env.DEV_C3_SOURCE_BRANCH }}" ]]; then
+          if [[ "${{ github.head_ref || github.ref_name }}" == "${{ env.DEV_C3_SOURCE_BRANCH }}" ]]; then
             # Dev configuration
             echo "BRANCH_TYPE=dev" >> $GITHUB_ENV
             echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
             echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
             echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
           
-          elif [[ "${{ github.ref_name }}" == "${{ env.MASTER_BRANCH }}" || "${{ github.ref_name }}" == "${{ env.MASTER_NEW_BRANCH }}" ]]; then
+          elif [[ "${{ github.head_ref || github.ref_name }}" == "${{ env.MASTER_BRANCH }}" || "${{ github.ref_name }}" == "${{ env.MASTER_NEW_BRANCH }}" ]]; then
             # Master configuration
             echo "BRANCH_TYPE=master" >> $GITHUB_ENV
             echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
@@ -103,6 +106,13 @@ jobs:
             echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-prebuilt" >> $GITHUB_ENV
             echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
           fi
+          
+      - name: Set Configuration (only forks)
+        if: (github.event.pull_request.head.repo.fork)
+        run: |
+          echo "BRANCH_TYPE=dispatch" >> $GITHUB_ENV
+          echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-fork-prebuilt" >> $GITHUB_ENV
+          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
 
       - name: Set environment variables
         id: set-env
@@ -258,7 +268,7 @@ jobs:
   notify:
     needs: [ build, publish ]
     runs-on: ubuntu-24.04
-    if: ${{ (always() && !failure() && !cancelled()) }}
+    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
     steps:
       - uses: actions/checkout@v4
       - name: Setup Alpine Linux environment

From 63a188d2e01b5891225806b887b315b114ded3b0 Mon Sep 17 00:00:00 2001
From: Warren Togami <wtogami@gmail.com>
Date: Wed, 23 Apr 2025 20:23:40 -0500
Subject: [PATCH 0210/1434] TOYOTA_RAV4_PRIME NNLC tuning gen 1 (#850)

neural_network_data: TOYOTA_RAV4_PRIME NNLC tuning gen 1
---
 sunnypilot/neural_network_data | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/neural_network_data b/sunnypilot/neural_network_data
index 61dbe23f5d6e30..16946bfd9cca1a 160000
--- a/sunnypilot/neural_network_data
+++ b/sunnypilot/neural_network_data
@@ -1 +1 @@
-Subproject commit 61dbe23f5d6e3086cc549f7c598090256ad6bd87
+Subproject commit 16946bfd9cca1a33e8b609d10ca3d1a0089d38e2

From be168d14e9e402237a01178766af0be8c9b8d4e4 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 26 Apr 2025 19:33:35 +0200
Subject: [PATCH 0211/1434] SL: updating localproxy implementation (#841)

* Adding capabilities to route localProxy via sunnylink

* Undo

* Thx lint

* get api token

* cert is not valid when it's an IP. Still use cert, but don't validate
---
 sunnypilot/sunnylink/athena/sunnylinkd.py | 17 ++++++++++++++--
 sunnypilot/sunnylink/utils.py             |  9 +++++++++
 system/athena/athenad.py                  | 24 +++++++++++++----------
 3 files changed, 38 insertions(+), 12 deletions(-)

diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index 2c4b95fa464e45..a6758206281d43 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -10,11 +10,12 @@
 import time
 
 from jsonrpc import dispatcher
+from functools import partial
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \
-  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler
+  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                        create_connection)
 
@@ -50,7 +51,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
               # threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
               # threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
             ] + [
-              threading.Thread(target=jsonrpc_handler, args=(end_event,), name=f'worker_{x}')
+              threading.Thread(target=jsonrpc_handler, args=(end_event, partial(startLocalProxy, end_event),), name=f'worker_{x}')
               for x in range(HANDLER_THREADS)
             ]
 
@@ -201,6 +202,18 @@ def saveParams(params_to_update: dict[str, str], compression: bool = False) -> N
       cloudlog.error(f"sunnylinkd.saveParams.exception {e}")
 
 
+def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
+  cloudlog.debug("athena.startLocalProxy.starting")
+  ws = create_connection(
+    remote_ws_uri,
+    header={"Authorization": f"Bearer {sunnylink_api.get_token()}"},
+    enable_multithread=True,
+    sslopt={"cert_reqs": ssl.CERT_NONE}
+  )
+
+  return start_local_proxy_shim(global_end_event, local_port, ws)
+
+
 def main(exit_event: threading.Event = None):
   try:
     set_core_affinity([0, 1, 2, 3])
diff --git a/sunnypilot/sunnylink/utils.py b/sunnypilot/sunnylink/utils.py
index 57523d73945811..55b1f6f2852e25 100644
--- a/sunnypilot/sunnylink/utils.py
+++ b/sunnypilot/sunnylink/utils.py
@@ -46,3 +46,12 @@ def register_sunnylink():
 
   sunnylink_id = SunnylinkApi(None).register_device(None, **extra_args)
   print(f"SunnyLinkId: {sunnylink_id}")
+
+
+def get_api_token():
+  """Get the API token for the device."""
+  params = Params()
+  sunnylink_dongle_id = params.get("SunnylinkDongleId", encoding='utf-8')
+  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
+  token = sunnylink_api.get_token()
+  print(f"API Token: {token}")
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 4bcdc9b83cea58..3f3fc3d70d2c9d 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -184,8 +184,8 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
       thread.join()
 
 
-def jsonrpc_handler(end_event: threading.Event) -> None:
-  dispatcher["startLocalProxy"] = partial(startLocalProxy, end_event)
+def jsonrpc_handler(end_event: threading.Event, localProxyHandler = None) -> None:
+  dispatcher["startLocalProxy"] = localProxyHandler or partial(startLocalProxy, end_event)
   while not end_event.is_set():
     try:
       data = recv_queue.get(timeout=1)
@@ -480,7 +480,19 @@ def setRouteViewed(route: str) -> dict[str, int | str]:
 
 
 def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
+  cloudlog.debug("athena.startLocalProxy.starting")
+  dongle_id = Params().get("DongleId").decode('utf8')
+  identity_token = Api(dongle_id).get_token()
+  ws = create_connection(remote_ws_uri, cookie="jwt=" + identity_token, enable_multithread=True)
+
+  return start_local_proxy_shim(global_end_event, local_port, ws)
+
+
+def start_local_proxy_shim(global_end_event: threading.Event, local_port: int, ws: WebSocket) -> dict[str, int]:
   try:
+    if ws.sock is None:
+      raise Exception("WebSocket is not connected")
+
     # migration, can be removed once 0.9.8 is out for a while
     if local_port == 8022:
       local_port = 22
@@ -488,14 +500,6 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local
     if local_port not in LOCAL_PORT_WHITELIST:
       raise Exception("Requested local port not whitelisted")
 
-    cloudlog.debug("athena.startLocalProxy.starting")
-
-    dongle_id = Params().get("DongleId").decode('utf8')
-    identity_token = Api(dongle_id).get_token()
-    ws = create_connection(remote_ws_uri,
-                           cookie="jwt=" + identity_token,
-                           enable_multithread=True)
-
     # Set TOS to keep connection responsive while under load.
     # DSCP of 36/HDD_LINUX_AC_VI with the minimum delay flag
     ws.sock.setsockopt(socket.IPPROTO_IP, socket.IP_TOS, 0x90)

From 2ceafa2c5714e81de87e2fbba741d529fc7fbd13 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Thu, 1 May 2025 11:44:43 +0200
Subject: [PATCH 0212/1434] ci: Fix prebuilt label behavior (#864)

* Refactor workflow to centralize branch source handling

Moved branch resolution logic to a single `SOURCE_BRANCH` variable for consistency and readability. Updated related conditionals and parameters to use this new variable, reducing redundancy and improving maintainability of branch-specific configurations.

* Refactor workflow to use repository-defined variables.

Replaced hardcoded branch names with repository-defined variables for improved configurability and maintainability. This ensures flexibility by allowing changes via repository settings without modifying the workflow file.
---
 .../workflows/sunnypilot-build-prebuilt.yaml  | 105 ++++++++++--------
 1 file changed, 58 insertions(+), 47 deletions(-)

diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index c203edfa75a525..6cd5023a17528b 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -8,14 +8,16 @@ env:
   PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
   
   # Branch configurations
-  MASTER_BRANCH: "master"
-  MASTER_NEW_BRANCH: "master-new"
-  DEV_C3_SOURCE_BRANCH: "master-dev-c3-new"
+  STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master-new' }} # vars are set on repo settings.
+  DEV_C3_SOURCE_BRANCH: ${{ vars.DEV_C3_SOURCE_BRANCH || 'master-dev-c3-new' }} # vars are set on repo settings.
   
   # Target branch configurations
-  STAGING_TARGET_BRANCH: "staging-c3-new"
-  DEV_TARGET_BRANCH: "dev-c3-new"
-  RELEASE_TARGET_BRANCH: "release-c3-new"
+  STAGING_TARGET_BRANCH: ${{ vars.STAGING_TARGET_BRANCH || 'staging-c3-new' }} # vars are set on repo settings.
+  DEV_TARGET_BRANCH: ${{ vars.DEV_TARGET_BRANCH || 'dev-c3-new' }} # vars are set on repo settings.
+  RELEASE_TARGET_BRANCH: ${{ vars.RELEASE_TARGET_BRANCH || 'release-c3-new' }} # vars are set on repo settings.
+  
+  # Runtime configuration
+  SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
 
 on:
   push:
@@ -59,7 +61,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: recursive
-          ref: ${{ github.head_ref || github.ref_name }}
+          ref: ${{ env.SOURCE_BRANCH }}
           repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }}
       - run: git lfs pull
 
@@ -67,52 +69,61 @@ jobs:
         uses: actions/cache@v4
         with:
           path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-${{ github.sha }}
+          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }}
           # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
           #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
           restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
 
-      - name: Set Configuration
-        if: (!github.event.pull_request.head.repo.fork)
+      - name: Set Feature Branch Prebuilt Configuration
+        id: set_feature_configuration
+        if: (
+              !(env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH) &&
+              !(env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH) &&
+              !(startsWith(github.ref, 'refs/tags/'))
+            )
         run: |
-          if [[ "${{ github.head_ref || github.ref_name }}" == "${{ env.DEV_C3_SOURCE_BRANCH }}" ]]; then
-            # Dev configuration
-            echo "BRANCH_TYPE=dev" >> $GITHUB_ENV
-            echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
-            echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-            echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
-          
-          elif [[ "${{ github.head_ref || github.ref_name }}" == "${{ env.MASTER_BRANCH }}" || "${{ github.ref_name }}" == "${{ env.MASTER_NEW_BRANCH }}" ]]; then
-            # Master configuration
-            echo "BRANCH_TYPE=master" >> $GITHUB_ENV
-            echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
-            echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
-            echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
-          
-          elif [[ "${{ github.ref }}" == refs/tags/* ]]; then
-            # Tag configuration
-            echo "BRANCH_TYPE=tag" >> $GITHUB_ENV
-            echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
-            echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
-            echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
-          
-          else
-            # Feature branch configuration
-            echo "BRANCH_TYPE=dispatch" >> $GITHUB_ENV
-            echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-prebuilt" >> $GITHUB_ENV
-            echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-          fi
-          
-      - name: Set Configuration (only forks)
-        if: (github.event.pull_request.head.repo.fork)
+          echo "NEW_BRANCH=${{ env.SOURCE_BRANCH }}${{ github.event.pull_request.head.repo.fork && '-fork' || '' }}-prebuilt" >> $GITHUB_ENV
+          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
+
+      - name: Set dev-c3-new prebuilt Configuration
+        id: set_dev_configuration
+        if: (
+                steps.set_feature_configuration.outcome == 'skipped' && 
+                env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH
+            )
         run: |
-          echo "BRANCH_TYPE=dispatch" >> $GITHUB_ENV
-          echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-fork-prebuilt" >> $GITHUB_ENV
+          echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
           echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
+          echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
+
+      - name: Set staging-c3-new prebuilt Configuration
+        id: set_staging_configuration
+        if: (
+                steps.set_feature_configuration.outcome == 'skipped' &&
+                !contains(github.event_name, 'pull_request') &&
+                steps.set_dev_configuration.outcome == 'skipped' && 
+                (env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH)
+            )
+        run: |
+          echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
+          echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
+          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
+
+      - name: Set release-c3-new prebuilt Configuration
+        id: set_tag_configuration
+        if: (
+              steps.set_feature_configuration.outcome == 'skipped' &&
+              !contains(github.event_name, 'pull_request') &&
+              steps.set_staging_configuration.outcome == 'skipped' &&
+              startsWith(github.ref, 'refs/tags/')
+            )
+        run: |
+          echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
+          echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
+          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
 
       - name: Set environment variables
         id: set-env
@@ -278,12 +289,12 @@ jobs:
 
       - name: Send Discord Notification
         env:
-          DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), github.head_ref || github.ref_name) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
+          DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), env.SOURCE_BRANCH) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
         run: |
           TEMPLATE='${{ vars.DISCORD_GENERAL_UPDATE_NOTICE }}'
           export EXTRA_VERSION_IDENTIFIER="${{ needs.build.outputs.extra_version_identifier }}"
           export VERSION="${{ needs.build.outputs.version }}"
-          export branch_name=${{ github.head_ref || github.ref_name }}
+          export branch_name=${{ env.SOURCE_BRANCH }}
           export new_branch=${{ needs.build.outputs.new_branch }}
           export extra_version_identifier=${{ needs.build.outputs.extra_version_identifier || github.run_number}}
           echo ${TEMPLATE} | envsubst | jq -c '.' | tee payload.json

From c86204ce6df7207c4d3db8328c0b20cff625cf47 Mon Sep 17 00:00:00 2001
From: dparring <114614741+dparring@users.noreply.github.com>
Date: Thu, 1 May 2025 23:28:06 -0500
Subject: [PATCH 0213/1434] FCA: Ram 1500 improvements (#797)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* FCA: Ram 1500 improvements

* updating reference to my opendbc

* syncing latest opendbc

* move to car_specific_sp

* bump

* Realfast ram1500 (#1)

* Bump tinygrad to upstream master (#34973)

bump tg

* test_onroad: test liveParameters service timing (#34977)

Add live params to test onroad

* selfdrived: remove ignored processes list (#34978)

* selfdrived: remove ignored processes list

* it's a set

* calibrationd: read carParams from Params (#34981)

* Read CarParams once from Params

* Remove it from process replay

* locationd: make pose_kf inherit from KalmanFilter (#34982)

* Read message not json for initial state

* Delete lines

* Fix param

* MADS: prevent `wrongCarMode` from disabling MADS enabled state (#792)

* MADS: prevent `wrongCarMode` from disabling MADS enabled state

Add wrongCarModeNoEntry as a NO_ENTRY event to replace wrongCarMode (USER_DISABLE)
that would incorrectly disable MADS when in the wrong car mode. Provides
contextual guidance to users based on car brand, showing appropriate
instructions for re-engagement without requiring MADS to be re-enabled.

* move down

* warning only?

* cereal SIKE

* remove duplicate

* try this out

* final

* Readme: update with links to new branches and info about rewrite and reflash agnos (#795)

* Adding the new branches info and adding a warning to reflash agnos

* Using more blockquote

* it

---------

Co-authored-by: Stupefacient <brianbrownt@gmail.com>

* agnos 11.13 (#34980)

* agnos 11.12

* new build

* Multilang: Update pt-BR translation (#34983)

* [bot] Update Python packages (#34987)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>

* Multilang: Update ja translation (#34986)

* 日本語訳2025/3/19

* numerusform追加。

* connect to an unmetered network�対応

* panda是正

* opendbc_repo是正

* Multilang: Update zh translation (#34985)

* update to latest userdata partition (#34990)

update

* paramsd: cache backwards compatibility (#34991)

* LiveParametersV2 key

* Param key

* Fix tests

* Remove old params if error

* Update exception message

* Update the test

* Add test for corrupted byte format in v1

* Rename params_reader => params

* hardwared: give stuck LTE connections a kick

This reverts commit e3e694096a3a79e663712797e559e729e6818c7c.

* Revert "hardwared: give stuck LTE connections a kick"

This reverts commit e4aa346259d9be4713c0d6b7bcd49ac88c277c1f.

* process_replay: fix GM and replace TOYOTA3 (#34996)

* Add volt and bolt param migration

* Remove mazda due to invalid sensor timings

* Fix the import

* Add mazda to excluded

* Bring back mazda, but add todo

* New segment for TOYOTA3

* Fix

* Update ref commit

* bump opendbc

* test_models: update relay malfunction check (#34999)

relay is checked in fwd hook

* process_replay: remove GM (volt) (#35000)

Remove volt segment

* Revert "test_models: update relay malfunction check" (#35002)

Revert "test_models: update relay malfunction check (#34999)"

This reverts commit 2cd0079abef0f654541dfc894e97b02829163577.

* Reapply "Online lateral lag learning" (#34975)

* Online lateral lag learning (#34974)

This reverts commit b4cc9e68d126c2219a7ddf33519e222fe8bfe00d.

* pad to the best size for fft

* Fix static analysis

* Add typing

* Fix typing

* MAX_LAG

* Calculate cross correlation regardless if the points are valid

* Back to lagd

* Add lagd to process_config

* Lagd in test onroad

* Move lag estimator for lagd

* Remove duplicate entry from test_onroad

* Update process replay

* pre-fill the data

* Update cpu usage

* 25sec window

* Change the meaning of lateralDelayEstimate

* No newline

* Fix typing

* Prefill

* Update ref commit

* Add a unit test

* Fix static issues

* Time limit

* Or timeout

* Use mocker

* Update estimate every time

* empty test

* DT const

* enable RIVIAN again

* Update ref commit

* Update that again

* Improve the tests

* Fix static

* Add masking test

* Increase timeout

* Add liveDelay to selfdrived

* Add liveDelay to selfdrived in process_replay

* Fix block_avg restore after num_blocks

* regen most

* Update bolt

* Update ref commit

* Change the key name

* Add assert

* True weighted average

* Raise thermal setpoint (#35008)

We don't need to control all the way down to 70C

* UI: Update `AbstractControlSP_SELECTOR` and `OptionControlSP` (#800)

* controls

* Adjust label width dynamically based on layout type.

Updated the label's fixed width to be conditional on the layout type, improving adaptability for different inline layouts. Additionally, corrected indentation in the width calculation loop for consistency.

* Refactor OptionControlSP to improve parameter value handling and encapsulate logic in dedicated methods

* Refactor getParamValue to return an integer and ensure value is updated correctly in button click handler

* Trying to unify a bit the logic. still WIP

* Reducing a bit the change footprint

* Refactor spacing item handling to prevent duplicate insertion and improve layout management

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>

* bump panda

* Radard: vision-based yRel for Hyundai single-lead systems (#805)

Introduced processing for custom yRel values using HyundaiFlagsSP when the enhanced SCC flag is enabled. Updated `radard` to handle `CarParamsSP` and make necessary adjustments for Hyundai vehicles with specific SCC configurations.

* MADS: transition to soft-disable for specific gear states (#791)

* MADS: transition to soft-disable for specific gear states

This commit enhances the condition checking functionality of the Modular Assistive Driving System (MADS) to implement a 'soft-disable' feature during the vehicle's active motion when a non-forward drive gear is engaged. It includes utilizing structs to reference various car state attributes and modifying a function definition to improve clarity. This adjustment boosts the system's reaction to gear shifts, increasing the safety and efficiency of the driving assist system.

* structs

* UI: Device & Sunnylink Panels - Standardize push button size & alignment (#806)

* layout adjustments

* sunnylink_panel

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

* [bot] Update Python packages (#35012)

* Update Python packages

* update refs

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Shane Smiskol <shane@smiskol.com>

* ci: Remove redundant Panda build step from prebuilt workflow (#810)

The Panda build step was unnecessary as it is not utilized in this workflow. This change simplifies the workflow and reduces redundant actions, improving efficiency.

* Device: Customizable Max Time Offroad (#796)

* Max Time Offroad

* Refactor & Fix param

* Error Handling

* rename SP variable

* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h

Co-authored-by: DevTekVE <devtekve@gmail.com>

* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h

Co-authored-by: DevTekVE <devtekve@gmail.com>

* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h

Co-authored-by: DevTekVE <devtekve@gmail.com>

* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h

Co-authored-by: DevTekVE <devtekve@gmail.com>

* Update selfdrive/ui/sunnypilot/qt/widgets/controls.cc

Co-authored-by: DevTekVE <devtekve@gmail.com>

* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/max_time_offroad.h

Co-authored-by: DevTekVE <devtekve@gmail.com>

* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/max_time_offroad.cc

Co-authored-by: DevTekVE <devtekve@gmail.com>

* UI layout changes for better alignment

selector is not big enough -> make it bigger ;)

OptionControlSP now includes a QMap argument to allow actual values to be set in param directly

* Rebase & resolve reviews

* change default to be closer to OP default

* me dumb

* MaxTimeOffroad: Add support for 30h limit and improve label formatting

* power_monitoring: Refactor MaxTimeOffroad parameter handling for clarity

* test: Add unit tests for MaxTimeOffroad parameter handling

* power_monitoring: Update MaxTimeOffroad handling to use seconds and improve shutdown logic

* power_monitoring: Improve exception handling and remove redundant shutdown check for MaxTimeOffroad

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

* Hyundai longitudinal: Parse lead info for camera-based SCC platforms (#809)

* Hyundai longitudinal: Parse lead info for camera-based SCC platforms

* fix

* update

* bump

* update tests

* lol why is this here

* bump

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>

* Models: point to v2 of driving models json for recompiled models (#817)

Use newer model version json since they have been recompiled

* ci: update squash script for external contributors (#811)

* Get head ref info

* Simpify adding the comment with the newest flagg by gh cli

* Dynamic origin

* Enhance PR processing: add label handling for forked PRs and improve variable naming

* Refactor PR label handling: use constant for trust-fork label and improve comments

* Fix remote addition in PR processing: change subprocess call to not check for errors

* Refactor PR comment handling: support multiple comments and improve clarity

* Refactor PR processing: streamline comment handling and improve error management

* Refactor add_pr_comments function: specify comments type as list of strings

* Maybe we don't prevent "behind" branches to be merged as lon as the PR itself is mergeable

* lint, leave me alone

---------

Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>

* sunnylink: fix sunnylink backup restore version parsing (#816)

* improvement

* fix: Improve version parsing logic for sunnypilot

---------

Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

* DM: Enforce monitoring of MADS state in driver monitoring (#818)

* DM: Enforce monitoring of MADS state in driver monitoring

Added `selfdriveStateSP.mads.enabled` to track MADS engagement. This ensures monitoring logic accounts for MADS alongside the existing selfdrive state checks, improving feature integration and event handling.

* how

* [bot] Update Python packages (#35017)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>

* Rename experimental long (#35011)

* now alpha long

* fix

* rename param

* thought i did this

* debug

* debug

* more

* more

* moar

* Revert "moar"

This reverts commit e347106246583982e1be206485ad4d8eb944f817.

* Revert "more"

This reverts commit 0746e6d2e400ce1715614c62af84a9680c4d65c1.

* Revert "more"

This reverts commit 0db5a8792c01bb2d687f9152e6ba37fb76d4a453.

* Revert "debug"

This reverts commit 72f235b13727980e4331ff487998ddc7c7f7fb63.

* Revert "debug"

This reverts commit 7871b69f8c1bdffed386c2baac99542fcc50f7eb.

* Temporary disable UI preview from CI (#35018)

disable

* Update Python packages (#819)

* Fix possible CAN ignition overlap due to incorrect counter tracking (#35019)

* fix-rivian-ign

* bump

* UI: Bugfix Max Time Offroad (#820)

bugfixes

Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>

* CI: Improve `dev-c3-new` auto build (#825)

* force commit to force PR

* ci: add job to manage PR labels and remove trust label on new commits

* Add pull request trigger

* empty commit to test

* ci: update pull request label management logic and remove FORCE_RUN flag

* ci: update trust label management to use TRUST_FORK_PR_LABEL

* ci: update workflow to manage PR labels and adjust trigger conditions

* ci: rename jobs in workflow for consistency and clarity

* ci: add unleash-nightly-squash branch to workflow

* ci: add checkout step with GITHUB_TOKEN to workflow

* force wait

* what happens if negated the wait

* ci: add 'Wait for Tests' action to monitor workflow execution

* ci: update wait-for-tests action conditions and cleanup

* ci: refine conditions for managing PR labels and waiting for tests

* ci: enhance PR label conditions for workflow execution

* Cant use env on if

* maybe

* ci: update pull request workflow conditions and cleanup

* Missing end of line

* ci: rename workflow and update job name for clarity

* Cleaning

* ci: refine conditions for pull request handling in workflow

* ci: update handling of TRUST_FORK_LABEL in PR processing

* ci: remove fork trust warning from PR processing

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

* CI: Update PR list query to exclude draft pull requests (#829)

* lagd: check sensors valid (#35027)

* Check if sensors valid

* Fix test

* Fix static

* Constants

* time buffer for pose valid

* Fix static

* Revert "DM: Enforce monitoring of MADS state in driver monitoring" (#830)

Revert "DM: Enforce monitoring of MADS state in driver monitoring (#818)"

This reverts commit 3615b1a20371c8e074f591030fb56c770db7c08c.

* DM: Enforce monitoring of MADS state in driver monitoring (#831)

* DM: Enforce monitoring of MADS state in driver monitoring

Added `selfdriveStateSP.mads.enabled` to track MADS engagement. This ensures monitoring logic accounts for MADS alongside the existing selfdrive state checks, improving feature integration and event handling.

* how

* okay, only when active

* ui(raylib): update spinner progress bar to match Qt (#35028)

* lagd: estimate std (#35009)

* Std

* Fix static

* Refactor

* Assert std zero

* update

* ui(raylib): fix typos (#35030)

* Update modeld action logic (#35032)

* add action logic

* magic numbers

* unused

* plot accel

* more changes

* lagd: check for validity of the estimate when restoring state (#35034)

Do not restore if invalid

* Multilang: Update de translation (#35025)

added missing German translations

* Tomb raider 2 (#35029)

* db56b8fb-9135-4ab6-af18-99b7df7b2245/400

* fixes

* linter unhappy

* 6dbe0991-baa1-49ad-836a-ab370d1f0d92/400

* This one is good: 19387087-1005-475e-9015-9458dd8e7c5f/400

* Better every day: 39ed911c-0937-417f-97d2-58a8bb3caa53/400

* Actually end-to-end

* typo

* smooooooth: 94e23541-eb84-4fef-9f51-6a2d82aff314/360

* Revert "smooooooth: 94e23541-eb84-4fef-9f51-6a2d82aff314/360"

This reverts commit edd4f02386d83d82dd8a188985cde80ed1646b7f.

* 11632ef7-f555-489c-8480-e3bf97d9285e/400

* 08712d27-f6bd-4536-a30e-c729e5f62356/400

* 0a92a35e-1f72-476a-8cb6-c9f103f36822/400

* ee6d2394-2072-420c-a664-b4c0d4ed0b61/400

* no prev curv

* No double work

* fix bug

* smooth

* update prev action

* whitespace

* add little accel

* new ref

* Update plant.py

* DEC: adjust dynamic speed adaptation parameters (#813)

* early and better

* Update sunnypilot/selfdrive/controls/lib/dec/constants.py

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>

* OS04C10: use IFE downscaler for road cameras (#35023)

* squashh

* wrong

* clean up

* rename

* process replay migration: fix longitudinalPlan (#35035)

* ci: ui preview add unicode characters and emojis (#835)

Add unicode characters and emojis!

* ui(raylib): update text window font, new lines and indentation (#35031)

* NNLC: decreased low-speed factor (#822)

* NNLC: decreased low-speed factor

* np.float to float

* format

* add tests for sanity check

---------

Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

* ui(raylib): calculate spinner progress in set_text (#35036)

* bugfix: Auto lane change - Add mode to disable lane changes (#826)

* off is off

* sugg

* line

* Update sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>

* NNLC: use `safe_exp` to prevent overflow in `sigmoid` (#836)

* test

* prevent overflowing

* unused

* NNLC: fix weak torque in high lat-accel turns (#823)

* NNLC: fix weak torque in high lat-accel turns

* np.float to float

---------

Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

* ci: trigger prebuilt builds via label from PR

* ci: enhance pull request handling for prebuilt workflows

* ci: add wait-for-action step to monitor selfdrive_tests workflow

* ci: add validation job to monitor selfdrive_tests for prebuilt workflows

* test

* force negative condition to validate flow

* force negative condition to validate flow

* ci: add wait_for_tests input to control selfdrive_tests workflow execution

* ci: update description for wait_for_tests input in workflow

* Cleaning

* Remove PR label when triggered by the label

* Rename

* Changing to target and only caring about labeled for the time being

* gh action needs cancelled not canceled

* Line ending

* ci: avoid deadlock on dev-c3 branch build when PR labeled dev-c3 (#839)

* ci: enhance PR checks to validate individual check runs before merging and ignore reset-and-squash as candidate for fail

* reset and squash script shouldn't will be cancelled only if a push to master has been made which always should take priority. The rest will be put on hold to avoid parallel squash scripts running

* Set concurrencty at workflow level?

* Set concurrencty at workflow level?

* change trigger to pull_request to validate

* Reducing the types of "pull request" events

* Keep it as target

* Playing eith run name a little

* Change to pull request not target

* simplifying

* set to just pull request without target

* maintain as pull request target

* ci: update auto pr review config and split turst fork pr (#842)

* Updating auto pr labeler

* auto pr review revamp

* Leaving event as pull request :)

* Check permission

* add chore

* Bringing back as original

* ci: bugfix flipped contains check for pull requests

* ci: bugfix cancelling only when push to master or workflow dispatch.

Otherwise don't let it cancel as it seems that when running with pull_request_target we are with ref pointing to target and thus the cancel condition was being met

* ui(raylib): constant spinner rotation speed (#35037)

* ci: improve conditions for publish and notify steps in workflow (#844)

* [bot] Update translations (#35040)

Update translations

Co-authored-by: Vehicle Researcher <user@comma.ai>

* Long planner: make work with training (#35043)

* revert useless

* update ref

* Modeld: small refactor (#35044)

refactor

* update smooth

* raylib: init updater (#35045)

* raylib: init updater

* cleanup

* Revert "OS04C10: use IFE downscaler for road cameras" (#35046)

Revert "OS04C10: use IFE downscaler for road cameras (#35023)"

This reverts commit 3b60b22ceeb090812e5fa948ac6e56442d681dc4.

* Tomb Raider 3 (#35042)

* 92b64884-4506-4a03-87ad-33e1a177fe73/400

* faster lat

* DM: Use `carControl.latActive` for MADS DM monitoring (#845)

* ci: fixes for trigger conditions on sync (#847)

pull_request_target is needed for security, but at the same time it makes life a little harder because the ref is different so we need to do some work to make sure we get what we are supposed to get

* ui(raylib): reduce spinner rotation artifact (#35048)

* ui(raylib): reduce spinner rotation artifact

A visual artifact (white pixels) appeared on the edge of the
rotating spinner track texture, likely due to RGB color bleed during
bilinear filtering in Raylib.

Pre-multiplying the alpha channel of the spinner track image using
`rl.image_alpha_premultiply` significantly reduces the visibility of the
artifact.

* lint

* ui(raylib): increase font size and wrap text in spinner (#35049)

- Wrap text onto separate lines
- Increase font size to be closer to Qt
- Remove extra letter spacing - 0.0 should use font default spacing, and this is used in `wrap_text`

Will fix vertical alignment separately, as both the text and progress bar layouts need to be considered

* ui(raylib): update spinner vertical pos (#35051)

Adjust the spinner vertical position when displaying text or a progress bar

- When displaying the progress bar, center the comma logo and spinner in the middle of the screen
- When displaying text, center the entire content vertically

Also updated `wrap_text` to not include an empty line in the array if it's the first line, so that `wrap_text("")` always returns `[]`

* ui(raylib): "exit" btn in text window on PC (#35052)

* ui(raylib): "exit" btn in text window on PC

* unused import

* Revert "ui(raylib): "exit" btn in text window on PC (#35052)"

This reverts commit f9767d265010101f123dcdc261206cb7be8bb5d8.

* plotjuggler: support relative paths (#35054)

* Support relative paths

* Abspath for rlog too

* Reapply "ui(raylib): "exit" btn in text window on PC" (#35053)

* ui(raylib): "exit" btn in text window on PC

* unused import

* request close

* this was missing

* Disable low speed steer in modeld (#35056)

* disable low speed steer

* No steer under

* TOYOTA_RAV4_PRIME NNLC tuning gen 1 (#850)

neural_network_data: TOYOTA_RAV4_PRIME NNLC tuning gen 1

* SL: updating localproxy implementation (#841)

* Adding capabilities to route localProxy via sunnylink

* Undo

* Thx lint

* get api token

* cert is not valid when it's an IP. Still use cert, but don't validate

* move to car_specific_sp

* bump

---------

Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com>
Co-authored-by: Kacper RÄ…czy <gfw.kra@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Stupefacient <brianbrownt@gmail.com>
Co-authored-by: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com>
Co-authored-by: commaci-public <60409688+commaci-public@users.noreply.github.com>
Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: programanichiro <99449198+programanichiro@users.noreply.github.com>
Co-authored-by: eFini <ricklan@gmail.com>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Robbe Derks <robbe.derks@gmail.com>
Co-authored-by: Nayan <nayan8teen@gmail.com>
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
Co-authored-by: niko001 <nikolaus_fischer@t-online.de>
Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>
Co-authored-by: ZwX1616 <zwx1616@gmail.com>
Co-authored-by: YassineYousfi <yyousfi1@binghamton.edu>
Co-authored-by: Tim Wilson <twilsonco@gmail.com>
Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: Warren Togami <wtogami@gmail.com>

* fixing missing event

* more event fixes

* fixing spacing

* more fixes

* revert

* update

* update

* update

* reverting unneeded event

* S P A C I N G

* bumping opendbc

* bump

* Update sunnypilot/selfdrive/car/car_specific.py

* Update sunnypilot/selfdrive/car/car_specific.py

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com>
Co-authored-by: Kacper RÄ…czy <gfw.kra@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Stupefacient <brianbrownt@gmail.com>
Co-authored-by: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com>
Co-authored-by: commaci-public <60409688+commaci-public@users.noreply.github.com>
Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: programanichiro <99449198+programanichiro@users.noreply.github.com>
Co-authored-by: eFini <ricklan@gmail.com>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Robbe Derks <robbe.derks@gmail.com>
Co-authored-by: Nayan <nayan8teen@gmail.com>
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
Co-authored-by: niko001 <nikolaus_fischer@t-online.de>
Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>
Co-authored-by: ZwX1616 <zwx1616@gmail.com>
Co-authored-by: YassineYousfi <yyousfi1@binghamton.edu>
Co-authored-by: Tim Wilson <twilsonco@gmail.com>
Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: Warren Togami <wtogami@gmail.com>
---
 opendbc_repo                             |  2 +-
 selfdrive/selfdrived/selfdrived.py       |  2 +-
 sunnypilot/selfdrive/car/car_specific.py | 31 ++++++++++++++++++++----
 3 files changed, 28 insertions(+), 7 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 63fbea047be715..ac089b63147450 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 63fbea047be715cb772701270e66eddda49433a4
+Subproject commit ac089b63147450275e2dd3d261463ff992271d6a
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 36d1b27044ae9f..0b825869f4977e 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -198,7 +198,7 @@ def update_events(self, CS):
       car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg()
       self.events.add_from_msg(car_events)
 
-      car_events_sp = self.car_events_sp.update().to_msg()
+      car_events_sp = self.car_events_sp.update(CS, self.events).to_msg()
       self.events_sp.add_from_msg(car_events_sp)
 
       if self.CP.notCar:
diff --git a/sunnypilot/selfdrive/car/car_specific.py b/sunnypilot/selfdrive/car/car_specific.py
index 057f79cf0c60b9..649aceca016f90 100644
--- a/sunnypilot/selfdrive/car/car_specific.py
+++ b/sunnypilot/selfdrive/car/car_specific.py
@@ -5,12 +5,16 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import custom
+from cereal import log, custom
 from opendbc.car import structs
 
+from opendbc.car.chrysler.values import RAM_DT
+from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
+EventName = log.OnroadEvent.EventName
 EventNameSP = custom.OnroadEventSP.EventName
+GearShifter = structs.CarState.GearShifter
 
 
 class CarSpecificEventsSP:
@@ -18,6 +22,7 @@ def __init__(self, CP: structs.CarParams, params):
     self.CP = CP
     self.params = params
 
+    self.low_speed_alert = False
     self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks")
     self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed")
 
@@ -25,10 +30,26 @@ def read_params(self):
     self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks")
     self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed")
 
-  def update(self):
-    events = EventsSP()
+  def update(self, CS: structs.CarState, events: Events):
+    events_sp = EventsSP()
+
+    if self.CP.brand == 'chrysler':
+      if self.CP.carFingerprint in RAM_DT:
+        # remove belowSteerSpeed event from CarSpecificEvents as RAM_DT uses a different logic
+        if events.has(EventName.belowSteerSpeed):
+          events.remove(EventName.belowSteerSpeed)
+
+        # TODO-SP: use if/elif to have the gear shifter condition takes precedence over the speed condition
+        # TODO-SP: add 1 m/s hysteresis
+        if CS.vEgo >= self.CP.minEnableSpeed:
+          self.low_speed_alert = False
+        if CS.gearShifter != GearShifter.drive:
+          self.low_speed_alert = True
+      if self.low_speed_alert:
+        events.add(EventName.belowSteerSpeed)
+
     if self.CP.brand == 'hyundai':
       if self.hyundai_radar_tracks and not self.hyundai_radar_tracks_confirmed:
-        events.add(EventNameSP.hyundaiRadarTracksConfirmed)
+        events_sp.add(EventNameSP.hyundaiRadarTracksConfirmed)
 
-    return events
+    return events_sp

From b4c3e4d4d9b841a40f5ae43d5759bb2dc1bdc37b Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Fri, 2 May 2025 16:25:23 +0200
Subject: [PATCH 0214/1434] models: Remove local model compilation for modeldv2
 (#868)

* Remove supercombo model ONNX file.

Deleted the large `supercombo.onnx` model file from the repository. This cleanup reduces repository size and dependency on unused or outdated files for this version.

* Disable tinygrad model compilation on macos temporarily

* Remove unused dmonitoring model file.

Deleted the ONNX model for dmonitoring as it is no longer required. This eliminates unnecessary assets and reduces repository size.

* Removing the model also from the snpe build, we have them, prebuilt
---
 selfdrive/modeld/SConscript                   |  10 +-
 sunnypilot/modeld/SConscript                  |  12 --
 sunnypilot/modeld/models/supercombo.onnx      |   3 -
 sunnypilot/modeld_v2/SConscript               |  18 --
 sunnypilot/modeld_v2/dmonitoringmodeld        |   4 -
 sunnypilot/modeld_v2/dmonitoringmodeld.py     | 192 ------------------
 .../models/dmonitoring_model.current          |   2 -
 .../modeld_v2/models/dmonitoring_model.onnx   |   3 -
 sunnypilot/modeld_v2/models/supercombo.onnx   |   3 -
 9 files changed, 6 insertions(+), 241 deletions(-)
 delete mode 100644 sunnypilot/modeld/models/supercombo.onnx
 delete mode 100755 sunnypilot/modeld_v2/dmonitoringmodeld
 delete mode 100755 sunnypilot/modeld_v2/dmonitoringmodeld.py
 delete mode 100644 sunnypilot/modeld_v2/models/dmonitoring_model.current
 delete mode 100644 sunnypilot/modeld_v2/models/dmonitoring_model.onnx
 delete mode 100644 sunnypilot/modeld_v2/models/supercombo.onnx

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index cecebfa18b2ca0..0c04ec2823d669 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -47,8 +47,10 @@ elif arch == 'Darwin':
 else:
   device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0'
 
-for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
-  fn = File(f"models/{model_name}").abspath
-  cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
-  lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
+# TODO-SP: after 15.4 it's not possible to compile models locally on mac https://discord.com/channels/469524606043160576/1362735424644055230
+if arch != 'Darwin':
+  for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
+    fn = File(f"models/{model_name}").abspath
+    cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
+    lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
 
diff --git a/sunnypilot/modeld/SConscript b/sunnypilot/modeld/SConscript
index 1a54fe1e32bd58..bebd2de95370b9 100644
--- a/sunnypilot/modeld/SConscript
+++ b/sunnypilot/modeld/SConscript
@@ -52,15 +52,3 @@ commonmodel_lib = lenv.Library('commonmodel', common_src)
 lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
 lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
-
-tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath)]
-
-# Get model metadata
-fn = File("models/supercombo").abspath
-cmd = f'python3 {Dir("#sunnypilot/modeld").abspath}/get_model_metadata.py {fn}.onnx'
-lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
-
-if arch == "larch64":
-  thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
-  thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
-  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
diff --git a/sunnypilot/modeld/models/supercombo.onnx b/sunnypilot/modeld/models/supercombo.onnx
deleted file mode 100644
index 8b7126c44af68b..00000000000000
--- a/sunnypilot/modeld/models/supercombo.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fb2018c74cdd9e5cb070ec7bed7f8581fabd55e39057d0a03aaffd2e42408154
-size 62486347
diff --git a/sunnypilot/modeld_v2/SConscript b/sunnypilot/modeld_v2/SConscript
index 1a173dcdebd137..4ade1469f093ae 100644
--- a/sunnypilot/modeld_v2/SConscript
+++ b/sunnypilot/modeld_v2/SConscript
@@ -29,22 +29,4 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor
 cython_libs = envCython["LIBS"] + libs
 commonmodel_lib = lenv.Library('commonmodel', common_src)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
-tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
-
-# Get model metadata
-fn = File("models/supercombo").abspath
-cmd = f'python3 {Dir("#sunnypilot/modeld_v2").abspath}/get_model_metadata.py {fn}.onnx'
-lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
-
-# Compile tinygrad model
-pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
-if arch == 'larch64':
-  device_string = 'QCOM=1'
-else:
-  device_string = 'CLANG=1 IMAGE=0'
-
-for model_name in ['supercombo', 'dmonitoring_model']:
-  fn = File(f"models/{model_name}").abspath
-  cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
-  lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
 
diff --git a/sunnypilot/modeld_v2/dmonitoringmodeld b/sunnypilot/modeld_v2/dmonitoringmodeld
deleted file mode 100755
index 90b43800fedf14..00000000000000
--- a/sunnypilot/modeld_v2/dmonitoringmodeld
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/usr/bin/env bash
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-exec "$DIR/dmonitoringmodeld.py" "$@"
diff --git a/sunnypilot/modeld_v2/dmonitoringmodeld.py b/sunnypilot/modeld_v2/dmonitoringmodeld.py
deleted file mode 100755
index 4469618c8800b9..00000000000000
--- a/sunnypilot/modeld_v2/dmonitoringmodeld.py
+++ /dev/null
@@ -1,192 +0,0 @@
-#!/usr/bin/env python3
-import os
-from openpilot.system.hardware import TICI
-if TICI:
-  from tinygrad.tensor import Tensor
-  from tinygrad.dtype import dtypes
-  from openpilot.sunnypilot.modeld_v2.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
-  os.environ['QCOM'] = '1'
-else:
-  from openpilot.sunnypilot.modeld_v2.runners.ort_helpers import make_onnx_cpu_runner
-import math
-import time
-import pickle
-import ctypes
-import numpy as np
-from pathlib import Path
-from setproctitle import setproctitle
-
-from cereal import messaging
-from cereal.messaging import PubMaster, SubMaster
-from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
-from openpilot.common.swaglog import cloudlog
-from openpilot.common.realtime import config_realtime_process
-from openpilot.common.transformations.model import dmonitoringmodel_intrinsics, DM_INPUT_SIZE
-from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
-from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import CLContext, MonitoringModelFrame
-from openpilot.sunnypilot.modeld_v2.parse_model_outputs import sigmoid
-from openpilot.system import sentry
-
-MODEL_WIDTH, MODEL_HEIGHT = DM_INPUT_SIZE
-CALIB_LEN = 3
-FEATURE_LEN = 512
-OUTPUT_SIZE = 84 + FEATURE_LEN
-
-PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-MODEL_PATH = Path(__file__).parent / 'models/dmonitoring_model.onnx'
-MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
-
-
-class DriverStateResult(ctypes.Structure):
-  _fields_ = [
-    ("face_orientation", ctypes.c_float*3),
-    ("face_position", ctypes.c_float*3),
-    ("face_orientation_std", ctypes.c_float*3),
-    ("face_position_std", ctypes.c_float*3),
-    ("face_prob", ctypes.c_float),
-    ("_unused_a", ctypes.c_float*8),
-    ("left_eye_prob", ctypes.c_float),
-    ("_unused_b", ctypes.c_float*8),
-    ("right_eye_prob", ctypes.c_float),
-    ("left_blink_prob", ctypes.c_float),
-    ("right_blink_prob", ctypes.c_float),
-    ("sunglasses_prob", ctypes.c_float),
-    ("occluded_prob", ctypes.c_float),
-    ("ready_prob", ctypes.c_float*4),
-    ("not_ready_prob", ctypes.c_float*2)]
-
-
-class DMonitoringModelResult(ctypes.Structure):
-  _fields_ = [
-    ("driver_state_lhd", DriverStateResult),
-    ("driver_state_rhd", DriverStateResult),
-    ("poor_vision_prob", ctypes.c_float),
-    ("wheel_on_right_prob", ctypes.c_float),
-    ("features", ctypes.c_float*FEATURE_LEN)]
-
-
-class ModelState:
-  inputs: dict[str, np.ndarray]
-  output: np.ndarray
-
-  def __init__(self, cl_ctx):
-    assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
-
-    self.frame = MonitoringModelFrame(cl_ctx)
-    self.numpy_inputs = {
-      'calib': np.zeros((1, CALIB_LEN), dtype=np.float32),
-    }
-
-    if TICI:
-      self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
-      with open(MODEL_PKL_PATH, "rb") as f:
-        self.model_run = pickle.load(f)
-    else:
-      self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)
-
-  def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
-    self.numpy_inputs['calib'][0,:] = calib
-
-    t1 = time.perf_counter()
-
-    input_img_cl = self.frame.prepare(buf, transform.flatten())
-    if TICI:
-      # The imgs tensors are backed by opencl memory, only need init once
-      if 'input_img' not in self.tensor_inputs:
-        self.tensor_inputs['input_img'] = qcom_tensor_from_opencl_address(input_img_cl.mem_address, (1, MODEL_WIDTH*MODEL_HEIGHT), dtype=dtypes.uint8)
-    else:
-      self.numpy_inputs['input_img'] = self.frame.buffer_from_cl(input_img_cl).reshape((1, MODEL_WIDTH*MODEL_HEIGHT))
-
-    if TICI:
-      output = self.model_run(**self.tensor_inputs).numpy().flatten()
-    else:
-      output = self.onnx_cpu_runner.run(None, self.numpy_inputs)[0].flatten()
-
-    t2 = time.perf_counter()
-    return output, t2 - t1
-
-
-def fill_driver_state(msg, ds_result: DriverStateResult):
-  msg.faceOrientation = list(ds_result.face_orientation)
-  msg.faceOrientationStd = [math.exp(x) for x in ds_result.face_orientation_std]
-  msg.facePosition = list(ds_result.face_position[:2])
-  msg.facePositionStd = [math.exp(x) for x in ds_result.face_position_std[:2]]
-  msg.faceProb = float(sigmoid(ds_result.face_prob))
-  msg.leftEyeProb = float(sigmoid(ds_result.left_eye_prob))
-  msg.rightEyeProb = float(sigmoid(ds_result.right_eye_prob))
-  msg.leftBlinkProb = float(sigmoid(ds_result.left_blink_prob))
-  msg.rightBlinkProb = float(sigmoid(ds_result.right_blink_prob))
-  msg.sunglassesProb = float(sigmoid(ds_result.sunglasses_prob))
-  msg.occludedProb = float(sigmoid(ds_result.occluded_prob))
-  msg.readyProb = [float(sigmoid(x)) for x in ds_result.ready_prob]
-  msg.notReadyProb = [float(sigmoid(x)) for x in ds_result.not_ready_prob]
-
-
-def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, gpu_execution_time: float):
-  model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents
-  msg = messaging.new_message('driverStateV2', valid=True)
-  ds = msg.driverStateV2
-  ds.frameId = frame_id
-  ds.modelExecutionTime = execution_time
-  ds.gpuExecutionTime = gpu_execution_time
-  ds.poorVisionProb = float(sigmoid(model_result.poor_vision_prob))
-  ds.wheelOnRightProb = float(sigmoid(model_result.wheel_on_right_prob))
-  ds.rawPredictions = model_output.tobytes() if SEND_RAW_PRED else b''
-  fill_driver_state(ds.leftDriverData, model_result.driver_state_lhd)
-  fill_driver_state(ds.rightDriverData, model_result.driver_state_rhd)
-  return msg
-
-
-def main():
-  setproctitle(PROCESS_NAME)
-  config_realtime_process([0, 1, 2, 3], 5)
-
-  sentry.set_tag("daemon", PROCESS_NAME)
-  cloudlog.bind(daemon=PROCESS_NAME)
-
-  cl_context = CLContext()
-  model = ModelState(cl_context)
-  cloudlog.warning("models loaded, dmonitoringmodeld starting")
-
-  cloudlog.warning("connecting to driver stream")
-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context)
-  while not vipc_client.connect(False):
-    time.sleep(0.1)
-  assert vipc_client.is_connected()
-  cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")
-
-  sm = SubMaster(["liveCalibration"])
-  pm = PubMaster(["driverStateV2"])
-
-  calib = np.zeros(CALIB_LEN, dtype=np.float32)
-  model_transform = None
-
-  while True:
-    buf = vipc_client.recv()
-    if buf is None:
-      continue
-
-    if model_transform is None:
-      cam = _os_fisheye if buf.width == _os_fisheye.width else _ar_ox_fisheye
-      model_transform = np.linalg.inv(np.dot(dmonitoringmodel_intrinsics, np.linalg.inv(cam.intrinsics))).astype(np.float32)
-
-    sm.update(0)
-    if sm.updated["liveCalibration"]:
-      calib[:] = np.array(sm["liveCalibration"].rpyCalib)
-
-    t1 = time.perf_counter()
-    model_output, gpu_execution_time = model.run(buf, calib, model_transform)
-    t2 = time.perf_counter()
-
-    pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time))
-
-
-if __name__ == "__main__":
-  try:
-    main()
-  except KeyboardInterrupt:
-    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
-  except Exception:
-    sentry.capture_exception()
-    raise
diff --git a/sunnypilot/modeld_v2/models/dmonitoring_model.current b/sunnypilot/modeld_v2/models/dmonitoring_model.current
deleted file mode 100644
index 121871ef2b690b..00000000000000
--- a/sunnypilot/modeld_v2/models/dmonitoring_model.current
+++ /dev/null
@@ -1,2 +0,0 @@
-fa69be01-b430-4504-9d72-7dcb058eb6dd
-d9fb22d1c4fa3ca3d201dbc8edf1d0f0918e53e6
diff --git a/sunnypilot/modeld_v2/models/dmonitoring_model.onnx b/sunnypilot/modeld_v2/models/dmonitoring_model.onnx
deleted file mode 100644
index dcc727510e3f08..00000000000000
--- a/sunnypilot/modeld_v2/models/dmonitoring_model.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:50efe6451a3fb3fa04b6bb0e846544533329bd46ecefe9e657e91214dee2aaeb
-size 7196502
diff --git a/sunnypilot/modeld_v2/models/supercombo.onnx b/sunnypilot/modeld_v2/models/supercombo.onnx
deleted file mode 100644
index 4c9f795574412e..00000000000000
--- a/sunnypilot/modeld_v2/models/supercombo.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d21daa542227ecc5972da45df4e26f018ba113c0461f270e367d57e3ad89221a
-size 51461700

From 6151abe08a5abe4397a9a286bce40585725e562d Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Fri, 2 May 2025 18:05:26 +0200
Subject: [PATCH 0215/1434] ci: Add error handling for failed workflow run
 (#869)

Enhance action to fail on non-successful workflow runs

Add logic to check the conclusion of the watched workflow run. If the run ends with a non-successful status, the action now exits with an error to improve error handling and ensure reliability.

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .github/workflows/wait-for-action/action.yaml | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/.github/workflows/wait-for-action/action.yaml b/.github/workflows/wait-for-action/action.yaml
index 574ef15186981e..9cde4cf07650cd 100644
--- a/.github/workflows/wait-for-action/action.yaml
+++ b/.github/workflows/wait-for-action/action.yaml
@@ -40,5 +40,13 @@ runs:
         RUN_ID=$(gh run list --workflow=${{ inputs.workflow }} --branch="$BRANCH" --limit=1 --json databaseId --jq '.[0].databaseId')
         echo "Watching run ID: $RUN_ID"
         gh run watch "$RUN_ID"
+
+        CONCLUSION=$(gh run view "$RUN_ID" --json conclusion --jq '.conclusion')
+        echo "Run concluded with: $CONCLUSION"
+
+        if [[ "$CONCLUSION" != "success" ]]; then
+          echo "� Workflow run failed with conclusion: $CONCLUSION"
+          exit 1
+        fi
       env:
         GITHUB_TOKEN: ${{ inputs.github-token }}

From 3f883ad2154c08d5f7428a3ec15351856c7dc573 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 3 May 2025 00:41:04 -0400
Subject: [PATCH 0216/1434] ui: add longitudinal settings panel (#852)

* ui: add longitudinal settings panel

* ui preview

* add ui preview

* rename to Cruise
---
 selfdrive/ui/sunnypilot/SConscript              |  1 +
 .../qt/offroad/settings/longitudinal_panel.cc   | 11 +++++++++++
 .../qt/offroad/settings/longitudinal_panel.h    | 17 +++++++++++++++++
 .../sunnypilot/qt/offroad/settings/settings.cc  |  2 ++
 selfdrive/ui/tests/test_ui/run.py               |  9 ++++++++-
 5 files changed, 39 insertions(+), 1 deletion(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h

diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index deeec44732f0c8..4ff3f7047715df 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -21,6 +21,7 @@ qt_src = [
   "sunnypilot/qt/offroad/offroad_home.cc",
   "sunnypilot/qt/offroad/settings/device_panel.cc",
   "sunnypilot/qt/offroad/settings/lateral_panel.cc",
+  "sunnypilot/qt/offroad/settings/longitudinal_panel.cc",
   "sunnypilot/qt/offroad/settings/max_time_offroad.cc",
   "sunnypilot/qt/offroad/settings/settings.cc",
   "sunnypilot/qt/offroad/settings/software_panel.cc",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
new file mode 100644
index 00000000000000..9d8a4d9c19f436
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
@@ -0,0 +1,11 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
+
+LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
new file mode 100644
index 00000000000000..cd68e3ec2f6d52
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
@@ -0,0 +1,17 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+
+class LongitudinalPanel : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit LongitudinalPanel(QWidget *parent = nullptr);
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
index 6588c1a6bd96f1..9dd078e52d1953 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
@@ -16,6 +16,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"
 
@@ -79,6 +80,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
     PanelInfo("   " + tr("Toggles"), toggles, "../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
     PanelInfo("   " + tr("Software"), new SoftwarePanelSP(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
     PanelInfo("   " + tr("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
+    PanelInfo("   " + tr("Cruise"), new LongitudinalPanel(this), "../assets/offroad/icon_speed_limit.png"),
     PanelInfo("   " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
     PanelInfo("   " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
     PanelInfo("   " + tr("Firehose"), new FirehosePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_firehose.svg"),
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 54d1889453b4a2..064ef14a73a419 100755
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -239,11 +239,17 @@ def setup_settings_steering_alc(click, pm: PubMaster, scroll=None):
   click(970, 534)
   time.sleep(UI_DELAY)
 
-def setup_settings_trips(click, pm: PubMaster, scroll=None):
+def setup_settings_driving(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
   click(278, 962)
   time.sleep(UI_DELAY)
 
+def setup_settings_trips(click, pm: PubMaster, scroll=None):
+  setup_settings_device(click, pm)
+  scroll(-400, 278, 962)
+  click(278, 646)
+  time.sleep(UI_DELAY)
+
 def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
   Params().put("CarPlatformBundle", json.dumps(
     {
@@ -291,6 +297,7 @@ def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
   "settings_steering": setup_settings_steering,
   "settings_steering_mads": setup_settings_steering_mads,
   "settings_steering_alc": setup_settings_steering_alc,
+  "settings_driving": setup_settings_driving,
   "settings_trips": setup_settings_trips,
   "settings_vehicle": setup_settings_vehicle,
 })

From 44ab494c4105660b272a79fbce5d853235b2d30d Mon Sep 17 00:00:00 2001
From: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Date: Fri, 2 May 2025 23:50:40 -0700
Subject: [PATCH 0217/1434] BUG FIX: Fix .thneed model runners (#871)

Add support for thneed library and thneedmodel integration

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 sunnypilot/modeld/SConscript | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/sunnypilot/modeld/SConscript b/sunnypilot/modeld/SConscript
index bebd2de95370b9..df897e30497761 100644
--- a/sunnypilot/modeld/SConscript
+++ b/sunnypilot/modeld/SConscript
@@ -52,3 +52,8 @@ commonmodel_lib = lenv.Library('commonmodel', common_src)
 lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
 lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
+
+if arch == "larch64":
+  thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
+  thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
+  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
\ No newline at end of file

From 600647d5e2434f8ed77cafe08cdbb8d34645c8a8 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 3 May 2025 21:01:17 +0200
Subject: [PATCH 0218/1434] models: simplify modeld v2 logic process (#875)

* Refactor model runner methods for improved abstraction.

Moved slicing logic to a private `_slice_outputs` method and decoupled `_run_model` for clearer subclass implementation. Removed redundant `output` attribute in `ModelState` to streamline data handling.

* Add output parsing to model_runner and remove duplicate logic

Integrates an output parser directly into `model_runner` for streamlined inference and parsing. Removes redundant parser initialization from `modeld` to avoid duplication and enhance maintainability.

* Reordering

* linter

* linter
---
 sunnypilot/modeld_v2/model_runner.py | 16 ++++++++++++----
 sunnypilot/modeld_v2/modeld.py       | 10 +---------
 2 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/sunnypilot/modeld_v2/model_runner.py b/sunnypilot/modeld_v2/model_runner.py
index 82fc3f5196ef11..64bf52795dc7fa 100644
--- a/sunnypilot/modeld_v2/model_runner.py
+++ b/sunnypilot/modeld_v2/model_runner.py
@@ -8,6 +8,7 @@
 from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLMem
 from openpilot.sunnypilot.modeld_v2.runners.ort_helpers import make_onnx_cpu_runner, ORT_TYPES_TO_NP_TYPES
 from openpilot.sunnypilot.modeld_v2.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
+from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser
 from openpilot.system.hardware import TICI
 from openpilot.system.hardware.hw import Paths
 
@@ -48,6 +49,7 @@ def __init__(self):
     self.input_shapes = self.model_metadata['input_shapes']
     self.output_slices = self.model_metadata['output_slices']
     self.inputs: dict = {}
+    self.parser = Parser()
 
   @abstractmethod
   def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray], frames: dict[str, DrivingModelFrame]) -> dict:
@@ -55,16 +57,22 @@ def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.n
     raise NotImplementedError
 
   @abstractmethod
-  def run_model(self):
+  def _run_model(self):
     """Run model inference with prepared inputs."""
+    raise NotImplementedError("This method should be implemented in subclasses.")
 
-  def slice_outputs(self, model_outputs: np.ndarray) -> dict:
+  def _slice_outputs(self, model_outputs: np.ndarray) -> dict:
     """Slice model outputs according to metadata configuration."""
     parsed_outputs = {k: model_outputs[np.newaxis, v] for k, v in self.output_slices.items()}
     if SEND_RAW_PRED:
       parsed_outputs['raw_pred'] = model_outputs.copy()
     return parsed_outputs
 
+  def run_model(self) -> dict[str, np.ndarray]:
+    """Run model inference with prepared inputs and parse outputs."""
+    result: dict[str, np.ndarray] = self.parser.parse_outputs(self._slice_outputs(self._run_model()))
+    return result
+
 
 class TinygradRunner(ModelRunner):
   """Tinygrad implementation of model runner for TICI hardware."""
@@ -108,7 +116,7 @@ def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.n
 
     return self.inputs
 
-  def run_model(self):
+  def _run_model(self):
     return self.model_run(**self.inputs).numpy().flatten()
 
 
@@ -130,5 +138,5 @@ def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.n
       self.inputs[key] = frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key]).astype(dtype=self.input_to_nptype[key])
     return self.inputs
 
-  def run_model(self):
+  def _run_model(self):
     return self.runner.run(None, self.inputs)[0].flatten()
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index bc67db297d457f..9a90e21cb57524 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -18,7 +18,6 @@
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser
 from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
 from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLContext
@@ -41,7 +40,6 @@ def __init__(self, vipc=None):
 class ModelState:
   frames: dict[str, DrivingModelFrame]
   inputs: dict[str, np.ndarray]
-  output: np.ndarray
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
   def __init__(self, context: CLContext):
@@ -64,12 +62,7 @@ def __init__(self, context: CLContext):
       if key not in self.frames: # Managed by opencl
         self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
 
-    self.parser = Parser()
-
     if self.model_runner.is_20hz:
-      net_output_size = self.model_runner.model_metadata['output_shapes']['outputs'][1]
-      self.output = np.zeros(net_output_size, dtype=np.float32)
-
       num_elements = self.numpy_inputs['features_buffer'].shape[1]
       step_size = int(-100 / num_elements)
       self.full_features_20Hz_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
@@ -105,8 +98,7 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_
       return None
 
     # Run model inference
-    self.output = self.model_runner.run_model()
-    outputs = self.parser.parse_outputs(self.model_runner.slice_outputs(self.output))
+    outputs = self.model_runner.run_model()
 
     if self.model_runner.is_20hz:
       self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]

From d90e41f08f8637b2781d5449d98b475601bda39f Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 4 May 2025 17:03:22 +0200
Subject: [PATCH 0219/1434] models: refactor model bundle structure (#870)

* Refactor model and artifact structures with version compatibility filtering

- Introduced `Artifact` struct and nested it within the `Model` struct for improved clarity and organization.
- Updated enums, logic, and parsing to align with the new struct definitions.
- Implemented version compatibility filtering for model bundles using the `is_bundle_version_compatible` helper.
- Enhanced artifact download handling by adding checks for missing URIs, better error management, and improved logging.
- Adjusted model fetching to point to the latest endpoint (`v3`).

* Make linter happy

* Make linter happy

* Refactor model data parsing to improve readability.

Replaced kwargs-based data extraction with explicit parameter passing for clarity. This enhances code readability and reduces ambiguities in method calls, making the parsing logic more maintainable and straightforward.

* Refactor error handling in active model bundle retrieval.

Wrapped the logic to fetch the active model bundle in a try-except block to prevent unhandled exceptions. This ensures more robust error handling and avoids potential crashes when retrieving or processing model data.

* Refactor exception handling in get_active_model_bundle

Replace bare except with Exception to improve specificity and clarity. This ensures better debugging practices and aligns with recommended coding standards. Other minor whitespace adjustments were made for improved readability.

* Update model path to use artifact fileName property

Replaced `fileName` with `artifact.fileName` in the custom model path construction. This ensures compatibility with updated drive model structures and avoids potential file resolution issues.
---
 cereal/custom.capnp                           | 35 ++++---
 .../qt/offroad/settings/software_panel.cc     | 18 ++--
 sunnypilot/modeld/runners/run_helpers.py      | 17 ++--
 sunnypilot/modeld_v2/model_runner.py          |  6 +-
 sunnypilot/models/fetcher.py                  | 95 +++++++++----------
 sunnypilot/models/helpers.py                  | 33 ++++++-
 sunnypilot/models/manager.py                  | 42 +++++---
 7 files changed, 146 insertions(+), 100 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 8c23743420b4d4..10fc83eb013001 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -39,20 +39,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     sha256 @1 :Text;
   }
 
-  enum Type {
-    drive @0;
-    navigation @1;
-    metadata @2;
-  }
-
-  struct Model {
-    fullName @0 :Text;
-    fileName @1 :Text;
-    downloadUri @2 :DownloadUri;
-    downloadProgress @3 :DownloadProgress;
-    type @4 :Type;
-  }
-
   enum DownloadStatus {
     notDownloading @0;
     downloading @1;
@@ -67,6 +53,25 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     eta @2 :UInt32;
   }
 
+  struct Artifact {
+    fileName @0 :Text;
+    downloadUri @1 :DownloadUri;
+    downloadProgress @2 :DownloadProgress;
+  }
+
+  struct Model {
+    type @0 :Type;
+    artifact @1 :Artifact;  # Main artifact
+    metadata @2 :Artifact;  # Metadata artifact
+    
+    enum Type {
+      supercombo @0;
+      navigation @1;
+      vision @2;
+      policy @3;
+    }
+  }
+
   enum Runner {
     snpe @0;
     tinygrad @1;
@@ -83,6 +88,8 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     environment @6 :Text;
     runner @7 :Runner;
     is20hz @8 :Bool;
+    ref @9 :Text;  # New field
+    minimumSelectorVersion @10 :UInt32;
   }
 }
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
index ddee1362bb3a7a..20f3fdb598d180 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
@@ -47,24 +47,24 @@ void SoftwarePanelSP::handleBundleDownloadProgress() {
   // Get status for each model type in order
   for (const auto &model: models) {
     QString typeName;
-    QString modelName;
+    QString modelName = QString::fromStdString(bundle.getDisplayName());
 
     switch (model.getType()) {
-      case cereal::ModelManagerSP::Type::DRIVE:
+      case cereal::ModelManagerSP::Model::Type::SUPERCOMBO:
         typeName = tr("Driving");
-        modelName = QString::fromStdString(bundle.getDisplayName());
         break;
-      case cereal::ModelManagerSP::Type::NAVIGATION:
+      case cereal::ModelManagerSP::Model::Type::NAVIGATION:
         typeName = tr("Navigation");
-        modelName = QString::fromStdString(model.getFullName());
         break;
-      case cereal::ModelManagerSP::Type::METADATA:
-        typeName = tr("Metadata");
-        modelName = QString::fromStdString(model.getFullName());
+      case cereal::ModelManagerSP::Model::Type::VISION:
+        typeName = tr("Vision");
+        break;
+      case cereal::ModelManagerSP::Model::Type::POLICY:
+        typeName = tr("Policy");
         break;
     }
 
-    const auto &progress = model.getDownloadProgress();
+    const auto &progress = model.getArtifact().getDownloadProgress();
     QString line;
 
     if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) {
diff --git a/sunnypilot/modeld/runners/run_helpers.py b/sunnypilot/modeld/runners/run_helpers.py
index 5470106f1d959f..3e6b280ae173b7 100644
--- a/sunnypilot/modeld/runners/run_helpers.py
+++ b/sunnypilot/modeld/runners/run_helpers.py
@@ -25,13 +25,19 @@
 ModelManager = custom.ModelManagerSP
 
 
+def _get_model():
+  if bundle := get_active_bundle():
+    drive_model = next(model for model in bundle.models if model.type == ModelManager.Model.Type.supercombo)
+    return drive_model
+
+  return None
+
 def get_model_path():
   if USE_ONNX:
     return {ModelRunner.ONNX: Path(__file__).parent / '../models/supercombo.onnx'}
 
-  if bundle := get_active_bundle():
-    drive_model = next(model for model in bundle.models if model.type == ModelManager.Type.drive)
-    return {ModelRunner.THNEED: f"{CUSTOM_MODEL_PATH}/{drive_model.fileName}"}
+  if model := _get_model():
+    return {ModelRunner.THNEED: f"{CUSTOM_MODEL_PATH}/{model.fileName}"}
 
   return {ModelRunner.THNEED: Path(__file__).parent / '../models/supercombo.thneed'}
 
@@ -39,9 +45,8 @@ def get_model_path():
 def load_metadata():
   metadata_path = METADATA_PATH
 
-  if bundle := get_active_bundle():
-    metadata_model = next(model for model in bundle.models if model.type == ModelManager.Type.metadata)
-    metadata_path = f"{CUSTOM_MODEL_PATH}/{metadata_model.fileName}"
+  if model := _get_model():
+    metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}"
 
   with open(metadata_path, 'rb') as f:
     return pickle.load(f)
diff --git a/sunnypilot/modeld_v2/model_runner.py b/sunnypilot/modeld_v2/model_runner.py
index 64bf52795dc7fa..10c80b87699713 100644
--- a/sunnypilot/modeld_v2/model_runner.py
+++ b/sunnypilot/modeld_v2/model_runner.py
@@ -35,8 +35,8 @@ def __init__(self):
 
     if bundle := get_active_bundle():
       bundle_models = {model.type.raw: model for model in bundle.models}
-      self._drive_model = bundle_models.get(ModelManager.Type.drive)
-      self._metadata_model = bundle_models.get(ModelManager.Type.metadata)
+      self._drive_model = bundle_models.get(ModelManager.Model.Type.supercombo)
+      self._metadata_model = self._drive_model.metadata
       self.is_20hz = bundle.is20hz
 
     # Override the metadata path if a metadata model is found in the active bundle
@@ -82,7 +82,7 @@ def __init__(self):
 
     model_pkl_path = MODEL_PKL_PATH
     if self._drive_model:
-      model_pkl_path = f"{CUSTOM_MODEL_PATH}/{self._drive_model.fileName}"
+      model_pkl_path = f"{CUSTOM_MODEL_PATH}/{self._drive_model.artifact.fileName}"
       assert model_pkl_path.endswith('_tinygrad.pkl'), f"Invalid model file: {model_pkl_path} for TinygradRunner"
 
     # Load Tinygrad model
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 3e3e479903c02d..7076cf186195dc 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -11,6 +11,7 @@
 import requests
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
+from sunnypilot.models.helpers import is_bundle_version_compatible
 
 from cereal import custom
 
@@ -19,68 +20,49 @@ class ModelParser:
   """Handles parsing of model data into cereal objects"""
 
   @staticmethod
-  def _parse_model(full_name: str, file_name: str, uri_data: dict,
-                   model_type: custom.ModelManagerSP.Type) -> custom.ModelManagerSP.Model:
-    model = custom.ModelManagerSP.Model()
+  def _parse_download_uri(download_uri_data) -> custom.ModelManagerSP.DownloadUri:
     download_uri = custom.ModelManagerSP.DownloadUri()
+    download_uri.uri = download_uri_data.get("url")
+    download_uri.sha256 = download_uri_data.get("sha256")
+    return download_uri
 
-    download_uri.uri = uri_data["url"]
-    download_uri.sha256 = uri_data["sha256"]
+  @staticmethod
+  def _parse_artifact(artifact_data) -> custom.ModelManagerSP.Artifact:
+    artifact = custom.ModelManagerSP.Artifact()
+    artifact.fileName = artifact_data.get("file_name")
+    artifact.downloadUri = ModelParser._parse_download_uri(artifact_data.get("download_uri", {}))
+    return artifact
 
-    model.fullName = full_name
-    model.fileName = file_name
-    model.downloadUri = download_uri
-    model.type = model_type
+  @staticmethod
+  def _parse_model(model_data) -> custom.ModelManagerSP.Model:
+    model = custom.ModelManagerSP.Model()
 
+    model.type = model_data.get("type")
+    model.artifact = ModelParser._parse_artifact(model_data.get("artifact", {}))
+    if metadata := model_data.get("metadata"):
+      model.metadata = ModelParser._parse_artifact(metadata)
     return model
 
   @staticmethod
-  def _parse_bundle(key: str, value: dict) -> custom.ModelManagerSP.ModelBundle:
+  def _parse_bundle(bundle) -> custom.ModelManagerSP.ModelBundle:
     model_bundle = custom.ModelManagerSP.ModelBundle()
-
-    # Parse main driving model
-    models = [
-      ModelParser._parse_model(
-        value["full_name"],
-        value["file_name"],
-        value["download_uri"],
-        custom.ModelManagerSP.Type.drive
-      )
-    ]
-
-    # Parse navigation model if exists
-    if value.get("download_uri_nav"):
-      models.append(ModelParser._parse_model(
-        value["full_name_nav"],
-        value["file_name_nav"],
-        value["download_uri_nav"],
-        custom.ModelManagerSP.Type.navigation
-      ))
-
-    # Parse metadata model if exists
-    if value.get("download_uri_metadata"):
-      models.append(ModelParser._parse_model(
-        value["full_name_metadata"],
-        value["file_name_metadata"],
-        value["download_uri_metadata"],
-        custom.ModelManagerSP.Type.metadata
-      ))
-
-    model_bundle.index = int(value["index"])
-    model_bundle.internalName = key
-    model_bundle.displayName = value["display_name"]
-    model_bundle.models = models
+    model_bundle.index = int(bundle["index"])
+    model_bundle.internalName = bundle["short_name"]
+    model_bundle.displayName = bundle["display_name"]
+    model_bundle.models = [ModelParser._parse_model(model) for model in bundle.get("models",[])]
     model_bundle.status = 0
-    model_bundle.generation = int(value["generation"])
-    model_bundle.environment = value["environment"]
-    model_bundle.runner = value.get("runner", custom.ModelManagerSP.Runner.snpe)
-    model_bundle.is20hz = value.get("is_20hz", False)
+    model_bundle.generation = int(bundle["generation"])
+    model_bundle.environment = bundle["environment"]
+    model_bundle.runner = bundle.get("runner", custom.ModelManagerSP.Runner.snpe)
+    model_bundle.is20hz = bundle.get("is_20hz", False)
+    model_bundle.minimumSelectorVersion = int(bundle["minimum_selector_version"])
 
     return model_bundle
 
   @staticmethod
   def parse_models(json_data: dict) -> list[custom.ModelManagerSP.ModelBundle]:
-    return [ModelParser._parse_bundle(key, value) for key, value in json_data.items()]
+    found_bundles = [ModelParser._parse_bundle(bundle) for bundle in json_data.get("bundles", [])]
+    return [bundle for bundle in found_bundles if is_bundle_version_compatible(bundle.to_dict())]
 
 
 class ModelCache:
@@ -122,7 +104,7 @@ def set(self, data: dict) -> None:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v2.json"
+  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v3.json"
 
   def __init__(self, params: Params):
     self.params = params
@@ -143,7 +125,7 @@ def _fetch_and_cache_models(self) -> list[custom.ModelManagerSP.ModelBundle]:
       cloudlog.exception("Error fetching models")
       raise
 
-  def get_available_models(self) -> list[custom.ModelManagerSP.ModelBundle]:
+  def get_available_bundles(self) -> list[custom.ModelManagerSP.ModelBundle]:
     """Gets the list of available models, with smart cache handling"""
     cached_data, is_expired = self.model_cache.get()
 
@@ -160,3 +142,16 @@ def get_available_models(self) -> list[custom.ModelManagerSP.ModelBundle]:
 
     cloudlog.warning("Failed to fetch fresh data. Using expired cache as fallback")
     return self.model_parser.parse_models(cached_data)
+
+if __name__ == "__main__":
+  params = Params()
+  model_fetcher = ModelFetcher(params)
+  bundles = model_fetcher.get_available_bundles()
+  for bundle in bundles:
+    for model in bundle.models:
+      # Print model details
+      print(f"Bundle: {bundle.internalName}, Type: {model.type}, Status: {bundle.status}")
+      # Print artifact details
+      print(f"Artifact: {model.artifact.fileName}, Download URI: {model.artifact.downloadUri.uri}")
+      # Print metadata details
+      print(f"Metadata: {model.metadata.fileName}, Download URI: {model.metadata.downloadUri.uri}")
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index dbdef55900bde0..20f58f8c596b40 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -8,7 +8,11 @@
 import hashlib
 import os
 from openpilot.common.params import Params
-from cereal import custom, messaging
+from cereal import custom
+import json
+
+CURRENT_SELECTOR_VERSION = 2
+REQUIRED_MIN_SELECTOR_VERSION = 2
 
 
 async def verify_file(file_path: str, expected_hash: str) -> bool:
@@ -24,13 +28,36 @@ async def verify_file(file_path: str, expected_hash: str) -> bool:
   return sha256_hash.hexdigest().lower() == expected_hash.lower()
 
 
+def is_bundle_version_compatible(bundle: dict) -> bool:
+  """
+  Checks whether the model bundle is compatible with the current selector version constraints.
+
+  The bundle specifies a `minimum_selector_version`, which defines the minimum selector version
+  required to load the model. This function ensures that:
+
+    1. The model is not too old: the bundle must require at least `REQUIRED_MIN_SELECTOR_VERSION`.
+    2. The model is not too new: it must support the current selector version (`CURRENT_SELECTOR_VERSION`).
+
+  This allows the selector to enforce both a minimum and maximum range of supported models,
+  even if a model would otherwise be compatible.
+
+  :param bundle: Dictionary containing `minimum_selector_version`, as defined by the model bundle.
+  :type bundle: Dict
+  :return: True if the selector version is within the accepted range for the bundle; otherwise False.
+  :rtype: Bool
+  """
+  return bool(REQUIRED_MIN_SELECTOR_VERSION <= bundle.get("minimumSelectorVersion", 0) <= CURRENT_SELECTOR_VERSION)
+
 def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundle:
   """Gets the active model bundle from cache"""
   if params is None:
     params = Params()
 
-  if active_bundle := params.get("ModelManager_ActiveBundle"):
-    return messaging.log_from_bytes(active_bundle, custom.ModelManagerSP.ModelBundle)
+  try:
+    if (active_bundle := json.loads(params.get("ModelManager_ActiveBundle") or "{}")) and is_bundle_version_compatible(active_bundle):
+      return custom.ModelManagerSP.ModelBundle(**active_bundle)
+  except Exception:
+    pass
 
   return None
 
diff --git a/sunnypilot/models/manager.py b/sunnypilot/models/manager.py
index 5fbad6cd8e6736..630d6a8d776d89 100644
--- a/sunnypilot/models/manager.py
+++ b/sunnypilot/models/manager.py
@@ -8,6 +8,7 @@
 import asyncio
 import os
 import time
+import json
 
 import aiohttp
 from openpilot.common.params import Params
@@ -73,43 +74,54 @@ async def _download_file(self, url: str, path: str, model) -> None:
         # Clean up start time after download completes
         del self._download_start_times[model.fileName]
 
-  async def _process_model(self, model, destination_path: str) -> None:
+  async def _process_artifact(self, artifact, destination_path: str) -> None:
     """Processes a single model download including verification"""
-    url = model.downloadUri.uri
-    expected_hash = model.downloadUri.sha256
-    filename = model.fileName
+    if not artifact.downloadUri.uri:
+      return None
+
+    url = artifact.downloadUri.uri
+    expected_hash = artifact.downloadUri.sha256
+    filename = artifact.fileName
     full_path = os.path.join(destination_path, filename)
 
     try:
       # Check existing file
       if os.path.exists(full_path) and await verify_file(full_path, expected_hash):
-        model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
-        model.downloadProgress.progress = 100
-        model.downloadProgress.eta = 0
+        artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
+        artifact.downloadProgress.progress = 100
+        artifact.downloadProgress.eta = 0
         self._report_status()
         return
 
       # Download and verify
-      await self._download_file(url, full_path, model)
+      await self._download_file(url, full_path, artifact)
       if not await verify_file(full_path, expected_hash):
         raise ValueError(f"Hash validation failed for {filename}")
 
-      model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloaded
-      model.downloadProgress.eta = 0
+      artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloaded
+      artifact.downloadProgress.eta = 0
       self._report_status()
 
     except Exception as e:
       cloudlog.error(f"Error downloading {filename}: {str(e)}")
       if os.path.exists(full_path):
         os.remove(full_path)
-      model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed
-      model.downloadProgress.eta = 0
+      artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed
+      artifact.downloadProgress.eta = 0
       self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
       self._report_status()
       # Clean up start time if it exists
-      self._download_start_times.pop(model.fileName, None)
+      self._download_start_times.pop(artifact.fileName, None)
       raise
 
+  async def _process_model(self, model, destination_path: str) -> None:
+    """Processes a single model download including verification"""
+    model_artifact = model.artifact
+    metadata_artifact = model.metadata
+
+    await self._process_artifact(metadata_artifact, destination_path)
+    await self._process_artifact(model_artifact, destination_path)
+
   def _report_status(self) -> None:
     """Reports current status through messaging system"""
     msg = messaging.new_message('modelManagerSP', valid=True)
@@ -134,7 +146,7 @@ async def _download_bundle(self, model_bundle: custom.ModelManagerSP.ModelBundle
       await asyncio.gather(*tasks)
       self.active_bundle = self.selected_bundle
       self.active_bundle.status = custom.ModelManagerSP.DownloadStatus.downloaded
-      self.params.put("ModelManager_ActiveBundle", self.active_bundle.to_bytes())
+      self.params.put("ModelManager_ActiveBundle", json.dumps(self.active_bundle.to_dict()))
       self.selected_bundle = None
 
     except Exception:
@@ -154,7 +166,7 @@ def main_thread(self) -> None:
 
     while True:
       try:
-        self.available_models = self.model_fetcher.get_available_models()
+        self.available_models = self.model_fetcher.get_available_bundles()
         self.active_bundle = get_active_bundle(self.params)
 
         if index_to_download := self.params.get("ModelManager_DownloadIndex", block=False, encoding="utf-8"):

From 662877c6f3585493d0fa1f378ab402afd3353bc1 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Tue, 6 May 2025 13:38:06 -0400
Subject: [PATCH 0220/1434] models: Consolidate model helpers & get_model_path
 filename fix (#884)

consolidate run_helpers.py & helpers.py
bugfix for get_model_path
---
 sunnypilot/modeld/modeld.py              |  2 +-
 sunnypilot/modeld/runners/run_helpers.py | 97 ------------------------
 sunnypilot/models/helpers.py             | 88 ++++++++++++++++++++-
 3 files changed, 88 insertions(+), 99 deletions(-)
 delete mode 100644 sunnypilot/modeld/runners/run_helpers.py

diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
index a58a5671007c56..744b90465bd026 100755
--- a/sunnypilot/modeld/modeld.py
+++ b/sunnypilot/modeld/modeld.py
@@ -23,7 +23,7 @@
 from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.sunnypilot.modeld.constants import ModelConstants
 from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
-from openpilot.sunnypilot.modeld.runners.run_helpers import get_model_path, load_metadata, prepare_inputs, load_meta_constants
+from openpilot.sunnypilot.models.helpers import get_model_path, load_metadata, prepare_inputs, load_meta_constants
 
 PROCESS_NAME = "selfdrive.modeld.modeld_snpe"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
diff --git a/sunnypilot/modeld/runners/run_helpers.py b/sunnypilot/modeld/runners/run_helpers.py
deleted file mode 100644
index 3e6b280ae173b7..00000000000000
--- a/sunnypilot/modeld/runners/run_helpers.py
+++ /dev/null
@@ -1,97 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-import os
-import pickle
-import numpy as np
-
-from cereal import custom
-from openpilot.sunnypilot.modeld.constants import Meta, MetaTombRaider, MetaSimPose
-from openpilot.sunnypilot.modeld.runners import ModelRunner
-from openpilot.sunnypilot.models.helpers import get_active_bundle
-from openpilot.system.hardware import PC
-from openpilot.system.hardware.hw import Paths
-from pathlib import Path
-
-USE_ONNX = os.getenv('USE_ONNX', PC)
-
-CUSTOM_MODEL_PATH = Paths.model_root()
-METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
-
-ModelManager = custom.ModelManagerSP
-
-
-def _get_model():
-  if bundle := get_active_bundle():
-    drive_model = next(model for model in bundle.models if model.type == ModelManager.Model.Type.supercombo)
-    return drive_model
-
-  return None
-
-def get_model_path():
-  if USE_ONNX:
-    return {ModelRunner.ONNX: Path(__file__).parent / '../models/supercombo.onnx'}
-
-  if model := _get_model():
-    return {ModelRunner.THNEED: f"{CUSTOM_MODEL_PATH}/{model.fileName}"}
-
-  return {ModelRunner.THNEED: Path(__file__).parent / '../models/supercombo.thneed'}
-
-
-def load_metadata():
-  metadata_path = METADATA_PATH
-
-  if model := _get_model():
-    metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}"
-
-  with open(metadata_path, 'rb') as f:
-    return pickle.load(f)
-
-
-def prepare_inputs(model_metadata) -> dict[str, np.ndarray]:
-  # img buffers are managed in openCL transform code so we don't pass them as inputs
-  inputs = {
-    k: np.zeros(v, dtype=np.float32).flatten()
-    for k, v in model_metadata['input_shapes'].items()
-    if 'img' not in k
-  }
-
-  return inputs
-
-
-def load_meta_constants(model_metadata):
-  """
-  Determines and loads the appropriate meta model class based on the metadata provided. The function checks
-  specific keys and conditions within the provided metadata dictionary to identify the corresponding meta
-  model class to return.
-
-  :param model_metadata: Dictionary containing metadata about the model. It includes
-      details such as input shapes, output slices, and other configurations for identifying
-      metadata-dependent meta model classes.
-  :type model_metadata: dict
-  :return: The appropriate meta model class (Meta, MetaSimPose, or MetaTombRaider)
-      based on the conditions and metadata provided.
-  :rtype: type
-  """
-  meta = Meta  # Default Meta
-
-  if 'sim_pose' in model_metadata['input_shapes'].keys():
-    # Meta for models with sim_pose input
-    meta = MetaSimPose
-  else:
-    # Meta for Tomb Raider, it does not include sim_pose input but has the same meta slice as previous models
-    meta_slice = model_metadata['output_slices']['meta']
-    meta_tf_slice = slice(5868, 5921, None)
-
-    if (
-          meta_slice.start == meta_tf_slice.start and
-          meta_slice.stop == meta_tf_slice.stop and
-          meta_slice.step == meta_tf_slice.step
-    ):
-      meta = MetaTombRaider
-
-  return meta
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index 20f58f8c596b40..7bcf1a148aa974 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -7,13 +7,28 @@
 
 import hashlib
 import os
+import pickle
+import numpy as np
+import json
+
 from openpilot.common.params import Params
 from cereal import custom
-import json
+from openpilot.sunnypilot.modeld.constants import Meta, MetaTombRaider, MetaSimPose
+from openpilot.sunnypilot.modeld.runners import ModelRunner
+from openpilot.system.hardware import PC
+from openpilot.system.hardware.hw import Paths
+from pathlib import Path
 
 CURRENT_SELECTOR_VERSION = 2
 REQUIRED_MIN_SELECTOR_VERSION = 2
 
+USE_ONNX = os.getenv('USE_ONNX', PC)
+
+CUSTOM_MODEL_PATH = Paths.model_root()
+METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
+
+ModelManager = custom.ModelManagerSP
+
 
 async def verify_file(file_path: str, expected_hash: str) -> bool:
   """Verifies file hash against expected hash"""
@@ -98,3 +113,74 @@ def get_active_model_runner(params: Params = None, force_check=False) -> custom.
     params.put("ModelRunnerTypeCache", str(int(runner_type)))
 
   return runner_type
+
+def _get_model():
+  if bundle := get_active_bundle():
+    drive_model = next(model for model in bundle.models if model.type == ModelManager.Model.Type.supercombo)
+    return drive_model
+
+  return None
+
+def get_model_path():
+  if USE_ONNX:
+    return {ModelRunner.ONNX: Path(__file__).parent / '../models/supercombo.onnx'}
+
+  if model := _get_model():
+    return {ModelRunner.THNEED: f"{CUSTOM_MODEL_PATH}/{model.artifact.fileName}"}
+
+  return {ModelRunner.THNEED: Path(__file__).parent / '../models/supercombo.thneed'}
+
+
+def load_metadata():
+  metadata_path = METADATA_PATH
+
+  if model := _get_model():
+    metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}"
+
+  with open(metadata_path, 'rb') as f:
+    return pickle.load(f)
+
+
+def prepare_inputs(model_metadata) -> dict[str, np.ndarray]:
+  # img buffers are managed in openCL transform code so we don't pass them as inputs
+  inputs = {
+    k: np.zeros(v, dtype=np.float32).flatten()
+    for k, v in model_metadata['input_shapes'].items()
+    if 'img' not in k
+  }
+
+  return inputs
+
+
+def load_meta_constants(model_metadata):
+  """
+  Determines and loads the appropriate meta model class based on the metadata provided. The function checks
+  specific keys and conditions within the provided metadata dictionary to identify the corresponding meta
+  model class to return.
+
+  :param model_metadata: Dictionary containing metadata about the model. It includes
+      details such as input shapes, output slices, and other configurations for identifying
+      metadata-dependent meta model classes.
+  :type model_metadata: dict
+  :return: The appropriate meta model class (Meta, MetaSimPose, or MetaTombRaider)
+      based on the conditions and metadata provided.
+  :rtype: type
+  """
+  meta = Meta  # Default Meta
+
+  if 'sim_pose' in model_metadata['input_shapes'].keys():
+    # Meta for models with sim_pose input
+    meta = MetaSimPose
+  else:
+    # Meta for Tomb Raider, it does not include sim_pose input but has the same meta slice as previous models
+    meta_slice = model_metadata['output_slices']['meta']
+    meta_tf_slice = slice(5868, 5921, None)
+
+    if (
+            meta_slice.start == meta_tf_slice.start and
+            meta_slice.stop == meta_tf_slice.stop and
+            meta_slice.step == meta_tf_slice.step
+    ):
+      meta = MetaTombRaider
+
+  return meta

From 037695af4a1a17d37a22595ad139781616857209 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 8 May 2025 16:04:59 -0400
Subject: [PATCH 0221/1434] Car interface: pass into setup interfaces on init
 (#887)

* Car interface: pass into setup interfaces on init

* more

* should be after
---
 selfdrive/car/card.py                               |  2 +-
 selfdrive/car/tests/test_car_interfaces.py          |  2 +-
 selfdrive/controls/lib/tests/test_latcontrol.py     |  2 +-
 sunnypilot/selfdrive/car/interfaces.py              | 13 ++++++++-----
 .../controls/lib/nnlc/tests/test_fingerprint.py     |  2 +-
 .../controls/lib/nnlc/tests/test_load_model.py      |  2 +-
 .../selfdrive/controls/lib/nnlc/tests/test_nnlc.py  |  2 +-
 7 files changed, 14 insertions(+), 11 deletions(-)

diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 2326f6fbc73593..fa4b10e0d1eba0 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -108,7 +108,7 @@ def __init__(self, CI=None, RI=None) -> None:
       fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle", encoding='utf-8') or "{}").get("platform", None)
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, num_pandas, cached_params, fixed_fingerprint)
-      sunnypilot_interfaces.setup_interfaces(self.CI.CP, self.CI.CP_SP, self.params)
+      sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP
       self.CP_SP = self.CI.CP_SP
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index fdb823f5f86d03..75e5467b7e140a 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -45,9 +45,9 @@ def test_car_interfaces(self, car_name, data):
                                          alpha_long=args['alpha_long'], docs=False)
     car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
                                                alpha_long=args['alpha_long'], docs=False)
-    sunnypilot_interfaces.setup_interfaces(car_params, car_params_sp)
     car_params = car_params.as_reader()
     car_interface = CarInterface(car_params, car_params_sp)
+    sunnypilot_interfaces.setup_interfaces(car_interface)
     assert car_params
     assert car_params_sp
     assert car_interface
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index 3bf9be9d925fa0..727f68195fca63 100644
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -23,7 +23,7 @@ def test_saturation(self, car_name, controller):
     CP = CarInterface.get_non_essential_params(car_name)
     CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
     CI = CarInterface(CP, CP_SP)
-    sunnypilot_interfaces.setup_interfaces(CP, CP_SP)
+    sunnypilot_interfaces.setup_interfaces(CI)
     CP_SP = convert_to_capnp(CP_SP)
     VM = VehicleModel(CP)
 
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index 5fac76c283dd2e..2c27e960e9021e 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -26,8 +26,8 @@ def log_fingerprint(CP: structs.CarParams) -> None:
     sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
 
 
-def _initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None,
-                                              enabled: bool = False) -> None:
+def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
+                                               params: Params = None, enabled: bool = False) -> None:
   if params is None:
     params = Params()
 
@@ -40,7 +40,7 @@ def _initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: str
     enabled = params.get_bool("NeuralNetworkLateralControl")
 
   if enabled:
-    CarInterfaceBase.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)
+    CI.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)
 
   CP_SP.neuralNetworkLateralControl.model.path = nnlc_model_path
   CP_SP.neuralNetworkLateralControl.model.name = nnlc_model_name
@@ -61,8 +61,11 @@ def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
           CP.radarUnavailable = False
 
 
-def setup_interfaces(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None):
-  _initialize_neural_network_lateral_control(CP, CP_SP, params)
+def setup_interfaces(CI: CarInterfaceBase, params: Params = None):
+  CP = CI.CP
+  CP_SP = CI.CP_SP
+
+  _initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
   _initialize_radar_tracks(CP, CP_SP, params)
 
 
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
index 97f927502a41f0..0f016ccaf0e0fb 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
@@ -24,7 +24,7 @@ def _setup_platform(car_name):
     CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
     CI = CarInterface(CP, CP_SP)
 
-    sunnypilot_interfaces.setup_interfaces(CP, CP_SP, Params())
+    sunnypilot_interfaces.setup_interfaces(CI, Params())
 
     return CI
 
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
index 38fd99483157df..af7077d1c6fe8c 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
@@ -22,7 +22,7 @@ def test_load_model(self, car_name):
     CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
     CI = CarInterface(CP, CP_SP)
 
-    sunnypilot_interfaces.setup_interfaces(CP, CP_SP, params)
+    sunnypilot_interfaces.setup_interfaces(CI, params)
 
     CP_SP = convert_to_capnp(CP_SP)
 
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
index 4e2649f2ff63e1..699327cd817d8f 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
@@ -51,7 +51,7 @@ def test_saturation(self, car_name):
     CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
     CI = CarInterface(CP, CP_SP)
 
-    sunnypilot_interfaces.setup_interfaces(CP, CP_SP, params)
+    sunnypilot_interfaces.setup_interfaces(CI, params)
 
     CP_SP = convert_to_capnp(CP_SP)
     VM = VehicleModel(CP)

From ff63d177238705a4b81cc6fc98c0e8a023c1d45a Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 9 May 2025 00:46:18 -0400
Subject: [PATCH 0222/1434] ui: emit panel refresh signal from Platform
 Selector (#891)

---
 .../qt/offroad/settings/vehicle/platform_selector.cc           | 1 +
 .../sunnypilot/qt/offroad/settings/vehicle/platform_selector.h | 3 +++
 2 files changed, 4 insertions(+)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
index d4950bf2a81a97..83fa0b1698daed 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
@@ -62,6 +62,7 @@ void PlatformSelector::refresh(bool _offroad) {
     }
   }
   setEnabled(true);
+  emit refreshPanel();
 
   offroad = _offroad;
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h
index 8a618320098c84..3d912f822c89cd 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h
@@ -19,6 +19,9 @@ class PlatformSelector : public ButtonControl {
 public slots:
   void refresh(bool _offroad);
 
+signals:
+  void refreshPanel();
+
 private:
   void searchPlatforms(const QString &query);
   void setPlatform(const QString &platform = "");

From 72f09ec9f5a8bd8695c9dc50bd5fe9bfccc3d9b1 Mon Sep 17 00:00:00 2001
From: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Date: Thu, 8 May 2025 22:06:45 -0700
Subject: [PATCH 0223/1434] Hyundai: custom longitudinal tuning (#658)

* Maybe I was asleep but somehow it worked.

* Maybe I was asleep but somehow it worked.

* 70/30 split

* 60/35 split

* 67:33 split

* use Sqrt for tiny values to increase factor. Oh, also add a test file.

* use Sqrt for tiny values to increase factor. Oh, also add a test file.

* use Sqrt for tiny values to increase factor. Oh, also add a test file.

* Raise these to restart tests

* Raise these to restart tests

* Update jerk calculation mimicking j_ego math.

* README.md

* Update timestep

* Fix test

* Readability

* Lower time

* Add higher limits for CANFD

* Send these as a floating object. update comments to add TODO msg.

* Conditional flags

* yes its a little weird but heres why:

` "aReqValue": long_state.accel_value if enabled else a_val`

its only to not have merge conflicts with syncs from this file, because if not enabled a_val is already at 0 anyways.

* Make it easier to read

* Chronological order

* Trigger rebuild

* This is an internal test on my end. Disregard, for now

* fw version for my car...

* remove fw version as that was a test

* bump submodules

* refactor that while passing internal tests

* bump safety mutation test

* all should match 50 Hz

* bump safety mutation test

* match stock behavior for accel

* do our own clipping

* apply upper/lower dynamically

* bump test

* bump test

* Higher lower limit

* move desired accel force zero in tuning controller

* bump

* bump

* abs it here

* fix logic

* make sure it resets to 0, enforced in safety

* Test a few things

* Higher jerk for VOACC

* Elantra specific

* raise `off` to stock

* bump opendbc test

* allow jerk calculations at all times

* bump

* bump

* match aReqVale

* we dont need such high accel jerk when above 20m/s. This is cruise control, not a racecar.

* 0.45 default long actuator delay

* align type hint

* add lower jerk multiplier for HYUNDAI_IONIQ

* Change min jerk

* should be float

* Change min jerk

* Change min jerk upper

* Change max jerk upper

* Change max jerk upper

* Change max jerk upper

* step + threshold + first order filter to smooth

* constants

* nah

* multiplier to 1.5

* step updates for parabolic accel/braking

* step updates for parabolic accel/braking

* even less

* test multiplier

* Merge remote-tracking branch 'sunnypilot/opendbc/master-new' into HKG-long-tune

* back to default delay for now

* update test

* update config

* update test

* update config.py

* update test

* Remove stoppingDecelRate **No need for this anymore**

* multiplier to 1.0

* Variable lower dependency

* Variable lower dependency

* Variable lower jerk minimum

* Variable lower jerk minimum
planned_accel -> desired_acel

* Revert some scaling

* .01 here

* .01 here

* try even smoother stopping

* missed a `tuning` here that instead calls itself to inf.

* what is math

* Red Diff

* Red Diff

* bring some back

* bring some back

* stronger when needed

* something simple

* simplify more

* simplify more

* dont use future

* whoops

* why

* reset

* Refactor longitudinal controller for better jerk handling

Revised `calculate_a_value` and jerk processing logic to improve acceleration and jerk handling, particularly under dynamic conditions. Adjusted test cases to cover the new logic.

* Refactor longitudinal controller for better jerk handling

Revised `calculate_a_value` and jerk processing logic to improve acceleration and jerk handling, particularly under dynamic conditions. Adjusted test cases to cover the new logic.

* Refactor longitudinal controller for better jerk handling

Revised `calculate_a_value` and jerk processing logic to improve acceleration and jerk handling, particularly under dynamic conditions. Adjusted test cases to cover the new logic.

* Adjust lower_jerk interpolation for improved accuracy

* Lowered the acceleration error threshold from -0.01 to -0.001

* Adjust jerk interpolation thresholds for Hyundai tuning.

Updated the interpolation range  for smaller acceleration errors.

* Move it up

* -.03 not -.05

* radarUnavailable = higher limit patch

* Commit the real change

* Updated the interpolation values and logic for lower_jerk to refine acceleration behavior.

* Updated the interpolation values and logic for lower_jerk to refine acceleration behavior.

* Updated the interpolation values and logic for lower_jerk to refine acceleration behavior.

* Updated the interpolation values and logic for lower_jerk to refine acceleration behavior.

* THIS. THIS WILL STOP FOR LEADS

* Higher for VOACC

* Higher for VOACC

* Rename `make_jerk` to `calculate_jerk` in test cases.

* Adjust jerk tuning for Hyundai longitudinal control

Updated the interpolation table for lower jerk values to improve deceleration handling. This adjustment refines control behavior during higher deceleration requests.

* Updated the interpolation breakpoint from -0.03 to -0.025

* Adjust longitudinal control jerk tuning for smoother response

Updated interpolation values in the jerk tuning logic to improve acceleration smoothing in Hyundai longitudinal control. These changes aim to provide a more consistent and predictable driving experience, particularly during deceleration scenarios.

* Handle radar unavailability in longitudinal tuning check

* Introduce `toggleDisableMsg` to streamline determining toggle states and descriptions.

* `sunnypilot`

* `Refactor longitudinal control acceleration and jerk handling`

Removed unused `FirstOrderFilter` and simplified acceleration and jerk calculations for improved clarity and maintainability. Adjusted logic to replace redundant return statements, streamline jerk computation, and reduce unnecessary dependencies.

* `Refactor longitudinal control acceleration and jerk handling`

Removed unused `FirstOrderFilter` and simplified acceleration and jerk calculations for improved clarity and maintainability. Adjusted logic to replace redundant return statements, streamline jerk computation, and reduce unnecessary dependencies.

* Simplify test to be straight to the point.

* Adjust upper_speed_factor and integrate ramp_update logic

* Adjust upper_speed_factor and integrate ramp_update logic

* Adjust upper_speed_factor and integrate ramp_update logic

* Refine acceleration and jerk tuning logic.

* greater than 0

* bump

* bring back ramp update for jerk upper

* Update opendbc_repo

* Revert "Update opendbc_repo"

This reverts commit b790387c9080b3a553694fbae850e9aa8bb6e125.

* bump

* bump

* bump

* using count seems to work better

* Refine jerk tuning logic and expand test coverage

* bump vals

* fix logic

* Adjust jerk tuning parameters for Hyundai longitudinal control

* retry lfs check

* bump submodule

* Fix acceleration blending and enhance test coverage

* Update lower_jerk breakpoints

* bump

* Adjust lower jerk parameters and include accel_cmd condition

* Adjust vars

* "Adjust Hyundai longitudinal jerk limits and tuning logic"

* Adjust jerk limits and tuning logic for better control

* Update Hyundai longitudinal tuning and add dynamic jerk logic

Refactored longitudinal configuration to include "lookahead" parameters and revised "jerk_limits" for improved tuning flexibility. Implemented dynamic jerk adaptation logic (Gen1) for smoother braking and acceleration transitions.

* Adjust Hyundai longitudinal control parameters for tuning

* bump to original branch

* QSize Policy to stretch toggle to screen size

* bump

* completely blocked xD

* Sunnypilot -> openpilot

* Whitespace

* Clean up toggle name

* Still allow ramp while in standstill for EV

* Adjust Kia Niro EV tuning parameters for smoother control

* self.cp.flags

* bump submodule

* bump

* Remove ramp for lower desired jerk

* update README.md

* update README.md

* Adjust lookahead_jerk_lower_v values in Hyundai longitudinal config.

* update tuning

* Update tune one last time to vals from device which are much smoother.

* Accel error

* bump

* fix

* rename flag and slight cleanup

* start ui stuff

* long_state -> tuning

* Prep for clean up

* small changes

* less in main

* no longer

* format

* bump

* init panel

* expose signal for other panels to interact with

* split into its own

* unused

* move around

* actually modify CP_SP

* fix offroad transition

* rename

* back

* don't update unless we're looking at it

* move around

* use min length

* do this

* whoops

* move

* bump

* bump

* this is fine

* bump

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: royjr <royjr96@gmail.com>
---
 common/params_keys.h                          |  1 +
 opendbc_repo                                  |  2 +-
 selfdrive/ui/sunnypilot/SConscript            |  1 +
 .../settings/vehicle/hyundai_settings.cc      | 84 +++++++++++++++++++
 .../settings/vehicle/hyundai_settings.h       | 32 +++++++
 .../qt/offroad/settings/vehicle_panel.cc      | 25 ++++++
 .../qt/offroad/settings/vehicle_panel.h       | 14 +++-
 sunnypilot/selfdrive/car/interfaces.py        | 19 ++++-
 system/manager/manager.py                     |  1 +
 9 files changed, 175 insertions(+), 4 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h

diff --git a/common/params_keys.h b/common/params_keys.h
index 575dcc2adc614f..97f23d5108f63b 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -164,6 +164,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"BackupManager_RestoreVersion", PERSISTENT},
 
     // sunnypilot car specific params
+    {"HyundaiLongitudinalTuning", PERSISTENT},
     {"HyundaiRadarTracks", PERSISTENT},
     {"HyundaiRadarTracksConfirmed", PERSISTENT},
     {"HyundaiRadarTracksPersistent", PERSISTENT},
diff --git a/opendbc_repo b/opendbc_repo
index 029bc6abc43e49..95fc304727483d 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 029bc6abc43e497fd361bbcbb9efb92e43353c5b
+Subproject commit 95fc304727483d0d7f18f7df348d941046e046f2
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 4ff3f7047715df..82a257523ed3d1 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -50,6 +50,7 @@ network_src = [
 ]
 
 vehicle_panel_qt_src = [
+  "sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc",
   "sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc",
 ]
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc
new file mode 100644
index 00000000000000..08d76f592711d7
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc
@@ -0,0 +1,84 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+HyundaiSettings::HyundaiSettings(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  std::vector<QString> tuning_texts{ tr("Off"), tr("Dynamic"), tr("Predictive") };
+  longitudinalTuningToggle = new ButtonParamControlSP(
+    "HyundaiLongitudinalTuning",
+    tr("Custom Longitudinal Tuning"),
+    tr("Select a tuning mode.\n"
+       "Off: no custom tuning applied.\n"
+       "Dynamic: on-the-spot adjustments using dynamic calculations.\n"
+       "Predictive: adjusts based on anticipated ACC variation."),
+    "",
+    tuning_texts,
+    500
+  );
+  longitudinalTuningToggle->showDescription();
+  longitudinalTuningToggle->setProperty("originalDesc", longitudinalTuningToggle->getDescription());
+  list->addItem(longitudinalTuningToggle);
+
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &HyundaiSettings::updateSettings);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+QString HyundaiSettings::toggleDisableMsg() const {
+  if (!has_longitudinal_control) {
+    return tr("This feature can only be used with openpilot longitudinal control enabled.");
+  }
+
+  if (!offroad) {
+    return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to select an option.");
+  }
+
+  return QString();
+}
+
+void HyundaiSettings::showEvent(QShowEvent *event) {
+  updateSettings(offroad);
+}
+
+void HyundaiSettings::updateSettings(bool _offroad) {
+  if (!isVisible()) {
+    return;
+  }
+
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    has_longitudinal_control = hasLongitudinalControl(CP);
+
+    QString longitudinal_tuning_disabled_msg = toggleDisableMsg();
+    if (!longitudinal_tuning_disabled_msg.isEmpty()) {
+      longitudinalTuningToggle->setEnabled(false);
+      longitudinalTuningToggle->setDescription(longitudinal_tuning_disabled_msg);
+    } else {
+      longitudinalTuningToggle->setEnabled(true);
+      longitudinalTuningToggle->setDescription(longitudinalTuningToggle->property("originalDesc").toString());
+    }
+
+    longitudinalTuningToggle->showDescription();
+  } else {
+    has_longitudinal_control = false;
+    longitudinalTuningToggle->setEnabled(false);
+  }
+
+  offroad = _offroad;
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h
new file mode 100644
index 00000000000000..3137a0d1b907f8
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h
@@ -0,0 +1,32 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class HyundaiSettings : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit HyundaiSettings(QWidget *parent = nullptr);
+  void showEvent(QShowEvent *event) override;
+
+public slots:
+  void updateSettings(bool _offroad);
+
+private:
+  Params params;
+  bool offroad = false;
+  bool has_longitudinal_control = false;
+
+  ButtonParamControlSP *longitudinalTuningToggle = nullptr;
+  QString toggleDisableMsg() const;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
index cc3e6df183ca94..bc9f645f3bae44 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
@@ -7,6 +7,7 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
 VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
@@ -18,11 +19,16 @@ VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
   vlayout->setContentsMargins(50, 20, 50, 20);
 
   platformSelector = new PlatformSelector();
+  QObject::connect(platformSelector, &PlatformSelector::refreshPanel, this, &VehiclePanel::updateBrandSettings);
   list->addItem(platformSelector);
 
   ScrollViewSP *scroller = new ScrollViewSP(list, this);
   vlayout->addWidget(scroller);
 
+  hyundaiSettings = new HyundaiSettings(this);
+  vlayout->addWidget(hyundaiSettings);
+  hyundaiSettings->setVisible(false);
+
   QObject::connect(uiState(), &UIState::offroadTransition, this, &VehiclePanel::updatePanel);
 
   main_layout->addWidget(vehicleScreen);
@@ -36,5 +42,24 @@ void VehiclePanel::showEvent(QShowEvent *event) {
 void VehiclePanel::updatePanel(bool _offroad) {
   platformSelector->refresh(_offroad);
 
+  updateBrandSettings();
+
   offroad = _offroad;
 }
+
+void VehiclePanel::updateBrandSettings() {
+  if (!isVisible()) {
+    return;
+  }
+
+  resetBrandSettings();
+
+  QString brand = platformSelector->getPlatformBundle("brand").toString();
+  if (brand == "hyundai") {
+    hyundaiSettings->setVisible(true);
+  }
+}
+
+void VehiclePanel::resetBrandSettings() {
+  hyundaiSettings->setVisible(false);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
index f6265da7a62c5c..5548ff71813ed6 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
@@ -9,6 +9,7 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h"
 
 class VehiclePanel : public QFrame {
@@ -22,8 +23,17 @@ public slots:
   void updatePanel(bool _offroad);
 
 private:
+  void resetBrandSettings();
+
   QStackedLayout* main_layout = nullptr;
   QWidget* vehicleScreen = nullptr;
-  PlatformSelector *platformSelector = nullptr;
-  bool offroad;
+  PlatformSelector* platformSelector = nullptr;
+
+  // brand panels
+  HyundaiSettings* hyundaiSettings = nullptr;
+
+  bool offroad = false;
+
+private slots:
+  void updateBrandSettings();
 };
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index 2c27e960e9021e..f2019f5ed79eb5 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -11,6 +11,7 @@
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
 from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC
+from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
@@ -25,6 +26,21 @@ def log_fingerprint(CP: structs.CarParams) -> None:
   else:
     sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
 
+def _initialize_custom_longitudinal_tuning(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
+                                           params: Params = None) -> None:
+  if params is None:
+    params = Params()
+
+  # Hyundai Custom Longitudinal Tuning
+  if CP.brand == 'hyundai':
+    hyundai_longitudinal_tuning = int(params.get("HyundaiLongitudinalTuning", encoding="utf8") or 0)
+    if hyundai_longitudinal_tuning == LongitudinalTuningType.DYNAMIC:
+      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_DYNAMIC.value
+    if hyundai_longitudinal_tuning == LongitudinalTuningType.PREDICTIVE:
+      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_PREDICTIVE.value
+
+  CP_SP = CI.get_longitudinal_tuning_sp(CP, CP_SP)
+
 
 def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
                                                params: Params = None, enabled: bool = False) -> None:
@@ -61,10 +77,11 @@ def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
           CP.radarUnavailable = False
 
 
-def setup_interfaces(CI: CarInterfaceBase, params: Params = None):
+def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   CP = CI.CP
   CP_SP = CI.CP_SP
 
+  _initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params)
   _initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
   _initialize_radar_tracks(CP, CP_SP, params)
 
diff --git a/system/manager/manager.py b/system/manager/manager.py
index fde85f0f7cdaf3..90df415a8c31c1 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -45,6 +45,7 @@ def manager_init() -> None:
     ("AutoLaneChangeTimer", "0"),
     ("AutoLaneChangeBsmDelay", "0"),
     ("DynamicExperimentalControl", "0"),
+    ("HyundaiLongitudinalTuning", "0"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
     ("MadsPauseLateralOnBrake", "0"),

From 4a094ef56f07fb1226b13636bffa17614131e9ed Mon Sep 17 00:00:00 2001
From: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Date: Thu, 8 May 2025 22:19:35 -0700
Subject: [PATCH 0224/1434] Models: Enable support for liveDelay in modeld_v2
 (#879)

Enable support for liveDelay in modeld_v2
---
 sunnypilot/modeld_v2/modeld.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index 9a90e21cb57524..e0f38c59ac6eed 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -26,6 +26,7 @@
 from openpilot.sunnypilot.modeld_v2.model_runner import ONNXRunner, TinygradRunner
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
+LAT_SMOOTH_SECONDS = 0.0
 
 
 class FrameMeta:
@@ -163,7 +164,7 @@ def main(demo=False):
 
   # messaging
   pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
-  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
+  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
   params = Params()
@@ -188,8 +189,8 @@ def main(demo=False):
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
-  # TODO this needs more thought, use .2s extra for now to estimate other delays
-  steer_delay = CP.steerActuatorDelay + .2
+  # Enable lagd support for modeld_v2
+  steer_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
 
   DH = DesireHelper()
 

From f09a3b32d1b0a7d997b5ac76df048bce20ed8499 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 9 May 2025 01:35:10 -0400
Subject: [PATCH 0225/1434] UI: Fix Padding on `OptionControlSP` (#886)

fix padding

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/qt/widgets/controls.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
index 09ab5417edffbf..551907c612580c 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
@@ -118,7 +118,7 @@ AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, con
   if (!title.isEmpty()) {
     title_label = new QPushButton(title);
     title_label->setFixedHeight(120);
-    title_label->setStyleSheet("font-size: 50px; font-weight: 450; text-align: left; border: none; padding: 20 0 0 0");
+    title_label->setStyleSheet("font-size: 50px; font-weight: 450; text-align: left; border: none; padding: 0 0 0 0");
     main_layout->addWidget(title_label, 1);
 
     connect(title_label, &QPushButton::clicked, [=]() {

From 6de9526d4d316b1269613ee95b9d62a5cbfff043 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 9 May 2025 05:37:59 -0400
Subject: [PATCH 0226/1434] bug: fix braking issue while experimental and using
 old model (#881)

* Fixes an issue on the long planner since Tomb Raider models, where the models are now meant to output the acceleration target and the "should stop" instead of it being calculated. However, older models (particularly those running on modeld_v2 from SP) do not output this. Leading to a "coasting" situation instead of braking when only e2e is used which is totally wrong.
---
 selfdrive/controls/lib/longitudinal_planner.py            | 4 ++++
 sunnypilot/models/helpers.py                              | 2 +-
 sunnypilot/selfdrive/controls/lib/longitudinal_planner.py | 2 ++
 3 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 4e842f8d1b910b..377ce7c2cb1205 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -178,6 +178,10 @@ def update(self, sm):
       output_a_target = min(output_a_target_mpc, output_a_target_e2e)
       self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
 
+    if not self.is_stock:
+      # To support non Tomb Raider models
+      output_a_target, self.output_should_stop = output_a_target_mpc, output_should_stop_mpc
+
     for idx in range(2):
       accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
     self.output_a_target = np.clip(output_a_target, accel_clip[0], accel_clip[1])
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index 7bcf1a148aa974..e6001f26424417 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -19,7 +19,7 @@
 from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
-CURRENT_SELECTOR_VERSION = 2
+CURRENT_SELECTOR_VERSION = 3
 REQUIRED_MIN_SELECTOR_VERSION = 2
 
 USE_ONNX = os.getenv('USE_ONNX', PC)
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index 56f32373d5075e..9f0c503fb41fc8 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -7,6 +7,7 @@
 
 from cereal import messaging, custom
 from opendbc.car import structs
+from openpilot.sunnypilot.models.helpers import get_active_model_runner
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
 
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
@@ -15,6 +16,7 @@
 class LongitudinalPlannerSP:
   def __init__(self, CP: structs.CarParams, mpc):
     self.dec = DynamicExperimentalController(CP, mpc)
+    self.is_stock = get_active_model_runner() == custom.ModelManagerSP.Runner.stock
 
   def get_mpc_mode(self) -> str | None:
     if not self.dec.active():

From 179da5d0075ad61cd2ce0dbd55c2d9f6a8106790 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 9 May 2025 12:57:58 -0400
Subject: [PATCH 0227/1434] Update Python packages (#893)

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 95fc304727483d..36461557c47176 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 95fc304727483d0d7f18f7df348d941046e046f2
+Subproject commit 36461557c47176b16a081ea40195bc327a34d97f

From 68c593db5f1c9677eee71dd2f7b66dc7f6e02ba0 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 9 May 2025 14:53:56 -0400
Subject: [PATCH 0228/1434] Revert "Hyundai: custom longitudinal tuning" (#892)

* Revert "Hyundai: custom longitudinal tuning (#658)"

This reverts commit 72f09ec9f5a8bd8695c9dc50bd5fe9bfccc3d9b1.

* bump

* Revert "bump"

This reverts commit a437f3538db4720d797e3af7df8363898d410a7e.

* bump
---
 common/params_keys.h                          |  1 -
 selfdrive/ui/sunnypilot/SConscript            |  1 -
 .../settings/vehicle/hyundai_settings.cc      | 84 -------------------
 .../settings/vehicle/hyundai_settings.h       | 32 -------
 .../qt/offroad/settings/vehicle_panel.cc      | 25 ------
 .../qt/offroad/settings/vehicle_panel.h       | 14 +---
 sunnypilot/selfdrive/car/interfaces.py        | 19 +----
 system/manager/manager.py                     |  1 -
 8 files changed, 3 insertions(+), 174 deletions(-)
 delete mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc
 delete mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h

diff --git a/common/params_keys.h b/common/params_keys.h
index 97f23d5108f63b..575dcc2adc614f 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -164,7 +164,6 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"BackupManager_RestoreVersion", PERSISTENT},
 
     // sunnypilot car specific params
-    {"HyundaiLongitudinalTuning", PERSISTENT},
     {"HyundaiRadarTracks", PERSISTENT},
     {"HyundaiRadarTracksConfirmed", PERSISTENT},
     {"HyundaiRadarTracksPersistent", PERSISTENT},
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 82a257523ed3d1..4ff3f7047715df 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -50,7 +50,6 @@ network_src = [
 ]
 
 vehicle_panel_qt_src = [
-  "sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc",
   "sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc",
 ]
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc
deleted file mode 100644
index 08d76f592711d7..00000000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc
+++ /dev/null
@@ -1,84 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
-
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
-HyundaiSettings::HyundaiSettings(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  std::vector<QString> tuning_texts{ tr("Off"), tr("Dynamic"), tr("Predictive") };
-  longitudinalTuningToggle = new ButtonParamControlSP(
-    "HyundaiLongitudinalTuning",
-    tr("Custom Longitudinal Tuning"),
-    tr("Select a tuning mode.\n"
-       "Off: no custom tuning applied.\n"
-       "Dynamic: on-the-spot adjustments using dynamic calculations.\n"
-       "Predictive: adjusts based on anticipated ACC variation."),
-    "",
-    tuning_texts,
-    500
-  );
-  longitudinalTuningToggle->showDescription();
-  longitudinalTuningToggle->setProperty("originalDesc", longitudinalTuningToggle->getDescription());
-  list->addItem(longitudinalTuningToggle);
-
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &HyundaiSettings::updateSettings);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-QString HyundaiSettings::toggleDisableMsg() const {
-  if (!has_longitudinal_control) {
-    return tr("This feature can only be used with openpilot longitudinal control enabled.");
-  }
-
-  if (!offroad) {
-    return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to select an option.");
-  }
-
-  return QString();
-}
-
-void HyundaiSettings::showEvent(QShowEvent *event) {
-  updateSettings(offroad);
-}
-
-void HyundaiSettings::updateSettings(bool _offroad) {
-  if (!isVisible()) {
-    return;
-  }
-
-  auto cp_bytes = params.get("CarParamsPersistent");
-  if (!cp_bytes.empty()) {
-    AlignedBuffer aligned_buf;
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
-    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-
-    has_longitudinal_control = hasLongitudinalControl(CP);
-
-    QString longitudinal_tuning_disabled_msg = toggleDisableMsg();
-    if (!longitudinal_tuning_disabled_msg.isEmpty()) {
-      longitudinalTuningToggle->setEnabled(false);
-      longitudinalTuningToggle->setDescription(longitudinal_tuning_disabled_msg);
-    } else {
-      longitudinalTuningToggle->setEnabled(true);
-      longitudinalTuningToggle->setDescription(longitudinalTuningToggle->property("originalDesc").toString());
-    }
-
-    longitudinalTuningToggle->showDescription();
-  } else {
-    has_longitudinal_control = false;
-    longitudinalTuningToggle->setEnabled(false);
-  }
-
-  offroad = _offroad;
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h
deleted file mode 100644
index 3137a0d1b907f8..00000000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-class HyundaiSettings : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit HyundaiSettings(QWidget *parent = nullptr);
-  void showEvent(QShowEvent *event) override;
-
-public slots:
-  void updateSettings(bool _offroad);
-
-private:
-  Params params;
-  bool offroad = false;
-  bool has_longitudinal_control = false;
-
-  ButtonParamControlSP *longitudinalTuningToggle = nullptr;
-  QString toggleDisableMsg() const;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
index bc9f645f3bae44..cc3e6df183ca94 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
@@ -7,7 +7,6 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"
 
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
 VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
@@ -19,16 +18,11 @@ VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
   vlayout->setContentsMargins(50, 20, 50, 20);
 
   platformSelector = new PlatformSelector();
-  QObject::connect(platformSelector, &PlatformSelector::refreshPanel, this, &VehiclePanel::updateBrandSettings);
   list->addItem(platformSelector);
 
   ScrollViewSP *scroller = new ScrollViewSP(list, this);
   vlayout->addWidget(scroller);
 
-  hyundaiSettings = new HyundaiSettings(this);
-  vlayout->addWidget(hyundaiSettings);
-  hyundaiSettings->setVisible(false);
-
   QObject::connect(uiState(), &UIState::offroadTransition, this, &VehiclePanel::updatePanel);
 
   main_layout->addWidget(vehicleScreen);
@@ -42,24 +36,5 @@ void VehiclePanel::showEvent(QShowEvent *event) {
 void VehiclePanel::updatePanel(bool _offroad) {
   platformSelector->refresh(_offroad);
 
-  updateBrandSettings();
-
   offroad = _offroad;
 }
-
-void VehiclePanel::updateBrandSettings() {
-  if (!isVisible()) {
-    return;
-  }
-
-  resetBrandSettings();
-
-  QString brand = platformSelector->getPlatformBundle("brand").toString();
-  if (brand == "hyundai") {
-    hyundaiSettings->setVisible(true);
-  }
-}
-
-void VehiclePanel::resetBrandSettings() {
-  hyundaiSettings->setVisible(false);
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
index 5548ff71813ed6..f6265da7a62c5c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
@@ -9,7 +9,6 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h"
 
 class VehiclePanel : public QFrame {
@@ -23,17 +22,8 @@ public slots:
   void updatePanel(bool _offroad);
 
 private:
-  void resetBrandSettings();
-
   QStackedLayout* main_layout = nullptr;
   QWidget* vehicleScreen = nullptr;
-  PlatformSelector* platformSelector = nullptr;
-
-  // brand panels
-  HyundaiSettings* hyundaiSettings = nullptr;
-
-  bool offroad = false;
-
-private slots:
-  void updateBrandSettings();
+  PlatformSelector *platformSelector = nullptr;
+  bool offroad;
 };
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index f2019f5ed79eb5..2c27e960e9021e 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -11,7 +11,6 @@
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
 from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC
-from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
@@ -26,21 +25,6 @@ def log_fingerprint(CP: structs.CarParams) -> None:
   else:
     sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
 
-def _initialize_custom_longitudinal_tuning(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
-                                           params: Params = None) -> None:
-  if params is None:
-    params = Params()
-
-  # Hyundai Custom Longitudinal Tuning
-  if CP.brand == 'hyundai':
-    hyundai_longitudinal_tuning = int(params.get("HyundaiLongitudinalTuning", encoding="utf8") or 0)
-    if hyundai_longitudinal_tuning == LongitudinalTuningType.DYNAMIC:
-      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_DYNAMIC.value
-    if hyundai_longitudinal_tuning == LongitudinalTuningType.PREDICTIVE:
-      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_PREDICTIVE.value
-
-  CP_SP = CI.get_longitudinal_tuning_sp(CP, CP_SP)
-
 
 def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
                                                params: Params = None, enabled: bool = False) -> None:
@@ -77,11 +61,10 @@ def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
           CP.radarUnavailable = False
 
 
-def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
+def setup_interfaces(CI: CarInterfaceBase, params: Params = None):
   CP = CI.CP
   CP_SP = CI.CP_SP
 
-  _initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params)
   _initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
   _initialize_radar_tracks(CP, CP_SP, params)
 
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 90df415a8c31c1..fde85f0f7cdaf3 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -45,7 +45,6 @@ def manager_init() -> None:
     ("AutoLaneChangeTimer", "0"),
     ("AutoLaneChangeBsmDelay", "0"),
     ("DynamicExperimentalControl", "0"),
-    ("HyundaiLongitudinalTuning", "0"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
     ("MadsPauseLateralOnBrake", "0"),

From 80f21949a31861a3d9c4467caa7a856a125d83a9 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 9 May 2025 17:42:31 -0400
Subject: [PATCH 0229/1434] ui: Adjust stretch factor for `ListWidgetSP` (#896)

---
 selfdrive/ui/sunnypilot/qt/widgets/controls.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index d1edaf8621c996..0565690b209235 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -360,7 +360,7 @@ class ListWidgetSP : public QWidget {
     outer_layout.addLayout(&inner_layout);
     inner_layout.setMargin(0);
     inner_layout.setSpacing(25); // default spacing is 25
-    outer_layout.addStretch();
+    outer_layout.addStretch(1);
   }
   inline void addItem(QWidget *w) { inner_layout.addWidget(w); }
   inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); }

From ca23bb90cd509c3da0ae861e01e79be17415deb6 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 9 May 2025 18:29:33 -0400
Subject: [PATCH 0230/1434] ui: Platform Selector updates (#897)

* init

* more

* description

* init them to true

* back to false

* fix

* add description
update colors
fix stretch

* yellow & orange are too similar - use blue

* slight updates

* dynamic description

* split it out

* more

---------

Co-authored-by: nayan8teen <nayan8teen@gmail.com>
---
 .../settings/vehicle/platform_selector.cc     | 49 ++++++++++++++++---
 .../settings/vehicle/platform_selector.h      | 36 ++++++++++++++
 2 files changed, 79 insertions(+), 6 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
index 83fa0b1698daed..21c9a44cb43a51 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
@@ -43,37 +43,74 @@ PlatformSelector::PlatformSelector() : ButtonControl(tr("Vehicle"), "", "") {
     }
   });
 
+  main_layout->addStretch(0);
   refresh(offroad);
 }
 
 void PlatformSelector::refresh(bool _offroad) {
   QString name = getPlatformBundle("name").toString();
+  platform = unrecognized_str;
+  QString platform_color = YELLOW_PLATFORM;
+
   if (!name.isEmpty()) {
-    setValue(name);
+    platform = name;
+    platform_color = BLUE_PLATFORM;
+    brand = getPlatformBundle("brand").toString();
     setText(tr("REMOVE"));
   } else {
     setText(tr("SEARCH"));
+
+    platform = unrecognized_str;
+    brand = "";
     auto cp_bytes = params.get("CarParamsPersistent");
     if (!cp_bytes.empty()) {
       AlignedBuffer aligned_buf;
       capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
       cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-      setValue(QString::fromStdString(CP.getCarFingerprint().cStr()));
+
+      platform = QString::fromStdString(CP.getCarFingerprint().cStr());
+
+      for (auto it = platforms.constBegin(); it != platforms.constEnd(); ++it) {
+        if (it.value()["platform"].toString() == platform) {
+          platform = it.key();
+          brand = it.value()["brand"].toString();
+          break;
+        }
+      }
+
+      if (platform == "MOCK") {
+        platform = unrecognized_str;
+      } else {
+        platform_color = GREEN_PLATFORM;
+      }
     }
   }
+  setValue(platform, platform_color);
   setEnabled(true);
   emit refreshPanel();
 
   offroad = _offroad;
+
+  FingerprintStatus cur_status;
+  if (platform_color == GREEN_PLATFORM) {
+    cur_status = FingerprintStatus::AUTO_FINGERPRINT;
+  } else if (platform_color == BLUE_PLATFORM) {
+    cur_status = FingerprintStatus::MANUAL_FINGERPRINT;
+  } else {
+    cur_status = FingerprintStatus::UNRECOGNIZED;
+  }
+
+  setDescription(platformDescription(cur_status));
+  showDescription();
 }
 
-void PlatformSelector::setPlatform(const QString &platform) {
-  QVariantMap platform_data = platforms[platform];
+void PlatformSelector::setPlatform(const QString &_platform) {
+  QVariantMap platform_data = platforms[_platform];
 
   const QString offroad_msg = offroad ? tr("This setting will take effect immediately.") :
                                         tr("This setting will take effect once the device enters offroad state.");
   const QString msg = QString("<b>%1</b><br><br>%2")
-                      .arg(platform, offroad_msg);
+                      .arg(_platform, offroad_msg);
 
   QString content("<body><h2 style=\"text-align: center;\">" + tr("Vehicle Selector") + "</h2><br>"
                   "<p style=\"text-align: center; margin: 0 128px; font-size: 50px;\">" + msg + "</p></body>");
@@ -81,7 +118,7 @@ void PlatformSelector::setPlatform(const QString &platform) {
   if (ConfirmationDialog(content, tr("Confirm"), tr("Cancel"), true, this).exec()) {
     QJsonObject json_bundle;
     json_bundle["platform"] = platform_data["platform"].toString();
-    json_bundle["name"] = platform;
+    json_bundle["name"] = _platform;
     json_bundle["make"] = platform_data["make"].toString();
     json_bundle["brand"] = platform_data["brand"].toString();
     json_bundle["model"] = platform_data["model"].toString();
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h
index 3d912f822c89cd..9867371ef67db1 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h
@@ -9,6 +9,16 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
+static const QString GREEN_PLATFORM = "#00F100";
+static const QString BLUE_PLATFORM = "#0086E9";
+static const QString YELLOW_PLATFORM = "#FFD500";
+
+enum class FingerprintStatus {
+  AUTO_FINGERPRINT,
+  MANUAL_FINGERPRINT,
+  UNRECOGNIZED,
+};
+
 class PlatformSelector : public ButtonControl {
   Q_OBJECT
 
@@ -16,6 +26,9 @@ class PlatformSelector : public ButtonControl {
   PlatformSelector();
   QVariant getPlatformBundle(const QString &key);
 
+  QString platform;
+  QString brand;
+
 public slots:
   void refresh(bool _offroad);
 
@@ -29,4 +42,27 @@ public slots:
 
   Params params;
   bool offroad;
+
+  QString unrecognized_str = tr("Unrecognized Vehicle");
+
+  static QString platformDescription(FingerprintStatus status = FingerprintStatus::UNRECOGNIZED) {
+    QString auto_str = "🟢 - " + tr("Fingerprinted automatically");
+    QString manual_str = "🔵 - " + tr("Manually selected");
+    QString unrecognized_str = "🟡 - " + tr("Not fingerprinted or manually selected");
+
+    if (status == FingerprintStatus::AUTO_FINGERPRINT) {
+      auto_str = "<font color='white'><b>" + auto_str + "</b></font>";
+    } else if (status == FingerprintStatus::MANUAL_FINGERPRINT) {
+      manual_str = "<font color='white'><b>" + manual_str + "</b></font>";
+    } else {
+      unrecognized_str = "<font color='white'><b>" + unrecognized_str + "</b></font>";
+    }
+
+    return QString("%1<br>%2<br><br>%3<br>%4<br>%5")
+             .arg(tr("Select vehicle to force fingerprint manually."))
+             .arg(tr("Colors represent fingerprint status:"))
+             .arg(auto_str)
+             .arg(manual_str)
+             .arg(unrecognized_str);
+  }
 };

From e89d65b51644bd86c2f09f0a2298c4f65c36a497 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 9 May 2025 22:08:32 -0400
Subject: [PATCH 0231/1434] ui: fix screens for UI Preview (#899)

* ui: fix screens for UI Preview

* try a delay
---
 selfdrive/ui/tests/test_ui/run.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 064ef14a73a419..9d078fdd9ee2b3 100755
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -37,7 +37,7 @@
   "driverStateV2", "roadCameraState", "wideRoadCameraState", "driverCameraState"], None)
 
 def setup_homescreen(click, pm: PubMaster, scroll=None):
-  pass
+  time.sleep(UI_DELAY)
 
 def setup_settings_device(click, pm: PubMaster, scroll=None):
   click(100, 100)
@@ -61,6 +61,7 @@ def setup_settings_software(click, pm: PubMaster, scroll=None):
   time.sleep(UI_DELAY)
 
 def setup_settings_firehose(click, pm: PubMaster, scroll=None):
+  setup_settings_device(click, pm)
   scroll(-400, 278, 962)
   click(278, 862)
 
@@ -151,7 +152,7 @@ def setup_keyboard_uppercase(click, pm: PubMaster, scroll=None):
 
 def setup_driver_camera(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
-  click(1720, 620)
+  click(1720, 825)
   DATA['deviceState'].deviceState.started = False
   setup_onroad(click, pm)
   DATA['deviceState'].deviceState.started = True

From e5ac7d5b571b93b7caf03fbb293eed935d59e0eb Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 9 May 2025 22:19:14 -0400
Subject: [PATCH 0232/1434] UI: Support inline layout for
 `ButtonParamControlSP` (#888)

* support inline layout for ButtonParamControlSP

* final

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/qt/widgets/controls.h | 43 +++++++++++++++----
 1 file changed, 34 insertions(+), 9 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index 0565690b209235..21c317eac63a3d 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -219,7 +219,7 @@ class ButtonParamControlSP : public AbstractControlSP_SELECTOR {
 
 public:
   ButtonParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                       const std::vector<QString> &button_texts, const int minimum_button_width = 300) : AbstractControlSP_SELECTOR(title, desc, icon), button_texts(button_texts) {
+                       const std::vector<QString> &button_texts, const int minimum_button_width = 300, const bool inline_layout = false) : AbstractControlSP_SELECTOR(title, desc, icon), button_texts(button_texts), is_inline_layout(inline_layout) {
     const QString style = R"(
       QPushButton {
         border-radius: 20px;
@@ -246,6 +246,19 @@ class ButtonParamControlSP : public AbstractControlSP_SELECTOR {
     key = param.toStdString();
     int value = atoi(params.get(key).c_str());
 
+    if (inline_layout) {
+      button_param_layout->setMargin(0);
+      button_param_layout->setSpacing(0);
+      if (!title.isEmpty()) {
+        main_layout->removeWidget(title_label);
+        hlayout->addWidget(title_label, 1);
+      }
+      if (spacingItem != nullptr && main_layout->indexOf(spacingItem) != -1) {
+        main_layout->removeItem(spacingItem);
+        spacingItem = nullptr;
+      }
+    }
+
     button_group = new QButtonGroup(this);
     button_group->setExclusive(true);
     for (int i = 0; i < button_texts.size(); i++) {
@@ -254,12 +267,18 @@ class ButtonParamControlSP : public AbstractControlSP_SELECTOR {
       button->setChecked(i == value);
       button->setStyleSheet(style);
       button->setMinimumWidth(minimum_button_width);
-      if (i == 0) hlayout->addSpacing(2);
-      hlayout->addWidget(button);
+      if (i == 0) button_param_layout->addSpacing(2);
+      button_param_layout->addWidget(button);
       button_group->addButton(button, i);
     }
 
-    hlayout->setAlignment(Qt::AlignLeft);
+    button_param_layout->setAlignment(Qt::AlignLeft);
+    if (is_inline_layout) {
+      QFrame *container = new QFrame;
+      container->setLayout(button_param_layout);
+      container->setStyleSheet("background-color: #393939; border-radius: 20px;");
+      hlayout->addWidget(container);
+    }
 
     QObject::connect(button_group, QOverload<int>::of(&QButtonGroup::buttonClicked), [=](int id) {
       params.put(key, std::to_string(id));
@@ -314,6 +333,10 @@ class ButtonParamControlSP : public AbstractControlSP_SELECTOR {
 
 protected:
   void paintEvent(QPaintEvent *event) override {
+    if (is_inline_layout) {
+      return;
+    }
+
     QPainter p(this);
     p.setRenderHint(QPainter::Antialiasing);
 
@@ -348,6 +371,8 @@ class ButtonParamControlSP : public AbstractControlSP_SELECTOR {
   std::vector<QString> button_texts;
 
   bool button_group_enabled = true;
+  bool is_inline_layout;
+  QHBoxLayout *button_param_layout = is_inline_layout ? new QHBoxLayout() : hlayout;
 };
 
 class ListWidgetSP : public QWidget {
@@ -416,8 +441,8 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
   Q_OBJECT
 
 private:
-  bool isInlineLayout;
-  QHBoxLayout *optionSelectorLayout = isInlineLayout ? new QHBoxLayout() : hlayout;
+  bool is_inline_layout;
+  QHBoxLayout *optionSelectorLayout = is_inline_layout ? new QHBoxLayout() : hlayout;
 
   struct MinMaxValue {
     int min_value;
@@ -438,7 +463,7 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
 
 public:
   OptionControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                  const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false, const QMap<QString, QString> *valMap = nullptr) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), isInlineLayout(inline_layout) {
+                  const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false, const QMap<QString, QString> *valMap = nullptr) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), is_inline_layout(inline_layout) {
     const QString style = R"(
       QPushButton {
         border-radius: 20px;
@@ -513,7 +538,7 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
     }
 
     optionSelectorLayout->setAlignment(Qt::AlignLeft);
-    if (isInlineLayout) {
+    if (is_inline_layout) {
       QFrame *container = new QFrame;
       container->setLayout(optionSelectorLayout);
       container->setStyleSheet("background-color: #393939; border-radius: 20px;");
@@ -540,7 +565,7 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
 
 protected:
   void paintEvent(QPaintEvent *event) override {
-    if (isInlineLayout) {
+    if (is_inline_layout) {
       return;
     }
 

From f4c7b04682fca619d630546903949764093106d9 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 9 May 2025 22:40:23 -0400
Subject: [PATCH 0233/1434] ui: encapsulate always enabled buttons into a list
 in Device panel (#900)

* fix style handling

* vector them

* another pr

---------

Co-authored-by: nayan8teen <nayan8teen@gmail.com>
---
 .../ui/sunnypilot/qt/offroad/settings/device_panel.cc  | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index 3e613e1022227f..70ead6e2823fe6 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -112,9 +112,17 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
 
   addItem(power_group_layout);
 
+  std::vector always_enabled_btns = {
+    rebootBtn,
+    poweroffBtn,
+    offroadBtn,
+  };
+
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     for (auto btn : findChildren<PushButtonSP*>()) {
-      if (btn != rebootBtn && btn != poweroffBtn && btn != offroadBtn) {
+      bool always_enabled = std::find(always_enabled_btns.begin(), always_enabled_btns.end(), btn) != always_enabled_btns.end();
+
+      if (!always_enabled) {
         btn->setEnabled(offroad);
       }
     }

From 897a2bcedce0e4b88cab91b965c4dad1a7353242 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 9 May 2025 22:50:52 -0400
Subject: [PATCH 0234/1434] ui: update Quiet Mode button behavior (#880)

* fix style handling

* vector them

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../qt/offroad/settings/device_panel.cc       |  1 +
 selfdrive/ui/sunnypilot/qt/widgets/controls.h | 19 +++++--------------
 2 files changed, 6 insertions(+), 14 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index 70ead6e2823fe6..e6855c4b4e768e 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -116,6 +116,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
     rebootBtn,
     poweroffBtn,
     offroadBtn,
+    buttons["quietModeBtn"],
   };
 
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index 21c317eac63a3d..2a1bc20ac11c40 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -658,16 +658,6 @@ class PushButtonSP : public QPushButton {
     }
   }
 
-protected:
-  // Override mouse release event to handle style updates smoothly
-  void mouseReleaseEvent(QMouseEvent *event) override {
-    if (!key.empty()) {
-      bool next_state = !params.getBool(key);
-      updateStyle(next_state);
-    }
-    QPushButton::mouseReleaseEvent(event);
-  }
-
 private:
   std::string key = "";
   Params params;
@@ -676,13 +666,14 @@ class PushButtonSP : public QPushButton {
 
   QString btn_enabled_off_style = "QPushButton:enabled { background-color: #393939; }";
   QString btn_enabled_on_style = "QPushButton:enabled { background-color: #1e79e8; }";
-  QString btn_pressed_style = "QPushButton:pressed { background-color: #4A4A4A; }";
-  QString btn_disabled_stype = "QPushButton:disabled { background-color: #121212; color: #5C5C5C; }";
+  QString btn_off_pressed_style = "QPushButton:pressed { background-color: #4A4A4A; }";
+  QString btn_on_pressed_style = "QPushButton:pressed { background-color: #1E8FFF; }";
+  QString btn_disabled_style = "QPushButton:disabled { background-color: #121212; color: #5C5C5C; }";
 
   void updateStyle(bool enabled) {
     QString enabled_style = enabled ? btn_enabled_on_style : btn_enabled_off_style;
-
-    setStyleSheet(buttonStyle + enabled_style + btn_pressed_style + btn_disabled_stype);
+    QString pressed_style = enabled ? btn_on_pressed_style : btn_off_pressed_style;
+    setStyleSheet(buttonStyle + enabled_style + pressed_style + btn_disabled_style);
   }
 };
 

From fb934247a28a439de23735024ec8074587c0c416 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 9 May 2025 23:09:27 -0400
Subject: [PATCH 0235/1434] ui: brand settings for Vehicle panel (#898)

* init

* brand factory

* more

* mazda

* nissan

* rivian

* subaru

* tesla

* toyota

* volkswagen

* do this

* stretch here
---
 selfdrive/ui/sunnypilot/SConscript            | 19 +++++-
 .../vehicle/brand_settings_factory.cc         | 62 +++++++++++++++++++
 .../settings/vehicle/brand_settings_factory.h | 18 ++++++
 .../vehicle/brand_settings_interface.cc       |  8 +++
 .../vehicle/brand_settings_interface.h        | 21 +++++++
 .../qt/offroad/settings/vehicle/brands.h      | 21 +++++++
 .../settings/vehicle/chrysler_settings.cc     | 31 ++++++++++
 .../settings/vehicle/chrysler_settings.h      | 27 ++++++++
 .../offroad/settings/vehicle/ford_settings.cc | 31 ++++++++++
 .../offroad/settings/vehicle/ford_settings.h  | 27 ++++++++
 .../offroad/settings/vehicle/gm_settings.cc   | 31 ++++++++++
 .../qt/offroad/settings/vehicle/gm_settings.h | 27 ++++++++
 .../settings/vehicle/honda_settings.cc        | 31 ++++++++++
 .../offroad/settings/vehicle/honda_settings.h | 27 ++++++++
 .../settings/vehicle/hyundai_settings.cc      | 31 ++++++++++
 .../settings/vehicle/hyundai_settings.h       | 27 ++++++++
 .../settings/vehicle/mazda_settings.cc        | 31 ++++++++++
 .../offroad/settings/vehicle/mazda_settings.h | 27 ++++++++
 .../settings/vehicle/nissan_settings.cc       | 31 ++++++++++
 .../settings/vehicle/nissan_settings.h        | 27 ++++++++
 .../settings/vehicle/rivian_settings.cc       | 31 ++++++++++
 .../settings/vehicle/rivian_settings.h        | 27 ++++++++
 .../settings/vehicle/subaru_settings.cc       | 31 ++++++++++
 .../settings/vehicle/subaru_settings.h        | 27 ++++++++
 .../settings/vehicle/tesla_settings.cc        | 31 ++++++++++
 .../offroad/settings/vehicle/tesla_settings.h | 27 ++++++++
 .../settings/vehicle/toyota_settings.cc       | 31 ++++++++++
 .../settings/vehicle/toyota_settings.h        | 27 ++++++++
 .../settings/vehicle/volkswagen_settings.cc   | 31 ++++++++++
 .../settings/vehicle/volkswagen_settings.h    | 27 ++++++++
 .../qt/offroad/settings/vehicle_panel.cc      | 27 +++++++-
 .../qt/offroad/settings/vehicle_panel.h       |  9 ++-
 32 files changed, 877 insertions(+), 4 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h

diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 4ff3f7047715df..379adfcede0506 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -50,11 +50,28 @@ network_src = [
 ]
 
 vehicle_panel_qt_src = [
+  "sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc",
   "sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc",
 ]
 
+brand_settings_qt_src = [
+  "sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc",
+]
+
 sp_widgets_src = widgets_src + network_src
-sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src
+sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src
 sp_qt_util = qt_util
 
 Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util")
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc
new file mode 100644
index 00000000000000..08b137d270709b
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc
@@ -0,0 +1,62 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h"
+
+static const QStringList supportedBrands = {
+  "chrysler",
+  "ford",
+  "gm",
+  "honda",
+  "hyundai",
+  "mazda",
+  "nissan",
+  "rivian",
+  "subaru"
+  "tesla",
+  "toyota",
+  "volkswagen",
+};
+
+BrandSettingsInterface* BrandSettingsFactory::createBrandSettings(const QString& brand, QWidget* parent) {
+  if (brand == "chrysler")
+    return new ChryslerSettings(parent);
+  if (brand == "ford")
+    return new FordSettings(parent);
+  if (brand == "gm")
+    return new GMSettings(parent);
+  if (brand == "honda")
+    return new HondaSettings(parent);
+  if (brand == "hyundai")
+    return new HyundaiSettings(parent);
+  if (brand == "mazda")
+    return new MazdaSettings(parent);
+  if (brand == "nissan")
+    return new NissanSettings(parent);
+  if (brand == "rivian")
+    return new RivianSettings(parent);
+  if (brand == "subaru")
+    return new SubaruSettings(parent);
+  if (brand == "tesla")
+    return new TeslaSettings(parent);
+  if (brand == "toyota")
+    return new ToyotaSettings(parent);
+  if (brand == "volkswagen")
+    return new VolkswagenSettings(parent);
+
+  // Default empty settings if brand not supported
+  return nullptr;
+}
+
+bool BrandSettingsFactory::isBrandSupported(const QString& brand) {
+  return supportedBrands.contains(brand);
+}
+
+QStringList BrandSettingsFactory::getSupportedBrands() {
+  return supportedBrands;
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h
new file mode 100644
index 00000000000000..b4dc9fc81b8373
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h
@@ -0,0 +1,18 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+class BrandSettingsFactory {
+
+public:
+  static BrandSettingsInterface* createBrandSettings(const QString &brand, QWidget *parent = nullptr);
+  static bool isBrandSupported(const QString& brand);
+  static QStringList getSupportedBrands();
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc
new file mode 100644
index 00000000000000..4c4920727036ab
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc
@@ -0,0 +1,8 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h
new file mode 100644
index 00000000000000..2b6c57ae911185
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h
@@ -0,0 +1,21 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QWidget>
+
+class BrandSettingsInterface : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit BrandSettingsInterface(QWidget *parent = nullptr) : QWidget(parent) {}
+  virtual ~BrandSettingsInterface() = default;
+
+  virtual void updatePanel(bool offroad) = 0;
+  virtual void updateSettings() = 0;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h
new file mode 100644
index 00000000000000..795dba5739b276
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h
@@ -0,0 +1,21 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h"
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc
new file mode 100644
index 00000000000000..0912a7afd8b0cc
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc
@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+ChryslerSettings::ChryslerSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void ChryslerSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void ChryslerSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h
new file mode 100644
index 00000000000000..20a6235542c26d
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h
@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class ChryslerSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit ChryslerSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc
new file mode 100644
index 00000000000000..eaae5a621a3a42
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc
@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+FordSettings::FordSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void FordSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void FordSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h
new file mode 100644
index 00000000000000..1d97651bab4549
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h
@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class FordSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit FordSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc
new file mode 100644
index 00000000000000..1aa4ccf9383978
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc
@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+GMSettings::GMSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void GMSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void GMSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h
new file mode 100644
index 00000000000000..35988d95e101db
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h
@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class GMSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit GMSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc
new file mode 100644
index 00000000000000..1efdb747f38875
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc
@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+HondaSettings::HondaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void HondaSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void HondaSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h
new file mode 100644
index 00000000000000..e494e8001def69
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h
@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class HondaSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit HondaSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc
new file mode 100644
index 00000000000000..7e4ea4326c3911
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc
@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+HyundaiSettings::HyundaiSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void HyundaiSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void HyundaiSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h
new file mode 100644
index 00000000000000..0f065124fe33d8
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h
@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class HyundaiSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit HyundaiSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc
new file mode 100644
index 00000000000000..330afdc48c33cd
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc
@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+MazdaSettings::MazdaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void MazdaSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void MazdaSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h
new file mode 100644
index 00000000000000..3d109fbe9edfa8
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h
@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class MazdaSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit MazdaSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc
new file mode 100644
index 00000000000000..0faa6836fa3bbe
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc
@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+NissanSettings::NissanSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void NissanSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void NissanSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h
new file mode 100644
index 00000000000000..397a17e97b3e8e
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h
@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class NissanSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit NissanSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc
new file mode 100644
index 00000000000000..401048ee51346f
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc
@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+RivianSettings::RivianSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void RivianSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void RivianSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h
new file mode 100644
index 00000000000000..bf83f5966f538f
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h
@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class RivianSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit RivianSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc
new file mode 100644
index 00000000000000..7a021ef4c61c85
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc
@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+SubaruSettings::SubaruSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void SubaruSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void SubaruSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h
new file mode 100644
index 00000000000000..bdf7835595f91b
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h
@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class SubaruSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit SubaruSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc
new file mode 100644
index 00000000000000..d811f199137c22
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc
@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+TeslaSettings::TeslaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void TeslaSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void TeslaSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h
new file mode 100644
index 00000000000000..5c40324dc2567f
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h
@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class TeslaSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit TeslaSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc
new file mode 100644
index 00000000000000..13b4435d17025a
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc
@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+ToyotaSettings::ToyotaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void ToyotaSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void ToyotaSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h
new file mode 100644
index 00000000000000..46c8ef9827071c
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h
@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class ToyotaSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit ToyotaSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc
new file mode 100644
index 00000000000000..457776f50abea6
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc
@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+VolkswagenSettings::VolkswagenSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  ListWidget *list = new ListWidget(this, false);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void VolkswagenSettings::updatePanel(bool _offroad) {
+  updateSettings();
+
+  offroad = _offroad;
+}
+
+void VolkswagenSettings::updateSettings() {
+  if (!isVisible()) {
+    return;
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h
new file mode 100644
index 00000000000000..c74123e7b28729
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h
@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class VolkswagenSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit VolkswagenSettings(QWidget *parent = nullptr);
+  void updatePanel(bool _offroad);
+  void updateSettings();
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
index cc3e6df183ca94..7ba5790acb02fb 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
@@ -7,6 +7,8 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
 VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
@@ -18,11 +20,14 @@ VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
   vlayout->setContentsMargins(50, 20, 50, 20);
 
   platformSelector = new PlatformSelector();
+  QObject::connect(platformSelector, &PlatformSelector::refreshPanel, this, &VehiclePanel::updateBrandSettings);
   list->addItem(platformSelector);
 
   ScrollViewSP *scroller = new ScrollViewSP(list, this);
   vlayout->addWidget(scroller);
 
+  currentBrandSettings = nullptr;
+
   QObject::connect(uiState(), &UIState::offroadTransition, this, &VehiclePanel::updatePanel);
 
   main_layout->addWidget(vehicleScreen);
@@ -35,6 +40,26 @@ void VehiclePanel::showEvent(QShowEvent *event) {
 
 void VehiclePanel::updatePanel(bool _offroad) {
   platformSelector->refresh(_offroad);
-
+  updateBrandSettings();
   offroad = _offroad;
 }
+
+void VehiclePanel::updateBrandSettings() {
+  if (!isVisible()) {
+    return;
+  }
+
+  if (currentBrandSettings) {
+    vehicleScreen->layout()->removeWidget(currentBrandSettings);
+    delete currentBrandSettings;
+    currentBrandSettings = nullptr;
+  }
+
+  if (BrandSettingsFactory::isBrandSupported(platformSelector->brand)) {
+    currentBrandSettings = BrandSettingsFactory::createBrandSettings(platformSelector->brand, this);
+    if (currentBrandSettings) {
+      vehicleScreen->layout()->addWidget(currentBrandSettings);
+      currentBrandSettings->updatePanel(offroad);
+    }
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
index f6265da7a62c5c..5fc03d3d68e047 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
@@ -9,6 +9,7 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h"
 
 class VehiclePanel : public QFrame {
@@ -24,6 +25,10 @@ public slots:
 private:
   QStackedLayout* main_layout = nullptr;
   QWidget* vehicleScreen = nullptr;
-  PlatformSelector *platformSelector = nullptr;
-  bool offroad;
+  PlatformSelector* platformSelector = nullptr;
+  BrandSettingsInterface* currentBrandSettings = nullptr;
+  bool offroad = false;
+
+private slots:
+  void updateBrandSettings();
 };

From 6142a52de7a5749ca3797c4bda794ef7223e065f Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 10 May 2025 09:46:54 +0200
Subject: [PATCH 0236/1434] models: aligning naming on modeld_v2 with upstream
 naming (#903)

Refactor variable names for clarity in 20Hz model logic.

Renamed `full_features_20Hz` to `full_features_buffer` and `desire_20Hz` to `full_desire` for better readability and consistency. This improves code maintainability and aligns variable names with their intended purpose.
---
 sunnypilot/modeld_v2/modeld.py | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index e0f38c59ac6eed..a52d844aeb285b 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -53,8 +53,8 @@ def __init__(self, context: CLContext):
     self.frames = {'input_imgs': DrivingModelFrame(context, buffer_length), 'big_input_imgs': DrivingModelFrame(context, buffer_length)}
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
     if self.model_runner.is_20hz:
-      self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
-      self.desire_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
+      self.full_features_buffer = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
+      self.full_desire = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
 
     # img buffers are managed in openCL transform code
     self.numpy_inputs = {}
@@ -66,7 +66,7 @@ def __init__(self, context: CLContext):
     if self.model_runner.is_20hz:
       num_elements = self.numpy_inputs['features_buffer'].shape[1]
       step_size = int(-100 / num_elements)
-      self.full_features_20Hz_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
+      self.full_features_buffer_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
       self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1, self.numpy_inputs['desire'].shape[2])
 
   def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
@@ -77,9 +77,9 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_
     self.prev_desire[:] = inputs['desire']
 
     if self.model_runner.is_20hz:
-      self.desire_20Hz[:-1] = self.desire_20Hz[1:]
-      self.desire_20Hz[-1] = new_desire
-      self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape(self.desire_reshape_dims).max(axis=2)
+      self.full_desire[:-1] = self.full_desire[1:]
+      self.full_desire[-1] = new_desire
+      self.numpy_inputs['desire'][:] = self.full_desire.reshape(self.desire_reshape_dims).max(axis=2)
     else:
       length = inputs['desire'].shape[0]
       self.numpy_inputs['desire'][0, :-1] = self.numpy_inputs['desire'][0, 1:]
@@ -102,9 +102,9 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_
     outputs = self.model_runner.run_model()
 
     if self.model_runner.is_20hz:
-      self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
-      self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
-      self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[self.full_features_20Hz_idxs]
+      self.full_features_buffer[:-1] = self.full_features_buffer[1:]
+      self.full_features_buffer[-1] = outputs['hidden_state'][0, :]
+      self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[self.full_features_buffer_idxs]
     else:
       feature_len = outputs['hidden_state'].shape[1]
       self.numpy_inputs['features_buffer'][0, :-1] = self.numpy_inputs['features_buffer'][0, 1:]

From 08efc252ecb9685c3f772b582a0b4c41c7f1d2bb Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 10 May 2025 12:34:58 -0400
Subject: [PATCH 0237/1434] ui: fix supported brand settings list (#905)

---
 .../qt/offroad/settings/vehicle/brand_settings_factory.cc       | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc
index 08b137d270709b..bebc6c30326908 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc
@@ -17,7 +17,7 @@ static const QStringList supportedBrands = {
   "mazda",
   "nissan",
   "rivian",
-  "subaru"
+  "subaru",
   "tesla",
   "toyota",
   "volkswagen",

From 8d06444bdda6b89b36e07fceb1c4514ca50089b6 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 10 May 2025 12:46:02 -0400
Subject: [PATCH 0238/1434] ui: consolidate panel updates at a single location
 (#904)

* init

* minimize changes for all brands

* more

* even less diff

* more less

* wow srsly
---
 .../vehicle/brand_settings_interface.cc       | 13 ++++++++++
 .../vehicle/brand_settings_interface.h        | 13 +++++++---
 .../settings/vehicle/chrysler_settings.cc     | 17 ------------
 .../settings/vehicle/chrysler_settings.h      |  3 +--
 .../offroad/settings/vehicle/ford_settings.cc | 17 ------------
 .../offroad/settings/vehicle/ford_settings.h  |  3 +--
 .../offroad/settings/vehicle/gm_settings.cc   | 17 ------------
 .../qt/offroad/settings/vehicle/gm_settings.h |  3 +--
 .../settings/vehicle/honda_settings.cc        | 17 ------------
 .../offroad/settings/vehicle/honda_settings.h |  3 +--
 .../settings/vehicle/hyundai_settings.cc      | 17 ------------
 .../settings/vehicle/hyundai_settings.h       |  6 +----
 .../settings/vehicle/mazda_settings.cc        | 17 ------------
 .../offroad/settings/vehicle/mazda_settings.h |  3 +--
 .../settings/vehicle/nissan_settings.cc       | 17 ------------
 .../settings/vehicle/nissan_settings.h        |  3 +--
 .../settings/vehicle/rivian_settings.cc       | 17 ------------
 .../settings/vehicle/rivian_settings.h        |  3 +--
 .../settings/vehicle/subaru_settings.cc       | 17 ------------
 .../settings/vehicle/subaru_settings.h        |  3 +--
 .../settings/vehicle/tesla_settings.cc        | 17 ------------
 .../offroad/settings/vehicle/tesla_settings.h |  3 +--
 .../settings/vehicle/toyota_settings.cc       | 17 ------------
 .../settings/vehicle/toyota_settings.h        |  3 +--
 .../settings/vehicle/volkswagen_settings.cc   | 17 ------------
 .../settings/vehicle/volkswagen_settings.h    |  3 +--
 .../qt/offroad/settings/vehicle_panel.cc      | 26 ++++++++++---------
 .../qt/offroad/settings/vehicle_panel.h       |  4 +--
 28 files changed, 51 insertions(+), 248 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc
index 4c4920727036ab..03921c01a301f3 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc
@@ -6,3 +6,16 @@
  */
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+BrandSettingsInterface::BrandSettingsInterface(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  list = new ListWidget(this, false);
+  main_layout->addWidget(list);
+}
+
+void BrandSettingsInterface::updatePanel(bool _offroad) {
+  offroad = _offroad;
+  updateSettings();
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h
index 2b6c57ae911185..4aff123177d166 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h
@@ -7,15 +7,22 @@
 
 #pragma once
 
-#include <QWidget>
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
 class BrandSettingsInterface : public QWidget {
   Q_OBJECT
 
 public:
-  explicit BrandSettingsInterface(QWidget *parent = nullptr) : QWidget(parent) {}
+  explicit BrandSettingsInterface(QWidget *parent = nullptr);
   virtual ~BrandSettingsInterface() = default;
 
-  virtual void updatePanel(bool offroad) = 0;
+  void updatePanel(bool _offroad);
   virtual void updateSettings() = 0;
+
+protected:
+  ListWidget *list = nullptr;
+  Params params;
+  bool offroad = false;
 };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc
index 0912a7afd8b0cc..fd8fc423fe3256 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc
@@ -7,25 +7,8 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h"
 
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 ChryslerSettings::ChryslerSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void ChryslerSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }
 
 void ChryslerSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h
index 20a6235542c26d..ab84bec16abebb 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h
@@ -19,8 +19,7 @@ class ChryslerSettings : public BrandSettingsInterface {
 
 public:
   explicit ChryslerSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;
 
 private:
   bool offroad = false;
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc
index eaae5a621a3a42..96564cb8a90d99 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc
@@ -7,25 +7,8 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h"
 
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 FordSettings::FordSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void FordSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }
 
 void FordSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h
index 1d97651bab4549..468bd6b7ddb191 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h
@@ -19,8 +19,7 @@ class FordSettings : public BrandSettingsInterface {
 
 public:
   explicit FordSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;
 
 private:
   bool offroad = false;
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc
index 1aa4ccf9383978..060a28424bb589 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc
@@ -7,25 +7,8 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h"
 
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 GMSettings::GMSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void GMSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }
 
 void GMSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h
index 35988d95e101db..211563ab612883 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h
@@ -19,8 +19,7 @@ class GMSettings : public BrandSettingsInterface {
 
 public:
   explicit GMSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;
 
 private:
   bool offroad = false;
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc
index 1efdb747f38875..ca18fa72406921 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc
@@ -7,25 +7,8 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h"
 
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 HondaSettings::HondaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void HondaSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }
 
 void HondaSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h
index e494e8001def69..e41602dc1101c0 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h
@@ -19,8 +19,7 @@ class HondaSettings : public BrandSettingsInterface {
 
 public:
   explicit HondaSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;
 
 private:
   bool offroad = false;
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc
index 7e4ea4326c3911..693a185cdede81 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc
@@ -7,25 +7,8 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
 
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 HyundaiSettings::HyundaiSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void HyundaiSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }
 
 void HyundaiSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h
index 0f065124fe33d8..edf495844d47b8 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h
@@ -19,9 +19,5 @@ class HyundaiSettings : public BrandSettingsInterface {
 
 public:
   explicit HyundaiSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
-
-private:
-  bool offroad = false;
+  void updateSettings() override;
 };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc
index 330afdc48c33cd..b8b8825f275251 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc
@@ -7,25 +7,8 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h"
 
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 MazdaSettings::MazdaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void MazdaSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }
 
 void MazdaSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h
index 3d109fbe9edfa8..cbbc38de7f273a 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h
@@ -19,8 +19,7 @@ class MazdaSettings : public BrandSettingsInterface {
 
 public:
   explicit MazdaSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;
 
 private:
   bool offroad = false;
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc
index 0faa6836fa3bbe..3c219436224ff4 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc
@@ -7,25 +7,8 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h"
 
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 NissanSettings::NissanSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void NissanSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }
 
 void NissanSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h
index 397a17e97b3e8e..d6eabac0bf0f0e 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h
@@ -19,8 +19,7 @@ class NissanSettings : public BrandSettingsInterface {
 
 public:
   explicit NissanSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;
 
 private:
   bool offroad = false;
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc
index 401048ee51346f..92cf3dcd6c26b7 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc
@@ -7,25 +7,8 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h"
 
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 RivianSettings::RivianSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void RivianSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }
 
 void RivianSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h
index bf83f5966f538f..be25d01b37ee96 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h
@@ -19,8 +19,7 @@ class RivianSettings : public BrandSettingsInterface {
 
 public:
   explicit RivianSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;
 
 private:
   bool offroad = false;
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc
index 7a021ef4c61c85..47c4057f4472c0 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc
@@ -7,25 +7,8 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h"
 
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 SubaruSettings::SubaruSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void SubaruSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }
 
 void SubaruSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h
index bdf7835595f91b..a715951ad9b071 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h
@@ -19,8 +19,7 @@ class SubaruSettings : public BrandSettingsInterface {
 
 public:
   explicit SubaruSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;
 
 private:
   bool offroad = false;
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc
index d811f199137c22..50ab023021de05 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc
@@ -7,25 +7,8 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h"
 
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 TeslaSettings::TeslaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void TeslaSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }
 
 void TeslaSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h
index 5c40324dc2567f..37f2936cdff2b9 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h
@@ -19,8 +19,7 @@ class TeslaSettings : public BrandSettingsInterface {
 
 public:
   explicit TeslaSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;
 
 private:
   bool offroad = false;
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc
index 13b4435d17025a..c416177916297a 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc
@@ -7,25 +7,8 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h"
 
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 ToyotaSettings::ToyotaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void ToyotaSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }
 
 void ToyotaSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h
index 46c8ef9827071c..9fc18a2a657f77 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h
@@ -19,8 +19,7 @@ class ToyotaSettings : public BrandSettingsInterface {
 
 public:
   explicit ToyotaSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;
 
 private:
   bool offroad = false;
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc
index 457776f50abea6..59f0aab727ac0a 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc
@@ -7,25 +7,8 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h"
 
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 VolkswagenSettings::VolkswagenSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void VolkswagenSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }
 
 void VolkswagenSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h
index c74123e7b28729..25d3a07faf7364 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h
@@ -19,8 +19,7 @@ class VolkswagenSettings : public BrandSettingsInterface {
 
 public:
   explicit VolkswagenSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;
 
 private:
   bool offroad = false;
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
index 7ba5790acb02fb..5c00e746f8562d 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
@@ -12,26 +12,27 @@
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
 VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
-  main_layout = new QStackedLayout(this);
-  ListWidget *list = new ListWidget(this);
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 20, 50, 20);
 
-  vehicleScreen = new QWidget(this);
-  QVBoxLayout *vlayout = new QVBoxLayout(vehicleScreen);
-  vlayout->setContentsMargins(50, 20, 50, 20);
+  ListWidget *list = new ListWidget(this);
 
   platformSelector = new PlatformSelector();
   QObject::connect(platformSelector, &PlatformSelector::refreshPanel, this, &VehiclePanel::updateBrandSettings);
   list->addItem(platformSelector);
 
+  brandSettingsContainer = new QWidget(this);
+  brandSettingsContainerLayout = new QVBoxLayout(brandSettingsContainer);
+  brandSettingsContainerLayout->setContentsMargins(0, 0, 0, 0);
+  brandSettingsContainerLayout->setSpacing(0);
+  list->addItem(brandSettingsContainer);
+
   ScrollViewSP *scroller = new ScrollViewSP(list, this);
-  vlayout->addWidget(scroller);
+  main_layout->addWidget(scroller);
 
   currentBrandSettings = nullptr;
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &VehiclePanel::updatePanel);
-
-  main_layout->addWidget(vehicleScreen);
-  main_layout->setCurrentWidget(vehicleScreen);
 }
 
 void VehiclePanel::showEvent(QShowEvent *event) {
@@ -39,9 +40,9 @@ void VehiclePanel::showEvent(QShowEvent *event) {
 }
 
 void VehiclePanel::updatePanel(bool _offroad) {
+  offroad = _offroad;
   platformSelector->refresh(_offroad);
   updateBrandSettings();
-  offroad = _offroad;
 }
 
 void VehiclePanel::updateBrandSettings() {
@@ -50,7 +51,7 @@ void VehiclePanel::updateBrandSettings() {
   }
 
   if (currentBrandSettings) {
-    vehicleScreen->layout()->removeWidget(currentBrandSettings);
+    brandSettingsContainerLayout->removeWidget(currentBrandSettings);
     delete currentBrandSettings;
     currentBrandSettings = nullptr;
   }
@@ -58,7 +59,8 @@ void VehiclePanel::updateBrandSettings() {
   if (BrandSettingsFactory::isBrandSupported(platformSelector->brand)) {
     currentBrandSettings = BrandSettingsFactory::createBrandSettings(platformSelector->brand, this);
     if (currentBrandSettings) {
-      vehicleScreen->layout()->addWidget(currentBrandSettings);
+      currentBrandSettings->setContentsMargins(0, 0, 0, 0);
+      brandSettingsContainerLayout->addWidget(currentBrandSettings);
       currentBrandSettings->updatePanel(offroad);
     }
   }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
index 5fc03d3d68e047..a170aa87c34269 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
@@ -23,10 +23,10 @@ public slots:
   void updatePanel(bool _offroad);
 
 private:
-  QStackedLayout* main_layout = nullptr;
-  QWidget* vehicleScreen = nullptr;
   PlatformSelector* platformSelector = nullptr;
   BrandSettingsInterface* currentBrandSettings = nullptr;
+  QWidget* brandSettingsContainer = nullptr;
+  QVBoxLayout* brandSettingsContainerLayout = nullptr;
   bool offroad = false;
 
 private slots:

From bf6123c4ada8534bf4104d1a2f4abf84d65cb6fc Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 10 May 2025 12:58:08 -0400
Subject: [PATCH 0239/1434] Reapply "Hyundai: custom longitudinal tuning"
 (#894)

* Reapply "Hyundai: custom longitudinal tuning" (#892)

This reverts commit 68c593db5f1c9677eee71dd2f7b66dc7f6e02ba0.

* fix panel behavior

* dynamic description

* try to merge and use the same scrollview

* fix for all to update

* dynamic update and fix description

* minimize changes for all brands

* init

* minimize changes for all brands

* more

* even less diff

* more

* even less diff

* more less

* wow srsly

* more less

* wow srsly
---
 common/params_keys.h                          |  1 +
 .../settings/vehicle/hyundai_settings.cc      | 43 +++++++++++++++++++
 .../settings/vehicle/hyundai_settings.h       | 42 ++++++++++++++++++
 sunnypilot/selfdrive/car/interfaces.py        | 19 +++++++-
 system/manager/manager.py                     |  1 +
 5 files changed, 105 insertions(+), 1 deletion(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 575dcc2adc614f..97f23d5108f63b 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -164,6 +164,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"BackupManager_RestoreVersion", PERSISTENT},
 
     // sunnypilot car specific params
+    {"HyundaiLongitudinalTuning", PERSISTENT},
     {"HyundaiRadarTracks", PERSISTENT},
     {"HyundaiRadarTracksConfirmed", PERSISTENT},
     {"HyundaiRadarTracksPersistent", PERSISTENT},
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc
index 693a185cdede81..5f0010ac33f2a9 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc
@@ -8,7 +8,50 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
 
 HyundaiSettings::HyundaiSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  std::vector<QString> tuning_texts{ tr("Off"), tr("Dynamic"), tr("Predictive") };
+  longitudinalTuningToggle = new ButtonParamControl(
+    "HyundaiLongitudinalTuning",
+    tr("Custom Longitudinal Tuning"),
+    "",
+    "",
+    tuning_texts,
+    500
+  );
+  QObject::connect(longitudinalTuningToggle, &ButtonParamControlSP::buttonToggled, this, &HyundaiSettings::updateSettings);
+  list->addItem(longitudinalTuningToggle);
+  longitudinalTuningToggle->showDescription();
 }
 
 void HyundaiSettings::updateSettings() {
+  auto longitudinal_tuning_param = std::atoi(params.get("HyundaiLongitudinalTuning").c_str());
+
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    has_longitudinal_control = hasLongitudinalControl(CP);
+  } else {
+    has_longitudinal_control = false;
+  }
+
+  LongitudinalTuningOption longitudinal_tuning_option;
+  if (longitudinal_tuning_param == int(LongitudinalTuningOption::PREDICTIVE)) {
+    longitudinal_tuning_option = LongitudinalTuningOption::PREDICTIVE;
+  } else if (longitudinal_tuning_param == int(LongitudinalTuningOption::DYNAMIC)) {
+    longitudinal_tuning_option = LongitudinalTuningOption::DYNAMIC;
+  } else {
+    longitudinal_tuning_option = LongitudinalTuningOption::OFF;
+  }
+
+  bool longitudinal_tuning_disabled = !offroad || !has_longitudinal_control;
+  QString longitudinal_tuning_description = longitudinalTuningDescription(longitudinal_tuning_option);
+  if (longitudinal_tuning_disabled) {
+    longitudinal_tuning_description = toggleDisableMsg(offroad, has_longitudinal_control);
+  }
+
+  longitudinalTuningToggle->setEnabled(!longitudinal_tuning_disabled);
+  longitudinalTuningToggle->setDescription(longitudinal_tuning_description);
+  longitudinalTuningToggle->showDescription();
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h
index edf495844d47b8..c94d40cfde049a 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h
@@ -14,10 +14,52 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
+enum class LongitudinalTuningOption {
+  OFF,
+  DYNAMIC,
+  PREDICTIVE,
+};
+
 class HyundaiSettings : public BrandSettingsInterface {
   Q_OBJECT
 
 public:
   explicit HyundaiSettings(QWidget *parent = nullptr);
   void updateSettings() override;
+
+private:
+  bool has_longitudinal_control = false;
+  ButtonParamControl *longitudinalTuningToggle = nullptr;
+
+  static QString toggleDisableMsg(bool _offroad, bool _has_longitudinal_control) {
+    if (!_has_longitudinal_control) {
+      return tr("This feature can only be used with openpilot longitudinal control enabled.");
+    }
+
+    if (!_offroad) {
+      return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to select an option.");
+    }
+
+    return QString();
+  }
+
+  static QString longitudinalTuningDescription(LongitudinalTuningOption option = LongitudinalTuningOption::OFF) {
+    QString off_str = tr("Off: Uses default tuning");
+    QString dynamic_str = tr("Dynamic: Adjusts acceleration limits based on current speed");
+    QString predictive_str = tr("Predictive: Uses future trajectory data to anticipate needed adjustments");
+
+    if (option == LongitudinalTuningOption::PREDICTIVE) {
+      predictive_str = "<font color='white'><b>" + predictive_str + "</b></font>";
+    } else if (option == LongitudinalTuningOption::DYNAMIC) {
+      dynamic_str = "<font color='white'><b>" + dynamic_str + "</b></font>";
+    } else {
+      off_str = "<font color='white'><b>" + off_str + "</b></font>";
+    }
+
+    return QString("%1<br><br>%2<br>%3<br>%4<br>")
+             .arg(tr("Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control."))
+             .arg(off_str)
+             .arg(dynamic_str)
+             .arg(predictive_str);
+  }
 };
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index 2c27e960e9021e..f2019f5ed79eb5 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -11,6 +11,7 @@
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
 from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC
+from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
@@ -25,6 +26,21 @@ def log_fingerprint(CP: structs.CarParams) -> None:
   else:
     sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
 
+def _initialize_custom_longitudinal_tuning(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
+                                           params: Params = None) -> None:
+  if params is None:
+    params = Params()
+
+  # Hyundai Custom Longitudinal Tuning
+  if CP.brand == 'hyundai':
+    hyundai_longitudinal_tuning = int(params.get("HyundaiLongitudinalTuning", encoding="utf8") or 0)
+    if hyundai_longitudinal_tuning == LongitudinalTuningType.DYNAMIC:
+      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_DYNAMIC.value
+    if hyundai_longitudinal_tuning == LongitudinalTuningType.PREDICTIVE:
+      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_PREDICTIVE.value
+
+  CP_SP = CI.get_longitudinal_tuning_sp(CP, CP_SP)
+
 
 def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
                                                params: Params = None, enabled: bool = False) -> None:
@@ -61,10 +77,11 @@ def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
           CP.radarUnavailable = False
 
 
-def setup_interfaces(CI: CarInterfaceBase, params: Params = None):
+def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   CP = CI.CP
   CP_SP = CI.CP_SP
 
+  _initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params)
   _initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
   _initialize_radar_tracks(CP, CP_SP, params)
 
diff --git a/system/manager/manager.py b/system/manager/manager.py
index fde85f0f7cdaf3..90df415a8c31c1 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -45,6 +45,7 @@ def manager_init() -> None:
     ("AutoLaneChangeTimer", "0"),
     ("AutoLaneChangeBsmDelay", "0"),
     ("DynamicExperimentalControl", "0"),
+    ("HyundaiLongitudinalTuning", "0"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
     ("MadsPauseLateralOnBrake", "0"),

From 6c1edca8061342754794dafd1522172700837419 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 10 May 2025 18:51:37 -0400
Subject: [PATCH 0240/1434] MADS: use low velocity threshold for silent wrong
 gear checks (#901)

* MADS: use low velocity threshold for silent wrong gear checks

* higher
---
 sunnypilot/mads/mads.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 2d7d41b4bc1ce5..d27e2f1fcbf775 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -72,7 +72,7 @@ def replace_event(old_event: int, new_event: int):
       if self.events.has(EventName.seatbeltNotLatched):
         replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
         transition_paused_state()
-      if self.events.has(EventName.wrongGear) and (CS.standstill or CS.gearShifter == GearShifter.reverse):
+      if self.events.has(EventName.wrongGear) and (CS.vEgo < 2.5 or CS.gearShifter == GearShifter.reverse):
         replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
         transition_paused_state()
       if self.events.has(EventName.reverseGear):

From 921b51f56fdddfc4f075e3dff3f7f2a7fe3ed5a7 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sat, 10 May 2025 19:01:37 -0400
Subject: [PATCH 0241/1434] ui: display actual fingerprint name with
 auto-fingerprint (#906)

use platform directly

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../qt/offroad/settings/vehicle/platform_selector.cc      | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
index 21c9a44cb43a51..f31e8e329076fe 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
@@ -70,14 +70,6 @@ void PlatformSelector::refresh(bool _offroad) {
 
       platform = QString::fromStdString(CP.getCarFingerprint().cStr());
 
-      for (auto it = platforms.constBegin(); it != platforms.constEnd(); ++it) {
-        if (it.value()["platform"].toString() == platform) {
-          platform = it.key();
-          brand = it.value()["brand"].toString();
-          break;
-        }
-      }
-
       if (platform == "MOCK") {
         platform = unrecognized_str;
       } else {

From 4ceb1ecd190e3ede31da4a636723b1bb72196313 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sat, 10 May 2025 19:10:15 -0400
Subject: [PATCH 0242/1434] ui: fix description margins on
 `AbstractControlSP_SELECTOR` (#902)

fix margins for description on AbstractControlSP_SELECTOR

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/qt/widgets/controls.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
index 551907c612580c..d873913b5732f8 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
@@ -148,7 +148,7 @@ AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, con
 
   // description
   description = new QLabel(desc);
-  description->setContentsMargins(0, 20, 40, 20);
+  description->setContentsMargins(40, 20, 40, 20);
   description->setStyleSheet("font-size: 40px; color: grey");
   description->setWordWrap(true);
   description->setVisible(false);

From 3a4c74b67d0e293622d5cfcca2f54cce1dc73f96 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 10 May 2025 21:47:24 -0400
Subject: [PATCH 0243/1434] Revert "ui: display actual fingerprint name with
 auto-fingerprint" (#907)

Revert "ui: display actual fingerprint name with auto-fingerprint (#906)"

This reverts commit 921b51f56fdddfc4f075e3dff3f7f2a7fe3ed5a7.
---
 .../qt/offroad/settings/vehicle/platform_selector.cc      | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
index f31e8e329076fe..21c9a44cb43a51 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
@@ -70,6 +70,14 @@ void PlatformSelector::refresh(bool _offroad) {
 
       platform = QString::fromStdString(CP.getCarFingerprint().cStr());
 
+      for (auto it = platforms.constBegin(); it != platforms.constEnd(); ++it) {
+        if (it.value()["platform"].toString() == platform) {
+          platform = it.key();
+          brand = it.value()["brand"].toString();
+          break;
+        }
+      }
+
       if (platform == "MOCK") {
         platform = unrecognized_str;
       } else {

From 5c9ce2a042a20d4c058525bc73b00045fb947921 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sat, 10 May 2025 23:35:02 -0400
Subject: [PATCH 0244/1434] ui: display actual fingerprint name with
 auto-fingerprint (#908)

* use platform directly

* Revert "use platform directly"

This reverts commit b71c315d308a5f8f7cd2091de9ce405fcc51074d.

* update brand from platform package
---
 .../sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc  | 1 -
 1 file changed, 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
index 21c9a44cb43a51..0d4dde681f5a68 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
@@ -72,7 +72,6 @@ void PlatformSelector::refresh(bool _offroad) {
 
       for (auto it = platforms.constBegin(); it != platforms.constEnd(); ++it) {
         if (it.value()["platform"].toString() == platform) {
-          platform = it.key();
           brand = it.value()["brand"].toString();
           break;
         }

From 3a6491e23a8390371b29547f86d01fd15c463102 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 14 May 2025 17:46:55 -0400
Subject: [PATCH 0245/1434] MADS: allow transition from Paused to Enabled at
 all times (#910)

* MADS: silentBrakeHold should not exit control

* no longer

* allow transition from paused to enabled when long is allowed
---
 sunnypilot/mads/mads.py                          | 10 +++++-----
 sunnypilot/mads/state.py                         |  2 +-
 sunnypilot/mads/tests/test_mads_state_machine.py |  2 +-
 sunnypilot/selfdrive/selfdrived/events.py        |  2 +-
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index d27e2f1fcbf775..9aeb67972f3f80 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -89,11 +89,6 @@ def replace_event(old_event: int, new_event: int):
         if CS.brakePressed:
           transition_paused_state()
 
-      if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \
-         not self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
-        if self.state_machine.state == State.paused:
-          self.events_sp.add(EventNameSP.silentLkasEnable)
-
       self.events.remove(EventName.preEnableStandstill)
       self.events.remove(EventName.belowEngageSpeed)
       self.events.remove(EventName.speedTooLow)
@@ -125,6 +120,11 @@ def replace_event(old_event: int, new_event: int):
       if self.selfdrive.CS_prev.cruiseState.available:
         self.events_sp.add(EventNameSP.lkasDisable)
 
+    if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \
+       not self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
+      if self.state_machine.state == State.paused:
+        self.events_sp.add(EventNameSP.silentLkasEnable)
+
     self.events.remove(EventName.pcmDisable)
     self.events.remove(EventName.buttonCancel)
     self.events.remove(EventName.pedalPressed)
diff --git a/sunnypilot/mads/state.py b/sunnypilot/mads/state.py
index 89ae506ac88c46..73240c790c0060 100644
--- a/sunnypilot/mads/state.py
+++ b/sunnypilot/mads/state.py
@@ -51,7 +51,7 @@ def update(self):
     if self.state != State.disabled:
       # user and immediate disable always have priority in a non-disabled state
       if self.check_contains(ET.USER_DISABLE):
-        if self._events_sp.has(EventNameSP.silentLkasDisable) or self._events_sp.has(EventNameSP.silentBrakeHold):
+        if self._events_sp.has(EventNameSP.silentLkasDisable):
           self.state = State.paused
         else:
           self.state = State.disabled
diff --git a/sunnypilot/mads/tests/test_mads_state_machine.py b/sunnypilot/mads/tests/test_mads_state_machine.py
index 51013b0bafcf08..7bc556a0fceb3a 100644
--- a/sunnypilot/mads/tests/test_mads_state_machine.py
+++ b/sunnypilot/mads/tests/test_mads_state_machine.py
@@ -73,7 +73,7 @@ def test_user_disable(self):
         self.clear_events()
 
   def test_user_disable_to_paused(self):
-    paused_events = (EventNameSP.silentLkasDisable, EventNameSP.silentBrakeHold)
+    paused_events = (EventNameSP.silentLkasDisable, )
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
         self.events_sp.add(make_event([et, ET.USER_DISABLE]))
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py
index 6813542c0e508f..979de0a80c6a18 100644
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -64,7 +64,7 @@ def get_event_msg_type(self):
   },
 
   EventNameSP.silentBrakeHold: {
-    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
+    ET.WARNING: EngagementAlert(AudibleAlert.none),
     ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
   },
 

From 1e74000f79de4843197b3c9b031707026d33af8a Mon Sep 17 00:00:00 2001
From: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Date: Thu, 15 May 2025 20:13:40 -0700
Subject: [PATCH 0246/1434] Controls: Extension (#858)

* Add enhanced HyundaiCAN extension

Introduced HyundaiCanEXT for improved object parsing and control integration, leveraging new fields like lead distance and relative speed in CarControlSP.

Refactored controlsd to utilize a modular design with ControlsdExt for additional sunnypilot specific functionality.

* self.cc_sp

* Refactor CarControlSP handling for improved state updates

* refactor

* bool

* Refactor controlsd SP communication logic

Update `publish_sp` method to include `CC_SP` parameter and refine SP SubMaster to exclude `radarState`. Remove custom lead vehicle state processing as it is no longer needed.

* remove in this pr

* bump

* start cleanup

* inherit instead

* even more!

* lint

* type hint

* use the same objects for submaster and pubmaster

* more

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 cereal/custom.capnp                           | 10 ++--
 selfdrive/controls/controlsd.py               | 40 ++++++--------
 .../selfdrive/controls/controlsd_ext.py       | 53 +++++++++++++++++++
 3 files changed, 73 insertions(+), 30 deletions(-)
 create mode 100644 sunnypilot/selfdrive/controls/controlsd_ext.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 10fc83eb013001..2a72a59a1049d1 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -63,7 +63,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     type @0 :Type;
     artifact @1 :Artifact;  # Main artifact
     metadata @2 :Artifact;  # Metadata artifact
-    
+
     enum Type {
       supercombo @0;
       navigation @1;
@@ -176,14 +176,14 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
   lastError @4 :Text;
   currentBackup @5 :BackupInfo;
   backupHistory @6 :List(BackupInfo);
-  
+
   enum Status {
     idle @0;
     inProgress @1;
     completed @2;
     failed @3;
   }
-  
+
   struct Version {
     major @0 :UInt16;
     minor @1 :UInt16;
@@ -191,13 +191,13 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
     build @3 :UInt16;
     branch @4 :Text;
   }
-  
+
   struct MetadataEntry {
     key @0 :Text;
     value @1 :Text;
     tags @2 :List(Text);
   }
-  
+
   struct BackupInfo {
     deviceId @0 :Text;
     version @1 :UInt32;
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 69f468e4cdf914..a5d97c3db02b68 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -2,7 +2,7 @@
 import math
 from typing import SupportsFloat
 
-from cereal import car, log, custom
+from cereal import car, log
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
@@ -19,6 +19,8 @@
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
+from openpilot.sunnypilot.selfdrive.controls.controlsd_ext import ControlsExt
+
 State = log.SelfdriveState.OpenpilotState
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -26,24 +28,23 @@
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
 
 
-class Controls:
+class Controls(ControlsExt):
   def __init__(self) -> None:
     self.params = Params()
     cloudlog.info("controlsd is waiting for CarParams")
     self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
     cloudlog.info("controlsd got CarParams")
 
-    cloudlog.info("controlsd is waiting for CarParamsSP")
-    self.CP_SP = messaging.log_from_bytes(self.params.get("CarParamsSP", block=True), custom.CarParamsSP)
-    cloudlog.info("controlsd got CarParamsSP")
+    # Initialize sunnypilot controlsd extension
+    ControlsExt.__init__(self, self.params)
 
     self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
 
     self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
                                    'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
-                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + ['selfdriveStateSP'],
+                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + self.sm_services_ext,
                                   poll='selfdriveState')
-    self.pm = messaging.PubMaster(['carControl', 'controlsState'] + ['carControlSP'])
+    self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext)
 
     self.steer_limited_by_controls = False
     self.curvature = 0.0
@@ -100,11 +101,8 @@ def state_control(self):
     # Check which actuators can be enabled
     standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, 0.3) or CS.standstill
 
-    ss_sp = self.sm['selfdriveStateSP']
-    if ss_sp.mads.available:
-      _lat_active = ss_sp.mads.active
-    else:
-      _lat_active = self.sm['selfdriveState'].active
+    # Get which state to use for active lateral control
+    _lat_active = self.get_lat_active(self.sm)
 
     CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                    (not standstill or self.CP.steerAtStandstill)
@@ -148,12 +146,9 @@ def state_control(self):
         cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
         setattr(actuators, p, 0.0)
 
-    CC_SP = custom.CarControlSP.new_message()
-    CC_SP.mads = ss_sp.mads
-
-    return CC, CC_SP, lac_log
+    return CC, lac_log
 
-  def publish(self, CC, CC_SP, lac_log):
+  def publish(self, CC, lac_log):
     CS = self.sm['carState']
 
     # Orientation and angle rates can be useful for carcontroller
@@ -227,18 +222,13 @@ def publish(self, CC, CC_SP, lac_log):
     cc_send.carControl = CC
     self.pm.send('carControl', cc_send)
 
-    # carControlSP
-    cc_sp_send = messaging.new_message('carControlSP')
-    cc_sp_send.valid = CS.canValid
-    cc_sp_send.carControlSP = CC_SP
-    self.pm.send('carControlSP', cc_sp_send)
-
   def run(self):
     rk = Ratekeeper(100, print_delay_threshold=None)
     while True:
       self.update()
-      CC, CC_SP, lac_log = self.state_control()
-      self.publish(CC, CC_SP, lac_log)
+      CC, lac_log = self.state_control()
+      self.publish(CC, lac_log)
+      self.run_ext(self.sm, self.pm)
       rk.monitor_time()
 
 
diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
new file mode 100644
index 00000000000000..68131001ad99b6
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -0,0 +1,53 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import cereal.messaging as messaging
+from cereal import custom
+
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+
+
+class ControlsExt:
+  def __init__(self, params: Params):
+    cloudlog.info("controlsd_ext is waiting for CarParamsSP")
+    self.CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
+    cloudlog.info("controlsd_ext got CarParamsSP")
+
+    self.sm_services_ext = ['selfdriveStateSP']
+    self.pm_services_ext = ['carControlSP']
+
+  @staticmethod
+  def get_lat_active(sm: messaging.SubMaster) -> bool:
+    ss_sp = sm['selfdriveStateSP']
+
+    if ss_sp.mads.available:
+      return bool(ss_sp.mads.active)
+
+    # MADS not available, use stock state to engage
+    return bool(sm['selfdriveState'].active)
+
+  @staticmethod
+  def state_control_ext(sm: messaging.SubMaster) -> custom.CarControlSP:
+    CC_SP = custom.CarControlSP.new_message()
+
+    # MADS state
+    CC_SP.mads = sm['selfdriveStateSP'].mads
+
+    return CC_SP
+
+  @staticmethod
+  def publish_ext(CC_SP: custom.CarControlSP, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
+    cc_sp_send = messaging.new_message('carControlSP')
+    cc_sp_send.valid = sm['carState'].canValid
+    cc_sp_send.carControlSP = CC_SP
+
+    pm.send('carControlSP', cc_sp_send)
+
+  def run_ext(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
+    CC_SP = self.state_control_ext(sm)
+    self.publish_ext(CC_SP, sm, pm)

From 52dc4141c5e5ec3b4809ad12bb6eb10731a6e5a5 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 17 May 2025 10:09:50 -0400
Subject: [PATCH 0247/1434] MADS: evaluate brakePressed and regenBraking for
 Pause Lateral mode (#926)

* simplify

* MADS: evaluate brakePressed and regenBraking for Pause Lateral mode

* nah
---
 sunnypilot/mads/mads.py | 34 ++++++++++++++++++++++++++--------
 1 file changed, 26 insertions(+), 8 deletions(-)

diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 9aeb67972f3f80..1132a0df2f5b58 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -9,6 +9,7 @@
 
 from opendbc.car import structs
 from opendbc.car.hyundai.values import HyundaiFlags
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -24,6 +25,8 @@
 
 class ModularAssistiveDrivingSystem:
   def __init__(self, selfdrive):
+    self.CP = selfdrive.CP
+    self.CS_prev = selfdrive.CS_prev
     self.params = selfdrive.params
 
     self.enabled = False
@@ -35,9 +38,10 @@ def __init__(self, selfdrive):
     self.state_machine = StateMachine(self)
     self.events = self.selfdrive.events
     self.events_sp = self.selfdrive.events_sp
+    self.disengage_on_accelerator = not self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
-    if self.selfdrive.CP.brand == "hyundai":
-      if self.selfdrive.CP.flags & (HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.CANFD):
+    if self.CP.brand == "hyundai":
+      if self.CP.flags & (HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.CANFD):
         self.allow_always = True
 
     # read params on init
@@ -50,6 +54,21 @@ def read_params(self):
     self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
+  def pedal_pressed_non_gas_pressed(self, CS: structs.CarState) -> bool:
+    if self.events.has(EventName.pedalPressed) and not (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator):
+      return True
+
+    return False
+
+  def should_silent_lkas_enable(self, CS: structs.CarState) -> bool:
+    if self.pause_lateral_on_brake_toggle and self.pedal_pressed_non_gas_pressed(CS):
+      return False
+
+    if self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
+      return False
+
+    return True
+
   def update_events(self, CS: structs.CarState):
     def update_unified_engagement_mode():
       uem_blocked = self.enabled or (self.selfdrive.enabled and self.selfdrive.enabled_prev)
@@ -86,7 +105,7 @@ def replace_event(old_event: int, new_event: int):
         transition_paused_state()
 
       if self.pause_lateral_on_brake_toggle:
-        if CS.brakePressed:
+        if self.pedal_pressed_non_gas_pressed(CS):
           transition_paused_state()
 
       self.events.remove(EventName.preEnableStandstill)
@@ -99,7 +118,7 @@ def replace_event(old_event: int, new_event: int):
       update_unified_engagement_mode()
     else:
       if self.main_enabled_toggle:
-        if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available:
+        if CS.cruiseState.available and not self.CS_prev.cruiseState.available:
           self.events_sp.add(EventNameSP.lkasEnable)
 
     for be in CS.buttonEvents:
@@ -117,11 +136,10 @@ def replace_event(old_event: int, new_event: int):
 
     if not CS.cruiseState.available:
       self.events.remove(EventName.buttonEnable)
-      if self.selfdrive.CS_prev.cruiseState.available:
+      if self.CS_prev.cruiseState.available:
         self.events_sp.add(EventNameSP.lkasDisable)
 
-    if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \
-       not self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
+    if self.should_silent_lkas_enable(CS):
       if self.state_machine.state == State.paused:
         self.events_sp.add(EventNameSP.silentLkasEnable)
 
@@ -141,7 +159,7 @@ def update(self, CS: structs.CarState):
 
     self.update_events(CS)
 
-    if not self.selfdrive.CP.passive and self.selfdrive.initialized:
+    if not self.CP.passive and self.selfdrive.initialized:
       self.enabled, self.active = self.state_machine.update()
 
     # Copy of previous SelfdriveD states for MADS events handling

From 7565dd2545488f0b2100c03c753f562da158898a Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 17 May 2025 10:34:38 -0400
Subject: [PATCH 0248/1434] MADS: Refactor Unified Engagement Mode (#927)

---
 sunnypilot/mads/mads.py | 23 ++++++++++++++++-------
 1 file changed, 16 insertions(+), 7 deletions(-)

diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 1132a0df2f5b58..dbaec258ab789f 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -69,13 +69,20 @@ def should_silent_lkas_enable(self, CS: structs.CarState) -> bool:
 
     return True
 
-  def update_events(self, CS: structs.CarState):
-    def update_unified_engagement_mode():
-      uem_blocked = self.enabled or (self.selfdrive.enabled and self.selfdrive.enabled_prev)
-      if (self.unified_engagement_mode and uem_blocked) or not self.unified_engagement_mode:
-        self.events.remove(EventName.pcmEnable)
-        self.events.remove(EventName.buttonEnable)
+  def block_unified_engagement_mode(self) -> bool:
+    # UEM disabled
+    if not self.unified_engagement_mode:
+      return True
 
+    if self.enabled:
+      return True
+
+    if self.selfdrive.enabled and self.selfdrive.enabled_prev:
+      return True
+
+    return False
+
+  def update_events(self, CS: structs.CarState):
     def transition_paused_state():
       if self.state_machine.state != State.paused:
         self.events_sp.add(EventNameSP.silentLkasDisable)
@@ -115,7 +122,9 @@ def replace_event(old_event: int, new_event: int):
       self.events.remove(EventName.manualRestart)
 
     if self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable):
-      update_unified_engagement_mode()
+      if self.block_unified_engagement_mode():
+        self.events.remove(EventName.pcmEnable)
+        self.events.remove(EventName.buttonEnable)
     else:
       if self.main_enabled_toggle:
         if CS.cruiseState.available and not self.CS_prev.cruiseState.available:

From b92d717f2fb9114d0153214be487c7db565a056d Mon Sep 17 00:00:00 2001
From: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 17 May 2025 09:33:18 -0700
Subject: [PATCH 0249/1434] Hyundai: add more FW versions to enable radar
 tracks debug script (#804)

* fw version for my car, and added scc radar module firmware to enable radar points

* bump points

* bump

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/debug/hyundai_enable_radar_points.py | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py
index 93f5949eac2fa8..30e2949378beb8 100755
--- a/selfdrive/debug/hyundai_enable_radar_points.py
+++ b/selfdrive/debug/hyundai_enable_radar_points.py
@@ -71,6 +71,13 @@ class ConfigValues(NamedTuple):
   b"DLhe SCC FHCUP      1.00 1.02 99110-L7000 \x01 \x102    ": ConfigValues(
     default_config=b"\x00\x00\x00\x01\x00\x00",
     tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  # 2022 Niro EV
+  b"DEev SCC F-CUP      1.00 1.00 99110-Q4600\x01\x42      ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  b"DEev SCC F-CUP      1.00 1.00 99110-Q4600 \x07\x03\t%      ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
 }
 
 if __name__ == "__main__":

From 80679b74e6256637b35dfe15cfec925e68c83242 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 17 May 2025 23:07:05 -0400
Subject: [PATCH 0250/1434] MADS: prep for refactor (#930)

* MADS: prep for refactor

* no longer
---
 sunnypilot/mads/mads.py | 49 ++++++++++++++++++++---------------------
 1 file changed, 24 insertions(+), 25 deletions(-)

diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index dbaec258ab789f..e6665484ae5e68 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -26,7 +26,6 @@
 class ModularAssistiveDrivingSystem:
   def __init__(self, selfdrive):
     self.CP = selfdrive.CP
-    self.CS_prev = selfdrive.CS_prev
     self.params = selfdrive.params
 
     self.enabled = False
@@ -55,7 +54,7 @@ def read_params(self):
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def pedal_pressed_non_gas_pressed(self, CS: structs.CarState) -> bool:
-    if self.events.has(EventName.pedalPressed) and not (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator):
+    if self.events.has(EventName.pedalPressed) and not (CS.gasPressed and not self.selfdrive.CS_prev.gasPressed and self.disengage_on_accelerator):
       return True
 
     return False
@@ -82,38 +81,38 @@ def block_unified_engagement_mode(self) -> bool:
 
     return False
 
-  def update_events(self, CS: structs.CarState):
-    def transition_paused_state():
-      if self.state_machine.state != State.paused:
-        self.events_sp.add(EventNameSP.silentLkasDisable)
+  def transition_paused_state(self):
+    if self.state_machine.state != State.paused:
+      self.events_sp.add(EventNameSP.silentLkasDisable)
 
-    def replace_event(old_event: int, new_event: int):
-      self.events.remove(old_event)
-      self.events_sp.add(new_event)
+  def replace_event(self, old_event: int, new_event: int):
+    self.events.remove(old_event)
+    self.events_sp.add(new_event)
 
+  def update_events(self, CS: structs.CarState):
     if not self.selfdrive.enabled and self.enabled:
       if self.events.has(EventName.doorOpen):
-        replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen)
-        transition_paused_state()
+        self.replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen)
+        self.transition_paused_state()
       if self.events.has(EventName.seatbeltNotLatched):
-        replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
-        transition_paused_state()
+        self.replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
+        self.transition_paused_state()
       if self.events.has(EventName.wrongGear) and (CS.vEgo < 2.5 or CS.gearShifter == GearShifter.reverse):
-        replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
-        transition_paused_state()
+        self.replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
+        self.transition_paused_state()
       if self.events.has(EventName.reverseGear):
-        replace_event(EventName.reverseGear, EventNameSP.silentReverseGear)
-        transition_paused_state()
+        self.replace_event(EventName.reverseGear, EventNameSP.silentReverseGear)
+        self.transition_paused_state()
       if self.events.has(EventName.brakeHold):
-        replace_event(EventName.brakeHold, EventNameSP.silentBrakeHold)
-        transition_paused_state()
+        self.replace_event(EventName.brakeHold, EventNameSP.silentBrakeHold)
+        self.transition_paused_state()
       if self.events.has(EventName.parkBrake):
-        replace_event(EventName.parkBrake, EventNameSP.silentParkBrake)
-        transition_paused_state()
+        self.replace_event(EventName.parkBrake, EventNameSP.silentParkBrake)
+        self.transition_paused_state()
 
       if self.pause_lateral_on_brake_toggle:
         if self.pedal_pressed_non_gas_pressed(CS):
-          transition_paused_state()
+          self.transition_paused_state()
 
       self.events.remove(EventName.preEnableStandstill)
       self.events.remove(EventName.belowEngageSpeed)
@@ -127,7 +126,7 @@ def replace_event(old_event: int, new_event: int):
         self.events.remove(EventName.buttonEnable)
     else:
       if self.main_enabled_toggle:
-        if CS.cruiseState.available and not self.CS_prev.cruiseState.available:
+        if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available:
           self.events_sp.add(EventNameSP.lkasEnable)
 
     for be in CS.buttonEvents:
@@ -145,7 +144,7 @@ def replace_event(old_event: int, new_event: int):
 
     if not CS.cruiseState.available:
       self.events.remove(EventName.buttonEnable)
-      if self.CS_prev.cruiseState.available:
+      if self.selfdrive.CS_prev.cruiseState.available:
         self.events_sp.add(EventNameSP.lkasDisable)
 
     if self.should_silent_lkas_enable(CS):
@@ -158,7 +157,7 @@ def replace_event(old_event: int, new_event: int):
     self.events.remove(EventName.wrongCruiseMode)
     if any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents):
       if self.events.has(EventName.wrongCarMode):
-        replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly)
+        self.replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly)
     else:
       self.events.remove(EventName.wrongCarMode)
 

From 4dbabf4e24a6dddf477858ed149d1a447c55b2de Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 17 May 2025 23:34:55 -0400
Subject: [PATCH 0251/1434] MADS: retain `pedalPressed` alert only (#928)

* MADS: Refactor Unified Engagement Mode

* init

* bring back pedal pressed event while trying to engage long

* MADS: prep for refactor

* no longer

* this is cleaner?

* in another pr
---
 cereal/custom.capnp                       | 1 +
 sunnypilot/mads/mads.py                   | 7 ++++++-
 sunnypilot/selfdrive/selfdrived/events.py | 4 ++++
 3 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 2a72a59a1049d1..eb932b484eeb7d 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -144,6 +144,7 @@ struct OnroadEventSP @0xda96579883444c35 {
     hyundaiRadarTracksConfirmed @13;
     experimentalModeSwitched @14;
     wrongCarModeAlertOnly @15;
+    pedalPressedAlertOnly @16;
   }
 }
 
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index e6665484ae5e68..456be01882cc1d 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -120,7 +120,12 @@ def update_events(self, CS: structs.CarState):
       self.events.remove(EventName.cruiseDisabled)
       self.events.remove(EventName.manualRestart)
 
-    if self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable):
+    selfdrive_enable_events = self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable)
+
+    if selfdrive_enable_events:
+      if self.pedal_pressed_non_gas_pressed(CS):
+        self.events_sp.add(EventNameSP.pedalPressedAlertOnly)
+
       if self.block_unified_engagement_mode():
         self.events.remove(EventName.pcmEnable)
         self.events.remove(EventName.buttonEnable)
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py
index 979de0a80c6a18..67672649c5dc3c 100644
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -134,4 +134,8 @@ def get_event_msg_type(self):
     ET.WARNING: wrong_car_mode_alert,
   },
 
+  EventNameSP.pedalPressedAlertOnly: {
+    ET.WARNING: NoEntryAlert("Pedal Pressed")
+  }
+
 }

From 6d516a7704410b69a2707dfcb856eba5be519f81 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 18 May 2025 00:18:41 -0400
Subject: [PATCH 0252/1434] MADS: `wrongCarMode` alert only with selfdrive
 enable (#931)

* MADS: Refactor Unified Engagement Mode

* init

* bring back pedal pressed event while trying to engage long

* MADS: prep for refactor

* no longer

* this is cleaner?

* in another pr

* Revert "in another pr"

This reverts commit 31aec8a7aabc798c1b19c365488efe04a47869e9.

* less

* rename

* type hint
---
 sunnypilot/mads/mads.py | 19 +++++++++++--------
 1 file changed, 11 insertions(+), 8 deletions(-)

diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 456be01882cc1d..d5ce9354c1c911 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -81,6 +81,13 @@ def block_unified_engagement_mode(self) -> bool:
 
     return False
 
+  def get_wrong_car_mode(self, alert_only: bool) -> None:
+    if alert_only:
+      if self.events.has(EventName.wrongCarMode):
+        self.replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly)
+    else:
+      self.events.remove(EventName.wrongCarMode)
+
   def transition_paused_state(self):
     if self.state_machine.state != State.paused:
       self.events_sp.add(EventNameSP.silentLkasDisable)
@@ -121,11 +128,12 @@ def update_events(self, CS: structs.CarState):
       self.events.remove(EventName.manualRestart)
 
     selfdrive_enable_events = self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable)
+    set_speed_btns_enable = any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents)
 
-    if selfdrive_enable_events:
-      if self.pedal_pressed_non_gas_pressed(CS):
-        self.events_sp.add(EventNameSP.pedalPressedAlertOnly)
+    # wrongCarMode alert only or actively block control
+    self.get_wrong_car_mode(selfdrive_enable_events or set_speed_btns_enable)
 
+    if selfdrive_enable_events:
       if self.block_unified_engagement_mode():
         self.events.remove(EventName.pcmEnable)
         self.events.remove(EventName.buttonEnable)
@@ -160,11 +168,6 @@ def update_events(self, CS: structs.CarState):
     self.events.remove(EventName.buttonCancel)
     self.events.remove(EventName.pedalPressed)
     self.events.remove(EventName.wrongCruiseMode)
-    if any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents):
-      if self.events.has(EventName.wrongCarMode):
-        self.replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly)
-    else:
-      self.events.remove(EventName.wrongCarMode)
 
   def update(self, CS: structs.CarState):
     if not self.enabled_toggle:

From 3aa9ddd3c76406796240494b8638c6bcee6441b7 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 18 May 2025 10:02:50 -0400
Subject: [PATCH 0253/1434] Revert "MADS: `wrongCarMode` alert only with
 selfdrive enable (#931)" (#932)

This reverts commit 6d516a7704410b69a2707dfcb856eba5be519f81.
---
 sunnypilot/mads/mads.py | 19 ++++++++-----------
 1 file changed, 8 insertions(+), 11 deletions(-)

diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index d5ce9354c1c911..456be01882cc1d 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -81,13 +81,6 @@ def block_unified_engagement_mode(self) -> bool:
 
     return False
 
-  def get_wrong_car_mode(self, alert_only: bool) -> None:
-    if alert_only:
-      if self.events.has(EventName.wrongCarMode):
-        self.replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly)
-    else:
-      self.events.remove(EventName.wrongCarMode)
-
   def transition_paused_state(self):
     if self.state_machine.state != State.paused:
       self.events_sp.add(EventNameSP.silentLkasDisable)
@@ -128,12 +121,11 @@ def update_events(self, CS: structs.CarState):
       self.events.remove(EventName.manualRestart)
 
     selfdrive_enable_events = self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable)
-    set_speed_btns_enable = any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents)
-
-    # wrongCarMode alert only or actively block control
-    self.get_wrong_car_mode(selfdrive_enable_events or set_speed_btns_enable)
 
     if selfdrive_enable_events:
+      if self.pedal_pressed_non_gas_pressed(CS):
+        self.events_sp.add(EventNameSP.pedalPressedAlertOnly)
+
       if self.block_unified_engagement_mode():
         self.events.remove(EventName.pcmEnable)
         self.events.remove(EventName.buttonEnable)
@@ -168,6 +160,11 @@ def update_events(self, CS: structs.CarState):
     self.events.remove(EventName.buttonCancel)
     self.events.remove(EventName.pedalPressed)
     self.events.remove(EventName.wrongCruiseMode)
+    if any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents):
+      if self.events.has(EventName.wrongCarMode):
+        self.replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly)
+    else:
+      self.events.remove(EventName.wrongCarMode)
 
   def update(self, CS: structs.CarState):
     if not self.enabled_toggle:

From a93e788401efd659fc18af848dcf563e5c89ce33 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 18 May 2025 10:14:03 -0400
Subject: [PATCH 0254/1434] Reapply "MADS: wrongCarMode alert only with
 selfdrive enable (#931)" (#933)

* Revert "MADS: `wrongCarMode` alert only with selfdrive enable (#931)"

This reverts commit 6d516a7704410b69a2707dfcb856eba5be519f81.

* Reapply "MADS: `wrongCarMode` alert only with selfdrive enable (#931)"

This reverts commit c9487597e4ae4aa10a7111d963c5933d472bc88e.

* Reapply "MADS: `wrongCarMode` alert only with selfdrive enable (#931)"

This reverts commit c9487597e4ae4aa10a7111d963c5933d472bc88e.
---
 sunnypilot/mads/mads.py | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 456be01882cc1d..e3ee7cd8323121 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -81,6 +81,13 @@ def block_unified_engagement_mode(self) -> bool:
 
     return False
 
+  def get_wrong_car_mode(self, alert_only: bool) -> None:
+    if alert_only:
+      if self.events.has(EventName.wrongCarMode):
+        self.replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly)
+    else:
+      self.events.remove(EventName.wrongCarMode)
+
   def transition_paused_state(self):
     if self.state_machine.state != State.paused:
       self.events_sp.add(EventNameSP.silentLkasDisable)
@@ -121,6 +128,10 @@ def update_events(self, CS: structs.CarState):
       self.events.remove(EventName.manualRestart)
 
     selfdrive_enable_events = self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable)
+    set_speed_btns_enable = any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents)
+
+    # wrongCarMode alert only or actively block control
+    self.get_wrong_car_mode(selfdrive_enable_events or set_speed_btns_enable)
 
     if selfdrive_enable_events:
       if self.pedal_pressed_non_gas_pressed(CS):
@@ -160,11 +171,6 @@ def update_events(self, CS: structs.CarState):
     self.events.remove(EventName.buttonCancel)
     self.events.remove(EventName.pedalPressed)
     self.events.remove(EventName.wrongCruiseMode)
-    if any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents):
-      if self.events.has(EventName.wrongCarMode):
-        self.replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly)
-    else:
-      self.events.remove(EventName.wrongCarMode)
 
   def update(self, CS: structs.CarState):
     if not self.enabled_toggle:

From ebe56410d3133957c27219e0666e6304abb5cd91 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 19 May 2025 01:25:11 -0400
Subject: [PATCH 0255/1434] MADS: Steering Mode on Brake Pedal Press (#924)

* MADS: Steering Mode on Brake Pedal Press

* bump

* bump

* descriptions

* bump

* bump

* no tesla or rivian yet

* codecov v5

* Revert "codecov v5"

This reverts commit a347e3fb27c0fbf2510b69fe8148b254fa93b8de.

* cleanup

* refactor description

* sync name

* fix

* make sure we don't allow if brake was already being pressed

* fix

* diff

* fix description

* in another PR
---
 common/params_keys.h                          |  2 +-
 opendbc_repo                                  |  2 +-
 selfdrive/pandad/pandad.cc                    |  4 +-
 .../offroad/settings/lateral/mads_settings.cc | 27 ++++++-----
 .../offroad/settings/lateral/mads_settings.h  | 46 ++++++++++++++++++-
 sunnypilot/mads/helpers.py                    | 21 +++++++--
 sunnypilot/mads/mads.py                       | 17 +++++--
 system/manager/manager.py                     |  2 +-
 8 files changed, 97 insertions(+), 24 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 97f23d5108f63b..d3a9ea7d6dda7f 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -138,7 +138,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     // MADS params
     {"Mads", PERSISTENT | BACKUP},
     {"MadsMainCruiseAllowed", PERSISTENT | BACKUP},
-    {"MadsPauseLateralOnBrake", PERSISTENT | BACKUP},
+    {"MadsSteeringMode", PERSISTENT | BACKUP},
     {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
 
     // Model Manager params
diff --git a/opendbc_repo b/opendbc_repo
index 36461557c47176..a051754777785c 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 36461557c47176b16a081ea40195bc327a34d97f
+Subproject commit a051754777785cc93eb0be35b081d19f7fbce595
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index d3dbba8182aee9..1b4defd2b9ac7d 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -41,7 +41,7 @@
 #define CUTOFF_IL 400
 #define SATURATE_IL 1000
 
-#define ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE 2048
+#define ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE 2048
 
 ExitHandler do_exit;
 
@@ -57,7 +57,7 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {
 
 bool process_mads_heartbeat(SubMaster *sm) {
   const int &alt_exp = (*sm)["carParams"].getCarParams().getAlternativeExperience();
-  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE) != 0;
+  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE) != 0;
 
   const auto &mads = (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads();
   const bool heartbeat_type = disengage_lateral_on_brake ? mads.getActive() : mads.getEnabled();
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
index fa0f7f8bd44126..97b78399d3244a 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
@@ -39,17 +39,12 @@ MadsSettings::MadsSettings(QWidget *parent) : QWidget(parent) {
     "");
   list->addItem(madsUnifiedEngagementModeToggle);
 
-  // Pause Lateral On Brake
-  std::vector<QString> lateral_on_brake_texts{tr("Remain Active"), tr("Pause Steering")};
-  madsPauseLateralOnBrake = new ButtonParamControl(
-    "MadsPauseLateralOnBrake",
-    tr("Steering Mode After Braking"),
-    tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.\n\n"
-       "Remain Active: ALC will remain active even after the brake pedal is pressed.\nPause Steering: ALC will be paused after the brake pedal is manually pressed."),
-    "",
-    lateral_on_brake_texts,
-    500);
-  list->addItem(madsPauseLateralOnBrake);
+  // Steering Mode On Brake
+  madsSteeringMode = new ButtonParamControl("MadsSteeringMode", tr("Steering Mode on Brake Pedal"), "", "", madsSteeringModeTexts(), 500);
+  QObject::connect(madsSteeringMode, &ButtonParamControl::buttonToggled, [=] {
+    updateToggles(offroad);
+  });
+  list->addItem(madsSteeringMode);
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &MadsSettings::updateToggles);
 
@@ -61,7 +56,15 @@ void MadsSettings::showEvent(QShowEvent *event) {
 }
 
 void MadsSettings::updateToggles(bool _offroad) {
-  madsPauseLateralOnBrake->setEnabled(_offroad);
+  auto mads_steering_mode_param = std::atoi(params.get("MadsSteeringMode").c_str());
+
+  auto steering_mode = static_cast<MadsSteeringMode>(
+    std::clamp(mads_steering_mode_param, static_cast<int>(MadsSteeringMode::REMAIN_ACTIVE), static_cast<int>(MadsSteeringMode::DISENGAGE))
+  );
+
+  madsSteeringMode->setEnabled(_offroad);
+  madsSteeringMode->setDescription(madsSteeringModeDescription(steering_mode));
+  madsSteeringMode->showDescription();
 
   offroad = _offroad;
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
index fccb4cbb842068..07ca07834d28c3 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
@@ -12,6 +12,18 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
+enum class MadsSteeringMode {
+  REMAIN_ACTIVE = 0,
+  PAUSE = 1,
+  DISENGAGE = 2,
+};
+
+struct MadsSteeringModeOption {
+  MadsSteeringMode mode;
+  QString display_text;
+  QString description;
+};
+
 class MadsSettings : public QWidget {
   Q_OBJECT
 
@@ -32,5 +44,37 @@ public slots:
 
   ParamControl *madsMainCruiseToggle;
   ParamControl *madsUnifiedEngagementModeToggle;
-  ButtonParamControl *madsPauseLateralOnBrake;
+  ButtonParamControl *madsSteeringMode;
+
+  static const std::vector<MadsSteeringModeOption> &madsSteeringModeOptions() {
+    static const std::vector<MadsSteeringModeOption> options = {
+      {MadsSteeringMode::REMAIN_ACTIVE, tr("Remain Active"), tr("Remain Active: ALC will remain active when the brake pedal is pressed.")},
+      {MadsSteeringMode::PAUSE,         tr("Pause"),         tr("Pause: ALC will pause when the brake pedal is pressed.")},
+      {MadsSteeringMode::DISENGAGE,     tr("Disengage"),     tr("Disengage: ALC will disengage when the brake pedal is pressed.")},
+    };
+    return options;
+  }
+
+  static std::vector<QString> madsSteeringModeTexts() {
+    std::vector<QString> texts;
+    for (const auto& option : madsSteeringModeOptions()) {
+      texts.push_back(option.display_text);
+    }
+    return texts;
+  }
+
+  static QString madsSteeringModeDescription(const MadsSteeringMode mode) {
+    QString base_desc = tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.");
+    QString result = base_desc + "<br><br>";
+
+    for (const auto& option : madsSteeringModeOptions()) {
+      QString desc = option.description;
+      if (option.mode == mode) {
+        desc = "<font color='white'><b>" + desc + "</b></font>";
+      }
+      result += desc + "<br>";
+    }
+
+    return result;
+  }
 };
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index 831a75699e9e00..5f7f9840e24b1b 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -11,15 +11,30 @@
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP
 
 
+class MadsSteeringModeOnBrake:
+  REMAIN_ACTIVE = 0
+  PAUSE = 1
+  DISENGAGE = 2
+
+
+def read_steering_mode_param(params: Params):
+  try:
+    return int(params.get("MadsSteeringMode"))
+  except (ValueError, TypeError):
+    return MadsSteeringModeOnBrake.REMAIN_ACTIVE
+
+
 def set_alternative_experience(CP: structs.CarParams, params: Params):
   enabled = params.get_bool("Mads")
-  pause_lateral_on_brake = params.get_bool("MadsPauseLateralOnBrake")
+  steering_mode = read_steering_mode_param(params)
 
   if enabled:
     CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
 
-    if pause_lateral_on_brake:
-      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISENGAGE_LATERAL_ON_BRAKE
+    if steering_mode == MadsSteeringModeOnBrake.DISENGAGE:
+      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISENGAGE_LATERAL_ON_BRAKE
+    elif steering_mode == MadsSteeringModeOnBrake.PAUSE:
+      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_PAUSE_LATERAL_ON_BRAKE
 
 
 def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index e3ee7cd8323121..38d38230ab3744 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -10,6 +10,7 @@
 from opendbc.car import structs
 from opendbc.car.hyundai.values import HyundaiFlags
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
+from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -46,7 +47,7 @@ def __init__(self, selfdrive):
     # read params on init
     self.enabled_toggle = self.params.get_bool("Mads")
     self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
-    self.pause_lateral_on_brake_toggle = self.params.get_bool("MadsPauseLateralOnBrake")
+    self.steering_mode_on_brake = read_steering_mode_param(self.params)
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def read_params(self):
@@ -60,7 +61,7 @@ def pedal_pressed_non_gas_pressed(self, CS: structs.CarState) -> bool:
     return False
 
   def should_silent_lkas_enable(self, CS: structs.CarState) -> bool:
-    if self.pause_lateral_on_brake_toggle and self.pedal_pressed_non_gas_pressed(CS):
+    if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE and self.pedal_pressed_non_gas_pressed(CS):
       return False
 
     if self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
@@ -117,7 +118,7 @@ def update_events(self, CS: structs.CarState):
         self.replace_event(EventName.parkBrake, EventNameSP.silentParkBrake)
         self.transition_paused_state()
 
-      if self.pause_lateral_on_brake_toggle:
+      if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE:
         if self.pedal_pressed_non_gas_pressed(CS):
           self.transition_paused_state()
 
@@ -163,6 +164,16 @@ def update_events(self, CS: structs.CarState):
       if self.selfdrive.CS_prev.cruiseState.available:
         self.events_sp.add(EventNameSP.lkasDisable)
 
+    if self.steering_mode_on_brake == MadsSteeringModeOnBrake.DISENGAGE:
+      if self.pedal_pressed_non_gas_pressed(CS):
+        if self.enabled:
+          self.events_sp.add(EventNameSP.lkasDisable)
+        else:
+          # block lkasEnable if being sent, then send pedalPressedAlertOnly event
+          if self.events_sp.contains(EventNameSP.lkasEnable):
+            self.events_sp.remove(EventNameSP.lkasEnable)
+            self.events_sp.add(EventNameSP.pedalPressedAlertOnly)
+
     if self.should_silent_lkas_enable(CS):
       if self.state_machine.state == State.paused:
         self.events_sp.add(EventNameSP.silentLkasEnable)
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 90df415a8c31c1..71f2bc525a7251 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -48,7 +48,7 @@ def manager_init() -> None:
     ("HyundaiLongitudinalTuning", "0"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
-    ("MadsPauseLateralOnBrake", "0"),
+    ("MadsSteeringMode", "0"),
     ("MadsUnifiedEngagementMode", "1"),
     ("MaxTimeOffroad", "1800"),
     ("ModelManager_LastSyncTime", "0"),

From c4d202c6bb77465dffc9aab037ccf2bc52491d7f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 19 May 2025 11:49:44 -0400
Subject: [PATCH 0256/1434] ui: support selected button enabled for
 `ButtonParamControlSP` (#937)

ui: support specific button enabled selections for `ButtonParamControlSP`

Replaced setDisabledSelectedButton with setEnableSelectedButtons for improved flexibility. The new implementation allows enabling multiple buttons based on a given list and maintains clarity in handling button states. This enhances functionality and aligns with better code practices.
---
 selfdrive/ui/sunnypilot/qt/widgets/controls.h | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index 2a1bc20ac11c40..b6efd871d13a90 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -324,10 +324,11 @@ class ButtonParamControlSP : public AbstractControlSP_SELECTOR {
     }
   }
 
-  void setDisabledSelectedButton(std::string val) {
-    int value = atoi(val.c_str());
+  void setEnableSelectedButtons(bool enable, const std::vector<int>& enabled_btns = {}) const {
     for (int i = 0; i < button_group->buttons().size(); i++) {
-      button_group->buttons()[i]->setEnabled(i != value);
+      // Enable the button if its index is in the enabled list
+      bool should_enable = std::find(enabled_btns.begin(), enabled_btns.end(), i) != enabled_btns.end();
+      button_group->buttons()[i]->setEnabled(enable && should_enable);
     }
   }
 

From a6eba52791cea780d70d0b8385a041d76c97df5d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 19 May 2025 13:08:53 -0400
Subject: [PATCH 0257/1434] ui: Add utility function to check if a brand is in
 a list (#939)

* ui: Add utility function to check if a brand is in a list

Introduces `isBrandInList` to simplify checking if a given brand exists within a list of strings. This improves code clarity and avoids repetitive implementations for the same logic.

* Revert "ui: Add utility function to check if a brand is in a list"

This reverts commit 26cde3a73e59cda678c9e017536702de45c8d151.

* ui: Add utility function to check if a brand is in a list
---
 selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h
index 2fe511cc48ef9d..ff25d3b64f9e36 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h
@@ -12,6 +12,10 @@
 
 #include "selfdrive/ui/qt/offroad/settings.h"
 
+inline bool isBrandInList(const std::string &brand, const std::vector<std::string> &list) {
+  return std::find(list.begin(), list.end(), brand) != list.end();
+}
+
 class SettingsWindowSP : public SettingsWindow {
   Q_OBJECT
 

From ddfb7420ca49243d1d8b13635883c167b6ddedd6 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 19 May 2025 14:25:26 -0400
Subject: [PATCH 0258/1434] MADS: prerequisite for partial platform support
 (#938)

* MADS: prerequisite for partial platform support

* ui: support specific button enabled selections for `ButtonParamControlSP`

Replaced setDisabledSelectedButton with setEnableSelectedButtons for improved flexibility. The new implementation allows enabling multiple buttons based on a given list and maintains clarity in handling button states. This enhances functionality and aligns with better code practices.

* don't think we need to

* update
---
 .../offroad/settings/lateral/mads_settings.cc | 62 ++++++++++++++-----
 .../offroad/settings/lateral/mads_settings.h  | 43 +++++++++++--
 .../qt/offroad/settings/lateral_panel.cc      | 15 +++++
 .../qt/offroad/settings/lateral_panel.h       | 11 ++++
 sunnypilot/mads/helpers.py                    | 21 ++++---
 sunnypilot/mads/mads.py                       |  3 +-
 6 files changed, 127 insertions(+), 28 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
index 97b78399d3244a..2469bfa59368e4 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
@@ -21,22 +21,11 @@ MadsSettings::MadsSettings(QWidget *parent) : QWidget(parent) {
 
   ListWidget *list = new ListWidget(this, false);
   // Main cruise
-  madsMainCruiseToggle = new ParamControl(
-    "MadsMainCruiseAllowed",
-    tr("Toggle with Main Cruise"),
-    tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."),
-    "");
+  madsMainCruiseToggle = new ParamControl("MadsMainCruiseAllowed", tr("Toggle with Main Cruise"), "", "");
   list->addItem(madsMainCruiseToggle);
 
   // Unified Engagement Mode
-  madsUnifiedEngagementModeToggle = new ParamControl(
-    "MadsUnifiedEngagementMode",
-    tr("Unified Engagement Mode (UEM)"),
-    QString("%1<br>"
-            "<h4>%2</h4>")
-    .arg(tr("Engage lateral and longitudinal control with cruise control engagement."))
-    .arg(tr("Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.")),
-    "");
+  madsUnifiedEngagementModeToggle = new ParamControl("MadsUnifiedEngagementMode", tr("Unified Engagement Mode (UEM)"), "", "");
   list->addItem(madsUnifiedEngagementModeToggle);
 
   // Steering Mode On Brake
@@ -62,8 +51,51 @@ void MadsSettings::updateToggles(bool _offroad) {
     std::clamp(mads_steering_mode_param, static_cast<int>(MadsSteeringMode::REMAIN_ACTIVE), static_cast<int>(MadsSteeringMode::DISENGAGE))
   );
 
-  madsSteeringMode->setEnabled(_offroad);
-  madsSteeringMode->setDescription(madsSteeringModeDescription(steering_mode));
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) {
+      params.remove("MadsMainCruiseAllowed");
+      params.putBool("MadsUnifiedEngagementMode", true);
+      params.put("MadsSteeringMode", std::to_string(static_cast<int>(MadsSteeringMode::DISENGAGE)));
+
+      madsMainCruiseToggle->setEnabled(false);
+      madsMainCruiseToggle->setDescription(madsDescriptionBuilder(DEFAULT_TO_OFF, MADS_MAIN_CRUISE_BASE_DESC));
+      madsMainCruiseToggle->showDescription();
+
+      madsUnifiedEngagementModeToggle->setEnabled(false);
+      madsUnifiedEngagementModeToggle->setDescription(madsDescriptionBuilder(DEFAULT_TO_ON, MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC));
+      madsUnifiedEngagementModeToggle->showDescription();
+
+      madsSteeringModeValues = convertMadsSteeringModeValues({MadsSteeringMode::DISENGAGE});
+      madsSteeringMode->setDescription(madsDescriptionBuilder(STATUS_DISENGAGE_ONLY, madsSteeringModeDescription(steering_mode)));
+    } else {
+      madsMainCruiseToggle->setEnabled(true);
+      madsMainCruiseToggle->setDescription(MADS_MAIN_CRUISE_BASE_DESC);
+
+      madsUnifiedEngagementModeToggle->setEnabled(true);
+      madsUnifiedEngagementModeToggle->setDescription(MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC);
+
+      madsSteeringModeValues = convertMadsSteeringModeValues(getMadsSteeringModeValues());
+      madsSteeringMode->setDescription(madsSteeringModeDescription(steering_mode));
+    }
+  } else {
+    madsMainCruiseToggle->setEnabled(false);
+    madsMainCruiseToggle->setDescription(madsDescriptionBuilder(STATUS_CHECK_COMPATIBILITY, MADS_MAIN_CRUISE_BASE_DESC));
+    madsMainCruiseToggle->showDescription();
+
+    madsUnifiedEngagementModeToggle->setEnabled(false);
+    madsUnifiedEngagementModeToggle->setDescription(madsDescriptionBuilder(STATUS_CHECK_COMPATIBILITY, MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC));
+    madsUnifiedEngagementModeToggle->showDescription();
+
+    madsSteeringModeValues = {};
+    madsSteeringMode->setDescription(madsDescriptionBuilder(STATUS_CHECK_COMPATIBILITY, madsSteeringModeDescription(steering_mode)));
+  }
+
+  madsSteeringMode->setEnableSelectedButtons(_offroad, madsSteeringModeValues);
   madsSteeringMode->showDescription();
 
   offroad = _offroad;
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
index 07ca07834d28c3..405a2613d1ed53 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
@@ -12,6 +12,8 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
+const std::vector<std::string> mads_limited_settings_brands = {"rivian"};
+
 enum class MadsSteeringMode {
   REMAIN_ACTIVE = 0,
   PAUSE = 1,
@@ -46,15 +48,44 @@ public slots:
   ParamControl *madsUnifiedEngagementModeToggle;
   ButtonParamControl *madsSteeringMode;
 
+  std::vector<int> madsSteeringModeValues = {};
+
+  const QString MADS_MAIN_CRUISE_BASE_DESC = tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.");
+  const QString MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC = QString("%1<br>"
+                                                                 "<h4>%2</h4>")
+                                                         .arg(tr("Engage lateral and longitudinal control with cruise control engagement."))
+                                                         .arg(tr("Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."));
+
+  const QString STATUS_CHECK_COMPATIBILITY = tr("Start the vehicle to check vehicle compatibility.");
+  const QString DEFAULT_TO_OFF = tr("This feature defaults to OFF, and does not allow selection due to vehicle limitations.");
+  const QString DEFAULT_TO_ON = tr("This feature defaults to ON, and does not allow selection due to vehicle limitations.");
+  const QString STATUS_DISENGAGE_ONLY = tr("This platform only supports Disengage mode due to vehicle limitations.");
+
   static const std::vector<MadsSteeringModeOption> &madsSteeringModeOptions() {
     static const std::vector<MadsSteeringModeOption> options = {
-      {MadsSteeringMode::REMAIN_ACTIVE, tr("Remain Active"), tr("Remain Active: ALC will remain active when the brake pedal is pressed.")},
-      {MadsSteeringMode::PAUSE,         tr("Pause"),         tr("Pause: ALC will pause when the brake pedal is pressed.")},
-      {MadsSteeringMode::DISENGAGE,     tr("Disengage"),     tr("Disengage: ALC will disengage when the brake pedal is pressed.")},
+      {MadsSteeringMode::REMAIN_ACTIVE,  tr("Remain Active"), tr("Remain Active: ALC will remain active when the brake pedal is pressed.")},
+      {MadsSteeringMode::PAUSE,          tr("Pause"),         tr("Pause: ALC will pause when the brake pedal is pressed.")},
+      {MadsSteeringMode::DISENGAGE,      tr("Disengage"),     tr("Disengage: ALC will disengage when the brake pedal is pressed.")},
     };
     return options;
   }
 
+  static std::vector<MadsSteeringMode> getMadsSteeringModeValues() {
+    std::vector<MadsSteeringMode> values;
+    for (const auto& option : madsSteeringModeOptions()) {
+      values.push_back(option.mode);
+    }
+    return values;
+  }
+
+  static std::vector<int> convertMadsSteeringModeValues(const std::vector<MadsSteeringMode> &modes) {
+    std::vector<int> values;
+    for (const auto& mode : modes) {
+      values.push_back(static_cast<int>(mode));
+    }
+    return values;
+  }
+
   static std::vector<QString> madsSteeringModeTexts() {
     std::vector<QString> texts;
     for (const auto& option : madsSteeringModeOptions()) {
@@ -63,7 +94,7 @@ public slots:
     return texts;
   }
 
-  static QString madsSteeringModeDescription(const MadsSteeringMode mode) {
+  static QString madsSteeringModeDescription(const MadsSteeringMode mode = MadsSteeringMode::REMAIN_ACTIVE) {
     QString base_desc = tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.");
     QString result = base_desc + "<br><br>";
 
@@ -77,4 +108,8 @@ public slots:
 
     return result;
   }
+
+  static QString madsDescriptionBuilder(const QString &custom_description, const QString &base_description) {
+    return "<font color='white'><b>" + custom_description + "</b></font><br><br>" + base_description;
+  }
 };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
index 75cd13664dc8bc..0beae6e24fe61c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
@@ -122,6 +122,21 @@ void LateralPanel::updateToggles(bool _offroad) {
     toggle->setEnabled(_offroad);
   }
 
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) {
+      madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_LIMITED_COMPATIBILITY, MADS_BASE_DESC));
+    } else {
+      madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_FULL_COMPATIBILITY, MADS_BASE_DESC));
+    }
+  } else {
+    madsToggle->setDescription(descriptionBuilder(STATUS_MADS_CHECK_COMPATIBILITY, MADS_BASE_DESC));
+  }
+
   madsSettingsButton->setEnabled(madsToggle->isToggled());
 
   offroad = _offroad;
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
index 1b77939ee8db02..cf003dfaf3400e 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
@@ -30,6 +30,7 @@ public slots:
   void updateToggles(bool _offroad);
 
 private:
+  Params params;
   QStackedLayout* main_layout = nullptr;
   QWidget* sunnypilotScreen = nullptr;
   ScrollViewSP *sunnypilotScroller = nullptr;
@@ -42,4 +43,14 @@ public slots:
   PushButtonSP *laneChangeSettingsButton;
   LaneChangeSettings *laneChangeWidget = nullptr;
   NeuralNetworkLateralControl *nnlcToggle = nullptr;
+
+  const QString MADS_BASE_DESC = tr("Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).");
+
+  const QString STATUS_MADS_CHECK_COMPATIBILITY = tr("Start the vehicle to check vehicle compatibility.");
+  const QString STATUS_MADS_SETTINGS_FULL_COMPATIBILITY = tr("This platform supports all MADS settings.");
+  const QString STATUS_MADS_SETTINGS_LIMITED_COMPATIBILITY = tr("This platform supports limited MADS settings.");
+
+  static QString descriptionBuilder(const QString &custom_description, const QString &base_description) {
+    return "<font color='white'><b>" + custom_description + "</b></font><br><br>" + base_description;
+  }
 };
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index 5f7f9840e24b1b..5c7b575d144bf8 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -46,12 +46,17 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
       CP_SP.flags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
       CP_SP.safetyParam |= HyundaiSafetyFlagsSP.LONG_MAIN_CRUISE_TOGGLEABLE
 
-  # MADS is currently not supported in Tesla due to lack of consistent states to engage controls
-  # TODO-SP: To enable MADS for Tesla, identify consistent signals for MADS toggling
-  if CP.brand == "tesla":
-    params.remove("Mads")
-
-  # MADS is currently not supported in Rivian due to lack of consistent states to engage controls
-  # TODO-SP: To enable MADS for Rivian, identify consistent signals for MADS toggling
-  if CP.brand == "rivian":
+  # MADS Partial Support
+  # MADS is currently partially supported for these platforms due to lack of consistent states to engage controls
+  # Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms
+  mads_partial_support = False
+  if mads_partial_support:
+    params.put("MadsSteeringMode", "2")
+    params.put_bool("MadsUnifiedEngagementMode", True)
+    params.remove("MadsMainCruiseAllowed")
+
+  # MADS Disabled - No Support
+  # MADS is currently not supported for these platforms due to lack of consistent states to engage controls
+  # TODO-SP: To enable MADS full support for Rivian/Tesla, identify consistent signals for MADS toggling
+  if CP.brand in ("rivian", "tesla"):
     params.remove("Mads")
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 38d38230ab3744..ffe6e6efeb48d8 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -33,6 +33,7 @@ def __init__(self, selfdrive):
     self.active = False
     self.available = False
     self.allow_always = False
+    self.no_main_cruise = False
     self.selfdrive = selfdrive
     self.selfdrive.enabled_prev = False
     self.state_machine = StateMachine(self)
@@ -159,7 +160,7 @@ def update_events(self, CS: structs.CarState):
         else:
           self.events_sp.add(EventNameSP.lkasEnable)
 
-    if not CS.cruiseState.available:
+    if not CS.cruiseState.available and not self.no_main_cruise:
       self.events.remove(EventName.buttonEnable)
       if self.selfdrive.CS_prev.cruiseState.available:
         self.events_sp.add(EventNameSP.lkasDisable)

From 8201f3edf450f9871e46f2c9db7b4d8483aac767 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 19 May 2025 16:55:43 -0400
Subject: [PATCH 0259/1434] MADS: Rivian support (#936)

* MADS: Tesla and Rivian support

* request lateral if acc is engaged

* try this out

* fix

* make sure we keep the toggle off for tesla

* namedtuple

* disallow steering past 90 degrees for rivian

* whoops

* Revert "Revert "MADS: Steering Mode on Brake Pedal Press (#687)" (#789)"

This reverts commit 8dec4ea5

* both rivian and tesla

* enforce disengage on brake steering mode for Rivian and Tesla

* wrong one

* MADS: Steering Mode on Brake Pedal Press

* bump

* bump

* descriptions

* bump

* bump

* no tesla or rivian yet

* codecov v5

* Revert "codecov v5"

This reverts commit a347e3fb27c0fbf2510b69fe8148b254fa93b8de.

* cleanup

* refactor description

* sync name

* fix

* make sure we don't allow if brake was already being pressed

* no longer needed

* proper ui!

* allow LKAS tx at all times with MADS

* extra

* this ain't right

* try this

* test only

* bring them back

* some dynamic checks

* dynamic description for mads toggle

* one place for limited platforms

* just rivian

* not here

* Revert "not here"

This reverts commit 53271b942839feb706e393254a3516097cc72890.

* get them out

* get them out

* no longer needed

* Revert "get them out"

This reverts commit 532b671bfb8bf76d5b4ef6349e5a1e3cd760dc3e.

* bump

* bump

* less

* Revert "bump"

This reverts commit 05ee4be04f190aaaa61bf18b0884b09accd74522.
---
 opendbc_repo               |  2 +-
 sunnypilot/mads/helpers.py | 18 +++++++++++++-----
 sunnypilot/mads/mads.py    |  7 +++++--
 3 files changed, 19 insertions(+), 8 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index a051754777785c..748a84787ad8b5 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit a051754777785cc93eb0be35b081d19f7fbce595
+Subproject commit 748a84787ad8b55125cf3953fd08de7f90da10c6
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index 5c7b575d144bf8..806f8edbeaec3b 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -17,7 +17,14 @@ class MadsSteeringModeOnBrake:
   DISENGAGE = 2
 
 
-def read_steering_mode_param(params: Params):
+def get_mads_limited_brands(CP: structs.CarParams) -> bool:
+  return CP.brand in ("rivian", )
+
+
+def read_steering_mode_param(CP: structs.CarParams, params: Params):
+  if get_mads_limited_brands(CP):
+    return MadsSteeringModeOnBrake.DISENGAGE
+
   try:
     return int(params.get("MadsSteeringMode"))
   except (ValueError, TypeError):
@@ -26,7 +33,7 @@ def read_steering_mode_param(params: Params):
 
 def set_alternative_experience(CP: structs.CarParams, params: Params):
   enabled = params.get_bool("Mads")
-  steering_mode = read_steering_mode_param(params)
+  steering_mode = read_steering_mode_param(CP, params)
 
   if enabled:
     CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
@@ -49,7 +56,8 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
   # MADS Partial Support
   # MADS is currently partially supported for these platforms due to lack of consistent states to engage controls
   # Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms
-  mads_partial_support = False
+  # TODO-SP: To enable MADS full support for Rivian, identify consistent signals for MADS toggling
+  mads_partial_support = get_mads_limited_brands(CP)
   if mads_partial_support:
     params.put("MadsSteeringMode", "2")
     params.put_bool("MadsUnifiedEngagementMode", True)
@@ -57,6 +65,6 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
 
   # MADS Disabled - No Support
   # MADS is currently not supported for these platforms due to lack of consistent states to engage controls
-  # TODO-SP: To enable MADS full support for Rivian/Tesla, identify consistent signals for MADS toggling
-  if CP.brand in ("rivian", "tesla"):
+  # TODO-SP: To enable MADS full support for Tesla, identify consistent signals for MADS toggling
+  if CP.brand in ("tesla", ):
     params.remove("Mads")
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index ffe6e6efeb48d8..3b062905692aef 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -10,7 +10,7 @@
 from opendbc.car import structs
 from opendbc.car.hyundai.values import HyundaiFlags
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
-from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param
+from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param, get_mads_limited_brands
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -45,10 +45,13 @@ def __init__(self, selfdrive):
       if self.CP.flags & (HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.CANFD):
         self.allow_always = True
 
+    if get_mads_limited_brands(self.CP):
+      self.no_main_cruise = True
+
     # read params on init
     self.enabled_toggle = self.params.get_bool("Mads")
     self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
-    self.steering_mode_on_brake = read_steering_mode_param(self.params)
+    self.steering_mode_on_brake = read_steering_mode_param(self.CP, self.params)
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def read_params(self):

From 9d60846b7041fcc79b93ec2707aeab88dff34016 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 19 May 2025 22:17:38 -0400
Subject: [PATCH 0260/1434] MADS: Tesla support (#682)

* MADS: Tesla and Rivian support

* request lateral if acc is engaged

* try this out

* fix

* make sure we keep the toggle off for tesla

* namedtuple

* disallow steering past 90 degrees for rivian

* whoops

* Revert "Revert "MADS: Steering Mode on Brake Pedal Press (#687)" (#789)"

This reverts commit 8dec4ea5

* both rivian and tesla

* enforce disengage on brake steering mode for Rivian and Tesla

* wrong one

* MADS: Steering Mode on Brake Pedal Press

* bump

* bump

* descriptions

* bump

* bump

* no tesla or rivian yet

* codecov v5

* Revert "codecov v5"

This reverts commit a347e3fb27c0fbf2510b69fe8148b254fa93b8de.

* cleanup

* refactor description

* sync name

* fix

* make sure we don't allow if brake was already being pressed

* no longer needed

* proper ui!

* allow LKAS tx at all times with MADS

* extra

* this ain't right

* try this

* test only

* bring them back

* some dynamic checks

* dynamic description for mads toggle

* one place for limited platforms

* update tests

* angle when long, lkas when mads

* bump
---
 opendbc_repo                                           |  2 +-
 .../qt/offroad/settings/lateral/mads_settings.h        |  2 +-
 sunnypilot/mads/helpers.py                             | 10 ++--------
 3 files changed, 4 insertions(+), 10 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 748a84787ad8b5..5db6b93bc550ed 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 748a84787ad8b55125cf3953fd08de7f90da10c6
+Subproject commit 5db6b93bc550edf5425d0b22e49c9bf51ec23eab
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
index 405a2613d1ed53..af624865c73dd4 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
@@ -12,7 +12,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
-const std::vector<std::string> mads_limited_settings_brands = {"rivian"};
+const std::vector<std::string> mads_limited_settings_brands = {"rivian", "tesla"};
 
 enum class MadsSteeringMode {
   REMAIN_ACTIVE = 0,
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index 806f8edbeaec3b..4b1095c63ecca3 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -18,7 +18,7 @@ class MadsSteeringModeOnBrake:
 
 
 def get_mads_limited_brands(CP: structs.CarParams) -> bool:
-  return CP.brand in ("rivian", )
+  return CP.brand in ("rivian", "tesla")
 
 
 def read_steering_mode_param(CP: structs.CarParams, params: Params):
@@ -56,15 +56,9 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
   # MADS Partial Support
   # MADS is currently partially supported for these platforms due to lack of consistent states to engage controls
   # Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms
-  # TODO-SP: To enable MADS full support for Rivian, identify consistent signals for MADS toggling
+  # TODO-SP: To enable MADS full support for Rivian/Tesla, identify consistent signals for MADS toggling
   mads_partial_support = get_mads_limited_brands(CP)
   if mads_partial_support:
     params.put("MadsSteeringMode", "2")
     params.put_bool("MadsUnifiedEngagementMode", True)
     params.remove("MadsMainCruiseAllowed")
-
-  # MADS Disabled - No Support
-  # MADS is currently not supported for these platforms due to lack of consistent states to engage controls
-  # TODO-SP: To enable MADS full support for Tesla, identify consistent signals for MADS toggling
-  if CP.brand in ("tesla", ):
-    params.remove("Mads")

From 623ef9f59288e1178b5b4145800e21d4d9f4b1d4 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Wed, 21 May 2025 01:14:08 -0400
Subject: [PATCH 0261/1434] ui: add expandable row widget (#916)

* expandable_row widget

* make MinMaxValue protected to allow inheritence

* add function to set width

* no more layout warnings

* format

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/SConscript            |  1 +
 selfdrive/ui/sunnypilot/qt/widgets/controls.h | 13 +++--
 .../sunnypilot/qt/widgets/expandable_row.cc   | 31 ++++++++++++
 .../ui/sunnypilot/qt/widgets/expandable_row.h | 50 +++++++++++++++++++
 4 files changed, 91 insertions(+), 4 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h

diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 379adfcede0506..d189751843fda2 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -3,6 +3,7 @@ widgets_src = [
   "sunnypilot/qt/widgets/toggle.cc",
   "sunnypilot/qt/widgets/controls.cc",
   "sunnypilot/qt/widgets/drive_stats.cc",
+  "sunnypilot/qt/widgets/expandable_row.cc",
   "sunnypilot/qt/widgets/prime.cc",
   "sunnypilot/qt/widgets/scrollview.cc",
   "sunnypilot/qt/network/networking.cc",
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index b6efd871d13a90..b5411f3bf140ee 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -441,15 +441,16 @@ class LayoutWidgetSP : public QWidget {
 class OptionControlSP : public AbstractControlSP_SELECTOR {
   Q_OBJECT
 
-private:
-  bool is_inline_layout;
-  QHBoxLayout *optionSelectorLayout = is_inline_layout ? new QHBoxLayout() : hlayout;
-
+protected:
   struct MinMaxValue {
     int min_value;
     int max_value;
   };
 
+private:
+  bool is_inline_layout;
+  QHBoxLayout *optionSelectorLayout = is_inline_layout ? new QHBoxLayout() : hlayout;
+
   int getParamValue() {
     const auto param_value = QString::fromStdString(params.get(key));
     const auto result = valueMap != nullptr ? valueMap->key(param_value) : param_value;
@@ -551,6 +552,10 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
     request_update = _update;
   }
 
+  void setFixedWidth(int width) {
+    label.setFixedWidth(width);
+  }
+
   inline void setLabel(const QString &text) { label.setText(text); }
 
   void setEnabled(bool enabled) {
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc b/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc
new file mode 100644
index 00000000000000..b918938d11813f
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc
@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
+
+ExpandableToggleRow::ExpandableToggleRow(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent)
+  : ToggleControlSP(title, desc, icon, false, parent) {
+
+  key = param.toStdString();
+  QObject::connect(this, &ExpandableToggleRow::toggleFlipped, this, &ExpandableToggleRow::toggleClicked);
+
+  collapsibleWidget = new QFrame(this);
+  collapsibleWidget->setContentsMargins(0, 0, 0, 0);
+  collapsibleWidget->setVisible(false);
+  QVBoxLayout *collapsible_layout = new QVBoxLayout();
+  collapsibleWidget->setLayout(collapsible_layout);
+
+  list = new ListWidgetSP(this, false);
+
+  main_layout->addWidget(collapsibleWidget);
+  collapsible_layout->addWidget(list);
+}
+
+void ExpandableToggleRow::toggleClicked(bool state) {
+  params.putBool(key, state);
+  collapsibleWidget->setVisible(state);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h b/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h
new file mode 100644
index 00000000000000..4bfcb9ef5506ad
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h
@@ -0,0 +1,50 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class ExpandableToggleRow : public ToggleControlSP {
+  Q_OBJECT
+
+public:
+  ExpandableToggleRow(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr);
+
+  void addItem(QWidget *widget) {
+    list->addItem(widget);
+  }
+
+  ListWidgetSP *innerList() {
+    return list;
+  }
+
+  void refresh() {
+    bool state = params.getBool(key);
+    if (state != toggle.on) {
+      toggle.togglePosition();
+    }
+    collapsibleWidget->setVisible(state);
+  }
+
+  bool isToggled() {
+    return params.getBool(key);
+  }
+
+  void showEvent(QShowEvent *event) override {
+    refresh();
+  }
+
+private:
+  void toggleClicked(bool state);
+
+  std::string key;
+  Params params;
+
+  ListWidgetSP *list;
+  QFrame *collapsibleWidget = nullptr;
+};

From f37fc62ed25a189cf128d6be7be3cefe0832f628 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 22 May 2025 20:54:43 -0400
Subject: [PATCH 0262/1434] Update Python packages (#942)

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 5db6b93bc550ed..ac3d40b7570d85 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 5db6b93bc550edf5425d0b22e49c9bf51ec23eab
+Subproject commit ac3d40b7570d85ba4f8056ac542a10cc8a82ccea

From b51043770b1accf00a05f74cd4ec71a9405b6ba2 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 24 May 2025 16:20:57 -0400
Subject: [PATCH 0263/1434] `CarControlSP`: live params (#943)

* car: initialize sunnypilot interface immediately

* init

* Revert "car: initialize sunnypilot interface immediately"

This reverts commit 2e0fc4d87eb312a3a74a61bb8cbc780e33efbfc7.

* show int

* show int

* work properly with cereal

* unused

* in its own module

* bump

* not yet

* not yet

* list comp and use structs directly

* allow default key if needed

* lint

* send it with None

* bump
---
 cereal/custom.capnp                           |  6 ++++
 opendbc_repo                                  |  2 +-
 selfdrive/car/helpers.py                      |  1 +
 selfdrive/controls/controlsd.py               | 29 +++++++++++----
 .../selfdrive/controls/controlsd_ext.py       | 18 +++++++---
 .../selfdrive/controls/lib/param_store.py     | 35 +++++++++++++++++++
 6 files changed, 79 insertions(+), 12 deletions(-)
 create mode 100644 sunnypilot/selfdrive/controls/lib/param_store.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index eb932b484eeb7d..503a2be86c0a88 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -167,6 +167,12 @@ struct CarParamsSP @0x80ae746ee2596b11 {
 
 struct CarControlSP @0xa5cd762cd951a455 {
   mads @0 :ModularAssistiveDrivingSystem;
+  params @1 :List(Param);
+
+  struct Param {
+    key @0 :Text;
+    value @1 :Text;
+  }
 }
 
 struct BackupManagerSP @0xf98d843bfd7004a3 {
diff --git a/opendbc_repo b/opendbc_repo
index ac3d40b7570d85..52d2957b47360e 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit ac3d40b7570d85ba4f8056ac542a10cc8a82ccea
+Subproject commit 52d2957b47360e36c02d626ed02981123af79b24
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
index 3f7a322c080af9..6ebacfc9764c31 100644
--- a/selfdrive/car/helpers.py
+++ b/selfdrive/car/helpers.py
@@ -55,5 +55,6 @@ def remove_deprecated(s: dict) -> dict:
   struct_dataclass = structs.CarControlSP(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
 
   struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {})))
+  struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
 
   return struct_dataclass
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index a5d97c3db02b68..576e73b7e605ed 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -1,5 +1,7 @@
 #!/usr/bin/env python3
 import math
+import threading
+import time
 from typing import SupportsFloat
 
 from cereal import car, log
@@ -36,7 +38,7 @@ def __init__(self) -> None:
     cloudlog.info("controlsd got CarParams")
 
     # Initialize sunnypilot controlsd extension
-    ControlsExt.__init__(self, self.params)
+    ControlsExt.__init__(self, self.CP, self.params)
 
     self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
 
@@ -222,14 +224,27 @@ def publish(self, CC, lac_log):
     cc_send.carControl = CC
     self.pm.send('carControl', cc_send)
 
+  def params_thread(self, evt):
+    while not evt.is_set():
+      self.get_params_sp()
+
+      time.sleep(0.1)
+
   def run(self):
     rk = Ratekeeper(100, print_delay_threshold=None)
-    while True:
-      self.update()
-      CC, lac_log = self.state_control()
-      self.publish(CC, lac_log)
-      self.run_ext(self.sm, self.pm)
-      rk.monitor_time()
+    e = threading.Event()
+    t = threading.Thread(target=self.params_thread, args=(e,))
+    try:
+      t.start()
+      while True:
+        self.update()
+        CC, lac_log = self.state_control()
+        self.publish(CC, lac_log)
+        self.run_ext(self.sm, self.pm)
+        rk.monitor_time()
+    finally:
+      e.set()
+      t.join()
 
 
 def main():
diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
index 68131001ad99b6..4978c01332aef7 100644
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -4,16 +4,22 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-
 import cereal.messaging as messaging
 from cereal import custom
 
+from opendbc.car import structs
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
+from openpilot.sunnypilot.selfdrive.controls.lib.param_store import ParamStore
 
 
 class ControlsExt:
-  def __init__(self, params: Params):
+  def __init__(self, CP: structs.CarParams, params: Params):
+    self.CP = CP
+    self.params = params
+    self.param_store = ParamStore(self.CP)
+    self.get_params_sp()
+
     cloudlog.info("controlsd_ext is waiting for CarParamsSP")
     self.CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
     cloudlog.info("controlsd_ext got CarParamsSP")
@@ -21,6 +27,9 @@ def __init__(self, params: Params):
     self.sm_services_ext = ['selfdriveStateSP']
     self.pm_services_ext = ['carControlSP']
 
+  def get_params_sp(self) -> None:
+    self.param_store.update(self.params)
+
   @staticmethod
   def get_lat_active(sm: messaging.SubMaster) -> bool:
     ss_sp = sm['selfdriveStateSP']
@@ -31,13 +40,14 @@ def get_lat_active(sm: messaging.SubMaster) -> bool:
     # MADS not available, use stock state to engage
     return bool(sm['selfdriveState'].active)
 
-  @staticmethod
-  def state_control_ext(sm: messaging.SubMaster) -> custom.CarControlSP:
+  def state_control_ext(self, sm: messaging.SubMaster) -> custom.CarControlSP:
     CC_SP = custom.CarControlSP.new_message()
 
     # MADS state
     CC_SP.mads = sm['selfdriveStateSP'].mads
 
+    CC_SP.params = self.param_store.publish()
+
     return CC_SP
 
   @staticmethod
diff --git a/sunnypilot/selfdrive/controls/lib/param_store.py b/sunnypilot/selfdrive/controls/lib/param_store.py
new file mode 100644
index 00000000000000..b2701bc010d676
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/param_store.py
@@ -0,0 +1,35 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import capnp
+
+from cereal import custom
+
+from opendbc.car import structs
+from openpilot.common.params import Params
+
+
+class ParamStore:
+  keys: list[str]
+  values: dict[str, str]
+
+  def __init__(self, CP: structs.CarParams):
+    universal_params: list[str] = []
+    brand_params: list[str] = []
+
+    self.keys = universal_params + brand_params
+    self.values = {}
+
+  def update(self, params: Params) -> None:
+    self.values = {k: params.get(k, encoding='utf8') or "0" for k in self.keys}
+
+  def publish(self) -> list[capnp.lib.capnp._DynamicStructBuilder]:
+    params_list: list[capnp.lib.capnp._DynamicStructBuilder] = []
+
+    for k in self.keys:
+      params_list.append(custom.CarControlSP.Param(key=k, value=self.values[k]))
+
+    return params_list

From b939efc7736bd94e4fb7e731a123da1c76823c42 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 25 May 2025 00:51:58 -0400
Subject: [PATCH 0264/1434] Hyundai CAN: re-enable auto-enable radar tracks
 (#945)

* Hyundai CAN: re-enable auto-enable radar tracks

* check if radar tracks config bit is already enabled

* only show success message if already enabled

* test if it would actually skip

* 5 bytes only

* tested skipping, revert

* lint

* move to opendbc right after fping

* more

* lint

* bump
---
 common/params_keys.h                       |  4 --
 opendbc_repo                               |  2 +-
 selfdrive/car/card.py                      |  1 -
 selfdrive/selfdrived/selfdrived.py         |  1 -
 selfdrive/ui/qt/offroad/developer_panel.cc | 17 --------
 selfdrive/ui/qt/offroad/developer_panel.h  |  1 -
 sunnypilot/selfdrive/car/car_specific.py   | 10 -----
 sunnypilot/selfdrive/car/interfaces.py     | 45 +---------------------
 sunnypilot/selfdrive/selfdrived/events.py  |  4 --
 9 files changed, 3 insertions(+), 82 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index d3a9ea7d6dda7f..cb6f50cacd1bfa 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -165,10 +165,6 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
 
     // sunnypilot car specific params
     {"HyundaiLongitudinalTuning", PERSISTENT},
-    {"HyundaiRadarTracks", PERSISTENT},
-    {"HyundaiRadarTracksConfirmed", PERSISTENT},
-    {"HyundaiRadarTracksPersistent", PERSISTENT},
-    {"HyundaiRadarTracksToggle", PERSISTENT},
 
     {"DynamicExperimentalControl", PERSISTENT},
 };
diff --git a/opendbc_repo b/opendbc_repo
index 52d2957b47360e..c5d42d54934a55 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 52d2957b47360e36c02d626ed02981123af79b24
+Subproject commit c5d42d54934a55808bea1a8acb081cfc62a273bc
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index fa4b10e0d1eba0..64e180367b0049 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -274,7 +274,6 @@ def controls_update(self, CS: car.CarState, CC: car.CarControl, CC_SP: custom.Ca
       # Initialize CarInterface, once controls are ready
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
       self.CI.init(self.CP, self.CP_SP, *self.can_callbacks)
-      sunnypilot_interfaces.init_interfaces(self.CP, self.CP_SP, self.params, *self.can_callbacks)
       # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 0b825869f4977e..2ebc2815bbf329 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -545,7 +545,6 @@ def params_thread(self, evt):
       self.personality = self.read_personality_param()
 
       self.mads.read_params()
-      self.car_events_sp.read_params()
       time.sleep(0.1)
 
   def run(self):
diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc
index 4d9d8a6ce7abf1..3e9647d2cf5cef 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.cc
+++ b/selfdrive/ui/qt/offroad/developer_panel.cc
@@ -45,18 +45,6 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(experimentalLongitudinalToggle);
 
-  // TODO-SP: Move to Vehicles panel when ported back
-  hyundaiRadarTracksToggle = new ParamControl(
-    "HyundaiRadarTracksToggle",
-    tr("Hyundai: Enable Radar Tracks"),
-    tr("Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. "
-       "This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance."), "");
-  hyundaiRadarTracksToggle->setConfirmation(true, false);
-  QObject::connect(hyundaiRadarTracksToggle, &ParamControl::toggleFlipped, [=](bool state) {
-    updateToggles(offroad);
-  });
-  addItem(hyundaiRadarTracksToggle);
-
   enableGithubRunner = new ParamControl("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "");
   addItem(enableGithubRunner);
 
@@ -96,9 +84,6 @@ void DeveloperPanel::updateToggles(bool _offroad) {
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
 
-    auto hyundai = CP.getBrand() == "hyundai";
-    auto hyundai_mando_radar = hyundai && (CP.getFlags() & 4096);
-
     if (!CP.getAlphaLongitudinalAvailable() || is_release) {
       params.remove("AlphaLongitudinalEnabled");
       experimentalLongitudinalToggle->setEnabled(false);
@@ -112,11 +97,9 @@ void DeveloperPanel::updateToggles(bool _offroad) {
     experimentalLongitudinalToggle->setVisible(CP.getAlphaLongitudinalAvailable() && !is_release);
 
     longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad);
-    hyundaiRadarTracksToggle->setVisible(hyundai_mando_radar && hasLongitudinalControl(CP));
   } else {
     longManeuverToggle->setEnabled(false);
     experimentalLongitudinalToggle->setVisible(false);
-    hyundaiRadarTracksToggle->setVisible(false);
   }
   experimentalLongitudinalToggle->refresh();
 
diff --git a/selfdrive/ui/qt/offroad/developer_panel.h b/selfdrive/ui/qt/offroad/developer_panel.h
index 591e5f0fdfdc3f..c15b574f5a8bd6 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.h
+++ b/selfdrive/ui/qt/offroad/developer_panel.h
@@ -19,7 +19,6 @@ class DeveloperPanel : public ListWidget {
   ButtonControl* errorLogBtn;
   ParamControl* longManeuverToggle;
   ParamControl* experimentalLongitudinalToggle;
-  ParamControl* hyundaiRadarTracksToggle;
   ParamControl* enableGithubRunner;
   bool is_release;
   bool offroad = false;
diff --git a/sunnypilot/selfdrive/car/car_specific.py b/sunnypilot/selfdrive/car/car_specific.py
index 649aceca016f90..7e6f300d738774 100644
--- a/sunnypilot/selfdrive/car/car_specific.py
+++ b/sunnypilot/selfdrive/car/car_specific.py
@@ -23,12 +23,6 @@ def __init__(self, CP: structs.CarParams, params):
     self.params = params
 
     self.low_speed_alert = False
-    self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks")
-    self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed")
-
-  def read_params(self):
-    self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks")
-    self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed")
 
   def update(self, CS: structs.CarState, events: Events):
     events_sp = EventsSP()
@@ -48,8 +42,4 @@ def update(self, CS: structs.CarState, events: Events):
       if self.low_speed_alert:
         events.add(EventName.belowSteerSpeed)
 
-    if self.CP.brand == 'hyundai':
-      if self.hyundai_radar_tracks and not self.hyundai_radar_tracks_confirmed:
-        events_sp.add(EventNameSP.hyundaiRadarTracksConfirmed)
-
     return events_sp
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index f2019f5ed79eb5..e2a232a3ef384a 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -5,12 +5,8 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
-from opendbc.car import Bus, structs
-from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable
-from opendbc.car.car_helpers import can_fingerprint
+from opendbc.car import structs
 from opendbc.car.interfaces import CarInterfaceBase
-from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
-from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC
 from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 from openpilot.common.params import Params
@@ -26,6 +22,7 @@ def log_fingerprint(CP: structs.CarParams) -> None:
   else:
     sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
 
+
 def _initialize_custom_longitudinal_tuning(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
                                            params: Params = None) -> None:
   if params is None:
@@ -63,47 +60,9 @@ def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs
   CP_SP.neuralNetworkLateralControl.fuzzyFingerprint = not exact_match
 
 
-def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
-  if params is None:
-    params = Params()
-
-  if CP.brand == 'hyundai':
-    if CP.flags & HyundaiFlags.MANDO_RADAR and CP.radarUnavailable:
-      # Having this automatic without a toggle causes a weird process replay diff because
-      # somehow it sees fewer logs than intended
-      if params.get_bool("HyundaiRadarTracksToggle"):
-        CP_SP.flags |= HyundaiFlagsSP.ENABLE_RADAR_TRACKS.value
-        if params.get_bool("HyundaiRadarTracks"):
-          CP.radarUnavailable = False
-
-
 def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   CP = CI.CP
   CP_SP = CI.CP_SP
 
   _initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params)
   _initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
-  _initialize_radar_tracks(CP, CP_SP, params)
-
-
-def _enable_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP, can_recv: CanRecvCallable,
-                        params: Params) -> None:
-  if CP.brand == 'hyundai':
-    if CP_SP.flags & HyundaiFlagsSP.ENABLE_RADAR_TRACKS:
-      can_recv()
-      _, fingerprint = can_fingerprint(can_recv)
-      radar_unavailable = RADAR_START_ADDR not in fingerprint[1] or Bus.radar not in HYUNDAI_DBC[CP.carFingerprint]
-
-      radar_tracks = params.get_bool("HyundaiRadarTracks")
-      radar_tracks_persistent = params.get_bool("HyundaiRadarTracksPersistent")
-
-      params.put_bool_nonblocking("HyundaiRadarTracksConfirmed", radar_tracks)
-
-      if not radar_tracks_persistent:
-        params.put_bool_nonblocking("HyundaiRadarTracks", not radar_unavailable)
-        params.put_bool_nonblocking("HyundaiRadarTracksPersistent", True)
-
-
-def init_interfaces(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params,
-                                can_recv: CanRecvCallable, can_send: CanSendCallable):
-  _enable_radar_tracks(CP, CP_SP, can_recv, params)
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py
index 67672649c5dc3c..d81345a14e5b68 100644
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -122,10 +122,6 @@ def get_event_msg_type(self):
     ET.NO_ENTRY: NoEntryAlert("Controls Mismatch: Lateral"),
   },
 
-  EventNameSP.hyundaiRadarTracksConfirmed: {
-    ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
-  },
-
   EventNameSP.experimentalModeSwitched: {
     ET.WARNING: NormalPermanentAlert("Experimental Mode Switched", duration=1.5)
   },

From 3c36374bed2387c86b3d7231aa56e4f5a64ac066 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 25 May 2025 10:50:09 +0200
Subject: [PATCH 0265/1434] ci: build upstream (tinnygrad) models from our
 pipeline (#498)

* Add job to fetch and upload model artifacts

Introduced a new `get_model` job to retrieve and upload model artifacts as part of the workflow. Updated the `build_model` job to download and clean up model files before building, ensuring an isolated and streamlined process. These changes improve modularity and artifact handling in the CI pipeline.

* Refine model file handling in build workflow

Restrict deletion and download commands to ".onnx" files to prevent unintended removal or overwriting of non-ONNX files. This ensures a more targeted and safer workflow for handling model artifacts.

* Update model artifact handling in build workflow

Changed artifact upload path to include only .onnx files and commented out the deletion of existing models. Also added a dependency for the build stage to ensure proper execution sequence.

* Update build workflow to refine model artifact handling

Removed unused code for deleting models and fixed the artifact path. Added a reference file logging custom name and upstream branch for better traceability. These changes streamline the workflow and improve clarity.

* Set dynamic run-name for sunnypilot build workflow

Added a customizable `run-name` field in the sunnypilot build model workflow. This allows more informative and dynamic naming based on input parameters such as `custom_name` or `upstream_branch`. Improves clarity and traceability in workflow runs.

* Add customization options and metadata generation to build

Introduce new inputs for file name prefix and 20Hz model specification in the workflow. Enable renaming of model files, generation of file hashes, and creation of a `metadata.json` file containing build details. This improves flexibility and enhances artifact information management.

* remove EOF

* No need for this hack anymore

* Add support for compiling ONNX models to Tinygrad format

* Add model directory environment variable and metadata generation script

* Fix quoting in model generator script command

* Refactor conditional flag for 20Hz input in build model script

* meh

* Add powersave management to build model workflow

* Add environment variable setup to build model workflow

* make it path call it a day

* kill me

* kill me x2

* mmm

* mmm

* Generate metadata.pkl

* Generate metadata.pkl

* ignore failure on getting model metadata

* Cleanup the existing onnxs

* Fix rm command syntax in build model script

* Cleaning a little

* Add optional file name parameter to generate_metadata function

* update

* stg

* linter

* more formatting

* Update sunnypilot model build workflow: improve custom naming, handle 20Hz default, and add commit date as output.

* Update commit date format in workflow script

Changed the commit date format in sunnypilot-build-model.yaml to a more human-readable format ('Month DD, YYYY'). This improves readability and consistency in the workflow outputs.

* Fix output naming in sunnypilot-build-model workflow

Corrected the output name from 'model_date' to 'commit_date' to match its usage. This ensures consistency and prevents potential errors in the workflow.

Add debug echo for model date in GitHub workflow

This change adds a debug echo statement to display the model date in the sunnypilot-build-model workflow. It helps verify the correct commit date is being set during the workflow process.

* Update BUILD_DIR path in sunnypilot workflow

Replaced hardcoded BUILD_DIR with a dynamic path using `github.workspace`. This enhances flexibility and ensures compatibility with different environments or runners.

* Revert "Update BUILD_DIR path in sunnypilot workflow"

This reverts commit 376971b616298f0ef72b4995868c25cbe12f0cae.

* Refactor model metadata generation to use short names

Replaced `file_name` with generated `short_name` for metadata and file naming. Introduced `create_short_name` function to simplify short name creation from custom names. Updated scripts and workflow to reflect the new parameter and improve metadata handling.

* `Use timezone-aware UTC timestamp for build_time`

Updated the code to use `datetime.now(timezone.utc)` instead of `datetime.utcnow()`. This ensures that the generated timestamps are timezone-aware, improving consistency and correctness in the output.

* Refactor short name generation logic in model metadata

Enhanced the `create_short_name` function to better handle name conversion by incorporating new rules for handling parentheses, alphanumeric words, and version pairs. Updated related variable names in metadata functions for improved clarity and consistency.

* Fix syntax error in assigning 'models' key in metadata

Corrected a typo where 'models' was missing quotes, causing it to be interpreted as a variable instead of a string key. This ensures proper metadata dictionary structure.

Update model metadata structure and JSON generation

Revised metadata to include detailed download URIs and a type field for artifacts. Enhanced the JSON generator with new fields like environment, runner, and overrides for better configurability. These changes aim to improve metadata clarity and compatibility with downstream processes.

* Refactor variable name from "escaped_name" to "short_name"

Renamed "escaped_name" to "short_name" across function parameters and internal logic for clarity and consistency. This improves readability and better aligns with its use case in the metadata generation process. No functional changes were introduced.

* Refactor variable names and improve type annotations.

Updated parameter names to align with Python naming conventions, enhancing readability and consistency. Added type annotations for function parameters to improve code clarity and maintainability.

* Refactor type annotations and clarify comments.

Updated type annotations to use "Str" for consistency with custom typing conventions. Improved clarity of a comment describing the normal case logic in the shortening function.

* Fix dict formatting in model_generator.py

Moved the "overrides" key for better alignment and consistency in the dictionary format. This improves readability without changing functionality.

Refactor model short name generation logic

Simplify and clarify the `create_short_name` function by improving readability and condensing comments. Adjust casing and truncation logic for single-word cases and handle versioned names more intuitively.

* Ensure custom file names are converted to lowercase.

When renaming files using a custom short name, enforce lowercase conversion to maintain consistency and prevent potential issues with case-sensitive file systems. This change applies to both the tinygrad and metadata file names.

* Use UTC alias for timezone in datetime imports

Replaced `timezone.utc` with `UTC` from the `datetime` module for clarity and consistency. This simplifies the representation of time zones and aligns with Python's updated best practices.

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .github/workflows/sunnypilot-build-model.yaml | 140 +++++++++++-------
 release/ci/model_generator.py                 | 131 ++++++++++++++++
 2 files changed, 219 insertions(+), 52 deletions(-)
 create mode 100755 release/ci/model_generator.py

diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml
index e845d80c662664..dc02d1d8d22ddb 100644
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -5,6 +5,8 @@ env:
   OUTPUT_DIR: ${{ github.workspace }}/output
   SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
   UPSTREAM_REPO: "commaai/openpilot"
+  TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo
+  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models
 
 on:
   workflow_dispatch:
@@ -15,35 +17,55 @@ on:
         default: 'master'
         type: string
       custom_name:
-        description: 'Custom name for the model'
-        required: false
-        type: string
-      file_name:
-        description: 'File name prefix for the model files'
+        description: 'Custom name for the model (no date, only name)'
         required: false
         type: string
       is_20hz:
         description: 'Is this a 20Hz model'
         required: false
         type: boolean
-        default: false
+        default: true
 
 
 run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
 
 jobs:
+  get_model:
+    runs-on: ubuntu-latest
+    outputs:
+      model_date: ${{ steps.commit-date.outputs.model_date }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: ${{ env.UPSTREAM_REPO }}
+          ref: ${{ github.event.inputs.upstream_branch }}
+          submodules: recursive
+      - name: Get commit date
+        id: commit-date
+        run: |
+          # Get the commit date in YYYY-MM-DD format
+          commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
+          echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
+          cat $GITHUB_OUTPUT
+      - run: git lfs pull
+      - name: 'Upload Artifact'
+        uses: actions/upload-artifact@v4
+        with:
+          name: models
+          path: ${{ github.workspace }}/selfdrive/modeld/models/*.onnx
+
   build_model:
     runs-on: self-hosted
+    needs: get_model
+    env:
+      MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
 
     steps:
       - uses: actions/checkout@v4
         with:
-          repository: ${{ env.UPSTREAM_REPO }}
-          ref: ${{ github.event.inputs.upstream_branch }}
           submodules: recursive
 
       - run: git lfs pull
-
       - name: Cache SCons
         uses: actions/cache@v4
         with:
@@ -60,31 +82,63 @@ jobs:
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
 
+      - name: Set environment variables
+        id: set-env
+        run: |
+          # Set up common environment
+          source /etc/profile;
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          printenv >> $GITHUB_ENV
+          if [[ "${{ runner.debug }}" == "1" ]]; then
+            cat $GITHUB_OUTPUT
+          fi
+
       - name: Setup build environment
         run: |
           mkdir -p "${BUILD_DIR}/"
           sudo find $BUILD_DIR/ -mindepth 1 -delete
           echo "Starting build stage..."
-          echo "Building from: ${{ env.UPSTREAM_REPO }} branch: ${{ github.event.inputs.upstream_branch }}"
-      
-      - name: Patch SConstruct to pass arbitrary cache
-        run: |
-          sed -i.bak 's#cache_dir =#default_cache_dir =#' ${{ github.workspace }}/SConstruct
-          printf '/default_cache_dir/a\\\ncache_dir = ARGUMENTS.get("cache_dir", default_cache_dir)\n' | sed -i.bak -f - ${{ github.workspace }}/SConstruct
-          cat ${{ github.workspace }}/SConstruct
+          echo "BUILD_DIR: ${BUILD_DIR}"
+          echo "CI_DIR: ${CI_DIR}"
+          echo "VERSION: ${{ steps.set-env.outputs.version }}"
+          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
+          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
+          echo "-------"
+          if [[ "${{ runner.debug }}" == "1" ]]; then
+            printenv
+          fi
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
+          rm -rf ${{ env.MODELS_DIR }}/*.onnx
+
+      - name: Download model artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: models
+          path: ${{ github.workspace }}/selfdrive/modeld/models
 
       - name: Build Model
         run: |
           source /etc/profile
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          scons -j$(nproc) cache_dir=${{ env.SCONS_CACHE_DIR }} ${{ github.workspace }}/selfdrive/modeld
+          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}"
+
+          # Loop through all .onnx files
+          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
+            base_name=$(basename "$onnx_file" .onnx)
+            output_file="${{ env.MODELS_DIR }}/${base_name}_tinygrad.pkl"
+
+            echo "Compiling: $onnx_file -> $output_file"
+            QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
+            QCOM=1 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
+          done
 
       - name: Prepare Output
         run: |
-          sudo rm -rf ${OUTPUT_DIR}
-          mkdir -p ${OUTPUT_DIR}
-          
+          sudo rm -rf ${{ env.OUTPUT_DIR }}
+          mkdir -p ${{ env.OUTPUT_DIR }}
+
           # Copy the model files
           rsync -avm \
             --include='*.dlc' \
@@ -94,40 +148,22 @@ jobs:
             --exclude='*' \
             --delete-excluded \
             --chown=comma:comma \
-            ./selfdrive/modeld/models/ ${OUTPUT_DIR}/
-          
-          # Rename files if file_name is provided
-          if [ ! -z "${{ inputs.file_name }}" ]; then
-            mv ${OUTPUT_DIR}/supercombo.thneed ${OUTPUT_DIR}/supercombo-${{ inputs.file_name }}.thneed
-            mv ${OUTPUT_DIR}/supercombo_metadata.pkl ${OUTPUT_DIR}/supercombo-${{ inputs.file_name }}_metadata.pkl
-          fi
-          
-          # Calculate SHA256 hashes
-          HASH=$(sha256sum ${OUTPUT_DIR}/supercombo*.thneed | cut -d' ' -f1)
-          METADATA_HASH=$(sha256sum ${OUTPUT_DIR}/supercombo*_metadata.pkl | cut -d' ' -f1)
-          
-          # Create metadata.json
-          cat > ${OUTPUT_DIR}/metadata.json << EOF
-          {
-            "display_name": "${{ inputs.custom_name || inputs.upstream_branch }}",
-            "full_name": "${{ inputs.file_name || 'default' }}",
-            "is_20hz": ${{ inputs.is_20hz || false }},
-            "files": {
-              "drive_model": {
-                "file_name": "$(basename ${OUTPUT_DIR}/supercombo*.thneed)",
-                "sha256": "${HASH}"
-              },
-              "metadata": {
-                "file_name": "$(basename ${OUTPUT_DIR}/supercombo*_metadata.pkl)",
-                "sha256": "${METADATA_HASH}"
-              }
-            },
-            "ref": "${{ inputs.upstream_branch }}",
-            "build_time": "$(date -u +"%Y-%m-%dT%H:%M:%SZ")"
-          }     
+            ${{ env.MODELS_DIR }}/ ${{ env.OUTPUT_DIR }}/
+
+          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
+            --model-dir "${{ env.MODELS_DIR }}" \
+            --output-dir "${{ env.OUTPUT_DIR }}" \
+            --custom-name "${{ env.MODEL_NAME }}" \
+            --upstream-branch "${{ inputs.upstream_branch }}" \
+            ${{ inputs.is_20hz && '--is-20hz' || '' }}
 
       - name: Upload Build Artifacts
         uses: actions/upload-artifact@v4
         with:
-          name: model-${{ github.event.inputs.custom_name || github.event.inputs.upstream_branch }}-${{ github.run_number }}
+          name: model-${{ env.MODEL_NAME }}-${{ github.run_number }}
           path: ${{ env.OUTPUT_DIR }}
+
+      - name: Re-enable powersave
+        if: always()
+        run: |
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
diff --git a/release/ci/model_generator.py b/release/ci/model_generator.py
new file mode 100755
index 00000000000000..069b8e41af9b7d
--- /dev/null
+++ b/release/ci/model_generator.py
@@ -0,0 +1,131 @@
+import os
+import sys
+import hashlib
+import json
+import re
+from pathlib import Path
+from datetime import datetime, UTC
+
+
+def create_short_name(full_name):
+  # Remove parentheses and extract alphanumeric words
+  clean_name = re.sub(r'\([^)]*\)', '', full_name)
+  words = [re.sub(r'[^a-zA-Z0-9]', '', word) for word in clean_name.split() if re.sub(r'[^a-zA-Z0-9]', '', word)]
+
+  if len(words) == 1:
+    # If there's only one word, return it as is, lowercased, truncated to 8 characters
+    truncated = words[0][:8]
+    return truncated.lower() if truncated.isupper() else truncated
+
+  # Handle special case: Name + Version (e.g., "Word A1" -> "WordA1")
+  if len(words) == 2 and re.match(r'^[A-Za-z]\d+$', words[1]):
+    first_word = words[0].lower() if words[0].isupper() else words[0]
+    return (first_word + words[1])[:8]
+
+  # Normal case: first letter and trailing numbers from each word
+  result = ''.join(word if word.isdigit() else word[0] + (re.search(r'\d+$', word) or [''])[0] for word in words)
+  return result[:8]
+
+
+def generate_metadata(model_path: Path, output_dir: Path, short_name: str):
+  model_path = model_path
+  output_path = output_dir
+  base = model_path.stem
+
+  # Define output files for tinygrad and metadata
+  tinygrad_file = output_path / f"{base}_tinygrad.pkl"
+  metadata_file = output_path / f"{base}_metadata.pkl"
+
+  if not tinygrad_file.exists() or not metadata_file.exists():
+    print(f"Error: Missing files for model {base} ({tinygrad_file} or {metadata_file})", file=sys.stderr)
+    return
+
+  # Calculate the sha256 hashes
+  with open(tinygrad_file, 'rb') as f:
+    tinygrad_hash = hashlib.sha256(f.read()).hexdigest()
+
+  with open(metadata_file, 'rb') as f:
+    metadata_hash = hashlib.sha256(f.read()).hexdigest()
+
+  # Rename the files if a custom file name is provided
+  if short_name:
+    tinygrad_file = tinygrad_file.rename(output_path / f"{base}_{short_name.lower()}_tinygrad.pkl")
+    metadata_file = metadata_file.rename(output_path / f"{base}_{short_name.lower()}_metadata.pkl")
+
+  # Build the metadata structure
+  model_metadata = {
+    "type": base.split("_")[-1] if "dmonitoring" not in base else "dmonitoring",
+    "artifact": {
+      "file_name": tinygrad_file.name,
+      "download_uri": {
+        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/<FILLME>",
+        "sha256": tinygrad_hash
+      }
+    },
+    "metadata": {
+      "file_name": metadata_file.name,
+      "download_uri": {
+        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/<FILLME>",
+        "sha256": metadata_hash
+      }
+    }
+  }
+
+  # Return model metadata
+  return model_metadata
+
+
+def create_metadata_json(models: list, output_dir: Path, custom_name=None, short_name=None, is_20hz=False, upstream_branch="unknown"):
+  metadata_json = {
+    "short_name": short_name,
+    "display_name": custom_name or upstream_branch,
+    "is_20hz": is_20hz,
+    "ref": upstream_branch,
+    "environment": "development",
+    "runner": "tinygrad",
+    "build_time": datetime.now(UTC).strftime("%Y-%m-%dT%H:%M:%SZ"),
+    "models": models,
+    "overrides": {},
+    "index": -1,
+    "minimum_selector_version": "-1",
+    "generation": "-1",
+  }
+
+  # Write metadata to output_dir
+  with open(output_dir / "metadata.json", "w") as f:
+    json.dump(metadata_json, f, indent=2)
+
+  print(f"Generated metadata.json with {len(models)} models.")
+
+
+if __name__ == "__main__":
+  import argparse
+  import glob
+
+  parser = argparse.ArgumentParser(description="Generate metadata for model files")
+  parser.add_argument("--model-dir", default="./models", help="Directory containing ONNX model files")
+  parser.add_argument("--output-dir", default="./output", help="Output directory for metadata")
+  parser.add_argument("--custom-name", help="Custom display name for the model")
+  parser.add_argument("--is-20hz", action="store_true", help="Whether this is a 20Hz model")
+  parser.add_argument("--upstream-branch", default="unknown", help="Upstream branch name")
+  args = parser.parse_args()
+
+  # Find all ONNX files in the given directory
+  model_paths = glob.glob(os.path.join(args.model_dir, "*.onnx"))
+  if not model_paths:
+    print(f"No ONNX files found in {args.model_dir}", file=sys.stderr)
+    sys.exit(1)
+
+  _output_dir = Path(args.output_dir)
+  _output_dir.mkdir(exist_ok=True, parents=True)
+  _models = []
+
+  for _model_path in model_paths:
+    _model_metadata = generate_metadata(Path(_model_path), _output_dir, create_short_name(args.custom_name))
+    if _model_metadata:
+      _models.append(_model_metadata)
+
+  if _models:
+    create_metadata_json(_models, _output_dir, args.custom_name, create_short_name(args.custom_name), args.is_20hz, args.upstream_branch)
+  else:
+    print("No models processed.", file=sys.stderr)

From 9b7502bd857476e536616214fc6c5f566c2a52ce Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 25 May 2025 17:10:16 +0200
Subject: [PATCH 0266/1434] model: Refactor modeld with modular runners and
 split model support (#877)

* Refactor model runner methods for improved abstraction.

Moved slicing logic to a private `_slice_outputs` method and decoupled `_run_model` for clearer subclass implementation. Removed redundant `output` attribute in `ModelState` to streamline data handling.

* Add output parsing to model_runner and remove duplicate logic

Integrates an output parser directly into `model_runner` for streamlined inference and parsing. Removes redundant parser initialization from `modeld` to avoid duplication and enhance maintainability.

* Reordering

* linter

* linter

* Refactor model handling with `ModelData` abstraction

Introduce a `ModelData` class to encapsulate model and metadata logic, improving code clarity and modularity. Refactor `ModelRunner` to manage multiple models and add conditional handling for fallback scenarios. Adjust `TinygradRunner` to validate and use the new `ModelData` structure.

* Refactor model handling to use dictionary-based structure

Replaces the model list with a dictionary keyed by model type to improve clarity and maintainability. Updates related logic and ensures consistent handling of model metadata and inputs. Adds `slice_outputs` implementation to the `TinygradRunner` for proper output parsing.

* Refactor model runners to support policy and vision separation

Introduced `TinygradPolicyRunner`, `TinygradVisionRunner`, and `TinygradSplitRunner` to enable separate handling of policy and vision models. Updated `TinygradRunner` initialization and input preparation to accommodate modular processing. Adjusted `modeld` to utilize the new runners, ensuring compatibility with separated model workflows.

* Refactor model runner initialization and simplify logic

Introduce `get_model_runner` to centralize model runner selection logic, replacing multiple conditional instantiations. Simplify the handling of model metadata by removing fallback logic and restructuring output slicing to enforce proper loading of model data. These changes improve code maintainability and clarity.

* Refactor model data access for TinygradRunner initialization

Update references to access nested artifact properties and align with structural changes to the model data schema. This simplifies input shapes handling and ensures compatibility with updated model attributes.

* Refactor imports and clean up redundant code.

Removed unused imports and improved formatting for clarity and maintainability. These changes simplify the codebase by eliminating unnecessary dependencies and ensuring consistency.

* Refactor model output parsing with specialized parsers.

Introduce abstract `_parse_outputs` method to standardize parsing logic. Add `SplitParser` for specialized parsing in `TinygradVisionRunner` and `TinygradPolicyRunner`. This improves modularity and paves the way for easier parser customization.

* Add parser for model output processing in modeld_v2

Introduce a new `Parser` class to handle parsing and processing of model outputs, including MDN, binary cross-entropy, and categorical cross-entropy outputs. This modularizes the logic, improves clarity, and prepares for handling various types of model data.

* Add `input_shapes` property to model runners

Introduce a new `input_shapes` property in the abstract base class and its implementation in derived classes. This provides a standardized way to access the input shapes of models, improving clarity and consistency in the model runners.

* Refactor model runner to use private `_model_data` attribute

Replaced public `model_data` with private `_model_data` for improved encapsulation. Updated all references and property accessors accordingly. Simplified model type handling by using raw types where applicable.

* Remove debug print statement from model_runner.py

The unnecessary `print(model_type)` statement was removed as it served no functional purpose in the code. This improves code cleanliness and avoids unintended console output during execution.

* Refactor `_parse_outputs` call in `run_model`.

Replaced the use of `self.parser.parse_outputs` with `self._parse_outputs` for clarity and consistency. Updated method signature to align with the revised usage.

* Refactor model output parsing for clarity and scope separation

Moved specific parsing logic (e.g., lane_lines, lead) from `parse_model_outputs` to `parse_policy_outputs` to better align with functional responsibilities. This improves modularity and readability while maintaining existing functionality.

* Refactor model_runner to simplify result handling

Renamed variable `result` to `parsed_result` for clarity and removed unnecessary slicing during model output parsing. These changes improve code readability and maintain consistency within the `run_model` method.

* Adjust _parse_outputs method signature in model_runner

    Updated the method signature of _parse_outputs to accept a single np.ndarray instead of a dictionary. This aligns with the intended data structure and ensures consistency across subclasses implementing this abstract method.

* Refactor ModelRunner to enforce abstract base class compliance

Updated `ModelRunner` and its subclasses to properly inherit from `ABC` while refactoring methods to ensure compliance with Python's abstract base class standards. Streamlined the handling of `_parse_outputs` and added a new `input_shapes` property for improved functionality.

* Fix buffer length issue in 20Hz model initialization

Adjusted `FULL_HISTORY_BUFFER_LEN` by adding +1 for `full_features_20Hz` to address compatibility issues with the current FoF model. Added a comment noting potential failure for other models with this adjustment.

* Refactor TinygradRunner to remove abstract methods.

Simplified the TinygradRunner class by removing unnecessary @abstractmethod decorators and redundant method definitions. This streamlines the code and aligns it more effectively with its current usage and implementation.

* Refactor model runner classes and enhance type annotations

Simplified model runner implementations, added type annotations, and improved code readability and maintainability. Introduced new type definitions, updated metadata handling, and standardized input/output parsing across all runner classes. Minor comment update in `modeld.py` for clarity.

* Refactor model runner classes with detailed docstrings.

Enhanced class and function docstrings across model_runner.py for better clarity and maintainability. Descriptions now include detailed explanations of attributes, purposes, and workflows to aid understanding and future development.

* Refactor model runner classes and add TICI hardware optimization

Simplified and clarified class definitions, comments, and functionality for ModelRunner subclasses. Introduced the use of QCOM environment variable on TICI for potential hardware acceleration. Enhanced input/output handling and error reporting across Tinygrad and ONNX implementations.

* Update parser import and usage to use CombinedParser

Replaced the Parser class with CombinedParser in model_runner.py. This change ensures consistency with the updated parsing logic, aligning with the latest requirements for combined model output handling.

* Refactor TinygradRunner hierarchy for modular parsers

Reorganized the TinygradRunner and its specialized runners (Vision, Policy, and Supercombo) into a cleaner, modular structure using composable classes. This consolidates parser logic, removes redundancy, and simplifies initialization by leveraging a shared base class with a dictionary-based parser method.

* Refactor model runners to use ModularRunner as abstract base.

Introduce a new `ModularRunner` class to enforce a consistent interface across model runners. Updated existing runners, including `ModelRunner`, `SupercomboTinygrad`, `PolicyTinygrad`, and `VisionTinygrad`, to extend `ModularRunner`. Added abstract methods and properties to enhance modularity and code maintainability.

* Refactor model runners into modular components.

This commit separates the logic for Tinygrad, ONNX, and split runners into clearly defined modules and components. It introduces `PolicyTinygrad`, `VisionTinygrad`, `SupercomboTinygrad`, and centralized helpers for cleaner architecture. The changes improve modularity and maintainability of the model running and parsing workflows.

* Simplify imports and clean up unused code in ONNXRunner.

Removed unused imports and redundant environmental variables to streamline the codebase. Consolidated necessary imports and organized type definitions for improved readability and maintenance.

* Standardize imports and add model data validation.

Updated import paths to ensure consistency across modules by using `openpilot` as the base. Introduced validation in `_parse_outputs` methods to handle cases where `_model_data` is not initialized, preventing potential runtime errors.

* Remove unused import and fix whitespace in runners

The unused import `ModelData` was removed from `tinygrad_runner.py` to clean up the code. Additionally, extraneous whitespace was corrected in `onnx_runner.py` for improved readability and consistency.

* Remove unnecessary blank line in import statements

Cleaned up import section by removing an extra blank line. This helps maintain consistency and adheres to code style conventions.

* BROKEN!! Staging code but its not gonna work. Also I realized we need to run the split models in 2 stages because the output of one is immediately needed for the input of the other. We might handle it inside of the model_runner instead

* update smooth

* Revert "update smooth"

This reverts commit c335712e6e1ee189459ce34dfc9d4028feb9470f.

* match case made this very hard to read.

* shouldnt be there

* Refactor to allow TR (soon TM)

* TR 7 is .1

* metadata

* .2=3

* Remove redundant comments and clean up conditional blocks in modeld.py.

* Undoing wrong buffer

* Refactor model initialization and adjust ONNX runner import

Reorganized numpy input buffer initialization and updated `temporal_idxs` logic for better clarity and efficiency. Conditional import for ONNXRunner added for non-TICI platforms to optimize imports. These changes improve maintainability and compatibility across platforms.

* Update CURRENT_SELECTOR_VERSION to 4

Bump the CURRENT_SELECTOR_VERSION constant from 3 to 4 to reflect changes in the selector logic or requirements. This ensures compatibility with the updated selector version while maintaining the minimum required version as 2.

* Add output_slices property to model runners

Introduce output_slices property to provide access to the output slices for individual and combined models. This ensures consistent handling of output slices across vision and policy models, improving modularity and usability.

* Refactor imports to use SplitModelConstants consistently

Updated import references to use the renamed `SplitModelConstants` class for consistency across files. This change ensures clarity and better alignment with the updated class naming convention.

* Refactor buffer initialization and desired curvature handling

Refactored model input buffer initialization for improved clarity and consistency, leveraging dynamic shape calculations. Extracted `process_desired_curvature` method to encapsulate logic for handling 3D and non-3D cases. Simplified temporal index generation and related calculations for better maintainability.

* Refactor desire reshape dims logic in modeld.py

Adjust logic for setting desire reshape dimensions to handle `is_20hz_3d` separately. This improves clarity and ensures proper handling of different model runner configurations.

* Fix off-by-one error in full_desire buffer initialization

The full_desire buffer length was mistakenly set to full_history_buffer_len + 1. This change corrects it to match the intended full_history_buffer_len, ensuring proper alignment with other buffers.

* Simplify desire reshape logic by removing unused condition.

Removed the `is_20hz_3d` condition and associated reshape logic since it is no longer needed. This streamlines the code and avoids unnecessary checks for unused configurations.

* Refactor buffer initialization for 20Hz model variants

Reorganized buffer initialization logic to prioritize the 20Hz_3D condition. This improves clarity and ensures specific handling of different 20Hz configurations. Adjusted the order of conditions to streamline execution flow.

* Refactor: Move `get_action_from_model` and constants to `Model` class to improve encapsulation and readability.

* 12 line reshaping red diff

* .2 to match old models delay

* mypy fixes

* Revert "12 line reshaping red diff"

This reverts commit 8c7280f629043f0485749e2536a20af74c9209b2.

* mypy

* remove this

* Fix desired curvature for models which do not output desired_curvature

* fix FoF

* flip policy and vision outs to allow FoF and tomb raider to live in harmony using conditional `if 'this' in outs:'`

* noqa

* single

* sunnypilot modeld.py

* action

* overrides methodology

* combine split outputs to its own method

* comments

* Fix static checker line length

* static will fail on line length
lines:

286,
206,
70 - 77,
159,
168

* Address E501 line length violations

* This will make TR better while not effecting FoF/VFF at all

* Reduce this to one conditional and just call normally in vision/policy

* Align with upstream in our own way.

* check for desired curvature in outputs first

* outputs

* Use a cleaner import method

* Fix output

* Clean up some values

* Only call on init

* slight cleanup

* names!!!!!!!!!

* Refactor overrides structure to support key-value pairs.

The overrides structure now uses a list of key-value pairs instead of fixed lat/long fields. This change improves flexibility, allowing dynamic addition of override parameters. Code adjustments ensure backward compatibility and consistent behavior throughout the application.

* Refactor: Use local variable for SplitModelConstants

Introduce a local `constants` variable to replace repeated access to `SplitModelConstants`. This simplifies code readability and adheres to linter recommendations for line length.

* Refactor model constant handling to improve modularity

Replaced direct usage of model constants with dynamic access through model runners for better scalability and maintainability. This change centralizes constant definitions, reduces redundancy, and ensures clearer integration with different model types.

---------

Co-authored-by: discountchubbs <alexgrant990@gmail.com>
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 cereal/custom.capnp                           |   8 +-
 .../controls/lib/longitudinal_planner.py      |   4 -
 sunnypilot/modeld/constants.py                |   5 +-
 sunnypilot/modeld/fill_model_msg.py           |  15 +-
 sunnypilot/modeld/modeld.py                   |  32 +++-
 sunnypilot/modeld_v2/fill_model_msg.py        |  35 ++--
 sunnypilot/modeld_v2/get_model_metadata.py    |  24 ++-
 sunnypilot/modeld_v2/model_runner.py          | 142 --------------
 sunnypilot/modeld_v2/modeld.py                | 121 ++++++++----
 .../modeld_v2/parse_model_outputs_split.py    | 127 +++++++++++++
 sunnypilot/models/fetcher.py                  |  14 +-
 sunnypilot/models/helpers.py                  |   2 +-
 sunnypilot/models/runners/constants.py        |  18 ++
 sunnypilot/models/runners/helpers.py          |  35 ++++
 sunnypilot/models/runners/model_runner.py     | 176 ++++++++++++++++++
 sunnypilot/models/runners/onnx/onnx_runner.py |  62 ++++++
 .../models/runners/tinygrad/model_types.py    |  59 ++++++
 .../runners/tinygrad/tinygrad_runner.py       | 129 +++++++++++++
 sunnypilot/models/split_model_constants.py    |  94 ++++++++++
 .../controls/lib/longitudinal_planner.py      |   2 -
 20 files changed, 879 insertions(+), 225 deletions(-)
 delete mode 100644 sunnypilot/modeld_v2/model_runner.py
 create mode 100644 sunnypilot/modeld_v2/parse_model_outputs_split.py
 create mode 100644 sunnypilot/models/runners/constants.py
 create mode 100644 sunnypilot/models/runners/helpers.py
 create mode 100644 sunnypilot/models/runners/model_runner.py
 create mode 100644 sunnypilot/models/runners/onnx/onnx_runner.py
 create mode 100644 sunnypilot/models/runners/tinygrad/model_types.py
 create mode 100644 sunnypilot/models/runners/tinygrad/tinygrad_runner.py
 create mode 100644 sunnypilot/models/split_model_constants.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 503a2be86c0a88..8ae77875f2141f 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -78,6 +78,11 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     stock @2;
   }
 
+  struct Override {
+    key @0 :Text;
+    value @1 :Text;
+  }
+
   struct ModelBundle {
     index @0 :UInt32;
     internalName @1 :Text;
@@ -88,8 +93,9 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     environment @6 :Text;
     runner @7 :Runner;
     is20hz @8 :Bool;
-    ref @9 :Text;  # New field
+    ref @9 :Text;
     minimumSelectorVersion @10 :UInt32;
+    overrides @11 :List(Override);
   }
 }
 
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 377ce7c2cb1205..4e842f8d1b910b 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -178,10 +178,6 @@ def update(self, sm):
       output_a_target = min(output_a_target_mpc, output_a_target_e2e)
       self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
 
-    if not self.is_stock:
-      # To support non Tomb Raider models
-      output_a_target, self.output_should_stop = output_a_target_mpc, output_should_stop_mpc
-
     for idx in range(2):
       accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
     self.output_a_target = np.clip(output_a_target, accel_clip[0], accel_clip[1])
diff --git a/sunnypilot/modeld/constants.py b/sunnypilot/modeld/constants.py
index 8f63afa4617805..18abc6c96055a7 100644
--- a/sunnypilot/modeld/constants.py
+++ b/sunnypilot/modeld/constants.py
@@ -1,7 +1,8 @@
 import numpy as np
 
 def index_function(idx, max_val=192, max_idx=32):
-  return (max_val) * ((idx/max_idx)**2)
+  return max_val * ((idx/max_idx)**2)
+
 
 class ModelConstants:
   # time and distance indices
@@ -63,6 +64,7 @@ class ModelConstants:
 
   POLY_PATH_DEGREE = 4
 
+
 # model outputs slices
 class Plan:
   POSITION = slice(0, 3)
@@ -71,6 +73,7 @@ class Plan:
   T_FROM_CURRENT_EULER = slice(9, 12)
   ORIENTATION_RATE = slice(12, 15)
 
+
 class Meta:
   ENGAGED = slice(0, 1)
   # next 2, 4, 6, 8, 10 seconds
diff --git a/sunnypilot/modeld/fill_model_msg.py b/sunnypilot/modeld/fill_model_msg.py
index 1c40425bdd0389..608f24424d78fb 100644
--- a/sunnypilot/modeld/fill_model_msg.py
+++ b/sunnypilot/modeld/fill_model_msg.py
@@ -50,7 +50,7 @@ def fill_xyz_poly(builder, degree, x, y, z):
   builder.zCoefficients = coeffs[:, 2].tolist()
 
 def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
-                   net_output_data: dict[str, np.ndarray], publish_state: PublishState,
+                   net_output_data: dict[str, np.ndarray], action: log.ModelDataV2.Action, publish_state: PublishState,
                    vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
                    timestamp_eof: int, model_execution_time: float, valid: bool,
                    v_ego: float, steer_delay: float, meta_const) -> None:
@@ -76,8 +76,11 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   driving_model_data.frameDropPerc = frame_drop_perc
   driving_model_data.modelExecutionTime = model_execution_time
 
-  action = driving_model_data.action
-  action.desiredCurvature = desired_curvature
+  # Populate drivingModelData.action
+  driving_model_data_action = driving_model_data.action
+  driving_model_data_action.desiredAcceleration = action.desiredAcceleration
+  driving_model_data_action.shouldStop = action.shouldStop
+  driving_model_data_action.desiredCurvature = desired_curvature
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -111,8 +114,10 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
 
   # lateral planning
-  action = modelV2.action
-  action.desiredCurvature = desired_curvature
+  modelV2_action = modelV2.action
+  modelV2_action.desiredAcceleration = action.desiredAcceleration
+  modelV2_action.shouldStop = action.shouldStop
+  modelV2_action.desiredCurvature = desired_curvature
 
   # times at X_IDXS according to model plan
   PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
index 744b90465bd026..2ac3f5700e1b5d 100755
--- a/sunnypilot/modeld/modeld.py
+++ b/sunnypilot/modeld/modeld.py
@@ -18,12 +18,15 @@
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
+
 from openpilot.sunnypilot.modeld.runners import ModelRunner, Runtime
 from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
 from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
-from openpilot.sunnypilot.modeld.constants import ModelConstants
+from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
+from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants
 from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
-from openpilot.sunnypilot.models.helpers import get_model_path, load_metadata, prepare_inputs, load_meta_constants
+
 
 PROCESS_NAME = "selfdrive.modeld.modeld_snpe"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -34,6 +37,7 @@
 
 METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
 
+
 class FrameMeta:
   frame_id: int = 0
   timestamp_sof: int = 0
@@ -55,6 +59,10 @@ def __init__(self, context: CLContext):
     self.frame = ModelFrame(context)
     self.wide_frame = ModelFrame(context)
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
+    bundle = get_active_bundle()
+    overrides = {override.key: override.value for override in bundle.overrides}
+    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".2"))
+    self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
 
     model_paths = get_model_path()
     self.model_metadata = load_metadata()
@@ -118,6 +126,15 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_
         self.inputs['prev_desired_curv'][-1:] = outputs['desired_curvature'][0, :]
     return outputs
 
+  def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
+                            long_action_t: float) -> log.ModelDataV2.Action:
+    plan = model_output['plan'][0]
+    desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], ModelConstants.T_IDXS,
+                                                     action_t=long_action_t)
+    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
+
+    return log.ModelDataV2.Action(desiredAcceleration=float(desired_accel), shouldStop=bool(should_stop))
+
 
 def main(demo=False):
   cloudlog.warning("modeld init")
@@ -158,7 +175,7 @@ def main(demo=False):
 
   # messaging
   pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
-  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
+  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
   params = Params()
@@ -184,8 +201,10 @@ def main(demo=False):
 
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
-  # TODO this needs more thought, use .2s extra for now to estimate other delays
-  steer_delay = CP.steerActuatorDelay + .2
+  # Enable lagd support for sunnypilot modeld
+  steer_delay = sm["liveDelay"].lateralDelay + model.LAT_SMOOTH_SECONDS
+  long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
+  prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
 
@@ -280,7 +299,8 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
-      fill_model_msg(drivingdata_send, modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
+      action = model.get_action_from_model(model_output, prev_action, long_delay + DT_MDL)
+      fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen,
                      v_ego, steer_delay, model.meta)
 
diff --git a/sunnypilot/modeld_v2/fill_model_msg.py b/sunnypilot/modeld_v2/fill_model_msg.py
index c6129936cad020..411b8177f30668 100644
--- a/sunnypilot/modeld_v2/fill_model_msg.py
+++ b/sunnypilot/modeld_v2/fill_model_msg.py
@@ -3,30 +3,21 @@
 import numpy as np
 from cereal import log
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, Plan
-from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
+from openpilot.selfdrive.controls.lib.drive_helpers import get_curvature_from_plan
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 ConfidenceClass = log.ModelDataV2.ConfidenceClass
 
 
-def curv_from_psis(psi_target, psi_rate, vego, delay):
-  vego = np.clip(vego, MIN_SPEED, np.inf)
-  curv_from_psi = psi_target / (vego * delay)  # epsilon to prevent divide-by-zero
-  return 2 * curv_from_psi - psi_rate / vego
+def get_curvature_from_output(output, vego, lat_action_t, current_generation=None):
+  if current_generation != 11:
+    if desired_curv := output.get('desired_curvature'):  # If the model outputs the desired curvature, use that directly
+      return float(desired_curv[0, 0])
 
-
-def get_curvature_from_plan(plan, vego, delay):
-  psi_target = np.interp(delay, ModelConstants.T_IDXS, plan[:, Plan.T_FROM_CURRENT_EULER][:, 2])
-  psi_rate = plan[:, Plan.ORIENTATION_RATE][0, 2]
-  return curv_from_psis(psi_target, psi_rate, vego, delay)
-
-
-def get_curvature_from_output(output, vego, delay):
-  if desired_curv := output.get('desired_curvature'):  # If the model outputs the desired curvature, use that directly
-    return float(desired_curv[0, 0])
-
-  return float(get_curvature_from_plan(output['plan'][0], vego, delay))
+  plan_output = output['plan'][0]
+  return float(get_curvature_from_plan(plan_output[:, Plan.T_FROM_CURRENT_EULER][:, 2], plan_output[:, Plan.ORIENTATION_RATE][:, 2],
+                                       ModelConstants.T_IDXS, vego, lat_action_t))
 
 
 class PublishState:
@@ -76,7 +67,7 @@ def fill_lane_line_meta(builder, lane_lines, lane_line_probs):
   builder.rightProb = lane_line_probs[2]
 
 def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
-                   net_output_data: dict[str, np.ndarray], v_ego: float, delay: float,
+                   net_output_data: dict[str, np.ndarray], action: log.ModelDataV2.Action,
                    publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
                    frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
                    valid: bool, model_meta) -> None:
@@ -85,15 +76,13 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   extended_msg.valid = valid
   base_msg.valid = valid
 
-  desired_curvature = float(get_curvature_from_output(net_output_data, v_ego, delay))
-
   driving_model_data = base_msg.drivingModelData
 
   driving_model_data.frameId = vipc_frame_id
   driving_model_data.frameIdExtra = vipc_frame_id_extra
   driving_model_data.frameDropPerc = frame_drop_perc
   driving_model_data.modelExecutionTime = model_execution_time
-  driving_model_data.action.desiredCurvature = desired_curvature
+  driving_model_data.action = action
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -126,8 +115,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   # poly path
   fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
 
-  # lateral planning
-  modelV2.action.desiredCurvature = desired_curvature
+  # action (includes lateral planning now)
+  modelV2.action = action
 
   # times at X_IDXS according to model plan
   PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
diff --git a/sunnypilot/modeld_v2/get_model_metadata.py b/sunnypilot/modeld_v2/get_model_metadata.py
index 144860204fd79c..e0b5adc51b05a2 100755
--- a/sunnypilot/modeld_v2/get_model_metadata.py
+++ b/sunnypilot/modeld_v2/get_model_metadata.py
@@ -4,22 +4,34 @@
 import onnx
 import codecs
 import pickle
+from typing import Any
+
 
 def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
   shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
   name = value_info.name
   return name, shape
 
+
+def get_metadata_value_by_name(model:onnx.ModelProto, name:str) -> str | Any:
+  for prop in model.metadata_props:
+    if prop.key == name:
+      return prop.value
+  return None
+
+
 if __name__ == "__main__":
   model_path = pathlib.Path(sys.argv[1])
   model = onnx.load(str(model_path))
-  i = [x.key for x in model.metadata_props].index('output_slices')
-  output_slices = model.metadata_props[i].value
+  output_slices = get_metadata_value_by_name(model, 'output_slices')
+  assert output_slices is not None, 'output_slices not found in metadata'
 
-  metadata = {}
-  metadata['output_slices'] = pickle.loads(codecs.decode(output_slices.encode(), "base64"))
-  metadata['input_shapes'] = dict([get_name_and_shape(x) for x in model.graph.input])
-  metadata['output_shapes'] = dict([get_name_and_shape(x) for x in model.graph.output])
+  metadata = {
+    'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
+    'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
+    'input_shapes': dict([get_name_and_shape(x) for x in model.graph.input]),
+    'output_shapes': dict([get_name_and_shape(x) for x in model.graph.output])
+  }
 
   metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
   with open(metadata_path, 'wb') as f:
diff --git a/sunnypilot/modeld_v2/model_runner.py b/sunnypilot/modeld_v2/model_runner.py
deleted file mode 100644
index 10c80b87699713..00000000000000
--- a/sunnypilot/modeld_v2/model_runner.py
+++ /dev/null
@@ -1,142 +0,0 @@
-import os
-import pickle
-from abc import ABC, abstractmethod
-import numpy as np
-
-from cereal import custom
-from openpilot.sunnypilot.modeld_v2 import MODEL_PATH, MODEL_PKL_PATH, METADATA_PATH
-from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLMem
-from openpilot.sunnypilot.modeld_v2.runners.ort_helpers import make_onnx_cpu_runner, ORT_TYPES_TO_NP_TYPES
-from openpilot.sunnypilot.modeld_v2.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
-from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser
-from openpilot.system.hardware import TICI
-from openpilot.system.hardware.hw import Paths
-
-from openpilot.sunnypilot.models.helpers import get_active_bundle
-from tinygrad.tensor import Tensor
-
-if TICI:
-  os.environ['QCOM'] = '1'
-
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-CUSTOM_MODEL_PATH = Paths.model_root()
-ModelManager = custom.ModelManagerSP
-
-
-class ModelRunner(ABC):
-  """Abstract base class for model runners that defines the interface for running ML models."""
-
-  def __init__(self):
-    """Initialize the model runner with paths to model and metadata files."""
-    metadata_path = METADATA_PATH
-    self.is_20hz = None
-    self._drive_model = None
-    self._metadata_model = None
-
-    if bundle := get_active_bundle():
-      bundle_models = {model.type.raw: model for model in bundle.models}
-      self._drive_model = bundle_models.get(ModelManager.Model.Type.supercombo)
-      self._metadata_model = self._drive_model.metadata
-      self.is_20hz = bundle.is20hz
-
-    # Override the metadata path if a metadata model is found in the active bundle
-    if self._metadata_model:
-      metadata_path = f"{CUSTOM_MODEL_PATH}/{self._metadata_model.fileName}"
-
-    with open(metadata_path, 'rb') as f:
-      self.model_metadata = pickle.load(f)
-
-    self.input_shapes = self.model_metadata['input_shapes']
-    self.output_slices = self.model_metadata['output_slices']
-    self.inputs: dict = {}
-    self.parser = Parser()
-
-  @abstractmethod
-  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray], frames: dict[str, DrivingModelFrame]) -> dict:
-    """Prepare inputs for model inference."""
-    raise NotImplementedError
-
-  @abstractmethod
-  def _run_model(self):
-    """Run model inference with prepared inputs."""
-    raise NotImplementedError("This method should be implemented in subclasses.")
-
-  def _slice_outputs(self, model_outputs: np.ndarray) -> dict:
-    """Slice model outputs according to metadata configuration."""
-    parsed_outputs = {k: model_outputs[np.newaxis, v] for k, v in self.output_slices.items()}
-    if SEND_RAW_PRED:
-      parsed_outputs['raw_pred'] = model_outputs.copy()
-    return parsed_outputs
-
-  def run_model(self) -> dict[str, np.ndarray]:
-    """Run model inference with prepared inputs and parse outputs."""
-    result: dict[str, np.ndarray] = self.parser.parse_outputs(self._slice_outputs(self._run_model()))
-    return result
-
-
-class TinygradRunner(ModelRunner):
-  """Tinygrad implementation of model runner for TICI hardware."""
-
-  def __init__(self):
-    super().__init__()
-
-    model_pkl_path = MODEL_PKL_PATH
-    if self._drive_model:
-      model_pkl_path = f"{CUSTOM_MODEL_PATH}/{self._drive_model.artifact.fileName}"
-      assert model_pkl_path.endswith('_tinygrad.pkl'), f"Invalid model file: {model_pkl_path} for TinygradRunner"
-
-    # Load Tinygrad model
-    with open(model_pkl_path, "rb") as f:
-      try:
-        self.model_run = pickle.load(f)
-      except FileNotFoundError as e:
-        assert "/dev/kgsl-3d0" not in str(e), "Model was built on C3 or C3X, but is being loaded on PC"
-        raise
-
-    self.input_to_dtype = {}
-    self.input_to_device = {}
-
-    for idx, name in enumerate(self.model_run.captured.expected_names):
-      self.input_to_dtype[name] = self.model_run.captured.expected_st_vars_dtype_device[idx][2]  # 2 is the dtype
-      self.input_to_device[name] = self.model_run.captured.expected_st_vars_dtype_device[idx][3]  # 3 is the device
-
-  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray], frames: dict[str, DrivingModelFrame]) -> dict:
-    # Initialize image tensors if not already done
-    for key in imgs_cl:
-      if TICI and key not in self.inputs:
-        self.inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=self.input_to_dtype[key])
-      elif not TICI:
-        shape = frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key])
-        self.inputs[key] = Tensor(shape, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize()
-
-    # Update numpy inputs
-    for key, value in numpy_inputs.items():
-      if key not in imgs_cl:
-        self.inputs[key] = Tensor(value, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize()
-
-    return self.inputs
-
-  def _run_model(self):
-    return self.model_run(**self.inputs).numpy().flatten()
-
-
-class ONNXRunner(ModelRunner):
-  """ONNX implementation of model runner for non-TICI hardware."""
-
-  def __init__(self):
-    super().__init__()
-    self.runner = make_onnx_cpu_runner(MODEL_PATH)
-
-    self.input_to_nptype = {
-      model_input.name: ORT_TYPES_TO_NP_TYPES[model_input.type]
-      for model_input in self.runner.get_inputs()
-    }
-
-  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray], frames: dict[str, DrivingModelFrame]) -> dict:
-    self.inputs = numpy_inputs
-    for key in imgs_cl:
-      self.inputs[key] = frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key]).astype(dtype=self.input_to_nptype[key])
-    return self.inputs
-
-  def _run_model(self):
-    return self.runner.run(None, self.inputs)[0].flatten()
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index a52d844aeb285b..4c8acafcad07c7 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -1,7 +1,4 @@
 #!/usr/bin/env python3
-from openpilot.system.hardware import TICI
-
-#
 import time
 import numpy as np
 import cereal.messaging as messaging
@@ -13,20 +10,22 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import config_realtime_process
+from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
-from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
-from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLContext
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
 
+from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output
+from openpilot.sunnypilot.modeld_v2.constants import Plan
+from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLContext
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
-from openpilot.sunnypilot.modeld_v2.model_runner import ONNXRunner, TinygradRunner
+
+from openpilot.sunnypilot.models.helpers import get_active_bundle
+from openpilot.sunnypilot.models.runners.helpers import get_model_runner
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
-LAT_SMOOTH_SECONDS = 0.0
 
 
 class FrameMeta:
@@ -38,23 +37,32 @@ def __init__(self, vipc=None):
     if vipc is not None:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
+
 class ModelState:
   frames: dict[str, DrivingModelFrame]
   inputs: dict[str, np.ndarray]
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
+  temporal_idxs: slice | np.ndarray
 
   def __init__(self, context: CLContext):
     try:
-      self.model_runner = TinygradRunner() if TICI else ONNXRunner()
+      self.model_runner = get_model_runner()
+      self.constants = self.model_runner.constants
     except Exception as e:
       cloudlog.exception(f"Failed to initialize model runner: {str(e)}")
+      raise
+
+    model_bundle = get_active_bundle()
+    self.generation = model_bundle.generation
+    overrides = {override.key: override.value for override in model_bundle.overrides}
+
+    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".2"))
+    self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
+    self.MIN_LAT_CONTROL_SPEED = 0.3
 
     buffer_length = 5 if self.model_runner.is_20hz else 2
     self.frames = {'input_imgs': DrivingModelFrame(context, buffer_length), 'big_input_imgs': DrivingModelFrame(context, buffer_length)}
-    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    if self.model_runner.is_20hz:
-      self.full_features_buffer = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
-      self.full_desire = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
+    self.prev_desire = np.zeros(self.constants.DESIRE_LEN, dtype=np.float32)
 
     # img buffers are managed in openCL transform code
     self.numpy_inputs = {}
@@ -63,11 +71,19 @@ def __init__(self, context: CLContext):
       if key not in self.frames: # Managed by opencl
         self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
 
-    if self.model_runner.is_20hz:
+    if self.model_runner.is_20hz_3d:  # split models
+      self.full_features_buffer = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN,  self.constants.FEATURE_LEN), dtype=np.float32)
+      self.full_desire = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN, self.constants.DESIRE_LEN), dtype=np.float32)
+      self.full_prev_desired_curv = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN, self.constants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
+      self.temporal_idxs = slice(-1-(self.constants.TEMPORAL_SKIP*(self.constants.INPUT_HISTORY_BUFFER_LEN-1)), None, self.constants.TEMPORAL_SKIP)
+    elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d:
+      self.full_features_buffer = np.zeros((self.constants.FULL_HISTORY_BUFFER_LEN + 1, self.constants.FEATURE_LEN), dtype=np.float32)
+      self.full_desire = np.zeros((self.constants.FULL_HISTORY_BUFFER_LEN + 1, self.constants.DESIRE_LEN), dtype=np.float32)
       num_elements = self.numpy_inputs['features_buffer'].shape[1]
       step_size = int(-100 / num_elements)
-      self.full_features_buffer_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
-      self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1, self.numpy_inputs['desire'].shape[2])
+      self.temporal_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
+      self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1,
+                                  self.numpy_inputs['desire'].shape[2])
 
   def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
@@ -76,11 +92,15 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_
     new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
     self.prev_desire[:] = inputs['desire']
 
-    if self.model_runner.is_20hz:
+    if self.model_runner.is_20hz_3d:  # split models
+      self.full_desire[0,:-1] = self.full_desire[0,1:]
+      self.full_desire[0,-1] = new_desire
+      self.numpy_inputs['desire'][:] = self.full_desire.reshape((1, self.constants.INPUT_HISTORY_BUFFER_LEN, self.constants.TEMPORAL_SKIP, -1)).max(axis=2)
+    elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d:  # 20hz supercombo
       self.full_desire[:-1] = self.full_desire[1:]
       self.full_desire[-1] = new_desire
       self.numpy_inputs['desire'][:] = self.full_desire.reshape(self.desire_reshape_dims).max(axis=2)
-    else:
+    else: # not 20hz
       length = inputs['desire'].shape[0]
       self.numpy_inputs['desire'][0, :-1] = self.numpy_inputs['desire'][0, 1:]
       self.numpy_inputs['desire'][0, -1, :length] = new_desire[:length]
@@ -101,11 +121,15 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_
     # Run model inference
     outputs = self.model_runner.run_model()
 
-    if self.model_runner.is_20hz:
+    if self.model_runner.is_20hz_3d: # split models
+      self.full_features_buffer[0, :-1] = self.full_features_buffer[0, 1:]
+      self.full_features_buffer[0, -1] = outputs['hidden_state'][0, :]
+      self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
+    elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d:  # 20hz supercombo
       self.full_features_buffer[:-1] = self.full_features_buffer[1:]
       self.full_features_buffer[-1] = outputs['hidden_state'][0, :]
-      self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[self.full_features_buffer_idxs]
-    else:
+      self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[self.temporal_idxs]
+    else: # not 20hz
       feature_len = outputs['hidden_state'].shape[1]
       self.numpy_inputs['features_buffer'][0, :-1] = self.numpy_inputs['features_buffer'][0, 1:]
       self.numpy_inputs['features_buffer'][0, -1, :feature_len] = outputs['hidden_state'][0, :feature_len]
@@ -119,11 +143,36 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_
         input_name_prev = 'prev_desired_curv'
 
       if input_name_prev is not None:
-        length = outputs['desired_curvature'][0].size
-        self.numpy_inputs[input_name_prev][0, :-length, 0] = self.numpy_inputs[input_name_prev][0, length:, 0]
-        self.numpy_inputs[input_name_prev][0, -length:, 0] = outputs['desired_curvature'][0]
+        self.process_desired_curvature(outputs, input_name_prev)
     return outputs
 
+  def process_desired_curvature(self, outputs, input_name_prev):
+    if self.model_runner.is_20hz_3d:  # split models
+      self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
+      self.full_prev_desired_curv[0,-1,:] = outputs['desired_curvature'][0, :]
+      self.numpy_inputs[input_name_prev][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
+      if self.generation == 11:
+        self.numpy_inputs[input_name_prev][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
+    else:
+      length = outputs['desired_curvature'][0].size
+      self.numpy_inputs[input_name_prev][0, :-length, 0] = self.numpy_inputs[input_name_prev][0, length:, 0]
+      self.numpy_inputs[input_name_prev][0, -length:, 0] = outputs['desired_curvature'][0]
+
+  def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
+                            lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
+    plan = model_output['plan'][0]
+    desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
+                                                     action_t=long_action_t)
+    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
+
+    desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.generation)
+    if v_ego > self.MIN_LAT_CONTROL_SPEED:
+      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
+    else:
+      desired_curvature = prev_action.desiredCurvature
+
+    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),desiredAcceleration=float(desired_accel), shouldStop=bool(should_stop))
+
 
 def main(demo=False):
   cloudlog.warning("modeld init")
@@ -170,7 +219,7 @@ def main(demo=False):
   params = Params()
 
   # setup filter to track dropped frames
-  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
+  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / model.constants.MODEL_FREQ)
   frame_id = 0
   last_vipc_frame_id = 0
   run_count = 0
@@ -189,8 +238,9 @@ def main(demo=False):
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
-  # Enable lagd support for modeld_v2
-  steer_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
+  # TODO Move smooth seconds to action function
+  long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
+  prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
 
@@ -220,7 +270,7 @@ def main(demo=False):
 
       if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000:
         cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\
-                         extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})")
+                       extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})")
 
     else:
       # Use single camera
@@ -232,18 +282,20 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
+    steer_delay = sm["liveDelay"].lateralDelay + model.LAT_SMOOTH_SECONDS
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
-      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
+      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics,
+                                             False).astype(np.float32)
       model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
       live_calib_seen = True
 
     traffic_convention = np.zeros(2)
     traffic_convention[int(is_rhd)] = 1
 
-    vec_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    if desire >= 0 and desire < ModelConstants.DESIRE_LEN:
+    vec_desire = np.zeros(model.constants.DESIRE_LEN, dtype=np.float32)
+    if desire >= 0 and desire < model.constants.DESIRE_LEN:
       vec_desire[desire] = 1
 
     # tracked dropped frames
@@ -276,7 +328,10 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
-      fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay,
+
+      action = model.get_action_from_model(model_output, prev_action, steer_delay + DT_MDL, long_delay + DT_MDL, v_ego)
+      prev_action = action
+      fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, load_meta_constants())
 
diff --git a/sunnypilot/modeld_v2/parse_model_outputs_split.py b/sunnypilot/modeld_v2/parse_model_outputs_split.py
new file mode 100644
index 00000000000000..7fab66e038d028
--- /dev/null
+++ b/sunnypilot/modeld_v2/parse_model_outputs_split.py
@@ -0,0 +1,127 @@
+import numpy as np
+from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
+
+
+def safe_exp(x, out=None):
+  # -11 is around 10**14, more causes float16 overflow
+  return np.exp(np.clip(x, -np.inf, 11), out=out)
+
+
+def sigmoid(x):
+  return 1. / (1. + safe_exp(-x))
+
+
+def softmax(x, axis=-1):
+  x -= np.max(x, axis=axis, keepdims=True)
+  if x.dtype == np.float32 or x.dtype == np.float64:
+    safe_exp(x, out=x)
+  else:
+    x = safe_exp(x)
+  x /= np.sum(x, axis=axis, keepdims=True)
+  return x
+
+
+class Parser:
+  def __init__(self, ignore_missing=False):
+    self.ignore_missing = ignore_missing
+
+  def check_missing(self, outs, name):
+    if name not in outs and not self.ignore_missing:
+      raise ValueError(f"Missing output {name}")
+    return name not in outs
+
+  def parse_categorical_crossentropy(self, name, outs, out_shape=None):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    if out_shape is not None:
+      raw = raw.reshape((raw.shape[0],) + out_shape)
+    outs[name] = softmax(raw, axis=-1)
+
+  def parse_binary_crossentropy(self, name, outs):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    outs[name] = sigmoid(raw)
+
+  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    raw = raw.reshape((raw.shape[0], max(in_N, 1), -1))
+
+    n_values = (raw.shape[2] - out_N)//2
+    pred_mu = raw[:,:,:n_values]
+    pred_std = safe_exp(raw[:,:,n_values: 2*n_values])
+
+    if in_N > 1:
+      weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype)
+      for i in range(out_N):
+        weights[:,:,i - out_N] = softmax(raw[:,:,i - out_N], axis=-1)
+
+      if out_N == 1:
+        for fidx in range(weights.shape[0]):
+          idxs = np.argsort(weights[fidx][:,0])[::-1]
+          weights[fidx] = weights[fidx][idxs]
+          pred_mu[fidx] = pred_mu[fidx][idxs]
+          pred_std[fidx] = pred_std[fidx][idxs]
+      full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
+      outs[name + '_weights'] = weights
+      outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
+      outs[name + '_stds_hypotheses'] = pred_std.reshape(full_shape)
+
+      pred_mu_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
+      pred_std_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
+      for fidx in range(weights.shape[0]):
+        for hidx in range(out_N):
+          idxs = np.argsort(weights[fidx,:,hidx])[::-1]
+          pred_mu_final[fidx, hidx] = pred_mu[fidx, idxs[0]]
+          pred_std_final[fidx, hidx] = pred_std[fidx, idxs[0]]
+    else:
+      pred_mu_final = pred_mu
+      pred_std_final = pred_std
+
+    if out_N > 1:
+      final_shape = tuple([raw.shape[0], out_N] + list(out_shape))
+    else:
+      final_shape = tuple([raw.shape[0],] + list(out_shape))
+    outs[name] = pred_mu_final.reshape(final_shape)
+    outs[name + '_stds'] = pred_std_final.reshape(final_shape)
+
+  def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
+    if 'lane_lines' in outs:
+      self.parse_mdn('lane_lines', outs, in_N=0, out_N=0,
+                     out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+      self.parse_mdn('road_edges', outs, in_N=0, out_N=0,
+                     out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+      self.parse_mdn('lead', outs, in_N=SplitModelConstants.LEAD_MHP_N, out_N=SplitModelConstants.LEAD_MHP_SELECTION,
+                     out_shape=(SplitModelConstants.LEAD_TRAJ_LEN,SplitModelConstants.LEAD_WIDTH))
+      if 'sim_pose' in outs:
+        self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+      for k in ['lead_prob', 'lane_lines_prob']:
+        self.parse_binary_crossentropy(k, outs)
+
+  def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.WIDE_FROM_DEVICE_WIDTH,))
+    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+    self.split_outputs(outs)
+    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(SplitModelConstants.DESIRE_PRED_LEN,SplitModelConstants.DESIRE_PRED_WIDTH))
+    self.parse_binary_crossentropy('meta', outs)
+    return outs
+
+  def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
+                   out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
+    self.split_outputs(outs)
+    if 'lat_planner_solution' in outs:
+      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    if 'desired_curvature' in outs:
+      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.DESIRED_CURV_WIDTH,))
+    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(SplitModelConstants.DESIRE_PRED_WIDTH,))
+    return outs
+
+  def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    outs = self.parse_vision_outputs(outs)
+    outs = self.parse_policy_outputs(outs)
+    return outs
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 7076cf186195dc..27fac086734c1a 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -43,6 +43,16 @@ def _parse_model(model_data) -> custom.ModelManagerSP.Model:
       model.metadata = ModelParser._parse_artifact(metadata)
     return model
 
+  @staticmethod
+  def _parse_overrides(overrides_data: dict[str, str]) -> list[custom.ModelManagerSP.Override]:
+    overrides = []
+    for key, value in overrides_data.items():
+      override = custom.ModelManagerSP.Override()
+      override.key = key
+      override.value = value
+      overrides.append(override)
+    return overrides
+
   @staticmethod
   def _parse_bundle(bundle) -> custom.ModelManagerSP.ModelBundle:
     model_bundle = custom.ModelManagerSP.ModelBundle()
@@ -56,6 +66,7 @@ def _parse_bundle(bundle) -> custom.ModelManagerSP.ModelBundle:
     model_bundle.runner = bundle.get("runner", custom.ModelManagerSP.Runner.snpe)
     model_bundle.is20hz = bundle.get("is_20hz", False)
     model_bundle.minimumSelectorVersion = int(bundle["minimum_selector_version"])
+    model_bundle.overrides = ModelParser._parse_overrides(bundle.get("overrides", {}))
 
     return model_bundle
 
@@ -149,8 +160,9 @@ def get_available_bundles(self) -> list[custom.ModelManagerSP.ModelBundle]:
   bundles = model_fetcher.get_available_bundles()
   for bundle in bundles:
     for model in bundle.models:
+      model_overrides = {override.key: override.value for override in bundle.overrides}
       # Print model details
-      print(f"Bundle: {bundle.internalName}, Type: {model.type}, Status: {bundle.status}")
+      print(f"Bundle: {bundle.internalName}, Type: {model.type}, Status: {bundle.status}, Overrides: {model_overrides}")
       # Print artifact details
       print(f"Artifact: {model.artifact.fileName}, Download URI: {model.artifact.downloadUri.uri}")
       # Print metadata details
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index e6001f26424417..344a5179c9e025 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -19,7 +19,7 @@
 from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
-CURRENT_SELECTOR_VERSION = 3
+CURRENT_SELECTOR_VERSION = 4
 REQUIRED_MIN_SELECTOR_VERSION = 2
 
 USE_ONNX = os.getenv('USE_ONNX', PC)
diff --git a/sunnypilot/models/runners/constants.py b/sunnypilot/models/runners/constants.py
new file mode 100644
index 00000000000000..cbd1fdb3760634
--- /dev/null
+++ b/sunnypilot/models/runners/constants.py
@@ -0,0 +1,18 @@
+import os
+import numpy as np
+from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLMem
+from openpilot.system.hardware.hw import Paths
+from cereal import custom
+
+# Type definitions for clarity
+NumpyDict = dict[str, np.ndarray]
+ShapeDict = dict[str, tuple[int, ...]]
+SliceDict = dict[str, slice]
+CLMemDict = dict[str, CLMem]
+FrameDict = dict[str, DrivingModelFrame]
+
+ModelType = custom.ModelManagerSP.Model.Type
+Model = custom.ModelManagerSP.Model
+
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+CUSTOM_MODEL_PATH = Paths.model_root()
diff --git a/sunnypilot/models/runners/helpers.py b/sunnypilot/models/runners/helpers.py
new file mode 100644
index 00000000000000..6a128b340e4dfe
--- /dev/null
+++ b/sunnypilot/models/runners/helpers.py
@@ -0,0 +1,35 @@
+from openpilot.sunnypilot.models.helpers import get_active_bundle
+from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
+from openpilot.sunnypilot.models.runners.tinygrad.tinygrad_runner import TinygradRunner, TinygradSplitRunner
+from openpilot.sunnypilot.models.runners.constants import ModelType
+from openpilot.system.hardware import TICI
+
+if not TICI:
+  from openpilot.sunnypilot.models.runners.onnx.onnx_runner import ONNXRunner
+
+def get_model_runner() -> ModelRunner:
+  """
+  Factory function to create and return the appropriate ModelRunner instance.
+
+  Selects between ONNXRunner (for non-TICI platforms) and TinygradRunner
+  (for TICI platforms), choosing TinygradSplitRunner if separate vision/policy
+  models are detected in the active bundle.
+
+  :return: An instance of a ModelRunner subclass (ONNXRunner, TinygradRunner, or TinygradSplitRunner).
+  """
+  if not TICI:
+    return ONNXRunner()
+
+  # On TICI platforms, use Tinygrad runners
+  bundle = get_active_bundle()
+  if bundle and bundle.models:
+    model_types = {m.type.raw for m in bundle.models}
+    # Check if the bundle uses separate vision and policy models
+    if ModelType.vision in model_types or ModelType.policy in model_types:
+      return TinygradSplitRunner()
+    # Otherwise, assume a single model (likely supercombo)
+    if bundle.models:
+      return TinygradRunner(bundle.models[0].type.raw)
+
+  # Default fallback to TinygradRunner with the supercombo type if bundle info is missing/incomplete
+  return TinygradRunner(ModelType.supercombo)
diff --git a/sunnypilot/models/runners/model_runner.py b/sunnypilot/models/runners/model_runner.py
new file mode 100644
index 00000000000000..c210d5b87e73d9
--- /dev/null
+++ b/sunnypilot/models/runners/model_runner.py
@@ -0,0 +1,176 @@
+import os
+from abc import abstractmethod, ABC
+
+import numpy as np
+from openpilot.sunnypilot.models.helpers import get_active_bundle
+from openpilot.system.hardware import TICI
+from openpilot.sunnypilot.models.runners.constants import NumpyDict, ShapeDict, CLMemDict, FrameDict, Model, SliceDict, SEND_RAW_PRED
+from openpilot.system.hardware.hw import Paths
+import pickle
+
+CUSTOM_MODEL_PATH = Paths.model_root()
+
+
+# Set QCOM environment variable for TICI devices, potentially enabling hardware acceleration
+if TICI:
+  os.environ['QCOM'] = '1'
+
+
+class ModelData:
+  """
+  Stores metadata and configuration for a specific machine learning model.
+
+  This class loads model metadata (like input shapes and output slices)
+  from a pickle file associated with a model instance.
+
+  :param model: The machine learning model object containing metadata.
+  """
+  def __init__(self, model: Model):
+    self.model = model
+    self.metadata = model.metadata
+    self.input_shapes: ShapeDict = {}
+    self.output_slices: SliceDict = {}
+    if self.metadata:
+      self._load_metadata()
+
+  def _load_metadata(self) -> None:
+    """Loads input shapes and output slices from the model's metadata pickle file."""
+    metadata_path = f"{CUSTOM_MODEL_PATH}/{self.metadata.fileName}"
+    with open(metadata_path, 'rb') as f:
+      model_metadata = pickle.load(f)
+    self.input_shapes = model_metadata.get('input_shapes', {})
+    self.output_slices = model_metadata.get('output_slices', {})
+
+
+class ModularRunner(ABC):
+  """
+  Represents a modular runner for handling and slicing model outputs.
+
+  This abstract base class is designed to provide an interface for modular
+  parsing and processing of model outputs. Classes inheriting from it must
+  implement the specified abstract methods, defining how model outputs
+  should be handled and stored. The primary goal is to enable structured
+  parsing of outputs through a dictionary-based method mapping.
+
+  :ivar parser_method_dict: Mapping dictionary containing parser methods
+      for handling specific types of outputs.
+  :type parser_method_dict: dict
+  """
+
+  @property
+  @abstractmethod
+  def parser_method_dict(self) -> dict:
+    pass
+
+  @parser_method_dict.setter
+  @abstractmethod
+  def parser_method_dict(self, value: dict) -> None:
+    pass
+
+  @abstractmethod
+  def _slice_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    pass
+
+
+class ModelRunner(ModularRunner):
+  """
+  Abstract base class for managing and executing machine learning models.
+
+  Provides a common interface for loading models, preparing inputs, running
+  inference, and slicing/parsing outputs based on model metadata. Derived
+  classes implement the specifics of input preparation and model execution
+  for different frameworks (e.g., Tinygrad, ONNX).
+  """
+
+  def __init__(self):
+    """Initializes the model runner, loading the active model bundle."""
+    self.is_20hz: bool | None = None
+    self.is_20hz_3d: bool | None = None
+    self.models: dict[int, ModelData] = {}
+    self._model_data: ModelData | None = None  # Active model data for current operation
+    self._parser_method_dict: dict = {}
+    self.inputs: dict = {}
+    self._parser = None
+    self._load_models()
+    self._constants = None
+
+  @property
+  def constants(self):
+    return self._constants
+
+  @property
+  def parser_method_dict(self) -> dict:
+    """Returns the dictionary mapping model types to their respective parsing methods."""
+    return self._parser_method_dict
+
+  @parser_method_dict.setter
+  def parser_method_dict(self, value: dict) -> None:
+    """Sets the dictionary mapping model types to their respective parsing methods."""
+    self._parser_method_dict = value
+
+  def _load_models(self) -> None:
+    """Loads the active model bundle configuration and sets up ModelData."""
+    bundle = get_active_bundle()
+    if not bundle:
+      raise ValueError("No active model bundle found, why are we being executed?")
+
+    self.models = {model.type.raw: ModelData(model) for model in bundle.models}
+    self.is_20hz = bundle.is20hz
+    self.is_20hz_3d = False
+
+  @property
+  def input_shapes(self) -> ShapeDict:
+    """Returns the input shapes for the currently active model."""
+    if self._model_data:
+      return self._model_data.input_shapes
+    raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+
+  @property
+  def output_slices(self) -> SliceDict:
+    """Returns the output slices for the currently active model."""
+    if self._model_data:
+      return self._model_data.output_slices
+    raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+
+  @abstractmethod
+  def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict:
+    """
+    Abstract method to prepare inputs for model inference.
+
+    :param imgs_cl: Dictionary of OpenCL memory objects for image inputs.
+    :param numpy_inputs: Dictionary of numpy arrays for non-image inputs.
+    :param frames: Dictionary of DrivingModelFrame objects for context.
+    :return: Dictionary of prepared inputs ready for the model.
+    """
+    raise NotImplementedError
+
+  @abstractmethod
+  def _run_model(self) -> NumpyDict:
+    """
+    Abstract method to execute model inference with prepared inputs.
+
+    :return: Dictionary containing the model's raw output arrays.
+    """
+    raise NotImplementedError
+
+  def _slice_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """
+    Slices the raw model output array based on the output_slices metadata.
+
+    :param model_outputs: The raw numpy array output from the model.
+    :return: A dictionary where keys are output names and values are sliced numpy arrays.
+    """
+    if not self._model_data:
+      raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+    sliced_outputs = {k: model_outputs[np.newaxis, v] for k, v in self._model_data.output_slices.items()}
+    if SEND_RAW_PRED:
+      sliced_outputs['raw_pred'] = model_outputs.copy()  # Optionally include the full raw output
+    return sliced_outputs
+
+  def run_model(self) -> NumpyDict:
+    """
+    Executes the model inference pipeline: runs the model and parses outputs.
+
+    :return: Dictionary containing the final parsed model outputs.
+    """
+    return self._run_model()  # Parsing is handled within specific runner implementations
diff --git a/sunnypilot/models/runners/onnx/onnx_runner.py b/sunnypilot/models/runners/onnx/onnx_runner.py
new file mode 100644
index 00000000000000..1ffead45604341
--- /dev/null
+++ b/sunnypilot/models/runners/onnx/onnx_runner.py
@@ -0,0 +1,62 @@
+import numpy as np
+
+from openpilot.sunnypilot.modeld_v2 import MODEL_PATH
+from openpilot.sunnypilot.modeld_v2.runners.ort_helpers import make_onnx_cpu_runner, ORT_TYPES_TO_NP_TYPES
+from openpilot.sunnypilot.models.runners.constants import ModelType, ShapeDict, CLMemDict, NumpyDict, FrameDict
+from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
+from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
+
+
+class ONNXRunner(ModelRunner):
+  """
+  A ModelRunner implementation for executing ONNX models using ONNX Runtime CPU.
+
+  Handles loading the ONNX model, preparing inputs as numpy arrays, running
+  inference, and parsing outputs. This runner is typically used on non-TICI platforms.
+  """
+  def __init__(self):
+    super().__init__()
+    # Initialize ONNX Runtime session for the model at MODEL_PATH
+    self.runner = make_onnx_cpu_runner(MODEL_PATH)
+    # Map expected input names to numpy dtypes
+    self.input_to_nptype = {
+      model_input.name: ORT_TYPES_TO_NP_TYPES[model_input.type]
+      for model_input in self.runner.get_inputs()
+    }
+    # For ONNX, _model_data isn't strictly necessary as shapes/types come from the runner
+    # However, we might still need output_slices if custom models define them.
+    # We assume supercombo type for potentially loading output_slices metadata if available.
+    self._model_data = self.models.get(ModelType.supercombo)
+    self._constants = ModelConstants  # Constants for ONNX models, if needed
+
+  @property
+  def input_shapes(self) -> ShapeDict:
+    """Returns the input shapes defined in the ONNX model."""
+    # ONNX shapes are derived directly from the model definition via the runner
+    return {runner_input.name: runner_input.shape for runner_input in self.runner.get_inputs()}
+
+  def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict:
+    """Prepares inputs for the ONNX model as numpy arrays."""
+    self.inputs = numpy_inputs # Start with non-image numpy inputs
+    # Convert image inputs from OpenCL buffers to numpy arrays
+    for key in imgs_cl:
+      buffer = frames[key].buffer_from_cl(imgs_cl[key])
+      reshaped_buffer = buffer.reshape(self.input_shapes[key])
+      self.inputs[key] = reshaped_buffer.astype(dtype=self.input_to_nptype[key])
+    return self.inputs
+
+  def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses the raw ONNX model outputs using the standard Parser."""
+    # Use slicing if metadata is available, otherwise pass raw outputs
+    if self._model_data is None:
+      raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+
+    outputs_to_parse = self._slice_outputs(model_outputs) if self._model_data else {'raw_pred': model_outputs}
+    result: NumpyDict = self.parser_method_dict[self._model_data.model.type.raw](outputs_to_parse)
+    return result
+
+  def _run_model(self) -> NumpyDict:
+    """Runs the ONNX model inference and parses the outputs."""
+    # Execute the ONNX Runtime session
+    outputs = self.runner.run(None, self.inputs)[0].flatten()
+    return self._parse_outputs(outputs)
diff --git a/sunnypilot/models/runners/tinygrad/model_types.py b/sunnypilot/models/runners/tinygrad/model_types.py
new file mode 100644
index 00000000000000..ba388aed937892
--- /dev/null
+++ b/sunnypilot/models/runners/tinygrad/model_types.py
@@ -0,0 +1,59 @@
+import os
+from abc import ABC
+
+import numpy as np
+from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
+from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
+from openpilot.sunnypilot.models.runners.constants import ModelType, NumpyDict
+from openpilot.sunnypilot.models.runners.model_runner import ModularRunner
+from openpilot.system.hardware.hw import Paths
+
+
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+CUSTOM_MODEL_PATH = Paths.model_root()
+
+
+class PolicyTinygrad(ModularRunner, ABC):
+  """
+  A TinygradRunner specialized for policy-only models.
+
+  Uses a SplitParser to handle outputs specific to the policy part of a split model setup.
+  """
+  def __init__(self):
+    self._policy_parser = SplitParser()
+    self.parser_method_dict[ModelType.policy] = self._parse_policy_outputs
+
+  def _parse_policy_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses policy model outputs using SplitParser."""
+    result: NumpyDict = self._policy_parser.parse_policy_outputs(self._slice_outputs(model_outputs))
+    return result
+
+class VisionTinygrad(ModularRunner, ABC):
+  """
+  A TinygradRunner specialized for vision-only models.
+
+  Uses a SplitParser to handle outputs specific to the vision part of a split model setup.
+  """
+  def __init__(self):
+    self._vision_parser = SplitParser()
+    self.parser_method_dict[ModelType.vision] = self._parse_vision_outputs
+
+  def _parse_vision_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses vision model outputs using SplitParser."""
+    result: NumpyDict = self._vision_parser.parse_vision_outputs(self._slice_outputs(model_outputs))
+    return result
+
+class SupercomboTinygrad(ModularRunner, ABC):
+  """
+  A TinygradRunner specialized for vision-only models.
+
+  Uses a SplitParser to handle outputs specific to the vision part of a split model setup.
+  """
+  def __init__(self):
+    self._supercombo_parser = CombinedParser()
+    self.parser_method_dict[ModelType.supercombo] = self._parse_supercombo_outputs
+
+  def _parse_supercombo_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses vision model outputs using SplitParser."""
+    result: NumpyDict = self._supercombo_parser.parse_outputs(self._slice_outputs(model_outputs))
+    return result
diff --git a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
new file mode 100644
index 00000000000000..2e4fd45294efc1
--- /dev/null
+++ b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
@@ -0,0 +1,129 @@
+import pickle
+
+import numpy as np
+from openpilot.sunnypilot.modeld_v2.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
+from openpilot.sunnypilot.models.runners.constants import CLMemDict, FrameDict, NumpyDict, ModelType, ShapeDict, CUSTOM_MODEL_PATH, SliceDict
+from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
+from openpilot.sunnypilot.models.runners.tinygrad.model_types import PolicyTinygrad, VisionTinygrad, SupercomboTinygrad
+from openpilot.system.hardware import TICI
+from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
+from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
+
+from tinygrad.tensor import Tensor
+
+
+class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTinygrad):
+  """
+  A ModelRunner implementation for executing Tinygrad models.
+
+  Handles loading Tinygrad model artifacts (.pkl), preparing inputs as Tinygrad
+  Tensors (potentially using QCOM extensions on TICI), running inference,
+  and parsing the outputs.
+
+  :param model_type: The type of model (e.g., supercombo) to load and run.
+  """
+  def __init__(self, model_type: int = ModelType.supercombo):
+    ModelRunner.__init__(self)
+    SupercomboTinygrad.__init__(self)
+    PolicyTinygrad.__init__(self)
+    VisionTinygrad.__init__(self)
+    self._constants = ModelConstants
+    self._model_data = self.models.get(model_type)
+    if not self._model_data or not self._model_data.model:
+      raise ValueError(f"Model data for type {model_type} not available.")
+
+    artifact_filename = self._model_data.model.artifact.fileName
+    assert artifact_filename.endswith('_tinygrad.pkl'), \
+      f"Invalid model file {artifact_filename} for TinygradRunner"
+
+    model_pkl_path = f"{CUSTOM_MODEL_PATH}/{artifact_filename}"
+    with open(model_pkl_path, "rb") as f:
+      try:
+        # Load the compiled Tinygrad model runner function
+        self.model_run = pickle.load(f)
+      except FileNotFoundError as e:
+        # Provide a helpful error message if the model was built for a different platform
+        assert "/dev/kgsl-3d0" not in str(e), "Model was built on C3 or C3X, but is being loaded on PC"
+        raise
+
+    # Map input names to their required dtype and device from the loaded model
+    self.input_to_dtype = {}
+    self.input_to_device = {}
+    for idx, name in enumerate(self.model_run.captured.expected_names):
+      info = self.model_run.captured.expected_st_vars_dtype_device[idx]
+      self.input_to_dtype[name] = info[2]  # dtype
+      self.input_to_device[name] = info[3]  # device
+
+  def prepare_vision_inputs(self, imgs_cl: CLMemDict, frames: FrameDict):
+    """Prepares vision (image) inputs as Tinygrad Tensors."""
+    for key in imgs_cl:
+      if TICI and key not in self.inputs:
+        # On TICI, directly use OpenCL memory address for efficiency via QCOM extensions
+        self.inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=self.input_to_dtype[key])
+      elif not TICI:
+        # On other platforms, copy data from CL buffer to a numpy array first
+        shape = frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key])
+        self.inputs[key] = Tensor(shape, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize()
+
+  def prepare_policy_inputs(self, numpy_inputs: NumpyDict):
+    """Prepares non-image (policy) inputs as Tinygrad Tensors."""
+    for key, value in numpy_inputs.items():
+      self.inputs[key] = Tensor(value, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize()
+
+  def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict:
+    """Prepares all vision and policy inputs for the model."""
+    self.prepare_vision_inputs(imgs_cl, frames)
+    self.prepare_policy_inputs(numpy_inputs)
+    return self.inputs
+
+  def _run_model(self) -> NumpyDict:
+    """Runs the Tinygrad model inference and parses the outputs."""
+    outputs = self.model_run(**self.inputs).numpy().flatten()
+    return self._parse_outputs(outputs)
+
+  def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses the raw model outputs using the standard Parser."""
+    if self._model_data is None:
+      raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+
+    result: NumpyDict = self.parser_method_dict[self._model_data.model.type.raw](model_outputs)
+    return result
+
+
+class TinygradSplitRunner(ModelRunner):
+  """
+  A ModelRunner that coordinates separate TinygradVisionRunner and TinygradPolicyRunner instances.
+
+  Manages the execution of split vision and policy models, combining their inputs and outputs.
+  """
+  def __init__(self):
+    super().__init__()
+    self.is_20hz_3d = True
+    self.vision_runner = TinygradRunner(ModelType.vision)
+    self.policy_runner = TinygradRunner(ModelType.policy)
+    self._constants = SplitModelConstants
+
+  def _run_model(self) -> NumpyDict:
+    """Runs both vision and policy models and merges their parsed outputs."""
+    policy_output = self.policy_runner.run_model()
+    vision_output = self.vision_runner.run_model()
+    return {**policy_output, **vision_output} # Combine results
+
+  @property
+  def input_shapes(self) -> ShapeDict:
+    """Returns the combined input shapes from both vision and policy models."""
+    return {**self.policy_runner.input_shapes, **self.vision_runner.input_shapes}
+
+  @property
+  def output_slices(self) -> SliceDict:
+    """Returns the combined output slices from both vision and policy models."""
+    return {**self.policy_runner.output_slices, **self.vision_runner.output_slices}
+
+  def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict:
+    """Prepares inputs for both vision and policy models."""
+    # Policy inputs only depend on numpy_inputs
+    self.policy_runner.prepare_policy_inputs(numpy_inputs)
+    # Vision inputs depend on imgs_cl and frames
+    self.vision_runner.prepare_vision_inputs(imgs_cl, frames)
+    # Return combined inputs (though they are stored within respective runners)
+    return {**self.policy_runner.inputs, **self.vision_runner.inputs}
diff --git a/sunnypilot/models/split_model_constants.py b/sunnypilot/models/split_model_constants.py
new file mode 100644
index 00000000000000..a3e1dce8f6d40a
--- /dev/null
+++ b/sunnypilot/models/split_model_constants.py
@@ -0,0 +1,94 @@
+import numpy as np
+
+
+def index_function(idx, max_val=192, max_idx=32):
+  return max_val * ((idx/max_idx)**2)
+
+
+class SplitModelConstants:
+  # time and distance indices
+  IDX_N = 33
+  T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]
+  X_IDXS = [index_function(idx, max_val=192.0) for idx in range(IDX_N)]
+  LEAD_T_IDXS = [0., 2., 4., 6., 8., 10.]
+  LEAD_T_OFFSETS = [0., 2., 4.]
+  META_T_IDXS = [2., 4., 6., 8., 10.]
+
+  # model inputs constants
+  MODEL_FREQ = 20
+  HISTORY_FREQ = 5
+  HISTORY_LEN_SECONDS = 5
+  TEMPORAL_SKIP = MODEL_FREQ // HISTORY_FREQ
+  FULL_HISTORY_BUFFER_LEN = MODEL_FREQ * HISTORY_LEN_SECONDS
+  INPUT_HISTORY_BUFFER_LEN = HISTORY_FREQ * HISTORY_LEN_SECONDS
+
+  FEATURE_LEN = 512
+
+  DESIRE_LEN = 8
+  TRAFFIC_CONVENTION_LEN = 2
+  LAT_PLANNER_STATE_LEN = 4
+  LATERAL_CONTROL_PARAMS_LEN = 2
+  PREV_DESIRED_CURV_LEN = 1
+
+  # model outputs constants
+  FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32)
+  FCW_THRESHOLDS_3MS2 = np.array([.7, .7], dtype=np.float32)
+  FCW_5MS2_PROBS_WIDTH = 5
+  FCW_3MS2_PROBS_WIDTH = 2
+
+  DISENGAGE_WIDTH = 5
+  POSE_WIDTH = 6
+  WIDE_FROM_DEVICE_WIDTH = 3
+  LEAD_WIDTH = 4
+  LANE_LINES_WIDTH = 2
+  ROAD_EDGES_WIDTH = 2
+  PLAN_WIDTH = 15
+  DESIRE_PRED_WIDTH = 8
+  LAT_PLANNER_SOLUTION_WIDTH = 4
+  DESIRED_CURV_WIDTH = 1
+
+  NUM_LANE_LINES = 4
+  NUM_ROAD_EDGES = 2
+
+  LEAD_TRAJ_LEN = 6
+  DESIRE_PRED_LEN = 4
+
+  PLAN_MHP_N = 5
+  LEAD_MHP_N = 2
+  PLAN_MHP_SELECTION = 1
+  LEAD_MHP_SELECTION = 3
+
+  FCW_THRESHOLD_5MS2_HIGH = 0.15
+  FCW_THRESHOLD_5MS2_LOW = 0.05
+  FCW_THRESHOLD_3MS2 = 0.7
+
+  CONFIDENCE_BUFFER_LEN = 5
+  RYG_GREEN = 0.01165
+  RYG_YELLOW = 0.06157
+
+  POLY_PATH_DEGREE = 4
+
+
+# model outputs slices
+class Plan:
+  POSITION = slice(0, 3)
+  VELOCITY = slice(3, 6)
+  ACCELERATION = slice(6, 9)
+  T_FROM_CURRENT_EULER = slice(9, 12)
+  ORIENTATION_RATE = slice(12, 15)
+
+
+class Meta:
+  ENGAGED = slice(0, 1)
+  # next 2, 4, 6, 8, 10 seconds
+  GAS_DISENGAGE = slice(1, 31, 6)
+  BRAKE_DISENGAGE = slice(2, 31, 6)
+  STEER_OVERRIDE = slice(3, 31, 6)
+  HARD_BRAKE_3 = slice(4, 31, 6)
+  HARD_BRAKE_4 = slice(5, 31, 6)
+  HARD_BRAKE_5 = slice(6, 31, 6)
+  # next 0, 2, 4, 6, 8, 10 seconds
+  GAS_PRESS = slice(31, 55, 4)
+  BRAKE_PRESS = slice(32, 55, 4)
+  LEFT_BLINKER = slice(33, 55, 4)
+  RIGHT_BLINKER = slice(34, 55, 4)
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index 9f0c503fb41fc8..56f32373d5075e 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -7,7 +7,6 @@
 
 from cereal import messaging, custom
 from opendbc.car import structs
-from openpilot.sunnypilot.models.helpers import get_active_model_runner
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
 
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
@@ -16,7 +15,6 @@
 class LongitudinalPlannerSP:
   def __init__(self, CP: structs.CarParams, mpc):
     self.dec = DynamicExperimentalController(CP, mpc)
-    self.is_stock = get_active_model_runner() == custom.ModelManagerSP.Runner.stock
 
   def get_mpc_mode(self) -> str | None:
     if not self.dec.active():

From 21b86c4f2b503c7f40833f048c62844a51ebfb34 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 28 May 2025 01:26:21 -0400
Subject: [PATCH 0267/1434] Update Python packages (#949)

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index c5b96b4b4c357b..83d7cf4fd128cc 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit c5b96b4b4c357b909330426a6c516afa16b1a08c
+Subproject commit 83d7cf4fd128cc2dabb945d043e838ab404b16b6

From 31e22b0a1d120eb1de4fc6ed38eb613431410aa1 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 30 May 2025 03:06:15 -0400
Subject: [PATCH 0268/1434] ui: add models panel (#956)

* models panel

* models panel

* fix ui report

* stupid scroll

* cleanup whitespaces

* Update selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 selfdrive/ui/sunnypilot/SConscript              |  1 +
 .../qt/offroad/settings/models_panel.cc         | 12 ++++++++++++
 .../qt/offroad/settings/models_panel.h          | 17 +++++++++++++++++
 .../sunnypilot/qt/offroad/settings/settings.cc  |  2 ++
 selfdrive/ui/tests/test_ui/run.py               | 14 +++++++++++---
 .../selfdrive/assets/offroad/icon_models.png    |  3 +++
 6 files changed, 46 insertions(+), 3 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
 create mode 100644 sunnypilot/selfdrive/assets/offroad/icon_models.png

diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index d189751843fda2..b5d18c5b916118 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -24,6 +24,7 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/lateral_panel.cc",
   "sunnypilot/qt/offroad/settings/longitudinal_panel.cc",
   "sunnypilot/qt/offroad/settings/max_time_offroad.cc",
+  "sunnypilot/qt/offroad/settings/models_panel.cc",
   "sunnypilot/qt/offroad/settings/settings.cc",
   "sunnypilot/qt/offroad/settings/software_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
new file mode 100644
index 00000000000000..8f8d38d2d8d48e
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -0,0 +1,12 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h"
+
+ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
+
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
new file mode 100644
index 00000000000000..6c28b5bf3528a2
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
@@ -0,0 +1,17 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+
+class ModelsPanel : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit ModelsPanel(QWidget *parent = nullptr);
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
index 48a395dad7e168..ad057ac714311d 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
@@ -13,6 +13,7 @@
 #include "selfdrive/ui/sunnypilot/qt/network/networking.h"
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h"
@@ -79,6 +80,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
     PanelInfo("   " + tr("sunnylink"), new SunnylinkPanel(this), "../assets/icons/wifi_strength_full.svg"),
     PanelInfo("   " + tr("Toggles"), toggles, "../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
     PanelInfo("   " + tr("Software"), new SoftwarePanelSP(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
+    PanelInfo("   " + tr("Models"), new ModelsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_models.png"),
     PanelInfo("   " + tr("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
     PanelInfo("   " + tr("Cruise"), new LongitudinalPanel(this), "../assets/icons/speed_limit.png"),
     PanelInfo("   " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 9d078fdd9ee2b3..f8c64de7691c9a 100755
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -213,6 +213,12 @@ def setup_settings_sunnylink_sponsor_button(click, pm: PubMaster, scroll=None):
   click(1967, 225)
   time.sleep(UI_DELAY)
 
+def setup_settings_models(click, pm: PubMaster, scroll=None):
+  setup_settings_device(click, pm)
+  click(278, 852)
+  time.sleep(UI_DELAY)
+
+
 def setup_settings_steering(click, pm: PubMaster, scroll=None):
   CP = car.CarParams()
   CP.carFingerprint = "HONDA_CIVIC"
@@ -223,25 +229,26 @@ def setup_settings_steering(click, pm: PubMaster, scroll=None):
   Params().put("CarParamsSPPersistent", CP_SP.to_bytes())
 
   setup_settings_device(click, pm)
-  click(278, 852)
+  click(278, 962)
   time.sleep(UI_DELAY)
 
 def setup_settings_steering_mads(click, pm: PubMaster, scroll=None):
   Params().put_bool("Mads", True)
 
   setup_settings_device(click, pm)
-  click(278, 852)
+  click(278, 962)
   click(970, 250)
   time.sleep(UI_DELAY)
 
 def setup_settings_steering_alc(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
-  click(278, 852)
+  click(278, 962)
   click(970, 534)
   time.sleep(UI_DELAY)
 
 def setup_settings_driving(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
+  scroll(-1, 278, 962)
   click(278, 962)
   time.sleep(UI_DELAY)
 
@@ -295,6 +302,7 @@ def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
 CASES.update({
   "settings_sunnylink": setup_settings_sunnylink,
   "settings_sunnylink_sponsor_button": setup_settings_sunnylink_sponsor_button,
+  "settings_models": setup_settings_models,
   "settings_steering": setup_settings_steering,
   "settings_steering_mads": setup_settings_steering_mads,
   "settings_steering_alc": setup_settings_steering_alc,
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_models.png b/sunnypilot/selfdrive/assets/offroad/icon_models.png
new file mode 100644
index 00000000000000..0131759703cf65
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_models.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9b431c274a55437b5a65ada7c85503e137bc2ffa8917510ad9affb14a407d82
+size 14366

From d9d32ebea26955f3a535be33a44ded11026ae672 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 30 May 2025 06:06:50 -0400
Subject: [PATCH 0269/1434] UI: Add Search Capability to Branch Selector (#814)

* Create sync-dev.yml

* Update selfdrive_tests.yaml

* Update sync-dev.yml

* Update sync-dev.yml

* Update sync-dev.yml

* add search capability in branch selector

* maybe i should remove test code

* include

* reduce needed includes

* add newline for eof

* no changes needed in upstream file

* not sure why this was here

* try to resolve merge conflicts for dev squash

* try to resolve merge conflict

* No need for this for the time being

---------

Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .../qt/offroad/settings/software_panel.cc     | 43 +++++++++++++++++++
 .../qt/offroad/settings/software_panel.h      |  4 ++
 selfdrive/ui/sunnypilot/qt/util.cc            | 32 ++++++++++++++
 selfdrive/ui/sunnypilot/qt/util.h             |  2 +
 4 files changed, 81 insertions(+)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
index 20f3fdb598d180..57fb38c20b6cd0 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
@@ -17,6 +17,19 @@
  * @param parent Parent widget
  */
 SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) {
+
+// branch selector
+  QObject::disconnect(targetBranchBtn, nullptr, nullptr, nullptr);
+  connect(targetBranchBtn, &ButtonControlSP::clicked, [=]() {
+    InputDialog d(tr("Search Branch"), this, tr("Enter search keywords, or leave blank to list all branches."), false);
+      d.setMinLength(0);
+      const int ret = d.exec();
+      if (ret) {
+        searchBranches(d.text());
+      }
+
+  });
+
   const auto current_model = GetActiveModelName();
   currentModelLblBtn = new ButtonControlSP(tr("Current Model"), tr("SELECT"), current_model);
   currentModelLblBtn->setValue(current_model);
@@ -205,3 +218,33 @@ void SoftwarePanelSP::showResetParamsDialog() {
     params.remove("LiveTorqueParameters");
   }
 }
+
+/**
+ * @brief Searches for available branches based on a query string, presents the results in a dialog,
+ * and updates the target branch if a selection is made.
+ *
+ * This function filters the list of branches based on the provided query, and displays the filtered branches in a selection dialog.
+ * If a branch is selected, the "UpdaterTargetBranch" parameter is updated and a check for updates is triggered.
+ * If no branches are found matching the query, an alert dialog is displayed.
+ *
+ * @param query The search query string.
+ */
+void SoftwarePanelSP::searchBranches(const QString &query) {
+
+  QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(",");
+  QStringList results = searchFromList(query, branches);
+  results.sort();
+
+  if (results.isEmpty()) {
+    ConfirmationDialog::alert(tr("No branches found for keywords: %1").arg(query), this);
+    return;
+  }
+
+  QString selected_branch = MultiOptionDialog::getSelection(tr("Select a branch"), results, "", this);
+
+  if (!selected_branch.isEmpty()) {
+    params.put("UpdaterTargetBranch", selected_branch.toStdString());
+    targetBranchBtn->setValue(selected_branch);
+    checkForUpdates();
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
index d0299d6efd6a3c..3679ade410f263 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
@@ -9,6 +9,7 @@
 
 #include <QJsonObject>
 #include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/util.h"
 #include "selfdrive/ui/qt/offroad/settings.h"
 
 class SoftwarePanelSP final : public SoftwarePanel {
@@ -17,6 +18,9 @@ class SoftwarePanelSP final : public SoftwarePanel {
 public:
   explicit SoftwarePanelSP(QWidget *parent = nullptr);
 
+private:
+  void searchBranches(const QString &query);
+
 private:
   QString GetActiveModelName();
   void updateModelManagerState();
diff --git a/selfdrive/ui/sunnypilot/qt/util.cc b/selfdrive/ui/sunnypilot/qt/util.cc
index c729eaafd59a75..ca85935d0b23ab 100644
--- a/selfdrive/ui/sunnypilot/qt/util.cc
+++ b/selfdrive/ui/sunnypilot/qt/util.cc
@@ -78,3 +78,35 @@ QMap<QString, QVariantMap> loadPlatformList() {
 
   return _platforms;
 }
+
+/**
+ * @brief Searches a list of strings for elements containing all search terms in a query.
+ *
+ * The search is case-insensitive and normalizes both the query and the list elements
+ * using Unicode KD normalization before comparison.  Non-alphanumeric characters are
+ * removed from the search terms before comparison.
+ *
+ * @param query The search query string.  Multiple words can be separated by spaces.
+ * @param list The source list of strings to search.
+ * @return A list of strings from the input list that contain all of the search terms.
+ */
+QStringList searchFromList(const QString &query, const QStringList &list) {
+  if (query.isEmpty()) {
+    return list;
+  }
+
+  QStringList search_terms = query.simplified().toLower().split(" ", QString::SkipEmptyParts);
+  QStringList search_results;
+
+  for (const QString &element : list) {
+    if (std::all_of(search_terms.begin(), search_terms.end(), [&](const QString &term) {
+          QString normalized_term = term.normalized(QString::NormalizationForm_KD).toLower();
+          normalized_term.remove(QRegularExpression("[^a-zA-Z0-9\\s]"));
+          QString normalized_element = element.normalized(QString::NormalizationForm_KD).toLower();
+          return normalized_element.contains(normalized_term, Qt::CaseInsensitive);
+        })) {
+      search_results << element;
+    }
+  }
+  return search_results;
+}
diff --git a/selfdrive/ui/sunnypilot/qt/util.h b/selfdrive/ui/sunnypilot/qt/util.h
index 0a581579e2415e..089b5370cc270d 100644
--- a/selfdrive/ui/sunnypilot/qt/util.h
+++ b/selfdrive/ui/sunnypilot/qt/util.h
@@ -12,9 +12,11 @@
 
 #include <QMap>
 #include <QPainter>
+#include <QRegularExpression>
 #include <QWidget>
 
 QString getUserAgent(bool sunnylink = false);
 std::optional<QString> getSunnylinkDongleId();
 std::optional<QString> getParamIgnoringDefault(const std::string &param_name, const std::string &default_value);
 QMap<QString, QVariantMap> loadPlatformList();
+QStringList searchFromList(const QString &query, const QStringList &list);

From be406d8f838f58de21c746eccba73e705bf11841 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 30 May 2025 07:06:09 -0400
Subject: [PATCH 0270/1434] ui: move model selector to models panel (#957)

* models panel

* models panel

* fix ui report

* stupid scroll

* move model selector to models panel

* cleanup whitespaces

* cleanup bad merge

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .../qt/offroad/settings/models_panel.cc       | 201 ++++++++++++++++++
 .../qt/offroad/settings/models_panel.h        |  47 ++++
 .../qt/offroad/settings/software_panel.cc     | 201 +-----------------
 .../qt/offroad/settings/software_panel.h      |  44 ----
 4 files changed, 249 insertions(+), 244 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index 8f8d38d2d8d48e..d33cb550cea4f8 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -5,8 +5,209 @@
  * See the LICENSE.md file in the root directory for more details.
  */
 
+#include <algorithm>
+#include <QJsonDocument>
+
+#include "common/model.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
 ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 20, 50, 20);
+
+  ListWidgetSP *list = new ListWidgetSP(this);
+  ScrollViewSP *scroller = new ScrollViewSP(list, this);
+  main_layout->addWidget(scroller);
+
+  const auto current_model = GetActiveModelName();
+  currentModelLblBtn = new ButtonControlSP(tr("Current Model"), tr("SELECT"), current_model);
+  currentModelLblBtn->setValue(current_model);
+
+  connect(currentModelLblBtn, &ButtonControlSP::clicked, this, &ModelsPanel::handleCurrentModelLblBtnClicked);
+  connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
+      is_onroad = !offroad;
+      updateLabels();
+    });
+  connect(uiStateSP(), &UIStateSP::uiUpdate, this, &ModelsPanel::updateLabels);
+  list->addItem(currentModelLblBtn);
+}
+
+
+/**
+ * @brief Updates the UI with bundle download progress information
+ * Reads status from modelManagerSP cereal message and displays status for all models
+ */
+void ModelsPanel::handleBundleDownloadProgress() {
+  using DS = cereal::ModelManagerSP::DownloadStatus;
+  if (!model_manager.hasSelectedBundle() && !model_manager.hasActiveBundle()) {
+    currentModelLblBtn->setDescription(tr("No custom model selected!"));
+    return;
+  }
+
+  const bool showSelectedBundle = model_manager.hasSelectedBundle() && (isDownloading() || model_manager.getSelectedBundle().getStatus() == DS::FAILED);
+  const auto &bundle = showSelectedBundle ? model_manager.getSelectedBundle() : model_manager.getActiveBundle();
+  const auto &models = bundle.getModels();
+  download_status = bundle.getStatus();
+  const auto download_status_changed = prev_download_status != download_status;
+  QStringList status;
+
+  // Get status for each model type in order
+  for (const auto &model: models) {
+    QString typeName;
+    QString modelName = QString::fromStdString(bundle.getDisplayName());
+
+    switch (model.getType()) {
+      case cereal::ModelManagerSP::Model::Type::SUPERCOMBO:
+        typeName = tr("Driving");
+        break;
+      case cereal::ModelManagerSP::Model::Type::NAVIGATION:
+        typeName = tr("Navigation");
+        break;
+      case cereal::ModelManagerSP::Model::Type::VISION:
+        typeName = tr("Vision");
+        break;
+      case cereal::ModelManagerSP::Model::Type::POLICY:
+        typeName = tr("Policy");
+        break;
+    }
+
+    const auto &progress = model.getArtifact().getDownloadProgress();
+    QString line;
+
+    if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) {
+      line = tr("Downloading %1 model [%2]... (%3%)").arg(typeName, modelName).arg(progress.getProgress(), 0, 'f', 2);
+    } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADED) {
+      line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("downloaded") : tr("ready"));
+    } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::CACHED) {
+      line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("from cache") : tr("ready"));
+    } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::FAILED) {
+      line = tr("%1 model [%2] download failed").arg(typeName, modelName);
+    } else {
+      line = tr("%1 model [%2] pending...").arg(typeName, modelName);
+    }
+    status.append(line);
+  }
+
+  currentModelLblBtn->setDescription(status.join("\n"));
+
+  if (prev_download_status != download_status) {
+    switch (bundle.getStatus()) {
+      case cereal::ModelManagerSP::DownloadStatus::DOWNLOADING:
+      case cereal::ModelManagerSP::DownloadStatus::CACHED:
+      case cereal::ModelManagerSP::DownloadStatus::DOWNLOADED:
+        currentModelLblBtn->showDescription();
+        break;
+      case cereal::ModelManagerSP::DownloadStatus::FAILED:
+      default:
+        break;
+    }
+  }
+  prev_download_status = download_status;
+}
+
+/**
+ * @brief Gets the name of the currently selected model bundle
+ * @return Display name of the selected bundle or default model name
+ */
+QString ModelsPanel::GetActiveModelName() {
+  if (model_manager.hasActiveBundle()) {
+    return QString::fromStdString(model_manager.getActiveBundle().getDisplayName());
+  }
+
+  return DEFAULT_MODEL;
+}
+
+void ModelsPanel::updateModelManagerState() {
+  const SubMaster &sm = *(uiStateSP()->sm);
+  model_manager = sm["modelManagerSP"].getModelManagerSP();
+}
+
+/**
+ * @brief Handles the model bundle selection button click
+ * Displays available bundles, allows selection, and initiates download
+ */
+void ModelsPanel::handleCurrentModelLblBtnClicked() {
+  currentModelLblBtn->setEnabled(false);
+  currentModelLblBtn->setValue(tr("Fetching models..."));
+
+  // Create mapping of bundle indices to display names
+  QMap<uint32_t, QString> index_to_bundle;
+  const auto bundles = model_manager.getAvailableBundles();
+  for (const auto &bundle: bundles) {
+    index_to_bundle.insert(bundle.getIndex(), QString::fromStdString(bundle.getDisplayName()));
+  }
+
+  // Sort bundles by index in descending order
+  QStringList bundleNames;
+  // Add "Default" as the first option
+  bundleNames.append(tr("Use Default"));
+
+  auto indices = index_to_bundle.keys();
+  std::sort(indices.begin(), indices.end(), std::greater<uint32_t>());
+  for (const auto &index: indices) {
+    bundleNames.append(index_to_bundle[index]);
+  }
+
+  currentModelLblBtn->setValue(GetActiveModelName());
+
+  const QString selectedBundleName = MultiOptionDialog::getSelection(
+    tr("Select a Model"), bundleNames, GetActiveModelName(), this);
+
+  if (selectedBundleName.isEmpty() || !canContinueOnMeteredDialog()) {
+    return;
+  }
+
+  // Handle "Stock" selection differently
+  if (selectedBundleName == tr("Use Default")) {
+    params.remove("ModelManager_ActiveBundle");
+    currentModelLblBtn->setValue(tr("Default"));
+    showResetParamsDialog();
+  } else {
+    // Find selected bundle and initiate download
+    for (const auto &bundle: bundles) {
+      if (QString::fromStdString(bundle.getDisplayName()) == selectedBundleName) {
+        params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex()));
+        if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) {
+          showResetParamsDialog();
+        }
+        break;
+      }
+    }
+  }
+
+  updateLabels();
+}
+
+/**
+ * @brief Updates the UI elements based on current state
+ */
+void ModelsPanel::updateLabels() {
+  if (!isVisible()) {
+    return;
+  }
+
+  updateModelManagerState();
+  handleBundleDownloadProgress();
+  currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
+  currentModelLblBtn->setValue(GetActiveModelName());
+}
+
+/**
+ * @brief Shows dialog prompting user to reset calibration after model download
+ */
+void ModelsPanel::showResetParamsDialog() {
+  const auto confirmMsg = QString("%1<br><br><b>%2</b><br><br><b>%3</b>")
+                          .arg(tr("Model download has started in the background."))
+                          .arg(tr("We STRONGLY suggest you to reset calibration."))
+                          .arg(tr("Would you like to do that now?"));
+  const auto button_text = tr("Reset Calibration");
+
+  QString content("<body><h2 style=\"text-align: center;\">" + tr("Driving Model Selector") + "</h2><br>"
+                  "<p style=\"text-align: center; margin: 0 128px; font-size: 50px;\">" + confirmMsg + "</p></body>");
 
+  if (showConfirmationDialog(content, button_text, false)) {
+    params.remove("CalibrationParams");
+    params.remove("LiveTorqueParameters");
+  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
index 6c28b5bf3528a2..4ba526651e16ff 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
@@ -14,4 +14,51 @@ class ModelsPanel : public QWidget {
 
 public:
   explicit ModelsPanel(QWidget *parent = nullptr);
+
+private:
+  QString GetActiveModelName();
+  void updateModelManagerState();
+
+  bool isDownloading() const {
+    if (!model_manager.hasSelectedBundle()) {
+        return false;
+    }
+
+    const auto &selected_bundle = model_manager.getSelectedBundle();
+    return selected_bundle.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING;
+  }
+
+  // UI update related methods
+  void updateLabels();
+  void handleCurrentModelLblBtnClicked();
+  void handleBundleDownloadProgress();
+  void showResetParamsDialog();
+  cereal::ModelManagerSP::Reader model_manager;
+  cereal::ModelManagerSP::DownloadStatus download_status{};
+  cereal::ModelManagerSP::DownloadStatus prev_download_status{};
+
+  bool canContinueOnMeteredDialog() {
+    if (!is_metered) return true;
+    return showConfirmationDialog(QString(), QString(), is_metered);
+  }
+
+  inline bool showConfirmationDialog(const QString &message = QString(), const QString &confirmButtonText = QString(), const bool show_metered_warning = false) {
+    return showConfirmationDialog(this, message, confirmButtonText, show_metered_warning);
+  }
+
+  static inline bool showConfirmationDialog(QWidget *parent, const QString &message = QString(), const QString &confirmButtonText = QString(), const bool show_metered_warning = false) {
+    const QString warning_message = show_metered_warning ? tr("Warning: You are on a metered connection!") : QString();
+    const QString final_message = QString("%1%2").arg(!message.isEmpty() ? message + "\n" : QString(), warning_message);
+    const QString final_buttonText = !confirmButtonText.isEmpty() ? confirmButtonText : QString(tr("Continue") + " %1").arg(show_metered_warning ? tr("on Metered") : "");
+
+    return ConfirmationDialog(final_message, final_buttonText, tr("Cancel"), true, parent).exec();
+  }
+
+  bool is_metered{};
+  bool is_wifi{};
+  bool is_onroad = false;
+
+  ButtonControlSP *currentModelLblBtn;
+  Params params;
+
 };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
index 57fb38c20b6cd0..9430d02ba8fce4 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
@@ -7,18 +7,8 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
 
-#include <algorithm>
-#include <QJsonDocument>
-
-#include "common/model.h"
-
-/**
- * @brief Constructs the software panel with model bundle selection functionality
- * @param parent Parent widget
- */
 SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) {
-
-// branch selector
+  // branch selector
   QObject::disconnect(targetBranchBtn, nullptr, nullptr, nullptr);
   connect(targetBranchBtn, &ButtonControlSP::clicked, [=]() {
     InputDialog d(tr("Search Branch"), this, tr("Enter search keywords, or leave blank to list all branches."), false);
@@ -27,196 +17,7 @@ SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) {
       if (ret) {
         searchBranches(d.text());
       }
-
   });
-
-  const auto current_model = GetActiveModelName();
-  currentModelLblBtn = new ButtonControlSP(tr("Current Model"), tr("SELECT"), current_model);
-  currentModelLblBtn->setValue(current_model);
-
-  connect(currentModelLblBtn, &ButtonControlSP::clicked, this, &SoftwarePanelSP::handleCurrentModelLblBtnClicked);
-  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &SoftwarePanelSP::updateLabels);
-  AddWidgetAt(0, currentModelLblBtn);
-}
-
-/**
- * @brief Updates the UI with bundle download progress information
- * Reads status from modelManagerSP cereal message and displays status for all models
- */
-void SoftwarePanelSP::handleBundleDownloadProgress() {
-  using DS = cereal::ModelManagerSP::DownloadStatus;
-  if (!model_manager.hasSelectedBundle() && !model_manager.hasActiveBundle()) {
-    currentModelLblBtn->setDescription(tr("No custom model selected!"));
-    return;
-  }
-
-  const bool showSelectedBundle = model_manager.hasSelectedBundle() && (isDownloading() || model_manager.getSelectedBundle().getStatus() == DS::FAILED);
-  const auto &bundle = showSelectedBundle ? model_manager.getSelectedBundle() : model_manager.getActiveBundle();
-  const auto &models = bundle.getModels();
-  download_status = bundle.getStatus();
-  const auto download_status_changed = prev_download_status != download_status;
-  QStringList status;
-
-  // Get status for each model type in order
-  for (const auto &model: models) {
-    QString typeName;
-    QString modelName = QString::fromStdString(bundle.getDisplayName());
-
-    switch (model.getType()) {
-      case cereal::ModelManagerSP::Model::Type::SUPERCOMBO:
-        typeName = tr("Driving");
-        break;
-      case cereal::ModelManagerSP::Model::Type::NAVIGATION:
-        typeName = tr("Navigation");
-        break;
-      case cereal::ModelManagerSP::Model::Type::VISION:
-        typeName = tr("Vision");
-        break;
-      case cereal::ModelManagerSP::Model::Type::POLICY:
-        typeName = tr("Policy");
-        break;
-    }
-
-    const auto &progress = model.getArtifact().getDownloadProgress();
-    QString line;
-
-    if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) {
-      line = tr("Downloading %1 model [%2]... (%3%)").arg(typeName, modelName).arg(progress.getProgress(), 0, 'f', 2);
-    } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADED) {
-      line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("downloaded") : tr("ready"));
-    } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::CACHED) {
-      line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("from cache") : tr("ready"));
-    } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::FAILED) {
-      line = tr("%1 model [%2] download failed").arg(typeName, modelName);
-    } else {
-      line = tr("%1 model [%2] pending...").arg(typeName, modelName);
-    }
-    status.append(line);
-  }
-
-  currentModelLblBtn->setDescription(status.join("\n"));
-
-  if (prev_download_status != download_status) {
-    switch (bundle.getStatus()) {
-      case cereal::ModelManagerSP::DownloadStatus::DOWNLOADING:
-      case cereal::ModelManagerSP::DownloadStatus::CACHED:
-      case cereal::ModelManagerSP::DownloadStatus::DOWNLOADED:
-        currentModelLblBtn->showDescription();
-        break;
-      case cereal::ModelManagerSP::DownloadStatus::FAILED:
-      default:
-        break;
-    }
-  }
-  prev_download_status = download_status;
-}
-
-/**
- * @brief Gets the name of the currently selected model bundle
- * @return Display name of the selected bundle or default model name
- */
-QString SoftwarePanelSP::GetActiveModelName() {
-  if (model_manager.hasActiveBundle()) {
-    return QString::fromStdString(model_manager.getActiveBundle().getDisplayName());
-  }
-
-  return DEFAULT_MODEL;
-}
-
-void SoftwarePanelSP::updateModelManagerState() {
-  const SubMaster &sm = *(uiStateSP()->sm);
-  model_manager = sm["modelManagerSP"].getModelManagerSP();
-}
-
-/**
- * @brief Handles the model bundle selection button click
- * Displays available bundles, allows selection, and initiates download
- */
-void SoftwarePanelSP::handleCurrentModelLblBtnClicked() {
-  currentModelLblBtn->setEnabled(false);
-  currentModelLblBtn->setValue(tr("Fetching models..."));
-
-  // Create mapping of bundle indices to display names
-  QMap<uint32_t, QString> index_to_bundle;
-  const auto bundles = model_manager.getAvailableBundles();
-  for (const auto &bundle: bundles) {
-    index_to_bundle.insert(bundle.getIndex(), QString::fromStdString(bundle.getDisplayName()));
-  }
-
-  // Sort bundles by index in descending order
-  QStringList bundleNames;
-  // Add "Default" as the first option
-  bundleNames.append(tr("Use Default"));
-
-  auto indices = index_to_bundle.keys();
-  std::sort(indices.begin(), indices.end(), std::greater<uint32_t>());
-  for (const auto &index: indices) {
-    bundleNames.append(index_to_bundle[index]);
-  }
-
-  currentModelLblBtn->setValue(GetActiveModelName());
-
-  const QString selectedBundleName = MultiOptionDialog::getSelection(
-    tr("Select a Model"), bundleNames, GetActiveModelName(), this);
-
-  if (selectedBundleName.isEmpty() || !canContinueOnMeteredDialog()) {
-    return;
-  }
-
-  // Handle "Stock" selection differently
-  if (selectedBundleName == tr("Use Default")) {
-    params.remove("ModelManager_ActiveBundle");
-    currentModelLblBtn->setValue(tr("Default"));
-    showResetParamsDialog();
-  } else {
-    // Find selected bundle and initiate download
-    for (const auto &bundle: bundles) {
-      if (QString::fromStdString(bundle.getDisplayName()) == selectedBundleName) {
-        params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex()));
-        if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) {
-          showResetParamsDialog();
-        }
-        break;
-      }
-    }
-  }
-
-  updateLabels();
-}
-
-/**
- * @brief Updates the UI elements based on current state
- */
-void SoftwarePanelSP::updateLabels() {
-  if (!isVisible()) {
-    return;
-  }
-
-  updateModelManagerState();
-  handleBundleDownloadProgress();
-  currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
-  currentModelLblBtn->setValue(GetActiveModelName());
-
-  SoftwarePanel::updateLabels();
-}
-
-/**
- * @brief Shows dialog prompting user to reset calibration after model download
- */
-void SoftwarePanelSP::showResetParamsDialog() {
-  const auto confirmMsg = QString("%1<br><br><b>%2</b><br><br><b>%3</b>")
-                          .arg(tr("Model download has started in the background."))
-                          .arg(tr("We STRONGLY suggest you to reset calibration."))
-                          .arg(tr("Would you like to do that now?"));
-  const auto button_text = tr("Reset Calibration");
-
-  QString content("<body><h2 style=\"text-align: center;\">" + tr("Driving Model Selector") + "</h2><br>"
-                  "<p style=\"text-align: center; margin: 0 128px; font-size: 50px;\">" + confirmMsg + "</p></body>");
-
-  if (showConfirmationDialog(content, button_text, false)) {
-    params.remove("CalibrationParams");
-    params.remove("LiveTorqueParameters");
-  }
 }
 
 /**
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
index 3679ade410f263..56d8b9be5bd122 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
@@ -7,7 +7,6 @@
 
 #pragma once
 
-#include <QJsonObject>
 #include "selfdrive/ui/sunnypilot/ui.h"
 #include "selfdrive/ui/sunnypilot/qt/util.h"
 #include "selfdrive/ui/qt/offroad/settings.h"
@@ -20,47 +19,4 @@ class SoftwarePanelSP final : public SoftwarePanel {
 
 private:
   void searchBranches(const QString &query);
-
-private:
-  QString GetActiveModelName();
-  void updateModelManagerState();
-
-  bool isDownloading() const {
-    if (!model_manager.hasSelectedBundle()) {
-      return false;
-    }
-
-    const auto &selected_bundle = model_manager.getSelectedBundle();
-    return selected_bundle.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING;
-  }
-
-  // UI update related methods
-  void updateLabels() override;
-  void handleCurrentModelLblBtnClicked();
-  void handleBundleDownloadProgress();
-  void showResetParamsDialog();
-  cereal::ModelManagerSP::Reader model_manager;
-  cereal::ModelManagerSP::DownloadStatus download_status{};
-  cereal::ModelManagerSP::DownloadStatus prev_download_status{};
-
-  bool canContinueOnMeteredDialog() {
-    if (!is_metered) return true;
-    return showConfirmationDialog(QString(), QString(), is_metered);
-  }
-
-  inline bool showConfirmationDialog(const QString &message = QString(), const QString &confirmButtonText = QString(), const bool show_metered_warning = false) {
-    return showConfirmationDialog(this, message, confirmButtonText, show_metered_warning);
-  }
-
-  static inline bool showConfirmationDialog(QWidget *parent, const QString &message = QString(), const QString &confirmButtonText = QString(), const bool show_metered_warning = false) {
-    const QString warning_message = show_metered_warning ? tr("Warning: You are on a metered connection!") : QString();
-    const QString final_message = QString("%1%2").arg(!message.isEmpty() ? message + "\n" : QString(), warning_message);
-    const QString final_buttonText = !confirmButtonText.isEmpty() ? confirmButtonText : QString(tr("Continue") + " %1").arg(show_metered_warning ? tr("on Metered") : "");
-
-    return ConfirmationDialog(final_message, final_buttonText, tr("Cancel"), true, parent).exec();
-  }
-
-  bool is_metered{};
-  bool is_wifi{};
-  ButtonControlSP *currentModelLblBtn;
 };

From ff5b587fd17dee1070086af8a62da42bc33302b6 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Fri, 30 May 2025 13:14:30 +0200
Subject: [PATCH 0271/1434] ui: Bumping the total scons nodes for progress bar
 (#965)

Bumping the total scons nodes
---
 system/manager/build.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/manager/build.py b/system/manager/build.py
index 771024794f86fa..49c8128660e460 100755
--- a/system/manager/build.py
+++ b/system/manager/build.py
@@ -14,7 +14,7 @@
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
 
-TOTAL_SCONS_NODES = 3130
+TOTAL_SCONS_NODES = 3765
 MAX_BUILD_PROGRESS = 100
 
 def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:

From ba9a478213828709c32a695efac389afc2affa6b Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Fri, 30 May 2025 20:13:55 -0700
Subject: [PATCH 0272/1434] Update Python packages (#953)

* Change values to allow better 2mph to 0mph stopping

* Update python package
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 83d7cf4fd128cc..72e5c82795caac 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 83d7cf4fd128cc2dabb945d043e838ab404b16b6
+Subproject commit 72e5c82795caac8916c895fbc689ccbd3368b891

From c2bd95c2af2a4979c2779c4350a685bd08f87699 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 31 May 2025 14:49:40 -0400
Subject: [PATCH 0273/1434] Tinygrad: revert bump (#969)

---
 tinygrad_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tinygrad_repo b/tinygrad_repo
index 76eb130d8c6567..519dec6677f987 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 76eb130d8c6567679641ff53a7215d1f6f88eb9a
+Subproject commit 519dec6677f98718ee4f2d07be1936eb91dde73b

From e50f7513a62018c92d138aeab46849be6cba4e7d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 1 Jun 2025 10:00:26 -0400
Subject: [PATCH 0274/1434] Update Python packages (#970)

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 14e5afd7ab80f3..bb37b56789abd1 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 14e5afd7ab80f385d01298d9fb2fd71c358e69b4
+Subproject commit bb37b56789abd13b6cdd9ff251df9c644a050223

From a31a39624c6f9ecffe60c7555084fe60fdbc24b2 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 1 Jun 2025 22:46:04 -0400
Subject: [PATCH 0275/1434] Car: `CarStateSP` (#972)

* Car: `CarStateSP`

* fix tests

* just skeleton for now

* bump
---
 cereal/custom.capnp                |  2 +-
 cereal/log.capnp                   |  2 +-
 cereal/services.py                 |  1 +
 opendbc_repo                       |  2 +-
 selfdrive/car/car_specific.py      |  6 +++---
 selfdrive/car/card.py              | 24 ++++++++++++++++--------
 selfdrive/car/helpers.py           |  4 +++-
 selfdrive/car/tests/test_models.py |  7 ++++---
 8 files changed, 30 insertions(+), 18 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 8ae77875f2141f..8a42f8b6a59821 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -223,7 +223,7 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
   }
 }
 
-struct CustomReserved7 @0xb86e6369214c01c8 {
+struct CarStateSP @0xb86e6369214c01c8 {
 }
 
 struct CustomReserved8 @0xf416ec09499d9d19 {
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 79f11f6bcfe2e9..412660bc6aa8b4 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2609,7 +2609,7 @@ struct Event {
     carParamsSP @111 :Custom.CarParamsSP;
     carControlSP @112 :Custom.CarControlSP;
     backupManagerSP @113 :Custom.BackupManagerSP;
-    customReserved7 @114 :Custom.CustomReserved7;
+    carStateSP @114 :Custom.CarStateSP;
     customReserved8 @115 :Custom.CustomReserved8;
     customReserved9 @116 :Custom.CustomReserved9;
     customReserved10 @136 :Custom.CustomReserved10;
diff --git a/cereal/services.py b/cereal/services.py
index c40538eec028b6..4097e484f62734 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -83,6 +83,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "onroadEventsSP": (True, 1., 1),
   "carParamsSP": (True, 0.02, 1),
   "carControlSP": (True, 100., 10),
+  "carStateSP": (True, 100., 10),
 
   # debug
   "uiDebug": (True, 0., 1),
diff --git a/opendbc_repo b/opendbc_repo
index bb37b56789abd1..a82c8d83cd776d 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit bb37b56789abd13b6cdd9ff251df9c644a050223
+Subproject commit a82c8d83cd776dc36f84568f00e9adda73d8a563
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index d441c648ff05a5..151a8479a73351 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -1,4 +1,4 @@
-from cereal import car, log
+from cereal import car, log, custom
 import cereal.messaging as messaging
 from opendbc.car import DT_CTRL, structs
 from opendbc.car.interfaces import MAX_CTRL_SPEED
@@ -16,14 +16,14 @@ class MockCarState:
   def __init__(self):
     self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
 
-  def update(self, CS: car.CarState):
+  def update(self, CS: car.CarState, CS_SP: custom.CarStateSP):
     self.sm.update(0)
     gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
 
     CS.vEgo = self.sm[gps_sock].speed
     CS.vEgoRaw = self.sm[gps_sock].speed
 
-    return CS
+    return CS, CS_SP
 
 
 class CarSpecificEvents:
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 62dc818cd98ea6..1b9a1522a170c3 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -73,12 +73,13 @@ class Car:
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
     self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP'])
-    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP'])
+    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP', 'carStateSP'])
 
     self.can_rcv_cum_timeout_counter = 0
 
     self.CC_prev = car.CarControl.new_message()
     self.CS_prev = car.CarState.new_message()
+    self.CS_SP_prev = custom.CarStateSP.new_message()
     self.initialized_prev = False
 
     self.last_actuators_output = structs.CarControl.Actuators()
@@ -188,16 +189,17 @@ def __init__(self, CI=None, RI=None) -> None:
     # log fingerprint in sentry
     sunnypilot_interfaces.log_fingerprint(self.CP)
 
-  def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
+  def state_update(self) -> tuple[car.CarState, custom.CarStateSP, structs.RadarDataT | None]:
     """carState update loop, driven by can"""
 
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
     can_list = can_capnp_to_list(can_strs)
 
     # Update carState from CAN
-    CS = self.CI.update(can_list)
+    CS, CS_SP = self.CI.update(can_list)
+    CS_SP = convert_to_capnp(CS_SP)
     if self.CP.brand == 'mock':
-      CS = self.mock_carstate.update(CS)
+      CS, CS_SP = self.mock_carstate.update(CS, CS_SP)
 
     # Update radar tracks from CAN
     RD: structs.RadarDataT | None = self.RI.update(can_list)
@@ -222,9 +224,9 @@ def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
     CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
     CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
 
-    return CS, RD
+    return CS, CS_SP, RD
 
-  def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None):
+  def state_publish(self, CS: car.CarState, CS_SP: custom.CarStateSP, RD: structs.RadarDataT | None):
     """carState and carParams publish loop"""
 
     # carParams - logged every 50 seconds (> 1 per segment)
@@ -261,6 +263,11 @@ def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None):
       cp_sp_send.carParamsSP = self.CP_SP_capnp
       self.pm.send('carParamsSP', cp_sp_send)
 
+    cs_sp_send = messaging.new_message('carStateSP')
+    cs_sp_send.valid = CS.canValid
+    cs_sp_send.carStateSP = CS_SP
+    self.pm.send('carStateSP', cs_sp_send)
+
   def controls_update(self, CS: car.CarState, CC: car.CarControl, CC_SP: custom.CarControlSP):
     """control update loop, driven by carControl"""
 
@@ -280,9 +287,9 @@ def controls_update(self, CS: car.CarState, CC: car.CarControl, CC_SP: custom.Ca
       self.CC_prev = CC
 
   def step(self):
-    CS, RD = self.state_update()
+    CS, CS_SP, RD = self.state_update()
 
-    self.state_publish(CS, RD)
+    self.state_publish(CS, CS_SP, RD)
 
     initialized = (not any(e.name == EventName.selfdriveInitializing for e in self.sm['onroadEvents']) and
                    self.sm.seen['onroadEvents'])
@@ -291,6 +298,7 @@ def step(self):
 
     self.initialized_prev = initialized
     self.CS_prev = CS
+    self.CS_SP_prev = CS_SP
 
   def params_thread(self, evt):
     while not evt.is_set():
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
index 6ebacfc9764c31..6187be14744758 100644
--- a/selfdrive/car/helpers.py
+++ b/selfdrive/car/helpers.py
@@ -35,11 +35,13 @@ def asdictref(obj) -> dict[str, Any]:
   return _asdictref_inner(obj)
 
 
-def convert_to_capnp(struct: structs.CarParamsSP) -> capnp.lib.capnp._DynamicStructBuilder:
+def convert_to_capnp(struct: structs.CarParamsSP | structs.CarStateSP) -> capnp.lib.capnp._DynamicStructBuilder:
   struct_dict = asdictref(struct)
 
   if isinstance(struct, structs.CarParamsSP):
     struct_capnp = custom.CarParamsSP.new_message(**struct_dict)
+  elif isinstance(struct, structs.CarStateSP):
+    struct_capnp = custom.CarStateSP.new_message(**struct_dict)
   else:
     raise ValueError(f"Unsupported struct type: {type(struct)}")
 
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index a880e06fca7836..0fc6716dd3356c 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -204,7 +204,7 @@ def test_car_interface(self):
     CC_SP = structs.CarControlSP()
 
     for i, msg in enumerate(self.can_msgs):
-      CS = self.CI.update(msg)
+      CS, _ = self.CI.update(msg)
       self.CI.apply(CC, CC_SP, msg[0])
 
       if CS.canValid:
@@ -349,7 +349,7 @@ def test_panda_safety_carstate_fuzzy(self, data):
       self.safety.safety_rx_hook(to_send)
 
       can = [(int(time.monotonic() * 1e9), [CanData(address=address, dat=dat, src=bus)])]
-      CS = self.CI.update(can)
+      CS, _ = self.CI.update(can)
 
       if self.safety.get_gas_pressed_prev() != prev_panda_gas:
         self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
@@ -409,7 +409,8 @@ def test_panda_safety_carstate(self):
     checks = defaultdict(int)
     vehicle_speed_seen = self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar
     for idx, can in enumerate(self.can_msgs):
-      CS = self.CI.update(can).as_reader()
+      CS, _ = self.CI.update(can)
+      CS = CS.as_reader()
       for msg in filter(lambda m: m.src < 64, can[1]):
         to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         ret = self.safety.safety_rx_hook(to_send)

From 1ee7b4ad0efeb166ad5d54becb5479d59283e5b0 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 2 Jun 2025 23:49:29 -0400
Subject: [PATCH 0276/1434] ci: higher delay between UI Preview screenshots
 (#978)

---
 selfdrive/ui/tests/test_ui/run.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index f8c64de7691c9a..0b9d266ad64f1a 100755
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -26,7 +26,7 @@
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.cache import DEFAULT_CACHE_DIR
 
-UI_DELAY = 0.1 # may be slower on CI?
+UI_DELAY = 0.5 # may be slower on CI?
 TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
 
 STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = []

From 9c28583171ba3336f3c93d6e9d567263dda79ac5 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 3 Jun 2025 00:28:55 -0400
Subject: [PATCH 0277/1434] ui: include MADS enabled state to `engaged` check
 (#976)

* ui: include MADS enabled state to `engaged` check

* let's bump it up
---
 selfdrive/ui/sunnypilot/ui.h | 5 +++++
 selfdrive/ui/ui.h            | 2 +-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/ui.h b/selfdrive/ui/sunnypilot/ui.h
index 08e1d37b0f343a..a94dfca3b3ed7a 100644
--- a/selfdrive/ui/sunnypilot/ui.h
+++ b/selfdrive/ui/sunnypilot/ui.h
@@ -20,6 +20,11 @@ class UIStateSP : public UIState {
 public:
   UIStateSP(QObject *parent = 0);
   void updateStatus() override;
+  inline bool engaged() const override {
+    return scene.started && (
+      (*sm)["selfdriveState"].getSelfdriveState().getEnabled() || (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads().getEnabled()
+    );
+  }
   void setSunnylinkRoles(const std::vector<RoleModel> &roles);
   void setSunnylinkDeviceUsers(const std::vector<UserModel> &users);
 
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 6ef4f8e6d9f1f5..4ead8aecb93266 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -72,7 +72,7 @@ class UIState : public QObject {
 public:
   UIState(QObject* parent = 0);
   virtual void updateStatus();
-  inline bool engaged() const {
+  virtual inline bool engaged() const {
     return scene.started && (*sm)["selfdriveState"].getSelfdriveState().getEnabled();
   }
 

From c7767bddfe3b1f29c601d07ebbbcee2824587dd6 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Tue, 3 Jun 2025 04:12:08 -0700
Subject: [PATCH 0278/1434] UI: prep for custom model rendering (#920)

* Refactor and extend ModelRenderer for custom Sunnypilot logic

Refactored `ModelRenderer` to `ModelRendererSP` with enhanced features such as lane line updates, path drawing, and lead management for Sunnypilot. Introduced new methods for model updates, lead drawing, and improved path rendering with experimental mode support. Ensured compatibility by integrating with Sunnypilot-specific HUD and camera components.

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

* Refactor `ModelRenderer` for modularity

Moved constants and `get_path_length_idx` function to the header file for reuse and clarity. Updated `drawPath` and related methods to better handle surface dimensions, improving rendering flexibility. Made key functions virtual to allow further customization in derived classes.

* Cleaning logic on ModelRenderSP

Given that we've refactored slightly the original ModelRender, we no longer need to duplicate the logic on our own implementation

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/qt/onroad/annotated_camera.h |  2 ++
 selfdrive/ui/qt/onroad/model.cc           | 15 +--------------
 selfdrive/ui/qt/onroad/model.h            | 22 ++++++++++++++++++++--
 selfdrive/ui/sunnypilot/qt/onroad/model.h |  2 +-
 4 files changed, 24 insertions(+), 17 deletions(-)

diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index 219b39546ff166..e3ca837907803b 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -9,7 +9,9 @@
 #ifdef SUNNYPILOT
 #include "selfdrive/ui/sunnypilot/qt/onroad/buttons.h"
 #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/model.h"
 #define ExperimentalButton ExperimentalButtonSP
+#define ModelRenderer ModelRendererSP
 #else
 #include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/hud.h"
diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
index 52902abdc8d2cf..dc801e591f91d4 100644
--- a/selfdrive/ui/qt/onroad/model.cc
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -1,18 +1,5 @@
 #include "selfdrive/ui/qt/onroad/model.h"
 
-constexpr int CLIP_MARGIN = 500;
-constexpr float MIN_DRAW_DISTANCE = 10.0;
-constexpr float MAX_DRAW_DISTANCE = 100.0;
-
-static int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
-  const auto &line_x = line.getX();
-  int max_idx = 0;
-  for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) {
-    max_idx = i;
-  }
-  return max_idx;
-}
-
 void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
   auto *s = uiState();
   auto &sm = *(s->sm);
@@ -35,7 +22,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
 
   update_model(model, lead_one);
   drawLaneLines(painter);
-  drawPath(painter, model, surface_rect.height());
+  drawPath(painter, model, surface_rect);
 
   if (longitudinal_control && sm.alive("radarState")) {
     update_leads(radar_state, model.getPosition());
diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h
index 7e1b43acb4949b..85eb236e76868a 100644
--- a/selfdrive/ui/qt/onroad/model.h
+++ b/selfdrive/ui/qt/onroad/model.h
@@ -9,21 +9,39 @@
 #include "selfdrive/ui/ui.h"
 #endif
 
+constexpr int CLIP_MARGIN = 500;
+constexpr float MIN_DRAW_DISTANCE = 10.0;
+constexpr float MAX_DRAW_DISTANCE = 100.0;
+
+inline int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
+  const auto &line_x = line.getX();
+  int max_idx = 0;
+  for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) {
+    max_idx = i;
+  }
+  return max_idx;
+}
+
 class ModelRenderer {
 public:
+  virtual ~ModelRenderer() = default;
+
   ModelRenderer() {}
   void setTransform(const Eigen::Matrix3f &transform) { car_space_transform = transform; }
   void draw(QPainter &painter, const QRect &surface_rect);
 
-private:
+protected:
   bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
   void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
                         QPolygonF *pvd, int max_idx, bool allow_invert = true);
   void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect);
   void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
-  void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
+  virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
   void drawLaneLines(QPainter &painter);
   void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
+  virtual void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {;
+    drawPath(painter, model, surface_rect.height());
+  }
   void updatePathGradient(QLinearGradient &bg);
   QColor blendColors(const QColor &start, const QColor &end, float t);
 
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.h b/selfdrive/ui/sunnypilot/qt/onroad/model.h
index e8594629cb5f93..8569e58f665f4a 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/model.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/model.h
@@ -11,5 +11,5 @@
 
 class ModelRendererSP : public ModelRenderer {
 public:
-  ModelRendererSP() {}
+  ModelRendererSP() = default;
 };

From e6f55a7eea008f042a76e82fa340e6ffbff4e510 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Tue, 3 Jun 2025 16:05:02 -0400
Subject: [PATCH 0279/1434] ui: visuals panel (#919)

---
 selfdrive/ui/sunnypilot/SConscript             |  1 +
 .../sunnypilot/qt/offroad/settings/settings.cc |  2 ++
 .../qt/offroad/settings/visuals_panel.cc       | 12 ++++++++++++
 .../qt/offroad/settings/visuals_panel.h        | 18 ++++++++++++++++++
 selfdrive/ui/tests/test_ui/run.py              |  7 +++++++
 .../selfdrive/assets/offroad/icon_visuals.png  |  3 +++
 6 files changed, 43 insertions(+)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
 create mode 100644 sunnypilot/selfdrive/assets/offroad/icon_visuals.png

diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index b5d18c5b916118..0353c9babd9313 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -31,6 +31,7 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc",
   "sunnypilot/qt/offroad/settings/trips_panel.cc",
   "sunnypilot/qt/offroad/settings/vehicle_panel.cc",
+  "sunnypilot/qt/offroad/settings/visuals_panel.cc",
   "sunnypilot/qt/onroad/annotated_camera.cc",
   "sunnypilot/qt/onroad/buttons.cc",
   "sunnypilot/qt/onroad/hud.cc",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
index ad057ac714311d..e91de4c903dd48 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
@@ -20,6 +20,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h"
 
 TogglesPanelSP::TogglesPanelSP(SettingsWindowSP *parent) : TogglesPanel(parent) {
   QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &TogglesPanelSP::updateState);
@@ -83,6 +84,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
     PanelInfo("   " + tr("Models"), new ModelsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_models.png"),
     PanelInfo("   " + tr("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
     PanelInfo("   " + tr("Cruise"), new LongitudinalPanel(this), "../assets/icons/speed_limit.png"),
+    PanelInfo("   " + tr("Visuals"), new VisualsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"),
     PanelInfo("   " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
     PanelInfo("   " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
     PanelInfo("   " + tr("Firehose"), new FirehosePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_firehose.svg"),
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
new file mode 100644
index 00000000000000..cf9729be1820ea
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -0,0 +1,12 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h"
+
+VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
+
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
new file mode 100644
index 00000000000000..9f58104c4e46a1
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
@@ -0,0 +1,18 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+
+class VisualsPanel : public QWidget {
+ Q_OBJECT
+
+public:
+ explicit VisualsPanel(QWidget *parent = nullptr);
+
+};
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 0b9d266ad64f1a..536917a1a6a953 100755
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -252,6 +252,12 @@ def setup_settings_driving(click, pm: PubMaster, scroll=None):
   click(278, 962)
   time.sleep(UI_DELAY)
 
+def setup_settings_visuals(click, pm: PubMaster, scroll=None):
+  setup_settings_device(click, pm)
+  scroll(-400, 278, 962)
+  click(278, 560)
+  time.sleep(UI_DELAY)
+
 def setup_settings_trips(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
   scroll(-400, 278, 962)
@@ -307,6 +313,7 @@ def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
   "settings_steering_mads": setup_settings_steering_mads,
   "settings_steering_alc": setup_settings_steering_alc,
   "settings_driving": setup_settings_driving,
+  "settings_visuals": setup_settings_visuals,
   "settings_trips": setup_settings_trips,
   "settings_vehicle": setup_settings_vehicle,
 })
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_visuals.png b/sunnypilot/selfdrive/assets/offroad/icon_visuals.png
new file mode 100644
index 00000000000000..3cc9c3b14543d1
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_visuals.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ecaac6fb687fcab3300d1fe2dfea96fb49734d634a663e2c02ee0b26ebd773e
+size 20632

From 57dc9152bb48b0a2bd158fa90d585d0263cea27f Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Wed, 4 Jun 2025 21:10:26 -0700
Subject: [PATCH 0280/1434] Networking: Fix Prime Level Five For Users in
 Roaming Only Networks (#986)

Fix prime level five for users in roaming only networks.
---
 selfdrive/ui/qt/network/networking.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc
index 41527fe6924ee6..7754e6e5ba41f4 100644
--- a/selfdrive/ui/qt/network/networking.cc
+++ b/selfdrive/ui/qt/network/networking.cc
@@ -79,7 +79,8 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) {
 }
 
 void Networking::setPrimeType(PrimeState::Type type) {
-  an->setGsmVisible(type == PrimeState::PRIME_TYPE_NONE || type == PrimeState::PRIME_TYPE_LITE);
+  an->setGsmVisible(type == PrimeState::PRIME_TYPE_NONE || type == PrimeState::PRIME_TYPE_UNKNOWN || \
+                    type == PrimeState::PRIME_TYPE_PURPLE ||  type == PrimeState::PRIME_TYPE_LITE);
   wifi->ipv4_forward = (type == PrimeState::PRIME_TYPE_NONE || type == PrimeState::PRIME_TYPE_LITE);
 }
 

From 0c506c868d43251f82bf33580f5ba44078d7a4dc Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 5 Jun 2025 00:21:58 -0400
Subject: [PATCH 0281/1434] Controls: Pause lateral control based on blinker
 state and vehicle speed (#983)

* Controls: Pause lateral control based on blinker state and vehicle speed

* in its own module

* tests

* cleanup tests

* ui

* always refresh on show panel

* remove default

* change to 20 default

* need to update params live

* shorter

* off by default

* lol lint

* use ExpandableToggleRow

* not needed

* shorter

* ci ui preview delay for all offroad

* more

* Revert "more"

This reverts commit 809cfd99dac4183e318f3f7dff8e7c14f8223d62.

* Revert "ci ui preview delay for all offroad"

This reverts commit ab38292fa84165081e32fcfc7b44f7f7afdfe791.

---------

Co-authored-by: nayan8teen <nayan8teen@gmail.com>
---
 common/params_keys.h                          |   2 +
 selfdrive/ui/sunnypilot/SConscript            |   1 +
 .../lateral/blinker_pause_lateral_settings.cc |  27 ++++
 .../lateral/blinker_pause_lateral_settings.h  |  25 ++++
 .../qt/offroad/settings/lateral_panel.cc      |  13 ++
 .../qt/offroad/settings/lateral_panel.h       |   2 +
 .../selfdrive/controls/controlsd_ext.py       |  10 +-
 .../controls/lib/blinker_pause_lateral.py     |  34 +++++
 .../lib/tests/test_blinker_pause_lateral.py   | 130 ++++++++++++++++++
 system/manager/manager.py                     |   2 +
 10 files changed, 243 insertions(+), 3 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h
 create mode 100644 sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py

diff --git a/common/params_keys.h b/common/params_keys.h
index a28a02693be5ca..6474fb5840d3bf 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -125,6 +125,8 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"ApiCache_DriveStats", PERSISTENT},
     {"AutoLaneChangeBsmDelay", PERSISTENT},
     {"AutoLaneChangeTimer", PERSISTENT},
+    {"BlinkerMinLateralControlSpeed", PERSISTENT | BACKUP},
+    {"BlinkerPauseLateralControl", PERSISTENT | BACKUP},
     {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
     {"CarParamsSPPersistent", PERSISTENT},
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 0353c9babd9313..796107da7749f5 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -40,6 +40,7 @@ qt_src = [
 ]
 
 lateral_panel_qt_src = [
+  "sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc
new file mode 100644
index 00000000000000..b43c6162c6f8c5
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc
@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h"
+
+BlinkerPauseLateralSettings::BlinkerPauseLateralSettings(const QString &param, const QString &title, const QString &description, const QString &icon, QWidget *parent)
+    : ExpandableToggleRow(param, title, description, icon, parent) {
+
+  pauseLateralSpeed = new OptionControlSP("BlinkerMinLateralControlSpeed", "", "", "", {0, 255}, 5);
+  connect(pauseLateralSpeed, &OptionControlSP::updateLabels, this, &BlinkerPauseLateralSettings::refresh);
+  addItem(pauseLateralSpeed);
+
+  refresh();
+}
+
+void BlinkerPauseLateralSettings::refresh() {
+  const QString option = QString::fromStdString(params.get("BlinkerMinLateralControlSpeed"));
+  const bool is_metric = params.getBool("IsMetric");
+  const QString unit = is_metric ? "km/h" : "mph";
+
+  pauseLateralSpeed->setLabel(option + " " + unit);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h
new file mode 100644
index 00000000000000..7f02337b9c700a
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h
@@ -0,0 +1,25 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
+
+class BlinkerPauseLateralSettings : public ExpandableToggleRow {
+  Q_OBJECT
+
+public:
+  BlinkerPauseLateralSettings(const QString &param, const QString &title, const QString &description, const QString &icon, QWidget *parent = nullptr);
+  void refresh();
+
+private:
+  Params params;
+  OptionControlSP *pauseLateralSpeed;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
index 0beae6e24fe61c..ae954d7539b055 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
@@ -64,6 +64,17 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
   list->addItem(vertical_space(0));
   list->addItem(horizontal_line());
 
+  // Blinker Pause Lateral Control
+  blinkerPauseLateralSettings = new BlinkerPauseLateralSettings(
+    "BlinkerPauseLateralControl",
+    tr("Pause Lateral Control with Blinker"),
+    tr("Pause lateral control with blinker when traveling below the desired speed selected."),
+    "",
+    this);
+  list->addItem(blinkerPauseLateralSettings);
+
+  list->addItem(horizontal_line());
+
   // Neural Network Lateral Control
   nnlcToggle = new NeuralNetworkLateralControl();
   list->addItem(nnlcToggle);
@@ -139,5 +150,7 @@ void LateralPanel::updateToggles(bool _offroad) {
 
   madsSettingsButton->setEnabled(madsToggle->isToggled());
 
+  blinkerPauseLateralSettings->refresh();
+
   offroad = _offroad;
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
index cf003dfaf3400e..7b5e73fceb5359 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
@@ -11,6 +11,7 @@
 #include <string>
 
 #include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
@@ -43,6 +44,7 @@ public slots:
   PushButtonSP *laneChangeSettingsButton;
   LaneChangeSettings *laneChangeWidget = nullptr;
   NeuralNetworkLateralControl *nnlcToggle = nullptr;
+  BlinkerPauseLateralSettings *blinkerPauseLateralSettings = nullptr;
 
   const QString MADS_BASE_DESC = tr("Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).");
 
diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
index 4978c01332aef7..9a7f0cb5fc4c39 100644
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -11,12 +11,14 @@
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.selfdrive.controls.lib.param_store import ParamStore
+from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral
 
 
 class ControlsExt:
   def __init__(self, CP: structs.CarParams, params: Params):
     self.CP = CP
     self.params = params
+    self.blinker_pause_lateral = BlinkerPauseLateral()
     self.param_store = ParamStore(self.CP)
     self.get_params_sp()
 
@@ -29,11 +31,13 @@ def __init__(self, CP: structs.CarParams, params: Params):
 
   def get_params_sp(self) -> None:
     self.param_store.update(self.params)
+    self.blinker_pause_lateral.get_params()
 
-  @staticmethod
-  def get_lat_active(sm: messaging.SubMaster) -> bool:
-    ss_sp = sm['selfdriveStateSP']
+  def get_lat_active(self, sm: messaging.SubMaster) -> bool:
+    if self.blinker_pause_lateral.update(sm['carState']):
+      return False
 
+    ss_sp = sm['selfdriveStateSP']
     if ss_sp.mads.available:
       return bool(ss_sp.mads.active)
 
diff --git a/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py b/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py
new file mode 100644
index 00000000000000..fb86280358e488
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py
@@ -0,0 +1,34 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from cereal import car
+
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.params import Params
+
+
+class BlinkerPauseLateral:
+  def __init__(self):
+    self.params = Params()
+
+    self.enabled = self.params.get_bool("BlinkerPauseLateralControl")
+    self.is_metric = self.params.get_bool("IsMetric")
+    self.min_speed = 0
+
+  def get_params(self) -> None:
+    self.enabled = self.params.get_bool("BlinkerPauseLateralControl")
+    self.is_metric = self.params.get_bool("IsMetric")
+    self.min_speed = int(self.params.get("BlinkerMinLateralControlSpeed", encoding='utf8'))
+
+  def update(self, CS: car.CarState) -> bool:
+    if not self.enabled:
+      return False
+
+    one_blinker = CS.leftBlinker != CS.rightBlinker
+    speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
+    min_speed_ms = self.min_speed * speed_factor
+
+    return bool(one_blinker and CS.vEgo < min_speed_ms)
diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py b/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py
new file mode 100644
index 00000000000000..6ba1dcef41c6c9
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py
@@ -0,0 +1,130 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from cereal import car
+
+from openpilot.common.conversions import Conversions as CV
+from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral
+
+
+class TestBlinkerPauseLateral:
+
+  def setup_method(self):
+    self.blinker_pause_lateral = BlinkerPauseLateral()
+    self._reset_states()
+
+  def _reset_states(self):
+    self.blinker_pause_lateral.enabled = True
+    self.blinker_pause_lateral.is_metric = False
+    self.blinker_pause_lateral.min_speed = 20  # MPH
+
+    self.CS = car.CarState.new_message()
+    self.CS.vEgo = 0
+    self.CS.leftBlinker = False
+    self.CS.rightBlinker = False
+
+  def _test_should_blinker_pause_lateral(self, expected_results) -> None:
+    for left in (True, False):
+      for right in (True, False):
+        self.CS.leftBlinker = left
+        self.CS.rightBlinker = right
+
+        result = self.blinker_pause_lateral.update(self.CS)
+        assert result == expected_results[(left, right)]
+
+  def test_below_min_speed_blinker(self):
+    self.CS.vEgo = 4.5  # ~10 MPH
+
+    expected_results = {
+      (False, False): False,
+      (True, False): True,
+      (False, True): True,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
+  def test_above_min_speed_blinker(self):
+    self.CS.vEgo = 13.4  # ~30 MPH
+
+    expected_results = {
+      (False, False): False,
+      (True, False): False,
+      (False, True): False,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
+  def test_just_below_min_speed(self):
+    self.CS.vEgo = (20 * CV.MPH_TO_MS) - 0.01
+
+    expected_results = {
+      (False, False): False,
+      (True, False): True,
+      (False, True): True,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
+  def test_disabled(self):
+    self.blinker_pause_lateral.enabled = False
+    self.CS.vEgo = 4.5  # ~10 MPH
+
+    expected_results = {
+      (False, False): False,
+      (True, False): False,
+      (False, True): False,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
+  def test_metric_units_below_min_speed(self):
+    self.blinker_pause_lateral.is_metric = True
+    self.CS.vEgo = 5.0  # ~18 km/h
+
+    expected_results = {
+      (False, False): False,
+      (True, False): True,
+      (False, True): True,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
+  def test_metric_units_above_threshold(self):
+    self.blinker_pause_lateral.is_metric = True
+    self.CS.vEgo = 6.0  # ~21.6 km/h
+
+    expected_results = {
+      (False, False): False,
+      (True, False): False,
+      (False, True): False,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
+  def test_change_min_speed_threshold(self):
+    self.blinker_pause_lateral.min_speed = 30  # MPH
+
+    # below min speed
+    self.CS.vEgo = 11.2  # ~25 MPH
+
+    expected_results = {
+      (False, False): False,
+      (True, False): True,
+      (False, True): True,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
+    # above min speed
+    self.CS.vEgo = 15.6  # ~35 MPH
+
+    expected_results = {
+      (False, False): False,
+      (True, False): False,
+      (False, True): False,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 71f2bc525a7251..46b849108c4523 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -44,6 +44,8 @@ def manager_init() -> None:
   sunnypilot_default_params: list[tuple[str, str | bytes]] = [
     ("AutoLaneChangeTimer", "0"),
     ("AutoLaneChangeBsmDelay", "0"),
+    ("BlinkerMinLateralControlSpeed", "20"),  # MPH or km/h
+    ("BlinkerPauseLateralControl", "0"),
     ("DynamicExperimentalControl", "0"),
     ("HyundaiLongitudinalTuning", "0"),
     ("Mads", "1"),

From 445eda9d5de2540a6d9e46d6f7ac34557d5692a5 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 5 Jun 2025 23:41:04 -0400
Subject: [PATCH 0282/1434] Bump submodules

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 4ff297f230a55a..f2b2b9e50ded6c 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 4ff297f230a55ab052be0f047d7c3049b1b317be
+Subproject commit f2b2b9e50ded6c9024715cbb1f5aa7ef911c792d

From 835d6a656e77917d69253dafe206a9b03577fc8e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 6 Jun 2025 00:05:20 -0400
Subject: [PATCH 0283/1434] Bump submodules

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index f2b2b9e50ded6c..202a26d94315ed 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit f2b2b9e50ded6c9024715cbb1f5aa7ef911c792d
+Subproject commit 202a26d94315edaa981ce80ed73c6022d2d66997

From 8849f44e4190f55673af9256df89a937f5c7a6dc Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 6 Jun 2025 14:33:33 -0400
Subject: [PATCH 0284/1434] ui: sp spinner (#984)

* sp spinner

* fine!!

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .../assets/images/spinner_sunnypilot.png      |  3 +++
 system/ui/spinner.py                          |  4 +++-
 system/ui/sunnypilot/lib/application.py       | 21 +++++++++++++++++++
 3 files changed, 27 insertions(+), 1 deletion(-)
 create mode 100644 sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png
 create mode 100644 system/ui/sunnypilot/lib/application.py

diff --git a/sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png b/sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png
new file mode 100644
index 00000000000000..edc5c6e5c2c9a7
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dbacb55581a5ea8cbcd5cea0560ec21d96ac7185463a40fff0f81bebf044ffa
+size 23187
diff --git a/system/ui/spinner.py b/system/ui/spinner.py
index 3825f1300d0092..ed605885b0f3d2 100755
--- a/system/ui/spinner.py
+++ b/system/ui/spinner.py
@@ -8,6 +8,8 @@
 from openpilot.system.ui.lib.window import BaseWindow
 from openpilot.system.ui.text import wrap_text
 
+from openpilot.system.ui.sunnypilot.lib.application import gui_app_sp
+
 # Constants
 PROGRESS_BAR_WIDTH = 1000
 PROGRESS_BAR_HEIGHT = 20
@@ -25,7 +27,7 @@ def clamp(value, min_value, max_value):
 
 class SpinnerRenderer:
   def __init__(self):
-    self._comma_texture = gui_app.texture("images/spinner_comma.png", TEXTURE_SIZE, TEXTURE_SIZE)
+    self._comma_texture = gui_app_sp.sp_texture("images/spinner_sunnypilot.png", TEXTURE_SIZE, TEXTURE_SIZE)
     self._spinner_texture = gui_app.texture("images/spinner_track.png", TEXTURE_SIZE, TEXTURE_SIZE, alpha_premultiply=True)
     self._rotation = 0.0
     self._progress: int | None = None
diff --git a/system/ui/sunnypilot/lib/application.py b/system/ui/sunnypilot/lib/application.py
new file mode 100644
index 00000000000000..10227ce9fd5f18
--- /dev/null
+++ b/system/ui/sunnypilot/lib/application.py
@@ -0,0 +1,21 @@
+from openpilot.system.ui.lib.application import GuiApplication
+from importlib.resources import as_file, files
+
+ASSETS_DIR_SP = files("openpilot.sunnypilot.selfdrive").joinpath("assets")
+
+class GuiApplicationSP(GuiApplication):
+
+    def __init__(self, width: int, height: int):
+        super().__init__(width, height)
+
+    def sp_texture(self, asset_path: str, width: int, height: int, alpha_premultiply=False, keep_aspect_ratio=True):
+        cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}{keep_aspect_ratio}"
+        if cache_key in self._textures:
+            return self._textures[cache_key]
+
+        with as_file(ASSETS_DIR_SP.joinpath(asset_path)) as fspath:
+            texture_obj = self._load_texture_from_image(fspath.as_posix(), width, height, alpha_premultiply, keep_aspect_ratio)
+        self._textures[cache_key] = texture_obj
+        return texture_obj
+
+gui_app_sp = GuiApplicationSP(2160, 1080)

From 65c512acc00f9c4b6c485ef7b08fe26ec35ec279 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Fri, 6 Jun 2025 11:43:10 -0700
Subject: [PATCH 0285/1434] ui/models panel: liveDelay Toggle (#971)

* Model panel

* Get this outta here and use sunnylink instead

* Remove space

* 'not' because we want gas gating to use e2e/mpc blend

* Add toggles to models_panel.cc

* "keep enabled for stock behavior"

* Add this here

* Cloudlog result

* change cloudlog to debug, and add latsmooth to steer actuator delay.

Need to edit json. Will do locally so when this is merged its a simple ready to go push.

* Cleanup

* Update longitudinal_planner.py

* Remove gasgating for now.. may need to be placed in model

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 common/params_keys.h                          |  5 +++-
 .../qt/offroad/settings/models_panel.cc       |  7 +++++
 sunnypilot/modeld/modeld.py                   |  6 ++++-
 sunnypilot/modeld_v2/modeld.py                |  6 ++++-
 sunnypilot/models/modeld_lagd.py              | 26 +++++++++++++++++++
 system/manager/manager.py                     |  1 +
 6 files changed, 48 insertions(+), 3 deletions(-)
 create mode 100644 sunnypilot/models/modeld_lagd.py

diff --git a/common/params_keys.h b/common/params_keys.h
index 6474fb5840d3bf..4fd98c1b382caa 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -71,7 +71,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
     {"LastUpdateException", CLEAR_ON_MANAGER_START},
     {"LastUpdateTime", PERSISTENT},
-    {"LiveDelay", PERSISTENT},
+    {"LiveDelay", PERSISTENT | BACKUP},
     {"LiveParameters", PERSISTENT},
     {"LiveParametersV2", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
@@ -170,4 +170,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"HyundaiLongitudinalTuning", PERSISTENT},
 
     {"DynamicExperimentalControl", PERSISTENT},
+
+    // model panel params
+    {"LagdToggle", PERSISTENT | BACKUP},
 };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index d33cb550cea4f8..3c8d034c5ab0b7 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -31,6 +31,13 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
     });
   connect(uiStateSP(), &UIStateSP::uiUpdate, this, &ModelsPanel::updateLabels);
   list->addItem(currentModelLblBtn);
+
+  // LiveDelay toggle
+  list->addItem(new ParamControlSP("LagdToggle",
+                                   tr("Live Learning Steer Delay"),
+                                   tr("Enable this for the car to learn and adapt its steering response time. "
+                                      "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience."),
+                                   "../assets/offroad/icon_shell.png"));
 }
 
 
diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
index 2ac3f5700e1b5d..d4bd96ff661627 100755
--- a/sunnypilot/modeld/modeld.py
+++ b/sunnypilot/modeld/modeld.py
@@ -25,6 +25,7 @@
 from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
 from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants
+from openpilot.sunnypilot.models.modeld_lagd import ModeldLagd
 from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
 
 
@@ -201,8 +202,9 @@ def main(demo=False):
 
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
+  modeld_lagd = ModeldLagd()
+
   # Enable lagd support for sunnypilot modeld
-  steer_delay = sm["liveDelay"].lateralDelay + model.LAT_SMOOTH_SECONDS
   long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
   prev_action = log.ModelDataV2.Action()
 
@@ -246,6 +248,8 @@ def main(demo=False):
     v_ego = sm["carState"].vEgo
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
+    steer_delay = modeld_lagd.lagd_main(CP, sm, model)
+
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index 4c8acafcad07c7..fe322f462e8775 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -23,6 +23,7 @@
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 
 from openpilot.sunnypilot.models.helpers import get_active_bundle
+from openpilot.sunnypilot.models.modeld_lagd import ModeldLagd
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -238,6 +239,9 @@ def main(demo=False):
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
+
+  modeld_lagd = ModeldLagd()
+
   # TODO Move smooth seconds to action function
   long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
   prev_action = log.ModelDataV2.Action()
@@ -282,7 +286,7 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    steer_delay = sm["liveDelay"].lateralDelay + model.LAT_SMOOTH_SECONDS
+    steer_delay = modeld_lagd.lagd_main(CP, sm, model)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
diff --git a/sunnypilot/models/modeld_lagd.py b/sunnypilot/models/modeld_lagd.py
new file mode 100644
index 00000000000000..9e538123a86d66
--- /dev/null
+++ b/sunnypilot/models/modeld_lagd.py
@@ -0,0 +1,26 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+
+
+class ModeldLagd:
+  def __init__(self):
+    self.params = Params()
+
+  def lagd_main(self, CP, sm, model):
+    if self.params.get_bool("LagdToggle"):
+      lateral_delay = sm["liveDelay"].lateralDelay
+      lat_smooth = model.LAT_SMOOTH_SECONDS
+      result = lateral_delay + lat_smooth
+      cloudlog.debug(f"LAGD USING LIVE DELAY: {lateral_delay:.3f} + {lat_smooth:.3f} = {result:.3f}")
+      return result
+    steer_actuator_delay = CP.steerActuatorDelay
+    lat_smooth = model.LAT_SMOOTH_SECONDS
+    result = (steer_actuator_delay + 0.2) + lat_smooth
+    cloudlog.debug(f"LAGD USING STEER ACTUATOR: {steer_actuator_delay:.3f} + 0.2 + {lat_smooth:.3f} = {result:.3f}")
+    return result
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 46b849108c4523..13048a885165f9 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -48,6 +48,7 @@ def manager_init() -> None:
     ("BlinkerPauseLateralControl", "0"),
     ("DynamicExperimentalControl", "0"),
     ("HyundaiLongitudinalTuning", "0"),
+    ("LagdToggle", "1"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
     ("MadsSteeringMode", "0"),

From ab68ce99bada7edae852a264131aebeb486616ea Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Fri, 6 Jun 2025 20:53:58 +0200
Subject: [PATCH 0286/1434] chore: Update CODEOWNERS with new ownership rules
 (#982)

Update CODEOWNERS with new ownership rules

Expand ownership to additional paths for better code coverage and clarity. Newly added owners include @Discountchubbs and @devtekve for specified directories and files. This ensures proper oversight and maintenance of critical areas.
---
 .github/CODEOWNERS | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 65d2f5588e29b5..e8f1b7eb8bc202 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -1,3 +1,11 @@
 *       @sunnypilot/dev-internal
 /.github/ @devtekve @sunnyhaibin
-/release/ci/ @devtekve @sunnyhaibin
\ No newline at end of file
+/release/ci/ @devtekve @sunnyhaibin
+/tinygrad_repo @devtekve @Discountchubbs
+/tinygrad/ @devtekve @Discountchubbs
+/selfdrive/controls/lib/longitudinal_planner.py @devtekve @Discountchubbs
+/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @devtekve @Discountchubbs
+/selfdrive/modeld/ @devtekve @Discountchubbs
+/sunnypilot/model* @devtekve @Discountchubbs
+/sunnypilot/sunnylink/ @devtekve
+/system/athena/ @devtekve
\ No newline at end of file

From 539b5aab75e7f35624799cd9983dd8eadaa46d62 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Fri, 6 Jun 2025 15:38:16 -0400
Subject: [PATCH 0287/1434] ui: display different border color for long control
 without lat (#981)

Update ui.cc

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 selfdrive/ui/ui.cc | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 06208638dbaab3..a521902f89a158 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -80,8 +80,12 @@ void UIState::updateStatus() {
       status = STATUS_OVERRIDE;
     } else {
       if (mads.getAvailable()) {
-        if (mads.getEnabled()) {
-          status = ss.getEnabled() ? STATUS_ENGAGED : STATUS_LAT_ONLY;
+        if (mads.getEnabled() && ss.getEnabled()) {
+          status = STATUS_ENGAGED;
+        } else if (mads.getEnabled()) {
+          status = STATUS_LAT_ONLY;
+        } else if (ss.getEnabled()) {
+          status = STATUS_LONG_ONLY;
         } else {
           status = STATUS_DISENGAGED;
         }

From debba0c9f9dcc74dfc0c902aa92286860c5c7d73 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Fri, 6 Jun 2025 15:51:05 -0400
Subject: [PATCH 0288/1434] ui: add brightness controls (#974)

* brightness

* better brightness

* cleanup

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 common/params_keys.h                          |  1 +
 selfdrive/ui/sunnypilot/SConscript            |  1 +
 .../qt/offroad/settings/brightness.cc         | 50 +++++++++++++++++++
 .../qt/offroad/settings/brightness.h          | 25 ++++++++++
 .../qt/offroad/settings/device_panel.cc       |  5 ++
 .../qt/offroad/settings/device_panel.h        |  2 +
 selfdrive/ui/ui.cc                            | 16 ++++--
 system/manager/manager.py                     |  1 +
 8 files changed, 98 insertions(+), 3 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h

diff --git a/common/params_keys.h b/common/params_keys.h
index 4fd98c1b382caa..a74f6061d00146 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -133,6 +133,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"CarPlatformBundle", PERSISTENT},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
     {"MaxTimeOffroad", PERSISTENT | BACKUP},
+    {"Brightness", PERSISTENT | BACKUP},
     {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
     {"OffroadMode", CLEAR_ON_MANAGER_START},
     {"OffroadMode_Status", CLEAR_ON_MANAGER_START},
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 796107da7749f5..9a9e395d929cd4 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -24,6 +24,7 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/lateral_panel.cc",
   "sunnypilot/qt/offroad/settings/longitudinal_panel.cc",
   "sunnypilot/qt/offroad/settings/max_time_offroad.cc",
+  "sunnypilot/qt/offroad/settings/brightness.cc",
   "sunnypilot/qt/offroad/settings/models_panel.cc",
   "sunnypilot/qt/offroad/settings/settings.cc",
   "sunnypilot/qt/offroad/settings/software_panel.cc",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc
new file mode 100644
index 00000000000000..ffd3ce1d8b0d56
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc
@@ -0,0 +1,50 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h"
+
+// Map of Brightness Options
+const QMap<QString, QString> Brightness::brightness_options = {
+  {"0", "1"},  // Auto (Dark)
+  {"1", "0"},  // Auto
+  {"2", "10"},
+  {"3", "20"},
+  {"4", "30"},
+  {"5", "40"},
+  {"6", "50"},
+  {"7", "60"},
+  {"8", "70"},
+  {"9", "80"},
+  {"10", "90"},
+  {"11", "100"}
+};
+
+Brightness::Brightness() : OptionControlSP(
+  "Brightness",
+  tr("Brightness"),
+  tr("Overrides the brightness of the device."),
+  "../assets/offroad/icon_blank.png",
+  {0, 11}, 1, true, &brightness_options) {
+
+  refresh();
+}
+
+void Brightness::refresh() {
+  const int brightness = QString::fromStdString(params.get("Brightness")).toInt();
+  
+  QString label;
+  if (brightness == 1) {
+    label = tr("Auto (Dark)");
+  } else if (brightness == 0) {
+    label = tr("Auto");
+  } else {
+    const int value = brightness;
+    label = QString("%1").arg(value);
+  }
+  
+  setLabel(label);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h
new file mode 100644
index 00000000000000..20d0a291d9a668
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h
@@ -0,0 +1,25 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class Brightness : public OptionControlSP {
+  Q_OBJECT
+
+public:
+  static const QMap<QString, QString> brightness_options;
+
+  Brightness();
+  void refresh();
+
+private:
+  Params params;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index e6855c4b4e768e..a2c7414460243e 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -80,6 +80,11 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
   connect(maxTimeOffroad, &OptionControlSP::updateLabels, maxTimeOffroad, &MaxTimeOffroad::refresh);
   addItem(maxTimeOffroad);
 
+  // Brightness
+  brightness = new Brightness();
+  connect(brightness, &OptionControlSP::updateLabels, brightness, &Brightness::refresh);
+  addItem(brightness);
+
   addItem(device_grid_layout);
 
   // offroad mode and power buttons
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
index 7b7412a73982a7..e83801dd29ba8f 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
@@ -8,6 +8,7 @@
 #pragma once
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
@@ -25,6 +26,7 @@ class DevicePanelSP : public DevicePanel {
   std::map<QString, PushButtonSP*> buttons;
   PushButtonSP *offroadBtn;
   MaxTimeOffroad *maxTimeOffroad;
+  Brightness *brightness;
 
   const QString alwaysOffroadStyle = R"(
     PushButtonSP {
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index a521902f89a158..c9dc70cdffb68e 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -171,6 +171,8 @@ void Device::resetInteractiveTimeout(int timeout) {
 }
 
 void Device::updateBrightness(const UIState &s) {
+  int brightness;
+  int brightness_override = QString::fromStdString(Params().get("Brightness")).toInt();
   float clipped_brightness = offroad_brightness;
   if (s.scene.started && s.scene.light_sensor >= 0) {
     clipped_brightness = s.scene.light_sensor;
@@ -182,11 +184,19 @@ void Device::updateBrightness(const UIState &s) {
       clipped_brightness = std::pow((clipped_brightness + 16.0) / 116.0, 3.0);
     }
 
-    // Scale back to 10% to 100%
-    clipped_brightness = std::clamp(100.0f * clipped_brightness, 10.0f, 100.0f);
+    if (brightness_override == 1) {
+      clipped_brightness = std::clamp(100.0f * clipped_brightness, 1.0f, 100.0f);  // Scale back to 1% to 100%
+    } else if (brightness_override == 0) {
+      clipped_brightness = std::clamp(100.0f * clipped_brightness, 10.0f, 100.0f);  // Scale back to 10% to 100%
+    }
+  }
+
+  if (brightness_override == 0 || brightness_override == 1) {
+    brightness = brightness_filter.update(clipped_brightness);
+  } else {
+    brightness = brightness_override;
   }
 
-  int brightness = brightness_filter.update(clipped_brightness);
   if (!awake) {
     brightness = 0;
   }
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 13048a885165f9..1d72beeda10423 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -54,6 +54,7 @@ def manager_init() -> None:
     ("MadsSteeringMode", "0"),
     ("MadsUnifiedEngagementMode", "1"),
     ("MaxTimeOffroad", "1800"),
+    ("Brightness", "0"),
     ("ModelManager_LastSyncTime", "0"),
     ("ModelManager_ModelsCache", ""),
     ("NeuralNetworkLateralControl", "0"),

From 1979b00cc075bbe2980bf0b52f53905cb2362bec Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Fri, 6 Jun 2025 13:39:26 -0700
Subject: [PATCH 0289/1434] UI: Visual indicator for blind spot (#834)

* Refactor and extend ModelRenderer for custom Sunnypilot logic

Refactored `ModelRenderer` to `ModelRendererSP` with enhanced features such as lane line updates, path drawing, and lead management for Sunnypilot. Introduced new methods for model updates, lead drawing, and improved path rendering with experimental mode support. Ensured compatibility by integrating with Sunnypilot-specific HUD and camera components.

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

* Refactor `ModelRenderer` for modularity

Moved constants and `get_path_length_idx` function to the header file for reuse and clarity. Updated `drawPath` and related methods to better handle surface dimensions, improving rendering flexibility. Made key functions virtual to allow further customization in derived classes.

* Cleaning logic on ModelRenderSP

Given that we've refactored slightly the original ModelRender, we no longer need to duplicate the logic on our own implementation

* Enable blind spot detection and visualization.

Added support for blind spot warnings, including gradient-colored visualizations for left and right blind spots on the on-road UI. Introduced a new "BlindSpot" parameter with related logic for detection and rendering, as well as a settings option for user toggling.

* Cleanup format

Clean

Cleanup and fixes

* Let's backup the BlindSpot setting

* add false for restart-needed

* Add blind spot warning toggle to VisualsPanel

Moved blind spot warning toggle from settings.cc to VisualsPanel and implemented support for dynamic parameter updates. This change introduces a dedicated layout for managing visual settings and improves modularity in the settings interface.

* Update Blind Spot Warnings setting description

Clarified the description to specify that warnings are displayed only if the car supports Blind Spot Monitoring (BSM). This ensures better user understanding of the feature's requirements.

* Avoid diff on settings.cc

* More cleanup

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: Nayan <nayan8teen@gmail.com>
---
 common/params_keys.h                          |  1 +
 .../qt/offroad/settings/visuals_panel.cc      | 58 +++++++++++++++++++
 .../qt/offroad/settings/visuals_panel.h       | 12 ++++
 selfdrive/ui/sunnypilot/qt/onroad/model.cc    | 44 ++++++++++++++
 selfdrive/ui/sunnypilot/qt/onroad/model.h     |  7 +++
 system/manager/manager.py                     |  1 +
 6 files changed, 123 insertions(+)

diff --git a/common/params_keys.h b/common/params_keys.h
index a74f6061d00146..c87894a9593f21 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -171,6 +171,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"HyundaiLongitudinalTuning", PERSISTENT},
 
     {"DynamicExperimentalControl", PERSISTENT},
+    {"BlindSpot", PERSISTENT | BACKUP},
 
     // model panel params
     {"LagdToggle", PERSISTENT | BACKUP},
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
index cf9729be1820ea..0d42bd74f481d7 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -8,5 +8,63 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h"
 
 VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
+  param_watcher = new ParamWatcher(this);
+  connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
+    paramsRefresh();
+  });
+  
+  main_layout = new QStackedLayout(this);
+  ListWidgetSP *list = new ListWidgetSP(this, false);
 
+  sunnypilotScreen = new QWidget(this);
+  QVBoxLayout* vlayout = new QVBoxLayout(sunnypilotScreen);
+  vlayout->setContentsMargins(50, 20, 50, 20);
+
+  std::vector<std::tuple<QString, QString, QString, QString, bool> > toggle_defs{
+    {
+      "BlindSpot",
+      tr("Show Blind Spot Warnings"),
+      tr("Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported."),
+      "../assets/offroad/icon_monitoring.png",
+      false,
+    },
+  };
+
+  for (auto &[param, title, desc, icon, needs_restart] : toggle_defs) {
+    auto toggle = new ParamControlSP(param, title, desc, icon, this);
+
+    bool locked = params.getBool((param + "Lock").toStdString());
+    toggle->setEnabled(!locked);
+
+    if (needs_restart && !locked) {
+      toggle->setDescription(toggle->getDescription() + tr(" Changing this setting will restart openpilot if the car is powered on."));
+
+      QObject::connect(uiState(), &UIState::engagedChanged, [toggle](bool engaged) {
+        toggle->setEnabled(!engaged);
+      });
+
+      QObject::connect(toggle, &ParamControlSP::toggleFlipped, [=](bool state) {
+        params.putBool("OnroadCycleRequested", true);
+      });
+    }
+
+    list->addItem(toggle);
+    toggles[param.toStdString()] = toggle;
+    param_watcher->addParam(param);
+  }
+
+  sunnypilotScroller = new ScrollViewSP(list, this);
+  vlayout->addWidget(sunnypilotScroller);
+  
+  main_layout->addWidget(sunnypilotScreen);
+}
+
+void VisualsPanel::paramsRefresh() {
+  if (!isVisible()) {
+    return;
+  }
+
+  for (auto toggle : toggles) {
+    toggle.second->refresh();
+  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
index 9f58104c4e46a1..42e0688957ed7d 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
@@ -8,6 +8,9 @@
 #pragma once
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+class ScrollViewSP;
 
 class VisualsPanel : public QWidget {
  Q_OBJECT
@@ -15,4 +18,13 @@ class VisualsPanel : public QWidget {
 public:
  explicit VisualsPanel(QWidget *parent = nullptr);
 
+ void paramsRefresh();
+
+protected:
+ QStackedLayout* main_layout = nullptr;
+ QWidget* sunnypilotScreen = nullptr;
+ ScrollViewSP *sunnypilotScroller = nullptr;
+ Params params;
+ std::map<std::string, ParamControlSP*> toggles;
+ ParamWatcher * param_watcher;
 };
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.cc b/selfdrive/ui/sunnypilot/qt/onroad/model.cc
index 617b64f58e14d2..af0177c344e66d 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/model.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/model.cc
@@ -6,3 +6,47 @@
  */
 
 #include "selfdrive/ui/sunnypilot/qt/onroad/model.h"
+
+
+void ModelRendererSP::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
+  ModelRenderer::update_model(model, lead);
+  const auto &model_position = model.getPosition();
+  const auto &lane_lines = model.getLaneLines();
+  float max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
+  int max_idx = get_path_length_idx(lane_lines[0], max_distance);
+  // update blindspot vertices
+  float max_distance_barrier = 100;
+  int max_idx_barrier = std::min(max_idx, get_path_length_idx(lane_lines[0], max_distance_barrier));
+  mapLineToPolygon(model.getLaneLines()[1], 0.2, -0.05, &left_blindspot_vertices, max_idx_barrier);
+  mapLineToPolygon(model.getLaneLines()[2], 0.2, -0.05, &right_blindspot_vertices, max_idx_barrier);
+}
+
+void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {
+  auto *s = uiState();
+  auto &sm = *(s->sm);
+  bool blindspot = Params().getBool("BlindSpot");
+
+  if (blindspot) {
+    bool left_blindspot = sm["carState"].getCarState().getLeftBlindspot();
+    bool right_blindspot = sm["carState"].getCarState().getRightBlindspot();
+
+    //painter.setBrush(QColor::fromRgbF(1.0, 0.0, 0.0, 0.4));  // Red with alpha for blind spot
+
+    if (left_blindspot && !left_blindspot_vertices.isEmpty()) {
+      QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right
+      gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
+      gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
+      painter.setBrush(gradient);
+      painter.drawPolygon(left_blindspot_vertices);
+    }
+
+    if (right_blindspot && !right_blindspot_vertices.isEmpty()) {
+      QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left
+      gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
+      gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
+      painter.setBrush(gradient);
+      painter.drawPolygon(right_blindspot_vertices);
+    }
+  }
+  ModelRenderer::drawPath(painter, model, surface_rect.height());
+}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.h b/selfdrive/ui/sunnypilot/qt/onroad/model.h
index 8569e58f665f4a..24404f32f06e98 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/model.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/model.h
@@ -12,4 +12,11 @@
 class ModelRendererSP : public ModelRenderer {
 public:
   ModelRendererSP() = default;
+
+private:
+  void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) override;
+  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &rect) override;
+
+  QPolygonF left_blindspot_vertices;
+  QPolygonF right_blindspot_vertices;
 };
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 1d72beeda10423..9afe1a4f26bf7e 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -44,6 +44,7 @@ def manager_init() -> None:
   sunnypilot_default_params: list[tuple[str, str | bytes]] = [
     ("AutoLaneChangeTimer", "0"),
     ("AutoLaneChangeBsmDelay", "0"),
+    ("BlindSpot", "0"),
     ("BlinkerMinLateralControlSpeed", "20"),  # MPH or km/h
     ("BlinkerPauseLateralControl", "0"),
     ("DynamicExperimentalControl", "0"),

From 489d9164f8c8aba20b898c55e29e1c98f4598d09 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 6 Jun 2025 16:50:10 -0400
Subject: [PATCH 0290/1434] ui: model fuzzy search (#958)

* models panel

* models panel

* fix ui report

* stupid scroll

* move model selector to models panel

* cleanup whitespaces

* cleanup bad merge

* model search

* support searching with short name

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .../qt/offroad/settings/models_panel.cc       | 33 ++++++++++++++++---
 .../qt/offroad/settings/models_panel.h        |  3 +-
 2 files changed, 31 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index 3c8d034c5ab0b7..1ce1b1b991c0c7 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -24,7 +24,17 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   currentModelLblBtn = new ButtonControlSP(tr("Current Model"), tr("SELECT"), current_model);
   currentModelLblBtn->setValue(current_model);
 
-  connect(currentModelLblBtn, &ButtonControlSP::clicked, this, &ModelsPanel::handleCurrentModelLblBtnClicked);
+  connect(currentModelLblBtn, &ButtonControlSP::clicked, [=]() {
+
+      InputDialog d(tr("Search Model"), this, tr("Enter search keywords, or leave blank to list all models."), false);
+      d.setMinLength(0);
+      const int ret = d.exec();
+      if (ret) {
+        handleCurrentModelLblBtnClicked(d.text());
+      }
+
+    });
+
   connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
       is_onroad = !offroad;
       updateLabels();
@@ -134,7 +144,7 @@ void ModelsPanel::updateModelManagerState() {
  * @brief Handles the model bundle selection button click
  * Displays available bundles, allows selection, and initiates download
  */
-void ModelsPanel::handleCurrentModelLblBtnClicked() {
+void ModelsPanel::handleCurrentModelLblBtnClicked(const QString &query) {
   currentModelLblBtn->setEnabled(false);
   currentModelLblBtn->setValue(tr("Fetching models..."));
 
@@ -142,7 +152,8 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
   QMap<uint32_t, QString> index_to_bundle;
   const auto bundles = model_manager.getAvailableBundles();
   for (const auto &bundle: bundles) {
-    index_to_bundle.insert(bundle.getIndex(), QString::fromStdString(bundle.getDisplayName()));
+    std::string bundleStr = std::string(bundle.getDisplayName()) + " $SNAME$ " + std::string(bundle.getInternalName());
+    index_to_bundle.insert(bundle.getIndex(), QString::fromStdString(bundleStr));
   }
 
   // Sort bundles by index in descending order
@@ -156,10 +167,24 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
     bundleNames.append(index_to_bundle[index]);
   }
 
+  QStringList filteredBundleNames = searchFromList(query, bundleNames);
+
   currentModelLblBtn->setValue(GetActiveModelName());
 
+  if (filteredBundleNames.isEmpty()) {
+    ConfirmationDialog::alert(tr("No model found for keywords: %1").arg(query), this);
+    return;
+  }
+
+  for (const QString &bundleName: filteredBundleNames) {
+    int index = bundleName.indexOf("$SNAME$");
+    if (index != -1) {
+      filteredBundleNames.replace(filteredBundleNames.indexOf(bundleName), bundleName.left(index).trimmed());
+    }
+  }
+
   const QString selectedBundleName = MultiOptionDialog::getSelection(
-    tr("Select a Model"), bundleNames, GetActiveModelName(), this);
+    tr("Select a Model"), filteredBundleNames, GetActiveModelName(), this);
 
   if (selectedBundleName.isEmpty() || !canContinueOnMeteredDialog()) {
     return;
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
index 4ba526651e16ff..ee6a74a6660414 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
@@ -7,6 +7,7 @@
 
 #pragma once
 
+#include "selfdrive/ui/sunnypilot/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
 class ModelsPanel : public QWidget {
@@ -30,7 +31,7 @@ class ModelsPanel : public QWidget {
 
   // UI update related methods
   void updateLabels();
-  void handleCurrentModelLblBtnClicked();
+  void handleCurrentModelLblBtnClicked(const QString &query);
   void handleBundleDownloadProgress();
   void showResetParamsDialog();
   cereal::ModelManagerSP::Reader model_manager;

From 5be2cd9b61a8fca813f2a17d3601791ff9dfd3e3 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 6 Jun 2025 17:06:13 -0400
Subject: [PATCH 0291/1434] bug: fix default model selection ui (#977)

fix default model selection ui

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index 1ce1b1b991c0c7..2d7367de1c1ecb 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -159,7 +159,7 @@ void ModelsPanel::handleCurrentModelLblBtnClicked(const QString &query) {
   // Sort bundles by index in descending order
   QStringList bundleNames;
   // Add "Default" as the first option
-  bundleNames.append(tr("Use Default"));
+  bundleNames.append(DEFAULT_MODEL);
 
   auto indices = index_to_bundle.keys();
   std::sort(indices.begin(), indices.end(), std::greater<uint32_t>());
@@ -191,7 +191,7 @@ void ModelsPanel::handleCurrentModelLblBtnClicked(const QString &query) {
   }
 
   // Handle "Stock" selection differently
-  if (selectedBundleName == tr("Use Default")) {
+  if (selectedBundleName == DEFAULT_MODEL) {
     params.remove("ModelManager_ActiveBundle");
     currentModelLblBtn->setValue(tr("Default"));
     showResetParamsDialog();

From ab6d19271456c9a74e4fe5622ee64a8fabed3cc9 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 7 Jun 2025 03:47:09 -0400
Subject: [PATCH 0292/1434] `mapd` (#989)

* init

* some fixes

* move

* more

* old navd helpers

* bring back cereal

* fix linting

* more

* add to cereal first

* sp events

* lint

* implement in long plan

* fixme-sp

* refactor state machine

* wrong state

* start refactor controller

* some type hints

* init these

* enable debug print

* ui? ui!

* print them out

* fix spinner import

* fix path

* let's use gps chips directly for now

* service missing

* publish events

* no nav for now

* need to sub

* no car state speed yet

* missed event

* Car: `CarStateSP`

* fix tests

* bring back car state speed limit

* fix

* use old controller for now

* fix

* fix source

* type hints

* none for now

* formatting

* more

* create directory if does not exist

* mypy my bt

* policy param catch exceptions

* handle all params with exceptions

* more

* single method

* define types in init

* rename

* simpler op enabled check

* more mypy stuff

* rename

* no need for brake pressed

* don't reset if gas pressed

* type hint all

* type hint all

* back to upstream

* in another pr

* no longer need data type

* qlog

* slc in another pr

* use horizontal accuracy

* set core affinity for all realtime processes

* unused

* sort

* unused

* type hint and slight cleanup

* from old implementation

* use directly

* combine pm

* slight more cleanup

* type hints

* even more type hint

* lint

* more cleanup

* even less

* license
---
 cereal/custom.capnp                           |   8 +-
 cereal/log.capnp                              |   2 +-
 cereal/services.py                            |   1 +
 common/params_keys.h                          |  20 ++
 selfdrive/selfdrived/alerts_offroad.json      |   4 +
 selfdrive/ui/sunnypilot/SConscript            |   7 +-
 .../ui/sunnypilot/qt/common/json_fetcher.h    |  41 +++
 .../offroad/settings/osm/locations_fetcher.h  |  63 ++++
 .../qt/offroad/settings/osm/models_fetcher.cc | 158 ++++++++++
 .../qt/offroad/settings/osm/models_fetcher.h  | 143 +++++++++
 .../qt/offroad/settings/osm_panel.cc          | 283 ++++++++++++++++++
 .../qt/offroad/settings/osm_panel.h           | 232 ++++++++++++++
 .../qt/offroad/settings/settings.cc           |   2 +
 sunnypilot/mapd/__init__.py                   |   0
 sunnypilot/mapd/live_map_data/__init__.py     |  22 ++
 .../mapd/live_map_data/base_map_data.py       |  76 +++++
 sunnypilot/mapd/live_map_data/debug.py        |  57 ++++
 sunnypilot/mapd/live_map_data/osm_map_data.py |  51 ++++
 sunnypilot/mapd/live_map_data/standalone.py   |  42 +++
 sunnypilot/mapd/mapd_installer.py             | 152 ++++++++++
 sunnypilot/mapd/mapd_manager.py               | 146 +++++++++
 sunnypilot/navd/helpers.py                    | 189 ++++++++++++
 .../selfdrive/assets/offroad/icon_map.png     |   3 +
 system/hardware/hw.py                         |   8 +
 system/manager/manager.py                     |   3 +
 system/manager/process_config.py              |   7 +
 third_party/mapd_pfeiferj/README.md           |   2 +
 third_party/mapd_pfeiferj/mapd                | Bin 0 -> 8192000 bytes
 28 files changed, 1719 insertions(+), 3 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/common/json_fetcher.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h
 create mode 100644 sunnypilot/mapd/__init__.py
 create mode 100644 sunnypilot/mapd/live_map_data/__init__.py
 create mode 100644 sunnypilot/mapd/live_map_data/base_map_data.py
 create mode 100644 sunnypilot/mapd/live_map_data/debug.py
 create mode 100644 sunnypilot/mapd/live_map_data/osm_map_data.py
 create mode 100644 sunnypilot/mapd/live_map_data/standalone.py
 create mode 100755 sunnypilot/mapd/mapd_installer.py
 create mode 100644 sunnypilot/mapd/mapd_manager.py
 create mode 100644 sunnypilot/navd/helpers.py
 create mode 100644 sunnypilot/selfdrive/assets/offroad/icon_map.png
 create mode 100644 third_party/mapd_pfeiferj/README.md
 create mode 100755 third_party/mapd_pfeiferj/mapd

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 8a42f8b6a59821..c9e4f3e16dfbcb 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -226,7 +226,13 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
 struct CarStateSP @0xb86e6369214c01c8 {
 }
 
-struct CustomReserved8 @0xf416ec09499d9d19 {
+struct LiveMapDataSP @0xf416ec09499d9d19 {
+  speedLimitValid @0 :Bool;
+  speedLimit @1 :Float32;
+  speedLimitAheadValid @2 :Bool;
+  speedLimitAhead @3 :Float32;
+  speedLimitAheadDistance @4 :Float32;
+  roadName @5 :Text;
 }
 
 struct CustomReserved9 @0xa1680744031fdb2d {
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 412660bc6aa8b4..46d1d25d64f2ce 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2610,7 +2610,7 @@ struct Event {
     carControlSP @112 :Custom.CarControlSP;
     backupManagerSP @113 :Custom.BackupManagerSP;
     carStateSP @114 :Custom.CarStateSP;
-    customReserved8 @115 :Custom.CustomReserved8;
+    liveMapDataSP @115 :Custom.LiveMapDataSP;
     customReserved9 @116 :Custom.CustomReserved9;
     customReserved10 @136 :Custom.CustomReserved10;
     customReserved11 @137 :Custom.CustomReserved11;
diff --git a/cereal/services.py b/cereal/services.py
index 4097e484f62734..3e72041b721cf6 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -84,6 +84,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "carParamsSP": (True, 0.02, 1),
   "carControlSP": (True, 100., 10),
   "carStateSP": (True, 100., 10),
+  "liveMapDataSP": (True, 1., 1),
 
   # debug
   "uiDebug": (True, 0., 1),
diff --git a/common/params_keys.h b/common/params_keys.h
index c87894a9593f21..d2863d7b33ecee 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -175,4 +175,24 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
 
     // model panel params
     {"LagdToggle", PERSISTENT | BACKUP},
+
+    // mapd
+    {"MapAdvisorySpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
+    {"MapdVersion", PERSISTENT},
+    {"MapSpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
+    {"NextMapSpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_OSMUpdateRequired", CLEAR_ON_MANAGER_START},
+    {"OsmDbUpdatesCheck", CLEAR_ON_MANAGER_START},  // mapd database update happens with device ON, reset on boot
+    {"OSMDownloadBounds", PERSISTENT},
+    {"OsmDownloadedDate", PERSISTENT},
+    {"OSMDownloadLocations", PERSISTENT},
+    {"OSMDownloadProgress", CLEAR_ON_MANAGER_START},
+    {"OsmLocal", PERSISTENT},
+    {"OsmLocationName", PERSISTENT},
+    {"OsmLocationTitle", PERSISTENT},
+    {"OsmLocationUrl", PERSISTENT},
+    {"OsmStateName", PERSISTENT},
+    {"OsmStateTitle", PERSISTENT},
+    {"OsmWayTest", PERSISTENT},
+    {"RoadName", CLEAR_ON_ONROAD_TRANSITION},
 };
diff --git a/selfdrive/selfdrived/alerts_offroad.json b/selfdrive/selfdrived/alerts_offroad.json
index 68f59493988f7e..6ea1bcf23383ab 100644
--- a/selfdrive/selfdrived/alerts_offroad.json
+++ b/selfdrive/selfdrived/alerts_offroad.json
@@ -48,5 +48,9 @@
   "OffroadMode_Status": {
     "text": "sunnypilot is now in Always Offroad mode. sunnypilot won't start until Always Offroad mode is disabled. Go to \"Settings\" -> \"Device\" to exit Always Offroad mode.",
     "severity": 1
+  },
+  "Offroad_OSMUpdateRequired": {
+    "text": "OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.\n\n%1",
+    "severity": 0
   }
 }
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 9a9e395d929cd4..de7f3efbc5fcba 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -26,6 +26,7 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/max_time_offroad.cc",
   "sunnypilot/qt/offroad/settings/brightness.cc",
   "sunnypilot/qt/offroad/settings/models_panel.cc",
+  "sunnypilot/qt/offroad/settings/osm_panel.cc",
   "sunnypilot/qt/offroad/settings/settings.cc",
   "sunnypilot/qt/offroad/settings/software_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
@@ -54,6 +55,10 @@ network_src = [
   "sunnypilot/qt/network/sunnylink/services/user_service.cc",
 ]
 
+osm_panel_qt_src = [
+  "sunnypilot/qt/offroad/settings/osm/models_fetcher.cc",
+]
+
 vehicle_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc",
   "sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc",
@@ -76,7 +81,7 @@ brand_settings_qt_src = [
 ]
 
 sp_widgets_src = widgets_src + network_src
-sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src
+sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + osm_panel_qt_src
 sp_qt_util = qt_util
 
 Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util")
diff --git a/selfdrive/ui/sunnypilot/qt/common/json_fetcher.h b/selfdrive/ui/sunnypilot/qt/common/json_fetcher.h
new file mode 100644
index 00000000000000..5691f600a64bed
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/common/json_fetcher.h
@@ -0,0 +1,41 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QNetworkReply>
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <QEventLoop>
+
+class JsonFetcher {
+public:
+  static QJsonObject getJsonFromURL(const QString &url) {
+    const auto qurl = QUrl(url);
+    QNetworkAccessManager manager;
+    const QNetworkRequest request(qurl);
+    QNetworkReply *reply = manager.get(request);
+    QEventLoop loop;
+
+    // Send GET request
+
+    QObject::connect(reply, &QNetworkReply::finished, &loop, &QEventLoop::quit);
+    loop.exec();
+
+    if (reply->error() != QNetworkReply::NoError) {
+      qWarning() << "Failed to fetch data from URL: " << reply->errorString();
+      return QJsonObject();
+    }
+
+    const QByteArray responseData = reply->readAll();
+    const QJsonDocument doc = QJsonDocument::fromJson(responseData);
+    QJsonObject json = doc.object();
+
+    reply->deleteLater();
+    return json;
+  }
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h
new file mode 100644
index 00000000000000..32d169ad15da5c
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h
@@ -0,0 +1,63 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <algorithm>  // for std::sort
+#include <deque>
+#include <vector>
+#include <tuple>
+
+#include <QDir>
+#include <QJsonObject>
+
+#include "selfdrive/ui/sunnypilot/qt/common/json_fetcher.h"
+
+static const std::tuple<QString, QString> defaultLocation = std::make_tuple("== None ==", "");
+
+// New class LocationsFetcher that handles web requests and JSON parsing
+class LocationsFetcher {
+public:
+  inline std::vector<std::tuple<QString, QString, QString, QString> >
+  getLocationsFromURL(const QUrl &url, const std::tuple<QString, QString> &customLocation = defaultLocation) const {
+    // Initialize an empty vector to hold the locations
+    std::vector<std::tuple<QString, QString, QString, QString> > locations;
+
+    JsonFetcher fetcher;
+    QJsonObject json = fetcher.getJsonFromURL(url.toString());
+
+    for (auto it = json.begin(); it != json.end(); ++it) {
+      QString code = it.key();
+      QJsonObject obj = it.value().toObject();
+      QString fullName = obj["full_name"].toString();
+
+      locations.push_back(std::make_tuple(fullName, code, QString(), QString()));
+    }
+    // Sort locations by full name
+    std::sort(locations.begin(), locations.end(), [](const auto &lhs, const auto &rhs) {
+      return std::get<0>(lhs) < std::get<0>(rhs); // Compare full names
+    });
+    // Optionally, you can now add defaultName entry at the beginning
+    locations.insert(locations.begin(), std::tuple_cat(customLocation, std::make_tuple("", "")));
+    return locations;
+  }
+
+  inline std::vector<std::tuple<QString, QString, QString, QString> >
+  getLocationsFromURL(const QString &url, const std::tuple<QString, QString> &customLocation = defaultLocation) const {
+    return getLocationsFromURL(QUrl(url), customLocation);
+  }
+
+  inline std::vector<std::tuple<QString, QString, QString, QString> >
+  getOsmLocations(const std::tuple<QString, QString> &customLocation = defaultLocation) const {
+    return getLocationsFromURL( "https://raw.githubusercontent.com/pfeiferj/openpilot-mapd/main/nation_bounding_boxes.json", customLocation);
+  }
+
+  inline std::vector<std::tuple<QString, QString, QString, QString> >
+  getUsStatesLocations(const std::tuple<QString, QString> &customLocation = defaultLocation) const {
+    return getLocationsFromURL( "https://raw.githubusercontent.com/pfeiferj/openpilot-mapd/main/us_states_bounding_boxes.json", customLocation);
+  }
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.cc
new file mode 100644
index 00000000000000..b67e41e09d3e9d
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.cc
@@ -0,0 +1,158 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h"
+
+#include <QThread>
+
+ModelsFetcher::ModelsFetcher(QObject *parent) : QObject(parent) {
+  manager = new QNetworkAccessManager(this);
+}
+
+QByteArray ModelsFetcher::verifyFileHash(const QString &filePath, const QString &expectedHash, bool &hashMatches) {
+  hashMatches = false; // Default to false
+  QByteArray fileData;
+
+  if (expectedHash.isEmpty()) {
+    // If no hash is provided, assume verification isn't required but return the file data
+    hashMatches = true;
+  } else {
+    QFile file(filePath);
+    if (file.open(QIODevice::ReadOnly)) {
+      QCryptographicHash hash(QCryptographicHash::Sha256); // Or your chosen algorithm
+      fileData = file.readAll(); // Read the file data once
+      hash.addData(fileData);
+      file.close();
+
+      QString currentHash = QString(hash.result().toHex());
+      hashMatches = (currentHash == expectedHash);
+    }
+  }
+
+  // Return the file data if hash matches or no hash was provided; empty otherwise
+  return hashMatches ? fileData : QByteArray();
+}
+
+
+void ModelsFetcher::download(const DownloadInfo &downloadInfo, const QString &filename, const QString &destinationPath) {
+  QString fullPath = destinationPath + "/" + filename;
+  QFileInfo fileInfo(fullPath);
+  bool hashMatches = false;
+  QByteArray data = verifyFileHash(fullPath, downloadInfo.sha256, hashMatches);
+
+  if (fileInfo.exists() && hashMatches) {
+    // Hash matches or no hash provided, and we have the file data
+    LOGD("File already downloaded and verified: %s", filename.toStdString().c_str());
+    emit downloadProgress(100);
+    emit downloadComplete(data, true); // Use the data returned from verifyFileHash
+    return; // Exit early
+  }
+
+  // Proceed with download if file does not exist or hash verification failed
+  QNetworkRequest request(downloadInfo.url);
+  QNetworkReply *reply = manager->get(request);
+  connect(reply, &QNetworkReply::downloadProgress, this, &ModelsFetcher::onDownloadProgress);
+  connect(reply, &QNetworkReply::finished, this, [this, reply, destinationPath, filename, downloadInfo]() {
+    onFinished(reply, destinationPath, filename, downloadInfo.sha256);
+  });
+}
+
+QString extractFileName(const QString &contentDisposition) {
+  const QString filenameTag = "filename=";
+  const int idx = contentDisposition.indexOf(filenameTag);
+  if (idx < 0) {
+    return QString();
+  }
+
+  QString filename = contentDisposition.mid(idx + filenameTag.length());
+  if (filename.startsWith("\"") && filename.endsWith("\"")) {
+    return filename.mid(1, filename.size() - 2);
+  }
+
+  return filename;
+}
+
+void ModelsFetcher::onFinished(QNetworkReply *reply, const QString &destinationPath, const QString &filename, const QString &expectedHash) {
+  // Handle download error
+  if (reply->error()) {
+    return; // Possibly emit a signal or log an error as per your error handling policy
+  }
+
+  const QByteArray data = reply->readAll();
+
+  QString finalFilename = filename;
+  if (finalFilename.isEmpty()) {
+    finalFilename = extractFileName(reply->header(QNetworkRequest::ContentDispositionHeader).toString());
+  }
+
+  QString finalPath = QDir(destinationPath).filePath(finalFilename);
+
+  // Save the downloaded file
+  QFile file(finalPath);
+  //ensure if the path exists and if not create it 
+  if (!QDir().mkpath(destinationPath)) {
+    LOGE("Unable to create directory: %s", destinationPath.toStdString().c_str());
+    emit downloadFailed(filename);
+    return; // Stop further processing
+  }
+
+  //Retry the file open and write 3 times with a little delay between each retry
+  for (int i = 0; i < 3; i++) {
+    if (file.isOpen()) break;
+
+    file.open(QIODevice::WriteOnly);
+    if (!file.isOpen()) QThread::msleep(100);
+  }
+
+  // If the file is still not open, log an error and emit a failure signal
+  if (!file.isOpen()) {
+    LOGE("Unable to open file for writing: %s", finalPath.toStdString().c_str());
+    emit downloadFailed(filename);
+    return; // Stop further processing
+  }
+
+  file.write(data);
+  file.close();
+
+  bool hashMatches = false;
+  verifyFileHash(finalPath, expectedHash, hashMatches);
+
+  // Verify the file hash if expectedHash is provided
+  if (!expectedHash.isEmpty() && !hashMatches) {
+    LOGE("The downloaded file didn't pass the hash validation!: %s", filename.toStdString().c_str());
+    // Hash verification failed, handle accordingly
+    // This could involve deleting the file, logging an error, or emitting a failure signal
+    QFile::remove(finalPath); // Example action: Remove the invalid file
+    emit downloadFailed(filename);
+    return; // Stop further processing
+  }
+
+  emit downloadComplete(data, false); // Emit your success signal
+}
+
+void ModelsFetcher::onDownloadProgress(qint64 bytesReceived, qint64 bytesTotal) {
+  const double progress = (bytesReceived * 100.0) / bytesTotal;
+  emit downloadProgress(progress);
+}
+
+std::vector<Model> ModelsFetcher::getModelsFromURL(const QUrl &url) {
+  std::vector<Model> models;
+  JsonFetcher fetcher;
+  QJsonObject json = fetcher.getJsonFromURL(url.toString());
+  for (auto it = json.begin(); it != json.end(); ++it) {
+    models.push_back(Model(it.value().toObject()));
+  }
+  return models;
+}
+
+std::vector<Model> ModelsFetcher::getModelsFromURL(const QString &url) {
+  return getModelsFromURL(QUrl(url));
+}
+
+std::vector<Model> ModelsFetcher::getModelsFromURL() {
+  return getModelsFromURL("https://docs.sunnypilot.ai/models_v5.json");
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h
new file mode 100644
index 00000000000000..73890e9d5aa6df
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h
@@ -0,0 +1,143 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <algorithm>  // for std::sort
+#include <cassert>
+#include <deque>
+#include <vector>
+
+#include <QDir>
+#include <QJsonObject>
+#include <QTimer>
+
+#include "common/swaglog.h"
+#include "common/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/qt/common/json_fetcher.h"
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#else
+#include "selfdrive/ui/qt/widgets/controls.h"
+#endif
+#include "system/hardware/hw.h"
+
+static const QString MODELS_PATH = Hardware::PC() ? QDir::homePath() + "/.comma/media/0/models/" : "/data/media/0/models/";
+
+struct DownloadInfo {
+  QString url;
+  QString sha256;
+};
+
+// New class ModelsFetcher with a new function that handles web requests and JSON parsing for the new JSON structure
+class Model {
+public:
+  explicit Model(const QJsonObject &json) {
+    displayName = json["display_name"].toString();
+    fullName = json["full_name"].toString();
+    fileName = json["file_name"].toString();
+
+    // Parse downloadUri as an object
+    QJsonObject downloadUriObj = json["download_uri"].toObject();
+    downloadUri.url = downloadUriObj["url"].toString();
+    downloadUri.sha256 = downloadUriObj["sha256"].toString();
+
+    fullNameNav = json["full_name_nav"].toString();
+    fileNameNav = json["file_name_nav"].toString();
+
+    // Parse downloadUriNav as an object
+    QJsonObject downloadUriNavObj = json["download_uri_nav"].toObject();
+    downloadUriNav.url = downloadUriNavObj["url"].toString();
+    downloadUriNav.sha256 = downloadUriNavObj["sha256"].toString();
+
+    fullNameMetadata = json["full_name_metadata"].toString();
+    fileNameMetadata = json["file_name_metadata"].toString();
+
+    // Parse downloadUriMetadata as an object
+    QJsonObject downloadUriMetadataObj = json["download_uri_metadata"].toObject();
+    downloadUriMetadata.url = downloadUriMetadataObj["url"].toString();
+    downloadUriMetadata.sha256 = downloadUriMetadataObj["sha256"].toString();
+
+    index = json["index"].toString();
+    environment = json["environment"].toString();
+    generation = json["generation"].toString();
+  }
+
+  // Method to convert model back to QJsonObject, if needed
+  QJsonObject toJson() const {
+    QJsonObject json;
+    json["display_name"] = displayName;
+    json["full_name"] = fullName;
+    json["file_name"] = fileName;
+
+    QJsonObject uriObj;
+    uriObj["url"] = downloadUri.url;
+    uriObj["sha256"] = downloadUri.sha256;
+    json["download_uri"] = uriObj;
+
+    QJsonObject uriNavObj;
+    uriNavObj["url"] = downloadUriNav.url;
+    uriNavObj["sha256"] = downloadUriNav.sha256;
+    json["download_uri_nav"] = uriNavObj;
+
+    QJsonObject uriMetadataObj;
+    uriMetadataObj["url"] = downloadUriMetadata.url;
+    uriMetadataObj["sha256"] = downloadUriMetadata.sha256;
+    json["download_uri_metadata"] = uriMetadataObj;
+
+    json["full_name_nav"] = fullNameNav;
+    json["file_name_nav"] = fileNameNav;
+    json["full_name_metadata"] = fullNameMetadata;
+    json["file_name_metadata"] = fileNameMetadata;
+    json["index"] = index;
+    json["environment"] = environment;
+    json["generation"] = generation;
+    return json;
+  }
+
+  QString displayName;
+  QString fullName;
+  QString fileName;
+  DownloadInfo downloadUri;
+  DownloadInfo downloadUriNav;
+  DownloadInfo downloadUriMetadata;
+
+  QString fullNameNav;
+  QString fileNameNav;
+  QString fullNameMetadata;
+  QString fileNameMetadata;
+  QString index;
+  QString environment;
+  QString generation;
+};
+
+class ModelsFetcher : public QObject {
+  Q_OBJECT
+
+public:
+  explicit ModelsFetcher(QObject *parent = nullptr);
+  void download(const DownloadInfo &url, const QString &filename = "", const QString &destinationPath = MODELS_PATH);
+  static std::vector<Model> getModelsFromURL(const QUrl &url);
+  static std::vector<Model> getModelsFromURL(const QString &url);
+  static std::vector<Model> getModelsFromURL();
+
+signals:
+  void downloadProgress(double percentage);
+  void downloadComplete(const QByteArray &data, bool fromCache = false);
+  void downloadFailed(const QString &filename);
+
+private:
+  //  static bool verifyFileHash(const QString& filePath, const QString& expectedHash);
+  static QByteArray verifyFileHash(const QString &filePath, const QString &expectedHash, bool &hashMatches);
+  void onDownloadProgress(qint64 bytesReceived, qint64 bytesTotal);
+  void onFinished(QNetworkReply *reply, const QString &destinationPath, const QString &filename,
+                  const QString &expectedHash);
+
+  QNetworkAccessManager *manager;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc
new file mode 100644
index 00000000000000..332fd71a184398
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc
@@ -0,0 +1,283 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h"
+
+#include <tuple>
+#include <vector>
+#include <string>
+
+#include "common/swaglog.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+OsmPanel::OsmPanel(QWidget *parent) : QFrame(parent) {
+  main_layout = new QStackedLayout(this);
+
+  const auto list = new ListWidgetSP(this, false);
+  list->addItem(mapdVersion = new LabelControlSP(tr("Mapd Version"), "Loading..."));
+  list->addItem(setupOsmDeleteMapsButton(parent));
+  list->addItem(offlineMapsETA = new LabelControlSP(tr("Offline Maps ETA"), ""));
+  list->addItem(offlineMapsElapsed = new LabelControlSP(tr("Time Elapsed"), ""));
+  list->addItem(setupOsmUpdateButton(parent));
+  list->addItem(setupOsmDownloadButton(parent));
+  list->addItem(setupUsStatesButton(parent));
+
+  connect(uiStateSP(), &UIStateSP::offroadTransition, [=](bool offroad) {
+    updateLabels();
+  });
+
+  timer = new QTimer(this);
+  connect(timer, &QTimer::timeout, this, QOverload<>::of(&OsmPanel::updateLabels));
+  timer->start(FAST_REFRESH_INTERVAL); // Time specified in milliseconds.
+  updateLabels();
+
+  osmScreen = new QWidget(this);
+  auto *vlayout = new QVBoxLayout(osmScreen);
+  vlayout->setContentsMargins(50, 20, 50, 20);
+  vlayout->addWidget(new ScrollViewSP(list, this), 1);
+  main_layout->addWidget(osmScreen);
+}
+
+ButtonControlSP *OsmPanel::setupOsmDeleteMapsButton(QWidget *parent) {
+  osmDeleteMapsBtn = new ButtonControlSP(tr("Downloaded Maps"), tr("DELETE")); // Updated on updateLabels()
+  connect(osmDeleteMapsBtn, &ButtonControlSP::clicked, [=]() {
+    if (showConfirmationDialog(parent, tr("This will delete ALL downloaded maps\n\nAre you sure you want to delete all the maps?"), tr("Yes, delete all the maps."))) {
+      QtConcurrent::run([=]() {
+        QDir dir(MAP_PATH);
+        osmDeleteMapsBtn->setEnabled(false);
+        osmDeleteMapsBtn->setText("⌛");
+        dir.removeRecursively();
+        updateMapSize();
+        osmDeleteMapsBtn->setEnabled(true);
+        osmDeleteMapsBtn->setText(tr("DELETE"));
+      });
+      updateLabels();
+    }
+  });
+  return osmDeleteMapsBtn;
+}
+
+ButtonControlSP *OsmPanel::setupOsmUpdateButton(QWidget *parent) {
+  osmUpdateBtn = new ButtonControlSP(tr("Database Update"), tr("CHECK")); // Updated on updateLabels()
+  connect(osmUpdateBtn, &ButtonControlSP::clicked, [=]() {
+    if (osm_download_in_progress && !download_failed_state) {
+      updateLabels();
+    } else if (showConfirmationDialog(parent)) {
+      osm_download_in_progress = true;
+      params.putBool("OsmDbUpdatesCheck", true);
+      updateLabels();
+    }
+  });
+  return osmUpdateBtn;
+}
+
+ButtonControlSP *OsmPanel::setupOsmDownloadButton(QWidget *parent) {
+  osmDownloadBtn = new ButtonControlSP(tr("Country"), tr("SELECT"));
+  connect(osmDownloadBtn, &ButtonControlSP::clicked, [=]() {
+    osmDownloadBtn->setEnabled(false);
+    osmDownloadBtn->setValue(tr("Fetching Country list..."));
+    const std::vector<std::tuple<QString, QString, QString, QString> > locations = getOsmLocations();
+    osmDownloadBtn->setEnabled(true);
+    osmDownloadBtn->setValue("");
+    const QString initTitle = QString::fromStdString(params.get("OsmLocationTitle"));
+    const QString currentTitle = ((initTitle == "== None ==") || (initTitle.length() == 0)) ? "== None ==" : initTitle;
+
+    QStringList locationTitles;
+    for (auto &loc: locations) {
+      locationTitles.push_back(std::get<0>(loc));
+    }
+
+    const QString selection = MultiOptionDialog::getSelection(tr("Country"), locationTitles, currentTitle, this);
+    if (!selection.isEmpty()) {
+      params.put("OsmLocal", "1");
+      params.put("OsmLocationTitle", selection.toStdString());
+      for (auto &loc: locations) {
+        if (std::get<0>(loc) == selection) {
+          params.put("OsmLocationName", std::get<1>(loc).toStdString());
+          break;
+        }
+      }
+      if (params.get("OsmLocationName") == "US") {
+        usStatesBtn->click();
+        return;
+      } else if (selection != "== None ==") {
+        if (showConfirmationDialog(parent)) {
+          osm_download_in_progress = true;
+          params.putBool("OsmDbUpdatesCheck", true);
+          updateLabels();
+        }
+      }
+    }
+    updateLabels();
+  });
+  return osmDownloadBtn;
+}
+
+ButtonControlSP *OsmPanel::setupUsStatesButton(QWidget *parent) {
+  usStatesBtn = new ButtonControlSP(tr("State"), tr("SELECT"));
+  connect(usStatesBtn, &ButtonControlSP::clicked, [=]() {
+    const std::tuple<QString, QString> allStatesOption = std::make_tuple("All States (~4.8 GB)", "All");
+    usStatesBtn->setEnabled(false);
+    usStatesBtn->setValue(tr("Fetching State list..."));
+    const std::vector<std::tuple<QString, QString, QString, QString> > locations =
+        getUsStatesLocations(allStatesOption);
+    usStatesBtn->setEnabled(true);
+    usStatesBtn->setValue("");
+    const QString initTitle = QString::fromStdString(params.get("OsmStateTitle"));
+    const QString currentTitle = ((initTitle == std::get<0>(allStatesOption)) || (initTitle.length() == 0)) ? tr("All") : initTitle;
+
+    QStringList locationTitles;
+    for (auto &loc: locations) {
+      locationTitles.push_back(std::get<0>(loc));
+    }
+
+    const QString selection = MultiOptionDialog::getSelection(tr("State"), locationTitles, currentTitle, this);
+    if (!selection.isEmpty()) {
+      params.put("OsmStateTitle", selection.toStdString());
+      for (auto &loc: locations) {
+        if (std::get<0>(loc) == selection) {
+          params.put("OsmStateName", std::get<1>(loc).toStdString());
+          break;
+        }
+      }
+      usStatesBtn->setValue(selection);
+      if (showConfirmationDialog(parent)) {
+        osm_download_in_progress = true;
+        params.putBool("OsmDbUpdatesCheck", true);
+        updateLabels();
+      }
+    }
+    updateLabels();
+  });
+  usStatesBtn->setVisible(false); // initially hidden
+  return usStatesBtn;
+}
+
+void OsmPanel::showEvent(QShowEvent *event) {
+  updateLabels(); // For snappier feeling
+  if (!timer->isActive()) {
+    timer->start(FAST_REFRESH_INTERVAL);
+  }
+}
+
+void OsmPanel::hideEvent(QHideEvent *event) {
+  if (timer->isActive()) {
+    timer->stop();
+  }
+}
+
+
+void OsmPanel::updateLabels() {
+  if (!isVisible()) {
+    return;
+  }
+  mapd_version = params.get("MapdVersion");
+  mapdVersion->setText(mapd_version.c_str());
+
+  updateMapSize();
+  osm_download_locations = mem_params.get("OSMDownloadLocations");
+  osm_download_in_progress = !osm_download_locations.empty();
+
+  timer->setInterval(osm_download_in_progress ? FAST_REFRESH_INTERVAL : SLOW_REFRESH_INTERVAL);
+  LOGT("Timer Interval %d", timer->interval());
+
+  const std::string osmLastDownloadTimeStr = params.get("OsmDownloadedDate");
+  if (!lastDownloadedTimePoint.has_value() && !osmLastDownloadTimeStr.empty()) {
+    const double osmLastDownloadTime = std::stod(osmLastDownloadTimeStr);
+    lastDownloadedTimePoint = std::chrono::system_clock::from_time_t(static_cast<std::time_t>(osmLastDownloadTime));
+  }
+
+  osmDownloadBtn->setEnabled(!osm_download_in_progress);
+  usStatesBtn->setEnabled(!osm_download_in_progress);
+
+  updateDownloadProgress();
+
+  const QString locationName = QString::fromStdString(params.get("OsmLocationName"));
+  const bool isUs = !locationName.isEmpty() && locationName == "US";
+  usStatesBtn->setVisible(isUs);
+
+  if (!locationName.isEmpty()) {
+    if (!isUs) {
+      params.remove("OsmStateName");
+      params.remove("OsmStateTitle");
+    }
+    osmUpdateBtn->setVisible(true);
+  } else {
+    params.remove("OsmLocal");
+    params.remove("OsmLocationName");
+    params.remove("OsmLocationTitle");
+    params.remove("OsmStateName");
+    params.remove("OsmStateTitle");
+    osmUpdateBtn->setVisible(false);
+    usStatesBtn->setVisible(false);
+  }
+
+  osmDownloadBtn->setValue(QString::fromStdString(params.get("OsmLocationTitle")));
+  usStatesBtn->setValue(QString::fromStdString(params.get("OsmStateTitle")));
+  update();
+}
+
+void OsmPanel::updateDownloadProgress() {
+  const auto pending_update_check = params.getBool("OsmDbUpdatesCheck");
+  const QJsonObject osmDownloadProgress = QJsonDocument::fromJson(params.get("OSMDownloadProgress").c_str()).object();
+  if (osm_download_in_progress && lastDownloadedTimePoint.has_value()) {
+    offlineMapsETA->setVisible(true);
+    offlineMapsElapsed->setVisible(true);
+    offlineMapsETA->setText(calculateETA(osmDownloadProgress, lastDownloadedTimePoint.value()));
+    offlineMapsElapsed->setText(calculateElapsedTime(osmDownloadProgress, lastDownloadedTimePoint.value()));
+  } else {
+    offlineMapsETA->setVisible(false);
+    offlineMapsElapsed->setVisible(false);
+  }
+
+  const int total_files = extractIntFromJson(osmDownloadProgress, "total_files");
+  const int downloaded_files = extractIntFromJson(osmDownloadProgress, "downloaded_files");
+  download_failed_state = total_files && osm_download_in_progress && !lastDownloadedTimePoint.has_value() && downloaded_files < total_files;
+
+  QString updateButtonText = processUpdateStatus(pending_update_check, total_files, downloaded_files, osmDownloadProgress, download_failed_state);
+
+  osmUpdateBtn->setValue(updateButtonText);
+  osmUpdateBtn->setText(osm_download_in_progress && !download_failed_state ? tr("REFRESH") : tr("UPDATE"));
+  osmDeleteMapsBtn->setValue(formatSize(mapsDirSize));
+}
+
+int OsmPanel::extractIntFromJson(const QJsonObject &json, const QString &key) {
+  return (json.contains(key)) ? json[key].toInt() : 0;
+}
+
+QString OsmPanel::processUpdateStatus(bool pending_update, int total_files, int downloaded_files, const QJsonObject &json, bool failed_state) {
+  if (pending_update && !osm_download_in_progress && !total_files) {
+    lastDownloadedTimePoint.reset();
+    return tr("Download starting...");
+  } else if (failed_state) {
+    return tr("Error: Invalid download. Retry.");
+  } else if (osm_download_in_progress && total_files > downloaded_files) {
+    return formatDownloadStatus(json);
+  } else if (osm_download_in_progress && downloaded_files >= total_files) {
+    osm_download_in_progress = false;
+    lastDownloadedTimePoint.reset();
+    return tr("Download complete!");
+  }
+
+  if (lastDownloadedTimePoint.has_value()) {
+    QDateTime dateTime = QDateTime::fromTime_t(std::chrono::system_clock::to_time_t(lastDownloadedTimePoint.value())); //fromMSecsSinceEpoch(duration);
+    dateTime = dateTime.toLocalTime();
+    return QString("%1").arg(dateTime.toString("yyyy-MM-dd HH:mm:ss"));
+  }
+
+  return "";
+}
+
+void OsmPanel::updateMapSize() {
+  if (mapSizeFuture.has_value() && mapSizeFuture.value().isFinished()) {
+    mapsDirSize = mapSizeFuture.value().result();
+  }
+
+  if (!mapSizeFuture.has_value() || !mapSizeFuture.value().isRunning()) {
+    mapSizeFuture = QtConcurrent::run(getDirSize, MAP_PATH);
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h
new file mode 100644
index 00000000000000..171129a11c2203
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h
@@ -0,0 +1,232 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <deque>
+#include <chrono>
+#include <map>
+#include <optional>
+#include <string>
+#include <tuple>
+#include <vector>
+#include <QDir>
+#include <QFileInfo>
+#include <QtConcurrent/QtConcurrent>
+
+#include "selfdrive/ui/qt/network/wifi_manager.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "system/hardware/hw.h"
+
+constexpr int FAST_REFRESH_INTERVAL = 1000; // ms
+constexpr int SLOW_REFRESH_INTERVAL = 5000; // ms
+
+static const QString MAP_PATH = Hardware::PC() ? QDir::homePath() + "/.comma/media/0/osm/offline/" : "/data/media/0/osm/offline/";
+
+class OsmPanel : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit OsmPanel(QWidget *parent = nullptr);
+
+private:
+  QStackedLayout *main_layout = nullptr;
+  QWidget *osmScreen = nullptr;
+  Params params;
+  Params mem_params{Hardware::PC() ? "" : "/dev/shm/params"};
+  std::map<std::string, ParamControlSP *> toggles;
+  std::optional<QFuture<quint64> > mapSizeFuture;
+  const SubMaster &sm = *uiStateSP()->sm;
+
+
+  bool is_onroad = false;
+  std::string mapd_version;
+
+  bool isWifi() const { return sm["deviceState"].getDeviceState().getNetworkType() == cereal::DeviceState::NetworkType::WIFI; }
+  bool isMetered() const { return sm["deviceState"].getDeviceState().getNetworkMetered(); }
+  bool osm_download_in_progress = false;
+  bool download_failed_state = false;
+  quint64 mapsDirSize = 0;
+
+  QLabel *osmUpdateLbl;
+  ButtonControlSP *osmDownloadBtn;
+  ButtonControlSP *osmUpdateBtn;
+  ButtonControlSP *usStatesBtn;
+  ButtonControlSP *osmDeleteMapsBtn;
+
+  ButtonControlSP *setupOsmDeleteMapsButton(QWidget *parent);;
+  ButtonControlSP *setupOsmUpdateButton(QWidget *parent);
+  ButtonControlSP *setupOsmDownloadButton(QWidget *parent);
+  ButtonControlSP *setupUsStatesButton(QWidget *parent);
+
+  QTimer *timer;
+  std::string osm_download_locations;
+  //  void updateButtonControlSP(ButtonControlSP *btnControl, QWidget *parent, const QString &initTitle, const QString &allStatesOption);
+
+  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override;
+  void updateLabels();
+  void updateDownloadProgress();
+  static int extractIntFromJson(const QJsonObject &json, const QString &key);
+  QString processUpdateStatus(bool pending_update_check, int total_files, int downloaded_files, const QJsonObject &json, bool failed_state);
+
+  ConfirmationDialog *confirmationDialog;
+  LabelControlSP *mapdVersion;
+  LabelControlSP *offlineMapsStatus;
+  LabelControlSP *offlineMapsETA;
+  LabelControlSP *offlineMapsElapsed;
+  std::optional<std::chrono::system_clock::time_point> lastDownloadedTimePoint;
+  LocationsFetcher locationsFetcher;
+
+  void updateMapSize();
+
+  bool showConfirmationDialog(QWidget *parent,
+                              const QString &message = QString(),
+                              const QString &confirmButtonText = QString()) const {
+    const auto _is_metered = isMetered();
+    const QString warning_message = _is_metered ? tr("\n\nWarning: You are on a metered connection!") : QString();
+    QString final_message = message.isEmpty() ? tr("This will start the download process and it might take a while to complete.") : message;
+    final_message += warning_message; // Append the warning message if the connection is metered
+
+    const QString final_buttonText = confirmButtonText.isEmpty() ? (_is_metered ? tr("Continue on Metered") : tr("Start Download")) : confirmButtonText;
+
+    return ConfirmationDialog::confirm(final_message, final_buttonText, parent);
+  }
+
+  // Refactored methods
+  std::vector<std::tuple<QString, QString, QString, QString> > getOsmLocations(const std::tuple<QString, QString> &customLocation = defaultLocation) const {
+    return locationsFetcher.getOsmLocations(customLocation);
+  }
+
+  std::vector<std::tuple<QString, QString, QString, QString> > getUsStatesLocations(const std::tuple<QString, QString> &customLocation = defaultLocation) const {
+    return locationsFetcher.getUsStatesLocations(customLocation);
+  }
+
+  static QString formatTime(const long timeInSeconds) {
+    const long minutes = timeInSeconds / 60;
+    const long seconds = timeInSeconds % 60;
+
+    QString formattedTime;
+    if (minutes > 0) {
+      formattedTime = QString::number(minutes) + tr("m ");
+    }
+    formattedTime += QString::number(seconds) + tr("s");
+    return formattedTime;
+  }
+
+  static QString calculateElapsedTime(const QJsonObject &jsonData, const std::chrono::system_clock::time_point &startTime) {
+    using namespace std::chrono;
+    if (!jsonData.contains("total_files") || !jsonData.contains("downloaded_files"))
+      return tr("Calculating...");
+
+    const int totalFiles = jsonData["total_files"].toInt();
+    const int downloadedFiles = jsonData["downloaded_files"].toInt();
+
+    if (downloadedFiles >= totalFiles || totalFiles <= 0) return tr("Downloaded");
+
+    const long elapsed = duration_cast<seconds>(system_clock::now() - startTime).count();
+
+    if (elapsed == 0 || downloadedFiles == 0) return tr("Calculating...");
+
+    return formatTime(elapsed);
+  }
+
+  static QString calculateETA(const QJsonObject &jsonData, const std::chrono::system_clock::time_point &startTime) {
+    using namespace std::chrono;
+    static steady_clock::time_point lastUpdateTime = steady_clock::now();
+    static std::deque<double> rateHistory;
+
+    constexpr int minDataPoints = 3;
+    constexpr int historySize = 10;
+
+    static QString lastETA = tr("Calculating ETA...");
+
+    if (duration_cast<seconds>(steady_clock::now() - lastUpdateTime).count() < 1) {
+      return lastETA;
+    }
+
+    if (!jsonData.contains("total_files") || !jsonData.contains("downloaded_files"))
+      return lastETA;
+
+    const int totalFiles = jsonData["total_files"].toInt();
+    const int downloadedFiles = jsonData["downloaded_files"].toInt();
+
+    if (totalFiles <= 0 || downloadedFiles >= totalFiles) {
+      return totalFiles <= 0 ? tr("Ready") : tr("Downloaded");
+    }
+
+    const long elapsed = duration_cast<seconds>(system_clock::now() - startTime).count();
+    if (elapsed == 0 || downloadedFiles == 0) return lastETA;
+
+    const double rate = downloadedFiles / static_cast<double>(elapsed);
+    if (rateHistory.size() >= historySize) rateHistory.pop_front();
+    rateHistory.push_back(rate);
+
+    if (rateHistory.size() < minDataPoints) return lastETA;
+
+    double weightedSum = 0;
+    for (int i = 0, weight = 1; i < rateHistory.size(); ++i, ++weight) {
+      weightedSum += rateHistory[i] * weight;
+    }
+    const double avgRate = 2 * weightedSum / (rateHistory.size() * (rateHistory.size() + 1));
+
+    const long remainingTime = static_cast<long>((totalFiles - downloadedFiles) / avgRate);
+    if (remainingTime <= 0) return lastETA;
+
+    lastETA = tr("Time remaining: ") + formatTime(remainingTime);
+    lastUpdateTime = steady_clock::now();
+    return lastETA;
+  }
+
+  static QString formatDownloadStatus(const QJsonObject &json) {
+    if (!json.contains("total_files") || !json.contains("downloaded_files"))
+      return "";
+
+    const int total_files = json["total_files"].toInt();
+    const int downloaded_files = json["downloaded_files"].toInt();
+
+    if (total_files <= 0) return tr("Ready");
+    if (downloaded_files >= total_files) return tr("Downloaded");
+
+    const int percentage = static_cast<int>(100.0 * downloaded_files / total_files);
+    return QString::asprintf("%d/%d (%d%%)", downloaded_files, total_files, percentage);
+  }
+
+  QString formatSize(quint64 size) const {
+    if (size == 0 && (!mapSizeFuture.has_value() || mapSizeFuture.value().isRunning())) {
+      return tr("Calculating...");
+    }
+
+    constexpr qint64 kb = 1024;
+    constexpr qint64 mb = 1024 * kb;
+    constexpr qint64 gb = 1024 * mb;
+
+    if (size < gb) {
+      const double sizeMB = size / static_cast<double>(mb);
+      return QString::number(sizeMB, 'f', 2) + " MB";
+    } else {
+      const double sizeGB = size / static_cast<double>(gb);
+      return QString::number(sizeGB, 'f', 2) + " GB";
+    }
+  }
+
+  static quint64 getDirSize(QString dirPath) {
+    quint64 size = 0;
+    const QString actualDirPath = dirPath.startsWith("~") ? dirPath.replace(0, 1, QDir::homePath()) : dirPath;
+    QDirIterator it(actualDirPath, QDir::Files | QDir::Dirs | QDir::NoDotAndDotDot | QDir::NoSymLinks, QDirIterator::Subdirectories);
+    while (it.hasNext()) {
+      it.next();
+      if (it.fileInfo().isFile()) {
+        size += it.fileInfo().size();
+      }
+    }
+    return size;
+  }
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
index e91de4c903dd48..12d7bd74f79506 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
@@ -18,6 +18,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h"
@@ -85,6 +86,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
     PanelInfo("   " + tr("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
     PanelInfo("   " + tr("Cruise"), new LongitudinalPanel(this), "../assets/icons/speed_limit.png"),
     PanelInfo("   " + tr("Visuals"), new VisualsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"),
+    PanelInfo("   " + tr("OSM"), new OsmPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
     PanelInfo("   " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
     PanelInfo("   " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
     PanelInfo("   " + tr("Firehose"), new FirehosePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_firehose.svg"),
diff --git a/sunnypilot/mapd/__init__.py b/sunnypilot/mapd/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/mapd/live_map_data/__init__.py b/sunnypilot/mapd/live_map_data/__init__.py
new file mode 100644
index 00000000000000..557ad06515b6af
--- /dev/null
+++ b/sunnypilot/mapd/live_map_data/__init__.py
@@ -0,0 +1,22 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.swaglog import cloudlog
+
+LOOK_AHEAD_HORIZON_TIME = 15.  # s. Time horizon for look ahead of turn speed sections to provide on liveMapDataSP msg.
+_DEBUG = False
+_CLOUDLOG_DEBUG = False
+ROAD_NAME_TIMEOUT = 30  # secs
+R = 6373000.0  # approximate radius of earth in mts
+QUERY_RADIUS = 3000  # mts. Radius to use on OSM data queries.
+QUERY_RADIUS_OFFLINE = 2250  # mts. Radius to use on offline OSM data queries.
+
+
+def get_debug(msg, log_to_cloud=True):
+  if _CLOUDLOG_DEBUG and log_to_cloud:
+    cloudlog.debug(msg)
+  if _DEBUG:
+    print(msg)
diff --git a/sunnypilot/mapd/live_map_data/base_map_data.py b/sunnypilot/mapd/live_map_data/base_map_data.py
new file mode 100644
index 00000000000000..536d7720b78dbf
--- /dev/null
+++ b/sunnypilot/mapd/live_map_data/base_map_data.py
@@ -0,0 +1,76 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import time
+from abc import abstractmethod, ABC
+
+from cereal import messaging
+from openpilot.common.gps import get_gps_location_service
+from openpilot.common.params import Params
+from openpilot.sunnypilot.navd.helpers import Coordinate, coordinate_from_param
+
+
+class BaseMapData(ABC):
+  def __init__(self):
+    self.params = Params()
+
+    self.gps_location_service = get_gps_location_service(self.params)
+    self.sm = messaging.SubMaster(['livePose', 'carControl'] + [self.gps_location_service])
+    self.pm = messaging.PubMaster(['liveMapDataSP'])
+
+    self.last_position = coordinate_from_param("LastGPSPosition", self.params)
+    self.last_altitude = None
+
+  @abstractmethod
+  def update_location(self) -> None:
+    pass
+
+  @abstractmethod
+  def get_current_speed_limit(self) -> float:
+    pass
+
+  @abstractmethod
+  def get_next_speed_limit_and_distance(self) -> tuple[float, float]:
+    pass
+
+  @abstractmethod
+  def get_current_road_name(self) -> str:
+    pass
+
+  def get_current_location(self) -> None:
+    gps = self.sm[self.gps_location_service]
+
+    # ignore the message if the fix is invalid
+    gps_ok = self.sm.updated[self.gps_location_service] or (time.monotonic() - self.sm.logMonoTime[self.gps_location_service] / 1e9) > 2.0
+    if not gps_ok and self.sm['livePose'].inputsOK:
+      return None
+
+    # livePose has these data, but aren't on cereal
+    self.last_position = Coordinate(gps.latitude, gps.longitude)
+    self.last_altitude = gps.altitude
+
+  def publish(self) -> None:
+    speed_limit = self.get_current_speed_limit()
+    next_speed_limit, next_speed_limit_distance = self.get_next_speed_limit_and_distance()
+
+    mapd_sp_send = messaging.new_message('liveMapDataSP')
+    mapd_sp_send.valid = self.sm.all_checks(service_list=[self.gps_location_service, 'livePose'])
+    live_map_data = mapd_sp_send.liveMapDataSP
+
+    live_map_data.speedLimitValid = bool(speed_limit > 0)
+    live_map_data.speedLimit = speed_limit
+    live_map_data.speedLimitAheadValid = bool(next_speed_limit > 0)
+    live_map_data.speedLimitAhead = next_speed_limit
+    live_map_data.speedLimitAheadDistance = next_speed_limit_distance
+    live_map_data.roadName = self.get_current_road_name()
+
+    self.pm.send('liveMapDataSP', mapd_sp_send)
+
+  def tick(self) -> None:
+    self.sm.update()
+    self.get_current_location()
+    self.update_location()
+    self.publish()
diff --git a/sunnypilot/mapd/live_map_data/debug.py b/sunnypilot/mapd/live_map_data/debug.py
new file mode 100644
index 00000000000000..da9f4d77714a7b
--- /dev/null
+++ b/sunnypilot/mapd/live_map_data/debug.py
@@ -0,0 +1,57 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+# DISCLAIMER: This code is intended principally for development and debugging purposes.
+# Although it provides a standalone entry point to the program, users should refer
+# to the actual implementations for consumption. Usage outside of development scenarios
+# is not advised and could lead to unpredictable results.
+
+import threading
+import traceback
+
+from cereal import messaging
+from openpilot.common.gps import get_gps_location_service
+from openpilot.common.params import Params
+from openpilot.common.realtime import config_realtime_process
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Policy
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_resolver import SpeedLimitResolver
+from openpilot.sunnypilot.mapd.live_map_data import get_debug
+
+
+def excepthook(args):
+  get_debug(f'MapD: Threading exception:\n{args}')
+  traceback.print_exception(args.exc_type, args.exc_value, args.exc_traceback)
+
+
+def live_map_data_sp_thread():
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  params = Params()
+  gps_location_service = get_gps_location_service(params)
+
+  while True:
+    live_map_data_sp_thread_debug(gps_location_service)
+
+
+def live_map_data_sp_thread_debug(gps_location_service):
+  _sub_master = messaging.SubMaster(['carState', 'livePose', 'liveMapDataSP', 'longitudinalPlanSP', gps_location_service])
+  _sub_master.update()
+
+  v_ego = _sub_master['carState'].vEgo
+  long_spl = _sub_master['longitudinalPlanSP'].speedLimit
+  _policy = Policy.car_state_priority
+  _resolver = SpeedLimitResolver(_policy)
+  _speed_limit, _distance, _source = _resolver.resolve(v_ego, long_spl, _sub_master)
+  print(_speed_limit, _distance, _source, " <-> ", long_spl)
+
+
+def main():
+  threading.excepthook = excepthook
+  live_map_data_sp_thread()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/sunnypilot/mapd/live_map_data/osm_map_data.py b/sunnypilot/mapd/live_map_data/osm_map_data.py
new file mode 100644
index 00000000000000..5f74a5d011b924
--- /dev/null
+++ b/sunnypilot/mapd/live_map_data/osm_map_data.py
@@ -0,0 +1,51 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import json
+import platform
+
+from openpilot.common.params import Params
+from openpilot.sunnypilot.mapd.live_map_data.base_map_data import BaseMapData
+from openpilot.sunnypilot.navd.helpers import Coordinate
+
+
+class OsmMapData(BaseMapData):
+  def __init__(self):
+    super().__init__()
+    self.params = Params()
+    self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
+
+  def update_location(self) -> None:
+    if self.last_position is None or self.last_altitude is None:
+      return
+
+    params = {
+      "latitude": self.last_position.latitude,
+      "longitude": self.last_position.longitude,
+      "altitude": self.last_altitude,
+    }
+
+    self.mem_params.put("LastGPSPosition", json.dumps(params))
+
+  def get_current_speed_limit(self) -> float:
+    return float(self.mem_params.get("MapSpeedLimit", encoding='utf8') or 0.0)
+
+  def get_current_road_name(self) -> str:
+    return self.mem_params.get("RoadName", encoding='utf8') or ""
+
+  def get_next_speed_limit_and_distance(self) -> tuple[float, float]:
+    next_speed_limit_section_str = self.mem_params.get("NextMapSpeedLimit", encoding='utf8')
+    next_speed_limit_section = json.loads(next_speed_limit_section_str) if next_speed_limit_section_str else {}
+    next_speed_limit = next_speed_limit_section.get('speedlimit', 0.0)
+    next_speed_limit_latitude = next_speed_limit_section.get('latitude')
+    next_speed_limit_longitude = next_speed_limit_section.get('longitude')
+    next_speed_limit_distance = 0.0
+
+    if next_speed_limit_latitude and next_speed_limit_longitude:
+      next_speed_limit_coordinates = Coordinate(next_speed_limit_latitude, next_speed_limit_longitude)
+      next_speed_limit_distance = (self.last_position or Coordinate(0, 0)).distance_to(next_speed_limit_coordinates)
+
+    return next_speed_limit, next_speed_limit_distance
diff --git a/sunnypilot/mapd/live_map_data/standalone.py b/sunnypilot/mapd/live_map_data/standalone.py
new file mode 100644
index 00000000000000..f73ecc77246ef9
--- /dev/null
+++ b/sunnypilot/mapd/live_map_data/standalone.py
@@ -0,0 +1,42 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+# DISCLAIMER: This code is intended principally for development and debugging purposes.
+# Although it provides a standalone entry point to the program, users should refer
+# to the actual implementations for consumption. Usage outside of development scenarios
+# is not advised and could lead to unpredictable results.
+
+import threading
+import traceback
+
+from openpilot.common.realtime import Ratekeeper, config_realtime_process
+from openpilot.sunnypilot.mapd.live_map_data import get_debug
+from openpilot.sunnypilot.mapd.live_map_data.osm_map_data import OsmMapData
+
+
+def excepthook(args):
+  get_debug(f'MapD: Threading exception:\n{args}')
+  traceback.print_exception(args.exc_type, args.exc_value, args.exc_traceback)
+
+
+def live_map_data_sp_thread():
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  live_map_sp = OsmMapData()
+  rk = Ratekeeper(1, print_delay_threshold=None)
+
+  while True:
+    live_map_sp.tick()
+    rk.keep_time()
+
+
+def main():
+  threading.excepthook = excepthook
+  live_map_data_sp_thread()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/sunnypilot/mapd/mapd_installer.py b/sunnypilot/mapd/mapd_installer.py
new file mode 100755
index 00000000000000..ef7a3389e3eb4d
--- /dev/null
+++ b/sunnypilot/mapd/mapd_installer.py
@@ -0,0 +1,152 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+#!/usr/bin/env python3
+import logging
+import os
+import stat
+import time
+import traceback
+import requests
+from pathlib import Path
+from urllib.request import urlopen
+
+from cereal import messaging
+from openpilot.common.params import Params
+from openpilot.sunnypilot.mapd.mapd_manager import MAPD_PATH, MAPD_BIN_DIR
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.ui.spinner import Spinner
+from openpilot.system.version import is_prebuilt
+import openpilot.system.sentry as sentry
+
+VERSION = 'v1.9.0'
+URL = f"https://github.com/pfeiferj/openpilot-mapd/releases/download/{VERSION}/mapd"
+
+
+class MapdInstallManager:
+  def __init__(self, spinner_ref: Spinner):
+    self._spinner = spinner_ref
+
+  def download(self) -> None:
+    self.ensure_directories_exist()
+    self._download_file()
+    self.update_installed_version(VERSION)
+
+  def check_and_download(self) -> None:
+    if self.download_needed():
+      self.download()
+
+  @staticmethod
+  def download_needed() -> bool:
+    return not os.path.exists(MAPD_PATH) or MapdInstallManager.get_installed_version() != VERSION
+
+  @staticmethod
+  def ensure_directories_exist() -> None:
+    if not os.path.exists(Paths.mapd_root()):
+      os.makedirs(Paths.mapd_root())
+    if not os.path.exists(MAPD_BIN_DIR):
+      os.makedirs(MAPD_BIN_DIR)
+
+  @staticmethod
+  def _safe_write_and_set_executable(file_path: Path, content: bytes) -> None:
+    with open(file_path, 'wb') as output:
+      output.write(content)
+      output.flush()
+      os.fsync(output.fileno())
+    current_permissions = stat.S_IMODE(os.lstat(file_path).st_mode)
+    os.chmod(file_path, current_permissions | stat.S_IEXEC)
+
+  def _download_file(self, num_retries=5) -> None:
+    temp_file = Path(MAPD_PATH + ".tmp")
+    download_timeout = 60
+    for cnt in range(num_retries):
+      try:
+        response = requests.get(URL, stream=True, timeout=download_timeout)
+        response.raise_for_status()
+        self._safe_write_and_set_executable(temp_file, response.content)
+        # No exceptions encountered. Safe to replace original file.
+        temp_file.replace(MAPD_PATH)
+        return
+      except requests.exceptions.ReadTimeout:
+        self._spinner.update(f"ReadTimeout caught. Timeout is [{download_timeout}]. Retrying download... [{cnt}]")
+        time.sleep(0.5)
+      except requests.exceptions.RequestException as e:
+        self._spinner.update(f"RequestException caught: {e}. Retrying download... [{cnt}]")
+        time.sleep(0.5)
+
+    # Delete temp file if the process was not successful.
+    if temp_file.exists():
+      temp_file.unlink()
+    logging.error("Failed to download file after all retries")
+
+  @staticmethod
+  def update_installed_version(version: str) -> None:
+    Params().put("MapdVersion", version)
+
+  @staticmethod
+  def get_installed_version() -> str:
+    return Params().get("MapdVersion", encoding="utf-8") or ""
+
+  def wait_for_internet_connection(self, return_on_failure: bool = False) -> bool:
+    max_retries = 10
+    for retries in range(max_retries + 1):
+      self._spinner.update(f"Waiting for internet connection... [{retries}/{max_retries}]")
+      time.sleep(2)
+      try:
+        _ = urlopen('https://sentry.io', timeout=10)
+        return True
+      except Exception as e:
+        print(f'Wait for internet failed: {e}')
+        if return_on_failure and retries == max_retries:
+          return False
+
+    return False
+
+  def non_prebuilt_install(self) -> None:
+    sm = messaging.SubMaster(['deviceState'])
+    metered = sm['deviceState'].networkMetered
+
+    if metered:
+      self._spinner.update("Can't proceed with mapd install since network is metered!")
+      time.sleep(5)
+      return
+
+    try:
+      self.ensure_directories_exist()
+      if not self.download_needed():
+        self._spinner.update("Mapd is good!")
+        time.sleep(0.1)
+        return
+
+      if self.wait_for_internet_connection(return_on_failure=True):
+        self._spinner.update(f"Downloading pfeiferj's mapd [{install_manager.get_installed_version()}] => [{VERSION}].")
+        time.sleep(0.1)
+        self.check_and_download()
+      self._spinner.close()
+
+    except Exception:
+      for i in range(6):
+        self._spinner.update("Failed to download OSM maps won't work until properly downloaded!" +
+                             "Try again manually rebooting. " +
+                             f"Boot will continue in {5 - i}s...")
+        time.sleep(1)
+
+      sentry.init(sentry.SentryProject.SELFDRIVE)
+      traceback.print_exc()
+      sentry.capture_exception()
+
+
+if __name__ == "__main__":
+  spinner = Spinner()
+  install_manager = MapdInstallManager(spinner)
+  install_manager.ensure_directories_exist()
+  if is_prebuilt():
+    debug_msg = f"[DEBUG] This is prebuilt, no mapd install required. VERSION: [{VERSION}], Param [{install_manager.get_installed_version()}]"
+    spinner.update(debug_msg)
+    install_manager.update_installed_version(VERSION)
+  else:
+    spinner.update(f"Checking if mapd is installed and valid. Prebuilt [{is_prebuilt()}]")
+    install_manager.non_prebuilt_install()
diff --git a/sunnypilot/mapd/mapd_manager.py b/sunnypilot/mapd/mapd_manager.py
new file mode 100644
index 00000000000000..e5f43f5d4bb04b
--- /dev/null
+++ b/sunnypilot/mapd/mapd_manager.py
@@ -0,0 +1,146 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import json
+import time
+import platform
+import os
+import glob
+import shutil
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.common.realtime import Ratekeeper, config_realtime_process
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
+from openpilot.sunnypilot.mapd.live_map_data.osm_map_data import OsmMapData
+from openpilot.system.hardware.hw import Paths
+
+# PFEIFER - MAPD {{
+params = Params()
+mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else params
+# }} PFEIFER - MAPD
+
+MAPD_BIN_DIR = os.path.join(BASEDIR, 'third_party/mapd_pfeiferj')
+MAPD_PATH = os.path.join(MAPD_BIN_DIR, 'mapd')
+
+
+def get_files_for_cleanup() -> list[str]:
+  paths = [
+    f"{Paths.mapd_root()}/db",
+    f"{Paths.mapd_root()}/v*"
+  ]
+  files_to_remove = []
+  for path in paths:
+    if os.path.exists(path):
+      files = glob.glob(path + '/**', recursive=True)
+      files_to_remove.extend(files)
+  # check for version and mapd files
+  if not os.path.isfile(MAPD_PATH):
+    files_to_remove.append(MAPD_PATH)
+  return files_to_remove
+
+
+def cleanup_old_osm_data(files_to_remove: list[str]) -> None:
+  for file in files_to_remove:
+    # Remove trailing slash if path is file
+    if file.endswith('/') and os.path.isfile(file[:-1]):
+      file = file[:-1]
+    # Try to remove as file or symbolic link first
+    if os.path.islink(file) or os.path.isfile(file):
+      os.remove(file)
+    elif os.path.isdir(file):  # If it's a directory
+      shutil.rmtree(file, ignore_errors=False)
+
+
+def request_refresh_osm_location_data(nations: list[str], states: list[str] = None) -> None:
+  params.put("OsmDownloadedDate", str(time.time()))
+  params.put_bool("OsmDbUpdatesCheck", False)
+
+  osm_download_locations = json.dumps({
+    "nations": nations,
+    "states": states or []
+  })
+
+  print(f"Downloading maps for {osm_download_locations}")
+  mem_params.put("OSMDownloadLocations", osm_download_locations)
+
+
+def filter_nations_and_states(nations: list[str], states: list[str] = None) -> tuple[list[str], list[str]]:
+  """Filters and prepares nation and state data for OSM map download.
+
+  If the nation is 'US' and a specific state is provided, the nation 'US' is removed from the list.
+  If the nation is 'US' and the state is 'All', the 'All' is removed from the list.
+  The idea behind these filters is that if a specific state in the US is provided,
+  there's no need to download map data for the entire US. Conversely,
+  if the state is unspecified (i.e., 'All'), we intend to download map data for the whole US,
+  and 'All' isn't a valid state name, so it's removed.
+
+  Parameters:
+  nations (list): A list of nations for which the map data is to be downloaded.
+  states (list, optional): A list of states for which the map data is to be downloaded. Defaults to None.
+
+  Returns:
+  tuple: Two lists. The first list is filtered nations and the second list is filtered states.
+  """
+
+  if "US" in nations and states and not any(x.lower() == "all" for x in states):
+    # If a specific state in the US is provided, remove 'US' from nations
+    nations.remove("US")
+  elif "US" in nations and states and any(x.lower() == "all" for x in states):
+    # If 'All' is provided as a state (case invariant), remove those instances from states
+    states = [x for x in states if x.lower() != "all"]
+  elif "US" not in nations and states and any(x.lower() == "all" for x in states):
+    states.remove("All")
+  return nations, states or []
+
+
+def update_osm_db() -> None:
+  # last_downloaded_date = float(params.get('OsmDownloadedDate', encoding='utf-8') or 0.0)
+  # if params.get_bool("OsmDbUpdatesCheck") or time.time() - last_downloaded_date >= 604800:  # 7 days * 24 hours/day * 60
+  if params.get_bool("OsmDbUpdatesCheck"):
+    cleanup_old_osm_data(get_files_for_cleanup())
+    country = params.get('OsmLocationName', encoding='utf-8')
+    state = params.get('OsmStateName', encoding='utf-8') or "All"
+    filtered_nations, filtered_states = filter_nations_and_states([country], [state])
+    request_refresh_osm_location_data(filtered_nations, filtered_states)
+
+  if not mem_params.get("OSMDownloadBounds"):
+    mem_params.put("OSMDownloadBounds", "")
+
+  if not mem_params.get("LastGPSPosition"):
+    mem_params.put("LastGPSPosition", "{}")
+
+
+def main_thread():
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  rk = Ratekeeper(1, print_delay_threshold=None)
+  live_map_sp = OsmMapData()
+
+  # Create folder needed for OSM
+  try:
+    os.mkdir(Paths.mapd_root())
+  except FileExistsError:
+    pass
+  except PermissionError:
+    cloudlog.exception(f"mapd: failed to make {Paths.mapd_root()}")
+
+  while True:
+    show_alert = get_files_for_cleanup() and params.get_bool("OsmLocal")
+    set_offroad_alert("Offroad_OSMUpdateRequired", show_alert, "This alert will be cleared when new maps are downloaded.")
+
+    update_osm_db()
+    live_map_sp.tick()
+    rk.keep_time()
+
+
+def main():
+  main_thread()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/sunnypilot/navd/helpers.py b/sunnypilot/navd/helpers.py
new file mode 100644
index 00000000000000..85894fb2ab6aae
--- /dev/null
+++ b/sunnypilot/navd/helpers.py
@@ -0,0 +1,189 @@
+from __future__ import annotations
+
+import json
+import math
+import numpy as np
+from typing import Any, cast
+
+from openpilot.common.conversions import Conversions
+from openpilot.common.params import Params
+
+DIRECTIONS = ('left', 'right', 'straight')
+MODIFIABLE_DIRECTIONS = ('left', 'right')
+
+EARTH_MEAN_RADIUS = 6371007.2
+SPEED_CONVERSIONS = {
+  'km/h': Conversions.KPH_TO_MS,
+  'mph': Conversions.MPH_TO_MS,
+}
+
+
+class Coordinate:
+  def __init__(self, latitude: float, longitude: float) -> None:
+    self.latitude = latitude
+    self.longitude = longitude
+    self.annotations: dict[str, float] = {}
+
+  @classmethod
+  def from_mapbox_tuple(cls, t: tuple[float, float]) -> Coordinate:
+    return cls(t[1], t[0])
+
+  def as_dict(self) -> dict[str, float]:
+    return {'latitude': self.latitude, 'longitude': self.longitude}
+
+  def __str__(self) -> str:
+    return f'Coordinate({self.latitude}, {self.longitude})'
+
+  def __repr__(self) -> str:
+    return self.__str__()
+
+  def __eq__(self, other) -> bool:
+    if not isinstance(other, Coordinate):
+      return False
+    return (self.latitude == other.latitude) and (self.longitude == other.longitude)
+
+  def __sub__(self, other: Coordinate) -> Coordinate:
+    return Coordinate(self.latitude - other.latitude, self.longitude - other.longitude)
+
+  def __add__(self, other: Coordinate) -> Coordinate:
+    return Coordinate(self.latitude + other.latitude, self.longitude + other.longitude)
+
+  def __mul__(self, c: float) -> Coordinate:
+    return Coordinate(self.latitude * c, self.longitude * c)
+
+  def dot(self, other: Coordinate) -> float:
+    return self.latitude * other.latitude + self.longitude * other.longitude
+
+  def distance_to(self, other: Coordinate) -> float:
+    # Haversine formula
+    dlat = math.radians(other.latitude - self.latitude)
+    dlon = math.radians(other.longitude - self.longitude)
+
+    haversine_dlat = math.sin(dlat / 2.0)
+    haversine_dlat *= haversine_dlat
+    haversine_dlon = math.sin(dlon / 2.0)
+    haversine_dlon *= haversine_dlon
+
+    y = haversine_dlat \
+        + math.cos(math.radians(self.latitude)) \
+        * math.cos(math.radians(other.latitude)) \
+        * haversine_dlon
+    x = 2 * math.asin(math.sqrt(y))
+    return x * EARTH_MEAN_RADIUS
+
+
+def minimum_distance(a: Coordinate, b: Coordinate, p: Coordinate):
+  if a.distance_to(b) < 0.01:
+    return a.distance_to(p)
+
+  ap = p - a
+  ab = b - a
+  t = np.clip(ap.dot(ab) / ab.dot(ab), 0.0, 1.0)
+  projection = a + ab * t
+  return projection.distance_to(p)
+
+
+def distance_along_geometry(geometry: list[Coordinate], pos: Coordinate) -> float:
+  if len(geometry) <= 2:
+    return geometry[0].distance_to(pos)
+
+  # 1. Find segment that is closest to current position
+  # 2. Total distance is sum of distance to start of closest segment
+  #    + all previous segments
+  total_distance = 0.0
+  total_distance_closest = 0.0
+  closest_distance = 1e9
+
+  for i in range(len(geometry) - 1):
+    d = minimum_distance(geometry[i], geometry[i + 1], pos)
+
+    if d < closest_distance:
+      closest_distance = d
+      total_distance_closest = total_distance + geometry[i].distance_to(pos)
+
+    total_distance += geometry[i].distance_to(geometry[i + 1])
+
+  return total_distance_closest
+
+
+def coordinate_from_param(param: str, params: Params = None) -> Coordinate | None:
+  if params is None:
+    params = Params()
+
+  json_str = params.get(param)
+  if json_str is None:
+    return None
+
+  pos = json.loads(json_str)
+  if 'latitude' not in pos or 'longitude' not in pos:
+    return None
+
+  return Coordinate(pos['latitude'], pos['longitude'])
+
+
+def string_to_direction(direction: str) -> str:
+  for d in DIRECTIONS:
+    if d in direction:
+      if 'slight' in direction and d in MODIFIABLE_DIRECTIONS:
+        return 'slight' + d.capitalize()
+      return d
+  return 'none'
+
+
+def maxspeed_to_ms(maxspeed: dict[str, str | float]) -> float:
+  unit = cast(str, maxspeed['unit'])
+  speed = cast(float, maxspeed['speed'])
+  return SPEED_CONVERSIONS[unit] * speed
+
+
+def field_valid(dat: dict, field: str) -> bool:
+  return field in dat and dat[field] is not None
+
+
+def parse_banner_instructions(banners: Any, distance_to_maneuver: float = 0.0) -> dict[str, Any] | None:
+  if not len(banners):
+    return None
+
+  instruction = {}
+
+  # A segment can contain multiple banners, find one that we need to show now
+  current_banner = banners[0]
+  for banner in banners:
+    if distance_to_maneuver < banner['distanceAlongGeometry']:
+      current_banner = banner
+
+  # Only show banner when close enough to maneuver
+  instruction['showFull'] = distance_to_maneuver < current_banner['distanceAlongGeometry']
+
+  # Primary
+  p = current_banner['primary']
+  if field_valid(p, 'text'):
+    instruction['maneuverPrimaryText'] = p['text']
+  if field_valid(p, 'type'):
+    instruction['maneuverType'] = p['type']
+  if field_valid(p, 'modifier'):
+    instruction['maneuverModifier'] = p['modifier']
+
+  # Secondary
+  if field_valid(current_banner, 'secondary'):
+    instruction['maneuverSecondaryText'] = current_banner['secondary']['text']
+
+  # Lane lines
+  if field_valid(current_banner, 'sub'):
+    lanes = []
+    for component in current_banner['sub']['components']:
+      if component['type'] != 'lane':
+        continue
+
+      lane = {
+        'active': component['active'],
+        'directions': [string_to_direction(d) for d in component['directions']],
+      }
+
+      if field_valid(component, 'active_direction'):
+        lane['activeDirection'] = string_to_direction(component['active_direction'])
+
+      lanes.append(lane)
+    instruction['lanes'] = lanes
+
+  return instruction
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_map.png b/sunnypilot/selfdrive/assets/offroad/icon_map.png
new file mode 100644
index 00000000000000..82c0236a48d28d
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_map.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57a92adcf88c7223b07697f8c2b315f4f4a34b32a866284610d5250144863c6f
+size 28235
diff --git a/system/hardware/hw.py b/system/hardware/hw.py
index 9722e35e30ce48..f582def482fa23 100644
--- a/system/hardware/hw.py
+++ b/system/hardware/hw.py
@@ -77,3 +77,11 @@ def crash_log_root() -> str:
       return str(Path(Paths.comma_home()) / "community" / "crashes")
     else:
       return "/data/community/crashes"
+
+
+  @staticmethod
+  def mapd_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "media" / "0" / "osm")
+    else:
+      return "/data/media/0/osm"
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 9afe1a4f26bf7e..cdad098d2de81e 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -18,6 +18,8 @@
 from openpilot.system.version import get_build_metadata, terms_version, training_version
 from openpilot.system.hardware.hw import Paths
 
+from openpilot.sunnypilot.mapd.mapd_installer import VERSION
+
 
 def manager_init() -> None:
   save_bootlog()
@@ -54,6 +56,7 @@ def manager_init() -> None:
     ("MadsMainCruiseAllowed", "1"),
     ("MadsSteeringMode", "0"),
     ("MadsUnifiedEngagementMode", "1"),
+    ("MapdVersion", f"{VERSION}"),
     ("MaxTimeOffroad", "1800"),
     ("Brightness", "0"),
     ("ModelManager_LastSyncTime", "0"),
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index af150e47df46b8..2e3f754a76491c 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -6,6 +6,9 @@
 from openpilot.common.params import Params
 from openpilot.system.hardware import PC, TICI
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
+from openpilot.system.hardware.hw import Paths
+
+from openpilot.sunnypilot.mapd.mapd_manager import MAPD_PATH
 
 from sunnypilot.models.helpers import get_active_model_runner
 from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
@@ -157,6 +160,10 @@ def and_(*fns):
 
   # Backup
   PythonProcess("backup_manager", "sunnypilot.sunnylink.backups.manager", and_(only_offroad, sunnylink_ready_shim)),
+
+  # mapd
+  NativeProcess("mapd", Paths.mapd_root(), [MAPD_PATH], always_run),
+  PythonProcess("mapd_manager", "sunnypilot.mapd.mapd_manager", always_run),
 ]
 
 if os.path.exists("./github_runner.sh"):
diff --git a/third_party/mapd_pfeiferj/README.md b/third_party/mapd_pfeiferj/README.md
new file mode 100644
index 00000000000000..a814f112605723
--- /dev/null
+++ b/third_party/mapd_pfeiferj/README.md
@@ -0,0 +1,2 @@
+# MAPD implementation by pfeiferj
+https://github.com/pfeiferj/openpilot-mapd/releases/
diff --git a/third_party/mapd_pfeiferj/mapd b/third_party/mapd_pfeiferj/mapd
new file mode 100755
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HcmV?d00001


From 4e3e069a6517c49932877c6eb6c12c5664b1c871 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 7 Jun 2025 10:48:30 +0200
Subject: [PATCH 0293/1434] Revert "ui: model fuzzy search" (#990)

Revert "ui: model fuzzy search (#958)"

This reverts commit 489d9164f8c8aba20b898c55e29e1c98f4598d09.
---
 .../qt/offroad/settings/models_panel.cc       | 33 +++----------------
 .../qt/offroad/settings/models_panel.h        |  3 +-
 2 files changed, 5 insertions(+), 31 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index 2d7367de1c1ecb..44a6bd3b485471 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -24,17 +24,7 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   currentModelLblBtn = new ButtonControlSP(tr("Current Model"), tr("SELECT"), current_model);
   currentModelLblBtn->setValue(current_model);
 
-  connect(currentModelLblBtn, &ButtonControlSP::clicked, [=]() {
-
-      InputDialog d(tr("Search Model"), this, tr("Enter search keywords, or leave blank to list all models."), false);
-      d.setMinLength(0);
-      const int ret = d.exec();
-      if (ret) {
-        handleCurrentModelLblBtnClicked(d.text());
-      }
-
-    });
-
+  connect(currentModelLblBtn, &ButtonControlSP::clicked, this, &ModelsPanel::handleCurrentModelLblBtnClicked);
   connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
       is_onroad = !offroad;
       updateLabels();
@@ -144,7 +134,7 @@ void ModelsPanel::updateModelManagerState() {
  * @brief Handles the model bundle selection button click
  * Displays available bundles, allows selection, and initiates download
  */
-void ModelsPanel::handleCurrentModelLblBtnClicked(const QString &query) {
+void ModelsPanel::handleCurrentModelLblBtnClicked() {
   currentModelLblBtn->setEnabled(false);
   currentModelLblBtn->setValue(tr("Fetching models..."));
 
@@ -152,8 +142,7 @@ void ModelsPanel::handleCurrentModelLblBtnClicked(const QString &query) {
   QMap<uint32_t, QString> index_to_bundle;
   const auto bundles = model_manager.getAvailableBundles();
   for (const auto &bundle: bundles) {
-    std::string bundleStr = std::string(bundle.getDisplayName()) + " $SNAME$ " + std::string(bundle.getInternalName());
-    index_to_bundle.insert(bundle.getIndex(), QString::fromStdString(bundleStr));
+    index_to_bundle.insert(bundle.getIndex(), QString::fromStdString(bundle.getDisplayName()));
   }
 
   // Sort bundles by index in descending order
@@ -167,24 +156,10 @@ void ModelsPanel::handleCurrentModelLblBtnClicked(const QString &query) {
     bundleNames.append(index_to_bundle[index]);
   }
 
-  QStringList filteredBundleNames = searchFromList(query, bundleNames);
-
   currentModelLblBtn->setValue(GetActiveModelName());
 
-  if (filteredBundleNames.isEmpty()) {
-    ConfirmationDialog::alert(tr("No model found for keywords: %1").arg(query), this);
-    return;
-  }
-
-  for (const QString &bundleName: filteredBundleNames) {
-    int index = bundleName.indexOf("$SNAME$");
-    if (index != -1) {
-      filteredBundleNames.replace(filteredBundleNames.indexOf(bundleName), bundleName.left(index).trimmed());
-    }
-  }
-
   const QString selectedBundleName = MultiOptionDialog::getSelection(
-    tr("Select a Model"), filteredBundleNames, GetActiveModelName(), this);
+    tr("Select a Model"), bundleNames, GetActiveModelName(), this);
 
   if (selectedBundleName.isEmpty() || !canContinueOnMeteredDialog()) {
     return;
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
index ee6a74a6660414..4ba526651e16ff 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
@@ -7,7 +7,6 @@
 
 #pragma once
 
-#include "selfdrive/ui/sunnypilot/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
 class ModelsPanel : public QWidget {
@@ -31,7 +30,7 @@ class ModelsPanel : public QWidget {
 
   // UI update related methods
   void updateLabels();
-  void handleCurrentModelLblBtnClicked(const QString &query);
+  void handleCurrentModelLblBtnClicked();
   void handleBundleDownloadProgress();
   void showResetParamsDialog();
   cereal::ModelManagerSP::Reader model_manager;

From fa4c3a80b618633c26e7a87b33673350c7b5566d Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sat, 7 Jun 2025 08:41:39 -0400
Subject: [PATCH 0294/1434] device: customizable wake-up behavior (start
 offroad) (#861)

* allow always offroad at boot

* update description

* move buttons down again

* device boot mode

* update description

* offroad on sleep

* update name & description

* cleanup

* update signal name

* Update selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>
Co-authored-by: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
---
 common/params_keys.h                          |  1 +
 .../qt/offroad/settings/device_panel.cc       | 14 ++++++++++++
 .../qt/offroad/settings/device_panel.h        | 22 +++++++++++++++++++
 selfdrive/ui/sunnypilot/qt/widgets/controls.h |  5 +----
 selfdrive/ui/sunnypilot/ui.cc                 |  8 +++++++
 selfdrive/ui/sunnypilot/ui.h                  |  4 ++++
 system/manager/manager.py                     |  5 +++++
 7 files changed, 55 insertions(+), 4 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index d2863d7b33ecee..be722ec6421347 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -131,6 +131,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
     {"CarParamsSPPersistent", PERSISTENT},
     {"CarPlatformBundle", PERSISTENT},
+    {"DeviceBootMode", PERSISTENT | BACKUP},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
     {"MaxTimeOffroad", PERSISTENT | BACKUP},
     {"Brightness", PERSISTENT | BACKUP},
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index a2c7414460243e..b89116d4249a82 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -80,6 +80,14 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
   connect(maxTimeOffroad, &OptionControlSP::updateLabels, maxTimeOffroad, &MaxTimeOffroad::refresh);
   addItem(maxTimeOffroad);
 
+    toggleDeviceBootMode = new ButtonParamControlSP("DeviceBootMode", tr("Wake-Up Behavior"), "", "", {"Default", "Offroad"}, 375, true);
+  addItem(toggleDeviceBootMode);
+
+  connect(toggleDeviceBootMode, &ButtonParamControlSP::buttonClicked, this, [=](int index) {
+    params.put("DeviceBootMode", QString::number(index).toStdString());
+    updateState();
+  });
+  
   // Brightness
   brightness = new Brightness();
   connect(brightness, &OptionControlSP::updateLabels, brightness, &Brightness::refresh);
@@ -184,4 +192,10 @@ void DevicePanelSP::updateState() {
   bool offroad_mode_param = params.getBool("OffroadMode");
   offroadBtn->setText(offroad_mode_param ? tr("Exit Always Offroad") : tr("Always Offroad"));
   offroadBtn->setStyleSheet(offroad_mode_param ? alwaysOffroadStyle : autoOffroadStyle);
+
+  DeviceSleepModeStatus currStatus = DeviceSleepModeStatus::DEFAULT;
+  if (params.get("DeviceBootMode") == "1") {
+    currStatus = DeviceSleepModeStatus::OFFROAD;
+  }
+  toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus));
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
index e83801dd29ba8f..2cd3281d1f0130 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
@@ -12,6 +12,11 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
+enum class DeviceSleepModeStatus {
+  DEFAULT,
+  OFFROAD,
+};
+
 class DevicePanelSP : public DevicePanel {
   Q_OBJECT
 
@@ -26,6 +31,7 @@ class DevicePanelSP : public DevicePanel {
   std::map<QString, PushButtonSP*> buttons;
   PushButtonSP *offroadBtn;
   MaxTimeOffroad *maxTimeOffroad;
+  ButtonParamControlSP *toggleDeviceBootMode;
   Brightness *brightness;
 
   const QString alwaysOffroadStyle = R"(
@@ -87,4 +93,20 @@ class DevicePanelSP : public DevicePanel {
       background-color: #FF2424;
     }
   )";
+
+  static QString deviceSleepModeDescription(DeviceSleepModeStatus status = DeviceSleepModeStatus::DEFAULT) {
+    QString def_str = tr("� Default: Device will boot/wake-up normally & will be ready to engage.");
+    QString offrd_str = tr("� Offroad: Device will be in Always Offroad mode after boot/wake-up.");
+
+    if (status == DeviceSleepModeStatus::DEFAULT) {
+      def_str = "<font color='white'><b>" + def_str + "</b></font>";
+    } else if (status == DeviceSleepModeStatus::OFFROAD) {
+      offrd_str = "<font color='white'><b>" + offrd_str + "</b></font>";
+    }
+
+    return QString("%1<br><br>%2<br>%3")
+             .arg(tr("Controls state of the device after boot/sleep."))
+             .arg(def_str)
+             .arg(offrd_str);
+  }
 };
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index e31c4047e96230..c8849faf539248 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -247,14 +247,11 @@ class MultiButtonControlSP : public AbstractControlSP_SELECTOR {
     if (inline_layout) {
       button_param_layout->setMargin(0);
       button_param_layout->setSpacing(0);
+      spacingItem = nullptr;
       if (!title.isEmpty()) {
         main_layout->removeWidget(title_label);
         hlayout->addWidget(title_label, 1);
       }
-      if (spacingItem != nullptr && main_layout->indexOf(spacingItem) != -1) {
-        main_layout->removeItem(spacingItem);
-        spacingItem = nullptr;
-      }
     }
 
     button_group = new QButtonGroup(this);
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index 586a03b1dd6229..b2701356cc9037 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -41,6 +41,7 @@ void UIStateSP::update() {
 
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
   QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &DeviceSP::update);
+  QObject::connect(this, &Device::displayPowerChanged, this, &DeviceSP::handleDisplayPowerChanged);
 }
 
 UIStateSP *uiStateSP() {
@@ -62,3 +63,10 @@ DeviceSP *deviceSP() {
   static DeviceSP _device;
   return &_device;
 }
+
+void DeviceSP::handleDisplayPowerChanged(bool on) {
+  // if enabled, trigger offroad mode when device goes to sleep
+  if (params.get("DeviceBootMode") == "1" && not on) {
+    params.putBool("OffroadMode", true);
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/ui.h b/selfdrive/ui/sunnypilot/ui.h
index a94dfca3b3ed7a..cf8de1c4bbe5a9 100644
--- a/selfdrive/ui/sunnypilot/ui.h
+++ b/selfdrive/ui/sunnypilot/ui.h
@@ -84,6 +84,10 @@ class DeviceSP : public Device {
 
 public:
   DeviceSP(QObject *parent = 0);
+
+private:
+  Params params;
+  void handleDisplayPowerChanged(bool on);
 };
 
 DeviceSP *deviceSP();
diff --git a/system/manager/manager.py b/system/manager/manager.py
index cdad098d2de81e..31bb43e3cfeb07 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -49,6 +49,7 @@ def manager_init() -> None:
     ("BlindSpot", "0"),
     ("BlinkerMinLateralControlSpeed", "20"),  # MPH or km/h
     ("BlinkerPauseLateralControl", "0"),
+    ("DeviceBootMode", "0"),
     ("DynamicExperimentalControl", "0"),
     ("HyundaiLongitudinalTuning", "0"),
     ("LagdToggle", "1"),
@@ -65,6 +66,10 @@ def manager_init() -> None:
     ("QuietMode", "0"),
   ]
 
+  # device boot mode
+  if params.get("DeviceBootMode") == b"1": # start in always offroad mode
+    params.put_bool("OffroadMode", True)
+
   if params.get_bool("RecordFrontLock"):
     params.put_bool("RecordFront", True)
 

From 8da05149558b452c3b38c20eaca671bf70ba585c Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sat, 7 Jun 2025 09:03:13 -0400
Subject: [PATCH 0295/1434] UI: Add Exit Offfroad button on the home screen
 (#872)

* exit offroad btn on offroad-home

* Remove alert for Always-Offroad.
Replaced with header "Always Offroad Active"

* refresh state when device wakes up

* cleanup

* cleaning

* Add pulsing glow effect to ExitOffroadButton

Introduced a QTimer-based mechanism to create a pulsing glow effect around the ExitOffroadButton. This enhances visual feedback by animating the outline with varying alpha transparency, improving UI responsiveness and aesthetics.

* move custom asset to sunnypilot

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 common/params_keys.h                          |   1 -
 selfdrive/selfdrived/alerts_offroad.json      |   4 -
 selfdrive/ui/qt/offroad/offroad_home.cc       |   2 +-
 selfdrive/ui/qt/offroad/offroad_home.h        |   6 +-
 selfdrive/ui/sunnypilot/SConscript            |   2 +
 .../qt/offroad/exit_offroad_button.cc         | 100 ++++++++++++++++++
 .../qt/offroad/exit_offroad_button.h          |  29 +++++
 .../ui/sunnypilot/qt/offroad/offroad_home.cc  |  37 ++++++-
 .../ui/sunnypilot/qt/offroad/offroad_home.h   |   9 ++
 .../ui/sunnypilot/qt/widgets/drive_stats.cc   |   2 +-
 .../assets/offroad/icon_exit_offroad.png      |   3 +
 system/hardware/hardwared.py                  |   1 -
 12 files changed, 182 insertions(+), 14 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.h
 create mode 100644 sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png

diff --git a/common/params_keys.h b/common/params_keys.h
index be722ec6421347..9d826e44f0890d 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -137,7 +137,6 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"Brightness", PERSISTENT | BACKUP},
     {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
     {"OffroadMode", CLEAR_ON_MANAGER_START},
-    {"OffroadMode_Status", CLEAR_ON_MANAGER_START},
     {"QuietMode", PERSISTENT | BACKUP},
 
     // MADS params
diff --git a/selfdrive/selfdrived/alerts_offroad.json b/selfdrive/selfdrived/alerts_offroad.json
index 6ea1bcf23383ab..1668bf17fd4bad 100644
--- a/selfdrive/selfdrived/alerts_offroad.json
+++ b/selfdrive/selfdrived/alerts_offroad.json
@@ -45,10 +45,6 @@
     "text": "sunnypilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.",
     "severity": 0
   },
-  "OffroadMode_Status": {
-    "text": "sunnypilot is now in Always Offroad mode. sunnypilot won't start until Always Offroad mode is disabled. Go to \"Settings\" -> \"Device\" to exit Always Offroad mode.",
-    "severity": 1
-  },
   "Offroad_OSMUpdateRequired": {
     "text": "OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.\n\n%1",
     "severity": 0
diff --git a/selfdrive/ui/qt/offroad/offroad_home.cc b/selfdrive/ui/qt/offroad/offroad_home.cc
index 6fcb6a71ae62d7..9ca41e55672e3b 100644
--- a/selfdrive/ui/qt/offroad/offroad_home.cc
+++ b/selfdrive/ui/qt/offroad/offroad_home.cc
@@ -18,7 +18,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
   main_layout->setContentsMargins(40, 40, 40, 40);
 
   // top header
-  QHBoxLayout* header_layout = new QHBoxLayout();
+  header_layout = new QHBoxLayout();
   header_layout->setContentsMargins(0, 0, 0, 0);
   header_layout->setSpacing(16);
 
diff --git a/selfdrive/ui/qt/offroad/offroad_home.h b/selfdrive/ui/qt/offroad/offroad_home.h
index 40b63ce8d83cb0..cac37d58cd1a26 100644
--- a/selfdrive/ui/qt/offroad/offroad_home.h
+++ b/selfdrive/ui/qt/offroad/offroad_home.h
@@ -39,12 +39,14 @@ class OffroadHome : public QFrame {
 
 protected:
   QHBoxLayout *home_layout;
+  QHBoxLayout *header_layout;
 
-private:
   void showEvent(QShowEvent *event) override;
-  void hideEvent(QHideEvent *event) override;
   void refresh();
 
+private:
+  void hideEvent(QHideEvent *event) override;
+
   Params params;
 
   QTimer* timer;
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index de7f3efbc5fcba..5d67f4157dd9cd 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -19,6 +19,7 @@ qt_src = [
   "sunnypilot/qt/sidebar.cc",
   "sunnypilot/qt/window.cc",
   "sunnypilot/qt/home.cc",
+  "sunnypilot/qt/offroad/exit_offroad_button.cc",
   "sunnypilot/qt/offroad/offroad_home.cc",
   "sunnypilot/qt/offroad/settings/device_panel.cc",
   "sunnypilot/qt/offroad/settings/lateral_panel.cc",
@@ -80,6 +81,7 @@ brand_settings_qt_src = [
   "sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc",
 ]
 
+
 sp_widgets_src = widgets_src + network_src
 sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + osm_panel_qt_src
 sp_qt_util = qt_util
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.cc b/selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.cc
new file mode 100644
index 00000000000000..0c7902476a3c4c
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.cc
@@ -0,0 +1,100 @@
+#include <QDebug>
+#include <QHBoxLayout>
+#include <QPainter>
+#include <QPainterPath>
+#include <QStyle>
+
+#include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.h"
+
+
+ExitOffroadButton::ExitOffroadButton(QWidget *parent) : QPushButton(parent), glowTimer(new QTimer(this)) {
+  setMouseTracking(true);
+
+  connect(glowTimer, &QTimer::timeout, this, [this]() {
+    // Pulse alpha up and down
+    glowAlpha += glowDelta;
+    if (glowAlpha > 220 || glowAlpha < 10) {
+      glowDelta *= -1;
+    }
+    update(); // trigger repaint
+  });
+
+  glowTimer->start(45);
+  
+  pixmap = QPixmap("../../sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png").scaledToWidth(img_width, Qt::SmoothTransformation);
+
+  // go to toggles and expand experimental mode description
+  connect(this, &QPushButton::clicked, [=]() {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to exit Always Offroad mode?"), tr("Confirm"), this)) {
+      params.remove("OffroadMode");
+    }
+  });
+
+  setFixedHeight(125);
+  QHBoxLayout *main_layout = new QHBoxLayout;
+  main_layout->setContentsMargins(horizontal_padding, 0, horizontal_padding, 0);
+
+  mode_label = new QLabel(tr("EXIT ALWAYS OFFROAD MODE"));
+  mode_icon = new QLabel;
+  mode_icon->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
+  mode_icon->setPixmap(pixmap);
+
+  main_layout->addWidget(mode_label, 1, Qt::AlignLeft);
+  main_layout->addWidget(mode_icon, 0, Qt::AlignRight);
+
+  setLayout(main_layout);
+
+  setStyleSheet(R"(
+    QPushButton {
+      border: none;
+    }
+
+    QLabel {
+      font-size: 45px;
+      font-weight: 300;
+      text-align: left;
+      font-family: JetBrainsMono;
+      color: #000000;
+    }
+  )");
+}
+
+void drawPulsingGlowOverlay(QPainter &p, QPainterPath path, int glowAlpha) {
+  // Draw pulsing glow effect clipped to button area
+  p.save();
+  p.setClipPath(path);
+  p.setCompositionMode(QPainter::CompositionMode_HardLight);
+
+  const QColor animatedGlowColor(255, 255, 255, std::min(255, glowAlpha));
+  QPen glowPen(animatedGlowColor, 8);
+  glowPen.setJoinStyle(Qt::RoundJoin);
+  p.setPen(glowPen);
+  p.drawPath(path);
+  
+  p.restore();
+}
+
+void ExitOffroadButton::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.setRenderHint(QPainter::Antialiasing);
+
+  QPainterPath path;
+  path.addRoundedRect(rect(), 10, 10);
+
+  // gradient
+  bool pressed = isDown();
+  QLinearGradient gradient(rect().left(), 0, rect().right(), 0);
+  gradient.setColorAt(0, QColor(35, 149, 255, pressed ? 0xcc : 0xff));
+  gradient.setColorAt(0.3, QColor(35, 149, 255, pressed ? 0xcc : 0xff));
+  gradient.setColorAt(1, QColor(20, 255, 171, pressed ? 0xcc : 0xff));
+  p.fillPath(path, gradient);
+
+  drawPulsingGlowOverlay(p, path, glowAlpha);
+
+  // vertical line
+  p.setPen(QPen(QColor(0, 0, 0, 0x4d), 3, Qt::SolidLine));
+  int line_x = rect().right() - img_width - (2 * horizontal_padding);
+  p.drawLine(line_x, rect().bottom(), line_x, rect().top());
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.h b/selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.h
new file mode 100644
index 00000000000000..673d9fff737fe3
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.h
@@ -0,0 +1,29 @@
+#pragma once
+
+#include <QLabel>
+#include <QPushButton>
+
+#include "common/params.h"
+
+class ExitOffroadButton : public QPushButton {
+  Q_OBJECT
+
+private:
+  QTimer *glowTimer;
+  int glowAlpha = 100;  // Current alpha of glow
+  int glowDelta = 10;    // Change per tick
+  
+public:
+  explicit ExitOffroadButton(QWidget* parent = 0);
+
+  Params params;
+  bool offroad_mode;
+  int img_width = 100;
+  int horizontal_padding = 30;
+  QPixmap pixmap;
+  QLabel *mode_label;
+  QLabel *mode_icon;
+
+protected:
+  void paintEvent(QPaintEvent *event) override;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc b/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc
index 05b1d80846bdcd..cc82e6ddb94d01 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc
@@ -5,16 +5,45 @@
  * See the LICENSE.md file in the root directory for more details.
  */
 
-#include "selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h"
-
 #include <QStackedWidget>
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h"
 
 OffroadHomeSP::OffroadHomeSP(QWidget *parent) : OffroadHome(parent) {
-  QStackedWidget *left_widget = new QStackedWidget(this);
-  left_widget->addWidget(new DriveStats(this));
+  QFrame *left_widget = new QFrame(this);
+  QVBoxLayout *left_layout = new QVBoxLayout(left_widget);
+  left_layout->setContentsMargins(0, 0, 0, 0);
+  left_layout->setSpacing(30);
+
+  btn_exit_offroad = new ExitOffroadButton(this);
+  QObject::connect(btn_exit_offroad, &ExitOffroadButton::clicked, [=]() {
+    refreshOffroadStatus();
+  });
+  left_layout->addWidget(btn_exit_offroad);
+
+  left_layout->addWidget(new DriveStats(this));
   left_widget->setStyleSheet("border-radius: 10px;");
 
   home_layout->insertWidget(0, left_widget);
+
+  offroad_notif = new QPushButton(tr("ALWAYS OFFROAD ACTIVE"));
+  offroad_notif->setVisible(false);
+  offroad_notif->setStyleSheet("background-color: #E22C2C;");
+  header_layout->insertWidget(0, offroad_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
+
+  QObject::connect(deviceSP(), &DeviceSP::displayPowerChanged, this, &OffroadHomeSP::refreshOffroadStatus);
+
+}
+
+void OffroadHomeSP::showEvent(QShowEvent *event) {
+  refreshOffroadStatus();
+  OffroadHome::showEvent(event);
+}
+
+void OffroadHomeSP::refreshOffroadStatus() {
+  bool is_offroad = params.getBool("OffroadMode");
+  btn_exit_offroad->setVisible(is_offroad);
+  offroad_notif->setVisible(is_offroad);
+  OffroadHome::refresh();
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h b/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h
index 9710150d574d40..30816f666c5a54 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h
@@ -8,10 +8,19 @@
 #pragma once
 
 #include "selfdrive/ui/qt/offroad/offroad_home.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.h"
 
 class OffroadHomeSP : public OffroadHome {
   Q_OBJECT
 
 public:
   explicit OffroadHomeSP(QWidget *parent = 0);
+
+private:
+  ExitOffroadButton *btn_exit_offroad;
+  QPushButton *offroad_notif;
+  Params params;
+
+  void showEvent(QShowEvent *event) override;
+  void refreshOffroadStatus();
 };
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.cc b/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.cc
index 032abdbbfbbc1b..bfdcac2564b89a 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.cc
+++ b/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.cc
@@ -34,7 +34,7 @@ DriveStats::DriveStats(QWidget* parent) : QFrame(parent) {
 
     int row = 0;
     grid_layout->addWidget(newLabel(title, "title"), row++, 0, 1, 3);
-    grid_layout->addItem(new QSpacerItem(0, 50), row++, 0, 1, 1);
+    grid_layout->addItem(new QSpacerItem(0, 30), row++, 0, 1, 1);
 
     grid_layout->addWidget(labels.routes = newLabel("0", "number"), row, 0, Qt::AlignLeft);
     grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft);
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png b/sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png
new file mode 100644
index 00000000000000..1b8308a0ac1867
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d44f71f7603b106986fff7835f35c4c18c4c619a29e6292f8626ae3eedd85e57
+size 7811
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 38cbe8c991ba21..223faeaafdd5a3 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -323,7 +323,6 @@ def hardware_thread(end_event, hw_queue) -> None:
     offroad_mode = params.get_bool("OffroadMode")
     startup_conditions["not_always_offroad"] = not offroad_mode
     onroad_conditions["not_always_offroad"] = not offroad_mode
-    set_offroad_alert("OffroadMode_Status", offroad_mode)
 
     # if the temperature enters the danger zone, go offroad to cool down
     onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger

From 49cad4c22e66d7042d574f4d30b5fd3eddda55ab Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 7 Jun 2025 17:38:09 -0400
Subject: [PATCH 0296/1434] Update Python packages (#991)

* Update Python packages

* bump
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 202a26d94315ed..3bd2bba8a75273 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 202a26d94315edaa981ce80ed73c6022d2d66997
+Subproject commit 3bd2bba8a752738a1d0065f8c9dc1d3bbf471b56

From f12d181d3b6e4a7ca5fc0621ed991e8e0885affc Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 8 Jun 2025 18:13:24 -0400
Subject: [PATCH 0297/1434] mapd: add to ignored processes list (#993)

* mapd: add to ignored processes list

* executable
---
 selfdrive/selfdrived/selfdrived.py | 1 +
 sunnypilot/mapd/mapd_installer.py  | 2 +-
 sunnypilot/mapd/mapd_manager.py    | 1 +
 system/hardware/hw.py              | 1 -
 4 files changed, 3 insertions(+), 2 deletions(-)
 mode change 100644 => 100755 sunnypilot/mapd/mapd_manager.py

diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 3ea396774634a8..edd0ae7d7c8cb3 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -132,6 +132,7 @@ def __init__(self, CP=None, CP_SP=None):
     nvme_expected = os.path.exists('/dev/nvme0n1') or (not os.path.isfile("/persist/comma/living-in-the-moment"))
     if HARDWARE.get_device_type() == 'tici' and nvme_expected:
       self.ignored_processes = {'loggerd', }
+    self.ignored_processes.update({'mapd'})
 
     # Determine startup event
     self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster
diff --git a/sunnypilot/mapd/mapd_installer.py b/sunnypilot/mapd/mapd_installer.py
index ef7a3389e3eb4d..0be30b5b627f42 100755
--- a/sunnypilot/mapd/mapd_installer.py
+++ b/sunnypilot/mapd/mapd_installer.py
@@ -1,10 +1,10 @@
+#!/usr/bin/env python3
 """
 Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-#!/usr/bin/env python3
 import logging
 import os
 import stat
diff --git a/sunnypilot/mapd/mapd_manager.py b/sunnypilot/mapd/mapd_manager.py
old mode 100644
new mode 100755
index e5f43f5d4bb04b..342ba3fe7beeec
--- a/sunnypilot/mapd/mapd_manager.py
+++ b/sunnypilot/mapd/mapd_manager.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 """
 Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 
diff --git a/system/hardware/hw.py b/system/hardware/hw.py
index f582def482fa23..5e40fff1363df1 100644
--- a/system/hardware/hw.py
+++ b/system/hardware/hw.py
@@ -78,7 +78,6 @@ def crash_log_root() -> str:
     else:
       return "/data/community/crashes"
 
-
   @staticmethod
   def mapd_root() -> str:
     if PC:

From 0cb0bf802822095f614026c3e56b1c88b5d777ea Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Tue, 10 Jun 2025 22:48:46 -0400
Subject: [PATCH 0298/1434] Longitudinal: Custom ACC setpoint increments
 support (#889)

* Add Reverse ACC Change parameter and update cruise control logic

* lint lint lint (and lint has been summoned!)

* Add test for speed adjustment on reverse ACC button presses

* Fix formatting in cruise speed test for reverse ACC button presses

* Fix assertion in cruise speed test for reverse ACC button presses

* Enhance speed adjustment test for reverse ACC functionality

* Refactor speed adjustment test for clarity and consistency in reverse ACC behavior

* Fix metric conversion in cruise speed update for reverse ACC functionality

* custom-acc-speed-increments

* simplify

* remove unused params

* move params & add test

* lets see if this works

* minor cosmetic stuff

* clean up class names & old code

* remove unused import

* moved params to card

* stupid strings

* Add settings for developer reverse acceleration configuration

* Refactor cruise control parameters to use a dictionary for custom acceleration increments

* adjust for the default behavior

* Remove unused param

* Fuck pytest consistently failing on macos. Need to force a fail on the pipeline or I won't have confidence on the tests.

* Revert "Fuck pytest consistently failing on macos. Need to force a fail on the pipeline or I won't have confidence on the tests."

This reverts commit 05bac46a0c3964d8f7a3c4db652609eb25b8fd2a.

* Refactor custom acceleration increment handling to improve clarity and initialization

* Refactor AccIncrementOptionControl to accept range and per_value_change parameters for improved flexibility

* Refactor custom acceleration increment handling to improve clarity and functionality

* Adjusting tests

* Static

* no need for space changes

* no need for space changes

* no need for space changes

* Refactor constructor formatting in AccIncrementOptionControl

* Rename

* Meaningless change to test CI

* allow 1/5/10 increments for long press
move developer panel src to /offroad/settings

* update boundary condition for long press

* clamp increments of 5/10 regardless of short or long press

* update tests

* update test for long_press non-standard values

* move to cruise panel

* init

* use cereal

* update tests

* merge

* bump

* clean up

* more clean up

* no more layout warnings

* trying to resolve dev ci merge conflicts

* damn ui preview

* stack layout
enable only with oplong

* bump opendbc

* fix width

* bump tinygrad

* switch to params

* remove cereal changes

* sort params

* cleanup

* more cleanup

* lint

* rename

* split vcruise_helper

* move params to card thread
hide widget for pcm cruise

* simplify tests

* further simplify tests

* tests!!

* Revert "tests!!"

This reverts commit 85310a155e7a9f5a9b23685cb43b9c9b3c415818.

* move tuple from init to update_v_cruise

* lint

* temp remove tests to check

* Revert "temp remove tests to check"

This reverts commit da1c96a5dbe5398e7cccfe9e2ad3bf0308b5fe3d.

* handle exception

* formatting

* handle none condition

* remove from tests

* flip inheritance

* read directly

* set default

* not needed

* refactor inheritence

* rename

* already checks before invoking

* unused

* slight cleanup

* lint

* rename

* diff

* circular

* just 1 parent for now

* fix

* fix increment check with remainder

* red diff

* type hint

* update tests

* clip them

* formatting

* always check toggle visibility

* spaces are free

* hide widgets when disabled

* less

* handle more states

* private instead

* red diff says wuuuut

* fix panel click

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/params_keys.h                          |   3 +
 selfdrive/car/card.py                         |   1 +
 selfdrive/car/cruise.py                       |   6 +-
 selfdrive/ui/sunnypilot/SConscript            |   6 +-
 .../longitudinal/custom_acc_increment.cc      |  47 ++++++
 .../longitudinal/custom_acc_increment.h       |  41 +++++
 .../qt/offroad/settings/longitudinal_panel.cc |  68 ++++++++
 .../qt/offroad/settings/longitudinal_panel.h  |  15 ++
 selfdrive/ui/tests/test_ui/run.py             |   8 +-
 sunnypilot/selfdrive/car/cruise_ext.py        |  47 ++++++
 .../selfdrive/car/tests/test_custom_cruise.py | 149 ++++++++++++++++++
 system/manager/manager.py                     |   3 +
 12 files changed, 387 insertions(+), 7 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h
 create mode 100644 sunnypilot/selfdrive/car/cruise_ext.py
 create mode 100644 sunnypilot/selfdrive/car/tests/test_custom_cruise.py

diff --git a/common/params_keys.h b/common/params_keys.h
index 9d826e44f0890d..02dd8fee851862 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -131,6 +131,9 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
     {"CarParamsSPPersistent", PERSISTENT},
     {"CarPlatformBundle", PERSISTENT},
+    {"CustomAccIncrementsEnabled", PERSISTENT | BACKUP},
+    {"CustomAccLongPressIncrement", PERSISTENT | BACKUP},
+    {"CustomAccShortPressIncrement", PERSISTENT | BACKUP},
     {"DeviceBootMode", PERSISTENT | BACKUP},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
     {"MaxTimeOffroad", PERSISTENT | BACKUP},
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 1b9a1522a170c3..8448af56db385e 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -307,6 +307,7 @@ def params_thread(self, evt):
 
       # sunnypilot
       self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
+      self.v_cruise_helper.read_custom_set_speed_params()
 
       time.sleep(0.1)
 
diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index d696566ba555e6..01ef2d7c99a14a 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -3,6 +3,7 @@
 
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
+from openpilot.sunnypilot.selfdrive.car.cruise_ext import VCruiseHelperSP
 
 
 # WARNING: this value was determined based on the model's training distribution,
@@ -28,8 +29,9 @@
 }
 
 
-class VCruiseHelper:
+class VCruiseHelper(VCruiseHelperSP):
   def __init__(self, CP):
+    VCruiseHelperSP.__init__(self)
     self.CP = CP
     self.v_cruise_kph = V_CRUISE_UNSET
     self.v_cruise_cluster_kph = V_CRUISE_UNSET
@@ -99,7 +101,7 @@ def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
     if not self.button_change_states[button_type]["enabled"]:
       return
 
-    v_cruise_delta = v_cruise_delta * (5 if long_press else 1)
+    long_press, v_cruise_delta = VCruiseHelperSP.update_v_cruise_delta(self, long_press, v_cruise_delta)
     if long_press and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
       self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
     else:
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 5d67f4157dd9cd..41cc09141bbf75 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -49,6 +49,10 @@ lateral_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
 ]
 
+longitudinal_panel_qt_src = [
+  "sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc",
+]
+
 network_src = [
   "sunnypilot/qt/network/sunnylink/sunnylink_client.cc",
   "sunnypilot/qt/network/sunnylink/services/base_device_service.cc",
@@ -83,7 +87,7 @@ brand_settings_qt_src = [
 
 
 sp_widgets_src = widgets_src + network_src
-sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + osm_panel_qt_src
+sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + longitudinal_panel_qt_src + osm_panel_qt_src
 sp_qt_util = qt_util
 
 Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util")
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc
new file mode 100644
index 00000000000000..29cadeaa62bf07
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc
@@ -0,0 +1,47 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h"
+
+CustomAccIncrement::CustomAccIncrement(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent)
+    : ExpandableToggleRow(param, title, desc, icon, parent) {
+  auto *accFrame = new QFrame(this);
+  auto *accFrameLayout = new QGridLayout();
+  accFrame->setLayout(accFrameLayout);
+  accFrameLayout->setSpacing(0);
+
+  auto *shortPressControl = new AccIncrementOptionControl("CustomAccShortPressIncrement", {1, 10}, 1);
+  connect(shortPressControl, &OptionControlSP::updateLabels, shortPressControl, &AccIncrementOptionControl::refresh);
+
+  auto *longPressControl = new AccIncrementOptionControl("CustomAccLongPressIncrement", {1, 3}, 1, &customLongValues);
+  connect(longPressControl, &OptionControlSP::updateLabels, longPressControl, &AccIncrementOptionControl::refresh);
+
+  shortPressControl->setFixedWidth(280);
+  longPressControl->setFixedWidth(280);
+  accFrameLayout->addWidget(shortPressControl, 0, 0, Qt::AlignLeft);
+  accFrameLayout->addWidget(longPressControl, 0, 1, Qt::AlignRight);
+
+  addItem(accFrame);
+}
+
+AccIncrementOptionControl::AccIncrementOptionControl(const QString &param, const MinMaxValue &range, const int per_value_change, const QMap<QString, QString> *valMap)
+    : OptionControlSP(param, "", "", "", range, per_value_change, true, valMap) {
+  param_name = param.toStdString();
+  refresh();
+}
+
+void AccIncrementOptionControl::refresh() {
+  std::string val = params.get(param_name);
+  std::string label = "<span style='font-size: 45px; font-weight: 450; color: #FFFFFF;'>";
+  label += param_name == "CustomAccShortPressIncrement" ? "Short Press" : "Long Press";
+  label += " <br><span style='font-size: 40px; font-weight: 450; color:rgb(174, 255, 195);'>" + val;
+  label += param_name == "CustomAccShortPressIncrement"
+             ? (val == "1" ? " (Default)" : "")
+             : (val == "5" ? " (Default)" : "");
+  label += "</span></span>";
+  setLabel(QString::fromStdString(label));
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h
new file mode 100644
index 00000000000000..707d4143bc0e91
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h
@@ -0,0 +1,41 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
+
+class CustomAccIncrement : public ExpandableToggleRow {
+  Q_OBJECT
+
+public:
+  CustomAccIncrement(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr);
+
+private:
+  QMap<QString, QString> customLongValues = {
+    {"1", "1"},
+    {"2", "5"}, // Default
+    {"3", "10"}
+  };
+};
+
+class AccIncrementOptionControl : public OptionControlSP {
+  Q_OBJECT
+
+public:
+  AccIncrementOptionControl(const QString &param, const MinMaxValue &range, int per_value_change, const QMap<QString, QString> *valMap = nullptr);
+  void refresh();
+
+protected:
+  std::string param_name;
+
+private:
+  Params params;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
index 9d8a4d9c19f436..15ed10bf9a2de0 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
@@ -8,4 +8,72 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
 
 LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
+  main_layout = new QStackedLayout(this);
+  ListWidget *list = new ListWidget(this, false);
+
+  cruisePanelScreen = new QWidget(this);
+  QVBoxLayout *vlayout = new QVBoxLayout(cruisePanelScreen);
+  vlayout->setContentsMargins(0, 0, 0, 0);
+
+  cruisePanelScroller = new ScrollViewSP(list, this);
+  vlayout->addWidget(cruisePanelScroller);
+
+  customAccIncrement = new CustomAccIncrement("CustomAccIncrementsEnabled", tr("Custom ACC Speed Increments"), "", "", this);
+  list->addItem(customAccIncrement);
+
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &LongitudinalPanel::refresh);
+
+  main_layout->addWidget(cruisePanelScreen);
+  main_layout->setCurrentWidget(cruisePanelScreen);
+  refresh(offroad);
+}
+
+void LongitudinalPanel::showEvent(QShowEvent *event) {
+  main_layout->setCurrentWidget(cruisePanelScreen);
+  refresh(offroad);
+}
+
+void LongitudinalPanel::refresh(bool _offroad) {
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    has_longitudinal_control = hasLongitudinalControl(CP);
+    is_pcm_cruise = CP.getPcmCruise();
+  } else {
+    has_longitudinal_control = false;
+    is_pcm_cruise = false;
+  }
+
+  QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
+  QString accNoLongDescription = tr("This feature can only be used with openpilot longitudinal control enabled.");
+  QString accPcmCruiseDisabledDescription = tr("This feature is not supported on this platform due to vehicle limitations.");
+  QString onroadOnlyDescription = tr("Start the vehicle to check vehicle compatibility.");
+
+  if (offroad) {
+    customAccIncrement->setDescription(onroadOnlyDescription);
+    customAccIncrement->showDescription();
+  } else {
+    if (has_longitudinal_control) {
+      if (is_pcm_cruise) {
+        customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
+        customAccIncrement->showDescription();
+      } else {
+        customAccIncrement->setDescription(accEnabledDescription);
+      }
+    } else {
+      params.remove("CustomAccIncrementsEnabled");
+      customAccIncrement->toggleFlipped(false);
+      customAccIncrement->setDescription(accNoLongDescription);
+      customAccIncrement->showDescription();
+    }
+  }
+
+  // enable toggle when long is available and is not PCM cruise
+  customAccIncrement->setEnabled(has_longitudinal_control && !is_pcm_cruise && !offroad);
+  customAccIncrement->refresh();
+
+  offroad = _offroad;
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
index cd68e3ec2f6d52..58e94f333b362f 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
@@ -7,11 +7,26 @@
 
 #pragma once
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
 class LongitudinalPanel : public QWidget {
   Q_OBJECT
 
 public:
   explicit LongitudinalPanel(QWidget *parent = nullptr);
+  void showEvent(QShowEvent *event) override;
+  void refresh(bool _offroad);
+
+private:
+  Params params;
+  bool has_longitudinal_control = false;
+  bool is_pcm_cruise = false;
+  bool offroad = false;
+
+  QStackedLayout *main_layout = nullptr;
+  ScrollViewSP *cruisePanelScroller = nullptr;
+  QWidget *cruisePanelScreen = nullptr;
+  CustomAccIncrement *customAccIncrement = nullptr;
 };
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 536917a1a6a953..d25a86c6dd2259 100755
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -246,10 +246,10 @@ def setup_settings_steering_alc(click, pm: PubMaster, scroll=None):
   click(970, 534)
   time.sleep(UI_DELAY)
 
-def setup_settings_driving(click, pm: PubMaster, scroll=None):
+def setup_settings_cruise(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
-  scroll(-1, 278, 962)
-  click(278, 962)
+  scroll(-400, 278, 962)
+  click(278, 324)
   time.sleep(UI_DELAY)
 
 def setup_settings_visuals(click, pm: PubMaster, scroll=None):
@@ -312,7 +312,7 @@ def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
   "settings_steering": setup_settings_steering,
   "settings_steering_mads": setup_settings_steering_mads,
   "settings_steering_alc": setup_settings_steering_alc,
-  "settings_driving": setup_settings_driving,
+  "settings_cruise": setup_settings_cruise,
   "settings_visuals": setup_settings_visuals,
   "settings_trips": setup_settings_trips,
   "settings_vehicle": setup_settings_vehicle,
diff --git a/sunnypilot/selfdrive/car/cruise_ext.py b/sunnypilot/selfdrive/car/cruise_ext.py
new file mode 100644
index 00000000000000..6f0419ed1471b1
--- /dev/null
+++ b/sunnypilot/selfdrive/car/cruise_ext.py
@@ -0,0 +1,47 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import numpy as np
+
+from cereal import car
+from openpilot.common.params import Params
+
+ButtonType = car.CarState.ButtonEvent.Type
+
+
+class VCruiseHelperSP:
+  def __init__(self) -> None:
+    self.params = Params()
+
+    self.custom_acc_enabled = self.params.get_bool("CustomAccIncrementsEnabled")
+    self.short_increment = self.read_int_param("CustomAccShortPressIncrement", 1)
+    self.long_increment = self.read_int_param("CustomAccLongPressIncrement", 5)
+
+  def read_int_param(self, key: str, default: int = 0) -> int:
+    try:
+      return int(self.params.get(key, encoding='utf8'))
+    except (ValueError, TypeError):
+      return default
+
+  def read_custom_set_speed_params(self) -> None:
+    self.custom_acc_enabled = self.params.get_bool("CustomAccIncrementsEnabled")
+    self.short_increment = self.read_int_param("CustomAccShortPressIncrement", 1)
+    self.long_increment = self.read_int_param("CustomAccLongPressIncrement", 5)
+
+  def update_v_cruise_delta(self, long_press: bool, v_cruise_delta: float) -> tuple[bool, float]:
+    if not self.custom_acc_enabled:
+      v_cruise_delta = v_cruise_delta * (5 if long_press else 1)
+      return long_press, v_cruise_delta
+
+    # Apply user-specified multipliers to the base increment
+    short_increment = np.clip(self.short_increment, 1, 10)
+    long_increment = np.clip(self.long_increment, 1, 10)
+
+    actual_increment = long_increment if long_press else short_increment
+    round_to_nearest = actual_increment in (5, 10)
+    v_cruise_delta = v_cruise_delta * actual_increment
+
+    return round_to_nearest, v_cruise_delta
diff --git a/sunnypilot/selfdrive/car/tests/test_custom_cruise.py b/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
new file mode 100644
index 00000000000000..2f9d9768475a95
--- /dev/null
+++ b/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
@@ -0,0 +1,149 @@
+import pytest
+from parameterized import parameterized_class
+
+from cereal import car
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.params import Params
+from openpilot.selfdrive.car.cruise import V_CRUISE_INITIAL
+from openpilot.selfdrive.car.tests.test_cruise_speed import TestVCruiseHelper
+
+ButtonEvent = car.CarState.ButtonEvent
+ButtonType = car.CarState.ButtonEvent.Type
+
+
+@parameterized_class(('pcm_cruise',), [(False,)])
+class TestCustomAccIncrements(TestVCruiseHelper):
+  def setup_method(self):
+    TestVCruiseHelper.setup_method(self)
+    self.params = Params()
+    self.reset_custom_params()
+
+  def reset_custom_params(self) -> None:
+    """Reset to default custom ACC parameters"""
+    self.params.put_bool("CustomAccIncrementsEnabled", False)
+    self.params.put("CustomAccShortPressIncrement", "1")
+    self.params.put("CustomAccLongPressIncrement", "5")
+    self.v_cruise_helper.read_custom_set_speed_params()
+
+  def press_button_short(self, button_type: car.CarState.ButtonEvent.Type) -> None:
+    """Simulate a short button press (press + release)"""
+    CS = car.CarState(cruiseState={"available": True})
+    CS.buttonEvents = [ButtonEvent(type=button_type, pressed=True)]
+    self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True)
+
+    CS.buttonEvents = [ButtonEvent(type=button_type, pressed=False)]
+    self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True)
+
+  def press_button_long(self, button_type: car.CarState.ButtonEvent.Type) -> None:
+    """Simulate a long button press (50+ frames)"""
+    CS = car.CarState(cruiseState={"available": True})
+    CS.buttonEvents = [ButtonEvent(type=button_type, pressed=True)]
+    self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True)
+
+    # Hold for 50 frames to trigger long press
+    CS.buttonEvents = []
+    for _ in range(50):
+      self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True)
+
+    CS.buttonEvents = [ButtonEvent(type=button_type, pressed=False)]
+    self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True)
+
+  def set_custom_increments(self, enabled: bool, short_inc: int, long_inc: int) -> None:
+    """Set custom ACC increment parameters"""
+    self.params.put_bool("CustomAccIncrementsEnabled", enabled)
+    self.params.put("CustomAccShortPressIncrement", str(short_inc))
+    self.params.put("CustomAccLongPressIncrement", str(long_inc))
+    self.v_cruise_helper.read_custom_set_speed_params()
+
+  def test_default_behavior_when_disabled(self):
+    """Test that default increments are used when custom ACC is disabled"""
+    self.set_custom_increments(enabled=False, short_inc=5, long_inc=10)
+    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+
+    # Short press should increment by 1 (default)
+    self.press_button_short(ButtonType.accelCruise)
+    assert self.v_cruise_helper.v_cruise_kph == initial_speed + 1
+
+  @pytest.mark.parametrize("increment", (1, 2, 3, 4, 5, 6, 7, 8, 9, 10))
+  def test_custom_short_press_increments(self, increment):
+    """Test custom short press increments (1-10)"""
+    self.set_custom_increments(enabled=True, short_inc=increment, long_inc=5)
+    self.enable(50 * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+    self.press_button_short(ButtonType.accelCruise)
+
+    if increment in (5, 10):
+      # Should round to nearest increment
+      expected_speed = ((initial_speed // increment) + 1) * increment
+    else:
+      expected_speed = initial_speed + increment
+
+    assert self.v_cruise_helper.v_cruise_kph == expected_speed
+
+  @pytest.mark.parametrize("increment", (1, 5, 10))
+  def test_custom_long_press_increments(self, increment):
+    """Test custom long press increments (1, 5, 10)"""
+    self.set_custom_increments(enabled=True, short_inc=1, long_inc=increment)
+    self.enable(50 * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+    self.press_button_long(ButtonType.accelCruise)
+
+    if increment in (5, 10):
+      # Should round to nearest increment
+      expected_speed = ((initial_speed // increment) + 1) * increment
+    else:
+      expected_speed = initial_speed + increment
+
+    assert self.v_cruise_helper.v_cruise_kph == expected_speed
+
+  @pytest.mark.parametrize("button_type", [ButtonType.accelCruise, ButtonType.decelCruise])
+  def test_accel_decel_symmetry(self, button_type):
+    """Test that acceleration and deceleration work symmetrically"""
+    self.set_custom_increments(enabled=True, short_inc=3, long_inc=5)
+    self.enable(50 * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+    self.press_button_short(button_type)
+
+    expected_change = 3 if button_type == ButtonType.accelCruise else -3
+    assert self.v_cruise_helper.v_cruise_kph == initial_speed + expected_change
+
+  def test_rounding_behavior(self):
+    """Test rounding behavior for 5 and 10 increments"""
+    test_cases = [
+      (47, 5, 50),   # 47 -> 50 (round up to next 5)
+      (45, 5, 50),   # 45 -> 50 (already at 5, increment by 5)
+      (43, 10, 50),  # 43 -> 50 (round up to next 10)
+      (40, 10, 50),  # 40 -> 50 (already at 10, increment by 10)
+    ]
+
+    for initial, increment, expected in test_cases:
+      self.set_custom_increments(enabled=True, short_inc=increment, long_inc=increment)
+      self.reset_cruise_speed_state()
+      self.enable(initial * CV.KPH_TO_MS, False, False)
+
+      self.press_button_short(ButtonType.accelCruise)
+      assert self.v_cruise_helper.v_cruise_kph == expected
+
+  def test_invalid_values_fallback(self):
+    """Test that invalid values fallback to safe defaults"""
+    # Test invalid short increment
+    self.set_custom_increments(enabled=True, short_inc=-1, long_inc=5)
+    self.enable(50 * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+    self.press_button_short(ButtonType.accelCruise)
+    assert self.v_cruise_helper.v_cruise_kph == initial_speed + 1  # Should fallback to 1
+
+    # Test invalid long increment
+    self.reset_cruise_speed_state()
+    self.set_custom_increments(enabled=True, short_inc=1, long_inc=99)
+    self.enable(50 * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+    self.press_button_long(ButtonType.accelCruise)
+    assert self.v_cruise_helper.v_cruise_kph == initial_speed + 10  # Should fallback to 10
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 31bb43e3cfeb07..1778c4e0dc40da 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -49,6 +49,9 @@ def manager_init() -> None:
     ("BlindSpot", "0"),
     ("BlinkerMinLateralControlSpeed", "20"),  # MPH or km/h
     ("BlinkerPauseLateralControl", "0"),
+    ("CustomAccIncrementsEnabled", "0"),
+    ("CustomAccLongPressIncrement", "5"),
+    ("CustomAccShortPressIncrement", "1"),
     ("DeviceBootMode", "0"),
     ("DynamicExperimentalControl", "0"),
     ("HyundaiLongitudinalTuning", "0"),

From 6b9c63acbe80f49490d66fec422ec85f139819ec Mon Sep 17 00:00:00 2001
From: Warren Togami <wtogami@gmail.com>
Date: Sat, 14 Jun 2025 18:46:29 -0500
Subject: [PATCH 0299/1434] NNLC: `RAV4_PRIME` tuning Gen 2 (#925)

TOYOTA_RAV4_PRIME NNLC tuning gen 2 (May 15th)
---
 sunnypilot/neural_network_data | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/neural_network_data b/sunnypilot/neural_network_data
index 16946bfd9cca1a..b59ab483c86cd7 160000
--- a/sunnypilot/neural_network_data
+++ b/sunnypilot/neural_network_data
@@ -1 +1 @@
-Subproject commit 16946bfd9cca1a33e8b609d10ca3d1a0089d38e2
+Subproject commit b59ab483c86cd70d04de91ad878024cd66fe86b6

From d62c3cdef9df5012c7395f0794355463514cf4e7 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Thu, 19 Jun 2025 08:24:20 -0600
Subject: [PATCH 0300/1434] Model: Sync modeld with upstream arbitrary vision
 inputs (#1004)

* Prepare sunnypilot modeld refactor:

* This is needed to work with latest vision models from comma master.

* Add this for dev-c3-new
---
 sunnypilot/modeld_v2/SConscript               |  2 --
 sunnypilot/modeld_v2/fill_model_msg.py        | 24 ++++---------------
 sunnypilot/modeld_v2/modeld.py                | 11 +++++----
 sunnypilot/models/helpers.py                  |  2 +-
 sunnypilot/models/runners/model_runner.py     | 16 ++++++++++++-
 .../runners/tinygrad/tinygrad_runner.py       | 10 ++++++++
 6 files changed, 36 insertions(+), 29 deletions(-)

diff --git a/sunnypilot/modeld_v2/SConscript b/sunnypilot/modeld_v2/SConscript
index 4ade1469f093ae..bb4c8d4a504d5a 100644
--- a/sunnypilot/modeld_v2/SConscript
+++ b/sunnypilot/modeld_v2/SConscript
@@ -13,7 +13,6 @@ common_src = [
   "transforms/transform.cc",
 ]
 
-
 # OpenCL is a framework on Mac
 if arch == "Darwin":
   frameworks += ['OpenCL']
@@ -29,4 +28,3 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor
 cython_libs = envCython["LIBS"] + libs
 commonmodel_lib = lenv.Library('commonmodel', common_src)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
-
diff --git a/sunnypilot/modeld_v2/fill_model_msg.py b/sunnypilot/modeld_v2/fill_model_msg.py
index 411b8177f30668..4d04d6e5ecf94d 100644
--- a/sunnypilot/modeld_v2/fill_model_msg.py
+++ b/sunnypilot/modeld_v2/fill_model_msg.py
@@ -118,30 +118,14 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   # action (includes lateral planning now)
   modelV2.action = action
 
-  # times at X_IDXS according to model plan
-  PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
-  PLAN_T_IDXS[0] = 0.0
-  plan_x = net_output_data['plan'][0,:,Plan.POSITION][:,0].tolist()
-  for xidx in range(1, ModelConstants.IDX_N):
-    tidx = 0
-    # increment tidx until we find an element that's further away than the current xidx
-    while tidx < ModelConstants.IDX_N - 1 and plan_x[tidx+1] < ModelConstants.X_IDXS[xidx]:
-      tidx += 1
-    if tidx == ModelConstants.IDX_N - 1:
-      # if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break
-      PLAN_T_IDXS[xidx] = ModelConstants.T_IDXS[ModelConstants.IDX_N - 1]
-      break
-    # interpolate to find `t` for the current xidx
-    current_x_val = plan_x[tidx]
-    next_x_val = plan_x[tidx+1]
-    p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan')
-    PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx]
+  # times at X_IDXS of edges and lines aren't used
+  LINE_T_IDXS: list[float] = []
 
   # lane lines
   modelV2.init('laneLines', 4)
   for i in range(4):
     lane_line = modelV2.laneLines[i]
-    fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
+    fill_xyzt(lane_line, LINE_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
   modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
   modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
 
@@ -151,7 +135,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   modelV2.init('roadEdges', 2)
   for i in range(2):
     road_edge = modelV2.roadEdges[i]
-    fill_xyzt(road_edge, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1])
+    fill_xyzt(road_edge, LINE_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1])
   modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist()
 
   # leads
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index fe322f462e8775..5b9c5ef9e560c1 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -62,7 +62,7 @@ def __init__(self, context: CLContext):
     self.MIN_LAT_CONTROL_SPEED = 0.3
 
     buffer_length = 5 if self.model_runner.is_20hz else 2
-    self.frames = {'input_imgs': DrivingModelFrame(context, buffer_length), 'big_input_imgs': DrivingModelFrame(context, buffer_length)}
+    self.frames = {name: DrivingModelFrame(context, buffer_length) for name in self.model_runner.vision_input_names}
     self.prev_desire = np.zeros(self.constants.DESIRE_LEN, dtype=np.float32)
 
     # img buffers are managed in openCL transform code
@@ -86,7 +86,7 @@ def __init__(self, context: CLContext):
       self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1,
                                   self.numpy_inputs['desire'].shape[2])
 
-  def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
+  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
     inputs['desire'][0] = 0
@@ -110,8 +110,7 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_
       if key in inputs and key not in ['desire']:
         self.numpy_inputs[key][:] = inputs[key]
 
-    imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
-               'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
+    imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.model_runner.vision_input_names}
 
     # Prepare inputs using the model runner
     self.model_runner.prepare_inputs(imgs_cl, self.numpy_inputs, self.frames)
@@ -315,6 +314,8 @@ def main(demo=False):
     if prepare_only:
       cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
 
+    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.model_runner.vision_input_names}
+    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.model_runner.vision_input_names}
     inputs:dict[str, np.ndarray] = {
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
@@ -324,7 +325,7 @@ def main(demo=False):
       inputs['lateral_control_params'] = np.array([v_ego, steer_delay], dtype=np.float32)
 
     mt1 = time.perf_counter()
-    model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
+    model_output = model.run(bufs, transforms, inputs, prepare_only)
     mt2 = time.perf_counter()
     model_execution_time = mt2 - mt1
 
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index 87f00ea5facff6..a614447ceb0bab 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -19,7 +19,7 @@
 from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
-CURRENT_SELECTOR_VERSION = 5
+CURRENT_SELECTOR_VERSION = 6
 REQUIRED_MIN_SELECTOR_VERSION = 5
 
 USE_ONNX = os.getenv('USE_ONNX', PC)
diff --git a/sunnypilot/models/runners/model_runner.py b/sunnypilot/models/runners/model_runner.py
index c210d5b87e73d9..7124662791579b 100644
--- a/sunnypilot/models/runners/model_runner.py
+++ b/sunnypilot/models/runners/model_runner.py
@@ -12,8 +12,15 @@
 
 
 # Set QCOM environment variable for TICI devices, potentially enabling hardware acceleration
-if TICI:
+USBGPU = "USBGPU" in os.environ
+if USBGPU:
+  os.environ['AMD'] = '1'
+  os.environ['AMD_IFACE'] = 'USB'
+elif TICI:
   os.environ['QCOM'] = '1'
+else:
+  os.environ['LLVM'] = '1'
+  os.environ['JIT'] = '2'  # TODO: This may cause issues
 
 
 class ModelData:
@@ -132,6 +139,13 @@ def output_slices(self) -> SliceDict:
       return self._model_data.output_slices
     raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
 
+  @property
+  def vision_input_names(self) -> list[str]:
+    """Returns the list of vision input names from the input shapes."""
+    if self._model_data:
+      return list(self._model_data.input_shapes.keys())
+    raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+
   @abstractmethod
   def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict:
     """
diff --git a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
index 2e4fd45294efc1..270890caceedde 100644
--- a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
+++ b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
@@ -54,6 +54,11 @@ def __init__(self, model_type: int = ModelType.supercombo):
       self.input_to_dtype[name] = info[2]  # dtype
       self.input_to_device[name] = info[3]  # device
 
+  @property
+  def vision_input_names(self) -> list[str]:
+    """Returns the list of vision input names from the input shapes."""
+    return [name for name in self.input_shapes.keys() if 'img' in name]
+
   def prepare_vision_inputs(self, imgs_cl: CLMemDict, frames: FrameDict):
     """Prepares vision (image) inputs as Tinygrad Tensors."""
     for key in imgs_cl:
@@ -109,6 +114,11 @@ def _run_model(self) -> NumpyDict:
     vision_output = self.vision_runner.run_model()
     return {**policy_output, **vision_output} # Combine results
 
+  @property
+  def vision_input_names(self) -> list[str]:
+    """Returns the list of vision input names from the vision runner."""
+    return list(self.vision_runner.vision_input_names)
+
   @property
   def input_shapes(self) -> ShapeDict:
     """Returns the combined input shapes from both vision and policy models."""

From 0cfdd6757b798a42ae371b78ac95351f41414eb5 Mon Sep 17 00:00:00 2001
From: Tim Wilson <twilsonco@gmail.com>
Date: Tue, 24 Jun 2025 10:28:49 -0600
Subject: [PATCH 0301/1434] NNLC: Learned Lateral Lag for Torque Extension
 (#946)

* TorqueExtBase: use learned lag

lower non-zero limit for lag

restore original lag mod

* NNLC: use learned lat lag

* add test

* non-zero lag in test

* lower lag mod to 0.1s

* Update constant to reflect Twilsonco's recommendations.
---
 selfdrive/controls/controlsd.py                          | 3 ++-
 .../selfdrive/controls/lib/latcontrol_torque_ext_base.py | 7 +++++--
 sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py           | 9 ++++++---
 .../selfdrive/controls/lib/nnlc/tests/test_nnlc.py       | 4 ++++
 4 files changed, 17 insertions(+), 6 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 576e73b7e605ed..04d79d333056e4 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -44,7 +44,7 @@ def __init__(self) -> None:
 
     self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
                                    'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
-                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + self.sm_services_ext,
+                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance', 'liveDelay'] + self.sm_services_ext,
                                   poll='selfdriveState')
     self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext)
 
@@ -93,6 +93,7 @@ def state_control(self):
                                            torque_params.frictionCoefficientFiltered)
 
       self.LaC.extension.update_model_v2(self.sm['modelV2'])
+      self.LaC.extension.update_lateral_lag(self.sm['liveDelay'].lateralDelay)
 
     long_plan = self.sm['longitudinalPlan']
     model_v2 = self.sm['modelV2']
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
index 800bbac67a5fa1..8ccd81d8ff16f4 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
@@ -11,7 +11,7 @@
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
 LAT_PLAN_MIN_IDX = 5
-
+LATERAL_LAG_MOD = 0.0 # seconds, modifies how far in the future we look ahead for the lateral plan
 
 def get_predicted_lateral_jerk(lat_accels, t_diffs):
   # compute finite difference between subsequent model_v2.acceleration.y values
@@ -85,12 +85,15 @@ def __init__(self, lac_torque, CP, CP_SP):
 
     # precompute time differences between ModelConstants.T_IDXS
     self.t_diffs = np.diff(ModelConstants.T_IDXS)
-    self.desired_lat_jerk_time = CP.steerActuatorDelay + 0.3
+    self.desired_lat_jerk_time = CP.steerActuatorDelay + LATERAL_LAG_MOD
 
   def update_model_v2(self, model_v2):
     self.model_v2 = model_v2
     self.model_valid = self.model_v2 is not None and len(self.model_v2.orientation.x) >= CONTROL_N
 
+  def update_lateral_lag(self, lag):
+    self.desired_lat_jerk_time = max(0.01, lag) + LATERAL_LAG_MOD
+
   def update_friction_input(self, val_1, val_2):
     _error = val_1 - val_2
     _value = self.lat_accel_friction_factor * _error + self.lat_jerk_friction_factor * self.lookahead_lateral_jerk
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
index 218bbb9f6a51bf..2f89594c8f2a6e 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
@@ -45,9 +45,8 @@ def __init__(self, lac_torque, CP, CP_SP):
     self.pitch_last = 0.0
 
     # setup future time offsets
-    self.nn_time_offset = CP.steerActuatorDelay + 0.2
-    future_times = [0.3, 0.6, 1.0, 1.5] # seconds in the future
-    self.nn_future_times = [i + self.nn_time_offset for i in future_times]
+    self.future_times = [0.3, 0.6, 1.0, 1.5] # seconds in the future
+    self.nn_future_times = [i + self.desired_lat_jerk_time for i in self.future_times]
 
     # setup past time offsets
     self.past_times = [-0.3, -0.2, -0.1]
@@ -58,6 +57,10 @@ def __init__(self, lac_torque, CP, CP_SP):
     self.error_deque = deque(maxlen=history_check_frames[0])
     self.past_future_len = len(self.past_times) + len(self.nn_future_times)
 
+  def update_lateral_lag(self, lag):
+    super().update_lateral_lag(lag)
+    self.nn_future_times = [t + self.desired_lat_jerk_time for t in self.future_times]
+
   def update_neural_network_feedforward(self, CS, params, calibrated_pose) -> None:
     if not self.enabled or not self.model_valid or not self.has_nn_model:
       return
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
index 699327cd817d8f..01ddec68ab721d 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
@@ -73,17 +73,21 @@ def test_saturation(self, car_name):
     controller.extension.model_v2 = model_v2
 
     # Saturate for curvature limited and controller limited
+    test_lag = 0.3
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
+      controller.extension.update_lateral_lag(test_lag)
       _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
     assert lac_log.saturated
 
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
+      controller.extension.update_lateral_lag(test_lag)
       _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False)
     assert not lac_log.saturated
 
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
+      controller.extension.update_lateral_lag(test_lag)
       _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False)
     assert lac_log.saturated

From 17432e1b0d90ea0fd6011a7cf126cd1b5cbc09e6 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 27 Jun 2025 04:44:14 -0400
Subject: [PATCH 0302/1434] ui: model panel - added download progress bars
 (#998)

* progress bars!!

* too many changes

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .../qt/offroad/settings/models_panel.cc       | 152 ++++++++++++++----
 .../qt/offroad/settings/models_panel.h        |  13 ++
 2 files changed, 135 insertions(+), 30 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index 44a6bd3b485471..b8237c3627b925 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -7,21 +7,55 @@
 
 #include <algorithm>
 #include <QJsonDocument>
+#include <QStyle>
 
 #include "common/model.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
+static const QString progressStyleActive = "QProgressBar {"
+    "  font-size: 40px;"
+    "  font-weight: 200;"
+    "  padding: 1px;"
+    "  border: 3px solid black;"
+    "  border-radius: 10px;"
+    "}"
+    "QProgressBar::chunk {"
+    "  background-color: #1e79e8;"
+    "  border-radius: 10px;"
+    "}";
+
+static const QString progressStyleInactive = progressStyleActive +
+    "QProgressBar::chunk {"
+    "  background-color: transparent;"
+    "}";
+
+static const QString progressStyleDone = progressStyleActive +
+    "QProgressBar {"
+    "  color: #33ab4c;"
+    "}"
+    "QProgressBar::chunk {"
+    "  background-color: transparent;"
+    "}";
+
+static const QString progressStyleError = progressStyleActive +
+    "QProgressBar {"
+    "  color: red;"
+    "}"
+    "QProgressBar::chunk {"
+    "  background-color: transparent;"
+    "}";
+
 ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(50, 20, 50, 20);
 
-  ListWidgetSP *list = new ListWidgetSP(this);
+  ListWidgetSP *list = new ListWidgetSP(this, false);
   ScrollViewSP *scroller = new ScrollViewSP(list, this);
   main_layout->addWidget(scroller);
 
   const auto current_model = GetActiveModelName();
-  currentModelLblBtn = new ButtonControlSP(tr("Current Model"), tr("SELECT"), current_model);
+  currentModelLblBtn = new ButtonControlSP(tr("Current Model"), tr("SELECT"), "", this);
   currentModelLblBtn->setValue(current_model);
 
   connect(currentModelLblBtn, &ButtonControlSP::clicked, this, &ModelsPanel::handleCurrentModelLblBtnClicked);
@@ -32,6 +66,29 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   connect(uiStateSP(), &UIStateSP::uiUpdate, this, &ModelsPanel::updateLabels);
   list->addItem(currentModelLblBtn);
 
+  // Create progress bars for downloads
+  supercomboProgressBar = createProgressBar(this);
+  QString supercomboType = tr("Driving Model");
+  supercomboFrame = createModelDetailFrame(this, supercomboType, supercomboProgressBar);
+  list->addItem(supercomboFrame);
+
+  navigationProgressBar = createProgressBar(this);
+  QString navigationType = tr("Navigation Model");
+  navigationFrame = createModelDetailFrame(this, navigationType, navigationProgressBar);
+  list->addItem(navigationFrame);
+
+  visionProgressBar = createProgressBar(this);
+  QString visionType = tr("Vision Model");
+  visionFrame = createModelDetailFrame(this, visionType, visionProgressBar);
+  list->addItem(visionFrame);
+
+  policyProgressBar = createProgressBar(this);
+  QString policyType = tr("Policy Model");
+  policyFrame = createModelDetailFrame(this, policyType, policyProgressBar);
+  list->addItem(policyFrame);
+
+  list->addItem(horizontal_line());
+
   // LiveDelay toggle
   list->addItem(new ParamControlSP("LagdToggle",
                                    tr("Live Learning Steer Delay"),
@@ -40,15 +97,38 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
                                    "../assets/offroad/icon_shell.png"));
 }
 
+QProgressBar* ModelsPanel::createProgressBar(QWidget *parent) {
+  QProgressBar *progressBar = new QProgressBar(parent);
+  progressBar->setRange(0, 100);
+  progressBar->setValue(0);
+  progressBar->setTextVisible(true);
+  progressBar->setAlignment(Qt::AlignVCenter);
+  return progressBar;
+}
+
+QFrame* ModelsPanel::createModelDetailFrame(QWidget *parent, QString &typeName, QProgressBar *progressBar) {
+  QFrame *frame = new QFrame(parent);
+  QHBoxLayout *layout = new QHBoxLayout(frame);
+  layout->setContentsMargins(0, 0, 0, 0);
+  layout->setSpacing(50);
+  layout->addWidget(new QLabel(typeName));
+  layout->addWidget(progressBar);
+  frame->setVisible(false);
+  return frame;
+}
 
 /**
  * @brief Updates the UI with bundle download progress information
  * Reads status from modelManagerSP cereal message and displays status for all models
  */
 void ModelsPanel::handleBundleDownloadProgress() {
+  supercomboFrame->setVisible(false);
+  visionFrame->setVisible(false);
+  policyFrame->setVisible(false);
+  navigationFrame->setVisible(false);
+
   using DS = cereal::ModelManagerSP::DownloadStatus;
   if (!model_manager.hasSelectedBundle() && !model_manager.hasActiveBundle()) {
-    currentModelLblBtn->setDescription(tr("No custom model selected!"));
     return;
   }
 
@@ -61,21 +141,27 @@ void ModelsPanel::handleBundleDownloadProgress() {
 
   // Get status for each model type in order
   for (const auto &model: models) {
-    QString typeName;
     QString modelName = QString::fromStdString(bundle.getDisplayName());
 
+    QProgressBar *progressBar = nullptr;
+    QFrame *modelFrame = nullptr;
+
     switch (model.getType()) {
       case cereal::ModelManagerSP::Model::Type::SUPERCOMBO:
-        typeName = tr("Driving");
+        progressBar = supercomboProgressBar;
+        modelFrame = supercomboFrame;
         break;
       case cereal::ModelManagerSP::Model::Type::NAVIGATION:
-        typeName = tr("Navigation");
+        progressBar = navigationProgressBar;
+        modelFrame = navigationFrame;
         break;
       case cereal::ModelManagerSP::Model::Type::VISION:
-        typeName = tr("Vision");
+        progressBar = visionProgressBar;
+        modelFrame = visionFrame;
         break;
       case cereal::ModelManagerSP::Model::Type::POLICY:
-        typeName = tr("Policy");
+        progressBar = policyProgressBar;
+        modelFrame = policyFrame;
         break;
     }
 
@@ -83,31 +169,26 @@ void ModelsPanel::handleBundleDownloadProgress() {
     QString line;
 
     if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) {
-      line = tr("Downloading %1 model [%2]... (%3%)").arg(typeName, modelName).arg(progress.getProgress(), 0, 'f', 2);
+      progressBar->setStyleSheet(progressStyleActive);
+      progressBar->setValue(progress.getProgress());
+      progressBar->setFormat(QString("  %1% - %2").arg(static_cast<int>(progress.getProgress())).arg(modelName));
+      device()->resetInteractiveTimeout();
     } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADED) {
-      line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("downloaded") : tr("ready"));
+      progressBar->setStyleSheet(progressStyleDone);
+      progressBar->setFormat(tr("  %1 - %2").arg(modelName, download_status_changed ? tr("downloaded") : tr("ready")));
     } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::CACHED) {
-      line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("from cache") : tr("ready"));
+      progressBar->setStyleSheet(progressStyleDone);
+      progressBar->setFormat(tr("  %1 - %2").arg(modelName, download_status_changed ? tr("from cache") : tr("ready")));
     } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::FAILED) {
-      line = tr("%1 model [%2] download failed").arg(typeName, modelName);
+      progressBar->setStyleSheet(progressStyleError);
+      progressBar->setFormat(tr("  download failed - %1").arg(modelName));
     } else {
-      line = tr("%1 model [%2] pending...").arg(typeName, modelName);
+      progressBar->setStyleSheet(progressStyleInactive);
+      progressBar->setFormat(tr("  pending - %1").arg(modelName));
     }
-    status.append(line);
-  }
-
-  currentModelLblBtn->setDescription(status.join("\n"));
-
-  if (prev_download_status != download_status) {
-    switch (bundle.getStatus()) {
-      case cereal::ModelManagerSP::DownloadStatus::DOWNLOADING:
-      case cereal::ModelManagerSP::DownloadStatus::CACHED:
-      case cereal::ModelManagerSP::DownloadStatus::DOWNLOADED:
-        currentModelLblBtn->showDescription();
-        break;
-      case cereal::ModelManagerSP::DownloadStatus::FAILED:
-      default:
-        break;
+    // keep navigation hidden for now to avoid confusion
+    if (model.getType() != cereal::ModelManagerSP::Model::Type::NAVIGATION) {
+      modelFrame->setVisible(true);
     }
   }
   prev_download_status = download_status;
@@ -125,6 +206,17 @@ QString ModelsPanel::GetActiveModelName() {
   return DEFAULT_MODEL;
 }
 
+/**
+ * @brief Gets the short name of the currently selected model bundle
+ * @return Display short name of the selected bundle or default model name
+ */
+QString ModelsPanel::GetActiveModelInternalName() {
+  if (model_manager.hasActiveBundle()) {
+    return QString::fromStdString(model_manager.getActiveBundle().getInternalName());
+  }
+  return DEFAULT_MODEL;
+}
+
 void ModelsPanel::updateModelManagerState() {
   const SubMaster &sm = *(uiStateSP()->sm);
   model_manager = sm["modelManagerSP"].getModelManagerSP();
@@ -156,7 +248,7 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
     bundleNames.append(index_to_bundle[index]);
   }
 
-  currentModelLblBtn->setValue(GetActiveModelName());
+  currentModelLblBtn->setValue(GetActiveModelInternalName());
 
   const QString selectedBundleName = MultiOptionDialog::getSelection(
     tr("Select a Model"), bundleNames, GetActiveModelName(), this);
@@ -197,7 +289,7 @@ void ModelsPanel::updateLabels() {
   updateModelManagerState();
   handleBundleDownloadProgress();
   currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
-  currentModelLblBtn->setValue(GetActiveModelName());
+  currentModelLblBtn->setValue(GetActiveModelInternalName());
 }
 
 /**
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
index 4ba526651e16ff..8b8cf69759158b 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
@@ -7,6 +7,8 @@
 
 #pragma once
 
+#include <QProgressBar>
+
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
 class ModelsPanel : public QWidget {
@@ -17,6 +19,7 @@ class ModelsPanel : public QWidget {
 
 private:
   QString GetActiveModelName();
+  QString GetActiveModelInternalName();
   void updateModelManagerState();
 
   bool isDownloading() const {
@@ -33,6 +36,8 @@ class ModelsPanel : public QWidget {
   void handleCurrentModelLblBtnClicked();
   void handleBundleDownloadProgress();
   void showResetParamsDialog();
+  QProgressBar* createProgressBar(QWidget *parent);
+  QFrame* createModelDetailFrame(QWidget *parent, QString &typeName, QProgressBar *progressBar);
   cereal::ModelManagerSP::Reader model_manager;
   cereal::ModelManagerSP::DownloadStatus download_status{};
   cereal::ModelManagerSP::DownloadStatus prev_download_status{};
@@ -59,6 +64,14 @@ class ModelsPanel : public QWidget {
   bool is_onroad = false;
 
   ButtonControlSP *currentModelLblBtn;
+  QProgressBar *supercomboProgressBar;
+  QFrame *supercomboFrame;
+  QProgressBar *navigationProgressBar;
+  QFrame *navigationFrame;
+  QProgressBar *visionProgressBar;
+  QFrame *visionFrame;
+  QProgressBar *policyProgressBar;
+  QFrame *policyFrame;
   Params params;
 
 };

From 9bdfd46b8ffcdb3f5cef3c7be0f21f3a2ac0c3a1 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 5 Jul 2025 20:55:27 +0200
Subject: [PATCH 0303/1434] ci: updating gh runner and adjust restore process
 (#1022)

* chore(ci): parameterize and update GitHub runner version to 2.325.0

* ci: refactor GitHub runner service installation logic

Improved service installation workflow by introducing service template creation and cleaning up redundant checks. Enhanced restoration logic with clearer system state assessment and simplified flow for better maintainability.
---
 release/ci/install_github_runner.sh | 44 ++++++++++++++---------------
 1 file changed, 21 insertions(+), 23 deletions(-)

diff --git a/release/ci/install_github_runner.sh b/release/ci/install_github_runner.sh
index f6b1e217c5cbca..9f11e4841c45d3 100755
--- a/release/ci/install_github_runner.sh
+++ b/release/ci/install_github_runner.sh
@@ -5,6 +5,7 @@ set -e
 DEFAULT_REPO_URL="https://github.com/sunnypilot"
 START_AT_BOOT=false
 RESTORE_MODE=false
+RUNNER_VERSION="2.325.0"
 
 # Parse command line arguments
 while [[ $# -gt 0 ]]; do
@@ -108,9 +109,9 @@ setup_system_configs() {
 install_runner() {
     echo "Downloading and setting up runner..."
     cd "$RUNNER_DIR"
-    curl -o actions-runner-linux-arm64-2.322.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.322.0/actions-runner-linux-arm64-2.322.0.tar.gz
-    sudo -u ${RUNNER_USER} tar -xzf ./actions-runner-linux-arm64-2.322.0.tar.gz
-    sudo rm ./actions-runner-linux-arm64-2.322.0.tar.gz
+    curl -o actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz -L https://github.com/actions/runner/releases/download/v${RUNNER_VERSION}/actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz
+    sudo -u ${RUNNER_USER} tar -xzf ./actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz
+    sudo rm ./actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz
     sudo chmod +x ./config.sh
 }
 
@@ -149,25 +150,32 @@ EOL
 }
 
 install_service() {
+    local service_name
+    if [ -f "${RUNNER_DIR}/.service" ]; then
+        service_name=$(cat "${RUNNER_DIR}/.service")
+    else
+        service_name="actions.runner.sunnypilot.$(uname -n)"
+    fi
+  
+    create_service_template
     remount_rw
+    local service_path="/etc/systemd/system/${service_name}"
     echo "Installing systemd service..."
+    if [ -f "${service_path}" ]; then
+        echo "Service ${service_path} found in systemd, we will delete it"
+        sudo rm -f "${service_path}"
+    fi
+    
     cd "$RUNNER_DIR"
     sudo ./svc.sh install $RUNNER_USER
 
     if [ "$START_AT_BOOT" = false ]; then
-        local service_name
-        if [ -f "${RUNNER_DIR}/.service" ]; then
-            service_name=$(cat "${RUNNER_DIR}/.service")
-        else
-            service_name="actions.runner.sunnypilot.$(uname -n)"
-        fi
         sudo systemctl disable "${service_name}"
     fi
     remount_ro
 }
 
 check_restore_prerequisites() {
-    local needs_restore=false
     local can_restore=false
     local service_name=""
 
@@ -189,25 +197,16 @@ check_restore_prerequisites() {
         exit 1
     fi
 
-    # Then check if restoration is needed (if either service or user is missing)
-    if ! systemctl list-unit-files "${service_name}" &>/dev/null; then
-        echo "Service ${service_name} not found in systemd"
-        needs_restore=true
-    fi
-
     if ! id "${RUNNER_USER}" &>/dev/null; then
         echo "User ${RUNNER_USER} does not exist"
-        needs_restore=true
     fi
 
     # Only proceed if we can restore AND need to restore
-    if [ "$can_restore" = true ] && [ "$needs_restore" = true ]; then
-        echo "Restoration is needed and possible"
+    if [ "$can_restore" = true ]; then
+        echo "Restoration is possible"
         return 0
     else
-        if [ "$needs_restore" = false ]; then
-            echo "System is already properly configured (user and service exist)"
-        fi
+        echo "No restoration possible"
         exit 0
     fi
 }
@@ -226,7 +225,6 @@ perform_install() {
     setup_system_configs
     install_runner
     set_directory_permissions
-    create_service_template
     configure_runner
     install_service
     echo "Installation completed successfully"

From 00eb0e983dc149759d742266a8a9f1b2ae431e25 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Sat, 5 Jul 2025 12:27:16 -0700
Subject: [PATCH 0304/1434] DEC: Kalman and the Magic Mode Switcheroo (#1026)

* dec with kalmanfilter

* updat pytest

* Update sunnypilot/selfdrive/controls/lib/dec/constants.py

Co-authored-by: DevTekVE <devtekve@gmail.com>

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .../selfdrive/controls/lib/dec/constants.py   |  32 +-
 sunnypilot/selfdrive/controls/lib/dec/dec.py  | 560 +++++++++---------
 .../dec/tests/pytest_dynamic_controller.py    | 316 +++-------
 3 files changed, 372 insertions(+), 536 deletions(-)

diff --git a/sunnypilot/selfdrive/controls/lib/dec/constants.py b/sunnypilot/selfdrive/controls/lib/dec/constants.py
index 48f4203e934f93..4586afbc9f0f0a 100644
--- a/sunnypilot/selfdrive/controls/lib/dec/constants.py
+++ b/sunnypilot/selfdrive/controls/lib/dec/constants.py
@@ -1,25 +1,17 @@
 class WMACConstants:
-  LEAD_WINDOW_SIZE = 5
-  LEAD_PROB = 0.5
+  # Lead detection parameters
+  LEAD_WINDOW_SIZE = 6  # Stable detection window
+  LEAD_PROB = 0.45  # Balanced threshold for lead detection
 
-  SLOW_DOWN_WINDOW_SIZE = 5
-  SLOW_DOWN_PROB = 0.6
+  # Slow down detection parameters
+  SLOW_DOWN_WINDOW_SIZE = 5  # Responsive but stable
+  SLOW_DOWN_PROB = 0.3  # Balanced threshold for slow down scenarios
 
+  # Optimized slow down distance curve - smooth and progressive
   SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
-  SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.]
+  SLOW_DOWN_DIST = [32., 46., 64., 86., 108., 130., 145., 165.]
 
-  SLOWNESS_WINDOW_SIZE = 12
-  SLOWNESS_PROB = 0.5
-  SLOWNESS_CRUISE_OFFSET = 1.05
-
-  DANGEROUS_TTC_WINDOW_SIZE = 3
-  DANGEROUS_TTC = 2.3
-
-  MPC_FCW_WINDOW_SIZE = 10
-  MPC_FCW_PROB = 0.5
-
-
-class SNG_State:
-  off = 0
-  stopped = 1
-  going = 2
+  # Slowness detection parameters
+  SLOWNESS_WINDOW_SIZE = 10  # Stable slowness detection
+  SLOWNESS_PROB = 0.55  # Clear threshold for slowness
+  SLOWNESS_CRUISE_OFFSET = 1.025  # Conservative cruise speed offset
diff --git a/sunnypilot/selfdrive/controls/lib/dec/dec.py b/sunnypilot/selfdrive/controls/lib/dec/dec.py
index 812e5cc15fb5a0..46cad1b04848c6 100644
--- a/sunnypilot/selfdrive/controls/lib/dec/dec.py
+++ b/sunnypilot/selfdrive/controls/lib/dec/dec.py
@@ -1,88 +1,133 @@
-# The MIT License
-#
-# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
-#
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-#
-# The above copyright notice and this permission notice shall be included in
-# all copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-# THE SOFTWARE.
-#
-# Version = 2025-1-18
-
-import numpy as np
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+# Version = 2025-6-30
 
 from cereal import messaging
 from opendbc.car import structs
 from numpy import interp
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants, SNG_State
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants
+from typing import Literal
 
 # d-e2e, from modeldata.h
 TRAJECTORY_SIZE = 33
+SET_MODE_TIMEOUT = 15
+
+# Define the valid mode types
+ModeType = Literal['acc', 'blended']
+
+
+class SmoothKalmanFilter:
+  """Enhanced Kalman filter with smoothing for stable decision making."""
+
+  def __init__(self, initial_value=0, measurement_noise=0.1, process_noise=0.01,
+               alpha=1.0, smoothing_factor=0.85):
+    self.x = initial_value
+    self.P = 1.0
+    self.R = measurement_noise
+    self.Q = process_noise
+    self.alpha = alpha
+    self.smoothing_factor = smoothing_factor
+    self.initialized = False
+    self.history = []
+    self.max_history = 10
+    self.confidence = 0.0
+
+  def add_data(self, measurement):
+    if len(self.history) >= self.max_history:
+      self.history.pop(0)
+    self.history.append(measurement)
+
+    if not self.initialized:
+      self.x = measurement
+      self.initialized = True
+      self.confidence = 0.1
+      return
 
-HIGHWAY_CRUISE_KPH = 70
-
-STOP_AND_GO_FRAME = 60
-
-SET_MODE_TIMEOUT = 10
+    self.P = self.alpha * self.P + self.Q
 
-V_ACC_MIN = 9.72
+    K = self.P / (self.P + self.R)
+    effective_K = K * (1.0 - self.smoothing_factor) + self.smoothing_factor * 0.1
 
+    innovation = measurement - self.x
+    self.x = self.x + effective_K * innovation
+    self.P = (1 - effective_K) * self.P
 
-class GenericMovingAverageCalculator:
-  def __init__(self, window_size):
-    self.window_size = window_size
-    self.data = []
-    self.total = 0
+    if abs(innovation) < 0.1:
+      self.confidence = min(1.0, self.confidence + 0.05)
+    else:
+      self.confidence = max(0.1, self.confidence - 0.02)
+
+  def get_value(self):
+    return self.x if self.initialized else None
+
+  def get_confidence(self):
+    return self.confidence
+
+  def reset_data(self):
+    self.initialized = False
+    self.history = []
+    self.confidence = 0.0
+
+
+class ModeTransitionManager:
+  """Manages smooth transitions between driving modes with hysteresis."""
+
+  def __init__(self):
+    self.current_mode: ModeType = 'acc'
+    self.mode_confidence = {'acc': 1.0, 'blended': 0.0}
+    self.transition_timeout = 0
+    self.min_mode_duration = 10
+    self.mode_duration = 0
+    self.emergency_override = False
+
+  def request_mode(self, mode: ModeType, confidence: float = 1.0, emergency: bool = False):
+    # Emergency override for critical situations (stops, collisions)
+    if emergency:
+      self.emergency_override = True
+      self.current_mode = mode
+      self.transition_timeout = SET_MODE_TIMEOUT
+      self.mode_duration = 0
+      return
 
-  def add_data(self, value: float) -> None:
-    if len(self.data) == self.window_size:
-      self.total -= self.data.pop(0)
-    self.data.append(value)
-    self.total += value
+    self.mode_confidence[mode] = min(1.0, self.mode_confidence[mode] + 0.1 * confidence)
+    for m in self.mode_confidence:
+      if m != mode:
+        self.mode_confidence[m] = max(0.0, self.mode_confidence[m] - 0.05)
 
-  def get_moving_average(self) -> float | None:
-    return None if len(self.data) == 0 else self.total / len(self.data)
+    # Require minimum duration in current mode (unless emergency)
+    if self.mode_duration < self.min_mode_duration and not self.emergency_override:
+      return
 
-  def reset_data(self) -> None:
-    self.data = []
-    self.total = 0
+    # Hysteresis: higher threshold for mode changes
+    confidence_threshold = 0.6 if mode != self.current_mode else 0.3  # Lower threshold for faster response
 
+    if self.mode_confidence[mode] > confidence_threshold:
+      if mode != self.current_mode and self.transition_timeout == 0:
+        self.transition_timeout = SET_MODE_TIMEOUT
+        self.current_mode = mode
+        self.mode_duration = 0
 
-class WeightedMovingAverageCalculator:
-  def __init__(self, window_size):
-    self.window_size = window_size
-    self.data = []
-    self.weights = np.linspace(1, 3, window_size)  # Linear weights, adjust as needed
+  def update(self):
+    if self.transition_timeout > 0:
+      self.transition_timeout -= 1
+    self.mode_duration += 1
 
-  def add_data(self, value: float) -> None:
-    if len(self.data) == self.window_size:
-      self.data.pop(0)
-    self.data.append(value)
+    # Reset emergency override after some time
+    if self.emergency_override and self.mode_duration > 20:
+      self.emergency_override = False
 
-  def get_weighted_average(self) -> float | None:
-    if len(self.data) == 0:
-      return None
-    weighted_sum: float = float(np.dot(self.data, self.weights[-len(self.data):]))
-    weight_total: float = float(np.sum(self.weights[-len(self.data):]))
-    return weighted_sum / weight_total
+    # Gradual confidence decay
+    for mode in self.mode_confidence:
+      self.mode_confidence[mode] *= 0.98
 
-  def reset_data(self) -> None:
-    self.data = []
+  def get_mode(self) -> ModeType:
+    return self.current_mode
 
 
 class DynamicExperimentalController:
@@ -92,51 +137,59 @@ def __init__(self, CP: structs.CarParams, mpc, params=None):
     self._params = params or Params()
     self._enabled: bool = self._params.get_bool("DynamicExperimentalControl")
     self._active: bool = False
-    self._mode: str = 'acc'
     self._frame: int = 0
+    self._urgency = 0.0
 
-    # Use weighted moving average for filtering leads
-    self._lead_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.LEAD_WINDOW_SIZE)
-    self._has_lead_filtered = False
-    self._has_lead_filtered_prev = False
-
-    self._slow_down_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.SLOW_DOWN_WINDOW_SIZE)
-    self._has_slow_down: bool = False
-    self._slow_down_confidence: float = 0.0
-
-    self._has_blinkers = False
+    self._mode_manager = ModeTransitionManager()
 
-    self._slowness_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.SLOWNESS_WINDOW_SIZE)
-    self._has_slowness: bool = False
-
-    self._has_nav_instruction = False
-
-    self._dangerous_ttc_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.DANGEROUS_TTC_WINDOW_SIZE)
-    self._has_dangerous_ttc: bool = False
+    # Smooth filters for stable decision making with faster response for critical scenarios
+    self._lead_filter = SmoothKalmanFilter(
+      measurement_noise=0.15,
+      process_noise=0.05,
+      alpha=1.02,
+      smoothing_factor=0.8
+    )
 
-    self._v_ego_kph = 0.
-    self._v_cruise_kph = 0.
+    self._slow_down_filter = SmoothKalmanFilter(
+      measurement_noise=0.1,
+      process_noise=0.1,
+      alpha=1.05,
+      smoothing_factor=0.7
+    )
 
-    self._has_lead = False
+    self._slowness_filter = SmoothKalmanFilter(
+      measurement_noise=0.1,
+      process_noise=0.06,
+      alpha=1.015,
+      smoothing_factor=0.92
+    )
 
+    self._mpc_fcw_filter = SmoothKalmanFilter(
+      measurement_noise=0.2,
+      process_noise=0.1,
+      alpha=1.1,
+      smoothing_factor=0.5
+    )
+    self._has_lead_filtered = False
+    self._has_slow_down = False
+    self._has_slowness = False
+    self._has_mpc_fcw = False
+    self._v_ego_kph = 0.0
+    self._v_cruise_kph = 0.0
     self._has_standstill = False
-    self._has_standstill_prev = False
-
-    self._sng_transit_frame = 0
-    self._sng_state = SNG_State.off
-
-    self._mpc_fcw_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.MPC_FCW_WINDOW_SIZE)
-    self._has_mpc_fcw: bool = False
     self._mpc_fcw_crash_cnt = 0
-
-    self._set_mode_timeout = 0
+    self._standstill_count = 0
+    # debug
+    self._endpoint_x = float('inf')
+    self._expected_distance = 0.0
+    self._trajectory_valid = False
 
   def _read_params(self) -> None:
     if self._frame % int(1. / DT_MDL) == 0:
       self._enabled = self._params.get_bool("DynamicExperimentalControl")
 
   def mode(self) -> str:
-    return str(self._mode)
+    return self._mode_manager.get_mode()
 
   def enabled(self) -> bool:
     return self._enabled
@@ -144,46 +197,9 @@ def enabled(self) -> bool:
   def active(self) -> bool:
     return self._active
 
-  @staticmethod
-  def _anomaly_detection(recent_data: list[float], threshold: float = 2.0, context_check: bool = True) -> bool:
-    """
-    Basic anomaly detection using standard deviation.
-    """
-    if len(recent_data) < 5:
-      return False
-    mean: float = float(np.mean(recent_data))
-    std_dev: float = float(np.std(recent_data))
-    anomaly: bool = bool(recent_data[-1] > mean + threshold * std_dev)
-
-    # Context check to ensure repeated anomaly
-    if context_check:
-      return np.count_nonzero(np.array(recent_data) > mean + threshold * std_dev) > 1
-    return anomaly
-
-  def _adaptive_slowdown_threshold(self) -> float:
-    """
-    Adapts the slow-down threshold based on vehicle speed and recent behavior.
-    """
-    slowdown_scaling_factor: float = (1.0 + 0.03 * np.log(1 + len(self._slow_down_gmac.data)))
-    adaptive_threshold: float = float(
-      interp(self._v_ego_kph, WMACConstants.SLOW_DOWN_BP, WMACConstants.SLOW_DOWN_DIST) * slowdown_scaling_factor
-    )
-    return adaptive_threshold
-
-  def _smoothed_lead_detection(self, lead_prob: float, smoothing_factor: float = 0.2):
-    """
-    Smoothing the lead detection to avoid erratic behavior.
-    """
-    lead_filtering: float = (1 - smoothing_factor) * self._has_lead_filtered + smoothing_factor * lead_prob
-    return lead_filtering > WMACConstants.LEAD_PROB
-
-  def _adaptive_lead_prob_threshold(self) -> float:
-    """
-    Adapts lead probability threshold based on driving conditions.
-    """
-    if self._v_ego_kph > HIGHWAY_CRUISE_KPH:
-      return float(WMACConstants.LEAD_PROB + 0.1)  # Increase the threshold on highways
-    return float(WMACConstants.LEAD_PROB)
+  def set_mpc_fcw_crash_cnt(self) -> None:
+    """Set MPC FCW crash count"""
+    self._mpc_fcw_crash_cnt = self._mpc.crash_cnt
 
   def _update_calculations(self, sm: messaging.SubMaster) -> None:
     car_state = sm['carState']
@@ -192,186 +208,168 @@ def _update_calculations(self, sm: messaging.SubMaster) -> None:
 
     self._v_ego_kph = car_state.vEgo * 3.6
     self._v_cruise_kph = car_state.vCruise
-    self._has_lead = lead_one.status
     self._has_standstill = car_state.standstill
 
-    # fcw detection
-    self._mpc_fcw_gmac.add_data(self._mpc_fcw_crash_cnt > 0)
-    if _mpc_fcw_weighted_average := self._mpc_fcw_gmac.get_weighted_average():
-      self._has_mpc_fcw = _mpc_fcw_weighted_average > WMACConstants.MPC_FCW_PROB
-    else:
-      self._has_mpc_fcw = False
-
-    # nav enable detection
-    # self._has_nav_instruction = md.navEnabledDEPRECATED and maneuver_distance / max(car_state.vEgo, 1) < 13
-
-    # lead detection with smoothing
-    self._lead_gmac.add_data(lead_one.status)
-    self._has_lead_filtered = (self._lead_gmac.get_weighted_average() or -1.) > WMACConstants.LEAD_PROB
-    #lead_prob = self._lead_gmac.get_weighted_average() or 0
-    #self._has_lead_filtered = self._smoothed_lead_detection(lead_prob)
-
-    # adaptive slow down detection
-    adaptive_threshold = self._adaptive_slowdown_threshold()
-    slow_down_trigger = len(md.orientation.x) == len(md.position.x) == TRAJECTORY_SIZE and md.position.x[TRAJECTORY_SIZE - 1] < adaptive_threshold
-    self._slow_down_gmac.add_data(slow_down_trigger)
-    if _has_slow_down_weighted_average := self._slow_down_gmac.get_weighted_average():
-      self._has_slow_down = _has_slow_down_weighted_average > WMACConstants.SLOW_DOWN_PROB
-      self._slow_down_confidence = _has_slow_down_weighted_average  # Store confidence level
+    # standstill detection
+    if self._has_standstill:
+      self._standstill_count = min(20, self._standstill_count + 1)
     else:
-      self._has_slow_down = False
-      self._slow_down_confidence = 0.0  # No confidence if no slowdown
+      self._standstill_count = max(0, self._standstill_count - 1)
+
+    # Lead detection
+    self._lead_filter.add_data(float(lead_one.status))
+    lead_value = self._lead_filter.get_value() or 0.0
+    self._has_lead_filtered = lead_value > WMACConstants.LEAD_PROB
+
+    # MPC FCW detection
+    fcw_filtered_value = self._mpc_fcw_filter.get_value() or 0.0
+    self._mpc_fcw_filter.add_data(float(self._mpc_fcw_crash_cnt > 0))
+    self._has_mpc_fcw = fcw_filtered_value > 0.5
+
+    # Slow down detection
+    self._calculate_slow_down(md)
+
+    # Slowness detection
+    if not (self._standstill_count > 5) and not self._has_slow_down:
+      current_slowness = float(self._v_ego_kph <= (self._v_cruise_kph * WMACConstants.SLOWNESS_CRUISE_OFFSET))
+      self._slowness_filter.add_data(current_slowness)
+      slowness_value = self._slowness_filter.get_value() or 0.0
+
+      # Hysteresis for slowness
+      threshold = WMACConstants.SLOWNESS_PROB * (0.8 if self._has_slowness else 1.1)
+      self._has_slowness = slowness_value > threshold
+
+  def _calculate_slow_down(self, md):
+    """Calculate urgency based on trajectory endpoint vs expected distance."""
+
+    # Reset to safe defaults
+    urgency = 0.0
+    self._endpoint_x = float('inf')
+    self._trajectory_valid = False
+
+    #Require exact trajectory size
+    position_valid = len(md.position.x) == TRAJECTORY_SIZE
+    orientation_valid = len(md.orientation.x) == TRAJECTORY_SIZE
+
+    if not (position_valid and orientation_valid):
+      # Invalid trajectory - this itself might indicate a stop scenario
+      # Apply moderate urgency for incomplete trajectories at speed
+      if self._v_ego_kph > 20.0:
+        urgency = 0.3
+
+      self._slow_down_filter.add_data(urgency)
+      urgency_filtered = self._slow_down_filter.get_value() or 0.0
+      self._has_slow_down = urgency_filtered > WMACConstants.SLOW_DOWN_PROB
+      self._urgency = urgency_filtered
+      return
 
-    # anomaly detection for slow down events
-    if self._anomaly_detection(self._slow_down_gmac.data):
-      self._slow_down_confidence *= 0.85  # Reduce confidence
-      self._has_slow_down = self._slow_down_confidence > WMACConstants.SLOW_DOWN_PROB
+    # We have a valid full trajectory
+    self._trajectory_valid = True
 
-    # blinker detection
-    self._has_blinkers = car_state.leftBlinker or car_state.rightBlinker
+    # Use the exact endpoint (33rd point, index 32)
+    endpoint_x = md.position.x[TRAJECTORY_SIZE - 1]
+    self._endpoint_x = endpoint_x
 
-    # sng detection
-    if self._has_standstill:
-      self._sng_state = SNG_State.stopped
-      self._sng_transit_frame = 0
-    else:
-      if self._sng_transit_frame == 0:
-        if self._sng_state == SNG_State.stopped:
-          self._sng_state = SNG_State.going
-          self._sng_transit_frame = STOP_AND_GO_FRAME
-        elif self._sng_state == SNG_State.going:
-          self._sng_state = SNG_State.off
-      elif self._sng_transit_frame > 0:
-        self._sng_transit_frame -= 1
-
-    # slowness detection
-    if not self._has_standstill:
-      self._slowness_gmac.add_data(self._v_ego_kph <= (self._v_cruise_kph * WMACConstants.SLOWNESS_CRUISE_OFFSET))
-      if _slowness_weighted_average := self._slowness_gmac.get_weighted_average():
-        self._has_slowness = _slowness_weighted_average > WMACConstants.SLOWNESS_PROB
-      else:
-        self._has_slowness = False
+    # Get expected distance based on current speed using tuned constants
+    expected_distance = interp(self._v_ego_kph,
+                               WMACConstants.SLOW_DOWN_BP,
+                               WMACConstants.SLOW_DOWN_DIST)
+    self._expected_distance = expected_distance
 
-    # dangerous TTC detection
-    if not self._has_lead_filtered and self._has_lead_filtered_prev:
-      self._dangerous_ttc_gmac.reset_data()
-      self._has_dangerous_ttc = False
+    # Calculate urgency based on trajectory shortage
+    if endpoint_x < expected_distance:
+      shortage = expected_distance - endpoint_x
+      shortage_ratio = shortage / expected_distance
 
-    if self._has_lead and car_state.vEgo >= 0.01:
-      self._dangerous_ttc_gmac.add_data(lead_one.dRel / car_state.vEgo)
+      # Base urgency on shortage ratio
+      urgency = min(1.0, shortage_ratio * 2.0)
 
-    if _dangerous_ttc_weighted_average := self._dangerous_ttc_gmac.get_weighted_average():
-      self._has_dangerous_ttc = _dangerous_ttc_weighted_average <= WMACConstants.DANGEROUS_TTC
-    else:
-      self._has_dangerous_ttc = False
+      # Increase urgency for very short trajectories (imminent stops)
+      critical_distance = expected_distance * 0.3
+      if endpoint_x < critical_distance:
+        urgency = min(1.0, urgency * 2.0)
+
+      # Speed-based urgency adjustment
+      if self._v_ego_kph > 25.0:
+        speed_factor = 1.0 + (self._v_ego_kph - 25.0) / 80.0
+        urgency = min(1.0, urgency * speed_factor)
+
+    # Apply filtering but with less smoothing for stops
+    self._slow_down_filter.add_data(urgency)
+    urgency_filtered = self._slow_down_filter.get_value() or 0.0
 
-    # keep prev values
-    self._has_standstill_prev = self._has_standstill
-    self._has_lead_filtered_prev = self._has_lead_filtered
+    # Update state with lower threshold for better stop detection
+    self._has_slow_down = urgency_filtered > (WMACConstants.SLOW_DOWN_PROB * 0.8)
+    self._urgency = urgency_filtered
 
   def _radarless_mode(self) -> None:
-    # when mpc fcw crash prob is high
-    # use blended to slow down quickly
+    """Radarless mode decision logic with emergency handling."""
+
+    # EMERGENCY: MPC FCW - immediate blended mode
     if self._has_mpc_fcw:
-      self._set_mode('blended')
+      self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
       return
 
-    # Nav enabled and distance to upcoming turning is 300 or below
-    # if self._has_nav_instruction:
-    #  self._set_mode('blended')
-    #  return
-
-    # when blinker is on and speed is driving below V_ACC_MIN: blended
-    # we don't want it to switch mode at higher speed, blended may trigger hard brake
-    # if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
-    #  self._set_mode('blended')
-    #  return
-
-    # when at highway cruise and SNG: blended
-    # ensuring blended mode is used because acc is bad at catching SNG lead car
-    # especially those who accel very fast and then brake very hard.
-    # if self._sng_state == SNG_State.going and self._v_cruise_kph >= V_ACC_MIN:
-    #  self._set_mode('blended')
-    #  return
-
-    # when standstill: blended
-    # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
-    if self._has_standstill:
-      self._set_mode('blended')
+    # Standstill: use blended
+    if self._standstill_count > 3:
+      self._mode_manager.request_mode('blended', confidence=0.9)
       return
 
-    # when detecting slow down scenario: blended
-    # e.g. traffic light, curve, stop sign etc.
+    # Slow down scenarios: emergency for high urgency, normal for lower urgency
     if self._has_slow_down:
-      self._set_mode('blended')
-      return
-
-    # when detecting lead slow down: blended
-    # use blended for higher braking capability
-    if self._has_dangerous_ttc:
-      self._set_mode('blended')
+      if self._urgency > 0.7:
+        # Emergency: immediate blended mode for high urgency stops
+        self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
+      else:
+        # Normal: blended with urgency-based confidence
+        confidence = min(1.0, self._urgency * 1.5)
+        self._mode_manager.request_mode('blended', confidence=confidence)
       return
 
-    # car driving at speed lower than set speed: acc
-    if self._has_slowness:
-      self._set_mode('acc')
+    # Driving slow: use ACC (but not if actively slowing down)
+    if self._has_slowness and not self._has_slow_down:
+      self._mode_manager.request_mode('acc', confidence=0.8)
       return
 
-    self._set_mode('acc')
+    # Default: ACC
+    self._mode_manager.request_mode('acc', confidence=0.7)
 
   def _radar_mode(self) -> None:
-    # when mpc fcw crash prob is high
-    # use blended to slow down quickly
-    if self._has_mpc_fcw:
-      self._set_mode('blended')
-      return
+    """Radar mode with emergency handling."""
 
-    # If there is a filtered lead, the vehicle is not in standstill, and the lead vehicle's yRel meets the condition,
-    if self._has_lead_filtered and not self._has_standstill:
-      self._set_mode('acc')
+    # EMERGENCY: MPC FCW - immediate blended mode
+    if self._has_mpc_fcw:
+      self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
       return
 
-    # when blinker is on and speed is driving below V_ACC_MIN: blended
-    # we don't want it to switch mode at higher speed, blended may trigger hard brake
-    # if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
-    #  self._set_mode('blended')
-    #  return
-
-    # when standstill: blended
-    # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
-    if self._has_standstill:
-      self._set_mode('blended')
+    # If lead detected and not in standstill: always use ACC
+    if self._has_lead_filtered and not (self._standstill_count > 3):
+      self._mode_manager.request_mode('acc', confidence=1.0)
       return
 
-    # when detecting slow down scenario: blended
-    # e.g. traffic light, curve, stop sign etc.
+    # Slow down scenarios: emergency for high urgency, normal for lower urgency
     if self._has_slow_down:
-      self._set_mode('blended')
+      if self._urgency > 0.7:
+        # Emergency: immediate blended mode for high urgency stops
+        self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
+      else:
+        # Normal: blended with urgency-based confidence
+        confidence = min(1.0, self._urgency * 1.3)
+        self._mode_manager.request_mode('blended', confidence=confidence)
       return
 
-    # car driving at speed lower than set speed: acc
-    if self._has_slowness:
-      self._set_mode('acc')
+    # Standstill: use blended
+    if self._standstill_count > 3:
+      self._mode_manager.request_mode('blended', confidence=0.9)
       return
 
-    # Nav enabled and distance to upcoming turning is 300 or below
-    # if self._has_nav_instruction:
-    #  self._set_mode('blended')
-    #  return
-
-    self._set_mode('acc')
-
-  def set_mpc_fcw_crash_cnt(self) -> None:
-    self._mpc_fcw_crash_cnt = self._mpc.crash_cnt
-
-  def _set_mode(self, mode: str) -> None:
-    if self._set_mode_timeout == 0:
-      self._mode = mode
-      if mode == 'blended':
-        self._set_mode_timeout = SET_MODE_TIMEOUT
+    # Driving slow: use ACC (but not if actively slowing down)
+    if self._has_slowness and not self._has_slow_down:
+      self._mode_manager.request_mode('acc', confidence=0.8)
+      return
 
-    if self._set_mode_timeout > 0:
-      self._set_mode_timeout -= 1
+    # Default: ACC
+    self._mode_manager.request_mode('acc', confidence=0.7)
 
   def update(self, sm: messaging.SubMaster) -> None:
     self._read_params()
@@ -385,6 +383,6 @@ def update(self, sm: messaging.SubMaster) -> None:
     else:
       self._radar_mode()
 
+    self._mode_manager.update()
     self._active = sm['selfdriveState'].experimentalMode and self._enabled
-
     self._frame += 1
diff --git a/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py b/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
index d15d88aefeeab0..f9da39c03b1ddd 100644
--- a/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
+++ b/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
@@ -1,248 +1,94 @@
 import pytest
-import numpy as np
-from openpilot.common.params import Params
 
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants, SNG_State
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController, TRAJECTORY_SIZE, STOP_AND_GO_FRAME
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
 
-class MockInterp:
-  def __call__(self, x, xp, fp):
-    return np.interp(x, xp, fp)
+class MockLeadOne:
+  def __init__(self, status=0.0):
+    self.status = status
+
+class MockRadarState:
+  def __init__(self, status=0.0):
+    self.leadOne = MockLeadOne(status=status)
 
 class MockCarState:
-  def __init__(self, v_ego=0., standstill=False, left_blinker=False, right_blinker=False):
-    self.vEgo = v_ego
+  def __init__(self, vEgo=0.0, vCruise=0.0, standstill=False):
+    self.vEgo = vEgo
+    self.vCruise = vCruise
     self.standstill = standstill
-    self.leftBlinker = left_blinker
-    self.rightBlinker = right_blinker
-
-class MockLeadOne:
-  def __init__(self, status=False, d_rel=0):
-    self.status = status
-    self.dRel = d_rel
 
 class MockModelData:
-  def __init__(self, x_vals=None, positions=None):
-    self.orientation = type('Orientation', (), {'x': x_vals})()
-    self.position = type('Position', (), {'x': positions})()
+  def __init__(self, valid=True):
+    size = 33 if valid else 10  # incomplete if invalid
+    self.position = type("Pos", (), {"x": [0.0] * size})()
+    self.orientation = type("Ori", (), {"x": [0.0] * size})()
+
+class MockSelfDriveState:
+  def __init__(self, experimentalMode=False):
+    self.experimentalMode = experimentalMode
 
-class MockControlState:
-  def __init__(self, v_cruise=0):
-    self.vCruise = v_cruise
+class MockParams:
+  def get_bool(self, name):
+    return True
+
+@pytest.fixture
+def default_sm():
+  sm = {
+    'carState': MockCarState(vEgo=10.0, vCruise=20.0),
+    'radarState': MockRadarState(status=1.0),
+    'modelV2': MockModelData(valid=True),
+    'selfdriveState': MockSelfDriveState(experimentalMode=True),
+  }
+  return sm
 
 @pytest.fixture
-def interp(monkeypatch):
-  mock_interp = MockInterp()
-  monkeypatch.setattr('numpy.interp', mock_interp)
-  return mock_interp
+def mock_cp():
+  class CP:
+    radarUnavailable = False
+  return CP()
 
 @pytest.fixture
-def controller(interp):
-  params = Params()
-  params.put_bool("DynamicExperimentalControl", True)
-  return DynamicExperimentalController()
-
-def test_initial_state(controller):
-  """Test initial state of the controller"""
-  assert controller._mode == 'acc'
-  assert not controller._has_lead
-  assert not controller._has_standstill
-  assert controller._sng_state == SNG_State.off
-  assert not controller._has_lead_filtered
-  assert not controller._has_slow_down
-  assert not controller._has_dangerous_ttc
-  assert not controller._has_mpc_fcw
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_standstill_detection(controller, has_radar):
-  """Test standstill detection and state transitions"""
-  car_state = MockCarState(standstill=True)
-  lead_one = MockLeadOne()
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState()
-
-  # Test transition to standstill
-  controller.update(not has_radar, car_state, lead_one, md, controls_state)
-  assert controller._sng_state == SNG_State.stopped
-  assert controller.get_mpc_mode() == 'blended'
-
-  # Test transition from standstill to moving
-  car_state.standstill = False
-  controller.update(not has_radar, car_state, lead_one, md, controls_state)
-  assert controller._sng_state == SNG_State.going
-
-  # Test complete transition to normal driving
-  for _ in range(STOP_AND_GO_FRAME + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-  assert controller._sng_state == SNG_State.off
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_lead_detection(controller, has_radar):
-  """Test lead vehicle detection and filtering"""
-  car_state = MockCarState(v_ego=20)  # 72 kph
-  lead_one = MockLeadOne(status=True, d_rel=50)  # Safe distance
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=72)
-
-  # Let moving average stabilize
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_lead_filtered
-  expected_mode = 'acc' if has_radar else 'blended'
-  assert controller.get_mpc_mode() == expected_mode
-
-  # Test lead loss detection
-  lead_one.status = False
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert not controller._has_lead_filtered
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_slow_down_detection(controller, has_radar):
-  """Test slow down detection based on trajectory"""
-  car_state = MockCarState(v_ego=10/3.6)  # 10 kph
-  lead_one = MockLeadOne()
-  x_vals = [0] * TRAJECTORY_SIZE
-  positions = [20] * TRAJECTORY_SIZE  # Position within slow down threshold
-  md = MockModelData(x_vals=x_vals, positions=positions)
-  controls_state = MockControlState(v_cruise=30)
-
-  # Test slow down detection
-  for _ in range(WMACConstants.SLOW_DOWN_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_slow_down
-  assert controller.get_mpc_mode() == 'blended'
-
-  # Test slow down recovery
-  positions = [200] * TRAJECTORY_SIZE  # Position outside slow down threshold
-  md = MockModelData(x_vals=x_vals, positions=positions)
-  for _ in range(WMACConstants.SLOW_DOWN_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert not controller._has_slow_down
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_dangerous_ttc_detection(controller, has_radar):
-  """Test Time-To-Collision detection and handling"""
-  car_state = MockCarState(v_ego=10)  # 36 kph
-  lead_one = MockLeadOne(status=True)
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=36)
-
-  # First establish normal conditions with lead
-  lead_one.dRel = 100  # Safe distance
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):  # First establish lead detection
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_lead_filtered  # Verify lead is detected
-
-  # Now test dangerous TTC detection
-  lead_one.dRel = 10  # 10m distance - should trigger dangerous TTC
-  # TTC = dRel/vEgo = 10/10 = 1s (which is less than DANGEROUS_TTC = 2.3s)
-
-  # Need to update multiple times to allow the weighted average to stabilize
-  for _ in range(WMACConstants.DANGEROUS_TTC_WINDOW_SIZE * 2):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_dangerous_ttc, "TTC of 1s should be considered dangerous"
-  expected_mode = 'acc' if has_radar else 'blended'
-  assert controller.get_mpc_mode() == expected_mode, f"Should be in [{expected_mode}] mode with dangerous TTC"
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_mode_transitions(controller, has_radar):
-  """Test comprehensive mode transitions under different conditions"""
-  # Initialize with normal driving conditions
-  car_state = MockCarState(v_ego=25)  # 90 kph
-  lead_one = MockLeadOne(status=False)
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[200] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=100)
-
-  def stabilize_filters():
-    """Helper to let all moving averages stabilize"""
-    for _ in range(max(WMACConstants.LEAD_WINDOW_SIZE, WMACConstants.SLOW_DOWN_WINDOW_SIZE,
-                       WMACConstants.DANGEROUS_TTC_WINDOW_SIZE, WMACConstants.MPC_FCW_WINDOW_SIZE) + 1):
-      controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  # Test 1: Normal driving -> ACC mode
-  stabilize_filters()
-  assert controller.get_mpc_mode() == 'acc', "Should be in ACC mode under normal driving conditions"
-
-  # Test 2: Standstill -> Blended mode
-  car_state.standstill = True
-  controller.update(not has_radar, car_state, lead_one, md, controls_state)
-  assert controller.get_mpc_mode() == 'blended', "Should be in blended mode during standstill"
-
-  # Test 3: Lead car appears -> ACC mode
-  car_state = MockCarState(v_ego=20)  # Reset car state
-  lead_one.status = True
-  lead_one.dRel = 50  # Safe distance
-  stabilize_filters()
-  assert not controller._has_dangerous_ttc, "Should not have dangerous TTC"
-  assert controller.get_mpc_mode() == 'acc', "Should be in ACC mode with safe lead distance"
-
-  # Test 4: Dangerous TTC -> Blended mode
-  car_state = MockCarState(v_ego=20)  # 72 kph
-  lead_one.status = True
-  lead_one.dRel = 50  # First establish normal lead detection
-
-  # First establish lead detection
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_lead_filtered  # Verify lead is detected
-
-  # Now create dangerous TTC condition
-  lead_one.dRel = 20  # This creates a TTC of 1s, well below DANGEROUS_TTC
-
-  for _ in range(WMACConstants.DANGEROUS_TTC_WINDOW_SIZE * 2):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_dangerous_ttc, "Should detect dangerous TTC condition"
-  expected_mode = 'acc' if has_radar else 'blended'
-  assert controller.get_mpc_mode() == expected_mode, f"Should be in [{expected_mode}] mode with dangerous TTC"
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_mpc_fcw_handling(controller, has_radar):
-  """Test MPC FCW crash count handling and mode transitions"""
-  car_state = MockCarState(v_ego=20)
-  lead_one = MockLeadOne()
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=72)
-
-  # Test FCW activation
-  controller.set_mpc_fcw_crash_cnt(5)
-  for _ in range(WMACConstants.MPC_FCW_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_mpc_fcw
-  assert controller.get_mpc_mode() == 'blended'
-
-  # Test FCW recovery
-  controller.set_mpc_fcw_crash_cnt(0)
-  for _ in range(WMACConstants.MPC_FCW_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert not controller._has_mpc_fcw
-
-def test_radar_unavailable_handling(controller):
-  """Test behavior transitions between radar available and unavailable states"""
-  car_state = MockCarState(v_ego=27.78)  # 100 kph
-  lead_one = MockLeadOne(status=True, d_rel=50)
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=100)
-
-  # Test with radar available
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
-    controller.update(False, car_state, lead_one, md, controls_state)
-  radar_mode = controller.get_mpc_mode()
-
-  # Test with radar unavailable
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
-    controller.update(True, car_state, lead_one, md, controls_state)
-  radarless_mode = controller.get_mpc_mode()
-
-  assert radar_mode is not None
-  assert radarless_mode is not None
+def mock_mpc():
+  class MPC:
+    crash_cnt = 0
+  return MPC()
+
+# Fake Kalman Filter that always returns a given value
+class FakeKalman:
+  def __init__(self, value=1.0):
+    self.value = value
+  def add_data(self, v): pass
+  def get_value(self): return self.value
+  def get_confidence(self): return 1.0
+  def reset_data(self): pass
+
+def test_initial_mode_is_acc(mock_cp, mock_mpc):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  assert controller.mode() == "acc"
+
+def test_standstill_triggers_blended(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['carState'].standstill = True
+  for _ in range(10):
+    controller.update(default_sm)
+  assert controller.mode() == "blended"
+
+def test_emergency_blended_on_fcw(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  mock_mpc.crash_cnt = 1  # simulate FCW
+  for _ in range(2):
+    controller.update(default_sm)
+  assert controller.mode() == "blended"
+
+def test_radarless_slowdown_triggers_blended(mock_cp, mock_mpc, default_sm):
+  mock_cp.radarUnavailable = True
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+
+  # Force conditions to simulate slowdown
+  controller._slow_down_filter = FakeKalman(value=1.0)  # Ensure urgency triggers slowdown
+  controller._v_ego_kph = 35.0
+  default_sm['modelV2'] = MockModelData(valid=False)  # Incomplete trajectory
+
+  for _ in range(3):
+    controller.update(default_sm)
+
+  assert controller.mode() == "blended"

From d0bd8cc4a3abe6a93fce2a605fad0b2eb0c7f16c Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 5 Jul 2025 14:42:36 -0700
Subject: [PATCH 0305/1434] liveDelay: Add live delay toggle to vehicles using
 torqued (#1001)

* Add live delay toggle to torqued.py and twilsonco NNLC

* Set this in init

* Clean up

* Live delay toggle refactor

* ModeldLagd -> LagdToggle

* This is for lagd_toggle.py

* Add to NNLC

* Lagd toggle:

Display current values on UI

* Add break

* LagdToggleDelay

Live edit software_delay when livedelay is toggled `off`

* Always show description

* Add description as to why values don't update offroad

---------

Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>
---
 common/params_keys.h                          |  2 +
 selfdrive/controls/controlsd.py               |  3 +-
 selfdrive/locationd/torqued.py                |  8 ++-
 selfdrive/modeld/modeld.py                    |  7 ++-
 .../qt/offroad/settings/models_panel.cc       | 42 +++++++++++++--
 .../qt/offroad/settings/models_panel.h        |  2 +
 selfdrive/ui/sunnypilot/qt/widgets/controls.h | 25 +++++++--
 sunnypilot/livedelay/__init__.py              |  0
 sunnypilot/livedelay/lagd_toggle.py           | 51 +++++++++++++++++++
 sunnypilot/modeld/modeld.py                   |  4 +-
 sunnypilot/modeld_v2/modeld.py                |  4 +-
 sunnypilot/models/modeld_lagd.py              | 26 ----------
 .../lib/latcontrol_torque_ext_base.py         |  5 +-
 system/manager/manager.py                     |  1 +
 14 files changed, 136 insertions(+), 44 deletions(-)
 create mode 100644 sunnypilot/livedelay/__init__.py
 create mode 100644 sunnypilot/livedelay/lagd_toggle.py
 delete mode 100644 sunnypilot/models/modeld_lagd.py

diff --git a/common/params_keys.h b/common/params_keys.h
index 02dd8fee851862..00e1763e167db2 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -178,6 +178,8 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
 
     // model panel params
     {"LagdToggle", PERSISTENT | BACKUP},
+    {"LagdToggleDesc", PERSISTENT},
+    {"LagdToggledelay", PERSISTENT | BACKUP},
 
     // mapd
     {"MapAdvisorySpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 04d79d333056e4..9ef985fcc4f632 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -93,7 +93,8 @@ def state_control(self):
                                            torque_params.frictionCoefficientFiltered)
 
       self.LaC.extension.update_model_v2(self.sm['modelV2'])
-      self.LaC.extension.update_lateral_lag(self.sm['liveDelay'].lateralDelay)
+      calculated_lag = self.LaC.extension.lagd_torqued_main(self.CP, self.sm['liveDelay'])
+      self.LaC.extension.update_lateral_lag(calculated_lag)
 
     long_plan = self.sm['longitudinalPlan']
     model_v2 = self.sm['modelV2']
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 23bd99931bc0af..00667083195b9b 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -11,6 +11,8 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose
 
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
+
 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
 MIN_POINTS_TOTAL = 4000
@@ -49,8 +51,10 @@ def add_point(self, x, y):
         break
 
 
-class TorqueEstimator(ParameterEstimator):
+class TorqueEstimator(ParameterEstimator, LagdToggle):
   def __init__(self, CP, decimated=False, track_all_points=False):
+    super().__init__()
+    self.CP = CP
     self.hist_len = int(HISTORY / DT_MDL)
     self.lag = 0.0
     self.track_all_points = track_all_points  # for offline analysis, without max lateral accel or max steer torque filters
@@ -176,7 +180,7 @@ def handle_log(self, t, which, msg):
     elif which == "liveCalibration":
       self.calibrator.feed_live_calib(msg)
     elif which == "liveDelay":
-      self.lag = msg.lateralDelay
+      self.lag = self.lagd_torqued_main(self.CP, msg)
     # calculate lateral accel from past steering torque
     elif which == "livePose":
       if len(self.raw_points['steer_torque']) == self.hist_len:
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index ac88dfbb5f5fdc..3236edb53b280d 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -37,6 +37,8 @@
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
+
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -86,6 +88,7 @@ class ModelState:
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
   def __init__(self, context: CLContext):
+    self.LAT_SMOOTH_SECONDS = 0.0
     with open(VISION_METADATA_PATH, 'rb') as f:
       vision_metadata = pickle.load(f)
       self.vision_input_shapes =  vision_metadata['input_shapes']
@@ -251,6 +254,8 @@ def main(demo=False):
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
+  modeld_lagd = LagdToggle()
+
   # TODO this needs more thought, use .2s extra for now to estimate other delays
   # TODO Move smooth seconds to action function
   long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
@@ -296,7 +301,7 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    lat_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
+    lat_delay = modeld_lagd.lagd_main(CP, sm, model)
     lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index b8237c3627b925..1a2e86622a5f6e 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -90,11 +90,25 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   list->addItem(horizontal_line());
 
   // LiveDelay toggle
-  list->addItem(new ParamControlSP("LagdToggle",
-                                   tr("Live Learning Steer Delay"),
-                                   tr("Enable this for the car to learn and adapt its steering response time. "
-                                      "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience."),
-                                   "../assets/offroad/icon_shell.png"));
+  lagd_toggle_control = new ParamControlSP("LagdToggle", tr("Live Learning Steer Delay"), "", "../assets/offroad/icon_shell.png");
+  lagd_toggle_control->showDescription();
+  list->addItem(lagd_toggle_control);
+
+  // Software delay control
+  delay_control = new OptionControlSP("LagdToggledelay", tr("Adjust Software Delay"),
+                                     tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
+                                        "\nThe default software delay value is 0.2"),
+                                     "", {10, 30}, 1, false, nullptr, true);
+
+  connect(delay_control, &OptionControlSP::updateLabels, [=]() {
+    float value = QString::fromStdString(params.get("LagdToggledelay")).toFloat();
+    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
+  });
+  connect(lagd_toggle_control, &ParamControlSP::toggleFlipped, [=](bool state) {
+    delay_control->setVisible(!state);
+  });
+  delay_control->showDescription();
+  list->addItem(delay_control);
 }
 
 QProgressBar* ModelsPanel::createProgressBar(QWidget *parent) {
@@ -290,6 +304,24 @@ void ModelsPanel::updateLabels() {
   handleBundleDownloadProgress();
   currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
   currentModelLblBtn->setValue(GetActiveModelInternalName());
+
+  // Update lagdToggle description with current value
+  QString desc = tr("Enable this for the car to learn and adapt its steering response time. "
+                   "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. "
+                   "The Current value is updated automatically when the vehicle is Onroad.");
+  QString current = QString::fromStdString(params.get("LagdToggleDesc", false));
+  if (!current.isEmpty()) {
+    desc += "<br><br><b><span style=\"color:#e0e0e0\">" + tr("Current:") + "</span></b> <span style=\"color:#e0e0e0\">" + current + "</span>";
+  }
+  lagd_toggle_control->setDescription(desc);
+  lagd_toggle_control->showDescription();
+
+  delay_control->setVisible(!params.getBool("LagdToggle"));
+  if (delay_control->isVisible()) {
+    float value = QString::fromStdString(params.get("LagdToggledelay")).toFloat();
+    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
+    delay_control->showDescription();
+  }
 }
 
 /**
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
index 8b8cf69759158b..61f15e6d3c34b8 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
@@ -64,6 +64,8 @@ class ModelsPanel : public QWidget {
   bool is_onroad = false;
 
   ButtonControlSP *currentModelLblBtn;
+  ParamControlSP *lagd_toggle_control;
+  OptionControlSP *delay_control;
   QProgressBar *supercomboProgressBar;
   QFrame *supercomboFrame;
   QProgressBar *navigationProgressBar;
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index c8849faf539248..29b6e6e6eaf1ad 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -480,6 +480,16 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
     return result.toInt();
   }
 
+  int getParamValueScaled() {
+    const auto param_value = QString::fromStdString(params.get(key));
+    return static_cast<int>(param_value.toFloat() * 100);
+  }
+
+  void setParamValueScaled(const int new_value) {
+    const float scaled_value = new_value / 100.0f;
+    params.put(key, QString::number(scaled_value, 'f', 2).toStdString());
+  }
+
   // Although the method is not static, and thus has access to the value property, I prefer to be explicit about the value.
   void setParamValue(const int new_value) {
     const auto value_str = valueMap != nullptr ? valueMap->value(QString::number(new_value)) : QString::number(new_value);
@@ -488,7 +498,8 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
 
 public:
   OptionControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                  const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false, const QMap<QString, QString> *valMap = nullptr) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), is_inline_layout(inline_layout) {
+                  const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false,
+                  const QMap<QString, QString> *valMap = nullptr, bool scale_float = false) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), is_inline_layout(inline_layout), use_float_scaling(scale_float) {
     const QString style = R"(
       QPushButton {
         border-radius: 20px;
@@ -528,7 +539,7 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
     const std::vector<QString> button_texts{"�", "＋"};
 
     key = param.toStdString();
-    value = getParamValue();
+    value = use_float_scaling ? getParamValueScaled() : getParamValue();
 
     button_group = new QButtonGroup(this);
     button_group->setExclusive(true);
@@ -546,10 +557,15 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
 
       QObject::connect(button, &QPushButton::clicked, [=]() {
         int change_value = (i == 0) ? -per_value_change : per_value_change;
-        value = getParamValue(); // in case it changed externally, we need to get the latest value.
+        value = use_float_scaling ? getParamValueScaled() : getParamValue();
         value += change_value;
         value = std::clamp(value, range.min_value, range.max_value);
-        setParamValue(value);
+
+        if (use_float_scaling) {
+          setParamValueScaled(value);
+        } else {
+          setParamValue(value);
+        }
 
         button_group->button(0)->setEnabled(!(value <= range.min_value));
         button_group->button(1)->setEnabled(!(value >= range.max_value));
@@ -642,6 +658,7 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
   const QString label_disabled_style = "font-size: 50px; font-weight: 450; color: #5C5C5C;";
 
   bool button_enabled = true;
+  bool use_float_scaling = false;
 };
 
 class PushButtonSP : public QPushButton {
diff --git a/sunnypilot/livedelay/__init__.py b/sunnypilot/livedelay/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/livedelay/lagd_toggle.py b/sunnypilot/livedelay/lagd_toggle.py
new file mode 100644
index 00000000000000..cc2f1e2504f331
--- /dev/null
+++ b/sunnypilot/livedelay/lagd_toggle.py
@@ -0,0 +1,51 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+
+
+class LagdToggle:
+  def __init__(self):
+    self.params = Params()
+    self.lag = 0.0
+    self._last_desc = None
+
+  @property
+  def software_delay(self):
+    return float(self.params.get("LagdToggledelay", encoding='utf8'))
+
+  def _maybe_update_desc(self, desc):
+    if desc != self._last_desc:
+      self.params.put_nonblocking("LagdToggleDesc", desc)
+      self._last_desc = desc
+
+  def lagd_main(self, CP, sm, model):
+    if self.params.get_bool("LagdToggle"):
+      lateral_delay = sm["liveDelay"].lateralDelay
+      lat_smooth = model.LAT_SMOOTH_SECONDS
+      result = lateral_delay + lat_smooth
+      desc = f"live steer delay learner ({lateral_delay:.3f}s) + model smoothing filter ({lat_smooth:.3f}s) = total delay ({result:.3f}s)"
+      self._maybe_update_desc(desc)
+      return result
+
+    steer_actuator_delay = CP.steerActuatorDelay
+    lat_smooth = model.LAT_SMOOTH_SECONDS
+    delay = self.software_delay
+    result = (steer_actuator_delay + delay) + lat_smooth
+    desc = (f"Vehicle steering delay ({steer_actuator_delay:.3f}s) + software delay ({delay:.3f}s) + " +
+            f"model smoothing filter ({lat_smooth:.3f}s) = total delay ({result:.3f}s)")
+    self._maybe_update_desc(desc)
+    return result
+
+  def lagd_torqued_main(self, CP, msg):
+    if self.params.get_bool("LagdToggle"):
+      self.lag = msg.lateralDelay
+      cloudlog.debug(f"TORQUED USING LIVE DELAY: {self.lag:.3f}")
+    else:
+      self.lag = CP.steerActuatorDelay + self.software_delay
+      cloudlog.debug(f"TORQUED USING STEER ACTUATOR: {self.lag:.3f}")
+    return self.lag
diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
index d4bd96ff661627..86968ea26c39b7 100755
--- a/sunnypilot/modeld/modeld.py
+++ b/sunnypilot/modeld/modeld.py
@@ -25,7 +25,7 @@
 from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
 from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants
-from openpilot.sunnypilot.models.modeld_lagd import ModeldLagd
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
 
 
@@ -202,7 +202,7 @@ def main(demo=False):
 
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
-  modeld_lagd = ModeldLagd()
+  modeld_lagd = LagdToggle()
 
   # Enable lagd support for sunnypilot modeld
   long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index 5b9c5ef9e560c1..58e79eceb53e38 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -23,7 +23,7 @@
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 
 from openpilot.sunnypilot.models.helpers import get_active_bundle
-from openpilot.sunnypilot.models.modeld_lagd import ModeldLagd
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -239,7 +239,7 @@ def main(demo=False):
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
 
-  modeld_lagd = ModeldLagd()
+  modeld_lagd = LagdToggle()
 
   # TODO Move smooth seconds to action function
   long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
diff --git a/sunnypilot/models/modeld_lagd.py b/sunnypilot/models/modeld_lagd.py
deleted file mode 100644
index 9e538123a86d66..00000000000000
--- a/sunnypilot/models/modeld_lagd.py
+++ /dev/null
@@ -1,26 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
-
-
-class ModeldLagd:
-  def __init__(self):
-    self.params = Params()
-
-  def lagd_main(self, CP, sm, model):
-    if self.params.get_bool("LagdToggle"):
-      lateral_delay = sm["liveDelay"].lateralDelay
-      lat_smooth = model.LAT_SMOOTH_SECONDS
-      result = lateral_delay + lat_smooth
-      cloudlog.debug(f"LAGD USING LIVE DELAY: {lateral_delay:.3f} + {lat_smooth:.3f} = {result:.3f}")
-      return result
-    steer_actuator_delay = CP.steerActuatorDelay
-    lat_smooth = model.LAT_SMOOTH_SECONDS
-    result = (steer_actuator_delay + 0.2) + lat_smooth
-    cloudlog.debug(f"LAGD USING STEER ACTUATOR: {steer_actuator_delay:.3f} + 0.2 + {lat_smooth:.3f} = {result:.3f}")
-    return result
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
index 8ccd81d8ff16f4..b3c2d78ac651cc 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
@@ -10,6 +10,8 @@
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
+
 LAT_PLAN_MIN_IDX = 5
 LATERAL_LAG_MOD = 0.0 # seconds, modifies how far in the future we look ahead for the lateral plan
 
@@ -41,8 +43,9 @@ def get_lookahead_value(future_vals, current_val):
   return min_val
 
 
-class LatControlTorqueExtBase:
+class LatControlTorqueExtBase(LagdToggle):
   def __init__(self, lac_torque, CP, CP_SP):
+    LagdToggle.__init__(self)
     self.model_v2 = None
     self.model_valid = False
     self.use_steering_angle = lac_torque.use_steering_angle
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 9de332df47939a..692c7717ff34ef 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -57,6 +57,7 @@ def manager_init() -> None:
     ("DynamicExperimentalControl", "0"),
     ("HyundaiLongitudinalTuning", "0"),
     ("LagdToggle", "1"),
+    ("LagdToggledelay", "0.2"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
     ("MadsSteeringMode", "0"),

From 394603727e85ca12483ff06abe3af7aa7bd5e248 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 5 Jul 2025 14:58:34 -0700
Subject: [PATCH 0306/1434] Bug: Param Store Cache (#1025)

* cache

* Clear every 10 iterations, which means 100hz * 10

* Revert "Clear every 10 iterations, which means 100hz * 10"

This reverts commit 4eda3079e6cfc83008b8df0d41094ce52237faf7.

* Apply suggestion from @devtekve

* Apply suggestion from @devtekve

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 sunnypilot/selfdrive/controls/lib/param_store.py | 14 ++++++++------
 1 file changed, 8 insertions(+), 6 deletions(-)

diff --git a/sunnypilot/selfdrive/controls/lib/param_store.py b/sunnypilot/selfdrive/controls/lib/param_store.py
index b2701bc010d676..5ec2a1c8c977be 100644
--- a/sunnypilot/selfdrive/controls/lib/param_store.py
+++ b/sunnypilot/selfdrive/controls/lib/param_store.py
@@ -22,14 +22,16 @@ def __init__(self, CP: structs.CarParams):
 
     self.keys = universal_params + brand_params
     self.values = {}
+    self.cached_params_list: list[capnp.lib.capnp._DynamicStructBuilder] | None = None
 
   def update(self, params: Params) -> None:
+    old_values = dict(self.values)
     self.values = {k: params.get(k, encoding='utf8') or "0" for k in self.keys}
+    if old_values != self.values:
+      self.cached_params_list = None
 
   def publish(self) -> list[capnp.lib.capnp._DynamicStructBuilder]:
-    params_list: list[capnp.lib.capnp._DynamicStructBuilder] = []
-
-    for k in self.keys:
-      params_list.append(custom.CarControlSP.Param(key=k, value=self.values[k]))
-
-    return params_list
+    if self.cached_params_list is None:
+      # TODO-SP: Why are we doing a list instead of a dictionary here?
+      self.cached_params_list = [custom.CarControlSP.Param(key=k, value=self.values[k]) for k in self.keys]
+    return self.cached_params_list

From af53db3b07ae4236c71ad28595e39309cc0e8493 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 5 Jul 2025 21:23:32 -0700
Subject: [PATCH 0307/1434] Longitudinal Planner: Allow Non-MLSIM Models to Use
 MPC (#1012)

* gen 11 only api limit exceeded maybe not

* Try this for ModelDataV2.Action

* mpc mode

* Fix This

* Revert "Try this for ModelDataV2.Action"

This reverts commit e7db17980b3667de1399cac97ef92041f5d59eff.

* fix logic flaw

* Address comments for readability.

---------

Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>
---
 selfdrive/controls/lib/longitudinal_planner.py            | 6 +++++-
 sunnypilot/selfdrive/controls/lib/longitudinal_planner.py | 7 +++++++
 2 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 4e842f8d1b910b..6a26eadef443b5 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -94,9 +94,13 @@ def parse_model(model_msg, model_error):
 
   def update(self, sm):
     self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
+    if not self.mlsim:
+      self.mpc.mode = self.mode
     LongitudinalPlannerSP.update(self, sm)
     if dec_mpc_mode := self.get_mpc_mode():
       self.mode = dec_mpc_mode
+      if not self.mlsim:
+        self.mpc.mode = dec_mpc_mode
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -171,7 +175,7 @@ def update(self, sm):
     output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
     output_should_stop_e2e = sm['modelV2'].action.shouldStop
 
-    if self.mode == 'acc':
+    if self.mode == 'acc' or not self.mlsim:
       output_a_target = output_a_target_mpc
       self.output_should_stop = output_should_stop_mpc
     else:
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index 56f32373d5075e..18bfbe925cf873 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -8,6 +8,7 @@
 from cereal import messaging, custom
 from opendbc.car import structs
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
+from openpilot.sunnypilot.models.helpers import get_active_bundle
 
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
 
@@ -15,6 +16,12 @@
 class LongitudinalPlannerSP:
   def __init__(self, CP: structs.CarParams, mpc):
     self.dec = DynamicExperimentalController(CP, mpc)
+    model_bundle = get_active_bundle()
+    self.generation = model_bundle.generation if model_bundle is not None else None
+
+  @property
+  def mlsim(self) -> bool:
+    return self.generation == 11
 
   def get_mpc_mode(self) -> str | None:
     if not self.dec.active():

From 92f1977666695939053062e49da834c25e2acf4f Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Thu, 10 Jul 2025 01:30:10 -0400
Subject: [PATCH 0308/1434] UI: Custom Interactivity Timeout (#1032)

custom interactivity timeout
---
 common/params_keys.h                           |  1 +
 .../qt/offroad/settings/device_panel.cc        | 18 ++++++++++++++++++
 .../qt/offroad/settings/device_panel.h         |  1 +
 selfdrive/ui/ui.cc                             |  3 ++-
 system/manager/manager.py                      |  1 +
 5 files changed, 23 insertions(+), 1 deletion(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 00e1763e167db2..e7c4e1174577b8 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -136,6 +136,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"CustomAccShortPressIncrement", PERSISTENT | BACKUP},
     {"DeviceBootMode", PERSISTENT | BACKUP},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
+    {"InteractivityTimeout", PERSISTENT | BACKUP},
     {"MaxTimeOffroad", PERSISTENT | BACKUP},
     {"Brightness", PERSISTENT | BACKUP},
     {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index b89116d4249a82..dc2d7b318dfc59 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -87,6 +87,17 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
     params.put("DeviceBootMode", QString::number(index).toStdString());
     updateState();
   });
+
+  interactivityTimeout =  new OptionControlSP("InteractivityTimeout", tr("Interactivity Timeout"),
+                                     tr("Apply a custom timeout for settings UI."
+                                        "\nThis is the time after which settings UI closes automatically if user is not interacting with the screen."),
+                                     "", {0, 120}, 10, true, nullptr, false);
+
+  connect(interactivityTimeout, &OptionControlSP::updateLabels, [=]() {
+    updateState();
+  });
+
+  addItem(interactivityTimeout);
   
   // Brightness
   brightness = new Brightness();
@@ -198,4 +209,11 @@ void DevicePanelSP::updateState() {
     currStatus = DeviceSleepModeStatus::OFFROAD;
   }
   toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus));
+
+  QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout"));
+  if (timeoutValue == "0") {
+    interactivityTimeout->setLabel("DEFAULT");
+  } else {
+    interactivityTimeout->setLabel(timeoutValue + "s");
+  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
index 2cd3281d1f0130..899a942daee693 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
@@ -33,6 +33,7 @@ class DevicePanelSP : public DevicePanel {
   MaxTimeOffroad *maxTimeOffroad;
   ButtonParamControlSP *toggleDeviceBootMode;
   Brightness *brightness;
+  OptionControlSP *interactivityTimeout;
 
   const QString alwaysOffroadStyle = R"(
     PushButtonSP {
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index c9dc70cdffb68e..f60ff9a70712a5 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -164,8 +164,9 @@ void Device::setAwake(bool on) {
 }
 
 void Device::resetInteractiveTimeout(int timeout) {
+  int customTimeout = QString::fromStdString(Params().get("InteractivityTimeout")).toInt();
   if (timeout == -1) {
-    timeout = (ignition_on ? 10 : 30);
+    timeout = customTimeout == 0 ? (ignition_on ? 10 : 30) : customTimeout;
   }
   interactive_timeout = timeout * UI_FREQ;
 }
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 692c7717ff34ef..b68207b6918650 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -56,6 +56,7 @@ def manager_init() -> None:
     ("DeviceBootMode", "0"),
     ("DynamicExperimentalControl", "0"),
     ("HyundaiLongitudinalTuning", "0"),
+    ("InteractivityTimeout", "0"),
     ("LagdToggle", "1"),
     ("LagdToggledelay", "0.2"),
     ("Mads", "1"),

From e43c60c00479a48fca895da72407b91e3f61da73 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Mon, 14 Jul 2025 11:39:19 -0700
Subject: [PATCH 0309/1434] ci: Automate model build, publish, and update docs
 with JSON metadata (#1036)

* gh workflows: Create build single and build all models

Recompile action, and build single model action...

I'm tired, and this could definitely most probably be wrong.

on push : Revert me!

Revert "on push : Revert me!"

This reverts commit c6ab17adad981585f93c285e9d8a418e4c975879.

checkout gitlab

Update build-single-tinygrad-model.yaml

Whoops. ubuntu-latest not self-hosted

self-hosted is comma device

gh api because artifacts

Dynamic long

Update build-single-tinygrad-model.yaml

* FoF to FOF, because spellchecker is no fun

* ignore

* Create new dir and json by default since its full recompile

red diff, who doesn't like it

* Minimal patch to ssh agent from yesterday

* Update .codespellignore

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .codespellignore                              |   1 +
 .../workflows/build-all-tinygrad-models.yaml  | 226 ++++++++++++++++++
 .../build-single-tinygrad-model.yaml          | 198 +++++++++++++++
 3 files changed, 425 insertions(+)
 create mode 100644 .github/workflows/build-all-tinygrad-models.yaml
 create mode 100644 .github/workflows/build-single-tinygrad-model.yaml

diff --git a/.codespellignore b/.codespellignore
index c7beb6f04f2072..9328517d4ab4ff 100644
--- a/.codespellignore
+++ b/.codespellignore
@@ -2,3 +2,4 @@ Wen
 REGIST
 PullRequest
 cancelled
+FOF
diff --git a/.github/workflows/build-all-tinygrad-models.yaml b/.github/workflows/build-all-tinygrad-models.yaml
new file mode 100644
index 00000000000000..f1c81455cae6a9
--- /dev/null
+++ b/.github/workflows/build-all-tinygrad-models.yaml
@@ -0,0 +1,226 @@
+name: Build All Tinygrad Models and Push to GitLab
+
+on:
+  workflow_dispatch:
+    inputs:
+      branch:
+        description: 'Branch to run workflow from'
+        required: false
+        default: 'master-new'
+        type: string
+
+jobs:
+  setup:
+    runs-on: ubuntu-latest
+    outputs:
+      json_file: ${{ steps.get-json.outputs.json_file }}
+    steps:
+      - name: Checkout docs repo
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot-docs
+          ref: gh-pages
+          path: docs
+          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
+
+      - name: Get next JSON version to use
+        id: get-json
+        run: |
+          cd docs/docs
+          latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
+          next=$((latest+1))
+          json_file="driving_models_v${next}.json"
+          cp "driving_models_v${latest}.json" "$json_file"
+          echo "json_file=$json_file" >> $GITHUB_OUTPUT
+
+      - name: Upload context for next jobs
+        uses: actions/upload-artifact@v4
+        with:
+          name: context
+          path: docs
+
+  build-all:
+    runs-on: ubuntu-latest
+    needs: setup
+    env:
+      JSON_FILE: docs/docs/${{ needs.setup.outputs.json_file }}
+    steps:
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+
+      - name: Add GitLab.com SSH key to known_hosts
+        run: |
+          mkdir -p ~/.ssh
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+      - name: Clone GitLab docs repo
+        env:
+          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+        run: |
+          echo "Cloning GitLab"
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+          cd gitlab_docs
+          git checkout main
+          cd ..
+
+      - name: Set next recompiled dir
+        id: set-recompiled
+        run: |
+          cd gitlab_docs/models
+          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
+          if [[ -z "$latest_dir" ]]; then
+            next_dir=1
+          else
+            next_dir=$((latest_dir+1))
+          fi
+          recompiled_dir="recompiled${next_dir}"
+          mkdir -p "$recompiled_dir"
+          echo "RECOMPILED_DIR=$recompiled_dir" >> $GITHUB_ENV
+
+      - name: Download context
+        uses: actions/download-artifact@v4
+        with:
+          name: context
+          path: .
+
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y jq gh
+
+      - name: Build all tinygrad models
+        id: trigger-builds
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          set -e
+          > triggered_run_ids.txt
+          BRANCH="${{ github.event.inputs.branch }}"
+          jq -c '.bundles[] | select(.runner=="tinygrad")' "$JSON_FILE" | while read -r bundle; do
+            ref=$(echo "$bundle" | jq -r '.ref')
+            display_name=$(echo "$bundle" | jq -r '.display_name' | sed 's/ ([^)]*)//g')
+            is_20hz=$(echo "$bundle" | jq -r '.is_20hz')
+            echo "Triggering build for: $display_name ($ref) [20Hz: $is_20hz]"
+            START_TIME=$(date -u +"%Y-%m-%dT%H:%M:%SZ")
+            gh workflow run sunnypilot-build-model.yaml \
+              --repo sunnypilot/sunnypilot \
+              --ref "$BRANCH" \
+              -f upstream_branch="$ref" \
+              -f custom_name="$display_name" \
+              -f is_20hz="$is_20hz"
+            for i in {1..24}; do
+              RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="$BRANCH" --created ">$START_TIME" --limit=1 --json databaseId --jq '.[0].databaseId')
+              if [ -n "$RUN_ID" ]; then
+                break
+              fi
+              sleep 5
+            done
+            if [ -z "$RUN_ID" ]; then
+              echo "ould not find the triggered workflow run for $display_name ($ref)"
+              exit 1
+            fi
+            echo "$RUN_ID" >> triggered_run_ids.txt
+          done
+
+      - name: Wait for all model builds to finish
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          set -e
+          SUCCESS_RUNS=()
+          FAILED_RUNS=()
+          declare -A RUN_ID_TO_NAME
+
+          while read -r RUN_ID; do
+            ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name' || echo "unknown")
+            RUN_ID_TO_NAME["$RUN_ID"]="$ARTIFACT_NAME"
+          done < triggered_run_ids.txt
+
+          while read -r RUN_ID; do
+            echo "Watching run ID: $RUN_ID"
+            gh run watch "$RUN_ID" --repo sunnypilot/sunnypilot
+            CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
+            ARTIFACT_NAME="${RUN_ID_TO_NAME[$RUN_ID]}"
+            echo "Run $RUN_ID ($ARTIFACT_NAME) concluded with: $CONCLUSION"
+            if [[ "$CONCLUSION" == "success" ]]; then
+              SUCCESS_RUNS+=("$RUN_ID")
+            else
+              FAILED_RUNS+=("$RUN_ID")
+            fi
+          done < triggered_run_ids.txt
+
+          if [[ ${#SUCCESS_RUNS[@]} -eq 0 ]]; then
+            echo "All model builds failed. Aborting."
+            exit 1
+          fi
+
+          if [[ ${#FAILED_RUNS[@]} -gt 0 ]]; then
+            echo "WARNING: The following model builds failed:"
+            for RUN_ID in "${FAILED_RUNS[@]}"; do
+              echo "- $RUN_ID (${RUN_ID_TO_NAME[$RUN_ID]})"
+            done
+            echo "You may want to rerun these models manually."
+          fi
+
+      - name: Download and extract all model artifacts
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          ARTIFACT_DIR="gitlab_docs/models/$RECOMPILED_DIR"
+          SUCCESS_RUNS=()
+          while read -r RUN_ID; do
+            CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
+            if [[ "$CONCLUSION" == "success" ]]; then
+              SUCCESS_RUNS+=("$RUN_ID")
+            fi
+          done < triggered_run_ids.txt
+
+          for RUN_ID in "${SUCCESS_RUNS[@]}"; do
+            ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name')
+            echo "Downloading artifact: $ARTIFACT_NAME from run: $RUN_ID"
+            mkdir -p "$ARTIFACT_DIR/$ARTIFACT_NAME"
+            echo "Created directory: $ARTIFACT_DIR/$ARTIFACT_NAME"
+            gh run download "$RUN_ID" --repo sunnypilot/sunnypilot -n "$ARTIFACT_NAME" --dir "$ARTIFACT_DIR/$ARTIFACT_NAME"
+            echo "Downloaded artifact zip(s) to: $ARTIFACT_DIR/$ARTIFACT_NAME"
+            ZIP_PATH=$(find "$ARTIFACT_DIR/$ARTIFACT_NAME" -type f -name '*.zip' | head -n1)
+            if [ -n "$ZIP_PATH" ]; then
+              echo "Unzipping $ZIP_PATH to $ARTIFACT_DIR/$ARTIFACT_NAME"
+              unzip -o "$ZIP_PATH" -d "$ARTIFACT_DIR/$ARTIFACT_NAME"
+              rm -f "$ZIP_PATH"
+              echo "Unzipped and removed $ZIP_PATH"
+            else
+              echo "No zip file found in $ARTIFACT_DIR/$ARTIFACT_NAME (This is NOT an error)."
+            fi
+            echo "Done processing $ARTIFACT_NAME"
+          done
+
+      - name: Push recompiled dir to GitLab
+        env:
+          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+        run: |
+          cd gitlab_docs
+          git checkout main
+          mkdir -p models/"$(basename $RECOMPILED_DIR)"
+          git add models/"$(basename $RECOMPILED_DIR)"
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Add $(basename $RECOMPILED_DIR) from build-all-tinygrad-models"
+          git push origin main
+
+      - name: Run json_parser.py to update JSON
+        run: |
+          python3 docs/json_parser.py \
+            --json-path "$JSON_FILE" \
+            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR"
+
+      - name: Push updated JSON to GitHub docs repo
+        run: |
+          cd docs
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git checkout gh-pages
+          git add docs/"$(basename $JSON_FILE)"
+          git commit -m "Update $(basename $JSON_FILE) after recompiling models" || echo "No changes to commit"
+          git push origin gh-pages
diff --git a/.github/workflows/build-single-tinygrad-model.yaml b/.github/workflows/build-single-tinygrad-model.yaml
new file mode 100644
index 00000000000000..e161a56b7d4bc4
--- /dev/null
+++ b/.github/workflows/build-single-tinygrad-model.yaml
@@ -0,0 +1,198 @@
+name: Build Single Tinygrad Model and Push
+
+on:
+  workflow_dispatch:
+    inputs:
+      build_model_ref:
+        description: 'Branch to use for build-model workflow'
+        required: false
+        default: 'master-new'
+        type: string
+      upstream_branch:
+        description: 'Upstream commit to build from'
+        required: true
+        type: string
+      custom_name:
+        description: 'Custom name for the model (no date, only name)'
+        required: false
+        type: string
+      recompiled_dir:
+        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
+        required: true
+        type: number
+      json_version:
+        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
+        required: true
+        type: number
+      model_folder:
+        description: 'Model folder'
+        required: true
+        type: choice
+        options:
+          - Simple Plan Models
+          - TR Models
+          - DTR Models
+          - Custom Merge Models
+          - FOF series models
+          - Other
+      custom_model_folder:
+        description: 'Custom model folder name (if "Other" selected)'
+        required: false
+        type: string
+      generation:
+        description: 'Model generation'
+        required: false
+        type: number
+      version:
+        description: 'Minimum selector version'
+        required: false
+        type: number
+
+jobs:
+  build-single:
+    runs-on: ubuntu-latest
+    env:
+      RECOMPILED_DIR: recompiled${{ github.event.inputs.recompiled_dir }}
+      JSON_FILE: docs/docs/driving_models_v${{ github.event.inputs.json_version }}.json
+    steps:
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+
+      - name: Add GitLab.com SSH key to known_hosts
+        run: |
+          mkdir -p ~/.ssh
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+      - name: Clone GitLab docs repo
+        env:
+          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+        run: |
+          echo "Cloning GitLab"
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+          cd gitlab_docs
+          echo "checkout models/${RECOMPILED_DIR}"
+          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
+          git checkout main
+          cd ..
+
+      - name: Checkout docs repo
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot-docs
+          ref: gh-pages
+          path: docs
+          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
+
+      - name: Validate recompiled dir and JSON version
+        run: |
+          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
+            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
+            exit 1
+          fi
+          if [ ! -f "$JSON_FILE" ]; then
+            echo "JSON file $JSON_FILE does not exist!"
+            exit 1
+          fi
+
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y jq gh
+
+      - name: Build model
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          START_TIME=$(date -u +"%Y-%m-%dT%H:%M:%SZ")
+          gh workflow run sunnypilot-build-model.yaml \
+            --repo sunnypilot/sunnypilot \
+            --ref "${{ github.event.inputs.build_model_ref }}" \
+            -f upstream_branch="${{ github.event.inputs.upstream_branch }}" \
+            -f custom_name="${{ github.event.inputs.custom_name }}"
+
+          for i in {1..24}; do
+            RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="${{ github.event.inputs.build_model_ref }}" --created ">$START_TIME" --limit=1 --json databaseId --jq '.[0].databaseId')
+            if [ -n "$RUN_ID" ]; then
+              break
+            fi
+            sleep 5
+          done
+
+          if [ -z "$RUN_ID" ]; then
+            echo "Could not find the triggered workflow run."
+            exit 1
+          fi
+
+          echo "Watching run ID: $RUN_ID"
+          gh run watch "$RUN_ID" --repo sunnypilot/sunnypilot
+          CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
+          echo "Run concluded with: $CONCLUSION"
+          if [[ "$CONCLUSION" != "success" ]]; then
+            echo "Workflow run failed with conclusion: $CONCLUSION"
+            exit 1
+          fi
+
+      - name: Download and extract model artifact
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          ARTIFACT_DIR="gitlab_docs/models/$RECOMPILED_DIR"
+          RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="${{ github.event.inputs.build_model_ref }}" --limit=1 --json databaseId --jq '.[0].databaseId')
+          ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name')
+          echo "Downloading artifact: $ARTIFACT_NAME from run: $RUN_ID"
+          mkdir -p "$ARTIFACT_DIR/$ARTIFACT_NAME"
+          echo "Created directory: $ARTIFACT_DIR/$ARTIFACT_NAME"
+          gh run download "$RUN_ID" --repo sunnypilot/sunnypilot -n "$ARTIFACT_NAME" --dir "$ARTIFACT_DIR/$ARTIFACT_NAME"
+          echo "Downloaded artifact zip(s) to: $ARTIFACT_DIR/$ARTIFACT_NAME"
+          ZIP_PATH=$(find "$ARTIFACT_DIR/$ARTIFACT_NAME" -type f -name '*.zip' | head -n1)
+          if [ -n "$ZIP_PATH" ]; then
+            echo "Unzipping $ZIP_PATH to $ARTIFACT_DIR/$ARTIFACT_NAME"
+            unzip -o "$ZIP_PATH" -d "$ARTIFACT_DIR/$ARTIFACT_NAME"
+            rm -f "$ZIP_PATH"
+            echo "Unzipped and removed $ZIP_PATH"
+          else
+            echo "No zip file found in $ARTIFACT_DIR/$ARTIFACT_NAME"
+          fi
+          echo "Done processing $ARTIFACT_NAME"
+
+      - name: Push recompiled dir to GitLab
+        env:
+          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+        run: |
+          cd gitlab_docs
+          git checkout main
+          for d in models/"$RECOMPILED_DIR"/*/; do
+            git sparse-checkout add "$d"
+          done
+          git add models/"$RECOMPILED_DIR"
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
+          git push origin main
+
+      - name: Run json_parser.py to update JSON
+        run: |
+          FOLDER="${{ github.event.inputs.model_folder }}"
+          if [ "$FOLDER" = "Other" ]; then
+            FOLDER="${{ github.event.inputs.custom_model_folder }}"
+          fi
+          ARGS=""
+          [ -n "$FOLDER" ] && ARGS="$ARGS --model-folder \"$FOLDER\""
+          [ -n "${{ github.event.inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ github.event.inputs.generation }}\""
+          [ -n "${{ github.event.inputs.version }}" ] && ARGS="$ARGS --version \"${{ github.event.inputs.version }}\""
+          eval python3 docs/json_parser.py \
+            --json-path "$JSON_FILE" \
+            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
+            $ARGS
+
+      - name: Push updated JSON to GitHub docs repo
+        run: |
+          cd docs
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git checkout gh-pages
+          git add docs/"$(basename $JSON_FILE)"
+          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
+          git push origin gh-pages

From 0b15b8810429d3251d3423125ec2b32a96e4ebdb Mon Sep 17 00:00:00 2001
From: Warren Togami <wtogami@gmail.com>
Date: Sat, 19 Jul 2025 02:30:39 -0500
Subject: [PATCH 0310/1434] NNLC: SIENNA_4TH_GEN gen 1, KIA_NERO_PHEV_2022
 (#1013)

* `SIENNA_4TH_GEN` tuning Gen 1 (June 14th, 2025)
   2021-2023 Toyota Sienna
* `KIA_NIRO_PHEV_2022` tuning (July 15th, 2025)
   2021-2022 Kia Niro PHEV
* Fix: rename files to remove spaces in filenames for build compatibility
---
 sunnypilot/neural_network_data | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/neural_network_data b/sunnypilot/neural_network_data
index b59ab483c86cd7..03cac2d30e111e 160000
--- a/sunnypilot/neural_network_data
+++ b/sunnypilot/neural_network_data
@@ -1 +1 @@
-Subproject commit b59ab483c86cd70d04de91ad878024cd66fe86b6
+Subproject commit 03cac2d30e111e0689c0429cb8c1fe6cb5a905af

From 517919c7b7994fe5839aa075532dd5c47c8ea305 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 19 Jul 2025 00:41:01 -0700
Subject: [PATCH 0311/1434] ui: display recorded timestamp on error view (#827)

* Error log clear on manager start

* Error log clear on manager start

* 12 hour reset. may change soon

* Add last modified date

* unused

* rm space

* Squashed commit of the following:

commit bcf5b06c822fd1bce1de5f119e42cb763d8e282f
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Thu Jul 17 14:14:29 2025 -0700

    Init Developer panel SP

commit cf8bbb70ab9d132d7b15043a73496a17b841641b
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Thu Jul 17 06:22:18 2025 -0700

    Chronological in manager too

commit ff9b873468c8ef63eca6de524c924bb80a287b4d
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Thu Jul 17 06:19:59 2025 -0700

    Move down, since name change

commit 38f6cb8c5735815faaca3226c7c8da0e051452c2
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Thu Jul 17 06:17:36 2025 -0700

    FastBoot -> QuickBoot

commit 38562db8dd6b4cdeb06db74f1a71de2c285ed3ab
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Wed Jul 16 11:20:17 2025 -0700

    Unused

commit c7a751b02d7146e83dfa0ee5037fa4cf8ee6def5
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Wed Jul 16 10:24:47 2025 -0700

    Fast boot mode

* * Depends on  #1054

* Update developer_panel.h

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 selfdrive/ui/qt/offroad/developer_panel.cc    | 13 ------
 selfdrive/ui/qt/offroad/developer_panel.h     |  2 -
 selfdrive/ui/sunnypilot/SConscript            |  1 +
 .../qt/offroad/settings/developer_panel.cc    | 40 +++++++++++++++++++
 .../qt/offroad/settings/developer_panel.h     | 28 +++++++++++++
 .../qt/offroad/settings/settings.cc           |  4 +-
 6 files changed, 71 insertions(+), 17 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h

diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc
index 3e9647d2cf5cef..fbfb16294b9cfc 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.cc
+++ b/selfdrive/ui/qt/offroad/developer_panel.cc
@@ -45,17 +45,6 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(experimentalLongitudinalToggle);
 
-  enableGithubRunner = new ParamControl("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "");
-  addItem(enableGithubRunner);
-
-  // error log button
-  errorLogBtn = new ButtonControl(tr("Error Log"), tr("VIEW"), tr("View the error log for sunnypilot crashes."));
-  connect(errorLogBtn, &ButtonControl::clicked, [=]() {
-    std::string txt = util::read_file("/data/community/crashes/error.log");
-    ConfirmationDialog::rich(QString::fromStdString(txt), this);
-  });
-  addItem(errorLogBtn);
-
   // Joystick and longitudinal maneuvers should be hidden on release branches
   is_release = params.getBool("IsReleaseBranch");
 
@@ -104,8 +93,6 @@ void DeveloperPanel::updateToggles(bool _offroad) {
   experimentalLongitudinalToggle->refresh();
 
   // Handle specific controls visibility for release branches
-  enableGithubRunner->setVisible(!is_release);
-  errorLogBtn->setVisible(!is_release);
   joystickToggle->setVisible(!is_release);
 
   offroad = _offroad;
diff --git a/selfdrive/ui/qt/offroad/developer_panel.h b/selfdrive/ui/qt/offroad/developer_panel.h
index c15b574f5a8bd6..51b1b0b6f02297 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.h
+++ b/selfdrive/ui/qt/offroad/developer_panel.h
@@ -16,10 +16,8 @@ class DeveloperPanel : public ListWidget {
   Params params;
   ParamControl* adbToggle;
   ParamControl* joystickToggle;
-  ButtonControl* errorLogBtn;
   ParamControl* longManeuverToggle;
   ParamControl* experimentalLongitudinalToggle;
-  ParamControl* enableGithubRunner;
   bool is_release;
   bool offroad = false;
 
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 41cc09141bbf75..810338aae8ebe0 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -21,6 +21,7 @@ qt_src = [
   "sunnypilot/qt/home.cc",
   "sunnypilot/qt/offroad/exit_offroad_button.cc",
   "sunnypilot/qt/offroad/offroad_home.cc",
+  "sunnypilot/qt/offroad/settings/developer_panel.cc",
   "sunnypilot/qt/offroad/settings/device_panel.cc",
   "sunnypilot/qt/offroad/settings/lateral_panel.cc",
   "sunnypilot/qt/offroad/settings/longitudinal_panel.cc",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
new file mode 100644
index 00000000000000..a11a6cdbeb5ed9
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
@@ -0,0 +1,40 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h"
+
+DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(parent) {
+  // Github Runner Toggle
+  enableGithubRunner = new ParamControlSP("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "");
+  addItem(enableGithubRunner);
+
+  // Error log button
+  errorLogBtn = new ButtonControlSP(tr("Error Log"), tr("VIEW"), tr("View the error log for sunnypilot crashes."));
+  connect(errorLogBtn, &ButtonControlSP::clicked, [=]() {
+    QFileInfo file("/data/community/crashes/error.log");
+    QString text;
+    if (file.exists()) {
+      text = "<b>" + file.lastModified().toString("dd-MMM-yyyy hh:mm:ss ").toUpper() + "</b><br><br>";
+    }
+    text += QString::fromStdString(util::read_file("/data/community/crashes/error.log"));
+    ConfirmationDialog::rich(text, this);
+  });
+  addItem(errorLogBtn);
+
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &DeveloperPanelSP::updateToggles);
+}
+
+void DeveloperPanelSP::updateToggles(bool offroad) {
+  bool is_release = params.getBool("IsReleaseBranch");
+
+  enableGithubRunner->setVisible(!is_release);
+  errorLogBtn->setVisible(!is_release);
+}
+
+void DeveloperPanelSP::showEvent(QShowEvent *event) {
+  DeveloperPanel::showEvent(event);
+  updateToggles(!uiState()->scene.started);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h
new file mode 100644
index 00000000000000..ba707b64def57a
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h
@@ -0,0 +1,28 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+#pragma once
+
+#include <QFileInfo>
+
+#include "selfdrive/ui/qt/offroad/developer_panel.h"
+
+class DeveloperPanelSP : public DeveloperPanel {
+  Q_OBJECT
+public:
+  explicit DeveloperPanelSP(SettingsWindow *parent);
+
+private:
+  ParamControlSP *enableGithubRunner;
+  ButtonControlSP *errorLogBtn;
+  Params params;
+
+private slots:
+  void updateToggles(bool offroad);
+
+protected:
+  void showEvent(QShowEvent *event) override;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
index 05ea5ff899f645..5415e75ea9d9ae 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
@@ -8,10 +8,10 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-#include "selfdrive/ui/qt/offroad/developer_panel.h"
 #include "selfdrive/ui/qt/offroad/firehose.h"
 #include "selfdrive/ui/sunnypilot/qt/network/networking.h"
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
@@ -91,7 +91,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
     PanelInfo("   " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
     PanelInfo("   " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
     PanelInfo("   " + tr("Firehose"), new FirehosePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_firehose.svg"),
-    PanelInfo("   " + tr("Developer"), new DeveloperPanel(this), "../assets/icons/shell.png"),
+    PanelInfo("   " + tr("Developer"), new DeveloperPanelSP(this), "../assets/icons/shell.png"),
   };
 
   nav_btns = new QButtonGroup(this);

From 47833ed73a3a2263b3c60a39137e201637387c96 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 19 Jul 2025 06:01:39 -0700
Subject: [PATCH 0312/1434] ui: Disable Updates Toggle (#1040)

* Disable Updates

* Add default to manager.py

* Add enabled state and alternate descriptions

---------

Co-authored-by: Nayan <nayan8teen@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .../qt/offroad/settings/software_panel.cc     | 36 +++++++++++++++++++
 .../qt/offroad/settings/software_panel.h      |  6 ++++
 system/manager/manager.py                     |  1 +
 3 files changed, 43 insertions(+)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
index 9430d02ba8fce4..7bef7ed2030d3f 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
@@ -18,6 +18,18 @@ SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) {
         searchBranches(d.text());
       }
   });
+
+  // Disable Updates toggle
+  disableUpdatesToggle = new ParamControl("DisableUpdates",
+    tr("Disable Updates"),
+    tr("When enabled, software updates will be disabled. <b>This requires a reboot to take effect.</b>"),
+    "../assets/icons/icon_warning.png",
+    this);
+  disableUpdatesToggle->showDescription();
+  addItem(disableUpdatesToggle);
+  connect(disableUpdatesToggle, &ParamControl::toggleFlipped, this, &SoftwarePanelSP::handleDisableUpdatesToggled);
+  connect(uiState(), &UIState::offroadTransition, this, &SoftwarePanelSP::updateDisableUpdatesToggle);
+  updateDisableUpdatesToggle(!uiState()->scene.started);
 }
 
 /**
@@ -49,3 +61,27 @@ void SoftwarePanelSP::searchBranches(const QString &query) {
     checkForUpdates();
   }
 }
+
+void SoftwarePanelSP::handleDisableUpdatesToggled(bool state) {
+  if (ConfirmationDialog::confirm(tr("%1 updates requires a reboot.<br>Reboot now?")
+      .arg(state ? "Disabling" : "Enabling"), tr("Reboot"), this)) {
+    params.putBool("DoReboot", true);
+  } else {
+    params.putBool("DisableUpdates", !state);
+    disableUpdatesToggle->refresh();
+  }
+}
+
+void SoftwarePanelSP::updateDisableUpdatesToggle(bool offroad) {
+  bool enabled = offroad;
+  disableUpdatesToggle->setEnabled(enabled);
+  disableUpdatesToggle->setDescription(enabled
+    ? tr("When enabled, software updates will be disabled.<br><b>This requires a reboot to take effect.</b>")
+    : tr("Please enable always offroad mode or turn off vehicle to adjust these toggles"));
+}
+
+void SoftwarePanelSP::showEvent(QShowEvent *event) {
+  SoftwarePanel::showEvent(event);
+  updateDisableUpdatesToggle(!uiState()->scene.started);
+  disableUpdatesToggle->showDescription();
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
index 56d8b9be5bd122..efaa836a210930 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
@@ -19,4 +19,10 @@ class SoftwarePanelSP final : public SoftwarePanel {
 
 private:
   void searchBranches(const QString &query);
+  ParamControl *disableUpdatesToggle = nullptr;
+  void handleDisableUpdatesToggled(bool state);
+private slots:
+  void updateDisableUpdatesToggle(bool offroad);
+protected:
+  void showEvent(QShowEvent *event) override;
 };
diff --git a/system/manager/manager.py b/system/manager/manager.py
index b68207b6918650..922640de8ba1a7 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -54,6 +54,7 @@ def manager_init() -> None:
     ("CustomAccLongPressIncrement", "5"),
     ("CustomAccShortPressIncrement", "1"),
     ("DeviceBootMode", "0"),
+    ("DisableUpdates", "0"),
     ("DynamicExperimentalControl", "0"),
     ("HyundaiLongitudinalTuning", "0"),
     ("InteractivityTimeout", "0"),

From 3faf709387afa0e2e632ea1047035c55c8f015fd Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Sat, 19 Jul 2025 06:17:19 -0700
Subject: [PATCH 0313/1434] ui: Visuals Panel Lead Chevron Info  (#1033)

* lead info

* ui:chevron params

* Update system/manager/manager.py.

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 common/params_keys.h                          |   1 +
 selfdrive/ui/qt/onroad/model.cc               | 168 ++++++++++++++++++
 selfdrive/ui/qt/onroad/model.h                |  11 ++
 .../qt/offroad/settings/visuals_panel.cc      |  20 ++-
 .../qt/offroad/settings/visuals_panel.h       |   1 +
 system/manager/manager.py                     |   3 +-
 6 files changed, 201 insertions(+), 3 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 102b31bea9a0cc..e8c155ab410339 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -132,6 +132,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
     {"CarParamsSPPersistent", PERSISTENT},
     {"CarPlatformBundle", PERSISTENT},
+    {"ChevronInfo", PERSISTENT | BACKUP},
     {"CustomAccIncrementsEnabled", PERSISTENT | BACKUP},
     {"CustomAccLongPressIncrement", PERSISTENT | BACKUP},
     {"CustomAccShortPressIncrement", PERSISTENT | BACKUP},
diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
index dc801e591f91d4..a1e3756cb696f0 100644
--- a/selfdrive/ui/qt/onroad/model.cc
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -34,6 +34,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
       drawLead(painter, lead_two, lead_vertices[1], surface_rect);
     }
   }
+  drawLeadStatus(painter, surface_rect.height(), surface_rect.width());
 
   painter.restore();
 }
@@ -173,6 +174,173 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
       (1 - t) * start.alphaF() + t * end.alphaF());
 }
 
+
+void ModelRenderer::drawLeadStatus(QPainter &painter, int height, int width) {
+    auto *s = uiState();
+    auto &sm = *(s->sm);
+
+    if (!sm.alive("radarState")) return;
+
+    const auto &radar_state = sm["radarState"].getRadarState();
+    const auto &lead_one = radar_state.getLeadOne();
+    const auto &lead_two = radar_state.getLeadTwo();
+
+    // Check if we have any active leads
+    bool has_lead_one = lead_one.getStatus();
+    bool has_lead_two = lead_two.getStatus();
+
+    if (!has_lead_one && !has_lead_two) {
+        // Fade out status display
+        lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
+        if (lead_status_alpha <= 0.0f) return;
+    } else {
+        // Fade in status display
+        lead_status_alpha = std::min(1.0f, lead_status_alpha + 0.1f);
+    }
+
+    // Draw status for each lead vehicle under its chevron
+    if (true) {
+        drawLeadStatusAtPosition(painter, lead_one, lead_vertices[0], height, width, "L1");
+    }
+
+    if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) {
+        drawLeadStatusAtPosition(painter, lead_two, lead_vertices[1], height, width, "L2");
+    }
+}
+
+void ModelRenderer::drawLeadStatusAtPosition(QPainter &painter,
+                                           const cereal::RadarState::LeadData::Reader &lead_data,
+                                           const QPointF &chevron_pos,
+                                           int height, int width,
+                                           const QString &label) {
+
+    float d_rel = lead_data.getDRel();
+    float v_rel = lead_data.getVRel();
+    auto *s = uiState();
+    auto &sm = *(s->sm);
+    float v_ego = sm["carState"].getCarState().getVEgo();
+
+    int chevron_data = std::atoi(Params().get("ChevronInfo").c_str());
+
+    // Calculate chevron size (same logic as drawLead)
+    float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
+
+    QFont content_font = painter.font();
+    content_font.setPixelSize(35);
+    content_font.setBold(true);
+    painter.setFont(content_font);
+
+    QFontMetrics fm(content_font);
+    bool is_metric = s->scene.is_metric;
+
+    QStringList text_lines;
+
+    const int chevron_types = 3;
+    const int chevron_all = chevron_types + 1;  // All metrics (value 4)
+    QStringList chevron_text[chevron_types];
+    int position;
+    float val;
+
+    // Distance display (chevron_data == 1 or all)
+    if (chevron_data == 1 || chevron_data == chevron_all) {
+        position = 0;
+        val = std::max(0.0f, d_rel);
+        QString distance_unit = is_metric ? "m" : "ft";
+        if (!is_metric) {
+            val *= 3.28084f; // Convert meters to feet
+        }
+        chevron_text[position].append(QString::number(val, 'f', 0) + " " + distance_unit);
+    }
+
+    // Absolute velocity display (chevron_data == 2 or all)
+    if (chevron_data == 2 || chevron_data == chevron_all) {
+        position = (chevron_data == 2) ? 0 : 1;
+        val = std::max(0.0f, (v_rel + v_ego) * (is_metric ? static_cast<float>(MS_TO_KPH) : static_cast<float>(MS_TO_MPH)));
+        chevron_text[position].append(QString::number(val, 'f', 0) + " " + (is_metric ? "km/h" : "mph"));
+    }
+
+    // Time-to-contact display (chevron_data == 3 or all)
+    if (chevron_data == 3 || chevron_data == chevron_all) {
+        position = (chevron_data == 3) ? 0 : 2;
+        val = (d_rel > 0 && v_ego > 0) ? std::max(0.0f, d_rel / v_ego) : 0.0f;
+        QString ttc_str = (val > 0 && val < 200) ? QString::number(val, 'f', 1) + "s" : "---";
+        chevron_text[position].append(ttc_str);
+    }
+
+    // Collect all non-empty text lines
+    for (int i = 0; i < chevron_types; ++i) {
+        if (!chevron_text[i].isEmpty()) {
+            text_lines.append(chevron_text[i]);
+        }
+    }
+
+    // If no text to display, return early
+    if (text_lines.isEmpty()) {
+        return;
+    }
+
+    // Text box dimensions
+    float str_w = 150;  // Width of text area
+    float str_h = 45;   // Height per line
+
+    // Position text below chevron, centered horizontally
+    float text_x = chevron_pos.x() - str_w / 2;
+    float text_y = chevron_pos.y() + sz + 15;
+
+    // Clamp to screen bounds
+    text_x = std::clamp(text_x, 10.0f, (float)width - str_w - 10);
+
+    // Shadow offset
+    QPoint shadow_offset(2, 2);
+
+    // Draw each line of text with shadow
+    for (int i = 0; i < text_lines.size(); ++i) {
+        if (!text_lines[i].isEmpty()) {
+            QRect textRect(text_x, text_y + (i * str_h), str_w, str_h);
+
+            // Draw shadow
+            painter.setPen(QColor(0x0, 0x0, 0x0, (int)(200 * lead_status_alpha)));
+            painter.drawText(textRect.translated(shadow_offset.x(), shadow_offset.y()),
+                           Qt::AlignBottom | Qt::AlignHCenter, text_lines[i]);
+
+            // Determine text color based on content and danger level
+            QColor text_color;
+
+            // Check if this is a distance line (contains 'm' or 'ft')
+            if (text_lines[i].contains("m") || text_lines[i].contains("ft")) {
+                if (d_rel < 20.0f) {
+                    text_color = QColor(255, 80, 80, (int)(255 * lead_status_alpha)); // Red - danger
+                } else if (d_rel < 40.0f) {
+                    text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha)); // Yellow - caution
+                } else {
+                    text_color = QColor(80, 255, 120, (int)(255 * lead_status_alpha)); // Green - safe
+                }
+            }
+            // Enhanced color coding for time-to-contact
+            else if (text_lines[i].contains("s") && !text_lines[i].contains("---")) {
+                float ttc_val = text_lines[i].left(text_lines[i].length() - 1).toFloat();
+                if (ttc_val < 3.0f) {
+                    text_color = QColor(255, 80, 80, (int)(255 * lead_status_alpha)); // Red - urgent
+                } else if (ttc_val < 6.0f) {
+                    text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha)); // Yellow - caution
+                } else {
+                    text_color = QColor(0xff, 0xff, 0xff, (int)(255 * lead_status_alpha)); // White - safe
+                }
+            }
+            else {
+                text_color = QColor(0xff, 0xff, 0xff, (int)(255 * lead_status_alpha)); // White for other lines
+            }
+
+            // Draw main text
+            painter.setPen(text_color);
+            painter.drawText(textRect, Qt::AlignBottom | Qt::AlignHCenter, text_lines[i]);
+        }
+    }
+
+    // Reset pen
+    painter.setPen(Qt::NoPen);
+}
+
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                              const QPointF &vd, const QRect &surface_rect) {
   const float speedBuff = 10.;
diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h
index 85eb236e76868a..e40f832c37a135 100644
--- a/selfdrive/ui/qt/onroad/model.h
+++ b/selfdrive/ui/qt/onroad/model.h
@@ -34,6 +34,12 @@ class ModelRenderer {
   bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
   void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
                         QPolygonF *pvd, int max_idx, bool allow_invert = true);
+  void drawLeadStatus(QPainter &painter, int height, int width);
+  void drawLeadStatusAtPosition(QPainter &painter,
+                             const cereal::RadarState::LeadData::Reader &lead_data,
+                             const QPointF &chevron_pos,
+                             int height, int width,
+                             const QString &label);
   void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect);
   void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
   virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
@@ -58,4 +64,9 @@ class ModelRenderer {
   QPointF lead_vertices[2] = {};
   Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
   QRectF clip_region;
+
+  float lead_status_alpha = 0.0f;
+  QPointF lead_status_pos;
+  QString lead_status_text;
+  QColor lead_status_color;
 };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
index 0d42bd74f481d7..818da9b75e1298 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -12,7 +12,7 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
   connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
     paramsRefresh();
   });
-  
+
   main_layout = new QStackedLayout(this);
   ListWidgetSP *list = new ListWidgetSP(this, false);
 
@@ -30,6 +30,7 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
     },
   };
 
+  // Add regular toggles first
   for (auto &[param, title, desc, icon, needs_restart] : toggle_defs) {
     auto toggle = new ParamControlSP(param, title, desc, icon, this);
 
@@ -53,9 +54,20 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
     param_watcher->addParam(param);
   }
 
+  // Visuals: Display Metrics below Chevron
+  std::vector<QString> chevron_info_settings_texts{tr("Off"), tr("Distance"), tr("Speed"), tr("Time"), tr("All")};
+  chevron_info_settings = new ButtonParamControlSP(
+    "ChevronInfo", tr("Display Metrics Below Chevron"), tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control)."),
+    "",
+    chevron_info_settings_texts,
+    200);
+  chevron_info_settings->showDescription();
+  list->addItem(chevron_info_settings);
+  param_watcher->addParam("ChevronInfo");
+
   sunnypilotScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(sunnypilotScroller);
-  
+
   main_layout->addWidget(sunnypilotScreen);
 }
 
@@ -67,4 +79,8 @@ void VisualsPanel::paramsRefresh() {
   for (auto toggle : toggles) {
     toggle.second->refresh();
   }
+
+  if (chevron_info_settings) {
+    chevron_info_settings->refresh();
+  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
index 42e0688957ed7d..f342662c22f906 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
@@ -27,4 +27,5 @@ class VisualsPanel : public QWidget {
  Params params;
  std::map<std::string, ParamControlSP*> toggles;
  ParamWatcher * param_watcher;
+ ButtonParamControlSP *chevron_info_settings;
 };
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 922640de8ba1a7..b67d59282190d7 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -50,6 +50,8 @@ def manager_init() -> None:
     ("BlindSpot", "0"),
     ("BlinkerMinLateralControlSpeed", "20"),  # MPH or km/h
     ("BlinkerPauseLateralControl", "0"),
+    ("Brightness", "0"),
+    ("ChevronInfo", "4"),
     ("CustomAccIncrementsEnabled", "0"),
     ("CustomAccLongPressIncrement", "5"),
     ("CustomAccShortPressIncrement", "1"),
@@ -66,7 +68,6 @@ def manager_init() -> None:
     ("MadsUnifiedEngagementMode", "1"),
     ("MapdVersion", f"{VERSION}"),
     ("MaxTimeOffroad", "1800"),
-    ("Brightness", "0"),
     ("ModelManager_LastSyncTime", "0"),
     ("ModelManager_ModelsCache", ""),
     ("NeuralNetworkLateralControl", "0"),

From 7c1f3f646cd5efdd3077afddfac90c195e1543c2 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sat, 19 Jul 2025 09:52:54 -0400
Subject: [PATCH 0314/1434] UI: Model Folders (#1031)

* model folders.. yay

* scroll expanded item in view

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 selfdrive/ui/qt/widgets/input.cc              | 139 ++++++++++++++++++
 selfdrive/ui/qt/widgets/input.h               |  14 ++
 .../qt/offroad/settings/models_panel.cc       |  73 +++++++--
 3 files changed, 212 insertions(+), 14 deletions(-)

diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc
index 0cbf14931b496a..4f330dca8d9f1e 100644
--- a/selfdrive/ui/qt/widgets/input.cc
+++ b/selfdrive/ui/qt/widgets/input.cc
@@ -2,6 +2,7 @@
 
 #include <QPushButton>
 #include <QButtonGroup>
+#include <QScroller>
 
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/util.h"
@@ -334,3 +335,141 @@ QString MultiOptionDialog::getSelection(const QString &prompt_text, const QStrin
   }
   return "";
 }
+
+TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items,
+                                   const QString &current, QWidget *parent) : DialogBase(parent) {
+  QFrame *container = new QFrame(this);
+  container->setStyleSheet(R"(
+    QFrame { background-color: #1B1B1B; }
+    #confirm_btn[enabled="false"] { background-color: #2B2B2B; }
+    #confirm_btn:enabled { background-color: #465BEA; }
+    #confirm_btn:enabled:pressed { background-color: #3049F4; }
+    QTreeWidget {
+      background-color: transparent;
+      border: none;
+    }
+    QTreeWidget::item {
+      height: 135;
+      padding: 0px 50px;
+      margin: 5px;
+      text-align: left;
+      font-size: 55px;
+      font-weight: 300;
+      border-radius: 10px;
+      background-color: #4F4F4F;
+      color: white;
+    }
+    QTreeWidget::item:selected {
+      background-color: #465BEA;
+    }
+    QTreeWidget::branch {
+      background-color: transparent;
+    }
+  )");
+
+  QVBoxLayout *main_layout = new QVBoxLayout(container);
+  main_layout->setContentsMargins(55, 50, 55, 50);
+
+  QLabel *title = new QLabel(prompt_text, this);
+  title->setStyleSheet("font-size: 70px; font-weight: 500;");
+  main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
+  main_layout->addSpacing(25);
+
+  treeWidget = new QTreeWidget(this);
+  treeWidget->setHeaderHidden(true);
+  treeWidget->setIndentation(50);
+  treeWidget->setExpandsOnDoubleClick(false); // Disable double-click expansion
+  treeWidget->setAnimated(true);
+  treeWidget->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+  treeWidget->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+  treeWidget->setVerticalScrollMode(QAbstractItemView::ScrollPerPixel);
+  treeWidget->setDragEnabled(false);
+  treeWidget->setMouseTracking(true);
+
+  // Connect single-click to expand/collapse
+  QObject::connect(treeWidget, &QTreeWidget::itemClicked, [=](QTreeWidgetItem *item, int) {
+    if (item->childCount() > 0) {
+      item->setExpanded(!item->isExpanded());
+      treeWidget->scrollToItem(item->child(0), QAbstractItemView::EnsureVisible);
+    }
+  });
+
+  QScroller::grabGesture(treeWidget->viewport(), QScroller::LeftMouseButtonGesture);
+
+  // Populate tree
+  QListIterator<QPair<QString, QStringList>> iter(items);
+  while (iter.hasNext()) {
+    QPair currItem = iter.next();
+    if (currItem.first.isEmpty()) {
+      for (const QString &item : currItem.second) {
+        QTreeWidgetItem *topLevel = new QTreeWidgetItem();
+        topLevel->setText(0, item);
+        topLevel->setFlags(topLevel->flags() | Qt::ItemIsSelectable);
+        treeWidget->addTopLevelItem(topLevel);
+        if (item == current) {
+          topLevel->setSelected(true);
+        }
+      }
+    } else {
+      QTreeWidgetItem *folderItem = new QTreeWidgetItem(treeWidget);
+      folderItem->setIcon(0, QIcon(QPixmap("../assets/icons/menu.png")));
+      folderItem->setText(0, "  " + currItem.first);
+      folderItem->setFlags(folderItem->flags() | Qt::ItemIsAutoTristate);
+      folderItem->setFlags(folderItem->flags() & ~Qt::ItemIsSelectable);
+
+      for (const QString &item : currItem.second)
+      {
+        QTreeWidgetItem *childItem = new QTreeWidgetItem(folderItem);
+        childItem->setText(0, item);
+        childItem->setFlags(childItem->flags() | Qt::ItemIsSelectable);
+
+        if (item == current) {
+          childItem->setSelected(true);
+          folderItem->setExpanded(true);
+        }
+      }
+    }
+  }
+
+  confirm_btn = new QPushButton(tr("Select"));
+  confirm_btn->setObjectName("confirm_btn");
+  confirm_btn->setEnabled(false);
+
+  QObject::connect(treeWidget, &QTreeWidget::itemSelectionChanged, [=]() {
+    QList<QTreeWidgetItem*> selectedItems = treeWidget->selectedItems();
+    if (!selectedItems.isEmpty()) {
+      selection = selectedItems.first()->text(0);
+      confirm_btn->setEnabled(selection != current);
+    }
+  });
+
+  ScrollView *scroll_view = new ScrollView(treeWidget, this);
+  scroll_view->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded);
+
+  main_layout->addWidget(scroll_view);
+  main_layout->addSpacing(35);
+
+  // cancel + confirm buttons
+  QHBoxLayout *blayout = new QHBoxLayout;
+  main_layout->addLayout(blayout);
+  blayout->setSpacing(50);
+
+  QPushButton *cancel_btn = new QPushButton(tr("Cancel"));
+  QObject::connect(cancel_btn, &QPushButton::clicked, this, &ConfirmationDialog::reject);
+  QObject::connect(confirm_btn, &QPushButton::clicked, this, &ConfirmationDialog::accept);
+  blayout->addWidget(cancel_btn);
+  blayout->addWidget(confirm_btn);
+
+  QVBoxLayout *outer_layout = new QVBoxLayout(this);
+  outer_layout->setContentsMargins(50, 50, 50, 50);
+  outer_layout->addWidget(container);
+}
+
+QString TreeOptionDialog::getSelection(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items,
+                                     const QString &current, QWidget *parent) {
+  TreeOptionDialog d(prompt_text, items, current, parent);
+  if (d.exec()) {
+    return d.selection;
+  }
+  return "";
+}
diff --git a/selfdrive/ui/qt/widgets/input.h b/selfdrive/ui/qt/widgets/input.h
index 089e54e4a0018d..76f87bf32f7e5b 100644
--- a/selfdrive/ui/qt/widgets/input.h
+++ b/selfdrive/ui/qt/widgets/input.h
@@ -6,6 +6,7 @@
 #include <QString>
 #include <QVBoxLayout>
 #include <QWidget>
+#include <QTreeWidget>
 
 #include "selfdrive/ui/qt/widgets/keyboard.h"
 
@@ -69,3 +70,16 @@ class MultiOptionDialog : public DialogBase {
   static QString getSelection(const QString &prompt_text, const QStringList &l, const QString &current, QWidget *parent);
   QString selection;
 };
+
+class TreeOptionDialog : public DialogBase {
+  Q_OBJECT
+
+public:
+  explicit TreeOptionDialog(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items, const QString &current, QWidget *parent = nullptr);
+  static QString getSelection(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items, const QString &current, QWidget *parent = nullptr);
+  QString selection;
+
+private:
+  QTreeWidget *treeWidget;
+  QPushButton *confirm_btn;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index 1a2e86622a5f6e..90bc80f00a8f7e 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -244,28 +244,73 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
   currentModelLblBtn->setEnabled(false);
   currentModelLblBtn->setValue(tr("Fetching models..."));
 
-  // Create mapping of bundle indices to display names
-  QMap<uint32_t, QString> index_to_bundle;
+  struct ModelEntry {
+    QString folder;
+    QString displayName;
+    int index;
+  };
+  QList<ModelEntry> sortedModels;
+  QSet<QString> modelFolders;
   const auto bundles = model_manager.getAvailableBundles();
-  for (const auto &bundle: bundles) {
-    index_to_bundle.insert(bundle.getIndex(), QString::fromStdString(bundle.getDisplayName()));
+
+  for (const auto &bundle : bundles) {
+    auto overrides = bundle.getOverrides();
+    QString gen;
+    for (const auto &override : overrides) {
+      if (override.getKey() == "folder") {
+        gen = QString::fromStdString(override.getValue().cStr());
+      }
+    }
+
+    modelFolders.insert(gen);
+    sortedModels.append(ModelEntry{
+      gen,
+      QString::fromStdString(bundle.getDisplayName()),
+      static_cast<int>(bundle.getIndex())
+    });
   }
 
-  // Sort bundles by index in descending order
-  QStringList bundleNames;
-  // Add "Default" as the first option
-  bundleNames.append(DEFAULT_MODEL);
+  std::sort(sortedModels.begin(), sortedModels.end(),
+    [](const ModelEntry &a, const ModelEntry &b) {
+      return a.index > b.index;
+    });
 
-  auto indices = index_to_bundle.keys();
-  std::sort(indices.begin(), indices.end(), std::greater<uint32_t>());
-  for (const auto &index: indices) {
-    bundleNames.append(index_to_bundle[index]);
+  // Create a list of folder-maxIndex pairs for sorting
+  QList<QPair<QString, int>> folderMaxIndices;
+  for (const auto &folder : modelFolders) {
+    int maxIndex = -1;
+    for (const auto &model : sortedModels) {
+      if (model.folder == folder) {
+        maxIndex = std::max(maxIndex, model.index);
+      }
+    }
+    folderMaxIndices.append(qMakePair(folder, maxIndex));
+  }
+
+  // Sort folders by their highest model index
+  std::sort(folderMaxIndices.begin(), folderMaxIndices.end(),
+      [](const QPair<QString, int> &a, const QPair<QString, int> &b) {
+          return a.second > b.second;
+      });
+
+  // Create the final items list using sorted folders
+  QList<QPair<QString, QStringList>> items;
+  for (const auto &folderPair : folderMaxIndices) {
+    QStringList folderModels;
+    for (const auto &model : sortedModels) {
+      if (model.folder == folderPair.first) {
+        folderModels.append(model.displayName);
+      }
+    }
+    items.append(qMakePair(folderPair.first, folderModels));
   }
 
+  items.insert(0, qMakePair(QString(""), QStringList{DEFAULT_MODEL}));
+
   currentModelLblBtn->setValue(GetActiveModelInternalName());
 
-  const QString selectedBundleName = MultiOptionDialog::getSelection(
-    tr("Select a Model"), bundleNames, GetActiveModelName(), this);
+  const QString selectedBundleName = TreeOptionDialog::getSelection(
+    tr("Select a Model"), items, GetActiveModelName(), this);
 
   if (selectedBundleName.isEmpty() || !canContinueOnMeteredDialog()) {
     return;

From eae44df6881f7cdd35f9e2e436a24164a37b656d Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 19 Jul 2025 06:57:01 -0700
Subject: [PATCH 0315/1434] ui: Models panel Refine Software Delay Adjustments
 (#1048)

Allow lower values to match some makes liveDelay

Co-authored-by: Nayan <nayan8teen@gmail.com>
---
 selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index 90bc80f00a8f7e..4cbd4f11e4fc93 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -98,7 +98,7 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   delay_control = new OptionControlSP("LagdToggledelay", tr("Adjust Software Delay"),
                                      tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
                                         "\nThe default software delay value is 0.2"),
-                                     "", {10, 30}, 1, false, nullptr, true);
+                                     "", {5, 30}, 1, false, nullptr, true);
 
   connect(delay_control, &OptionControlSP::updateLabels, [=]() {
     float value = QString::fromStdString(params.get("LagdToggledelay")).toFloat();

From 1b570ef4189f11583fdd0175da82c778fd01b107 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 19 Jul 2025 07:22:02 -0700
Subject: [PATCH 0316/1434] sunnypilot modeld: Refactor Modeld to Allow Dynamic
 Plan and Lead (#1030)

* Introduce zero inputs for Lead, and plan to conform with new SP model introduced Monday, July 7, 2025

* Clean this up

* We can revert this after dev-c3-new testing and ready to merge.

* This needs to be apart of the conditional else fail

* Add full conditional

* Update longitudinal_planner.py

* Mypy from myphone!

* red diff

* Make generation a property for clarity

* Even clearer!

* Affix to generation, while allowing older models to use this IF param is set.

* seems a bit repetitive yea?

* dynamic

* Make most outputs dynamic

* Rm toggle from refactor

* refactor(modeld): simplify MHP output parsing logic

- Introduced `_parse_mhp_output` helper to remove redundancy and streamline `parse_dynamic_outputs`.
- Ensures improved code maintainability and clarity.

* refactor(longitudinal_planner): streamline generation handling logic

- Simplified `generation` assignment with inline conditional for better readability.
- Adjusted `mlsim` logic to default to model simulation when `generation` is unset.

* for ease of syncs from now on

* fix

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 selfdrive/modeld/modeld.py                    |  2 +-
 sunnypilot/modeld/fill_model_msg.py           |  2 +-
 sunnypilot/modeld/modeld.py                   |  2 +-
 sunnypilot/modeld_v2/fill_model_msg.py        |  6 +-
 sunnypilot/modeld_v2/modeld.py                | 12 ++-
 .../modeld_v2/parse_model_outputs_split.py    | 78 +++++++++++++++----
 sunnypilot/models/helpers.py                  |  2 +-
 .../controls/lib/longitudinal_planner.py      |  6 +-
 8 files changed, 79 insertions(+), 31 deletions(-)

diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 7cf70d8234fca1..31bfd707bb535c 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -90,7 +90,7 @@ class ModelState:
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
   def __init__(self, context: CLContext):
-    self.LAT_SMOOTH_SECONDS = 0.0
+    self.LAT_SMOOTH_SECONDS = LAT_SMOOTH_SECONDS
     with open(VISION_METADATA_PATH, 'rb') as f:
       vision_metadata = pickle.load(f)
       self.vision_input_shapes =  vision_metadata['input_shapes']
diff --git a/sunnypilot/modeld/fill_model_msg.py b/sunnypilot/modeld/fill_model_msg.py
index 608f24424d78fb..dadffc84333ff1 100644
--- a/sunnypilot/modeld/fill_model_msg.py
+++ b/sunnypilot/modeld/fill_model_msg.py
@@ -103,7 +103,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
   # temporal pose
-  temporal_pose = modelV2.temporalPose
+  temporal_pose = modelV2.temporalPoseDEPRECATED
   temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
   temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
   temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
index 86968ea26c39b7..10725efb712498 100755
--- a/sunnypilot/modeld/modeld.py
+++ b/sunnypilot/modeld/modeld.py
@@ -62,7 +62,7 @@ def __init__(self, context: CLContext):
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
     bundle = get_active_bundle()
     overrides = {override.key: override.value for override in bundle.overrides}
-    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".2"))
+    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".0"))
     self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
 
     model_paths = get_model_path()
diff --git a/sunnypilot/modeld_v2/fill_model_msg.py b/sunnypilot/modeld_v2/fill_model_msg.py
index 4d04d6e5ecf94d..c7de698f613154 100644
--- a/sunnypilot/modeld_v2/fill_model_msg.py
+++ b/sunnypilot/modeld_v2/fill_model_msg.py
@@ -10,8 +10,8 @@
 ConfidenceClass = log.ModelDataV2.ConfidenceClass
 
 
-def get_curvature_from_output(output, vego, lat_action_t, current_generation=None):
-  if current_generation != 11:
+def get_curvature_from_output(output, vego, lat_action_t, mlsim):
+  if not mlsim:
     if desired_curv := output.get('desired_curvature'):  # If the model outputs the desired curvature, use that directly
       return float(desired_curv[0, 0])
 
@@ -100,7 +100,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
   # temporal pose
-  temporal_pose = modelV2.temporalPose
+  temporal_pose = modelV2.temporalPoseDEPRECATED
   if 'sim_pose' in net_output_data:
     temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
     temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index 58e79eceb53e38..93a8a3f05efecd 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -54,10 +54,10 @@ def __init__(self, context: CLContext):
       raise
 
     model_bundle = get_active_bundle()
-    self.generation = model_bundle.generation
+    self.generation = model_bundle.generation if model_bundle is not None else None
     overrides = {override.key: override.value for override in model_bundle.overrides}
 
-    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".2"))
+    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".0"))
     self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
     self.MIN_LAT_CONTROL_SPEED = 0.3
 
@@ -86,6 +86,10 @@ def __init__(self, context: CLContext):
       self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1,
                                   self.numpy_inputs['desire'].shape[2])
 
+  @property
+  def mlsim(self) -> bool:
+    return bool(self.generation is not None and self.generation >= 11)
+
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
@@ -151,7 +155,7 @@ def process_desired_curvature(self, outputs, input_name_prev):
       self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
       self.full_prev_desired_curv[0,-1,:] = outputs['desired_curvature'][0, :]
       self.numpy_inputs[input_name_prev][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
-      if self.generation == 11:
+      if self.mlsim:
         self.numpy_inputs[input_name_prev][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
     else:
       length = outputs['desired_curvature'][0].size
@@ -165,7 +169,7 @@ def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action
                                                      action_t=long_action_t)
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
 
-    desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.generation)
+    desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.mlsim)
     if v_ego > self.MIN_LAT_CONTROL_SPEED:
       desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
     else:
diff --git a/sunnypilot/modeld_v2/parse_model_outputs_split.py b/sunnypilot/modeld_v2/parse_model_outputs_split.py
index 7fab66e038d028..f99d5692c7e4ea 100644
--- a/sunnypilot/modeld_v2/parse_model_outputs_split.py
+++ b/sunnypilot/modeld_v2/parse_model_outputs_split.py
@@ -1,5 +1,6 @@
 import numpy as np
 from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
+from openpilot.sunnypilot.models.helpers import get_active_bundle
 
 
 def safe_exp(x, out=None):
@@ -24,6 +25,8 @@ def softmax(x, axis=-1):
 class Parser:
   def __init__(self, ignore_missing=False):
     self.ignore_missing = ignore_missing
+    model_bundle = get_active_bundle()
+    self.generation = model_bundle.generation if model_bundle is not None else None
 
   def check_missing(self, outs, name):
     if name not in outs and not self.ignore_missing:
@@ -88,37 +91,78 @@ def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
     outs[name] = pred_mu_final.reshape(final_shape)
     outs[name + '_stds'] = pred_std_final.reshape(final_shape)
 
+  def _parse_mhp_output(self, name, output, shape_threshold, in_n_mhp, out_n_mhp, out_shape) -> None:
+    if name not in output:
+      return
+
+    shape = output[name].shape[1]
+    shape_is_expected_size = None
+
+    if name == 'lead':
+      shape_is_expected_size = shape == 2 * shape_threshold
+    elif name == 'plan':
+      shape_is_expected_size = shape <= 2 * shape_threshold
+
+    use_default_format = self.generation >= 12 and shape_is_expected_size
+    in_n = 0 if use_default_format else in_n_mhp
+    out_n = 0 if use_default_format else out_n_mhp
+
+    self.parse_mdn(name, output, in_n, out_n, out_shape)
+
+  def parse_dynamic_outputs(self, outs: dict[str, np.ndarray]) -> None:
+    self._parse_mhp_output(
+      name='lead',
+      output=outs,
+      shape_threshold=SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH,
+      in_n_mhp=SplitModelConstants.LEAD_MHP_N,
+      out_n_mhp=SplitModelConstants.LEAD_MHP_SELECTION,
+      out_shape=(SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH),
+    )
+
+    self._parse_mhp_output(
+      name='plan',
+      output=outs,
+      shape_threshold=SplitModelConstants.PLAN_WIDTH * SplitModelConstants.IDX_N,
+      in_n_mhp=SplitModelConstants.PLAN_MHP_N,
+      out_n_mhp=SplitModelConstants.PLAN_MHP_SELECTION,
+      out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH),
+    )
+
   def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
+    if 'desired_curvature' in outs:
+      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.DESIRED_CURV_WIDTH,))
+    if 'desire_pred' in outs:
+      self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(SplitModelConstants.DESIRE_PRED_LEN,SplitModelConstants.DESIRE_PRED_WIDTH))
+    if 'desire_state' in outs:
+      self.parse_categorical_crossentropy('desire_state', outs, out_shape=(SplitModelConstants.DESIRE_PRED_WIDTH,))
     if 'lane_lines' in outs:
       self.parse_mdn('lane_lines', outs, in_N=0, out_N=0,
-                     out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+                    out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+    if 'lane_lines_prob' in outs:
+      self.parse_binary_crossentropy('lane_lines_prob', outs)
+    if 'lead_prob' in outs:
+      self.parse_binary_crossentropy('lead_prob', outs)
+    if 'lat_planner_solution' in outs:
+      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    if 'meta' in outs:
+      self.parse_binary_crossentropy('meta', outs)
+    if 'road_edges' in outs:
       self.parse_mdn('road_edges', outs, in_N=0, out_N=0,
-                     out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
-      self.parse_mdn('lead', outs, in_N=SplitModelConstants.LEAD_MHP_N, out_N=SplitModelConstants.LEAD_MHP_SELECTION,
-                     out_shape=(SplitModelConstants.LEAD_TRAJ_LEN,SplitModelConstants.LEAD_WIDTH))
-      if 'sim_pose' in outs:
-        self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
-      for k in ['lead_prob', 'lane_lines_prob']:
-        self.parse_binary_crossentropy(k, outs)
+                    out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+    if 'sim_pose' in outs:
+      self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
 
   def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.WIDE_FROM_DEVICE_WIDTH,))
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+    self.parse_dynamic_outputs(outs)
     self.split_outputs(outs)
-    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(SplitModelConstants.DESIRE_PRED_LEN,SplitModelConstants.DESIRE_PRED_WIDTH))
-    self.parse_binary_crossentropy('meta', outs)
     return outs
 
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
-                   out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
+    self.parse_dynamic_outputs(outs)
     self.split_outputs(outs)
-    if 'lat_planner_solution' in outs:
-      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
-    if 'desired_curvature' in outs:
-      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.DESIRED_CURV_WIDTH,))
-    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(SplitModelConstants.DESIRE_PRED_WIDTH,))
     return outs
 
   def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index a614447ceb0bab..61a7e1a006b5a7 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -19,7 +19,7 @@
 from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
-CURRENT_SELECTOR_VERSION = 6
+CURRENT_SELECTOR_VERSION = 7
 REQUIRED_MIN_SELECTOR_VERSION = 5
 
 USE_ONNX = os.getenv('USE_ONNX', PC)
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index 18bfbe925cf873..6952a97f1fcfd5 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -16,12 +16,12 @@
 class LongitudinalPlannerSP:
   def __init__(self, CP: structs.CarParams, mpc):
     self.dec = DynamicExperimentalController(CP, mpc)
-    model_bundle = get_active_bundle()
-    self.generation = model_bundle.generation if model_bundle is not None else None
+    self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
 
   @property
   def mlsim(self) -> bool:
-    return self.generation == 11
+    # If we don't have a generation set, we assume it's default model. Which as of today are mlsim.
+    return bool(self.generation is None or self.generation >= 11)
 
   def get_mpc_mode(self) -> str | None:
     if not self.dec.active():

From e955590f111d94de69af69f00e30722af0f8f1e0 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sat, 19 Jul 2025 10:39:34 -0400
Subject: [PATCH 0317/1434] chore: remove compile_db from build targets (#1059)

remove --compile_db flag
---
 .idea/tools/External Tools.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.idea/tools/External Tools.xml b/.idea/tools/External Tools.xml
index fa2375e2eee810..d5d03136ea2020 100644
--- a/.idea/tools/External Tools.xml	
+++ b/.idea/tools/External Tools.xml	
@@ -2,7 +2,7 @@
   <tool name="uv Scons Build Debug" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
     <exec>
       <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db --ccflags=\&quot;-fno-inline\&quot;&quot;" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --ccflags=\&quot;-fno-inline\&quot;&quot;" />
       <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
     </exec>
   </tool>
@@ -16,7 +16,7 @@
   <tool name="uv Scons Build Release" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
     <exec>
       <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db&quot; " />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc)&quot; " />
       <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
     </exec>
   </tool>

From 0d0f764a79b9d049539de867a0c4f3b29e669494 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 19 Jul 2025 07:55:13 -0700
Subject: [PATCH 0318/1434] ui: Quickboot Mode Toggle (#1045)

* Fast boot mode

* Unused

* FastBoot -> QuickBoot

* Move down, since name change

* Chronological in manager too

* last one b4 merge

---------

Co-authored-by: Nayan <nayan8teen@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 common/params_keys.h                          |  4 ++-
 .../qt/offroad/settings/developer_panel.cc    | 29 ++++++++++++++++++-
 .../qt/offroad/settings/developer_panel.h     |  3 +-
 system/manager/manager.py                     |  2 ++
 system/version.py                             |  6 +++-
 5 files changed, 40 insertions(+), 4 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index e8c155ab410339..8121e610f3d4b2 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -128,6 +128,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"AutoLaneChangeTimer", PERSISTENT},
     {"BlinkerMinLateralControlSpeed", PERSISTENT | BACKUP},
     {"BlinkerPauseLateralControl", PERSISTENT | BACKUP},
+    {"Brightness", PERSISTENT | BACKUP},
     {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
     {"CarParamsSPPersistent", PERSISTENT},
@@ -139,10 +140,11 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"DeviceBootMode", PERSISTENT | BACKUP},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
     {"InteractivityTimeout", PERSISTENT | BACKUP},
+    {"IsDevelopmentBranch", CLEAR_ON_MANAGER_START},
     {"MaxTimeOffroad", PERSISTENT | BACKUP},
-    {"Brightness", PERSISTENT | BACKUP},
     {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
     {"OffroadMode", CLEAR_ON_MANAGER_START},
+    {"QuickBootToggle", PERSISTENT | BACKUP},
     {"QuietMode", PERSISTENT | BACKUP},
 
     // MADS params
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
index a11a6cdbeb5ed9..4c4e18a5fcfd81 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
@@ -11,6 +11,17 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
   enableGithubRunner = new ParamControlSP("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "");
   addItem(enableGithubRunner);
 
+  // Quickboot Mode Toggle
+  prebuiltToggle = new ParamControlSP("QuickBootToggle", tr("Enable Quickboot Mode"), tr(""), "");
+  addItem(prebuiltToggle);
+
+  QObject::connect(prebuiltToggle, &ParamControl::toggleFlipped, [=](bool state) {
+    QString prebuiltPath = "/data/openpilot/prebuilt";
+    state ? QFile(prebuiltPath).open(QIODevice::WriteOnly) : QFile::remove(prebuiltPath);
+    prebuiltToggle->refresh();
+  });
+  prebuiltToggle->setVisible(false);
+
   // Error log button
   errorLogBtn = new ButtonControlSP(tr("Error Log"), tr("VIEW"), tr("View the error log for sunnypilot crashes."));
   connect(errorLogBtn, &ButtonControlSP::clicked, [=]() {
@@ -29,12 +40,28 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
 
 void DeveloperPanelSP::updateToggles(bool offroad) {
   bool is_release = params.getBool("IsReleaseBranch");
+  bool is_tested = params.getBool("IsTestedBranch");
+  bool is_development = params.getBool("IsDevelopmentBranch");
+  bool disable_updates = params.getBool("DisableUpdates");
+
+  prebuiltToggle->setVisible(!is_release && !is_tested && !is_development);
+  prebuiltToggle->setEnabled(disable_updates);
+
+  params.putBool("QuickBootToggle", QFile::exists("/data/openpilot/prebuilt"));
+  prebuiltToggle->refresh();
+
+  prebuiltToggle->setDescription(disable_updates
+    ? tr("When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, "
+         "it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. "
+         "<br><br><b>To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.</b>")
+    : tr("Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first."));
 
   enableGithubRunner->setVisible(!is_release);
-  errorLogBtn->setVisible(!is_release);
+  errorLogBtn->setVisible(!is_release && !is_tested);
 }
 
 void DeveloperPanelSP::showEvent(QShowEvent *event) {
   DeveloperPanel::showEvent(event);
   updateToggles(!uiState()->scene.started);
+  prebuiltToggle->showDescription();
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h
index ba707b64def57a..1e375aa8dee266 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h
@@ -5,7 +5,7 @@
  * See the LICENSE.md file in the root directory for more details.
  */
 #pragma once
-
+#include <QFile>
 #include <QFileInfo>
 
 #include "selfdrive/ui/qt/offroad/developer_panel.h"
@@ -18,6 +18,7 @@ class DeveloperPanelSP : public DeveloperPanel {
 private:
   ParamControlSP *enableGithubRunner;
   ButtonControlSP *errorLogBtn;
+  ParamControlSP *prebuiltToggle;
   Params params;
 
 private slots:
diff --git a/system/manager/manager.py b/system/manager/manager.py
index b67d59282190d7..83c5fe2f55d290 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -71,6 +71,7 @@ def manager_init() -> None:
     ("ModelManager_LastSyncTime", "0"),
     ("ModelManager_ModelsCache", ""),
     ("NeuralNetworkLateralControl", "0"),
+    ("QuickBootToggle", "0"),
     ("QuietMode", "0"),
   ]
 
@@ -103,6 +104,7 @@ def manager_init() -> None:
   params.put("GitCommitDate", build_metadata.openpilot.git_commit_date)
   params.put("GitBranch", build_metadata.channel)
   params.put("GitRemote", build_metadata.openpilot.git_origin)
+  params.put_bool("IsDevelopmentBranch", build_metadata.development_channel)
   params.put_bool("IsTestedBranch", build_metadata.tested_channel)
   params.put_bool("IsReleaseBranch", build_metadata.release_channel)
   params.put("HardwareSerial", serial)
diff --git a/system/version.py b/system/version.py
index 11c6ced2b7b051..6e4d0fb42d76e8 100755
--- a/system/version.py
+++ b/system/version.py
@@ -117,9 +117,13 @@ def ui_description(self) -> str:
   def master_channel(self) -> bool:
     return self.channel in MASTER_SP_BRANCHES
 
+  @property
+  def development_channel(self) -> bool:
+    return self.channel.startswith("dev-") or self.channel.endswith("-prebuilt")
+
   @property
   def channel_type(self) -> str:
-    if self.channel.startswith("dev-"):
+    if self.development_channel:
       return "development"
     elif self.channel.startswith("staging-"):
       return "staging"

From 75556831059ef970c0cda7ee81ac53d546775993 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sat, 19 Jul 2025 13:11:49 -0400
Subject: [PATCH 0319/1434] UI: Advanced Controls Toggle (#1053)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* add advancedControl bool to SP Controls

* add Advanced Controls toggle in SP Dev Panel

* merge - ui: Init Developer Panel SP#1054

* because @discountchubbs did not want to commit directly to the pr 🤷�♂�

* enable onroad too

* hide by default only on staging & release

---------

Co-authored-by: discountchubbs <alexgrant990@gmail.com>
Co-authored-by: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 common/params_keys.h                          |  1 +
 .../qt/offroad/settings/developer_panel.cc    | 15 +++++++-
 .../qt/offroad/settings/developer_panel.h     |  1 +
 .../ui/sunnypilot/qt/widgets/controls.cc      | 31 +++++++++++-----
 selfdrive/ui/sunnypilot/qt/widgets/controls.h | 36 ++++++++++++++-----
 system/manager/manager.py                     |  1 +
 6 files changed, 67 insertions(+), 18 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 8121e610f3d4b2..76b5033fd14034 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -146,6 +146,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"OffroadMode", CLEAR_ON_MANAGER_START},
     {"QuickBootToggle", PERSISTENT | BACKUP},
     {"QuietMode", PERSISTENT | BACKUP},
+    {"ShowAdvancedControls", PERSISTENT | BACKUP},
 
     // MADS params
     {"Mads", PERSISTENT | BACKUP},
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
index 4c4e18a5fcfd81..f781a015c8e06a 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
@@ -7,6 +7,17 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h"
 
 DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(parent) {
+
+  // Advanced Controls Toggle
+  showAdvancedControls = new ParamControlSP("ShowAdvancedControls", tr("Show Advanced Controls"), tr("Toggle visibility of advanced sunnypilot controls.\nThis only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state."), "");
+  addItem(showAdvancedControls);
+
+  QObject::connect(showAdvancedControls, &ParamControlSP::toggleFlipped, this, [=](bool) {
+    AbstractControlSP::UpdateAllAdvancedControls();
+    updateToggles(!uiState()->scene.started);
+  });
+  showAdvancedControls->showDescription();
+
   // Github Runner Toggle
   enableGithubRunner = new ParamControlSP("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "");
   addItem(enableGithubRunner);
@@ -57,11 +68,13 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
     : tr("Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first."));
 
   enableGithubRunner->setVisible(!is_release);
-  errorLogBtn->setVisible(!is_release && !is_tested);
+  errorLogBtn->setVisible(!is_release);
+  showAdvancedControls->setEnabled(true);
 }
 
 void DeveloperPanelSP::showEvent(QShowEvent *event) {
   DeveloperPanel::showEvent(event);
   updateToggles(!uiState()->scene.started);
+  AbstractControlSP::UpdateAllAdvancedControls();
   prebuiltToggle->showDescription();
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h
index 1e375aa8dee266..d63fe18d04c05c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h
@@ -20,6 +20,7 @@ class DeveloperPanelSP : public DeveloperPanel {
   ButtonControlSP *errorLogBtn;
   ParamControlSP *prebuiltToggle;
   Params params;
+  ParamControlSP *showAdvancedControls;
 
 private slots:
   void updateToggles(bool offroad);
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
index d873913b5732f8..28374f3a9fe02a 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
@@ -30,9 +30,24 @@ QFrame *vertical_space(int height, QWidget *parent) {
 }
 
 // AbstractControlSP
+std::vector<AbstractControlSP*> AbstractControlSP::advanced_controls_;
+AbstractControlSP::~AbstractControlSP() { UnregisterAdvancedControl(this); }
 
-AbstractControlSP::AbstractControlSP(const QString &title, const QString &desc, const QString &icon, QWidget *parent)
-    : AbstractControl(title, desc, icon, parent) {
+void AbstractControlSP::RegisterAdvancedControl(AbstractControlSP *ctrl) { advanced_controls_.push_back(ctrl); }
+
+void AbstractControlSP::UnregisterAdvancedControl(AbstractControlSP *ctrl) {
+  advanced_controls_.erase(std::remove(advanced_controls_.begin(), advanced_controls_.end(), ctrl), advanced_controls_.end());
+}
+
+void AbstractControlSP::UpdateAllAdvancedControls() {
+  bool visibility = Params().getBool("ShowAdvancedControls");
+  advanced_controls_.erase(std::remove(advanced_controls_.begin(), advanced_controls_.end(), nullptr), advanced_controls_.end());
+  for (auto *ctrl : advanced_controls_) ctrl->setVisible(visibility);
+}
+
+AbstractControlSP::AbstractControlSP(const QString &title, const QString &desc, const QString &icon, QWidget *parent, bool advancedControl)
+    : AbstractControl(title, desc, icon, parent), isAdvancedControl(advancedControl) {
+  if (isAdvancedControl) RegisterAdvancedControl(this);
 
   main_layout = new QVBoxLayout(this);
   main_layout->setMargin(0);
@@ -82,8 +97,8 @@ void AbstractControlSP::hideEvent(QHideEvent *e) {
   }
 }
 
-AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, const QString &desc, const QString &icon, QWidget *parent)
-    : AbstractControlSP(title, desc, icon, parent) {
+AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, const QString &desc, const QString &icon, QWidget *parent, bool advancedControl)
+    : AbstractControlSP(title, desc, icon, parent, advancedControl) {
 
   if (title_label != nullptr) {
     delete title_label;
@@ -169,8 +184,8 @@ void AbstractControlSP_SELECTOR::hideEvent(QHideEvent *e) {
 
 // controls
 
-ButtonControlSP::ButtonControlSP(const QString &title, const QString &text, const QString &desc, QWidget *parent)
-    : AbstractControlSP(title, desc, "", parent) {
+ButtonControlSP::ButtonControlSP(const QString &title, const QString &text, const QString &desc, QWidget *parent, bool advancedControl)
+    : AbstractControlSP(title, desc, "", parent, advancedControl) {
 
   btn.setText(text);
   btn.setStyleSheet(R"(
@@ -225,8 +240,8 @@ void ElidedLabelSP::paintEvent(QPaintEvent *event) {
 
 // ParamControlSP
 
-ParamControlSP::ParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent)
-    : ToggleControlSP(title, desc, icon, false, parent) {
+ParamControlSP::ParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent, bool advancedControl)
+    : ToggleControlSP(title, desc, icon, false, parent, advancedControl){
 
   key = param.toStdString();
   QObject::connect(this, &ParamControlSP::toggleFlipped, this, &ParamControlSP::toggleClicked);
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index 29b6e6e6eaf1ad..a840febfe7b18e 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -57,6 +57,7 @@ class AbstractControlSP : public AbstractControl {
   Q_OBJECT
 
 public:
+  ~AbstractControlSP();
   void setDescription(const QString &desc) override {
     if (description) description->setText(desc);
   }
@@ -81,13 +82,30 @@ public slots:
     description->setVisible(true);
   }
 
+  void setVisible(bool visible) override {
+    bool _visible = visible;
+    if (isAdvancedControl && !params.getBool("ShowAdvancedControls")) {
+      _visible = false;
+    }
+    AbstractControl::setVisible(_visible);
+  }
+
+  static void RegisterAdvancedControl(AbstractControlSP *ctrl);
+  static void UnregisterAdvancedControl(AbstractControlSP *ctrl);
+  static void UpdateAllAdvancedControls();
+
 protected:
-  AbstractControlSP(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
+  AbstractControlSP(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr, bool advancedControl = false);
   void hideEvent(QHideEvent *e) override;
 
   QVBoxLayout *main_layout;
   ElidedLabelSP *value;
   QLabel *description = nullptr;
+  bool isAdvancedControl;
+
+private:
+  Params params;
+  static std::vector<AbstractControlSP*> advanced_controls_;
 };
 
 // AbstractControlSP_SELECTOR
@@ -97,7 +115,7 @@ class AbstractControlSP_SELECTOR : public AbstractControlSP {
 
 protected:
   QSpacerItem *spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
-  AbstractControlSP_SELECTOR(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
+  AbstractControlSP_SELECTOR(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr, bool advancedControl = false);
   void hideEvent(QHideEvent *e) override;
 
 };
@@ -123,7 +141,7 @@ class ButtonControlSP : public AbstractControlSP {
   Q_OBJECT
 
 public:
-  ButtonControlSP(const QString &title, const QString &text, const QString &desc = "", QWidget *parent = nullptr);
+  ButtonControlSP(const QString &title, const QString &text, const QString &desc = "", QWidget *parent = nullptr, bool advancedControl = false);
   inline void setText(const QString &text) { btn.setText(text); }
   inline QString text() const { return btn.text(); }
   inline void click() { btn.click(); }
@@ -142,7 +160,7 @@ class ToggleControlSP : public AbstractControlSP {
   Q_OBJECT
 
 public:
-  ToggleControlSP(const QString &title, const QString &desc = "", const QString &icon = "", const bool state = false, QWidget *parent = nullptr) : AbstractControlSP(title, desc, icon, parent) {
+  ToggleControlSP(const QString &title, const QString &desc = "", const QString &icon = "", const bool state = false, QWidget *parent = nullptr, bool advancedControl = false) : AbstractControlSP(title, desc, icon, parent, advancedControl) {
     // space between toggle and title
     icon_label = new QLabel(this);
     hlayout->addWidget(icon_label);
@@ -173,7 +191,7 @@ class ParamControlSP : public ToggleControlSP {
   Q_OBJECT
 
 public:
-  ParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr);
+  ParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr, bool advancedControl = false);
   void setConfirmation(bool _confirm, bool _store_confirm) {
     confirm = _confirm;
     store_confirm = _store_confirm;
@@ -219,7 +237,7 @@ class MultiButtonControlSP : public AbstractControlSP_SELECTOR {
 
 public:
   MultiButtonControlSP(const QString &title, const QString &desc, const QString &icon,
-                     const std::vector<QString> &button_texts, const int minimum_button_width = 225, const bool inline_layout = false) : AbstractControlSP_SELECTOR(title, desc, icon), button_texts(button_texts), is_inline_layout(inline_layout) {
+                     const std::vector<QString> &button_texts, const int minimum_button_width = 225, const bool inline_layout = false, bool advancedControl = false) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr, advancedControl), button_texts(button_texts), is_inline_layout(inline_layout) {
     const QString style = R"(
       QPushButton {
         border-radius: 20px;
@@ -371,8 +389,8 @@ class ButtonParamControlSP : public MultiButtonControlSP {
   Q_OBJECT
 public:
   ButtonParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                     const std::vector<QString> &button_texts, const int minimum_button_width = 225, const bool inline_layout = false) : MultiButtonControlSP(title, desc, icon,
-                                                                                                                          button_texts, minimum_button_width, inline_layout) {
+                     const std::vector<QString> &button_texts, const int minimum_button_width = 225, const bool inline_layout = false, bool advancedControl = false) : MultiButtonControlSP(title, desc, icon,
+                                                                                                                          button_texts, minimum_button_width, inline_layout, advancedControl) {
     key = param.toStdString();
     int value = atoi(params.get(key).c_str());
 
@@ -499,7 +517,7 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
 public:
   OptionControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
                   const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false,
-                  const QMap<QString, QString> *valMap = nullptr, bool scale_float = false) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), is_inline_layout(inline_layout), use_float_scaling(scale_float) {
+                  const QMap<QString, QString> *valMap = nullptr, bool scale_float = false, bool advancedControl = false) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr, advancedControl), _title(title), valueMap(valMap), is_inline_layout(inline_layout), use_float_scaling(scale_float) {
     const QString style = R"(
       QPushButton {
         border-radius: 20px;
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 83c5fe2f55d290..c59f0118aae818 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -73,6 +73,7 @@ def manager_init() -> None:
     ("NeuralNetworkLateralControl", "0"),
     ("QuickBootToggle", "0"),
     ("QuietMode", "0"),
+    ("ShowAdvancedControls", "0" if build_metadata.tested_channel else "1"),
   ]
 
   # device boot mode

From 08f075ab23c3fcc29e860bcd4940d862dfc9c98c Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 19 Jul 2025 10:35:34 -0700
Subject: [PATCH 0320/1434] ui: Link Advanced Controls (#1060)

---
 .../ui/sunnypilot/qt/offroad/settings/developer_panel.cc      | 4 ++--
 selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc   | 2 +-
 selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
index f781a015c8e06a..5c9f0ff99e90a8 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
@@ -19,11 +19,11 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
   showAdvancedControls->showDescription();
 
   // Github Runner Toggle
-  enableGithubRunner = new ParamControlSP("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "");
+  enableGithubRunner = new ParamControlSP("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "", this, true);
   addItem(enableGithubRunner);
 
   // Quickboot Mode Toggle
-  prebuiltToggle = new ParamControlSP("QuickBootToggle", tr("Enable Quickboot Mode"), tr(""), "");
+  prebuiltToggle = new ParamControlSP("QuickBootToggle", tr("Enable Quickboot Mode"), tr(""), "", this, true);
   addItem(prebuiltToggle);
 
   QObject::connect(prebuiltToggle, &ParamControl::toggleFlipped, [=](bool state) {
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index 4cbd4f11e4fc93..e565269eb7b97c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -98,7 +98,7 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   delay_control = new OptionControlSP("LagdToggledelay", tr("Adjust Software Delay"),
                                      tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
                                         "\nThe default software delay value is 0.2"),
-                                     "", {5, 30}, 1, false, nullptr, true);
+                                     "", {5, 30}, 1, false, nullptr, true, true);
 
   connect(delay_control, &OptionControlSP::updateLabels, [=]() {
     float value = QString::fromStdString(params.get("LagdToggledelay")).toFloat();
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
index 7bef7ed2030d3f..a1961cb1eafb44 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
@@ -24,7 +24,7 @@ SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) {
     tr("Disable Updates"),
     tr("When enabled, software updates will be disabled. <b>This requires a reboot to take effect.</b>"),
     "../assets/icons/icon_warning.png",
-    this);
+    this, true);
   disableUpdatesToggle->showDescription();
   addItem(disableUpdatesToggle);
   connect(disableUpdatesToggle, &ParamControl::toggleFlipped, this, &SoftwarePanelSP::handleDisableUpdatesToggled);

From 8e3e5b13aacdbca1b347122350a6b9151dc80563 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 19 Jul 2025 20:05:32 +0200
Subject: [PATCH 0321/1434] sunnylink: Adding more keys to be backed up (#1061)

* Enhance parameter backup capabilities

- Added `BACKUP` attribute to various persistent parameters to ensure their inclusion in backup processes.

* Add more keys

---------

Co-authored-by: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
---
 common/params_keys.h | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 76b5033fd14034..7aa4bc6b723d6a 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -5,8 +5,8 @@
 
 inline static std::unordered_map<std::string, uint32_t> keys = {
     {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
-    {"AdbEnabled", PERSISTENT},
-    {"AlwaysOnDM", PERSISTENT},
+    {"AdbEnabled", PERSISTENT | BACKUP},
+    {"AlwaysOnDM", PERSISTENT | BACKUP},
     {"ApiCache_Device", PERSISTENT},
     {"ApiCache_FirehoseStats", PERSISTENT},
     {"AssistNowToken", PERSISTENT},
@@ -78,7 +78,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"LocationFilterInitialState", PERSISTENT},
     {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"LongitudinalPersonality", PERSISTENT | BACKUP},
-    {"NetworkMetered", PERSISTENT},
+    {"NetworkMetered", PERSISTENT | BACKUP},
     {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
@@ -124,15 +124,15 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
 
     // --- sunnypilot params --- //
     {"ApiCache_DriveStats", PERSISTENT},
-    {"AutoLaneChangeBsmDelay", PERSISTENT},
-    {"AutoLaneChangeTimer", PERSISTENT},
+    {"AutoLaneChangeBsmDelay", PERSISTENT | BACKUP},
+    {"AutoLaneChangeTimer", PERSISTENT | BACKUP},
     {"BlinkerMinLateralControlSpeed", PERSISTENT | BACKUP},
     {"BlinkerPauseLateralControl", PERSISTENT | BACKUP},
     {"Brightness", PERSISTENT | BACKUP},
     {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
     {"CarParamsSPPersistent", PERSISTENT},
-    {"CarPlatformBundle", PERSISTENT},
+    {"CarPlatformBundle", PERSISTENT | BACKUP},
     {"ChevronInfo", PERSISTENT | BACKUP},
     {"CustomAccIncrementsEnabled", PERSISTENT | BACKUP},
     {"CustomAccLongPressIncrement", PERSISTENT | BACKUP},
@@ -177,9 +177,9 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"BackupManager_RestoreVersion", PERSISTENT},
 
     // sunnypilot car specific params
-    {"HyundaiLongitudinalTuning", PERSISTENT},
+    {"HyundaiLongitudinalTuning", PERSISTENT | BACKUP},
 
-    {"DynamicExperimentalControl", PERSISTENT},
+    {"DynamicExperimentalControl", PERSISTENT | BACKUP},
     {"BlindSpot", PERSISTENT | BACKUP},
 
     // model panel params

From c46ecd18fad1767f15d748e218abafed3481febd Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sat, 19 Jul 2025 15:40:16 -0400
Subject: [PATCH 0322/1434] UI: Clear Model Cache (#1058)

* clear model cache

* add cache size

* move to model manager

* fix handling for default model

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
---
 common/params_keys.h                          |  1 +
 .../qt/offroad/settings/models_panel.cc       | 38 +++++++++++++++++++
 .../qt/offroad/settings/models_panel.h        |  3 ++
 sunnypilot/models/manager.py                  | 29 ++++++++++++++
 system/hardware/hw.h                          |  4 ++
 5 files changed, 75 insertions(+)

diff --git a/common/params_keys.h b/common/params_keys.h
index 7aa4bc6b723d6a..dfcf410a5168b0 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -156,6 +156,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
 
     // Model Manager params
     {"ModelManager_ActiveBundle", PERSISTENT},
+    {"ModelManager_ClearCache", CLEAR_ON_MANAGER_START},
     {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"ModelManager_ModelsCache", PERSISTENT | BACKUP},
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index e565269eb7b97c..c4cb4b4767f0ed 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -8,6 +8,8 @@
 #include <algorithm>
 #include <QJsonDocument>
 #include <QStyle>
+#include <QtConcurrent/QtConcurrent>
+#include <QDir>
 
 #include "common/model.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h"
@@ -66,6 +68,11 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   connect(uiStateSP(), &UIStateSP::uiUpdate, this, &ModelsPanel::updateLabels);
   list->addItem(currentModelLblBtn);
 
+  clearModelCacheBtn = new ButtonControlSP(tr("Clear Model Cache"), tr("CLEAR"), "", this);
+  connect(clearModelCacheBtn, &ButtonControlSP::clicked, this, &ModelsPanel::clearModelCache);
+
+  list->addItem(clearModelCacheBtn);
+
   // Create progress bars for downloads
   supercomboProgressBar = createProgressBar(this);
   QString supercomboType = tr("Driving Model");
@@ -367,6 +374,8 @@ void ModelsPanel::updateLabels() {
     delay_control->setLabel(QString::number(value, 'f', 2) + "s");
     delay_control->showDescription();
   }
+
+  clearModelCacheBtn->setValue(QString::number(calculateCacheSize(), 'f', 2) + " MB");
 }
 
 /**
@@ -387,3 +396,32 @@ void ModelsPanel::showResetParamsDialog() {
     params.remove("LiveTorqueParameters");
   }
 }
+
+void ModelsPanel::clearModelCache() {
+  QString confirmMsg = tr("This will delete ALL downloaded models from the cache"
+                            "<br/><u>except the currently active model</u>."
+                            "<br/><br/>Are you sure you want to continue?");
+  QString content("<body><h2 style=\"text-align: center;\">" + tr("Driving Model Selector") + "</h2><br>"
+                "<p style=\"text-align: center; margin: 0 128px; font-size: 50px;\">" + confirmMsg + "</p></body>");
+  if (showConfirmationDialog(
+    content,
+    tr("Clear Cache"))) {
+      params.putBool("ModelManager_ClearCache", true);
+    }
+}
+
+double ModelsPanel::calculateCacheSize() {
+  QFuture<qint64> future_ModelCacheSize = QtConcurrent::run([=]() {
+
+    QDir model_dir(QString::fromStdString(Path::model_root()));
+    QFileInfoList model_files = model_dir.entryInfoList(QDir::Files | QDir::NoDotAndDotDot);
+    qint64 totalSize = 0;
+    for (const QFileInfo &model_file : model_files) {
+        if (model_file.isFile()) {
+            totalSize += model_file.size();
+        }
+    }
+    return totalSize;
+  });
+  return static_cast<double>(future_ModelCacheSize) / (1024.0 * 1024.0);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
index 61f15e6d3c34b8..06a2380f399ca9 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
@@ -41,6 +41,8 @@ class ModelsPanel : public QWidget {
   cereal::ModelManagerSP::Reader model_manager;
   cereal::ModelManagerSP::DownloadStatus download_status{};
   cereal::ModelManagerSP::DownloadStatus prev_download_status{};
+  void clearModelCache();
+  double calculateCacheSize();
 
   bool canContinueOnMeteredDialog() {
     if (!is_metered) return true;
@@ -75,5 +77,6 @@ class ModelsPanel : public QWidget {
   QProgressBar *policyProgressBar;
   QFrame *policyFrame;
   Params params;
+  ButtonControlSP *clearModelCacheBtn;
 
 };
diff --git a/sunnypilot/models/manager.py b/sunnypilot/models/manager.py
index 630d6a8d776d89..891313520390ea 100644
--- a/sunnypilot/models/manager.py
+++ b/sunnypilot/models/manager.py
@@ -178,6 +178,10 @@ def main_thread(self) -> None:
             finally:
               self.params.put("ModelManager_DownloadIndex", "")
 
+        if self.params.get("ModelManager_ClearCache", block=False, encoding="utf-8"):
+            self.clear_model_cache()
+            self.params.remove("ModelManager_ClearCache")
+
         self._report_status()
         rk.keep_time()
 
@@ -185,6 +189,31 @@ def main_thread(self) -> None:
         cloudlog.exception(f"Error in main thread: {str(e)}")
         rk.keep_time()
 
+  def clear_model_cache(self) -> None:
+    """
+    Clears the model cache directory of all files except those in the active model bundle.
+    """
+
+    # Get list of files used by active model bundle
+    active_files = []
+    if self.active_bundle is not None: # When the default model is active
+      for model in self.active_bundle.models:
+        if hasattr(model, 'artifact') and model.artifact.fileName:
+          active_files.append(model.artifact.fileName)
+        if hasattr(model, 'metadata') and model.metadata.fileName:
+          active_files.append(model.metadata.fileName)
+
+    # Remove all files except active ones
+    model_dir = Paths.model_root()
+    try:
+      for filename in os.listdir(model_dir):
+        if filename not in active_files:
+          file_path = os.path.join(model_dir, filename)
+          if os.path.isfile(file_path):
+            os.remove(file_path)
+      cloudlog.info("Model cache cleared, keeping active model files")
+    except Exception as e:
+      cloudlog.exception(f"Error clearing model cache: {str(e)}")
 
 def main():
   ModelManagerSP().main_thread()
diff --git a/system/hardware/hw.h b/system/hardware/hw.h
index d2083a598588d4..bc9d17dd811132 100644
--- a/system/hardware/hw.h
+++ b/system/hardware/hw.h
@@ -55,4 +55,8 @@ namespace Path {
      return "/dev/shm";
     #endif
  }
+
+  inline std::string model_root() {
+    return Hardware::PC() ? Path::comma_home() + "/media/0/models" : "/data/media/0/models";
+  }
 }  // namespace Path

From 9f6f7896b01490c013f11a510e4c765744ec33c9 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 19 Jul 2025 20:22:31 -0700
Subject: [PATCH 0323/1434] sunnypilot modeld: Fix SP Model Generation (#1062)

simplify and fix SP model
---
 .../modeld_v2/parse_model_outputs_split.py    | 54 +++++++------------
 1 file changed, 20 insertions(+), 34 deletions(-)

diff --git a/sunnypilot/modeld_v2/parse_model_outputs_split.py b/sunnypilot/modeld_v2/parse_model_outputs_split.py
index f99d5692c7e4ea..79fa8ec2f24bd8 100644
--- a/sunnypilot/modeld_v2/parse_model_outputs_split.py
+++ b/sunnypilot/modeld_v2/parse_model_outputs_split.py
@@ -91,42 +91,28 @@ def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
     outs[name] = pred_mu_final.reshape(final_shape)
     outs[name + '_stds'] = pred_std_final.reshape(final_shape)
 
-  def _parse_mhp_output(self, name, output, shape_threshold, in_n_mhp, out_n_mhp, out_shape) -> None:
-    if name not in output:
-      return
-
-    shape = output[name].shape[1]
-    shape_is_expected_size = None
-
-    if name == 'lead':
-      shape_is_expected_size = shape == 2 * shape_threshold
-    elif name == 'plan':
-      shape_is_expected_size = shape <= 2 * shape_threshold
-
-    use_default_format = self.generation >= 12 and shape_is_expected_size
-    in_n = 0 if use_default_format else in_n_mhp
-    out_n = 0 if use_default_format else out_n_mhp
-
-    self.parse_mdn(name, output, in_n, out_n, out_shape)
+  def _parse_plan_mhp(self, outs):
+    self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
+                         out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
 
   def parse_dynamic_outputs(self, outs: dict[str, np.ndarray]) -> None:
-    self._parse_mhp_output(
-      name='lead',
-      output=outs,
-      shape_threshold=SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH,
-      in_n_mhp=SplitModelConstants.LEAD_MHP_N,
-      out_n_mhp=SplitModelConstants.LEAD_MHP_SELECTION,
-      out_shape=(SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH),
-    )
-
-    self._parse_mhp_output(
-      name='plan',
-      output=outs,
-      shape_threshold=SplitModelConstants.PLAN_WIDTH * SplitModelConstants.IDX_N,
-      in_n_mhp=SplitModelConstants.PLAN_MHP_N,
-      out_n_mhp=SplitModelConstants.PLAN_MHP_SELECTION,
-      out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH),
-    )
+    if 'lead' in outs:
+      if self.generation >= 12 and \
+         outs['lead'].shape[1] == 2 * SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH:
+        self.parse_mdn('lead', outs, in_N=0, out_N=0,
+                       out_shape=(SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
+      else:
+        self.parse_mdn('lead', outs, in_N=SplitModelConstants.LEAD_MHP_N, out_N=SplitModelConstants.LEAD_MHP_SELECTION,
+                       out_shape=(SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
+    if 'plan' in outs:
+      if self.generation >= 12 and \
+        outs['plan'].shape[1] > 2 * SplitModelConstants.PLAN_WIDTH * SplitModelConstants.IDX_N:
+        self._parse_plan_mhp(outs)
+      elif self.generation >= 12:
+        self.parse_mdn('plan', outs, in_N=0, out_N=0,
+                       out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
+      else:
+        self._parse_plan_mhp(outs)
 
   def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
     if 'desired_curvature' in outs:

From 358c0a874727d9f5360a5edac24e30932e381ff0 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Tue, 22 Jul 2025 01:02:28 -0400
Subject: [PATCH 0324/1434] ui: proper capitalization for default interactivity
 timeout (#1065)

No More Neuron Triggering Scream
---
 selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index dc2d7b318dfc59..43ba7e037f7333 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -212,7 +212,7 @@ void DevicePanelSP::updateState() {
 
   QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout"));
   if (timeoutValue == "0") {
-    interactivityTimeout->setLabel("DEFAULT");
+    interactivityTimeout->setLabel("Default");
   } else {
     interactivityTimeout->setLabel(timeoutValue + "s");
   }

From 0a2e8dd81b7e49b8022d5f8465a214fde2ffd2db Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Fri, 25 Jul 2025 11:25:31 -0400
Subject: [PATCH 0325/1434] mapd: bump version and fix missing folder (#994)

* fix mapd folder

* not needed

* unnecessary

* Remove unused import from mapd_installer.py

Deleted the unused import of Paths from openpilot.system.hardware.hw to clean up the code.

* Undo changes

* update: adjust `mapd` process to conditionally start based on readiness

- Added `mapd_ready` function to check `mapd` readiness.
- Modified `mapd` process to use this readiness condition.

* update: bump mapd version to v1.10.0 and add readiness utility

- Updated `VERSION` to v1.10.0 for `mapd_installer.py`.

* update: integrate `MapdInstallManager` versioning into main thread

- Added a call to `MapdInstallManager.update_installed_version` with `VERSION`.
- Ensures version management for `mapd` is synchronized during runtime.

* refactor: centralize `MAPD_PATH` and `MAPD_BIN_DIR` definitions in module init

- Moved constants to `sunnypilot/mapd/__init__.py` for cleaner imports and reuse.
- Updated references in `mapd_manager.py` and `mapd_installer.py`.

* revert back the file permission

* do this

* no longer static

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: rav4kumar <meetkumardesai@gmail.com>
Co-authored-by: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/mapd/__init__.py       |   5 +++++
 sunnypilot/mapd/mapd_installer.py |  32 ++++++++++++++++--------------
 sunnypilot/mapd/mapd_manager.py   |   7 +++----
 system/manager/process_config.py  |   5 ++++-
 third_party/mapd_pfeiferj/mapd    | Bin 8192000 -> 9371832 bytes
 5 files changed, 29 insertions(+), 20 deletions(-)

diff --git a/sunnypilot/mapd/__init__.py b/sunnypilot/mapd/__init__.py
index e69de29bb2d1d6..7ad6f74149236e 100644
--- a/sunnypilot/mapd/__init__.py
+++ b/sunnypilot/mapd/__init__.py
@@ -0,0 +1,5 @@
+import os
+from openpilot.common.basedir import BASEDIR
+
+MAPD_BIN_DIR = os.path.join(BASEDIR, 'third_party/mapd_pfeiferj')
+MAPD_PATH = os.path.join(MAPD_BIN_DIR, 'mapd')
diff --git a/sunnypilot/mapd/mapd_installer.py b/sunnypilot/mapd/mapd_installer.py
index a151dd4807b90c..c337b50c5fde98 100755
--- a/sunnypilot/mapd/mapd_installer.py
+++ b/sunnypilot/mapd/mapd_installer.py
@@ -16,32 +16,39 @@
 
 from cereal import messaging
 from openpilot.common.params import Params
-from openpilot.sunnypilot.mapd.mapd_manager import MAPD_PATH, MAPD_BIN_DIR
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.spinner import Spinner
 from openpilot.system.version import is_prebuilt
+from openpilot.sunnypilot.mapd import MAPD_PATH, MAPD_BIN_DIR
 import openpilot.system.sentry as sentry
 
-VERSION = 'v1.9.0'
+VERSION = 'v1.10.0'
 URL = f"https://github.com/pfeiferj/openpilot-mapd/releases/download/{VERSION}/mapd"
 
 
+def update_installed_version(version: str, params: Params = None) -> None:
+  if params is None:
+    params = Params()
+
+  params.put("MapdVersion", version)
+
+
 class MapdInstallManager:
   def __init__(self, spinner_ref: Spinner):
     self._spinner = spinner_ref
+    self._params = Params()
 
   def download(self) -> None:
     self.ensure_directories_exist()
     self._download_file()
-    self.update_installed_version(VERSION)
+    update_installed_version(VERSION, self._params)
 
   def check_and_download(self) -> None:
     if self.download_needed():
       self.download()
 
-  @staticmethod
-  def download_needed() -> bool:
-    return not os.path.exists(MAPD_PATH) or MapdInstallManager.get_installed_version() != VERSION
+  def download_needed(self) -> bool:
+    return not os.path.exists(MAPD_PATH) or self.get_installed_version() != VERSION
 
   @staticmethod
   def ensure_directories_exist() -> None:
@@ -82,13 +89,8 @@ def _download_file(self, num_retries=5) -> None:
       temp_file.unlink()
     logging.error("Failed to download file after all retries")
 
-  @staticmethod
-  def update_installed_version(version: str) -> None:
-    Params().put("MapdVersion", version)
-
-  @staticmethod
-  def get_installed_version() -> str:
-    return Params().get("MapdVersion", encoding="utf-8") or ""
+  def get_installed_version(self) -> str:
+    return self._params.get("MapdVersion", encoding="utf-8") or ""
 
   def wait_for_internet_connection(self, return_on_failure: bool = False) -> bool:
     max_retries = 10
@@ -122,7 +124,7 @@ def non_prebuilt_install(self) -> None:
         return
 
       if self.wait_for_internet_connection(return_on_failure=True):
-        self._spinner.update(f"Downloading pfeiferj's mapd [{install_manager.get_installed_version()}] => [{VERSION}].")
+        self._spinner.update(f"Downloading pfeiferj's mapd [{self.get_installed_version()}] => [{VERSION}].")
         time.sleep(0.1)
         self.check_and_download()
       self._spinner.close()
@@ -146,7 +148,7 @@ def non_prebuilt_install(self) -> None:
   if is_prebuilt():
     debug_msg = f"[DEBUG] This is prebuilt, no mapd install required. VERSION: [{VERSION}], Param [{install_manager.get_installed_version()}]"
     spinner.update(debug_msg)
-    install_manager.update_installed_version(VERSION)
+    update_installed_version(VERSION)
   else:
     spinner.update(f"Checking if mapd is installed and valid. Prebuilt [{is_prebuilt()}]")
     install_manager.non_prebuilt_install()
diff --git a/sunnypilot/mapd/mapd_manager.py b/sunnypilot/mapd/mapd_manager.py
index 342ba3fe7beeec..0cb0df23f03aa3 100755
--- a/sunnypilot/mapd/mapd_manager.py
+++ b/sunnypilot/mapd/mapd_manager.py
@@ -12,22 +12,20 @@
 import glob
 import shutil
 
-from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.sunnypilot.mapd.live_map_data.osm_map_data import OsmMapData
 from openpilot.system.hardware.hw import Paths
+from openpilot.sunnypilot.mapd import MAPD_PATH
+from openpilot.sunnypilot.mapd.mapd_installer import VERSION, update_installed_version
 
 # PFEIFER - MAPD {{
 params = Params()
 mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else params
 # }} PFEIFER - MAPD
 
-MAPD_BIN_DIR = os.path.join(BASEDIR, 'third_party/mapd_pfeiferj')
-MAPD_PATH = os.path.join(MAPD_BIN_DIR, 'mapd')
-
 
 def get_files_for_cleanup() -> list[str]:
   paths = [
@@ -117,6 +115,7 @@ def update_osm_db() -> None:
 
 
 def main_thread():
+  update_installed_version(VERSION, params)
   config_realtime_process([0, 1, 2, 3], 5)
 
   rk = Ratekeeper(1, print_delay_threshold=None)
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 2e3f754a76491c..487f0e970c3c24 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -88,6 +88,9 @@ def is_stock_model(started, params, CP: car.CarParams) -> bool:
   """Check if the active model runner is stock."""
   return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.stock)
 
+def mapd_ready(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return bool(os.path.exists(Paths.mapd_root()))
+
 def or_(*fns):
   return lambda *args: operator.or_(*(fn(*args) for fn in fns))
 
@@ -162,7 +165,7 @@ def and_(*fns):
   PythonProcess("backup_manager", "sunnypilot.sunnylink.backups.manager", and_(only_offroad, sunnylink_ready_shim)),
 
   # mapd
-  NativeProcess("mapd", Paths.mapd_root(), [MAPD_PATH], always_run),
+  NativeProcess("mapd", Paths.mapd_root(), [MAPD_PATH], mapd_ready),
   PythonProcess("mapd_manager", "sunnypilot.mapd.mapd_manager", always_run),
 ]
 
diff --git a/third_party/mapd_pfeiferj/mapd b/third_party/mapd_pfeiferj/mapd
index d24d9b757fb67bc6f297eadddb8844452f844647..e5e45e2b989abfcec00474466f9e096a53274252 100755
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From e4ac9af4045df260b4ba506966f17d121e5a6815 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 25 Jul 2025 12:02:57 -0400
Subject: [PATCH 0326/1434] ci: enable repo maintenance workflow (#1071)

* ci: enable repo maintenance workflow

* feature branch for now

* gate this

* back to sp master

* update later

* fix format
---
 .github/workflows/repo-maintenance.yaml | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 6bd86ce7e9dfe3..0a83d3a01c81b5 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -13,7 +13,7 @@ env:
 jobs:
   update_translations:
     runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     steps:
       - uses: actions/checkout@v4
       - uses: ./.github/workflows/setup-with-retry
@@ -23,12 +23,12 @@ jobs:
       - name: Create Pull Request
         uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
         with:
-          author: Vehicle Researcher <user@comma.ai>
+          author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
           commit-message: "Update translations"
           title: "[bot] Update translations"
           body: "Automatic PR from repo-maintenance -> update_translations"
           branch: "update-translations"
-          base: "master"
+          base: "master-new"
           delete-branch: true
           labels: bot
 
@@ -61,12 +61,12 @@ jobs:
     - name: Create Pull Request
       uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
       with:
-        author: Vehicle Researcher <user@comma.ai>
-        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
+        author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
+        token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
         commit-message: Update Python packages
         title: '[bot] Update Python packages'
         branch: auto-package-updates
-        base: master
+        base: master-new
         delete-branch: true
         body: 'Automatic PR from repo-maintenance -> package_updates'
         labels: bot

From 0c737980497d6949c7cee61f2a16b28d7496d457 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sat, 26 Jul 2025 10:00:23 -0400
Subject: [PATCH 0327/1434] ui: fix descriptions visibility on models panel
 (#1079)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

i just want to hide the descriptions 🥺
---
 .../ui/sunnypilot/qt/offroad/settings/models_panel.cc    | 9 +++++++--
 .../ui/sunnypilot/qt/offroad/settings/models_panel.h     | 1 +
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index c4cb4b4767f0ed..23d4c4f87b79df 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -366,13 +366,11 @@ void ModelsPanel::updateLabels() {
     desc += "<br><br><b><span style=\"color:#e0e0e0\">" + tr("Current:") + "</span></b> <span style=\"color:#e0e0e0\">" + current + "</span>";
   }
   lagd_toggle_control->setDescription(desc);
-  lagd_toggle_control->showDescription();
 
   delay_control->setVisible(!params.getBool("LagdToggle"));
   if (delay_control->isVisible()) {
     float value = QString::fromStdString(params.get("LagdToggledelay")).toFloat();
     delay_control->setLabel(QString::number(value, 'f', 2) + "s");
-    delay_control->showDescription();
   }
 
   clearModelCacheBtn->setValue(QString::number(calculateCacheSize(), 'f', 2) + " MB");
@@ -425,3 +423,10 @@ double ModelsPanel::calculateCacheSize() {
   });
   return static_cast<double>(future_ModelCacheSize) / (1024.0 * 1024.0);
 }
+
+void ModelsPanel::showEvent(QShowEvent *event) {
+  lagd_toggle_control->showDescription();
+  if (delay_control->isVisible()) {
+    delay_control->showDescription();
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
index 06a2380f399ca9..84a2f56e05148f 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
@@ -21,6 +21,7 @@ class ModelsPanel : public QWidget {
   QString GetActiveModelName();
   QString GetActiveModelInternalName();
   void updateModelManagerState();
+  void showEvent(QShowEvent *event) override;
 
   bool isDownloading() const {
     if (!model_manager.hasSelectedBundle()) {

From 5cb9f84c4c699d5d39e37dc1acfbbe9a82b39133 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Mon, 28 Jul 2025 22:36:43 -0400
Subject: [PATCH 0328/1434] [bot] Update Python packages (#1076)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 docs/CARS.md |   11 +-
 panda        |    2 +-
 uv.lock      | 1719 +++++++++++++++++++++++++-------------------------
 3 files changed, 866 insertions(+), 866 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index e8ccdf7bb15c37..9403f7a88b841f 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 312 Supported Cars
+# 319 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -116,6 +116,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>|||
+|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2022">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -211,7 +212,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan[<sup>7</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Nissan[<sup>7</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>|||
 |Nissan[<sup>7</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>|||
-|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>|||
+|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>|||
+|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=2500 2020-24">Buy Here</a></sub></details>|||
+|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=3500 2019-22">Buy Here</a></sub></details>|||
 |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1S 2022-24">Buy Here</a></sub></details>||https://youtu.be/uaISd1j7Z4U|
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1T 2022-24">Buy Here</a></sub></details>||https://youtu.be/uaISd1j7Z4U|
 |SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>|||
@@ -219,10 +222,14 @@ A supported vehicle is one that just works when you install a comma device. All
 |Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Legacy 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
diff --git a/panda b/panda
index c33cfa0803deef..ff4733f95854e4 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit c33cfa0803deef5dc53d103ae1a2513e2ab94196
+Subproject commit ff4733f95854e49f692ce8ee431af4c85b64ee33
diff --git a/uv.lock b/uv.lock
index 7cd67d79590a4a..05a67463694470 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,14 +1,6 @@
 version = 1
 revision = 2
 requires-python = ">=3.11, <3.13"
-resolution-markers = [
-    "python_full_version >= '3.12' and sys_platform == 'darwin'",
-    "python_full_version >= '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
-    "(python_full_version >= '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version >= '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')",
-    "python_full_version < '3.12' and sys_platform == 'darwin'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
-    "(python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')",
-]
 
 [[package]]
 name = "aiohappyeyeballs"
@@ -21,7 +13,7 @@ wheels = [
 
 [[package]]
 name = "aiohttp"
-version = "3.12.13"
+version = "3.12.14"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -32,42 +24,42 @@ dependencies = [
     { name = "propcache" },
     { name = "yarl" },
 ]
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-wheels = [
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 [[package]]
@@ -1800,164 +1793,164 @@ name = "pyobjc"
 version = "11.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
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-    { name = "pyobjc-framework-accounts", marker = "platform_release >= '12.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-addressbook", marker = "sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-adservices", marker = "platform_release >= '20.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-adsupport", marker = "platform_release >= '18.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-applescriptkit", marker = "sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-applescriptobjc", marker = "platform_release >= '10.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-applicationservices", marker = "sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-apptrackingtransparency", marker = "platform_release >= '20.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-audiovideobridging", marker = "platform_release >= '12.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-authenticationservices", marker = "platform_release >= '19.0' and sys_platform == 'darwin'" },
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-    { name = "pyobjc-framework-automator", marker = "sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-avfoundation", marker = "platform_release >= '11.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-avkit", marker = "platform_release >= '13.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-avrouting", marker = "platform_release >= '22.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-backgroundassets", marker = "platform_release >= '22.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-browserenginekit", marker = "platform_release >= '23.4' and sys_platform == 'darwin'" },
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-    { name = "pyobjc-framework-cocoa", marker = "sys_platform == 'darwin'" },
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-    { name = "pyobjc-framework-contactsui", marker = "platform_release >= '15.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-coreaudio", marker = "sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-coreaudiokit", marker = "sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-corebluetooth", marker = "platform_release >= '14.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-coredata", marker = "sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-corehaptics", marker = "platform_release >= '19.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-corelocation", marker = "platform_release >= '10.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-coremedia", marker = "platform_release >= '11.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-coremediaio", marker = "platform_release >= '11.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-coremidi", marker = "sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-coreml", marker = "platform_release >= '17.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-coremotion", marker = "platform_release >= '19.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-coreservices", marker = "sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-corespotlight", marker = "platform_release >= '17.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-coretext", marker = "sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-corewlan", marker = "platform_release >= '10.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-cryptotokenkit", marker = "platform_release >= '14.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-datadetection", marker = "platform_release >= '21.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-devicecheck", marker = "platform_release >= '19.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-devicediscoveryextension", marker = "platform_release >= '24.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-dictionaryservices", marker = "platform_release >= '9.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-discrecording", marker = "sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-discrecordingui", marker = "sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-diskarbitration", marker = "sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-dvdplayback", marker = "sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-eventkit", marker = "platform_release >= '12.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-exceptionhandling", marker = "sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-executionpolicy", marker = "platform_release >= '19.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-extensionkit", marker = "platform_release >= '22.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-externalaccessory", marker = "platform_release >= '17.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-fileprovider", marker = "platform_release >= '19.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-fileproviderui", marker = "platform_release >= '19.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-findersync", marker = "platform_release >= '14.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-fsevents", marker = "platform_release >= '9.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-fskit", marker = "platform_release >= '24.4' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-gamecenter", marker = "platform_release >= '12.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-gamecontroller", marker = "platform_release >= '13.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-gamekit", marker = "platform_release >= '12.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-gameplaykit", marker = "platform_release >= '15.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-healthkit", marker = "platform_release >= '22.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-imagecapturecore", marker = "platform_release >= '10.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-inputmethodkit", marker = "platform_release >= '9.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-installerplugins", marker = "sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-instantmessage", marker = "platform_release >= '9.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-intents", marker = "platform_release >= '16.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-intentsui", marker = "platform_release >= '21.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-iobluetooth", marker = "sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-iobluetoothui", marker = "sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-iosurface", marker = "platform_release >= '10.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-ituneslibrary", marker = "platform_release >= '10.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-kernelmanagement", marker = "platform_release >= '20.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-latentsemanticmapping", marker = "sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-launchservices", marker = "sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-libdispatch", marker = "platform_release >= '12.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-libxpc", marker = "platform_release >= '12.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-linkpresentation", marker = "platform_release >= '19.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-localauthentication", marker = "platform_release >= '14.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-localauthenticationembeddedui", marker = "platform_release >= '21.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-mailkit", marker = "platform_release >= '21.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-mapkit", marker = "platform_release >= '13.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-mediaaccessibility", marker = "platform_release >= '13.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-mediaextension", marker = "platform_release >= '24.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-medialibrary", marker = "platform_release >= '13.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-mediaplayer", marker = "platform_release >= '16.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-mediatoolbox", marker = "platform_release >= '13.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-metal", marker = "platform_release >= '15.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-metalfx", marker = "platform_release >= '22.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-metalkit", marker = "platform_release >= '15.0' and sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-metalperformanceshaders", marker = "platform_release >= '17.0' and sys_platform == 'darwin'" },
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-    { name = "pyobjc-framework-webkit", marker = "sys_platform == 'darwin'" },
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+    { name = "pyobjc-framework-accounts", marker = "platform_release >= '12.0'" },
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 [[package]]
@@ -4957,7 +4950,7 @@ name = "yapf"
 version = "0.43.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "platformdirs", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "platformdirs" },
 ]
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 wheels = [

From bbdbb55a2a8d9c94ef0da3df2eb45ad8aceacce1 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Tue, 29 Jul 2025 10:24:34 -0400
Subject: [PATCH 0329/1434] [bot] Update translations (#1077)

Update translations

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/translations/main_ar.ts     | 487 +++++++++++++++++++++--
 selfdrive/ui/translations/main_de.ts     | 469 ++++++++++++++++++++--
 selfdrive/ui/translations/main_es.ts     | 487 +++++++++++++++++++++--
 selfdrive/ui/translations/main_fr.ts     | 487 +++++++++++++++++++++--
 selfdrive/ui/translations/main_ja.ts     | 487 +++++++++++++++++++++--
 selfdrive/ui/translations/main_ko.ts     | 487 +++++++++++++++++++++--
 selfdrive/ui/translations/main_pt-BR.ts  | 487 +++++++++++++++++++++--
 selfdrive/ui/translations/main_th.ts     | 487 +++++++++++++++++++++--
 selfdrive/ui/translations/main_tr.ts     | 485 ++++++++++++++++++++--
 selfdrive/ui/translations/main_zh-CHS.ts | 487 +++++++++++++++++++++--
 selfdrive/ui/translations/main_zh-CHT.ts | 487 +++++++++++++++++++++--
 11 files changed, 4863 insertions(+), 474 deletions(-)

diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index de24097d8f0436..61eb36f4c3c3f9 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -135,6 +135,25 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -179,6 +198,30 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>أداة ADB (Android Debug Bridge) تسمح بالاتصال بجهازك عبر USB أو عبر الشبكة. راجع هذا الرابط: https://docs.comma.ai/how-to/connect-to-comma لمزيد من المعلومات.</translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -187,6 +230,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Error Log</source>
         <translation type="unfinished"></translation>
@@ -200,15 +247,11 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
+        <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -294,10 +337,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Power Off</source>
         <translation>إيقا� التشغيل</translation>
     </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>يحتاج sunnypilot أن يتم ضبط الجهاز ضمن حدود 4 درجات يميناً أو يساراً و5 درجات نحو الأعلى أو 9 نحو الأس�ل. يقوم sunnypilot بالمعايرة باستمرار، ونادراً ما يحتاج إلى عملية إعادة الضبط.</translation>
-    </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> يشير جهازك إلى %1 درجة %2، و%3 درجة %4.</translation>
@@ -359,7 +398,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -449,6 +512,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>The reset cannot be undone. You have been warned.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -484,6 +572,21 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation>بدء تشغيل الكاميرا</translation>
     </message>
 </context>
+<context>
+    <name>ExitOffroadButton</name>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">تأكيد</translation>
+    </message>
+    <message>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ExperimentalModeButton</name>
     <message>
@@ -497,10 +600,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
     <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 وضع خرطوم الحريق 🔥</translation>
-    </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
         <translation>وضع خرطوم الحريق: نشط</translation>
@@ -534,6 +633,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>HudRenderer</name>
@@ -660,6 +763,37 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>This platform supports limited MADS settings.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -770,104 +904,129 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished">اختيار</translation>
     </message>
     <message>
-        <source>No custom model selected!</source>
+        <source>downloaded</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>ready</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
+        <source>from cache</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Vision</source>
+        <source>Fetching models...</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Policy</source>
+        <source>Select a Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] %3</source>
+        <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>downloaded</source>
+        <source>We STRONGLY suggest you to reset calibration.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>ready</source>
+        <source>Would you like to do that now?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>from cache</source>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">إعادة ضبط المعايرة</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] download failed</source>
+        <source>Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] pending...</source>
+        <source>Continue</source>
+        <translation type="unfinished">متابعة</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Fetching models...</source>
+        <source>Cancel</source>
+        <translation type="unfinished">إلغاء</translation>
+    </message>
+    <message>
+        <source>Clear Model Cache</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Use Default</source>
+        <source>CLEAR</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a Model</source>
+        <source>Driving Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Default</source>
+        <source>Navigation Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Model download has started in the background.</source>
+        <source>Vision Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
+        <source>Policy Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Would you like to do that now?</source>
+        <source>Live Learning Steer Delay</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">إعادة ضبط المعايرة</translation>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving Model Selector</source>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Warning: You are on a metered connection!</source>
+        <source>  %1 - %2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Continue</source>
-        <translation type="unfinished">متابعة</translation>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>on Metered</source>
+        <source>  pending - %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation type="unfinished">إلغاء</translation>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -1019,7 +1178,9 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>لقد اكتش� sunnypilot تغييراً �ي موقع تركيب الجهاز. تأكد من تثبيت الجهاز بشكل كامل �ي موقعه وتثبيته بإحكام على الزجاج الأمامي.</translation>
     </message>
     <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1038,6 +1199,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation> تنبيه</translation>
     </message>
 </context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OnroadAlerts</name>
     <message>
@@ -1061,6 +1229,137 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>النظام لا يستجيب</translation>
     </message>
 </context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">التحقق</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">اختيار</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">تحديث</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -1401,6 +1700,10 @@ This may take up to a minute.</source>
         <source>Visuals</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1496,6 +1799,16 @@ This may take up to a minute.</source>
         <source>Custom Software</source>
         <translation>البرمجيات المخصصة</translation>
     </message>
+    <message>
+        <source>WARNING: Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
+
+If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -1707,6 +2020,30 @@ This may take up to a minute.</source>
         <source>Select a branch</source>
         <translation type="unfinished">اختر �رعاً</translation>
     </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">إعادة التشغيل</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -2057,6 +2394,25 @@ This may take up to a minute.</source>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">اختيار</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">إلغاء</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -2093,6 +2449,49 @@ This may take up to a minute.</source>
         <translation>�شل التحديث</translation>
     </message>
 </context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>WiFiPromptWidget</name>
     <message>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 6229920121d955..dbde9c280a539d 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -135,6 +135,25 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -191,6 +210,18 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -199,6 +230,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Error Log</source>
         <translation type="unfinished"></translation>
@@ -211,6 +246,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>View the error log for sunnypilot crashes.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -355,11 +398,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is complete.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -449,6 +512,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -484,6 +572,21 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation>Kamera startet</translation>
     </message>
 </context>
+<context>
+    <name>ExitOffroadButton</name>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Bestätigen</translation>
+    </message>
+    <message>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ExperimentalModeButton</name>
     <message>
@@ -497,10 +600,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
     <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 Firehose-Modus 🔥</translation>
-    </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
         <translation>Firehose-Modus: AKTIV</translation>
@@ -530,6 +629,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>HudRenderer</name>
@@ -652,6 +755,37 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>This platform supports limited MADS settings.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -762,104 +896,129 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished">AUSWÄHLEN</translation>
     </message>
     <message>
-        <source>No custom model selected!</source>
+        <source>downloaded</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>ready</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
+        <source>from cache</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Vision</source>
+        <source>Fetching models...</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Policy</source>
+        <source>Select a Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] %3</source>
+        <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>downloaded</source>
+        <source>We STRONGLY suggest you to reset calibration.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>ready</source>
+        <source>Would you like to do that now?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>from cache</source>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Neu kalibrieren</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">Fortsetzen</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] download failed</source>
+        <source>Cancel</source>
+        <translation type="unfinished">Abbrechen</translation>
+    </message>
+    <message>
+        <source>Clear Model Cache</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] pending...</source>
+        <source>CLEAR</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Fetching models...</source>
+        <source>Driving Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Use Default</source>
+        <source>Navigation Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a Model</source>
+        <source>Vision Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Default</source>
+        <source>Policy Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Model download has started in the background.</source>
+        <source>Live Learning Steer Delay</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
+        <source>Adjust Software Delay</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Would you like to do that now?</source>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">Neu kalibrieren</translation>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving Model Selector</source>
+        <source>  download failed - %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Warning: You are on a metered connection!</source>
+        <source>  pending - %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Continue</source>
-        <translation type="unfinished">Fortsetzen</translation>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>on Metered</source>
+        <source>Current:</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation type="unfinished">Abbrechen</translation>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -1011,7 +1170,9 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1030,6 +1191,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation> HINWEIS</translation>
     </message>
 </context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OnroadAlerts</name>
     <message>
@@ -1053,6 +1221,137 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">ÃœBERPRÃœFEN</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">AUSWÄHLEN</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">Aktualisieren</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -1381,6 +1680,10 @@ Dies kann bis zu einer Minute dauern.</translation>
         <source>Visuals</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1476,6 +1779,16 @@ Dies kann bis zu einer Minute dauern.</translation>
         <source>sunnypilot</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>WARNING: Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
+
+If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -1689,6 +2002,30 @@ Dies kann bis zu einer Minute dauern.</translation>
         <source>Select a branch</source>
         <translation type="unfinished">Wähle einen Branch</translation>
     </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">Neustart</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -2039,6 +2376,25 @@ Dies kann bis zu einer Minute dauern.</translation>
         <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">Auswählen</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Abbrechen</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -2075,6 +2431,49 @@ Dies kann bis zu einer Minute dauern.</translation>
         <translation>Aktualisierung fehlgeschlagen</translation>
     </message>
 </context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>WiFiPromptWidget</name>
     <message>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 3d9622166a34f4..ed84ab0f42fd53 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -135,6 +135,25 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -179,6 +198,30 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -187,6 +230,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Error Log</source>
         <translation type="unfinished"></translation>
@@ -200,15 +247,11 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
+        <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -314,10 +357,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Power Off</source>
         <translation>Apagar</translation>
     </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot requiere que el dispositivo sea montado entre 4° grados a la izquierda o derecha y entre 5° grados hacia arriba o 9° grados hacia abajo. sunnypilot está constantemente en calibración, formatear rara vez es necesario.</translation>
-    </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> Su dispositivo está apuntando %1° %2 y %3° %4.</translation>
@@ -359,7 +398,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -449,6 +512,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>The reset cannot be undone. You have been warned.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -484,6 +572,21 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation>iniciando cámara</translation>
     </message>
 </context>
+<context>
+    <name>ExitOffroadButton</name>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Confirmar</translation>
+    </message>
+    <message>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ExperimentalModeButton</name>
     <message>
@@ -497,10 +600,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
     <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
         <translation type="unfinished"></translation>
@@ -530,6 +629,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>HudRenderer</name>
@@ -652,6 +755,37 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>This platform supports limited MADS settings.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -762,104 +896,129 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished">SELECCIONAR</translation>
     </message>
     <message>
-        <source>No custom model selected!</source>
+        <source>downloaded</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>ready</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
+        <source>from cache</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Vision</source>
+        <source>Fetching models...</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Policy</source>
+        <source>Select a Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] %3</source>
+        <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>downloaded</source>
+        <source>We STRONGLY suggest you to reset calibration.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>ready</source>
+        <source>Would you like to do that now?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>from cache</source>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Formatear Calibración</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] download failed</source>
+        <source>Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] pending...</source>
+        <source>Continue</source>
+        <translation type="unfinished">Continuar</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Fetching models...</source>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
+    <message>
+        <source>Clear Model Cache</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Use Default</source>
+        <source>CLEAR</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a Model</source>
+        <source>Driving Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Default</source>
+        <source>Navigation Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Model download has started in the background.</source>
+        <source>Vision Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
+        <source>Policy Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Would you like to do that now?</source>
+        <source>Live Learning Steer Delay</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">Formatear Calibración</translation>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving Model Selector</source>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Warning: You are on a metered connection!</source>
+        <source>  %1 - %2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Continue</source>
-        <translation type="unfinished">Continuar</translation>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>on Metered</source>
+        <source>  pending - %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation type="unfinished">Cancelar</translation>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -1011,7 +1170,9 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>sunnypilot detectó un cambio en la posición de montaje del dispositivo. Asegúrese de que el dispositivo esté completamente asentado en el soporte y que el soporte esté firmemente asegurado al parabrisas.</translation>
     </message>
     <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1030,6 +1191,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation> ALERTA</translation>
     </message>
 </context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OnroadAlerts</name>
     <message>
@@ -1053,6 +1221,137 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>Systema no responde</translation>
     </message>
 </context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">VERIFICAR</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">SELECCIONAR</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">ACTUALIZAR</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -1381,6 +1680,10 @@ Esto puede tardar un minuto.</translation>
         <source>Visuals</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1476,6 +1779,16 @@ Esto puede tardar un minuto.</translation>
         <source>Select a language</source>
         <translation>Seleccione un idioma</translation>
     </message>
+    <message>
+        <source>WARNING: Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
+
+If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -1687,6 +2000,30 @@ Esto puede tardar un minuto.</translation>
         <source>Select a branch</source>
         <translation type="unfinished">Selecione una rama</translation>
     </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">Reiniciar</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -2037,6 +2374,25 @@ Esto puede tardar un minuto.</translation>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">Seleccionar</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -2073,6 +2429,49 @@ Esto puede tardar un minuto.</translation>
         <translation>Actualización fallida</translation>
     </message>
 </context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>WiFiPromptWidget</name>
     <message>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 741cc606a783ac..5b11081b0c79d1 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -135,6 +135,25 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -179,6 +198,30 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -187,6 +230,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Error Log</source>
         <translation type="unfinished"></translation>
@@ -200,15 +247,11 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
+        <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -302,10 +345,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Power Off</source>
         <translation>Éteindre</translation>
     </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot nécessite que l&apos;appareil soit monté à 4° à gauche ou à droite et à 5° vers le haut ou 9° vers le bas. sunnypilot se calibre en continu, la réinitialisation est rarement nécessaire.</translation>
-    </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> Votre appareil est orienté %1° %2 et %3° %4.</translation>
@@ -359,7 +398,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -449,6 +512,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>The reset cannot be undone. You have been warned.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -484,6 +572,21 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation>démarrage de la caméra</translation>
     </message>
 </context>
+<context>
+    <name>ExitOffroadButton</name>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Confirmer</translation>
+    </message>
+    <message>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ExperimentalModeButton</name>
     <message>
@@ -497,10 +600,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
     <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
         <translation type="unfinished"></translation>
@@ -530,6 +629,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>HudRenderer</name>
@@ -652,6 +755,37 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>This platform supports limited MADS settings.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -762,104 +896,129 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished">SÉLECTIONNER</translation>
     </message>
     <message>
-        <source>No custom model selected!</source>
+        <source>downloaded</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>ready</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
+        <source>from cache</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Vision</source>
+        <source>Fetching models...</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Policy</source>
+        <source>Select a Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] %3</source>
+        <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>downloaded</source>
+        <source>We STRONGLY suggest you to reset calibration.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>ready</source>
+        <source>Would you like to do that now?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>from cache</source>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Réinitialiser la calibration</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] download failed</source>
+        <source>Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] pending...</source>
+        <source>Continue</source>
+        <translation type="unfinished">Continuer</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Fetching models...</source>
+        <source>Cancel</source>
+        <translation type="unfinished">Annuler</translation>
+    </message>
+    <message>
+        <source>Clear Model Cache</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Use Default</source>
+        <source>CLEAR</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a Model</source>
+        <source>Driving Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Default</source>
+        <source>Navigation Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Model download has started in the background.</source>
+        <source>Vision Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
+        <source>Policy Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Would you like to do that now?</source>
+        <source>Live Learning Steer Delay</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">Réinitialiser la calibration</translation>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving Model Selector</source>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Warning: You are on a metered connection!</source>
+        <source>  %1 - %2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Continue</source>
-        <translation type="unfinished">Continuer</translation>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>on Metered</source>
+        <source>  pending - %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation type="unfinished">Annuler</translation>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -1011,7 +1170,9 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>sunnypilot a détecté un changement dans la position de montage de l&apos;appareil. Assurez-vous que l&apos;appareil est totalement inséré dans le support et que le support est fermement fixé au pare-brise.</translation>
     </message>
     <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1030,6 +1191,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation> ALERTE</translation>
     </message>
 </context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OnroadAlerts</name>
     <message>
@@ -1053,6 +1221,137 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>Système inopérant</translation>
     </message>
 </context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">VÉRIFIER</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">SÉLECTIONNER</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">MISE À JOUR</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -1381,6 +1680,10 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Visuals</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1476,6 +1779,16 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Custom Software</source>
         <translation>Logiciel personnalisé</translation>
     </message>
+    <message>
+        <source>WARNING: Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
+
+If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -1687,6 +2000,30 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Select a branch</source>
         <translation type="unfinished">Sélectionner une branche</translation>
     </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">Redémarrer</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -2037,6 +2374,25 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">Sélectionner</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Annuler</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -2073,6 +2429,49 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <translation>Échec de la mise à jour</translation>
     </message>
 </context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>WiFiPromptWidget</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index f85ee376897404..dae752b14c97f0 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -135,6 +135,25 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -179,6 +198,30 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB（Android Debug Bridge）�より�USB����ットワーク経由�デ�イス�接続����。詳細��https://docs.comma.ai/how-to/connect-to-comma を�照������。</translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -187,6 +230,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Error Log</source>
         <translation type="unfinished"></translation>
@@ -200,15 +247,11 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
+        <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -294,10 +337,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Power Off</source>
         <translation>パワーオフ</translation>
     </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot�本体�左�4°以内�上5°下9°以内�角度��付�る必���り��。常�キャリブレーション�れ��りリセット���ん�必��り��ん。</translation>
-    </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> ��デ�イス�%2 %1°�%4 %3°����設置�れ����。</translation>
@@ -359,7 +398,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -449,6 +512,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>The reset cannot be undone. You have been warned.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -484,6 +572,21 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation>カメラ起動中</translation>
     </message>
 </context>
+<context>
+    <name>ExitOffroadButton</name>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">確�</translation>
+    </message>
+    <message>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ExperimentalModeButton</name>
     <message>
@@ -497,10 +600,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
     <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 Firehoseモード 🔥</translation>
-    </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
         <translation type="unfinished"></translation>
@@ -529,6 +628,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
         <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;動作�止&lt;/span&gt;: 大容���ットワーク�接続������</translation>
     </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>HudRenderer</name>
@@ -650,6 +753,37 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>This platform supports limited MADS settings.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -760,104 +894,129 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished">�択</translation>
     </message>
     <message>
-        <source>No custom model selected!</source>
+        <source>downloaded</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>ready</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
+        <source>from cache</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Vision</source>
+        <source>Fetching models...</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Policy</source>
+        <source>Select a Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] %3</source>
+        <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>downloaded</source>
+        <source>We STRONGLY suggest you to reset calibration.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>ready</source>
+        <source>Would you like to do that now?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>from cache</source>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">キャリブレーションリセット</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] download failed</source>
+        <source>Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] pending...</source>
+        <source>Continue</source>
+        <translation type="unfinished">続�る</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Fetching models...</source>
+        <source>Cancel</source>
+        <translation type="unfinished">キャンセル</translation>
+    </message>
+    <message>
+        <source>Clear Model Cache</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Use Default</source>
+        <source>CLEAR</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a Model</source>
+        <source>Driving Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Default</source>
+        <source>Navigation Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Model download has started in the background.</source>
+        <source>Vision Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
+        <source>Policy Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Would you like to do that now?</source>
+        <source>Live Learning Steer Delay</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">キャリブレーションリセット</translation>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving Model Selector</source>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Warning: You are on a metered connection!</source>
+        <source>  %1 - %2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Continue</source>
-        <translation type="unfinished">続�る</translation>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>on Metered</source>
+        <source>  pending - %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation type="unfinished">キャンセル</translation>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -1009,7 +1168,9 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>デ�イス�温度�高��る��システム起動��冷�中��。�在�デ�イス内部温度: %1</translation>
     </message>
     <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1028,6 +1189,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation> 警告</translation>
     </message>
 </context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OnroadAlerts</name>
     <message>
@@ -1051,6 +1219,137 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>システム�応答���ん</translation>
     </message>
 </context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">確�</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">�択</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">æ›´æ–°</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -1376,6 +1675,10 @@ This may take up to a minute.</source>
         <source>Visuals</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1471,6 +1774,16 @@ This may take up to a minute.</source>
         <source>Custom Software</source>
         <translation>カスタムソフトウェア</translation>
     </message>
+    <message>
+        <source>WARNING: Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
+
+If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -1682,6 +1995,30 @@ This may take up to a minute.</source>
         <source>Select a branch</source>
         <translation type="unfinished">ブラン�を�択</translation>
     </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">�起動</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -2032,6 +2369,25 @@ This may take up to a minute.</source>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">�択</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">キャンセル</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -2068,6 +2424,49 @@ This may take up to a minute.</source>
         <translation>更新失敗</translation>
     </message>
 </context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>WiFiPromptWidget</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 89f30ea5459958..86c8e10e26026c 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -135,6 +135,25 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -179,6 +198,30 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB (안드로�드 디버그 브릿지) USB �는 네트워�를 통해 장치� 연결할 수 있습니다. �세한 내용� https://docs.comma.ai/how-to/connect-to-comma를 참조하세요.</translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -187,6 +230,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Error Log</source>
         <translation type="unfinished"></translation>
@@ -200,15 +247,11 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
+        <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -294,10 +337,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Power Off</source>
         <translation>전� �기</translation>
     </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot 장치는 좌우 4°, 위로 5°, 아래로 9° �내 ��로 장착�어야 합니다. sunnypilot� 지��으로 �� 보정�며 재설정� 거� 필요하지 않습니다.</translation>
-    </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> 사용�� 장치는 %2 %1° � %4 %3° � 방향으로 장착�어 있습니다.</translation>
@@ -359,7 +398,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -449,6 +512,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>The reset cannot be undone. You have been warned.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -484,6 +572,21 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation>카메� 시작 중</translation>
     </message>
 </context>
+<context>
+    <name>ExitOffroadButton</name>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">확�</translation>
+    </message>
+    <message>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ExperimentalModeButton</name>
     <message>
@@ -497,10 +600,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
     <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 파�어호스 모드 🔥</translation>
-    </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
         <translation>파�어호스 모드: 활성화</translation>
@@ -529,6 +628,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>HudRenderer</name>
@@ -650,6 +753,37 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>This platform supports limited MADS settings.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -760,104 +894,129 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished">선�</translation>
     </message>
     <message>
-        <source>No custom model selected!</source>
+        <source>downloaded</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>ready</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
+        <source>from cache</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Vision</source>
+        <source>Fetching models...</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Policy</source>
+        <source>Select a Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] %3</source>
+        <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>downloaded</source>
+        <source>We STRONGLY suggest you to reset calibration.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>ready</source>
+        <source>Would you like to do that now?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>from cache</source>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">캘리브레�션</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] download failed</source>
+        <source>Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] pending...</source>
+        <source>Continue</source>
+        <translation type="unfinished">계�</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Fetching models...</source>
+        <source>Cancel</source>
+        <translation type="unfinished">취소</translation>
+    </message>
+    <message>
+        <source>Clear Model Cache</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Use Default</source>
+        <source>CLEAR</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a Model</source>
+        <source>Driving Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Default</source>
+        <source>Navigation Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Model download has started in the background.</source>
+        <source>Vision Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
+        <source>Policy Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Would you like to do that now?</source>
+        <source>Live Learning Steer Delay</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">캘리브레�션</translation>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving Model Selector</source>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Warning: You are on a metered connection!</source>
+        <source>  %1 - %2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Continue</source>
-        <translation type="unfinished">계�</translation>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>on Metered</source>
+        <source>  pending - %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation type="unfinished">취소</translation>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -1009,7 +1168,9 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>장치� 온�가 너무 높습니다. 시작 전� 온�를 낮춰주세요. 현재 내부 구성 요소 온�: %1</translation>
     </message>
     <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1028,6 +1189,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation> 알림</translation>
     </message>
 </context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OnroadAlerts</name>
     <message>
@@ -1051,6 +1219,137 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>시스템� �답하지않습니다</translation>
     </message>
 </context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">확�</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">선�</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">업��트</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -1376,6 +1675,10 @@ This may take up to a minute.</source>
         <source>Visuals</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1471,6 +1774,16 @@ This may take up to a minute.</source>
         <source>Custom Software</source>
         <translation>커스텀 소프트웨어</translation>
     </message>
+    <message>
+        <source>WARNING: Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
+
+If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -1682,6 +1995,30 @@ This may take up to a minute.</source>
         <source>Select a branch</source>
         <translation type="unfinished">브랜치 선�</translation>
     </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">재부팅</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -2032,6 +2369,25 @@ This may take up to a minute.</source>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">선�</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">취소</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -2068,6 +2424,49 @@ This may take up to a minute.</source>
         <translation>업��트 실패</translation>
     </message>
 </context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>WiFiPromptWidget</name>
     <message>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index bc9e50ee0adf97..503441c467bd86 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -135,6 +135,25 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -179,6 +198,30 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB (Android Debug Bridge) permite conectar ao seu dispositivo por meio do USB ou através da rede. Veja https://docs.comma.ai/how-to/connect-to-comma para maiores informações.</translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -187,6 +230,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Error Log</source>
         <translation type="unfinished"></translation>
@@ -200,15 +247,11 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
+        <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -294,10 +337,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Power Off</source>
         <translation>Desligar</translation>
     </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>O sunnypilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 9° para baixo. O sunnypilot está continuamente calibrando, resetar raramente é necessário.</translation>
-    </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> Seu dispositivo está montado %1° %2 e %3° %4.</translation>
@@ -359,7 +398,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -449,6 +512,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>The reset cannot be undone. You have been warned.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -484,6 +572,21 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation>câmera iniciando</translation>
     </message>
 </context>
+<context>
+    <name>ExitOffroadButton</name>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Confirmar</translation>
+    </message>
+    <message>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ExperimentalModeButton</name>
     <message>
@@ -497,10 +600,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
     <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 Modo Firehose 🔥</translation>
-    </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
         <translation>Modo Firehose: ATIVO</translation>
@@ -530,6 +629,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
         <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INATIVO&lt;/span&gt;: conecte-se a uma rede sem limite &lt;br&gt; de dados</translation>
     </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>HudRenderer</name>
@@ -652,6 +755,37 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>This platform supports limited MADS settings.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -762,104 +896,129 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished">SELECIONE</translation>
     </message>
     <message>
-        <source>No custom model selected!</source>
+        <source>downloaded</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>ready</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
+        <source>from cache</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Vision</source>
+        <source>Fetching models...</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Policy</source>
+        <source>Select a Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] %3</source>
+        <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>downloaded</source>
+        <source>We STRONGLY suggest you to reset calibration.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>ready</source>
+        <source>Would you like to do that now?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>from cache</source>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Reinicializar Calibragem</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] download failed</source>
+        <source>Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] pending...</source>
+        <source>Continue</source>
+        <translation type="unfinished">Continuar</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Fetching models...</source>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
+    <message>
+        <source>Clear Model Cache</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Use Default</source>
+        <source>CLEAR</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a Model</source>
+        <source>Driving Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Default</source>
+        <source>Navigation Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Model download has started in the background.</source>
+        <source>Vision Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
+        <source>Policy Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Would you like to do that now?</source>
+        <source>Live Learning Steer Delay</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">Reinicializar Calibragem</translation>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving Model Selector</source>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Warning: You are on a metered connection!</source>
+        <source>  %1 - %2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Continue</source>
-        <translation type="unfinished">Continuar</translation>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>on Metered</source>
+        <source>  pending - %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation type="unfinished">Cancelar</translation>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -1011,7 +1170,9 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>Temperatura do dispositivo muito alta. O sistema está sendo resfriado antes de iniciar. A temperatura atual do componente interno é: %1</translation>
     </message>
     <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1030,6 +1191,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation> ALERTA</translation>
     </message>
 </context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OnroadAlerts</name>
     <message>
@@ -1053,6 +1221,137 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>Sistema sem Resposta</translation>
     </message>
 </context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">VERIFICAR</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">SELECIONE</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">ATUALIZAÇÃO</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -1381,6 +1680,10 @@ Isso pode levar até um minuto.</translation>
         <source>Visuals</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1476,6 +1779,16 @@ Isso pode levar até um minuto.</translation>
         <source>Custom Software</source>
         <translation>Software Customizado</translation>
     </message>
+    <message>
+        <source>WARNING: Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
+
+If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -1687,6 +2000,30 @@ Isso pode levar até um minuto.</translation>
         <source>Select a branch</source>
         <translation type="unfinished">Selecione uma branch</translation>
     </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">Reiniciar</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -2037,6 +2374,25 @@ Isso pode levar até um minuto.</translation>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">Selecione</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -2073,6 +2429,49 @@ Isso pode levar até um minuto.</translation>
         <translation>Falha na atualização</translation>
     </message>
 </context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>WiFiPromptWidget</name>
     <message>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 2c3d0bdb6c5077..a3a65e9e03aaa2 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -135,6 +135,25 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -179,6 +198,30 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -187,6 +230,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Error Log</source>
         <translation type="unfinished"></translation>
@@ -200,15 +247,11 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
+        <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -294,10 +337,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Power Off</source>
         <translation>ปิดเครื่อง</translation>
     </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot �ำหนดให้ติดตั้งอุป�รณ์ โดยสามารถเอียงด้านซ้ายหรือขวาไม่เ�ิน 4° �ละเอียงขึ้นด้านบนไม่เ�ิน 5° หรือเอียงลงด้านล่างไม่เ�ิน 9° sunnypilot ทำ�ารคาลิเบรทอย่างต่อเนื่อง �ทบจะไม่จำเป็นต้องทำ�ารรีเซ็ต�ารคาลิเบรท</translation>
-    </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> อุป�รณ์ของคุณเอียงไปทาง %2 %1° �ละ %4 %3°</translation>
@@ -359,7 +398,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -449,6 +512,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>The reset cannot be undone. You have been warned.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -484,6 +572,21 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation>�ำลังเปิด�ล้อง</translation>
     </message>
 </context>
+<context>
+    <name>ExitOffroadButton</name>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">ยืนยัน</translation>
+    </message>
+    <message>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ExperimentalModeButton</name>
     <message>
@@ -497,10 +600,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
     <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
         <translation type="unfinished"></translation>
@@ -529,6 +628,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>HudRenderer</name>
@@ -650,6 +753,37 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>This platform supports limited MADS settings.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -760,104 +894,129 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished">เลือ�</translation>
     </message>
     <message>
-        <source>No custom model selected!</source>
+        <source>downloaded</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>ready</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
+        <source>from cache</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Vision</source>
+        <source>Fetching models...</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Policy</source>
+        <source>Select a Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] %3</source>
+        <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>downloaded</source>
+        <source>We STRONGLY suggest you to reset calibration.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>ready</source>
+        <source>Would you like to do that now?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>from cache</source>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">รีเซ็ต�ารคาลิเบรท</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] download failed</source>
+        <source>Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] pending...</source>
+        <source>Continue</source>
+        <translation type="unfinished">ดำเนิน�ารต่อ</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Fetching models...</source>
+        <source>Cancel</source>
+        <translation type="unfinished">ย�เลิ�</translation>
+    </message>
+    <message>
+        <source>Clear Model Cache</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Use Default</source>
+        <source>CLEAR</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a Model</source>
+        <source>Driving Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Default</source>
+        <source>Navigation Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Model download has started in the background.</source>
+        <source>Vision Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
+        <source>Policy Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Would you like to do that now?</source>
+        <source>Live Learning Steer Delay</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">รีเซ็ต�ารคาลิเบรท</translation>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving Model Selector</source>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Warning: You are on a metered connection!</source>
+        <source>  %1 - %2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Continue</source>
-        <translation type="unfinished">ดำเนิน�ารต่อ</translation>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>on Metered</source>
+        <source>  pending - %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation type="unfinished">ย�เลิ�</translation>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -1009,7 +1168,9 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>sunnypilot ตรวจพบ�ารเปลี่ยน�ปลงของตำ�หน่งที่ติดตั้ง �รุณาตรวจสอบว่าได้เลื่อนอุป�รณ์เข้า�ับจุดติดตั้งจนสุด�ล้ว �ละจุดติดตั้งได้ยึดติด�ับ�ระจ�หน้าอย่าง�น่นหนา</translation>
     </message>
     <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1028,6 +1189,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation> �าร�จ้งเตือน</translation>
     </message>
 </context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OnroadAlerts</name>
     <message>
@@ -1051,6 +1219,137 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">ตรวจสอบ</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">เลือ�</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">อัปเดต</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -1376,6 +1675,10 @@ This may take up to a minute.</source>
         <source>Visuals</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1471,6 +1774,16 @@ This may take up to a minute.</source>
         <source>Custom Software</source>
         <translation>ซอฟต์�วร์ที่�ำหนดเอง</translation>
     </message>
+    <message>
+        <source>WARNING: Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
+
+If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -1682,6 +1995,30 @@ This may take up to a minute.</source>
         <source>Select a branch</source>
         <translation type="unfinished">เลือ� Branch</translation>
     </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">รีบูต</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -2032,6 +2369,25 @@ This may take up to a minute.</source>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">เลือ�</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">ย�เลิ�</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -2068,6 +2424,49 @@ This may take up to a minute.</source>
         <translation>�ารอัปเดตล้มเหลว</translation>
     </message>
 </context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>WiFiPromptWidget</name>
     <message>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index fd06e81ef14430..3677ba032983fd 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -135,6 +135,25 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -179,6 +198,30 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -187,6 +230,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Error Log</source>
         <translation type="unfinished"></translation>
@@ -200,15 +247,11 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
+        <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -294,10 +337,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Power Off</source>
         <translation>Sistemi kapat</translation>
     </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot, cihazın 4° sola veya 5° yukarı yada 9° aşağı bakıcak şekilde monte edilmesi gerekmektedir. sunnypilot sürekli kendisini kalibre edilmektedir ve nadiren sıfırlama gerebilir.</translation>
-    </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> Cihazınız %1° %2 ve %3° %4 yönünde ayarlı</translation>
@@ -359,7 +398,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -449,6 +512,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>The reset cannot be undone. You have been warned.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -484,6 +572,21 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation>kamera başlatılıyor</translation>
     </message>
 </context>
+<context>
+    <name>ExitOffroadButton</name>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Onayla</translation>
+    </message>
+    <message>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ExperimentalModeButton</name>
     <message>
@@ -497,10 +600,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
     <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
         <translation type="unfinished"></translation>
@@ -529,6 +628,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>HudRenderer</name>
@@ -650,6 +753,37 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>This platform supports limited MADS settings.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -760,103 +894,128 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>No custom model selected!</source>
+        <source>downloaded</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>ready</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
+        <source>from cache</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Vision</source>
+        <source>Fetching models...</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Policy</source>
+        <source>Select a Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] %3</source>
+        <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>downloaded</source>
+        <source>We STRONGLY suggest you to reset calibration.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>ready</source>
+        <source>Would you like to do that now?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>from cache</source>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Kalibrasyonu sıfırla</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] download failed</source>
+        <source>Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] pending...</source>
+        <source>Continue</source>
+        <translation type="unfinished">Devam et</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Fetching models...</source>
+        <source>Cancel</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Use Default</source>
+        <source>Clear Model Cache</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a Model</source>
+        <source>CLEAR</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Default</source>
+        <source>Driving Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Model download has started in the background.</source>
+        <source>Navigation Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
+        <source>Vision Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Would you like to do that now?</source>
+        <source>Policy Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">Kalibrasyonu sıfırla</translation>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving Model Selector</source>
+        <source>Adjust Software Delay</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Warning: You are on a metered connection!</source>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Continue</source>
-        <translation type="unfinished">Devam et</translation>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>on Metered</source>
+        <source>  download failed - %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Cancel</source>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1008,7 +1167,9 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1027,6 +1188,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation> UYARI</translation>
     </message>
 </context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OnroadAlerts</name>
     <message>
@@ -1050,6 +1218,137 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">KONTROL ET</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">GÃœNCELLE</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -1374,6 +1673,10 @@ This may take up to a minute.</source>
         <source>Visuals</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1469,6 +1772,16 @@ This may take up to a minute.</source>
         <source>Custom Software</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>WARNING: Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
+
+If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -1680,6 +1993,30 @@ This may take up to a minute.</source>
         <source>Select a branch</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">Yeniden baÅŸlat</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -2030,6 +2367,25 @@ This may take up to a minute.</source>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">Seç</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -2066,6 +2422,49 @@ This may take up to a minute.</source>
         <translation>Güncelleme başarız oldu</translation>
     </message>
 </context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>WiFiPromptWidget</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 06c6c671521257..987d42a7f76f13 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -135,6 +135,25 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -179,6 +198,30 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB（Android调试桥接）�许通过USB或网络连接到您的设备。更多信�请�� [https://docs.comma.ai/how-to/connect-to-comma](https://docs.comma.ai/how-to/connect-to-comma)。</translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -187,6 +230,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Error Log</source>
         <translation type="unfinished"></translation>
@@ -200,15 +247,11 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
+        <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -294,10 +337,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Power Off</source>
         <translation>关机</translation>
     </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot�求设备安装的�航角在左4°和�4°之间，俯仰角在上5°和下9°之间。一般�说，sunnypilot会�续更新校准，很少需��置。</translation>
-    </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> 您的设备校准为%1° %2�%3° %4。</translation>
@@ -359,7 +398,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -449,6 +512,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>The reset cannot be undone. You have been warned.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -484,6 +572,21 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation>正在�动相机</translation>
     </message>
 </context>
+<context>
+    <name>ExitOffroadButton</name>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">确认</translation>
+    </message>
+    <message>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ExperimentalModeButton</name>
     <message>
@@ -497,10 +600,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
     <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 训练数�上传模� 🔥</translation>
-    </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
         <translation>训练数�上传模�：激活中</translation>
@@ -529,6 +628,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
         <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;闲置&lt;/span&gt;：请连接到����的网络</translation>
     </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>HudRenderer</name>
@@ -650,6 +753,37 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>This platform supports limited MADS settings.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -760,104 +894,129 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished">选择</translation>
     </message>
     <message>
-        <source>No custom model selected!</source>
+        <source>downloaded</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>ready</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
+        <source>from cache</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Vision</source>
+        <source>Fetching models...</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Policy</source>
+        <source>Select a Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] %3</source>
+        <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>downloaded</source>
+        <source>We STRONGLY suggest you to reset calibration.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>ready</source>
+        <source>Would you like to do that now?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>from cache</source>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">�置设备校准</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] download failed</source>
+        <source>Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] pending...</source>
+        <source>Continue</source>
+        <translation type="unfinished">继续</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Fetching models...</source>
+        <source>Cancel</source>
+        <translation type="unfinished">�消</translation>
+    </message>
+    <message>
+        <source>Clear Model Cache</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Use Default</source>
+        <source>CLEAR</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a Model</source>
+        <source>Driving Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Default</source>
+        <source>Navigation Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Model download has started in the background.</source>
+        <source>Vision Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
+        <source>Policy Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Would you like to do that now?</source>
+        <source>Live Learning Steer Delay</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">�置设备校准</translation>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving Model Selector</source>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Warning: You are on a metered connection!</source>
+        <source>  %1 - %2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Continue</source>
-        <translation type="unfinished">继续</translation>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>on Metered</source>
+        <source>  pending - %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation type="unfinished">�消</translation>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -1009,7 +1168,9 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>设备温度过高。系统正在冷�中，等冷�完毕��会�动。目�内部组件温度：%1</translation>
     </message>
     <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1028,6 +1189,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation> 警报</translation>
     </message>
 </context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OnroadAlerts</name>
     <message>
@@ -1051,6 +1219,137 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>系统无�应</translation>
     </message>
 </context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">查看</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">选择</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">æ›´æ–°</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -1376,6 +1675,10 @@ This may take up to a minute.</source>
         <source>Visuals</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1471,6 +1774,16 @@ This may take up to a minute.</source>
         <source>Custom Software</source>
         <translation>定制软件</translation>
     </message>
+    <message>
+        <source>WARNING: Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
+
+If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -1682,6 +1995,30 @@ This may take up to a minute.</source>
         <source>Select a branch</source>
         <translation type="unfinished">选择分支</translation>
     </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">��</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -2032,6 +2369,25 @@ This may take up to a minute.</source>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">选择</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">�消</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -2068,6 +2424,49 @@ This may take up to a minute.</source>
         <translation>更新失败</translation>
     </message>
 </context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>WiFiPromptWidget</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index c46157e78e63cc..c9692be62b000c 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -135,6 +135,25 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -179,6 +198,30 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB（Android 調試橋接）�許通� USB 或網絡連接到您的設備。更多信�請�見 [https://docs.comma.ai/how-to/connect-to-comma](https://docs.comma.ai/how-to/connect-to-comma)。</translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -187,6 +230,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Error Log</source>
         <translation type="unfinished"></translation>
@@ -200,15 +247,11 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
+        <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -294,10 +337,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Power Off</source>
         <translation>關機</translation>
     </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot 需�將�置固定在左��差 4° 以內，�上�差 5° 以內或�下�差 9° 以內。�頭在後�會�續自動校準，很少有需��置的情�。</translation>
-    </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> 你的�置目��%2 %1° 以��%4 %3° 。</translation>
@@ -359,7 +398,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -449,6 +512,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>The reset cannot be undone. You have been warned.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -484,6 +572,21 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <translation>開啟相機中</translation>
     </message>
 </context>
+<context>
+    <name>ExitOffroadButton</name>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">確�</translation>
+    </message>
+    <message>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ExperimentalModeButton</name>
     <message>
@@ -497,10 +600,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
     <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 訓練資料上傳模� 🔥</translation>
-    </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
         <translation>訓練資料上傳模�：啟用中</translation>
@@ -529,6 +628,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
         <translation type="unfinished">&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;閒置中&lt;/span&gt;：請連接到�按��計費的網絡</translation>
     </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>HudRenderer</name>
@@ -650,6 +753,37 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>This platform supports limited MADS settings.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -760,104 +894,129 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished">��</translation>
     </message>
     <message>
-        <source>No custom model selected!</source>
+        <source>downloaded</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>ready</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
+        <source>from cache</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Vision</source>
+        <source>Fetching models...</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Policy</source>
+        <source>Select a Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] %3</source>
+        <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>downloaded</source>
+        <source>We STRONGLY suggest you to reset calibration.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>ready</source>
+        <source>Would you like to do that now?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>from cache</source>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">�設校準</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] download failed</source>
+        <source>Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1 model [%2] pending...</source>
+        <source>Continue</source>
+        <translation type="unfinished">繼續</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Fetching models...</source>
+        <source>Cancel</source>
+        <translation type="unfinished">�消</translation>
+    </message>
+    <message>
+        <source>Clear Model Cache</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Use Default</source>
+        <source>CLEAR</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a Model</source>
+        <source>Driving Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Default</source>
+        <source>Navigation Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Model download has started in the background.</source>
+        <source>Vision Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
+        <source>Policy Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Would you like to do that now?</source>
+        <source>Live Learning Steer Delay</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">�設校準</translation>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving Model Selector</source>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Warning: You are on a metered connection!</source>
+        <source>  %1 - %2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Continue</source>
-        <translation type="unfinished">繼續</translation>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>on Metered</source>
+        <source>  pending - %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation type="unfinished">�消</translation>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -1009,7 +1168,9 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>�置溫度�高。系統正在冷�中，等冷�完畢後�會啟動。目�內部組件溫度：%1</translation>
     </message>
     <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1028,6 +1189,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation> �醒</translation>
     </message>
 </context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OnroadAlerts</name>
     <message>
@@ -1051,6 +1219,137 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>系統無回應</translation>
     </message>
 </context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">檢查</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">��</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">æ›´æ–°</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -1376,6 +1675,10 @@ This may take up to a minute.</source>
         <source>Visuals</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1471,6 +1774,16 @@ This may take up to a minute.</source>
         <source>Custom Software</source>
         <translation>自訂軟體</translation>
     </message>
+    <message>
+        <source>WARNING: Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
+
+If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -1682,6 +1995,30 @@ This may take up to a minute.</source>
         <source>Select a branch</source>
         <translation type="unfinished">��一個分支</translation>
     </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">�新啟動</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -2032,6 +2369,25 @@ This may take up to a minute.</source>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">�擇</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">�消</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -2068,6 +2424,49 @@ This may take up to a minute.</source>
         <translation>更新失敗</translation>
     </message>
 </context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>WiFiPromptWidget</name>
     <message>

From 5b137d666f6b4ce343443c92b4c5d6b6465cafba Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 29 Jul 2025 10:53:06 -0400
Subject: [PATCH 0330/1434] `carControlSP`: parse `radarState`'s `leadOne` &
 `leadTwo` (#1082)

* `carControlSP`: parse `radarState`'s `leadOne` & `leadTwo`

* typo

* bump
---
 cereal/custom.capnp                           | 23 +++++++++++++++++++
 opendbc_repo                                  |  2 +-
 selfdrive/car/helpers.py                      |  2 ++
 .../selfdrive/controls/controlsd_ext.py       |  6 ++++-
 4 files changed, 31 insertions(+), 2 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index c9e4f3e16dfbcb..fdb89da84c7c97 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -25,6 +25,27 @@ struct ModularAssistiveDrivingSystem {
   }
 }
 
+# Same struct as Log.RadarState.LeadData
+struct LeadData {
+  dRel @0 :Float32;
+  yRel @1 :Float32;
+  vRel @2 :Float32;
+  aRel @3 :Float32;
+  vLead @4 :Float32;
+  dPath @6 :Float32;
+  vLat @7 :Float32;
+  vLeadK @8 :Float32;
+  aLeadK @9 :Float32;
+  fcw @10 :Bool;
+  status @11 :Bool;
+  aLeadTau @12 :Float32;
+  modelProb @13 :Float32;
+  radar @14 :Bool;
+  radarTrackId @15 :Int32 = -1;
+
+  aLeadDEPRECATED @5 :Float32;
+}
+
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
 }
@@ -174,6 +195,8 @@ struct CarParamsSP @0x80ae746ee2596b11 {
 struct CarControlSP @0xa5cd762cd951a455 {
   mads @0 :ModularAssistiveDrivingSystem;
   params @1 :List(Param);
+  leadOne @2 :LeadData;
+  leadTwo @3 :LeadData;
 
   struct Param {
     key @0 :Text;
diff --git a/opendbc_repo b/opendbc_repo
index b68fab9ea40522..25a5079a6ed31a 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit b68fab9ea4052213f8bfc1b80832ac8d4e798c8b
+Subproject commit 25a5079a6ed31a3de2b4c2444720dbee9d162c52
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
index 6187be14744758..275c84479fd77e 100644
--- a/selfdrive/car/helpers.py
+++ b/selfdrive/car/helpers.py
@@ -58,5 +58,7 @@ def remove_deprecated(s: dict) -> dict:
 
   struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {})))
   struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
+  struct_dataclass.leadOne = structs.LeadData(**remove_deprecated(struct_dict.get('leadOne', {})))
+  struct_dataclass.leadTwo = structs.LeadData(**remove_deprecated(struct_dict.get('leadTwo', {})))
 
   return struct_dataclass
diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
index 9a7f0cb5fc4c39..fc89091ad51c03 100644
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -26,7 +26,7 @@ def __init__(self, CP: structs.CarParams, params: Params):
     self.CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
     cloudlog.info("controlsd_ext got CarParamsSP")
 
-    self.sm_services_ext = ['selfdriveStateSP']
+    self.sm_services_ext = ['radarState', 'selfdriveStateSP']
     self.pm_services_ext = ['carControlSP']
 
   def get_params_sp(self) -> None:
@@ -47,6 +47,10 @@ def get_lat_active(self, sm: messaging.SubMaster) -> bool:
   def state_control_ext(self, sm: messaging.SubMaster) -> custom.CarControlSP:
     CC_SP = custom.CarControlSP.new_message()
 
+    if sm.updated['radarState']:
+      CC_SP.leadOne = sm['radarState'].leadOne
+      CC_SP.leadTwo = sm['radarState'].leadTwo
+
     # MADS state
     CC_SP.mads = sm['selfdriveStateSP'].mads
 

From fd8cebf2c334edde3946762d003911d866b0e510 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 29 Jul 2025 13:49:58 -0400
Subject: [PATCH 0331/1434] Revert "`carControlSP`: parse `radarState`'s
 `leadOne` & `leadTwo`" (#1088)

Revert "`carControlSP`: parse `radarState`'s `leadOne` & `leadTwo` (#1082)"

This reverts commit 5b137d666f6b4ce343443c92b4c5d6b6465cafba.
---
 cereal/custom.capnp                           | 23 -------------------
 opendbc_repo                                  |  2 +-
 selfdrive/car/helpers.py                      |  2 --
 .../selfdrive/controls/controlsd_ext.py       |  6 +----
 4 files changed, 2 insertions(+), 31 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index fdb89da84c7c97..c9e4f3e16dfbcb 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -25,27 +25,6 @@ struct ModularAssistiveDrivingSystem {
   }
 }
 
-# Same struct as Log.RadarState.LeadData
-struct LeadData {
-  dRel @0 :Float32;
-  yRel @1 :Float32;
-  vRel @2 :Float32;
-  aRel @3 :Float32;
-  vLead @4 :Float32;
-  dPath @6 :Float32;
-  vLat @7 :Float32;
-  vLeadK @8 :Float32;
-  aLeadK @9 :Float32;
-  fcw @10 :Bool;
-  status @11 :Bool;
-  aLeadTau @12 :Float32;
-  modelProb @13 :Float32;
-  radar @14 :Bool;
-  radarTrackId @15 :Int32 = -1;
-
-  aLeadDEPRECATED @5 :Float32;
-}
-
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
 }
@@ -195,8 +174,6 @@ struct CarParamsSP @0x80ae746ee2596b11 {
 struct CarControlSP @0xa5cd762cd951a455 {
   mads @0 :ModularAssistiveDrivingSystem;
   params @1 :List(Param);
-  leadOne @2 :LeadData;
-  leadTwo @3 :LeadData;
 
   struct Param {
     key @0 :Text;
diff --git a/opendbc_repo b/opendbc_repo
index 25a5079a6ed31a..b68fab9ea40522 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 25a5079a6ed31a3de2b4c2444720dbee9d162c52
+Subproject commit b68fab9ea4052213f8bfc1b80832ac8d4e798c8b
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
index 275c84479fd77e..6187be14744758 100644
--- a/selfdrive/car/helpers.py
+++ b/selfdrive/car/helpers.py
@@ -58,7 +58,5 @@ def remove_deprecated(s: dict) -> dict:
 
   struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {})))
   struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
-  struct_dataclass.leadOne = structs.LeadData(**remove_deprecated(struct_dict.get('leadOne', {})))
-  struct_dataclass.leadTwo = structs.LeadData(**remove_deprecated(struct_dict.get('leadTwo', {})))
 
   return struct_dataclass
diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
index fc89091ad51c03..9a7f0cb5fc4c39 100644
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -26,7 +26,7 @@ def __init__(self, CP: structs.CarParams, params: Params):
     self.CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
     cloudlog.info("controlsd_ext got CarParamsSP")
 
-    self.sm_services_ext = ['radarState', 'selfdriveStateSP']
+    self.sm_services_ext = ['selfdriveStateSP']
     self.pm_services_ext = ['carControlSP']
 
   def get_params_sp(self) -> None:
@@ -47,10 +47,6 @@ def get_lat_active(self, sm: messaging.SubMaster) -> bool:
   def state_control_ext(self, sm: messaging.SubMaster) -> custom.CarControlSP:
     CC_SP = custom.CarControlSP.new_message()
 
-    if sm.updated['radarState']:
-      CC_SP.leadOne = sm['radarState'].leadOne
-      CC_SP.leadTwo = sm['radarState'].leadTwo
-
     # MADS state
     CC_SP.mads = sm['selfdriveStateSP'].mads
 

From 24699f3e540406225ed31bf546c11a58466d3986 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 29 Jul 2025 23:09:58 -0400
Subject: [PATCH 0332/1434] events: Update startup event to support
 `sunnypilot` remote origin detection (#1092)

---
 selfdrive/selfdrived/selfdrived.py | 3 ++-
 system/version.py                  | 4 ++++
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index dfda2c31f798c5..07914f90da59dd 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -135,7 +135,8 @@ def __init__(self, CP=None, CP_SP=None):
     self.ignored_processes.update({'mapd'})
 
     # Determine startup event
-    self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster
+    is_remote = build_metadata.openpilot.comma_remote or build_metadata.openpilot.sunnypilot_remote
+    self.startup_event = EventName.startup if is_remote and build_metadata.tested_channel else EventName.startupMaster
     if not car_recognized:
       self.startup_event = EventName.startupNoCar
     elif car_recognized and self.CP.passive:
diff --git a/system/version.py b/system/version.py
index 6e4d0fb42d76e8..73200473fe3f72 100755
--- a/system/version.py
+++ b/system/version.py
@@ -83,6 +83,10 @@ def comma_remote(self) -> bool:
     # touch this to get rid of the orange startup alert. there's better ways to do that
     return self.git_normalized_origin == "github.com/commaai/openpilot"
 
+  @property
+  def sunnypilot_remote(self) -> bool:
+    return self.git_normalized_origin == "github.com/sunnypilot/sunnypilot"
+
   @property
   def git_normalized_origin(self) -> str:
     return self.git_origin \

From 72a6c9fd65c68bb79026020abea795e924d5fedb Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 31 Jul 2025 00:41:08 -0400
Subject: [PATCH 0333/1434] ci: refactor PR handling and input parsing for
 `squash-and-merge` (#1094)

* ci: refactor PR handling with output file storage and streamlined input parsing

* try runner.temp

* base64 it

* simple simple

* double it and give it to the next person

* One more test

* Apply suggestions from code review

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .github/workflows/sunnypilot-master-dev-c3-prep.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
index 031be6a50d1b08..35afe88cb7141b 100644
--- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
@@ -153,6 +153,7 @@ jobs:
               }
             }' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc")
 
+          PR_LIST=${PR_LIST//\'/}
           echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
         env:
           GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}

From c47aadee195798c806509acacf9f023cdd7e17c1 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Thu, 31 Jul 2025 06:50:23 -0700
Subject: [PATCH 0334/1434] sunnypilot modeld: Sync Tinygrad (#1081)

* Tinygrad bump from sync-20250627

* bump tinygrad_repo

* Reformat metadata generator to match driving_models.json

* bump tinygrad

* Revert "bump tinygrad"

This reverts commit f479dfd5021266e22b34deca06cc3c4d531fb7e8.

* revert me after SP model compiled

* Model recompiled successfully, initiate "revert me after SP model compiled"

This reverts commit 95706eb688c9f5522903bee21892b8871ff8f957.

* The "FillMe" placeholder caused an extra 10 seconds of work

* bump to 22Jul2025

* Update build-all-tinygrad-models.yaml

* Update build-all-tinygrad-models.yaml

* Update build-all-tinygrad-models.yaml

* Update build-all-tinygrad-models.yaml

* Update build-all-tinygrad-models.yaml

* Update build-all-tinygrad-models.yaml

* Update build-all-tinygrad-models.yaml

* Allow more dynamic short names

This should hopefully be future-proof for now.. It's robust enough to return the correct word-digit format (see example on how it generates from given display name below):

'Last Horizon V2 (November 22, 2024)' -> LHV2
'Alabama (November 25, 2024)' -> ALABAMA
'PlayStation (December 03, 2024)' -> PLAYSTAT
'Postal Service (December 09, 2024)' -> PS
'Null Pointer (December 13, 2024)' -> NP
'North America (December 16, 2024)' -> NA
'National Public Radio (December 18, 2024)' -> NPR
'Filet o Fish (March 7, 2025)' -> FOF
'Tomb Raider 2 (April 18, 2025)' -> TR2
'Tomb Raider 3 (April 22, 2025)' -> TR3
'Tomb Raider 4 (April 25, 2025)' -> TR4
'Tomb Raider 5 (April 25, 2025)' -> TR5
'Tomb Raider 6 (April 30, 2025)' -> TR6
'Tomb Raider 7 (May 07, 2025)' -> TR7
'Down to Ride (Revision: May 10, 2025)' -> DTR
'SP Vikander Model (May 16, 2025)' -> SPVM
'VFF Driving (May 15, 2025)' -> VFFD
'Secret Good Openpilot (May 16, 2025)' -> SGO
'Vegetarian Filet o Fish (May 29, 2025)' -> VFOF
'Down To Ride (Revision: May 30, 2025)' -> DTR
'Vegetarian Filet o Fish v2 (June 05, 2025)' -> VFOFV2
'Kerrygold Driving (June 08, 2025)' -> KD
'Tomb Raider 10 (June 16, 2025)' -> TR10
'Organic Kerrygold (June 17, 2025)' -> OK
'Liquid Crystal Driving (June 21, 2025)' -> LCD
'Vegetarian Filet o Fish v3 (June 21, 2025)' -> VFOFV3
'Vibe Model [Custom Model]' -> VMCM
'Tomb Raider 13 (June 27, 2025)' -> TR13
'Aggressive TR (June 28, 2025)' -> ATR
'Tomb Raider 14 (June 30, 2025)' -> TR14
'Cookiemonster Tomb Raider (July 02, 2025)' -> CTR
'Down to Ride (Revision: July 07, 2025)' -> DTR
'Simple Plan Driving (July 07, 2025)' -> SPD
'Down to Ride (Revision: July 08, 2025)' -> DTR
'Tomb Raider 15 (July 09, 2025)' -> TR15
'Tomb Raider 15 rev-2 (July 11, 2025)' -> TR15R2
'Le Tomb Raider 14 (July 14, 2025)' -> LTR14
'Le Tomb Raider 14h (July 17, 2025)' -> LTR14H
'Tomb Raider 16 (July 18, 2025)' -> TR16
'Tomb Raider 16v2 (July 21, 2025)' -> TR16V2

* Update build-all-tinygrad-models.yaml

* Update build-all-tinygrad-models.yaml

* No need to sleep 3 seconds, just send it

* try dynamic

* cleanup

* Update build-single-tinygrad-model.yaml

* bc devtekve said. also, this is repetitive af

* Revert "bc devtekve said. also, this is repetitive af"

This reverts commit 3a0c1562de6eae1d2d213d2f53cfb2edb4eef40c.

* maybe we could use a script instead that both build all

That both build all and sunnypilot-build-model reference

* refactor: consolidate model building steps into a single workflow

* tweak

* tweakx2

* tweakx3

* tweakx4

* dunno dunno...

* output dir

* lots of changes

* Revert "lots of changes"

This reverts commit 4aadb0ee2929fdf9d902335161b22072bef4e068.

* fail if all fail

* no inputs needed

* make it easier for us

* note failure and exit 0

* Update build-all-tinygrad-models.yaml

* not needed unless we really want it

* Update build-single-tinygrad-model.yaml

* Merge branch 'sync-20250627-tinygrad' of github.com:sunnypilot/sunnypilot into sync-20250627-tinygrad

* retry for failed ?

* always run this step because sometimes one build fails

which causes the matrix to fail, but most builds still have uploaded artifacts.

* strip

* no escape

* Update build-all-tinygrad-models.yaml

* Test case from terminal run

(openpilot) james@Mac sunnypilot % jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' \
  /Users/james/Documents/GitHub/sunnypilot-docs/docs/driving_models_v6.json > matrix.json

mkdir -p output
touch "output/model-Tomb Raider 16v2 (July 21, 2025)-544"
touch "output/model-Space Lab Model (July 24, 2025)-547"
touch "output/model-Space Lab Model v1 (July 24, 2025)-548"

built=(); while IFS= read -r line; do built+=("$line"); done < <(
  ls output | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
)

jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
  'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' \
  matrix.json > retry_matrix.json

cat retry_matrix.json

[]
(openpilot) james@Mac sunnypilot %

* always

* great success

* add suffix to retry artifact so it doesn't conflict

* retry to get_model too

* and there haha

* unnecessary hyphen

* compare built to missing. include retries

* adjust copy of artifacts.

* Update build-all-tinygrad-models.yaml

* Update model selector versioning and add documentation

* Update retry condition for failed models in build-all-tinygrad-models.yaml

* Update retry condition for failed models in build-all-tinygrad-models.yaml

* Update build-single-tinygrad-model.yaml

* false

* default none because why not

* red diff? i think?

* meh ... not needed i guess

* error error error

* Nayan is watching... always watching mike wazowski

* string all the way

* lots of retries just in case because im scared

* more robust

* ONLY ONE!!!!!!

* delete.... a lot

* fix artifacts

* fix artifacts

* make sure each is unique :)

* skip files like artifact duhhhh

* artifact name dir

* concurrency

* copy here

* Update build-single-tinygrad-model.yaml

* Update build-single-tinygrad-model.yaml

* bump

* bump tinygrad

* max parallel? if not, i have the other remedy ready in build-all

* revert me!

* I resynced tinygrad woo hoo

* setup shouldnt fail

* pull

* big ole diff

* condition

* Update build-all-tinygrad-models.yaml

* not always() never always() never!!!

* not failure instead of great success

* Update build-all-tinygrad-models.yaml

* yay that worked. lets invoke build-single one last time

* these arent used and are just taking up 250MB space

* really frog?

* bump back to 3

* self-hosted, tici

* rename to trigger tests

* split sync

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .github/workflows/sunnypilot-build-model.yaml |  4 +-
 .../workflows/sunnypilot-build-prebuilt.yaml  |  2 +-
 sunnypilot/models/README.md                   | 63 +++++++++++++++++++
 sunnypilot/models/fetcher.py                  |  2 +-
 sunnypilot/models/helpers.py                  |  5 +-
 tinygrad_repo                                 |  2 +-
 6 files changed, 71 insertions(+), 7 deletions(-)
 create mode 100644 sunnypilot/models/README.md

diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml
index dc02d1d8d22ddb..0943d1932f29fe 100644
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -55,7 +55,7 @@ jobs:
           path: ${{ github.workspace }}/selfdrive/modeld/models/*.onnx
 
   build_model:
-    runs-on: self-hosted
+    runs-on: [self-hosted, tici]
     needs: get_model
     env:
       MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
@@ -71,7 +71,7 @@ jobs:
         with:
           path: ${{env.SCONS_CACHE_DIR}}
           key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
+          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
           #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
           restore-keys: |
             scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 6cd5023a17528b..845e964d6d0761 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -50,7 +50,7 @@ jobs:
     concurrency:
       group: build-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: false
-    runs-on: self-hosted
+    runs-on: [self-hosted, tici]
     outputs:
       new_branch: ${{ steps.set-env.outputs.new_branch }}
       version: ${{ steps.set-env.outputs.version }}
diff --git a/sunnypilot/models/README.md b/sunnypilot/models/README.md
new file mode 100644
index 00000000000000..bf4fb72a98dfeb
--- /dev/null
+++ b/sunnypilot/models/README.md
@@ -0,0 +1,63 @@
+# Model Selector Version Compatibility
+
+This document explains the version compatibility mechanism used by the Model Selector system, and the rationale behind certain version constraints and JSON file management strategies.
+
+## Overview
+
+The Model Selector is responsible for selecting and validating model bundles based on their metadata and version constraints. Each model bundle is distributed via a JSON file and includes a `minimumSelectorVersion` field indicating the minimum selector version required to load it.
+
+To ensure robust compatibility and prevent mismatches between model expectations and selector capabilities, the selector enforces two version boundaries:
+
+* **`REQUIRED_MIN_SELECTOR_VERSION`**: the oldest selector version we support.
+* **`CURRENT_SELECTOR_VERSION`**: the current version of the selector logic.
+
+## Version Compatibility Check
+
+A model bundle is considered compatible if:
+
+```python
+REQUIRED_MIN_SELECTOR_VERSION <= bundle["minimumSelectorVersion"] <= CURRENT_SELECTOR_VERSION
+```
+
+This ensures:
+
+* **Old bundles are rejected** if they rely on deprecated selector behavior.
+* **Future bundles are ignored** if they expect logic that the current selector doesn't yet implement.
+
+## Handling Breaking Changes
+
+When a deep change in selector behavior requires *all* models to be recompiled (e.g., due to a major architectural update), we:
+
+1. **Create a new JSON file** (e.g., from `models_v4.json` to `models_v5.json`).
+2. **Assign updated `minimumSelectorVersion` values** in the new bundles.
+
+This allows older selector versions to continue using the previous JSON file, while newer versions point to the new one, preventing cross-contamination.
+
+## Why `REQUIRED_MIN_SELECTOR_VERSION` Still Matters
+
+Despite using new JSON files to isolate breaking changes, `REQUIRED_MIN_SELECTOR_VERSION` plays a critical role:
+
+### 1. **Cached Bundle Validation**
+
+Model bundles are cached locally (e.g., in-memory or on disk). A user might have previously loaded a now-invalid bundle from an older JSON file.
+
+`REQUIRED_MIN_SELECTOR_VERSION` prevents the selector from reloading or trusting that stale cached bundle, even if the original JSON is gone.
+
+### 2. **Explicit Deprecation Boundary**
+
+By raising `REQUIRED_MIN_SELECTOR_VERSION`, we declare older bundles officially unsupported, even if they technically still exist in a legacy JSON file.
+
+### 3. **Avoiding Race Conditions**
+
+Some clients may have intermittent access to updated JSONs. The runtime check ensures version compatibility is enforced independently of external file state.
+
+## Summary
+
+| Component                       | Purpose                                                               |
+| ------------------------------- | --------------------------------------------------------------------- |
+| `minimumSelectorVersion`        | Declares the minimum selector version required to load a model bundle |
+| `REQUIRED_MIN_SELECTOR_VERSION` | Prevents loading bundles that are too old (e.g., from stale cache)    |
+| `CURRENT_SELECTOR_VERSION`      | Prevents loading bundles that are too new or forward-incompatible     |
+| JSON file renaming              | Isolates bundles by selector generation to handle full recompiles     |
+
+This layered strategy ensures safe evolution of the model selection system while maintaining backward compatibility and runtime protection against stale or incompatible bundles.
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 02ae52d77eb10d..9d0f4e318d3ee8 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -115,7 +115,7 @@ def set(self, data: dict) -> None:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v4.json"
+  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v6.json"
 
   def __init__(self, params: Params):
     self.params = params
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index 61a7e1a006b5a7..2e9b630032b95c 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -19,8 +19,9 @@
 from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
-CURRENT_SELECTOR_VERSION = 7
-REQUIRED_MIN_SELECTOR_VERSION = 5
+# see the README.md for more details on the model selector versioning
+CURRENT_SELECTOR_VERSION = 8
+REQUIRED_MIN_SELECTOR_VERSION = 6
 
 USE_ONNX = os.getenv('USE_ONNX', PC)
 
diff --git a/tinygrad_repo b/tinygrad_repo
index 519dec6677f987..7737cbb2a0635f 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 519dec6677f98718ee4f2d07be1936eb91dde73b
+Subproject commit 7737cbb2a0635fce95a9085fb1b53d5bea1093f8

From 6d41ce20321ea4df24dae74e52194ad7a2a801a2 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Thu, 31 Jul 2025 09:15:06 -0700
Subject: [PATCH 0335/1434] ci: Refactor model building workflows (#1096)

* Tinygrad bump from sync-20250627

* bump tinygrad_repo

* Reformat metadata generator to match driving_models.json

* bump tinygrad

* Revert "bump tinygrad"

This reverts commit f479dfd5021266e22b34deca06cc3c4d531fb7e8.

* revert me after SP model compiled

* Model recompiled successfully, initiate "revert me after SP model compiled"

This reverts commit 95706eb688c9f5522903bee21892b8871ff8f957.

* The "FillMe" placeholder caused an extra 10 seconds of work

* bump to 22Jul2025

* Update build-all-tinygrad-models.yaml

* Update build-all-tinygrad-models.yaml

* Update build-all-tinygrad-models.yaml

* Update build-all-tinygrad-models.yaml

* Update build-all-tinygrad-models.yaml

* Update build-all-tinygrad-models.yaml

* Update build-all-tinygrad-models.yaml

* Allow more dynamic short names

This should hopefully be future-proof for now.. It's robust enough to return the correct word-digit format (see example on how it generates from given display name below):

'Last Horizon V2 (November 22, 2024)' -> LHV2
'Alabama (November 25, 2024)' -> ALABAMA
'PlayStation (December 03, 2024)' -> PLAYSTAT
'Postal Service (December 09, 2024)' -> PS
'Null Pointer (December 13, 2024)' -> NP
'North America (December 16, 2024)' -> NA
'National Public Radio (December 18, 2024)' -> NPR
'Filet o Fish (March 7, 2025)' -> FOF
'Tomb Raider 2 (April 18, 2025)' -> TR2
'Tomb Raider 3 (April 22, 2025)' -> TR3
'Tomb Raider 4 (April 25, 2025)' -> TR4
'Tomb Raider 5 (April 25, 2025)' -> TR5
'Tomb Raider 6 (April 30, 2025)' -> TR6
'Tomb Raider 7 (May 07, 2025)' -> TR7
'Down to Ride (Revision: May 10, 2025)' -> DTR
'SP Vikander Model (May 16, 2025)' -> SPVM
'VFF Driving (May 15, 2025)' -> VFFD
'Secret Good Openpilot (May 16, 2025)' -> SGO
'Vegetarian Filet o Fish (May 29, 2025)' -> VFOF
'Down To Ride (Revision: May 30, 2025)' -> DTR
'Vegetarian Filet o Fish v2 (June 05, 2025)' -> VFOFV2
'Kerrygold Driving (June 08, 2025)' -> KD
'Tomb Raider 10 (June 16, 2025)' -> TR10
'Organic Kerrygold (June 17, 2025)' -> OK
'Liquid Crystal Driving (June 21, 2025)' -> LCD
'Vegetarian Filet o Fish v3 (June 21, 2025)' -> VFOFV3
'Vibe Model [Custom Model]' -> VMCM
'Tomb Raider 13 (June 27, 2025)' -> TR13
'Aggressive TR (June 28, 2025)' -> ATR
'Tomb Raider 14 (June 30, 2025)' -> TR14
'Cookiemonster Tomb Raider (July 02, 2025)' -> CTR
'Down to Ride (Revision: July 07, 2025)' -> DTR
'Simple Plan Driving (July 07, 2025)' -> SPD
'Down to Ride (Revision: July 08, 2025)' -> DTR
'Tomb Raider 15 (July 09, 2025)' -> TR15
'Tomb Raider 15 rev-2 (July 11, 2025)' -> TR15R2
'Le Tomb Raider 14 (July 14, 2025)' -> LTR14
'Le Tomb Raider 14h (July 17, 2025)' -> LTR14H
'Tomb Raider 16 (July 18, 2025)' -> TR16
'Tomb Raider 16v2 (July 21, 2025)' -> TR16V2

* Update build-all-tinygrad-models.yaml

* Update build-all-tinygrad-models.yaml

* No need to sleep 3 seconds, just send it

* try dynamic

* cleanup

* Update build-single-tinygrad-model.yaml

* bc devtekve said. also, this is repetitive af

* Revert "bc devtekve said. also, this is repetitive af"

This reverts commit 3a0c1562de6eae1d2d213d2f53cfb2edb4eef40c.

* maybe we could use a script instead that both build all

That both build all and sunnypilot-build-model reference

* refactor: consolidate model building steps into a single workflow

* tweak

* tweakx2

* tweakx3

* tweakx4

* dunno dunno...

* output dir

* lots of changes

* Revert "lots of changes"

This reverts commit 4aadb0ee2929fdf9d902335161b22072bef4e068.

* fail if all fail

* no inputs needed

* make it easier for us

* note failure and exit 0

* Update build-all-tinygrad-models.yaml

* not needed unless we really want it

* Update build-single-tinygrad-model.yaml

* Merge branch 'sync-20250627-tinygrad' of github.com:sunnypilot/sunnypilot into sync-20250627-tinygrad

* retry for failed ?

* always run this step because sometimes one build fails

which causes the matrix to fail, but most builds still have uploaded artifacts.

* strip

* no escape

* Update build-all-tinygrad-models.yaml

* Test case from terminal run

(openpilot) james@Mac sunnypilot % jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' \
  /Users/james/Documents/GitHub/sunnypilot-docs/docs/driving_models_v6.json > matrix.json

mkdir -p output
touch "output/model-Tomb Raider 16v2 (July 21, 2025)-544"
touch "output/model-Space Lab Model (July 24, 2025)-547"
touch "output/model-Space Lab Model v1 (July 24, 2025)-548"

built=(); while IFS= read -r line; do built+=("$line"); done < <(
  ls output | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
)

jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
  'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' \
  matrix.json > retry_matrix.json

cat retry_matrix.json

[]
(openpilot) james@Mac sunnypilot %

* always

* great success

* add suffix to retry artifact so it doesn't conflict

* retry to get_model too

* and there haha

* unnecessary hyphen

* compare built to missing. include retries

* adjust copy of artifacts.

* Update build-all-tinygrad-models.yaml

* Update model selector versioning and add documentation

* Update retry condition for failed models in build-all-tinygrad-models.yaml

* Update retry condition for failed models in build-all-tinygrad-models.yaml

* Update build-single-tinygrad-model.yaml

* false

* default none because why not

* red diff? i think?

* meh ... not needed i guess

* error error error

* Nayan is watching... always watching mike wazowski

* string all the way

* lots of retries just in case because im scared

* more robust

* ONLY ONE!!!!!!

* delete.... a lot

* fix artifacts

* fix artifacts

* make sure each is unique :)

* skip files like artifact duhhhh

* artifact name dir

* concurrency

* copy here

* Update build-single-tinygrad-model.yaml

* Update build-single-tinygrad-model.yaml

* bump

* bump tinygrad

* max parallel? if not, i have the other remedy ready in build-all

* revert me!

* I resynced tinygrad woo hoo

* setup shouldnt fail

* pull

* big ole diff

* condition

* Update build-all-tinygrad-models.yaml

* not always() never always() never!!!

* not failure instead of great success

* Update build-all-tinygrad-models.yaml

* yay that worked. lets invoke build-single one last time

* these arent used and are just taking up 250MB space

* really frog?

* bump back to 3

* self-hosted, tici

* rename to trigger tests

* 2 and done

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .../workflows/build-all-tinygrad-models.yaml  | 331 +++++++++++-------
 .../build-single-tinygrad-model.yaml          | 166 +++++----
 .github/workflows/sunnypilot-build-model.yaml |  70 +++-
 release/ci/model_generator.py                 |  41 ++-
 4 files changed, 381 insertions(+), 227 deletions(-)

diff --git a/.github/workflows/build-all-tinygrad-models.yaml b/.github/workflows/build-all-tinygrad-models.yaml
index f1c81455cae6a9..dbc9c528238a40 100644
--- a/.github/workflows/build-all-tinygrad-models.yaml
+++ b/.github/workflows/build-all-tinygrad-models.yaml
@@ -1,21 +1,23 @@
-name: Build All Tinygrad Models and Push to GitLab
+name: Build and push all tinygrad models
 
 on:
   workflow_dispatch:
     inputs:
-      branch:
-        description: 'Branch to run workflow from'
-        required: false
-        default: 'master-new'
+      set_min_version:
+        description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
+        required: true
         type: string
 
 jobs:
   setup:
     runs-on: ubuntu-latest
     outputs:
+      json_version: ${{ steps.get-json.outputs.json_version }}
+      recompiled_dir: ${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
       json_file: ${{ steps.get-json.outputs.json_file }}
+      model_matrix: ${{ steps.set-matrix.outputs.model_matrix }}
     steps:
-      - name: Checkout docs repo
+      - name: Checkout docs repo (sunnypilot-docs, gh-pages)
         uses: actions/checkout@v4
         with:
           repository: sunnypilot/sunnypilot-docs
@@ -23,7 +25,7 @@ jobs:
           path: docs
           ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
 
-      - name: Get next JSON version to use
+      - name: Get next JSON version to use (from GitHub docs repo)
         id: get-json
         run: |
           cd docs/docs
@@ -31,19 +33,131 @@ jobs:
           next=$((latest+1))
           json_file="driving_models_v${next}.json"
           cp "driving_models_v${latest}.json" "$json_file"
-          echo "json_file=$json_file" >> $GITHUB_OUTPUT
+          echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT
+          echo "json_version=$((next+0))" >> $GITHUB_OUTPUT
+          echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV
+
+      - name: Extract tinygrad models
+        id: set-matrix
+        working-directory: docs/docs
+        run: |
+          jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json
+          echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT
 
-      - name: Upload context for next jobs
-        uses: actions/upload-artifact@v4
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
         with:
-          name: context
-          path: docs
+          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+      - run: |
+          mkdir -p ~/.ssh
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+      - name: Clone GitLab docs repo and create new recompiled dir
+        id: create-recompiled-dir
+        env:
+          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+        run: |
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+          cd gitlab_docs
+          git checkout main
+          git sparse-checkout set --no-cone models/
+          cd models
+          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
+          if [[ -z "$latest_dir" ]]; then
+            next_dir=1
+          else
+            next_dir=$((latest_dir+1))
+          fi
+          recompiled_dir="${next_dir}"
+          mkdir -p "recompiled${recompiled_dir}"
+          touch "recompiled${recompiled_dir}/.gitkeep"
+          cd ../..
+          echo "recompiled_dir=$recompiled_dir" >> $GITHUB_OUTPUT
+
+      - name: Push empty recompiled dir to GitLab
+        run: |
+          cd gitlab_docs
+          git add models/recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Add recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }} for build-all" || echo "No changes to commit"
+          git push origin main
 
-  build-all:
+      - name: Push new JSON to GitHub docs repo
+        run: |
+          cd docs
+          git pull origin gh-pages
+          git add docs/"$(basename ${{ steps.get-json.outputs.json_file }})"
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Add new ${{ steps.get-json.outputs.json_file }} for build-all" || echo "No changes to commit"
+          git push origin gh-pages
+
+  get_and_build:
+    needs: [setup]
+    strategy:
+      matrix:
+        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
+      fail-fast: false
+    uses: ./.github/workflows/build-single-tinygrad-model.yaml
+    with:
+      upstream_branch: ${{ matrix.model.ref }}
+      custom_name: ${{ matrix.model.display_name }}
+      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
+      json_version: ${{ needs.setup.outputs.json_version }}
+    secrets: inherit
+
+  retry_failed_models:
+    needs: [setup, get_and_build]
     runs-on: ubuntu-latest
-    needs: setup
+    if: ${{ needs.setup.result != 'failure' && (failure() && !cancelled()) }}
+    outputs:
+      retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          pattern: model-*
+          path: output
+
+      - id: set-retry-matrix
+        run: |
+          echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
+          built=(); while IFS= read -r line; do built+=("$line"); done < <(
+            ls output | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
+          )
+          jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
+            'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
+          echo "retry_matrix=$(cat retry_matrix.json)" >> $GITHUB_OUTPUT
+
+  retry_get_and_build:
+    needs: [setup, get_and_build, retry_failed_models]
+    if: ${{ needs.get_and_build.result == 'failure' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '') }}
+    strategy:
+      matrix:
+        model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }}
+      fail-fast: false
+    uses: ./.github/workflows/build-single-tinygrad-model.yaml
+    with:
+      upstream_branch: ${{ matrix.model.ref }}
+      custom_name: ${{ matrix.model.display_name }}
+      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
+      json_version: ${{ needs.setup.outputs.json_version }}
+      artifact_suffix: -retry
+    secrets: inherit
+
+  publish_models:
+    name: Publish models sequentially
+    needs: [setup, get_and_build, retry_failed_models, retry_get_and_build]
+    if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
+    runs-on: ubuntu-latest
+    strategy:
+      max-parallel: 1
+      matrix:
+        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
     env:
-      JSON_FILE: docs/docs/${{ needs.setup.outputs.json_file }}
+      RECOMPILED_DIR: recompiled${{ needs.setup.outputs.recompiled_dir }}
+      JSON_FILE: ${{ needs.setup.outputs.json_file }}
+      ARTIFACT_NAME_INPUT: ${{ matrix.model.display_name }}
     steps:
       - name: Set up SSH
         uses: webfactory/ssh-agent@v0.9.0
@@ -62,138 +176,73 @@ jobs:
           echo "Cloning GitLab"
           git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
           cd gitlab_docs
+          echo "checkout models/${RECOMPILED_DIR}"
+          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
           git checkout main
           cd ..
 
-      - name: Set next recompiled dir
-        id: set-recompiled
+      - name: Checkout docs repo
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot-docs
+          ref: gh-pages
+          path: docs
+          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
+
+      - name: Validate recompiled dir and JSON version
         run: |
-          cd gitlab_docs/models
-          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
-          if [[ -z "$latest_dir" ]]; then
-            next_dir=1
-          else
-            next_dir=$((latest_dir+1))
+          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
+            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
+            exit 1
+          fi
+          if [ ! -f "$JSON_FILE" ]; then
+            echo "JSON file $JSON_FILE does not exist!"
+            exit 1
           fi
-          recompiled_dir="recompiled${next_dir}"
-          mkdir -p "$recompiled_dir"
-          echo "RECOMPILED_DIR=$recompiled_dir" >> $GITHUB_ENV
 
-      - name: Download context
+      - name: Download artifact name file
         uses: actions/download-artifact@v4
         with:
-          name: context
-          path: .
+          name: artifact-name-${{ env.ARTIFACT_NAME_INPUT }}
+          path: artifact_name
 
-      - name: Install dependencies
+      - name: Read artifact name
+        id: read-artifact-name
         run: |
-          sudo apt-get update
-          sudo apt-get install -y jq gh
+          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
+          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
 
-      - name: Build all tinygrad models
-        id: trigger-builds
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          set -e
-          > triggered_run_ids.txt
-          BRANCH="${{ github.event.inputs.branch }}"
-          jq -c '.bundles[] | select(.runner=="tinygrad")' "$JSON_FILE" | while read -r bundle; do
-            ref=$(echo "$bundle" | jq -r '.ref')
-            display_name=$(echo "$bundle" | jq -r '.display_name' | sed 's/ ([^)]*)//g')
-            is_20hz=$(echo "$bundle" | jq -r '.is_20hz')
-            echo "Triggering build for: $display_name ($ref) [20Hz: $is_20hz]"
-            START_TIME=$(date -u +"%Y-%m-%dT%H:%M:%SZ")
-            gh workflow run sunnypilot-build-model.yaml \
-              --repo sunnypilot/sunnypilot \
-              --ref "$BRANCH" \
-              -f upstream_branch="$ref" \
-              -f custom_name="$display_name" \
-              -f is_20hz="$is_20hz"
-            for i in {1..24}; do
-              RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="$BRANCH" --created ">$START_TIME" --limit=1 --json databaseId --jq '.[0].databaseId')
-              if [ -n "$RUN_ID" ]; then
-                break
-              fi
-              sleep 5
-            done
-            if [ -z "$RUN_ID" ]; then
-              echo "ould not find the triggered workflow run for $display_name ($ref)"
-              exit 1
-            fi
-            echo "$RUN_ID" >> triggered_run_ids.txt
-          done
+      - name: Download model artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
+          path: output
 
-      - name: Wait for all model builds to finish
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      - name: Remove onnx files bc not needed for recompiled dir since they already exist from single build
         run: |
-          set -e
-          SUCCESS_RUNS=()
-          FAILED_RUNS=()
-          declare -A RUN_ID_TO_NAME
-
-          while read -r RUN_ID; do
-            ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name' || echo "unknown")
-            RUN_ID_TO_NAME["$RUN_ID"]="$ARTIFACT_NAME"
-          done < triggered_run_ids.txt
-
-          while read -r RUN_ID; do
-            echo "Watching run ID: $RUN_ID"
-            gh run watch "$RUN_ID" --repo sunnypilot/sunnypilot
-            CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
-            ARTIFACT_NAME="${RUN_ID_TO_NAME[$RUN_ID]}"
-            echo "Run $RUN_ID ($ARTIFACT_NAME) concluded with: $CONCLUSION"
-            if [[ "$CONCLUSION" == "success" ]]; then
-              SUCCESS_RUNS+=("$RUN_ID")
-            else
-              FAILED_RUNS+=("$RUN_ID")
-            fi
-          done < triggered_run_ids.txt
-
-          if [[ ${#SUCCESS_RUNS[@]} -eq 0 ]]; then
-            echo "All model builds failed. Aborting."
-            exit 1
-          fi
+          find output -type f -name '*.onnx' -delete
+          find output -type f -name 'big_*.pkl' -delete
+          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
 
-          if [[ ${#FAILED_RUNS[@]} -gt 0 ]]; then
-            echo "WARNING: The following model builds failed:"
-            for RUN_ID in "${FAILED_RUNS[@]}"; do
-              echo "- $RUN_ID (${RUN_ID_TO_NAME[$RUN_ID]})"
-            done
-            echo "You may want to rerun these models manually."
-          fi
-
-      - name: Download and extract all model artifacts
+      - name: Copy model artifacts to gitlab
         env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
         run: |
-          ARTIFACT_DIR="gitlab_docs/models/$RECOMPILED_DIR"
-          SUCCESS_RUNS=()
-          while read -r RUN_ID; do
-            CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
-            if [[ "$CONCLUSION" == "success" ]]; then
-              SUCCESS_RUNS+=("$RUN_ID")
+          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
+          mkdir -p "$ARTIFACT_DIR"
+          for path in output/*; do
+            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
+              continue
             fi
-          done < triggered_run_ids.txt
-
-          for RUN_ID in "${SUCCESS_RUNS[@]}"; do
-            ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name')
-            echo "Downloading artifact: $ARTIFACT_NAME from run: $RUN_ID"
-            mkdir -p "$ARTIFACT_DIR/$ARTIFACT_NAME"
-            echo "Created directory: $ARTIFACT_DIR/$ARTIFACT_NAME"
-            gh run download "$RUN_ID" --repo sunnypilot/sunnypilot -n "$ARTIFACT_NAME" --dir "$ARTIFACT_DIR/$ARTIFACT_NAME"
-            echo "Downloaded artifact zip(s) to: $ARTIFACT_DIR/$ARTIFACT_NAME"
-            ZIP_PATH=$(find "$ARTIFACT_DIR/$ARTIFACT_NAME" -type f -name '*.zip' | head -n1)
-            if [ -n "$ZIP_PATH" ]; then
-              echo "Unzipping $ZIP_PATH to $ARTIFACT_DIR/$ARTIFACT_NAME"
-              unzip -o "$ZIP_PATH" -d "$ARTIFACT_DIR/$ARTIFACT_NAME"
-              rm -f "$ZIP_PATH"
-              echo "Unzipped and removed $ZIP_PATH"
+            name="$(basename "$path")"
+            if [ -d "$path" ]; then
+              mkdir -p "$ARTIFACT_DIR/$name"
+              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
+              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
             else
-              echo "No zip file found in $ARTIFACT_DIR/$ARTIFACT_NAME (This is NOT an error)."
+              cp "$path" "$ARTIFACT_DIR/"
+              echo "Copied file $name -> $ARTIFACT_DIR/"
             fi
-            echo "Done processing $ARTIFACT_NAME"
           done
 
       - name: Push recompiled dir to GitLab
@@ -202,25 +251,35 @@ jobs:
         run: |
           cd gitlab_docs
           git checkout main
-          mkdir -p models/"$(basename $RECOMPILED_DIR)"
-          git add models/"$(basename $RECOMPILED_DIR)"
+          git pull origin main
+          for d in models/"$RECOMPILED_DIR"/*/; do
+            git sparse-checkout add "$d"
+          done
+          git add models/"$RECOMPILED_DIR"
           git config --global user.name "GitHub Action"
           git config --global user.email "action@github.com"
-          git commit -m "Add $(basename $RECOMPILED_DIR) from build-all-tinygrad-models"
+          git commit -m "Update $RECOMPILED_DIR with model from build-all-tinygrad-models" || echo "No changes to commit"
           git push origin main
+      - run: |
+          cd docs
+          git pull origin gh-pages
 
-      - name: Run json_parser.py to update JSON
+      - name: update json
         run: |
-          python3 docs/json_parser.py \
+          ARGS=""
+          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
+          ARGS="$ARGS --sort-by-date"
+          eval python3 docs/json_parser.py \
             --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR"
+            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
+            $ARGS
 
-      - name: Push updated JSON to GitHub docs repo
+      - name: Push updated json to GitHub
         run: |
           cd docs
           git config --global user.name "GitHub Action"
           git config --global user.email "action@github.com"
           git checkout gh-pages
           git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling models" || echo "No changes to commit"
+          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
           git push origin gh-pages
diff --git a/.github/workflows/build-single-tinygrad-model.yaml b/.github/workflows/build-single-tinygrad-model.yaml
index e161a56b7d4bc4..53ce2458f011ce 100644
--- a/.github/workflows/build-single-tinygrad-model.yaml
+++ b/.github/workflows/build-single-tinygrad-model.yaml
@@ -1,13 +1,36 @@
 name: Build Single Tinygrad Model and Push
 
 on:
-  workflow_dispatch:
+  workflow_call:
     inputs:
-      build_model_ref:
-        description: 'Branch to use for build-model workflow'
+      upstream_branch:
+        description: 'Upstream commit to build from'
+        required: true
+        type: string
+      custom_name:
+        description: 'Custom name for the model (no date, only name)'
         required: false
-        default: 'master-new'
         type: string
+      recompiled_dir:
+        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
+        required: true
+        type: string
+      json_version:
+        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
+        required: true
+        type: string
+      artifact_suffix:
+        description: 'Suffix for artifact name'
+        required: false
+        type: string
+        default: ''
+      bypass_push:
+        description: 'Bypass pushing to GitLab for build-all'
+        required: false
+        default: true
+        type: boolean
+  workflow_dispatch:
+    inputs:
       upstream_branch:
         description: 'Upstream commit to build from'
         required: true
@@ -26,10 +49,12 @@ on:
         type: number
       model_folder:
         description: 'Model folder'
-        required: true
         type: choice
+        default: 'None'
         options:
+          - None
           - Simple Plan Models
+          - Space Lab Models
           - TR Models
           - DTR Models
           - Custom Merge Models
@@ -47,13 +72,27 @@ on:
         description: 'Minimum selector version'
         required: false
         type: number
+env:
+  RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
+  JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json
 
 jobs:
-  build-single:
+  build_model:
+    uses: ./.github/workflows/sunnypilot-build-model.yaml
+    with:
+      upstream_branch: ${{ inputs.upstream_branch }}
+      custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
+      is_20hz: true
+      artifact_suffix: ${{ inputs.artifact_suffix }}
+    secrets: inherit
+
+  publish_model:
+    if: ${{ !inputs.bypass_push && !cancelled() }}
+    concurrency:
+      group: gitlab-push-${{ inputs.recompiled_dir }}
+      cancel-in-progress: false
+    needs: build_model
     runs-on: ubuntu-latest
-    env:
-      RECOMPILED_DIR: recompiled${{ github.event.inputs.recompiled_dir }}
-      JSON_FILE: docs/docs/driving_models_v${{ github.event.inputs.json_version }}.json
     steps:
       - name: Set up SSH
         uses: webfactory/ssh-agent@v0.9.0
@@ -96,66 +135,49 @@ jobs:
             exit 1
           fi
 
-      - name: Install dependencies
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y jq gh
+      - name: Download artifact name file
+        uses: actions/download-artifact@v4
+        with:
+          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
+          path: artifact_name
 
-      - name: Build model
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      - name: Read artifact name
+        id: read-artifact-name
         run: |
-          START_TIME=$(date -u +"%Y-%m-%dT%H:%M:%SZ")
-          gh workflow run sunnypilot-build-model.yaml \
-            --repo sunnypilot/sunnypilot \
-            --ref "${{ github.event.inputs.build_model_ref }}" \
-            -f upstream_branch="${{ github.event.inputs.upstream_branch }}" \
-            -f custom_name="${{ github.event.inputs.custom_name }}"
-
-          for i in {1..24}; do
-            RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="${{ github.event.inputs.build_model_ref }}" --created ">$START_TIME" --limit=1 --json databaseId --jq '.[0].databaseId')
-            if [ -n "$RUN_ID" ]; then
-              break
-            fi
-            sleep 5
-          done
+          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
+          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
 
-          if [ -z "$RUN_ID" ]; then
-            echo "Could not find the triggered workflow run."
-            exit 1
-          fi
+      - name: Download and extract model artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
+          path: output
 
-          echo "Watching run ID: $RUN_ID"
-          gh run watch "$RUN_ID" --repo sunnypilot/sunnypilot
-          CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
-          echo "Run concluded with: $CONCLUSION"
-          if [[ "$CONCLUSION" != "success" ]]; then
-            echo "Workflow run failed with conclusion: $CONCLUSION"
-            exit 1
-          fi
+      - name: Remove unwanted files
+        run: |
+          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
+          find output -type f -name 'dmonitoring_model.onnx' -delete
 
-      - name: Download and extract model artifact
+      - name: Copy model artifact(s) to GitLab recompiled dir
         env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
         run: |
-          ARTIFACT_DIR="gitlab_docs/models/$RECOMPILED_DIR"
-          RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="${{ github.event.inputs.build_model_ref }}" --limit=1 --json databaseId --jq '.[0].databaseId')
-          ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name')
-          echo "Downloading artifact: $ARTIFACT_NAME from run: $RUN_ID"
-          mkdir -p "$ARTIFACT_DIR/$ARTIFACT_NAME"
-          echo "Created directory: $ARTIFACT_DIR/$ARTIFACT_NAME"
-          gh run download "$RUN_ID" --repo sunnypilot/sunnypilot -n "$ARTIFACT_NAME" --dir "$ARTIFACT_DIR/$ARTIFACT_NAME"
-          echo "Downloaded artifact zip(s) to: $ARTIFACT_DIR/$ARTIFACT_NAME"
-          ZIP_PATH=$(find "$ARTIFACT_DIR/$ARTIFACT_NAME" -type f -name '*.zip' | head -n1)
-          if [ -n "$ZIP_PATH" ]; then
-            echo "Unzipping $ZIP_PATH to $ARTIFACT_DIR/$ARTIFACT_NAME"
-            unzip -o "$ZIP_PATH" -d "$ARTIFACT_DIR/$ARTIFACT_NAME"
-            rm -f "$ZIP_PATH"
-            echo "Unzipped and removed $ZIP_PATH"
-          else
-            echo "No zip file found in $ARTIFACT_DIR/$ARTIFACT_NAME"
-          fi
-          echo "Done processing $ARTIFACT_NAME"
+          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
+          mkdir -p "$ARTIFACT_DIR"
+          for path in output/*; do
+            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
+              continue
+            fi
+            name="$(basename "$path")"
+            if [ -d "$path" ]; then
+              mkdir -p "$ARTIFACT_DIR/$name"
+              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
+              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
+            else
+              cp "$path" "$ARTIFACT_DIR/"
+              echo "Copied file $name -> $ARTIFACT_DIR/"
+            fi
+          done
 
       - name: Push recompiled dir to GitLab
         env:
@@ -163,28 +185,36 @@ jobs:
         run: |
           cd gitlab_docs
           git checkout main
+          git pull origin main
           for d in models/"$RECOMPILED_DIR"/*/; do
             git sparse-checkout add "$d"
           done
           git add models/"$RECOMPILED_DIR"
           git config --global user.name "GitHub Action"
           git config --global user.email "action@github.com"
-          git commit -m "Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
+          git commit -m "Create/Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
           git push origin main
 
+      - run: |
+          cd docs
+          git pull origin gh-pages
+
       - name: Run json_parser.py to update JSON
         run: |
-          FOLDER="${{ github.event.inputs.model_folder }}"
+          FOLDER="${{ inputs.model_folder }}"
           if [ "$FOLDER" = "Other" ]; then
-            FOLDER="${{ github.event.inputs.custom_model_folder }}"
+            FOLDER="${{ inputs.custom_model_folder }}"
           fi
           ARGS=""
-          [ -n "$FOLDER" ] && ARGS="$ARGS --model-folder \"$FOLDER\""
-          [ -n "${{ github.event.inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ github.event.inputs.generation }}\""
-          [ -n "${{ github.event.inputs.version }}" ] && ARGS="$ARGS --version \"${{ github.event.inputs.version }}\""
+          if [ "$FOLDER" != "None" ] && [ -n "$FOLDER" ]; then
+            ARGS="$ARGS --model-folder \"$FOLDER\""
+          fi
+          [ -n "${{ inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ inputs.generation }}\""
+          [ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
           eval python3 docs/json_parser.py \
             --json-path "$JSON_FILE" \
             --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
+            --sort-by-date \
             $ARGS
 
       - name: Push updated JSON to GitHub docs repo
diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml
index 0943d1932f29fe..dfe84e7853528a 100644
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -9,6 +9,27 @@ env:
   MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models
 
 on:
+  workflow_call:
+    inputs:
+      upstream_branch:
+        description: 'Upstream branch to build from'
+        required: true
+        default: 'master'
+        type: string
+      custom_name:
+        description: 'Custom name for the model (no date, only name)'
+        required: false
+        type: string
+      is_20hz:
+        description: 'Is this a 20Hz model'
+        required: false
+        type: boolean
+        default: true
+      artifact_suffix:
+        description: 'Suffix for artifact name'
+        required: false
+        type: string
+        default: ''
   workflow_dispatch:
     inputs:
       upstream_branch:
@@ -32,34 +53,53 @@ run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from
 jobs:
   get_model:
     runs-on: ubuntu-latest
+    env:
+      REF: ${{ inputs.upstream_branch }}
     outputs:
       model_date: ${{ steps.commit-date.outputs.model_date }}
     steps:
-      - uses: actions/checkout@v4
+      # Note: To allow dynamic models from both openpilot and sunnypilot (merges/mashups), we try commaai as default,
+      # and fallback to sunnypilot if the ref checkout fails.
+      - name: Checkout commaai/openpilot
+        id: checkout_upstream
+        continue-on-error: true
+        uses: actions/checkout@v4
+        with:
+          repository: commaai/openpilot
+          ref: ${{ inputs.upstream_branch }}
+          submodules: recursive
+          path: openpilot
+
+      - name: Fallback to sunnypilot/sunnypilot
+        if: steps.checkout_upstream.outcome == 'failure'
+        uses: actions/checkout@v4
         with:
-          repository: ${{ env.UPSTREAM_REPO }}
-          ref: ${{ github.event.inputs.upstream_branch }}
+          repository: sunnypilot/sunnypilot
+          ref: ${{ inputs.upstream_branch }}
           submodules: recursive
+          path: openpilot
       - name: Get commit date
         id: commit-date
         run: |
-          # Get the commit date in YYYY-MM-DD format
+          cd ${{ github.workspace }}/openpilot
           commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
           echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
           cat $GITHUB_OUTPUT
-      - run: git lfs pull
+      - run: |
+          cd ${{ github.workspace }}/openpilot
+          git lfs pull
       - name: 'Upload Artifact'
         uses: actions/upload-artifact@v4
         with:
-          name: models
-          path: ${{ github.workspace }}/selfdrive/modeld/models/*.onnx
+          name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
+          path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx
 
   build_model:
     runs-on: [self-hosted, tici]
     needs: get_model
     env:
       MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
-
+      REF: ${{ inputs.upstream_branch }}
     steps:
       - uses: actions/checkout@v4
         with:
@@ -114,7 +154,7 @@ jobs:
       - name: Download model artifacts
         uses: actions/download-artifact@v4
         with:
-          name: models
+          name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
           path: ${{ github.workspace }}/selfdrive/modeld/models
 
       - name: Build Model
@@ -157,12 +197,22 @@ jobs:
             --upstream-branch "${{ inputs.upstream_branch }}" \
             ${{ inputs.is_20hz && '--is-20hz' || '' }}
 
+      - name: Write artifact name to file
+        run: echo "model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}" > ${{ env.OUTPUT_DIR }}/artifact_name.txt
+
       - name: Upload Build Artifacts
+        id: upload-artifact
         uses: actions/upload-artifact@v4
         with:
-          name: model-${{ env.MODEL_NAME }}-${{ github.run_number }}
+          name: model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}
           path: ${{ env.OUTPUT_DIR }}
 
+      - name: Upload artifact name file
+        uses: actions/upload-artifact@v4
+        with:
+          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
+          path: ${{ env.OUTPUT_DIR }}/artifact_name.txt
+
       - name: Re-enable powersave
         if: always()
         run: |
diff --git a/release/ci/model_generator.py b/release/ci/model_generator.py
index 069b8e41af9b7d..ee41343be895c9 100755
--- a/release/ci/model_generator.py
+++ b/release/ci/model_generator.py
@@ -13,17 +13,32 @@ def create_short_name(full_name):
   words = [re.sub(r'[^a-zA-Z0-9]', '', word) for word in clean_name.split() if re.sub(r'[^a-zA-Z0-9]', '', word)]
 
   if len(words) == 1:
-    # If there's only one word, return it as is, lowercased, truncated to 8 characters
-    truncated = words[0][:8]
-    return truncated.lower() if truncated.isupper() else truncated
+    return words[0][:8].upper()
 
   # Handle special case: Name + Version (e.g., "Word A1" -> "WordA1")
   if len(words) == 2 and re.match(r'^[A-Za-z]\d+$', words[1]):
-    first_word = words[0].lower() if words[0].isupper() else words[0]
-    return (first_word + words[1])[:8]
-
-  # Normal case: first letter and trailing numbers from each word
-  result = ''.join(word if word.isdigit() else word[0] + (re.search(r'\d+$', word) or [''])[0] for word in words)
+    return (words[0] + words[1])[:8].upper()
+
+  result = ""
+  for word in words:
+    # Version or number patterns
+    if (re.match(r'^\d+[a-zA-Z]+$', word) or
+        re.match(r'^\d+[vVbB]\d+$', word) or
+        re.match(r'^[vVbB]\d+$', word) or
+        re.match(r'^\d{4}$', word)):
+      result += word.upper()
+    # All uppercase abbreviations (2-3 letters)
+    elif re.match(r'^[A-Z]{2,3}$', word):
+      result += word
+    # Letters+digits (for example tr15 rev2)
+    elif re.match(r'^[a-zA-Z]+[0-9]+$', word):
+      result += word[0].upper() + ''.join(re.findall(r'\d+', word))
+    elif word.isalpha():
+      result += word[0].upper()
+    elif word.isdigit():
+      result += word
+    else:
+      result += word[0].upper()
   return result[:8]
 
 
@@ -58,14 +73,14 @@ def generate_metadata(model_path: Path, output_dir: Path, short_name: str):
     "artifact": {
       "file_name": tinygrad_file.name,
       "download_uri": {
-        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/<FILLME>",
+        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
         "sha256": tinygrad_hash
       }
     },
     "metadata": {
       "file_name": metadata_file.name,
       "download_uri": {
-        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/<FILLME>",
+        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
         "sha256": metadata_hash
       }
     }
@@ -83,12 +98,12 @@ def create_metadata_json(models: list, output_dir: Path, custom_name=None, short
     "ref": upstream_branch,
     "environment": "development",
     "runner": "tinygrad",
-    "build_time": datetime.now(UTC).strftime("%Y-%m-%dT%H:%M:%SZ"),
-    "models": models,
-    "overrides": {},
     "index": -1,
     "minimum_selector_version": "-1",
     "generation": "-1",
+    "build_time": datetime.now(UTC).strftime("%Y-%m-%dT%H:%M:%SZ"),
+    "overrides": {},
+    "models": models,
   }
 
   # Write metadata to output_dir

From 713f8bfc21174f98e04d888ae18de0f71aaa2830 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 31 Jul 2025 12:56:33 -0400
Subject: [PATCH 0336/1434] `carControlSP`: parse `radarState`'s `leadOne` &
 `leadTwo` (#1089)

* `carControlSP`: parse `radarState`'s `leadOne` & `leadTwo`

* typo

* bump

* convert first

* rename

* directly
---
 cereal/custom.capnp                           | 23 ++++++++++++++++
 opendbc_repo                                  |  2 +-
 selfdrive/car/helpers.py                      |  2 ++
 .../selfdrive/controls/controlsd_ext.py       | 27 +++++++++++++++++--
 4 files changed, 51 insertions(+), 3 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index c9e4f3e16dfbcb..fdb89da84c7c97 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -25,6 +25,27 @@ struct ModularAssistiveDrivingSystem {
   }
 }
 
+# Same struct as Log.RadarState.LeadData
+struct LeadData {
+  dRel @0 :Float32;
+  yRel @1 :Float32;
+  vRel @2 :Float32;
+  aRel @3 :Float32;
+  vLead @4 :Float32;
+  dPath @6 :Float32;
+  vLat @7 :Float32;
+  vLeadK @8 :Float32;
+  aLeadK @9 :Float32;
+  fcw @10 :Bool;
+  status @11 :Bool;
+  aLeadTau @12 :Float32;
+  modelProb @13 :Float32;
+  radar @14 :Bool;
+  radarTrackId @15 :Int32 = -1;
+
+  aLeadDEPRECATED @5 :Float32;
+}
+
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
 }
@@ -174,6 +195,8 @@ struct CarParamsSP @0x80ae746ee2596b11 {
 struct CarControlSP @0xa5cd762cd951a455 {
   mads @0 :ModularAssistiveDrivingSystem;
   params @1 :List(Param);
+  leadOne @2 :LeadData;
+  leadTwo @3 :LeadData;
 
   struct Param {
     key @0 :Text;
diff --git a/opendbc_repo b/opendbc_repo
index b68fab9ea40522..25a5079a6ed31a 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit b68fab9ea4052213f8bfc1b80832ac8d4e798c8b
+Subproject commit 25a5079a6ed31a3de2b4c2444720dbee9d162c52
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
index 6187be14744758..275c84479fd77e 100644
--- a/selfdrive/car/helpers.py
+++ b/selfdrive/car/helpers.py
@@ -58,5 +58,7 @@ def remove_deprecated(s: dict) -> dict:
 
   struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {})))
   struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
+  struct_dataclass.leadOne = structs.LeadData(**remove_deprecated(struct_dict.get('leadOne', {})))
+  struct_dataclass.leadTwo = structs.LeadData(**remove_deprecated(struct_dict.get('leadTwo', {})))
 
   return struct_dataclass
diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
index 9a7f0cb5fc4c39..7e06ac77c1d7ec 100644
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -5,7 +5,7 @@
 See the LICENSE.md file in the root directory for more details.
 """
 import cereal.messaging as messaging
-from cereal import custom
+from cereal import log, custom
 
 from opendbc.car import structs
 from openpilot.common.params import Params
@@ -26,7 +26,7 @@ def __init__(self, CP: structs.CarParams, params: Params):
     self.CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
     cloudlog.info("controlsd_ext got CarParamsSP")
 
-    self.sm_services_ext = ['selfdriveStateSP']
+    self.sm_services_ext = ['radarState', 'selfdriveStateSP']
     self.pm_services_ext = ['carControlSP']
 
   def get_params_sp(self) -> None:
@@ -44,9 +44,32 @@ def get_lat_active(self, sm: messaging.SubMaster) -> bool:
     # MADS not available, use stock state to engage
     return bool(sm['selfdriveState'].active)
 
+  @staticmethod
+  def get_lead_data(ld: log.RadarState.LeadData) -> dict:
+    return {
+      "dRel": ld.dRel,
+      "yRel": ld.yRel,
+      "vRel": ld.vRel,
+      "aRel": ld.aRel,
+      "vLead": ld.vLead,
+      "dPath": ld.dPath,
+      "vLat": ld.vLat,
+      "vLeadK": ld.vLeadK,
+      "aLeadK": ld.aLeadK,
+      "fcw": ld.fcw,
+      "status": ld.status,
+      "aLeadTau": ld.aLeadTau,
+      "modelProb": ld.modelProb,
+      "radar": ld.radar,
+      "radarTrackId": ld.radarTrackId,
+    }
+
   def state_control_ext(self, sm: messaging.SubMaster) -> custom.CarControlSP:
     CC_SP = custom.CarControlSP.new_message()
 
+    CC_SP.leadOne = self.get_lead_data(sm['radarState'].leadOne)
+    CC_SP.leadTwo = self.get_lead_data(sm['radarState'].leadTwo)
+
     # MADS state
     CC_SP.mads = sm['selfdriveStateSP'].mads
 

From 259e2fd5af0537068d6c96f45917c13508f209ba Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 31 Jul 2025 13:45:48 -0400
Subject: [PATCH 0337/1434] ci: change ref to `master` (#1099)

---
 .github/workflows/auto_pr_review.yaml                | 2 +-
 .github/workflows/cereal_validation.yaml             | 3 +--
 .github/workflows/compile-openpilot/action.yaml      | 2 +-
 .github/workflows/lfs-maintenance.yaml               | 4 ++--
 .github/workflows/release-drafter.yml                | 1 -
 .github/workflows/repo-maintenance.yaml              | 4 ++--
 .github/workflows/selfdrive_tests.yaml               | 9 ++++-----
 .github/workflows/sunnypilot-build-prebuilt.yaml     | 4 ++--
 .github/workflows/sunnypilot-master-dev-c3-prep.yaml | 8 +++-----
 .github/workflows/ui_preview.yaml                    | 8 +++-----
 opendbc_repo                                         | 2 +-
 panda                                                | 2 +-
 12 files changed, 21 insertions(+), 28 deletions(-)

diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
index d3cfa60d923c68..a5318c12da3c76 100644
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -33,7 +33,7 @@ jobs:
         exclude: /sunnypilot:.*/
         change-to: ${{ github.base_ref }}
         already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master-new` branch"
+        already-exists-comment: "Your PR should be made against the `master` branch"
 
   update-pr-labels:
     name: Update fork's PR Labels
diff --git a/.github/workflows/cereal_validation.yaml b/.github/workflows/cereal_validation.yaml
index 5d75b6bc1396eb..2290481c56d68b 100644
--- a/.github/workflows/cereal_validation.yaml
+++ b/.github/workflows/cereal_validation.yaml
@@ -4,7 +4,6 @@ on:
   push:
     branches:
       - master
-      - master-new
   pull_request:
     paths:
       - 'cereal/**'
@@ -17,7 +16,7 @@ on:
         type: string
 
 concurrency:
-  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
diff --git a/.github/workflows/compile-openpilot/action.yaml b/.github/workflows/compile-openpilot/action.yaml
index 87590b41cb0e79..4015746c0e3680 100644
--- a/.github/workflows/compile-openpilot/action.yaml
+++ b/.github/workflows/compile-openpilot/action.yaml
@@ -15,7 +15,7 @@ runs:
                           scons -j$(nproc) --cache-populate"
     - name: Save scons cache
       uses: actions/cache/save@v4
-      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
+      if: github.ref == 'refs/heads/master'
       with:
         path: .ci_cache/scons_cache
         key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
diff --git a/.github/workflows/lfs-maintenance.yaml b/.github/workflows/lfs-maintenance.yaml
index 954dc9128d1dc6..aea918b530d43f 100644
--- a/.github/workflows/lfs-maintenance.yaml
+++ b/.github/workflows/lfs-maintenance.yaml
@@ -9,10 +9,10 @@ on:
     - cron: '0 0 * * *'  # Runs at 00:00 UTC every day
   push:
     branches:
-      - 'master-new'
+      - 'master'
   pull_request:
     branches:
-      - 'master-new'
+      - 'master'
   workflow_dispatch:  # enables manual triggering
     inputs:
       upstream_branch:
diff --git a/.github/workflows/release-drafter.yml b/.github/workflows/release-drafter.yml
index 62712a770c9ed1..c072e98e245b7a 100644
--- a/.github/workflows/release-drafter.yml
+++ b/.github/workflows/release-drafter.yml
@@ -3,7 +3,6 @@ name: Release Drafter
 on:
   push:
     branches:
-      - master-new
       - master
     tags:
       - 'v*'
diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 0a83d3a01c81b5..2b73c0a418ac4c 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -28,7 +28,7 @@ jobs:
           title: "[bot] Update translations"
           body: "Automatic PR from repo-maintenance -> update_translations"
           branch: "update-translations"
-          base: "master-new"
+          base: "master"
           delete-branch: true
           labels: bot
 
@@ -66,7 +66,7 @@ jobs:
         commit-message: Update Python packages
         title: '[bot] Update Python packages'
         branch: auto-package-updates
-        base: master-new
+        base: master
         delete-branch: true
         body: 'Automatic PR from repo-maintenance -> package_updates'
         labels: bot
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 67f7dfb4538e2a..b031f2f634506b 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -4,7 +4,6 @@ on:
   push:
     branches:
       - master
-      - master-new
   pull_request:
   workflow_dispatch:
   workflow_call:
@@ -15,11 +14,11 @@ on:
         type: string
 
 concurrency:
-  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
-  REPORT_NAME: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
+  REPORT_NAME: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
   PYTHONWARNINGS: error
   BASE_IMAGE: openpilot-base
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
@@ -107,7 +106,7 @@ jobs:
         PYTHONWARNINGS: default
     - name: Save Homebrew cache
       uses: actions/cache/save@v4
-      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
+      if: github.ref == 'refs/heads/master'
       with:
         path: ~/Library/Caches/Homebrew
         key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -124,7 +123,7 @@ jobs:
       run: . .venv/bin/activate && scons -j$(nproc)
     - name: Save scons cache
       uses: actions/cache/save@v4
-      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
+      if: github.ref == 'refs/heads/master'
       with:
         path: /tmp/scons_cache
         key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 845e964d6d0761..cd785b3f568380 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -8,7 +8,7 @@ env:
   PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
   
   # Branch configurations
-  STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master-new' }} # vars are set on repo settings.
+  STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master' }} # vars are set on repo settings.
   DEV_C3_SOURCE_BRANCH: ${{ vars.DEV_C3_SOURCE_BRANCH || 'master-dev-c3-new' }} # vars are set on repo settings.
   
   # Target branch configurations
@@ -21,7 +21,7 @@ env:
 
 on:
   push:
-    branches: [ master, master-new, master-dev-c3-new ]
+    branches: [ master, master-dev-c3-new ]
     tags: [ '*' ]
   pull_request_target:
     types: [ labeled ]
diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
index 35afe88cb7141b..13c8d5cb37963e 100644
--- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
@@ -1,7 +1,7 @@
 name: Build dev-c3-new
 
 env:
-  DEFAULT_SOURCE_BRANCH: "master-new"
+  DEFAULT_SOURCE_BRANCH: "master"
   DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
   PR_LABEL: "dev-c3"
   LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
@@ -11,18 +11,16 @@ on:
   push:
     branches:
       - master
-      - master-new    
   pull_request_target:
     types: [ labeled ]  
     branches:    
-      - 'master'        
-      - 'master-new'            
+      - 'master'
   workflow_dispatch:
     inputs:
       source_branch:
         description: 'Source branch to reset from'
         required: true
-        default: 'master-new'
+        default: 'master'
         type: string
       target_branch:
         description: 'Target branch to reset and squash into'
diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index f9b24e0f2cf497..334b289632a012 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -3,20 +3,18 @@ on:
   push:
     branches:
       - master
-      - master-new
   pull_request_target:
     types: [assigned, opened, synchronize, reopened, edited]
     branches:
       - 'master'
-      - 'master-new'
     paths:
       - 'selfdrive/ui/**'
   workflow_dispatch:
 
 env:
   UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.sha || github.event.pull_request.head.sha }}
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
   BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
 
 jobs:
@@ -66,7 +64,7 @@ jobs:
           ref: openpilot_master_ui
 
       - name: Saving new master ui
-        if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.event_name == 'push'
+        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
         working-directory: ${{ github.workspace }}/master_ui
         run: |
           git checkout --orphan=new_master_ui
diff --git a/opendbc_repo b/opendbc_repo
index 25a5079a6ed31a..f4a96734a510db 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 25a5079a6ed31a3de2b4c2444720dbee9d162c52
+Subproject commit f4a96734a510db2d8131f93352842d29129ea000
diff --git a/panda b/panda
index ff4733f95854e4..c597f948f99f09 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit ff4733f95854e49f692ce8ee431af4c85b64ee33
+Subproject commit c597f948f99f09e885f5f85c7da1745e92222a6e

From 6e76d0ca86dd4a771f502201ce759aabe5437ff8 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 31 Jul 2025 14:10:45 -0400
Subject: [PATCH 0338/1434] ci: more ref change to `master`

---
 .github/workflows/auto_pr_review.yaml | 2 +-
 README.md                             | 2 +-
 opendbc_repo                          | 2 +-
 release/ci/squash_and_merge_prs.py    | 2 +-
 system/version.py                     | 2 +-
 5 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
index a5318c12da3c76..ec78f276a51fde 100644
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -29,7 +29,7 @@ jobs:
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
-        target: /^(?!master-new$).*/
+        target: /^(?!master$).*/
         exclude: /sunnypilot:.*/
         change-to: ${{ github.base_ref }}
         already-exists-action: close_this
diff --git a/README.md b/README.md
index 28a504e9dc288f..805c4b73d8eb86 100644
--- a/README.md
+++ b/README.md
@@ -64,7 +64,7 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 ## 🎆 Pull Requests
 We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
 
-Pull requests should be against the most current `master-new` branch.
+Pull requests should be against the most current `master` branch.
 
 ## 📊 User Data
 
diff --git a/opendbc_repo b/opendbc_repo
index f4a96734a510db..2a11f9627cf7e4 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit f4a96734a510db2d8131f93352842d29129ea000
+Subproject commit 2a11f9627cf7e43c0d7b0ab25051b7b305f03c1f
diff --git a/release/ci/squash_and_merge_prs.py b/release/ci/squash_and_merge_prs.py
index b26b08d500ffa3..0f20f4f9001b80 100755
--- a/release/ci/squash_and_merge_prs.py
+++ b/release/ci/squash_and_merge_prs.py
@@ -12,7 +12,7 @@
 def setup_argument_parser():
   parser = argparse.ArgumentParser(description='Process and squash GitHub PRs')
   parser.add_argument('--pr-data', type=str, help='PR data in JSON format')
-  parser.add_argument('--source-branch', type=str, default='master-new',
+  parser.add_argument('--source-branch', type=str, default='master',
                       help='Source branch for merging')
   parser.add_argument('--target-branch', type=str, default='master-dev-c3-new-test',
                       help='Target branch for merging')
diff --git a/system/version.py b/system/version.py
index 73200473fe3f72..34c9ade24d38da 100755
--- a/system/version.py
+++ b/system/version.py
@@ -12,7 +12,7 @@
 
 RELEASE_SP_BRANCHES = ['release-c3']
 TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new']
-MASTER_SP_BRANCHES = ['master', 'master-new']
+MASTER_SP_BRANCHES = ['master']
 RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly'] + RELEASE_SP_BRANCHES
 TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + TESTED_SP_BRANCHES
 

From c5eb41fe376d25ab2c1746b355a9c331e0479c8c Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Fri, 1 Aug 2025 09:45:41 -0400
Subject: [PATCH 0339/1434] mapd: suppress output

Update process_config.py
---
 system/manager/process_config.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 487f0e970c3c24..6cdb89d980375e 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -165,7 +165,7 @@ def and_(*fns):
   PythonProcess("backup_manager", "sunnypilot.sunnylink.backups.manager", and_(only_offroad, sunnylink_ready_shim)),
 
   # mapd
-  NativeProcess("mapd", Paths.mapd_root(), [MAPD_PATH], mapd_ready),
+  NativeProcess("mapd", Paths.mapd_root(), ["bash", "-c", f"{MAPD_PATH} > /dev/null 2>&1"], mapd_ready),
   PythonProcess("mapd_manager", "sunnypilot.mapd.mapd_manager", always_run),
 ]
 

From 40f298f033b356748d4222152827d9af77eef79d Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Fri, 1 Aug 2025 07:18:03 -0700
Subject: [PATCH 0340/1434] sunnypilot modeld: Raise Min Selector Version
 (#1103)

Bump to Min 8 to prevent loading conflicts
---
 sunnypilot/models/helpers.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index 2e9b630032b95c..01069cddb44f94 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -21,7 +21,7 @@
 
 # see the README.md for more details on the model selector versioning
 CURRENT_SELECTOR_VERSION = 8
-REQUIRED_MIN_SELECTOR_VERSION = 6
+REQUIRED_MIN_SELECTOR_VERSION = 8
 
 USE_ONNX = os.getenv('USE_ONNX', PC)
 

From f3c4501db1777c414c0102d4707858b7a171f1b9 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 2 Aug 2025 01:15:07 -0400
Subject: [PATCH 0341/1434] docker: sunnypilot images (#1104)

* docker: sunnypilot images

* update ref for now

* update

* actually nightly

* rename

* enable now

* revert
---
 .github/workflows/badges.yaml            |  4 +-
 .github/workflows/cereal_validation.yaml |  4 +-
 .github/workflows/prebuilt.yaml          |  2 +-
 .github/workflows/release.yaml           | 10 +--
 .github/workflows/repo-maintenance.yaml  |  6 +-
 .github/workflows/selfdrive_tests.yaml   |  7 +-
 Dockerfile.sunnypilot                    | 12 ++++
 Dockerfile.sunnypilot_base               | 83 ++++++++++++++++++++++++
 release/build_devel.sh                   |  4 +-
 release/ci/docker_build_sp.sh            | 26 ++++++++
 release/ci/docker_common_sp.sh           | 18 +++++
 release/identity.sh                      |  8 +--
 release/release_files.py                 |  2 +
 13 files changed, 163 insertions(+), 23 deletions(-)
 create mode 100644 Dockerfile.sunnypilot
 create mode 100644 Dockerfile.sunnypilot_base
 create mode 100755 release/ci/docker_build_sp.sh
 create mode 100755 release/ci/docker_common_sp.sh

diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
index 505148beac4c44..3019ba9cba44fd 100644
--- a/.github/workflows/badges.yaml
+++ b/.github/workflows/badges.yaml
@@ -5,8 +5,8 @@ on:
   workflow_dispatch:
 
 env:
-  BASE_IMAGE: openpilot-base
-  DOCKER_REGISTRY: ghcr.io/commaai
+  BASE_IMAGE: sunnypilot-base
+  DOCKER_REGISTRY: ghcr.io/sunnypilot
   RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
 
 jobs:
diff --git a/.github/workflows/cereal_validation.yaml b/.github/workflows/cereal_validation.yaml
index 2290481c56d68b..9833f472fe49c9 100644
--- a/.github/workflows/cereal_validation.yaml
+++ b/.github/workflows/cereal_validation.yaml
@@ -21,8 +21,8 @@ concurrency:
 
 env:
   PYTHONWARNINGS: error
-  BASE_IMAGE: openpilot-base
-  BUILD: selfdrive/test/docker_build.sh base
+  BASE_IMAGE: sunnypilot-base
+  BUILD: release/ci/docker_build_sp.sh base
   RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
 jobs:
diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
index 61e3f3bc4ff97b..dde290d5c5631b 100644
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@@ -6,7 +6,7 @@ on:
 
 env:
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: selfdrive/test/docker_build.sh prebuilt
+  BUILD: release/ci/docker_build_sp.sh prebuilt
 
 jobs:
   build_prebuilt:
diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index d2228a20797f2b..3b8ddd408ffca0 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -5,12 +5,12 @@ on:
   workflow_dispatch:
 
 jobs:
-  build_masterci:
-    name: build master-ci
+  build___nightly:
+    name: build __nightly
     env:
       ImageOS: ubuntu24
     container:
-      image: ghcr.io/commaai/openpilot-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-base:latest
     runs-on: ubuntu-latest
     if: github.repository == 'sunnypilot/sunnypilot'
     permissions:
@@ -27,7 +27,7 @@ jobs:
       with:
         ref: master
         wait-interval: 30
-        running-workflow-name: 'build master-ci'
+        running-workflow-name: 'build __nightly'
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         check-regexp: ^((?!.*(build prebuilt).*).)*$
     - uses: actions/checkout@v4
@@ -38,5 +38,5 @@ jobs:
       run: |
         git config --global --add safe.directory '*'
         git lfs pull
-    - name: Push master-ci
+    - name: Push __nightly
       run: BRANCH=__nightly release/build_devel.sh
diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 2b73c0a418ac4c..72de3770866e36 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -6,8 +6,8 @@ on:
   workflow_dispatch:
 
 env:
-  BASE_IMAGE: openpilot-base
-  BUILD: selfdrive/test/docker_build.sh base
+  BASE_IMAGE: sunnypilot-base
+  BUILD: release/ci/docker_build_sp.sh base
   RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
 jobs:
@@ -36,7 +36,7 @@ jobs:
     name: package_updates
     runs-on: ubuntu-latest
     container:
-      image: ghcr.io/commaai/openpilot-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-base:latest
     if: github.repository == 'sunnypilot/sunnypilot'
     steps:
     - uses: actions/checkout@v4
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 6ee4f0501861a2..db87d5855ec71f 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -19,11 +19,11 @@ concurrency:
 
 env:
   PYTHONWARNINGS: error
-  BASE_IMAGE: openpilot-base
+  BASE_IMAGE: sunnypilot-base
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
 
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: selfdrive/test/docker_build.sh base
+  BUILD: release/ci/docker_build_sp.sh base
 
   RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
@@ -31,7 +31,6 @@ env:
 
 jobs:
   build_release:
-    if: github.repository == 'commaai/openpilot' # build_release blocked for the time being to only comma as we may have a different process.
     name: build release
     runs-on: ${{
       (github.repository == 'commaai/openpilot') &&
@@ -82,7 +81,7 @@ jobs:
       with:
         submodules: true
     - name: Setup docker push
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
diff --git a/Dockerfile.sunnypilot b/Dockerfile.sunnypilot
new file mode 100644
index 00000000000000..88a226ad08260a
--- /dev/null
+++ b/Dockerfile.sunnypilot
@@ -0,0 +1,12 @@
+FROM ghcr.io/sunnypilot/sunnypilot-base:latest
+
+ENV PYTHONUNBUFFERED=1
+
+ENV OPENPILOT_PATH=/home/batman/openpilot
+
+RUN mkdir -p ${OPENPILOT_PATH}
+WORKDIR ${OPENPILOT_PATH}
+
+COPY . ${OPENPILOT_PATH}/
+
+RUN scons --cache-readonly -j$(nproc)
diff --git a/Dockerfile.sunnypilot_base b/Dockerfile.sunnypilot_base
new file mode 100644
index 00000000000000..ec1e3b6c0629f0
--- /dev/null
+++ b/Dockerfile.sunnypilot_base
@@ -0,0 +1,83 @@
+FROM ubuntu:24.04
+
+ENV PYTHONUNBUFFERED=1
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
+RUN /tmp/tools/install_ubuntu_dependencies.sh && \
+    rm -rf /var/lib/apt/lists/* /tmp/* && \
+    cd /usr/lib/gcc/arm-none-eabi/* && \
+    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
+
+# Add OpenCL
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    apt-utils \
+    alien \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+    libx11-6 \
+    wget \
+    rsync \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN mkdir -p /tmp/opencl-driver-intel && \
+    cd /tmp/opencl-driver-intel && \
+    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
+    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    mkdir -p /etc/OpenCL/vendors && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
+    cd /opt/intel && \
+    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    mkdir -p /etc/ld.so.conf.d && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    cd / && \
+    rm -rf /tmp/opencl-driver-intel
+
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX=1
+
+RUN dbus-uuidgen > /etc/machine-id
+RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
+
+ARG USER=batman
+ARG USER_UID=1001
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+RUN usermod -aG sudo $USER
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER $USER
+
+COPY --chown=$USER pyproject.toml uv.lock /home/$USER
+COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
+
+ENV VIRTUAL_ENV=/home/$USER/.venv
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+RUN cd /home/$USER && \
+    tools/install_python_dependencies.sh && \
+    rm -rf tools/ pyproject.toml uv.lock .cache
+
+USER root
+RUN sudo git config --global --add safe.directory /tmp/openpilot
diff --git a/release/build_devel.sh b/release/build_devel.sh
index 05dcaafcaa6382..6167bda7bad283 100755
--- a/release/build_devel.sh
+++ b/release/build_devel.sh
@@ -33,7 +33,7 @@ git clean -xdff
 git lfs uninstall
 
 # remove everything except .git
-echo "[-] erasing old openpilot T=$SECONDS"
+echo "[-] erasing old sunnypilot T=$SECONDS"
 find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
 
 # reset source tree
@@ -61,7 +61,7 @@ echo -n "$GIT_COMMIT_DATE" > git_src_commit_date
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git status
-git commit -a -m "openpilot v$VERSION release
+git commit -a -m "sunnypilot v$VERSION release
 
 date: $DATETIME
 master commit: $GIT_HASH
diff --git a/release/ci/docker_build_sp.sh b/release/ci/docker_build_sp.sh
new file mode 100755
index 00000000000000..9a8d390c61e443
--- /dev/null
+++ b/release/ci/docker_build_sp.sh
@@ -0,0 +1,26 @@
+#!/usr/bin/env bash
+set -e
+
+# To build sim and docs, you can run the following to mount the scons cache to the same place as in CI:
+# mkdir -p .ci_cache/scons_cache
+# sudo mount --bind /tmp/scons_cache/ .ci_cache/scons_cache
+
+SCRIPT_DIR=$(dirname "$0")
+OPENPILOT_DIR=$SCRIPT_DIR/../../
+if [ -n "$TARGET_ARCHITECTURE" ]; then
+  PLATFORM="linux/$TARGET_ARCHITECTURE"
+  TAG_SUFFIX="-$TARGET_ARCHITECTURE"
+else
+  PLATFORM="linux/$(uname -m)"
+  TAG_SUFFIX=""
+fi
+
+source $SCRIPT_DIR/docker_common_sp.sh $1 "$TAG_SUFFIX"
+
+DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
+
+if [ -n "$PUSH_IMAGE" ]; then
+  docker push $REMOTE_TAG
+  docker tag $REMOTE_TAG $REMOTE_SHA_TAG
+  docker push $REMOTE_SHA_TAG
+fi
diff --git a/release/ci/docker_common_sp.sh b/release/ci/docker_common_sp.sh
new file mode 100755
index 00000000000000..e8f515762a7988
--- /dev/null
+++ b/release/ci/docker_common_sp.sh
@@ -0,0 +1,18 @@
+if [ "$1" = "base" ]; then
+  export DOCKER_IMAGE=sunnypilot-base
+  export DOCKER_FILE=Dockerfile.sunnypilot_base
+elif [ "$1" = "prebuilt" ]; then
+  export DOCKER_IMAGE=sunnypilot-prebuilt
+  export DOCKER_FILE=Dockerfile.sunnypilot
+else
+  echo "Invalid docker build image: '$1'"
+  exit 1
+fi
+
+export DOCKER_REGISTRY=ghcr.io/sunnypilot
+export COMMIT_SHA=$(git rev-parse HEAD)
+
+TAG_SUFFIX=$2
+LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX
+REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
+REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA
diff --git a/release/identity.sh b/release/identity.sh
index c699c94650fed0..1913df3c5bc528 100644
--- a/release/identity.sh
+++ b/release/identity.sh
@@ -1,4 +1,4 @@
-export GIT_COMMITTER_NAME="Vehicle Researcher"
-export GIT_COMMITTER_EMAIL="user@comma.ai"
-export GIT_AUTHOR_NAME="Vehicle Researcher"
-export GIT_AUTHOR_EMAIL="user@comma.ai"
+export GIT_COMMITTER_NAME="github-actions[bot]"
+export GIT_COMMITTER_EMAIL="github-actions[bot]@users.noreply.github.com"
+export GIT_AUTHOR_NAME="github-actions[bot]"
+export GIT_AUTHOR_EMAIL="github-actions[bot]@users.noreply.github.com"
diff --git a/release/release_files.py b/release/release_files.py
index 98b88293b95a80..0b9e034bf12f22 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -17,6 +17,8 @@
   ".gitattributes",
   ".git$",
   ".gitmodules",
+  ".run/",
+  ".idea/",
 ]
 
 # gets you through the blacklist

From baa9e91fd7d0a6b970212ef92df5ca696edb282a Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 2 Aug 2025 01:46:40 -0400
Subject: [PATCH 0342/1434] tinygrad: unbump to previous ref (#1107)

---
 tinygrad_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tinygrad_repo b/tinygrad_repo
index 1bef2d80c18a83..7737cbb2a0635f 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 1bef2d80c18a8313dadb5f5c6379e67ef574a4d2
+Subproject commit 7737cbb2a0635fce95a9085fb1b53d5bea1093f8

From 08216c1ea4b0302f0a7e703ab06a24b9e61b82f0 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 2 Aug 2025 02:04:25 -0400
Subject: [PATCH 0343/1434] ci: update cereal validation repo reference to
 sunnypilot (#1108)

---
 .github/workflows/cereal_validation.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/cereal_validation.yaml b/.github/workflows/cereal_validation.yaml
index 9833f472fe49c9..45c67267a74b1f 100644
--- a/.github/workflows/cereal_validation.yaml
+++ b/.github/workflows/cereal_validation.yaml
@@ -59,7 +59,7 @@ jobs:
     steps:
       - uses: actions/checkout@v4
         with:
-          repository: 'commaai/openpilot'
+          repository: 'sunnypilot/sunnypilot'
           submodules: true
           ref: "refs/heads/master"
       - uses: ./.github/workflows/setup-with-retry

From 582671e006be11ab9a78077379af820a2461dae1 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 2 Aug 2025 22:24:59 +0200
Subject: [PATCH 0344/1434] fix: update LastSunnylinkPingTime parameter type
 from string to integer (#1112)

---
 sunnypilot/sunnylink/api.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/sunnypilot/sunnylink/api.py b/sunnypilot/sunnylink/api.py
index 942a994b982438..b7838a40b0325b 100644
--- a/sunnypilot/sunnylink/api.py
+++ b/sunnypilot/sunnylink/api.py
@@ -90,7 +90,7 @@ def register_device(self, spinner=None, timeout=60, verbose=False):
       sunnylink_dongle_id = UNREGISTERED_SUNNYLINK_DONGLE_ID
       self._status_update("Public key not found, setting dongle ID to unregistered.")
     else:
-      Params().put("LastSunnylinkPingTime", "0")  # Reset the last ping time to 0 if we are trying to register
+      Params().put("LastSunnylinkPingTime", 0)  # Reset the last ping time to 0 if we are trying to register
       with pubkey_path.open() as f1, privkey_path.open() as f2:
         public_key = f1.read()
         private_key = f2.read()
@@ -148,7 +148,7 @@ def register_device(self, spinner=None, timeout=60, verbose=False):
 
     # Set the last ping time to the current time since we were just talking to the API
     last_ping = int(time.monotonic() * 1e9) if successful_registration else start_time
-    Params().put("LastSunnylinkPingTime", str(last_ping))
+    Params().put("LastSunnylinkPingTime", last_ping)
 
     # Disable sunnylink if registration was not successful
     if not successful_registration:

From a93f1caf1f193dfaeb40e2d509894e7e3476ee29 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 2 Aug 2025 23:11:59 -0400
Subject: [PATCH 0345/1434] ci: dynamic submodule check for build_release
 (#1114)

* ci: dynamic submodule check for build_release

* test opendbc diff

* somem fix

* this way

* use path

* use master branch instead

* less verbose

* test bump

* test 1 more sub change

* unbump

* only echo if there's a diff
---
 .github/workflows/selfdrive_tests.yaml | 18 +++++++++++-
 release/check-submodules.sh            | 38 ++++++++++++++++++++++----
 2 files changed, 49 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index db87d5855ec71f..13d19909681715 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -67,7 +67,23 @@ jobs:
     - name: Check submodules
       if: github.repository == 'sunnypilot/sunnypilot'
       timeout-minutes: 3
-      run: release/check-submodules.sh
+      run: |
+        if [ "${{ github.ref }}" != "refs/heads/master" ]; then
+          git fetch  origin master:refs/remotes/origin/master
+
+          SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
+            if git ls-files --stage "$path" | grep -q "^160000"; then
+              echo "$path"
+            fi
+          done | tr '\n' ' ')
+
+          if [ -n "$SUBMODULE_PATHS" ]; then
+            echo "Changed submodule paths: $SUBMODULE_PATHS"
+            export SUBMODULE_PATHS="$SUBMODULE_PATHS"
+            export CHECK_PR_REFS=true
+          fi
+        fi
+        release/check-submodules.sh
 
   build:
     runs-on: ${{
diff --git a/release/check-submodules.sh b/release/check-submodules.sh
index 93869a740347d9..7120fa15d8752e 100755
--- a/release/check-submodules.sh
+++ b/release/check-submodules.sh
@@ -1,17 +1,43 @@
 #!/usr/bin/env bash
 
+has_submodule_changes() {
+  local submodule_path="$1"
+  if [ -n "$SUBMODULE_PATHS" ]; then
+    echo "$SUBMODULE_PATHS" | grep -q "$submodule_path"
+    return $?
+  fi
+  return 1
+}
+
 while read hash submodule ref; do
+  if [ -z "$hash" ] || [ -z "$submodule" ]; then
+    continue
+  fi
+
+  hash=$(echo "$hash" | sed 's/^[+-]//')
+
   if [ "$submodule" = "tinygrad_repo" ]; then
     echo "Skipping $submodule"
     continue
   fi
 
-  git -C $submodule fetch --depth 100 origin master
-  git -C $submodule branch -r --contains $hash | grep "origin/master"
-  if [ "$?" -eq 0 ]; then
-    echo "$submodule ok"
+  if [ "$CHECK_PR_REFS" = "true" ] && has_submodule_changes "$submodule"; then
+    echo "Checking $submodule (non-master): verifying hash $hash exists"
+    git -C $submodule fetch --depth 100 origin
+    if git -C $submodule cat-file -e $hash 2>/dev/null; then
+      echo "$submodule ok (hash exists)"
+    else
+      echo "$submodule: $hash does not exist in the repository"
+      exit 1
+    fi
   else
-    echo "$submodule: $hash is not on master"
-    exit 1
+    git -C $submodule fetch --depth 100 origin master
+    git -C $submodule branch -r --contains $hash | grep "origin/master"
+    if [ "$?" -eq 0 ]; then
+      echo "$submodule ok"
+    else
+      echo "$submodule: $hash is not on master"
+      exit 1
+    fi
   fi
 done <<< $(git submodule status --recursive)

From 567c5459dbfeef5affcf72750630744e5105d19d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 8 Aug 2025 10:26:58 -0400
Subject: [PATCH 0346/1434] params: fix auto type cast (#1127)

* params: fix auto type cast on put

* literally

* lint

* pls comma why dis a string but actually json
---
 common/params_keys.h                          | 10 +++++-----
 selfdrive/car/card.py                         |  3 +--
 selfdrive/ui/tests/test_ui/run.py             |  5 ++---
 sunnypilot/mapd/live_map_data/osm_map_data.py |  2 +-
 sunnypilot/mapd/mapd_manager.py               |  9 +++++++--
 sunnypilot/models/fetcher.py                  |  5 ++---
 sunnypilot/models/helpers.py                  |  3 +--
 sunnypilot/models/manager.py                  |  3 +--
 8 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 23e938eb61fb66..2e967a3394ac21 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -139,7 +139,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CarParamsSP", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
     {"CarParamsSPCache", {CLEAR_ON_MANAGER_START, BYTES}},
     {"CarParamsSPPersistent", {PERSISTENT, BYTES}},
-    {"CarPlatformBundle", {PERSISTENT | BACKUP, STRING}},
+    {"CarPlatformBundle", {PERSISTENT | BACKUP, JSON}},
     {"ChevronInfo", {PERSISTENT | BACKUP, INT, "4"}},
     {"CustomAccIncrementsEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
@@ -162,11 +162,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"MadsUnifiedEngagementMode", {PERSISTENT | BACKUP, BOOL, "1"}},
 
     // Model Manager params
-    {"ModelManager_ActiveBundle", {PERSISTENT, STRING}},
+    {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
     {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
     {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT, "0"}},
     {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
-    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, STRING}},
+    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
 
     // Neural Network Lateral Control
     {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -199,12 +199,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
     {"MapdVersion", {PERSISTENT, STRING, ""}},
     {"MapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0.0"}},
-    {"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
+    {"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
     {"OsmDbUpdatesCheck", {CLEAR_ON_MANAGER_START, BOOL}},  // mapd database update happens with device ON, reset on boot
     {"OSMDownloadBounds", {PERSISTENT, STRING}},
     {"OsmDownloadedDate", {PERSISTENT, STRING, "0.0"}},
-    {"OSMDownloadLocations", {PERSISTENT, STRING}},
+    {"OSMDownloadLocations", {PERSISTENT, JSON}},
     {"OSMDownloadProgress", {CLEAR_ON_MANAGER_START, JSON}},
     {"OsmLocal", {PERSISTENT, BOOL}},
     {"OsmLocationName", {PERSISTENT, STRING}},
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 0564a4c5bb96d5..159ab8fb1717c9 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import json
 import os
 import time
 import threading
@@ -107,7 +106,7 @@ def __init__(self, CI=None, RI=None) -> None:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
           cached_params = _cached_params
 
-      fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle") or "{}").get("platform", None)
+      fixed_fingerprint = (self.params.get("CarPlatformBundle") or {}).get("platform", None)
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params, fixed_fingerprint)
       sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 33f33f98dd3831..653395ba1daf25 100755
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import capnp
-import json
 import pathlib
 import shutil
 import sys
@@ -265,12 +264,12 @@ def setup_settings_trips(click, pm: PubMaster, scroll=None):
   time.sleep(UI_DELAY)
 
 def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
-  Params().put("CarPlatformBundle", json.dumps(
+  Params().put("CarPlatformBundle",
     {
       "platform": "HONDA_CIVIC_2022",
       "name": "Honda Civic 2022-24"
     }
-  ))
+  )
 
   setup_settings_device(click, pm)
   scroll(-400, 278, 962)
diff --git a/sunnypilot/mapd/live_map_data/osm_map_data.py b/sunnypilot/mapd/live_map_data/osm_map_data.py
index 84b3aa99555dab..beaa785f63e34b 100644
--- a/sunnypilot/mapd/live_map_data/osm_map_data.py
+++ b/sunnypilot/mapd/live_map_data/osm_map_data.py
@@ -38,7 +38,7 @@ def get_current_road_name(self) -> str:
 
   def get_next_speed_limit_and_distance(self) -> tuple[float, float]:
     next_speed_limit_section_str = self.mem_params.get("NextMapSpeedLimit")
-    next_speed_limit_section = json.loads(next_speed_limit_section_str) if next_speed_limit_section_str else {}
+    next_speed_limit_section = next_speed_limit_section_str if next_speed_limit_section_str else {}
     next_speed_limit = next_speed_limit_section.get('speedlimit', 0.0)
     next_speed_limit_latitude = next_speed_limit_section.get('latitude')
     next_speed_limit_longitude = next_speed_limit_section.get('longitude')
diff --git a/sunnypilot/mapd/mapd_manager.py b/sunnypilot/mapd/mapd_manager.py
index 4e61ffe8377a0a..9ebf07a7f42b8f 100755
--- a/sunnypilot/mapd/mapd_manager.py
+++ b/sunnypilot/mapd/mapd_manager.py
@@ -59,12 +59,17 @@ def request_refresh_osm_location_data(nations: list[str], states: list[str] = No
   params.put("OsmDownloadedDate", str(time.monotonic()))
   params.put_bool("OsmDbUpdatesCheck", False)
 
-  osm_download_locations = json.dumps({
+  osm_download_locations = {
+    "nations": nations,
+    "states": states or []
+  }
+
+  osm_download_locations_dump = json.dumps({
     "nations": nations,
     "states": states or []
   })
 
-  print(f"Downloading maps for {osm_download_locations}")
+  print(f"Downloading maps for {osm_download_locations_dump}")
   mem_params.put("OSMDownloadLocations", osm_download_locations)
 
 
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index c96fa75c9d5efb..482f0e3bb1dcd3 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -5,7 +5,6 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
-import json
 import time
 
 import requests
@@ -102,14 +101,14 @@ def get(self) -> tuple[dict, bool]:
       if not cached_data:
         cloudlog.warning("No cached model data available")
         return {}, True
-      return json.loads(cached_data), self._is_expired()
+      return cached_data, self._is_expired()
     except Exception as e:
       cloudlog.exception(f"Error retrieving cached model data: {str(e)}")
       return {}, True
 
   def set(self, data: dict) -> None:
     """Updates the cache with new model data"""
-    self.params.put(self._CACHE_KEY, json.dumps(data))
+    self.params.put(self._CACHE_KEY, data)
     self.params.put(self._LAST_SYNC_KEY, int(time.monotonic() * 1e9))
 
 
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index 40fcf13ec02222..a024935b84db92 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -9,7 +9,6 @@
 import os
 import pickle
 import numpy as np
-import json
 
 from openpilot.common.params import Params
 from cereal import custom
@@ -71,7 +70,7 @@ def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundl
     params = Params()
 
   try:
-    if (active_bundle := json.loads(params.get("ModelManager_ActiveBundle") or "{}")) and is_bundle_version_compatible(active_bundle):
+    if (active_bundle := params.get("ModelManager_ActiveBundle") or {}) and is_bundle_version_compatible(active_bundle):
       return custom.ModelManagerSP.ModelBundle(**active_bundle)
   except Exception:
     pass
diff --git a/sunnypilot/models/manager.py b/sunnypilot/models/manager.py
index bdcec64c7111d8..a3ce046a33810f 100644
--- a/sunnypilot/models/manager.py
+++ b/sunnypilot/models/manager.py
@@ -8,7 +8,6 @@
 import asyncio
 import os
 import time
-import json
 
 import aiohttp
 from openpilot.common.params import Params
@@ -146,7 +145,7 @@ async def _download_bundle(self, model_bundle: custom.ModelManagerSP.ModelBundle
       await asyncio.gather(*tasks)
       self.active_bundle = self.selected_bundle
       self.active_bundle.status = custom.ModelManagerSP.DownloadStatus.downloaded
-      self.params.put("ModelManager_ActiveBundle", json.dumps(self.active_bundle.to_dict()))
+      self.params.put("ModelManager_ActiveBundle", self.active_bundle.to_dict())
       self.selected_bundle = None
 
     except Exception:

From 38de06232e177d869f09626761cc54f498a99cbd Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Fri, 8 Aug 2025 18:02:31 +0200
Subject: [PATCH 0347/1434] bugfix: fix backup manager after params change
 (#1123)

* why? because why not!? damn.

* test

* more disable

* i am hating this

* fuck mypy.

* hopefully this is fixing json

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/sunnylink/backups/manager.py | 47 +++++++++++++++++--------
 1 file changed, 32 insertions(+), 15 deletions(-)

diff --git a/sunnypilot/sunnylink/backups/manager.py b/sunnypilot/sunnylink/backups/manager.py
index 5110782a1cfa24..f98088a1fb01b2 100644
--- a/sunnypilot/sunnylink/backups/manager.py
+++ b/sunnypilot/sunnylink/backups/manager.py
@@ -12,7 +12,7 @@
 from typing import Any
 
 from openpilot.common.git import get_branch
-from openpilot.common.params import Params, ParamKeyType
+from openpilot.common.params import Params, ParamKeyType, ParamKeyFlag
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_version
@@ -72,9 +72,9 @@ def _update_progress(self, progress: float, op_type: OperationType) -> None:
   def _collect_config_data(self) -> dict[str, Any]:
     """Collects configuration data to be backed up."""
     config_data = {}
-    params_to_backup = [k.decode('utf-8') for k in self.params.all_keys(ParamKeyType.BACKUP)]
+    params_to_backup = [k.decode('utf-8') for k in self.params.all_keys(ParamKeyFlag.BACKUP)]
     for param in params_to_backup:
-      value = self.params.get(param)
+      value = str(self.params.get(param)).encode('utf-8')
       if value is not None:
         config_data[param] = base64.b64encode(value).decode('utf-8')
     return config_data
@@ -185,25 +185,42 @@ async def restore_backup(self, version: int | None = None) -> bool:
 
   def _apply_config(self, config_data: dict[str, str], all_values_encoded: bool = False) -> None:
     """Applies configuration data from a backup, but only for parameters marked as backupable."""
-    # Get the current list of parameters that can be backed up
-    backupable_params = [k.decode('utf-8') for k in self.params.all_keys(ParamKeyType.BACKUP)]
+    backupable_params = [k.decode('utf-8') for k in self.params.all_keys(ParamKeyFlag.BACKUP)]
+    backupable_set_lower = {p.lower() for p in backupable_params}
 
-    # Count for logging/reporting
     restored_count = 0
     skipped_count = 0
 
     for param, encoded_value in config_data.items():
-      try:
-        # Only restore parameters that are currently marked as backupable
-        if param in backupable_params:
+      if param.lower() in backupable_set_lower:
+        # Find real param name (with correct casing)
+        real_param = next(p for p in backupable_params if p.lower() == param.lower())
+        param_type = self.params.get_type(real_param)
+        try:
           value = base64.b64decode(encoded_value) if all_values_encoded else encoded_value
-          self.params.put(param, value)
+
+          if param_type != ParamKeyType.BYTES:
+            value = value.decode('utf-8')  # type: ignore
+
+          if param_type == ParamKeyType.STRING:
+            value = value
+          elif param_type == ParamKeyType.BOOL:
+            value = value.lower() in ('true', '1', 'yes')  # type: ignore
+          elif param_type == ParamKeyType.INT:
+            value = int(value)  # type: ignore
+          elif param_type == ParamKeyType.FLOAT:
+            value = float(value)  # type: ignore
+          elif param_type == ParamKeyType.TIME:
+            value = str(value)
+          elif param_type == ParamKeyType.JSON:
+            value = json.loads(value)
+          self.params.put(real_param, value)
           restored_count += 1
-        else:
-          skipped_count += 1
-          cloudlog.info(f"Skipped restoring param {param}: not marked for backup in current version")
-      except Exception as e:
-        cloudlog.error(f"Failed to restore param {param}: {str(e)}")
+        except Exception as e:
+          cloudlog.error(f"Failed to restore param {param}: {str(e)}")
+      else:
+        skipped_count += 1
+        cloudlog.info(f"Skipped restoring param {param}: not marked for backup in current version")
 
     cloudlog.info(f"Restore complete: {restored_count} params restored, {skipped_count} params skipped")
 

From bcc416c7eb96d35529e02b3e99fd828ccf002b0b Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Fri, 8 Aug 2025 15:12:47 -0700
Subject: [PATCH 0348/1434] ci: adjusting build-single to comply with githubs
 new input type (#1132)

---
 .github/workflows/build-single-tinygrad-model.yaml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/build-single-tinygrad-model.yaml b/.github/workflows/build-single-tinygrad-model.yaml
index 53ce2458f011ce..76f39fb6fe89a2 100644
--- a/.github/workflows/build-single-tinygrad-model.yaml
+++ b/.github/workflows/build-single-tinygrad-model.yaml
@@ -42,11 +42,11 @@ on:
       recompiled_dir:
         description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
         required: true
-        type: number
+        type: string
       json_version:
         description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
         required: true
-        type: number
+        type: string
       model_folder:
         description: 'Model folder'
         type: choice
@@ -67,11 +67,11 @@ on:
       generation:
         description: 'Model generation'
         required: false
-        type: number
+        type: string
       version:
         description: 'Minimum selector version'
         required: false
-        type: number
+        type: string
 env:
   RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
   JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json

From 2f60026c227ac63f0e24822046d7c2dc8c33ab7b Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 9 Aug 2025 11:55:52 -0700
Subject: [PATCH 0349/1434] ci: crosscheck tinygrad ref during tests (#1106)

* Add tinygrad ref testing

* BaseDir and give a fake ref id to test

* one more before the real thing

* Add the correct ref

* test

* Update test_tinygrad_ref.py

* Update tinygrad_ref

* Update test_tinygrad_ref.py

* Update tinygrad_ref

* This SHOULD FAIL

* Revert "This SHOULD FAIL"

This reverts commit 58862f8a730c34c1407386f729067b0c564e910b.

* bit of red

* Move ref to models so compiled branches can read it

* step one

* step 2

* Update build-all-tinygrad-models.yaml

* Update build-all-tinygrad-models.yaml

* Update build-all-tinygrad-models.yaml

* Update build-all-tinygrad-models.yaml

* Update build-all-tinygrad-models.yaml

* Update build-all-tinygrad-models.yaml

* Update tinygrad_ref.py

* Update build-all-tinygrad-models.yaml

* bump to fail test

* Revert "bump to fail test"

This reverts commit 4f58991f32036ac55564470f1fdaa50492578f15.

* pytest should take care of it

* lint

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../workflows/build-all-tinygrad-models.yaml  | 18 ++++++++++
 sunnypilot/models/tests/test_tinygrad_ref.py  | 23 ++++++++++++
 sunnypilot/models/tinygrad_ref.py             | 36 +++++++++++++++++++
 3 files changed, 77 insertions(+)
 create mode 100644 sunnypilot/models/tests/test_tinygrad_ref.py
 create mode 100644 sunnypilot/models/tinygrad_ref.py

diff --git a/.github/workflows/build-all-tinygrad-models.yaml b/.github/workflows/build-all-tinygrad-models.yaml
index dbc9c528238a40..8b86c6b043831f 100644
--- a/.github/workflows/build-all-tinygrad-models.yaml
+++ b/.github/workflows/build-all-tinygrad-models.yaml
@@ -16,7 +16,24 @@ jobs:
       recompiled_dir: ${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
       json_file: ${{ steps.get-json.outputs.json_file }}
       model_matrix: ${{ steps.set-matrix.outputs.model_matrix }}
+      tinygrad_ref: ${{ steps.get-tinygrad-ref.outputs.tinygrad_ref }}
     steps:
+      - name: Checkout sunnypilot repo
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot
+          path: sunnypilot
+          submodules: recursive
+
+      - name: Get tinygrad_repo ref
+        id: get-tinygrad-ref
+        run: |
+          cd sunnypilot
+          export PYTHONPATH=$(pwd)
+          ref=$(python3 sunnypilot/models/tinygrad_ref.py)
+          echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
+          echo "tinygrad_ref is $ref"
+
       - name: Checkout docs repo (sunnypilot-docs, gh-pages)
         uses: actions/checkout@v4
         with:
@@ -269,6 +286,7 @@ jobs:
           ARGS=""
           [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
           ARGS="$ARGS --sort-by-date"
+          ARGS="$ARGS --tinygrad-ref \"${{ needs.setup.outputs.tinygrad_ref }}\""
           eval python3 docs/json_parser.py \
             --json-path "$JSON_FILE" \
             --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
diff --git a/sunnypilot/models/tests/test_tinygrad_ref.py b/sunnypilot/models/tests/test_tinygrad_ref.py
new file mode 100644
index 00000000000000..c4f98a2cb65449
--- /dev/null
+++ b/sunnypilot/models/tests/test_tinygrad_ref.py
@@ -0,0 +1,23 @@
+import requests
+
+from sunnypilot.models.tinygrad_ref import get_tinygrad_ref
+from sunnypilot.models.fetcher import ModelFetcher
+
+
+def fetch_tinygrad_ref():
+  response = requests.get(ModelFetcher.MODEL_URL, timeout=10)
+  response.raise_for_status()
+  json_data = response.json()
+  return json_data.get("tinygrad_ref")
+
+
+def test_tinygrad_ref():
+  current_ref = get_tinygrad_ref()
+  remote_ref = fetch_tinygrad_ref()
+  assert remote_ref == current_ref, (
+    f"""tinygrad_repo ref does not match remote tinygrad_ref of current compiled driving models json.
+  Current: {current_ref}
+  Remote: {remote_ref}
+  Please run build-all workflow to update models."""
+  )
+  print("tinygrad_repo ref matches current compiled driving models json ref.")
diff --git a/sunnypilot/models/tinygrad_ref.py b/sunnypilot/models/tinygrad_ref.py
new file mode 100644
index 00000000000000..4dd333e323ac01
--- /dev/null
+++ b/sunnypilot/models/tinygrad_ref.py
@@ -0,0 +1,36 @@
+import os
+
+from openpilot.common.basedir import BASEDIR
+
+
+def get_tinygrad_ref():
+  repo_path = os.path.join(BASEDIR, "tinygrad_repo")
+  git_path = os.path.join(repo_path, ".git")
+  try:
+    if os.path.isdir(git_path):
+      git_dir = git_path
+    else:
+      with open(git_path) as f:
+        line = f.read().strip()
+      git_dir = os.path.join(repo_path, line[8:])
+    with open(os.path.join(git_dir, "HEAD")) as f:
+      ref = f.read().strip()
+    if ref.startswith("ref:"):
+      with open(os.path.join(git_dir, ref.split(" ", 1)[1])) as f:
+        return f.read().strip()
+    return ref
+  except Exception as e:
+    print(f"Error getting tinygrad_repo ref: {e}")
+    return None
+
+
+def main():
+  current_ref = get_tinygrad_ref()
+  if current_ref:
+    print(current_ref)
+  else:
+    print("")
+
+
+if __name__ == "__main__":
+  main()

From 6ae668e987f4a4bb9ddf001b76f2924699993b00 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 9 Aug 2025 16:51:31 -0400
Subject: [PATCH 0350/1434] `LagdToggle`: refactor and only instantiate once
 (#1130)

* wrap the params

* just 1 class and use a single param for now

* refactor

* fix

* cache itself

* no longer

* rename

* type hint

* in helpers instead

* lint

* all

* init as 0 to pass ci

* init as 0 to pass ci

* return_default

* fix init

* add LAT_SMOOTH_SECONDS directly in modeld, temp remove dynamic desc, red difffffffff
---
 common/params_keys.h                          |  2 +-
 selfdrive/controls/controlsd.py               | 12 ++--
 selfdrive/locationd/lagd.py                   |  6 ++
 selfdrive/locationd/torqued.py                |  8 +--
 selfdrive/modeld/modeld.py                    | 14 ++--
 .../qt/offroad/settings/models_panel.cc       |  4 --
 sunnypilot/livedelay/helpers.py               | 14 ++++
 sunnypilot/livedelay/lagd_toggle.py           | 65 ++++++++-----------
 sunnypilot/modeld/modeld.py                   | 14 ++--
 sunnypilot/modeld/modeld_base.py              | 12 ++++
 sunnypilot/modeld_v2/modeld.py                | 15 ++---
 .../lib/latcontrol_torque_ext_base.py         |  5 +-
 12 files changed, 93 insertions(+), 78 deletions(-)
 create mode 100644 sunnypilot/livedelay/helpers.py
 create mode 100644 sunnypilot/modeld/modeld_base.py

diff --git a/common/params_keys.h b/common/params_keys.h
index 2e967a3394ac21..4776120c0b5123 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -192,8 +192,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
 
     // model panel params
     {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"LagdToggleDesc", {PERSISTENT, STRING}},
     {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
+    {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
 
     // mapd
     {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 61ad4754a6ec84..6f653a788c076b 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -21,6 +21,8 @@
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.selfdrive.controls.controlsd_ext import ControlsExt
 
 State = log.SelfdriveState.OpenpilotState
@@ -30,15 +32,16 @@
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
 
 
-class Controls(ControlsExt):
+class Controls(ControlsExt, ModelStateBase):
   def __init__(self) -> None:
     self.params = Params()
     cloudlog.info("controlsd is waiting for CarParams")
     self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
     cloudlog.info("controlsd got CarParams")
 
-    # Initialize sunnypilot controlsd extension
+    # Initialize sunnypilot controlsd extension and base model state
     ControlsExt.__init__(self, self.CP, self.params)
+    ModelStateBase.__init__(self)
 
     self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
 
@@ -93,8 +96,9 @@ def state_control(self):
                                            torque_params.frictionCoefficientFiltered)
 
       self.LaC.extension.update_model_v2(self.sm['modelV2'])
-      calculated_lag = self.LaC.extension.lagd_torqued_main(self.CP, self.sm['liveDelay'])
-      self.LaC.extension.update_lateral_lag(calculated_lag)
+
+      self.lat_delay = get_lat_delay(self.params, self.lat_delay, self.sm.updated["liveDelay"])
+      self.LaC.extension.update_lateral_lag(self.lat_delay)
 
     long_plan = self.sm['longitudinalPlan']
     model_v2 = self.sm['modelV2']
diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py
index d7834f7f1fd417..7f1d5fd0322747 100755
--- a/selfdrive/locationd/lagd.py
+++ b/selfdrive/locationd/lagd.py
@@ -12,6 +12,7 @@
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose, fft_next_good_size, parabolic_peak_interp
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 
 BLOCK_SIZE = 100
 BLOCK_NUM = 50
@@ -374,6 +375,8 @@ def main():
     lag, valid_blocks = initial_lag_params
     lag_learner.reset(lag, valid_blocks)
 
+  lagd_toggle = LagdToggle(CP)
+
   while True:
     sm.update()
     if sm.all_checks():
@@ -392,3 +395,6 @@ def main():
 
       if sm.frame % 1200 == 0: # cache every 60 seconds
         params.put_nonblocking("LiveDelay", lag_msg_dat)
+
+      if sm.frame % 60 == 0:  # read from and write to params every 3 seconds
+        lagd_toggle.update(lag_msg)
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 00667083195b9b..ee12f2c36c7534 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -10,8 +10,7 @@
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose
-
-from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 
 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
@@ -51,7 +50,7 @@ def add_point(self, x, y):
         break
 
 
-class TorqueEstimator(ParameterEstimator, LagdToggle):
+class TorqueEstimator(ParameterEstimator):
   def __init__(self, CP, decimated=False, track_all_points=False):
     super().__init__()
     self.CP = CP
@@ -99,6 +98,7 @@ def __init__(self, CP, decimated=False, track_all_points=False):
 
     # try to restore cached params
     params = Params()
+    self.params = params
     params_cache = params.get("CarParamsPrevRoute")
     torque_cache = params.get("LiveTorqueParameters")
     if params_cache is not None and torque_cache is not None:
@@ -180,7 +180,7 @@ def handle_log(self, t, which, msg):
     elif which == "liveCalibration":
       self.calibrator.feed_live_calib(msg)
     elif which == "liveDelay":
-      self.lag = self.lagd_torqued_main(self.CP, msg)
+      self.lag = get_lat_delay(self.params, self.lag, True)
     # calculate lateral accel from past steering torque
     elif which == "livePose":
       if len(self.raw_points['steer_torque']) == self.hist_len:
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 5c2ce90598183d..13f4b6e1232bd5 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -31,7 +31,8 @@
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
 
-from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -79,13 +80,14 @@ def __init__(self, vipc=None):
     if vipc is not None:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
-class ModelState:
+class ModelState(ModelStateBase):
   frames: dict[str, DrivingModelFrame]
   inputs: dict[str, np.ndarray]
   output: np.ndarray
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
   def __init__(self, context: CLContext):
+    ModelStateBase.__init__(self)
     self.LAT_SMOOTH_SECONDS = LAT_SMOOTH_SECONDS
     with open(VISION_METADATA_PATH, 'rb') as f:
       vision_metadata = pickle.load(f)
@@ -249,8 +251,6 @@ def main(demo=False):
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
-  modeld_lagd = LagdToggle()
-
   # TODO this needs more thought, use .2s extra for now to estimate other delays
   # TODO Move smooth seconds to action function
   long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
@@ -296,8 +296,8 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    lat_delay = modeld_lagd.lagd_main(CP, sm, model)
-    lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
+    model.lat_delay = get_lat_delay(params, model.lat_delay, sm.updated["liveDelay"]) + LAT_SMOOTH_SECONDS
+    lateral_control_params = np.array([v_ego, model.lat_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -343,7 +343,7 @@ def main(demo=False):
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
 
-      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
+      action = get_action_from_model(model_output, prev_action, model.lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index 45a22d7e0414d3..0699deef0d87f1 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -361,10 +361,6 @@ void ModelsPanel::updateLabels() {
   QString desc = tr("Enable this for the car to learn and adapt its steering response time. "
                    "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. "
                    "The Current value is updated automatically when the vehicle is Onroad.");
-  QString current = QString::fromStdString(params.get("LagdToggleDesc", false));
-  if (!current.isEmpty()) {
-    desc += "<br><br><b><span style=\"color:#e0e0e0\">" + tr("Current:") + "</span></b> <span style=\"color:#e0e0e0\">" + current + "</span>";
-  }
   lagd_toggle_control->setDescription(desc);
 
   delay_control->setVisible(!params.getBool("LagdToggle"));
diff --git a/sunnypilot/livedelay/helpers.py b/sunnypilot/livedelay/helpers.py
new file mode 100644
index 00000000000000..fe0760c1cacb25
--- /dev/null
+++ b/sunnypilot/livedelay/helpers.py
@@ -0,0 +1,14 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.params import Params
+
+
+def get_lat_delay(params: Params, cur_val: float, updated: bool) -> float:
+  if updated and params.get_bool("LagdToggle"):
+    return float(params.get("LagdValueCache", return_default=True))
+
+  return cur_val
diff --git a/sunnypilot/livedelay/lagd_toggle.py b/sunnypilot/livedelay/lagd_toggle.py
index ee135fb8779b0f..8495dcee0a5426 100644
--- a/sunnypilot/livedelay/lagd_toggle.py
+++ b/sunnypilot/livedelay/lagd_toggle.py
@@ -4,48 +4,35 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+from cereal import log
+
+from opendbc.car import structs
 from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
 
 
 class LagdToggle:
-  def __init__(self):
+  def __init__(self, CP: structs.CarParams):
+    self.CP = CP
     self.params = Params()
     self.lag = 0.0
-    self._last_desc = None
-
-  @property
-  def software_delay(self):
-    return self.params.get("LagdToggleDelay")
-
-  def _maybe_update_desc(self, desc):
-    if desc != self._last_desc:
-      self.params.put_nonblocking("LagdToggleDesc", desc)
-      self._last_desc = desc
-
-  def lagd_main(self, CP, sm, model):
-    if self.params.get_bool("LagdToggle"):
-      lateral_delay = sm["liveDelay"].lateralDelay
-      lat_smooth = model.LAT_SMOOTH_SECONDS
-      result = lateral_delay + lat_smooth
-      desc = f"live steer delay learner ({lateral_delay:.3f}s) + model smoothing filter ({lat_smooth:.3f}s) = total delay ({result:.3f}s)"
-      self._maybe_update_desc(desc)
-      return result
-
-    steer_actuator_delay = CP.steerActuatorDelay
-    lat_smooth = model.LAT_SMOOTH_SECONDS
-    delay = self.software_delay
-    result = (steer_actuator_delay + delay) + lat_smooth
-    desc = (f"Vehicle steering delay ({steer_actuator_delay:.3f}s) + software delay ({delay:.3f}s) + " +
-            f"model smoothing filter ({lat_smooth:.3f}s) = total delay ({result:.3f}s)")
-    self._maybe_update_desc(desc)
-    return result
-
-  def lagd_torqued_main(self, CP, msg):
-    if self.params.get_bool("LagdToggle"):
-      self.lag = msg.lateralDelay
-      cloudlog.debug(f"TORQUED USING LIVE DELAY: {self.lag:.3f}")
-    else:
-      self.lag = CP.steerActuatorDelay + self.software_delay
-      cloudlog.debug(f"TORQUED USING STEER ACTUATOR: {self.lag:.3f}")
-    return self.lag
+
+    self.lagd_toggle = self.params.get_bool("LagdToggle")
+    self.software_delay = self.params.get("LagdToggleDelay", return_default=True)
+
+  def read_params(self) -> None:
+    self.lagd_toggle = self.params.get_bool("LagdToggle")
+    self.software_delay = self.params.get("LagdToggleDelay", return_default=True)
+
+  def update(self, lag_msg: log.LiveDelayData) -> None:
+    self.read_params()
+
+    if not self.lagd_toggle:
+      steer_actuator_delay = self.CP.steerActuatorDelay
+      delay = self.software_delay
+      self.lag = (steer_actuator_delay + delay)
+      self.params.put_nonblocking("LagdValueCache", self.lag)
+      return
+
+    lateral_delay = lag_msg.liveDelay.lateralDelay
+    self.lag = lateral_delay
+    self.params.put_nonblocking("LagdValueCache", self.lag)
diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
index 10725efb712498..8e20e6b62a2cc3 100755
--- a/sunnypilot/modeld/modeld.py
+++ b/sunnypilot/modeld/modeld.py
@@ -20,13 +20,14 @@
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
 
+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld.runners import ModelRunner, Runtime
 from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
 from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
 from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants
-from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
+from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 
 
 PROCESS_NAME = "selfdrive.modeld.modeld_snpe"
@@ -48,7 +49,7 @@ def __init__(self, vipc=None):
     if vipc is not None:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
-class ModelState:
+class ModelState(ModelStateBase):
   frame: ModelFrame
   wide_frame: ModelFrame
   inputs: dict[str, np.ndarray]
@@ -57,6 +58,7 @@ class ModelState:
   model: ModelRunner
 
   def __init__(self, context: CLContext):
+    ModelStateBase.__init__(self)
     self.frame = ModelFrame(context)
     self.wide_frame = ModelFrame(context)
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
@@ -202,8 +204,6 @@ def main(demo=False):
 
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
-  modeld_lagd = LagdToggle()
-
   # Enable lagd support for sunnypilot modeld
   long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
   prev_action = log.ModelDataV2.Action()
@@ -248,7 +248,7 @@ def main(demo=False):
     v_ego = sm["carState"].vEgo
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
-    steer_delay = modeld_lagd.lagd_main(CP, sm, model)
+    model.lat_delay = get_lat_delay(params, model.lat_delay, sm.updated["liveDelay"]) + model.LAT_SMOOTH_SECONDS
 
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
@@ -283,7 +283,7 @@ def main(demo=False):
       }
 
     if "lateral_control_params" in model.inputs.keys():
-      inputs['lateral_control_params'] = np.array([max(v_ego, 0.), steer_delay], dtype=np.float32)
+      inputs['lateral_control_params'] = np.array([max(v_ego, 0.), model.lat_delay], dtype=np.float32)
 
     if "driving_style" in model.inputs.keys():
       inputs['driving_style'] = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32)
@@ -306,7 +306,7 @@ def main(demo=False):
       action = model.get_action_from_model(model_output, prev_action, long_delay + DT_MDL)
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen,
-                     v_ego, steer_delay, model.meta)
+                     v_ego, model.lat_delay, model.meta)
 
       desire_state = modelv2_send.modelV2.meta.desireState
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
diff --git a/sunnypilot/modeld/modeld_base.py b/sunnypilot/modeld/modeld_base.py
new file mode 100644
index 00000000000000..ba57659b09b276
--- /dev/null
+++ b/sunnypilot/modeld/modeld_base.py
@@ -0,0 +1,12 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.params import Params
+
+
+class ModelStateBase:
+  def __init__(self):
+    self.lat_delay = Params().get("LagdValueCache", return_default=True)
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index 93a8a3f05efecd..cec54c0033b017 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -22,8 +22,9 @@
 from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLContext
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 
+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
-from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -39,13 +40,14 @@ def __init__(self, vipc=None):
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
 
-class ModelState:
+class ModelState(ModelStateBase):
   frames: dict[str, DrivingModelFrame]
   inputs: dict[str, np.ndarray]
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
   temporal_idxs: slice | np.ndarray
 
   def __init__(self, context: CLContext):
+    ModelStateBase.__init__(self)
     try:
       self.model_runner = get_model_runner()
       self.constants = self.model_runner.constants
@@ -242,9 +244,6 @@ def main(demo=False):
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
-
-  modeld_lagd = LagdToggle()
-
   # TODO Move smooth seconds to action function
   long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
   prev_action = log.ModelDataV2.Action()
@@ -289,7 +288,7 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    steer_delay = modeld_lagd.lagd_main(CP, sm, model)
+    model.lat_delay = get_lat_delay(params, model.lat_delay, sm.updated["liveDelay"]) + model.LAT_SMOOTH_SECONDS
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -326,7 +325,7 @@ def main(demo=False):
     }
 
     if "lateral_control_params" in model.numpy_inputs.keys():
-      inputs['lateral_control_params'] = np.array([v_ego, steer_delay], dtype=np.float32)
+      inputs['lateral_control_params'] = np.array([v_ego, model.lat_delay], dtype=np.float32)
 
     mt1 = time.perf_counter()
     model_output = model.run(bufs, transforms, inputs, prepare_only)
@@ -338,7 +337,7 @@ def main(demo=False):
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
 
-      action = model.get_action_from_model(model_output, prev_action, steer_delay + DT_MDL, long_delay + DT_MDL, v_ego)
+      action = model.get_action_from_model(model_output, prev_action, model.lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
index 43d652e8b7d588..6a39b317235413 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
@@ -10,8 +10,6 @@
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
-from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
-
 LAT_PLAN_MIN_IDX = 5
 LATERAL_LAG_MOD = 0.0 # seconds, modifies how far in the future we look ahead for the lateral plan
 
@@ -43,9 +41,8 @@ def get_lookahead_value(future_vals, current_val):
   return min_val
 
 
-class LatControlTorqueExtBase(LagdToggle):
+class LatControlTorqueExtBase:
   def __init__(self, lac_torque, CP, CP_SP):
-    LagdToggle.__init__(self)
     self.model_v2 = None
     self.model_valid = False
     self.torque_params = lac_torque.torque_params

From 6ef386da3d7e333583eaa93d737a16a043b6e7bc Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 9 Aug 2025 16:56:37 -0400
Subject: [PATCH 0351/1434] NNLC: fix friction not being applied to error
 (#1113)

* params: fix type

* NNLC: fix friction not being applied to error

* another PR

* apply suggestions

* lint
---
 sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
index 4872f5c88cd7fa..466bae7e6367de 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
@@ -8,7 +8,7 @@
 import math
 import numpy as np
 
-from opendbc.car.interfaces import LatControlInputs
+from opendbc.car import FRICTION_THRESHOLD, get_friction
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.selfdrive.modeld.constants import ModelConstants
@@ -126,7 +126,5 @@ def update_neural_network_feedforward(self, CS, params, calibrated_pose) -> None
     self._ff = self.model.evaluate(nn_input)
 
     # apply friction override for cars with low NN friction response
-    # TODO-SP: verify with twilsonco if this change is appropriate
     if self.model.friction_override:
-      self._pid_log.error += self.torque_from_lateral_accel(LatControlInputs(0.0, 0.0, CS.vEgo, CS.aEgo), self.torque_params,
-                                                            gravity_adjusted=False)
+      self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)

From b391708b3dc955d3b221422b313c8517bbbce84e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 9 Aug 2025 17:40:29 -0400
Subject: [PATCH 0352/1434] Revert "ci: update cereal validation repo reference
 to sunnypilot" (#1135)

Revert "ci: update cereal validation repo reference to sunnypilot (#1108)"

This reverts commit 08216c1ea4b0302f0a7e703ab06a24b9e61b82f0.
---
 .github/workflows/cereal_validation.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/cereal_validation.yaml b/.github/workflows/cereal_validation.yaml
index 45c67267a74b1f..9833f472fe49c9 100644
--- a/.github/workflows/cereal_validation.yaml
+++ b/.github/workflows/cereal_validation.yaml
@@ -59,7 +59,7 @@ jobs:
     steps:
       - uses: actions/checkout@v4
         with:
-          repository: 'sunnypilot/sunnypilot'
+          repository: 'commaai/openpilot'
           submodules: true
           ref: "refs/heads/master"
       - uses: ./.github/workflows/setup-with-retry

From 80a4ace1ab5fbc0bde40bf6cee725e61f5231359 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 9 Aug 2025 17:57:49 -0400
Subject: [PATCH 0353/1434] ci: use upstream docker build script for cereal
 validation (#1136)

---
 .github/workflows/cereal_validation.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/cereal_validation.yaml b/.github/workflows/cereal_validation.yaml
index 9833f472fe49c9..2290481c56d68b 100644
--- a/.github/workflows/cereal_validation.yaml
+++ b/.github/workflows/cereal_validation.yaml
@@ -21,8 +21,8 @@ concurrency:
 
 env:
   PYTHONWARNINGS: error
-  BASE_IMAGE: sunnypilot-base
-  BUILD: release/ci/docker_build_sp.sh base
+  BASE_IMAGE: openpilot-base
+  BUILD: selfdrive/test/docker_build.sh base
   RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
 jobs:

From b4f19d486070e2ca9abeea847e965aeae0950917 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 9 Aug 2025 20:06:10 -0400
Subject: [PATCH 0354/1434] Revert "`LagdToggle`: refactor and only instantiate
 once" (#1137)

Revert "`LagdToggle`: refactor and only instantiate once (#1130)"

This reverts commit 6ae668e987f4a4bb9ddf001b76f2924699993b00.
---
 common/params_keys.h                          |  2 +-
 selfdrive/controls/controlsd.py               | 12 ++--
 selfdrive/locationd/lagd.py                   |  6 --
 selfdrive/locationd/torqued.py                |  8 +--
 selfdrive/modeld/modeld.py                    | 14 ++--
 .../qt/offroad/settings/models_panel.cc       |  4 ++
 sunnypilot/livedelay/helpers.py               | 14 ----
 sunnypilot/livedelay/lagd_toggle.py           | 65 +++++++++++--------
 sunnypilot/modeld/modeld.py                   | 14 ++--
 sunnypilot/modeld/modeld_base.py              | 12 ----
 sunnypilot/modeld_v2/modeld.py                | 15 +++--
 .../lib/latcontrol_torque_ext_base.py         |  5 +-
 12 files changed, 78 insertions(+), 93 deletions(-)
 delete mode 100644 sunnypilot/livedelay/helpers.py
 delete mode 100644 sunnypilot/modeld/modeld_base.py

diff --git a/common/params_keys.h b/common/params_keys.h
index 4776120c0b5123..2e967a3394ac21 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -192,8 +192,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
 
     // model panel params
     {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"LagdToggleDesc", {PERSISTENT, STRING}},
     {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
-    {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
 
     // mapd
     {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 6f653a788c076b..61ad4754a6ec84 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -21,8 +21,6 @@
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
-from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
-from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.selfdrive.controls.controlsd_ext import ControlsExt
 
 State = log.SelfdriveState.OpenpilotState
@@ -32,16 +30,15 @@
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
 
 
-class Controls(ControlsExt, ModelStateBase):
+class Controls(ControlsExt):
   def __init__(self) -> None:
     self.params = Params()
     cloudlog.info("controlsd is waiting for CarParams")
     self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
     cloudlog.info("controlsd got CarParams")
 
-    # Initialize sunnypilot controlsd extension and base model state
+    # Initialize sunnypilot controlsd extension
     ControlsExt.__init__(self, self.CP, self.params)
-    ModelStateBase.__init__(self)
 
     self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
 
@@ -96,9 +93,8 @@ def state_control(self):
                                            torque_params.frictionCoefficientFiltered)
 
       self.LaC.extension.update_model_v2(self.sm['modelV2'])
-
-      self.lat_delay = get_lat_delay(self.params, self.lat_delay, self.sm.updated["liveDelay"])
-      self.LaC.extension.update_lateral_lag(self.lat_delay)
+      calculated_lag = self.LaC.extension.lagd_torqued_main(self.CP, self.sm['liveDelay'])
+      self.LaC.extension.update_lateral_lag(calculated_lag)
 
     long_plan = self.sm['longitudinalPlan']
     model_v2 = self.sm['modelV2']
diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py
index 7f1d5fd0322747..d7834f7f1fd417 100755
--- a/selfdrive/locationd/lagd.py
+++ b/selfdrive/locationd/lagd.py
@@ -12,7 +12,6 @@
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose, fft_next_good_size, parabolic_peak_interp
-from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 
 BLOCK_SIZE = 100
 BLOCK_NUM = 50
@@ -375,8 +374,6 @@ def main():
     lag, valid_blocks = initial_lag_params
     lag_learner.reset(lag, valid_blocks)
 
-  lagd_toggle = LagdToggle(CP)
-
   while True:
     sm.update()
     if sm.all_checks():
@@ -395,6 +392,3 @@ def main():
 
       if sm.frame % 1200 == 0: # cache every 60 seconds
         params.put_nonblocking("LiveDelay", lag_msg_dat)
-
-      if sm.frame % 60 == 0:  # read from and write to params every 3 seconds
-        lagd_toggle.update(lag_msg)
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index ee12f2c36c7534..00667083195b9b 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -10,7 +10,8 @@
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose
-from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 
 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
@@ -50,7 +51,7 @@ def add_point(self, x, y):
         break
 
 
-class TorqueEstimator(ParameterEstimator):
+class TorqueEstimator(ParameterEstimator, LagdToggle):
   def __init__(self, CP, decimated=False, track_all_points=False):
     super().__init__()
     self.CP = CP
@@ -98,7 +99,6 @@ def __init__(self, CP, decimated=False, track_all_points=False):
 
     # try to restore cached params
     params = Params()
-    self.params = params
     params_cache = params.get("CarParamsPrevRoute")
     torque_cache = params.get("LiveTorqueParameters")
     if params_cache is not None and torque_cache is not None:
@@ -180,7 +180,7 @@ def handle_log(self, t, which, msg):
     elif which == "liveCalibration":
       self.calibrator.feed_live_calib(msg)
     elif which == "liveDelay":
-      self.lag = get_lat_delay(self.params, self.lag, True)
+      self.lag = self.lagd_torqued_main(self.CP, msg)
     # calculate lateral accel from past steering torque
     elif which == "livePose":
       if len(self.raw_points['steer_torque']) == self.hist_len:
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 13f4b6e1232bd5..5c2ce90598183d 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -31,8 +31,7 @@
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
 
-from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
-from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -80,14 +79,13 @@ def __init__(self, vipc=None):
     if vipc is not None:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
-class ModelState(ModelStateBase):
+class ModelState:
   frames: dict[str, DrivingModelFrame]
   inputs: dict[str, np.ndarray]
   output: np.ndarray
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
   def __init__(self, context: CLContext):
-    ModelStateBase.__init__(self)
     self.LAT_SMOOTH_SECONDS = LAT_SMOOTH_SECONDS
     with open(VISION_METADATA_PATH, 'rb') as f:
       vision_metadata = pickle.load(f)
@@ -251,6 +249,8 @@ def main(demo=False):
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
+  modeld_lagd = LagdToggle()
+
   # TODO this needs more thought, use .2s extra for now to estimate other delays
   # TODO Move smooth seconds to action function
   long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
@@ -296,8 +296,8 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    model.lat_delay = get_lat_delay(params, model.lat_delay, sm.updated["liveDelay"]) + LAT_SMOOTH_SECONDS
-    lateral_control_params = np.array([v_ego, model.lat_delay], dtype=np.float32)
+    lat_delay = modeld_lagd.lagd_main(CP, sm, model)
+    lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -343,7 +343,7 @@ def main(demo=False):
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
 
-      action = get_action_from_model(model_output, prev_action, model.lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
+      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index 0699deef0d87f1..45a22d7e0414d3 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -361,6 +361,10 @@ void ModelsPanel::updateLabels() {
   QString desc = tr("Enable this for the car to learn and adapt its steering response time. "
                    "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. "
                    "The Current value is updated automatically when the vehicle is Onroad.");
+  QString current = QString::fromStdString(params.get("LagdToggleDesc", false));
+  if (!current.isEmpty()) {
+    desc += "<br><br><b><span style=\"color:#e0e0e0\">" + tr("Current:") + "</span></b> <span style=\"color:#e0e0e0\">" + current + "</span>";
+  }
   lagd_toggle_control->setDescription(desc);
 
   delay_control->setVisible(!params.getBool("LagdToggle"));
diff --git a/sunnypilot/livedelay/helpers.py b/sunnypilot/livedelay/helpers.py
deleted file mode 100644
index fe0760c1cacb25..00000000000000
--- a/sunnypilot/livedelay/helpers.py
+++ /dev/null
@@ -1,14 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from openpilot.common.params import Params
-
-
-def get_lat_delay(params: Params, cur_val: float, updated: bool) -> float:
-  if updated and params.get_bool("LagdToggle"):
-    return float(params.get("LagdValueCache", return_default=True))
-
-  return cur_val
diff --git a/sunnypilot/livedelay/lagd_toggle.py b/sunnypilot/livedelay/lagd_toggle.py
index 8495dcee0a5426..ee135fb8779b0f 100644
--- a/sunnypilot/livedelay/lagd_toggle.py
+++ b/sunnypilot/livedelay/lagd_toggle.py
@@ -4,35 +4,48 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import log
-
-from opendbc.car import structs
 from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
 
 
 class LagdToggle:
-  def __init__(self, CP: structs.CarParams):
-    self.CP = CP
+  def __init__(self):
     self.params = Params()
     self.lag = 0.0
-
-    self.lagd_toggle = self.params.get_bool("LagdToggle")
-    self.software_delay = self.params.get("LagdToggleDelay", return_default=True)
-
-  def read_params(self) -> None:
-    self.lagd_toggle = self.params.get_bool("LagdToggle")
-    self.software_delay = self.params.get("LagdToggleDelay", return_default=True)
-
-  def update(self, lag_msg: log.LiveDelayData) -> None:
-    self.read_params()
-
-    if not self.lagd_toggle:
-      steer_actuator_delay = self.CP.steerActuatorDelay
-      delay = self.software_delay
-      self.lag = (steer_actuator_delay + delay)
-      self.params.put_nonblocking("LagdValueCache", self.lag)
-      return
-
-    lateral_delay = lag_msg.liveDelay.lateralDelay
-    self.lag = lateral_delay
-    self.params.put_nonblocking("LagdValueCache", self.lag)
+    self._last_desc = None
+
+  @property
+  def software_delay(self):
+    return self.params.get("LagdToggleDelay")
+
+  def _maybe_update_desc(self, desc):
+    if desc != self._last_desc:
+      self.params.put_nonblocking("LagdToggleDesc", desc)
+      self._last_desc = desc
+
+  def lagd_main(self, CP, sm, model):
+    if self.params.get_bool("LagdToggle"):
+      lateral_delay = sm["liveDelay"].lateralDelay
+      lat_smooth = model.LAT_SMOOTH_SECONDS
+      result = lateral_delay + lat_smooth
+      desc = f"live steer delay learner ({lateral_delay:.3f}s) + model smoothing filter ({lat_smooth:.3f}s) = total delay ({result:.3f}s)"
+      self._maybe_update_desc(desc)
+      return result
+
+    steer_actuator_delay = CP.steerActuatorDelay
+    lat_smooth = model.LAT_SMOOTH_SECONDS
+    delay = self.software_delay
+    result = (steer_actuator_delay + delay) + lat_smooth
+    desc = (f"Vehicle steering delay ({steer_actuator_delay:.3f}s) + software delay ({delay:.3f}s) + " +
+            f"model smoothing filter ({lat_smooth:.3f}s) = total delay ({result:.3f}s)")
+    self._maybe_update_desc(desc)
+    return result
+
+  def lagd_torqued_main(self, CP, msg):
+    if self.params.get_bool("LagdToggle"):
+      self.lag = msg.lateralDelay
+      cloudlog.debug(f"TORQUED USING LIVE DELAY: {self.lag:.3f}")
+    else:
+      self.lag = CP.steerActuatorDelay + self.software_delay
+      cloudlog.debug(f"TORQUED USING STEER ACTUATOR: {self.lag:.3f}")
+    return self.lag
diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
index 8e20e6b62a2cc3..10725efb712498 100755
--- a/sunnypilot/modeld/modeld.py
+++ b/sunnypilot/modeld/modeld.py
@@ -20,14 +20,13 @@
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
 
-from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld.runners import ModelRunner, Runtime
 from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
 from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
 from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
-from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 
 
 PROCESS_NAME = "selfdrive.modeld.modeld_snpe"
@@ -49,7 +48,7 @@ def __init__(self, vipc=None):
     if vipc is not None:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
-class ModelState(ModelStateBase):
+class ModelState:
   frame: ModelFrame
   wide_frame: ModelFrame
   inputs: dict[str, np.ndarray]
@@ -58,7 +57,6 @@ class ModelState(ModelStateBase):
   model: ModelRunner
 
   def __init__(self, context: CLContext):
-    ModelStateBase.__init__(self)
     self.frame = ModelFrame(context)
     self.wide_frame = ModelFrame(context)
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
@@ -204,6 +202,8 @@ def main(demo=False):
 
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
+  modeld_lagd = LagdToggle()
+
   # Enable lagd support for sunnypilot modeld
   long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
   prev_action = log.ModelDataV2.Action()
@@ -248,7 +248,7 @@ def main(demo=False):
     v_ego = sm["carState"].vEgo
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
-    model.lat_delay = get_lat_delay(params, model.lat_delay, sm.updated["liveDelay"]) + model.LAT_SMOOTH_SECONDS
+    steer_delay = modeld_lagd.lagd_main(CP, sm, model)
 
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
@@ -283,7 +283,7 @@ def main(demo=False):
       }
 
     if "lateral_control_params" in model.inputs.keys():
-      inputs['lateral_control_params'] = np.array([max(v_ego, 0.), model.lat_delay], dtype=np.float32)
+      inputs['lateral_control_params'] = np.array([max(v_ego, 0.), steer_delay], dtype=np.float32)
 
     if "driving_style" in model.inputs.keys():
       inputs['driving_style'] = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32)
@@ -306,7 +306,7 @@ def main(demo=False):
       action = model.get_action_from_model(model_output, prev_action, long_delay + DT_MDL)
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen,
-                     v_ego, model.lat_delay, model.meta)
+                     v_ego, steer_delay, model.meta)
 
       desire_state = modelv2_send.modelV2.meta.desireState
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
diff --git a/sunnypilot/modeld/modeld_base.py b/sunnypilot/modeld/modeld_base.py
deleted file mode 100644
index ba57659b09b276..00000000000000
--- a/sunnypilot/modeld/modeld_base.py
+++ /dev/null
@@ -1,12 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from openpilot.common.params import Params
-
-
-class ModelStateBase:
-  def __init__(self):
-    self.lat_delay = Params().get("LagdValueCache", return_default=True)
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index cec54c0033b017..93a8a3f05efecd 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -22,9 +22,8 @@
 from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLContext
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 
-from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
-from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -40,14 +39,13 @@ def __init__(self, vipc=None):
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
 
-class ModelState(ModelStateBase):
+class ModelState:
   frames: dict[str, DrivingModelFrame]
   inputs: dict[str, np.ndarray]
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
   temporal_idxs: slice | np.ndarray
 
   def __init__(self, context: CLContext):
-    ModelStateBase.__init__(self)
     try:
       self.model_runner = get_model_runner()
       self.constants = self.model_runner.constants
@@ -244,6 +242,9 @@ def main(demo=False):
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
+
+  modeld_lagd = LagdToggle()
+
   # TODO Move smooth seconds to action function
   long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
   prev_action = log.ModelDataV2.Action()
@@ -288,7 +289,7 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    model.lat_delay = get_lat_delay(params, model.lat_delay, sm.updated["liveDelay"]) + model.LAT_SMOOTH_SECONDS
+    steer_delay = modeld_lagd.lagd_main(CP, sm, model)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -325,7 +326,7 @@ def main(demo=False):
     }
 
     if "lateral_control_params" in model.numpy_inputs.keys():
-      inputs['lateral_control_params'] = np.array([v_ego, model.lat_delay], dtype=np.float32)
+      inputs['lateral_control_params'] = np.array([v_ego, steer_delay], dtype=np.float32)
 
     mt1 = time.perf_counter()
     model_output = model.run(bufs, transforms, inputs, prepare_only)
@@ -337,7 +338,7 @@ def main(demo=False):
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
 
-      action = model.get_action_from_model(model_output, prev_action, model.lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
+      action = model.get_action_from_model(model_output, prev_action, steer_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
index 6a39b317235413..43d652e8b7d588 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
@@ -10,6 +10,8 @@
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
+
 LAT_PLAN_MIN_IDX = 5
 LATERAL_LAG_MOD = 0.0 # seconds, modifies how far in the future we look ahead for the lateral plan
 
@@ -41,8 +43,9 @@ def get_lookahead_value(future_vals, current_val):
   return min_val
 
 
-class LatControlTorqueExtBase:
+class LatControlTorqueExtBase(LagdToggle):
   def __init__(self, lac_torque, CP, CP_SP):
+    LagdToggle.__init__(self)
     self.model_v2 = None
     self.model_valid = False
     self.torque_params = lac_torque.torque_params

From 1bc12f1e21793294ddb0565edb27ada932a5efc9 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 9 Aug 2025 22:50:29 -0400
Subject: [PATCH 0355/1434] Reapply "`LagdToggle`: refactor and only
 instantiate once" (#1137) (#1138)

* Reapply "`LagdToggle`: refactor and only instantiate once" (#1137)

This reverts commit b4f19d486070e2ca9abeea847e965aeae0950917.

* infinite woo gone

* use them hz
---
 common/params_keys.h                          |  2 +-
 selfdrive/controls/controlsd.py               | 12 ++--
 selfdrive/locationd/lagd.py                   |  6 ++
 selfdrive/locationd/torqued.py                |  8 +--
 selfdrive/modeld/modeld.py                    | 12 ++--
 .../qt/offroad/settings/models_panel.cc       |  4 --
 sunnypilot/livedelay/helpers.py               | 14 ++++
 sunnypilot/livedelay/lagd_toggle.py           | 65 ++++++++-----------
 sunnypilot/modeld/modeld.py                   | 17 ++---
 sunnypilot/modeld/modeld_base.py              | 12 ++++
 sunnypilot/modeld_v2/modeld.py                | 17 ++---
 .../lib/latcontrol_torque_ext_base.py         |  5 +-
 12 files changed, 97 insertions(+), 77 deletions(-)
 create mode 100644 sunnypilot/livedelay/helpers.py
 create mode 100644 sunnypilot/modeld/modeld_base.py

diff --git a/common/params_keys.h b/common/params_keys.h
index 2e967a3394ac21..4776120c0b5123 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -192,8 +192,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
 
     // model panel params
     {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"LagdToggleDesc", {PERSISTENT, STRING}},
     {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
+    {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
 
     // mapd
     {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 61ad4754a6ec84..360c1a47301e43 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -21,6 +21,8 @@
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.selfdrive.controls.controlsd_ext import ControlsExt
 
 State = log.SelfdriveState.OpenpilotState
@@ -30,15 +32,16 @@
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
 
 
-class Controls(ControlsExt):
+class Controls(ControlsExt, ModelStateBase):
   def __init__(self) -> None:
     self.params = Params()
     cloudlog.info("controlsd is waiting for CarParams")
     self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
     cloudlog.info("controlsd got CarParams")
 
-    # Initialize sunnypilot controlsd extension
+    # Initialize sunnypilot controlsd extension and base model state
     ControlsExt.__init__(self, self.CP, self.params)
+    ModelStateBase.__init__(self)
 
     self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
 
@@ -93,8 +96,9 @@ def state_control(self):
                                            torque_params.frictionCoefficientFiltered)
 
       self.LaC.extension.update_model_v2(self.sm['modelV2'])
-      calculated_lag = self.LaC.extension.lagd_torqued_main(self.CP, self.sm['liveDelay'])
-      self.LaC.extension.update_lateral_lag(calculated_lag)
+
+      self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
+      self.LaC.extension.update_lateral_lag(self.lat_delay)
 
     long_plan = self.sm['longitudinalPlan']
     model_v2 = self.sm['modelV2']
diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py
index d7834f7f1fd417..7f1d5fd0322747 100755
--- a/selfdrive/locationd/lagd.py
+++ b/selfdrive/locationd/lagd.py
@@ -12,6 +12,7 @@
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose, fft_next_good_size, parabolic_peak_interp
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 
 BLOCK_SIZE = 100
 BLOCK_NUM = 50
@@ -374,6 +375,8 @@ def main():
     lag, valid_blocks = initial_lag_params
     lag_learner.reset(lag, valid_blocks)
 
+  lagd_toggle = LagdToggle(CP)
+
   while True:
     sm.update()
     if sm.all_checks():
@@ -392,3 +395,6 @@ def main():
 
       if sm.frame % 1200 == 0: # cache every 60 seconds
         params.put_nonblocking("LiveDelay", lag_msg_dat)
+
+      if sm.frame % 60 == 0:  # read from and write to params every 3 seconds
+        lagd_toggle.update(lag_msg)
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 00667083195b9b..130a352c5bdd33 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -10,8 +10,7 @@
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose
-
-from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 
 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
@@ -51,7 +50,7 @@ def add_point(self, x, y):
         break
 
 
-class TorqueEstimator(ParameterEstimator, LagdToggle):
+class TorqueEstimator(ParameterEstimator):
   def __init__(self, CP, decimated=False, track_all_points=False):
     super().__init__()
     self.CP = CP
@@ -99,6 +98,7 @@ def __init__(self, CP, decimated=False, track_all_points=False):
 
     # try to restore cached params
     params = Params()
+    self.params = params
     params_cache = params.get("CarParamsPrevRoute")
     torque_cache = params.get("LiveTorqueParameters")
     if params_cache is not None and torque_cache is not None:
@@ -180,7 +180,7 @@ def handle_log(self, t, which, msg):
     elif which == "liveCalibration":
       self.calibrator.feed_live_calib(msg)
     elif which == "liveDelay":
-      self.lag = self.lagd_torqued_main(self.CP, msg)
+      self.lag = get_lat_delay(self.params, msg.lateralDelay)
     # calculate lateral accel from past steering torque
     elif which == "livePose":
       if len(self.raw_points['steer_torque']) == self.hist_len:
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 5c2ce90598183d..27bf4c6ebbbd9d 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -31,7 +31,8 @@
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
 
-from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -79,13 +80,14 @@ def __init__(self, vipc=None):
     if vipc is not None:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
-class ModelState:
+class ModelState(ModelStateBase):
   frames: dict[str, DrivingModelFrame]
   inputs: dict[str, np.ndarray]
   output: np.ndarray
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
   def __init__(self, context: CLContext):
+    ModelStateBase.__init__(self)
     self.LAT_SMOOTH_SECONDS = LAT_SMOOTH_SECONDS
     with open(VISION_METADATA_PATH, 'rb') as f:
       vision_metadata = pickle.load(f)
@@ -249,8 +251,6 @@ def main(demo=False):
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
-  modeld_lagd = LagdToggle()
-
   # TODO this needs more thought, use .2s extra for now to estimate other delays
   # TODO Move smooth seconds to action function
   long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
@@ -296,7 +296,9 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    lat_delay = modeld_lagd.lagd_main(CP, sm, model)
+    if sm.frame % 60 == 0:
+      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
+    lat_delay = model.lat_delay + LAT_SMOOTH_SECONDS
     lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index 45a22d7e0414d3..0699deef0d87f1 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -361,10 +361,6 @@ void ModelsPanel::updateLabels() {
   QString desc = tr("Enable this for the car to learn and adapt its steering response time. "
                    "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. "
                    "The Current value is updated automatically when the vehicle is Onroad.");
-  QString current = QString::fromStdString(params.get("LagdToggleDesc", false));
-  if (!current.isEmpty()) {
-    desc += "<br><br><b><span style=\"color:#e0e0e0\">" + tr("Current:") + "</span></b> <span style=\"color:#e0e0e0\">" + current + "</span>";
-  }
   lagd_toggle_control->setDescription(desc);
 
   delay_control->setVisible(!params.getBool("LagdToggle"));
diff --git a/sunnypilot/livedelay/helpers.py b/sunnypilot/livedelay/helpers.py
new file mode 100644
index 00000000000000..0f7437ceea1569
--- /dev/null
+++ b/sunnypilot/livedelay/helpers.py
@@ -0,0 +1,14 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.params import Params
+
+
+def get_lat_delay(params: Params, stock_lat_delay: float) -> float:
+  if params.get_bool("LagdToggle"):
+    return float(params.get("LagdValueCache", return_default=True))
+
+  return stock_lat_delay
diff --git a/sunnypilot/livedelay/lagd_toggle.py b/sunnypilot/livedelay/lagd_toggle.py
index ee135fb8779b0f..8495dcee0a5426 100644
--- a/sunnypilot/livedelay/lagd_toggle.py
+++ b/sunnypilot/livedelay/lagd_toggle.py
@@ -4,48 +4,35 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+from cereal import log
+
+from opendbc.car import structs
 from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
 
 
 class LagdToggle:
-  def __init__(self):
+  def __init__(self, CP: structs.CarParams):
+    self.CP = CP
     self.params = Params()
     self.lag = 0.0
-    self._last_desc = None
-
-  @property
-  def software_delay(self):
-    return self.params.get("LagdToggleDelay")
-
-  def _maybe_update_desc(self, desc):
-    if desc != self._last_desc:
-      self.params.put_nonblocking("LagdToggleDesc", desc)
-      self._last_desc = desc
-
-  def lagd_main(self, CP, sm, model):
-    if self.params.get_bool("LagdToggle"):
-      lateral_delay = sm["liveDelay"].lateralDelay
-      lat_smooth = model.LAT_SMOOTH_SECONDS
-      result = lateral_delay + lat_smooth
-      desc = f"live steer delay learner ({lateral_delay:.3f}s) + model smoothing filter ({lat_smooth:.3f}s) = total delay ({result:.3f}s)"
-      self._maybe_update_desc(desc)
-      return result
-
-    steer_actuator_delay = CP.steerActuatorDelay
-    lat_smooth = model.LAT_SMOOTH_SECONDS
-    delay = self.software_delay
-    result = (steer_actuator_delay + delay) + lat_smooth
-    desc = (f"Vehicle steering delay ({steer_actuator_delay:.3f}s) + software delay ({delay:.3f}s) + " +
-            f"model smoothing filter ({lat_smooth:.3f}s) = total delay ({result:.3f}s)")
-    self._maybe_update_desc(desc)
-    return result
-
-  def lagd_torqued_main(self, CP, msg):
-    if self.params.get_bool("LagdToggle"):
-      self.lag = msg.lateralDelay
-      cloudlog.debug(f"TORQUED USING LIVE DELAY: {self.lag:.3f}")
-    else:
-      self.lag = CP.steerActuatorDelay + self.software_delay
-      cloudlog.debug(f"TORQUED USING STEER ACTUATOR: {self.lag:.3f}")
-    return self.lag
+
+    self.lagd_toggle = self.params.get_bool("LagdToggle")
+    self.software_delay = self.params.get("LagdToggleDelay", return_default=True)
+
+  def read_params(self) -> None:
+    self.lagd_toggle = self.params.get_bool("LagdToggle")
+    self.software_delay = self.params.get("LagdToggleDelay", return_default=True)
+
+  def update(self, lag_msg: log.LiveDelayData) -> None:
+    self.read_params()
+
+    if not self.lagd_toggle:
+      steer_actuator_delay = self.CP.steerActuatorDelay
+      delay = self.software_delay
+      self.lag = (steer_actuator_delay + delay)
+      self.params.put_nonblocking("LagdValueCache", self.lag)
+      return
+
+    lateral_delay = lag_msg.liveDelay.lateralDelay
+    self.lag = lateral_delay
+    self.params.put_nonblocking("LagdValueCache", self.lag)
diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
index 10725efb712498..b94e166bc62566 100755
--- a/sunnypilot/modeld/modeld.py
+++ b/sunnypilot/modeld/modeld.py
@@ -20,13 +20,14 @@
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
 
+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld.runners import ModelRunner, Runtime
 from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
 from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
 from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants
-from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
+from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 
 
 PROCESS_NAME = "selfdrive.modeld.modeld_snpe"
@@ -48,7 +49,7 @@ def __init__(self, vipc=None):
     if vipc is not None:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
-class ModelState:
+class ModelState(ModelStateBase):
   frame: ModelFrame
   wide_frame: ModelFrame
   inputs: dict[str, np.ndarray]
@@ -57,6 +58,7 @@ class ModelState:
   model: ModelRunner
 
   def __init__(self, context: CLContext):
+    ModelStateBase.__init__(self)
     self.frame = ModelFrame(context)
     self.wide_frame = ModelFrame(context)
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
@@ -202,8 +204,6 @@ def main(demo=False):
 
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
-  modeld_lagd = LagdToggle()
-
   # Enable lagd support for sunnypilot modeld
   long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
   prev_action = log.ModelDataV2.Action()
@@ -248,8 +248,9 @@ def main(demo=False):
     v_ego = sm["carState"].vEgo
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
-    steer_delay = modeld_lagd.lagd_main(CP, sm, model)
-
+    if sm.frame % 60 == 0:
+      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
+    lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -283,7 +284,7 @@ def main(demo=False):
       }
 
     if "lateral_control_params" in model.inputs.keys():
-      inputs['lateral_control_params'] = np.array([max(v_ego, 0.), steer_delay], dtype=np.float32)
+      inputs['lateral_control_params'] = np.array([max(v_ego, 0.), lat_delay], dtype=np.float32)
 
     if "driving_style" in model.inputs.keys():
       inputs['driving_style'] = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32)
@@ -306,7 +307,7 @@ def main(demo=False):
       action = model.get_action_from_model(model_output, prev_action, long_delay + DT_MDL)
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen,
-                     v_ego, steer_delay, model.meta)
+                     v_ego, lat_delay, model.meta)
 
       desire_state = modelv2_send.modelV2.meta.desireState
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
diff --git a/sunnypilot/modeld/modeld_base.py b/sunnypilot/modeld/modeld_base.py
new file mode 100644
index 00000000000000..ba57659b09b276
--- /dev/null
+++ b/sunnypilot/modeld/modeld_base.py
@@ -0,0 +1,12 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.params import Params
+
+
+class ModelStateBase:
+  def __init__(self):
+    self.lat_delay = Params().get("LagdValueCache", return_default=True)
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index 93a8a3f05efecd..2dc1026c01783c 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -22,8 +22,9 @@
 from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLContext
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 
+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
-from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -39,13 +40,14 @@ def __init__(self, vipc=None):
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
 
-class ModelState:
+class ModelState(ModelStateBase):
   frames: dict[str, DrivingModelFrame]
   inputs: dict[str, np.ndarray]
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
   temporal_idxs: slice | np.ndarray
 
   def __init__(self, context: CLContext):
+    ModelStateBase.__init__(self)
     try:
       self.model_runner = get_model_runner()
       self.constants = self.model_runner.constants
@@ -242,9 +244,6 @@ def main(demo=False):
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
-
-  modeld_lagd = LagdToggle()
-
   # TODO Move smooth seconds to action function
   long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
   prev_action = log.ModelDataV2.Action()
@@ -289,7 +288,9 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    steer_delay = modeld_lagd.lagd_main(CP, sm, model)
+    if sm.frame % 60 == 0:
+      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
+    lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -326,7 +327,7 @@ def main(demo=False):
     }
 
     if "lateral_control_params" in model.numpy_inputs.keys():
-      inputs['lateral_control_params'] = np.array([v_ego, steer_delay], dtype=np.float32)
+      inputs['lateral_control_params'] = np.array([v_ego, lat_delay], dtype=np.float32)
 
     mt1 = time.perf_counter()
     model_output = model.run(bufs, transforms, inputs, prepare_only)
@@ -338,7 +339,7 @@ def main(demo=False):
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
 
-      action = model.get_action_from_model(model_output, prev_action, steer_delay + DT_MDL, long_delay + DT_MDL, v_ego)
+      action = model.get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
index 43d652e8b7d588..6a39b317235413 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
@@ -10,8 +10,6 @@
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
-from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
-
 LAT_PLAN_MIN_IDX = 5
 LATERAL_LAG_MOD = 0.0 # seconds, modifies how far in the future we look ahead for the lateral plan
 
@@ -43,9 +41,8 @@ def get_lookahead_value(future_vals, current_val):
   return min_val
 
 
-class LatControlTorqueExtBase(LagdToggle):
+class LatControlTorqueExtBase:
   def __init__(self, lac_torque, CP, CP_SP):
-    LagdToggle.__init__(self)
     self.model_v2 = None
     self.model_valid = False
     self.torque_params = lac_torque.torque_params

From 75509aec166119d80288431eb0117b0d3df0b721 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 10 Aug 2025 02:05:09 -0400
Subject: [PATCH 0356/1434] Disable record feedback with LKAS button when MADS
 is enabled

---
 RELEASES.md                        | 2 +-
 selfdrive/ui/feedback/feedbackd.py | 5 +++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index 545152e0f83509..584be9d67e5021 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -8,7 +8,7 @@ Version 0.10.0 (2025-08-05)
   * Low-speed lead car ground-truth fixes
 
 * Enable live-learned steering actuation delay
-* Record driving feedback using LKAS button
+* Record driving feedback using LKAS button when MADS is disabled
 * Opt-in audio recording for dashcam video
 
 Version 0.9.9 (2025-05-23)
diff --git a/selfdrive/ui/feedback/feedbackd.py b/selfdrive/ui/feedback/feedbackd.py
index b02e5d97a702cd..e81410630407ab 100755
--- a/selfdrive/ui/feedback/feedbackd.py
+++ b/selfdrive/ui/feedback/feedbackd.py
@@ -12,7 +12,7 @@
 def main():
   params = Params()
   pm = messaging.PubMaster(['userBookmark', 'audioFeedback'])
-  sm = messaging.SubMaster(['rawAudioData', 'bookmarkButton', 'carState'])
+  sm = messaging.SubMaster(['rawAudioData', 'bookmarkButton', 'carState', 'selfdriveStateSP'])
   should_record_audio = False
   block_num = 0
   waiting_for_release = False
@@ -22,7 +22,8 @@ def main():
     sm.update()
     should_send_bookmark = False
 
-    if sm.updated['carState'] and sm['carState'].canValid:
+    # only allow the LKAS button to record feedback when MADS is disabled
+    if sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available:
       for be in sm['carState'].buttonEvents:
         if be.type == ButtonType.lkas:
           if be.pressed:

From 876738e96a7da50f030124ad436b162862af9ae4 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Sun, 10 Aug 2025 02:42:02 -0400
Subject: [PATCH 0357/1434] [bot] Update Python packages (#1141)

* Update Python packages

* revert

---------

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 docs/CARS.md | 11 +++++++++--
 opendbc_repo |  2 +-
 uv.lock      |  6 +++---
 3 files changed, 13 insertions(+), 6 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index a0a4fd6bd7c74e..acd68ace8494cd 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 314 Supported Cars
+# 321 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -118,6 +118,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
+|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -213,7 +214,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan[<sup>7</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Nissan[<sup>7</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
 |Nissan[<sup>7</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
-|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
+|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
+|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
+|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
 |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
@@ -221,10 +224,14 @@ A supported vehicle is one that just works when you install a comma device. All
 |Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Legacy 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
diff --git a/opendbc_repo b/opendbc_repo
index 0ad154475cebca..5da91a7ae65849 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 0ad154475cebcaf99a4b471ea22f12e23b7c92d7
+Subproject commit 5da91a7ae65849d2506c772e45239915ed380b19
diff --git a/uv.lock b/uv.lock
index f1749bd9b2ac3c..83d8ea7b07c49e 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1476,14 +1476,14 @@ wheels = [
 
 [[package]]
 name = "pre-commit-hooks"
-version = "5.0.0"
+version = "6.0.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "ruamel-yaml" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/ac/7d/3299241a753c738d114600c360d754550b28c285281dc6a5132c4ccfae65/pre_commit_hooks-5.0.0.tar.gz", hash = "sha256:10626959a9eaf602fbfc22bc61b6e75801436f82326bfcee82bb1f2fc4bc646e", size = 29747, upload-time = "2024-10-05T18:43:11.225Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/36/4d/93e63e48f8fd16d6c1e4cef5dabadcade4d1325c7fd6f29f075a4d2284f3/pre_commit_hooks-6.0.0.tar.gz", hash = "sha256:76d8370c006f5026cdd638a397a678d26dda735a3c88137e05885a020f824034", size = 28293, upload-time = "2025-08-09T19:25:04.6Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/1e/29/db1d855a661c02dbde5cab3057969133fcc62e7a0c6393e48fe9d0e81679/pre_commit_hooks-5.0.0-py2.py3-none-any.whl", hash = "sha256:8d71cfb582c5c314a5498d94e0104b6567a8b93fb35903ea845c491f4e290a7a", size = 41245, upload-time = "2024-10-05T18:43:09.901Z" },
+    { url = "https://files.pythonhosted.org/packages/12/46/eba9be9daa403fa94854ce16a458c29df9a01c6c047931c3d8be6016cd9a/pre_commit_hooks-6.0.0-py2.py3-none-any.whl", hash = "sha256:76161b76d321d2f8ee2a8e0b84c30ee8443e01376121fd1c90851e33e3bd7ee2", size = 41338, upload-time = "2025-08-09T19:25:03.513Z" },
 ]
 
 [[package]]

From b5cbb980fbfd04ac39f9ae04c129cc94be526bd4 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Sun, 10 Aug 2025 02:47:39 -0400
Subject: [PATCH 0358/1434] [bot] Update translations (#1140)

Update translations

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/translations/main_ar.ts     | 1707 +++++++++++++++++----
 selfdrive/ui/translations/main_de.ts     | 1715 +++++++++++++++++----
 selfdrive/ui/translations/main_es.ts     | 1703 ++++++++++++++++----
 selfdrive/ui/translations/main_fr.ts     | 1707 +++++++++++++++++----
 selfdrive/ui/translations/main_ja.ts     | 1717 +++++++++++++++++----
 selfdrive/ui/translations/main_ko.ts     | 1717 +++++++++++++++++----
 selfdrive/ui/translations/main_pt-BR.ts  | 1705 ++++++++++++++++----
 selfdrive/ui/translations/main_th.ts     | 1713 +++++++++++++++++----
 selfdrive/ui/translations/main_tr.ts     | 1791 ++++++++++++++++++----
 selfdrive/ui/translations/main_zh-CHS.ts | 1717 +++++++++++++++++----
 selfdrive/ui/translations/main_zh-CHT.ts | 1717 +++++++++++++++++----
 11 files changed, 15792 insertions(+), 3117 deletions(-)

diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index eac3b561f7089e..95fd0ccbb43d23 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -103,6 +103,53 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>AutoLaneChangeTimer</name>
+    <message>
+        <source>Auto Lane Change by Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudge</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudgeless</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -116,10 +163,6 @@
 </context>
 <context>
     <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>يجب عليك قبول الشروط والأحكام من أجل استخدام openpilot.</translation>
-    </message>
     <message>
         <source>Back</source>
         <translation>السابق</translation>
@@ -128,6 +171,10 @@
         <source>Decline, uninstall %1</source>
         <translation>ر�ض، إلغاء التثبيت %1</translation>
     </message>
+    <message>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DeveloperPanel</name>
@@ -147,10 +194,6 @@
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
         <translation>تحذير: التحكم الطولي �ي openpilot �ي المرحلة أل�ا لهذه السيارة، وسيقوم بتعطيل مكابح الطوارئ الآلية (AEB).</translation>
     </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>�ي هذه السيارة يعمل openpilot ا�تراضياً بالشكل المدمج �ي التحكم التكي�ي �ي السرعة بدلاً من التحكم الطولي. قم بتمكين هذا الخيار من أجل الانتقال إلى التحكم الطولي. يوصى بتمكين الوضع التجريبي عند استخدام وضع التحكم الطولي أل�ا من openpilot.</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation>تمكين ADB</translation>
@@ -159,6 +202,54 @@
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>أداة ADB (Android Debug Bridge) تسمح بالاتصال بجهازك عبر USB أو عبر الشبكة. راجع هذا الرابط: https://docs.comma.ai/how-to/connect-to-comma لمزيد من المعلومات.</translation>
     </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">عرض</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -206,10 +297,6 @@
         <source>REVIEW</source>
         <translation>مراجعة</translation>
     </message>
-    <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>مراجعة الأدوار والميزات والقيود �ي openpilot</translation>
-    </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
         <translation>هل أنت متأكد أنك تريد مراجعة دليل التدريب؟</translation>
@@ -302,10 +389,6 @@
         <source>Disengage to Reset Calibration</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation type="unfinished"></translation>
@@ -330,238 +413,966 @@ Steering lag calibration is complete.</source>
         <source> Steering torque response calibration is complete.</source>
         <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>DriverViewWindow</name>
-    <message>
-        <source>camera starting</source>
-        <translation>بدء تشغيل الكاميرا</translation>
-    </message>
-</context>
-<context>
-    <name>ExperimentalModeButton</name>
     <message>
-        <source>EXPERIMENTAL MODE ON</source>
-        <translation>تشغيل الوضع التجريبي</translation>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>CHILL MODE ON</source>
-        <translation>تشغيل وضع الراحة</translation>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>FirehosePanel</name>
+    <name>DevicePanelSP</name>
     <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
-
-Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation>يتعلم تطبيق openpilot كي�ية القيادة من خلال مشاهدة البشر، مثلك، أثناء القيادة.
-
-يتيح لك وضع خرطوم الحريق زيادة تحميلات بيانات التدريب لتحسين نماذج القيادة �ي OpenPilot. كلما زادت البيانات، زادت النماذج، مما يعني وضعًا تجريبيًا أ�ضل.</translation>
+        <source>Quiet Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Firehose Mode: ACTIVE</source>
-        <translation>وضع خرطوم الحريق: نشط</translation>
+        <source>Driver Camera Preview</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>ACTIVE</source>
-        <translation>نشط</translation>
+        <source>Training Guide</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation>للحصول على أقصى �عالية، أحضر جهازك إلى الداخل واتصل بمحول USB-C جيد وشبكة Wi-Fi أسبوعياً.&lt;br&gt;&lt;br&gt;يمكن أن يعمل وضع خرطوم الحريق أيضاً أثناء القيادة إذا كنت متصلاً بنقطة اتصال أو ببطاقة SIM غير محدودة.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;الأسئلة المتكررة&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;هل يهم كي� أو أين أقود؟&lt;/i&gt; لا، �قط قد كما ت�عل عادة.&lt;br&gt;&lt;br&gt;&lt;i&gt;هل يتم سحب كل مقاطع رحلاتي �ي وضع خرطوم الحريق؟&lt;/i&gt; لا، نقوم بسحب مجموعة مختارة من مقاطع رحلاتك.&lt;br&gt;&lt;br&gt;&lt;i&gt;ما هو محول USB-C الجيد؟&lt;/i&gt; أي شاحن سريع للهات� أو اللابتوب يجب أن يكون مناسباً.&lt;br&gt;&lt;br&gt;&lt;i&gt;هل يهم أي برنامج أستخدم؟&lt;/i&gt; نعم، �قط النسخة الأصلية من openpilot (وأ�رع معينة) يمكن استخدامها للتدريب.</translation>
-    </message>
-    <message numerus="yes">
-        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
-        <translation>
-            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك �ي مجموعة بيانات التدريب.</numerusform>
-            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك �ي مجموعة بيانات التدريب.</numerusform>
-            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك �ي مجموعة بيانات التدريب.</numerusform>
-            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك �ي مجموعة بيانات التدريب.</numerusform>
-            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك �ي مجموعة بيانات التدريب.</numerusform>
-            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك �ي مجموعة بيانات التدريب.</numerusform>
-        </translation>
+        <source>Regulatory</source>
+        <translation type="unfinished">التنظيمية</translation>
     </message>
     <message>
-        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
+        <source>Language</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Firehose Mode</source>
+        <source>Reset Settings</source>
         <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>HudRenderer</name>
     <message>
-        <source>km/h</source>
-        <translation>كم/س</translation>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation type="unfinished">هل أنت متأكد أنك تريد مراجعة دليل التدريب؟</translation>
     </message>
     <message>
-        <source>mph</source>
-        <translation>ميل/س</translation>
+        <source>Review</source>
+        <translation type="unfinished">مراجعة</translation>
     </message>
     <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
+        <source>Select a language</source>
+        <translation type="unfinished">اختر لغة</translation>
     </message>
-</context>
-<context>
-    <name>InputDialog</name>
     <message>
-        <source>Cancel</source>
-        <translation>إلغاء</translation>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
     </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>تحتاج إلى حر� %n على الأقل!</numerusform>
-            <numerusform>تحتاج إلى حر� %n على الأقل!</numerusform>
-            <numerusform>تحتاج إلى حر�ين %n على الأقل!</numerusform>
-            <numerusform>تحتاج إلى %n أحر� على الأقل!</numerusform>
-            <numerusform>تحتاج إلى %n أحر� على الأقل!</numerusform>
-            <numerusform>تحتاج إلى %n حر� على الأقل!</numerusform>
-        </translation>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
     <message>
-        <source>Select</source>
-        <translation>اختيار</translation>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation>إلغاء</translation>
+        <source>Reboot</source>
+        <translation type="unfinished">إعادة التشغيل</translation>
     </message>
-</context>
-<context>
-    <name>Networking</name>
     <message>
-        <source>Advanced</source>
-        <translation>متقدم</translation>
+        <source>Power Off</source>
+        <translation type="unfinished">إيقا� التشغيل</translation>
     </message>
     <message>
-        <source>Enter password</source>
-        <translation>أدخل كلمة المرور</translation>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>من أجل &quot;%1&quot;</translation>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Wrong password</source>
-        <translation>كلمة مرور خاطئة</translation>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>OffroadAlert</name>
     <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>درجة حرارة الجهاز مرت�عة جداً. يقوم النظام بالتبريد قبل البدء. درجة الحرارة الحالية للمكونات الداخلية: %1</translation>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation>اتصل �وراً بالإنترنت للتحقق من وجود تحديثات. إذا لم تكم متصلاً بالإنترنت �إن openpilot لن يساهم �ي %1</translation>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>اتصل بالإنترنت للتحقق من وجود تحديثات. لا يعمل openpilot تلقائياً إلا إذا اتصل بالإنترنت من أجل التحقق من التحديثات.</translation>
+        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Unable to download updates
-%1</source>
-        <translation>غير قادر على تحميل التحديثات
-%1</translation>
+        <source>Reset</source>
+        <translation type="unfinished">إعادة الضبط</translation>
     </message>
     <message>
-        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation>التقاط لقطات كاميرا. لن يبدأ النظام حتى تنتهي هذه العملية.</translation>
+        <source>The reset cannot be undone. You have been warned.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
-        <translation>يتم تنزيل تحديث لنظام تشغيل جهازك �ي الخل�ية. سيطلَب منك التحديث عندما يصبح جاهزاً للتثبيت.</translation>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>محرك NVMe غير مثبَّت.</translation>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>لم يكن openpilot قادراً على تحديد سيارتك. إما أن تكون سيارتك غير مدعومة أو أنه لم يتم التعر� على وحدة التحكم الإلكتروني (ECUs) �يها. يرجى تقديم طلب سحب من أجل إضا�ة نسخ برمجيات ثابتة إلى السيارة المناسبة. هل تحتاج إلى أي مساعدة؟ لا تتردد �ي التواصل مع doscord.comma.ai.</translation>
+        <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation>لقد اكتش� openpilot تغييراً �ي موقع تركيب الجهاز. تأكد من تثبيت الجهاز بشكل كامل �ي موقعه وتثبيته بإحكام على الزجاج الأمامي.</translation>
+        <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
+        <source>Controls state of the device after boot/sleep.</source>
         <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>DriveStats</name>
     <message>
-        <source>Acknowledge Excessive Actuation</source>
+        <source>Drives</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Snooze Update</source>
-        <translation type="unfinished">تأخير التحديث</translation>
+        <source>Hours</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <source>ALL TIME</source>
         <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>OffroadHome</name>
     <message>
-        <source>UPDATE</source>
-        <translation>تحديث</translation>
+        <source>PAST WEEK</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> ALERTS</source>
-        <translation> التنبهات</translation>
+        <source>KM</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> ALERT</source>
-        <translation> تنبيه</translation>
+        <source>Miles</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>OnroadAlerts</name>
-    <message>
-        <source>openpilot Unavailable</source>
-        <translation>openpilot غير متو�ر</translation>
-    </message>
+    <name>DriverViewWindow</name>
     <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation>تحكم على ال�ور</translation>
+        <source>camera starting</source>
+        <translation>بدء تشغيل الكاميرا</translation>
     </message>
+</context>
+<context>
+    <name>ExitOffroadButton</name>
     <message>
-        <source>Reboot Device</source>
-        <translation>إعادة التشغيل</translation>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Waiting to start</source>
-        <translation>�ي انتظار البدء</translation>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>System Unresponsive</source>
-        <translation>النظام لا يستجيب</translation>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>PairingPopup</name>
+    <name>ExperimentalModeButton</name>
     <message>
-        <source>Pair your device to your comma account</source>
-        <translation>اقرن جهازك مع حسابك على comma</translation>
+        <source>EXPERIMENTAL MODE ON</source>
+        <translation>تشغيل الوضع التجريبي</translation>
     </message>
     <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>انتقل إلى https://connect.comma.ai على جوالك</translation>
+        <source>CHILL MODE ON</source>
+        <translation>تشغيل وضع الراحة</translation>
     </message>
+</context>
+<context>
+    <name>FirehosePanel</name>
     <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>انقر &quot;،إضا�ة جهاز جديد&quot;، وامسح رمز الاستجابة السريعة (QR) على اليمين</translation>
+        <source>Firehose Mode: ACTIVE</source>
+        <translation>وضع خرطوم الحريق: نشط</translation>
+    </message>
+    <message>
+        <source>ACTIVE</source>
+        <translation>نشط</translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation>
+            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك �ي مجموعة بيانات التدريب.</numerusform>
+            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك �ي مجموعة بيانات التدريب.</numerusform>
+            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك �ي مجموعة بيانات التدريب.</numerusform>
+            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك �ي مجموعة بيانات التدريب.</numerusform>
+            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك �ي مجموعة بيانات التدريب.</numerusform>
+            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك �ي مجموعة بيانات التدريب.</numerusform>
+        </translation>
+    </message>
+    <message>
+        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>كم/س</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>ميل/س</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+</context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <source>Cancel</source>
+        <translation>إلغاء</translation>
+    </message>
+    <message numerus="yes">
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>تحتاج إلى حر� %n على الأقل!</numerusform>
+            <numerusform>تحتاج إلى حر� %n على الأقل!</numerusform>
+            <numerusform>تحتاج إلى حر�ين %n على الأقل!</numerusform>
+            <numerusform>تحتاج إلى %n أحر� على الأقل!</numerusform>
+            <numerusform>تحتاج إلى %n أحر� على الأقل!</numerusform>
+            <numerusform>تحتاج إلى %n حر� على الأقل!</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>LaneChangeSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">السابق</translation>
+    </message>
+    <message>
+        <source>Auto Lane Change: Delay with Blind Spot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LateralPanel</name>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Lane Change</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MadsSettings</name>
+    <message>
+        <source>Toggle with Main Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unified Engagement Mode (UEM)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode on Brake Pedal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">اختيار</translation>
+    </message>
+    <message>
+        <source>Clear Model Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CLEAR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">إعادة ضبط المعايرة</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">متابعة</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">إلغاء</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation>اختيار</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>إلغاء</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <source>Advanced</source>
+        <translation>متقدم</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>أدخل كلمة المرور</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>من أجل &quot;%1&quot;</translation>
+    </message>
+    <message>
+        <source>Wrong password</source>
+        <translation>كلمة مرور خاطئة</translation>
+    </message>
+</context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>NeuralNetworkLateralControl</name>
+    <message>
+        <source>Neural Network Lateral Control (NNLC)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC is currently not available on this platform.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the car to check car compatibility</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Not Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exact</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fuzzy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>if there are any issues:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>and donate logs to get NNLC loaded for your car:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>درجة حرارة الجهاز مرت�عة جداً. يقوم النظام بالتبريد قبل البدء. درجة الحرارة الحالية للمكونات الداخلية: %1</translation>
+    </message>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation>غير قادر على تحميل التحديثات
+%1</translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>التقاط لقطات كاميرا. لن يبدأ النظام حتى تنتهي هذه العملية.</translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>يتم تنزيل تحديث لنظام تشغيل جهازك �ي الخل�ية. سيطلَب منك التحديث عندما يصبح جاهزاً للتثبيت.</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>محرك NVMe غير مثبَّت.</translation>
+    </message>
+    <message>
+        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acknowledge Excessive Actuation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Snooze Update</source>
+        <translation type="unfinished">تأخير التحديث</translation>
+    </message>
+    <message>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <source>UPDATE</source>
+        <translation>تحديث</translation>
+    </message>
+    <message>
+        <source> ALERTS</source>
+        <translation> التنبهات</translation>
+    </message>
+    <message>
+        <source> ALERT</source>
+        <translation> تنبيه</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation>تحكم على ال�ور</translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation>إعادة التشغيل</translation>
+    </message>
+    <message>
+        <source>Waiting to start</source>
+        <translation>�ي انتظار البدء</translation>
+    </message>
+    <message>
+        <source>System Unresponsive</source>
+        <translation>النظام لا يستجيب</translation>
+    </message>
+    <message>
+        <source>sunnypilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">التحقق</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">اختيار</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">تحديث</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <source>Pair your device to your comma account</source>
+        <translation>اقرن جهازك مع حسابك على comma</translation>
+    </message>
+    <message>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>انتقل إلى https://connect.comma.ai على جوالك</translation>
+    </message>
+    <message>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>انقر &quot;،إضا�ة جهاز جديد&quot;، وامسح رمز الاستجابة السريعة (QR) على اليمين</translation>
     </message>
     <message>
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
@@ -583,6 +1394,96 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>إلغاء</translation>
     </message>
 </context>
+<context>
+    <name>ParamControlSP</name>
+    <message>
+        <source>Enable</source>
+        <translation type="unfinished">تمكين</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">إلغاء</translation>
+    </message>
+</context>
+<context>
+    <name>PlatformSelector</name>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Search your vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCHING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation type="unfinished">إزالة</translation>
+    </message>
+    <message>
+        <source>This setting will take effect immediately.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect once the device enters offroad state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">إلغاء</translation>
+    </message>
+    <message>
+        <source>No vehicles found for query: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
@@ -627,10 +1528,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
-    </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
         <translation>
@@ -668,6 +1565,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>now</source>
         <translation>الآن</translation>
     </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -701,108 +1602,66 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
 </context>
 <context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>تحذير: الجهد منخ�ض</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>شغل جهازك �ي السيارة عن طريق شرطان التوصيل، أو تابع على مسؤوليتك.</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>إيقا� التشغيل</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>متابعة</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>البدء</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>قبل أن ننطلق �ي الطريق، دعنا ننتهي من التثبيت ونغطي بعض الت�اصيل.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>الاتصال بشبكة الواي �اي</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>السابق</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>المتابعة بدون شبكة الواي �اي</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>بانتظار الاتصال بالإنترنت</translation>
-    </message>
+    <name>SettingsWindowSP</name>
     <message>
-        <source>Enter URL</source>
-        <translation>أدخل رابط URL</translation>
+        <source>×</source>
+        <translation type="unfinished">×</translation>
     </message>
     <message>
-        <source>for Custom Software</source>
-        <translation>للبرامج المخصصة</translation>
+        <source>Device</source>
+        <translation type="unfinished">الجهاز</translation>
     </message>
     <message>
-        <source>Downloading...</source>
-        <translation>يتم الآن التنزيل...</translation>
+        <source>Network</source>
+        <translation type="unfinished">الشبكة</translation>
     </message>
     <message>
-        <source>Download Failed</source>
-        <translation>�شل التنزيل</translation>
+        <source>sunnylink</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>تأكد من أن رابط URL الذي أدخلته صالح، وأن اتصال الجهاز بالإنترنت جيد.</translation>
+        <source>Toggles</source>
+        <translation type="unfinished">المثبتتات</translation>
     </message>
     <message>
-        <source>Reboot device</source>
-        <translation>إعادة التشغيل</translation>
+        <source>Software</source>
+        <translation type="unfinished">البرنامج</translation>
     </message>
     <message>
-        <source>Start over</source>
-        <translation>البدء من جديد</translation>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>حدث خطأ ما. أعد التشغيل الجهاز.</translation>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>No custom software found at this URL.</source>
-        <translation>لم يتم العثور على برنامج خاص لعنوان URL ها.</translation>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a language</source>
-        <translation>اختر لغة</translation>
+        <source>Visuals</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose Software to Install</source>
-        <translation>اختر البرنامج للتثبيت</translation>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Custom Software</source>
-        <translation>البرمجيات المخصصة</translation>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>WARNING: Custom Software</source>
-        <translation type="unfinished"></translation>
+        <source>Firehose</source>
+        <translation type="unfinished">خرطوم الحريق</translation>
     </message>
     <message>
-        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
-
-If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
-        <translation type="unfinished"></translation>
+        <source>Developer</source>
+        <translation type="unfinished">المطور</translation>
     </message>
 </context>
 <context>
@@ -883,16 +1742,43 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>2G</translation>
     </message>
     <message>
-        <source>3G</source>
-        <translation>3G</translation>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SidebarSP</name>
+    <message>
+        <source>DISABLED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation type="unfinished">غير متصل</translation>
+    </message>
+    <message>
+        <source>REGIST...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation type="unfinished">متصل</translation>
     </message>
     <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
+        <source>ERROR</source>
+        <translation type="unfinished">خطأ</translation>
     </message>
     <message>
-        <source>5G</source>
-        <translation>5G</translation>
+        <source>SUNNYLINK</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -970,6 +1856,49 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>أحدث نسخة، آخر تحقق %1</translation>
     </message>
 </context>
+<context>
+    <name>SoftwarePanelSP</name>
+    <message>
+        <source>Search Branch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No branches found for keywords: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a branch</source>
+        <translation type="unfinished">اختر �رعاً</translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">إعادة التشغيل</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
@@ -1016,6 +1945,168 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>تمكين SSH</translation>
     </message>
 </context>
+<context>
+    <name>SunnylinkPanel</name>
+    <message>
+        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">إقران</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation type="unfinished">غير متاح</translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to backup sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Back Up</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings backup completed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to restore the settings, try again later.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings restored. Confirm to restart the interface.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device ID</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TermsPage</name>
     <message>
@@ -1027,20 +2118,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>أوا�ق</translation>
     </message>
     <message>
-        <source>Welcome to openpilot</source>
-        <translation>مرحباً بكم �ي openpilot</translation>
+        <source>Welcome to sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation>يجب عليك قبول الشروط والأحكام لاستخدام openpilot. اقرأ أحدث الشروط على &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; قبل الاستمرار.</translation>
+        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>تمكين openpilot</translation>
-    </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
         <translation>قم بتمكين تحذيرات مغادرة المسار</translation>
@@ -1069,10 +2156,6 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Disengage on Accelerator Pedal</source>
         <translation>�ك الارتباط عن دواسة الوقود</translation>
     </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>عند تمكين هذه الميزة، �إن الضغط على دواسة الوقود سيؤدي إلى �ك ارتباط openpilot.</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>الوضع التجريبي</translation>
@@ -1093,18 +2176,10 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Driving Personality</source>
         <translation>شخصية القيادة</translation>
     </message>
-    <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>يتم وضع openpilot بشكل قياسي �ي &lt;b&gt;وضعية الراحة&lt;/b&gt;. يمكن الوضع التجريبي &lt;b&gt;ميزات المستوى أل�ا&lt;/b&gt; التي لا تكون جاهزة �ي وضع الراحة:</translation>
-    </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
         <translation>التحكم الطولي من طر� إلى طر�</translation>
     </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>دع نظام القيادة يتحكم بالوقود والمكابح. سيقوم openpilot بالقيادة كما لو أنه كائن بشري، بما �ي ذلك التوق� عند الإشارة الحمراء، وإشارات التوق�. وبما أن نمط القيادة يحدد سرعة القيادة، �إن السرعة المضبوطة تشكل الحد الأقصى �قط. هذه خاصية الجودة أل�ا، �يجب توقع حدوث الأخطاء.</translation>
-    </message>
     <message>
         <source>New Driving Visualization</source>
         <translation>تصور القيادة الديد</translation>
@@ -1118,31 +2193,99 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>قد يتم الحصول على التحكم الطولي �ي openpilot �ي عمليات التحديث المستقبلية.</translation>
     </message>
     <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>يمكن اختبار نسخة أل�ا من التحكم الطولي من openpilot، مع الوضع التجريبي، لكن على ال�روع غير المطلقة.</translation>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
+        <translation>ستتحول واجهة القيادة إلى الكاميرا الواسعة المواجهة للطريق عند السرعات المنخ�ضة لعرض بعض المنعط�ات بشكل أ�ضل. كما سيتم عرض شعار وضع التجريبي �ي الزاوية العلوية اليمنى.</translation>
+    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation>مراقبة السائق المستمرة</translation>
     </message>
     <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>تمكين التحكم الطولي من openpilot (أل�ا) للسماح بالوضع التجريبي.</translation>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>يوصى بالمعيار. �ي الوضع العدواني، سيتبع الطيار الم�توح السيارات الرائدة بشكل أقرب ويكون أكثر عدوانية مع البنزين وال�رامل. �ي الوضع المريح، سيبقى openpilot بعيدًا عن السيارات الرائدة. �ي السيارات المدعومة، يمكنك التنقل بين هذه الشخصيات باستخدام زر مسا�ة عجلة القيادة.</translation>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>ستتحول واجهة القيادة إلى الكاميرا الواسعة المواجهة للطريق عند السرعات المنخ�ضة لعرض بعض المنعط�ات بشكل أ�ضل. كما سيتم عرض شعار وضع التجريبي �ي الزاوية العلوية اليمنى.</translation>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Always-On Driver Monitoring</source>
-        <translation>مراقبة السائق المستمرة</translation>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation>تمكين مراقبة السائق حتى عندما لا يكون نظام OpenPilot م��عّلاً.</translation>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">اختيار</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">إلغاء</translation>
+    </message>
+</context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1150,21 +2293,31 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Record and Upload Microphone Audio</source>
+        <source>Off</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <source>Distance</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Record Audio Feedback with LKAS button</source>
+        <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index b91c0e23ce2e69..1a928b4e493bfb 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -103,6 +103,53 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>AutoLaneChangeTimer</name>
+    <message>
+        <source>Auto Lane Change by Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudge</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudgeless</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -116,10 +163,6 @@
 </context>
 <context>
     <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>Du musst die Nutzungsbedingungen akzeptieren, um Openpilot zu benutzen.</translation>
-    </message>
     <message>
         <source>Back</source>
         <translation>Zurück</translation>
@@ -128,6 +171,10 @@
         <source>Decline, uninstall %1</source>
         <translation>Ablehnen, deinstallieren %1</translation>
     </message>
+    <message>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DeveloperPanel</name>
@@ -147,10 +194,6 @@
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
         <translation>WARNUNG: Die openpilot Längsregelung befindet sich für dieses Fahrzeug im Alpha-Stadium und deaktiviert das automatische Notbremsen (AEB).</translation>
     </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>Bei diesem Fahrzeug verwendet openpilot standardmäßig den eingebauten Tempomaten anstelle der openpilot Längsregelung. Aktiviere diese Option, um auf die openpilot Längsregelung umzuschalten. Es wird empfohlen, den experimentellen Modus zu aktivieren, wenn die openpilot Längsregelung (Alpha) aktiviert wird.</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation>ADB aktivieren</translation>
@@ -159,6 +202,54 @@
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB (Android Debug Bridge) ermöglicht die Verbindung zu deinem Gerät über USB oder Netzwerk. Siehe https://docs.comma.ai/how-to/connect-to-comma für weitere Informationen.</translation>
     </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">ANSEHEN</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -206,10 +297,6 @@
         <source>REVIEW</source>
         <translation>TRAINING</translation>
     </message>
-    <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>Wiederhole die Regeln, Fähigkeiten und Limitierungen von Openpilot</translation>
-    </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
         <translation>Bist du sicher, dass du die Trainingsanleitung wiederholen möchtest?</translation>
@@ -302,10 +389,6 @@
         <source>Disengage to Reset Calibration</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation type="unfinished"></translation>
@@ -330,244 +413,972 @@ Steering lag calibration is complete.</source>
         <source> Steering torque response calibration is complete.</source>
         <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>DriverViewWindow</name>
-    <message>
-        <source>camera starting</source>
-        <translation>Kamera startet</translation>
-    </message>
-</context>
-<context>
-    <name>ExperimentalModeButton</name>
     <message>
-        <source>EXPERIMENTAL MODE ON</source>
-        <translation>EXPERIMENTELLER MODUS AN</translation>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>CHILL MODE ON</source>
-        <translation>ENTSPANNTER MODUS AN</translation>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>FirehosePanel</name>
-    <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
-
-Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation>openpilot lernt das Fahren, indem es Menschen wie dir beim Fahren zuschaut.
-
-Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximieren, um die Fahrmodelle von openpilot zu verbessern. Mehr Daten bedeuten größere Modelle, was zu einem besseren Experimentellen Modus führt.</translation>
-    </message>
+    <name>DevicePanelSP</name>
     <message>
-        <source>Firehose Mode: ACTIVE</source>
-        <translation>Firehose-Modus: AKTIV</translation>
+        <source>Quiet Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>ACTIVE</source>
-        <translation>AKTIV</translation>
+        <source>Driver Camera Preview</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation>Für maximale Effektivität bring dein Gerät jede Woche nach drinnen und verbinde es mit einem guten USB-C-Adapter und WLAN.&lt;br&gt;&lt;br&gt;Der Firehose-Modus funktioniert auch während der Fahrt, wenn das Gerät mit einem Hotspot oder einer ungedrosselten SIM-Karte verbunden ist.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Häufig gestellte Fragen&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Spielt es eine Rolle, wie oder wo ich fahre?&lt;/i&gt; Nein, fahre einfach wie gewohnt.&lt;br&gt;&lt;br&gt;&lt;i&gt;Werden im Firehose-Modus alle meine Segmente hochgeladen?&lt;/i&gt; Nein, wir wählen selektiv nur einen Teil deiner Segmente aus.&lt;br&gt;&lt;br&gt;&lt;i&gt;Welcher USB-C-Adapter ist gut?&lt;/i&gt; Jedes Schnellladegerät für Handy oder Laptop sollte ausreichen.&lt;br&gt;&lt;br&gt;&lt;i&gt;Spielt es eine Rolle, welche Software ich nutze?&lt;/i&gt; Ja, nur das offizielle Upstream‑openpilot (und bestimmte Forks) kann für das Training verwendet werden.</translation>
-    </message>
-    <message numerus="yes">
-        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
-        <translation>
-            <numerusform>&lt;b&gt;%n Segment&lt;/b&gt; deiner Fahrten ist bisher im Trainingsdatensatz.</numerusform>
-            <numerusform>&lt;b&gt;%n Segmente&lt;/b&gt; deiner Fahrten sind bisher im Trainingsdatensatz.</numerusform>
-        </translation>
+        <source>Training Guide</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INAKTIV&lt;/span&gt;: Verbinde dich mit einem ungedrosselten Netzwerk</translation>
+        <source>Regulatory</source>
+        <translation type="unfinished">Rechtliche Hinweise</translation>
     </message>
     <message>
-        <source>Firehose Mode</source>
+        <source>Language</source>
         <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>HudRenderer</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
     <message>
-        <source>mph</source>
-        <translation>mph</translation>
+        <source>Reset Settings</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation type="unfinished">Bist du sicher, dass du die Trainingsanleitung wiederholen möchtest?</translation>
     </message>
-</context>
-<context>
-    <name>InputDialog</name>
     <message>
-        <source>Cancel</source>
-        <translation>Abbrechen</translation>
-    </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>Mindestens %n Buchstabe benötigt!</numerusform>
-            <numerusform>Mindestens %n Buchstaben benötigt!</numerusform>
-        </translation>
+        <source>Review</source>
+        <translation type="unfinished">Überprüfen</translation>
     </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
     <message>
-        <source>Select</source>
-        <translation>Auswählen</translation>
+        <source>Select a language</source>
+        <translation type="unfinished">Sprache wählen</translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation>Abbrechen</translation>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>Networking</name>
     <message>
-        <source>Advanced</source>
-        <translation>Erweitert</translation>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enter password</source>
-        <translation>Passwort eingeben</translation>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>für &quot;%1&quot;</translation>
+        <source>Reboot</source>
+        <translation type="unfinished">Neustart</translation>
     </message>
     <message>
-        <source>Wrong password</source>
-        <translation>Falsches Passwort</translation>
+        <source>Power Off</source>
+        <translation type="unfinished">Ausschalten</translation>
     </message>
-</context>
-<context>
-    <name>OffroadAlert</name>
     <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation>Stelle sofort eine Internetverbindung her, um nach Updates zu suchen. Wenn du keine Verbindung herstellst, kann openpilot in %1 nicht mehr aktiviert werden.</translation>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>Verbinde dich mit dem Internet, um nach Updates zu suchen. openpilot startet nicht automatisch, bis eine Internetverbindung besteht und nach Updates gesucht wurde.</translation>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Unable to download updates
-%1</source>
-        <translation>Updates konnten nicht heruntergeladen werden
-%1</translation>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation>Kamera-Snapshots werden aufgenommen. Das System startet erst, wenn dies abgeschlossen ist.</translation>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
-        <translation>Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist.</translation>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>NVMe-Laufwerk nicht gemounted.</translation>
+        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot konnte dein Auto nicht identifizieren. Dein Auto wird entweder nicht unterstützt oder die Steuergeräte (ECUs) werden nicht erkannt. Bitte reiche einen Pull Request ein, um die Firmware-Versionen für das richtige Fahrzeug hinzuzufügen. Hilfe findest du auf discord.comma.ai.</translation>
+        <source>Reset</source>
+        <translation type="unfinished">Zurücksetzen</translation>
     </message>
     <message>
-        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation>openpilot hat eine Änderung der Montageposition des Geräts erkannt. Stelle sicher, dass das Gerät vollständig in der Halterung sitzt und die Halterung fest an der Windschutzscheibe befestigt ist.</translation>
+        <source>The reset cannot be undone. You have been warned.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>Gerätetemperatur zu hoch. Das System kühlt ab, bevor es startet. Aktuelle interne Komponententemperatur: %1</translation>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
+        <source>Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Acknowledge Excessive Actuation</source>
+        <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Snooze Update</source>
-        <translation type="unfinished">Update pausieren</translation>
+        <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <source>Controls state of the device after boot/sleep.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>OffroadHome</name>
-    <message>
-        <source>UPDATE</source>
-        <translation>Aktualisieren</translation>
-    </message>
+    <name>DriveStats</name>
     <message>
-        <source> ALERTS</source>
-        <translation> HINWEISE</translation>
+        <source>Drives</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> ALERT</source>
-        <translation> HINWEIS</translation>
+        <source>Hours</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>OnroadAlerts</name>
     <message>
-        <source>openpilot Unavailable</source>
-        <translation>openpilot nicht verfügbar</translation>
+        <source>ALL TIME</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation>ÃœBERNIMM SOFORT DIE KONTROLLE</translation>
+        <source>PAST WEEK</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reboot Device</source>
-        <translation>Gerät neu starten</translation>
+        <source>KM</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Waiting to start</source>
-        <translation>Warten auf Start</translation>
+        <source>Miles</source>
+        <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>DriverViewWindow</name>
     <message>
-        <source>System Unresponsive</source>
-        <translation>System reagiert nicht</translation>
+        <source>camera starting</source>
+        <translation>Kamera startet</translation>
     </message>
 </context>
 <context>
-    <name>PairingPopup</name>
+    <name>ExitOffroadButton</name>
     <message>
-        <source>Pair your device to your comma account</source>
-        <translation>Verbinde dein Gerät mit deinem comma Konto</translation>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>Gehe zu https://connect.comma.ai auf deinem Handy</translation>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>Klicke auf &quot;neues Gerät hinzufügen&quot; und scanne den QR code rechts</translation>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>ExperimentalModeButton</name>
     <message>
-        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>Füge connect.comma.ai als Lesezeichen auf deinem Homescreen hinzu um es wie eine App zu verwenden</translation>
+        <source>EXPERIMENTAL MODE ON</source>
+        <translation>EXPERIMENTELLER MODUS AN</translation>
     </message>
     <message>
-        <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation>Bitte verbinde dich mit WLAN, um die Koppelung abzuschließen.</translation>
+        <source>CHILL MODE ON</source>
+        <translation>ENTSPANNTER MODUS AN</translation>
     </message>
 </context>
 <context>
-    <name>ParamControl</name>
+    <name>FirehosePanel</name>
     <message>
-        <source>Cancel</source>
+        <source>Firehose Mode: ACTIVE</source>
+        <translation>Firehose-Modus: AKTIV</translation>
+    </message>
+    <message>
+        <source>ACTIVE</source>
+        <translation>AKTIV</translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation>
+            <numerusform>&lt;b&gt;%n Segment&lt;/b&gt; deiner Fahrten ist bisher im Trainingsdatensatz.</numerusform>
+            <numerusform>&lt;b&gt;%n Segmente&lt;/b&gt; deiner Fahrten sind bisher im Trainingsdatensatz.</numerusform>
+        </translation>
+    </message>
+    <message>
+        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INAKTIV&lt;/span&gt;: Verbinde dich mit einem ungedrosselten Netzwerk</translation>
+    </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+</context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <source>Cancel</source>
+        <translation>Abbrechen</translation>
+    </message>
+    <message numerus="yes">
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>Mindestens %n Buchstabe benötigt!</numerusform>
+            <numerusform>Mindestens %n Buchstaben benötigt!</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>LaneChangeSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">Zurück</translation>
+    </message>
+    <message>
+        <source>Auto Lane Change: Delay with Blind Spot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LateralPanel</name>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Lane Change</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MadsSettings</name>
+    <message>
+        <source>Toggle with Main Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unified Engagement Mode (UEM)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode on Brake Pedal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">AUSWÄHLEN</translation>
+    </message>
+    <message>
+        <source>Clear Model Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CLEAR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Neu kalibrieren</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">Fortsetzen</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Abbrechen</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation>Auswählen</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Abbrechen</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <source>Advanced</source>
+        <translation>Erweitert</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>Passwort eingeben</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>für &quot;%1&quot;</translation>
+    </message>
+    <message>
+        <source>Wrong password</source>
+        <translation>Falsches Passwort</translation>
+    </message>
+</context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>NeuralNetworkLateralControl</name>
+    <message>
+        <source>Neural Network Lateral Control (NNLC)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC is currently not available on this platform.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the car to check car compatibility</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Not Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exact</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fuzzy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>if there are any issues:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>and donate logs to get NNLC loaded for your car:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation>Updates konnten nicht heruntergeladen werden
+%1</translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>Kamera-Snapshots werden aufgenommen. Das System startet erst, wenn dies abgeschlossen ist.</translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist.</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>NVMe-Laufwerk nicht gemounted.</translation>
+    </message>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>Gerätetemperatur zu hoch. Das System kühlt ab, bevor es startet. Aktuelle interne Komponententemperatur: %1</translation>
+    </message>
+    <message>
+        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acknowledge Excessive Actuation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Snooze Update</source>
+        <translation type="unfinished">Update pausieren</translation>
+    </message>
+    <message>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <source>UPDATE</source>
+        <translation>Aktualisieren</translation>
+    </message>
+    <message>
+        <source> ALERTS</source>
+        <translation> HINWEISE</translation>
+    </message>
+    <message>
+        <source> ALERT</source>
+        <translation> HINWEIS</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation>ÃœBERNIMM SOFORT DIE KONTROLLE</translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation>Gerät neu starten</translation>
+    </message>
+    <message>
+        <source>Waiting to start</source>
+        <translation>Warten auf Start</translation>
+    </message>
+    <message>
+        <source>System Unresponsive</source>
+        <translation>System reagiert nicht</translation>
+    </message>
+    <message>
+        <source>sunnypilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">ÃœBERPRÃœFEN</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">AUSWÄHLEN</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">Aktualisieren</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <source>Pair your device to your comma account</source>
+        <translation>Verbinde dein Gerät mit deinem comma Konto</translation>
+    </message>
+    <message>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>Gehe zu https://connect.comma.ai auf deinem Handy</translation>
+    </message>
+    <message>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>Klicke auf &quot;neues Gerät hinzufügen&quot; und scanne den QR code rechts</translation>
+    </message>
+    <message>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>Füge connect.comma.ai als Lesezeichen auf deinem Homescreen hinzu um es wie eine App zu verwenden</translation>
+    </message>
+    <message>
+        <source>Please connect to Wi-Fi to complete initial pairing</source>
+        <translation>Bitte verbinde dich mit WLAN, um die Koppelung abzuschließen.</translation>
+    </message>
+</context>
+<context>
+    <name>ParamControl</name>
+    <message>
+        <source>Cancel</source>
         <translation>Abbrechen</translation>
     </message>
     <message>
@@ -575,6 +1386,96 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere
         <translation>Aktivieren</translation>
     </message>
 </context>
+<context>
+    <name>ParamControlSP</name>
+    <message>
+        <source>Enable</source>
+        <translation type="unfinished">Aktivieren</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Abbrechen</translation>
+    </message>
+</context>
+<context>
+    <name>PlatformSelector</name>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Search your vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCHING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation type="unfinished">LÖSCHEN</translation>
+    </message>
+    <message>
+        <source>This setting will take effect immediately.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect once the device enters offroad state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Abbrechen</translation>
+    </message>
+    <message>
+        <source>No vehicles found for query: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
@@ -619,10 +1520,6 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
-    </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
         <translation>
@@ -648,6 +1545,10 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere
         <source>now</source>
         <translation>jetzt</translation>
     </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -681,108 +1582,66 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere
     </message>
 </context>
 <context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>Warnung: Batteriespannung niedrig</translation>
-    </message>
+    <name>SettingsWindowSP</name>
     <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>Versorge dein Gerät über einen Kabelbaum im Auto mit Strom, oder fahre auf eigene Gefahr fort.</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>Ausschalten</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>Fortsetzen</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>Loslegen</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>Bevor wir uns auf die Straße begeben, lass uns die Installation fertigstellen und einige Details prüfen.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Mit WLAN verbinden</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Zurück</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Ohne WLAN fortsetzen</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>Auf Internet warten</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>URL eingeben</translation>
+        <source>×</source>
+        <translation type="unfinished">x</translation>
     </message>
     <message>
-        <source>for Custom Software</source>
-        <translation>für spezifische Software</translation>
+        <source>Device</source>
+        <translation type="unfinished">Gerät</translation>
     </message>
     <message>
-        <source>Downloading...</source>
-        <translation>Herunterladen...</translation>
+        <source>Network</source>
+        <translation type="unfinished">Netzwerk</translation>
     </message>
     <message>
-        <source>Download Failed</source>
-        <translation>Herunterladen fehlgeschlagen</translation>
+        <source>sunnylink</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>Stelle sicher, dass die eingegebene URL korrekt ist und dein Gerät eine stabile Internetverbindung hat.</translation>
+        <source>Toggles</source>
+        <translation type="unfinished">Schalter</translation>
     </message>
     <message>
-        <source>Reboot device</source>
-        <translation>Gerät neustarten</translation>
+        <source>Software</source>
+        <translation type="unfinished">Software</translation>
     </message>
     <message>
-        <source>Start over</source>
-        <translation>Von neuem beginnen</translation>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>No custom software found at this URL.</source>
-        <translation>Keine benutzerdefinierte Software unter dieser URL gefunden.</translation>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>Etwas ist schiefgelaufen. Starte das Gerät neu.</translation>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a language</source>
-        <translation>Sprache wählen</translation>
+        <source>Visuals</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose Software to Install</source>
-        <translation>Wähle die zu installierende Software</translation>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Custom Software</source>
-        <translation>Benutzerdefinierte Software</translation>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>WARNING: Custom Software</source>
-        <translation type="unfinished"></translation>
+        <source>Firehose</source>
+        <translation type="unfinished">Firehose</translation>
     </message>
     <message>
-        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
-
-If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
-        <translation type="unfinished"></translation>
+        <source>Developer</source>
+        <translation type="unfinished">Entwickler</translation>
     </message>
 </context>
 <context>
@@ -864,16 +1723,43 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>2G</translation>
     </message>
     <message>
-        <source>3G</source>
-        <translation>3G</translation>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SidebarSP</name>
+    <message>
+        <source>DISABLED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation type="unfinished">OFFLINE</translation>
+    </message>
+    <message>
+        <source>REGIST...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation type="unfinished">ONLINE</translation>
     </message>
     <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
+        <source>ERROR</source>
+        <translation type="unfinished">FEHLER</translation>
     </message>
     <message>
-        <source>5G</source>
-        <translation>5G</translation>
+        <source>SUNNYLINK</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -952,6 +1838,49 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>nie</translation>
     </message>
 </context>
+<context>
+    <name>SoftwarePanelSP</name>
+    <message>
+        <source>Search Branch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No branches found for keywords: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a branch</source>
+        <translation type="unfinished">Wähle einen Branch</translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">Neustart</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
@@ -998,6 +1927,168 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>SSH aktivieren</translation>
     </message>
 </context>
+<context>
+    <name>SunnylinkPanel</name>
+    <message>
+        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">KOPPELN</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation type="unfinished">Nicht verfügbar</translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to backup sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Back Up</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings backup completed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to restore the settings, try again later.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings restored. Confirm to restart the interface.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device ID</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TermsPage</name>
     <message>
@@ -1009,20 +2100,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>Zustimmen</translation>
     </message>
     <message>
-        <source>Welcome to openpilot</source>
-        <translation>Willkommen bei openpilot</translation>
+        <source>Welcome to sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation>Du musst die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden. Lies die aktuellen Bedingungen unter &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt;, bevor du fortfährst.</translation>
+        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>Openpilot aktivieren</translation>
-    </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
         <translation>Spurverlassenswarnungen aktivieren</translation>
@@ -1047,10 +2134,6 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
         <translation>Lade Daten der Fahreraufmerksamkeitsüberwachungskamera hoch, um die Fahreraufmerksamkeitsüberwachungsalgorithmen zu verbessern.</translation>
     </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>Wenn aktiviert, deaktiviert sich Openpilot sobald das Gaspedal betätigt wird.</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>Experimenteller Modus</translation>
@@ -1059,14 +2142,6 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Disengage on Accelerator Pedal</source>
         <translation>Bei Gasbetätigung ausschalten</translation>
     </message>
-    <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>Openpilot fährt standardmäßig im &lt;b&gt;entspannten Modus&lt;/b&gt;. Der Experimentelle Modus aktiviert&lt;b&gt;Alpha-level Funktionen&lt;/b&gt;, die noch nicht für den entspannten Modus bereit sind. Die experimentellen Funktionen sind die Folgenden:</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>Lass das Fahrmodell Gas und Bremse kontrollieren. Openpilot wird so fahren, wie es dies von einem Menschen erwarten würde; inklusive des Anhaltens für Ampeln und Stoppschildern. Da das Fahrmodell entscheidet wie schnell es fährt stellt die gesetzte Geschwindigkeit lediglich das obere Limit dar. Dies ist ein Alpha-level Funktion. Fehler sind zu erwarten.</translation>
-    </message>
     <message>
         <source>New Driving Visualization</source>
         <translation>Neue Fahrvisualisierung</translation>
@@ -1100,31 +2175,99 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>Die openpilot Längsregelung könnte in einem zukünftigen Update verfügbar sein.</translation>
     </message>
     <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>Eine Alpha-Version der openpilot Längsregelung kann zusammen mit dem Experimentellen Modus auf non-stable Branches getestet werden.</translation>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
+        <translation>Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten auf die nach vorne gerichtete Weitwinkelkamera, um Kurven besser darzustellen. Das Logo des Experimentellen Modus wird außerdem oben rechts angezeigt.</translation>
+    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation>Dauerhaft aktive Fahrerüberwachung</translation>
     </message>
     <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>Aktiviere den Schalter für openpilot Längsregelung (Alpha), um den Experimentellen Modus zu erlauben.</translation>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>Standard wird empfohlen. Im aggressiven Modus folgt openpilot vorausfahrenden Fahrzeugen enger und ist beim Gasgeben und Bremsen aggressiver. Im entspannten Modus hält openpilot mehr Abstand zu vorausfahrenden Fahrzeugen. Bei unterstützten Fahrzeugen kannst du mit der Abstandstaste am Lenkrad zwischen diesen Fahrstilen wechseln.</translation>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten auf die nach vorne gerichtete Weitwinkelkamera, um Kurven besser darzustellen. Das Logo des Experimentellen Modus wird außerdem oben rechts angezeigt.</translation>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Always-On Driver Monitoring</source>
-        <translation>Dauerhaft aktive Fahrerüberwachung</translation>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation>Fahrerüberwachung auch aktivieren, wenn openpilot nicht aktiv ist.</translation>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">Auswählen</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Abbrechen</translation>
+    </message>
+</context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1132,21 +2275,31 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Record and Upload Microphone Audio</source>
+        <source>Off</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <source>Distance</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Record Audio Feedback with LKAS button</source>
+        <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 79b10f316f02be..3814373c534ad5 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -103,6 +103,53 @@
         <translation>Evite cargas de grandes cantidades de datos cuando esté en una conexión Wi-Fi medida</translation>
     </message>
 </context>
+<context>
+    <name>AutoLaneChangeTimer</name>
+    <message>
+        <source>Auto Lane Change by Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudge</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudgeless</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -116,10 +163,6 @@
 </context>
 <context>
     <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>Debe aceptar los términos y condiciones para poder utilizar openpilot.</translation>
-    </message>
     <message>
         <source>Back</source>
         <translation>Atrás</translation>
@@ -128,6 +171,10 @@
         <source>Decline, uninstall %1</source>
         <translation>Rechazar, desinstalar %1</translation>
     </message>
+    <message>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DeveloperPanel</name>
@@ -147,10 +194,6 @@
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
         <translation>AVISO: el control longitudinal de openpilot está en fase experimental para este automóvil y desactivará el Frenado Automático de Emergencia (AEB).</translation>
     </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>En este automóvil, openpilot se configura de manera predeterminada con el Autocrucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de openpilot. Habilita esta opción para cambiar al control longitudinal de openpilot. Se recomienda activar el modo experimental al habilitar el control longitudinal de openpilot (aún en fase experimental).</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation>Activar ADB</translation>
@@ -159,6 +202,54 @@
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB (Android Debug Bridge) permite conectar a su dispositivo por USB o por red. Visite https://docs.comma.ai/how-to/connect-to-comma para más información.</translation>
     </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">VER</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -222,10 +313,6 @@
         <source>REVIEW</source>
         <translation>REVISAR</translation>
     </message>
-    <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>Revisar las reglas, características y limitaciones de openpilot</translation>
-    </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
         <translation>¿Seguro que quiere revisar la guía de entrenamiento?</translation>
@@ -302,10 +389,6 @@
         <source>Disengage to Reset Calibration</source>
         <translation>Desactivar para restablecer la calibración</translation>
     </message>
-    <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
-        <translation>openpilot requiere que el dispositivo esté montado dentro de los 4° hacia la izquierda o la derecha y dentro de los 5° hacia arriba o 9° hacia abajo.</translation>
-    </message>
     <message>
         <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation>Openpilot se calibra continuamente, por lo que rara vez es necesario reiniciarlo. Restablecer la calibración reiniciará Openpilot si el automóvil está encendido.</translation>
@@ -334,234 +417,962 @@ La calibración del retraso de la dirección está completa.</translation>
         <source> Steering torque response calibration is complete.</source>
         <translation> La calibración de la respuesta del par de dirección está completa.</translation>
     </message>
-</context>
-<context>
-    <name>DriverViewWindow</name>
-    <message>
-        <source>camera starting</source>
-        <translation>iniciando cámara</translation>
-    </message>
-</context>
-<context>
-    <name>ExperimentalModeButton</name>
     <message>
-        <source>EXPERIMENTAL MODE ON</source>
-        <translation>MODO EXPERIMENTAL</translation>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>CHILL MODE ON</source>
-        <translation>MODO CHILL</translation>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>FirehosePanel</name>
+    <name>DevicePanelSP</name>
     <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
-
-Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation>openpilot aprende a conducir observando a humanos, como tú, conducir.
-
-El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para mejorar los modelos de conducción de openpilot. Más datos significan modelos más grandes, lo que significa un mejor Modo Experimental.</translation>
+        <source>Quiet Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Firehose Mode: ACTIVE</source>
-        <translation>Modo Firehose: ACTIVO</translation>
+        <source>Driver Camera Preview</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>ACTIVE</source>
-        <translation>ACTIVO</translation>
+        <source>Training Guide</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation>Para máxima efectividad, traiga su dispositivo adentro y conéctelo a un buen adaptador USB-C y Wi-Fi semanalmente.&lt;br&gt;&lt;br&gt;El Modo Firehose también puede funcionar mientras conduce si está conectado a un punto de acceso o tarjeta SIM ilimitada.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Preguntas Frecuentes&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;¿Importa cómo o dónde conduzco?&lt;/i&gt; No, solo conduzca como lo haría normalmente.&lt;br&gt;&lt;br&gt;&lt;i&gt;¿Se extraen todos mis segmentos en el Modo Firehose?&lt;/i&gt; No, seleccionamos selectivamente un subconjunto de sus segmentos.&lt;br&gt;&lt;br&gt;&lt;i&gt;¿Qué es un buen adaptador USB-C?&lt;/i&gt; Cualquier cargador rápido de teléfono o portátil debería funcionar.&lt;br&gt;&lt;br&gt;&lt;i&gt;¿Importa qué software ejecuto?&lt;/i&gt; Sí, solo el openpilot original (y forks específicos) pueden usarse para el entrenamiento.</translation>
-    </message>
-    <message numerus="yes">
-        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
-        <translation>
-            <numerusform>&lt;b&gt;%n segmento&lt;/b&gt; de tu conducción está en el conjunto de datos de entrenamiento hasta ahora.</numerusform>
-            <numerusform>&lt;b&gt;%n segmentos&lt;/b&gt; de tu conducción están en el conjunto de datos de entrenamiento hasta ahora.</numerusform>
-        </translation>
+        <source>Regulatory</source>
+        <translation type="unfinished">Regulador</translation>
     </message>
     <message>
-        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVO&lt;/span&gt;: conéctate a una red sin límite de datos</translation>
+        <source>Language</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Firehose Mode</source>
-        <translation>Modo manguera contra incendios</translation>
+        <source>Reset Settings</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>HudRenderer</name>
     <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation type="unfinished">¿Seguro que quiere revisar la guía de entrenamiento?</translation>
     </message>
     <message>
-        <source>mph</source>
-        <translation>mph</translation>
+        <source>Review</source>
+        <translation type="unfinished">Revisar</translation>
     </message>
     <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
+        <source>Select a language</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>InputDialog</name>
     <message>
-        <source>Cancel</source>
-        <translation>Cancelar</translation>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
     </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>¡Necesita mínimo %n caracter!</numerusform>
-            <numerusform>¡Necesita mínimo %n caracteres!</numerusform>
-        </translation>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
     <message>
-        <source>Select</source>
-        <translation>Seleccionar</translation>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation>Cancelar</translation>
+        <source>Reboot</source>
+        <translation type="unfinished">Reiniciar</translation>
     </message>
-</context>
-<context>
-    <name>Networking</name>
     <message>
-        <source>Advanced</source>
-        <translation>Avanzado</translation>
+        <source>Power Off</source>
+        <translation type="unfinished">Apagar</translation>
     </message>
     <message>
-        <source>Enter password</source>
-        <translation>Ingresar contraseña</translation>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>para &quot;%1&quot;</translation>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Wrong password</source>
-        <translation>Contraseña incorrecta</translation>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>OffroadAlert</name>
     <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>La temperatura del dispositivo es muy alta. El sistema se está enfriando antes de iniciar. Temperatura actual del componente interno: %1</translation>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation>Conéctese inmediatamente al internet para buscar actualizaciones. Si no se conecta al internet, openpilot no iniciará en %1</translation>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>Conectese al internet para buscar actualizaciones. openpilot no iniciará automáticamente hasta conectarse al internet para buscar actualizaciones.</translation>
+        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Unable to download updates
-%1</source>
-        <translation>Incapaz de descargar actualizaciones.
-%1</translation>
+        <source>Reset</source>
+        <translation type="unfinished">Formatear</translation>
     </message>
     <message>
-        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation>Tomando capturas de las cámaras. El sistema no se iniciará hasta que finalice.</translation>
+        <source>The reset cannot be undone. You have been warned.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
-        <translation>Se está descargando una actualización del sistema operativo de su dispositivo en segundo plano. Se le pedirá que actualice cuando esté listo para instalarse.</translation>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>Unidad NVMe no montada.</translation>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot no pudo identificar su automóvil. Su automóvil no es compatible o no se reconocen sus ECU. Por favor haga un pull request para agregar las versiones de firmware del vehículo adecuado. ¿Necesita ayuda? Únase a discord.comma.ai.</translation>
+        <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation>openpilot detectó un cambio en la posición de montaje del dispositivo. Asegúrese de que el dispositivo esté completamente asentado en el soporte y que el soporte esté firmemente asegurado al parabrisas.</translation>
+        <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
+        <source>Controls state of the device after boot/sleep.</source>
         <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>DriveStats</name>
     <message>
-        <source>Acknowledge Excessive Actuation</source>
+        <source>Drives</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Snooze Update</source>
-        <translation type="unfinished">Posponer Actualización</translation>
+        <source>Hours</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <source>ALL TIME</source>
         <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>OffroadHome</name>
     <message>
-        <source>UPDATE</source>
-        <translation>ACTUALIZAR</translation>
+        <source>PAST WEEK</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> ALERTS</source>
-        <translation> ALERTAS</translation>
+        <source>KM</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> ALERT</source>
-        <translation> ALERTA</translation>
+        <source>Miles</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>OnroadAlerts</name>
-    <message>
-        <source>openpilot Unavailable</source>
-        <translation>openpilot no disponible</translation>
-    </message>
+    <name>DriverViewWindow</name>
     <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation>TOME CONTROL INMEDIATAMENTE</translation>
+        <source>camera starting</source>
+        <translation>iniciando cámara</translation>
     </message>
+</context>
+<context>
+    <name>ExitOffroadButton</name>
     <message>
-        <source>Reboot Device</source>
-        <translation>Reiniciar Dispositivo</translation>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Waiting to start</source>
-        <translation>Esperando para iniciar</translation>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>System Unresponsive</source>
-        <translation>Systema no responde</translation>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>PairingPopup</name>
+    <name>ExperimentalModeButton</name>
     <message>
-        <source>Pair your device to your comma account</source>
-        <translation>Empareje su dispositivo con su cuenta de comma</translation>
+        <source>EXPERIMENTAL MODE ON</source>
+        <translation>MODO EXPERIMENTAL</translation>
     </message>
     <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>Vaya a https://connect.comma.ai en su teléfono</translation>
+        <source>CHILL MODE ON</source>
+        <translation>MODO CHILL</translation>
     </message>
+</context>
+<context>
+    <name>FirehosePanel</name>
     <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>Seleccione &quot;agregar nuevo dispositivo&quot; y escanee el código QR a la derecha</translation>
+        <source>Firehose Mode: ACTIVE</source>
+        <translation>Modo Firehose: ACTIVO</translation>
     </message>
     <message>
-        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>Añada connect.comma.ai a su pantalla de inicio para usarlo como una aplicación</translation>
+        <source>ACTIVE</source>
+        <translation>ACTIVO</translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation>
+            <numerusform>&lt;b&gt;%n segmento&lt;/b&gt; de tu conducción está en el conjunto de datos de entrenamiento hasta ahora.</numerusform>
+            <numerusform>&lt;b&gt;%n segmentos&lt;/b&gt; de tu conducción están en el conjunto de datos de entrenamiento hasta ahora.</numerusform>
+        </translation>
+    </message>
+    <message>
+        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVO&lt;/span&gt;: conéctate a una red sin límite de datos</translation>
+    </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation>Modo manguera contra incendios</translation>
+    </message>
+    <message>
+        <source>sunnypilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+</context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+    <message numerus="yes">
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>¡Necesita mínimo %n caracter!</numerusform>
+            <numerusform>¡Necesita mínimo %n caracteres!</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>LaneChangeSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto Lane Change: Delay with Blind Spot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LateralPanel</name>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Lane Change</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MadsSettings</name>
+    <message>
+        <source>Toggle with Main Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unified Engagement Mode (UEM)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode on Brake Pedal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">SELECCIONAR</translation>
+    </message>
+    <message>
+        <source>Clear Model Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CLEAR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Formatear Calibración</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">Continuar</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation>Seleccionar</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <source>Advanced</source>
+        <translation>Avanzado</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>Ingresar contraseña</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>para &quot;%1&quot;</translation>
+    </message>
+    <message>
+        <source>Wrong password</source>
+        <translation>Contraseña incorrecta</translation>
+    </message>
+</context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>NeuralNetworkLateralControl</name>
+    <message>
+        <source>Neural Network Lateral Control (NNLC)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC is currently not available on this platform.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the car to check car compatibility</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Not Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exact</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fuzzy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>if there are any issues:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>and donate logs to get NNLC loaded for your car:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>La temperatura del dispositivo es muy alta. El sistema se está enfriando antes de iniciar. Temperatura actual del componente interno: %1</translation>
+    </message>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation>Incapaz de descargar actualizaciones.
+%1</translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>Tomando capturas de las cámaras. El sistema no se iniciará hasta que finalice.</translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>Se está descargando una actualización del sistema operativo de su dispositivo en segundo plano. Se le pedirá que actualice cuando esté listo para instalarse.</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>Unidad NVMe no montada.</translation>
+    </message>
+    <message>
+        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acknowledge Excessive Actuation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Snooze Update</source>
+        <translation type="unfinished">Posponer Actualización</translation>
+    </message>
+    <message>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <source>UPDATE</source>
+        <translation>ACTUALIZAR</translation>
+    </message>
+    <message>
+        <source> ALERTS</source>
+        <translation> ALERTAS</translation>
+    </message>
+    <message>
+        <source> ALERT</source>
+        <translation> ALERTA</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation>TOME CONTROL INMEDIATAMENTE</translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation>Reiniciar Dispositivo</translation>
+    </message>
+    <message>
+        <source>Waiting to start</source>
+        <translation>Esperando para iniciar</translation>
+    </message>
+    <message>
+        <source>System Unresponsive</source>
+        <translation>Systema no responde</translation>
+    </message>
+    <message>
+        <source>sunnypilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">VERIFICAR</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">SELECCIONAR</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">ACTUALIZAR</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <source>Pair your device to your comma account</source>
+        <translation>Empareje su dispositivo con su cuenta de comma</translation>
+    </message>
+    <message>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>Vaya a https://connect.comma.ai en su teléfono</translation>
+    </message>
+    <message>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>Seleccione &quot;agregar nuevo dispositivo&quot; y escanee el código QR a la derecha</translation>
+    </message>
+    <message>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>Añada connect.comma.ai a su pantalla de inicio para usarlo como una aplicación</translation>
     </message>
     <message>
         <source>Please connect to Wi-Fi to complete initial pairing</source>
@@ -579,6 +1390,96 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para
         <translation>Cancelar</translation>
     </message>
 </context>
+<context>
+    <name>ParamControlSP</name>
+    <message>
+        <source>Enable</source>
+        <translation type="unfinished">Activar</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
+</context>
+<context>
+    <name>PlatformSelector</name>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Search your vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCHING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation type="unfinished">ELIMINAR</translation>
+    </message>
+    <message>
+        <source>This setting will take effect immediately.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect once the device enters offroad state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
+    <message>
+        <source>No vehicles found for query: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
@@ -623,10 +1524,6 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
-    </message>
     <message>
         <source>now</source>
         <translation>ahora</translation>
@@ -652,6 +1549,10 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para
             <numerusform>hace %n días</numerusform>
         </translation>
     </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -685,110 +1586,66 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para
     </message>
 </context>
 <context>
-    <name>Setup</name>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>Algo ha ido mal. Reinicie el dispositivo.</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>Asegúrese de que la URL insertada es válida y que el dispositivo tiene buena conexión.</translation>
-    </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation>No encontramos software personalizado en esta URL.</translation>
-    </message>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>ALERTA: Voltaje bajo</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>Encienda su dispositivo en un auto con el arnés o proceda bajo su propio riesgo.</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>Apagar</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>Continuar</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>Comenzando</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>Antes de ponernos en marcha, terminemos la instalación y cubramos algunos detalles.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Conectarse al Wi-Fi</translation>
-    </message>
+    <name>SettingsWindowSP</name>
     <message>
-        <source>Back</source>
-        <translation>Volver</translation>
+        <source>×</source>
+        <translation type="unfinished">×</translation>
     </message>
     <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Continuar sin Wi-Fi</translation>
+        <source>Device</source>
+        <translation type="unfinished">Dispositivo</translation>
     </message>
     <message>
-        <source>Waiting for internet</source>
-        <translation>Esperando conexión a internet</translation>
+        <source>Network</source>
+        <translation type="unfinished">Red</translation>
     </message>
     <message>
-        <source>Choose Software to Install</source>
-        <translation>Elija el software a instalar</translation>
+        <source>sunnylink</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>Toggles</source>
+        <translation type="unfinished">Ajustes</translation>
     </message>
     <message>
-        <source>Custom Software</source>
-        <translation>Software personalizado</translation>
+        <source>Software</source>
+        <translation type="unfinished">Software</translation>
     </message>
     <message>
-        <source>Enter URL</source>
-        <translation>Insertar URL</translation>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>for Custom Software</source>
-        <translation>para Software personalizado</translation>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Downloading...</source>
-        <translation>Descargando...</translation>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Download Failed</source>
-        <translation>Descarga fallida</translation>
+        <source>Visuals</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reboot device</source>
-        <translation>Reiniciar Dispositivo</translation>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Start over</source>
-        <translation>Comenzar de nuevo</translation>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a language</source>
-        <translation>Seleccione un idioma</translation>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>WARNING: Custom Software</source>
-        <translation>ADVERTENCIA: Software personalizado</translation>
+        <source>Firehose</source>
+        <translation type="unfinished">Firehose</translation>
     </message>
     <message>
-        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
-
-If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
-        <translation>Tenga cuidado al instalar software de terceros. El software de terceros no ha sido probado por comma y puede causar daños a su dispositivo y/o vehículo.
-
-Si desea continuar, utilice https://flash.comma.ai para restaurar su dispositivo a un estado de fábrica más tarde.</translation>
+        <source>Developer</source>
+        <translation type="unfinished">Desarrollador</translation>
     </message>
 </context>
 <context>
@@ -869,16 +1726,43 @@ Si desea continuar, utilice https://flash.comma.ai para restaurar su dispositivo
         <translation>2G</translation>
     </message>
     <message>
-        <source>3G</source>
-        <translation>3G</translation>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SidebarSP</name>
+    <message>
+        <source>DISABLED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation type="unfinished">OFFLINE</translation>
+    </message>
+    <message>
+        <source>REGIST...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation type="unfinished">EN L�NEA</translation>
     </message>
     <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
+        <source>ERROR</source>
+        <translation type="unfinished">ERROR</translation>
     </message>
     <message>
-        <source>5G</source>
-        <translation>5G</translation>
+        <source>SUNNYLINK</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -956,6 +1840,49 @@ Si desea continuar, utilice https://flash.comma.ai para restaurar su dispositivo
         <translation>actualizado, último chequeo %1</translation>
     </message>
 </context>
+<context>
+    <name>SoftwarePanelSP</name>
+    <message>
+        <source>Search Branch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No branches found for keywords: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a branch</source>
+        <translation type="unfinished">Selecione una rama</translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">Reiniciar</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
@@ -1002,6 +1929,168 @@ Si desea continuar, utilice https://flash.comma.ai para restaurar su dispositivo
         <translation>Habilitar SSH</translation>
     </message>
 </context>
+<context>
+    <name>SunnylinkPanel</name>
+    <message>
+        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">EMPAREJAR</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation type="unfinished">N/A</translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to backup sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Back Up</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings backup completed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to restore the settings, try again later.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings restored. Confirm to restart the interface.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device ID</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TermsPage</name>
     <message>
@@ -1013,20 +2102,16 @@ Si desea continuar, utilice https://flash.comma.ai para restaurar su dispositivo
         <translation>Aceptar</translation>
     </message>
     <message>
-        <source>Welcome to openpilot</source>
-        <translation>Bienvenido a openpilot</translation>
+        <source>Welcome to sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation>Debe aceptar los Términos y Condiciones para usar openpilot. Lea los términos más recientes en &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; antes de continuar.</translation>
+        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>Activar openpilot</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>Modo Experimental</translation>
@@ -1035,10 +2120,6 @@ Si desea continuar, utilice https://flash.comma.ai para restaurar su dispositivo
         <source>Disengage on Accelerator Pedal</source>
         <translation>Desactivar con el Acelerador</translation>
     </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>Cuando esté activado, presionar el acelerador deshabilitará openpilot.</translation>
-    </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
         <translation>Activar Avisos de Salida de Carril</translation>
@@ -1051,10 +2132,6 @@ Si desea continuar, utilice https://flash.comma.ai para restaurar su dispositivo
         <source>Always-On Driver Monitoring</source>
         <translation>Monitoreo Permanente del Conductor</translation>
     </message>
-    <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation>Habilitar el monitoreo del conductor incluso cuando Openpilot no esté activado.</translation>
-    </message>
     <message>
         <source>Record and Upload Driver Camera</source>
         <translation>Grabar y Subir Cámara del Conductor</translation>
@@ -1087,22 +2164,10 @@ Si desea continuar, utilice https://flash.comma.ai para restaurar su dispositivo
         <source>Driving Personality</source>
         <translation>Personalidad de conducción</translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>Se recomienda el modo estándar. En el modo agresivo, openpilot seguirá más cerca a los autos delante suyo y será más agresivo con el acelerador y el freno. En modo relajado, openpilot se mantendrá más alejado de los autos delante suyo. En automóviles compatibles, puede recorrer estas personalidades con el botón de distancia del volante.</translation>
-    </message>
-    <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>openpilot por defecto conduce en &lt;b&gt;modo chill&lt;/b&gt;. El modo Experimental activa &lt;b&gt;funcionalidades en fase experimental&lt;/b&gt;, que no están listas para el modo chill. Las funcionalidades del modo expeimental están listados abajo:</translation>
-    </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
         <translation>Control Longitudinal de Punta a Punta</translation>
     </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>Dajar que el modelo de conducción controle la aceleración y el frenado. openpilot conducirá como piensa que lo haría una persona, incluiyendo parar en los semáforos en rojo y las señales de alto. Dado que el modelo decide la velocidad de conducción, la velocidad de crucero establecida solo actuará como el límite superior. Este recurso aún está en fase experimental; deberían esperarse errores.</translation>
-    </message>
     <message>
         <source>New Driving Visualization</source>
         <translation>Nueva Visualización de la conducción</translation>
@@ -1119,18 +2184,6 @@ Si desea continuar, utilice https://flash.comma.ai para restaurar su dispositivo
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation>El control longitudinal de openpilot podrá llegar en futuras actualizaciones.</translation>
     </message>
-    <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>Se puede probar una versión experimental del control longitudinal openpilot, junto con el modo Experimental, en ramas no liberadas.</translation>
-    </message>
-    <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>Activar el control longitudinal (fase experimental) para permitir el modo Experimental.</translation>
-    </message>
-    <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
-        <translation>Utilice el sistema openpilot para el control de crucero adaptativo y la asistencia al conductor para mantenerse en el carril. Se requiere su atención en todo momento para utilizar esta función.</translation>
-    </message>
     <message>
         <source> Changing this setting will restart openpilot if the car is powered on.</source>
         <translation> Cambiar esta configuración reiniciará Openpilot si el automóvil está encendido.</translation>
@@ -1153,6 +2206,104 @@ Si desea continuar, utilice https://flash.comma.ai para restaurar su dispositivo
 Note that this feature is only compatible with select cars.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">Seleccionar</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
+</context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"> Cambiar esta configuración reiniciará Openpilot si el automóvil está encendido.</translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index a4effb2a458c38..a86ac3ea64bbdc 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -103,6 +103,53 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>AutoLaneChangeTimer</name>
+    <message>
+        <source>Auto Lane Change by Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudge</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudgeless</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -116,10 +163,6 @@
 </context>
 <context>
     <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>Vous devez accepter les conditions générales pour utiliser openpilot.</translation>
-    </message>
     <message>
         <source>Back</source>
         <translation>Retour</translation>
@@ -128,6 +171,10 @@
         <source>Decline, uninstall %1</source>
         <translation>Refuser, désinstaller %1</translation>
     </message>
+    <message>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DeveloperPanel</name>
@@ -147,10 +194,6 @@
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
         <translation>ATTENTION : le contrôle longitudinal openpilot est en alpha pour cette voiture et désactivera le freinage d&apos;urgence automatique (AEB).</translation>
     </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>Sur cette voiture, openpilot utilise par défaut le régulateur de vitesse adaptatif intégré à la voiture plutôt que le contrôle longitudinal d&apos;openpilot. Activez ceci pour passer au contrôle longitudinal openpilot. Il est recommandé d&apos;activer le mode expérimental lors de l&apos;activation du contrôle longitudinal openpilot alpha.</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation type="unfinished"></translation>
@@ -159,6 +202,54 @@
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">VOIR</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -210,10 +301,6 @@
         <source>REVIEW</source>
         <translation>REVOIR</translation>
     </message>
-    <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>Revoir les règles, fonctionnalités et limitations d&apos;openpilot</translation>
-    </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
         <translation>Êtes-vous sûr de vouloir revoir le guide de formation ?</translation>
@@ -302,10 +389,6 @@
         <source>Disengage to Reset Calibration</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation type="unfinished"></translation>
@@ -330,247 +413,1067 @@ Steering lag calibration is complete.</source>
         <source> Steering torque response calibration is complete.</source>
         <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>DriverViewWindow</name>
-    <message>
-        <source>camera starting</source>
-        <translation>démarrage de la caméra</translation>
-    </message>
-</context>
-<context>
-    <name>ExperimentalModeButton</name>
     <message>
-        <source>EXPERIMENTAL MODE ON</source>
-        <translation>MODE EXPÉRIMENTAL ACTIVÉ</translation>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>CHILL MODE ON</source>
-        <translation>MODE DÉTENTE ACTIVÉ</translation>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>FirehosePanel</name>
+    <name>DevicePanelSP</name>
     <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
-
-Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <source>Quiet Mode</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Firehose Mode: ACTIVE</source>
+        <source>Driver Camera Preview</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>ACTIVE</source>
+        <source>Training Guide</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message numerus="yes">
-        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
-        <translation type="unfinished">
-            <numerusform></numerusform>
-            <numerusform></numerusform>
-        </translation>
+        <source>Regulatory</source>
+        <translation type="unfinished">Réglementaire</translation>
     </message>
     <message>
-        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
+        <source>Language</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Firehose Mode</source>
+        <source>Reset Settings</source>
         <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>HudRenderer</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
     <message>
-        <source>mph</source>
-        <translation>mi/h</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation type="unfinished">Êtes-vous sûr de vouloir revoir le guide de formation ?</translation>
     </message>
-</context>
-<context>
-    <name>InputDialog</name>
     <message>
-        <source>Cancel</source>
-        <translation>Annuler</translation>
-    </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>Besoin d&apos;au moins %n caractère !</numerusform>
-            <numerusform>Besoin d&apos;au moins %n caractères !</numerusform>
-        </translation>
+        <source>Review</source>
+        <translation type="unfinished">Revoir</translation>
     </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
     <message>
-        <source>Select</source>
-        <translation>Sélectionner</translation>
+        <source>Select a language</source>
+        <translation type="unfinished">Choisir une langue</translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation>Annuler</translation>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>Networking</name>
     <message>
-        <source>Advanced</source>
-        <translation>Avancé</translation>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enter password</source>
-        <translation>Entrer le mot de passe</translation>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>pour &quot;%1&quot;</translation>
+        <source>Reboot</source>
+        <translation type="unfinished">Redémarrer</translation>
     </message>
     <message>
-        <source>Wrong password</source>
-        <translation>Mot de passe incorrect</translation>
+        <source>Power Off</source>
+        <translation type="unfinished">Éteindre</translation>
     </message>
-</context>
-<context>
-    <name>OffroadAlert</name>
     <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>Température de l&apos;appareil trop élevée. Le système doit refroidir avant de démarrer. Température actuelle de l&apos;appareil : %1</translation>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation>Connectez-vous immédiatement à internet pour vérifier les mises à jour. Si vous ne vous connectez pas à internet, openpilot ne s&apos;engagera pas dans %1</translation>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>Connectez l&apos;appareil à internet pour vérifier les mises à jour. openpilot ne démarrera pas automatiquement tant qu&apos;il ne se connecte pas à internet pour vérifier les mises à jour.</translation>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Unable to download updates
-%1</source>
-        <translation>Impossible de télécharger les mises à jour
-%1</translation>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation>Capture de clichés photo. Le système ne démarrera pas tant qu&apos;il n&apos;est pas terminé.</translation>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
-        <translation>Une mise à jour du système d&apos;exploitation de votre appareil est en cours de téléchargement en arrière-plan. Vous serez invité à effectuer la mise à jour lorsqu&apos;elle sera prête à être installée.</translation>
+        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>Le disque NVMe n&apos;est pas monté.</translation>
+        <source>Reset</source>
+        <translation type="unfinished">Réinitialiser</translation>
     </message>
     <message>
-        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot n&apos;a pas pu identifier votre voiture. Votre voiture n&apos;est pas supportée ou ses ECUs ne sont pas reconnues. Veuillez soumettre un pull request pour ajouter les versions de firmware au véhicule approprié. Besoin d&apos;aide ? Rejoignez discord.comma.ai.</translation>
+        <source>The reset cannot be undone. You have been warned.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation>openpilot a détecté un changement dans la position de montage de l&apos;appareil. Assurez-vous que l&apos;appareil est totalement inséré dans le support et que le support est fermement fixé au pare-brise.</translation>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
+        <source>Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Acknowledge Excessive Actuation</source>
+        <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Snooze Update</source>
-        <translation type="unfinished">Reporter la mise à jour</translation>
+        <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <source>Controls state of the device after boot/sleep.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>OffroadHome</name>
-    <message>
-        <source>UPDATE</source>
-        <translation>MISE À JOUR</translation>
-    </message>
+    <name>DriveStats</name>
     <message>
-        <source> ALERTS</source>
-        <translation> ALERTES</translation>
+        <source>Drives</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> ALERT</source>
-        <translation> ALERTE</translation>
+        <source>Hours</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>OnroadAlerts</name>
     <message>
-        <source>openpilot Unavailable</source>
-        <translation>openpilot indisponible</translation>
+        <source>ALL TIME</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation>REPRENEZ LE CONTRÔLE IMMÉDIATEMENT</translation>
+        <source>PAST WEEK</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reboot Device</source>
-        <translation>Redémarrer l&apos;appareil</translation>
+        <source>KM</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Waiting to start</source>
-        <translation>En attente de démarrage</translation>
+        <source>Miles</source>
+        <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>DriverViewWindow</name>
     <message>
-        <source>System Unresponsive</source>
-        <translation>Système inopérant</translation>
+        <source>camera starting</source>
+        <translation>démarrage de la caméra</translation>
     </message>
 </context>
 <context>
-    <name>PairingPopup</name>
+    <name>ExitOffroadButton</name>
     <message>
-        <source>Pair your device to your comma account</source>
-        <translation>Associez votre appareil à votre compte comma</translation>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>Allez sur https://connect.comma.ai sur votre téléphone</translation>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>Cliquez sur &quot;ajouter un nouvel appareil&quot; et scannez le code QR à droite</translation>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>ExperimentalModeButton</name>
     <message>
-        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>Ajoutez connect.comma.ai à votre écran d&apos;accueil pour l&apos;utiliser comme une application</translation>
+        <source>EXPERIMENTAL MODE ON</source>
+        <translation>MODE EXPÉRIMENTAL ACTIVÉ</translation>
     </message>
     <message>
-        <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation>Connectez-vous au Wi-Fi pour terminer l&apos;appairage initial</translation>
+        <source>CHILL MODE ON</source>
+        <translation>MODE DÉTENTE ACTIVÉ</translation>
     </message>
 </context>
 <context>
-    <name>ParamControl</name>
+    <name>FirehosePanel</name>
     <message>
-        <source>Enable</source>
-        <translation>Activer</translation>
+        <source>Firehose Mode: ACTIVE</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation>Annuler</translation>
+        <source>ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation type="unfinished">
+            <numerusform></numerusform>
+            <numerusform></numerusform>
+        </translation>
+    </message>
+    <message>
+        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mi/h</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+</context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <source>Cancel</source>
+        <translation>Annuler</translation>
+    </message>
+    <message numerus="yes">
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>Besoin d&apos;au moins %n caractère !</numerusform>
+            <numerusform>Besoin d&apos;au moins %n caractères !</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>LaneChangeSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">Retour</translation>
+    </message>
+    <message>
+        <source>Auto Lane Change: Delay with Blind Spot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LateralPanel</name>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Lane Change</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MadsSettings</name>
+    <message>
+        <source>Toggle with Main Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unified Engagement Mode (UEM)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode on Brake Pedal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">SÉLECTIONNER</translation>
+    </message>
+    <message>
+        <source>Clear Model Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CLEAR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Réinitialiser la calibration</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">Continuer</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Annuler</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation>Sélectionner</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Annuler</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <source>Advanced</source>
+        <translation>Avancé</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>Entrer le mot de passe</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>pour &quot;%1&quot;</translation>
+    </message>
+    <message>
+        <source>Wrong password</source>
+        <translation>Mot de passe incorrect</translation>
+    </message>
+</context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>NeuralNetworkLateralControl</name>
+    <message>
+        <source>Neural Network Lateral Control (NNLC)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC is currently not available on this platform.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the car to check car compatibility</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Not Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exact</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fuzzy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>if there are any issues:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>and donate logs to get NNLC loaded for your car:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>Température de l&apos;appareil trop élevée. Le système doit refroidir avant de démarrer. Température actuelle de l&apos;appareil : %1</translation>
+    </message>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation>Impossible de télécharger les mises à jour
+%1</translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>Capture de clichés photo. Le système ne démarrera pas tant qu&apos;il n&apos;est pas terminé.</translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>Une mise à jour du système d&apos;exploitation de votre appareil est en cours de téléchargement en arrière-plan. Vous serez invité à effectuer la mise à jour lorsqu&apos;elle sera prête à être installée.</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>Le disque NVMe n&apos;est pas monté.</translation>
+    </message>
+    <message>
+        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acknowledge Excessive Actuation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Snooze Update</source>
+        <translation type="unfinished">Reporter la mise à jour</translation>
+    </message>
+    <message>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <source>UPDATE</source>
+        <translation>MISE À JOUR</translation>
+    </message>
+    <message>
+        <source> ALERTS</source>
+        <translation> ALERTES</translation>
+    </message>
+    <message>
+        <source> ALERT</source>
+        <translation> ALERTE</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation>REPRENEZ LE CONTRÔLE IMMÉDIATEMENT</translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation>Redémarrer l&apos;appareil</translation>
+    </message>
+    <message>
+        <source>Waiting to start</source>
+        <translation>En attente de démarrage</translation>
+    </message>
+    <message>
+        <source>System Unresponsive</source>
+        <translation>Système inopérant</translation>
+    </message>
+    <message>
+        <source>sunnypilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">VÉRIFIER</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">SÉLECTIONNER</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">MISE À JOUR</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <source>Pair your device to your comma account</source>
+        <translation>Associez votre appareil à votre compte comma</translation>
+    </message>
+    <message>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>Allez sur https://connect.comma.ai sur votre téléphone</translation>
+    </message>
+    <message>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>Cliquez sur &quot;ajouter un nouvel appareil&quot; et scannez le code QR à droite</translation>
+    </message>
+    <message>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>Ajoutez connect.comma.ai à votre écran d&apos;accueil pour l&apos;utiliser comme une application</translation>
+    </message>
+    <message>
+        <source>Please connect to Wi-Fi to complete initial pairing</source>
+        <translation>Connectez-vous au Wi-Fi pour terminer l&apos;appairage initial</translation>
+    </message>
+</context>
+<context>
+    <name>ParamControl</name>
+    <message>
+        <source>Enable</source>
+        <translation>Activer</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Annuler</translation>
+    </message>
+</context>
+<context>
+    <name>ParamControlSP</name>
+    <message>
+        <source>Enable</source>
+        <translation type="unfinished">Activer</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Annuler</translation>
+    </message>
+</context>
+<context>
+    <name>PlatformSelector</name>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Search your vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCHING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation type="unfinished">SUPPRIMER</translation>
+    </message>
+    <message>
+        <source>This setting will take effect immediately.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect once the device enters offroad state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Annuler</translation>
+    </message>
+    <message>
+        <source>No vehicles found for query: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -617,10 +1520,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
-    </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
         <translation>
@@ -646,6 +1545,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>now</source>
         <translation>maintenant</translation>
     </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -679,108 +1582,66 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
 </context>
 <context>
-    <name>Setup</name>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>Un problème est survenu. Redémarrez l&apos;appareil.</translation>
-    </message>
+    <name>SettingsWindowSP</name>
     <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>Assurez-vous que l&apos;URL saisie est valide et que la connexion internet de l&apos;appareil est bonne.</translation>
-    </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation>Aucun logiciel personnalisé trouvé à cette URL.</translation>
-    </message>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>ATTENTION : Tension faible</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>Alimentez votre appareil dans une voiture avec un harness ou continuez à vos risques et périls.</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>Éteindre</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>Continuer</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>Commencer</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>Avant de prendre la route, terminons l&apos;installation et passons en revue quelques détails.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Se connecter au Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Retour</translation>
+        <source>×</source>
+        <translation type="unfinished">×</translation>
     </message>
     <message>
-        <source>Enter URL</source>
-        <translation>Entrer l&apos;URL</translation>
+        <source>Device</source>
+        <translation type="unfinished">Appareil</translation>
     </message>
     <message>
-        <source>for Custom Software</source>
-        <translation>pour logiciel personnalisé</translation>
+        <source>Network</source>
+        <translation type="unfinished">Réseau</translation>
     </message>
     <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Continuer sans Wi-Fi</translation>
+        <source>sunnylink</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Waiting for internet</source>
-        <translation>En attente d&apos;internet</translation>
+        <source>Toggles</source>
+        <translation type="unfinished">Options</translation>
     </message>
     <message>
-        <source>Downloading...</source>
-        <translation>Téléchargement...</translation>
+        <source>Software</source>
+        <translation type="unfinished">Logiciel</translation>
     </message>
     <message>
-        <source>Download Failed</source>
-        <translation>Échec du téléchargement</translation>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reboot device</source>
-        <translation>Redémarrer l&apos;appareil</translation>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Start over</source>
-        <translation>Recommencer</translation>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a language</source>
-        <translation>Choisir une langue</translation>
+        <source>Visuals</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose Software to Install</source>
-        <translation>Choisir le logiciel à installer</translation>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Custom Software</source>
-        <translation>Logiciel personnalisé</translation>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>WARNING: Custom Software</source>
+        <source>Firehose</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
-
-If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
-        <translation type="unfinished"></translation>
+        <source>Developer</source>
+        <translation type="unfinished">Dév.</translation>
     </message>
 </context>
 <context>
@@ -861,16 +1722,43 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>2G</translation>
     </message>
     <message>
-        <source>3G</source>
-        <translation>3G</translation>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SidebarSP</name>
+    <message>
+        <source>DISABLED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation type="unfinished">HORS LIGNE</translation>
+    </message>
+    <message>
+        <source>REGIST...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation type="unfinished">EN LIGNE</translation>
     </message>
     <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
+        <source>ERROR</source>
+        <translation type="unfinished">ERREUR</translation>
     </message>
     <message>
-        <source>5G</source>
-        <translation>5G</translation>
+        <source>SUNNYLINK</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -948,6 +1836,49 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>à jour, dernière vérification %1</translation>
     </message>
 </context>
+<context>
+    <name>SoftwarePanelSP</name>
+    <message>
+        <source>Search Branch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No branches found for keywords: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a branch</source>
+        <translation type="unfinished">Sélectionner une branche</translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">Redémarrer</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
@@ -994,6 +1925,168 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>Activer SSH</translation>
     </message>
 </context>
+<context>
+    <name>SunnylinkPanel</name>
+    <message>
+        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">ASSOCIER</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation type="unfinished">N/A</translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to backup sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Back Up</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings backup completed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to restore the settings, try again later.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings restored. Confirm to restart the interface.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device ID</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TermsPage</name>
     <message>
@@ -1005,20 +2098,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>Accepter</translation>
     </message>
     <message>
-        <source>Welcome to openpilot</source>
+        <source>Welcome to sunnypilot</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>Activer openpilot</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>Mode expérimental</translation>
@@ -1027,10 +2116,6 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Disengage on Accelerator Pedal</source>
         <translation>Désengager avec la pédale d&apos;accélérateur</translation>
     </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>Lorsqu&apos;il est activé, appuyer sur la pédale d&apos;accélérateur désengagera openpilot.</translation>
-    </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
         <translation>Activer les avertissements de sortie de voie</translation>
@@ -1071,14 +2156,6 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Driving Personality</source>
         <translation>Personnalité de conduite</translation>
     </message>
-    <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>Par défaut, openpilot conduit en &lt;b&gt;mode détente&lt;/b&gt;. Le mode expérimental permet d&apos;activer des &lt;b&gt;fonctionnalités alpha&lt;/b&gt; qui ne sont pas prêtes pour le mode détente. Les fonctionnalités expérimentales sont listées ci-dessous :</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>Laissez le modèle de conduite contrôler l&apos;accélérateur et les freins. openpilot conduira comme il pense qu&apos;un humain le ferait, y compris s&apos;arrêter aux feux rouges et aux panneaux stop. Comme le modèle de conduite décide de la vitesse à adopter, la vitesse définie ne servira que de limite supérieure. Cette fonctionnalité est de qualité alpha ; des erreurs sont à prévoir.</translation>
-    </message>
     <message>
         <source>New Driving Visualization</source>
         <translation>Nouvelle visualisation de la conduite</translation>
@@ -1091,22 +2168,10 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation>Le contrôle longitudinal openpilot pourrait être disponible dans une future mise à jour.</translation>
     </message>
-    <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>Une version alpha du contrôle longitudinal openpilot peut être testée, avec le mode expérimental, sur des branches non publiées.</translation>
-    </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
         <translation>Contrôle longitudinal de bout en bout</translation>
     </message>
-    <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>Activer le contrôle longitudinal d&apos;openpilot (en alpha) pour autoriser le mode expérimental.</translation>
-    </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>Le mode Standard est recommandé. En mode Agressif, openpilot suivra les véhicules de plus près et sera plus dynamique avec l&apos;accélérateur et le frein. En mode Détendu, openpilot maintiendra une distance plus importante avec les véhicules qui précèdent. Sur les véhicules compatibles, vous pouvez alterner entre ces personnalités à l&apos;aide du bouton de distance au volant.</translation>
-    </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
         <translation>La visualisation de la conduite passera sur la caméra grand angle dirigée vers la route à faible vitesse afin de mieux montrer certains virages. Le logo du mode expérimental s&apos;affichera également dans le coin supérieur droit.</translation>
@@ -1115,14 +2180,6 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Always-On Driver Monitoring</source>
         <translation>Surveillance continue du conducteur</translation>
     </message>
-    <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation>Activer la surveillance conducteur lorsque openpilot n&apos;est pas actif.</translation>
-    </message>
-    <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source> Changing this setting will restart openpilot if the car is powered on.</source>
         <translation type="unfinished"></translation>
@@ -1145,6 +2202,104 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
 Note that this feature is only compatible with select cars.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">Sélectionner</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Annuler</translation>
+    </message>
+</context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 8d0b2cb75bcc1e..0da704cd474bb5 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -103,6 +103,53 @@
         <translation>通信制���るWi-Fi接続��大容�データをアップロード���ん</translation>
     </message>
 </context>
+<context>
+    <name>AutoLaneChangeTimer</name>
+    <message>
+        <source>Auto Lane Change by Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudge</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudgeless</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -116,10 +163,6 @@
 </context>
 <context>
     <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>openpilotを使用�る����利用�約����る必���り��</translation>
-    </message>
     <message>
         <source>Back</source>
         <translation>戻る</translation>
@@ -128,6 +171,10 @@
         <source>Decline, uninstall %1</source>
         <translation>�����(%1をアンインストール)</translation>
     </message>
+    <message>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DeveloperPanel</name>
@@ -147,10 +194,6 @@
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
         <translation>��車��openpilot�アクセル制御�アルファ版��り�自動緊急ブレーキ(AEB)�無効化�れ��。</translation>
     </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>��車���openpilot�車両内蔵�ACC(アダプティブクルーズコントロール)をデフォルト���使用��openpilot�アクセル制御�無効化�れ����。アクセル制御をopenpilot�切り替�る����設定を有効�������。���時�Experimentalモードを推奨���。</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation>ADBを有効��る</translation>
@@ -159,6 +202,54 @@
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB（Android Debug Bridge）�より�USB����ットワーク経由�デ�イス�接続����。詳細��https://docs.comma.ai/how-to/connect-to-comma を�照������。</translation>
     </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">確�</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -206,10 +297,6 @@
         <source>REVIEW</source>
         <translation>確�</translation>
     </message>
-    <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>openpilot�ルール�機能��よ�制�を確�������</translation>
-    </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
         <translation>トレーニングガイドを始��もよ������？</translation>
@@ -302,10 +389,6 @@
         <source>Disengage to Reset Calibration</source>
         <translation>キャリブレーションをリセット�る���転支�を解除��下��。</translation>
     </message>
-    <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
-        <translation>openpilot�本体�左�4°以内�上5°下9°以内�角度��付�る必���り��。</translation>
-    </message>
     <message>
         <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation>openpilot �継続的�キャリブレーションを行���り�リセット�必���る�����ん��り��ん。キャリブレーションをリセット�る��車�電��入���る場��openpilot��起動���。</translation>
@@ -334,236 +417,964 @@ Steering lag calibration is complete.</source>
         <source> Steering torque response calibration is complete.</source>
         <translation>ステアリングトルク応答�キャリブレーション完了。</translation>
     </message>
-</context>
-<context>
-    <name>DriverViewWindow</name>
-    <message>
-        <source>camera starting</source>
-        <translation>カメラ起動中</translation>
-    </message>
-</context>
-<context>
-    <name>ExperimentalModeButton</name>
     <message>
-        <source>EXPERIMENTAL MODE ON</source>
-        <translation>EXPERIMENTALモード</translation>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>CHILL MODE ON</source>
-        <translation>CHILLモード</translation>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>FirehosePanel</name>
-    <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
-
-Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation>openpilot�人間��る�����転�ら学��AI学習���。
-
-Firehoseモードを有効��る�学習データを最大�アップロード��openpilot��転モデルを改善�る�������。より多��データ�より大��モデル��り�Experimentalモード�精度を�上����。</translation>
-    </message>
-    <message>
-        <source>Firehose Mode: ACTIVE</source>
-        <translation>Firehoseモード: 作動中</translation>
-    </message>
+    <name>DevicePanelSP</name>
     <message>
-        <source>ACTIVE</source>
-        <translation>動作中</translation>
+        <source>Quiet Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation>最大�効果を得る����デ�イスを屋内���込��大容��USB-C充電器�Wi-Fi�毎週接続������。&lt;br&gt;&lt;br&gt;Firehoseモード�公衆無線LANや大容�契約�SIMカード�接続���れ���転中�も動作���。&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;よ��る質�(FAQ)&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;�転�やり方や走る場所������？&lt;/i&gt; ����普段��り��転�る���大丈夫��。&lt;br&gt;&lt;br&gt;&lt;i&gt;Firehoseモード��全��データ�アップロード�れ���？&lt;/i&gt; ����アップロード�るデータを���������。&lt;br&gt;&lt;br&gt;&lt;i&gt;大容��USB-C充電器��何���？&lt;/i&gt; スマートフォンやノートパソコンを高速�充電��るも�を使��下��。&lt;br&gt;&lt;br&gt;&lt;i&gt;��フォークを使��������？&lt;/i&gt;���トレーニング��公��openpilot(�よ�特定�フォーク)���使用����。</translation>
-    </message>
-    <message numerus="yes">
-        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
-        <translation>
-            <numerusform>�����転�&lt;b&gt;%nセグメント&lt;/b&gt;��れ���トレーニングデータ���れ����。</numerusform>
-        </translation>
+        <source>Driver Camera Preview</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;動作�止&lt;/span&gt;: 大容���ットワーク�接続������</translation>
+        <source>Training Guide</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Firehose Mode</source>
-        <translation>Firehoseモード</translation>
+        <source>Regulatory</source>
+        <translation type="unfinished">�約</translation>
     </message>
-</context>
-<context>
-    <name>HudRenderer</name>
     <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
+        <source>Language</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>mph</source>
-        <translation>mph</translation>
+        <source>Reset Settings</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>MAX</source>
-        <translation>最大速度</translation>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation type="unfinished">トレーニングガイドを始��もよ������？</translation>
     </message>
-</context>
-<context>
-    <name>InputDialog</name>
     <message>
-        <source>Cancel</source>
-        <translation>キャンセル</translation>
-    </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>%n文字以上���下���</numerusform>
-        </translation>
+        <source>Review</source>
+        <translation type="unfinished">見る</translation>
     </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
     <message>
-        <source>Select</source>
-        <translation>�択</translation>
+        <source>Select a language</source>
+        <translation type="unfinished">言語を�択</translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation>キャンセル</translation>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>Networking</name>
     <message>
-        <source>Advanced</source>
-        <translation>詳細</translation>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enter password</source>
-        <translation>パスワードを入力</translation>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>[%1]</translation>
+        <source>Reboot</source>
+        <translation type="unfinished">�起動</translation>
     </message>
     <message>
-        <source>Wrong password</source>
-        <translation>パスワード�����</translation>
+        <source>Power Off</source>
+        <translation type="unfinished">パワーオフ</translation>
     </message>
-</context>
-<context>
-    <name>OffroadAlert</name>
     <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation>インター�ット�接続��アップデートを確�������。未接続�����openpilotを使用�����り��。��[%1]</translation>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>インター�ット�接続��アップデートを確�������。接続�る��openpilot�使用����ん。</translation>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Unable to download updates
-%1</source>
-        <translation>更新をダウンロード����ん���
-%1</translation>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation>スナップショットを撮影中��。完了�る��システム�起動���ん。</translation>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
-        <translation>オペレーティングシステム��ックグラウンド�ダウンロード�れ����。インストール�準備�整��更新を促�れ��。</translation>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>SSDドライブ(NVMe)�マウント�れ����ん。</translation>
+        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot�車両を識別����ん���。車�未対応���ECU��識�れ�����能性��り��。該当車両�ファームウェア�ージョンを追加�る���プルリクエスト������。サ�ート�必��場�� discord.comma.ai ��加�る�������。</translation>
+        <source>Reset</source>
+        <translation type="unfinished">リセット</translation>
     </message>
     <message>
-        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation>openpilot�デ�イス��り付��置��れを検出����。デ�イス�固定�マウント�フロントガラス����り��り付�られ��る��を確�������。</translation>
+        <source>The reset cannot be undone. You have been warned.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>デ�イス�温度�高��る��システム起動��冷�中��。�在�デ�イス内部温度: %1</translation>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
-        <translation>製��comma.ai��登録�失敗����。��デ�イス�comma.ai�サー�ー�接続��りアップロードを行��り�る�������comma.ai�ら�サ�ートも��られ��ん。も�comma.ai/shop�購入��場���https://comma.ai/support ��サ�ート�ケットを��出����。</translation>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Acknowledge Excessive Actuation</source>
-        <translation>�剰�作動�検知</translation>
+        <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Snooze Update</source>
-        <translation>��後�更新�る</translation>
+        <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <source>Controls state of the device after boot/sleep.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>OffroadHome</name>
-    <message>
-        <source>UPDATE</source>
-        <translation>æ›´æ–°</translation>
-    </message>
+    <name>DriveStats</name>
     <message>
-        <source> ALERTS</source>
-        <translation> 警告</translation>
+        <source>Drives</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> ALERT</source>
-        <translation> 警告</translation>
+        <source>Hours</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>OnroadAlerts</name>
     <message>
-        <source>openpilot Unavailable</source>
-        <translation>openpilot�使用����ん</translation>
+        <source>ALL TIME</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation>直��車��転�戻��下��</translation>
+        <source>PAST WEEK</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reboot Device</source>
-        <translation>デ�イスを�起動������</translation>
+        <source>KM</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Waiting to start</source>
-        <translation>始動を待機�����</translation>
+        <source>Miles</source>
+        <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>DriverViewWindow</name>
     <message>
-        <source>System Unresponsive</source>
-        <translation>システム�応答���ん</translation>
+        <source>camera starting</source>
+        <translation>カメラ起動中</translation>
     </message>
 </context>
 <context>
-    <name>PairingPopup</name>
+    <name>ExitOffroadButton</name>
     <message>
-        <source>Pair your device to your comma account</source>
-        <translation>デ�イス�commaアカウントを連���下��</translation>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>スマートフォン� https://connect.comma.ai �アクセス������</translation>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>「add new device�を押�����QRコードをスキャン������</translation>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>ExperimentalModeButton</name>
     <message>
-        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>connect.comma.ai�サイトをホーム画��追加���アプリ�よ��使��������。</translation>
+        <source>EXPERIMENTAL MODE ON</source>
+        <translation>EXPERIMENTALモード</translation>
     </message>
     <message>
-        <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation>最��ペアリング�る���Wi-Fi�接続������</translation>
+        <source>CHILL MODE ON</source>
+        <translation>CHILLモード</translation>
+    </message>
+</context>
+<context>
+    <name>FirehosePanel</name>
+    <message>
+        <source>Firehose Mode: ACTIVE</source>
+        <translation>Firehoseモード: 作動中</translation>
+    </message>
+    <message>
+        <source>ACTIVE</source>
+        <translation>動作中</translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation>
+            <numerusform>�����転�&lt;b&gt;%nセグメント&lt;/b&gt;��れ���トレーニングデータ���れ����。</numerusform>
+        </translation>
+    </message>
+    <message>
+        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;動作�止&lt;/span&gt;: 大容���ットワーク�接続������</translation>
+    </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation>Firehoseモード</translation>
+    </message>
+    <message>
+        <source>sunnypilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>最大速度</translation>
+    </message>
+</context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <source>Cancel</source>
+        <translation>キャンセル</translation>
+    </message>
+    <message numerus="yes">
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>%n文字以上���下���</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>LaneChangeSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">戻る</translation>
+    </message>
+    <message>
+        <source>Auto Lane Change: Delay with Blind Spot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LateralPanel</name>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Lane Change</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MadsSettings</name>
+    <message>
+        <source>Toggle with Main Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unified Engagement Mode (UEM)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode on Brake Pedal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">�択</translation>
+    </message>
+    <message>
+        <source>Clear Model Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CLEAR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">キャリブレーションリセット</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">続�る</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">キャンセル</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation>�択</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>キャンセル</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <source>Advanced</source>
+        <translation>詳細</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>パスワードを入力</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>[%1]</translation>
+    </message>
+    <message>
+        <source>Wrong password</source>
+        <translation>パスワード�����</translation>
+    </message>
+</context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>NeuralNetworkLateralControl</name>
+    <message>
+        <source>Neural Network Lateral Control (NNLC)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC is currently not available on this platform.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the car to check car compatibility</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Not Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exact</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fuzzy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>if there are any issues:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>and donate logs to get NNLC loaded for your car:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation>更新をダウンロード����ん���
+%1</translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>スナップショットを撮影中��。完了�る��システム�起動���ん。</translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>オペレーティングシステム��ックグラウンド�ダウンロード�れ����。インストール�準備�整��更新を促�れ��。</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>SSDドライブ(NVMe)�マウント�れ����ん。</translation>
+    </message>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>デ�イス�温度�高��る��システム起動��冷�中��。�在�デ�イス内部温度: %1</translation>
+    </message>
+    <message>
+        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
+        <translation>製��comma.ai��登録�失敗����。��デ�イス�comma.ai�サー�ー�接続��りアップロードを行��り�る�������comma.ai�ら�サ�ートも��られ��ん。も�comma.ai/shop�購入��場���https://comma.ai/support ��サ�ート�ケットを��出����。</translation>
+    </message>
+    <message>
+        <source>Acknowledge Excessive Actuation</source>
+        <translation>�剰�作動�検知</translation>
+    </message>
+    <message>
+        <source>Snooze Update</source>
+        <translation>��後�更新�る</translation>
+    </message>
+    <message>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <source>UPDATE</source>
+        <translation>æ›´æ–°</translation>
+    </message>
+    <message>
+        <source> ALERTS</source>
+        <translation> 警告</translation>
+    </message>
+    <message>
+        <source> ALERT</source>
+        <translation> 警告</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation>直��車��転�戻��下��</translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation>デ�イスを�起動������</translation>
+    </message>
+    <message>
+        <source>Waiting to start</source>
+        <translation>始動を待機�����</translation>
+    </message>
+    <message>
+        <source>System Unresponsive</source>
+        <translation>システム�応答���ん</translation>
+    </message>
+    <message>
+        <source>sunnypilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">確�</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">�択</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">æ›´æ–°</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <source>Pair your device to your comma account</source>
+        <translation>デ�イス�commaアカウントを連���下��</translation>
+    </message>
+    <message>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>スマートフォン� https://connect.comma.ai �アクセス������</translation>
+    </message>
+    <message>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>「add new device�を押�����QRコードをスキャン������</translation>
+    </message>
+    <message>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>connect.comma.ai�サイトをホーム画��追加���アプリ�よ��使��������。</translation>
+    </message>
+    <message>
+        <source>Please connect to Wi-Fi to complete initial pairing</source>
+        <translation>最��ペアリング�る���Wi-Fi�接続������</translation>
     </message>
 </context>
 <context>
@@ -577,6 +1388,96 @@ Firehoseモードを有効��る�学習データを最大�アップロー
         <translation>有効��る</translation>
     </message>
 </context>
+<context>
+    <name>ParamControlSP</name>
+    <message>
+        <source>Enable</source>
+        <translation type="unfinished">有効��る</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">キャンセル</translation>
+    </message>
+</context>
+<context>
+    <name>PlatformSelector</name>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Search your vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCHING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation type="unfinished">削除</translation>
+    </message>
+    <message>
+        <source>This setting will take effect immediately.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect once the device enters offroad state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">キャンセル</translation>
+    </message>
+    <message>
+        <source>No vehicles found for query: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
@@ -621,10 +1522,6 @@ Firehoseモードを有効��る�学習データを最大�アップロー
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
-    </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
         <translation>
@@ -647,6 +1544,10 @@ Firehoseモードを有効��る�学習データを最大�アップロー
         <source>now</source>
         <translation>���今</translation>
     </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -680,110 +1581,66 @@ Firehoseモードを有効��る�学習データを最大�アップロー
     </message>
 </context>
 <context>
-    <name>Setup</name>
+    <name>SettingsWindowSP</name>
     <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>警告：電圧低下</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>�ー�スを使��車�デ�イス�電�を供給�る��自己責任�����継続��下��。</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>電�を切る</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>続�る</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>����</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>出発�る���インストールを完了���少�詳細を確����ょ�。</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Wi-Fi�接続</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>戻る</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Wi-Fi�接続���続行</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>インター�ット接続を待機中</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>URL�入力</translation>
+        <source>×</source>
+        <translation type="unfinished">×</translation>
     </message>
     <message>
-        <source>for Custom Software</source>
-        <translation>カスタムソフトウェア</translation>
+        <source>Device</source>
+        <translation type="unfinished">デ�イス</translation>
     </message>
     <message>
-        <source>Downloading...</source>
-        <translation>ダウンロード中...</translation>
+        <source>Network</source>
+        <translation type="unfinished">�ット</translation>
     </message>
     <message>
-        <source>Download Failed</source>
-        <translation>ダウンロード�失敗����</translation>
+        <source>sunnylink</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>入力�れ�URL�正�������インター�ット�正常�接続����る�を確�������。</translation>
+        <source>Toggles</source>
+        <translation type="unfinished">機能</translation>
     </message>
     <message>
-        <source>Reboot device</source>
-        <translation>デ�イスを�起動</translation>
+        <source>Software</source>
+        <translation type="unfinished">ソフト</translation>
     </message>
     <message>
-        <source>Start over</source>
-        <translation>やり直�</translation>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>No custom software found at this URL.</source>
-        <translation>��URL�カスタムソフトウェア���り��ん。</translation>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>何���題�発生����。デ�イスを�起動������。</translation>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a language</source>
-        <translation>言語を�択</translation>
+        <source>Visuals</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose Software to Install</source>
-        <translation>インストール�るソフトウェアを�択������。</translation>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Custom Software</source>
-        <translation>カスタムソフトウェア</translation>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>WARNING: Custom Software</source>
-        <translation>警告: カスタムソフトウェア</translation>
+        <source>Firehose</source>
+        <translation type="unfinished">データ学習</translation>
     </message>
     <message>
-        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
-
-If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
-        <translation>サードパーティ製ソフトウェアをインストール�る際�注�������。サードパーティ製ソフトウェア�comma�よ��テスト�れ��ら������デ�イスや車両��害を与�る�能性��り��。
-
-続行���場���後�デ�イスを工場出�時�状態�戻���� https://flash.comma.ai を使用������。</translation>
+        <source>Developer</source>
+        <translation type="unfinished">開発</translation>
     </message>
 </context>
 <context>
@@ -864,16 +1721,43 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>2G</translation>
     </message>
     <message>
-        <source>3G</source>
-        <translation>3G</translation>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SidebarSP</name>
+    <message>
+        <source>DISABLED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation type="unfinished">オフライン</translation>
+    </message>
+    <message>
+        <source>REGIST...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation type="unfinished">オンライン</translation>
     </message>
     <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
+        <source>ERROR</source>
+        <translation type="unfinished">エラー</translation>
     </message>
     <message>
-        <source>5G</source>
-        <translation>5G</translation>
+        <source>SUNNYLINK</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -951,6 +1835,49 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>無効</translation>
     </message>
 </context>
+<context>
+    <name>SoftwarePanelSP</name>
+    <message>
+        <source>Search Branch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No branches found for keywords: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a branch</source>
+        <translation type="unfinished">ブラン�を�択</translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">�起動</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
@@ -997,6 +1924,168 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>SSH�有効化</translation>
     </message>
 </context>
+<context>
+    <name>SunnylinkPanel</name>
+    <message>
+        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">OK</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation type="unfinished">該当��</translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to backup sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Back Up</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings backup completed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to restore the settings, try again later.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings restored. Confirm to restart the interface.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device ID</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TermsPage</name>
     <message>
@@ -1008,20 +2097,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>��</translation>
     </message>
     <message>
-        <source>Welcome to openpilot</source>
-        <translation>openpilot�よ���</translation>
+        <source>Welcome to sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation>openpilotを使用�る��利用�約����る必���り��。続行�る��最新��約を以下��確�����: &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt;</translation>
+        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>openpilotを有効化</translation>
-    </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
         <translation>車線逸脱警報�有効化</translation>
@@ -1050,22 +2135,10 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Disengage on Accelerator Pedal</source>
         <translation>アクセルを�む��転サ�ートを中断</translation>
     </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>��機能を有効化�る��openpilotを利用中�アクセルを�む�openpilot�よる�転サ�ートを中断���。</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>Experimentalモード</translation>
     </message>
-    <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>openpilot�標準��ゆ��り�����る�転を�供���。��Experimental(実験)モードを有効��る��以下�アグレッシブ�開発中�機能を利用�る事�����。</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>openpilot�アクセル�ブレーキを任���。openpilot�赤信�や一時�止サイン���止を���人間���よ��考���転を行���。openpilot��転速度を決定�る�������設定�る速度�上�速度��り��。��機能�実験段階����openpilot��転ミス�常�備��注�������。</translation>
-    </message>
     <message>
         <source>New Driving Visualization</source>
         <translation>新���転画�</translation>
@@ -1098,18 +2171,6 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation>openpilot�アクセル制御�将��アップデート�利用��る�能性��り��。</translation>
     </message>
-    <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>openpilot�アルファ版アクセル制御��Experimentalモード�共��リリース�ブラン��テスト�る�������。</translation>
-    </message>
-    <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>openpilot�アクセル制御機能(アルファ)を有効����Experimentalモードを許�������。</translation>
-    </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>標準モード�推奨�れ��。アグレッシブモード��openpilot�先行車�近���追従��アクセル�ブレーキ�より強気��り��。リラックスモード��openpilot�先行車�ら�離を���走行���。サ�ート�れ��る車両��ステアリングホイール��離ボタン��れら�モードを切り替�る�������。</translation>
-    </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
         <translation>�転時�画�効果����低速時�カーブをより良�表示�る����路用�広角カメラ�切り替�り��。��Experimentalモード�ロゴ��上隅�表示�れ��。</translation>
@@ -1118,14 +2179,6 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Always-On Driver Monitoring</source>
         <translation>�転者�常時モニタリング</translation>
     </message>
-    <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation>openpilot�作動�����場��も�転者モニタリングを有効��る。</translation>
-    </message>
-    <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
-        <translation>openpilotシステムを使用��アダプティブクルーズコントロール�よ�車線維�支�を行���。システム使用中�常�ドライ�ー�事故を起����よ��注�を払������。</translation>
-    </message>
     <message>
         <source> Changing this setting will restart openpilot if the car is powered on.</source>
         <translation>��設定を変更�る�車�電��入���る場��openpilot��起動���。</translation>
@@ -1148,6 +2201,104 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
 Note that this feature is only compatible with select cars.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">�択</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">キャンセル</translation>
+    </message>
+</context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished">��設定を変更�る�車�電��入���る場��openpilot��起動���。</translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 3cffab10b2f838..e5a7c413eea752 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -103,6 +103,53 @@
         <translation>제한� Wi-Fi 사용 시 대용량 ��터 업로드 방지</translation>
     </message>
 </context>
+<context>
+    <name>AutoLaneChangeTimer</name>
+    <message>
+        <source>Auto Lane Change by Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudge</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudgeless</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -116,10 +163,6 @@
 </context>
 <context>
     <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>오픈파�럿� 사용하려면 �용약관� ��해야 합니다.</translation>
-    </message>
     <message>
         <source>Back</source>
         <translation>뒤로</translation>
@@ -128,6 +171,10 @@
         <source>Decline, uninstall %1</source>
         <translation>거절, %1 제거</translation>
     </message>
+    <message>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DeveloperPanel</name>
@@ -147,10 +194,6 @@
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
         <translation>경고: 오픈파�럿 가�� 제어는 알파 기능으로 차량� ��긴급제�(AEB)기능� 작�하지 않습니다.</translation>
     </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>� 차량�서 오픈파�럿� 오픈파�럿 가�� 제어 대신 기본�으로 차량� ACC로 가��� 제어합니다. 오픈파�럿 가�� 제어로 전환하려면 � 기능� 활성화하세요. 오픈파�럿 가�� 제어 알파 기능� 활성화하는 경우 실험 모드 활성화를 권장합니다.</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation>ADB 사용</translation>
@@ -159,6 +202,54 @@
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB (안드로�드 디버그 브릿지) USB �는 네트워�를 통해 장치� 연결할 수 있습니다. �세한 내용� https://docs.comma.ai/how-to/connect-to-comma를 참조하세요.</translation>
     </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">보기</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -206,10 +297,6 @@
         <source>REVIEW</source>
         <translation>다시보기</translation>
     </message>
-    <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>오픈파�럿� 규칙, 기능 � 제한 다시 확�</translation>
-    </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
         <translation>트레�� 가�드를 다시 확�하시겠습니까?</translation>
@@ -302,10 +389,6 @@
         <source>Disengage to Reset Calibration</source>
         <translation>캘리브레�션� 재설정하려면 해제하세요</translation>
     </message>
-    <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
-        <translation>오픈파�럿 장치는 좌우측으로는 4° �는 위로는 5° 아래로는 9° �내� 장착해야합니다.</translation>
-    </message>
     <message>
         <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation>오픈파�럿� 지��으로 갤리브레�션�어 재설정� 거� 필요하지 않습니다. 차량과 연결� 경우 캘리브레�션 재설정� 오픈파�럿� 재시작합니다.</translation>
@@ -334,236 +417,964 @@ Steering lag calibration is complete.</source>
         <source> Steering torque response calibration is complete.</source>
         <translation> 조향 토� �답 캘리브레�션� 완료�었습니다.</translation>
     </message>
-</context>
-<context>
-    <name>DriverViewWindow</name>
-    <message>
-        <source>camera starting</source>
-        <translation>카메� 시작 중</translation>
-    </message>
-</context>
-<context>
-    <name>ExperimentalModeButton</name>
     <message>
-        <source>EXPERIMENTAL MODE ON</source>
-        <translation>실험 모드 사용</translation>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>CHILL MODE ON</source>
-        <translation>안정 모드 사용</translation>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>FirehosePanel</name>
-    <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
-
-Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation>오픈파�럿� 여러분과 같� 사람� 운전하는 모습� 보면서 운전하는 법� 배�니다.
-
-파�어호스 모드를 사용하면 학습 ��터 업로드를 최대화하여 오픈파�럿� 주행 모�� 개선할 수 있습니다. � 많� ��터는 � � 모�� �미하며, �는 � 나� 실험 모드를 �미합니다.</translation>
-    </message>
-    <message>
-        <source>Firehose Mode: ACTIVE</source>
-        <translation>파�어호스 모드: 활성화</translation>
-    </message>
+    <name>DevicePanelSP</name>
     <message>
-        <source>ACTIVE</source>
-        <translation>활성 �태</translation>
+        <source>Quiet Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation>최대한� 효과를 얻으려면 매주 장치를 실내로 가져와 좋� USB-C 충전기와 Wi-Fi� 연결하세요.&lt;br&gt;&lt;br&gt;파�어호스 모드는 핫스팟 �는 무제한 네트워�� 연결� 경우 주행 중�� 작�할 수 있습니다.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;�주 묻는 질문&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;운전 방법�나 장소가 중요한가요?&lt;/i&gt; 아니요, �소처럼 운전하시면 �니다.&lt;br&gt;&lt;br&gt;&lt;i&gt;파�어호스 모드�서 제 모든 구간� 가져오나요?&lt;br&gt;&lt;br&gt;&lt;i&gt; 아니요, 저�는 여러분� 구간 중 �부를 선별�으로 가져옵니다.&lt;br&gt;&lt;br&gt;&lt;i&gt;좋� USB-C 충전기는 무엇�가요?&lt;/i&gt; 휴대��나 노트�충전� 가능한 고� 충전기�면 괜찮습니다.&lt;br&gt;&lt;br&gt;&lt;i&gt;어떤 소프트웨어를 실행하는지가 중요한가요?&lt;/i&gt; 예, 오� 공� 오픈파�럿� 특정 ��만 트레��� 사용할 수 있습니다.</translation>
-    </message>
-    <message numerus="yes">
-        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
-        <translation>
-            <numerusform>&lt;b&gt;%n 구간&lt;/b&gt; � 운전� 지금까지� 학습 ��터셋� �함�어 있습니다.</numerusform>
-        </translation>
+        <source>Driver Camera Preview</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;비활성 �태&lt;/span&gt;: 무제한 네트워�� 연결 하세요</translation>
+        <source>Training Guide</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Firehose Mode</source>
-        <translation>파�어호스 모드</translation>
+        <source>Regulatory</source>
+        <translation type="unfinished">규제</translation>
     </message>
-</context>
-<context>
-    <name>HudRenderer</name>
     <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
+        <source>Language</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>mph</source>
-        <translation>mph</translation>
+        <source>Reset Settings</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation type="unfinished">트레�� 가�드를 다시 확�하시겠습니까?</translation>
     </message>
-</context>
-<context>
-    <name>InputDialog</name>
     <message>
-        <source>Cancel</source>
-        <translation>취소</translation>
-    </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>최소 %n� ���어야 합니다!</numerusform>
-        </translation>
+        <source>Review</source>
+        <translation type="unfinished">다시보기</translation>
     </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
     <message>
-        <source>Select</source>
-        <translation>선�</translation>
+        <source>Select a language</source>
+        <translation type="unfinished">언어를 선�하세요</translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation>취소</translation>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>Networking</name>
     <message>
-        <source>Advanced</source>
-        <translation>고급 설정</translation>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enter password</source>
-        <translation>비밀번호를 입력하세요</translation>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>&quot;%1&quot;� 접�하려면 비밀번호가 필요합니다</translation>
+        <source>Reboot</source>
+        <translation type="unfinished">재부팅</translation>
     </message>
     <message>
-        <source>Wrong password</source>
-        <translation>비밀번호가 틀렸습니다</translation>
+        <source>Power Off</source>
+        <translation type="unfinished">전� �기</translation>
     </message>
-</context>
-<context>
-    <name>OffroadAlert</name>
     <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation>즉시 �터넷� 연결하여 업��트를 확�하세요. �터넷� 연결�어 있지 않으면 %1 �후�는 오픈파�럿� 활성화�지 않습니다.</translation>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>업��트 확�� 위해 �터넷 연결� 필요합니다. 오픈파�럿� 업��트 확�� 위해 �터넷� 연결� 때까지 ��으로 시작�지 않습니다.</translation>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Unable to download updates
-%1</source>
-        <translation>업��트를 다운로드할 수 없습니다
-%1</translation>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation>카메� 스냅샷 �기가 완료� 때까지 시스템� 시작�지 않습니다.</translation>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
-        <translation>백그�운드�서 운� 체제� 대한 업��트가 다운로드�고 있습니다. 설치가 준비�면 업��트 메시지가 표시�니다.</translation>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>NVMe 드��브가 마운트�지 않았습니다.</translation>
+        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>오픈파�럿� 차량� �별할 수 없습니다. 지��지 않는 차량�거나 ECU가 ���지 않습니다. 해당 차량� 맞는 펌웨어 버전� 추가하려면 PR� 제출하세요. �움� 필요하시면 discord.comma.ai� 참여하세요.</translation>
+        <source>Reset</source>
+        <translation type="unfinished">초기화</translation>
     </message>
     <message>
-        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation>오픈파�럿 장치� 장착 위치가 변경�었습니다. 장치가 마운트� 완전히 장착�고 마운트가 앞유리� 단단히 고정�었는지 확�하세요. </translation>
+        <source>The reset cannot be undone. You have been warned.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>장치 온�가 너무 높습니다. 시작하기 전� 시스템� 냉�하고 있습니다. 현재 내부 구성 요소 온�: %1</translation>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
-        <translation>장치를 comma.ai 백엔드� 등�하지 못했습니다. comma.ai 서버� 연결하거나 업로드하지 않으며 comma.ai로부터 지��받지 않습니다. comma.ai shop�서 구매 한 장치 � 경우 https://comma.ai/support�서 티켓� 여십시오.</translation>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Acknowledge Excessive Actuation</source>
-        <translation>과�한 작�� �정하십시오</translation>
+        <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Snooze Update</source>
-        <translation>업��트 �시 중지</translation>
+        <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <source>Controls state of the device after boot/sleep.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>OffroadHome</name>
-    <message>
-        <source>UPDATE</source>
-        <translation>업��트</translation>
-    </message>
+    <name>DriveStats</name>
     <message>
-        <source> ALERTS</source>
-        <translation> 알림</translation>
+        <source>Drives</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> ALERT</source>
-        <translation> 알림</translation>
+        <source>Hours</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>OnroadAlerts</name>
     <message>
-        <source>openpilot Unavailable</source>
-        <translation>오픈파�럿� 사용할수없습니다</translation>
+        <source>ALL TIME</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation>핸들� 잡아주세요</translation>
+        <source>PAST WEEK</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reboot Device</source>
-        <translation>장치를 재부팅하세요</translation>
+        <source>KM</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Waiting to start</source>
-        <translation>시작� 기다리는중</translation>
+        <source>Miles</source>
+        <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>DriverViewWindow</name>
     <message>
-        <source>System Unresponsive</source>
-        <translation>시스템� �답하지않습니다</translation>
+        <source>camera starting</source>
+        <translation>카메� 시작 중</translation>
     </message>
 </context>
 <context>
-    <name>PairingPopup</name>
+    <name>ExitOffroadButton</name>
     <message>
-        <source>Pair your device to your comma account</source>
-        <translation>장치를 comma 계정� �기화합니다</translation>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>https://connect.comma.ai� 접�하세요</translation>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>&quot;새 장치 추가&quot;를 �릭하고 오른쪽 QR 코드를 스캔하세요</translation>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>ExperimentalModeButton</name>
     <message>
-        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>connect.comma.ai를 앱처럼 사용하려면 홈 화면� 바로가기를 만드세요</translation>
+        <source>EXPERIMENTAL MODE ON</source>
+        <translation>실험 모드 사용</translation>
     </message>
     <message>
-        <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation>초기 �기화를 완료하려면 Wi-Fi� 연결하세요.</translation>
+        <source>CHILL MODE ON</source>
+        <translation>안정 모드 사용</translation>
+    </message>
+</context>
+<context>
+    <name>FirehosePanel</name>
+    <message>
+        <source>Firehose Mode: ACTIVE</source>
+        <translation>파�어호스 모드: 활성화</translation>
+    </message>
+    <message>
+        <source>ACTIVE</source>
+        <translation>활성 �태</translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation>
+            <numerusform>&lt;b&gt;%n 구간&lt;/b&gt; � 운전� 지금까지� 학습 ��터셋� �함�어 있습니다.</numerusform>
+        </translation>
+    </message>
+    <message>
+        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;비활성 �태&lt;/span&gt;: 무제한 네트워�� 연결 하세요</translation>
+    </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation>파�어호스 모드</translation>
+    </message>
+    <message>
+        <source>sunnypilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+</context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <source>Cancel</source>
+        <translation>취소</translation>
+    </message>
+    <message numerus="yes">
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>최소 %n� ���어야 합니다!</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>LaneChangeSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">뒤로</translation>
+    </message>
+    <message>
+        <source>Auto Lane Change: Delay with Blind Spot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LateralPanel</name>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Lane Change</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MadsSettings</name>
+    <message>
+        <source>Toggle with Main Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unified Engagement Mode (UEM)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode on Brake Pedal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">선�</translation>
+    </message>
+    <message>
+        <source>Clear Model Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CLEAR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">캘리브레�션</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">계�</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">취소</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation>선�</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>취소</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <source>Advanced</source>
+        <translation>고급 설정</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>비밀번호를 입력하세요</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>&quot;%1&quot;� 접�하려면 비밀번호가 필요합니다</translation>
+    </message>
+    <message>
+        <source>Wrong password</source>
+        <translation>비밀번호가 틀렸습니다</translation>
+    </message>
+</context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>NeuralNetworkLateralControl</name>
+    <message>
+        <source>Neural Network Lateral Control (NNLC)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC is currently not available on this platform.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the car to check car compatibility</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Not Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exact</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fuzzy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>if there are any issues:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>and donate logs to get NNLC loaded for your car:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation>업��트를 다운로드할 수 없습니다
+%1</translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>카메� 스냅샷 �기가 완료� 때까지 시스템� 시작�지 않습니다.</translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>백그�운드�서 운� 체제� 대한 업��트가 다운로드�고 있습니다. 설치가 준비�면 업��트 메시지가 표시�니다.</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>NVMe 드��브가 마운트�지 않았습니다.</translation>
+    </message>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>장치 온�가 너무 높습니다. 시작하기 전� 시스템� 냉�하고 있습니다. 현재 내부 구성 요소 온�: %1</translation>
+    </message>
+    <message>
+        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
+        <translation>장치를 comma.ai 백엔드� 등�하지 못했습니다. comma.ai 서버� 연결하거나 업로드하지 않으며 comma.ai로부터 지��받지 않습니다. comma.ai shop�서 구매 한 장치 � 경우 https://comma.ai/support�서 티켓� 여십시오.</translation>
+    </message>
+    <message>
+        <source>Acknowledge Excessive Actuation</source>
+        <translation>과�한 작�� �정하십시오</translation>
+    </message>
+    <message>
+        <source>Snooze Update</source>
+        <translation>업��트 �시 중지</translation>
+    </message>
+    <message>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <source>UPDATE</source>
+        <translation>업��트</translation>
+    </message>
+    <message>
+        <source> ALERTS</source>
+        <translation> 알림</translation>
+    </message>
+    <message>
+        <source> ALERT</source>
+        <translation> 알림</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation>핸들� 잡아주세요</translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation>장치를 재부팅하세요</translation>
+    </message>
+    <message>
+        <source>Waiting to start</source>
+        <translation>시작� 기다리는중</translation>
+    </message>
+    <message>
+        <source>System Unresponsive</source>
+        <translation>시스템� �답하지않습니다</translation>
+    </message>
+    <message>
+        <source>sunnypilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">확�</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">선�</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">업��트</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <source>Pair your device to your comma account</source>
+        <translation>장치를 comma 계정� �기화합니다</translation>
+    </message>
+    <message>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>https://connect.comma.ai� 접�하세요</translation>
+    </message>
+    <message>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>&quot;새 장치 추가&quot;를 �릭하고 오른쪽 QR 코드를 스캔하세요</translation>
+    </message>
+    <message>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>connect.comma.ai를 앱처럼 사용하려면 홈 화면� 바로가기를 만드세요</translation>
+    </message>
+    <message>
+        <source>Please connect to Wi-Fi to complete initial pairing</source>
+        <translation>초기 �기화를 완료하려면 Wi-Fi� 연결하세요.</translation>
     </message>
 </context>
 <context>
@@ -577,6 +1388,96 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>활성화</translation>
     </message>
 </context>
+<context>
+    <name>ParamControlSP</name>
+    <message>
+        <source>Enable</source>
+        <translation type="unfinished">활성화</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">취소</translation>
+    </message>
+</context>
+<context>
+    <name>PlatformSelector</name>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Search your vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCHING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation type="unfinished">삭제</translation>
+    </message>
+    <message>
+        <source>This setting will take effect immediately.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect once the device enters offroad state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">취소</translation>
+    </message>
+    <message>
+        <source>No vehicles found for query: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
@@ -621,10 +1522,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>openpilot</source>
-        <translation>오픈파�럿</translation>
-    </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
         <translation>
@@ -647,6 +1544,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>now</source>
         <translation>now</translation>
     </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -680,110 +1581,66 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
 </context>
 <context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>경고: 전압� 낮습니다</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>장치를 하네스를 통해 차량 전�� 연결하세요. USB 전��서는 예�치 못한 문제가 �길 수 있습니다.</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>전� �기</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>계�</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>시작하기</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>출발 전 설정� 완료하고 세부 사항� 살펴봅니다.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Wi-Fi ì—°ê²°</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>뒤로</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Wi-Fi 연결 없� 진행</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>�터넷 연결 대기 중</translation>
-    </message>
+    <name>SettingsWindowSP</name>
     <message>
-        <source>Enter URL</source>
-        <translation>URL ìž…ë ¥</translation>
+        <source>×</source>
+        <translation type="unfinished">×</translation>
     </message>
     <message>
-        <source>for Custom Software</source>
-        <translation>커스텀 소프트웨어</translation>
+        <source>Device</source>
+        <translation type="unfinished">장치</translation>
     </message>
     <message>
-        <source>Downloading...</source>
-        <translation>다운로드 중...</translation>
+        <source>Network</source>
+        <translation type="unfinished">네트워�</translation>
     </message>
     <message>
-        <source>Download Failed</source>
-        <translation>다운로드 실패</translation>
+        <source>sunnylink</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>입력� URL� 유효하고 �터넷 연결� �활한지 확�하세요.</translation>
+        <source>Toggles</source>
+        <translation type="unfinished">토글</translation>
     </message>
     <message>
-        <source>Reboot device</source>
-        <translation>장치 재부팅</translation>
+        <source>Software</source>
+        <translation type="unfinished">소프트웨어</translation>
     </message>
     <message>
-        <source>Start over</source>
-        <translation>다시 시작</translation>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>문제가 발�했습니다. 장치를 재부팅하세요.</translation>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>No custom software found at this URL.</source>
-        <translation>� URL�서 커스텀 소프트웨어를 찾� 수 없습니다.</translation>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a language</source>
-        <translation>언어를 선�하세요</translation>
+        <source>Visuals</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose Software to Install</source>
-        <translation>설치할 소프트웨어 선�</translation>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>오픈파�럿</translation>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Custom Software</source>
-        <translation>커스텀 소프트웨어</translation>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>WARNING: Custom Software</source>
-        <translation>경고: 커스텀 소프트웨어</translation>
+        <source>Firehose</source>
+        <translation type="unfinished">파�어호스</translation>
     </message>
     <message>
-        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
-
-If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
-        <translation>타사 소프트웨어를 설치할 때는 주�하십시오. 타사 소프트웨어는 comma� �해 테스트�지 않았으며 장치나 차량� ��� 줄 수 있습니다.
-
-진행하려면 https://flash.comma.ai를 사용하여 나중� 장치를 공장 초기화하세요.</translation>
+        <source>Developer</source>
+        <translation type="unfinished">개발�</translation>
     </message>
 </context>
 <context>
@@ -864,16 +1721,43 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>2G</translation>
     </message>
     <message>
-        <source>3G</source>
-        <translation>3G</translation>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SidebarSP</name>
+    <message>
+        <source>DISABLED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation type="unfinished">연결 안�</translation>
+    </message>
+    <message>
+        <source>REGIST...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation type="unfinished">온��</translation>
     </message>
     <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
+        <source>ERROR</source>
+        <translation type="unfinished">오류</translation>
     </message>
     <message>
-        <source>5G</source>
-        <translation>5G</translation>
+        <source>SUNNYLINK</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -951,6 +1835,49 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>업��트 안함</translation>
     </message>
 </context>
+<context>
+    <name>SoftwarePanelSP</name>
+    <message>
+        <source>Search Branch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No branches found for keywords: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a branch</source>
+        <translation type="unfinished">브랜치 선�</translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">재부팅</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
@@ -997,6 +1924,168 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>SSH 사용</translation>
     </message>
 </context>
+<context>
+    <name>SunnylinkPanel</name>
+    <message>
+        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">�기화</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation type="unfinished">N/A</translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to backup sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Back Up</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings backup completed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to restore the settings, try again later.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings restored. Confirm to restart the interface.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device ID</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TermsPage</name>
     <message>
@@ -1008,20 +2097,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>��</translation>
     </message>
     <message>
-        <source>Welcome to openpilot</source>
-        <translation>오픈파�럿� 오신 것� 환�합니다.</translation>
+        <source>Welcome to sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation>오픈파�럿� 사용하려면 �용약관� ��해야 합니다. 최신 약관� &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; �서 최신 약관� �� 후 계�하세요.</translation>
+        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>오픈파�럿 사용</translation>
-    </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
         <translation>차선 �탈 경고 활성화</translation>
@@ -1050,22 +2135,10 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Disengage on Accelerator Pedal</source>
         <translation>가�페달 조작 시 해제</translation>
     </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>활성화� 경우 가� 페달� 밟으면 오픈파�럿� 해제�니다.</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>실험 모드</translation>
     </message>
-    <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>오픈파�럿� 기본�으로 &lt;b&gt;안정 모드&lt;/b&gt;로 주행합니다. 실험 모드는 안정화�지 않� &lt;b&gt;알파 수준� 기능&lt;/b&gt;� 활성화합니다. 실험 모드� 기능� 아래와 같습니다:</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>주행모�� 가��� 제어하�� 합니다. 오픈파�럿� 빨간불과 정지신호를 보고 정지하는것� �함하여 사람� 운전하는 방�대로 작�하며 주행 모�� ��를 결정하므로 설정 ��는 최대 제한 ��로만 작�합니다. �는 알파 수준� 기능�며 오류가 발�할수있으니 사용� 주�해야 합니다.</translation>
-    </message>
     <message>
         <source>New Driving Visualization</source>
         <translation>새로운 주행 시�화</translation>
@@ -1094,22 +2167,10 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Driving Personality</source>
         <translation>주행 모드</translation>
     </message>
-    <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>오픈파�럿 가�� 제어 알파 버전� 비 릴리즈 브랜치�서 실험 모드와 함께 테스트할 수 있습니다.</translation>
-    </message>
-    <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>실험 모드를 사용하려면 오픈파�럿 E2E 가�� 제어 (알파) 토글� 활성화하세요.</translation>
-    </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
         <translation>E2E 가�� 제어</translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>표준 모드를 권장합니다. 공격� 모드� 오픈파�럿� 선� 차량� � 가까� 따�가고 가��제어를 사용하여 �욱 공격�으로 움�입니다. 편안한 모드� 오픈파�럿� 선� 차량으로부터 � 멀리 떨어져 있습니다. 지��는 차량�서는 차간거리 버튼� 사용하여 �러한 특성� 순환할 수 있습니다.</translation>
-    </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
         <translation>운전 시�화는 �부 회전� � 잘 보여주기 위해 저��서 �로를 향한 광� 카메�로 전환�니다. 우측 �단� 실험 모드 로고가 표시�니다.</translation>
@@ -1118,14 +2179,6 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Always-On Driver Monitoring</source>
         <translation>�시 운전� 모니터�</translation>
     </message>
-    <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation>오픈파�럿� 활성화�지 않� 경우�� 드��버 모니터�� 활성화합니다.</translation>
-    </message>
-    <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
-        <translation>ACC � 차선 유지 지�� 위해 오픈파�럿 시스템� 사용하십시오. � 기능� 사용하려면 항�주�를 기울여야합니다.</translation>
-    </message>
     <message>
         <source> Changing this setting will restart openpilot if the car is powered on.</source>
         <translation> � 설정� 변경하면 차량� 재가��후 오픈파�럿� 시작�니다.</translation>
@@ -1148,6 +2201,104 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
 Note that this feature is only compatible with select cars.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">선�</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">취소</translation>
+    </message>
+</context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"> � 설정� 변경하면 차량� 재가��후 오픈파�럿� 시작�니다.</translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index e16872c758666b..8dde941e81ade8 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -103,6 +103,53 @@
         <translation>Previna o envio de grandes volumes de dados em conexões Wi-Fi com franquia de limite de dados</translation>
     </message>
 </context>
+<context>
+    <name>AutoLaneChangeTimer</name>
+    <message>
+        <source>Auto Lane Change by Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudge</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudgeless</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -116,10 +163,6 @@
 </context>
 <context>
     <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>Você precisa aceitar os Termos e Condições para utilizar openpilot.</translation>
-    </message>
     <message>
         <source>Back</source>
         <translation>Voltar</translation>
@@ -128,6 +171,10 @@
         <source>Decline, uninstall %1</source>
         <translation>Rejeitar, desintalar %1</translation>
     </message>
+    <message>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DeveloperPanel</name>
@@ -147,10 +194,6 @@
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
         <translation>AVISO: o controle longitudinal openpilot está em estado embrionário para este carro e desativará a Frenagem Automática de Emergência (AEB).</translation>
     </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>Neste carro, o openpilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do openpilot. Habilite isso para alternar para o controle longitudinal openpilot. Recomenda-se ativar o modo Experimental ao ativar o embrionário controle longitudinal openpilot.</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation>Habilitar ADB</translation>
@@ -159,6 +202,54 @@
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB (Android Debug Bridge) permite conectar ao seu dispositivo por meio do USB ou através da rede. Veja https://docs.comma.ai/how-to/connect-to-comma para maiores informações.</translation>
     </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">VER</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -206,10 +297,6 @@
         <source>REVIEW</source>
         <translation>REVISAR</translation>
     </message>
-    <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>Revisar regras, aprimoramentos e limitações do openpilot</translation>
-    </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
         <translation>Tem certeza que quer rever o treinamento?</translation>
@@ -302,10 +389,6 @@
         <source>Disengage to Reset Calibration</source>
         <translation>Desacione para Resetar a Calibração</translation>
     </message>
-    <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
-        <translation>O openpilot exige que o dispositivo seja montado dentro de 4° para a esquerda ou direita e dentro de 5° para cima ou 9° para baixo.</translation>
-    </message>
     <message>
         <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation>O openpilot está em constante calibração, raramente sendo necessário redefini-lo. Redefinir a calibração reiniciará o openpilot se o carro estiver ligado.</translation>
@@ -334,233 +417,961 @@ A calibração do atraso da direção foi concluída.</translation>
         <source> Steering torque response calibration is complete.</source>
         <translation> A calibração da resposta do torque da direção foi concluída.</translation>
     </message>
-</context>
-<context>
-    <name>DriverViewWindow</name>
-    <message>
-        <source>camera starting</source>
-        <translation>câmera iniciando</translation>
-    </message>
-</context>
-<context>
-    <name>ExperimentalModeButton</name>
     <message>
-        <source>EXPERIMENTAL MODE ON</source>
-        <translation>MODO EXPERIMENTAL ON</translation>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>CHILL MODE ON</source>
-        <translation>MODO CHILL ON</translation>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>FirehosePanel</name>
+    <name>DevicePanelSP</name>
     <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
-
-Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation>O openpilot aprende a dirigir observando humanos, como você, dirigirem.
-
-O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar os modelos de direção do openpilot. Mais dados significam modelos maiores, o que resulta em um Modo Experimental melhor.</translation>
+        <source>Quiet Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Firehose Mode: ACTIVE</source>
-        <translation>Modo Firehose: ATIVO</translation>
+        <source>Driver Camera Preview</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>ACTIVE</source>
-        <translation>ATIVO</translation>
+        <source>Training Guide</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation>Para maior eficácia, leve seu dispositivo para dentro de casa e conecte-o a um bom adaptador USB-C e Wi-Fi semanalmente.&lt;br&gt;&lt;br&gt;O Modo Firehose também pode funcionar enquanto você dirige, se estiver conectado a um hotspot ou a um chip SIM com dados ilimitados.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Perguntas Frequentes&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Importa como ou onde eu dirijo?&lt;/i&gt; Não, basta dirigir normalmente.&lt;br&gt;&lt;br&gt;&lt;i&gt;Todos os meus segmentos são enviados no Modo Firehose?&lt;/i&gt; Não, selecionamos apenas um subconjunto dos seus segmentos.&lt;br&gt;&lt;br&gt;&lt;i&gt;Qual é um bom adaptador USB-C?&lt;/i&gt; Qualquer carregador rápido de telefone ou laptop deve ser suficiente.&lt;br&gt;&lt;br&gt;&lt;i&gt;Importa qual software eu uso?&lt;/i&gt; Sim, apenas o openpilot oficial (e alguns forks específicos) podem ser usados para treinamento.</translation>
-    </message>
-    <message numerus="yes">
-        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
-        <translation>
-            <numerusform>&lt;b&gt;%n segmento&lt;/b&gt; da sua direção está no conjunto de dados de treinamento até agora.</numerusform>
-            <numerusform>&lt;b&gt;%n segmentos&lt;/b&gt; da sua direção estão no conjunto de dados de treinamento até agora.</numerusform>
-        </translation>
+        <source>Regulatory</source>
+        <translation type="unfinished">Regulatório</translation>
     </message>
     <message>
-        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INATIVO&lt;/span&gt;: conecte-se a uma rede sem limite &lt;br&gt; de dados</translation>
+        <source>Language</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Firehose Mode</source>
-        <translation>Modo Firehose</translation>
+        <source>Reset Settings</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>HudRenderer</name>
     <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation type="unfinished">Tem certeza que quer rever o treinamento?</translation>
     </message>
     <message>
-        <source>mph</source>
-        <translation>mph</translation>
+        <source>Review</source>
+        <translation type="unfinished">Revisar</translation>
     </message>
     <message>
-        <source>MAX</source>
-        <translation>LIMITE</translation>
+        <source>Select a language</source>
+        <translation type="unfinished">Selecione o Idioma</translation>
     </message>
-</context>
-<context>
-    <name>InputDialog</name>
     <message>
-        <source>Cancel</source>
-        <translation>Cancelar</translation>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
     </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>Necessita no mínimo %n caractere!</numerusform>
-            <numerusform>Necessita no mínimo %n caracteres!</numerusform>
-        </translation>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
     <message>
-        <source>Select</source>
-        <translation>Selecione</translation>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation>Cancelar</translation>
+        <source>Reboot</source>
+        <translation type="unfinished">Reiniciar</translation>
     </message>
-</context>
-<context>
-    <name>Networking</name>
     <message>
-        <source>Advanced</source>
-        <translation>Avançado</translation>
+        <source>Power Off</source>
+        <translation type="unfinished">Desligar</translation>
     </message>
     <message>
-        <source>Enter password</source>
-        <translation>Insira a senha</translation>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>para &quot;%1&quot;</translation>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Wrong password</source>
-        <translation>Senha incorreta</translation>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>OffroadAlert</name>
     <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation>Conecte-se imediatamente à internet para verificar se há atualizações. Se você não se conectar à internet em %1 não será possível acionar o openpilot.</translation>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>Conecte-se à internet para verificar se há atualizações. O openpilot não será iniciado automaticamente até que ele se conecte à internet para verificar se há atualizações.</translation>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Unable to download updates
-%1</source>
-        <translation>Não é possível baixar atualizações
-%1</translation>
+        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation>Tirando fotos da câmera. O sistema não será iniciado até terminar.</translation>
+        <source>Reset</source>
+        <translation type="unfinished">Resetar</translation>
     </message>
     <message>
-        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
-        <translation>Uma atualização para o sistema operacional do seu dispositivo está sendo baixada em segundo plano. Você será solicitado a atualizar quando estiver pronto para instalar.</translation>
+        <source>The reset cannot be undone. You have been warned.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>Unidade NVMe não montada.</translation>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>O openpilot não conseguiu identificar o seu carro. Seu carro não é suportado ou seus ECUs não são reconhecidos. Envie um pull request para adicionar as versões de firmware ao veículo adequado. Precisa de ajuda? Junte-se discord.comma.ai.</translation>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation>O openpilot detectou uma mudança na posição de montagem do dispositivo. Verifique se o dispositivo está totalmente encaixado no suporte e se o suporte está firmemente preso ao para-brisa.</translation>
+        <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>Temperatura do dispositivo muito alta. O sistema está sendo resfriado antes de iniciar. A temperatura atual do componente interno é: %1</translation>
+        <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
-        <translation>O dispositivo não conseguiu se registrar no backend da comma.ai. Ele não se conecta nem faz upload para os servidores da comma.ai e não recebe suporte da comma.ai. Se este for um dispositivo adquirido em comma.ai/shop, abra um ticket em https://comma.ai/support.</translation>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>DriveStats</name>
     <message>
-        <source>Acknowledge Excessive Actuation</source>
-        <translation>Reconhecer Atuação Excessiva</translation>
+        <source>Drives</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Snooze Update</source>
-        <translation>Adiar Atualização</translation>
+        <source>Hours</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <source>ALL TIME</source>
         <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>OffroadHome</name>
     <message>
-        <source>UPDATE</source>
-        <translation>ATUALIZAÇÃO</translation>
+        <source>PAST WEEK</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> ALERTS</source>
-        <translation> ALERTAS</translation>
+        <source>KM</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> ALERT</source>
-        <translation> ALERTA</translation>
+        <source>Miles</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>OnroadAlerts</name>
-    <message>
-        <source>openpilot Unavailable</source>
-        <translation>openpilot Indisponível</translation>
-    </message>
+    <name>DriverViewWindow</name>
     <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation>ASSUMA IMEDIATAMENTE</translation>
+        <source>camera starting</source>
+        <translation>câmera iniciando</translation>
     </message>
+</context>
+<context>
+    <name>ExitOffroadButton</name>
     <message>
-        <source>Reboot Device</source>
-        <translation>Reinicie o Dispositivo</translation>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Waiting to start</source>
-        <translation>Aguardando para iniciar</translation>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>System Unresponsive</source>
-        <translation>Sistema sem Resposta</translation>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>PairingPopup</name>
+    <name>ExperimentalModeButton</name>
     <message>
-        <source>Pair your device to your comma account</source>
-        <translation>Pareie seu dispositivo à sua conta comma</translation>
+        <source>EXPERIMENTAL MODE ON</source>
+        <translation>MODO EXPERIMENTAL ON</translation>
     </message>
     <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>navegue até https://connect.comma.ai no seu telefone</translation>
+        <source>CHILL MODE ON</source>
+        <translation>MODO CHILL ON</translation>
     </message>
+</context>
+<context>
+    <name>FirehosePanel</name>
     <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>Clique &quot;add new device&quot; e escaneie o QR code a seguir</translation>
+        <source>Firehose Mode: ACTIVE</source>
+        <translation>Modo Firehose: ATIVO</translation>
     </message>
     <message>
-        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <source>ACTIVE</source>
+        <translation>ATIVO</translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation>
+            <numerusform>&lt;b&gt;%n segmento&lt;/b&gt; da sua direção está no conjunto de dados de treinamento até agora.</numerusform>
+            <numerusform>&lt;b&gt;%n segmentos&lt;/b&gt; da sua direção estão no conjunto de dados de treinamento até agora.</numerusform>
+        </translation>
+    </message>
+    <message>
+        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INATIVO&lt;/span&gt;: conecte-se a uma rede sem limite &lt;br&gt; de dados</translation>
+    </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation>Modo Firehose</translation>
+    </message>
+    <message>
+        <source>sunnypilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>LIMITE</translation>
+    </message>
+</context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+    <message numerus="yes">
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>Necessita no mínimo %n caractere!</numerusform>
+            <numerusform>Necessita no mínimo %n caracteres!</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>LaneChangeSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">Voltar</translation>
+    </message>
+    <message>
+        <source>Auto Lane Change: Delay with Blind Spot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LateralPanel</name>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Lane Change</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MadsSettings</name>
+    <message>
+        <source>Toggle with Main Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unified Engagement Mode (UEM)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode on Brake Pedal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">SELECIONE</translation>
+    </message>
+    <message>
+        <source>Clear Model Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CLEAR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Reinicializar Calibragem</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">Continuar</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation>Selecione</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <source>Advanced</source>
+        <translation>Avançado</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>Insira a senha</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>para &quot;%1&quot;</translation>
+    </message>
+    <message>
+        <source>Wrong password</source>
+        <translation>Senha incorreta</translation>
+    </message>
+</context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>NeuralNetworkLateralControl</name>
+    <message>
+        <source>Neural Network Lateral Control (NNLC)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC is currently not available on this platform.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the car to check car compatibility</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Not Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exact</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fuzzy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>if there are any issues:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>and donate logs to get NNLC loaded for your car:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation>Não é possível baixar atualizações
+%1</translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>Tirando fotos da câmera. O sistema não será iniciado até terminar.</translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>Uma atualização para o sistema operacional do seu dispositivo está sendo baixada em segundo plano. Você será solicitado a atualizar quando estiver pronto para instalar.</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>Unidade NVMe não montada.</translation>
+    </message>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>Temperatura do dispositivo muito alta. O sistema está sendo resfriado antes de iniciar. A temperatura atual do componente interno é: %1</translation>
+    </message>
+    <message>
+        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
+        <translation>O dispositivo não conseguiu se registrar no backend da comma.ai. Ele não se conecta nem faz upload para os servidores da comma.ai e não recebe suporte da comma.ai. Se este for um dispositivo adquirido em comma.ai/shop, abra um ticket em https://comma.ai/support.</translation>
+    </message>
+    <message>
+        <source>Acknowledge Excessive Actuation</source>
+        <translation>Reconhecer Atuação Excessiva</translation>
+    </message>
+    <message>
+        <source>Snooze Update</source>
+        <translation>Adiar Atualização</translation>
+    </message>
+    <message>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <source>UPDATE</source>
+        <translation>ATUALIZAÇÃO</translation>
+    </message>
+    <message>
+        <source> ALERTS</source>
+        <translation> ALERTAS</translation>
+    </message>
+    <message>
+        <source> ALERT</source>
+        <translation> ALERTA</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation>ASSUMA IMEDIATAMENTE</translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation>Reinicie o Dispositivo</translation>
+    </message>
+    <message>
+        <source>Waiting to start</source>
+        <translation>Aguardando para iniciar</translation>
+    </message>
+    <message>
+        <source>System Unresponsive</source>
+        <translation>Sistema sem Resposta</translation>
+    </message>
+    <message>
+        <source>sunnypilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">VERIFICAR</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">SELECIONE</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">ATUALIZAÇÃO</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <source>Pair your device to your comma account</source>
+        <translation>Pareie seu dispositivo à sua conta comma</translation>
+    </message>
+    <message>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>navegue até https://connect.comma.ai no seu telefone</translation>
+    </message>
+    <message>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>Clique &quot;add new device&quot; e escaneie o QR code a seguir</translation>
+    </message>
+    <message>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
         <translation>Salve connect.comma.ai como sua página inicial para utilizar como um app</translation>
     </message>
     <message>
@@ -579,6 +1390,96 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar
         <translation>Ativar</translation>
     </message>
 </context>
+<context>
+    <name>ParamControlSP</name>
+    <message>
+        <source>Enable</source>
+        <translation type="unfinished">Ativar</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
+</context>
+<context>
+    <name>PlatformSelector</name>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Search your vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCHING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation type="unfinished">REMOVER</translation>
+    </message>
+    <message>
+        <source>This setting will take effect immediately.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect once the device enters offroad state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
+    <message>
+        <source>No vehicles found for query: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
@@ -623,10 +1524,6 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
-    </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
         <translation>
@@ -652,6 +1549,10 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar
         <source>now</source>
         <translation>agora</translation>
     </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -685,110 +1586,66 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar
     </message>
 </context>
 <context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>ALERTA: Baixa Voltagem</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>Ligue seu dispositivo em um carro com um chicote ou prossiga por sua conta e risco.</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>Desligar</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>Continuar</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>Começando</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>Antes de pegarmos a estrada, vamos terminar a instalação e cobrir alguns detalhes.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Conectar ao Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Voltar</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Continuar sem Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>Esperando pela internet</translation>
-    </message>
+    <name>SettingsWindowSP</name>
     <message>
-        <source>Enter URL</source>
-        <translation>Preencher URL</translation>
+        <source>×</source>
+        <translation type="unfinished">×</translation>
     </message>
     <message>
-        <source>for Custom Software</source>
-        <translation>para o Software Customizado</translation>
+        <source>Device</source>
+        <translation type="unfinished">Dispositivo</translation>
     </message>
     <message>
-        <source>Downloading...</source>
-        <translation>Baixando...</translation>
+        <source>Network</source>
+        <translation type="unfinished">Rede</translation>
     </message>
     <message>
-        <source>Download Failed</source>
-        <translation>Download Falhou</translation>
+        <source>sunnylink</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>Garanta que a URL inserida é valida, e uma boa conexão à internet.</translation>
+        <source>Toggles</source>
+        <translation type="unfinished">Ajustes</translation>
     </message>
     <message>
-        <source>Reboot device</source>
-        <translation>Reiniciar Dispositivo</translation>
+        <source>Software</source>
+        <translation type="unfinished">Software</translation>
     </message>
     <message>
-        <source>Start over</source>
-        <translation>Inicializar</translation>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>No custom software found at this URL.</source>
-        <translation>Não há software personalizado nesta URL.</translation>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>Algo deu errado. Reinicie o dispositivo.</translation>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a language</source>
-        <translation>Selecione o Idioma</translation>
+        <source>Visuals</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose Software to Install</source>
-        <translation>Escolha o Software a ser Instalado</translation>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Custom Software</source>
-        <translation>Software Customizado</translation>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>WARNING: Custom Software</source>
-        <translation>AVISO: Software Personalizado</translation>
+        <source>Firehose</source>
+        <translation type="unfinished">Firehose</translation>
     </message>
     <message>
-        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
-
-If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
-        <translation>Tenha cuidado ao instalar software de terceiros. Softwares de terceiros não foram testados pela comma e podem causar danos ao seu dispositivo e/ou veículo.
-
-Se quiser continuar, use https://flash.comma.ai para restaurar seu dispositivo ao estado de fábrica mais tarde.</translation>
+        <source>Developer</source>
+        <translation type="unfinished">Desenvdor</translation>
     </message>
 </context>
 <context>
@@ -869,16 +1726,43 @@ Se quiser continuar, use https://flash.comma.ai para restaurar seu dispositivo a
         <translation>2G</translation>
     </message>
     <message>
-        <source>3G</source>
-        <translation>3G</translation>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SidebarSP</name>
+    <message>
+        <source>DISABLED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation type="unfinished">OFFLINE</translation>
+    </message>
+    <message>
+        <source>REGIST...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation type="unfinished">ONLINE</translation>
     </message>
     <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
+        <source>ERROR</source>
+        <translation type="unfinished">ERRO</translation>
     </message>
     <message>
-        <source>5G</source>
-        <translation>5G</translation>
+        <source>SUNNYLINK</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -956,6 +1840,49 @@ Se quiser continuar, use https://flash.comma.ai para restaurar seu dispositivo a
         <translation>nunca</translation>
     </message>
 </context>
+<context>
+    <name>SoftwarePanelSP</name>
+    <message>
+        <source>Search Branch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No branches found for keywords: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a branch</source>
+        <translation type="unfinished">Selecione uma branch</translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">Reiniciar</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
@@ -1002,6 +1929,168 @@ Se quiser continuar, use https://flash.comma.ai para restaurar seu dispositivo a
         <translation>Habilitar SSH</translation>
     </message>
 </context>
+<context>
+    <name>SunnylinkPanel</name>
+    <message>
+        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">PAREAR</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation type="unfinished">N/A</translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to backup sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Back Up</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings backup completed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to restore the settings, try again later.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings restored. Confirm to restart the interface.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device ID</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TermsPage</name>
     <message>
@@ -1013,20 +2102,16 @@ Se quiser continuar, use https://flash.comma.ai para restaurar seu dispositivo a
         <translation>Concordo</translation>
     </message>
     <message>
-        <source>Welcome to openpilot</source>
-        <translation>Bem vindo ao openpilot</translation>
+        <source>Welcome to sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation>Você deve aceitar os Termos e Condições para usar o openpilot. Leia os termos mais recentes em &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; antes de continuar.</translation>
+        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>Ativar openpilot</translation>
-    </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
         <translation>Ativar Avisos de Saída de Faixa</translation>
@@ -1055,22 +2140,10 @@ Se quiser continuar, use https://flash.comma.ai para restaurar seu dispositivo a
         <source>Disengage on Accelerator Pedal</source>
         <translation>Desacionar com Pedal do Acelerador</translation>
     </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>Quando ativado, pressionar o pedal do acelerador desacionará o openpilot.</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>Modo Experimental</translation>
     </message>
-    <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>openpilot por padrão funciona em &lt;b&gt;modo chill&lt;/b&gt;. modo Experimental ativa &lt;b&gt;recursos de nível-embrionário&lt;/b&gt; que não estão prontos para o modo chill. Recursos experimentais estão listados abaixo:</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>Deixe o modelo de IA controlar o acelerador e os freios. O openpilot irá dirigir como pensa que um humano faria, incluindo parar em sinais vermelhos e sinais de parada. Uma vez que o modelo de condução decide a velocidade a conduzir, a velocidade definida apenas funcionará como um limite superior. Este é um recurso de qualidade embrionária; erros devem ser esperados.</translation>
-    </message>
     <message>
         <source>New Driving Visualization</source>
         <translation>Nova Visualização de Condução</translation>
@@ -1099,22 +2172,10 @@ Se quiser continuar, use https://flash.comma.ai para restaurar seu dispositivo a
         <source>Driving Personality</source>
         <translation>Temperamento de Direção</translation>
     </message>
-    <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>Uma versão embrionária do controle longitudinal openpilot pode ser testada em conjunto com o modo Experimental, em branches que não sejam de produção.</translation>
-    </message>
-    <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>Habilite o controle longitudinal (embrionário) openpilot para permitir o modo Experimental.</translation>
-    </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
         <translation>Controle Longitudinal de Ponta a Ponta</translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>Neutro é o recomendado. No modo disputa o openpilot seguirá o carro da frente mais de perto e será mais agressivo com a aceleração e frenagem. No modo calmo o openpilot se manterá mais longe do carro da frente. Em carros compatíveis, você pode alternar esses temperamentos com o botão de distância do volante.</translation>
-    </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
         <translation>A visualização de condução fará a transição para a câmera grande angular voltada para a estrada em baixas velocidades para mostrar melhor algumas curvas. O logotipo do modo Experimental também será mostrado no canto superior direito.</translation>
@@ -1123,14 +2184,6 @@ Se quiser continuar, use https://flash.comma.ai para restaurar seu dispositivo a
         <source>Always-On Driver Monitoring</source>
         <translation>Monitoramento do Motorista Sempre Ativo</translation>
     </message>
-    <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation>Habilite o monitoramento do motorista mesmo quando o openpilot não estiver acionado.</translation>
-    </message>
-    <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
-        <translation>Use o sistema openpilot para controle de cruzeiro adaptativo e assistência ao motorista de manutenção de faixa. Sua atenção é necessária o tempo todo para usar esse recurso.</translation>
-    </message>
     <message>
         <source> Changing this setting will restart openpilot if the car is powered on.</source>
         <translation> Alterar esta configuração fará com que o openpilot reinicie se o carro estiver ligado.</translation>
@@ -1153,6 +2206,104 @@ Se quiser continuar, use https://flash.comma.ai para restaurar seu dispositivo a
 Note that this feature is only compatible with select cars.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">Selecione</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
+</context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"> Alterar esta configuração fará com que o openpilot reinicie se o carro estiver ligado.</translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 87cb8bc2e2ad96..1292ef37fdd615 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -103,6 +103,53 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>AutoLaneChangeTimer</name>
+    <message>
+        <source>Auto Lane Change by Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudge</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudgeless</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -116,10 +163,6 @@
 </context>
 <context>
     <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>คุณต้องยอมรับเงื่อนไข�ละข้อต�ลง เพื่อใช้งาน openpilot</translation>
-    </message>
     <message>
         <source>Back</source>
         <translation>ย้อน�ลับ</translation>
@@ -128,6 +171,10 @@
         <source>Decline, uninstall %1</source>
         <translation>ป�ิเสธ �ละถอน�ารติดตั้ง %1</translation>
     </message>
+    <message>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DeveloperPanel</name>
@@ -147,10 +194,6 @@
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
         <translation>คำเตือน: �ารควบคุม�ารเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha �ละระบบเบรคฉุ�เฉินอัตโนมัติ (AEB) จะถู�ปิด</translation>
     </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>โดยป�ติสำหรับรถคันนี้ openpilot จะควบคุม�ารเร่ง/เบรคด้วยระบบ ACC จา�โรงงาน �ทน�ารควยคุมโดย openpilot เปิดสวิตซ์นี้เพื่อให้ openpilot ควบคุม�ารเร่ง/เบรค �นะนำให้เปิดโหมดทดลองเมื่อต้อง�ารให้ openpilot ควบคุม�ารเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation>เปิด ADB</translation>
@@ -159,6 +202,54 @@
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB (Android Debug Bridge) อนุ�าตให้เชื่อมต่ออุป�รณ์ของคุณผ่าน USB หรือผ่านเครือข่าย ดูข้อมูลเพิ่มเติมที่ https://docs.comma.ai/how-to/connect-to-comma</translation>
     </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">ดู</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -206,10 +297,6 @@
         <source>REVIEW</source>
         <translation>ทบทวน</translation>
     </message>
-    <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>ตรวจสอบ�ฎ คุณสมบัติ �ละข้อจำ�ัดของ openpilot</translation>
-    </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
         <translation>คุณ�น่ใจหรือไม่ว่าต้อง�ารทบทวนคู่มือ�ารใช้งาน?</translation>
@@ -302,10 +389,6 @@
         <source>Disengage to Reset Calibration</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation type="unfinished"></translation>
@@ -330,249 +413,1067 @@ Steering lag calibration is complete.</source>
         <source> Steering torque response calibration is complete.</source>
         <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>DriverViewWindow</name>
-    <message>
-        <source>camera starting</source>
-        <translation>�ำลังเปิด�ล้อง</translation>
-    </message>
-</context>
-<context>
-    <name>ExperimentalModeButton</name>
     <message>
-        <source>EXPERIMENTAL MODE ON</source>
-        <translation>คุณ�ำลังใช้โหมดทดลอง</translation>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>CHILL MODE ON</source>
-        <translation>คุณ�ำลังใช้โหมดชิล</translation>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>FirehosePanel</name>
-    <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
-
-Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation>openpilot เรียนรู้วิธีขับรถจา��ารเ�้าดู�ารขับขี่ของมนุษย์เช่นคุณ
-
-โหมดสายยางดับเพลิงช่วยให้คุณอัปโหลดข้อมูล�าร�ึ��นได้มา�ที่สุด เพื่อนำไปพัฒนาโมเดล�ารขับขี่ของ openpilot ข้อมูลที่มา�ขึ้นหมายถึงโมเดลที่ให�่ขึ้น �ละนั่นหมายถึงโหมดทดลองที่ดีขึ้น</translation>
-    </message>
+    <name>DevicePanelSP</name>
     <message>
-        <source>Firehose Mode: ACTIVE</source>
-        <translation>โหมดสายยางดับเพลิง: เปิดใช้งาน</translation>
+        <source>Quiet Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>ACTIVE</source>
-        <translation>เปิดใช้งาน</translation>
+        <source>Driver Camera Preview</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation>เพื่อประสิทธิภาพสูงสุด ควรนำอุป�รณ์เข้ามาข้างใน เชื่อมต่อ�ับอะ�ดปเตอร์ USB-C คุณภาพดี �ละ Wi-Fi สัปดาห์ละครั้ง&lt;br&gt;&lt;br&gt;โหมดสายยางดับเพลิงยังสามารถทำงานระหว่างขับรถได้ หา�เชื่อมต่อ�ับฮอตสปอตหรือซิม�าร์ดที่มีเน็ตไม่จำ�ัด&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;คำถามที่พบบ่อย&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;วิธี�ารขับหรือสถานที่ขับขี่มีผลหรือไม่?&lt;/i&gt;ไม่มีผล �ค่ขับขี่ตามป�ติของคุณ&lt;br&gt;&lt;br&gt;&lt;i&gt;เซ�เมนต์ทั้งหมดของฉันจะถู�ดึงข้อมูลในโหมดสายยางดับเพลิงหรือไม่?&lt;/i&gt;ไม่ใช่ เราจะเลือ�ดึงข้อมูลเพียงบางส่วนจา�เซ�เมนต์ของคุณ&lt;br&gt;&lt;br&gt;&lt;i&gt;อะ�ดปเตอร์ USB-C �บบไหนดี?&lt;/i&gt;ที่ชาร์จเร็วของโทรศัพท์หรือ�ล็ปท็อป�บบใด�็ได้ สามารถใช้ได้&lt;br&gt;&lt;br&gt;&lt;i&gt;ซอฟต์�วร์ที่ใช้มีผลหรือไม่?&lt;/i&gt;มีผล เฉพาะ openpilot ตัวหลั� (�ละ fork เฉพาะบางตัว) เท่านั้น ที่สามารถนำข้อมูลไปใช้�ึ��นโมเดลได้</translation>
-    </message>
-    <message numerus="yes">
-        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
-        <translation>
-            <numerusform>มี�ารขับขี่ของคุณ &lt;b&gt;%n เซ�เมนต์&lt;/b&gt; อยู่ในชุดข้อมูล�าร�ึ��น�ล้วในขณะนี้</numerusform>
-        </translation>
+        <source>Training Guide</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;ไม่เปิดใช้งาน&lt;/span&gt;: เชื่อมต่อ�ับเครือข่ายที่ไม่จำ�ัดข้อมูล</translation>
+        <source>Regulatory</source>
+        <translation type="unfinished">ระเบียบข้อบังคับ</translation>
     </message>
     <message>
-        <source>Firehose Mode</source>
+        <source>Language</source>
         <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>HudRenderer</name>
-    <message>
-        <source>km/h</source>
-        <translation>�ม./ชม.</translation>
-    </message>
     <message>
-        <source>mph</source>
-        <translation>ไมล์/ชม.</translation>
+        <source>Reset Settings</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>MAX</source>
-        <translation>สูงสุด</translation>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation type="unfinished">คุณ�น่ใจหรือไม่ว่าต้อง�ารทบทวนคู่มือ�ารใช้งาน?</translation>
     </message>
-</context>
-<context>
-    <name>InputDialog</name>
     <message>
-        <source>Cancel</source>
-        <translation>ย�เลิ�</translation>
-    </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>ต้อง�ารอย่างน้อย %n ตัวอั�ษร!</numerusform>
-        </translation>
+        <source>Review</source>
+        <translation type="unfinished">ทบทวน</translation>
     </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
     <message>
-        <source>Select</source>
-        <translation>เลือ�</translation>
+        <source>Select a language</source>
+        <translation type="unfinished">เลือ�ภาษา</translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation>ย�เลิ�</translation>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>Networking</name>
     <message>
-        <source>Advanced</source>
-        <translation>ขั้นสูง</translation>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enter password</source>
-        <translation>ใส่รหัสผ่าน</translation>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>สำหรับ &quot;%1&quot;</translation>
+        <source>Reboot</source>
+        <translation type="unfinished">รีบูต</translation>
     </message>
     <message>
-        <source>Wrong password</source>
-        <translation>รหัสผ่านผิด</translation>
+        <source>Power Off</source>
+        <translation type="unfinished">ปิดเครื่อง</translation>
     </message>
-</context>
-<context>
-    <name>OffroadAlert</name>
     <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>อุณหภูมิของอุป�รณ์สูงเ�ินไป ระบบ�ำลังทำความเย็น�่อนเริ่ม อุณหภูมิของชิ้นส่วนภายในปัจจุบัน: %1</translation>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation>�รุณาเชื่อมต่ออินเตอร์เน็ตเพื่อตรวจสอบอัปเดทเดี๋ยวนี้ ถ้าคุณไม่เชื่อมต่ออินเตอร์เน็ต openpilot จะไม่ทำงานในอี� %1</translation>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>�รุณาเชื่อมต่ออินเตอร์เน็ตเพื่อตรวจสอบอัปเดท openpilot จะไม่เริ่มทำงานอัตโนมัติจน�ว่าจะได้เชื่อมต่อ�ับอินเตอร์เน็ตเพื่อตรวจสอบอัปเดท</translation>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Unable to download updates
-%1</source>
-        <translation>ไม่สามารถดาวน์โหลดอัพเดทได้
-%1</translation>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation>�ล้อง�ำลังถ่ายภาพ ระบบจะไม่เริ่มทำงานจน�ว่าจะเสร็จ</translation>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
-        <translation>�ำลังดาวน์โหลดอัปเดทสำหรับระบบป�ิบัติ�ารอยู่เบื้องหลัง คุณจะได้รับ�าร�จ้งเตือนเมื่อระบบพร้อมสำหรับ�ารติดตั้ง</translation>
+        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>ไม่ได้ติดตั้งไดร์ฟ NVMe</translation>
+        <source>Reset</source>
+        <translation type="unfinished">รีเซ็ต</translation>
     </message>
     <message>
-        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot ไม่สามารถระบุรถยนต์ของคุณได้ ระบบอาจไม่รองรับรถยนต์ของคุณหรือไม่รู้จั� ECU �รุณาส่ง pull request เพื่อเพิ่มรุ่นของเฟิร์ม�วร์ให้�ับรถยนต์ที่เหมาะสม หา�ต้อง�ารความช่วยเหลือให้เข้าร่วม discord.comma.ai</translation>
+        <source>The reset cannot be undone. You have been warned.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation>openpilot ตรวจพบ�ารเปลี่ยน�ปลงของตำ�หน่งที่ติดตั้ง �รุณาตรวจสอบว่าได้เลื่อนอุป�รณ์เข้า�ับจุดติดตั้งจนสุด�ล้ว �ละจุดติดตั้งได้ยึดติด�ับ�ระจ�หน้าอย่าง�น่นหนา</translation>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
+        <source>Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Acknowledge Excessive Actuation</source>
+        <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Snooze Update</source>
-        <translation type="unfinished">เลื่อน�ารอัปเดต</translation>
+        <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <source>Controls state of the device after boot/sleep.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>OffroadHome</name>
+    <name>DriveStats</name>
     <message>
-        <source>UPDATE</source>
-        <translation>อัปเดต</translation>
-    </message>
-    <message>
-        <source> ALERTS</source>
-        <translation> �าร�จ้งเตือน</translation>
+        <source>Drives</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> ALERT</source>
-        <translation> �าร�จ้งเตือน</translation>
+        <source>Hours</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>OnroadAlerts</name>
     <message>
-        <source>openpilot Unavailable</source>
-        <translation>openpilot ไม่สามารถใช้งานได้</translation>
+        <source>ALL TIME</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation>เข้าควบคุมรถเดี๋ยวนี้</translation>
+        <source>PAST WEEK</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reboot Device</source>
-        <translation>รีบูตอุป�รณ์</translation>
+        <source>KM</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Waiting to start</source>
-        <translation>รอเริ่มทำงาน</translation>
+        <source>Miles</source>
+        <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>DriverViewWindow</name>
     <message>
-        <source>System Unresponsive</source>
-        <translation>ระบบไม่ตอบสนอง</translation>
+        <source>camera starting</source>
+        <translation>�ำลังเปิด�ล้อง</translation>
     </message>
 </context>
 <context>
-    <name>PairingPopup</name>
+    <name>ExitOffroadButton</name>
     <message>
-        <source>Pair your device to your comma account</source>
-        <translation>จับคู่อุป�รณ์ของคุณ�ับบั�ชี comma ของคุณ</translation>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>ไปที่ https://connect.comma.ai ด้วยโทรศัพท์ของคุณ</translation>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>�ดที่ &quot;add new device&quot; �ละส��นคิวอาร์โค้ดทางด้านขวา</translation>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>ExperimentalModeButton</name>
     <message>
-        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>จดจำ connect.comma.ai โดย�ารเพิ่มไปยังหน้าจอโฮม เพื่อใช้งานเหมือนเป็น�อปพลิเคชัน</translation>
+        <source>EXPERIMENTAL MODE ON</source>
+        <translation>คุณ�ำลังใช้โหมดทดลอง</translation>
     </message>
     <message>
-        <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation>�รุณาเชื่อมต่อ Wi-Fi เพื่อทำ�ารจับคู่ครั้ง�ร�ให้เสร็จสิ้น</translation>
+        <source>CHILL MODE ON</source>
+        <translation>คุณ�ำลังใช้โหมดชิล</translation>
     </message>
 </context>
 <context>
-    <name>ParamControl</name>
+    <name>FirehosePanel</name>
     <message>
-        <source>Enable</source>
-        <translation>เปิดใช้งาน</translation>
-    </message>
+        <source>Firehose Mode: ACTIVE</source>
+        <translation>โหมดสายยางดับเพลิง: เปิดใช้งาน</translation>
+    </message>
+    <message>
+        <source>ACTIVE</source>
+        <translation>เปิดใช้งาน</translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation>
+            <numerusform>มี�ารขับขี่ของคุณ &lt;b&gt;%n เซ�เมนต์&lt;/b&gt; อยู่ในชุดข้อมูล�าร�ึ��น�ล้วในขณะนี้</numerusform>
+        </translation>
+    </message>
+    <message>
+        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;ไม่เปิดใช้งาน&lt;/span&gt;: เชื่อมต่อ�ับเครือข่ายที่ไม่จำ�ัดข้อมูล</translation>
+    </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>�ม./ชม.</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>ไมล์/ชม.</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>สูงสุด</translation>
+    </message>
+</context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <source>Cancel</source>
+        <translation>ย�เลิ�</translation>
+    </message>
+    <message numerus="yes">
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>ต้อง�ารอย่างน้อย %n ตัวอั�ษร!</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>LaneChangeSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">ย้อน�ลับ</translation>
+    </message>
+    <message>
+        <source>Auto Lane Change: Delay with Blind Spot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LateralPanel</name>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Lane Change</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MadsSettings</name>
+    <message>
+        <source>Toggle with Main Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unified Engagement Mode (UEM)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode on Brake Pedal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">เลือ�</translation>
+    </message>
+    <message>
+        <source>Clear Model Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CLEAR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">รีเซ็ต�ารคาลิเบรท</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">ดำเนิน�ารต่อ</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">ย�เลิ�</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation>เลือ�</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>ย�เลิ�</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <source>Advanced</source>
+        <translation>ขั้นสูง</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>ใส่รหัสผ่าน</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>สำหรับ &quot;%1&quot;</translation>
+    </message>
+    <message>
+        <source>Wrong password</source>
+        <translation>รหัสผ่านผิด</translation>
+    </message>
+</context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>NeuralNetworkLateralControl</name>
+    <message>
+        <source>Neural Network Lateral Control (NNLC)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC is currently not available on this platform.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the car to check car compatibility</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Not Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exact</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fuzzy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>if there are any issues:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>and donate logs to get NNLC loaded for your car:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>อุณหภูมิของอุป�รณ์สูงเ�ินไป ระบบ�ำลังทำความเย็น�่อนเริ่ม อุณหภูมิของชิ้นส่วนภายในปัจจุบัน: %1</translation>
+    </message>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation>ไม่สามารถดาวน์โหลดอัพเดทได้
+%1</translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>�ล้อง�ำลังถ่ายภาพ ระบบจะไม่เริ่มทำงานจน�ว่าจะเสร็จ</translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>�ำลังดาวน์โหลดอัปเดทสำหรับระบบป�ิบัติ�ารอยู่เบื้องหลัง คุณจะได้รับ�าร�จ้งเตือนเมื่อระบบพร้อมสำหรับ�ารติดตั้ง</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>ไม่ได้ติดตั้งไดร์ฟ NVMe</translation>
+    </message>
+    <message>
+        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acknowledge Excessive Actuation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Snooze Update</source>
+        <translation type="unfinished">เลื่อน�ารอัปเดต</translation>
+    </message>
+    <message>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <source>UPDATE</source>
+        <translation>อัปเดต</translation>
+    </message>
+    <message>
+        <source> ALERTS</source>
+        <translation> �าร�จ้งเตือน</translation>
+    </message>
+    <message>
+        <source> ALERT</source>
+        <translation> �าร�จ้งเตือน</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation>เข้าควบคุมรถเดี๋ยวนี้</translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation>รีบูตอุป�รณ์</translation>
+    </message>
+    <message>
+        <source>Waiting to start</source>
+        <translation>รอเริ่มทำงาน</translation>
+    </message>
+    <message>
+        <source>System Unresponsive</source>
+        <translation>ระบบไม่ตอบสนอง</translation>
+    </message>
+    <message>
+        <source>sunnypilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">ตรวจสอบ</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">เลือ�</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">อัปเดต</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <source>Pair your device to your comma account</source>
+        <translation>จับคู่อุป�รณ์ของคุณ�ับบั�ชี comma ของคุณ</translation>
+    </message>
+    <message>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>ไปที่ https://connect.comma.ai ด้วยโทรศัพท์ของคุณ</translation>
+    </message>
+    <message>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>�ดที่ &quot;add new device&quot; �ละส��นคิวอาร์โค้ดทางด้านขวา</translation>
+    </message>
+    <message>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>จดจำ connect.comma.ai โดย�ารเพิ่มไปยังหน้าจอโฮม เพื่อใช้งานเหมือนเป็น�อปพลิเคชัน</translation>
+    </message>
+    <message>
+        <source>Please connect to Wi-Fi to complete initial pairing</source>
+        <translation>�รุณาเชื่อมต่อ Wi-Fi เพื่อทำ�ารจับคู่ครั้ง�ร�ให้เสร็จสิ้น</translation>
+    </message>
+</context>
+<context>
+    <name>ParamControl</name>
+    <message>
+        <source>Enable</source>
+        <translation>เปิดใช้งาน</translation>
+    </message>
     <message>
         <source>Cancel</source>
         <translation>ย�เลิ�</translation>
     </message>
 </context>
+<context>
+    <name>ParamControlSP</name>
+    <message>
+        <source>Enable</source>
+        <translation type="unfinished">เปิดใช้งาน</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">ย�เลิ�</translation>
+    </message>
+</context>
+<context>
+    <name>PlatformSelector</name>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Search your vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCHING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation type="unfinished">ลบ</translation>
+    </message>
+    <message>
+        <source>This setting will take effect immediately.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect once the device enters offroad state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">ย�เลิ�</translation>
+    </message>
+    <message>
+        <source>No vehicles found for query: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
@@ -617,10 +1518,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
-    </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
         <translation>
@@ -643,6 +1540,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>now</source>
         <translation>ตอนนี้</translation>
     </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -676,108 +1577,66 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
 </context>
 <context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>คำเตือน: �รงดัน�บตเตอรี่ต่ำ</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>โปรดต่ออุป�รณ์ของคุณเข้า�ับสายควบคุมในรถยนต์ หรือดำเนิน�ารด้วยความเสี่ยงของคุณเอง</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>ปิดเครื่อง</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>ดำเนิน�ารต่อ</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>เริ่ม�ันเลย</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>�่อนออ�เดินทาง เรามาทำ�ารติดตั้งซอฟต์�วร์ �ละตรวจสอบ�ารตั้งค่า</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>เชื่อมต่อ Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>ย้อน�ลับ</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>ดำเนิน�ารต่อโดยไม่ใช้ Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>�ำลังรอสั��าณอินเตอร์เน็ต</translation>
-    </message>
+    <name>SettingsWindowSP</name>
     <message>
-        <source>Enter URL</source>
-        <translation>ป้อน URL</translation>
+        <source>×</source>
+        <translation type="unfinished">×</translation>
     </message>
     <message>
-        <source>for Custom Software</source>
-        <translation>สำหรับซอฟต์�วร์ที่�ำหนดเอง</translation>
+        <source>Device</source>
+        <translation type="unfinished">อุป�รณ์</translation>
     </message>
     <message>
-        <source>Downloading...</source>
-        <translation>�ำลังดาวน์โหลด...</translation>
+        <source>Network</source>
+        <translation type="unfinished">เครือข่าย</translation>
     </message>
     <message>
-        <source>Download Failed</source>
-        <translation>ดาวน์โหลดล้มเหลว</translation>
+        <source>sunnylink</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>ตรวจสอบให้�น่ใจว่า URL ที่ป้อนนั้นถู�ต้อง �ละอุป�รณ์เชื่อมต่ออินเทอร์เน็ตอยู่</translation>
+        <source>Toggles</source>
+        <translation type="unfinished">ตัวเลือ�</translation>
     </message>
     <message>
-        <source>Reboot device</source>
-        <translation>รีบูตอุป�รณ์</translation>
+        <source>Software</source>
+        <translation type="unfinished">ซอฟต์�วร์</translation>
     </message>
     <message>
-        <source>Start over</source>
-        <translation>เริ่มต้นใหม่</translation>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>มีบางอย่างผิดพลาด รีบูตอุป�รณ์</translation>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>No custom software found at this URL.</source>
-        <translation>ไม่พบซอฟต์�วร์ที่�ำหนดเองที่ URL นี้</translation>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a language</source>
-        <translation>เลือ�ภาษา</translation>
+        <source>Visuals</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose Software to Install</source>
-        <translation>เลือ�ซอฟต์�วร์ที่จะติดตั้ง</translation>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Custom Software</source>
-        <translation>ซอฟต์�วร์ที่�ำหนดเอง</translation>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>WARNING: Custom Software</source>
-        <translation type="unfinished"></translation>
+        <source>Firehose</source>
+        <translation type="unfinished">สายยางดับเพลิง</translation>
     </message>
     <message>
-        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
-
-If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
-        <translation type="unfinished"></translation>
+        <source>Developer</source>
+        <translation type="unfinished">นั�พัฒนา</translation>
     </message>
 </context>
 <context>
@@ -862,12 +1721,39 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>3G</translation>
     </message>
     <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SidebarSP</name>
+    <message>
+        <source>DISABLED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation type="unfinished">ออฟไลน์</translation>
+    </message>
+    <message>
+        <source>REGIST...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation type="unfinished">ออนไลน์</translation>
+    </message>
+    <message>
+        <source>ERROR</source>
+        <translation type="unfinished">เ�ิดข้อผิดพลาด</translation>
     </message>
     <message>
-        <source>5G</source>
-        <translation>5G</translation>
+        <source>SUNNYLINK</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -945,6 +1831,49 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>ล่าสุด�ล้ว ตรวจสอบครั้งสุดท้ายเมื่อ %1</translation>
     </message>
 </context>
+<context>
+    <name>SoftwarePanelSP</name>
+    <message>
+        <source>Search Branch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No branches found for keywords: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a branch</source>
+        <translation type="unfinished">เลือ� Branch</translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">รีบูต</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
@@ -991,6 +1920,168 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>เปิดใช้งาน SSH</translation>
     </message>
 </context>
+<context>
+    <name>SunnylinkPanel</name>
+    <message>
+        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">จับคู่</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation type="unfinished">ไม่มี</translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to backup sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Back Up</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings backup completed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to restore the settings, try again later.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings restored. Confirm to restart the interface.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device ID</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TermsPage</name>
     <message>
@@ -1002,20 +2093,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>ยอมรับ</translation>
     </message>
     <message>
-        <source>Welcome to openpilot</source>
-        <translation>ยินดีต้อนรับสู่ openpilot</translation>
+        <source>Welcome to sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation>คุณต้องยอมรับข้อ�ำหนด�ละเงื่อนไขเพื่อใช้งาน openpilot อ่านข้อ�ำหนดล่าสุดได้ที่ &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; �่อนดำเนิน�ารต่อ</translation>
+        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>เปิดใช้งาน openpilot</translation>
-    </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
         <translation>เปิดใช้งาน�ารเตือน�ารออ�นอ�เลน</translation>
@@ -1044,22 +2131,10 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Disengage on Accelerator Pedal</source>
         <translation>ย�เลิ�ระบบช่วยขับเมื่อเหยียบคันเร่ง</translation>
     </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>เมื่อเปิดใช้งาน �าร�ด�ป้นคันเร่งจะเป็น�ารย�เลิ�ระบบช่วยขับโดย openpilot</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>โหมดทดลอง</translation>
     </message>
-    <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>โดยป�ติ openpilot จะขับใน&lt;b&gt;โหมดชิล&lt;/b&gt; เปิดโหมดทดลองเพื่อใช้&lt;b&gt;ความสามารถในขั้นพัฒนา&lt;/b&gt; ซึ่งยังไม่พร้อมสำหรับโหมดชิล ความสามารถในขั้นพัฒนามีดังนี้:</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>ให้ openpilot ควบคุม�ารเร่ง/เบรค โดย openpilot จะขับอย่างที่มนุษย์คิด รวมถึง�ารหยุดที่ไฟ�ดง �ละป้ายหยุดรถ เนื่องจา� openpilot จะ�ำหนดความเร็วใน�ารขับด้วยตัวเอง �ารตั้งความเร็วจะเป็นเพียง�าร�ำหนดความเร็วสูงสูดเท่านั้น ความสามารถนี้ยังอยู่ในขั้นพัฒนา อาจเ�ิดข้อผิดพลาดขึ้นได้</translation>
-    </message>
     <message>
         <source>New Driving Visualization</source>
         <translation>�าร�สดงภาพ�ารขับขี่�บบใหม่</translation>
@@ -1088,22 +2163,10 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Driving Personality</source>
         <translation>บุคลิ��ารขับขี่</translation>
     </message>
-    <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>ระบบควบคุม�ารเร่ง/เบรคโดย openpilot เวอร์ชัน alpha สามารถทดสอบได้พร้อม�ับโหมด�ารทดลอง บน branch ที่�ำลังพัฒนา</translation>
-    </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
         <translation>ควบคุมเร่ง/เบรค�บบ End-to-End</translation>
     </message>
-    <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>เปิดระบบควบคุม�ารเร่ง/เบรคโดย openpilot (alpha) เพื่อเปิดใช้งานโหมดทดลอง</translation>
-    </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>�นะนำให้ใช้�บบมาตร�าน ในโหมดดุดัน openpilot จะตามรถคันหน้าใ�ล้ขึ้น�ละเร่ง�ละเบรค�บบดุดันมา�ขึ้น ในโหมดผ่อนคลาย openpilot จะอยู่ห่างจา�รถคันหน้ามา�ขึ้น ในรถรุ่นที่รองรับคุณสามารถเปลี่ยนบุคลิ�ไป�บบต่าง ๆ โดยใช้ปุ่มปรับระยะห่างบนพวงมาลัย</translation>
-    </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
         <translation>�าร�สดงภาพ�ารขับขี่จะเปลี่ยนไปใช้�ล้องมุม�ว้างที่หันหน้าไปทางถนนเมื่ออยู่ในความเร็วต่ำ เพื่อ�สดงภาพ�ารเลี้ยวที่ดีขึ้น โลโ�้โหมด�ารทดลองจะ�สดงที่มุมบนขวาด้วย</translation>
@@ -1112,14 +2175,6 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Always-On Driver Monitoring</source>
         <translation>�ารเ�้าระวังผู้ขับขี่ตลอดเวลา</translation>
     </message>
-    <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation>เปิดใช้งาน�ารเ�้าระวังผู้ขับขี่�ม้เมื่อ openpilot ไม่ได้เข้าควบคุมอยู่</translation>
-    </message>
-    <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source> Changing this setting will restart openpilot if the car is powered on.</source>
         <translation type="unfinished"></translation>
@@ -1142,6 +2197,104 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
 Note that this feature is only compatible with select cars.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">เลือ�</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">ย�เลิ�</translation>
+    </message>
+</context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 6112698e319578..6b5a03bc704723 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -103,6 +103,53 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>AutoLaneChangeTimer</name>
+    <message>
+        <source>Auto Lane Change by Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudge</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudgeless</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -116,10 +163,6 @@
 </context>
 <context>
     <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>Openpilotu kullanmak için Kullanıcı Koşullarını kabul etmelisiniz.</translation>
-    </message>
     <message>
         <source>Back</source>
         <translation>Geri</translation>
@@ -128,6 +171,10 @@
         <source>Decline, uninstall %1</source>
         <translation>Reddet, Kurulumu kaldır. %1</translation>
     </message>
+    <message>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DeveloperPanel</name>
@@ -148,15 +195,59 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>Enable ADB</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enable ADB</source>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
     <message>
-        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">BAK</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -206,10 +297,6 @@
         <source>REVIEW</source>
         <translation>GÖZDEN GEÇİR</translation>
     </message>
-    <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>openpilot sisteminin kurallarını ve sınırlamalarını gözden geçirin.</translation>
-    </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
         <translation>Eğitim kılavuzunu incelemek istediğinizden emin misiniz?</translation>
@@ -302,10 +389,6 @@
         <source>Disengage to Reset Calibration</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation type="unfinished"></translation>
@@ -330,270 +413,1090 @@ Steering lag calibration is complete.</source>
         <source> Steering torque response calibration is complete.</source>
         <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>DriverViewWindow</name>
-    <message>
-        <source>camera starting</source>
-        <translation>kamera başlatılıyor</translation>
-    </message>
-</context>
-<context>
-    <name>ExperimentalModeButton</name>
     <message>
-        <source>EXPERIMENTAL MODE ON</source>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>CHILL MODE ON</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>FirehosePanel</name>
+    <name>DevicePanelSP</name>
     <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
-
-Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <source>Quiet Mode</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Firehose Mode: ACTIVE</source>
+        <source>Driver Camera Preview</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>ACTIVE</source>
+        <source>Training Guide</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message numerus="yes">
-        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
-        <translation type="unfinished">
-            <numerusform></numerusform>
-        </translation>
+        <source>Regulatory</source>
+        <translation type="unfinished">Mevzuat</translation>
     </message>
     <message>
-        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
+        <source>Language</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Firehose Mode</source>
+        <source>Reset Settings</source>
         <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>HudRenderer</name>
     <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation type="unfinished">Eğitim kılavuzunu incelemek istediğinizden emin misiniz?</translation>
     </message>
     <message>
-        <source>mph</source>
-        <translation>mph</translation>
+        <source>Review</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
+        <source>Select a language</source>
+        <translation type="unfinished">Dil seçin</translation>
     </message>
-</context>
-<context>
-    <name>InputDialog</name>
     <message>
-        <source>Cancel</source>
-        <translation>Kapat</translation>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
     </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>En az %n karakter gerekli!</numerusform>
-        </translation>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
     <message>
-        <source>Select</source>
-        <translation>Seç</translation>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation>Ä°ptal et</translation>
+        <source>Reboot</source>
+        <translation type="unfinished">Yeniden baÅŸlat</translation>
     </message>
-</context>
-<context>
-    <name>Networking</name>
     <message>
-        <source>Advanced</source>
-        <translation>Gelişmiş Seçenekler</translation>
+        <source>Power Off</source>
+        <translation type="unfinished">Sistemi kapat</translation>
     </message>
     <message>
-        <source>Enter password</source>
-        <translation>Parolayı girin</translation>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>için &quot;%1&quot;</translation>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Wrong password</source>
-        <translation>Yalnış parola</translation>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>OffroadAlert</name>
     <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <source>Disengage to Enter Always Offroad Mode</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Unable to download updates
-%1</source>
+        <source>Reset</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <source>The reset cannot be undone. You have been warned.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <source>Exit Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>NVMe drive not mounted.</source>
+        <source>Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
+        <source>Controls state of the device after boot/sleep.</source>
         <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>DriveStats</name>
     <message>
-        <source>Acknowledge Excessive Actuation</source>
+        <source>Drives</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Snooze Update</source>
-        <translation type="unfinished">Güncellemeyi sessize al</translation>
+        <source>Hours</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <source>ALL TIME</source>
         <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>OffroadHome</name>
     <message>
-        <source>UPDATE</source>
-        <translation>GÃœNCELLE</translation>
+        <source>PAST WEEK</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> ALERTS</source>
-        <translation> UYARILAR</translation>
+        <source>KM</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> ALERT</source>
-        <translation> UYARI</translation>
+        <source>Miles</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>OnroadAlerts</name>
+    <name>DriverViewWindow</name>
+    <message>
+        <source>camera starting</source>
+        <translation>kamera başlatılıyor</translation>
+    </message>
+</context>
+<context>
+    <name>ExitOffroadButton</name>
     <message>
-        <source>openpilot Unavailable</source>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
+        <source>Confirm</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reboot Device</source>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
         <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>ExperimentalModeButton</name>
     <message>
-        <source>Waiting to start</source>
+        <source>EXPERIMENTAL MODE ON</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>System Unresponsive</source>
+        <source>CHILL MODE ON</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>PairingPopup</name>
+    <name>FirehosePanel</name>
     <message>
-        <source>Pair your device to your comma account</source>
-        <translation>comma.ai hesabınız ile cihazı eşleştirin</translation>
+        <source>Firehose Mode: ACTIVE</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>Telefonuzdan https://connect.comma.ai sitesine gidin</translation>
+        <source>ACTIVE</source>
+        <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>Yeni cihaz eklemek için sağdaki QR kodunu okutun</translation>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation type="unfinished">
+            <numerusform></numerusform>
+        </translation>
     </message>
     <message>
-        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>Uygulama gibi kullanmak için connect.comma.ai sitesini yer işaretlerine ekleyin.</translation>
+        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Please connect to Wi-Fi to complete initial pairing</source>
+        <source>Firehose Mode</source>
         <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>ParamControl</name>
     <message>
-        <source>Enable</source>
+        <source>sunnypilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Cancel</source>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>PrimeAdWidget</name>
+    <name>HudRenderer</name>
     <message>
-        <source>Upgrade Now</source>
-        <translation>Hemen yükselt</translation>
+        <source>km/h</source>
+        <translation>km/h</translation>
     </message>
     <message>
-        <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>connect.comma.ai üzerinden comma prime üyesi olun</translation>
+        <source>mph</source>
+        <translation>mph</translation>
     </message>
     <message>
-        <source>PRIME FEATURES:</source>
-        <translation>PRIME ABONELİĞİNİN ÖZELLİKLERİ:</translation>
+        <source>MAX</source>
+        <translation>MAX</translation>
     </message>
+</context>
+<context>
+    <name>HyundaiSettings</name>
     <message>
-        <source>Remote access</source>
-        <translation>Uzaktan eriÅŸim</translation>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>24/7 LTE connectivity</source>
+        <source>Dynamic</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>1 year of drive storage</source>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <source>Cancel</source>
+        <translation>Kapat</translation>
+    </message>
+    <message numerus="yes">
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>En az %n karakter gerekli!</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>LaneChangeSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto Lane Change: Delay with Blind Spot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LateralPanel</name>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Lane Change</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MadsSettings</name>
+    <message>
+        <source>Toggle with Main Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unified Engagement Mode (UEM)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode on Brake Pedal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Model Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CLEAR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Kalibrasyonu sıfırla</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">Devam et</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation>Seç</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Ä°ptal et</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <source>Advanced</source>
+        <translation>Gelişmiş Seçenekler</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>Parolayı girin</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>için &quot;%1&quot;</translation>
+    </message>
+    <message>
+        <source>Wrong password</source>
+        <translation>Yalnış parola</translation>
+    </message>
+</context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>NeuralNetworkLateralControl</name>
+    <message>
+        <source>Neural Network Lateral Control (NNLC)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC is currently not available on this platform.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the car to check car compatibility</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Not Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exact</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fuzzy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>if there are any issues:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>and donate logs to get NNLC loaded for your car:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acknowledge Excessive Actuation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Snooze Update</source>
+        <translation type="unfinished">Güncellemeyi sessize al</translation>
+    </message>
+    <message>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <source>UPDATE</source>
+        <translation>GÃœNCELLE</translation>
+    </message>
+    <message>
+        <source> ALERTS</source>
+        <translation> UYARILAR</translation>
+    </message>
+    <message>
+        <source> ALERT</source>
+        <translation> UYARI</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>System Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">KONTROL ET</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">GÃœNCELLE</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <source>Pair your device to your comma account</source>
+        <translation>comma.ai hesabınız ile cihazı eşleştirin</translation>
+    </message>
+    <message>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>Telefonuzdan https://connect.comma.ai sitesine gidin</translation>
+    </message>
+    <message>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>Yeni cihaz eklemek için sağdaki QR kodunu okutun</translation>
+    </message>
+    <message>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>Uygulama gibi kullanmak için connect.comma.ai sitesini yer işaretlerine ekleyin.</translation>
+    </message>
+    <message>
+        <source>Please connect to Wi-Fi to complete initial pairing</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ParamControl</name>
+    <message>
+        <source>Enable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ParamControlSP</name>
+    <message>
+        <source>Enable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>PlatformSelector</name>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Search your vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCHING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation type="unfinished">KALDIR</translation>
+    </message>
+    <message>
+        <source>This setting will take effect immediately.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect once the device enters offroad state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No vehicles found for query: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>PrimeAdWidget</name>
+    <message>
+        <source>Upgrade Now</source>
+        <translation>Hemen yükselt</translation>
+    </message>
+    <message>
+        <source>Become a comma prime member at connect.comma.ai</source>
+        <translation>connect.comma.ai üzerinden comma prime üyesi olun</translation>
+    </message>
+    <message>
+        <source>PRIME FEATURES:</source>
+        <translation>PRIME ABONELİĞİNİN ÖZELLİKLERİ:</translation>
+    </message>
+    <message>
+        <source>Remote access</source>
+        <translation>Uzaktan eriÅŸim</translation>
+    </message>
+    <message>
+        <source>24/7 LTE connectivity</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>1 year of drive storage</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -614,10 +1517,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
-    </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
         <translation>
@@ -640,6 +1539,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>now</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -673,319 +1576,509 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
 </context>
 <context>
-    <name>Setup</name>
+    <name>SettingsWindowSP</name>
     <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>UYARI: Düşük voltaj</translation>
+        <source>×</source>
+        <translation type="unfinished">x</translation>
     </message>
     <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>Cihazınızı emniyet kemeri olan bir arabada çalıştırın veya riski kabul ederek devam edin.</translation>
+        <source>Device</source>
+        <translation type="unfinished">Cihaz</translation>
     </message>
     <message>
-        <source>Power off</source>
-        <translation>Sistemi kapat</translation>
+        <source>Network</source>
+        <translation type="unfinished">AÄŸ</translation>
     </message>
     <message>
-        <source>Continue</source>
-        <translation>Devam et</translation>
+        <source>sunnylink</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Getting Started</source>
-        <translation>BaÅŸlarken</translation>
+        <source>Toggles</source>
+        <translation type="unfinished">DeÄŸiÅŸtirme</translation>
     </message>
     <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>Yola çıkmadan önce kurulumu bitirin ve bazı detayları gözden geçirin..</translation>
+        <source>Software</source>
+        <translation type="unfinished">Yazılım</translation>
     </message>
     <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Wi-Fi ile baÄŸlan</translation>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Back</source>
-        <translation>Geri</translation>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Visuals</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SetupWidget</name>
+    <message>
+        <source>Finish Setup</source>
+        <translation>Kurulumu bitir</translation>
+    </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>Cihazınızı comma connect (connect.comma.ai) ile eşleştirin ve comma prime aboneliğine göz atın.</translation>
+    </message>
+    <message>
+        <source>Pair device</source>
+        <translation>Cihazı eşleştirme</translation>
+    </message>
+</context>
+<context>
+    <name>Sidebar</name>
+    <message>
+        <source>CONNECT</source>
+        <translation>BAÄžLANTI</translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation>ÇEVRİMDIŞI</translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation>ÇEVRİMİÇİ</translation>
+    </message>
+    <message>
+        <source>ERROR</source>
+        <translation>HATA</translation>
+    </message>
+    <message>
+        <source>TEMP</source>
+        <translation>SICAKLIK</translation>
+    </message>
+    <message>
+        <source>HIGH</source>
+        <translation>YÃœKSEK</translation>
+    </message>
+    <message>
+        <source>GOOD</source>
+        <translation>Ä°YÄ°</translation>
+    </message>
+    <message>
+        <source>OK</source>
+        <translation>TAMAM</translation>
+    </message>
+    <message>
+        <source>VEHICLE</source>
+        <translation>ARAÇ</translation>
+    </message>
+    <message>
+        <source>NO</source>
+        <translation>HAYIR</translation>
+    </message>
+    <message>
+        <source>PANDA</source>
+        <translation>PANDA</translation>
+    </message>
+    <message>
+        <source>--</source>
+        <translation>--</translation>
+    </message>
+    <message>
+        <source>Wi-Fi</source>
+        <translation>Wi-FI</translation>
+    </message>
+    <message>
+        <source>ETH</source>
+        <translation>ETH</translation>
+    </message>
+    <message>
+        <source>2G</source>
+        <translation>2G</translation>
+    </message>
+    <message>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SidebarSP</name>
+    <message>
+        <source>DISABLED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation type="unfinished">ÇEVRİMDIŞI</translation>
+    </message>
+    <message>
+        <source>REGIST...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation type="unfinished">ÇEVRİMİÇİ</translation>
+    </message>
+    <message>
+        <source>ERROR</source>
+        <translation type="unfinished">HATA</translation>
+    </message>
+    <message>
+        <source>SUNNYLINK</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SoftwarePanel</name>
+    <message>
+        <source>Uninstall %1</source>
+        <translation>Kaldır %1</translation>
+    </message>
+    <message>
+        <source>UNINSTALL</source>
+        <translation>KALDIR</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to uninstall?</source>
+        <translation>Kaldırmak istediğinden eminmisin?</translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation>KONTROL ET</translation>
+    </message>
+    <message>
+        <source>Updates are only downloaded while the car is off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Install Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>INSTALL</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Target Branch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Wi-Fi bağlantısı olmadan devam edin</translation>
+        <source>Select a branch</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Waiting for internet</source>
-        <translation>İnternet bağlantısı bekleniyor.</translation>
+        <source>Uninstall</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enter URL</source>
-        <translation>URL girin</translation>
+        <source>failed to check for update</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>for Custom Software</source>
-        <translation>özel yazılım için</translation>
+        <source>DOWNLOAD</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Downloading...</source>
-        <translation>Ä°ndiriliyor...</translation>
+        <source>update available</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Download Failed</source>
-        <translation>İndirme başarısız.</translation>
+        <source>never</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>Girilen URL nin geçerli olduğundan ve cihazın internet bağlantısının olduğunu kontrol edin</translation>
+        <source>up to date, last checked %1</source>
+        <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>SoftwarePanelSP</name>
     <message>
-        <source>Reboot device</source>
-        <translation>Cihazı yeniden başlat</translation>
+        <source>Search Branch</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Start over</source>
-        <translation>Zacznij od poczÄ…tku</translation>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Something went wrong. Reboot the device.</source>
+        <source>Disable Updates</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>No custom software found at this URL.</source>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a language</source>
-        <translation>Dil seçin</translation>
+        <source>No branches found for keywords: %1</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose Software to Install</source>
+        <source>Select a branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation type="unfinished">openpilot</translation>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Custom Software</source>
-        <translation type="unfinished"></translation>
+        <source>Reboot</source>
+        <translation type="unfinished">Yeniden baÅŸlat</translation>
     </message>
     <message>
-        <source>WARNING: Custom Software</source>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
-
-If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>SetupWidget</name>
+    <name>SshControl</name>
     <message>
-        <source>Finish Setup</source>
-        <translation>Kurulumu bitir</translation>
+        <source>SSH Keys</source>
+        <translation>SSH Anahtarları</translation>
     </message>
     <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>Cihazınızı comma connect (connect.comma.ai) ile eşleştirin ve comma prime aboneliğine göz atın.</translation>
+        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
+        <translation>UYARI: Bu, GitHub ayarlarınızdaki tüm ortak anahtarlara SSH erişimi sağlar. Asla kendi kullanıcı adınız dışında bir sonraki başlatılışında çekilir. GitHub kullanıcı adı girmeyin.</translation>
     </message>
     <message>
-        <source>Pair device</source>
-        <translation>Cihazı eşleştirme</translation>
+        <source>ADD</source>
+        <translation>EKLE</translation>
     </message>
-</context>
-<context>
-    <name>Sidebar</name>
     <message>
-        <source>CONNECT</source>
-        <translation>BAÄžLANTI</translation>
+        <source>Enter your GitHub username</source>
+        <translation>Github kullanıcı adınızı giriniz</translation>
     </message>
     <message>
-        <source>OFFLINE</source>
-        <translation>ÇEVRİMDIŞI</translation>
+        <source>LOADING</source>
+        <translation>YÃœKLENÄ°YOR</translation>
     </message>
     <message>
-        <source>ONLINE</source>
-        <translation>ÇEVRİMİÇİ</translation>
+        <source>REMOVE</source>
+        <translation>KALDIR</translation>
     </message>
     <message>
-        <source>ERROR</source>
-        <translation>HATA</translation>
+        <source>Username &apos;%1&apos; has no keys on GitHub</source>
+        <translation>Kullanısının &apos;%1&apos; Github erişim anahtarı yok</translation>
     </message>
     <message>
-        <source>TEMP</source>
-        <translation>SICAKLIK</translation>
+        <source>Request timed out</source>
+        <translation>İstek zaman aşımına uğradı</translation>
     </message>
     <message>
-        <source>HIGH</source>
-        <translation>YÃœKSEK</translation>
+        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
+        <translation>Github kullanıcısı %1 bulunamadı</translation>
     </message>
+</context>
+<context>
+    <name>SshToggle</name>
     <message>
-        <source>GOOD</source>
-        <translation>Ä°YÄ°</translation>
+        <source>Enable SSH</source>
+        <translation>SSH aç</translation>
     </message>
+</context>
+<context>
+    <name>SunnylinkPanel</name>
     <message>
-        <source>OK</source>
-        <translation>TAMAM</translation>
+        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>VEHICLE</source>
-        <translation>ARAÇ</translation>
+        <source>Enable sunnylink</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>NO</source>
-        <translation>HAYIR</translation>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>PANDA</source>
-        <translation>PANDA</translation>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>--</source>
-        <translation>--</translation>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Wi-Fi</source>
-        <translation>Wi-FI</translation>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>ETH</source>
-        <translation>ETH</translation>
+        <source>PAIR</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>2G</source>
-        <translation>2G</translation>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>3G</source>
-        <translation>3G</translation>
+        <source>N/A</source>
+        <translation type="unfinished">N/A</translation>
     </message>
     <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>5G</source>
-        <translation>5G</translation>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>SoftwarePanel</name>
     <message>
-        <source>Uninstall %1</source>
-        <translation>Kaldır %1</translation>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>UNINSTALL</source>
-        <translation>KALDIR</translation>
+        <source>Backup Settings</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Are you sure you want to uninstall?</source>
-        <translation>Kaldırmak istediğinden eminmisin?</translation>
+        <source>Are you sure you want to backup sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>CHECK</source>
-        <translation>KONTROL ET</translation>
+        <source>Back Up</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Updates are only downloaded while the car is off.</source>
+        <source>Restore Settings</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Current Version</source>
+        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Download</source>
+        <source>Restore</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Install Update</source>
+        <source>Backup in progress %1%</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>INSTALL</source>
+        <source>Backup Failed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Target Branch</source>
+        <source>Settings backup completed.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>SELECT</source>
+        <source>Restore in progress %1%</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a branch</source>
+        <source>Restore Failed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Uninstall</source>
+        <source>Unable to restore the settings, try again later.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>failed to check for update</source>
+        <source>Settings restored. Confirm to restart the interface.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>DOWNLOAD</source>
+        <source>Device ID</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>update available</source>
+        <source>THANKS ♥</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>never</source>
+        <source>Not Sponsor</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>up to date, last checked %1</source>
+        <source>Paired</source>
         <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>SshControl</name>
     <message>
-        <source>SSH Keys</source>
-        <translation>SSH Anahtarları</translation>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
     <message>
-        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>UYARI: Bu, GitHub ayarlarınızdaki tüm ortak anahtarlara SSH erişimi sağlar. Asla kendi kullanıcı adınız dışında bir sonraki başlatılışında çekilir. GitHub kullanıcı adı girmeyin.</translation>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>ADD</source>
-        <translation>EKLE</translation>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enter your GitHub username</source>
-        <translation>Github kullanıcı adınızı giriniz</translation>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>LOADING</source>
-        <translation>YÃœKLENÄ°YOR</translation>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>REMOVE</source>
-        <translation>KALDIR</translation>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>Kullanısının &apos;%1&apos; Github erişim anahtarı yok</translation>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Request timed out</source>
-        <translation>İstek zaman aşımına uğradı</translation>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>Github kullanıcısı %1 bulunamadı</translation>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>SshToggle</name>
     <message>
-        <source>Enable SSH</source>
-        <translation>SSH aç</translation>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -999,20 +2092,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>Kabul et</translation>
     </message>
     <message>
-        <source>Welcome to openpilot</source>
+        <source>Welcome to sunnypilot</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>openpilot&apos;u aktifleÅŸtir</translation>
-    </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
         <translation>Şerit ihlali uyarı alın</translation>
@@ -1037,10 +2126,6 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
         <translation>Sürücüye bakan kamera verisini yükleyin ve Cihazın algoritmasını geliştirmemize yardımcı olun.</translation>
     </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>Aktifleştirilirse eğer gaz pedalına basınca openpilot devre dışı kalır.</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation type="unfinished"></translation>
@@ -1066,55 +2151,115 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <source>End-to-End Longitudinal Control</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>End-to-End Longitudinal Control</source>
+        <source>New Driving Visualization</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>New Driving Visualization</source>
+        <source>openpilot longitudinal control may come in a future update.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
+        <source>Always-On Driver Monitoring</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <source>Record and Upload Microphone Audio</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
+        <source>Record Audio Feedback with LKAS button</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Always-On Driver Monitoring</source>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">Seç</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1122,21 +2267,31 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Record and Upload Microphone Audio</source>
+        <source>Off</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <source>Distance</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Record Audio Feedback with LKAS button</source>
+        <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index a1d1602373b8c5..ec2cde0f604729 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -103,6 +103,53 @@
         <translation>在按��计费的 WLAN 网络上，防止上传大数�</translation>
     </message>
 </context>
+<context>
+    <name>AutoLaneChangeTimer</name>
+    <message>
+        <source>Auto Lane Change by Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudge</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudgeless</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -116,10 +163,6 @@
 </context>
 <context>
     <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>您必须接��款和�件以使用openpilot。</translation>
-    </message>
     <message>
         <source>Back</source>
         <translation>返回</translation>
@@ -128,6 +171,10 @@
         <source>Decline, uninstall %1</source>
         <translation>拒�并�载%1</translation>
     </message>
+    <message>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DeveloperPanel</name>
@@ -147,10 +194,6 @@
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
         <translation>警告：此车辆的 openpilot 纵�控制功能目�处于Alpha版本，使用此功能将会�用自动紧急制动（AEB）功能。</translation>
     </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>在这辆车上，openpilot 默认使用车辆内建的主动巡航控制（ACC），而� openpilot 的纵�控制。�用此项功能�切�至 openpilot 的纵�控制。当�用 openpilot 纵�控制 Alpha 版本时，建议�时�用实验性模�（Experimental mode）。</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation>�用 ADB</translation>
@@ -159,6 +202,54 @@
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB（Android调试桥接）�许通过USB或网络连接到您的设备。更多信�请�� [https://docs.comma.ai/how-to/connect-to-comma](https://docs.comma.ai/how-to/connect-to-comma)。</translation>
     </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">查看</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -206,10 +297,6 @@
         <source>REVIEW</source>
         <translation>查看</translation>
     </message>
-    <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>查看 openpilot 的使用规则，以�其功能和�制</translation>
-    </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
         <translation>您确定�查看新手指��？</translation>
@@ -302,10 +389,6 @@
         <source>Disengage to Reset Calibration</source>
         <translation>解除以�置校准</translation>
     </message>
-    <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
-        <translation>openpilot �求设备的安装角度：左��移需在 4° 以内，上下俯仰角度需在�上 5° 至�下 9° 的范围内。</translation>
-    </message>
     <message>
         <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation>openpilot 会�续进行校准，因此很少需��置。如果车辆电�已开�，�置校准会�新�动 openpilot。</translation>
@@ -334,240 +417,968 @@ Steering lag calibration is complete.</source>
         <source> Steering torque response calibration is complete.</source>
         <translation> 转�扭矩�应校准已完�。</translation>
     </message>
-</context>
-<context>
-    <name>DriverViewWindow</name>
-    <message>
-        <source>camera starting</source>
-        <translation>正在�动相机</translation>
-    </message>
-</context>
-<context>
-    <name>ExperimentalModeButton</name>
     <message>
-        <source>EXPERIMENTAL MODE ON</source>
-        <translation>试验模��行</translation>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>CHILL MODE ON</source>
-        <translation>轻�模��行</translation>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>FirehosePanel</name>
-    <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
-
-Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation>openpilot 通过观察人类驾驶（包括您）�学习如何驾驶。
-
-“Firehose 模���许您最大化上传训练数�，以改进 openpilot 的驾驶模型。更多数��味�更强大的模型，也就�味�更优秀的“实验模��。</translation>
-    </message>
-    <message>
-        <source>Firehose Mode: ACTIVE</source>
-        <translation>Firehose 模�：激活中</translation>
-    </message>
+    <name>DevicePanelSP</name>
     <message>
-        <source>ACTIVE</source>
-        <translation>激活中</translation>
+        <source>Quiet Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation>为了达到最佳效果，请�周将您的设备带回室内，并连接到优质的 USB-C 充电器和 Wi-Fi。&lt;br&gt;&lt;br&gt;Firehose 模�在行驶时也能�行，但需连接到移动热点或使用����的 SIM �。&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;常�问题&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;我开车的方�或地点有影��？&lt;/i&gt;�会，请�平常一样驾驶��。&lt;br&gt;&lt;br&gt;&lt;i&gt;Firehose 模�会上传所有的驾驶片段�？&lt;/i&gt;�会，我们会选择性地上传部分片段。&lt;br&gt;&lt;br&gt;&lt;i&gt;什么是好的 USB-C 充电器？&lt;/i&gt;任何快速手机或笔记本电脑充电器都应该适用。&lt;br&gt;&lt;br&gt;&lt;i&gt;我使用的软件版本有影��？&lt;/i&gt;有的，�有官方 openpilot（以�特定的分支）�以用于训练。</translation>
-    </message>
-    <message numerus="yes">
-        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
-        <translation>
-            <numerusform>&lt;b&gt;目�已有 %n 段&lt;/b&gt; 您的驾驶数�被纳入训练数�集。</numerusform>
-        </translation>
+        <source>Driver Camera Preview</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;闲置&lt;/span&gt;：请连接到����的网络</translation>
+        <source>Training Guide</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Firehose Mode</source>
-        <translation>Firehose 模�</translation>
+        <source>Regulatory</source>
+        <translation type="unfinished">监管信�</translation>
     </message>
-</context>
-<context>
-    <name>HudRenderer</name>
     <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
+        <source>Language</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>mph</source>
-        <translation>mph</translation>
+        <source>Reset Settings</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>MAX</source>
-        <translation>最高定速</translation>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation type="unfinished">您确定�查看新手指��？</translation>
     </message>
-</context>
-<context>
-    <name>InputDialog</name>
     <message>
-        <source>Cancel</source>
-        <translation>�消</translation>
-    </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>至少需� %n 个字符�</numerusform>
-        </translation>
+        <source>Review</source>
+        <translation type="unfinished">预览</translation>
     </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
     <message>
-        <source>Select</source>
-        <translation>选择</translation>
+        <source>Select a language</source>
+        <translation type="unfinished">选择语言</translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation>�消</translation>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>Networking</name>
     <message>
-        <source>Advanced</source>
-        <translation>高级</translation>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enter password</source>
-        <translation>输入密�</translation>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>网络�称：&quot;%1&quot;</translation>
+        <source>Reboot</source>
+        <translation type="unfinished">��</translation>
     </message>
     <message>
-        <source>Wrong password</source>
-        <translation>密�错误</translation>
+        <source>Power Off</source>
+        <translation type="unfinished">关机</translation>
     </message>
-</context>
-<context>
-    <name>OffroadAlert</name>
     <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation>请立�连接网络检查更新。如果�连接网络，openpilot 将在 %1 �便无法使用</translation>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>请连接至互�网以检查更新。在连接至互�网并完�更新检查之�，openpilot 将�会自动�动。</translation>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Unable to download updates
-%1</source>
-        <translation>无法下载更新
-%1</translation>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation>正在使用相机�摄中。在完�之�，系统将无法�动。</translation>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
-        <translation>一个针对您设备的�作系统更新正在��下载中。当更新准备好安装时，您将收到�示进行更新。</translation>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>NVMe固�硬盘未被挂载。</translation>
+        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot 无法识别您的车辆。您的车辆�能未被支�，或是其电控�元 (ECU) 未被识别。请�交一个 Pull Request 为您的车辆添加正确的固件版本。需�帮助�？请加入 discord.comma.ai。</translation>
+        <source>Reset</source>
+        <translation type="unfinished">�置</translation>
     </message>
     <message>
-        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation>openpilot 检测到设备的安装�置�生�化。请确�设备完全安装在支架上，并确�支架牢固地固定在挡风玻璃上。</translation>
+        <source>The reset cannot be undone. You have been warned.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>设备温度过高。系统正在冷�中，等冷�完毕��会�动。目�内部组件温度：%1</translation>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
-        <translation>设备未能注册到 comma.ai �端。该设备将无法连接或上传数�到 comma.ai �务器，也无法获得 comma.ai 的支�。如果该设备是在 comma.ai/shop 购买的，请访问 https://comma.ai/support �交工�。</translation>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Acknowledge Excessive Actuation</source>
+        <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Snooze Update</source>
-        <translation type="unfinished">暂�更新</translation>
+        <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <source>Controls state of the device after boot/sleep.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>OffroadHome</name>
-    <message>
-        <source>UPDATE</source>
-        <translation>æ›´æ–°</translation>
-    </message>
+    <name>DriveStats</name>
     <message>
-        <source> ALERTS</source>
-        <translation> 警报</translation>
+        <source>Drives</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> ALERT</source>
-        <translation> 警报</translation>
+        <source>Hours</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>OnroadAlerts</name>
     <message>
-        <source>openpilot Unavailable</source>
-        <translation>无法使用 openpilot</translation>
+        <source>ALL TIME</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation>立�接管</translation>
+        <source>PAST WEEK</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reboot Device</source>
-        <translation>��设备</translation>
+        <source>KM</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Waiting to start</source>
-        <translation>等待开始</translation>
+        <source>Miles</source>
+        <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>DriverViewWindow</name>
     <message>
-        <source>System Unresponsive</source>
-        <translation>系统无�应</translation>
+        <source>camera starting</source>
+        <translation>正在�动相机</translation>
     </message>
 </context>
 <context>
-    <name>PairingPopup</name>
+    <name>ExitOffroadButton</name>
     <message>
-        <source>Pair your device to your comma account</source>
-        <translation>将您的设备与comma账��对</translation>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>在手机上访问 https://connect.comma.ai</translation>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>点击“添加新设备�，扫��侧二维�</translation>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>ExperimentalModeButton</name>
     <message>
-        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>将 connect.comma.ai 收�到您的主�幕，以便�应用程�一样使用它</translation>
+        <source>EXPERIMENTAL MODE ON</source>
+        <translation>试验模��行</translation>
     </message>
     <message>
-        <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation>请连接 Wi-Fi 以完��始�对</translation>
+        <source>CHILL MODE ON</source>
+        <translation>轻�模��行</translation>
     </message>
 </context>
 <context>
-    <name>ParamControl</name>
+    <name>FirehosePanel</name>
+    <message>
+        <source>Firehose Mode: ACTIVE</source>
+        <translation>Firehose 模�：激活中</translation>
+    </message>
+    <message>
+        <source>ACTIVE</source>
+        <translation>激活中</translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation>
+            <numerusform>&lt;b&gt;目�已有 %n 段&lt;/b&gt; 您的驾驶数�被纳入训练数�集。</numerusform>
+        </translation>
+    </message>
+    <message>
+        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;闲置&lt;/span&gt;：请连接到����的网络</translation>
+    </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation>Firehose 模�</translation>
+    </message>
+    <message>
+        <source>sunnypilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>最高定速</translation>
+    </message>
+</context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <source>Cancel</source>
+        <translation>�消</translation>
+    </message>
+    <message numerus="yes">
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>至少需� %n 个字符�</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>LaneChangeSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">返回</translation>
+    </message>
+    <message>
+        <source>Auto Lane Change: Delay with Blind Spot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LateralPanel</name>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Lane Change</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MadsSettings</name>
+    <message>
+        <source>Toggle with Main Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unified Engagement Mode (UEM)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode on Brake Pedal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">选择</translation>
+    </message>
+    <message>
+        <source>Clear Model Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CLEAR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">�置设备校准</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">继续</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">�消</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation>选择</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>�消</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <source>Advanced</source>
+        <translation>高级</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>输入密�</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>网络�称：&quot;%1&quot;</translation>
+    </message>
+    <message>
+        <source>Wrong password</source>
+        <translation>密�错误</translation>
+    </message>
+</context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>NeuralNetworkLateralControl</name>
+    <message>
+        <source>Neural Network Lateral Control (NNLC)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC is currently not available on this platform.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the car to check car compatibility</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Not Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exact</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fuzzy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>if there are any issues:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>and donate logs to get NNLC loaded for your car:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation>无法下载更新
+%1</translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>正在使用相机�摄中。在完�之�，系统将无法�动。</translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>一个针对您设备的�作系统更新正在��下载中。当更新准备好安装时，您将收到�示进行更新。</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>NVMe固�硬盘未被挂载。</translation>
+    </message>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>设备温度过高。系统正在冷�中，等冷�完毕��会�动。目�内部组件温度：%1</translation>
+    </message>
+    <message>
+        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
+        <translation>设备未能注册到 comma.ai �端。该设备将无法连接或上传数�到 comma.ai �务器，也无法获得 comma.ai 的支�。如果该设备是在 comma.ai/shop 购买的，请访问 https://comma.ai/support �交工�。</translation>
+    </message>
+    <message>
+        <source>Acknowledge Excessive Actuation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Snooze Update</source>
+        <translation type="unfinished">暂�更新</translation>
+    </message>
+    <message>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <source>UPDATE</source>
+        <translation>æ›´æ–°</translation>
+    </message>
+    <message>
+        <source> ALERTS</source>
+        <translation> 警报</translation>
+    </message>
+    <message>
+        <source> ALERT</source>
+        <translation> 警报</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation>立�接管</translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation>��设备</translation>
+    </message>
+    <message>
+        <source>Waiting to start</source>
+        <translation>等待开始</translation>
+    </message>
+    <message>
+        <source>System Unresponsive</source>
+        <translation>系统无�应</translation>
+    </message>
+    <message>
+        <source>sunnypilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">查看</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">选择</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">æ›´æ–°</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <source>Pair your device to your comma account</source>
+        <translation>将您的设备与comma账��对</translation>
+    </message>
+    <message>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>在手机上访问 https://connect.comma.ai</translation>
+    </message>
+    <message>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>点击“添加新设备�，扫��侧二维�</translation>
+    </message>
+    <message>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>将 connect.comma.ai 收�到您的主�幕，以便�应用程�一样使用它</translation>
+    </message>
+    <message>
+        <source>Please connect to Wi-Fi to complete initial pairing</source>
+        <translation>请连接 Wi-Fi 以完��始�对</translation>
+    </message>
+</context>
+<context>
+    <name>ParamControl</name>
     <message>
         <source>Cancel</source>
         <translation>�消</translation>
@@ -577,6 +1388,96 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>�用</translation>
     </message>
 </context>
+<context>
+    <name>ParamControlSP</name>
+    <message>
+        <source>Enable</source>
+        <translation type="unfinished">�用</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">�消</translation>
+    </message>
+</context>
+<context>
+    <name>PlatformSelector</name>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Search your vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCHING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation type="unfinished">删除</translation>
+    </message>
+    <message>
+        <source>This setting will take effect immediately.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect once the device enters offroad state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">�消</translation>
+    </message>
+    <message>
+        <source>No vehicles found for query: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
@@ -621,10 +1522,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
-    </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
         <translation>
@@ -647,6 +1544,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>now</source>
         <translation>现在</translation>
     </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -680,110 +1581,66 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
 </context>
 <context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>警告：低电压</translation>
-    </message>
+    <name>SettingsWindowSP</name>
     <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>请使用car harness线�为您的设备供电，或自行承担风险。</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>关机</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>继续</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>开始设置</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>开始旅程之�，让我们完�安装并介�一些细节。</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>连接到WiFi</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>返回</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>�连接WiFi并继续</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>等待网络连接</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>输入网�</translation>
+        <source>×</source>
+        <translation type="unfinished">×</translation>
     </message>
     <message>
-        <source>for Custom Software</source>
-        <translation>以下载自定义软件</translation>
+        <source>Device</source>
+        <translation type="unfinished">设备</translation>
     </message>
     <message>
-        <source>Downloading...</source>
-        <translation>正在下载……</translation>
+        <source>Network</source>
+        <translation type="unfinished">网络</translation>
     </message>
     <message>
-        <source>Download Failed</source>
-        <translation>下载失败</translation>
+        <source>sunnylink</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>请确�互�网连接良好且输入的URL有效。</translation>
+        <source>Toggles</source>
+        <translation type="unfinished">设定</translation>
     </message>
     <message>
-        <source>Reboot device</source>
-        <translation>��设备</translation>
+        <source>Software</source>
+        <translation type="unfinished">软件</translation>
     </message>
     <message>
-        <source>Start over</source>
-        <translation>��</translation>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>No custom software found at this URL.</source>
-        <translation>在此网�找�到自定义软件。</translation>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>�生了一些错误。请�新�动您的设备。</translation>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a language</source>
-        <translation>选择语言</translation>
+        <source>Visuals</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose Software to Install</source>
-        <translation>选择�安装的软件</translation>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Custom Software</source>
-        <translation>定制软件</translation>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>WARNING: Custom Software</source>
-        <translation>警告：自定义软件</translation>
+        <source>Firehose</source>
+        <translation type="unfinished">Firehose</translation>
     </message>
     <message>
-        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
-
-If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
-        <translation>请谨慎安装第三方软件。第三方软件未� comma 测试，�能会�害您的设备和车辆。
-
-如果您决定继续，�续�通过 https://flash.comma.ai 将设备��到出厂状�。</translation>
+        <source>Developer</source>
+        <translation type="unfinished">开�人员</translation>
     </message>
 </context>
 <context>
@@ -864,16 +1721,43 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>2G</translation>
     </message>
     <message>
-        <source>3G</source>
-        <translation>3G</translation>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SidebarSP</name>
+    <message>
+        <source>DISABLED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation type="unfinished">离线</translation>
+    </message>
+    <message>
+        <source>REGIST...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation type="unfinished">在线</translation>
     </message>
     <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
+        <source>ERROR</source>
+        <translation type="unfinished">连接出错</translation>
     </message>
     <message>
-        <source>5G</source>
-        <translation>5G</translation>
+        <source>SUNNYLINK</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -951,6 +1835,49 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>从未更新</translation>
     </message>
 </context>
+<context>
+    <name>SoftwarePanelSP</name>
+    <message>
+        <source>Search Branch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No branches found for keywords: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a branch</source>
+        <translation type="unfinished">选择分支</translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">��</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
@@ -997,6 +1924,168 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>�用SSH</translation>
     </message>
 </context>
+<context>
+    <name>SunnylinkPanel</name>
+    <message>
+        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">�对</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation type="unfinished">N/A</translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to backup sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Back Up</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings backup completed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to restore the settings, try again later.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings restored. Confirm to restart the interface.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device ID</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TermsPage</name>
     <message>
@@ -1008,20 +2097,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>��</translation>
     </message>
     <message>
-        <source>Welcome to openpilot</source>
-        <translation>欢迎使用 openpilot</translation>
+        <source>Welcome to sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation>您必须接�《�款与�件》�能使用 openpilot。在继续之�，请先阅读最新�款：&lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt;。</translation>
+        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>�用openpilot</translation>
-    </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
         <translation>�用车��离警告</translation>
@@ -1050,22 +2135,10 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Disengage on Accelerator Pedal</source>
         <translation>踩油门时�消控制</translation>
     </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>�用�，踩下油门��将�消openpilot。</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>测试模�</translation>
     </message>
-    <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>openpilot 默认 &lt;b&gt;轻�模�&lt;/b&gt;驾驶车辆。试验模��用一些轻�模�之外的 &lt;b&gt;试验性功能&lt;/b&gt;。试验性功能包括：</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>�许驾驶模型控制加速和制动，openpilot将模仿人类驾驶车辆，包括在红�和�车让行标识��车。鉴于驾驶模型确定行驶车速，所设定的车速仅作为上�。此功能尚处于早期测试状�，有�能会出现�作错误。</translation>
-    </message>
     <message>
         <source>New Driving Visualization</source>
         <translation>新驾驶视角</translation>
@@ -1094,22 +2167,10 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Driving Personality</source>
         <translation>驾驶风格</translation>
     </message>
-    <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>在正�（release）版本以外的分支上，�以测试 openpilot 纵�控制的 Alpha 版本以�实验模�。</translation>
-    </message>
-    <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>�用 openpilot 纵�控制（alpha）开关以�许实验模�。</translation>
-    </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
         <translation>端到端纵�控制</translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>推�使用标准模�。在积�模�下，openpilot 会更�近�方车辆，并在油门和刹车方�更加激进。在放�模�下，openpilot 会与�方车辆��更远�离。在支�的车型上，你�以使用方�盘上的�离按钮�循环切�这些驾驶风格。</translation>
-    </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
         <translation>在低速时，驾驶�视化将转�为�路��的广角摄�头，以更好地展示�些转弯。测试模�标志也将显示在�上角。</translation>
@@ -1118,14 +2179,6 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Always-On Driver Monitoring</source>
         <translation>驾驶员监控常开</translation>
     </message>
-    <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation>�使在openpilot未激活时也�用驾驶员监控。</translation>
-    </message>
-    <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
-        <translation>openpilot 系统�供“自适应巡航�和“车����驾驶辅助功能。使用此功能时，您需�时刻��专注。</translation>
-    </message>
     <message>
         <source> Changing this setting will restart openpilot if the car is powered on.</source>
         <translation> 如果车辆已通电，更改此设置将会�新�动 openpilot。</translation>
@@ -1148,6 +2201,104 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
 Note that this feature is only compatible with select cars.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">选择</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">�消</translation>
+    </message>
+</context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"> 如果车辆已通电，更改此设置将会�新�动 openpilot。</translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index a094dd41820ca6..669d9b20535eed 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -103,6 +103,53 @@
         <translation>在使用計費 Wi-Fi 網路時，防止上傳大�數據</translation>
     </message>
 </context>
+<context>
+    <name>AutoLaneChangeTimer</name>
+    <message>
+        <source>Auto Lane Change by Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudge</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Nudgeless</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -116,10 +163,6 @@
 </context>
 <context>
     <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>您必須先接��款和�件�能使用 openpilot。</translation>
-    </message>
     <message>
         <source>Back</source>
         <translation>回上�</translation>
@@ -128,6 +171,10 @@
         <source>Decline, uninstall %1</source>
         <translation>拒絕並解除安� %1</translation>
     </message>
+    <message>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DeveloperPanel</name>
@@ -147,10 +194,6 @@
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
         <translation>警告：此車輛的 openpilot 縱�控制功能目�處於 Alpha 版本，使用此功能將會�用自動緊急煞車（AEB）功能。</translation>
     </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>在這輛車上，openpilot �設使用車輛內建的主動巡航控制（ACC），而� openpilot 的縱�控制。啟用此項功能�切�至 openpilot 的縱�控制。當啟用 openpilot 縱�控制 Alpha 版本時，建議�時啟用實驗性模�（Experimental mode）。</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation>啟用 ADB</translation>
@@ -159,6 +202,54 @@
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB（Android 調試橋接）�許通� USB 或網絡連接到您的設備。更多信�請�見 [https://docs.comma.ai/how-to/connect-to-comma](https://docs.comma.ai/how-to/connect-to-comma)。</translation>
     </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">觀看</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -206,10 +297,6 @@
         <source>REVIEW</source>
         <translation>觀看</translation>
     </message>
-    <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>觀看 openpilot 的使用�則�功能和�制</translation>
-    </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
         <translation>您確定�觀看使用教學嗎？</translation>
@@ -302,10 +389,6 @@
         <source>Disengage to Reset Calibration</source>
         <translation>解除以�設校準</translation>
     </message>
-    <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
-        <translation>openpilot �求�置的安�角度，左��移須在 4° 以內，上下角度則須介於仰角 5° 至俯角 9° 之間。</translation>
-    </message>
     <message>
         <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation>openpilot 會�續進行校準，因此很少需��設。若車輛電�開啟，�設校準將會�新啟動 openpilot。</translation>
@@ -334,240 +417,968 @@ Steering lag calibration is complete.</source>
         <source> Steering torque response calibration is complete.</source>
         <translation> 轉�扭矩�應校準已完�。</translation>
     </message>
-</context>
-<context>
-    <name>DriverViewWindow</name>
-    <message>
-        <source>camera starting</source>
-        <translation>開啟相機中</translation>
-    </message>
-</context>
-<context>
-    <name>ExperimentalModeButton</name>
     <message>
-        <source>EXPERIMENTAL MODE ON</source>
-        <translation>實驗模� ON</translation>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>CHILL MODE ON</source>
-        <translation>輕鬆模� ON</translation>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>FirehosePanel</name>
-    <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
-
-Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation>openpilot ��觀察人類駕駛（包括您）來學習如何駕駛。
-
-「Firehose 模���讓您最大化上傳訓練數據，以改進 openpilot 的駕駛模型。更多數據代表更強大的模型，也就�味著更優秀的「實驗模��。</translation>
-    </message>
-    <message>
-        <source>Firehose Mode: ACTIVE</source>
-        <translation>Firehose 模�：啟用中</translation>
-    </message>
+    <name>DevicePanelSP</name>
     <message>
-        <source>ACTIVE</source>
-        <translation>啟用中</translation>
+        <source>Quiet Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation>為了�到最佳效果，請�週將您的�置帶回室內，並連接至優質的 USB-C 充電器與 Wi-Fi。&lt;br&gt;&lt;br&gt;訓練資料上傳模�在行駛時也能�作，但需連接至行動熱點或使用����的 SIM �。&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;常見�題&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;我開車的方�或地點有影響嗎？&lt;/i&gt; �會，請�平常一樣駕駛��。&lt;br&gt;&lt;br&gt;&lt;i&gt;Firehose 模�會上傳所有的駕駛片段嗎？&lt;/i&gt;�會，我們會�擇性地上傳部分片段。&lt;br&gt;&lt;br&gt;&lt;i&gt;什麼是好的 USB-C 充電器？&lt;/i&gt;任何快速手機或筆電充電器都應該�用。&lt;br&gt;&lt;br&gt;&lt;i&gt;我使用的軟體版本有影響嗎？&lt;/i&gt;有的，�有官方 openpilot（以�特定的分支）�以用於訓練。</translation>
-    </message>
-    <message numerus="yes">
-        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
-        <translation>
-            <numerusform>&lt;b&gt;目�已有 %n 段&lt;/b&gt; 您的駕駛數據被�入訓練資料集。</numerusform>
-        </translation>
+        <source>Driver Camera Preview</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;閒置中&lt;/span&gt;：請連接到�按��計費的網絡</translation>
+        <source>Training Guide</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Firehose Mode</source>
-        <translation>Firehose 模�</translation>
+        <source>Regulatory</source>
+        <translation type="unfinished">法�/監管</translation>
     </message>
-</context>
-<context>
-    <name>HudRenderer</name>
     <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
+        <source>Language</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>mph</source>
-        <translation>mph</translation>
+        <source>Reset Settings</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>MAX</source>
-        <translation>最高</translation>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation type="unfinished">您確定�觀看使用教學嗎？</translation>
     </message>
-</context>
-<context>
-    <name>InputDialog</name>
     <message>
-        <source>Cancel</source>
-        <translation>�消</translation>
-    </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>需�至少 %n 個字元�</numerusform>
-        </translation>
+        <source>Review</source>
+        <translation type="unfinished">回顧</translation>
     </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
     <message>
-        <source>Select</source>
-        <translation>�擇</translation>
+        <source>Select a language</source>
+        <translation type="unfinished">�擇語言</translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation>�消</translation>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>Networking</name>
     <message>
-        <source>Advanced</source>
-        <translation>進階</translation>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enter password</source>
-        <translation>輸入密碼</translation>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>給 &quot;%1&quot;</translation>
+        <source>Reboot</source>
+        <translation type="unfinished">�新啟動</translation>
     </message>
     <message>
-        <source>Wrong password</source>
-        <translation>密碼錯誤</translation>
+        <source>Power Off</source>
+        <translation type="unfinished">關機</translation>
     </message>
-</context>
-<context>
-    <name>OffroadAlert</name>
     <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation>請立�連接網路檢查更新。如果�連接網路，openpilot 將在 %1 後便無法使用</translation>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>請連接至網際網路以檢查更新。在連接至網際網路並完�更新檢查之�，openpilot 將�會自動啟動。</translation>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Unable to download updates
-%1</source>
-        <translation>無法下載更新
-%1</translation>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation>正在使用相機��中。在完�之�，系統將無法啟動。</translation>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
-        <translation>一個有關�作系統的更新正在後�下載中。當更新準備好安�時，您將收到�示進行更新。</translation>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>NVMe 固態硬碟未被掛載。</translation>
+        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot 無法識別您的車輛。您的車輛�能未被支�，或是其電控單元 (ECU) 未被識別。請�交一個 Pull Request 為您的車輛添加正確的韌體版本。需�幫助嗎？請加入 discord.comma.ai 。</translation>
+        <source>Reset</source>
+        <translation type="unfinished">�設</translation>
     </message>
     <message>
-        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation>openpilot �測到�置的安��置發生變化。請確��置完全安�在支架上，並確�支架牢固地固定在擋風玻璃上。</translation>
+        <source>The reset cannot be undone. You have been warned.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>�置溫度�高。系統正在冷�中，等冷�完畢後�會啟動。目�內部組件溫度：%1</translation>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
-        <translation>�置註冊 comma.ai 後端失敗。此�置將無法連線或上傳資料至 comma.ai 伺�器，也無法�得 comma.ai 的支�。若此�置購自 comma.ai/shop，請至 https://comma.ai/support 建立支�請求。</translation>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Acknowledge Excessive Actuation</source>
+        <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Snooze Update</source>
-        <translation type="unfinished">暫�更新</translation>
+        <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <source>Controls state of the device after boot/sleep.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>OffroadHome</name>
-    <message>
-        <source>UPDATE</source>
-        <translation>æ›´æ–°</translation>
-    </message>
+    <name>DriveStats</name>
     <message>
-        <source> ALERTS</source>
-        <translation> �醒</translation>
+        <source>Drives</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source> ALERT</source>
-        <translation> �醒</translation>
+        <source>Hours</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>OnroadAlerts</name>
     <message>
-        <source>openpilot Unavailable</source>
-        <translation>無法使用 openpilot</translation>
+        <source>ALL TIME</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation>立�接管</translation>
+        <source>PAST WEEK</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reboot Device</source>
-        <translation>請�新啟�置</translation>
+        <source>KM</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Waiting to start</source>
-        <translation>等待開始</translation>
+        <source>Miles</source>
+        <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>DriverViewWindow</name>
     <message>
-        <source>System Unresponsive</source>
-        <translation>系統無回應</translation>
+        <source>camera starting</source>
+        <translation>開啟相機中</translation>
     </message>
 </context>
 <context>
-    <name>PairingPopup</name>
+    <name>ExitOffroadButton</name>
     <message>
-        <source>Pair your device to your comma account</source>
-        <translation>將�置與您的 comma 帳號��</translation>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>用手機連至 https://connect.comma.ai</translation>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>點� &quot;add new device&quot; 後掃��邊的二維碼</translation>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>ExperimentalModeButton</name>
     <message>
-        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>將 connect.comma.ai 加入您的主螢幕，以便�手機 App 一樣使用它</translation>
+        <source>EXPERIMENTAL MODE ON</source>
+        <translation>實驗模� ON</translation>
     </message>
     <message>
-        <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation>請連接 Wi-Fi 以完��始��</translation>
+        <source>CHILL MODE ON</source>
+        <translation>輕鬆模� ON</translation>
     </message>
 </context>
 <context>
-    <name>ParamControl</name>
+    <name>FirehosePanel</name>
+    <message>
+        <source>Firehose Mode: ACTIVE</source>
+        <translation>Firehose 模�：啟用中</translation>
+    </message>
+    <message>
+        <source>ACTIVE</source>
+        <translation>啟用中</translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation>
+            <numerusform>&lt;b&gt;目�已有 %n 段&lt;/b&gt; 您的駕駛數據被�入訓練資料集。</numerusform>
+        </translation>
+    </message>
+    <message>
+        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;閒置中&lt;/span&gt;：請連接到�按��計費的網絡</translation>
+    </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation>Firehose 模�</translation>
+    </message>
+    <message>
+        <source>sunnypilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>最高</translation>
+    </message>
+</context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <source>Cancel</source>
+        <translation>�消</translation>
+    </message>
+    <message numerus="yes">
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>需�至少 %n 個字元�</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>LaneChangeSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">回上�</translation>
+    </message>
+    <message>
+        <source>Auto Lane Change: Delay with Blind Spot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LateralPanel</name>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Lane Change</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MadsSettings</name>
+    <message>
+        <source>Toggle with Main Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unified Engagement Mode (UEM)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering Mode on Brake Pedal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">��</translation>
+    </message>
+    <message>
+        <source>Clear Model Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CLEAR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">�設校準</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">繼續</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">�消</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation>�擇</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>�消</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <source>Advanced</source>
+        <translation>進階</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>輸入密碼</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>給 &quot;%1&quot;</translation>
+    </message>
+    <message>
+        <source>Wrong password</source>
+        <translation>密碼錯誤</translation>
+    </message>
+</context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>NeuralNetworkLateralControl</name>
+    <message>
+        <source>Neural Network Lateral Control (NNLC)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC is currently not available on this platform.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the car to check car compatibility</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Not Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NNLC Loaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exact</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fuzzy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>if there are any issues:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>and donate logs to get NNLC loaded for your car:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation>無法下載更新
+%1</translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>正在使用相機��中。在完�之�，系統將無法啟動。</translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>一個有關�作系統的更新正在後�下載中。當更新準備好安�時，您將收到�示進行更新。</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>NVMe 固態硬碟未被掛載。</translation>
+    </message>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>�置溫度�高。系統正在冷�中，等冷�完畢後�會啟動。目�內部組件溫度：%1</translation>
+    </message>
+    <message>
+        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
+        <translation>�置註冊 comma.ai 後端失敗。此�置將無法連線或上傳資料至 comma.ai 伺�器，也無法�得 comma.ai 的支�。若此�置購自 comma.ai/shop，請至 https://comma.ai/support 建立支�請求。</translation>
+    </message>
+    <message>
+        <source>Acknowledge Excessive Actuation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Snooze Update</source>
+        <translation type="unfinished">暫�更新</translation>
+    </message>
+    <message>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <source>UPDATE</source>
+        <translation>æ›´æ–°</translation>
+    </message>
+    <message>
+        <source> ALERTS</source>
+        <translation> �醒</translation>
+    </message>
+    <message>
+        <source> ALERT</source>
+        <translation> �醒</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation>立�接管</translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation>請�新啟�置</translation>
+    </message>
+    <message>
+        <source>Waiting to start</source>
+        <translation>等待開始</translation>
+    </message>
+    <message>
+        <source>System Unresponsive</source>
+        <translation>系統無回應</translation>
+    </message>
+    <message>
+        <source>sunnypilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">檢查</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">��</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">æ›´æ–°</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <source>Pair your device to your comma account</source>
+        <translation>將�置與您的 comma 帳號��</translation>
+    </message>
+    <message>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>用手機連至 https://connect.comma.ai</translation>
+    </message>
+    <message>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>點� &quot;add new device&quot; 後掃��邊的二維碼</translation>
+    </message>
+    <message>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>將 connect.comma.ai 加入您的主螢幕，以便�手機 App 一樣使用它</translation>
+    </message>
+    <message>
+        <source>Please connect to Wi-Fi to complete initial pairing</source>
+        <translation>請連接 Wi-Fi 以完��始��</translation>
+    </message>
+</context>
+<context>
+    <name>ParamControl</name>
     <message>
         <source>Cancel</source>
         <translation>�消</translation>
@@ -577,6 +1388,96 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>啟用</translation>
     </message>
 </context>
+<context>
+    <name>ParamControlSP</name>
+    <message>
+        <source>Enable</source>
+        <translation type="unfinished">啟用</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">�消</translation>
+    </message>
+</context>
+<context>
+    <name>PlatformSelector</name>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Search your vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SEARCHING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation type="unfinished">移除</translation>
+    </message>
+    <message>
+        <source>This setting will take effect immediately.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This setting will take effect once the device enters offroad state.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vehicle Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">�消</translation>
+    </message>
+    <message>
+        <source>No vehicles found for query: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
@@ -621,10 +1522,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
-    </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
         <translation>
@@ -647,6 +1544,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>now</source>
         <translation>�在</translation>
     </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -680,110 +1581,66 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
 </context>
 <context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>警告：電壓�低</translation>
-    </message>
+    <name>SettingsWindowSP</name>
     <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>請使用車上 harness �供的電�，若繼續的話您需�自擔風險。</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>關機</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>繼續</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>入門</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>在我們上路之�，讓我們完�安�並介紹一些細節。</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>連接到無線網路</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>回上�</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>在沒有 Wi-Fi 的情�下繼續</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>連接至網路中</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>輸入網�</translation>
+        <source>×</source>
+        <translation type="unfinished">×</translation>
     </message>
     <message>
-        <source>for Custom Software</source>
-        <translation>訂製的軟體</translation>
+        <source>Device</source>
+        <translation type="unfinished">�置</translation>
     </message>
     <message>
-        <source>Downloading...</source>
-        <translation>下載中…</translation>
+        <source>Network</source>
+        <translation type="unfinished">網路</translation>
     </message>
     <message>
-        <source>Download Failed</source>
-        <translation>下載失敗</translation>
+        <source>sunnylink</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>請確定您輸入的是有效的安�網�，並且確定�置的網路連線狀態良好。</translation>
+        <source>Toggles</source>
+        <translation type="unfinished">設定</translation>
     </message>
     <message>
-        <source>Reboot device</source>
-        <translation>�新啟動</translation>
+        <source>Software</source>
+        <translation type="unfinished">軟體</translation>
     </message>
     <message>
-        <source>Start over</source>
-        <translation>�新開始</translation>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>No custom software found at this URL.</source>
-        <translation>在此網�找�到自訂軟體。</translation>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>發生了一些錯誤。請�新啟動您的�置。</translation>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a language</source>
-        <translation>�擇語言</translation>
+        <source>Visuals</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose Software to Install</source>
-        <translation>�擇�安�的軟體</translation>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
+        <source>Trips</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Custom Software</source>
-        <translation>自訂軟體</translation>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>WARNING: Custom Software</source>
-        <translation>警告：自訂軟體</translation>
+        <source>Firehose</source>
+        <translation type="unfinished">Firehose</translation>
     </message>
     <message>
-        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
-
-If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
-        <translation>請謹慎安�第三方軟體。第三方軟體未經 comma 測試，�能會�壞您的�置�車輛。
-
-若您��繼續，日後�使用 https://flash.comma.ai 將您的�置�復至出廠狀態。</translation>
+        <source>Developer</source>
+        <translation type="unfinished">開發人員</translation>
     </message>
 </context>
 <context>
@@ -864,16 +1721,43 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>2G</translation>
     </message>
     <message>
-        <source>3G</source>
-        <translation>3G</translation>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SidebarSP</name>
+    <message>
+        <source>DISABLED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation type="unfinished">已離線</translation>
+    </message>
+    <message>
+        <source>REGIST...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation type="unfinished">已連線</translation>
     </message>
     <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
+        <source>ERROR</source>
+        <translation type="unfinished">錯誤</translation>
     </message>
     <message>
-        <source>5G</source>
-        <translation>5G</translation>
+        <source>SUNNYLINK</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -951,6 +1835,49 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>從未更新</translation>
     </message>
 </context>
+<context>
+    <name>SoftwarePanelSP</name>
+    <message>
+        <source>Search Branch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No branches found for keywords: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a branch</source>
+        <translation type="unfinished">��一個分支</translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">�新啟動</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
@@ -997,6 +1924,168 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>啟用 SSH �務</translation>
     </message>
 </context>
+<context>
+    <name>SunnylinkPanel</name>
+    <message>
+        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable sunnylink</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">��</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation type="unfinished">無法使用</translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to backup sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Back Up</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Backup Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings backup completed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore in progress %1%</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Restore Failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to restore the settings, try again later.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Settings restored. Confirm to restart the interface.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device ID</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TermsPage</name>
     <message>
@@ -1008,20 +2097,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <translation>接�</translation>
     </message>
     <message>
-        <source>Welcome to openpilot</source>
-        <translation>歡迎使用 openpilot</translation>
+        <source>Welcome to sunnypilot</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation>您必須接�《�款與�件》�能使用 openpilot。在繼續之�，請先閱讀最新�款：&lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt;。</translation>
+        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>啟用 openpilot</translation>
-    </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
         <translation>啟用車��離警告</translation>
@@ -1050,22 +2135,10 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Disengage on Accelerator Pedal</source>
         <translation>油門�消控車</translation>
     </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>啟用後，踩�油門將會�消 openpilot 控制。</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>實驗模�</translation>
     </message>
-    <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>openpilot �設以 &lt;b&gt;輕鬆模�&lt;/b&gt; 駕駛。    實驗模�啟用了尚未準備好進入輕鬆模�的 &lt;b&gt;alpha 級功能&lt;/b&gt;。實驗功能如下：</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>讓駕駛模型來控制油門�煞車。openpilot將會模擬人類的駕駛行為，包�在看見紅燈��止標示時�車。由於車速將由駕駛模型決定，因此您設定的時速將�為速度上�。本功能�在早期實驗階段，請�期模型有犯錯的�能性。</translation>
-    </message>
     <message>
         <source>New Driving Visualization</source>
         <translation>新的駕駛視覺介�</translation>
@@ -1094,22 +2167,10 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Driving Personality</source>
         <translation>駕駛風格</translation>
     </message>
-    <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>在正� (release) 版以外的分支上�以測試 openpilot 縱�控制的 Alpha 版本以�實驗模�。</translation>
-    </message>
-    <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>啟用 openpilot 縱�控制（alpha）切�以�許實驗模�。</translation>
-    </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
         <translation>端到端縱�控制</translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>建議使用標準模�。在�極模�下，openpilot 會更接近�車並更�極地使用油門和剎車。在輕鬆模�下，openpilot 會與�車��較��離。�於支�的汽車，您�以使用方�盤上的�離按鈕來切�這些駕駛風格。</translation>
-    </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
         <translation>在低速時，駕駛�視化將切�至�路��的廣角�影機，以更好地顯示�些彎�。在�上角還會顯示「實驗模��的標誌。</translation>
@@ -1118,14 +2179,6 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Always-On Driver Monitoring</source>
         <translation>駕駛監控常開</translation>
     </message>
-    <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation>�使在openpilot未激活時也啟用駕駛監控。</translation>
-    </message>
-    <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
-        <translation>openpilot 系統�供「主動�巡航�與「車�維��等駕駛輔助功能。使用這些功能時，您必須隨時��專注。</translation>
-    </message>
     <message>
         <source> Changing this setting will restart openpilot if the car is powered on.</source>
         <translation> 若車輛電�為開啟狀態，變更此設定將會�新啟動 openpilot。</translation>
@@ -1148,6 +2201,104 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
 Note that this feature is only compatible with select cars.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">�擇</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">�消</translation>
+    </message>
+</context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"> 若車輛電�為開啟狀態，變更此設定將會�新啟動 openpilot。</translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>

From f45ad6bab9c008ec14f4c2ff5ee3267a7368f634 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 10 Aug 2025 02:52:02 -0400
Subject: [PATCH 0359/1434] panda: skip flash and firmware check if deprecated
 panda is detected (#1117)

* flash: skip if deprecated panda is detected

* skip firmware checks

* wrong

* typing

* fix

* revert
---
 selfdrive/pandad/pandad.cc |  9 +++++++++
 selfdrive/pandad/pandad.h  | 11 +++++++++++
 selfdrive/pandad/pandad.py |  6 ++++++
 3 files changed, 26 insertions(+)

diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index 3dbfbcf08901f7..26f42add6cc294 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -84,6 +84,15 @@ Panda *connect(std::string serial="", uint32_t index=0) {
     panda->set_can_fd_auto(i, true);
   }
 
+  bool is_deprecated_panda = std::find(DEPRECATED_PANDA_TYPES.begin(),
+                                       DEPRECATED_PANDA_TYPES.end(),
+                                       panda->hw_type) != DEPRECATED_PANDA_TYPES.end();
+
+  if (is_deprecated_panda) {
+    LOGW("panda %s is deprecated (hw_type: %i), skipping firmware check...", panda->hw_serial().c_str(), static_cast<uint16_t>(panda->hw_type));
+    return panda.release();
+  }
+
   if (!panda->up_to_date() && !getenv("BOARDD_SKIP_FW_CHECK")) {
     throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
   }
diff --git a/selfdrive/pandad/pandad.h b/selfdrive/pandad/pandad.h
index cda6a16a4a91d2..cdacdc894be30c 100644
--- a/selfdrive/pandad/pandad.h
+++ b/selfdrive/pandad/pandad.h
@@ -8,6 +8,17 @@
 
 void pandad_main_thread(std::vector<std::string> serials);
 
+// deprecated devices
+static const std::vector<cereal::PandaState::PandaType> DEPRECATED_PANDA_TYPES = {
+  cereal::PandaState::PandaType::WHITE_PANDA,
+  cereal::PandaState::PandaType::GREY_PANDA,
+  cereal::PandaState::PandaType::BLACK_PANDA,
+  cereal::PandaState::PandaType::PEDAL,
+  cereal::PandaState::PandaType::UNO,
+  cereal::PandaState::PandaType::RED_PANDA_V2
+};
+
+
 class PandaSafety {
 public:
   PandaSafety(const std::vector<Panda *> &pandas) : pandas_(pandas) {}
diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index b33ffb64731e33..9822a74f920dac 100755
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -36,6 +36,12 @@ def flash_panda(panda_serial: str) -> Panda:
   panda_signature = b"" if panda.bootstub else panda.get_signature()
   cloudlog.warning(f"Panda {panda_serial} connected, version: {panda_version}, signature {panda_signature.hex()[:16]}, expected {fw_signature.hex()[:16]}")
 
+  # skip flashing if the detected device is deprecated from upstream
+  hw_type = panda.get_type()
+  if hw_type in Panda.DEPRECATED_DEVICES:
+    cloudlog.warning(f"Panda {panda_serial} is deprecated (hw_type: {hw_type}), skipping flash...")
+    return panda
+
   if panda.bootstub or panda_signature != fw_signature:
     cloudlog.info("Panda firmware out of date, update required")
     panda.flash()

From fc9a79406fcdc906f72899c07b455648794139f2 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 11 Aug 2025 08:28:29 -0400
Subject: [PATCH 0360/1434] NNLC: cleanup unused attributes (#1142)

* NNLC: cleanup unused attributes

* more cleanup
---
 .../controls/lib/latcontrol_torque_ext_base.py       | 12 +++++-------
 1 file changed, 5 insertions(+), 7 deletions(-)

diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
index 6a39b317235413..644f28573af1bb 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
@@ -11,7 +11,8 @@
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
 LAT_PLAN_MIN_IDX = 5
-LATERAL_LAG_MOD = 0.0 # seconds, modifies how far in the future we look ahead for the lateral plan
+LATERAL_LAG_MOD = 0.0  # seconds, modifies how far in the future we look ahead for the lateral plan
+
 
 def get_predicted_lateral_jerk(lat_accels, t_diffs):
   # compute finite difference between subsequent model_v2.acceleration.y values
@@ -46,7 +47,6 @@ def __init__(self, lac_torque, CP, CP_SP):
     self.model_v2 = None
     self.model_valid = False
     self.torque_params = lac_torque.torque_params
-    self.use_steering_angle = True  # FIXME-SP: deprecated in upstream
 
     self.actual_lateral_jerk: float = 0.0
     self.lateral_jerk_setpoint: float = 0.0
@@ -106,9 +106,8 @@ def update_calculations(self, CS, VM, desired_lateral_accel):
     self.lateral_jerk_measurement = 0.0
     self.lookahead_lateral_jerk = 0.0
 
-    if self.use_steering_angle:
-      actual_curvature_rate = -VM.calc_curvature(math.radians(CS.steeringRateDeg), CS.vEgo, 0.0)
-      self.actual_lateral_jerk = actual_curvature_rate * CS.vEgo ** 2
+    actual_curvature_rate = -VM.calc_curvature(math.radians(CS.steeringRateDeg), CS.vEgo, 0.0)
+    self.actual_lateral_jerk = actual_curvature_rate * CS.vEgo ** 2
 
     if self.model_valid:
       # prepare "look-ahead" desired lateral jerk
@@ -118,8 +117,7 @@ def update_calculations(self, CS, VM, desired_lateral_accel):
       desired_lateral_jerk = (np.interp(self.desired_lat_jerk_time, ModelConstants.T_IDXS,
                               self.model_v2.acceleration.y) - desired_lateral_accel) / self.desired_lat_jerk_time
       self.lookahead_lateral_jerk = get_lookahead_value(predicted_lateral_jerk[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_lateral_jerk)
-      if not self.use_steering_angle or self.lookahead_lateral_jerk == 0.0:
-        self.lookahead_lateral_jerk = 0.0
+      if self.lookahead_lateral_jerk == 0.0:
         self.actual_lateral_jerk = 0.0
         self.lat_accel_friction_factor = 1.0
       self.lateral_jerk_setpoint = self.lat_jerk_friction_factor * self.lookahead_lateral_jerk

From 6eaae848c9f163c9201ea42139e3d207c376665a Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 11 Aug 2025 08:47:52 -0400
Subject: [PATCH 0361/1434] Revert "registration required to go onroad" (#1143)

This reverts commit f4b017a7
---
 system/hardware/hardwared.py | 9 +--------
 1 file changed, 1 insertion(+), 8 deletions(-)

diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 7f9d971fbf06e4..8cde335929245b 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -18,14 +18,13 @@
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_HW
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.system.hardware import HARDWARE, TICI, AGNOS, PC
+from openpilot.system.hardware import HARDWARE, TICI, AGNOS
 from openpilot.system.loggerd.config import get_available_percent
 from openpilot.system.statsd import statlog
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.power_monitoring import PowerMonitoring
 from openpilot.system.hardware.fan_controller import TiciFanController
 from openpilot.system.version import terms_version, training_version
-from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 
 ThermalStatus = log.DeviceState.ThermalStatus
 NetworkType = log.DeviceState.NetworkType
@@ -333,12 +332,6 @@ def hardware_thread(end_event, hw_queue) -> None:
     show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"]
     set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)
 
-    # *** registration check ***
-    if not PC:
-      # we enforce this for our software, but you are welcome
-      # to make a different decision in your software
-      startup_conditions["registered_device"] = PC or (params.get("DongleId") != UNREGISTERED_DONGLE_ID)
-
     # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there
     if TICI and HARDWARE.get_device_type() == "tici":
       if not os.path.isfile("/persist/comma/living-in-the-moment"):

From ec3f044c838730f0d4bddcc50c792f525dcffdeb Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Mon, 11 Aug 2025 10:24:05 -0400
Subject: [PATCH 0362/1434] ui: refresh model list (#1074)

that's all folks

Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>
Co-authored-by: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
---
 .../ui/sunnypilot/qt/offroad/settings/models_panel.cc     | 8 ++++++++
 .../ui/sunnypilot/qt/offroad/settings/models_panel.h      | 1 +
 2 files changed, 9 insertions(+)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index 0699deef0d87f1..dfdf79938a125a 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -68,6 +68,14 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   connect(uiStateSP(), &UIStateSP::uiUpdate, this, &ModelsPanel::updateLabels);
   list->addItem(currentModelLblBtn);
 
+  refreshAvailableModelsBtn = new ButtonControlSP(tr("Refresh Model List"), tr("REFRESH"), "", this);
+  connect(refreshAvailableModelsBtn, &ButtonControlSP::clicked, this, [=]() {
+    params.put("ModelManager_LastSyncTime", "0");
+    ConfirmationDialog::alert(tr("Fetching Latest Models"), this);
+  });
+
+  list->addItem(refreshAvailableModelsBtn);
+
   clearModelCacheBtn = new ButtonControlSP(tr("Clear Model Cache"), tr("CLEAR"), "", this);
   connect(clearModelCacheBtn, &ButtonControlSP::clicked, this, &ModelsPanel::clearModelCache);
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
index 84a2f56e05148f..8586d862bd60cb 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
@@ -79,5 +79,6 @@ class ModelsPanel : public QWidget {
   QFrame *policyFrame;
   Params params;
   ButtonControlSP *clearModelCacheBtn;
+  ButtonControlSP *refreshAvailableModelsBtn;
 
 };

From 28b17858be6209d94fefd93dfdc469ba4c47fa13 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Tue, 12 Aug 2025 16:07:07 -0700
Subject: [PATCH 0363/1434] sunnypilot modeld: refactor gen12 parsing  (#1150)

* gen12

* lint

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/modeld_v2/parse_model_outputs_split.py | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/sunnypilot/modeld_v2/parse_model_outputs_split.py b/sunnypilot/modeld_v2/parse_model_outputs_split.py
index 79fa8ec2f24bd8..ba8592ed189d59 100644
--- a/sunnypilot/modeld_v2/parse_model_outputs_split.py
+++ b/sunnypilot/modeld_v2/parse_model_outputs_split.py
@@ -106,9 +106,7 @@ def parse_dynamic_outputs(self, outs: dict[str, np.ndarray]) -> None:
                        out_shape=(SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
     if 'plan' in outs:
       if self.generation >= 12 and \
-        outs['plan'].shape[1] > 2 * SplitModelConstants.PLAN_WIDTH * SplitModelConstants.IDX_N:
-        self._parse_plan_mhp(outs)
-      elif self.generation >= 12:
+        outs['plan'].shape[1] == 2 * SplitModelConstants.IDX_N * SplitModelConstants.PLAN_WIDTH:
         self.parse_mdn('plan', outs, in_N=0, out_N=0,
                        out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
       else:

From 68625222b6b086830e5db89c305c53503624907d Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Tue, 12 Aug 2025 19:33:06 -0700
Subject: [PATCH 0364/1434] chore: sync tinygrad (#1151)

* commence the sync!

* !cancelled

* Thats it folks
---
 .github/workflows/build-all-tinygrad-models.yaml | 2 +-
 sunnypilot/models/fetcher.py                     | 2 +-
 sunnypilot/models/helpers.py                     | 4 ++--
 tinygrad_repo                                    | 2 +-
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/build-all-tinygrad-models.yaml b/.github/workflows/build-all-tinygrad-models.yaml
index 8b86c6b043831f..1c7812ee47c6ed 100644
--- a/.github/workflows/build-all-tinygrad-models.yaml
+++ b/.github/workflows/build-all-tinygrad-models.yaml
@@ -127,7 +127,7 @@ jobs:
   retry_failed_models:
     needs: [setup, get_and_build]
     runs-on: ubuntu-latest
-    if: ${{ needs.setup.result != 'failure' && (failure() && !cancelled()) }}
+    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
     outputs:
       retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
     steps:
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 482f0e3bb1dcd3..60a222a36ca6c6 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -114,7 +114,7 @@ def set(self, data: dict) -> None:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v6.json"
+  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v7.json"
 
   def __init__(self, params: Params):
     self.params = params
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index a024935b84db92..79241cd83104f7 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -19,8 +19,8 @@
 from pathlib import Path
 
 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 8
-REQUIRED_MIN_SELECTOR_VERSION = 8
+CURRENT_SELECTOR_VERSION = 9
+REQUIRED_MIN_SELECTOR_VERSION = 9
 
 USE_ONNX = os.getenv('USE_ONNX', PC)
 
diff --git a/tinygrad_repo b/tinygrad_repo
index 7737cbb2a0635f..d2bb1bcb976f10 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 7737cbb2a0635fce95a9085fb1b53d5bea1093f8
+Subproject commit d2bb1bcb976f106a41928f2d66d354ab7afd6f59

From bed8da06dc4762c133b33a2bf877798288976056 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 13 Aug 2025 12:06:03 -0400
Subject: [PATCH 0365/1434] sunnylink: cleanup unused code in uploader (#1155)

---
 sunnypilot/sunnylink/uploader.py | 31 ++-----------------------------
 1 file changed, 2 insertions(+), 29 deletions(-)

diff --git a/sunnypilot/sunnylink/uploader.py b/sunnypilot/sunnylink/uploader.py
index b9117f2866ab60..2f94ea32642300 100755
--- a/sunnypilot/sunnylink/uploader.py
+++ b/sunnypilot/sunnylink/uploader.py
@@ -33,8 +33,6 @@
 force_wifi = os.getenv("FORCEWIFI") is not None
 fake_upload = os.getenv("FAKEUPLOAD") is not None
 
-OFFROAD_TRANSITION_TIMEOUT = 900.  # wait until offroad for 15 minutes before allowing uploads
-
 
 class FakeRequest:
   def __init__(self):
@@ -252,9 +250,6 @@ def main(exit_event: threading.Event = None) -> None:
   params = Params()
   dongle_id = params.get("SunnylinkDongleId")
 
-  offroad_transition_prev = 0.
-  offroad_last = False
-
   if dongle_id is None:
     cloudlog.info("uploader missing dongle_id")
     raise Exception("uploader can't start without dongle id")
@@ -265,35 +260,13 @@ def main(exit_event: threading.Event = None) -> None:
   backoff = 0.1
   while not exit_event.is_set():
     sm.update(0)
-
     offroad = params.get_bool("IsOffroad")
-    t = time.monotonic()
-    if offroad and not offroad_last and t > 300.:
-      offroad_transition_prev = time.monotonic()
-    offroad_last = offroad
-
-    network_type = NetworkType.wifi if force_wifi else sm['deviceState'].networkType
+    network_type = sm['deviceState'].networkType if not force_wifi else NetworkType.wifi
     if network_type == NetworkType.none:
       if allow_sleep:
         time.sleep(60 if offroad else 5)
       continue
 
-    if params.get_bool("DisableOnroadUploads"):
-      if not offroad or (offroad_transition_prev > 0. and t - offroad_transition_prev < OFFROAD_TRANSITION_TIMEOUT):
-        if not offroad:
-          cloudlog.info("not uploading: onroad uploads disabled")
-        else:
-          wait_minutes = int(OFFROAD_TRANSITION_TIMEOUT / 60)
-          time_left = OFFROAD_TRANSITION_TIMEOUT - (t - offroad_transition_prev)
-          if time_left > 2.0 * 60.0:
-            time_left_str = f"{int(time_left / 60)} minute(s)"
-          else:
-            time_left_str = f"{int(time_left)} seconds(s)"
-          cloudlog.info(f"not uploading: waiting until offroad for {wait_minutes} minutes; {time_left_str} left")
-        if allow_sleep:
-          time.sleep(60)
-        continue
-
     success = uploader.step(sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered)
     if success is None:
       backoff = 60 if offroad else 5
@@ -301,7 +274,7 @@ def main(exit_event: threading.Event = None) -> None:
       backoff = 0.1
     else:
       cloudlog.info("upload backoff %r", backoff)
-      backoff = min(backoff * 2, 120)
+      backoff = min(backoff*2, 120)
     if allow_sleep:
       time.sleep(backoff + random.uniform(0, backoff))
 

From 8910668e4e522411974a103263ccad5ee0521bf7 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Wed, 13 Aug 2025 18:12:01 +0200
Subject: [PATCH 0366/1434] sunnylink: enable uploader option for admins
 (#1152)

* feat: add sunnylink uploader option for admins in sunnylink panel

* feat: enhance uploader to support zstd compression and improve route handling

* feat: update sunnylink uploader description and enablement criteria for admin tiers

* ui cleanup

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../qt/offroad/settings/sunnylink_panel.cc    | 10 +++
 .../qt/offroad/settings/sunnylink_panel.h     |  1 +
 sunnypilot/sunnylink/athena/sunnylinkd.py     |  4 +-
 sunnypilot/sunnylink/uploader.py              | 65 +++++++++----------
 system/manager/process_config.py              |  2 +-
 5 files changed, 46 insertions(+), 36 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
index 1358cbc959da26..3d4e070963c5b8 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
@@ -66,6 +66,14 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   });
   list->addItem(horizontal_line());
 
+  QString sunnylinkUploaderDesc = tr("Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)");
+  sunnylinkUploaderEnabledBtn = new ParamControlSP(
+    "EnableSunnylinkUploader",
+    tr("[Don't use] Enable sunnylink uploader"),
+    sunnylinkUploaderDesc,
+    "", nullptr, true);
+  list->addItem(sunnylinkUploaderEnabledBtn);
+
   connect(sunnylinkEnabledBtn, &ParamControl::showDescriptionEvent, [=]() {
     // resets the description to the default one for the Easter egg
     sunnylinkEnabledBtn->setDescription(sunnylinkEnabledBtnDesc);
@@ -261,6 +269,8 @@ void SunnylinkPanel::updatePanel() {
   pairSponsorBtn->setEnabled(!is_onroad && is_sunnylink_enabled);
   pairSponsorBtn->setValue(is_paired ? tr("Paired") : tr("Not Paired"));
 
+  sunnylinkUploaderEnabledBtn->setEnabled(max_current_sponsor_rule.roleTier == SponsorTier::Guardian && is_sunnylink_enabled);
+
   if (!is_sunnylink_enabled) {
     sunnylinkEnabledBtn->setValue("");
     sponsorBtn->setValue("");
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h
index e17c68d3a32994..c56d8ebd1a77a3 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h
@@ -49,6 +49,7 @@ public slots:
   QString sunnylinkBtnDescription;
   PushButtonSP *restoreSettings;
   PushButtonSP *backupSettings;
+  ParamControlSP * sunnylinkUploaderEnabledBtn;
 
   void stopSunnylink() const;
   void startSunnylink() const;
diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index 42b7d779e34018..90eae1dfe8eca7 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -15,7 +15,7 @@
 from openpilot.common.realtime import set_core_affinity
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \
-  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim
+  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim, upload_handler
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                        create_connection)
 
@@ -47,7 +47,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
               threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
               threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'),
               threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
-              # threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
+              threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
               # threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
               # threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
             ] + [
diff --git a/sunnypilot/sunnylink/uploader.py b/sunnypilot/sunnylink/uploader.py
index 2f94ea32642300..117fbdc15942f6 100755
--- a/sunnypilot/sunnylink/uploader.py
+++ b/sunnypilot/sunnylink/uploader.py
@@ -1,33 +1,33 @@
 #!/usr/bin/env python3
-import bz2
-import datetime
-import io
 import json
 import os
 import random
+import requests
 import threading
 import time
 import traceback
+import datetime
 from collections.abc import Iterator
-from typing import BinaryIO
 
-import requests
+from cereal import log
+import cereal.messaging as messaging
+from sunnypilot.sunnylink.api import SunnylinkApi
+from openpilot.common.file_helpers import get_upload_stream
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
-from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
-
-import cereal.messaging as messaging
-from cereal import log
-from sunnypilot.sunnylink.api import SunnylinkApi
+from openpilot.common.swaglog import cloudlog
 
 NetworkType = log.DeviceState.NetworkType
 UPLOAD_ATTR_NAME = 'user.sunny.upload'
-
 UPLOAD_ATTR_VALUE = b'1'
 
-UPLOAD_QLOG_QCAM_MAX_SIZE = 5 * 1e6  # MB
+MAX_UPLOAD_SIZES = {
+  "qlog": 25*1e6,  # can't be too restrictive here since we use qlogs to find
+  # bugs, including ones that can cause massive log sizes
+  "qcam": 5*1e6,
+}
 
 allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1"))
 force_wifi = os.getenv("FORCEWIFI") is not None
@@ -50,7 +50,6 @@ def get_directory_sort(d: str) -> list[str]:
   o = ["0", ] if d.startswith("2024-") else ["1", ]
   return o + [s.rjust(10, '0') for s in d.rsplit('--', 1)]
 
-
 def listdir_by_creation(d: str) -> list[str]:
   if not os.path.isdir(d):
     return []
@@ -63,7 +62,6 @@ def listdir_by_creation(d: str) -> list[str]:
     cloudlog.exception("listdir_by_creation failed")
     return []
 
-
 def clear_locks(root: str) -> None:
   for logdir in os.listdir(root):
     path = os.path.join(root, logdir)
@@ -87,11 +85,11 @@ def __init__(self, dongle_id: str, root: str):
     self.last_filename = ""
 
     self.immediate_folders = ["crash/", "boot/"]
-    self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1}
+    self.immediate_priority = {"qlog": 0, "qlog.zst": 0, "qcamera.ts": 1}
 
   def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]:
     r = self.params.get("AthenadRecentlyViewedRoutes")
-    requested_routes = [] if r is None else r.split(",")
+    requested_routes = [] if r is None else [route for route in r.split(",") if route]
 
     for logdir in listdir_by_creation(self.root):
       path = os.path.join(self.root, logdir)
@@ -135,11 +133,11 @@ def next_file_to_upload(self, metered: bool) -> tuple[str, str, str] | None:
       if any(f in fn for f in self.immediate_folders):
         return name, key, fn
 
-    return next(
-      ((name, key, fn)
-       for name, key, fn in upload_files if name in self.immediate_priority),
-      None,
-    )
+    for name, key, fn in upload_files:
+      if name in self.immediate_priority:
+        return name, key, fn
+
+    return None
 
   def do_upload(self, key: str, fn: str):
     url_resp = self.api.get(
@@ -159,15 +157,15 @@ def do_upload(self, key: str, fn: str):
     if fake_upload:
       return FakeResponse()
 
-    with open(fn, "rb") as f:
-      data: BinaryIO
-      if key.endswith('.bz2') and not fn.endswith('.bz2'):
-        compressed = bz2.compress(f.read())
-        data = io.BytesIO(compressed)
-      else:
-        data = f
-
-      return requests.put(url, data=data, headers=headers, timeout=10)
+    stream = None
+    try:
+      compress = key.endswith('.zst') and not fn.endswith('.zst')
+      stream, _ = get_upload_stream(fn, compress)
+      response = requests.put(url, data=stream, headers=headers, timeout=10)
+      return response
+    finally:
+      if stream:
+        stream.close()
 
   def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool:
     try:
@@ -181,7 +179,7 @@ def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool)
     if sz == 0:
       # tag files of 0 size as uploaded
       success = True
-    elif name in self.immediate_priority and sz > UPLOAD_QLOG_QCAM_MAX_SIZE:
+    elif name in MAX_UPLOAD_SIZES and sz > MAX_UPLOAD_SIZES[name]:
       cloudlog.event("uploader_too_large", key=key, fn=fn, sz=sz)
       success = True
     else:
@@ -222,6 +220,7 @@ def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool)
 
     return success
 
+
   def step(self, network_type: int, metered: bool) -> bool | None:
     d = self.next_file_to_upload(metered)
     if d is None:
@@ -230,8 +229,8 @@ def step(self, network_type: int, metered: bool) -> bool | None:
     name, key, fn = d
 
     # qlogs and bootlogs need to be compressed before uploading
-    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')):
-      key += ".bz2"
+    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.zst')):
+      key += ".zst"
 
     return self.upload(name, key, fn, network_type, metered)
 
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index c90565180c69d9..a9579546baada2 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -174,7 +174,7 @@ def and_(*fns):
 if os.path.exists("./github_runner.sh"):
   procs += [NativeProcess("github_runner_start", "system/manager", ["./github_runner.sh", "start"], and_(only_offroad, use_github_runner), sigkill=False)]
 
-if os.path.exists("../sunnypilot/sunnylink/uploader.py"):
+if os.path.exists("../../sunnypilot/sunnylink/uploader.py"):
   procs += [PythonProcess("sunnylink_uploader", "sunnypilot.sunnylink.uploader", use_sunnylink_uploader_shim)]
 
 managed_processes = {p.name: p for p in procs}

From 3cf81c081cef4bb75d5e9e09796e4585a618d794 Mon Sep 17 00:00:00 2001
From: Warren Togami <wtogami@gmail.com>
Date: Wed, 13 Aug 2025 11:12:22 -0500
Subject: [PATCH 0367/1434] bug: Fix "Default" interactivity timeout display
 (#1154)

If param `InteractivityTimeout` does not exist, timeoutValue == "",
resulting in the Interactivity Timeout UI displaying "s" by default.

Fix displayed "Default" by checking for "0" or "".

Co-authored-by: Nayan <nayan8teen@gmail.com>
---
 selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index 43ba7e037f7333..7e3d18bd8170bc 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -211,7 +211,7 @@ void DevicePanelSP::updateState() {
   toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus));
 
   QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout"));
-  if (timeoutValue == "0") {
+  if (timeoutValue == "0" || timeoutValue.isEmpty()) {
     interactivityTimeout->setLabel("Default");
   } else {
     interactivityTimeout->setLabel(timeoutValue + "s");

From 34f4aadca5491ffb9396061cf6e1152ec48bc046 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Fri, 15 Aug 2025 07:42:56 -0700
Subject: [PATCH 0368/1434] ci: enforce runner cutoff above 9.0V threshold
 (#1156)

* ci: github runner auto off when voltage is above 9.0v .

This ensures that a runner in vehicle doesn't accidentally break everything lol.

* suggestion for clarity.

* refactor: rename and update handling of `GithubRunnerVoltage` parameter

- Improve clarity by renaming to `GithubRunnerSufficientVoltage`.
- Changed attribute to `CLEAR_ON_MANAGER_START` for improved runtime state management.
- No need for this value to be backed up!

* refactor: streamline voltage check for GithubRunnerSufficientVoltage

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 common/params_keys.h             | 1 +
 system/hardware/hardwared.py     | 5 +++++
 system/manager/process_config.py | 3 ++-
 3 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 08f79bf5af05d1..1822ebabba4f12 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -147,6 +147,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
     {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
+    {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 8cde335929245b..d702334fa87074 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -382,6 +382,11 @@ def hardware_thread(end_event, hw_queue) -> None:
 
     # Offroad power monitoring
     voltage = None if peripheralState.pandaType == log.PandaState.PandaType.unknown else peripheralState.voltage
+
+    # GitHub runner auto off: 9V is used as the threshold because most desktop runners
+    # will rarely exceed 5V so 9V is set as our buffer between desk use and car use.
+    params.put_bool_nonblocking("GithubRunnerSufficientVoltage", ((voltage or 0) and voltage > 9000))
+
     power_monitor.calculate(voltage, onroad_conditions["ignition"])
     msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
     msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.get_car_battery_capacity())
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index a9579546baada2..67a77caa249596 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -62,7 +62,8 @@ def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
   return not started
 
 def use_github_runner(started, params, CP: car.CarParams) -> bool:
-  return not PC and params.get_bool("EnableGithubRunner") and not params.get_bool("NetworkMetered")
+  return not PC and params.get_bool("EnableGithubRunner") and (
+    not params.get_bool("NetworkMetered") and not params.get_bool("GithubRunnerSufficientVoltage"))
 
 def sunnylink_ready_shim(started, params, CP: car.CarParams) -> bool:
   """Shim for sunnylink_ready to match the process manager signature."""

From 102ac66fab6c21d6712d52b2d20098c7cbf0992c Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Fri, 15 Aug 2025 16:42:35 -0400
Subject: [PATCH 0369/1434] [bot] Update Python packages (#1145)

* Update Python packages

* revert tinygrad

---------

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 docs/CARS.md |   4 +-
 opendbc_repo |   2 +-
 uv.lock      | 163 ++++++++++++++++++++++++++-------------------------
 3 files changed, 86 insertions(+), 83 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index acd68ace8494cd..e043c3b10f285c 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 321 Supported Cars
+# 323 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -122,6 +122,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric Non-SCC 2019">Buy Here</a></sub></details>|||
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
 |Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -146,6 +147,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Carnival 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
+|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
 |Kia|EV6 (Southeast Asia only) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (with HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (without HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
diff --git a/opendbc_repo b/opendbc_repo
index 61de392c1cfa15..cf9b33143fb7c1 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 61de392c1cfa15265bc0bd559d96971afba04419
+Subproject commit cf9b33143fb7c1a337be9c3f20428a9fb17323e1
diff --git a/uv.lock b/uv.lock
index 3b1baa3ee3c4b2..1b6dd18961ab54 100644
--- a/uv.lock
+++ b/uv.lock
@@ -415,31 +415,31 @@ wheels = [
 
 [[package]]
 name = "cython"
-version = "3.1.2"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/18/40/7b17cd866158238db704965da1b5849af261dbad393ea3ac966f934b2d39/cython-3.1.2.tar.gz", hash = "sha256:6bbf7a953fa6762dfecdec015e3b054ba51c0121a45ad851fa130f63f5331381", size = 3184825, upload-time = "2025-06-09T07:08:48.465Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/1f/de/502ddebaf5fe78f13cd6361acdd74710d3a5b15c22a9edc0ea4c873a59a5/cython-3.1.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:5548573e0912d7dc80579827493315384c462e2f15797b91a8ed177686d31eb9", size = 3007792, upload-time = "2025-06-09T07:09:28.777Z" },
-    { url = "https://files.pythonhosted.org/packages/bb/c8/91b00bc68effba9ba1ff5b33988052ac4d98fc1ac3021ade7261661299c6/cython-3.1.2-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:4bf3ea5bc50d80762c490f42846820a868a6406fdb5878ae9e4cc2f11b50228a", size = 2870798, upload-time = "2025-06-09T07:09:30.745Z" },
-    { url = "https://files.pythonhosted.org/packages/f4/4b/29d290f14607785112c00a5e1685d766f433531bbd6a11ad229ab61b7a70/cython-3.1.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:20ce53951d06ab2bca39f153d9c5add1d631c2a44d58bf67288c9d631be9724e", size = 3131280, upload-time = "2025-06-09T07:09:32.785Z" },
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@@ -4620,15 +4621,15 @@ wheels = [
 
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     { name = "urllib3" },
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From 80d702c866bf2fa1242ecda88d86f2b6e8abae3d Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Mon, 18 Aug 2025 13:02:17 -0700
Subject: [PATCH 0370/1434] models panel ui: live description for lagd toggle
 (#1139)

* Handle decoding directly in ui bc why not

* dynamic max

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .../qt/offroad/settings/models_panel.cc       | 50 +++++++++++++++++--
 1 file changed, 47 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index dfdf79938a125a..413bd8a373787b 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -110,10 +110,23 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   list->addItem(lagd_toggle_control);
 
   // Software delay control
+  int liveDelayMaxInt = 30;
+  std::string liveDelayBytes = params.get("LiveDelay");
+  if (!liveDelayBytes.empty()) {
+    capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
+      reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
+      liveDelayBytes.size() / sizeof(capnp::word)));
+    auto event = msg.getRoot<cereal::Event>();
+    if (event.hasLiveDelay()) {
+      auto liveDelay = event.getLiveDelay();
+      float lateralDelay = liveDelay.getLateralDelay();
+      liveDelayMaxInt = static_cast<int>(lateralDelay * 100.0f) + 20;
+    }
+  }
   delay_control = new OptionControlSP("LagdToggleDelay", tr("Adjust Software Delay"),
                                      tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
                                         "\nThe default software delay value is 0.2"),
-                                     "", {5, 30}, 1, false, nullptr, true, true);
+                                     "", {5, liveDelayMaxInt}, 1, false, nullptr, true, true);
 
   connect(delay_control, &OptionControlSP::updateLabels, [=]() {
     float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
@@ -367,8 +380,39 @@ void ModelsPanel::updateLabels() {
 
   // Update lagdToggle description with current value
   QString desc = tr("Enable this for the car to learn and adapt its steering response time. "
-                   "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. "
-                   "The Current value is updated automatically when the vehicle is Onroad.");
+                   "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.");
+  bool lagdEnabled = params.getBool("LagdToggle");
+  if (lagdEnabled) {
+    std::string liveDelayBytes = params.get("LiveDelay");
+    if (!liveDelayBytes.empty()) {
+      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
+        reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
+        liveDelayBytes.size() / sizeof(capnp::word)));
+      auto event = msg.getRoot<cereal::Event>();
+      if (event.hasLiveDelay()) {
+        auto liveDelay = event.getLiveDelay();
+        float lateralDelay = liveDelay.getLateralDelay();
+        desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
+                .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 2));
+      }
+    }
+  } else {
+    std::string carParamsBytes = params.get("CarParamsPersistent");
+    if (!carParamsBytes.empty()) {
+      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
+        reinterpret_cast<const capnp::word*>(carParamsBytes.data()),
+        carParamsBytes.size() / sizeof(capnp::word)));
+      auto carParams = msg.getRoot<cereal::CarParams>();
+      float steerDelay = carParams.getSteerActuatorDelay();
+      float softwareDelay = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
+      float totalLag = steerDelay + softwareDelay;
+      desc += QString("<br><br><span style=\"color:#e0e0e0\">"
+                      "<b>%1</b> %2 s + <b>%3</b> %4 s = <b>%5</b> %6 s</span>")
+           .arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
+                tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
+                tr("Total Delay:"), QString::number(totalLag, 'f', 2));
+    }
+  }
   lagd_toggle_control->setDescription(desc);
 
   delay_control->setVisible(!params.getBool("LagdToggle"));

From 9e3a35035aeff4348422d033679c96836def1b96 Mon Sep 17 00:00:00 2001
From: Kirito3481 <47619491+Kirito3481@users.noreply.github.com>
Date: Tue, 19 Aug 2025 14:24:53 +0900
Subject: [PATCH 0371/1434] Update ko-kr translation (#1167)

---
 selfdrive/ui/translations/main_ko.ts | 818 ++++++++++++++-------------
 1 file changed, 417 insertions(+), 401 deletions(-)

diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index e5a7c413eea752..90bbfcaea32fb1 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -32,7 +32,7 @@
     </message>
     <message>
         <source>Enter new tethering password</source>
-        <translation>새 테�� 비밀번호를 입력하세요</translation>
+        <translation>새 테�� 비밀번호 입력</translation>
     </message>
     <message>
         <source>IP Address</source>
@@ -52,11 +52,11 @@
     </message>
     <message>
         <source>leave blank for automatic configuration</source>
-        <translation>�� 설정하려면 빈 칸으로 �세요</translation>
+        <translation>�� 설정하려면 비워 �세요</translation>
     </message>
     <message>
         <source>Cellular Metered</source>
-        <translation>모바� ��터 종량제</translation>
+        <translation>셀룰러 종량제</translation>
     </message>
     <message>
         <source>Hidden Network</source>
@@ -64,7 +64,7 @@
     </message>
     <message>
         <source>CONNECT</source>
-        <translation>연결�</translation>
+        <translation>ì—°ê²°</translation>
     </message>
     <message>
         <source>Enter SSID</source>
@@ -72,15 +72,15 @@
     </message>
     <message>
         <source>Enter password</source>
-        <translation>비밀번호를 입력하세요</translation>
+        <translation>비밀번호 입력</translation>
     </message>
     <message>
         <source>for &quot;%1&quot;</source>
-        <translation>&quot;%1&quot;� 접�하려면 비밀번호가 필요합니다</translation>
+        <translation>&quot;%1&quot;� 비밀번호를 입력하세요</translation>
     </message>
     <message>
         <source>Prevent large data uploads when on a metered cellular connection</source>
-        <translation>모바� ��터 종량제 사용 시 대용량 ��터 업로드 방지</translation>
+        <translation>��터 사용량 제한� 있는 셀룰러 연결 시 대용량 ��터 업로드 방지</translation>
     </message>
     <message>
         <source>default</source>
@@ -96,58 +96,59 @@
     </message>
     <message>
         <source>Wi-Fi Network Metered</source>
-        <translation>제한� Wi-Fi 네트워�</translation>
+        <translation>Wi-Fi 네트워� 종량제</translation>
     </message>
     <message>
         <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
-        <translation>제한� Wi-Fi 사용 시 대용량 ��터 업로드 방지</translation>
+        <translation>��터 사용량 제한� 있는 Wi-Fi 연결 시 대용량 ��터 업로드 방지</translation>
     </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
     <message>
         <source>Auto Lane Change by Blinker</source>
-        <translation type="unfinished"></translation>
+        <translation>방향지시등� �용한 �� 차로 변경</translation>
     </message>
     <message>
         <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
 Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
-        <translation type="unfinished"></translation>
+        <translation>방향지시등� 사용할 때 �� 차로 변경 �작� 지연하�� 타�머를 설정하세요. 타�머가 설정�어 있으면 �� 차로 변경� 위해 핸들 조작� 필요하지 않습니다. 기본값� 핸들 조작 필요입니다.
+� 기능� 사용할 때�는 주�하세요. �통 � �로 �황� 허용할 때�만 방향지시등� 사용하세요.</translation>
     </message>
     <message>
         <source>s</source>
-        <translation type="unfinished"></translation>
+        <translation>ì´ˆ</translation>
     </message>
     <message>
         <source>Off</source>
-        <translation type="unfinished"></translation>
+        <translation>사용 안 함</translation>
     </message>
     <message>
         <source>Nudge</source>
-        <translation type="unfinished"></translation>
+        <translation>핸들 조작 필요</translation>
     </message>
     <message>
         <source>Nudgeless</source>
-        <translation type="unfinished"></translation>
+        <translation>조작 필요 없�</translation>
     </message>
 </context>
 <context>
     <name>Brightness</name>
     <message>
         <source>Brightness</source>
-        <translation type="unfinished"></translation>
+        <translation>�기</translation>
     </message>
     <message>
         <source>Overrides the brightness of the device.</source>
-        <translation type="unfinished"></translation>
+        <translation>기기 �기를 �접 설정합니다.</translation>
     </message>
     <message>
         <source>Auto (Dark)</source>
-        <translation type="unfinished"></translation>
+        <translation>�� (어둡게)</translation>
     </message>
     <message>
         <source>Auto</source>
-        <translation type="unfinished"></translation>
+        <translation>��</translation>
     </message>
 </context>
 <context>
@@ -173,7 +174,7 @@ Please use caution when using this feature. Only use the blinker when traffic an
     </message>
     <message>
         <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnypilot� 사용하려면 �용 약관� ��해야 합니다.</translation>
     </message>
 </context>
 <context>
@@ -184,15 +185,15 @@ Please use caution when using this feature. Only use the blinker when traffic an
     </message>
     <message>
         <source>Longitudinal Maneuver Mode</source>
-        <translation>가�� 제어 조작 모드</translation>
+        <translation>가�� 제어 모드</translation>
     </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>오픈파�럿 가�� 제어 (알파)</translation>
+        <translation>openpilot 가�� 제어 (알파)</translation>
     </message>
     <message>
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>경고: 오픈파�럿 가�� 제어는 알파 기능으로 차량� ��긴급제�(AEB)기능� 작�하지 않습니다.</translation>
+        <translation>경고: � 차량�서 openpilot 가�� 제어는 알파 단계�며 �� 긴급 제�(AEB)� 비활성화합니다.</translation>
     </message>
     <message>
         <source>Enable ADB</source>
@@ -200,55 +201,58 @@ Please use caution when using this feature. Only use the blinker when traffic an
     </message>
     <message>
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
-        <translation>ADB (안드로�드 디버그 브릿지) USB �는 네트워�를 통해 장치� 연결할 수 있습니다. �세한 내용� https://docs.comma.ai/how-to/connect-to-comma를 참조하세요.</translation>
+        <translation>ADB(Android Debug Bridge)는 USB �는 네트워�를 통해 기기� 연결할 수 있게 해�니다. �세한 내용� https://docs.comma.ai/how-to/connect-to-comma 를 참고하세요.</translation>
     </message>
     <message>
         <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation type="unfinished"></translation>
+        <translation>� 차량�서는 openpilot� 가�� 제어 대신 sunnypilot� 차량� 내장 ACC를 기본값으로 사용합니다.
+�를 활성화하면 openpilot 가�� 제어로 전환합니다.
+openpilot 가�� 제어(알파)를 활성화할 때는 실험� 모드 활성화를 권장합니다.</translation>
     </message>
 </context>
 <context>
     <name>DeveloperPanelSP</name>
     <message>
         <source>Show Advanced Controls</source>
-        <translation type="unfinished"></translation>
+        <translation>고급 설정 표시</translation>
     </message>
     <message>
         <source>Toggle visibility of advanced sunnypilot controls.
 This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnypilot 고급 설정� 표시 여부를 전환합니다.
+� 설정� 설정� 표시 여부만 전환하며, 실제 기능� 켜�/꺼� �태는 바꾸지 않습니다.</translation>
     </message>
     <message>
         <source>Enable GitHub runner service</source>
-        <translation type="unfinished"></translation>
+        <translation>GitHub runner 서비스 사용</translation>
     </message>
     <message>
         <source>Enables or disables the github runner service.</source>
-        <translation type="unfinished"></translation>
+        <translation>GitHub Runner 서비스를 켜거나 �니다.</translation>
     </message>
     <message>
         <source>Enable Quickboot Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>빠른 부팅 모드 사용</translation>
     </message>
     <message>
         <source>Error Log</source>
-        <translation type="unfinished"></translation>
+        <translation>오류 로그</translation>
     </message>
     <message>
         <source>VIEW</source>
-        <translation type="unfinished">보기</translation>
+        <translation>보기</translation>
     </message>
     <message>
         <source>View the error log for sunnypilot crashes.</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnypilot 충�� 대한 오류 로그를 확�하세요.</translation>
     </message>
     <message>
         <source>When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
-        <translation type="unfinished"></translation>
+        <translation>토글� 켜면 부팅 시간� 단축하기 위해 미리 빌드� 파�� �성합니다. 토글� �면 로컬�서 편집한 cpp 파�� 컴파�할 수 있�� 해당 미리 빌드� 파�� 즉시 제거합니다. &lt;br&gt;&lt;br&gt;&lt;b&gt;기기�서 C++ 파�� 로컬로 편집하려면, 변경 사항� 다시 컴파�� 수 있�� 반드시 � 토글� 먼저 꺼야 합니다.&lt;/b&gt;</translation>
     </message>
     <message>
         <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
-        <translation type="unfinished"></translation>
+        <translation>빠른 부팅 모드는 업��트가 비활성화�어 있어야 합니다.&lt;br&gt;먼저 소프트웨어 패��서 &apos;업��트 비활성화&apos;를 활성화하세요.</translation>
     </message>
 </context>
 <context>
@@ -263,7 +267,7 @@ This only toggles the visibility of the controls; it does not toggle the actual
     </message>
     <message>
         <source>Serial</source>
-        <translation>시리얼</translation>
+        <translation>�련번호</translation>
     </message>
     <message>
         <source>Driver Camera</source>
@@ -275,7 +279,7 @@ This only toggles the visibility of the controls; it does not toggle the actual
     </message>
     <message>
         <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>운전� 모니터�� 잘 �는지 확�하기 위해 후면 카메�를 미리 봅니다. (차량 시�� 꺼져 있어야 합니다)</translation>
+        <translation>운전� 모니터�� 잘 보�는지 확�하기 위해 운전� 방향 카메�를 미리 확�하세요. (차량� 시�� 꺼져 있어야 합니다)</translation>
     </message>
     <message>
         <source>Reset Calibration</source>
@@ -331,7 +335,7 @@ This only toggles the visibility of the controls; it does not toggle the actual
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> 사용�� 장치는 %2 %1° � %4 %3° � 방향으로 장착�어 있습니다.</translation>
+        <translation> 사용�� 기기는 %2 %1° � %4 %3° � 방향으로 장착�어 있습니다.</translation>
     </message>
     <message>
         <source>down</source>
@@ -375,23 +379,23 @@ This only toggles the visibility of the controls; it does not toggle the actual
     </message>
     <message>
         <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>장치를 comma connect (connect.comma.ai)�서 �기화하고 comma prime 무료 �용권� 사용하세요.</translation>
+        <translation>기기를 comma connect (connect.comma.ai)와 페어�하고 comma prime 혜�� 받으세요.</translation>
     </message>
     <message>
         <source>Pair Device</source>
-        <translation>장치 �기화</translation>
+        <translation>기기 페어�</translation>
     </message>
     <message>
         <source>PAIR</source>
-        <translation>�기화</translation>
+        <translation>페어�</translation>
     </message>
     <message>
         <source>Disengage to Reset Calibration</source>
-        <translation>캘리브레�션� 재설정하려면 해제하세요</translation>
+        <translation>캘리브레�션� 초기화하려면 해제하세요</translation>
     </message>
     <message>
         <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
-        <translation>오픈파�럿� 지��으로 갤리브레�션�어 재설정� 거� 필요하지 않습니다. 차량과 연결� 경우 캘리브레�션 재설정� 오픈파�럿� 재시작합니다.</translation>
+        <translation>openpilot� 지��으로 캘리브레�션� 수행하며, 캘리브레�션 초기화가 필요한 경우는 드뭅니다. 차량 전�� 켜져 있는 �태�서 캘리브레�션� 초기화하면 openpilot� 재시작�니다.</translation>
     </message>
     <message>
         <source>
@@ -399,7 +403,7 @@ This only toggles the visibility of the controls; it does not toggle the actual
 Steering lag calibration is %1% complete.</source>
         <translation>
 
-조향 지연 캘리브레�션� %1% 진행�었습니다.</translation>
+조향 지연 캘리브레�션� %1% 완료�었습니다.</translation>
     </message>
     <message>
         <source>
@@ -411,7 +415,7 @@ Steering lag calibration is complete.</source>
     </message>
     <message>
         <source> Steering torque response calibration is %1% complete.</source>
-        <translation> 조향 토� �답 캘리브레�션� %1% 진행�었습니다.</translation>
+        <translation> 조향 토� �답 캘리브레�션� %1% 완료�었습니다.</translation>
     </message>
     <message>
         <source> Steering torque response calibration is complete.</source>
@@ -419,150 +423,151 @@ Steering lag calibration is complete.</source>
     </message>
     <message>
         <source>Review the rules, features, and limitations of sunnypilot</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnypilot� 규칙, 기능 � 제한 사항� 검토하세요.</translation>
     </message>
     <message>
         <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnypilot� 기기를 좌우 4° �내, 위로는 5° �내, 아래로는 9° �내로 장착해야 합니다.</translation>
     </message>
 </context>
 <context>
     <name>DevicePanelSP</name>
     <message>
         <source>Quiet Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>정숙 모드</translation>
     </message>
     <message>
         <source>Driver Camera Preview</source>
-        <translation type="unfinished"></translation>
+        <translation>운전� 카메� 미리보기</translation>
     </message>
     <message>
         <source>Training Guide</source>
-        <translation type="unfinished"></translation>
+        <translation>�육 가�드</translation>
     </message>
     <message>
         <source>Regulatory</source>
-        <translation type="unfinished">규제</translation>
+        <translation>규제</translation>
     </message>
     <message>
         <source>Language</source>
-        <translation type="unfinished"></translation>
+        <translation>언어</translation>
     </message>
     <message>
         <source>Reset Settings</source>
-        <translation type="unfinished"></translation>
+        <translation>설정 초기화</translation>
     </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
-        <translation type="unfinished">트레�� 가�드를 다시 확�하시겠습니까?</translation>
+        <translation>�육 가�드를 검토하시겠습니까?</translation>
     </message>
     <message>
         <source>Review</source>
-        <translation type="unfinished">다시보기</translation>
+        <translation>검토</translation>
     </message>
     <message>
         <source>Select a language</source>
-        <translation type="unfinished">언어를 선�하세요</translation>
+        <translation>언어를 선�하세요</translation>
     </message>
     <message>
         <source>Wake-Up Behavior</source>
-        <translation type="unfinished"></translation>
+        <translation>깨우기 �작</translation>
     </message>
     <message>
         <source>Interactivity Timeout</source>
-        <translation type="unfinished"></translation>
+        <translation>�호작용 타임아웃</translation>
     </message>
     <message>
         <source>Apply a custom timeout for settings UI.
 This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
-        <translation type="unfinished"></translation>
+        <translation>설정 화면� 사용� 지정 타임아웃� �용하세요.
+사용�가 화면과 �호작용하지 않으면 설정 화면� ��으로 닫히는 시간입니다.</translation>
     </message>
     <message>
         <source>Reboot</source>
-        <translation type="unfinished">재부팅</translation>
+        <translation>재부팅</translation>
     </message>
     <message>
         <source>Power Off</source>
-        <translation type="unfinished">전� �기</translation>
+        <translation>전� �기</translation>
     </message>
     <message>
         <source>Offroad Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>오프로드 모드</translation>
     </message>
     <message>
         <source>Are you sure you want to exit Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
+        <translation>항� 오프로드 모드를 종료하시겠습니까?</translation>
     </message>
     <message>
         <source>Confirm</source>
-        <translation type="unfinished"></translation>
+        <translation>확�</translation>
     </message>
     <message>
         <source>Are you sure you want to enter Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
+        <translation>항� 오프로드 모드로 진입하시겠습니까?</translation>
     </message>
     <message>
         <source>Disengage to Enter Always Offroad Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>항� 오프로드 모드로 진입하려면 해제하세요</translation>
     </message>
     <message>
         <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
-        <translation type="unfinished"></translation>
+        <translation>모든 Sunnypilot 설정� 기본값으로 재설정하시겠습니까? 설정� 재설정하면 ��릴 수 없습니다.</translation>
     </message>
     <message>
         <source>Reset</source>
-        <translation type="unfinished">초기화</translation>
+        <translation>재설정</translation>
     </message>
     <message>
         <source>The reset cannot be undone. You have been warned.</source>
-        <translation type="unfinished"></translation>
+        <translation>재설정� ��릴 수 없습니다. 경고 드립니다.</translation>
     </message>
     <message>
         <source>Exit Always Offroad</source>
-        <translation type="unfinished"></translation>
+        <translation>항� 오프로드 종료</translation>
     </message>
     <message>
         <source>Always Offroad</source>
-        <translation type="unfinished"></translation>
+        <translation>항� 오프로드</translation>
     </message>
     <message>
         <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
-        <translation type="unfinished"></translation>
+        <translation>� 기본값: 기기가 정��으로 부팅/절전 모드�서 해제�며, 작� 준비가 완료�니다.</translation>
     </message>
     <message>
         <source>� Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
-        <translation type="unfinished"></translation>
+        <translation>� 오프로드: 부팅/절전 해제 후 기기가 항� 오프로드 모드로 유지�니다.</translation>
     </message>
     <message>
         <source>Controls state of the device after boot/sleep.</source>
-        <translation type="unfinished"></translation>
+        <translation>부팅/절전 모드 후 기기� �태를 제어합니다.</translation>
     </message>
 </context>
 <context>
     <name>DriveStats</name>
     <message>
         <source>Drives</source>
-        <translation type="unfinished"></translation>
+        <translation>주행</translation>
     </message>
     <message>
         <source>Hours</source>
-        <translation type="unfinished"></translation>
+        <translation>시간</translation>
     </message>
     <message>
         <source>ALL TIME</source>
-        <translation type="unfinished"></translation>
+        <translation>전체 기간</translation>
     </message>
     <message>
         <source>PAST WEEK</source>
-        <translation type="unfinished"></translation>
+        <translation>지난주</translation>
     </message>
     <message>
         <source>KM</source>
-        <translation type="unfinished"></translation>
+        <translation>KM</translation>
     </message>
     <message>
         <source>Miles</source>
-        <translation type="unfinished"></translation>
+        <translation>mi</translation>
     </message>
 </context>
 <context>
@@ -576,61 +581,63 @@ This is the time after which settings UI closes automatically if user is not int
     <name>ExitOffroadButton</name>
     <message>
         <source>Are you sure you want to exit Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
+        <translation>항� 오프로드 모드를 종료하시겠습니까?</translation>
     </message>
     <message>
         <source>Confirm</source>
-        <translation type="unfinished"></translation>
+        <translation>확�</translation>
     </message>
     <message>
         <source>EXIT ALWAYS OFFROAD MODE</source>
-        <translation type="unfinished"></translation>
+        <translation>항� 오프로드 모드 종료</translation>
     </message>
 </context>
 <context>
     <name>ExperimentalModeButton</name>
     <message>
         <source>EXPERIMENTAL MODE ON</source>
-        <translation>실험 모드 사용</translation>
+        <translation>실험 모드 켜�</translation>
     </message>
     <message>
         <source>CHILL MODE ON</source>
-        <translation>안정 모드 사용</translation>
+        <translation>안정 모드 켜�</translation>
     </message>
 </context>
 <context>
     <name>FirehosePanel</name>
     <message>
         <source>Firehose Mode: ACTIVE</source>
-        <translation>파�어호스 모드: 활성화</translation>
+        <translation>Firehose 모드: 활성</translation>
     </message>
     <message>
         <source>ACTIVE</source>
-        <translation>활성 �태</translation>
+        <translation>활성</translation>
     </message>
     <message numerus="yes">
         <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
         <translation>
-            <numerusform>&lt;b&gt;%n 구간&lt;/b&gt; � 운전� 지금까지� 학습 ��터셋� �함�어 있습니다.</numerusform>
+            <numerusform>&lt;b&gt;%n개 구간&lt;/b&gt; � 주행� 현재까지 학습 ��터셋� �함�어 있습니다.</numerusform>
         </translation>
     </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;비활성 �태&lt;/span&gt;: 무제한 네트워�� 연결 하세요</translation>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;비활성&lt;/span&gt;: 무제한 네트워�� 연결 하세요</translation>
     </message>
     <message>
         <source>Firehose Mode</source>
-        <translation>파�어호스 모드</translation>
+        <translation>Firehose 모드</translation>
     </message>
     <message>
         <source>sunnypilot learns to drive by watching humans, like you, drive.
 
 Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnypilot� 당신과 같� 사람들� 운전� 보면서 스스로 운전� 배�니다.
+
+Firehose 모드를 사용하면 훈련 ��터 업로드를 극대화하여 openpilot� 운전 모�� 개선할 수 있습니다. � 많� ��터는 � � 모�� �미하며, �는 � 나� 실험 모드를 �미합니다.</translation>
     </message>
     <message>
         <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
-        <translation type="unfinished"></translation>
+        <translation>최대 효과를 위해 기기를 실내로 가져와 좋� USB-C 어댑터와 Wi-Fi� 매주 연결하세요.&lt;br&gt;&lt;br&gt;핫스팟�나 무제한 SIM 카드� 연결�어 있다면 운전 중�� Firehose 모드를 사용할 수 있습니다.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;�주 묻는 질문&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;운전 방��나 장소가 중요한가요?&lt;/i&gt; 아니요, �소처럼 운전하시면 �니다.&lt;br&gt;&lt;br&gt;&lt;i&gt;모든 세그먼트가 Firehose 모드로 가져와지나요?&lt;/i&gt; 아니요, 세그먼트� �부만 선��으로 가져옵니다.&lt;br&gt;&lt;br&gt;&lt;i&gt;좋� USB-C 어댑터는 무엇�가요?&lt;/i&gt; 모든 고� 휴대� �는 노트� 충전기는 괜찮습니다.&lt;br&gt;&lt;br&gt;&lt;i&gt;어떤 소프트웨어를 실행하는지가 중요한가요?&lt;/i&gt; 예, 업스트림 sunnypilot(� 특정 ��)만 훈련� 사용할 수 있습니다.</translation>
     </message>
 </context>
 <context>
@@ -645,50 +652,50 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
     <message>
         <source>MAX</source>
-        <translation>MAX</translation>
+        <translation>최대</translation>
     </message>
 </context>
 <context>
     <name>HyundaiSettings</name>
     <message>
         <source>Off</source>
-        <translation type="unfinished"></translation>
+        <translation>사용 안 함</translation>
     </message>
     <message>
         <source>Dynamic</source>
-        <translation type="unfinished"></translation>
+        <translation>��</translation>
     </message>
     <message>
         <source>Predictive</source>
-        <translation type="unfinished"></translation>
+        <translation>예측</translation>
     </message>
     <message>
         <source>Custom Longitudinal Tuning</source>
-        <translation type="unfinished"></translation>
+        <translation>사용� 지정 가�� 튜�</translation>
     </message>
     <message>
         <source>This feature can only be used with openpilot longitudinal control enabled.</source>
-        <translation type="unfinished"></translation>
+        <translation>� 기능� openpilot 가�� 제어가 활성화� 경우�만 사용할 수 있습니다.</translation>
     </message>
     <message>
         <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
-        <translation type="unfinished"></translation>
+        <translation>옵션� 선�하려면 기기 패��서 &quot;항� 오프로드&quot;를 활성화하거나, 차량� 시�� �세요.</translation>
     </message>
     <message>
         <source>Off: Uses default tuning</source>
-        <translation type="unfinished"></translation>
+        <translation>사용 안 함: 기본 튜�� 사용합니다</translation>
     </message>
     <message>
         <source>Dynamic: Adjusts acceleration limits based on current speed</source>
-        <translation type="unfinished"></translation>
+        <translation>��: 현재 ��� 따� 가� 제한� 조정합니다.</translation>
     </message>
     <message>
         <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
-        <translation type="unfinished"></translation>
+        <translation>예측: 향후 주행 궤� ��터를 활용해 필요한 조정� 미리 파악합니다.</translation>
     </message>
     <message>
         <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilot 가�� 제어� 가� 부드러움� 조정하여 주행 경험� 세밀하게 조정하세요.</translation>
     </message>
 </context>
 <context>
@@ -708,311 +715,312 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     <name>LaneChangeSettings</name>
     <message>
         <source>Back</source>
-        <translation type="unfinished">뒤로</translation>
+        <translation>뒤로</translation>
     </message>
     <message>
         <source>Auto Lane Change: Delay with Blind Spot</source>
-        <translation type="unfinished"></translation>
+        <translation>�� 차로 변경: 사�지대 �지 시 지연</translation>
     </message>
     <message>
         <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
-        <translation type="unfinished"></translation>
+        <translation>토글� 켜면 사�지대 모니터�(BSM)� 가로막는 차량� �지할 때 차로 변경� 안전하게 수행할 수 있�� 지연 타�머를 활성화합니다.</translation>
     </message>
 </context>
 <context>
     <name>LateralPanel</name>
     <message>
         <source>Modular Assistive Driving System (MADS)</source>
-        <translation type="unfinished"></translation>
+        <translation>모듈형 보조 주행 시스템 (MADS)</translation>
     </message>
     <message>
         <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
-        <translation type="unfinished"></translation>
+        <translation>�기 있는 MADS 기능� 활성화하세요. 토글� �면 기본 sunnypilot 작�/해제 방�으로 ��아갑니다.</translation>
     </message>
     <message>
         <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
+        <translation>MADS 사용� 지정</translation>
     </message>
     <message>
         <source>Customize Lane Change</source>
-        <translation type="unfinished"></translation>
+        <translation>차로 변경 사용� 지정</translation>
     </message>
     <message>
         <source>Pause Lateral Control with Blinker</source>
-        <translation type="unfinished"></translation>
+        <translation>방향지시등으로 조향 제어 �시 중지</translation>
     </message>
     <message>
         <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
-        <translation type="unfinished"></translation>
+        <translation>설정한 ��보다 낮� ��로 주행 중� 때 방향지시등으로 조향 제어를 �시 중지합니다.</translation>
     </message>
     <message>
         <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
-        <translation type="unfinished"></translation>
+        <translation>차로 중앙 유지(ALC) � 어댑티브 �루즈 컨트롤(ACC) 기능� �립�으로 사용할 수 있습니다.</translation>
     </message>
     <message>
         <source>Start the vehicle to check vehicle compatibility.</source>
-        <translation type="unfinished"></translation>
+        <translation>차량 호환성� 확�하려면 차량 시�� 걸어주세요.</translation>
     </message>
     <message>
         <source>This platform supports all MADS settings.</source>
-        <translation type="unfinished"></translation>
+        <translation>� 플랫�� 모든 MADS 설정� 지�합니다.</translation>
     </message>
     <message>
         <source>This platform supports limited MADS settings.</source>
-        <translation type="unfinished"></translation>
+        <translation>� 플랫�� 제한� MADS 설정� 지�합니다.</translation>
     </message>
 </context>
 <context>
     <name>LongitudinalPanel</name>
     <message>
         <source>Custom ACC Speed Increments</source>
-        <translation type="unfinished"></translation>
+        <translation>사용� 지정 ACC �� 조절 단위</translation>
     </message>
     <message>
         <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
-        <translation type="unfinished"></translation>
+        <translation>�루즈 �� �가/�소 시 짧게 누르기 � 길게 누르기 단위를 개별 설정합니다.</translation>
     </message>
     <message>
         <source>This feature can only be used with openpilot longitudinal control enabled.</source>
-        <translation type="unfinished"></translation>
+        <translation>� 기능� openpilot� 가�� 제어가 활성화�어 있어야만 사용할 수 있습니다.</translation>
     </message>
     <message>
         <source>This feature is not supported on this platform due to vehicle limitations.</source>
-        <translation type="unfinished"></translation>
+        <translation>� 기능� 차량 제한으로 �해 � 플랫��서 지��지 않습니다.</translation>
     </message>
     <message>
         <source>Start the vehicle to check vehicle compatibility.</source>
-        <translation type="unfinished"></translation>
+        <translation>차량 호환성� 확�하려면 차량 시�� 걸어주세요.</translation>
     </message>
 </context>
 <context>
     <name>MadsSettings</name>
     <message>
         <source>Toggle with Main Cruise</source>
-        <translation type="unfinished"></translation>
+        <translation>메� �루즈와 연�</translation>
     </message>
     <message>
         <source>Unified Engagement Mode (UEM)</source>
-        <translation type="unfinished"></translation>
+        <translation>통합 주행 보조 모드 (UEM)</translation>
     </message>
     <message>
         <source>Steering Mode on Brake Pedal</source>
-        <translation type="unfinished"></translation>
+        <translation>브레�� 조작 시 조향 모드</translation>
     </message>
     <message>
         <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
-        <translation type="unfinished"></translation>
+        <translation>참고: LFA/LKAS 버튼� 없는 차량� 경우, � 기능� 비활성화하면 조향 제어가 작�하지 않습니다.</translation>
     </message>
     <message>
         <source>Engage lateral and longitudinal control with cruise control engagement.</source>
-        <translation type="unfinished"></translation>
+        <translation>�루즈 컨트롤� 켜면 가��과 조향� �시� 시작합니다.</translation>
     </message>
     <message>
         <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
-        <translation type="unfinished"></translation>
+        <translation>참고: 통합 주행 보조 모드(UEM)로 조향 제어가 작�하면, MADS 버튼으로 �접 �거나 차량 시�� �기 전까지 계� 유지�니다.</translation>
     </message>
     <message>
         <source>Start the vehicle to check vehicle compatibility.</source>
-        <translation type="unfinished"></translation>
+        <translation>차량 호환성� 확�하려면 차량 시�� 걸어주세요.</translation>
     </message>
     <message>
         <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
-        <translation type="unfinished"></translation>
+        <translation>� 기능� 차량� 한계로 �해 기본�으로 비활성화�어 있으며, 선�할 수 없습니다.</translation>
     </message>
     <message>
         <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
-        <translation type="unfinished"></translation>
+        <translation>� 기능� 차량� 한계로 �해 기본�으로 활성화�어 있으며, 선�할 수 없습니다.</translation>
     </message>
     <message>
         <source>This platform only supports Disengage mode due to vehicle limitations.</source>
-        <translation type="unfinished"></translation>
+        <translation>� 플랫�� 차량� 한계로 �해 &apos;해제 모드&apos;만 지�합니다.</translation>
     </message>
     <message>
         <source>Remain Active</source>
-        <translation type="unfinished"></translation>
+        <translation>계� 활성 유지</translation>
     </message>
     <message>
         <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
-        <translation type="unfinished"></translation>
+        <translation>계� 활성 유지: 브레�� 페달� 밟아� 차로 유지 보조(ALC) 기능� 계� 작�합니다.</translation>
     </message>
     <message>
         <source>Pause</source>
-        <translation type="unfinished"></translation>
+        <translation>�시 정지</translation>
     </message>
     <message>
         <source>Pause: ALC will pause when the brake pedal is pressed.</source>
-        <translation type="unfinished"></translation>
+        <translation>�시 정지: 브레�� 페달� 밟으면 차로 유지 보조(ALC) 기능� �시 정지�니다.</translation>
     </message>
     <message>
         <source>Disengage</source>
-        <translation type="unfinished"></translation>
+        <translation>해제</translation>
     </message>
     <message>
         <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
-        <translation type="unfinished"></translation>
+        <translation>해제: 브레�� 페달� 밟으면 차로 유지 보조(ALC) 기능� 해제�니다.</translation>
     </message>
     <message>
         <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
-        <translation type="unfinished"></translation>
+        <translation>브레�� 페달� �접 밟았� 때 �� 차로 중앙 유지(ALC) 기능� 어떻게 작�할지 선�하세요.</translation>
     </message>
 </context>
 <context>
     <name>MaxTimeOffroad</name>
     <message>
         <source>Max Time Offroad</source>
-        <translation type="unfinished"></translation>
+        <translation>최대 오프로드 시간</translation>
     </message>
     <message>
         <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
-        <translation type="unfinished"></translation>
+        <translation>차량 시�� 꺼지면 설정� 시간� 지난 후 기기가 ��으로 꺼집니다.&lt;br/&gt;(기본값� 30시간입니다)</translation>
     </message>
     <message>
         <source>Always On</source>
-        <translation type="unfinished"></translation>
+        <translation>켜� 유지</translation>
     </message>
     <message>
         <source>h</source>
-        <translation type="unfinished"></translation>
+        <translation>시간</translation>
     </message>
     <message>
         <source>m</source>
-        <translation type="unfinished"></translation>
+        <translation>분</translation>
     </message>
     <message>
         <source> (default)</source>
-        <translation type="unfinished"></translation>
+        <translation> (기본값)</translation>
     </message>
 </context>
 <context>
     <name>ModelsPanel</name>
     <message>
         <source>Current Model</source>
-        <translation type="unfinished"></translation>
+        <translation>현재 모�</translation>
     </message>
     <message>
         <source>SELECT</source>
-        <translation type="unfinished">선�</translation>
+        <translation>선�</translation>
     </message>
     <message>
         <source>Clear Model Cache</source>
-        <translation type="unfinished"></translation>
+        <translation>모� �시 지우기</translation>
     </message>
     <message>
         <source>CLEAR</source>
-        <translation type="unfinished"></translation>
+        <translation>지우기</translation>
     </message>
     <message>
         <source>Driving Model</source>
-        <translation type="unfinished"></translation>
+        <translation>주행 모�</translation>
     </message>
     <message>
         <source>Navigation Model</source>
-        <translation type="unfinished"></translation>
+        <translation>내비게�션 모�</translation>
     </message>
     <message>
         <source>Vision Model</source>
-        <translation type="unfinished"></translation>
+        <translation>비전 모�</translation>
     </message>
     <message>
         <source>Policy Model</source>
-        <translation type="unfinished"></translation>
+        <translation>정책 모�</translation>
     </message>
     <message>
         <source>Live Learning Steer Delay</source>
-        <translation type="unfinished"></translation>
+        <translation>조향 지연 실시간 학습</translation>
     </message>
     <message>
         <source>Adjust Software Delay</source>
-        <translation type="unfinished"></translation>
+        <translation>소프트웨어 지연 조절</translation>
     </message>
     <message>
         <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
 The default software delay value is 0.2</source>
-        <translation type="unfinished"></translation>
+        <translation>조향 지연 실시간 학습 기능� 꺼져 있� 때, 소프트웨어 지연� 조절합니다.
+기본값� 0.2입니다.</translation>
     </message>
     <message>
         <source>  %1 - %2</source>
-        <translation type="unfinished"></translation>
+        <translation>  %1 - %2</translation>
     </message>
     <message>
         <source>downloaded</source>
-        <translation type="unfinished"></translation>
+        <translation>다운로드 완료</translation>
     </message>
     <message>
         <source>ready</source>
-        <translation type="unfinished"></translation>
+        <translation>준비 완료</translation>
     </message>
     <message>
         <source>from cache</source>
-        <translation type="unfinished"></translation>
+        <translation>�시�서 가져옴</translation>
     </message>
     <message>
         <source>  download failed - %1</source>
-        <translation type="unfinished"></translation>
+        <translation>  다운로드 실패 - %1</translation>
     </message>
     <message>
         <source>  pending - %1</source>
-        <translation type="unfinished"></translation>
+        <translation>  대기 중 - %1</translation>
     </message>
     <message>
         <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
+        <translation>모� 가져오는 중...</translation>
     </message>
     <message>
         <source>Select a Model</source>
-        <translation type="unfinished"></translation>
+        <translation>모� 선�</translation>
     </message>
     <message>
         <source>Default</source>
-        <translation type="unfinished"></translation>
+        <translation>기본값</translation>
     </message>
     <message>
         <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
+        <translation>� 기능� 켜면 차량� 스스로 핸들 반� ��를 학습하고 맞춥니다. �면 고정� 핸들 반� ��를 사용합니다. � 기능� 켜�는 것� 기본 openpilot 경험� 제공합니다. 차량� 주행 중� 때 현재 값� ��으로 업��트�니다.</translation>
     </message>
     <message>
         <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
+        <translation>모� 다운로드가 백그�운드�서 시작�었습니다.</translation>
     </message>
     <message>
         <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
+        <translation>캘리브레�션� 초기화하는 것� 강력히 권장합니다.</translation>
     </message>
     <message>
         <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
+        <translation>지금 바로 하시겠습니까?</translation>
     </message>
     <message>
         <source>Reset Calibration</source>
-        <translation type="unfinished">캘리브레�션</translation>
+        <translation>캘리브레�션 초기화</translation>
     </message>
     <message>
         <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
+        <translation>주행 모� 선�기</translation>
     </message>
     <message>
         <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;u&gt;현재 사용 중� 모�� 제외한&lt;/u&gt;&lt;br/&gt;모든 다운로드� 모�� �시�서 삭제�니다.&lt;br/&gt;&lt;br/&gt;계� 진행하시겠습니까?</translation>
     </message>
     <message>
         <source>Clear Cache</source>
-        <translation type="unfinished"></translation>
+        <translation>�시 지우기</translation>
     </message>
     <message>
         <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
+        <translation>경고: ��터 사용량 제한� 있는 네트워�� 연결�어 있습니다!</translation>
     </message>
     <message>
         <source>Continue</source>
-        <translation type="unfinished">계�</translation>
+        <translation>계�</translation>
     </message>
     <message>
         <source>on Metered</source>
-        <translation type="unfinished"></translation>
+        <translation>��터 사용량 제한 네트워� 사용</translation>
     </message>
     <message>
         <source>Cancel</source>
-        <translation type="unfinished">취소</translation>
+        <translation>취소</translation>
     </message>
 </context>
 <context>
@@ -1049,70 +1057,70 @@ The default software delay value is 0.2</source>
     <name>NetworkingSP</name>
     <message>
         <source>Scan</source>
-        <translation type="unfinished"></translation>
+        <translation>검색</translation>
     </message>
     <message>
         <source>Scanning...</source>
-        <translation type="unfinished"></translation>
+        <translation>검색 중...</translation>
     </message>
 </context>
 <context>
     <name>NeuralNetworkLateralControl</name>
     <message>
         <source>Neural Network Lateral Control (NNLC)</source>
-        <translation type="unfinished"></translation>
+        <translation>신경� 기반 조향 제어 (NNLC)</translation>
     </message>
     <message>
         <source>NNLC is currently not available on this platform.</source>
-        <translation type="unfinished"></translation>
+        <translation>� 플랫��서는 현재 NNLC를 사용할 수 없습니다.</translation>
     </message>
     <message>
         <source>Start the car to check car compatibility</source>
-        <translation type="unfinished"></translation>
+        <translation>차량 호환성� 확�하려면 차량 시�� 걸어주세요.</translation>
     </message>
     <message>
         <source>NNLC Not Loaded</source>
-        <translation type="unfinished"></translation>
+        <translation>NNLC가 불러와지지 않�</translation>
     </message>
     <message>
         <source>NNLC Loaded</source>
-        <translation type="unfinished"></translation>
+        <translation>NNLC가 불러와�</translation>
     </message>
     <message>
         <source>Match</source>
-        <translation type="unfinished"></translation>
+        <translation>�치</translation>
     </message>
     <message>
         <source>Exact</source>
-        <translation type="unfinished"></translation>
+        <translation>정확</translation>
     </message>
     <message>
         <source>Fuzzy</source>
-        <translation type="unfinished"></translation>
+        <translation>유사</translation>
     </message>
     <message>
         <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
-        <translation type="unfinished"></translation>
+        <translation>�치: &quot;정확&quot;� 가장 좋지만, &quot;유사&quot;� 괜찮습니다.</translation>
     </message>
     <message>
         <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
-        <translation type="unfinished"></translation>
+        <translation>과거 &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;�고 불렸� � 기능� 기존� 조향 &lt;b&gt;&quot;토�&quot;&lt;/b&gt; 제어기를 대체합니다. �는 � 차량� 주행 ��터(� 정확히는, �기 다른 EPS 펌웨어 ��터)를 기반으로 훈련� 신경�� 사용하여 제어 정확�를 높�기 위함입니다.</translation>
     </message>
     <message>
         <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnypilot 팀�게 연�하시려면, sunnypilot Discord 서버 내� 다� 채�� �용해 주세요.</translation>
     </message>
     <message>
         <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
-        <translation type="unfinished"></translation>
+        <translation>피드백� 보내거나, 현재 지��지 않는 차량� 로그 ��터를 제공하고 싶� 때:</translation>
     </message>
     <message>
         <source>if there are any issues:</source>
-        <translation type="unfinished"></translation>
+        <translation>문제가 발�하면:</translation>
     </message>
     <message>
         <source>and donate logs to get NNLC loaded for your car:</source>
-        <translation type="unfinished"></translation>
+        <translation>그리고 차량� NNLC가 활성화� 수 있�� 로그를 제공하려면:</translation>
     </message>
 </context>
 <context>
@@ -1125,11 +1133,11 @@ The default software delay value is 0.2</source>
     </message>
     <message>
         <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation>카메� 스냅샷 �기가 완료� 때까지 시스템� 시작�지 않습니다.</translation>
+        <translation>카메� 스냅샷� 촬�하는 중입니다. 완료� 때까지 시스템� 시작�지 않습니다.</translation>
     </message>
     <message>
         <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
-        <translation>백그�운드�서 운� 체제� 대한 업��트가 다운로드�고 있습니다. 설치가 준비�면 업��트 메시지가 표시�니다.</translation>
+        <translation>기기 운�체제 업��트가 백그�운드�서 다운로드 중입니다. 설치가 준비�면 업��트를 진행하�는 메시지가 표시�니다.</translation>
     </message>
     <message>
         <source>NVMe drive not mounted.</source>
@@ -1137,11 +1145,11 @@ The default software delay value is 0.2</source>
     </message>
     <message>
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>장치 온�가 너무 높습니다. 시작하기 전� 시스템� 냉�하고 있습니다. 현재 내부 구성 요소 온�: %1</translation>
+        <translation>기기 온�가 너무 높습니다. 시스템� 시작하기 전� 온�를 낮추고 있습니다. 현재 내부 부품 온�는 %1입니다.</translation>
     </message>
     <message>
         <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
-        <translation>장치를 comma.ai 백엔드� 등�하지 못했습니다. comma.ai 서버� 연결하거나 업로드하지 않으며 comma.ai로부터 지��받지 않습니다. comma.ai shop�서 구매 한 장치 � 경우 https://comma.ai/support�서 티켓� 여십시오.</translation>
+        <translation>기기가 comma.ai 서버� 등��지 못했습니다. 따�서 comma.ai 서버� 연결하거나 ��터를 업로드할 수 없으며, comma.ai� 지�� 받� 수 없습니다. 만약 � 기기를 comma.ai/shop�서 구매했다면, https://comma.ai/support�서 지� 티켓� 열어주세요.</translation>
     </message>
     <message>
         <source>Acknowledge Excessive Actuation</source>
@@ -1153,29 +1161,31 @@ The default software delay value is 0.2</source>
     </message>
     <message>
         <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilot� 지난 주행�서 과�한 %1 작�� �지했습니다. 문제 해결� 위해 https://comma.ai/support로 지�팀� 연�하시고, 사용 중� 기기� �글 ID를 공유해 주세요.</translation>
     </message>
     <message>
         <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
-        <translation type="unfinished"></translation>
+        <translation>즉시 �터넷� 연결하여 업��트를 확�하세요. �터넷� 연결하지 않으면, %1 후 sunnypilot� 비활성화�니다.</translation>
     </message>
     <message>
         <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation type="unfinished"></translation>
+        <translation>업��트를 확�하려면 �터넷� 연결해 주세요. �터넷� 연결하여 업��트를 확�할 때까지 sunnypilot� ��으로 시작�지 않습니다.</translation>
     </message>
     <message>
         <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnypilot� 당신� 차량� �별하지 못했습니다. 현재 차량� 지��지 않거나, 차량� ECU가 ���지 않습니다. 올바른 차량� 펌웨어 버전� 추가하는 풀 리퀘스트를 제출해 주세요. �움� 필요하면 discord.comma.ai� 참여하세요.</translation>
     </message>
     <message>
         <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnypilot� 기기� 장착 위치 변화를 �지했습니다. 기기가 마운트� 완전히 장착�었는지, 그리고 마운트가 앞유리� 단단히 고정�었는지 확�하세요.</translation>
     </message>
     <message>
         <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
 
 %1</source>
-        <translation type="unfinished"></translation>
+        <translation>OpenStreetMap ��터베�스가 최신� 아닙니다. 향�� �� 제어 � �로명 표시를 위해 OpenStreetMap ��터를 계� 사용하려면, 새로운 지�를 다운로드해야 합니다.
+
+%1</translation>
     </message>
 </context>
 <context>
@@ -1197,184 +1207,188 @@ The default software delay value is 0.2</source>
     <name>OffroadHomeSP</name>
     <message>
         <source>ALWAYS OFFROAD ACTIVE</source>
-        <translation type="unfinished"></translation>
+        <translation>항� 오프로드 활성 �태</translation>
     </message>
 </context>
 <context>
     <name>OnroadAlerts</name>
     <message>
         <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation>핸들� 잡아주세요</translation>
+        <translation>즉시 제어하세요</translation>
     </message>
     <message>
         <source>Reboot Device</source>
-        <translation>장치를 재부팅하세요</translation>
+        <translation>기기 재부팅</translation>
     </message>
     <message>
         <source>Waiting to start</source>
-        <translation>시작� 기다리는중</translation>
+        <translation>시작 대기 중</translation>
     </message>
     <message>
         <source>System Unresponsive</source>
-        <translation>시스템� �답하지않습니다</translation>
+        <translation>시스템 �답 없�</translation>
     </message>
     <message>
         <source>sunnypilot Unavailable</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnypilot 사용 불가</translation>
     </message>
 </context>
 <context>
     <name>OsmPanel</name>
     <message>
         <source>Mapd Version</source>
-        <translation type="unfinished"></translation>
+        <translation>Mapd 버전</translation>
     </message>
     <message>
         <source>Offline Maps ETA</source>
-        <translation type="unfinished"></translation>
+        <translation>오프�� 지� 남� 예� 시간</translation>
     </message>
     <message>
         <source>Time Elapsed</source>
-        <translation type="unfinished"></translation>
+        <translation>경과 시간</translation>
     </message>
     <message>
         <source>Downloaded Maps</source>
-        <translation type="unfinished"></translation>
+        <translation>다운로드� 지�</translation>
     </message>
     <message>
         <source>DELETE</source>
-        <translation type="unfinished"></translation>
+        <translation>삭제</translation>
     </message>
     <message>
         <source>This will delete ALL downloaded maps
 
 Are you sure you want to delete all the maps?</source>
-        <translation type="unfinished"></translation>
+        <translation>다운로드� 모든 지�가 삭제�니다.
+
+모든 지�를 정�로 삭제하시겠습니까?</translation>
     </message>
     <message>
         <source>Yes, delete all the maps.</source>
-        <translation type="unfinished"></translation>
+        <translation>네, 모든 지�를 삭제합니다.</translation>
     </message>
     <message>
         <source>Database Update</source>
-        <translation type="unfinished"></translation>
+        <translation>��터베�스 업��트</translation>
     </message>
     <message>
         <source>CHECK</source>
-        <translation type="unfinished">확�</translation>
+        <translation>확�</translation>
     </message>
     <message>
         <source>Country</source>
-        <translation type="unfinished"></translation>
+        <translation>êµ­ê°€</translation>
     </message>
     <message>
         <source>SELECT</source>
-        <translation type="unfinished">선�</translation>
+        <translation>선�</translation>
     </message>
     <message>
         <source>Fetching Country list...</source>
-        <translation type="unfinished"></translation>
+        <translation>국가 목� 불러오는 중...</translation>
     </message>
     <message>
         <source>State</source>
-        <translation type="unfinished"></translation>
+        <translation>주</translation>
     </message>
     <message>
         <source>Fetching State list...</source>
-        <translation type="unfinished"></translation>
+        <translation>주 목� 불러오는 중...</translation>
     </message>
     <message>
         <source>All</source>
-        <translation type="unfinished"></translation>
+        <translation>ì „ì²´</translation>
     </message>
     <message>
         <source>REFRESH</source>
-        <translation type="unfinished"></translation>
+        <translation>새로 고침</translation>
     </message>
     <message>
         <source>UPDATE</source>
-        <translation type="unfinished">업��트</translation>
+        <translation>업��트</translation>
     </message>
     <message>
         <source>Download starting...</source>
-        <translation type="unfinished"></translation>
+        <translation>다운로드 시작 중...</translation>
     </message>
     <message>
         <source>Error: Invalid download. Retry.</source>
-        <translation type="unfinished"></translation>
+        <translation>오류: 유효하지 않� 다운로드입니다. 다시 시�해 주세요.</translation>
     </message>
     <message>
         <source>Download complete!</source>
-        <translation type="unfinished"></translation>
+        <translation>다운로드 완료!</translation>
     </message>
     <message>
         <source>
 
 Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
+        <translation>
+
+경고: ��터 사용량 제한� 있는 네트워�� 연결�어 있습니다!</translation>
     </message>
     <message>
         <source>This will start the download process and it might take a while to complete.</source>
-        <translation type="unfinished"></translation>
+        <translation>다운로드 절차를 시작합니다. 완료하는 � 시간� 다소 걸릴 수 있습니다.</translation>
     </message>
     <message>
         <source>Continue on Metered</source>
-        <translation type="unfinished"></translation>
+        <translation>��터 사용량 제한 네트워�로 계�</translation>
     </message>
     <message>
         <source>Start Download</source>
-        <translation type="unfinished"></translation>
+        <translation>다운로드 시작</translation>
     </message>
     <message>
         <source>m </source>
-        <translation type="unfinished"></translation>
+        <translation>분 </translation>
     </message>
     <message>
         <source>s</source>
-        <translation type="unfinished"></translation>
+        <translation>ì´ˆ</translation>
     </message>
     <message>
         <source>Calculating...</source>
-        <translation type="unfinished"></translation>
+        <translation>계산 중...</translation>
     </message>
     <message>
         <source>Downloaded</source>
-        <translation type="unfinished"></translation>
+        <translation>다운로드�</translation>
     </message>
     <message>
         <source>Calculating ETA...</source>
-        <translation type="unfinished"></translation>
+        <translation>남� 예� 시간 계산 중...</translation>
     </message>
     <message>
         <source>Ready</source>
-        <translation type="unfinished"></translation>
+        <translation>준비 완료</translation>
     </message>
     <message>
         <source>Time remaining: </source>
-        <translation type="unfinished"></translation>
+        <translation>남� 시간: </translation>
     </message>
 </context>
 <context>
     <name>PairingPopup</name>
     <message>
         <source>Pair your device to your comma account</source>
-        <translation>장치를 comma 계정� �기화합니다</translation>
+        <translation>기기를 comma 계정� 페어�하세요.</translation>
     </message>
     <message>
         <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>https://connect.comma.ai� 접�하세요</translation>
+        <translation>휴대��서 https://connect.comma.ai로 ��하세요.</translation>
     </message>
     <message>
         <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>&quot;새 장치 추가&quot;를 �릭하고 오른쪽 QR 코드를 스캔하세요</translation>
+        <translation>&quot;새 기기 추가&quot;를 누르고 오른쪽� 있는 QR 코드를 스캔하세요.</translation>
     </message>
     <message>
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>connect.comma.ai를 앱처럼 사용하려면 홈 화면� 바로가기를 만드세요</translation>
+        <translation>connect.comma.ai를 홈 화면� �마�하여 앱처럼 사용하세요.</translation>
     </message>
     <message>
         <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation>초기 �기화를 완료하려면 Wi-Fi� 연결하세요.</translation>
+        <translation>초기 페어�� 완료하려면 Wi-Fi� 연결해 주세요.</translation>
     </message>
 </context>
 <context>
@@ -1392,90 +1406,90 @@ Warning: You are on a metered connection!</source>
     <name>ParamControlSP</name>
     <message>
         <source>Enable</source>
-        <translation type="unfinished">활성화</translation>
+        <translation>활성화</translation>
     </message>
     <message>
         <source>Cancel</source>
-        <translation type="unfinished">취소</translation>
+        <translation>취소</translation>
     </message>
 </context>
 <context>
     <name>PlatformSelector</name>
     <message>
         <source>Vehicle</source>
-        <translation type="unfinished"></translation>
+        <translation>차량</translation>
     </message>
     <message>
         <source>SEARCH</source>
-        <translation type="unfinished"></translation>
+        <translation>검색</translation>
     </message>
     <message>
         <source>Search your vehicle</source>
-        <translation type="unfinished"></translation>
+        <translation>차량 검색</translation>
     </message>
     <message>
         <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
-        <translation type="unfinished"></translation>
+        <translation>차량 연�(예: 2021)과 모�명(예: Toyota Corolla)� 입력하세요:</translation>
     </message>
     <message>
         <source>SEARCHING</source>
-        <translation type="unfinished"></translation>
+        <translation>검색 중</translation>
     </message>
     <message>
         <source>REMOVE</source>
-        <translation type="unfinished">삭제</translation>
+        <translation>제거</translation>
     </message>
     <message>
         <source>This setting will take effect immediately.</source>
-        <translation type="unfinished"></translation>
+        <translation>� 설정� 즉시 �용�니다.</translation>
     </message>
     <message>
         <source>This setting will take effect once the device enters offroad state.</source>
-        <translation type="unfinished"></translation>
+        <translation>� 설정� 기기가 오프로드 �태� 진입하면 �용�니다.</translation>
     </message>
     <message>
         <source>Vehicle Selector</source>
-        <translation type="unfinished"></translation>
+        <translation>차량 선�기</translation>
     </message>
     <message>
         <source>Confirm</source>
-        <translation type="unfinished"></translation>
+        <translation>확�</translation>
     </message>
     <message>
         <source>Cancel</source>
-        <translation type="unfinished">취소</translation>
+        <translation>취소</translation>
     </message>
     <message>
         <source>No vehicles found for query: %1</source>
-        <translation type="unfinished"></translation>
+        <translation>입력한 정보와 �치하는 차량� 찾� 수 없습니다: %1</translation>
     </message>
     <message>
         <source>Select a vehicle</source>
-        <translation type="unfinished"></translation>
+        <translation>차량 선�</translation>
     </message>
     <message>
         <source>Unrecognized Vehicle</source>
-        <translation type="unfinished"></translation>
+        <translation>��할 수 없는 차량</translation>
     </message>
     <message>
         <source>Fingerprinted automatically</source>
-        <translation type="unfinished"></translation>
+        <translation>��으로 지문 ���</translation>
     </message>
     <message>
         <source>Manually selected</source>
-        <translation type="unfinished"></translation>
+        <translation>수�으로 선��</translation>
     </message>
     <message>
         <source>Not fingerprinted or manually selected</source>
-        <translation type="unfinished"></translation>
+        <translation>지문 ��� �지 않았거나 수�으로 선��지 않�</translation>
     </message>
     <message>
         <source>Select vehicle to force fingerprint manually.</source>
-        <translation type="unfinished"></translation>
+        <translation>수�으로 지문 ��� 강제할 차량� 선�하세요.</translation>
     </message>
     <message>
         <source>Colors represent fingerprint status:</source>
-        <translation type="unfinished"></translation>
+        <translation>색�� 지문 �� �태를 나타냅니다:</translation>
     </message>
 </context>
 <context>
@@ -1486,11 +1500,11 @@ Warning: You are on a metered connection!</source>
     </message>
     <message>
         <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>connect.comma.ai�서 comma prime 사용�로 등�하세요</translation>
+        <translation>connect.comma.ai�서 comma 프�임 회�� �세요.</translation>
     </message>
     <message>
         <source>PRIME FEATURES:</source>
-        <translation>PRIME 기능:</translation>
+        <translation>프�임 기능:</translation>
     </message>
     <message>
         <source>Remote access</source>
@@ -1498,11 +1512,11 @@ Warning: You are on a metered connection!</source>
     </message>
     <message>
         <source>24/7 LTE connectivity</source>
-        <translation>항� LTE 연결</translation>
+        <translation>24시간 7� LTE 연결</translation>
     </message>
     <message>
         <source>1 year of drive storage</source>
-        <translation>1년간 주행 로그 저장</translation>
+        <translation>1년치 주행 기� 저장 공간</translation>
     </message>
     <message>
         <source>Remote snapshots</source>
@@ -1513,11 +1527,11 @@ Warning: You are on a metered connection!</source>
     <name>PrimeUserWidget</name>
     <message>
         <source>✓ SUBSCRIBED</source>
-        <translation>✓ 구�함</translation>
+        <translation>✓ 구��</translation>
     </message>
     <message>
         <source>comma prime</source>
-        <translation>comma prime</translation>
+        <translation>comma 프�임</translation>
     </message>
 </context>
 <context>
@@ -1546,7 +1560,7 @@ Warning: You are on a metered connection!</source>
     </message>
     <message>
         <source>sunnypilot</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnypilot</translation>
     </message>
 </context>
 <context>
@@ -1557,7 +1571,7 @@ Warning: You are on a metered connection!</source>
     </message>
     <message>
         <source>Device</source>
-        <translation>장치</translation>
+        <translation>기기</translation>
     </message>
     <message>
         <source>Network</source>
@@ -1577,96 +1591,96 @@ Warning: You are on a metered connection!</source>
     </message>
     <message>
         <source>Firehose</source>
-        <translation>파�어호스</translation>
+        <translation>Firehose</translation>
     </message>
 </context>
 <context>
     <name>SettingsWindowSP</name>
     <message>
         <source>×</source>
-        <translation type="unfinished">×</translation>
+        <translation>×</translation>
     </message>
     <message>
         <source>Device</source>
-        <translation type="unfinished">장치</translation>
+        <translation>기기</translation>
     </message>
     <message>
         <source>Network</source>
-        <translation type="unfinished">네트워�</translation>
+        <translation>네트워�</translation>
     </message>
     <message>
         <source>sunnylink</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnylink</translation>
     </message>
     <message>
         <source>Toggles</source>
-        <translation type="unfinished">토글</translation>
+        <translation>토글</translation>
     </message>
     <message>
         <source>Software</source>
-        <translation type="unfinished">소프트웨어</translation>
+        <translation>소프트웨어</translation>
     </message>
     <message>
         <source>Models</source>
-        <translation type="unfinished"></translation>
+        <translation>모�</translation>
     </message>
     <message>
         <source>Steering</source>
-        <translation type="unfinished"></translation>
+        <translation>ì¡°í–¥</translation>
     </message>
     <message>
         <source>Cruise</source>
-        <translation type="unfinished"></translation>
+        <translation>�루즈</translation>
     </message>
     <message>
         <source>Visuals</source>
-        <translation type="unfinished"></translation>
+        <translation>시� 효과</translation>
     </message>
     <message>
         <source>OSM</source>
-        <translation type="unfinished"></translation>
+        <translation>OSM</translation>
     </message>
     <message>
         <source>Trips</source>
-        <translation type="unfinished"></translation>
+        <translation>주행 기�</translation>
     </message>
     <message>
         <source>Vehicle</source>
-        <translation type="unfinished"></translation>
+        <translation>차량</translation>
     </message>
     <message>
         <source>Firehose</source>
-        <translation type="unfinished">파�어호스</translation>
+        <translation>Firehose</translation>
     </message>
     <message>
         <source>Developer</source>
-        <translation type="unfinished">개발�</translation>
+        <translation>개발�</translation>
     </message>
 </context>
 <context>
     <name>SetupWidget</name>
     <message>
         <source>Finish Setup</source>
-        <translation>설정 완료</translation>
+        <translation>설정 완료하기</translation>
     </message>
     <message>
         <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>장치를 comma connect (connect.comma.ai)�서 �기화하고 comma prime 무료 �용권� 사용하세요.</translation>
+        <translation>기기를 comma connect (connect.comma.ai)와 페어�하고 comma prime 혜�� 받으세요.</translation>
     </message>
     <message>
         <source>Pair device</source>
-        <translation>장치 �기화</translation>
+        <translation>기기 페어�</translation>
     </message>
 </context>
 <context>
     <name>Sidebar</name>
     <message>
         <source>CONNECT</source>
-        <translation>커넥트</translation>
+        <translation>CONNECT</translation>
     </message>
     <message>
         <source>OFFLINE</source>
-        <translation>연결 안�</translation>
+        <translation>오프��</translation>
     </message>
     <message>
         <source>ONLINE</source>
@@ -1686,11 +1700,11 @@ Warning: You are on a metered connection!</source>
     </message>
     <message>
         <source>GOOD</source>
-        <translation>좋�</translation>
+        <translation>정�</translation>
     </message>
     <message>
         <source>OK</source>
-        <translation>OK</translation>
+        <translation>양호</translation>
     </message>
     <message>
         <source>VEHICLE</source>
@@ -1698,11 +1712,11 @@ Warning: You are on a metered connection!</source>
     </message>
     <message>
         <source>NO</source>
-        <translation>NO</translation>
+        <translation>�다</translation>
     </message>
     <message>
         <source>PANDA</source>
-        <translation>PANDA</translation>
+        <translation>없�</translation>
     </message>
     <message>
         <source>--</source>
@@ -1714,7 +1728,7 @@ Warning: You are on a metered connection!</source>
     </message>
     <message>
         <source>ETH</source>
-        <translation>LAN</translation>
+        <translation>��넷</translation>
     </message>
     <message>
         <source>2G</source>
@@ -1737,34 +1751,34 @@ Warning: You are on a metered connection!</source>
     <name>SidebarSP</name>
     <message>
         <source>DISABLED</source>
-        <translation type="unfinished"></translation>
+        <translation>비활성화�</translation>
     </message>
     <message>
         <source>OFFLINE</source>
-        <translation type="unfinished">연결 안�</translation>
+        <translation>오프��</translation>
     </message>
     <message>
         <source>REGIST...</source>
-        <translation type="unfinished"></translation>
+        <translation>등� 중...</translation>
     </message>
     <message>
         <source>ONLINE</source>
-        <translation type="unfinished">온��</translation>
+        <translation>온��</translation>
     </message>
     <message>
         <source>ERROR</source>
-        <translation type="unfinished">오류</translation>
+        <translation>오류</translation>
     </message>
     <message>
         <source>SUNNYLINK</source>
-        <translation type="unfinished"></translation>
+        <translation>SUNNYLINK</translation>
     </message>
 </context>
 <context>
     <name>SoftwarePanel</name>
     <message>
         <source>Updates are only downloaded while the car is off.</source>
-        <translation>업��트는 차량 시�� 꺼졌� 때 다운로드�니다.</translation>
+        <translation>업��트는 차량 시�� 꺼져 있� 때만 다운로드�니다.</translation>
     </message>
     <message>
         <source>Current Version</source>
@@ -1804,7 +1818,7 @@ Warning: You are on a metered connection!</source>
     </message>
     <message>
         <source>Are you sure you want to uninstall?</source>
-        <translation>제거하시겠습니까?</translation>
+        <translation>정�로 제거하시겠습니까?</translation>
     </message>
     <message>
         <source>CHECK</source>
@@ -1816,7 +1830,7 @@ Warning: You are on a metered connection!</source>
     </message>
     <message>
         <source>failed to check for update</source>
-        <translation>업��트를 확�하지 못했습니다</translation>
+        <translation>업��트 확� 실패</translation>
     </message>
     <message>
         <source>up to date, last checked %1</source>
@@ -1832,50 +1846,50 @@ Warning: You are on a metered connection!</source>
     </message>
     <message>
         <source>never</source>
-        <translation>업��트 안함</translation>
+        <translation>확� 안함</translation>
     </message>
 </context>
 <context>
     <name>SoftwarePanelSP</name>
     <message>
         <source>Search Branch</source>
-        <translation type="unfinished"></translation>
+        <translation>브랜치 검색</translation>
     </message>
     <message>
         <source>Enter search keywords, or leave blank to list all branches.</source>
-        <translation type="unfinished"></translation>
+        <translation>검색어를 입력하거나, 비워�면 모든 브랜치가 표시�니다.</translation>
     </message>
     <message>
         <source>Disable Updates</source>
-        <translation type="unfinished"></translation>
+        <translation>업��트 비활성화</translation>
     </message>
     <message>
         <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
-        <translation type="unfinished"></translation>
+        <translation>� 기능� 활성화하면 소프트웨어 업��트가 비활성화�니다. &lt;b&gt;�용하려면 재부팅� 필요합니다.&lt;/b&gt;</translation>
     </message>
     <message>
         <source>No branches found for keywords: %1</source>
-        <translation type="unfinished"></translation>
+        <translation>입력한 키워드와 �치하는 브랜치� 찾� 수 없습니다: %1</translation>
     </message>
     <message>
         <source>Select a branch</source>
-        <translation type="unfinished">브랜치 선�</translation>
+        <translation>브랜치 선�</translation>
     </message>
     <message>
         <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
-        <translation type="unfinished"></translation>
+        <translation>업��트 기능 %1는 재부팅� 필요합니다.&lt;br&gt;지금 재부팅하시겠습니까?</translation>
     </message>
     <message>
         <source>Reboot</source>
-        <translation type="unfinished">재부팅</translation>
+        <translation>재부팅</translation>
     </message>
     <message>
         <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
-        <translation type="unfinished"></translation>
+        <translation>� 기능� 활성화하면 소프트웨어 업��트가 비활성화�니다.&lt;br&gt;&lt;b&gt;�용하려면 재부팅� 필요합니다.&lt;/b&gt;</translation>
     </message>
     <message>
         <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
-        <translation type="unfinished"></translation>
+        <translation>� 설정들� 변경하려면 항� 오프로드 모드를 활성화하거나 차량 시�� 꺼야 합니다.</translation>
     </message>
 </context>
 <context>
@@ -1886,7 +1900,7 @@ Warning: You are on a metered connection!</source>
     </message>
     <message>
         <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>경고: � 설정� GitHub� 등�� 모든 공용 키� 대해 SSH 액세스 권한� 부여합니다. 본�� GitHub 사용� 아�디 �외�는 입력하지 마십시오. comma�서는 GitHub 아�디를 추가하�는 요청� 하지 않습니다.</translation>
+        <translation>경고: �것� 당신� GitHub 설정� 있는 모든 공개 키� 대한 SSH 접근� 허용합니다. 당신 �신� GitHub 사용� �름 외�는 절대로 입력하지 마세요. comma ��� 절대 당신�게 그들� GitHub 사용� �름� 추가하�고 요청하지 않� 것입니다.</translation>
     </message>
     <message>
         <source>ADD</source>
@@ -1894,7 +1908,7 @@ Warning: You are on a metered connection!</source>
     </message>
     <message>
         <source>Enter your GitHub username</source>
-        <translation>GitHub 사용� ID</translation>
+        <translation>GitHub 사용� �름� 입력하세요</translation>
     </message>
     <message>
         <source>LOADING</source>
@@ -1902,11 +1916,11 @@ Warning: You are on a metered connection!</source>
     </message>
     <message>
         <source>REMOVE</source>
-        <translation>삭제</translation>
+        <translation>제거</translation>
     </message>
     <message>
         <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>사용� &apos;%1&apos;� GitHub� 키가 등��어 있지 않습니다</translation>
+        <translation>GitHub� 사용� �름 &apos;%1&apos;� 키가 없습니다.</translation>
     </message>
     <message>
         <source>Request timed out</source>
@@ -1914,7 +1928,7 @@ Warning: You are on a metered connection!</source>
     </message>
     <message>
         <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>GitHub 사용� &apos;%1&apos;를 찾지 못했습니다</translation>
+        <translation>GitHub� 사용� �름 &apos;%1&apos;�(가) 존재하지 않습니다.</translation>
     </message>
 </context>
 <context>
@@ -1928,162 +1942,162 @@ Warning: You are on a metered connection!</source>
     <name>SunnylinkPanel</name>
     <message>
         <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
-        <translation type="unfinished"></translation>
+        <translation>�것� 마스터 스위치입니다. �할 경우 모든 sunnylink 요청� 차단할 수 있습니다.</translation>
     </message>
     <message>
         <source>Enable sunnylink</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnylink 사용</translation>
     </message>
     <message>
         <source>Sponsor Status</source>
-        <translation type="unfinished"></translation>
+        <translation>후� �태</translation>
     </message>
     <message>
         <source>SPONSOR</source>
-        <translation type="unfinished"></translation>
+        <translation>후�</translation>
     </message>
     <message>
         <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnypilot� 후��가 �어, sunnylink 기능� 출시�면 얼리 액세스 권한� 얻으세요.</translation>
     </message>
     <message>
         <source>Pair GitHub Account</source>
-        <translation type="unfinished"></translation>
+        <translation>GitHub 계정 페어�</translation>
     </message>
     <message>
         <source>PAIR</source>
-        <translation type="unfinished">�기화</translation>
+        <translation>페어�</translation>
     </message>
     <message>
         <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
-        <translation type="unfinished"></translation>
+        <translation>GitHub 계정� 페어�하여 sunnylink� API 접근� �함한 후�� 혜�� 기기� 부여하세요.</translation>
     </message>
     <message>
         <source>N/A</source>
-        <translation type="unfinished">N/A</translation>
+        <translation>N/A</translation>
     </message>
     <message>
         <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnylink �글 ID를 찾� 수 없습니다. �터넷 연결� 약하거나 sunnylink 등� 문제 때문� 수 있습니다. 재부팅 후 다시 시�해 주세요.</translation>
     </message>
     <message>
         <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
-        <translation type="unfinished"></translation>
+        <translation>🎉�아오신 것� 환�합니다! sunnylink를 다시 활성화하셨군요! 🚀</translation>
     </message>
     <message>
         <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
-        <translation type="unfinished"></translation>
+        <translation>솔�히 �해서, sunnylink를 비활성화한 것� 보니 좀 슬프네요 😢. 하지만 �아올 준비가 �면 저�는 언제든 여기 있�게요 🎉.</translation>
     </message>
     <message>
         <source>Backup Settings</source>
-        <translation type="unfinished"></translation>
+        <translation>설정 백업</translation>
     </message>
     <message>
         <source>Are you sure you want to backup sunnypilot settings?</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnypilot 설정� 백업하시겠습니까?</translation>
     </message>
     <message>
         <source>Back Up</source>
-        <translation type="unfinished"></translation>
+        <translation>백업</translation>
     </message>
     <message>
         <source>Restore Settings</source>
-        <translation type="unfinished"></translation>
+        <translation>설정 복�</translation>
     </message>
     <message>
         <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
-        <translation type="unfinished"></translation>
+        <translation>마지막으로 백업� sunnypilot 설정� 복�하시겠습니까?</translation>
     </message>
     <message>
         <source>Restore</source>
-        <translation type="unfinished"></translation>
+        <translation>복�</translation>
     </message>
     <message>
         <source>Backup in progress %1%</source>
-        <translation type="unfinished"></translation>
+        <translation>백업 진행 중 %1%</translation>
     </message>
     <message>
         <source>Backup Failed</source>
-        <translation type="unfinished"></translation>
+        <translation>백업 실패</translation>
     </message>
     <message>
         <source>Settings backup completed.</source>
-        <translation type="unfinished"></translation>
+        <translation>설정 백업 완료.</translation>
     </message>
     <message>
         <source>Restore in progress %1%</source>
-        <translation type="unfinished"></translation>
+        <translation>복� 진행 중 %1%</translation>
     </message>
     <message>
         <source>Restore Failed</source>
-        <translation type="unfinished"></translation>
+        <translation>복� 실패</translation>
     </message>
     <message>
         <source>Unable to restore the settings, try again later.</source>
-        <translation type="unfinished"></translation>
+        <translation>설정� 복�할 수 없습니다. 나중� 다시 시�해 주세요.</translation>
     </message>
     <message>
         <source>Settings restored. Confirm to restart the interface.</source>
-        <translation type="unfinished"></translation>
+        <translation>설정� 복��었습니다. �터페�스를 재시작하려면 확�하세요.</translation>
     </message>
     <message>
         <source>Device ID</source>
-        <translation type="unfinished"></translation>
+        <translation>기기 ID</translation>
     </message>
     <message>
         <source>THANKS ♥</source>
-        <translation type="unfinished"></translation>
+        <translation>�사합니다 ♥</translation>
     </message>
     <message>
         <source>Not Sponsor</source>
-        <translation type="unfinished"></translation>
+        <translation>후�� 아님</translation>
     </message>
     <message>
         <source>Paired</source>
-        <translation type="unfinished"></translation>
+        <translation>페어��</translation>
     </message>
     <message>
         <source>Not Paired</source>
-        <translation type="unfinished"></translation>
+        <translation>페어��지 않�</translation>
     </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
     <message>
         <source>Scan the QR code to login to your GitHub account</source>
-        <translation type="unfinished"></translation>
+        <translation>GitHub 계정� 로그�하려면 QR 코드를 스캔하세요.</translation>
     </message>
     <message>
         <source>Follow the prompts to complete the pairing process</source>
-        <translation type="unfinished"></translation>
+        <translation>안내� 따� 페어� 과정� 완료하세요.</translation>
     </message>
     <message>
         <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
-        <translation type="unfinished"></translation>
+        <translation>&quot;sunnylink&quot; 패�� 다시 들어가서 후�� �태를 확�하세요.</translation>
     </message>
     <message>
         <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
-        <translation type="unfinished"></translation>
+        <translation>후�� �태가 업��트�지 않았다면, https://discord.gg/sunnypilot�서 운���게 연�해 주세요.</translation>
     </message>
     <message>
         <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnyhaibin� GitHub Sponsors 페�지를 방문하려면 QR 코드를 스캔하세요.</translation>
     </message>
     <message>
         <source>Choose your sponsorship tier and confirm your support</source>
-        <translation type="unfinished"></translation>
+        <translation>후� 등급� 선�하고 후�� 확�하세요.</translation>
     </message>
     <message>
         <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
-        <translation type="unfinished"></translation>
+        <translation>https://discord.gg/sunnypilot�서 우리 커뮤니티� 참여하고, 운���게 후�� �태를 확�해 주세요.</translation>
     </message>
     <message>
         <source>Pair your GitHub account</source>
-        <translation type="unfinished"></translation>
+        <translation>GitHub 계정 페어�</translation>
     </message>
     <message>
         <source>Early Access: Become a sunnypilot Sponsor</source>
-        <translation type="unfinished"></translation>
+        <translation>얼리 액세스: sunnypilot 후��가 �세요</translation>
     </message>
 </context>
 <context>
@@ -2098,11 +2112,11 @@ Warning: You are on a metered connection!</source>
     </message>
     <message>
         <source>Welcome to sunnypilot</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnypilot� 오신 것� 환�합니다</translation>
     </message>
     <message>
         <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnypilot� 사용하려면 �용 약관� ��해야 합니다. 계�하기 전� &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt;�서 최신 약관� �어보세요.</translation>
     </message>
 </context>
 <context>
@@ -2145,11 +2159,11 @@ Warning: You are on a metered connection!</source>
     </message>
     <message>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>차량� ACC가 가�� 제어� 사용�기 때문�, � 차량�서는 실험 모드를 사용할 수 없습니다.</translation>
+        <translation>차량� 순정 ACC가 가�� 제어� 사용�기 때문�, � 차�서는 현재 실험 모드를 사용할 수 없습니다.</translation>
     </message>
     <message>
         <source>openpilot longitudinal control may come in a future update.</source>
-        <translation>오픈파�럿 가�� 제어는 향후 업��트�서 지�� 수 있습니다.</translation>
+        <translation>openpilot� 가�� 제어 기능� 향후 업��트�서 제공� 수 있습니다.</translation>
     </message>
     <message>
         <source>Aggressive</source>
@@ -2161,19 +2175,19 @@ Warning: You are on a metered connection!</source>
     </message>
     <message>
         <source>Relaxed</source>
-        <translation>편안한</translation>
+        <translation>�긋한</translation>
     </message>
     <message>
         <source>Driving Personality</source>
-        <translation>주행 모드</translation>
+        <translation>주행 성향</translation>
     </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
-        <translation>E2E 가�� 제어</translation>
+        <translation>End-to-End 가�� 제어</translation>
     </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>운전 시�화는 �부 회전� � 잘 보여주기 위해 저��서 �로를 향한 광� 카메�로 전환�니다. 우측 �단� 실험 모드 로고가 표시�니다.</translation>
+        <translation>주행 시�화 화면� 저��서 �부 회전 구간� � 잘 보여주기 위해 전방 광� 카메�로 전환�니다. �한, 실험 모드 로고가 오른쪽 �단� 표시�니다.</translation>
     </message>
     <message>
         <source>Always-On Driver Monitoring</source>
@@ -2181,7 +2195,7 @@ Warning: You are on a metered connection!</source>
     </message>
     <message>
         <source> Changing this setting will restart openpilot if the car is powered on.</source>
-        <translation> � 설정� 변경하면 차량� 재가��후 오픈파�럿� 시작�니다.</translation>
+        <translation> � 설정� 변경하면 차량 전�� 켜져 있� 때 openpilot� 재시작�니다.</translation>
     </message>
     <message>
         <source>Record and Upload Microphone Audio</source>
@@ -2189,115 +2203,117 @@ Warning: You are on a metered connection!</source>
     </message>
     <message>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
-        <translation>운전 중� 마�� 오디오를 녹�하고 저장하십시오. 오디오는 comma connect� 대시캠 비디오� �함�니다.</translation>
+        <translation>운전 중 마�� 오디오를 녹�하고 저장합니다. � 오디오는 comma connect� 대시캠 ��� �함�니다.</translation>
     </message>
     <message>
         <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
+        <translation>LKAS 버튼으로 오디오 피드백 녹�</translation>
     </message>
     <message>
         <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
 
 Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
+        <translation>LKAS 버튼� 눌러 openpilot 팀과 주행 피드백� 녹�하고 공유하세요. � 기능� 비활성화하면, 해당 버튼� �마� 버튼 역할� 합니다. � �벤트는 comma connect�서 강조�며, 해당 구간 ��� 기기 저장소� 보존�니다.
+
+참고: � 기능� �부 차량�서만 호환�니다.</translation>
     </message>
     <message>
         <source>Enable sunnypilot</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnypilot 사용</translation>
     </message>
     <message>
         <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
-        <translation type="unfinished"></translation>
+        <translation>어댑티브 �루즈 컨트롤 � 차로 유지 운전� 보조를 위해 sunnypilot 시스템� 사용하세요. � 기능� 사용하는 �안�는 항� 주�를 기울여야 합니다.</translation>
     </message>
     <message>
         <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
+        <translation>�� 실험 제어 활성화</translation>
     </message>
     <message>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
+        <translation>모�� sunnypilot ACC �는 sunnypilot End to End 가�� 제어를 언제 사용할지 결정하�� 토글� 활성화하세요.</translation>
     </message>
     <message>
         <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
-        <translation type="unfinished"></translation>
+        <translation>활성화하면, 가� 페달� 밟� 때 sunnypilot� 해제�니다.</translation>
     </message>
     <message>
         <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnypilot� 해제�어 있� 때� 운전� 모니터�� 사용합니다.</translation>
     </message>
     <message>
         <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation type="unfinished"></translation>
+        <translation>표준 모드가 권장�니다. 공격� 모드�서는 sunnypilot� 앞차를 � 가�게 따�가고 가� � 제�� � �극�으로 반�합니다. �긋한 모드�서는 sunnypilot� 앞차로부터 � 멀리 떨어져 주행합니다. 지��는 차량�서는 핸들� 거리 조절 버튼으로 � 주행 성향들� 순환하며 변경할 수 있습니다.</translation>
     </message>
     <message>
         <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnypilot� 기본�으로 &lt;b&gt;안정 모드&lt;/b&gt;로 주행합니다. 실험 모드는 안정 모드�서 사용하기�는 아� 준비�지 않� &lt;b&gt;알파 수준 기능&lt;/b&gt;� 활성화합니다. 실험 기능� 아래� 나열�어 있습니다:</translation>
     </message>
     <message>
         <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation type="unfinished"></translation>
+        <translation>주행 모�� 가� 페달과 브레��를 제어하�� 허용합니다. sunnypilot� 신호등과 정지 표지��서 정지하는 것� �함하여 사람� 운전하는 것처럼 주행할 것입니다. 주행 모�� 운전 ��를 결정하므로, 설정 ��는 �한선 역할만 합니다. �것� 알파 품질� 기능입니다. 실수가 예��니 주�해 주세요.</translation>
     </message>
     <message>
         <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnypilot 가�� 제어� 알파 버전� 실험 모드와 함께 비공개(비 릴리스) 브랜치�서 테스트할 수 있습니다.</translation>
     </message>
     <message>
         <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation type="unfinished"></translation>
+        <translation>실험 모드를 활성화하려면 sunnypilot 가�� 제어(알파) 토글� 켜세요.</translation>
     </message>
 </context>
 <context>
     <name>TreeOptionDialog</name>
     <message>
         <source>Select</source>
-        <translation type="unfinished">선�</translation>
+        <translation>선�</translation>
     </message>
     <message>
         <source>Cancel</source>
-        <translation type="unfinished">취소</translation>
+        <translation>취소</translation>
     </message>
 </context>
 <context>
     <name>VisualsPanel</name>
     <message>
         <source>Show Blind Spot Warnings</source>
-        <translation type="unfinished"></translation>
+        <translation>사�지대 경고 표시</translation>
     </message>
     <message>
         <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
-        <translation type="unfinished"></translation>
+        <translation>� 기능� 활성화하면, 차량� BSM(사�지대 모니터�) 기능� 지��는 한 사�지대� 차량� �지�었� 때 경고가 표시�니다.</translation>
     </message>
     <message>
         <source> Changing this setting will restart openpilot if the car is powered on.</source>
-        <translation type="unfinished"> � 설정� 변경하면 차량� 재가��후 오픈파�럿� 시작�니다.</translation>
+        <translation> � 설정� 변경하면 차량 전�� 켜져 있� 때 openpilot� 재시작�니다.</translation>
     </message>
     <message>
         <source>Off</source>
-        <translation type="unfinished"></translation>
+        <translation>�기</translation>
     </message>
     <message>
         <source>Distance</source>
-        <translation type="unfinished"></translation>
+        <translation>거리</translation>
     </message>
     <message>
         <source>Speed</source>
-        <translation type="unfinished"></translation>
+        <translation>��</translation>
     </message>
     <message>
         <source>Time</source>
-        <translation type="unfinished"></translation>
+        <translation>시간</translation>
     </message>
     <message>
         <source>All</source>
-        <translation type="unfinished"></translation>
+        <translation>ì „ì²´</translation>
     </message>
     <message>
         <source>Display Metrics Below Chevron</source>
-        <translation type="unfinished"></translation>
+        <translation>역삼�형 아래� 측정 지표 표시</translation>
     </message>
     <message>
         <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
-        <translation type="unfinished"></translation>
+        <translation>앞차를 추�하는 역삼�형 아래� 유용한 측정 지표를 표시합니다. (openpilot 가�� 제어 기능� 있는 차량�만 해당�니다)</translation>
     </message>
 </context>
 <context>
@@ -2308,11 +2324,11 @@ Note that this feature is only compatible with select cars.</source>
     </message>
     <message>
         <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation>오픈파�럿� 주행 모� 개선� 위해 학습 ��터 업로드를 최대화하세요.</translation>
+        <translation>openpilot� 주행 모� 개선� 위해 학습 ��터 업로드량� 극대화하세요.</translation>
     </message>
     <message>
         <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
-        <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; 파�어호스 모드 &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
+        <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose 모드 &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
     </message>
 </context>
 <context>
@@ -2331,7 +2347,7 @@ Note that this feature is only compatible with select cars.</source>
     </message>
     <message>
         <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>Wi-Fi &quot;%1&quot;� ��으로 연결하지 않겠습니까?</translation>
+        <translation>Wi-Fi 네트워� &quot;%1&quot;�(를) 삭제하시겠습니까?</translation>
     </message>
     <message>
         <source>Forget</source>

From fa0017fafcf07c9905cd934af1940829dd4fdb1f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 19 Aug 2025 23:54:07 -0400
Subject: [PATCH 0372/1434] car: initialize brand-related settings in opendbc
 (#1146)

---
 opendbc_repo                           |  2 +-
 selfdrive/car/card.py                  |  4 +++-
 sunnypilot/selfdrive/car/interfaces.py | 31 ++++++++++----------------
 3 files changed, 16 insertions(+), 21 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index cf9b33143fb7c1..25d172711a5281 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit cf9b33143fb7c1a337be9c3f20428a9fb17323e1
+Subproject commit 25d172711a52817075d7aedda090995038ffcb4d
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 159ab8fb1717c9..820c68e89531c9 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -107,8 +107,10 @@ def __init__(self, CI=None, RI=None) -> None:
           cached_params = _cached_params
 
       fixed_fingerprint = (self.params.get("CarPlatformBundle") or {}).get("platform", None)
+      init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)
 
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params, fixed_fingerprint)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params,
+                        fixed_fingerprint, init_params_list_sp)
       sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index 28bae4a0dd7917..cd7a24b63b4338 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -4,11 +4,10 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+from typing import Any
 
 from opendbc.car import structs
 from opendbc.car.interfaces import CarInterfaceBase
-from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
-from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_model_path
@@ -23,22 +22,6 @@ def log_fingerprint(CP: structs.CarParams) -> None:
     sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
 
 
-def _initialize_custom_longitudinal_tuning(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
-                                           params: Params = None) -> None:
-  if params is None:
-    params = Params()
-
-  # Hyundai Custom Longitudinal Tuning
-  if CP.brand == 'hyundai':
-    hyundai_longitudinal_tuning = params.get("HyundaiLongitudinalTuning")
-    if hyundai_longitudinal_tuning == LongitudinalTuningType.DYNAMIC:
-      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_DYNAMIC.value
-    if hyundai_longitudinal_tuning == LongitudinalTuningType.PREDICTIVE:
-      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_PREDICTIVE.value
-
-  CP_SP = CI.get_longitudinal_tuning_sp(CP, CP_SP)
-
-
 def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
                                                params: Params = None, enabled: bool = False) -> None:
   if params is None:
@@ -64,5 +47,15 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   CP = CI.CP
   CP_SP = CI.CP_SP
 
-  _initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params)
   _initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
+
+
+def initialize_params(params) -> list[dict[str, Any]]:
+  keys: list = []
+
+  # hyundai
+  keys.extend([
+    "HyundaiLongitudinalTuning"
+  ])
+
+  return [{k: params.get(k, return_default=True)} for k in keys]

From 638dfb68bab1925da2baeed355a92f7e811a8c48 Mon Sep 17 00:00:00 2001
From: Warren Togami <wtogami@gmail.com>
Date: Wed, 20 Aug 2025 12:18:07 -0500
Subject: [PATCH 0373/1434] ui: display thousandths place on lagd toggle
 (#1166)

lagd: display thousandth place so typical variation is visible

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index 413bd8a373787b..93e5ac80a8830a 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -393,7 +393,7 @@ void ModelsPanel::updateLabels() {
         auto liveDelay = event.getLiveDelay();
         float lateralDelay = liveDelay.getLateralDelay();
         desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
-                .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 2));
+                .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
       }
     }
   } else {

From 7f035bae3966c6fb2648ea43c01177c8faa46766 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Thu, 21 Aug 2025 18:04:57 -0700
Subject: [PATCH 0374/1434] ui: bugfix visibility for developer panel (#1131)

* yes

idk

move up

* patch

* updates

* Update developer_panel.cc

* Update developer_panel.cc

* Update developer_panel.cc

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../qt/offroad/settings/developer_panel.cc           | 12 ++++++------
 .../sunnypilot/qt/offroad/settings/developer_panel.h |  3 +++
 2 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
index 5c9f0ff99e90a8..58193f9fe8bfef 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
@@ -47,17 +47,17 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
   addItem(errorLogBtn);
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &DeveloperPanelSP::updateToggles);
+
+  is_release = params.getBool("IsReleaseBranch");
+  is_tested = params.getBool("IsTestedBranch");
+  is_development = params.getBool("IsDevelopmentBranch");
 }
 
 void DeveloperPanelSP::updateToggles(bool offroad) {
-  bool is_release = params.getBool("IsReleaseBranch");
-  bool is_tested = params.getBool("IsTestedBranch");
-  bool is_development = params.getBool("IsDevelopmentBranch");
   bool disable_updates = params.getBool("DisableUpdates");
 
   prebuiltToggle->setVisible(!is_release && !is_tested && !is_development);
   prebuiltToggle->setEnabled(disable_updates);
-
   params.putBool("QuickBootToggle", QFile::exists("/data/openpilot/prebuilt"));
   prebuiltToggle->refresh();
 
@@ -66,6 +66,7 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
          "it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. "
          "<br><br><b>To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.</b>")
     : tr("Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first."));
+  prebuiltToggle->showDescription();
 
   enableGithubRunner->setVisible(!is_release);
   errorLogBtn->setVisible(!is_release);
@@ -74,7 +75,6 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
 
 void DeveloperPanelSP::showEvent(QShowEvent *event) {
   DeveloperPanel::showEvent(event);
-  updateToggles(!uiState()->scene.started);
   AbstractControlSP::UpdateAllAdvancedControls();
-  prebuiltToggle->showDescription();
+  updateToggles(!uiState()->scene.started);
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h
index d63fe18d04c05c..42b3bd83b86ab7 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h
@@ -21,6 +21,9 @@ class DeveloperPanelSP : public DeveloperPanel {
   ParamControlSP *prebuiltToggle;
   Params params;
   ParamControlSP *showAdvancedControls;
+  bool is_development;
+  bool is_release;
+  bool is_tested;
 
 private slots:
   void updateToggles(bool offroad);

From 5491a6138495e939b983f4c8d5194c90d885ebfd Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 22 Aug 2025 19:46:24 -0400
Subject: [PATCH 0375/1434] ci: skip tinygrad bump in repo-maintenance (#1173)

---
 .github/workflows/repo-maintenance.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 72de3770866e36..14b4d904e33ae6 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -50,6 +50,7 @@ jobs:
     - name: bump submodules
       run: |
         git config --global --add safe.directory '*'
+        git config submodule.tinygrad.update none
         git submodule update --remote
         git add .
     - name: update car docs

From de56b2110382be3c002304eb017cb65903e89eda Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Fri, 22 Aug 2025 19:50:09 -0400
Subject: [PATCH 0376/1434] [bot] Update Python packages (#1165)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 docs/CARS.md |   4 +-
 opendbc_repo |   2 +-
 uv.lock      | 267 ++++++++++++++++++++++++++-------------------------
 3 files changed, 141 insertions(+), 132 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index e043c3b10f285c..0ee0615a54adcc 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 323 Supported Cars
+# 325 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -105,6 +105,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Non-SCC 2022">Buy Here</a></sub></details>|||
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
@@ -124,6 +125,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric Non-SCC 2019">Buy Here</a></sub></details>|||
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
+|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Non-SCC 2019">Buy Here</a></sub></details>|||
 |Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Santa Cruz 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
diff --git a/opendbc_repo b/opendbc_repo
index 25d172711a5281..23d37a87ec7363 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
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+Subproject commit 23d37a87ec73637cc021b2fa65adc060919d3396
diff --git a/uv.lock b/uv.lock
index 1b6dd18961ab54..49ae160993a906 100644
--- a/uv.lock
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From 2b86cc13734096765df814520193e7707d7a2cc0 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 23 Aug 2025 09:42:05 -0400
Subject: [PATCH 0377/1434] param_store: update list every 3 seconds (#1174)

---
 sunnypilot/selfdrive/controls/lib/param_store.py | 13 +++++++++----
 1 file changed, 9 insertions(+), 4 deletions(-)

diff --git a/sunnypilot/selfdrive/controls/lib/param_store.py b/sunnypilot/selfdrive/controls/lib/param_store.py
index fae221bb742f85..2ef34731875cd0 100644
--- a/sunnypilot/selfdrive/controls/lib/param_store.py
+++ b/sunnypilot/selfdrive/controls/lib/param_store.py
@@ -24,11 +24,16 @@ def __init__(self, CP: structs.CarParams):
     self.values = {}
     self.cached_params_list: list[capnp.lib.capnp._DynamicStructBuilder] | None = None
 
+    self.frame = 0
+
   def update(self, params: Params) -> None:
-    old_values = dict(self.values)
-    self.values = {k: params.get(k) or "0" for k in self.keys}
-    if old_values != self.values:
-      self.cached_params_list = None
+    if self.frame % 300 == 0:
+      old_values = dict(self.values)
+      self.values = {k: params.get(k) or "0" for k in self.keys}
+      if old_values != self.values:
+        self.cached_params_list = None
+
+    self.frame += 1
 
   def publish(self) -> list[capnp.lib.capnp._DynamicStructBuilder]:
     if self.cached_params_list is None:

From 9e50a1b660478d8ce5c9fbcb96e8c6b12b9de54c Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Sat, 23 Aug 2025 20:34:53 -0400
Subject: [PATCH 0378/1434] [bot] Update Python packages (#1175)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 docs/CARS.md | 3 ++-
 opendbc_repo | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 0ee0615a54adcc..e10dc8ae77ff38 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 325 Supported Cars
+# 326 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -82,6 +82,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025">Buy Here</a></sub></details>|||
+|Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
diff --git a/opendbc_repo b/opendbc_repo
index 23d37a87ec7363..dec00740437775 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 23d37a87ec73637cc021b2fa65adc060919d3396
+Subproject commit dec007404377755457b769e2438a4857e414af02

From d6af554db4f8eac8b46972e8f2d30702ca58b3f9 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Sat, 23 Aug 2025 20:38:19 -0400
Subject: [PATCH 0379/1434] [bot] Update translations (#1172)

Update translations

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/translations/main_ar.ts     | 44 ++++++++++++++++++++---
 selfdrive/ui/translations/main_de.ts     | 44 ++++++++++++++++++++---
 selfdrive/ui/translations/main_es.ts     | 46 +++++++++++++++++++++---
 selfdrive/ui/translations/main_fr.ts     | 44 ++++++++++++++++++++---
 selfdrive/ui/translations/main_ja.ts     | 44 ++++++++++++++++++++---
 selfdrive/ui/translations/main_ko.ts     | 44 ++++++++++++++++++++---
 selfdrive/ui/translations/main_pt-BR.ts  | 44 ++++++++++++++++++++---
 selfdrive/ui/translations/main_th.ts     | 44 ++++++++++++++++++++---
 selfdrive/ui/translations/main_tr.ts     | 44 ++++++++++++++++++++---
 selfdrive/ui/translations/main_zh-CHS.ts | 44 ++++++++++++++++++++---
 selfdrive/ui/translations/main_zh-CHT.ts | 44 ++++++++++++++++++++---
 11 files changed, 441 insertions(+), 45 deletions(-)

diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 95fd0ccbb43d23..bebddf259ec2ec 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -972,10 +972,6 @@ The default software delay value is 0.2</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
@@ -1020,6 +1016,38 @@ The default software delay value is 0.2</source>
         <source>Cancel</source>
         <translation type="unfinished">إلغاء</translation>
     </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -2067,6 +2095,14 @@ Warning: You are on a metered connection!</source>
         <source>Not Paired</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 1a928b4e493bfb..1e477553e6e51c 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -964,10 +964,6 @@ The default software delay value is 0.2</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
@@ -1012,6 +1008,38 @@ The default software delay value is 0.2</source>
         <source>Cancel</source>
         <translation type="unfinished">Abbrechen</translation>
     </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -2049,6 +2077,14 @@ Warning: You are on a metered connection!</source>
         <source>Not Paired</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 3814373c534ad5..e6c22bd143e7a5 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -462,7 +462,7 @@ La calibración del retraso de la dirección está completa.</translation>
     </message>
     <message>
         <source>Select a language</source>
-        <translation type="unfinished"></translation>
+        <translation type="unfinished">Seleccione el idioma</translation>
     </message>
     <message>
         <source>Wake-Up Behavior</source>
@@ -968,10 +968,6 @@ The default software delay value is 0.2</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
@@ -1016,6 +1012,38 @@ The default software delay value is 0.2</source>
         <source>Cancel</source>
         <translation type="unfinished">Cancelar</translation>
     </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -2051,6 +2079,14 @@ Warning: You are on a metered connection!</source>
         <source>Not Paired</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index a86ac3ea64bbdc..f70c5eeebbda2e 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -964,10 +964,6 @@ The default software delay value is 0.2</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
@@ -1012,6 +1008,38 @@ The default software delay value is 0.2</source>
         <source>Cancel</source>
         <translation type="unfinished">Annuler</translation>
     </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -2047,6 +2075,14 @@ Warning: You are on a metered connection!</source>
         <source>Not Paired</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 0da704cd474bb5..b67e0a9709196b 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -966,10 +966,6 @@ The default software delay value is 0.2</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
@@ -1014,6 +1010,38 @@ The default software delay value is 0.2</source>
         <source>Cancel</source>
         <translation type="unfinished">キャンセル</translation>
     </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -2046,6 +2074,14 @@ Warning: You are on a metered connection!</source>
         <source>Not Paired</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 90bbfcaea32fb1..2fdd601e6adec8 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -974,10 +974,6 @@ The default software delay value is 0.2</source>
         <source>Default</source>
         <translation>기본값</translation>
     </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation>� 기능� 켜면 차량� 스스로 핸들 반� ��를 학습하고 맞춥니다. �면 고정� 핸들 반� ��를 사용합니다. � 기능� 켜�는 것� 기본 openpilot 경험� 제공합니다. 차량� 주행 중� 때 현재 값� ��으로 업��트�니다.</translation>
-    </message>
     <message>
         <source>Model download has started in the background.</source>
         <translation>모� 다운로드가 백그�운드�서 시작�었습니다.</translation>
@@ -1022,6 +1018,38 @@ The default software delay value is 0.2</source>
         <source>Cancel</source>
         <translation>취소</translation>
     </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished">새로 고침</translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -2060,6 +2088,14 @@ Warning: You are on a metered connection!</source>
         <source>Not Paired</source>
         <translation>페어��지 않�</translation>
     </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 8dde941e81ade8..c78bb9255c971b 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -968,10 +968,6 @@ The default software delay value is 0.2</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
@@ -1016,6 +1012,38 @@ The default software delay value is 0.2</source>
         <source>Cancel</source>
         <translation type="unfinished">Cancelar</translation>
     </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -2051,6 +2079,14 @@ Warning: You are on a metered connection!</source>
         <source>Not Paired</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 1292ef37fdd615..2dbf3a6a0531b6 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -962,10 +962,6 @@ The default software delay value is 0.2</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
@@ -1010,6 +1006,38 @@ The default software delay value is 0.2</source>
         <source>Cancel</source>
         <translation type="unfinished">ย�เลิ�</translation>
     </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -2042,6 +2070,14 @@ Warning: You are on a metered connection!</source>
         <source>Not Paired</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 6b5a03bc704723..5f06ef5cf69214 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -962,10 +962,6 @@ The default software delay value is 0.2</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
@@ -1010,6 +1006,38 @@ The default software delay value is 0.2</source>
         <source>Cancel</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -2041,6 +2069,14 @@ Warning: You are on a metered connection!</source>
         <source>Not Paired</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index ec2cde0f604729..a6f3e9bf0ca4ae 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -966,10 +966,6 @@ The default software delay value is 0.2</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
@@ -1014,6 +1010,38 @@ The default software delay value is 0.2</source>
         <source>Cancel</source>
         <translation type="unfinished">�消</translation>
     </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -2046,6 +2074,14 @@ Warning: You are on a metered connection!</source>
         <source>Not Paired</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 669d9b20535eed..a57fecc7de5228 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -966,10 +966,6 @@ The default software delay value is 0.2</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
@@ -1014,6 +1010,38 @@ The default software delay value is 0.2</source>
         <source>Cancel</source>
         <translation type="unfinished">�消</translation>
     </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -2046,6 +2074,14 @@ Warning: You are on a metered connection!</source>
         <source>Not Paired</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

From f89796033c87f44af1aa0bac9613c7067b3f7650 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Sun, 24 Aug 2025 15:52:38 -0700
Subject: [PATCH 0380/1434] [bot] Update translations (#1179)

Update translations

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 selfdrive/ui/translations/main_ar.ts     | 10 ----------
 selfdrive/ui/translations/main_de.ts     | 10 ----------
 selfdrive/ui/translations/main_es.ts     | 10 ----------
 selfdrive/ui/translations/main_fr.ts     | 10 ----------
 selfdrive/ui/translations/main_ja.ts     | 10 ----------
 selfdrive/ui/translations/main_ko.ts     | 12 ------------
 selfdrive/ui/translations/main_pt-BR.ts  | 10 ----------
 selfdrive/ui/translations/main_th.ts     | 10 ----------
 selfdrive/ui/translations/main_tr.ts     | 10 ----------
 selfdrive/ui/translations/main_zh-CHS.ts | 10 ----------
 selfdrive/ui/translations/main_zh-CHT.ts | 10 ----------
 11 files changed, 112 deletions(-)

diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index bebddf259ec2ec..f72ea8ee8381fa 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -2248,16 +2248,6 @@ Warning: You are on a metered connection!</source>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable sunnypilot</source>
         <translation type="unfinished"></translation>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 1e477553e6e51c..193e2fd89553ee 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -2230,16 +2230,6 @@ Warning: You are on a metered connection!</source>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable sunnypilot</source>
         <translation type="unfinished"></translation>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index e6c22bd143e7a5..1d1723cde7f816 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -2232,16 +2232,6 @@ Warning: You are on a metered connection!</source>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>Graba y almacena el audio del micrófono mientras conduces. El audio se incluirá en el video de la cámara del tablero en comma connect.</translation>
     </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable sunnypilot</source>
         <translation type="unfinished"></translation>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index f70c5eeebbda2e..959321bb4bf501 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -2228,16 +2228,6 @@ Warning: You are on a metered connection!</source>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable sunnypilot</source>
         <translation type="unfinished"></translation>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index b67e0a9709196b..28b5b00e510e97 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -2227,16 +2227,6 @@ Warning: You are on a metered connection!</source>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>�転中�マイク音声を録音・�存���。音声� comma connect �ドライブレコーダー映����れ��。</translation>
     </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable sunnypilot</source>
         <translation type="unfinished"></translation>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 2fdd601e6adec8..d69fda88b0c9e4 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -2241,18 +2241,6 @@ Warning: You are on a metered connection!</source>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>운전 중 마�� 오디오를 녹�하고 저장합니다. � 오디오는 comma connect� 대시캠 ��� �함�니다.</translation>
     </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation>LKAS 버튼으로 오디오 피드백 녹�</translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation>LKAS 버튼� 눌러 openpilot 팀과 주행 피드백� 녹�하고 공유하세요. � 기능� 비활성화하면, 해당 버튼� �마� 버튼 역할� 합니다. � �벤트는 comma connect�서 강조�며, 해당 구간 ��� 기기 저장소� 보존�니다.
-
-참고: � 기능� �부 차량�서만 호환�니다.</translation>
-    </message>
     <message>
         <source>Enable sunnypilot</source>
         <translation>sunnypilot 사용</translation>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index c78bb9255c971b..c5171b19f77834 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -2232,16 +2232,6 @@ Warning: You are on a metered connection!</source>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>Grave e armazene o áudio do microfone enquanto estiver dirigindo. O áudio será incluído ao vídeo dashcam no comma connect.</translation>
     </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable sunnypilot</source>
         <translation type="unfinished"></translation>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 2dbf3a6a0531b6..3bd2d84a92bfd8 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -2223,16 +2223,6 @@ Warning: You are on a metered connection!</source>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable sunnypilot</source>
         <translation type="unfinished"></translation>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 5f06ef5cf69214..db9c15580a48b2 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -2222,16 +2222,6 @@ Warning: You are on a metered connection!</source>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable sunnypilot</source>
         <translation type="unfinished"></translation>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index a6f3e9bf0ca4ae..23163608910755 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -2227,16 +2227,6 @@ Warning: You are on a metered connection!</source>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>在驾驶时录制并存储麦克风音频。该音频将会包�在 comma connect 的行车记录仪视频中。</translation>
     </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable sunnypilot</source>
         <translation type="unfinished"></translation>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index a57fecc7de5228..16bb393deaf902 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -2227,16 +2227,6 @@ Warning: You are on a metered connection!</source>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>在駕駛時錄製並儲存麥克風音訊。此音訊將會收錄在 comma connect 的行車記錄器影片中。</translation>
     </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable sunnypilot</source>
         <translation type="unfinished"></translation>

From 7c6d887187497c2090b38bd356e2943b56874875 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sun, 24 Aug 2025 19:08:55 -0700
Subject: [PATCH 0381/1434] modeld_v2: infer model shapes from inputs (#1162)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* modeld_v2: dynamify temporal buffer management.

* skip redundant reshaping and flattening.

* simplify MHP checks for lead and plan

* modeld_v2: add unit tests for buffer logic and refactor index mapping

* Let’s possibly fail a test :)

* Update test_buffer_logic_inspect.py

* Update test_buffer_logic_inspect.py

* modeld_v2: better temporal mapping for non-split

* Bump to 10 I guess

* Downgrade CURRENT_SELECTOR_VERSION to 9

* red diff ya know?

* add dynamic buffer update tests and compare against legacy logic.

 Cover modelState.init and modelState.run

* send

* Revert "send"

This reverts commit 9e6c95fbfde134eeba952da6eef012baa0396fa0.

* format

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/modeld_v2/modeld.py                |  88 +++---
 .../modeld_v2/parse_model_outputs_split.py    |  35 ++-
 .../tests/test_buffer_logic_inspect.py        | 256 ++++++++++++++++++
 .../runners/tinygrad/tinygrad_runner.py       |   2 +-
 4 files changed, 309 insertions(+), 72 deletions(-)
 create mode 100644 sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py

diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index 2dc1026c01783c..1a420e6f1adbb8 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -69,24 +69,26 @@ def __init__(self, context: CLContext):
 
     # img buffers are managed in openCL transform code
     self.numpy_inputs = {}
+    self.temporal_buffers = {}
+    self.temporal_idxs_map = {}
 
     for key, shape in self.model_runner.input_shapes.items():
       if key not in self.frames: # Managed by opencl
         self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
-
-    if self.model_runner.is_20hz_3d:  # split models
-      self.full_features_buffer = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN,  self.constants.FEATURE_LEN), dtype=np.float32)
-      self.full_desire = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN, self.constants.DESIRE_LEN), dtype=np.float32)
-      self.full_prev_desired_curv = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN, self.constants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
-      self.temporal_idxs = slice(-1-(self.constants.TEMPORAL_SKIP*(self.constants.INPUT_HISTORY_BUFFER_LEN-1)), None, self.constants.TEMPORAL_SKIP)
-    elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d:
-      self.full_features_buffer = np.zeros((self.constants.FULL_HISTORY_BUFFER_LEN + 1, self.constants.FEATURE_LEN), dtype=np.float32)
-      self.full_desire = np.zeros((self.constants.FULL_HISTORY_BUFFER_LEN + 1, self.constants.DESIRE_LEN), dtype=np.float32)
-      num_elements = self.numpy_inputs['features_buffer'].shape[1]
-      step_size = int(-100 / num_elements)
-      self.temporal_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
-      self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1,
-                                  self.numpy_inputs['desire'].shape[2])
+        # Temporal input: shape is [batch, history, features]
+        if len(shape) == 3 and shape[1] > 1:
+          buffer_history_len = max(100, (shape[1] * 4 if shape[1] < 100 else shape[1]))   # Allow for higher history buffers in the future
+          feature_len = shape[2]
+          self.temporal_buffers[key] = np.zeros((1, buffer_history_len, feature_len), dtype=np.float32)
+          features_buffer_shape = self.model_runner.input_shapes.get('features_buffer')
+          if shape[1] in (24, 25) and features_buffer_shape is not None and features_buffer_shape[1] == 24:  # 20Hz
+            step = int(-buffer_history_len / shape[1])
+            self.temporal_idxs_map[key] = np.arange(step, step * (shape[1] + 1), step)[::-1]
+          elif shape[1] == 25:  # Split
+            skip = buffer_history_len // shape[1]
+            self.temporal_idxs_map[key] = np.arange(buffer_history_len)[-1 - (skip * (shape[1] - 1))::skip]
+          elif shape[1] == buffer_history_len:  # non20hz
+            self.temporal_idxs_map[key] = np.arange(buffer_history_len)
 
   @property
   def mlsim(self) -> bool:
@@ -98,19 +100,16 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
     inputs['desire'][0] = 0
     new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
     self.prev_desire[:] = inputs['desire']
-
-    if self.model_runner.is_20hz_3d:  # split models
-      self.full_desire[0,:-1] = self.full_desire[0,1:]
-      self.full_desire[0,-1] = new_desire
-      self.numpy_inputs['desire'][:] = self.full_desire.reshape((1, self.constants.INPUT_HISTORY_BUFFER_LEN, self.constants.TEMPORAL_SKIP, -1)).max(axis=2)
-    elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d:  # 20hz supercombo
-      self.full_desire[:-1] = self.full_desire[1:]
-      self.full_desire[-1] = new_desire
-      self.numpy_inputs['desire'][:] = self.full_desire.reshape(self.desire_reshape_dims).max(axis=2)
-    else: # not 20hz
-      length = inputs['desire'].shape[0]
-      self.numpy_inputs['desire'][0, :-1] = self.numpy_inputs['desire'][0, 1:]
-      self.numpy_inputs['desire'][0, -1, :length] = new_desire[:length]
+    self.temporal_buffers['desire'][0,:-1] = self.temporal_buffers['desire'][0,1:]
+    self.temporal_buffers['desire'][0,-1] = new_desire
+
+    # Roll buffer and assign based on desire.shape[1] value
+    if self.temporal_buffers['desire'].shape[1] > self.numpy_inputs['desire'].shape[1]:
+      skip = self.temporal_buffers['desire'].shape[1] // self.numpy_inputs['desire'].shape[1]
+      self.numpy_inputs['desire'][:] = (
+        self.temporal_buffers['desire'][0].reshape(self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], skip, -1).max(axis=2))
+    else:
+      self.numpy_inputs['desire'][:] = self.temporal_buffers['desire'][0, self.temporal_idxs_map['desire']]
 
     for key in self.numpy_inputs:
       if key in inputs and key not in ['desire']:
@@ -127,42 +126,27 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
     # Run model inference
     outputs = self.model_runner.run_model()
 
-    if self.model_runner.is_20hz_3d: # split models
-      self.full_features_buffer[0, :-1] = self.full_features_buffer[0, 1:]
-      self.full_features_buffer[0, -1] = outputs['hidden_state'][0, :]
-      self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
-    elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d:  # 20hz supercombo
-      self.full_features_buffer[:-1] = self.full_features_buffer[1:]
-      self.full_features_buffer[-1] = outputs['hidden_state'][0, :]
-      self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[self.temporal_idxs]
-    else: # not 20hz
-      feature_len = outputs['hidden_state'].shape[1]
-      self.numpy_inputs['features_buffer'][0, :-1] = self.numpy_inputs['features_buffer'][0, 1:]
-      self.numpy_inputs['features_buffer'][0, -1, :feature_len] = outputs['hidden_state'][0, :feature_len]
+    # Update features_buffer
+    self.temporal_buffers['features_buffer'][0, :-1] = self.temporal_buffers['features_buffer'][0, 1:]
+    self.temporal_buffers['features_buffer'][0, -1] = outputs['hidden_state'][0, :]
+    self.numpy_inputs['features_buffer'][:] = self.temporal_buffers['features_buffer'][0, self.temporal_idxs_map['features_buffer']]
 
     if "desired_curvature" in outputs:
       input_name_prev = None
-
       if "prev_desired_curvs" in self.numpy_inputs.keys():
         input_name_prev = 'prev_desired_curvs'
       elif "prev_desired_curv" in self.numpy_inputs.keys():
         input_name_prev = 'prev_desired_curv'
-
-      if input_name_prev is not None:
+      if input_name_prev and input_name_prev in self.temporal_buffers:
         self.process_desired_curvature(outputs, input_name_prev)
     return outputs
 
   def process_desired_curvature(self, outputs, input_name_prev):
-    if self.model_runner.is_20hz_3d:  # split models
-      self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
-      self.full_prev_desired_curv[0,-1,:] = outputs['desired_curvature'][0, :]
-      self.numpy_inputs[input_name_prev][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
-      if self.mlsim:
-        self.numpy_inputs[input_name_prev][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
-    else:
-      length = outputs['desired_curvature'][0].size
-      self.numpy_inputs[input_name_prev][0, :-length, 0] = self.numpy_inputs[input_name_prev][0, length:, 0]
-      self.numpy_inputs[input_name_prev][0, -length:, 0] = outputs['desired_curvature'][0]
+    self.temporal_buffers[input_name_prev][0,:-1] = self.temporal_buffers[input_name_prev][0,1:]
+    self.temporal_buffers[input_name_prev][0,-1,:] = outputs['desired_curvature'][0, :]
+    self.numpy_inputs[input_name_prev][:] = self.temporal_buffers[input_name_prev][0, self.temporal_idxs_map[input_name_prev]]
+    if self.mlsim:
+      self.numpy_inputs[input_name_prev][:] = 0*self.temporal_buffers[input_name_prev][0, self.temporal_idxs_map[input_name_prev]]
 
   def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                             lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
diff --git a/sunnypilot/modeld_v2/parse_model_outputs_split.py b/sunnypilot/modeld_v2/parse_model_outputs_split.py
index ba8592ed189d59..9cf321a1b67130 100644
--- a/sunnypilot/modeld_v2/parse_model_outputs_split.py
+++ b/sunnypilot/modeld_v2/parse_model_outputs_split.py
@@ -1,6 +1,5 @@
 import numpy as np
 from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
-from openpilot.sunnypilot.models.helpers import get_active_bundle
 
 
 def safe_exp(x, out=None):
@@ -25,8 +24,6 @@ def softmax(x, axis=-1):
 class Parser:
   def __init__(self, ignore_missing=False):
     self.ignore_missing = ignore_missing
-    model_bundle = get_active_bundle()
-    self.generation = model_bundle.generation if model_bundle is not None else None
 
   def check_missing(self, outs, name):
     if name not in outs and not self.ignore_missing:
@@ -91,26 +88,26 @@ def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
     outs[name] = pred_mu_final.reshape(final_shape)
     outs[name + '_stds'] = pred_std_final.reshape(final_shape)
 
-  def _parse_plan_mhp(self, outs):
-    self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
-                         out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
+  def is_mhp(self, outs, name, shape):
+    if self.check_missing(outs, name):
+      return False
+    if outs[name].shape[1] == 2 * shape:
+      return False
+    return True
 
   def parse_dynamic_outputs(self, outs: dict[str, np.ndarray]) -> None:
     if 'lead' in outs:
-      if self.generation >= 12 and \
-         outs['lead'].shape[1] == 2 * SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH:
-        self.parse_mdn('lead', outs, in_N=0, out_N=0,
-                       out_shape=(SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
-      else:
-        self.parse_mdn('lead', outs, in_N=SplitModelConstants.LEAD_MHP_N, out_N=SplitModelConstants.LEAD_MHP_SELECTION,
-                       out_shape=(SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
+      lead_mhp = self.is_mhp(outs, 'lead',
+                             SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH)
+      lead_in_N, lead_out_N = (SplitModelConstants.LEAD_MHP_N, SplitModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
+      lead_out_shape = (SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH) if lead_mhp else \
+        (SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH)
+      self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape)
     if 'plan' in outs:
-      if self.generation >= 12 and \
-        outs['plan'].shape[1] == 2 * SplitModelConstants.IDX_N * SplitModelConstants.PLAN_WIDTH:
-        self.parse_mdn('plan', outs, in_N=0, out_N=0,
-                       out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
-      else:
-        self._parse_plan_mhp(outs)
+      plan_mhp = self.is_mhp(outs, 'plan', SplitModelConstants.IDX_N * SplitModelConstants.PLAN_WIDTH)
+      plan_in_N, plan_out_N = (SplitModelConstants.PLAN_MHP_N, SplitModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
+      self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N,
+                     out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
 
   def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
     if 'desired_curvature' in outs:
diff --git a/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py b/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py
new file mode 100644
index 00000000000000..8a0cfd97c8b9d8
--- /dev/null
+++ b/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py
@@ -0,0 +1,256 @@
+import numpy as np
+import pytest
+from typing import Any
+
+import openpilot.sunnypilot.models.helpers as helpers
+import openpilot.sunnypilot.models.runners.helpers as runner_helpers
+import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
+
+ModelState = modeld_module.ModelState
+
+
+# These are the shapes extracted/loaded from the model onnx
+SHAPE_MODE_PARAMS = [
+  ({'desire': (1, 25, 8), 'features_buffer': (1, 25, 512), 'prev_desired_curv': (1, 25, 1)}, 'split'),
+  ({'desire': (1, 25, 8), 'features_buffer': (1, 24, 512), 'prev_desired_curv': (1, 25, 1)}, '20hz'),
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1)}, 'non20hz'),
+]
+
+
+# This creates a dummy runner, override, and bundle instance for the tests to run, without actually trying to load a physical model.
+class DummyOverride:
+  def __init__(self, key: str, value: str) -> None:
+    self.key = key
+    self.value = value
+
+
+class DummyBundle:
+  def __init__(self) -> None:
+    self.overrides = [DummyOverride('lat', '.1'), DummyOverride('long', '.3')]
+    self.generation = 10  # default to non-mlsim for buffer-update tests, as raising to 11 here will zero curvature buffer
+
+
+class DummyModelRunner:
+  def __init__(self, input_shapes: dict[str, tuple[int, int, int]], constants: Any = None) -> None:
+    self.input_shapes = input_shapes
+    self.constants = constants or type('C', (), {
+      'FULL_HISTORY_BUFFER_LEN': 100,
+      'FEATURE_LEN': 512,
+      'DESIRE_LEN': 8,
+      'PREV_DESIRED_CURV_LEN': 1,
+      'INPUT_HISTORY_BUFFER_LEN': 25,
+      'TEMPORAL_SKIP': 4,
+    })()
+    self.vision_input_names: list[str] = []
+    shape = input_shapes.get('desire', (1, 0, 0)) # [batch, history, features]
+    if shape[1] == 25:
+      self.is_20hz = True
+    else:
+      self.is_20hz = False
+
+  # Minimal prepare/run methods so ModelState can be run without actually running the model
+  def prepare_inputs(self, imgs_cl, numpy_inputs, frames):
+    return None
+
+  def run_model(self):
+    return {
+      'hidden_state': np.zeros((1, self.constants.FEATURE_LEN), dtype=np.float32),
+      'desired_curvature': np.zeros((1, 1), dtype=np.float32),
+    }
+
+
+@pytest.fixture
+def shapes(request):
+  return request.param
+
+
+@pytest.fixture
+def bundle() -> DummyBundle:
+  return DummyBundle()
+
+
+@pytest.fixture
+def runner(shapes) -> DummyModelRunner:
+  return DummyModelRunner(shapes)
+
+
+@pytest.fixture
+def apply_patches(monkeypatch: pytest.MonkeyPatch, bundle: DummyBundle, runner: DummyModelRunner):
+  monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None: bundle, raising=False)
+  monkeypatch.setattr(runner_helpers, 'get_model_runner', lambda: runner, raising=False)
+  monkeypatch.setattr(modeld_module, 'get_model_runner', lambda: runner, raising=False)
+  monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None: bundle, raising=False)
+
+
+# These are expected shapes and indices based on the time the model was presented
+def get_expected_indices(shape, constants, mode, key=None):
+  if mode == 'split':
+    start = -1 - (constants.TEMPORAL_SKIP * (constants.INPUT_HISTORY_BUFFER_LEN - 1))
+    arr = np.arange(constants.FULL_HISTORY_BUFFER_LEN)
+    idxs = arr[start::constants.TEMPORAL_SKIP]
+    return idxs
+  elif mode == '20hz':
+    num_elements = shape[1]
+    step_size = int(-100 / num_elements)
+    idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
+    return idxs
+  elif mode == 'non20hz':
+    if key and shape[1] == constants.FULL_HISTORY_BUFFER_LEN:
+      return np.arange(constants.FULL_HISTORY_BUFFER_LEN)
+    return None
+  return None
+
+
+@pytest.mark.parametrize("shapes,mode", SHAPE_MODE_PARAMS, indirect=["shapes"])
+def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
+  state = ModelState(None)
+  constants = DummyModelRunner(shapes).constants
+  for key in shapes:
+    buf = state.temporal_buffers.get(key, None)
+    idxs = state.temporal_idxs_map.get(key, None)
+    # Buffer shape logic
+    if mode == 'split':
+      expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
+      expected_idxs = get_expected_indices(shapes[key], constants, 'split', key)
+    elif mode == '20hz':
+      expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
+      expected_idxs = get_expected_indices(shapes[key], constants, '20hz', key)
+    elif mode == 'non20hz':
+      if key == 'features_buffer':
+        expected_shape = (1, shapes[key][1]*4, shapes[key][2])
+      else:
+        expected_shape = (1, shapes[key][1], shapes[key][2])
+      expected_idxs = get_expected_indices(shapes[key], constants, 'non20hz', key)
+
+    assert buf is not None, f"{key}: buffer not found"
+    assert buf.shape == expected_shape, f"{key}: buffer shape {buf.shape} != expected {expected_shape}"
+    if expected_idxs is not None:
+      assert np.all(idxs == expected_idxs), f"{key}: buffer idxs {idxs} != expected {expected_idxs}"
+    else:
+      assert idxs is None or idxs.size == 0, f"{key}: buffer idxs should be None or empty"
+
+
+def legacy_buffer_update(buf, new_val, mode, key, constants, idxs):
+  # This is what we compare the new dynamic logic to, to ensure it does the same thing
+  if mode == 'split':
+    if key == 'desire':
+      buf[0,:-1] = buf[0,1:]
+      buf[0,-1] = new_val
+      return buf.reshape((1, constants.INPUT_HISTORY_BUFFER_LEN, constants.TEMPORAL_SKIP, -1)).max(axis=2)
+    elif key == 'features_buffer':
+      buf[0,:-1] = buf[0,1:]
+      buf[0,-1] = new_val
+      return buf[0, idxs]
+    elif key == 'prev_desired_curv':
+      buf[0,:-1] = buf[0,1:]
+      buf[0,-1,:] = new_val
+      return buf[0, idxs]
+  elif mode == '20hz':
+    if key == 'desire':
+      buf[:-1] = buf[1:]
+      buf[-1] = new_val
+      reshape_dims = (1, buf.shape[1], -1, buf.shape[2])
+      reshaped = buf.reshape(reshape_dims).max(axis=2)
+      # Slice to last shape[1] elements to match model input shape
+      input_len = reshaped.shape[1]
+      model_input_len = 25  # For 20hz mode, desire shape[1] is 25
+      if input_len > model_input_len:
+        reshaped = reshaped[:, -model_input_len:, :]
+      return reshaped
+    elif key == 'features_buffer':
+      buffer_history_len = buf.shape[1]
+      legacy_buf = np.zeros((buffer_history_len, buf.shape[2]), dtype=np.float32)
+      legacy_buf[:] = buf[0]
+      legacy_buf[:-1] = legacy_buf[1:]
+      legacy_buf[-1] = new_val
+      return legacy_buf[idxs]
+    elif key == 'prev_desired_curv':
+      buffer_history_len = buf.shape[1]
+      legacy_buf = np.zeros((buffer_history_len, buf.shape[2]), dtype=np.float32)
+      legacy_buf[:] = buf[0]
+      legacy_buf[:-1] = legacy_buf[1:]
+      legacy_buf[-1,:] = new_val
+      return legacy_buf[idxs]
+  elif mode == 'non20hz':
+    if key == 'desire':
+      length = new_val.shape[0]
+      buf[0,:-1,:length] = buf[0,1:,:length]
+      buf[0,-1,:length] = new_val[:length]
+      return buf[0]
+    elif key == 'features_buffer':
+      feature_len = new_val.shape[0]
+      buf[0,:-1,:feature_len] = buf[0,1:,:feature_len]
+      buf[0,-1,:feature_len] = new_val[:feature_len]
+      return buf[0]
+    elif key == 'prev_desired_curv':
+      length = new_val.shape[0]
+      buf[0,:-length,0] = buf[0,length:,0]
+      buf[0,-length:,0] = new_val[:length]
+      return buf[0]
+  return None
+
+
+def dynamic_buffer_update(state, key, new_val, mode):
+  if key == 'desire':
+    state.temporal_buffers['desire'][0,:-1] = state.temporal_buffers['desire'][0,1:]
+    state.temporal_buffers['desire'][0,-1] = new_val
+    if state.temporal_buffers['desire'].shape[1] > state.numpy_inputs['desire'].shape[1]:
+      skip = state.temporal_buffers['desire'].shape[1] // state.numpy_inputs['desire'].shape[1]
+      return state.temporal_buffers['desire'][0].reshape(
+        state.numpy_inputs['desire'].shape[0], state.numpy_inputs['desire'].shape[1], skip, -1
+      ).max(axis=2)
+    else:
+      return state.temporal_buffers['desire'][0, state.temporal_idxs_map['desire']]
+
+  inputs = {'desire': np.zeros((1, state.constants.DESIRE_LEN), dtype=np.float32)}
+  for k, tb in state.temporal_buffers.items():
+    if k in state.temporal_idxs_map:
+      continue
+    buf_len = tb.shape[1]
+    if k in state.numpy_inputs:
+      out_len = state.numpy_inputs[k].shape[1]
+      if out_len <= buf_len:
+        state.temporal_idxs_map[k] = np.arange(buf_len)[-out_len:]
+      else:
+        state.temporal_idxs_map[k] = np.arange(buf_len)
+    else:
+      state.temporal_idxs_map[k] = np.arange(buf_len)
+
+  if key == 'features_buffer':
+    def run_model_stub():
+      return {
+        'hidden_state': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
+      }
+    state.model_runner.run_model = run_model_stub
+    state.run({}, {}, inputs, prepare_only=False)
+    return state.numpy_inputs['features_buffer'][0]
+
+  if key == 'prev_desired_curv':
+    def run_model_stub():
+      return {
+        'hidden_state': np.zeros((1, state.constants.FEATURE_LEN), dtype=np.float32),
+        'desired_curvature': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
+      }
+    state.model_runner.run_model = run_model_stub
+    state.run({}, {}, inputs, prepare_only=False)
+    return state.numpy_inputs['prev_desired_curv'][0]
+  return None
+
+
+@pytest.mark.parametrize("shapes,mode", SHAPE_MODE_PARAMS, indirect=["shapes"])
+@pytest.mark.parametrize("key", ["desire", "features_buffer", "prev_desired_curv"])
+def test_buffer_update_equivalence(shapes, mode, key, apply_patches):
+  state = ModelState(None)
+  constants = DummyModelRunner(shapes).constants
+  buf = state.temporal_buffers.get(key, None)
+  idxs = state.temporal_idxs_map.get(key, None)
+  input_shape = shapes[key]
+  for step in range(20):    # multiple steps to ensure history is built up
+    new_val = np.full((input_shape[2],), step, dtype=np.float32)
+    expected = legacy_buffer_update(buf, new_val, mode, key, constants, idxs)
+    actual = dynamic_buffer_update(state, key, new_val, mode)
+    # Model returns the reduced numpy_inputs history, compare the last n entries so the test is checking the same slices.
+    if expected is not None and actual is not None and expected.shape != actual.shape:
+      if expected.ndim == 2 and actual.ndim == 2 and expected.shape[1] == actual.shape[1]:
+        expected = expected[-actual.shape[0]:]
+    assert np.allclose(actual, expected), f"{mode} {key}: dynamic buffer update does not match legacy logic"
diff --git a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
index 270890caceedde..2800179fb2b415 100644
--- a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
+++ b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
@@ -83,7 +83,7 @@ def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: Fr
 
   def _run_model(self) -> NumpyDict:
     """Runs the Tinygrad model inference and parses the outputs."""
-    outputs = self.model_run(**self.inputs).numpy().flatten()
+    outputs = self.model_run(**self.inputs).contiguous().realize().uop.base.buffer.numpy()
     return self._parse_outputs(outputs)
 
   def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict:

From 9579d331fcc86f2588cffd426d8005a9fff1f5a4 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Mon, 25 Aug 2025 13:49:49 -0400
Subject: [PATCH 0382/1434] ui: sunnylink panel title & message (#1181)

add title & message to clarify sponsorship isn't required for basic functions
---
 .../qt/offroad/settings/sunnylink_panel.cc    | 21 +++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
index 3d4e070963c5b8..96d945ab5303af 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
@@ -34,6 +34,27 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   vlayout->setContentsMargins(50, 20, 50, 20);
 
   auto *list = new ListWidget(this, false);
+
+  QVBoxLayout *titleLayout = new QVBoxLayout;
+  QLabel *title = new QLabel(tr("🚀 sunnylink 🚀"));
+  title->setStyleSheet("font-size: 90px; font-weight: 500; font-family: 'Noto Color Emoji';");
+  titleLayout->addWidget(title, 0, Qt::AlignCenter);
+
+  QLabel *sunnylinkDesc = new QLabel("<div align='center'><font color='green'>"+
+    tr("For secure backup, restore, and remote configuration")+ "</font></div>");
+
+  QLabel *sponsorMsg = new QLabel("<div align='center'><font color='orange'>"+
+    tr("Sponsorship isn't required for basic backup/restore") + "<br>" +
+       tr("Click the sponsor button for more details")+ "</font></div>");
+
+  sunnylinkDesc->setStyleSheet("font-size: 40px; font-weight: 100; font-family: 'Noto';");
+  sponsorMsg->setStyleSheet("font-size: 35px; font-weight: 100; font-family: 'Noto';");
+
+  titleLayout->addWidget(sunnylinkDesc, 0, Qt::AlignCenter);
+  titleLayout->addWidget(sponsorMsg, 0, Qt::AlignCenter);
+
+  list->addItem(titleLayout);
+
   QString sunnylinkEnabledBtnDesc = tr("This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.");
   sunnylinkEnabledBtn = new ParamControl(
     "SunnylinkEnabled",

From 73e66c4a0b9f5afc2ba23d9c64468a841f3c03f9 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Mon, 25 Aug 2025 21:22:20 -0400
Subject: [PATCH 0383/1434] [bot] Update Python packages (#1178)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 docs/CARS.md | 16 ++++++++++++----
 opendbc_repo |  2 +-
 uv.lock      |  6 +++---
 3 files changed, 16 insertions(+), 8 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index e10dc8ae77ff38..dbc1dbcd7428bd 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,12 +4,13 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 326 Supported Cars
+# 334 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
+|Acura|MDX 2025|All except Type S|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
@@ -72,12 +73,15 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Accord 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023">Buy Here</a></sub></details>|||
+|Honda|Accord 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-21">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
@@ -85,7 +89,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-25">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
@@ -96,6 +102,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
+|Honda|Pilot 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
 |Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
@@ -120,7 +127,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022">Buy Here</a></sub></details>|||
+|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -298,6 +305,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Wildlander PHEV 2021|All|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Wildlander PHEV 2021">Buy Here</a></sub></details>|||
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
diff --git a/opendbc_repo b/opendbc_repo
index aa0aa1b7aacc15..ee25c18829fcb2 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit aa0aa1b7aacc15e5e9228a91d7f7043d8b39f9e2
+Subproject commit ee25c18829fcb229fcf6576194ddd8638b33ba55
diff --git a/uv.lock b/uv.lock
index 49ae160993a906..7010cdfb836f45 100644
--- a/uv.lock
+++ b/uv.lock
@@ -4832,11 +4832,11 @@ wheels = [
 
 [[package]]
 name = "typing-extensions"
-version = "4.14.1"
+version = "4.15.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/98/5a/da40306b885cc8c09109dc2e1abd358d5684b1425678151cdaed4731c822/typing_extensions-4.14.1.tar.gz", hash = "sha256:38b39f4aeeab64884ce9f74c94263ef78f3c22467c8724005483154c26648d36", size = 107673, upload-time = "2025-07-04T13:28:34.16Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/72/94/1a15dd82efb362ac84269196e94cf00f187f7ed21c242792a923cdb1c61f/typing_extensions-4.15.0.tar.gz", hash = "sha256:0cea48d173cc12fa28ecabc3b837ea3cf6f38c6d1136f85cbaaf598984861466", size = 109391, upload-time = "2025-08-25T13:49:26.313Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/b5/00/d631e67a838026495268c2f6884f3711a15a9a2a96cd244fdaea53b823fb/typing_extensions-4.14.1-py3-none-any.whl", hash = "sha256:d1e1e3b58374dc93031d6eda2420a48ea44a36c2b4766a4fdeb3710755731d76", size = 43906, upload-time = "2025-07-04T13:28:32.743Z" },
+    { url = "https://files.pythonhosted.org/packages/18/67/36e9267722cc04a6b9f15c7f3441c2363321a3ea07da7ae0c0707beb2a9c/typing_extensions-4.15.0-py3-none-any.whl", hash = "sha256:f0fa19c6845758ab08074a0cfa8b7aecb71c999ca73d62883bc25cc018c4e548", size = 44614, upload-time = "2025-08-25T13:49:24.86Z" },
 ]
 
 [[package]]

From 6bbf42c16aa104a4352c71666165ef0be91fe04b Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Mon, 25 Aug 2025 23:50:58 -0400
Subject: [PATCH 0384/1434] [bot] Update translations (#1183)

Update translations

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/translations/main_ar.ts     | 16 ++++++++++++++++
 selfdrive/ui/translations/main_de.ts     | 16 ++++++++++++++++
 selfdrive/ui/translations/main_es.ts     | 16 ++++++++++++++++
 selfdrive/ui/translations/main_fr.ts     | 16 ++++++++++++++++
 selfdrive/ui/translations/main_ja.ts     | 16 ++++++++++++++++
 selfdrive/ui/translations/main_ko.ts     | 16 ++++++++++++++++
 selfdrive/ui/translations/main_pt-BR.ts  | 16 ++++++++++++++++
 selfdrive/ui/translations/main_th.ts     | 16 ++++++++++++++++
 selfdrive/ui/translations/main_tr.ts     | 16 ++++++++++++++++
 selfdrive/ui/translations/main_zh-CHS.ts | 16 ++++++++++++++++
 selfdrive/ui/translations/main_zh-CHT.ts | 16 ++++++++++++++++
 11 files changed, 176 insertions(+)

diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index f72ea8ee8381fa..ef7110e72e8c08 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -2103,6 +2103,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 193e2fd89553ee..dde92414607597 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -2085,6 +2085,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 1d1723cde7f816..3b53e7f944860c 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -2087,6 +2087,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 959321bb4bf501..45705defd971f3 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -2083,6 +2083,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 28b5b00e510e97..3faa183954fac1 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -2082,6 +2082,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index d69fda88b0c9e4..756cad604528b1 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -2096,6 +2096,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index c5171b19f77834..0a886d435c4c47 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -2087,6 +2087,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 3bd2d84a92bfd8..7b89f2a69466a3 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -2078,6 +2078,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index db9c15580a48b2..0598d0836438e8 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -2077,6 +2077,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 23163608910755..1f4db2d6d0cc18 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -2082,6 +2082,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 16bb393deaf902..1a8784846cda2f 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -2082,6 +2082,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

From 342ff24510542d5ba2d4bb9c193308db0c9ad462 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Tue, 26 Aug 2025 11:49:55 -0400
Subject: [PATCH 0385/1434] feature: external storage (#979)

* external storage

* fix mountStorage

* fix perms

* works for now

* better

* lagless

* move to sp qt

* orderish

* fix ui crash

* cleanup

* fix format

* offroad only

* debug external storage

* dont care about delete

* just use cloudlog

* show logs if using external storage

* better text

* wipe entire drive

* allow partitionless drive to be formatted

* label while formatting

* this works

* better

* cleaner

* cleaner logs

* keep upstream happy

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 selfdrive/ui/sunnypilot/SConscript            |   1 +
 .../qt/offroad/settings/developer_panel.cc    |   5 +
 .../sunnypilot/qt/widgets/external_storage.cc | 170 ++++++++++++++++++
 .../sunnypilot/qt/widgets/external_storage.h  |  34 ++++
 system/athena/athenad.py                      |  24 ++-
 system/hardware/hw.py                         |   4 +
 system/loggerd/config.py                      |  17 +-
 system/loggerd/deleter.py                     |  37 ++++
 8 files changed, 280 insertions(+), 12 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/widgets/external_storage.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/widgets/external_storage.h

diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 810338aae8ebe0..2f3c8ddd8db549 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -4,6 +4,7 @@ widgets_src = [
   "sunnypilot/qt/widgets/controls.cc",
   "sunnypilot/qt/widgets/drive_stats.cc",
   "sunnypilot/qt/widgets/expandable_row.cc",
+  "sunnypilot/qt/widgets/external_storage.cc",
   "sunnypilot/qt/widgets/prime.cc",
   "sunnypilot/qt/widgets/scrollview.cc",
   "sunnypilot/qt/network/networking.cc",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
index 58193f9fe8bfef..a4a6bf481c2218 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
@@ -5,9 +5,14 @@
  * See the LICENSE.md file in the root directory for more details.
  */
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/external_storage.h"
 
 DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(parent) {
 
+  #ifndef __APPLE__
+  addItem(new ExternalStorageControl());
+  #endif
+
   // Advanced Controls Toggle
   showAdvancedControls = new ParamControlSP("ShowAdvancedControls", tr("Show Advanced Controls"), tr("Toggle visibility of advanced sunnypilot controls.\nThis only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state."), "");
   addItem(showAdvancedControls);
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/external_storage.cc b/selfdrive/ui/sunnypilot/qt/widgets/external_storage.cc
new file mode 100644
index 00000000000000..f95118751147b2
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/widgets/external_storage.cc
@@ -0,0 +1,170 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/external_storage.h"
+
+#include <QProcess>
+#include <QCoreApplication>
+#include <QShowEvent>
+#include <QTimer>
+#include <QtConcurrent>
+
+#include "common/params.h"
+#include "selfdrive/ui/qt/api.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+
+ExternalStorageControl::ExternalStorageControl() :
+  ButtonControl(tr("External Storage"), "", tr("Extend your comma device's storage by inserting a USB drive into the aux port.")) {
+
+  QObject::connect(this, &ButtonControl::clicked, [=]() {
+    if (text() == tr("CHECK") || text() == tr("MOUNT")) {
+      mountStorage();
+    } else if (text() == tr("UNMOUNT")) {
+      unmountStorage();
+    } else if (text() == tr("FORMAT")) {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to format this drive? This will erase all data."), tr("Format"), this)) {
+        formatStorage();
+      }
+    }
+  });
+
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &ExternalStorageControl::updateState);
+  updateState(!uiState()->scene.started);
+
+  refresh();
+}
+
+void ExternalStorageControl::updateState(bool offroad) {
+  setEnabled(offroad);
+}
+
+void ExternalStorageControl::debouncedRefresh() {
+  if (refreshPending) return;
+  refreshPending = true;
+
+  QTimer::singleShot(250, this, [=]() {
+    refreshPending = false;
+    refresh();
+  });
+}
+
+void ExternalStorageControl::refresh() {
+  QtConcurrent::run([=]() {
+    auto run = [](const QString &cmd) {
+      QProcess p;
+      p.start("sh", QStringList() << "-c" << cmd);
+      p.waitForFinished();
+      return p.exitCode() == 0;
+    };
+
+    bool isMounted = run("findmnt -n /mnt/external_realdata");
+    bool hasDrive = run("lsblk -f /dev/sdg");
+    bool hasFs = run("lsblk -f /dev/sdg1 | grep -q ext4");
+    bool hasLabel = run("sudo blkid /dev/sdg1 | grep -q 'LABEL=\"openpilot\"'");
+
+    QString info;
+    if (isMounted && hasLabel) {
+      QProcess df;
+      df.start("sh", QStringList() << "-c" << "df -h /mnt/external_realdata | awk 'NR==2 {print $3 \"/\" $2}'");
+      df.waitForFinished();
+      info = df.readAllStandardOutput().trimmed();
+    }
+
+    QMetaObject::invokeMethod(this, [=]() {
+      if (formatting) {
+        setValue(tr("formatting"));
+        setText(tr("FORMAT"));
+        setEnabled(false);
+      } else {
+        if (!hasDrive) {
+          setValue(tr("insert drive"));
+          setText(tr("CHECK"));
+        } else if (!hasFs || !hasLabel) {
+          setValue(tr("needs format"));
+          setText(tr("FORMAT"));
+        } else if (isMounted) {
+          setValue(info);
+          setText(tr("UNMOUNT"));
+        } else {
+          setValue("drive detected");
+          setText(tr("MOUNT"));
+        }
+        updateState(!uiState()->scene.started);
+      }
+    }, Qt::QueuedConnection);
+  });
+}
+
+void ExternalStorageControl::mountStorage() {
+  setValue(tr("mounting"));
+  setEnabled(false);
+
+  QtConcurrent::run([=]() {
+    QProcess process;
+    process.start("sh", QStringList() << "-c" <<
+      "sudo mount -o remount,rw / && "
+      "sudo mkdir -p /mnt/external_realdata && "
+      "grep -q '/dev/sdg1 /mnt/external_realdata' /etc/fstab || "
+      "echo '/dev/sdg1 /mnt/external_realdata ext4 defaults,nofail 0 2' | sudo tee -a /etc/fstab && "
+      "sudo systemctl daemon-reexec && "
+      "sudo mount /mnt/external_realdata && "
+      "sudo chown -R comma:comma /mnt/external_realdata && "
+      "sudo chmod -R 775 /mnt/external_realdata && "
+      "sudo mount -o remount,ro /");
+    process.waitForFinished();
+
+    QMetaObject::invokeMethod(this, [=]() {
+      debouncedRefresh();
+    }, Qt::QueuedConnection);
+  });
+}
+
+void ExternalStorageControl::unmountStorage() {
+  setValue(tr("unmounting"));
+  setEnabled(false);
+
+  QtConcurrent::run([=]() {
+    QProcess process;
+    process.start("sh", QStringList() << "-c" << "sudo umount /mnt/external_realdata");
+    process.waitForFinished();
+
+    QMetaObject::invokeMethod(this, [=]() {
+      debouncedRefresh();
+    }, Qt::QueuedConnection);
+  });
+}
+
+void ExternalStorageControl::formatStorage() {
+  unmountStorage();
+  formatting = true;
+  setValue(tr("formatting"));
+  setEnabled(false);
+
+  QProcess *process = new QProcess(this);
+  connect(process, static_cast<void(QProcess::*)(int, QProcess::ExitStatus)>(&QProcess::finished),
+          this, [=](int exitCode, QProcess::ExitStatus status) {
+            process->deleteLater();
+            formatting = false;
+            if (exitCode == 0 && status == QProcess::NormalExit) {
+              mountStorage();
+            } else {
+              setValue(tr("needs format"));
+              updateState(!uiState()->scene.started);
+            }
+          });
+  process->start("sh", QStringList() << "-c" <<
+    "sudo wipefs -a /dev/sdg && "
+    "sudo parted -s /dev/sdg mklabel gpt mkpart primary ext4 0% 100% && "
+    "sudo mkfs.ext4 -F -L openpilot /dev/sdg1"
+  );
+}
+
+void ExternalStorageControl::showEvent(QShowEvent *event) {
+  ButtonControl::showEvent(event);
+  QTimer::singleShot(100, this, &ExternalStorageControl::debouncedRefresh);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/external_storage.h b/selfdrive/ui/sunnypilot/qt/widgets/external_storage.h
new file mode 100644
index 00000000000000..d26eefd18c1ce9
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/widgets/external_storage.h
@@ -0,0 +1,34 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "system/hardware/hw.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#define ButtonControl ButtonControlSP
+
+class ExternalStorageControl : public ButtonControl {
+  Q_OBJECT
+
+public:
+  ExternalStorageControl();
+
+protected:
+  void showEvent(QShowEvent *event) override;
+
+private:
+  Params params;
+
+  bool refreshPending = false;
+  bool formatting = false;
+  void updateState(bool offroad);
+  void refresh();
+  void debouncedRefresh();
+  void mountStorage();
+  void unmountStorage();
+  void formatStorage();
+};
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index f97b8e55bb5c2a..42c9cf8a1cb55b 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -381,20 +381,22 @@ def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str = N
   return {"success": 1}
 
 
-def scan_dir(path: str, prefix: str) -> list[str]:
+def scan_dir(path: str, prefix: str, base: str | None = None) -> list[str]:
+  if base is None:
+    base = path
   files = []
   # only walk directories that match the prefix
   # (glob and friends traverse entire dir tree)
   with os.scandir(path) as i:
     for e in i:
-      rel_path = os.path.relpath(e.path, Paths.log_root())
+      rel_path = os.path.relpath(e.path, base)
       if e.is_dir(follow_symlinks=False):
         # add trailing slash
         rel_path = os.path.join(rel_path, '')
         # if prefix is a partial dir name, current dir will start with prefix
         # if prefix is a partial file name, prefix with start with dir name
         if rel_path.startswith(prefix) or prefix.startswith(rel_path):
-          files.extend(scan_dir(e.path, prefix))
+          files.extend(scan_dir(e.path, prefix, base))
       else:
         if rel_path.startswith(prefix):
           files.append(rel_path)
@@ -402,7 +404,12 @@ def scan_dir(path: str, prefix: str) -> list[str]:
 
 @dispatcher.add_method
 def listDataDirectory(prefix='') -> list[str]:
-  return scan_dir(Paths.log_root(), prefix)
+  internal_files = scan_dir(Paths.log_root(), prefix, Paths.log_root())
+  try:
+    external_files = scan_dir(Paths.log_root_external(), prefix, Paths.log_root_external())
+  except FileNotFoundError:
+    external_files = []
+  return sorted(set(internal_files + external_files))
 
 
 @dispatcher.add_method
@@ -427,8 +434,13 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
       failed.append(file.fn)
       continue
 
-    path = os.path.join(Paths.log_root(), file.fn)
-    if not os.path.exists(path) and not os.path.exists(strip_zst_extension(path)):
+    path_internal = os.path.join(Paths.log_root(), file.fn)
+    path_external = os.path.join(Paths.log_root_external(), file.fn)
+    if os.path.exists(path_internal) or os.path.exists(strip_zst_extension(path_internal)):
+      path = path_internal
+    elif os.path.exists(path_external) or os.path.exists(strip_zst_extension(path_external)):
+      path = path_external
+    else:
       failed.append(file.fn)
       continue
 
diff --git a/system/hardware/hw.py b/system/hardware/hw.py
index 5e40fff1363df1..d24857e8bd5840 100644
--- a/system/hardware/hw.py
+++ b/system/hardware/hw.py
@@ -20,6 +20,10 @@ def log_root() -> str:
     else:
       return '/data/media/0/realdata/'
 
+  @staticmethod
+  def log_root_external() -> str:
+    return '/mnt/external_realdata/'
+
   @staticmethod
   def swaglog_root() -> str:
     if PC:
diff --git a/system/loggerd/config.py b/system/loggerd/config.py
index e1c47c768df93f..d9befb5613ea7b 100644
--- a/system/loggerd/config.py
+++ b/system/loggerd/config.py
@@ -9,21 +9,26 @@
 STATS_SOCKET = "ipc:///tmp/stats"
 STATS_FLUSH_TIME_S = 60
 
-def get_available_percent(default: float) -> float:
+PATH_DICT = {
+  "internal": Paths.log_root(),
+  "external": Paths.log_root_external()
+}
+
+def get_available_percent(default: float, path_type="internal") -> float:
   try:
-    statvfs = os.statvfs(Paths.log_root())
+    statvfs = os.statvfs(PATH_DICT[path_type])
     available_percent = 100.0 * statvfs.f_bavail / statvfs.f_blocks
-  except OSError:
+  except (OSError, KeyError):
     available_percent = default
 
   return available_percent
 
 
-def get_available_bytes(default: int) -> int:
+def get_available_bytes(default: int, path_type="internal") -> int:
   try:
-    statvfs = os.statvfs(Paths.log_root())
+    statvfs = os.statvfs(PATH_DICT[path_type])
     available_bytes = statvfs.f_bavail * statvfs.f_frsize
-  except OSError:
+  except (OSError, KeyError):
     available_bytes = default
 
   return available_bytes
diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py
index eb8fd35f21813c..058f5c301d8389 100755
--- a/system/loggerd/deleter.py
+++ b/system/loggerd/deleter.py
@@ -1,7 +1,9 @@
 #!/usr/bin/env python3
 import os
+import time
 import shutil
 import threading
+from pathlib import Path
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.loggerd.config import get_available_bytes, get_available_percent
@@ -61,6 +63,41 @@ def deleter_thread(exit_event: threading.Event):
         if any(name.endswith(".lock") for name in os.listdir(delete_path)):
           continue
 
+        if Path(Paths.log_root_external()).is_mount():
+          out_of_bytes_external = get_available_bytes(default=MIN_BYTES + 1, path_type="external") < MIN_BYTES
+          out_of_percent_external = get_available_percent(default=MIN_PERCENT + 1, path_type="external") < MIN_PERCENT
+
+          if out_of_percent_external or out_of_bytes_external:
+            dirs_external = listdir_by_creation(Paths.log_root_external())
+
+            # remove the earliest external directory we can
+            for delete_dir_external in sorted(dirs_external):
+              delete_path_external = os.path.join(Paths.log_root_external(), delete_dir_external)
+              try:
+                cloudlog.warning(f"deleting {delete_path_external}")
+                shutil.rmtree(delete_path_external)
+                break
+              except OSError:
+                cloudlog.exception(f"issue deleting {delete_path_external}")
+
+          # move directory from internal to external
+          path_external = os.path.join(Paths.log_root_external(), delete_dir)
+          try:
+            cloudlog.warning(f"moving {delete_path} to {path_external}")
+            start = time.monotonic()
+            shutil.move(delete_path, path_external)
+            cloudlog.warning(f"moved {delete_path} to {path_external} in {time.monotonic() - start:.2f}s")
+            break
+          except Exception:
+            cloudlog.error(f"issue moving {delete_path} to {path_external}")
+            try:
+              cloudlog.warning(f"deleting {delete_path}")
+              shutil.rmtree(delete_path)
+              break
+            except OSError:
+              cloudlog.exception(f"issue deleting {delete_path}")
+          continue
+
         try:
           cloudlog.info(f"deleting {delete_path}")
           shutil.rmtree(delete_path)

From 54174d1ef0e84f198d6c98be212c3e1d1496b807 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Fri, 29 Aug 2025 22:23:58 +0200
Subject: [PATCH 0386/1434] agnos: split launch for c3 and c3x to support
 custom agnos (#1186)

* refactor: skip AGNOS update for tici models in launch script

* back to stock on chffrplus

* feat: enhance launch script for Tici model with error handling and fallback

* empty new line pls
---
 launch_openpilot.sh                           | 17 ++++
 sunnypilot/system/hardware/c3/README.md       |  3 +
 sunnypilot/system/hardware/c3/agnos.json      | 84 +++++++++++++++++
 .../system/hardware/c3/launch_chffrplus.sh    | 92 +++++++++++++++++++
 sunnypilot/system/hardware/c3/launch_env.sh   | 11 +++
 5 files changed, 207 insertions(+)
 create mode 100644 sunnypilot/system/hardware/c3/README.md
 create mode 100644 sunnypilot/system/hardware/c3/agnos.json
 create mode 100755 sunnypilot/system/hardware/c3/launch_chffrplus.sh
 create mode 100755 sunnypilot/system/hardware/c3/launch_env.sh

diff --git a/launch_openpilot.sh b/launch_openpilot.sh
index d6e3424c348bf5..d4841b601fed84 100755
--- a/launch_openpilot.sh
+++ b/launch_openpilot.sh
@@ -1,3 +1,20 @@
 #!/usr/bin/env bash
+set -euo pipefail
+IFS=$'\n\t'
+
+# On any failure, run the fallback launcher
+trap 'exec ./launch_chffrplus.sh' ERR
+C3_LAUNCH_SH="./sunnypilot/system/hardware/c3/launch_chffrplus.sh"
+
+MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
+export MODEL
+
+if [ "$MODEL" = "comma tici" ]; then
+  # Force a failure if the launcher doesn't exist
+  [ -x "$C3_LAUNCH_SH" ] || false
+
+  # If it exists, run it
+  exec "$C3_LAUNCH_SH"
+fi
 
 exec ./launch_chffrplus.sh
diff --git a/sunnypilot/system/hardware/c3/README.md b/sunnypilot/system/hardware/c3/README.md
new file mode 100644
index 00000000000000..f74a210191287e
--- /dev/null
+++ b/sunnypilot/system/hardware/c3/README.md
@@ -0,0 +1,3 @@
+# C3 specific hardware code
+
+`c3` is known as `tici` and comma three by comma. Not to confuse it with `c3x` which is known as `tizi`.
\ No newline at end of file
diff --git a/sunnypilot/system/hardware/c3/agnos.json b/sunnypilot/system/hardware/c3/agnos.json
new file mode 100644
index 00000000000000..941a4956bf64d0
--- /dev/null
+++ b/sunnypilot/system/hardware/c3/agnos.json
@@ -0,0 +1,84 @@
+[
+  {
+    "name": "xbl",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b.img.xz",
+    "hash": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
+    "hash_raw": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
+    "size": 3282256,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "ed61a650bea0c56652dd0fc68465d8fc722a4e6489dc8f257630c42c6adcdc89"
+  },
+  {
+    "name": "xbl_config",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c.img.xz",
+    "hash": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
+    "hash_raw": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
+    "size": 98124,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "b12801ffaa81e58e3cef914488d3b447e35483ba549b28c6cd9deb4814c3265f"
+  },
+  {
+    "name": "abl",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
+    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "size": 274432,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6"
+  },
+  {
+    "name": "aop",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9.img.xz",
+    "hash": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
+    "hash_raw": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
+    "size": 184364,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "c1be2f4aac5b3af49b904b027faec418d05efd7bd5144eb4fdfcba602bcf2180"
+  },
+  {
+    "name": "devcfg",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620.img.xz",
+    "hash": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
+    "hash_raw": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
+    "size": 40336,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "17b229668b20305ff8fa3cd5f94716a3aaa1e5bf9d1c24117eff7f2f81ae719f"
+  },
+  {
+    "name": "boot",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz",
+    "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "size": 18515968,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0"
+  },
+  {
+    "name": "system",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
+    "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
+    "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+    "size": 5368709120,
+    "sparse": true,
+    "full_check": false,
+    "has_ab": true,
+    "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
+    "alt": {
+      "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
+      "size": 5368709120
+    }
+  }
+]
\ No newline at end of file
diff --git a/sunnypilot/system/hardware/c3/launch_chffrplus.sh b/sunnypilot/system/hardware/c3/launch_chffrplus.sh
new file mode 100755
index 00000000000000..45cc95053772e6
--- /dev/null
+++ b/sunnypilot/system/hardware/c3/launch_chffrplus.sh
@@ -0,0 +1,92 @@
+#!/usr/bin/env bash
+
+SP_C3_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+DIR="$( cd "$SP_C3_DIR/../../../.." >/dev/null 2>&1 && pwd )"
+
+source "$SP_C3_DIR/launch_env.sh"
+
+function agnos_init {
+  # TODO: move this to agnos
+  sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
+
+  # set success flag for current boot slot
+  sudo abctl --set_success
+
+  # TODO: do this without udev in AGNOS
+  # udev does this, but sometimes we startup faster
+  sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
+  sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
+
+
+  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
+    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
+    MANIFEST="$SP_C3_DIR/agnos.json"
+    if $AGNOS_PY --verify $MANIFEST; then
+      sudo reboot
+    fi
+    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
+  fi
+}
+
+function launch {
+  # Remove orphaned git lock if it exists on boot
+  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
+
+  # Check to see if there's a valid overlay-based update available. Conditions
+  # are as follows:
+  #
+  # 1. The DIR init file has to exist, with a newer modtime than anything in
+  #    the DIR Git repo. This checks for local development work or the user
+  #    switching branches/forks, which should not be overwritten.
+  # 2. The FINALIZED consistent file has to exist, indicating there's an update
+  #    that completed successfully and synced to disk.
+
+  if [ -f "${DIR}/.overlay_init" ]; then
+    find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null
+    if [ $? -eq 0 ]; then
+      echo "${DIR} has been modified, skipping overlay update installation"
+    else
+      if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
+        if [ ! -d /data/safe_staging/old_openpilot ]; then
+          echo "Valid overlay update found, installing"
+          LAUNCHER_LOCATION="${BASH_SOURCE[0]}"
+
+          mv $DIR /data/safe_staging/old_openpilot
+          mv "${STAGING_ROOT}/finalized" $DIR
+          cd $DIR
+
+          echo "Restarting launch script ${LAUNCHER_LOCATION}"
+          unset AGNOS_VERSION
+          exec "${LAUNCHER_LOCATION}"
+        else
+          echo "openpilot backup found, not updating"
+          # TODO: restore backup? This means the updater didn't start after swapping
+        fi
+      fi
+    fi
+  fi
+
+  # handle pythonpath
+  ln -sfn $(pwd) /data/pythonpath
+  export PYTHONPATH="$PWD"
+
+  # hardware specific init
+  if [ -f /AGNOS ]; then
+    agnos_init
+  fi
+
+  # write tmux scrollback to a file
+  tmux capture-pane -pq -S-1000 > /tmp/launch_log
+
+  # start manager
+  cd $DIR/system/manager
+  if [ ! -f $DIR/prebuilt ]; then
+    ./build.py
+  fi
+  ./manager.py
+
+  # if broken, keep on screen error
+  while true; do sleep 1; done
+}
+
+launch
diff --git a/sunnypilot/system/hardware/c3/launch_env.sh b/sunnypilot/system/hardware/c3/launch_env.sh
new file mode 100755
index 00000000000000..593aacc0780e5f
--- /dev/null
+++ b/sunnypilot/system/hardware/c3/launch_env.sh
@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+
+export OMP_NUM_THREADS=1
+export MKL_NUM_THREADS=1
+export NUMEXPR_NUM_THREADS=1
+export OPENBLAS_NUM_THREADS=1
+export VECLIB_MAXIMUM_THREADS=1
+
+if [ -z "$AGNOS_VERSION" ]; then
+  export AGNOS_VERSION="12.8"
+fi

From ba1da60c25c50ee70437dc25f4c2ed310d4edf1d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 29 Aug 2025 16:39:25 -0400
Subject: [PATCH 0387/1434] NNLC: compute error in torque space (#1185)

* NNLC: compute error in torque space

* bump

* sp happy too

* bump

* lint

* update path

* oops

* test entire loop

* bump

* test gm

* bump

* bump
---
 opendbc_repo                                  |  2 +-
 selfdrive/controls/controlsd.py               |  2 +
 selfdrive/controls/lib/latcontrol_torque.py   | 14 +++----
 .../controls/lib/latcontrol_torque_ext.py     | 15 ++++---
 .../lib/latcontrol_torque_ext_base.py         | 11 ++++-
 .../selfdrive/controls/lib/nnlc/nnlc.py       | 40 +++++++++++++++++--
 .../controls/lib/nnlc/tests/test_nnlc.py      | 10 ++++-
 7 files changed, 75 insertions(+), 19 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index ee25c18829fcb2..004fa8df07479c 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit ee25c18829fcb229fcf6576194ddd8638b33ba55
+Subproject commit 004fa8df07479ceb205691e0689b42180270c45b
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 56a3258a5c0f5a..9e88a37690868a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -95,6 +95,8 @@ def state_control(self):
         self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
                                            torque_params.frictionCoefficientFiltered)
 
+        self.LaC.extension.update_limits()
+
       self.LaC.extension.update_model_v2(self.sm['modelV2'])
 
       self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 7e4ef5602355b2..e4554ae464dd36 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -35,7 +35,7 @@ def __init__(self, CP, CP_SP, CI):
     self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
 
-    self.extension = LatControlTorqueExt(self, CP, CP_SP)
+    self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
 
   def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
     self.torque_params.latAccelFactor = latAccelFactor
@@ -73,12 +73,6 @@ def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvat
       ff = gravity_adjusted_lateral_accel
       ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
-      # Lateral acceleration torque controller extension updates
-      # Overrides stock ff and pid_log.error
-      ff, pid_log = self.extension.update(CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
-                                          desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
-                                          desired_curvature, actual_curvature)
-
       freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
       output_lataccel = self.pid.update(pid_log.error,
                                       feedforward=ff,
@@ -86,6 +80,12 @@ def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvat
                                       freeze_integrator=freeze_integrator)
       output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
 
+      # Lateral acceleration torque controller extension updates
+      # Overrides pid_log.error and output_torque
+      pid_log, output_torque = self.extension.update(CS, VM, self.pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
+                                                     desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
+                                                     desired_curvature, actual_curvature, steer_limited_by_safety, output_torque)
+
       pid_log.active = True
       pid_log.p = float(self.pid.p)
       pid_log.i = float(self.pid.i)
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
index fe54f46ca79456..6e134276e5ded8 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
@@ -9,23 +9,28 @@
 
 
 class LatControlTorqueExt(NeuralNetworkLateralControl):
-  def __init__(self, lac_torque, CP, CP_SP):
-    super().__init__(lac_torque, CP, CP_SP)
+  def __init__(self, lac_torque, CP, CP_SP, CI):
+    super().__init__(lac_torque, CP, CP_SP, CI)
 
-  def update(self, CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
+  def update(self, CS, VM, pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
              desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
-             desired_curvature, actual_curvature):
+             desired_curvature, actual_curvature, steer_limited_by_safety, output_torque):
     self._ff = ff
+    self._pid = pid
     self._pid_log = pid_log
     self._setpoint = setpoint
     self._measurement = measurement
+    self._roll_compensation = roll_compensation
     self._lateral_accel_deadzone = lateral_accel_deadzone
     self._desired_lateral_accel = desired_lateral_accel
     self._actual_lateral_accel = actual_lateral_accel
     self._desired_curvature = desired_curvature
     self._actual_curvature = actual_curvature
+    self._gravity_adjusted_lateral_accel = gravity_adjusted_lateral_accel
+    self._steer_limited_by_safety = steer_limited_by_safety
+    self._output_torque = output_torque
 
     self.update_calculations(CS, VM, desired_lateral_accel)
     self.update_neural_network_feedforward(CS, params, calibrated_pose)
 
-    return self._ff, self._pid_log
+    return self._pid_log, self._output_torque
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
index 644f28573af1bb..1965d50b51aae2 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
@@ -7,6 +7,7 @@
 import math
 import numpy as np
 
+from openpilot.common.pid import PIDController
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
@@ -43,9 +44,10 @@ def get_lookahead_value(future_vals, current_val):
 
 
 class LatControlTorqueExtBase:
-  def __init__(self, lac_torque, CP, CP_SP):
+  def __init__(self, lac_torque, CP, CP_SP, CI):
     self.model_v2 = None
     self.model_valid = False
+    self.lac_torque = lac_torque
     self.torque_params = lac_torque.torque_params
 
     self.actual_lateral_jerk: float = 0.0
@@ -53,17 +55,22 @@ def __init__(self, lac_torque, CP, CP_SP):
     self.lateral_jerk_measurement: float = 0.0
     self.lookahead_lateral_jerk: float = 0.0
 
-    self.torque_from_lateral_accel = lac_torque.torque_from_lateral_accel
+    self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()
 
     self._ff = 0.0
+    self._pid = PIDController(0.0, 0.0, k_f=0.0)
     self._pid_log = None
     self._setpoint = 0.0
     self._measurement = 0.0
+    self._roll_compensation = 0.0
     self._lateral_accel_deadzone = 0.0
     self._desired_lateral_accel = 0.0
     self._actual_lateral_accel = 0.0
     self._desired_curvature = 0.0
     self._actual_curvature = 0.0
+    self._gravity_adjusted_lateral_accel = 0.0
+    self._steer_limited_by_safety = False
+    self._output_torque = 0.0
 
     # twilsonco's Lateral Neural Network Feedforward
     # Instantaneous lateral jerk changes very rapidly, making it not useful on its own,
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
index 77d46ace3437fb..1738a11e49337f 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
@@ -9,6 +9,8 @@
 import numpy as np
 
 from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
+from opendbc.sunnypilot.car.interfaces import LatControlInputs
+from opendbc.sunnypilot.car.lateral_ext import get_friction as get_friction_in_torque_space
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.selfdrive.modeld.constants import ModelConstants
@@ -30,8 +32,8 @@ def roll_pitch_adjust(roll, pitch):
 
 
 class NeuralNetworkLateralControl(LatControlTorqueExtBase):
-  def __init__(self, lac_torque, CP, CP_SP):
-    super().__init__(lac_torque, CP, CP_SP)
+  def __init__(self, lac_torque, CP, CP_SP, CI):
+    super().__init__(lac_torque, CP, CP_SP, CI)
     self.params = Params()
     self.enabled = self.params.get_bool("NeuralNetworkLateralControl")
     self.has_nn_model = CP_SP.neuralNetworkLateralControl.model.path != MOCK_MODEL_PATH
@@ -57,14 +59,44 @@ def __init__(self, lac_torque, CP, CP_SP):
     self.error_deque = deque(maxlen=history_check_frames[0])
     self.past_future_len = len(self.past_times) + len(self.nn_future_times)
 
+  @property
+  def _nnlc_enabled(self):
+    return self.enabled and self.model_valid and self.has_nn_model
+
+  def update_limits(self):
+    if not self._nnlc_enabled:
+      return
+
+    self._pid.set_limits(self.lac_torque.steer_max, -self.lac_torque.steer_max)
+
   def update_lateral_lag(self, lag):
     super().update_lateral_lag(lag)
     self.nn_future_times = [t + self.desired_lat_jerk_time for t in self.future_times]
 
+  def update_feedforward_torque_space(self, CS):
+    torque_from_setpoint = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._setpoint, self._roll_compensation, CS.vEgo, CS.aEgo),
+                                                                          self.torque_params, gravity_adjusted=False)
+    torque_from_measurement = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._measurement, self._roll_compensation, CS.vEgo, CS.aEgo),
+                                                                             self.torque_params, gravity_adjusted=False)
+    self._pid_log.error = float(torque_from_setpoint - torque_from_measurement)
+    self._ff = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._gravity_adjusted_lateral_accel, self._roll_compensation,
+                                                                               CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=True)
+    self._ff += get_friction_in_torque_space(self._desired_lateral_accel - self._actual_lateral_accel, self._lateral_accel_deadzone,
+                                             FRICTION_THRESHOLD, self.torque_params)
+
+  def update_output_torque(self, CS):
+    freeze_integrator = self._steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+    self._output_torque = self._pid.update(self._pid_log.error,
+                                           feedforward=self._ff,
+                                           speed=CS.vEgo,
+                                           freeze_integrator=freeze_integrator)
+
   def update_neural_network_feedforward(self, CS, params, calibrated_pose) -> None:
-    if not self.enabled or not self.model_valid or not self.has_nn_model:
+    if not self._nnlc_enabled:
       return
 
+    self.update_feedforward_torque_space(CS)
+
     low_speed_factor = float(np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)) ** 2
     self._setpoint = self._desired_lateral_accel + low_speed_factor * self._desired_curvature
     self._measurement = self._actual_lateral_accel + low_speed_factor * self._actual_curvature
@@ -128,3 +160,5 @@ def update_neural_network_feedforward(self, CS, params, calibrated_pose) -> None
     # apply friction override for cars with low NN friction response
     if self.model.friction_override:
       self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+
+    self.update_output_torque(CS)
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
index 01ddec68ab721d..009e3d96afe99a 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
@@ -3,6 +3,7 @@
 
 from cereal import car, log, messaging
 from opendbc.car.car_helpers import interfaces
+from opendbc.car.gm.values import CAR as GM
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.hyundai.values import CAR as HYUNDAI
 from opendbc.car.toyota.values import CAR as TOYOTA
@@ -41,7 +42,7 @@ def generate_modelV2():
 
 class TestNeuralNetworkLateralControl:
 
-  @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN])
+  @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN, GM.CHEVROLET_BOLT_EUV])
   def test_saturation(self, car_name):
     params = Params()
     params.put_bool("NeuralNetworkLateralControl", True)
@@ -57,6 +58,7 @@ def test_saturation(self, car_name):
     VM = VehicleModel(CP)
 
     controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI)
+    torque_params = CP.lateralTuning.torque
 
     CS = car.CarState.new_message()
     CS.vEgo = 30
@@ -77,17 +79,23 @@ def test_saturation(self, car_name):
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
       controller.extension.update_lateral_lag(test_lag)
+      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.extension.update_limits()
       _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
     assert lac_log.saturated
 
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
       controller.extension.update_lateral_lag(test_lag)
+      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.extension.update_limits()
       _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False)
     assert not lac_log.saturated
 
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
       controller.extension.update_lateral_lag(test_lag)
+      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.extension.update_limits()
       _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False)
     assert lac_log.saturated

From 205863b71f238e32a6ea8e0197b0d155deee5e98 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 30 Aug 2025 07:26:31 +0200
Subject: [PATCH 0388/1434] ci: add deploy strategy extraction and refactor
 publish dependencies (#1118)

* ci: add deploy strategy extraction and refactor publish dependencies

- Introduced `prepare_strategy` step to dynamically extract deployment configurations.
- Adjusted `publish` job to depend on `prepare_strategy` and use its outputs.

* what happens if I do this...

* cleaning

* other test

* ci: update auto_deploy logic in build configuration

* cleaning
---
 .../workflows/sunnypilot-build-prebuilt.yaml  | 117 ++++++++----------
 1 file changed, 52 insertions(+), 65 deletions(-)

diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 4f52e7fa29b249..60ca05f070f6ce 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -9,12 +9,6 @@ env:
   
   # Branch configurations
   STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master' }} # vars are set on repo settings.
-  DEV_C3_SOURCE_BRANCH: ${{ vars.DEV_C3_SOURCE_BRANCH || 'master-dev-c3-new' }} # vars are set on repo settings.
-  
-  # Target branch configurations
-  STAGING_TARGET_BRANCH: ${{ vars.STAGING_TARGET_BRANCH || 'staging-c3-new' }} # vars are set on repo settings.
-  DEV_TARGET_BRANCH: ${{ vars.DEV_TARGET_BRANCH || 'dev-c3-new' }} # vars are set on repo settings.
-  RELEASE_TARGET_BRANCH: ${{ vars.RELEASE_TARGET_BRANCH || 'release-c3-new' }} # vars are set on repo settings.
   
   # Runtime configuration
   SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
@@ -46,16 +40,16 @@ jobs:
           github-token: ${{ secrets.GITHUB_TOKEN }}
 
   build:
-    needs: [ validate_tests ]
+    needs: [ validate_tests, prepare_strategy ]
     concurrency:
       group: build-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: false
     runs-on: [self-hosted, tici]
     outputs:
-      new_branch: ${{ steps.set-env.outputs.new_branch }}
-      version: ${{ steps.set-env.outputs.version }}
-      extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
-      commit_sha: ${{ steps.set-env.outputs.commit_sha }}
+      new_branch: ${{ needs.prepare_strategy.outputs.new_branch }}
+      version: ${{ needs.prepare_strategy.outputs.version }}
+      extra_version_identifier: ${{ needs.prepare_strategy.outputs.extra_version_identifier }}
+      commit_sha: ${{ github.sha }}
     if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
     steps:
       - uses: actions/checkout@v4
@@ -77,61 +71,12 @@ jobs:
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
 
-      - name: Set Feature Branch Prebuilt Configuration
-        id: set_feature_configuration
-        if: (
-          !(env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH) &&
-          !(env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH) &&
-          !(startsWith(github.ref, 'refs/tags/'))
-          )
-        run: |
-          echo "NEW_BRANCH=${{ env.SOURCE_BRANCH }}${{ github.event.pull_request.head.repo.fork && '-fork' || '' }}-prebuilt" >> $GITHUB_ENV
-          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-
-      - name: Set dev-c3-new prebuilt Configuration
-        id: set_dev_configuration
-        if: (
-          steps.set_feature_configuration.outcome == 'skipped' &&
-          env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH
-          )
-        run: |
-          echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
-
-      - name: Set staging-c3-new prebuilt Configuration
-        id: set_staging_configuration
-        if: (
-          steps.set_feature_configuration.outcome == 'skipped' &&
-          !contains(github.event_name, 'pull_request') &&
-          steps.set_dev_configuration.outcome == 'skipped' &&
-          (env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH)
-          )
-        run: |
-          echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
-          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
-
-      - name: Set release-c3-new prebuilt Configuration
-        id: set_tag_configuration
-        if: (
-          steps.set_feature_configuration.outcome == 'skipped' &&
-          !contains(github.event_name, 'pull_request') &&
-          steps.set_staging_configuration.outcome == 'skipped' &&
-          startsWith(github.ref, 'refs/tags/')
-          )
-        run: |
-          echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
-          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
-
       - name: Set environment variables
         id: set-env
         run: |
-          # Write to GITHUB_OUTPUT from environment variables
-          echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
-          [[ ! -z "$EXTRA_VERSION_IDENTIFIER" ]] && echo "extra_version_identifier=$EXTRA_VERSION_IDENTIFIER" >> $GITHUB_OUTPUT
-          [[ ! -z "$VERSION" ]] && echo "version=$VERSION" >> $GITHUB_OUTPUT
+          echo "new_branch=${{ needs.prepare_strategy.outputs.new_branch }}" >> $GITHUB_OUTPUT
+          echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
+          echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
           echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
           
           # Set up common environment
@@ -226,15 +171,57 @@ jobs:
         if: always()
         run: |
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
+          
+  prepare_strategy:
+    runs-on: ubuntu-24.04
+    outputs:
+      prebuilt: ${{ steps.strategy.outputs.prebuilt }}
+      environment: ${{ steps.strategy.outputs.environment }}
+      new_branch: ${{ steps.strategy.outputs.new_branch }}
+      extra_version_identifier: ${{ steps.strategy.outputs.extra_version_identifier }}
+      version: ${{ steps.strategy.outputs.version }}
+    steps:
+      - name: Extract deploy strategy
+        id: strategy
+        run: |
+          echo '::group::Strategy Extraction'
+          BRANCH="${{ github.head_ref || github.ref_name }}"
+          echo "Current branch: $BRANCH"
 
+          STRATEGY_JSON='${{ vars.DEPLOY_STRATEGY }}'
+          CONFIG=$(echo "$STRATEGY_JSON" | jq -r --arg branch "$BRANCH" '
+            .configs[] | select(.branch == $branch)
+          ')
+          
+          if [[ -z "$CONFIG" || "$CONFIG" == "null" ]]; then
+            echo "No exact strategy match found. Falling back to feature/fork logic."
+            IS_FORK="${{ github.event.pull_request.head.repo.fork && 'true' || 'false' }}"
+            FORK_SUFFIX=$( [[ "$IS_FORK" == "true" ]] && echo "-fork" || echo "" )
+            NEW_BRANCH="${BRANCH}${FORK_SUFFIX}-prebuilt"
+            VERSION="$(date '+%Y.%m.%d')-${{ github.run_number }}"
+  
+            echo "prebuilt=true" >> $GITHUB_OUTPUT
+            echo "environment=${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}" >> $GITHUB_OUTPUT
+            echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
+            echo "version=$VERSION" >> $GITHUB_OUTPUT
+          else
+          echo "Matched config: $CONFIG"
+            echo "prebuilt=$(echo "$CONFIG" | jq -r '.prebuilt')" >> $GITHUB_OUTPUT
+            echo "environment=$(echo "$CONFIG" | jq -r '.environment')" >> $GITHUB_OUTPUT
+            echo "new_branch=$(echo "$CONFIG" | jq -r '.target_branch')" >> $GITHUB_OUTPUT
+            echo "version=$(echo "$CONFIG" | jq -r '.version_prefix // ""')$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_OUTPUT
+            echo "extra_version_identifier=$(echo "$CONFIG" | jq -r '.extra_version_identifier // ""')" >> $GITHUB_OUTPUT
+          fi
+  
+  
   publish:
     concurrency:
       group: publish-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: true
     if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    needs: [ build ]
+    needs: [ build, prepare_strategy ]
     runs-on: ubuntu-24.04
-    environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}
+    environment: ${{ needs.prepare_strategy.outputs.environment }}
     steps:
       - uses: actions/checkout@v4
 

From 62bf9fcc274f40b3ef840101750cdadb87ffdc15 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 30 Aug 2025 11:52:57 +0200
Subject: [PATCH 0389/1434] ci: tweaking the deploy with delay process + fixing
 bugs (#1189)

* ci: disable cancel-in-progress for publish concurrency

* check using var

* typo

* ci: update publish concurrency settings to use dynamic cancel-in-progress flag

* typoooo

* ci: update cancel-in-progress condition for publish concurrency

* ci: enhance publish concurrency handling to queue jobs based on commit SHA

* typos and new commit hash to test cancel in progress

* see if this helps?

* tired of waiting

* ci: add publish concurrency group to deployment configuration

* ci: update publish concurrency handling to improve job queuing and cancellation logic

* ci: output GITHUB_OUTPUT contents for better debugging of publish concurrency

* ci: remove prebuilt output from strategy and streamline GITHUB_OUTPUT handling

* ci: refine publish concurrency handling for flexible job cancellation

- Default `cancel_publish_in_progress` to `true` if undefined in config.
- Adjust concurrency group logic to handle null and true conditions properly.

* another ocmmit shouldnt cancel publish

* ci: enhance job cancellation logic for publish concurrency handling

* ci: add prepare_strategy job for dynamic deploy strategy extraction

* ci: ensure job execution always proceeds on success and skips failure

* ci: improve job execution conditions to handle cancellation and failure states

* ci: enhance versioning logic to support stable and unstable branch differentiation

* ci: add checkout step to ensure code is available for deploy strategy extraction

* ci: add extra version identifier for stable branch environments

* ci: update extra version identifier format for stable branches

* Grammar, oh, grammar.

* test this
---
 .../workflows/sunnypilot-build-prebuilt.yaml  | 115 +++++++++++-------
 1 file changed, 69 insertions(+), 46 deletions(-)

diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 60ca05f070f6ce..344a49e93ae9a4 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -28,6 +28,61 @@ on:
         default: false
 
 jobs:
+  prepare_strategy:
+    runs-on: ubuntu-24.04
+    if: (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    outputs:
+      environment: ${{ steps.strategy.outputs.environment }}
+      new_branch: ${{ steps.strategy.outputs.new_branch }}
+      extra_version_identifier: ${{ steps.strategy.outputs.extra_version_identifier }}
+      version: ${{ steps.strategy.outputs.version }}
+      cancel_publish_in_progress: ${{ steps.strategy.outputs.cancel_publish_in_progress }}
+      publish_concurrency_group: ${{ steps.strategy.outputs.publish_concurrency_group }}
+    steps:
+      - uses: actions/checkout@v4
+      - name: Extract deploy strategy
+        id: strategy
+        run: |
+          echo '::group::Strategy Extraction'
+          BRANCH="${{ github.head_ref || github.ref_name }}"
+          echo "Current branch: $BRANCH"
+
+          STRATEGY_JSON='${{ vars.DEPLOY_STRATEGY }}'
+          CONFIG=$(echo "$STRATEGY_JSON" | jq -r --arg branch "$BRANCH" '
+            .configs[] | select(.branch == $branch)
+          ')
+
+          if [[ -z "$CONFIG" || "$CONFIG" == "null" ]]; then
+            echo "No exact strategy match found. Falling back to feature/fork logic."
+            IS_FORK="${{ github.event.pull_request.head.repo.fork && 'true' || 'false' }}"
+            FORK_SUFFIX=$( [[ "$IS_FORK" == "true" ]] && echo "-fork" || echo "" )
+            NEW_BRANCH="${BRANCH}${FORK_SUFFIX}-prebuilt"
+            VERSION="$(date '+%Y.%m.%d')-${{ github.run_number }}"
+
+            echo "environment=${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}" >> $GITHUB_OUTPUT
+            echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
+            echo "version=$VERSION" >> $GITHUB_OUTPUT
+            echo "cancel_publish_in_progress=true" >> $GITHUB_OUTPUT
+            echo "publish_concurrency_group=publish-${BRANCH}" >> $GITHUB_OUTPUT
+          else
+          echo "Matched config: $CONFIG"
+            environment=$(echo "$CONFIG" | jq -r '.environment')
+            echo "environment=$environment" >> $GITHUB_OUTPUT
+            echo "new_branch=$(echo "$CONFIG" | jq -r '.target_branch')" >> $GITHUB_OUTPUT
+            cancel="$(echo "$CONFIG" | jq -r '.cancel_publish_in_progress')";
+            echo "cancel_publish_in_progress=$( [ "$cancel" = "null" ] && echo "true" || echo $cancel)" >> $GITHUB_OUTPUT
+            echo "publish_concurrency_group=publish-${BRANCH}$( [ "$cancel" = "null" ] || [ "$cancel" = "true" ] || echo "${{ github.sha }}" )" >> $GITHUB_OUTPUT
+          
+            stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
+            stable_version=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g');
+            unstable_version=$(date '+%Y.%m.%d')-${{ github.run_number }};
+            echo "version=$([ "$stable_branch" = "true" ] && echo "$stable_version" || echo "$unstable_version")" >> $GITHUB_OUTPUT
+            
+            extra_version_identifier=$( [ "$stable_branch" = "true" ] && echo "-${environment}" || echo "" );
+            echo "extra_version_identifier=$extra_version_identifier" >> $GITHUB_OUTPUT
+          fi
+          cat $GITHUB_OUTPUT
+  
   validate_tests:
     runs-on: ubuntu-24.04
     if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
@@ -50,7 +105,13 @@ jobs:
       version: ${{ needs.prepare_strategy.outputs.version }}
       extra_version_identifier: ${{ needs.prepare_strategy.outputs.extra_version_identifier }}
       commit_sha: ${{ github.sha }}
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    if: ${{
+      (always() && !cancelled() && !failure()) &&
+      needs.prepare_strategy.result == 'success' &&
+      (needs.validate_tests.result == 'success' || needs.validate_tests.result == 'skipped') &&
+      (!contains(github.event_name, 'pull_request') ||
+      (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) 
+      }}
     steps:
       - uses: actions/checkout@v4
         with:
@@ -171,54 +232,16 @@ jobs:
         if: always()
         run: |
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
-          
-  prepare_strategy:
-    runs-on: ubuntu-24.04
-    outputs:
-      prebuilt: ${{ steps.strategy.outputs.prebuilt }}
-      environment: ${{ steps.strategy.outputs.environment }}
-      new_branch: ${{ steps.strategy.outputs.new_branch }}
-      extra_version_identifier: ${{ steps.strategy.outputs.extra_version_identifier }}
-      version: ${{ steps.strategy.outputs.version }}
-    steps:
-      - name: Extract deploy strategy
-        id: strategy
-        run: |
-          echo '::group::Strategy Extraction'
-          BRANCH="${{ github.head_ref || github.ref_name }}"
-          echo "Current branch: $BRANCH"
-
-          STRATEGY_JSON='${{ vars.DEPLOY_STRATEGY }}'
-          CONFIG=$(echo "$STRATEGY_JSON" | jq -r --arg branch "$BRANCH" '
-            .configs[] | select(.branch == $branch)
-          ')
-          
-          if [[ -z "$CONFIG" || "$CONFIG" == "null" ]]; then
-            echo "No exact strategy match found. Falling back to feature/fork logic."
-            IS_FORK="${{ github.event.pull_request.head.repo.fork && 'true' || 'false' }}"
-            FORK_SUFFIX=$( [[ "$IS_FORK" == "true" ]] && echo "-fork" || echo "" )
-            NEW_BRANCH="${BRANCH}${FORK_SUFFIX}-prebuilt"
-            VERSION="$(date '+%Y.%m.%d')-${{ github.run_number }}"
-  
-            echo "prebuilt=true" >> $GITHUB_OUTPUT
-            echo "environment=${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}" >> $GITHUB_OUTPUT
-            echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
-            echo "version=$VERSION" >> $GITHUB_OUTPUT
-          else
-          echo "Matched config: $CONFIG"
-            echo "prebuilt=$(echo "$CONFIG" | jq -r '.prebuilt')" >> $GITHUB_OUTPUT
-            echo "environment=$(echo "$CONFIG" | jq -r '.environment')" >> $GITHUB_OUTPUT
-            echo "new_branch=$(echo "$CONFIG" | jq -r '.target_branch')" >> $GITHUB_OUTPUT
-            echo "version=$(echo "$CONFIG" | jq -r '.version_prefix // ""')$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_OUTPUT
-            echo "extra_version_identifier=$(echo "$CONFIG" | jq -r '.extra_version_identifier // ""')" >> $GITHUB_OUTPUT
-          fi
   
   
   publish:
     concurrency:
-      group: publish-${{ github.head_ref || github.ref_name }}
-      cancel-in-progress: true
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+      # We do a bit of a hack here to avoid canceling the publishing job if a new commit comes in while we're publishing by adding the sha to the group name.
+      # This means that if multiple commits come in while we're publishing, they will be queued up and publish one after the other.
+      # Otherwise, if a job is waiting to be published due to environment wait time, it would be canceled by a new commit and restart the wait time.
+      group: ${{ needs.prepare_strategy.outputs.publish_concurrency_group }}
+      cancel-in-progress: ${{ needs.prepare_strategy.outputs.cancel_publish_in_progress == 'true' }}
+    if: ${{ (always() && !cancelled() && !failure()) && needs.build.result == 'success' && needs.prepare_strategy.result == 'success' && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
     needs: [ build, prepare_strategy ]
     runs-on: ubuntu-24.04
     environment: ${{ needs.prepare_strategy.outputs.environment }}
@@ -265,7 +288,7 @@ jobs:
   notify:
     needs: [ build, publish ]
     runs-on: ubuntu-24.04
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    if: ${{ (always() && !cancelled() && !failure()) && needs.publish.result == 'success' && !failure() && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
     steps:
       - uses: actions/checkout@v4
       - name: Setup Alpine Linux environment

From 5d110bcee56eb655db8a7bccd0c181b1396bc7c7 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 30 Aug 2025 14:35:05 +0200
Subject: [PATCH 0390/1434] ci: prebuilt process improvement & tag of staging
 prebuilt source (#1190)

* ci: add validate-test-on-staging-c3 branch to deployment triggers and enhance stable branch handling

* fix long overdue mistake lol

* ci: add condition to wait for start on push events in build workflow

* Fix extra version identifier

* no need for this, i validated what I needed

* only care for release tags, not any

* fix: update versioning logic to use build date and run number for tagging

* fix: update tagging logic and enhance commit message format in build scripts

* fix: refine tagging condition to exclude tag pushes for stable branches

* fix: add extra version identifier to output for better version tracking

* trying to keep things clean and simple

* bugfix
---
 .../workflows/sunnypilot-build-prebuilt.yaml  | 40 +++++++++++++------
 release/ci/publish.sh                         | 23 ++++-------
 2 files changed, 36 insertions(+), 27 deletions(-)

diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 344a49e93ae9a4..d654f5ab46f0e7 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -16,7 +16,7 @@ env:
 on:
   push:
     branches: [ master, master-dev-c3-new ]
-    tags: [ '*' ]
+    tags: [ 'release/*' ]
   pull_request_target:
     types: [ labeled ]
   workflow_dispatch:
@@ -38,6 +38,8 @@ jobs:
       version: ${{ steps.strategy.outputs.version }}
       cancel_publish_in_progress: ${{ steps.strategy.outputs.cancel_publish_in_progress }}
       publish_concurrency_group: ${{ steps.strategy.outputs.publish_concurrency_group }}
+      is_stable_branch: ${{ steps.strategy.outputs.is_stable_branch }}
+      build: ${{ steps.strategy.outputs.build }}
     steps:
       - uses: actions/checkout@v4
       - name: Extract deploy strategy
@@ -52,18 +54,19 @@ jobs:
             .configs[] | select(.branch == $branch)
           ')
 
+          BUILD="$(date '+%Y.%m.%d')-${{ github.run_number }}"
           if [[ -z "$CONFIG" || "$CONFIG" == "null" ]]; then
             echo "No exact strategy match found. Falling back to feature/fork logic."
             IS_FORK="${{ github.event.pull_request.head.repo.fork && 'true' || 'false' }}"
             FORK_SUFFIX=$( [[ "$IS_FORK" == "true" ]] && echo "-fork" || echo "" )
             NEW_BRANCH="${BRANCH}${FORK_SUFFIX}-prebuilt"
-            VERSION="$(date '+%Y.%m.%d')-${{ github.run_number }}"
 
-            echo "environment=${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}" >> $GITHUB_OUTPUT
             echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
-            echo "version=$VERSION" >> $GITHUB_OUTPUT
+            echo "version=$BUILD" >> $GITHUB_OUTPUT
             echo "cancel_publish_in_progress=true" >> $GITHUB_OUTPUT
             echo "publish_concurrency_group=publish-${BRANCH}" >> $GITHUB_OUTPUT
+            echo "environment=feature-branch" >> $GITHUB_OUTPUT
+            echo "extra_version_identifier=feature-branch" >> $GITHUB_OUTPUT
           else
           echo "Matched config: $CONFIG"
             environment=$(echo "$CONFIG" | jq -r '.environment')
@@ -73,19 +76,24 @@ jobs:
             echo "cancel_publish_in_progress=$( [ "$cancel" = "null" ] && echo "true" || echo $cancel)" >> $GITHUB_OUTPUT
             echo "publish_concurrency_group=publish-${BRANCH}$( [ "$cancel" = "null" ] || [ "$cancel" = "true" ] || echo "${{ github.sha }}" )" >> $GITHUB_OUTPUT
           
-            stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
+            is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
+            echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
+
             stable_version=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g');
-            unstable_version=$(date '+%Y.%m.%d')-${{ github.run_number }};
-            echo "version=$([ "$stable_branch" = "true" ] && echo "$stable_version" || echo "$unstable_version")" >> $GITHUB_OUTPUT
-            
-            extra_version_identifier=$( [ "$stable_branch" = "true" ] && echo "-${environment}" || echo "" );
-            echo "extra_version_identifier=$extra_version_identifier" >> $GITHUB_OUTPUT
+            echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
+            echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
           fi
+          echo "build=$BUILD" >> $GITHUB_OUTPUT
           cat $GITHUB_OUTPUT
   
   validate_tests:
     runs-on: ubuntu-24.04
-    if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    needs: [ prepare_strategy ]
+    if: ${{
+      ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) ||
+      (github.event_name == 'push' && needs.prepare_strategy.outputs.is_stable_branch == 'true') ||
+      contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+      }}
     steps:
       - uses: actions/checkout@v4
       - name: Wait for Tests
@@ -93,6 +101,7 @@ jobs:
         with:
           workflow: selfdrive_tests.yaml # The workflow file to monitor
           github-token: ${{ secrets.GITHUB_TOKEN }}
+          should-wait-for-start: ${{ github.event_name == 'push' && 'true' || 'false' }}
 
   build:
     needs: [ validate_tests, prepare_strategy ]
@@ -276,7 +285,7 @@ jobs:
             "${{ needs.build.outputs.new_branch }}" \
             "${{ needs.build.outputs.version }}" \
             "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
-            "-${{ needs.build.outputs.extra_version_identifier }}"
+            "${{ needs.build.outputs.extra_version_identifier }}"
 
           echo ""
           echo "----   ℹ� To update the list of branches that auto deploy prebuilts  -----"
@@ -284,6 +293,13 @@ jobs:
           echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
           echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
           echo "3. Update as needed (JSON array with no spaces)"
+      
+      - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
+        if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
+        run: |
+            TAG="${{ needs.prepare_strategy.outputs.environment }}/${{ needs.prepare_strategy.outputs.version }}/${{ needs.prepare_strategy.outputs.build }}"
+            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.build.outputs.build }}."
+            git push -f origin ${TAG}
 
   notify:
     needs: [ build, publish ]
diff --git a/release/ci/publish.sh b/release/ci/publish.sh
index d723782934ca88..4aecbacc4adbe0 100755
--- a/release/ci/publish.sh
+++ b/release/ci/publish.sh
@@ -51,26 +51,19 @@ git fetch origin $DEV_BRANCH || (git checkout -b $DEV_BRANCH && git commit --all
 
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
-git commit -a -m "sunnypilot v$VERSION release"
-git branch --set-upstream-to=origin/$DEV_BRANCH
 
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-SP_VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
+SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/common/version.h)
 
-# Add built files to git
-git add -f .
-if [ "$EXTRA_VERSION_IDENTIFIER" = "-release" ] || [ "$EXTRA_VERSION_IDENTIFIER" = "-staging" ]; then
-  export VERSION=${VERSION%"$EXTRA_VERSION_IDENTIFIER"}
-  git commit --amend -m "sunnypilot v$VERSION"
-else
-  git commit --amend -m "sunnypilot v$VERSION
-  version: sunnypilot v$SP_VERSION release
-  date: $DATETIME
-  master commit: $GIT_HASH
-  "
-fi
+# Commit with detailed message
+git commit -a -m "sunnypilot v$VERSION
+version: sunnypilot v$SP_VERSION (${EXTRA_VERSION_IDENTIFIER})
+date: $DATETIME
+master commit: $GIT_HASH
+"
+git branch --set-upstream-to=origin/$DEV_BRANCH
 git branch -m $DEV_BRANCH
 
 # Push!

From 3f3c29355993be02ab081efaacf3d5b802bff58a Mon Sep 17 00:00:00 2001
From: Michael <mbradford909@gmail.com>
Date: Sat, 30 Aug 2025 22:35:14 -0700
Subject: [PATCH 0391/1434] reeadme: Reorder tables to show -new branches first
 (#1191)

* Update to Readme.MD install instructions

This commit changes a few things in the installation guide. I moved the the tables that have the branches and install URLs. I also added a TIP that let's users know that they can install with sunnypilot/staging-c3-new.

* Update README.md with proposed changes from DevTek

Added header text over the legacy branches to bring in separation and let users know they are not recommended.

* bit of change

* Reorganizing a bit more

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 README.md | 47 ++++++++++++++++++++++++++++++-----------------
 1 file changed, 30 insertions(+), 17 deletions(-)

diff --git a/README.md b/README.md
index 805c4b73d8eb86..7e686cef5c2095 100644
--- a/README.md
+++ b/README.md
@@ -22,34 +22,24 @@ https://docs.sunnypilot.ai/ is your one stop shop for everything from features t
 Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
 
 ## Installation
-Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `release-c3` branch.
+Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-c3-new` branch.
+
+### If you want to use our newest branches (our rewrite)
+> [!TIP]
+>You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
 
 * sunnypilot not installed or you installed a version before 0.8.17?
   1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
   2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```release-c3.sunnypilot.ai```.
+  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-c3-new.sunnypilot.ai```.
   4. Complete the rest of the installation following the onscreen instructions.
 
 * sunnypilot already installed and you installed a version after 0.8.17?
   1. On the comma three, go to `Settings` ▶� `Software`.
   2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
   3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `release-c3`
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-c3-new`
 
-|    Branch    |         Installation URL         |
-|:------------:|:--------------------------------:|
-| `release-c3` | https://release-c3.sunnypilot.ai |
-| `staging-c3` | https://staging-c3.sunnypilot.ai |
-|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
-
-### If you want to use our newest branches (our rewrite)
-> [!TIP]
->You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
-
-
-> [!IMPORTANT]
-> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
-> You can still restore the latest sunnylink backup made on the old branches.
 
 |      Branch      |                 Installation URL              |
 |:----------------:|:---------------------------------------------:|
@@ -59,8 +49,31 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 | `release-c3-new` |            **Not yet available**.             |
 
 > [!TIP]
+> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-c3-new'.
+
+> [!NOTE]
 > Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
 
+
+<details>
+
+<summary>Older legacy branches</summary>
+
+### If you want to use our older legacy branches (*not recommended*)
+
+> [**IMPORTANT**]
+> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
+> You can still restore the latest sunnylink backup made on the old branches.
+
+|    Branch    |         Installation URL         |
+|:------------:|:--------------------------------:|
+| `release-c3` | https://release-c3.sunnypilot.ai |
+| `staging-c3` | https://staging-c3.sunnypilot.ai |
+|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
+
+</details>
+
+
 ## 🎆 Pull Requests
 We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
 

From 45ee58b1f6bc1ca2462924e9aadf120a9d6edad1 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sun, 31 Aug 2025 02:27:08 -0400
Subject: [PATCH 0392/1434] =?UTF-8?q?ui:=20Favorite=20Models=20=E2=AD=90?=
 =?UTF-8?q?=20(#1168)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* init model favorites

* fix fav buttons

* fix blank favs

* switch to ref

* new favs at top

* remove debug prints & add some comments

* button style

* fix current selection

* !@%#$%(@^%$#(@!%#^

* add last update date to folders
---
 common/params_keys.h                          |   1 +
 selfdrive/ui/qt/widgets/input.cc              | 171 ++++++++++++++++--
 selfdrive/ui/qt/widgets/input.h               |  26 ++-
 .../qt/offroad/settings/models_panel.cc       |  62 ++++---
 .../qt/offroad/settings/models_panel.h        |   1 +
 sunnypilot/models/fetcher.py                  |   1 +
 .../selfdrive/assets/icons/star-empty.png     |   3 +
 .../selfdrive/assets/icons/star-filled.png    |   3 +
 8 files changed, 224 insertions(+), 44 deletions(-)
 create mode 100644 sunnypilot/selfdrive/assets/icons/star-empty.png
 create mode 100644 sunnypilot/selfdrive/assets/icons/star-filled.png

diff --git a/common/params_keys.h b/common/params_keys.h
index 01f6f046802225..4a78575de60b5b 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -167,6 +167,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
     {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
     {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT, "0"}},
+    {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
     {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
     {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
 
diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc
index 4f330dca8d9f1e..efd330587aa3e9 100644
--- a/selfdrive/ui/qt/widgets/input.cc
+++ b/selfdrive/ui/qt/widgets/input.cc
@@ -336,8 +336,8 @@ QString MultiOptionDialog::getSelection(const QString &prompt_text, const QStrin
   return "";
 }
 
-TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items,
-                                   const QString &current, QWidget *parent) : DialogBase(parent) {
+TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<TreeFolder> &items,
+                                   const QString &current, const QString &favParam, QWidget *parent) : DialogBase(parent) {
   QFrame *container = new QFrame(this);
   container->setStyleSheet(R"(
     QFrame { background-color: #1B1B1B; }
@@ -375,6 +375,9 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair
   main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
   main_layout->addSpacing(25);
 
+  iconBlank = QIcon("../../sunnypilot/selfdrive/assets/icons/star-empty.png");
+  iconFilled = QIcon ("../../sunnypilot/selfdrive/assets/icons/star-filled.png");
+
   treeWidget = new QTreeWidget(this);
   treeWidget->setHeaderHidden(true);
   treeWidget->setIndentation(50);
@@ -396,34 +399,49 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair
 
   QScroller::grabGesture(treeWidget->viewport(), QScroller::LeftMouseButtonGesture);
 
+  // Create initial list of favorites from param
+  const QString favs = QString::fromStdString(params.get(favParam.toStdString()));
+  mapFavs = new QMap<QString, QList<QPushButton*>>();
+  favRefs = new QStringList(favs.split(";"));
+  for (const QString &item : *favRefs)
+  {
+    mapFavs->insert( item, {});
+  }
+
   // Populate tree
-  QListIterator<QPair<QString, QStringList>> iter(items);
+  QListIterator<TreeFolder> iter(items);
   while (iter.hasNext()) {
-    QPair currItem = iter.next();
-    if (currItem.first.isEmpty()) {
-      for (const QString &item : currItem.second) {
+    TreeFolder currItem = iter.next();
+    QString prevFolder;
+    QString currentFolder;
+    if (currItem.folder.isEmpty()) {
+      for (const TreeNode &item : currItem.items) {
         QTreeWidgetItem *topLevel = new QTreeWidgetItem();
-        topLevel->setText(0, item);
+        topLevel->setText(0, item.displayName);
+        topLevel->setData(0, Qt::UserRole, item.ref);
         topLevel->setFlags(topLevel->flags() | Qt::ItemIsSelectable);
         treeWidget->addTopLevelItem(topLevel);
-        if (item == current) {
+        if (item.ref == current) {
           topLevel->setSelected(true);
         }
       }
     } else {
-      QTreeWidgetItem *folderItem = new QTreeWidgetItem(treeWidget);
+      QList<QTreeWidgetItem*> folders = treeWidget->findItems(currItem.folder, Qt::MatchExactly, 0);
+      QTreeWidgetItem *folderItem = nullptr;
+      if (folders.isEmpty()) {
+        folderItem = new QTreeWidgetItem(treeWidget);
+      } else {
+        folderItem = folders.first();
+      }
       folderItem->setIcon(0, QIcon(QPixmap("../assets/icons/menu.png")));
-      folderItem->setText(0, "  " + currItem.first);
+      folderItem->setText(0, "  " + currItem.folder);
       folderItem->setFlags(folderItem->flags() | Qt::ItemIsAutoTristate);
       folderItem->setFlags(folderItem->flags() & ~Qt::ItemIsSelectable);
 
-      for (const QString &item : currItem.second)
+      for (const TreeNode item : currItem.items)
       {
-        QTreeWidgetItem *childItem = new QTreeWidgetItem(folderItem);
-        childItem->setText(0, item);
-        childItem->setFlags(childItem->flags() | Qt::ItemIsSelectable);
-
-        if (item == current) {
+        QTreeWidgetItem *childItem = addChildItem(item.displayName, item.ref, folderItem);
+        if (item.ref == current) {
           childItem->setSelected(true);
           folderItem->setExpanded(true);
         }
@@ -431,6 +449,39 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair
     }
   }
 
+  // Create favorites folder
+  favorites = new QTreeWidgetItem();
+  favorites->setIcon(0, QIcon(QPixmap("../assets/icons/menu.png")));
+  favorites->setText(0, "  " + tr("Favorites"));
+  favorites->setFlags(favorites->flags() | Qt::ItemIsAutoTristate);
+  favorites->setFlags(favorites->flags() & ~Qt::ItemIsSelectable);
+  treeWidget->insertTopLevelItem(1, favorites);
+
+  // Create favorite nodes
+  for (int i = favRefs->size() - 1; i >= 0; --i) {
+    QString item = favRefs->at(i);
+    if (item.isEmpty()) continue;
+
+    QTreeWidgetItemIterator treeIt(treeWidget);
+    QTreeWidgetItem *nodeItem = nullptr;
+    while (*treeIt) {
+      if (item == (*treeIt)->data(0, Qt::UserRole).toString()) {
+        nodeItem = (*treeIt);
+        break;
+      }
+      ++treeIt;
+    }
+    if (nodeItem == nullptr) continue;
+
+    QTreeWidgetItem *childItem = addChildItem(nodeItem->text(0),
+      nodeItem->data(0, Qt::UserRole).toString(), favorites);
+    if (item == current) {
+      treeWidget->collapseAll();
+      childItem->setSelected(true);
+      favorites->setExpanded(true);
+    }
+  }
+
   confirm_btn = new QPushButton(tr("Select"));
   confirm_btn->setObjectName("confirm_btn");
   confirm_btn->setEnabled(false);
@@ -438,7 +489,7 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair
   QObject::connect(treeWidget, &QTreeWidget::itemSelectionChanged, [=]() {
     QList<QTreeWidgetItem*> selectedItems = treeWidget->selectedItems();
     if (!selectedItems.isEmpty()) {
-      selection = selectedItems.first()->text(0);
+      selection = selectedItems.first()->data(0, Qt::UserRole).toString();
       confirm_btn->setEnabled(selection != current);
     }
   });
@@ -465,11 +516,91 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair
   outer_layout->addWidget(container);
 }
 
-QString TreeOptionDialog::getSelection(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items,
-                                     const QString &current, QWidget *parent) {
-  TreeOptionDialog d(prompt_text, items, current, parent);
+QString TreeOptionDialog::getSelection(const QString &prompt_text, const QList<TreeFolder> &items,
+                                     const QString &current, const QString &favParam, QWidget *parent) {
+  TreeOptionDialog d(prompt_text, items, current, favParam, parent);
   if (d.exec()) {
     return d.selection;
   }
   return "";
 }
+
+/**
+ * Handles the addition or removal of items from the "favorites" list based on the provided reference identifier.
+ *
+ * @param displayName The text label associated with the item to be added or removed in the favorites.
+ * @param ref A unique reference key identifying the item.
+ * @param btn A pointer to the QPushButton associated with the item. The button's icon is updated to indicate
+ *            whether the item is currently favorited or not.
+ *
+ * If the item is already in the favorites, it is removed from the list, its associated buttons have their
+ * icons reset, and the favorites tree is updated accordingly. If the item is not in the favorites, it is
+ * added to the list, a new associated button is created, and the favorites tree is updated. The current
+ * state of the favorites is stored in the Params object as a semicolon-separated string.
+ */
+void TreeOptionDialog::handleFavorites(const QString &displayName, const QString &ref, QPushButton *btn) {
+  if (mapFavs->keys().contains(ref)) { // Remove from favorites
+    for (auto *itemBtn:mapFavs->value(ref))
+    {
+      itemBtn->setIcon(iconBlank);
+    }
+    mapFavs->remove(ref);
+    favRefs->removeAll(ref);
+    for (int i = 0; i < favorites->childCount(); ++i) {
+      QTreeWidgetItem* child = favorites->child(i);
+      if (child && child->data(0, Qt::UserRole).toString() == ref) {
+        favorites->removeChild(child);
+      }
+    }
+  } else { // Add to favorites
+    QPushButton *favBtn = new QPushButton();
+    btn->setIcon(iconFilled);
+    mapFavs->insert(ref, {btn, favBtn});
+    favRefs->append(ref);
+    addChildItem(displayName, ref, favorites, favBtn, true);
+  }
+
+  const QString favs =favRefs->join(";");
+  params.put("ModelManager_Favs", favs.toStdString());
+}
+
+/**
+ * Adds a child item to a given folder item within the QTreeWidget.
+ *
+ * @param displayName The text to display for the child item.
+ * @param ref A reference string that uniquely identifies the child item.
+ * @param folderItem The parent folder item to which the child item will be added.
+ * @param btn A pointer to a QPushButton associated with the child item. If nullptr, a new button will be created.
+ * @param addAtTop If true, the child item is added as the first child of the folder item; otherwise, it is appended to the end.
+ * @return A pointer to the created QTreeWidgetItem representing the child item.
+ */
+QTreeWidgetItem* TreeOptionDialog::addChildItem(const QString &displayName, const QString &ref, QTreeWidgetItem *folderItem, QPushButton *btn, bool addAtTop) {
+  QTreeWidgetItem *childItem = new QTreeWidgetItem();
+  if (btn == nullptr) {
+    btn = new QPushButton();
+  }
+  if (mapFavs->keys().contains(ref)) {
+    btn->setIcon(iconFilled);
+    (*mapFavs)[ref].append(btn);
+  } else {
+    btn->setIcon(iconBlank);
+  }
+  btn->setIconSize(QSize(100, 100));
+  QWidget *buttonContainer = new QWidget();
+  QHBoxLayout *layout = new QHBoxLayout(buttonContainer);
+  layout->addWidget(btn, 0, Qt::AlignRight);
+  childItem->setText(0, displayName);
+  childItem->setData(0, Qt::UserRole, ref);
+  childItem->setFlags(childItem->flags() | Qt::ItemIsSelectable);
+  if (addAtTop) {
+    folderItem->insertChild(0, childItem);
+  } else {
+    folderItem->addChild(childItem);
+  }
+  treeWidget->setItemWidget(childItem, 0, buttonContainer);
+
+  connect(btn, &QPushButton::clicked, btn, [=]() {
+    handleFavorites(displayName, ref, btn);
+  });
+  return childItem;
+}
diff --git a/selfdrive/ui/qt/widgets/input.h b/selfdrive/ui/qt/widgets/input.h
index 76f87bf32f7e5b..3fb1ebfe1a5b6c 100644
--- a/selfdrive/ui/qt/widgets/input.h
+++ b/selfdrive/ui/qt/widgets/input.h
@@ -8,9 +8,22 @@
 #include <QWidget>
 #include <QTreeWidget>
 
+#include "common/params.h"
 #include "selfdrive/ui/qt/widgets/keyboard.h"
 
 
+struct TreeNode {
+  QString folder;
+  QString displayName;
+  QString ref;
+  int index;
+};
+
+struct TreeFolder {
+  QString folder;
+  QList<TreeNode> items;
+};
+
 class DialogBase : public QDialog {
   Q_OBJECT
 
@@ -75,11 +88,20 @@ class TreeOptionDialog : public DialogBase {
   Q_OBJECT
 
 public:
-  explicit TreeOptionDialog(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items, const QString &current, QWidget *parent = nullptr);
-  static QString getSelection(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items, const QString &current, QWidget *parent = nullptr);
+  explicit TreeOptionDialog(const QString &prompt_text, const QList<TreeFolder> &items, const QString &current, const QString &favParam, QWidget *parent = nullptr);
+  static QString getSelection(const QString &prompt_text, const QList<TreeFolder> &items, const QString &current, const QString &favParam, QWidget *parent = nullptr);
+  void handleFavorites(const QString &displayName, const QString &ref, QPushButton* btn);
+  QTreeWidgetItem* addChildItem(const QString &displayName, const QString &ref, QTreeWidgetItem* folderItem, QPushButton* btn = nullptr, bool addAtTop = false);
   QString selection;
 
 private:
   QTreeWidget *treeWidget;
   QPushButton *confirm_btn;
+  Params params;
+  QMap<QString, QList<QPushButton*>> *mapFavs;
+  QStringList *favRefs;
+  QTreeWidgetItem *favorites;
+
+  QIcon iconBlank;
+  QIcon iconFilled;
 };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index 93e5ac80a8830a..baba7d3a17fd1c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -259,6 +259,18 @@ QString ModelsPanel::GetActiveModelInternalName() {
   return DEFAULT_MODEL;
 }
 
+/**
+ * @brief Gets the ref of the currently selected model bundle
+ * @return ref of the selected bundle or default model name
+ */
+QString ModelsPanel::GetActiveModelRef() {
+  if (model_manager.hasActiveBundle()) {
+    return QString::fromStdString(model_manager.getActiveBundle().getRef());
+  }
+
+  return DEFAULT_MODEL;
+}
+
 void ModelsPanel::updateModelManagerState() {
   const SubMaster &sm = *(uiStateSP()->sm);
   model_manager = sm["modelManagerSP"].getModelManagerSP();
@@ -272,34 +284,31 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
   currentModelLblBtn->setEnabled(false);
   currentModelLblBtn->setValue(tr("Fetching models..."));
 
-  struct ModelEntry {
-    QString folder;
-    QString displayName;
-    int index;
-  };
-  QList<ModelEntry> sortedModels;
+  QList<TreeNode> sortedModels;
   QSet<QString> modelFolders;
+  QRegularExpression re("\\(([^)]*)\\)[^(]*$");
   const auto bundles = model_manager.getAvailableBundles();
 
   for (const auto &bundle : bundles) {
     auto overrides = bundle.getOverrides();
-    QString gen;
+    QString folder;
     for (const auto &override : overrides) {
       if (override.getKey() == "folder") {
-        gen = QString::fromStdString(override.getValue().cStr());
+        folder = QString::fromStdString(override.getValue().cStr());
       }
     }
 
-    modelFolders.insert(gen);
-    sortedModels.append(ModelEntry{
-      gen,
+    modelFolders.insert(folder);
+    sortedModels.append(TreeNode{
+      folder,
       QString::fromStdString(bundle.getDisplayName()),
+      QString::fromStdString(bundle.getRef()),
       static_cast<int>(bundle.getIndex())
     });
   }
 
   std::sort(sortedModels.begin(), sortedModels.end(),
-    [](const ModelEntry &a, const ModelEntry &b) {
+    [](const TreeNode &a, const TreeNode &b) {
       return a.index > b.index;
     });
 
@@ -322,37 +331,46 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
       });
 
   // Create the final items list using sorted folders
-  QList<QPair<QString, QStringList>> items;
+  QList<TreeFolder> items;
   for (const auto &folderPair : folderMaxIndices) {
-    QStringList folderModels;
+    QList<TreeNode> folderModels;
+    QString folder = folderPair.first;
     for (const auto &model : sortedModels) {
       if (model.folder == folderPair.first) {
-        folderModels.append(model.displayName);
+        if (model.index == folderPair.second) {
+          QRegularExpressionMatch match = re.match(model.displayName);
+          if (match.hasMatch()) {
+            folder.append(" - (Updated: ").append(match.captured(1)).append(")");
+          }
+        }
+        folderModels.append(model);
       }
     }
-    items.append(qMakePair(folderPair.first, folderModels));
+    items.append(TreeFolder{folder, folderModels});
   }
 
-  items.insert(0, qMakePair(QString(""), QStringList{DEFAULT_MODEL}));
+  items.insert(0, TreeFolder{"", {
+    TreeNode{"", DEFAULT_MODEL, DEFAULT_MODEL, -1}
+  }});
 
   currentModelLblBtn->setValue(GetActiveModelInternalName());
 
-  const QString selectedBundleName = TreeOptionDialog::getSelection(
-    tr("Select a Model"), items, GetActiveModelName(), this);
+  const QString selectedBundleRef = TreeOptionDialog::getSelection(
+    tr("Select a Model"), items, GetActiveModelRef(), QString("ModelManager_Favs"), this);
 
-  if (selectedBundleName.isEmpty() || !canContinueOnMeteredDialog()) {
+  if (selectedBundleRef.isEmpty() || !canContinueOnMeteredDialog()) {
     return;
   }
 
   // Handle "Stock" selection differently
-  if (selectedBundleName == DEFAULT_MODEL) {
+  if (selectedBundleRef == DEFAULT_MODEL) {
     params.remove("ModelManager_ActiveBundle");
     currentModelLblBtn->setValue(tr("Default"));
     showResetParamsDialog();
   } else {
     // Find selected bundle and initiate download
     for (const auto &bundle: bundles) {
-      if (QString::fromStdString(bundle.getDisplayName()) == selectedBundleName) {
+      if (QString::fromStdString(bundle.getRef()) == selectedBundleRef) {
         params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex()));
         if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) {
           showResetParamsDialog();
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
index 8586d862bd60cb..93edc4de1a3146 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
@@ -20,6 +20,7 @@ class ModelsPanel : public QWidget {
 private:
   QString GetActiveModelName();
   QString GetActiveModelInternalName();
+  QString GetActiveModelRef();
   void updateModelManagerState();
   void showEvent(QShowEvent *event) override;
 
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 60a222a36ca6c6..358c65fe3448e5 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -66,6 +66,7 @@ def _parse_bundle(bundle) -> custom.ModelManagerSP.ModelBundle:
     model_bundle.is20hz = bundle.get("is_20hz", False)
     model_bundle.minimumSelectorVersion = int(bundle["minimum_selector_version"])
     model_bundle.overrides = ModelParser._parse_overrides(bundle.get("overrides", {}))
+    model_bundle.ref = bundle.get("ref")
 
     return model_bundle
 
diff --git a/sunnypilot/selfdrive/assets/icons/star-empty.png b/sunnypilot/selfdrive/assets/icons/star-empty.png
new file mode 100644
index 00000000000000..bf60dec374fff8
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/icons/star-empty.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3731604f80e83a1fdb7c258baf6530b81190eeec82e6443172e84a35b7a74c02
+size 1088
diff --git a/sunnypilot/selfdrive/assets/icons/star-filled.png b/sunnypilot/selfdrive/assets/icons/star-filled.png
new file mode 100644
index 00000000000000..3667231bf038a2
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/icons/star-filled.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c2a513b7f2da004f145b7d689654cc65137f1b146d484fbce7ce727a297b62c
+size 861

From 3e9545670b245534327db2762bc61c22b15a5af1 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 31 Aug 2025 08:29:45 +0200
Subject: [PATCH 0393/1434] feature: Adding support for copyparty (#1116)

* feat: add support for copyparty-sfx

* feat: add toggle for Copyparty service in developer panel

* feat: enhance Copyparty configuration with additional volume mounts and options

* Update system/manager/process_config.py

* remove f string

* lint
---
 common/params_keys.h                          |   1 +
 .../qt/offroad/settings/developer_panel.cc    |   4 +
 .../qt/offroad/settings/developer_panel.h     |   1 +
 system/manager/process_config.py              |  14 +
 third_party/copyparty/copyparty-sfx.py        | 512 ++++++++++++++++++
 5 files changed, 532 insertions(+)
 create mode 100755 third_party/copyparty/copyparty-sfx.py

diff --git a/common/params_keys.h b/common/params_keys.h
index 4a78575de60b5b..0b08d8c0cb522c 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -146,6 +146,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
     {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
     {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
+    {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
index a4a6bf481c2218..9c36097f1b9a2d 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
@@ -27,6 +27,10 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
   enableGithubRunner = new ParamControlSP("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "", this, true);
   addItem(enableGithubRunner);
 
+  // Copyparty Toggle
+  enableCopyparty = new ParamControlSP("EnableCopyparty", tr("Enable Copyparty service"), tr("Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it's IP."), "", this, false);
+  addItem(enableCopyparty);
+
   // Quickboot Mode Toggle
   prebuiltToggle = new ParamControlSP("QuickBootToggle", tr("Enable Quickboot Mode"), tr(""), "", this, true);
   addItem(prebuiltToggle);
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h
index 42b3bd83b86ab7..7f67512b5dc8a9 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h
@@ -16,6 +16,7 @@ class DeveloperPanelSP : public DeveloperPanel {
   explicit DeveloperPanelSP(SettingsWindow *parent);
 
 private:
+  ParamControlSP *enableCopyparty;
   ParamControlSP *enableGithubRunner;
   ButtonControlSP *errorLogBtn;
   ParamControlSP *prebuiltToggle;
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 67a77caa249596..61309168873422 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -65,6 +65,9 @@ def use_github_runner(started, params, CP: car.CarParams) -> bool:
   return not PC and params.get_bool("EnableGithubRunner") and (
     not params.get_bool("NetworkMetered") and not params.get_bool("GithubRunnerSufficientVoltage"))
 
+def use_copyparty(started, params, CP: car.CarParams) -> bool:
+  return bool(params.get_bool("EnableCopyparty"))
+
 def sunnylink_ready_shim(started, params, CP: car.CarParams) -> bool:
   """Shim for sunnylink_ready to match the process manager signature."""
   return sunnylink_ready(params)
@@ -178,4 +181,15 @@ def and_(*fns):
 if os.path.exists("../../sunnypilot/sunnylink/uploader.py"):
   procs += [PythonProcess("sunnylink_uploader", "sunnypilot.sunnylink.uploader", use_sunnylink_uploader_shim)]
 
+if os.path.exists("../../third_party/copyparty/copyparty-sfx.py"):
+  sunnypilot_root = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", ".."))
+  copyparty_args = [f"-v{Paths.crash_log_root()}:/swaglogs:r"]
+  copyparty_args += [f"-v{Paths.log_root()}:/routes:r"]
+  copyparty_args += [f"-v{Paths.model_root()}:/models:rw"]
+  copyparty_args += [f"-v{sunnypilot_root}:/sunnypilot:rw"]
+  copyparty_args += ["-p8080"]
+  copyparty_args += ["-z"]
+  copyparty_args += ["-q"]
+  procs += [NativeProcess("copyparty-sfx", "third_party/copyparty", ["./copyparty-sfx.py", *copyparty_args], and_(only_offroad, use_copyparty))]
+
 managed_processes = {p.name: p for p in procs}
diff --git a/third_party/copyparty/copyparty-sfx.py b/third_party/copyparty/copyparty-sfx.py
new file mode 100755
index 00000000000000..2506c39a93354f
--- /dev/null
+++ b/third_party/copyparty/copyparty-sfx.py
@@ -0,0 +1,512 @@
+#!/usr/bin/env python3
+# coding: latin-1
+from __future__ import print_function, unicode_literals
+import re, os, sys, time, shutil, signal, tarfile, hashlib, platform, tempfile, traceback
+import subprocess as sp
+
+
+"""
+to edit this file, use HxD or "vim -b"
+  (there is compressed stuff at the end)
+
+run me with python 2.7 or 3.3+ to unpack and run copyparty
+
+there's zero binaries! just plaintext python scripts all the way down
+  so you can easily unpack the archive and inspect it for shady stuff
+
+the archive data is attached after the b"\n# eof\n" archive marker,
+  b"?0" decodes to b"\x00"
+  b"?n" decodes to b"\n"
+  b"?r" decodes to b"\r"
+  b"??" decodes to b"?"
+"""
+
+
+# set by make-sfx.sh
+VER = "1.18.9"
+SIZE = 846007
+CKSUM = "53f9b019dbba5e9acb44f1e5"
+STAMP = 1754082544
+
+PY2 = sys.version_info < (3,)
+PY37 = sys.version_info > (3, 7)
+WINDOWS = sys.platform in ["win32", "msys"]
+sys.dont_write_bytecode = True
+me = os.path.abspath(os.path.realpath(__file__))
+
+
+def eprint(*a, **ka):
+	ka["file"] = sys.stderr
+	print(*a, **ka)
+
+
+def msg(*a, **ka):
+	if a:
+		a = ["[SFX]", a[0]] + list(a[1:])
+
+	eprint(*a, **ka)
+
+
+def u8(gen):
+	try:
+		for s in gen:
+			yield s.decode("utf-8", "ignore")
+	except:
+		yield s
+		for s in gen:
+			yield s
+
+
+def yieldfile(fn):
+	s = 64 * 1024
+	with open(fn, "rb", s * 4) as f:
+		for block in iter(lambda: f.read(s), b""):
+			yield block
+
+
+def hashfile(fn):
+	h = hashlib.sha1()
+	for block in yieldfile(fn):
+		h.update(block)
+
+	return h.hexdigest()[:24]
+
+
+def unpack():
+	"""unpacks the tar yielded by `data`"""
+	name = "pe-copyparty"
+	try:
+		name += "." + str(os.geteuid())
+	except:
+		pass
+
+	tag = "v" + str(STAMP)
+	top = tempfile.gettempdir()
+	opj = os.path.join
+	ofe = os.path.exists
+	final = opj(top, name)
+	san = opj(final, "copyparty/up2k.py")
+	for suf in range(0, 9001):
+		withpid = "%s.%d.%s" % (name, os.getpid(), suf)
+		mine = opj(top, withpid)
+		if not ofe(mine):
+			break
+
+	tar = opj(mine, "tar")
+
+	try:
+		if tag in os.listdir(final) and ofe(san):
+			msg("found early")
+			return final
+	except:
+		pass
+
+	sz = 0
+	os.mkdir(mine)
+	with open(tar, "wb") as f:
+		for buf in get_payload():
+			sz += len(buf)
+			f.write(buf)
+
+	ck = hashfile(tar)
+	if ck != CKSUM:
+		t = "\n\nexpected %s (%d byte)\nobtained %s (%d byte)\nsfx corrupt"
+		raise Exception(t % (CKSUM, SIZE, ck, sz))
+
+	with tarfile.open(tar, "r:gz") as tf:
+		# this is safe against traversal
+		try:
+			tf.extractall(mine, filter="tar")
+		except TypeError:
+			tf.extractall(mine)
+
+	os.remove(tar)
+
+	with open(opj(mine, tag), "wb") as f:
+		f.write(b"h\n")
+
+	try:
+		if tag in os.listdir(final) and ofe(san):
+			msg("found late")
+			return final
+	except:
+		pass
+
+	try:
+		if os.path.islink(final):
+			os.remove(final)
+		else:
+			shutil.rmtree(final)
+	except:
+		pass
+
+	for fn in u8(os.listdir(top)):
+		if fn.startswith(name) and fn != withpid:
+			try:
+				old = opj(top, fn)
+				if time.time() - os.path.getmtime(old) > 86400:
+					shutil.rmtree(old)
+			except:
+				pass
+
+	try:
+		os.symlink(mine, final)
+	except:
+		try:
+			os.rename(mine, final)
+			return final
+		except:
+			msg("reloc fail,", mine)
+
+	return mine
+
+
+def get_payload():
+	"""yields the binary data attached to script"""
+	with open(me, "rb") as f:
+		buf = f.read().rstrip(b"\r\n")
+
+	ptn = b"\n# eof\n#"
+	a = buf.find(ptn)
+	if a < 0:
+		raise Exception("could not find archive marker")
+
+	esc = {b"??": b"?", b"?r": b"\r", b"?n": b"\n", b"?0": b"\x00"}
+	buf = buf[a + len(ptn) :].replace(b"\n#", b"")
+	p = 0
+	while buf:
+		a = buf.find(b"?", p)
+		if a < 0:
+			yield buf[p:]
+			break
+		elif a == p:
+			yield esc[buf[p : p + 2]]
+			p += 2
+		else:
+			yield buf[p:a]
+			p = a
+
+
+def confirm(rv):
+	msg()
+	msg("retcode", rv if rv else traceback.format_exc())
+	if WINDOWS:
+		msg("*** hit enter to exit ***")
+		try:
+			raw_input() if PY2 else input()
+		except:
+			pass
+
+	sys.exit(rv or 1)
+
+
+def run(tmp, j2, ftp):
+	msg("jinja2:", j2 or "bundled")
+	msg("pyftpd:", ftp or "bundled")
+	msg("sfxdir:", tmp)
+	msg()
+
+	sys.argv.append("--sfx-tpoke=" + tmp)
+
+	ld = (("", ""), (j2, "j2"), (ftp, "ftp"), (not PY2, "py2"), (PY37, "py37"))
+	ld = [os.path.join(tmp, b) for a, b in ld if not a]
+
+	if any([re.match(r"^-.*j[0-9]", x) for x in sys.argv]):
+		run_s(ld)
+	else:
+		run_i(ld)
+
+
+def run_i(ld):
+	for x in ld:
+		sys.path.insert(0, x)
+
+	e = os.environ
+	e["PRTY_NO_IMPRESO"] = "1"
+
+	from copyparty.__main__ import main as p
+
+	p()
+
+
+def run_s(ld):
+	c = "import sys,runpy;" + "".join(['sys.path.insert(0,r"' + x.replace("\\", "/") + '");' for x in ld]) + 'runpy.run_module("copyparty",run_name="__main__")'
+	c = [str(x) for x in [sys.executable, "-c", c] + list(sys.argv[1:])]
+	msg("\n", c, "\n")
+	p = sp.Popen(c)
+
+	def bye(*a):
+		p.send_signal(signal.SIGINT)
+
+	signal.signal(signal.SIGTERM, bye)
+	p.wait()
+
+	raise SystemExit(p.returncode)
+
+
+def main():
+	sysver = str(sys.version).replace("\n", "\n" + " " * 18)
+	pktime = time.strftime("%Y-%m-%d, %H:%M:%S", time.gmtime(STAMP))
+	msg()
+	msg("   this is: copyparty", VER)
+	msg(" packed at:", pktime, "UTC,", STAMP)
+	msg("archive is:", me)
+	msg("python bin:", sys.executable)
+	msg("python ver:", platform.python_implementation(), sysver)
+	msg()
+
+	arg = ""
+	try:
+		arg = sys.argv[1]
+	except:
+		pass
+
+	tmp = os.path.realpath(unpack())
+
+	try:
+		from jinja2 import __version__ as j2
+	except:
+		j2 = None
+
+	try:
+		from pyftpdlib.__init__ import __ver__ as ftp
+	except:
+		ftp = None
+
+	try:
+		run(tmp, j2, ftp)
+	except SystemExit as ex:
+		c = ex.code
+		if c not in [0, -15]:
+			confirm(ex.code)
+	except KeyboardInterrupt:
+		pass
+	except:
+		confirm(0)
+
+
+if __name__ == "__main__":
+	main()
+
+
+# eof
+#‹ð,�ht.7?0äUåšë8íï<ÅY¦2.Óðefr¥õ7Ž�k)ítŸ~g`™y3HÇGŠ�¹j[)/ÛÁ†Ò�jÊ\­{Y±ì§J:ˆƒÌ§Ó¦-f˺•ñ|6ꌦ“Åt1›Œ&³Î0ÓqÃÎ_ 5‹ò@ç*ŸS¶rpE‘x*²[CV„é¢??ÇUý%?nmˆõW£K-جÈ"wkœÊµ]¢ð®D7QÉ{p•hg•1[„Âmx@V¥A*żq>ï©ZV¶<*£´:¬DªïkX‘©¹æF6•Ê»-Î`;?r™2%d³m’X01‡ýøÔÖãOß%ºÀä½ó†ÖdÞ€¥—âíA"ì¼ßv±u5Êš¾¶A»f¨�òR[Íâ•8·Tªfj7ŸhÁ MÞIôeXšãðòÞÃçW®ï|qåùÕ/v�®í=¹ýðö�½«OvjïÉÊŽ³â�¹Mò„ɯuFüä>¥;F‡É'7”W%	yÆ`�}mèv`ÿJCþ‘ýr+Æ·öžïÞ¿~kƒÓâT0(~ŽÛ??‹ƒwÄÜ¢—5±ÜÑ%¹: ¹MÙÏ`Irߎ%®_þ(6Ú 8?r¤Šuö£ñðY»ãá‡0n©-Bðsi-Ñ÷gñ„�6)a­Y7qÒ,Õžx¥ü1H²V͵35qùµëw¢>ÔÖsô}Íí2”ͱVFçÈÈ‹.t¦„8	jOß‹§@F§ñô§ÄÁ—?rM_–®4€õq ûÔ|‰œ?nU�æ•è´'ˆáw’w~Ø'¹‹çß(+÷­ÿíÔ™²Xê5AáðîÁ¸"Ê‘:Ç‚œ*²ñ6p–$ÒÊ$†~g�…‹ô[%TêêˆÅÝÑÛ�a–2ÑÎòSˆJ7??>²BÞ’à†+½h?n“…óÍy>ºPYRLȌΎñøÊ×Îñ=�¾>;ñã@²+•è,^??9I°x±öíw.‚¬u&´%É*Ó¹Û�ºÛI\ÕD|}{:¤¼\Œ}Ç+Ö‘;KIk¢óçÈ·ßÿó^©‹0û—¼ÿ¡3ïÿh´�Ç“a|ÿ¿–±‘ÙhýOàîéfa™(Ë ÎÐÀâÿÿÿ_ñ'##ƒˆ’a`?níég8ñ6óÊì\Uoù4£Ïw*£Oäž“ðU92kêK¶ÕYG·<;·ò�Ö×ø›²bso¾’8ø#nÕ\–œŸôœS¸Õ??k®É-²Új8ÙtásnÑæ„çy;÷.a`°¦§OG
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`¦¥5¼`o�¢\¹zo(�U:¾Ö9Éâ'ä[''µãÉcàZÀ0JIÅ�ÉÖð 9̺z?rEîòJ7??¾«H¼+?rLª îÐçÏ�l e“Í:»Wqùn%àë¦�cÈ(R¥¬¿ìf.›»º_¥´zf3¼�ïÓ§øZ]¶?0™Ì(¿¦¥?0 ´ˆáüÊðtÌ…Ä9ð4ÎQÐâb˜?r#ºµ²kר%hü¡^©÷�vß…„ž+ñIҾȄœAv8ŸÛÃh“h©@Fþü³4É|x?nÓð5CañlÙ
S�üãʉ>©ÞôãÙˆŽÈlï©ÒÙ3†5sƒ•éöØ?0ËI㸖‘âS&7�%æ—¼JÕk?r€…�ë´êü?r3�p�™�tA¦&W&Žå%p7Ý â€Y)Ò	«užŒó�Ú]î�?n‡Ð›:ßÀÉ]žíÖ`Œ7Ýkh •˜÷.?n*Ø>UÀ¶n0¾¶'Á3VÍUÜÎ_§åVŽÝšá9T3XIuìغ¸pŒÓ©xBìÚ®!­Ê!4šTÛH´	%ƒó3óÆ€ˆ>á÷¡SƒÔA?0òº¨/V!Òì^¤ÚGP1l¿¥¸»P
+#]Þ¯¡:õÀòÖX<»OpÁG�??*�å'âc­r÷ñs¥wFÇÇ}ñ{ÀUK§¡IUˆ�+"‰:¯WîÀ­JÄŒíÏ;¥KŸ~½ º ‹¢ZÃÚŒC«ÀåÞ›¯’xL¼?rg1GŽ…Ȫ”$WD$†U‘í-#èIòLO²R­yÓ(¥ý�öJ+²ƒ‹øÕáa;Է܈Ì.µc£´í˨½j
²Îó-ï¢u·*/#Ý•'G�;š×Gj¢ÆZí•?n&ˆW¤[úÚ<kÿsÂðg=1ÿ]©özá¦fÛÕbˆÀ’}µM ‰d9¥ùfµwùÐrûpØ»†¬¯ÛÂ;ztýý"UŠ…90ð1²š?r©éºÔµ¡
ïy‘Êéóû´L†~SKÞ³ö•5Æ�j)Î=S·&XÒ�ä_c­f×BTâÝS<¬j6î‰q7â$uŒ5eý|C–:Ö$·3Œ°êû0NH9¢7S‚0q![Vñœ?neÇUÛ‚»{•½¹ùÏX‚©6þ"Lã†Ñ??9bÿ]íßfM×{žp_<T¬ý;[÷›w"η�ÄH’³:´Ë×Ü/š«^ŽVJÒºEÚëÓ[ëw¦WÙÐ0ª«×zŸ^àG+ls×u??ǽ¦û•¸Ýå¥9FØŠ³ûV“¸]ÖtoOßfM÷žTië@ñ*g)øâu�kÓ6ê¡Óša-9_YxP¾MuŽÌCx#ˆa4l ºÐ´M`ÕX<¿H$ÊÇé6æÕ|ÄŠ‰ü7Øa­$ŒÚÀ�õÅð†®ì¾toi´qàÂŽr!“�Y'�°½í—˜äéÈS\Œ›Q,jwxXSjÁÁyÚI–�üQ¹þòü§ïÊrõ:"�ëIÂCz˜¥•¾„Øü¾ÏWesaÀ•¨BôÉFŽg‰?0ÎüwJ>-¡[±2LääÁV¿ÃézlðîÁS"SóežHÄ«—§oøžÐ²€<M«,NË]�²£O<ïpcØç÷ŽJZîí Ä“N_¾à_–s,V@…Zª!ÖSï*4V�}å?rìcE”ƒàBo/hgá!nk?0ú¥ÈÒ¡`ç48öãŽ�ïè“@CŸWÏï5WYs\�xWõ‹³†T§e`3hÊ­N…ó]wDÄfyÏ©}²æ¾EMŽ�üèŸï:*0ÝQ¹'??“5IBço€]-ü:šG1œ{Pýt�FWô"Ыº«.Ë(oÓ²Š¾Ó|}Ñ<?0ö3ù:V{wŠ¤ÑŸ†÷ˆÖUö‡^‘Mfóù:Ï!HÚA0©Ð×À+~Ä»«[lVc�JP?n\í·`·ÔTç‰gáš\±„Y©ü]!¥]Á�ñŽÞ„¤Ÿ»F]{`yÛX]߶¦Í-ŒÓmPN$½uî<‚Üš4ÝçÒqȈåæÌ??cµzËÜ~7�öyÓP¥Ž<‹÷©¦Uô{ˆìbƒE(‚²Àéù&[Iï•âœ,@b»¡ÑÒ Næm;ö�©r'…¿1ú–`QIܳIé¿Jå~ã4¥·¶µB[ëÀœØvZ{�‚<º�õNÒêfËÕé??n¹šÈÐÖ¼§ñênTé›YêDô…2ýw¶ÎD³¸ËŠug’Ãý©ËIÙùú–*¯—èD[??y¶.æ~·:�UM½ž7íxâ$æ­ÔÚ°2/$#rÿ`W5|s*ÕÉfYFL`ŽÅ�êرƒåxÒý>]fä0?r/¡«>],¡!Ly�NÈœ+	±0(• +2zkQ…NÔZW“å![^ŒjœIñ r=³ÁÁ$°D‹~ßuøRôÑS��ÖSýÄœœçzt'kylåU8yA¼Z´n>Ç*ÖƒÑĘ¡#¥>¾èÕ-’C,3|&ð¢&Q_ÇV´Ë>û´½ØµL©Þ�=>$©þ’„Q¿<’½§‡®÷t~ÕÁm:šô/"ne�â.èåªPÅÒ¸Ël‘ÖP§¹Î&Æ¡/PA£º[’åÌ:Ö�ǹîë9ç?r+¨š×¡W4#x¬Í"•©õÙfãØÁݨK½ÈYÂ×%p&ú#´åzs3óz]!ºªd-LAFDÏ�`§ƒTL?n�[I¾RÁÌmbN þ‘wV“äÄ�óþƒ%ý㥢qûàîÉôB�Í ¾{ò�ŽyœüM	ý‚Ⱥ`P}1H·¦Àf#%K?rÒ»åE±\[|µLfõdËa²1§ÖÏi‹tµ»=K²°œBÈ£R…:ˆ¶giU¥f„KVÞ¡§0&+:¿¥�}Ì?n4D�˜—·J•&°¯@õ¤‰TÂð.D®%A~ïˆfÄNÃß:ì2Ž»e1Ò–í‹#TÚ.„Áñ�Úò„T^IZ‰HµëÏD4t˜’ŽINÄÛ?rBæ??P㘖6}ÉàÂh&·DÔs³Îæ�çs\»Ù{]Ü(ÈxHs7CQv©`‡AeDn%v&$ÿÁ’‡¶ää�†N1™œ³¤ãÆu�çŠÖsÖÓe ÇQ-ð;]‘j4ñ›xUX¨•èT±_B‚ƒãÏH#` ”YJî|qãFgºT¾C‹RúÖ‘¨¼„Î’ݲ?0†O;Éœ‘ërp¹Ý^ž1tµNÊx•à„R‹�‘!©¼ÚnpaUƇÕE\À&zÍbÌ’„󸼆½¢á¬cCÃNnb׫‹NU¼íÀEç†yÕx´ÇnÀ?nédWr*hœ‡WAbwÚÙ¹µ+nùš9šÓÆ2MÓ.§žÉ!òÉãO?n¥;Ü„l¼U.Œ’VA,ÞàŠ'ÂBª´ñ€îËKy+js5-�7	7F¥�vFQí¶U76NäUOÔ¾æà¹lH›W�¾YõV?r£³ž³£)õÉB°ËlꈞF9Î…¨,}‹÷UŽâ‚«Ab"lxãðn�‘¶w µ.¦Aè7¦ó–öÇ€t<(ß?0™.ùÞ¨’Œ±E·ç‘ºÊa/D9æ©qkb4F€™‡ÀÇǬ¸T±u¨›ÃçüVt—PÜcÑÏ1ëú…Š2÷óf‡V?r=ì1¾ma™x!”ûœ»7–H<¶v×µl²(6R5G\á²ÐªÜHÙFnè4¼ûA³cÝrŽ¨e«®$îäaç^	ê­tKŒ«0%‘QK~n¿UËÃÏÜ�/Ðü~8XÈöDÜ�`—äa«2”ËÖ®éî5—Ú†nfÙ\ú÷˺Âv3_{{ÓBnö—šåLº…g×êÒ»¾«µ¿p³(EsîmgïÛÌ‘œqé¬)µO³'Ù<�Vx„UM»\K¤ºÜí̅߉»üC©´ö£à‘» È�£ŸFõ.ÉÎZÝÕïmؘÎÕ×♺ÕçNR´¦B¶Dõec§lfV??nÄðú×FÄHŸ6`'úMvW??oÀî韰¯ô“ìkýÐÂPžŽ*¡??Zà[×]´~f#^:à§&A9“þ%†yø
ítêUÈ<NW+[güç?nL¦-õ«*ø�g®NÿàdüO¿Æ¯<‚¯_l©x é·äp$ßYè³ZõF_ùÃÞ�ƒIL2Ÿ!ìûºÛ@n¢óîDîàr%h;S4ž“êñ­©hPú‰~½=ÑÈÅ??½ÿÄÅs;þ]ÿùíø÷\üŸnÇÿÊÅr;þ×.þÃn|;±Ü»ø“ÎMôlG¢—íIž¶&±“ÕÅ}ÙŠËÙÃ|щI³ÙEý®Õ.?0�$îLB‹ƒ‹úªÕ_8Ü4oMC‹Šƒõº+�|¬_Z±üÅÈAÛ�Þñtò®;…»ˆ9)®ZSø›¬—…Ý?nÝ}ý_çH­Q[Óýó/öˆÚ(“5°»™Ú59}Òˆ…—ß6‚«`‹d³›+MÌê5Íõˆ�¶hD
o€9Ô·�x©šÊP]i,F«REg2‹BLå®c+ʳ©ŠÔÎm£€slHwC•=©ðv¬®Ô̠ئ )߯KPlG	�B'ÑF}Ã#Û5G(šD¶ÜGw•�ÿK		:YzÄüª#,+y) å\Ëû!Ô“¨ŽJ)áÞmÁÅisTñ)±Ü„y¯ó?n?0Ghk?nHÒW-HƱ%ÿ˜›á~ÝŠËÞ’ŽPÉkP)Á¼”7è4ã_Š¾ßŒ®Œ™Ô¦)�›˜¯ükâO6gÐ…5Ý;“ÁèqÆþ\Ü¡wæÍ?0íÁ�?0?0?0?0€ ëA®?0?0?0?0?0à-ç™ÄN?0¸$?0
+

From 1894a312d350f6d2ec6ad79effb84a6b2e4266eb Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sun, 31 Aug 2025 02:46:20 -0400
Subject: [PATCH 0394/1434] Bug: Fix OSM Download Time & ETA (#1194)

fix osm download time
---
 sunnypilot/mapd/mapd_manager.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/sunnypilot/mapd/mapd_manager.py b/sunnypilot/mapd/mapd_manager.py
index 9ebf07a7f42b8f..1211c1ecc63efe 100755
--- a/sunnypilot/mapd/mapd_manager.py
+++ b/sunnypilot/mapd/mapd_manager.py
@@ -6,11 +6,11 @@
 See the LICENSE.md file in the root directory for more details.
 """
 import json
-import time
 import platform
 import os
 import glob
 import shutil
+from datetime import datetime
 
 from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper, config_realtime_process
@@ -56,7 +56,7 @@ def cleanup_old_osm_data(files_to_remove: list[str]) -> None:
 
 
 def request_refresh_osm_location_data(nations: list[str], states: list[str] = None) -> None:
-  params.put("OsmDownloadedDate", str(time.monotonic()))
+  params.put("OsmDownloadedDate", str(datetime.now().timestamp()))
   params.put_bool("OsmDbUpdatesCheck", False)
 
   osm_download_locations = {

From 43c12ae7b3106e668efd41a7c306d0e8c7f816e8 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Sun, 31 Aug 2025 01:30:20 -0700
Subject: [PATCH 0395/1434] =?UTF-8?q?Visual:=20=F0=9F=8C=88=20road=20(#106?=
 =?UTF-8?q?7)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* 🌈

* Update selfdrive/ui/qt/onroad/model.cc

Co-authored-by: royjr <royjr96@gmail.com>

* ui: enhance rainbow mode description and add colorized text rendering

---------

Co-authored-by: royjr <royjr96@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 common/params_keys.h                          |  1 +
 .../qt/offroad/settings/visuals_panel.cc      |  7 ++++
 selfdrive/ui/sunnypilot/qt/onroad/model.cc    | 40 ++++++++++++++++++-
 selfdrive/ui/sunnypilot/qt/widgets/controls.h | 21 ++++++++++
 4 files changed, 68 insertions(+), 1 deletion(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 0b08d8c0cb522c..142b3422cb1370 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -156,6 +156,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // MADS params
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
index 818da9b75e1298..dd2f05416d86d2 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -28,6 +28,13 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
       "../assets/offroad/icon_monitoring.png",
       false,
     },
+    {
+      "RainbowMode",
+      tr("Enable Tesla Rainbow Mode"),
+      RainbowizeWords(tr("A beautiful rainbow effect on the path the model wants to take.")) + "<br/><i>" + tr("It")+ " <b>" + tr("does not") + "</b> " + tr("affect driving in any way.") + "</i>",
+      "../assets/offroad/icon_monitoring.png",
+      false,
+    },
   };
 
   // Add regular toggles first
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.cc b/selfdrive/ui/sunnypilot/qt/onroad/model.cc
index af0177c344e66d..5d92838f8abc1e 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/model.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/model.cc
@@ -48,5 +48,43 @@ void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Rea
       painter.drawPolygon(right_blindspot_vertices);
     }
   }
-  ModelRenderer::drawPath(painter, model, surface_rect.height());
+
+  bool rainbow = Params().getBool("RainbowMode");
+  //float v_ego = sm["carState"].getCarState().getVEgo();
+
+  if (rainbow) {
+    // Simple time-based animation
+    float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
+        std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
+
+    // simple linear gradient from bottom to top
+    QLinearGradient bg(0, surface_rect.height(), 0, 0);
+
+    // evenly spaced colors across the spectrum
+    // The animation shifts the entire spectrum smoothly
+    float animation_speed = 40.0f; // speed vroom vroom
+    float hue_offset = fmod(time_offset * animation_speed, 360.0f);
+
+    // 6-8 color stops for smooth transitions more color makes it laggy
+    const int num_stops = 7;
+    for (int i = 0; i < num_stops; i++) {
+      float position = static_cast<float>(i) / (num_stops - 1);
+
+      float hue = fmod(hue_offset + position * 360.0f, 360.0f);
+      float saturation = 0.9f;
+      float lightness = 0.6f;
+
+      // Alpha fades out towards the far end of the path
+      float alpha = 0.8f * (1.0f - position * 0.3f);
+
+      QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
+      bg.setColorAt(position, color);
+    }
+
+    painter.setBrush(bg);
+    painter.drawPolygon(track_vertices);
+  } else {
+    // Normal path rendering
+    ModelRenderer::drawPath(painter, model, surface_rect.height());
+  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index a840febfe7b18e..03cb4613858024 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -750,3 +750,24 @@ class PanelBackButton : public QPushButton {
     setFixedSize(400, 100);
   }
 };
+
+inline QString RainbowizeWords(const QString &text) {
+  const QStringList colors = {
+    "#FF6F61",  // soft coral red
+    "#FFA177",  // warm peach
+    "#FFD966",  // soft golden yellow
+    "#88D498",  // mint green
+    "#6EC6FF",  // sky blue
+    "#A78BFA",  // soft lavender
+    "#F78FB3"   // rose pink
+  };
+    
+    QString result;
+    QStringList words = text.split(' ');
+    
+    for (int i = 0; i < words.size(); ++i) {
+      result += QString("<font color='%1'>%2</font> ").arg(colors[i % colors.size()]).arg(words[i].toHtmlEscaped());
+    }
+    
+    return result.trimmed();
+  }

From 9447aa0e3d0339cb8636541a6e7e0022cda79994 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Wed, 3 Sep 2025 05:49:12 -0700
Subject: [PATCH 0396/1434] modeld: turn desires (#1182)

* Add modelDataV2SP and lane turn logic implementation

Note: still need to hook up to other modeld's create unit test, fix stuff, and do the UI for it

* add unit tests for lane turn logic

* Add lane turn desire controls to models panel

* use `events_sp` instead of `events`

* integrate modelDataV2SP messaging to the other modeld controllers

* move this to that

* use min for general population here, on custom branches, change this to max :)

* Update events.py

Co-authored-by: royjr <royjr96@gmail.com>

* Update events.py

Co-authored-by: royjr <royjr96@gmail.com>

* refactor lane turn value control into one method

* Update selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc

* add integration tests for lane turn desire

* 10 updates is possibly more representative of real life

* real objects ofc

* desc: add toggle description for clarity

---------

Co-authored-by: royjr <royjr96@gmail.com>
---
 cereal/custom.capnp                           |  11 +-
 cereal/log.capnp                              |   2 +-
 cereal/services.py                            |   1 +
 common/params_keys.h                          |   4 +-
 selfdrive/controls/lib/desire_helper.py       |  22 +++-
 selfdrive/modeld/modeld.py                    |   5 +-
 selfdrive/selfdrived/selfdrived.py            |  12 +-
 .../qt/offroad/settings/models_panel.cc       |  41 ++++++-
 .../qt/offroad/settings/models_panel.h        |   4 +-
 sunnypilot/modeld/modeld.py                   |   5 +-
 sunnypilot/modeld_v2/modeld.py                |   5 +-
 .../controls/lib/lane_turn_desire.py          |  45 +++++++
 .../lib/tests/test_lane_turn_desire.py        | 113 ++++++++++++++++++
 sunnypilot/selfdrive/selfdrived/events.py     |  17 ++-
 14 files changed, 274 insertions(+), 13 deletions(-)
 create mode 100644 sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index fdb89da84c7c97..5468e0f39de64a 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -172,6 +172,8 @@ struct OnroadEventSP @0xda96579883444c35 {
     experimentalModeSwitched @14;
     wrongCarModeAlertOnly @15;
     pedalPressedAlertOnly @16;
+    laneTurnLeft @17;
+    laneTurnRight @18;
   }
 }
 
@@ -258,9 +260,16 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
   roadName @5 :Text;
 }
 
-struct CustomReserved9 @0xa1680744031fdb2d {
+struct ModelDataV2SP @0xa1680744031fdb2d {
+  laneTurnDirection @0 :TurnDirection;
 }
 
+  enum TurnDirection {
+    none @0;
+    turnLeft @1;
+    turnRight @2;
+  }
+
 struct CustomReserved10 @0xcb9fd56c7057593a {
 }
 
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 15795f8c38fe1e..474b4777cb766d 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2631,7 +2631,7 @@ struct Event {
     backupManagerSP @113 :Custom.BackupManagerSP;
     carStateSP @114 :Custom.CarStateSP;
     liveMapDataSP @115 :Custom.LiveMapDataSP;
-    customReserved9 @116 :Custom.CustomReserved9;
+    modelDataV2SP @116 :Custom.ModelDataV2SP;
     customReserved10 @136 :Custom.CustomReserved10;
     customReserved11 @137 :Custom.CustomReserved11;
     customReserved12 @138 :Custom.CustomReserved12;
diff --git a/cereal/services.py b/cereal/services.py
index 373e865e34d317..b48290bc7739c2 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -88,6 +88,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "carControlSP": (True, 100., 10),
   "carStateSP": (True, 100., 10),
   "liveMapDataSP": (True, 1., 1),
+  "modelDataV2SP": (True, 20.),
 
   # debug
   "uiDebug": (True, 0., 1),
diff --git a/common/params_keys.h b/common/params_keys.h
index 142b3422cb1370..e0af53b2999998 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -195,10 +195,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
 
-    // model panel params
+    // sunnypilot model params
     {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
     {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
+    {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
 
     // mapd
     {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index 2adfa65f6d23b0..93088182f9239d 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -1,7 +1,8 @@
-from cereal import log
+from cereal import log, custom
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
+from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController
 
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -30,6 +31,12 @@
   },
 }
 
+TURN_DESIRES = {
+  custom.TurnDirection.none: log.Desire.none,
+  custom.TurnDirection.turnLeft: log.Desire.turnLeft,
+  custom.TurnDirection.turnRight: log.Desire.turnRight,
+}
+
 
 class DesireHelper:
   def __init__(self):
@@ -41,13 +48,21 @@ def __init__(self):
     self.prev_one_blinker = False
     self.desire = log.Desire.none
     self.alc = AutoLaneChangeController(self)
+    self.lane_turn_controller = LaneTurnController(self)
+    self.lane_turn_direction = custom.TurnDirection.none
 
   def update(self, carstate, lateral_active, lane_change_prob):
     self.alc.update_params()
+    self.lane_turn_controller.update_params()
     v_ego = carstate.vEgo
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
     below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
 
+    # Lane turn controller update
+    self.lane_turn_controller.update_lane_turn(blindspot_left=carstate.leftBlindspot, blindspot_right=carstate.rightBlindspot,
+                                               left_blinker=carstate.leftBlinker, right_blinker=carstate.rightBlinker, v_ego=v_ego)
+    self.lane_turn_direction = self.lane_turn_controller.get_turn_direction()
+
     if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.alc.lane_change_set_timer == AutoLaneChangeMode.OFF:
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
@@ -106,7 +121,10 @@ def update(self, carstate, lateral_active, lane_change_prob):
 
     self.prev_one_blinker = one_blinker
 
-    self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
+    if self.lane_turn_direction != custom.TurnDirection.none:
+      self.desire = TURN_DESIRES[self.lane_turn_direction]
+    else:
+      self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
 
     # Send keep pulse once per second during LaneChangeStart.preLaneChange
     if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index caf342e88ba5e6..5f9ccf5072875c 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -216,7 +216,7 @@ def main(demo=False):
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
   # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
@@ -333,6 +333,7 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
+      mdv2sp_send = messaging.new_message('modelDataV2SP')
 
       action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
@@ -347,6 +348,7 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 
@@ -354,6 +356,7 @@ def main(demo=False):
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
+      pm.send('modelDataV2SP', mdv2sp_send)
     last_vipc_frame_id = meta_main.frame_id
 
 
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 249621d6fc8cf4..c56c7fe65f3f07 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -86,7 +86,7 @@ def __init__(self, CP=None, CP_SP=None):
     # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
     self.car_state_sock = messaging.sub_sock('carState', timeout=20)
 
-    ignore = self.sensor_packets + self.gps_packets + ['alertDebug']
+    ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP']
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
     if REPLAY:
@@ -95,7 +95,8 @@ def __init__(self, CP=None, CP_SP=None):
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback'] + \
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
+                                   'modelDataV2SP'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -300,6 +301,13 @@ def update_events(self, CS):
                                                     LaneChangeState.laneChangeFinishing):
       self.events.add(EventName.laneChange)
 
+    # Handle lane turn
+    lane_turn_direction = self.sm['modelDataV2SP'].laneTurnDirection
+    if lane_turn_direction == custom.TurnDirection.turnLeft:
+      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnLeft)
+    elif lane_turn_direction == custom.TurnDirection.turnRight:
+      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnRight)
+
     for i, pandaState in enumerate(self.sm['pandaStates']):
       # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput
       if i < len(self.CP.safetyConfigs):
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index baba7d3a17fd1c..9e79aa220a3bf6 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -101,9 +101,32 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   QString policyType = tr("Policy Model");
   policyFrame = createModelDetailFrame(this, policyType, policyProgressBar);
   list->addItem(policyFrame);
-
   list->addItem(horizontal_line());
 
+  // Lane Turn Desire toggle
+  lane_turn_desire_toggle = new ParamControlSP("LaneTurnDesire", tr("Use Lane Turn Desires"),
+                            "If you’re driving at 20 mph (32 km/h) or below and have your blinker on, "
+                            "the car will plan a turn in that direction at the nearest drivable path. "
+                            "This prevents situations (like at red lights) where the car might plan the wrong turn direction.",
+                             "../assets/offroad/icon_shell.png");
+  list->addItem(lane_turn_desire_toggle);
+
+  // Lane Turn Value control
+  int max_value_mph = 20;
+  bool is_metric_initial = params.getBool("IsMetric");
+  const float K = 1.609344f;
+  int per_value_change_scaled = is_metric_initial ? static_cast<int>(std::round((1.0f / K) * 100.0f)) : 100; // 100 -> 1 mph
+  lane_turn_value_control = new OptionControlSP("LaneTurnValue", tr("Adjust Lane Turn Speed"),
+    tr("Set the maximum speed for lane turn desires. Default is 19 %1.").arg(is_metric_initial ? "km/h" : "mph"),
+    "", {5 * 100, max_value_mph * 100}, per_value_change_scaled, false, nullptr, true, true);
+  lane_turn_value_control->showDescription();
+  list->addItem(lane_turn_value_control);
+
+  // Show based on toggle
+  refreshLaneTurnValueControl();
+  connect(lane_turn_desire_toggle, &ParamControlSP::toggleFlipped, this, &ModelsPanel::refreshLaneTurnValueControl);
+  connect(lane_turn_value_control, &OptionControlSP::updateLabels, this, &ModelsPanel::refreshLaneTurnValueControl);
+
   // LiveDelay toggle
   lagd_toggle_control = new ParamControlSP("LagdToggle", tr("Live Learning Steer Delay"), "", "../assets/offroad/icon_shell.png");
   lagd_toggle_control->showDescription();
@@ -159,6 +182,19 @@ QFrame* ModelsPanel::createModelDetailFrame(QWidget *parent, QString &typeName,
   return frame;
 }
 
+void ModelsPanel::refreshLaneTurnValueControl() {
+  if (!lane_turn_value_control) return;
+  float stored_mph = QString::fromStdString(params.get("LaneTurnValue")).toFloat();
+  bool is_metric = params.getBool("IsMetric");
+  QString unit = is_metric ? "km/h" : "mph";
+  float display_value = stored_mph;
+  if (is_metric) {
+    display_value = stored_mph * 1.609344f;
+  }
+  lane_turn_value_control->setLabel(QString::number(static_cast<int>(std::round(display_value))) + " " + unit);
+  lane_turn_value_control->setVisible(params.getBool("LaneTurnDesire"));
+}
+
 /**
  * @brief Updates the UI with bundle download progress information
  * Reads status from modelManagerSP cereal message and displays status for all models
@@ -439,6 +475,9 @@ void ModelsPanel::updateLabels() {
     delay_control->setLabel(QString::number(value, 'f', 2) + "s");
   }
 
+  // Update lane turn desire label and visibility
+  refreshLaneTurnValueControl();
+
   clearModelCacheBtn->setValue(QString::number(calculateCacheSize(), 'f', 2) + " MB");
 }
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
index 93edc4de1a3146..1906ebd2a09172 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
@@ -37,6 +37,7 @@ class ModelsPanel : public QWidget {
   void updateLabels();
   void handleCurrentModelLblBtnClicked();
   void handleBundleDownloadProgress();
+  void refreshLaneTurnValueControl();
   void showResetParamsDialog();
   QProgressBar* createProgressBar(QWidget *parent);
   QFrame* createModelDetailFrame(QWidget *parent, QString &typeName, QProgressBar *progressBar);
@@ -81,5 +82,6 @@ class ModelsPanel : public QWidget {
   Params params;
   ButtonControlSP *clearModelCacheBtn;
   ButtonControlSP *refreshAvailableModelsBtn;
-
+  ParamControlSP *lane_turn_desire_toggle;
+  OptionControlSP *lane_turn_value_control;
 };
diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
index b94e166bc62566..3d11ed23f485f7 100755
--- a/sunnypilot/modeld/modeld.py
+++ b/sunnypilot/modeld/modeld.py
@@ -177,7 +177,7 @@ def main(demo=False):
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
   # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
@@ -304,6 +304,7 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
+      mdv2sp_send = messaging.new_message('modelDataV2SP')
       action = model.get_action_from_model(model_output, prev_action, long_delay + DT_MDL)
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen,
@@ -316,6 +317,7 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 
@@ -323,6 +325,7 @@ def main(demo=False):
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
+      pm.send('modelDataV2SP', mdv2sp_send)
 
     last_vipc_frame_id = meta_main.frame_id
 
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index 1a420e6f1adbb8..bf89bc98d626a5 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -202,7 +202,7 @@ def main(demo=False):
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
   # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
@@ -322,6 +322,7 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
+      mdv2sp_send = messaging.new_message('modelDataV2SP')
 
       action = model.get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
@@ -336,6 +337,7 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 
@@ -343,6 +345,7 @@ def main(demo=False):
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
+      pm.send('modelDataV2SP', mdv2sp_send)
     last_vipc_frame_id = meta_main.frame_id
 
 
diff --git a/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py b/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
new file mode 100644
index 00000000000000..00ce026abb8068
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
@@ -0,0 +1,45 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from cereal import custom
+
+from openpilot.common.constants import CV
+from openpilot.common.params import Params
+
+LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
+
+
+class LaneTurnController:
+  def __init__(self, desire_helper):
+    self.DH = desire_helper
+    self.turn_direction = custom.TurnDirection.none
+    self.params = Params()
+    self.lane_turn_value = float(self.params.get("LaneTurnValue", return_default=True)) * CV.MPH_TO_MS
+    self.param_read_counter = 0
+    self.enabled = self.params.get_bool("LaneTurnDesire")
+
+  def read_params(self):
+    self.enabled = self.params.get_bool("LaneTurnDesire")
+    value = float(self.params.get("LaneTurnValue", return_default=True)) * CV.MPH_TO_MS
+    self.lane_turn_value = min(float(LANE_CHANGE_SPEED_MIN), value)
+
+  def update_params(self) -> None:
+    if self.param_read_counter % 50 == 0:
+      self.read_params()
+    self.param_read_counter += 1
+
+  def update_lane_turn(self, blindspot_left: bool, blindspot_right: bool, left_blinker: bool, right_blinker: bool, v_ego: float) -> None:
+    if left_blinker and not right_blinker and v_ego < self.lane_turn_value and not blindspot_left:
+      self.turn_direction = custom.TurnDirection.turnLeft
+    elif right_blinker and not left_blinker and v_ego < self.lane_turn_value and not blindspot_right:
+      self.turn_direction = custom.TurnDirection.turnRight
+    else:
+      self.turn_direction = custom.TurnDirection.none
+
+  def get_turn_direction(self):
+    if not self.enabled:
+      return custom.TurnDirection.none
+    return self.turn_direction
diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py b/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
new file mode 100644
index 00000000000000..5633ed6efc03df
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
@@ -0,0 +1,113 @@
+import pytest
+from cereal import log
+from openpilot.common.params import Params
+
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
+from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
+
+
+class TurnDirection:
+    none = 0
+    turnLeft = 1
+    turnRight = 2
+
+
+@pytest.mark.parametrize("left_blinker,right_blinker,v_ego,blindspot_left,blindspot_right,expected", [
+    (True, False, 5, False, False, TurnDirection.turnLeft),
+    (False, True, 6, False, False, TurnDirection.turnRight),
+    (True, False, 9, False, False, TurnDirection.none),
+    (True, False, 7, True, False, TurnDirection.none),
+    (False, True, 6, False, True, TurnDirection.none),
+    (False, False, 5, False, False, TurnDirection.none),
+    (True, True, 5, False, False, TurnDirection.none),
+])
+def test_lane_turn_desire_conditions(left_blinker, right_blinker, v_ego, blindspot_left, blindspot_right, expected):
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = True
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    controller.update_lane_turn(blindspot_left, blindspot_right, left_blinker, right_blinker, v_ego)
+    assert controller.get_turn_direction() == expected
+
+
+def test_lane_turn_desire_disabled():
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = False
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    controller.update_lane_turn(False, False, True, False, 7)
+    assert controller.get_turn_direction() == TurnDirection.none
+
+
+def test_lane_turn_overrides_lane_change():
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = True
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    # left turn desire
+    controller.update_lane_turn(False, False, True, False, 5)
+    assert controller.get_turn_direction() == TurnDirection.turnLeft
+    # right turn desire
+    controller.update_lane_turn(False, False, False, True, 6)
+    assert controller.get_turn_direction() == TurnDirection.turnRight
+    # no turn
+    controller.update_lane_turn(False, False, False, False, 7)
+    assert controller.get_turn_direction() == TurnDirection.none
+
+
+@pytest.mark.parametrize("v_ego,expected", [
+    (8.93, TurnDirection.turnLeft),   # just below threshold
+    (8.96, TurnDirection.none),       # above threshold
+    (8.95, TurnDirection.none),       # just above threshold
+])
+def test_lane_turn_desire_speed_boundary(v_ego, expected):
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = True
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    controller.update_lane_turn(False, True, True, False, v_ego)
+    assert controller.get_turn_direction() == expected
+
+
+class DummyCarState:
+    def __init__(self, vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+                 steeringPressed=False, steeringTorque=0, brakePressed=False):
+        self.vEgo = vEgo
+        self.leftBlinker = leftBlinker
+        self.rightBlinker = rightBlinker
+        self.leftBlindspot = leftBlindspot
+        self.rightBlindspot = rightBlindspot
+        self.steeringPressed = steeringPressed
+        self.steeringTorque = steeringTorque
+        self.brakePressed = brakePressed
+
+@pytest.fixture
+def set_lane_turn_params():
+    params = Params()
+    params.put("LaneTurnDesire", True)
+    params.put("LaneTurnValue", 20.0)
+
+@pytest.mark.parametrize("carstate, lateral_active, lane_change_prob, expected_desire", [
+    # Lane turn desire overrides lane change desire
+    (DummyCarState(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False), True, 1.0, log.Desire.turnLeft),
+    (DummyCarState(vEgo=7, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False), True, 1.0, log.Desire.turnRight),
+    # Lane change desire only (no turn desires)
+    (DummyCarState(vEgo=9, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+                   steeringPressed=True, steeringTorque=1), True, 1.0, log.Desire.laneChangeLeft),
+    (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False,
+                   steeringPressed=True, steeringTorque=-1), True, 1.0, log.Desire.laneChangeRight),
+    # No desire (inactive)
+    (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=False), False, 1.0, log.Desire.none),
+    (DummyCarState(vEgo=4, leftBlinker=False, rightBlinker=False), True, 1.0, log.Desire.none),  # No blinkers? no desire!
+])
+def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
+    dh = DesireHelper()
+    dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+    for _ in range(10):
+        dh.update(carstate, lateral_active, lane_change_prob)
+    assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py
index d81345a14e5b68..7c723397fb2c85 100644
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -132,6 +132,21 @@ def get_event_msg_type(self):
 
   EventNameSP.pedalPressedAlertOnly: {
     ET.WARNING: NoEntryAlert("Pedal Pressed")
-  }
+  },
 
+  EventNameSP.laneTurnLeft: {
+    ET.WARNING: Alert(
+      "Turning Left",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
+  },
+
+  EventNameSP.laneTurnRight: {
+    ET.WARNING: Alert(
+      "Turning Right",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
+  }
 }

From 288a5e14daf5bdb3948cf4de8aab96c62f1b9cca Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Wed, 3 Sep 2025 17:18:18 +0200
Subject: [PATCH 0397/1434] bugfix: streamline LiveDelay parameter loading with
 safe handling (#1204)

---
 .../qt/offroad/settings/models_panel.cc       | 49 ++++++++++---------
 1 file changed, 27 insertions(+), 22 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index 9e79aa220a3bf6..02a01a4b63c6d2 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -48,6 +48,25 @@ static const QString progressStyleError = progressStyleActive +
     "  background-color: transparent;"
     "}";
 
+std::optional<cereal::Event::Reader> safeParamEventLoad(Params& params, const std::string& paramName) {
+  std::string raw = params.get(paramName);
+  if (raw.empty()) {
+    return std::nullopt;
+  }
+
+  try {
+    AlignedBuffer alignedBuf;
+    auto buf = alignedBuf.align(raw.data(), raw.size());
+
+    capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(buf.begin(), buf.size()));
+    return msg.getRoot<cereal::Event>();
+  }
+  catch (const kj::Exception& e) {
+    qInfo() << "Invalid param" << QString::fromStdString(paramName) << ":" << e.getDescription().cStr();
+    return std::nullopt;
+  }
+}
+
 ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(50, 20, 50, 20);
@@ -134,17 +153,10 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
 
   // Software delay control
   int liveDelayMaxInt = 30;
-  std::string liveDelayBytes = params.get("LiveDelay");
-  if (!liveDelayBytes.empty()) {
-    capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-      reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
-      liveDelayBytes.size() / sizeof(capnp::word)));
-    auto event = msg.getRoot<cereal::Event>();
-    if (event.hasLiveDelay()) {
-      auto liveDelay = event.getLiveDelay();
-      float lateralDelay = liveDelay.getLateralDelay();
-      liveDelayMaxInt = static_cast<int>(lateralDelay * 100.0f) + 20;
-    }
+  if (const auto event = safeParamEventLoad(params, "LiveDelay"); event && event->hasLiveDelay()) {
+    auto liveDelay = event->getLiveDelay();
+    float lateralDelay = liveDelay.getLateralDelay();
+    liveDelayMaxInt = static_cast<int>(lateralDelay * 100.0f) + 20;
   }
   delay_control = new OptionControlSP("LagdToggleDelay", tr("Adjust Software Delay"),
                                      tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
@@ -437,18 +449,11 @@ void ModelsPanel::updateLabels() {
                    "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.");
   bool lagdEnabled = params.getBool("LagdToggle");
   if (lagdEnabled) {
-    std::string liveDelayBytes = params.get("LiveDelay");
-    if (!liveDelayBytes.empty()) {
-      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-        reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
-        liveDelayBytes.size() / sizeof(capnp::word)));
-      auto event = msg.getRoot<cereal::Event>();
-      if (event.hasLiveDelay()) {
-        auto liveDelay = event.getLiveDelay();
-        float lateralDelay = liveDelay.getLateralDelay();
-        desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
+    if (const auto event = safeParamEventLoad(params, "LiveDelay"); event && event->hasLiveDelay()) {
+      auto liveDelay = event->getLiveDelay();
+      float lateralDelay = liveDelay.getLateralDelay();
+      desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
                 .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
-      }
     }
   } else {
     std::string carParamsBytes = params.get("CarParamsPersistent");

From 0593667601a86a9ae39a4127ac048a518d9235e8 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Thu, 4 Sep 2025 14:44:42 +0200
Subject: [PATCH 0398/1434] bugfix: improve error handling in model fetching
 process (SUN-87) (#1205)

* bugfix: improve error handling in model fetching process

* cleanup

* bugfix: refine error handling in model fetching process
---
 sunnypilot/models/fetcher.py | 42 +++++++++++++++++++++++++-----------
 1 file changed, 30 insertions(+), 12 deletions(-)

diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 358c65fe3448e5..e681d150b3a479 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -8,6 +8,7 @@
 import time
 
 import requests
+from requests.exceptions import (SSLError, RequestException, HTTPError)
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from sunnypilot.models.helpers import is_bundle_version_compatible
@@ -122,19 +123,36 @@ def __init__(self, params: Params):
     self.model_cache = ModelCache(params)
     self.model_parser = ModelParser()
 
-  def _fetch_and_cache_models(self) -> list[custom.ModelManagerSP.ModelBundle]:
-    """Fetches fresh model data from remote and updates cache"""
+  def _fetch_and_cache_models(self) -> list[custom.ModelManagerSP.ModelBundle] | None:
+    """Fetches fresh model data from remote and updates cache.
+    Returns None on transport errors. Raises on 404 and other fatal HTTP errors.
+    """
     try:
       response = requests.get(self.MODEL_URL, timeout=10)
+
+      # Explicitly handle 404 differently
+      if response.status_code == 404:
+        cloudlog.error(f"Models URL returned 404 Not Found: {self.MODEL_URL}")
+        raise HTTPError(f"404 Not Found: {self.MODEL_URL}", response=response)
+
+      # Raise for any other 4xx/5xx
       response.raise_for_status()
-      json_data = response.json()
 
+      json_data = response.json()
       self.model_cache.set(json_data)
       cloudlog.debug("Successfully updated models cache")
       return self.model_parser.parse_models(json_data)
-    except Exception:
-      cloudlog.exception("Error fetching models")
-      raise
+
+    except ConnectionError as e:
+      cloudlog.warning(f"DNS/connection error while fetching models: {e}")
+    except SSLError as e:
+      cloudlog.warning(f"SSL error while fetching models: {e}")
+    except RequestException as e:
+      cloudlog.exception(f"Request transport error while fetching models: {e}")
+    except Exception as e:
+      cloudlog.exception(f"Unexpected error fetching models: {e}")
+
+    return None
 
   def get_available_bundles(self) -> list[custom.ModelManagerSP.ModelBundle]:
     """Gets the list of available models, with smart cache handling"""
@@ -144,12 +162,12 @@ def get_available_bundles(self) -> list[custom.ModelManagerSP.ModelBundle]:
       cloudlog.debug("Using valid cached models data")
       return self.model_parser.parse_models(cached_data)
 
-    try:
-      return self._fetch_and_cache_models()
-    except Exception:
-      if not cached_data:
-        cloudlog.exception("Failed to fetch fresh data and no cache available")
-        raise
+    fetched_bundles = self._fetch_and_cache_models()
+    if fetched_bundles is not None:
+      return fetched_bundles
+
+    if not cached_data:
+      cloudlog.warning("Failed to fetch fresh data and no cache available")
 
     cloudlog.warning("Failed to fetch fresh data. Using expired cache as fallback")
     return self.model_parser.parse_models(cached_data)

From 8ccb777192535be10e072eba45db4c05c134fc5a Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Thu, 4 Sep 2025 14:45:03 +0200
Subject: [PATCH 0399/1434] bugfix: improve exception handling for sunnylinkd
 (SUN-89) (#1207)

* bugfix: improve exception handling for WebSocket connections in sunnylinkd

* bugfix: enhance exception handling for WebSocket connections in sunnylinkd

* bugfix: improve OSError handling in sunnylinkd for better error reporting
---
 sunnypilot/sunnylink/athena/sunnylinkd.py | 37 +++++++++++++++--------
 1 file changed, 25 insertions(+), 12 deletions(-)

diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index 90eae1dfe8eca7..a9204d54e6b613 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -3,6 +3,7 @@
 from __future__ import annotations
 
 import base64
+import errno
 import gzip
 import os
 import ssl
@@ -17,7 +18,7 @@
 from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \
   recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim, upload_handler
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
-                       create_connection)
+                       create_connection, WebSocketConnectionClosedException)
 
 import cereal.messaging as messaging
 from sunnypilot.sunnylink.api import SunnylinkApi
@@ -107,10 +108,13 @@ def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
     except WebSocketTimeoutException:
       ns_since_last_ping = int(time.monotonic() * 1e9) - last_ping
       if ns_since_last_ping > SUNNYLINK_RECONNECT_TIMEOUT_S * 1e9:
-        cloudlog.exception("sunnylinkd.ws_recv.timeout")
+        cloudlog.warning("sunnylinkd.ws_recv.timeout")
         end_event.set()
-    except Exception:
-      cloudlog.exception("sunnylinkd.ws_recv.exception")
+    except Exception as e:
+      if isinstance(e, WebSocketConnectionClosedException):
+        cloudlog.warning(f"sunnylinkd.ws_recv.{type(e).__name__}")
+      else:
+        cloudlog.exception("sunnylinkd.ws_recv.exception")
       end_event.set()
 
 
@@ -137,11 +141,15 @@ def ws_queue(end_event: threading.Event) -> None:
         sunnylink_api.resume_queued(timeout=29)
         resume_requested = True
         tries = 0
-    except Exception:
-      cloudlog.exception("sunnylinkd.ws_queue.resume_queued.exception")
+    except Exception as e:
+      if isinstance(e, (ConnectionError, TimeoutError)):
+        cloudlog.warning(f"sunnylinkd.ws_queue.resume_queued.{type(e).__name__}")
+      else:
+        cloudlog.exception("sunnylinkd.ws_queue.resume_queued.exception")
+
       resume_requested = False
       tries += 1
-      time.sleep(backoff(tries))  # Wait for the backoff time before the next attempt
+      time.sleep(backoff(tries))
 
   if end_event.is_set():
     cloudlog.debug("end_event is set, exiting ws_queue thread")
@@ -252,14 +260,19 @@ def main(exit_event: threading.Event = None):
       handle_long_poll(ws, exit_event)
     except (KeyboardInterrupt, SystemExit):
       break
-    except (ConnectionError, TimeoutError, WebSocketException):
+    except Exception as e:
       conn_retries += 1
       params.remove("LastSunnylinkPingTime")
-    except Exception:
-      cloudlog.exception("sunnylinkd.main.exception")
 
-      conn_retries += 1
-      params.remove("LastSunnylinkPingTime")
+      if isinstance(e, (ConnectionError, TimeoutError, WebSocketException)):
+        cloudlog.warning(f"sunnylinkd.main.{type(e).__name__}")
+      elif isinstance(e, OSError):
+        name = errno.errorcode.get(e.errno or -1, "UNKNOWN")
+        msg = f"sunnylinkd.main.OSError.{name} ({e.errno})"
+        is_expected_error = e.errno in (errno.ENETDOWN, errno.ENETRESET, errno.ENETUNREACH)
+        cloudlog.warning(msg) if is_expected_error else cloudlog.exception(msg)
+      else:
+        cloudlog.exception("sunnylinkd.main.exception")
 
     time.sleep(backoff(conn_retries))
 

From 0871abcf55947d9567da152d42424cc28fca6742 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Thu, 4 Sep 2025 14:45:37 +0200
Subject: [PATCH 0400/1434] bugfix: fix fetching params for sunnylink and
 backup (#1177)

* Hotfix for the params stuff until I rework this properly and leverage the new data types

* Revert "Hotfix for the params stuff until I rework this properly and leverage the new data types"

This reverts commit c6031b29d92d3ff5b679ffce3ba53611bb2dba0e.

* refactor: enhance getParams function to support JSON and bytes types with optional compression

* refactor: add TODO for enhancing server support of metadata in sunnylinkd.py

* lint and clean

* refactor: update value handling in getParams to return decoded values for JSON serialization

* refactor: simplify params_dict initialization by removing type hint

* refactor: update response handling in getParams to include JSON serialization of params

* refactor: update response handling in getParams to include JSON serialization of params

* Add to dic types

* refactor: extract get_param_as_byte function for improved parameter handling and fix backup inconsistencies

* cleanup

* ensure error propagates on backup fail
---
 sunnypilot/sunnylink/athena/sunnylinkd.py | 27 ++++++++++++++---------
 sunnypilot/sunnylink/backups/manager.py   | 10 ++++++---
 sunnypilot/sunnylink/utils.py             | 15 ++++++++++++-
 3 files changed, 38 insertions(+), 14 deletions(-)

diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index a9204d54e6b613..363fa1defcc5f1 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -5,6 +5,7 @@
 import base64
 import errno
 import gzip
+import json
 import os
 import ssl
 import threading
@@ -22,7 +23,7 @@
 
 import cereal.messaging as messaging
 from sunnypilot.sunnylink.api import SunnylinkApi
-from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready
+from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte
 
 SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://ws.stg.api.sunnypilot.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
@@ -179,16 +180,22 @@ def getParamsAllKeys() -> list[str]:
 
 @dispatcher.add_method
 def getParams(params_keys: list[str], compression: bool = False) -> str | dict[str, str]:
-  try:
-    params = Params()
-    params_dict: dict[str, bytes] = {key: params.get(key) or b'' for key in params_keys}
-
-    # Compress the values before encoding to base64 as output from params.get is bytes and same for compression
-    if compression:
-      params_dict = {key: gzip.compress(value) for key, value in params_dict.items()}
+  params = Params()
 
-    # Last step is to encode the values to base64 and decode to utf-8 for JSON serialization
-    return {key: base64.b64encode(value).decode('utf-8') for key, value in params_dict.items()}
+  try:
+    param_keys_validated = [key for key in params_keys if key in getParamsAllKeys()]
+    params_dict:  dict[str, list[dict[str, str | bool | int ]]] = {"params": [
+      {
+        "key": key,
+        "value": base64.b64encode(gzip.compress(get_param_as_byte(key)) if compression else get_param_as_byte(key)).decode('utf-8'),
+        "type": int(params.get_type(key).value),
+        "is_compressed": compression
+      } for key in param_keys_validated
+    ]}
+
+    response = {str(param.get('key')): str(param.get('value')) for param in params_dict.get("params", [])}
+    response |= {"params": json.dumps(params_dict.get("params", []))} # Upcoming for settings v1
+    return response
 
   except Exception as e:
     cloudlog.exception("sunnylinkd.getParams.exception", e)
diff --git a/sunnypilot/sunnylink/backups/manager.py b/sunnypilot/sunnylink/backups/manager.py
index f98088a1fb01b2..315300c73c3fc9 100644
--- a/sunnypilot/sunnylink/backups/manager.py
+++ b/sunnypilot/sunnylink/backups/manager.py
@@ -20,6 +20,7 @@
 from cereal import messaging, custom
 from sunnypilot.sunnylink.api import SunnylinkApi
 from sunnypilot.sunnylink.backups.utils import decrypt_compressed_data, encrypt_compress_data, SnakeCaseEncoder
+from sunnypilot.sunnylink.utils import get_param_as_byte
 
 
 class OperationType(Enum):
@@ -74,7 +75,7 @@ def _collect_config_data(self) -> dict[str, Any]:
     config_data = {}
     params_to_backup = [k.decode('utf-8') for k in self.params.all_keys(ParamKeyFlag.BACKUP)]
     for param in params_to_backup:
-      value = str(self.params.get(param)).encode('utf-8')
+      value = get_param_as_byte(param)
       if value is not None:
         config_data[param] = base64.b64encode(value).decode('utf-8')
     return config_data
@@ -113,6 +114,7 @@ async def create_backup(self) -> bool:
       payload = json.loads(json.dumps(backup_info.to_dict(), cls=SnakeCaseEncoder))
       self._update_progress(75.0, OperationType.BACKUP)
 
+      cloudlog.debug(f"Uploading backup with payload: {json.dumps(payload)}")
       # Upload to sunnylink
       result = self.api.api_get(
         f"backup/{self.device_id}",
@@ -124,9 +126,11 @@ async def create_backup(self) -> bool:
       if result:
         self.backup_status = custom.BackupManagerSP.Status.completed
         self._update_progress(100.0, OperationType.BACKUP)
+        cloudlog.info("Backup successfully created and uploaded")
       else:
         self.backup_status = custom.BackupManagerSP.Status.failed
         self.last_error = "Failed to upload backup"
+        cloudlog.error(result)
         self._report_status()
 
       return bool(self.backup_status == custom.BackupManagerSP.Status.completed)
@@ -264,8 +268,8 @@ async def main_thread(self) -> None:
         # Check for backup command
         if self.params.get_bool("BackupManager_CreateBackup"):
           try:
-            await self.create_backup()
-            reset_progress = True
+            if await self.create_backup():
+              reset_progress = True
           finally:
             self.params.remove("BackupManager_CreateBackup")
 
diff --git a/sunnypilot/sunnylink/utils.py b/sunnypilot/sunnylink/utils.py
index 35714eafe3db72..569afd26b65b91 100644
--- a/sunnypilot/sunnylink/utils.py
+++ b/sunnypilot/sunnylink/utils.py
@@ -1,5 +1,6 @@
+import json
 from sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID
-from openpilot.common.params import Params
+from openpilot.common.params import Params, ParamKeyType
 from openpilot.system.version import is_prebuilt
 
 
@@ -55,3 +56,15 @@ def get_api_token():
   sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
   token = sunnylink_api.get_token()
   print(f"API Token: {token}")
+
+
+def get_param_as_byte(param_name: str) -> bytes:
+  params = Params()
+  param = params.get(param_name)
+  param_type = params.get_type(param_name)
+
+  if param_type == ParamKeyType.BYTES:
+    return bytes(param)
+  elif param_type == ParamKeyType.JSON:
+    return json.dumps(param).encode('utf-8')
+  return str(param).encode('utf-8')

From 0cd2bbf6c0065992a4eddec6f2cdbaa6f3a73829 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Thu, 4 Sep 2025 10:08:51 -0400
Subject: [PATCH 0401/1434] [bot] Update Python packages (#1201)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 opendbc_repo |   2 +-
 panda        |   2 +-
 uv.lock      | 248 ++++++++++++++++++++++++++++-----------------------
 3 files changed, 137 insertions(+), 115 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 004fa8df07479c..42bbd450b90b01 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 004fa8df07479ceb205691e0689b42180270c45b
+Subproject commit 42bbd450b90b01c4f7f82fef324bea06341b1a54
diff --git a/panda b/panda
index f10ddc6a899534..7eab6fd61bae08 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit f10ddc6a89953440a15deec6352fff1d406a627a
+Subproject commit 7eab6fd61bae085e0fd44cccb79dc6451163029e
diff --git a/uv.lock b/uv.lock
index 7010cdfb836f45..e6bfbb2048787a 100644
--- a/uv.lock
+++ b/uv.lock
@@ -510,27 +510,27 @@ wheels = [
 
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+version = "3.10.6"
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 dependencies = [
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 [[package]]

From ee0fb6bf8ecc1b470317eebd2e09ca0c2ec6d9ee Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 4 Sep 2025 14:19:31 -0400
Subject: [PATCH 0402/1434] Revert "[bot] Update Python packages" (#1211)

Revert "[bot] Update Python packages (#1201)"

This reverts commit 0cd2bbf6c0065992a4eddec6f2cdbaa6f3a73829.
---
 opendbc_repo |   2 +-
 panda        |   2 +-
 uv.lock      | 248 +++++++++++++++++++++++----------------------------
 3 files changed, 115 insertions(+), 137 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 42bbd450b90b01..004fa8df07479c 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 42bbd450b90b01c4f7f82fef324bea06341b1a54
+Subproject commit 004fa8df07479ceb205691e0689b42180270c45b
diff --git a/panda b/panda
index 7eab6fd61bae08..f10ddc6a899534 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 7eab6fd61bae085e0fd44cccb79dc6451163029e
+Subproject commit f10ddc6a89953440a15deec6352fff1d406a627a
diff --git a/uv.lock b/uv.lock
index e6bfbb2048787a..7010cdfb836f45 100644
--- a/uv.lock
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 ]
 
 [[package]]

From 220cfff04d28fceda9c2a258579240d679825918 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 4 Sep 2025 14:29:11 -0400
Subject: [PATCH 0403/1434] ci: skip uv lock upgrade on forks (#1213)

---
 .github/workflows/repo-maintenance.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 14b4d904e33ae6..49dae937470751 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -43,6 +43,7 @@ jobs:
       with:
         submodules: true
     - name: uv lock
+      if: github.repository == 'commaai/openpilot'
       run: |
         python3 -m ensurepip --upgrade
         pip3 install uv

From fd7295c980b95c2120c4ccdc9651ee60e1532211 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Thu, 4 Sep 2025 14:31:01 -0400
Subject: [PATCH 0404/1434] [bot] Update Python packages (#1214)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 opendbc_repo | 2 +-
 panda        | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 004fa8df07479c..42bbd450b90b01 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 004fa8df07479ceb205691e0689b42180270c45b
+Subproject commit 42bbd450b90b01c4f7f82fef324bea06341b1a54
diff --git a/panda b/panda
index f10ddc6a899534..7eab6fd61bae08 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit f10ddc6a89953440a15deec6352fff1d406a627a
+Subproject commit 7eab6fd61bae085e0fd44cccb79dc6451163029e

From daf5ea27839a2275795a93a0d1dd0c01fde2e18e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 4 Sep 2025 22:10:08 -0400
Subject: [PATCH 0405/1434] update: remove git cleanup in finalized stage
 (#1210)

* updater: remove git cleanup in finalized stage for quicker updates

* nah
---
 system/updated/updated.py | 10 ----------
 1 file changed, 10 deletions(-)

diff --git a/system/updated/updated.py b/system/updated/updated.py
index 11928bc24c8a7e..dfeaf88cbd1354 100755
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -7,7 +7,6 @@
 import shutil
 import signal
 import fcntl
-import time
 import threading
 from collections import defaultdict
 from pathlib import Path
@@ -190,15 +189,6 @@ def finalize_update() -> None:
   run(["git", "reset", "--hard"], FINALIZED)
   run(["git", "submodule", "foreach", "--recursive", "git", "reset", "--hard"], FINALIZED)
 
-  cloudlog.info("Starting git cleanup in finalized update")
-  t = time.monotonic()
-  try:
-    run(["git", "gc"], FINALIZED)
-    run(["git", "lfs", "prune"], FINALIZED)
-    cloudlog.event("Done git cleanup", duration=time.monotonic() - t)
-  except subprocess.CalledProcessError:
-    cloudlog.exception(f"Failed git cleanup, took {time.monotonic() - t:.3f} s")
-
   set_consistent_flag(True)
   cloudlog.info("done finalizing overlay")
 

From 31918c067afac602c7b13ef7d2d2dfbfb1a75dda Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 4 Sep 2025 22:22:48 -0400
Subject: [PATCH 0406/1434] events: add `sunnypilot/openpilot` to remote origin
 check (#1216)

events: add sunnypilot/openpilot to remote origin check
---
 system/version.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/system/version.py b/system/version.py
index 5aa8d0115fbda2..5e65a7c64b620d 100755
--- a/system/version.py
+++ b/system/version.py
@@ -85,7 +85,8 @@ def comma_remote(self) -> bool:
 
   @property
   def sunnypilot_remote(self) -> bool:
-    return self.git_normalized_origin == "github.com/sunnypilot/sunnypilot"
+    return self.git_normalized_origin in ("github.com/sunnypilot/sunnypilot",
+                                          "github.com/sunnypilot/openpilot")
 
   @property
   def git_normalized_origin(self) -> str:

From 29fe152bd366f17c83ddc9b9286bd52a9039c7d2 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Thu, 4 Sep 2025 19:26:59 -0700
Subject: [PATCH 0407/1434] modeld_v2: desire rename and add many parts from
 thneed modeld (#1197)

* Add model metadata lookup and update desire handling

* Bump selector version to 10

* meh

* Refactor shape mode parameters for desire handling in test buffer logic

* loop more models

* Refactor buffer handling for temporal inputs and streamline desire updates

* Refactor lateral control input handling and remove unused code
---
 sunnypilot/modeld_v2/modeld.py                |  48 ++++----
 .../tests/test_buffer_logic_inspect.py        | 109 ++++++++++--------
 sunnypilot/models/helpers.py                  |   2 +-
 3 files changed, 86 insertions(+), 73 deletions(-)

diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index bf89bc98d626a5..0fd45940d83538 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -27,7 +27,7 @@
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner
 
-PROCESS_NAME = "selfdrive.modeld.modeld"
+PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
 
 
 class FrameMeta:
@@ -77,42 +77,47 @@ def __init__(self, context: CLContext):
         self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
         # Temporal input: shape is [batch, history, features]
         if len(shape) == 3 and shape[1] > 1:
-          buffer_history_len = max(100, (shape[1] * 4 if shape[1] < 100 else shape[1]))   # Allow for higher history buffers in the future
+          buffer_history_len = shape[1] * 4 if shape[1] < 99 else shape[1]  # Allow for higher history buffers in the future
           feature_len = shape[2]
-          self.temporal_buffers[key] = np.zeros((1, buffer_history_len, feature_len), dtype=np.float32)
           features_buffer_shape = self.model_runner.input_shapes.get('features_buffer')
           if shape[1] in (24, 25) and features_buffer_shape is not None and features_buffer_shape[1] == 24:  # 20Hz
+            buffer_history_len = (features_buffer_shape[1] + 1) * 4
             step = int(-buffer_history_len / shape[1])
             self.temporal_idxs_map[key] = np.arange(step, step * (shape[1] + 1), step)[::-1]
           elif shape[1] == 25:  # Split
             skip = buffer_history_len // shape[1]
             self.temporal_idxs_map[key] = np.arange(buffer_history_len)[-1 - (skip * (shape[1] - 1))::skip]
-          elif shape[1] == buffer_history_len:  # non20hz
-            self.temporal_idxs_map[key] = np.arange(buffer_history_len)
+          elif shape[1] >= 99:  # non20hz
+            self.temporal_idxs_map[key] = np.arange(shape[1])
+          self.temporal_buffers[key] = np.zeros((1, buffer_history_len, feature_len), dtype=np.float32)
 
   @property
   def mlsim(self) -> bool:
     return bool(self.generation is not None and self.generation >= 11)
 
+  @property
+  def desire_key(self) -> str:
+    return next(key for key in self.numpy_inputs if key.startswith('desire'))
+
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire'][0] = 0
-    new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
-    self.prev_desire[:] = inputs['desire']
-    self.temporal_buffers['desire'][0,:-1] = self.temporal_buffers['desire'][0,1:]
-    self.temporal_buffers['desire'][0,-1] = new_desire
+    inputs[self.desire_key][0] = 0
+    new_desire = np.where(inputs[self.desire_key] - self.prev_desire > .99, inputs[self.desire_key], 0)
+    self.prev_desire[:] = inputs[self.desire_key]
+    self.temporal_buffers[self.desire_key][0,:-1] = self.temporal_buffers[self.desire_key][0,1:]
+    self.temporal_buffers[self.desire_key][0,-1] = new_desire
 
     # Roll buffer and assign based on desire.shape[1] value
-    if self.temporal_buffers['desire'].shape[1] > self.numpy_inputs['desire'].shape[1]:
-      skip = self.temporal_buffers['desire'].shape[1] // self.numpy_inputs['desire'].shape[1]
-      self.numpy_inputs['desire'][:] = (
-        self.temporal_buffers['desire'][0].reshape(self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], skip, -1).max(axis=2))
+    if self.temporal_buffers[self.desire_key].shape[1] > self.numpy_inputs[self.desire_key].shape[1]:
+      skip = self.temporal_buffers[self.desire_key].shape[1] // self.numpy_inputs[self.desire_key].shape[1]
+      self.numpy_inputs[self.desire_key][:] = (self.temporal_buffers[self.desire_key][0].reshape(
+                                               self.numpy_inputs[self.desire_key].shape[0], self.numpy_inputs[self.desire_key].shape[1], skip, -1).max(axis=2))
     else:
-      self.numpy_inputs['desire'][:] = self.temporal_buffers['desire'][0, self.temporal_idxs_map['desire']]
+      self.numpy_inputs[self.desire_key][:] = self.temporal_buffers[self.desire_key][0, self.temporal_idxs_map[self.desire_key]]
 
     for key in self.numpy_inputs:
-      if key in inputs and key not in ['desire']:
+      if key in inputs and key not in [self.desire_key]:
         self.numpy_inputs[key][:] = inputs[key]
 
     imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.model_runner.vision_input_names}
@@ -156,10 +161,11 @@ def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
 
     desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.mlsim)
-    if v_ego > self.MIN_LAT_CONTROL_SPEED:
-      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
-    else:
-      desired_curvature = prev_action.desiredCurvature
+    if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
+      if v_ego > self.MIN_LAT_CONTROL_SPEED:
+        desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
+      else:
+        desired_curvature = prev_action.desiredCurvature
 
     return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),desiredAcceleration=float(desired_accel), shouldStop=bool(should_stop))
 
@@ -306,7 +312,7 @@ def main(demo=False):
     bufs = {name: buf_extra if 'big' in name else buf_main for name in model.model_runner.vision_input_names}
     transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.model_runner.vision_input_names}
     inputs:dict[str, np.ndarray] = {
-      'desire': vec_desire,
+      model.desire_key: vec_desire,
       'traffic_convention': traffic_convention,
     }
 
diff --git a/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py b/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py
index 8a0cfd97c8b9d8..f664db31b3d01c 100644
--- a/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py
+++ b/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py
@@ -8,12 +8,16 @@
 
 ModelState = modeld_module.ModelState
 
-
 # These are the shapes extracted/loaded from the model onnx
 SHAPE_MODE_PARAMS = [
-  ({'desire': (1, 25, 8), 'features_buffer': (1, 25, 512), 'prev_desired_curv': (1, 25, 1)}, 'split'),
-  ({'desire': (1, 25, 8), 'features_buffer': (1, 24, 512), 'prev_desired_curv': (1, 25, 1)}, '20hz'),
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1)}, 'non20hz'),
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "nav_features": (1, 256), "nav_instructions": (1, 150)}, 'non20hz'), # Optimus Prime
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "lat_planner_state": (1, 4),}, 'non20hz'), # farmville
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "lateral_control_params": (1, 2), "prev_desired_curv": (1, 100, 1)}, 'non20hz'), # wd40
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1), "lateral_control_params": (1, 2),}, 'non20hz'), # NTS
+  ({'desire': (1, 25, 8), 'features_buffer': (1, 24, 512)}, '20hz'), # NPR
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1), "lateral_control_params": (1, 2),}, 'non20hz'), # NTS
+  ({'desire': (1, 25, 8), 'features_buffer': (1, 25, 512)}, 'split'), # Steam Powered v2
+  ({'desire_pulse': (1, 25, 8), 'features_buffer': (1, 25, 512)}, 'split'), # desire rename
 ]
 
 
@@ -95,9 +99,7 @@ def get_expected_indices(shape, constants, mode, key=None):
     idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
     return idxs
   elif mode == 'non20hz':
-    if key and shape[1] == constants.FULL_HISTORY_BUFFER_LEN:
-      return np.arange(constants.FULL_HISTORY_BUFFER_LEN)
-    return None
+    return np.arange(shape[1])
   return None
 
 
@@ -108,6 +110,8 @@ def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
   for key in shapes:
     buf = state.temporal_buffers.get(key, None)
     idxs = state.temporal_idxs_map.get(key, None)
+    if buf is None:
+      continue    # not all shapes are 3D, and the non-3D ones are not buffered
     # Buffer shape logic
     if mode == 'split':
       expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
@@ -116,10 +120,7 @@ def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
       expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
       expected_idxs = get_expected_indices(shapes[key], constants, '20hz', key)
     elif mode == 'non20hz':
-      if key == 'features_buffer':
-        expected_shape = (1, shapes[key][1]*4, shapes[key][2])
-      else:
-        expected_shape = (1, shapes[key][1], shapes[key][2])
+      expected_shape = (1, shapes[key][1], shapes[key][2])
       expected_idxs = get_expected_indices(shapes[key], constants, 'non20hz', key)
 
     assert buf is not None, f"{key}: buffer not found"
@@ -130,10 +131,10 @@ def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
       assert idxs is None or idxs.size == 0, f"{key}: buffer idxs should be None or empty"
 
 
-def legacy_buffer_update(buf, new_val, mode, key, constants, idxs):
+def legacy_buffer_update(buf, new_val, mode, key, constants, idxs, input_shape, prev_desire=None):
   # This is what we compare the new dynamic logic to, to ensure it does the same thing
   if mode == 'split':
-    if key == 'desire':
+    if key == 'desire' or key.startswith('desire'):
       buf[0,:-1] = buf[0,1:]
       buf[0,-1] = new_val
       return buf.reshape((1, constants.INPUT_HISTORY_BUFFER_LEN, constants.TEMPORAL_SKIP, -1)).max(axis=2)
@@ -173,15 +174,22 @@ def legacy_buffer_update(buf, new_val, mode, key, constants, idxs):
       return legacy_buf[idxs]
   elif mode == 'non20hz':
     if key == 'desire':
-      length = new_val.shape[0]
-      buf[0,:-1,:length] = buf[0,1:,:length]
-      buf[0,-1,:length] = new_val[:length]
+      desire_len = constants.DESIRE_LEN
+      if prev_desire is None:
+        prev_desire = np.zeros(desire_len, dtype=np.float32)
+      # Set first element to zero
+      new_val = new_val.copy()
+      new_val[0] = 0
+      # Shift buffer by desire len
+      buf[0][:-desire_len] = buf[0][desire_len:]
+      # Only insert new desire if rising edge
+      buf[0][-desire_len:] = np.where(new_val - prev_desire > 0.99, new_val, 0)
+      prev_desire[:] = new_val
       return buf[0]
     elif key == 'features_buffer':
-      feature_len = new_val.shape[0]
-      buf[0,:-1,:feature_len] = buf[0,1:,:feature_len]
-      buf[0,-1,:feature_len] = new_val[:feature_len]
-      return buf[0]
+      buf[0, :-1] = buf[0, 1:]
+      buf[0, -1] = new_val
+      return buf[0, -input_shape[1]:]  # (99, 512)
     elif key == 'prev_desired_curv':
       length = new_val.shape[0]
       buf[0,:-length,0] = buf[0,length:,0]
@@ -191,32 +199,18 @@ def legacy_buffer_update(buf, new_val, mode, key, constants, idxs):
 
 
 def dynamic_buffer_update(state, key, new_val, mode):
-  if key == 'desire':
-    state.temporal_buffers['desire'][0,:-1] = state.temporal_buffers['desire'][0,1:]
-    state.temporal_buffers['desire'][0,-1] = new_val
-    if state.temporal_buffers['desire'].shape[1] > state.numpy_inputs['desire'].shape[1]:
-      skip = state.temporal_buffers['desire'].shape[1] // state.numpy_inputs['desire'].shape[1]
-      return state.temporal_buffers['desire'][0].reshape(
-        state.numpy_inputs['desire'].shape[0], state.numpy_inputs['desire'].shape[1], skip, -1
-      ).max(axis=2)
-    else:
-      return state.temporal_buffers['desire'][0, state.temporal_idxs_map['desire']]
-
-  inputs = {'desire': np.zeros((1, state.constants.DESIRE_LEN), dtype=np.float32)}
-  for k, tb in state.temporal_buffers.items():
-    if k in state.temporal_idxs_map:
-      continue
-    buf_len = tb.shape[1]
-    if k in state.numpy_inputs:
-      out_len = state.numpy_inputs[k].shape[1]
-      if out_len <= buf_len:
-        state.temporal_idxs_map[k] = np.arange(buf_len)[-out_len:]
-      else:
-        state.temporal_idxs_map[k] = np.arange(buf_len)
-    else:
-      state.temporal_idxs_map[k] = np.arange(buf_len)
+  if key == 'desire' or key.startswith('desire'):
+    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
+              for k, v in state.model_runner.input_shapes.items() if k != key}
+    inputs[key] = new_val.copy()
+    # ModelState.run expects desire as a pulse, so we zero the first element.
+    inputs[key][0] = 0
+    state.run({}, {}, inputs, prepare_only=False)
+    return state.numpy_inputs[key]
 
   if key == 'features_buffer':
+    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
+              for k, v in state.model_runner.input_shapes.items() if k != 'features_buffer'}
     def run_model_stub():
       return {
         'hidden_state': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
@@ -226,6 +220,8 @@ def run_model_stub():
     return state.numpy_inputs['features_buffer'][0]
 
   if key == 'prev_desired_curv':
+    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
+              for k, v in state.model_runner.input_shapes.items() if k != 'prev_desired_curv'}
     def run_model_stub():
       return {
         'hidden_state': np.zeros((1, state.constants.FEATURE_LEN), dtype=np.float32),
@@ -241,16 +237,27 @@ def run_model_stub():
 @pytest.mark.parametrize("key", ["desire", "features_buffer", "prev_desired_curv"])
 def test_buffer_update_equivalence(shapes, mode, key, apply_patches):
   state = ModelState(None)
+  if key == "desire":
+    desire_keys = [k for k in shapes.keys() if k.startswith('desire')]
+    if desire_keys:
+      actual_key = desire_keys[0]  # Use the first (and likely only) desire key
+  else:
+    actual_key = key
+
+  if actual_key not in state.numpy_inputs:
+    pytest.skip()
+
   constants = DummyModelRunner(shapes).constants
-  buf = state.temporal_buffers.get(key, None)
-  idxs = state.temporal_idxs_map.get(key, None)
-  input_shape = shapes[key]
+  buf = state.temporal_buffers.get(actual_key, None)
+  idxs = state.temporal_idxs_map.get(actual_key, None)
+  input_shape = shapes[actual_key]
+  prev_desire = np.zeros(constants.DESIRE_LEN, dtype=np.float32) if key == 'desire' else None
+
   for step in range(20):    # multiple steps to ensure history is built up
     new_val = np.full((input_shape[2],), step, dtype=np.float32)
-    expected = legacy_buffer_update(buf, new_val, mode, key, constants, idxs)
-    actual = dynamic_buffer_update(state, key, new_val, mode)
-    # Model returns the reduced numpy_inputs history, compare the last n entries so the test is checking the same slices.
+    expected = legacy_buffer_update(buf, new_val, mode, actual_key, constants, idxs, input_shape, prev_desire)
+    actual = dynamic_buffer_update(state, actual_key, new_val, mode)
     if expected is not None and actual is not None and expected.shape != actual.shape:
       if expected.ndim == 2 and actual.ndim == 2 and expected.shape[1] == actual.shape[1]:
         expected = expected[-actual.shape[0]:]
-    assert np.allclose(actual, expected), f"{mode} {key}: dynamic buffer update does not match legacy logic"
+    assert np.allclose(actual, expected), f"{mode} {actual_key}: dynamic buffer update does not match legacy logic"
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index 79241cd83104f7..ecf0a39b72a230 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -19,7 +19,7 @@
 from pathlib import Path
 
 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 9
+CURRENT_SELECTOR_VERSION = 10
 REQUIRED_MIN_SELECTOR_VERSION = 9
 
 USE_ONNX = os.getenv('USE_ONNX', PC)

From 7d4df73ea5bb0557a0c50b681fdf60ea3e7b306e Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Fri, 5 Sep 2025 14:42:08 +0200
Subject: [PATCH 0408/1434] hotfix: model fetcher warning instead of exception
 when fetching fail

---
 sunnypilot/models/fetcher.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index e681d150b3a479..3be6e0b46c9da3 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -148,7 +148,7 @@ def _fetch_and_cache_models(self) -> list[custom.ModelManagerSP.ModelBundle] | N
     except SSLError as e:
       cloudlog.warning(f"SSL error while fetching models: {e}")
     except RequestException as e:
-      cloudlog.exception(f"Request transport error while fetching models: {e}")
+      cloudlog.warning(f"Request transport error while fetching models: {e}")
     except Exception as e:
       cloudlog.exception(f"Unexpected error fetching models: {e}")
 

From 7057c5741908df51079fefe23b7305109f4df8f7 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 5 Sep 2025 20:51:58 -0400
Subject: [PATCH 0409/1434] ui: cleanup cereal event params parsing (#1219)

* Revert "bugfix: streamline LiveDelay parameter loading with safe handling (#1204)"

This reverts commit 288a5e14daf5bdb3948cf4de8aab96c62f1b9cca.

* ui: use AlignedBuffer for cereal data processing for Models panel

* align

* separate

* split

* event it

* no more backup

* Revert "no more backup"

This reverts commit fa66ce5e774db6832a0cf3a32ff6fb6803cf0df1.
---
 .../qt/offroad/settings/models_panel.cc       | 58 ++++++-------------
 .../qt/offroad/settings/models_panel.h        |  1 +
 selfdrive/ui/sunnypilot/qt/util.cc            | 13 +++++
 selfdrive/ui/sunnypilot/qt/util.h             |  3 +
 4 files changed, 34 insertions(+), 41 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index 02a01a4b63c6d2..c3f795e18c4027 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -48,25 +48,6 @@ static const QString progressStyleError = progressStyleActive +
     "  background-color: transparent;"
     "}";
 
-std::optional<cereal::Event::Reader> safeParamEventLoad(Params& params, const std::string& paramName) {
-  std::string raw = params.get(paramName);
-  if (raw.empty()) {
-    return std::nullopt;
-  }
-
-  try {
-    AlignedBuffer alignedBuf;
-    auto buf = alignedBuf.align(raw.data(), raw.size());
-
-    capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(buf.begin(), buf.size()));
-    return msg.getRoot<cereal::Event>();
-  }
-  catch (const kj::Exception& e) {
-    qInfo() << "Invalid param" << QString::fromStdString(paramName) << ":" << e.getDescription().cStr();
-    return std::nullopt;
-  }
-}
-
 ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(50, 20, 50, 20);
@@ -152,16 +133,10 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   list->addItem(lagd_toggle_control);
 
   // Software delay control
-  int liveDelayMaxInt = 30;
-  if (const auto event = safeParamEventLoad(params, "LiveDelay"); event && event->hasLiveDelay()) {
-    auto liveDelay = event->getLiveDelay();
-    float lateralDelay = liveDelay.getLateralDelay();
-    liveDelayMaxInt = static_cast<int>(lateralDelay * 100.0f) + 20;
-  }
   delay_control = new OptionControlSP("LagdToggleDelay", tr("Adjust Software Delay"),
-                                     tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
-                                        "\nThe default software delay value is 0.2"),
-                                     "", {5, liveDelayMaxInt}, 1, false, nullptr, true, true);
+                                      tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
+                                         "\nThe default software delay value is 0.2"),
+                                      "", {5, 50}, 1, false, nullptr, true, true);
 
   connect(delay_control, &OptionControlSP::updateLabels, [=]() {
     float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
@@ -449,27 +424,28 @@ void ModelsPanel::updateLabels() {
                    "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.");
   bool lagdEnabled = params.getBool("LagdToggle");
   if (lagdEnabled) {
-    if (const auto event = safeParamEventLoad(params, "LiveDelay"); event && event->hasLiveDelay()) {
-      auto liveDelay = event->getLiveDelay();
-      float lateralDelay = liveDelay.getLateralDelay();
+    auto liveDelayBytes = params.get("LiveDelay");
+    if (!liveDelayBytes.empty()) {
+      auto LD = loadCerealEvent(params, "LiveDelay");
+      float lateralDelay = LD->getLiveDelay().getLateralDelay();
       desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
-                .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
+              .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
     }
   } else {
-    std::string carParamsBytes = params.get("CarParamsPersistent");
+    auto carParamsBytes = params.get("CarParamsPersistent");
     if (!carParamsBytes.empty()) {
-      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-        reinterpret_cast<const capnp::word*>(carParamsBytes.data()),
-        carParamsBytes.size() / sizeof(capnp::word)));
-      auto carParams = msg.getRoot<cereal::CarParams>();
-      float steerDelay = carParams.getSteerActuatorDelay();
+      AlignedBuffer aligned_buf_cp;
+      capnp::FlatArrayMessageReader cmsg(aligned_buf_cp.align(carParamsBytes.data(), carParamsBytes.size()));
+      cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+      float steerDelay = CP.getSteerActuatorDelay();
       float softwareDelay = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
       float totalLag = steerDelay + softwareDelay;
       desc += QString("<br><br><span style=\"color:#e0e0e0\">"
                       "<b>%1</b> %2 s + <b>%3</b> %4 s = <b>%5</b> %6 s</span>")
-           .arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
-                tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
-                tr("Total Delay:"), QString::number(totalLag, 'f', 2));
+             .arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
+                  tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
+                  tr("Total Delay:"), QString::number(totalLag, 'f', 2));
     }
   }
   lagd_toggle_control->setDescription(desc);
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
index 1906ebd2a09172..1a39800dde07b9 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
@@ -9,6 +9,7 @@
 
 #include <QProgressBar>
 
+#include "selfdrive/ui/sunnypilot/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
 class ModelsPanel : public QWidget {
diff --git a/selfdrive/ui/sunnypilot/qt/util.cc b/selfdrive/ui/sunnypilot/qt/util.cc
index ca85935d0b23ab..2e066e88b52e10 100644
--- a/selfdrive/ui/sunnypilot/qt/util.cc
+++ b/selfdrive/ui/sunnypilot/qt/util.cc
@@ -110,3 +110,16 @@ QStringList searchFromList(const QString &query, const QStringList &list) {
   }
   return search_results;
 }
+
+std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param) {
+  std::string bytes = params.get(_param);
+
+  try {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(bytes.data(), bytes.size()));
+    return cmsg.getRoot<cereal::Event>();
+  } catch (kj::Exception& e) {
+    qInfo() << "invalid " << QString::fromStdString(_param) << ":" << e.getDescription().cStr();
+    return std::nullopt;
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/util.h b/selfdrive/ui/sunnypilot/qt/util.h
index 089b5370cc270d..4b9d615ce5f55d 100644
--- a/selfdrive/ui/sunnypilot/qt/util.h
+++ b/selfdrive/ui/sunnypilot/qt/util.h
@@ -15,8 +15,11 @@
 #include <QRegularExpression>
 #include <QWidget>
 
+#include "selfdrive/ui/sunnypilot/ui.h"
+
 QString getUserAgent(bool sunnylink = false);
 std::optional<QString> getSunnylinkDongleId();
 std::optional<QString> getParamIgnoringDefault(const std::string &param_name, const std::string &default_value);
 QMap<QString, QVariantMap> loadPlatformList();
 QStringList searchFromList(const QString &query, const QStringList &list);
+std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param);

From b161764b1e9a4152c9641b3a4168c7e88960e59e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 6 Sep 2025 15:26:32 -0400
Subject: [PATCH 0410/1434] update: sunnypilot branch migrations for tici
 (#1212)

* update: sunnypilot branch migrations for tici

* block onroad and notify

* type

* check channel type

* update

* ui init

* no search and locked list for tici

* whenever available
---
 common/params_keys.h                          |  1 +
 selfdrive/selfdrived/alerts_offroad.json      |  5 ++++
 .../qt/offroad/settings/software_panel.cc     | 29 ++++++++++++++++++-
 system/hardware/hardwared.py                  | 12 +++++++-
 system/updated/updated.py                     |  6 ++--
 system/version.py                             | 11 ++++++-
 6 files changed, 57 insertions(+), 7 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index e0af53b2999998..afb6b348ebce75 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -154,6 +154,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
     {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
diff --git a/selfdrive/selfdrived/alerts_offroad.json b/selfdrive/selfdrived/alerts_offroad.json
index 183c1f8547e1cf..87a007211f2915 100644
--- a/selfdrive/selfdrived/alerts_offroad.json
+++ b/selfdrive/selfdrived/alerts_offroad.json
@@ -49,5 +49,10 @@
     "text": "openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting.",
     "severity": 1,
     "_comment": "Set extra field to lateral or longitudinal."
+  },
+  "Offroad_TiciSupport": {
+    "text": "<b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three.",
+    "severity": 1,
+    "_comment": "Set extra field to the current branch name."
   }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
index a1961cb1eafb44..8bdb7703f2d882 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
@@ -11,12 +11,39 @@ SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) {
   // branch selector
   QObject::disconnect(targetBranchBtn, nullptr, nullptr, nullptr);
   connect(targetBranchBtn, &ButtonControlSP::clicked, [=]() {
-    InputDialog d(tr("Search Branch"), this, tr("Enter search keywords, or leave blank to list all branches."), false);
+    if (Hardware::get_device_type() == cereal::InitData::DeviceType::TICI) {
+      auto current = params.get("GitBranch");
+      QStringList allBranches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(",");
+      QStringList branches;
+      for (const QString &b : allBranches) {
+        if (b.endsWith("-tici")) {
+          branches.append(b);
+        }
+      }
+
+      for (QString b : {current.c_str(), "master-tici", "staging-tici", "release-tici"}) {
+        auto i = branches.indexOf(b);
+        if (i >= 0) {
+          branches.removeAt(i);
+          branches.insert(0, b);
+        }
+      }
+
+      QString cur = QString::fromStdString(params.get("UpdaterTargetBranch"));
+      QString selection = MultiOptionDialog::getSelection(tr("Select a branch"), branches, cur, this);
+      if (!selection.isEmpty()) {
+        params.put("UpdaterTargetBranch", selection.toStdString());
+        targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch")));
+        checkForUpdates();
+      }
+    } else {
+      InputDialog d(tr("Search Branch"), this, tr("Enter search keywords, or leave blank to list all branches."), false);
       d.setMinLength(0);
       const int ret = d.exec();
       if (ret) {
         searchBranches(d.text());
       }
+    }
   });
 
   // Disable Updates toggle
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index d702334fa87074..af011541445c77 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -24,7 +24,7 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.power_monitoring import PowerMonitoring
 from openpilot.system.hardware.fan_controller import TiciFanController
-from openpilot.system.version import terms_version, training_version
+from openpilot.system.version import terms_version, training_version, get_build_metadata
 
 ThermalStatus = log.DeviceState.ThermalStatus
 NetworkType = log.DeviceState.NetworkType
@@ -326,6 +326,16 @@ def hardware_thread(end_event, hw_queue) -> None:
     startup_conditions["not_always_offroad"] = not offroad_mode
     onroad_conditions["not_always_offroad"] = not offroad_mode
 
+    # if an unsupported device and branch is detected, going onroad is blocked
+    # only allow going onroad when:
+    # - TIZI, or
+    # - TICI and channel_type is "tici"
+    build_metadata = get_build_metadata()
+    is_unsupported_combo = TICI and build_metadata.channel_type != "tici"
+    startup_conditions["not_tici"] = not is_unsupported_combo
+    onroad_conditions["not_tici"] = not is_unsupported_combo
+    set_offroad_alert("Offroad_TiciSupport", is_unsupported_combo, extra_text=build_metadata.channel)
+
     # if the temperature enters the danger zone, go offroad to cool down
     onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
     extra_text = f"{offroad_comp_temp:.1f}C"
diff --git a/system/updated/updated.py b/system/updated/updated.py
index dfeaf88cbd1354..7ab9e070dc4988 100755
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -18,7 +18,7 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.system.hardware import AGNOS, HARDWARE
-from openpilot.system.version import get_build_metadata
+from openpilot.system.version import get_build_metadata, SP_BRANCH_MIGRATIONS
 
 LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock")
 STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging")
@@ -232,9 +232,7 @@ def target_branch(self) -> str:
     b: str | None = self.params.get("UpdaterTargetBranch")
     if b is None:
       b = self.get_branch(BASEDIR)
-    b = {
-      ("tici", "release3"): "release-tici"
-    }.get((HARDWARE.get_device_type(), b), b)
+    b = SP_BRANCH_MIGRATIONS.get((HARDWARE.get_device_type(), b), b)
     return b
 
   @property
diff --git a/system/version.py b/system/version.py
index 5e65a7c64b620d..87044b84a8506e 100755
--- a/system/version.py
+++ b/system/version.py
@@ -16,6 +16,13 @@
 RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly'] + RELEASE_SP_BRANCHES
 TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + TESTED_SP_BRANCHES
 
+SP_BRANCH_MIGRATIONS = {
+  ("tici", "staging-c3-new"): "staging-tici",
+  ("tici", "dev-c3-new"): "staging-tici",
+  ("tici", "master"): "master-tici",
+  ("tici", "master-dev-c3-new"): "master-tici",
+}
+
 BUILD_METADATA_FILENAME = "build.json"
 
 training_version: str = "0.2.0"
@@ -128,7 +135,9 @@ def development_channel(self) -> bool:
 
   @property
   def channel_type(self) -> str:
-    if self.development_channel:
+    if self.channel.endswith("-tici"):
+      return "tici"
+    elif self.development_channel:
       return "development"
     elif self.channel.startswith("staging-"):
       return "staging"

From 3a91ae08a9ebc4d051a7c226e6c869c1a81c0d37 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 6 Sep 2025 18:03:16 -0400
Subject: [PATCH 0411/1434] update: actually detect device type as TICI (#1221)

---
 system/hardware/hardwared.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index af011541445c77..df8ae23ab52b2f 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -331,7 +331,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     # - TIZI, or
     # - TICI and channel_type is "tici"
     build_metadata = get_build_metadata()
-    is_unsupported_combo = TICI and build_metadata.channel_type != "tici"
+    is_unsupported_combo = TICI and HARDWARE.get_device_type() == "tici" and build_metadata.channel_type != "tici"
     startup_conditions["not_tici"] = not is_unsupported_combo
     onroad_conditions["not_tici"] = not is_unsupported_combo
     set_offroad_alert("Offroad_TiciSupport", is_unsupported_combo, extra_text=build_metadata.channel)

From ff4d1923f05ca3978148ba3c8033a3bec9914972 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 6 Sep 2025 18:46:10 -0400
Subject: [PATCH 0412/1434] tici: fix staging root updates (#1223)

---
 sunnypilot/system/hardware/c3/launch_env.sh | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/sunnypilot/system/hardware/c3/launch_env.sh b/sunnypilot/system/hardware/c3/launch_env.sh
index 593aacc0780e5f..4c011c6ac0e8df 100755
--- a/sunnypilot/system/hardware/c3/launch_env.sh
+++ b/sunnypilot/system/hardware/c3/launch_env.sh
@@ -9,3 +9,5 @@ export VECLIB_MAXIMUM_THREADS=1
 if [ -z "$AGNOS_VERSION" ]; then
   export AGNOS_VERSION="12.8"
 fi
+
+export STAGING_ROOT="/data/safe_staging"

From 698e0ca00f53f8ed211aee698d48ace29302d57c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 7 Sep 2025 23:23:03 -0400
Subject: [PATCH 0413/1434] migration: new branch names (#1225)

* migration: new branch names

* more migration

* update channel type

* no more var

* update

* more

* more
---
 .github/workflows/auto_pr_review.yaml               |  8 ++++----
 .github/workflows/sunnypilot-build-prebuilt.yaml    |  6 +++---
 ...c3-prep.yaml => sunnypilot-master-dev-prep.yaml} | 12 ++++++------
 release/ci/squash_and_merge_prs.py                  |  2 +-
 system/version.py                                   | 13 ++++++++-----
 5 files changed, 22 insertions(+), 19 deletions(-)
 rename .github/workflows/{sunnypilot-master-dev-c3-prep.yaml => sunnypilot-master-dev-prep.yaml} (95%)

diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
index b9664b90668d6d..cedeee1741d213 100644
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -40,10 +40,10 @@ jobs:
     runs-on: ubuntu-latest
     if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
     env:
-      PR_LABEL: 'dev-c3'
+      PR_LABEL: 'dev'
       TRUST_FORK_PR_LABEL: 'trust-fork-pr'
     steps:
-      - name: Check if PR has dev-c3 label
+      - name: Check if PR has dev label
         id: check-labels
         uses: actions/github-script@v7
         with:
@@ -62,11 +62,11 @@ jobs:
             console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
             console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
             
-            core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
+            core.setOutput('has-dev', hasDevC3Label ? 'true' : 'false');
             core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
 
       - name: Remove trust-fork-pr label if present
-        if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
+        if: steps.check-labels.outputs.has-dev == 'true' && steps.check-labels.outputs.has-trust == 'true'
         uses: actions/github-script@v7
         with:
           github-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index d654f5ab46f0e7..00ae1e28bf517a 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -8,14 +8,14 @@ env:
   PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
   
   # Branch configurations
-  STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master' }} # vars are set on repo settings.
+  STAGING_SOURCE_BRANCH: 'master'
   
   # Runtime configuration
   SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
 
 on:
   push:
-    branches: [ master, master-dev-c3-new ]
+    branches: [ master, master-dev ]
     tags: [ 'release/*' ]
   pull_request_target:
     types: [ labeled ]
@@ -138,7 +138,7 @@ jobs:
           #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
           restore-keys: |
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_SOURCE_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
 
       - name: Set environment variables
diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-prep.yaml
similarity index 95%
rename from .github/workflows/sunnypilot-master-dev-c3-prep.yaml
rename to .github/workflows/sunnypilot-master-dev-prep.yaml
index d4c201824e8535..122755f2c4f042 100644
--- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-prep.yaml
@@ -1,9 +1,9 @@
-name: Build dev-c3-new
+name: Build dev
 
 env:
   DEFAULT_SOURCE_BRANCH: "master"
-  DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
-  PR_LABEL: "dev-c3"
+  DEFAULT_TARGET_BRANCH: "master-dev"
+  PR_LABEL: "dev"
   LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
   LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
 
@@ -25,7 +25,7 @@ on:
       target_branch:
         description: 'Target branch to reset and squash into'
         required: true
-        default: 'master-dev-c3-new'
+        default: 'master-dev'
         type: string
       cancel_in_progress:
         description: 'Cancel any in-progress runs of this workflow'
@@ -43,7 +43,7 @@ jobs:
     if: (
       (github.event_name == 'workflow_dispatch')
       || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev'))))
       )
     steps:
       - uses: actions/checkout@v4
@@ -55,7 +55,7 @@ jobs:
         uses: ./.github/workflows/wait-for-action # Path to where you place the action
         if: (
           (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev'))))
           )
         with:
           workflow: selfdrive_tests.yaml # The workflow file to monitor
diff --git a/release/ci/squash_and_merge_prs.py b/release/ci/squash_and_merge_prs.py
index 0f20f4f9001b80..24922288be87ce 100755
--- a/release/ci/squash_and_merge_prs.py
+++ b/release/ci/squash_and_merge_prs.py
@@ -14,7 +14,7 @@ def setup_argument_parser():
   parser.add_argument('--pr-data', type=str, help='PR data in JSON format')
   parser.add_argument('--source-branch', type=str, default='master',
                       help='Source branch for merging')
-  parser.add_argument('--target-branch', type=str, default='master-dev-c3-new-test',
+  parser.add_argument('--target-branch', type=str, default='master-dev-test',
                       help='Target branch for merging')
   parser.add_argument('--squash-script-path', type=str, required=True,
                       help='Path to the squash_and_merge.py script')
diff --git a/system/version.py b/system/version.py
index 87044b84a8506e..9719311b7ea4c5 100755
--- a/system/version.py
+++ b/system/version.py
@@ -10,8 +10,8 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date
 
-RELEASE_SP_BRANCHES = ['release-c3']
-TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new']
+RELEASE_SP_BRANCHES = ['release-c3', 'release']
+TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging']
 MASTER_SP_BRANCHES = ['master']
 RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly'] + RELEASE_SP_BRANCHES
 TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + TESTED_SP_BRANCHES
@@ -21,6 +21,9 @@
   ("tici", "dev-c3-new"): "staging-tici",
   ("tici", "master"): "master-tici",
   ("tici", "master-dev-c3-new"): "master-tici",
+  ("tizi", "staging-c3-new"): "staging",
+  ("tizi", "dev-c3-new"): "dev",
+  ("tizi", "master-dev-c3-new"): "master-dev",
 }
 
 BUILD_METADATA_FILENAME = "build.json"
@@ -131,7 +134,7 @@ def master_channel(self) -> bool:
 
   @property
   def development_channel(self) -> bool:
-    return self.channel.startswith("dev-") or self.channel.endswith("-prebuilt")
+    return self.channel == "dev" or self.channel.startswith("dev-") or self.channel.endswith("-prebuilt")
 
   @property
   def channel_type(self) -> str:
@@ -139,11 +142,11 @@ def channel_type(self) -> str:
       return "tici"
     elif self.development_channel:
       return "development"
-    elif self.channel.startswith("staging-"):
+    elif self.tested_channel:
       return "staging"
     elif self.master_channel:
       return "master"
-    elif self.tested_channel:
+    elif self.release_channel:
       return "release"
     else:
       return "feature"

From b7f8dd11a559f9cf7a427990e6d158d96a10a707 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Thu, 11 Sep 2025 21:44:43 +0200
Subject: [PATCH 0414/1434] SL: bugfix parameter handling in sunnylink restore
 and remote setting (#1234)

* refactor: improve parameter handling in sunnylink for robustness

- Updated `get_param_as_byte` to return `None` for nonexistent parameters.
- Enhanced param compression and encoding in `sunnylinkd`.

* refactor: centralize parameter restoration with new helper function

- Added `save_param_from_base64_encoded_string` to handle param decoding and saving.
- Updated backup manager and sunnylinkd to use the new method.
- Improved code readability and reduced duplication in parameter handling logic.

* don't bother

* clean
---
 sunnypilot/sunnylink/athena/sunnylinkd.py | 26 +++++++---------
 sunnypilot/sunnylink/backups/manager.py   | 29 +++--------------
 sunnypilot/sunnylink/utils.py             | 38 +++++++++++++++++++++--
 3 files changed, 53 insertions(+), 40 deletions(-)

diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index 363fa1defcc5f1..25a77c367b1194 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -23,7 +23,7 @@
 
 import cereal.messaging as messaging
 from sunnypilot.sunnylink.api import SunnylinkApi
-from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte
+from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
 
 SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://ws.stg.api.sunnypilot.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
@@ -184,14 +184,18 @@ def getParams(params_keys: list[str], compression: bool = False) -> str | dict[s
 
   try:
     param_keys_validated = [key for key in params_keys if key in getParamsAllKeys()]
-    params_dict:  dict[str, list[dict[str, str | bool | int ]]] = {"params": [
-      {
+    params_dict: dict[str, list[dict[str, str | bool | int]]] = {"params": []}
+    for key in param_keys_validated:
+      value = get_param_as_byte(key)
+      if value is None:
+        continue
+
+      params_dict["params"].append({
         "key": key,
-        "value": base64.b64encode(gzip.compress(get_param_as_byte(key)) if compression else get_param_as_byte(key)).decode('utf-8'),
+        "value": base64.b64encode(gzip.compress(value) if compression else value).decode('utf-8'),
         "type": int(params.get_type(key).value),
         "is_compressed": compression
-      } for key in param_keys_validated
-    ]}
+      })
 
     response = {str(param.get('key')): str(param.get('value')) for param in params_dict.get("params", [])}
     response |= {"params": json.dumps(params_dict.get("params", []))} # Upcoming for settings v1
@@ -204,15 +208,9 @@ def getParams(params_keys: list[str], compression: bool = False) -> str | dict[s
 
 @dispatcher.add_method
 def saveParams(params_to_update: dict[str, str], compression: bool = False) -> None:
-  params = Params()
-  params_dict = {key: base64.b64decode(value) for key, value in params_to_update.items()}
-
-  if compression:
-    params_dict = {key: gzip.decompress(value) for key, value in params_dict.items()}
-
-  for key, value in params_dict.items():
+  for key, value in params_to_update.items():
     try:
-      params.put(key, value)
+      save_param_from_base64_encoded_string(key, value, compression)
     except Exception as e:
       cloudlog.error(f"sunnylinkd.saveParams.exception {e}")
 
diff --git a/sunnypilot/sunnylink/backups/manager.py b/sunnypilot/sunnylink/backups/manager.py
index 315300c73c3fc9..e52b547afeddc9 100644
--- a/sunnypilot/sunnylink/backups/manager.py
+++ b/sunnypilot/sunnylink/backups/manager.py
@@ -12,7 +12,7 @@
 from typing import Any
 
 from openpilot.common.git import get_branch
-from openpilot.common.params import Params, ParamKeyType, ParamKeyFlag
+from openpilot.common.params import Params, ParamKeyFlag
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_version
@@ -20,7 +20,7 @@
 from cereal import messaging, custom
 from sunnypilot.sunnylink.api import SunnylinkApi
 from sunnypilot.sunnylink.backups.utils import decrypt_compressed_data, encrypt_compress_data, SnakeCaseEncoder
-from sunnypilot.sunnylink.utils import get_param_as_byte
+from sunnypilot.sunnylink.utils import get_param_as_byte, save_param_from_base64_encoded_string
 
 
 class OperationType(Enum):
@@ -173,8 +173,7 @@ async def restore_backup(self, version: int | None = None) -> bool:
       self._update_progress(75.0, OperationType.RESTORE)
 
       # Apply configuration
-      all_values_encoded = self._get_metadata_value(backup_metadata, "all_values_encoded", "false")
-      self._apply_config(config_data, str(all_values_encoded).lower() == "true")
+      self._apply_config(config_data)
 
       self.restore_status = custom.BackupManagerSP.Status.completed
       self._update_progress(100.0, OperationType.RESTORE)
@@ -187,7 +186,7 @@ async def restore_backup(self, version: int | None = None) -> bool:
       self._report_status()
       return False
 
-  def _apply_config(self, config_data: dict[str, str], all_values_encoded: bool = False) -> None:
+  def _apply_config(self, config_data: dict[str, str]) -> None:
     """Applies configuration data from a backup, but only for parameters marked as backupable."""
     backupable_params = [k.decode('utf-8') for k in self.params.all_keys(ParamKeyFlag.BACKUP)]
     backupable_set_lower = {p.lower() for p in backupable_params}
@@ -199,26 +198,8 @@ def _apply_config(self, config_data: dict[str, str], all_values_encoded: bool =
       if param.lower() in backupable_set_lower:
         # Find real param name (with correct casing)
         real_param = next(p for p in backupable_params if p.lower() == param.lower())
-        param_type = self.params.get_type(real_param)
         try:
-          value = base64.b64decode(encoded_value) if all_values_encoded else encoded_value
-
-          if param_type != ParamKeyType.BYTES:
-            value = value.decode('utf-8')  # type: ignore
-
-          if param_type == ParamKeyType.STRING:
-            value = value
-          elif param_type == ParamKeyType.BOOL:
-            value = value.lower() in ('true', '1', 'yes')  # type: ignore
-          elif param_type == ParamKeyType.INT:
-            value = int(value)  # type: ignore
-          elif param_type == ParamKeyType.FLOAT:
-            value = float(value)  # type: ignore
-          elif param_type == ParamKeyType.TIME:
-            value = str(value)
-          elif param_type == ParamKeyType.JSON:
-            value = json.loads(value)
-          self.params.put(real_param, value)
+          save_param_from_base64_encoded_string(real_param, encoded_value)
           restored_count += 1
         except Exception as e:
           cloudlog.error(f"Failed to restore param {param}: {str(e)}")
diff --git a/sunnypilot/sunnylink/utils.py b/sunnypilot/sunnylink/utils.py
index 569afd26b65b91..1310b91f0e3405 100644
--- a/sunnypilot/sunnylink/utils.py
+++ b/sunnypilot/sunnylink/utils.py
@@ -1,3 +1,5 @@
+import base64
+import gzip
 import json
 from sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID
 from openpilot.common.params import Params, ParamKeyType
@@ -58,13 +60,45 @@ def get_api_token():
   print(f"API Token: {token}")
 
 
-def get_param_as_byte(param_name: str) -> bytes:
+def get_param_as_byte(param_name: str) -> bytes | None:
+  """Get a parameter as bytes. Returns None if the parameter does not exist."""
   params = Params()
   param = params.get(param_name)
-  param_type = params.get_type(param_name)
+  if param is None:
+    return None
 
+  param_type = params.get_type(param_name)
   if param_type == ParamKeyType.BYTES:
     return bytes(param)
   elif param_type == ParamKeyType.JSON:
     return json.dumps(param).encode('utf-8')
   return str(param).encode('utf-8')
+
+
+def save_param_from_base64_encoded_string(param_name: str, base64_encoded_data: str, is_compressed=False) -> None:
+  """Save a parameter from bytes. Overwrites the parameter if it already exists."""
+  params = Params()
+  # Find real param name (with correct casing)
+  param_type = params.get_type(param_name)
+  value = base64.b64decode(base64_encoded_data)
+
+  if is_compressed:
+    value = gzip.decompress(value)
+
+  # We convert to string anything that isn't bytes first. We later transform further.
+  if param_type != ParamKeyType.BYTES:
+    value = value.decode('utf-8')  # type: ignore
+
+  if param_type == ParamKeyType.STRING:
+    value = value
+  elif param_type == ParamKeyType.BOOL:
+    value = value.lower() in ('true', '1', 'yes')  # type: ignore
+  elif param_type == ParamKeyType.INT:
+    value = int(value)  # type: ignore
+  elif param_type == ParamKeyType.FLOAT:
+    value = float(value)  # type: ignore
+  elif param_type == ParamKeyType.TIME:
+    value = str(value)  # type: ignore
+  elif param_type == ParamKeyType.JSON:
+    value = json.loads(value)
+  params.put(param_name, value)

From 1bb4ca2547448f2189f67cb54db150e78bc4d487 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 12 Sep 2025 01:00:05 -0400
Subject: [PATCH 0415/1434] UI: Developer UI (#1233)

---
 common/params_keys.h                          |   1 +
 selfdrive/ui/qt/onroad/alerts.cc              |   9 +
 selfdrive/ui/qt/onroad/annotated_camera.h     |   1 +
 selfdrive/ui/qt/onroad/driver_monitoring.cc   |   5 +
 selfdrive/ui/sunnypilot/SConscript            |   1 +
 .../qt/offroad/settings/visuals_panel.cc      |  12 +
 .../qt/offroad/settings/visuals_panel.h       |   1 +
 .../sunnypilot/qt/onroad/annotated_camera.cc  |   5 +
 .../sunnypilot/qt/onroad/annotated_camera.h   |   3 +
 .../qt/onroad/developer_ui/developer_ui.cc    | 227 ++++++++++++++++++
 .../qt/onroad/developer_ui/developer_ui.h     |  31 +++
 .../qt/onroad/developer_ui/ui_elements.h      |  19 ++
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc      | 190 +++++++++++++++
 selfdrive/ui/sunnypilot/qt/onroad/hud.h       |  39 ++-
 selfdrive/ui/sunnypilot/ui.cc                 |  16 +-
 selfdrive/ui/sunnypilot/ui.h                  |   4 +
 selfdrive/ui/sunnypilot/ui_scene.h            |  12 +
 selfdrive/ui/ui.h                             |   5 +
 18 files changed, 578 insertions(+), 3 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h
 create mode 100644 selfdrive/ui/sunnypilot/ui_scene.h

diff --git a/common/params_keys.h b/common/params_keys.h
index afb6b348ebce75..fc7842720bdd32 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -146,6 +146,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
     {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
     {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
+    {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
     {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
diff --git a/selfdrive/ui/qt/onroad/alerts.cc b/selfdrive/ui/qt/onroad/alerts.cc
index d6829c6b08d156..2e8f3612eb274d 100644
--- a/selfdrive/ui/qt/onroad/alerts.cc
+++ b/selfdrive/ui/qt/onroad/alerts.cc
@@ -4,6 +4,9 @@
 #include <map>
 
 #include "selfdrive/ui/qt/util.h"
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/ui.h"
+#endif
 
 void OnroadAlerts::updateState(const UIState &s) {
   Alert a = getAlert(*(s.sm), s.scene.started_frame);
@@ -73,6 +76,12 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
   }
   QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
 
+#ifdef SUNNYPILOT
+  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
+  const int adjustment = dev_ui_info > 1 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 30 : 0;
+  r = QRect(0 + margin, height() - h + margin - adjustment, width() - margin*2, h - margin*2);
+#endif
+
   QPainter p(this);
 
   // draw background + gradient
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index e3ca837907803b..5d9d21ab6b368d 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -12,6 +12,7 @@
 #include "selfdrive/ui/sunnypilot/qt/onroad/model.h"
 #define ExperimentalButton ExperimentalButtonSP
 #define ModelRenderer ModelRendererSP
+#define HudRenderer HudRendererSP
 #else
 #include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/hud.h"
diff --git a/selfdrive/ui/qt/onroad/driver_monitoring.cc b/selfdrive/ui/qt/onroad/driver_monitoring.cc
index 49f2c950b49ba9..e67c483047ed8c 100644
--- a/selfdrive/ui/qt/onroad/driver_monitoring.cc
+++ b/selfdrive/ui/qt/onroad/driver_monitoring.cc
@@ -73,6 +73,11 @@ void DriverMonitorRenderer::draw(QPainter &painter, const QRect &surface_rect) {
   float y = surface_rect.height() - offset;
   float opacity = is_active ? 0.65f : 0.2f;
 
+#ifdef SUNNYPILOT
+  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
+  y -= dev_ui_info > 1 ? 50 : 0;
+#endif
+
   drawIcon(painter, QPoint(x, y), dm_img, QColor(0, 0, 0, 70), opacity);
 
   QPointF keypoints[std::size(DEFAULT_FACE_KPTS_3D)];
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 2f3c8ddd8db549..807bf024789e45 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -39,6 +39,7 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/visuals_panel.cc",
   "sunnypilot/qt/onroad/annotated_camera.cc",
   "sunnypilot/qt/onroad/buttons.cc",
+  "sunnypilot/qt/onroad/developer_ui/developer_ui.cc",
   "sunnypilot/qt/onroad/hud.cc",
   "sunnypilot/qt/onroad/model.cc",
   "sunnypilot/qt/onroad/onroad_home.cc",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
index dd2f05416d86d2..c3aaf12d2267e5 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -72,6 +72,15 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
   list->addItem(chevron_info_settings);
   param_watcher->addParam("ChevronInfo");
 
+  // Visuals: Developer UI Info (Dev UI)
+  std::vector<QString> dev_ui_settings_texts{tr("Off"), tr("Right"), tr("Right &&\nBottom")};
+  dev_ui_settings = new ButtonParamControlSP(
+    "DevUIInfo", tr("Developer UI"), tr("Display real-time parameters and metrics from various sources."),
+    "",
+    dev_ui_settings_texts,
+    380);
+  list->addItem(dev_ui_settings);
+
   sunnypilotScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(sunnypilotScroller);
 
@@ -90,4 +99,7 @@ void VisualsPanel::paramsRefresh() {
   if (chevron_info_settings) {
     chevron_info_settings->refresh();
   }
+  if (dev_ui_settings) {
+    dev_ui_settings->refresh();
+  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
index f342662c22f906..30ff31c3011830 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
@@ -28,4 +28,5 @@ class VisualsPanel : public QWidget {
  std::map<std::string, ParamControlSP*> toggles;
  ParamWatcher * param_watcher;
  ButtonParamControlSP *chevron_info_settings;
+ ButtonParamControlSP *dev_ui_settings;
 };
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc
index 3721a3d198b8ef..1d5567161a71bd 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc
@@ -14,3 +14,8 @@ AnnotatedCameraWidgetSP::AnnotatedCameraWidgetSP(VisionStreamType type, QWidget
 void AnnotatedCameraWidgetSP::updateState(const UIState &s) {
   AnnotatedCameraWidget::updateState(s);
 }
+
+void AnnotatedCameraWidgetSP::showEvent(QShowEvent *event) {
+  AnnotatedCameraWidget::showEvent(event);
+  ui_update_params_sp(uiState());
+}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h
index 46ce7d4be30ab5..8c0a385657b9ab 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h
@@ -15,4 +15,7 @@ class AnnotatedCameraWidgetSP : public AnnotatedCameraWidget {
 public:
   explicit AnnotatedCameraWidgetSP(VisionStreamType type, QWidget *parent = nullptr);
   void updateState(const UIState &s) override;
+
+protected:
+  void showEvent(QShowEvent *event) override;
 };
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.cc b/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.cc
new file mode 100644
index 00000000000000..292ba6f7bb3149
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.cc
@@ -0,0 +1,227 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+#include <cmath>
+
+#include "common/util.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"
+
+
+// Add Relative Distance to Primary Lead Car
+// Unit: Meters
+UiElement DeveloperUi::getDRel(bool lead_status, float lead_d_rel) {
+  QString value = lead_status ? QString::number(lead_d_rel, 'f', 0) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lead_status) {
+    // Orange if close, Red if very close
+    if (lead_d_rel < 5) {
+      color = QColor(255, 0, 0, 255);
+    } else if (lead_d_rel < 15) {
+      color = QColor(255, 188, 0, 255);
+    }
+  }
+
+  return UiElement(value, "REL DIST", "m", color);
+}
+
+// Add Relative Velocity vs Primary Lead Car
+// Unit: kph if metric, else mph
+UiElement DeveloperUi::getVRel(bool lead_status, float lead_v_rel, bool is_metric, const QString &speed_unit) {
+  QString value = lead_status ? QString::number(lead_v_rel * (is_metric ? MS_TO_KPH : MS_TO_MPH), 'f', 0) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lead_status) {
+    // Red if approaching faster than 10mph
+    // Orange if approaching (negative)
+    if (lead_v_rel < -4.4704) {
+      color = QColor(255, 0, 0, 255);
+    } else if (lead_v_rel < 0) {
+      color = QColor(255, 188, 0, 255);
+    }
+  }
+
+  return UiElement(value, "REL SPEED", speed_unit, color);
+}
+
+// Add Real Steering Angle
+// Unit: Degrees
+UiElement DeveloperUi::getSteeringAngleDeg(float angle_steers, bool lat_active, bool steer_override) {
+  QString value = QString("%1%2%3").arg(QString::number(angle_steers, 'f', 1)).arg("°").arg("");
+  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
+
+  // Red if large steering angle
+  // Orange if moderate steering angle
+  if (std::fabs(angle_steers) > 180) {
+    color = QColor(255, 0, 0, 255);
+  } else if (std::fabs(angle_steers) > 90) {
+    color = QColor(255, 188, 0, 255);
+  }
+
+  return UiElement(value, "REAL STEER", "", color);
+}
+
+// Add Actual Lateral Acceleration (roll compensated) when using Torque
+// Unit: m/s²
+UiElement DeveloperUi::getActualLateralAccel(float curvature, float v_ego, float roll, bool lat_active, bool steer_override) {
+  double actualLateralAccel = (curvature * pow(v_ego, 2)) - (roll * 9.81);
+
+  QString value = QString::number(actualLateralAccel, 'f', 2);
+  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "ACTUAL L.A.", "m/s²", color);
+}
+
+// Add Desired Steering Angle when using PID
+// Unit: Degrees
+UiElement DeveloperUi::getSteeringAngleDesiredDeg(bool lat_active, float steer_angle_desired, float angle_steers) {
+  QString value = lat_active ? QString("%1%2%3").arg(QString::number(steer_angle_desired, 'f', 1)).arg("°").arg("") : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lat_active) {
+    // Red if large steering angle
+    // Orange if moderate steering angle
+    if (std::fabs(angle_steers) > 180) {
+      color = QColor(255, 0, 0, 255);
+    } else if (std::fabs(angle_steers) > 90) {
+      color = QColor(255, 188, 0, 255);
+    } else {
+      color = QColor(0, 255, 0, 255);
+    }
+  }
+
+  return UiElement(value, "DESIRED STEER", "", color);
+}
+
+// Add Device Memory (RAM) Usage
+// Unit: Percent
+UiElement DeveloperUi::getMemoryUsagePercent(int memory_usage_percent) {
+  QString value = QString("%1%2").arg(QString::number(memory_usage_percent, 'd', 0)).arg("%");
+  QColor color = (memory_usage_percent > 85) ? QColor(255, 188, 0, 255) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "RAM", "", color);
+}
+
+// Add Vehicle Current Acceleration
+// Unit: m/s²
+UiElement DeveloperUi::getAEgo(float a_ego) {
+  QString value = QString::number(a_ego, 'f', 1);
+  QColor color = QColor(255, 255, 255, 255);
+
+  return UiElement(value, "ACC.", "m/s²", color);
+}
+
+// Add Relative Velocity to Primary Lead Car
+// Unit: kph if metric, else mph
+UiElement DeveloperUi::getVEgoLead(bool lead_status, float lead_v_rel, float v_ego, bool is_metric, const QString &speed_unit) {
+  QString value = lead_status ? QString::number((lead_v_rel + v_ego) * (is_metric ? MS_TO_KPH : MS_TO_MPH), 'f', 0) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lead_status) {
+    // Red if approaching faster than 10mph
+    // Orange if approaching (negative)
+    if (lead_v_rel < -4.4704) {
+      color = QColor(255, 0, 0, 255);
+    } else if (lead_v_rel < 0) {
+      color = QColor(255, 188, 0, 255);
+    }
+  }
+
+  return UiElement(value, "L.S.", speed_unit, color);
+}
+
+// Add Friction Coefficient Raw from torqued
+// Unit: None
+UiElement DeveloperUi::getFrictionCoefficientFiltered(float friction_coefficient_filtered, bool live_valid) {
+  QString value = QString::number(friction_coefficient_filtered, 'f', 3);
+  QColor color = live_valid ? QColor(0, 255, 0, 255) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "FRIC.", "", color);
+}
+
+// Add Lateral Acceleration Factor Raw from torqued
+// Unit: m/s²
+UiElement DeveloperUi::getLatAccelFactorFiltered(float lat_accel_factor_filtered, bool live_valid) {
+  QString value = QString::number(lat_accel_factor_filtered, 'f', 3);
+  QColor color = live_valid ? QColor(0, 255, 0, 255) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "L.A.", "m/s²", color);
+}
+
+// Add Steering Torque from Car EPS
+// Unit: Newton Meters
+UiElement DeveloperUi::getSteeringTorqueEps(float steering_torque_eps) {
+  QString value = QString::number(std::fabs(steering_torque_eps), 'f', 1);
+  QColor color = QColor(255, 255, 255, 255);
+
+  return UiElement(value, "E.T.", "N·dm", color);
+}
+
+// Add Bearing Degree and Direction from Car (Compass)
+// Unit: Meters
+UiElement DeveloperUi::getBearingDeg(float bearing_accuracy_deg, float bearing_deg) {
+  QString value = (bearing_accuracy_deg != 180.00) ? QString("%1%2%3").arg(QString::number(bearing_deg, 'd', 0)).arg("°").arg("") : "-";
+  QColor color = QColor(255, 255, 255, 255);
+  QString dir_value;
+
+  if (bearing_accuracy_deg != 180.00) {
+    if (((bearing_deg >= 337.5) && (bearing_deg <= 360)) || ((bearing_deg >= 0) && (bearing_deg <= 22.5))) {
+      dir_value = "N";
+    } else if ((bearing_deg > 22.5) && (bearing_deg < 67.5)) {
+      dir_value = "NE";
+    } else if ((bearing_deg >= 67.5) && (bearing_deg <= 112.5)) {
+      dir_value = "E";
+    } else if ((bearing_deg > 112.5) && (bearing_deg < 157.5)) {
+      dir_value = "SE";
+    } else if ((bearing_deg >= 157.5) && (bearing_deg <= 202.5)) {
+      dir_value = "S";
+    } else if ((bearing_deg > 202.5) && (bearing_deg < 247.5)) {
+      dir_value = "SW";
+    } else if ((bearing_deg >= 247.5) && (bearing_deg <= 292.5)) {
+      dir_value = "W";
+    } else if ((bearing_deg > 292.5) && (bearing_deg < 337.5)) {
+      dir_value = "NW";
+    }
+  } else {
+    dir_value = "OFF";
+  }
+
+  return UiElement(QString("%1 | %2").arg(dir_value).arg(value), "B.D.", "", color);
+}
+
+// Add Altitude of Current Location
+// Unit: Meters
+UiElement DeveloperUi::getAltitude(float gps_accuracy, float altitude) {
+  QString value = (gps_accuracy != 0.00) ? QString::number(altitude, 'f', 1) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  return UiElement(value, "ALT.", "m", color);
+}
+
+// Add Actuators Output
+// Unit: Degree (angle) or m/s² (torque)
+UiElement DeveloperUi::getActuatorsOutputLateral(cereal::CarParams::SteerControlType steerControlType,
+                                                 cereal::CarControl::Actuators::Reader &actuators,
+                                                 float desiredCurvature, float v_ego, float roll, bool lat_active, bool steer_override) {
+  QString label;
+  QString value;
+  QString unit;
+
+  if (steerControlType == cereal::CarParams::SteerControlType::ANGLE) {
+    label = "DESIRED STEER";
+    value = QString("%1%2%3").arg(QString::number(actuators.getSteeringAngleDeg(), 'f', 1)).arg("°").arg("");
+  } else {
+    label = "DESIRED L.A.";
+    double desiredLateralAccel = (desiredCurvature * pow(v_ego, 2)) - (roll * 9.81);
+    value = QString::number(desiredLateralAccel, 'f', 2);
+    unit = "m/s²";
+  }
+
+  value = lat_active ? value : "-";
+  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, label, unit, color);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h b/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h
new file mode 100644
index 00000000000000..0c5c472209ba1e
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h
@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+#pragma once
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h"
+
+class DeveloperUi {
+
+public:
+  static UiElement getDRel(bool lead_status, float lead_d_rel);
+  static UiElement getVRel(bool lead_status, float lead_v_rel, bool is_metric, const QString &speed_unit);
+  static UiElement getSteeringAngleDeg(float angle_steers, bool lat_active, bool steer_override);
+  static UiElement getActualLateralAccel(float curvature, float v_ego, float roll, bool lat_active, bool steer_override);
+  static UiElement getSteeringAngleDesiredDeg(bool lat_active, float steer_angle_desired, float angle_steers);
+  static UiElement getMemoryUsagePercent(int memory_usage_percent);
+  static UiElement getAEgo(float a_ego);
+  static UiElement getVEgoLead(bool lead_status, float lead_v_rel, float v_ego, bool is_metric, const QString &speed_unit);
+  static UiElement getFrictionCoefficientFiltered(float friction_coefficient_filtered, bool live_valid);
+  static UiElement getLatAccelFactorFiltered(float lat_accel_factor_filtered, bool live_valid);
+  static UiElement getSteeringTorqueEps(float steering_torque_eps);
+  static UiElement getBearingDeg(float bearing_accuracy_deg, float bearing_deg);
+  static UiElement getAltitude(float gps_accuracy, float altitude);
+  static UiElement getActuatorsOutputLateral(cereal::CarParams::SteerControlType steerControlType,
+                                             cereal::CarControl::Actuators::Reader &actuators,
+                                             float desiredCurvature, float v_ego, float roll, bool lat_active, bool steer_override);
+};
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h b/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h
new file mode 100644
index 00000000000000..3711e5ac05049a
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h
@@ -0,0 +1,19 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+#pragma once
+
+#include <QColor>
+
+struct UiElement {
+  QString value{};
+  QString label{};
+  QString units{};
+  QColor color{};
+
+  explicit UiElement(const QString &value = "", const QString &label = "", const QString &units = "", const QColor &color = QColor(255, 255, 255, 255))
+    : value(value), label(label), units(units), color(color) {}
+};
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 233ca59f98f336..15722cc9f8885f 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -7,12 +7,202 @@
 
 #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"
 
+#include "selfdrive/ui/qt/util.h"
+
+
 HudRendererSP::HudRendererSP() {}
 
 void HudRendererSP::updateState(const UIState &s) {
   HudRenderer::updateState(s);
+
+  const SubMaster &sm = *(s.sm);
+  const bool cs_alive = sm.alive("controlsState");
+  const auto cs = sm["controlsState"].getControlsState();
+  const auto car_state = sm["carState"].getCarState();
+  const auto car_control = sm["carControl"].getCarControl();
+  const auto radar_state = sm["radarState"].getRadarState();
+  const auto is_gps_location_external = sm.rcv_frame("gpsLocationExternal") > 1;
+  const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
+  const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
+  const auto car_params = sm["carParams"].getCarParams();
+
+  static int reverse_delay = 0;
+  bool reverse_allowed = false;
+  if (int(car_state.getGearShifter()) != 4) {
+    reverse_delay = 0;
+    reverse_allowed = false;
+  } else {
+    reverse_delay += 50;
+    if (reverse_delay >= 1000) {
+      reverse_allowed = true;
+    }
+  }
+
+  reversing = reverse_allowed;
+  is_metric = s.scene.is_metric;
+
+  // Handle older routes where vEgoCluster is not set
+  v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
+  float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
+  speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
+  speed *= is_metric ? MS_TO_KPH : MS_TO_MPH;
+
+  latActive = car_control.getLatActive();
+  steerOverride = car_state.getSteeringPressed();
+
+  devUiInfo = s.scene.dev_ui_info;
+
+  speedUnit = is_metric ? tr("km/h") : tr("mph");
+  lead_d_rel = radar_state.getLeadOne().getDRel();
+  lead_v_rel = radar_state.getLeadOne().getVRel();
+  lead_status = radar_state.getLeadOne().getStatus();
+  steerControlType = car_params.getSteerControlType();
+  actuators = car_control.getActuators();
+  torqueLateral = steerControlType == cereal::CarParams::SteerControlType::TORQUE;
+  angleSteers = car_state.getSteeringAngleDeg();
+  desiredCurvature = cs.getDesiredCurvature();
+  curvature = cs.getCurvature();
+  roll = sm["liveParameters"].getLiveParameters().getRoll();
+  memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
+  gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
+  altitude = gpsLocation.getAltitude();
+  vEgo = car_state.getVEgo();
+  aEgo = car_state.getAEgo();
+  steeringTorqueEps = car_state.getSteeringTorqueEps();
+  bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
+  bearingDeg = gpsLocation.getBearingDeg();
+  torquedUseParams = ltp.getUseParams();
+  latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
+  frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
+  liveValid = ltp.getLiveValid();
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
   HudRenderer::draw(p, surface_rect);
+  if (!reversing) {
+    // Bottom Dev UI
+    if (devUiInfo == 2) {
+      QRect rect_bottom(surface_rect.left(), surface_rect.bottom() - 60, surface_rect.width(), 61);
+      p.setPen(Qt::NoPen);
+      p.setBrush(QColor(0, 0, 0, 100));
+      p.drawRect(rect_bottom);
+      drawBottomDevUI(p, rect_bottom.left(), rect_bottom.center().y());
+    }
+
+    // Right Dev UI
+    if (devUiInfo != 0) {
+      QRect rect_right(surface_rect.right() - (UI_BORDER_SIZE * 2), UI_BORDER_SIZE * 1.5, 184, 170);
+      drawRightDevUI(p, surface_rect.right() - 184 - UI_BORDER_SIZE * 2, UI_BORDER_SIZE * 2 + rect_right.height());
+    }
+  }
+}
+
+void HudRendererSP::drawText(QPainter &p, int x, int y, const QString &text, QColor color) {
+  QRect real_rect = p.fontMetrics().boundingRect(text);
+  real_rect.moveCenter({x, y - real_rect.height() / 2});
+  p.setPen(color);
+  p.drawText(real_rect.x(), real_rect.bottom(), text);
+}
+
+int HudRendererSP::drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color) {
+
+  p.setFont(InterFont(28, QFont::Bold));
+  x += 92;
+  y += 80;
+  drawText(p, x, y, label);
+
+  p.setFont(InterFont(30 * 2, QFont::Bold));
+  y += 65;
+  drawText(p, x, y, value, color);
+
+  p.setFont(InterFont(28, QFont::Bold));
+
+  if (units.length() > 0) {
+    p.save();
+    x += 120;
+    y -= 25;
+    p.translate(x, y);
+    p.rotate(-90);
+    drawText(p, 0, 0, units);
+    p.restore();
+  }
+
+  return 130;
+}
+
+void HudRendererSP::drawRightDevUI(QPainter &p, int x, int y) {
+  int rh = 5;
+  int ry = y;
+
+  UiElement dRelElement = DeveloperUi::getDRel(lead_status, lead_d_rel);
+  rh += drawRightDevUIElement(p, x, ry, dRelElement.value, dRelElement.label, dRelElement.units, dRelElement.color);
+  ry = y + rh;
+
+  UiElement vRelElement = DeveloperUi::getVRel(lead_status, lead_v_rel, is_metric, speedUnit);
+  rh += drawRightDevUIElement(p, x, ry, vRelElement.value, vRelElement.label, vRelElement.units, vRelElement.color);
+  ry = y + rh;
+
+  UiElement steeringAngleDegElement = DeveloperUi::getSteeringAngleDeg(angleSteers, latActive, steerOverride);
+  rh += drawRightDevUIElement(p, x, ry, steeringAngleDegElement.value, steeringAngleDegElement.label, steeringAngleDegElement.units, steeringAngleDegElement.color);
+  ry = y + rh;
+
+  UiElement actuatorsOutputLateralElement = DeveloperUi::getActuatorsOutputLateral(steerControlType, actuators, desiredCurvature, vEgo, roll, latActive, steerOverride);
+  rh += drawRightDevUIElement(p, x, ry, actuatorsOutputLateralElement.value, actuatorsOutputLateralElement.label, actuatorsOutputLateralElement.units, actuatorsOutputLateralElement.color);
+  ry = y + rh;
+
+  UiElement actualLateralAccelElement = DeveloperUi::getActualLateralAccel(curvature, vEgo, roll, latActive, steerOverride);
+  rh += drawRightDevUIElement(p, x, ry, actualLateralAccelElement.value, actualLateralAccelElement.label, actualLateralAccelElement.units, actualLateralAccelElement.color);
+}
+
+int HudRendererSP::drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color) {
+  p.setFont(InterFont(38, QFont::Bold));
+  QFontMetrics fm(p.font());
+  QRect init_rect = fm.boundingRect(label + " ");
+  QRect real_rect = fm.boundingRect(init_rect, 0, label + " ");
+  real_rect.moveCenter({x, y});
+
+  QRect init_rect2 = fm.boundingRect(value);
+  QRect real_rect2 = fm.boundingRect(init_rect2, 0, value);
+  real_rect2.moveTop(real_rect.top());
+  real_rect2.moveLeft(real_rect.right() + 10);
+
+  QRect init_rect3 = fm.boundingRect(units);
+  QRect real_rect3 = fm.boundingRect(init_rect3, 0, units);
+  real_rect3.moveTop(real_rect.top());
+  real_rect3.moveLeft(real_rect2.right() + 10);
+
+  p.setPen(QColorConstants::White);
+  p.drawText(real_rect, Qt::AlignLeft | Qt::AlignVCenter, label);
+
+  p.setPen(color);
+  p.drawText(real_rect2, Qt::AlignRight | Qt::AlignVCenter, value);
+  p.drawText(real_rect3, Qt::AlignLeft | Qt::AlignVCenter, units);
+  return 430;
+}
+
+void HudRendererSP::drawBottomDevUI(QPainter &p, int x, int y) {
+  int rw = 90;
+
+  UiElement aEgoElement = DeveloperUi::getAEgo(aEgo);
+  rw += drawBottomDevUIElement(p, rw, y, aEgoElement.value, aEgoElement.label, aEgoElement.units, aEgoElement.color);
+
+  UiElement vEgoLeadElement = DeveloperUi::getVEgoLead(lead_status, lead_v_rel, vEgo, is_metric, speedUnit);
+  rw += drawBottomDevUIElement(p, rw, y, vEgoLeadElement.value, vEgoLeadElement.label, vEgoLeadElement.units, vEgoLeadElement.color);
+
+  if (torqueLateral && torquedUseParams) {
+    UiElement frictionCoefficientFilteredElement = DeveloperUi::getFrictionCoefficientFiltered(frictionCoefficientFiltered, liveValid);
+    rw += drawBottomDevUIElement(p, rw, y, frictionCoefficientFilteredElement.value, frictionCoefficientFilteredElement.label, frictionCoefficientFilteredElement.units, frictionCoefficientFilteredElement.color);
+
+    UiElement latAccelFactorFilteredElement = DeveloperUi::getLatAccelFactorFiltered(latAccelFactorFiltered, liveValid);
+    rw += drawBottomDevUIElement(p, rw, y, latAccelFactorFilteredElement.value, latAccelFactorFilteredElement.label, latAccelFactorFilteredElement.units, latAccelFactorFilteredElement.color);
+  } else {
+    UiElement steeringTorqueEpsElement = DeveloperUi::getSteeringTorqueEps(steeringTorqueEps);
+    rw += drawBottomDevUIElement(p, rw, y, steeringTorqueEpsElement.value, steeringTorqueEpsElement.label, steeringTorqueEpsElement.units, steeringTorqueEpsElement.color);
+
+    UiElement bearingDegElement = DeveloperUi::getBearingDeg(bearingAccuracyDeg, bearingDeg);
+    rw += drawBottomDevUIElement(p, rw, y, bearingDegElement.value, bearingDegElement.label, bearingDegElement.units, bearingDegElement.color);
+  }
+
+  UiElement altitudeElement = DeveloperUi::getAltitude(gpsAccuracy, altitude);
+  rw += drawBottomDevUIElement(p, rw, y, altitudeElement.value, altitudeElement.label, altitudeElement.units, altitudeElement.color);
 }
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index 1e98cd3a526a0f..d869d989dfd00a 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -7,9 +7,8 @@
 
 #pragma once
 
-#include <QPainter>
-
 #include "selfdrive/ui/qt/onroad/hud.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"
 
 class HudRendererSP : public HudRenderer {
   Q_OBJECT
@@ -18,4 +17,40 @@ class HudRendererSP : public HudRenderer {
   HudRendererSP();
   void updateState(const UIState &s) override;
   void draw(QPainter &p, const QRect &surface_rect) override;
+
+private:
+  Params params;
+  void drawText(QPainter &p, int x, int y, const QString &text, QColor color = QColorConstants::White);
+  void drawRightDevUI(QPainter &p, int x, int y);
+  int drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
+  int drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
+  void drawBottomDevUI(QPainter &p, int x, int y);
+
+  bool lead_status;
+  float lead_d_rel;
+  float lead_v_rel;
+  bool torqueLateral;
+  float angleSteers;
+  float desiredCurvature;
+  float curvature;
+  float roll;
+  int memoryUsagePercent;
+  int devUiInfo;
+  float gpsAccuracy;
+  float altitude;
+  float vEgo;
+  float aEgo;
+  float steeringTorqueEps;
+  float bearingAccuracyDeg;
+  float bearingDeg;
+  bool torquedUseParams;
+  float latAccelFactorFiltered;
+  float frictionCoefficientFiltered;
+  bool liveValid;
+  QString speedUnit;
+  bool latActive;
+  bool steerOverride;
+  bool reversing;
+  cereal::CarParams::SteerControlType steerControlType;
+  cereal::CarControl::Actuators::Reader actuators;
 };
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index b2701356cc9037..1277195df1d287 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -18,13 +18,22 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
-    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP"
+    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
+    "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
+    "carStateSP", "liveParameters"
   });
 
   // update timer
   timer = new QTimer(this);
   QObject::connect(timer, &QTimer::timeout, this, &UIStateSP::update);
   timer->start(1000 / UI_FREQ);
+
+  // Param watcher for UIScene param updates
+  param_watcher = new ParamWatcher(this);
+  connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
+    ui_update_params_sp(this);
+  });
+  param_watcher->addParam("DevUIInfo");
 }
 
 // This method overrides completely the update method from the parent class intentionally.
@@ -39,6 +48,11 @@ void UIStateSP::update() {
   emit uiUpdate(*this);
 }
 
+void ui_update_params_sp(UIStateSP *s) {
+  auto params = Params();
+  s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
+}
+
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
   QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &DeviceSP::update);
   QObject::connect(this, &Device::displayPowerChanged, this, &DeviceSP::handleDisplayPowerChanged);
diff --git a/selfdrive/ui/sunnypilot/ui.h b/selfdrive/ui/sunnypilot/ui.h
index cf8de1c4bbe5a9..393f997cbdf421 100644
--- a/selfdrive/ui/sunnypilot/ui.h
+++ b/selfdrive/ui/sunnypilot/ui.h
@@ -13,6 +13,7 @@
 #include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h"
 #include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/sponsor_role_model.h"
 #include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/util.h"
 
 class UIStateSP : public UIState {
   Q_OBJECT
@@ -73,6 +74,7 @@ private slots:
 private:
   std::vector<RoleModel> sunnylinkRoles = {};
   std::vector<UserModel> sunnylinkUsers = {};
+  ParamWatcher *param_watcher;
 };
 
 UIStateSP *uiStateSP();
@@ -92,3 +94,5 @@ class DeviceSP : public Device {
 
 DeviceSP *deviceSP();
 inline DeviceSP *device() { return deviceSP(); }
+
+void ui_update_params_sp(UIStateSP *s);
diff --git a/selfdrive/ui/sunnypilot/ui_scene.h b/selfdrive/ui/sunnypilot/ui_scene.h
new file mode 100644
index 00000000000000..93e0cd6c9199cd
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/ui_scene.h
@@ -0,0 +1,12 @@
+/**
+  * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+  *
+  * This file is part of sunnypilot and is licensed under the MIT License.
+  * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+typedef struct UISceneSP : UIScene {
+  int dev_ui_info = 0;
+} UISceneSP;
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index e78b573b666c0b..5b3872b3d476d6 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -66,6 +66,11 @@ typedef struct UIScene {
   uint64_t started_frame;
 } UIScene;
 
+#ifdef SUNNYPILOT
+#include "sunnypilot/ui_scene.h"
+#define UIScene UISceneSP
+#endif
+
 class UIState : public QObject {
   Q_OBJECT
 

From 810a2d9448df89ef84ecc1c794b63fad55350d69 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Fri, 12 Sep 2025 09:03:17 +0200
Subject: [PATCH 0416/1434] Revert & Reapply "UI: Developer UI" temporarily due
 to QT version mismatch (#1237)

* Revert "UI: Developer UI (#1233)"

This reverts commit 1bb4ca2547448f2189f67cb54db150e78bc4d487.

* Reapply "UI: Developer UI (#1233)"

This reverts commit b0a77049dacbdd59bc21d154820ba8cadf4ad201.

* QColorConstants is not on device's QT version. Thanks @kumar for the fix
---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc | 2 +-
 selfdrive/ui/sunnypilot/qt/onroad/hud.h  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 15722cc9f8885f..9ead933d04d103 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -171,7 +171,7 @@ int HudRendererSP::drawBottomDevUIElement(QPainter &p, int x, int y, const QStri
   real_rect3.moveTop(real_rect.top());
   real_rect3.moveLeft(real_rect2.right() + 10);
 
-  p.setPen(QColorConstants::White);
+  p.setPen(Qt::white);
   p.drawText(real_rect, Qt::AlignLeft | Qt::AlignVCenter, label);
 
   p.setPen(color);
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index d869d989dfd00a..968789bc150bd0 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -20,7 +20,7 @@ class HudRendererSP : public HudRenderer {
 
 private:
   Params params;
-  void drawText(QPainter &p, int x, int y, const QString &text, QColor color = QColorConstants::White);
+  void drawText(QPainter &p, int x, int y, const QString &text, QColor color = Qt::white);
   void drawRightDevUI(QPainter &p, int x, int y);
   int drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
   int drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);

From 1be13fdc55a24a72bc33703c7343c9421fdd0842 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 12 Sep 2025 08:37:24 -0400
Subject: [PATCH 0417/1434] Revert "UI: Developer UI" (#1238)

* Revert "Revert & Reapply "UI: Developer UI" temporarily due to QT version mismatch (#1237)"

This reverts commit 810a2d9448df89ef84ecc1c794b63fad55350d69.

* Revert "UI: Developer UI (#1233)"

This reverts commit 1bb4ca2547448f2189f67cb54db150e78bc4d487.
---
 common/params_keys.h                          |   1 -
 selfdrive/ui/qt/onroad/alerts.cc              |   9 -
 selfdrive/ui/qt/onroad/annotated_camera.h     |   1 -
 selfdrive/ui/qt/onroad/driver_monitoring.cc   |   5 -
 selfdrive/ui/sunnypilot/SConscript            |   1 -
 .../qt/offroad/settings/visuals_panel.cc      |  12 -
 .../qt/offroad/settings/visuals_panel.h       |   1 -
 .../sunnypilot/qt/onroad/annotated_camera.cc  |   5 -
 .../sunnypilot/qt/onroad/annotated_camera.h   |   3 -
 .../qt/onroad/developer_ui/developer_ui.cc    | 227 ------------------
 .../qt/onroad/developer_ui/developer_ui.h     |  31 ---
 .../qt/onroad/developer_ui/ui_elements.h      |  19 --
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc      | 190 ---------------
 selfdrive/ui/sunnypilot/qt/onroad/hud.h       |  39 +--
 selfdrive/ui/sunnypilot/ui.cc                 |  16 +-
 selfdrive/ui/sunnypilot/ui.h                  |   4 -
 selfdrive/ui/sunnypilot/ui_scene.h            |  12 -
 selfdrive/ui/ui.h                             |   5 -
 18 files changed, 3 insertions(+), 578 deletions(-)
 delete mode 100644 selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.cc
 delete mode 100644 selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h
 delete mode 100644 selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h
 delete mode 100644 selfdrive/ui/sunnypilot/ui_scene.h

diff --git a/common/params_keys.h b/common/params_keys.h
index fc7842720bdd32..afb6b348ebce75 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -146,7 +146,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
     {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
     {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
-    {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
     {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
diff --git a/selfdrive/ui/qt/onroad/alerts.cc b/selfdrive/ui/qt/onroad/alerts.cc
index 2e8f3612eb274d..d6829c6b08d156 100644
--- a/selfdrive/ui/qt/onroad/alerts.cc
+++ b/selfdrive/ui/qt/onroad/alerts.cc
@@ -4,9 +4,6 @@
 #include <map>
 
 #include "selfdrive/ui/qt/util.h"
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/ui.h"
-#endif
 
 void OnroadAlerts::updateState(const UIState &s) {
   Alert a = getAlert(*(s.sm), s.scene.started_frame);
@@ -76,12 +73,6 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
   }
   QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
 
-#ifdef SUNNYPILOT
-  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
-  const int adjustment = dev_ui_info > 1 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 30 : 0;
-  r = QRect(0 + margin, height() - h + margin - adjustment, width() - margin*2, h - margin*2);
-#endif
-
   QPainter p(this);
 
   // draw background + gradient
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index 5d9d21ab6b368d..e3ca837907803b 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -12,7 +12,6 @@
 #include "selfdrive/ui/sunnypilot/qt/onroad/model.h"
 #define ExperimentalButton ExperimentalButtonSP
 #define ModelRenderer ModelRendererSP
-#define HudRenderer HudRendererSP
 #else
 #include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/hud.h"
diff --git a/selfdrive/ui/qt/onroad/driver_monitoring.cc b/selfdrive/ui/qt/onroad/driver_monitoring.cc
index e67c483047ed8c..49f2c950b49ba9 100644
--- a/selfdrive/ui/qt/onroad/driver_monitoring.cc
+++ b/selfdrive/ui/qt/onroad/driver_monitoring.cc
@@ -73,11 +73,6 @@ void DriverMonitorRenderer::draw(QPainter &painter, const QRect &surface_rect) {
   float y = surface_rect.height() - offset;
   float opacity = is_active ? 0.65f : 0.2f;
 
-#ifdef SUNNYPILOT
-  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
-  y -= dev_ui_info > 1 ? 50 : 0;
-#endif
-
   drawIcon(painter, QPoint(x, y), dm_img, QColor(0, 0, 0, 70), opacity);
 
   QPointF keypoints[std::size(DEFAULT_FACE_KPTS_3D)];
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 807bf024789e45..2f3c8ddd8db549 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -39,7 +39,6 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/visuals_panel.cc",
   "sunnypilot/qt/onroad/annotated_camera.cc",
   "sunnypilot/qt/onroad/buttons.cc",
-  "sunnypilot/qt/onroad/developer_ui/developer_ui.cc",
   "sunnypilot/qt/onroad/hud.cc",
   "sunnypilot/qt/onroad/model.cc",
   "sunnypilot/qt/onroad/onroad_home.cc",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
index c3aaf12d2267e5..dd2f05416d86d2 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -72,15 +72,6 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
   list->addItem(chevron_info_settings);
   param_watcher->addParam("ChevronInfo");
 
-  // Visuals: Developer UI Info (Dev UI)
-  std::vector<QString> dev_ui_settings_texts{tr("Off"), tr("Right"), tr("Right &&\nBottom")};
-  dev_ui_settings = new ButtonParamControlSP(
-    "DevUIInfo", tr("Developer UI"), tr("Display real-time parameters and metrics from various sources."),
-    "",
-    dev_ui_settings_texts,
-    380);
-  list->addItem(dev_ui_settings);
-
   sunnypilotScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(sunnypilotScroller);
 
@@ -99,7 +90,4 @@ void VisualsPanel::paramsRefresh() {
   if (chevron_info_settings) {
     chevron_info_settings->refresh();
   }
-  if (dev_ui_settings) {
-    dev_ui_settings->refresh();
-  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
index 30ff31c3011830..f342662c22f906 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
@@ -28,5 +28,4 @@ class VisualsPanel : public QWidget {
  std::map<std::string, ParamControlSP*> toggles;
  ParamWatcher * param_watcher;
  ButtonParamControlSP *chevron_info_settings;
- ButtonParamControlSP *dev_ui_settings;
 };
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc
index 1d5567161a71bd..3721a3d198b8ef 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc
@@ -14,8 +14,3 @@ AnnotatedCameraWidgetSP::AnnotatedCameraWidgetSP(VisionStreamType type, QWidget
 void AnnotatedCameraWidgetSP::updateState(const UIState &s) {
   AnnotatedCameraWidget::updateState(s);
 }
-
-void AnnotatedCameraWidgetSP::showEvent(QShowEvent *event) {
-  AnnotatedCameraWidget::showEvent(event);
-  ui_update_params_sp(uiState());
-}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h
index 8c0a385657b9ab..46ce7d4be30ab5 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h
@@ -15,7 +15,4 @@ class AnnotatedCameraWidgetSP : public AnnotatedCameraWidget {
 public:
   explicit AnnotatedCameraWidgetSP(VisionStreamType type, QWidget *parent = nullptr);
   void updateState(const UIState &s) override;
-
-protected:
-  void showEvent(QShowEvent *event) override;
 };
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.cc b/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.cc
deleted file mode 100644
index 292ba6f7bb3149..00000000000000
--- a/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.cc
+++ /dev/null
@@ -1,227 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-#include <cmath>
-
-#include "common/util.h"
-#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"
-
-
-// Add Relative Distance to Primary Lead Car
-// Unit: Meters
-UiElement DeveloperUi::getDRel(bool lead_status, float lead_d_rel) {
-  QString value = lead_status ? QString::number(lead_d_rel, 'f', 0) : "-";
-  QColor color = QColor(255, 255, 255, 255);
-
-  if (lead_status) {
-    // Orange if close, Red if very close
-    if (lead_d_rel < 5) {
-      color = QColor(255, 0, 0, 255);
-    } else if (lead_d_rel < 15) {
-      color = QColor(255, 188, 0, 255);
-    }
-  }
-
-  return UiElement(value, "REL DIST", "m", color);
-}
-
-// Add Relative Velocity vs Primary Lead Car
-// Unit: kph if metric, else mph
-UiElement DeveloperUi::getVRel(bool lead_status, float lead_v_rel, bool is_metric, const QString &speed_unit) {
-  QString value = lead_status ? QString::number(lead_v_rel * (is_metric ? MS_TO_KPH : MS_TO_MPH), 'f', 0) : "-";
-  QColor color = QColor(255, 255, 255, 255);
-
-  if (lead_status) {
-    // Red if approaching faster than 10mph
-    // Orange if approaching (negative)
-    if (lead_v_rel < -4.4704) {
-      color = QColor(255, 0, 0, 255);
-    } else if (lead_v_rel < 0) {
-      color = QColor(255, 188, 0, 255);
-    }
-  }
-
-  return UiElement(value, "REL SPEED", speed_unit, color);
-}
-
-// Add Real Steering Angle
-// Unit: Degrees
-UiElement DeveloperUi::getSteeringAngleDeg(float angle_steers, bool lat_active, bool steer_override) {
-  QString value = QString("%1%2%3").arg(QString::number(angle_steers, 'f', 1)).arg("°").arg("");
-  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
-
-  // Red if large steering angle
-  // Orange if moderate steering angle
-  if (std::fabs(angle_steers) > 180) {
-    color = QColor(255, 0, 0, 255);
-  } else if (std::fabs(angle_steers) > 90) {
-    color = QColor(255, 188, 0, 255);
-  }
-
-  return UiElement(value, "REAL STEER", "", color);
-}
-
-// Add Actual Lateral Acceleration (roll compensated) when using Torque
-// Unit: m/s²
-UiElement DeveloperUi::getActualLateralAccel(float curvature, float v_ego, float roll, bool lat_active, bool steer_override) {
-  double actualLateralAccel = (curvature * pow(v_ego, 2)) - (roll * 9.81);
-
-  QString value = QString::number(actualLateralAccel, 'f', 2);
-  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
-
-  return UiElement(value, "ACTUAL L.A.", "m/s²", color);
-}
-
-// Add Desired Steering Angle when using PID
-// Unit: Degrees
-UiElement DeveloperUi::getSteeringAngleDesiredDeg(bool lat_active, float steer_angle_desired, float angle_steers) {
-  QString value = lat_active ? QString("%1%2%3").arg(QString::number(steer_angle_desired, 'f', 1)).arg("°").arg("") : "-";
-  QColor color = QColor(255, 255, 255, 255);
-
-  if (lat_active) {
-    // Red if large steering angle
-    // Orange if moderate steering angle
-    if (std::fabs(angle_steers) > 180) {
-      color = QColor(255, 0, 0, 255);
-    } else if (std::fabs(angle_steers) > 90) {
-      color = QColor(255, 188, 0, 255);
-    } else {
-      color = QColor(0, 255, 0, 255);
-    }
-  }
-
-  return UiElement(value, "DESIRED STEER", "", color);
-}
-
-// Add Device Memory (RAM) Usage
-// Unit: Percent
-UiElement DeveloperUi::getMemoryUsagePercent(int memory_usage_percent) {
-  QString value = QString("%1%2").arg(QString::number(memory_usage_percent, 'd', 0)).arg("%");
-  QColor color = (memory_usage_percent > 85) ? QColor(255, 188, 0, 255) : QColor(255, 255, 255, 255);
-
-  return UiElement(value, "RAM", "", color);
-}
-
-// Add Vehicle Current Acceleration
-// Unit: m/s²
-UiElement DeveloperUi::getAEgo(float a_ego) {
-  QString value = QString::number(a_ego, 'f', 1);
-  QColor color = QColor(255, 255, 255, 255);
-
-  return UiElement(value, "ACC.", "m/s²", color);
-}
-
-// Add Relative Velocity to Primary Lead Car
-// Unit: kph if metric, else mph
-UiElement DeveloperUi::getVEgoLead(bool lead_status, float lead_v_rel, float v_ego, bool is_metric, const QString &speed_unit) {
-  QString value = lead_status ? QString::number((lead_v_rel + v_ego) * (is_metric ? MS_TO_KPH : MS_TO_MPH), 'f', 0) : "-";
-  QColor color = QColor(255, 255, 255, 255);
-
-  if (lead_status) {
-    // Red if approaching faster than 10mph
-    // Orange if approaching (negative)
-    if (lead_v_rel < -4.4704) {
-      color = QColor(255, 0, 0, 255);
-    } else if (lead_v_rel < 0) {
-      color = QColor(255, 188, 0, 255);
-    }
-  }
-
-  return UiElement(value, "L.S.", speed_unit, color);
-}
-
-// Add Friction Coefficient Raw from torqued
-// Unit: None
-UiElement DeveloperUi::getFrictionCoefficientFiltered(float friction_coefficient_filtered, bool live_valid) {
-  QString value = QString::number(friction_coefficient_filtered, 'f', 3);
-  QColor color = live_valid ? QColor(0, 255, 0, 255) : QColor(255, 255, 255, 255);
-
-  return UiElement(value, "FRIC.", "", color);
-}
-
-// Add Lateral Acceleration Factor Raw from torqued
-// Unit: m/s²
-UiElement DeveloperUi::getLatAccelFactorFiltered(float lat_accel_factor_filtered, bool live_valid) {
-  QString value = QString::number(lat_accel_factor_filtered, 'f', 3);
-  QColor color = live_valid ? QColor(0, 255, 0, 255) : QColor(255, 255, 255, 255);
-
-  return UiElement(value, "L.A.", "m/s²", color);
-}
-
-// Add Steering Torque from Car EPS
-// Unit: Newton Meters
-UiElement DeveloperUi::getSteeringTorqueEps(float steering_torque_eps) {
-  QString value = QString::number(std::fabs(steering_torque_eps), 'f', 1);
-  QColor color = QColor(255, 255, 255, 255);
-
-  return UiElement(value, "E.T.", "N·dm", color);
-}
-
-// Add Bearing Degree and Direction from Car (Compass)
-// Unit: Meters
-UiElement DeveloperUi::getBearingDeg(float bearing_accuracy_deg, float bearing_deg) {
-  QString value = (bearing_accuracy_deg != 180.00) ? QString("%1%2%3").arg(QString::number(bearing_deg, 'd', 0)).arg("°").arg("") : "-";
-  QColor color = QColor(255, 255, 255, 255);
-  QString dir_value;
-
-  if (bearing_accuracy_deg != 180.00) {
-    if (((bearing_deg >= 337.5) && (bearing_deg <= 360)) || ((bearing_deg >= 0) && (bearing_deg <= 22.5))) {
-      dir_value = "N";
-    } else if ((bearing_deg > 22.5) && (bearing_deg < 67.5)) {
-      dir_value = "NE";
-    } else if ((bearing_deg >= 67.5) && (bearing_deg <= 112.5)) {
-      dir_value = "E";
-    } else if ((bearing_deg > 112.5) && (bearing_deg < 157.5)) {
-      dir_value = "SE";
-    } else if ((bearing_deg >= 157.5) && (bearing_deg <= 202.5)) {
-      dir_value = "S";
-    } else if ((bearing_deg > 202.5) && (bearing_deg < 247.5)) {
-      dir_value = "SW";
-    } else if ((bearing_deg >= 247.5) && (bearing_deg <= 292.5)) {
-      dir_value = "W";
-    } else if ((bearing_deg > 292.5) && (bearing_deg < 337.5)) {
-      dir_value = "NW";
-    }
-  } else {
-    dir_value = "OFF";
-  }
-
-  return UiElement(QString("%1 | %2").arg(dir_value).arg(value), "B.D.", "", color);
-}
-
-// Add Altitude of Current Location
-// Unit: Meters
-UiElement DeveloperUi::getAltitude(float gps_accuracy, float altitude) {
-  QString value = (gps_accuracy != 0.00) ? QString::number(altitude, 'f', 1) : "-";
-  QColor color = QColor(255, 255, 255, 255);
-
-  return UiElement(value, "ALT.", "m", color);
-}
-
-// Add Actuators Output
-// Unit: Degree (angle) or m/s² (torque)
-UiElement DeveloperUi::getActuatorsOutputLateral(cereal::CarParams::SteerControlType steerControlType,
-                                                 cereal::CarControl::Actuators::Reader &actuators,
-                                                 float desiredCurvature, float v_ego, float roll, bool lat_active, bool steer_override) {
-  QString label;
-  QString value;
-  QString unit;
-
-  if (steerControlType == cereal::CarParams::SteerControlType::ANGLE) {
-    label = "DESIRED STEER";
-    value = QString("%1%2%3").arg(QString::number(actuators.getSteeringAngleDeg(), 'f', 1)).arg("°").arg("");
-  } else {
-    label = "DESIRED L.A.";
-    double desiredLateralAccel = (desiredCurvature * pow(v_ego, 2)) - (roll * 9.81);
-    value = QString::number(desiredLateralAccel, 'f', 2);
-    unit = "m/s²";
-  }
-
-  value = lat_active ? value : "-";
-  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
-
-  return UiElement(value, label, unit, color);
-}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h b/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h
deleted file mode 100644
index 0c5c472209ba1e..00000000000000
--- a/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-#pragma once
-
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h"
-
-class DeveloperUi {
-
-public:
-  static UiElement getDRel(bool lead_status, float lead_d_rel);
-  static UiElement getVRel(bool lead_status, float lead_v_rel, bool is_metric, const QString &speed_unit);
-  static UiElement getSteeringAngleDeg(float angle_steers, bool lat_active, bool steer_override);
-  static UiElement getActualLateralAccel(float curvature, float v_ego, float roll, bool lat_active, bool steer_override);
-  static UiElement getSteeringAngleDesiredDeg(bool lat_active, float steer_angle_desired, float angle_steers);
-  static UiElement getMemoryUsagePercent(int memory_usage_percent);
-  static UiElement getAEgo(float a_ego);
-  static UiElement getVEgoLead(bool lead_status, float lead_v_rel, float v_ego, bool is_metric, const QString &speed_unit);
-  static UiElement getFrictionCoefficientFiltered(float friction_coefficient_filtered, bool live_valid);
-  static UiElement getLatAccelFactorFiltered(float lat_accel_factor_filtered, bool live_valid);
-  static UiElement getSteeringTorqueEps(float steering_torque_eps);
-  static UiElement getBearingDeg(float bearing_accuracy_deg, float bearing_deg);
-  static UiElement getAltitude(float gps_accuracy, float altitude);
-  static UiElement getActuatorsOutputLateral(cereal::CarParams::SteerControlType steerControlType,
-                                             cereal::CarControl::Actuators::Reader &actuators,
-                                             float desiredCurvature, float v_ego, float roll, bool lat_active, bool steer_override);
-};
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h b/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h
deleted file mode 100644
index 3711e5ac05049a..00000000000000
--- a/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-#pragma once
-
-#include <QColor>
-
-struct UiElement {
-  QString value{};
-  QString label{};
-  QString units{};
-  QColor color{};
-
-  explicit UiElement(const QString &value = "", const QString &label = "", const QString &units = "", const QColor &color = QColor(255, 255, 255, 255))
-    : value(value), label(label), units(units), color(color) {}
-};
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 9ead933d04d103..233ca59f98f336 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -7,202 +7,12 @@
 
 #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"
 
-#include "selfdrive/ui/qt/util.h"
-
-
 HudRendererSP::HudRendererSP() {}
 
 void HudRendererSP::updateState(const UIState &s) {
   HudRenderer::updateState(s);
-
-  const SubMaster &sm = *(s.sm);
-  const bool cs_alive = sm.alive("controlsState");
-  const auto cs = sm["controlsState"].getControlsState();
-  const auto car_state = sm["carState"].getCarState();
-  const auto car_control = sm["carControl"].getCarControl();
-  const auto radar_state = sm["radarState"].getRadarState();
-  const auto is_gps_location_external = sm.rcv_frame("gpsLocationExternal") > 1;
-  const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
-  const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
-  const auto car_params = sm["carParams"].getCarParams();
-
-  static int reverse_delay = 0;
-  bool reverse_allowed = false;
-  if (int(car_state.getGearShifter()) != 4) {
-    reverse_delay = 0;
-    reverse_allowed = false;
-  } else {
-    reverse_delay += 50;
-    if (reverse_delay >= 1000) {
-      reverse_allowed = true;
-    }
-  }
-
-  reversing = reverse_allowed;
-  is_metric = s.scene.is_metric;
-
-  // Handle older routes where vEgoCluster is not set
-  v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
-  float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
-  speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
-  speed *= is_metric ? MS_TO_KPH : MS_TO_MPH;
-
-  latActive = car_control.getLatActive();
-  steerOverride = car_state.getSteeringPressed();
-
-  devUiInfo = s.scene.dev_ui_info;
-
-  speedUnit = is_metric ? tr("km/h") : tr("mph");
-  lead_d_rel = radar_state.getLeadOne().getDRel();
-  lead_v_rel = radar_state.getLeadOne().getVRel();
-  lead_status = radar_state.getLeadOne().getStatus();
-  steerControlType = car_params.getSteerControlType();
-  actuators = car_control.getActuators();
-  torqueLateral = steerControlType == cereal::CarParams::SteerControlType::TORQUE;
-  angleSteers = car_state.getSteeringAngleDeg();
-  desiredCurvature = cs.getDesiredCurvature();
-  curvature = cs.getCurvature();
-  roll = sm["liveParameters"].getLiveParameters().getRoll();
-  memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
-  gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
-  altitude = gpsLocation.getAltitude();
-  vEgo = car_state.getVEgo();
-  aEgo = car_state.getAEgo();
-  steeringTorqueEps = car_state.getSteeringTorqueEps();
-  bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
-  bearingDeg = gpsLocation.getBearingDeg();
-  torquedUseParams = ltp.getUseParams();
-  latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
-  frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
-  liveValid = ltp.getLiveValid();
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
   HudRenderer::draw(p, surface_rect);
-  if (!reversing) {
-    // Bottom Dev UI
-    if (devUiInfo == 2) {
-      QRect rect_bottom(surface_rect.left(), surface_rect.bottom() - 60, surface_rect.width(), 61);
-      p.setPen(Qt::NoPen);
-      p.setBrush(QColor(0, 0, 0, 100));
-      p.drawRect(rect_bottom);
-      drawBottomDevUI(p, rect_bottom.left(), rect_bottom.center().y());
-    }
-
-    // Right Dev UI
-    if (devUiInfo != 0) {
-      QRect rect_right(surface_rect.right() - (UI_BORDER_SIZE * 2), UI_BORDER_SIZE * 1.5, 184, 170);
-      drawRightDevUI(p, surface_rect.right() - 184 - UI_BORDER_SIZE * 2, UI_BORDER_SIZE * 2 + rect_right.height());
-    }
-  }
-}
-
-void HudRendererSP::drawText(QPainter &p, int x, int y, const QString &text, QColor color) {
-  QRect real_rect = p.fontMetrics().boundingRect(text);
-  real_rect.moveCenter({x, y - real_rect.height() / 2});
-  p.setPen(color);
-  p.drawText(real_rect.x(), real_rect.bottom(), text);
-}
-
-int HudRendererSP::drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color) {
-
-  p.setFont(InterFont(28, QFont::Bold));
-  x += 92;
-  y += 80;
-  drawText(p, x, y, label);
-
-  p.setFont(InterFont(30 * 2, QFont::Bold));
-  y += 65;
-  drawText(p, x, y, value, color);
-
-  p.setFont(InterFont(28, QFont::Bold));
-
-  if (units.length() > 0) {
-    p.save();
-    x += 120;
-    y -= 25;
-    p.translate(x, y);
-    p.rotate(-90);
-    drawText(p, 0, 0, units);
-    p.restore();
-  }
-
-  return 130;
-}
-
-void HudRendererSP::drawRightDevUI(QPainter &p, int x, int y) {
-  int rh = 5;
-  int ry = y;
-
-  UiElement dRelElement = DeveloperUi::getDRel(lead_status, lead_d_rel);
-  rh += drawRightDevUIElement(p, x, ry, dRelElement.value, dRelElement.label, dRelElement.units, dRelElement.color);
-  ry = y + rh;
-
-  UiElement vRelElement = DeveloperUi::getVRel(lead_status, lead_v_rel, is_metric, speedUnit);
-  rh += drawRightDevUIElement(p, x, ry, vRelElement.value, vRelElement.label, vRelElement.units, vRelElement.color);
-  ry = y + rh;
-
-  UiElement steeringAngleDegElement = DeveloperUi::getSteeringAngleDeg(angleSteers, latActive, steerOverride);
-  rh += drawRightDevUIElement(p, x, ry, steeringAngleDegElement.value, steeringAngleDegElement.label, steeringAngleDegElement.units, steeringAngleDegElement.color);
-  ry = y + rh;
-
-  UiElement actuatorsOutputLateralElement = DeveloperUi::getActuatorsOutputLateral(steerControlType, actuators, desiredCurvature, vEgo, roll, latActive, steerOverride);
-  rh += drawRightDevUIElement(p, x, ry, actuatorsOutputLateralElement.value, actuatorsOutputLateralElement.label, actuatorsOutputLateralElement.units, actuatorsOutputLateralElement.color);
-  ry = y + rh;
-
-  UiElement actualLateralAccelElement = DeveloperUi::getActualLateralAccel(curvature, vEgo, roll, latActive, steerOverride);
-  rh += drawRightDevUIElement(p, x, ry, actualLateralAccelElement.value, actualLateralAccelElement.label, actualLateralAccelElement.units, actualLateralAccelElement.color);
-}
-
-int HudRendererSP::drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color) {
-  p.setFont(InterFont(38, QFont::Bold));
-  QFontMetrics fm(p.font());
-  QRect init_rect = fm.boundingRect(label + " ");
-  QRect real_rect = fm.boundingRect(init_rect, 0, label + " ");
-  real_rect.moveCenter({x, y});
-
-  QRect init_rect2 = fm.boundingRect(value);
-  QRect real_rect2 = fm.boundingRect(init_rect2, 0, value);
-  real_rect2.moveTop(real_rect.top());
-  real_rect2.moveLeft(real_rect.right() + 10);
-
-  QRect init_rect3 = fm.boundingRect(units);
-  QRect real_rect3 = fm.boundingRect(init_rect3, 0, units);
-  real_rect3.moveTop(real_rect.top());
-  real_rect3.moveLeft(real_rect2.right() + 10);
-
-  p.setPen(Qt::white);
-  p.drawText(real_rect, Qt::AlignLeft | Qt::AlignVCenter, label);
-
-  p.setPen(color);
-  p.drawText(real_rect2, Qt::AlignRight | Qt::AlignVCenter, value);
-  p.drawText(real_rect3, Qt::AlignLeft | Qt::AlignVCenter, units);
-  return 430;
-}
-
-void HudRendererSP::drawBottomDevUI(QPainter &p, int x, int y) {
-  int rw = 90;
-
-  UiElement aEgoElement = DeveloperUi::getAEgo(aEgo);
-  rw += drawBottomDevUIElement(p, rw, y, aEgoElement.value, aEgoElement.label, aEgoElement.units, aEgoElement.color);
-
-  UiElement vEgoLeadElement = DeveloperUi::getVEgoLead(lead_status, lead_v_rel, vEgo, is_metric, speedUnit);
-  rw += drawBottomDevUIElement(p, rw, y, vEgoLeadElement.value, vEgoLeadElement.label, vEgoLeadElement.units, vEgoLeadElement.color);
-
-  if (torqueLateral && torquedUseParams) {
-    UiElement frictionCoefficientFilteredElement = DeveloperUi::getFrictionCoefficientFiltered(frictionCoefficientFiltered, liveValid);
-    rw += drawBottomDevUIElement(p, rw, y, frictionCoefficientFilteredElement.value, frictionCoefficientFilteredElement.label, frictionCoefficientFilteredElement.units, frictionCoefficientFilteredElement.color);
-
-    UiElement latAccelFactorFilteredElement = DeveloperUi::getLatAccelFactorFiltered(latAccelFactorFiltered, liveValid);
-    rw += drawBottomDevUIElement(p, rw, y, latAccelFactorFilteredElement.value, latAccelFactorFilteredElement.label, latAccelFactorFilteredElement.units, latAccelFactorFilteredElement.color);
-  } else {
-    UiElement steeringTorqueEpsElement = DeveloperUi::getSteeringTorqueEps(steeringTorqueEps);
-    rw += drawBottomDevUIElement(p, rw, y, steeringTorqueEpsElement.value, steeringTorqueEpsElement.label, steeringTorqueEpsElement.units, steeringTorqueEpsElement.color);
-
-    UiElement bearingDegElement = DeveloperUi::getBearingDeg(bearingAccuracyDeg, bearingDeg);
-    rw += drawBottomDevUIElement(p, rw, y, bearingDegElement.value, bearingDegElement.label, bearingDegElement.units, bearingDegElement.color);
-  }
-
-  UiElement altitudeElement = DeveloperUi::getAltitude(gpsAccuracy, altitude);
-  rw += drawBottomDevUIElement(p, rw, y, altitudeElement.value, altitudeElement.label, altitudeElement.units, altitudeElement.color);
 }
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index 968789bc150bd0..1e98cd3a526a0f 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -7,8 +7,9 @@
 
 #pragma once
 
+#include <QPainter>
+
 #include "selfdrive/ui/qt/onroad/hud.h"
-#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"
 
 class HudRendererSP : public HudRenderer {
   Q_OBJECT
@@ -17,40 +18,4 @@ class HudRendererSP : public HudRenderer {
   HudRendererSP();
   void updateState(const UIState &s) override;
   void draw(QPainter &p, const QRect &surface_rect) override;
-
-private:
-  Params params;
-  void drawText(QPainter &p, int x, int y, const QString &text, QColor color = Qt::white);
-  void drawRightDevUI(QPainter &p, int x, int y);
-  int drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
-  int drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
-  void drawBottomDevUI(QPainter &p, int x, int y);
-
-  bool lead_status;
-  float lead_d_rel;
-  float lead_v_rel;
-  bool torqueLateral;
-  float angleSteers;
-  float desiredCurvature;
-  float curvature;
-  float roll;
-  int memoryUsagePercent;
-  int devUiInfo;
-  float gpsAccuracy;
-  float altitude;
-  float vEgo;
-  float aEgo;
-  float steeringTorqueEps;
-  float bearingAccuracyDeg;
-  float bearingDeg;
-  bool torquedUseParams;
-  float latAccelFactorFiltered;
-  float frictionCoefficientFiltered;
-  bool liveValid;
-  QString speedUnit;
-  bool latActive;
-  bool steerOverride;
-  bool reversing;
-  cereal::CarParams::SteerControlType steerControlType;
-  cereal::CarControl::Actuators::Reader actuators;
 };
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index 1277195df1d287..b2701356cc9037 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -18,22 +18,13 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
-    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
-    "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
-    "carStateSP", "liveParameters"
+    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP"
   });
 
   // update timer
   timer = new QTimer(this);
   QObject::connect(timer, &QTimer::timeout, this, &UIStateSP::update);
   timer->start(1000 / UI_FREQ);
-
-  // Param watcher for UIScene param updates
-  param_watcher = new ParamWatcher(this);
-  connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
-    ui_update_params_sp(this);
-  });
-  param_watcher->addParam("DevUIInfo");
 }
 
 // This method overrides completely the update method from the parent class intentionally.
@@ -48,11 +39,6 @@ void UIStateSP::update() {
   emit uiUpdate(*this);
 }
 
-void ui_update_params_sp(UIStateSP *s) {
-  auto params = Params();
-  s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
-}
-
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
   QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &DeviceSP::update);
   QObject::connect(this, &Device::displayPowerChanged, this, &DeviceSP::handleDisplayPowerChanged);
diff --git a/selfdrive/ui/sunnypilot/ui.h b/selfdrive/ui/sunnypilot/ui.h
index 393f997cbdf421..cf8de1c4bbe5a9 100644
--- a/selfdrive/ui/sunnypilot/ui.h
+++ b/selfdrive/ui/sunnypilot/ui.h
@@ -13,7 +13,6 @@
 #include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h"
 #include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/sponsor_role_model.h"
 #include "selfdrive/ui/ui.h"
-#include "selfdrive/ui/qt/util.h"
 
 class UIStateSP : public UIState {
   Q_OBJECT
@@ -74,7 +73,6 @@ private slots:
 private:
   std::vector<RoleModel> sunnylinkRoles = {};
   std::vector<UserModel> sunnylinkUsers = {};
-  ParamWatcher *param_watcher;
 };
 
 UIStateSP *uiStateSP();
@@ -94,5 +92,3 @@ class DeviceSP : public Device {
 
 DeviceSP *deviceSP();
 inline DeviceSP *device() { return deviceSP(); }
-
-void ui_update_params_sp(UIStateSP *s);
diff --git a/selfdrive/ui/sunnypilot/ui_scene.h b/selfdrive/ui/sunnypilot/ui_scene.h
deleted file mode 100644
index 93e0cd6c9199cd..00000000000000
--- a/selfdrive/ui/sunnypilot/ui_scene.h
+++ /dev/null
@@ -1,12 +0,0 @@
-/**
-  * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-  *
-  * This file is part of sunnypilot and is licensed under the MIT License.
-  * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-typedef struct UISceneSP : UIScene {
-  int dev_ui_info = 0;
-} UISceneSP;
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 5b3872b3d476d6..e78b573b666c0b 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -66,11 +66,6 @@ typedef struct UIScene {
   uint64_t started_frame;
 } UIScene;
 
-#ifdef SUNNYPILOT
-#include "sunnypilot/ui_scene.h"
-#define UIScene UISceneSP
-#endif
-
 class UIState : public QObject {
   Q_OBJECT
 

From 4f44d6e6436041a4f09a4d5c530405fc019c2492 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 12 Sep 2025 10:58:59 -0400
Subject: [PATCH 0418/1434] Reapply "UI: Developer UI" (#1238) (#1239)

This reverts commit 1be13fdc55a24a72bc33703c7343c9421fdd0842.

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/params_keys.h                          |   1 +
 selfdrive/ui/qt/onroad/alerts.cc              |   9 +
 selfdrive/ui/qt/onroad/annotated_camera.h     |   1 +
 selfdrive/ui/qt/onroad/driver_monitoring.cc   |   5 +
 selfdrive/ui/sunnypilot/SConscript            |   1 +
 .../qt/offroad/settings/visuals_panel.cc      |  12 +
 .../qt/offroad/settings/visuals_panel.h       |   1 +
 .../sunnypilot/qt/onroad/annotated_camera.cc  |   5 +
 .../sunnypilot/qt/onroad/annotated_camera.h   |   3 +
 .../qt/onroad/developer_ui/developer_ui.cc    | 227 ++++++++++++++++++
 .../qt/onroad/developer_ui/developer_ui.h     |  31 +++
 .../qt/onroad/developer_ui/ui_elements.h      |  19 ++
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc      | 190 +++++++++++++++
 selfdrive/ui/sunnypilot/qt/onroad/hud.h       |  39 ++-
 selfdrive/ui/sunnypilot/ui.cc                 |  16 +-
 selfdrive/ui/sunnypilot/ui.h                  |   4 +
 selfdrive/ui/sunnypilot/ui_scene.h            |  12 +
 selfdrive/ui/ui.h                             |   5 +
 18 files changed, 578 insertions(+), 3 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h
 create mode 100644 selfdrive/ui/sunnypilot/ui_scene.h

diff --git a/common/params_keys.h b/common/params_keys.h
index afb6b348ebce75..fc7842720bdd32 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -146,6 +146,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
     {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
     {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
+    {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
     {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
diff --git a/selfdrive/ui/qt/onroad/alerts.cc b/selfdrive/ui/qt/onroad/alerts.cc
index d6829c6b08d156..2e8f3612eb274d 100644
--- a/selfdrive/ui/qt/onroad/alerts.cc
+++ b/selfdrive/ui/qt/onroad/alerts.cc
@@ -4,6 +4,9 @@
 #include <map>
 
 #include "selfdrive/ui/qt/util.h"
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/ui.h"
+#endif
 
 void OnroadAlerts::updateState(const UIState &s) {
   Alert a = getAlert(*(s.sm), s.scene.started_frame);
@@ -73,6 +76,12 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
   }
   QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
 
+#ifdef SUNNYPILOT
+  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
+  const int adjustment = dev_ui_info > 1 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 30 : 0;
+  r = QRect(0 + margin, height() - h + margin - adjustment, width() - margin*2, h - margin*2);
+#endif
+
   QPainter p(this);
 
   // draw background + gradient
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index e3ca837907803b..5d9d21ab6b368d 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -12,6 +12,7 @@
 #include "selfdrive/ui/sunnypilot/qt/onroad/model.h"
 #define ExperimentalButton ExperimentalButtonSP
 #define ModelRenderer ModelRendererSP
+#define HudRenderer HudRendererSP
 #else
 #include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/hud.h"
diff --git a/selfdrive/ui/qt/onroad/driver_monitoring.cc b/selfdrive/ui/qt/onroad/driver_monitoring.cc
index 49f2c950b49ba9..e67c483047ed8c 100644
--- a/selfdrive/ui/qt/onroad/driver_monitoring.cc
+++ b/selfdrive/ui/qt/onroad/driver_monitoring.cc
@@ -73,6 +73,11 @@ void DriverMonitorRenderer::draw(QPainter &painter, const QRect &surface_rect) {
   float y = surface_rect.height() - offset;
   float opacity = is_active ? 0.65f : 0.2f;
 
+#ifdef SUNNYPILOT
+  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
+  y -= dev_ui_info > 1 ? 50 : 0;
+#endif
+
   drawIcon(painter, QPoint(x, y), dm_img, QColor(0, 0, 0, 70), opacity);
 
   QPointF keypoints[std::size(DEFAULT_FACE_KPTS_3D)];
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 2f3c8ddd8db549..807bf024789e45 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -39,6 +39,7 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/visuals_panel.cc",
   "sunnypilot/qt/onroad/annotated_camera.cc",
   "sunnypilot/qt/onroad/buttons.cc",
+  "sunnypilot/qt/onroad/developer_ui/developer_ui.cc",
   "sunnypilot/qt/onroad/hud.cc",
   "sunnypilot/qt/onroad/model.cc",
   "sunnypilot/qt/onroad/onroad_home.cc",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
index dd2f05416d86d2..c3aaf12d2267e5 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -72,6 +72,15 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
   list->addItem(chevron_info_settings);
   param_watcher->addParam("ChevronInfo");
 
+  // Visuals: Developer UI Info (Dev UI)
+  std::vector<QString> dev_ui_settings_texts{tr("Off"), tr("Right"), tr("Right &&\nBottom")};
+  dev_ui_settings = new ButtonParamControlSP(
+    "DevUIInfo", tr("Developer UI"), tr("Display real-time parameters and metrics from various sources."),
+    "",
+    dev_ui_settings_texts,
+    380);
+  list->addItem(dev_ui_settings);
+
   sunnypilotScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(sunnypilotScroller);
 
@@ -90,4 +99,7 @@ void VisualsPanel::paramsRefresh() {
   if (chevron_info_settings) {
     chevron_info_settings->refresh();
   }
+  if (dev_ui_settings) {
+    dev_ui_settings->refresh();
+  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
index f342662c22f906..30ff31c3011830 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
@@ -28,4 +28,5 @@ class VisualsPanel : public QWidget {
  std::map<std::string, ParamControlSP*> toggles;
  ParamWatcher * param_watcher;
  ButtonParamControlSP *chevron_info_settings;
+ ButtonParamControlSP *dev_ui_settings;
 };
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc
index 3721a3d198b8ef..1d5567161a71bd 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc
@@ -14,3 +14,8 @@ AnnotatedCameraWidgetSP::AnnotatedCameraWidgetSP(VisionStreamType type, QWidget
 void AnnotatedCameraWidgetSP::updateState(const UIState &s) {
   AnnotatedCameraWidget::updateState(s);
 }
+
+void AnnotatedCameraWidgetSP::showEvent(QShowEvent *event) {
+  AnnotatedCameraWidget::showEvent(event);
+  ui_update_params_sp(uiState());
+}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h
index 46ce7d4be30ab5..8c0a385657b9ab 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h
@@ -15,4 +15,7 @@ class AnnotatedCameraWidgetSP : public AnnotatedCameraWidget {
 public:
   explicit AnnotatedCameraWidgetSP(VisionStreamType type, QWidget *parent = nullptr);
   void updateState(const UIState &s) override;
+
+protected:
+  void showEvent(QShowEvent *event) override;
 };
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.cc b/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.cc
new file mode 100644
index 00000000000000..292ba6f7bb3149
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.cc
@@ -0,0 +1,227 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+#include <cmath>
+
+#include "common/util.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"
+
+
+// Add Relative Distance to Primary Lead Car
+// Unit: Meters
+UiElement DeveloperUi::getDRel(bool lead_status, float lead_d_rel) {
+  QString value = lead_status ? QString::number(lead_d_rel, 'f', 0) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lead_status) {
+    // Orange if close, Red if very close
+    if (lead_d_rel < 5) {
+      color = QColor(255, 0, 0, 255);
+    } else if (lead_d_rel < 15) {
+      color = QColor(255, 188, 0, 255);
+    }
+  }
+
+  return UiElement(value, "REL DIST", "m", color);
+}
+
+// Add Relative Velocity vs Primary Lead Car
+// Unit: kph if metric, else mph
+UiElement DeveloperUi::getVRel(bool lead_status, float lead_v_rel, bool is_metric, const QString &speed_unit) {
+  QString value = lead_status ? QString::number(lead_v_rel * (is_metric ? MS_TO_KPH : MS_TO_MPH), 'f', 0) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lead_status) {
+    // Red if approaching faster than 10mph
+    // Orange if approaching (negative)
+    if (lead_v_rel < -4.4704) {
+      color = QColor(255, 0, 0, 255);
+    } else if (lead_v_rel < 0) {
+      color = QColor(255, 188, 0, 255);
+    }
+  }
+
+  return UiElement(value, "REL SPEED", speed_unit, color);
+}
+
+// Add Real Steering Angle
+// Unit: Degrees
+UiElement DeveloperUi::getSteeringAngleDeg(float angle_steers, bool lat_active, bool steer_override) {
+  QString value = QString("%1%2%3").arg(QString::number(angle_steers, 'f', 1)).arg("°").arg("");
+  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
+
+  // Red if large steering angle
+  // Orange if moderate steering angle
+  if (std::fabs(angle_steers) > 180) {
+    color = QColor(255, 0, 0, 255);
+  } else if (std::fabs(angle_steers) > 90) {
+    color = QColor(255, 188, 0, 255);
+  }
+
+  return UiElement(value, "REAL STEER", "", color);
+}
+
+// Add Actual Lateral Acceleration (roll compensated) when using Torque
+// Unit: m/s²
+UiElement DeveloperUi::getActualLateralAccel(float curvature, float v_ego, float roll, bool lat_active, bool steer_override) {
+  double actualLateralAccel = (curvature * pow(v_ego, 2)) - (roll * 9.81);
+
+  QString value = QString::number(actualLateralAccel, 'f', 2);
+  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "ACTUAL L.A.", "m/s²", color);
+}
+
+// Add Desired Steering Angle when using PID
+// Unit: Degrees
+UiElement DeveloperUi::getSteeringAngleDesiredDeg(bool lat_active, float steer_angle_desired, float angle_steers) {
+  QString value = lat_active ? QString("%1%2%3").arg(QString::number(steer_angle_desired, 'f', 1)).arg("°").arg("") : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lat_active) {
+    // Red if large steering angle
+    // Orange if moderate steering angle
+    if (std::fabs(angle_steers) > 180) {
+      color = QColor(255, 0, 0, 255);
+    } else if (std::fabs(angle_steers) > 90) {
+      color = QColor(255, 188, 0, 255);
+    } else {
+      color = QColor(0, 255, 0, 255);
+    }
+  }
+
+  return UiElement(value, "DESIRED STEER", "", color);
+}
+
+// Add Device Memory (RAM) Usage
+// Unit: Percent
+UiElement DeveloperUi::getMemoryUsagePercent(int memory_usage_percent) {
+  QString value = QString("%1%2").arg(QString::number(memory_usage_percent, 'd', 0)).arg("%");
+  QColor color = (memory_usage_percent > 85) ? QColor(255, 188, 0, 255) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "RAM", "", color);
+}
+
+// Add Vehicle Current Acceleration
+// Unit: m/s²
+UiElement DeveloperUi::getAEgo(float a_ego) {
+  QString value = QString::number(a_ego, 'f', 1);
+  QColor color = QColor(255, 255, 255, 255);
+
+  return UiElement(value, "ACC.", "m/s²", color);
+}
+
+// Add Relative Velocity to Primary Lead Car
+// Unit: kph if metric, else mph
+UiElement DeveloperUi::getVEgoLead(bool lead_status, float lead_v_rel, float v_ego, bool is_metric, const QString &speed_unit) {
+  QString value = lead_status ? QString::number((lead_v_rel + v_ego) * (is_metric ? MS_TO_KPH : MS_TO_MPH), 'f', 0) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lead_status) {
+    // Red if approaching faster than 10mph
+    // Orange if approaching (negative)
+    if (lead_v_rel < -4.4704) {
+      color = QColor(255, 0, 0, 255);
+    } else if (lead_v_rel < 0) {
+      color = QColor(255, 188, 0, 255);
+    }
+  }
+
+  return UiElement(value, "L.S.", speed_unit, color);
+}
+
+// Add Friction Coefficient Raw from torqued
+// Unit: None
+UiElement DeveloperUi::getFrictionCoefficientFiltered(float friction_coefficient_filtered, bool live_valid) {
+  QString value = QString::number(friction_coefficient_filtered, 'f', 3);
+  QColor color = live_valid ? QColor(0, 255, 0, 255) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "FRIC.", "", color);
+}
+
+// Add Lateral Acceleration Factor Raw from torqued
+// Unit: m/s²
+UiElement DeveloperUi::getLatAccelFactorFiltered(float lat_accel_factor_filtered, bool live_valid) {
+  QString value = QString::number(lat_accel_factor_filtered, 'f', 3);
+  QColor color = live_valid ? QColor(0, 255, 0, 255) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "L.A.", "m/s²", color);
+}
+
+// Add Steering Torque from Car EPS
+// Unit: Newton Meters
+UiElement DeveloperUi::getSteeringTorqueEps(float steering_torque_eps) {
+  QString value = QString::number(std::fabs(steering_torque_eps), 'f', 1);
+  QColor color = QColor(255, 255, 255, 255);
+
+  return UiElement(value, "E.T.", "N·dm", color);
+}
+
+// Add Bearing Degree and Direction from Car (Compass)
+// Unit: Meters
+UiElement DeveloperUi::getBearingDeg(float bearing_accuracy_deg, float bearing_deg) {
+  QString value = (bearing_accuracy_deg != 180.00) ? QString("%1%2%3").arg(QString::number(bearing_deg, 'd', 0)).arg("°").arg("") : "-";
+  QColor color = QColor(255, 255, 255, 255);
+  QString dir_value;
+
+  if (bearing_accuracy_deg != 180.00) {
+    if (((bearing_deg >= 337.5) && (bearing_deg <= 360)) || ((bearing_deg >= 0) && (bearing_deg <= 22.5))) {
+      dir_value = "N";
+    } else if ((bearing_deg > 22.5) && (bearing_deg < 67.5)) {
+      dir_value = "NE";
+    } else if ((bearing_deg >= 67.5) && (bearing_deg <= 112.5)) {
+      dir_value = "E";
+    } else if ((bearing_deg > 112.5) && (bearing_deg < 157.5)) {
+      dir_value = "SE";
+    } else if ((bearing_deg >= 157.5) && (bearing_deg <= 202.5)) {
+      dir_value = "S";
+    } else if ((bearing_deg > 202.5) && (bearing_deg < 247.5)) {
+      dir_value = "SW";
+    } else if ((bearing_deg >= 247.5) && (bearing_deg <= 292.5)) {
+      dir_value = "W";
+    } else if ((bearing_deg > 292.5) && (bearing_deg < 337.5)) {
+      dir_value = "NW";
+    }
+  } else {
+    dir_value = "OFF";
+  }
+
+  return UiElement(QString("%1 | %2").arg(dir_value).arg(value), "B.D.", "", color);
+}
+
+// Add Altitude of Current Location
+// Unit: Meters
+UiElement DeveloperUi::getAltitude(float gps_accuracy, float altitude) {
+  QString value = (gps_accuracy != 0.00) ? QString::number(altitude, 'f', 1) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  return UiElement(value, "ALT.", "m", color);
+}
+
+// Add Actuators Output
+// Unit: Degree (angle) or m/s² (torque)
+UiElement DeveloperUi::getActuatorsOutputLateral(cereal::CarParams::SteerControlType steerControlType,
+                                                 cereal::CarControl::Actuators::Reader &actuators,
+                                                 float desiredCurvature, float v_ego, float roll, bool lat_active, bool steer_override) {
+  QString label;
+  QString value;
+  QString unit;
+
+  if (steerControlType == cereal::CarParams::SteerControlType::ANGLE) {
+    label = "DESIRED STEER";
+    value = QString("%1%2%3").arg(QString::number(actuators.getSteeringAngleDeg(), 'f', 1)).arg("°").arg("");
+  } else {
+    label = "DESIRED L.A.";
+    double desiredLateralAccel = (desiredCurvature * pow(v_ego, 2)) - (roll * 9.81);
+    value = QString::number(desiredLateralAccel, 'f', 2);
+    unit = "m/s²";
+  }
+
+  value = lat_active ? value : "-";
+  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, label, unit, color);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h b/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h
new file mode 100644
index 00000000000000..0c5c472209ba1e
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h
@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+#pragma once
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h"
+
+class DeveloperUi {
+
+public:
+  static UiElement getDRel(bool lead_status, float lead_d_rel);
+  static UiElement getVRel(bool lead_status, float lead_v_rel, bool is_metric, const QString &speed_unit);
+  static UiElement getSteeringAngleDeg(float angle_steers, bool lat_active, bool steer_override);
+  static UiElement getActualLateralAccel(float curvature, float v_ego, float roll, bool lat_active, bool steer_override);
+  static UiElement getSteeringAngleDesiredDeg(bool lat_active, float steer_angle_desired, float angle_steers);
+  static UiElement getMemoryUsagePercent(int memory_usage_percent);
+  static UiElement getAEgo(float a_ego);
+  static UiElement getVEgoLead(bool lead_status, float lead_v_rel, float v_ego, bool is_metric, const QString &speed_unit);
+  static UiElement getFrictionCoefficientFiltered(float friction_coefficient_filtered, bool live_valid);
+  static UiElement getLatAccelFactorFiltered(float lat_accel_factor_filtered, bool live_valid);
+  static UiElement getSteeringTorqueEps(float steering_torque_eps);
+  static UiElement getBearingDeg(float bearing_accuracy_deg, float bearing_deg);
+  static UiElement getAltitude(float gps_accuracy, float altitude);
+  static UiElement getActuatorsOutputLateral(cereal::CarParams::SteerControlType steerControlType,
+                                             cereal::CarControl::Actuators::Reader &actuators,
+                                             float desiredCurvature, float v_ego, float roll, bool lat_active, bool steer_override);
+};
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h b/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h
new file mode 100644
index 00000000000000..3711e5ac05049a
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h
@@ -0,0 +1,19 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+#pragma once
+
+#include <QColor>
+
+struct UiElement {
+  QString value{};
+  QString label{};
+  QString units{};
+  QColor color{};
+
+  explicit UiElement(const QString &value = "", const QString &label = "", const QString &units = "", const QColor &color = QColor(255, 255, 255, 255))
+    : value(value), label(label), units(units), color(color) {}
+};
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 233ca59f98f336..9ead933d04d103 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -7,12 +7,202 @@
 
 #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"
 
+#include "selfdrive/ui/qt/util.h"
+
+
 HudRendererSP::HudRendererSP() {}
 
 void HudRendererSP::updateState(const UIState &s) {
   HudRenderer::updateState(s);
+
+  const SubMaster &sm = *(s.sm);
+  const bool cs_alive = sm.alive("controlsState");
+  const auto cs = sm["controlsState"].getControlsState();
+  const auto car_state = sm["carState"].getCarState();
+  const auto car_control = sm["carControl"].getCarControl();
+  const auto radar_state = sm["radarState"].getRadarState();
+  const auto is_gps_location_external = sm.rcv_frame("gpsLocationExternal") > 1;
+  const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
+  const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
+  const auto car_params = sm["carParams"].getCarParams();
+
+  static int reverse_delay = 0;
+  bool reverse_allowed = false;
+  if (int(car_state.getGearShifter()) != 4) {
+    reverse_delay = 0;
+    reverse_allowed = false;
+  } else {
+    reverse_delay += 50;
+    if (reverse_delay >= 1000) {
+      reverse_allowed = true;
+    }
+  }
+
+  reversing = reverse_allowed;
+  is_metric = s.scene.is_metric;
+
+  // Handle older routes where vEgoCluster is not set
+  v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
+  float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
+  speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
+  speed *= is_metric ? MS_TO_KPH : MS_TO_MPH;
+
+  latActive = car_control.getLatActive();
+  steerOverride = car_state.getSteeringPressed();
+
+  devUiInfo = s.scene.dev_ui_info;
+
+  speedUnit = is_metric ? tr("km/h") : tr("mph");
+  lead_d_rel = radar_state.getLeadOne().getDRel();
+  lead_v_rel = radar_state.getLeadOne().getVRel();
+  lead_status = radar_state.getLeadOne().getStatus();
+  steerControlType = car_params.getSteerControlType();
+  actuators = car_control.getActuators();
+  torqueLateral = steerControlType == cereal::CarParams::SteerControlType::TORQUE;
+  angleSteers = car_state.getSteeringAngleDeg();
+  desiredCurvature = cs.getDesiredCurvature();
+  curvature = cs.getCurvature();
+  roll = sm["liveParameters"].getLiveParameters().getRoll();
+  memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
+  gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
+  altitude = gpsLocation.getAltitude();
+  vEgo = car_state.getVEgo();
+  aEgo = car_state.getAEgo();
+  steeringTorqueEps = car_state.getSteeringTorqueEps();
+  bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
+  bearingDeg = gpsLocation.getBearingDeg();
+  torquedUseParams = ltp.getUseParams();
+  latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
+  frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
+  liveValid = ltp.getLiveValid();
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
   HudRenderer::draw(p, surface_rect);
+  if (!reversing) {
+    // Bottom Dev UI
+    if (devUiInfo == 2) {
+      QRect rect_bottom(surface_rect.left(), surface_rect.bottom() - 60, surface_rect.width(), 61);
+      p.setPen(Qt::NoPen);
+      p.setBrush(QColor(0, 0, 0, 100));
+      p.drawRect(rect_bottom);
+      drawBottomDevUI(p, rect_bottom.left(), rect_bottom.center().y());
+    }
+
+    // Right Dev UI
+    if (devUiInfo != 0) {
+      QRect rect_right(surface_rect.right() - (UI_BORDER_SIZE * 2), UI_BORDER_SIZE * 1.5, 184, 170);
+      drawRightDevUI(p, surface_rect.right() - 184 - UI_BORDER_SIZE * 2, UI_BORDER_SIZE * 2 + rect_right.height());
+    }
+  }
+}
+
+void HudRendererSP::drawText(QPainter &p, int x, int y, const QString &text, QColor color) {
+  QRect real_rect = p.fontMetrics().boundingRect(text);
+  real_rect.moveCenter({x, y - real_rect.height() / 2});
+  p.setPen(color);
+  p.drawText(real_rect.x(), real_rect.bottom(), text);
+}
+
+int HudRendererSP::drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color) {
+
+  p.setFont(InterFont(28, QFont::Bold));
+  x += 92;
+  y += 80;
+  drawText(p, x, y, label);
+
+  p.setFont(InterFont(30 * 2, QFont::Bold));
+  y += 65;
+  drawText(p, x, y, value, color);
+
+  p.setFont(InterFont(28, QFont::Bold));
+
+  if (units.length() > 0) {
+    p.save();
+    x += 120;
+    y -= 25;
+    p.translate(x, y);
+    p.rotate(-90);
+    drawText(p, 0, 0, units);
+    p.restore();
+  }
+
+  return 130;
+}
+
+void HudRendererSP::drawRightDevUI(QPainter &p, int x, int y) {
+  int rh = 5;
+  int ry = y;
+
+  UiElement dRelElement = DeveloperUi::getDRel(lead_status, lead_d_rel);
+  rh += drawRightDevUIElement(p, x, ry, dRelElement.value, dRelElement.label, dRelElement.units, dRelElement.color);
+  ry = y + rh;
+
+  UiElement vRelElement = DeveloperUi::getVRel(lead_status, lead_v_rel, is_metric, speedUnit);
+  rh += drawRightDevUIElement(p, x, ry, vRelElement.value, vRelElement.label, vRelElement.units, vRelElement.color);
+  ry = y + rh;
+
+  UiElement steeringAngleDegElement = DeveloperUi::getSteeringAngleDeg(angleSteers, latActive, steerOverride);
+  rh += drawRightDevUIElement(p, x, ry, steeringAngleDegElement.value, steeringAngleDegElement.label, steeringAngleDegElement.units, steeringAngleDegElement.color);
+  ry = y + rh;
+
+  UiElement actuatorsOutputLateralElement = DeveloperUi::getActuatorsOutputLateral(steerControlType, actuators, desiredCurvature, vEgo, roll, latActive, steerOverride);
+  rh += drawRightDevUIElement(p, x, ry, actuatorsOutputLateralElement.value, actuatorsOutputLateralElement.label, actuatorsOutputLateralElement.units, actuatorsOutputLateralElement.color);
+  ry = y + rh;
+
+  UiElement actualLateralAccelElement = DeveloperUi::getActualLateralAccel(curvature, vEgo, roll, latActive, steerOverride);
+  rh += drawRightDevUIElement(p, x, ry, actualLateralAccelElement.value, actualLateralAccelElement.label, actualLateralAccelElement.units, actualLateralAccelElement.color);
+}
+
+int HudRendererSP::drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color) {
+  p.setFont(InterFont(38, QFont::Bold));
+  QFontMetrics fm(p.font());
+  QRect init_rect = fm.boundingRect(label + " ");
+  QRect real_rect = fm.boundingRect(init_rect, 0, label + " ");
+  real_rect.moveCenter({x, y});
+
+  QRect init_rect2 = fm.boundingRect(value);
+  QRect real_rect2 = fm.boundingRect(init_rect2, 0, value);
+  real_rect2.moveTop(real_rect.top());
+  real_rect2.moveLeft(real_rect.right() + 10);
+
+  QRect init_rect3 = fm.boundingRect(units);
+  QRect real_rect3 = fm.boundingRect(init_rect3, 0, units);
+  real_rect3.moveTop(real_rect.top());
+  real_rect3.moveLeft(real_rect2.right() + 10);
+
+  p.setPen(Qt::white);
+  p.drawText(real_rect, Qt::AlignLeft | Qt::AlignVCenter, label);
+
+  p.setPen(color);
+  p.drawText(real_rect2, Qt::AlignRight | Qt::AlignVCenter, value);
+  p.drawText(real_rect3, Qt::AlignLeft | Qt::AlignVCenter, units);
+  return 430;
+}
+
+void HudRendererSP::drawBottomDevUI(QPainter &p, int x, int y) {
+  int rw = 90;
+
+  UiElement aEgoElement = DeveloperUi::getAEgo(aEgo);
+  rw += drawBottomDevUIElement(p, rw, y, aEgoElement.value, aEgoElement.label, aEgoElement.units, aEgoElement.color);
+
+  UiElement vEgoLeadElement = DeveloperUi::getVEgoLead(lead_status, lead_v_rel, vEgo, is_metric, speedUnit);
+  rw += drawBottomDevUIElement(p, rw, y, vEgoLeadElement.value, vEgoLeadElement.label, vEgoLeadElement.units, vEgoLeadElement.color);
+
+  if (torqueLateral && torquedUseParams) {
+    UiElement frictionCoefficientFilteredElement = DeveloperUi::getFrictionCoefficientFiltered(frictionCoefficientFiltered, liveValid);
+    rw += drawBottomDevUIElement(p, rw, y, frictionCoefficientFilteredElement.value, frictionCoefficientFilteredElement.label, frictionCoefficientFilteredElement.units, frictionCoefficientFilteredElement.color);
+
+    UiElement latAccelFactorFilteredElement = DeveloperUi::getLatAccelFactorFiltered(latAccelFactorFiltered, liveValid);
+    rw += drawBottomDevUIElement(p, rw, y, latAccelFactorFilteredElement.value, latAccelFactorFilteredElement.label, latAccelFactorFilteredElement.units, latAccelFactorFilteredElement.color);
+  } else {
+    UiElement steeringTorqueEpsElement = DeveloperUi::getSteeringTorqueEps(steeringTorqueEps);
+    rw += drawBottomDevUIElement(p, rw, y, steeringTorqueEpsElement.value, steeringTorqueEpsElement.label, steeringTorqueEpsElement.units, steeringTorqueEpsElement.color);
+
+    UiElement bearingDegElement = DeveloperUi::getBearingDeg(bearingAccuracyDeg, bearingDeg);
+    rw += drawBottomDevUIElement(p, rw, y, bearingDegElement.value, bearingDegElement.label, bearingDegElement.units, bearingDegElement.color);
+  }
+
+  UiElement altitudeElement = DeveloperUi::getAltitude(gpsAccuracy, altitude);
+  rw += drawBottomDevUIElement(p, rw, y, altitudeElement.value, altitudeElement.label, altitudeElement.units, altitudeElement.color);
 }
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index 1e98cd3a526a0f..968789bc150bd0 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -7,9 +7,8 @@
 
 #pragma once
 
-#include <QPainter>
-
 #include "selfdrive/ui/qt/onroad/hud.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"
 
 class HudRendererSP : public HudRenderer {
   Q_OBJECT
@@ -18,4 +17,40 @@ class HudRendererSP : public HudRenderer {
   HudRendererSP();
   void updateState(const UIState &s) override;
   void draw(QPainter &p, const QRect &surface_rect) override;
+
+private:
+  Params params;
+  void drawText(QPainter &p, int x, int y, const QString &text, QColor color = Qt::white);
+  void drawRightDevUI(QPainter &p, int x, int y);
+  int drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
+  int drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
+  void drawBottomDevUI(QPainter &p, int x, int y);
+
+  bool lead_status;
+  float lead_d_rel;
+  float lead_v_rel;
+  bool torqueLateral;
+  float angleSteers;
+  float desiredCurvature;
+  float curvature;
+  float roll;
+  int memoryUsagePercent;
+  int devUiInfo;
+  float gpsAccuracy;
+  float altitude;
+  float vEgo;
+  float aEgo;
+  float steeringTorqueEps;
+  float bearingAccuracyDeg;
+  float bearingDeg;
+  bool torquedUseParams;
+  float latAccelFactorFiltered;
+  float frictionCoefficientFiltered;
+  bool liveValid;
+  QString speedUnit;
+  bool latActive;
+  bool steerOverride;
+  bool reversing;
+  cereal::CarParams::SteerControlType steerControlType;
+  cereal::CarControl::Actuators::Reader actuators;
 };
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index b2701356cc9037..1277195df1d287 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -18,13 +18,22 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
-    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP"
+    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
+    "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
+    "carStateSP", "liveParameters"
   });
 
   // update timer
   timer = new QTimer(this);
   QObject::connect(timer, &QTimer::timeout, this, &UIStateSP::update);
   timer->start(1000 / UI_FREQ);
+
+  // Param watcher for UIScene param updates
+  param_watcher = new ParamWatcher(this);
+  connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
+    ui_update_params_sp(this);
+  });
+  param_watcher->addParam("DevUIInfo");
 }
 
 // This method overrides completely the update method from the parent class intentionally.
@@ -39,6 +48,11 @@ void UIStateSP::update() {
   emit uiUpdate(*this);
 }
 
+void ui_update_params_sp(UIStateSP *s) {
+  auto params = Params();
+  s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
+}
+
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
   QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &DeviceSP::update);
   QObject::connect(this, &Device::displayPowerChanged, this, &DeviceSP::handleDisplayPowerChanged);
diff --git a/selfdrive/ui/sunnypilot/ui.h b/selfdrive/ui/sunnypilot/ui.h
index cf8de1c4bbe5a9..393f997cbdf421 100644
--- a/selfdrive/ui/sunnypilot/ui.h
+++ b/selfdrive/ui/sunnypilot/ui.h
@@ -13,6 +13,7 @@
 #include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h"
 #include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/sponsor_role_model.h"
 #include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/util.h"
 
 class UIStateSP : public UIState {
   Q_OBJECT
@@ -73,6 +74,7 @@ private slots:
 private:
   std::vector<RoleModel> sunnylinkRoles = {};
   std::vector<UserModel> sunnylinkUsers = {};
+  ParamWatcher *param_watcher;
 };
 
 UIStateSP *uiStateSP();
@@ -92,3 +94,5 @@ class DeviceSP : public Device {
 
 DeviceSP *deviceSP();
 inline DeviceSP *device() { return deviceSP(); }
+
+void ui_update_params_sp(UIStateSP *s);
diff --git a/selfdrive/ui/sunnypilot/ui_scene.h b/selfdrive/ui/sunnypilot/ui_scene.h
new file mode 100644
index 00000000000000..93e0cd6c9199cd
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/ui_scene.h
@@ -0,0 +1,12 @@
+/**
+  * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+  *
+  * This file is part of sunnypilot and is licensed under the MIT License.
+  * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+typedef struct UISceneSP : UIScene {
+  int dev_ui_info = 0;
+} UISceneSP;
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index e78b573b666c0b..5b3872b3d476d6 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -66,6 +66,11 @@ typedef struct UIScene {
   uint64_t started_frame;
 } UIScene;
 
+#ifdef SUNNYPILOT
+#include "sunnypilot/ui_scene.h"
+#define UIScene UISceneSP
+#endif
+
 class UIState : public QObject {
   Q_OBJECT
 

From bffb2fb6fabd384a39517e46d841b45b97a58210 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 14 Sep 2025 20:22:51 +0200
Subject: [PATCH 0419/1434] bugfix: param store to support the latest param
 changes (#1244)

* bugfix: update parameter handling to use custom CarControlSP.Param and improve param retrieval

* bump opendbc
---
 cereal/custom.capnp                           | 15 +++++++-
 opendbc_repo                                  |  2 +-
 .../selfdrive/controls/controlsd_ext.py       |  2 +-
 .../selfdrive/controls/lib/param_store.py     | 36 ++++++++++---------
 sunnypilot/sunnylink/utils.py                 | 18 ++++++++--
 5 files changed, 50 insertions(+), 23 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 5468e0f39de64a..8d4bc3cb82e3f8 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -202,7 +202,20 @@ struct CarControlSP @0xa5cd762cd951a455 {
 
   struct Param {
     key @0 :Text;
-    value @1 :Text;
+    type @2 :ParamType;
+    value @3 :Data;
+
+    valueDEPRECATED @1 :Text; # The data type change may cause issues with backwards compatibility.
+  }
+  
+  enum ParamType {
+    string @0;
+    bool @1;
+    int @2;
+    float @3;
+    time @4;
+    json @5;
+    bytes @6;
   }
 }
 
diff --git a/opendbc_repo b/opendbc_repo
index c705ebf9872193..189dc3f78c3b2e 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit c705ebf9872193e97f9498868cead9e9affdee15
+Subproject commit 189dc3f78c3b2eeb0402e69760602aa7149d05c9
diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
index 7e06ac77c1d7ec..a096b7dc8c4194 100644
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -73,7 +73,7 @@ def state_control_ext(self, sm: messaging.SubMaster) -> custom.CarControlSP:
     # MADS state
     CC_SP.mads = sm['selfdriveStateSP'].mads
 
-    CC_SP.params = self.param_store.publish()
+    CC_SP.params = self.param_store.param_list
 
     return CC_SP
 
diff --git a/sunnypilot/selfdrive/controls/lib/param_store.py b/sunnypilot/selfdrive/controls/lib/param_store.py
index 2ef34731875cd0..65a01753401fef 100644
--- a/sunnypilot/selfdrive/controls/lib/param_store.py
+++ b/sunnypilot/selfdrive/controls/lib/param_store.py
@@ -4,39 +4,41 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-import capnp
-
 from cereal import custom
-
 from opendbc.car import structs
 from openpilot.common.params import Params
 
+from sunnypilot.sunnylink.utils import get_param_as_byte
+
 
 class ParamStore:
   keys: list[str]
-  values: dict[str, str]
+  _params: dict[str, custom.CarControlSP.Param]
 
   def __init__(self, CP: structs.CarParams):
     universal_params: list[str] = []
     brand_params: list[str] = []
 
     self.keys = universal_params + brand_params
-    self.values = {}
-    self.cached_params_list: list[capnp.lib.capnp._DynamicStructBuilder] | None = None
+    self._params = {}
 
     self.frame = 0
 
   def update(self, params: Params) -> None:
-    if self.frame % 300 == 0:
-      old_values = dict(self.values)
-      self.values = {k: params.get(k) or "0" for k in self.keys}
-      if old_values != self.values:
-        self.cached_params_list = None
-
     self.frame += 1
+    if self.frame % 300 != 0:
+      return
+
+    for key in self.keys:
+      param_type = params.get_type(key).name.lower()  # Using string instead of number because its "loose" dependency, and could change by OP at anytime.
+
+      # Over engineering opportunity: It's possible this conversion is slow, we may check the value as params returns it for cache purposes. Not today.
+      param_value = get_param_as_byte(key, params)
+      if (existing_param := self._params.get(key)) is not None and existing_param.value == param_value:
+        continue
+
+      self._params[key] = custom.CarControlSP.Param(key=key, value=param_value, type=param_type)
 
-  def publish(self) -> list[capnp.lib.capnp._DynamicStructBuilder]:
-    if self.cached_params_list is None:
-      # TODO-SP: Why are we doing a list instead of a dictionary here?
-      self.cached_params_list = [custom.CarControlSP.Param(key=k, value=self.values[k]) for k in self.keys]
-    return self.cached_params_list
+  @property
+  def param_list(self) -> list[custom.CarControlSP.Param]:
+    return [v for k,v in self._params.items()]
diff --git a/sunnypilot/sunnylink/utils.py b/sunnypilot/sunnylink/utils.py
index 1310b91f0e3405..91c07887953ce5 100644
--- a/sunnypilot/sunnylink/utils.py
+++ b/sunnypilot/sunnylink/utils.py
@@ -60,9 +60,9 @@ def get_api_token():
   print(f"API Token: {token}")
 
 
-def get_param_as_byte(param_name: str) -> bytes | None:
+def get_param_as_byte(param_name: str, params=None) -> bytes | None:
   """Get a parameter as bytes. Returns None if the parameter does not exist."""
-  params = Params()
+  params = params or Params() # Use existing Params instance if provided
   param = params.get(param_name)
   if param is None:
     return None
@@ -85,6 +85,17 @@ def save_param_from_base64_encoded_string(param_name: str, base64_encoded_data:
   if is_compressed:
     value = gzip.decompress(value)
 
+  # We convert to string anything that isn't bytes first. We later transform further.
+  param_value = _convert_param_to_type(value, param_type)
+  params.put(param_name, param_value)
+
+
+def _convert_param_to_type(value: bytes, param_type: ParamKeyType) -> bytes | str | int | float | bool | dict | None:
+  """
+  Convert a byte value to the specified param type. Used internally when getting a Param to convert it to the right type.
+  If this method looks familiar, it's because on SP we have a similar one in openpilot/sunnypilot/car/__init__.py.
+  """
+
   # We convert to string anything that isn't bytes first. We later transform further.
   if param_type != ParamKeyType.BYTES:
     value = value.decode('utf-8')  # type: ignore
@@ -101,4 +112,5 @@ def save_param_from_base64_encoded_string(param_name: str, base64_encoded_data:
     value = str(value)  # type: ignore
   elif param_type == ParamKeyType.JSON:
     value = json.loads(value)
-  params.put(param_name, value)
+
+  return value

From b32c6dafee755b2a961c37fa6967cc1fe5292398 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sun, 14 Sep 2025 18:45:22 -0700
Subject: [PATCH 0420/1434] modeld: add laneline helper for plan indices
 calculation (#1240)

* modeld: add laneline_helper for plan X indices calculation

* spacing

* keep type hints

* openpilot

* sunnypilot/models/helpers

add modeld helpers to helpers

* Send it from each fill message

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/modeld/fill_model_msg.py     |  5 +++--
 sunnypilot/modeld/fill_model_msg.py    | 19 ++-----------------
 sunnypilot/modeld_v2/fill_model_msg.py |  5 +++--
 sunnypilot/models/helpers.py           | 24 ++++++++++++++++++++++++
 4 files changed, 32 insertions(+), 21 deletions(-)

diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 82c4c92b1d53c7..7273745c7baf54 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -3,6 +3,7 @@
 import numpy as np
 from cereal import log
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
+from openpilot.sunnypilot.models.helpers import plan_x_idxs_helper
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
@@ -95,8 +96,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   # action
   modelV2.action = action
 
-  # times at X_IDXS of edges and lines aren't used
-  LINE_T_IDXS: list[float] = []
+  # times at X_IDXS of edges and lines
+  LINE_T_IDXS: list[float] = plan_x_idxs_helper(ModelConstants, Plan, net_output_data)
 
   # lane lines
   modelV2.init('laneLines', 4)
diff --git a/sunnypilot/modeld/fill_model_msg.py b/sunnypilot/modeld/fill_model_msg.py
index dadffc84333ff1..a62c451efdccf0 100644
--- a/sunnypilot/modeld/fill_model_msg.py
+++ b/sunnypilot/modeld/fill_model_msg.py
@@ -3,6 +3,7 @@
 import numpy as np
 from cereal import log
 from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
+from openpilot.sunnypilot.models.helpers import plan_x_idxs_helper
 from openpilot.sunnypilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_lag_adjusted_curvature, MIN_SPEED
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -120,23 +121,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   modelV2_action.desiredCurvature = desired_curvature
 
   # times at X_IDXS according to model plan
-  PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
-  PLAN_T_IDXS[0] = 0.0
-  plan_x = net_output_data['plan'][0,:,Plan.POSITION][:,0].tolist()
-  for xidx in range(1, ModelConstants.IDX_N):
-    tidx = 0
-    # increment tidx until we find an element that's further away than the current xidx
-    while tidx < ModelConstants.IDX_N - 1 and plan_x[tidx+1] < ModelConstants.X_IDXS[xidx]:
-      tidx += 1
-    if tidx == ModelConstants.IDX_N - 1:
-      # if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break
-      PLAN_T_IDXS[xidx] = ModelConstants.T_IDXS[ModelConstants.IDX_N - 1]
-      break
-    # interpolate to find `t` for the current xidx
-    current_x_val = plan_x[tidx]
-    next_x_val = plan_x[tidx+1]
-    p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan')
-    PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx]
+  PLAN_T_IDXS: list[float] = plan_x_idxs_helper(ModelConstants, Plan, net_output_data)
 
   # lane lines
   modelV2.init('laneLines', 4)
diff --git a/sunnypilot/modeld_v2/fill_model_msg.py b/sunnypilot/modeld_v2/fill_model_msg.py
index c7de698f613154..ee0eb48684a7c5 100644
--- a/sunnypilot/modeld_v2/fill_model_msg.py
+++ b/sunnypilot/modeld_v2/fill_model_msg.py
@@ -3,6 +3,7 @@
 import numpy as np
 from cereal import log
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, Plan
+from openpilot.sunnypilot.models.helpers import plan_x_idxs_helper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_curvature_from_plan
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -118,8 +119,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   # action (includes lateral planning now)
   modelV2.action = action
 
-  # times at X_IDXS of edges and lines aren't used
-  LINE_T_IDXS: list[float] = []
+  # times at X_IDXS of edges and lines
+  LINE_T_IDXS: list[float] = plan_x_idxs_helper(ModelConstants, Plan, net_output_data)
 
   # lane lines
   modelV2.init('laneLines', 4)
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index ecf0a39b72a230..20b94fb611cb40 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -185,3 +185,27 @@ def load_meta_constants(model_metadata):
       meta = MetaTombRaider
 
   return meta
+
+
+# The following method(s) are modeld helper methods
+def plan_x_idxs_helper(constants, plan, model_output) -> list[float]:
+  # times at X_IDXS according to plan.
+  LINE_T_IDXS = [np.nan] * constants.IDX_N
+  LINE_T_IDXS[0] = 0.0
+  plan_x = model_output['plan'][0, :, plan.POSITION][:, 0].tolist()
+  for xidx in range(1, constants.IDX_N):
+    tidx = 0
+    # increment tidx until we find an element that's further away than the current xidx
+    while tidx < constants.IDX_N - 1 and plan_x[tidx + 1] < constants.X_IDXS[xidx]:
+      tidx += 1
+    if tidx == constants.IDX_N - 1:
+      # if the plan doesn't extend far enough, set plan_t to the max value (10s), then break
+      LINE_T_IDXS[xidx] = constants.T_IDXS[constants.IDX_N - 1]
+      break
+    # interpolate to find `t` for the current xidx
+    current_x_val = plan_x[tidx]
+    next_x_val = plan_x[tidx + 1]
+    p = (constants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(
+      next_x_val - current_x_val) > 1e-9 else float('nan')
+    LINE_T_IDXS[xidx] = p * constants.T_IDXS[tidx + 1] + (1 - p) * constants.T_IDXS[tidx]
+  return LINE_T_IDXS

From 747460363fca35025cf7cf306269c95b4e7bc0aa Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 14 Sep 2025 23:51:29 -0400
Subject: [PATCH 0421/1434] panda: consolidate supported panda checks (#1248)

* panda: fix upstream merge conflicts

* move it higher

* consolidate checks

* update

* bump

* actual bump
---
 panda                      |  2 +-
 selfdrive/pandad/pandad.py | 26 ++++++++++++++++++++------
 2 files changed, 21 insertions(+), 7 deletions(-)

diff --git a/panda b/panda
index 7c393d1cd5cc88..69ab12ee2a2958 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 7c393d1cd5cc88d3c28af2086bf25ff6f3035574
+Subproject commit 69ab12ee2a2958bb9825bd772ff03be6714b6c0e
diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index 361c1f214879d5..f4064ddcd49eda 100755
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -29,6 +29,12 @@ def flash_panda(panda_serial: str) -> Panda:
     HARDWARE.recover_internal_panda()
     raise
 
+  # skip flashing if the detected panda is not supported
+  supported_panda = check_panda_support(panda)
+  if not supported_panda:
+    cloudlog.warning(f"Panda {panda_serial} is not supported (hw_type: {panda.get_type()}), skipping flash...")
+    return panda
+
   fw_signature = get_expected_signature(panda)
   internal_panda = panda.is_internal()
 
@@ -36,12 +42,6 @@ def flash_panda(panda_serial: str) -> Panda:
   panda_signature = b"" if panda.bootstub else panda.get_signature()
   cloudlog.warning(f"Panda {panda_serial} connected, version: {panda_version}, signature {panda_signature.hex()[:16]}, expected {fw_signature.hex()[:16]}")
 
-  # skip flashing if the detected device is not supported from upstream
-  hw_type = panda.get_type()
-  if hw_type not in Panda.SUPPORTED_DEVICES:
-    cloudlog.warning(f"Panda {panda_serial} is not supported (hw_type: {hw_type}), skipping flash...")
-    return panda
-
   if panda.bootstub or panda_signature != fw_signature:
     cloudlog.info("Panda firmware out of date, update required")
     panda.flash()
@@ -67,6 +67,14 @@ def flash_panda(panda_serial: str) -> Panda:
   return panda
 
 
+def check_panda_support(panda) -> bool:
+  hw_type = panda.get_type()
+  if hw_type in Panda.SUPPORTED_DEVICES:
+    return True
+
+  return False
+
+
 def main() -> None:
   # signal pandad to close the relay and exit
   def signal_handler(signum, frame):
@@ -140,6 +148,12 @@ def signal_handler(signum, frame):
       params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))
 
       for panda in pandas:
+        # skip health check if the detected panda is not supported
+        supported_panda = check_panda_support(panda)
+        if not supported_panda:
+          cloudlog.warning(f"Panda {panda.get_usb_serial()} is not supported (hw_type: {panda.get_type()}), skipping health check...")
+          continue
+
         # check health for lost heartbeat
         health = panda.health()
         if health["heartbeat_lost"]:

From 94f93a9f266e6a51d6a79ac092cefd2f7b0b6551 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Tue, 16 Sep 2025 10:05:34 +0200
Subject: [PATCH 0422/1434] ui: Add standstill timer to HUD (#1251)

* Add standstill timer to HUD

- Introduced a timer displaying elapsed time when the car is at a standstill.
- Added settings toggle to enable/disable this feature.
- Updated UI elements and related logic to support the standstill timer.

* ruff be happy

* stop screaming

* c stands for not cereal

* slight cleanup

* a bit more cleanup

* unused

---------

Co-authored-by: nayan <nayan8teen@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/params_keys.h                          |  1 +
 .../qt/offroad/settings/visuals_panel.cc      |  7 ++++
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc      | 42 +++++++++++++++++++
 selfdrive/ui/sunnypilot/qt/onroad/hud.h       |  4 ++
 selfdrive/ui/sunnypilot/ui.cc                 |  2 +
 selfdrive/ui/sunnypilot/ui_scene.h            |  1 +
 6 files changed, 57 insertions(+)

diff --git a/common/params_keys.h b/common/params_keys.h
index 011a3161f98f66..44d25ec413b874 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -159,6 +159,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // MADS params
     {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
index c3aaf12d2267e5..e19760f2e10d02 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -35,6 +35,13 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
       "../assets/offroad/icon_monitoring.png",
       false,
     },
+    {
+      "StandstillTimer",
+      tr("Enable Standstill Timer"),
+      tr("Show a timer on the HUD when the car is at a standstill."),
+      "../assets/offroad/icon_monitoring.png",
+      false,
+    },
   };
 
   // Add regular toggles first
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 9ead933d04d103..291a669ac585d1 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -75,6 +75,9 @@ void HudRendererSP::updateState(const UIState &s) {
   latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
   frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
   liveValid = ltp.getLiveValid();
+
+  standstillTimer = s.scene.standstill_timer;
+  isStandstill = car_state.getStandstill();
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
@@ -94,6 +97,11 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
       QRect rect_right(surface_rect.right() - (UI_BORDER_SIZE * 2), UI_BORDER_SIZE * 1.5, 184, 170);
       drawRightDevUI(p, surface_rect.right() - 184 - UI_BORDER_SIZE * 2, UI_BORDER_SIZE * 2 + rect_right.height());
     }
+
+    // Standstill Timer
+    if (standstillTimer) {
+      drawStandstillTimer(p, surface_rect.right() / 12 * 10, surface_rect.bottom() / 12 * 1.53);
+    }
   }
 }
 
@@ -206,3 +214,37 @@ void HudRendererSP::drawBottomDevUI(QPainter &p, int x, int y) {
   UiElement altitudeElement = DeveloperUi::getAltitude(gpsAccuracy, altitude);
   rw += drawBottomDevUIElement(p, rw, y, altitudeElement.value, altitudeElement.label, altitudeElement.units, altitudeElement.color);
 }
+
+void HudRendererSP::drawStandstillTimer(QPainter &p, int x, int y) {
+  if (isStandstill) {
+    standstillElapsedTime += 1.0 / UI_FREQ;
+
+    int minute = static_cast<int>(standstillElapsedTime / 60);
+    int second = static_cast<int>(standstillElapsedTime - (minute * 60));
+
+    // stop sign for standstill timer
+    const int size = 190;  // size
+    const float angle = M_PI / 8.0;
+
+    QPolygon octagon;
+    for (int i = 0; i < 8; i++) {
+      float curr_angle = angle + i * M_PI / 4.0;
+      int point_x = x + size / 2 * cos(curr_angle);
+      int point_y = y + size / 2 * sin(curr_angle);
+      octagon << QPoint(point_x, point_y);
+    }
+
+    p.setPen(QPen(Qt::white, 6));
+    p.setBrush(QColor(255, 90, 81, 200)); // red pastel
+    p.drawPolygon(octagon);
+
+    QString time_str = QString("%1:%2").arg(minute, 1, 10, QChar('0')).arg(second, 2, 10, QChar('0'));
+    p.setFont(InterFont(55, QFont::Bold));
+    p.setPen(Qt::white);
+    QRect timerTextRect = p.fontMetrics().boundingRect(QString(time_str));
+    timerTextRect.moveCenter({x, y});
+    p.drawText(timerTextRect, Qt::AlignCenter, QString(time_str));
+  } else {
+    standstillElapsedTime = 0.0;
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index 968789bc150bd0..75fc520fcf8066 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -25,6 +25,7 @@ class HudRendererSP : public HudRenderer {
   int drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
   int drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
   void drawBottomDevUI(QPainter &p, int x, int y);
+  void drawStandstillTimer(QPainter &p, int x, int y);
 
   bool lead_status;
   float lead_d_rel;
@@ -53,4 +54,7 @@ class HudRendererSP : public HudRenderer {
   bool reversing;
   cereal::CarParams::SteerControlType steerControlType;
   cereal::CarControl::Actuators::Reader actuators;
+  bool standstillTimer;
+  bool isStandstill;
+  float standstillElapsedTime;
 };
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index 1277195df1d287..7b10929bc61be7 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -34,6 +34,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     ui_update_params_sp(this);
   });
   param_watcher->addParam("DevUIInfo");
+  param_watcher->addParam("StandstillTimer");
 }
 
 // This method overrides completely the update method from the parent class intentionally.
@@ -51,6 +52,7 @@ void UIStateSP::update() {
 void ui_update_params_sp(UIStateSP *s) {
   auto params = Params();
   s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
+  s->scene.standstill_timer = params.getBool("StandstillTimer");
 }
 
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
diff --git a/selfdrive/ui/sunnypilot/ui_scene.h b/selfdrive/ui/sunnypilot/ui_scene.h
index 93e0cd6c9199cd..c941be675c3879 100644
--- a/selfdrive/ui/sunnypilot/ui_scene.h
+++ b/selfdrive/ui/sunnypilot/ui_scene.h
@@ -9,4 +9,5 @@
 
 typedef struct UISceneSP : UIScene {
   int dev_ui_info = 0;
+  bool standstill_timer = false;
 } UISceneSP;

From cb94d3b0550e3ee329f17f143fe9a3cbba1e9430 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 16 Sep 2025 22:51:32 -0400
Subject: [PATCH 0423/1434] Longitudinal: Smart Cruise Control prerequisites
 (#1249)

* Controls: Vision Turn Speed Control

* fix

* Data type temp fix

* format

* more

* even more

* self contain targets

* state cleanup

* fix

* param updates

* no need

* use similar state machine

* raise exception if not found

* new state

* entirely internal

* use long active

* more

* rename and expose aTarget

* rename to SCC-V

* init tests

* slight tests

* expose toggle

* lint

* todo

* remove lat planner sub and mock sm data

* introduce aTarget

* rename

* rename

* update fill_model_msg.py to calculate PLAN_T_IDXS for lanelines and road edges

* sync upstream

* no SCC-V yet

* Revert "no SCC-V yet"

This reverts commit b67281bcac0dce0c6c3237afc2584cf29144c83c.

* wrap it with SCC main

* no SCC-V yet

* noqa now

* fix

* OP long for now, enable for ICBM once merged

* type hints

* let's get it straight from carcontrol instead

* not needed

* unused

* add source to track

* we can do this

---------

Co-authored-by: discountchubbs <alexgrant990@gmail.com>
---
 cereal/custom.capnp                           |  9 +++++++++
 .../controls/lib/longitudinal_planner.py      |  3 +++
 sunnypilot/__init__.py                        |  7 +++++++
 .../controls/lib/longitudinal_planner.py      | 20 +++++++++++++++++++
 .../lib/smart_cruise_control/__init__.py      |  0
 .../smart_cruise_control.py                   | 13 ++++++++++++
 6 files changed, 52 insertions(+)
 create mode 100644 sunnypilot/selfdrive/controls/lib/smart_cruise_control/__init__.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 8d4bc3cb82e3f8..e09b32a0a6480c 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -122,6 +122,8 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
 
 struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   dec @0 :DynamicExperimentalControl;
+  longitudinalPlanSource @1 :LongitudinalPlanSource;
+  smartCruiseControl @2 :SmartCruiseControl;
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
@@ -133,6 +135,13 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
       blended @1;
     }
   }
+
+  struct SmartCruiseControl {
+  }
+
+  enum LongitudinalPlanSource {
+    cruise @0;
+  }
 }
 
 struct OnroadEventSP @0xda96579883444c35 {
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 96248b71324180..139cdc06e79d26 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -146,6 +146,9 @@ def update(self, sm):
       clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
       accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
 
+    # Get new v_cruise and a_desired from Smart Cruise Control
+    v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
+
     if force_slow_decel:
       v_cruise = 0.0
 
diff --git a/sunnypilot/__init__.py b/sunnypilot/__init__.py
index e69de29bb2d1d6..ab5441aa71dbc5 100644
--- a/sunnypilot/__init__.py
+++ b/sunnypilot/__init__.py
@@ -0,0 +1,7 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+PARAMS_UPDATE_PERIOD = 3  # seconds
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index 6952a97f1fcfd5..ec020000a38252 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -8,15 +8,19 @@
 from cereal import messaging, custom
 from opendbc.car import structs
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
+from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.smart_cruise_control import SmartCruiseControl
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
+Source = custom.LongitudinalPlanSP.LongitudinalPlanSource
 
 
 class LongitudinalPlannerSP:
   def __init__(self, CP: structs.CarParams, mpc):
     self.dec = DynamicExperimentalController(CP, mpc)
+    self.scc = SmartCruiseControl()
     self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
+    self.source = Source.cruise
 
   @property
   def mlsim(self) -> bool:
@@ -29,6 +33,18 @@ def get_mpc_mode(self) -> str | None:
 
     return self.dec.mode()
 
+  def update_targets(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> tuple[float, float]:
+    self.scc.update(sm, v_ego, a_ego, v_cruise)
+
+    targets = {
+      Source.cruise : (v_cruise, a_ego),
+    }
+
+    self.source = min(targets, key=lambda k: targets[k][0])
+    v_target, a_target = targets[self.source]
+
+    return v_target, a_target
+
   def update(self, sm: messaging.SubMaster) -> None:
     self.dec.update(sm)
 
@@ -38,6 +54,7 @@ def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.Pu
     plan_sp_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
 
     longitudinalPlanSP = plan_sp_send.longitudinalPlanSP
+    longitudinalPlanSP.longitudinalPlanSource = self.source
 
     # Dynamic Experimental Control
     dec = longitudinalPlanSP.dec
@@ -45,4 +62,7 @@ def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.Pu
     dec.enabled = self.dec.enabled()
     dec.active = self.dec.active()
 
+    # Smart Cruise Control
+    smartCruiseControl = longitudinalPlanSP.smartCruiseControl  # noqa: F841
+
     pm.send('longitudinalPlanSP', plan_sp_send)
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/__init__.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
new file mode 100644
index 00000000000000..0a04c243c10868
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
@@ -0,0 +1,13 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from cereal import messaging
+
+
+class SmartCruiseControl:
+
+  def update(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float):
+    pass

From 784e1d665880f65b46cfe3c0c242fe71e22f4a2e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 17 Sep 2025 22:55:36 -0400
Subject: [PATCH 0424/1434] Smart Cruise Control: Vision (SCC-V) (#997)

* Controls: Vision Turn Speed Control

* fix

* Data type temp fix

* format

* more

* even more

* self contain targets

* state cleanup

* fix

* param updates

* no need

* use similar state machine

* raise exception if not found

* new state

* entirely internal

* use long active

* more

* rename and expose aTarget

* rename to SCC-V

* init tests

* slight tests

* expose toggle

* lint

* todo

* remove lat planner sub and mock sm data

* introduce aTarget

* rename

* rename

* update fill_model_msg.py to calculate PLAN_T_IDXS for lanelines and road edges

* sync upstream

* no SCC-V yet

* Revert "no SCC-V yet"

This reverts commit b67281bcac0dce0c6c3237afc2584cf29144c83c.

* wrap it with SCC main

* leave enabled out of here

* wat

* enabled and active on cereal

* OP long for now, enable for ICBM once merged

* need this

* unused

* let's go hybrid

* fix

* add override state

* update tests

* huh

* don't math here if not enabled

* ui: Smart Cruise Control - Vision (SCC-V) (#1253)

* vtsc-ui

* slight cleanup

* more cleanup

* unused

* a bit more

* pulse like it's hot

* draw only enabled and active

* let's try this for now

* settle

* finalize UI

* brighter color so we blind devtekve

* add long override

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

* slight cleanup

* more

* type hints

---------

Co-authored-by: discountchubbs <alexgrant990@gmail.com>
Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>
---
 cereal/custom.capnp                           |  21 ++
 common/params_keys.h                          |   1 +
 .../qt/offroad/settings/longitudinal_panel.cc |   9 +
 .../qt/offroad/settings/longitudinal_panel.h  |   1 +
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc      |  63 ++++++
 selfdrive/ui/sunnypilot/qt/onroad/hud.h       |   6 +
 .../controls/lib/longitudinal_planner.py      |  14 +-
 .../smart_cruise_control.py                   |  12 +-
 .../tests/test_vision_controller.py           | 104 +++++++++
 .../smart_cruise_control/vision_controller.py | 205 ++++++++++++++++++
 10 files changed, 431 insertions(+), 5 deletions(-)
 create mode 100644 sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index e09b32a0a6480c..66aa1b71f86ecf 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -137,10 +137,31 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   }
 
   struct SmartCruiseControl {
+    vision @0 :Vision;
+
+    struct Vision {
+      state @0 :VisionState;
+      vTarget @1 :Float32;
+      aTarget @2 :Float32;
+      currentLateralAccel @3 :Float32;
+      maxPredictedLateralAccel @4 :Float32;
+      enabled @5 :Bool;
+      active @6 :Bool;
+    }
+
+    enum VisionState {
+      disabled @0; # System disabled or inactive.
+      enabled @1; # No predicted substantial turn on vision range.
+      entering @2; # A substantial turn is predicted ahead, adapting speed to turn comfort levels.
+      turning @3; # Actively turning. Managing acceleration to provide a roll on turn feeling.
+      leaving @4; # Road ahead straightens. Start to allow positive acceleration.
+      overriding @5; # System overriding with manual control.
+    }
   }
 
   enum LongitudinalPlanSource {
     cruise @0;
+    sccVision @1;
   }
 }
 
diff --git a/common/params_keys.h b/common/params_keys.h
index 44d25ec413b874..f0511bf9c2a86b 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -159,6 +159,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // MADS params
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
index 15ed10bf9a2de0..ac7b57e2971b28 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
@@ -18,6 +18,13 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
   cruisePanelScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(cruisePanelScroller);
 
+  SmartCruiseControlVision = new ParamControl(
+    "SmartCruiseControlVision",
+    tr("Smart Cruise Control - Vision"),
+    tr("Use vision path predictions to estimate the appropriate speed to drive through turns ahead."),
+    "");
+  list->addItem(SmartCruiseControlVision);
+
   customAccIncrement = new CustomAccIncrement("CustomAccIncrementsEnabled", tr("Custom ACC Speed Increments"), "", "", this);
   list->addItem(customAccIncrement);
 
@@ -75,5 +82,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
   customAccIncrement->setEnabled(has_longitudinal_control && !is_pcm_cruise && !offroad);
   customAccIncrement->refresh();
 
+  SmartCruiseControlVision->setEnabled(has_longitudinal_control);
+
   offroad = _offroad;
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
index 58e94f333b362f..36c35720e7e53c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
@@ -29,4 +29,5 @@ class LongitudinalPanel : public QWidget {
   ScrollViewSP *cruisePanelScroller = nullptr;
   QWidget *cruisePanelScreen = nullptr;
   CustomAccIncrement *customAccIncrement = nullptr;
+  ParamControl *SmartCruiseControlVision;
 };
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 291a669ac585d1..fb2a69c24bdf83 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -4,6 +4,7 @@
  * This file is part of sunnypilot and is licensed under the MIT License.
  * See the LICENSE.md file in the root directory for more details.
  */
+#include <QPainterPath>
 
 #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"
 
@@ -25,6 +26,7 @@ void HudRendererSP::updateState(const UIState &s) {
   const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
   const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
   const auto car_params = sm["carParams"].getCarParams();
+  const auto lp_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP();
 
   static int reverse_delay = 0;
   bool reverse_allowed = false;
@@ -78,11 +80,30 @@ void HudRendererSP::updateState(const UIState &s) {
 
   standstillTimer = s.scene.standstill_timer;
   isStandstill = car_state.getStandstill();
+  longOverride = car_control.getCruiseControl().getOverride();
+  smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled();
+  smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
   HudRenderer::draw(p, surface_rect);
   if (!reversing) {
+    // Smart Cruise Control
+    int x_offset = -260;
+    int y1_offset = -80;
+    // int y2_offset = -140;  // reserved for 2 icons
+
+    bool scc_vision_active_pulse = pulseElement(smartCruiseControlVisionFrame);
+    if ((smartCruiseControlVisionEnabled && !smartCruiseControlVisionActive) || (smartCruiseControlVisionActive && scc_vision_active_pulse)) {
+      drawSmartCruiseControlOnroadIcon(p, surface_rect, x_offset, y1_offset, "SCC-V");
+    }
+
+    if (smartCruiseControlVisionActive) {
+      smartCruiseControlVisionFrame++;
+    } else {
+      smartCruiseControlVisionFrame = 0;
+    }
+
     // Bottom Dev UI
     if (devUiInfo == 2) {
       QRect rect_bottom(surface_rect.left(), surface_rect.bottom() - 60, surface_rect.width(), 61);
@@ -112,6 +133,48 @@ void HudRendererSP::drawText(QPainter &p, int x, int y, const QString &text, QCo
   p.drawText(real_rect.x(), real_rect.bottom(), text);
 }
 
+bool HudRendererSP::pulseElement(int frame) {
+  if (frame % UI_FREQ < (UI_FREQ / 2.5)) {
+    return false;
+  }
+
+  return true;
+}
+
+void HudRendererSP::drawSmartCruiseControlOnroadIcon(QPainter &p, const QRect &surface_rect, int x_offset, int y_offset, std::string name) {
+  int x = surface_rect.center().x();
+  int y = surface_rect.height() / 4;
+
+  QString text = QString::fromStdString(name);
+  QFont font = InterFont(36, QFont::Bold);
+  p.setFont(font);
+
+  QFontMetrics fm(font);
+
+  int padding_v = 5;
+  int box_width = 160;
+  int box_height = fm.height() + padding_v * 2;
+
+  QRectF bg_rect(x - (box_width / 2) + x_offset,
+                 y - (box_height / 2) + y_offset,
+                 box_width, box_height);
+
+  QPainterPath boxPath;
+  boxPath.addRoundedRect(bg_rect, 10, 10);
+
+  int text_w = fm.horizontalAdvance(text);
+  qreal baseline_y = bg_rect.top() + padding_v + fm.ascent();
+  qreal text_x = bg_rect.center().x() - (text_w / 2.0);
+
+  QPainterPath textPath;
+  textPath.addText(QPointF(text_x, baseline_y), font, text);
+  boxPath = boxPath.subtracted(textPath);
+
+  p.setPen(Qt::NoPen);
+  p.setBrush(longOverride ? QColor(0x91, 0x9b, 0x95, 0xf1) : QColor(0, 0xff, 0, 0xff));
+  p.drawPath(boxPath);
+}
+
 int HudRendererSP::drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color) {
 
   p.setFont(InterFont(28, QFont::Bold));
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index 75fc520fcf8066..4c92835957bbbd 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -26,6 +26,8 @@ class HudRendererSP : public HudRenderer {
   int drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
   void drawBottomDevUI(QPainter &p, int x, int y);
   void drawStandstillTimer(QPainter &p, int x, int y);
+  bool pulseElement(int frame);
+  void drawSmartCruiseControlOnroadIcon(QPainter &p, const QRect &surface_rect, int x_offset, int y_offset, std::string name);
 
   bool lead_status;
   float lead_d_rel;
@@ -57,4 +59,8 @@ class HudRendererSP : public HudRenderer {
   bool standstillTimer;
   bool isStandstill;
   float standstillElapsedTime;
+  bool longOverride;
+  bool smartCruiseControlVisionEnabled;
+  bool smartCruiseControlVisionActive;
+  int smartCruiseControlVisionFrame;
 };
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index ec020000a38252..f2358a26487b27 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -37,7 +37,8 @@ def update_targets(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_
     self.scc.update(sm, v_ego, a_ego, v_cruise)
 
     targets = {
-      Source.cruise : (v_cruise, a_ego),
+      Source.cruise: (v_cruise, a_ego),
+      Source.sccVision: (self.scc.vision.output_v_target, self.scc.vision.output_a_target)
     }
 
     self.source = min(targets, key=lambda k: targets[k][0])
@@ -63,6 +64,15 @@ def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.Pu
     dec.active = self.dec.active()
 
     # Smart Cruise Control
-    smartCruiseControl = longitudinalPlanSP.smartCruiseControl  # noqa: F841
+    smartCruiseControl = longitudinalPlanSP.smartCruiseControl
+    # Vision Turn Speed Control
+    sccVision = smartCruiseControl.vision
+    sccVision.state = self.scc.vision.state
+    sccVision.vTarget = float(self.scc.vision.output_v_target)
+    sccVision.aTarget = float(self.scc.vision.output_a_target)
+    sccVision.currentLateralAccel = float(self.scc.vision.current_lat_acc)
+    sccVision.maxPredictedLateralAccel = float(self.scc.vision.max_pred_lat_acc)
+    sccVision.enabled = self.scc.vision.is_enabled
+    sccVision.active = self.scc.vision.is_active
 
     pm.send('longitudinalPlanSP', plan_sp_send)
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
index 0a04c243c10868..c66c2c392a8d8c 100644
--- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
+++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
@@ -4,10 +4,16 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import messaging
+import cereal.messaging as messaging
+from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.vision_controller import SmartCruiseControlVision
 
 
 class SmartCruiseControl:
+  def __init__(self):
+    self.vision = SmartCruiseControlVision()
 
-  def update(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float):
-    pass
+  def update(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> None:
+    long_enabled = sm['carControl'].enabled
+    long_override = sm['carControl'].cruiseControl.override
+
+    self.vision.update(sm, long_enabled, long_override, v_ego, a_ego, v_cruise)
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
new file mode 100644
index 00000000000000..9f6efffb55adbe
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
@@ -0,0 +1,104 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import numpy as np
+
+import cereal.messaging as messaging
+from cereal import custom, log
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
+from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.vision_controller import SmartCruiseControlVision
+
+VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.VisionState
+
+
+def generate_modelV2():
+  model = messaging.new_message('modelV2')
+  position = log.XYZTData.new_message()
+  speed = 30
+  position.x = [float(x) for x in (speed + 0.5) * np.array(ModelConstants.T_IDXS)]
+  model.modelV2.position = position
+  orientation = log.XYZTData.new_message()
+  curvature = 0.05
+  orientation.x = [float(curvature) for _ in ModelConstants.T_IDXS]
+  orientation.y = [0.0 for _ in ModelConstants.T_IDXS]
+  model.modelV2.orientation = orientation
+  orientationRate = log.XYZTData.new_message()
+  orientationRate.z = [float(z) for z in ModelConstants.T_IDXS]
+  model.modelV2.orientationRate = orientationRate
+  velocity = log.XYZTData.new_message()
+  velocity.x = [float(x) for x in (speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)]
+  velocity.x[0] = float(speed)  # always start at current speed
+  model.modelV2.velocity = velocity
+  acceleration = log.XYZTData.new_message()
+  acceleration.x = [float(x) for x in np.zeros_like(ModelConstants.T_IDXS)]
+  acceleration.y = [float(y) for y in np.zeros_like(ModelConstants.T_IDXS)]
+  model.modelV2.acceleration = acceleration
+
+  return model
+
+
+def generate_carState():
+  car_state = messaging.new_message('carState')
+  speed = 30
+  v_cruise = 50
+  car_state.carState.vEgo = float(speed)
+  car_state.carState.standstill = False
+  car_state.carState.vCruise = float(v_cruise * 3.6)
+
+  return car_state
+
+
+def generate_controlsState():
+  controls_state = messaging.new_message('controlsState')
+  controls_state.controlsState.curvature = 0.05
+
+  return controls_state
+
+
+class TestSmartCruiseControlVision:
+
+  def setup_method(self):
+    self.params = Params()
+    self.reset_params()
+    self.scc_v = SmartCruiseControlVision()
+
+    mdl = generate_modelV2()
+    cs = generate_carState()
+    controls_state = generate_controlsState()
+    self.sm = {'modelV2': mdl.modelV2, 'carState': cs.carState, 'controlsState': controls_state.controlsState}
+
+  def reset_params(self):
+    self.params.put_bool("SmartCruiseControlVision", True)
+
+  def test_initial_state(self):
+    assert self.scc_v.state == VisionState.disabled
+    assert not self.scc_v.is_active
+    assert self.scc_v.output_v_target == V_CRUISE_UNSET
+    assert self.scc_v.output_a_target == 0.
+
+  def test_system_disabled(self):
+    self.params.put_bool("SmartCruiseControlVision", False)
+    self.scc_v.enabled = self.params.get_bool("SmartCruiseControlVision")
+
+    for _ in range(int(10. / DT_MDL)):
+      self.scc_v.update(self.sm, True, False, 0., 0., 0.)
+    assert self.scc_v.state == VisionState.disabled
+    assert not self.scc_v.is_active
+
+  def test_disabled(self):
+    for _ in range(int(10. / DT_MDL)):
+      self.scc_v.update(self.sm, False, False, 0., 0., 0.)
+    assert self.scc_v.state == VisionState.disabled
+
+  def test_transition_disabled_to_enabled(self):
+    for _ in range(int(10. / DT_MDL)):
+      self.scc_v.update(self.sm, True, False, 0., 0., 0.)
+    assert self.scc_v.state == VisionState.enabled
+
+  # TODO-SP: mock modelV2 data to test other states
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
new file mode 100644
index 00000000000000..f12a00f23e8a48
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
@@ -0,0 +1,205 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import numpy as np
+
+import cereal.messaging as messaging
+from cereal import custom
+from openpilot.common.constants import CV
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+
+VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.VisionState
+
+ACTIVE_STATES = (VisionState.entering, VisionState.turning, VisionState.leaving)
+ENABLED_STATES = (VisionState.enabled, VisionState.overriding, *ACTIVE_STATES)
+
+_MIN_V = 20 * CV.KPH_TO_MS  # Do not operate under 20 km/h
+
+_ENTERING_PRED_LAT_ACC_TH = 1.3  # Predicted Lat Acc threshold to trigger entering turn state.
+_ABORT_ENTERING_PRED_LAT_ACC_TH = 1.1  # Predicted Lat Acc threshold to abort entering state if speed drops.
+
+_TURNING_LAT_ACC_TH = 1.6  # Lat Acc threshold to trigger turning state.
+
+_LEAVING_LAT_ACC_TH = 1.3  # Lat Acc threshold to trigger leaving turn state.
+_FINISH_LAT_ACC_TH = 1.1  # Lat Acc threshold to trigger the end of the turn cycle.
+
+_A_LAT_REG_MAX = 2.  # Maximum lateral acceleration
+
+_NO_OVERSHOOT_TIME_HORIZON = 4.  # s. Time to use for velocity desired based on a_target when not overshooting.
+
+# Lookup table for the minimum smooth deceleration during the ENTERING state
+# depending on the actual maximum absolute lateral acceleration predicted on the turn ahead.
+_ENTERING_SMOOTH_DECEL_V = [-0.2, -1.]  # min decel value allowed on ENTERING state
+_ENTERING_SMOOTH_DECEL_BP = [1.3, 3.]  # absolute value of lat acc ahead
+
+# Lookup table for the acceleration for the TURNING state
+# depending on the current lateral acceleration of the vehicle.
+_TURNING_ACC_V = [0.5, 0., -0.4]  # acc value
+_TURNING_ACC_BP = [1.5, 2.3, 3.]  # absolute value of current lat acc
+
+_LEAVING_ACC = 0.5  # Conformable acceleration to regain speed while leaving a turn.
+
+
+class SmartCruiseControlVision:
+  v_target: float = 0
+  a_target: float = 0.
+  v_ego: float = 0.
+  a_ego: float = 0.
+  output_v_target: float = V_CRUISE_UNSET
+  output_a_target: float = 0.
+
+  def __init__(self):
+    self.params = Params()
+    self.frame = -1
+    self.long_enabled = False
+    self.long_override = False
+    self.is_enabled = False
+    self.is_active = False
+    self.enabled = self.params.get_bool("SmartCruiseControlVision")
+    self.v_cruise_setpoint = 0.
+
+    self.state = VisionState.disabled
+    self.current_lat_acc = 0.
+    self.max_pred_lat_acc = 0.
+
+  def get_a_target_from_control(self) -> float:
+    return self.a_target
+
+  def get_v_target_from_control(self) -> float:
+    if self.is_active:
+      return max(self.v_target, _MIN_V) + self.a_target * _NO_OVERSHOOT_TIME_HORIZON
+
+    return V_CRUISE_UNSET
+
+  def _update_params(self) -> None:
+    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
+      self.enabled = self.params.get_bool("SmartCruiseControlVision")
+
+  def _update_calculations(self, sm: messaging.SubMaster) -> None:
+    if not self.long_enabled:
+      return
+    else:
+      rate_plan = np.array(np.abs(sm['modelV2'].orientationRate.z))
+      vel_plan = np.array(sm['modelV2'].velocity.x)
+
+      self.current_lat_acc = self.v_ego ** 2 * abs(sm['controlsState'].curvature)
+
+      # get the maximum lat accel from the model
+      predicted_lat_accels = rate_plan * vel_plan
+      self.max_pred_lat_acc = np.amax(predicted_lat_accels)
+
+      # get the maximum curve based on the current velocity
+      v_ego = max(self.v_ego, 0.1)  # ensure a value greater than 0 for calculations
+      max_curve = self.max_pred_lat_acc / (v_ego**2)
+
+      # Get the target velocity for the maximum curve
+      self.v_target = (_A_LAT_REG_MAX / max_curve) ** 0.5
+
+  def _update_state_machine(self) -> tuple[bool, bool]:
+    # ENABLED, ENTERING, TURNING, LEAVING
+    if self.state != VisionState.disabled:
+      # longitudinal and feature disable always have priority in a non-disabled state
+      if not self.long_enabled or not self.enabled:
+        self.state = VisionState.disabled
+      elif self.long_override:
+        self.state = VisionState.overriding
+
+      else:
+        # ENABLED
+        if self.state == VisionState.enabled:
+          # Do not enter a turn control cycle if the speed is low.
+          if self.v_ego <= _MIN_V:
+            pass
+          # If significant lateral acceleration is predicted ahead, then move to Entering turn state.
+          elif self.max_pred_lat_acc >= _ENTERING_PRED_LAT_ACC_TH:
+            self.state = VisionState.entering
+
+        # OVERRIDING
+        elif self.state == VisionState.overriding:
+          if not self.long_override:
+            self.state = VisionState.enabled
+
+        # ENTERING
+        elif self.state == VisionState.entering:
+          # Transition to Turning if current lateral acceleration is over the threshold.
+          if self.current_lat_acc >= _TURNING_LAT_ACC_TH:
+            self.state = VisionState.turning
+          # Abort if the predicted lateral acceleration drops
+          elif self.max_pred_lat_acc < _ABORT_ENTERING_PRED_LAT_ACC_TH:
+            self.state = VisionState.enabled
+
+        # TURNING
+        elif self.state == VisionState.turning:
+          # Transition to Leaving if current lateral acceleration drops below a threshold.
+          if self.current_lat_acc <= _LEAVING_LAT_ACC_TH:
+            self.state = VisionState.leaving
+
+        # LEAVING
+        elif self.state == VisionState.leaving:
+          # Transition back to Turning if current lateral acceleration goes back over the threshold.
+          if self.current_lat_acc >= _TURNING_LAT_ACC_TH:
+            self.state = VisionState.turning
+          # Finish if current lateral acceleration goes below a threshold.
+          elif self.current_lat_acc < _FINISH_LAT_ACC_TH:
+            self.state = VisionState.enabled
+
+    # DISABLED
+    elif self.state == VisionState.disabled:
+      if self.long_enabled and self.enabled:
+        if self.long_override:
+          self.state = VisionState.overriding
+        else:
+          self.state = VisionState.enabled
+
+    enabled = self.state in ENABLED_STATES
+    active = self.state in ACTIVE_STATES
+
+    return enabled, active
+
+  def _update_solution(self) -> float:
+    # DISABLED, ENABLED
+    if self.state not in ACTIVE_STATES:
+      # when not overshooting, calculate v_turn as the speed at the prediction horizon when following
+      # the smooth deceleration.
+      a_target = self.a_ego
+    # ENTERING
+    elif self.state == VisionState.entering:
+      # when not overshooting, target a smooth deceleration in preparation for a sharp turn to come.
+      a_target = np.interp(self.max_pred_lat_acc, _ENTERING_SMOOTH_DECEL_BP, _ENTERING_SMOOTH_DECEL_V)
+    # TURNING
+    elif self.state == VisionState.turning:
+      # When turning, we provide a target acceleration that is comfortable for the lateral acceleration felt.
+      a_target = np.interp(self.current_lat_acc, _TURNING_ACC_BP, _TURNING_ACC_V)
+    # LEAVING
+    elif self.state == VisionState.leaving:
+      # When leaving, we provide a comfortable acceleration to regain speed.
+      a_target = _LEAVING_ACC
+    else:
+      raise NotImplementedError(f"SCC-V state not supported: {self.state}")
+
+    return a_target
+
+  def update(self, sm: messaging.SubMaster, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float,
+             v_cruise_setpoint: float) -> None:
+    self.long_enabled = long_enabled
+    self.long_override = long_override
+    self.v_ego = v_ego
+    self.a_ego = a_ego
+    self.v_cruise_setpoint = v_cruise_setpoint
+
+    self._update_params()
+    self._update_calculations(sm)
+
+    self.is_enabled, self.is_active = self._update_state_machine()
+    self.a_target = self._update_solution()
+
+    self.output_v_target = self.get_v_target_from_control()
+    self.output_a_target = self.get_a_target_from_control()
+
+    self.frame += 1

From 1f8941367d52a34c313049f1da6d84d57e2bf940 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 18 Sep 2025 00:06:16 -0400
Subject: [PATCH 0425/1434] Intelligent Cruise Button Management (ICBM) (#1242)

* init

* slightly more

* check across all

* publish on CC_SP

* more infra setup

* try it out for HKG for now

* slight cleanup

* oops

* legacy

* send

* actually take over

* expose toggle

* icbm

* need to allow

* fix

* name

* small fixes

* actually send it now

* set default

* use cs is_metric

* offroad only lol

* allow them all

* fix

* send desire as-is

* use stock method

* clean up hysteresis

* speed cluster may be more accurate

* rename

* allow init and resume from pcmCruise

* just send it

* fix

* only allow custom v cruise after no button press at initial enabled

* no hysteresis for now

* fix tests

* fix min check

* only apply to non pcm changes

* add ICBM

* some more ui

* bump

* slight cleanup

* fixup

* cleanup

* type hints

* type hints

* bump

* bump

* bring back hysteresis

* fix ui

* do not spam if overriding or below allowed speed
---
 cereal/custom.capnp                           |  24 +++
 common/params_keys.h                          |   1 +
 opendbc_repo                                  |   2 +-
 selfdrive/car/card.py                         |   2 +-
 selfdrive/car/cruise.py                       |  13 +-
 selfdrive/car/helpers.py                      |   3 +
 selfdrive/car/tests/test_cruise_speed.py      |   5 +-
 selfdrive/controls/controlsd.py               |   5 +-
 selfdrive/selfdrived/selfdrived.py            |   9 ++
 .../qt/offroad/settings/longitudinal_panel.cc |  30 +++-
 .../qt/offroad/settings/longitudinal_panel.h  |   2 +
 sunnypilot/selfdrive/car/cruise_ext.py        |  52 ++++++-
 .../__init__.py                               |   0
 .../controller.py                             | 137 ++++++++++++++++++
 .../helpers.py                                |   8 +
 sunnypilot/selfdrive/car/interfaces.py        |  10 ++
 .../selfdrive/controls/controlsd_ext.py       |   2 +
 17 files changed, 289 insertions(+), 16 deletions(-)
 create mode 100644 sunnypilot/selfdrive/car/intelligent_cruise_button_management/__init__.py
 create mode 100644 sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
 create mode 100644 sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 66aa1b71f86ecf..0791841a552d2b 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -25,6 +25,26 @@ struct ModularAssistiveDrivingSystem {
   }
 }
 
+struct IntelligentCruiseButtonManagement {
+  state @0 :IntelligentCruiseButtonManagementState;
+  sendButton @1 :SendButtonState;
+  vTarget @2 :Float32;
+
+  enum IntelligentCruiseButtonManagementState {
+    inactive @0;      # No button press or default state
+    preActive @1;     # Pre-active state before transitioning to increasing or decreasing
+    increasing @2;    # Increasing speed
+    decreasing @3;    # Decreasing speed
+    holding @4;       # Holding steady speed
+  }
+
+  enum SendButtonState {
+    none @0;
+    increase @1;
+    decrease @2;
+  }
+}
+
 # Same struct as Log.RadarState.LeadData
 struct LeadData {
   dRel @0 :Float32;
@@ -48,6 +68,7 @@ struct LeadData {
 
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
+  intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
 }
 
 struct ModelManagerSP @0xaedffd8f31e7b55d {
@@ -210,6 +231,8 @@ struct OnroadEventSP @0xda96579883444c35 {
 struct CarParamsSP @0x80ae746ee2596b11 {
   flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
   safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
+  pcmCruiseSpeed @3 :Bool = true;
+  intelligentCruiseButtonManagementAvailable @4 :Bool;
 
   neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
 
@@ -229,6 +252,7 @@ struct CarControlSP @0xa5cd762cd951a455 {
   params @1 :List(Param);
   leadOne @2 :LeadData;
   leadTwo @3 :LeadData;
+  intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
 
   struct Param {
     key @0 :Text;
diff --git a/common/params_keys.h b/common/params_keys.h
index f0511bf9c2a86b..80d12c6b95362c 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -149,6 +149,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
+    {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
diff --git a/opendbc_repo b/opendbc_repo
index 189dc3f78c3b2e..f54d85c7d99d45 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 189dc3f78c3b2eeb0402e69760602aa7149d05c9
+Subproject commit f54d85c7d99d45ada6f6978621b10c8b421b1923
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 820c68e89531c9..2e52c008278c98 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -179,7 +179,7 @@ def __init__(self, CI=None, RI=None) -> None:
     self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
 
     self.mock_carstate = MockCarState()
-    self.v_cruise_helper = VCruiseHelper(self.CP)
+    self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
 
     self.is_metric = self.params.get_bool("IsMetric")
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index 5ffb43f9e530c8..c82287d2b149d6 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -30,8 +30,8 @@
 
 
 class VCruiseHelper(VCruiseHelperSP):
-  def __init__(self, CP):
-    VCruiseHelperSP.__init__(self)
+  def __init__(self, CP, CP_SP):
+    VCruiseHelperSP.__init__(self, CP, CP_SP)
     self.CP = CP
     self.v_cruise_kph = V_CRUISE_UNSET
     self.v_cruise_cluster_kph = V_CRUISE_UNSET
@@ -46,10 +46,13 @@ def v_cruise_initialized(self):
   def update_v_cruise(self, CS, enabled, is_metric):
     self.v_cruise_kph_last = self.v_cruise_kph
 
+    self.get_minimum_set_speed(is_metric)
+
     if CS.cruiseState.available:
-      if not self.CP.pcmCruise:
+      _enabled = self.update_enabled_state(CS, enabled)
+      if not self.CP.pcmCruise or (not self.CP_SP.pcmCruiseSpeed and _enabled):
         # if stock cruise is completely disabled, then we can use our own set speed logic
-        self._update_v_cruise_non_pcm(CS, enabled, is_metric)
+        self._update_v_cruise_non_pcm(CS, _enabled, is_metric)
         self.v_cruise_cluster_kph = self.v_cruise_kph
         self.update_button_timers(CS, enabled)
       else:
@@ -111,7 +114,7 @@ def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
     if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
       self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
 
-    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
+    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), self.v_cruise_min, V_CRUISE_MAX)
 
   def update_button_timers(self, CS, enabled):
     # increment timer for buttons still pressed
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
index 275c84479fd77e..a7abc1976c4655 100644
--- a/selfdrive/car/helpers.py
+++ b/selfdrive/car/helpers.py
@@ -60,5 +60,8 @@ def remove_deprecated(s: dict) -> dict:
   struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
   struct_dataclass.leadOne = structs.LeadData(**remove_deprecated(struct_dict.get('leadOne', {})))
   struct_dataclass.leadTwo = structs.LeadData(**remove_deprecated(struct_dict.get('leadTwo', {})))
+  struct_dataclass.intelligentCruiseButtonManagement = structs.IntelligentCruiseButtonManagement(
+    **remove_deprecated(struct_dict.get('intelligentCruiseButtonManagement', {}))
+  )
 
   return struct_dataclass
diff --git a/selfdrive/car/tests/test_cruise_speed.py b/selfdrive/car/tests/test_cruise_speed.py
index 4f9444d4bbf192..8512651de3bf99 100644
--- a/selfdrive/car/tests/test_cruise_speed.py
+++ b/selfdrive/car/tests/test_cruise_speed.py
@@ -5,7 +5,7 @@
 from parameterized import parameterized_class
 from cereal import log
 from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
-from cereal import car
+from cereal import car, custom
 from openpilot.common.constants import CV
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
@@ -49,7 +49,8 @@ def test_cruise_speed(self):
 class TestVCruiseHelper:
   def setup_method(self):
     self.CP = car.CarParams(pcmCruise=self.pcm_cruise)
-    self.v_cruise_helper = VCruiseHelper(self.CP)
+    self.CP_SP = custom.CarParamsSP()
+    self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
     self.reset_cruise_speed_state()
 
   def reset_cruise_speed_state(self):
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 9e88a37690868a..3751efc87a6d8a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -116,7 +116,8 @@ def state_control(self):
 
     CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                    (not standstill or self.CP.steerAtStandstill)
-    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
+    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and \
+                    (self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
 
     actuators = CC.actuators
     actuators.longControlState = self.LoC.long_control_state
@@ -168,7 +169,7 @@ def publish(self, CC, lac_log):
       CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
       CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()
 
-    CC.cruiseControl.override = CC.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
+    CC.cruiseControl.override = CC.enabled and not CC.longActive and (self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
     CC.cruiseControl.cancel = CS.cruiseState.enabled and (not CC.enabled or not self.CP.pcmCruise)
     CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and not self.sm['longitudinalPlan'].shouldStop
 
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 749378f3a6cd48..69dc51360b87f0 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -26,6 +26,7 @@
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
+from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
 REPLAY = "REPLAY" in os.environ
@@ -156,6 +157,7 @@ def __init__(self, CP=None, CP_SP=None):
     self.events_sp_prev = []
 
     self.mads = ModularAssistiveDrivingSystem(self)
+    self.icbm = IntelligentCruiseButtonManagement(self.CP, self.CP_SP)
 
     self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
 
@@ -442,6 +444,8 @@ def update_events(self, CS):
           self.events.add(EventName.personalityChanged)
         self.experimental_mode_switched = False
 
+    self.icbm.run(CS, self.sm['carControl'], self.is_metric)
+
   def data_sample(self):
     _car_state = messaging.recv_one(self.car_state_sock)
     CS = _car_state.carState if _car_state else self.CS_prev
@@ -546,6 +550,11 @@ def publish_selfdriveState(self, CS):
     mads.active = self.mads.active
     mads.available = self.mads.enabled_toggle
 
+    icbm = ss_sp.intelligentCruiseButtonManagement
+    icbm.state = self.icbm.state
+    icbm.sendButton = self.icbm.cruise_button
+    icbm.vTarget = self.icbm.v_target
+
     self.pm.send('selfdriveStateSP', ss_sp_msg)
 
     # onroadEventsSP - logged every second or on change
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
index ac7b57e2971b28..df4a6077b5067a 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
@@ -18,6 +18,16 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
   cruisePanelScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(cruisePanelScroller);
 
+  intelligentCruiseButtonManagement = new ParamControlSP(
+    "IntelligentCruiseButtonManagement",
+    tr("Intelligent Cruise Button Management (ICBM) (Alpha)"),
+    tr("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control."),
+    "",
+    this
+  );
+  intelligentCruiseButtonManagement->setConfirmation(true, false);
+  list->addItem(intelligentCruiseButtonManagement);
+
   SmartCruiseControlVision = new ParamControl(
     "SmartCruiseControlVision",
     tr("Smart Cruise Control - Vision"),
@@ -42,16 +52,22 @@ void LongitudinalPanel::showEvent(QShowEvent *event) {
 
 void LongitudinalPanel::refresh(bool _offroad) {
   auto cp_bytes = params.get("CarParamsPersistent");
-  if (!cp_bytes.empty()) {
+  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
+  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
     AlignedBuffer aligned_buf;
+    AlignedBuffer aligned_buf_sp;
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
 
     has_longitudinal_control = hasLongitudinalControl(CP);
     is_pcm_cruise = CP.getPcmCruise();
+    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
   } else {
     has_longitudinal_control = false;
     is_pcm_cruise = false;
+    intelligent_cruise_button_management_available = false;
   }
 
   QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
@@ -63,7 +79,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
     customAccIncrement->setDescription(onroadOnlyDescription);
     customAccIncrement->showDescription();
   } else {
-    if (has_longitudinal_control) {
+    if (has_longitudinal_control || intelligent_cruise_button_management_available) {
       if (is_pcm_cruise) {
         customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
         customAccIncrement->showDescription();
@@ -75,14 +91,20 @@ void LongitudinalPanel::refresh(bool _offroad) {
       customAccIncrement->toggleFlipped(false);
       customAccIncrement->setDescription(accNoLongDescription);
       customAccIncrement->showDescription();
+      params.remove("IntelligentCruiseButtonManagement");
+      intelligentCruiseButtonManagement->toggleFlipped(false);
     }
   }
 
+  bool icbm_allowed = intelligent_cruise_button_management_available && !has_longitudinal_control;
+  intelligentCruiseButtonManagement->setEnabled(icbm_allowed && offroad);
+
   // enable toggle when long is available and is not PCM cruise
-  customAccIncrement->setEnabled(has_longitudinal_control && !is_pcm_cruise && !offroad);
+  bool cai_allowed = (has_longitudinal_control && !is_pcm_cruise) || icbm_allowed;
+  customAccIncrement->setEnabled(cai_allowed && !offroad);
   customAccIncrement->refresh();
 
-  SmartCruiseControlVision->setEnabled(has_longitudinal_control);
+  SmartCruiseControlVision->setEnabled(has_longitudinal_control || icbm_allowed);
 
   offroad = _offroad;
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
index 36c35720e7e53c..af89822595a69c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
@@ -23,6 +23,7 @@ class LongitudinalPanel : public QWidget {
   Params params;
   bool has_longitudinal_control = false;
   bool is_pcm_cruise = false;
+  bool intelligent_cruise_button_management_available = false;;
   bool offroad = false;
 
   QStackedLayout *main_layout = nullptr;
@@ -30,4 +31,5 @@ class LongitudinalPanel : public QWidget {
   QWidget *cruisePanelScreen = nullptr;
   CustomAccIncrement *customAccIncrement = nullptr;
   ParamControl *SmartCruiseControlVision;
+  ParamControl *intelligentCruiseButtonManagement = nullptr;
 };
diff --git a/sunnypilot/selfdrive/car/cruise_ext.py b/sunnypilot/selfdrive/car/cruise_ext.py
index f443aeee0e71dd..716e3e1c938dee 100644
--- a/sunnypilot/selfdrive/car/cruise_ext.py
+++ b/sunnypilot/selfdrive/car/cruise_ext.py
@@ -7,19 +7,46 @@
 import numpy as np
 
 from cereal import car
+from opendbc.car import structs
 from openpilot.common.params import Params
+from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.helpers import get_minimum_set_speed
 
 ButtonType = car.CarState.ButtonEvent.Type
 
+CRUISE_BUTTON_TIMER = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0,
+                       ButtonType.setCruise: 0, ButtonType.resumeCruise: 0,
+                       ButtonType.cancel: 0, ButtonType.mainCruise: 0}
+
+V_CRUISE_MIN = 8
+
+
+def update_manual_button_timers(CS: car.CarState, button_timers: dict[car.CarState.ButtonEvent.Type, int]) -> None:
+  # increment timer for buttons still pressed
+  for k in button_timers:
+    if button_timers[k] > 0:
+      button_timers[k] += 1
+
+  for b in CS.buttonEvents:
+    if b.type.raw in button_timers:
+      # Start/end timer and store current state on change of button pressed
+      button_timers[b.type.raw] = 1 if b.pressed else 0
+
+
 
 class VCruiseHelperSP:
-  def __init__(self) -> None:
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> None:
+    self.CP = CP
+    self.CP_SP = CP_SP
     self.params = Params()
+    self.v_cruise_min = 0
+    self.enabled_prev = False
 
     self.custom_acc_enabled = self.params.get_bool("CustomAccIncrementsEnabled")
     self.short_increment = self.params.get("CustomAccShortPressIncrement", return_default=True)
     self.long_increment = self.params.get("CustomAccLongPressIncrement", return_default=True)
 
+    self.enable_button_timers = CRUISE_BUTTON_TIMER
+
   def read_custom_set_speed_params(self) -> None:
     self.custom_acc_enabled = self.params.get_bool("CustomAccIncrementsEnabled")
     self.short_increment = self.params.get("CustomAccShortPressIncrement", return_default=True)
@@ -39,3 +66,26 @@ def update_v_cruise_delta(self, long_press: bool, v_cruise_delta: float) -> tupl
     v_cruise_delta = v_cruise_delta * actual_increment
 
     return round_to_nearest, v_cruise_delta
+
+  def get_minimum_set_speed(self, is_metric: bool) -> None:
+    if self.CP_SP.pcmCruiseSpeed:
+      self.v_cruise_min = V_CRUISE_MIN
+      return
+
+    self.v_cruise_min = get_minimum_set_speed(is_metric)
+
+  def update_enabled_state(self, CS: car.CarState, enabled: bool) -> bool:
+    # special enabled state for non pcmCruiseSpeed, unchanged for non pcmCruise
+    if not self.CP_SP.pcmCruiseSpeed:
+      update_manual_button_timers(CS, self.enable_button_timers)
+      button_pressed = any(self.enable_button_timers[k] > 0 for k in self.enable_button_timers)
+
+      if enabled and not self.enabled_prev:
+        self.enabled_prev = not button_pressed
+        enabled = False
+      elif not enabled:
+        self.enabled_prev = enabled
+
+      return enabled and self.enabled_prev
+
+    return enabled
diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/__init__.py b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
new file mode 100644
index 00000000000000..0b0957b828e09c
--- /dev/null
+++ b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
@@ -0,0 +1,137 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from cereal import car, custom
+from opendbc.car import structs, apply_hysteresis
+from openpilot.common.constants import CV
+from openpilot.common.realtime import DT_CTRL
+from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.helpers import get_minimum_set_speed
+from openpilot.sunnypilot.selfdrive.car.cruise_ext import CRUISE_BUTTON_TIMER, update_manual_button_timers
+
+LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource
+State = custom.IntelligentCruiseButtonManagement.IntelligentCruiseButtonManagementState
+SendButtonState = custom.IntelligentCruiseButtonManagement.SendButtonState
+
+ALLOWED_SPEED_THRESHOLD = 1.8  # m/s, ~4 MPH
+HYST_GAP = 0.75
+INACTIVE_TIMER = 0.4
+
+
+SEND_BUTTONS = {
+  State.increasing: SendButtonState.increase,
+  State.decreasing: SendButtonState.decrease,
+}
+
+
+class IntelligentCruiseButtonManagement:
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
+    self.CP = CP
+    self.CP_SP = CP_SP
+
+    self.v_target = 0
+    self.v_cruise_cluster = 0
+    self.v_cruise_min = 0
+    self.cruise_button = SendButtonState.none
+    self.state = State.inactive
+    self.pre_active_timer = 0
+
+    self.is_ready = False
+    self.is_ready_prev = False
+    self.v_target_ms_last = 0.0
+    self.is_metric = False
+
+    self.cruise_button_timers = CRUISE_BUTTON_TIMER
+
+  @property
+  def v_cruise_equal(self) -> bool:
+    return self.v_target == self.v_cruise_cluster
+
+  def update_calculations(self, CS: car.CarState) -> None:
+    speed_conv = CV.MS_TO_KPH if self.is_metric else CV.MS_TO_MPH
+    ms_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
+    v_cruise_ms = CS.vCruise * CV.KPH_TO_MS
+
+    # all targets in m/s
+    v_targets = {
+      LongitudinalPlanSource.cruise: v_cruise_ms
+    }
+    source = min(v_targets, key=lambda k: v_targets[k])
+    v_target_ms = v_targets[source]
+
+    self.v_target_ms_last = apply_hysteresis(v_target_ms, self.v_target_ms_last, HYST_GAP * ms_conv)
+
+    self.v_target = round(self.v_target_ms_last * speed_conv)
+    self.v_cruise_min = get_minimum_set_speed(self.is_metric)
+    self.v_cruise_cluster = round(CS.cruiseState.speedCluster * speed_conv)
+
+  def update_state_machine(self) -> custom.IntelligentCruiseButtonManagement.SendButtonState:
+    self.pre_active_timer = max(0, self.pre_active_timer - 1)
+
+    # HOLDING, ACCELERATING, DECELERATING, PRE_ACTIVE
+    if self.state != State.inactive:
+      if not self.is_ready:
+        self.state = State.inactive
+
+      else:
+        # PRE_ACTIVE
+        if self.state == State.preActive:
+          if self.pre_active_timer <= 0:
+            if self.v_cruise_equal:
+              self.state = State.holding
+
+            elif self.v_target > self.v_cruise_cluster:
+              self.state = State.increasing
+
+            elif self.v_target < self.v_cruise_cluster and self.v_cruise_cluster > self.v_cruise_min:
+              self.state = State.decreasing
+
+        # HOLDING
+        elif self.state == State.holding:
+          if not self.v_cruise_equal:
+            self.state = State.preActive
+
+        # ACCELERATING
+        elif self.state == State.increasing:
+          if self.v_target <= self.v_cruise_cluster:
+            self.state = State.holding
+
+        # DECELERATING
+        elif self.state == State.decreasing:
+          if self.v_target >= self.v_cruise_cluster or self.v_cruise_cluster <= self.v_cruise_min:
+            self.state = State.holding
+
+    # INACTIVE
+    elif self.state == State.inactive:
+      if self.is_ready and not self.is_ready_prev:
+        self.pre_active_timer = int(INACTIVE_TIMER / DT_CTRL)
+        self.state = State.preActive
+
+    send_button = SEND_BUTTONS.get(self.state, SendButtonState.none)
+
+    return send_button
+
+  def update_readiness(self, CS: car.CarState, CC: car.CarControl) -> None:
+    update_manual_button_timers(CS, self.cruise_button_timers)
+
+    allowed_speed = CS.vEgo > ALLOWED_SPEED_THRESHOLD
+    ready = CS.cruiseState.enabled and allowed_speed and not CC.cruiseControl.override and not CC.cruiseControl.cancel and \
+            not CC.cruiseControl.resume
+    button_pressed = any(self.cruise_button_timers[k] > 0 for k in self.cruise_button_timers)
+
+    self.is_ready = ready and not button_pressed
+
+  def run(self, CS: car.CarState, CC: car.CarControl, is_metric: bool) -> None:
+    if self.CP_SP.pcmCruiseSpeed:
+      return
+
+    self.is_metric = is_metric
+
+    self.update_calculations(CS)
+    self.update_readiness(CS, CC)
+
+    self.cruise_button = self.update_state_machine()
+
+    self.is_ready_prev = self.is_ready
diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py
new file mode 100644
index 00000000000000..eb4bbdecb5fc4f
--- /dev/null
+++ b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py
@@ -0,0 +1,8 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+def get_minimum_set_speed(is_metric: bool) -> int:
+  return 30 if is_metric else 20
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index cd7a24b63b4338..55244caa57ecfe 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -43,11 +43,21 @@ def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs
   CP_SP.neuralNetworkLateralControl.fuzzyFingerprint = not exact_match
 
 
+def _initialize_intelligent_cruise_button_management(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
+  if params is None:
+    params = Params()
+
+  icbm_enabled = params.get_bool("IntelligentCruiseButtonManagement")
+  if icbm_enabled and CP_SP.intelligentCruiseButtonManagementAvailable and not CP.openpilotLongitudinalControl:
+    CP_SP.pcmCruiseSpeed = False
+
+
 def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   CP = CI.CP
   CP_SP = CI.CP_SP
 
   _initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
+  _initialize_intelligent_cruise_button_management(CP, CP_SP, params)
 
 
 def initialize_params(params) -> list[dict[str, Any]]:
diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
index a096b7dc8c4194..e0f9326bf800e9 100644
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -75,6 +75,8 @@ def state_control_ext(self, sm: messaging.SubMaster) -> custom.CarControlSP:
 
     CC_SP.params = self.param_store.param_list
 
+    CC_SP.intelligentCruiseButtonManagement = sm['selfdriveStateSP'].intelligentCruiseButtonManagement
+
     return CC_SP
 
   @staticmethod

From 4441671227ab6936c60a5f8898a4c03ef7bee2b6 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 18 Sep 2025 16:02:51 -0400
Subject: [PATCH 0426/1434] Revert "Intelligent Cruise Button Management
 (ICBM)" (#1257)

Revert "Intelligent Cruise Button Management (ICBM) (#1242)"

This reverts commit 1f8941367d52a34c313049f1da6d84d57e2bf940.
---
 cereal/custom.capnp                           |  24 ---
 common/params_keys.h                          |   1 -
 opendbc_repo                                  |   2 +-
 selfdrive/car/card.py                         |   2 +-
 selfdrive/car/cruise.py                       |  13 +-
 selfdrive/car/helpers.py                      |   3 -
 selfdrive/car/tests/test_cruise_speed.py      |   5 +-
 selfdrive/controls/controlsd.py               |   5 +-
 selfdrive/selfdrived/selfdrived.py            |   9 --
 .../qt/offroad/settings/longitudinal_panel.cc |  30 +---
 .../qt/offroad/settings/longitudinal_panel.h  |   2 -
 sunnypilot/selfdrive/car/cruise_ext.py        |  52 +------
 .../__init__.py                               |   0
 .../controller.py                             | 137 ------------------
 .../helpers.py                                |   8 -
 sunnypilot/selfdrive/car/interfaces.py        |  10 --
 .../selfdrive/controls/controlsd_ext.py       |   2 -
 17 files changed, 16 insertions(+), 289 deletions(-)
 delete mode 100644 sunnypilot/selfdrive/car/intelligent_cruise_button_management/__init__.py
 delete mode 100644 sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
 delete mode 100644 sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 0791841a552d2b..66aa1b71f86ecf 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -25,26 +25,6 @@ struct ModularAssistiveDrivingSystem {
   }
 }
 
-struct IntelligentCruiseButtonManagement {
-  state @0 :IntelligentCruiseButtonManagementState;
-  sendButton @1 :SendButtonState;
-  vTarget @2 :Float32;
-
-  enum IntelligentCruiseButtonManagementState {
-    inactive @0;      # No button press or default state
-    preActive @1;     # Pre-active state before transitioning to increasing or decreasing
-    increasing @2;    # Increasing speed
-    decreasing @3;    # Decreasing speed
-    holding @4;       # Holding steady speed
-  }
-
-  enum SendButtonState {
-    none @0;
-    increase @1;
-    decrease @2;
-  }
-}
-
 # Same struct as Log.RadarState.LeadData
 struct LeadData {
   dRel @0 :Float32;
@@ -68,7 +48,6 @@ struct LeadData {
 
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
-  intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
 }
 
 struct ModelManagerSP @0xaedffd8f31e7b55d {
@@ -231,8 +210,6 @@ struct OnroadEventSP @0xda96579883444c35 {
 struct CarParamsSP @0x80ae746ee2596b11 {
   flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
   safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
-  pcmCruiseSpeed @3 :Bool = true;
-  intelligentCruiseButtonManagementAvailable @4 :Bool;
 
   neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
 
@@ -252,7 +229,6 @@ struct CarControlSP @0xa5cd762cd951a455 {
   params @1 :List(Param);
   leadOne @2 :LeadData;
   leadTwo @3 :LeadData;
-  intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
 
   struct Param {
     key @0 :Text;
diff --git a/common/params_keys.h b/common/params_keys.h
index 80d12c6b95362c..f0511bf9c2a86b 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -149,7 +149,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
-    {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
diff --git a/opendbc_repo b/opendbc_repo
index f54d85c7d99d45..189dc3f78c3b2e 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit f54d85c7d99d45ada6f6978621b10c8b421b1923
+Subproject commit 189dc3f78c3b2eeb0402e69760602aa7149d05c9
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 2e52c008278c98..820c68e89531c9 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -179,7 +179,7 @@ def __init__(self, CI=None, RI=None) -> None:
     self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
 
     self.mock_carstate = MockCarState()
-    self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
+    self.v_cruise_helper = VCruiseHelper(self.CP)
 
     self.is_metric = self.params.get_bool("IsMetric")
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index c82287d2b149d6..5ffb43f9e530c8 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -30,8 +30,8 @@
 
 
 class VCruiseHelper(VCruiseHelperSP):
-  def __init__(self, CP, CP_SP):
-    VCruiseHelperSP.__init__(self, CP, CP_SP)
+  def __init__(self, CP):
+    VCruiseHelperSP.__init__(self)
     self.CP = CP
     self.v_cruise_kph = V_CRUISE_UNSET
     self.v_cruise_cluster_kph = V_CRUISE_UNSET
@@ -46,13 +46,10 @@ def v_cruise_initialized(self):
   def update_v_cruise(self, CS, enabled, is_metric):
     self.v_cruise_kph_last = self.v_cruise_kph
 
-    self.get_minimum_set_speed(is_metric)
-
     if CS.cruiseState.available:
-      _enabled = self.update_enabled_state(CS, enabled)
-      if not self.CP.pcmCruise or (not self.CP_SP.pcmCruiseSpeed and _enabled):
+      if not self.CP.pcmCruise:
         # if stock cruise is completely disabled, then we can use our own set speed logic
-        self._update_v_cruise_non_pcm(CS, _enabled, is_metric)
+        self._update_v_cruise_non_pcm(CS, enabled, is_metric)
         self.v_cruise_cluster_kph = self.v_cruise_kph
         self.update_button_timers(CS, enabled)
       else:
@@ -114,7 +111,7 @@ def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
     if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
       self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
 
-    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), self.v_cruise_min, V_CRUISE_MAX)
+    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
 
   def update_button_timers(self, CS, enabled):
     # increment timer for buttons still pressed
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
index a7abc1976c4655..275c84479fd77e 100644
--- a/selfdrive/car/helpers.py
+++ b/selfdrive/car/helpers.py
@@ -60,8 +60,5 @@ def remove_deprecated(s: dict) -> dict:
   struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
   struct_dataclass.leadOne = structs.LeadData(**remove_deprecated(struct_dict.get('leadOne', {})))
   struct_dataclass.leadTwo = structs.LeadData(**remove_deprecated(struct_dict.get('leadTwo', {})))
-  struct_dataclass.intelligentCruiseButtonManagement = structs.IntelligentCruiseButtonManagement(
-    **remove_deprecated(struct_dict.get('intelligentCruiseButtonManagement', {}))
-  )
 
   return struct_dataclass
diff --git a/selfdrive/car/tests/test_cruise_speed.py b/selfdrive/car/tests/test_cruise_speed.py
index 8512651de3bf99..4f9444d4bbf192 100644
--- a/selfdrive/car/tests/test_cruise_speed.py
+++ b/selfdrive/car/tests/test_cruise_speed.py
@@ -5,7 +5,7 @@
 from parameterized import parameterized_class
 from cereal import log
 from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
-from cereal import car, custom
+from cereal import car
 from openpilot.common.constants import CV
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
@@ -49,8 +49,7 @@ def test_cruise_speed(self):
 class TestVCruiseHelper:
   def setup_method(self):
     self.CP = car.CarParams(pcmCruise=self.pcm_cruise)
-    self.CP_SP = custom.CarParamsSP()
-    self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
+    self.v_cruise_helper = VCruiseHelper(self.CP)
     self.reset_cruise_speed_state()
 
   def reset_cruise_speed_state(self):
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 3751efc87a6d8a..9e88a37690868a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -116,8 +116,7 @@ def state_control(self):
 
     CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                    (not standstill or self.CP.steerAtStandstill)
-    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and \
-                    (self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
+    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators
     actuators.longControlState = self.LoC.long_control_state
@@ -169,7 +168,7 @@ def publish(self, CC, lac_log):
       CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
       CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()
 
-    CC.cruiseControl.override = CC.enabled and not CC.longActive and (self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
+    CC.cruiseControl.override = CC.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
     CC.cruiseControl.cancel = CS.cruiseState.enabled and (not CC.enabled or not self.CP.pcmCruise)
     CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and not self.sm['longitudinalPlan'].shouldStop
 
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 69dc51360b87f0..749378f3a6cd48 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -26,7 +26,6 @@
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
-from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
 REPLAY = "REPLAY" in os.environ
@@ -157,7 +156,6 @@ def __init__(self, CP=None, CP_SP=None):
     self.events_sp_prev = []
 
     self.mads = ModularAssistiveDrivingSystem(self)
-    self.icbm = IntelligentCruiseButtonManagement(self.CP, self.CP_SP)
 
     self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
 
@@ -444,8 +442,6 @@ def update_events(self, CS):
           self.events.add(EventName.personalityChanged)
         self.experimental_mode_switched = False
 
-    self.icbm.run(CS, self.sm['carControl'], self.is_metric)
-
   def data_sample(self):
     _car_state = messaging.recv_one(self.car_state_sock)
     CS = _car_state.carState if _car_state else self.CS_prev
@@ -550,11 +546,6 @@ def publish_selfdriveState(self, CS):
     mads.active = self.mads.active
     mads.available = self.mads.enabled_toggle
 
-    icbm = ss_sp.intelligentCruiseButtonManagement
-    icbm.state = self.icbm.state
-    icbm.sendButton = self.icbm.cruise_button
-    icbm.vTarget = self.icbm.v_target
-
     self.pm.send('selfdriveStateSP', ss_sp_msg)
 
     # onroadEventsSP - logged every second or on change
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
index df4a6077b5067a..ac7b57e2971b28 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
@@ -18,16 +18,6 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
   cruisePanelScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(cruisePanelScroller);
 
-  intelligentCruiseButtonManagement = new ParamControlSP(
-    "IntelligentCruiseButtonManagement",
-    tr("Intelligent Cruise Button Management (ICBM) (Alpha)"),
-    tr("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control."),
-    "",
-    this
-  );
-  intelligentCruiseButtonManagement->setConfirmation(true, false);
-  list->addItem(intelligentCruiseButtonManagement);
-
   SmartCruiseControlVision = new ParamControl(
     "SmartCruiseControlVision",
     tr("Smart Cruise Control - Vision"),
@@ -52,22 +42,16 @@ void LongitudinalPanel::showEvent(QShowEvent *event) {
 
 void LongitudinalPanel::refresh(bool _offroad) {
   auto cp_bytes = params.get("CarParamsPersistent");
-  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
-  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
+  if (!cp_bytes.empty()) {
     AlignedBuffer aligned_buf;
-    AlignedBuffer aligned_buf_sp;
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
-    capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
 
     has_longitudinal_control = hasLongitudinalControl(CP);
     is_pcm_cruise = CP.getPcmCruise();
-    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
   } else {
     has_longitudinal_control = false;
     is_pcm_cruise = false;
-    intelligent_cruise_button_management_available = false;
   }
 
   QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
@@ -79,7 +63,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
     customAccIncrement->setDescription(onroadOnlyDescription);
     customAccIncrement->showDescription();
   } else {
-    if (has_longitudinal_control || intelligent_cruise_button_management_available) {
+    if (has_longitudinal_control) {
       if (is_pcm_cruise) {
         customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
         customAccIncrement->showDescription();
@@ -91,20 +75,14 @@ void LongitudinalPanel::refresh(bool _offroad) {
       customAccIncrement->toggleFlipped(false);
       customAccIncrement->setDescription(accNoLongDescription);
       customAccIncrement->showDescription();
-      params.remove("IntelligentCruiseButtonManagement");
-      intelligentCruiseButtonManagement->toggleFlipped(false);
     }
   }
 
-  bool icbm_allowed = intelligent_cruise_button_management_available && !has_longitudinal_control;
-  intelligentCruiseButtonManagement->setEnabled(icbm_allowed && offroad);
-
   // enable toggle when long is available and is not PCM cruise
-  bool cai_allowed = (has_longitudinal_control && !is_pcm_cruise) || icbm_allowed;
-  customAccIncrement->setEnabled(cai_allowed && !offroad);
+  customAccIncrement->setEnabled(has_longitudinal_control && !is_pcm_cruise && !offroad);
   customAccIncrement->refresh();
 
-  SmartCruiseControlVision->setEnabled(has_longitudinal_control || icbm_allowed);
+  SmartCruiseControlVision->setEnabled(has_longitudinal_control);
 
   offroad = _offroad;
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
index af89822595a69c..36c35720e7e53c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
@@ -23,7 +23,6 @@ class LongitudinalPanel : public QWidget {
   Params params;
   bool has_longitudinal_control = false;
   bool is_pcm_cruise = false;
-  bool intelligent_cruise_button_management_available = false;;
   bool offroad = false;
 
   QStackedLayout *main_layout = nullptr;
@@ -31,5 +30,4 @@ class LongitudinalPanel : public QWidget {
   QWidget *cruisePanelScreen = nullptr;
   CustomAccIncrement *customAccIncrement = nullptr;
   ParamControl *SmartCruiseControlVision;
-  ParamControl *intelligentCruiseButtonManagement = nullptr;
 };
diff --git a/sunnypilot/selfdrive/car/cruise_ext.py b/sunnypilot/selfdrive/car/cruise_ext.py
index 716e3e1c938dee..f443aeee0e71dd 100644
--- a/sunnypilot/selfdrive/car/cruise_ext.py
+++ b/sunnypilot/selfdrive/car/cruise_ext.py
@@ -7,46 +7,19 @@
 import numpy as np
 
 from cereal import car
-from opendbc.car import structs
 from openpilot.common.params import Params
-from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.helpers import get_minimum_set_speed
 
 ButtonType = car.CarState.ButtonEvent.Type
 
-CRUISE_BUTTON_TIMER = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0,
-                       ButtonType.setCruise: 0, ButtonType.resumeCruise: 0,
-                       ButtonType.cancel: 0, ButtonType.mainCruise: 0}
-
-V_CRUISE_MIN = 8
-
-
-def update_manual_button_timers(CS: car.CarState, button_timers: dict[car.CarState.ButtonEvent.Type, int]) -> None:
-  # increment timer for buttons still pressed
-  for k in button_timers:
-    if button_timers[k] > 0:
-      button_timers[k] += 1
-
-  for b in CS.buttonEvents:
-    if b.type.raw in button_timers:
-      # Start/end timer and store current state on change of button pressed
-      button_timers[b.type.raw] = 1 if b.pressed else 0
-
-
 
 class VCruiseHelperSP:
-  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> None:
-    self.CP = CP
-    self.CP_SP = CP_SP
+  def __init__(self) -> None:
     self.params = Params()
-    self.v_cruise_min = 0
-    self.enabled_prev = False
 
     self.custom_acc_enabled = self.params.get_bool("CustomAccIncrementsEnabled")
     self.short_increment = self.params.get("CustomAccShortPressIncrement", return_default=True)
     self.long_increment = self.params.get("CustomAccLongPressIncrement", return_default=True)
 
-    self.enable_button_timers = CRUISE_BUTTON_TIMER
-
   def read_custom_set_speed_params(self) -> None:
     self.custom_acc_enabled = self.params.get_bool("CustomAccIncrementsEnabled")
     self.short_increment = self.params.get("CustomAccShortPressIncrement", return_default=True)
@@ -66,26 +39,3 @@ def update_v_cruise_delta(self, long_press: bool, v_cruise_delta: float) -> tupl
     v_cruise_delta = v_cruise_delta * actual_increment
 
     return round_to_nearest, v_cruise_delta
-
-  def get_minimum_set_speed(self, is_metric: bool) -> None:
-    if self.CP_SP.pcmCruiseSpeed:
-      self.v_cruise_min = V_CRUISE_MIN
-      return
-
-    self.v_cruise_min = get_minimum_set_speed(is_metric)
-
-  def update_enabled_state(self, CS: car.CarState, enabled: bool) -> bool:
-    # special enabled state for non pcmCruiseSpeed, unchanged for non pcmCruise
-    if not self.CP_SP.pcmCruiseSpeed:
-      update_manual_button_timers(CS, self.enable_button_timers)
-      button_pressed = any(self.enable_button_timers[k] > 0 for k in self.enable_button_timers)
-
-      if enabled and not self.enabled_prev:
-        self.enabled_prev = not button_pressed
-        enabled = False
-      elif not enabled:
-        self.enabled_prev = enabled
-
-      return enabled and self.enabled_prev
-
-    return enabled
diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/__init__.py b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
deleted file mode 100644
index 0b0957b828e09c..00000000000000
--- a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
+++ /dev/null
@@ -1,137 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from cereal import car, custom
-from opendbc.car import structs, apply_hysteresis
-from openpilot.common.constants import CV
-from openpilot.common.realtime import DT_CTRL
-from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.helpers import get_minimum_set_speed
-from openpilot.sunnypilot.selfdrive.car.cruise_ext import CRUISE_BUTTON_TIMER, update_manual_button_timers
-
-LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource
-State = custom.IntelligentCruiseButtonManagement.IntelligentCruiseButtonManagementState
-SendButtonState = custom.IntelligentCruiseButtonManagement.SendButtonState
-
-ALLOWED_SPEED_THRESHOLD = 1.8  # m/s, ~4 MPH
-HYST_GAP = 0.75
-INACTIVE_TIMER = 0.4
-
-
-SEND_BUTTONS = {
-  State.increasing: SendButtonState.increase,
-  State.decreasing: SendButtonState.decrease,
-}
-
-
-class IntelligentCruiseButtonManagement:
-  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
-    self.CP = CP
-    self.CP_SP = CP_SP
-
-    self.v_target = 0
-    self.v_cruise_cluster = 0
-    self.v_cruise_min = 0
-    self.cruise_button = SendButtonState.none
-    self.state = State.inactive
-    self.pre_active_timer = 0
-
-    self.is_ready = False
-    self.is_ready_prev = False
-    self.v_target_ms_last = 0.0
-    self.is_metric = False
-
-    self.cruise_button_timers = CRUISE_BUTTON_TIMER
-
-  @property
-  def v_cruise_equal(self) -> bool:
-    return self.v_target == self.v_cruise_cluster
-
-  def update_calculations(self, CS: car.CarState) -> None:
-    speed_conv = CV.MS_TO_KPH if self.is_metric else CV.MS_TO_MPH
-    ms_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
-    v_cruise_ms = CS.vCruise * CV.KPH_TO_MS
-
-    # all targets in m/s
-    v_targets = {
-      LongitudinalPlanSource.cruise: v_cruise_ms
-    }
-    source = min(v_targets, key=lambda k: v_targets[k])
-    v_target_ms = v_targets[source]
-
-    self.v_target_ms_last = apply_hysteresis(v_target_ms, self.v_target_ms_last, HYST_GAP * ms_conv)
-
-    self.v_target = round(self.v_target_ms_last * speed_conv)
-    self.v_cruise_min = get_minimum_set_speed(self.is_metric)
-    self.v_cruise_cluster = round(CS.cruiseState.speedCluster * speed_conv)
-
-  def update_state_machine(self) -> custom.IntelligentCruiseButtonManagement.SendButtonState:
-    self.pre_active_timer = max(0, self.pre_active_timer - 1)
-
-    # HOLDING, ACCELERATING, DECELERATING, PRE_ACTIVE
-    if self.state != State.inactive:
-      if not self.is_ready:
-        self.state = State.inactive
-
-      else:
-        # PRE_ACTIVE
-        if self.state == State.preActive:
-          if self.pre_active_timer <= 0:
-            if self.v_cruise_equal:
-              self.state = State.holding
-
-            elif self.v_target > self.v_cruise_cluster:
-              self.state = State.increasing
-
-            elif self.v_target < self.v_cruise_cluster and self.v_cruise_cluster > self.v_cruise_min:
-              self.state = State.decreasing
-
-        # HOLDING
-        elif self.state == State.holding:
-          if not self.v_cruise_equal:
-            self.state = State.preActive
-
-        # ACCELERATING
-        elif self.state == State.increasing:
-          if self.v_target <= self.v_cruise_cluster:
-            self.state = State.holding
-
-        # DECELERATING
-        elif self.state == State.decreasing:
-          if self.v_target >= self.v_cruise_cluster or self.v_cruise_cluster <= self.v_cruise_min:
-            self.state = State.holding
-
-    # INACTIVE
-    elif self.state == State.inactive:
-      if self.is_ready and not self.is_ready_prev:
-        self.pre_active_timer = int(INACTIVE_TIMER / DT_CTRL)
-        self.state = State.preActive
-
-    send_button = SEND_BUTTONS.get(self.state, SendButtonState.none)
-
-    return send_button
-
-  def update_readiness(self, CS: car.CarState, CC: car.CarControl) -> None:
-    update_manual_button_timers(CS, self.cruise_button_timers)
-
-    allowed_speed = CS.vEgo > ALLOWED_SPEED_THRESHOLD
-    ready = CS.cruiseState.enabled and allowed_speed and not CC.cruiseControl.override and not CC.cruiseControl.cancel and \
-            not CC.cruiseControl.resume
-    button_pressed = any(self.cruise_button_timers[k] > 0 for k in self.cruise_button_timers)
-
-    self.is_ready = ready and not button_pressed
-
-  def run(self, CS: car.CarState, CC: car.CarControl, is_metric: bool) -> None:
-    if self.CP_SP.pcmCruiseSpeed:
-      return
-
-    self.is_metric = is_metric
-
-    self.update_calculations(CS)
-    self.update_readiness(CS, CC)
-
-    self.cruise_button = self.update_state_machine()
-
-    self.is_ready_prev = self.is_ready
diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py
deleted file mode 100644
index eb4bbdecb5fc4f..00000000000000
--- a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py
+++ /dev/null
@@ -1,8 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-def get_minimum_set_speed(is_metric: bool) -> int:
-  return 30 if is_metric else 20
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index 55244caa57ecfe..cd7a24b63b4338 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -43,21 +43,11 @@ def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs
   CP_SP.neuralNetworkLateralControl.fuzzyFingerprint = not exact_match
 
 
-def _initialize_intelligent_cruise_button_management(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
-  if params is None:
-    params = Params()
-
-  icbm_enabled = params.get_bool("IntelligentCruiseButtonManagement")
-  if icbm_enabled and CP_SP.intelligentCruiseButtonManagementAvailable and not CP.openpilotLongitudinalControl:
-    CP_SP.pcmCruiseSpeed = False
-
-
 def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   CP = CI.CP
   CP_SP = CI.CP_SP
 
   _initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
-  _initialize_intelligent_cruise_button_management(CP, CP_SP, params)
 
 
 def initialize_params(params) -> list[dict[str, Any]]:
diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
index e0f9326bf800e9..a096b7dc8c4194 100644
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -75,8 +75,6 @@ def state_control_ext(self, sm: messaging.SubMaster) -> custom.CarControlSP:
 
     CC_SP.params = self.param_store.param_list
 
-    CC_SP.intelligentCruiseButtonManagement = sm['selfdriveStateSP'].intelligentCruiseButtonManagement
-
     return CC_SP
 
   @staticmethod

From fb743d313e441e09c07b23d8497ebe98f3fa5c14 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 18 Sep 2025 16:47:40 -0400
Subject: [PATCH 0427/1434] Reapply "Intelligent Cruise Button Management
 (ICBM)" (#1257) (#1258)

* Reapply "Intelligent Cruise Button Management (ICBM)" (#1257)

This reverts commit 4441671227ab6936c60a5f8898a4c03ef7bee2b6.

* ICBM: `pcmCruiseSpeed` is true during initialization

* bump

* fix tests
---
 cereal/custom.capnp                           |  26 +++-
 common/params_keys.h                          |   1 +
 opendbc_repo                                  |   2 +-
 selfdrive/car/card.py                         |   2 +-
 selfdrive/car/cruise.py                       |  13 +-
 selfdrive/car/helpers.py                      |   3 +
 selfdrive/car/tests/test_cruise_speed.py      |   9 +-
 selfdrive/controls/controlsd.py               |   5 +-
 selfdrive/selfdrived/selfdrived.py            |   9 ++
 .../qt/offroad/settings/longitudinal_panel.cc |  30 +++-
 .../qt/offroad/settings/longitudinal_panel.h  |   2 +
 sunnypilot/selfdrive/car/cruise_ext.py        |  52 ++++++-
 .../__init__.py                               |   0
 .../controller.py                             | 137 ++++++++++++++++++
 .../helpers.py                                |   8 +
 sunnypilot/selfdrive/car/interfaces.py        |  10 ++
 .../selfdrive/car/tests/test_custom_cruise.py |   3 +-
 .../selfdrive/controls/controlsd_ext.py       |   2 +
 18 files changed, 294 insertions(+), 20 deletions(-)
 create mode 100644 sunnypilot/selfdrive/car/intelligent_cruise_button_management/__init__.py
 create mode 100644 sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
 create mode 100644 sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 66aa1b71f86ecf..c4b54640298dcd 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -25,6 +25,26 @@ struct ModularAssistiveDrivingSystem {
   }
 }
 
+struct IntelligentCruiseButtonManagement {
+  state @0 :IntelligentCruiseButtonManagementState;
+  sendButton @1 :SendButtonState;
+  vTarget @2 :Float32;
+
+  enum IntelligentCruiseButtonManagementState {
+    inactive @0;      # No button press or default state
+    preActive @1;     # Pre-active state before transitioning to increasing or decreasing
+    increasing @2;    # Increasing speed
+    decreasing @3;    # Decreasing speed
+    holding @4;       # Holding steady speed
+  }
+
+  enum SendButtonState {
+    none @0;
+    increase @1;
+    decrease @2;
+  }
+}
+
 # Same struct as Log.RadarState.LeadData
 struct LeadData {
   dRel @0 :Float32;
@@ -48,6 +68,7 @@ struct LeadData {
 
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
+  intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
 }
 
 struct ModelManagerSP @0xaedffd8f31e7b55d {
@@ -210,6 +231,8 @@ struct OnroadEventSP @0xda96579883444c35 {
 struct CarParamsSP @0x80ae746ee2596b11 {
   flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
   safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
+  pcmCruiseSpeed @3 :Bool;
+  intelligentCruiseButtonManagementAvailable @4 :Bool;
 
   neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
 
@@ -229,6 +252,7 @@ struct CarControlSP @0xa5cd762cd951a455 {
   params @1 :List(Param);
   leadOne @2 :LeadData;
   leadTwo @3 :LeadData;
+  intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
 
   struct Param {
     key @0 :Text;
@@ -237,7 +261,7 @@ struct CarControlSP @0xa5cd762cd951a455 {
 
     valueDEPRECATED @1 :Text; # The data type change may cause issues with backwards compatibility.
   }
-  
+
   enum ParamType {
     string @0;
     bool @1;
diff --git a/common/params_keys.h b/common/params_keys.h
index f0511bf9c2a86b..80d12c6b95362c 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -149,6 +149,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
+    {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
diff --git a/opendbc_repo b/opendbc_repo
index 189dc3f78c3b2e..52d50f984191d6 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 189dc3f78c3b2eeb0402e69760602aa7149d05c9
+Subproject commit 52d50f984191d63cf6a79398b21df2d2e3b9236e
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 820c68e89531c9..2e52c008278c98 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -179,7 +179,7 @@ def __init__(self, CI=None, RI=None) -> None:
     self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
 
     self.mock_carstate = MockCarState()
-    self.v_cruise_helper = VCruiseHelper(self.CP)
+    self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
 
     self.is_metric = self.params.get_bool("IsMetric")
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index 5ffb43f9e530c8..c82287d2b149d6 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -30,8 +30,8 @@
 
 
 class VCruiseHelper(VCruiseHelperSP):
-  def __init__(self, CP):
-    VCruiseHelperSP.__init__(self)
+  def __init__(self, CP, CP_SP):
+    VCruiseHelperSP.__init__(self, CP, CP_SP)
     self.CP = CP
     self.v_cruise_kph = V_CRUISE_UNSET
     self.v_cruise_cluster_kph = V_CRUISE_UNSET
@@ -46,10 +46,13 @@ def v_cruise_initialized(self):
   def update_v_cruise(self, CS, enabled, is_metric):
     self.v_cruise_kph_last = self.v_cruise_kph
 
+    self.get_minimum_set_speed(is_metric)
+
     if CS.cruiseState.available:
-      if not self.CP.pcmCruise:
+      _enabled = self.update_enabled_state(CS, enabled)
+      if not self.CP.pcmCruise or (not self.CP_SP.pcmCruiseSpeed and _enabled):
         # if stock cruise is completely disabled, then we can use our own set speed logic
-        self._update_v_cruise_non_pcm(CS, enabled, is_metric)
+        self._update_v_cruise_non_pcm(CS, _enabled, is_metric)
         self.v_cruise_cluster_kph = self.v_cruise_kph
         self.update_button_timers(CS, enabled)
       else:
@@ -111,7 +114,7 @@ def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
     if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
       self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
 
-    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
+    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), self.v_cruise_min, V_CRUISE_MAX)
 
   def update_button_timers(self, CS, enabled):
     # increment timer for buttons still pressed
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
index 275c84479fd77e..a7abc1976c4655 100644
--- a/selfdrive/car/helpers.py
+++ b/selfdrive/car/helpers.py
@@ -60,5 +60,8 @@ def remove_deprecated(s: dict) -> dict:
   struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
   struct_dataclass.leadOne = structs.LeadData(**remove_deprecated(struct_dict.get('leadOne', {})))
   struct_dataclass.leadTwo = structs.LeadData(**remove_deprecated(struct_dict.get('leadTwo', {})))
+  struct_dataclass.intelligentCruiseButtonManagement = structs.IntelligentCruiseButtonManagement(
+    **remove_deprecated(struct_dict.get('intelligentCruiseButtonManagement', {}))
+  )
 
   return struct_dataclass
diff --git a/selfdrive/car/tests/test_cruise_speed.py b/selfdrive/car/tests/test_cruise_speed.py
index 4f9444d4bbf192..61bae68931a485 100644
--- a/selfdrive/car/tests/test_cruise_speed.py
+++ b/selfdrive/car/tests/test_cruise_speed.py
@@ -5,7 +5,7 @@
 from parameterized import parameterized_class
 from cereal import log
 from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
-from cereal import car
+from cereal import car, custom
 from openpilot.common.constants import CV
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
@@ -44,12 +44,13 @@ def test_cruise_speed(self):
     assert simulation_steady_state == pytest.approx(cruise_speed, abs=.01), f'Did not reach {self.speed} m/s'
 
 
-# TODO: test pcmCruise
-@parameterized_class(('pcm_cruise',), [(False,)])
+# TODO: test pcmCruise and pcmCruiseSpeed
+@parameterized_class(('pcm_cruise', 'pcm_cruise_speed'), [(False, True)])
 class TestVCruiseHelper:
   def setup_method(self):
     self.CP = car.CarParams(pcmCruise=self.pcm_cruise)
-    self.v_cruise_helper = VCruiseHelper(self.CP)
+    self.CP_SP = custom.CarParamsSP(pcmCruiseSpeed=self.pcm_cruise_speed)
+    self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
     self.reset_cruise_speed_state()
 
   def reset_cruise_speed_state(self):
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 9e88a37690868a..3751efc87a6d8a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -116,7 +116,8 @@ def state_control(self):
 
     CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                    (not standstill or self.CP.steerAtStandstill)
-    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
+    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and \
+                    (self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
 
     actuators = CC.actuators
     actuators.longControlState = self.LoC.long_control_state
@@ -168,7 +169,7 @@ def publish(self, CC, lac_log):
       CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
       CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()
 
-    CC.cruiseControl.override = CC.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
+    CC.cruiseControl.override = CC.enabled and not CC.longActive and (self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
     CC.cruiseControl.cancel = CS.cruiseState.enabled and (not CC.enabled or not self.CP.pcmCruise)
     CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and not self.sm['longitudinalPlan'].shouldStop
 
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 749378f3a6cd48..69dc51360b87f0 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -26,6 +26,7 @@
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
+from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
 REPLAY = "REPLAY" in os.environ
@@ -156,6 +157,7 @@ def __init__(self, CP=None, CP_SP=None):
     self.events_sp_prev = []
 
     self.mads = ModularAssistiveDrivingSystem(self)
+    self.icbm = IntelligentCruiseButtonManagement(self.CP, self.CP_SP)
 
     self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
 
@@ -442,6 +444,8 @@ def update_events(self, CS):
           self.events.add(EventName.personalityChanged)
         self.experimental_mode_switched = False
 
+    self.icbm.run(CS, self.sm['carControl'], self.is_metric)
+
   def data_sample(self):
     _car_state = messaging.recv_one(self.car_state_sock)
     CS = _car_state.carState if _car_state else self.CS_prev
@@ -546,6 +550,11 @@ def publish_selfdriveState(self, CS):
     mads.active = self.mads.active
     mads.available = self.mads.enabled_toggle
 
+    icbm = ss_sp.intelligentCruiseButtonManagement
+    icbm.state = self.icbm.state
+    icbm.sendButton = self.icbm.cruise_button
+    icbm.vTarget = self.icbm.v_target
+
     self.pm.send('selfdriveStateSP', ss_sp_msg)
 
     # onroadEventsSP - logged every second or on change
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
index ac7b57e2971b28..df4a6077b5067a 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
@@ -18,6 +18,16 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
   cruisePanelScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(cruisePanelScroller);
 
+  intelligentCruiseButtonManagement = new ParamControlSP(
+    "IntelligentCruiseButtonManagement",
+    tr("Intelligent Cruise Button Management (ICBM) (Alpha)"),
+    tr("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control."),
+    "",
+    this
+  );
+  intelligentCruiseButtonManagement->setConfirmation(true, false);
+  list->addItem(intelligentCruiseButtonManagement);
+
   SmartCruiseControlVision = new ParamControl(
     "SmartCruiseControlVision",
     tr("Smart Cruise Control - Vision"),
@@ -42,16 +52,22 @@ void LongitudinalPanel::showEvent(QShowEvent *event) {
 
 void LongitudinalPanel::refresh(bool _offroad) {
   auto cp_bytes = params.get("CarParamsPersistent");
-  if (!cp_bytes.empty()) {
+  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
+  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
     AlignedBuffer aligned_buf;
+    AlignedBuffer aligned_buf_sp;
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
 
     has_longitudinal_control = hasLongitudinalControl(CP);
     is_pcm_cruise = CP.getPcmCruise();
+    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
   } else {
     has_longitudinal_control = false;
     is_pcm_cruise = false;
+    intelligent_cruise_button_management_available = false;
   }
 
   QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
@@ -63,7 +79,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
     customAccIncrement->setDescription(onroadOnlyDescription);
     customAccIncrement->showDescription();
   } else {
-    if (has_longitudinal_control) {
+    if (has_longitudinal_control || intelligent_cruise_button_management_available) {
       if (is_pcm_cruise) {
         customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
         customAccIncrement->showDescription();
@@ -75,14 +91,20 @@ void LongitudinalPanel::refresh(bool _offroad) {
       customAccIncrement->toggleFlipped(false);
       customAccIncrement->setDescription(accNoLongDescription);
       customAccIncrement->showDescription();
+      params.remove("IntelligentCruiseButtonManagement");
+      intelligentCruiseButtonManagement->toggleFlipped(false);
     }
   }
 
+  bool icbm_allowed = intelligent_cruise_button_management_available && !has_longitudinal_control;
+  intelligentCruiseButtonManagement->setEnabled(icbm_allowed && offroad);
+
   // enable toggle when long is available and is not PCM cruise
-  customAccIncrement->setEnabled(has_longitudinal_control && !is_pcm_cruise && !offroad);
+  bool cai_allowed = (has_longitudinal_control && !is_pcm_cruise) || icbm_allowed;
+  customAccIncrement->setEnabled(cai_allowed && !offroad);
   customAccIncrement->refresh();
 
-  SmartCruiseControlVision->setEnabled(has_longitudinal_control);
+  SmartCruiseControlVision->setEnabled(has_longitudinal_control || icbm_allowed);
 
   offroad = _offroad;
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
index 36c35720e7e53c..af89822595a69c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
@@ -23,6 +23,7 @@ class LongitudinalPanel : public QWidget {
   Params params;
   bool has_longitudinal_control = false;
   bool is_pcm_cruise = false;
+  bool intelligent_cruise_button_management_available = false;;
   bool offroad = false;
 
   QStackedLayout *main_layout = nullptr;
@@ -30,4 +31,5 @@ class LongitudinalPanel : public QWidget {
   QWidget *cruisePanelScreen = nullptr;
   CustomAccIncrement *customAccIncrement = nullptr;
   ParamControl *SmartCruiseControlVision;
+  ParamControl *intelligentCruiseButtonManagement = nullptr;
 };
diff --git a/sunnypilot/selfdrive/car/cruise_ext.py b/sunnypilot/selfdrive/car/cruise_ext.py
index f443aeee0e71dd..716e3e1c938dee 100644
--- a/sunnypilot/selfdrive/car/cruise_ext.py
+++ b/sunnypilot/selfdrive/car/cruise_ext.py
@@ -7,19 +7,46 @@
 import numpy as np
 
 from cereal import car
+from opendbc.car import structs
 from openpilot.common.params import Params
+from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.helpers import get_minimum_set_speed
 
 ButtonType = car.CarState.ButtonEvent.Type
 
+CRUISE_BUTTON_TIMER = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0,
+                       ButtonType.setCruise: 0, ButtonType.resumeCruise: 0,
+                       ButtonType.cancel: 0, ButtonType.mainCruise: 0}
+
+V_CRUISE_MIN = 8
+
+
+def update_manual_button_timers(CS: car.CarState, button_timers: dict[car.CarState.ButtonEvent.Type, int]) -> None:
+  # increment timer for buttons still pressed
+  for k in button_timers:
+    if button_timers[k] > 0:
+      button_timers[k] += 1
+
+  for b in CS.buttonEvents:
+    if b.type.raw in button_timers:
+      # Start/end timer and store current state on change of button pressed
+      button_timers[b.type.raw] = 1 if b.pressed else 0
+
+
 
 class VCruiseHelperSP:
-  def __init__(self) -> None:
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> None:
+    self.CP = CP
+    self.CP_SP = CP_SP
     self.params = Params()
+    self.v_cruise_min = 0
+    self.enabled_prev = False
 
     self.custom_acc_enabled = self.params.get_bool("CustomAccIncrementsEnabled")
     self.short_increment = self.params.get("CustomAccShortPressIncrement", return_default=True)
     self.long_increment = self.params.get("CustomAccLongPressIncrement", return_default=True)
 
+    self.enable_button_timers = CRUISE_BUTTON_TIMER
+
   def read_custom_set_speed_params(self) -> None:
     self.custom_acc_enabled = self.params.get_bool("CustomAccIncrementsEnabled")
     self.short_increment = self.params.get("CustomAccShortPressIncrement", return_default=True)
@@ -39,3 +66,26 @@ def update_v_cruise_delta(self, long_press: bool, v_cruise_delta: float) -> tupl
     v_cruise_delta = v_cruise_delta * actual_increment
 
     return round_to_nearest, v_cruise_delta
+
+  def get_minimum_set_speed(self, is_metric: bool) -> None:
+    if self.CP_SP.pcmCruiseSpeed:
+      self.v_cruise_min = V_CRUISE_MIN
+      return
+
+    self.v_cruise_min = get_minimum_set_speed(is_metric)
+
+  def update_enabled_state(self, CS: car.CarState, enabled: bool) -> bool:
+    # special enabled state for non pcmCruiseSpeed, unchanged for non pcmCruise
+    if not self.CP_SP.pcmCruiseSpeed:
+      update_manual_button_timers(CS, self.enable_button_timers)
+      button_pressed = any(self.enable_button_timers[k] > 0 for k in self.enable_button_timers)
+
+      if enabled and not self.enabled_prev:
+        self.enabled_prev = not button_pressed
+        enabled = False
+      elif not enabled:
+        self.enabled_prev = enabled
+
+      return enabled and self.enabled_prev
+
+    return enabled
diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/__init__.py b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
new file mode 100644
index 00000000000000..0b0957b828e09c
--- /dev/null
+++ b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
@@ -0,0 +1,137 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from cereal import car, custom
+from opendbc.car import structs, apply_hysteresis
+from openpilot.common.constants import CV
+from openpilot.common.realtime import DT_CTRL
+from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.helpers import get_minimum_set_speed
+from openpilot.sunnypilot.selfdrive.car.cruise_ext import CRUISE_BUTTON_TIMER, update_manual_button_timers
+
+LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource
+State = custom.IntelligentCruiseButtonManagement.IntelligentCruiseButtonManagementState
+SendButtonState = custom.IntelligentCruiseButtonManagement.SendButtonState
+
+ALLOWED_SPEED_THRESHOLD = 1.8  # m/s, ~4 MPH
+HYST_GAP = 0.75
+INACTIVE_TIMER = 0.4
+
+
+SEND_BUTTONS = {
+  State.increasing: SendButtonState.increase,
+  State.decreasing: SendButtonState.decrease,
+}
+
+
+class IntelligentCruiseButtonManagement:
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
+    self.CP = CP
+    self.CP_SP = CP_SP
+
+    self.v_target = 0
+    self.v_cruise_cluster = 0
+    self.v_cruise_min = 0
+    self.cruise_button = SendButtonState.none
+    self.state = State.inactive
+    self.pre_active_timer = 0
+
+    self.is_ready = False
+    self.is_ready_prev = False
+    self.v_target_ms_last = 0.0
+    self.is_metric = False
+
+    self.cruise_button_timers = CRUISE_BUTTON_TIMER
+
+  @property
+  def v_cruise_equal(self) -> bool:
+    return self.v_target == self.v_cruise_cluster
+
+  def update_calculations(self, CS: car.CarState) -> None:
+    speed_conv = CV.MS_TO_KPH if self.is_metric else CV.MS_TO_MPH
+    ms_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
+    v_cruise_ms = CS.vCruise * CV.KPH_TO_MS
+
+    # all targets in m/s
+    v_targets = {
+      LongitudinalPlanSource.cruise: v_cruise_ms
+    }
+    source = min(v_targets, key=lambda k: v_targets[k])
+    v_target_ms = v_targets[source]
+
+    self.v_target_ms_last = apply_hysteresis(v_target_ms, self.v_target_ms_last, HYST_GAP * ms_conv)
+
+    self.v_target = round(self.v_target_ms_last * speed_conv)
+    self.v_cruise_min = get_minimum_set_speed(self.is_metric)
+    self.v_cruise_cluster = round(CS.cruiseState.speedCluster * speed_conv)
+
+  def update_state_machine(self) -> custom.IntelligentCruiseButtonManagement.SendButtonState:
+    self.pre_active_timer = max(0, self.pre_active_timer - 1)
+
+    # HOLDING, ACCELERATING, DECELERATING, PRE_ACTIVE
+    if self.state != State.inactive:
+      if not self.is_ready:
+        self.state = State.inactive
+
+      else:
+        # PRE_ACTIVE
+        if self.state == State.preActive:
+          if self.pre_active_timer <= 0:
+            if self.v_cruise_equal:
+              self.state = State.holding
+
+            elif self.v_target > self.v_cruise_cluster:
+              self.state = State.increasing
+
+            elif self.v_target < self.v_cruise_cluster and self.v_cruise_cluster > self.v_cruise_min:
+              self.state = State.decreasing
+
+        # HOLDING
+        elif self.state == State.holding:
+          if not self.v_cruise_equal:
+            self.state = State.preActive
+
+        # ACCELERATING
+        elif self.state == State.increasing:
+          if self.v_target <= self.v_cruise_cluster:
+            self.state = State.holding
+
+        # DECELERATING
+        elif self.state == State.decreasing:
+          if self.v_target >= self.v_cruise_cluster or self.v_cruise_cluster <= self.v_cruise_min:
+            self.state = State.holding
+
+    # INACTIVE
+    elif self.state == State.inactive:
+      if self.is_ready and not self.is_ready_prev:
+        self.pre_active_timer = int(INACTIVE_TIMER / DT_CTRL)
+        self.state = State.preActive
+
+    send_button = SEND_BUTTONS.get(self.state, SendButtonState.none)
+
+    return send_button
+
+  def update_readiness(self, CS: car.CarState, CC: car.CarControl) -> None:
+    update_manual_button_timers(CS, self.cruise_button_timers)
+
+    allowed_speed = CS.vEgo > ALLOWED_SPEED_THRESHOLD
+    ready = CS.cruiseState.enabled and allowed_speed and not CC.cruiseControl.override and not CC.cruiseControl.cancel and \
+            not CC.cruiseControl.resume
+    button_pressed = any(self.cruise_button_timers[k] > 0 for k in self.cruise_button_timers)
+
+    self.is_ready = ready and not button_pressed
+
+  def run(self, CS: car.CarState, CC: car.CarControl, is_metric: bool) -> None:
+    if self.CP_SP.pcmCruiseSpeed:
+      return
+
+    self.is_metric = is_metric
+
+    self.update_calculations(CS)
+    self.update_readiness(CS, CC)
+
+    self.cruise_button = self.update_state_machine()
+
+    self.is_ready_prev = self.is_ready
diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py
new file mode 100644
index 00000000000000..eb4bbdecb5fc4f
--- /dev/null
+++ b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py
@@ -0,0 +1,8 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+def get_minimum_set_speed(is_metric: bool) -> int:
+  return 30 if is_metric else 20
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index cd7a24b63b4338..55244caa57ecfe 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -43,11 +43,21 @@ def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs
   CP_SP.neuralNetworkLateralControl.fuzzyFingerprint = not exact_match
 
 
+def _initialize_intelligent_cruise_button_management(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
+  if params is None:
+    params = Params()
+
+  icbm_enabled = params.get_bool("IntelligentCruiseButtonManagement")
+  if icbm_enabled and CP_SP.intelligentCruiseButtonManagementAvailable and not CP.openpilotLongitudinalControl:
+    CP_SP.pcmCruiseSpeed = False
+
+
 def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   CP = CI.CP
   CP_SP = CI.CP_SP
 
   _initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
+  _initialize_intelligent_cruise_button_management(CP, CP_SP, params)
 
 
 def initialize_params(params) -> list[dict[str, Any]]:
diff --git a/sunnypilot/selfdrive/car/tests/test_custom_cruise.py b/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
index 3bed8534ef6ddf..a1f7f8f0275c48 100644
--- a/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
+++ b/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
@@ -11,7 +11,8 @@
 ButtonType = car.CarState.ButtonEvent.Type
 
 
-@parameterized_class(('pcm_cruise',), [(False,)])
+# TODO: test pcmCruise and pcmCruiseSpeed
+@parameterized_class(('pcm_cruise', 'pcm_cruise_speed'), [(False, True)])
 class TestCustomAccIncrements(TestVCruiseHelper):
   def setup_method(self):
     TestVCruiseHelper.setup_method(self)
diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
index a096b7dc8c4194..e0f9326bf800e9 100644
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -75,6 +75,8 @@ def state_control_ext(self, sm: messaging.SubMaster) -> custom.CarControlSP:
 
     CC_SP.params = self.param_store.param_list
 
+    CC_SP.intelligentCruiseButtonManagement = sm['selfdriveStateSP'].intelligentCruiseButtonManagement
+
     return CC_SP
 
   @staticmethod

From 60e056cc0aaa58f5180668d7bd006b7c41ff1036 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Thu, 18 Sep 2025 21:34:03 -0700
Subject: [PATCH 0428/1434] mapd: Bump version `v1.10.0` -> `v1.11.0` (#1111)

* bump mapd v1.10.1

* v1.11.0

* v1.11.0

* permission

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/mapd/mapd_installer.py |   2 +-
 third_party/mapd_pfeiferj/mapd    | Bin 9371832 -> 9371832 bytes
 2 files changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/mapd/mapd_installer.py b/sunnypilot/mapd/mapd_installer.py
index 9f7a8c2a5ca840..e49ff8c64e4400 100755
--- a/sunnypilot/mapd/mapd_installer.py
+++ b/sunnypilot/mapd/mapd_installer.py
@@ -22,7 +22,7 @@
 from openpilot.sunnypilot.mapd import MAPD_PATH, MAPD_BIN_DIR
 import openpilot.system.sentry as sentry
 
-VERSION = 'v1.10.0'
+VERSION = 'v1.11.0'
 URL = f"https://github.com/pfeiferj/openpilot-mapd/releases/download/{VERSION}/mapd"
 
 
diff --git a/third_party/mapd_pfeiferj/mapd b/third_party/mapd_pfeiferj/mapd
index e5e45e2b989abfcec00474466f9e096a53274252..eb2372ceedb336ebe967067042d4c37c2204b71d 100755
GIT binary patch
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From 28098bb7c4ebf62bb22ab962e732a637d8d5c1cc Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 19 Sep 2025 17:36:33 -0400
Subject: [PATCH 0429/1434] ICBM: disable hysteresis (#1260)

* ICBM: disable hysteresis

* notes
---
 .../car/intelligent_cruise_button_management/controller.py      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
index 0b0957b828e09c..7ee7f3ea648e5e 100644
--- a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
+++ b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
@@ -16,7 +16,7 @@
 SendButtonState = custom.IntelligentCruiseButtonManagement.SendButtonState
 
 ALLOWED_SPEED_THRESHOLD = 1.8  # m/s, ~4 MPH
-HYST_GAP = 0.75
+HYST_GAP = 0.0  # currently disabled; TODO-SP: might need to be brand-specific
 INACTIVE_TIMER = 0.4
 
 

From ddf63701e8d4cd16045efe5638ca089ac9dc608c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 19 Sep 2025 18:32:20 -0400
Subject: [PATCH 0430/1434] Speed Limit: Resolver (#1256)

* init

* some fixes

* move

* more

* old navd helpers

* bring back cereal

* fix linting

* more

* add to cereal first

* sp events

* lint

* implement in long plan

* fixme-sp

* refactor state machine

* wrong state

* start refactor controller

* some type hints

* init these

* enable debug print

* ui? ui!

* print them out

* fix spinner import

* fix path

* let's use gps chips directly for now

* service missing

* publish events

* no nav for now

* need to sub

* no car state speed yet

* missed event

* Car: `CarStateSP`

* fix tests

* bring back car state speed limit

* fix

* use old controller for now

* fix

* fix source

* type hints

* none for now

* formatting

* more

* create directory if does not exist

* mypy my bt

* policy param catch exceptions

* handle all params with exceptions

* more

* single method

* define types in init

* rename

* simpler op enabled check

* more mypy stuff

* rename

* no need for brake pressed

* don't reset if gas pressed

* type hint all

* type hint all

* back to upstream

* in another pr

* no longer need data type

* qlog

* slc in another pr

* use horizontal accuracy

* use horizontal accuracy

* set core affinity for all realtime processes

* unused

* sort

* unused

* type hint and slight cleanup

* from old implementation

* use directly

* combine pm

* slight more cleanup

* type hints

* even more type hint

* Revert "slc in another pr"

This reverts commit 3a6987e6

* Revert "in another pr"

This reverts commit a29bccff12b9ed9d64efe7a5722bf614214002c4.

* rebump

* no need to check alive

* use it directly

* fix test

* refactor

* use gps data directly

* quote...?

* lint

* fix tests

* use CC.longActive

* user confirm in another PR

* rename

* fix import

* params fix

* no more

* fix

* drop new state machine for now

* more fixes

* internalize output

* unused

* rearrange

* auto draft

* rename

* this

* no

* no need

* use existing

* wrong cruise speed

* fix

* not used for now

* Revert "not used for now"

This reverts commit f0083d6241380e84ed259c402941fa2c78e03fdf.

* some

* use frames instead

* split speed limit resolver out of slc

* no need to pass sm

* fix params

* test init

* use frame instead of time

* track session

* some tests

* too limiting

* bump

* always reset state

* end session if long_active but slc inactive at any given time

* off

* no warning in this PR

* no speed factor engage type yet

* wide open

* no

* introduce disabled, no longer transitions at inactive

* fix tests

* no more tempinactive

* clean

* rename

* offset default > off

* new tests, fixes controller

* more tests

* not really needed yet

* lint

* fix

* some more tests

* wrap

* more

* more

* use vCruiseCluster for set speed

* init better

* finish it up

* no

* typo

* one method state machine

* refactor preactive timeout check

* refactor new session check

* directly return statuses

* comments

* v_target

* refactor speed limit resolver

* turn off debug

* more resolver refactor

* no longer needed

* lint

* more lint

* fix

* move around

* fix events

* update event

* already happens while in enabled

* add carstateSP

* less

* Speed Limit Control -> Speed Limit Assist

* in another PR

* more rename

* overriding state

* fix

* make sure to return the correct type

* just slr in this one

* more

* update

* redundant

* fix

* fix

* lint

* fix

* fix

* match toggle

* fix priority checks

* fix combined source for picking 0 limit

* no need to wrap

* add speed limit offset to resolver

* add speed limit offset

* make sure it displays distance when higher

* Revert "make sure it displays distance when higher"

This reverts commit 15c6834d4e68e2ba8f717c9442ec8d4d269d2b83.

* some rename

* translations

* unused for now

* more

* lint

---------

Co-authored-by: nayan <nayan8teen@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 cereal/custom.capnp                           |  19 +++
 common/params_keys.h                          |   5 +
 selfdrive/controls/plannerd.py                |   6 +-
 .../test/longitudinal_maneuvers/plant.py      |   8 +-
 selfdrive/ui/sunnypilot/SConscript            |   2 +
 .../longitudinal/speed_limit/helpers.h        |  35 ++++
 .../speed_limit/speed_limit_policy.cc         |  53 ++++++
 .../speed_limit/speed_limit_policy.h          |  55 +++++++
 .../speed_limit/speed_limit_settings.cc       | 112 +++++++++++++
 .../speed_limit/speed_limit_settings.h        |  53 ++++++
 .../qt/offroad/settings/longitudinal_panel.cc |  29 ++++
 .../qt/offroad/settings/longitudinal_panel.h  |   3 +
 sunnypilot/mapd/live_map_data/debug.py        |  11 +-
 .../controls/lib/longitudinal_planner.py      |  13 ++
 .../smart_cruise_control/vision_controller.py |   4 +-
 .../controls/lib/speed_limit/__init__.py      |   8 +
 .../controls/lib/speed_limit/common.py        |  21 +++
 .../lib/speed_limit/speed_limit_resolver.py   | 152 ++++++++++++++++++
 .../lib/speed_limit/tests/__init__.py         |   0
 .../tests/test_speed_limit_resolver.py        | 144 +++++++++++++++++
 20 files changed, 723 insertions(+), 10 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
 create mode 100644 sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/speed_limit/common.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/speed_limit/tests/__init__.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index c4b54640298dcd..65278380971176 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -145,6 +145,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   dec @0 :DynamicExperimentalControl;
   longitudinalPlanSource @1 :LongitudinalPlanSource;
   smartCruiseControl @2 :SmartCruiseControl;
+  speedLimit @3 :SpeedLimit;
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
@@ -180,6 +181,23 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
     }
   }
 
+  struct SpeedLimit {
+    resolver @0 :Resolver;
+
+    struct Resolver {
+      speedLimit @0 :Float32;
+      distToSpeedLimit @1 :Float32;
+      source @2 :Source;
+      speedLimitOffset @3 :Float32;
+    }
+
+    enum Source {
+      none @0;
+      car @1;
+      map @2;
+    }
+  }
+
   enum LongitudinalPlanSource {
     cruise @0;
     sccVision @1;
@@ -316,6 +334,7 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
 }
 
 struct CarStateSP @0xb86e6369214c01c8 {
+  speedLimit @0 :Float32;
 }
 
 struct LiveMapDataSP @0xf416ec09499d9d19 {
diff --git a/common/params_keys.h b/common/params_keys.h
index 80d12c6b95362c..a9408037a044ad 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -225,4 +225,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OsmStateTitle", {PERSISTENT, STRING}},
     {"OsmWayTest", {PERSISTENT, STRING}},
     {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
+
+    // Speed Limit
+    {"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SpeedLimitPolicy", {PERSISTENT | BACKUP, INT, "3"}},
+    {"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
 };
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 60036c3082339f..8994fb7c08a1b8 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 from cereal import car
+from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
@@ -16,10 +17,13 @@ def main():
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("plannerd got CarParams: %s", CP.brand)
 
+  gps_location_service = get_gps_location_service(params)
+
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
+                            'liveMapDataSP', 'carStateSP', gps_location_service],
                            poll='modelV2')
 
   while True:
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index b8c6adb4368028..e466472432c89a 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -67,6 +67,9 @@ def step(self, v_lead=0.0, prob_lead=1.0, v_cruise=50., pitch=0.0, prob_throttle
     lp = messaging.new_message('liveParameters')
     car_control = messaging.new_message('carControl')
     model = messaging.new_message('modelV2')
+    car_state_sp = messaging.new_message('carStateSP')
+    live_map_data_sp = messaging.new_message('liveMapDataSP')
+    gps_data = messaging.new_message('gpsLocation')
     a_lead = (v_lead - self.v_lead_prev)/self.ts
     self.v_lead_prev = v_lead
 
@@ -133,7 +136,10 @@ def step(self, v_lead=0.0, prob_lead=1.0, v_cruise=50., pitch=0.0, prob_throttle
           'controlsState': control.controlsState,
           'selfdriveState': ss.selfdriveState,
           'liveParameters': lp.liveParameters,
-          'modelV2': model.modelV2}
+          'modelV2': model.modelV2,
+          'carStateSP': car_state_sp.carStateSP,
+          'liveMapDataSP': live_map_data_sp.liveMapDataSP,
+          'gpsLocation': gps_data.gpsLocation}
     self.planner.update(sm)
     self.acceleration = self.planner.output_a_target
     self.speed = self.speed + self.acceleration * self.ts
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 807bf024789e45..5c2680b29982e3 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -54,6 +54,8 @@ lateral_panel_qt_src = [
 
 longitudinal_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc",
+  "sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc",
+  "sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc",
 ]
 
 network_src = [
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
new file mode 100644
index 00000000000000..84979a53afe9ee
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
@@ -0,0 +1,35 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+#pragma once
+
+enum class SpeedLimitOffsetType {
+  NONE,
+  FIXED,
+  PERCENT,
+};
+
+inline const QString SpeedLimitOffsetTypeTexts[]{
+  QObject::tr("None"),
+  QObject::tr("Fixed"),
+  QObject::tr("Percent"),
+};
+
+enum class SpeedLimitSourcePolicy {
+  CAR_ONLY,
+  MAP_ONLY,
+  CAR_FIRST,
+  MAP_FIRST,
+  COMBINED,
+};
+
+inline const QString SpeedLimitSourcePolicyTexts[]{
+  QObject::tr("Car\nOnly"),
+  QObject::tr("Map\nOnly"),
+  QObject::tr("Car\nFirst"),
+  QObject::tr("Map\nFirst"),
+  QObject::tr("Combined\nData")
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc
new file mode 100644
index 00000000000000..46f361a1530c26
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc
@@ -0,0 +1,53 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h"
+
+SpeedLimitPolicy::SpeedLimitPolicy(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  main_layout->setSpacing(0);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton(tr("Back"));
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  main_layout->addSpacing(10);
+
+  ListWidgetSP *list = new ListWidgetSP(this);
+
+  std::vector<QString> speed_limit_policy_texts{
+    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_ONLY)],
+    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_ONLY)],
+    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_FIRST)],
+    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_FIRST)],
+    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::COMBINED)]
+  };
+  speed_limit_policy = new ButtonParamControlSP(
+    "SpeedLimitPolicy",
+    tr("Speed Limit Source"),
+    "",
+    "",
+    speed_limit_policy_texts,
+    250);
+  list->addItem(speed_limit_policy);
+  connect(speed_limit_policy, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitPolicy::refresh);
+
+  refresh();
+  main_layout->addWidget(list);
+};
+
+void SpeedLimitPolicy::refresh() {
+  SpeedLimitSourcePolicy policy_param = static_cast<SpeedLimitSourcePolicy>(std::atoi(params.get("SpeedLimitPolicy").c_str()));
+  speed_limit_policy->setDescription(sourceDescription(policy_param));
+}
+
+void SpeedLimitPolicy::showEvent(QShowEvent *event) {
+  refresh();
+  speed_limit_policy->showDescription();
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h
new file mode 100644
index 00000000000000..adeb115db90cf1
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h
@@ -0,0 +1,55 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class SpeedLimitPolicy : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit SpeedLimitPolicy(QWidget *parent = nullptr);
+  void refresh();
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void backPress();
+
+private:
+  Params params;
+  ButtonParamControlSP *speed_limit_policy;
+
+  static QString sourceDescription(SpeedLimitSourcePolicy type = SpeedLimitSourcePolicy::CAR_ONLY) {
+    QString car_only = tr("⦿ Car Only: Use Speed Limit data only from Car");
+    QString map_only = tr("⦿ Map Only: Use Speed Limit data only from OpenStreetMaps");
+    QString car_first = tr("⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps");
+    QString map_first = tr("⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car");
+    QString combined = tr("⦿ Combined: Use combined Speed Limit data from Car & OpenStreetMaps");
+
+    if (type == SpeedLimitSourcePolicy::CAR_ONLY) {
+      car_only = "<font color='white'><b>" + car_only + "</b></font>";
+    } else if (type == SpeedLimitSourcePolicy::MAP_ONLY) {
+      map_only = "<font color='white'><b>" + map_only + "</b></font>";
+    } else if (type == SpeedLimitSourcePolicy::CAR_FIRST) {
+      car_first = "<font color='white'><b>" + car_first + "</b></font>";
+    } else if (type == SpeedLimitSourcePolicy::MAP_FIRST) {
+      map_first = "<font color='white'><b>" + map_first + "</b></font>";
+    } else {
+      combined = "<font color='white'><b>" + combined + "</b></font>";
+    }
+
+    return QString("%1<br>%2<br>%3<br>%4<br>%5")
+        .arg(car_only)
+        .arg(map_only)
+        .arg(car_first)
+        .arg(map_first)
+        .arg(combined);
+  }
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
new file mode 100644
index 00000000000000..7508ea134cea65
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
@@ -0,0 +1,112 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h"
+
+SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent) {
+  subPanelFrame = new QFrame();
+  QVBoxLayout *subPanelLayout = new QVBoxLayout(subPanelFrame);
+  subPanelLayout->setContentsMargins(0, 0, 0, 0);
+  subPanelLayout->setSpacing(0);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton(tr("Back"));
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  subPanelLayout->addWidget(back, 0, Qt::AlignLeft);
+
+  subPanelLayout->addSpacing(20);
+
+  ListWidgetSP *list = new ListWidgetSP(this);
+
+  auto *speedLimitBtnFrame = new QFrame(this);
+  auto *speedLimitBtnFrameLayout = new QGridLayout();
+  speedLimitBtnFrame->setLayout(speedLimitBtnFrameLayout);
+  speedLimitBtnFrameLayout->setContentsMargins(0, 40, 0, 40);
+  speedLimitBtnFrameLayout->setSpacing(0);
+
+  speedLimitPolicyScreen = new SpeedLimitPolicy(this);
+
+  speedLimitSource = new PushButtonSP(tr("Customize Source"));
+  connect(speedLimitSource, &QPushButton::clicked, [&]() {
+    setCurrentWidget(speedLimitPolicyScreen);
+    speedLimitPolicyScreen->refresh();
+  });
+  connect(speedLimitPolicyScreen, &SpeedLimitPolicy::backPress, [&]() {
+    setCurrentWidget(subPanelFrame);
+    showEvent(new QShowEvent());
+  });
+
+  speedLimitSource->setFixedWidth(720);
+  speedLimitBtnFrameLayout->addWidget(speedLimitSource, 0, 0, Qt::AlignLeft);
+  list->addItem(speedLimitBtnFrame);
+
+  QFrame *offsetFrame = new QFrame(this);
+  QVBoxLayout *offsetLayout = new QVBoxLayout(offsetFrame);
+
+  std::vector<QString> speed_limit_offset_texts{
+    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::NONE)],
+    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::FIXED)],
+    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::PERCENT)]
+  };
+  speed_limit_offset_settings = new ButtonParamControlSP(
+    "SpeedLimitOffsetType",
+    tr("Speed Limit Offset"),
+    "",
+    "",
+    speed_limit_offset_texts,
+    500);
+
+  offsetLayout->addWidget(speed_limit_offset_settings);
+
+  speed_limit_offset = new OptionControlSP(
+    "SpeedLimitValueOffset",
+    "",
+    "",
+    "",
+    {-30, 30}
+    );
+  offsetLayout->addWidget(speed_limit_offset);
+
+  list->addItem(offsetFrame);
+
+  connect(speed_limit_offset, &OptionControlSP::updateLabels, this, &SpeedLimitSettings::refresh);
+  connect(speed_limit_offset_settings, &ButtonParamControlSP::showDescriptionEvent, speed_limit_offset, &OptionControlSP::showDescription);
+  connect(speed_limit_offset_settings, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitSettings::refresh);
+
+  refresh();
+  subPanelLayout->addWidget(list);
+  addWidget(subPanelFrame);
+  addWidget(speedLimitPolicyScreen);
+  setCurrentWidget(subPanelFrame);
+}
+
+void SpeedLimitSettings::refresh() {
+  bool is_metric_param = params.getBool("IsMetric");
+  SpeedLimitOffsetType offset_type_param = static_cast<SpeedLimitOffsetType>(std::atoi(params.get("SpeedLimitOffsetType").c_str()));
+  QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset"));
+
+  speed_limit_offset->setDescription(offsetDescription(offset_type_param));
+
+  if (offset_type_param == SpeedLimitOffsetType::PERCENT) {
+    offsetLabel += "%";
+  } else if (offset_type_param == SpeedLimitOffsetType::FIXED) {
+    offsetLabel += QString(" %1").arg(is_metric_param ? "km/h" : "mph");
+  }
+
+  if (offset_type_param == SpeedLimitOffsetType::NONE) {
+    speed_limit_offset->setVisible(false);
+  } else {
+    speed_limit_offset->setVisible(true);
+    speed_limit_offset->setLabel(offsetLabel);
+    speed_limit_offset->showDescription();
+  }
+}
+
+void SpeedLimitSettings::showEvent(QShowEvent *event) {
+  refresh();
+  speed_limit_offset->showDescription();
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
new file mode 100644
index 00000000000000..40ffead700ce51
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
@@ -0,0 +1,53 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class SpeedLimitSettings : public QStackedWidget {
+  Q_OBJECT
+
+public:
+  SpeedLimitSettings(QWidget *parent = nullptr);
+  void refresh();
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void backPress();
+
+private:
+  Params params;
+  QFrame *subPanelFrame;
+  PushButtonSP *speedLimitSource;
+  SpeedLimitPolicy *speedLimitPolicyScreen;
+  ButtonParamControlSP *speed_limit_offset_settings;
+  OptionControlSP *speed_limit_offset;
+
+  static QString offsetDescription(SpeedLimitOffsetType type = SpeedLimitOffsetType::NONE) {
+    QString none_str = tr("⦿ None: No Offset");
+    QString fixed_str = tr("⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]");
+    QString percent_str = tr("⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]");
+
+    if (type == SpeedLimitOffsetType::FIXED) {
+      fixed_str = "<font color='white'><b>" + fixed_str + "</b></font>";
+    } else if (type == SpeedLimitOffsetType::PERCENT) {
+      percent_str = "<font color='white'><b>" + percent_str + "</b></font>";
+    } else {
+      none_str = "<font color='white'><b>" + none_str + "</b></font>";
+    }
+
+    return QString("%1<br>%2<br>%3")
+        .arg(none_str)
+        .arg(fixed_str)
+        .arg(percent_str);
+  }
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
index df4a6077b5067a..205f64a0b2790d 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
@@ -8,6 +8,21 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
 
 LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
+  setStyleSheet(R"(
+    #back_btn {
+      font-size: 50px;
+      margin: 0px;
+      padding: 15px;
+      border-width: 0;
+      border-radius: 30px;
+      color: #dddddd;
+      background-color: #393939;
+    }
+    #back_btn:pressed {
+      background-color:  #4a4a4a;
+    }
+  )");
+
   main_layout = new QStackedLayout(this);
   ListWidget *list = new ListWidget(this, false);
 
@@ -40,7 +55,21 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &LongitudinalPanel::refresh);
 
+  speedLimitSettings = new PushButtonSP(tr("Speed Limit"), 750, this);
+  connect(speedLimitSettings, &QPushButton::clicked, [&]() {
+    cruisePanelScroller->setLastScrollPosition();
+    main_layout->setCurrentWidget(speedLimitScreen);
+  });
+  list->addItem(speedLimitSettings);
+
+  speedLimitScreen = new SpeedLimitSettings(this);
+  connect(speedLimitScreen, &SpeedLimitSettings::backPress, [=]() {
+    cruisePanelScroller->restoreScrollPosition();
+    main_layout->setCurrentWidget(cruisePanelScreen);
+  });
+
   main_layout->addWidget(cruisePanelScreen);
+  main_layout->addWidget(speedLimitScreen);
   main_layout->setCurrentWidget(cruisePanelScreen);
   refresh(offroad);
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
index af89822595a69c..846415065600e0 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
@@ -8,6 +8,7 @@
 #pragma once
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
@@ -32,4 +33,6 @@ class LongitudinalPanel : public QWidget {
   CustomAccIncrement *customAccIncrement = nullptr;
   ParamControl *SmartCruiseControlVision;
   ParamControl *intelligentCruiseButtonManagement = nullptr;
+  SpeedLimitSettings *speedLimitScreen;
+  PushButtonSP *speedLimitSettings;
 };
diff --git a/sunnypilot/mapd/live_map_data/debug.py b/sunnypilot/mapd/live_map_data/debug.py
index da9f4d77714a7b..794f2ef8ffa3b9 100644
--- a/sunnypilot/mapd/live_map_data/debug.py
+++ b/sunnypilot/mapd/live_map_data/debug.py
@@ -37,15 +37,14 @@ def live_map_data_sp_thread():
 
 
 def live_map_data_sp_thread_debug(gps_location_service):
-  _sub_master = messaging.SubMaster(['carState', 'livePose', 'liveMapDataSP', 'longitudinalPlanSP', gps_location_service])
+  _sub_master = messaging.SubMaster(['carState', 'livePose', 'liveMapDataSP', 'longitudinalPlanSP', 'carStateSP', gps_location_service])
   _sub_master.update()
 
   v_ego = _sub_master['carState'].vEgo
-  long_spl = _sub_master['longitudinalPlanSP'].speedLimit
-  _policy = Policy.car_state_priority
-  _resolver = SpeedLimitResolver(_policy)
-  _speed_limit, _distance, _source = _resolver.resolve(v_ego, long_spl, _sub_master)
-  print(_speed_limit, _distance, _source, " <-> ", long_spl)
+  _resolver = SpeedLimitResolver()
+  _resolver.policy = Policy.car_state_priority
+  _resolver.update(v_ego, _sub_master)
+  print(_resolver.speed_limit, _resolver.distance, _resolver.source)
 
 
 def main():
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index f2358a26487b27..b4f4fe6d7c6671 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -9,6 +9,7 @@
 from opendbc.car import structs
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.smart_cruise_control import SmartCruiseControl
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolver import SpeedLimitResolver
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
@@ -19,6 +20,7 @@ class LongitudinalPlannerSP:
   def __init__(self, CP: structs.CarParams, mpc):
     self.dec = DynamicExperimentalController(CP, mpc)
     self.scc = SmartCruiseControl()
+    self.resolver = SpeedLimitResolver()
     self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
     self.source = Source.cruise
 
@@ -36,6 +38,9 @@ def get_mpc_mode(self) -> str | None:
   def update_targets(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> tuple[float, float]:
     self.scc.update(sm, v_ego, a_ego, v_cruise)
 
+    # Speed Limit Resolver
+    self.resolver.update(v_ego, sm)
+
     targets = {
       Source.cruise: (v_cruise, a_ego),
       Source.sccVision: (self.scc.vision.output_v_target, self.scc.vision.output_a_target)
@@ -75,4 +80,12 @@ def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.Pu
     sccVision.enabled = self.scc.vision.is_enabled
     sccVision.active = self.scc.vision.is_active
 
+    # Speed Limit
+    speedLimit = longitudinalPlanSP.speedLimit
+    resolver = speedLimit.resolver
+    resolver.speedLimit = float(self.resolver.speed_limit)
+    resolver.speedLimitOffset = float(self.resolver.speed_limit_offset)
+    resolver.distToSpeedLimit = float(self.resolver.distance)
+    resolver.source = self.resolver.source
+
     pm.send('longitudinalPlanSP', plan_sp_send)
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
index f12a00f23e8a48..491b1790392c85 100644
--- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
+++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
@@ -102,7 +102,7 @@ def _update_calculations(self, sm: messaging.SubMaster) -> None:
       self.v_target = (_A_LAT_REG_MAX / max_curve) ** 0.5
 
   def _update_state_machine(self) -> tuple[bool, bool]:
-    # ENABLED, ENTERING, TURNING, LEAVING
+    # ENABLED, ENTERING, TURNING, LEAVING, OVERRIDING
     if self.state != VisionState.disabled:
       # longitudinal and feature disable always have priority in a non-disabled state
       if not self.long_enabled or not self.enabled:
@@ -163,7 +163,7 @@ def _update_state_machine(self) -> tuple[bool, bool]:
     return enabled, active
 
   def _update_solution(self) -> float:
-    # DISABLED, ENABLED
+    # DISABLED, ENABLED, OVERRIDING
     if self.state not in ACTIVE_STATES:
       # when not overshooting, calculate v_turn as the speed at the prediction horizon when following
       # the smooth deceleration.
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py b/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py
new file mode 100644
index 00000000000000..af14a87f0c1d3d
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py
@@ -0,0 +1,8 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+LIMIT_ADAPT_ACC = -1.  # m/s^2 Ideal acceleration for the adapting (braking) phase when approaching speed limits.
+LIMIT_MAX_MAP_DATA_AGE = 10.  # s Maximum time to hold to map data, then consider it invalid inside limits controllers.
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/common.py b/sunnypilot/selfdrive/controls/lib/speed_limit/common.py
new file mode 100644
index 00000000000000..7d219ac3bbbc9c
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/common.py
@@ -0,0 +1,21 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from enum import IntEnum
+
+
+class Policy(IntEnum):
+  car_state_only = 0
+  map_data_only = 1
+  car_state_priority = 2
+  map_data_priority = 3
+  combined = 4
+
+
+class OffsetType(IntEnum):
+  off = 0
+  fixed = 1
+  percentage = 2
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
new file mode 100644
index 00000000000000..2a74a01d1309c2
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
@@ -0,0 +1,152 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import time
+
+import cereal.messaging as messaging
+from cereal import custom
+from openpilot.common.constants import CV
+from openpilot.common.gps import get_gps_location_service
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy, OffsetType
+
+SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source
+
+ALL_SOURCES = tuple(SpeedLimitSource.schema.enumerants.values())
+
+
+class SpeedLimitResolver:
+  limit_solutions: dict[custom.LongitudinalPlanSP.SpeedLimit.Source, float]
+  distance_solutions: dict[custom.LongitudinalPlanSP.SpeedLimit.Source, float]
+  v_ego: float
+  speed_limit: float
+  distance: float
+  source: custom.LongitudinalPlanSP.SpeedLimit.Source
+  speed_limit_offset: float
+
+  def __init__(self):
+    self.params = Params()
+    self.frame = -1
+
+    self._gps_location_service = get_gps_location_service(self.params)
+    self.limit_solutions = {}  # Store for speed limit solutions from different sources
+    self.distance_solutions = {}  # Store for distance to current speed limit start for different sources
+
+    self.policy = self.params.get("SpeedLimitPolicy", return_default=True)
+    self._policy_to_sources_map = {
+      Policy.car_state_only: [SpeedLimitSource.car],
+      Policy.map_data_only: [SpeedLimitSource.map],
+      Policy.car_state_priority: [SpeedLimitSource.car, SpeedLimitSource.map],
+      Policy.map_data_priority: [SpeedLimitSource.map, SpeedLimitSource.car],
+      Policy.combined: [SpeedLimitSource.car, SpeedLimitSource.map],
+    }
+    self.source = SpeedLimitSource.none
+    for source in ALL_SOURCES:
+      self._reset_limit_sources(source)
+
+    self.is_metric = self.params.get_bool("IsMetric")
+    self.offset_type = self.params.get("SpeedLimitOffsetType", return_default=True)
+    self.offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)
+
+  def update_params(self):
+    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
+      self.policy = self.params.get("SpeedLimitPolicy", return_default=True)
+      self.is_metric = self.params.get_bool("IsMetric")
+      self.offset_type = self.params.get("SpeedLimitOffsetType", return_default=True)
+      self.offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)
+
+  def _get_speed_limit_offset(self) -> float:
+    if self.offset_type == OffsetType.off:
+      return 0
+    elif self.offset_type == OffsetType.fixed:
+      return float(self.offset_value * (CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS))
+    elif self.offset_type == OffsetType.percentage:
+      return float(self.offset_value * 0.01 * self.speed_limit)
+    else:
+      raise NotImplementedError("Offset not supported")
+
+  def _reset_limit_sources(self, source: custom.LongitudinalPlanSP.SpeedLimit.Source) -> None:
+    self.limit_solutions[source] = 0.
+    self.distance_solutions[source] = 0.
+
+  def _get_from_car_state(self, sm: messaging.SubMaster) -> None:
+    self._reset_limit_sources(SpeedLimitSource.car)
+    self.limit_solutions[SpeedLimitSource.car] = sm['carStateSP'].speedLimit
+    self.distance_solutions[SpeedLimitSource.car] = 0.
+
+  def _get_from_map_data(self, sm: messaging.SubMaster) -> None:
+    self._reset_limit_sources(SpeedLimitSource.map)
+    self._process_map_data(sm)
+
+  def _process_map_data(self, sm: messaging.SubMaster) -> None:
+    gps_data = sm[self._gps_location_service]
+    map_data = sm['liveMapDataSP']
+
+    gps_fix_age = time.monotonic() - gps_data.unixTimestampMillis * 1e-3
+    if gps_fix_age > LIMIT_MAX_MAP_DATA_AGE:
+      return
+
+    speed_limit = map_data.speedLimit if map_data.speedLimitValid else 0.
+    next_speed_limit = map_data.speedLimitAhead if map_data.speedLimitAheadValid else 0.
+
+    self._calculate_map_data_limits(sm, speed_limit, next_speed_limit)
+
+  def _calculate_map_data_limits(self, sm: messaging.SubMaster, speed_limit: float, next_speed_limit: float) -> None:
+    gps_data = sm[self._gps_location_service]
+    map_data = sm['liveMapDataSP']
+
+    distance_since_fix = self.v_ego * (time.monotonic() - gps_data.unixTimestampMillis * 1e-3)
+    distance_to_speed_limit_ahead = max(0., map_data.speedLimitAheadDistance - distance_since_fix)
+
+    self.limit_solutions[SpeedLimitSource.map] = speed_limit
+    self.distance_solutions[SpeedLimitSource.map] = 0.
+
+    if 0. < next_speed_limit < self.v_ego:
+      adapt_time = (next_speed_limit - self.v_ego) / LIMIT_ADAPT_ACC
+      adapt_distance = self.v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time ** 2
+
+      if distance_to_speed_limit_ahead <= adapt_distance:
+        self.limit_solutions[SpeedLimitSource.map] = next_speed_limit
+        self.distance_solutions[SpeedLimitSource.map] = distance_to_speed_limit_ahead
+
+  def _get_source_solution_according_to_policy(self) -> custom.LongitudinalPlanSP.SpeedLimit.Source:
+    sources_for_policy = self._policy_to_sources_map[self.policy]
+
+    if self.policy != Policy.combined:
+      # They are ordered in the order of preference, so we pick the first that's non-zero
+      for source in sources_for_policy:
+        if self.limit_solutions[source] > 0.:
+          return source
+      return SpeedLimitSource.none
+
+    sources_with_limits = [(s, limit) for s, limit in [(s, self.limit_solutions[s]) for s in sources_for_policy] if limit > 0.]
+    if sources_with_limits:
+      return min(sources_with_limits, key=lambda x: x[1])[0]
+
+    return SpeedLimitSource.none
+
+  def _resolve_limit_sources(self, sm: messaging.SubMaster) -> tuple[float, float, custom.LongitudinalPlanSP.SpeedLimit.Source]:
+    """Get limit solutions from each data source"""
+    self._get_from_car_state(sm)
+    self._get_from_map_data(sm)
+
+    source = self._get_source_solution_according_to_policy()
+    speed_limit = self.limit_solutions[source] if source else 0.
+    distance = self.distance_solutions[source] if source else 0.
+
+    return speed_limit, distance, source
+
+  def update(self, v_ego: float, sm: messaging.SubMaster) -> None:
+    self.v_ego = v_ego
+    self.update_params()
+
+    self.speed_limit, self.distance, self.source = self._resolve_limit_sources(sm)
+    self.speed_limit_offset = self._get_speed_limit_offset()
+
+    self.frame += 1
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/__init__.py b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py
new file mode 100644
index 00000000000000..c02831d71a5933
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py
@@ -0,0 +1,144 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import random
+import time
+
+import pytest
+from pytest_mock import MockerFixture
+
+from cereal import custom
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import LIMIT_MAX_MAP_DATA_AGE
+
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolver import SpeedLimitResolver, ALL_SOURCES
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy
+
+SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source
+
+
+def create_mock(properties, mocker: MockerFixture):
+  mock = mocker.MagicMock()
+  for _property, value in properties.items():
+    setattr(mock, _property, value)
+  return mock
+
+
+def setup_sm_mock(mocker: MockerFixture):
+  cruise_speed_limit = random.uniform(0, 120)
+  live_map_data_limit = random.uniform(0, 120)
+
+  car_state = create_mock({
+    'gasPressed': False,
+    'brakePressed': False,
+    'standstill': False,
+  }, mocker)
+  car_state_sp = create_mock({
+    'speedLimit': cruise_speed_limit,
+  }, mocker)
+  live_map_data = create_mock({
+    'speedLimit': live_map_data_limit,
+    'speedLimitValid': True,
+    'speedLimitAhead': 0.,
+    'speedLimitAheadValid': 0.,
+    'speedLimitAheadDistance': 0.,
+  }, mocker)
+  gps_data = create_mock({
+    'unixTimestampMillis': time.monotonic() * 1e3,
+  }, mocker)
+  sm_mock = mocker.MagicMock()
+  sm_mock.__getitem__.side_effect = lambda key: {
+    'carState': car_state,
+    'liveMapDataSP': live_map_data,
+    'carStateSP': car_state_sp,
+    'gpsLocation': gps_data,
+  }[key]
+  return sm_mock
+
+
+parametrized_policies = pytest.mark.parametrize(
+  "policy, sm_key, function_key", [
+    (Policy.car_state_only, 'carStateSP', SpeedLimitSource.car),
+    (Policy.car_state_priority, 'carStateSP', SpeedLimitSource.car),
+    (Policy.map_data_only, 'liveMapDataSP', SpeedLimitSource.map),
+    (Policy.map_data_priority, 'liveMapDataSP', SpeedLimitSource.map),
+  ],
+  ids=lambda val: val.name if hasattr(val, 'name') else str(val)
+)
+
+
+@pytest.mark.parametrize("resolver_class", [SpeedLimitResolver])
+class TestSpeedLimitResolverValidation:
+
+  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
+  def test_initial_state(self, resolver_class, policy):
+    resolver = resolver_class()
+    resolver.policy = policy
+    for source in ALL_SOURCES:
+      if source in resolver.limit_solutions:
+        assert resolver.limit_solutions[source] == 0.
+        assert resolver.distance_solutions[source] == 0.
+
+  @parametrized_policies
+  def test_resolver(self, resolver_class, policy, sm_key, function_key, mocker: MockerFixture):
+    resolver = resolver_class()
+    resolver.policy = policy
+    sm_mock = setup_sm_mock(mocker)
+    source_speed_limit = sm_mock[sm_key].speedLimit
+
+    # Assert the resolver
+    resolver.update(source_speed_limit, sm_mock)
+    assert resolver.speed_limit == source_speed_limit
+    assert resolver.source == ALL_SOURCES[function_key]
+
+  def test_resolver_combined(self, resolver_class, mocker: MockerFixture):
+    resolver = resolver_class()
+    resolver.policy = Policy.combined
+    sm_mock = setup_sm_mock(mocker)
+    socket_to_source = {'carStateSP': SpeedLimitSource.car, 'liveMapDataSP': SpeedLimitSource.map}
+    minimum_key, minimum_speed_limit = min(
+      ((key, sm_mock[key].speedLimit) for key in
+       socket_to_source.keys()), key=lambda x: x[1])
+
+    # Assert the resolver
+    resolver.update(minimum_speed_limit, sm_mock)
+    assert resolver.speed_limit == minimum_speed_limit
+    assert resolver.source == socket_to_source[minimum_key]
+
+  @parametrized_policies
+  def test_parser(self, resolver_class, policy, sm_key, function_key, mocker: MockerFixture):
+    resolver = resolver_class()
+    resolver.policy = policy
+    sm_mock = setup_sm_mock(mocker)
+    source_speed_limit = sm_mock[sm_key].speedLimit
+
+    # Assert the parsing
+    resolver.update(source_speed_limit, sm_mock)
+    assert resolver.limit_solutions[ALL_SOURCES[function_key]] == source_speed_limit
+    assert resolver.distance_solutions[ALL_SOURCES[function_key]] == 0.
+
+  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
+  def test_resolve_interaction_in_update(self, resolver_class, policy, mocker: MockerFixture):
+    v_ego = 50
+    resolver = resolver_class()
+    resolver.policy = policy
+
+    sm_mock = setup_sm_mock(mocker)
+    resolver.update(v_ego, sm_mock)
+
+    # After resolution
+    assert resolver.speed_limit is not None
+    assert resolver.distance is not None
+    assert resolver.source is not None
+
+  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
+  def test_old_map_data_ignored(self, resolver_class, policy, mocker: MockerFixture):
+    resolver = resolver_class()
+    resolver.policy = policy
+    sm_mock = mocker.MagicMock()
+    sm_mock['gpsLocation'].unixTimestampMillis = (time.monotonic() - 2 * LIMIT_MAX_MAP_DATA_AGE) * 1e3
+    resolver._get_from_map_data(sm_mock)
+    assert resolver.limit_solutions[SpeedLimitSource.map] == 0.
+    assert resolver.distance_solutions[SpeedLimitSource.map] == 0.

From c55f40e77d90f2128b8d2fcf14e08c2728339021 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Fri, 19 Sep 2025 22:01:08 -0700
Subject: [PATCH 0431/1434] ui: Speed Limit Information (#995)

* less for now

* always on and fix conv

* update api

* missed

* fix convert

* only draw when decreasing, seems like a bug from mapd

* use frame check, otherwise too jumpy

* only update when mapd updates

* count up and down

* introduce toggle

* more ui

* slightly wider

* desc

* rename

* slight cleanup

* fix offset position

* more vienna fix

* fix ahead alignment

* road name in another PR

* cleanup

* single place

* adjust ahead distance display

* cleanup

* Near

* bump it

* cleanup logic

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/params_keys.h                          |   1 +
 common/util.h                                 |   1 +
 .../longitudinal/speed_limit/helpers.h        |  10 +
 .../speed_limit/speed_limit_settings.cc       |  37 ++-
 .../speed_limit/speed_limit_settings.h        |  16 ++
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc      | 213 +++++++++++++++++-
 selfdrive/ui/sunnypilot/qt/onroad/hud.h       |  11 +
 selfdrive/ui/sunnypilot/ui.cc                 |   3 +-
 selfdrive/ui/sunnypilot/ui_scene.h            |   1 +
 9 files changed, 281 insertions(+), 12 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index a9408037a044ad..6d60e2cfdd2a15 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -227,6 +227,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
 
     // Speed Limit
+    {"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},
     {"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
     {"SpeedLimitPolicy", {PERSISTENT | BACKUP, INT, "3"}},
     {"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
diff --git a/common/util.h b/common/util.h
index f46db4d9fa2cc4..6d28e3ccbc3335 100644
--- a/common/util.h
+++ b/common/util.h
@@ -36,6 +36,7 @@ const double MS_TO_KPH = 3.6;
 const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE;
 const double METER_TO_MILE = KM_TO_MILE / 1000.0;
 const double METER_TO_FOOT = 3.28084;
+const double METER_TO_KM = 1. / 1000.0;
 
 #define ALIGNED_SIZE(x, align) (((x) + (align)-1) & ~((align)-1))
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
index 84979a53afe9ee..55764372c43999 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
@@ -33,3 +33,13 @@ inline const QString SpeedLimitSourcePolicyTexts[]{
   QObject::tr("Map\nFirst"),
   QObject::tr("Combined\nData")
 };
+
+enum class SpeedLimitMode {
+  OFF,
+  INFORMATION,
+};
+
+inline const QString SpeedLimitModeTexts[]{
+  QObject::tr("Off"),
+  QObject::tr("Information"),
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
index 7508ea134cea65..2bacbace7c2e39 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
@@ -20,16 +20,26 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
 
   subPanelLayout->addSpacing(20);
 
-  ListWidgetSP *list = new ListWidgetSP(this);
-
-  auto *speedLimitBtnFrame = new QFrame(this);
-  auto *speedLimitBtnFrameLayout = new QGridLayout();
-  speedLimitBtnFrame->setLayout(speedLimitBtnFrameLayout);
-  speedLimitBtnFrameLayout->setContentsMargins(0, 40, 0, 40);
-  speedLimitBtnFrameLayout->setSpacing(0);
+  ListWidgetSP *list = new ListWidgetSP(this, false);
 
   speedLimitPolicyScreen = new SpeedLimitPolicy(this);
 
+  std::vector<QString> speed_limit_mode_texts{
+    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::OFF)],
+    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::INFORMATION)],
+  };
+  speed_limit_mode_settings = new ButtonParamControlSP(
+    "SpeedLimitMode",
+    tr("Speed Limit Mode"),
+    "",
+    "",
+    speed_limit_mode_texts,
+    385);
+  list->addItem(speed_limit_mode_settings);
+
+  list->addItem(horizontal_line());
+  list->addItem(vertical_space());
+
   speedLimitSource = new PushButtonSP(tr("Customize Source"));
   connect(speedLimitSource, &QPushButton::clicked, [&]() {
     setCurrentWidget(speedLimitPolicyScreen);
@@ -41,8 +51,10 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
   });
 
   speedLimitSource->setFixedWidth(720);
-  speedLimitBtnFrameLayout->addWidget(speedLimitSource, 0, 0, Qt::AlignLeft);
-  list->addItem(speedLimitBtnFrame);
+  list->addItem(speedLimitSource);
+
+  list->addItem(vertical_space(0));
+  list->addItem(horizontal_line());
 
   QFrame *offsetFrame = new QFrame(this);
   QVBoxLayout *offsetLayout = new QVBoxLayout(offsetFrame);
@@ -73,6 +85,7 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
 
   list->addItem(offsetFrame);
 
+  connect(speed_limit_mode_settings, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitSettings::refresh);
   connect(speed_limit_offset, &OptionControlSP::updateLabels, this, &SpeedLimitSettings::refresh);
   connect(speed_limit_offset_settings, &ButtonParamControlSP::showDescriptionEvent, speed_limit_offset, &OptionControlSP::showDescription);
   connect(speed_limit_offset_settings, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitSettings::refresh);
@@ -86,9 +99,11 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
 
 void SpeedLimitSettings::refresh() {
   bool is_metric_param = params.getBool("IsMetric");
+  SpeedLimitMode speed_limit_mode_param = static_cast<SpeedLimitMode>(std::atoi(params.get("SpeedLimitMode").c_str()));
   SpeedLimitOffsetType offset_type_param = static_cast<SpeedLimitOffsetType>(std::atoi(params.get("SpeedLimitOffsetType").c_str()));
   QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset"));
 
+  speed_limit_mode_settings->setDescription(modeDescription(speed_limit_mode_param));
   speed_limit_offset->setDescription(offsetDescription(offset_type_param));
 
   if (offset_type_param == SpeedLimitOffsetType::PERCENT) {
@@ -104,9 +119,11 @@ void SpeedLimitSettings::refresh() {
     speed_limit_offset->setLabel(offsetLabel);
     speed_limit_offset->showDescription();
   }
+
+  speed_limit_mode_settings->showDescription();
+  speed_limit_offset->showDescription();
 }
 
 void SpeedLimitSettings::showEvent(QShowEvent *event) {
   refresh();
-  speed_limit_offset->showDescription();
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
index 40ffead700ce51..ebffcf65e43a71 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
@@ -27,6 +27,7 @@ class SpeedLimitSettings : public QStackedWidget {
 private:
   Params params;
   QFrame *subPanelFrame;
+  ButtonParamControlSP *speed_limit_mode_settings;
   PushButtonSP *speedLimitSource;
   SpeedLimitPolicy *speedLimitPolicyScreen;
   ButtonParamControlSP *speed_limit_offset_settings;
@@ -50,4 +51,19 @@ class SpeedLimitSettings : public QStackedWidget {
         .arg(fixed_str)
         .arg(percent_str);
   }
+
+  static QString modeDescription(SpeedLimitMode mode = SpeedLimitMode::OFF) {
+    QString off_str = tr("⦿ Off: Disables the Speed Limit functions.");
+    QString info_str = tr("⦿ Information: Displays the current road's speed limit.");
+
+    if (mode == SpeedLimitMode::INFORMATION) {
+      info_str = "<font color='white'><b>" + info_str + "</b></font>";
+    } else {
+      off_str = "<font color='white'><b>" + off_str + "</b></font>";
+    }
+
+    return QString("%1<br>%2")
+        .arg(off_str)
+        .arg(info_str);
+  }
 };
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index fb2a69c24bdf83..923eb3bb81cb41 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -27,6 +27,24 @@ void HudRendererSP::updateState(const UIState &s) {
   const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
   const auto car_params = sm["carParams"].getCarParams();
   const auto lp_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP();
+  const auto lmd = sm["liveMapDataSP"].getLiveMapDataSP();
+
+  is_metric = s.scene.is_metric;
+  float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH;
+  speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
+  speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
+  speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
+  if (sm.updated("liveMapDataSP")) {
+    speedLimitAheadValid = lmd.getSpeedLimitAheadValid();
+    speedLimitAhead = lmd.getSpeedLimitAhead() * speedConv;
+    speedLimitAheadDistance = lmd.getSpeedLimitAheadDistance();
+    if (speedLimitAheadDistance < speedLimitAheadDistancePrev && speedLimitAheadValidFrame < 2) {
+      speedLimitAheadValidFrame++;
+    } else if (speedLimitAheadDistance > speedLimitAheadDistancePrev && speedLimitAheadValidFrame > 0) {
+      speedLimitAheadValidFrame--;
+    }
+  }
+  speedLimitAheadDistancePrev = speedLimitAheadDistance;
 
   static int reverse_delay = 0;
   bool reverse_allowed = false;
@@ -41,7 +59,6 @@ void HudRendererSP::updateState(const UIState &s) {
   }
 
   reversing = reverse_allowed;
-  is_metric = s.scene.is_metric;
 
   // Handle older routes where vEgoCluster is not set
   v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
@@ -123,6 +140,12 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
     if (standstillTimer) {
       drawStandstillTimer(p, surface_rect.right() / 12 * 10, surface_rect.bottom() / 12 * 1.53);
     }
+
+    // Speed Limit
+    if (speedLimitMode != SpeedLimitMode::OFF) {
+      drawSpeedLimitSigns(p);
+      drawUpcomingSpeedLimit(p);
+    }
   }
 }
 
@@ -311,3 +334,191 @@ void HudRendererSP::drawStandstillTimer(QPainter &p, int x, int y) {
     standstillElapsedTime = 0.0;
   }
 }
+
+void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
+  QString speedLimitStr = speedLimit > 0 ? QString::number(std::nearbyint(speedLimit)) : "---";
+
+  // Offset display text
+  QString speedLimitSubText = "";
+  if (speedLimitOffset != 0) {
+    speedLimitSubText = (speedLimitOffset > 0 ? "+" : "") + QString::number(std::nearbyint(speedLimitOffset));
+  }
+
+  // Position next to MAX speed box
+  const int sign_width = is_metric ? 200 : 172;
+  const int sign_x = is_metric ? 280 : 272;
+  const int sign_y = 45;
+  const int sign_height = 204;
+  QRect sign_rect(sign_x, sign_y, sign_width, sign_height);
+
+  int alpha = 255;
+
+  if (is_metric) {
+    // EU Vienna Convention style circular sign
+    QRect vienna_rect = sign_rect;
+    int circle_size = std::min(vienna_rect.width(), vienna_rect.height());
+    QRect circle_rect(vienna_rect.x(), vienna_rect.y(), circle_size, circle_size);
+
+    if (vienna_rect.width() > vienna_rect.height()) {
+      circle_rect.moveLeft(vienna_rect.x() + (vienna_rect.width() - circle_size) / 2);
+    } else if (vienna_rect.height() > vienna_rect.width()) {
+      circle_rect.moveTop(vienna_rect.y() + (vienna_rect.height() - circle_size) / 2);
+    }
+
+    // White background circle
+    p.setPen(Qt::NoPen);
+    p.setBrush(QColor(255, 255, 255, alpha));
+    p.drawEllipse(circle_rect);
+
+    // Red border ring with color coding
+    QRect red_ring = circle_rect;
+    QColor ring_color = QColor(255, 0, 0, alpha);
+
+    p.setBrush(ring_color);
+    p.drawEllipse(red_ring);
+
+    // Center white circle for text
+    int ring_size = circle_size * 0.12;
+    QRect center_circle = red_ring.adjusted(ring_size, ring_size, -ring_size, -ring_size);
+    p.setBrush(QColor(255, 255, 255, alpha));
+    p.drawEllipse(center_circle);
+
+    // Speed value, smaller font for 3+ digits
+    int font_size = (speedLimitStr.size() >= 3) ? 70 : 85;
+    p.setFont(InterFont(font_size, QFont::Bold));
+    QColor speed_color = QColor(0, 0, 0, alpha);
+
+    p.setPen(speed_color);
+    p.drawText(center_circle, Qt::AlignCenter, speedLimitStr);
+
+    // Offset value in small circular box
+    if (!speedLimitSubText.isEmpty()) {
+      int offset_circle_size = circle_size * 0.4;
+      int overlap = offset_circle_size * 0.25;
+      QRect offset_circle_rect(
+        circle_rect.right() - offset_circle_size/1.25 + overlap,
+        circle_rect.top() - offset_circle_size/1.75 + overlap,
+        offset_circle_size,
+        offset_circle_size
+      );
+
+      p.setPen(QPen(QColor(77, 77, 77, 255), 6));
+      p.setBrush(QColor(0, 0, 0, alpha));
+      p.drawEllipse(offset_circle_rect);
+
+      p.setFont(InterFont(offset_circle_size * 0.45, QFont::Bold));
+      p.setPen(QColor(255, 255, 255, alpha));
+      p.drawText(offset_circle_rect, Qt::AlignCenter, speedLimitSubText);
+    }
+  } else {
+    // US/Canada MUTCD style sign
+    p.setPen(Qt::NoPen);
+    p.setBrush(QColor(255, 255, 255, alpha));
+    p.drawRoundedRect(sign_rect, 32, 32);
+
+    // Inner border with violation color coding
+    QRect inner_rect = sign_rect.adjusted(10, 10, -10, -10);
+    QColor border_color = QColor(0, 0, 0, alpha);
+
+    p.setPen(QPen(border_color, 4));
+    p.setBrush(QColor(255, 255, 255, alpha));
+    p.drawRoundedRect(inner_rect, 22, 22);
+
+    // "SPEED LIMIT" text
+    p.setFont(InterFont(40, QFont::DemiBold));
+    p.setPen(QColor(0, 0, 0, alpha));
+    p.drawText(inner_rect.adjusted(0, 10, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED"));
+    p.drawText(inner_rect.adjusted(0, 50, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
+
+    // Speed value with color coding
+    p.setFont(InterFont(90, QFont::Bold));
+    QColor speed_color = QColor(0, 0, 0, alpha);
+
+    p.setPen(speed_color);
+    p.drawText(inner_rect.adjusted(0, 80, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
+
+    // Offset value in small box
+    if (!speedLimitSubText.isEmpty()) {
+      int offset_box_size = sign_rect.width() * 0.4;
+      int overlap = offset_box_size * 0.25;
+      QRect offset_box_rect(
+        sign_rect.right() - offset_box_size/1.5 + overlap,
+        sign_rect.top() - offset_box_size/1.25 + overlap,
+        offset_box_size,
+        offset_box_size
+      );
+
+      int corner_radius = offset_box_size * 0.2;
+      p.setPen(QPen(QColor(77, 77, 77, 255), 6));
+      p.setBrush(QColor(0, 0, 0, alpha));
+      p.drawRoundedRect(offset_box_rect, corner_radius, corner_radius);
+
+      p.setFont(InterFont(offset_box_size * 0.45, QFont::Bold));
+      p.setPen(QColor(255, 255, 255, alpha));
+      p.drawText(offset_box_rect, Qt::AlignCenter, speedLimitSubText);
+    }
+  }
+}
+
+void HudRendererSP::drawUpcomingSpeedLimit(QPainter &p) {
+  bool speed_limit_ahead = speedLimitAheadValid && speedLimitAhead > 0 && speedLimitAhead != speedLimit && speedLimitAheadValidFrame > 0;
+  if (!speed_limit_ahead) {
+    return;
+  }
+
+  auto roundToInterval = [&](float distance, int interval, int threshold) {
+    int base = static_cast<int>(distance / interval) * interval;
+    return (distance - base >= threshold) ? base + interval : base;
+  };
+
+  auto outputDistance = [&] {
+    if (is_metric) {
+      if (speedLimitAheadDistance < 50) return tr("Near");
+      if (speedLimitAheadDistance >= 1000) return QString::number(speedLimitAheadDistance * METER_TO_KM, 'f', 1) + tr("km");
+
+      int rounded = (speedLimitAheadDistance < 200) ? std::max(10, roundToInterval(speedLimitAheadDistance, 10, 5)) : roundToInterval(speedLimitAheadDistance, 100, 50);
+      return QString::number(rounded) + tr("m");
+    } else {
+      float distance_ft = speedLimitAheadDistance * METER_TO_FOOT;
+      if (distance_ft < 100) return tr("Near");
+      if (distance_ft >= 900) return QString::number(speedLimitAheadDistance * METER_TO_MILE, 'f', 1) + tr("mi");
+
+      int rounded = (distance_ft < 500) ? std::max(50, roundToInterval(distance_ft, 50, 25)) : roundToInterval(distance_ft, 100, 50);
+      return QString::number(rounded) + tr("ft");
+    }
+  };
+
+  QString speedStr = QString::number(std::nearbyint(speedLimitAhead));
+  QString distanceStr = outputDistance();
+
+  // Position below current speed limit sign
+  const int sign_width = is_metric ? 200 : 172;
+  const int sign_x = is_metric ? 280 : 272;
+  const int sign_y = 45;
+  const int sign_height = 204;
+
+  const int ahead_width = 170;
+  const int ahead_height = 160;
+  const int ahead_x = sign_x + (sign_width - ahead_width) / 2;
+  const int ahead_y = sign_y + sign_height + 10;
+
+  QRect ahead_rect(ahead_x, ahead_y, ahead_width, ahead_height);
+  p.setPen(QPen(QColor(255, 255, 255, 100), 3));
+  p.setBrush(QColor(0, 0, 0, 180));
+  p.drawRoundedRect(ahead_rect, 16, 16);
+
+  // "AHEAD" label
+  p.setFont(InterFont(40, QFont::DemiBold));
+  p.setPen(QColor(200, 200, 200, 255));
+  p.drawText(ahead_rect.adjusted(0, 4, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("AHEAD"));
+
+  // Speed value
+  p.setFont(InterFont(70, QFont::Bold));
+  p.setPen(QColor(255, 255, 255, 255));
+  p.drawText(ahead_rect.adjusted(0, 38, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedStr);
+
+  // Distance
+  p.setFont(InterFont(40, QFont::Normal));
+  p.setPen(QColor(180, 180, 180, 255));
+  p.drawText(ahead_rect.adjusted(0, 110, 0, 0), Qt::AlignTop | Qt::AlignHCenter, distanceStr);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index 4c92835957bbbd..d76eb06060214e 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -8,6 +8,7 @@
 #pragma once
 
 #include "selfdrive/ui/qt/onroad/hud.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h"
 #include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"
 
 class HudRendererSP : public HudRenderer {
@@ -28,6 +29,8 @@ class HudRendererSP : public HudRenderer {
   void drawStandstillTimer(QPainter &p, int x, int y);
   bool pulseElement(int frame);
   void drawSmartCruiseControlOnroadIcon(QPainter &p, const QRect &surface_rect, int x_offset, int y_offset, std::string name);
+  void drawSpeedLimitSigns(QPainter &p);
+  void drawUpcomingSpeedLimit(QPainter &p);
 
   bool lead_status;
   float lead_d_rel;
@@ -63,4 +66,12 @@ class HudRendererSP : public HudRenderer {
   bool smartCruiseControlVisionEnabled;
   bool smartCruiseControlVisionActive;
   int smartCruiseControlVisionFrame;
+  float speedLimit;
+  float speedLimitOffset;
+  bool speedLimitAheadValid;
+  float speedLimitAhead;
+  float speedLimitAheadDistance;
+  float speedLimitAheadDistancePrev;
+  int speedLimitAheadValidFrame;
+  SpeedLimitMode speedLimitMode = SpeedLimitMode::OFF;
 };
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index 7b10929bc61be7..7f83e5ea79bf86 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -20,7 +20,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
     "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
     "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
-    "carStateSP", "liveParameters"
+    "carStateSP", "liveParameters", "liveMapDataSP"
   });
 
   // update timer
@@ -53,6 +53,7 @@ void ui_update_params_sp(UIStateSP *s) {
   auto params = Params();
   s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
   s->scene.standstill_timer = params.getBool("StandstillTimer");
+  s->scene.speed_limit_mode = params.getBool("SpeedLimitMode");
 }
 
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
diff --git a/selfdrive/ui/sunnypilot/ui_scene.h b/selfdrive/ui/sunnypilot/ui_scene.h
index c941be675c3879..69cebd6d79f6d8 100644
--- a/selfdrive/ui/sunnypilot/ui_scene.h
+++ b/selfdrive/ui/sunnypilot/ui_scene.h
@@ -10,4 +10,5 @@
 typedef struct UISceneSP : UIScene {
   int dev_ui_info = 0;
   bool standstill_timer = false;
+  int speed_limit_mode = 0;
 } UISceneSP;

From bdb83b6be17f6663b9de97ebccb403ad8fd4751f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Sep 2025 01:40:51 -0400
Subject: [PATCH 0432/1434] ui: remove redundant code (#1262)

---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 923eb3bb81cb41..47ba0590d10935 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -17,7 +17,6 @@ void HudRendererSP::updateState(const UIState &s) {
   HudRenderer::updateState(s);
 
   const SubMaster &sm = *(s.sm);
-  const bool cs_alive = sm.alive("controlsState");
   const auto cs = sm["controlsState"].getControlsState();
   const auto car_state = sm["carState"].getCarState();
   const auto car_control = sm["carControl"].getCarControl();
@@ -29,7 +28,6 @@ void HudRendererSP::updateState(const UIState &s) {
   const auto lp_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP();
   const auto lmd = sm["liveMapDataSP"].getLiveMapDataSP();
 
-  is_metric = s.scene.is_metric;
   float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH;
   speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
   speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
@@ -60,12 +58,6 @@ void HudRendererSP::updateState(const UIState &s) {
 
   reversing = reverse_allowed;
 
-  // Handle older routes where vEgoCluster is not set
-  v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
-  float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
-  speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
-  speed *= is_metric ? MS_TO_KPH : MS_TO_MPH;
-
   latActive = car_control.getLatActive();
   steerOverride = car_state.getSteeringPressed();
 

From c248f307f86350e16734bb427a6a1c7750618b8a Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Sep 2025 01:59:07 -0400
Subject: [PATCH 0433/1434] ui: Speed Limit Warning (#1263)

* ui: Speed Limit Warning

* missed

* behind toggle

* missed

* reorder

* fix type
---
 .../settings/longitudinal/speed_limit/helpers.h      |  2 ++
 .../longitudinal/speed_limit/speed_limit_settings.cc |  1 +
 .../longitudinal/speed_limit/speed_limit_settings.h  | 10 +++++++---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc             | 12 +++++++-----
 selfdrive/ui/sunnypilot/ui.cc                        |  2 +-
 5 files changed, 18 insertions(+), 9 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
index 55764372c43999..22cdd8c631e6fd 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
@@ -37,9 +37,11 @@ inline const QString SpeedLimitSourcePolicyTexts[]{
 enum class SpeedLimitMode {
   OFF,
   INFORMATION,
+  WARNING,
 };
 
 inline const QString SpeedLimitModeTexts[]{
   QObject::tr("Off"),
   QObject::tr("Information"),
+  QObject::tr("Warning"),
 };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
index 2bacbace7c2e39..6f488336114b76 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
@@ -27,6 +27,7 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
   std::vector<QString> speed_limit_mode_texts{
     SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::OFF)],
     SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::INFORMATION)],
+    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::WARNING)],
   };
   speed_limit_mode_settings = new ButtonParamControlSP(
     "SpeedLimitMode",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
index ebffcf65e43a71..f83f450557a871 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
@@ -55,15 +55,19 @@ class SpeedLimitSettings : public QStackedWidget {
   static QString modeDescription(SpeedLimitMode mode = SpeedLimitMode::OFF) {
     QString off_str = tr("⦿ Off: Disables the Speed Limit functions.");
     QString info_str = tr("⦿ Information: Displays the current road's speed limit.");
+    QString warning_str = tr("⦿ Warning: Provides a warning when exceeding the current road's speed limit.");
 
-    if (mode == SpeedLimitMode::INFORMATION) {
+    if (mode == SpeedLimitMode::WARNING) {
+      warning_str = "<font color='white'><b>" + warning_str + "</b></font>";
+    } else if (mode == SpeedLimitMode::INFORMATION) {
       info_str = "<font color='white'><b>" + info_str + "</b></font>";
     } else {
       off_str = "<font color='white'><b>" + off_str + "</b></font>";
     }
 
-    return QString("%1<br>%2")
+    return QString("%1<br>%2<br>%3")
         .arg(off_str)
-        .arg(info_str);
+        .arg(info_str)
+        .arg(warning_str);
   }
 };
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 47ba0590d10935..71bdd92cabc4f5 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -328,7 +328,10 @@ void HudRendererSP::drawStandstillTimer(QPainter &p, int x, int y) {
 }
 
 void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
-  QString speedLimitStr = speedLimit > 0 ? QString::number(std::nearbyint(speedLimit)) : "---";
+  int speedLimitRounded = std::nearbyint(speedLimit);
+  bool overspeed = speedLimitRounded < std::nearbyint(speed) && speedLimitRounded > 0;
+  bool speedLimitWarningEnabled = speedLimitMode == SpeedLimitMode::WARNING;
+  QString speedLimitStr = speedLimit > 0 ? QString::number(speedLimitRounded) : "---";
 
   // Offset display text
   QString speedLimitSubText = "";
@@ -344,6 +347,8 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
   QRect sign_rect(sign_x, sign_y, sign_width, sign_height);
 
   int alpha = 255;
+  QColor red_color = QColor(255, 0, 0, alpha);
+  QColor speed_color = (speedLimitWarningEnabled && overspeed) ? red_color : QColor(0, 0, 0, alpha);
 
   if (is_metric) {
     // EU Vienna Convention style circular sign
@@ -364,9 +369,8 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
 
     // Red border ring with color coding
     QRect red_ring = circle_rect;
-    QColor ring_color = QColor(255, 0, 0, alpha);
 
-    p.setBrush(ring_color);
+    p.setBrush(red_color);
     p.drawEllipse(red_ring);
 
     // Center white circle for text
@@ -378,7 +382,6 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
     // Speed value, smaller font for 3+ digits
     int font_size = (speedLimitStr.size() >= 3) ? 70 : 85;
     p.setFont(InterFont(font_size, QFont::Bold));
-    QColor speed_color = QColor(0, 0, 0, alpha);
 
     p.setPen(speed_color);
     p.drawText(center_circle, Qt::AlignCenter, speedLimitStr);
@@ -424,7 +427,6 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
 
     // Speed value with color coding
     p.setFont(InterFont(90, QFont::Bold));
-    QColor speed_color = QColor(0, 0, 0, alpha);
 
     p.setPen(speed_color);
     p.drawText(inner_rect.adjusted(0, 80, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index 7f83e5ea79bf86..7b582a83412e4a 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -53,7 +53,7 @@ void ui_update_params_sp(UIStateSP *s) {
   auto params = Params();
   s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
   s->scene.standstill_timer = params.getBool("StandstillTimer");
-  s->scene.speed_limit_mode = params.getBool("SpeedLimitMode");
+  s->scene.speed_limit_mode = std::atoi(params.get("SpeedLimitMode").c_str());
 }
 
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {

From 55b7529ca4b6b4a7704dd3822109a54d9397b571 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Sep 2025 05:23:02 -0400
Subject: [PATCH 0434/1434] ui: Road Name (#1265)

---
 .../qt/offroad/settings/visuals_panel.cc      | 13 +++++--
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc      | 35 +++++++++++++++++++
 selfdrive/ui/sunnypilot/qt/onroad/hud.h       |  3 ++
 selfdrive/ui/sunnypilot/ui.cc                 |  1 +
 selfdrive/ui/sunnypilot/ui_scene.h            |  1 +
 5 files changed, 50 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
index e19760f2e10d02..ca58282a3d1df3 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -25,21 +25,28 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
       "BlindSpot",
       tr("Show Blind Spot Warnings"),
       tr("Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported."),
-      "../assets/offroad/icon_monitoring.png",
+      "",
       false,
     },
     {
       "RainbowMode",
       tr("Enable Tesla Rainbow Mode"),
       RainbowizeWords(tr("A beautiful rainbow effect on the path the model wants to take.")) + "<br/><i>" + tr("It")+ " <b>" + tr("does not") + "</b> " + tr("affect driving in any way.") + "</i>",
-      "../assets/offroad/icon_monitoring.png",
+      "",
       false,
     },
     {
       "StandstillTimer",
       tr("Enable Standstill Timer"),
       tr("Show a timer on the HUD when the car is at a standstill."),
-      "../assets/offroad/icon_monitoring.png",
+      "",
+      false,
+    },
+    {
+      "RoadName",
+      tr("Display Road Name"),
+      tr("Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name."),
+      "",
       false,
     },
   };
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 71bdd92cabc4f5..991710bbfa34bd 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -32,7 +32,9 @@ void HudRendererSP::updateState(const UIState &s) {
   speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
   speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
   speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
+  roadName = s.scene.road_name;
   if (sm.updated("liveMapDataSP")) {
+    roadNameStr = QString::fromStdString(lmd.getRoadName());
     speedLimitAheadValid = lmd.getSpeedLimitAheadValid();
     speedLimitAhead = lmd.getSpeedLimitAhead() * speedConv;
     speedLimitAheadDistance = lmd.getSpeedLimitAheadDistance();
@@ -138,6 +140,9 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
       drawSpeedLimitSigns(p);
       drawUpcomingSpeedLimit(p);
     }
+
+    // Road Name
+    drawRoadName(p, surface_rect);
   }
 }
 
@@ -516,3 +521,33 @@ void HudRendererSP::drawUpcomingSpeedLimit(QPainter &p) {
   p.setPen(QColor(180, 180, 180, 255));
   p.drawText(ahead_rect.adjusted(0, 110, 0, 0), Qt::AlignTop | Qt::AlignHCenter, distanceStr);
 }
+
+void HudRendererSP::drawRoadName(QPainter &p, const QRect &surface_rect) {
+  if (!roadName || roadNameStr.isEmpty()) return;
+
+  // Measure text to size container
+  p.setFont(InterFont(40, QFont::Normal));
+  QFontMetrics fm(p.font());
+
+  int text_width = fm.horizontalAdvance(roadNameStr);
+  int padding = 40;
+  int rect_width = text_width + padding;
+
+  // Constrain to reasonable bounds
+  int min_width = 200;
+  int max_width = surface_rect.width() - 40;
+  rect_width = std::max(min_width, std::min(rect_width, max_width));
+
+  // Center at top of screen
+  QRect road_rect(surface_rect.width() / 2 - rect_width / 2, -6, rect_width, 60);
+
+  p.setPen(Qt::NoPen);
+  p.setBrush(QColor(0, 0, 0, 120));
+  p.drawRoundedRect(road_rect, 12, 12);
+
+  p.setPen(QColor(255, 255, 255, 200));
+
+  // Truncate if still too long
+  QString truncated = fm.elidedText(roadNameStr, Qt::ElideRight, road_rect.width() - 20);
+  p.drawText(road_rect, Qt::AlignCenter, truncated);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index d76eb06060214e..073780bc109fcb 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -31,6 +31,7 @@ class HudRendererSP : public HudRenderer {
   void drawSmartCruiseControlOnroadIcon(QPainter &p, const QRect &surface_rect, int x_offset, int y_offset, std::string name);
   void drawSpeedLimitSigns(QPainter &p);
   void drawUpcomingSpeedLimit(QPainter &p);
+  void drawRoadName(QPainter &p, const QRect &surface_rect);
 
   bool lead_status;
   float lead_d_rel;
@@ -74,4 +75,6 @@ class HudRendererSP : public HudRenderer {
   float speedLimitAheadDistancePrev;
   int speedLimitAheadValidFrame;
   SpeedLimitMode speedLimitMode = SpeedLimitMode::OFF;
+  bool roadName;
+  QString roadNameStr;
 };
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index 7b582a83412e4a..9acf844088d92c 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -54,6 +54,7 @@ void ui_update_params_sp(UIStateSP *s) {
   s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
   s->scene.standstill_timer = params.getBool("StandstillTimer");
   s->scene.speed_limit_mode = std::atoi(params.get("SpeedLimitMode").c_str());
+  s->scene.road_name = params.getBool("RoadName");
 }
 
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
diff --git a/selfdrive/ui/sunnypilot/ui_scene.h b/selfdrive/ui/sunnypilot/ui_scene.h
index 69cebd6d79f6d8..768cc5d7a11bd7 100644
--- a/selfdrive/ui/sunnypilot/ui_scene.h
+++ b/selfdrive/ui/sunnypilot/ui_scene.h
@@ -11,4 +11,5 @@ typedef struct UISceneSP : UIScene {
   int dev_ui_info = 0;
   bool standstill_timer = false;
   int speed_limit_mode = 0;
+  bool road_name = false;
 } UISceneSP;

From 5f3821c1f9ce589d4bd37ae7fbc5ce6ad94fa825 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Sep 2025 12:21:13 -0400
Subject: [PATCH 0435/1434] Longitudinal planner: expose custom vTarget and
 aTarget (#1267)

---
 cereal/custom.capnp                                    |  2 ++
 .../selfdrive/controls/lib/longitudinal_planner.py     | 10 +++++++---
 2 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 65278380971176..c4360ae3118ff0 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -146,6 +146,8 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   longitudinalPlanSource @1 :LongitudinalPlanSource;
   smartCruiseControl @2 :SmartCruiseControl;
   speedLimit @3 :SpeedLimit;
+  vTarget @4 :Float32;
+  aTarget @5 :Float32;
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index b4f4fe6d7c6671..3e4dbd9ab2b7dc 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -24,6 +24,9 @@ def __init__(self, CP: structs.CarParams, mpc):
     self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
     self.source = Source.cruise
 
+    self.output_v_target = 0.
+    self.output_a_target = 0.
+
   @property
   def mlsim(self) -> bool:
     # If we don't have a generation set, we assume it's default model. Which as of today are mlsim.
@@ -47,9 +50,8 @@ def update_targets(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_
     }
 
     self.source = min(targets, key=lambda k: targets[k][0])
-    v_target, a_target = targets[self.source]
-
-    return v_target, a_target
+    self.output_v_target, self.output_a_target = targets[self.source]
+    return self.output_v_target, self.output_a_target
 
   def update(self, sm: messaging.SubMaster) -> None:
     self.dec.update(sm)
@@ -61,6 +63,8 @@ def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.Pu
 
     longitudinalPlanSP = plan_sp_send.longitudinalPlanSP
     longitudinalPlanSP.longitudinalPlanSource = self.source
+    longitudinalPlanSP.vTarget = float(self.output_v_target)
+    longitudinalPlanSP.aTarget = float(self.output_a_target)
 
     # Dynamic Experimental Control
     dec = longitudinalPlanSP.dec

From 632b416f2ac130d0754efeebdea5588d89da5210 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Sep 2025 14:22:10 -0400
Subject: [PATCH 0436/1434] ICBM: use `longitudinalPlanSP.vTarget` directly for
 evaluation (#1266)

* ICBM: add SCC-V to v_targets list

* Longitudinal planner: expose custom vTarget and aTarget

* use the source directly
---
 selfdrive/selfdrived/selfdrived.py               |  4 ++--
 .../controller.py                                | 16 ++++------------
 2 files changed, 6 insertions(+), 14 deletions(-)

diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 69dc51360b87f0..170e1846293249 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -96,7 +96,7 @@ def __init__(self, CP=None, CP_SP=None):
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
-                                   'modelDataV2SP'] + \
+                                   'modelDataV2SP', 'longitudinalPlanSP'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -444,7 +444,7 @@ def update_events(self, CS):
           self.events.add(EventName.personalityChanged)
         self.experimental_mode_switched = False
 
-    self.icbm.run(CS, self.sm['carControl'], self.is_metric)
+    self.icbm.run(CS, self.sm['carControl'], self.sm['longitudinalPlanSP'], self.is_metric)
 
   def data_sample(self):
     _car_state = messaging.recv_one(self.car_state_sock)
diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
index 7ee7f3ea648e5e..468e6f55b53eaf 100644
--- a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
+++ b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
@@ -49,19 +49,11 @@ def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
   def v_cruise_equal(self) -> bool:
     return self.v_target == self.v_cruise_cluster
 
-  def update_calculations(self, CS: car.CarState) -> None:
+  def update_calculations(self, CS: car.CarState, LP_SP: custom.LongitudinalPlanSP) -> None:
     speed_conv = CV.MS_TO_KPH if self.is_metric else CV.MS_TO_MPH
     ms_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
-    v_cruise_ms = CS.vCruise * CV.KPH_TO_MS
 
-    # all targets in m/s
-    v_targets = {
-      LongitudinalPlanSource.cruise: v_cruise_ms
-    }
-    source = min(v_targets, key=lambda k: v_targets[k])
-    v_target_ms = v_targets[source]
-
-    self.v_target_ms_last = apply_hysteresis(v_target_ms, self.v_target_ms_last, HYST_GAP * ms_conv)
+    self.v_target_ms_last = apply_hysteresis(LP_SP.vTarget, self.v_target_ms_last, HYST_GAP * ms_conv)
 
     self.v_target = round(self.v_target_ms_last * speed_conv)
     self.v_cruise_min = get_minimum_set_speed(self.is_metric)
@@ -123,13 +115,13 @@ def update_readiness(self, CS: car.CarState, CC: car.CarControl) -> None:
 
     self.is_ready = ready and not button_pressed
 
-  def run(self, CS: car.CarState, CC: car.CarControl, is_metric: bool) -> None:
+  def run(self, CS: car.CarState, CC: car.CarControl, LP_SP: custom.LongitudinalPlanSP, is_metric: bool) -> None:
     if self.CP_SP.pcmCruiseSpeed:
       return
 
     self.is_metric = is_metric
 
-    self.update_calculations(CS)
+    self.update_calculations(CS, LP_SP)
     self.update_readiness(CS, CC)
 
     self.cruise_button = self.update_state_machine()

From 2892dc05c8585ba316c9e5ac49744d75c9eced78 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Sep 2025 16:20:22 -0400
Subject: [PATCH 0437/1434] mapd: use SubMaster polling to validate GPS status
 (#1268)

---
 sunnypilot/mapd/live_map_data/base_map_data.py | 14 +++++++++-----
 1 file changed, 9 insertions(+), 5 deletions(-)

diff --git a/sunnypilot/mapd/live_map_data/base_map_data.py b/sunnypilot/mapd/live_map_data/base_map_data.py
index 536d7720b78dbf..6c7679420aa3cf 100644
--- a/sunnypilot/mapd/live_map_data/base_map_data.py
+++ b/sunnypilot/mapd/live_map_data/base_map_data.py
@@ -4,12 +4,12 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-import time
 from abc import abstractmethod, ABC
 
 from cereal import messaging
 from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.navd.helpers import Coordinate, coordinate_from_param
 
 
@@ -18,7 +18,9 @@ def __init__(self):
     self.params = Params()
 
     self.gps_location_service = get_gps_location_service(self.params)
-    self.sm = messaging.SubMaster(['livePose', 'carControl'] + [self.gps_location_service])
+    gps_packets = [self.gps_location_service]
+    self.sm = messaging.SubMaster(['livePose'] + gps_packets, ignore_alive=gps_packets, ignore_avg_freq=gps_packets,
+                                  ignore_valid=gps_packets, poll='livePose')
     self.pm = messaging.PubMaster(['liveMapDataSP'])
 
     self.last_position = coordinate_from_param("LastGPSPosition", self.params)
@@ -44,20 +46,22 @@ def get_current_location(self) -> None:
     gps = self.sm[self.gps_location_service]
 
     # ignore the message if the fix is invalid
-    gps_ok = self.sm.updated[self.gps_location_service] or (time.monotonic() - self.sm.logMonoTime[self.gps_location_service] / 1e9) > 2.0
+    gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_MDL < 2.0
     if not gps_ok and self.sm['livePose'].inputsOK:
-      return None
+      return
 
     # livePose has these data, but aren't on cereal
     self.last_position = Coordinate(gps.latitude, gps.longitude)
     self.last_altitude = gps.altitude
 
+    return
+
   def publish(self) -> None:
     speed_limit = self.get_current_speed_limit()
     next_speed_limit, next_speed_limit_distance = self.get_next_speed_limit_and_distance()
 
     mapd_sp_send = messaging.new_message('liveMapDataSP')
-    mapd_sp_send.valid = self.sm.all_checks(service_list=[self.gps_location_service, 'livePose'])
+    mapd_sp_send.valid = self.sm.all_checks(['livePose'])
     live_map_data = mapd_sp_send.liveMapDataSP
 
     live_map_data.speedLimitValid = bool(speed_limit > 0)

From 629cfd845f1b6fd8723c915f025ba0c18e58a2a0 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Sep 2025 17:23:24 -0400
Subject: [PATCH 0438/1434] ui: fix scrolling behavior in Speed Limit settings
 (#1269)

* rename

* ui: fix scrolling behavior in Speed Limit settings
---
 .../longitudinal/speed_limit/speed_limit_policy.cc         | 5 ++++-
 .../settings/longitudinal/speed_limit/speed_limit_policy.h | 2 ++
 .../longitudinal/speed_limit/speed_limit_settings.cc       | 7 +++++--
 .../longitudinal/speed_limit/speed_limit_settings.h        | 2 ++
 4 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc
index 46f361a1530c26..764a8e02086c5c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc
@@ -4,6 +4,7 @@
  * This file is part of sunnypilot and is licensed under the MIT License.
  * See the LICENSE.md file in the root directory for more details.
  */
+#include <QScrollBar>
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h"
 
@@ -38,8 +39,9 @@ SpeedLimitPolicy::SpeedLimitPolicy(QWidget *parent) : QWidget(parent) {
   list->addItem(speed_limit_policy);
   connect(speed_limit_policy, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitPolicy::refresh);
 
+  speedLimitPolicyScroller = new ScrollViewSP(list, this);
+  main_layout->addWidget(speedLimitPolicyScroller);
   refresh();
-  main_layout->addWidget(list);
 };
 
 void SpeedLimitPolicy::refresh() {
@@ -48,6 +50,7 @@ void SpeedLimitPolicy::refresh() {
 }
 
 void SpeedLimitPolicy::showEvent(QShowEvent *event) {
+  speedLimitPolicyScroller->verticalScrollBar()->setValue(0);
   refresh();
   speed_limit_policy->showDescription();
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h
index adeb115db90cf1..219aa53c6ed749 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h
@@ -10,6 +10,7 @@
 #include "selfdrive/ui/sunnypilot/ui.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
 class SpeedLimitPolicy : public QWidget {
   Q_OBJECT
@@ -25,6 +26,7 @@ class SpeedLimitPolicy : public QWidget {
 private:
   Params params;
   ButtonParamControlSP *speed_limit_policy;
+  ScrollViewSP *speedLimitPolicyScroller;
 
   static QString sourceDescription(SpeedLimitSourcePolicy type = SpeedLimitSourcePolicy::CAR_ONLY) {
     QString car_only = tr("⦿ Car Only: Use Speed Limit data only from Car");
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
index 6f488336114b76..eed0306ca0ea17 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
@@ -31,7 +31,7 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
   };
   speed_limit_mode_settings = new ButtonParamControlSP(
     "SpeedLimitMode",
-    tr("Speed Limit Mode"),
+    tr("Speed Limit"),
     "",
     "",
     speed_limit_mode_texts,
@@ -43,10 +43,12 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
 
   speedLimitSource = new PushButtonSP(tr("Customize Source"));
   connect(speedLimitSource, &QPushButton::clicked, [&]() {
+    speedLimitScroller->setLastScrollPosition();
     setCurrentWidget(speedLimitPolicyScreen);
     speedLimitPolicyScreen->refresh();
   });
   connect(speedLimitPolicyScreen, &SpeedLimitPolicy::backPress, [&]() {
+    speedLimitScroller->restoreScrollPosition();
     setCurrentWidget(subPanelFrame);
     showEvent(new QShowEvent());
   });
@@ -92,7 +94,8 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
   connect(speed_limit_offset_settings, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitSettings::refresh);
 
   refresh();
-  subPanelLayout->addWidget(list);
+  speedLimitScroller = new ScrollViewSP(list, this);
+  subPanelLayout->addWidget(speedLimitScroller);
   addWidget(subPanelFrame);
   addWidget(speedLimitPolicyScreen);
   setCurrentWidget(subPanelFrame);
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
index f83f450557a871..61c86f9208dbaa 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
@@ -12,6 +12,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
 class SpeedLimitSettings : public QStackedWidget {
   Q_OBJECT
@@ -26,6 +27,7 @@ class SpeedLimitSettings : public QStackedWidget {
 
 private:
   Params params;
+  ScrollViewSP *speedLimitScroller;
   QFrame *subPanelFrame;
   ButtonParamControlSP *speed_limit_mode_settings;
   PushButtonSP *speedLimitSource;

From 569a9216db77e650ec55a3062724d7c881cab60e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Sep 2025 17:36:13 -0400
Subject: [PATCH 0439/1434] ui: only draw speed limit offset when speed limit
 is valid (#1270)

---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 991710bbfa34bd..68054223934c42 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -333,15 +333,16 @@ void HudRendererSP::drawStandstillTimer(QPainter &p, int x, int y) {
 }
 
 void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
+  bool speedLimitValid = speedLimit > 0;
   int speedLimitRounded = std::nearbyint(speedLimit);
   bool overspeed = speedLimitRounded < std::nearbyint(speed) && speedLimitRounded > 0;
   bool speedLimitWarningEnabled = speedLimitMode == SpeedLimitMode::WARNING;
-  QString speedLimitStr = speedLimit > 0 ? QString::number(speedLimitRounded) : "---";
+  QString speedLimitStr = speedLimitValid ? QString::number(speedLimitRounded) : "---";
 
   // Offset display text
   QString speedLimitSubText = "";
   if (speedLimitOffset != 0) {
-    speedLimitSubText = (speedLimitOffset > 0 ? "+" : "") + QString::number(std::nearbyint(speedLimitOffset));
+    speedLimitSubText = (speedLimitOffset > 0 ? "+" : "-") + QString::number(std::nearbyint(speedLimitOffset));
   }
 
   // Position next to MAX speed box
@@ -392,7 +393,7 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
     p.drawText(center_circle, Qt::AlignCenter, speedLimitStr);
 
     // Offset value in small circular box
-    if (!speedLimitSubText.isEmpty()) {
+    if (!speedLimitSubText.isEmpty() && speedLimitValid) {
       int offset_circle_size = circle_size * 0.4;
       int overlap = offset_circle_size * 0.25;
       QRect offset_circle_rect(
@@ -437,7 +438,7 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
     p.drawText(inner_rect.adjusted(0, 80, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
 
     // Offset value in small box
-    if (!speedLimitSubText.isEmpty()) {
+    if (!speedLimitSubText.isEmpty() && speedLimitValid) {
       int offset_box_size = sign_rect.width() * 0.4;
       int overlap = offset_box_size * 0.25;
       QRect offset_box_rect(

From 2efe78a4ef16aab116a26a673f7764f421d686d4 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Sep 2025 17:48:13 -0400
Subject: [PATCH 0440/1434] ICBM: allow button commands at all speeds (#1271)

* ICBM: allow button commands at all speeds

* use openpilot state
---
 .../car/intelligent_cruise_button_management/controller.py    | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
index 468e6f55b53eaf..1f491e0f5883e0 100644
--- a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
+++ b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
@@ -108,9 +108,7 @@ def update_state_machine(self) -> custom.IntelligentCruiseButtonManagement.SendB
   def update_readiness(self, CS: car.CarState, CC: car.CarControl) -> None:
     update_manual_button_timers(CS, self.cruise_button_timers)
 
-    allowed_speed = CS.vEgo > ALLOWED_SPEED_THRESHOLD
-    ready = CS.cruiseState.enabled and allowed_speed and not CC.cruiseControl.override and not CC.cruiseControl.cancel and \
-            not CC.cruiseControl.resume
+    ready = CC.enabled and not CC.cruiseControl.override and not CC.cruiseControl.cancel and not CC.cruiseControl.resume
     button_pressed = any(self.cruise_button_timers[k] > 0 for k in self.cruise_button_timers)
 
     self.is_ready = ready and not button_pressed

From 563ae654438d49abf711d89410430b98836fe64b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 21 Sep 2025 00:33:43 -0400
Subject: [PATCH 0441/1434] ui: Road Name param should be persistent (#1273)

---
 common/params_keys.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 6d60e2cfdd2a15..e9ffcfc1fd09e4 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -224,7 +224,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OsmStateName", {PERSISTENT, STRING, "All"}},
     {"OsmStateTitle", {PERSISTENT, STRING}},
     {"OsmWayTest", {PERSISTENT, STRING}},
-    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
+    {"RoadName", {PERSISTENT, STRING}},
 
     // Speed Limit
     {"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},

From d5a873ed8617cefd691509c9cc5dc4ec7ea42ff4 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 21 Sep 2025 02:53:03 -0400
Subject: [PATCH 0442/1434] ui: generic check with ICBM param (#1274)

---
 .../qt/offroad/settings/longitudinal_panel.cc          | 10 ++++++----
 .../qt/offroad/settings/longitudinal_panel.h           |  3 ++-
 selfdrive/ui/sunnypilot/qt/util.cc                     |  4 ++++
 selfdrive/ui/sunnypilot/qt/util.h                      |  1 +
 4 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
index 205f64a0b2790d..8faa907a6dd7ad 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
@@ -80,6 +80,7 @@ void LongitudinalPanel::showEvent(QShowEvent *event) {
 }
 
 void LongitudinalPanel::refresh(bool _offroad) {
+  auto icbm_available = false;
   auto cp_bytes = params.get("CarParamsPersistent");
   auto cp_sp_bytes = params.get("CarParamsSPPersistent");
   if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -92,11 +93,12 @@ void LongitudinalPanel::refresh(bool _offroad) {
 
     has_longitudinal_control = hasLongitudinalControl(CP);
     is_pcm_cruise = CP.getPcmCruise();
-    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
+    icbm_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
+    has_intelligent_cruise_button_management = hasIntelligentCruiseButtonManagement(CP_SP);
   } else {
     has_longitudinal_control = false;
     is_pcm_cruise = false;
-    intelligent_cruise_button_management_available = false;
+    has_intelligent_cruise_button_management = false;
   }
 
   QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
@@ -108,7 +110,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
     customAccIncrement->setDescription(onroadOnlyDescription);
     customAccIncrement->showDescription();
   } else {
-    if (has_longitudinal_control || intelligent_cruise_button_management_available) {
+    if (has_longitudinal_control || icbm_available) {
       if (is_pcm_cruise) {
         customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
         customAccIncrement->showDescription();
@@ -125,7 +127,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
     }
   }
 
-  bool icbm_allowed = intelligent_cruise_button_management_available && !has_longitudinal_control;
+  bool icbm_allowed = has_intelligent_cruise_button_management && !has_longitudinal_control;
   intelligentCruiseButtonManagement->setEnabled(icbm_allowed && offroad);
 
   // enable toggle when long is available and is not PCM cruise
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
index 846415065600e0..1e26ea22fcdcf4 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
@@ -7,6 +7,7 @@
 
 #pragma once
 
+#include "selfdrive/ui/sunnypilot/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
@@ -24,7 +25,7 @@ class LongitudinalPanel : public QWidget {
   Params params;
   bool has_longitudinal_control = false;
   bool is_pcm_cruise = false;
-  bool intelligent_cruise_button_management_available = false;;
+  bool has_intelligent_cruise_button_management = false;;
   bool offroad = false;
 
   QStackedLayout *main_layout = nullptr;
diff --git a/selfdrive/ui/sunnypilot/qt/util.cc b/selfdrive/ui/sunnypilot/qt/util.cc
index 2e066e88b52e10..eaf05942a91229 100644
--- a/selfdrive/ui/sunnypilot/qt/util.cc
+++ b/selfdrive/ui/sunnypilot/qt/util.cc
@@ -123,3 +123,7 @@ std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::
     return std::nullopt;
   }
 }
+
+bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp) {
+  return car_params_sp.getIntelligentCruiseButtonManagementAvailable() && Params().getBool("IntelligentCruiseButtonManagement");
+}
diff --git a/selfdrive/ui/sunnypilot/qt/util.h b/selfdrive/ui/sunnypilot/qt/util.h
index 4b9d615ce5f55d..60a73615baefc1 100644
--- a/selfdrive/ui/sunnypilot/qt/util.h
+++ b/selfdrive/ui/sunnypilot/qt/util.h
@@ -23,3 +23,4 @@ std::optional<QString> getParamIgnoringDefault(const std::string &param_name, co
 QMap<QString, QVariantMap> loadPlatformList();
 QStringList searchFromList(const QString &query, const QStringList &list);
 std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param);
+bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp);

From 2fa66d6f4d37a371e048dfc6ab1ad564ff004222 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 22 Sep 2025 01:35:13 -0400
Subject: [PATCH 0443/1434] ui: include Speed Limit Offset for Speed Limit
 Warning (#1276)

* ui: include Speed Limit Offset for Speed Limit Warning

* fix
---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 68054223934c42..db6ca1952b58dc 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -335,7 +335,8 @@ void HudRendererSP::drawStandstillTimer(QPainter &p, int x, int y) {
 void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
   bool speedLimitValid = speedLimit > 0;
   int speedLimitRounded = std::nearbyint(speedLimit);
-  bool overspeed = speedLimitRounded < std::nearbyint(speed) && speedLimitRounded > 0;
+  int speedLimitFinalRounded = std::nearbyint(speedLimit + speedLimitOffset);
+  bool overspeed = speedLimitFinalRounded < std::nearbyint(speed) && speedLimitRounded > 0;
   bool speedLimitWarningEnabled = speedLimitMode == SpeedLimitMode::WARNING;
   QString speedLimitStr = speedLimitValid ? QString::number(speedLimitRounded) : "---";
 

From 005c6aed95eee2c2896601ed2d7a51e81e14383e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 22 Sep 2025 08:54:16 -0400
Subject: [PATCH 0444/1434] ui: separate road name toggle param and bigger
 fonts (#1277)

* ui: separate road name toggle param and bigger fonts

* slightly lower
---
 common/params_keys.h                                         | 3 ++-
 selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc | 2 +-
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc                     | 4 ++--
 selfdrive/ui/sunnypilot/ui.cc                                | 2 +-
 4 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index e9ffcfc1fd09e4..32a7695b3b70c3 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -224,7 +224,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OsmStateName", {PERSISTENT, STRING, "All"}},
     {"OsmStateTitle", {PERSISTENT, STRING}},
     {"OsmWayTest", {PERSISTENT, STRING}},
-    {"RoadName", {PERSISTENT, STRING}},
+    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
+    {"RoadNameToggle", {PERSISTENT, STRING}},
 
     // Speed Limit
     {"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
index ca58282a3d1df3..10ead537741e2e 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -43,7 +43,7 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
       false,
     },
     {
-      "RoadName",
+      "RoadNameToggle",
       tr("Display Road Name"),
       tr("Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name."),
       "",
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index db6ca1952b58dc..9409612f473a38 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -528,7 +528,7 @@ void HudRendererSP::drawRoadName(QPainter &p, const QRect &surface_rect) {
   if (!roadName || roadNameStr.isEmpty()) return;
 
   // Measure text to size container
-  p.setFont(InterFont(40, QFont::Normal));
+  p.setFont(InterFont(46, QFont::DemiBold));
   QFontMetrics fm(p.font());
 
   int text_width = fm.horizontalAdvance(roadNameStr);
@@ -541,7 +541,7 @@ void HudRendererSP::drawRoadName(QPainter &p, const QRect &surface_rect) {
   rect_width = std::max(min_width, std::min(rect_width, max_width));
 
   // Center at top of screen
-  QRect road_rect(surface_rect.width() / 2 - rect_width / 2, -6, rect_width, 60);
+  QRect road_rect(surface_rect.width() / 2 - rect_width / 2, -4, rect_width, 60);
 
   p.setPen(Qt::NoPen);
   p.setBrush(QColor(0, 0, 0, 120));
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index 9acf844088d92c..fd7365821c3bb8 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -54,7 +54,7 @@ void ui_update_params_sp(UIStateSP *s) {
   s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
   s->scene.standstill_timer = params.getBool("StandstillTimer");
   s->scene.speed_limit_mode = std::atoi(params.get("SpeedLimitMode").c_str());
-  s->scene.road_name = params.getBool("RoadName");
+  s->scene.road_name = params.getBool("RoadNameToggle");
 }
 
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {

From b64d5a0fa4df9ea130056d91cfe68d20f6b4d208 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 22 Sep 2025 09:39:22 -0400
Subject: [PATCH 0445/1434] liveMapDataSP: parse bearing from GPS (#1279)

* simpler approach pls

* fix
---
 .../mapd/live_map_data/base_map_data.py       | 22 +++----------------
 sunnypilot/mapd/live_map_data/osm_map_data.py | 17 +++++++++++---
 2 files changed, 17 insertions(+), 22 deletions(-)

diff --git a/sunnypilot/mapd/live_map_data/base_map_data.py b/sunnypilot/mapd/live_map_data/base_map_data.py
index 6c7679420aa3cf..f386eab96bd0e8 100644
--- a/sunnypilot/mapd/live_map_data/base_map_data.py
+++ b/sunnypilot/mapd/live_map_data/base_map_data.py
@@ -9,8 +9,7 @@
 from cereal import messaging
 from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot.navd.helpers import Coordinate, coordinate_from_param
+from openpilot.sunnypilot.navd.helpers import coordinate_from_param
 
 
 class BaseMapData(ABC):
@@ -23,8 +22,8 @@ def __init__(self):
                                   ignore_valid=gps_packets, poll='livePose')
     self.pm = messaging.PubMaster(['liveMapDataSP'])
 
+    self.last_bearing = None
     self.last_position = coordinate_from_param("LastGPSPosition", self.params)
-    self.last_altitude = None
 
   @abstractmethod
   def update_location(self) -> None:
@@ -42,20 +41,6 @@ def get_next_speed_limit_and_distance(self) -> tuple[float, float]:
   def get_current_road_name(self) -> str:
     pass
 
-  def get_current_location(self) -> None:
-    gps = self.sm[self.gps_location_service]
-
-    # ignore the message if the fix is invalid
-    gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_MDL < 2.0
-    if not gps_ok and self.sm['livePose'].inputsOK:
-      return
-
-    # livePose has these data, but aren't on cereal
-    self.last_position = Coordinate(gps.latitude, gps.longitude)
-    self.last_altitude = gps.altitude
-
-    return
-
   def publish(self) -> None:
     speed_limit = self.get_current_speed_limit()
     next_speed_limit, next_speed_limit_distance = self.get_next_speed_limit_and_distance()
@@ -74,7 +59,6 @@ def publish(self) -> None:
     self.pm.send('liveMapDataSP', mapd_sp_send)
 
   def tick(self) -> None:
-    self.sm.update()
-    self.get_current_location()
+    self.sm.update(0)
     self.update_location()
     self.publish()
diff --git a/sunnypilot/mapd/live_map_data/osm_map_data.py b/sunnypilot/mapd/live_map_data/osm_map_data.py
index 1eaf76dc8df69e..c5187a8e0426d7 100644
--- a/sunnypilot/mapd/live_map_data/osm_map_data.py
+++ b/sunnypilot/mapd/live_map_data/osm_map_data.py
@@ -5,9 +5,11 @@
 See the LICENSE.md file in the root directory for more details.
 """
 import json
+import math
 import platform
 
 from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.mapd.live_map_data.base_map_data import BaseMapData
 from openpilot.sunnypilot.navd.helpers import Coordinate
 
@@ -15,17 +17,26 @@
 class OsmMapData(BaseMapData):
   def __init__(self):
     super().__init__()
-    self.params = Params()
     self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
 
   def update_location(self) -> None:
-    if self.last_position is None or self.last_altitude is None:
+    gps = self.sm[self.gps_location_service]
+    gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_MDL < 2.0
+
+    if gps_ok:
+      self.last_bearing = gps.bearingDeg * 180/math.pi
+      self.last_position = Coordinate(gps.latitude, gps.longitude)
+
+    if not gps_ok and self.sm['livePose'].inputsOK:
+      return
+
+    if self.last_position is None:
       return
 
     params = {
       "latitude": self.last_position.latitude,
       "longitude": self.last_position.longitude,
-      "altitude": self.last_altitude,
+      "bearing": self.last_bearing,
     }
 
     self.mem_params.put("LastGPSPosition", json.dumps(params))

From 01a0ad496d7c78daafb2ff65f9fe17b6c221a1c6 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 22 Sep 2025 19:50:59 -0400
Subject: [PATCH 0446/1434] ui: more speed limit improvements (#1278)

* ui: more speed limit improvements

- show speed limit offset with last valid speed limit
- show last valid speed limit if current speed limit is not valid

* rename

* round it

* update logic

* in its own var and 5 frames now

* new offset vals

* slightly more

* apply suggestions
---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc | 38 ++++++++++++++++--------
 selfdrive/ui/sunnypilot/qt/onroad/hud.h  |  5 ++++
 2 files changed, 30 insertions(+), 13 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 9409612f473a38..33462e6202512c 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -31,6 +31,8 @@ void HudRendererSP::updateState(const UIState &s) {
   float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH;
   speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
   speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
+  speedLimitValid = speedLimit > 0;
+  speedLimitLastValid = speedLimitLast > 0;
   speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
   roadName = s.scene.road_name;
   if (sm.updated("liveMapDataSP")) {
@@ -38,7 +40,7 @@ void HudRendererSP::updateState(const UIState &s) {
     speedLimitAheadValid = lmd.getSpeedLimitAheadValid();
     speedLimitAhead = lmd.getSpeedLimitAhead() * speedConv;
     speedLimitAheadDistance = lmd.getSpeedLimitAheadDistance();
-    if (speedLimitAheadDistance < speedLimitAheadDistancePrev && speedLimitAheadValidFrame < 2) {
+    if (speedLimitAheadDistance < speedLimitAheadDistancePrev && speedLimitAheadValidFrame < SPEED_LIMIT_AHEAD_VALID_FRAME_THRESHOLD) {
       speedLimitAheadValidFrame++;
     } else if (speedLimitAheadDistance > speedLimitAheadDistancePrev && speedLimitAheadValidFrame > 0) {
       speedLimitAheadValidFrame--;
@@ -46,6 +48,10 @@ void HudRendererSP::updateState(const UIState &s) {
   }
   speedLimitAheadDistancePrev = speedLimitAheadDistance;
 
+  if (speedLimitValid) {
+    speedLimitLast = speedLimit;
+  }
+
   static int reverse_delay = 0;
   bool reverse_allowed = false;
   if (int(car_state.getGearShifter()) != 4) {
@@ -333,17 +339,22 @@ void HudRendererSP::drawStandstillTimer(QPainter &p, int x, int y) {
 }
 
 void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
-  bool speedLimitValid = speedLimit > 0;
-  int speedLimitRounded = std::nearbyint(speedLimit);
-  int speedLimitFinalRounded = std::nearbyint(speedLimit + speedLimitOffset);
-  bool overspeed = speedLimitFinalRounded < std::nearbyint(speed) && speedLimitRounded > 0;
-  bool speedLimitWarningEnabled = speedLimitMode == SpeedLimitMode::WARNING;
-  QString speedLimitStr = speedLimitValid ? QString::number(speedLimitRounded) : "---";
+  bool hasSpeedLimit = speedLimitValid || speedLimitLastValid;
+  int speedLimitFinal = std::nearbyint(speedLimitValid ? speedLimit : speedLimitLast);
+  int speedLimitOffsetFinal = speedLimitFinal + std::nearbyint(speedLimitOffset);
+  bool overspeed = hasSpeedLimit && speedLimitOffsetFinal < std::nearbyint(speed);
+  bool speedLimitWarningEnabled = speedLimitMode == SpeedLimitMode::WARNING;  // TODO-SP: update to include SpeedLimitMode::ASSIST
+  QString speedLimitStr = hasSpeedLimit ? QString::number(speedLimitFinal) : "---";
 
   // Offset display text
   QString speedLimitSubText = "";
   if (speedLimitOffset != 0) {
-    speedLimitSubText = (speedLimitOffset > 0 ? "+" : "-") + QString::number(std::nearbyint(speedLimitOffset));
+    speedLimitSubText = (speedLimitOffset > 0 ? "" : "-") + QString::number(std::nearbyint(speedLimitOffset));
+  }
+
+  float speedLimitSubTextFactor = is_metric ? 0.5 : 0.6;
+  if (speedLimitSubText.size() >= 3) {
+    speedLimitSubTextFactor = 0.475;
   }
 
   // Position next to MAX speed box
@@ -355,7 +366,8 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
 
   int alpha = 255;
   QColor red_color = QColor(255, 0, 0, alpha);
-  QColor speed_color = (speedLimitWarningEnabled && overspeed) ? red_color : QColor(0, 0, 0, alpha);
+  QColor speed_color = (speedLimitWarningEnabled && overspeed) ? red_color :
+                       (!speedLimitValid && speedLimitLastValid ? QColor(0x91, 0x9b, 0x95, 0xf1) : QColor(0, 0, 0, alpha));
 
   if (is_metric) {
     // EU Vienna Convention style circular sign
@@ -394,7 +406,7 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
     p.drawText(center_circle, Qt::AlignCenter, speedLimitStr);
 
     // Offset value in small circular box
-    if (!speedLimitSubText.isEmpty() && speedLimitValid) {
+    if (!speedLimitSubText.isEmpty() && hasSpeedLimit) {
       int offset_circle_size = circle_size * 0.4;
       int overlap = offset_circle_size * 0.25;
       QRect offset_circle_rect(
@@ -408,7 +420,7 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
       p.setBrush(QColor(0, 0, 0, alpha));
       p.drawEllipse(offset_circle_rect);
 
-      p.setFont(InterFont(offset_circle_size * 0.45, QFont::Bold));
+      p.setFont(InterFont(offset_circle_size * speedLimitSubTextFactor, QFont::Bold));
       p.setPen(QColor(255, 255, 255, alpha));
       p.drawText(offset_circle_rect, Qt::AlignCenter, speedLimitSubText);
     }
@@ -439,7 +451,7 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
     p.drawText(inner_rect.adjusted(0, 80, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
 
     // Offset value in small box
-    if (!speedLimitSubText.isEmpty() && speedLimitValid) {
+    if (!speedLimitSubText.isEmpty() && hasSpeedLimit) {
       int offset_box_size = sign_rect.width() * 0.4;
       int overlap = offset_box_size * 0.25;
       QRect offset_box_rect(
@@ -454,7 +466,7 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
       p.setBrush(QColor(0, 0, 0, alpha));
       p.drawRoundedRect(offset_box_rect, corner_radius, corner_radius);
 
-      p.setFont(InterFont(offset_box_size * 0.45, QFont::Bold));
+      p.setFont(InterFont(offset_box_size * speedLimitSubTextFactor, QFont::Bold));
       p.setPen(QColor(255, 255, 255, alpha));
       p.drawText(offset_box_rect, Qt::AlignCenter, speedLimitSubText);
     }
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index 073780bc109fcb..bae1c3b7189c96 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -11,6 +11,8 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h"
 #include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"
 
+constexpr int SPEED_LIMIT_AHEAD_VALID_FRAME_THRESHOLD = 5;
+
 class HudRendererSP : public HudRenderer {
   Q_OBJECT
 
@@ -68,7 +70,10 @@ class HudRendererSP : public HudRenderer {
   bool smartCruiseControlVisionActive;
   int smartCruiseControlVisionFrame;
   float speedLimit;
+  float speedLimitLast;
   float speedLimitOffset;
+  bool speedLimitValid;
+  bool speedLimitLastValid;
   bool speedLimitAheadValid;
   float speedLimitAhead;
   float speedLimitAheadDistance;

From ea6178e53ee291c51574c0a6b7eb441637ae6b12 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 22 Sep 2025 22:54:45 -0400
Subject: [PATCH 0447/1434] Smart Cruise Control: Map (SCC-M) (#1280)

* init

* more

* a bit more

* expose

* bruh

* some fixes

* ui

* lint

* Update map_controller.py

* add overriding

* draw in orders
---
 cereal/custom.capnp                           |  17 ++
 common/params_keys.h                          |   6 +-
 .../qt/offroad/settings/longitudinal_panel.cc |   8 +
 .../qt/offroad/settings/longitudinal_panel.h  |   1 +
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc      |  24 +-
 selfdrive/ui/sunnypilot/qt/onroad/hud.h       |   3 +
 .../controls/lib/longitudinal_planner.py      |  12 +-
 .../lib/smart_cruise_control/__init__.py      |   9 +
 .../smart_cruise_control/map_controller.py    | 261 ++++++++++++++++++
 .../smart_cruise_control.py                   |   3 +
 .../tests/test_map_controller.py              |  58 ++++
 .../smart_cruise_control/vision_controller.py |   8 +-
 12 files changed, 396 insertions(+), 14 deletions(-)
 create mode 100644 sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index c4360ae3118ff0..854988decfdfc1 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -162,6 +162,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
 
   struct SmartCruiseControl {
     vision @0 :Vision;
+    map @1 :Map;
 
     struct Vision {
       state @0 :VisionState;
@@ -173,6 +174,14 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
       active @6 :Bool;
     }
 
+    struct Map {
+      state @0 :MapState;
+      vTarget @1 :Float32;
+      aTarget @2 :Float32;
+      enabled @3 :Bool;
+      active @4 :Bool;
+    }
+
     enum VisionState {
       disabled @0; # System disabled or inactive.
       enabled @1; # No predicted substantial turn on vision range.
@@ -181,6 +190,13 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
       leaving @4; # Road ahead straightens. Start to allow positive acceleration.
       overriding @5; # System overriding with manual control.
     }
+
+    enum MapState {
+      disabled @0; # System disabled or inactive.
+      enabled @1; # No predicted substantial turn on map range.
+      turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling.
+      overriding @3; # System overriding with manual control.
+    }
   }
 
   struct SpeedLimit {
@@ -203,6 +219,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   enum LongitudinalPlanSource {
     cruise @0;
     sccVision @1;
+    sccMap @2;
   }
 }
 
diff --git a/common/params_keys.h b/common/params_keys.h
index 32a7695b3b70c3..3faae9ce14aea5 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -160,7 +160,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // MADS params
@@ -232,4 +231,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
     {"SpeedLimitPolicy", {PERSISTENT | BACKUP, INT, "3"}},
     {"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
+
+    // Smart Cruise Control
+    {"MapTargetVelocities", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
+    {"SmartCruiseControlMap", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}},
 };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
index 8faa907a6dd7ad..8987f38514c8b6 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
@@ -50,6 +50,13 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
     "");
   list->addItem(SmartCruiseControlVision);
 
+  SmartCruiseControlMap = new ParamControl(
+    "SmartCruiseControlMap",
+    tr("Smart Cruise Control - Map"),
+    tr("Use map data to estimate the appropriate speed to drive through turns ahead."),
+    "");
+  list->addItem(SmartCruiseControlMap);
+
   customAccIncrement = new CustomAccIncrement("CustomAccIncrementsEnabled", tr("Custom ACC Speed Increments"), "", "", this);
   list->addItem(customAccIncrement);
 
@@ -136,6 +143,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
   customAccIncrement->refresh();
 
   SmartCruiseControlVision->setEnabled(has_longitudinal_control || icbm_allowed);
+  SmartCruiseControlMap->setEnabled(has_longitudinal_control || icbm_allowed);
 
   offroad = _offroad;
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
index 1e26ea22fcdcf4..2fd15e955c33c3 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
@@ -33,6 +33,7 @@ class LongitudinalPanel : public QWidget {
   QWidget *cruisePanelScreen = nullptr;
   CustomAccIncrement *customAccIncrement = nullptr;
   ParamControl *SmartCruiseControlVision;
+  ParamControl *SmartCruiseControlMap;
   ParamControl *intelligentCruiseButtonManagement = nullptr;
   SpeedLimitSettings *speedLimitScreen;
   PushButtonSP *speedLimitSettings;
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 33462e6202512c..6da6baef3df973 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -100,6 +100,8 @@ void HudRendererSP::updateState(const UIState &s) {
   longOverride = car_control.getCruiseControl().getOverride();
   smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled();
   smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
+  smartCruiseControlMapEnabled = lp_sp.getSmartCruiseControl().getMap().getEnabled();
+  smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive();
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
@@ -108,18 +110,28 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
     // Smart Cruise Control
     int x_offset = -260;
     int y1_offset = -80;
-    // int y2_offset = -140;  // reserved for 2 icons
+    int y2_offset = -140;
 
+    int y_scc_v = 0, y_scc_m = 0;
+    const int orders[2] = {y1_offset, y2_offset};
+    int i = 0;
+    // SCC-V takes first order
+    if (smartCruiseControlVisionEnabled) y_scc_v = orders[i++];
+    if (smartCruiseControlMapEnabled) y_scc_m = orders[i++];
+
+    // Smart Cruise Control - Vision
     bool scc_vision_active_pulse = pulseElement(smartCruiseControlVisionFrame);
     if ((smartCruiseControlVisionEnabled && !smartCruiseControlVisionActive) || (smartCruiseControlVisionActive && scc_vision_active_pulse)) {
-      drawSmartCruiseControlOnroadIcon(p, surface_rect, x_offset, y1_offset, "SCC-V");
+      drawSmartCruiseControlOnroadIcon(p, surface_rect, x_offset, y_scc_v, "SCC-V");
     }
+    smartCruiseControlVisionFrame = smartCruiseControlVisionActive ? (smartCruiseControlVisionFrame + 1) : 0;
 
-    if (smartCruiseControlVisionActive) {
-      smartCruiseControlVisionFrame++;
-    } else {
-      smartCruiseControlVisionFrame = 0;
+    // Smart Cruise Control - Map
+    bool scc_map_active_pulse = pulseElement(smartCruiseControlMapFrame);
+    if ((smartCruiseControlMapEnabled && !smartCruiseControlMapActive) || (smartCruiseControlMapActive && scc_map_active_pulse)) {
+      drawSmartCruiseControlOnroadIcon(p, surface_rect, x_offset, y_scc_m, "SCC-M");
     }
+    smartCruiseControlMapFrame = smartCruiseControlMapActive ? (smartCruiseControlMapFrame + 1) : 0;
 
     // Bottom Dev UI
     if (devUiInfo == 2) {
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index bae1c3b7189c96..1e153f1548aaf2 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -69,6 +69,9 @@ class HudRendererSP : public HudRenderer {
   bool smartCruiseControlVisionEnabled;
   bool smartCruiseControlVisionActive;
   int smartCruiseControlVisionFrame;
+  bool smartCruiseControlMapEnabled;
+  bool smartCruiseControlMapActive;
+  int smartCruiseControlMapFrame;
   float speedLimit;
   float speedLimitLast;
   float speedLimitOffset;
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index 3e4dbd9ab2b7dc..af5f5dbd7d71c4 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -46,7 +46,8 @@ def update_targets(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_
 
     targets = {
       Source.cruise: (v_cruise, a_ego),
-      Source.sccVision: (self.scc.vision.output_v_target, self.scc.vision.output_a_target)
+      Source.sccVision: (self.scc.vision.output_v_target, self.scc.vision.output_a_target),
+      Source.sccMap: (self.scc.map.output_v_target, self.scc.map.output_a_target),
     }
 
     self.source = min(targets, key=lambda k: targets[k][0])
@@ -74,7 +75,7 @@ def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.Pu
 
     # Smart Cruise Control
     smartCruiseControl = longitudinalPlanSP.smartCruiseControl
-    # Vision Turn Speed Control
+    # Vision Control
     sccVision = smartCruiseControl.vision
     sccVision.state = self.scc.vision.state
     sccVision.vTarget = float(self.scc.vision.output_v_target)
@@ -83,6 +84,13 @@ def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.Pu
     sccVision.maxPredictedLateralAccel = float(self.scc.vision.max_pred_lat_acc)
     sccVision.enabled = self.scc.vision.is_enabled
     sccVision.active = self.scc.vision.is_active
+    # Map Control
+    sccMap = smartCruiseControl.map
+    sccMap.state = self.scc.map.state
+    sccMap.vTarget = float(self.scc.map.output_v_target)
+    sccMap.aTarget = float(self.scc.map.output_a_target)
+    sccMap.enabled = self.scc.map.is_enabled
+    sccMap.active = self.scc.map.is_active
 
     # Speed Limit
     speedLimit = longitudinalPlanSP.speedLimit
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/__init__.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/__init__.py
index e69de29bb2d1d6..271f49dcc23c31 100644
--- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/__init__.py
+++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/__init__.py
@@ -0,0 +1,9 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.constants import CV
+
+MIN_V = 20 * CV.KPH_TO_MS  # Do not operate under 20 km/h
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py
new file mode 100644
index 00000000000000..cd45870ef69fe5
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py
@@ -0,0 +1,261 @@
+import json
+import math
+import platform
+
+from cereal import custom
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot.navd.helpers import coordinate_from_param, Coordinate
+from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control import MIN_V
+
+MapState = VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.MapState
+
+ACTIVE_STATES = (MapState.turning, MapState.overriding)
+ENABLED_STATES = (MapState.enabled, *ACTIVE_STATES)
+
+R = 6373000.0  # approximate radius of earth in meters
+TO_RADIANS = math.pi / 180
+TO_DEGREES = 180 / math.pi
+TARGET_JERK = -0.6  # m/s^3 There's some jounce limits that are not consistent so we're fudging this some
+TARGET_ACCEL = -1.2  # m/s^2 should match up with the long planner limit
+TARGET_OFFSET = 1.0  # seconds - This controls how soon before the curve you reach the target velocity. It also helps
+                     # reach the target velocity when inaccuracies in the distance modeling logic would cause overshoot.
+                     # The value is multiplied against the target velocity to determine the additional distance. This is
+                     # done to keep the distance calculations consistent but results in the offset actually being less
+                     # time than specified depending on how much of a speed differential there is between v_ego and the
+                     # target velocity.
+
+
+def velocities_from_param(param: str, params: Params):
+  if params is None:
+    params = Params()
+
+  json_str = params.get(param)
+  if json_str is None:
+    return None
+
+  velocities = json.loads(json_str)
+
+  return velocities
+
+
+def calculate_accel(t, target_jerk, a_ego):
+  return a_ego + target_jerk * t
+
+
+def calculate_velocity(t, target_jerk, a_ego, v_ego):
+  return v_ego + a_ego * t + target_jerk/2 * (t ** 2)
+
+
+def calculate_distance(t, target_jerk, a_ego, v_ego):
+  return t * v_ego + a_ego/2 * (t ** 2) + target_jerk/6 * (t ** 3)
+
+
+# points should be in radians
+# output is meters
+def distance_to_point(ax, ay, bx, by):
+  a = math.sin((bx-ax)/2)*math.sin((bx-ax)/2) + math.cos(ax) * math.cos(bx)*math.sin((by-ay)/2)*math.sin((by-ay)/2)
+  c = 2 * math.atan2(math.sqrt(a), math.sqrt(1-a))
+
+  return R * c  # in meters
+
+
+class SmartCruiseControlMap:
+  v_target: float = 0
+  a_target: float = 0.
+  v_ego: float = 0.
+  a_ego: float = 0.
+  output_v_target: float = V_CRUISE_UNSET
+  output_a_target: float = 0.
+
+  def __init__(self):
+    self.params = Params()
+    self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
+    self.enabled = self.params.get_bool("SmartCruiseControlMap")
+    self.long_enabled = False
+    self.long_override = False
+    self.is_enabled = False
+    self.is_active = False
+    self.state = MapState.disabled
+    self.v_cruise = 0
+    self.target_lat = 0.0
+    self.target_lon = 0.0
+    self.frame = -1
+
+    self.last_position = coordinate_from_param("LastGPSPosition", self.mem_params) or Coordinate(0.0, 0.0)
+    self.target_velocities = velocities_from_param("MapTargetVelocities", self.mem_params) or []
+
+  def get_v_target_from_control(self) -> float:
+    if self.is_active:
+      return max(self.v_target, MIN_V)
+
+    return V_CRUISE_UNSET
+
+  def get_a_target_from_control(self) -> float:
+    return self.a_ego
+
+  def update_params(self):
+    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
+      self.enabled = self.params.get_bool("SmartCruiseControlMap")
+
+  def update_calculations(self) -> None:
+    self.last_position = coordinate_from_param("LastGPSPosition", self.mem_params) or Coordinate(0.0, 0.0)
+    lat = self.last_position.latitude
+    lon = self.last_position.longitude
+
+    self.target_velocities = velocities_from_param("MapTargetVelocities", self.mem_params) or []
+
+    if self.last_position is None or self.target_velocities is None:
+      return
+
+    min_dist = 1000
+    min_idx = 0
+    distances = []
+
+    # find our location in the path
+    for i in range(len(self.target_velocities)):
+      target_velocity = self.target_velocities[i]
+      tlat = target_velocity["latitude"]
+      tlon = target_velocity["longitude"]
+      d = distance_to_point(lat * TO_RADIANS, lon * TO_RADIANS, tlat * TO_RADIANS, tlon * TO_RADIANS)
+      distances.append(d)
+      if d < min_dist:
+        min_dist = d
+        min_idx = i
+
+    # only look at values from our current position forward
+    forward_points = self.target_velocities[min_idx:]
+    forward_distances = distances[min_idx:]
+
+    # find velocities that we are within the distance we need to adjust for
+    valid_velocities = []
+    for i in range(len(forward_points)):
+      target_velocity = forward_points[i]
+      tlat = target_velocity["latitude"]
+      tlon = target_velocity["longitude"]
+      tv = target_velocity["velocity"]
+      if tv > self.v_ego:
+        continue
+
+      d = forward_distances[i]
+
+      a_diff = (self.a_ego - TARGET_ACCEL)
+      accel_t = abs(a_diff / TARGET_JERK)
+      min_accel_v = calculate_velocity(accel_t, TARGET_JERK, self.a_ego, self.v_ego)
+
+      max_d = 0
+      if tv > min_accel_v:
+        # calculate time needed based on target jerk
+        a = 0.5 * TARGET_JERK
+        b = self.a_ego
+        c = self.v_ego - tv
+        t_a = -1 * ((b**2 - 4 * a * c) ** 0.5 + b) / 2 * a
+        t_b = ((b**2 - 4 * a * c) ** 0.5 - b) / 2 * a
+        if not isinstance(t_a, complex) and t_a > 0:
+          t = t_a
+        else:
+          t = t_b
+        if isinstance(t, complex):
+          continue
+
+        max_d = max_d + calculate_distance(t, TARGET_JERK, self.a_ego, self.v_ego)
+      else:
+        t = accel_t
+        max_d = calculate_distance(t, TARGET_JERK, self.a_ego, self.v_ego)
+
+        # calculate additional time needed based on target accel
+        t = abs((min_accel_v - tv) / TARGET_ACCEL)
+        max_d += calculate_distance(t, 0, TARGET_ACCEL, min_accel_v)
+
+      if d < max_d + tv * TARGET_OFFSET:
+        valid_velocities.append((float(tv), tlat, tlon))
+
+    # Find the smallest velocity we need to adjust for
+    min_v = 100.0
+    target_lat = 0.0
+    target_lon = 0.0
+    for tv, lat, lon in valid_velocities:
+      if tv < min_v:
+        min_v = tv
+        target_lat = lat
+        target_lon = lon
+
+    if self.v_target < min_v and not (self.target_lat == 0 and self.target_lon == 0):
+      for i in range(len(forward_points)):
+        target_velocity = forward_points[i]
+        tlat = target_velocity["latitude"]
+        tlon = target_velocity["longitude"]
+        tv = target_velocity["velocity"]
+        if tv > self.v_ego:
+          continue
+
+        if tlat == self.target_lat and tlon == self.target_lon and tv == self.v_target:
+          return
+
+      # not found so let's reset
+      self.v_target = 0.0
+      self.target_lat = 0.0
+      self.target_lon = 0.0
+
+    self.v_target = min_v
+    self.target_lat = target_lat
+    self.target_lon = target_lon
+
+  def _update_state_machine(self) -> tuple[bool, bool]:
+    # ENABLED, TURNING
+    if self.state != MapState.disabled:
+      if not self.long_enabled or not self.enabled:
+        self.state = MapState.disabled
+      elif self.long_override:
+        self.state = MapState.overriding
+
+      else:
+        # ENABLED
+        if self.state == MapState.enabled:
+          if self.v_cruise > self.v_target != 0:
+            self.state = MapState.turning
+
+        # TURNING
+        elif self.state == MapState.turning:
+          if self.v_cruise <= self.v_target or self.v_target == 0:
+            self.state = MapState.enabled
+
+        # OVERRIDING
+        elif self.state == MapState.overriding:
+          if not self.long_override:
+            if self.v_cruise > self.v_target != 0:
+              self.state = MapState.turning
+            else:
+              self.state = MapState.enabled
+
+    # DISABLED
+    elif self.state == MapState.disabled:
+      if self.long_enabled and self.enabled:
+        if self.long_override:
+          self.state = MapState.overriding
+        else:
+          self.state = MapState.enabled
+
+    enabled = self.state in ENABLED_STATES
+    active = self.state in ACTIVE_STATES
+
+    return enabled, active
+
+  def update(self, long_enabled: bool, long_override: bool, v_ego, a_ego, v_cruise) -> None:
+    self.long_enabled = long_enabled
+    self.long_override = long_override
+    self.v_ego = v_ego
+    self.a_ego = a_ego
+    self.v_cruise = v_cruise
+
+    self.update_params()
+    self.update_calculations()
+
+    self.is_enabled, self.is_active = self._update_state_machine()
+
+    self.output_v_target = self.get_v_target_from_control()
+    self.output_a_target = self.get_a_target_from_control()
+
+    self.frame += 1
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
index c66c2c392a8d8c..0f60621658e1e8 100644
--- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
+++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
@@ -6,14 +6,17 @@
 """
 import cereal.messaging as messaging
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.vision_controller import SmartCruiseControlVision
+from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.map_controller import SmartCruiseControlMap
 
 
 class SmartCruiseControl:
   def __init__(self):
     self.vision = SmartCruiseControlVision()
+    self.map = SmartCruiseControlMap()
 
   def update(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> None:
     long_enabled = sm['carControl'].enabled
     long_override = sm['carControl'].cruiseControl.override
 
+    self.map.update(long_enabled, long_override, v_ego, a_ego, v_cruise)
     self.vision.update(sm, long_enabled, long_override, v_ego, a_ego, v_cruise)
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
new file mode 100644
index 00000000000000..537f0033f05528
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
@@ -0,0 +1,58 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import platform
+
+from cereal import custom
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
+from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.map_controller import SmartCruiseControlMap
+
+MapState = VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.MapState
+
+
+class TestSmartCruiseControlMap:
+
+  def setup_method(self):
+    self.params = Params()
+    self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
+    self.reset_params()
+    self.scc_m = SmartCruiseControlMap()
+
+  def reset_params(self):
+    self.params.put_bool("SmartCruiseControlMap", True)
+
+    # TODO-SP: mock data from gpsLocation
+    self.params.put("LastGPSPosition", "{}")
+    self.params.put("MapTargetVelocities", "{}")
+
+  def test_initial_state(self):
+    assert self.scc_m.state == VisionState.disabled
+    assert not self.scc_m.is_active
+    assert self.scc_m.output_v_target == V_CRUISE_UNSET
+    assert self.scc_m.output_a_target == 0.
+
+  def test_system_disabled(self):
+    self.params.put_bool("SmartCruiseControlMap", False)
+    self.scc_m.enabled = self.params.get_bool("SmartCruiseControlMap")
+
+    for _ in range(int(10. / DT_MDL)):
+      self.scc_m.update(True, False, 0., 0., 0.)
+    assert self.scc_m.state == VisionState.disabled
+    assert not self.scc_m.is_active
+
+  def test_disabled(self):
+    for _ in range(int(10. / DT_MDL)):
+      self.scc_m.update(False, False, 0., 0., 0.)
+    assert self.scc_m.state == VisionState.disabled
+
+  def test_transition_disabled_to_enabled(self):
+    for _ in range(int(10. / DT_MDL)):
+      self.scc_m.update(True, False, 0., 0., 0.)
+    assert self.scc_m.state == VisionState.enabled
+
+  # TODO-SP: mock data from modelV2 to test other states
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
index 491b1790392c85..d144178e939c32 100644
--- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
+++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
@@ -8,19 +8,17 @@
 
 import cereal.messaging as messaging
 from cereal import custom
-from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control import MIN_V
 
 VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.VisionState
 
 ACTIVE_STATES = (VisionState.entering, VisionState.turning, VisionState.leaving)
 ENABLED_STATES = (VisionState.enabled, VisionState.overriding, *ACTIVE_STATES)
 
-_MIN_V = 20 * CV.KPH_TO_MS  # Do not operate under 20 km/h
-
 _ENTERING_PRED_LAT_ACC_TH = 1.3  # Predicted Lat Acc threshold to trigger entering turn state.
 _ABORT_ENTERING_PRED_LAT_ACC_TH = 1.1  # Predicted Lat Acc threshold to abort entering state if speed drops.
 
@@ -73,7 +71,7 @@ def get_a_target_from_control(self) -> float:
 
   def get_v_target_from_control(self) -> float:
     if self.is_active:
-      return max(self.v_target, _MIN_V) + self.a_target * _NO_OVERSHOOT_TIME_HORIZON
+      return max(self.v_target, MIN_V) + self.a_target * _NO_OVERSHOOT_TIME_HORIZON
 
     return V_CRUISE_UNSET
 
@@ -114,7 +112,7 @@ def _update_state_machine(self) -> tuple[bool, bool]:
         # ENABLED
         if self.state == VisionState.enabled:
           # Do not enter a turn control cycle if the speed is low.
-          if self.v_ego <= _MIN_V:
+          if self.v_ego <= MIN_V:
             pass
           # If significant lateral acceleration is predicted ahead, then move to Entering turn state.
           elif self.max_pred_lat_acc >= _ENTERING_PRED_LAT_ACC_TH:

From ecee67dd64b04eb06b32f6b9abae37afe63f8b99 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 22 Sep 2025 23:39:55 -0400
Subject: [PATCH 0448/1434] Locationd: reimplement `liveLocationKalman` and use
 position_geodetic in `liveMapDataSP` (#1275)

* init

* desc

* llk welcome back

* more

* new param to write

* update mapd

* no migration

* no refactor for now

* exec

* rename

* bearing

* fix test

* lint
---
 cereal/log.capnp                              |   2 +-
 cereal/services.py                            |   1 +
 common/params_keys.h                          |   1 +
 selfdrive/test/process_replay/migration.py    |   6 +-
 .../test/process_replay/process_replay.py     |   2 +-
 sunnypilot/SConscript                         |   3 +-
 .../mapd/live_map_data/base_map_data.py       |  13 +-
 sunnypilot/mapd/live_map_data/osm_map_data.py |  19 +-
 sunnypilot/selfdrive/locationd/.gitignore     |   3 +
 sunnypilot/selfdrive/locationd/SConscript     |  37 +
 sunnypilot/selfdrive/locationd/__init__.py    |   0
 sunnypilot/selfdrive/locationd/locationd.cc   | 750 ++++++++++++++++++
 sunnypilot/selfdrive/locationd/locationd.h    | 100 +++
 .../selfdrive/locationd/models/.gitignore     |   1 +
 .../selfdrive/locationd/models/__init__.py    |   0
 .../selfdrive/locationd/models/car_kf.py      | 180 +++++
 .../selfdrive/locationd/models/constants.py   |  92 +++
 .../selfdrive/locationd/models/live_kf.cc     | 122 +++
 .../selfdrive/locationd/models/live_kf.h      |  66 ++
 .../selfdrive/locationd/models/live_kf.py     | 242 ++++++
 .../selfdrive/locationd/tests/.gitignore      |   1 +
 .../selfdrive/locationd/tests/__init__.py     |   0
 .../locationd/tests/test_locationd.py         |  89 +++
 sunnypilot/system/sensord/.gitignore          |   1 +
 sunnypilot/system/sensord/SConscript          |  13 +
 .../system/sensord/sensors/bmx055_accel.cc    |  85 ++
 .../system/sensord/sensors/bmx055_accel.h     |  41 +
 .../system/sensord/sensors/bmx055_gyro.cc     |  92 +++
 .../system/sensord/sensors/bmx055_gyro.h      |  41 +
 .../system/sensord/sensors/bmx055_magn.cc     | 258 ++++++
 .../system/sensord/sensors/bmx055_magn.h      |  64 ++
 .../system/sensord/sensors/bmx055_temp.cc     |  31 +
 .../system/sensord/sensors/bmx055_temp.h      |  13 +
 sunnypilot/system/sensord/sensors/constants.h |  18 +
 .../system/sensord/sensors/i2c_sensor.cc      |  50 ++
 .../system/sensord/sensors/i2c_sensor.h       |  51 ++
 .../system/sensord/sensors/lsm6ds3_accel.cc   | 250 ++++++
 .../system/sensord/sensors/lsm6ds3_accel.h    |  49 ++
 .../system/sensord/sensors/lsm6ds3_gyro.cc    | 233 ++++++
 .../system/sensord/sensors/lsm6ds3_gyro.h     |  45 ++
 .../system/sensord/sensors/lsm6ds3_temp.cc    |  37 +
 .../system/sensord/sensors/lsm6ds3_temp.h     |  26 +
 .../system/sensord/sensors/mmc5603nj_magn.cc  | 108 +++
 .../system/sensord/sensors/mmc5603nj_magn.h   |  37 +
 sunnypilot/system/sensord/sensors/sensor.h    |  24 +
 sunnypilot/system/sensord/sensors_qcom2.cc    | 179 +++++
 .../system/sensord/tests/test_sensord.py      | 251 ++++++
 sunnypilot/system/sensord/tests/ttff_test.py  |  48 ++
 system/manager/process_config.py              |   3 +
 49 files changed, 3755 insertions(+), 23 deletions(-)
 create mode 100644 sunnypilot/selfdrive/locationd/.gitignore
 create mode 100644 sunnypilot/selfdrive/locationd/SConscript
 create mode 100644 sunnypilot/selfdrive/locationd/__init__.py
 create mode 100644 sunnypilot/selfdrive/locationd/locationd.cc
 create mode 100644 sunnypilot/selfdrive/locationd/locationd.h
 create mode 100644 sunnypilot/selfdrive/locationd/models/.gitignore
 create mode 100644 sunnypilot/selfdrive/locationd/models/__init__.py
 create mode 100755 sunnypilot/selfdrive/locationd/models/car_kf.py
 create mode 100644 sunnypilot/selfdrive/locationd/models/constants.py
 create mode 100644 sunnypilot/selfdrive/locationd/models/live_kf.cc
 create mode 100644 sunnypilot/selfdrive/locationd/models/live_kf.h
 create mode 100755 sunnypilot/selfdrive/locationd/models/live_kf.py
 create mode 100644 sunnypilot/selfdrive/locationd/tests/.gitignore
 create mode 100644 sunnypilot/selfdrive/locationd/tests/__init__.py
 create mode 100644 sunnypilot/selfdrive/locationd/tests/test_locationd.py
 create mode 100644 sunnypilot/system/sensord/.gitignore
 create mode 100644 sunnypilot/system/sensord/SConscript
 create mode 100644 sunnypilot/system/sensord/sensors/bmx055_accel.cc
 create mode 100644 sunnypilot/system/sensord/sensors/bmx055_accel.h
 create mode 100644 sunnypilot/system/sensord/sensors/bmx055_gyro.cc
 create mode 100644 sunnypilot/system/sensord/sensors/bmx055_gyro.h
 create mode 100644 sunnypilot/system/sensord/sensors/bmx055_magn.cc
 create mode 100644 sunnypilot/system/sensord/sensors/bmx055_magn.h
 create mode 100644 sunnypilot/system/sensord/sensors/bmx055_temp.cc
 create mode 100644 sunnypilot/system/sensord/sensors/bmx055_temp.h
 create mode 100644 sunnypilot/system/sensord/sensors/constants.h
 create mode 100644 sunnypilot/system/sensord/sensors/i2c_sensor.cc
 create mode 100644 sunnypilot/system/sensord/sensors/i2c_sensor.h
 create mode 100644 sunnypilot/system/sensord/sensors/lsm6ds3_accel.cc
 create mode 100644 sunnypilot/system/sensord/sensors/lsm6ds3_accel.h
 create mode 100644 sunnypilot/system/sensord/sensors/lsm6ds3_gyro.cc
 create mode 100644 sunnypilot/system/sensord/sensors/lsm6ds3_gyro.h
 create mode 100644 sunnypilot/system/sensord/sensors/lsm6ds3_temp.cc
 create mode 100644 sunnypilot/system/sensord/sensors/lsm6ds3_temp.h
 create mode 100644 sunnypilot/system/sensord/sensors/mmc5603nj_magn.cc
 create mode 100644 sunnypilot/system/sensord/sensors/mmc5603nj_magn.h
 create mode 100644 sunnypilot/system/sensord/sensors/sensor.h
 create mode 100644 sunnypilot/system/sensord/sensors_qcom2.cc
 create mode 100644 sunnypilot/system/sensord/tests/test_sensord.py
 create mode 100755 sunnypilot/system/sensord/tests/ttff_test.py

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 7babd4d8b52371..8925bca8ae5049 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2684,7 +2684,7 @@ struct Event {
     lateralPlanDEPRECATED @64 :LateralPlan;
     navModelDEPRECATED @104 :NavModelData;
     uiPlanDEPRECATED @106 :UiPlan;
-    liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
+    liveLocationKalman @72 :LiveLocationKalman;
     liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
     onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
   }
diff --git a/cereal/services.py b/cereal/services.py
index 17ac2e926deb3c..67548bc79edf15 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -89,6 +89,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "carStateSP": (True, 100., 10),
   "liveMapDataSP": (True, 1., 1),
   "modelDataV2SP": (True, 20.),
+  "liveLocationKalman": (True, 20.),
 
   # debug
   "uiDebug": (True, 0., 1),
diff --git a/common/params_keys.h b/common/params_keys.h
index 3faae9ce14aea5..5ba6b53108ad6e 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -152,6 +152,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"LastGPSPositionLLK", {PERSISTENT, STRING}},
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
     {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 33b363cfd9496c..74507197b6b22b 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -28,7 +28,8 @@
 # 3. product is the message type created by the migration function, and the function will be skipped if product type already exists in lr
 # 4. it must return a list of operations to be applied to the logreader (replace, add, delete)
 # 5. all migration functions must be independent of each other
-def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False):
+def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False,
+                live_location_kalman: bool = True):
   migrations = [
     migrate_sensorEvents,
     migrate_carParams,
@@ -37,7 +38,6 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
     migrate_carOutput,
     migrate_controlsState,
     migrate_carState,
-    migrate_liveLocationKalman,
     migrate_liveTracks,
     migrate_driverAssistance,
     migrate_drivingModelData,
@@ -51,6 +51,8 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
     migrations.extend([migrate_pandaStates, migrate_peripheralState])
   if camera_states:
     migrations.append(migrate_cameraStates)
+  if live_location_kalman:
+    migrations.append(migrate_liveLocationKalman)
 
   return migrate(lr, migrations)
 
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 895204538ff405..9b6371dbb992d6 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -496,7 +496,7 @@ def selfdrived_config_callback(params, cfg, lr):
     pubs=[
       "cameraOdometry", "accelerometer", "gyroscope", "liveCalibration", "carState"
     ],
-    subs=["livePose"],
+    subs=["liveLocationKalman", "livePose"],
     ignore=["logMonoTime"],
     should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
     tolerance=NUMPY_TOLERANCE,
diff --git a/sunnypilot/SConscript b/sunnypilot/SConscript
index 3aa302b92b0dda..6b3856cb34d0f9 100644
--- a/sunnypilot/SConscript
+++ b/sunnypilot/SConscript
@@ -1,2 +1,3 @@
 SConscript(['modeld/SConscript'])
-SConscript(['modeld_v2/SConscript'])
\ No newline at end of file
+SConscript(['modeld_v2/SConscript'])
+SConscript(['selfdrive/locationd/SConscript'])
\ No newline at end of file
diff --git a/sunnypilot/mapd/live_map_data/base_map_data.py b/sunnypilot/mapd/live_map_data/base_map_data.py
index f386eab96bd0e8..25925937f56e81 100644
--- a/sunnypilot/mapd/live_map_data/base_map_data.py
+++ b/sunnypilot/mapd/live_map_data/base_map_data.py
@@ -6,8 +6,7 @@
 """
 from abc import abstractmethod, ABC
 
-from cereal import messaging
-from openpilot.common.gps import get_gps_location_service
+import cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.sunnypilot.navd.helpers import coordinate_from_param
 
@@ -16,14 +15,12 @@ class BaseMapData(ABC):
   def __init__(self):
     self.params = Params()
 
-    self.gps_location_service = get_gps_location_service(self.params)
-    gps_packets = [self.gps_location_service]
-    self.sm = messaging.SubMaster(['livePose'] + gps_packets, ignore_alive=gps_packets, ignore_avg_freq=gps_packets,
-                                  ignore_valid=gps_packets, poll='livePose')
+    self.sm = messaging.SubMaster(['liveLocationKalman'])
     self.pm = messaging.PubMaster(['liveMapDataSP'])
 
+    self.localizer_valid = False
     self.last_bearing = None
-    self.last_position = coordinate_from_param("LastGPSPosition", self.params)
+    self.last_position = coordinate_from_param("LastGPSPositionLLK", self.params)
 
   @abstractmethod
   def update_location(self) -> None:
@@ -46,7 +43,7 @@ def publish(self) -> None:
     next_speed_limit, next_speed_limit_distance = self.get_next_speed_limit_and_distance()
 
     mapd_sp_send = messaging.new_message('liveMapDataSP')
-    mapd_sp_send.valid = self.sm.all_checks(['livePose'])
+    mapd_sp_send.valid = self.sm['liveLocationKalman'].gpsOK
     live_map_data = mapd_sp_send.liveMapDataSP
 
     live_map_data.speedLimitValid = bool(speed_limit > 0)
diff --git a/sunnypilot/mapd/live_map_data/osm_map_data.py b/sunnypilot/mapd/live_map_data/osm_map_data.py
index c5187a8e0426d7..0662e2d589d760 100644
--- a/sunnypilot/mapd/live_map_data/osm_map_data.py
+++ b/sunnypilot/mapd/live_map_data/osm_map_data.py
@@ -8,8 +8,8 @@
 import math
 import platform
 
+from cereal import log
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.mapd.live_map_data.base_map_data import BaseMapData
 from openpilot.sunnypilot.navd.helpers import Coordinate
 
@@ -20,15 +20,12 @@ def __init__(self):
     self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
 
   def update_location(self) -> None:
-    gps = self.sm[self.gps_location_service]
-    gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_MDL < 2.0
+    location = self.sm['liveLocationKalman']
+    self.localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
 
-    if gps_ok:
-      self.last_bearing = gps.bearingDeg * 180/math.pi
-      self.last_position = Coordinate(gps.latitude, gps.longitude)
-
-    if not gps_ok and self.sm['livePose'].inputsOK:
-      return
+    if self.localizer_valid:
+      self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
+      self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
 
     if self.last_position is None:
       return
@@ -36,9 +33,11 @@ def update_location(self) -> None:
     params = {
       "latitude": self.last_position.latitude,
       "longitude": self.last_position.longitude,
-      "bearing": self.last_bearing,
     }
 
+    if self.last_bearing is not None:
+      params['bearing'] = self.last_bearing
+
     self.mem_params.put("LastGPSPosition", json.dumps(params))
 
   def get_current_speed_limit(self) -> float:
diff --git a/sunnypilot/selfdrive/locationd/.gitignore b/sunnypilot/selfdrive/locationd/.gitignore
new file mode 100644
index 00000000000000..11b9f127b2753f
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/.gitignore
@@ -0,0 +1,3 @@
+params_learner
+paramsd
+locationd
diff --git a/sunnypilot/selfdrive/locationd/SConscript b/sunnypilot/selfdrive/locationd/SConscript
new file mode 100644
index 00000000000000..27cd4d5b40bcae
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/SConscript
@@ -0,0 +1,37 @@
+Import('env', 'arch', 'common', 'messaging', 'rednose', 'transformations')
+
+loc_libs = [messaging, common, 'pthread', 'dl']
+
+# build ekf models
+rednose_gen_dir = 'models/generated'
+rednose_gen_deps = [
+  "models/constants.py",
+]
+live_ekf = env.RednoseCompileFilter(
+  target='live',
+  filter_gen_script='models/live_kf.py',
+  output_dir=rednose_gen_dir,
+  extra_gen_artifacts=['live_kf_constants.h'],
+  gen_script_deps=rednose_gen_deps,
+)
+car_ekf = env.RednoseCompileFilter(
+  target='car',
+  filter_gen_script='models/car_kf.py',
+  output_dir=rednose_gen_dir,
+  extra_gen_artifacts=[],
+  gen_script_deps=rednose_gen_deps,
+)
+
+# locationd build
+locationd_sources = ["locationd.cc", "models/live_kf.cc"]
+
+lenv = env.Clone()
+# ekf filter libraries need to be linked, even if no symbols are used
+if arch != "Darwin":
+  lenv["LINKFLAGS"] += ["-Wl,--no-as-needed"]
+
+lenv["LIBPATH"].append(Dir(rednose_gen_dir).abspath)
+lenv["RPATH"].append(Dir(rednose_gen_dir).abspath)
+locationd = lenv.Program("locationd", locationd_sources, LIBS=["live", "ekf_sym"] + loc_libs + transformations)
+lenv.Depends(locationd, rednose)
+lenv.Depends(locationd, live_ekf)
diff --git a/sunnypilot/selfdrive/locationd/__init__.py b/sunnypilot/selfdrive/locationd/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/locationd/locationd.cc b/sunnypilot/selfdrive/locationd/locationd.cc
new file mode 100644
index 00000000000000..c42ab13f25e506
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/locationd.cc
@@ -0,0 +1,750 @@
+#include "sunnypilot/selfdrive/locationd/locationd.h"
+
+#include <sys/time.h>
+#include <sys/resource.h>
+
+#include <algorithm>
+#include <cmath>
+#include <vector>
+
+using namespace EKFS;
+using namespace Eigen;
+
+ExitHandler do_exit;
+const double ACCEL_SANITY_CHECK = 100.0;  // m/s^2
+const double ROTATION_SANITY_CHECK = 10.0;  // rad/s
+const double TRANS_SANITY_CHECK = 200.0;  // m/s
+const double CALIB_RPY_SANITY_CHECK = 0.5; // rad (+- 30 deg)
+const double ALTITUDE_SANITY_CHECK = 10000; // m
+const double MIN_STD_SANITY_CHECK = 1e-5; // m or rad
+const double VALID_TIME_SINCE_RESET = 1.0; // s
+const double VALID_POS_STD = 50.0; // m
+const double MAX_RESET_TRACKER = 5.0;
+const double SANE_GPS_UNCERTAINTY = 1500.0; // m
+const double INPUT_INVALID_THRESHOLD = 0.5; // same as reset tracker
+const double RESET_TRACKER_DECAY = 0.99995;
+const double DECAY = 0.9993; // ~10 secs to resume after a bad input
+const double MAX_FILTER_REWIND_TIME = 0.8; // s
+const double YAWRATE_CROSS_ERR_CHECK_FACTOR = 30;
+
+// TODO: GPS sensor time offsets are empirically calculated
+// They should be replaced with synced time from a real clock
+const double GPS_QUECTEL_SENSOR_TIME_OFFSET = 0.630; // s
+const double GPS_UBLOX_SENSOR_TIME_OFFSET = 0.095; // s
+const float  GPS_POS_STD_THRESHOLD = 50.0;
+const float  GPS_VEL_STD_THRESHOLD = 5.0;
+const float  GPS_POS_ERROR_RESET_THRESHOLD = 300.0;
+const float  GPS_POS_STD_RESET_THRESHOLD = 2.0;
+const float  GPS_VEL_STD_RESET_THRESHOLD = 0.5;
+const float  GPS_ORIENTATION_ERROR_RESET_THRESHOLD = 1.0;
+const int    GPS_ORIENTATION_ERROR_RESET_CNT = 3;
+
+const bool   DEBUG = getenv("DEBUG") != nullptr && std::string(getenv("DEBUG")) != "0";
+
+static VectorXd floatlist2vector(const capnp::List<float, capnp::Kind::PRIMITIVE>::Reader& floatlist) {
+  VectorXd res(floatlist.size());
+  for (int i = 0; i < floatlist.size(); i++) {
+    res[i] = floatlist[i];
+  }
+  return res;
+}
+
+static Vector4d quat2vector(const Quaterniond& quat) {
+  return Vector4d(quat.w(), quat.x(), quat.y(), quat.z());
+}
+
+static Quaterniond vector2quat(const VectorXd& vec) {
+  return Quaterniond(vec(0), vec(1), vec(2), vec(3));
+}
+
+static void init_measurement(cereal::LiveLocationKalman::Measurement::Builder meas, const VectorXd& val, const VectorXd& std, bool valid) {
+  meas.setValue(kj::arrayPtr(val.data(), val.size()));
+  meas.setStd(kj::arrayPtr(std.data(), std.size()));
+  meas.setValid(valid);
+}
+
+
+static MatrixXdr rotate_cov(const MatrixXdr& rot_matrix, const MatrixXdr& cov_in) {
+  // To rotate a covariance matrix, the cov matrix needs to multiplied left and right by the transform matrix
+  return ((rot_matrix *  cov_in) * rot_matrix.transpose());
+}
+
+static VectorXd rotate_std(const MatrixXdr& rot_matrix, const VectorXd& std_in) {
+  // Stds cannot be rotated like values, only covariances can be rotated
+  return rotate_cov(rot_matrix, std_in.array().square().matrix().asDiagonal()).diagonal().array().sqrt();
+}
+
+Localizer::Localizer(LocalizerGnssSource gnss_source) {
+  this->kf = std::make_unique<LiveKalman>();
+  this->reset_kalman();
+
+  this->calib = Vector3d(0.0, 0.0, 0.0);
+  this->device_from_calib = MatrixXdr::Identity(3, 3);
+  this->calib_from_device = MatrixXdr::Identity(3, 3);
+
+  for (int i = 0; i < POSENET_STD_HIST_HALF * 2; i++) {
+    this->posenet_stds.push_back(10.0);
+  }
+
+  VectorXd ecef_pos = this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START);
+  this->converter = std::make_unique<LocalCoord>((ECEF) { .x = ecef_pos[0], .y = ecef_pos[1], .z = ecef_pos[2] });
+  this->configure_gnss_source(gnss_source);
+}
+
+void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) {
+  VectorXd predicted_state = this->kf->get_x();
+  MatrixXdr predicted_cov = this->kf->get_P();
+  VectorXd predicted_std = predicted_cov.diagonal().array().sqrt();
+
+  VectorXd fix_ecef = predicted_state.segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START);
+  ECEF fix_ecef_ecef = { .x = fix_ecef(0), .y = fix_ecef(1), .z = fix_ecef(2) };
+  VectorXd fix_ecef_std = predicted_std.segment<STATE_ECEF_POS_ERR_LEN>(STATE_ECEF_POS_ERR_START);
+  VectorXd vel_ecef = predicted_state.segment<STATE_ECEF_VELOCITY_LEN>(STATE_ECEF_VELOCITY_START);
+  VectorXd vel_ecef_std = predicted_std.segment<STATE_ECEF_VELOCITY_ERR_LEN>(STATE_ECEF_VELOCITY_ERR_START);
+  VectorXd fix_pos_geo_vec = this->get_position_geodetic();
+  VectorXd orientation_ecef = quat2euler(vector2quat(predicted_state.segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START)));
+  VectorXd orientation_ecef_std = predicted_std.segment<STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START);
+  MatrixXdr orientation_ecef_cov = predicted_cov.block<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_ORIENTATION_ERR_START);
+  MatrixXdr device_from_ecef = euler2rot(orientation_ecef).transpose();
+  VectorXd calibrated_orientation_ecef = rot2euler((this->calib_from_device * device_from_ecef).transpose());
+
+  VectorXd acc_calib = this->calib_from_device * predicted_state.segment<STATE_ACCELERATION_LEN>(STATE_ACCELERATION_START);
+  MatrixXdr acc_calib_cov = predicted_cov.block<STATE_ACCELERATION_ERR_LEN, STATE_ACCELERATION_ERR_LEN>(STATE_ACCELERATION_ERR_START, STATE_ACCELERATION_ERR_START);
+  VectorXd acc_calib_std = rotate_cov(this->calib_from_device, acc_calib_cov).diagonal().array().sqrt();
+  VectorXd ang_vel_calib = this->calib_from_device * predicted_state.segment<STATE_ANGULAR_VELOCITY_LEN>(STATE_ANGULAR_VELOCITY_START);
+
+  MatrixXdr vel_angular_cov = predicted_cov.block<STATE_ANGULAR_VELOCITY_ERR_LEN, STATE_ANGULAR_VELOCITY_ERR_LEN>(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START);
+  VectorXd ang_vel_calib_std = rotate_cov(this->calib_from_device, vel_angular_cov).diagonal().array().sqrt();
+
+  VectorXd vel_device = device_from_ecef * vel_ecef;
+  VectorXd device_from_ecef_eul = quat2euler(vector2quat(predicted_state.segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START))).transpose();
+  MatrixXdr condensed_cov(STATE_ECEF_ORIENTATION_ERR_LEN + STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN + STATE_ECEF_VELOCITY_ERR_LEN);
+  condensed_cov.topLeftCorner<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>() =
+    predicted_cov.block<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_ORIENTATION_ERR_START);
+  condensed_cov.topRightCorner<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>() =
+    predicted_cov.block<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_VELOCITY_ERR_START);
+  condensed_cov.bottomRightCorner<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>() =
+    predicted_cov.block<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>(STATE_ECEF_VELOCITY_ERR_START, STATE_ECEF_VELOCITY_ERR_START);
+  condensed_cov.bottomLeftCorner<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>() =
+    predicted_cov.block<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_VELOCITY_ERR_START, STATE_ECEF_ORIENTATION_ERR_START);
+  VectorXd H_input(device_from_ecef_eul.size() + vel_ecef.size());
+  H_input << device_from_ecef_eul, vel_ecef;
+  MatrixXdr HH = this->kf->H(H_input);
+  MatrixXdr vel_device_cov = (HH * condensed_cov) * HH.transpose();
+  VectorXd vel_device_std = vel_device_cov.diagonal().array().sqrt();
+
+  VectorXd vel_calib = this->calib_from_device * vel_device;
+  VectorXd vel_calib_std = rotate_cov(this->calib_from_device, vel_device_cov).diagonal().array().sqrt();
+
+  VectorXd orientation_ned = ned_euler_from_ecef(fix_ecef_ecef, orientation_ecef);
+  VectorXd orientation_ned_std = rotate_cov(this->converter->ecef2ned_matrix, orientation_ecef_cov).diagonal().array().sqrt();
+  VectorXd calibrated_orientation_ned = ned_euler_from_ecef(fix_ecef_ecef, calibrated_orientation_ecef);
+  VectorXd nextfix_ecef = fix_ecef + vel_ecef;
+  VectorXd ned_vel = this->converter->ecef2ned((ECEF) { .x = nextfix_ecef(0), .y = nextfix_ecef(1), .z = nextfix_ecef(2) }).to_vector() - converter->ecef2ned(fix_ecef_ecef).to_vector();
+
+  VectorXd accDevice = predicted_state.segment<STATE_ACCELERATION_LEN>(STATE_ACCELERATION_START);
+  VectorXd accDeviceErr = predicted_std.segment<STATE_ACCELERATION_ERR_LEN>(STATE_ACCELERATION_ERR_START);
+
+  VectorXd angVelocityDevice = predicted_state.segment<STATE_ANGULAR_VELOCITY_LEN>(STATE_ANGULAR_VELOCITY_START);
+  VectorXd angVelocityDeviceErr = predicted_std.segment<STATE_ANGULAR_VELOCITY_ERR_LEN>(STATE_ANGULAR_VELOCITY_ERR_START);
+
+  Vector3d nans = Vector3d(NAN, NAN, NAN);
+
+  // TODO fill in NED and Calibrated stds
+  // write measurements to msg
+  init_measurement(fix.initPositionGeodetic(), fix_pos_geo_vec, nans, this->gps_mode);
+  init_measurement(fix.initPositionECEF(), fix_ecef, fix_ecef_std, this->gps_mode);
+  init_measurement(fix.initVelocityECEF(), vel_ecef, vel_ecef_std, this->gps_mode);
+  init_measurement(fix.initVelocityNED(), ned_vel, nans, this->gps_mode);
+  init_measurement(fix.initVelocityDevice(), vel_device, vel_device_std, true);
+  init_measurement(fix.initAccelerationDevice(), accDevice, accDeviceErr, true);
+  init_measurement(fix.initOrientationECEF(), orientation_ecef, orientation_ecef_std, this->gps_mode);
+  init_measurement(fix.initCalibratedOrientationECEF(), calibrated_orientation_ecef, nans, this->calibrated && this->gps_mode);
+  init_measurement(fix.initOrientationNED(), orientation_ned, orientation_ned_std, this->gps_mode);
+  init_measurement(fix.initCalibratedOrientationNED(), calibrated_orientation_ned, nans, this->calibrated && this->gps_mode);
+  init_measurement(fix.initAngularVelocityDevice(), angVelocityDevice, angVelocityDeviceErr, true);
+  init_measurement(fix.initVelocityCalibrated(), vel_calib, vel_calib_std, this->calibrated);
+  init_measurement(fix.initAngularVelocityCalibrated(), ang_vel_calib, ang_vel_calib_std, this->calibrated);
+  init_measurement(fix.initAccelerationCalibrated(), acc_calib, acc_calib_std, this->calibrated);
+  if (DEBUG) {
+    init_measurement(fix.initFilterState(), predicted_state, predicted_std, true);
+  }
+
+  double old_mean = 0.0, new_mean = 0.0;
+  int i = 0;
+  for (double x : this->posenet_stds) {
+    if (i < POSENET_STD_HIST_HALF) {
+      old_mean += x;
+    } else {
+      new_mean += x;
+    }
+    i++;
+  }
+  old_mean /= POSENET_STD_HIST_HALF;
+  new_mean /= POSENET_STD_HIST_HALF;
+  // experimentally found these values, no false positives in 20k minutes of driving
+  bool std_spike = (new_mean / old_mean > 4.0 && new_mean > 7.0);
+
+  fix.setPosenetOK(!(std_spike && this->car_speed > 5.0));
+  fix.setDeviceStable(!this->device_fell);
+  fix.setExcessiveResets(this->reset_tracker > MAX_RESET_TRACKER);
+  fix.setTimeToFirstFix(std::isnan(this->ttff) ? -1. : this->ttff);
+  this->device_fell = false;
+
+  //fix.setGpsWeek(this->time.week);
+  //fix.setGpsTimeOfWeek(this->time.tow);
+  fix.setUnixTimestampMillis(this->unix_timestamp_millis);
+
+  double time_since_reset = this->kf->get_filter_time() - this->last_reset_time;
+  fix.setTimeSinceReset(time_since_reset);
+  if (fix_ecef_std.norm() < VALID_POS_STD && this->calibrated && time_since_reset > VALID_TIME_SINCE_RESET) {
+    fix.setStatus(cereal::LiveLocationKalman::Status::VALID);
+  } else if (fix_ecef_std.norm() < VALID_POS_STD && time_since_reset > VALID_TIME_SINCE_RESET) {
+    fix.setStatus(cereal::LiveLocationKalman::Status::UNCALIBRATED);
+  } else {
+    fix.setStatus(cereal::LiveLocationKalman::Status::UNINITIALIZED);
+  }
+}
+
+VectorXd Localizer::get_position_geodetic() {
+  VectorXd fix_ecef = this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START);
+  ECEF fix_ecef_ecef = { .x = fix_ecef(0), .y = fix_ecef(1), .z = fix_ecef(2) };
+  Geodetic fix_pos_geo = ecef2geodetic(fix_ecef_ecef);
+  return Vector3d(fix_pos_geo.lat, fix_pos_geo.lon, fix_pos_geo.alt);
+}
+
+VectorXd Localizer::get_state() {
+  return this->kf->get_x();
+}
+
+VectorXd Localizer::get_stdev() {
+  return this->kf->get_P().diagonal().array().sqrt();
+}
+
+bool Localizer::are_inputs_ok() {
+  return this->critical_services_valid(this->observation_values_invalid) && !this->observation_timings_invalid;
+}
+
+void Localizer::observation_timings_invalid_reset(){
+  this->observation_timings_invalid = false;
+}
+
+void Localizer::handle_sensor(double current_time, const cereal::SensorEventData::Reader& log) {
+  // TODO does not yet account for double sensor readings in the log
+
+  // Ignore empty readings (e.g. in case the magnetometer had no data ready)
+  if (log.getTimestamp() == 0) {
+    return;
+  }
+
+  double sensor_time = 1e-9 * log.getTimestamp();
+
+  // sensor time and log time should be close
+  if (std::abs(current_time - sensor_time) > 0.1) {
+    LOGE("Sensor reading ignored, sensor timestamp more than 100ms off from log time");
+    this->observation_timings_invalid = true;
+    return;
+  } else if (!this->is_timestamp_valid(sensor_time)) {
+    this->observation_timings_invalid = true;
+    return;
+  }
+
+  // TODO: handle messages from two IMUs at the same time
+  if (log.getSource() == cereal::SensorEventData::SensorSource::BMX055) {
+    return;
+  }
+
+  // Gyro Uncalibrated
+  if (log.getSensor() == SENSOR_GYRO_UNCALIBRATED && log.getType() == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
+    auto v = log.getGyroUncalibrated().getV();
+    auto meas = Vector3d(-v[2], -v[1], -v[0]);
+
+    VectorXd gyro_bias = this->kf->get_x().segment<STATE_GYRO_BIAS_LEN>(STATE_GYRO_BIAS_START);
+    float gyro_camodo_yawrate_err = std::abs((meas[2] - gyro_bias[2]) - this->camodo_yawrate_distribution[0]);
+    float gyro_camodo_yawrate_err_threshold = YAWRATE_CROSS_ERR_CHECK_FACTOR * this->camodo_yawrate_distribution[1];
+    bool gyro_valid = gyro_camodo_yawrate_err < gyro_camodo_yawrate_err_threshold;
+
+    if ((meas.norm() < ROTATION_SANITY_CHECK) && gyro_valid) {
+      this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_GYRO, { meas });
+      this->observation_values_invalid["gyroscope"] *= DECAY;
+    } else {
+      this->observation_values_invalid["gyroscope"] += 1.0;
+    }
+  }
+
+  // Accelerometer
+  if (log.getSensor() == SENSOR_ACCELEROMETER && log.getType() == SENSOR_TYPE_ACCELEROMETER) {
+    auto v = log.getAcceleration().getV();
+
+    // TODO: reduce false positives and re-enable this check
+    // check if device fell, estimate 10 for g
+    // 40m/s**2 is a good filter for falling detection, no false positives in 20k minutes of driving
+    // this->device_fell |= (floatlist2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0;
+
+    auto meas = Vector3d(-v[2], -v[1], -v[0]);
+    if (meas.norm() < ACCEL_SANITY_CHECK) {
+      this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_ACCEL, { meas });
+      this->observation_values_invalid["accelerometer"] *= DECAY;
+    } else {
+      this->observation_values_invalid["accelerometer"] += 1.0;
+    }
+  }
+}
+
+void Localizer::input_fake_gps_observations(double current_time) {
+  // This is done to make sure that the error estimate of the position does not blow up
+  // when the filter is in no-gps mode
+  // Steps : first predict -> observe current obs with reasonable STD
+  this->kf->predict(current_time);
+
+  VectorXd current_x = this->kf->get_x();
+  VectorXd ecef_pos = current_x.segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START);
+  VectorXd ecef_vel = current_x.segment<STATE_ECEF_VELOCITY_LEN>(STATE_ECEF_VELOCITY_START);
+  const MatrixXdr &ecef_pos_R = this->kf->get_fake_gps_pos_cov();
+  const MatrixXdr &ecef_vel_R = this->kf->get_fake_gps_vel_cov();
+
+  this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R });
+  this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R });
+}
+
+void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset) {
+  bool gps_unreasonable = (Vector2d(log.getHorizontalAccuracy(), log.getVerticalAccuracy()).norm() >= SANE_GPS_UNCERTAINTY);
+  bool gps_accuracy_insane = ((log.getVerticalAccuracy() <= 0) || (log.getSpeedAccuracy() <= 0) || (log.getBearingAccuracyDeg() <= 0));
+  bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK));
+  bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK);
+
+  if (!log.getHasFix() || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) {
+    //this->gps_valid = false;
+    this->determine_gps_mode(current_time);
+    return;
+  }
+
+  double sensor_time = current_time - sensor_time_offset;
+
+  // Process message
+  //this->gps_valid = true;
+  this->gps_mode = true;
+  Geodetic geodetic = { log.getLatitude(), log.getLongitude(), log.getAltitude() };
+  this->converter = std::make_unique<LocalCoord>(geodetic);
+
+  VectorXd ecef_pos = this->converter->ned2ecef({ 0.0, 0.0, 0.0 }).to_vector();
+  VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos;
+  float ecef_pos_std = std::sqrt(this->gps_variance_factor * std::pow(log.getHorizontalAccuracy(), 2) + this->gps_vertical_variance_factor * std::pow(log.getVerticalAccuracy(), 2));
+  MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(this->gps_std_factor * ecef_pos_std, 2)).asDiagonal();
+  MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(this->gps_std_factor * log.getSpeedAccuracy(), 2)).asDiagonal();
+
+  this->unix_timestamp_millis = log.getUnixTimestampMillis();
+  double gps_est_error = (this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START) - ecef_pos).norm();
+
+  VectorXd orientation_ecef = quat2euler(vector2quat(this->kf->get_x().segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START)));
+  VectorXd orientation_ned = ned_euler_from_ecef({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ecef);
+  VectorXd orientation_ned_gps = Vector3d(0.0, 0.0, DEG2RAD(log.getBearingDeg()));
+  VectorXd orientation_error = (orientation_ned - orientation_ned_gps).array() - M_PI;
+  for (int i = 0; i < orientation_error.size(); i++) {
+    orientation_error(i) = std::fmod(orientation_error(i), 2.0 * M_PI);
+    if (orientation_error(i) < 0.0) {
+      orientation_error(i) += 2.0 * M_PI;
+    }
+    orientation_error(i) -= M_PI;
+  }
+  VectorXd initial_pose_ecef_quat = quat2vector(euler2quat(ecef_euler_from_ned({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ned_gps)));
+
+  if (ecef_vel.norm() > 5.0 && orientation_error.norm() > 1.0) {
+    LOGE("Locationd vs ubloxLocation orientation difference too large, kalman reset");
+    this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R);
+    this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat });
+  } else if (gps_est_error > 100.0) {
+    LOGE("Locationd vs ubloxLocation position difference too large, kalman reset");
+    this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R);
+  }
+
+  this->last_gps_msg = sensor_time;
+  this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R });
+  this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R });
+}
+
+void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log) {
+
+  if (!log.getPositionECEF().getValid() || !log.getVelocityECEF().getValid()) {
+    this->determine_gps_mode(current_time);
+    return;
+  }
+
+  double sensor_time = log.getMeasTime() * 1e-9;
+  sensor_time -= this->gps_time_offset;
+
+  auto ecef_pos_v = log.getPositionECEF().getValue();
+  VectorXd ecef_pos = Vector3d(ecef_pos_v[0], ecef_pos_v[1], ecef_pos_v[2]);
+
+  // indexed at 0 cause all std values are the same MAE
+  auto ecef_pos_std = log.getPositionECEF().getStd()[0];
+  MatrixXdr ecef_pos_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_pos_std, 2)).asDiagonal();
+
+  auto ecef_vel_v = log.getVelocityECEF().getValue();
+  VectorXd ecef_vel = Vector3d(ecef_vel_v[0], ecef_vel_v[1], ecef_vel_v[2]);
+
+  // indexed at 0 cause all std values are the same MAE
+  auto ecef_vel_std = log.getVelocityECEF().getStd()[0];
+  MatrixXdr ecef_vel_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_vel_std, 2)).asDiagonal();
+
+  double gps_est_error = (this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START) - ecef_pos).norm();
+
+  VectorXd orientation_ecef = quat2euler(vector2quat(this->kf->get_x().segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START)));
+  VectorXd orientation_ned = ned_euler_from_ecef({ ecef_pos[0], ecef_pos[1], ecef_pos[2] }, orientation_ecef);
+
+  LocalCoord convs((ECEF){ .x = ecef_pos[0], .y = ecef_pos[1], .z = ecef_pos[2] });
+  ECEF next_ecef = {.x = ecef_pos[0] + ecef_vel[0], .y = ecef_pos[1] + ecef_vel[1], .z = ecef_pos[2] + ecef_vel[2]};
+  VectorXd ned_vel = convs.ecef2ned(next_ecef).to_vector();
+  double bearing_rad = atan2(ned_vel[1], ned_vel[0]);
+
+  VectorXd orientation_ned_gps = Vector3d(0.0, 0.0, bearing_rad);
+  VectorXd orientation_error = (orientation_ned - orientation_ned_gps).array() - M_PI;
+  for (int i = 0; i < orientation_error.size(); i++) {
+    orientation_error(i) = std::fmod(orientation_error(i), 2.0 * M_PI);
+    if (orientation_error(i) < 0.0) {
+      orientation_error(i) += 2.0 * M_PI;
+    }
+    orientation_error(i) -= M_PI;
+  }
+  VectorXd initial_pose_ecef_quat = quat2vector(euler2quat(ecef_euler_from_ned({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ned_gps)));
+
+  if (ecef_pos_std > GPS_POS_STD_THRESHOLD || ecef_vel_std > GPS_VEL_STD_THRESHOLD) {
+    this->determine_gps_mode(current_time);
+    return;
+  }
+
+  // prevent jumping gnss measurements (covered lots, standstill...)
+  bool orientation_reset = ecef_vel_std < GPS_VEL_STD_RESET_THRESHOLD;
+  orientation_reset &= orientation_error.norm() > GPS_ORIENTATION_ERROR_RESET_THRESHOLD;
+  orientation_reset &= !this->standstill;
+  if (orientation_reset) {
+    this->orientation_reset_count++;
+  } else {
+    this->orientation_reset_count = 0;
+  }
+
+  if ((gps_est_error > GPS_POS_ERROR_RESET_THRESHOLD && ecef_pos_std < GPS_POS_STD_RESET_THRESHOLD) || this->last_gps_msg == 0) {
+    // always reset on first gps message and if the location is off but the accuracy is high
+    LOGE("Locationd vs gnssMeasurement position difference too large, kalman reset");
+    this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R);
+  } else if (orientation_reset_count > GPS_ORIENTATION_ERROR_RESET_CNT) {
+    LOGE("Locationd vs gnssMeasurement orientation difference too large, kalman reset");
+    this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R);
+    this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat });
+    this->orientation_reset_count = 0;
+  }
+
+  this->gps_mode = true;
+  this->last_gps_msg = sensor_time;
+  this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R });
+  this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R });
+}
+
+void Localizer::handle_car_state(double current_time, const cereal::CarState::Reader& log) {
+  this->car_speed = std::abs(log.getVEgo());
+  this->standstill = log.getStandstill();
+  if (this->standstill) {
+    this->kf->predict_and_observe(current_time, OBSERVATION_NO_ROT, { Vector3d(0.0, 0.0, 0.0) });
+    this->kf->predict_and_observe(current_time, OBSERVATION_NO_ACCEL, { Vector3d(0.0, 0.0, 0.0) });
+  }
+}
+
+void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log) {
+  VectorXd rot_device = this->device_from_calib * floatlist2vector(log.getRot());
+  VectorXd trans_device = this->device_from_calib * floatlist2vector(log.getTrans());
+
+  if (!this->is_timestamp_valid(current_time)) {
+    this->observation_timings_invalid = true;
+    return;
+  }
+
+  if ((rot_device.norm() > ROTATION_SANITY_CHECK) || (trans_device.norm() > TRANS_SANITY_CHECK)) {
+    this->observation_values_invalid["cameraOdometry"] += 1.0;
+    return;
+  }
+
+  VectorXd rot_calib_std = floatlist2vector(log.getRotStd());
+  VectorXd trans_calib_std = floatlist2vector(log.getTransStd());
+
+  if ((rot_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK) || (trans_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK)) {
+    this->observation_values_invalid["cameraOdometry"] += 1.0;
+    return;
+  }
+
+  if ((rot_calib_std.norm() > 10 * ROTATION_SANITY_CHECK) || (trans_calib_std.norm() > 10 * TRANS_SANITY_CHECK)) {
+    this->observation_values_invalid["cameraOdometry"] += 1.0;
+    return;
+  }
+
+  this->posenet_stds.pop_front();
+  this->posenet_stds.push_back(trans_calib_std[0]);
+
+  // Multiply by 10 to avoid to high certainty in kalman filter because of temporally correlated noise
+  trans_calib_std *= 10.0;
+  rot_calib_std *= 10.0;
+  MatrixXdr rot_device_cov = rotate_std(this->device_from_calib, rot_calib_std).array().square().matrix().asDiagonal();
+  MatrixXdr trans_device_cov = rotate_std(this->device_from_calib, trans_calib_std).array().square().matrix().asDiagonal();
+  this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_ROTATION,
+    { rot_device }, { rot_device_cov });
+  this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_TRANSLATION,
+    { trans_device }, { trans_device_cov });
+  this->observation_values_invalid["cameraOdometry"] *= DECAY;
+  this->camodo_yawrate_distribution = Vector2d(rot_device[2], rotate_std(this->device_from_calib, rot_calib_std)[2]);
+}
+
+void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log) {
+  if (!this->is_timestamp_valid(current_time)) {
+    this->observation_timings_invalid = true;
+    return;
+  }
+
+  if (log.getRpyCalib().size() > 0) {
+    auto live_calib = floatlist2vector(log.getRpyCalib());
+    if ((live_calib.minCoeff() < -CALIB_RPY_SANITY_CHECK) || (live_calib.maxCoeff() > CALIB_RPY_SANITY_CHECK)) {
+      this->observation_values_invalid["liveCalibration"] += 1.0;
+      return;
+    }
+
+    this->calib = live_calib;
+    this->device_from_calib = euler2rot(this->calib);
+    this->calib_from_device = this->device_from_calib.transpose();
+    this->calibrated = log.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED;
+    this->observation_values_invalid["liveCalibration"] *= DECAY;
+  }
+}
+
+void Localizer::reset_kalman(double current_time) {
+  const VectorXd &init_x = this->kf->get_initial_x();
+  const MatrixXdr &init_P = this->kf->get_initial_P();
+  this->reset_kalman(current_time, init_x, init_P);
+}
+
+void Localizer::finite_check(double current_time) {
+  bool all_finite = this->kf->get_x().array().isFinite().all() or this->kf->get_P().array().isFinite().all();
+  if (!all_finite) {
+    LOGE("Non-finite values detected, kalman reset");
+    this->reset_kalman(current_time);
+  }
+}
+
+void Localizer::time_check(double current_time) {
+  if (std::isnan(this->last_reset_time)) {
+    this->last_reset_time = current_time;
+  }
+  if (std::isnan(this->first_valid_log_time)) {
+    this->first_valid_log_time = current_time;
+  }
+  double filter_time = this->kf->get_filter_time();
+  bool big_time_gap = !std::isnan(filter_time) && (current_time - filter_time > 10);
+  if (big_time_gap) {
+    LOGE("Time gap of over 10s detected, kalman reset");
+    this->reset_kalman(current_time);
+  }
+}
+
+void Localizer::update_reset_tracker() {
+  // reset tracker is tuned to trigger when over 1reset/10s over 2min period
+  if (this->is_gps_ok()) {
+    this->reset_tracker *= RESET_TRACKER_DECAY;
+  } else {
+    this->reset_tracker = 0.0;
+  }
+}
+
+void Localizer::reset_kalman(double current_time, const VectorXd &init_orient, const VectorXd &init_pos, const VectorXd &init_vel, const MatrixXdr &init_pos_R, const MatrixXdr &init_vel_R) {
+  // too nonlinear to init on completely wrong
+  VectorXd current_x = this->kf->get_x();
+  MatrixXdr current_P = this->kf->get_P();
+  MatrixXdr init_P = this->kf->get_initial_P();
+  const MatrixXdr &reset_orientation_P = this->kf->get_reset_orientation_P();
+  int non_ecef_state_err_len = init_P.rows() - (STATE_ECEF_POS_ERR_LEN + STATE_ECEF_ORIENTATION_ERR_LEN + STATE_ECEF_VELOCITY_ERR_LEN);
+
+  current_x.segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START) = init_orient;
+  current_x.segment<STATE_ECEF_VELOCITY_LEN>(STATE_ECEF_VELOCITY_START) = init_vel;
+  current_x.segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START) = init_pos;
+
+  init_P.block<STATE_ECEF_POS_ERR_LEN, STATE_ECEF_POS_ERR_LEN>(STATE_ECEF_POS_ERR_START, STATE_ECEF_POS_ERR_START).diagonal() = init_pos_R.diagonal();
+  init_P.block<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_ORIENTATION_ERR_START).diagonal() = reset_orientation_P.diagonal();
+  init_P.block<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>(STATE_ECEF_VELOCITY_ERR_START, STATE_ECEF_VELOCITY_ERR_START).diagonal() = init_vel_R.diagonal();
+  init_P.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal() = current_P.block(STATE_ANGULAR_VELOCITY_ERR_START,
+    STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal();
+
+  this->reset_kalman(current_time, current_x, init_P);
+}
+
+void Localizer::reset_kalman(double current_time, const VectorXd &init_x, const MatrixXdr &init_P) {
+  this->kf->init_state(init_x, init_P, current_time);
+  this->last_reset_time = current_time;
+  this->reset_tracker += 1.0;
+}
+
+void Localizer::handle_msg_bytes(const char *data, const size_t size) {
+  AlignedBuffer aligned_buf;
+
+  capnp::FlatArrayMessageReader cmsg(aligned_buf.align(data, size));
+  cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
+
+  this->handle_msg(event);
+}
+
+void Localizer::handle_msg(const cereal::Event::Reader& log) {
+  double t = log.getLogMonoTime() * 1e-9;
+  this->time_check(t);
+  if (log.isAccelerometer()) {
+    this->handle_sensor(t, log.getAccelerometer());
+  } else if (log.isGyroscope()) {
+    this->handle_sensor(t, log.getGyroscope());
+  } else if (log.isGpsLocation()) {
+    this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET);
+  } else if (log.isGpsLocationExternal()) {
+    this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET);
+  //} else if (log.isGnssMeasurements()) {
+  //  this->handle_gnss(t, log.getGnssMeasurements());
+  } else if (log.isCarState()) {
+    this->handle_car_state(t, log.getCarState());
+  } else if (log.isCameraOdometry()) {
+    this->handle_cam_odo(t, log.getCameraOdometry());
+  } else if (log.isLiveCalibration()) {
+    this->handle_live_calib(t, log.getLiveCalibration());
+  }
+  this->finite_check();
+  this->update_reset_tracker();
+}
+
+kj::ArrayPtr<capnp::byte> Localizer::get_message_bytes(MessageBuilder& msg_builder, bool inputsOK,
+                                                       bool sensorsOK, bool gpsOK, bool msgValid) {
+  cereal::Event::Builder evt = msg_builder.initEvent();
+  evt.setValid(msgValid);
+  cereal::LiveLocationKalman::Builder liveLoc = evt.initLiveLocationKalman();
+  this->build_live_location(liveLoc);
+  liveLoc.setSensorsOK(sensorsOK);
+  liveLoc.setGpsOK(gpsOK);
+  liveLoc.setInputsOK(inputsOK);
+  return msg_builder.toBytes();
+}
+
+bool Localizer::is_gps_ok() {
+  return (this->kf->get_filter_time() - this->last_gps_msg) < 2.0;
+}
+
+bool Localizer::critical_services_valid(const std::map<std::string, double> &critical_services) {
+  for (auto &kv : critical_services){
+    if (kv.second >= INPUT_INVALID_THRESHOLD){
+      return false;
+    }
+  }
+  return true;
+}
+
+bool Localizer::is_timestamp_valid(double current_time) {
+  double filter_time = this->kf->get_filter_time();
+  if (!std::isnan(filter_time) && ((filter_time - current_time) > MAX_FILTER_REWIND_TIME)) {
+    LOGE("Observation timestamp is older than the max rewind threshold of the filter");
+    return false;
+  }
+  return true;
+}
+
+void Localizer::determine_gps_mode(double current_time) {
+  // 1. If the pos_std is greater than what's not acceptable and localizer is in gps-mode, reset to no-gps-mode
+  // 2. If the pos_std is greater than what's not acceptable and localizer is in no-gps-mode, fake obs
+  // 3. If the pos_std is smaller than what's not acceptable, let gps-mode be whatever it is
+  VectorXd current_pos_std = this->kf->get_P().block<STATE_ECEF_POS_ERR_LEN, STATE_ECEF_POS_ERR_LEN>(STATE_ECEF_POS_ERR_START, STATE_ECEF_POS_ERR_START).diagonal().array().sqrt();
+  if (current_pos_std.norm() > SANE_GPS_UNCERTAINTY){
+    if (this->gps_mode){
+      this->gps_mode = false;
+      this->reset_kalman(current_time);
+    } else {
+      this->input_fake_gps_observations(current_time);
+    }
+  }
+}
+
+void Localizer::configure_gnss_source(const LocalizerGnssSource &source) {
+  this->gnss_source = source;
+  if (source == LocalizerGnssSource::UBLOX) {
+    this->gps_std_factor = 10.0;
+    this->gps_variance_factor = 1.0;
+    this->gps_vertical_variance_factor = 1.0;
+    this->gps_time_offset = GPS_UBLOX_SENSOR_TIME_OFFSET;
+  } else {
+    this->gps_std_factor = 2.0;
+    this->gps_variance_factor = 0.0;
+    this->gps_vertical_variance_factor = 3.0;
+    this->gps_time_offset = GPS_QUECTEL_SENSOR_TIME_OFFSET;
+  }
+}
+
+int Localizer::locationd_thread() {
+  Params params;
+  LocalizerGnssSource source;
+  const char* gps_location_socket;
+  if (params.getBool("UbloxAvailable")) {
+    source = LocalizerGnssSource::UBLOX;
+    gps_location_socket = "gpsLocationExternal";
+  } else {
+    source = LocalizerGnssSource::QCOM;
+    gps_location_socket = "gpsLocation";
+  }
+
+  this->configure_gnss_source(source);
+  const std::initializer_list<const char *> service_list = {gps_location_socket, "cameraOdometry", "liveCalibration",
+                                                          "carState", "accelerometer", "gyroscope"};
+
+  SubMaster sm(service_list, {}, nullptr, {gps_location_socket});
+  PubMaster pm({"liveLocationKalman"});
+
+  uint64_t cnt = 0;
+  bool filterInitialized = false;
+  const std::vector<std::string> critical_input_services = {"cameraOdometry", "liveCalibration", "accelerometer", "gyroscope"};
+  for (std::string service : critical_input_services) {
+    this->observation_values_invalid.insert({service, 0.0});
+  }
+
+  while (!do_exit) {
+    sm.update();
+    if (filterInitialized){
+      this->observation_timings_invalid_reset();
+      for (const char* service : service_list) {
+        if (sm.updated(service) && sm.valid(service)){
+          const cereal::Event::Reader log = sm[service];
+          this->handle_msg(log);
+        }
+      }
+    } else {
+      filterInitialized = sm.allAliveAndValid();
+    }
+
+    const char* trigger_msg = "cameraOdometry";
+    if (sm.updated(trigger_msg)) {
+      bool inputsOK = sm.allValid() && this->are_inputs_ok();
+      bool gpsOK = this->is_gps_ok();
+      bool sensorsOK = sm.allAliveAndValid({"accelerometer", "gyroscope"});
+
+      // Log time to first fix
+      if (gpsOK && std::isnan(this->ttff) && !std::isnan(this->first_valid_log_time)) {
+        this->ttff = std::max(1e-3, (sm[trigger_msg].getLogMonoTime() * 1e-9) - this->first_valid_log_time);
+      }
+
+      MessageBuilder msg_builder;
+      kj::ArrayPtr<capnp::byte> bytes = this->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, filterInitialized);
+      pm.send("liveLocationKalman", bytes.begin(), bytes.size());
+
+      if (cnt % 1200 == 0 && gpsOK) {  // once a minute
+        VectorXd posGeo = this->get_position_geodetic();
+        std::string lastGPSPosJSON = util::string_format(
+          "{\"latitude\": %.15f, \"longitude\": %.15f, \"altitude\": %.15f}", posGeo(0), posGeo(1), posGeo(2));
+        params.putNonBlocking("LastGPSPositionLLK", lastGPSPosJSON);
+      }
+      cnt++;
+    }
+  }
+  return 0;
+}
+
+int main() {
+  util::set_realtime_priority(5);
+
+  Localizer localizer;
+  return localizer.locationd_thread();
+}
diff --git a/sunnypilot/selfdrive/locationd/locationd.h b/sunnypilot/selfdrive/locationd/locationd.h
new file mode 100644
index 00000000000000..4d044921026458
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/locationd.h
@@ -0,0 +1,100 @@
+#pragma once
+
+#include <eigen3/Eigen/Dense>
+#include <deque>
+#include <fstream>
+#include <memory>
+#include <map>
+#include <string>
+
+#include "cereal/messaging/messaging.h"
+#include "common/transformations/coordinates.hpp"
+#include "common/transformations/orientation.hpp"
+#include "common/params.h"
+#include "common/swaglog.h"
+#include "common/timing.h"
+#include "common/util.h"
+
+#include "sunnypilot/system/sensord/sensors/constants.h"
+#define VISION_DECIMATION 2
+#define SENSOR_DECIMATION 10
+#include "sunnypilot/selfdrive/locationd/models/live_kf.h"
+
+#define POSENET_STD_HIST_HALF 20
+
+enum LocalizerGnssSource {
+  UBLOX, QCOM
+};
+
+class Localizer {
+public:
+  Localizer(LocalizerGnssSource gnss_source = LocalizerGnssSource::UBLOX);
+
+  int locationd_thread();
+
+  void reset_kalman(double current_time = NAN);
+  void reset_kalman(double current_time, const Eigen::VectorXd &init_orient, const Eigen::VectorXd &init_pos, const Eigen::VectorXd &init_vel, const MatrixXdr &init_pos_R, const MatrixXdr &init_vel_R);
+  void reset_kalman(double current_time, const Eigen::VectorXd &init_x, const MatrixXdr &init_P);
+  void finite_check(double current_time = NAN);
+  void time_check(double current_time = NAN);
+  void update_reset_tracker();
+  bool is_gps_ok();
+  bool critical_services_valid(const std::map<std::string, double> &critical_services);
+  bool is_timestamp_valid(double current_time);
+  void determine_gps_mode(double current_time);
+  bool are_inputs_ok();
+  void observation_timings_invalid_reset();
+
+  kj::ArrayPtr<capnp::byte> get_message_bytes(MessageBuilder& msg_builder,
+    bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid);
+  void build_live_location(cereal::LiveLocationKalman::Builder& fix);
+
+  Eigen::VectorXd get_position_geodetic();
+  Eigen::VectorXd get_state();
+  Eigen::VectorXd get_stdev();
+
+  void handle_msg_bytes(const char *data, const size_t size);
+  void handle_msg(const cereal::Event::Reader& log);
+  void handle_sensor(double current_time, const cereal::SensorEventData::Reader& log);
+  void handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset);
+  void handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log);
+  void handle_car_state(double current_time, const cereal::CarState::Reader& log);
+  void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log);
+  void handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log);
+
+  void input_fake_gps_observations(double current_time);
+
+private:
+  std::unique_ptr<LiveKalman> kf;
+
+  Eigen::VectorXd calib;
+  MatrixXdr device_from_calib;
+  MatrixXdr calib_from_device;
+  bool calibrated = false;
+
+  double car_speed = 0.0;
+  double last_reset_time = NAN;
+  std::deque<double> posenet_stds;
+
+  std::unique_ptr<LocalCoord> converter;
+
+  int64_t unix_timestamp_millis = 0;
+  double reset_tracker = 0.0;
+  bool device_fell = false;
+  bool gps_mode = false;
+  double first_valid_log_time = NAN;
+  double ttff = NAN;
+  double last_gps_msg = 0;
+  LocalizerGnssSource gnss_source;
+  bool observation_timings_invalid = false;
+  std::map<std::string, double> observation_values_invalid;
+  bool standstill = true;
+  int32_t orientation_reset_count = 0;
+  float gps_std_factor;
+  float gps_variance_factor;
+  float gps_vertical_variance_factor;
+  double gps_time_offset;
+  Eigen::VectorXd camodo_yawrate_distribution = Eigen::Vector2d(0.0, 10.0); // mean, std
+
+  void configure_gnss_source(const LocalizerGnssSource &source);
+};
diff --git a/sunnypilot/selfdrive/locationd/models/.gitignore b/sunnypilot/selfdrive/locationd/models/.gitignore
new file mode 100644
index 00000000000000..9ab870da897d66
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/models/.gitignore
@@ -0,0 +1 @@
+generated/
diff --git a/sunnypilot/selfdrive/locationd/models/__init__.py b/sunnypilot/selfdrive/locationd/models/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/locationd/models/car_kf.py b/sunnypilot/selfdrive/locationd/models/car_kf.py
new file mode 100755
index 00000000000000..9964cab97376b8
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/models/car_kf.py
@@ -0,0 +1,180 @@
+#!/usr/bin/env python3
+import math
+import sys
+from typing import Any
+
+import numpy as np
+
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.sunnypilot.selfdrive.locationd.models.constants import ObservationKind
+from openpilot.common.swaglog import cloudlog
+
+from rednose.helpers.kalmanfilter import KalmanFilter
+
+if __name__ == '__main__':  # Generating sympy
+  import sympy as sp
+  from rednose.helpers.ekf_sym import gen_code
+else:
+  from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx
+
+
+i = 0
+
+def _slice(n):
+  global i
+  s = slice(i, i + n)
+  i += n
+
+  return s
+
+
+class States:
+  # Vehicle model params
+  STIFFNESS = _slice(1)  # [-]
+  STEER_RATIO = _slice(1)  # [-]
+  ANGLE_OFFSET = _slice(1)  # [rad]
+  ANGLE_OFFSET_FAST = _slice(1)  # [rad]
+
+  VELOCITY = _slice(2)  # (x, y) [m/s]
+  YAW_RATE = _slice(1)  # [rad/s]
+  STEER_ANGLE = _slice(1)  # [rad]
+  ROAD_ROLL = _slice(1)  # [rad]
+
+
+class CarKalman(KalmanFilter):
+  name = 'car'
+
+  initial_x = np.array([
+    1.0,
+    15.0,
+    0.0,
+    0.0,
+
+    10.0, 0.0,
+    0.0,
+    0.0,
+    0.0
+  ])
+
+  # process noise
+  Q = np.diag([
+    (.05 / 100)**2,
+    .01**2,
+    math.radians(0.02)**2,
+    math.radians(0.25)**2,
+
+    .1**2, .01**2,
+    math.radians(0.1)**2,
+    math.radians(0.1)**2,
+    math.radians(1)**2,
+  ])
+  P_initial = Q.copy()
+
+  obs_noise: dict[int, Any] = {
+    ObservationKind.STEER_ANGLE: np.atleast_2d(math.radians(0.05)**2),
+    ObservationKind.ANGLE_OFFSET_FAST: np.atleast_2d(math.radians(10.0)**2),
+    ObservationKind.ROAD_ROLL: np.atleast_2d(math.radians(1.0)**2),
+    ObservationKind.STEER_RATIO: np.atleast_2d(5.0**2),
+    ObservationKind.STIFFNESS: np.atleast_2d(0.5**2),
+    ObservationKind.ROAD_FRAME_X_SPEED: np.atleast_2d(0.1**2),
+  }
+
+  global_vars = [
+    'mass',
+    'rotational_inertia',
+    'center_to_front',
+    'center_to_rear',
+    'stiffness_front',
+    'stiffness_rear',
+  ]
+
+  @staticmethod
+  def generate_code(generated_dir):
+    dim_state = CarKalman.initial_x.shape[0]
+    name = CarKalman.name
+
+    # Linearized single-track lateral dynamics, equations 7.211-7.213
+    # Massimo Guiggiani, The Science of Vehicle Dynamics: Handling, Braking, and Ride of Road and Race Cars
+    # Springer Cham, 2023. doi: https://doi.org/10.1007/978-3-031-06461-6
+
+    # globals
+    global_vars = [sp.Symbol(name) for name in CarKalman.global_vars]
+    m, j, aF, aR, cF_orig, cR_orig = global_vars
+
+    # make functions and jacobians with sympy
+    # state variables
+    state_sym = sp.MatrixSymbol('state', dim_state, 1)
+    state = sp.Matrix(state_sym)
+
+    # Vehicle model constants
+    sf = state[States.STIFFNESS, :][0, 0]
+
+    cF, cR = sf * cF_orig, sf * cR_orig
+    angle_offset = state[States.ANGLE_OFFSET, :][0, 0]
+    angle_offset_fast = state[States.ANGLE_OFFSET_FAST, :][0, 0]
+    theta = state[States.ROAD_ROLL, :][0, 0]
+    sa = state[States.STEER_ANGLE, :][0, 0]
+
+    sR = state[States.STEER_RATIO, :][0, 0]
+    u, v = state[States.VELOCITY, :]
+    r = state[States.YAW_RATE, :][0, 0]
+
+    A = sp.Matrix(np.zeros((2, 2)))
+    A[0, 0] = -(cF + cR) / (m * u)
+    A[0, 1] = -(cF * aF - cR * aR) / (m * u) - u
+    A[1, 0] = -(cF * aF - cR * aR) / (j * u)
+    A[1, 1] = -(cF * aF**2 + cR * aR**2) / (j * u)
+
+    B = sp.Matrix(np.zeros((2, 1)))
+    B[0, 0] = cF / m / sR
+    B[1, 0] = (cF * aF) / j / sR
+
+    C = sp.Matrix(np.zeros((2, 1)))
+    C[0, 0] = ACCELERATION_DUE_TO_GRAVITY
+    C[1, 0] = 0
+
+    x = sp.Matrix([v, r])  # lateral velocity, yaw rate
+    x_dot = A * x + B * (sa - angle_offset - angle_offset_fast) - C * theta
+
+    dt = sp.Symbol('dt')
+    state_dot = sp.Matrix(np.zeros((dim_state, 1)))
+    state_dot[States.VELOCITY.start + 1, 0] = x_dot[0]
+    state_dot[States.YAW_RATE.start, 0] = x_dot[1]
+
+    # Basic descretization, 1st order integrator
+    # Can be pretty bad if dt is big
+    f_sym = state + dt * state_dot
+
+    #
+    # Observation functions
+    #
+    obs_eqs = [
+      [sp.Matrix([r]), ObservationKind.ROAD_FRAME_YAW_RATE, None],
+      [sp.Matrix([u, v]), ObservationKind.ROAD_FRAME_XY_SPEED, None],
+      [sp.Matrix([u]), ObservationKind.ROAD_FRAME_X_SPEED, None],
+      [sp.Matrix([sa]), ObservationKind.STEER_ANGLE, None],
+      [sp.Matrix([angle_offset_fast]), ObservationKind.ANGLE_OFFSET_FAST, None],
+      [sp.Matrix([sR]), ObservationKind.STEER_RATIO, None],
+      [sp.Matrix([sf]), ObservationKind.STIFFNESS, None],
+      [sp.Matrix([theta]), ObservationKind.ROAD_ROLL, None],
+    ]
+
+    gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, global_vars=global_vars)
+
+  def __init__(self, generated_dir):
+    dim_state, dim_state_err = CarKalman.initial_x.shape[0], CarKalman.P_initial.shape[0]
+    self.filter = EKF_sym_pyx(generated_dir, CarKalman.name, CarKalman.Q, CarKalman.initial_x, CarKalman.P_initial,
+                              dim_state, dim_state_err, global_vars=CarKalman.global_vars, logger=cloudlog)
+
+  def set_globals(self, mass, rotational_inertia, center_to_front, center_to_rear, stiffness_front, stiffness_rear):
+    self.filter.set_global("mass", mass)
+    self.filter.set_global("rotational_inertia", rotational_inertia)
+    self.filter.set_global("center_to_front", center_to_front)
+    self.filter.set_global("center_to_rear", center_to_rear)
+    self.filter.set_global("stiffness_front", stiffness_front)
+    self.filter.set_global("stiffness_rear", stiffness_rear)
+
+
+if __name__ == "__main__":
+  generated_dir = sys.argv[2]
+  CarKalman.generate_code(generated_dir)
diff --git a/sunnypilot/selfdrive/locationd/models/constants.py b/sunnypilot/selfdrive/locationd/models/constants.py
new file mode 100644
index 00000000000000..6d328ce6f52793
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/models/constants.py
@@ -0,0 +1,92 @@
+import os
+
+GENERATED_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), 'generated'))
+
+class ObservationKind:
+  UNKNOWN = 0
+  NO_OBSERVATION = 1
+  GPS_NED = 2
+  ODOMETRIC_SPEED = 3
+  PHONE_GYRO = 4
+  GPS_VEL = 5
+  PSEUDORANGE_GPS = 6
+  PSEUDORANGE_RATE_GPS = 7
+  SPEED = 8
+  NO_ROT = 9
+  PHONE_ACCEL = 10
+  ORB_POINT = 11
+  ECEF_POS = 12
+  CAMERA_ODO_TRANSLATION = 13
+  CAMERA_ODO_ROTATION = 14
+  ORB_FEATURES = 15
+  MSCKF_TEST = 16
+  FEATURE_TRACK_TEST = 17
+  LANE_PT = 18
+  IMU_FRAME = 19
+  PSEUDORANGE_GLONASS = 20
+  PSEUDORANGE_RATE_GLONASS = 21
+  PSEUDORANGE = 22
+  PSEUDORANGE_RATE = 23
+  ECEF_VEL = 35
+  ECEF_ORIENTATION_FROM_GPS = 32
+  NO_ACCEL = 33
+  ORB_FEATURES_WIDE = 34
+
+  ROAD_FRAME_XY_SPEED = 24  # (x, y) [m/s]
+  ROAD_FRAME_YAW_RATE = 25  # [rad/s]
+  STEER_ANGLE = 26  # [rad]
+  ANGLE_OFFSET_FAST = 27  # [rad]
+  STIFFNESS = 28  # [-]
+  STEER_RATIO = 29  # [-]
+  ROAD_FRAME_X_SPEED = 30  # (x) [m/s]
+  ROAD_ROLL = 31  # [rad]
+
+  names = [
+    'Unknown',
+    'No observation',
+    'GPS NED',
+    'Odometric speed',
+    'Phone gyro',
+    'GPS velocity',
+    'GPS pseudorange',
+    'GPS pseudorange rate',
+    'Speed',
+    'No rotation',
+    'Phone acceleration',
+    'ORB point',
+    'ECEF pos',
+    'camera odometric translation',
+    'camera odometric rotation',
+    'ORB features',
+    'MSCKF test',
+    'Feature track test',
+    'Lane ecef point',
+    'imu frame eulers',
+    'GLONASS pseudorange',
+    'GLONASS pseudorange rate',
+    'pseudorange',
+    'pseudorange rate',
+
+    'Road Frame x,y speed',
+    'Road Frame yaw rate',
+    'Steer Angle',
+    'Fast Angle Offset',
+    'Stiffness',
+    'Steer Ratio',
+    'Road Frame x speed',
+    'Road Roll',
+    'ECEF orientation from GPS',
+    'NO accel',
+    'ORB features wide camera',
+    'ECEF_VEL',
+  ]
+
+  @classmethod
+  def to_string(cls, kind):
+    return cls.names[kind]
+
+
+SAT_OBS = [ObservationKind.PSEUDORANGE_GPS,
+           ObservationKind.PSEUDORANGE_RATE_GPS,
+           ObservationKind.PSEUDORANGE_GLONASS,
+           ObservationKind.PSEUDORANGE_RATE_GLONASS]
diff --git a/sunnypilot/selfdrive/locationd/models/live_kf.cc b/sunnypilot/selfdrive/locationd/models/live_kf.cc
new file mode 100644
index 00000000000000..7ef6be638e17d0
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/models/live_kf.cc
@@ -0,0 +1,122 @@
+#include "sunnypilot/selfdrive/locationd/models/live_kf.h"
+
+using namespace EKFS;
+using namespace Eigen;
+
+Eigen::Map<Eigen::VectorXd> get_mapvec(const Eigen::VectorXd &vec) {
+  return Eigen::Map<Eigen::VectorXd>((double*)vec.data(), vec.rows(), vec.cols());
+}
+
+Eigen::Map<MatrixXdr> get_mapmat(const MatrixXdr &mat) {
+  return Eigen::Map<MatrixXdr>((double*)mat.data(), mat.rows(), mat.cols());
+}
+
+std::vector<Eigen::Map<Eigen::VectorXd>> get_vec_mapvec(const std::vector<Eigen::VectorXd> &vec_vec) {
+  std::vector<Eigen::Map<Eigen::VectorXd>> res;
+  for (const Eigen::VectorXd &vec : vec_vec) {
+    res.push_back(get_mapvec(vec));
+  }
+  return res;
+}
+
+std::vector<Eigen::Map<MatrixXdr>> get_vec_mapmat(const std::vector<MatrixXdr> &mat_vec) {
+  std::vector<Eigen::Map<MatrixXdr>> res;
+  for (const MatrixXdr &mat : mat_vec) {
+    res.push_back(get_mapmat(mat));
+  }
+  return res;
+}
+
+LiveKalman::LiveKalman() {
+  this->dim_state = live_initial_x.rows();
+  this->dim_state_err = live_initial_P_diag.rows();
+
+  this->initial_x = live_initial_x;
+  this->initial_P = live_initial_P_diag.asDiagonal();
+  this->fake_gps_pos_cov = live_fake_gps_pos_cov_diag.asDiagonal();
+  this->fake_gps_vel_cov = live_fake_gps_vel_cov_diag.asDiagonal();
+  this->reset_orientation_P = live_reset_orientation_diag.asDiagonal();
+  this->Q = live_Q_diag.asDiagonal();
+  for (auto& pair : live_obs_noise_diag) {
+    this->obs_noise[pair.first] = pair.second.asDiagonal();
+  }
+
+  // init filter
+  this->filter = std::make_shared<EKFSym>(this->name, get_mapmat(this->Q), get_mapvec(this->initial_x),
+    get_mapmat(initial_P), this->dim_state, this->dim_state_err, 0, 0, 0, std::vector<int>(),
+    std::vector<int>{3}, std::vector<std::string>(), 0.8);
+}
+
+void LiveKalman::init_state(const VectorXd &state, const VectorXd &covs_diag, double filter_time) {
+  MatrixXdr covs = covs_diag.asDiagonal();
+  this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time);
+}
+
+void LiveKalman::init_state(const VectorXd &state, const MatrixXdr &covs, double filter_time) {
+  this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time);
+}
+
+void LiveKalman::init_state(const VectorXd &state, double filter_time) {
+  MatrixXdr covs = this->filter->covs();
+  this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time);
+}
+
+VectorXd LiveKalman::get_x() {
+  return this->filter->state();
+}
+
+MatrixXdr LiveKalman::get_P() {
+  return this->filter->covs();
+}
+
+double LiveKalman::get_filter_time() {
+  return this->filter->get_filter_time();
+}
+
+std::vector<MatrixXdr> LiveKalman::get_R(int kind, int n) {
+  std::vector<MatrixXdr> R;
+  for (int i = 0; i < n; i++) {
+    R.push_back(this->obs_noise[kind]);
+  }
+  return R;
+}
+
+std::optional<Estimate> LiveKalman::predict_and_observe(double t, int kind, const std::vector<VectorXd> &meas, std::vector<MatrixXdr> R) {
+  std::optional<Estimate> r;
+  if (R.size() == 0) {
+    R = this->get_R(kind, meas.size());
+  }
+  r = this->filter->predict_and_update_batch(t, kind, get_vec_mapvec(meas), get_vec_mapmat(R));
+  return r;
+}
+
+void LiveKalman::predict(double t) {
+  this->filter->predict(t);
+}
+
+const Eigen::VectorXd &LiveKalman::get_initial_x() {
+  return this->initial_x;
+}
+
+const MatrixXdr &LiveKalman::get_initial_P() {
+  return this->initial_P;
+}
+
+const MatrixXdr &LiveKalman::get_fake_gps_pos_cov() {
+  return this->fake_gps_pos_cov;
+}
+
+const MatrixXdr &LiveKalman::get_fake_gps_vel_cov() {
+  return this->fake_gps_vel_cov;
+}
+
+const MatrixXdr &LiveKalman::get_reset_orientation_P() {
+  return this->reset_orientation_P;
+}
+
+MatrixXdr LiveKalman::H(const VectorXd &in) {
+  assert(in.size() == 6);
+  Matrix<double, 3, 6, Eigen::RowMajor> res;
+  this->filter->get_extra_routine("H")((double*)in.data(), res.data());
+  return res;
+}
diff --git a/sunnypilot/selfdrive/locationd/models/live_kf.h b/sunnypilot/selfdrive/locationd/models/live_kf.h
new file mode 100644
index 00000000000000..e4b3e326b3c614
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/models/live_kf.h
@@ -0,0 +1,66 @@
+#pragma once
+
+#include <string>
+#include <cmath>
+#include <memory>
+#include <unordered_map>
+#include <vector>
+
+#include <eigen3/Eigen/Core>
+#include <eigen3/Eigen/Dense>
+
+#include "generated/live_kf_constants.h"
+#include "rednose/helpers/ekf_sym.h"
+
+#define EARTH_GM 3.986005e14  // m^3/s^2 (gravitational constant * mass of earth)
+
+using namespace EKFS;
+
+Eigen::Map<Eigen::VectorXd> get_mapvec(const Eigen::VectorXd &vec);
+Eigen::Map<MatrixXdr> get_mapmat(const MatrixXdr &mat);
+std::vector<Eigen::Map<Eigen::VectorXd>> get_vec_mapvec(const std::vector<Eigen::VectorXd> &vec_vec);
+std::vector<Eigen::Map<MatrixXdr>> get_vec_mapmat(const std::vector<MatrixXdr> &mat_vec);
+
+class LiveKalman {
+public:
+  LiveKalman();
+
+  void init_state(const Eigen::VectorXd &state, const Eigen::VectorXd &covs_diag, double filter_time);
+  void init_state(const Eigen::VectorXd &state, const MatrixXdr &covs, double filter_time);
+  void init_state(const Eigen::VectorXd &state, double filter_time);
+
+  Eigen::VectorXd get_x();
+  MatrixXdr get_P();
+  double get_filter_time();
+  std::vector<MatrixXdr> get_R(int kind, int n);
+
+  std::optional<Estimate> predict_and_observe(double t, int kind, const std::vector<Eigen::VectorXd> &meas, std::vector<MatrixXdr> R = {});
+  std::optional<Estimate> predict_and_update_odo_speed(std::vector<Eigen::VectorXd> speed, double t, int kind);
+  std::optional<Estimate> predict_and_update_odo_trans(std::vector<Eigen::VectorXd> trans, double t, int kind);
+  std::optional<Estimate> predict_and_update_odo_rot(std::vector<Eigen::VectorXd> rot, double t, int kind);
+  void predict(double t);
+
+  const Eigen::VectorXd &get_initial_x();
+  const MatrixXdr &get_initial_P();
+  const MatrixXdr &get_fake_gps_pos_cov();
+  const MatrixXdr &get_fake_gps_vel_cov();
+  const MatrixXdr &get_reset_orientation_P();
+
+  MatrixXdr H(const Eigen::VectorXd &in);
+
+private:
+  std::string name = "live";
+
+  std::shared_ptr<EKFSym> filter;
+
+  int dim_state;
+  int dim_state_err;
+
+  Eigen::VectorXd initial_x;
+  MatrixXdr initial_P;
+  MatrixXdr fake_gps_pos_cov;
+  MatrixXdr fake_gps_vel_cov;
+  MatrixXdr reset_orientation_P;
+  MatrixXdr Q;  // process noise
+  std::unordered_map<int, MatrixXdr> obs_noise;
+};
diff --git a/sunnypilot/selfdrive/locationd/models/live_kf.py b/sunnypilot/selfdrive/locationd/models/live_kf.py
new file mode 100755
index 00000000000000..e5626b8f281ed5
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/models/live_kf.py
@@ -0,0 +1,242 @@
+#!/usr/bin/env python3
+
+import sys
+import os
+import numpy as np
+
+from openpilot.sunnypilot.selfdrive.locationd.models.constants import ObservationKind
+
+import sympy as sp
+import inspect
+from rednose.helpers.sympy_helpers import euler_rotate, quat_matrix_r, quat_rotate
+from rednose.helpers.ekf_sym import gen_code
+
+EARTH_GM = 3.986005e14  # m^3/s^2 (gravitational constant * mass of earth)
+
+
+def numpy2eigenstring(arr):
+  assert(len(arr.shape) == 1)
+  arr_str = np.array2string(arr, precision=20, separator=',')[1:-1].replace(' ', '').replace('\n', '')
+  return f"(Eigen::VectorXd({len(arr)}) << {arr_str}).finished()"
+
+
+class States:
+  ECEF_POS = slice(0, 3)  # x, y and z in ECEF in meters
+  ECEF_ORIENTATION = slice(3, 7)  # quat for pose of phone in ecef
+  ECEF_VELOCITY = slice(7, 10)  # ecef velocity in m/s
+  ANGULAR_VELOCITY = slice(10, 13)  # roll, pitch and yaw rates in device frame in radians/s
+  GYRO_BIAS = slice(13, 16)  # roll, pitch and yaw biases
+  ACCELERATION = slice(16, 19)  # Acceleration in device frame in m/s**2
+  ACC_BIAS = slice(19, 22)  # Acceletometer bias in m/s**2
+
+  # Error-state has different slices because it is an ESKF
+  ECEF_POS_ERR = slice(0, 3)
+  ECEF_ORIENTATION_ERR = slice(3, 6)  # euler angles for orientation error
+  ECEF_VELOCITY_ERR = slice(6, 9)
+  ANGULAR_VELOCITY_ERR = slice(9, 12)
+  GYRO_BIAS_ERR = slice(12, 15)
+  ACCELERATION_ERR = slice(15, 18)
+  ACC_BIAS_ERR = slice(18, 21)
+
+
+class LiveKalman:
+  name = 'live'
+
+  initial_x = np.array([3.88e6, -3.37e6, 3.76e6,
+                        0.42254641, -0.31238054, -0.83602975, -0.15788347,  # NED [0,0,0] -> ECEF Quat
+                        0, 0, 0,
+                        0, 0, 0,
+                        0, 0, 0,
+                        0, 0, 0,
+                        0, 0, 0])
+
+  # state covariance
+  initial_P_diag = np.array([10**2, 10**2, 10**2,
+                             0.01**2, 0.01**2, 0.01**2,
+                             10**2, 10**2, 10**2,
+                             1**2, 1**2, 1**2,
+                             1**2, 1**2, 1**2,
+                             100**2, 100**2, 100**2,
+                             0.01**2, 0.01**2, 0.01**2])
+
+  # state covariance when resetting midway in a segment
+  reset_orientation_diag = np.array([1**2, 1**2, 1**2])
+
+  # fake observation covariance, to ensure the uncertainty estimate of the filter is under control
+  fake_gps_pos_cov_diag = np.array([1000**2, 1000**2, 1000**2])
+  fake_gps_vel_cov_diag = np.array([10**2, 10**2, 10**2])
+
+  # process noise
+  Q_diag = np.array([0.03**2, 0.03**2, 0.03**2,
+                     0.001**2, 0.001**2, 0.001**2,
+                     0.01**2, 0.01**2, 0.01**2,
+                     0.1**2, 0.1**2, 0.1**2,
+                     (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
+                     3**2, 3**2, 3**2,
+                     0.005**2, 0.005**2, 0.005**2])
+
+  obs_noise_diag = {ObservationKind.PHONE_GYRO: np.array([0.025**2, 0.025**2, 0.025**2]),
+                    ObservationKind.PHONE_ACCEL: np.array([.5**2, .5**2, .5**2]),
+                    ObservationKind.CAMERA_ODO_ROTATION: np.array([0.05**2, 0.05**2, 0.05**2]),
+                    ObservationKind.NO_ROT: np.array([0.005**2, 0.005**2, 0.005**2]),
+                    ObservationKind.NO_ACCEL: np.array([0.05**2, 0.05**2, 0.05**2]),
+                    ObservationKind.ECEF_POS: np.array([5**2, 5**2, 5**2]),
+                    ObservationKind.ECEF_VEL: np.array([.5**2, .5**2, .5**2]),
+                    ObservationKind.ECEF_ORIENTATION_FROM_GPS: np.array([.2**2, .2**2, .2**2, .2**2])}
+
+  @staticmethod
+  def generate_code(generated_dir):
+    name = LiveKalman.name
+    dim_state = LiveKalman.initial_x.shape[0]
+    dim_state_err = LiveKalman.initial_P_diag.shape[0]
+
+    state_sym = sp.MatrixSymbol('state', dim_state, 1)
+    state = sp.Matrix(state_sym)
+    x, y, z = state[States.ECEF_POS, :]
+    q = state[States.ECEF_ORIENTATION, :]
+    v = state[States.ECEF_VELOCITY, :]
+    vx, vy, vz = v
+    omega = state[States.ANGULAR_VELOCITY, :]
+    vroll, vpitch, vyaw = omega
+    roll_bias, pitch_bias, yaw_bias = state[States.GYRO_BIAS, :]
+    acceleration = state[States.ACCELERATION, :]
+    acc_bias = state[States.ACC_BIAS, :]
+
+    dt = sp.Symbol('dt')
+
+    # calibration and attitude rotation matrices
+    quat_rot = quat_rotate(*q)
+
+    # Got the quat predict equations from here
+    # A New Quaternion-Based Kalman Filter for
+    # Real-Time Attitude Estimation Using the Two-Step
+    # Geometrically-Intuitive Correction Algorithm
+    A = 0.5 * sp.Matrix([[0, -vroll, -vpitch, -vyaw],
+                         [vroll, 0, vyaw, -vpitch],
+                         [vpitch, -vyaw, 0, vroll],
+                         [vyaw, vpitch, -vroll, 0]])
+    q_dot = A * q
+
+    # Time derivative of the state as a function of state
+    state_dot = sp.Matrix(np.zeros((dim_state, 1)))
+    state_dot[States.ECEF_POS, :] = v
+    state_dot[States.ECEF_ORIENTATION, :] = q_dot
+    state_dot[States.ECEF_VELOCITY, 0] = quat_rot * acceleration
+
+    # Basic descretization, 1st order intergrator
+    # Can be pretty bad if dt is big
+    f_sym = state + dt * state_dot
+
+    state_err_sym = sp.MatrixSymbol('state_err', dim_state_err, 1)
+    state_err = sp.Matrix(state_err_sym)
+    quat_err = state_err[States.ECEF_ORIENTATION_ERR, :]
+    v_err = state_err[States.ECEF_VELOCITY_ERR, :]
+    omega_err = state_err[States.ANGULAR_VELOCITY_ERR, :]
+    acceleration_err = state_err[States.ACCELERATION_ERR, :]
+
+    # Time derivative of the state error as a function of state error and state
+    quat_err_matrix = euler_rotate(quat_err[0], quat_err[1], quat_err[2])
+    q_err_dot = quat_err_matrix * quat_rot * (omega + omega_err)
+    state_err_dot = sp.Matrix(np.zeros((dim_state_err, 1)))
+    state_err_dot[States.ECEF_POS_ERR, :] = v_err
+    state_err_dot[States.ECEF_ORIENTATION_ERR, :] = q_err_dot
+    state_err_dot[States.ECEF_VELOCITY_ERR, :] = quat_err_matrix * quat_rot * (acceleration + acceleration_err)
+    f_err_sym = state_err + dt * state_err_dot
+
+    # Observation matrix modifier
+    H_mod_sym = sp.Matrix(np.zeros((dim_state, dim_state_err)))
+    H_mod_sym[States.ECEF_POS, States.ECEF_POS_ERR] = np.eye(States.ECEF_POS.stop - States.ECEF_POS.start)
+    H_mod_sym[States.ECEF_ORIENTATION, States.ECEF_ORIENTATION_ERR] = 0.5 * quat_matrix_r(state[3:7])[:, 1:]
+    H_mod_sym[States.ECEF_ORIENTATION.stop:, States.ECEF_ORIENTATION_ERR.stop:] = np.eye(dim_state - States.ECEF_ORIENTATION.stop)
+
+    # these error functions are defined so that say there
+    # is a nominal x and true x:
+    # true x = err_function(nominal x, delta x)
+    # delta x = inv_err_function(nominal x, true x)
+    nom_x = sp.MatrixSymbol('nom_x', dim_state, 1)
+    true_x = sp.MatrixSymbol('true_x', dim_state, 1)
+    delta_x = sp.MatrixSymbol('delta_x', dim_state_err, 1)
+
+    err_function_sym = sp.Matrix(np.zeros((dim_state, 1)))
+    delta_quat = sp.Matrix(np.ones(4))
+    delta_quat[1:, :] = sp.Matrix(0.5 * delta_x[States.ECEF_ORIENTATION_ERR, :])
+    err_function_sym[States.ECEF_POS, :] = sp.Matrix(nom_x[States.ECEF_POS, :] + delta_x[States.ECEF_POS_ERR, :])
+    err_function_sym[States.ECEF_ORIENTATION, 0] = quat_matrix_r(nom_x[States.ECEF_ORIENTATION, 0]) * delta_quat
+    err_function_sym[States.ECEF_ORIENTATION.stop:, :] = sp.Matrix(nom_x[States.ECEF_ORIENTATION.stop:, :] + delta_x[States.ECEF_ORIENTATION_ERR.stop:, :])
+
+    inv_err_function_sym = sp.Matrix(np.zeros((dim_state_err, 1)))
+    inv_err_function_sym[States.ECEF_POS_ERR, 0] = sp.Matrix(-nom_x[States.ECEF_POS, 0] + true_x[States.ECEF_POS, 0])
+    delta_quat = quat_matrix_r(nom_x[States.ECEF_ORIENTATION, 0]).T * true_x[States.ECEF_ORIENTATION, 0]
+    inv_err_function_sym[States.ECEF_ORIENTATION_ERR, 0] = sp.Matrix(2 * delta_quat[1:])
+    inv_err_function_sym[States.ECEF_ORIENTATION_ERR.stop:, 0] = sp.Matrix(-nom_x[States.ECEF_ORIENTATION.stop:, 0] + true_x[States.ECEF_ORIENTATION.stop:, 0])
+
+    eskf_params = [[err_function_sym, nom_x, delta_x],
+                   [inv_err_function_sym, nom_x, true_x],
+                   H_mod_sym, f_err_sym, state_err_sym]
+    #
+    # Observation functions
+    #
+    h_gyro_sym = sp.Matrix([
+      vroll + roll_bias,
+      vpitch + pitch_bias,
+      vyaw + yaw_bias])
+
+    pos = sp.Matrix([x, y, z])
+    gravity = quat_rot.T * ((EARTH_GM / ((x**2 + y**2 + z**2)**(3.0 / 2.0))) * pos)
+    h_acc_sym = (gravity + acceleration + acc_bias)
+    h_acc_stationary_sym = acceleration
+    h_phone_rot_sym = sp.Matrix([vroll, vpitch, vyaw])
+    h_pos_sym = sp.Matrix([x, y, z])
+    h_vel_sym = sp.Matrix([vx, vy, vz])
+    h_orientation_sym = q
+    h_relative_motion = sp.Matrix(quat_rot.T * v)
+
+    obs_eqs = [[h_gyro_sym, ObservationKind.PHONE_GYRO, None],
+               [h_phone_rot_sym, ObservationKind.NO_ROT, None],
+               [h_acc_sym, ObservationKind.PHONE_ACCEL, None],
+               [h_pos_sym, ObservationKind.ECEF_POS, None],
+               [h_vel_sym, ObservationKind.ECEF_VEL, None],
+               [h_orientation_sym, ObservationKind.ECEF_ORIENTATION_FROM_GPS, None],
+               [h_relative_motion, ObservationKind.CAMERA_ODO_TRANSLATION, None],
+               [h_phone_rot_sym, ObservationKind.CAMERA_ODO_ROTATION, None],
+               [h_acc_stationary_sym, ObservationKind.NO_ACCEL, None]]
+
+    # this returns a sympy routine for the jacobian of the observation function of the local vel
+    in_vec = sp.MatrixSymbol('in_vec', 6, 1)  # roll, pitch, yaw, vx, vy, vz
+    h = euler_rotate(in_vec[0], in_vec[1], in_vec[2]).T * (sp.Matrix([in_vec[3], in_vec[4], in_vec[5]]))
+    extra_routines = [('H', h.jacobian(in_vec), [in_vec])]
+
+    gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err, eskf_params, extra_routines=extra_routines)
+
+    # write constants to extra header file for use in cpp
+    live_kf_header = "#pragma once\n\n"
+    live_kf_header += "#include <unordered_map>\n"
+    live_kf_header += "#include <eigen3/Eigen/Dense>\n\n"
+    for state, slc in inspect.getmembers(States, lambda x: isinstance(x, slice)):
+      assert(slc.step is None)  # unsupported
+      live_kf_header += f'#define STATE_{state}_START {slc.start}\n'
+      live_kf_header += f'#define STATE_{state}_END {slc.stop}\n'
+      live_kf_header += f'#define STATE_{state}_LEN {slc.stop - slc.start}\n'
+    live_kf_header += "\n"
+
+    for kind, val in inspect.getmembers(ObservationKind, lambda x: isinstance(x, int)):
+      live_kf_header += f'#define OBSERVATION_{kind} {val}\n'
+    live_kf_header += "\n"
+
+    live_kf_header += f"static const Eigen::VectorXd live_initial_x = {numpy2eigenstring(LiveKalman.initial_x)};\n"
+    live_kf_header += f"static const Eigen::VectorXd live_initial_P_diag = {numpy2eigenstring(LiveKalman.initial_P_diag)};\n"
+    live_kf_header += f"static const Eigen::VectorXd live_fake_gps_pos_cov_diag = {numpy2eigenstring(LiveKalman.fake_gps_pos_cov_diag)};\n"
+    live_kf_header += f"static const Eigen::VectorXd live_fake_gps_vel_cov_diag = {numpy2eigenstring(LiveKalman.fake_gps_vel_cov_diag)};\n"
+    live_kf_header += f"static const Eigen::VectorXd live_reset_orientation_diag = {numpy2eigenstring(LiveKalman.reset_orientation_diag)};\n"
+    live_kf_header += f"static const Eigen::VectorXd live_Q_diag = {numpy2eigenstring(LiveKalman.Q_diag)};\n"
+    live_kf_header += "static const std::unordered_map<int, Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>> live_obs_noise_diag = {\n"
+    for kind, noise in LiveKalman.obs_noise_diag.items():
+      live_kf_header += f"  {{ {kind}, {numpy2eigenstring(noise)} }},\n"
+    live_kf_header += "};\n\n"
+
+    open(os.path.join(generated_dir, "live_kf_constants.h"), 'w').write(live_kf_header)
+
+
+if __name__ == "__main__":
+  generated_dir = sys.argv[2]
+  LiveKalman.generate_code(generated_dir)
diff --git a/sunnypilot/selfdrive/locationd/tests/.gitignore b/sunnypilot/selfdrive/locationd/tests/.gitignore
new file mode 100644
index 00000000000000..89f9ac04aac6c8
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/tests/.gitignore
@@ -0,0 +1 @@
+out/
diff --git a/sunnypilot/selfdrive/locationd/tests/__init__.py b/sunnypilot/selfdrive/locationd/tests/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/locationd/tests/test_locationd.py b/sunnypilot/selfdrive/locationd/tests/test_locationd.py
new file mode 100644
index 00000000000000..c409f5b5a5d663
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/tests/test_locationd.py
@@ -0,0 +1,89 @@
+import pytest
+import json
+import random
+import time
+import capnp
+
+import cereal.messaging as messaging
+from cereal.services import SERVICE_LIST
+from openpilot.common.params import Params
+from openpilot.common.transformations.coordinates import ecef2geodetic
+
+from openpilot.system.manager.process_config import managed_processes
+
+
+class TestLocationdProc:
+  LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
+              'accelerometer', 'gyroscope', 'magnetometer']
+
+  def setup_method(self):
+    self.pm = messaging.PubMaster(self.LLD_MSGS)
+
+    self.params = Params()
+    self.params.put_bool("UbloxAvailable", True)
+    managed_processes['locationd_llk'].prepare()
+    managed_processes['locationd_llk'].start()
+
+  def teardown_method(self):
+    managed_processes['locationd_llk'].stop()
+
+  def get_msg(self, name, t):
+    try:
+      msg = messaging.new_message(name)
+    except capnp.lib.capnp.KjException:
+      msg = messaging.new_message(name, 0)
+
+    if name == "gpsLocationExternal":
+      msg.gpsLocationExternal.flags = 1
+      msg.gpsLocationExternal.hasFix = True
+      msg.gpsLocationExternal.verticalAccuracy = 1.0
+      msg.gpsLocationExternal.speedAccuracy = 1.0
+      msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
+      msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
+      msg.gpsLocationExternal.latitude = float(self.lat)
+      msg.gpsLocationExternal.longitude = float(self.lon)
+      msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
+      msg.gpsLocationExternal.altitude = float(self.alt)
+    #if name == "gnssMeasurements":
+    #  msg.gnssMeasurements.measTime = t
+    #  msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
+    #  msg.gnssMeasurements.positionECEF.std = [0,0,0]
+    #  msg.gnssMeasurements.positionECEF.valid = True
+    #  msg.gnssMeasurements.velocityECEF.value = []
+    #  msg.gnssMeasurements.velocityECEF.std = [0,0,0]
+    #  msg.gnssMeasurements.velocityECEF.valid = True
+    elif name == 'cameraOdometry':
+      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.transStd = [0.0, 0.0, 0.0]
+    msg.logMonoTime = t
+    msg.valid = True
+    return msg
+
+  def test_params_gps(self):
+    random.seed(123489234)
+    self.params.remove('LastGPSPositionLLK')
+
+    self.x = -2710700 + (random.random() * 1e5)
+    self.y = -4280600 + (random.random() * 1e5)
+    self.z = 3850300 + (random.random() * 1e5)
+    self.lat, self.lon, self.alt = ecef2geodetic([self.x, self.y, self.z])
+
+    # get fake messages at the correct frequency, listed in services.py
+    msgs = []
+    for sec in range(65):
+      for name in self.LLD_MSGS:
+        for j in range(int(SERVICE_LIST[name].frequency)):
+          msgs.append(self.get_msg(name, int((sec + j / SERVICE_LIST[name].frequency) * 1e9)))
+
+    for msg in sorted(msgs, key=lambda x: x.logMonoTime):
+      self.pm.send(msg.which(), msg)
+      if msg.which() == "cameraOdometry":
+        self.pm.wait_for_readers_to_update(msg.which(), 0.1, dt=0.005)
+    time.sleep(1)  # wait for async params write
+
+    lastGPS = json.loads(self.params.get('LastGPSPositionLLK'))
+    assert lastGPS['latitude'] == pytest.approx(self.lat, abs=0.001)
+    assert lastGPS['longitude'] == pytest.approx(self.lon, abs=0.001)
+    assert lastGPS['altitude'] == pytest.approx(self.alt, abs=0.001)
diff --git a/sunnypilot/system/sensord/.gitignore b/sunnypilot/system/sensord/.gitignore
new file mode 100644
index 00000000000000..e17675e254285f
--- /dev/null
+++ b/sunnypilot/system/sensord/.gitignore
@@ -0,0 +1 @@
+sensord
diff --git a/sunnypilot/system/sensord/SConscript b/sunnypilot/system/sensord/SConscript
new file mode 100644
index 00000000000000..1222f0bfcd761c
--- /dev/null
+++ b/sunnypilot/system/sensord/SConscript
@@ -0,0 +1,13 @@
+Import('env', 'arch', 'common', 'messaging')
+
+sensors = [
+  'sensors/i2c_sensor.cc',
+  'sensors/lsm6ds3_accel.cc',
+  'sensors/lsm6ds3_gyro.cc',
+  'sensors/lsm6ds3_temp.cc',
+  'sensors/mmc5603nj_magn.cc',
+]
+libs = [common, messaging, 'pthread']
+if arch == "larch64":
+  libs.append('i2c')
+env.Program('sensord', ['sensors_qcom2.cc'] + sensors, LIBS=libs)
diff --git a/sunnypilot/system/sensord/sensors/bmx055_accel.cc b/sunnypilot/system/sensord/sensors/bmx055_accel.cc
new file mode 100644
index 00000000000000..5db10c3b5b1d62
--- /dev/null
+++ b/sunnypilot/system/sensord/sensors/bmx055_accel.cc
@@ -0,0 +1,85 @@
+#include "sunnypilot/system/sensord/sensors/bmx055_accel.h"
+
+#include <cassert>
+
+#include "common/swaglog.h"
+#include "common/timing.h"
+#include "common/util.h"
+
+BMX055_Accel::BMX055_Accel(I2CBus *bus) : I2CSensor(bus) {}
+
+int BMX055_Accel::init() {
+  int ret = verify_chip_id(BMX055_ACCEL_I2C_REG_ID, {BMX055_ACCEL_CHIP_ID});
+  if (ret == -1) {
+    goto fail;
+  }
+
+  ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_NORMAL_MODE);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  // bmx055 accel has a 1.3ms wakeup time from deep suspend mode
+  util::sleep_for(10);
+
+  // High bandwidth
+  // ret = set_register(BMX055_ACCEL_I2C_REG_HBW, BMX055_ACCEL_HBW_ENABLE);
+  // if (ret < 0) {
+  //   goto fail;
+  // }
+
+  // Low bandwidth
+  ret = set_register(BMX055_ACCEL_I2C_REG_HBW, BMX055_ACCEL_HBW_DISABLE);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  ret = set_register(BMX055_ACCEL_I2C_REG_BW, BMX055_ACCEL_BW_125HZ);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  enabled = true;
+
+fail:
+  return ret;
+}
+
+int BMX055_Accel::shutdown()  {
+  if (!enabled) return 0;
+
+  // enter deep suspend mode (lowest power mode)
+  int ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_DEEP_SUSPEND);
+  if (ret < 0) {
+    LOGE("Could not move BMX055 ACCEL in deep suspend mode!");
+  }
+
+  return ret;
+}
+
+bool BMX055_Accel::get_event(MessageBuilder &msg, uint64_t ts) {
+  uint64_t start_time = nanos_since_boot();
+  uint8_t buffer[6];
+  int len = read_register(BMX055_ACCEL_I2C_REG_X_LSB, buffer, sizeof(buffer));
+  assert(len == 6);
+
+  // 12 bit = +-2g
+  float scale = 9.81 * 2.0f / (1 << 11);
+  float x = -read_12_bit(buffer[0], buffer[1]) * scale;
+  float y = -read_12_bit(buffer[2], buffer[3]) * scale;
+  float z = read_12_bit(buffer[4], buffer[5]) * scale;
+
+  auto event = msg.initEvent().initAccelerometer2();
+  event.setSource(cereal::SensorEventData::SensorSource::BMX055);
+  event.setVersion(1);
+  event.setSensor(SENSOR_ACCELEROMETER);
+  event.setType(SENSOR_TYPE_ACCELEROMETER);
+  event.setTimestamp(start_time);
+
+  float xyz[] = {x, y, z};
+  auto svec = event.initAcceleration();
+  svec.setV(xyz);
+  svec.setStatus(true);
+
+  return true;
+}
diff --git a/sunnypilot/system/sensord/sensors/bmx055_accel.h b/sunnypilot/system/sensord/sensors/bmx055_accel.h
new file mode 100644
index 00000000000000..4aea163c8b381a
--- /dev/null
+++ b/sunnypilot/system/sensord/sensors/bmx055_accel.h
@@ -0,0 +1,41 @@
+#pragma once
+
+#include "sunnypilot/system/sensord/sensors/i2c_sensor.h"
+
+// Address of the chip on the bus
+#define BMX055_ACCEL_I2C_ADDR       0x18
+
+// Registers of the chip
+#define BMX055_ACCEL_I2C_REG_ID     0x00
+#define BMX055_ACCEL_I2C_REG_X_LSB  0x02
+#define BMX055_ACCEL_I2C_REG_TEMP   0x08
+#define BMX055_ACCEL_I2C_REG_BW     0x10
+#define BMX055_ACCEL_I2C_REG_PMU    0x11
+#define BMX055_ACCEL_I2C_REG_HBW    0x13
+#define BMX055_ACCEL_I2C_REG_FIFO   0x3F
+
+// Constants
+#define BMX055_ACCEL_CHIP_ID        0xFA
+
+#define BMX055_ACCEL_HBW_ENABLE       0b10000000
+#define BMX055_ACCEL_HBW_DISABLE      0b00000000
+#define BMX055_ACCEL_DEEP_SUSPEND     0b00100000
+#define BMX055_ACCEL_NORMAL_MODE      0b00000000
+
+#define BMX055_ACCEL_BW_7_81HZ  0b01000
+#define BMX055_ACCEL_BW_15_63HZ 0b01001
+#define BMX055_ACCEL_BW_31_25HZ 0b01010
+#define BMX055_ACCEL_BW_62_5HZ  0b01011
+#define BMX055_ACCEL_BW_125HZ   0b01100
+#define BMX055_ACCEL_BW_250HZ   0b01101
+#define BMX055_ACCEL_BW_500HZ   0b01110
+#define BMX055_ACCEL_BW_1000HZ  0b01111
+
+class BMX055_Accel : public I2CSensor {
+  uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;}
+public:
+  BMX055_Accel(I2CBus *bus);
+  int init();
+  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
+  int shutdown();
+};
diff --git a/sunnypilot/system/sensord/sensors/bmx055_gyro.cc b/sunnypilot/system/sensord/sensors/bmx055_gyro.cc
new file mode 100644
index 00000000000000..4701c70d711db8
--- /dev/null
+++ b/sunnypilot/system/sensord/sensors/bmx055_gyro.cc
@@ -0,0 +1,92 @@
+#include "sunnypilot/system/sensord/sensors/bmx055_gyro.h"
+
+#include <cassert>
+#include <cmath>
+
+#include "common/swaglog.h"
+#include "common/util.h"
+
+#define DEG2RAD(x) ((x) * M_PI / 180.0)
+
+
+BMX055_Gyro::BMX055_Gyro(I2CBus *bus) : I2CSensor(bus) {}
+
+int BMX055_Gyro::init() {
+  int ret = verify_chip_id(BMX055_GYRO_I2C_REG_ID, {BMX055_GYRO_CHIP_ID});
+  if (ret == -1) return -1;
+
+  ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_NORMAL_MODE);
+  if (ret < 0) {
+    goto fail;
+  }
+  // bmx055 gyro has a 30ms wakeup time from deep suspend mode
+  util::sleep_for(50);
+
+  // High bandwidth
+  // ret = set_register(BMX055_GYRO_I2C_REG_HBW, BMX055_GYRO_HBW_ENABLE);
+  // if (ret < 0) {
+  //   goto fail;
+  // }
+
+  // Low bandwidth
+  ret = set_register(BMX055_GYRO_I2C_REG_HBW, BMX055_GYRO_HBW_DISABLE);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  // 116 Hz filter
+  ret = set_register(BMX055_GYRO_I2C_REG_BW, BMX055_GYRO_BW_116HZ);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  // +- 125 deg/s range
+  ret = set_register(BMX055_GYRO_I2C_REG_RANGE, BMX055_GYRO_RANGE_125);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  enabled = true;
+
+fail:
+  return ret;
+}
+
+int BMX055_Gyro::shutdown()  {
+  if (!enabled) return 0;
+
+  // enter deep suspend mode (lowest power mode)
+  int ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_DEEP_SUSPEND);
+  if (ret < 0) {
+    LOGE("Could not move BMX055 GYRO in deep suspend mode!");
+  }
+
+  return ret;
+}
+
+bool BMX055_Gyro::get_event(MessageBuilder &msg, uint64_t ts) {
+  uint64_t start_time = nanos_since_boot();
+  uint8_t buffer[6];
+  int len = read_register(BMX055_GYRO_I2C_REG_RATE_X_LSB, buffer, sizeof(buffer));
+  assert(len == 6);
+
+  // 16 bit = +- 125 deg/s
+  float scale = 125.0f / (1 << 15);
+  float x = -DEG2RAD(read_16_bit(buffer[0], buffer[1]) * scale);
+  float y = -DEG2RAD(read_16_bit(buffer[2], buffer[3]) * scale);
+  float z = DEG2RAD(read_16_bit(buffer[4], buffer[5]) * scale);
+
+  auto event = msg.initEvent().initGyroscope2();
+  event.setSource(cereal::SensorEventData::SensorSource::BMX055);
+  event.setVersion(1);
+  event.setSensor(SENSOR_GYRO_UNCALIBRATED);
+  event.setType(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED);
+  event.setTimestamp(start_time);
+
+  float xyz[] = {x, y, z};
+  auto svec = event.initGyroUncalibrated();
+  svec.setV(xyz);
+  svec.setStatus(true);
+
+  return true;
+}
diff --git a/sunnypilot/system/sensord/sensors/bmx055_gyro.h b/sunnypilot/system/sensord/sensors/bmx055_gyro.h
new file mode 100644
index 00000000000000..489184bb189001
--- /dev/null
+++ b/sunnypilot/system/sensord/sensors/bmx055_gyro.h
@@ -0,0 +1,41 @@
+#pragma once
+
+#include "sunnypilot/system/sensord/sensors/i2c_sensor.h"
+
+// Address of the chip on the bus
+#define BMX055_GYRO_I2C_ADDR        0x68
+
+// Registers of the chip
+#define BMX055_GYRO_I2C_REG_ID         0x00
+#define BMX055_GYRO_I2C_REG_RATE_X_LSB 0x02
+#define BMX055_GYRO_I2C_REG_RANGE      0x0F
+#define BMX055_GYRO_I2C_REG_BW         0x10
+#define BMX055_GYRO_I2C_REG_LPM1       0x11
+#define BMX055_GYRO_I2C_REG_HBW        0x13
+#define BMX055_GYRO_I2C_REG_FIFO       0x3F
+
+// Constants
+#define BMX055_GYRO_CHIP_ID         0x0F
+
+#define BMX055_GYRO_HBW_ENABLE       0b10000000
+#define BMX055_GYRO_HBW_DISABLE      0b00000000
+#define BMX055_GYRO_DEEP_SUSPEND     0b00100000
+#define BMX055_GYRO_NORMAL_MODE      0b00000000
+
+#define BMX055_GYRO_RANGE_2000      0b000
+#define BMX055_GYRO_RANGE_1000      0b001
+#define BMX055_GYRO_RANGE_500       0b010
+#define BMX055_GYRO_RANGE_250       0b011
+#define BMX055_GYRO_RANGE_125       0b100
+
+#define BMX055_GYRO_BW_116HZ 0b0010
+
+
+class BMX055_Gyro : public I2CSensor {
+  uint8_t get_device_address() {return BMX055_GYRO_I2C_ADDR;}
+public:
+  BMX055_Gyro(I2CBus *bus);
+  int init();
+  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
+  int shutdown();
+};
diff --git a/sunnypilot/system/sensord/sensors/bmx055_magn.cc b/sunnypilot/system/sensord/sensors/bmx055_magn.cc
new file mode 100644
index 00000000000000..00b35aa1368140
--- /dev/null
+++ b/sunnypilot/system/sensord/sensors/bmx055_magn.cc
@@ -0,0 +1,258 @@
+#include "sunnypilot/system/sensord/sensors/bmx055_magn.h"
+
+#include <unistd.h>
+
+#include <algorithm>
+#include <cassert>
+#include <cstdio>
+
+#include "common/swaglog.h"
+#include "common/util.h"
+
+static int16_t compensate_x(trim_data_t trim_data, int16_t mag_data_x, uint16_t data_rhall) {
+  uint16_t process_comp_x0 = data_rhall;
+  int32_t process_comp_x1 = ((int32_t)trim_data.dig_xyz1) * 16384;
+  uint16_t process_comp_x2 = ((uint16_t)(process_comp_x1 / process_comp_x0)) - ((uint16_t)0x4000);
+  int16_t retval = ((int16_t)process_comp_x2);
+  int32_t process_comp_x3 = (((int32_t)retval) * ((int32_t)retval));
+  int32_t process_comp_x4 = (((int32_t)trim_data.dig_xy2) * (process_comp_x3 / 128));
+  int32_t process_comp_x5 = (int32_t)(((int16_t)trim_data.dig_xy1) * 128);
+  int32_t process_comp_x6 = ((int32_t)retval) * process_comp_x5;
+  int32_t process_comp_x7 = (((process_comp_x4 + process_comp_x6) / 512) + ((int32_t)0x100000));
+  int32_t process_comp_x8 = ((int32_t)(((int16_t)trim_data.dig_x2) + ((int16_t)0xA0)));
+  int32_t process_comp_x9 = ((process_comp_x7 * process_comp_x8) / 4096);
+  int32_t process_comp_x10 = ((int32_t)mag_data_x) * process_comp_x9;
+  retval = ((int16_t)(process_comp_x10 / 8192));
+  retval = (retval + (((int16_t)trim_data.dig_x1) * 8)) / 16;
+
+  return retval;
+}
+
+static int16_t compensate_y(trim_data_t trim_data, int16_t mag_data_y, uint16_t data_rhall) {
+  uint16_t process_comp_y0 = trim_data.dig_xyz1;
+  int32_t process_comp_y1 = (((int32_t)trim_data.dig_xyz1) * 16384) / process_comp_y0;
+  uint16_t process_comp_y2 = ((uint16_t)process_comp_y1) - ((uint16_t)0x4000);
+  int16_t retval = ((int16_t)process_comp_y2);
+  int32_t process_comp_y3 = ((int32_t) retval) * ((int32_t)retval);
+  int32_t process_comp_y4 = ((int32_t)trim_data.dig_xy2) * (process_comp_y3 / 128);
+  int32_t process_comp_y5 = ((int32_t)(((int16_t)trim_data.dig_xy1) * 128));
+  int32_t process_comp_y6 = ((process_comp_y4 + (((int32_t)retval) * process_comp_y5)) / 512);
+  int32_t process_comp_y7 = ((int32_t)(((int16_t)trim_data.dig_y2) + ((int16_t)0xA0)));
+  int32_t process_comp_y8 = (((process_comp_y6 + ((int32_t)0x100000)) * process_comp_y7) / 4096);
+  int32_t process_comp_y9 = (((int32_t)mag_data_y) * process_comp_y8);
+  retval = (int16_t)(process_comp_y9 / 8192);
+  retval = (retval + (((int16_t)trim_data.dig_y1) * 8)) / 16;
+
+  return retval;
+}
+
+static int16_t compensate_z(trim_data_t trim_data, int16_t mag_data_z, uint16_t data_rhall) {
+  int16_t process_comp_z0 = ((int16_t)data_rhall) - ((int16_t) trim_data.dig_xyz1);
+  int32_t process_comp_z1 = (((int32_t)trim_data.dig_z3) * ((int32_t)(process_comp_z0))) / 4;
+  int32_t process_comp_z2 = (((int32_t)(mag_data_z - trim_data.dig_z4)) * 32768);
+  int32_t process_comp_z3 = ((int32_t)trim_data.dig_z1) * (((int16_t)data_rhall) * 2);
+  int16_t process_comp_z4 = (int16_t)((process_comp_z3 + (32768)) / 65536);
+  int32_t retval = ((process_comp_z2 - process_comp_z1) / (trim_data.dig_z2 + process_comp_z4));
+
+  /* saturate result to +/- 2 micro-tesla */
+  retval = std::clamp(retval, -32767, 32767);
+
+  /* Conversion of LSB to micro-tesla*/
+  retval = retval / 16;
+
+  return (int16_t)retval;
+}
+
+BMX055_Magn::BMX055_Magn(I2CBus *bus) : I2CSensor(bus) {}
+
+int BMX055_Magn::init() {
+  uint8_t trim_x1y1[2] = {0};
+  uint8_t trim_x2y2[2] = {0};
+  uint8_t trim_xy1xy2[2] = {0};
+  uint8_t trim_z1[2] = {0};
+  uint8_t trim_z2[2] = {0};
+  uint8_t trim_z3[2] = {0};
+  uint8_t trim_z4[2] = {0};
+  uint8_t trim_xyz1[2] = {0};
+
+  // suspend -> sleep
+  int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0x01);
+  if (ret < 0) {
+    LOGD("Enabling power failed: %d", ret);
+    goto fail;
+  }
+  util::sleep_for(5); // wait until the chip is powered on
+
+  ret = verify_chip_id(BMX055_MAGN_I2C_REG_ID, {BMX055_MAGN_CHIP_ID});
+  if (ret == -1) {
+    goto fail;
+  }
+
+  // Load magnetometer trim
+  ret = read_register(BMX055_MAGN_I2C_REG_DIG_X1, trim_x1y1, 2);
+  if (ret < 0) goto fail;
+  ret = read_register(BMX055_MAGN_I2C_REG_DIG_X2, trim_x2y2, 2);
+  if (ret < 0) goto fail;
+  ret = read_register(BMX055_MAGN_I2C_REG_DIG_XY2, trim_xy1xy2, 2);
+  if (ret < 0) goto fail;
+  ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z1_LSB, trim_z1, 2);
+  if (ret < 0) goto fail;
+  ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z2_LSB, trim_z2, 2);
+  if (ret < 0) goto fail;
+  ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z3_LSB, trim_z3, 2);
+  if (ret < 0) goto fail;
+  ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z4_LSB, trim_z4, 2);
+  if (ret < 0) goto fail;
+  ret = read_register(BMX055_MAGN_I2C_REG_DIG_XYZ1_LSB, trim_xyz1, 2);
+  if (ret < 0) goto fail;
+
+  // Read trim data
+  trim_data.dig_x1 = trim_x1y1[0];
+  trim_data.dig_y1 = trim_x1y1[1];
+
+  trim_data.dig_x2 = trim_x2y2[0];
+  trim_data.dig_y2 = trim_x2y2[1];
+
+  trim_data.dig_xy1 = trim_xy1xy2[1]; // NB: MSB/LSB swapped
+  trim_data.dig_xy2 = trim_xy1xy2[0];
+
+  trim_data.dig_z1 = read_16_bit(trim_z1[0], trim_z1[1]);
+  trim_data.dig_z2 = read_16_bit(trim_z2[0], trim_z2[1]);
+  trim_data.dig_z3 = read_16_bit(trim_z3[0], trim_z3[1]);
+  trim_data.dig_z4 = read_16_bit(trim_z4[0], trim_z4[1]);
+
+  trim_data.dig_xyz1 = read_16_bit(trim_xyz1[0], trim_xyz1[1] & 0x7f);
+  assert(trim_data.dig_xyz1 != 0);
+
+  perform_self_test();
+
+  // f_max = 1 / (145us * nXY + 500us * NZ + 980us)
+  // Chose NXY = 7, NZ = 12, which gives 125 Hz,
+  // and has the same ratio as the high accuracy preset
+  ret = set_register(BMX055_MAGN_I2C_REG_REPXY, (7 - 1) / 2);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  ret = set_register(BMX055_MAGN_I2C_REG_REPZ, 12 - 1);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  enabled = true;
+  return 0;
+
+ fail:
+  return ret;
+}
+
+int BMX055_Magn::shutdown() {
+  if (!enabled) return 0;
+
+  // move to suspend mode
+  int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0);
+  if (ret < 0) {
+    LOGE("Could not move BMX055 MAGN in suspend mode!");
+  }
+
+  return ret;
+}
+
+bool BMX055_Magn::perform_self_test() {
+  uint8_t buffer[8];
+  int16_t x, y;
+  int16_t neg_z, pos_z;
+
+  // Increase z reps for less false positives (~30 Hz ODR)
+  set_register(BMX055_MAGN_I2C_REG_REPXY, 1);
+  set_register(BMX055_MAGN_I2C_REG_REPZ, 64 - 1);
+
+  // Clean existing measurement
+  read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
+
+  uint8_t forced = BMX055_MAGN_FORCED;
+
+  // Negative current
+  set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b10) << 6));
+  util::sleep_for(100);
+
+  read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
+  parse_xyz(buffer, &x, &y, &neg_z);
+
+  // Positive current
+  set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b11) << 6));
+  util::sleep_for(100);
+
+  read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
+  parse_xyz(buffer, &x, &y, &pos_z);
+
+  // Put back in normal mode
+  set_register(BMX055_MAGN_I2C_REG_MAG, 0);
+
+  int16_t diff = pos_z - neg_z;
+  bool passed = (diff > 180) && (diff < 240);
+
+  if (!passed) {
+    LOGE("self test failed: neg %d pos %d diff %d", neg_z, pos_z, diff);
+  }
+
+  return passed;
+}
+
+bool BMX055_Magn::parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *z) {
+  bool ready = buffer[6] & 0x1;
+  if (ready) {
+    int16_t mdata_x = (int16_t) (((int16_t)buffer[1] << 8) | buffer[0]) >> 3;
+    int16_t mdata_y = (int16_t) (((int16_t)buffer[3] << 8) | buffer[2]) >> 3;
+    int16_t mdata_z = (int16_t) (((int16_t)buffer[5] << 8) | buffer[4]) >> 1;
+    uint16_t data_r = (uint16_t) (((uint16_t)buffer[7] << 8) | buffer[6]) >> 2;
+    assert(data_r != 0);
+
+    *x = compensate_x(trim_data, mdata_x, data_r);
+    *y = compensate_y(trim_data, mdata_y, data_r);
+    *z = compensate_z(trim_data, mdata_z, data_r);
+  }
+  return ready;
+}
+
+
+bool BMX055_Magn::get_event(MessageBuilder &msg, uint64_t ts) {
+  uint64_t start_time = nanos_since_boot();
+  uint8_t buffer[8];
+  int16_t _x, _y, x, y, z;
+
+  int len = read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
+  assert(len == sizeof(buffer));
+
+  bool parsed = parse_xyz(buffer, &_x, &_y, &z);
+  if (parsed) {
+
+    auto event = msg.initEvent().initMagnetometer();
+    event.setSource(cereal::SensorEventData::SensorSource::BMX055);
+    event.setVersion(2);
+    event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED);
+    event.setType(SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED);
+    event.setTimestamp(start_time);
+
+    // Move magnetometer into same reference frame as accel/gryo
+    x = -_y;
+    y = _x;
+
+    // Axis convention
+    x = -x;
+    y = -y;
+
+    float xyz[] = {(float)x, (float)y, (float)z};
+    auto svec = event.initMagneticUncalibrated();
+    svec.setV(xyz);
+    svec.setStatus(true);
+  }
+
+  // The BMX055 Magnetometer has no FIFO mode. Self running mode only goes
+  // up to 30 Hz. Therefore we put in forced mode, and request measurements
+  // at a 100 Hz. When reading the registers we have to check the ready bit
+  // To verify the measurement was completed this cycle.
+  set_register(BMX055_MAGN_I2C_REG_MAG, BMX055_MAGN_FORCED);
+
+  return parsed;
+}
diff --git a/sunnypilot/system/sensord/sensors/bmx055_magn.h b/sunnypilot/system/sensord/sensors/bmx055_magn.h
new file mode 100644
index 00000000000000..7b1f7853d0957f
--- /dev/null
+++ b/sunnypilot/system/sensord/sensors/bmx055_magn.h
@@ -0,0 +1,64 @@
+#pragma once
+#include <tuple>
+
+#include "sunnypilot/system/sensord/sensors/i2c_sensor.h"
+
+// Address of the chip on the bus
+#define BMX055_MAGN_I2C_ADDR        0x10
+
+// Registers of the chip
+#define BMX055_MAGN_I2C_REG_ID        0x40
+#define BMX055_MAGN_I2C_REG_PWR_0     0x4B
+#define BMX055_MAGN_I2C_REG_MAG       0x4C
+#define BMX055_MAGN_I2C_REG_DATAX_LSB 0x42
+#define BMX055_MAGN_I2C_REG_RHALL_LSB 0x48
+#define BMX055_MAGN_I2C_REG_REPXY     0x51
+#define BMX055_MAGN_I2C_REG_REPZ      0x52
+
+#define BMX055_MAGN_I2C_REG_DIG_X1       0x5D
+#define BMX055_MAGN_I2C_REG_DIG_Y1       0x5E
+#define BMX055_MAGN_I2C_REG_DIG_Z4_LSB   0x62
+#define BMX055_MAGN_I2C_REG_DIG_Z4_MSB   0x63
+#define BMX055_MAGN_I2C_REG_DIG_X2       0x64
+#define BMX055_MAGN_I2C_REG_DIG_Y2       0x65
+#define BMX055_MAGN_I2C_REG_DIG_Z2_LSB   0x68
+#define BMX055_MAGN_I2C_REG_DIG_Z2_MSB   0x69
+#define BMX055_MAGN_I2C_REG_DIG_Z1_LSB   0x6A
+#define BMX055_MAGN_I2C_REG_DIG_Z1_MSB   0x6B
+#define BMX055_MAGN_I2C_REG_DIG_XYZ1_LSB 0x6C
+#define BMX055_MAGN_I2C_REG_DIG_XYZ1_MSB 0x6D
+#define BMX055_MAGN_I2C_REG_DIG_Z3_LSB   0x6E
+#define BMX055_MAGN_I2C_REG_DIG_Z3_MSB   0x6F
+#define BMX055_MAGN_I2C_REG_DIG_XY2      0x70
+#define BMX055_MAGN_I2C_REG_DIG_XY1      0x71
+
+// Constants
+#define BMX055_MAGN_CHIP_ID     0x32
+#define BMX055_MAGN_FORCED      (0b01 << 1)
+
+struct trim_data_t {
+    int8_t dig_x1;
+    int8_t dig_y1;
+    int8_t dig_x2;
+    int8_t dig_y2;
+    uint16_t dig_z1;
+    int16_t dig_z2;
+    int16_t dig_z3;
+    int16_t dig_z4;
+    uint8_t dig_xy1;
+    int8_t dig_xy2;
+    uint16_t dig_xyz1;
+};
+
+
+class BMX055_Magn : public I2CSensor{
+  uint8_t get_device_address() {return BMX055_MAGN_I2C_ADDR;}
+  trim_data_t trim_data = {0};
+  bool perform_self_test();
+  bool parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *z);
+public:
+  BMX055_Magn(I2CBus *bus);
+  int init();
+  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
+  int shutdown();
+};
diff --git a/sunnypilot/system/sensord/sensors/bmx055_temp.cc b/sunnypilot/system/sensord/sensors/bmx055_temp.cc
new file mode 100644
index 00000000000000..3932c66fa6d972
--- /dev/null
+++ b/sunnypilot/system/sensord/sensors/bmx055_temp.cc
@@ -0,0 +1,31 @@
+#include "sunnypilot/system/sensord/sensors/bmx055_temp.h"
+
+#include <cassert>
+
+#include "sunnypilot/system/sensord/sensors/bmx055_accel.h"
+#include "common/swaglog.h"
+#include "common/timing.h"
+
+BMX055_Temp::BMX055_Temp(I2CBus *bus) : I2CSensor(bus) {}
+
+int BMX055_Temp::init() {
+  return verify_chip_id(BMX055_ACCEL_I2C_REG_ID, {BMX055_ACCEL_CHIP_ID}) == -1 ? -1 : 0;
+}
+
+bool BMX055_Temp::get_event(MessageBuilder &msg, uint64_t ts) {
+  uint64_t start_time = nanos_since_boot();
+  uint8_t buffer[1];
+  int len = read_register(BMX055_ACCEL_I2C_REG_TEMP, buffer, sizeof(buffer));
+  assert(len == sizeof(buffer));
+
+  float temp = 23.0f + int8_t(buffer[0]) / 2.0f;
+
+  auto event = msg.initEvent().initTemperatureSensor();
+  event.setSource(cereal::SensorEventData::SensorSource::BMX055);
+  event.setVersion(1);
+  event.setType(SENSOR_TYPE_AMBIENT_TEMPERATURE);
+  event.setTimestamp(start_time);
+  event.setTemperature(temp);
+
+  return true;
+}
diff --git a/sunnypilot/system/sensord/sensors/bmx055_temp.h b/sunnypilot/system/sensord/sensors/bmx055_temp.h
new file mode 100644
index 00000000000000..02c48dc92c970d
--- /dev/null
+++ b/sunnypilot/system/sensord/sensors/bmx055_temp.h
@@ -0,0 +1,13 @@
+#pragma once
+
+#include "sunnypilot/system/sensord/sensors/bmx055_accel.h"
+#include "sunnypilot/system/sensord/sensors/i2c_sensor.h"
+
+class BMX055_Temp : public I2CSensor {
+  uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;}
+public:
+  BMX055_Temp(I2CBus *bus);
+  int init();
+  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
+  int shutdown() { return 0; }
+};
diff --git a/sunnypilot/system/sensord/sensors/constants.h b/sunnypilot/system/sensord/sensors/constants.h
new file mode 100644
index 00000000000000..c216f838a5ab0e
--- /dev/null
+++ b/sunnypilot/system/sensord/sensors/constants.h
@@ -0,0 +1,18 @@
+#pragma once
+
+
+#define SENSOR_ACCELEROMETER 1
+#define SENSOR_MAGNETOMETER 2
+#define SENSOR_MAGNETOMETER_UNCALIBRATED 3
+#define SENSOR_GYRO 4
+#define SENSOR_GYRO_UNCALIBRATED 5
+#define SENSOR_LIGHT 7
+
+#define SENSOR_TYPE_ACCELEROMETER 1
+#define SENSOR_TYPE_GEOMAGNETIC_FIELD 2
+#define SENSOR_TYPE_GYROSCOPE 4
+#define SENSOR_TYPE_LIGHT 5
+#define SENSOR_TYPE_AMBIENT_TEMPERATURE 13
+#define SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED 14
+#define SENSOR_TYPE_MAGNETIC_FIELD  SENSOR_TYPE_GEOMAGNETIC_FIELD
+#define SENSOR_TYPE_GYROSCOPE_UNCALIBRATED 16
diff --git a/sunnypilot/system/sensord/sensors/i2c_sensor.cc b/sunnypilot/system/sensord/sensors/i2c_sensor.cc
new file mode 100644
index 00000000000000..e29f98c721e19d
--- /dev/null
+++ b/sunnypilot/system/sensord/sensors/i2c_sensor.cc
@@ -0,0 +1,50 @@
+#include "sunnypilot/system/sensord/sensors/i2c_sensor.h"
+
+int16_t read_12_bit(uint8_t lsb, uint8_t msb) {
+  uint16_t combined = (uint16_t(msb) << 8) | uint16_t(lsb & 0xF0);
+  return int16_t(combined) / (1 << 4);
+}
+
+int16_t read_16_bit(uint8_t lsb, uint8_t msb) {
+  uint16_t combined = (uint16_t(msb) << 8) | uint16_t(lsb);
+  return int16_t(combined);
+}
+
+int32_t read_20_bit(uint8_t b2, uint8_t b1, uint8_t b0) {
+  uint32_t combined = (uint32_t(b0) << 16) | (uint32_t(b1) << 8) | uint32_t(b2);
+  return int32_t(combined) / (1 << 4);
+}
+
+I2CSensor::I2CSensor(I2CBus *bus, int gpio_nr, bool shared_gpio) :
+  bus(bus), gpio_nr(gpio_nr), shared_gpio(shared_gpio) {}
+
+I2CSensor::~I2CSensor() {
+  if (gpio_fd != -1) {
+    close(gpio_fd);
+  }
+}
+
+int I2CSensor::read_register(uint register_address, uint8_t *buffer, uint8_t len) {
+  return bus->read_register(get_device_address(), register_address, buffer, len);
+}
+
+int I2CSensor::set_register(uint register_address, uint8_t data) {
+  return bus->set_register(get_device_address(), register_address, data);
+}
+
+int I2CSensor::init_gpio() {
+  if (shared_gpio || gpio_nr == 0) {
+    return 0;
+  }
+
+  gpio_fd = gpiochip_get_ro_value_fd("sensord", GPIOCHIP_INT, gpio_nr);
+  if (gpio_fd < 0) {
+    return -1;
+  }
+
+  return 0;
+}
+
+bool I2CSensor::has_interrupt_enabled() {
+  return gpio_nr != 0;
+}
diff --git a/sunnypilot/system/sensord/sensors/i2c_sensor.h b/sunnypilot/system/sensord/sensors/i2c_sensor.h
new file mode 100644
index 00000000000000..6513db793419e2
--- /dev/null
+++ b/sunnypilot/system/sensord/sensors/i2c_sensor.h
@@ -0,0 +1,51 @@
+#pragma once
+
+#include <cstdint>
+#include <unistd.h>
+#include <vector>
+#include "cereal/gen/cpp/log.capnp.h"
+
+#include "common/i2c.h"
+#include "common/gpio.h"
+
+#include "common/swaglog.h"
+#include "sunnypilot/system/sensord/sensors/constants.h"
+#include "sunnypilot/system/sensord/sensors/sensor.h"
+
+int16_t read_12_bit(uint8_t lsb, uint8_t msb);
+int16_t read_16_bit(uint8_t lsb, uint8_t msb);
+int32_t read_20_bit(uint8_t b2, uint8_t b1, uint8_t b0);
+
+
+class I2CSensor : public Sensor {
+private:
+  I2CBus *bus;
+  int gpio_nr;
+  bool shared_gpio;
+  virtual uint8_t get_device_address() = 0;
+
+public:
+  I2CSensor(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false);
+  ~I2CSensor();
+  int read_register(uint register_address, uint8_t *buffer, uint8_t len);
+  int set_register(uint register_address, uint8_t data);
+  int init_gpio();
+  bool has_interrupt_enabled();
+  virtual int init() = 0;
+  virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0;
+  virtual int shutdown() = 0;
+
+  int verify_chip_id(uint8_t address, const std::vector<uint8_t> &expected_ids) {
+    uint8_t chip_id = 0;
+    int ret = read_register(address, &chip_id, 1);
+    if (ret < 0) {
+      LOGD("Reading chip ID failed: %d", ret);
+      return -1;
+    }
+    for (int i = 0; i < expected_ids.size(); ++i) {
+      if (chip_id == expected_ids[i]) return chip_id;
+    }
+    LOGE("Chip ID wrong. Got: %d, Expected %d", chip_id, expected_ids[0]);
+    return -1;
+  }
+};
diff --git a/sunnypilot/system/sensord/sensors/lsm6ds3_accel.cc b/sunnypilot/system/sensord/sensors/lsm6ds3_accel.cc
new file mode 100644
index 00000000000000..28571069444f57
--- /dev/null
+++ b/sunnypilot/system/sensord/sensors/lsm6ds3_accel.cc
@@ -0,0 +1,250 @@
+#include "sunnypilot/system/sensord/sensors/lsm6ds3_accel.h"
+
+#include <cassert>
+#include <cmath>
+#include <cstring>
+
+#include "common/swaglog.h"
+#include "common/timing.h"
+#include "common/util.h"
+
+LSM6DS3_Accel::LSM6DS3_Accel(I2CBus *bus, int gpio_nr, bool shared_gpio) :
+  I2CSensor(bus, gpio_nr, shared_gpio) {}
+
+void LSM6DS3_Accel::wait_for_data_ready() {
+  uint8_t drdy = 0;
+  uint8_t buffer[6];
+
+  do {
+    read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &drdy, sizeof(drdy));
+    drdy &= LSM6DS3_ACCEL_DRDY_XLDA;
+  } while (drdy == 0);
+
+  read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer));
+}
+
+void LSM6DS3_Accel::read_and_avg_data(float* out_buf) {
+  uint8_t drdy = 0;
+  uint8_t buffer[6];
+
+  float scaling = 0.061f;
+  if (source == cereal::SensorEventData::SensorSource::LSM6DS3TRC) {
+    scaling = 0.122f;
+  }
+
+  for (int i = 0; i < 5; i++) {
+    do {
+      read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &drdy, sizeof(drdy));
+      drdy &= LSM6DS3_ACCEL_DRDY_XLDA;
+    } while (drdy == 0);
+
+    int len = read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer));
+    assert(len == sizeof(buffer));
+
+    for (int j = 0; j < 3; j++) {
+      out_buf[j] += (float)read_16_bit(buffer[j*2], buffer[j*2+1]) * scaling;
+    }
+  }
+
+  for (int i = 0; i < 3; i++) {
+    out_buf[i] /= 5.0f;
+  }
+}
+
+int LSM6DS3_Accel::self_test(int test_type) {
+  float val_st_off[3] = {0};
+  float val_st_on[3] = {0};
+  float test_val[3] = {0};
+  uint8_t ODR_FS_MO = LSM6DS3_ACCEL_ODR_52HZ; // full scale: +-2g, ODR: 52Hz
+
+  // prepare sensor for self-test
+
+  // enable block data update and automatic increment
+  int ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL3_C, LSM6DS3_ACCEL_IF_INC_BDU);
+  if (ret < 0) {
+    return ret;
+  }
+
+  if (source == cereal::SensorEventData::SensorSource::LSM6DS3TRC) {
+    ODR_FS_MO = LSM6DS3_ACCEL_FS_4G | LSM6DS3_ACCEL_ODR_52HZ;
+  }
+  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, ODR_FS_MO);
+  if (ret < 0) {
+    return ret;
+  }
+
+  // wait for stable output, and discard first values
+  util::sleep_for(100);
+  wait_for_data_ready();
+  read_and_avg_data(val_st_off);
+
+  // enable Self Test positive (or negative)
+  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL5_C, test_type);
+  if (ret < 0) {
+    return ret;
+  }
+
+  // wait for stable output, and discard first values
+  util::sleep_for(100);
+  wait_for_data_ready();
+  read_and_avg_data(val_st_on);
+
+  // disable sensor
+  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, 0);
+  if (ret < 0) {
+    return ret;
+  }
+
+  // disable self test
+  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL5_C, 0);
+  if (ret < 0) {
+    return ret;
+  }
+
+  // calculate the mg values for self test
+  for (int i = 0; i < 3; i++) {
+    test_val[i] = fabs(val_st_on[i] - val_st_off[i]);
+  }
+
+  // verify test result
+  for (int i = 0; i < 3; i++) {
+    if ((LSM6DS3_ACCEL_MIN_ST_LIMIT_mg > test_val[i]) ||
+        (test_val[i] > LSM6DS3_ACCEL_MAX_ST_LIMIT_mg)) {
+      return -1;
+    }
+  }
+
+  return ret;
+}
+
+int LSM6DS3_Accel::init() {
+  uint8_t value = 0;
+  bool do_self_test = false;
+
+  const char* env_lsm_selftest = std::getenv("LSM_SELF_TEST");
+  if (env_lsm_selftest != nullptr && strncmp(env_lsm_selftest, "1", 1) == 0) {
+    do_self_test = true;
+  }
+
+  int ret = verify_chip_id(LSM6DS3_ACCEL_I2C_REG_ID, {LSM6DS3_ACCEL_CHIP_ID, LSM6DS3TRC_ACCEL_CHIP_ID});
+  if (ret == -1) return -1;
+
+  if (ret == LSM6DS3TRC_ACCEL_CHIP_ID) {
+    source = cereal::SensorEventData::SensorSource::LSM6DS3TRC;
+  }
+
+  ret = self_test(LSM6DS3_ACCEL_POSITIVE_TEST);
+  if (ret < 0) {
+    LOGE("LSM6DS3 accel positive self-test failed!");
+    if (do_self_test) goto fail;
+  }
+
+  ret = self_test(LSM6DS3_ACCEL_NEGATIVE_TEST);
+  if (ret < 0) {
+    LOGE("LSM6DS3 accel negative self-test failed!");
+    if (do_self_test) goto fail;
+  }
+
+  ret = init_gpio();
+  if (ret < 0) {
+    goto fail;
+  }
+
+  // enable continuous update, and automatic increase
+  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL3_C, LSM6DS3_ACCEL_IF_INC);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  // TODO: set scale and bandwidth. Default is +- 2G, 50 Hz
+  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, LSM6DS3_ACCEL_ODR_104HZ);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  ret = set_register(LSM6DS3_ACCEL_I2C_REG_DRDY_CFG, LSM6DS3_ACCEL_DRDY_PULSE_MODE);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  // enable data ready interrupt for accel on INT1
+  // (without resetting existing interrupts)
+  ret = read_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, &value, 1);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  value |= LSM6DS3_ACCEL_INT1_DRDY_XL;
+  ret = set_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value);
+
+fail:
+  return ret;
+}
+
+int LSM6DS3_Accel::shutdown() {
+  int ret = 0;
+
+  // disable data ready interrupt for accel on INT1
+  uint8_t value = 0;
+  ret = read_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, &value, 1);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  value &= ~(LSM6DS3_ACCEL_INT1_DRDY_XL);
+  ret = set_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value);
+  if (ret < 0) {
+    LOGE("Could not disable lsm6ds3 acceleration interrupt!");
+    goto fail;
+  }
+
+  // enable power-down mode
+  value = 0;
+  ret = read_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, &value, 1);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  value &= 0x0F;
+  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, value);
+  if (ret < 0) {
+    LOGE("Could not power-down lsm6ds3 accelerometer!");
+    goto fail;
+  }
+
+fail:
+  return ret;
+}
+
+bool LSM6DS3_Accel::get_event(MessageBuilder &msg, uint64_t ts) {
+
+  // INT1 shared with gyro, check STATUS_REG who triggered
+  uint8_t status_reg = 0;
+  read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &status_reg, sizeof(status_reg));
+  if ((status_reg & LSM6DS3_ACCEL_DRDY_XLDA) == 0) {
+    return false;
+  }
+
+  uint8_t buffer[6];
+  int len = read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer));
+  assert(len == sizeof(buffer));
+
+  float scale = 9.81 * 2.0f / (1 << 15);
+  float x = read_16_bit(buffer[0], buffer[1]) * scale;
+  float y = read_16_bit(buffer[2], buffer[3]) * scale;
+  float z = read_16_bit(buffer[4], buffer[5]) * scale;
+
+  auto event = msg.initEvent().initAccelerometer();
+  event.setSource(source);
+  event.setVersion(1);
+  event.setSensor(SENSOR_ACCELEROMETER);
+  event.setType(SENSOR_TYPE_ACCELEROMETER);
+  event.setTimestamp(ts);
+
+  float xyz[] = {y, -x, z};
+  auto svec = event.initAcceleration();
+  svec.setV(xyz);
+  svec.setStatus(true);
+
+  return true;
+}
diff --git a/sunnypilot/system/sensord/sensors/lsm6ds3_accel.h b/sunnypilot/system/sensord/sensors/lsm6ds3_accel.h
new file mode 100644
index 00000000000000..2ac61c5a0ff0d2
--- /dev/null
+++ b/sunnypilot/system/sensord/sensors/lsm6ds3_accel.h
@@ -0,0 +1,49 @@
+#pragma once
+
+#include "sunnypilot/system/sensord/sensors/i2c_sensor.h"
+
+// Address of the chip on the bus
+#define LSM6DS3_ACCEL_I2C_ADDR       0x6A
+
+// Registers of the chip
+#define LSM6DS3_ACCEL_I2C_REG_DRDY_CFG  0x0B
+#define LSM6DS3_ACCEL_I2C_REG_ID        0x0F
+#define LSM6DS3_ACCEL_I2C_REG_INT1_CTRL 0x0D
+#define LSM6DS3_ACCEL_I2C_REG_CTRL1_XL  0x10
+#define LSM6DS3_ACCEL_I2C_REG_CTRL3_C   0x12
+#define LSM6DS3_ACCEL_I2C_REG_CTRL5_C   0x14
+#define LSM6DS3_ACCEL_I2C_REG_CTR9_XL   0x18
+#define LSM6DS3_ACCEL_I2C_REG_STAT_REG  0x1E
+#define LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL 0x28
+
+// Constants
+#define LSM6DS3_ACCEL_CHIP_ID         0x69
+#define LSM6DS3TRC_ACCEL_CHIP_ID      0x6A
+#define LSM6DS3_ACCEL_FS_4G           (0b10 << 2)
+#define LSM6DS3_ACCEL_ODR_52HZ        (0b0011 << 4)
+#define LSM6DS3_ACCEL_ODR_104HZ       (0b0100 << 4)
+#define LSM6DS3_ACCEL_INT1_DRDY_XL    0b1
+#define LSM6DS3_ACCEL_DRDY_XLDA       0b1
+#define LSM6DS3_ACCEL_DRDY_PULSE_MODE (1 << 7)
+#define LSM6DS3_ACCEL_IF_INC          0b00000100
+#define LSM6DS3_ACCEL_IF_INC_BDU      0b01000100
+#define LSM6DS3_ACCEL_XYZ_DEN         0b11100000
+#define LSM6DS3_ACCEL_POSITIVE_TEST   0b01
+#define LSM6DS3_ACCEL_NEGATIVE_TEST   0b10
+#define LSM6DS3_ACCEL_MIN_ST_LIMIT_mg 90.0f
+#define LSM6DS3_ACCEL_MAX_ST_LIMIT_mg 1700.0f
+
+class LSM6DS3_Accel : public I2CSensor {
+  uint8_t get_device_address() {return LSM6DS3_ACCEL_I2C_ADDR;}
+  cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3;
+
+  // self test functions
+  int self_test(int test_type);
+  void wait_for_data_ready();
+  void read_and_avg_data(float* val_st_off);
+public:
+  LSM6DS3_Accel(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false);
+  int init();
+  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
+  int shutdown();
+};
diff --git a/sunnypilot/system/sensord/sensors/lsm6ds3_gyro.cc b/sunnypilot/system/sensord/sensors/lsm6ds3_gyro.cc
new file mode 100644
index 00000000000000..e881f3942a670d
--- /dev/null
+++ b/sunnypilot/system/sensord/sensors/lsm6ds3_gyro.cc
@@ -0,0 +1,233 @@
+#include "sunnypilot/system/sensord/sensors/lsm6ds3_gyro.h"
+
+#include <cassert>
+#include <cmath>
+#include <cstring>
+
+#include "common/swaglog.h"
+#include "common/timing.h"
+#include "common/util.h"
+
+#define DEG2RAD(x) ((x) * M_PI / 180.0)
+
+LSM6DS3_Gyro::LSM6DS3_Gyro(I2CBus *bus, int gpio_nr, bool shared_gpio) :
+  I2CSensor(bus, gpio_nr, shared_gpio) {}
+
+void LSM6DS3_Gyro::wait_for_data_ready() {
+  uint8_t drdy = 0;
+  uint8_t buffer[6];
+
+  do {
+    read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &drdy, sizeof(drdy));
+    drdy &= LSM6DS3_GYRO_DRDY_GDA;
+  } while (drdy == 0);
+
+  read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer));
+}
+
+void LSM6DS3_Gyro::read_and_avg_data(float* out_buf) {
+  uint8_t drdy = 0;
+  uint8_t buffer[6];
+
+  for (int i = 0; i < 5; i++) {
+    do {
+      read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &drdy, sizeof(drdy));
+      drdy &= LSM6DS3_GYRO_DRDY_GDA;
+    } while (drdy == 0);
+
+    int len = read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer));
+    assert(len == sizeof(buffer));
+
+    for (int j = 0; j < 3; j++) {
+      out_buf[j] += (float)read_16_bit(buffer[j*2], buffer[j*2+1]) * 70.0f;
+    }
+  }
+
+  // calculate the mg average values
+  for (int i = 0; i < 3; i++) {
+    out_buf[i] /= 5.0f;
+  }
+}
+
+int LSM6DS3_Gyro::self_test(int test_type) {
+  float val_st_off[3] = {0};
+  float val_st_on[3] = {0};
+  float test_val[3] = {0};
+
+  // prepare sensor for self-test
+
+  // full scale: 2000dps, ODR: 208Hz
+  int ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, LSM6DS3_GYRO_ODR_208HZ | LSM6DS3_GYRO_FS_2000dps);
+  if (ret < 0) {
+    return ret;
+  }
+
+  // wait for stable output, and discard first values
+  util::sleep_for(150);
+  wait_for_data_ready();
+  read_and_avg_data(val_st_off);
+
+  // enable Self Test positive (or negative)
+  ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL5_C, test_type);
+  if (ret < 0) {
+    return ret;
+  }
+
+  // wait for stable output, and discard first values
+  util::sleep_for(50);
+  wait_for_data_ready();
+  read_and_avg_data(val_st_on);
+
+  // disable sensor
+  ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, 0);
+  if (ret < 0) {
+    return ret;
+  }
+
+  // disable self test
+  ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL5_C, 0);
+  if (ret < 0) {
+    return ret;
+  }
+
+  // calculate the mg values for self test
+  for (int i = 0; i < 3; i++) {
+    test_val[i] = fabs(val_st_on[i] - val_st_off[i]);
+  }
+
+  // verify test result
+  for (int i = 0; i < 3; i++) {
+    if ((LSM6DS3_GYRO_MIN_ST_LIMIT_mdps > test_val[i]) ||
+        (test_val[i] > LSM6DS3_GYRO_MAX_ST_LIMIT_mdps)) {
+      return -1;
+    }
+  }
+
+  return ret;
+}
+
+int LSM6DS3_Gyro::init() {
+  uint8_t value = 0;
+  bool do_self_test = false;
+
+  const char* env_lsm_selftest = std::getenv("LSM_SELF_TEST");
+  if (env_lsm_selftest != nullptr && strncmp(env_lsm_selftest, "1", 1) == 0) {
+    do_self_test = true;
+  }
+
+  int ret = verify_chip_id(LSM6DS3_GYRO_I2C_REG_ID, {LSM6DS3_GYRO_CHIP_ID, LSM6DS3TRC_GYRO_CHIP_ID});
+  if (ret == -1) return -1;
+
+  if (ret == LSM6DS3TRC_GYRO_CHIP_ID) {
+    source = cereal::SensorEventData::SensorSource::LSM6DS3TRC;
+  }
+
+  ret = init_gpio();
+  if (ret < 0) {
+    goto fail;
+  }
+
+  ret = self_test(LSM6DS3_GYRO_POSITIVE_TEST);
+  if (ret < 0) {
+    LOGE("LSM6DS3 gyro positive self-test failed!");
+    if (do_self_test) goto fail;
+  }
+
+  ret = self_test(LSM6DS3_GYRO_NEGATIVE_TEST);
+  if (ret < 0) {
+    LOGE("LSM6DS3 gyro negative self-test failed!");
+    if (do_self_test) goto fail;
+  }
+
+  // TODO: set scale. Default is +- 250 deg/s
+  ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, LSM6DS3_GYRO_ODR_104HZ);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  ret = set_register(LSM6DS3_GYRO_I2C_REG_DRDY_CFG, LSM6DS3_GYRO_DRDY_PULSE_MODE);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  // enable data ready interrupt for gyro on INT1
+  // (without resetting existing interrupts)
+  ret = read_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, &value, 1);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  value |= LSM6DS3_GYRO_INT1_DRDY_G;
+  ret = set_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value);
+
+fail:
+  return ret;
+}
+
+int LSM6DS3_Gyro::shutdown() {
+  int ret = 0;
+
+  // disable data ready interrupt for gyro on INT1
+  uint8_t value = 0;
+  ret = read_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, &value, 1);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  value &= ~(LSM6DS3_GYRO_INT1_DRDY_G);
+  ret = set_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value);
+  if (ret < 0) {
+    LOGE("Could not disable lsm6ds3 gyroscope interrupt!");
+    goto fail;
+  }
+
+  // enable power-down mode
+  value = 0;
+  ret = read_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, &value, 1);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  value &= 0x0F;
+  ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, value);
+  if (ret < 0) {
+    LOGE("Could not power-down lsm6ds3 gyroscope!");
+    goto fail;
+  }
+
+fail:
+  return ret;
+}
+
+bool LSM6DS3_Gyro::get_event(MessageBuilder &msg, uint64_t ts) {
+
+  // INT1 shared with accel, check STATUS_REG who triggered
+  uint8_t status_reg = 0;
+  read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &status_reg, sizeof(status_reg));
+  if ((status_reg & LSM6DS3_GYRO_DRDY_GDA) == 0) {
+    return false;
+  }
+
+  uint8_t buffer[6];
+  int len = read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer));
+  assert(len == sizeof(buffer));
+
+  float scale = 8.75 / 1000.0;
+  float x = DEG2RAD(read_16_bit(buffer[0], buffer[1]) * scale);
+  float y = DEG2RAD(read_16_bit(buffer[2], buffer[3]) * scale);
+  float z = DEG2RAD(read_16_bit(buffer[4], buffer[5]) * scale);
+
+  auto event = msg.initEvent().initGyroscope();
+  event.setSource(source);
+  event.setVersion(2);
+  event.setSensor(SENSOR_GYRO_UNCALIBRATED);
+  event.setType(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED);
+  event.setTimestamp(ts);
+
+  float xyz[] = {y, -x, z};
+  auto svec = event.initGyroUncalibrated();
+  svec.setV(xyz);
+  svec.setStatus(true);
+
+  return true;
+}
diff --git a/sunnypilot/system/sensord/sensors/lsm6ds3_gyro.h b/sunnypilot/system/sensord/sensors/lsm6ds3_gyro.h
new file mode 100644
index 00000000000000..686a6a71695d84
--- /dev/null
+++ b/sunnypilot/system/sensord/sensors/lsm6ds3_gyro.h
@@ -0,0 +1,45 @@
+#pragma once
+
+#include "sunnypilot/system/sensord/sensors/i2c_sensor.h"
+
+// Address of the chip on the bus
+#define LSM6DS3_GYRO_I2C_ADDR       0x6A
+
+// Registers of the chip
+#define LSM6DS3_GYRO_I2C_REG_DRDY_CFG  0x0B
+#define LSM6DS3_GYRO_I2C_REG_ID        0x0F
+#define LSM6DS3_GYRO_I2C_REG_INT1_CTRL 0x0D
+#define LSM6DS3_GYRO_I2C_REG_CTRL2_G   0x11
+#define LSM6DS3_GYRO_I2C_REG_CTRL5_C   0x14
+#define LSM6DS3_GYRO_I2C_REG_STAT_REG  0x1E
+#define LSM6DS3_GYRO_I2C_REG_OUTX_L_G  0x22
+#define LSM6DS3_GYRO_POSITIVE_TEST   (0b01 << 2)
+#define LSM6DS3_GYRO_NEGATIVE_TEST   (0b11 << 2)
+
+// Constants
+#define LSM6DS3_GYRO_CHIP_ID         0x69
+#define LSM6DS3TRC_GYRO_CHIP_ID      0x6A
+#define LSM6DS3_GYRO_FS_2000dps      (0b11 << 2)
+#define LSM6DS3_GYRO_ODR_104HZ       (0b0100 << 4)
+#define LSM6DS3_GYRO_ODR_208HZ       (0b0101 << 4)
+#define LSM6DS3_GYRO_INT1_DRDY_G     0b10
+#define LSM6DS3_GYRO_DRDY_GDA        0b10
+#define LSM6DS3_GYRO_DRDY_PULSE_MODE (1 << 7)
+#define LSM6DS3_GYRO_MIN_ST_LIMIT_mdps 150000.0f
+#define LSM6DS3_GYRO_MAX_ST_LIMIT_mdps 700000.0f
+
+
+class LSM6DS3_Gyro : public I2CSensor {
+  uint8_t get_device_address() {return LSM6DS3_GYRO_I2C_ADDR;}
+  cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3;
+
+  // self test functions
+  int self_test(int test_type);
+  void wait_for_data_ready();
+  void read_and_avg_data(float* val_st_off);
+public:
+  LSM6DS3_Gyro(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false);
+  int init();
+  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
+  int shutdown();
+};
diff --git a/sunnypilot/system/sensord/sensors/lsm6ds3_temp.cc b/sunnypilot/system/sensord/sensors/lsm6ds3_temp.cc
new file mode 100644
index 00000000000000..390f192a2d9221
--- /dev/null
+++ b/sunnypilot/system/sensord/sensors/lsm6ds3_temp.cc
@@ -0,0 +1,37 @@
+#include "sunnypilot/system/sensord/sensors/lsm6ds3_temp.h"
+
+#include <cassert>
+
+#include "common/swaglog.h"
+#include "common/timing.h"
+
+LSM6DS3_Temp::LSM6DS3_Temp(I2CBus *bus) : I2CSensor(bus) {}
+
+int LSM6DS3_Temp::init() {
+  int ret = verify_chip_id(LSM6DS3_TEMP_I2C_REG_ID, {LSM6DS3_TEMP_CHIP_ID, LSM6DS3TRC_TEMP_CHIP_ID});
+  if (ret == -1) return -1;
+
+  if (ret == LSM6DS3TRC_TEMP_CHIP_ID) {
+    source = cereal::SensorEventData::SensorSource::LSM6DS3TRC;
+  }
+  return 0;
+}
+
+bool LSM6DS3_Temp::get_event(MessageBuilder &msg, uint64_t ts) {
+  uint64_t start_time = nanos_since_boot();
+  uint8_t buffer[2];
+  int len = read_register(LSM6DS3_TEMP_I2C_REG_OUT_TEMP_L, buffer, sizeof(buffer));
+  assert(len == sizeof(buffer));
+
+  float scale = (source == cereal::SensorEventData::SensorSource::LSM6DS3TRC) ? 256.0f : 16.0f;
+  float temp = 25.0f + read_16_bit(buffer[0], buffer[1]) / scale;
+
+  auto event = msg.initEvent().initTemperatureSensor();
+  event.setSource(source);
+  event.setVersion(1);
+  event.setType(SENSOR_TYPE_AMBIENT_TEMPERATURE);
+  event.setTimestamp(start_time);
+  event.setTemperature(temp);
+
+  return true;
+}
diff --git a/sunnypilot/system/sensord/sensors/lsm6ds3_temp.h b/sunnypilot/system/sensord/sensors/lsm6ds3_temp.h
new file mode 100644
index 00000000000000..c314d456e8e296
--- /dev/null
+++ b/sunnypilot/system/sensord/sensors/lsm6ds3_temp.h
@@ -0,0 +1,26 @@
+#pragma once
+
+#include "sunnypilot/system/sensord/sensors/i2c_sensor.h"
+
+// Address of the chip on the bus
+#define LSM6DS3_TEMP_I2C_ADDR       0x6A
+
+// Registers of the chip
+#define LSM6DS3_TEMP_I2C_REG_ID           0x0F
+#define LSM6DS3_TEMP_I2C_REG_OUT_TEMP_L   0x20
+
+// Constants
+#define LSM6DS3_TEMP_CHIP_ID        0x69
+#define LSM6DS3TRC_TEMP_CHIP_ID     0x6A
+
+
+class LSM6DS3_Temp : public I2CSensor {
+  uint8_t get_device_address() {return LSM6DS3_TEMP_I2C_ADDR;}
+  cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3;
+
+public:
+  LSM6DS3_Temp(I2CBus *bus);
+  int init();
+  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
+  int shutdown() { return 0; }
+};
diff --git a/sunnypilot/system/sensord/sensors/mmc5603nj_magn.cc b/sunnypilot/system/sensord/sensors/mmc5603nj_magn.cc
new file mode 100644
index 00000000000000..12d438ebd1d9f8
--- /dev/null
+++ b/sunnypilot/system/sensord/sensors/mmc5603nj_magn.cc
@@ -0,0 +1,108 @@
+#include "sunnypilot/system/sensord/sensors/mmc5603nj_magn.h"
+
+#include <algorithm>
+#include <cassert>
+#include <vector>
+
+#include "common/swaglog.h"
+#include "common/timing.h"
+#include "common/util.h"
+
+MMC5603NJ_Magn::MMC5603NJ_Magn(I2CBus *bus) : I2CSensor(bus) {}
+
+int MMC5603NJ_Magn::init() {
+  int ret = verify_chip_id(MMC5603NJ_I2C_REG_ID, {MMC5603NJ_CHIP_ID});
+  if (ret == -1) return -1;
+
+  // Set ODR to 0
+  ret = set_register(MMC5603NJ_I2C_REG_ODR, 0);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  // Set BW to 0b01 for 1-150 Hz operation
+  ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_1, 0b01);
+  if (ret < 0) {
+    goto fail;
+  }
+
+fail:
+  return ret;
+}
+
+int MMC5603NJ_Magn::shutdown() {
+  int ret = 0;
+
+  // disable auto reset of measurements
+  uint8_t value = 0;
+  ret = read_register(MMC5603NJ_I2C_REG_INTERNAL_0, &value, 1);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  value &= ~(MMC5603NJ_CMM_FREQ_EN | MMC5603NJ_AUTO_SR_EN);
+  ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_0, value);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  // set ODR to 0 to leave continuous mode
+  ret = set_register(MMC5603NJ_I2C_REG_ODR, 0);
+  if (ret < 0) {
+    goto fail;
+  }
+  return ret;
+
+fail:
+  LOGE("Could not disable mmc5603nj auto set reset");
+  return ret;
+}
+
+void MMC5603NJ_Magn::start_measurement() {
+  set_register(MMC5603NJ_I2C_REG_INTERNAL_0, 0b01);
+  util::sleep_for(5);
+}
+
+std::vector<float> MMC5603NJ_Magn::read_measurement() {
+  int len;
+  uint8_t buffer[9];
+  len = read_register(MMC5603NJ_I2C_REG_XOUT0, buffer, sizeof(buffer));
+  assert(len == sizeof(buffer));
+  float scale = 1.0 / 16384.0;
+  float x = (read_20_bit(buffer[6], buffer[1], buffer[0]) * scale) - 32.0;
+  float y = (read_20_bit(buffer[7], buffer[3], buffer[2]) * scale) - 32.0;
+  float z = (read_20_bit(buffer[8], buffer[5], buffer[4]) * scale) - 32.0;
+  std::vector<float> xyz = {x, y, z};
+  return xyz;
+}
+
+bool MMC5603NJ_Magn::get_event(MessageBuilder &msg, uint64_t ts) {
+  uint64_t start_time = nanos_since_boot();
+  // SET - RESET cycle
+  set_register(MMC5603NJ_I2C_REG_INTERNAL_0, MMC5603NJ_SET);
+  util::sleep_for(5);
+  MMC5603NJ_Magn::start_measurement();
+  std::vector<float> xyz = MMC5603NJ_Magn::read_measurement();
+
+  set_register(MMC5603NJ_I2C_REG_INTERNAL_0, MMC5603NJ_RESET);
+  util::sleep_for(5);
+  MMC5603NJ_Magn::start_measurement();
+  std::vector<float> reset_xyz = MMC5603NJ_Magn::read_measurement();
+
+  auto event = msg.initEvent().initMagnetometer();
+  event.setSource(cereal::SensorEventData::SensorSource::MMC5603NJ);
+  event.setVersion(1);
+  event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED);
+  event.setType(SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED);
+  event.setTimestamp(start_time);
+
+  float vals[] = {xyz[0], xyz[1], xyz[2], reset_xyz[0], reset_xyz[1], reset_xyz[2]};
+  bool valid = true;
+  if (std::any_of(std::begin(vals), std::end(vals), [](float val) { return val == -32.0; })) {
+    valid = false;
+  }
+  auto svec = event.initMagneticUncalibrated();
+  svec.setV(vals);
+  svec.setStatus(valid);
+  return true;
+}
diff --git a/sunnypilot/system/sensord/sensors/mmc5603nj_magn.h b/sunnypilot/system/sensord/sensors/mmc5603nj_magn.h
new file mode 100644
index 00000000000000..9311631c06f754
--- /dev/null
+++ b/sunnypilot/system/sensord/sensors/mmc5603nj_magn.h
@@ -0,0 +1,37 @@
+#pragma once
+
+#include <vector>
+
+#include "sunnypilot/system/sensord/sensors/i2c_sensor.h"
+
+// Address of the chip on the bus
+#define MMC5603NJ_I2C_ADDR       0x30
+
+// Registers of the chip
+#define MMC5603NJ_I2C_REG_XOUT0       0x00
+#define MMC5603NJ_I2C_REG_ODR         0x1A
+#define MMC5603NJ_I2C_REG_INTERNAL_0  0x1B
+#define MMC5603NJ_I2C_REG_INTERNAL_1  0x1C
+#define MMC5603NJ_I2C_REG_INTERNAL_2  0x1D
+#define MMC5603NJ_I2C_REG_ID          0x39
+
+// Constants
+#define MMC5603NJ_CHIP_ID        0x10
+#define MMC5603NJ_CMM_FREQ_EN    (1 << 7)
+#define MMC5603NJ_AUTO_SR_EN     (1 << 5)
+#define MMC5603NJ_CMM_EN         (1 << 4)
+#define MMC5603NJ_EN_PRD_SET     (1 << 3)
+#define MMC5603NJ_SET            (1 << 3)
+#define MMC5603NJ_RESET          (1 << 4)
+
+class MMC5603NJ_Magn : public I2CSensor {
+private:
+  uint8_t get_device_address() {return MMC5603NJ_I2C_ADDR;}
+  void start_measurement();
+  std::vector<float> read_measurement();
+public:
+  MMC5603NJ_Magn(I2CBus *bus);
+  int init();
+  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
+  int shutdown();
+};
diff --git a/sunnypilot/system/sensord/sensors/sensor.h b/sunnypilot/system/sensord/sensors/sensor.h
new file mode 100644
index 00000000000000..ccf998d161fa4a
--- /dev/null
+++ b/sunnypilot/system/sensord/sensors/sensor.h
@@ -0,0 +1,24 @@
+#pragma once
+
+#include "cereal/messaging/messaging.h"
+
+class Sensor {
+public:
+  int gpio_fd = -1;
+  bool enabled = false;
+  uint64_t start_ts = 0;
+  uint64_t init_delay = 500e6; // default dealy 500ms
+
+  virtual ~Sensor() {}
+  virtual int init() = 0;
+  virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0;
+  virtual bool has_interrupt_enabled() = 0;
+  virtual int shutdown() = 0;
+
+  virtual bool is_data_valid(uint64_t current_ts) {
+    if (start_ts == 0) {
+      start_ts = current_ts;
+    }
+    return (current_ts - start_ts) > init_delay;
+  }
+};
diff --git a/sunnypilot/system/sensord/sensors_qcom2.cc b/sunnypilot/system/sensord/sensors_qcom2.cc
new file mode 100644
index 00000000000000..f4ecc7fc216706
--- /dev/null
+++ b/sunnypilot/system/sensord/sensors_qcom2.cc
@@ -0,0 +1,179 @@
+#include <sys/resource.h>
+
+#include <chrono>
+#include <thread>
+#include <vector>
+#include <map>
+#include <poll.h>
+#include <linux/gpio.h>
+
+#include "cereal/services.h"
+#include "cereal/messaging/messaging.h"
+#include "common/i2c.h"
+#include "common/ratekeeper.h"
+#include "common/swaglog.h"
+#include "common/timing.h"
+#include "common/util.h"
+#include "sunnypilot/system/sensord/sensors/bmx055_accel.h"
+#include "sunnypilot/system/sensord/sensors/bmx055_gyro.h"
+#include "sunnypilot/system/sensord/sensors/bmx055_magn.h"
+#include "sunnypilot/system/sensord/sensors/bmx055_temp.h"
+#include "sunnypilot/system/sensord/sensors/constants.h"
+#include "sunnypilot/system/sensord/sensors/lsm6ds3_accel.h"
+#include "sunnypilot/system/sensord/sensors/lsm6ds3_gyro.h"
+#include "sunnypilot/system/sensord/sensors/lsm6ds3_temp.h"
+#include "sunnypilot/system/sensord/sensors/mmc5603nj_magn.h"
+
+#define I2C_BUS_IMU 1
+
+ExitHandler do_exit;
+
+void interrupt_loop(std::vector<std::tuple<Sensor *, std::string>> sensors) {
+  PubMaster pm({"gyroscope", "accelerometer"});
+
+  int fd = -1;
+  for (auto &[sensor, msg_name] : sensors) {
+    if (sensor->has_interrupt_enabled()) {
+      fd = sensor->gpio_fd;
+      break;
+    }
+  }
+
+  uint64_t offset = nanos_since_epoch() - nanos_since_boot();
+  struct pollfd fd_list[1] = {0};
+  fd_list[0].fd = fd;
+  fd_list[0].events = POLLIN | POLLPRI;
+
+  while (!do_exit) {
+    int err = poll(fd_list, 1, 100);
+    if (err == -1) {
+      if (errno == EINTR) {
+        continue;
+      }
+      return;
+    } else if (err == 0) {
+      LOGE("poll timed out");
+      continue;
+    }
+
+    if ((fd_list[0].revents & (POLLIN | POLLPRI)) == 0) {
+      LOGE("no poll events set");
+      continue;
+    }
+
+    // Read all events
+    struct gpioevent_data evdata[16];
+    err = HANDLE_EINTR(read(fd, evdata, sizeof(evdata)));
+    if (err < 0 || err % sizeof(*evdata) != 0) {
+      LOGE("error reading event data %d", err);
+      continue;
+    }
+
+    uint64_t cur_offset = nanos_since_epoch() - nanos_since_boot();
+    uint64_t diff = cur_offset > offset ? cur_offset - offset : offset - cur_offset;
+    if (diff > 10*1e6) { // 10ms
+      LOGW("time jumped: %lu %lu", cur_offset, offset);
+      offset = cur_offset;
+
+      // we don't have a valid timestamp since the
+      // time jumped, so throw out this measurement.
+      continue;
+    }
+
+    int num_events = err / sizeof(*evdata);
+    uint64_t ts = evdata[num_events - 1].timestamp - cur_offset;
+
+    for (auto &[sensor, msg_name] : sensors) {
+      if (!sensor->has_interrupt_enabled()) {
+        continue;
+      }
+
+      MessageBuilder msg;
+      if (!sensor->get_event(msg, ts)) {
+        continue;
+      }
+
+      if (!sensor->is_data_valid(ts)) {
+        continue;
+      }
+
+      pm.send(msg_name.c_str(), msg);
+    }
+  }
+}
+
+void polling_loop(Sensor *sensor, std::string msg_name) {
+  PubMaster pm({msg_name.c_str()});
+  RateKeeper rk(msg_name, services.at(msg_name).frequency);
+  while (!do_exit) {
+    MessageBuilder msg;
+    if (sensor->get_event(msg) && sensor->is_data_valid(nanos_since_boot())) {
+      pm.send(msg_name.c_str(), msg);
+    }
+    rk.keepTime();
+  }
+}
+
+int sensor_loop(I2CBus *i2c_bus_imu) {
+  // Sensor init
+  std::vector<std::tuple<Sensor *, std::string>> sensors_init = {
+    {new BMX055_Accel(i2c_bus_imu), "accelerometer2"},
+    {new BMX055_Gyro(i2c_bus_imu), "gyroscope2"},
+    {new BMX055_Magn(i2c_bus_imu), "magnetometer"},
+    {new BMX055_Temp(i2c_bus_imu), "temperatureSensor2"},
+
+    {new LSM6DS3_Accel(i2c_bus_imu, GPIO_LSM_INT), "accelerometer"},
+    {new LSM6DS3_Gyro(i2c_bus_imu, GPIO_LSM_INT, true), "gyroscope"},
+    {new LSM6DS3_Temp(i2c_bus_imu), "temperatureSensor"},
+
+    {new MMC5603NJ_Magn(i2c_bus_imu), "magnetometer"},
+  };
+
+  // Initialize sensors
+  std::vector<std::thread> threads;
+  for (auto &[sensor, msg_name] : sensors_init) {
+    int err = sensor->init();
+    if (err < 0) {
+      continue;
+    }
+
+    if (!sensor->has_interrupt_enabled()) {
+      threads.emplace_back(polling_loop, sensor, msg_name);
+    }
+  }
+
+  // increase interrupt quality by pinning interrupt and process to core 1
+  setpriority(PRIO_PROCESS, 0, -18);
+  util::set_core_affinity({1});
+
+  // TODO: get the IRQ number from gpiochip
+  std::string irq_path = "/proc/irq/336/smp_affinity_list";
+  if (!util::file_exists(irq_path)) {
+    irq_path = "/proc/irq/335/smp_affinity_list";
+  }
+  std::system(util::string_format("sudo su -c 'echo 1 > %s'", irq_path.c_str()).c_str());
+
+  // thread for reading events via interrupts
+  threads.emplace_back(&interrupt_loop, std::ref(sensors_init));
+
+  // wait for all threads to finish
+  for (auto &t : threads) {
+    t.join();
+  }
+
+  for (auto &[sensor, msg_name] : sensors_init) {
+    sensor->shutdown();
+    delete sensor;
+  }
+  return 0;
+}
+
+int main(int argc, char *argv[]) {
+  try {
+    auto i2c_bus_imu = std::make_unique<I2CBus>(I2C_BUS_IMU);
+    return sensor_loop(i2c_bus_imu.get());
+  } catch (std::exception &e) {
+    LOGE("I2CBus init failed");
+    return -1;
+  }
+}
diff --git a/sunnypilot/system/sensord/tests/test_sensord.py b/sunnypilot/system/sensord/tests/test_sensord.py
new file mode 100644
index 00000000000000..dc5f93d97b4942
--- /dev/null
+++ b/sunnypilot/system/sensord/tests/test_sensord.py
@@ -0,0 +1,251 @@
+import os
+import pytest
+import time
+import numpy as np
+from collections import namedtuple, defaultdict
+
+import cereal.messaging as messaging
+from cereal import log
+from cereal.services import SERVICE_LIST
+from openpilot.common.gpio import get_irqs_for_action
+from openpilot.common.timeout import Timeout
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.manager.process_config import managed_processes
+
+BMX = {
+  ('bmx055', 'acceleration'),
+  ('bmx055', 'gyroUncalibrated'),
+  ('bmx055', 'magneticUncalibrated'),
+  ('bmx055', 'temperature'),
+}
+
+LSM = {
+  ('lsm6ds3', 'acceleration'),
+  ('lsm6ds3', 'gyroUncalibrated'),
+  ('lsm6ds3', 'temperature'),
+}
+LSM_C = {(x[0]+'trc', x[1]) for x in LSM}
+
+MMC = {
+  ('mmc5603nj', 'magneticUncalibrated'),
+}
+
+SENSOR_CONFIGURATIONS: list[set] = [
+  BMX | LSM,
+  MMC | LSM,
+  BMX | LSM_C,
+  MMC| LSM_C,
+]
+if HARDWARE.get_device_type() == "mici":
+  SENSOR_CONFIGURATIONS = [
+    LSM,
+    LSM_C,
+  ]
+
+Sensor = log.SensorEventData.SensorSource
+SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max'])
+ALL_SENSORS = {
+  Sensor.lsm6ds3: {
+    SensorConfig("acceleration", 5, 15),
+    SensorConfig("gyroUncalibrated", 0, .2),
+    SensorConfig("temperature", 0, 60),
+  },
+
+  Sensor.lsm6ds3trc: {
+    SensorConfig("acceleration", 5, 15),
+    SensorConfig("gyroUncalibrated", 0, .2),
+    SensorConfig("temperature", 0, 60),
+  },
+
+  Sensor.bmx055: {
+    SensorConfig("acceleration", 5, 15),
+    SensorConfig("gyroUncalibrated", 0, .2),
+    SensorConfig("magneticUncalibrated", 0, 300),
+    SensorConfig("temperature", 0, 60),
+  },
+
+  Sensor.mmc5603nj: {
+    SensorConfig("magneticUncalibrated", 0, 300),
+  }
+}
+
+
+def get_irq_count(irq: int):
+  with open(f"/sys/kernel/irq/{irq}/per_cpu_count") as f:
+    per_cpu = map(int, f.read().split(","))
+    return sum(per_cpu)
+
+def read_sensor_events(duration_sec):
+  sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'accelerometer2',
+                  'gyroscope2', 'temperatureSensor', 'temperatureSensor2']
+  socks = {}
+  poller = messaging.Poller()
+  events = defaultdict(list)
+  for stype in sensor_types:
+    socks[stype] = messaging.sub_sock(stype, poller=poller, timeout=100)
+
+  # wait for sensors to come up
+  with Timeout(int(os.environ.get("SENSOR_WAIT", "5")), "sensors didn't come up"):
+    while len(poller.poll(250)) == 0:
+      pass
+  time.sleep(1)
+  for s in socks.values():
+    messaging.drain_sock_raw(s)
+
+  st = time.monotonic()
+  while time.monotonic() - st < duration_sec:
+    for s in socks:
+      events[s] += messaging.drain_sock(socks[s])
+    time.sleep(0.1)
+
+  assert sum(map(len, events.values())) != 0, "No sensor events collected!"
+
+  return {k: v for k, v in events.items() if len(v) > 0}
+
+@pytest.mark.tici
+class TestSensord:
+  @classmethod
+  def setup_class(cls):
+    # enable LSM self test
+    os.environ["LSM_SELF_TEST"] = "1"
+
+    # read initial sensor values every test case can use
+    os.system("pkill -f \\\\./sensord")
+    try:
+      managed_processes["sensord"].start()
+      cls.sample_secs = int(os.getenv("SAMPLE_SECS", "10"))
+      cls.events = read_sensor_events(cls.sample_secs)
+
+      # determine sensord's irq
+      cls.sensord_irq = get_irqs_for_action("sensord")[0]
+    finally:
+      # teardown won't run if this doesn't succeed
+      managed_processes["sensord"].stop()
+
+  @classmethod
+  def teardown_class(cls):
+    managed_processes["sensord"].stop()
+
+  def teardown_method(self):
+    managed_processes["sensord"].stop()
+
+  def test_sensors_present(self):
+    # verify correct sensors configuration
+    seen = set()
+    for etype in self.events:
+      for measurement in self.events[etype]:
+        m = getattr(measurement, measurement.which())
+        seen.add((str(m.source), m.which()))
+
+    assert seen in SENSOR_CONFIGURATIONS
+
+  def test_lsm6ds3_timing(self, subtests):
+    # verify measurements are sampled and published at 104Hz
+
+    sensor_t = {
+      1: [], # accel
+      5: [], # gyro
+    }
+
+    for measurement in self.events['accelerometer']:
+      m = getattr(measurement, measurement.which())
+      sensor_t[m.sensor].append(m.timestamp)
+
+    for measurement in self.events['gyroscope']:
+      m = getattr(measurement, measurement.which())
+      sensor_t[m.sensor].append(m.timestamp)
+
+    for s, vals in sensor_t.items():
+      with subtests.test(sensor=s):
+        assert len(vals) > 0
+        tdiffs = np.diff(vals) / 1e6 # millis
+
+        high_delay_diffs = list(filter(lambda d: d >= 20., tdiffs))
+        assert len(high_delay_diffs) < 15, f"Too many large diffs: {high_delay_diffs}"
+
+        avg_diff = sum(tdiffs)/len(tdiffs)
+        avg_freq = 1. / (avg_diff * 1e-3)
+        assert 92. < avg_freq < 114., f"avg freq {avg_freq}Hz wrong, expected 104Hz"
+
+        stddev = np.std(tdiffs)
+        assert stddev < 2.0, f"Standard-dev to big {stddev}"
+
+  def test_sensor_frequency(self, subtests):
+    for s, msgs in self.events.items():
+      with subtests.test(sensor=s):
+        freq = len(msgs) / self.sample_secs
+        ef = SERVICE_LIST[s].frequency
+        assert ef*0.85 <= freq <= ef*1.15
+
+  def test_logmonottime_timestamp_diff(self):
+    # ensure diff between the message logMonotime and sample timestamp is small
+
+    tdiffs = list()
+    for etype in self.events:
+      for measurement in self.events[etype]:
+        m = getattr(measurement, measurement.which())
+
+        # check if gyro and accel timestamps are before logMonoTime
+        if str(m.source).startswith("lsm6ds3") and m.which() != 'temperature':
+          err_msg = f"Timestamp after logMonoTime: {m.timestamp} > {measurement.logMonoTime}"
+          assert m.timestamp < measurement.logMonoTime, err_msg
+
+        # negative values might occur, as non interrupt packages created
+        # before the sensor is read
+        tdiffs.append(abs(measurement.logMonoTime - m.timestamp) / 1e6)
+
+    # some sensors have a read procedure that will introduce an expected diff on the order of 20ms
+    high_delay_diffs = set(filter(lambda d: d >= 25., tdiffs))
+    assert len(high_delay_diffs) < 20, f"Too many measurements published: {high_delay_diffs}"
+
+    avg_diff = round(sum(tdiffs)/len(tdiffs), 4)
+    assert avg_diff < 4, f"Avg packet diff: {avg_diff:.1f}ms"
+
+  def test_sensor_values(self):
+    sensor_values = dict()
+    for etype in self.events:
+      for measurement in self.events[etype]:
+        m = getattr(measurement, measurement.which())
+        key = (m.source.raw, m.which())
+        values = getattr(m, m.which())
+
+        if hasattr(values, 'v'):
+          values = values.v
+        values = np.atleast_1d(values)
+
+        if key in sensor_values:
+          sensor_values[key].append(values)
+        else:
+          sensor_values[key] = [values]
+
+    # Sanity check sensor values
+    for sensor, stype in sensor_values:
+      for s in ALL_SENSORS[sensor]:
+        if s.type != stype:
+          continue
+
+        key = (sensor, s.type)
+        mean_norm = np.mean(np.linalg.norm(sensor_values[key], axis=1))
+        err_msg = f"Sensor '{sensor} {s.type}' failed sanity checks {mean_norm} is not between {s.sanity_min} and {s.sanity_max}"
+        assert s.sanity_min <= mean_norm <= s.sanity_max, err_msg
+
+  def test_sensor_verify_no_interrupts_after_stop(self):
+    managed_processes["sensord"].start()
+    time.sleep(3)
+
+    # read /proc/interrupts to verify interrupts are received
+    state_one = get_irq_count(self.sensord_irq)
+    time.sleep(1)
+    state_two = get_irq_count(self.sensord_irq)
+
+    error_msg = f"no interrupts received after sensord start!\n{state_one} {state_two}"
+    assert state_one != state_two, error_msg
+
+    managed_processes["sensord"].stop()
+    time.sleep(1)
+
+    # read /proc/interrupts to verify no more interrupts are received
+    state_one = get_irq_count(self.sensord_irq)
+    time.sleep(1)
+    state_two = get_irq_count(self.sensord_irq)
+    assert state_one == state_two, "Interrupts received after sensord stop!"
diff --git a/sunnypilot/system/sensord/tests/ttff_test.py b/sunnypilot/system/sensord/tests/ttff_test.py
new file mode 100755
index 00000000000000..a9cc16d7079de7
--- /dev/null
+++ b/sunnypilot/system/sensord/tests/ttff_test.py
@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+
+import time
+import atexit
+
+from cereal import messaging
+from openpilot.system.manager.process_config import managed_processes
+
+TIMEOUT = 10*60
+
+def kill():
+  for proc in ['ubloxd', 'pigeond']:
+    managed_processes[proc].stop(retry=True, block=True)
+
+if __name__ == "__main__":
+  # start ubloxd
+  managed_processes['ubloxd'].start()
+  atexit.register(kill)
+
+  sm = messaging.SubMaster(['ubloxGnss'])
+
+  times = []
+  for i in range(20):
+    # start pigeond
+    st = time.monotonic()
+    managed_processes['pigeond'].start()
+
+    # wait for a >4 satellite fix
+    while True:
+      sm.update(0)
+      msg = sm['ubloxGnss']
+      if msg.which() == 'measurementReport' and sm.updated["ubloxGnss"]:
+        report = msg.measurementReport
+        if report.numMeas > 4:
+          times.append(time.monotonic() - st)
+          print(f"\033[94m{i}: Got a fix in {round(times[-1], 2)} seconds\033[0m")
+          break
+
+      if time.monotonic() - st > TIMEOUT:
+        raise TimeoutError("\033[91mFailed to get a fix in {TIMEOUT} seconds!\033[0m")
+
+      time.sleep(0.1)
+
+    # stop pigeond
+    managed_processes['pigeond'].stop(retry=True, block=True)
+    time.sleep(20)
+
+  print(f"\033[92mAverage TTFF: {round(sum(times) / len(times), 2)}s\033[0m")
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 92d5a4ef8c49b6..b1a2fa6e130ac2 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -173,6 +173,9 @@ def and_(*fns):
   # mapd
   NativeProcess("mapd", Paths.mapd_root(), ["bash", "-c", f"{MAPD_PATH} > /dev/null 2>&1"], mapd_ready),
   PythonProcess("mapd_manager", "sunnypilot.mapd.mapd_manager", always_run),
+
+  # locationd
+  NativeProcess("locationd_llk", "sunnypilot/selfdrive/locationd", ["./locationd"], only_onroad),
 ]
 
 if os.path.exists("./github_runner.sh"):

From 1465e38c7bdd361895499b4d3be542a16ee19126 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 23 Sep 2025 10:11:52 -0400
Subject: [PATCH 0449/1434] SCC-M: overriding is an enabled state (#1281)

---
 .../controls/lib/smart_cruise_control/map_controller.py       | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py
index cd45870ef69fe5..c7f11a1bb2b506 100644
--- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py
+++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py
@@ -12,8 +12,8 @@
 
 MapState = VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.MapState
 
-ACTIVE_STATES = (MapState.turning, MapState.overriding)
-ENABLED_STATES = (MapState.enabled, *ACTIVE_STATES)
+ACTIVE_STATES = (MapState.turning, )
+ENABLED_STATES = (MapState.enabled, MapState.overriding, *ACTIVE_STATES)
 
 R = 6373000.0  # approximate radius of earth in meters
 TO_RADIANS = math.pi / 180

From 082ea8119b39398bf6cc4ce309d9d785bcb8975b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 24 Sep 2025 22:17:03 -0400
Subject: [PATCH 0450/1434] Speed Limit Resolver: abstract more speed limit
 attributes (#1284)

* Speed Limit Resolver: abstract more speed limit attributes

* update ui

* lint
---
 cereal/custom.capnp                           |  5 +++++
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc      | 18 +++++++----------
 selfdrive/ui/sunnypilot/qt/onroad/hud.h       |  1 +
 .../controls/lib/longitudinal_planner.py      |  5 +++++
 .../lib/speed_limit/speed_limit_resolver.py   | 20 +++++++++++++++++++
 5 files changed, 38 insertions(+), 11 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 854988decfdfc1..58628a193b72e1 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -207,6 +207,11 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
       distToSpeedLimit @1 :Float32;
       source @2 :Source;
       speedLimitOffset @3 :Float32;
+      speedLimitLast @4 :Float32;
+      speedLimitFinal @5 :Float32;
+      speedLimitFinalLast @6 :Float32;
+      speedLimitValid @7 :Bool;
+      speedLimitLastValid @8 :Bool;
     }
 
     enum Source {
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 6da6baef3df973..a3e31455a54291 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -30,9 +30,11 @@ void HudRendererSP::updateState(const UIState &s) {
 
   float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH;
   speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
+  speedLimitLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLast() * speedConv;
   speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
-  speedLimitValid = speedLimit > 0;
-  speedLimitLastValid = speedLimitLast > 0;
+  speedLimitValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitValid();
+  speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid();
+  speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast();
   speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
   roadName = s.scene.road_name;
   if (sm.updated("liveMapDataSP")) {
@@ -48,10 +50,6 @@ void HudRendererSP::updateState(const UIState &s) {
   }
   speedLimitAheadDistancePrev = speedLimitAheadDistance;
 
-  if (speedLimitValid) {
-    speedLimitLast = speedLimit;
-  }
-
   static int reverse_delay = 0;
   bool reverse_allowed = false;
   if (int(car_state.getGearShifter()) != 4) {
@@ -351,12 +349,10 @@ void HudRendererSP::drawStandstillTimer(QPainter &p, int x, int y) {
 }
 
 void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
-  bool hasSpeedLimit = speedLimitValid || speedLimitLastValid;
-  int speedLimitFinal = std::nearbyint(speedLimitValid ? speedLimit : speedLimitLast);
-  int speedLimitOffsetFinal = speedLimitFinal + std::nearbyint(speedLimitOffset);
-  bool overspeed = hasSpeedLimit && speedLimitOffsetFinal < std::nearbyint(speed);
   bool speedLimitWarningEnabled = speedLimitMode == SpeedLimitMode::WARNING;  // TODO-SP: update to include SpeedLimitMode::ASSIST
-  QString speedLimitStr = hasSpeedLimit ? QString::number(speedLimitFinal) : "---";
+  bool hasSpeedLimit = speedLimitValid || speedLimitLastValid;
+  bool overspeed = hasSpeedLimit && speedLimitFinalLast < std::nearbyint(speed);
+  QString speedLimitStr = hasSpeedLimit ? QString::number(std::nearbyint(speedLimitLast)) : "---";
 
   // Offset display text
   QString speedLimitSubText = "";
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index 1e153f1548aaf2..d77892fa2d557a 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -77,6 +77,7 @@ class HudRendererSP : public HudRenderer {
   float speedLimitOffset;
   bool speedLimitValid;
   bool speedLimitLastValid;
+  float speedLimitFinalLast;
   bool speedLimitAheadValid;
   float speedLimitAhead;
   float speedLimitAheadDistance;
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index af5f5dbd7d71c4..40d30100c5ce7b 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -96,6 +96,11 @@ def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.Pu
     speedLimit = longitudinalPlanSP.speedLimit
     resolver = speedLimit.resolver
     resolver.speedLimit = float(self.resolver.speed_limit)
+    resolver.speedLimitLast = float(self.resolver.speed_limit_last)
+    resolver.speedLimitFinal = float(self.resolver.speed_limit_final)
+    resolver.speedLimitFinalLast = float(self.resolver.speed_limit_final_last)
+    resolver.speedLimitValid = self.resolver.speed_limit_valid
+    resolver.speedLimitLastValid = self.resolver.speed_limit_last_valid
     resolver.speedLimitOffset = float(self.resolver.speed_limit_offset)
     resolver.distToSpeedLimit = float(self.resolver.distance)
     resolver.source = self.resolver.source
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
index 2a74a01d1309c2..f145b16c10a295 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
@@ -26,6 +26,9 @@ class SpeedLimitResolver:
   distance_solutions: dict[custom.LongitudinalPlanSP.SpeedLimit.Source, float]
   v_ego: float
   speed_limit: float
+  speed_limit_last: float
+  speed_limit_final: float
+  speed_limit_final_last: float
   distance: float
   source: custom.LongitudinalPlanSP.SpeedLimit.Source
   speed_limit_offset: float
@@ -54,6 +57,21 @@ def __init__(self):
     self.offset_type = self.params.get("SpeedLimitOffsetType", return_default=True)
     self.offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)
 
+  def update_speed_limit_states(self) -> None:
+    self.speed_limit_final = self.speed_limit + self.speed_limit_offset
+
+    if self.speed_limit > 0.:
+      self.speed_limit_last = self.speed_limit
+      self.speed_limit_final_last = self.speed_limit_final
+
+  @property
+  def speed_limit_valid(self) -> bool:
+    return self.speed_limit > 0.
+
+  @property
+  def speed_limit_last_valid(self) -> bool:
+    return self.speed_limit_last > 0.
+
   def update_params(self):
     if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
       self.policy = self.params.get("SpeedLimitPolicy", return_default=True)
@@ -149,4 +167,6 @@ def update(self, v_ego: float, sm: messaging.SubMaster) -> None:
     self.speed_limit, self.distance, self.source = self._resolve_limit_sources(sm)
     self.speed_limit_offset = self._get_speed_limit_offset()
 
+    self.update_speed_limit_states()
+
     self.frame += 1

From 4c40be8b1f2a17d3fefdf3140573ca40ec1e1a92 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 25 Sep 2025 07:01:32 -0400
Subject: [PATCH 0451/1434] ui: always convert speedLimitFinalLast

---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index a3e31455a54291..c07825c97c7775 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -34,7 +34,7 @@ void HudRendererSP::updateState(const UIState &s) {
   speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
   speedLimitValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitValid();
   speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid();
-  speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast();
+  speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast() * speedConv;
   speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
   roadName = s.scene.road_name;
   if (sm.updated("liveMapDataSP")) {

From 8ebe9b69afb24cd7d88a9459d5110b072c138ee4 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Thu, 25 Sep 2025 07:11:51 -0700
Subject: [PATCH 0452/1434] bug: fix Speed Limit Resolver initialization
 (#1285)

bug: fix speedlimitresolver init
---
 .../controls/lib/speed_limit/speed_limit_resolver.py        | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
index f145b16c10a295..51fb8f6d647a6a 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
@@ -57,6 +57,12 @@ def __init__(self):
     self.offset_type = self.params.get("SpeedLimitOffsetType", return_default=True)
     self.offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)
 
+    self.speed_limit = 0.
+    self.speed_limit_last = 0.
+    self.speed_limit_final = 0.
+    self.speed_limit_final_last = 0.
+    self.speed_limit_offset = 0.
+
   def update_speed_limit_states(self) -> None:
     self.speed_limit_final = self.speed_limit + self.speed_limit_offset
 

From db65937fc72644daf1485f3b11d82bccf5cac3dd Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 25 Sep 2025 19:15:36 -0400
Subject: [PATCH 0453/1434] Revert "ui: generic check with ICBM param" (#1286)

Revert "ui: generic check with ICBM param (#1274)"

This reverts commit d5a873ed8617cefd691509c9cc5dc4ec7ea42ff4.
---
 .../qt/offroad/settings/longitudinal_panel.cc          | 10 ++++------
 .../qt/offroad/settings/longitudinal_panel.h           |  3 +--
 selfdrive/ui/sunnypilot/qt/util.cc                     |  4 ----
 selfdrive/ui/sunnypilot/qt/util.h                      |  1 -
 4 files changed, 5 insertions(+), 13 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
index 8987f38514c8b6..3e3977ff64eee5 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
@@ -87,7 +87,6 @@ void LongitudinalPanel::showEvent(QShowEvent *event) {
 }
 
 void LongitudinalPanel::refresh(bool _offroad) {
-  auto icbm_available = false;
   auto cp_bytes = params.get("CarParamsPersistent");
   auto cp_sp_bytes = params.get("CarParamsSPPersistent");
   if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -100,12 +99,11 @@ void LongitudinalPanel::refresh(bool _offroad) {
 
     has_longitudinal_control = hasLongitudinalControl(CP);
     is_pcm_cruise = CP.getPcmCruise();
-    icbm_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
-    has_intelligent_cruise_button_management = hasIntelligentCruiseButtonManagement(CP_SP);
+    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
   } else {
     has_longitudinal_control = false;
     is_pcm_cruise = false;
-    has_intelligent_cruise_button_management = false;
+    intelligent_cruise_button_management_available = false;
   }
 
   QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
@@ -117,7 +115,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
     customAccIncrement->setDescription(onroadOnlyDescription);
     customAccIncrement->showDescription();
   } else {
-    if (has_longitudinal_control || icbm_available) {
+    if (has_longitudinal_control || intelligent_cruise_button_management_available) {
       if (is_pcm_cruise) {
         customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
         customAccIncrement->showDescription();
@@ -134,7 +132,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
     }
   }
 
-  bool icbm_allowed = has_intelligent_cruise_button_management && !has_longitudinal_control;
+  bool icbm_allowed = intelligent_cruise_button_management_available && !has_longitudinal_control;
   intelligentCruiseButtonManagement->setEnabled(icbm_allowed && offroad);
 
   // enable toggle when long is available and is not PCM cruise
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
index 2fd15e955c33c3..0b7f39c6451ed2 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
@@ -7,7 +7,6 @@
 
 #pragma once
 
-#include "selfdrive/ui/sunnypilot/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
@@ -25,7 +24,7 @@ class LongitudinalPanel : public QWidget {
   Params params;
   bool has_longitudinal_control = false;
   bool is_pcm_cruise = false;
-  bool has_intelligent_cruise_button_management = false;;
+  bool intelligent_cruise_button_management_available = false;;
   bool offroad = false;
 
   QStackedLayout *main_layout = nullptr;
diff --git a/selfdrive/ui/sunnypilot/qt/util.cc b/selfdrive/ui/sunnypilot/qt/util.cc
index eaf05942a91229..2e066e88b52e10 100644
--- a/selfdrive/ui/sunnypilot/qt/util.cc
+++ b/selfdrive/ui/sunnypilot/qt/util.cc
@@ -123,7 +123,3 @@ std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::
     return std::nullopt;
   }
 }
-
-bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp) {
-  return car_params_sp.getIntelligentCruiseButtonManagementAvailable() && Params().getBool("IntelligentCruiseButtonManagement");
-}
diff --git a/selfdrive/ui/sunnypilot/qt/util.h b/selfdrive/ui/sunnypilot/qt/util.h
index 60a73615baefc1..4b9d615ce5f55d 100644
--- a/selfdrive/ui/sunnypilot/qt/util.h
+++ b/selfdrive/ui/sunnypilot/qt/util.h
@@ -23,4 +23,3 @@ std::optional<QString> getParamIgnoringDefault(const std::string &param_name, co
 QMap<QString, QVariantMap> loadPlatformList();
 QStringList searchFromList(const QString &query, const QStringList &list);
 std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param);
-bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp);

From 90adc18032732bc92320402ddf884730678e14ea Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 29 Sep 2025 19:18:52 -0400
Subject: [PATCH 0454/1434] MADS: enforce certain soft disable events by user
 when in motion (#1298)

* MADS: enforce soft disable events by user when the vehicle is in motion

* flipped
---
 sunnypilot/mads/mads.py | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index f16b68835848d6..b75bd8ccda0fab 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -102,12 +102,13 @@ def replace_event(self, old_event: int, new_event: int):
 
   def update_events(self, CS: structs.CarState):
     if not self.selfdrive.enabled and self.enabled:
-      if self.events.has(EventName.doorOpen):
-        self.replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen)
-        self.transition_paused_state()
-      if self.events.has(EventName.seatbeltNotLatched):
-        self.replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
-        self.transition_paused_state()
+      if CS.standstill:
+        if self.events.has(EventName.doorOpen):
+          self.replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen)
+          self.transition_paused_state()
+        if self.events.has(EventName.seatbeltNotLatched):
+          self.replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
+          self.transition_paused_state()
       if self.events.has(EventName.wrongGear) and (CS.vEgo < 2.5 or CS.gearShifter == GearShifter.reverse):
         self.replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
         self.transition_paused_state()

From dc0fd4ca96c239592ba68c6f4992a91fa3f9eee3 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 30 Sep 2025 13:13:45 -0400
Subject: [PATCH 0455/1434] Longitudinal: Speed Limit Assist (SLA) (#833)

* formatting

* more

* create directory if does not exist

* mypy my bt

* policy param catch exceptions

* handle all params with exceptions

* more

* single method

* define types in init

* rename

* simpler op enabled check

* more mypy stuff

* rename

* no need for brake pressed

* don't reset if gas pressed

* type hint all

* type hint all

* back to upstream

* in another pr

* no longer need data type

* qlog

* slc in another pr

* use horizontal accuracy

* use horizontal accuracy

* set core affinity for all realtime processes

* unused

* sort

* unused

* type hint and slight cleanup

* from old implementation

* use directly

* combine pm

* slight more cleanup

* type hints

* even more type hint

* Revert "slc in another pr"

This reverts commit 3a6987e6

* Revert "in another pr"

This reverts commit a29bccff12b9ed9d64efe7a5722bf614214002c4.

* rebump

* no need to check alive

* use it directly

* fix test

* refactor

* use gps data directly

* quote...?

* lint

* fix tests

* use CC.longActive

* user confirm in another PR

* rename

* fix import

* params fix

* no more

* fix

* drop new state machine for now

* more fixes

* internalize output

* unused

* rearrange

* auto draft

* rename

* this

* no

* no need

* use existing

* wrong cruise speed

* fix

* not used for now

* Revert "not used for now"

This reverts commit f0083d6241380e84ed259c402941fa2c78e03fdf.

* some

* use frames instead

* split speed limit resolver out of slc

* no need to pass sm

* fix params

* test init

* use frame instead of time

* track session

* some tests

* too limiting

* bump

* always reset state

* end session if long_active but slc inactive at any given time

* off

* no warning in this PR

* no speed factor engage type yet

* wide open

* no

* introduce disabled, no longer transitions at inactive

* fix tests

* no more tempinactive

* clean

* rename

* offset default > off

* new tests, fixes controller

* more tests

* not really needed yet

* lint

* fix

* some more tests

* wrap

* more

* more

* use vCruiseCluster for set speed

* init better

* finish it up

* no

* typo

* one method state machine

* refactor preactive timeout check

* refactor new session check

* directly return statuses

* comments

* v_target

* refactor speed limit resolver

* turn off debug

* more resolver refactor

* no longer needed

* lint

* more lint

* fix

* move around

* fix events

* update event

* already happens while in enabled

* add carstateSP

* less

* Speed Limit Control -> Speed Limit Assist

* in another PR

* more rename

* overriding state

* fix

* make sure to return the correct type

* sync with latest

* housekeeping

* use v cruise cluster instead

* fix var

* show it in UI!

* actually show it

* update event texts

* todo

* no override for now

* wrong timer!

* add vtarget and atarget

* fix

* handle no speed limit events

* fix size

* unused

* skip preActive if init max speed was already reached

* display last known speed limit and its state with SLA

* pending event

* much shorter disable guard

* update events

* convert max init for metric

* fix even if unused atm

* just use it

* red for all

* not disabled

* rename

* 10s pre active

* kumar wants it higher, blame him

* fix

* pcm long only

* some fixes

* rename

* use consolidate method to evaluate set speed status

* init non pcm cruise

* tests

* disable non pcm long state machine for now

* lint

* lint

* let the non PCM party begins

* fix event

* update event

* use speed limit final last

* only do direction checks if preActive

* use resolver

* use it directly

* no longer applies

* do it globally

* non pcm long: adapting or pending unused

* use button events instead of raw vals

* need to initialize

* move

* what?

* what #2???

* cst!

* circular

* slight fixes for tests

* change up checks for user confirm

* get buttonEvents at 100 hz and process for 20 hz consumption

* get v cruise cluster from outer loop

* Revert "get v cruise cluster from outer loop"

This reverts commit be8068e8ab9b52c7e8e1b3f29e89f994b3e911df.

* Revert "get buttonEvents at 100 hz and process for 20 hz consumption"

This reverts commit a739d4d4379080fceffda8d7d080c0260519f144.

* don't need

* do not allow target speed confirm if inactive

* do not allow preActive if no valid speed limit

* gimme them arrow pls

* less

* descriptive direction

* fix event

* update cs in 100 hz

* Revert "don't need"

This reverts commit 1eec763be795e1269f2046f8fe65781b3abedd0a.

* missed

* wrong

* stop

* throw them to helpers class

* property

* hold speed behavior changes

* abstract it

* use converted to check last set speed change

* Revert "do not allow target speed confirm if inactive"

This reverts commit 9840e74e

* pre active too short

* slight fixes

* fix tests

* linty lint

* speed limit changed hold timer for non pcm long

* should be 0

* less loopy

* some gates

* special sauce for sla

---------

Co-authored-by: nayan <nayan8teen@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 cereal/custom.capnp                           |  24 ++
 selfdrive/car/card.py                         |   3 +-
 selfdrive/car/cruise.py                       |   7 +
 .../controls/lib/longitudinal_planner.py      |   2 +-
 selfdrive/controls/plannerd.py                |   3 +-
 selfdrive/selfdrived/selfdrived.py            |   1 +
 selfdrive/ui/qt/onroad/hud.cc                 |   3 +-
 .../longitudinal/speed_limit/helpers.h        |   2 +
 .../speed_limit/speed_limit_settings.cc       |   3 +-
 .../speed_limit/speed_limit_settings.h        |  10 +-
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc      | 121 +++++-
 selfdrive/ui/sunnypilot/qt/onroad/hud.h       |   9 +-
 .../selfdrive/assets/img_minus_arrow_down.png |   3 +
 .../selfdrive/assets/img_plus_arrow_up.png    |   3 +
 sunnypilot/selfdrive/car/cruise_ext.py        |  51 ++-
 .../controls/lib/longitudinal_planner.py      |  42 +-
 .../smart_cruise_control.py                   |   5 +-
 .../controls/lib/speed_limit/__init__.py      |  11 +
 .../controls/lib/speed_limit/common.py        |   7 +
 .../controls/lib/speed_limit/helpers.py       |  19 +
 .../lib/speed_limit/speed_limit_assist.py     | 401 ++++++++++++++++++
 .../tests/test_speed_limit_assist.py          | 227 ++++++++++
 sunnypilot/selfdrive/selfdrived/events.py     |  77 +++-
 23 files changed, 998 insertions(+), 36 deletions(-)
 create mode 100644 sunnypilot/selfdrive/assets/img_minus_arrow_down.png
 create mode 100644 sunnypilot/selfdrive/assets/img_plus_arrow_up.png
 create mode 100644 sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 58628a193b72e1..c87ac0d2e0329b 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -148,6 +148,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   speedLimit @3 :SpeedLimit;
   vTarget @4 :Float32;
   aTarget @5 :Float32;
+  events @6 :List(OnroadEventSP.Event);
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
@@ -201,6 +202,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
 
   struct SpeedLimit {
     resolver @0 :Resolver;
+    assist @1 :Assist;
 
     struct Resolver {
       speedLimit @0 :Float32;
@@ -214,17 +216,35 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
       speedLimitLastValid @8 :Bool;
     }
 
+    struct Assist {
+      state @0 :AssistState;
+      enabled @1 :Bool;
+      active @2 :Bool;
+      vTarget @3 :Float32;
+      aTarget @4 :Float32;
+    }
+
     enum Source {
       none @0;
       car @1;
       map @2;
     }
+
+    enum AssistState {
+      disabled @0;
+      inactive @1; # No speed limit set or not enabled by parameter.
+      preActive @2;
+      pending @3; # Awaiting new speed limit.
+      adapting @4; # Reducing speed to match new speed limit.
+      active @5; # Cruising at speed limit.
+    }
   }
 
   enum LongitudinalPlanSource {
     cruise @0;
     sccVision @1;
     sccMap @2;
+    speedLimitAssist @3;
   }
 }
 
@@ -267,6 +287,10 @@ struct OnroadEventSP @0xda96579883444c35 {
     pedalPressedAlertOnly @16;
     laneTurnLeft @17;
     laneTurnRight @18;
+    speedLimitPreActive @19;
+    speedLimitActive @20;
+    speedLimitChanged @21;
+    speedLimitPending @22;
   }
 }
 
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 2e52c008278c98..34f0283ce44257 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -71,7 +71,7 @@ class Car:
 
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP'])
+    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP', 'longitudinalPlanSP'])
     self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP', 'carStateSP'])
 
     self.can_rcv_cum_timeout_counter = 0
@@ -216,6 +216,7 @@ def state_update(self) -> tuple[car.CarState, custom.CarStateSP, structs.RadarDa
     if can_rcv_valid and REPLAY:
       self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
+    self.v_cruise_helper.update_speed_limit_assist(self.is_metric, self.sm['longitudinalPlanSP'])
     self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
     if self.sm['carControl'].enabled and not self.CC_prev.enabled:
       # Use CarState w/ buttons from the step selfdrived enables on
diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index c82287d2b149d6..9973862b858e50 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -53,6 +53,7 @@ def update_v_cruise(self, CS, enabled, is_metric):
       if not self.CP.pcmCruise or (not self.CP_SP.pcmCruiseSpeed and _enabled):
         # if stock cruise is completely disabled, then we can use our own set speed logic
         self._update_v_cruise_non_pcm(CS, _enabled, is_metric)
+        self.update_speed_limit_assist_v_cruise_non_pcm()
         self.v_cruise_cluster_kph = self.v_cruise_kph
         self.update_button_timers(CS, enabled)
       else:
@@ -104,6 +105,12 @@ def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
     if not self.button_change_states[button_type]["enabled"]:
       return
 
+    # Speed Limit Assist for Non PCM long cars.
+    # True: Disallow set speed changes when user confirmed the target set speed during preActive state
+    # False: Allow set speed changes as SLA is not requesting user confirmation
+    if self.update_speed_limit_assist_pre_active_confirmed(button_type):
+      return
+
     long_press, v_cruise_delta = VCruiseHelperSP.update_v_cruise_delta(self, long_press, v_cruise_delta)
     if long_press and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
       self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 139cdc06e79d26..53eca38356e579 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -146,7 +146,7 @@ def update(self, sm):
       clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
       accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
 
-    # Get new v_cruise and a_desired from Smart Cruise Control
+    # Get new v_cruise and a_desired from Smart Cruise Control and Speed Limit Assist
     v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
 
     if force_slow_decel:
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 8994fb7c08a1b8..4565a9c047cc5a 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -24,10 +24,11 @@ def main():
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
                             'liveMapDataSP', 'carStateSP', gps_location_service],
-                           poll='modelV2')
+                           poll='carState')
 
   while True:
     sm.update()
+    longitudinal_planner.sla.update_car_state(sm['carState'])
     if sm.updated['modelV2']:
       longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 170e1846293249..a13c873fbea9d1 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -205,6 +205,7 @@ def update_events(self, CS):
 
     if not self.CP.notCar:
       self.events.add_from_msg(self.sm['driverMonitoringState'].events)
+      self.events_sp.add_from_msg(self.sm['longitudinalPlanSP'].events)
 
     # Add car events, ignore if CAN isn't valid
     if CS.canValid:
diff --git a/selfdrive/ui/qt/onroad/hud.cc b/selfdrive/ui/qt/onroad/hud.cc
index 4cfa3d0e3c27f5..d95fe5fd808b71 100644
--- a/selfdrive/ui/qt/onroad/hud.cc
+++ b/selfdrive/ui/qt/onroad/hud.cc
@@ -47,10 +47,11 @@ void HudRenderer::draw(QPainter &p, const QRect &surface_rect) {
   bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
   p.fillRect(0, 0, surface_rect.width(), UI_HEADER_HEIGHT, bg);
 
-
+#ifndef SUNNYPILOT
   if (is_cruise_available) {
     drawSetSpeed(p, surface_rect);
   }
+#endif
   drawCurrentSpeed(p, surface_rect);
 
   p.restore();
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
index 22cdd8c631e6fd..295072d1ef6659 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
@@ -38,10 +38,12 @@ enum class SpeedLimitMode {
   OFF,
   INFORMATION,
   WARNING,
+  ASSIST,
 };
 
 inline const QString SpeedLimitModeTexts[]{
   QObject::tr("Off"),
   QObject::tr("Information"),
   QObject::tr("Warning"),
+  QObject::tr("Assist"),
 };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
index eed0306ca0ea17..5f12403a173e7f 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
@@ -28,6 +28,7 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
     SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::OFF)],
     SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::INFORMATION)],
     SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::WARNING)],
+    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::ASSIST)],
   };
   speed_limit_mode_settings = new ButtonParamControlSP(
     "SpeedLimitMode",
@@ -35,7 +36,7 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
     "",
     "",
     speed_limit_mode_texts,
-    385);
+    380);
   list->addItem(speed_limit_mode_settings);
 
   list->addItem(horizontal_line());
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
index 61c86f9208dbaa..10c44aa98c1993 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
@@ -58,8 +58,11 @@ class SpeedLimitSettings : public QStackedWidget {
     QString off_str = tr("⦿ Off: Disables the Speed Limit functions.");
     QString info_str = tr("⦿ Information: Displays the current road's speed limit.");
     QString warning_str = tr("⦿ Warning: Provides a warning when exceeding the current road's speed limit.");
+    QString assist_str = tr("⦿ Assist: Adjusts the vehicle's cruise speed based on the current road's speed limit when operating the +/- buttons.");
 
-    if (mode == SpeedLimitMode::WARNING) {
+    if (mode == SpeedLimitMode::ASSIST) {
+      assist_str = "<font color='white'><b>" + assist_str + "</b></font>";
+    } else if (mode == SpeedLimitMode::WARNING) {
       warning_str = "<font color='white'><b>" + warning_str + "</b></font>";
     } else if (mode == SpeedLimitMode::INFORMATION) {
       info_str = "<font color='white'><b>" + info_str + "</b></font>";
@@ -67,9 +70,10 @@ class SpeedLimitSettings : public QStackedWidget {
       off_str = "<font color='white'><b>" + off_str + "</b></font>";
     }
 
-    return QString("%1<br>%2<br>%3")
+    return QString("%1<br>%2<br>%3<br>%4")
         .arg(off_str)
         .arg(info_str)
-        .arg(warning_str);
+        .arg(warning_str)
+        .arg(assist_str);
   }
 };
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index c07825c97c7775..df1bc3c0027862 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -11,7 +11,10 @@
 #include "selfdrive/ui/qt/util.h"
 
 
-HudRendererSP::HudRendererSP() {}
+HudRendererSP::HudRendererSP() {
+  plus_arrow_up_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_plus_arrow_up", {105, 105});
+  minus_arrow_down_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_minus_arrow_down", {105, 105});
+}
 
 void HudRendererSP::updateState(const UIState &s) {
   HudRenderer::updateState(s);
@@ -36,6 +39,8 @@ void HudRendererSP::updateState(const UIState &s) {
   speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid();
   speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast() * speedConv;
   speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
+  speedLimitAssistState = lp_sp.getSpeedLimit().getAssist().getState();
+  speedLimitAssistActive = lp_sp.getSpeedLimit().getAssist().getActive();
   roadName = s.scene.road_name;
   if (sm.updated("liveMapDataSP")) {
     roadNameStr = QString::fromStdString(lmd.getRoadName());
@@ -104,6 +109,13 @@ void HudRendererSP::updateState(const UIState &s) {
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
   HudRenderer::draw(p, surface_rect);
+
+  p.save();
+
+  if (is_cruise_available) {
+    drawSetSpeedSP(p, surface_rect);
+  }
+
   if (!reversing) {
     // Smart Cruise Control
     int x_offset = -260;
@@ -152,14 +164,39 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
     }
 
     // Speed Limit
-    if (speedLimitMode != SpeedLimitMode::OFF) {
-      drawSpeedLimitSigns(p);
-      drawUpcomingSpeedLimit(p);
+    bool showSpeedLimit;
+    bool speed_limit_assist_pre_active_pulse = pulseElement(speedLimitAssistFrame);
+
+    // Position speed limit sign next to set speed box
+    const int sign_width = is_metric ? 200 : 172;
+    const int sign_x = is_metric ? 280 : 272;
+    const int sign_y = 45;
+    const int sign_height = 204;
+    QRect sign_rect(sign_x, sign_y, sign_width, sign_height);
+
+    if (speedLimitAssistState == cereal::LongitudinalPlanSP::SpeedLimit::AssistState::PRE_ACTIVE) {
+      speedLimitAssistFrame++;
+      showSpeedLimit = speed_limit_assist_pre_active_pulse;
+      drawSpeedLimitPreActiveArrow(p, sign_rect);
+    } else {
+      speedLimitAssistFrame = 0;
+      showSpeedLimit = speedLimitMode != SpeedLimitMode::OFF;
+    }
+
+    if (showSpeedLimit) {
+      drawSpeedLimitSigns(p, sign_rect);
+
+      // do not show during SLA's preActive state
+      if (speedLimitAssistState != cereal::LongitudinalPlanSP::SpeedLimit::AssistState::PRE_ACTIVE) {
+        drawUpcomingSpeedLimit(p);
+      }
     }
 
     // Road Name
     drawRoadName(p, surface_rect);
   }
+
+  p.restore();
 }
 
 void HudRendererSP::drawText(QPainter &p, int x, int y, const QString &text, QColor color) {
@@ -348,10 +385,10 @@ void HudRendererSP::drawStandstillTimer(QPainter &p, int x, int y) {
   }
 }
 
-void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
-  bool speedLimitWarningEnabled = speedLimitMode == SpeedLimitMode::WARNING;  // TODO-SP: update to include SpeedLimitMode::ASSIST
+void HudRendererSP::drawSpeedLimitSigns(QPainter &p, QRect &sign_rect) {
+  bool speedLimitWarningEnabled = speedLimitMode >= SpeedLimitMode::WARNING;  // TODO-SP: update to include SpeedLimitMode::ASSIST
   bool hasSpeedLimit = speedLimitValid || speedLimitLastValid;
-  bool overspeed = hasSpeedLimit && speedLimitFinalLast < std::nearbyint(speed);
+  bool overspeed = hasSpeedLimit && std::nearbyint(speedLimitFinalLast) < std::nearbyint(speed);
   QString speedLimitStr = hasSpeedLimit ? QString::number(std::nearbyint(speedLimitLast)) : "---";
 
   // Offset display text
@@ -365,13 +402,6 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
     speedLimitSubTextFactor = 0.475;
   }
 
-  // Position next to MAX speed box
-  const int sign_width = is_metric ? 200 : 172;
-  const int sign_x = is_metric ? 280 : 272;
-  const int sign_y = 45;
-  const int sign_height = 204;
-  QRect sign_rect(sign_x, sign_y, sign_width, sign_height);
-
   int alpha = 255;
   QColor red_color = QColor(255, 0, 0, alpha);
   QColor speed_color = (speedLimitWarningEnabled && overspeed) ? red_color :
@@ -573,3 +603,66 @@ void HudRendererSP::drawRoadName(QPainter &p, const QRect &surface_rect) {
   QString truncated = fm.elidedText(roadNameStr, Qt::ElideRight, road_rect.width() - 20);
   p.drawText(road_rect, Qt::AlignCenter, truncated);
 }
+
+void HudRendererSP::drawSpeedLimitPreActiveArrow(QPainter &p, QRect &sign_rect) {
+  const int sign_margin = 12;
+  const int arrow_spacing = sign_margin * 3;
+  int arrow_x = sign_rect.right() + arrow_spacing;
+
+  int _set_speed = std::nearbyint(set_speed);
+  int _speed_limit_final_last = std::nearbyint(speedLimitFinalLast);
+
+  // Calculate the vertical offset using a sinusoidal function for smooth bouncing
+  double bounce_frequency = 2.0 * M_PI / UI_FREQ;  // 20 frames for one full oscillation
+  int bounce_offset = 20 * sin(speedLimitAssistFrame * bounce_frequency);  // Adjust the amplitude (20 pixels) as needed
+
+  if (_set_speed < _speed_limit_final_last) {
+    QPoint iconPosition(arrow_x, sign_rect.center().y() - plus_arrow_up_img.height() / 2 + bounce_offset);
+    p.drawPixmap(iconPosition, plus_arrow_up_img);
+  } else if (_set_speed > _speed_limit_final_last) {
+    QPoint iconPosition(arrow_x, sign_rect.center().y() - minus_arrow_down_img.height() / 2 - bounce_offset);
+    p.drawPixmap(iconPosition, minus_arrow_down_img);
+  }
+}
+
+void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
+  // Draw outer box + border to contain set speed
+  const QSize default_size = {172, 204};
+  QSize set_speed_size = is_metric ? QSize(200, 204) : default_size;
+  QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
+
+  // Draw set speed box
+  p.setPen(QPen(QColor(255, 255, 255, 75), 6));
+  p.setBrush(QColor(0, 0, 0, 166));
+  p.drawRoundedRect(set_speed_rect, 32, 32);
+
+  // Colors based on status
+  QColor max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
+  QColor set_speed_color = QColor(0x72, 0x72, 0x72, 0xff);
+  if (is_cruise_set) {
+    set_speed_color = QColor(255, 255, 255);
+    if (speedLimitAssistActive) {
+      set_speed_color = longOverride ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 0xff, 0, 0xff);
+      max_color = longOverride ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0x80, 0xd8, 0xa6, 0xff);
+    } else {
+      if (status == STATUS_DISENGAGED) {
+        max_color = QColor(255, 255, 255);
+      } else if (status == STATUS_OVERRIDE) {
+        max_color = QColor(0x91, 0x9b, 0x95, 0xff);
+      } else {
+        max_color = QColor(0x80, 0xd8, 0xa6, 0xff);
+      }
+    }
+  }
+
+  // Draw "MAX" text
+  p.setFont(InterFont(40, QFont::DemiBold));
+  p.setPen(max_color);
+  p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX"));
+
+  // Draw set speed
+  QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(set_speed)) : "–";
+  p.setFont(InterFont(90, QFont::Bold));
+  p.setPen(set_speed_color);
+  p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index d77892fa2d557a..043536bf4c05bf 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -31,9 +31,11 @@ class HudRendererSP : public HudRenderer {
   void drawStandstillTimer(QPainter &p, int x, int y);
   bool pulseElement(int frame);
   void drawSmartCruiseControlOnroadIcon(QPainter &p, const QRect &surface_rect, int x_offset, int y_offset, std::string name);
-  void drawSpeedLimitSigns(QPainter &p);
+  void drawSpeedLimitSigns(QPainter &p, QRect &sign_rect);
   void drawUpcomingSpeedLimit(QPainter &p);
   void drawRoadName(QPainter &p, const QRect &surface_rect);
+  void drawSpeedLimitPreActiveArrow(QPainter &p, QRect &sign_rect);
+  void drawSetSpeedSP(QPainter &p, const QRect &surface_rect);
 
   bool lead_status;
   float lead_d_rel;
@@ -86,4 +88,9 @@ class HudRendererSP : public HudRenderer {
   SpeedLimitMode speedLimitMode = SpeedLimitMode::OFF;
   bool roadName;
   QString roadNameStr;
+  cereal::LongitudinalPlanSP::SpeedLimit::AssistState speedLimitAssistState;
+  bool speedLimitAssistActive;
+  int speedLimitAssistFrame;
+  QPixmap plus_arrow_up_img;
+  QPixmap minus_arrow_down_img;
 };
diff --git a/sunnypilot/selfdrive/assets/img_minus_arrow_down.png b/sunnypilot/selfdrive/assets/img_minus_arrow_down.png
new file mode 100644
index 00000000000000..250f640585c2cb
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/img_minus_arrow_down.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f4a0bf26cfd2c64939759d43bee839aadfd017a6f74065095a27b03615e55a4
+size 26627
diff --git a/sunnypilot/selfdrive/assets/img_plus_arrow_up.png b/sunnypilot/selfdrive/assets/img_plus_arrow_up.png
new file mode 100644
index 00000000000000..14c1529da31950
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/img_plus_arrow_up.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e451ff31e9b3f144822ab282b8e47cd5a603ca59ff94bd1849271181b86c6b1
+size 29220
diff --git a/sunnypilot/selfdrive/car/cruise_ext.py b/sunnypilot/selfdrive/car/cruise_ext.py
index 716e3e1c938dee..3691c35972ecb6 100644
--- a/sunnypilot/selfdrive/car/cruise_ext.py
+++ b/sunnypilot/selfdrive/car/cruise_ext.py
@@ -6,18 +6,24 @@
 """
 import numpy as np
 
-from cereal import car
+from cereal import car, custom
 from opendbc.car import structs
+from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.helpers import get_minimum_set_speed
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import ACTIVE_STATES as SLA_ACTIVE_STATES
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target
 
 ButtonType = car.CarState.ButtonEvent.Type
+SpeedLimitAssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
 
 CRUISE_BUTTON_TIMER = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0,
                        ButtonType.setCruise: 0, ButtonType.resumeCruise: 0,
                        ButtonType.cancel: 0, ButtonType.mainCruise: 0}
 
 V_CRUISE_MIN = 8
+V_CRUISE_MAX = 145
+V_CRUISE_UNSET = 255
 
 
 def update_manual_button_timers(CS: car.CarState, button_timers: dict[car.CarState.ButtonEvent.Type, int]) -> None:
@@ -32,11 +38,12 @@ def update_manual_button_timers(CS: car.CarState, button_timers: dict[car.CarSta
       button_timers[b.type.raw] = 1 if b.pressed else 0
 
 
-
 class VCruiseHelperSP:
   def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> None:
     self.CP = CP
     self.CP_SP = CP_SP
+    self.v_cruise_kph = V_CRUISE_UNSET
+    self.v_cruise_cluster_kph = V_CRUISE_UNSET
     self.params = Params()
     self.v_cruise_min = 0
     self.enabled_prev = False
@@ -47,6 +54,16 @@ def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> None:
 
     self.enable_button_timers = CRUISE_BUTTON_TIMER
 
+    # Speed Limit Assist
+    self.sla_state = SpeedLimitAssistState.disabled
+    self.prev_sla_state = SpeedLimitAssistState.disabled
+    self.has_speed_limit = False
+    self.speed_limit_final_last = 0.
+    self.speed_limit_final_last_kph = 0.
+    self.prev_speed_limit_final_last_kph = 0.
+    self.req_plus = False
+    self.req_minus = False
+
   def read_custom_set_speed_params(self) -> None:
     self.custom_acc_enabled = self.params.get_bool("CustomAccIncrementsEnabled")
     self.short_increment = self.params.get("CustomAccShortPressIncrement", return_default=True)
@@ -89,3 +106,33 @@ def update_enabled_state(self, CS: car.CarState, enabled: bool) -> bool:
       return enabled and self.enabled_prev
 
     return enabled
+
+  def update_speed_limit_assist(self, is_metric, LP_SP: custom.LongitudinalPlanSP) -> None:
+    resolver = LP_SP.speedLimit.resolver
+    self.has_speed_limit = resolver.speedLimitValid or resolver.speedLimitLastValid
+    self.speed_limit_final_last = LP_SP.speedLimit.resolver.speedLimitFinalLast
+    self.speed_limit_final_last_kph = self.speed_limit_final_last * CV.MS_TO_KPH
+    self.sla_state = LP_SP.speedLimit.assist.state
+    self.req_plus, self.req_minus = compare_cluster_target(self.v_cruise_cluster_kph * CV.KPH_TO_MS,
+                                                           self.speed_limit_final_last, is_metric)
+
+  @property
+  def update_speed_limit_final_last_changed(self) -> bool:
+    return self.has_speed_limit and bool(self.speed_limit_final_last_kph != self.prev_speed_limit_final_last_kph)
+
+  def update_speed_limit_assist_pre_active_confirmed(self, button_type: car.CarState.ButtonEvent.Type) -> bool:
+    if self.sla_state == SpeedLimitAssistState.preActive or self.prev_sla_state == SpeedLimitAssistState.preActive:
+      if button_type == ButtonType.decelCruise and self.req_minus:
+        return True
+      if button_type == ButtonType.accelCruise and self.req_plus:
+        return True
+
+    return False
+
+  def update_speed_limit_assist_v_cruise_non_pcm(self) -> None:
+    if self.sla_state in SLA_ACTIVE_STATES and (self.prev_sla_state not in SLA_ACTIVE_STATES or
+                                                self.update_speed_limit_final_last_changed):
+      self.v_cruise_kph = np.clip(round(self.speed_limit_final_last_kph, 1), self.v_cruise_min, V_CRUISE_MAX)
+
+    self.prev_sla_state = self.sla_state
+    self.prev_speed_limit_final_last_kph = self.speed_limit_final_last_kph
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index 40d30100c5ce7b..ece2ff2419011e 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -7,22 +7,29 @@
 
 from cereal import messaging, custom
 from opendbc.car import structs
+from openpilot.common.constants import CV
+from openpilot.selfdrive.car.cruise import V_CRUISE_MAX
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.smart_cruise_control import SmartCruiseControl
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolver import SpeedLimitResolver
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
-Source = custom.LongitudinalPlanSP.LongitudinalPlanSource
+LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource
 
 
 class LongitudinalPlannerSP:
   def __init__(self, CP: structs.CarParams, mpc):
+    self.events_sp = EventsSP()
+    self.resolver = SpeedLimitResolver()
     self.dec = DynamicExperimentalController(CP, mpc)
     self.scc = SmartCruiseControl()
     self.resolver = SpeedLimitResolver()
+    self.sla = SpeedLimitAssist(CP)
     self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
-    self.source = Source.cruise
+    self.source = LongitudinalPlanSource.cruise
 
     self.output_v_target = 0.
     self.output_a_target = 0.
@@ -39,15 +46,31 @@ def get_mpc_mode(self) -> str | None:
     return self.dec.mode()
 
   def update_targets(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> tuple[float, float]:
-    self.scc.update(sm, v_ego, a_ego, v_cruise)
+    CS = sm['carState']
+    v_cruise_cluster_kph = min(CS.vCruiseCluster, V_CRUISE_MAX)
+    v_cruise_cluster = v_cruise_cluster_kph * CV.KPH_TO_MS
+
+    long_enabled = sm['carControl'].enabled
+    long_override = sm['carControl'].cruiseControl.override
+
+    self.events_sp.clear()
+
+    # Smart Cruise Control
+    self.scc.update(sm, long_enabled, long_override, v_ego, a_ego, v_cruise)
 
     # Speed Limit Resolver
     self.resolver.update(v_ego, sm)
 
+    # Speed Limit Assist
+    has_speed_limit = self.resolver.speed_limit_valid or self.resolver.speed_limit_last_valid
+    self.sla.update(long_enabled, long_override, v_ego, a_ego, v_cruise_cluster, self.resolver.speed_limit,
+                    self.resolver.speed_limit_final_last, has_speed_limit, self.resolver.distance, self.events_sp)
+
     targets = {
-      Source.cruise: (v_cruise, a_ego),
-      Source.sccVision: (self.scc.vision.output_v_target, self.scc.vision.output_a_target),
-      Source.sccMap: (self.scc.map.output_v_target, self.scc.map.output_a_target),
+      LongitudinalPlanSource.cruise: (v_cruise, a_ego),
+      LongitudinalPlanSource.sccVision: (self.scc.vision.output_v_target, self.scc.vision.output_a_target),
+      LongitudinalPlanSource.sccMap: (self.scc.map.output_v_target, self.scc.map.output_a_target),
+      LongitudinalPlanSource.speedLimitAssist: (self.sla.output_v_target, self.sla.output_a_target),
     }
 
     self.source = min(targets, key=lambda k: targets[k][0])
@@ -66,6 +89,7 @@ def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.Pu
     longitudinalPlanSP.longitudinalPlanSource = self.source
     longitudinalPlanSP.vTarget = float(self.output_v_target)
     longitudinalPlanSP.aTarget = float(self.output_a_target)
+    longitudinalPlanSP.events = self.events_sp.to_msg()
 
     # Dynamic Experimental Control
     dec = longitudinalPlanSP.dec
@@ -104,5 +128,11 @@ def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.Pu
     resolver.speedLimitOffset = float(self.resolver.speed_limit_offset)
     resolver.distToSpeedLimit = float(self.resolver.distance)
     resolver.source = self.resolver.source
+    assist = speedLimit.assist
+    assist.state = self.sla.state
+    assist.enabled = self.sla.is_enabled
+    assist.active = self.sla.is_active
+    assist.vTarget = float(self.sla.output_v_target)
+    assist.aTarget = float(self.sla.output_a_target)
 
     pm.send('longitudinalPlanSP', plan_sp_send)
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
index 0f60621658e1e8..4ca45202fcbcd9 100644
--- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
+++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
@@ -14,9 +14,6 @@ def __init__(self):
     self.vision = SmartCruiseControlVision()
     self.map = SmartCruiseControlMap()
 
-  def update(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> None:
-    long_enabled = sm['carControl'].enabled
-    long_override = sm['carControl'].cruiseControl.override
-
+  def update(self, sm: messaging.SubMaster, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float, v_cruise: float) -> None:
     self.map.update(long_enabled, long_override, v_ego, a_ego, v_cruise)
     self.vision.update(sm, long_enabled, long_override, v_ego, a_ego, v_cruise)
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py b/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py
index af14a87f0c1d3d..22ea75fe197f1e 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py
@@ -6,3 +6,14 @@
 """
 LIMIT_ADAPT_ACC = -1.  # m/s^2 Ideal acceleration for the adapting (braking) phase when approaching speed limits.
 LIMIT_MAX_MAP_DATA_AGE = 10.  # s Maximum time to hold to map data, then consider it invalid inside limits controllers.
+
+# Speed Limit Assist constants
+PCM_LONG_REQUIRED_MAX_SET_SPEED = {
+  True: (33.3333, 36.1111),  # km/h, (120, 130)
+  False: (31.2928, 35.7632),  # mph, (70, 80)
+}
+
+CONFIRM_SPEED_THRESHOLD = {
+  True: 80,   # km/h
+  False: 50,  # mph
+}
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/common.py b/sunnypilot/selfdrive/controls/lib/speed_limit/common.py
index 7d219ac3bbbc9c..baf93280320176 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/common.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/common.py
@@ -19,3 +19,10 @@ class OffsetType(IntEnum):
   off = 0
   fixed = 1
   percentage = 2
+
+
+class Mode(IntEnum):
+  off = 0
+  information = 1
+  warning = 2
+  assist = 3
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py b/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
new file mode 100644
index 00000000000000..40e8f653ff50c9
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
@@ -0,0 +1,19 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from openpilot.common.constants import CV
+
+
+def compare_cluster_target(v_cruise_cluster: float, target_set_speed: float, is_metric: bool) -> tuple[bool, bool]:
+  speed_conv = CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH
+  v_cruise_cluster_conv = round(v_cruise_cluster * speed_conv)
+  target_set_speed_conv = round(target_set_speed * speed_conv)
+
+  req_plus = v_cruise_cluster_conv < target_set_speed_conv
+  req_minus = v_cruise_cluster_conv > target_set_speed_conv
+
+  return req_plus, req_minus
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
new file mode 100644
index 00000000000000..bb03a9eb1c73c9
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
@@ -0,0 +1,401 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import time
+
+from cereal import custom, car
+from openpilot.common.params import Params
+from openpilot.common.constants import CV
+from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target
+from openpilot.selfdrive.modeld.constants import ModelConstants
+
+ButtonType = car.CarState.ButtonEvent.Type
+EventNameSP = custom.OnroadEventSP.EventName
+SpeedLimitAssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
+SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source
+
+ACTIVE_STATES = (SpeedLimitAssistState.active, SpeedLimitAssistState.adapting)
+ENABLED_STATES = (SpeedLimitAssistState.preActive, SpeedLimitAssistState.pending, *ACTIVE_STATES)
+
+DISABLED_GUARD_PERIOD = 0.5  # secs.
+PRE_ACTIVE_GUARD_PERIOD = 15  # secs. Time to wait after activation before considering temp deactivation signal.
+SPEED_LIMIT_CHANGED_HOLD_PERIOD = 1  # secs. Time to wait after speed limit change before switching to preActive.
+
+LIMIT_MIN_ACC = -1.5  # m/s^2 Maximum deceleration allowed for limit controllers to provide.
+LIMIT_MAX_ACC = 1.0   # m/s^2 Maximum acceleration allowed for limit controllers to provide while active.
+LIMIT_MIN_SPEED = 8.33  # m/s, Minimum speed limit to provide as solution on limit controllers.
+LIMIT_SPEED_OFFSET_TH = -1.  # m/s Maximum offset between speed limit and current speed for adapting state.
+V_CRUISE_UNSET = 255
+
+CRUISE_BUTTONS_PLUS = (ButtonType.accelCruise, ButtonType.resumeCruise)
+CRUISE_BUTTONS_MINUS = (ButtonType.decelCruise, ButtonType.setCruise)
+CRUISE_BUTTON_CONFIRM_HOLD = 0.5  # secs.
+
+
+class SpeedLimitAssist:
+  _speed_limit_final_last: float
+  _distance: float
+  v_ego: float
+  a_ego: float
+  v_offset: float
+
+  def __init__(self, CP):
+    self.params = Params()
+    self.CP = CP
+    self.frame = -1
+    self.long_engaged_timer = 0
+    self.pre_active_timer = 0
+    self.speed_limit_changed_timer = 0
+    self.is_metric = self.params.get_bool("IsMetric")
+    self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist
+    self.long_enabled = False
+    self.long_enabled_prev = False
+    self.is_enabled = False
+    self.is_active = False
+    self.output_v_target = V_CRUISE_UNSET
+    self.output_a_target = 0.
+    self.v_ego = 0.
+    self.a_ego = 0.
+    self.v_offset = 0.
+    self.target_set_speed_conv = 0
+    self.prev_target_set_speed_conv = 0
+    self.v_cruise_cluster = 0.
+    self.v_cruise_cluster_prev = 0.
+    self.v_cruise_cluster_conv = 0
+    self.prev_v_cruise_cluster_conv = 0
+    self._has_speed_limit = False
+    self._speed_limit = 0.
+    self._speed_limit_final_last = 0.
+    self.speed_limit_prev = 0.
+    self.speed_limit_final_last_conv = 0
+    self.prev_speed_limit_final_last_conv = 0
+    self._distance = 0.
+    self.state = SpeedLimitAssistState.disabled
+    self._state_prev = SpeedLimitAssistState.disabled
+    self.pcm_op_long = CP.openpilotLongitudinalControl and CP.pcmCruise
+
+    self._plus_hold = 0.
+    self._minus_hold = 0.
+    self._last_carstate_ts = 0.
+
+    # TODO-SP: SLA's own output_a_target for planner
+    # Solution functions mapped to respective states
+    self.acceleration_solutions = {
+      SpeedLimitAssistState.disabled: self.get_current_acceleration_as_target,
+      SpeedLimitAssistState.inactive: self.get_current_acceleration_as_target,
+      SpeedLimitAssistState.preActive: self.get_current_acceleration_as_target,
+      SpeedLimitAssistState.pending: self.get_current_acceleration_as_target,
+      SpeedLimitAssistState.adapting: self.get_adapting_state_target_acceleration,
+      SpeedLimitAssistState.active: self.get_active_state_target_acceleration,
+    }
+
+  @property
+  def speed_limit_changed(self) -> bool:
+    return self._has_speed_limit and bool(self._speed_limit != self.speed_limit_prev)
+
+  @property
+  def v_cruise_cluster_changed(self) -> bool:
+    return bool(self.v_cruise_cluster_conv != self.prev_v_cruise_cluster_conv)
+
+  @property
+  def target_set_speed_confirmed(self) -> bool:
+    return bool(self.v_cruise_cluster_conv == self.target_set_speed_conv)
+
+  def get_v_target_from_control(self) -> float:
+    if self._has_speed_limit:
+      if self.pcm_op_long and self.is_enabled:
+        return self._speed_limit_final_last
+      if not self.pcm_op_long and self.is_active:
+        return self._speed_limit_final_last
+
+    # Fallback
+    return V_CRUISE_UNSET
+
+  # TODO-SP: SLA's own output_a_target for planner
+  def get_a_target_from_control(self) -> float:
+    return self.a_ego
+
+  def update_params(self) -> None:
+    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
+      self.is_metric = self.params.get_bool("IsMetric")
+      self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist
+
+  def update_car_state(self, CS: car.CarState) -> None:
+    now = time.monotonic()
+    self._last_carstate_ts = now
+
+    for b in CS.buttonEvents:
+      if not b.pressed:
+        if b.type in CRUISE_BUTTONS_PLUS:
+          self._plus_hold = max(self._plus_hold, now + CRUISE_BUTTON_CONFIRM_HOLD)
+        elif b.type in CRUISE_BUTTONS_MINUS:
+          self._minus_hold = max(self._minus_hold, now + CRUISE_BUTTON_CONFIRM_HOLD)
+
+  def _get_button_release(self, req_plus: bool, req_minus: bool) -> bool:
+    now = time.monotonic()
+    if req_plus and now <= self._plus_hold:
+      self._plus_hold = 0.
+      return True
+    elif req_minus and now <= self._minus_hold:
+      self._minus_hold = 0.
+      return True
+
+    # expired
+    if now > self._plus_hold:
+      self._plus_hold = 0.
+    if now > self._minus_hold:
+      self._minus_hold = 0.
+    return False
+
+  def update_calculations(self, v_cruise_cluster: float) -> None:
+    speed_conv = CV.MS_TO_KPH if self.is_metric else CV.MS_TO_MPH
+    self.v_cruise_cluster = v_cruise_cluster
+
+    # Update current velocity offset (error)
+    self.v_offset = self._speed_limit_final_last - self.v_ego
+
+    self.speed_limit_final_last_conv = round(self._speed_limit_final_last * speed_conv)
+    self.v_cruise_cluster_conv = round(self.v_cruise_cluster * speed_conv)
+
+    cst_low, cst_high = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.is_metric]
+    pcm_long_required_max = cst_low if self._has_speed_limit and self.speed_limit_final_last_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric] else \
+                            cst_high
+    pcm_long_required_max_set_speed_conv = round(pcm_long_required_max * speed_conv)
+
+    self.target_set_speed_conv = pcm_long_required_max_set_speed_conv if self.pcm_op_long else self.speed_limit_final_last_conv
+
+  @property
+  def apply_confirm_speed_threshold(self) -> bool:
+    # below CST: always require user confirmation
+    if self.v_cruise_cluster_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric]:
+      return True
+
+    # at/above CST:
+    # - new speed limit >= CST: auto change
+    # - new speed limit < CST: user confirmation required
+    return bool(self.speed_limit_final_last_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric])
+
+  def get_current_acceleration_as_target(self) -> float:
+    return self.a_ego
+
+  def get_adapting_state_target_acceleration(self) -> float:
+    if self._distance > 0:
+      return (self._speed_limit_final_last ** 2 - self.v_ego ** 2) / (2. * self._distance)
+
+    return self.v_offset / float(ModelConstants.T_IDXS[CONTROL_N])
+
+  def get_active_state_target_acceleration(self) -> float:
+    return self.v_offset / float(ModelConstants.T_IDXS[CONTROL_N])
+
+  def _update_confirmed_state(self):
+    if self._has_speed_limit:
+      if self.v_offset < LIMIT_SPEED_OFFSET_TH:
+        self.state = SpeedLimitAssistState.adapting
+      else:
+        self.state = SpeedLimitAssistState.active
+    else:
+      self.state = SpeedLimitAssistState.pending
+
+  def _update_non_pcm_long_confirmed_state(self) -> bool:
+    if self.target_set_speed_confirmed:
+      return True
+
+    if self.state != SpeedLimitAssistState.preActive:
+      return False
+
+    req_plus, req_minus = compare_cluster_target(self.v_cruise_cluster, self._speed_limit_final_last, self.is_metric)
+
+    return self._get_button_release(req_plus, req_minus)
+
+  def update_state_machine_pcm_op_long(self):
+    self.long_engaged_timer = max(0, self.long_engaged_timer - 1)
+    self.pre_active_timer = max(0, self.pre_active_timer - 1)
+
+    # ACTIVE, ADAPTING, PENDING, PRE_ACTIVE, INACTIVE
+    if self.state != SpeedLimitAssistState.disabled:
+      if not self.long_enabled or not self.enabled:
+        self.state = SpeedLimitAssistState.disabled
+
+      else:
+        # ACTIVE
+        if self.state == SpeedLimitAssistState.active:
+          if self.v_cruise_cluster_changed:
+            self.state = SpeedLimitAssistState.inactive
+          elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
+            self.state = SpeedLimitAssistState.preActive
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+          elif self._has_speed_limit and self.v_offset < LIMIT_SPEED_OFFSET_TH:
+            self.state = SpeedLimitAssistState.adapting
+
+        # ADAPTING
+        elif self.state == SpeedLimitAssistState.adapting:
+          if self.v_cruise_cluster_changed:
+            self.state = SpeedLimitAssistState.inactive
+          elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
+            self.state = SpeedLimitAssistState.preActive
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+          elif self.v_offset >= LIMIT_SPEED_OFFSET_TH:
+            self.state = SpeedLimitAssistState.active
+
+        # PENDING
+        elif self.state == SpeedLimitAssistState.pending:
+          if self._has_speed_limit:
+            if self.v_offset < LIMIT_SPEED_OFFSET_TH:
+              self.state = SpeedLimitAssistState.adapting
+            else:
+              self.state = SpeedLimitAssistState.active
+
+        # PRE_ACTIVE
+        elif self.state == SpeedLimitAssistState.preActive:
+          if self.target_set_speed_confirmed:
+            self._update_confirmed_state()
+          elif self.pre_active_timer <= 0:
+            # Timeout - session ended
+            self.state = SpeedLimitAssistState.inactive
+
+        # INACTIVE
+        elif self.state == SpeedLimitAssistState.inactive:
+          pass
+
+    # DISABLED
+    elif self.state == SpeedLimitAssistState.disabled:
+      if self.long_enabled and self.enabled:
+        # start or reset preActive timer if initially enabled or manual set speed change detected
+        if not self.long_enabled_prev or self.v_cruise_cluster_changed:
+          self.long_engaged_timer = int(DISABLED_GUARD_PERIOD / DT_MDL)
+
+        elif self.long_engaged_timer <= 0:
+          if self.target_set_speed_confirmed:
+            self._update_confirmed_state()
+          else:
+            self.state = SpeedLimitAssistState.preActive
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+
+    enabled = self.state in ENABLED_STATES
+    active = self.state in ACTIVE_STATES
+
+    return enabled, active
+
+  def update_state_machine_non_pcm_long(self):
+    self.long_engaged_timer = max(0, self.long_engaged_timer - 1)
+    self.pre_active_timer = max(0, self.pre_active_timer - 1)
+    self.speed_limit_changed_timer = max(0, self.speed_limit_changed_timer - 1)
+
+    # ACTIVE, ADAPTING, PENDING, PRE_ACTIVE, INACTIVE
+    if self.state != SpeedLimitAssistState.disabled:
+      if not self.long_enabled or not self.enabled:
+        self.state = SpeedLimitAssistState.disabled
+
+      else:
+        # ACTIVE
+        if self.state == SpeedLimitAssistState.active:
+          if self.v_cruise_cluster_changed:
+            self.state = SpeedLimitAssistState.inactive
+
+          elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
+            self.speed_limit_changed_timer = int(SPEED_LIMIT_CHANGED_HOLD_PERIOD / DT_MDL)
+          elif self.speed_limit_changed_timer <= 0:
+            self.state = SpeedLimitAssistState.preActive
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+
+        # PRE_ACTIVE
+        elif self.state == SpeedLimitAssistState.preActive:
+          if self._update_non_pcm_long_confirmed_state():
+            self.state = SpeedLimitAssistState.active
+          elif self.pre_active_timer <= 0:
+            # Timeout - session ended
+            self.state = SpeedLimitAssistState.inactive
+
+        # INACTIVE
+        elif self.state == SpeedLimitAssistState.inactive:
+          if self.speed_limit_changed:
+            self.speed_limit_changed_timer = int(SPEED_LIMIT_CHANGED_HOLD_PERIOD / DT_MDL)
+          elif self.speed_limit_changed_timer <= 0:
+            self.state = SpeedLimitAssistState.preActive
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+          elif self._update_non_pcm_long_confirmed_state():
+            self.state = SpeedLimitAssistState.active
+
+    # DISABLED
+    elif self.state == SpeedLimitAssistState.disabled:
+      if self.long_enabled and self.enabled:
+        # start or reset preActive timer if initially enabled or manual set speed change detected
+        if not self.long_enabled_prev or self.v_cruise_cluster_changed:
+          self.long_engaged_timer = int(DISABLED_GUARD_PERIOD / DT_MDL)
+
+        elif self.long_engaged_timer <= 0:
+          if self._update_non_pcm_long_confirmed_state():
+            self.state = SpeedLimitAssistState.active
+          elif self._has_speed_limit:
+            self.state = SpeedLimitAssistState.preActive
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+          else:
+            self.state = SpeedLimitAssistState.inactive
+
+    enabled = self.state in ENABLED_STATES
+    active = self.state in ACTIVE_STATES
+
+    return enabled, active
+
+  def update_events(self, events_sp: EventsSP) -> None:
+    if self.state == SpeedLimitAssistState.preActive:
+      events_sp.add(EventNameSP.speedLimitPreActive)
+
+    if self.state == SpeedLimitAssistState.pending and self._state_prev != SpeedLimitAssistState.pending:
+      events_sp.add(EventNameSP.speedLimitPending)
+
+    if self.is_active:
+      if self._state_prev not in ACTIVE_STATES:
+        events_sp.add(EventNameSP.speedLimitActive)
+
+      # only notify if we acquire a valid speed limit
+      # do not check has_speed_limit here
+      elif self._speed_limit != self.speed_limit_prev:
+        if self.speed_limit_prev <= 0:
+          events_sp.add(EventNameSP.speedLimitActive)
+        elif self.speed_limit_prev > 0 and self._speed_limit > 0:
+          events_sp.add(EventNameSP.speedLimitChanged)
+
+  def update(self, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float, v_cruise_cluster: float, speed_limit: float,
+             speed_limit_final_last: float, has_speed_limit: bool, distance: float, events_sp: EventsSP) -> None:
+    self.long_enabled = long_enabled
+    self.v_ego = v_ego
+    self.a_ego = a_ego
+
+    self._has_speed_limit = has_speed_limit
+    self._speed_limit = speed_limit
+    self._speed_limit_final_last = speed_limit_final_last
+    self._distance = distance
+
+    self.update_params()
+    self.update_calculations(v_cruise_cluster)
+
+    self._state_prev = self.state
+    if self.pcm_op_long:
+      self.is_enabled, self.is_active = self.update_state_machine_pcm_op_long()
+    else:
+      self.is_enabled, self.is_active = self.update_state_machine_non_pcm_long()
+
+    self.update_events(events_sp)
+
+    # Update change tracking variables
+    self.speed_limit_prev = self._speed_limit
+    self.v_cruise_cluster_prev = self.v_cruise_cluster
+    self.long_enabled_prev = self.long_enabled
+    self.prev_target_set_speed_conv = self.target_set_speed_conv
+    self.prev_v_cruise_cluster_conv = self.v_cruise_cluster_conv
+    self.prev_speed_limit_final_last_conv = self.speed_limit_final_last_conv
+
+    self.output_v_target = self.get_v_target_from_control()
+    self.output_a_target = self.get_a_target_from_control()
+
+    self.frame += 1
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
new file mode 100644
index 00000000000000..3b2716265d49a4
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
@@ -0,0 +1,227 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from cereal import custom
+
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.toyota.values import CAR as TOYOTA
+from openpilot.common.constants import CV
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
+from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist, \
+  PRE_ACTIVE_GUARD_PERIOD, ACTIVE_STATES
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+
+SpeedLimitAssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
+
+ALL_STATES = tuple(SpeedLimitAssistState.schema.enumerants.values())
+
+SPEED_LIMITS = {
+  'residential': 25 * CV.MPH_TO_MS,  # 25 mph
+  'city': 35 * CV.MPH_TO_MS,         # 35 mph
+  'highway': 65 * CV.MPH_TO_MS,      # 65 mph
+  'freeway': 80 * CV.MPH_TO_MS,      # 80 mph
+}
+
+
+class TestSpeedLimitAssist:
+
+  def setup_method(self):
+    self.params = Params()
+    self.reset_custom_params()
+    self.events_sp = EventsSP()
+    CI = self._setup_platform(TOYOTA.TOYOTA_RAV4_TSS2)
+    self.sla = SpeedLimitAssist(CI.CP)
+    self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+    self.pcm_long_max_set_speed = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric][1]  # use 80 MPH for now
+    self.speed_conv = CV.MS_TO_KPH if self.sla.is_metric else CV.MS_TO_MPH
+
+  def teardown_method(self, method):
+    self.reset_state()
+
+  def _setup_platform(self, car_name):
+    CarInterface = interfaces[car_name]
+    CP = CarInterface.get_non_essential_params(car_name)
+    CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
+    CI = CarInterface(CP, CP_SP)
+    sunnypilot_interfaces.setup_interfaces(CI, self.params)
+    return CI
+
+  def reset_custom_params(self):
+    self.params.put("SpeedLimitMode", int(Mode.assist))
+    self.params.put_bool("IsMetric", False)
+    self.params.put("SpeedLimitOffsetType", 0)
+    self.params.put("SpeedLimitValueOffset", 0)
+
+  def reset_state(self):
+    self.sla.state = SpeedLimitAssistState.disabled
+    self.sla.frame = -1
+    self.sla.last_op_engaged_frame = 0
+    self.sla.op_engaged = False
+    self.sla.op_engaged_prev = False
+    self.sla._speed_limit = 0.
+    self.sla.speed_limit_prev = 0.
+    self.sla.last_valid_speed_limit_offsetted = 0.
+    self.sla._distance = 0.
+    self.events_sp.clear()
+
+  def initialize_active_state(self, initialize_v_cruise):
+    self.sla.state = SpeedLimitAssistState.active
+    self.sla.v_cruise_cluster = initialize_v_cruise
+    self.sla.v_cruise_cluster_prev = initialize_v_cruise
+    self.sla.prev_v_cruise_cluster_conv = round(initialize_v_cruise * self.speed_conv)
+
+  def test_initial_state(self):
+    assert self.sla.state == SpeedLimitAssistState.disabled
+    assert not self.sla.is_enabled
+    assert not self.sla.is_active
+    assert V_CRUISE_UNSET == self.sla.get_v_target_from_control()
+
+  def test_disabled(self):
+    self.params.put("SpeedLimitMode", int(Mode.off))
+    for _ in range(int(10. / DT_MDL)):
+      self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.disabled
+
+  def test_transition_disabled_to_preactive(self):
+    for _ in range(int(3. / DT_MDL)):
+      self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.preActive
+    assert self.sla.is_enabled and not self.sla.is_active
+
+  def test_preactive_to_active_with_max_speed_confirmation(self):
+    self.sla.state = SpeedLimitAssistState.preActive
+    self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['highway'],
+                    SPEED_LIMITS['highway'], True, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.active
+    assert self.sla.is_enabled and self.sla.is_active
+    assert self.sla.output_v_target == SPEED_LIMITS['highway']
+
+  def test_preactive_timeout_to_inactive(self):
+    self.sla.state = SpeedLimitAssistState.preActive
+    self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
+
+    for _ in range(int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)):
+      self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.inactive
+
+  def test_preactive_to_pending_no_speed_limit(self):
+    self.sla.state = SpeedLimitAssistState.preActive
+    self.sla.update(True, False, SPEED_LIMITS['highway'], 0, self.pcm_long_max_set_speed, 0, 0, False, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.pending
+    assert self.sla.is_enabled and not self.sla.is_active
+
+  def test_pending_to_active_when_speed_limit_available(self):
+    self.sla.state = SpeedLimitAssistState.pending
+    self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.active
+
+  def test_pending_to_adapting_when_below_speed_limit(self):
+    self.sla.state = SpeedLimitAssistState.pending
+    self.sla.update(True, False, SPEED_LIMITS['city'] + 5, 0, self.pcm_long_max_set_speed, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.adapting
+    assert self.sla.is_enabled and self.sla.is_active
+
+  def test_active_to_adapting_transition(self):
+    self.initialize_active_state(self.pcm_long_max_set_speed)
+
+    self.sla.update(True, False, SPEED_LIMITS['highway'] + 2, 0, self.pcm_long_max_set_speed, SPEED_LIMITS['highway'],
+                    SPEED_LIMITS['highway'], True, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.adapting
+
+  def test_adapting_to_active_transition(self):
+    self.sla.state = SpeedLimitAssistState.adapting
+    self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed
+    self.sla.prev_v_cruise_cluster_conv = round(self.pcm_long_max_set_speed * self.speed_conv)
+
+    self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['highway'],
+                    SPEED_LIMITS['highway'], True, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.active
+
+  def test_manual_cruise_change_detection(self):
+    self.sla.state = SpeedLimitAssistState.active
+    expected_cruise = SPEED_LIMITS['highway']
+    self.sla.v_cruise_cluster_prev = expected_cruise
+
+    different_cruise = SPEED_LIMITS['highway'] + 5
+    self.sla.update(True, False, SPEED_LIMITS['city'], 0, different_cruise, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.inactive
+
+  # TODO-SP: test lower CST cases
+  def test_rapid_speed_limit_changes(self):
+    self.initialize_active_state(self.pcm_long_max_set_speed)
+    speed_limits = [SPEED_LIMITS['highway'], SPEED_LIMITS['freeway']]
+
+    for _, speed_limit in enumerate(speed_limits):
+      self.sla.update(True, False, speed_limit, 0, self.pcm_long_max_set_speed, speed_limit, speed_limit, True, 0, self.events_sp)
+    assert self.sla.state in ACTIVE_STATES
+
+  def test_invalid_speed_limits_handling(self):
+    self.initialize_active_state(self.pcm_long_max_set_speed)
+
+    invalid_limits = [-10, 0, 200 * CV.MPH_TO_MS]
+
+    for invalid_limit in invalid_limits:
+      self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, invalid_limit, SPEED_LIMITS['city'], True, 0, self.events_sp)
+      assert isinstance(self.sla.output_v_target, (int, float))
+      assert self.sla.output_v_target == V_CRUISE_UNSET or self.sla.output_v_target > 0
+
+  def test_stale_data_handling(self):
+    self.initialize_active_state(self.pcm_long_max_set_speed)
+    old_speed_limit = SPEED_LIMITS['city']
+
+    self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, 0, old_speed_limit, True, 0, self.events_sp)
+    assert self.sla.state in ACTIVE_STATES
+    assert self.sla.output_v_target == old_speed_limit
+
+  def test_distance_based_adapting(self):
+    self.sla.state = SpeedLimitAssistState.adapting
+    self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed
+    self.sla.prev_v_cruise_cluster_conv = round(self.pcm_long_max_set_speed * self.speed_conv)
+
+    distance = 100.0
+    current_speed = SPEED_LIMITS['freeway']
+    target_speed = SPEED_LIMITS['highway']
+
+    self.sla.update(True, False, current_speed, 0, self.pcm_long_max_set_speed, target_speed, target_speed, True, distance, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.adapting
+    assert self.sla.output_v_target == target_speed  # TODO-SP: assert expected accel, need to enable self.acceleration_solutions
+
+  def test_long_disengaged_to_disabled(self):
+    self.initialize_active_state(self.pcm_long_max_set_speed)
+
+    self.sla.update(False, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['city'],
+                    SPEED_LIMITS['city'], True, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.disabled
+    assert self.sla.output_v_target == V_CRUISE_UNSET
+
+  def test_maintain_states_with_no_changes(self):
+    """Test that states are maintained when no significant changes occur"""
+    test_states = [
+      SpeedLimitAssistState.preActive,
+      SpeedLimitAssistState.pending,
+      SpeedLimitAssistState.active,
+      SpeedLimitAssistState.adapting
+    ]
+
+    for state in test_states:
+      self.sla.state = state
+      self.sla.op_engaged = True
+
+      initial_state = state
+
+      self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
+
+      assert self.sla.state in ALL_STATES  # Sanity check
+
+      if initial_state == SpeedLimitAssistState.preActive:
+        assert self.sla.state in [SpeedLimitAssistState.preActive, SpeedLimitAssistState.active]
+      elif initial_state in ACTIVE_STATES:
+        assert self.sla.state in ACTIVE_STATES
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py
index 7c723397fb2c85..7700550c2d522f 100644
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -1,6 +1,10 @@
+import cereal.messaging as messaging
 from cereal import log, car, custom
+from openpilot.common.constants import CV
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
   NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target
 
 
 AlertSize = log.SelfdriveState.AlertSize
@@ -14,6 +18,49 @@
 EVENT_NAME_SP = {v: k for k, v in EventNameSP.schema.enumerants.items()}
 
 
+def speed_limit_adjust_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  speedLimit = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimit
+  speed = round(speedLimit * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))
+  message = f'Adjusting to {speed} {"km/h" if metric else "mph"} speed limit'
+  return Alert(
+    message,
+    "",
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, 4.)
+
+
+def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  speed_conv = CV.MS_TO_KPH if metric else CV.MS_TO_MPH
+  speed_limit_final_last = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimitFinalLast
+  speed_limit_final_last_conv = round(speed_limit_final_last * speed_conv)
+
+  if CP.openpilotLongitudinalControl and CP.pcmCruise:
+    # PCM long
+    cst_low, cst_high = PCM_LONG_REQUIRED_MAX_SET_SPEED[metric]
+    pcm_long_required_max = cst_low if speed_limit_final_last_conv < CONFIRM_SPEED_THRESHOLD[metric] else cst_high
+    pcm_long_required_max_set_speed_conv = round(pcm_long_required_max * speed_conv)
+    speed_unit = "km/h" if metric else "mph"
+    alert_2_str = f"Manually change set speed to {pcm_long_required_max_set_speed_conv} {speed_unit} to activate"
+  else:
+    # Non PCM long
+    v_cruise_cluster = CS.vCruiseCluster * CV.KPH_TO_MS
+
+    req_plus, req_minus = compare_cluster_target(v_cruise_cluster, speed_limit_final_last, metric)
+    arrow_str = ""
+    if req_plus:
+      arrow_str = "RES/+"
+    elif req_minus:
+      arrow_str = "SET/-"
+
+    alert_2_str = f"Operate the {arrow_str} cruise control button to activate"
+
+  return Alert(
+    "Speed Limit Assist: Activation Required",
+    alert_2_str,
+    AlertStatus.normal, AlertSize.mid,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, .1)
+
+
 class EventsSP(EventsBase):
   def __init__(self):
     super().__init__()
@@ -148,5 +195,33 @@ def get_event_msg_type(self):
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
-  }
+  },
+
+  EventNameSP.speedLimitActive: {
+    ET.WARNING: Alert(
+      "Automatically adjusting to the posted speed limit",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
+  },
+
+  EventNameSP.speedLimitChanged: {
+    ET.WARNING: Alert(
+      "Set speed changed",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
+  },
+
+  EventNameSP.speedLimitPreActive: {
+    ET.WARNING: speed_limit_pre_active_alert,
+  },
+
+  EventNameSP.speedLimitPending: {
+    ET.WARNING: Alert(
+      "Automatically adjusting to the last speed limit",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
+  },
 }

From 0f4828df824416fa0ff5bb6a3a7a21155e72838c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 30 Sep 2025 13:39:11 -0400
Subject: [PATCH 0456/1434] ui: only longitudinal cars can use Speed Limit
 Assist (#1300)

---
 .../speed_limit/speed_limit_settings.cc       | 26 +++++++++++++++++++
 .../speed_limit/speed_limit_settings.h        | 17 ++++++++++++
 2 files changed, 43 insertions(+)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
index 5f12403a173e7f..ff5d6221ceeacc 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
@@ -108,6 +108,25 @@ void SpeedLimitSettings::refresh() {
   SpeedLimitOffsetType offset_type_param = static_cast<SpeedLimitOffsetType>(std::atoi(params.get("SpeedLimitOffsetType").c_str()));
   QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset"));
 
+  bool has_longitudinal_control;
+  bool intelligent_cruise_button_management_available;
+  auto cp_bytes = params.get("CarParamsPersistent");
+  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
+  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    AlignedBuffer aligned_buf_sp;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
+
+    has_longitudinal_control = hasLongitudinalControl(CP);
+    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
+  } else {
+    has_longitudinal_control = false;
+    intelligent_cruise_button_management_available = false;
+  }
+
   speed_limit_mode_settings->setDescription(modeDescription(speed_limit_mode_param));
   speed_limit_offset->setDescription(offsetDescription(offset_type_param));
 
@@ -125,6 +144,13 @@ void SpeedLimitSettings::refresh() {
     speed_limit_offset->showDescription();
   }
 
+  if (has_longitudinal_control || intelligent_cruise_button_management_available) {
+    speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(getSpeedLimitModeValues()));
+  } else {
+    speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(
+      {SpeedLimitMode::OFF,SpeedLimitMode::INFORMATION, SpeedLimitMode::WARNING}));
+  }
+
   speed_limit_mode_settings->showDescription();
   speed_limit_offset->showDescription();
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
index 10c44aa98c1993..f76f9bea2ae27f 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
@@ -76,4 +76,21 @@ class SpeedLimitSettings : public QStackedWidget {
         .arg(warning_str)
         .arg(assist_str);
   }
+
+  static std::vector<SpeedLimitMode> getSpeedLimitModeValues() {
+    std::vector<SpeedLimitMode> values;
+    for (int i = static_cast<int>(SpeedLimitMode::OFF);
+         i <= static_cast<int>(SpeedLimitMode::ASSIST); ++i) {
+      values.push_back(static_cast<SpeedLimitMode>(i));
+    }
+    return values;
+  }
+
+  static std::vector<int> convertSpeedLimitModeValues(const std::vector<SpeedLimitMode> &modes) {
+    std::vector<int> values;
+    for (const auto& mode : modes) {
+      values.push_back(static_cast<int>(mode));
+    }
+    return values;
+  }
 };

From 85d2653fdac1145a31173131844509012d700bfd Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 30 Sep 2025 17:50:35 -0400
Subject: [PATCH 0457/1434] Speed Limit Assist: No Easter Eggs

---
 .../controls/lib/speed_limit/speed_limit_assist.py          | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
index bb03a9eb1c73c9..5d798949a945c2 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
@@ -54,7 +54,6 @@ def __init__(self, CP):
     self.frame = -1
     self.long_engaged_timer = 0
     self.pre_active_timer = 0
-    self.speed_limit_changed_timer = 0
     self.is_metric = self.params.get_bool("IsMetric")
     self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist
     self.long_enabled = False
@@ -288,7 +287,6 @@ def update_state_machine_pcm_op_long(self):
   def update_state_machine_non_pcm_long(self):
     self.long_engaged_timer = max(0, self.long_engaged_timer - 1)
     self.pre_active_timer = max(0, self.pre_active_timer - 1)
-    self.speed_limit_changed_timer = max(0, self.speed_limit_changed_timer - 1)
 
     # ACTIVE, ADAPTING, PENDING, PRE_ACTIVE, INACTIVE
     if self.state != SpeedLimitAssistState.disabled:
@@ -302,8 +300,6 @@ def update_state_machine_non_pcm_long(self):
             self.state = SpeedLimitAssistState.inactive
 
           elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
-            self.speed_limit_changed_timer = int(SPEED_LIMIT_CHANGED_HOLD_PERIOD / DT_MDL)
-          elif self.speed_limit_changed_timer <= 0:
             self.state = SpeedLimitAssistState.preActive
             self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
 
@@ -318,8 +314,6 @@ def update_state_machine_non_pcm_long(self):
         # INACTIVE
         elif self.state == SpeedLimitAssistState.inactive:
           if self.speed_limit_changed:
-            self.speed_limit_changed_timer = int(SPEED_LIMIT_CHANGED_HOLD_PERIOD / DT_MDL)
-          elif self.speed_limit_changed_timer <= 0:
             self.state = SpeedLimitAssistState.preActive
             self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
           elif self._update_non_pcm_long_confirmed_state():

From ae901d15624b0b5849e8b09a3a67180a5b611b5b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 30 Sep 2025 20:17:53 -0400
Subject: [PATCH 0458/1434] ui: add Display settings panel (#1301)

* init

* onroad brightness control

* new icon

* update touch handlling

* don't touch me

* now i feel every touch

* resolve review comments

* tired of this shit

* ugh

* just panel for now

* more

---------

Co-authored-by: nayan <nayan8teen@gmail.com>
---
 selfdrive/ui/sunnypilot/SConscript            |  1 +
 .../qt/offroad/settings/display_panel.cc      | 29 +++++++++++++++++++
 .../qt/offroad/settings/display_panel.h       | 26 +++++++++++++++++
 .../qt/offroad/settings/settings.cc           |  2 ++
 .../selfdrive/assets/offroad/icon_display.png |  3 ++
 5 files changed, 61 insertions(+)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h
 create mode 100644 sunnypilot/selfdrive/assets/offroad/icon_display.png

diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 5c2680b29982e3..a3c03ee03f929e 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -24,6 +24,7 @@ qt_src = [
   "sunnypilot/qt/offroad/offroad_home.cc",
   "sunnypilot/qt/offroad/settings/developer_panel.cc",
   "sunnypilot/qt/offroad/settings/device_panel.cc",
+  "sunnypilot/qt/offroad/settings/display_panel.cc",
   "sunnypilot/qt/offroad/settings/lateral_panel.cc",
   "sunnypilot/qt/offroad/settings/longitudinal_panel.cc",
   "sunnypilot/qt/offroad/settings/max_time_offroad.cc",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc
new file mode 100644
index 00000000000000..e980840a8cd0a2
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc
@@ -0,0 +1,29 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h"
+
+DisplayPanel::DisplayPanel(QWidget *parent) : QWidget(parent) {
+  main_layout = new QStackedLayout(this);
+  ListWidgetSP *list = new ListWidgetSP(this, false);
+
+  sunnypilotScreen = new QWidget(this);
+  QVBoxLayout* vlayout = new QVBoxLayout(sunnypilotScreen);
+  vlayout->setContentsMargins(50, 20, 50, 20);
+
+  sunnypilotScroller = new ScrollViewSP(list, this);
+  vlayout->addWidget(sunnypilotScroller);
+  main_layout->addWidget(sunnypilotScreen);
+}
+
+void DisplayPanel::showEvent(QShowEvent *event) {
+  QWidget::showEvent(event);
+  refresh();
+}
+
+void DisplayPanel::refresh() {
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h
new file mode 100644
index 00000000000000..22e7303465c1b3
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h
@@ -0,0 +1,26 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+class DisplayPanel : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit DisplayPanel(QWidget *parent = nullptr);
+  void showEvent(QShowEvent *event) override;
+  void refresh();
+
+private:
+  QStackedLayout* main_layout = nullptr;
+  QWidget* sunnypilotScreen = nullptr;
+  ScrollViewSP *sunnypilotScroller = nullptr;
+  Params params;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
index 5415e75ea9d9ae..c712442df3cb4d 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
@@ -13,6 +13,7 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
@@ -87,6 +88,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
     PanelInfo("   " + tr("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
     PanelInfo("   " + tr("Cruise"), new LongitudinalPanel(this), "../assets/icons/speed_limit.png"),
     PanelInfo("   " + tr("Visuals"), new VisualsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"),
+    PanelInfo("   " + tr("Display"), new DisplayPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_display.png"),
     PanelInfo("   " + tr("OSM"), new OsmPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
     PanelInfo("   " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
     PanelInfo("   " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_display.png b/sunnypilot/selfdrive/assets/offroad/icon_display.png
new file mode 100644
index 00000000000000..547977f5225123
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_display.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:614767308d435d165a9ab78e3eac22ee15697d94066df8200ef32afb33ef8d60
+size 5698

From 49e58a253220cc32d503ba06824201e6990456ef Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Tue, 30 Sep 2025 21:06:11 -0400
Subject: [PATCH 0459/1434] Device: Driving Screen Off (#1252)

* init

* onroad brightness control

* new icon

* update touch handlling

* don't touch me

* now i feel every touch

* resolve review comments

* tired of this shit

* ugh

* translate

* duplicate

* fix

* adjust

* update param in the same function

* flip

* format

* reorder

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/params_keys.h                          |  3 +
 selfdrive/ui/sunnypilot/SConscript            |  6 +-
 .../display/onroad_screen_brightness.cc       | 63 +++++++++++++++++++
 .../display/onroad_screen_brightness.h        | 42 +++++++++++++
 .../qt/offroad/settings/display_panel.cc      | 11 ++++
 .../qt/offroad/settings/display_panel.h       |  2 +
 .../ui/sunnypilot/qt/onroad/onroad_home.cc    |  2 +
 selfdrive/ui/sunnypilot/ui.cc                 | 24 +++++++
 selfdrive/ui/sunnypilot/ui.h                  |  1 +
 selfdrive/ui/sunnypilot/ui_scene.h            |  3 +
 selfdrive/ui/ui.cc                            |  7 +++
 11 files changed, 163 insertions(+), 1 deletion(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h

diff --git a/common/params_keys.h b/common/params_keys.h
index 5ba6b53108ad6e..1056a3903e821d 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -157,6 +157,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
     {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
+    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "100"}},
+    {"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}},
+    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "0"}},
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index a3c03ee03f929e..3f0e013d344169 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -91,9 +91,13 @@ brand_settings_qt_src = [
   "sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc",
 ]
 
+display_panel_qt_src = [
+  "sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc",
+]
 
 sp_widgets_src = widgets_src + network_src
-sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + longitudinal_panel_qt_src + osm_panel_qt_src
+sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + \
+            longitudinal_panel_qt_src + osm_panel_qt_src + display_panel_qt_src
 sp_qt_util = qt_util
 
 Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util")
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc
new file mode 100644
index 00000000000000..3e9dc427bfebbc
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc
@@ -0,0 +1,63 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h"
+
+OnroadScreenBrightnessControl::OnroadScreenBrightnessControl(const QString &param, const QString &title,
+                                                             const QString &description, const QString &icon,
+                                                             QWidget *parent)
+  : ExpandableToggleRow(param, title, description, icon, parent) {
+  auto *mainFrame = new QFrame(this);
+  auto *mainFrameLayout = new QGridLayout();
+  mainFrame->setLayout(mainFrameLayout);
+  mainFrameLayout->setSpacing(0);
+
+  onroadScreenOffTimer = new OptionControlSP(
+    "OnroadScreenOffTimer",
+    "",
+    "",
+    "",
+    {0, 11}, 1, true, &onroadScreenOffTimerOptions);
+
+  onroadScreenBrightness = new OptionControlSP(
+    "OnroadScreenOffBrightness",
+    "",
+    "",
+    "",
+    {0, 100}, 10, true, nullptr, false);
+
+  connect(onroadScreenOffTimer, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
+  connect(onroadScreenBrightness, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
+  onroadScreenOffTimer->setFixedWidth(280);
+  onroadScreenBrightness->setFixedWidth(280);
+  mainFrameLayout->addWidget(onroadScreenOffTimer, 0, 0, Qt::AlignLeft);
+  mainFrameLayout->addWidget(onroadScreenBrightness, 0, 1, Qt::AlignRight);
+
+  addItem(mainFrame);
+
+  refresh();
+}
+
+void OnroadScreenBrightnessControl::refresh() {
+  // Driving Screen Off Timer
+  int valTimer = std::atoi(params.get("OnroadScreenOffTimer").c_str());
+  std::string labelTimer = "<span style='font-size: 45px; font-weight: 450; color: #FFFFFF;'>";
+  labelTimer += "Delay";
+  labelTimer += " <br><span style='font-size: 40px; font-weight: 450; color:rgb(174, 255, 195);'>";
+  labelTimer += (valTimer < 60 ? std::to_string(valTimer) + "s" : std::to_string(valTimer / 60) + "m");
+  labelTimer += "</span></span>";
+  onroadScreenOffTimer->setLabel(QString::fromStdString(labelTimer));
+
+  // Driving Screen Off Brightness
+  std::string valBrightness = params.get("OnroadScreenOffBrightness");
+  std::string labelBrightness = "<span style='font-size: 45px; font-weight: 450; color: #FFFFFF;'>";
+  labelBrightness += "Brightness";
+  labelBrightness += " <br><span style='font-size: 40px; font-weight: 450; color:rgb(174, 255, 195);'>";
+  labelBrightness += (valBrightness == "0" ? " Screen Off" : valBrightness + "%");
+  labelBrightness += "</span></span>";
+  onroadScreenBrightness->setLabel(QString::fromStdString(labelBrightness));
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h
new file mode 100644
index 00000000000000..02335d1ce6883e
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h
@@ -0,0 +1,42 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
+
+static const QMap<QString, QString> onroadScreenOffTimerOptions = {
+  {"0", "15"},
+  {"1", "30"},
+  {"2", "60"},
+  {"3", "120"},
+  {"4", "180"},
+  {"5", "240"},
+  {"6", "300"},
+  {"7", "360"},
+  {"8", "420"},
+  {"9", "480"},
+  {"10", "540"},
+  {"11", "600"}
+};
+
+class OnroadScreenBrightnessControl : public ExpandableToggleRow {
+  Q_OBJECT
+
+public:
+  OnroadScreenBrightnessControl(const QString &param, const QString &title, const QString &desc, const QString &icon,
+                                QWidget *parent = nullptr);
+  void refresh();
+
+private:
+  Params params;
+  OptionControlSP *onroadScreenOffTimer;
+  OptionControlSP *onroadScreenBrightness;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc
index e980840a8cd0a2..b441021ff39892 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc
@@ -15,6 +15,16 @@ DisplayPanel::DisplayPanel(QWidget *parent) : QWidget(parent) {
   QVBoxLayout* vlayout = new QVBoxLayout(sunnypilotScreen);
   vlayout->setContentsMargins(50, 20, 50, 20);
 
+  // Onroad Screen Off/Brightness
+  onroadScreenBrightnessControl = new OnroadScreenBrightnessControl(
+    "OnroadScreenOffControl",
+    tr("Driving Screen Off: Non-Critical Events"),
+    tr("Turn off device screen or reduce brightness after driving starts. "
+       "It automatically brightens again when screen is touched or a critical event occurs."),
+    "",
+    this);
+  list->addItem(onroadScreenBrightnessControl);
+
   sunnypilotScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(sunnypilotScroller);
   main_layout->addWidget(sunnypilotScreen);
@@ -26,4 +36,5 @@ void DisplayPanel::showEvent(QShowEvent *event) {
 }
 
 void DisplayPanel::refresh() {
+  onroadScreenBrightnessControl->refresh();
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h
index 22e7303465c1b3..1714c8a4367c81 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h
@@ -7,6 +7,7 @@
 
 #pragma once
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
@@ -23,4 +24,5 @@ class DisplayPanel : public QWidget {
   QWidget* sunnypilotScreen = nullptr;
   ScrollViewSP *sunnypilotScroller = nullptr;
   Params params;
+  OnroadScreenBrightnessControl *onroadScreenBrightnessControl = nullptr;
 };
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc b/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc
index b26d1b828a3833..3f853e33636ff6 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc
@@ -25,8 +25,10 @@ void OnroadWindowSP::updateState(const UIStateSP &s) {
 
 void OnroadWindowSP::mousePressEvent(QMouseEvent *e) {
   OnroadWindow::mousePressEvent(e);
+  uiStateSP()->reset_onroad_sleep_timer();
 }
 
 void OnroadWindowSP::offroadTransition(bool offroad) {
   OnroadWindow::offroadTransition(offroad);
+  uiStateSP()->reset_onroad_sleep_timer();
 }
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index fd7365821c3bb8..6cbdeadf581756 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -11,6 +11,16 @@
 
 void UIStateSP::updateStatus() {
   UIState::updateStatus();
+
+  if (scene.started && scene.onroadScreenOffControl) {
+    auto selfdriveState = (*sm)["selfdriveState"].getSelfdriveState();
+    if (selfdriveState.getAlertSize() != cereal::SelfdriveState::AlertSize::NONE &&
+        selfdriveState.getAlertStatus() != cereal::SelfdriveState::AlertStatus::NORMAL) {
+      reset_onroad_sleep_timer();
+    } else if (scene.onroadScreenOffTimer > 0) {
+      scene.onroadScreenOffTimer--;
+    }
+  }
 }
 
 UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
@@ -55,6 +65,20 @@ void ui_update_params_sp(UIStateSP *s) {
   s->scene.standstill_timer = params.getBool("StandstillTimer");
   s->scene.speed_limit_mode = std::atoi(params.get("SpeedLimitMode").c_str());
   s->scene.road_name = params.getBool("RoadNameToggle");
+
+  // Onroad Screen Brightness
+  s->scene.onroadScreenOffBrightness = std::atoi(params.get("OnroadScreenOffBrightness").c_str());
+  s->scene.onroadScreenOffControl = params.getBool("OnroadScreenOffControl");
+  s->scene.onroadScreenOffTimerParam = std::atoi(params.get("OnroadScreenOffTimer").c_str());
+  s->reset_onroad_sleep_timer();
+}
+
+void UIStateSP::reset_onroad_sleep_timer() {
+  if (scene.onroadScreenOffTimerParam >= 0 and scene.onroadScreenOffControl) {
+    scene.onroadScreenOffTimer = scene.onroadScreenOffTimerParam * UI_FREQ;
+  } else {
+    scene.onroadScreenOffTimer = -1;
+  }
 }
 
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
diff --git a/selfdrive/ui/sunnypilot/ui.h b/selfdrive/ui/sunnypilot/ui.h
index 393f997cbdf421..55dd43ad52cc25 100644
--- a/selfdrive/ui/sunnypilot/ui.h
+++ b/selfdrive/ui/sunnypilot/ui.h
@@ -61,6 +61,7 @@ class UIStateSP : public UIState {
       return user.user_id.toLower() != "unregisteredsponsor" && user.user_id.toLower() != "temporarysponsor";
     });
   }
+  void reset_onroad_sleep_timer();
 
 signals:
   void sunnylinkRoleChanged(bool subscriber);
diff --git a/selfdrive/ui/sunnypilot/ui_scene.h b/selfdrive/ui/sunnypilot/ui_scene.h
index 768cc5d7a11bd7..7cfabb15c37609 100644
--- a/selfdrive/ui/sunnypilot/ui_scene.h
+++ b/selfdrive/ui/sunnypilot/ui_scene.h
@@ -12,4 +12,7 @@ typedef struct UISceneSP : UIScene {
   bool standstill_timer = false;
   int speed_limit_mode = 0;
   bool road_name = false;
+  int onroadScreenOffBrightness, onroadScreenOffTimer = 0;
+  bool onroadScreenOffControl;
+  int onroadScreenOffTimerParam;
 } UISceneSP;
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 4cad883f7dc7ac..6bca2b7f7f7227 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -204,6 +204,13 @@ void Device::updateBrightness(const UIState &s) {
     brightness = 0;
   }
 
+  // Onroad Brightness Control
+#ifdef SUNNYPILOT
+  if (awake && s.scene.started && s.scene.onroadScreenOffControl && s.scene.onroadScreenOffTimer == 0) {
+    brightness = s.scene.onroadScreenOffBrightness * 0.01 * brightness;
+  }
+#endif
+
   if (brightness != last_brightness) {
     if (!brightness_future.isRunning()) {
       brightness_future = QtConcurrent::run(Hardware::set_brightness, brightness);

From f3ed57787050c330ca74c566dad2d7812753e7ba Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 30 Sep 2025 22:37:13 -0400
Subject: [PATCH 0460/1434] Longitudinal: reimplement Gas Interceptor (comma
 Pedal) support (#1290)

* init

* bump

* bump

* bump

* recheck openpilot long availability

* bump

* bump

* bump

* bump

* bump

* just base for now

* bump

* bump

* bump

* bump

* flipped

* apparently it's yucky, reverting most

* bump

* need to add for toyota

* should've been remove

* flipped

* bump

* no way

* fix

* test sdsu distance

* final tuning for pedal

* bump
---
 cereal/custom.capnp                          |  1 +
 opendbc_repo                                 |  2 +-
 selfdrive/car/tests/test_car_interfaces.py   |  2 +-
 selfdrive/controls/controlsd.py              |  2 +-
 selfdrive/controls/lib/longcontrol.py        | 10 +++++---
 selfdrive/controls/tests/test_longcontrol.py | 27 +++++++++++---------
 selfdrive/selfdrived/selfdrived.py           |  2 +-
 sunnypilot/selfdrive/car/car_specific.py     | 10 ++++++--
 8 files changed, 35 insertions(+), 21 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index c87ac0d2e0329b..674f109fc794a3 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -299,6 +299,7 @@ struct CarParamsSP @0x80ae746ee2596b11 {
   safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
   pcmCruiseSpeed @3 :Bool;
   intelligentCruiseButtonManagementAvailable @4 :Bool;
+  enableGasInterceptor @5 :Bool;
 
   neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
 
diff --git a/opendbc_repo b/opendbc_repo
index 52d50f984191d6..dfcfacb667c6ff 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 52d50f984191d63cf6a79398b21df2d2e3b9236e
+Subproject commit dfcfacb667c6ff131d0e620c36e118f14a84dc4a
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 7c7a5630036e0f..821767ee46645a 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -60,7 +60,7 @@ def test_car_interfaces(self, car_name, data):
     # Test controller initialization
     # TODO: wait until card refactor is merged to run controller a few times,
     #  hypothesis also slows down significantly with just one more message draw
-    LongControl(car_params)
+    LongControl(car_params, car_params_sp)
     if car_params.steerControlType == CarParams.SteerControlType.angle:
       LatControlAngle(car_params, car_params_sp, car_interface)
     elif car_params.lateralTuning.which() == 'pid':
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 3751efc87a6d8a..3601ae310ec123 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -58,7 +58,7 @@ def __init__(self) -> None:
     self.pose_calibrator = PoseCalibrator()
     self.calibrated_pose: Pose | None = None
 
-    self.LoC = LongControl(self.CP)
+    self.LoC = LongControl(self.CP, self.CP_SP)
     self.VM = VehicleModel(self.CP)
     self.LaC: LatControl
     if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 6d4f9224617508..b8b00e2fb92e8d 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -10,8 +10,11 @@
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
 
-def long_control_state_trans(CP, active, long_control_state, v_ego,
+def long_control_state_trans(CP, CP_SP, active, long_control_state, v_ego,
                              should_stop, brake_pressed, cruise_standstill):
+  # Gas Interceptor
+  cruise_standstill = cruise_standstill and not CP_SP.enableGasInterceptor
+
   stopping_condition = should_stop
   starting_condition = (not should_stop and
                         not cruise_standstill and
@@ -45,8 +48,9 @@ def long_control_state_trans(CP, active, long_control_state, v_ego,
   return long_control_state
 
 class LongControl:
-  def __init__(self, CP):
+  def __init__(self, CP, CP_SP):
     self.CP = CP
+    self.CP_SP = CP_SP
     self.long_control_state = LongCtrlState.off
     self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                              (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
@@ -61,7 +65,7 @@ def update(self, active, CS, a_target, should_stop, accel_limits):
     self.pid.neg_limit = accel_limits[0]
     self.pid.pos_limit = accel_limits[1]
 
-    self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
+    self.long_control_state = long_control_state_trans(self.CP, self.CP_SP, active, self.long_control_state, CS.vEgo,
                                                        should_stop, CS.brakePressed,
                                                        CS.cruiseState.standstill)
     if self.long_control_state == LongCtrlState.off:
diff --git a/selfdrive/controls/tests/test_longcontrol.py b/selfdrive/controls/tests/test_longcontrol.py
index ab50810d894f61..cf0ab24e0b1ddb 100644
--- a/selfdrive/controls/tests/test_longcontrol.py
+++ b/selfdrive/controls/tests/test_longcontrol.py
@@ -1,4 +1,4 @@
-from cereal import car
+from cereal import car, custom
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
 
 
@@ -8,49 +8,52 @@ class TestLongControlStateTransition:
 
   def test_stay_stopped(self):
     CP = car.CarParams.new_message()
+    CP_SP = custom.CarParamsSP.new_message()
     active = True
     current_state = LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=True, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=True, cruise_standstill=False)
     assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=False, cruise_standstill=True)
     assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.pid
     active = False
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.off
 
 def test_engage():
   CP = car.CarParams.new_message()
+  CP_SP = custom.CarParamsSP.new_message()
   active = True
   current_state = LongCtrlState.off
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=True, brake_pressed=False, cruise_standstill=False)
   assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=True, cruise_standstill=False)
   assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=False, cruise_standstill=True)
   assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
   assert next_state == LongCtrlState.pid
 
 def test_starting():
   CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
+  CP_SP = custom.CarParamsSP.new_message()
   active = True
   current_state = LongCtrlState.starting
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
   assert next_state == LongCtrlState.starting
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
   assert next_state == LongCtrlState.pid
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index a13c873fbea9d1..4bc75021f7d1d1 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -159,7 +159,7 @@ def __init__(self, CP=None, CP_SP=None):
     self.mads = ModularAssistiveDrivingSystem(self)
     self.icbm = IntelligentCruiseButtonManagement(self.CP, self.CP_SP)
 
-    self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
+    self.car_events_sp = CarSpecificEventsSP(self.CP, self.CP_SP)
 
     CruiseHelper.__init__(self, self.CP)
 
diff --git a/sunnypilot/selfdrive/car/car_specific.py b/sunnypilot/selfdrive/car/car_specific.py
index 7e6f300d738774..97ce26429c3584 100644
--- a/sunnypilot/selfdrive/car/car_specific.py
+++ b/sunnypilot/selfdrive/car/car_specific.py
@@ -18,9 +18,9 @@
 
 
 class CarSpecificEventsSP:
-  def __init__(self, CP: structs.CarParams, params):
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
     self.CP = CP
-    self.params = params
+    self.CP_SP = CP_SP
 
     self.low_speed_alert = False
 
@@ -42,4 +42,10 @@ def update(self, CS: structs.CarState, events: Events):
       if self.low_speed_alert:
         events.add(EventName.belowSteerSpeed)
 
+    elif self.CP.brand == 'toyota':
+      if self.CP.openpilotLongitudinalControl:
+        if CS.cruiseState.standstill and not CS.brakePressed and self.CP_SP.enableGasInterceptor:
+          if events.has(EventName.resumeRequired):
+            events.remove(EventName.resumeRequired)
+
     return events_sp

From 92214b69d8e9045ea28e82c47debd1813a4af390 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Wed, 1 Oct 2025 12:37:10 -0400
Subject: [PATCH 0461/1434] feat: Green Traffic Light Alert (#1287)

* init

* fix

* event

* UI

* events..for real

* SP

* ugh

* toggles

* read params first

* stoopid it is

* fix green light img

* fix green light image. for real this time

* move events to longitudinal_planner

* move events to longitudinal_planner

* move e2e alerts to separate class

* green light alert only for this PR

* fix

* fixxxxxxx

* blinky blink

* blinky blink

* slight cleanup

* only used for params

* a bit more

* only when long is not engaged

* too long

* update description

* always 3 seconds if not moving

* initialize in constructor instead

* less

* rename

* always init at 0

---------

Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 cereal/custom.capnp                           |  6 ++
 common/params_keys.h                          |  1 +
 .../qt/offroad/settings/visuals_panel.cc      | 10 ++++
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc      | 55 +++++++++++++++++++
 selfdrive/ui/sunnypilot/qt/onroad/hud.h       |  8 +++
 .../selfdrive/assets/images/green_light.png   |  3 +
 .../controls/lib/e2e_alerts_helper.py         | 50 +++++++++++++++++
 .../controls/lib/longitudinal_planner.py      | 10 +++-
 sunnypilot/selfdrive/selfdrived/events.py     |  8 +++
 9 files changed, 149 insertions(+), 2 deletions(-)
 create mode 100644 sunnypilot/selfdrive/assets/images/green_light.png
 create mode 100644 sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 674f109fc794a3..23e26a8ccb294a 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -149,6 +149,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   vTarget @4 :Float32;
   aTarget @5 :Float32;
   events @6 :List(OnroadEventSP.Event);
+  e2eAlerts @7 :E2eAlerts;
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
@@ -246,6 +247,10 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
     sccMap @2;
     speedLimitAssist @3;
   }
+
+  struct E2eAlerts {
+    greenLightAlert @0 :Bool;
+  }
 }
 
 struct OnroadEventSP @0xda96579883444c35 {
@@ -291,6 +296,7 @@ struct OnroadEventSP @0xda96579883444c35 {
     speedLimitActive @20;
     speedLimitChanged @21;
     speedLimitPending @22;
+    e2eChime @23;
   }
 }
 
diff --git a/common/params_keys.h b/common/params_keys.h
index 1056a3903e821d..b8cda836933ab7 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -148,6 +148,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
     {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
+    {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
     {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
index 10ead537741e2e..07df99f7266c49 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -49,6 +49,16 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
       "",
       false,
     },
+    {
+      "GreenLightAlert",
+      tr("Green Traffic Light Alert (Beta)"),
+      QString("%1<br>"
+        "<h4>%2</h4><br>")
+        .arg(tr("A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you."))
+        .arg(tr("Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly.")),
+      "",
+      false,
+    },
   };
 
   // Add regular toggles first
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index df1bc3c0027862..d05822bb858783 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -14,6 +14,11 @@
 HudRendererSP::HudRendererSP() {
   plus_arrow_up_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_plus_arrow_up", {105, 105});
   minus_arrow_down_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_minus_arrow_down", {105, 105});
+
+  int green_light_small_max = green_light_alert_small * 2 - 40;
+  int green_light_large_max = green_light_alert_large * 2 - 40;
+  green_light_alert_small_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {green_light_small_max, green_light_small_max});
+  green_light_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {green_light_large_max, green_light_large_max});
 }
 
 void HudRendererSP::updateState(const UIState &s) {
@@ -105,11 +110,15 @@ void HudRendererSP::updateState(const UIState &s) {
   smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
   smartCruiseControlMapEnabled = lp_sp.getSmartCruiseControl().getMap().getEnabled();
   smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive();
+
+  greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
   HudRenderer::draw(p, surface_rect);
 
+  e2eAlertDisplayTimer = std::max(0, e2eAlertDisplayTimer - 1);
+
   p.save();
 
   if (is_cruise_available) {
@@ -194,6 +203,18 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
 
     // Road Name
     drawRoadName(p, surface_rect);
+
+    // Green Light Alert
+    if (greenLightAlert) {
+      e2eAlertDisplayTimer = 3 * UI_FREQ;
+    }
+
+    if (e2eAlertDisplayTimer > 0) {
+      e2eAlertFrame++;
+      drawE2eAlert(p, surface_rect);
+    } else {
+      e2eAlertFrame = 0;
+    }
   }
 
   p.restore();
@@ -666,3 +687,37 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
   p.setPen(set_speed_color);
   p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
 }
+
+void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect) {
+  int size = devUiInfo > 0 ? green_light_alert_small : green_light_alert_large;
+  int x = surface_rect.center().x() + surface_rect.width() / 4;
+  int y = surface_rect.center().y() + 40;
+  x += devUiInfo > 0 ? 0 : 50;
+  y += devUiInfo > 0 ? 0 : 80;
+  QRect alertRect(x - size, y - size, size * 2, size * 2);
+
+  QString alert_text = tr("GREEN\nLIGHT");
+
+  // Alert Circle
+  QPoint center = alertRect.center();
+  QColor frameColor = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 75) : QColor(0, 255, 0, 75);
+  p.setPen(QPen(frameColor, 15));
+  p.setBrush(QColor(0, 0, 0, 190));
+  p.drawEllipse(center, size, size);
+
+  // Alert Text
+  QColor txtColor = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 255) : QColor(0, 255, 0, 255);
+  p.setFont(InterFont(48, QFont::Bold));
+  p.setPen(txtColor);
+  QFontMetrics fm(p.font());
+  QRect textRect = fm.boundingRect(alertRect, Qt::TextWordWrap, alert_text);
+  textRect.moveCenter({alertRect.center().x(), alertRect.center().y()});
+  textRect.moveBottom(alertRect.bottom() - alertRect.height() / 7);
+  p.drawText(textRect, Qt::AlignCenter, alert_text);
+
+  // Alert Image
+  QPixmap &alert_img = devUiInfo > 0 ? green_light_alert_small_img : green_light_alert_large_img;
+  QPointF pixmapCenterOffset = QPointF(alert_img.width() / 2.0, alert_img.height() / 2.0);
+  QPointF drawPoint = center - pixmapCenterOffset;
+  p.drawPixmap(drawPoint, alert_img);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index 043536bf4c05bf..b91116724111bd 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -36,6 +36,7 @@ class HudRendererSP : public HudRenderer {
   void drawRoadName(QPainter &p, const QRect &surface_rect);
   void drawSpeedLimitPreActiveArrow(QPainter &p, QRect &sign_rect);
   void drawSetSpeedSP(QPainter &p, const QRect &surface_rect);
+  void drawE2eAlert(QPainter &p, const QRect &surface_rect);
 
   bool lead_status;
   float lead_d_rel;
@@ -93,4 +94,11 @@ class HudRendererSP : public HudRenderer {
   int speedLimitAssistFrame;
   QPixmap plus_arrow_up_img;
   QPixmap minus_arrow_down_img;
+  int green_light_alert_small = 250;
+  int green_light_alert_large = 300;
+  QPixmap green_light_alert_small_img;
+  QPixmap green_light_alert_large_img;
+  bool greenLightAlert;
+  int e2eAlertFrame;
+  int e2eAlertDisplayTimer = 0;
 };
diff --git a/sunnypilot/selfdrive/assets/images/green_light.png b/sunnypilot/selfdrive/assets/images/green_light.png
new file mode 100644
index 00000000000000..2da2c13a824c1a
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/images/green_light.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3aa5ec9ac1daee6a549e62647d90bcaa66d2485f7df7f386ff902fcfb04c1716
+size 6583
diff --git a/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py b/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
new file mode 100644
index 00000000000000..46657bd47c309e
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
@@ -0,0 +1,50 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from cereal import messaging, custom
+
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+
+TRIGGER_THRESHOLD = 30
+
+
+class E2EAlertsHelper:
+  def __init__(self):
+    self._params = Params()
+    self._frame = -1
+
+    self.green_light_alert = False
+    self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert")
+
+  def _read_params(self) -> None:
+    if self._frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
+      self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert")
+
+    self._frame += 1
+
+  def update(self, sm: messaging.SubMaster, events_sp: EventsSP) -> None:
+    self._read_params()
+
+    if not self.green_light_alert_enabled:
+      return
+
+    CS = sm['carState']
+    CC = sm['carControl']
+
+    model_x = sm['modelV2'].position.x
+    max_idx = len(model_x) - 1
+    has_lead = sm['radarState'].leadOne.status
+
+    # Green light alert
+    self.green_light_alert = model_x[max_idx] > TRIGGER_THRESHOLD and \
+                           not has_lead and CS.standstill and not CS.gasPressed and not CC.enabled
+
+    if self.green_light_alert:
+      events_sp.add(custom.OnroadEventSP.EventName.e2eChime)
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index ece2ff2419011e..e45d748f3b0e5b 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -10,6 +10,7 @@
 from openpilot.common.constants import CV
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
+from openpilot.sunnypilot.selfdrive.controls.lib.e2e_alerts_helper import E2EAlertsHelper
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.smart_cruise_control import SmartCruiseControl
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolver import SpeedLimitResolver
@@ -30,6 +31,7 @@ def __init__(self, CP: structs.CarParams, mpc):
     self.sla = SpeedLimitAssist(CP)
     self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
     self.source = LongitudinalPlanSource.cruise
+    self.e2e_alerts_helper = E2EAlertsHelper()
 
     self.output_v_target = 0.
     self.output_a_target = 0.
@@ -53,8 +55,6 @@ def update_targets(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_
     long_enabled = sm['carControl'].enabled
     long_override = sm['carControl'].cruiseControl.override
 
-    self.events_sp.clear()
-
     # Smart Cruise Control
     self.scc.update(sm, long_enabled, long_override, v_ego, a_ego, v_cruise)
 
@@ -78,7 +78,9 @@ def update_targets(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_
     return self.output_v_target, self.output_a_target
 
   def update(self, sm: messaging.SubMaster) -> None:
+    self.events_sp.clear()
     self.dec.update(sm)
+    self.e2e_alerts_helper.update(sm, self.events_sp)
 
   def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
     plan_sp_send = messaging.new_message('longitudinalPlanSP')
@@ -135,4 +137,8 @@ def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.Pu
     assist.vTarget = float(self.sla.output_v_target)
     assist.aTarget = float(self.sla.output_a_target)
 
+    # E2E Alerts
+    e2eAlerts = longitudinalPlanSP.e2eAlerts
+    e2eAlerts.greenLightAlert = self.e2e_alerts_helper.green_light_alert
+
     pm.send('longitudinalPlanSP', plan_sp_send)
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py
index 7700550c2d522f..e9f4b29bae28a6 100644
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -224,4 +224,12 @@ def get_event_msg_type(self):
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
   },
+
+  EventNameSP.e2eChime: {
+    ET.PERMANENT: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 0.1),
+  },
 }

From 225ce45d31d2fddf269f17c23c40b6ae5a95a524 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Thu, 2 Oct 2025 13:53:23 -0400
Subject: [PATCH 0462/1434] feat: Lead Departure Alert (#1302)

* init

* fix

* event

* UI

* events..for real

* SP

* ugh

* toggles

* read params first

* stoopid it is

* fix green light img

* fix green light image. for real this time

* move events to longitudinal_planner

* move events to longitudinal_planner

* move e2e alerts to separate class

* fix

* fixxxxxxx

* blinky blink

* blinky blink

* refactor

* more refactor

---------

Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 cereal/custom.capnp                           |  1 +
 common/params_keys.h                          |  1 +
 .../qt/offroad/settings/visuals_panel.cc      | 10 +++++++
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc      | 28 ++++++++++++-------
 selfdrive/ui/sunnypilot/qt/onroad/hud.h       |  9 ++++--
 .../selfdrive/assets/images/lead_depart.png   |  3 ++
 .../controls/lib/e2e_alerts_helper.py         | 16 ++++++++---
 .../controls/lib/longitudinal_planner.py      |  1 +
 8 files changed, 53 insertions(+), 16 deletions(-)
 create mode 100644 sunnypilot/selfdrive/assets/images/lead_depart.png

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 23e26a8ccb294a..44b8bd69fa46bb 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -250,6 +250,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
 
   struct E2eAlerts {
     greenLightAlert @0 :Bool;
+    leadDepartAlert @1 :Bool;
   }
 }
 
diff --git a/common/params_keys.h b/common/params_keys.h
index b8cda836933ab7..0f5d9cf4498058 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -154,6 +154,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"LastGPSPositionLLK", {PERSISTENT, STRING}},
+    {"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
     {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
index 07df99f7266c49..7c1107d6533588 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -59,6 +59,16 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
       "",
       false,
     },
+    {
+      "LeadDepartAlert",
+      tr("Lead Departure Alert (Beta)"),
+      QString("%1<br>"
+        "<h4>%2</h4><br>")
+        .arg(tr("A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving."))
+        .arg(tr("Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly.")),
+      "",
+      false,
+    },
   };
 
   // Add regular toggles first
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index d05822bb858783..607e0cbbb598e5 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -15,10 +15,12 @@ HudRendererSP::HudRendererSP() {
   plus_arrow_up_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_plus_arrow_up", {105, 105});
   minus_arrow_down_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_minus_arrow_down", {105, 105});
 
-  int green_light_small_max = green_light_alert_small * 2 - 40;
-  int green_light_large_max = green_light_alert_large * 2 - 40;
-  green_light_alert_small_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {green_light_small_max, green_light_small_max});
-  green_light_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {green_light_large_max, green_light_large_max});
+  int small_max = e2e_alert_small * 2 - 40;
+  int large_max = e2e_alert_large * 2 - 40;
+  green_light_alert_small_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {small_max, small_max});
+  green_light_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {large_max, large_max});
+  lead_depart_alert_small_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {small_max, small_max});
+  lead_depart_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {large_max, large_max});
 }
 
 void HudRendererSP::updateState(const UIState &s) {
@@ -112,6 +114,7 @@ void HudRendererSP::updateState(const UIState &s) {
   smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive();
 
   greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
+  leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert();
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
@@ -204,13 +207,21 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
     // Road Name
     drawRoadName(p, surface_rect);
 
-    // Green Light Alert
-    if (greenLightAlert) {
+    // Green Light & Lead Depart Alerts
+    if (greenLightAlert or leadDepartAlert) {
       e2eAlertDisplayTimer = 3 * UI_FREQ;
     }
 
     if (e2eAlertDisplayTimer > 0) {
       e2eAlertFrame++;
+      if (greenLightAlert) {
+        alert_text = tr("GREEN\nLIGHT");
+        alert_img = devUiInfo > 0 ? green_light_alert_small_img : green_light_alert_large_img;
+      }
+      else if (leadDepartAlert) {
+        alert_text = tr("LEAD VEHICLE\nDEPARTING");
+        alert_img = devUiInfo > 0 ? lead_depart_alert_small_img : lead_depart_alert_large_img;
+      }
       drawE2eAlert(p, surface_rect);
     } else {
       e2eAlertFrame = 0;
@@ -689,15 +700,13 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
 }
 
 void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect) {
-  int size = devUiInfo > 0 ? green_light_alert_small : green_light_alert_large;
+  int size = devUiInfo > 0 ? e2e_alert_small : e2e_alert_large;
   int x = surface_rect.center().x() + surface_rect.width() / 4;
   int y = surface_rect.center().y() + 40;
   x += devUiInfo > 0 ? 0 : 50;
   y += devUiInfo > 0 ? 0 : 80;
   QRect alertRect(x - size, y - size, size * 2, size * 2);
 
-  QString alert_text = tr("GREEN\nLIGHT");
-
   // Alert Circle
   QPoint center = alertRect.center();
   QColor frameColor = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 75) : QColor(0, 255, 0, 75);
@@ -716,7 +725,6 @@ void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect) {
   p.drawText(textRect, Qt::AlignCenter, alert_text);
 
   // Alert Image
-  QPixmap &alert_img = devUiInfo > 0 ? green_light_alert_small_img : green_light_alert_large_img;
   QPointF pixmapCenterOffset = QPointF(alert_img.width() / 2.0, alert_img.height() / 2.0);
   QPointF drawPoint = center - pixmapCenterOffset;
   p.drawPixmap(drawPoint, alert_img);
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index b91116724111bd..cf840ee3d082f6 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -94,11 +94,16 @@ class HudRendererSP : public HudRenderer {
   int speedLimitAssistFrame;
   QPixmap plus_arrow_up_img;
   QPixmap minus_arrow_down_img;
-  int green_light_alert_small = 250;
-  int green_light_alert_large = 300;
+  int e2e_alert_small = 250;
+  int e2e_alert_large = 300;
   QPixmap green_light_alert_small_img;
   QPixmap green_light_alert_large_img;
   bool greenLightAlert;
   int e2eAlertFrame;
   int e2eAlertDisplayTimer = 0;
+  bool leadDepartAlert;
+  QPixmap lead_depart_alert_small_img;
+  QPixmap lead_depart_alert_large_img;
+  QString alert_text;
+  QPixmap alert_img;
 };
diff --git a/sunnypilot/selfdrive/assets/images/lead_depart.png b/sunnypilot/selfdrive/assets/images/lead_depart.png
new file mode 100644
index 00000000000000..6030ee67cfbe3e
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/images/lead_depart.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:087db35bd469e85aefe3b45636f11ab3e8b55ceb7bc94ea059cfd9a69c2f338f
+size 8914
diff --git a/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py b/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
index 46657bd47c309e..eedf8bccbbfdf5 100644
--- a/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
+++ b/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
@@ -22,17 +22,20 @@ def __init__(self):
 
     self.green_light_alert = False
     self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert")
+    self.lead_depart_alert = False
+    self.lead_depart_alert_enabled = self._params.get_bool("LeadDepartAlert")
 
   def _read_params(self) -> None:
     if self._frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
       self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert")
+      self.lead_depart_alert_enabled = self._params.get_bool("LeadDepartAlert")
 
     self._frame += 1
 
   def update(self, sm: messaging.SubMaster, events_sp: EventsSP) -> None:
     self._read_params()
 
-    if not self.green_light_alert_enabled:
+    if not (self.green_light_alert_enabled or self.lead_depart_alert_enabled):
       return
 
     CS = sm['carState']
@@ -41,10 +44,15 @@ def update(self, sm: messaging.SubMaster, events_sp: EventsSP) -> None:
     model_x = sm['modelV2'].position.x
     max_idx = len(model_x) - 1
     has_lead = sm['radarState'].leadOne.status
+    lead_vRel: float = sm['radarState'].leadOne.vRel
 
     # Green light alert
-    self.green_light_alert = model_x[max_idx] > TRIGGER_THRESHOLD and \
-                           not has_lead and CS.standstill and not CS.gasPressed and not CC.enabled
+    self.green_light_alert = (self.green_light_alert_enabled and model_x[max_idx] > TRIGGER_THRESHOLD
+                              and not has_lead and CS.standstill and not CS.gasPressed and not CC.enabled)
 
-    if self.green_light_alert:
+    # Lead Departure Alert
+    self.lead_depart_alert = (self.lead_depart_alert_enabled and CS.standstill and model_x[max_idx] > 30
+                              and has_lead and lead_vRel > 1 and not CS.gasPressed)
+
+    if self.green_light_alert or self.green_light_alert:
       events_sp.add(custom.OnroadEventSP.EventName.e2eChime)
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index e45d748f3b0e5b..4c2443f253bafe 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -140,5 +140,6 @@ def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.Pu
     # E2E Alerts
     e2eAlerts = longitudinalPlanSP.e2eAlerts
     e2eAlerts.greenLightAlert = self.e2e_alerts_helper.green_light_alert
+    e2eAlerts.leadDepartAlert = self.e2e_alerts_helper.lead_depart_alert
 
     pm.send('longitudinalPlanSP', plan_sp_send)

From 4c4964a740aa5ea1f00d01ab17425cc8221e60b0 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Thu, 2 Oct 2025 14:42:15 -0400
Subject: [PATCH 0463/1434] Device: Wake for all visual alerts (#1309)

this should do it
---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc | 2 ++
 selfdrive/ui/sunnypilot/ui.cc            | 3 +--
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 607e0cbbb598e5..21d66ffa993f18 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -210,6 +210,8 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
     // Green Light & Lead Depart Alerts
     if (greenLightAlert or leadDepartAlert) {
       e2eAlertDisplayTimer = 3 * UI_FREQ;
+      // reset onroad sleep timer for e2e alerts
+      uiStateSP()->reset_onroad_sleep_timer();
     }
 
     if (e2eAlertDisplayTimer > 0) {
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index 6cbdeadf581756..7f4fc882356259 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -14,8 +14,7 @@ void UIStateSP::updateStatus() {
 
   if (scene.started && scene.onroadScreenOffControl) {
     auto selfdriveState = (*sm)["selfdriveState"].getSelfdriveState();
-    if (selfdriveState.getAlertSize() != cereal::SelfdriveState::AlertSize::NONE &&
-        selfdriveState.getAlertStatus() != cereal::SelfdriveState::AlertStatus::NORMAL) {
+    if (selfdriveState.getAlertSize() != cereal::SelfdriveState::AlertSize::NONE) {
       reset_onroad_sleep_timer();
     } else if (scene.onroadScreenOffTimer > 0) {
       scene.onroadScreenOffTimer--;

From 09d165a85b596c3f0ce383af726a1d062ede11fb Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 2 Oct 2025 16:37:57 -0400
Subject: [PATCH 0464/1434] Tesla: MADS full support with VEHICLE bus harness
 (#1310)

* Tesla: MADS full support with VEHICLE bus harness

* bump

* need new arg

* uh

* block cruise main for these cars still

* continue to block tesla

* oops

* always allow for tesla
---
 opendbc_repo                                  |  2 +-
 selfdrive/car/card.py                         |  2 +-
 .../offroad/settings/lateral/mads_settings.cc |  8 ++++--
 .../offroad/settings/lateral/mads_settings.h  | 11 +++++++-
 .../qt/offroad/settings/lateral_panel.cc      |  8 ++++--
 sunnypilot/mads/helpers.py                    | 28 +++++++++++++------
 sunnypilot/mads/mads.py                       |  9 ++++--
 7 files changed, 50 insertions(+), 18 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index dfcfacb667c6ff..bf0aba991acbe1 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit dfcfacb667c6ff131d0e620c36e118f14a84dc4a
+Subproject commit bf0aba991acbe14dd164ddfc8cc272cebf794544
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 34f0283ce44257..4c44e432818324 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -124,7 +124,7 @@ def __init__(self, CI=None, RI=None) -> None:
 
     self.CP.alternativeExperience = 0
     # mads
-    set_alternative_experience(self.CP, self.params)
+    set_alternative_experience(self.CP, self.CP_SP, self.params)
     set_car_specific_params(self.CP, self.CP_SP, self.params)
 
     # Dynamic Experimental Control
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
index 72e7a5c8cb9055..749bc9e3f3d093 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
@@ -52,12 +52,16 @@ void MadsSettings::updateToggles(bool _offroad) {
   );
 
   auto cp_bytes = params.get("CarParamsPersistent");
-  if (!cp_bytes.empty()) {
+  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
+  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
     AlignedBuffer aligned_buf;
+    AlignedBuffer aligned_buf_sp;
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
 
-    if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) {
+    if (madsLimitedSettings(CP, CP_SP)) {
       params.remove("MadsMainCruiseAllowed");
       params.putBool("MadsUnifiedEngagementMode", true);
       params.put("MadsSteeringMode", std::to_string(static_cast<int>(MadsSteeringMode::DISENGAGE)));
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
index af624865c73dd4..9cf62a0ffea83d 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
@@ -12,7 +12,16 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
-const std::vector<std::string> mads_limited_settings_brands = {"rivian", "tesla"};
+inline bool madsLimitedSettings(const cereal::CarParams::Reader &CP, const cereal::CarParamsSP::Reader &CP_SP) {
+  if (CP.getBrand() == "rivian") {
+    return true;
+  }
+  if (CP.getBrand() == "tesla") {
+    return !(CP_SP.getFlags() & 1);  // 1 == TeslaFlagsSP.HAS_VEHICLE_BUS
+  }
+
+  return false;
+}
 
 enum class MadsSteeringMode {
   REMAIN_ACTIVE = 0,
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
index ae954d7539b055..59636ca5a5a7fd 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
@@ -134,12 +134,16 @@ void LateralPanel::updateToggles(bool _offroad) {
   }
 
   auto cp_bytes = params.get("CarParamsPersistent");
-  if (!cp_bytes.empty()) {
+  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
+  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
     AlignedBuffer aligned_buf;
+    AlignedBuffer aligned_buf_sp;
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
 
-    if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) {
+    if (madsLimitedSettings(CP, CP_SP)) {
       madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_LIMITED_COMPATIBILITY, MADS_BASE_DESC));
     } else {
       madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_FULL_COMPATIBILITY, MADS_BASE_DESC));
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index 70b590a8b27408..f9c4057bab7c46 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -9,6 +9,10 @@
 from opendbc.car import structs
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+
+
+MADS_NO_ACC_MAIN_BUTTON = ("rivian", "tesla")
 
 
 class MadsSteeringModeOnBrake:
@@ -17,20 +21,25 @@ class MadsSteeringModeOnBrake:
   DISENGAGE = 2
 
 
-def get_mads_limited_brands(CP: structs.CarParams) -> bool:
-  return CP.brand in ("rivian", "tesla")
+def get_mads_limited_brands(CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> bool:
+  if CP.brand == 'rivian':
+    return True
+  if CP.brand == 'tesla':
+    return not CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS
 
+  return False
 
-def read_steering_mode_param(CP: structs.CarParams, params: Params):
-  if get_mads_limited_brands(CP):
+
+def read_steering_mode_param(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
+  if get_mads_limited_brands(CP, CP_SP):
     return MadsSteeringModeOnBrake.DISENGAGE
 
   return params.get("MadsSteeringMode", return_default=True)
 
 
-def set_alternative_experience(CP: structs.CarParams, params: Params):
+def set_alternative_experience(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
   enabled = params.get_bool("Mads")
-  steering_mode = read_steering_mode_param(CP, params)
+  steering_mode = read_steering_mode_param(CP, CP_SP, params)
 
   if enabled:
     CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
@@ -53,9 +62,12 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
   # MADS Partial Support
   # MADS is currently partially supported for these platforms due to lack of consistent states to engage controls
   # Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms
-  # TODO-SP: To enable MADS full support for Rivian/Tesla, identify consistent signals for MADS toggling
-  mads_partial_support = get_mads_limited_brands(CP)
+  # TODO-SP: To enable MADS full support for Rivian and most Tesla, identify consistent signals for MADS toggling
+  mads_partial_support = get_mads_limited_brands(CP, CP_SP)
   if mads_partial_support:
     params.put("MadsSteeringMode", 2)
     params.put_bool("MadsUnifiedEngagementMode", True)
+
+  # no ACC MAIN button for these brands
+  if CP.brand in MADS_NO_ACC_MAIN_BUTTON:
     params.remove("MadsMainCruiseAllowed")
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index b75bd8ccda0fab..21e7f7d3e7c7b3 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -10,7 +10,7 @@
 from opendbc.car import structs
 from opendbc.car.hyundai.values import HyundaiFlags
 from openpilot.common.params import Params
-from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param, get_mads_limited_brands
+from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param, MADS_NO_ACC_MAIN_BUTTON
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -27,6 +27,7 @@
 class ModularAssistiveDrivingSystem:
   def __init__(self, selfdrive):
     self.CP = selfdrive.CP
+    self.CP_SP = selfdrive.CP_SP
     self.params = selfdrive.params
 
     self.enabled = False
@@ -43,14 +44,16 @@ def __init__(self, selfdrive):
     if self.CP.brand == "hyundai":
       if self.CP.flags & (HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.CANFD):
         self.allow_always = True
+    if self.CP.brand == "tesla":
+      self.allow_always = True
 
-    if get_mads_limited_brands(self.CP):
+    if self.CP.brand in MADS_NO_ACC_MAIN_BUTTON:
       self.no_main_cruise = True
 
     # read params on init
     self.enabled_toggle = self.params.get_bool("Mads")
     self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
-    self.steering_mode_on_brake = read_steering_mode_param(self.CP, self.params)
+    self.steering_mode_on_brake = read_steering_mode_param(self.CP, self.CP_SP, self.params)
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def read_params(self):

From dcd382ffb8ff924d7cf2417290dcb0ed32b79d72 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Fri, 3 Oct 2025 19:42:46 +0200
Subject: [PATCH 0465/1434] sunnylink: enhanced param keys fetch with data type
 (#1308)

* refactor: enhance parameter handling and add new parameter retrieval method

- Refactored `get_param_as_byte` for better modularity and added `_to_bytes` helper function.
- Introduced `getParamsAllKeysV1` to retrieve all keys with enhanced metadata.

* refactor: update parameter handling and response structure in sunnylink

- Modified `_to_bytes` to accept `bytes` type for improved type consistency.
- Adjusted response keys in `sunnylinkd` for clarity.

* fix: update `get_param_as_byte` to use corrected method for default values

- Replaced `get_default` with `get_default_value` for accurate param retrieval.
- Ensures consistent handling of default parameter values.

* refactor: remove redundant `None` check in `sunnylinkd.py`

- Streamlined parameter iteration by eliminating unnecessary `None` validation.
- Simplifies logic for constructing `params_dict`.

* refactor: streamline `sunnylinkd` response by removing redundant `keys_v1` field

- Simplified return structure by excluding unused `keys_v1` key.
- Reduces response payload for improved efficiency.

* refactor: split `getParamsAllKeys` into distinct functions for improved clarity

- Added `getParamsAllKeysV1` to preserve original metadata-rich behavior.
- Revised `getParamsAllKeys` to return a simplified list of parameter keys.

* style: remove extraneous newline in `sunnylinkd.py`

- Ensures consistent formatting and adheres to style guidelines.

* Test
---
 sunnypilot/sunnylink/athena/sunnylinkd.py | 19 +++++++++++++++++-
 sunnypilot/sunnylink/utils.py             | 24 +++++++++++++----------
 2 files changed, 32 insertions(+), 11 deletions(-)

diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index 25a77c367b1194..d1b38d656fd50a 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -178,12 +178,29 @@ def getParamsAllKeys() -> list[str]:
   return keys
 
 
+@dispatcher.add_method
+def getParamsAllKeysV1() -> dict[str, str]:
+  available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
+
+  params_dict: dict[str, list[dict[str, str | bool | int | None]]] = {"params": []}
+  for key in available_keys:
+    value = get_param_as_byte(key, get_default=True)
+    params_dict["params"].append({
+      "key": key,
+      "type": int(params.get_type(key).value),
+      "default_value": base64.b64encode(value).decode('utf-8') if value else None,
+    })
+
+  return {"keys": json.dumps(params_dict.get("params", []))}
+
+
 @dispatcher.add_method
 def getParams(params_keys: list[str], compression: bool = False) -> str | dict[str, str]:
   params = Params()
+  available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
 
   try:
-    param_keys_validated = [key for key in params_keys if key in getParamsAllKeys()]
+    param_keys_validated = [key for key in params_keys if key in available_keys]
     params_dict: dict[str, list[dict[str, str | bool | int]]] = {"params": []}
     for key in param_keys_validated:
       value = get_param_as_byte(key)
diff --git a/sunnypilot/sunnylink/utils.py b/sunnypilot/sunnylink/utils.py
index 91c07887953ce5..70791c4ce45b17 100644
--- a/sunnypilot/sunnylink/utils.py
+++ b/sunnypilot/sunnylink/utils.py
@@ -60,20 +60,24 @@ def get_api_token():
   print(f"API Token: {token}")
 
 
-def get_param_as_byte(param_name: str, params=None) -> bytes | None:
-  """Get a parameter as bytes. Returns None if the parameter does not exist."""
-  params = params or Params() # Use existing Params instance if provided
-  param = params.get(param_name)
-  if param is None:
+def _to_bytes(value: bytes | None, param_type: ParamKeyType) -> bytes | None:
+  """Convert a parameter value to bytes based on its type."""
+  if value is None:
     return None
 
-  param_type = params.get_type(param_name)
   if param_type == ParamKeyType.BYTES:
-    return bytes(param)
-  elif param_type == ParamKeyType.JSON:
-    return json.dumps(param).encode('utf-8')
-  return str(param).encode('utf-8')
+    return bytes(value)
+  if param_type == ParamKeyType.JSON:
+    return json.dumps(value).encode("utf-8")
+  return str(value).encode("utf-8")
+
 
+def get_param_as_byte(param_name: str, params=None, get_default=False) -> bytes | None:
+  """Get a parameter as bytes. Returns None if the parameter does not exist."""
+  params = params or Params()
+  value = params.get(param_name) if not get_default else params.get_default_value(param_name)
+  param_type = params.get_type(param_name)
+  return _to_bytes(value, param_type)
 
 def save_param_from_base64_encoded_string(param_name: str, base64_encoded_data: str, is_compressed=False) -> None:
   """Save a parameter from bytes. Overwrites the parameter if it already exists."""

From 1bfecbc9c2e81d0fb7879ba5502b401053824b09 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Fri, 3 Oct 2025 19:43:13 +0200
Subject: [PATCH 0466/1434] sunnylink: Enabled by default (#1312)

Enable sunnylink by default
---
 common/params_keys.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 0f5d9cf4498058..0844fff2bf705c 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -192,7 +192,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SunnylinkCache_Users", {PERSISTENT, STRING}},
     {"SunnylinkDongleId", {PERSISTENT, STRING}},
     {"SunnylinkdPid", {PERSISTENT, INT}},
-    {"SunnylinkEnabled", {PERSISTENT, BOOL}},
+    {"SunnylinkEnabled", {PERSISTENT, BOOL, "1"}},
 
     // Backup Manager params
     {"BackupManager_CreateBackup", {PERSISTENT, BOOL}},

From e999839a5715dbfadda42cace0aa50e01954bf30 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 3 Oct 2025 17:46:13 -0400
Subject: [PATCH 0467/1434] ui: replace `static_cast<int>` with
 `std::nearbyint` for convert & rounding (#1313)

* ui: replace `static_cast<int>` with `std::nearbyint` for precise rounding

* revert
---
 selfdrive/ui/sunnypilot/qt/widgets/controls.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index 03cb4613858024..e9e1e4bb85d302 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -7,6 +7,7 @@
 
 #pragma once
 
+#include <cmath>
 #include <map>
 #include <optional>
 #include <string>
@@ -500,7 +501,7 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
 
   int getParamValueScaled() {
     const auto param_value = QString::fromStdString(params.get(key));
-    return static_cast<int>(param_value.toFloat() * 100);
+    return std::nearbyint(param_value.toFloat() * 100.0f);
   }
 
   void setParamValueScaled(const int new_value) {

From 1e7fc15a040dca7f3a3e7143edb6333086d224ff Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 3 Oct 2025 18:24:24 -0400
Subject: [PATCH 0468/1434] Speed Limit Assist: Update state machine for PCM
 long cars (#1311)

* Speed Limit Assist: Update state machine for PCM long cars

* new test to catch this wrong transition

* tldr
---
 .../lib/speed_limit/speed_limit_assist.py      | 14 ++++++++------
 .../tests/test_speed_limit_assist.py           | 18 ++++++++++++++++--
 2 files changed, 24 insertions(+), 8 deletions(-)

diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
index 5d798949a945c2..302d8cd14dad78 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
@@ -247,11 +247,11 @@ def update_state_machine_pcm_op_long(self):
 
         # PENDING
         elif self.state == SpeedLimitAssistState.pending:
-          if self._has_speed_limit:
-            if self.v_offset < LIMIT_SPEED_OFFSET_TH:
-              self.state = SpeedLimitAssistState.adapting
-            else:
-              self.state = SpeedLimitAssistState.active
+          if self.target_set_speed_confirmed:
+            self._update_confirmed_state()
+          elif self.speed_limit_changed:
+            self.state = SpeedLimitAssistState.preActive
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
 
         # PRE_ACTIVE
         elif self.state == SpeedLimitAssistState.preActive:
@@ -275,9 +275,11 @@ def update_state_machine_pcm_op_long(self):
         elif self.long_engaged_timer <= 0:
           if self.target_set_speed_confirmed:
             self._update_confirmed_state()
-          else:
+          elif self._has_speed_limit:
             self.state = SpeedLimitAssistState.preActive
             self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+          else:
+            self.state = SpeedLimitAssistState.pending
 
     enabled = self.state in ENABLED_STATES
     active = self.state in ACTIVE_STATES
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
index 3b2716265d49a4..d2c7a4716d2ac5 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
@@ -96,6 +96,12 @@ def test_transition_disabled_to_preactive(self):
     assert self.sla.state == SpeedLimitAssistState.preActive
     assert self.sla.is_enabled and not self.sla.is_active
 
+  def test_transition_disabled_to_pending_no_speed_limit_not_max_initial_set_speed(self):
+    for _ in range(int(3. / DT_MDL)):
+      self.sla.update(True, False, SPEED_LIMITS['highway'], 0, SPEED_LIMITS['city'], 0, 0, False, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.pending
+    assert self.sla.is_enabled and not self.sla.is_active
+
   def test_preactive_to_active_with_max_speed_confirmation(self):
     self.sla.state = SpeedLimitAssistState.preActive
     self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['highway'],
@@ -120,12 +126,20 @@ def test_preactive_to_pending_no_speed_limit(self):
 
   def test_pending_to_active_when_speed_limit_available(self):
     self.sla.state = SpeedLimitAssistState.pending
-    self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
+    self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed
+    self.sla.prev_v_cruise_cluster_conv = round(self.pcm_long_max_set_speed * self.speed_conv)
+
+    self.sla.update(True, False, SPEED_LIMITS['highway'], 0, self.pcm_long_max_set_speed,
+                    SPEED_LIMITS['highway'], SPEED_LIMITS['highway'], True, 0, self.events_sp)
     assert self.sla.state == SpeedLimitAssistState.active
 
   def test_pending_to_adapting_when_below_speed_limit(self):
     self.sla.state = SpeedLimitAssistState.pending
-    self.sla.update(True, False, SPEED_LIMITS['city'] + 5, 0, self.pcm_long_max_set_speed, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
+    self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed
+    self.sla.prev_v_cruise_cluster_conv = round(self.pcm_long_max_set_speed * self.speed_conv)
+
+    self.sla.update(True, False, SPEED_LIMITS['highway'] + 5, 0, self.pcm_long_max_set_speed,
+                    SPEED_LIMITS['highway'], SPEED_LIMITS['highway'], True, 0, self.events_sp)
     assert self.sla.state == SpeedLimitAssistState.adapting
     assert self.sla.is_enabled and self.sla.is_active
 

From 282a8b093ddb8f611d71bfee7bcde9e2e3281ee2 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 4 Oct 2025 07:42:44 +0200
Subject: [PATCH 0469/1434] Revert "sunnylink: enhanced param keys fetch with
 data type" (#1316)

Revert "sunnylink: enhanced param keys fetch with data type (#1308)"

This reverts commit dcd382ffb8ff924d7cf2417290dcb0ed32b79d72.
---
 sunnypilot/sunnylink/athena/sunnylinkd.py | 19 +-----------------
 sunnypilot/sunnylink/utils.py             | 24 ++++++++++-------------
 2 files changed, 11 insertions(+), 32 deletions(-)

diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index d1b38d656fd50a..25a77c367b1194 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -178,29 +178,12 @@ def getParamsAllKeys() -> list[str]:
   return keys
 
 
-@dispatcher.add_method
-def getParamsAllKeysV1() -> dict[str, str]:
-  available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
-
-  params_dict: dict[str, list[dict[str, str | bool | int | None]]] = {"params": []}
-  for key in available_keys:
-    value = get_param_as_byte(key, get_default=True)
-    params_dict["params"].append({
-      "key": key,
-      "type": int(params.get_type(key).value),
-      "default_value": base64.b64encode(value).decode('utf-8') if value else None,
-    })
-
-  return {"keys": json.dumps(params_dict.get("params", []))}
-
-
 @dispatcher.add_method
 def getParams(params_keys: list[str], compression: bool = False) -> str | dict[str, str]:
   params = Params()
-  available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
 
   try:
-    param_keys_validated = [key for key in params_keys if key in available_keys]
+    param_keys_validated = [key for key in params_keys if key in getParamsAllKeys()]
     params_dict: dict[str, list[dict[str, str | bool | int]]] = {"params": []}
     for key in param_keys_validated:
       value = get_param_as_byte(key)
diff --git a/sunnypilot/sunnylink/utils.py b/sunnypilot/sunnylink/utils.py
index 70791c4ce45b17..91c07887953ce5 100644
--- a/sunnypilot/sunnylink/utils.py
+++ b/sunnypilot/sunnylink/utils.py
@@ -60,24 +60,20 @@ def get_api_token():
   print(f"API Token: {token}")
 
 
-def _to_bytes(value: bytes | None, param_type: ParamKeyType) -> bytes | None:
-  """Convert a parameter value to bytes based on its type."""
-  if value is None:
+def get_param_as_byte(param_name: str, params=None) -> bytes | None:
+  """Get a parameter as bytes. Returns None if the parameter does not exist."""
+  params = params or Params() # Use existing Params instance if provided
+  param = params.get(param_name)
+  if param is None:
     return None
 
+  param_type = params.get_type(param_name)
   if param_type == ParamKeyType.BYTES:
-    return bytes(value)
-  if param_type == ParamKeyType.JSON:
-    return json.dumps(value).encode("utf-8")
-  return str(value).encode("utf-8")
-
+    return bytes(param)
+  elif param_type == ParamKeyType.JSON:
+    return json.dumps(param).encode('utf-8')
+  return str(param).encode('utf-8')
 
-def get_param_as_byte(param_name: str, params=None, get_default=False) -> bytes | None:
-  """Get a parameter as bytes. Returns None if the parameter does not exist."""
-  params = params or Params()
-  value = params.get(param_name) if not get_default else params.get_default_value(param_name)
-  param_type = params.get_type(param_name)
-  return _to_bytes(value, param_type)
 
 def save_param_from_base64_encoded_string(param_name: str, base64_encoded_data: str, is_compressed=False) -> None:
   """Save a parameter from bytes. Overwrites the parameter if it already exists."""

From cca3be3a9682c5df0b542044a87f960e5d186b78 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 4 Oct 2025 10:08:08 +0200
Subject: [PATCH 0470/1434] relock after inplace metadrive update (#1321)

relock after inplace metadrive update (#36256)

* relock after inplace metadrive update

* Revert "relock after inplace metadrive update"

This reverts commit 18193ffe34b66085e18605e6c9289ddcd658844d.

* just the hash

(cherry picked from commit 4d53a26a06973a7d6fa4fef1e238a3bb9e64e67c)

Co-authored-by: Armand du Parc Locmaria <adpl33@gmail.com>
---
 uv.lock | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/uv.lock b/uv.lock
index 25d2b626cfc640..b871cc8da48009 100644
--- a/uv.lock
+++ b/uv.lock
@@ -945,7 +945,7 @@ dependencies = [
     { name = "yapf", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
 ]
 wheels = [
-    { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl", hash = "sha256:fbf0ea9be67e65cd45d38ff930e3d49f705dd76c9ddbd1e1482e3f87b61efcef" },
+    { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl", hash = "sha256:d0afaf3b005e35e14b929d5491d2d5b64562d0c1cd5093ba969fb63908670dd4" },
 ]
 
 [package.metadata]

From 18abe218d9115ac2608a6c6aaf458896120b61c7 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 4 Oct 2025 18:19:16 +0200
Subject: [PATCH 0471/1434] ci: Disable homebrew cache for MacOS builds (#1322)

* maybe

Revert "fuck"

This reverts commit cb072a73b1b44ac3abeb50196be0956f3b7a7e14.

Revert "i dunno anymore"

This reverts commit 4d3c84ecb0e7830a552237e824995bc255007a1b.

i dunno anymore

fuck

* maybe

* try to fix the pipelines
---
 .github/workflows/selfdrive_tests.yaml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 41d8156ca8c312..85b7c61e5a4cef 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -115,7 +115,9 @@ jobs:
     - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
     - name: Homebrew cache
       uses: ./.github/workflows/auto-cache
+      if: false # disabling the cache for now because it is breaking macos builds...
       with:
+        save: false # No need save here if we manually save it later conditionally
         path: ~/Library/Caches/Homebrew
         key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
         restore-keys: |
@@ -136,6 +138,7 @@ jobs:
     - name: Getting scons cache
       uses: ./.github/workflows/auto-cache
       with:
+        save: false # No need save here if we manually save it later conditionally
         path: /tmp/scons_cache
         key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
         restore-keys: |

From 520649b89361f9145818b019c6a659ad2a5f9f67 Mon Sep 17 00:00:00 2001
From: dzid26 <dzidmail@gmail.com>
Date: Sun, 5 Oct 2025 08:34:12 +0100
Subject: [PATCH 0472/1434] params: Fix loading delay on startup (#1297)

params frame counter init

make sure param_store.update gets processed on first call

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/selfdrive/controls/lib/param_store.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/selfdrive/controls/lib/param_store.py b/sunnypilot/selfdrive/controls/lib/param_store.py
index 65a01753401fef..785fe9c8f01422 100644
--- a/sunnypilot/selfdrive/controls/lib/param_store.py
+++ b/sunnypilot/selfdrive/controls/lib/param_store.py
@@ -22,7 +22,7 @@ def __init__(self, CP: structs.CarParams):
     self.keys = universal_params + brand_params
     self._params = {}
 
-    self.frame = 0
+    self.frame = -1
 
   def update(self, params: Params) -> None:
     self.frame += 1

From 5a309daee6a1949eaf4ae0490ae9ec6fcfb3c152 Mon Sep 17 00:00:00 2001
From: dzid26 <dzidmail@gmail.com>
Date: Sun, 5 Oct 2025 08:38:49 +0100
Subject: [PATCH 0473/1434] docs: clarify pedal press (#1289)

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/mads/mads.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 21e7f7d3e7c7b3..7eab55e6ea6511 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -61,6 +61,7 @@ def read_params(self):
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def pedal_pressed_non_gas_pressed(self, CS: structs.CarState) -> bool:
+    # ignore `pedalPressed` events caused by gas presses
     if self.events.has(EventName.pedalPressed) and not (CS.gasPressed and not self.selfdrive.CS_prev.gasPressed and self.disengage_on_accelerator):
       return True
 

From 0e1de37281e7ab2958e1e0ae78d6999a1e0126c6 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sun, 5 Oct 2025 21:18:03 -0400
Subject: [PATCH 0474/1434] Bug: Fix Lead Departure Alert Chime (#1328)

make lead-alert ding again
---
 sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py b/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
index eedf8bccbbfdf5..0135b2806ca8f4 100644
--- a/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
+++ b/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
@@ -54,5 +54,5 @@ def update(self, sm: messaging.SubMaster, events_sp: EventsSP) -> None:
     self.lead_depart_alert = (self.lead_depart_alert_enabled and CS.standstill and model_x[max_idx] > 30
                               and has_lead and lead_vRel > 1 and not CS.gasPressed)
 
-    if self.green_light_alert or self.green_light_alert:
+    if self.green_light_alert or self.lead_depart_alert:
       events_sp.add(custom.OnroadEventSP.EventName.e2eChime)

From de64b99740e6473c9bece80ec3e4ed9825227f0e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 5 Oct 2025 23:41:31 -0400
Subject: [PATCH 0475/1434] Torque Lateral Control: customized settings (#1314)

* init

* use internal frame

* exit early if toggle not enabled

* ui init

* ui: replace `static_cast<int>` with `std::nearbyint` for precise rounding

* revert

* update title

* handle live relaxed

* fix

* tweak ui

* toggle behaviors

* lint

* Update torqued_ext.py

* always update

* make sure it's updated properly with offroad states

* fix

* make sure to initialize

---------

Co-authored-by: nayan <nayan8teen@gmail.com>
---
 common/params_keys.h                          |  9 +++
 selfdrive/controls/lib/latcontrol_torque.py   |  4 +
 selfdrive/locationd/torqued.py                | 10 ++-
 selfdrive/ui/sunnypilot/SConscript            |  2 +
 .../lateral/neural_network_lateral_control.cc | 14 +++-
 .../lateral/neural_network_lateral_control.h  |  3 +-
 .../torque_lateral_control_custom_params.cc   | 58 +++++++++++++
 .../torque_lateral_control_custom_params.h    | 27 +++++++
 .../torque_lateral_control_settings.cc        | 81 +++++++++++++++++++
 .../lateral/torque_lateral_control_settings.h | 36 +++++++++
 .../qt/offroad/settings/lateral_panel.cc      | 56 ++++++++++---
 .../qt/offroad/settings/lateral_panel.h       |  5 +-
 sunnypilot/selfdrive/car/interfaces.py        | 28 +++++--
 .../controls/lib/latcontrol_torque_ext.py     |  6 +-
 .../lib/latcontrol_torque_ext_override.py     | 34 ++++++++
 sunnypilot/selfdrive/locationd/torqued_ext.py | 65 +++++++++++++++
 16 files changed, 414 insertions(+), 24 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.h
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h
 create mode 100644 sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_override.py
 create mode 100644 sunnypilot/selfdrive/locationd/torqued_ext.py

diff --git a/common/params_keys.h b/common/params_keys.h
index 0844fff2bf705c..11ec8da6365d42 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -242,4 +242,13 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"MapTargetVelocities", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
     {"SmartCruiseControlMap", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}},
+
+    // Torque lateral control custom params
+    {"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},
+    {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
+    {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
+    {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
+    {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
+    {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
 };
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index ca9c3fde66358b..917fb233f4d2cb 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -48,6 +48,10 @@ def update_limits(self):
                         self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
 
   def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+    # Override torque params from extension
+    if self.extension.update_override_torque_params(self.torque_params):
+      self.update_limits()
+
     pid_log = log.ControlsState.LateralTorqueState.new_message()
     if not active:
       output_torque = 0.0
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index e0409957f543d3..57d53fdee3f3e4 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -11,6 +11,7 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+from openpilot.sunnypilot.selfdrive.locationd.torqued_ext import TorqueEstimatorExt
 
 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
@@ -50,9 +51,10 @@ def add_point(self, x, y):
         break
 
 
-class TorqueEstimator(ParameterEstimator):
+class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
   def __init__(self, CP, decimated=False, track_all_points=False):
-    super().__init__()
+    ParameterEstimator.__init__(self)
+    TorqueEstimatorExt.__init__(self, CP)
     self.CP = CP
     self.hist_len = int(HISTORY / DT_MDL)
     self.lag = 0.0
@@ -82,6 +84,8 @@ def __init__(self, CP, decimated=False, track_all_points=False):
 
     self.calibrator = PoseCalibrator()
 
+    TorqueEstimatorExt.initialize_custom_params(self, decimated)
+
     self.reset()
 
     initial_params = {
@@ -260,6 +264,8 @@ def main(demo=False):
           t = sm.logMonoTime[which] * 1e-9
           estimator.handle_log(t, which, sm[which])
 
+    TorqueEstimatorExt.update_use_params(estimator)
+
     # 4Hz driven by livePose
     if sm.frame % 5 == 0:
       pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks()))
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 3f0e013d344169..12c09c53f207e3 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -51,6 +51,8 @@ lateral_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
+  "sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.cc",
+  "sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.cc",
 ]
 
 longitudinal_panel_qt_src = [
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc
index 0b66b8366001ea..02ab810c576cf0 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc
@@ -10,14 +10,15 @@
 NeuralNetworkLateralControl::NeuralNetworkLateralControl() :
   ParamControl("NeuralNetworkLateralControl", tr("Neural Network Lateral Control (NNLC)"),  "", "") {
   setConfirmation(true, false);
-  updateToggle();
+  updateToggle(offroad);
 }
 
-void NeuralNetworkLateralControl::updateToggle() {
+void NeuralNetworkLateralControl::updateToggle(bool _offroad) {
   QString statusInitText = "<font color='yellow'>" + STATUS_CHECK_COMPATIBILITY + "</font>";
   QString notLoadedText = "<font color='yellow'>" + STATUS_NOT_LOADED + "</font>";
   QString loadedText = "<font color=#00ff00>" + STATUS_LOADED + "</font>";
 
+  bool allowed = true;
   auto cp_bytes = params.get("CarParamsPersistent");
   auto cp_sp_bytes = params.get("CarParamsSPPersistent");
   if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -31,7 +32,7 @@ void NeuralNetworkLateralControl::updateToggle() {
     if (CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE) {
       params.remove("NeuralNetworkLateralControl");
       setDescription(nnffDescriptionBuilder(STATUS_NOT_AVAILABLE));
-      setEnabled(false);
+      allowed = false;
     } else {
       QString nn_model_name = QString::fromStdString(CP_SP.getNeuralNetworkLateralControl().getModel().getName());
       QString nn_fuzzy = CP_SP.getNeuralNetworkLateralControl().getFuzzyFingerprint() ?
@@ -56,4 +57,11 @@ void NeuralNetworkLateralControl::updateToggle() {
   if (getDescription() != getBaseDescription()) {
     showDescription();
   }
+
+  bool enforce_torque_toggle = params.getBool("EnforceTorqueControl");
+  setEnabled(_offroad && allowed && !enforce_torque_toggle);
+
+  refresh();
+
+  offroad = _offroad;
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h
index df80fbf0972c7c..9e872b11e9539b 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h
@@ -20,10 +20,11 @@ class NeuralNetworkLateralControl : public ParamControl {
   NeuralNetworkLateralControl();
 
 public slots:
-  void updateToggle();
+  void updateToggle(bool _offroad);
 
 private:
   Params params;
+  bool offroad;
 
   // Status messages
   const QString STATUS_NOT_AVAILABLE = tr("NNLC is currently not available on this platform.");
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.cc
new file mode 100644
index 00000000000000..894fbc2ec4e2cd
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.cc
@@ -0,0 +1,58 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.h"
+
+TorqueLateralControlCustomParams::TorqueLateralControlCustomParams(const QString &param, const QString &title, const QString &description, const QString &icon, QWidget *parent)
+    : ExpandableToggleRow(param, title, description, icon, parent) {
+
+  QFrame *frame = new QFrame(this);
+  QGridLayout *frame_layout = new QGridLayout();
+  frame->setLayout(frame_layout);
+  frame_layout->setSpacing(0);
+
+  torqueLateralControlParamsOverride = new ParamControl(
+    "TorqueParamsOverrideEnabled",
+    tr("Manual Real-Time Tuning"),
+    tr("Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values."),
+    "../assets/offroad/icon_blank.png",
+    this
+  );
+  connect(torqueLateralControlParamsOverride, &ParamControl::toggleFlipped, this, &TorqueLateralControlCustomParams::refresh);
+
+  torqueParamsOverrideLatAccelFactor = new OptionControlSP("TorqueParamsOverrideLatAccelFactor", tr("Lateral Acceleration Factor"), "", "", {1, 500}, 1, false, nullptr, true, false);
+  connect(torqueParamsOverrideLatAccelFactor, &OptionControlSP::updateLabels, this, &TorqueLateralControlCustomParams::refresh);
+  torqueParamsOverrideLatAccelFactor->setFixedWidth(280);
+
+  torqueParamsOverrideFriction = new OptionControlSP("TorqueParamsOverrideFriction", tr("Friction"), "", "", {1, 100}, 1, false, nullptr, true, false);
+  connect(torqueParamsOverrideFriction, &OptionControlSP::updateLabels, this, &TorqueLateralControlCustomParams::refresh);
+  torqueParamsOverrideFriction->setFixedWidth(280);
+
+  frame_layout->addWidget(torqueLateralControlParamsOverride, 0, 0, 1, 2);
+  QSpacerItem *spacer = new QSpacerItem(20, 40);
+  frame_layout->addItem(spacer, 1, 0, 1, 2);
+  frame_layout->addWidget(torqueParamsOverrideLatAccelFactor, 2, 0, Qt::AlignCenter);
+  frame_layout->addWidget(torqueParamsOverrideFriction, 2, 1, Qt::AlignCenter);
+
+  addItem(frame);
+
+  refresh();
+}
+
+void TorqueLateralControlCustomParams::refresh() {
+  bool torque_override_param = params.getBool("TorqueParamsOverrideEnabled");
+  float laf_param = QString::fromStdString(params.get("TorqueParamsOverrideLatAccelFactor")).toFloat();
+  const QString laf_unit = "m/s²";
+
+  float friction_param = QString::fromStdString(params.get("TorqueParamsOverrideFriction")).toFloat();
+
+  torqueParamsOverrideLatAccelFactor->setTitle(tr("Lateral Acceleration Factor") + "\n(" + (torque_override_param ? tr("Real-time and Offline") : tr("Offline Only")) + ")");
+  torqueParamsOverrideFriction->setTitle(tr("Friction") + "\n(" + (torque_override_param ? tr("Real-time and Offline") : tr("Offline Only")) + ")");
+
+  torqueParamsOverrideLatAccelFactor->setLabel(QString::number(laf_param, 'f', 2) + " " + laf_unit);
+  torqueParamsOverrideFriction->setLabel(QString::number(friction_param, 'f', 2));
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.h
new file mode 100644
index 00000000000000..8442bd0d4864ea
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.h
@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
+
+class TorqueLateralControlCustomParams : public ExpandableToggleRow {
+  Q_OBJECT
+
+public:
+  TorqueLateralControlCustomParams(const QString &param, const QString &title, const QString &description, const QString &icon, QWidget *parent = nullptr);
+  void refresh();
+
+private:
+  Params params;
+  ParamControl *torqueLateralControlParamsOverride;
+  OptionControlSP *torqueParamsOverrideFriction;
+  OptionControlSP *torqueParamsOverrideLatAccelFactor;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.cc
new file mode 100644
index 00000000000000..914ce7a9396991
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.cc
@@ -0,0 +1,81 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+TorqueLateralControlSettings::TorqueLateralControlSettings(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 20, 50, 20);
+  main_layout->setSpacing(20);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton();
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  ListWidget *list = new ListWidget(this, false);
+  // param, title, desc, icon
+  std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
+    {
+      "LiveTorqueParamsToggle",
+      tr("Self-Tune"),
+      tr("Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default."),
+      "../assets/offroad/icon_blank.png",
+    },
+    {
+      "LiveTorqueParamsRelaxedToggle",
+      tr("Less Restrict Settings for Self-Tune (Beta)"),
+      tr("Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values."),
+      "../assets/offroad/icon_blank.png",
+    }
+  };
+
+  for (auto &[param, title, desc, icon] : toggle_defs) {
+    auto toggle = new ParamControlSP(param, title, desc, icon, this);
+    list->addItem(toggle);
+    toggles[param.toStdString()] = toggle;
+  }
+
+  torqueLateralControlCustomParams = new TorqueLateralControlCustomParams(
+    "CustomTorqueParams",
+    tr("Enable Custom Tuning"),
+    tr("Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within \"opendbc/car/torque_data\". "
+       "The values will also be used live when \"Manual Real-Time Tuning\" toggle is enabled."),
+    "../assets/offroad/icon_blank.png",
+    this);
+  list->addItem(torqueLateralControlCustomParams);
+
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &TorqueLateralControlSettings::updateToggles);
+  QObject::connect(toggles["LiveTorqueParamsToggle"], &ParamControlSP::toggleFlipped, [=](bool state) {
+    if (!state) {
+      params.remove("LiveTorqueParamsRelaxedToggle");
+      toggles["LiveTorqueParamsRelaxedToggle"]->refresh();
+    }
+
+    updateToggles(offroad);
+  });
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void TorqueLateralControlSettings::showEvent(QShowEvent *event) {
+  updateToggles(offroad);
+}
+
+void TorqueLateralControlSettings::updateToggles(bool _offroad) {
+  bool live_toggle = toggles["LiveTorqueParamsToggle"]->isToggled();
+
+  toggles["LiveTorqueParamsToggle"]->setEnabled(_offroad);
+  toggles["LiveTorqueParamsRelaxedToggle"]->setEnabled(_offroad && live_toggle);
+
+  torqueLateralControlCustomParams->setEnabled(_offroad);
+  torqueLateralControlCustomParams->refresh();
+
+  offroad = _offroad;
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h
new file mode 100644
index 00000000000000..6254073dfe2a33
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h
@@ -0,0 +1,36 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class TorqueLateralControlSettings : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit TorqueLateralControlSettings(QWidget *parent = nullptr);
+
+  void showEvent(QShowEvent *event) override;
+
+  signals:
+    void backPress();
+
+public slots:
+  void updateToggles(bool _offroad);
+
+private:
+  Params params;
+  bool offroad;
+  std::map<std::string, ParamControlSP*> toggles;
+
+  TorqueLateralControlCustomParams *torqueLateralControlCustomParams;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
index 59636ca5a5a7fd..ac004e8856f094 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
@@ -75,6 +75,36 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
 
   list->addItem(horizontal_line());
 
+  // Customized Torque Lateral Control
+  torqueLateralControlToggle = new ParamControl(
+    "EnforceTorqueControl",
+    tr("Enforce Torque Lateral Control"),
+    tr("Enable this to enforce sunnypilot to steer with Torque lateral control."),
+    "");
+  list->addItem(torqueLateralControlToggle);
+
+  torqueLateralControlSettingsButton = new PushButtonSP(tr("Customize Params"));
+  torqueLateralControlSettingsButton->setObjectName("torque_btn");
+  connect(torqueLateralControlSettingsButton, &QPushButton::clicked, [=]() {
+    sunnypilotScroller->setLastScrollPosition();
+    main_layout->setCurrentWidget(torqueLateralControlWidget);
+  });
+  QObject::connect(torqueLateralControlToggle, &ToggleControl::toggleFlipped, [=](bool state) {
+    torqueLateralControlSettingsButton->setEnabled(state);
+    nnlcToggle->updateToggle(offroad);
+    updateToggles(offroad);
+  });
+
+  torqueLateralControlWidget = new TorqueLateralControlSettings(this);
+  connect(torqueLateralControlWidget, &TorqueLateralControlSettings::backPress, [=]() {
+    sunnypilotScroller->restoreScrollPosition();
+    main_layout->setCurrentWidget(sunnypilotScreen);
+  });
+  list->addItem(torqueLateralControlSettingsButton);
+
+  list->addItem(vertical_space(0));
+  list->addItem(horizontal_line());
+
   // Neural Network Lateral Control
   nnlcToggle = new NeuralNetworkLateralControl();
   list->addItem(nnlcToggle);
@@ -86,12 +116,10 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
       nnlcToggle->hideDescription();
     }
 
-    nnlcToggle->updateToggle();
+    nnlcToggle->updateToggle(offroad);
+    updateToggles(offroad);
   });
 
-  toggleOffroadOnly = {
-    madsToggle, nnlcToggle,
-  };
   QObject::connect(uiState(), &UIState::offroadTransition, this, &LateralPanel::updateToggles);
 
   sunnypilotScroller = new ScrollViewSP(list, this);
@@ -100,6 +128,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
   main_layout->addWidget(sunnypilotScreen);
   main_layout->addWidget(madsWidget);
   main_layout->addWidget(laneChangeWidget);
+  main_layout->addWidget(torqueLateralControlWidget);
 
   setStyleSheet(R"(
     #back_btn {
@@ -120,7 +149,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
 }
 
 void LateralPanel::showEvent(QShowEvent *event) {
-  nnlcToggle->updateToggle();
+  nnlcToggle->updateToggle(offroad);
   updateToggles(offroad);
 }
 
@@ -129,10 +158,7 @@ void LateralPanel::hideEvent(QHideEvent *event) {
 }
 
 void LateralPanel::updateToggles(bool _offroad) {
-  for (auto *toggle : toggleOffroadOnly) {
-    toggle->setEnabled(_offroad);
-  }
-
+  bool torque_allowed = true;
   auto cp_bytes = params.get("CarParamsPersistent");
   auto cp_sp_bytes = params.get("CarParamsSPPersistent");
   if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -148,12 +174,24 @@ void LateralPanel::updateToggles(bool _offroad) {
     } else {
       madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_FULL_COMPATIBILITY, MADS_BASE_DESC));
     }
+
+    if (CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE) {
+      params.remove("EnforceTorqueControl");
+      torque_allowed = false;
+    }
   } else {
     madsToggle->setDescription(descriptionBuilder(STATUS_MADS_CHECK_COMPATIBILITY, MADS_BASE_DESC));
+
+    params.remove("EnforceTorqueControl");
+    torque_allowed = false;
   }
 
+  madsToggle->setEnabled(_offroad);
   madsSettingsButton->setEnabled(madsToggle->isToggled());
 
+  torqueLateralControlToggle->setEnabled(_offroad && torque_allowed && !nnlcToggle->isToggled());
+  torqueLateralControlSettingsButton->setEnabled(torqueLateralControlToggle->isToggled());
+
   blinkerPauseLateralSettings->refresh();
 
   offroad = _offroad;
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
index 7b5e73fceb5359..88c4d401d07ec9 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
@@ -15,6 +15,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
@@ -35,7 +36,6 @@ public slots:
   QStackedLayout* main_layout = nullptr;
   QWidget* sunnypilotScreen = nullptr;
   ScrollViewSP *sunnypilotScroller = nullptr;
-  std::vector<ParamControl *> toggleOffroadOnly;
   bool offroad;
 
   ParamControl *madsToggle;
@@ -45,6 +45,9 @@ public slots:
   LaneChangeSettings *laneChangeWidget = nullptr;
   NeuralNetworkLateralControl *nnlcToggle = nullptr;
   BlinkerPauseLateralSettings *blinkerPauseLateralSettings = nullptr;
+  ParamControl *torqueLateralControlToggle;
+  PushButtonSP *torqueLateralControlSettingsButton;
+  TorqueLateralControlSettings *torqueLateralControlWidget = nullptr;
 
   const QString MADS_BASE_DESC = tr("Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).");
 
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index 55244caa57ecfe..ed0c11fb193144 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -22,8 +22,18 @@ def log_fingerprint(CP: structs.CarParams) -> None:
     sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
 
 
-def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
-                                               params: Params = None, enabled: bool = False) -> None:
+def _enforce_torque_lateral_control(CP: structs.CarParams, params: Params = None, enabled: bool = False) -> bool:
+  if params is None:
+    params = Params()
+
+  if CP.steerControlType != structs.CarParams.SteerControlType.angle:
+    enabled = params.get_bool("EnforceTorqueControl")
+
+  return enabled
+
+
+def _initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
+                                               params: Params = None, enabled: bool = False) -> bool:
   if params is None:
     params = Params()
 
@@ -35,13 +45,12 @@ def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs
   if nnlc_model_name != "MOCK" and CP.steerControlType != structs.CarParams.SteerControlType.angle:
     enabled = params.get_bool("NeuralNetworkLateralControl")
 
-  if enabled:
-    CI.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)
-
   CP_SP.neuralNetworkLateralControl.model.path = nnlc_model_path
   CP_SP.neuralNetworkLateralControl.model.name = nnlc_model_name
   CP_SP.neuralNetworkLateralControl.fuzzyFingerprint = not exact_match
 
+  return enabled
+
 
 def _initialize_intelligent_cruise_button_management(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
   if params is None:
@@ -52,12 +61,19 @@ def _initialize_intelligent_cruise_button_management(CP: structs.CarParams, CP_S
     CP_SP.pcmCruiseSpeed = False
 
 
+def _initialize_torque_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, enforce_torque: bool, nnlc_enabled: bool) -> None:
+  if nnlc_enabled or enforce_torque:
+    CI.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)
+
+
 def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   CP = CI.CP
   CP_SP = CI.CP_SP
 
-  _initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
+  enforce_torque = _enforce_torque_lateral_control(CP, params)
+  nnlc_enabled = _initialize_neural_network_lateral_control(CP, CP_SP, params)
   _initialize_intelligent_cruise_button_management(CP, CP_SP, params)
+  _initialize_torque_lateral_control(CI, CP, enforce_torque, nnlc_enabled)
 
 
 def initialize_params(params) -> list[dict[str, Any]]:
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
index 6e134276e5ded8..39525b3b8e3bb7 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
@@ -6,11 +6,13 @@
 """
 
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.nnlc import NeuralNetworkLateralControl
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_override import LatControlTorqueExtOverride
 
 
-class LatControlTorqueExt(NeuralNetworkLateralControl):
+class LatControlTorqueExt(NeuralNetworkLateralControl, LatControlTorqueExtOverride):
   def __init__(self, lac_torque, CP, CP_SP, CI):
-    super().__init__(lac_torque, CP, CP_SP, CI)
+    NeuralNetworkLateralControl.__init__(self, lac_torque, CP, CP_SP, CI)
+    LatControlTorqueExtOverride.__init__(self, CP)
 
   def update(self, CS, VM, pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
              desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_override.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_override.py
new file mode 100644
index 00000000000000..f07a7292c15128
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_override.py
@@ -0,0 +1,34 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from openpilot.common.params import Params
+
+
+class LatControlTorqueExtOverride:
+  def __init__(self, CP):
+    self.CP = CP
+    self.params = Params()
+    self.enforce_torque_control_toggle = self.params.get_bool("EnforceTorqueControl")  # only during init
+    self.torque_override_enabled = self.params.get_bool("TorqueParamsOverrideEnabled")
+    self.frame = -1
+
+  def update_override_torque_params(self, torque_params) -> bool:
+    if not self.enforce_torque_control_toggle:
+      return False
+
+    self.frame += 1
+    if self.frame % 300 == 0:
+      self.torque_override_enabled = self.params.get_bool("TorqueParamsOverrideEnabled")
+
+      if not self.torque_override_enabled:
+        return False
+
+      torque_params.latAccelFactor = float(self.params.get("TorqueParamsOverrideLatAccelFactor", return_default=True))
+      torque_params.friction = float(self.params.get("TorqueParamsOverrideFriction", return_default=True))
+      return True
+
+    return False
diff --git a/sunnypilot/selfdrive/locationd/torqued_ext.py b/sunnypilot/selfdrive/locationd/torqued_ext.py
new file mode 100644
index 00000000000000..084a82e9413224
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/torqued_ext.py
@@ -0,0 +1,65 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import numpy as np
+
+from cereal import car
+
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+
+RELAXED_MIN_BUCKET_POINTS = np.array([0, 200, 300, 500, 500, 300, 200, 0])
+
+ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda']
+
+
+
+class TorqueEstimatorExt:
+  def __init__(self, CP: car.CarParams):
+    self.CP = CP
+    self._params = Params()
+    self.frame = -1
+
+    self.enforce_torque_control_toggle = self._params.get_bool("EnforceTorqueControl")  # only during init
+    self.use_params = self.CP.brand in ALLOWED_CARS and self.CP.lateralTuning.which() == 'torque'
+    self.use_live_torque_params = self._params.get_bool("LiveTorqueParamsToggle")
+    self.torque_override_enabled = self._params.get_bool("TorqueParamsOverrideEnabled")
+    self.min_bucket_points = RELAXED_MIN_BUCKET_POINTS
+    self.factor_sanity = 0.0
+    self.friction_sanity = 0.0
+    self.offline_latAccelFactor = 0.0
+    self.offline_friction = 0.0
+
+  def initialize_custom_params(self, decimated=False):
+    self.update_use_params()
+
+    if self.enforce_torque_control_toggle:
+      if self._params.get_bool("LiveTorqueParamsRelaxedToggle"):
+        self.min_bucket_points = RELAXED_MIN_BUCKET_POINTS / (10 if decimated else 1)
+        self.factor_sanity = 0.5 if decimated else 1.0
+        self.friction_sanity = 0.8 if decimated else 1.0
+
+      if self._params.get_bool("CustomTorqueParams"):
+        self.offline_latAccelFactor = float(self._params.get("TorqueParamsOverrideLatAccelFactor", return_default=True))
+        self.offline_friction = float(self._params.get("TorqueParamsOverrideFriction", return_default=True))
+
+  def _update_params(self):
+    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
+      self.use_live_torque_params = self._params.get_bool("LiveTorqueParamsToggle")
+      self.torque_override_enabled = self._params.get_bool("TorqueParamsOverrideEnabled")
+
+  def update_use_params(self):
+    self._update_params()
+
+    if self.enforce_torque_control_toggle:
+      if self.torque_override_enabled:
+        self.use_params = False
+      else:
+        self.use_params = self.use_live_torque_params
+
+    self.frame += 1

From f28cea759d68670c655d901226456178a86c23f2 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Mon, 6 Oct 2025 02:52:02 -0400
Subject: [PATCH 0476/1434] [bot] Update Python packages (#1250)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 docs/CARS.md | 9 ++++++---
 opendbc_repo | 2 +-
 2 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index dbc1dbcd7428bd..25f84b389ec472 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 334 Supported Cars
+# 337 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -83,7 +83,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025">Buy Here</a></sub></details>|||
 |Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
@@ -99,7 +99,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
 |Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
 |Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
+|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
+|Honda|Odyssey 2021-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-25">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
 |Honda|Pilot 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
@@ -163,6 +165,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|EV6 (without HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
 |Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
+|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2019">Buy Here</a></sub></details>|||
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
@@ -259,7 +262,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
 |Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2024[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024">Buy Here</a></sub></details>|||
+|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
diff --git a/opendbc_repo b/opendbc_repo
index bf0aba991acbe1..335e5da18219eb 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit bf0aba991acbe14dd164ddfc8cc272cebf794544
+Subproject commit 335e5da18219ebcb4d56ab81387b37f7adcae461

From aeaac2227411d041b7723cd8f448a78010d99bda Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Tue, 7 Oct 2025 07:45:04 +0200
Subject: [PATCH 0477/1434] ci: refine PR search query to avoid querying whole
 github (#1330)

* ci: refine PR search query to improve label handling in GitHub Action workflow

- Replaced `label` with `search_query` for better flexibility.
- Added support for multiple labels (`PR_LABEL` and `${PR_LABEL}-c3`).

* ci: fix PR search query for proper label matching in workflow

- Adjusted `label` query syntax to correctly handle multiple labels.

* Update .github/workflows/sunnypilot-master-dev-prep.yaml
---
 .github/workflows/sunnypilot-master-dev-prep.yaml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/sunnypilot-master-dev-prep.yaml b/.github/workflows/sunnypilot-master-dev-prep.yaml
index 122755f2c4f042..4aafd4a4a49a21 100644
--- a/.github/workflows/sunnypilot-master-dev-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-prep.yaml
@@ -118,8 +118,8 @@ jobs:
         run: |
           # Use GitHub API to get PRs with specific label, ordered by creation date
           PR_LIST=$(gh api graphql -f query='
-            query($label:String!) {
-              search(query: $label, type:ISSUE, first:100) {
+            query($search_query:String!) {
+              search(query: $search_query, type:ISSUE, first:100) {
                 nodes {
                   ... on PullRequest {
                     number
@@ -149,7 +149,7 @@ jobs:
                   }
                 }
               }
-            }' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc")
+            }' -F search_query="repo:${{ github.repository }} is:pr is:open label:${PR_LABEL},${PR_LABEL}-c3 draft:false sort:created-asc")
 
           PR_LIST=${PR_LIST//\'/}
           echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT

From 408d52d72ab06ca529afa317c107d96d58e9026c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 7 Oct 2025 21:45:33 -0400
Subject: [PATCH 0478/1434] NNLC: ensure PID is always initialized properly
 (#1304)

---
 .../selfdrive/controls/lib/latcontrol_torque_ext_base.py       | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
index 1965d50b51aae2..609d2f78b6f795 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
@@ -58,7 +58,8 @@ def __init__(self, lac_torque, CP, CP_SP, CI):
     self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()
 
     self._ff = 0.0
-    self._pid = PIDController(0.0, 0.0, k_f=0.0)
+    self._pid = PIDController(self.torque_params.kp, self.torque_params.ki,
+                              k_f=self.torque_params.kf)
     self._pid_log = None
     self._setpoint = 0.0
     self._measurement = 0.0

From 0b826002e990129addfdd9acdaa9ca538781c84f Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Tue, 7 Oct 2025 22:44:27 -0400
Subject: [PATCH 0479/1434] UI: Expandable Row - Fix margins (#1324)

Expandable Row - Fix margins

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc b/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc
index b918938d11813f..b22684a295c0e6 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc
+++ b/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc
@@ -14,10 +14,10 @@ ExpandableToggleRow::ExpandableToggleRow(const QString &param, const QString &ti
   QObject::connect(this, &ExpandableToggleRow::toggleFlipped, this, &ExpandableToggleRow::toggleClicked);
 
   collapsibleWidget = new QFrame(this);
-  collapsibleWidget->setContentsMargins(0, 0, 0, 0);
   collapsibleWidget->setVisible(false);
   QVBoxLayout *collapsible_layout = new QVBoxLayout();
   collapsibleWidget->setLayout(collapsible_layout);
+  collapsible_layout->setContentsMargins(0, 0, 0, 0);
 
   list = new ListWidgetSP(this, false);
 

From 8050c56a436a27cd65b04308e53d944feef85988 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Tue, 7 Oct 2025 23:24:18 -0400
Subject: [PATCH 0480/1434] UI: OptionControlSP - Fix Inline Spacer (#1325)

OptionControlSP - Fix Inline Spacer issue!!

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/qt/widgets/controls.h | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index e9e1e4bb85d302..e111ce2fb5ee36 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -545,10 +545,8 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
         main_layout->removeWidget(title_label);
         hlayout->addWidget(title_label, 1);
       }
-      if (spacingItem != nullptr && main_layout->indexOf(spacingItem) != -1) {
-        main_layout->removeItem(spacingItem);
-        spacingItem = nullptr;
-      }
+      main_layout->removeItem(spacingItem);
+      spacingItem = nullptr;
     }
 
     label.setStyleSheet(label_enabled_style);

From 014baf8e909af06cce71b718b00c20291ccf0577 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Wed, 8 Oct 2025 12:05:06 -0400
Subject: [PATCH 0481/1434] UI: Make Always Offroad more accessible (#1327)

* UI: Make Always Offroad more accessible

* conditional - based on offroad

* no need to delete

* account for always offroad

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../qt/offroad/settings/device_panel.cc         | 17 ++++++++++++-----
 .../qt/offroad/settings/device_panel.h          |  2 ++
 2 files changed, 14 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index 7e3d18bd8170bc..d61630112b9f2c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -80,7 +80,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
   connect(maxTimeOffroad, &OptionControlSP::updateLabels, maxTimeOffroad, &MaxTimeOffroad::refresh);
   addItem(maxTimeOffroad);
 
-    toggleDeviceBootMode = new ButtonParamControlSP("DeviceBootMode", tr("Wake-Up Behavior"), "", "", {"Default", "Offroad"}, 375, true);
+  toggleDeviceBootMode = new ButtonParamControlSP("DeviceBootMode", tr("Wake-Up Behavior"), "", "", {"Default", "Offroad"}, 375, true);
   addItem(toggleDeviceBootMode);
 
   connect(toggleDeviceBootMode, &ButtonParamControlSP::buttonClicked, this, [=](int index) {
@@ -129,9 +129,8 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
   offroadBtn->setFixedWidth(power_layout->sizeHint().width());
   QObject::connect(offroadBtn, &PushButtonSP::clicked, this, &DevicePanelSP::setOffroadMode);
 
-  QVBoxLayout *power_group_layout = new QVBoxLayout();
+  power_group_layout = new QVBoxLayout();
   power_group_layout->setSpacing(25);
-  power_group_layout->addWidget(offroadBtn, 0, Qt::AlignHCenter);
   power_group_layout->addLayout(power_layout);
 
   addItem(power_group_layout);
@@ -143,7 +142,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
     buttons["quietModeBtn"],
   };
 
-  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
+  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool _offroad) {
     for (auto btn : findChildren<PushButtonSP*>()) {
       bool always_enabled = std::find(always_enabled_btns.begin(), always_enabled_btns.end(), btn) != always_enabled_btns.end();
 
@@ -151,6 +150,8 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
         btn->setEnabled(offroad);
       }
     }
+    offroad = _offroad;
+    updateState();
   });
 }
 
@@ -201,7 +202,7 @@ void DevicePanelSP::updateState() {
   }
 
   bool offroad_mode_param = params.getBool("OffroadMode");
-  offroadBtn->setText(offroad_mode_param ? tr("Exit Always Offroad") : tr("Always Offroad"));
+  offroadBtn->setText(offroad_mode_param ? tr("Exit Always Offroad") : tr("Enable Always Offroad"));
   offroadBtn->setStyleSheet(offroad_mode_param ? alwaysOffroadStyle : autoOffroadStyle);
 
   DeviceSleepModeStatus currStatus = DeviceSleepModeStatus::DEFAULT;
@@ -216,4 +217,10 @@ void DevicePanelSP::updateState() {
   } else {
     interactivityTimeout->setLabel(timeoutValue + "s");
   }
+
+  if (offroad and not offroad_mode_param) {
+    power_group_layout->insertWidget(0, offroadBtn, 0, Qt::AlignHCenter);
+  } else {
+    AddWidgetAt(0, offroadBtn);
+  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
index 899a942daee693..1e86e72014de69 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
@@ -34,6 +34,8 @@ class DevicePanelSP : public DevicePanel {
   ButtonParamControlSP *toggleDeviceBootMode;
   Brightness *brightness;
   OptionControlSP *interactivityTimeout;
+  QVBoxLayout *power_group_layout;
+  bool offroad;
 
   const QString alwaysOffroadStyle = R"(
     PushButtonSP {

From a85f3ce11c38122674eda611c72e266df0b24048 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 8 Oct 2025 13:03:15 -0400
Subject: [PATCH 0482/1434] Device: Onroad Uploads button (#1332)

---
 common/params_keys.h                                      | 1 +
 .../ui/sunnypilot/qt/offroad/settings/device_panel.cc     | 4 ++++
 system/manager/process_config.py                          | 8 +++++++-
 3 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 11ec8da6365d42..b950f43341000a 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -162,6 +162,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "100"}},
     {"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}},
     {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "0"}},
+    {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index d61630112b9f2c..b92696078322af 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -23,6 +23,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
     {"regulatoryBtn", tr("Regulatory"), ""},
     {"translateBtn", tr("Language"), ""},
     {"resetParams", tr("Reset Settings"), ""},
+    {"onroadUploadsBtn", tr("Onroad Uploads"), "OnroadUploads"}
   };
 
   int row = 0, col = 0;
@@ -75,6 +76,8 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
 
   connect(buttons["resetParams"], &PushButtonSP::clicked, this, &DevicePanelSP::resetSettings);
 
+  connect(buttons["onroadUploadsBtn"], &PushButtonSP::clicked, buttons["onroadUploadsBtn"], &PushButtonSP::updateButton);
+
   // Max Time Offroad
   maxTimeOffroad = new MaxTimeOffroad();
   connect(maxTimeOffroad, &OptionControlSP::updateLabels, maxTimeOffroad, &MaxTimeOffroad::refresh);
@@ -140,6 +143,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
     poweroffBtn,
     offroadBtn,
     buttons["quietModeBtn"],
+    buttons["onroadUploadsBtn"],
   };
 
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool _offroad) {
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index b1a2fa6e130ac2..c5f20e511b0a14 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -95,6 +95,12 @@ def is_stock_model(started, params, CP: car.CarParams) -> bool:
 def mapd_ready(started: bool, params: Params, CP: car.CarParams) -> bool:
   return bool(os.path.exists(Paths.mapd_root()))
 
+def uploader_ready(started: bool, params: Params, CP: car.CarParams) -> bool:
+  if not params.get_bool("OnroadUploads"):
+    return only_offroad(started, params, CP)
+
+  return always_run(started, params, CP)
+
 def or_(*fns):
   return lambda *args: operator.or_(*(fn(*args) for fn in fns))
 
@@ -145,7 +151,7 @@ def and_(*fns):
   PythonProcess("hardwared", "system.hardware.hardwared", always_run),
   PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
   PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
-  PythonProcess("uploader", "system.loggerd.uploader", always_run),
+  PythonProcess("uploader", "system.loggerd.uploader", uploader_ready),
   PythonProcess("statsd", "system.statsd", always_run),
   PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad),
 

From 517020ffb6b6f9443360e9bb55c4dcc680e22e32 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Wed, 8 Oct 2025 13:51:31 -0400
Subject: [PATCH 0483/1434] UI: Move Brightness & Interactivity Timeout to
 Display Panel (#1326)

* UI: Move Brightness & Interactivity Timeout to Display Panel

* why Qt.. WHYY

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../qt/offroad/settings/brightness.cc         |  4 +--
 .../qt/offroad/settings/device_panel.cc       | 23 -----------------
 .../qt/offroad/settings/device_panel.h        |  3 ---
 .../display/onroad_screen_brightness.cc       |  1 +
 .../qt/offroad/settings/display_panel.cc      | 25 +++++++++++++++++++
 .../qt/offroad/settings/display_panel.h       |  3 +++
 6 files changed, 31 insertions(+), 28 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc
index ffd3ce1d8b0d56..e9bd13485a016b 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc
@@ -25,8 +25,8 @@ const QMap<QString, QString> Brightness::brightness_options = {
 
 Brightness::Brightness() : OptionControlSP(
   "Brightness",
-  tr("Brightness"),
-  tr("Overrides the brightness of the device."),
+  tr("Global Brightness"),
+  tr("Overrides the brightness of the device. This applies to both onroad and offroad screens. "),
   "../assets/offroad/icon_blank.png",
   {0, 11}, 1, true, &brightness_options) {
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index b92696078322af..43e6067451181c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -91,22 +91,6 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
     updateState();
   });
 
-  interactivityTimeout =  new OptionControlSP("InteractivityTimeout", tr("Interactivity Timeout"),
-                                     tr("Apply a custom timeout for settings UI."
-                                        "\nThis is the time after which settings UI closes automatically if user is not interacting with the screen."),
-                                     "", {0, 120}, 10, true, nullptr, false);
-
-  connect(interactivityTimeout, &OptionControlSP::updateLabels, [=]() {
-    updateState();
-  });
-
-  addItem(interactivityTimeout);
-  
-  // Brightness
-  brightness = new Brightness();
-  connect(brightness, &OptionControlSP::updateLabels, brightness, &Brightness::refresh);
-  addItem(brightness);
-
   addItem(device_grid_layout);
 
   // offroad mode and power buttons
@@ -215,13 +199,6 @@ void DevicePanelSP::updateState() {
   }
   toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus));
 
-  QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout"));
-  if (timeoutValue == "0" || timeoutValue.isEmpty()) {
-    interactivityTimeout->setLabel("Default");
-  } else {
-    interactivityTimeout->setLabel(timeoutValue + "s");
-  }
-
   if (offroad and not offroad_mode_param) {
     power_group_layout->insertWidget(0, offroadBtn, 0, Qt::AlignHCenter);
   } else {
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
index 1e86e72014de69..ce4acfc7cff201 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
@@ -8,7 +8,6 @@
 #pragma once
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
@@ -32,8 +31,6 @@ class DevicePanelSP : public DevicePanel {
   PushButtonSP *offroadBtn;
   MaxTimeOffroad *maxTimeOffroad;
   ButtonParamControlSP *toggleDeviceBootMode;
-  Brightness *brightness;
-  OptionControlSP *interactivityTimeout;
   QVBoxLayout *power_group_layout;
   bool offroad;
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc
index 3e9dc427bfebbc..8833ffa898e83b 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc
@@ -15,6 +15,7 @@ OnroadScreenBrightnessControl::OnroadScreenBrightnessControl(const QString &para
   auto *mainFrameLayout = new QGridLayout();
   mainFrame->setLayout(mainFrameLayout);
   mainFrameLayout->setSpacing(0);
+  mainFrameLayout->setContentsMargins(0, 0, 0, 0);
 
   onroadScreenOffTimer = new OptionControlSP(
     "OnroadScreenOffTimer",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc
index b441021ff39892..274e28cf822a3e 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc
@@ -24,6 +24,24 @@ DisplayPanel::DisplayPanel(QWidget *parent) : QWidget(parent) {
     "",
     this);
   list->addItem(onroadScreenBrightnessControl);
+  list->addItem(horizontal_line());
+
+  // Global Brightness
+  brightness = new Brightness();
+  connect(brightness, &OptionControlSP::updateLabels, brightness, &Brightness::refresh);
+  list->addItem(brightness);
+  list->addItem(horizontal_line());
+
+  // Interactivity Timeout
+  interactivityTimeout =  new OptionControlSP("InteractivityTimeout", tr("Interactivity Timeout"),
+                                   tr("Apply a custom timeout for settings UI."
+                                      "\nThis is the time after which settings UI closes automatically if user is not interacting with the screen."),
+                                   "", {0, 120}, 10, true, nullptr, false);
+
+  connect(interactivityTimeout, &OptionControlSP::updateLabels, [=]() {
+    refresh();
+  });
+  list->addItem(interactivityTimeout);
 
   sunnypilotScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(sunnypilotScroller);
@@ -37,4 +55,11 @@ void DisplayPanel::showEvent(QShowEvent *event) {
 
 void DisplayPanel::refresh() {
   onroadScreenBrightnessControl->refresh();
+
+  QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout"));
+  if (timeoutValue == "0" || timeoutValue.isEmpty()) {
+    interactivityTimeout->setLabel("Default");
+  } else {
+    interactivityTimeout->setLabel(timeoutValue + "s");
+  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h
index 1714c8a4367c81..69b440c9d38a84 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h
@@ -7,6 +7,7 @@
 
 #pragma once
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
@@ -25,4 +26,6 @@ class DisplayPanel : public QWidget {
   ScrollViewSP *sunnypilotScroller = nullptr;
   Params params;
   OnroadScreenBrightnessControl *onroadScreenBrightnessControl = nullptr;
+  Brightness *brightness;
+  OptionControlSP *interactivityTimeout;
 };

From e8a39c4a74d8f2de8f394ee07366a9883ecf552d Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Wed, 8 Oct 2025 21:01:33 +0200
Subject: [PATCH 0484/1434] Reapply "sunnylink: enhanced param keys fetch with
 data type" (#1317)

Reapply "sunnylink: enhanced param keys fetch with data type" (#1316)"

This reverts commit 282a8b093ddb8f611d71bfee7bcde9e2e3281ee2.

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/sunnylink/athena/sunnylinkd.py | 19 ++++++++++++++++++-
 sunnypilot/sunnylink/utils.py             | 12 +++++++++---
 2 files changed, 27 insertions(+), 4 deletions(-)

diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index 25a77c367b1194..d1b38d656fd50a 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -178,12 +178,29 @@ def getParamsAllKeys() -> list[str]:
   return keys
 
 
+@dispatcher.add_method
+def getParamsAllKeysV1() -> dict[str, str]:
+  available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
+
+  params_dict: dict[str, list[dict[str, str | bool | int | None]]] = {"params": []}
+  for key in available_keys:
+    value = get_param_as_byte(key, get_default=True)
+    params_dict["params"].append({
+      "key": key,
+      "type": int(params.get_type(key).value),
+      "default_value": base64.b64encode(value).decode('utf-8') if value else None,
+    })
+
+  return {"keys": json.dumps(params_dict.get("params", []))}
+
+
 @dispatcher.add_method
 def getParams(params_keys: list[str], compression: bool = False) -> str | dict[str, str]:
   params = Params()
+  available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
 
   try:
-    param_keys_validated = [key for key in params_keys if key in getParamsAllKeys()]
+    param_keys_validated = [key for key in params_keys if key in available_keys]
     params_dict: dict[str, list[dict[str, str | bool | int]]] = {"params": []}
     for key in param_keys_validated:
       value = get_param_as_byte(key)
diff --git a/sunnypilot/sunnylink/utils.py b/sunnypilot/sunnylink/utils.py
index 91c07887953ce5..585e460e9c10e8 100644
--- a/sunnypilot/sunnylink/utils.py
+++ b/sunnypilot/sunnylink/utils.py
@@ -60,14 +60,20 @@ def get_api_token():
   print(f"API Token: {token}")
 
 
-def get_param_as_byte(param_name: str, params=None) -> bytes | None:
+def get_param_as_byte(param_name: str, params=None, get_default=False) -> bytes | None:
   """Get a parameter as bytes. Returns None if the parameter does not exist."""
-  params = params or Params() # Use existing Params instance if provided
-  param = params.get(param_name)
+  params = params or Params()
+  param = params.get(param_name) if not get_default else params.get_default_value(param_name)
+
   if param is None:
     return None
 
   param_type = params.get_type(param_name)
+  return _to_bytes(param, param_type)
+
+
+def _to_bytes(param: bytes, param_type: ParamKeyType) -> bytes | None:
+  """Convert a parameter value to bytes based on its type."""
   if param_type == ParamKeyType.BYTES:
     return bytes(param)
   elif param_type == ParamKeyType.JSON:

From f653566803c3a299977d273b0d127872d6bbf34f Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Wed, 8 Oct 2025 14:39:14 -0700
Subject: [PATCH 0485/1434] mapd: Bump version `v1.11.0` -> `v1.12.0` (#1288)

v1.12.0

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 third_party/mapd_pfeiferj/mapd | Bin 9371832 -> 9371832 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/third_party/mapd_pfeiferj/mapd b/third_party/mapd_pfeiferj/mapd
index eb2372ceedb336ebe967067042d4c37c2204b71d..c8b50b0791d53427e32c287622e90be2dd2423f4 100755
GIT binary patch
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zhgsaa)I1~4l?*;CCFVUNGeMYdAe>=a?K8#a=(Ct@QpD$_7hjlO{Fn6Nx#_dK)Yi@(
zwU3u?*y8Whf4i}```VZUrC48!o=%lDkssU0iR>oXFUjc$9iKf}Zgn+>*LUHhW{>R6
ztWw{GIN5~Anqx|`@9s)nwS`XMUDe3utc9yi>VyrewGI~BLX(`u@@{ZMqT^p=LT9{5
z?-J{t{if6KjEA|t_1S7)#^X*dd#h8^bGSYy*(2i#r%J{%PR=vfKGBo?O$#c8&o1{O
z(-hBk{cfTj*-tnNo3-3j%fPujyPeynd5Uc8jO|j4L_5l)xy~f}Z%(Z2x-D+YGi;pS
zw%aq-4zjNNk{W}4k(57shpU7g>~5GnaWWz2*~t5xg~52Bduql@F4Io4tJ_=cr~>^0
zrMA8-A0f%qfKl^_XusZd@4@1>_MEYAEqjRNW%OhNi)QoXYQJ!+t!s~ZK=fVlxqIY4
zOAp}vd>0t!4KJ}q493ALoua|FltQ){$wHqmz1X{#v}F;@<$1Ih6;p2T7W|FWWE)!U
z5~MuP`}jvvkzL8wmhZfZHW^Rw00s?t$DLT#Q4in!d}T%vJ6hMCSJBVs=V~>y>)xBk
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zyc5rclE(Z;Nl?{~<xwM*#pnWS(q9}E0*wa^w;3An+HzxoYGx~5bF`?scgb;;^)Ln;
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b5B}$a|8<D}b%UD!-**EXqrSnjeEt6eh`_}t


From 41abede7f6d2ddc12a00a17289c793b1870dc3a6 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Wed, 8 Oct 2025 17:55:56 -0400
Subject: [PATCH 0486/1434] UI: Better layout for onroad screen-off settings
 (#1334)

* OCD FIX

* MORE FIX.. BECAUSE WE ALL HAVE OCD

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../display/onroad_screen_brightness.cc       | 28 ++++++-------------
 .../qt/offroad/settings/display_panel.cc      |  4 +--
 2 files changed, 11 insertions(+), 21 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc
index 8833ffa898e83b..f28d9e45e81a86 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc
@@ -12,31 +12,29 @@ OnroadScreenBrightnessControl::OnroadScreenBrightnessControl(const QString &para
                                                              QWidget *parent)
   : ExpandableToggleRow(param, title, description, icon, parent) {
   auto *mainFrame = new QFrame(this);
-  auto *mainFrameLayout = new QGridLayout();
+  auto *mainFrameLayout = new QVBoxLayout();
   mainFrame->setLayout(mainFrameLayout);
-  mainFrameLayout->setSpacing(0);
+  mainFrameLayout->setSpacing(30);
   mainFrameLayout->setContentsMargins(0, 0, 0, 0);
 
   onroadScreenOffTimer = new OptionControlSP(
     "OnroadScreenOffTimer",
-    "",
+    "Onroad Brightness Delay",
     "",
     "",
     {0, 11}, 1, true, &onroadScreenOffTimerOptions);
 
   onroadScreenBrightness = new OptionControlSP(
     "OnroadScreenOffBrightness",
+    "Onroad Brightness",
     "",
     "",
-    "",
-    {0, 100}, 10, true, nullptr, false);
+    {0, 100}, 10, true);
 
   connect(onroadScreenOffTimer, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
   connect(onroadScreenBrightness, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
-  onroadScreenOffTimer->setFixedWidth(280);
-  onroadScreenBrightness->setFixedWidth(280);
-  mainFrameLayout->addWidget(onroadScreenOffTimer, 0, 0, Qt::AlignLeft);
-  mainFrameLayout->addWidget(onroadScreenBrightness, 0, 1, Qt::AlignRight);
+  mainFrameLayout->addWidget(onroadScreenBrightness);
+  mainFrameLayout->addWidget(onroadScreenOffTimer);
 
   addItem(mainFrame);
 
@@ -46,19 +44,11 @@ OnroadScreenBrightnessControl::OnroadScreenBrightnessControl(const QString &para
 void OnroadScreenBrightnessControl::refresh() {
   // Driving Screen Off Timer
   int valTimer = std::atoi(params.get("OnroadScreenOffTimer").c_str());
-  std::string labelTimer = "<span style='font-size: 45px; font-weight: 450; color: #FFFFFF;'>";
-  labelTimer += "Delay";
-  labelTimer += " <br><span style='font-size: 40px; font-weight: 450; color:rgb(174, 255, 195);'>";
-  labelTimer += (valTimer < 60 ? std::to_string(valTimer) + "s" : std::to_string(valTimer / 60) + "m");
-  labelTimer += "</span></span>";
+  std::string labelTimer = (valTimer < 60 ? std::to_string(valTimer) + "s" : std::to_string(valTimer / 60) + "m");
   onroadScreenOffTimer->setLabel(QString::fromStdString(labelTimer));
 
   // Driving Screen Off Brightness
   std::string valBrightness = params.get("OnroadScreenOffBrightness");
-  std::string labelBrightness = "<span style='font-size: 45px; font-weight: 450; color: #FFFFFF;'>";
-  labelBrightness += "Brightness";
-  labelBrightness += " <br><span style='font-size: 40px; font-weight: 450; color:rgb(174, 255, 195);'>";
-  labelBrightness += (valBrightness == "0" ? " Screen Off" : valBrightness + "%");
-  labelBrightness += "</span></span>";
+  std::string labelBrightness = (valBrightness == "0" ? " Screen Off" : valBrightness + "%");
   onroadScreenBrightness->setLabel(QString::fromStdString(labelBrightness));
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc
index 274e28cf822a3e..465047f1786b65 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc
@@ -18,9 +18,9 @@ DisplayPanel::DisplayPanel(QWidget *parent) : QWidget(parent) {
   // Onroad Screen Off/Brightness
   onroadScreenBrightnessControl = new OnroadScreenBrightnessControl(
     "OnroadScreenOffControl",
-    tr("Driving Screen Off: Non-Critical Events"),
+    tr("Onroad Screen: Reduced Brightness"),
     tr("Turn off device screen or reduce brightness after driving starts. "
-       "It automatically brightens again when screen is touched or a critical event occurs."),
+       "It automatically brightens again when screen is touched or a visible alert is displayed."),
     "",
     this);
   list->addItem(onroadScreenBrightnessControl);

From ae21d40a1994c26c7357cc85262c62b7c1727e01 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 8 Oct 2025 20:33:19 -0400
Subject: [PATCH 0487/1434] ui: Speedometer: Always display true speed (#1335)

* ui: Speedometer: Display True Speed

* update

* use stock one
---
 common/params_keys.h                              |  1 +
 selfdrive/ui/qt/onroad/hud.cc                     |  2 +-
 .../qt/offroad/settings/visuals_panel.cc          |  7 +++++++
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc          | 15 +++++++++++++++
 selfdrive/ui/sunnypilot/qt/onroad/hud.h           |  1 +
 selfdrive/ui/sunnypilot/ui.cc                     |  1 +
 selfdrive/ui/sunnypilot/ui_scene.h                |  1 +
 7 files changed, 27 insertions(+), 1 deletion(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index b950f43341000a..1c7b9985caa9dd 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -168,6 +168,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // MADS params
     {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
diff --git a/selfdrive/ui/qt/onroad/hud.cc b/selfdrive/ui/qt/onroad/hud.cc
index d95fe5fd808b71..540643bed549d7 100644
--- a/selfdrive/ui/qt/onroad/hud.cc
+++ b/selfdrive/ui/qt/onroad/hud.cc
@@ -51,8 +51,8 @@ void HudRenderer::draw(QPainter &p, const QRect &surface_rect) {
   if (is_cruise_available) {
     drawSetSpeed(p, surface_rect);
   }
-#endif
   drawCurrentSpeed(p, surface_rect);
+#endif
 
   p.restore();
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
index 7c1107d6533588..98f56344099748 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -69,6 +69,13 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
       "",
       false,
     },
+    {
+      "TrueVEgoUI",
+      tr("Speedometer: Always Display True Speed"),
+      tr("Always display the true vehicle current speed from wheel speed sensors."),
+      "",
+      false,
+    },
   };
 
   // Add regular toggles first
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 21d66ffa993f18..e539f1c110086b 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -115,6 +115,10 @@ void HudRendererSP::updateState(const UIState &s) {
 
   greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
   leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert();
+
+  // override stock current speed values
+  float v_ego = (v_ego_cluster_seen && !s.scene.trueVEgoUI) ? car_state.getVEgoCluster() : car_state.getVEgo();
+  speed = std::max<float>(0.0f, v_ego * (is_metric ? MS_TO_KPH : MS_TO_MPH));
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
@@ -127,6 +131,7 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
   if (is_cruise_available) {
     drawSetSpeedSP(p, surface_rect);
   }
+  drawCurrentSpeedSP(p, surface_rect);
 
   if (!reversing) {
     // Smart Cruise Control
@@ -731,3 +736,13 @@ void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect) {
   QPointF drawPoint = center - pixmapCenterOffset;
   p.drawPixmap(drawPoint, alert_img);
 }
+
+void HudRendererSP::drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect) {
+  QString speedStr = QString::number(std::nearbyint(speed));
+
+  p.setFont(InterFont(176, QFont::Bold));
+  HudRenderer::drawText(p, surface_rect.center().x(), 210, speedStr);
+
+  p.setFont(InterFont(66));
+  HudRenderer::drawText(p, surface_rect.center().x(), 290, is_metric ? tr("km/h") : tr("mph"), 200);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index cf840ee3d082f6..066a01c8007e49 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -37,6 +37,7 @@ class HudRendererSP : public HudRenderer {
   void drawSpeedLimitPreActiveArrow(QPainter &p, QRect &sign_rect);
   void drawSetSpeedSP(QPainter &p, const QRect &surface_rect);
   void drawE2eAlert(QPainter &p, const QRect &surface_rect);
+  void drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect);
 
   bool lead_status;
   float lead_d_rel;
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index 7f4fc882356259..30472ebdbc8a95 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -64,6 +64,7 @@ void ui_update_params_sp(UIStateSP *s) {
   s->scene.standstill_timer = params.getBool("StandstillTimer");
   s->scene.speed_limit_mode = std::atoi(params.get("SpeedLimitMode").c_str());
   s->scene.road_name = params.getBool("RoadNameToggle");
+  s->scene.trueVEgoUI = params.getBool("TrueVEgoUI");
 
   // Onroad Screen Brightness
   s->scene.onroadScreenOffBrightness = std::atoi(params.get("OnroadScreenOffBrightness").c_str());
diff --git a/selfdrive/ui/sunnypilot/ui_scene.h b/selfdrive/ui/sunnypilot/ui_scene.h
index 7cfabb15c37609..6675916f384d69 100644
--- a/selfdrive/ui/sunnypilot/ui_scene.h
+++ b/selfdrive/ui/sunnypilot/ui_scene.h
@@ -15,4 +15,5 @@ typedef struct UISceneSP : UIScene {
   int onroadScreenOffBrightness, onroadScreenOffTimer = 0;
   bool onroadScreenOffControl;
   int onroadScreenOffTimerParam;
+  bool trueVEgoUI;
 } UISceneSP;

From 7aac14e6fced40663c09fc2103deab017f11b95f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 8 Oct 2025 21:54:24 -0400
Subject: [PATCH 0488/1434] ui: Speedometer: Hide from onroad screen (#1336)

* ui: Speedometer: Display True Speed

* update

* ui: Speedometer: Hide from onroad screen

* wrong

* use stock one
---
 common/params_keys.h                                       | 1 +
 .../ui/sunnypilot/qt/offroad/settings/visuals_panel.cc     | 7 +++++++
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc                   | 5 +++++
 selfdrive/ui/sunnypilot/qt/onroad/hud.h                    | 1 +
 selfdrive/ui/sunnypilot/ui.cc                              | 1 +
 selfdrive/ui/sunnypilot/ui_scene.h                         | 1 +
 6 files changed, 16 insertions(+)

diff --git a/common/params_keys.h b/common/params_keys.h
index 1c7b9985caa9dd..f2aca858b2e787 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -150,6 +150,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
     {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
+    {"HideVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
index 98f56344099748..8e26494a938b2c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -76,6 +76,13 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
       "",
       false,
     },
+    {
+      "HideVEgoUI",
+      tr("Speedometer: Hide from Onroad Screen"),
+      tr("Always display the true vehicle current speed from wheel speed sensors."),
+      "",
+      false,
+    }
   };
 
   // Add regular toggles first
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index e539f1c110086b..510fc2d69cbb91 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -119,6 +119,7 @@ void HudRendererSP::updateState(const UIState &s) {
   // override stock current speed values
   float v_ego = (v_ego_cluster_seen && !s.scene.trueVEgoUI) ? car_state.getVEgoCluster() : car_state.getVEgo();
   speed = std::max<float>(0.0f, v_ego * (is_metric ? MS_TO_KPH : MS_TO_MPH));
+  hideVEgoUI = s.scene.hideVEgoUI;
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
@@ -133,6 +134,10 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
   }
   drawCurrentSpeedSP(p, surface_rect);
 
+  if (!hideVEgoUI) {
+    drawCurrentSpeedSP(p, surface_rect);
+  }
+
   if (!reversing) {
     // Smart Cruise Control
     int x_offset = -260;
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index 066a01c8007e49..16179b02a9e019 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -107,4 +107,5 @@ class HudRendererSP : public HudRenderer {
   QPixmap lead_depart_alert_large_img;
   QString alert_text;
   QPixmap alert_img;
+  bool hideVEgoUI;
 };
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index 30472ebdbc8a95..e4d5b41adb7a49 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -65,6 +65,7 @@ void ui_update_params_sp(UIStateSP *s) {
   s->scene.speed_limit_mode = std::atoi(params.get("SpeedLimitMode").c_str());
   s->scene.road_name = params.getBool("RoadNameToggle");
   s->scene.trueVEgoUI = params.getBool("TrueVEgoUI");
+  s->scene.hideVEgoUI = params.getBool("HideVEgoUI");
 
   // Onroad Screen Brightness
   s->scene.onroadScreenOffBrightness = std::atoi(params.get("OnroadScreenOffBrightness").c_str());
diff --git a/selfdrive/ui/sunnypilot/ui_scene.h b/selfdrive/ui/sunnypilot/ui_scene.h
index 6675916f384d69..5bf11566484438 100644
--- a/selfdrive/ui/sunnypilot/ui_scene.h
+++ b/selfdrive/ui/sunnypilot/ui_scene.h
@@ -16,4 +16,5 @@ typedef struct UISceneSP : UIScene {
   bool onroadScreenOffControl;
   int onroadScreenOffTimerParam;
   bool trueVEgoUI;
+  bool hideVEgoUI;
 } UISceneSP;

From 12a4b1b5611a25d385034668f34cee750c5833d6 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Thu, 9 Oct 2025 05:37:21 +0200
Subject: [PATCH 0489/1434] sunnylink: enhance fault handling and parameter
 checks (#1323)

* enhance sunnylink fault handling and parameter checks

- Added `SunnylinkTempFault` to handle temporary registration issues.
- Updated methods to account for new fault state, improving robustness.
- Improved uploader logic by considering metered network restrictions.

* maybe it was overkill

* Lol, kinda important

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/params_keys.h                         |  1 +
 sunnypilot/sunnylink/api.py                  |  2 +-
 sunnypilot/sunnylink/registration_manager.py | 28 ++++++++++++--------
 sunnypilot/sunnylink/utils.py                | 23 +++++++++-------
 4 files changed, 33 insertions(+), 21 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index f2aca858b2e787..0ff0354b32cfff 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -196,6 +196,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SunnylinkDongleId", {PERSISTENT, STRING}},
     {"SunnylinkdPid", {PERSISTENT, INT}},
     {"SunnylinkEnabled", {PERSISTENT, BOOL, "1"}},
+    {"SunnylinkTempFault", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0"}},
 
     // Backup Manager params
     {"BackupManager_CreateBackup", {PERSISTENT, BOOL}},
diff --git a/sunnypilot/sunnylink/api.py b/sunnypilot/sunnylink/api.py
index b7838a40b0325b..cd2a358c60e4e6 100644
--- a/sunnypilot/sunnylink/api.py
+++ b/sunnypilot/sunnylink/api.py
@@ -147,7 +147,7 @@ def register_device(self, spinner=None, timeout=60, verbose=False):
     self.params.put("SunnylinkDongleId", sunnylink_dongle_id or UNREGISTERED_SUNNYLINK_DONGLE_ID)
 
     # Set the last ping time to the current time since we were just talking to the API
-    last_ping = int(time.monotonic() * 1e9) if successful_registration else start_time
+    last_ping = int((time.monotonic() if successful_registration else start_time) * 1e9)
     Params().put("LastSunnylinkPingTime", last_ping)
 
     # Disable sunnylink if registration was not successful
diff --git a/sunnypilot/sunnylink/registration_manager.py b/sunnypilot/sunnylink/registration_manager.py
index 34323c27893302..805d2482db5393 100755
--- a/sunnypilot/sunnylink/registration_manager.py
+++ b/sunnypilot/sunnylink/registration_manager.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import time
 
+from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.swaglog import cloudlog
 
@@ -12,17 +13,22 @@
 
 def main():
   """The main method is expected to be called by the manager when the device boots up."""
-  rk = Ratekeeper(.5)
-  sm = messaging.SubMaster(['deviceState'], poll='deviceState')
-  while True:
-    sm.update(1000)
-    if sm['deviceState'].networkType != NetworkType.none:
-      break
-
-    cloudlog.info(f"Waiting to become online... {time.monotonic()}")
-    rk.keep_time()
-
-  register_sunnylink()
+  try:
+    rk = Ratekeeper(.5)
+    sm = messaging.SubMaster(['deviceState'], poll='deviceState')
+    while True:
+      sm.update(1000)
+      if sm['deviceState'].networkType != NetworkType.none:
+        break
+
+      cloudlog.info(f"Waiting to become online... {time.monotonic()}")
+      rk.keep_time()
+
+    register_sunnylink()
+  except Exception:
+    cloudlog.exception("Sunnylink registration failed")
+    Params().put_bool("SunnylinkTempFault", True)
+    raise
 
 
 if __name__ == "__main__":
diff --git a/sunnypilot/sunnylink/utils.py b/sunnypilot/sunnylink/utils.py
index 585e460e9c10e8..e86a7951701743 100644
--- a/sunnypilot/sunnylink/utils.py
+++ b/sunnypilot/sunnylink/utils.py
@@ -6,31 +6,32 @@
 from openpilot.system.version import is_prebuilt
 
 
-def get_sunnylink_status(params=None) -> tuple[bool, bool]:
+def get_sunnylink_status(params=None) -> tuple[bool, bool, bool]:
   """Get the status of Sunnylink on the device. Returns a tuple of (is_sunnylink_enabled, is_registered)."""
   params = params or Params()
   is_sunnylink_enabled = params.get_bool("SunnylinkEnabled")
   is_registered = params.get("SunnylinkDongleId") not in (None, UNREGISTERED_SUNNYLINK_DONGLE_ID)
-  return is_sunnylink_enabled, is_registered
+  is_on_temporary_fault = params.get_bool("SunnylinkTempFault")
+  return is_sunnylink_enabled, is_registered, is_on_temporary_fault
 
 
 def sunnylink_ready(params=None) -> bool:
   """Check if the device is ready to communicate with Sunnylink. That means it is enabled and registered."""
   params = params or Params()
-  is_sunnylink_enabled, is_registered = get_sunnylink_status(params)
-  return is_sunnylink_enabled and is_registered
+  is_sunnylink_enabled, is_registered, is_on_temporary_fault = get_sunnylink_status(params)
+  return is_sunnylink_enabled and is_registered and not is_on_temporary_fault
 
 
 def use_sunnylink_uploader(params) -> bool:
   """Check if the device is ready to use Sunnylink and the uploader is enabled."""
-  return sunnylink_ready(params) and params.get_bool("EnableSunnylinkUploader")
+  return not params.get_bool("NetworkMetered") and sunnylink_ready(params) and params.get_bool("EnableSunnylinkUploader")
 
 
 def sunnylink_need_register(params=None) -> bool:
   """Check if the device needs to be registered with Sunnylink."""
   params = params or Params()
-  is_sunnylink_enabled, is_registered = get_sunnylink_status(params)
-  return is_sunnylink_enabled and not is_registered
+  is_sunnylink_enabled, is_registered, is_on_temporary_fault = get_sunnylink_status(params)
+  return is_sunnylink_enabled and not is_registered and not is_on_temporary_fault
 
 
 def register_sunnylink():
@@ -47,8 +48,12 @@ def register_sunnylink():
       "timeout": 60
     }
 
-  sunnylink_id = SunnylinkApi(None).register_device(None, **extra_args)
-  print(f"SunnyLinkId: {sunnylink_id}")
+  try:
+    sunnylink_id = SunnylinkApi(None).register_device(None, **extra_args)
+    print(f"SunnyLinkId: {sunnylink_id}")
+  except Exception:
+    Params().put_bool("SunnylinkTempFault", True)
+    raise
 
 
 def get_api_token():

From 7dfe03b7a3a2160dae6c34ec2fca7c04781eaba9 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Thu, 9 Oct 2025 02:21:09 -0400
Subject: [PATCH 0490/1434] [bot] Update translations (#1200)

Update translations

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 selfdrive/ui/translations/main_ar.ts     | 507 +++++++++++++++++++++-
 selfdrive/ui/translations/main_de.ts     | 507 +++++++++++++++++++++-
 selfdrive/ui/translations/main_es.ts     | 507 +++++++++++++++++++++-
 selfdrive/ui/translations/main_fr.ts     | 507 +++++++++++++++++++++-
 selfdrive/ui/translations/main_ja.ts     | 507 +++++++++++++++++++++-
 selfdrive/ui/translations/main_ko.ts     | 517 +++++++++++++++++++++--
 selfdrive/ui/translations/main_pt-BR.ts  | 507 +++++++++++++++++++++-
 selfdrive/ui/translations/main_th.ts     | 507 +++++++++++++++++++++-
 selfdrive/ui/translations/main_tr.ts     | 507 +++++++++++++++++++++-
 selfdrive/ui/translations/main_zh-CHS.ts | 507 +++++++++++++++++++++-
 selfdrive/ui/translations/main_zh-CHT.ts | 507 +++++++++++++++++++++-
 11 files changed, 5351 insertions(+), 236 deletions(-)

diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index ef7110e72e8c08..4048daf74afb25 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -134,19 +134,19 @@ Please use caution when using this feature. Only use the blinker when traffic an
 <context>
     <name>Brightness</name>
     <message>
-        <source>Brightness</source>
+        <source>Auto (Dark)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Overrides the brightness of the device.</source>
+        <source>Auto</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Auto (Dark)</source>
+        <source>Global Brightness</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Auto</source>
+        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual
         <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Copyparty service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -464,15 +472,6 @@ Steering lag calibration is complete.</source>
         <source>Wake-Up Behavior</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Interactivity Timeout</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Apply a custom timeout for settings UI.
-This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reboot</source>
         <translation type="unfinished">إعادة التشغيل</translation>
@@ -517,10 +516,6 @@ This is the time after which settings UI closes automatically if user is not int
         <source>Exit Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
         <translation type="unfinished"></translation>
@@ -533,6 +528,34 @@ This is the time after which settings UI closes automatically if user is not int
         <source>Controls state of the device after boot/sleep.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Onroad Uploads</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DisplayPanel</name>
+    <message>
+        <source>Onroad Screen: Reduced Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -594,6 +617,61 @@ This is the time after which settings UI closes automatically if user is not int
         <translation>تشغيل وضع الراحة</translation>
     </message>
 </context>
+<context>
+    <name>ExternalStorageControl</name>
+    <message>
+        <source>External Storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">التحقق</translation>
+    </message>
+    <message>
+        <source>MOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UNMOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>FORMAT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to format this drive? This will erase all data.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>formatting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>insert drive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>needs format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>FirehosePanel</name>
     <message>
@@ -649,6 +727,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>MAX</translation>
     </message>
 </context>
+<context>
+    <name>HudRendererSP</name>
+    <message>
+        <source>km/h</source>
+        <translation type="unfinished">كم/س</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="unfinished">ميل/س</translation>
+    </message>
+    <message>
+        <source>GREEN
+LIGHT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LEAD VEHICLE
+DEPARTING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Near</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AHEAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="unfinished">MAX</translation>
+    </message>
+</context>
 <context>
     <name>HyundaiSettings</name>
     <message>
@@ -767,6 +902,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>This platform supports limited MADS settings.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enforce Torque Lateral Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Params</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>LongitudinalPanel</name>
@@ -790,6 +937,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -1048,6 +1223,18 @@ The default software delay value is 0.2</source>
         <source>Total Delay:</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Use Lane Turn Desires</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Lane Turn Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -1169,10 +1356,6 @@ The default software delay value is 0.2</source>
         <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
         <translation>يتم تنزيل تحديث لنظام تشغيل جهازك �ي الخل�ية. سيطلَب منك التحديث عندما يصبح جاهزاً للتثبيت.</translation>
     </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>محرك NVMe غير مثبَّت.</translation>
-    </message>
     <message>
         <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
         <translation type="unfinished"></translation>
@@ -1211,6 +1394,10 @@ The default software delay value is 0.2</source>
 %1</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -1597,6 +1784,59 @@ Warning: You are on a metered connection!</source>
         <source>sunnypilot</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>None</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -1691,6 +1931,10 @@ Warning: You are on a metered connection!</source>
         <source>Developer</source>
         <translation type="unfinished">المطور</translation>
     </message>
+    <message>
+        <source>Display</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -1927,6 +2171,84 @@ Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>SpeedLimitPolicy</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">السابق</translation>
+    </message>
+    <message>
+        <source>Speed Limit Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SpeedLimitSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">السابق</translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ None: No Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Off: Disables the Speed Limit functions.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
@@ -2309,6 +2631,60 @@ Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>TorqueLateralControlCustomParams</name>
+    <message>
+        <source>Manual Real-Time Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lateral Acceleration Factor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Friction</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Real-time and Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TorqueLateralControlSettings</name>
+    <message>
+        <source>Self-Tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less Restrict Settings for Self-Tune (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Custom Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TreeOptionDialog</name>
     <message>
@@ -2319,6 +2695,10 @@ Warning: You are on a metered connection!</source>
         <source>Cancel</source>
         <translation type="unfinished">إلغاء</translation>
     </message>
+    <message>
+        <source>Favorites</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>VisualsPanel</name>
@@ -2362,6 +2742,91 @@ Warning: You are on a metered connection!</source>
         <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Tesla Rainbow Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A beautiful rainbow effect on the path the model wants to take.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>It</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>does not</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>affect driving in any way.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Standstill Timer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Show a timer on the HUD when the car is at a standstill.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Green Traffic Light Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lead Departure Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Always Display True Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Hide from Onroad Screen</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right &amp;&amp;
+Bottom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Developer UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display real-time parameters and metrics from various sources.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index dde92414607597..3d90dca1826052 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -134,19 +134,19 @@ Please use caution when using this feature. Only use the blinker when traffic an
 <context>
     <name>Brightness</name>
     <message>
-        <source>Brightness</source>
+        <source>Auto (Dark)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Overrides the brightness of the device.</source>
+        <source>Auto</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Auto (Dark)</source>
+        <source>Global Brightness</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Auto</source>
+        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual
         <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Copyparty service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -464,15 +472,6 @@ Steering lag calibration is complete.</source>
         <source>Wake-Up Behavior</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Interactivity Timeout</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Apply a custom timeout for settings UI.
-This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reboot</source>
         <translation type="unfinished">Neustart</translation>
@@ -517,10 +516,6 @@ This is the time after which settings UI closes automatically if user is not int
         <source>Exit Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
         <translation type="unfinished"></translation>
@@ -533,6 +528,34 @@ This is the time after which settings UI closes automatically if user is not int
         <source>Controls state of the device after boot/sleep.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Onroad Uploads</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DisplayPanel</name>
+    <message>
+        <source>Onroad Screen: Reduced Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -594,6 +617,61 @@ This is the time after which settings UI closes automatically if user is not int
         <translation>ENTSPANNTER MODUS AN</translation>
     </message>
 </context>
+<context>
+    <name>ExternalStorageControl</name>
+    <message>
+        <source>External Storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">ÃœBERPRÃœFEN</translation>
+    </message>
+    <message>
+        <source>MOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UNMOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>FORMAT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to format this drive? This will erase all data.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>formatting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>insert drive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>needs format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>FirehosePanel</name>
     <message>
@@ -645,6 +723,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>MAX</translation>
     </message>
 </context>
+<context>
+    <name>HudRendererSP</name>
+    <message>
+        <source>km/h</source>
+        <translation type="unfinished">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="unfinished">mph</translation>
+    </message>
+    <message>
+        <source>GREEN
+LIGHT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LEAD VEHICLE
+DEPARTING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Near</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AHEAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="unfinished">MAX</translation>
+    </message>
+</context>
 <context>
     <name>HyundaiSettings</name>
     <message>
@@ -759,6 +894,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>This platform supports limited MADS settings.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enforce Torque Lateral Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Params</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>LongitudinalPanel</name>
@@ -782,6 +929,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -1040,6 +1215,18 @@ The default software delay value is 0.2</source>
         <source>Total Delay:</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Use Lane Turn Desires</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Lane Turn Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -1157,10 +1344,6 @@ The default software delay value is 0.2</source>
         <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
         <translation>Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist.</translation>
     </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>NVMe-Laufwerk nicht gemounted.</translation>
-    </message>
     <message>
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
         <translation>Gerätetemperatur zu hoch. Das System kühlt ab, bevor es startet. Aktuelle interne Komponententemperatur: %1</translation>
@@ -1203,6 +1386,10 @@ The default software delay value is 0.2</source>
 %1</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -1577,6 +1764,59 @@ Warning: You are on a metered connection!</source>
         <source>sunnypilot</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>None</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -1671,6 +1911,10 @@ Warning: You are on a metered connection!</source>
         <source>Developer</source>
         <translation type="unfinished">Entwickler</translation>
     </message>
+    <message>
+        <source>Display</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -1909,6 +2153,84 @@ Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>SpeedLimitPolicy</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">Zurück</translation>
+    </message>
+    <message>
+        <source>Speed Limit Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SpeedLimitSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">Zurück</translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ None: No Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Off: Disables the Speed Limit functions.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
@@ -2291,6 +2613,60 @@ Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>TorqueLateralControlCustomParams</name>
+    <message>
+        <source>Manual Real-Time Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lateral Acceleration Factor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Friction</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Real-time and Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TorqueLateralControlSettings</name>
+    <message>
+        <source>Self-Tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less Restrict Settings for Self-Tune (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Custom Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TreeOptionDialog</name>
     <message>
@@ -2301,6 +2677,10 @@ Warning: You are on a metered connection!</source>
         <source>Cancel</source>
         <translation type="unfinished">Abbrechen</translation>
     </message>
+    <message>
+        <source>Favorites</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>VisualsPanel</name>
@@ -2344,6 +2724,91 @@ Warning: You are on a metered connection!</source>
         <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Tesla Rainbow Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A beautiful rainbow effect on the path the model wants to take.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>It</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>does not</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>affect driving in any way.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Standstill Timer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Show a timer on the HUD when the car is at a standstill.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Green Traffic Light Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lead Departure Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Always Display True Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Hide from Onroad Screen</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right &amp;&amp;
+Bottom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Developer UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display real-time parameters and metrics from various sources.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 3b53e7f944860c..284f63ebf3505d 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -134,19 +134,19 @@ Please use caution when using this feature. Only use the blinker when traffic an
 <context>
     <name>Brightness</name>
     <message>
-        <source>Brightness</source>
+        <source>Auto (Dark)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Overrides the brightness of the device.</source>
+        <source>Auto</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Auto (Dark)</source>
+        <source>Global Brightness</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Auto</source>
+        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual
         <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Copyparty service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -468,15 +476,6 @@ La calibración del retraso de la dirección está completa.</translation>
         <source>Wake-Up Behavior</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Interactivity Timeout</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Apply a custom timeout for settings UI.
-This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reboot</source>
         <translation type="unfinished">Reiniciar</translation>
@@ -521,10 +520,6 @@ This is the time after which settings UI closes automatically if user is not int
         <source>Exit Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
         <translation type="unfinished"></translation>
@@ -537,6 +532,34 @@ This is the time after which settings UI closes automatically if user is not int
         <source>Controls state of the device after boot/sleep.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Onroad Uploads</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DisplayPanel</name>
+    <message>
+        <source>Onroad Screen: Reduced Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -598,6 +621,61 @@ This is the time after which settings UI closes automatically if user is not int
         <translation>MODO CHILL</translation>
     </message>
 </context>
+<context>
+    <name>ExternalStorageControl</name>
+    <message>
+        <source>External Storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">VERIFICAR</translation>
+    </message>
+    <message>
+        <source>MOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UNMOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>FORMAT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to format this drive? This will erase all data.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>formatting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>insert drive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>needs format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>FirehosePanel</name>
     <message>
@@ -649,6 +727,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>MAX</translation>
     </message>
 </context>
+<context>
+    <name>HudRendererSP</name>
+    <message>
+        <source>km/h</source>
+        <translation type="unfinished">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="unfinished">mph</translation>
+    </message>
+    <message>
+        <source>GREEN
+LIGHT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LEAD VEHICLE
+DEPARTING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Near</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AHEAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="unfinished">MAX</translation>
+    </message>
+</context>
 <context>
     <name>HyundaiSettings</name>
     <message>
@@ -763,6 +898,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>This platform supports limited MADS settings.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enforce Torque Lateral Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Params</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>LongitudinalPanel</name>
@@ -786,6 +933,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -1044,6 +1219,18 @@ The default software delay value is 0.2</source>
         <source>Total Delay:</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Use Lane Turn Desires</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Lane Turn Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -1165,10 +1352,6 @@ The default software delay value is 0.2</source>
         <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
         <translation>Se está descargando una actualización del sistema operativo de su dispositivo en segundo plano. Se le pedirá que actualice cuando esté listo para instalarse.</translation>
     </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>Unidad NVMe no montada.</translation>
-    </message>
     <message>
         <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
         <translation type="unfinished"></translation>
@@ -1207,6 +1390,10 @@ The default software delay value is 0.2</source>
 %1</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -1581,6 +1768,59 @@ Warning: You are on a metered connection!</source>
         <source>sunnypilot</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>None</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -1675,6 +1915,10 @@ Warning: You are on a metered connection!</source>
         <source>Developer</source>
         <translation type="unfinished">Desarrollador</translation>
     </message>
+    <message>
+        <source>Display</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -1911,6 +2155,84 @@ Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>SpeedLimitPolicy</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SpeedLimitSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ None: No Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Off: Disables the Speed Limit functions.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
@@ -2293,6 +2615,60 @@ Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>TorqueLateralControlCustomParams</name>
+    <message>
+        <source>Manual Real-Time Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lateral Acceleration Factor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Friction</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Real-time and Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TorqueLateralControlSettings</name>
+    <message>
+        <source>Self-Tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less Restrict Settings for Self-Tune (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Custom Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TreeOptionDialog</name>
     <message>
@@ -2303,6 +2679,10 @@ Warning: You are on a metered connection!</source>
         <source>Cancel</source>
         <translation type="unfinished">Cancelar</translation>
     </message>
+    <message>
+        <source>Favorites</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>VisualsPanel</name>
@@ -2346,6 +2726,91 @@ Warning: You are on a metered connection!</source>
         <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Tesla Rainbow Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A beautiful rainbow effect on the path the model wants to take.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>It</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>does not</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>affect driving in any way.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Standstill Timer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Show a timer on the HUD when the car is at a standstill.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Green Traffic Light Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lead Departure Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Always Display True Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Hide from Onroad Screen</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right &amp;&amp;
+Bottom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Developer UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display real-time parameters and metrics from various sources.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 45705defd971f3..c6c998b723b1d4 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -134,19 +134,19 @@ Please use caution when using this feature. Only use the blinker when traffic an
 <context>
     <name>Brightness</name>
     <message>
-        <source>Brightness</source>
+        <source>Auto (Dark)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Overrides the brightness of the device.</source>
+        <source>Auto</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Auto (Dark)</source>
+        <source>Global Brightness</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Auto</source>
+        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual
         <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Copyparty service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -464,15 +472,6 @@ Steering lag calibration is complete.</source>
         <source>Wake-Up Behavior</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Interactivity Timeout</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Apply a custom timeout for settings UI.
-This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reboot</source>
         <translation type="unfinished">Redémarrer</translation>
@@ -517,10 +516,6 @@ This is the time after which settings UI closes automatically if user is not int
         <source>Exit Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
         <translation type="unfinished"></translation>
@@ -533,6 +528,34 @@ This is the time after which settings UI closes automatically if user is not int
         <source>Controls state of the device after boot/sleep.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Onroad Uploads</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DisplayPanel</name>
+    <message>
+        <source>Onroad Screen: Reduced Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -594,6 +617,61 @@ This is the time after which settings UI closes automatically if user is not int
         <translation>MODE DÉTENTE ACTIVÉ</translation>
     </message>
 </context>
+<context>
+    <name>ExternalStorageControl</name>
+    <message>
+        <source>External Storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">VÉRIFIER</translation>
+    </message>
+    <message>
+        <source>MOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UNMOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>FORMAT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to format this drive? This will erase all data.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>formatting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>insert drive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>needs format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>FirehosePanel</name>
     <message>
@@ -645,6 +723,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>MAX</translation>
     </message>
 </context>
+<context>
+    <name>HudRendererSP</name>
+    <message>
+        <source>km/h</source>
+        <translation type="unfinished">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="unfinished">mi/h</translation>
+    </message>
+    <message>
+        <source>GREEN
+LIGHT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LEAD VEHICLE
+DEPARTING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Near</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AHEAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="unfinished">MAX</translation>
+    </message>
+</context>
 <context>
     <name>HyundaiSettings</name>
     <message>
@@ -759,6 +894,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>This platform supports limited MADS settings.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enforce Torque Lateral Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Params</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>LongitudinalPanel</name>
@@ -782,6 +929,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -1040,6 +1215,18 @@ The default software delay value is 0.2</source>
         <source>Total Delay:</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Use Lane Turn Desires</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Lane Turn Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -1161,10 +1348,6 @@ The default software delay value is 0.2</source>
         <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
         <translation>Une mise à jour du système d&apos;exploitation de votre appareil est en cours de téléchargement en arrière-plan. Vous serez invité à effectuer la mise à jour lorsqu&apos;elle sera prête à être installée.</translation>
     </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>Le disque NVMe n&apos;est pas monté.</translation>
-    </message>
     <message>
         <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
         <translation type="unfinished"></translation>
@@ -1203,6 +1386,10 @@ The default software delay value is 0.2</source>
 %1</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -1577,6 +1764,59 @@ Warning: You are on a metered connection!</source>
         <source>sunnypilot</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>None</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -1671,6 +1911,10 @@ Warning: You are on a metered connection!</source>
         <source>Developer</source>
         <translation type="unfinished">Dév.</translation>
     </message>
+    <message>
+        <source>Display</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -1907,6 +2151,84 @@ Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>SpeedLimitPolicy</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">Retour</translation>
+    </message>
+    <message>
+        <source>Speed Limit Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SpeedLimitSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">Retour</translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ None: No Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Off: Disables the Speed Limit functions.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
@@ -2289,6 +2611,60 @@ Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>TorqueLateralControlCustomParams</name>
+    <message>
+        <source>Manual Real-Time Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lateral Acceleration Factor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Friction</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Real-time and Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TorqueLateralControlSettings</name>
+    <message>
+        <source>Self-Tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less Restrict Settings for Self-Tune (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Custom Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TreeOptionDialog</name>
     <message>
@@ -2299,6 +2675,10 @@ Warning: You are on a metered connection!</source>
         <source>Cancel</source>
         <translation type="unfinished">Annuler</translation>
     </message>
+    <message>
+        <source>Favorites</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>VisualsPanel</name>
@@ -2342,6 +2722,91 @@ Warning: You are on a metered connection!</source>
         <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Tesla Rainbow Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A beautiful rainbow effect on the path the model wants to take.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>It</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>does not</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>affect driving in any way.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Standstill Timer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Show a timer on the HUD when the car is at a standstill.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Green Traffic Light Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lead Departure Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Always Display True Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Hide from Onroad Screen</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right &amp;&amp;
+Bottom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Developer UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display real-time parameters and metrics from various sources.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 3faa183954fac1..b6a29a867c3395 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -134,19 +134,19 @@ Please use caution when using this feature. Only use the blinker when traffic an
 <context>
     <name>Brightness</name>
     <message>
-        <source>Brightness</source>
+        <source>Auto (Dark)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Overrides the brightness of the device.</source>
+        <source>Auto</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Auto (Dark)</source>
+        <source>Global Brightness</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Auto</source>
+        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual
         <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Copyparty service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -468,15 +476,6 @@ Steering lag calibration is complete.</source>
         <source>Wake-Up Behavior</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Interactivity Timeout</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Apply a custom timeout for settings UI.
-This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reboot</source>
         <translation type="unfinished">�起動</translation>
@@ -521,10 +520,6 @@ This is the time after which settings UI closes automatically if user is not int
         <source>Exit Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
         <translation type="unfinished"></translation>
@@ -537,6 +532,34 @@ This is the time after which settings UI closes automatically if user is not int
         <source>Controls state of the device after boot/sleep.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Onroad Uploads</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DisplayPanel</name>
+    <message>
+        <source>Onroad Screen: Reduced Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -598,6 +621,61 @@ This is the time after which settings UI closes automatically if user is not int
         <translation>CHILLモード</translation>
     </message>
 </context>
+<context>
+    <name>ExternalStorageControl</name>
+    <message>
+        <source>External Storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">確�</translation>
+    </message>
+    <message>
+        <source>MOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UNMOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>FORMAT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to format this drive? This will erase all data.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>formatting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>insert drive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>needs format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>FirehosePanel</name>
     <message>
@@ -648,6 +726,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>最大速度</translation>
     </message>
 </context>
+<context>
+    <name>HudRendererSP</name>
+    <message>
+        <source>km/h</source>
+        <translation type="unfinished">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="unfinished">mph</translation>
+    </message>
+    <message>
+        <source>GREEN
+LIGHT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LEAD VEHICLE
+DEPARTING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Near</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AHEAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="unfinished">最大速度</translation>
+    </message>
+</context>
 <context>
     <name>HyundaiSettings</name>
     <message>
@@ -761,6 +896,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>This platform supports limited MADS settings.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enforce Torque Lateral Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Params</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>LongitudinalPanel</name>
@@ -784,6 +931,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -1042,6 +1217,18 @@ The default software delay value is 0.2</source>
         <source>Total Delay:</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Use Lane Turn Desires</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Lane Turn Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -1159,10 +1346,6 @@ The default software delay value is 0.2</source>
         <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
         <translation>オペレーティングシステム��ックグラウンド�ダウンロード�れ����。インストール�準備�整��更新を促�れ��。</translation>
     </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>SSDドライブ(NVMe)�マウント�れ����ん。</translation>
-    </message>
     <message>
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
         <translation>デ�イス�温度�高��る��システム起動��冷�中��。�在�デ�イス内部温度: %1</translation>
@@ -1205,6 +1388,10 @@ The default software delay value is 0.2</source>
 %1</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -1576,6 +1763,59 @@ Warning: You are on a metered connection!</source>
         <source>sunnypilot</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>None</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -1670,6 +1910,10 @@ Warning: You are on a metered connection!</source>
         <source>Developer</source>
         <translation type="unfinished">開発</translation>
     </message>
+    <message>
+        <source>Display</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -1906,6 +2150,84 @@ Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>SpeedLimitPolicy</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">戻る</translation>
+    </message>
+    <message>
+        <source>Speed Limit Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SpeedLimitSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">戻る</translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ None: No Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Off: Disables the Speed Limit functions.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
@@ -2288,6 +2610,60 @@ Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>TorqueLateralControlCustomParams</name>
+    <message>
+        <source>Manual Real-Time Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lateral Acceleration Factor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Friction</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Real-time and Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TorqueLateralControlSettings</name>
+    <message>
+        <source>Self-Tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less Restrict Settings for Self-Tune (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Custom Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TreeOptionDialog</name>
     <message>
@@ -2298,6 +2674,10 @@ Warning: You are on a metered connection!</source>
         <source>Cancel</source>
         <translation type="unfinished">キャンセル</translation>
     </message>
+    <message>
+        <source>Favorites</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>VisualsPanel</name>
@@ -2341,6 +2721,91 @@ Warning: You are on a metered connection!</source>
         <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Tesla Rainbow Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A beautiful rainbow effect on the path the model wants to take.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>It</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>does not</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>affect driving in any way.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Standstill Timer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Show a timer on the HUD when the car is at a standstill.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Green Traffic Light Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lead Departure Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Always Display True Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Hide from Onroad Screen</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right &amp;&amp;
+Bottom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Developer UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display real-time parameters and metrics from various sources.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 756cad604528b1..f3ec6b69e8134c 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -134,14 +134,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
     <name>Brightness</name>
-    <message>
-        <source>Brightness</source>
-        <translation>�기</translation>
-    </message>
-    <message>
-        <source>Overrides the brightness of the device.</source>
-        <translation>기기 �기를 �접 설정합니다.</translation>
-    </message>
     <message>
         <source>Auto (Dark)</source>
         <translation>�� (어둡게)</translation>
@@ -150,6 +142,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Auto</source>
         <translation>��</translation>
     </message>
+    <message>
+        <source>Global Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
@@ -254,6 +254,14 @@ This only toggles the visibility of the controls; it does not toggle the actual
         <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
         <translation>빠른 부팅 모드는 업��트가 비활성화�어 있어야 합니다.&lt;br&gt;먼저 소프트웨어 패��서 &apos;업��트 비활성화&apos;를 활성화하세요.</translation>
     </message>
+    <message>
+        <source>Enable Copyparty service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -472,16 +480,6 @@ Steering lag calibration is complete.</source>
         <source>Wake-Up Behavior</source>
         <translation>깨우기 �작</translation>
     </message>
-    <message>
-        <source>Interactivity Timeout</source>
-        <translation>�호작용 타임아웃</translation>
-    </message>
-    <message>
-        <source>Apply a custom timeout for settings UI.
-This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
-        <translation>설정 화면� 사용� 지정 타임아웃� �용하세요.
-사용�가 화면과 �호작용하지 않으면 설정 화면� ��으로 닫히는 시간입니다.</translation>
-    </message>
     <message>
         <source>Reboot</source>
         <translation>재부팅</translation>
@@ -526,10 +524,6 @@ This is the time after which settings UI closes automatically if user is not int
         <source>Exit Always Offroad</source>
         <translation>항� 오프로드 종료</translation>
     </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation>항� 오프로드</translation>
-    </message>
     <message>
         <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
         <translation>� 기본값: 기기가 정��으로 부팅/절전 모드�서 해제�며, 작� 준비가 완료�니다.</translation>
@@ -542,6 +536,35 @@ This is the time after which settings UI closes automatically if user is not int
         <source>Controls state of the device after boot/sleep.</source>
         <translation>부팅/절전 모드 후 기기� �태를 제어합니다.</translation>
     </message>
+    <message>
+        <source>Onroad Uploads</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DisplayPanel</name>
+    <message>
+        <source>Onroad Screen: Reduced Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished">�호작용 타임아웃</translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished">설정 화면� 사용� 지정 타임아웃� �용하세요.
+사용�가 화면과 �호작용하지 않으면 설정 화면� ��으로 닫히는 시간입니다.</translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -603,6 +626,61 @@ This is the time after which settings UI closes automatically if user is not int
         <translation>안정 모드 켜�</translation>
     </message>
 </context>
+<context>
+    <name>ExternalStorageControl</name>
+    <message>
+        <source>External Storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">확�</translation>
+    </message>
+    <message>
+        <source>MOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UNMOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>FORMAT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to format this drive? This will erase all data.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>formatting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>insert drive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>needs format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>FirehosePanel</name>
     <message>
@@ -655,6 +733,63 @@ Firehose 모드를 사용하면 훈련 ��터 업로드를 극대화하여 op
         <translation>최대</translation>
     </message>
 </context>
+<context>
+    <name>HudRendererSP</name>
+    <message>
+        <source>km/h</source>
+        <translation type="unfinished">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="unfinished">mph</translation>
+    </message>
+    <message>
+        <source>GREEN
+LIGHT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LEAD VEHICLE
+DEPARTING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Near</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished">분</translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AHEAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="unfinished">최대</translation>
+    </message>
+</context>
 <context>
     <name>HyundaiSettings</name>
     <message>
@@ -768,6 +903,18 @@ Firehose 모드를 사용하면 훈련 ��터 업로드를 극대화하여 op
         <source>This platform supports limited MADS settings.</source>
         <translation>� 플랫�� 제한� MADS 설정� 지�합니다.</translation>
     </message>
+    <message>
+        <source>Enforce Torque Lateral Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Params</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>LongitudinalPanel</name>
@@ -791,6 +938,34 @@ Firehose 모드를 사용하면 훈련 ��터 업로드를 극대화하여 op
         <source>Start the vehicle to check vehicle compatibility.</source>
         <translation>차량 호환성� 확�하려면 차량 시�� 걸어주세요.</translation>
     </message>
+    <message>
+        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -1050,6 +1225,18 @@ The default software delay value is 0.2</source>
         <source>Total Delay:</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Use Lane Turn Desires</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Lane Turn Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -1167,10 +1354,6 @@ The default software delay value is 0.2</source>
         <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
         <translation>기기 운�체제 업��트가 백그�운드�서 다운로드 중입니다. 설치가 준비�면 업��트를 진행하�는 메시지가 표시�니다.</translation>
     </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>NVMe 드��브가 마운트�지 않았습니다.</translation>
-    </message>
     <message>
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
         <translation>기기 온�가 너무 높습니다. 시스템� 시작하기 전� 온�를 낮추고 있습니다. 현재 내부 부품 온�는 %1입니다.</translation>
@@ -1215,6 +1398,10 @@ The default software delay value is 0.2</source>
 
 %1</translation>
     </message>
+    <message>
+        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -1590,6 +1777,59 @@ Warning: You are on a metered connection!</source>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
     </message>
+    <message>
+        <source>None</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -1684,6 +1924,10 @@ Warning: You are on a metered connection!</source>
         <source>Developer</source>
         <translation>개발�</translation>
     </message>
+    <message>
+        <source>Display</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -1920,6 +2164,84 @@ Warning: You are on a metered connection!</source>
         <translation>� 설정들� 변경하려면 항� 오프로드 모드를 활성화하거나 차량 시�� 꺼야 합니다.</translation>
     </message>
 </context>
+<context>
+    <name>SpeedLimitPolicy</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">뒤로</translation>
+    </message>
+    <message>
+        <source>Speed Limit Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SpeedLimitSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">뒤로</translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ None: No Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Off: Disables the Speed Limit functions.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
@@ -2302,6 +2624,60 @@ Warning: You are on a metered connection!</source>
         <translation>실험 모드를 활성화하려면 sunnypilot 가�� 제어(알파) 토글� 켜세요.</translation>
     </message>
 </context>
+<context>
+    <name>TorqueLateralControlCustomParams</name>
+    <message>
+        <source>Manual Real-Time Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lateral Acceleration Factor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Friction</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Real-time and Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TorqueLateralControlSettings</name>
+    <message>
+        <source>Self-Tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less Restrict Settings for Self-Tune (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Custom Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TreeOptionDialog</name>
     <message>
@@ -2312,6 +2688,10 @@ Warning: You are on a metered connection!</source>
         <source>Cancel</source>
         <translation>취소</translation>
     </message>
+    <message>
+        <source>Favorites</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>VisualsPanel</name>
@@ -2355,6 +2735,91 @@ Warning: You are on a metered connection!</source>
         <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
         <translation>앞차를 추�하는 역삼�형 아래� 유용한 측정 지표를 표시합니다. (openpilot 가�� 제어 기능� 있는 차량�만 해당�니다)</translation>
     </message>
+    <message>
+        <source>Enable Tesla Rainbow Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A beautiful rainbow effect on the path the model wants to take.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>It</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>does not</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>affect driving in any way.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Standstill Timer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Show a timer on the HUD when the car is at a standstill.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Green Traffic Light Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lead Departure Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Always Display True Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Hide from Onroad Screen</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right &amp;&amp;
+Bottom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Developer UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display real-time parameters and metrics from various sources.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 0a886d435c4c47..e820f472af510f 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -134,19 +134,19 @@ Please use caution when using this feature. Only use the blinker when traffic an
 <context>
     <name>Brightness</name>
     <message>
-        <source>Brightness</source>
+        <source>Auto (Dark)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Overrides the brightness of the device.</source>
+        <source>Auto</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Auto (Dark)</source>
+        <source>Global Brightness</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Auto</source>
+        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual
         <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Copyparty service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -468,15 +476,6 @@ A calibração do atraso da direção foi concluída.</translation>
         <source>Wake-Up Behavior</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Interactivity Timeout</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Apply a custom timeout for settings UI.
-This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reboot</source>
         <translation type="unfinished">Reiniciar</translation>
@@ -521,10 +520,6 @@ This is the time after which settings UI closes automatically if user is not int
         <source>Exit Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
         <translation type="unfinished"></translation>
@@ -537,6 +532,34 @@ This is the time after which settings UI closes automatically if user is not int
         <source>Controls state of the device after boot/sleep.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Onroad Uploads</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DisplayPanel</name>
+    <message>
+        <source>Onroad Screen: Reduced Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -598,6 +621,61 @@ This is the time after which settings UI closes automatically if user is not int
         <translation>MODO CHILL ON</translation>
     </message>
 </context>
+<context>
+    <name>ExternalStorageControl</name>
+    <message>
+        <source>External Storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">VERIFICAR</translation>
+    </message>
+    <message>
+        <source>MOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UNMOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>FORMAT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to format this drive? This will erase all data.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>formatting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>insert drive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>needs format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>FirehosePanel</name>
     <message>
@@ -649,6 +727,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>LIMITE</translation>
     </message>
 </context>
+<context>
+    <name>HudRendererSP</name>
+    <message>
+        <source>km/h</source>
+        <translation type="unfinished">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="unfinished">mph</translation>
+    </message>
+    <message>
+        <source>GREEN
+LIGHT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LEAD VEHICLE
+DEPARTING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Near</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AHEAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="unfinished">LIMITE</translation>
+    </message>
+</context>
 <context>
     <name>HyundaiSettings</name>
     <message>
@@ -763,6 +898,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>This platform supports limited MADS settings.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enforce Torque Lateral Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Params</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>LongitudinalPanel</name>
@@ -786,6 +933,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -1044,6 +1219,18 @@ The default software delay value is 0.2</source>
         <source>Total Delay:</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Use Lane Turn Desires</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Lane Turn Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -1161,10 +1348,6 @@ The default software delay value is 0.2</source>
         <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
         <translation>Uma atualização para o sistema operacional do seu dispositivo está sendo baixada em segundo plano. Você será solicitado a atualizar quando estiver pronto para instalar.</translation>
     </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>Unidade NVMe não montada.</translation>
-    </message>
     <message>
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
         <translation>Temperatura do dispositivo muito alta. O sistema está sendo resfriado antes de iniciar. A temperatura atual do componente interno é: %1</translation>
@@ -1207,6 +1390,10 @@ The default software delay value is 0.2</source>
 %1</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -1581,6 +1768,59 @@ Warning: You are on a metered connection!</source>
         <source>sunnypilot</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>None</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -1675,6 +1915,10 @@ Warning: You are on a metered connection!</source>
         <source>Developer</source>
         <translation type="unfinished">Desenvdor</translation>
     </message>
+    <message>
+        <source>Display</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -1911,6 +2155,84 @@ Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>SpeedLimitPolicy</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">Voltar</translation>
+    </message>
+    <message>
+        <source>Speed Limit Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SpeedLimitSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">Voltar</translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ None: No Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Off: Disables the Speed Limit functions.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
@@ -2293,6 +2615,60 @@ Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>TorqueLateralControlCustomParams</name>
+    <message>
+        <source>Manual Real-Time Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lateral Acceleration Factor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Friction</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Real-time and Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TorqueLateralControlSettings</name>
+    <message>
+        <source>Self-Tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less Restrict Settings for Self-Tune (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Custom Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TreeOptionDialog</name>
     <message>
@@ -2303,6 +2679,10 @@ Warning: You are on a metered connection!</source>
         <source>Cancel</source>
         <translation type="unfinished">Cancelar</translation>
     </message>
+    <message>
+        <source>Favorites</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>VisualsPanel</name>
@@ -2346,6 +2726,91 @@ Warning: You are on a metered connection!</source>
         <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Tesla Rainbow Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A beautiful rainbow effect on the path the model wants to take.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>It</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>does not</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>affect driving in any way.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Standstill Timer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Show a timer on the HUD when the car is at a standstill.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Green Traffic Light Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lead Departure Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Always Display True Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Hide from Onroad Screen</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right &amp;&amp;
+Bottom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Developer UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display real-time parameters and metrics from various sources.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 7b89f2a69466a3..67a5a5eaebc1e2 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -134,19 +134,19 @@ Please use caution when using this feature. Only use the blinker when traffic an
 <context>
     <name>Brightness</name>
     <message>
-        <source>Brightness</source>
+        <source>Auto (Dark)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Overrides the brightness of the device.</source>
+        <source>Auto</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Auto (Dark)</source>
+        <source>Global Brightness</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Auto</source>
+        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual
         <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Copyparty service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -464,15 +472,6 @@ Steering lag calibration is complete.</source>
         <source>Wake-Up Behavior</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Interactivity Timeout</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Apply a custom timeout for settings UI.
-This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reboot</source>
         <translation type="unfinished">รีบูต</translation>
@@ -517,10 +516,6 @@ This is the time after which settings UI closes automatically if user is not int
         <source>Exit Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
         <translation type="unfinished"></translation>
@@ -533,6 +528,34 @@ This is the time after which settings UI closes automatically if user is not int
         <source>Controls state of the device after boot/sleep.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Onroad Uploads</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DisplayPanel</name>
+    <message>
+        <source>Onroad Screen: Reduced Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -594,6 +617,61 @@ This is the time after which settings UI closes automatically if user is not int
         <translation>คุณ�ำลังใช้โหมดชิล</translation>
     </message>
 </context>
+<context>
+    <name>ExternalStorageControl</name>
+    <message>
+        <source>External Storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">ตรวจสอบ</translation>
+    </message>
+    <message>
+        <source>MOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UNMOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>FORMAT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to format this drive? This will erase all data.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>formatting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>insert drive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>needs format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>FirehosePanel</name>
     <message>
@@ -644,6 +722,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>สูงสุด</translation>
     </message>
 </context>
+<context>
+    <name>HudRendererSP</name>
+    <message>
+        <source>km/h</source>
+        <translation type="unfinished">�ม./ชม.</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="unfinished">ไมล์/ชม.</translation>
+    </message>
+    <message>
+        <source>GREEN
+LIGHT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LEAD VEHICLE
+DEPARTING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Near</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AHEAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="unfinished">สูงสุด</translation>
+    </message>
+</context>
 <context>
     <name>HyundaiSettings</name>
     <message>
@@ -757,6 +892,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>This platform supports limited MADS settings.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enforce Torque Lateral Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Params</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>LongitudinalPanel</name>
@@ -780,6 +927,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -1038,6 +1213,18 @@ The default software delay value is 0.2</source>
         <source>Total Delay:</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Use Lane Turn Desires</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Lane Turn Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -1159,10 +1346,6 @@ The default software delay value is 0.2</source>
         <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
         <translation>�ำลังดาวน์โหลดอัปเดทสำหรับระบบป�ิบัติ�ารอยู่เบื้องหลัง คุณจะได้รับ�าร�จ้งเตือนเมื่อระบบพร้อมสำหรับ�ารติดตั้ง</translation>
     </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>ไม่ได้ติดตั้งไดร์ฟ NVMe</translation>
-    </message>
     <message>
         <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
         <translation type="unfinished"></translation>
@@ -1201,6 +1384,10 @@ The default software delay value is 0.2</source>
 %1</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -1572,6 +1759,59 @@ Warning: You are on a metered connection!</source>
         <source>sunnypilot</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>None</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -1666,6 +1906,10 @@ Warning: You are on a metered connection!</source>
         <source>Developer</source>
         <translation type="unfinished">นั�พัฒนา</translation>
     </message>
+    <message>
+        <source>Display</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -1902,6 +2146,84 @@ Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>SpeedLimitPolicy</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">ย้อน�ลับ</translation>
+    </message>
+    <message>
+        <source>Speed Limit Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SpeedLimitSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">ย้อน�ลับ</translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ None: No Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Off: Disables the Speed Limit functions.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
@@ -2284,6 +2606,60 @@ Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>TorqueLateralControlCustomParams</name>
+    <message>
+        <source>Manual Real-Time Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lateral Acceleration Factor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Friction</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Real-time and Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TorqueLateralControlSettings</name>
+    <message>
+        <source>Self-Tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less Restrict Settings for Self-Tune (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Custom Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TreeOptionDialog</name>
     <message>
@@ -2294,6 +2670,10 @@ Warning: You are on a metered connection!</source>
         <source>Cancel</source>
         <translation type="unfinished">ย�เลิ�</translation>
     </message>
+    <message>
+        <source>Favorites</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>VisualsPanel</name>
@@ -2337,6 +2717,91 @@ Warning: You are on a metered connection!</source>
         <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Tesla Rainbow Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A beautiful rainbow effect on the path the model wants to take.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>It</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>does not</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>affect driving in any way.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Standstill Timer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Show a timer on the HUD when the car is at a standstill.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Green Traffic Light Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lead Departure Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Always Display True Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Hide from Onroad Screen</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right &amp;&amp;
+Bottom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Developer UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display real-time parameters and metrics from various sources.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 0598d0836438e8..923ab691391ec1 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -134,19 +134,19 @@ Please use caution when using this feature. Only use the blinker when traffic an
 <context>
     <name>Brightness</name>
     <message>
-        <source>Brightness</source>
+        <source>Auto (Dark)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Overrides the brightness of the device.</source>
+        <source>Auto</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Auto (Dark)</source>
+        <source>Global Brightness</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Auto</source>
+        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual
         <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Copyparty service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -464,15 +472,6 @@ Steering lag calibration is complete.</source>
         <source>Wake-Up Behavior</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Interactivity Timeout</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Apply a custom timeout for settings UI.
-This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reboot</source>
         <translation type="unfinished">Yeniden baÅŸlat</translation>
@@ -517,10 +516,6 @@ This is the time after which settings UI closes automatically if user is not int
         <source>Exit Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
         <translation type="unfinished"></translation>
@@ -533,6 +528,34 @@ This is the time after which settings UI closes automatically if user is not int
         <source>Controls state of the device after boot/sleep.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Onroad Uploads</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DisplayPanel</name>
+    <message>
+        <source>Onroad Screen: Reduced Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -594,6 +617,61 @@ This is the time after which settings UI closes automatically if user is not int
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>ExternalStorageControl</name>
+    <message>
+        <source>External Storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">KONTROL ET</translation>
+    </message>
+    <message>
+        <source>MOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UNMOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>FORMAT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to format this drive? This will erase all data.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>formatting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>insert drive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>needs format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>FirehosePanel</name>
     <message>
@@ -644,6 +722,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>MAX</translation>
     </message>
 </context>
+<context>
+    <name>HudRendererSP</name>
+    <message>
+        <source>km/h</source>
+        <translation type="unfinished">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="unfinished">mph</translation>
+    </message>
+    <message>
+        <source>GREEN
+LIGHT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LEAD VEHICLE
+DEPARTING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Near</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AHEAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="unfinished">MAX</translation>
+    </message>
+</context>
 <context>
     <name>HyundaiSettings</name>
     <message>
@@ -757,6 +892,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>This platform supports limited MADS settings.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enforce Torque Lateral Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Params</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>LongitudinalPanel</name>
@@ -780,6 +927,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -1038,6 +1213,18 @@ The default software delay value is 0.2</source>
         <source>Total Delay:</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Use Lane Turn Desires</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Lane Turn Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -1158,10 +1345,6 @@ The default software delay value is 0.2</source>
         <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
         <translation type="unfinished"></translation>
@@ -1200,6 +1383,10 @@ The default software delay value is 0.2</source>
 %1</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -1571,6 +1758,59 @@ Warning: You are on a metered connection!</source>
         <source>sunnypilot</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>None</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -1665,6 +1905,10 @@ Warning: You are on a metered connection!</source>
         <source>Developer</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Display</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -1901,6 +2145,84 @@ Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>SpeedLimitPolicy</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SpeedLimitSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ None: No Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Off: Disables the Speed Limit functions.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
@@ -2283,6 +2605,60 @@ Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>TorqueLateralControlCustomParams</name>
+    <message>
+        <source>Manual Real-Time Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lateral Acceleration Factor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Friction</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Real-time and Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TorqueLateralControlSettings</name>
+    <message>
+        <source>Self-Tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less Restrict Settings for Self-Tune (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Custom Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TreeOptionDialog</name>
     <message>
@@ -2293,6 +2669,10 @@ Warning: You are on a metered connection!</source>
         <source>Cancel</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Favorites</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>VisualsPanel</name>
@@ -2336,6 +2716,91 @@ Warning: You are on a metered connection!</source>
         <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Tesla Rainbow Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A beautiful rainbow effect on the path the model wants to take.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>It</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>does not</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>affect driving in any way.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Standstill Timer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Show a timer on the HUD when the car is at a standstill.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Green Traffic Light Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lead Departure Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Always Display True Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Hide from Onroad Screen</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right &amp;&amp;
+Bottom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Developer UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display real-time parameters and metrics from various sources.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 1f4db2d6d0cc18..3be9377503a761 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -134,19 +134,19 @@ Please use caution when using this feature. Only use the blinker when traffic an
 <context>
     <name>Brightness</name>
     <message>
-        <source>Brightness</source>
+        <source>Auto (Dark)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Overrides the brightness of the device.</source>
+        <source>Auto</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Auto (Dark)</source>
+        <source>Global Brightness</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Auto</source>
+        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual
         <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Copyparty service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -468,15 +476,6 @@ Steering lag calibration is complete.</source>
         <source>Wake-Up Behavior</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Interactivity Timeout</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Apply a custom timeout for settings UI.
-This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reboot</source>
         <translation type="unfinished">��</translation>
@@ -521,10 +520,6 @@ This is the time after which settings UI closes automatically if user is not int
         <source>Exit Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
         <translation type="unfinished"></translation>
@@ -537,6 +532,34 @@ This is the time after which settings UI closes automatically if user is not int
         <source>Controls state of the device after boot/sleep.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Onroad Uploads</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DisplayPanel</name>
+    <message>
+        <source>Onroad Screen: Reduced Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -598,6 +621,61 @@ This is the time after which settings UI closes automatically if user is not int
         <translation>轻�模��行</translation>
     </message>
 </context>
+<context>
+    <name>ExternalStorageControl</name>
+    <message>
+        <source>External Storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">查看</translation>
+    </message>
+    <message>
+        <source>MOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UNMOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>FORMAT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to format this drive? This will erase all data.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>formatting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>insert drive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>needs format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>FirehosePanel</name>
     <message>
@@ -648,6 +726,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>最高定速</translation>
     </message>
 </context>
+<context>
+    <name>HudRendererSP</name>
+    <message>
+        <source>km/h</source>
+        <translation type="unfinished">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="unfinished">mph</translation>
+    </message>
+    <message>
+        <source>GREEN
+LIGHT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LEAD VEHICLE
+DEPARTING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Near</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AHEAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="unfinished">最高定速</translation>
+    </message>
+</context>
 <context>
     <name>HyundaiSettings</name>
     <message>
@@ -761,6 +896,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>This platform supports limited MADS settings.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enforce Torque Lateral Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Params</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>LongitudinalPanel</name>
@@ -784,6 +931,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -1042,6 +1217,18 @@ The default software delay value is 0.2</source>
         <source>Total Delay:</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Use Lane Turn Desires</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Lane Turn Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -1159,10 +1346,6 @@ The default software delay value is 0.2</source>
         <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
         <translation>一个针对您设备的�作系统更新正在��下载中。当更新准备好安装时，您将收到�示进行更新。</translation>
     </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>NVMe固�硬盘未被挂载。</translation>
-    </message>
     <message>
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
         <translation>设备温度过高。系统正在冷�中，等冷�完毕��会�动。目�内部组件温度：%1</translation>
@@ -1205,6 +1388,10 @@ The default software delay value is 0.2</source>
 %1</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -1576,6 +1763,59 @@ Warning: You are on a metered connection!</source>
         <source>sunnypilot</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>None</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -1670,6 +1910,10 @@ Warning: You are on a metered connection!</source>
         <source>Developer</source>
         <translation type="unfinished">开�人员</translation>
     </message>
+    <message>
+        <source>Display</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -1906,6 +2150,84 @@ Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>SpeedLimitPolicy</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">返回</translation>
+    </message>
+    <message>
+        <source>Speed Limit Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SpeedLimitSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">返回</translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ None: No Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Off: Disables the Speed Limit functions.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
@@ -2288,6 +2610,60 @@ Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>TorqueLateralControlCustomParams</name>
+    <message>
+        <source>Manual Real-Time Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lateral Acceleration Factor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Friction</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Real-time and Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TorqueLateralControlSettings</name>
+    <message>
+        <source>Self-Tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less Restrict Settings for Self-Tune (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Custom Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TreeOptionDialog</name>
     <message>
@@ -2298,6 +2674,10 @@ Warning: You are on a metered connection!</source>
         <source>Cancel</source>
         <translation type="unfinished">�消</translation>
     </message>
+    <message>
+        <source>Favorites</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>VisualsPanel</name>
@@ -2341,6 +2721,91 @@ Warning: You are on a metered connection!</source>
         <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Tesla Rainbow Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A beautiful rainbow effect on the path the model wants to take.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>It</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>does not</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>affect driving in any way.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Standstill Timer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Show a timer on the HUD when the car is at a standstill.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Green Traffic Light Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lead Departure Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Always Display True Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Hide from Onroad Screen</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right &amp;&amp;
+Bottom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Developer UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display real-time parameters and metrics from various sources.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 1a8784846cda2f..fac29bed62a1f3 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -134,19 +134,19 @@ Please use caution when using this feature. Only use the blinker when traffic an
 <context>
     <name>Brightness</name>
     <message>
-        <source>Brightness</source>
+        <source>Auto (Dark)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Overrides the brightness of the device.</source>
+        <source>Auto</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Auto (Dark)</source>
+        <source>Global Brightness</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Auto</source>
+        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual
         <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Copyparty service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -468,15 +476,6 @@ Steering lag calibration is complete.</source>
         <source>Wake-Up Behavior</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Interactivity Timeout</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Apply a custom timeout for settings UI.
-This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reboot</source>
         <translation type="unfinished">�新啟動</translation>
@@ -521,10 +520,6 @@ This is the time after which settings UI closes automatically if user is not int
         <source>Exit Always Offroad</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>� Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
         <translation type="unfinished"></translation>
@@ -537,6 +532,34 @@ This is the time after which settings UI closes automatically if user is not int
         <source>Controls state of the device after boot/sleep.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Onroad Uploads</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DisplayPanel</name>
+    <message>
+        <source>Onroad Screen: Reduced Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -598,6 +621,61 @@ This is the time after which settings UI closes automatically if user is not int
         <translation>輕鬆模� ON</translation>
     </message>
 </context>
+<context>
+    <name>ExternalStorageControl</name>
+    <message>
+        <source>External Storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">檢查</translation>
+    </message>
+    <message>
+        <source>MOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UNMOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>FORMAT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to format this drive? This will erase all data.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>formatting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>insert drive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>needs format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>FirehosePanel</name>
     <message>
@@ -648,6 +726,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>最高</translation>
     </message>
 </context>
+<context>
+    <name>HudRendererSP</name>
+    <message>
+        <source>km/h</source>
+        <translation type="unfinished">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="unfinished">mph</translation>
+    </message>
+    <message>
+        <source>GREEN
+LIGHT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LEAD VEHICLE
+DEPARTING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Near</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AHEAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="unfinished">最高</translation>
+    </message>
+</context>
 <context>
     <name>HyundaiSettings</name>
     <message>
@@ -761,6 +896,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>This platform supports limited MADS settings.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enforce Torque Lateral Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Params</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>LongitudinalPanel</name>
@@ -784,6 +931,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -1042,6 +1217,18 @@ The default software delay value is 0.2</source>
         <source>Total Delay:</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Use Lane Turn Desires</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Lane Turn Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -1159,10 +1346,6 @@ The default software delay value is 0.2</source>
         <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
         <translation>一個有關�作系統的更新正在後�下載中。當更新準備好安�時，您將收到�示進行更新。</translation>
     </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>NVMe 固態硬碟未被掛載。</translation>
-    </message>
     <message>
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
         <translation>�置溫度�高。系統正在冷�中，等冷�完畢後�會啟動。目�內部組件溫度：%1</translation>
@@ -1205,6 +1388,10 @@ The default software delay value is 0.2</source>
 %1</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -1576,6 +1763,59 @@ Warning: You are on a metered connection!</source>
         <source>sunnypilot</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>None</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -1670,6 +1910,10 @@ Warning: You are on a metered connection!</source>
         <source>Developer</source>
         <translation type="unfinished">開發人員</translation>
     </message>
+    <message>
+        <source>Display</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -1906,6 +2150,84 @@ Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>SpeedLimitPolicy</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">回上�</translation>
+    </message>
+    <message>
+        <source>Speed Limit Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SpeedLimitSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">回上�</translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ None: No Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Off: Disables the Speed Limit functions.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SshControl</name>
     <message>
@@ -2288,6 +2610,60 @@ Warning: You are on a metered connection!</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>TorqueLateralControlCustomParams</name>
+    <message>
+        <source>Manual Real-Time Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lateral Acceleration Factor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Friction</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Real-time and Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TorqueLateralControlSettings</name>
+    <message>
+        <source>Self-Tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less Restrict Settings for Self-Tune (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Custom Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>TreeOptionDialog</name>
     <message>
@@ -2298,6 +2674,10 @@ Warning: You are on a metered connection!</source>
         <source>Cancel</source>
         <translation type="unfinished">�消</translation>
     </message>
+    <message>
+        <source>Favorites</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>VisualsPanel</name>
@@ -2341,6 +2721,91 @@ Warning: You are on a metered connection!</source>
         <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Tesla Rainbow Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A beautiful rainbow effect on the path the model wants to take.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>It</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>does not</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>affect driving in any way.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Standstill Timer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Show a timer on the HUD when the car is at a standstill.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Green Traffic Light Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lead Departure Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Always Display True Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Hide from Onroad Screen</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right &amp;&amp;
+Bottom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Developer UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display real-time parameters and metrics from various sources.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>

From 73123aa400aef5ddd065fa05574a419689f622f2 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 9 Oct 2025 07:48:35 -0400
Subject: [PATCH 0491/1434] torqued_ext: adjust RELAXED_MIN_BUCKET_POINTS
 boundary values (#1340)

---
 sunnypilot/selfdrive/locationd/torqued_ext.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/selfdrive/locationd/torqued_ext.py b/sunnypilot/selfdrive/locationd/torqued_ext.py
index 084a82e9413224..58a23da00ea5c7 100644
--- a/sunnypilot/selfdrive/locationd/torqued_ext.py
+++ b/sunnypilot/selfdrive/locationd/torqued_ext.py
@@ -13,7 +13,7 @@
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
 
-RELAXED_MIN_BUCKET_POINTS = np.array([0, 200, 300, 500, 500, 300, 200, 0])
+RELAXED_MIN_BUCKET_POINTS = np.array([1, 200, 300, 500, 500, 300, 200, 1])
 
 ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda']
 

From 6d356d520e2999ca9fd69038c184f753653c5893 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 9 Oct 2025 10:28:56 -0400
Subject: [PATCH 0492/1434] ui: HUD drawing optimizations and fixes (#1342)

* no duplicated speed drawing

* reuse polygon
---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc | 13 +++++++------
 selfdrive/ui/sunnypilot/qt/onroad/hud.h  |  1 +
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 510fc2d69cbb91..4bb2aca28c62e3 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -21,6 +21,8 @@ HudRendererSP::HudRendererSP() {
   green_light_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {large_max, large_max});
   lead_depart_alert_small_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {small_max, small_max});
   lead_depart_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {large_max, large_max});
+
+  standstillTimerOctagon.reserve(8);
 }
 
 void HudRendererSP::updateState(const UIState &s) {
@@ -132,7 +134,6 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
   if (is_cruise_available) {
     drawSetSpeedSP(p, surface_rect);
   }
-  drawCurrentSpeedSP(p, surface_rect);
 
   if (!hideVEgoUI) {
     drawCurrentSpeedSP(p, surface_rect);
@@ -404,19 +405,19 @@ void HudRendererSP::drawStandstillTimer(QPainter &p, int x, int y) {
 
     // stop sign for standstill timer
     const int size = 190;  // size
-    const float angle = M_PI / 8.0;
+    const float angle = M_PI / 8.0f;
 
-    QPolygon octagon;
+    standstillTimerOctagon.clear();
     for (int i = 0; i < 8; i++) {
-      float curr_angle = angle + i * M_PI / 4.0;
+      float curr_angle = angle + i * M_PI / 4.0f;
       int point_x = x + size / 2 * cos(curr_angle);
       int point_y = y + size / 2 * sin(curr_angle);
-      octagon << QPoint(point_x, point_y);
+      standstillTimerOctagon << QPoint(point_x, point_y);
     }
 
     p.setPen(QPen(Qt::white, 6));
     p.setBrush(QColor(255, 90, 81, 200)); // red pastel
-    p.drawPolygon(octagon);
+    p.drawPolygon(standstillTimerOctagon);
 
     QString time_str = QString("%1:%2").arg(minute, 1, 10, QChar('0')).arg(second, 2, 10, QChar('0'));
     p.setFont(InterFont(55, QFont::Bold));
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index 16179b02a9e019..7a4940a286dc78 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -69,6 +69,7 @@ class HudRendererSP : public HudRenderer {
   bool standstillTimer;
   bool isStandstill;
   float standstillElapsedTime;
+  QPolygon standstillTimerOctagon;
   bool longOverride;
   bool smartCruiseControlVisionEnabled;
   bool smartCruiseControlVisionActive;

From 6bb87174b9927d8348539944fc46c6680c37e590 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 9 Oct 2025 14:14:12 -0400
Subject: [PATCH 0493/1434] Revert "CarControlSP: live params (#943)" (#1345)

* Revert "`CarControlSP`: live params (#943)"

This reverts commit b5104377

* bump

* bump
---
 opendbc_repo                                  |  2 +-
 selfdrive/car/helpers.py                      |  2 +-
 .../selfdrive/controls/controlsd_ext.py       |  5 ---
 .../selfdrive/controls/lib/param_store.py     | 44 -------------------
 4 files changed, 2 insertions(+), 51 deletions(-)
 delete mode 100644 sunnypilot/selfdrive/controls/lib/param_store.py

diff --git a/opendbc_repo b/opendbc_repo
index 335e5da18219eb..b592ecdd3b571a 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 335e5da18219ebcb4d56ab81387b37f7adcae461
+Subproject commit b592ecdd3b571a1acee0c04726117a137cec5832
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
index a7abc1976c4655..384152c71bec67 100644
--- a/selfdrive/car/helpers.py
+++ b/selfdrive/car/helpers.py
@@ -57,7 +57,7 @@ def remove_deprecated(s: dict) -> dict:
   struct_dataclass = structs.CarControlSP(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
 
   struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {})))
-  struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
+  # struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
   struct_dataclass.leadOne = structs.LeadData(**remove_deprecated(struct_dict.get('leadOne', {})))
   struct_dataclass.leadTwo = structs.LeadData(**remove_deprecated(struct_dict.get('leadTwo', {})))
   struct_dataclass.intelligentCruiseButtonManagement = structs.IntelligentCruiseButtonManagement(
diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
index e0f9326bf800e9..8caeeaeabc2ad8 100644
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -10,7 +10,6 @@
 from opendbc.car import structs
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
-from openpilot.sunnypilot.selfdrive.controls.lib.param_store import ParamStore
 from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral
 
 
@@ -19,7 +18,6 @@ def __init__(self, CP: structs.CarParams, params: Params):
     self.CP = CP
     self.params = params
     self.blinker_pause_lateral = BlinkerPauseLateral()
-    self.param_store = ParamStore(self.CP)
     self.get_params_sp()
 
     cloudlog.info("controlsd_ext is waiting for CarParamsSP")
@@ -30,7 +28,6 @@ def __init__(self, CP: structs.CarParams, params: Params):
     self.pm_services_ext = ['carControlSP']
 
   def get_params_sp(self) -> None:
-    self.param_store.update(self.params)
     self.blinker_pause_lateral.get_params()
 
   def get_lat_active(self, sm: messaging.SubMaster) -> bool:
@@ -73,8 +70,6 @@ def state_control_ext(self, sm: messaging.SubMaster) -> custom.CarControlSP:
     # MADS state
     CC_SP.mads = sm['selfdriveStateSP'].mads
 
-    CC_SP.params = self.param_store.param_list
-
     CC_SP.intelligentCruiseButtonManagement = sm['selfdriveStateSP'].intelligentCruiseButtonManagement
 
     return CC_SP
diff --git a/sunnypilot/selfdrive/controls/lib/param_store.py b/sunnypilot/selfdrive/controls/lib/param_store.py
deleted file mode 100644
index 785fe9c8f01422..00000000000000
--- a/sunnypilot/selfdrive/controls/lib/param_store.py
+++ /dev/null
@@ -1,44 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from cereal import custom
-from opendbc.car import structs
-from openpilot.common.params import Params
-
-from sunnypilot.sunnylink.utils import get_param_as_byte
-
-
-class ParamStore:
-  keys: list[str]
-  _params: dict[str, custom.CarControlSP.Param]
-
-  def __init__(self, CP: structs.CarParams):
-    universal_params: list[str] = []
-    brand_params: list[str] = []
-
-    self.keys = universal_params + brand_params
-    self._params = {}
-
-    self.frame = -1
-
-  def update(self, params: Params) -> None:
-    self.frame += 1
-    if self.frame % 300 != 0:
-      return
-
-    for key in self.keys:
-      param_type = params.get_type(key).name.lower()  # Using string instead of number because its "loose" dependency, and could change by OP at anytime.
-
-      # Over engineering opportunity: It's possible this conversion is slow, we may check the value as params returns it for cache purposes. Not today.
-      param_value = get_param_as_byte(key, params)
-      if (existing_param := self._params.get(key)) is not None and existing_param.value == param_value:
-        continue
-
-      self._params[key] = custom.CarControlSP.Param(key=key, value=param_value, type=param_type)
-
-  @property
-  def param_list(self) -> list[custom.CarControlSP.Param]:
-    return [v for k,v in self._params.items()]

From 3df1b53fab4341074ace53b2797eb16eb5ed3e09 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 9 Oct 2025 14:33:14 -0400
Subject: [PATCH 0494/1434] ui: update description of Speedometer: Hide from
 Onroad Screen (#1346)

---
 selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
index 8e26494a938b2c..efd5e99f3d29a0 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -79,7 +79,7 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
     {
       "HideVEgoUI",
       tr("Speedometer: Hide from Onroad Screen"),
-      tr("Always display the true vehicle current speed from wheel speed sensors."),
+      tr("When enabled, the speedometer on the onroad screen is not displayed."),
       "",
       false,
     }

From f429f3191f988d40e992a7d85a9b6f90c1ae037d Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Thu, 9 Oct 2025 14:53:47 -0400
Subject: [PATCH 0495/1434] ui: Bug fix Search with special chars (#1344)

Fix Search with special chars

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/qt/util.cc | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/util.cc b/selfdrive/ui/sunnypilot/qt/util.cc
index 2e066e88b52e10..be39b297d7d0b8 100644
--- a/selfdrive/ui/sunnypilot/qt/util.cc
+++ b/selfdrive/ui/sunnypilot/qt/util.cc
@@ -95,13 +95,12 @@ QStringList searchFromList(const QString &query, const QStringList &list) {
     return list;
   }
 
-  QStringList search_terms = query.simplified().toLower().split(" ", QString::SkipEmptyParts);
+  QStringList search_terms = query.simplified().toLower().replace(QRegularExpression("[^a-zA-Z0-9\\s]"), " ").split(" ", QString::SkipEmptyParts);
   QStringList search_results;
 
   for (const QString &element : list) {
     if (std::all_of(search_terms.begin(), search_terms.end(), [&](const QString &term) {
           QString normalized_term = term.normalized(QString::NormalizationForm_KD).toLower();
-          normalized_term.remove(QRegularExpression("[^a-zA-Z0-9\\s]"));
           QString normalized_element = element.normalized(QString::NormalizationForm_KD).toLower();
           return normalized_element.contains(normalized_term, Qt::CaseInsensitive);
         })) {

From e9f054b7ee90d40d799c9f13fe26fd18d5ac793f Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Thu, 9 Oct 2025 15:26:14 -0400
Subject: [PATCH 0496/1434] UI: Adjust Alert display with Developer UI (#1299)

* Adjust Alert Rect for Dev UI

* split out into SP classes

* fix includes

* formatting

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/qt/onroad/alerts.cc            |   9 --
 selfdrive/ui/qt/onroad/onroad_home.h        |   2 +
 selfdrive/ui/sunnypilot/SConscript          |   1 +
 selfdrive/ui/sunnypilot/qt/onroad/alerts.cc | 102 ++++++++++++++++++++
 selfdrive/ui/sunnypilot/qt/onroad/alerts.h  |  22 +++++
 5 files changed, 127 insertions(+), 9 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/onroad/alerts.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/onroad/alerts.h

diff --git a/selfdrive/ui/qt/onroad/alerts.cc b/selfdrive/ui/qt/onroad/alerts.cc
index 2e8f3612eb274d..d6829c6b08d156 100644
--- a/selfdrive/ui/qt/onroad/alerts.cc
+++ b/selfdrive/ui/qt/onroad/alerts.cc
@@ -4,9 +4,6 @@
 #include <map>
 
 #include "selfdrive/ui/qt/util.h"
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/ui.h"
-#endif
 
 void OnroadAlerts::updateState(const UIState &s) {
   Alert a = getAlert(*(s.sm), s.scene.started_frame);
@@ -76,12 +73,6 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
   }
   QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
 
-#ifdef SUNNYPILOT
-  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
-  const int adjustment = dev_ui_info > 1 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 30 : 0;
-  r = QRect(0 + margin, height() - h + margin - adjustment, width() - margin*2, h - margin*2);
-#endif
-
   QPainter p(this);
 
   // draw background + gradient
diff --git a/selfdrive/ui/qt/onroad/onroad_home.h b/selfdrive/ui/qt/onroad/onroad_home.h
index 9b51bb62e4dd66..ad0603c095b515 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.h
+++ b/selfdrive/ui/qt/onroad/onroad_home.h
@@ -4,8 +4,10 @@
 
 #ifdef SUNNYPILOT
 #include "selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/alerts.h"
 #define UIState UIStateSP
 #define AnnotatedCameraWidget AnnotatedCameraWidgetSP
+#define OnroadAlerts OnroadAlertsSP
 #else
 #include "selfdrive/ui/qt/onroad/annotated_camera.h"
 #endif
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 12c09c53f207e3..be92c142616df1 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -38,6 +38,7 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/trips_panel.cc",
   "sunnypilot/qt/offroad/settings/vehicle_panel.cc",
   "sunnypilot/qt/offroad/settings/visuals_panel.cc",
+  "sunnypilot/qt/onroad/alerts.cc",
   "sunnypilot/qt/onroad/annotated_camera.cc",
   "sunnypilot/qt/onroad/buttons.cc",
   "sunnypilot/qt/onroad/developer_ui/developer_ui.cc",
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/alerts.cc b/selfdrive/ui/sunnypilot/qt/onroad/alerts.cc
new file mode 100644
index 00000000000000..695f6d2ce815d0
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/onroad/alerts.cc
@@ -0,0 +1,102 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/onroad/alerts.h"
+
+#include <QPainter>
+#include <map>
+#include <QRect>
+#include <QFont>
+
+OnroadAlerts::Alert OnroadAlertsSP::getAlert(const SubMaster &sm, uint64_t started_frame) {
+  OnroadAlerts::Alert alert = OnroadAlerts::getAlert(sm, started_frame);
+  alert.text1.replace("openpilot", "sunnypilot");
+  alert.text2.replace("openpilot", "sunnypilot");
+  return alert;
+}
+
+void OnroadAlertsSP::paintEvent(QPaintEvent *event) {
+  if (alert.size == cereal::SelfdriveState::AlertSize::NONE) {
+    return;
+  } else if (alert.size == cereal::SelfdriveState::AlertSize::FULL) {
+    OnroadAlerts::paintEvent(event);
+    return;
+  }
+  static std::map<cereal::SelfdriveState::AlertSize, const int> alert_heights = {
+    {cereal::SelfdriveState::AlertSize::SMALL, 271},
+    {cereal::SelfdriveState::AlertSize::MID, 420}
+  };
+  int h = alert_heights[alert.size];
+
+  QPainter p(this);
+  QFont topFont;
+  QFont bottomFont;
+  QRect topTextBoundingRect;
+  QRect bottomTextBoundingRect;
+  QRect rect;
+
+  int margin = 40;
+  int radius = 30;
+
+  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
+  const int v_adjustment = dev_ui_info > 1 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 40 : 0;
+  const int h_adjustment = dev_ui_info > 0 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 230 : 0;
+
+  if (alert.size == cereal::SelfdriveState::AlertSize::SMALL) {
+    topFont = InterFont(74, QFont::DemiBold);
+    QFontMetrics fmTop(topFont);
+    topTextBoundingRect = fmTop.boundingRect(
+      QRect(0 + margin, height() - h + margin - v_adjustment, width() - margin * 2 - h_adjustment, 0), Qt::TextWordWrap,
+      alert.text1);
+    h = topTextBoundingRect.height();
+    rect = QRect(0 + margin, height() - h - margin * 2 - v_adjustment, width() - margin * 2 - h_adjustment, h + margin);
+  } else if (alert.size == cereal::SelfdriveState::AlertSize::MID) {
+    topFont = InterFont(88, QFont::Bold);
+    bottomFont = InterFont(66);
+    QFontMetrics fmTop(topFont);
+    QFontMetrics fmBotton(bottomFont);
+    topTextBoundingRect = fmTop.boundingRect(
+      QRect(0 + margin, height() - h + margin - v_adjustment, width() - margin * 2 - h_adjustment, 0), Qt::TextWordWrap,
+      alert.text1);
+    bottomTextBoundingRect = fmBotton.boundingRect(
+      QRect(0 + margin, height() - h + margin - v_adjustment + topTextBoundingRect.height(),
+            width() - margin * 2 - h_adjustment, 0), Qt::TextWordWrap, alert.text2);
+    h = topTextBoundingRect.height() + bottomTextBoundingRect.height() + margin * 2;
+    rect = QRect(0 + margin, height() - h - margin * 2 - v_adjustment, width() - margin * 2 - h_adjustment, h + margin);
+  }
+
+
+  // draw background + gradient
+  // draw background + gradient
+  p.setPen(Qt::NoPen);
+  p.setCompositionMode(QPainter::CompositionMode_SourceOver);
+  p.setBrush(QBrush(alert_colors[alert.status]));
+  p.drawRoundedRect(rect, radius, radius);
+
+  QLinearGradient g(0, rect.y(), 0, rect.bottom());
+  g.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.05));
+  g.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0.35));
+
+  p.setCompositionMode(QPainter::CompositionMode_DestinationOver);
+  p.setBrush(QBrush(g));
+  p.drawRoundedRect(rect, radius, radius);
+  p.setCompositionMode(QPainter::CompositionMode_SourceOver);
+
+  // text
+  p.setPen(QColor(0xff, 0xff, 0xff));
+  p.setRenderHint(QPainter::TextAntialiasing);
+  p.setFont(topFont);
+  if (alert.size == cereal::SelfdriveState::AlertSize::SMALL) {
+    p.drawText(rect, Qt::AlignCenter | Qt::TextWordWrap, alert.text1);
+  } else if (alert.size == cereal::SelfdriveState::AlertSize::MID) {
+    QRect topText = QRect(rect.x(), rect.top() + margin, rect.width(), topTextBoundingRect.height());
+    p.drawText(topText, Qt::AlignHCenter | Qt::AlignTop | Qt::TextWordWrap | Qt::AlignCenter, alert.text1);
+    p.setFont(bottomFont);
+    p.drawText(QRect(rect.x(), topText.bottom() + margin, rect.width(), bottomTextBoundingRect.height()),
+               Qt::AlignHCenter | Qt::TextWordWrap | Qt::AlignCenter, alert.text2);
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/alerts.h b/selfdrive/ui/sunnypilot/qt/onroad/alerts.h
new file mode 100644
index 00000000000000..8b65309f46f7cc
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/onroad/alerts.h
@@ -0,0 +1,22 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/onroad/alerts.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+
+class OnroadAlertsSP : public OnroadAlerts {
+  Q_OBJECT
+
+public:
+  OnroadAlertsSP(QWidget *parent = 0) : OnroadAlerts(parent) {}
+
+protected:
+  void paintEvent(QPaintEvent *) override;
+  Alert getAlert(const SubMaster &sm, uint64_t started_frame);
+};

From 8864b79a6e29f4e9431977ef1472e30fa1b136c2 Mon Sep 17 00:00:00 2001
From: HazZelnutz <49021905+HazZelnutz@users.noreply.github.com>
Date: Thu, 9 Oct 2025 21:59:28 +0200
Subject: [PATCH 0497/1434] Visuals: Turn signals on screen when blinker is
 used (#1291)

* get blinker state from car_state

* Draw turn signals when blinker is active

* reloacted and resized turning signals

* add turn signal display setting

* Lowered Blink Frequency

* Moved x and y Offsets to drawing Function

Co-authored-by: Nayan <nayan8teen@gmail.com>

* Grouped Settings

* Moved blinking Logic to pulseElement Function

Co-authored-by: Nayan <nayan8teen@gmail.com>

* Improved Blinker Size and Position

* Get laneChangeBlocked Event from onroadEvents

* Draw Blinker red if laneChangeBlocked event is set

* Revert "Get laneChangeBlocked Event from onroadEvents"

This reverts commit 4310931b6cd59aed22119c2b4b558f09d3ad9c90.

* Get left and right Blindspot

* Replaced laneChangeBlocked by Blindspot checks

* slight optimization

* more refinement

---------

Co-authored-by: Nayan <nayan8teen@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/params_keys.h                          |  1 +
 .../qt/offroad/settings/visuals_panel.cc      |  9 ++-
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc      | 81 +++++++++++++++++++
 selfdrive/ui/sunnypilot/qt/onroad/hud.h       |  7 ++
 selfdrive/ui/sunnypilot/ui.cc                 |  2 +
 selfdrive/ui/sunnypilot/ui_scene.h            |  1 +
 6 files changed, 100 insertions(+), 1 deletion(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 0ff0354b32cfff..3b5d02a4291bc7 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -168,6 +168,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
index efd5e99f3d29a0..0324cd70f097fa 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -82,7 +82,14 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
       tr("When enabled, the speedometer on the onroad screen is not displayed."),
       "",
       false,
-    }
+    },
+    {
+      "ShowTurnSignals",
+      tr("Display Turn Signals"),
+      tr("When enabled, visual turn indicators are drawn on the HUD."),
+      "",
+      false,
+    },
   };
 
   // Add regular toggles first
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 4bb2aca28c62e3..d98ae89147e637 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -122,6 +122,12 @@ void HudRendererSP::updateState(const UIState &s) {
   float v_ego = (v_ego_cluster_seen && !s.scene.trueVEgoUI) ? car_state.getVEgoCluster() : car_state.getVEgo();
   speed = std::max<float>(0.0f, v_ego * (is_metric ? MS_TO_KPH : MS_TO_MPH));
   hideVEgoUI = s.scene.hideVEgoUI;
+
+  leftBlinkerOn = car_state.getLeftBlinker();
+  rightBlinkerOn = car_state.getRightBlinker();
+  leftBlindspot = car_state.getLeftBlindspot();
+  rightBlindspot = car_state.getRightBlindspot();
+  showTurnSignals = s.scene.turn_signals;
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
@@ -239,6 +245,11 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
     } else {
       e2eAlertFrame = 0;
     }
+
+    // Blinker
+    if (showTurnSignals) {
+      drawBlinker(p, surface_rect);
+    }
   }
 
   p.restore();
@@ -752,3 +763,73 @@ void HudRendererSP::drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect) {
   p.setFont(InterFont(66));
   HudRenderer::drawText(p, surface_rect.center().x(), 290, is_metric ? tr("km/h") : tr("mph"), 200);
 }
+
+void HudRendererSP::drawBlinker(QPainter &p, const QRect &surface_rect) {
+  if (!leftBlinkerOn && !rightBlinkerOn) {
+    blinkerFrameCounter = 0;
+    return;
+  }
+  ++blinkerFrameCounter;
+
+  const int circleRadius = 44;
+  const int arrowLength = 44;
+  const int x_gap = 180;
+  const int y_offset = 272;
+
+  const int centerX = surface_rect.center().x();
+  const bool hazard = leftBlinkerOn && rightBlinkerOn;
+
+  const QPen bgBorder(Qt::white, 5);
+  const QPen arrowPen(Qt::NoPen);
+
+  p.save();
+
+  auto drawArrow = [&](int cx, int cy, int dir, const QBrush &arrowBrush) {
+    const int bodyLength = arrowLength / 2;
+    const int bodyWidth = arrowLength / 2;
+    const int headLength = arrowLength / 2;
+    const int headWidth = arrowLength;
+
+    QPolygon arrow;
+    arrow.reserve(7);
+    arrow << QPoint(cx - dir * bodyLength, cy - bodyWidth / 2)
+        << QPoint(cx, cy - bodyWidth / 2)
+        << QPoint(cx, cy - headWidth / 2)
+        << QPoint(cx + dir * headLength, cy)
+        << QPoint(cx, cy + headWidth / 2)
+        << QPoint(cx, cy + bodyWidth / 2)
+        << QPoint(cx - dir * bodyLength, cy + bodyWidth / 2);
+
+    p.setPen(arrowPen);
+    p.setBrush(arrowBrush);
+    p.drawPolygon(arrow);
+  };
+
+  auto drawCircle = [&](int cx, int cy, const QBrush &bgBrush) {
+    p.setPen(bgBorder);
+    p.setBrush(bgBrush);
+    p.drawEllipse(QPoint(cx, cy), circleRadius, circleRadius);
+  };
+
+  struct BlinkerSide { bool on; int dir; bool blocked; int cx; };
+  const std::array<BlinkerSide, 2> sides = {{
+    {leftBlinkerOn, -1, hazard ? true : (leftBlinkerOn  && leftBlindspot), centerX - x_gap},
+    {rightBlinkerOn, 1, hazard ? true : (rightBlinkerOn && rightBlindspot), centerX + x_gap},
+  }};
+
+  for (const auto &s: sides) {
+    if (!s.on) continue;
+
+    QColor bgColor = s.blocked ? QColor(135, 23, 23) : QColor(23, 134, 68);
+    QColor arrowColor = s.blocked ? QColor(66, 12, 12) : QColor(12, 67, 34);
+    if (pulseElement(blinkerFrameCounter)) arrowColor = Qt::white;
+
+    const QBrush bgBrush(bgColor);
+    const QBrush arrowBrush(arrowColor);
+
+    drawCircle(s.cx, y_offset, bgBrush);
+    drawArrow(s.cx, y_offset, s.dir, arrowBrush);
+  }
+
+  p.restore();
+}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index 7a4940a286dc78..a5462fba9e1555 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -38,6 +38,7 @@ class HudRendererSP : public HudRenderer {
   void drawSetSpeedSP(QPainter &p, const QRect &surface_rect);
   void drawE2eAlert(QPainter &p, const QRect &surface_rect);
   void drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect);
+  void drawBlinker(QPainter &p, const QRect &surface_rect);
 
   bool lead_status;
   float lead_d_rel;
@@ -109,4 +110,10 @@ class HudRendererSP : public HudRenderer {
   QString alert_text;
   QPixmap alert_img;
   bool hideVEgoUI;
+  bool leftBlinkerOn;
+  bool rightBlinkerOn;
+  bool leftBlindspot;
+  bool rightBlindspot;
+  int blinkerFrameCounter;
+  bool showTurnSignals;
 };
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index e4d5b41adb7a49..c021e0e95b4d87 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -72,6 +72,8 @@ void ui_update_params_sp(UIStateSP *s) {
   s->scene.onroadScreenOffControl = params.getBool("OnroadScreenOffControl");
   s->scene.onroadScreenOffTimerParam = std::atoi(params.get("OnroadScreenOffTimer").c_str());
   s->reset_onroad_sleep_timer();
+
+  s->scene.turn_signals = params.getBool("ShowTurnSignals");
 }
 
 void UIStateSP::reset_onroad_sleep_timer() {
diff --git a/selfdrive/ui/sunnypilot/ui_scene.h b/selfdrive/ui/sunnypilot/ui_scene.h
index 5bf11566484438..233f1e15de4aa1 100644
--- a/selfdrive/ui/sunnypilot/ui_scene.h
+++ b/selfdrive/ui/sunnypilot/ui_scene.h
@@ -17,4 +17,5 @@ typedef struct UISceneSP : UIScene {
   int onroadScreenOffTimerParam;
   bool trueVEgoUI;
   bool hideVEgoUI;
+  bool turn_signals = false;
 } UISceneSP;

From d7fd78050b4a1d17491703aca356f747099f79eb Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Thu, 9 Oct 2025 16:29:55 -0400
Subject: [PATCH 0498/1434] OSM: Search!! (#1341)

* OSM Search

* cleanup

* wat

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../qt/offroad/settings/osm_panel.cc          | 84 ++++++++++++-------
 .../qt/offroad/settings/osm_panel.h           |  1 +
 2 files changed, 55 insertions(+), 30 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc
index 332fd71a184398..e946d7870f7bfa 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc
@@ -12,6 +12,7 @@
 #include <string>
 
 #include "common/swaglog.h"
+#include "selfdrive/ui/sunnypilot/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
 OsmPanel::OsmPanel(QWidget *parent) : QFrame(parent) {
@@ -91,24 +92,30 @@ ButtonControlSP *OsmPanel::setupOsmDownloadButton(QWidget *parent) {
       locationTitles.push_back(std::get<0>(loc));
     }
 
-    const QString selection = MultiOptionDialog::getSelection(tr("Country"), locationTitles, currentTitle, this);
-    if (!selection.isEmpty()) {
-      params.put("OsmLocal", "1");
-      params.put("OsmLocationTitle", selection.toStdString());
-      for (auto &loc: locations) {
-        if (std::get<0>(loc) == selection) {
-          params.put("OsmLocationName", std::get<1>(loc).toStdString());
-          break;
+    InputDialog d(tr("Search Country"), this, tr("Enter search keywords, or leave blank to list all countries."), false);
+    d.setMinLength(0);
+    const int ret = d.exec();
+    if (ret) {
+      const QString selection = search(d.text(), locationTitles, tr("Select Country"));
+      if (!selection.isEmpty()) {
+        params.put("OsmLocal", "1");
+        params.put("OsmLocationTitle", selection.toStdString());
+        for (auto &loc: locations) {
+          if (std::get<0>(loc) == selection) {
+            params.put("OsmLocationName", std::get<1>(loc).toStdString());
+            break;
+          }
         }
-      }
-      if (params.get("OsmLocationName") == "US") {
-        usStatesBtn->click();
-        return;
-      } else if (selection != "== None ==") {
-        if (showConfirmationDialog(parent)) {
-          osm_download_in_progress = true;
-          params.putBool("OsmDbUpdatesCheck", true);
-          updateLabels();
+        if (params.get("OsmLocationName") == "US") {
+          usStatesBtn->click();
+          return;
+        }
+        if (selection != "== None ==") {
+          if (showConfirmationDialog(parent)) {
+            osm_download_in_progress = true;
+            params.putBool("OsmDbUpdatesCheck", true);
+            updateLabels();
+          }
         }
       }
     }
@@ -135,20 +142,25 @@ ButtonControlSP *OsmPanel::setupUsStatesButton(QWidget *parent) {
       locationTitles.push_back(std::get<0>(loc));
     }
 
-    const QString selection = MultiOptionDialog::getSelection(tr("State"), locationTitles, currentTitle, this);
-    if (!selection.isEmpty()) {
-      params.put("OsmStateTitle", selection.toStdString());
-      for (auto &loc: locations) {
-        if (std::get<0>(loc) == selection) {
-          params.put("OsmStateName", std::get<1>(loc).toStdString());
-          break;
+    InputDialog d(tr("Search State"), this, tr("Enter search keywords, or leave blank to list all states."), false);
+    d.setMinLength(0);
+    const int ret = d.exec();
+    if (ret) {
+      const QString selection = search(d.text(), locationTitles, tr("Select State"));
+      if (!selection.isEmpty()) {
+        params.put("OsmStateTitle", selection.toStdString());
+        for (auto &loc: locations) {
+          if (std::get<0>(loc) == selection) {
+            params.put("OsmStateName", std::get<1>(loc).toStdString());
+            break;
+          }
+        }
+        usStatesBtn->setValue(selection);
+        if (showConfirmationDialog(parent)) {
+          osm_download_in_progress = true;
+          params.putBool("OsmDbUpdatesCheck", true);
+          updateLabels();
         }
-      }
-      usStatesBtn->setValue(selection);
-      if (showConfirmationDialog(parent)) {
-        osm_download_in_progress = true;
-        params.putBool("OsmDbUpdatesCheck", true);
-        updateLabels();
       }
     }
     updateLabels();
@@ -281,3 +293,15 @@ void OsmPanel::updateMapSize() {
     mapSizeFuture = QtConcurrent::run(getDirSize, MAP_PATH);
   }
 }
+
+QString OsmPanel::search(const QString &query, const QStringList &list, const QString &prompt_text) {
+  QStringList lst_results = searchFromList(query, list);
+  QString selection;
+
+  if (lst_results.isEmpty()) {
+    ConfirmationDialog::alert(tr("No results found for keywords: %1").arg(query), this);
+    return selection;
+  }
+  selection = MultiOptionDialog::getSelection(prompt_text, lst_results, "", this);
+  return selection;
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h
index 171129a11c2203..e4067d415f6c84 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h
@@ -76,6 +76,7 @@ class OsmPanel : public QFrame {
   void updateDownloadProgress();
   static int extractIntFromJson(const QJsonObject &json, const QString &key);
   QString processUpdateStatus(bool pending_update_check, int total_files, int downloaded_files, const QJsonObject &json, bool failed_state);
+  QString search(const QString &query, const QStringList &list, const QString &prompt_text);
 
   ConfirmationDialog *confirmationDialog;
   LabelControlSP *mapdVersion;

From 3ba52bc6fe1690147c06730f8cd4b88b5b4dc7bf Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Thu, 9 Oct 2025 17:30:59 -0400
Subject: [PATCH 0499/1434] ui: New? Old? Different? Standstill Timer UI
 (#1347)

New Standstill Timer UI

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc | 98 ++++++++++++------------
 selfdrive/ui/sunnypilot/qt/onroad/hud.h  |  3 +-
 2 files changed, 48 insertions(+), 53 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index d98ae89147e637..bc7060d31cbb56 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -21,8 +21,6 @@ HudRendererSP::HudRendererSP() {
   green_light_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {large_max, large_max});
   lead_depart_alert_small_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {small_max, small_max});
   lead_depart_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {large_max, large_max});
-
-  standstillTimerOctagon.reserve(8);
 }
 
 void HudRendererSP::updateState(const UIState &s) {
@@ -187,11 +185,6 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
       drawRightDevUI(p, surface_rect.right() - 184 - UI_BORDER_SIZE * 2, UI_BORDER_SIZE * 2 + rect_right.height());
     }
 
-    // Standstill Timer
-    if (standstillTimer) {
-      drawStandstillTimer(p, surface_rect.right() / 12 * 10, surface_rect.bottom() / 12 * 1.53);
-    }
-
     // Speed Limit
     bool showSpeedLimit;
     bool speed_limit_assist_pre_active_pulse = pulseElement(speedLimitAssistFrame);
@@ -242,7 +235,20 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
         alert_img = devUiInfo > 0 ? lead_depart_alert_small_img : lead_depart_alert_large_img;
       }
       drawE2eAlert(p, surface_rect);
-    } else {
+    }
+    // Standstill Timer
+    else if (standstillTimer && isStandstill) {
+      alert_img = QPixmap();
+
+      standstillElapsedTime += 1.0 / UI_FREQ;
+      int minute = static_cast<int>(standstillElapsedTime / 60);
+      int second = static_cast<int>(standstillElapsedTime - (minute * 60));
+      alert_text = QString("%1:%2").arg(minute, 1, 10, QChar('0')).arg(second, 2, 10, QChar('0'));
+      drawE2eAlert(p, surface_rect, tr("STOPPED"));
+      e2eAlertFrame++;
+    }
+    // No Alerts displayed
+    else {
       e2eAlertFrame = 0;
     }
 
@@ -407,40 +413,6 @@ void HudRendererSP::drawBottomDevUI(QPainter &p, int x, int y) {
   rw += drawBottomDevUIElement(p, rw, y, altitudeElement.value, altitudeElement.label, altitudeElement.units, altitudeElement.color);
 }
 
-void HudRendererSP::drawStandstillTimer(QPainter &p, int x, int y) {
-  if (isStandstill) {
-    standstillElapsedTime += 1.0 / UI_FREQ;
-
-    int minute = static_cast<int>(standstillElapsedTime / 60);
-    int second = static_cast<int>(standstillElapsedTime - (minute * 60));
-
-    // stop sign for standstill timer
-    const int size = 190;  // size
-    const float angle = M_PI / 8.0f;
-
-    standstillTimerOctagon.clear();
-    for (int i = 0; i < 8; i++) {
-      float curr_angle = angle + i * M_PI / 4.0f;
-      int point_x = x + size / 2 * cos(curr_angle);
-      int point_y = y + size / 2 * sin(curr_angle);
-      standstillTimerOctagon << QPoint(point_x, point_y);
-    }
-
-    p.setPen(QPen(Qt::white, 6));
-    p.setBrush(QColor(255, 90, 81, 200)); // red pastel
-    p.drawPolygon(standstillTimerOctagon);
-
-    QString time_str = QString("%1:%2").arg(minute, 1, 10, QChar('0')).arg(second, 2, 10, QChar('0'));
-    p.setFont(InterFont(55, QFont::Bold));
-    p.setPen(Qt::white);
-    QRect timerTextRect = p.fontMetrics().boundingRect(QString(time_str));
-    timerTextRect.moveCenter({x, y});
-    p.drawText(timerTextRect, Qt::AlignCenter, QString(time_str));
-  } else {
-    standstillElapsedTime = 0.0;
-  }
-}
-
 void HudRendererSP::drawSpeedLimitSigns(QPainter &p, QRect &sign_rect) {
   bool speedLimitWarningEnabled = speedLimitMode >= SpeedLimitMode::WARNING;  // TODO-SP: update to include SpeedLimitMode::ASSIST
   bool hasSpeedLimit = speedLimitValid || speedLimitLastValid;
@@ -723,7 +695,7 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
   p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
 }
 
-void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect) {
+void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const QString &alert_alt_text) {
   int size = devUiInfo > 0 ? e2e_alert_small : e2e_alert_large;
   int x = surface_rect.center().x() + surface_rect.width() / 4;
   int y = surface_rect.center().y() + 40;
@@ -733,25 +705,49 @@ void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect) {
 
   // Alert Circle
   QPoint center = alertRect.center();
-  QColor frameColor = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 75) : QColor(0, 255, 0, 75);
+  QColor frameColor;
+  if (not alert_alt_text.isEmpty()) frameColor = QColor(255, 255, 255, 75);
+  else frameColor = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 75) : QColor(0, 255, 0, 75);
   p.setPen(QPen(frameColor, 15));
   p.setBrush(QColor(0, 0, 0, 190));
   p.drawEllipse(center, size, size);
 
   // Alert Text
-  QColor txtColor = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 255) : QColor(0, 255, 0, 255);
-  p.setFont(InterFont(48, QFont::Bold));
+  QColor txtColor;
+  QFont font;
+  int alert_bottom_adjustment;
+  if (not alert_alt_text.isEmpty()) {
+    font = InterFont(100, QFont::Bold);
+    alert_bottom_adjustment = 5;
+    txtColor = QColor(255, 255, 255, 255);
+  } else {
+    font = InterFont(48, QFont::Bold);
+    alert_bottom_adjustment = 7;
+    txtColor = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 255) : QColor(0, 255, 0, 190);
+  }
   p.setPen(txtColor);
+  p.setFont(font);
   QFontMetrics fm(p.font());
   QRect textRect = fm.boundingRect(alertRect, Qt::TextWordWrap, alert_text);
   textRect.moveCenter({alertRect.center().x(), alertRect.center().y()});
-  textRect.moveBottom(alertRect.bottom() - alertRect.height() / 7);
+  textRect.moveBottom(alertRect.bottom() - alertRect.height() / alert_bottom_adjustment);
   p.drawText(textRect, Qt::AlignCenter, alert_text);
 
-  // Alert Image
-  QPointF pixmapCenterOffset = QPointF(alert_img.width() / 2.0, alert_img.height() / 2.0);
-  QPointF drawPoint = center - pixmapCenterOffset;
-  p.drawPixmap(drawPoint, alert_img);
+  if (not alert_alt_text.isEmpty()) {
+    // Alert Alternate Text
+    p.setFont(InterFont(80, QFont::Bold));
+    p.setPen(QColor(255, 175, 3, 240));
+    QFontMetrics fmt(p.font());
+    QRect topTextRect = fmt.boundingRect(alertRect, Qt::TextWordWrap, alert_alt_text);
+    topTextRect.moveCenter({alertRect.center().x(), alertRect.center().y()});
+    topTextRect.moveTop(alertRect.top() + alertRect.height() / 3.5);
+    p.drawText(topTextRect, Qt::AlignCenter, alert_alt_text);
+  } else {
+    // Alert Image instead of Top Text
+    QPointF pixmapCenterOffset = QPointF(alert_img.width() / 2.0, alert_img.height() / 2.0);
+    QPointF drawPoint = center - pixmapCenterOffset;
+    p.drawPixmap(drawPoint, alert_img);
+  }
 }
 
 void HudRendererSP::drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect) {
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index a5462fba9e1555..c50e2d641db2e8 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -36,7 +36,7 @@ class HudRendererSP : public HudRenderer {
   void drawRoadName(QPainter &p, const QRect &surface_rect);
   void drawSpeedLimitPreActiveArrow(QPainter &p, QRect &sign_rect);
   void drawSetSpeedSP(QPainter &p, const QRect &surface_rect);
-  void drawE2eAlert(QPainter &p, const QRect &surface_rect);
+  void drawE2eAlert(QPainter &p, const QRect &surface_rect, const QString &alert_alt_text = "");
   void drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect);
   void drawBlinker(QPainter &p, const QRect &surface_rect);
 
@@ -70,7 +70,6 @@ class HudRendererSP : public HudRenderer {
   bool standstillTimer;
   bool isStandstill;
   float standstillElapsedTime;
-  QPolygon standstillTimerOctagon;
   bool longOverride;
   bool smartCruiseControlVisionEnabled;
   bool smartCruiseControlVisionActive;

From d6317ffd2098bb8c3b72535b5bf7ee0554390563 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 9 Oct 2025 19:04:43 -0400
Subject: [PATCH 0500/1434] mapd: script to update version and hash (#1349)

* init and hash for 1.11.0

* update version and example for 1.12.0
---
 sunnypilot/__init__.py                        | 11 +++
 sunnypilot/mapd/mapd_installer.py             |  2 +-
 sunnypilot/mapd/tests/__init__.py             |  0
 sunnypilot/mapd/tests/mapd_hash               |  1 +
 sunnypilot/mapd/tests/test_mapd_version.py    | 19 ++++
 sunnypilot/mapd/update_version.py             | 97 +++++++++++++++++++
 sunnypilot/mapd/version.py                    |  0
 sunnypilot/models/default_model.py            |  9 +-
 sunnypilot/models/tests/test_default_model.py | 10 +-
 9 files changed, 139 insertions(+), 10 deletions(-)
 create mode 100644 sunnypilot/mapd/tests/__init__.py
 create mode 100644 sunnypilot/mapd/tests/mapd_hash
 create mode 100644 sunnypilot/mapd/tests/test_mapd_version.py
 create mode 100755 sunnypilot/mapd/update_version.py
 create mode 100644 sunnypilot/mapd/version.py

diff --git a/sunnypilot/__init__.py b/sunnypilot/__init__.py
index ab5441aa71dbc5..dd9870597d1086 100644
--- a/sunnypilot/__init__.py
+++ b/sunnypilot/__init__.py
@@ -4,4 +4,15 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+
+import hashlib
+
 PARAMS_UPDATE_PERIOD = 3  # seconds
+
+
+def get_file_hash(path: str) -> str:
+  sha256_hash = hashlib.sha256()
+  with open(path, "rb") as f:
+    for byte_block in iter(lambda: f.read(4096), b""):
+      sha256_hash.update(byte_block)
+  return sha256_hash.hexdigest()
diff --git a/sunnypilot/mapd/mapd_installer.py b/sunnypilot/mapd/mapd_installer.py
index e49ff8c64e4400..08d17376d6a987 100755
--- a/sunnypilot/mapd/mapd_installer.py
+++ b/sunnypilot/mapd/mapd_installer.py
@@ -22,7 +22,7 @@
 from openpilot.sunnypilot.mapd import MAPD_PATH, MAPD_BIN_DIR
 import openpilot.system.sentry as sentry
 
-VERSION = 'v1.11.0'
+VERSION = "v1.12.0"
 URL = f"https://github.com/pfeiferj/openpilot-mapd/releases/download/{VERSION}/mapd"
 
 
diff --git a/sunnypilot/mapd/tests/__init__.py b/sunnypilot/mapd/tests/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/mapd/tests/mapd_hash b/sunnypilot/mapd/tests/mapd_hash
new file mode 100644
index 00000000000000..0322ea97caac1c
--- /dev/null
+++ b/sunnypilot/mapd/tests/mapd_hash
@@ -0,0 +1 @@
+fdb3b49ee19956e6ce09fdc3373cbba557f1263b2180e9f344c1d4053852284b
\ No newline at end of file
diff --git a/sunnypilot/mapd/tests/test_mapd_version.py b/sunnypilot/mapd/tests/test_mapd_version.py
new file mode 100644
index 00000000000000..5619d2ec299d27
--- /dev/null
+++ b/sunnypilot/mapd/tests/test_mapd_version.py
@@ -0,0 +1,19 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.sunnypilot import get_file_hash
+from openpilot.sunnypilot.mapd import MAPD_PATH
+from openpilot.sunnypilot.mapd.update_version import MAPD_HASH_PATH
+
+
+class TestMapdVersion:
+  def test_compare_versions(self):
+    mapd_hash = get_file_hash(MAPD_PATH)
+
+    with open(MAPD_HASH_PATH) as f:
+      current_hash = f.read().strip()
+
+    assert current_hash == mapd_hash, "Run sunnypilot/mapd/update_version.py to update the current mapd version and hash"
diff --git a/sunnypilot/mapd/update_version.py b/sunnypilot/mapd/update_version.py
new file mode 100755
index 00000000000000..c5e08b3f8f0a1b
--- /dev/null
+++ b/sunnypilot/mapd/update_version.py
@@ -0,0 +1,97 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import argparse
+import os
+import re
+
+from openpilot.sunnypilot import get_file_hash
+from openpilot.common.basedir import BASEDIR
+from openpilot.sunnypilot.mapd import MAPD_PATH
+
+MAPD_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "mapd", "tests", "mapd_hash")
+MAPD_VERSION_PATH = os.path.join(BASEDIR, "sunnypilot", "mapd", "mapd_installer.py")
+
+
+def update_mapd_hash():
+  mapd_hash = get_file_hash(MAPD_PATH)
+
+  with open(MAPD_HASH_PATH, "w") as f:
+    f.write(mapd_hash)
+
+  print(f"Generated and updated new mapd hash to {MAPD_HASH_PATH}")
+
+
+def get_current_mapd_version(path: str) -> str:
+  print("[GET CURRENT MAPD VERSION]")
+  with open(path) as f:
+    for line in f:
+      if line.strip().startswith("VERSION"):
+        # Match VERSION = 'v1.11.0' or VERSION="v1.11.0" (with optional spaces)
+        match = re.search(r'VERSION\s*=\s*[\'"]([^\'"]+)[\'"]', line)
+        if match:
+          ver = match.group(1)
+          print(f'Current mapd version: "{ver}"')
+          return ver
+        else:
+          print("[ERROR] VERSION line found but no quoted value detected.")
+          return ""
+  print("[ERROR] VERSION not found in file!")
+  return ""
+
+
+def update_mapd_version(ver: str, path: str):
+  print("[CHANGE CURRENT MAPD VERSION]")
+
+  with open(path) as f:
+    lines = f.readlines()
+
+  found = False
+  new_lines = []
+  for line in lines:
+    if not found and line.startswith("VERSION ="):
+      new_lines.append(f'VERSION = "{ver}"\n')
+      found = True
+      new_lines.extend(lines[lines.index(line) + 1:])
+      break
+    else:
+      new_lines.append(line)
+
+  if not found:
+    print("[ERROR] VERSION line not found! Aborting without writing.")
+    return
+
+  with open(path, "w") as f:
+    f.writelines(new_lines)
+
+  print(f'New mapd version: "{ver}"')
+  print("[DONE]")
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Update mapd version and hash")
+  parser.add_argument("--new_ver", type=str, help="New mapd version")
+  args = parser.parse_args()
+
+  if not args.new_ver:
+    print("Warning: No new mapd version provided. Use --new_ver to specify")
+    print("Example:")
+    print("  python sunnypilot/mapd/update_version.py --new_ver \"v1.12.0\"")
+    print("Current mapd version and hash will not be updated! (aborted)")
+    exit(0)
+
+  current_ver = get_current_mapd_version(MAPD_VERSION_PATH)
+  new_ver = f"{args.new_ver}"
+  if current_ver == new_ver:
+    print(f'Proposed mapd version: "{new_ver}"')
+    confirm = input("Proposed mapd version is the same as the current mapd version. Confirm? (y/n): ").upper().strip()
+    if confirm != "Y":
+      print("Current mapd version and hash will not be updated! (aborted)")
+      exit(0)
+
+  update_mapd_version(new_ver, MAPD_VERSION_PATH)
+  update_mapd_hash()
diff --git a/sunnypilot/mapd/version.py b/sunnypilot/mapd/version.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/models/default_model.py b/sunnypilot/models/default_model.py
index 718c910c5c3430..0260a3c3bc7912 100755
--- a/sunnypilot/models/default_model.py
+++ b/sunnypilot/models/default_model.py
@@ -3,6 +3,7 @@
 import hashlib
 
 from openpilot.common.basedir import BASEDIR
+from openpilot.sunnypilot import get_file_hash
 
 DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "common", "model.h")
 MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "tests", "model_hash")
@@ -10,14 +11,6 @@
 POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_policy.onnx")
 
 
-def get_file_hash(path: str) -> str:
-  sha256_hash = hashlib.sha256()
-  with open(path, "rb") as f:
-    for byte_block in iter(lambda: f.read(4096), b""):
-      sha256_hash.update(byte_block)
-  return sha256_hash.hexdigest()
-
-
 def update_model_hash():
   vision_hash = get_file_hash(VISION_ONNX_PATH)
   policy_hash = get_file_hash(POLICY_ONNX_PATH)
diff --git a/sunnypilot/models/tests/test_default_model.py b/sunnypilot/models/tests/test_default_model.py
index 5067dbaf4684c4..7c2fde70a8a80b 100644
--- a/sunnypilot/models/tests/test_default_model.py
+++ b/sunnypilot/models/tests/test_default_model.py
@@ -1,4 +1,12 @@
-from openpilot.sunnypilot.models.default_model import get_file_hash, MODEL_HASH_PATH, VISION_ONNX_PATH, POLICY_ONNX_PATH
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from openpilot.sunnypilot import get_file_hash
+from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, VISION_ONNX_PATH, POLICY_ONNX_PATH
 import hashlib
 
 

From 9b92cdd2cc9ef5a4a4c8ad319f2953b8640d273a Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Thu, 9 Oct 2025 23:57:09 -0400
Subject: [PATCH 0501/1434] ui: fix standstill timer reset when offroad (#1351)

Standstill timer fix
---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index bc7060d31cbb56..251140ad17ced8 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -107,6 +107,7 @@ void HudRendererSP::updateState(const UIState &s) {
 
   standstillTimer = s.scene.standstill_timer;
   isStandstill = car_state.getStandstill();
+  if (not s.scene.started) standstillElapsedTime = 0.0;
   longOverride = car_control.getCruiseControl().getOverride();
   smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled();
   smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
@@ -250,6 +251,7 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
     // No Alerts displayed
     else {
       e2eAlertFrame = 0;
+      if (not isStandstill) standstillElapsedTime = 0.0;
     }
 
     // Blinker

From 17e25f78b4df38dcf68d5661b33b07b0e0af6829 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 10 Oct 2025 17:00:44 -0400
Subject: [PATCH 0502/1434] ui: dynamic ICBM status (#1357)

* ui: dynamic ICBM status

* straight up pls
---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc | 18 ++++++++++++++++--
 selfdrive/ui/sunnypilot/qt/onroad/hud.h  |  4 ++++
 2 files changed, 20 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 251140ad17ced8..9ce32002b8fcf6 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -127,6 +127,9 @@ void HudRendererSP::updateState(const UIState &s) {
   leftBlindspot = car_state.getLeftBlindspot();
   rightBlindspot = car_state.getRightBlindspot();
   showTurnSignals = s.scene.turn_signals;
+
+  carControlEnabled = car_control.getEnabled();
+  speedCluster = car_state.getCruiseState().getSpeedCluster() * speedConv;
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
@@ -685,10 +688,21 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
     }
   }
 
-  // Draw "MAX" text
+  // Draw "MAX" or carState.cruiseState.speedCluster (when ICBM is active) text
+  if (carControlEnabled) {
+    if (std::nearbyint(set_speed) != std::nearbyint(speedCluster)) {
+      icbm_active_counter = 3 * UI_FREQ;
+    } else if (icbm_active_counter > 0) {
+      icbm_active_counter--;
+    }
+  } else {
+    icbm_active_counter = 0;
+  }
+  QString max_str = (icbm_active_counter != 0) ? QString::number(std::nearbyint(speedCluster)) : tr("MAX");
+
   p.setFont(InterFont(40, QFont::DemiBold));
   p.setPen(max_color);
-  p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX"));
+  p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, max_str);
 
   // Draw set speed
   QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(set_speed)) : "–";
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index c50e2d641db2e8..4a3f90827de5b1 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -115,4 +115,8 @@ class HudRendererSP : public HudRenderer {
   bool rightBlindspot;
   int blinkerFrameCounter;
   bool showTurnSignals;
+
+  bool carControlEnabled;
+  float speedCluster = 0;
+  int icbm_active_counter = 0;
 };

From fe6edda23a87f478ec30e3b4cc876c9a625835e4 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 11 Oct 2025 01:52:33 -0400
Subject: [PATCH 0503/1434] Revert "UI: Make Always Offroad more accessible
 (#1327)" (#1358)

Reverts #1327
---
 .../qt/offroad/settings/device_panel.cc         | 17 +++++------------
 .../qt/offroad/settings/device_panel.h          |  2 --
 2 files changed, 5 insertions(+), 14 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index 43e6067451181c..0abbb5ba34a5d6 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -83,7 +83,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
   connect(maxTimeOffroad, &OptionControlSP::updateLabels, maxTimeOffroad, &MaxTimeOffroad::refresh);
   addItem(maxTimeOffroad);
 
-  toggleDeviceBootMode = new ButtonParamControlSP("DeviceBootMode", tr("Wake-Up Behavior"), "", "", {"Default", "Offroad"}, 375, true);
+    toggleDeviceBootMode = new ButtonParamControlSP("DeviceBootMode", tr("Wake-Up Behavior"), "", "", {"Default", "Offroad"}, 375, true);
   addItem(toggleDeviceBootMode);
 
   connect(toggleDeviceBootMode, &ButtonParamControlSP::buttonClicked, this, [=](int index) {
@@ -116,8 +116,9 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
   offroadBtn->setFixedWidth(power_layout->sizeHint().width());
   QObject::connect(offroadBtn, &PushButtonSP::clicked, this, &DevicePanelSP::setOffroadMode);
 
-  power_group_layout = new QVBoxLayout();
+  QVBoxLayout *power_group_layout = new QVBoxLayout();
   power_group_layout->setSpacing(25);
+  power_group_layout->addWidget(offroadBtn, 0, Qt::AlignHCenter);
   power_group_layout->addLayout(power_layout);
 
   addItem(power_group_layout);
@@ -130,7 +131,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
     buttons["onroadUploadsBtn"],
   };
 
-  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool _offroad) {
+  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     for (auto btn : findChildren<PushButtonSP*>()) {
       bool always_enabled = std::find(always_enabled_btns.begin(), always_enabled_btns.end(), btn) != always_enabled_btns.end();
 
@@ -138,8 +139,6 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
         btn->setEnabled(offroad);
       }
     }
-    offroad = _offroad;
-    updateState();
   });
 }
 
@@ -190,7 +189,7 @@ void DevicePanelSP::updateState() {
   }
 
   bool offroad_mode_param = params.getBool("OffroadMode");
-  offroadBtn->setText(offroad_mode_param ? tr("Exit Always Offroad") : tr("Enable Always Offroad"));
+  offroadBtn->setText(offroad_mode_param ? tr("Exit Always Offroad") : tr("Always Offroad"));
   offroadBtn->setStyleSheet(offroad_mode_param ? alwaysOffroadStyle : autoOffroadStyle);
 
   DeviceSleepModeStatus currStatus = DeviceSleepModeStatus::DEFAULT;
@@ -198,10 +197,4 @@ void DevicePanelSP::updateState() {
     currStatus = DeviceSleepModeStatus::OFFROAD;
   }
   toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus));
-
-  if (offroad and not offroad_mode_param) {
-    power_group_layout->insertWidget(0, offroadBtn, 0, Qt::AlignHCenter);
-  } else {
-    AddWidgetAt(0, offroadBtn);
-  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
index ce4acfc7cff201..f6d21699ff4187 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
@@ -31,8 +31,6 @@ class DevicePanelSP : public DevicePanel {
   PushButtonSP *offroadBtn;
   MaxTimeOffroad *maxTimeOffroad;
   ButtonParamControlSP *toggleDeviceBootMode;
-  QVBoxLayout *power_group_layout;
-  bool offroad;
 
   const QString alwaysOffroadStyle = R"(
     PushButtonSP {

From 974a7a3f7d95253f75ea915fa393000927121eb1 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Fri, 10 Oct 2025 23:47:45 -0700
Subject: [PATCH 0504/1434] ui: improve toggle states in Developer panel
 (#1352)

ui: quickboot toggle race condition

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../ui/sunnypilot/qt/offroad/settings/developer_panel.cc   | 7 +++----
 .../ui/sunnypilot/qt/offroad/settings/developer_panel.h    | 3 ---
 2 files changed, 3 insertions(+), 7 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
index 9c36097f1b9a2d..021f5b3776b8ab 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
@@ -56,14 +56,13 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
   addItem(errorLogBtn);
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &DeveloperPanelSP::updateToggles);
-
-  is_release = params.getBool("IsReleaseBranch");
-  is_tested = params.getBool("IsTestedBranch");
-  is_development = params.getBool("IsDevelopmentBranch");
 }
 
 void DeveloperPanelSP::updateToggles(bool offroad) {
   bool disable_updates = params.getBool("DisableUpdates");
+  bool is_release = params.getBool("IsReleaseBranch");
+  bool is_tested = params.getBool("IsTestedBranch");
+  bool is_development = params.getBool("IsDevelopmentBranch");
 
   prebuiltToggle->setVisible(!is_release && !is_tested && !is_development);
   prebuiltToggle->setEnabled(disable_updates);
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h
index 7f67512b5dc8a9..ed64964a56ed39 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h
@@ -22,9 +22,6 @@ class DeveloperPanelSP : public DeveloperPanel {
   ParamControlSP *prebuiltToggle;
   Params params;
   ParamControlSP *showAdvancedControls;
-  bool is_development;
-  bool is_release;
-  bool is_tested;
 
 private slots:
   void updateToggles(bool offroad);

From 1e5758e7126b528741ce1c9d98b36065590bc8e5 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sun, 12 Oct 2025 00:21:38 -0400
Subject: [PATCH 0505/1434] ui: Better E2E Alert UI Positioning (#1355)

Better E2E Alert UI Positioning
---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 9ce32002b8fcf6..c00be966a3db8c 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -714,9 +714,8 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
 void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const QString &alert_alt_text) {
   int size = devUiInfo > 0 ? e2e_alert_small : e2e_alert_large;
   int x = surface_rect.center().x() + surface_rect.width() / 4;
-  int y = surface_rect.center().y() + 40;
+  int y = surface_rect.center().y() + 20;
   x += devUiInfo > 0 ? 0 : 50;
-  y += devUiInfo > 0 ? 0 : 80;
   QRect alertRect(x - size, y - size, size * 2, size * 2);
 
   // Alert Circle

From b89393a5a214a24fe45f49630029749598996562 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sun, 12 Oct 2025 00:34:15 -0400
Subject: [PATCH 0506/1434] UI: Blinker Size & State Fix (#1363)

Blinker Size & State Fix

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc | 22 ++++++++++++++++++----
 selfdrive/ui/sunnypilot/qt/onroad/hud.h  |  1 +
 2 files changed, 19 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index c00be966a3db8c..718bfb514b1a0e 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -776,19 +776,33 @@ void HudRendererSP::drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect) {
 }
 
 void HudRendererSP::drawBlinker(QPainter &p, const QRect &surface_rect) {
+  const bool hazard = leftBlinkerOn && rightBlinkerOn;
+  int blinkerStatus = hazard ? 2 : (leftBlinkerOn or rightBlinkerOn) ? 1 : 0;
+
   if (!leftBlinkerOn && !rightBlinkerOn) {
     blinkerFrameCounter = 0;
+    lastBlinkerStatus = 0;
     return;
   }
+
+  if (blinkerStatus != lastBlinkerStatus) {
+    blinkerFrameCounter = 0;
+    lastBlinkerStatus = blinkerStatus;
+  }
+
   ++blinkerFrameCounter;
 
-  const int circleRadius = 44;
-  const int arrowLength = 44;
-  const int x_gap = 180;
+  const int BLINKER_COOLDOWN_FRAMES = UI_FREQ / 10;
+  if (blinkerFrameCounter < BLINKER_COOLDOWN_FRAMES) {
+    return;
+  }
+
+  const int circleRadius = 60;
+  const int arrowLength = 60;
+  const int x_gap = 160;
   const int y_offset = 272;
 
   const int centerX = surface_rect.center().x();
-  const bool hazard = leftBlinkerOn && rightBlinkerOn;
 
   const QPen bgBorder(Qt::white, 5);
   const QPen arrowPen(Qt::NoPen);
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index 4a3f90827de5b1..554c9c5d0d216e 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -114,6 +114,7 @@ class HudRendererSP : public HudRenderer {
   bool leftBlindspot;
   bool rightBlindspot;
   int blinkerFrameCounter;
+  int lastBlinkerStatus;
   bool showTurnSignals;
 
   bool carControlEnabled;

From 6f42bbab18ae9a35a5ace15a67f995b282c1c333 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sun, 12 Oct 2025 01:59:03 -0400
Subject: [PATCH 0507/1434] Reapply "UI: Make Always Offroad more accessible"
 (#1327) (#1361)

* UI: Make Always Offroad more accessible

* conditional - based on offroad

* no need to delete

* account for always offroad

* fix offroad transition

* do this inside updateState on every invoke

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../qt/offroad/settings/device_panel.cc       | 43 ++++++++++---------
 .../qt/offroad/settings/device_panel.h        |  6 ++-
 2 files changed, 28 insertions(+), 21 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index 0abbb5ba34a5d6..8295789f0adf91 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -83,12 +83,12 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
   connect(maxTimeOffroad, &OptionControlSP::updateLabels, maxTimeOffroad, &MaxTimeOffroad::refresh);
   addItem(maxTimeOffroad);
 
-    toggleDeviceBootMode = new ButtonParamControlSP("DeviceBootMode", tr("Wake-Up Behavior"), "", "", {"Default", "Offroad"}, 375, true);
+  toggleDeviceBootMode = new ButtonParamControlSP("DeviceBootMode", tr("Wake-Up Behavior"), "", "", {"Default", "Offroad"}, 375, true);
   addItem(toggleDeviceBootMode);
 
   connect(toggleDeviceBootMode, &ButtonParamControlSP::buttonClicked, this, [=](int index) {
     params.put("DeviceBootMode", QString::number(index).toStdString());
-    updateState();
+    updateState(offroad);
   });
 
   addItem(device_grid_layout);
@@ -116,14 +116,13 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
   offroadBtn->setFixedWidth(power_layout->sizeHint().width());
   QObject::connect(offroadBtn, &PushButtonSP::clicked, this, &DevicePanelSP::setOffroadMode);
 
-  QVBoxLayout *power_group_layout = new QVBoxLayout();
+  power_group_layout = new QVBoxLayout();
   power_group_layout->setSpacing(25);
-  power_group_layout->addWidget(offroadBtn, 0, Qt::AlignHCenter);
   power_group_layout->addLayout(power_layout);
 
   addItem(power_group_layout);
 
-  std::vector always_enabled_btns = {
+  always_enabled_btns = {
     rebootBtn,
     poweroffBtn,
     offroadBtn,
@@ -131,15 +130,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
     buttons["onroadUploadsBtn"],
   };
 
-  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
-    for (auto btn : findChildren<PushButtonSP*>()) {
-      bool always_enabled = std::find(always_enabled_btns.begin(), always_enabled_btns.end(), btn) != always_enabled_btns.end();
-
-      if (!always_enabled) {
-        btn->setEnabled(offroad);
-      }
-    }
-  });
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &DevicePanelSP::updateState);
 }
 
 void DevicePanelSP::setOffroadMode() {
@@ -163,7 +154,7 @@ void DevicePanelSP::setOffroadMode() {
     ConfirmationDialog::alert(tr("Disengage to Enter Always Offroad Mode"), this);
   }
 
-  updateState();
+  updateState(offroad);
 }
 
 void DevicePanelSP::resetSettings() {
@@ -180,16 +171,20 @@ void DevicePanelSP::resetSettings() {
 }
 
 void DevicePanelSP::showEvent(QShowEvent *event) {
-  updateState();
+  updateState(offroad);
 }
 
-void DevicePanelSP::updateState() {
-  if (!isVisible()) {
-    return;
+void DevicePanelSP::updateState(bool _offroad) {
+  for (auto btn : findChildren<PushButtonSP*>()) {
+    bool always_enabled = std::find(always_enabled_btns.begin(), always_enabled_btns.end(), btn) != always_enabled_btns.end();
+
+    if (!always_enabled) {
+      btn->setEnabled(_offroad);
+    }
   }
 
   bool offroad_mode_param = params.getBool("OffroadMode");
-  offroadBtn->setText(offroad_mode_param ? tr("Exit Always Offroad") : tr("Always Offroad"));
+  offroadBtn->setText(offroad_mode_param ? tr("Exit Always Offroad") : tr("Enable Always Offroad"));
   offroadBtn->setStyleSheet(offroad_mode_param ? alwaysOffroadStyle : autoOffroadStyle);
 
   DeviceSleepModeStatus currStatus = DeviceSleepModeStatus::DEFAULT;
@@ -197,4 +192,12 @@ void DevicePanelSP::updateState() {
     currStatus = DeviceSleepModeStatus::OFFROAD;
   }
   toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus));
+
+  if (offroad and not offroad_mode_param) {
+    power_group_layout->insertWidget(0, offroadBtn, 0, Qt::AlignHCenter);
+  } else {
+    AddWidgetAt(0, offroadBtn);
+  }
+
+  offroad = _offroad;
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
index f6d21699ff4187..425c4528a1974d 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
@@ -23,7 +23,7 @@ class DevicePanelSP : public DevicePanel {
   explicit DevicePanelSP(SettingsWindowSP *parent = 0);
   void showEvent(QShowEvent *event) override;
   void setOffroadMode();
-  void updateState();
+  void updateState(bool _offroad);
   void resetSettings();
 
 private:
@@ -31,6 +31,10 @@ class DevicePanelSP : public DevicePanel {
   PushButtonSP *offroadBtn;
   MaxTimeOffroad *maxTimeOffroad;
   ButtonParamControlSP *toggleDeviceBootMode;
+  QVBoxLayout *power_group_layout;
+  bool offroad;
+
+  std::vector<PushButtonSP*> always_enabled_btns = {};
 
   const QString alwaysOffroadStyle = R"(
     PushButtonSP {

From 5b29fd0f2ce9e52c40f303054990b18a0d276b19 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sun, 12 Oct 2025 12:12:52 -0400
Subject: [PATCH 0508/1434] UI: Onroad Screen Timeout Fixes (#1364)

* Screen Timeout Fixes

* rename

* auto type

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/qt/window.cc                            | 10 ++++++++++
 selfdrive/ui/qt/window.h                             |  4 ++++
 .../ui/sunnypilot/qt/onroad/annotated_camera.cc      |  6 ++++++
 selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h |  1 +
 selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc     |  2 --
 selfdrive/ui/sunnypilot/ui.cc                        | 12 +++++++-----
 selfdrive/ui/sunnypilot/ui.h                         |  8 +++++++-
 7 files changed, 35 insertions(+), 8 deletions(-)

diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index 36f12c266b95ea..d0806e437916fa 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -92,6 +92,16 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
       // ignore events when device is awakened by resetInteractiveTimeout
       ignore = !device()->isAwake();
       device()->resetInteractiveTimeout();
+
+#ifdef SUNNYPILOT
+      auto *s_sp = uiStateSP();
+      bool onroadScreenControl = s_sp->scene.onroadScreenOffControl;
+      bool started = s_sp->scene.started;
+      bool timerExpired = (s_sp->scene.onroadScreenOffTimer == 0);
+      ignore |= (onroadScreenControl and started and timerExpired);
+      s_sp->reset_onroad_sleep_timer();
+#endif
+
       break;
     }
     default:
diff --git a/selfdrive/ui/qt/window.h b/selfdrive/ui/qt/window.h
index 8a118b0bb62013..63293d41773f54 100644
--- a/selfdrive/ui/qt/window.h
+++ b/selfdrive/ui/qt/window.h
@@ -7,6 +7,10 @@
 #include "selfdrive/ui/qt/offroad/onboarding.h"
 #include "selfdrive/ui/qt/offroad/settings.h"
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/ui.h"
+#endif
+
 class MainWindow : public QWidget {
   Q_OBJECT
 
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc
index 1d5567161a71bd..f9b62b0ae74dc9 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc
@@ -18,4 +18,10 @@ void AnnotatedCameraWidgetSP::updateState(const UIState &s) {
 void AnnotatedCameraWidgetSP::showEvent(QShowEvent *event) {
   AnnotatedCameraWidget::showEvent(event);
   ui_update_params_sp(uiState());
+  uiStateSP()->reset_onroad_sleep_timer(OnroadTimerStatusToggle::RESUME);
+}
+
+void AnnotatedCameraWidgetSP::hideEvent(QHideEvent *event) {
+  AnnotatedCameraWidget::hideEvent(event);
+  uiStateSP()->reset_onroad_sleep_timer(OnroadTimerStatusToggle::PAUSE);
 }
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h
index 8c0a385657b9ab..2e7609dae01b62 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h
@@ -18,4 +18,5 @@ class AnnotatedCameraWidgetSP : public AnnotatedCameraWidget {
 
 protected:
   void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent* event) override;
 };
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc b/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc
index 3f853e33636ff6..b26d1b828a3833 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc
@@ -25,10 +25,8 @@ void OnroadWindowSP::updateState(const UIStateSP &s) {
 
 void OnroadWindowSP::mousePressEvent(QMouseEvent *e) {
   OnroadWindow::mousePressEvent(e);
-  uiStateSP()->reset_onroad_sleep_timer();
 }
 
 void OnroadWindowSP::offroadTransition(bool offroad) {
   OnroadWindow::offroadTransition(offroad);
-  uiStateSP()->reset_onroad_sleep_timer();
 }
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index c021e0e95b4d87..2244e231991d44 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -71,17 +71,19 @@ void ui_update_params_sp(UIStateSP *s) {
   s->scene.onroadScreenOffBrightness = std::atoi(params.get("OnroadScreenOffBrightness").c_str());
   s->scene.onroadScreenOffControl = params.getBool("OnroadScreenOffControl");
   s->scene.onroadScreenOffTimerParam = std::atoi(params.get("OnroadScreenOffTimer").c_str());
-  s->reset_onroad_sleep_timer();
 
   s->scene.turn_signals = params.getBool("ShowTurnSignals");
 }
 
-void UIStateSP::reset_onroad_sleep_timer() {
-  if (scene.onroadScreenOffTimerParam >= 0 and scene.onroadScreenOffControl) {
-    scene.onroadScreenOffTimer = scene.onroadScreenOffTimerParam * UI_FREQ;
-  } else {
+void UIStateSP::reset_onroad_sleep_timer(OnroadTimerStatusToggle toggleTimerStatus) {
+  // Toggling from active state to inactive
+  if (toggleTimerStatus == OnroadTimerStatusToggle::PAUSE and scene.onroadScreenOffTimer != -1) {
     scene.onroadScreenOffTimer = -1;
   }
+  // Toggling from a previously inactive state or resetting an active timer
+  else if ((scene.onroadScreenOffTimerParam >= 0 and scene.onroadScreenOffControl and scene.onroadScreenOffTimer != -1) or toggleTimerStatus == OnroadTimerStatusToggle::RESUME) {
+    scene.onroadScreenOffTimer = scene.onroadScreenOffTimerParam * UI_FREQ;
+  }
 }
 
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
diff --git a/selfdrive/ui/sunnypilot/ui.h b/selfdrive/ui/sunnypilot/ui.h
index 55dd43ad52cc25..ba5de83ef6f391 100644
--- a/selfdrive/ui/sunnypilot/ui.h
+++ b/selfdrive/ui/sunnypilot/ui.h
@@ -15,6 +15,12 @@
 #include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/util.h"
 
+enum OnroadTimerStatusToggle {
+  NONE,
+  PAUSE,
+  RESUME
+};
+
 class UIStateSP : public UIState {
   Q_OBJECT
 
@@ -61,7 +67,7 @@ class UIStateSP : public UIState {
       return user.user_id.toLower() != "unregisteredsponsor" && user.user_id.toLower() != "temporarysponsor";
     });
   }
-  void reset_onroad_sleep_timer();
+  void reset_onroad_sleep_timer(OnroadTimerStatusToggle toggleTimerStatus = OnroadTimerStatusToggle::NONE);
 
 signals:
   void sunnylinkRoleChanged(bool subscriber);

From cb6fa622ee484a1b51345958c0d9bed0aa8335d8 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Sun, 12 Oct 2025 20:11:23 -0700
Subject: [PATCH 0509/1434] Visuals: Move custom chevron info to
 `sunnypilot/qt` (#1066)

* refactor: move to sp ui

* pr suggestion

* no need to check pcm just oplong

* no color, big front, long check

* Fix Rainbow Mode & Y Positioning

* Move param to uiscene

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: nayan <nayan8teen@gmail.com>
---
 selfdrive/ui/qt/onroad/model.cc               | 167 ------------------
 selfdrive/ui/qt/onroad/model.h                |  10 --
 .../qt/offroad/settings/visuals_panel.cc      |  34 ++++
 .../qt/offroad/settings/visuals_panel.h       |   3 +
 selfdrive/ui/sunnypilot/qt/onroad/model.cc    | 135 ++++++++++++++
 selfdrive/ui/sunnypilot/qt/onroad/model.h     |  11 ++
 selfdrive/ui/sunnypilot/ui.cc                 |   1 +
 selfdrive/ui/sunnypilot/ui_scene.h            |   1 +
 8 files changed, 185 insertions(+), 177 deletions(-)

diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
index a1e3756cb696f0..a4165be216b2ca 100644
--- a/selfdrive/ui/qt/onroad/model.cc
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -34,7 +34,6 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
       drawLead(painter, lead_two, lead_vertices[1], surface_rect);
     }
   }
-  drawLeadStatus(painter, surface_rect.height(), surface_rect.width());
 
   painter.restore();
 }
@@ -175,172 +174,6 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
 }
 
 
-void ModelRenderer::drawLeadStatus(QPainter &painter, int height, int width) {
-    auto *s = uiState();
-    auto &sm = *(s->sm);
-
-    if (!sm.alive("radarState")) return;
-
-    const auto &radar_state = sm["radarState"].getRadarState();
-    const auto &lead_one = radar_state.getLeadOne();
-    const auto &lead_two = radar_state.getLeadTwo();
-
-    // Check if we have any active leads
-    bool has_lead_one = lead_one.getStatus();
-    bool has_lead_two = lead_two.getStatus();
-
-    if (!has_lead_one && !has_lead_two) {
-        // Fade out status display
-        lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
-        if (lead_status_alpha <= 0.0f) return;
-    } else {
-        // Fade in status display
-        lead_status_alpha = std::min(1.0f, lead_status_alpha + 0.1f);
-    }
-
-    // Draw status for each lead vehicle under its chevron
-    if (true) {
-        drawLeadStatusAtPosition(painter, lead_one, lead_vertices[0], height, width, "L1");
-    }
-
-    if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) {
-        drawLeadStatusAtPosition(painter, lead_two, lead_vertices[1], height, width, "L2");
-    }
-}
-
-void ModelRenderer::drawLeadStatusAtPosition(QPainter &painter,
-                                           const cereal::RadarState::LeadData::Reader &lead_data,
-                                           const QPointF &chevron_pos,
-                                           int height, int width,
-                                           const QString &label) {
-
-    float d_rel = lead_data.getDRel();
-    float v_rel = lead_data.getVRel();
-    auto *s = uiState();
-    auto &sm = *(s->sm);
-    float v_ego = sm["carState"].getCarState().getVEgo();
-
-    int chevron_data = std::atoi(Params().get("ChevronInfo").c_str());
-
-    // Calculate chevron size (same logic as drawLead)
-    float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
-
-    QFont content_font = painter.font();
-    content_font.setPixelSize(35);
-    content_font.setBold(true);
-    painter.setFont(content_font);
-
-    QFontMetrics fm(content_font);
-    bool is_metric = s->scene.is_metric;
-
-    QStringList text_lines;
-
-    const int chevron_types = 3;
-    const int chevron_all = chevron_types + 1;  // All metrics (value 4)
-    QStringList chevron_text[chevron_types];
-    int position;
-    float val;
-
-    // Distance display (chevron_data == 1 or all)
-    if (chevron_data == 1 || chevron_data == chevron_all) {
-        position = 0;
-        val = std::max(0.0f, d_rel);
-        QString distance_unit = is_metric ? "m" : "ft";
-        if (!is_metric) {
-            val *= 3.28084f; // Convert meters to feet
-        }
-        chevron_text[position].append(QString::number(val, 'f', 0) + " " + distance_unit);
-    }
-
-    // Absolute velocity display (chevron_data == 2 or all)
-    if (chevron_data == 2 || chevron_data == chevron_all) {
-        position = (chevron_data == 2) ? 0 : 1;
-        val = std::max(0.0f, (v_rel + v_ego) * (is_metric ? static_cast<float>(MS_TO_KPH) : static_cast<float>(MS_TO_MPH)));
-        chevron_text[position].append(QString::number(val, 'f', 0) + " " + (is_metric ? "km/h" : "mph"));
-    }
-
-    // Time-to-contact display (chevron_data == 3 or all)
-    if (chevron_data == 3 || chevron_data == chevron_all) {
-        position = (chevron_data == 3) ? 0 : 2;
-        val = (d_rel > 0 && v_ego > 0) ? std::max(0.0f, d_rel / v_ego) : 0.0f;
-        QString ttc_str = (val > 0 && val < 200) ? QString::number(val, 'f', 1) + "s" : "---";
-        chevron_text[position].append(ttc_str);
-    }
-
-    // Collect all non-empty text lines
-    for (int i = 0; i < chevron_types; ++i) {
-        if (!chevron_text[i].isEmpty()) {
-            text_lines.append(chevron_text[i]);
-        }
-    }
-
-    // If no text to display, return early
-    if (text_lines.isEmpty()) {
-        return;
-    }
-
-    // Text box dimensions
-    float str_w = 150;  // Width of text area
-    float str_h = 45;   // Height per line
-
-    // Position text below chevron, centered horizontally
-    float text_x = chevron_pos.x() - str_w / 2;
-    float text_y = chevron_pos.y() + sz + 15;
-
-    // Clamp to screen bounds
-    text_x = std::clamp(text_x, 10.0f, (float)width - str_w - 10);
-
-    // Shadow offset
-    QPoint shadow_offset(2, 2);
-
-    // Draw each line of text with shadow
-    for (int i = 0; i < text_lines.size(); ++i) {
-        if (!text_lines[i].isEmpty()) {
-            QRect textRect(text_x, text_y + (i * str_h), str_w, str_h);
-
-            // Draw shadow
-            painter.setPen(QColor(0x0, 0x0, 0x0, (int)(200 * lead_status_alpha)));
-            painter.drawText(textRect.translated(shadow_offset.x(), shadow_offset.y()),
-                           Qt::AlignBottom | Qt::AlignHCenter, text_lines[i]);
-
-            // Determine text color based on content and danger level
-            QColor text_color;
-
-            // Check if this is a distance line (contains 'm' or 'ft')
-            if (text_lines[i].contains("m") || text_lines[i].contains("ft")) {
-                if (d_rel < 20.0f) {
-                    text_color = QColor(255, 80, 80, (int)(255 * lead_status_alpha)); // Red - danger
-                } else if (d_rel < 40.0f) {
-                    text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha)); // Yellow - caution
-                } else {
-                    text_color = QColor(80, 255, 120, (int)(255 * lead_status_alpha)); // Green - safe
-                }
-            }
-            // Enhanced color coding for time-to-contact
-            else if (text_lines[i].contains("s") && !text_lines[i].contains("---")) {
-                float ttc_val = text_lines[i].left(text_lines[i].length() - 1).toFloat();
-                if (ttc_val < 3.0f) {
-                    text_color = QColor(255, 80, 80, (int)(255 * lead_status_alpha)); // Red - urgent
-                } else if (ttc_val < 6.0f) {
-                    text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha)); // Yellow - caution
-                } else {
-                    text_color = QColor(0xff, 0xff, 0xff, (int)(255 * lead_status_alpha)); // White - safe
-                }
-            }
-            else {
-                text_color = QColor(0xff, 0xff, 0xff, (int)(255 * lead_status_alpha)); // White for other lines
-            }
-
-            // Draw main text
-            painter.setPen(text_color);
-            painter.drawText(textRect, Qt::AlignBottom | Qt::AlignHCenter, text_lines[i]);
-        }
-    }
-
-    // Reset pen
-    painter.setPen(Qt::NoPen);
-}
-
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                              const QPointF &vd, const QRect &surface_rect) {
   const float speedBuff = 10.;
diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h
index e40f832c37a135..3ef8ba5320e4ed 100644
--- a/selfdrive/ui/qt/onroad/model.h
+++ b/selfdrive/ui/qt/onroad/model.h
@@ -34,12 +34,6 @@ class ModelRenderer {
   bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
   void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
                         QPolygonF *pvd, int max_idx, bool allow_invert = true);
-  void drawLeadStatus(QPainter &painter, int height, int width);
-  void drawLeadStatusAtPosition(QPainter &painter,
-                             const cereal::RadarState::LeadData::Reader &lead_data,
-                             const QPointF &chevron_pos,
-                             int height, int width,
-                             const QString &label);
   void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect);
   void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
   virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
@@ -65,8 +59,4 @@ class ModelRenderer {
   Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
   QRectF clip_region;
 
-  float lead_status_alpha = 0.0f;
-  QPointF lead_status_pos;
-  QString lead_status_text;
-  QColor lead_status_color;
 };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
index 0324cd70f097fa..0e42f777cd9dd1 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -140,6 +140,40 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
   vlayout->addWidget(sunnypilotScroller);
 
   main_layout->addWidget(sunnypilotScreen);
+
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &VisualsPanel::refreshLongitudinalStatus);
+
+  refreshLongitudinalStatus();
+}
+
+void VisualsPanel::refreshLongitudinalStatus() {
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    has_longitudinal_control = hasLongitudinalControl(CP);
+  } else {
+    has_longitudinal_control = false;
+  }
+
+  if (chevron_info_settings) {
+    QString chevronEnabledDescription = tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).");
+    QString chevronNoLongDescription = tr("This feature requires openpilot longitudinal control to be available.");
+
+    if (has_longitudinal_control) {
+      chevron_info_settings->setDescription(chevronEnabledDescription);
+    } else {
+      // Reset to "Off" when longitudinal not available
+      params.put("ChevronInfo", "0");
+      chevron_info_settings->setDescription(chevronNoLongDescription);
+    }
+
+    // Enable only when longitudinal is available
+    chevron_info_settings->setEnabled(has_longitudinal_control);
+    chevron_info_settings->refresh();
+  }
 }
 
 void VisualsPanel::paramsRefresh() {
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
index 30ff31c3011830..76a846dd45104c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
@@ -19,6 +19,7 @@ class VisualsPanel : public QWidget {
  explicit VisualsPanel(QWidget *parent = nullptr);
 
  void paramsRefresh();
+ void refreshLongitudinalStatus();
 
 protected:
  QStackedLayout* main_layout = nullptr;
@@ -29,4 +30,6 @@ class VisualsPanel : public QWidget {
  ParamWatcher * param_watcher;
  ButtonParamControlSP *chevron_info_settings;
  ButtonParamControlSP *dev_ui_settings;
+
+ bool has_longitudinal_control = false;
 };
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.cc b/selfdrive/ui/sunnypilot/qt/onroad/model.cc
index 5d92838f8abc1e..875ec6f0b882dd 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/model.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/model.cc
@@ -87,4 +87,139 @@ void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Rea
     // Normal path rendering
     ModelRenderer::drawPath(painter, model, surface_rect.height());
   }
+
+  drawLeadStatus(painter, surface_rect.height(), surface_rect.width());
+}
+
+void ModelRendererSP::drawLeadStatus(QPainter &painter, int height, int width) {
+  auto *s = uiState();
+  auto &sm = *(s->sm);
+
+  bool longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
+  if (!longitudinal_control) {
+    lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
+    return;
+  }
+
+  if (!sm.alive("radarState")) {
+    lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
+    return;
+  }
+
+  const auto &radar_state = sm["radarState"].getRadarState();
+  const auto &lead_one = radar_state.getLeadOne();
+  const auto &lead_two = radar_state.getLeadTwo();
+
+  bool has_lead_one = lead_one.getStatus();
+  bool has_lead_two = lead_two.getStatus();
+
+  if (!has_lead_one && !has_lead_two) {
+    lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
+    if (lead_status_alpha <= 0.0f) return;
+  } else {
+    lead_status_alpha = std::min(1.0f, lead_status_alpha + 0.1f);
+  }
+
+  if (has_lead_one) {
+    drawLeadStatusAtPosition(painter, lead_one, lead_vertices[0], height, width, "L1");
+  }
+
+  if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) {
+    drawLeadStatusAtPosition(painter, lead_two, lead_vertices[1], height, width, "L2");
+  }
+}
+
+void ModelRendererSP::drawLeadStatusAtPosition(QPainter &painter,
+                                               const cereal::RadarState::LeadData::Reader &lead_data,
+                                               const QPointF &chevron_pos,
+                                               int height, int width,
+                                               const QString &label) {
+  float d_rel = lead_data.getDRel();
+  float v_rel = lead_data.getVRel();
+  auto *s = uiState();
+  auto &sm = *(s->sm);
+  float v_ego = sm["carState"].getCarState().getVEgo();
+
+  int chevron_data = s->scene.chevron_info;
+  float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
+
+  QFont content_font = painter.font();
+  content_font.setPixelSize(50);
+  content_font.setBold(true);
+  painter.setFont(content_font);
+
+  bool is_metric = s->scene.is_metric;
+  QStringList text_lines;
+  const int chevron_all = 4;
+  QStringList chevron_text[3];
+
+  // Distance display
+  if (chevron_data == 1 || chevron_data == chevron_all) {
+    int pos = 0;
+    float val = std::max(0.0f, d_rel);
+    QString unit = is_metric ? "m" : "ft";
+    if (!is_metric) val *= 3.28084f;
+    chevron_text[pos].append(QString::number(val, 'f', 0) + " " + unit);
+  }
+
+  // Speed display
+  if (chevron_data == 2 || chevron_data == chevron_all) {
+    int pos = (chevron_data == 2) ? 0 : 1;
+    float multiplier = is_metric ? static_cast<float>(MS_TO_KPH) : static_cast<float>(MS_TO_MPH);
+    float val = std::max(0.0f, (v_rel + v_ego) * multiplier);
+    QString unit = is_metric ? "km/h" : "mph";
+    chevron_text[pos].append(QString::number(val, 'f', 0) + " " + unit);
+  }
+
+  // Time to contact
+  if (chevron_data == 3 || chevron_data == chevron_all) {
+    int pos = (chevron_data == 3) ? 0 : 2;
+    float val = (d_rel > 0 && v_ego > 0) ? std::max(0.0f, d_rel / v_ego) : 0.0f;
+    QString ttc = (val > 0 && val < 200) ? QString::number(val, 'f', 1) + "s" : "---";
+    chevron_text[pos].append(ttc);
+  }
+
+  for (int i = 0; i < 3; ++i) {
+    if (!chevron_text[i].isEmpty()) text_lines.append(chevron_text[i]);
+  }
+
+  if (text_lines.isEmpty()) return;
+
+  QFontMetrics fm(content_font);
+  float text_width = 120.0f;
+  for (const QString &line : text_lines) {
+    text_width = std::max(text_width, fm.horizontalAdvance(line) + 20.0f);
+  }
+  text_width = std::min(text_width, 250.0f);
+
+  float line_height = 50.0f;
+  float total_height = text_lines.size() * line_height;
+  float margin = 20.0f;
+
+  float text_y = chevron_pos.y() + sz + 15;
+  if (text_y + total_height > height - margin) {
+    float y_max = chevron_pos.y() > (height - margin) ? (height - margin) : chevron_pos.y();
+    text_y = y_max - 15 - total_height;
+    text_y = std::max(margin, text_y);
+  }
+
+  float text_x = chevron_pos.x() - text_width / 2;
+  text_x = std::clamp(text_x, margin, (float)width - text_width - margin);
+
+  QPoint shadow_offset(2, 2);
+  QColor text_color = QColor(255, 255, 255, (int)(255 * lead_status_alpha));
+  for (int i = 0; i < text_lines.size(); ++i) {
+    float y = text_y + (i * line_height);
+    if (y + line_height > height - margin) break;
+
+    QRect rect(text_x, y, text_width, line_height);
+
+    // Draw shadow
+    painter.setPen(QColor(0, 0, 0, (int)(200 * lead_status_alpha)));
+    painter.drawText(rect.translated(shadow_offset), Qt::AlignCenter, text_lines[i]);
+    painter.setPen(text_color);
+    painter.drawText(rect, Qt::AlignCenter, text_lines[i]);
+  }
+
+  painter.setPen(Qt::NoPen);
 }
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.h b/selfdrive/ui/sunnypilot/qt/onroad/model.h
index 24404f32f06e98..73999f00593d81 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/model.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/model.h
@@ -17,6 +17,17 @@ class ModelRendererSP : public ModelRenderer {
   void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) override;
   void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &rect) override;
 
+  // Lead status display methods
+  void drawLeadStatus(QPainter &painter, int height, int width);
+  void drawLeadStatusAtPosition(QPainter &painter,
+                                const cereal::RadarState::LeadData::Reader &lead_data,
+                                const QPointF &chevron_pos,
+                                int height, int width,
+                                const QString &label);
+
   QPolygonF left_blindspot_vertices;
   QPolygonF right_blindspot_vertices;
+
+  // Lead status animation
+  float lead_status_alpha = 0.0f;
 };
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index 2244e231991d44..16d2bac49d9f2e 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -73,6 +73,7 @@ void ui_update_params_sp(UIStateSP *s) {
   s->scene.onroadScreenOffTimerParam = std::atoi(params.get("OnroadScreenOffTimer").c_str());
 
   s->scene.turn_signals = params.getBool("ShowTurnSignals");
+  s->scene.chevron_info = std::atoi(params.get("ChevronInfo").c_str());
 }
 
 void UIStateSP::reset_onroad_sleep_timer(OnroadTimerStatusToggle toggleTimerStatus) {
diff --git a/selfdrive/ui/sunnypilot/ui_scene.h b/selfdrive/ui/sunnypilot/ui_scene.h
index 233f1e15de4aa1..353f4ed8da6787 100644
--- a/selfdrive/ui/sunnypilot/ui_scene.h
+++ b/selfdrive/ui/sunnypilot/ui_scene.h
@@ -18,4 +18,5 @@ typedef struct UISceneSP : UIScene {
   bool trueVEgoUI;
   bool hideVEgoUI;
   bool turn_signals = false;
+  int chevron_info;
 } UISceneSP;

From 728108f97f3d094d8502e1334fe62e8dfe52a360 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sun, 12 Oct 2025 23:36:58 -0400
Subject: [PATCH 0510/1434] ui: Optimize Param Read for Onroad UI (#1365)

* Move params to uiscene

* more

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc      | 4 ++--
 selfdrive/ui/sunnypilot/qt/onroad/model.cc                    | 4 ++--
 selfdrive/ui/sunnypilot/ui.cc                                 | 2 ++
 selfdrive/ui/sunnypilot/ui_scene.h                            | 2 ++
 4 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
index 96d945ab5303af..4bbf894572016c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
@@ -21,7 +21,7 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
     paramsRefresh(param_name, param_value);
   });
 
-  is_sunnylink_enabled = Params().getBool("SunnylinkEnabled");
+  is_sunnylink_enabled = params.getBool("SunnylinkEnabled");
   connect(uiStateSP(), &UIStateSP::sunnylinkRolesChanged, this, &SunnylinkPanel::updatePanel);
   connect(uiStateSP(), &UIStateSP::sunnylinkDeviceUsersChanged, this, &SunnylinkPanel::updatePanel);
   connect(uiStateSP(), &UIStateSP::offroadTransition, [=](bool offroad) {
@@ -272,7 +272,7 @@ void SunnylinkPanel::updatePanel() {
   const auto sunnylinkDongleId = getSunnylinkDongleId().value_or(tr("N/A"));
   sunnylinkEnabledBtn->setEnabled(!is_onroad);
 
-  is_sunnylink_enabled = Params().getBool("SunnylinkEnabled");
+  is_sunnylink_enabled = params.getBool("SunnylinkEnabled");
   bool is_sub = uiStateSP()->isSunnylinkSponsor() && is_sunnylink_enabled;
   auto max_current_sponsor_rule = uiStateSP()->sunnylinkSponsorRole();
   auto role_name = max_current_sponsor_rule.getSponsorTierString();
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.cc b/selfdrive/ui/sunnypilot/qt/onroad/model.cc
index 875ec6f0b882dd..14943b1d48e587 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/model.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/model.cc
@@ -24,7 +24,7 @@ void ModelRendererSP::update_model(const cereal::ModelDataV2::Reader &model, con
 void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {
   auto *s = uiState();
   auto &sm = *(s->sm);
-  bool blindspot = Params().getBool("BlindSpot");
+  bool blindspot = s->scene.blindspot_ui;
 
   if (blindspot) {
     bool left_blindspot = sm["carState"].getCarState().getLeftBlindspot();
@@ -49,7 +49,7 @@ void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Rea
     }
   }
 
-  bool rainbow = Params().getBool("RainbowMode");
+  bool rainbow = s->scene.rainbow_mode;
   //float v_ego = sm["carState"].getCarState().getVEgo();
 
   if (rainbow) {
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index 16d2bac49d9f2e..ab1ca0e6a6d4d5 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -74,6 +74,8 @@ void ui_update_params_sp(UIStateSP *s) {
 
   s->scene.turn_signals = params.getBool("ShowTurnSignals");
   s->scene.chevron_info = std::atoi(params.get("ChevronInfo").c_str());
+  s->scene.blindspot_ui = params.getBool("BlindSpot");
+  s->scene.rainbow_mode = params.getBool("RainbowMode");
 }
 
 void UIStateSP::reset_onroad_sleep_timer(OnroadTimerStatusToggle toggleTimerStatus) {
diff --git a/selfdrive/ui/sunnypilot/ui_scene.h b/selfdrive/ui/sunnypilot/ui_scene.h
index 353f4ed8da6787..da98931e6b238e 100644
--- a/selfdrive/ui/sunnypilot/ui_scene.h
+++ b/selfdrive/ui/sunnypilot/ui_scene.h
@@ -19,4 +19,6 @@ typedef struct UISceneSP : UIScene {
   bool hideVEgoUI;
   bool turn_signals = false;
   int chevron_info;
+  bool blindspot_ui;
+  bool rainbow_mode;
 } UISceneSP;

From 68d059fd5d3a2503ddb1096518f11fcc3df183d5 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 12 Oct 2025 23:48:58 -0400
Subject: [PATCH 0511/1434] ui: ensure Cruise panel widget is reset when
 `hideEvent` (#1366)

---
 .../settings/longitudinal/speed_limit/speed_limit_settings.cc | 4 ++++
 .../settings/longitudinal/speed_limit/speed_limit_settings.h  | 1 +
 .../ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc   | 4 ++++
 .../ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h    | 1 +
 4 files changed, 10 insertions(+)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
index ff5d6221ceeacc..3efbfeed86a46d 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
@@ -158,3 +158,7 @@ void SpeedLimitSettings::refresh() {
 void SpeedLimitSettings::showEvent(QShowEvent *event) {
   refresh();
 }
+
+void SpeedLimitSettings::hideEvent(QHideEvent *event) {
+  setCurrentWidget(subPanelFrame);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
index f76f9bea2ae27f..23fa7b4ece6be2 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
@@ -21,6 +21,7 @@ class SpeedLimitSettings : public QStackedWidget {
   SpeedLimitSettings(QWidget *parent = nullptr);
   void refresh();
   void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override;
 
 signals:
   void backPress();
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
index 3e3977ff64eee5..31124a3242fb6f 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
@@ -86,6 +86,10 @@ void LongitudinalPanel::showEvent(QShowEvent *event) {
   refresh(offroad);
 }
 
+void LongitudinalPanel::hideEvent(QHideEvent *event) {
+  main_layout->setCurrentWidget(cruisePanelScreen);
+}
+
 void LongitudinalPanel::refresh(bool _offroad) {
   auto cp_bytes = params.get("CarParamsPersistent");
   auto cp_sp_bytes = params.get("CarParamsSPPersistent");
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
index 0b7f39c6451ed2..a94369a56032a3 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
@@ -18,6 +18,7 @@ class LongitudinalPanel : public QWidget {
 public:
   explicit LongitudinalPanel(QWidget *parent = nullptr);
   void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override;
   void refresh(bool _offroad);
 
 private:

From 7d54b58b8d3bb83e20299602a3d748ed8baf3763 Mon Sep 17 00:00:00 2001
From: Kirito3481 <47619491+Kirito3481@users.noreply.github.com>
Date: Mon, 13 Oct 2025 13:19:24 +0900
Subject: [PATCH 0512/1434] ui: Update Korean translations (#1359)

Update ko-kr translations

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/translations/main_ko.ts | 265 ++++++++++++++-------------
 1 file changed, 135 insertions(+), 130 deletions(-)

diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index f3ec6b69e8134c..d86468ae6ebf5a 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -144,11 +144,11 @@ Please use caution when using this feature. Only use the blinker when traffic an
     </message>
     <message>
         <source>Global Brightness</source>
-        <translation type="unfinished"></translation>
+        <translation>전역 �기</translation>
     </message>
     <message>
         <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
-        <translation type="unfinished"></translation>
+        <translation>기기� �기를 강제로 설정합니다. � 설정� 주행 중 화면과 비주행 화면(설정 등) 모�� �용�니다. </translation>
     </message>
 </context>
 <context>
@@ -256,11 +256,11 @@ This only toggles the visibility of the controls; it does not toggle the actual
     </message>
     <message>
         <source>Enable Copyparty service</source>
-        <translation type="unfinished"></translation>
+        <translation>Copyparty 서비스 사용</translation>
     </message>
     <message>
         <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
-        <translation type="unfinished"></translation>
+        <translation>Copyparty는 매우 유능한 파� 서버로, �를 통해 주행 기�� 다운로드하고, 로그 파�� 확�하며, 심지어 브�우저�서 �부 파�� 편집할 수� 있습니다. � 기능� 사용하려면 comma 기기� 로컬 IP를 통해 접�해야 합니다.</translation>
     </message>
 </context>
 <context>
@@ -538,32 +538,32 @@ Steering lag calibration is complete.</source>
     </message>
     <message>
         <source>Onroad Uploads</source>
-        <translation type="unfinished"></translation>
+        <translation>주행 중 업로드</translation>
     </message>
     <message>
         <source>Enable Always Offroad</source>
-        <translation type="unfinished"></translation>
+        <translation>항� 오프로드 사용</translation>
     </message>
 </context>
 <context>
     <name>DisplayPanel</name>
     <message>
         <source>Onroad Screen: Reduced Brightness</source>
-        <translation type="unfinished"></translation>
+        <translation>주행 중 화면: �기 �소</translation>
     </message>
     <message>
         <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</source>
-        <translation type="unfinished"></translation>
+        <translation>운전� 시작� 후 기기 화면� �거나 �기를 줄입니다. 화면� 터치하거나 시�� 알림� 표시�면 ��으로 다시 �아집니다.</translation>
     </message>
     <message>
         <source>Interactivity Timeout</source>
-        <translation type="unfinished">�호작용 타임아웃</translation>
+        <translation>�호작용 타임아웃</translation>
     </message>
     <message>
         <source>Apply a custom timeout for settings UI.
 This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
-        <translation type="unfinished">설정 화면� 사용� 지정 타임아웃� �용하세요.
-사용�가 화면과 �호작용하지 않으면 설정 화면� ��으로 닫히는 시간입니다.</translation>
+        <translation>설정 UI� 사용� 지정 타임아웃� �용하세요.
+�는 사용�가 화면과 �호 작용하지 않으면 설정 UI가 ��으로 닫히는 시간입니다.</translation>
     </message>
 </context>
 <context>
@@ -630,55 +630,55 @@ This is the time after which settings UI closes automatically if user is not int
     <name>ExternalStorageControl</name>
     <message>
         <source>External Storage</source>
-        <translation type="unfinished"></translation>
+        <translation>외부 저장소</translation>
     </message>
     <message>
         <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
-        <translation type="unfinished"></translation>
+        <translation>USB 드��브를 AUX �트� 삽입하여 comma 기기� 저장 공간� 확장합니다.</translation>
     </message>
     <message>
         <source>CHECK</source>
-        <translation type="unfinished">확�</translation>
+        <translation>확�</translation>
     </message>
     <message>
         <source>MOUNT</source>
-        <translation type="unfinished"></translation>
+        <translation>마운트</translation>
     </message>
     <message>
         <source>UNMOUNT</source>
-        <translation type="unfinished"></translation>
+        <translation>마운트 해제</translation>
     </message>
     <message>
         <source>FORMAT</source>
-        <translation type="unfinished"></translation>
+        <translation>�맷</translation>
     </message>
     <message>
         <source>Are you sure you want to format this drive? This will erase all data.</source>
-        <translation type="unfinished"></translation>
+        <translation>� 드��브를 �맷하시겠습니까? � 작업� 모든 ��터를 지�니다.</translation>
     </message>
     <message>
         <source>Format</source>
-        <translation type="unfinished"></translation>
+        <translation>�맷</translation>
     </message>
     <message>
         <source>formatting</source>
-        <translation type="unfinished"></translation>
+        <translation>�맷 중</translation>
     </message>
     <message>
         <source>insert drive</source>
-        <translation type="unfinished"></translation>
+        <translation>드��브 삽입</translation>
     </message>
     <message>
         <source>needs format</source>
-        <translation type="unfinished"></translation>
+        <translation>�맷 필요</translation>
     </message>
     <message>
         <source>mounting</source>
-        <translation type="unfinished"></translation>
+        <translation>마운트 중</translation>
     </message>
     <message>
         <source>unmounting</source>
-        <translation type="unfinished"></translation>
+        <translation>마운트 해제 중</translation>
     </message>
 </context>
 <context>
@@ -737,57 +737,58 @@ Firehose 모드를 사용하면 훈련 ��터 업로드를 극대화하여 op
     <name>HudRendererSP</name>
     <message>
         <source>km/h</source>
-        <translation type="unfinished">km/h</translation>
+        <translation>km/h</translation>
     </message>
     <message>
         <source>mph</source>
-        <translation type="unfinished">mph</translation>
+        <translation>mph</translation>
     </message>
     <message>
         <source>GREEN
 LIGHT</source>
-        <translation type="unfinished"></translation>
+        <translation>녹색 신호</translation>
     </message>
     <message>
         <source>LEAD VEHICLE
 DEPARTING</source>
-        <translation type="unfinished"></translation>
+        <translation>전방 차량�
+출발하였습니다</translation>
     </message>
     <message>
         <source>SPEED</source>
-        <translation type="unfinished"></translation>
+        <translation>SPEED</translation>
     </message>
     <message>
         <source>LIMIT</source>
-        <translation type="unfinished"></translation>
+        <translation>LIMIT</translation>
     </message>
     <message>
         <source>Near</source>
-        <translation type="unfinished"></translation>
+        <translation>근처</translation>
     </message>
     <message>
         <source>km</source>
-        <translation type="unfinished"></translation>
+        <translation>km</translation>
     </message>
     <message>
         <source>m</source>
-        <translation type="unfinished">분</translation>
+        <translation>m</translation>
     </message>
     <message>
         <source>mi</source>
-        <translation type="unfinished"></translation>
+        <translation>mi</translation>
     </message>
     <message>
         <source>ft</source>
-        <translation type="unfinished"></translation>
+        <translation>ft</translation>
     </message>
     <message>
         <source>AHEAD</source>
-        <translation type="unfinished"></translation>
+        <translation>ì „ë°©</translation>
     </message>
     <message>
         <source>MAX</source>
-        <translation type="unfinished">최대</translation>
+        <translation>최대</translation>
     </message>
 </context>
 <context>
@@ -905,15 +906,15 @@ DEPARTING</source>
     </message>
     <message>
         <source>Enforce Torque Lateral Control</source>
-        <translation type="unfinished"></translation>
+        <translation>토� 조향 제어 강제 �용</translation>
     </message>
     <message>
         <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnypilot� 토� 조향 제어를 통해 조향하�� 강제하려면 � 기능� 활성화하세요.</translation>
     </message>
     <message>
         <source>Customize Params</source>
-        <translation type="unfinished"></translation>
+        <translation>매개변수 사용� 지정</translation>
     </message>
 </context>
 <context>
@@ -940,31 +941,31 @@ DEPARTING</source>
     </message>
     <message>
         <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
-        <translation type="unfinished"></translation>
+        <translation>지능형 �루즈 버튼 관리 (ICBM) (알파)</translation>
     </message>
     <message>
         <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
-        <translation type="unfinished"></translation>
+        <translation>활성화하면, sunnypilot� 제한�� 가�� 제어를 위해 버튼 조작� 재현하여 내장 �루즈 컨트롤 버튼� 관리하려고 시�합니다.</translation>
     </message>
     <message>
         <source>Smart Cruise Control - Vision</source>
-        <translation type="unfinished"></translation>
+        <translation>스마트 �루즈 컨트롤 - 비전</translation>
     </message>
     <message>
         <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
-        <translation type="unfinished"></translation>
+        <translation>전방 커브 구간� 통과하기 위한 �절한 ��를 예측하기 위해 시� 경로 예측 기능� 사용합니다.</translation>
     </message>
     <message>
         <source>Smart Cruise Control - Map</source>
-        <translation type="unfinished"></translation>
+        <translation>스마트 �루즈 컨트롤 - 지�</translation>
     </message>
     <message>
         <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
-        <translation type="unfinished"></translation>
+        <translation>전방 커브 구간� 통과하기 위한 �절한 ��를 예측하기 위해 지� ��터를 사용합니다.</translation>
     </message>
     <message>
         <source>Speed Limit</source>
-        <translation type="unfinished"></translation>
+        <translation>�� 제한</translation>
     </message>
 </context>
 <context>
@@ -1195,47 +1196,47 @@ The default software delay value is 0.2</source>
     </message>
     <message>
         <source>Refresh Model List</source>
-        <translation type="unfinished"></translation>
+        <translation>모� 목� 새로고침</translation>
     </message>
     <message>
         <source>REFRESH</source>
-        <translation type="unfinished">새로 고침</translation>
+        <translation>새로고침</translation>
     </message>
     <message>
         <source>Fetching Latest Models</source>
-        <translation type="unfinished"></translation>
+        <translation>최신 모� 불러오는 중</translation>
     </message>
     <message>
         <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
-        <translation type="unfinished"></translation>
+        <translation>� 기능� 켜면 차량� 스스로 조향 �답 ��를 학습하고 맞춥니다. �면 고정� 조향 �답 ��를 사용합니다. � 기능� 켜�는 것� 기본 openpilot 경험� 제공합니다.</translation>
     </message>
     <message>
         <source>Live Steer Delay:</source>
-        <translation type="unfinished"></translation>
+        <translation>실시간 조향 지연 시간:</translation>
     </message>
     <message>
         <source>Actuator Delay:</source>
-        <translation type="unfinished"></translation>
+        <translation>액츄��터 지연 시간:</translation>
     </message>
     <message>
         <source>Software Delay:</source>
-        <translation type="unfinished"></translation>
+        <translation>소프트웨어 지연 시간:</translation>
     </message>
     <message>
         <source>Total Delay:</source>
-        <translation type="unfinished"></translation>
+        <translation>전체 지연 시간:</translation>
     </message>
     <message>
         <source>Use Lane Turn Desires</source>
-        <translation type="unfinished"></translation>
+        <translation>차로 회전 �� 사용</translation>
     </message>
     <message>
         <source>Adjust Lane Turn Speed</source>
-        <translation type="unfinished"></translation>
+        <translation>차로 회전 �� 조정</translation>
     </message>
     <message>
         <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
-        <translation type="unfinished"></translation>
+        <translation>차로 회전 ��� 최대 ��를 설정합니다. 기본값� 19 %1 입니다.</translation>
     </message>
 </context>
 <context>
@@ -1400,7 +1401,7 @@ The default software delay value is 0.2</source>
     </message>
     <message>
         <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;b&gt;지��지 않는 브랜치 �지&lt;/b&gt; - 현재 사용 중� &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; 브랜치는 comma three 기기�서 � �� 지��지 않습니다. &lt;b&gt;[기기 &gt; 소프트웨어]&lt;/b&gt;로 ��하여 브랜치 �름� &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; 가 �함� comma three용 브랜치로 설치하세요.</translation>
     </message>
 </context>
 <context>
@@ -1779,56 +1780,59 @@ Warning: You are on a metered connection!</source>
     </message>
     <message>
         <source>None</source>
-        <translation type="unfinished"></translation>
+        <translation>없�</translation>
     </message>
     <message>
         <source>Fixed</source>
-        <translation type="unfinished"></translation>
+        <translation>ê³ ì •</translation>
     </message>
     <message>
         <source>Percent</source>
-        <translation type="unfinished"></translation>
+        <translation>비율</translation>
     </message>
     <message>
         <source>Car
 Only</source>
-        <translation type="unfinished"></translation>
+        <translation>차량만</translation>
     </message>
     <message>
         <source>Map
 Only</source>
-        <translation type="unfinished"></translation>
+        <translation>지�만</translation>
     </message>
     <message>
         <source>Car
 First</source>
-        <translation type="unfinished"></translation>
+        <translation>차량
+ìš°ì„ </translation>
     </message>
     <message>
         <source>Map
 First</source>
-        <translation type="unfinished"></translation>
+        <translation>지�
+ìš°ì„ </translation>
     </message>
     <message>
         <source>Combined
 Data</source>
-        <translation type="unfinished"></translation>
+        <translation>ê²°í•©
+��터</translation>
     </message>
     <message>
         <source>Off</source>
-        <translation type="unfinished"></translation>
+        <translation>�기</translation>
     </message>
     <message>
         <source>Information</source>
-        <translation type="unfinished"></translation>
+        <translation>ì •ë³´</translation>
     </message>
     <message>
         <source>Warning</source>
-        <translation type="unfinished"></translation>
+        <translation>경고</translation>
     </message>
     <message>
         <source>Assist</source>
-        <translation type="unfinished"></translation>
+        <translation>ë³´ì¡°</translation>
     </message>
 </context>
 <context>
@@ -1926,7 +1930,7 @@ Data</source>
     </message>
     <message>
         <source>Display</source>
-        <translation type="unfinished"></translation>
+        <translation>화면</translation>
     </message>
 </context>
 <context>
@@ -2168,78 +2172,78 @@ Data</source>
     <name>SpeedLimitPolicy</name>
     <message>
         <source>Back</source>
-        <translation type="unfinished">뒤로</translation>
+        <translation>뒤로</translation>
     </message>
     <message>
         <source>Speed Limit Source</source>
-        <translation type="unfinished"></translation>
+        <translation>�� 제한 출처</translation>
     </message>
     <message>
         <source>⦿ Car Only: Use Speed Limit data only from Car</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 차량만: 차량�서 제공�는 �� 제한 ��터만 사용</translation>
     </message>
     <message>
         <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 지�만: OpenStreetMaps�서 제공�는 �� 제한 ��터만 사용</translation>
     </message>
     <message>
         <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 차량 우선: 사용 가능한 경우 차량� �� 제한 ��터를 사용하고, 그렇지 않� 경우 OpenStreetMaps� ��터 사용</translation>
     </message>
     <message>
         <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 지� 우선: 사용 가능한 경우 OpenStreetMaps� �� 제한 ��터를 사용하고, 그렇지 않� 경우 차량� ��터 사용</translation>
     </message>
     <message>
         <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 결합: 차량 � OpenStreetMaps� �� 제한 결합 ��터 사용</translation>
     </message>
 </context>
 <context>
     <name>SpeedLimitSettings</name>
     <message>
         <source>Back</source>
-        <translation type="unfinished">뒤로</translation>
+        <translation>뒤로</translation>
     </message>
     <message>
         <source>Speed Limit</source>
-        <translation type="unfinished"></translation>
+        <translation>�� 제한</translation>
     </message>
     <message>
         <source>Customize Source</source>
-        <translation type="unfinished"></translation>
+        <translation>출처 사용� 지정</translation>
     </message>
     <message>
         <source>Speed Limit Offset</source>
-        <translation type="unfinished"></translation>
+        <translation>�� 제한 오프셋</translation>
     </message>
     <message>
         <source>⦿ None: No Offset</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 없�: 오프셋 없�</translation>
     </message>
     <message>
         <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 고정: 고정 오프셋� 추가합니다. [제한 �� + 오프셋]</translation>
     </message>
     <message>
         <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 비율: 백분율 오프셋� 추가합니다. [제한 �� + (오프셋 % 제한 ��)]</translation>
     </message>
     <message>
         <source>⦿ Off: Disables the Speed Limit functions.</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ �기: �� 제한 기능� 비활성화합니다.</translation>
     </message>
     <message>
         <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 정보: 현재 �로� 제한 ��를 표시합니다.</translation>
     </message>
     <message>
         <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 경고: 현재 �로� 제한 ��를 초과할 경우 경고합니다.</translation>
     </message>
     <message>
         <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 보조: +/- 버튼� 조작할 때 현재 �로� 제한 ��를 기준으로 차량� �루즈 ��를 조정합니다.</translation>
     </message>
 </context>
 <context>
@@ -2412,27 +2416,27 @@ Data</source>
     </message>
     <message>
         <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnylink 업로�를 활성화하여 sunnypilot� 귀하� 주행 ��터를 sunnypilot 서버로 업로드하�� 허용합니다. (가장 높� 등급�서만 해당하며, 사용��게는 어떠한 ��� 제공하지 않습니다. 저�는 그냥 ��터 용량� 테스트하는 중입니다.)</translation>
     </message>
     <message>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
-        <translation type="unfinished"></translation>
+        <translation>[사용하지 마세요] sunnylink 업로� 사용</translation>
     </message>
     <message>
         <source>🚀 sunnylink 🚀</source>
-        <translation type="unfinished"></translation>
+        <translation>🚀 sunnylink 🚀</translation>
     </message>
     <message>
         <source>For secure backup, restore, and remote configuration</source>
-        <translation type="unfinished"></translation>
+        <translation>안전한 백업, 복� � �격 설정� 위해</translation>
     </message>
     <message>
         <source>Sponsorship isn&apos;t required for basic backup/restore</source>
-        <translation type="unfinished"></translation>
+        <translation>기본�� 백업/복�� 후�� 필요하지 않습니다</translation>
     </message>
     <message>
         <source>Click the sponsor button for more details</source>
-        <translation type="unfinished"></translation>
+        <translation>후� 버튼� 눌러 � �세한 정보를 확�하세요</translation>
     </message>
 </context>
 <context>
@@ -2628,54 +2632,54 @@ Data</source>
     <name>TorqueLateralControlCustomParams</name>
     <message>
         <source>Manual Real-Time Tuning</source>
-        <translation type="unfinished"></translation>
+        <translation>실시간 수� 튜�</translation>
     </message>
     <message>
         <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
-        <translation type="unfinished"></translation>
+        <translation>토� 조향 제어기가 셀프 튜��서 학습� 값 대신 고정� 값� 사용하�� 강제합니다. � 토글� 활성화하면 셀프 튜� 값� 무시�니다.</translation>
     </message>
     <message>
         <source>Lateral Acceleration Factor</source>
-        <translation type="unfinished"></translation>
+        <translation>조향 가� 계수</translation>
     </message>
     <message>
         <source>Friction</source>
-        <translation type="unfinished"></translation>
+        <translation>마찰</translation>
     </message>
     <message>
         <source>Real-time and Offline</source>
-        <translation type="unfinished"></translation>
+        <translation>실시간 � 오프��</translation>
     </message>
     <message>
         <source>Offline Only</source>
-        <translation type="unfinished"></translation>
+        <translation>오프��만</translation>
     </message>
 </context>
 <context>
     <name>TorqueLateralControlSettings</name>
     <message>
         <source>Self-Tune</source>
-        <translation type="unfinished"></translation>
+        <translation>셀프 튜�</translation>
     </message>
     <message>
         <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
-        <translation type="unfinished"></translation>
+        <translation>기본�으로 토� 조향 제어를 사용하지 않는 플랫�� 대해 토� 조향 제어� 셀프 튜� 기능� 활성화합니다.</translation>
     </message>
     <message>
         <source>Less Restrict Settings for Self-Tune (Beta)</source>
-        <translation type="unfinished"></translation>
+        <translation>셀프 튜� 제한 완화 설정 (베타)</translation>
     </message>
     <message>
         <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
-        <translation type="unfinished"></translation>
+        <translation>셀프 튜� 사용 시 � 엄격한 설정� 사용합니다. �는 학습 값� 대해 torqued가 � 관대하�� 허용합니다.</translation>
     </message>
     <message>
         <source>Enable Custom Tuning</source>
-        <translation type="unfinished"></translation>
+        <translation>사용� 지정 튜� 사용</translation>
     </message>
     <message>
         <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
-        <translation type="unfinished"></translation>
+        <translation>토� 조향 제어� 대한 사용� 지정 튜�� 활성화합니다. 아래�서 조향 가� 계수 � 마찰� 수정하면 &quot;opendbc/car/torque_data&quot; 내� YAML 파�� 명시� 오프�� 값� 무시�니다. � 값들� &quot;실시간 수� 튜�&quot; 토글� 활성화�면 실시간으로� 사용�니다.</translation>
     </message>
 </context>
 <context>
@@ -2690,7 +2694,7 @@ Data</source>
     </message>
     <message>
         <source>Favorites</source>
-        <translation type="unfinished"></translation>
+        <translation>�겨찾기</translation>
     </message>
 </context>
 <context>
@@ -2737,88 +2741,89 @@ Data</source>
     </message>
     <message>
         <source>Enable Tesla Rainbow Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>테슬� 무지개 모드 사용</translation>
     </message>
     <message>
         <source>A beautiful rainbow effect on the path the model wants to take.</source>
-        <translation type="unfinished"></translation>
+        <translation>모�� 가고� 하는 경로� 아름다운 무지개 효과를 추가합니다.</translation>
     </message>
     <message>
         <source>It</source>
-        <translation type="unfinished"></translation>
+        <translation>�는 운전�</translation>
     </message>
     <message>
         <source>does not</source>
-        <translation type="unfinished"></translation>
+        <translation>어떠한</translation>
     </message>
     <message>
         <source>affect driving in any way.</source>
-        <translation type="unfinished"></translation>
+        <translation>�향� 미치지 않습니다.</translation>
     </message>
     <message>
         <source>Enable Standstill Timer</source>
-        <translation type="unfinished"></translation>
+        <translation>정차 타�머 사용</translation>
     </message>
     <message>
         <source>Show a timer on the HUD when the car is at a standstill.</source>
-        <translation type="unfinished"></translation>
+        <translation>차량� 정차 �태� 때 HUD� 타�머를 표시합니다.</translation>
     </message>
     <message>
         <source>Display Road Name</source>
-        <translation type="unfinished"></translation>
+        <translation>�로 �름 표시</translation>
     </message>
     <message>
         <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
-        <translation type="unfinished"></translation>
+        <translation>차량� 주행 중� �로� �름� 표시합니다. �로 �름� 가져오려면 OSM 패��서 해당 위치� OpenStreetMap ��터베�스를 다운로드해야 합니다.</translation>
     </message>
     <message>
         <source>Green Traffic Light Alert (Beta)</source>
-        <translation type="unfinished"></translation>
+        <translation>녹색 신호 �지 알림 (베타)</translation>
     </message>
     <message>
         <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
-        <translation type="unfinished"></translation>
+        <translation>앞 신호등� 초� 신호로 바뀌고 전방� 차량� 없� 때, 알림�과 화면 경고가 표시�니다.</translation>
     </message>
     <message>
         <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
-        <translation type="unfinished"></translation>
+        <translation>참고: � 알림�� 단순한 알림 목�으로만 설계�었습니다. 주변 환경� 살피고 그� 따� 결정하는 것� 운전�� 책임입니다.</translation>
     </message>
     <message>
         <source>Lead Departure Alert (Beta)</source>
-        <translation type="unfinished"></translation>
+        <translation>전방 차량 출발 알림 (베타)</translation>
     </message>
     <message>
         <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
-        <translation type="unfinished"></translation>
+        <translation>당신� 정차 중�고 전방 차량� 움��기 시작할 때, 알림�과 화면 경고가 표시�니다.</translation>
     </message>
     <message>
         <source>Speedometer: Always Display True Speed</source>
-        <translation type="unfinished"></translation>
+        <translation>��계: 항� 실제 �� 표시</translation>
     </message>
     <message>
         <source>Always display the true vehicle current speed from wheel speed sensors.</source>
-        <translation type="unfinished"></translation>
+        <translation>항� 휠 스피드 센서�서 얻� 실제 차량 ��를 표시합니다.</translation>
     </message>
     <message>
         <source>Speedometer: Hide from Onroad Screen</source>
-        <translation type="unfinished"></translation>
+        <translation>��계: 주행 화면�서 숨기기</translation>
     </message>
     <message>
         <source>Right</source>
-        <translation type="unfinished"></translation>
+        <translation>오른쪽</translation>
     </message>
     <message>
         <source>Right &amp;&amp;
 Bottom</source>
-        <translation type="unfinished"></translation>
+        <translation>오른쪽 &amp;&amp;
+아래</translation>
     </message>
     <message>
         <source>Developer UI</source>
-        <translation type="unfinished"></translation>
+        <translation>개발� UI</translation>
     </message>
     <message>
         <source>Display real-time parameters and metrics from various sources.</source>
-        <translation type="unfinished"></translation>
+        <translation>다양한 출처� 실시간 매개변수 � 측정 지표를 표시합니다.</translation>
     </message>
 </context>
 <context>

From bd9bb74d03d4143b65f1a218848ec1f7a195dfe4 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 13 Oct 2025 01:40:22 -0400
Subject: [PATCH 0513/1434] custom cereal: fix formatting (#1367)

---
 cereal/custom.capnp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 44b8bd69fa46bb..833845d36d7b6d 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -406,11 +406,11 @@ struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
 }
 
-  enum TurnDirection {
-    none @0;
-    turnLeft @1;
-    turnRight @2;
-  }
+enum TurnDirection {
+  none @0;
+  turnLeft @1;
+  turnRight @2;
+}
 
 struct CustomReserved10 @0xcb9fd56c7057593a {
 }

From 7e03277962091dc9081a97f89673a86705dcffb7 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 13 Oct 2025 03:06:39 -0400
Subject: [PATCH 0514/1434] ui: bigger cluster set speed fonts when ICBM is
 active (#1369)

---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 718bfb514b1a0e..3ed8feb9937288 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -698,11 +698,13 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
   } else {
     icbm_active_counter = 0;
   }
+  int max_str_size = (icbm_active_counter != 0) ? 60 : 40;
+  int max_str_y = (icbm_active_counter != 0) ? 15 : 27;
   QString max_str = (icbm_active_counter != 0) ? QString::number(std::nearbyint(speedCluster)) : tr("MAX");
 
-  p.setFont(InterFont(40, QFont::DemiBold));
+  p.setFont(InterFont(max_str_size, QFont::DemiBold));
   p.setPen(max_color);
-  p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, max_str);
+  p.drawText(set_speed_rect.adjusted(0, max_str_y, 0, 0), Qt::AlignTop | Qt::AlignHCenter, max_str);
 
   // Draw set speed
   QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(set_speed)) : "–";

From e5f1f86ac2d19550dcd6238635811a0a2efa09b7 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 13 Oct 2025 19:37:58 -0400
Subject: [PATCH 0515/1434] params: helper to clamp out-of-range int params
 (#1373)

* params: helpers to clamp out-of-range values

* lint

* inline

* fix access

* actually fix the param

* inherit them

* more lint
---
 selfdrive/selfdrived/selfdrived.py            |  8 ++++++-
 sunnypilot/__init__.py                        | 21 +++++++++++++++++++
 .../controls/lib/speed_limit/common.py        |  9 ++++----
 .../lib/speed_limit/speed_limit_resolver.py   | 15 +++++++++++--
 4 files changed, 46 insertions(+), 7 deletions(-)

diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 4bc75021f7d1d1..0a4ea749e4e3d7 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -24,6 +24,7 @@
 from openpilot.system.version import get_build_metadata
 
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+from openpilot.sunnypilot import get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
 from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
@@ -130,7 +131,12 @@ def __init__(self, CP=None, CP_SP=None):
     self.logged_comm_issue = None
     self.not_running_prev = None
     self.experimental_mode = False
-    self.personality = self.params.get("LongitudinalPersonality", return_default=True)
+    self.personality = get_sanitize_int_param(
+      "LongitudinalPersonality",
+      min(log.LongitudinalPersonality.schema.enumerants.values()),
+      max(log.LongitudinalPersonality.schema.enumerants.values()),
+      self.params
+    )
     self.recalibrating_seen = False
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)
diff --git a/sunnypilot/__init__.py b/sunnypilot/__init__.py
index dd9870597d1086..ccacd0be0a78c1 100644
--- a/sunnypilot/__init__.py
+++ b/sunnypilot/__init__.py
@@ -5,6 +5,7 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
+from enum import IntEnum
 import hashlib
 
 PARAMS_UPDATE_PERIOD = 3  # seconds
@@ -16,3 +17,23 @@ def get_file_hash(path: str) -> str:
     for byte_block in iter(lambda: f.read(4096), b""):
       sha256_hash.update(byte_block)
   return sha256_hash.hexdigest()
+
+
+class IntEnumBase(IntEnum):
+  @classmethod
+  def min(cls):
+    return min(cls)
+
+  @classmethod
+  def max(cls):
+    return max(cls)
+
+
+def get_sanitize_int_param(key: str, min_val: int, max_val: int, params) -> int:
+  val: int = params.get(key, return_default=True)
+  clipped_val = max(min_val, min(max_val, val))
+
+  if clipped_val != val:
+    params.put(key, clipped_val)
+
+  return clipped_val
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/common.py b/sunnypilot/selfdrive/controls/lib/speed_limit/common.py
index baf93280320176..c46768464e61ae 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/common.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/common.py
@@ -4,10 +4,11 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from enum import IntEnum
 
+from openpilot.sunnypilot import IntEnumBase
 
-class Policy(IntEnum):
+
+class Policy(IntEnumBase):
   car_state_only = 0
   map_data_only = 1
   car_state_priority = 2
@@ -15,13 +16,13 @@ class Policy(IntEnum):
   combined = 4
 
 
-class OffsetType(IntEnum):
+class OffsetType(IntEnumBase):
   off = 0
   fixed = 1
   percentage = 2
 
 
-class Mode(IntEnum):
+class Mode(IntEnumBase):
   off = 0
   information = 1
   warning = 2
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
index 51fb8f6d647a6a..459334d156b653 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
@@ -12,7 +12,7 @@
 from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD, get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy, OffsetType
 
@@ -42,6 +42,12 @@ def __init__(self):
     self.distance_solutions = {}  # Store for distance to current speed limit start for different sources
 
     self.policy = self.params.get("SpeedLimitPolicy", return_default=True)
+    self.policy = get_sanitize_int_param(
+      "SpeedLimitPolicy",
+      Policy.min().value,
+      Policy.max().value,
+      self.params
+    )
     self._policy_to_sources_map = {
       Policy.car_state_only: [SpeedLimitSource.car],
       Policy.map_data_only: [SpeedLimitSource.map],
@@ -54,7 +60,12 @@ def __init__(self):
       self._reset_limit_sources(source)
 
     self.is_metric = self.params.get_bool("IsMetric")
-    self.offset_type = self.params.get("SpeedLimitOffsetType", return_default=True)
+    self.offset_type = get_sanitize_int_param(
+      "SpeedLimitOffsetType",
+      OffsetType.min().value,
+      OffsetType.max().value,
+      self.params
+    )
     self.offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)
 
     self.speed_limit = 0.

From 285fd9760698673d99a51cf407d480d2bc4e0531 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 13 Oct 2025 20:36:24 -0400
Subject: [PATCH 0516/1434] ui: only draw speedCluster speed over "MAX" when
 ICBM is enabled (#1374)

---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc | 4 +++-
 selfdrive/ui/sunnypilot/qt/onroad/hud.h  | 1 +
 selfdrive/ui/sunnypilot/ui.cc            | 2 +-
 3 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 3ed8feb9937288..8c913cec17d9be 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -35,6 +35,7 @@ void HudRendererSP::updateState(const UIState &s) {
   const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
   const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
   const auto car_params = sm["carParams"].getCarParams();
+  const auto car_params_sp = sm["carParamsSP"].getCarParamsSP();
   const auto lp_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP();
   const auto lmd = sm["liveMapDataSP"].getLiveMapDataSP();
 
@@ -130,6 +131,7 @@ void HudRendererSP::updateState(const UIState &s) {
 
   carControlEnabled = car_control.getEnabled();
   speedCluster = car_state.getCruiseState().getSpeedCluster() * speedConv;
+  pcmCruiseSpeed = car_params_sp.getPcmCruiseSpeed();
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
@@ -689,7 +691,7 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
   }
 
   // Draw "MAX" or carState.cruiseState.speedCluster (when ICBM is active) text
-  if (carControlEnabled) {
+  if (!pcmCruiseSpeed && carControlEnabled) {
     if (std::nearbyint(set_speed) != std::nearbyint(speedCluster)) {
       icbm_active_counter = 3 * UI_FREQ;
     } else if (icbm_active_counter > 0) {
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index 554c9c5d0d216e..bc7ee81de3089b 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -120,4 +120,5 @@ class HudRendererSP : public HudRenderer {
   bool carControlEnabled;
   float speedCluster = 0;
   int icbm_active_counter = 0;
+  bool pcmCruiseSpeed;
 };
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index ab1ca0e6a6d4d5..df7b3ce5ca1bee 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -29,7 +29,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
     "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
     "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
-    "carStateSP", "liveParameters", "liveMapDataSP"
+    "carStateSP", "liveParameters", "liveMapDataSP", "carParamsSP"
   });
 
   // update timer

From 39e73cc46ea666787ff49bb1926d9d5625c1ae29 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Mon, 13 Oct 2025 18:45:59 -0700
Subject: [PATCH 0517/1434] ui: add ModelRendererSP::draw (#1372)

* ModelRendererSP::draw

* match

* less

* huh?

* unused

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/qt/onroad/model.cc            |   3 +-
 selfdrive/ui/qt/onroad/model.h             |   4 -
 selfdrive/ui/sunnypilot/qt/onroad/model.cc | 137 ++++++++++++---------
 selfdrive/ui/sunnypilot/qt/onroad/model.h  |  14 +--
 4 files changed, 85 insertions(+), 73 deletions(-)

diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
index a4165be216b2ca..176af56613792d 100644
--- a/selfdrive/ui/qt/onroad/model.cc
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -22,7 +22,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
 
   update_model(model, lead_one);
   drawLaneLines(painter);
-  drawPath(painter, model, surface_rect);
+  drawPath(painter, model, surface_rect.height());
 
   if (longitudinal_control && sm.alive("radarState")) {
     update_leads(radar_state, model.getPosition());
@@ -173,7 +173,6 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
       (1 - t) * start.alphaF() + t * end.alphaF());
 }
 
-
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                              const QPointF &vd, const QRect &surface_rect) {
   const float speedBuff = 10.;
diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h
index 3ef8ba5320e4ed..0a58d345c41c7c 100644
--- a/selfdrive/ui/qt/onroad/model.h
+++ b/selfdrive/ui/qt/onroad/model.h
@@ -39,9 +39,6 @@ class ModelRenderer {
   virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
   void drawLaneLines(QPainter &painter);
   void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
-  virtual void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {;
-    drawPath(painter, model, surface_rect.height());
-  }
   void updatePathGradient(QLinearGradient &bg);
   QColor blendColors(const QColor &start, const QColor &end, float t);
 
@@ -58,5 +55,4 @@ class ModelRenderer {
   QPointF lead_vertices[2] = {};
   Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
   QRectF clip_region;
-
 };
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.cc b/selfdrive/ui/sunnypilot/qt/onroad/model.cc
index 14943b1d48e587..086b703e10dadc 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/model.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/model.cc
@@ -21,74 +21,63 @@ void ModelRendererSP::update_model(const cereal::ModelDataV2::Reader &model, con
   mapLineToPolygon(model.getLaneLines()[2], 0.2, -0.05, &right_blindspot_vertices, max_idx_barrier);
 }
 
-void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {
+void ModelRendererSP::draw(QPainter &painter, const QRect &surface_rect) {
+  ModelRenderer::draw(painter, surface_rect);
   auto *s = uiState();
   auto &sm = *(s->sm);
-  bool blindspot = s->scene.blindspot_ui;
-
-  if (blindspot) {
-    bool left_blindspot = sm["carState"].getCarState().getLeftBlindspot();
-    bool right_blindspot = sm["carState"].getCarState().getRightBlindspot();
-
-    //painter.setBrush(QColor::fromRgbF(1.0, 0.0, 0.0, 0.4));  // Red with alpha for blind spot
-
-    if (left_blindspot && !left_blindspot_vertices.isEmpty()) {
-      QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right
-      gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
-      gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
-      painter.setBrush(gradient);
-      painter.drawPolygon(left_blindspot_vertices);
-    }
 
-    if (right_blindspot && !right_blindspot_vertices.isEmpty()) {
-      QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left
-      gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
-      gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
-      painter.setBrush(gradient);
-      painter.drawPolygon(right_blindspot_vertices);
-    }
+  if (sm.rcv_frame("liveCalibration") < s->scene.started_frame ||
+      sm.rcv_frame("modelV2") < s->scene.started_frame) {
+    return;
   }
 
-  bool rainbow = s->scene.rainbow_mode;
-  //float v_ego = sm["carState"].getCarState().getVEgo();
-
-  if (rainbow) {
-    // Simple time-based animation
-    float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
-        std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
+  painter.save();
 
-    // simple linear gradient from bottom to top
-    QLinearGradient bg(0, surface_rect.height(), 0, 0);
-
-    // evenly spaced colors across the spectrum
-    // The animation shifts the entire spectrum smoothly
-    float animation_speed = 40.0f; // speed vroom vroom
-    float hue_offset = fmod(time_offset * animation_speed, 360.0f);
+  const auto &model = sm["modelV2"].getModelV2();
+  const auto &radar_state = sm["radarState"].getRadarState();
+  const auto &lead_one = radar_state.getLeadOne();
+  const auto &car_state = sm["carState"].getCarState();
 
-    // 6-8 color stops for smooth transitions more color makes it laggy
-    const int num_stops = 7;
-    for (int i = 0; i < num_stops; i++) {
-      float position = static_cast<float>(i) / (num_stops - 1);
+  update_model(model, lead_one);
+  drawLaneLines(painter);
 
-      float hue = fmod(hue_offset + position * 360.0f, 360.0f);
-      float saturation = 0.9f;
-      float lightness = 0.6f;
+  bool blindspot = s->scene.blindspot_ui;
+  bool rainbow = s->scene.rainbow_mode;
 
-      // Alpha fades out towards the far end of the path
-      float alpha = 0.8f * (1.0f - position * 0.3f);
+  bool left_blindspot = car_state.getLeftBlindspot();
+  bool right_blindspot = car_state.getRightBlindspot();
 
-      QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
-      bg.setColorAt(position, color);
-    }
+  if (blindspot) {
+    drawBlindspot(painter, surface_rect, left_blindspot, right_blindspot);
+  }
 
-    painter.setBrush(bg);
-    painter.drawPolygon(track_vertices);
+  if (rainbow) {
+    drawRainbowPath(painter, surface_rect);
   } else {
-    // Normal path rendering
     ModelRenderer::drawPath(painter, model, surface_rect.height());
   }
 
   drawLeadStatus(painter, surface_rect.height(), surface_rect.width());
+
+  painter.restore();
+}
+
+void ModelRendererSP::drawBlindspot(QPainter &painter, const QRect &surface_rect, bool left_blindspot, bool right_blindspot) {
+  if (left_blindspot && !left_blindspot_vertices.isEmpty()) {
+    QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right
+    gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
+    gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
+    painter.setBrush(gradient);
+    painter.drawPolygon(left_blindspot_vertices);
+  }
+
+  if (right_blindspot && !right_blindspot_vertices.isEmpty()) {
+    QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left
+    gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
+    gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
+    painter.setBrush(gradient);
+    painter.drawPolygon(right_blindspot_vertices);
+  }
 }
 
 void ModelRendererSP::drawLeadStatus(QPainter &painter, int height, int width) {
@@ -121,19 +110,16 @@ void ModelRendererSP::drawLeadStatus(QPainter &painter, int height, int width) {
   }
 
   if (has_lead_one) {
-    drawLeadStatusAtPosition(painter, lead_one, lead_vertices[0], height, width, "L1");
+    drawLeadStatusPosition(painter, lead_one, lead_vertices[0], height, width);
   }
 
   if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) {
-    drawLeadStatusAtPosition(painter, lead_two, lead_vertices[1], height, width, "L2");
+    drawLeadStatusPosition(painter, lead_two, lead_vertices[1], height, width);
   }
 }
 
-void ModelRendererSP::drawLeadStatusAtPosition(QPainter &painter,
-                                               const cereal::RadarState::LeadData::Reader &lead_data,
-                                               const QPointF &chevron_pos,
-                                               int height, int width,
-                                               const QString &label) {
+void ModelRendererSP::drawLeadStatusPosition(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
+                                             const QPointF &chevron_pos, int height, int width) {
   float d_rel = lead_data.getDRel();
   float v_rel = lead_data.getVRel();
   auto *s = uiState();
@@ -223,3 +209,36 @@ void ModelRendererSP::drawLeadStatusAtPosition(QPainter &painter,
 
   painter.setPen(Qt::NoPen);
 }
+
+void ModelRendererSP::drawRainbowPath(QPainter &painter, const QRect &surface_rect) {
+  // Simple time-based animation
+  float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
+      std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
+
+  // simple linear gradient from bottom to top
+  QLinearGradient bg(0, surface_rect.height(), 0, 0);
+
+  // evenly spaced colors across the spectrum
+  // The animation shifts the entire spectrum smoothly
+  float animation_speed = 40.0f; // speed vroom vroom
+  float hue_offset = fmod(time_offset * animation_speed, 360.0f);
+
+  // 6-8 color stops for smooth transitions more color makes it laggy
+  const int num_stops = 7;
+  for (int i = 0; i < num_stops; i++) {
+    float position = static_cast<float>(i) / (num_stops - 1);
+
+    float hue = fmod(hue_offset + position * 360.0f, 360.0f);
+    float saturation = 0.9f;
+    float lightness = 0.6f;
+
+    // Alpha fades out towards the far end of the path
+    float alpha = 0.8f * (1.0f - position * 0.3f);
+
+    QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
+    bg.setColorAt(position, color);
+  }
+
+  painter.setBrush(bg);
+  painter.drawPolygon(track_vertices);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.h b/selfdrive/ui/sunnypilot/qt/onroad/model.h
index 73999f00593d81..68068f2068f637 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/model.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/model.h
@@ -13,17 +13,15 @@ class ModelRendererSP : public ModelRenderer {
 public:
   ModelRendererSP() = default;
 
+  void draw(QPainter &painter, const QRect &surface_rect);
+
 private:
   void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) override;
-  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &rect) override;
-
-  // Lead status display methods
   void drawLeadStatus(QPainter &painter, int height, int width);
-  void drawLeadStatusAtPosition(QPainter &painter,
-                                const cereal::RadarState::LeadData::Reader &lead_data,
-                                const QPointF &chevron_pos,
-                                int height, int width,
-                                const QString &label);
+  void drawLeadStatusPosition(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
+                              const QPointF &chevron_pos, int height, int width);
+  void drawBlindspot(QPainter &painter, const QRect &surface_rect, bool left_blindspot, bool right_blindspot);
+  void drawRainbowPath(QPainter &painter, const QRect &surface_rect);
 
   QPolygonF left_blindspot_vertices;
   QPolygonF right_blindspot_vertices;

From 7229c7541eac0fc321252d4c53a98534ec1fbb07 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Mon, 13 Oct 2025 19:02:53 -0700
Subject: [PATCH 0518/1434] capnp: consolidate TurnDirection enum (#1370)

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 cereal/custom.capnp                                   | 10 +++++-----
 selfdrive/controls/lib/desire_helper.py               | 10 +++++-----
 sunnypilot/selfdrive/controls/lib/lane_turn_desire.py | 10 +++++-----
 3 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 833845d36d7b6d..20f0984620dce4 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -404,12 +404,12 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
 
 struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
-}
 
-enum TurnDirection {
-  none @0;
-  turnLeft @1;
-  turnRight @2;
+  enum TurnDirection {
+    none @0;
+    turnLeft @1;
+    turnRight @2;
+  }
 }
 
 struct CustomReserved10 @0xcb9fd56c7057593a {
diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index e72d464d061c9a..bf24fe26026ca9 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -32,9 +32,9 @@
 }
 
 TURN_DESIRES = {
-  custom.TurnDirection.none: log.Desire.none,
-  custom.TurnDirection.turnLeft: log.Desire.turnLeft,
-  custom.TurnDirection.turnRight: log.Desire.turnRight,
+  custom.ModelDataV2SP.TurnDirection.none: log.Desire.none,
+  custom.ModelDataV2SP.TurnDirection.turnLeft: log.Desire.turnLeft,
+  custom.ModelDataV2SP.TurnDirection.turnRight: log.Desire.turnRight,
 }
 
 
@@ -49,7 +49,7 @@ def __init__(self):
     self.desire = log.Desire.none
     self.alc = AutoLaneChangeController(self)
     self.lane_turn_controller = LaneTurnController(self)
-    self.lane_turn_direction = custom.TurnDirection.none
+    self.lane_turn_direction = custom.ModelDataV2SP.TurnDirection.none
 
   @staticmethod
   def get_lane_change_direction(CS):
@@ -126,7 +126,7 @@ def update(self, carstate, lateral_active, lane_change_prob):
 
     self.prev_one_blinker = one_blinker
 
-    if self.lane_turn_direction != custom.TurnDirection.none:
+    if self.lane_turn_direction != custom.ModelDataV2SP.TurnDirection.none:
       self.desire = TURN_DESIRES[self.lane_turn_direction]
     else:
       self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
diff --git a/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py b/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
index 00ce026abb8068..7767fdae7421ca 100644
--- a/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
+++ b/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
@@ -15,7 +15,7 @@
 class LaneTurnController:
   def __init__(self, desire_helper):
     self.DH = desire_helper
-    self.turn_direction = custom.TurnDirection.none
+    self.turn_direction = custom.ModelDataV2SP.TurnDirection.none
     self.params = Params()
     self.lane_turn_value = float(self.params.get("LaneTurnValue", return_default=True)) * CV.MPH_TO_MS
     self.param_read_counter = 0
@@ -33,13 +33,13 @@ def update_params(self) -> None:
 
   def update_lane_turn(self, blindspot_left: bool, blindspot_right: bool, left_blinker: bool, right_blinker: bool, v_ego: float) -> None:
     if left_blinker and not right_blinker and v_ego < self.lane_turn_value and not blindspot_left:
-      self.turn_direction = custom.TurnDirection.turnLeft
+      self.turn_direction = custom.ModelDataV2SP.TurnDirection.turnLeft
     elif right_blinker and not left_blinker and v_ego < self.lane_turn_value and not blindspot_right:
-      self.turn_direction = custom.TurnDirection.turnRight
+      self.turn_direction = custom.ModelDataV2SP.TurnDirection.turnRight
     else:
-      self.turn_direction = custom.TurnDirection.none
+      self.turn_direction = custom.ModelDataV2SP.TurnDirection.none
 
   def get_turn_direction(self):
     if not self.enabled:
-      return custom.TurnDirection.none
+      return custom.ModelDataV2SP.TurnDirection.none
     return self.turn_direction

From 59c64acc2901e7156fddadc9194e99e3fa44ebd5 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 13 Oct 2025 22:26:47 -0400
Subject: [PATCH 0519/1434] Subaru: Stop and Go support (beta) (#1375)

* Subaru: Stop and Go auto-resume support

* bump

* bump

* fix

* bump

* fix init

* wat

* use just standstill for now

* Revert "use just standstill for now"

This reverts commit f72cce68921ffe15b8914ce42d213758a1807619.

* bump

* bump

* fix it

* only send at 10

* bump

* fix type

* forget about planner resume, it sucks

* try to send off_accel

* still need it

* always send

* disable safety checks for now

* same

* more

* all the time for both

* don't need i guess

* bump

* try 15 frames per try

* all should have it

* try 3 for all

* use throttle for all preglobal?

* bump

* bump

* separate thresholds between preglobal and global

* longer wait before sending

* shorter time but immediately resend

* quick

* new timeout

* about to cry

* same thing but another try

* no need

* round 3

* try 1.4

* lower!

* 1.2

* last try

* beta asf

* bump
---
 common/params_keys.h                          |  2 +
 opendbc_repo                                  |  2 +-
 .../settings/vehicle/subaru_settings.cc       | 45 +++++++++++++++++++
 .../settings/vehicle/subaru_settings.h        | 31 +++++++++++++
 sunnypilot/selfdrive/car/interfaces.py        |  6 +++
 5 files changed, 85 insertions(+), 1 deletion(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 3b5d02a4291bc7..ecb73a945600de 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -205,6 +205,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
 
     // sunnypilot car specific params
     {"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
diff --git a/opendbc_repo b/opendbc_repo
index b592ecdd3b571a..b8a00bddda562f 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit b592ecdd3b571a1acee0c04726117a137cec5832
+Subproject commit b8a00bddda562f981b24e099a3850209579e890a
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc
index 47c4057f4472c0..302740a94aabbc 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc
@@ -8,7 +8,52 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h"
 
 SubaruSettings::SubaruSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  stopAndGoToggle = new ParamControl("SubaruStopAndGo", tr("Stop and Go (Beta)"), "", "");
+  stopAndGoToggle->setConfirmation(true, false);
+  list->addItem(stopAndGoToggle);
+
+  stopAndGoManualParkingBrakeToggle = new ParamControl(
+    "SubaruStopAndGoManualParkingBrake",
+    tr("Stop and Go for Manual Parking Brake (Beta)"),
+    "",
+    ""
+  );
+  stopAndGoManualParkingBrakeToggle->setConfirmation(true, false);
+  list->addItem(stopAndGoManualParkingBrakeToggle);
 }
 
 void SubaruSettings::updateSettings() {
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    is_subaru = CP.getBrand() == "subaru";
+
+    if (is_subaru) {
+      if (!(CP.getFlags() & (SUBARU_FLAG_GLOBAL_GEN2 | SUBARU_FLAG_HYBRID))) {
+        has_stop_and_go = true;
+      }
+    }
+  } else {
+    is_subaru = false;
+    has_stop_and_go = false;
+  }
+
+  bool stop_and_go_disabled = !offroad || !has_stop_and_go;
+  QString stop_and_go_desc = stopAndGoDescriptionBuilder(stopAndGoDesc);
+  QString stop_and_go_manual_parking_brake_desc = stopAndGoDescriptionBuilder(stopAndGoManualParkingBrakeDesc);
+  if (stop_and_go_disabled) {
+    stop_and_go_desc = stopAndGoDescriptionBuilder(stopAndGoDesc, stopAndGoDisabledMsg());
+    stop_and_go_manual_parking_brake_desc = stopAndGoDescriptionBuilder(stopAndGoManualParkingBrakeDesc, stopAndGoDisabledMsg());
+  }
+
+  stopAndGoToggle->setEnabled(has_stop_and_go);
+  stopAndGoToggle->setDescription(stop_and_go_desc);
+  stopAndGoToggle->showDescription();
+
+  stopAndGoManualParkingBrakeToggle->setEnabled(has_stop_and_go);
+  stopAndGoManualParkingBrakeToggle->setDescription(stop_and_go_manual_parking_brake_desc);
+  stopAndGoManualParkingBrakeToggle->showDescription();
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h
index a715951ad9b071..2bb160beba6c81 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h
@@ -14,6 +14,9 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
+const int SUBARU_FLAG_GLOBAL_GEN2 = 4;
+const int SUBARU_FLAG_HYBRID = 32;
+
 class SubaruSettings : public BrandSettingsInterface {
   Q_OBJECT
 
@@ -23,4 +26,32 @@ class SubaruSettings : public BrandSettingsInterface {
 
 private:
   bool offroad = false;
+  bool is_subaru;
+  bool has_stop_and_go;
+
+  ParamControl* stopAndGoToggle;
+  ParamControl* stopAndGoManualParkingBrakeToggle;
+
+  QString stopAndGoDesc = tr("Experimental feature to enable auto-resume during stop-and-go for certain supported Subaru platforms.");
+  QString stopAndGoManualParkingBrakeDesc = tr("Experimental feature to enable stop and go for Subaru Global models with manual handbrake. Models with electric parking brake should keep this disabled. Thanks to martinl for this implementation!");
+
+  QString stopAndGoDisabledMsg() const {
+    if (is_subaru && !has_stop_and_go) {
+      return tr("This feature is currently not available on this platform.");
+    }
+
+    if (!is_subaru) {
+      return tr("Start the car to check car compatibility.");
+    }
+
+    if (!offroad) {
+      return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle.");
+    }
+
+    return QString();
+  }
+
+  static QString stopAndGoDescriptionBuilder(const QString &base_description, const QString &custom_description = "") {
+    return "<b>" + custom_description + "</b><br><br>" + base_description;
+  }
 };
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index ed0c11fb193144..3072cde8cd4879 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -84,4 +84,10 @@ def initialize_params(params) -> list[dict[str, Any]]:
     "HyundaiLongitudinalTuning"
   ])
 
+  # subaru
+  keys.extend([
+    "SubaruStopAndGo",
+    "SubaruStopAndGoManualParkingBrake",
+  ])
+
   return [{k: params.get(k, return_default=True)} for k in keys]

From 339bc0b8b3c4a192aa4e982039bc2ac28246c080 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 14 Oct 2025 00:19:21 -0400
Subject: [PATCH 0520/1434] Revert "capnp: consolidate TurnDirection enum"
 (#1376)

Revert "capnp: consolidate TurnDirection enum (#1370)"

This reverts commit 7229c7541eac0fc321252d4c53a98534ec1fbb07.
---
 cereal/custom.capnp                                   | 10 +++++-----
 selfdrive/controls/lib/desire_helper.py               | 10 +++++-----
 sunnypilot/selfdrive/controls/lib/lane_turn_desire.py | 10 +++++-----
 3 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 20f0984620dce4..833845d36d7b6d 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -404,12 +404,12 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
 
 struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
+}
 
-  enum TurnDirection {
-    none @0;
-    turnLeft @1;
-    turnRight @2;
-  }
+enum TurnDirection {
+  none @0;
+  turnLeft @1;
+  turnRight @2;
 }
 
 struct CustomReserved10 @0xcb9fd56c7057593a {
diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index bf24fe26026ca9..e72d464d061c9a 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -32,9 +32,9 @@
 }
 
 TURN_DESIRES = {
-  custom.ModelDataV2SP.TurnDirection.none: log.Desire.none,
-  custom.ModelDataV2SP.TurnDirection.turnLeft: log.Desire.turnLeft,
-  custom.ModelDataV2SP.TurnDirection.turnRight: log.Desire.turnRight,
+  custom.TurnDirection.none: log.Desire.none,
+  custom.TurnDirection.turnLeft: log.Desire.turnLeft,
+  custom.TurnDirection.turnRight: log.Desire.turnRight,
 }
 
 
@@ -49,7 +49,7 @@ def __init__(self):
     self.desire = log.Desire.none
     self.alc = AutoLaneChangeController(self)
     self.lane_turn_controller = LaneTurnController(self)
-    self.lane_turn_direction = custom.ModelDataV2SP.TurnDirection.none
+    self.lane_turn_direction = custom.TurnDirection.none
 
   @staticmethod
   def get_lane_change_direction(CS):
@@ -126,7 +126,7 @@ def update(self, carstate, lateral_active, lane_change_prob):
 
     self.prev_one_blinker = one_blinker
 
-    if self.lane_turn_direction != custom.ModelDataV2SP.TurnDirection.none:
+    if self.lane_turn_direction != custom.TurnDirection.none:
       self.desire = TURN_DESIRES[self.lane_turn_direction]
     else:
       self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
diff --git a/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py b/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
index 7767fdae7421ca..00ce026abb8068 100644
--- a/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
+++ b/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
@@ -15,7 +15,7 @@
 class LaneTurnController:
   def __init__(self, desire_helper):
     self.DH = desire_helper
-    self.turn_direction = custom.ModelDataV2SP.TurnDirection.none
+    self.turn_direction = custom.TurnDirection.none
     self.params = Params()
     self.lane_turn_value = float(self.params.get("LaneTurnValue", return_default=True)) * CV.MPH_TO_MS
     self.param_read_counter = 0
@@ -33,13 +33,13 @@ def update_params(self) -> None:
 
   def update_lane_turn(self, blindspot_left: bool, blindspot_right: bool, left_blinker: bool, right_blinker: bool, v_ego: float) -> None:
     if left_blinker and not right_blinker and v_ego < self.lane_turn_value and not blindspot_left:
-      self.turn_direction = custom.ModelDataV2SP.TurnDirection.turnLeft
+      self.turn_direction = custom.TurnDirection.turnLeft
     elif right_blinker and not left_blinker and v_ego < self.lane_turn_value and not blindspot_right:
-      self.turn_direction = custom.ModelDataV2SP.TurnDirection.turnRight
+      self.turn_direction = custom.TurnDirection.turnRight
     else:
-      self.turn_direction = custom.ModelDataV2SP.TurnDirection.none
+      self.turn_direction = custom.TurnDirection.none
 
   def get_turn_direction(self):
     if not self.enabled:
-      return custom.ModelDataV2SP.TurnDirection.none
+      return custom.TurnDirection.none
     return self.turn_direction

From 7f5342f3784c841b275fcbf213ef5e339f1fe991 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 14 Oct 2025 01:13:20 -0400
Subject: [PATCH 0521/1434] soundd: custom audible alerts (#1377)

* Revert "capnp: consolidate TurnDirection enum (#1370)"

This reverts commit 7229c7541eac0fc321252d4c53a98534ec1fbb07.

* soundd: custom audible alerts

* comment
---
 cereal/custom.capnp    | 39 +++++++++++++++++++++++++++++++++++++++
 selfdrive/ui/soundd.py |  9 ++++++++-
 2 files changed, 47 insertions(+), 1 deletion(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 833845d36d7b6d..5243380d31a1d3 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -69,6 +69,45 @@ struct LeadData {
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
   intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
+
+  enum AudibleAlert {
+    none @0;
+
+    engage @1;
+    disengage @2;
+    refuse @3;
+
+    warningSoft @4;
+    warningImmediate @5;
+
+    prompt @6;
+    promptRepeat @7;
+    promptDistracted @8;
+
+    # unused, these are reserved for upstream events so we don't collide
+    reserved9 @9;
+    reserved10 @10;
+    reserved11 @11;
+    reserved12 @12;
+    reserved13 @13;
+    reserved14 @14;
+    reserved15 @15;
+    reserved16 @16;
+    reserved17 @17;
+    reserved18 @18;
+    reserved19 @19;
+    reserved20 @20;
+    reserved21 @21;
+    reserved22 @22;
+    reserved23 @23;
+    reserved24 @24;
+    reserved25 @25;
+    reserved26 @26;
+    reserved27 @27;
+    reserved28 @28;
+    reserved29 @29;
+    reserved30 @30;
+  }
 }
 
 struct ModelManagerSP @0xaedffd8f31e7b55d {
diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index a94456efe00b81..485c406266a7e8 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -4,7 +4,7 @@
 import wave
 
 
-from cereal import car, messaging
+from cereal import car, messaging, custom
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import Ratekeeper
@@ -26,8 +26,13 @@
 DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied
 
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert
 
 
+sound_list_sp: dict[int, tuple[str, int | None, float]] = {
+  # AudibleAlertSP, file name, play count (none for infinite)
+}
+
 sound_list: dict[int, tuple[str, int | None, float]] = {
   # AudibleAlert, file name, play count (none for infinite)
   AudibleAlert.engage: ("engage.wav", 1, MAX_VOLUME),
@@ -40,6 +45,8 @@
 
   AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
   AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
+
+  **sound_list_sp,
 }
 
 def check_selfdrive_timeout_alert(sm):

From 4bd020e92b0ee7fe678985efdb7cd2efd6ecf9cd Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 14 Oct 2025 09:19:26 -0400
Subject: [PATCH 0522/1434] Speed Limit Assist: audible alerts for certain
 states (#1378)

---
 cereal/custom.capnp                            | 3 +++
 selfdrive/assets/sounds/prompt_single_high.wav | 3 +++
 selfdrive/assets/sounds/prompt_single_low.wav  | 3 +++
 selfdrive/ui/soundd.py                         | 2 ++
 sunnypilot/selfdrive/selfdrived/events.py      | 9 +++++----
 5 files changed, 16 insertions(+), 4 deletions(-)
 create mode 100644 selfdrive/assets/sounds/prompt_single_high.wav
 create mode 100644 selfdrive/assets/sounds/prompt_single_low.wav

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 5243380d31a1d3..e81749dbac0f4c 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -107,6 +107,9 @@ struct SelfdriveStateSP @0x81c2f05a394cf4af {
     reserved28 @28;
     reserved29 @29;
     reserved30 @30;
+
+    promptSingleLow @31;
+    promptSingleHigh @32;
   }
 }
 
diff --git a/selfdrive/assets/sounds/prompt_single_high.wav b/selfdrive/assets/sounds/prompt_single_high.wav
new file mode 100644
index 00000000000000..202483d17fa64e
--- /dev/null
+++ b/selfdrive/assets/sounds/prompt_single_high.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbfa5858c0a672411ffdc691efdecb06d01ae458cc1df409bcf3fdeaa4756f72
+size 34638
diff --git a/selfdrive/assets/sounds/prompt_single_low.wav b/selfdrive/assets/sounds/prompt_single_low.wav
new file mode 100644
index 00000000000000..925401ea27f701
--- /dev/null
+++ b/selfdrive/assets/sounds/prompt_single_low.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db9671bb03e01f119bba1eb6cc0507e0f039ac4e5b7f9f839a87071c52e86e56
+size 44416
diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index 485c406266a7e8..01c7c68949f94d 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -31,6 +31,8 @@
 
 sound_list_sp: dict[int, tuple[str, int | None, float]] = {
   # AudibleAlertSP, file name, play count (none for infinite)
+  AudibleAlertSP.promptSingleLow: ("prompt_single_low.wav", 1, MAX_VOLUME),
+  AudibleAlertSP.promptSingleHigh: ("prompt_single_high.wav", 1, MAX_VOLUME),
 }
 
 sound_list: dict[int, tuple[str, int | None, float]] = {
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py
index e9f4b29bae28a6..5cd7255bc36be5 100644
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -11,6 +11,7 @@
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert
 EventNameSP = custom.OnroadEventSP.EventName
 
 
@@ -58,7 +59,7 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
     "Speed Limit Assist: Activation Required",
     alert_2_str,
     AlertStatus.normal, AlertSize.mid,
-    Priority.LOW, VisualAlert.none, AudibleAlert.none, .1)
+    Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleLow, .1)
 
 
 class EventsSP(EventsBase):
@@ -202,7 +203,7 @@ def get_event_msg_type(self):
       "Automatically adjusting to the posted speed limit",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
+      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
   },
 
   EventNameSP.speedLimitChanged: {
@@ -210,7 +211,7 @@ def get_event_msg_type(self):
       "Set speed changed",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
+      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
   },
 
   EventNameSP.speedLimitPreActive: {
@@ -222,7 +223,7 @@ def get_event_msg_type(self):
       "Automatically adjusting to the last speed limit",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
+      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
   },
 
   EventNameSP.e2eChime: {

From fec6382b964c304d6729ad1b26913377760aa949 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Tue, 14 Oct 2025 11:29:27 -0400
Subject: [PATCH 0523/1434] UI: Fix Speed Limit Assist (SLA) Translations
 (#1379)

Fix SLA Translations
---
 .../longitudinal/speed_limit/helpers.h        |  24 ++--
 .../speed_limit/speed_limit_policy.cc         |  10 +-
 .../speed_limit/speed_limit_settings.cc       |  14 +--
 selfdrive/ui/translations/main_ko.ts          | 112 +++++++++---------
 4 files changed, 80 insertions(+), 80 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
index 295072d1ef6659..6c02d627fa9cab 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
@@ -13,9 +13,9 @@ enum class SpeedLimitOffsetType {
 };
 
 inline const QString SpeedLimitOffsetTypeTexts[]{
-  QObject::tr("None"),
-  QObject::tr("Fixed"),
-  QObject::tr("Percent"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "None"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Fixed"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Percent"),
 };
 
 enum class SpeedLimitSourcePolicy {
@@ -27,11 +27,11 @@ enum class SpeedLimitSourcePolicy {
 };
 
 inline const QString SpeedLimitSourcePolicyTexts[]{
-  QObject::tr("Car\nOnly"),
-  QObject::tr("Map\nOnly"),
-  QObject::tr("Car\nFirst"),
-  QObject::tr("Map\nFirst"),
-  QObject::tr("Combined\nData")
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Car\nOnly"),
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Map\nOnly"),
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Car\nFirst"),
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Map\nFirst"),
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Combined\nData")
 };
 
 enum class SpeedLimitMode {
@@ -42,8 +42,8 @@ enum class SpeedLimitMode {
 };
 
 inline const QString SpeedLimitModeTexts[]{
-  QObject::tr("Off"),
-  QObject::tr("Information"),
-  QObject::tr("Warning"),
-  QObject::tr("Assist"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Off"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Information"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Warning"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Assist"),
 };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc
index 764a8e02086c5c..c54ff11f69b885 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc
@@ -23,11 +23,11 @@ SpeedLimitPolicy::SpeedLimitPolicy(QWidget *parent) : QWidget(parent) {
   ListWidgetSP *list = new ListWidgetSP(this);
 
   std::vector<QString> speed_limit_policy_texts{
-    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_ONLY)],
-    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_ONLY)],
-    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_FIRST)],
-    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_FIRST)],
-    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::COMBINED)]
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_ONLY)].toStdString().c_str()),
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_ONLY)].toStdString().c_str()),
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_FIRST)].toStdString().c_str()),
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_FIRST)].toStdString().c_str()),
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::COMBINED)].toStdString().c_str())
   };
   speed_limit_policy = new ButtonParamControlSP(
     "SpeedLimitPolicy",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
index 3efbfeed86a46d..f64198f97e6c18 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
@@ -25,10 +25,10 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
   speedLimitPolicyScreen = new SpeedLimitPolicy(this);
 
   std::vector<QString> speed_limit_mode_texts{
-    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::OFF)],
-    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::INFORMATION)],
-    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::WARNING)],
-    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::ASSIST)],
+    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::OFF)].toStdString().c_str()),
+    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::INFORMATION)].toStdString().c_str()),
+    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::WARNING)].toStdString().c_str()),
+    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::ASSIST)].toStdString().c_str())
   };
   speed_limit_mode_settings = new ButtonParamControlSP(
     "SpeedLimitMode",
@@ -64,9 +64,9 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
   QVBoxLayout *offsetLayout = new QVBoxLayout(offsetFrame);
 
   std::vector<QString> speed_limit_offset_texts{
-    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::NONE)],
-    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::FIXED)],
-    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::PERCENT)]
+    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::NONE)].toStdString().c_str()),
+    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::FIXED)].toStdString().c_str()),
+    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::PERCENT)].toStdString().c_str())
   };
   speed_limit_offset_settings = new ButtonParamControlSP(
     "SpeedLimitOffsetType",
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index d86468ae6ebf5a..164ce09f070fdc 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -1778,62 +1778,6 @@ Warning: You are on a metered connection!</source>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
     </message>
-    <message>
-        <source>None</source>
-        <translation>없�</translation>
-    </message>
-    <message>
-        <source>Fixed</source>
-        <translation>ê³ ì •</translation>
-    </message>
-    <message>
-        <source>Percent</source>
-        <translation>비율</translation>
-    </message>
-    <message>
-        <source>Car
-Only</source>
-        <translation>차량만</translation>
-    </message>
-    <message>
-        <source>Map
-Only</source>
-        <translation>지�만</translation>
-    </message>
-    <message>
-        <source>Car
-First</source>
-        <translation>차량
-ìš°ì„ </translation>
-    </message>
-    <message>
-        <source>Map
-First</source>
-        <translation>지�
-ìš°ì„ </translation>
-    </message>
-    <message>
-        <source>Combined
-Data</source>
-        <translation>ê²°í•©
-��터</translation>
-    </message>
-    <message>
-        <source>Off</source>
-        <translation>�기</translation>
-    </message>
-    <message>
-        <source>Information</source>
-        <translation>ì •ë³´</translation>
-    </message>
-    <message>
-        <source>Warning</source>
-        <translation>경고</translation>
-    </message>
-    <message>
-        <source>Assist</source>
-        <translation>ë³´ì¡°</translation>
-    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2198,6 +2142,34 @@ Data</source>
         <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
         <translation>⦿ 결합: 차량 � OpenStreetMaps� �� 제한 결합 ��터 사용</translation>
     </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation>차량만</translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation>지�만</translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation>차량
+ìš°ì„ </translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation>지�
+ìš°ì„ </translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation>ê²°í•©
+��터</translation>
+    </message>
 </context>
 <context>
     <name>SpeedLimitSettings</name>
@@ -2245,6 +2217,34 @@ Data</source>
         <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
         <translation>⦿ 보조: +/- 버튼� 조작할 때 현재 �로� 제한 ��를 기준으로 차량� �루즈 ��를 조정합니다.</translation>
     </message>
+    <message>
+        <source>None</source>
+        <translation>없�</translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation>ê³ ì •</translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation>비율</translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation>�기</translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation>ì •ë³´</translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation>경고</translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation>ë³´ì¡°</translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>

From d3e3628a9586f131b23a1c1cac9520c21a3626ff Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 14 Oct 2025 11:40:42 -0400
Subject: [PATCH 0524/1434] ui: only draw ahead speed limit if it's parsed from
 OSM (#1380)

---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc                      | 4 +++-
 selfdrive/ui/sunnypilot/qt/onroad/hud.h                       | 1 +
 .../controls/lib/speed_limit/speed_limit_resolver.py          | 1 +
 3 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 8c913cec17d9be..fa57e2b334c558 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -46,6 +46,7 @@ void HudRendererSP::updateState(const UIState &s) {
   speedLimitValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitValid();
   speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid();
   speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast() * speedConv;
+  speedLimitSource = lp_sp.getSpeedLimit().getResolver().getSource();
   speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
   speedLimitAssistState = lp_sp.getSpeedLimit().getAssist().getState();
   speedLimitAssistActive = lp_sp.getSpeedLimit().getAssist().getActive();
@@ -547,7 +548,8 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p, QRect &sign_rect) {
 }
 
 void HudRendererSP::drawUpcomingSpeedLimit(QPainter &p) {
-  bool speed_limit_ahead = speedLimitAheadValid && speedLimitAhead > 0 && speedLimitAhead != speedLimit && speedLimitAheadValidFrame > 0;
+  bool speed_limit_ahead = speedLimitAheadValid && speedLimitAhead > 0 && speedLimitAhead != speedLimit && speedLimitAheadValidFrame > 0 &&
+                           speedLimitSource == cereal::LongitudinalPlanSP::SpeedLimit::Source::MAP;
   if (!speed_limit_ahead) {
     return;
   }
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index bc7ee81de3089b..f9135ee9ef3493 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -83,6 +83,7 @@ class HudRendererSP : public HudRenderer {
   bool speedLimitValid;
   bool speedLimitLastValid;
   float speedLimitFinalLast;
+  cereal::LongitudinalPlanSP::SpeedLimit::Source speedLimitSource;
   bool speedLimitAheadValid;
   float speedLimitAhead;
   float speedLimitAheadDistance;
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
index 459334d156b653..35965c0e189af3 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
@@ -142,6 +142,7 @@ def _calculate_map_data_limits(self, sm: messaging.SubMaster, speed_limit: float
     self.limit_solutions[SpeedLimitSource.map] = speed_limit
     self.distance_solutions[SpeedLimitSource.map] = 0.
 
+    # FIXME-SP: this is not working as expected
     if 0. < next_speed_limit < self.v_ego:
       adapt_time = (next_speed_limit - self.v_ego) / LIMIT_ADAPT_ACC
       adapt_distance = self.v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time ** 2

From 9a14baac4deac77ef4d9171a3ce4af2754317035 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Tue, 14 Oct 2025 20:01:42 -0400
Subject: [PATCH 0525/1434] Green Light and Lead Departure alerts improvements
 (#1381)

---
 .../controls/lib/e2e_alerts_helper.py         | 66 ++++++++++++++-----
 sunnypilot/selfdrive/selfdrived/events.py     |  2 +-
 2 files changed, 52 insertions(+), 16 deletions(-)

diff --git a/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py b/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
index 0135b2806ca8f4..5a92d878d657b4 100644
--- a/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
+++ b/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
@@ -12,47 +12,83 @@
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
-TRIGGER_THRESHOLD = 30
+GREEN_LIGHT_X_THRESHOLD = 30
 
 
 class E2EAlertsHelper:
   def __init__(self):
     self._params = Params()
-    self._frame = -1
+    self.frame = -1
 
     self.green_light_alert = False
     self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert")
     self.lead_depart_alert = False
     self.lead_depart_alert_enabled = self._params.get_bool("LeadDepartAlert")
 
+    self.alert_allowed = False
+    self.green_light_alert_count = 0
+    self.last_lead_distance = -1
+    self.last_moving_frame = -1
+
   def _read_params(self) -> None:
-    if self._frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
+    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
       self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert")
       self.lead_depart_alert_enabled = self._params.get_bool("LeadDepartAlert")
 
-    self._frame += 1
-
   def update(self, sm: messaging.SubMaster, events_sp: EventsSP) -> None:
     self._read_params()
 
-    if not (self.green_light_alert_enabled or self.lead_depart_alert_enabled):
-      return
-
     CS = sm['carState']
     CC = sm['carControl']
 
     model_x = sm['modelV2'].position.x
     max_idx = len(model_x) - 1
     has_lead = sm['radarState'].leadOne.status
-    lead_vRel: float = sm['radarState'].leadOne.vRel
-
-    # Green light alert
-    self.green_light_alert = (self.green_light_alert_enabled and model_x[max_idx] > TRIGGER_THRESHOLD
-                              and not has_lead and CS.standstill and not CS.gasPressed and not CC.enabled)
+    lead_dRel = sm['radarState'].leadOne.dRel
+    standstill = CS.standstill
+    moving = not standstill and CS.vEgo > 0.1
+    _allowed = standstill and not CS.gasPressed and not CC.enabled
+
+    if moving:
+      self.last_moving_frame = self.frame
+    recent_moving = self.last_moving_frame == -1 or (self.frame - self.last_moving_frame) * DT_MDL < 2.0
+
+    if standstill and not recent_moving:
+      self.alert_allowed = True
+    elif not standstill:
+      self.alert_allowed = False
+      self.green_light_alert_count = 0
+      self.last_lead_distance = -1
+
+    # Green Light Alert
+    _green_light_alert = False
+    if self.green_light_alert_enabled and _allowed and not has_lead and model_x[max_idx] > GREEN_LIGHT_X_THRESHOLD:
+      if self.alert_allowed:
+        self.green_light_alert_count += 1
+      else:
+        self.green_light_alert_count = 0
+
+      if self.green_light_alert_count > 2 and self.alert_allowed:
+        _green_light_alert = True
+        self.alert_allowed = False
+    else:
+      self.green_light_alert_count = 0
+
+    self.green_light_alert = _green_light_alert
 
     # Lead Departure Alert
-    self.lead_depart_alert = (self.lead_depart_alert_enabled and CS.standstill and model_x[max_idx] > 30
-                              and has_lead and lead_vRel > 1 and not CS.gasPressed)
+    _lead_depart_alert = False
+    if self.lead_depart_alert_enabled and _allowed and has_lead:
+      if self.last_lead_distance == -1 or lead_dRel < self.last_lead_distance:
+        self.last_lead_distance = lead_dRel
+
+      if self.last_lead_distance != -1 and (lead_dRel - self.last_lead_distance > 1.0) and self.alert_allowed:
+        _lead_depart_alert = True
+        self.alert_allowed = False
+
+    self.lead_depart_alert = _lead_depart_alert
 
     if self.green_light_alert or self.lead_depart_alert:
       events_sp.add(custom.OnroadEventSP.EventName.e2eChime)
+
+    self.frame += 1
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py
index 5cd7255bc36be5..5d5424bb162f7f 100644
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -231,6 +231,6 @@ def get_event_msg_type(self):
       "",
       "",
       AlertStatus.normal, AlertSize.none,
-      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 0.1),
+      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
   },
 }

From 734151f59bf535054719e0ffc9a9621bbe963da3 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Tue, 14 Oct 2025 20:32:10 -0700
Subject: [PATCH 0526/1434] Reapply "capnp: consolidate TurnDirection enum"
 (#1376) (#1382)

* Reapply "capnp: consolidate TurnDirection enum" (#1376)

This reverts commit 339bc0b8b3c4a192aa4e982039bc2ac28246c080.

* cache it

* format

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 cereal/custom.capnp                           |  10 +-
 selfdrive/controls/lib/desire_helper.py       |  11 +-
 selfdrive/selfdrived/selfdrived.py            |   5 +-
 .../controls/lib/lane_turn_desire.py          |  12 +-
 .../lib/tests/test_lane_turn_desire.py        | 160 +++++++++---------
 5 files changed, 101 insertions(+), 97 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index e81749dbac0f4c..5c0a004fa6d1bb 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -446,12 +446,12 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
 
 struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
-}
 
-enum TurnDirection {
-  none @0;
-  turnLeft @1;
-  turnRight @2;
+  enum TurnDirection {
+    none @0;
+    turnLeft @1;
+    turnRight @2;
+  }
 }
 
 struct CustomReserved10 @0xcb9fd56c7057593a {
diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index e72d464d061c9a..16908fa3e3df0d 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -6,6 +6,7 @@
 
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
+TurnDirection = custom.ModelDataV2SP.TurnDirection
 
 LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
 LANE_CHANGE_TIME_MAX = 10.
@@ -32,9 +33,9 @@
 }
 
 TURN_DESIRES = {
-  custom.TurnDirection.none: log.Desire.none,
-  custom.TurnDirection.turnLeft: log.Desire.turnLeft,
-  custom.TurnDirection.turnRight: log.Desire.turnRight,
+  TurnDirection.none: log.Desire.none,
+  TurnDirection.turnLeft: log.Desire.turnLeft,
+  TurnDirection.turnRight: log.Desire.turnRight,
 }
 
 
@@ -49,7 +50,7 @@ def __init__(self):
     self.desire = log.Desire.none
     self.alc = AutoLaneChangeController(self)
     self.lane_turn_controller = LaneTurnController(self)
-    self.lane_turn_direction = custom.TurnDirection.none
+    self.lane_turn_direction = TurnDirection.none
 
   @staticmethod
   def get_lane_change_direction(CS):
@@ -126,7 +127,7 @@ def update(self, carstate, lateral_active, lane_change_prob):
 
     self.prev_one_blinker = one_blinker
 
-    if self.lane_turn_direction != custom.TurnDirection.none:
+    if self.lane_turn_direction != TurnDirection.none:
       self.desire = TURN_DESIRES[self.lane_turn_direction]
     else:
       self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 0a4ea749e4e3d7..3bc616fb04800a 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -44,6 +44,7 @@
 EventName = log.OnroadEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
+TurnDirection = custom.ModelDataV2SP.TurnDirection
 
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 
@@ -305,9 +306,9 @@ def update_events(self, CS):
 
     # Handle lane turn
     lane_turn_direction = self.sm['modelDataV2SP'].laneTurnDirection
-    if lane_turn_direction == custom.TurnDirection.turnLeft:
+    if lane_turn_direction == TurnDirection.turnLeft:
       self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnLeft)
-    elif lane_turn_direction == custom.TurnDirection.turnRight:
+    elif lane_turn_direction == TurnDirection.turnRight:
       self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnRight)
 
     for i, pandaState in enumerate(self.sm['pandaStates']):
diff --git a/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py b/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
index 00ce026abb8068..fa35ebb125c3c0 100644
--- a/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
+++ b/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
@@ -9,13 +9,15 @@
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
 
+TurnDirection = custom.ModelDataV2SP.TurnDirection
+
 LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
 
 
 class LaneTurnController:
   def __init__(self, desire_helper):
     self.DH = desire_helper
-    self.turn_direction = custom.TurnDirection.none
+    self.turn_direction = TurnDirection.none
     self.params = Params()
     self.lane_turn_value = float(self.params.get("LaneTurnValue", return_default=True)) * CV.MPH_TO_MS
     self.param_read_counter = 0
@@ -33,13 +35,13 @@ def update_params(self) -> None:
 
   def update_lane_turn(self, blindspot_left: bool, blindspot_right: bool, left_blinker: bool, right_blinker: bool, v_ego: float) -> None:
     if left_blinker and not right_blinker and v_ego < self.lane_turn_value and not blindspot_left:
-      self.turn_direction = custom.TurnDirection.turnLeft
+      self.turn_direction = TurnDirection.turnLeft
     elif right_blinker and not left_blinker and v_ego < self.lane_turn_value and not blindspot_right:
-      self.turn_direction = custom.TurnDirection.turnRight
+      self.turn_direction = TurnDirection.turnRight
     else:
-      self.turn_direction = custom.TurnDirection.none
+      self.turn_direction = TurnDirection.none
 
   def get_turn_direction(self):
     if not self.enabled:
-      return custom.TurnDirection.none
+      return TurnDirection.none
     return self.turn_direction
diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py b/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
index 5633ed6efc03df..57fe7b684f5308 100644
--- a/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
+++ b/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
@@ -1,113 +1,113 @@
 import pytest
-from cereal import log
+from cereal import log, custom
 from openpilot.common.params import Params
 
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
 
-
-class TurnDirection:
-    none = 0
-    turnLeft = 1
-    turnRight = 2
+TurnDirection = custom.ModelDataV2SP.TurnDirection
 
 
 @pytest.mark.parametrize("left_blinker,right_blinker,v_ego,blindspot_left,blindspot_right,expected", [
-    (True, False, 5, False, False, TurnDirection.turnLeft),
-    (False, True, 6, False, False, TurnDirection.turnRight),
-    (True, False, 9, False, False, TurnDirection.none),
-    (True, False, 7, True, False, TurnDirection.none),
-    (False, True, 6, False, True, TurnDirection.none),
-    (False, False, 5, False, False, TurnDirection.none),
-    (True, True, 5, False, False, TurnDirection.none),
+  (True, False, 5, False, False, TurnDirection.turnLeft),
+  (False, True, 6, False, False, TurnDirection.turnRight),
+  (True, False, 9, False, False, TurnDirection.none),
+  (True, False, 7, True, False, TurnDirection.none),
+  (False, True, 6, False, True, TurnDirection.none),
+  (False, False, 5, False, False, TurnDirection.none),
+  (True, True, 5, False, False, TurnDirection.none),
 ])
 def test_lane_turn_desire_conditions(left_blinker, right_blinker, v_ego, blindspot_left, blindspot_right, expected):
-    dh = DesireHelper()
-    controller = LaneTurnController(dh)
-    controller.enabled = True
-    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-    controller.turn_direction = TurnDirection.none
-    controller.update_lane_turn(blindspot_left, blindspot_right, left_blinker, right_blinker, v_ego)
-    assert controller.get_turn_direction() == expected
+  dh = DesireHelper()
+  controller = LaneTurnController(dh)
+  controller.enabled = True
+  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+  controller.turn_direction = TurnDirection.none
+  controller.update_lane_turn(blindspot_left, blindspot_right, left_blinker, right_blinker, v_ego)
+  assert controller.get_turn_direction() == expected
 
 
 def test_lane_turn_desire_disabled():
-    dh = DesireHelper()
-    controller = LaneTurnController(dh)
-    controller.enabled = False
-    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-    controller.turn_direction = TurnDirection.none
-    controller.update_lane_turn(False, False, True, False, 7)
-    assert controller.get_turn_direction() == TurnDirection.none
+  dh = DesireHelper()
+  controller = LaneTurnController(dh)
+  controller.enabled = False
+  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+  controller.turn_direction = TurnDirection.none
+  controller.update_lane_turn(False, False, True, False, 7)
+  assert controller.get_turn_direction() == TurnDirection.none
 
 
 def test_lane_turn_overrides_lane_change():
-    dh = DesireHelper()
-    controller = LaneTurnController(dh)
-    controller.enabled = True
-    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-    controller.turn_direction = TurnDirection.none
-    # left turn desire
-    controller.update_lane_turn(False, False, True, False, 5)
-    assert controller.get_turn_direction() == TurnDirection.turnLeft
-    # right turn desire
-    controller.update_lane_turn(False, False, False, True, 6)
-    assert controller.get_turn_direction() == TurnDirection.turnRight
-    # no turn
-    controller.update_lane_turn(False, False, False, False, 7)
-    assert controller.get_turn_direction() == TurnDirection.none
+  dh = DesireHelper()
+  controller = LaneTurnController(dh)
+  controller.enabled = True
+  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+  controller.turn_direction = TurnDirection.none
+  # left turn desire
+  controller.update_lane_turn(False, False, True, False, 5)
+  assert controller.get_turn_direction() == TurnDirection.turnLeft
+  # right turn desire
+  controller.update_lane_turn(False, False, False, True, 6)
+  assert controller.get_turn_direction() == TurnDirection.turnRight
+  # no turn
+  controller.update_lane_turn(False, False, False, False, 7)
+  assert controller.get_turn_direction() == TurnDirection.none
 
 
 @pytest.mark.parametrize("v_ego,expected", [
-    (8.93, TurnDirection.turnLeft),   # just below threshold
-    (8.96, TurnDirection.none),       # above threshold
-    (8.95, TurnDirection.none),       # just above threshold
+  (8.93, TurnDirection.turnLeft),  # just below threshold
+  (8.96, TurnDirection.none),  # above threshold
+  (8.95, TurnDirection.none),  # just above threshold
 ])
 def test_lane_turn_desire_speed_boundary(v_ego, expected):
-    dh = DesireHelper()
-    controller = LaneTurnController(dh)
-    controller.enabled = True
-    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-    controller.turn_direction = TurnDirection.none
-    controller.update_lane_turn(False, True, True, False, v_ego)
-    assert controller.get_turn_direction() == expected
+  dh = DesireHelper()
+  controller = LaneTurnController(dh)
+  controller.enabled = True
+  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+  controller.turn_direction = TurnDirection.none
+  controller.update_lane_turn(False, True, True, False, v_ego)
+  assert controller.get_turn_direction() == expected
 
 
 class DummyCarState:
-    def __init__(self, vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
-                 steeringPressed=False, steeringTorque=0, brakePressed=False):
-        self.vEgo = vEgo
-        self.leftBlinker = leftBlinker
-        self.rightBlinker = rightBlinker
-        self.leftBlindspot = leftBlindspot
-        self.rightBlindspot = rightBlindspot
-        self.steeringPressed = steeringPressed
-        self.steeringTorque = steeringTorque
-        self.brakePressed = brakePressed
+  def __init__(self, vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+               steeringPressed=False, steeringTorque=0, brakePressed=False):
+    self.vEgo = vEgo
+    self.leftBlinker = leftBlinker
+    self.rightBlinker = rightBlinker
+    self.leftBlindspot = leftBlindspot
+    self.rightBlindspot = rightBlindspot
+    self.steeringPressed = steeringPressed
+    self.steeringTorque = steeringTorque
+    self.brakePressed = brakePressed
+
 
 @pytest.fixture
 def set_lane_turn_params():
-    params = Params()
-    params.put("LaneTurnDesire", True)
-    params.put("LaneTurnValue", 20.0)
+  params = Params()
+  params.put("LaneTurnDesire", True)
+  params.put("LaneTurnValue", 20.0)
+
 
 @pytest.mark.parametrize("carstate, lateral_active, lane_change_prob, expected_desire", [
-    # Lane turn desire overrides lane change desire
-    (DummyCarState(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False), True, 1.0, log.Desire.turnLeft),
-    (DummyCarState(vEgo=7, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False), True, 1.0, log.Desire.turnRight),
-    # Lane change desire only (no turn desires)
-    (DummyCarState(vEgo=9, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
-                   steeringPressed=True, steeringTorque=1), True, 1.0, log.Desire.laneChangeLeft),
-    (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False,
-                   steeringPressed=True, steeringTorque=-1), True, 1.0, log.Desire.laneChangeRight),
-    # No desire (inactive)
-    (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=False), False, 1.0, log.Desire.none),
-    (DummyCarState(vEgo=4, leftBlinker=False, rightBlinker=False), True, 1.0, log.Desire.none),  # No blinkers? no desire!
+  # Lane turn desire overrides lane change desire
+  (DummyCarState(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False), True, 1.0,
+   log.Desire.turnLeft),
+  (DummyCarState(vEgo=7, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False), True, 1.0,
+   log.Desire.turnRight),
+  # Lane change desire only (no turn desires)
+  (DummyCarState(vEgo=9, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+                 steeringPressed=True, steeringTorque=1), True, 1.0, log.Desire.laneChangeLeft),
+  (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False,
+                 steeringPressed=True, steeringTorque=-1), True, 1.0, log.Desire.laneChangeRight),
+  # No desire (inactive)
+  (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=False), False, 1.0, log.Desire.none),
+  (DummyCarState(vEgo=4, leftBlinker=False, rightBlinker=False), True, 1.0, log.Desire.none),  # No blinkers? no desire!
 ])
 def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
-    dh = DesireHelper()
-    dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
-    for _ in range(10):
-        dh.update(carstate, lateral_active, lane_change_prob)
-    assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
+  dh = DesireHelper()
+  dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+  for _ in range(10):
+    dh.update(carstate, lateral_active, lane_change_prob)
+  assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers

From e0ccc175e4b49dc389ede1bc522b7de64056e450 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 15 Oct 2025 00:59:40 -0400
Subject: [PATCH 0527/1434] liveMapDataSP: improve speed limit validation logic
 (#1383)

---
 sunnypilot/mapd/live_map_data/base_map_data.py | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/sunnypilot/mapd/live_map_data/base_map_data.py b/sunnypilot/mapd/live_map_data/base_map_data.py
index 25925937f56e81..723864dd2a9236 100644
--- a/sunnypilot/mapd/live_map_data/base_map_data.py
+++ b/sunnypilot/mapd/live_map_data/base_map_data.py
@@ -8,8 +8,12 @@
 
 import cereal.messaging as messaging
 from openpilot.common.params import Params
+from openpilot.common.constants import CV
+from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.sunnypilot.navd.helpers import coordinate_from_param
 
+MAX_SPEED_LIMIT = V_CRUISE_UNSET * CV.KPH_TO_MS
+
 
 class BaseMapData(ABC):
   def __init__(self):
@@ -46,9 +50,9 @@ def publish(self) -> None:
     mapd_sp_send.valid = self.sm['liveLocationKalman'].gpsOK
     live_map_data = mapd_sp_send.liveMapDataSP
 
-    live_map_data.speedLimitValid = bool(speed_limit > 0)
+    live_map_data.speedLimitValid = bool(MAX_SPEED_LIMIT > speed_limit > 0)
     live_map_data.speedLimit = speed_limit
-    live_map_data.speedLimitAheadValid = bool(next_speed_limit > 0)
+    live_map_data.speedLimitAheadValid = bool(MAX_SPEED_LIMIT > next_speed_limit > 0)
     live_map_data.speedLimitAhead = next_speed_limit
     live_map_data.speedLimitAheadDistance = next_speed_limit_distance
     live_map_data.roadName = self.get_current_road_name()

From 6d51d64285fdfef07f09845d8d96425bc0a769ab Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 15 Oct 2025 09:46:53 -0400
Subject: [PATCH 0528/1434] interfaces: clean up unsupported params during
 initialization (#1385)

* interfaces: clean up unsupported params during initialization

* fix

* logging and no DEC when no long

* ui

* ui
---
 .../speed_limit/speed_limit_settings.cc       |  6 ++++-
 .../qt/offroad/settings/longitudinal_panel.cc | 13 ++++++++--
 sunnypilot/selfdrive/car/interfaces.py        | 24 +++++++++++++++++++
 3 files changed, 40 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
index f64198f97e6c18..95aa4ef26f75f1 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
@@ -122,6 +122,10 @@ void SpeedLimitSettings::refresh() {
 
     has_longitudinal_control = hasLongitudinalControl(CP);
     intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
+
+    if (!has_longitudinal_control && CP_SP.getPcmCruiseSpeed()) {
+      params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
+    }
   } else {
     has_longitudinal_control = false;
     intelligent_cruise_button_management_available = false;
@@ -148,7 +152,7 @@ void SpeedLimitSettings::refresh() {
     speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(getSpeedLimitModeValues()));
   } else {
     speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(
-      {SpeedLimitMode::OFF,SpeedLimitMode::INFORMATION, SpeedLimitMode::WARNING}));
+      {SpeedLimitMode::OFF, SpeedLimitMode::INFORMATION, SpeedLimitMode::WARNING}));
   }
 
   speed_limit_mode_settings->showDescription();
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
index 31124a3242fb6f..a5098a13e6decf 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
@@ -104,6 +104,17 @@ void LongitudinalPanel::refresh(bool _offroad) {
     has_longitudinal_control = hasLongitudinalControl(CP);
     is_pcm_cruise = CP.getPcmCruise();
     intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
+
+    if (!intelligent_cruise_button_management_available || has_longitudinal_control) {
+      params.remove("IntelligentCruiseButtonManagement");
+    }
+
+    if (!has_longitudinal_control && CP_SP.getPcmCruiseSpeed()) {
+      params.remove("CustomAccIncrementsEnabled");
+      params.remove("DynamicExperimentalControl");
+      params.remove("SmartCruiseControlVision");
+      params.remove("SmartCruiseControlMap");
+    }
   } else {
     has_longitudinal_control = false;
     is_pcm_cruise = false;
@@ -127,11 +138,9 @@ void LongitudinalPanel::refresh(bool _offroad) {
         customAccIncrement->setDescription(accEnabledDescription);
       }
     } else {
-      params.remove("CustomAccIncrementsEnabled");
       customAccIncrement->toggleFlipped(false);
       customAccIncrement->setDescription(accNoLongDescription);
       customAccIncrement->showDescription();
-      params.remove("IntelligentCruiseButtonManagement");
       intelligentCruiseButtonManagement->toggleFlipped(false);
     }
   }
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index 3072cde8cd4879..5467639a6311f4 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -11,6 +11,7 @@
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_model_path
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
 
 import openpilot.system.sentry as sentry
 
@@ -66,6 +67,28 @@ def _initialize_torque_lateral_control(CI: CarInterfaceBase, CP: structs.CarPara
     CI.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)
 
 
+def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
+  if params is None:
+    params = Params()
+
+  if CP.steerControlType == structs.CarParams.SteerControlType.angle:
+    cloudlog.warning("SteerControlType is angle, cleaning up params")
+    params.remove("NeuralNetworkLateralControl")
+    params.remove("EnforceTorqueControl")
+
+  if not CP_SP.intelligentCruiseButtonManagementAvailable or CP.openpilotLongitudinalControl:
+    cloudlog.warning("ICBM not available or openpilot Longitudinal Control enabled, cleaning up params")
+    params.remove("IntelligentCruiseButtonManagement")
+
+  if not CP.openpilotLongitudinalControl and CP_SP.pcmCruiseSpeed:
+    cloudlog.warning("openpilot Longitudinal Control and ICBM not available, cleaning up params")
+    params.remove("DynamicExperimentalControl")
+    params.remove("CustomAccIncrementsEnabled")
+    params.remove("SmartCruiseControlVision")
+    params.remove("SmartCruiseControlMap")
+    params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
+
+
 def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   CP = CI.CP
   CP_SP = CI.CP_SP
@@ -74,6 +97,7 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   nnlc_enabled = _initialize_neural_network_lateral_control(CP, CP_SP, params)
   _initialize_intelligent_cruise_button_management(CP, CP_SP, params)
   _initialize_torque_lateral_control(CI, CP, enforce_torque, nnlc_enabled)
+  _cleanup_unsupported_params(CP, CP_SP)
 
 
 def initialize_params(params) -> list[dict[str, Any]]:

From d7e1c42c2b73a3c96fa17908ee1118a5171f4183 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 15 Oct 2025 12:25:23 -0400
Subject: [PATCH 0529/1434] ui: move Dynamic Experimental Control (DEC) toggle
 to Longitudinal panel (#1388)

- Implemented a new toggle for enabling Dynamic Experimental Control (DEC) in longitudinal settings.
- Removed previous implementation for DEC from general settings.
- Updated accessibility based on longitudinal control status.
---
 selfdrive/ui/qt/offroad/settings.cc                    |  7 -------
 .../qt/offroad/settings/longitudinal_panel.cc          | 10 ++++++++++
 .../qt/offroad/settings/longitudinal_panel.h           |  1 +
 3 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 205a14624a1119..6f594d939a7a91 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -33,13 +33,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "../assets/icons/experimental_white.svg",
       false,
     },
-    {
-      "DynamicExperimentalControl",
-      tr("Enable Dynamic Experimental Control"),
-      tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
-      "../assets/offroad/icon_blank.png",
-      false,
-    },
     {
       "DisengageOnAccelerator",
       tr("Disengage on Accelerator Pedal"),
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
index a5098a13e6decf..f2c7ea3825d00b 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
@@ -43,6 +43,15 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
   intelligentCruiseButtonManagement->setConfirmation(true, false);
   list->addItem(intelligentCruiseButtonManagement);
 
+  dynamicExperimentalControl = new ParamControlSP(
+    "DynamicExperimentalControl",
+    tr("Dynamic Experimental Control (DEC)"),
+    tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
+    "",
+    this
+  );
+  list->addItem(dynamicExperimentalControl);
+
   SmartCruiseControlVision = new ParamControl(
     "SmartCruiseControlVision",
     tr("Smart Cruise Control - Vision"),
@@ -153,6 +162,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
   customAccIncrement->setEnabled(cai_allowed && !offroad);
   customAccIncrement->refresh();
 
+  dynamicExperimentalControl->setEnabled(has_longitudinal_control);
   SmartCruiseControlVision->setEnabled(has_longitudinal_control || icbm_allowed);
   SmartCruiseControlMap->setEnabled(has_longitudinal_control || icbm_allowed);
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
index a94369a56032a3..127b7871eb4b71 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
@@ -35,6 +35,7 @@ class LongitudinalPanel : public QWidget {
   ParamControl *SmartCruiseControlVision;
   ParamControl *SmartCruiseControlMap;
   ParamControl *intelligentCruiseButtonManagement = nullptr;
+  ParamControl *dynamicExperimentalControl = nullptr;
   SpeedLimitSettings *speedLimitScreen;
   PushButtonSP *speedLimitSettings;
 };

From f1ca81debf97153a0b531bfe6d774869af83bc77 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 15 Oct 2025 16:20:31 -0400
Subject: [PATCH 0530/1434] ui: chevron should always be on top of driving path
 (#1391)

---
 selfdrive/ui/sunnypilot/qt/onroad/model.cc | 34 ++++++++++++++--------
 1 file changed, 22 insertions(+), 12 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.cc b/selfdrive/ui/sunnypilot/qt/onroad/model.cc
index 086b703e10dadc..590ade24a14f50 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/model.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/model.cc
@@ -22,7 +22,6 @@ void ModelRendererSP::update_model(const cereal::ModelDataV2::Reader &model, con
 }
 
 void ModelRendererSP::draw(QPainter &painter, const QRect &surface_rect) {
-  ModelRenderer::draw(painter, surface_rect);
   auto *s = uiState();
   auto &sm = *(s->sm);
 
@@ -31,6 +30,11 @@ void ModelRendererSP::draw(QPainter &painter, const QRect &surface_rect) {
     return;
   }
 
+  clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN);
+  experimental_mode = sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
+  longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
+  path_offset_z = sm["liveCalibration"].getLiveCalibration().getHeight()[0];
+
   painter.save();
 
   const auto &model = sm["modelV2"].getModelV2();
@@ -41,22 +45,28 @@ void ModelRendererSP::draw(QPainter &painter, const QRect &surface_rect) {
   update_model(model, lead_one);
   drawLaneLines(painter);
 
-  bool blindspot = s->scene.blindspot_ui;
-  bool rainbow = s->scene.rainbow_mode;
-
-  bool left_blindspot = car_state.getLeftBlindspot();
-  bool right_blindspot = car_state.getRightBlindspot();
-
-  if (blindspot) {
-    drawBlindspot(painter, surface_rect, left_blindspot, right_blindspot);
-  }
-
-  if (rainbow) {
+  if (s->scene.rainbow_mode) {
     drawRainbowPath(painter, surface_rect);
   } else {
     ModelRenderer::drawPath(painter, model, surface_rect.height());
   }
 
+  if (longitudinal_control && sm.alive("radarState")) {
+    update_leads(radar_state, model.getPosition());
+    const auto &lead_two = radar_state.getLeadTwo();
+    if (lead_one.getStatus()) {
+      drawLead(painter, lead_one, lead_vertices[0], surface_rect);
+    }
+    if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
+      drawLead(painter, lead_two, lead_vertices[1], surface_rect);
+    }
+  }
+
+  if (s->scene.blindspot_ui) {
+    const bool left_blindspot = car_state.getLeftBlindspot();
+    const bool right_blindspot = car_state.getRightBlindspot();
+    drawBlindspot(painter, surface_rect, left_blindspot, right_blindspot);
+  }
   drawLeadStatus(painter, surface_rect.height(), surface_rect.width());
 
   painter.restore();

From c438aeb5a5ce4d4e5c8aee5c68a5eaac08ce3afd Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 15 Oct 2025 16:47:00 -0400
Subject: [PATCH 0531/1434] ui: check for updated message before updating
 states in HUD (#1392)

---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc | 105 ++++++++++++++---------
 selfdrive/ui/sunnypilot/qt/onroad/hud.h  |   2 +-
 2 files changed, 64 insertions(+), 43 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index fa57e2b334c558..d8176051fb7d72 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -26,31 +26,54 @@ HudRendererSP::HudRendererSP() {
 void HudRendererSP::updateState(const UIState &s) {
   HudRenderer::updateState(s);
 
+  float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH;
+  devUiInfo = s.scene.dev_ui_info;
+  roadName = s.scene.road_name;
+  showTurnSignals = s.scene.turn_signals;
+  speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
+  speedUnit = is_metric ? tr("km/h") : tr("mph");
+  standstillTimer = s.scene.standstill_timer;
+
   const SubMaster &sm = *(s.sm);
   const auto cs = sm["controlsState"].getControlsState();
   const auto car_state = sm["carState"].getCarState();
   const auto car_control = sm["carControl"].getCarControl();
   const auto radar_state = sm["radarState"].getRadarState();
   const auto is_gps_location_external = sm.rcv_frame("gpsLocationExternal") > 1;
-  const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
+  const char *gps_source = is_gps_location_external ? "gpsLocationExternal" : "gpsLocation";
+  const auto gpsLocation = is_gps_location_external ? sm[gps_source].getGpsLocationExternal() : sm[gps_source].getGpsLocation();
   const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
   const auto car_params = sm["carParams"].getCarParams();
   const auto car_params_sp = sm["carParamsSP"].getCarParamsSP();
   const auto lp_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP();
   const auto lmd = sm["liveMapDataSP"].getLiveMapDataSP();
 
-  float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH;
-  speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
-  speedLimitLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLast() * speedConv;
-  speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
-  speedLimitValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitValid();
-  speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid();
-  speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast() * speedConv;
-  speedLimitSource = lp_sp.getSpeedLimit().getResolver().getSource();
-  speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
-  speedLimitAssistState = lp_sp.getSpeedLimit().getAssist().getState();
-  speedLimitAssistActive = lp_sp.getSpeedLimit().getAssist().getActive();
-  roadName = s.scene.road_name;
+  if (sm.updated("carParams")) {
+    steerControlType = car_params.getSteerControlType();
+  }
+
+  if (sm.updated("carParamsSP")) {
+    pcmCruiseSpeed = car_params_sp.getPcmCruiseSpeed();
+  }
+
+  if (sm.updated("longitudinalPlanSP")) {
+    speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
+    speedLimitLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLast() * speedConv;
+    speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
+    speedLimitValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitValid();
+    speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid();
+    speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast() * speedConv;
+    speedLimitSource = lp_sp.getSpeedLimit().getResolver().getSource();
+    speedLimitAssistState = lp_sp.getSpeedLimit().getAssist().getState();
+    speedLimitAssistActive = lp_sp.getSpeedLimit().getAssist().getActive();
+    smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled();
+    smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
+    smartCruiseControlMapEnabled = lp_sp.getSmartCruiseControl().getMap().getEnabled();
+    smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive();
+    greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
+    leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert();
+  }
+
   if (sm.updated("liveMapDataSP")) {
     roadNameStr = QString::fromStdString(lmd.getRoadName());
     speedLimitAheadValid = lmd.getSpeedLimitAheadValid();
@@ -66,7 +89,7 @@ void HudRendererSP::updateState(const UIState &s) {
 
   static int reverse_delay = 0;
   bool reverse_allowed = false;
-  if (int(car_state.getGearShifter()) != 4) {
+  if (car_state.getGearShifter() != cereal::CarState::GearShifter::REVERSE) {
     reverse_delay = 0;
     reverse_allowed = false;
   } else {
@@ -78,46 +101,47 @@ void HudRendererSP::updateState(const UIState &s) {
 
   reversing = reverse_allowed;
 
-  latActive = car_control.getLatActive();
-  steerOverride = car_state.getSteeringPressed();
+  if (sm.updated("liveParameters")) {
+    roll = sm["liveParameters"].getLiveParameters().getRoll();
+  }
 
-  devUiInfo = s.scene.dev_ui_info;
+  if (sm.updated("deviceState")) {
+    memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
+  }
 
-  speedUnit = is_metric ? tr("km/h") : tr("mph");
+  if (sm.updated(gps_source)) {
+    gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
+    altitude = gpsLocation.getAltitude();
+    bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
+    bearingDeg = gpsLocation.getBearingDeg();
+  }
+
+  if (sm.updated("liveTorqueParameters")) {
+    torquedUseParams = ltp.getUseParams();
+    latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
+    frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
+    liveValid = ltp.getLiveValid();
+  }
+
+  latActive = car_control.getLatActive();
+  actuators = car_control.getActuators();
+  longOverride = car_control.getCruiseControl().getOverride();
+  carControlEnabled = car_control.getEnabled();
+
+  steerOverride = car_state.getSteeringPressed();
   lead_d_rel = radar_state.getLeadOne().getDRel();
   lead_v_rel = radar_state.getLeadOne().getVRel();
   lead_status = radar_state.getLeadOne().getStatus();
-  steerControlType = car_params.getSteerControlType();
-  actuators = car_control.getActuators();
   torqueLateral = steerControlType == cereal::CarParams::SteerControlType::TORQUE;
   angleSteers = car_state.getSteeringAngleDeg();
   desiredCurvature = cs.getDesiredCurvature();
   curvature = cs.getCurvature();
-  roll = sm["liveParameters"].getLiveParameters().getRoll();
-  memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
-  gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
-  altitude = gpsLocation.getAltitude();
   vEgo = car_state.getVEgo();
   aEgo = car_state.getAEgo();
   steeringTorqueEps = car_state.getSteeringTorqueEps();
-  bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
-  bearingDeg = gpsLocation.getBearingDeg();
-  torquedUseParams = ltp.getUseParams();
-  latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
-  frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
-  liveValid = ltp.getLiveValid();
 
-  standstillTimer = s.scene.standstill_timer;
   isStandstill = car_state.getStandstill();
   if (not s.scene.started) standstillElapsedTime = 0.0;
-  longOverride = car_control.getCruiseControl().getOverride();
-  smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled();
-  smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
-  smartCruiseControlMapEnabled = lp_sp.getSmartCruiseControl().getMap().getEnabled();
-  smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive();
-
-  greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
-  leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert();
 
   // override stock current speed values
   float v_ego = (v_ego_cluster_seen && !s.scene.trueVEgoUI) ? car_state.getVEgoCluster() : car_state.getVEgo();
@@ -128,11 +152,8 @@ void HudRendererSP::updateState(const UIState &s) {
   rightBlinkerOn = car_state.getRightBlinker();
   leftBlindspot = car_state.getLeftBlindspot();
   rightBlindspot = car_state.getRightBlindspot();
-  showTurnSignals = s.scene.turn_signals;
 
-  carControlEnabled = car_control.getEnabled();
   speedCluster = car_state.getCruiseState().getSpeedCluster() * speedConv;
-  pcmCruiseSpeed = car_params_sp.getPcmCruiseSpeed();
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index f9135ee9ef3493..a32fdb28a7d3c2 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -121,5 +121,5 @@ class HudRendererSP : public HudRenderer {
   bool carControlEnabled;
   float speedCluster = 0;
   int icbm_active_counter = 0;
-  bool pcmCruiseSpeed;
+  bool pcmCruiseSpeed = true;
 };

From 99bd9075d539b3f74af8610626a02d22ce53d931 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Wed, 15 Oct 2025 17:18:31 -0400
Subject: [PATCH 0532/1434] ui: Fix Onroad Screen-Off default param (#1389)

Change defaults

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/params_keys.h                                          | 4 ++--
 .../qt/offroad/settings/display/onroad_screen_brightness.cc   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index ecb73a945600de..dd58462a951a56 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -160,9 +160,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
     {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
-    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "100"}},
+    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
     {"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}},
-    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "0"}},
+    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
     {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc
index f28d9e45e81a86..e29d06cb823832 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc
@@ -29,7 +29,7 @@ OnroadScreenBrightnessControl::OnroadScreenBrightnessControl(const QString &para
     "Onroad Brightness",
     "",
     "",
-    {0, 100}, 10, true);
+    {0, 90}, 10, true);
 
   connect(onroadScreenOffTimer, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
   connect(onroadScreenBrightness, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);

From 9e6af5ba740eecd78dec2af302ea2bbc8d969f8f Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Wed, 15 Oct 2025 17:40:52 -0400
Subject: [PATCH 0533/1434] ui: Adjust UI Elements to account for Sidebar & Dev
 UI (#1390)

* resize & reposition

* Apply suggestion from @sunnyhaibin

* sir, this is Wendy's

* this is still a Wendy's

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc | 34 ++++++++++++------------
 selfdrive/ui/sunnypilot/qt/onroad/hud.h  | 10 +++----
 2 files changed, 21 insertions(+), 23 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index d8176051fb7d72..5db7ba1814931c 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -12,15 +12,12 @@
 
 
 HudRendererSP::HudRendererSP() {
-  plus_arrow_up_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_plus_arrow_up", {105, 105});
-  minus_arrow_down_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_minus_arrow_down", {105, 105});
-
-  int small_max = e2e_alert_small * 2 - 40;
-  int large_max = e2e_alert_large * 2 - 40;
-  green_light_alert_small_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {small_max, small_max});
-  green_light_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {large_max, large_max});
-  lead_depart_alert_small_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {small_max, small_max});
-  lead_depart_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {large_max, large_max});
+  plus_arrow_up_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_plus_arrow_up", {90, 90});
+  minus_arrow_down_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_minus_arrow_down", {90, 90});
+
+  int size = e2e_alert_size * 2 - 40;
+  green_light_alert_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {size, size});
+  lead_depart_alert_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {size, size});
 }
 
 void HudRendererSP::updateState(const UIState &s) {
@@ -154,6 +151,9 @@ void HudRendererSP::updateState(const UIState &s) {
   rightBlindspot = car_state.getRightBlindspot();
 
   speedCluster = car_state.getCruiseState().getSpeedCluster() * speedConv;
+
+  allow_e2e_alerts = sm["selfdriveState"].getSelfdriveState().getAlertSize() == cereal::SelfdriveState::AlertSize::NONE &&
+                     sm.rcv_frame("driverStateV2") > s.scene.started_frame && !reversing;
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
@@ -256,11 +256,11 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
       e2eAlertFrame++;
       if (greenLightAlert) {
         alert_text = tr("GREEN\nLIGHT");
-        alert_img = devUiInfo > 0 ? green_light_alert_small_img : green_light_alert_large_img;
+        alert_img = green_light_alert_img;
       }
       else if (leadDepartAlert) {
         alert_text = tr("LEAD VEHICLE\nDEPARTING");
-        alert_img = devUiInfo > 0 ? lead_depart_alert_small_img : lead_depart_alert_large_img;
+        alert_img = lead_depart_alert_img;
       }
       drawE2eAlert(p, surface_rect);
     }
@@ -664,7 +664,7 @@ void HudRendererSP::drawRoadName(QPainter &p, const QRect &surface_rect) {
 
 void HudRendererSP::drawSpeedLimitPreActiveArrow(QPainter &p, QRect &sign_rect) {
   const int sign_margin = 12;
-  const int arrow_spacing = sign_margin * 3;
+  const int arrow_spacing = sign_margin * 1.4;
   int arrow_x = sign_rect.right() + arrow_spacing;
 
   int _set_speed = std::nearbyint(set_speed);
@@ -739,11 +739,11 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
 }
 
 void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const QString &alert_alt_text) {
-  int size = devUiInfo > 0 ? e2e_alert_small : e2e_alert_large;
-  int x = surface_rect.center().x() + surface_rect.width() / 4;
+  if (!allow_e2e_alerts) return;
+
+  int x = surface_rect.right() - e2e_alert_size - (devUiInfo > 0 ? 180 : 100) - (UI_BORDER_SIZE * 3);
   int y = surface_rect.center().y() + 20;
-  x += devUiInfo > 0 ? 0 : 50;
-  QRect alertRect(x - size, y - size, size * 2, size * 2);
+  QRect alertRect(x - e2e_alert_size, y - e2e_alert_size, e2e_alert_size * 2, e2e_alert_size * 2);
 
   // Alert Circle
   QPoint center = alertRect.center();
@@ -752,7 +752,7 @@ void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const Q
   else frameColor = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 75) : QColor(0, 255, 0, 75);
   p.setPen(QPen(frameColor, 15));
   p.setBrush(QColor(0, 0, 0, 190));
-  p.drawEllipse(center, size, size);
+  p.drawEllipse(center, e2e_alert_size, e2e_alert_size);
 
   // Alert Text
   QColor txtColor;
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index a32fdb28a7d3c2..bc80a5e8bc0b85 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -97,16 +97,14 @@ class HudRendererSP : public HudRenderer {
   int speedLimitAssistFrame;
   QPixmap plus_arrow_up_img;
   QPixmap minus_arrow_down_img;
-  int e2e_alert_small = 250;
-  int e2e_alert_large = 300;
-  QPixmap green_light_alert_small_img;
-  QPixmap green_light_alert_large_img;
+  int e2e_alert_size = 300;
+  QPixmap green_light_alert_img;
   bool greenLightAlert;
   int e2eAlertFrame;
   int e2eAlertDisplayTimer = 0;
+  bool allow_e2e_alerts;
   bool leadDepartAlert;
-  QPixmap lead_depart_alert_small_img;
-  QPixmap lead_depart_alert_large_img;
+  QPixmap lead_depart_alert_img;
   QString alert_text;
   QPixmap alert_img;
   bool hideVEgoUI;

From 437726b3486c2e214205577ad009b11c79668cdc Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 15 Oct 2025 18:05:50 -0400
Subject: [PATCH 0534/1434] Speed Limit Mode: only cleanup param if Assist was
 selected (#1393)

Speed Limit Mode: only cleanup param if it was Assist
---
 .../settings/longitudinal/speed_limit/speed_limit_settings.cc | 4 +++-
 sunnypilot/selfdrive/car/interfaces.py                        | 4 +++-
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
index 95aa4ef26f75f1..5c3b03d2af751a 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
@@ -124,7 +124,9 @@ void SpeedLimitSettings::refresh() {
     intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
 
     if (!has_longitudinal_control && CP_SP.getPcmCruiseSpeed()) {
-      params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
+      if (speed_limit_mode_param == SpeedLimitMode::ASSIST) {
+        params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
+      }
     }
   } else {
     has_longitudinal_control = false;
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index 5467639a6311f4..6a868ab85bcc6c 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -86,7 +86,9 @@ def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsS
     params.remove("CustomAccIncrementsEnabled")
     params.remove("SmartCruiseControlVision")
     params.remove("SmartCruiseControlMap")
-    params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
+
+    if params.get("SpeedLimitMode", return_default=True) == SpeedLimitMode.assist:
+      params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
 
 
 def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:

From 50462a1d01e639c8f823f5ed550b2fd29e01f667 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 16 Oct 2025 00:55:17 -0400
Subject: [PATCH 0535/1434] E2E Alert: universal state machine (#1395)

* E2E Helper: universal state machine

* not used

* rename

* 10 frames for both

* time based

* magic

* lead depart: only arm if we have a confirmed close lead for over a second after allowing alert

* less

* shorter trigger

* lol

* always update
---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc      |  18 +--
 .../controls/lib/e2e_alerts_helper.py         | 138 ++++++++++++++----
 2 files changed, 116 insertions(+), 40 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 5db7ba1814931c..2fc9eb98fc83bd 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -67,9 +67,9 @@ void HudRendererSP::updateState(const UIState &s) {
     smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
     smartCruiseControlMapEnabled = lp_sp.getSmartCruiseControl().getMap().getEnabled();
     smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive();
-    greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
-    leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert();
   }
+  greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
+  leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert();
 
   if (sm.updated("liveMapDataSP")) {
     roadNameStr = QString::fromStdString(lmd.getRoadName());
@@ -138,7 +138,7 @@ void HudRendererSP::updateState(const UIState &s) {
   steeringTorqueEps = car_state.getSteeringTorqueEps();
 
   isStandstill = car_state.getStandstill();
-  if (not s.scene.started) standstillElapsedTime = 0.0;
+  if (!s.scene.started) standstillElapsedTime = 0.0;
 
   // override stock current speed values
   float v_ego = (v_ego_cluster_seen && !s.scene.trueVEgoUI) ? car_state.getVEgoCluster() : car_state.getVEgo();
@@ -246,7 +246,7 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
     drawRoadName(p, surface_rect);
 
     // Green Light & Lead Depart Alerts
-    if (greenLightAlert or leadDepartAlert) {
+    if (greenLightAlert || leadDepartAlert) {
       e2eAlertDisplayTimer = 3 * UI_FREQ;
       // reset onroad sleep timer for e2e alerts
       uiStateSP()->reset_onroad_sleep_timer();
@@ -278,7 +278,7 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
     // No Alerts displayed
     else {
       e2eAlertFrame = 0;
-      if (not isStandstill) standstillElapsedTime = 0.0;
+      if (!isStandstill) standstillElapsedTime = 0.0;
     }
 
     // Blinker
@@ -748,7 +748,7 @@ void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const Q
   // Alert Circle
   QPoint center = alertRect.center();
   QColor frameColor;
-  if (not alert_alt_text.isEmpty()) frameColor = QColor(255, 255, 255, 75);
+  if (!alert_alt_text.isEmpty()) frameColor = QColor(255, 255, 255, 75);
   else frameColor = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 75) : QColor(0, 255, 0, 75);
   p.setPen(QPen(frameColor, 15));
   p.setBrush(QColor(0, 0, 0, 190));
@@ -758,7 +758,7 @@ void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const Q
   QColor txtColor;
   QFont font;
   int alert_bottom_adjustment;
-  if (not alert_alt_text.isEmpty()) {
+  if (!alert_alt_text.isEmpty()) {
     font = InterFont(100, QFont::Bold);
     alert_bottom_adjustment = 5;
     txtColor = QColor(255, 255, 255, 255);
@@ -775,7 +775,7 @@ void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const Q
   textRect.moveBottom(alertRect.bottom() - alertRect.height() / alert_bottom_adjustment);
   p.drawText(textRect, Qt::AlignCenter, alert_text);
 
-  if (not alert_alt_text.isEmpty()) {
+  if (!alert_alt_text.isEmpty()) {
     // Alert Alternate Text
     p.setFont(InterFont(80, QFont::Bold));
     p.setPen(QColor(255, 175, 3, 240));
@@ -804,7 +804,7 @@ void HudRendererSP::drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect) {
 
 void HudRendererSP::drawBlinker(QPainter &p, const QRect &surface_rect) {
   const bool hazard = leftBlinkerOn && rightBlinkerOn;
-  int blinkerStatus = hazard ? 2 : (leftBlinkerOn or rightBlinkerOn) ? 1 : 0;
+  int blinkerStatus = hazard ? 2 : (leftBlinkerOn || rightBlinkerOn) ? 1 : 0;
 
   if (!leftBlinkerOn && !rightBlinkerOn) {
     blinkerFrameCounter = 0;
diff --git a/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py b/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
index 5a92d878d657b4..944bf617e9690b 100644
--- a/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
+++ b/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
@@ -13,80 +13,156 @@
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
 GREEN_LIGHT_X_THRESHOLD = 30
+LEAD_DEPART_DIST_THRESHOLD = 1.0
+TRIGGER_TIMER_THRESHOLD = 0.3
+
+
+class E2EStates:
+  INACTIVE = 0
+  ARMED = 1
+  CONSUMED = 2
 
 
 class E2EAlertsHelper:
   def __init__(self):
     self._params = Params()
     self.frame = -1
+    self.green_light_state = E2EStates.INACTIVE
+    self.prev_green_light_state = E2EStates.INACTIVE
+    self.lead_depart_state = E2EStates.INACTIVE
+    self.prev_lead_depart_state = E2EStates.INACTIVE
 
     self.green_light_alert = False
     self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert")
     self.lead_depart_alert = False
     self.lead_depart_alert_enabled = self._params.get_bool("LeadDepartAlert")
 
-    self.alert_allowed = False
-    self.green_light_alert_count = 0
+    self.green_light_trigger_timer = 0
+    self.lead_depart_trigger_timer = 0
     self.last_lead_distance = -1
     self.last_moving_frame = -1
 
+    self.allowed = False
+    self.last_allowed = False
+    self.has_lead = False
+
+    self.lead_depart_arm_timer = 0
+    self.lead_depart_confirmed_lead = False
+    self.lead_depart_armed = False
+
   def _read_params(self) -> None:
     if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
       self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert")
       self.lead_depart_alert_enabled = self._params.get_bool("LeadDepartAlert")
 
-  def update(self, sm: messaging.SubMaster, events_sp: EventsSP) -> None:
-    self._read_params()
-
+  def update_alert_trigger(self, sm: messaging.SubMaster):
     CS = sm['carState']
     CC = sm['carControl']
 
     model_x = sm['modelV2'].position.x
     max_idx = len(model_x) - 1
-    has_lead = sm['radarState'].leadOne.status
+    self.has_lead = sm['radarState'].leadOne.status
     lead_dRel = sm['radarState'].leadOne.dRel
+
     standstill = CS.standstill
     moving = not standstill and CS.vEgo > 0.1
-    _allowed = standstill and not CS.gasPressed and not CC.enabled
 
     if moving:
       self.last_moving_frame = self.frame
     recent_moving = self.last_moving_frame == -1 or (self.frame - self.last_moving_frame) * DT_MDL < 2.0
 
-    if standstill and not recent_moving:
-      self.alert_allowed = True
-    elif not standstill:
-      self.alert_allowed = False
-      self.green_light_alert_count = 0
-      self.last_lead_distance = -1
+    self.allowed = not moving and not CS.gasPressed and not CC.enabled and not recent_moving
 
     # Green Light Alert
-    _green_light_alert = False
-    if self.green_light_alert_enabled and _allowed and not has_lead and model_x[max_idx] > GREEN_LIGHT_X_THRESHOLD:
-      if self.alert_allowed:
-        self.green_light_alert_count += 1
+    green_light_trigger = False
+    if self.green_light_state == E2EStates.ARMED:
+      if model_x[max_idx] > GREEN_LIGHT_X_THRESHOLD:
+        self.green_light_trigger_timer += 1
       else:
-        self.green_light_alert_count = 0
-
-      if self.green_light_alert_count > 2 and self.alert_allowed:
-        _green_light_alert = True
-        self.alert_allowed = False
-    else:
-      self.green_light_alert_count = 0
+        self.green_light_trigger_timer = 0
 
-    self.green_light_alert = _green_light_alert
+      if self.green_light_trigger_timer * DT_MDL > TRIGGER_TIMER_THRESHOLD:
+        green_light_trigger = True
+    elif self.green_light_state != E2EStates.ARMED:
+      self.green_light_trigger_timer = 0
 
     # Lead Departure Alert
-    _lead_depart_alert = False
-    if self.lead_depart_alert_enabled and _allowed and has_lead:
+    close_lead_valid = self.has_lead and lead_dRel < 8.0
+    if self.allowed and not self.last_allowed and close_lead_valid:
+      self.lead_depart_confirmed_lead = True
+    elif not self.allowed:
+      self.lead_depart_confirmed_lead = False
+
+    if self.allowed and self.lead_depart_confirmed_lead and close_lead_valid:
+      self.lead_depart_arm_timer += 1
+
+      if self.lead_depart_arm_timer * DT_MDL >= 1.0:
+        self.lead_depart_armed = True
+    else:
+      self.lead_depart_arm_timer = 0
+      self.lead_depart_armed = False
+
+    lead_depart_trigger = False
+    if self.lead_depart_state == E2EStates.ARMED:
       if self.last_lead_distance == -1 or lead_dRel < self.last_lead_distance:
         self.last_lead_distance = lead_dRel
 
-      if self.last_lead_distance != -1 and (lead_dRel - self.last_lead_distance > 1.0) and self.alert_allowed:
-        _lead_depart_alert = True
-        self.alert_allowed = False
+      if self.last_lead_distance != -1 and (lead_dRel - self.last_lead_distance > LEAD_DEPART_DIST_THRESHOLD):
+        self.lead_depart_trigger_timer += 1
+      else:
+        self.lead_depart_trigger_timer = 0
+
+      if self.lead_depart_trigger_timer * DT_MDL > TRIGGER_TIMER_THRESHOLD:
+        lead_depart_trigger = True
+    elif self.lead_depart_state != E2EStates.ARMED:
+      self.last_lead_distance = -1
+      self.lead_depart_trigger_timer = 0
+
+    self.last_allowed = self.allowed
+
+    return green_light_trigger, lead_depart_trigger
+
+  @staticmethod
+  def update_state_machine(state: int, enabled: bool, allowed: bool, triggered: bool) -> tuple[int, bool]:
+    if state != E2EStates.INACTIVE:
+      if not allowed or not enabled:
+        state = E2EStates.INACTIVE
+
+      else:
+        if state == E2EStates.ARMED:
+          if triggered:
+            state = E2EStates.CONSUMED
+
+        elif state == E2EStates.CONSUMED:
+          pass
+
+    elif state == E2EStates.INACTIVE:
+      if allowed and enabled:
+        state = E2EStates.ARMED
+
+    return state, triggered
+
+  def update(self, sm: messaging.SubMaster, events_sp: EventsSP) -> None:
+    self._read_params()
+
+    green_light_trigger, lead_depart_trigger = self.update_alert_trigger(sm)
+
+    self.prev_green_light_state = self.green_light_state
+    self.prev_lead_depart_state = self.lead_depart_state
+
+    self.green_light_state, self.green_light_alert = self.update_state_machine(
+      self.green_light_state,
+      self.green_light_alert_enabled,
+      self.allowed and not self.has_lead,
+      green_light_trigger
+    )
 
-    self.lead_depart_alert = _lead_depart_alert
+    self.lead_depart_state, self.lead_depart_alert = self.update_state_machine(
+      self.lead_depart_state,
+      self.lead_depart_alert_enabled,
+      self.allowed and self.lead_depart_armed,
+      lead_depart_trigger
+    )
 
     if self.green_light_alert or self.lead_depart_alert:
       events_sp.add(custom.OnroadEventSP.EventName.e2eChime)

From 063aa994d267d730f1400eebde18992be50e4883 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Thu, 16 Oct 2025 01:03:45 -0400
Subject: [PATCH 0536/1434] ui: Resize E2E Alerts (#1396)

because people be enabling ALL THE UI

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/qt/onroad/hud.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index bc80a5e8bc0b85..f021a949e49763 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -97,7 +97,7 @@ class HudRendererSP : public HudRenderer {
   int speedLimitAssistFrame;
   QPixmap plus_arrow_up_img;
   QPixmap minus_arrow_down_img;
-  int e2e_alert_size = 300;
+  int e2e_alert_size = 250;
   QPixmap green_light_alert_img;
   bool greenLightAlert;
   int e2eAlertFrame;

From 2825c00fcc72c30f4e8768e7e60c6db02513b1a0 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 17 Oct 2025 22:53:31 -0400
Subject: [PATCH 0537/1434] controlsd: update lateral delay param in a separate
 thread (#1402)

---
 selfdrive/controls/controlsd.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 3601ae310ec123..1694afee237739 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -99,7 +99,6 @@ def state_control(self):
 
       self.LaC.extension.update_model_v2(self.sm['modelV2'])
 
-      self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
       self.LaC.extension.update_lateral_lag(self.lat_delay)
 
     long_plan = self.sm['longitudinalPlan']
@@ -234,6 +233,9 @@ def params_thread(self, evt):
     while not evt.is_set():
       self.get_params_sp()
 
+      if self.CP.lateralTuning.which() == 'torque':
+        self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
+
       time.sleep(0.1)
 
   def run(self):

From 72282f2d2e0ffeab3b49fc82e1504e08f55d279f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 17 Oct 2025 23:30:06 -0400
Subject: [PATCH 0538/1434] Speed Limit Assist: update events handling (#1400)

* Speed Limit Assist: update active event handling

* ok no more for non pcm long it was annoying

* 5 seconds preActive for non pcm long now

* Revert "5 seconds preActive for non pcm long now"

This reverts commit dfcc601035f4c34c8ce213cb221e9148b96fdcc3.

* dynamic alert size

* do the same here

* lint
---
 .../lib/speed_limit/speed_limit_assist.py     | 18 +++++++++++----
 sunnypilot/selfdrive/selfdrived/events.py     | 23 +++++++------------
 2 files changed, 22 insertions(+), 19 deletions(-)

diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
index 302d8cd14dad78..e2e1125a794cd7 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
@@ -109,6 +109,16 @@ def v_cruise_cluster_changed(self) -> bool:
   def target_set_speed_confirmed(self) -> bool:
     return bool(self.v_cruise_cluster_conv == self.target_set_speed_conv)
 
+  @property
+  def v_cruise_cluster_below_confirm_speed_threshold(self) -> bool:
+    return bool(self.v_cruise_cluster_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric])
+
+  def update_active_event(self, events_sp: EventsSP) -> None:
+    if self.v_cruise_cluster_below_confirm_speed_threshold:
+      events_sp.add(EventNameSP.speedLimitChanged)
+    else:
+      events_sp.add(EventNameSP.speedLimitActive)
+
   def get_v_target_from_control(self) -> float:
     if self._has_speed_limit:
       if self.pcm_op_long and self.is_enabled:
@@ -175,7 +185,7 @@ def update_calculations(self, v_cruise_cluster: float) -> None:
   @property
   def apply_confirm_speed_threshold(self) -> bool:
     # below CST: always require user confirmation
-    if self.v_cruise_cluster_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric]:
+    if self.v_cruise_cluster_below_confirm_speed_threshold:
       return True
 
     # at/above CST:
@@ -351,15 +361,15 @@ def update_events(self, events_sp: EventsSP) -> None:
 
     if self.is_active:
       if self._state_prev not in ACTIVE_STATES:
-        events_sp.add(EventNameSP.speedLimitActive)
+        self.update_active_event(events_sp)
 
       # only notify if we acquire a valid speed limit
       # do not check has_speed_limit here
       elif self._speed_limit != self.speed_limit_prev:
         if self.speed_limit_prev <= 0:
-          events_sp.add(EventNameSP.speedLimitActive)
+          self.update_active_event(events_sp)
         elif self.speed_limit_prev > 0 and self._speed_limit > 0:
-          events_sp.add(EventNameSP.speedLimitChanged)
+          self.update_active_event(events_sp)
 
   def update(self, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float, v_cruise_cluster: float, speed_limit: float,
              speed_limit_final_last: float, has_speed_limit: bool, distance: float, events_sp: EventsSP) -> None:
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py
index 5d5424bb162f7f..4edc0bd470ae1e 100644
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -4,7 +4,6 @@
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
   NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target
 
 
 AlertSize = log.SelfdriveState.AlertSize
@@ -34,6 +33,9 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
   speed_conv = CV.MS_TO_KPH if metric else CV.MS_TO_MPH
   speed_limit_final_last = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimitFinalLast
   speed_limit_final_last_conv = round(speed_limit_final_last * speed_conv)
+  alert_1_str = ""
+  alert_2_str = ""
+  alert_size = AlertSize.none
 
   if CP.openpilotLongitudinalControl and CP.pcmCruise:
     # PCM long
@@ -41,24 +43,15 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
     pcm_long_required_max = cst_low if speed_limit_final_last_conv < CONFIRM_SPEED_THRESHOLD[metric] else cst_high
     pcm_long_required_max_set_speed_conv = round(pcm_long_required_max * speed_conv)
     speed_unit = "km/h" if metric else "mph"
-    alert_2_str = f"Manually change set speed to {pcm_long_required_max_set_speed_conv} {speed_unit} to activate"
-  else:
-    # Non PCM long
-    v_cruise_cluster = CS.vCruiseCluster * CV.KPH_TO_MS
-
-    req_plus, req_minus = compare_cluster_target(v_cruise_cluster, speed_limit_final_last, metric)
-    arrow_str = ""
-    if req_plus:
-      arrow_str = "RES/+"
-    elif req_minus:
-      arrow_str = "SET/-"
 
-    alert_2_str = f"Operate the {arrow_str} cruise control button to activate"
+    alert_1_str = "Speed Limit Assist: Activation Required"
+    alert_2_str = f"Manually change set speed to {pcm_long_required_max_set_speed_conv} {speed_unit} to activate"
+    alert_size = AlertSize.mid
 
   return Alert(
-    "Speed Limit Assist: Activation Required",
+    alert_1_str,
     alert_2_str,
-    AlertStatus.normal, AlertSize.mid,
+    AlertStatus.normal, alert_size,
     Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleLow, .1)
 
 

From 523c92c6fe06a3564fa5d0208f24fcd21c6d3628 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 17 Oct 2025 23:41:33 -0400
Subject: [PATCH 0539/1434] Speed Limit Assist: lower `preActive` timer for Non
 PCM Longitudinal and ICBM cars (#1403)

5 seconds preActive for non pcm long now
---
 .../lib/speed_limit/speed_limit_assist.py     | 20 +++++++++++--------
 .../tests/test_speed_limit_assist.py          |  4 ++--
 2 files changed, 14 insertions(+), 10 deletions(-)

diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
index e2e1125a794cd7..b948452059c64f 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
@@ -27,7 +27,11 @@
 ENABLED_STATES = (SpeedLimitAssistState.preActive, SpeedLimitAssistState.pending, *ACTIVE_STATES)
 
 DISABLED_GUARD_PERIOD = 0.5  # secs.
-PRE_ACTIVE_GUARD_PERIOD = 15  # secs. Time to wait after activation before considering temp deactivation signal.
+# secs. Time to wait after activation before considering temp deactivation signal.
+PRE_ACTIVE_GUARD_PERIOD = {
+  True: 15,
+  False: 5,
+}
 SPEED_LIMIT_CHANGED_HOLD_PERIOD = 1  # secs. Time to wait after speed limit change before switching to preActive.
 
 LIMIT_MIN_ACC = -1.5  # m/s^2 Maximum deceleration allowed for limit controllers to provide.
@@ -241,7 +245,7 @@ def update_state_machine_pcm_op_long(self):
             self.state = SpeedLimitAssistState.inactive
           elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
             self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
           elif self._has_speed_limit and self.v_offset < LIMIT_SPEED_OFFSET_TH:
             self.state = SpeedLimitAssistState.adapting
 
@@ -251,7 +255,7 @@ def update_state_machine_pcm_op_long(self):
             self.state = SpeedLimitAssistState.inactive
           elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
             self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
           elif self.v_offset >= LIMIT_SPEED_OFFSET_TH:
             self.state = SpeedLimitAssistState.active
 
@@ -261,7 +265,7 @@ def update_state_machine_pcm_op_long(self):
             self._update_confirmed_state()
           elif self.speed_limit_changed:
             self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
 
         # PRE_ACTIVE
         elif self.state == SpeedLimitAssistState.preActive:
@@ -287,7 +291,7 @@ def update_state_machine_pcm_op_long(self):
             self._update_confirmed_state()
           elif self._has_speed_limit:
             self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
           else:
             self.state = SpeedLimitAssistState.pending
 
@@ -313,7 +317,7 @@ def update_state_machine_non_pcm_long(self):
 
           elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
             self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
 
         # PRE_ACTIVE
         elif self.state == SpeedLimitAssistState.preActive:
@@ -327,7 +331,7 @@ def update_state_machine_non_pcm_long(self):
         elif self.state == SpeedLimitAssistState.inactive:
           if self.speed_limit_changed:
             self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
           elif self._update_non_pcm_long_confirmed_state():
             self.state = SpeedLimitAssistState.active
 
@@ -343,7 +347,7 @@ def update_state_machine_non_pcm_long(self):
             self.state = SpeedLimitAssistState.active
           elif self._has_speed_limit:
             self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
           else:
             self.state = SpeedLimitAssistState.inactive
 
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
index d2c7a4716d2ac5..168c53016ba560 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
@@ -39,7 +39,7 @@ def setup_method(self):
     self.events_sp = EventsSP()
     CI = self._setup_platform(TOYOTA.TOYOTA_RAV4_TSS2)
     self.sla = SpeedLimitAssist(CI.CP)
-    self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+    self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)
     self.pcm_long_max_set_speed = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric][1]  # use 80 MPH for now
     self.speed_conv = CV.MS_TO_KPH if self.sla.is_metric else CV.MS_TO_MPH
 
@@ -114,7 +114,7 @@ def test_preactive_timeout_to_inactive(self):
     self.sla.state = SpeedLimitAssistState.preActive
     self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
 
-    for _ in range(int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)):
+    for _ in range(int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)):
       self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
     assert self.sla.state == SpeedLimitAssistState.inactive
 

From 025a930ce8f4cbf1650ac5bfc12dd7cdd194fd37 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 18 Oct 2025 04:04:48 -0400
Subject: [PATCH 0540/1434] ui: update longitudinal-related settings handling
 (#1401)

* ui: update ICBM-related settings handling

* oops

* oops

* single location

* some more

* fix cruise toggles

* always init true

* check this

* nah

* should be this
---
 .../speed_limit/speed_limit_settings.cc       | 13 +++--
 .../speed_limit/speed_limit_settings.h        |  1 +
 .../qt/offroad/settings/longitudinal_panel.cc | 50 +++++++++++--------
 .../qt/offroad/settings/longitudinal_panel.h  |  2 +-
 selfdrive/ui/sunnypilot/qt/util.cc            |  4 ++
 selfdrive/ui/sunnypilot/qt/util.h             |  1 +
 6 files changed, 45 insertions(+), 26 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
index 5c3b03d2af751a..1696c7f63ad0bf 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
@@ -7,6 +7,8 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h"
 
+#include "selfdrive/ui/sunnypilot/qt/util.h"
+
 SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent) {
   subPanelFrame = new QFrame();
   QVBoxLayout *subPanelLayout = new QVBoxLayout(subPanelFrame);
@@ -109,7 +111,7 @@ void SpeedLimitSettings::refresh() {
   QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset"));
 
   bool has_longitudinal_control;
-  bool intelligent_cruise_button_management_available;
+  bool has_icbm;
   auto cp_bytes = params.get("CarParamsPersistent");
   auto cp_sp_bytes = params.get("CarParamsSPPersistent");
   if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -121,16 +123,16 @@ void SpeedLimitSettings::refresh() {
     cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
 
     has_longitudinal_control = hasLongitudinalControl(CP);
-    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
+    has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
 
-    if (!has_longitudinal_control && CP_SP.getPcmCruiseSpeed()) {
+    if (!has_longitudinal_control && !has_icbm) {
       if (speed_limit_mode_param == SpeedLimitMode::ASSIST) {
         params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
       }
     }
   } else {
     has_longitudinal_control = false;
-    intelligent_cruise_button_management_available = false;
+    has_icbm = false;
   }
 
   speed_limit_mode_settings->setDescription(modeDescription(speed_limit_mode_param));
@@ -150,13 +152,14 @@ void SpeedLimitSettings::refresh() {
     speed_limit_offset->showDescription();
   }
 
-  if (has_longitudinal_control || intelligent_cruise_button_management_available) {
+  if (has_longitudinal_control || has_icbm) {
     speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(getSpeedLimitModeValues()));
   } else {
     speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(
       {SpeedLimitMode::OFF, SpeedLimitMode::INFORMATION, SpeedLimitMode::WARNING}));
   }
 
+  speed_limit_mode_settings->refresh();
   speed_limit_mode_settings->showDescription();
   speed_limit_offset->showDescription();
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
index 23fa7b4ece6be2..69e85814c2ec52 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
@@ -35,6 +35,7 @@ class SpeedLimitSettings : public QStackedWidget {
   SpeedLimitPolicy *speedLimitPolicyScreen;
   ButtonParamControlSP *speed_limit_offset_settings;
   OptionControlSP *speed_limit_offset;
+  bool icbm_available = false;
 
   static QString offsetDescription(SpeedLimitOffsetType type = SpeedLimitOffsetType::NONE) {
     QString none_str = tr("⦿ None: No Offset");
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
index f2c7ea3825d00b..2cc59ea333898d 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
@@ -7,6 +7,8 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
 
+#include "selfdrive/ui/sunnypilot/qt/util.h"
+
 LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
   setStyleSheet(R"(
     #back_btn {
@@ -40,7 +42,9 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
     "",
     this
   );
-  intelligentCruiseButtonManagement->setConfirmation(true, false);
+  QObject::connect(intelligentCruiseButtonManagement, &ParamControlSP::toggleFlipped, this, [=](bool) {
+    refresh(offroad);
+  });
   list->addItem(intelligentCruiseButtonManagement);
 
   dynamicExperimentalControl = new ParamControlSP(
@@ -112,22 +116,41 @@ void LongitudinalPanel::refresh(bool _offroad) {
 
     has_longitudinal_control = hasLongitudinalControl(CP);
     is_pcm_cruise = CP.getPcmCruise();
-    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
+    has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
 
-    if (!intelligent_cruise_button_management_available || has_longitudinal_control) {
+    if (CP_SP.getIntelligentCruiseButtonManagementAvailable() && !has_longitudinal_control) {
+      intelligentCruiseButtonManagement->setEnabled(offroad);
+    } else {
       params.remove("IntelligentCruiseButtonManagement");
+      intelligentCruiseButtonManagement->setEnabled(false);
     }
 
-    if (!has_longitudinal_control && CP_SP.getPcmCruiseSpeed()) {
+    if (has_longitudinal_control || has_icbm) {
+      // enable Custom ACC Increments when long is available and is not PCM cruise
+      customAccIncrement->setEnabled(((has_longitudinal_control && !is_pcm_cruise) || has_icbm) && offroad);
+      dynamicExperimentalControl->setEnabled(has_longitudinal_control);
+      SmartCruiseControlVision->setEnabled(true);
+      SmartCruiseControlMap->setEnabled(true);
+    } else {
       params.remove("CustomAccIncrementsEnabled");
       params.remove("DynamicExperimentalControl");
       params.remove("SmartCruiseControlVision");
       params.remove("SmartCruiseControlMap");
+      customAccIncrement->setEnabled(false);
+      dynamicExperimentalControl->setEnabled(false);
+      SmartCruiseControlVision->setEnabled(false);
+      SmartCruiseControlMap->setEnabled(false);
     }
+
+    intelligentCruiseButtonManagement->refresh();
+    customAccIncrement->refresh();
+    dynamicExperimentalControl->refresh();
+    SmartCruiseControlVision->refresh();
+    SmartCruiseControlMap->refresh();
   } else {
     has_longitudinal_control = false;
     is_pcm_cruise = false;
-    intelligent_cruise_button_management_available = false;
+    has_icbm = false;
   }
 
   QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
@@ -139,8 +162,8 @@ void LongitudinalPanel::refresh(bool _offroad) {
     customAccIncrement->setDescription(onroadOnlyDescription);
     customAccIncrement->showDescription();
   } else {
-    if (has_longitudinal_control || intelligent_cruise_button_management_available) {
-      if (is_pcm_cruise) {
+    if (has_longitudinal_control || has_icbm) {
+      if (has_longitudinal_control && is_pcm_cruise) {
         customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
         customAccIncrement->showDescription();
       } else {
@@ -150,21 +173,8 @@ void LongitudinalPanel::refresh(bool _offroad) {
       customAccIncrement->toggleFlipped(false);
       customAccIncrement->setDescription(accNoLongDescription);
       customAccIncrement->showDescription();
-      intelligentCruiseButtonManagement->toggleFlipped(false);
     }
   }
 
-  bool icbm_allowed = intelligent_cruise_button_management_available && !has_longitudinal_control;
-  intelligentCruiseButtonManagement->setEnabled(icbm_allowed && offroad);
-
-  // enable toggle when long is available and is not PCM cruise
-  bool cai_allowed = (has_longitudinal_control && !is_pcm_cruise) || icbm_allowed;
-  customAccIncrement->setEnabled(cai_allowed && !offroad);
-  customAccIncrement->refresh();
-
-  dynamicExperimentalControl->setEnabled(has_longitudinal_control);
-  SmartCruiseControlVision->setEnabled(has_longitudinal_control || icbm_allowed);
-  SmartCruiseControlMap->setEnabled(has_longitudinal_control || icbm_allowed);
-
   offroad = _offroad;
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
index 127b7871eb4b71..2b9c0b896855ab 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
@@ -25,7 +25,7 @@ class LongitudinalPanel : public QWidget {
   Params params;
   bool has_longitudinal_control = false;
   bool is_pcm_cruise = false;
-  bool intelligent_cruise_button_management_available = false;;
+  bool has_icbm = false;
   bool offroad = false;
 
   QStackedLayout *main_layout = nullptr;
diff --git a/selfdrive/ui/sunnypilot/qt/util.cc b/selfdrive/ui/sunnypilot/qt/util.cc
index be39b297d7d0b8..eaa1f4bd127a00 100644
--- a/selfdrive/ui/sunnypilot/qt/util.cc
+++ b/selfdrive/ui/sunnypilot/qt/util.cc
@@ -122,3 +122,7 @@ std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::
     return std::nullopt;
   }
 }
+
+bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp) {
+  return car_params_sp.getIntelligentCruiseButtonManagementAvailable() && Params().getBool("IntelligentCruiseButtonManagement");
+}
diff --git a/selfdrive/ui/sunnypilot/qt/util.h b/selfdrive/ui/sunnypilot/qt/util.h
index 4b9d615ce5f55d..60a73615baefc1 100644
--- a/selfdrive/ui/sunnypilot/qt/util.h
+++ b/selfdrive/ui/sunnypilot/qt/util.h
@@ -23,3 +23,4 @@ std::optional<QString> getParamIgnoringDefault(const std::string &param_name, co
 QMap<QString, QVariantMap> loadPlatformList();
 QStringList searchFromList(const QString &query, const QStringList &list);
 std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param);
+bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp);

From c85b6a0d1c62537fd7e8341d7cf884deb359f504 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 21 Oct 2025 00:53:16 -0400
Subject: [PATCH 0541/1434] branches: track sunnypilot release branches
 separately (#1409)

* branches: track sunnypilot release branches separately

* more remotes for legacy support

* bruh

* revert
---
 common/params_keys.h                               |  1 +
 selfdrive/ui/qt/offroad/developer_panel.h          |  2 +-
 .../qt/offroad/settings/developer_panel.cc         |  5 ++++-
 system/manager/manager.py                          |  1 +
 system/version.py                                  | 14 ++++++++++----
 5 files changed, 17 insertions(+), 6 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index dd58462a951a56..d8485be15771d0 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -154,6 +154,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"IsReleaseSpBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"LastGPSPositionLLK", {PERSISTENT, STRING}},
     {"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
diff --git a/selfdrive/ui/qt/offroad/developer_panel.h b/selfdrive/ui/qt/offroad/developer_panel.h
index 51b1b0b6f02297..699fa1edcf9ed1 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.h
+++ b/selfdrive/ui/qt/offroad/developer_panel.h
@@ -12,7 +12,7 @@ class DeveloperPanel : public ListWidget {
   explicit DeveloperPanel(SettingsWindow *parent);
   void showEvent(QShowEvent *event) override;
 
-private:
+protected:
   Params params;
   ParamControl* adbToggle;
   ParamControl* joystickToggle;
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
index 021f5b3776b8ab..9eb8da71ec8282 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
@@ -60,7 +60,7 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
 
 void DeveloperPanelSP::updateToggles(bool offroad) {
   bool disable_updates = params.getBool("DisableUpdates");
-  bool is_release = params.getBool("IsReleaseBranch");
+  bool is_release = params.getBool("IsReleaseBranch") || params.getBool("IsReleaseSpBranch");
   bool is_tested = params.getBool("IsTestedBranch");
   bool is_development = params.getBool("IsDevelopmentBranch");
 
@@ -79,6 +79,9 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
   enableGithubRunner->setVisible(!is_release);
   errorLogBtn->setVisible(!is_release);
   showAdvancedControls->setEnabled(true);
+
+  joystickToggle->setVisible(!is_release);
+  longManeuverToggle->setVisible(!is_release);
 }
 
 void DeveloperPanelSP::showEvent(QShowEvent *event) {
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 1186c25114ab19..23e8ff7255bfee 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -67,6 +67,7 @@ def manager_init() -> None:
   params.put_bool("IsDevelopmentBranch", build_metadata.development_channel)
   params.put_bool("IsTestedBranch", build_metadata.tested_channel)
   params.put_bool("IsReleaseBranch", build_metadata.release_channel)
+  params.put_bool("IsReleaseSpBranch", build_metadata.release_sp_channel)
   params.put("HardwareSerial", serial)
 
   # set dongle id
diff --git a/system/version.py b/system/version.py
index 9719311b7ea4c5..6ff290e0325e93 100755
--- a/system/version.py
+++ b/system/version.py
@@ -13,8 +13,8 @@
 RELEASE_SP_BRANCHES = ['release-c3', 'release']
 TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging']
 MASTER_SP_BRANCHES = ['master']
-RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly'] + RELEASE_SP_BRANCHES
-TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + TESTED_SP_BRANCHES
+RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly']
+TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + RELEASE_SP_BRANCHES + TESTED_SP_BRANCHES
 
 SP_BRANCH_MIGRATIONS = {
   ("tici", "staging-c3-new"): "staging-tici",
@@ -96,7 +96,9 @@ def comma_remote(self) -> bool:
   @property
   def sunnypilot_remote(self) -> bool:
     return self.git_normalized_origin in ("github.com/sunnypilot/sunnypilot",
-                                          "github.com/sunnypilot/openpilot")
+                                          "github.com/sunnypilot/openpilot",
+                                          "github.com/sunnyhaibin/sunnypilot",
+                                          "github.com/sunnyhaibin/openpilot")
 
   @property
   def git_normalized_origin(self) -> str:
@@ -120,6 +122,10 @@ def tested_channel(self) -> bool:
   def release_channel(self) -> bool:
     return self.channel in RELEASE_BRANCHES
 
+  @property
+  def release_sp_channel(self) -> bool:
+    return self.channel in RELEASE_SP_BRANCHES
+
   @property
   def canonical(self) -> str:
     return f"{self.openpilot.version}-{self.openpilot.git_commit}-{self.openpilot.build_style}"
@@ -146,7 +152,7 @@ def channel_type(self) -> str:
       return "staging"
     elif self.master_channel:
       return "master"
-    elif self.release_channel:
+    elif self.release_channel or self.release_sp_channel:
       return "release"
     else:
       return "feature"

From cb5d12013683055f1b9b2361e1b80275431a5e1b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 21 Oct 2025 14:22:37 -0400
Subject: [PATCH 0542/1434] FCA: update minEnableSpeed and LKAS control logic
 (#1386)

* FCA: update minEnableSpeed and LKAS control logic

* bump
---
 opendbc_repo                             | 2 +-
 sunnypilot/selfdrive/car/car_specific.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index b8a00bddda562f..0a2315efd17517 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit b8a00bddda562f981b24e099a3850209579e890a
+Subproject commit 0a2315efd175176c318aa34d634d55d9dcd9350a
diff --git a/sunnypilot/selfdrive/car/car_specific.py b/sunnypilot/selfdrive/car/car_specific.py
index 97ce26429c3584..bce496ed286c20 100644
--- a/sunnypilot/selfdrive/car/car_specific.py
+++ b/sunnypilot/selfdrive/car/car_specific.py
@@ -37,7 +37,7 @@ def update(self, CS: structs.CarState, events: Events):
         # TODO-SP: add 1 m/s hysteresis
         if CS.vEgo >= self.CP.minEnableSpeed:
           self.low_speed_alert = False
-        if CS.gearShifter != GearShifter.drive:
+        if self.CP.minEnableSpeed >= 14.5 and CS.gearShifter != GearShifter.drive:
           self.low_speed_alert = True
       if self.low_speed_alert:
         events.add(EventName.belowSteerSpeed)

From f57de1c5b2b19807ac65f349e3c29546bef92fff Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 21 Oct 2025 17:12:57 -0400
Subject: [PATCH 0543/1434] version: a new beginning (#1411)

* version: a new beginning

* changelog

* singular

* show ours

* actual

* readjust

* updated

* more

* official spelling

* more

* sync

* fix

* send it

* push

* we never had this lol

* syncs
---
 .codespellignore                              |    1 +
 .../workflows/sunnypilot-build-prebuilt.yaml  |    2 +-
 CHANGELOG.md                                  | 1066 +++++++++++++++++
 common/swaglog.cc                             |    4 +-
 common/tests/test_markdown.py                 |    2 +-
 common/tests/test_swaglog.cc                  |    4 +-
 release/build_release.sh                      |    2 +-
 release/build_stripped.sh                     |    2 +-
 release/ci/publish.sh                         |    4 +-
 selfdrive/ui/tests/cycle_offroad_alerts.py    |    2 +-
 selfdrive/ui/tests/test_ui/run.py             |    2 +-
 sunnypilot/common/version.h                   |    1 +
 system/loggerd/logger.cc                      |    4 +-
 system/updated/updated.py                     |    4 +-
 system/version.py                             |    4 +-
 tools/replay/api.cc                           |    4 +-
 tools/replay/consoleui.cc                     |    4 +-
 17 files changed, 1095 insertions(+), 17 deletions(-)
 create mode 100644 CHANGELOG.md
 create mode 100644 sunnypilot/common/version.h

diff --git a/.codespellignore b/.codespellignore
index 9328517d4ab4ff..ab63c0cd29820d 100644
--- a/.codespellignore
+++ b/.codespellignore
@@ -3,3 +3,4 @@ REGIST
 PullRequest
 cancelled
 FOF
+NoO
diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 00ae1e28bf517a..f7719709aecb0d 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -79,7 +79,7 @@ jobs:
             is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
             echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
 
-            stable_version=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g');
+            stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
             echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
             echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
           fi
diff --git a/CHANGELOG.md b/CHANGELOG.md
new file mode 100644
index 00000000000000..687484affe9305
--- /dev/null
+++ b/CHANGELOG.md
@@ -0,0 +1,1066 @@
+sunnypilot Version 2025.001.000 (2025-10-25)
+========================
+* 🛠� Major rewrite
+  * Most features are intended to be identical to previous versions with slight improvements
+  * Fully adopts upstream commaai’s openpilot, opendbc (car interface and safety), and panda test suites to ensure consistent safety compliance and reliability across all systems
+  * Added regression testing to verify expected behavior and maintain stability across core modules
+  * Aligns with comma.ai’s safety policy: preserving driver monitoring, actuation checks, and safety test suite coverage
+  * Some features have not yet been reimplemented in this rewrite and are temporarily disabled in this release. They may return in future releases once fully ported and validated. See the end of the changelog to get a list of what's not going to be present.
+* 🌟 Major Features & Systems
+  * Modular Assistive Driving System (MADS)
+    * Complete driving assistance framework
+  * Driving Model Manager
+    * Custom driving model selection with support for about 86 models (as of writing), from Night Strike (October 2023) up to The Cool People’s Models (October 2025)
+  * Neural Network Lateral Control (NNLC) (Formerly NNFF)
+    * Advanced torque-based lateral control
+  * Dynamic Experimental Control (DEC)
+    * Intelligent longitudinal control adaptation
+  * Speed Limit Assist (SLA)
+    * Comprehensive speed limit integration featuring @pfeiferj's `mapd` for offline map limits downloads, a Speed Limit Resolver for sourcing data (from car, map, combined, etc), on-screen UI for Speed Limit Information/Warning, and Speed Limit Assist (SLA) to adjust cruise speed automatically.
+  * Intelligent Cruise Button Management (ICBM)
+    * System designed to manage the vehicle’s speed by sending cruise control button commands to the car’s ECU.
+  * Smart Cruise Control Map & Vision (SCC-M / SCC-V)
+    * When using any form of long control (openpilot longitudinal or ICBM) it will control the speed at which you enter and perform a turn by leveraging map data (SCC-M) and/or by leveraging what the model sees about the curve ahead (SCC-V)
+  * Vehicle Selector
+    * If your vehicle isn’t fingerprinted automatically, you can still use the vehicle selector to get it working
+  * sunnylink Integration
+    * Cloud connectivity and settings backup/restore
+    * PENDING: The infrastructure is ready for remote setting management, including remote driving model switching. An announcement will be made when this is ready to use in current and future releases.
+  * External Storage Support
+    * Expanded storage options
+  * mapd Integration (thanks to @pfeiferj)
+    * Allow downloading OpenStreetMap databases for your area, which could be useful for Speed Limit Assist (SLA)
+* User Interface Enhancements
+  * Complete UI Redesign from Default openpilot Experience
+    * A total overhaul of the sunnypilot offroad user interface for a modern and intuitive experience.
+  * New Settings Panels
+    * Reorganized settings into dedicated panels: Steering, Longitudinal, Vehicle, Models, Visuals, Display, and Trips.
+  * Advanced Controls Toggle
+    * Out of the box experience has a slightly reduced set of settings for a lower barrier of entry, once you are ready, you can get a few extra settings by toggling on the Advanced Controls.
+  * Models Panel
+    * A dedicated panel for model management, featuring a download manager, model folders, a favorites system, fuzzy search, and a cache refresh button.
+  * Visuals & Display
+    * Extensive customization options including brightness controls, custom interactivity timeouts, green light indicator, lead vehicle indicator, on-screen turn signals, blind spot indicators, lead chevron info, standstill timer, road name display, and a Tesla-like 🌈 rainbow road path.
+  * Screen Off while driving
+    * Options to turn the screen off while driving and customize wake-up behavior for alerts.
+  * Branch & Platform Selectors
+    * Improved software management with a searchable branch selector and a platform selector that displays the current fingerprint.
+  * Developer UI
+    * An enhanced developer UI with better alert positioning and an integrated error log viewer.
+  * Convenience Features
+    * Added an “Exit Offroad� button, “Always Offroad� mode, Quiet Mode, and customizable max time offroad settings.
+  * OpenStreetMap Database Downloader
+    * The OpenStreetMap database downloader now includes a search feature for easily finding areas.
+* Model and AI Improvements
+  * Modular Model Backend
+    * Major refactor of `modeld` to support modular runners (SNPE, thneed, tinygrad) and dynamic model inputs.
+  * Enhanced Model Outputs
+    * Models now provide additional outputs like “turn desires� for improved control.
+  * Live Parameter Adjustments
+    * Support for live delay adjustments and software delay controls directly from the UI.
+  * Model Management
+    * Added model caching, automatic refresh capabilities, and shape inference from inputs for better compatibility.
+* Control Systems
+  * Pause Lateral on Blinker
+    * Option to temporarily pause lateral control when the turn signal is active.
+  * Custom ACC Setpoint Increments
+    * Configure custom increments for adjusting the ACC set speed for applicable vehicle platforms.
+  * Steering on Brake Press
+    * Customizable steering behavior when the brake pedal is pressed.
+  * Enforce Torque Lateral Control
+    * New customized settings for fine-tuning torque-based steering.
+  * Automatic Lane Change
+    * Support for automatic lane changes, including a mode to disable it.
+* Technical Infrastructure
+  * Custom Cereal Implementation
+    * Migrated sunnypilot-specific events, car parameters, and car controls to a dedicated cereal for better compatibility and performance.
+  * Car Interface Abstractions
+    * Refactored car interfaces to support brand-specific settings and easier integration.
+  * Param Store Caching
+    * Implemented a cache for the parameter store to reduce startup times, with support for live parameter updates.
+  * Enhanced Error Handling
+    * Improved exception management and Sentry logging for better stability and debugging.
+  * Docker & CI/CD
+    * Full Docker image support, a dedicated GitHub runner service, and comprehensive improvements to the entire CI/CD pipeline for automated testing, building, and releasing.
+* Bug Fixes and Stability
+  * Registration Requirement Removed
+    * No longer necessary to register the device to go onroad.
+  * Panda Firmware Checks
+    * Improved firmware checks to gracefully handle deprecated Panda devices.
+  * Numerous Fixes
+    * Addressed a wide range of bugs across the system for a more stable and reliable experience.
+* Developer Experience
+  * CLion IDE integration and external tools
+  * Comprehensive testing and build automation
+  * Model building and publishing automation
+  * UI preview generation and testing
+  * Release drafting and version management
+  * Code quality and maintenance workflows
+* Translations and Localization
+  * Korean translation updates
+  * Automated translation management system
+* � Removed
+  * Navigate on openpilot (NoO)
+    * Navigate on openpilot (NoO) has been removed as upstream is prioritizing improving the driving model’s capabilities and simplifying the training stack.
+    * The feature may return in a future upstream release by comma.ai once model improvements from upstream make it more reliable.
+  * Visuals: Rocket Fuel
+  * Visuals: Displaying Braking Status
+  * Vehicle: Toyota - Enforce Stock Longitudinal Control
+  * Subaru: Increase Steering Torque
+  * Longitudinal: Acceleration Personality
+  * UI: Display CPU Temperature on Sidebar
+  * Lateral: Block Lane Change with Road Edge Detection
+  * UI: Display DM Camera in Reverse Gear
+  * UI: Auto-hide Selected UI Elements
+  * Visuals: Display End-to-End Longitudinal Status
+  * Toyota: Stop and Go Hack (alpha)
+  * Visuals: Onroad Settings
+  * Honda: Serial Steering Support
+  * Volkswagen: Non-ACC Platforms Support
+  * Longitudinal: Dynamic Personality
+  * Honda Nidec: Allow Stock Longitudinal Control
+  * Lateral Planner: Dynamic Lane Profile
+  * Lateral Planner: Laneful Mode
+  * Lateral: Custom Camera and Path Offsets
+  * Toyota: Door Controls
+* New Contributors
+  * @discountchubbs made their first contribution in "ui: Error log button to Developer panel (#627)"
+  * @First made their first contribution in "NNLC: bump max similarity for higher accuracy (#704)"
+  * @nayan made their first contribution in "UI: Update AbstractControlSP_SELECTOR and OptionControlSP (#800)"
+  * @wtogamiwtogami made their first contribution in "Add TOYOTA_RAV4_PRIME NNLC tuning gen 1 (#850)"
+  * @dparring made their first contribution in "FCA: Ram 1500 improvements (#797)"
+  * @Kirito3481 made their first contribution in "Update ko-kr translation (#1167)"
+  * @michael-was-taken made their first contributio@dzid26 in "Reorder README tables: show -new branches first (#1191)"
+  * @dzid26 made their first contribution in "docs: clarify pedal press (#1289)"
+  * @HazZelnutz made their first contribution in "Visuals: Turn signals on screen when blinker is used (#1291)"
+************************
+* Synced with commaai's openpilot (v0.10.1)
+  * master commit c9dbf97649a27117be6d5955a49e2d4253337288 (September 12, 2025)
+* New driving model
+  * World Model: removed global localization inputs
+  * World Model: 2x the number of parameters
+  * World Model: trained on 4x the number of segments
+  * Driving Vision Model: trained on 4x the number of segments
+* Honda City 2023 support thanks to vanillagorillaa and drFritz!
+* Honda N-Box 2018 support thanks to miettal!
+* Honda Odyssey 2021-25 support thanks to csouers and MVL!
+
+sunnypilot - 0.9.7.1 (2024-06-13)
+========================
+* New driving model
+  * Inputs the past curvature for smoother and more accurate lateral control
+  * Simplified neural network architecture in the model's last layers
+  * Minor fixes to desire augmentation and weight decay
+* New driver monitoring model
+  * Improved end-to-end bit for phone detection
+* Adjust driving personality with the follow distance button
+* Support for hybrid variants of supported Ford models
+* Fingerprinting without the OBD-II port on all cars
+* Improved fuzzy fingerprinting for Ford and Volkswagen
+************************
+* UPDATED: Synced with commaai's openpilot
+  * master commit f8cb04e (June 10, 2024)
+* NEW�: sunnylink (Alpha early access)
+  * NEW�: Config/Settings Backup
+    * Remotely back up and restore sunnypilot settings easily
+    * Device registration with sunnylink ensures a secure, integrated experience across services
+    * AES encryption derived from the device's RSA private key is used for utmost security
+    * Settings are encrypted on-device, transmitted securely via HTTPS, and stored encrypted on sunnylink
+    * Prevents loss of settings after device resets, offering peace of mind through end-to-end encryption
+    * Early alpha access to all current and previous GitHub Sponsors and Patreon supporters
+  * GitHub account pairing from device settings scanning QR code
+    * Pairing your account will allow you to access features via our API (still WIP but accessible if you dig a little on our code 😉)
+    * Allow inheritance of your sponsorship status, allowing you to get extra features and early access whenever applicable
+* NEW�: iOS Siri Shortcuts Navigation support thanks to twilsonco and mike86437!
+  * iOS and macOS Shortcuts to quickly set navigation destinations from your iOS device
+  * comma Prime support
+  * Personal Mapbox/Amap/Google Maps token support
+  * Instructions on how to set up your iOS Siri Shortcuts: https://routinehub.co/shortcut/17677/
+* NEW�: Forced Offroad mode
+  * Force sunnypilot in the offroad state even when the car is on
+  * When Forced Offroad mode is on, allows changing offroad-only settings even when the car is turned on
+  * To engage/disengage Force Offroad, go to Settings -> Device panel
+* UPDATED: Auto Lane Change Timer -> Auto Lane Change by Blinker
+  * NEW�: New "Off" option to disable lane change by blinker
+* UPDATED: Pause Lateral Below Speed with Blinker
+  * NEW�: Customizable Pause Lateral Speed
+    * Pause lateral actuation with blinker when traveling below the desired speed selected. Default is 20 MPH or 32 km/h.
+* UPDATED: Hyundai CAN Longitudinal
+  * Auto-enable radar tracks on platforms with applicable Mando radar
+* UPDATED: Hyundai CAN-FD Camera-based SCC
+  * NEW�: Parse lead info for camera-based SCC platforms with longitudinal support
+    * Improve lead tracking when using openpilot longitudinal
+* RE-ENABLED: Map-based Turn Speed Control (M-TSC) for supported platforms
+  * openpilot Longitudinal Control available cars
+  * Custom Stock Longitudinal Control available cars
+* UPDATED: Continued support for comma Pedal
+  * In response to the official deprecation of support for comma Pedal in the upstream, sunnypilot will continue maintaining software support for comma Pedal
+* UPDATED: Driving Model Selector v4
+  * NEW�: Driving Model additions
+    * North Dakota (April 29, 2024) - NDv2
+    * WD40 (April 09, 2024) - WD40
+    * Duck Amigo (March 18, 2024) - DA
+    * Recertified Herbalist (March 01, 2024) - CHLR
+  * Legacy Driving Models with Navigate on openpilot (NoO) support
+    * Includes Duck Amigo and all preceding models
+* UPDATED: Bumping mapd by [@pfeiferj](https://github.com/pfeiferj) to version [v1.9.0](https://github.com/pfeiferj/mapd/releases/tag/v1.9.0) thanks to pfeiferj!
+* UPDATED: Reset Mapbox Access Token -> Reset Access Tokens for Map Services
+  * Reset self-service access tokens for Mapbox, Amap, and Google Maps
+* UPDATED: Upstream native support for Gap Adjust Cruise
+* UPDATED: Neural Network Lateral Control (NNLC)
+  * Due to upstream changes with platform simplifications, most platforms will match and fallback to combined platform model
+  * This will be updated when the new mapping of platforms are restructured (thanks @twilsonco 😉)
+* UI Updates
+  * Display Metrics Below Chevron
+    * NEW�: Metrics is now being displayed below the chevron instead of above
+    * NEW�: Display both Distance and Speed simultaneously
+    * NEW�: View sunnylink connectivity status on the left sidebar!
+
+sunnypilot - 0.9.6.2 (2024-05-29)
+========================
+* REMOVED: Screen Recorder
+  * Screen Recorder is removed due to unnecessary resource usage
+  * An improved version will be available in the near future. Stay tuned!
+
+sunnypilot - 0.9.6.1 (2024-02-27)
+========================
+* New driving model
+  * Vision model trained on more data
+  * Improved driving performance
+  * Directly outputs curvature for lateral control
+* New driver monitoring model
+  * Trained on larger dataset
+* AGNOS 9
+* comma body streaming and controls over WebRTC
+* Improved fuzzy fingerprinting for many makes and models
+* Alpha longitudinal support for new Toyota models
+* Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
+* Dodge Durango 2020-21 support
+* Hyundai Staria 2023 support thanks to sunnyhaibin!
+* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Lexus LC 2024 support thanks to nelsonjchen!
+* Toyota RAV4 2023-24 support
+* Toyota RAV4 Hybrid 2023-24 support
+************************
+* UPDATED: Synced with commaai's openpilot
+  * master commit db57a21 (February 22, 2024)
+  * v0.9.6 release (February 27, 2024)
+* UPDATED: Dynamic Experimental Control (DEC)
+  * Synced with dragonpilot-community/dragonpilot:beta3 commit f4ee52f
+* NEW�: Default Driving Model: Certified Herbalist v2 (February 13, 2024)
+* UPDATED: Driving Model Selector v3
+  * NEW�: Driving Model additions
+    * Certified Herbalist v2 (February 13, 2024) - CHv2
+    * Certified Herbalist (February 5, 2024) - CH
+    * Los Angeles v2 (January 24, 2024) - LAv2
+    * Los Angeles (January 22, 2024) - LAv1
+  * NEW�: Model Caching thanks to DevTekVE!
+    * Model caching allows the selection of previously downloaded Driving Model
+    * Users can now access cached versions of selected models, eliminating redundant downloads for previously fetched models
+  * Legacy Driving Models support
+    * New Delhi (December 21, 2023) - ND
+    * Blue Diamond v2 (December 11, 2023) - BDv2
+    * Blue Diamond (November 18, 2023) - BDv1
+    * Farmville (November 7, 2023) - FV
+    * Night Strike (October 3, 2023) - NS
+  * Certain features are deprecated with newer Driving Models
+    * Dynamic Lane Profile (DLP)
+    * Custom Offsets
+* UPDATED: Dynamic Lane Profile (DLP)
+  * Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS)
+  * Deprecated support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1)
+* UPDATED: Custom Offsets
+  * Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS)
+  * Deprecated support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1)
+* UPDATED: Hyundai/Kia/Genesis - ESCC Radar Interceptor
+  * Message parsing improvements with the latest firmware update: https://github.com/sunnypilot/panda/tree/test-escc-smdps
+* UI Updates
+  * NEW�: Visuals: Display Feature Status toggle
+    * Display the statuses of certain features on the driving screen
+  * NEW�: Visuals: Enable Onroad Settings toggle
+    * Display the Onroad Settings button on the driving screen to adjust feature options on the driving screen, without navigating into the settings menu
+  * REMOVED: "Device ambient" temperature option on the sidebar
+* FIXED: New comma 3X support
+* FIXED: New comma eSIM support
+* Bug fixes and performance improvements
+
+sunnypilot - 0.9.5.3 (2023-12-24)
+========================
+* UPDATED: Dynamic Experimental Control (DEC)
+  * Synced with dragonpilot-community/dragonpilot:lp-dp-beta2 commit 578d38b
+* UPDATED: Driving Model Selector v2
+  * Driving models sort in descending order based on availability date
+  * Experimental/unmerged driving models are only available in "dev-c3" branch
+    * To select and use experimental driving models, navigate to "Software" panel, select the "dev-c3" branch, and check for update
+* UPDATED: Vision-based Turn Speed Control (V-TSC) implementation
+  * Refactored implementation thanks to pfeiferj!
+  * More accurate and consistent velocity calculation to achieve smoother longitudinal control in curves
+* NEW�: Speed Limit Warning
+  * Display alert and/or chime to warn the driver when the cruising speed is faster than the speed limit plus the Warning Offset
+  * Customizable Warning Offset, independent of Speed Limit Control (SLC)'s Limit Offset
+* UPDATED: Speed Limit Source Policy
+  * Selectable speed limit source for Speed Limit Control and Speed Limit Warning
+  * Applicable to: Speed Limit Control, Speed Limit Warning
+* UPDATED: Speed Limit Control (SLC)
+  * Engage Mode: Removed "Warning Only" mode - this has been replaced by the new Speed Limit Warning sub-menu
+* UPDATED: OpenStreetMap (OSM) implementation
+  * Refactored implementation thanks to pfeiferj!
+    * Less resource impact
+    * Significantly smaller sizes with databases
+    * All regions are available to download
+    * Weekly map updates thanks to pfeiferj!
+    * Increased the font size of the road name
+  * C3X-specific changes
+    * Altitude (ALT.) display on Developer UI
+    * Current street name on top of driving screen when "OSM Debug UI" is enabled
+* UPDATED: Map-based Turn Speed Control (M-TSC) implementation
+  * Only available in "staging-c3" and "dev-c3" branches. If you are using "release-c3" branch, navigate to "Software" panel, select the desired target branch, and check for update
+  * Refactored implementation thanks to pfeiferj!
+  * Based on the new OpenStreetMap implementation
+  * Improved predicted curvature calculations from OpenStreetMap data
+* UI updates
+  * RE-ENABLED: Navigation: Full screen support
+    * Display the map view in full screen
+    * To switch back to driving view, tap on the border edge
+* Hyundai Bayon Non-SCC 2019 support thanks to polein78!
+
+sunnypilot - 0.9.5.2 (2023-12-07)
+========================
+* NEW�: MADS: Allow Navigate on openpilot in Chill Mode
+  * Allow navigation to feed map view into the driving model while using Chill Mode
+  * Support all platforms, including platforms that do not support openpilot longitudinal control & Experimental Mode
+* NEW�: Neural Network Lateral Controller
+  * Formerly known as "NNFF", this replaces the lateral "torque" controller with one using a neural network trained on each car's (actually, each separate EPS firmware) driving data for increased controls accuracy
+  * Contact @twilsonco in the sunnypilot Discord server with feedback, or to provide log data for your car if your car is currently unsupported
+* NEW�: Driving Model Selector
+  * Easily switch between driving models without reinstalling branches. Offering immediate access to the latest models upon release
+    * An internet connection is required for downloading models. Each model switch currently involves downloading the model again. Future updates may allow for offline switching
+  * Warning is displayed for metered connections to avoid unexpected data usage if on cellular data
+  * Change driving models via **Settings -> Software -> Current Driving Model**.
+* NEW�: Hyundai CAN longitudinal:
+  * NEW�: Enable radar tracks for certain Santa Fe platforms
+    * Internal Combustion Engine (ICE) 2021-23
+    * Hybrid 2022-23
+    * Plug-in Hybrid 2022-23
+* NEW�: Lane Change: When manually braking with steering engaged, turning on the turn signal will default to Nudge mode
+* Volkswagen MQB CC only platforms (radar or no radar) support thanks to jyoung8607!
+
+sunnypilot - 0.9.5.1 (2023-11-17)
+========================
+* UPDATED: Synced with commaai's master commit e94c3c5
+* NEW�: Farmville driving model
+* NEW�: Onroad Settings Panel
+  * Onroad buttons (i.e., DLP, GAC) moved to its dedicated panel
+    * Driving Personality
+    * Dynamic Lane Profile (DLP)
+    * Dynamic Experimental Control (DEC)
+    * Speed Limit Control (SLC)
+* NEW�: Display main feature status on onroad view in real-time
+  * GAP - Driving Personality
+  * DLP - Dynamic Lane Profile
+  * DEC - Dynamic Experimental Control
+  * SLC - Speed Limit Control
+* NEW�: Dynamic Experimental Control (DEC) thanks to dragonpilot-community!
+  * Automatically determines and selects between openpilot ACC and openpilot End to End longitudinal based on conditions for a more natural drive
+  * Dynamic Experimental Control is only active while in Experimental Mode
+  * When Dynamic Experimental Control is ON, initially setting cruise speed will set to the vehicle's current speed
+* NEW�: Hyundai CAN longitudinal:
+  * NEW�: Parse lead info for camera-based SCC platforms
+    * Improve lead tracking when using openpilot longitudinal
+  * NEW�: Parse lead distance to display on car cluster
+    * Introduced better lead distance calculation to display on the car's cluster, replacing the binary "lead visible" indication on the SCC cluster
+    * Lead distance is now categorized into different ranges for more detailed and comprehensive information to the driver similar to how stock ACC does it
+  * NEW�: Parse speed limit sign recognition from camera for certain supported platforms
+* NEW�: Subaru - Stop and Go auto-resume support thanks to martinl!
+  * Global (excluding Gen 2 and Hybrid) and Pre-Global support
+* NEW�: Toyota - Stop and Go hack
+  * Allow some Toyota/Lexus cars to auto resume during stop and go traffic
+  * Only applicable to certain models and model years
+* NEW�: Toyota: ZSS support thanks to dragonpilot-community and ErichMoraga!
+* NEW�: MSPA (Cereal structs refactor)
+  * Make sunnypilot Parsable Again - @sshane
+  * sunnypilot is now parsable with stock openpilot tools
+* NEW�: Display 3D buildings on map thanks to jakethesnake420!
+* openpilot Longitudianl Control capable cars only
+  * UPDATED: Gap Adjust Cruise is now a part of Driving Personality
+    * [DISTANCE/FOLLOW DISTANCE/GAP DISTANCE] physical button on the steering wheel to select Driving Personality on by default
+    * Status now viewable in onroad view or Onroad Settings Panel
+    * REMOVED: Gap Adjust Cruise toggle
+* UPDATED: Speed Limit Control (SLC)
+  * NEW�: Speed Limit Engage Mode
+    * Select the desired mode to set the cruising speed to the speed limit
+      * Warning Only: Warn the driver when the vehicle is driven faster than the speed limit
+      * Auto: Automatic speed adjustment on motorways based on speed limit data
+      * User Confirm: Inform the driver to change set speed of Adaptive Cruise Control to help the driver stay within the speed limit
+    * Supported platforms
+      * openpilot Longitudinal Control available cars (Excluding certain Toyota/Lexus, Ford, explained below)
+      * Custom Stock Longitudinal Control available cars
+    * Unsupported platforms
+      * Toyota/Lexus and Ford - most platforms do not allow us to control the PCM's set speed, requires testers to verify
+  * NEW�: Speed limit source selector
+    * Select the desired precedence order of sources used to adapt cruise speed to road limits
+* UPDATED: Custom Stock Longitudinal Control
+  * RE-ENABLED: Hyundai/Kia/Genesis CAN-FD platforms
+* UPDATED: Custom Offsets reimplementation
+  * Camera Offset only works in Laneful (Laneful Only or Laneful in Auto mode when using Dynamic Lane Profile)
+  * Path Offset can be applied to both Laneless and Laneful
+* UPDATED: Refactored Torque Lateral Control custom tuning menu
+  * NEW�: Less Restrict Settings for Self-Tune (Beta)
+  * NEW�: Custom Tuning for setting offline and live values in real-time
+* UPDATED: Auto-detect custom Mapbox token if a personal Mapbox token is provided
+  * REMOVED: "Enable Mapbox Navigation" toggle
+* UI updates
+  * New Settings menu redesign and improved interactions
+* FIXED: Retain hotspot/tethering state was not consistently saved
+* FIXED: Map stuck in "Map Loading" if comma Prime is active
+* FIXED: OpenStreetMap implementation on C3X devices
+  * M-TSC
+  * Altitude (ALT.) display on Developer UI
+  * Current street name on top of driving screen when "OSM Debug UI" is enabled
+* Hyundai Kona Non-SCC 2019 support thanks to Quex!
+* Kia Seltos Non-SCC 2023-24 support thanks to Moodkiller and jeroid_!
+
+sunnypilot - 0.9.4.1 (2023-08-11)
+========================
+* UPDATED: Synced with commaai's 0.9.4 release
+* NEW�: Moonrise driving model
+* NEW�: Ford upstream models support
+* UPDATED: Dynamic Lane Profile selector in the "SP - Controls" menu
+* REMOVED: Dynamic Lane Profile driving screen UI button
+* FIXED: Disallow torque lateral control for angle control platforms (e.g. Ford, Nissan, Tesla)
+  * Torque lateral control cannot be used by angle control platforms, and would cause a "Controls Unresponsive" error if Torque lateral control is enforced in settings
+* REMOVED: Speed Limit Style override
+* Honda Accord 2016-17 support thanks to mlocoteta!
+  * Serial Steering hardware required. For more information, see https://github.com/mlocoteta/serialSteeringHardware
+* mapd: utilize advisory speed limit in curves (#142) thanks to pfeiferj!
+
+sunnypilot - 0.9.3.1 (2023-07-09)
+========================
+* UPDATED: Synced with commaai's 0.9.3 release
+* NEW�: Display Temperature on Sidebar toggle
+  * Display Ambient temperature, memory temperature, CPU core with the highest temperature, GPU temperature, or max of Memory/CPU/GPU on the sidebar
+  * Replace "Display CPU Temperature on Sidebar" toggle
+* NEW�: Hot Coffee driving model
+* NEW�: HKG CAN: Smoother Stopping Performance (Beta) toggle
+  * Smoother stopping behind a stopped car or desired stopping event.
+  * This is only applicable to HKG CAN platforms using openpilot longitudinal control
+* NEW�: Toyota: TSS2 longitudinal: Custom Tuning
+  * Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars thanks to dragonpilot-community!
+* NEW�: Enable Screen Recorder toggle
+  * Enable this will display a button on the onroad screen to toggle on or off real-time screen recording with UI elements.
+* IMPROVED: Dynamic Lane Profile: when using Laneline planner via Laneline Mode or Auto Mode, enforce Laneless planner while traveling below 10 MPH or 16 km/h
+* REMOVED: Display CPU Temperature on Sidebar
+
+sunnypilot - 0.9.2.3 (2023-06-18)
+========================
+* NEW�: Auto Lane Change: Delay with Blind Spot
+  * Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects an obstructing vehicle, ensuring safe maneuvering
+* NEW�: Driving Screen Off: Wake with Non-Critical Events
+  * When Driving Screen Off Timer is not set to "Always On":
+    * Enabled: Wake the brightness of the screen to display all events
+    * Disabled: Wake the brightness of the screen to display critical events
+  * Currently, all non-nudge modes are default to continue lane change after 1 seconds of blind spot detection
+* NEW�: Fleet Manager PIN Requirement toggle
+  * User can now enable or disable PIN requirement on the comma device before accessing Fleet Manager
+* NEW�: Reset all sunnypilot settings toggle
+* NEW�: Turn signals display on screen when blinker is used
+  * Green: Blinker is on
+  * Red: Blinker is on, car detected in the adjacent blind spot or road edge detected
+* IMPROVED: mapd: better exceptions handling when loading dependencies
+* UPDATED: Green Traffic Light Chime no longer displays an orange border when executed
+* FIXED: mapd: Road name flashing caused by desync with last GPS timestamp
+* FIXED: Ram HD (2500/3500): Ignore paramsd sanity check
+  * Live parameters have trouble with self-tuning on this platform with upstream openpilot 0.9.2
+* Hyundai: Longitudinal support for CAN-based Camera SCC cars thanks to Zack1010OP's Patreon sponsor!
+
+sunnypilot - 0.9.2.2 (2023-06-13)
+========================
+* NEW�: Toyota: Allow M.A.D.S. toggling with LKAS Button (Beta)
+* IMPROVED: Ram: cruise button handling
+
+sunnypilot - 0.9.2.1 (2023-06-10)
+========================
+* UPDATED: Synced with commaai's 0.9.2 release
+* UPDATED: feature revamp with better stability
+* UPDATED:
+  * M.A.D.S.
+    * Path color becomes LIGHT ORANGE during Driver Steering Override
+  * Gap Adjust Cruise (now known as Driving Personality in upstream openpilot 0.9.3):
+    * Updated profiles and jerk changes
+    * Experimental Mode support
+    * Three settings: Stock, Aggressive, and Maniac
+    * Stock is recommended and the default
+    * In Aggressive/Maniac mode, lead follow distance is shorter and quicker gas/brake response
+  * Dynamic Lane Profile
+    * Display blue borders on both sides of the driving path when Laneline mode is being used in the planner
+    * Auto Mode optimization
+      * Permanent: Laneless during Auto Lane Change execution
+  * Mapd
+    * OpenStreetMap Database: new regions added
+  * Developer UI (Dev UI)
+    * REMOVED: 2-column design
+    * NEW�: 1-column + 1-row design
+  * Custom Stock Longitudinal Control
+    * NEW�: Chrysler/Jeep/Ram support
+    * NEW�: Mazda support
+    * NEW�: Volkswagen PQ support
+    * DISABLED: Hyundai/Kia/Genesis CAN-FD platforms
+* NEW�: Switch between Chill (openpilot ACC) and Experimental (E2E longitudinal) with DISTANCE button on the steering wheel
+  * To switch between Chill and Experimental Mode: press and hold the DISTANCE button on the steering wheel for over 0.5 second
+  * All openpilot longitudinal capable cars support
+* NEW�: Nicki Minaj driving model
+* NEW�: Nissan and Mazda upstream models support
+* NEW�: Pre-Global Subaru upstream models support
+* NEW�: Display End-to-end Longitudinal Status (Beta)
+  * Display an icon that appears when the End-to-end model decides to start or stop
+* NEW�: Green Traffic Light Chime (Beta)
+  * A chime will play when the traffic light you are waiting for turns green, and you have no vehicle in front of you.
+* NEW�: Lead Vehicle Departure Alert
+  * Notify when the leading vehicle drives away
+* NEW�: Speedometer: Display True Speed
+  * Display the true vehicle current speed from wheel speed sensors.
+* NEW�: Speedometer: Hide from Onroad Screen
+* NEW�: Auto-Hide UI Buttons
+  * Hide UI buttons on driving screen after a 30-second timeout. Tap on the screen at anytime to reveal the UI buttons
+  * Applicable to Dynamic Lane Profile (DLP) and Gap Adjust Cruise (GAC)
+* NEW�: Display DM Camera in Reverse Gear
+  * Show Driver Monitoring camera while the car is in reverse gear
+* NEW�: Block Lane Change: Road Edge Detection (Beta)
+  * Block lane change when road edge is detected on the stalk actuated side
+* NEW�: Display CPU Temperature on Sidebar
+  * Display the CPU core with the highest temperature on the sidebar
+* NEW�: Display current driving model in Software settings
+* NEW�: HKG: smartMDPS automatic detection (installed with applicable firmware)
+* FIXED: Unintended siren/alarm from the comma device if the vehicle is turned off too quickly in PARK gear
+* FIXED: mapd: Exception handling for loading dependencies
+* Fleet Manager via Browser support thanks to actuallylemoncurd, AlexandreSato, ntegan1, and royjr!
+  * Access your dashcam footage, screen recordings, and error logs when the car is turned off
+  * Connect to the device via Wi-Fi, mobile hotspot, or tethering on the comma device, then navigate to http://ipAddress:5050 to access.
+* Honda Clarity 2018-22 support thanks to mcallbosco, vanillagorillaa and wirelessnet2!
+* Ram: Steer to 0/7 MPH support thanks to vincentw56!
+* Retain hotspot/tethering state across reboots thanks to rogerioaguas!
+
+sunnypilot - Version Latest (2023-02-22)
+========================
+* UPDATED: Synced with commaai's master branch - 2023.02.19-04:52:00:GMT - 0.9.2
+* Refactor sunnypilot features to be more stable
+
+sunnypilot - Version Latest (2022-12-16)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.12.16-06:31:00:GMT - 0.9.1
+* NEW�: GM:
+    * NEW�: Gap Adjust Cruise support - Chill, Normal, Aggressive
+    * NEW�: Experimental Mode: Hold DISTANCE button on the steering wheel for 0.5 second to switch between Experimental Mode and Chill Mode
+* REMOVED�: Toytoa: SnG Hack
+    * This method is not recommended and may cause some cars to not behave as expected
+    * SDSU is strongly recommended to enable SnG for Toyota vehicles without SnG from factory
+* commaai: radard: add missing accel data for vision-only leads (commaai/openpilot#26619) - pending PR
+    * VOACC performance is drastically improved when using Chill Mode
+* IMPROVED: M.A.D.S. events handling
+* IMPROVED: UI: screen recorder button change
+* IMPROVED: OpenStreetMap Offline Database optimization
+* FIXED: Toyota: vehicles' LKAS button no longer has a delay with toggling M.A.D.S.
+* FIXED: Toyota: brake pedal press at standstill causing Cruise Fault
+* FIXED: Volkswagen MQB: reduce Camera Malfunction occurrences (requires testing)
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-12-10)
+========================
+* IMPROVED: NEW� Developer UI design
+    * Second column metrics is now moved to the bottom of the screen
+        * ACC. = Acceleration
+        * L.S. = Lead Speed
+        * E.T. = EPS Torque
+        * B.D. = Bearing Degree
+        * FRI. = Friction
+        * L.A. = Lateral Acceleration
+        * ALT. = Altitude
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-12-07)
+========================
+* NEW�: Screen Recorder support thanks to neokii and Kumar!
+* NEW�: End-to-end longitudinal start/stop status icon
+    * Only appears when Experimental Mode is enabled
+* NEW�: End-to-end longitudinal car chime when starting
+    * Hyundai/Kia/Genesis CAN platform, Honda/Acura Bosch/Nidec, Toyota/Lexus
+    * i.e. Traffic light turns green, stop sign ready to go, etc.
+    * Only appears when Experimental Mode is enabled AND longitudinal control is disengaged
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-12-05)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.12.04-22:46:00:GMT - 0.9.1
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-11-12)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.11.12-10:02:00:GMT - 0.8.17
+* FIXED: CAN Error for CAN HKG cars that do not have navigation from the factory
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-11-11)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.11.11-21:22:00:GMT - 0.8.17
+* commaai: AGNOS 6.2 (commaai/openpilot#26441)
+* NEW�: Speed Limit Control - HKG - add speed limit from car's navigation head unit
+    * Compatible with certain models, trims, and model years
+* DISABLED: FCA: RAM HD - steer down to 0
+* FIXED: UI: End-to-end longitudinal button on driving screen synchronization
+* FIXED: Honda: Longitudinal status with set cruise speed now displays properly in the car's dashboard
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-11-08)
+========================
+* ADDED: New Zealand offline OpenStreetMap database
+
+sunnypilot - Version Latest (2022-11-04)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.11.05-01:44:00:GMT - 0.8.17
+* RE-ENABLED: Dynamic Lane Profile - preserves lanelines
+    * Can be found in "SP - Controls" menu
+* NEW�: DLP: switch to laneless for current/future curves thanks to @twilsonco!
+    * Can be found in "SP - Controls" menu
+* NEW�: UI: Road Camera Selector
+    * Enable this will display a button on the driving screen to select the driving camera
+    * Can be found in "SP - Visuals" menu
+* NEW�: Controls: Camera & Path Custom Offsets
+    * Only applicable to laneline mode when using Dynamic Lane Profile
+* NEW�: Buttons on driving screen are now sorted based on priority and availability
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-28)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.28-03:53:00:GMT - 0.8.17
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-26)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.26-06:20:00:GMT - 0.8.17
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-25)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.25-23:53:00:GMT - 0.8.17
+* Pre-Global Subaru support thanks to @martinl!
+* NEW�: Speed Limit values turn red when current speed is higher than posted speed limit
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-23)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.22-23:15:00:GMT - 0.8.17
+* IMPROVED: Custom Stock Longitudinal Control - HKG - only allow engagement on user button press
+* IMPROVED: Custom Stock Longitudinal Control - Volkswagen MQB & PQ - more consistent set speed change
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-21)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.21-17:33:00:GMT - 0.8.17
+* IMPROVED: Custom Stock Longitudinal Control - Volkswagen MQB & PQ - more predictable button send logic
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-20)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.20-20:25:00:GMT - 0.8.17
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-19)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.19-08:31:00:GMT - 0.8.17
+* IMPROVED: Controls: Speed Limit Control - accelerator press only disengage if "Disengage on Accelerator Pedal" is enabled
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-18)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.18-04:44:00:GMT - 0.8.17
+* RE-ENABLED: Volkswagen MQB & PQ with Custom Stock Longitudinal Control
+* NEW�: Steering Rate Cost Live Tune
+    * Enables live tune for Steering Rate Cost. Lower value allows steering wheel to move more freely at low speed
+    * Can be found in "SP - Controls" menu
+* FIXED: MADS: GM - include Regen Paddle logic thanks to @twilsonco!
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-17)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.17-23:54:00:GMT+1 - 0.8.17
+* ENABLED: "Custom Stock Longitudinal Control" toggle for CAN-FD cars
+* FIXED: HKG CAN-FD: Could not engage when openpilot longitudinal is enabled
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-13)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.13-19:43:00:GMT+1 - 0.8.17
+* ADDED: Live Tmux toggle
+    * Can be found in "SP - General" menu
+* IMPROVED: OpenStreetMap Database Update - only check for database update with explicit user decision
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-11)
+========================
+* ADDED: Hyundai openpilot longitudinal improvements - huge thanks to @aragon7777!
+* ADDED: Check for OpenStreetMap Database Update button
+* UPDATED: commaai: Low speed lateral control improvements (commaai:openpilot#26022, bbcd448) - pending PR
+* FIXED: MUTCD speed limit spacing adjusts dynamically when no subtext is shown (i.e., speed limit offset, distance to next speed limit)
+* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-09)
+========================
+* ADDED: commaai: Low speed lateral control improvements (commaai:openpilot#26022, bca288bb) - pending PR
+* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P
+* IMPROVED: mapd: stop signs and other supported traffic_calming tags are now slowing/stopping as expected
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-08)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.08-12:07:00:GMT+1 - 0.8.17
+* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P
+* IMPROVED: mapd: Speed Humps are now set at 20 MPH or 32 km/h
+* IMPROVED: OpenStreetMap Offline Database download experience
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-07)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.07-08:16:00:GMT - 0.8.17
+* NEW�: OpenStreetMap database can now be downloaded locally for offline use
+    * Now offering US South, US West, US Northeast, US Florida, Taiwan, and South Africa
+    * Databases updated - 2022.10.05-03:30:00:GMT
+* NEW�: mapd: Stop Sign, Yield, Speed Bump, Speed Hump, Sharp Curve support - huge thanks to @move-fast and @dragonpilot-community!
+    * Go to https://openstreetmap.org and start mapping out your area!
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-09-30)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.30-22:43:00:GMT - 0.8.17
+* RE-ADDED: Torque Lateral Controller Live Tune Menu
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-09-23)
+========================
+* ADDED: Developer UI: latAccelFactorFiltered & frictionCoefficientFiltered values displays in green if Torque is using live params
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-09-22)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17
+* NEW�: Toggle to explicitly enable Custom Stock Longitudinal Control
+    * Applicable cars only: Honda, Hyundai/Kia/Genesis
+    * Settings -> Toggles menu
+
+sunnypilot - Version Latest (2022-09-21)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17
+* ADDED: Toggle to enable Live Torque (self/auto tune) with Torque lateral controller
+    * To enable, first enable "Enforce Torque Lateral Controller" toggle
+* UPDATED: New metrics in Developer UI (when Live Torque is enabled)
+    * REMOVED: latAccelFactorRaw & frictionCoefficientRaw from torqued
+    * ADDED: latAccelFactorFiltered & frictionCoefficientFiltered from torqued
+* REMOVED: Temporary remove Torque Lateral Controller Live Tune Menu
+
+sunnypilot - Version Latest (2022-09-20)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17
+* ADDED: Toggle to enable Live Torque (self/auto tune) with Torque lateral controller
+    * To enable, first enable "Enforce Torque Lateral Controller" toggle
+* REMOVED: Temporary remove Torque Lateral Controller Live Tune Menu
+
+sunnypilot - Version Latest (2022-09-18)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.17-11:23:00:GMT - 0.8.17
+* ADDED: Kia Forte Non-SCC 2019 support for @askalice
+* FIXED: Torque Lateral Control Live Tune now syncs with commaai:openpilot#25822
+* FIXED: mapd dependencies no longer need to be re-downloaded after unknown reboots
+
+sunnypilot - Version Latest (2022-09-17)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.17-11:23:00:GMT - 0.8.17
+* NEW�: Non SCC HKG support
+    * Custom Stock Longitudinal Control
+    * �No� openpilot longitudinal control
+* FIXED: Honda Bosch random low-value set speed changes
+
+sunnypilot - Version Latest (2022-09-16)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.16-20:23:00:GMT - 0.8.17
+
+sunnypilot - Version Latest (2022-09-15)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.16-02:00:00:GMT - 0.8.17
+* FIXED: Block additional auto lane change actions if blinker stays on after the first lane change
+* REVERTED: Some Toyota with LKAS button no longer requires double press to engage/disengage M.A.D.S.
+
+sunnypilot - Version Latest (2022-09-14)u
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
+* NEW�: GM models supported in Force Car Recognition (FCR)
+    * Under "SP - Vehicles"
+* NEW�: Prompt to select car in "SP - Vehicles" if car unrecognized on startup
+* FIXED: Some Toyota with LKAS button no longer requires double press to engage/disengage M.A.D.S.
+* UPDATED: ESCC: Use radar tracks from radar if available
+
+sunnypilot - Version Latest (2022-09-13)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
+* NEW�: New metric in Developer UI
+    * Actual Lateral Acceleration (Roll Compensated)
+
+sunnypilot - Version Latest (2022-09-12)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
+* FIXED: Honda Nidec models not gaining speed when longitudinal engaged
+
+sunnypilot - Version Latest (2022-09-11)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
+* NEW�: Hyundai Enhanced SCC now forwards FCW and AEB signals and commands from radar to car
+* RE-ENABLED: MADS Status Icon toggle
+
+sunnypilot - Version Latest (2022-09-10)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
+* NEW�: RAM improvement implementation thanks to realfast!
+* DISABLED: Chrysler/Jeep/Ram with Custom Stock Longitudinal Control
+* DISABLED: Volkswagen MQB & PQ with Custom Stock Longitudinal Control
+
+sunnypilot - Version Latest (2022-09-09)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.09-07:35:00:GMT - 0.8.17
+* NEW�: MADS now supporting General Motors (GM)
+* ADDED: Custom Stock Longitudinal Control - Volkswagen
+    * MQB & PQ
+* ADDED: Reverse ACC Change
+    * ACC +/-: Short=5, Long=1
+* ADDED: Custom Stock Longitudinal Control
+    * Hyundai/Kia/Genesis
+    * Honda Bosch
+* ADDED: Hyundai: 2015-16 Genesis resume from standstill fix (commaai:openpilot#25579) - pending PR
+* Vision Turn Speed Control re-enabled
+* Disable Onroad Uploads toggle re-enabled
+
+sunnypilot - Version Latest (2022-09-08)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.08-04:05:00:GMT - 0.8.17
+* NEW�: Block lane change initiation while brake is pressed
+
+sunnypilot - Version Latest (2022-09-07)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.08-04:05:00:GMT - 0.8.17
+* NEW�: Display End-to-end longitudinal 🌮 on screen
+    * NEW�: Hold DISTANCE button on the steering wheel for 1 second to switch between E2E Long and ACC mode
+    * Enable toggle on the driving screen to switch between modes with End-to-end longitudinal
+    * Only applicable to cars with openpilot longitudinal control
+* NEW�: Block lane change initiation while brake is pressed
+* REMOVED: Dynamic Lane Profile - upstream laneless model is now on by default
+* REMOVED: hyundai: consistent start from stop (commaai:openpilot#25672) - pending PR
+
+sunnypilot - Version Latest (2022-09-06)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.06 - 0.8.17
+* NEW�: Display useful metrics above the chevron that tracks the lead car
+    * Under "SP - Visuals" menu
+    * Only applicable to cars with openpilot longitudinal control
+* ADDED: hyundai: consistent start from stop (commaai:openpilot#25672) - pending PR
+* FIXED: Vienna speed limit interface now scales properly with the outer box
+* REMOVED: Hyundai long improvements (commaai:openpilot#25604) - closed PR
+
+sunnypilot - Version Latest (2022-09-05)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17
+* NEW�: Speed Limit Control (SLC) interface integrated with upstream
+* NEW�: Speed limit from active navigation is now prioritized for Speed Limit Control
+* NEW�: MUTCD (U.S.) or Vienna (E.U.) speed limit interfaces can now be selected under "SP - Controls"
+
+sunnypilot - Version Latest (2022-09-04)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17
+* FIXED: Gap Adjust Cruise status now displays properly on screen
+* FIXED: mapd - missing index in list caused mapd to crash
+* REMOVED: Temporary removed Vision Turn Speed Control
+
+sunnypilot - Version Latest (2022-09-03)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17
+* ADDED: New border colors for different operation engagements
+* ADDED: UI: Show barrier when car detected in blind spot
+    * Only applicable to cars that have BSM detection with openpilot
+* FIXED: Cruise Cancel button no longer display prompt if cruise not engaged
+* TWEAKED: Update changelogs on startup in Settings -> Software -> Version
+* REMOVED: Upload Raw Logs and Full Resolution Videos toggles
+
+sunnypilot - Version Latest (2022-08-31)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.08.31 - 0.8.17
+* ADDED: New border colors for different operation engagements
+* ADDED: UI: Show barrier when car detected in blind spot
+    * Only applicable to cars that have BSM detection with openpilot
+* FIXED: Cruise Cancel button no longer display prompt if cruise not engaged
+* REMOVED: Upload Raw Logs and Full Resolution Videos toggles
+
+sunnypilot - Version 0.8.16 (2022-07-16)
+========================
+* Sync with commaai's master branches
+* NEW�: Add toggle to pause lateral actuation below 30 MPH / 50 KM/H
+* IMPROVED: Better controls mismatch handling
+* IMPROVED: Less frequent Low Memory alert
+* IMPROVED: Only allow lateral control when in forward gears
+* IMPROVED: Better alerts handling on gear changes
+
+sunnypilot - Version 0.8.14-1.3 (2022-06-29)
+========================
+* Hyundai/Kia/Genesis
+    * NEW�: MADS: Add GAP/Distance button on the steering wheel to engage/disengage
+        * To engage/disengage MADS: Hold the button for 0.5 second
+* NEW�: Dynamic Lane Profile: Add toggle to enable "Laneless for Curves in Auto Lane"
+* HOTFIX🛠: Improve Torque lateral control and reduce ping pong for some Toyota cars
+    * Torque control: higher low speed gains and better steering angle deadzone logic
+* Developer UI: Remove Distance Traveled, replace with Memory Usage %
+    * This may have a potential to fix the Low Memory alert that may appear
+
+sunnypilot - Version 0.8.14-1 (2022-06-27)
+========================
+* HOTFIX🛠: Honda, Toyota, Volkswagen now initialized correctly with Torque Lateral Live Tune
+
+sunnypilot - Version 0.8.14-1 (2022-06-27)
+========================
+* NEW�: Added toggle to enable updates for sunnypilot
+* HOTFIX🛠: Volkswagen car list now displays properly in Force Car Recognition menu
+* REVERTED: Honda - temporary removes CRUISE (MAIN) for MADS engagement
+    * LKAS button continues to be used for MADS engagement/disengagement
+
+sunnypilot - Version 0.8.14-1 (2022-06-26)
+========================
+Visit https://bit.ly/sunnyreadme for more details
+* sunnypilot 0.8.14 release - based on openpilot 0.8.14 devel
+* "0.8.14-prod-c3" branch only supports comma three
+    * If you have a comma two, EON, or other devices than a comma three, visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
+* Mono-branch support
+    * Honda/Acura
+    * Hyundai/Kia/Genesis
+    * Toyota/Lexus
+    * Volkswagen MQB
+* Modified Assistive Driving Safety (MADS) Mode
+    * NEW�: CRUISE (MAIN) now engages MADS for all supported car makes
+    * NEW�: Added toggle to disable disengaging Automatic Lane Centering (ALC) on the brake pedal
+* Dynamic Lane Profile (DLP)
+* NEW�: Gap Adjust Cruise (GAC)
+    * openpilot longitudinal cars can now adjust between the lead car's following distance gap via 3 modes:
+        * Steering Wheel (SW) | User Interface (UI) | Steering Wheel + User Interface (SW+UI)
+* NEW�: Custom Camera & Path Offsets
+* NEW�: Torque Lateral Control from openpilot 0.8.15 master (as of 2022-06-15)
+* NEW�: Torque Lateral Control Live Tune Menu
+* NEW�: Speed Limit Sign from openpilot 0.8.15 master (as of 2022-06-22)
+* NEW�: Mapbox Speed Limit data will now be utilized in Speed Limit Control (SLC)
+    * Speed limit data will be utilized in the following availability:
+        * Mapbox (active navigation) -> OpenStreetMap -> Car Interface (Toyota's TSR)
+* Custom Stock Longitudinal Control
+    * NEW�: Volkswagen MQB
+    * Honda
+    * Hyundai/Kia/Genesis
+* NEW�: Mapbox navigation support for non-Prime users
+    * Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
+* Hyundai/Kia/Genesis
+    * NEW�: Enhanced SCC (ESCC) Support
+        * Requires hardware modification. Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
+    * NEW�: Smart MDPS (SMDPS) Support - Auto-detection
+        * Requires hardware modification and custom firmware for the SMDPS. Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
+* Toyota/Lexus
+    * NEW�: Added toggle to enforce stock longitudinal control
+
+sunnypilot - Version 0.8.12-4
+========================
+* NEW�: Custom Stock Longitudinal Control by setting the target speed via openpilot's "MAX" speed thanks to multikyd!
+    * Speed Limit Control
+    * Vision-based Turn Control
+    * Map-based Turn Control
+* NEW�: HDA status integration with Custom Stock Longitudinal Control on applicable HKG cars only
+* NEW�: Roll Compensation and SteerRatio fix from comma's 0.8.13
+* NEW�: Dev UI to display different metrics on screen
+    * Click on the "MAX" box on the top left of the openpilot display to toggle different metrics display
+    * Lead car relative distance; Lead car relative speed; Actual steering degree; Desired steering degree; Engine RPM; Longitudinal acceleration; Lead car actual speed; EPS torque; Current altitude; Compass direction
+* NEW�: Stand Still Timer to display time spent at a stop with M.A.D.S engaged (i.e., stop lights, stop signs, traffic congestions)
+* NEW�: Current car speed text turns red when the car is braking
+* NEW�: Export GPS tracks into GPX files and upload to OSM thanks to eFini!
+* NEW�: Enable ACC and M.A.D.S with a single press of the RES+/SET- button
+* NEW�: ACC +/-: Short=5, Long=1
+    * Change the ACC +/- buttons behavior with cruise speed change in openpilot
+    * Disabled (Stock):  Short=1, Long=5
+    * Enabled:  Short=5, Long=1
+* NEW�: Speed Limit Value Offset (not %)*
+    * Set speed limit higher or lower than actual speed limit for a more personalized drive.
+    * *To use this feature, turn off "Enable Speed Limit % Offset"*
+* NEW�: Dedicated icon to show the status of M.A.D.S.
+* NEW�: No Offroad Fix for non-official devices that cannot shut down after the car is turned off
+* NEW�: Stop N' Go Resume Alternative
+    * Offer alternative behavior to auto resume when stopped behind a lead car using stock SCC/ACC. This feature removes the repeating prompt chime when stopped and/or allows some cars to use auto resume (i.e., Genesis)
+* IMPROVED: Show the lead car icon in the car's dashboard when a lead car is detected by openpilot's camera vision
+* FIXED: MADS button unintentionally set MAX when using stock longitudinal control thanks to Spektor56!
+
+sunnypilot - Version 0.8.12-3
+========================
+* NEW�: Bypass "System Malfunction" alert toggle
+    * Prevent openpilot from returning the "System Malfunction" alert that hinders the ability use openpilot
+* FIXED: Hyundai/Kia/Genesis Brake Hold Active now outputs the correct events on screen with M.A.D.S. engaged
+
+sunnypilot - Version 0.8.12-2
+========================
+* NEW�: Disable M.A.D.S. toggle to disable the beloved M.A.D.S. feature
+    * Enable Stock openpilot engagement/disengagement
+* ADJUST: Initialize Driving Screen Off Brightness at 50%
+
+sunnypilot - Version 0.8.12-1
+========================
+* sunnypilot 0.8.12 release - based on openpilot 0.8.12 devel
+* Dedicated Hyundai/Kia/Genesis branch support
+* NEW�: OpenStreetMap integration thanks to the Move Fast team!
+    * NEW�: Vision-based Turn Control
+    * NEW�: Map-Data-based Turn Control
+    * NEW�: Speed Limit Control w/ optional Speed Limit Offset
+    * NEW�: OpenStreetMap integration debug UI
+    * Only available to openpilot longitudinal enabled cars
+* NEW�: Hands on Wheel Monitoring according to EU r079r4e regulation
+* NEW�: Disable Onroad Uploads for data-limited Wi-Fi hotspots when using OpenStreetMap related features
+* NEW�: Fast Boot (Prebuilt)
+* NEW�: Auto Lane Change Timer
+* NEW�: Screen Brightness Control (Global)
+* NEW�: Driving Screen Off Timer
+* NEW�: Driving Screen Off Brightness (%)
+* NEW�: Max Time Offroad
+* Improved user feedback with M.A.D.S. operations thanks to Spektor56!
+    * Lane Path
+        * Green🟢 (Laneful), Red🔴 (Laneless): M.A.D.S. engaged
+        * White⚪: M.A.D.S. suspended or disengaged
+        * Blackâš«: M.A.D.S. engaged, steering is being manually override by user
+    * Screen border now only illuminates Green when SCC/ACC is engaged
+
+sunnypilot - Version 0.8.10-1 (Unreleased)
+========================
+* sunnypilot 0.8.10 release - based on openpilot 0.8.10 `devel`
+* Add Toyota cars to Force Car Recognition
+
+sunnypilot - Version 0.8.9-4
+========================
+* Hyundai: Fix Ioniq Hybrid signals
+
+sunnypilot - Version 0.8.9-3
+========================
+* Update home screen brand and version structure
+
+sunnypilot - Version 0.8.9-2
+========================
+* Added additional Sonata Hybrid Firmware Versions
+* Features
+    * Modified Assistive Driving Safety (MADS) Mode
+    * Dynamic Lane Profile (DLP)
+    * Quiet Drive 🤫
+    * Force Car Recognition (FCR)
+    * PID Controller: add kd into the stock PID controller
+
+sunnypilot - Version 0.8.9-1
+========================
+* First changelog!
+* Features
+    * Modified Assistive Driving Safety (MADS) Mode
+    * Dynamic Lane Profile (DLP)
+    * Quiet Drive 🤫
+    * Force Car Recognition (FCR)
+    * PID Controller: add kd into the stock PID controller
diff --git a/common/swaglog.cc b/common/swaglog.cc
index 62a405a2b6e244..d73f0c1a5920cb 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -15,6 +15,8 @@
 #include "common/version.h"
 #include "system/hardware/hw.h"
 
+#include "sunnypilot/common/version.h"
+
 class SwaglogState {
 public:
   SwaglogState() {
@@ -56,7 +58,7 @@ class SwaglogState {
     if (char* daemon_name = getenv("MANAGER_DAEMON")) {
       ctx_j["daemon"] = daemon_name;
     }
-    ctx_j["version"] = COMMA_VERSION;
+    ctx_j["version"] = SUNNYPILOT_VERSION;
     ctx_j["dirty"] = !getenv("CLEAN");
     ctx_j["device"] = Hardware::get_name();
   }
diff --git a/common/tests/test_markdown.py b/common/tests/test_markdown.py
index d3c7e02c69810e..7e04bf2920b909 100644
--- a/common/tests/test_markdown.py
+++ b/common/tests/test_markdown.py
@@ -6,7 +6,7 @@
 
 class TestMarkdown:
   def test_all_release_notes(self):
-    with open(os.path.join(BASEDIR, "RELEASES.md")) as f:
+    with open(os.path.join(BASEDIR, "CHANGELOG.md")) as f:
       release_notes = f.read().split("\n\n")
       assert len(release_notes) > 10
 
diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc
index 09bc4c3795fd5e..c97f907c247ba4 100644
--- a/common/tests/test_swaglog.cc
+++ b/common/tests/test_swaglog.cc
@@ -9,6 +9,8 @@
 #include "system/hardware/hw.h"
 #include "third_party/json11/json11.hpp"
 
+#include "sunnypilot/common/version.h"
+
 std::string daemon_name = "testy";
 std::string dongle_id = "test_dongle_id";
 int LINE_NO = 0;
@@ -53,7 +55,7 @@ void recv_log(int thread_cnt, int thread_msg_cnt) {
     REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
     REQUIRE(ctx["dirty"].bool_value() == true);
 
-    REQUIRE(ctx["version"].string_value() == COMMA_VERSION);
+    REQUIRE(ctx["version"].string_value() == SUNNYPILOT_VERSION);
 
     std::string device = Hardware::get_name();
     REQUIRE(ctx["device"].string_value() == device);
diff --git a/release/build_release.sh b/release/build_release.sh
index 5ada9c5ecc7fae..9bd4c81f6da702 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -39,7 +39,7 @@ cd $BUILD_DIR
 rm -f panda/board/obj/panda.bin.signed
 rm -f panda/board/obj/panda_h7.bin.signed
 
-VERSION=$(cat common/version.h | awk -F[\"-]  '{print $2}')
+VERSION=$(cat sunnypilot/common/version.h | awk -F[\"-]  '{print $2}')
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git commit -a -m "openpilot v$VERSION release"
diff --git a/release/build_stripped.sh b/release/build_stripped.sh
index 88c0101a45e69b..df5b2a3dd6af24 100755
--- a/release/build_stripped.sh
+++ b/release/build_stripped.sh
@@ -49,7 +49,7 @@ rm -f panda/board/obj/panda.bin.signed
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 GIT_COMMIT_DATE=$(git --git-dir=$SOURCE_DIR/.git show --no-patch --format='%ct %ci' HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
+VERSION=$(cat $SOURCE_DIR/sunnypilot/common/version.h | awk -F\" '{print $2}')
 
 echo -n "$GIT_HASH" > git_src_commit
 echo -n "$GIT_COMMIT_DATE" > git_src_commit_date
diff --git a/release/ci/publish.sh b/release/ci/publish.sh
index 4aecbacc4adbe0..315ae22bfe4c2b 100755
--- a/release/ci/publish.sh
+++ b/release/ci/publish.sh
@@ -30,7 +30,7 @@ if [ -z "$GIT_ORIGIN" ]; then
 fi
 
 # "Tagging"
-echo "#define COMMA_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/common/version.h
+echo "#define SUNNYPILOT_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/sunnypilot/common/version.h
 
 ## set git identity
 #source $DIR/identity.sh
@@ -55,7 +55,7 @@ git add -f .
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/common/version.h)
+SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/sunnypilot/common/version.h)
 
 # Commit with detailed message
 git commit -a -m "sunnypilot v$VERSION
diff --git a/selfdrive/ui/tests/cycle_offroad_alerts.py b/selfdrive/ui/tests/cycle_offroad_alerts.py
index e468d88e0e814f..04fcd4017f62b9 100755
--- a/selfdrive/ui/tests/cycle_offroad_alerts.py
+++ b/selfdrive/ui/tests/cycle_offroad_alerts.py
@@ -18,7 +18,7 @@
   while True:
     print("setting alert update")
     params.put_bool("UpdateAvailable", True)
-    r = open(os.path.join(BASEDIR, "RELEASES.md")).read()
+    r = open(os.path.join(BASEDIR, "CHANGELOG.md")).read()
     r = r[:r.find('\n\n')]  # Slice latest release notes
     params.put("UpdaterNewReleaseNotes", r + "\n")
 
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 68d1f0c18503e1..d254ca87338d05 100755
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -188,7 +188,7 @@ def setup_offroad_alert(click, pm: PubMaster, scroll=None):
 
 def setup_update_available(click, pm: PubMaster, scroll=None):
   Params().put_bool("UpdateAvailable", True)
-  release_notes_path = os.path.join(BASEDIR, "RELEASES.md")
+  release_notes_path = os.path.join(BASEDIR, "CHANGELOG.md")
   with open(release_notes_path) as file:
     release_notes = file.read().split('\n\n', 1)[0]
   Params().put("UpdaterNewReleaseNotes", release_notes + "\n")
diff --git a/sunnypilot/common/version.h b/sunnypilot/common/version.h
new file mode 100644
index 00000000000000..5086f103f8d750
--- /dev/null
+++ b/sunnypilot/common/version.h
@@ -0,0 +1 @@
+#define SUNNYPILOT_VERSION "2025.001.000"
diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc
index 0ebe323939ab53..e8aeb96d020582 100644
--- a/system/loggerd/logger.cc
+++ b/system/loggerd/logger.cc
@@ -11,6 +11,8 @@
 #include "common/swaglog.h"
 #include "common/version.h"
 
+#include "sunnypilot/common/version.h"
+
 // ***** log metadata *****
 kj::Array<capnp::word> logger_build_init_data() {
   uint64_t wall_time = nanos_since_epoch();
@@ -19,7 +21,7 @@ kj::Array<capnp::word> logger_build_init_data() {
   auto init = msg.initEvent().initInitData();
 
   init.setWallTimeNanos(wall_time);
-  init.setVersion(COMMA_VERSION);
+  init.setVersion(SUNNYPILOT_VERSION);
   init.setDirty(!getenv("CLEAN"));
   init.setDeviceType(Hardware::get_device_type());
 
diff --git a/system/updated/updated.py b/system/updated/updated.py
index 7ab9e070dc4988..181e410fa62419 100755
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -82,7 +82,7 @@ def set_consistent_flag(consistent: bool) -> None:
 
 def parse_release_notes(basedir: str) -> bytes:
   try:
-    with open(os.path.join(basedir, "RELEASES.md"), "rb") as f:
+    with open(os.path.join(basedir, "CHANGELOG.md"), "rb") as f:
       r = f.read().split(b'\n\n', 1)[0]  # Slice latest release notes
     try:
       return bytes(parse_markdown(r.decode("utf-8")), encoding="utf-8")
@@ -294,7 +294,7 @@ def get_description(basedir: str) -> str:
       try:
         branch = self.get_branch(basedir)
         commit = self.get_commit_hash(basedir)[:7]
-        with open(os.path.join(basedir, "common", "version.h")) as f:
+        with open(os.path.join(basedir, "sunnypilot", "common", "version.h")) as f:
           version = f.read().split('"')[1]
 
         commit_unix_ts = run(["git", "show", "-s", "--format=%ct", "HEAD"], basedir).rstrip()
diff --git a/system/version.py b/system/version.py
index 6ff290e0325e93..268aaf11eaa6a2 100755
--- a/system/version.py
+++ b/system/version.py
@@ -33,13 +33,13 @@
 
 
 def get_version(path: str = BASEDIR) -> str:
-  with open(os.path.join(path, "common", "version.h")) as _versionf:
+  with open(os.path.join(path, "sunnypilot", "common", "version.h")) as _versionf:
     version = _versionf.read().split('"')[1]
   return version
 
 
 def get_release_notes(path: str = BASEDIR) -> str:
-  with open(os.path.join(path, "RELEASES.md")) as f:
+  with open(os.path.join(path, "CHANGELOG.md")) as f:
     return f.read().split('\n\n', 1)[0]
 
 
diff --git a/tools/replay/api.cc b/tools/replay/api.cc
index 85e4e52b282b4b..49923913de897e 100644
--- a/tools/replay/api.cc
+++ b/tools/replay/api.cc
@@ -14,6 +14,8 @@
 #include "common/version.h"
 #include "system/hardware/hw.h"
 
+#include "sunnypilot/common/version.h"
+
 namespace CommaApi2 {
 
 // Base64 URL-safe character set (uses '-' and '_' instead of '+' and '/')
@@ -141,7 +143,7 @@ std::string httpGet(const std::string &url, long *response_code) {
 
   // Handle headers
   struct curl_slist *headers = nullptr;
-  headers = curl_slist_append(headers, "User-Agent: openpilot-" COMMA_VERSION);
+  headers = curl_slist_append(headers, "User-Agent: openpilot-" SUNNYPILOT_VERSION);
   if (!token.empty()) {
     headers = curl_slist_append(headers, ("Authorization: JWT " + token).c_str());
   }
diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc
index 185c7d6c36d2d8..bdbdb3e841e23b 100644
--- a/tools/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -10,6 +10,8 @@
 #include "common/util.h"
 #include "common/version.h"
 
+#include "sunnypilot/common/version.h"
+
 namespace {
 
 const int BORDER_SIZE = 3;
@@ -119,7 +121,7 @@ void ConsoleUI::initWindows() {
 
   // set the title bar
   wbkgd(w[Win::Title], A_REVERSE);
-  mvwprintw(w[Win::Title], 0, 3, "sunnypilot replay %s", COMMA_VERSION);
+  mvwprintw(w[Win::Title], 0, 3, "sunnypilot replay %s", SUNNYPILOT_VERSION);
 
   // show windows on the real screen
   refresh();

From 641af6d7e7f7fe882b1bee5ce5b52133cf76ee9b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 21 Oct 2025 17:55:27 -0400
Subject: [PATCH 0544/1434] changelog: more new contributors! (#1413)

---
 CHANGELOG.md | 22 +++++++++++++++-------
 1 file changed, 15 insertions(+), 7 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 687484affe9305..00be66857188bd 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -123,16 +123,24 @@ sunnypilot Version 2025.001.000 (2025-10-25)
   * Lateral Planner: Laneful Mode
   * Lateral: Custom Camera and Path Offsets
   * Toyota: Door Controls
-* New Contributors
-  * @discountchubbs made their first contribution in "ui: Error log button to Developer panel (#627)"
-  * @First made their first contribution in "NNLC: bump max similarity for higher accuracy (#704)"
-  * @nayan made their first contribution in "UI: Update AbstractControlSP_SELECTOR and OptionControlSP (#800)"
-  * @wtogamiwtogami made their first contribution in "Add TOYOTA_RAV4_PRIME NNLC tuning gen 1 (#850)"
+* New Contributors (sunnypilot/sunnypilot)
+  * @royjr made their first contribution in "NNLC: bump max similarity for higher accuracy (#704)"
+  * @nayan8teen made their first contribution in "UI: Update AbstractControlSP_SELECTOR and OptionControlSP (#800)"
+  * @wtogami made their first contribution in "TOYOTA_RAV4_PRIME NNLC tuning gen 1 (#850)"
   * @dparring made their first contribution in "FCA: Ram 1500 improvements (#797)"
   * @Kirito3481 made their first contribution in "Update ko-kr translation (#1167)"
-  * @michael-was-taken made their first contributio@dzid26 in "Reorder README tables: show -new branches first (#1191)"
-  * @dzid26 made their first contribution in "docs: clarify pedal press (#1289)"
+  * @michael-was-taken made their first contribution in "Reorder README tables: show -new branches first (#1191)"
+  * @dzid26 made their first contribution in "params: Fix loading delay on startup (#1297)"
   * @HazZelnutz made their first contribution in "Visuals: Turn signals on screen when blinker is used (#1291)"
+* New Contributors (sunnypilot/opendbc)
+  * @chrispypatt made their first contribution in "Toyota: SecOC Longitudinal Control (sunnypilot/opendbc#93)"
+  * @Discountchubbs made their first contribution in "Hyundai: EPS FW For 2022 KIA_NIRO_EV SCC (sunnypilot/opendbc#118)"
+  * @lukasloetkolben made their first contribution in "Tesla: enableBsm is always true (sunnypilot/opendbc#163)"
+  * @roenthomas made their first contribution in "Honda: int flag for modified EPS configs (sunnypilot/opendbc#254)"
+  * @AmyJeanes made their first contribution in "Tesla: Fix stock LKAS being blocked when MADS is enabled (sunnypilot/opendbc#286)"
+  * @mvl-boston made their first contribution in "Honda: Update Clarity brake to renamed DBC message name (sunnypilot/opendbc#282)"
+  * @dzid26 made their first contribution in "Tesla: Parse speed limit from CAN (sunnypilot/opendbc#308)"
+  * @firestar5683 made their first contribution in "GM: Non-ACC platforms with steering only support (sunnypilot/opendbc#229)"
 ************************
 * Synced with commaai's openpilot (v0.10.1)
   * master commit c9dbf97649a27117be6d5955a49e2d4253337288 (September 12, 2025)

From 657ff0f8ecd6de0c3a1b81657aa56b5fab907e2c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 22 Oct 2025 00:09:10 -0400
Subject: [PATCH 0545/1434] ui: refine ICBM description handling and
 availability logic (#1414)

* ui: refine ICBM description handling and availability logic

* car -> platform

* retain
---
 .../qt/offroad/settings/longitudinal_panel.cc | 20 ++++++++++++++++++-
 1 file changed, 19 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
index 2cc59ea333898d..9c51ff8c670676 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
@@ -38,7 +38,7 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
   intelligentCruiseButtonManagement = new ParamControlSP(
     "IntelligentCruiseButtonManagement",
     tr("Intelligent Cruise Button Management (ICBM) (Alpha)"),
-    tr("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control."),
+    "",
     "",
     this
   );
@@ -104,6 +104,8 @@ void LongitudinalPanel::hideEvent(QHideEvent *event) {
 }
 
 void LongitudinalPanel::refresh(bool _offroad) {
+  const QString icbm_description = tr("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.");
+
   auto cp_bytes = params.get("CarParamsPersistent");
   auto cp_sp_bytes = params.get("CarParamsSPPersistent");
   if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -120,9 +122,24 @@ void LongitudinalPanel::refresh(bool _offroad) {
 
     if (CP_SP.getIntelligentCruiseButtonManagementAvailable() && !has_longitudinal_control) {
       intelligentCruiseButtonManagement->setEnabled(offroad);
+      intelligentCruiseButtonManagement->setDescription(icbm_description);
     } else {
       params.remove("IntelligentCruiseButtonManagement");
       intelligentCruiseButtonManagement->setEnabled(false);
+
+      const QString icbm_unavaialble = tr("Intelligent Cruise Button Management is currently unavailable on this platform.");
+
+      QString long_desc = icbm_unavaialble;
+      if (has_longitudinal_control) {
+        if (CP.getAlphaLongitudinalAvailable()) {
+          long_desc = icbm_unavaialble + " " + tr("Disable the openpilot Longitudinal Control (alpha) toggle to allow Intelligent Cruise Button Management.");
+        } else {
+          long_desc = icbm_unavaialble + " " + tr("openpilot Longitudinal Control is the default longitudinal control for this platform.");
+        }
+      }
+
+      intelligentCruiseButtonManagement->setDescription("<b>" + long_desc + "</b><br><br>" + icbm_description);
+      intelligentCruiseButtonManagement->showDescription();
     }
 
     if (has_longitudinal_control || has_icbm) {
@@ -151,6 +168,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
     has_longitudinal_control = false;
     is_pcm_cruise = false;
     has_icbm = false;
+    intelligentCruiseButtonManagement->setDescription("<b>" + tr("Start the vehicle to check vehicle compatibility.") + "</br><b><b>" + icbm_description);
   }
 
   QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");

From 7097e69aa320e269b9c59d70756da23588a8aeef Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 22 Oct 2025 11:17:02 -0400
Subject: [PATCH 0546/1434] Speed Limit Assist: generalize availability helper
 (#1416)

* init infra to disable sla in certain conditions

* a bit more

* in another PR

* in another PR

* since when?

* start here
---
 .../controls/lib/longitudinal_planner.py      |  4 ++--
 selfdrive/controls/plannerd.py                |  8 +++++--
 .../test/longitudinal_maneuvers/plant.py      |  4 +++-
 .../speed_limit/speed_limit_settings.cc       | 24 ++++++++++---------
 sunnypilot/selfdrive/car/interfaces.py        |  5 ++--
 .../controls/lib/longitudinal_planner.py      |  4 ++--
 .../controls/lib/speed_limit/helpers.py       | 17 +++++++++++++
 .../lib/speed_limit/speed_limit_assist.py     |  9 ++++---
 .../tests/test_speed_limit_assist.py          |  2 +-
 9 files changed, 52 insertions(+), 25 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 53eca38356e579..0501f669f18a92 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -51,12 +51,12 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
 
 
 class LongitudinalPlanner(LongitudinalPlannerSP):
-  def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
+  def __init__(self, CP, CP_SP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
     self.mpc = LongitudinalMpc(dt=dt)
     # TODO remove mpc modes when TR released
     self.mpc.mode = 'acc'
-    LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
+    LongitudinalPlannerSP.__init__(self, self.CP, CP_SP, self.mpc)
     self.fcw = False
     self.dt = dt
     self.allow_throttle = True
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 4565a9c047cc5a..f7d3370f909154 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from cereal import car
+from cereal import car, custom
 from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
@@ -17,10 +17,14 @@ def main():
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("plannerd got CarParams: %s", CP.brand)
 
+  cloudlog.info("plannerd is waiting for CarParamsSP")
+  CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
+  cloudlog.info("plannerd got CarParamsSP")
+
   gps_location_service = get_gps_location_service(params)
 
   ldw = LaneDepartureWarning()
-  longitudinal_planner = LongitudinalPlanner(CP)
+  longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
                             'liveMapDataSP', 'carStateSP', gps_location_service],
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index e466472432c89a..e82ef2f65e66d4 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -51,7 +51,9 @@ def __init__(self, lead_relevancy=False, speed=0.0, distance_lead=2.0,
     from opendbc.car.honda.values import CAR
     from opendbc.car.honda.interface import CarInterface
 
-    self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.HONDA_CIVIC), init_v=self.speed)
+    CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+    CP_SP = CarInterface.get_non_essential_params_sp(CP, CAR.HONDA_CIVIC)
+    self.planner = LongitudinalPlanner(CP, CP_SP, init_v=self.speed)
 
   @property
   def current_time(self):
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
index 1696c7f63ad0bf..50d9ccbb41a360 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
@@ -110,8 +110,7 @@ void SpeedLimitSettings::refresh() {
   SpeedLimitOffsetType offset_type_param = static_cast<SpeedLimitOffsetType>(std::atoi(params.get("SpeedLimitOffsetType").c_str()));
   QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset"));
 
-  bool has_longitudinal_control;
-  bool has_icbm;
+  bool sla_available;
   auto cp_bytes = params.get("CarParamsPersistent");
   auto cp_sp_bytes = params.get("CarParamsSPPersistent");
   if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -122,17 +121,20 @@ void SpeedLimitSettings::refresh() {
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
     cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
 
-    has_longitudinal_control = hasLongitudinalControl(CP);
-    has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
+    bool has_longitudinal_control = hasLongitudinalControl(CP);
+    bool has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
 
-    if (!has_longitudinal_control && !has_icbm) {
-      if (speed_limit_mode_param == SpeedLimitMode::ASSIST) {
-        params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
-      }
+    /*
+     * Speed Limit Assist is available when:
+     * - has_longitudinal_control or has_icbm
+     */
+    sla_available = has_longitudinal_control || has_icbm;
+
+    if (!sla_available && speed_limit_mode_param == SpeedLimitMode::ASSIST) {
+      params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
     }
   } else {
-    has_longitudinal_control = false;
-    has_icbm = false;
+    sla_available = false;
   }
 
   speed_limit_mode_settings->setDescription(modeDescription(speed_limit_mode_param));
@@ -152,7 +154,7 @@ void SpeedLimitSettings::refresh() {
     speed_limit_offset->showDescription();
   }
 
-  if (has_longitudinal_control || has_icbm) {
+  if (sla_available) {
     speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(getSpeedLimitModeValues()));
   } else {
     speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index 6a868ab85bcc6c..7d63d3c5bab48c 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -11,7 +11,7 @@
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_model_path
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import set_speed_limit_assist_availability
 
 import openpilot.system.sentry as sentry
 
@@ -87,8 +87,7 @@ def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsS
     params.remove("SmartCruiseControlVision")
     params.remove("SmartCruiseControlMap")
 
-    if params.get("SpeedLimitMode", return_default=True) == SpeedLimitMode.assist:
-      params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
+  set_speed_limit_assist_availability(CP, CP_SP, params)
 
 
 def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index 4c2443f253bafe..68b50c3e19d2e9 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -22,13 +22,13 @@
 
 
 class LongitudinalPlannerSP:
-  def __init__(self, CP: structs.CarParams, mpc):
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP, mpc):
     self.events_sp = EventsSP()
     self.resolver = SpeedLimitResolver()
     self.dec = DynamicExperimentalController(CP, mpc)
     self.scc = SmartCruiseControl()
     self.resolver = SpeedLimitResolver()
-    self.sla = SpeedLimitAssist(CP)
+    self.sla = SpeedLimitAssist(CP, CP_SP)
     self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
     self.source = LongitudinalPlanSource.cruise
     self.e2e_alerts_helper = E2EAlertsHelper()
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py b/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
index 40e8f653ff50c9..c209e98dce2c76 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
@@ -5,7 +5,10 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
+from cereal import custom, car
 from openpilot.common.constants import CV
+from openpilot.common.params import Params
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
 
 
 def compare_cluster_target(v_cruise_cluster: float, target_set_speed: float, is_metric: bool) -> tuple[bool, bool]:
@@ -17,3 +20,17 @@ def compare_cluster_target(v_cruise_cluster: float, target_set_speed: float, is_
   req_minus = v_cruise_cluster_conv > target_set_speed_conv
 
   return req_plus, req_minus
+
+
+def set_speed_limit_assist_availability(CP: car.CarParams, CP_SP: custom.CarParamsSP, params: Params = None) -> None:
+  if params is None:
+    params = Params()
+
+  allowed = True
+
+  if not CP.openpilotLongitudinalControl and CP_SP.pcmCruiseSpeed:
+    allowed = False
+
+  if not allowed:
+    if params.get("SpeedLimitMode", return_default=True) == SpeedLimitMode.assist:
+      params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
index b948452059c64f..fcb5a98a2aff91 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
@@ -15,7 +15,7 @@
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target, set_speed_limit_assist_availability
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -38,7 +38,7 @@
 LIMIT_MAX_ACC = 1.0   # m/s^2 Maximum acceleration allowed for limit controllers to provide while active.
 LIMIT_MIN_SPEED = 8.33  # m/s, Minimum speed limit to provide as solution on limit controllers.
 LIMIT_SPEED_OFFSET_TH = -1.  # m/s Maximum offset between speed limit and current speed for adapting state.
-V_CRUISE_UNSET = 255
+V_CRUISE_UNSET = 255.
 
 CRUISE_BUTTONS_PLUS = (ButtonType.accelCruise, ButtonType.resumeCruise)
 CRUISE_BUTTONS_MINUS = (ButtonType.decelCruise, ButtonType.setCruise)
@@ -52,13 +52,15 @@ class SpeedLimitAssist:
   a_ego: float
   v_offset: float
 
-  def __init__(self, CP):
+  def __init__(self, CP: car.CarParams, CP_SP: custom.CarParamsSP):
     self.params = Params()
     self.CP = CP
+    self.CP_SP = CP_SP
     self.frame = -1
     self.long_engaged_timer = 0
     self.pre_active_timer = 0
     self.is_metric = self.params.get_bool("IsMetric")
+    set_speed_limit_assist_availability(self.CP, self.CP_SP, self.params)
     self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist
     self.long_enabled = False
     self.long_enabled_prev = False
@@ -140,6 +142,7 @@ def get_a_target_from_control(self) -> float:
   def update_params(self) -> None:
     if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
       self.is_metric = self.params.get_bool("IsMetric")
+      set_speed_limit_assist_availability(self.CP, self.CP_SP, self.params)
       self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist
 
   def update_car_state(self, CS: car.CarState) -> None:
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
index 168c53016ba560..8a3376a05c3b2a 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
@@ -38,7 +38,7 @@ def setup_method(self):
     self.reset_custom_params()
     self.events_sp = EventsSP()
     CI = self._setup_platform(TOYOTA.TOYOTA_RAV4_TSS2)
-    self.sla = SpeedLimitAssist(CI.CP)
+    self.sla = SpeedLimitAssist(CI.CP, CI.CP_SP)
     self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)
     self.pcm_long_max_set_speed = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric][1]  # use 80 MPH for now
     self.speed_conv = CV.MS_TO_KPH if self.sla.is_metric else CV.MS_TO_MPH

From c552567ada51b0189d5f1d742553731054aa102b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 23 Oct 2025 01:08:19 -0400
Subject: [PATCH 0547/1434] ui: increase minimum button width in
 ButtonParamControlSP (#1419)

---
 selfdrive/ui/sunnypilot/qt/widgets/controls.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index e111ce2fb5ee36..71041556b78984 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -390,7 +390,7 @@ class ButtonParamControlSP : public MultiButtonControlSP {
   Q_OBJECT
 public:
   ButtonParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                     const std::vector<QString> &button_texts, const int minimum_button_width = 225, const bool inline_layout = false, bool advancedControl = false) : MultiButtonControlSP(title, desc, icon,
+                     const std::vector<QString> &button_texts, const int minimum_button_width = 380, const bool inline_layout = false, bool advancedControl = false) : MultiButtonControlSP(title, desc, icon,
                                                                                                                           button_texts, minimum_button_width, inline_layout, advancedControl) {
     key = param.toStdString();
     int value = atoi(params.get(key).c_str());

From 1c89e2b885f0c24372e095360db8896663e32e78 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 23 Oct 2025 03:26:32 -0400
Subject: [PATCH 0548/1434] Speed Limit Assist: Disable for Tesla in release
 (#1418)

* Speed Limit Assist: Disable for Tesla in release

* add test

* unused

* use constant

* eh

* flip

* universal it

* check release state and align in tests

* use this

* eh

* update changelog
---
 CHANGELOG.md                                  |  2 +
 .../speed_limit/speed_limit_settings.cc       |  7 ++-
 .../controls/lib/speed_limit/helpers.py       |  9 +++-
 .../lib/speed_limit/speed_limit_assist.py     |  4 +-
 .../tests/test_speed_limit_assist.py          | 43 +++++++++++++++++--
 5 files changed, 56 insertions(+), 9 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 00be66857188bd..66f5f432b1d41f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -17,6 +17,8 @@ sunnypilot Version 2025.001.000 (2025-10-25)
     * Intelligent longitudinal control adaptation
   * Speed Limit Assist (SLA)
     * Comprehensive speed limit integration featuring @pfeiferj's `mapd` for offline map limits downloads, a Speed Limit Resolver for sourcing data (from car, map, combined, etc), on-screen UI for Speed Limit Information/Warning, and Speed Limit Assist (SLA) to adjust cruise speed automatically.
+    * Currently disabled for Tesla with sunnypilot Longitudinal Control in release
+      * May return in future releases
   * Intelligent Cruise Button Management (ICBM)
     * System designed to manage the vehicle’s speed by sending cruise control button commands to the car’s ECU.
   * Smart Cruise Control Map & Vision (SCC-M / SCC-V)
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
index 50d9ccbb41a360..8724e686519e93 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
@@ -105,6 +105,7 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
 }
 
 void SpeedLimitSettings::refresh() {
+  bool is_release = params.getBool("IsReleaseSpBranch");
   bool is_metric_param = params.getBool("IsMetric");
   SpeedLimitMode speed_limit_mode_param = static_cast<SpeedLimitMode>(std::atoi(params.get("SpeedLimitMode").c_str()));
   SpeedLimitOffsetType offset_type_param = static_cast<SpeedLimitOffsetType>(std::atoi(params.get("SpeedLimitOffsetType").c_str()));
@@ -126,9 +127,11 @@ void SpeedLimitSettings::refresh() {
 
     /*
      * Speed Limit Assist is available when:
-     * - has_longitudinal_control or has_icbm
+     * - has_longitudinal_control or has_icbm, and
+     * - is not a release branch or not a disallowed brand
      */
-    sla_available = has_longitudinal_control || has_icbm;
+    bool sla_disallow_in_release = CP.getBrand() == "tesla" && is_release;
+    sla_available = (has_longitudinal_control || has_icbm) && !sla_disallow_in_release;
 
     if (!sla_available && speed_limit_mode_param == SpeedLimitMode::ASSIST) {
       params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py b/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
index c209e98dce2c76..04a85f57c4f766 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
@@ -22,15 +22,22 @@ def compare_cluster_target(v_cruise_cluster: float, target_set_speed: float, is_
   return req_plus, req_minus
 
 
-def set_speed_limit_assist_availability(CP: car.CarParams, CP_SP: custom.CarParamsSP, params: Params = None) -> None:
+def set_speed_limit_assist_availability(CP: car.CarParams, CP_SP: custom.CarParamsSP, params: Params = None) -> bool:
   if params is None:
     params = Params()
 
+  is_release = params.get_bool("IsReleaseSpBranch")
+  disallow_in_release = CP.brand == "tesla" and is_release
   allowed = True
 
+  if disallow_in_release:
+    allowed = False
+
   if not CP.openpilotLongitudinalControl and CP_SP.pcmCruiseSpeed:
     allowed = False
 
   if not allowed:
     if params.get("SpeedLimitMode", return_default=True) == SpeedLimitMode.assist:
       params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
+
+  return allowed
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
index fcb5a98a2aff91..ff7be8a8be1570 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
@@ -10,13 +10,13 @@
 from openpilot.common.params import Params
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
+from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target, set_speed_limit_assist_availability
-from openpilot.selfdrive.modeld.constants import ModelConstants
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventNameSP = custom.OnroadEventSP.EventName
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
index 8a3376a05c3b2a..5dc89cfd80e9ef 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
@@ -4,17 +4,21 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import custom
 
+import pytest
+
+from cereal import custom
 from opendbc.car.car_helpers import interfaces
+from opendbc.car.tesla.values import CAR as TESLA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist, \
   PRE_ACTIVE_GUARD_PERIOD, ACTIVE_STATES
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
@@ -30,14 +34,28 @@
   'freeway': 80 * CV.MPH_TO_MS,      # 80 mph
 }
 
+DEFAULT_CAR = TOYOTA.TOYOTA_RAV4_TSS2
+
+
+@pytest.fixture
+def car_name(request):
+  return getattr(request, "param", DEFAULT_CAR)
+
+
+@pytest.fixture(autouse=True)
+def set_car_name_on_instance(request, car_name):
+  instance = getattr(request, "instance", None)
+  if instance:
+    instance.car_name = car_name
+
 
 class TestSpeedLimitAssist:
 
-  def setup_method(self):
+  def setup_method(self, method):
     self.params = Params()
     self.reset_custom_params()
     self.events_sp = EventsSP()
-    CI = self._setup_platform(TOYOTA.TOYOTA_RAV4_TSS2)
+    CI = self._setup_platform(self.car_name)
     self.sla = SpeedLimitAssist(CI.CP, CI.CP_SP)
     self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)
     self.pcm_long_max_set_speed = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric][1]  # use 80 MPH for now
@@ -51,10 +69,12 @@ def _setup_platform(self, car_name):
     CP = CarInterface.get_non_essential_params(car_name)
     CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
     CI = CarInterface(CP, CP_SP)
+    CI.CP.openpilotLongitudinalControl = True  # always assume it's openpilot longitudinal
     sunnypilot_interfaces.setup_interfaces(CI, self.params)
     return CI
 
   def reset_custom_params(self):
+    self.params.put("IsReleaseSpBranch", True)
     self.params.put("SpeedLimitMode", int(Mode.assist))
     self.params.put_bool("IsMetric", False)
     self.params.put("SpeedLimitOffsetType", 0)
@@ -84,6 +104,21 @@ def test_initial_state(self):
     assert not self.sla.is_active
     assert V_CRUISE_UNSET == self.sla.get_v_target_from_control()
 
+  @pytest.mark.parametrize("car_name", [TESLA.TESLA_MODEL_Y], indirect=True)
+  def test_disallowed_brands(self, car_name):
+    """
+      Speed Limit Assist is disabled for the following brands and conditions:
+      - All Tesla and is a release branch
+    """
+    assert not self.sla.enabled
+
+    # stay disallowed even when the param may have changed from somewhere else
+    self.params.put("SpeedLimitMode", int(Mode.assist))
+    for _ in range(int(PARAMS_UPDATE_PERIOD / DT_MDL)):
+      self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'],
+                      SPEED_LIMITS['city'], True, 0, self.events_sp)
+    assert not self.sla.enabled
+
   def test_disabled(self):
     self.params.put("SpeedLimitMode", int(Mode.off))
     for _ in range(int(10. / DT_MDL)):

From 5d47ffdb8ab2bbc6a842dd346fdeb8e9b13c737f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 23 Oct 2025 03:48:04 -0400
Subject: [PATCH 0549/1434] Speed Limit Assist: Disable for Rivian (#1421)

* Speed Limit Assist: Disable for Tesla in release

* add test

* unused

* use constant

* eh

* flip

* universal it

* check release state and align in tests

* use this

* eh

* update changelog

* Speed Limit Assist: Disable for Rivian

* desc

* changelog
---
 CHANGELOG.md                                                | 2 +-
 .../longitudinal/speed_limit/speed_limit_settings.cc        | 6 ++++--
 sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py    | 3 ++-
 .../lib/speed_limit/tests/test_speed_limit_assist.py        | 6 ++++--
 4 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 66f5f432b1d41f..5b79d67826aeb2 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -17,7 +17,7 @@ sunnypilot Version 2025.001.000 (2025-10-25)
     * Intelligent longitudinal control adaptation
   * Speed Limit Assist (SLA)
     * Comprehensive speed limit integration featuring @pfeiferj's `mapd` for offline map limits downloads, a Speed Limit Resolver for sourcing data (from car, map, combined, etc), on-screen UI for Speed Limit Information/Warning, and Speed Limit Assist (SLA) to adjust cruise speed automatically.
-    * Currently disabled for Tesla with sunnypilot Longitudinal Control in release
+    * Currently disabled for Tesla with sunnypilot Longitudinal Control in release and Rivian with sunnypilot Longitudinal Control in all branches
       * May return in future releases
   * Intelligent Cruise Button Management (ICBM)
     * System designed to manage the vehicle’s speed by sending cruise control button commands to the car’s ECU.
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
index 8724e686519e93..99c227d233a479 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
@@ -128,10 +128,12 @@ void SpeedLimitSettings::refresh() {
     /*
      * Speed Limit Assist is available when:
      * - has_longitudinal_control or has_icbm, and
-     * - is not a release branch or not a disallowed brand
+     * - is not a release branch or not a disallowed brand, and
+     * - is not always disallowed
      */
     bool sla_disallow_in_release = CP.getBrand() == "tesla" && is_release;
-    sla_available = (has_longitudinal_control || has_icbm) && !sla_disallow_in_release;
+    bool sla_always_disallow = CP.getBrand() == "rivian";
+    sla_available = (has_longitudinal_control || has_icbm) && !sla_disallow_in_release && !sla_always_disallow;
 
     if (!sla_available && speed_limit_mode_param == SpeedLimitMode::ASSIST) {
       params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py b/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
index 04a85f57c4f766..4f388befc782f4 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
@@ -28,9 +28,10 @@ def set_speed_limit_assist_availability(CP: car.CarParams, CP_SP: custom.CarPara
 
   is_release = params.get_bool("IsReleaseSpBranch")
   disallow_in_release = CP.brand == "tesla" and is_release
+  always_disallow = CP.brand == "rivian"
   allowed = True
 
-  if disallow_in_release:
+  if disallow_in_release or always_disallow:
     allowed = False
 
   if not CP.openpilotLongitudinalControl and CP_SP.pcmCruiseSpeed:
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
index 5dc89cfd80e9ef..aa6650adda599b 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
@@ -9,6 +9,7 @@
 
 from cereal import custom
 from opendbc.car.car_helpers import interfaces
+from opendbc.car.rivian.values import CAR as RIVIAN
 from opendbc.car.tesla.values import CAR as TESLA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from openpilot.common.constants import CV
@@ -104,11 +105,12 @@ def test_initial_state(self):
     assert not self.sla.is_active
     assert V_CRUISE_UNSET == self.sla.get_v_target_from_control()
 
-  @pytest.mark.parametrize("car_name", [TESLA.TESLA_MODEL_Y], indirect=True)
+  @pytest.mark.parametrize("car_name", [RIVIAN.RIVIAN_R1_GEN1, TESLA.TESLA_MODEL_Y], indirect=True)
   def test_disallowed_brands(self, car_name):
     """
       Speed Limit Assist is disabled for the following brands and conditions:
-      - All Tesla and is a release branch
+      - All Tesla and is a release branch;
+      - All Rivian
     """
     assert not self.sla.enabled
 

From 4e3b1f1f6b2193fb090ec777c1ffdcd502635b93 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 24 Oct 2025 14:56:24 -0400
Subject: [PATCH 0550/1434] interface: add `is_release` flag to `get_params_sp`
 (#1426)

* interface: add `is_release` flag to `get_params_sp`

* split and rename

* debump
---
 selfdrive/car/card.py              | 3 ++-
 selfdrive/car/tests/test_models.py | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 4c44e432818324..6758432b681cf6 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -88,6 +88,7 @@ def __init__(self, CI=None, RI=None) -> None:
     self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])
 
     is_release = self.params.get_bool("IsReleaseBranch")
+    is_release_sp = self.params.get_bool("IsReleaseSpBranch")
 
     if CI is None:
       # wait for one pandaState and one CAN packet
@@ -110,7 +111,7 @@ def __init__(self, CI=None, RI=None) -> None:
       init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params,
-                        fixed_fingerprint, init_params_list_sp)
+                        fixed_fingerprint, init_params_list_sp, is_release_sp)
       sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 4f61ad3c355933..48da4b1ce26275 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -151,7 +151,7 @@ def setUpClass(cls):
 
     cls.CarInterface = interfaces[cls.platform]
     cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, False, docs=False)
-    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, alpha_long, docs=False)
+    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, alpha_long, False, docs=False)
     assert cls.CP
     assert cls.CP_SP
     assert cls.CP.carFingerprint == cls.platform

From 432c6050edee69bfd718a3da9e96c6cf2153d2bd Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Fri, 24 Oct 2025 15:28:08 -0400
Subject: [PATCH 0551/1434] [bot] Update Python packages (#1338)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 docs/CARS.md | 30 ++++++++++++++++--------------
 opendbc_repo |  2 +-
 2 files changed, 17 insertions(+), 15 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 25f84b389ec472..695c2589e33703 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 337 Supported Cars
+# 339 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -21,7 +21,10 @@ A supported vehicle is one that just works when you install a comma device. All
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
+|Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
+|Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
+|Chevrolet|Malibu Non-ACC 2016-23|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Non-ACC 2016-23">Buy Here</a></sub></details>|||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
 |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
@@ -236,20 +239,20 @@ A supported vehicle is one that just works when you install a comma device. All
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
 |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Legacy 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Å koda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Å koda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Å koda|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Karoq 2019-23">Buy Here</a></sub></details>|||
@@ -308,7 +311,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Wildlander PHEV 2021|All|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Wildlander PHEV 2021">Buy Here</a></sub></details>|||
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
diff --git a/opendbc_repo b/opendbc_repo
index 0a2315efd17517..952a0613977eee 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 0a2315efd175176c318aa34d634d55d9dcd9350a
+Subproject commit 952a0613977eee8cb5180f4562121ec2291c92b5

From 43e7d8717657a062ef0b6535cb43506668469341 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 24 Oct 2025 15:34:50 -0400
Subject: [PATCH 0552/1434] version: more release branches (#1427)

---
 system/version.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/version.py b/system/version.py
index 268aaf11eaa6a2..a3f2e36da52ba0 100755
--- a/system/version.py
+++ b/system/version.py
@@ -10,7 +10,7 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date
 
-RELEASE_SP_BRANCHES = ['release-c3', 'release']
+RELEASE_SP_BRANCHES = ['release-c3', 'release', 'release-tizi', 'release-tici', 'release-tizi-staging', 'release-tici-staging']
 TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging']
 MASTER_SP_BRANCHES = ['master']
 RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly']

From ae9bd39883fab51a850f92191f45f05cdb9089fa Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Fri, 24 Oct 2025 17:04:27 -0400
Subject: [PATCH 0553/1434] [bot] Update Python packages (#1428)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 952a0613977eee..efe4ff137f839b 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 952a0613977eee8cb5180f4562121ec2291c92b5
+Subproject commit efe4ff137f839bbd416ac8ff8f5b78550a7d6eec

From 3a45fff1b973ad291115dc5e2a97754b4664f1b6 Mon Sep 17 00:00:00 2001
From: MuskratGG <67509251+sirmuskrat@users.noreply.github.com>
Date: Fri, 24 Oct 2025 21:09:01 -0400
Subject: [PATCH 0554/1434] =?UTF-8?q?ui:=20openpilot=20Longitudinal=20Cont?=
 =?UTF-8?q?rol=20=E2=86=92=20sunnypilot=20Longitudinal=20Control=20(#1422)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* Update developer_panel.cc

Changed mentions of "openpilot Longitudinal Control" to "sunnypilot Longitudinal Control" to align with other UI elements pointing users towards enabling "sunnypilot Longitudinal Control"

* Update warning message for longitudinal control

* more

* a bit more

* slightly more

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 CHANGELOG.md                                              | 2 +-
 selfdrive/ui/qt/offroad/developer_panel.cc                | 8 ++++----
 selfdrive/ui/qt/offroad/settings.cc                       | 2 +-
 .../sunnypilot/qt/offroad/settings/longitudinal_panel.cc  | 6 +++---
 .../qt/offroad/settings/vehicle/hyundai_settings.h        | 4 ++--
 .../ui/sunnypilot/qt/offroad/settings/visuals_panel.cc    | 6 +++---
 6 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5b79d67826aeb2..a36cca7cda9bf8 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -22,7 +22,7 @@ sunnypilot Version 2025.001.000 (2025-10-25)
   * Intelligent Cruise Button Management (ICBM)
     * System designed to manage the vehicle’s speed by sending cruise control button commands to the car’s ECU.
   * Smart Cruise Control Map & Vision (SCC-M / SCC-V)
-    * When using any form of long control (openpilot longitudinal or ICBM) it will control the speed at which you enter and perform a turn by leveraging map data (SCC-M) and/or by leveraging what the model sees about the curve ahead (SCC-V)
+    * When using any form of long control (sunnypilot longitudinal control or ICBM) it will control the speed at which you enter and perform a turn by leveraging map data (SCC-M) and/or by leveraging what the model sees about the curve ahead (SCC-V)
   * Vehicle Selector
     * If your vehicle isn’t fingerprinted automatically, you can still use the vehicle selector to get it working
   * sunnylink Integration
diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc
index fbfb16294b9cfc..37c5d19272ca87 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.cc
+++ b/selfdrive/ui/qt/offroad/developer_panel.cc
@@ -32,11 +32,11 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
 
   experimentalLongitudinalToggle = new ParamControl(
     "AlphaLongitudinalEnabled",
-    tr("openpilot Longitudinal Control (Alpha)"),
+    tr("sunnypilot Longitudinal Control (Alpha)"),
     QString("<b>%1</b><br><br>%2")
-      .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
-      .arg(tr("On this car, sunnypilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
-              "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
+      .arg(tr("WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
+      .arg(tr("On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. "
+              "Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.")),
     ""
   );
   experimentalLongitudinalToggle->setConfirmation(true, false);
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 6f594d939a7a91..9a909ff2d25184 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -188,7 +188,7 @@ void TogglesPanel::updateToggles() {
       const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");
 
       QString long_desc = unavailable + " " + \
-                          tr("openpilot longitudinal control may come in a future update.");
+                          tr("sunnypilot longitudinal control may come in a future update.");
       if (CP.getAlphaLongitudinalAvailable()) {
         if (is_release) {
           long_desc = unavailable + " " + tr("An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
index 9c51ff8c670676..ab357a2c161c99 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
@@ -132,9 +132,9 @@ void LongitudinalPanel::refresh(bool _offroad) {
       QString long_desc = icbm_unavaialble;
       if (has_longitudinal_control) {
         if (CP.getAlphaLongitudinalAvailable()) {
-          long_desc = icbm_unavaialble + " " + tr("Disable the openpilot Longitudinal Control (alpha) toggle to allow Intelligent Cruise Button Management.");
+          long_desc = icbm_unavaialble + " " + tr("Disable the sunnypilot Longitudinal Control (alpha) toggle to allow Intelligent Cruise Button Management.");
         } else {
-          long_desc = icbm_unavaialble + " " + tr("openpilot Longitudinal Control is the default longitudinal control for this platform.");
+          long_desc = icbm_unavaialble + " " + tr("sunnypilot Longitudinal Control is the default longitudinal control for this platform.");
         }
       }
 
@@ -172,7 +172,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
   }
 
   QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
-  QString accNoLongDescription = tr("This feature can only be used with openpilot longitudinal control enabled.");
+  QString accNoLongDescription = tr("This feature can only be used with sunnypilot longitudinal control enabled.");
   QString accPcmCruiseDisabledDescription = tr("This feature is not supported on this platform due to vehicle limitations.");
   QString onroadOnlyDescription = tr("Start the vehicle to check vehicle compatibility.");
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h
index c94d40cfde049a..b1ae95a01e79cc 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h
@@ -33,7 +33,7 @@ class HyundaiSettings : public BrandSettingsInterface {
 
   static QString toggleDisableMsg(bool _offroad, bool _has_longitudinal_control) {
     if (!_has_longitudinal_control) {
-      return tr("This feature can only be used with openpilot longitudinal control enabled.");
+      return tr("This feature can only be used with sunnypilot longitudinal control enabled.");
     }
 
     if (!_offroad) {
@@ -57,7 +57,7 @@ class HyundaiSettings : public BrandSettingsInterface {
     }
 
     return QString("%1<br><br>%2<br>%3<br>%4<br>")
-             .arg(tr("Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control."))
+             .arg(tr("Fine-tune your driving experience by adjusting acceleration smoothness with sunnypilot longitudinal control."))
              .arg(off_str)
              .arg(dynamic_str)
              .arg(predictive_str);
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
index 0e42f777cd9dd1..37e982a9822acd 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -119,7 +119,7 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
   // Visuals: Display Metrics below Chevron
   std::vector<QString> chevron_info_settings_texts{tr("Off"), tr("Distance"), tr("Speed"), tr("Time"), tr("All")};
   chevron_info_settings = new ButtonParamControlSP(
-    "ChevronInfo", tr("Display Metrics Below Chevron"), tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control)."),
+    "ChevronInfo", tr("Display Metrics Below Chevron"), tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with sunnypilot longitudinal control)."),
     "",
     chevron_info_settings_texts,
     200);
@@ -159,8 +159,8 @@ void VisualsPanel::refreshLongitudinalStatus() {
   }
 
   if (chevron_info_settings) {
-    QString chevronEnabledDescription = tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).");
-    QString chevronNoLongDescription = tr("This feature requires openpilot longitudinal control to be available.");
+    QString chevronEnabledDescription = tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with sunnypilot longitudinal control).");
+    QString chevronNoLongDescription = tr("This feature requires sunnypilot longitudinal control to be available.");
 
     if (has_longitudinal_control) {
       chevron_info_settings->setDescription(chevronEnabledDescription);

From c1e15e5544b6c9cc32ee7d8488baa7d1c86d5ea6 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 25 Oct 2025 01:00:46 -0400
Subject: [PATCH 0555/1434] changelog: add new contributor entry

---
 CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index a36cca7cda9bf8..2c899f18d4ae90 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -134,6 +134,7 @@ sunnypilot Version 2025.001.000 (2025-10-25)
   * @michael-was-taken made their first contribution in "Reorder README tables: show -new branches first (#1191)"
   * @dzid26 made their first contribution in "params: Fix loading delay on startup (#1297)"
   * @HazZelnutz made their first contribution in "Visuals: Turn signals on screen when blinker is used (#1291)"
+  * @sirmuskrat made their first contribution in "ui: openpilot Longitudinal Control → sunnypilot Longitudinal Control (#1422)"
 * New Contributors (sunnypilot/opendbc)
   * @chrispypatt made their first contribution in "Toyota: SecOC Longitudinal Control (sunnypilot/opendbc#93)"
   * @Discountchubbs made their first contribution in "Hyundai: EPS FW For 2022 KIA_NIRO_EV SCC (sunnypilot/opendbc#118)"

From 1a4ea669875ffef3bffa27f355bc764c761cbfc8 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 25 Oct 2025 22:45:17 -0400
Subject: [PATCH 0556/1434] version: bump to 2025.002.000

---
 CHANGELOG.md                | 3 +++
 sunnypilot/common/version.h | 2 +-
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2c899f18d4ae90..5cb25994be30fb 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,3 +1,6 @@
+sunnypilot Version 2025.002.000 (2025-xx-xx)
+========================
+
 sunnypilot Version 2025.001.000 (2025-10-25)
 ========================
 * 🛠� Major rewrite
diff --git a/sunnypilot/common/version.h b/sunnypilot/common/version.h
index 5086f103f8d750..b52d984b4dd00e 100644
--- a/sunnypilot/common/version.h
+++ b/sunnypilot/common/version.h
@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2025.001.000"
+#define SUNNYPILOT_VERSION "2025.002.000"

From eecb8e5c19e1862ad71ffa0e47812ac1e3864323 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 25 Oct 2025 19:55:26 -0700
Subject: [PATCH 0557/1434] models: bump model json to v8 (#1430)

models: bump model json to v8 post release

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/models/fetcher.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 3be6e0b46c9da3..8c9c4eac71cbae 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -116,7 +116,7 @@ def set(self, data: dict) -> None:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v7.json"
+  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v8.json"
 
   def __init__(self, params: Params):
     self.params = params

From b460d5804c9c6f9ee7e314f94ae9af0eab5b1883 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 25 Oct 2025 20:47:37 -0700
Subject: [PATCH 0558/1434] LiveLocationKalman: skip tests on unsupported msgq
 (#1407)

* locationd llk: skip tests on unsupported msgq

* Update sunnypilot/selfdrive/locationd/tests/test_locationd.py

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
---
 sunnypilot/selfdrive/locationd/tests/test_locationd.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/sunnypilot/selfdrive/locationd/tests/test_locationd.py b/sunnypilot/selfdrive/locationd/tests/test_locationd.py
index c409f5b5a5d663..877bc821dafd6b 100644
--- a/sunnypilot/selfdrive/locationd/tests/test_locationd.py
+++ b/sunnypilot/selfdrive/locationd/tests/test_locationd.py
@@ -1,4 +1,5 @@
 import pytest
+import platform
 import json
 import random
 import time
@@ -12,6 +13,10 @@
 from openpilot.system.manager.process_config import managed_processes
 
 
+if platform.system() == 'Darwin':
+  pytest.skip("Skipping locationd test on macOS due to unsupported msgq.", allow_module_level=True)
+
+
 class TestLocationdProc:
   LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
               'accelerometer', 'gyroscope', 'magnetometer']

From e4aada10a400552f63ba4cda11371841071bdf24 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sun, 26 Oct 2025 21:43:30 -0400
Subject: [PATCH 0559/1434] Bug: Model UI Crash Fix (#1431)

Model UI Crash Fix
---
 selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index c3f795e18c4027..4d89ea58b03d6a 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -310,9 +310,8 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
   QList<TreeNode> sortedModels;
   QSet<QString> modelFolders;
   QRegularExpression re("\\(([^)]*)\\)[^(]*$");
-  const auto bundles = model_manager.getAvailableBundles();
 
-  for (const auto &bundle : bundles) {
+  for (const auto &bundle : model_manager.getAvailableBundles()) {
     auto overrides = bundle.getOverrides();
     QString folder;
     for (const auto &override : overrides) {
@@ -392,7 +391,7 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
     showResetParamsDialog();
   } else {
     // Find selected bundle and initiate download
-    for (const auto &bundle: bundles) {
+    for (const auto &bundle: model_manager.getAvailableBundles()) {
       if (QString::fromStdString(bundle.getRef()) == selectedBundleRef) {
         params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex()));
         if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) {

From de7acc54660a9886cc872b17af1e2cbf02285f0b Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Tue, 28 Oct 2025 16:01:21 +0100
Subject: [PATCH 0560/1434] ci: integrate Discourse notifications and refactor
 notification logic (#1435)

* ci: integrate Discourse notifications and refactor notification logic

- Replaced Discord webhook notifications with Discourse topic updates.
- Introduced reusable `post-to-discourse` composite action.
- Added `test-discourse.yaml` workflow for debugging and verification.

* ci: adjust notification dependencies and prepare_strategy reference

- Updated `notify` step to depend on `prepare_strategy` instead of `build`.
- Adjusted variable references to use `prepare_strategy` outputs.

* Forcing debug

* ci: update environment variable references and add commit information

- Switched `PUBLIC_REPO_URL` source to environment variable for consistency.
- Added commit SHA variables to enhance template generation logic.

* more tweaks!

* more tweaks!

* bad bot lmao

* Test?

* i mean....

* i mean....

* getting there

* testing the if

* testing the if

* ci: re-enable notify steps for prebuilt workflow

- Uncommented `build` and `publish` dependencies.
- Restored conditional logic to trigger only for relevant events.

* ci: enhance Discourse action to support new topic creation

- Added support for creating new topics with `category-id` and `title`.
- Improved input validation and response handling for flexibility.

* ci: improve conditions for prebuilt workflow notifications

- Refined `if` clause to ensure branches in `DEV_FEEDBACK_NOTIFICATION_BRANCHES` are targeted.
- Adjusted logic for accurate topic ID mapping in Discourse integration.

* forgot to rename
---
 .../workflows/post-to-discourse/action.yml    | 105 ++++++++++++++++++
 .../workflows/sunnypilot-build-prebuilt.yaml  |  63 +++++++----
 .github/workflows/test-discourse.yaml.yml     |  78 +++++++++++++
 3 files changed, 222 insertions(+), 24 deletions(-)
 create mode 100644 .github/workflows/post-to-discourse/action.yml
 create mode 100644 .github/workflows/test-discourse.yaml.yml

diff --git a/.github/workflows/post-to-discourse/action.yml b/.github/workflows/post-to-discourse/action.yml
new file mode 100644
index 00000000000000..55232ce0e1400e
--- /dev/null
+++ b/.github/workflows/post-to-discourse/action.yml
@@ -0,0 +1,105 @@
+name: 'Post to Discourse'
+description: 'Posts a message to a Discourse topic (existing or new)'
+
+inputs:
+  discourse-url:
+    description: 'Discourse instance URL (e.g., https://discourse.example.com)'
+    required: true
+  api-key:
+    description: 'Discourse API key'
+    required: true
+  api-username:
+    description: 'Discourse API username'
+    required: true
+  topic-id:
+    description: 'Discourse topic ID to post to (use this OR category-id + title)'
+    required: false
+  category-id:
+    description: 'Category ID for new topic (required if topic-id not provided)'
+    required: false
+  title:
+    description: 'Title for new topic (required if topic-id not provided)'
+    required: false
+  message:
+    description: 'Message content (markdown supported)'
+    required: true
+
+outputs:
+  post-number:
+    description: 'The post number in the topic'
+    value: ${{ steps.post.outputs.post_number }}
+  post-url:
+    description: 'Direct URL to the post'
+    value: ${{ steps.post.outputs.post_url }}
+  topic-id:
+    description: 'The topic ID (useful when creating a new topic)'
+    value: ${{ steps.post.outputs.topic_id }}
+
+runs:
+  using: "composite"
+  steps:
+    - name: Post to Discourse
+      id: post
+      shell: bash
+      run: |
+        # Validate inputs
+        if [ -z "${{ inputs.topic-id }}" ] && ([ -z "${{ inputs.category-id }}" ] || [ -z "${{ inputs.title }}" ]); then
+          echo "� Error: Must provide either topic-id OR both category-id and title"
+          exit 1
+        fi
+        
+        if [ -n "${{ inputs.topic-id }}" ] && ([ -n "${{ inputs.category-id }}" ] || [ -n "${{ inputs.title }}" ]); then
+          echo "⚠�  Warning: Both topic-id and category-id/title provided. Will post to existing topic."
+        fi
+        
+        # Determine if creating new topic or posting to existing
+        if [ -n "${{ inputs.topic-id }}" ]; then
+          echo "� Posting to existing topic ID: ${{ inputs.topic-id }}"
+        
+          # Create JSON payload for posting to existing topic
+          PAYLOAD=$(jq -n \
+            --arg content '${{ inputs.message }}' \
+            --arg topic_id "${{ inputs.topic-id }}" \
+            '{topic_id: $topic_id, raw: $content}')
+        else
+          echo "✨ Creating new topic: ${{ inputs.title }}"
+        
+          # Create JSON payload for new topic
+          PAYLOAD=$(jq -n \
+            --arg content '${{ inputs.message }}' \
+            --arg title "${{ inputs.title }}" \
+            --arg category "${{ inputs.category-id }}" \
+            '{title: $title, category: ($category | tonumber), raw: $content}')
+        fi
+        
+        # Post to Discourse
+        RESPONSE=$(curl -s -w "\n%{http_code}" \
+          -X POST "${{ inputs.discourse-url }}/posts.json" \
+          -H "Content-Type: application/json" \
+          -H "Api-Key: ${{ inputs.api-key }}" \
+          -H "Api-Username: ${{ inputs.api-username }}" \
+          -d "$PAYLOAD")
+        
+        HTTP_CODE=$(echo "$RESPONSE" | tail -n1)
+        BODY=$(echo "$RESPONSE" | sed '$d')
+        
+        if [ "$HTTP_CODE" -ge 200 ] && [ "$HTTP_CODE" -lt 300 ]; then
+          echo "✅ Successfully posted to Discourse!"
+        
+          POST_NUMBER=$(echo "$BODY" | jq -r '.post_number // "unknown"')
+          TOPIC_ID=$(echo "$BODY" | jq -r '.topic_id // "${{ inputs.topic-id }}"')
+          POST_URL="${{ inputs.discourse-url }}/t/${TOPIC_ID}/${POST_NUMBER}"
+        
+          echo "post_number=${POST_NUMBER}" >> $GITHUB_OUTPUT
+          echo "post_url=${POST_URL}" >> $GITHUB_OUTPUT
+          echo "topic_id=${TOPIC_ID}" >> $GITHUB_OUTPUT
+        
+          echo "Topic ID: ${TOPIC_ID}"
+          echo "Post number: ${POST_NUMBER}"
+          echo "URL: ${POST_URL}"
+        else
+          echo "� Failed to post to Discourse"
+          echo "HTTP Code: ${HTTP_CODE}"
+          echo "Response: ${BODY}"
+          exit 1
+        fi
\ No newline at end of file
diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index f7719709aecb0d..12fb01cbd1d87f 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -302,36 +302,51 @@ jobs:
             git push -f origin ${TAG}
 
   notify:
-    needs: [ build, publish ]
+    needs: 
+    - prepare_strategy
+    - build
+    - publish
     runs-on: ubuntu-24.04
-    if: ${{ (always() && !cancelled() && !failure()) && needs.publish.result == 'success' && !failure() && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    if: ${{ (always() && !cancelled() && !failure())
+      && needs.publish.result == 'success'
+      && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+      && (fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name] != null) }}
     steps:
       - uses: actions/checkout@v4
-      - name: Setup Alpine Linux environment
-        uses: jirutka/setup-alpine@v1.2.0
-        with:
-          packages: 'jq gettext curl'
 
-      - name: Send Discord Notification
-        env:
-          DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), env.SOURCE_BRANCH) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
+      - name: Prepare notification message
+        id: message
         run: |
-          TEMPLATE='${{ vars.DISCORD_GENERAL_UPDATE_NOTICE }}'
-          export EXTRA_VERSION_IDENTIFIER="${{ needs.build.outputs.extra_version_identifier }}"
-          export VERSION="${{ needs.build.outputs.version }}"
-          export branch_name=${{ env.SOURCE_BRANCH }}
-          export new_branch=${{ needs.build.outputs.new_branch }}
-          export extra_version_identifier=${{ needs.build.outputs.extra_version_identifier || github.run_number}}
-          echo ${TEMPLATE} | envsubst | jq -c '.' | tee payload.json
-          curl -X POST -H "Content-Type: application/json" -d @payload.json $DISCORD_WEBHOOK
+          TEMPLATE='${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}'
+          export VERSION="${{ needs.prepare_strategy.outputs.version }}"
+          export branch_name="${{ env.SOURCE_BRANCH }}"
+          export new_branch="${{ needs.prepare_strategy.outputs.new_branch }}"
+          export commit_sha="${{ github.sha }}"
+          export commit_short_sha="${{ github.sha }}"
+          export commit_short_sha="${commit_short_sha:0:7}"
+          export extra_version_identifier="${{ needs.prepare_strategy.outputs.extra_version_identifier || github.run_number }}"
+          export PUBLIC_REPO_URL="${{ env.PUBLIC_REPO_URL }}"
 
-          echo ""
-          echo "----   ℹ� To update the list of branches that notify to dev-feedback  -----"
-          echo ""
-          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
-          echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
-          echo "3. Update as needed (JSON array with no spaces)"
-        shell: alpine.sh {0}
+          MESSAGE=$(cat << 'EOF' | envsubst
+          ${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}
+          EOF
+          )
+          
+          {
+            echo 'content<<EOFMARKER'
+            echo "$MESSAGE"
+            echo 'EOFMARKER'
+          } >> $GITHUB_OUTPUT
+        shell: bash
+
+      - name: Post to Discourse
+        uses: ./.github/workflows/post-to-discourse
+        with:
+          discourse-url: ${{ vars.DISCOURSE_URL }}
+          api-key: ${{ secrets.DISCOURSE_API_KEY }}
+          api-username: "system"
+          topic-id: ${{ fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name].topic_id }}
+          message: ${{ steps.message.outputs.content }}
 
   manage-pr-labels:
     name: Remove prebuilt label
diff --git a/.github/workflows/test-discourse.yaml.yml b/.github/workflows/test-discourse.yaml.yml
new file mode 100644
index 00000000000000..fadaec4eaa359c
--- /dev/null
+++ b/.github/workflows/test-discourse.yaml.yml
@@ -0,0 +1,78 @@
+name: Debug Discourse Posting
+
+on:
+  push:
+
+jobs:
+  test-discourse-post:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Post test message to Discourse
+        uses: ./.github/workflows/post-to-discourse
+        with:
+          discourse-url: ${{ vars.DISCOURSE_URL }}
+          api-key: ${{ secrets.DISCOURSE_API_KEY }}
+          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
+          topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
+          message: |
+            ## 🧪 Test Post from GitHub Actions
+            
+            **This is a test post to verify Discourse integration**
+            
+            - **Workflow**: ${{ github.workflow }}
+            - **Run Number**: #${{ github.run_number }}
+            - **Branch**: `${{ github.ref_name }}`
+            - **Commit**: ${{ github.sha }}
+            - **Actor**: @${{ github.actor }}
+            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
+            
+            ---
+            
+            ### Fake Build Info (for testing)
+            - **Version**: 0.9.8-test
+            - **Build**: #42
+            - **Branch**: release-test
+            
+            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
+            
+            *This is an automated test message. Drive safe! 🚗💨*
+      
+      
+      - name: Create topic on Discourse
+        uses: ./.github/workflows/post-to-discourse
+        with:
+          discourse-url: ${{ vars.DISCOURSE_URL }}
+          api-key: ${{ secrets.DISCOURSE_API_KEY }}
+          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
+          #topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
+          category-id: 4
+          title: "This is a test of a new topic instead of a reply"
+          message: |
+            ## 🧪 Test Post from GitHub Actions
+            
+            **This is a test post to verify Discourse integration**
+            
+            - **Workflow**: ${{ github.workflow }}
+            - **Run Number**: #${{ github.run_number }}
+            - **Branch**: `${{ github.ref_name }}`
+            - **Commit**: ${{ github.sha }}
+            - **Actor**: @${{ github.actor }}
+            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
+            
+            ---
+            
+            ### Fake Build Info (for testing)
+            - **Version**: 0.9.8-test
+            - **Build**: #42
+            - **Branch**: release-test
+            
+            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
+            
+            *This is an automated test message. Drive safe! 🚗💨*
+      - name: Display results
+        if: always()
+        run: |
+          echo "::notice::Discourse post test completed"
+          echo "Check your Discourse topic to verify the post appeared correctly"
\ No newline at end of file

From 55147d8a55e23293a95b353039bc9caeb866ec04 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Tue, 28 Oct 2025 18:58:04 +0100
Subject: [PATCH 0561/1434] ci: use environment variable for PR label in query
 (#1436)

* ci: use environment variable for PR label in query

- Replaced static `PR_LABEL` references with `${{ env.PR_LABEL }}` for consistency.
- Ensures flexibility and reduces hardcoded values in the workflow.

* does this work better?

* fuck this

* aight
---
 .github/workflows/sunnypilot-master-dev-prep.yaml | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/sunnypilot-master-dev-prep.yaml b/.github/workflows/sunnypilot-master-dev-prep.yaml
index 4aafd4a4a49a21..968540955f9794 100644
--- a/.github/workflows/sunnypilot-master-dev-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-prep.yaml
@@ -3,7 +3,6 @@ name: Build dev
 env:
   DEFAULT_SOURCE_BRANCH: "master"
   DEFAULT_TARGET_BRANCH: "master-dev"
-  PR_LABEL: "dev"
   LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
   LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
 
@@ -119,7 +118,7 @@ jobs:
           # Use GitHub API to get PRs with specific label, ordered by creation date
           PR_LIST=$(gh api graphql -f query='
             query($search_query:String!) {
-              search(query: $search_query, type:ISSUE, first:100) {
+              search(query: $search_query, type:ISSUE, first:40) {
                 nodes {
                   ... on PullRequest {
                     number
@@ -149,7 +148,7 @@ jobs:
                   }
                 }
               }
-            }' -F search_query="repo:${{ github.repository }} is:pr is:open label:${PR_LABEL},${PR_LABEL}-c3 draft:false sort:created-asc")
+            }' -F search_query="repo:${{ github.repository }} is:pr is:open label:${{ vars.PREBUILT_PR_LABEL }},${{ vars.PREBUILT_PR_LABEL }}-c3 draft:false sort:created-asc")
 
           PR_LIST=${PR_LIST//\'/}
           echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT

From 707e2aedae4ddc872c609df1ae7c9e3f1e8738cd Mon Sep 17 00:00:00 2001
From: THERoenPR <roengamingdacom@gmail.com>
Date: Tue, 28 Oct 2025 22:13:39 -0400
Subject: [PATCH 0562/1434] controlsd: add `CP_SP` to `get_pid_accel_limits`
 (#1410)

* Add CP_SP to get_pid_accel_limits() call in controlsd

Match input parameters of CP_SP commit

* bump

* bump

---------

Co-authored-by: roenthomas <43324106+roenthomas@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 opendbc_repo                    | 2 +-
 selfdrive/controls/controlsd.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index efe4ff137f839b..e0e1626820d6a1 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit efe4ff137f839bbd416ac8ff8f5b78550a7d6eec
+Subproject commit e0e1626820d6a18a984ae69eebc012180699d41c
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 1694afee237739..b381879a7aa0cf 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -132,7 +132,7 @@ def state_control(self):
       self.LoC.reset()
 
     # accel PID loop
-    pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
+    pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, self.CP_SP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
     actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))
 
     # Steering PID loop and lateral MPC

From f833819143926bf987070632588a0dc271e84c55 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Fri, 31 Oct 2025 17:54:39 +0100
Subject: [PATCH 0563/1434] ci: update trigger for prebuilt (#1439)

Updated workflow `if` conditions to use `vars.PREBUILT_PR_LABEL`.
---
 .github/workflows/sunnypilot-master-dev-prep.yaml             | 4 ++--
 .../ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc      | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/sunnypilot-master-dev-prep.yaml b/.github/workflows/sunnypilot-master-dev-prep.yaml
index 968540955f9794..e93e778aa658bb 100644
--- a/.github/workflows/sunnypilot-master-dev-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-prep.yaml
@@ -42,7 +42,7 @@ jobs:
     if: (
       (github.event_name == 'workflow_dispatch')
       || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev'))))
+      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
       )
     steps:
       - uses: actions/checkout@v4
@@ -54,7 +54,7 @@ jobs:
         uses: ./.github/workflows/wait-for-action # Path to where you place the action
         if: (
           (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev'))))
+          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
           )
         with:
           workflow: selfdrive_tests.yaml # The workflow file to monitor
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
index 4bbf894572016c..86b5b93e279383 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
@@ -290,7 +290,7 @@ void SunnylinkPanel::updatePanel() {
   pairSponsorBtn->setEnabled(!is_onroad && is_sunnylink_enabled);
   pairSponsorBtn->setValue(is_paired ? tr("Paired") : tr("Not Paired"));
 
-  sunnylinkUploaderEnabledBtn->setEnabled(max_current_sponsor_rule.roleTier == SponsorTier::Guardian && is_sunnylink_enabled);
+  sunnylinkUploaderEnabledBtn->setEnabled(max_current_sponsor_rule.roleTier >= SponsorTier::Novice && is_sunnylink_enabled);
 
   if (!is_sunnylink_enabled) {
     sunnylinkEnabledBtn->setValue("");

From f60c2b6a835201ac06fa109ae98b14c36afabe18 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 1 Nov 2025 12:14:57 +0100
Subject: [PATCH 0564/1434] sunnylink: update uploader button logic to support
 novice tier and above (#1438)

* sunnylink: update uploader button logic to support novice tier and above

- Adjusted the enable condition to include SponsorTier::Novice and above.

* sunnylink: improve uploader button visibility and accessibility logic

- Made uploader button conditionally visible based on user tier and settings.
- Clarified button label to specify testing purposes only.
---
 .../ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc   | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
index 86b5b93e279383..924d1d3c09e93b 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
@@ -90,7 +90,7 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   QString sunnylinkUploaderDesc = tr("Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)");
   sunnylinkUploaderEnabledBtn = new ParamControlSP(
     "EnableSunnylinkUploader",
-    tr("[Don't use] Enable sunnylink uploader"),
+    tr("Enable sunnylink uploader (just for testing infrastructure)"),
     sunnylinkUploaderDesc,
     "", nullptr, true);
   list->addItem(sunnylinkUploaderEnabledBtn);
@@ -290,7 +290,10 @@ void SunnylinkPanel::updatePanel() {
   pairSponsorBtn->setEnabled(!is_onroad && is_sunnylink_enabled);
   pairSponsorBtn->setValue(is_paired ? tr("Paired") : tr("Not Paired"));
 
-  sunnylinkUploaderEnabledBtn->setEnabled(max_current_sponsor_rule.roleTier >= SponsorTier::Novice && is_sunnylink_enabled);
+  bool can_do_uploads = max_current_sponsor_rule.roleTier >= SponsorTier::Novice && is_sunnylink_enabled;
+  sunnylinkUploaderEnabledBtn->setVisible(can_do_uploads);
+  sunnylinkUploaderEnabledBtn->setEnabled(can_do_uploads);
+  
 
   if (!is_sunnylink_enabled) {
     sunnylinkEnabledBtn->setValue("");

From 682d738ffac3432549643a9889e1424192f88291 Mon Sep 17 00:00:00 2001
From: Amy Jeanes <amyjeanes23@gmail.com>
Date: Sun, 2 Nov 2025 02:47:30 +0000
Subject: [PATCH 0565/1434] Tesla: Coop Steering (#1283)

* Tesla: Coop Steering

* bump

* bump

* sync with opendbc/master

* resolve comment

* add oscillation warning and add confirmation

* styling desc

* beta

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/params_keys.h                          |  1 +
 opendbc_repo                                  |  2 +-
 .../settings/vehicle/tesla_settings.cc        | 34 +++++++++++++++++++
 .../offroad/settings/vehicle/tesla_settings.h |  2 +-
 sunnypilot/selfdrive/car/interfaces.py        |  5 +++
 5 files changed, 42 insertions(+), 2 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index d8485be15771d0..df53261eb2b3bb 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -208,6 +208,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
     {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
diff --git a/opendbc_repo b/opendbc_repo
index e0e1626820d6a1..c7126f8ba620eb 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit e0e1626820d6a18a984ae69eebc012180699d41c
+Subproject commit c7126f8ba620eb06fe345013081e97503331bbe1
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc
index 50ab023021de05..2fffdb8ad405b1 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc
@@ -8,7 +8,41 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h"
 
 TeslaSettings::TeslaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  constexpr int coopSteeringMinKmh = 23; // minimum speed for cooperative steering (enforced by Tesla firmware)
+  constexpr int oemSteeringMinKmh = 48; // minimum speed for OEM lane departure avoidance (enforced by Tesla firmware)
+  bool is_metric = params.getBool("IsMetric");
+  QString unit = is_metric ? "km/h" : "mph";
+  int display_value_coop;
+  int display_value_oem;
+  if (is_metric) {
+    display_value_coop = coopSteeringMinKmh;
+    display_value_oem = oemSteeringMinKmh;
+  } else {
+    display_value_coop = static_cast<int>(std::round(coopSteeringMinKmh * KM_TO_MILE));
+    display_value_oem = static_cast<int>(std::round(oemSteeringMinKmh * KM_TO_MILE));
+  }
+  const QString coop_desc = QString("<b>%1</b><br><br>"
+                                    "%2<br>"
+                                    "%3<br>")
+                            .arg(tr("Warning: May experience steering oscillations below %5 %6 during turns, recommend disabling this feature if you experience these."))
+                            .arg(tr("Allows the driver to provide limited steering input while openpilot is engaged."))
+                            .arg(tr("Only works above %4 %6."))
+                            .arg(display_value_coop)
+                            .arg(display_value_oem)
+                            .arg(unit);
+
+  coopSteeringToggle = new ParamControlSP(
+    "TeslaCoopSteering",
+    tr("Cooperative Steering (Beta)"),
+    coop_desc,
+    "",
+    this
+  );
+  list->addItem(coopSteeringToggle);
+  coopSteeringToggle->showDescription();
+  coopSteeringToggle->setConfirmation(true, false);
 }
 
 void TeslaSettings::updateSettings() {
+  coopSteeringToggle->setEnabled(offroad);
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h
index 37f2936cdff2b9..a1294513eed215 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h
@@ -22,5 +22,5 @@ class TeslaSettings : public BrandSettingsInterface {
   void updateSettings() override;
 
 private:
-  bool offroad = false;
+  ParamControlSP *coopSteeringToggle = nullptr;
 };
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index 7d63d3c5bab48c..59cfeabd6e5617 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -115,4 +115,9 @@ def initialize_params(params) -> list[dict[str, Any]]:
     "SubaruStopAndGoManualParkingBrake",
   ])
 
+  # tesla
+  keys.extend([
+    "TeslaCoopSteering",
+  ])
+
   return [{k: params.get(k, return_default=True)} for k in keys]

From b81d5bca3c4418fad601f103f070f309077c16ed Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 2 Nov 2025 06:50:41 +0100
Subject: [PATCH 0566/1434] ui: update discord references and add forum widget
 (#1440)

* sunnylink: introduce community popup with QR code embedding

- Added `SunnylinkCommunityPopup` widget to promote the sunnypilot Community Forum.
- Integrated a QR code generator and display for quick access.
- Updated `WiFiPromptWidget` to include a "Learn More" button triggering the community popup.

* sunnylink: adjust community popup styling for better layout

- Reduced font size of description text slightly for consistency.
- Decreased QR code dimensions to improve visual balance.

* Making more space out of thin air

* sunnylink: update community references to use forum links

- Replaced Discord links with Community Forum URLs for better alignment.
- Improved clarity in sponsorship instructions.
---
 selfdrive/ui/qt/widgets/wifi.cc               |  11 +-
 selfdrive/ui/qt/widgets/wifi.h                |   5 +
 selfdrive/ui/sunnypilot/SConscript            |   1 +
 .../settings/sunnylink/community_widget.cc    | 139 ++++++++++++++++++
 .../settings/sunnylink/community_widget.h     |  40 +++++
 .../settings/sunnylink/sponsor_widget.cc      |   4 +-
 6 files changed, 193 insertions(+), 7 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/community_widget.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/community_widget.h

diff --git a/selfdrive/ui/qt/widgets/wifi.cc b/selfdrive/ui/qt/widgets/wifi.cc
index d7eb8beeb3e8ca..8958e48c936663 100644
--- a/selfdrive/ui/qt/widgets/wifi.cc
+++ b/selfdrive/ui/qt/widgets/wifi.cc
@@ -11,17 +11,18 @@ WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) {
   main_layout->setContentsMargins(56, 40, 56, 40);
   main_layout->setSpacing(42);  
   
-  QLabel *title = new QLabel(tr("<span style='font-family: \"Noto Color Emoji\";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span>"));
-  title->setStyleSheet("font-size: 64px; font-weight: 500;");
+  community_popup = new SunnylinkCommunityPopup(this);
+  QLabel *title = new QLabel(tr("sunnypilot Community"));
+  title->setStyleSheet("font-size: 56px; font-weight: 500;");
   main_layout->addWidget(title);
 
-  QLabel *desc = new QLabel(tr("Maximize your training data uploads to improve openpilot's driving models."));
+  QLabel *desc = new QLabel(tr("Need help or have ideas?<br><b>Join</b> our community now!"));
   desc->setStyleSheet("font-size: 40px; font-weight: 400;");
   desc->setWordWrap(true);
   main_layout->addWidget(desc);
 
-  QPushButton *settings_btn = new QPushButton(tr("Open"));
-  connect(settings_btn, &QPushButton::clicked, [=]() { emit openSettings(1, "FirehosePanel"); });
+  QPushButton *settings_btn = new QPushButton(tr("Learn More"));
+  connect(settings_btn, &QPushButton::clicked, [=]() { community_popup->exec(); });
   settings_btn->setStyleSheet(R"(
     QPushButton {
       font-size: 48px;
diff --git a/selfdrive/ui/qt/widgets/wifi.h b/selfdrive/ui/qt/widgets/wifi.h
index 3e68a15b7b88f2..8ef9dca91a7285 100644
--- a/selfdrive/ui/qt/widgets/wifi.h
+++ b/selfdrive/ui/qt/widgets/wifi.h
@@ -3,12 +3,17 @@
 #include <QFrame>
 #include <QWidget>
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/community_widget.h"
+
 class WiFiPromptWidget : public QFrame {
   Q_OBJECT
 
 public:
   explicit WiFiPromptWidget(QWidget* parent = 0);
 
+private:
+  SunnylinkCommunityPopup *community_popup;
+
 signals:
   void openSettings(int index = 0, const QString &param = "");
 };
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index be92c142616df1..449093886a3ac1 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -35,6 +35,7 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/software_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc",
+  "sunnypilot/qt/offroad/settings/sunnylink/community_widget.cc",
   "sunnypilot/qt/offroad/settings/trips_panel.cc",
   "sunnypilot/qt/offroad/settings/vehicle_panel.cc",
   "sunnypilot/qt/offroad/settings/visuals_panel.cc",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/community_widget.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/community_widget.cc
new file mode 100644
index 00000000000000..e29e89ee985e7d
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/community_widget.cc
@@ -0,0 +1,139 @@
+/**
+ * Copyright (c) 2025-, sunnypilot contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/community_widget.h"
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/util.h"
+
+using qrcodegen::QrCode;
+
+// --- SunnylinkCommunityQRWidget ---
+
+SunnylinkCommunityQRWidget::SunnylinkCommunityQRWidget(QWidget* parent)
+    : QWidget(parent) {}
+
+void SunnylinkCommunityQRWidget::showEvent(QShowEvent *event) {
+  updateQrCode(SUNNYLINK_COMMUNITY_URL);
+  update();
+}
+
+void SunnylinkCommunityQRWidget::updateQrCode(const QString &text) {
+  QrCode qr = QrCode::encodeText(text.toUtf8().data(), QrCode::Ecc::LOW);
+  qint32 sz = qr.getSize();
+  QImage im(sz, sz, QImage::Format_RGB32);
+
+  QRgb black = qRgb(0, 0, 0);
+  QRgb white = qRgb(255, 255, 255);
+  for (int y = 0; y < sz; y++) {
+    for (int x = 0; x < sz; x++) {
+      im.setPixel(x, y, qr.getModule(x, y) ? black : white);
+    }
+  }
+
+  int final_sz = ((width() / sz) - 1) * sz;
+  img = QPixmap::fromImage(im.scaled(final_sz, final_sz, Qt::KeepAspectRatio), Qt::MonoOnly);
+}
+
+void SunnylinkCommunityQRWidget::paintEvent(QPaintEvent *e) {
+  QPainter p(this);
+  p.fillRect(rect(), Qt::white);
+
+  if (!img.isNull()) {
+    QSize s = (size() - img.size()) / 2;
+    p.drawPixmap(s.width(), s.height(), img);
+  }
+}
+
+// --- SunnylinkCommunityPopup ---
+
+QStringList SunnylinkCommunityPopup::getInstructions() {
+  QStringList instructions;
+  instructions << tr("Scan the QR code and join us!");
+  return instructions;
+}
+
+SunnylinkCommunityPopup::SunnylinkCommunityPopup(QWidget* parent)
+    : DialogBase(parent) {
+  auto *mainLayout = new QVBoxLayout(this);
+  mainLayout->setContentsMargins(0, 0, 0, 0);
+  mainLayout->setSpacing(0);
+
+  // Solarized Light base3 background
+  setStyleSheet("SunnylinkCommunityPopup { background-color: #FDF6E3; }");
+
+  // Header spanning full width
+  auto headerWidget = new QWidget(this);
+  auto headerLayout = new QHBoxLayout(headerWidget);
+  headerLayout->setContentsMargins(85, 50, 85, 30);
+  headerLayout->setSpacing(30);
+
+  auto close = new QPushButton(QIcon(":/icons/close.svg"), "", this);
+  close->setIconSize(QSize(80, 80));
+  close->setStyleSheet("border: none;");
+  connect(close, &QPushButton::clicked, this, &QDialog::reject);
+  headerLayout->addWidget(close, 0, Qt::AlignLeft | Qt::AlignVCenter);
+
+  const auto title = new QLabel(tr("Join the sunnypilot Community Forum"), this);
+  // Solarized base02 for text
+  title->setStyleSheet("font-size: 65px; color: #073642;");
+  title->setWordWrap(false);
+  title->setAlignment(Qt::AlignCenter);
+  headerLayout->addWidget(title, 1);
+
+  // Spacer to balance the close button on the right
+  auto spacer = new QWidget(this);
+  spacer->setFixedSize(80, 80);
+  headerLayout->addWidget(spacer, 0);
+
+  mainLayout->addWidget(headerWidget);
+
+  // Two-column content layout
+  auto contentLayout = new QHBoxLayout();
+  contentLayout->setContentsMargins(0, 0, 0, 0);
+  contentLayout->setSpacing(0);
+  mainLayout->addLayout(contentLayout, 66);
+
+  // Left side: description
+  auto leftLayout = new QVBoxLayout();
+  leftLayout->setContentsMargins(85, 40, 50, 70);
+  leftLayout->setSpacing(35);
+  contentLayout->addLayout(leftLayout, 40);
+
+  // Hype / intro paragraph
+  const auto desc = new QLabel(tr(
+    "We're excited to announce our <b>sunnypilot Community Forum</b><br><br>"
+    "Over the years, Discord just hasn't scaled well for our growing community.<br>"
+    "It's noisy, unsearchable, and great discussions disappear too easily.<br>"
+    "Our new community forum aims to fix that by making it easier to <b>find answers, share ideas, track feedback, report bugs, help newcomers</b> and more!<br><br>"
+    "<b>Here's what's waiting for you:</b><br>"
+    "• Fully <b>indexable</b> and discoverable through search engines 🔎<br>"
+    "• <b>AI-powered</b>🤖 topic and chat summaries, spam detection, and more<br>"
+    "• A <b>trust-level system</b>✅ that rewards meaningful contributions<br>"
+    "• Designed to work <b>on your own time</b>.🧘<br><br>"
+    "Scan the QR code on the right and join the discussion!"
+  ), this);
+  // Solarized base01 for body text
+  desc->setStyleSheet("font-size: 40px; color: #586E75;");
+  desc->setWordWrap(true);
+  leftLayout->addWidget(desc);
+
+  leftLayout->addStretch();
+
+  // Right side: QR code and instructions
+  auto rightLayout = new QVBoxLayout();
+  rightLayout->setContentsMargins(50, 40, 85, 70);
+  rightLayout->setSpacing(40);
+  contentLayout->addLayout(rightLayout, 1);
+
+  // QR code (smaller, fixed size)
+  auto *qr = new SunnylinkCommunityQRWidget(this);
+  qr->setFixedSize(500, 500);
+  rightLayout->addStretch();
+  rightLayout->addWidget(qr, 0, Qt::AlignCenter);
+  rightLayout->addStretch();
+}
\ No newline at end of file
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/community_widget.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/community_widget.h
new file mode 100644
index 00000000000000..613375d12c8bcc
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/community_widget.h
@@ -0,0 +1,40 @@
+/**
+* Copyright (c) 2025-, sunnypilot contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QrCode.hpp>
+#include <QtCore/qjsonobject.h>
+
+#include "common/util.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+const QString SUNNYLINK_COMMUNITY_URL = "https://community.sunnypilot.ai/sp-qr";
+
+class SunnylinkCommunityQRWidget : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit SunnylinkCommunityQRWidget(QWidget* parent = nullptr);
+  void paintEvent(QPaintEvent*) override;
+
+private:
+  QPixmap img;
+  void updateQrCode(const QString &text);
+  void showEvent(QShowEvent *event) override;
+};
+
+// Popup widget
+class SunnylinkCommunityPopup : public DialogBase {
+  Q_OBJECT
+
+public:
+  explicit SunnylinkCommunityPopup(QWidget* parent = nullptr);
+
+private:
+  static QStringList getInstructions();
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc
index 7b5ce48238050b..a014eddacb342c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc
@@ -79,11 +79,11 @@ QStringList SunnylinkSponsorPopup::getInstructions(bool sponsor_pair) {
     instructions << tr("Scan the QR code to login to your GitHub account")
                  << tr("Follow the prompts to complete the pairing process")
                  << tr("Re-enter the \"sunnylink\" panel to verify sponsorship status")
-                 << tr("If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot");
+                 << tr("If sponsorship status was not updated, please contact a moderator on our forum at https://community.sunnypilot.ai");
   } else {
     instructions << tr("Scan the QR code to visit sunnyhaibin's GitHub Sponsors page")
                  << tr("Choose your sponsorship tier and confirm your support")
-                 << tr("Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status");
+                 << tr("Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues");
   }
   return instructions;
 }

From 18af4d6ad6db657bcdbe892614851d24a33f9dcc Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 2 Nov 2025 20:26:17 +0100
Subject: [PATCH 0567/1434] ui: Fix spacing in sunnylink panel (#1450)

Fix spacing
---
 selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
index 924d1d3c09e93b..1b170bb0c283e0 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
@@ -90,7 +90,7 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   QString sunnylinkUploaderDesc = tr("Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)");
   sunnylinkUploaderEnabledBtn = new ParamControlSP(
     "EnableSunnylinkUploader",
-    tr("Enable sunnylink uploader (just for testing infrastructure)"),
+    tr("Enable sunnylink uploader (infrastructure test)"),
     sunnylinkUploaderDesc,
     "", nullptr, true);
   list->addItem(sunnylinkUploaderEnabledBtn);

From 071147baafae09c0a3f8305187596f8af16f800b Mon Sep 17 00:00:00 2001
From: Matt Purnell <65473602+mpurnell1@users.noreply.github.com>
Date: Sun, 2 Nov 2025 23:52:17 -0600
Subject: [PATCH 0568/1434] docs: Update README installation branches and
 discord links (#1453)

* Use sunnypilot CARS.md, update number of supported cars, add comma

* Update device reference

* Update discord links to forum links

* Update references to -c3-new branches and release

* Update broken link to branches table

* Update README.md

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 README.md | 36 +++++++++++++++++-------------------
 1 file changed, 17 insertions(+), 19 deletions(-)

diff --git a/README.md b/README.md
index 7e686cef5c2095..598e1273a7ebad 100644
--- a/README.md
+++ b/README.md
@@ -3,11 +3,9 @@
 ## 🌞 What is sunnypilot?
 [sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
 
-## 💭 Join our Discord
-Join the official sunnypilot Discord server to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
-* https://discord.gg/sunnypilot
-
-  ![](https://dcbadge.vercel.app/api/server/wRW3meAgtx?style=flat) ![Discord Shield](https://discordapp.com/api/guilds/880416502577266699/widget.png?style=shield)
+## 💭 Join our Community Forum
+Join the official sunnypilot community forum to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
+* https://community.sunnypilot.ai/
 
 ## Documentation
 https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
@@ -16,13 +14,13 @@ https://docs.sunnypilot.ai/ is your one stop shop for everything from features t
 * A supported device to run this software
     * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
 * This software
-* One of [the 300+ supported cars](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
+* One of [the 325+ supported cars](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
 * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
 
 Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
 
 ## Installation
-Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-c3-new` branch.
+Please refer to [Recommended Branches](#recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging` branch.
 
 ### If you want to use our newest branches (our rewrite)
 > [!TIP]
@@ -31,28 +29,28 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 * sunnypilot not installed or you installed a version before 0.8.17?
   1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
   2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-c3-new.sunnypilot.ai```.
+  3. Input the installation URL per [Recommended Branches](#recommended-branches). Example: ```https://staging.sunnypilot.ai```.
   4. Complete the rest of the installation following the onscreen instructions.
 
 * sunnypilot already installed and you installed a version after 0.8.17?
-  1. On the comma three, go to `Settings` ▶� `Software`.
+  1. On the comma three/3X, go to `Settings` ▶� `Software`.
   2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
   3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-c3-new`
-
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging`
 
-|      Branch      |                 Installation URL              |
-|:----------------:|:---------------------------------------------:|
-| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai`        |
-|   `dev-c3-new`   | `https://dev-c3-new.sunnypilot.ai`            |
-| `custom-branch`  | `https://install.sunnypilot.ai/{branch_name}` |
-| `release-c3-new` |            **Not yet available**.             |
+### Recommended Branches
+|      Branch     |                 Installation URL              |
+|:---------------:|:---------------------------------------------:|
+| `release`       | `https://release.sunnypilot.ai`               |
+| `staging`       | `https://staging.sunnypilot.ai`               |
+|   `dev`         | `https://dev.sunnypilot.ai`                   |
+| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
 
 > [!TIP]
-> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-c3-new'.
+> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging'.
 
 > [!NOTE]
-> Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
+> Do you require further assistance with software installation? Join the [sunnypilot community forum](https://community.sunnypilot.ai/new-topic?category=general/qa) and create a topic in the General/Q&A Category channel.
 
 
 <details>

From 4b5de0eddbf34080106e1ee1e8bf424aa1ce82ca Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Tue, 4 Nov 2025 22:53:31 +0100
Subject: [PATCH 0569/1434] stats: sunnylink integration (#1454)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* sunnylink: add statsd process and related telemetry logging infrastructure

- Introduced `statsd_sp` process for handling Sunnylink-specific stats.
- Enhanced metrics logging with improved directory structure and data handling.

* sunnylink: re-enable and refine stat_handler for telemetry processing

- Reactivated `stat_handler` thread with improved path handling.
- Made `stat_handler` more flexible by allowing directory injection.

* statsd: fix formatting issue in telemetry string generation

- Corrected missing comma between `sunnylink_dongle_id` and `comma_dongle_id`.

* update statsd_sp process configuration for enhanced readiness logic

- Modified `statsd_sp` initialization to include `always_run` alongside `sunnylink_ready_shim`.
- Ensures robust process activation conditions.

* refactor(statsd): enhance and unify StatLogSP implementation

- Replaced custom `StatLogSP` in sunnylink with centralized implementation from `system.statsd`.
- Ensures consistent logic for StatLogSP handling across modules.

* fix

* refactor(statsd): add intercept parameter to StatLogSP for configurable logging

- Introduced optional `intercept` parameter to `StatLogSP` to manage `comma_statlog` initialization.
- Updated usage in `sunnylink` to disable interception where unnecessary.

* Dont complain

* feat(statsd): add raw metric type and SunnyPilot-specific stats collection

- Introduced `METRIC_TYPE.RAW` for base64-encoded raw data metrics.
- Added `sp_stats` thread to export SunnyPilot params as raw metrics.
- Enhanced telemetry handling with decoding and serialization updates.

* refactor(statsd): improve `sp_stats` error handling and param processing

- Enhanced exception handling for `params.get` to prevent crashes.
- Added support for nested dict values to be included in stats.

* refactor(statsd): adjust imports and minor code formatting updates

- Updated `Ratekeeper` import path for consistency with the `openpilot` module structure.
- Fixed minor formatting for improved readability.

* refactor(statsd): update typings and remove unused NoReturn annotation

- Removed unnecessary `NoReturn` typing for `stats_main` to simplify function definition.
- Adjusted `get_influxdb_line_raw` to refine typing for `value` parameter.

* cleanup

* init

* init

* slightly more

* staticmethod

* handle them all

* get them models

* log with route

* more

* car

* Revert "car"

This reverts commit fe1c90cf4d422864388e4a73d5cd25c9e585a9b3.

* handle capnp

* Revert "handle capnp"

This reverts commit c5aea6880333863838a7c258541fb7a2812f2e2b.

* 1 more time

* Revert "1 more time"

This reverts commit a364474fa580d9ef9760a8896f9db76d526abead.

* Cleaning to expose wider

* feat(interfaces, statsd): log car params to stats system

- Added `STATSLOGSP` import and logging to capture `carFingerprint` in metrics.
- Improved error handling in `get_influxdb_line_raw` for robust metric generation.

* refactor(interfaces): streamline car params logging to stats

- Simplified logging by directly converting `CP` to a dictionary.
- Removed legacy stats aggregation for clarity.

* feat(sunnylink): enable compression for stats in SunnyLink

- Added optional compression for stats payload to support large data.
- Updated `stat_handler` to handle compression and base64 encoding.

* fix(statsd): filter complex types in `get_influxdb_line_raw`

- Skips unsupported types (dict, list, bytes) to prevent formatting errors.
- Simplifies type annotation for `value` parameter.

* fix(statsd): use `json.dumps` for string conversion in `get_influxdb_line_raw`

- Ensures proper handling of special characters in values.
- Prevents potential formatting issues with raw `str()` conversion.

* refactor(interfaces, statsd): update parameter keys for stats logging

- Renamed logged keys for better clarity (`sunnypilot_params` → `sunnypilot.car_params`, `device_params`).
- Ensures consistency across data logs.

* bet

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/selfdrive/car/interfaces.py    |   5 +
 sunnypilot/sunnylink/athena/sunnylinkd.py |   5 +-
 sunnypilot/sunnylink/statsd.py            | 278 ++++++++++++++++++++++
 system/athena/athenad.py                  |  24 +-
 system/hardware/hw.py                     |   7 +
 system/manager/process_config.py          |   1 +
 system/statsd.py                          |  59 ++++-
 7 files changed, 368 insertions(+), 11 deletions(-)
 create mode 100755 sunnypilot/sunnylink/statsd.py

diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index 59cfeabd6e5617..2cfbd1eec8ee4b 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -15,6 +15,8 @@
 
 import openpilot.system.sentry as sentry
 
+from sunnypilot.sunnylink.statsd import STATSLOGSP
+
 
 def log_fingerprint(CP: structs.CarParams) -> None:
   if CP.carFingerprint == "MOCK":
@@ -100,6 +102,9 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   _initialize_torque_lateral_control(CI, CP, enforce_torque, nnlc_enabled)
   _cleanup_unsupported_params(CP, CP_SP)
 
+  STATSLOGSP.raw('sunnypilot.car_params', CP.to_dict())
+  # STATSLOGSP.raw('sunnypilot_params.car_params_sp', CP_SP.to_dict()) # https://github.com/sunnypilot/opendbc/pull/361
+
 
 def initialize_params(params) -> list[dict[str, Any]]:
   keys: list = []
diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index d1b38d656fd50a..4c431c5d344b43 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -16,8 +16,9 @@
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \
-  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim, upload_handler
+  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim, upload_handler, stat_handler
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                        create_connection, WebSocketConnectionClosedException)
 
@@ -51,7 +52,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
               threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
               threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
               # threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
-              # threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
+              threading.Thread(target=stat_handler, args=(end_event, Paths.stats_sp_root(), True), name='stat_handler'),
             ] + [
               threading.Thread(target=jsonrpc_handler, args=(end_event, partial(startLocalProxy, end_event),), name=f'worker_{x}')
               for x in range(HANDLER_THREADS)
diff --git a/sunnypilot/sunnylink/statsd.py b/sunnypilot/sunnylink/statsd.py
new file mode 100755
index 00000000000000..eefff6351636bd
--- /dev/null
+++ b/sunnypilot/sunnylink/statsd.py
@@ -0,0 +1,278 @@
+#!/usr/bin/env python3
+import base64
+import json
+import os
+import threading
+import traceback
+
+import zmq
+import time
+import uuid
+from pathlib import Path
+from collections import defaultdict
+from datetime import datetime, UTC
+
+from openpilot.common.params import Params
+from cereal.messaging import SubMaster
+from openpilot.system.hardware.hw import Paths
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware import HARDWARE
+from openpilot.common.file_helpers import atomic_write_in_dir
+from openpilot.system.version import get_build_metadata
+from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
+from openpilot.system.statsd import METRIC_TYPE, StatLogSP
+from openpilot.common.realtime import Ratekeeper
+
+STATSLOGSP = StatLogSP(intercept=False)
+
+def sp_stats(end_event):
+  """Collect sunnypilot-specific statistics and send as raw metrics."""
+  rk = Ratekeeper(.1, print_delay_threshold=None)
+  statlogsp = STATSLOGSP
+  params = Params()
+
+  def flatten_dict(d, parent_key='', sep='.'):
+    items = {}
+    if isinstance(d, dict):
+      for k, v in d.items():
+        new_key = f"{parent_key}{sep}{k}" if parent_key else k
+        items.update(flatten_dict(v, new_key, sep=sep))
+    elif isinstance(d, (list, tuple)):
+      for i, v in enumerate(d):
+        new_key = f"{parent_key}[{i}]"
+        items.update(flatten_dict(v, new_key, sep=sep))
+    else:
+      items[parent_key] = d
+    return items
+
+  # Collect sunnypilot parameters
+  stats_dict = {}
+
+  param_keys = [
+    'SunnylinkEnabled',
+    'AutoLaneChangeBsmDelay',
+    'AutoLaneChangeTimer',
+    'CarPlatformBundle',
+    'CurrentRoute',
+    'DevUIInfo',
+    'EnableCopyparty',
+    'IntelligentCruiseButtonManagement',
+    'QuietMode',
+    'RainbowMode',
+    'ShowAdvancedControls',
+    'Mads',
+    'MadsMainCruiseAllowed',
+    'MadsSteeringMode',
+    'MadsUnifiedEngagementMode',
+    'ModelManager_ActiveBundle',
+    'ModelManager_Favs',
+    'EnableSunnylinkUploader',
+    'SunnylinkEnabled',
+    'InstallDate',
+    'UptimeOffroad',
+    'UptimeOnroad',
+  ]
+
+  while not end_event.is_set():
+    try:
+      for key in param_keys:
+
+        try:
+          value = params.get(key)
+        except Exception as e:
+          stats_dict[key] = e
+          continue
+
+        if value is None:
+          continue
+
+        if isinstance(value, (dict, list, tuple)):
+          stats_dict.update(flatten_dict(value, key))
+        else:
+          stats_dict[key] = value
+
+      if stats_dict:
+        statlogsp.raw('sunnypilot.device_params', stats_dict)
+    except Exception as e:
+      cloudlog.error(f"Exception {e}")
+    finally:
+      rk.keep_time()
+
+
+def stats_main(end_event):
+  comma_dongle_id = Params().get("DongleId")
+  sunnylink_dongle_id = Params().get("SunnylinkDongleId")
+
+  def get_influxdb_line(measurement: str, value: float | dict[str, float], timestamp: datetime, tags: dict) -> str:
+    res = f"{measurement}"
+    for k, v in tags.items():
+      res += f",{k}={str(v)}"
+    res += " "
+
+    if isinstance(value, float):
+      value = {'value': value}
+
+    for k, v in value.items():
+      res += f"{k}={str(v)},"
+
+    res += f"sunnylink_dongle_id=\"{sunnylink_dongle_id}\",comma_dongle_id=\"{comma_dongle_id}\" {int(timestamp.timestamp() * 1e9)}\n"
+    return res
+
+  def get_influxdb_line_raw(measurement: str, value: dict, timestamp: datetime, tags: dict) -> str:
+    res = f"{measurement}"
+    try:
+      custom_tags = ""
+      for k, v in tags.items():
+        custom_tags += f",{k}={str(v)}"
+      res += custom_tags
+
+      fields = ""
+      for k, v in value.items():
+        # Skip complex types - only keep simple scalar values
+        if isinstance(v, (dict, list, bytes, bytearray)):
+          continue
+
+        fields += f"{k}={json.dumps(v)},"
+
+      res += f" {fields}"
+    except Exception as e:
+      cloudlog.error(f"Unable to get influxdb line for: {value}")
+      res += f",invalid=1 reason={e},"
+
+    res += f"sunnylink_dongle_id=\"{sunnylink_dongle_id}\",comma_dongle_id=\"{comma_dongle_id}\" {int(timestamp.timestamp() * 1e9)}\n"
+    return res
+
+  # open statistics socket
+  ctx = zmq.Context.instance()
+  sock = ctx.socket(zmq.PULL)
+  sock.bind(f"{STATS_SOCKET}_sp")
+
+  STATS_DIR = Paths.stats_sp_root()
+
+  # initialize stats directory
+  Path(STATS_DIR).mkdir(parents=True, exist_ok=True)
+
+  build_metadata = get_build_metadata()
+
+  # initialize tags
+  tags = {
+    'started': False,
+    'version': build_metadata.openpilot.version,
+    'branch': build_metadata.channel,
+    'dirty': build_metadata.openpilot.is_dirty,
+    'origin': build_metadata.openpilot.git_normalized_origin,
+    'deviceType': HARDWARE.get_device_type(),
+  }
+
+  # subscribe to deviceState for started state
+  sm = SubMaster(['deviceState'])
+
+  idx = 0
+  boot_uid = str(uuid.uuid4())[:8]
+  last_flush_time = time.monotonic()
+  gauges = {}
+  samples: dict[str, list[float]] = defaultdict(list)
+  raws: dict = defaultdict()
+  try:
+    while not end_event.is_set():
+      started_prev = sm['deviceState'].started
+      sm.update()
+
+      # Update metrics
+      while True:
+        try:
+          metric = sock.recv_string(zmq.NOBLOCK)
+          try:
+            metric_type = metric.split('|')[1]
+            metric_name = metric.split(':')[0]
+            metric_value_raw = metric.split('|')[0].split(':')[1]
+
+            if metric_type == METRIC_TYPE.GAUGE:
+              metric_value = float(metric_value_raw)
+              gauges[metric_name] = metric_value
+            elif metric_type == METRIC_TYPE.SAMPLE:
+              metric_value = float(metric_value_raw)
+              samples[metric_name].append(metric_value)
+            elif metric_type == METRIC_TYPE.RAW:
+              raws[metric_name] = metric_value_raw
+            else:
+              cloudlog.event("unknown metric type", metric_type=metric_type)
+          except Exception:
+            print(traceback.format_exc())
+            cloudlog.event("malformed metric", metric=metric)
+        except zmq.error.Again:
+          break
+
+      # flush when started state changes or after FLUSH_TIME_S
+      if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev):
+        result = ""
+        current_time = datetime.now(UTC)
+        tags['started'] = sm['deviceState'].started
+
+        for key, value in raws.items():
+          decoded_value = json.loads(base64.b64decode(value).decode('utf-8'))
+          result += get_influxdb_line_raw(key, decoded_value, current_time, tags)
+
+        for key, value in gauges.items():
+          result += get_influxdb_line(f"gauge.{key}", value, current_time, tags)
+
+        for key, values in samples.items():
+          values.sort()
+          sample_count = len(values)
+          sample_sum = sum(values)
+
+          stats = {
+            'count': sample_count,
+            'min': values[0],
+            'max': values[-1],
+            'mean': sample_sum / sample_count,
+          }
+          for percentile in [0.05, 0.5, 0.95]:
+            value = values[int(round(percentile * (sample_count - 1)))]
+            stats[f"p{int(percentile * 100)}"] = value
+
+          result += get_influxdb_line(f"sample.{key}", stats, current_time, tags)
+
+        # clear intermediate data
+        gauges.clear()
+        samples.clear()
+        last_flush_time = time.monotonic()
+
+        # check that we aren't filling up the drive
+        if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
+          if len(result) > 0:
+            stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}")
+            with atomic_write_in_dir(stats_path) as f:
+              f.write(result)
+            idx += 1
+        else:
+          cloudlog.error("stats dir full")
+  finally:
+    sock.close()
+    ctx.term()
+
+
+def main():
+  rk = Ratekeeper(1, print_delay_threshold=None)
+  end_event = threading.Event()
+
+  threads = [
+    threading.Thread(target=stats_main, args=(end_event,)),
+    threading.Thread(target=sp_stats, args=(end_event,)),
+  ]
+
+  for t in threads:
+    t.start()
+
+  try:
+    while all(t.is_alive() for t in threads):
+      rk.keep_time()
+  finally:
+    end_event.set()
+
+  for t in threads:
+    t.join()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 42c9cf8a1cb55b..716733021ad317 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -744,26 +744,40 @@ def log_handler(end_event: threading.Event, log_attr_name=LOG_ATTR_NAME) -> None
       cloudlog.exception("athena.log_handler.exception")
 
 
-def stat_handler(end_event: threading.Event) -> None:
-  STATS_DIR = Paths.stats_root()
+def stat_handler(end_event: threading.Event, stats_dir=None, is_sunnylink=False) -> None:
+  stats_dir = stats_dir or Paths.stats_root()
   last_scan = 0.0
 
   while not end_event.is_set():
     curr_scan = time.monotonic()
     try:
       if curr_scan - last_scan > 10:
-        stat_filenames = list(filter(lambda name: not name.startswith(tempfile.gettempprefix()), os.listdir(STATS_DIR)))
+        stat_filenames = list(filter(lambda name: not name.startswith(tempfile.gettempprefix()), os.listdir(stats_dir)))
         if len(stat_filenames) > 0:
-          stat_path = os.path.join(STATS_DIR, stat_filenames[0])
+          stat_path = os.path.join(stats_dir, stat_filenames[0])
           with open(stat_path) as f:
+            payload = f.read()
+            is_compressed = False
+
+            # Log the current size of the file
+            if is_sunnylink:
+              # Compress and encode the data if it exceeds the maximum size
+              compressed_data = gzip.compress(payload.encode())
+              payload = base64.b64encode(compressed_data).decode()
+              is_compressed = True
+
             jsonrpc = {
               "method": "storeStats",
               "params": {
-                "stats": f.read()
+                "stats": payload
               },
               "jsonrpc": "2.0",
               "id": stat_filenames[0]
             }
+
+            if is_sunnylink and is_compressed:
+              jsonrpc["params"]["compressed"] = is_compressed
+
             low_priority_send_queue.put_nowait(json.dumps(jsonrpc))
           os.remove(stat_path)
         last_scan = curr_scan
diff --git a/system/hardware/hw.py b/system/hardware/hw.py
index d24857e8bd5840..3527aac8721a52 100644
--- a/system/hardware/hw.py
+++ b/system/hardware/hw.py
@@ -55,6 +55,13 @@ def stats_root() -> str:
     else:
       return "/data/stats/"
 
+  @staticmethod
+  def stats_sp_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "stats")
+    else:
+      return "/data/stats_sp/"
+
   @staticmethod
   def config_root() -> str:
     if PC:
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index c5f20e511b0a14..6e52635a64b99d 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -164,6 +164,7 @@ def and_(*fns):
   # sunnylink <3
   DaemonProcess("manage_sunnylinkd", "sunnypilot.sunnylink.athena.manage_sunnylinkd", "SunnylinkdPid"),
   PythonProcess("sunnylink_registration_manager", "sunnypilot.sunnylink.registration_manager", sunnylink_need_register_shim),
+  PythonProcess("statsd_sp", "sunnypilot.sunnylink.statsd", and_(always_run, sunnylink_ready_shim)),
 ]
 
 # sunnypilot
diff --git a/system/statsd.py b/system/statsd.py
index d60064fc919ca9..89ffa0d6fc3a6c 100755
--- a/system/statsd.py
+++ b/system/statsd.py
@@ -1,11 +1,15 @@
 #!/usr/bin/env python3
+import base64
+import json
 import os
+from decimal import Decimal
+
 import zmq
 import time
 import uuid
 from pathlib import Path
 from collections import defaultdict
-from datetime import datetime, UTC
+from datetime import datetime, UTC, date
 from typing import NoReturn
 
 from openpilot.common.params import Params
@@ -21,18 +25,21 @@
 class METRIC_TYPE:
   GAUGE = 'g'
   SAMPLE = 'sa'
+  RAW = 'r'
+
 
 class StatLog:
   def __init__(self):
     self.pid = None
     self.zctx = None
     self.sock = None
+    self.stats_socket = STATS_SOCKET
 
   def connect(self) -> None:
-    self.zctx = zmq.Context()
+    self.zctx = zmq.Context.instance() or zmq.Context()
     self.sock = self.zctx.socket(zmq.PUSH)
     self.sock.setsockopt(zmq.LINGER, 10)
-    self.sock.connect(STATS_SOCKET)
+    self.sock.connect(self.stats_socket)
     self.pid = os.getpid()
 
   def __del__(self):
@@ -60,6 +67,50 @@ def sample(self, name: str, value: float):
     self._send(f"{name}:{value}|{METRIC_TYPE.SAMPLE}")
 
 
+class StatLogSP(StatLog):
+  def __init__(self, intercept=True):
+    """
+    Initializes the class instance with an optional parameter to determine
+    if statistical logging should be configured or not.
+
+    :param intercept: A boolean flag that indicates whether to initialize
+        the `comma_statlog`. If True, the `comma_statlog` attribute is
+        instantiated as a `StatLog` object. Defaults to True.
+    """
+    super().__init__()
+    self.comma_statlog = StatLog() if intercept else None
+    self.stats_socket = f"{STATS_SOCKET}_sp"
+
+  def connect(self) -> None:
+    super().connect()
+    if self.comma_statlog:
+      self.comma_statlog.connect()
+
+  def __del__(self):
+    super().__del__()
+    if self.comma_statlog:
+      self.comma_statlog.__del__()
+
+  def _send(self, metric: str) -> None:
+    super()._send(metric)
+    if self.comma_statlog:
+      self.comma_statlog._send(metric)
+
+  @staticmethod
+  def default_converter(obj):
+    if isinstance(obj, (datetime, date)):
+      return obj.isoformat()
+    if isinstance(obj, set):
+      return list(obj)
+    if isinstance(obj, Decimal):
+      return float(obj)
+    return str(obj)  # fallback for unknown types
+
+  def raw(self, name: str, value: dict) -> None:
+    encoded_dict = base64.b64encode(json.dumps(value, default=self.default_converter).encode("utf-8")).decode("utf-8")
+    self._send(f"{name}:{encoded_dict}|{METRIC_TYPE.RAW}")
+
+
 def main() -> NoReturn:
   dongle_id = Params().get("DongleId")
   def get_influxdb_line(measurement: str, value: float | dict[str, float],  timestamp: datetime, tags: dict) -> str:
@@ -180,4 +231,4 @@ def get_influxdb_line(measurement: str, value: float | dict[str, float],  timest
 if __name__ == "__main__":
   main()
 else:
-  statlog = StatLog()
+  statlog = StatLogSP(intercept=True)

From cde88fd8ed6dfa0f2218745acf53ff8170ffd086 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Thu, 6 Nov 2025 12:13:15 +0100
Subject: [PATCH 0570/1434] bug: Fix initial registration for sunnylink (#1457)

refactor(sunnylink): defer `SunnylinkApi` initialization to function scope

- Moved `SunnylinkApi` object creation into individual functions as needed.
- Prevents unnecessary initialization when the object isn't used.
---
 sunnypilot/sunnylink/athena/sunnylinkd.py | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index 4c431c5d344b43..911739c3120312 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -34,9 +34,6 @@
 DISALLOW_LOG_UPLOAD = threading.Event()
 
 params = Params()
-sunnylink_dongle_id = params.get("SunnylinkDongleId")
-sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
-
 
 def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
   cloudlog.info("sunnylinkd.handle_long_poll started")
@@ -133,6 +130,8 @@ def ws_ping(ws: WebSocket, end_event: threading.Event) -> None:
 
 
 def ws_queue(end_event: threading.Event) -> None:
+  sunnylink_dongle_id = params.get("SunnylinkDongleId")
+  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
   resume_requested = False
   tries = 0
 
@@ -234,6 +233,9 @@ def saveParams(params_to_update: dict[str, str], compression: bool = False) -> N
 
 
 def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
+  sunnylink_dongle_id = params.get("SunnylinkDongleId")
+  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
+
   cloudlog.debug("athena.startLocalProxy.starting")
   ws = create_connection(
     remote_ws_uri,
@@ -255,6 +257,8 @@ def main(exit_event: threading.Event = None):
     cloudlog.info("Waiting for sunnylink registration to complete")
     time.sleep(10)
 
+  sunnylink_dongle_id = params.get("SunnylinkDongleId")
+  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
   UploadQueueCache.initialize(upload_queue)
 
   ws_uri = f"{SUNNYLINK_ATHENA_HOST}"

From 8c1d59fecd43d0e4b7d3c3742023fa0be0ff91f2 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Thu, 6 Nov 2025 22:47:55 -0500
Subject: [PATCH 0571/1434] [bot] Update Python packages (#1434)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index c7126f8ba620eb..c32e79f3c6a617 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit c7126f8ba620eb06fe345013081e97503331bbe1
+Subproject commit c32e79f3c6a6170bec9f879a0ffdf901caeb4ab0

From 2ab45b552d8ceae61647f6ac64b238be1b7e5a06 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 6 Nov 2025 23:10:03 -0500
Subject: [PATCH 0572/1434] Update CHANGELOG.md

---
 CHANGELOG.md | 25 +++++++++++++++++++++++--
 1 file changed, 23 insertions(+), 2 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5cb25994be30fb..ea7199a854a0bb 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,26 @@
-sunnypilot Version 2025.002.000 (2025-xx-xx)
-========================
+sunnypilot Version 2025.002.000 (2025-11-06)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * models: bump model json to v8 by @Discountchubbs
+  * Bug: Model UI Crash Fix by @nayan8teen
+  * controlsd: add `CP_SP` to `get_pid_accel_limits` by @THERoenPR
+  * sunnylink: update uploader button logic to support novice tier and above by @devtekve
+  * Tesla: Coop Steering by @AmyJeanes
+  * ui: update discord references and add forum widget by @devtekve
+  * ui: Fix spacing in sunnylink panel by @devtekve
+  * docs: Update README installation branches and discord links by @mpurnell1 in
+  * stats: sunnylink integration by @devtekve
+  * bug: Fix initial registration for sunnylink by @devtekve
+* What's Changed (sunnypilot/opendbc)
+  * Honda: add brake hold messages for Clarity by @mvl-boston
+  * interface: add `CP_SP` to `get_pid_accel_limits` method signature by @roenthomas
+  * Honda: use fixed accel min/max constants for Gas Interceptor by @roenthomas
+  * Tesla: Coop Steering by @AmyJeanes
+* New Contributors (sunnypilot/sunnypilot)
+  * @THERoenPR made their first contribution in "controlsd: add `CP_SP` to `get_pid_accel_limits`"
+  * @AmyJeanes made their first contribution in "Tesla: Coop Steering"
+  * @mpurnell1 made their first contribution in "docs: Update README installation branches and discord links"
+* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2025.001.000...v2025.002.000
 
 sunnypilot Version 2025.001.000 (2025-10-25)
 ========================

From c1d3ae427bd773edbf3d4bd73f06ab52659e638f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 6 Nov 2025 23:12:41 -0500
Subject: [PATCH 0573/1434] version: bump to 2025.003.000

---
 CHANGELOG.md                | 3 +++
 sunnypilot/common/version.h | 2 +-
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index ea7199a854a0bb..61bc81bafc60c0 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,3 +1,6 @@
+sunnypilot Version 2025.003.000 (20xx-xx-xx)
+========================
+
 sunnypilot Version 2025.002.000 (2025-11-06)
 ========================
 * What's Changed (sunnypilot/sunnypilot)
diff --git a/sunnypilot/common/version.h b/sunnypilot/common/version.h
index b52d984b4dd00e..6833a508de126f 100644
--- a/sunnypilot/common/version.h
+++ b/sunnypilot/common/version.h
@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2025.002.000"
+#define SUNNYPILOT_VERSION "2025.003.000"

From dd074cb6ef907d6bc8e913feacfe4bdf489de853 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Mon, 10 Nov 2025 07:50:43 -0800
Subject: [PATCH 0574/1434] ci: efficient model building (#1456)

* new new

* Simplify model removal

* use a var
---
 .github/workflows/build-all-tinygrad-models.yaml   | 4 ++--
 .github/workflows/build-single-tinygrad-model.yaml | 2 +-
 .github/workflows/sunnypilot-build-model.yaml      | 2 ++
 3 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build-all-tinygrad-models.yaml b/.github/workflows/build-all-tinygrad-models.yaml
index 1c7812ee47c6ed..00864d38a0d03c 100644
--- a/.github/workflows/build-all-tinygrad-models.yaml
+++ b/.github/workflows/build-all-tinygrad-models.yaml
@@ -74,7 +74,7 @@ jobs:
         env:
           GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
         run: |
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
           cd gitlab_docs
           git checkout main
           git sparse-checkout set --no-cone models/
@@ -191,7 +191,7 @@ jobs:
           GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
         run: |
           echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
           cd gitlab_docs
           echo "checkout models/${RECOMPILED_DIR}"
           git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
diff --git a/.github/workflows/build-single-tinygrad-model.yaml b/.github/workflows/build-single-tinygrad-model.yaml
index 76f39fb6fe89a2..fae9d6aa0103e7 100644
--- a/.github/workflows/build-single-tinygrad-model.yaml
+++ b/.github/workflows/build-single-tinygrad-model.yaml
@@ -109,7 +109,7 @@ jobs:
           GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
         run: |
           echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
           cd gitlab_docs
           echo "checkout models/${RECOMPILED_DIR}"
           git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml
index dfe84e7853528a..bc4ecfe04bdfbc 100644
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -156,6 +156,8 @@ jobs:
         with:
           name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
           path: ${{ github.workspace }}/selfdrive/modeld/models
+      - run: |
+          rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
 
       - name: Build Model
         run: |

From 90cbb094829501706b79eaab356a623328a4f23f Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Thu, 13 Nov 2025 21:03:00 -0800
Subject: [PATCH 0575/1434] tinygrad: sync tinygrad and recompile models
 (#1464)

* ref

* add in the fixes

* Update fetcher.py

* Update helpers.py

* force push same commit so we can restart CI
---
 selfdrive/modeld/SConscript               | 4 ++--
 selfdrive/modeld/dmonitoringmodeld.py     | 2 +-
 selfdrive/modeld/modeld.py                | 2 +-
 sunnypilot/models/fetcher.py              | 2 +-
 sunnypilot/models/helpers.py              | 4 ++--
 sunnypilot/models/runners/model_runner.py | 7 ++-----
 tinygrad_repo                             | 2 +-
 7 files changed, 10 insertions(+), 13 deletions(-)

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 6802b45e6e38c0..1a6df4bb9b2ad6 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -51,8 +51,8 @@ def tg_compile(flags, model_name):
 for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
   flags = {
     'larch64': 'DEV=QCOM',
-    'Darwin': 'DEV=CPU IMAGE=0',
-  }.get(arch, 'DEV=LLVM IMAGE=0')
+    'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
+  }.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0')
   tg_compile(flags, model_name)
 
 # Compile BIG model if USB GPU is available
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 215056e6e65835..5aeb035bdcf457 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import os
 from openpilot.system.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'LLVM'
+os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
 from tinygrad.tensor import Tensor
 from tinygrad.dtype import dtypes
 import math
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 00b49afabaf3ee..9ac21a18dc67df 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import os
 from openpilot.system.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'LLVM'
+os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
 USBGPU = "USBGPU" in os.environ
 if USBGPU:
   os.environ['DEV'] = 'AMD'
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 8c9c4eac71cbae..0c14315ff8ab66 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -116,7 +116,7 @@ def set(self, data: dict) -> None:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v8.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v9.json"
 
   def __init__(self, params: Params):
     self.params = params
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index 20b94fb611cb40..51a3a2459835b1 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -19,8 +19,8 @@
 from pathlib import Path
 
 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 10
-REQUIRED_MIN_SELECTOR_VERSION = 9
+CURRENT_SELECTOR_VERSION = 11
+REQUIRED_MIN_SELECTOR_VERSION = 11
 
 USE_ONNX = os.getenv('USE_ONNX', PC)
 
diff --git a/sunnypilot/models/runners/model_runner.py b/sunnypilot/models/runners/model_runner.py
index 7124662791579b..6902ed09b8c11e 100644
--- a/sunnypilot/models/runners/model_runner.py
+++ b/sunnypilot/models/runners/model_runner.py
@@ -14,13 +14,10 @@
 # Set QCOM environment variable for TICI devices, potentially enabling hardware acceleration
 USBGPU = "USBGPU" in os.environ
 if USBGPU:
-  os.environ['AMD'] = '1'
+  os.environ['DEV'] = 'AMD'
   os.environ['AMD_IFACE'] = 'USB'
-elif TICI:
-  os.environ['QCOM'] = '1'
 else:
-  os.environ['LLVM'] = '1'
-  os.environ['JIT'] = '2'  # TODO: This may cause issues
+  os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
 
 
 class ModelData:
diff --git a/tinygrad_repo b/tinygrad_repo
index d2bb1bcb976f10..7296c74cbd2666 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit d2bb1bcb976f106a41928f2d66d354ab7afd6f59
+Subproject commit 7296c74cbd2666da7dce95d7ca6dab5340653a5c

From cb03d08397c98c5f693026350ad094c3eadb1209 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 16 Nov 2025 01:55:19 -0500
Subject: [PATCH 0576/1434] tools: add retry mechanism for API requests (#1480)

---
 tools/lib/api.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/tools/lib/api.py b/tools/lib/api.py
index c6e2d989141367..f84fe758695fc3 100644
--- a/tools/lib/api.py
+++ b/tools/lib/api.py
@@ -1,5 +1,6 @@
 import os
 import requests
+from requests.adapters import HTTPAdapter, Retry
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 
 # TODO: this should be merged into common.api
@@ -11,6 +12,9 @@ def __init__(self, token=None):
     if token:
       self.session.headers['Authorization'] = 'JWT ' + token
 
+    retries = Retry(total=5, backoff_factor=1, status_forcelist=[500, 502, 503, 504])
+    self.session.mount('https://', HTTPAdapter(max_retries=retries))
+
   def request(self, method, endpoint, **kwargs):
     with self.session.request(method, API_HOST + '/' + endpoint, **kwargs) as resp:
       resp_json = resp.json()

From 04eac60983141a4a615bda33b37515f5d8fa1c51 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 21 Nov 2025 14:03:02 -0500
Subject: [PATCH 0577/1434] msgq: point back to comma's (#1498)

---
 .gitmodules | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.gitmodules b/.gitmodules
index b9f0336a0e3b81..cd6cf2168fd5a6 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -6,7 +6,7 @@
   url = https://github.com/sunnypilot/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
-  url = https://github.com/sunnypilot/msgq.git
+  url = https://github.com/commaai/msgq.git
 [submodule "rednose_repo"]
   path = rednose_repo
   url = https://github.com/commaai/rednose.git

From f43479aac5f64b24e1e3b28a7dd7a2567e826d31 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 21 Nov 2025 14:10:33 -0500
Subject: [PATCH 0578/1434] ci: update workflow file name for prebuilt jobs
 (#1499)

---
 .github/workflows/sunnypilot-build-prebuilt.yaml  | 4 ++--
 .github/workflows/sunnypilot-master-dev-prep.yaml | 6 +++---
 .github/workflows/wait-for-action/action.yaml     | 2 +-
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 12fb01cbd1d87f..d3ad2d24194b91 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -22,7 +22,7 @@ on:
   workflow_dispatch:
     inputs:
       wait_for_tests:
-        description: 'Wait for selfdrive_tests to finish'
+        description: 'Wait for tests to finish'
         required: false
         type: boolean
         default: false
@@ -99,7 +99,7 @@ jobs:
       - name: Wait for Tests
         uses: ./.github/workflows/wait-for-action # Path to where you place the action
         with:
-          workflow: selfdrive_tests.yaml # The workflow file to monitor
+          workflow: tests.yaml # The workflow file to monitor
           github-token: ${{ secrets.GITHUB_TOKEN }}
           should-wait-for-start: ${{ github.event_name == 'push' && 'true' || 'false' }}
 
diff --git a/.github/workflows/sunnypilot-master-dev-prep.yaml b/.github/workflows/sunnypilot-master-dev-prep.yaml
index e93e778aa658bb..e7a966374389a1 100644
--- a/.github/workflows/sunnypilot-master-dev-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-prep.yaml
@@ -57,7 +57,7 @@ jobs:
           || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
           )
         with:
-          workflow: selfdrive_tests.yaml # The workflow file to monitor
+          workflow: tests.yaml # The workflow file to monitor
           github-token: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Configure Git
@@ -201,13 +201,13 @@ jobs:
         if: steps.push-changes.outputs.has_changes == 'true'
         run: |
           echo "Triggering selfdrive tests..."
-          gh workflow run selfdrive_tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
+          gh workflow run tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
 
           echo "Sleeping for 120s to give plenty of time for the action to start and then we wait"
           sleep 120
 
           echo "Getting latest run ID..."
-          RUN_ID=$(gh run list --workflow=selfdrive_tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
+          RUN_ID=$(gh run list --workflow=tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
 
           echo "Watching run ID: $RUN_ID"
           gh run watch "$RUN_ID"
diff --git a/.github/workflows/wait-for-action/action.yaml b/.github/workflows/wait-for-action/action.yaml
index 9cde4cf07650cd..01bc6146187acf 100644
--- a/.github/workflows/wait-for-action/action.yaml
+++ b/.github/workflows/wait-for-action/action.yaml
@@ -4,7 +4,7 @@ inputs:
   workflow:
     description: 'The workflow file name to monitor'
     required: true
-    default: 'selfdrive_tests.yaml'
+    default: 'tests.yaml'
   branch:
     description: 'The branch to monitor (defaults to current branch)'
     required: false

From 4d2ad45be6bcede183faa5f88fb4738f117a7b39 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Fri, 21 Nov 2025 14:22:23 -0500
Subject: [PATCH 0579/1434] [bot] Update Python packages (#1483)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 docs/CARS.md | 703 ++++++++++++++++++++++++++-------------------------
 opendbc_repo |   2 +-
 2 files changed, 353 insertions(+), 352 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 695c2589e33703..4c1e90e18dab44 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,349 +4,351 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 339 Supported Cars
+# 341 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
-|Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
-|Acura|MDX 2025|All except Type S|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
-|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
-|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
-|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
-|Chevrolet|Malibu Non-ACC 2016-23|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Non-ACC 2016-23">Buy Here</a></sub></details>|||
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
-|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
-|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
-|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2019-20">Buy Here</a></sub></details>|||
-|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2021-23">Buy Here</a></sub></details>|||
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
-|Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
+|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
+|Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
+|Acura|MDX 2025|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
+|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
+|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
+|Acura|TLX 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
+|Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
+|Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
+|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
+|Chevrolet|Malibu Non-ACC 2016-23|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Non-ACC 2016-23">Buy Here</a></sub></details>|||
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
+|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
+|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
+|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2019-20">Buy Here</a></sub></details>|||
+|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2021-23">Buy Here</a></sub></details>|||
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
+|Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
-|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
-|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
-|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
-|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
-|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
-|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
-|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2022">Buy Here</a></sub></details>|||
-|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2023-24">Buy Here</a></sub></details>|||
-|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2022">Buy Here</a></sub></details>|||
-|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
-|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2018">Buy Here</a></sub></details>|||
-|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2019-21">Buy Here</a></sub></details>|||
-|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2022-23">Buy Here</a></sub></details>|||
-|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G80 2017">Buy Here</a></sub></details>|||
-|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G80 2018-19">Buy Here</a></sub></details>|||
-|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>|||
-|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G90 2017-20">Buy Here</a></sub></details>|||
-|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>|||
-|Genesis|GV60 (Performance Trim) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>|||
-|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>|||
-|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>|||
-|Genesis|GV70 Electrified (Australia Only) 2022[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>|||
-|Genesis|GV70 Electrified (with HDA II) 2023-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
-|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Accord 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
-|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
-|Honda|Civic Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025">Buy Here</a></sub></details>|||
-|Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
-|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
-|Honda|CR-V 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-25">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
-|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
-|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
-|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
-|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
-|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
-|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
-|Honda|Odyssey 2021-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-25">Buy Here</a></sub></details>|||
-|Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
-|Honda|Pilot 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
-|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
-|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
-|Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
-|Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2020">Buy Here</a></sub></details>|||
-|Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Custin 2023">Buy Here</a></sub></details>|||
-|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2017-18">Buy Here</a></sub></details>|||
-|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2019">Buy Here</a></sub></details>|||
-|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
-|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Non-SCC 2022">Buy Here</a></sub></details>|||
-|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
-|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022-23">Buy Here</a></sub></details>|||
-|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
-|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
-|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric Non-SCC 2019">Buy Here</a></sub></details>|||
-|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Non-SCC 2019">Buy Here</a></sub></details>|||
-|Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
-|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Santa Cruz 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>|||
-|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
-|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2018-19">Buy Here</a></sub></details>|||
-|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Hyundai|Staria 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Staria 2023">Buy Here</a></sub></details>|||
-|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2021">Buy Here</a></sub></details>|||
-|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2022">Buy Here</a></sub></details>|||
-|Hyundai|Tucson 2023-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2023-24">Buy Here</a></sub></details>|||
-|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Diesel 2019">Buy Here</a></sub></details>|||
-|Hyundai|Tucson Hybrid 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Tucson Plug-in Hybrid 2024[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
-|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Carnival 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
-|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
-|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
-|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
-|Kia|EV6 (Southeast Asia only) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
-|Kia|EV6 (with HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
-|Kia|EV6 (without HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
-|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
-|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
-|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2019">Buy Here</a></sub></details>|||
-|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
-|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
-|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV (with HDA II) 2025[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2025">Buy Here</a></sub></details>|||
-|Kia|Niro EV (without HDA II) 2023-25[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (without HDA II) 2023-25">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 2018|Smart Cruise Control (SCC)|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2018">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2021">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2022">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023">Buy Here</a></sub></details>|||
-|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>|||
-|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>|||
-|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
-|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>|||
-|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2017">Buy Here</a></sub></details>|||
-|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2019-20">Buy Here</a></sub></details>|||
-|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
-|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos 2021">Buy Here</a></sub></details>|||
-|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2021-23">Buy Here</a></sub></details>|||
-|Kia|Sorento Hybrid 2021-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Hybrid 2021-23">Buy Here</a></sub></details>|||
-|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
-|Kia|Sportage 2023-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
-|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
-|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
-|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
-|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus GS F 2016">Buy Here</a></sub></details>|||
-|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2017-19">Buy Here</a></sub></details>|||
-|Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2022-24">Buy Here</a></sub></details>|||
-|Lexus|LC 2024-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LC 2024-25">Buy Here</a></sub></details>|||
-|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2018-19">Buy Here</a></sub></details>|||
-|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2020-21">Buy Here</a></sub></details>|||
-|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2018-19">Buy Here</a></sub></details>|||
-|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2020-21">Buy Here</a></sub></details>|||
-|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RC 2018-20">Buy Here</a></sub></details>|||
-|Lexus|RC 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RC 2023">Buy Here</a></sub></details>|||
-|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2016">Buy Here</a></sub></details>|||
-|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2017-19">Buy Here</a></sub></details>|||
-|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2020-22">Buy Here</a></sub></details>|||
-|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2016">Buy Here</a></sub></details>|||
-|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2017-19">Buy Here</a></sub></details>|||
-|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
-|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
-|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
-|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Nissan[<sup>7</sup>](#footnotes)|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>7</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Nissan[<sup>7</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>7</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
-|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
-|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
-|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
-|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Å koda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Å koda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Å koda|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Å koda|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Å koda|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Å koda|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Å koda|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Å koda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Å koda|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
-|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2017-18">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2019-21">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2022">Buy Here</a></sub></details>|||
-|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon Hybrid 2019-21">Buy Here</a></sub></details>|||
-|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon Hybrid 2022">Buy Here</a></sub></details>|||
-|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2017-20">Buy Here</a></sub></details>|||
-|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
-|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
-|Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>12</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>12</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
-|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>|||
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
-|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Mirai 2021">Buy Here</a></sub></details>|||
-|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius v 2017">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2016">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2017-18">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2022">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2023-25">Buy Here</a></sub></details>|||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2019-21">Buy Here</a></sub></details>|||
-|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
+|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
+|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
+|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
+|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
+|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
+|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
+|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
+|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
+|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
+|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2022">Buy Here</a></sub></details>|||
+|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2023-24">Buy Here</a></sub></details>|||
+|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2022">Buy Here</a></sub></details>|||
+|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
+|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2018">Buy Here</a></sub></details>|||
+|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2019-21">Buy Here</a></sub></details>|||
+|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2022-23">Buy Here</a></sub></details>|||
+|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G80 2017">Buy Here</a></sub></details>|||
+|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G80 2018-19">Buy Here</a></sub></details>|||
+|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>|||
+|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G90 2017-20">Buy Here</a></sub></details>|||
+|Genesis|GV60 (Advanced Trim) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>|||
+|Genesis|GV60 (Performance Trim) 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>|||
+|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>|||
+|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>|||
+|Genesis|GV70 Electrified (Australia Only) 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>|||
+|Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
+|Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
+|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
+|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
+|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
+|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
+|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
+|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
+|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
+|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
+|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
+|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
+|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
+|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
+|Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
+|Honda|Passport 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
+|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
+|Honda|Pilot 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
+|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
+|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
+|Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
+|Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2020">Buy Here</a></sub></details>|||
+|Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Custin 2023">Buy Here</a></sub></details>|||
+|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2017-18">Buy Here</a></sub></details>|||
+|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2019">Buy Here</a></sub></details>|||
+|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
+|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Non-SCC 2022">Buy Here</a></sub></details>|||
+|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
+|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
+|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022-23">Buy Here</a></sub></details>|||
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
+|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric Non-SCC 2019">Buy Here</a></sub></details>|||
+|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
+|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Non-SCC 2019">Buy Here</a></sub></details>|||
+|Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
+|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
+|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>|||
+|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
+|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2018-19">Buy Here</a></sub></details>|||
+|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
+|Hyundai|Staria 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Staria 2023">Buy Here</a></sub></details>|||
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2021">Buy Here</a></sub></details>|||
+|Hyundai|Tucson 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2022">Buy Here</a></sub></details>|||
+|Hyundai|Tucson 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2023-24">Buy Here</a></sub></details>|||
+|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Diesel 2019">Buy Here</a></sub></details>|||
+|Hyundai|Tucson Hybrid 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
+|Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
+|Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
+|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
+|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
+|Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
+|Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
+|Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
+|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
+|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
+|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2019">Buy Here</a></sub></details>|||
+|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
+|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
+|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Niro EV (with HDA II) 2025|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2025">Buy Here</a></sub></details>|||
+|Kia|Niro EV (without HDA II) 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (without HDA II) 2023-25">Buy Here</a></sub></details>|||
+|Kia|Niro Hybrid 2018|Smart Cruise Control (SCC)|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2018">Buy Here</a></sub></details>|||
+|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2021">Buy Here</a></sub></details>|||
+|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2022">Buy Here</a></sub></details>|||
+|Kia|Niro Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023">Buy Here</a></sub></details>|||
+|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>|||
+|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>|||
+|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
+|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>|||
+|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2017">Buy Here</a></sub></details>|||
+|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2019-20">Buy Here</a></sub></details>|||
+|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
+|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos 2021">Buy Here</a></sub></details>|||
+|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Sorento 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2021-23">Buy Here</a></sub></details>|||
+|Kia|Sorento Hybrid 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Hybrid 2021-23">Buy Here</a></sub></details>|||
+|Kia|Sorento Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
+|Kia|Sportage 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
+|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
+|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
+|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
+|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
+|Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
+|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2017-18">Buy Here</a></sub></details>|||
+|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus GS F 2016">Buy Here</a></sub></details>|||
+|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2017-19">Buy Here</a></sub></details>|||
+|Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2022-24">Buy Here</a></sub></details>|||
+|Lexus|LC 2024-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LC 2024-25">Buy Here</a></sub></details>|||
+|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2018-19">Buy Here</a></sub></details>|||
+|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2020-21">Buy Here</a></sub></details>|||
+|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2018-19">Buy Here</a></sub></details>|||
+|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2020-21">Buy Here</a></sub></details>|||
+|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RC 2018-20">Buy Here</a></sub></details>|||
+|Lexus|RC 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RC 2023">Buy Here</a></sub></details>|||
+|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2016">Buy Here</a></sub></details>|||
+|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2017-19">Buy Here</a></sub></details>|||
+|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2020-22">Buy Here</a></sub></details>|||
+|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2016">Buy Here</a></sub></details>|||
+|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2017-19">Buy Here</a></sub></details>|||
+|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
+|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
+|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
+|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
+|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
+|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
+|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
+|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Å koda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Å koda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Å koda|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Å koda|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Å koda|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Å koda|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Å koda|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Å koda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Å koda|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Superb 2015-22">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
+|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2017-18">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2019-21">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2022">Buy Here</a></sub></details>|||
+|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon Hybrid 2019-21">Buy Here</a></sub></details>|||
+|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon Hybrid 2022">Buy Here</a></sub></details>|||
+|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2017-20">Buy Here</a></sub></details>|||
+|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
+|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
+|Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
+|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>|||
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>|||
+|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>|||
+|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2020-23">Buy Here</a></sub></details>|||
+|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
+|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2020-23">Buy Here</a></sub></details>|||
+|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Mirai 2021">Buy Here</a></sub></details>|||
+|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius v 2017">Buy Here</a></sub></details>|||
+|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2016">Buy Here</a></sub></details>|||
+|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2017-18">Buy Here</a></sub></details>|||
+|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2022">Buy Here</a></sub></details>|||
+|Toyota|RAV4 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2023-25">Buy Here</a></sub></details>|||
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2019-21">Buy Here</a></sub></details>|||
+|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
@@ -354,18 +356,17 @@ A supported vehicle is one that just works when you install a comma device. All
 <sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
 <sup>4</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
 <sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>6</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
-<sup>7</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
-<sup>8</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>9</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>10</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>11</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
-<sup>12</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>15</sup>Some Å koda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
-<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>9</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>14</sup>Some Å koda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
diff --git a/opendbc_repo b/opendbc_repo
index 62f6f9e4d4ff4c..61bf5a90c5c191 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 62f6f9e4d4ff4c424586c114c6ae3dd33629e4af
+Subproject commit 61bf5a90c5c1917b657b8dd50c4d95e437413170

From 8184cd8a6ab72a4c6a57971f330ab739c21020a9 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 21 Nov 2025 14:59:54 -0500
Subject: [PATCH 0580/1434] ui: optimize `gui_app` & spinner (#1474)

remove gui_app_sp & use upstream gui_app

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 system/ui/spinner.py                    |  4 +---
 system/ui/sunnypilot/lib/application.py | 24 ------------------------
 2 files changed, 1 insertion(+), 27 deletions(-)
 delete mode 100644 system/ui/sunnypilot/lib/application.py

diff --git a/system/ui/spinner.py b/system/ui/spinner.py
index dc49230818e98a..33f4543c3e1fbd 100755
--- a/system/ui/spinner.py
+++ b/system/ui/spinner.py
@@ -8,8 +8,6 @@
 from openpilot.system.ui.text import wrap_text
 from openpilot.system.ui.widgets import Widget
 
-from openpilot.system.ui.sunnypilot.lib.application import gui_app_sp
-
 # Constants
 if gui_app.big_ui():
   PROGRESS_BAR_WIDTH = 1000
@@ -37,7 +35,7 @@ def clamp(value, min_value, max_value):
 class Spinner(Widget):
   def __init__(self):
     super().__init__()
-    self._comma_texture = gui_app_sp.sp_texture("images/spinner_sunnypilot.png", TEXTURE_SIZE, TEXTURE_SIZE)
+    self._comma_texture = gui_app.texture("../../sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png", TEXTURE_SIZE, TEXTURE_SIZE)
     self._spinner_texture = gui_app.texture("images/spinner_track.png", TEXTURE_SIZE, TEXTURE_SIZE, alpha_premultiply=True)
     self._rotation = 0.0
     self._progress: int | None = None
diff --git a/system/ui/sunnypilot/lib/application.py b/system/ui/sunnypilot/lib/application.py
deleted file mode 100644
index 7440d224caf36d..00000000000000
--- a/system/ui/sunnypilot/lib/application.py
+++ /dev/null
@@ -1,24 +0,0 @@
-from openpilot.system.ui.lib.application import GuiApplication
-from importlib.resources import as_file, files
-
-ASSETS_DIR_SP = files("openpilot.sunnypilot.selfdrive").joinpath("assets")
-
-
-class GuiApplicationSP(GuiApplication):
-
-  def __init__(self, width: int, height: int):
-    super().__init__(width, height)
-
-  def sp_texture(self, asset_path: str, width: int, height: int, alpha_premultiply=False, keep_aspect_ratio=True):
-    cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}{keep_aspect_ratio}"
-    if cache_key in self._textures:
-      return self._textures[cache_key]
-
-    with as_file(ASSETS_DIR_SP.joinpath(asset_path)) as fspath:
-      image_obj = self._load_image_from_path(fspath.as_posix(), width, height, alpha_premultiply, keep_aspect_ratio)
-      texture_obj = self._load_texture_from_image(image_obj)
-    self._textures[cache_key] = texture_obj
-    return texture_obj
-
-
-gui_app_sp = GuiApplicationSP(2160, 1080)

From 0ba5cbea914ed437f760e8644ac6800aacbe5a4a Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 21 Nov 2025 15:55:18 -0500
Subject: [PATCH 0581/1434] tools: add new Pythons configs to compile & run
 big/small UIs (#1500)

* init

* tools: add new Pythons configs to compile & build big/small UIs

* Revert "init"

This reverts commit 2e0704ace51b5a42a5d4a25664e5f46103f40e3f.

* change
---
 .run/Build_BIG_UI.run.xml   | 26 ++++++++++++++++++++++++++
 .run/Build_SMALL_UI.run.xml | 23 +++++++++++++++++++++++
 2 files changed, 49 insertions(+)
 create mode 100644 .run/Build_BIG_UI.run.xml
 create mode 100644 .run/Build_SMALL_UI.run.xml

diff --git a/.run/Build_BIG_UI.run.xml b/.run/Build_BIG_UI.run.xml
new file mode 100644
index 00000000000000..b58b1bf1b7e33c
--- /dev/null
+++ b/.run/Build_BIG_UI.run.xml
@@ -0,0 +1,26 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build_BIG_UI" type="PythonConfigurationType" factoryName="Python">
+    <module name="sunnypilot" />
+    <option name="ENV_FILES" value="" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="BIG" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$ProjectFileDir$/" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <option name="SCRIPT_NAME" value="$ProjectFileDir$/selfdrive/ui/ui.py" />
+    <option name="PARAMETERS" value="" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="false" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2">
+      <option name="ToolBeforeRunTask" enabled="true" actionId="Tool_External Tools_uv Scons Build Debug" />
+    </method>
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/.run/Build_SMALL_UI.run.xml b/.run/Build_SMALL_UI.run.xml
new file mode 100644
index 00000000000000..6c231c83f850c8
--- /dev/null
+++ b/.run/Build_SMALL_UI.run.xml
@@ -0,0 +1,23 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build_SMALL_UI" type="PythonConfigurationType" factoryName="Python">
+    <module name="sunnypilot" />
+    <option name="ENV_FILES" value="" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$ProjectFileDir$/" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <option name="SCRIPT_NAME" value="$ProjectFileDir$/selfdrive/ui/ui.py" />
+    <option name="PARAMETERS" value="" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="false" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2">
+      <option name="ToolBeforeRunTask" enabled="true" actionId="Tool_External Tools_uv Scons Build Debug" />
+    </method>
+  </configuration>
+</component>
\ No newline at end of file

From 4f13a0f77520d3e04a93f6ae68b00ab26f243fb5 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 21 Nov 2025 17:23:53 -0500
Subject: [PATCH 0582/1434] ci: fix upstream merge conflicts with prebuilts
 (#1503)

---
 SConstruct | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/SConstruct b/SConstruct
index 48dd0447095ba2..f5d5ec6fb86c8f 100644
--- a/SConstruct
+++ b/SConstruct
@@ -178,7 +178,8 @@ Export('envCython', 'np_version')
 Export('env', 'arch')
 
 # Setup cache dir
-cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
+default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
+cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
 

From d92d2cb68340243b9649941ed242622ae5509d28 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 21 Nov 2025 22:28:51 -0500
Subject: [PATCH 0583/1434] ui: `GuiApplicationExt` (#1501)

* ui: `GuiApplicationExt`

* add to readme
---
 system/ui/README.md                     |  1 +
 system/ui/lib/application.py            |  4 +++-
 system/ui/sunnypilot/lib/application.py | 15 +++++++++++++++
 3 files changed, 19 insertions(+), 1 deletion(-)
 create mode 100644 system/ui/sunnypilot/lib/application.py

diff --git a/system/ui/README.md b/system/ui/README.md
index f81cb5573aba68..796d2986268b0b 100644
--- a/system/ui/README.md
+++ b/system/ui/README.md
@@ -10,6 +10,7 @@ Quick start:
 * set `BURN_IN=1` to get a burn-in heatmap version of the UI
 * set `GRID=50` to show a 50-pixel alignment grid overlay
 * set `MAGIC_DEBUG=1` to show every dropped frames (only on device)
+* set `SUNNYPILOT_UI=0` to run the stock UI instead of the sunnypilot UI
 * https://www.raylib.com/cheatsheet/cheatsheet.html
 * https://electronstudio.github.io/raylib-python-cffi/README.html#quickstart
 
diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index e3370a5f74bd38..7271127838328e 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -19,6 +19,8 @@
 from openpilot.system.ui.lib.multilang import multilang
 from openpilot.common.realtime import Ratekeeper
 
+from openpilot.system.ui.sunnypilot.lib.application import GuiApplicationExt
+
 _DEFAULT_FPS = int(os.getenv("FPS", {'tizi': 20}.get(HARDWARE.get_device_type(), 60)))
 FPS_LOG_INTERVAL = 5  # Seconds between logging FPS drops
 FPS_DROP_THRESHOLD = 0.9  # FPS drop threshold for triggering a warning
@@ -186,7 +188,7 @@ def _handle_mouse_event(self):
         self._prev_mouse_event[slot] = ev
 
 
-class GuiApplication:
+class GuiApplication(GuiApplicationExt):
   def __init__(self, width: int | None = None, height: int | None = None):
     self._fonts: dict[FontWeight, rl.Font] = {}
     self._width = width if width is not None else GuiApplication._default_width()
diff --git a/system/ui/sunnypilot/lib/application.py b/system/ui/sunnypilot/lib/application.py
new file mode 100644
index 00000000000000..b39bf31e9d0052
--- /dev/null
+++ b/system/ui/sunnypilot/lib/application.py
@@ -0,0 +1,15 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import os
+
+SUNNYPILOT_UI = os.getenv("SUNNYPILOT_UI", "1") == "1"
+
+
+class GuiApplicationExt:
+  @staticmethod
+  def sunnypilot_ui() -> bool:
+    return SUNNYPILOT_UI

From 457b6634fd0f3144170e050db370b24dc5401a64 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 21 Nov 2025 23:37:03 -0500
Subject: [PATCH 0584/1434] ui: sunnypilot toggle style (#1475)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* sp raylib preview

* fix callback

* fix ui preview

* better padding

* this

* listitem -> listitemsp

* add show_description method

* remove padding from line separator.
like, WHY? 😩😩

* ui: `GuiApplicationExt`

* add to readme

* use gui_app.sunnypilot_ui()

* lint

* no fancy toggles :(

* mici scroller - no touchy

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/layouts/settings/developer.py    |   3 +
 selfdrive/ui/layouts/settings/toggles.py      |   3 +
 .../ui/tests/test_ui/raylib_screenshots.py    |   2 +-
 system/ui/sunnypilot/lib/styles.py            |  50 +++++++++
 system/ui/sunnypilot/widgets/list_view.py     | 106 ++++++++++++++++++
 system/ui/sunnypilot/widgets/toggle.py        |  56 +++++++++
 system/ui/widgets/network.py                  |   3 +
 7 files changed, 222 insertions(+), 1 deletion(-)
 create mode 100644 system/ui/sunnypilot/lib/styles.py
 create mode 100644 system/ui/sunnypilot/widgets/list_view.py
 create mode 100644 system/ui/sunnypilot/widgets/toggle.py

diff --git a/selfdrive/ui/layouts/settings/developer.py b/selfdrive/ui/layouts/settings/developer.py
index 646c817508d8c6..f47cd310ca2411 100644
--- a/selfdrive/ui/layouts/settings/developer.py
+++ b/selfdrive/ui/layouts/settings/developer.py
@@ -9,6 +9,9 @@
 from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.widgets import DialogResult
 
+if gui_app.sunnypilot_ui():
+  from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp as toggle_item
+
 # Description constants
 DESCRIPTIONS = {
   'enable_adb': tr_noop(
diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py
index 7fae2dfd244a88..b7f176e24f0394 100644
--- a/selfdrive/ui/layouts/settings/toggles.py
+++ b/selfdrive/ui/layouts/settings/toggles.py
@@ -9,6 +9,9 @@
 from openpilot.system.ui.widgets import DialogResult
 from openpilot.selfdrive.ui.ui_state import ui_state
 
+if gui_app.sunnypilot_ui():
+  from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp as toggle_item
+
 PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
 
 # Description constants
diff --git a/selfdrive/ui/tests/test_ui/raylib_screenshots.py b/selfdrive/ui/tests/test_ui/raylib_screenshots.py
index 481ac111beb9f5..d3de616cc0c866 100755
--- a/selfdrive/ui/tests/test_ui/raylib_screenshots.py
+++ b/selfdrive/ui/tests/test_ui/raylib_screenshots.py
@@ -149,7 +149,7 @@ def setup_experimental_mode_description(click, pm: PubMaster):
 
 def setup_openpilot_long_confirmation_dialog(click, pm: PubMaster):
   setup_settings_developer(click, pm)
-  click(2000, 960)  # toggle openpilot longitudinal control
+  click(650, 960)  # toggle openpilot longitudinal control
 
 
 def setup_onroad(click, pm: PubMaster):
diff --git a/system/ui/sunnypilot/lib/styles.py b/system/ui/sunnypilot/lib/styles.py
new file mode 100644
index 00000000000000..a232ac192dfa15
--- /dev/null
+++ b/system/ui/sunnypilot/lib/styles.py
@@ -0,0 +1,50 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from dataclasses import dataclass
+
+import pyray as rl
+
+
+@dataclass
+class Base:
+  # Widget/Control Base Dimensions
+  ITEM_BASE_HEIGHT = 170
+  ITEM_PADDING = 20
+  ITEM_TEXT_FONT_SIZE = 50
+  ITEM_DESC_FONT_SIZE = 40
+  ITEM_DESC_V_OFFSET = 150
+
+  # Toggle Control
+  TOGGLE_HEIGHT = 120
+  TOGGLE_WIDTH = int(TOGGLE_HEIGHT * 1.75)
+  TOGGLE_BG_HEIGHT = TOGGLE_HEIGHT - 20
+
+
+@dataclass
+class DefaultStyleSP(Base):
+  # Base Colors
+  BASE_BG_COLOR = rl.Color(57, 57, 57, 255)  # Grey
+  ON_BG_COLOR = rl.Color(28, 101, 186, 255)  # Blue
+  OFF_BG_COLOR = rl.Color(70, 70, 70, 255)  # Lighter Grey
+  ON_HOVER_BG_COLOR = rl.Color(17, 78, 150, 255)  # Dark Blue
+  OFF_HOVER_BG_COLOR = rl.Color(21, 21, 21, 255)  # Dark gray
+  DISABLED_ON_BG_COLOR = rl.Color(37, 70, 107, 255)  # Dull Blue
+  DISABLED_OFF_BG_COLOR = rl.Color(39, 39, 39, 255)  # Grey
+  ITEM_TEXT_COLOR = rl.WHITE
+  ITEM_DISABLED_TEXT_COLOR = rl.Color(88, 88, 88, 255)
+  ITEM_DESC_TEXT_COLOR = rl.Color(128, 128, 128, 255)
+
+  # Toggle Control
+  TOGGLE_ON_COLOR = ON_BG_COLOR
+  TOGGLE_OFF_COLOR = OFF_BG_COLOR
+  TOGGLE_KNOB_COLOR = rl.WHITE
+  TOGGLE_DISABLED_ON_COLOR = DISABLED_ON_BG_COLOR
+  TOGGLE_DISABLED_OFF_COLOR = DISABLED_OFF_BG_COLOR
+  TOGGLE_DISABLED_KNOB_COLOR = rl.Color(88, 88, 88, 255)  # Lighter Grey
+
+
+style = DefaultStyleSP
diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py
new file mode 100644
index 00000000000000..dcf8f6019df0a5
--- /dev/null
+++ b/system/ui/sunnypilot/widgets/list_view.py
@@ -0,0 +1,106 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from collections.abc import Callable
+
+import pyray as rl
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.sunnypilot.widgets.toggle import ToggleSP
+from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction
+from openpilot.system.ui.sunnypilot.lib.styles import style
+
+
+class ToggleActionSP(ToggleAction):
+  def __init__(self, initial_state: bool = False, width: int = style.TOGGLE_WIDTH, enabled: bool | Callable[[], bool] = True,
+               callback: Callable[[bool], None] | None = None, param: str | None = None):
+    ToggleAction.__init__(self, initial_state, width, enabled, callback)
+    self.toggle = ToggleSP(initial_state=initial_state, callback=callback, param=param)
+
+
+class ListItemSP(ListItem):
+  def __init__(self, title: str | Callable[[], str] = "", icon: str | None = None, description: str | Callable[[], str] | None = None,
+               description_visible: bool = False, callback: Callable | None = None,
+               action_item: ItemAction | None = None):
+    ListItem.__init__(self, title, icon, description, description_visible, callback, action_item)
+
+  def show_description(self, show: bool):
+    self._set_description_visible(show)
+
+  def get_right_item_rect(self, item_rect: rl.Rectangle) -> rl.Rectangle:
+    if not self.action_item:
+      return rl.Rectangle(0, 0, 0, 0)
+
+    right_width = self.action_item.rect.width
+    if right_width == 0:  # Full width action (like DualButtonAction)
+      return rl.Rectangle(item_rect.x + style.ITEM_PADDING, item_rect.y,
+                          item_rect.width - (style.ITEM_PADDING * 2), style.ITEM_BASE_HEIGHT)
+
+    action_width = self.action_item.rect.width
+    if isinstance(self.action_item, ToggleAction):
+      action_x = item_rect.x
+    else:
+      action_x = item_rect.x + item_rect.width - action_width
+    action_y = item_rect.y
+    return rl.Rectangle(action_x, action_y, action_width, style.ITEM_BASE_HEIGHT)
+
+  def _render(self, _):
+    content_x = self._rect.x + style.ITEM_PADDING
+    text_x = content_x
+    left_action_item = isinstance(self.action_item, ToggleAction)
+
+    if left_action_item:
+      left_rect = rl.Rectangle(
+        content_x,
+        self._rect.y + (style.ITEM_BASE_HEIGHT - style.TOGGLE_HEIGHT) // 2,
+        style.TOGGLE_WIDTH,
+        style.TOGGLE_HEIGHT
+      )
+      text_x = left_rect.x + left_rect.width + style.ITEM_PADDING * 1.5
+
+      # Draw title
+      if self.title:
+        text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
+        item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - text_size.y) // 2
+        rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, style.ITEM_TEXT_COLOR)
+
+      # Render toggle and handle callback
+      if self.action_item.render(left_rect) and self.action_item.enabled:
+        if self.callback:
+          self.callback()
+
+    else:
+      if self.title:
+        # Draw main text
+        text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
+        item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - text_size.y) // 2
+        rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, style.ITEM_TEXT_COLOR)
+
+        # Draw right item if present
+        if self.action_item:
+          right_rect = self.get_right_item_rect(self._rect)
+          right_rect.y = self._rect.y
+          if self.action_item.render(right_rect) and self.action_item.enabled:
+            # Right item was clicked/activated
+            if self.callback:
+              self.callback()
+
+    # Draw description if visible
+    if self.description_visible:
+      content_width = int(self._rect.width - style.ITEM_PADDING * 2)
+      description_height = self._html_renderer.get_total_height(content_width)
+      description_rect = rl.Rectangle(
+        self._rect.x + style.ITEM_PADDING,
+        self._rect.y + style.ITEM_DESC_V_OFFSET,
+        content_width,
+        description_height
+      )
+      self._html_renderer.render(description_rect)
+
+
+def toggle_item_sp(title: str | Callable[[], str], description: str | Callable[[], str] | None = None, initial_state: bool = False,
+                   callback: Callable | None = None, icon: str = "", enabled: bool | Callable[[], bool] = True, param: str | None = None) -> ListItemSP:
+  action = ToggleActionSP(initial_state=initial_state, enabled=enabled, callback=callback, param=param)
+  return ListItemSP(title=title, description=description, action_item=action, icon=icon, callback=callback)
diff --git a/system/ui/sunnypilot/widgets/toggle.py b/system/ui/sunnypilot/widgets/toggle.py
new file mode 100644
index 00000000000000..46b390f773148c
--- /dev/null
+++ b/system/ui/sunnypilot/widgets/toggle.py
@@ -0,0 +1,56 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from collections.abc import Callable
+
+import pyray as rl
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import MousePos
+from openpilot.system.ui.widgets.toggle import Toggle
+from openpilot.system.ui.sunnypilot.lib.styles import style
+
+KNOB_PADDING = 5
+KNOB_RADIUS = style.TOGGLE_BG_HEIGHT / 2 - KNOB_PADDING
+
+
+class ToggleSP(Toggle):
+  def __init__(self, initial_state=False, callback: Callable[[bool], None] | None = None, param: str | None = None):
+    self.param_key = param
+    self.params = Params()
+    if self.param_key:
+      initial_state = self.params.get_bool(self.param_key)
+    Toggle.__init__(self, initial_state, callback)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+    if self._enabled and self.param_key:
+      self.params.put_bool(self.param_key, self._state)
+
+  def _render(self, rect: rl.Rectangle):
+    self.update()
+    self._rect.y -= style.ITEM_PADDING / 2
+    if self._enabled:
+      bg_color = self._blend_color(style.TOGGLE_OFF_COLOR, style.TOGGLE_ON_COLOR, self._progress)
+      knob_color = style.TOGGLE_KNOB_COLOR
+    else:
+      bg_color = self._blend_color(style.TOGGLE_DISABLED_OFF_COLOR, style.TOGGLE_DISABLED_ON_COLOR, self._progress)
+      knob_color = style.TOGGLE_DISABLED_KNOB_COLOR
+
+    # Draw background
+    bg_rect = rl.Rectangle(self._rect.x, self._rect.y, style.TOGGLE_WIDTH, style.TOGGLE_BG_HEIGHT)
+
+    # Draw actual background
+    rl.draw_rectangle_rounded(bg_rect, 1.0, 10, bg_color)
+
+    left_edge = bg_rect.x + KNOB_PADDING
+    right_edge = bg_rect.x + bg_rect.width - KNOB_PADDING
+
+    knob_travel_distance = right_edge - left_edge - 2 * KNOB_RADIUS
+    min_knob_x = left_edge + KNOB_RADIUS
+    knob_x = min_knob_x + knob_travel_distance * self._progress
+    knob_y = self._rect.y + style.TOGGLE_BG_HEIGHT / 2
+
+    rl.draw_circle(int(knob_x), int(knob_y), KNOB_RADIUS, knob_color)
diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py
index f41a04c2491f8d..fa47d355361bf1 100644
--- a/system/ui/widgets/network.py
+++ b/system/ui/widgets/network.py
@@ -15,6 +15,9 @@
 from openpilot.system.ui.widgets.scroller_tici import Scroller
 from openpilot.system.ui.widgets.list_view import ButtonAction, ListItem, MultipleButtonAction, ToggleAction, button_item, text_item
 
+if gui_app.sunnypilot_ui():
+  from openpilot.system.ui.sunnypilot.widgets.list_view import ToggleActionSP as ToggleAction
+
 # These are only used for AdvancedNetworkSettings, standalone apps just need WifiManagerUI
 try:
   from openpilot.common.params import Params

From 3cd55260d97f695b69b8b8ef5c3fcfe47409f234 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sun, 23 Nov 2025 12:22:23 -0800
Subject: [PATCH 0585/1434] modeld: remove SNPE accelerator (#1476)

* commaai/openpilot:d05cb31e2e916fba41ba8167030945f427fd811b

* bump opendbc

* bump opendbc

* bump opendbc

* bump opendbc

* bump opendbc

* sunnypilot: remove Qt

* cabana: revert to stock Qt

* commaai/openpilot:5198b1b079c37742c1050f02ce0aa6dd42b038b9

* commaai/openpilot:954b567b9ba0f3d1ae57d6aa7797fa86dd92ec6e

* commaai/openpilot:7534b2a160faa683412c04c1254440e338931c5e

* sum more

* bump opendbc

* not yet

* should've been symlink'ed

* raylib says wut

* quiet mode back

* more fixes

* no more

* too extra red diff on the side

* need to bring this back

* too extra

* let's update docs here

* Revert "let's update docs here"

This reverts commit 51fe03cd5121e6fdf14657b2c33852c34922b851.

* del snpe

* reset min for safety catch as we killed snpe

* uhhh

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 SConstruct                                    |  10 -
 sunnypilot/modeld/SConscript                  |  17 +-
 sunnypilot/modeld/runners/__init__.py         |   5 -
 sunnypilot/modeld/runners/run.h               |   1 -
 sunnypilot/modeld/runners/snpemodel.cc        | 116 ----
 sunnypilot/modeld/runners/snpemodel.h         |  52 --
 sunnypilot/modeld/runners/snpemodel.pxd       |   9 -
 sunnypilot/modeld/runners/snpemodel_pyx.pyx   |  17 -
 sunnypilot/models/fetcher.py                  |   2 +-
 sunnypilot/models/helpers.py                  |   4 +-
 .../libPlatformValidatorShared.so             |   3 -
 .../snpe/aarch64-ubuntu-gcc7.5/libSNPE.so     |   3 -
 .../aarch64-ubuntu-gcc7.5/libcalculator.so    |   3 -
 .../snpe/aarch64-ubuntu-gcc7.5/libhta.so      |   3 -
 .../libsnpe_dsp_domains_v2.so                 |   3 -
 third_party/snpe/dsp/libcalculator_skel.so    |   3 -
 .../dsp/libsnpe_dsp_v65_domains_v2_skel.so    |   3 -
 .../dsp/libsnpe_dsp_v66_domains_v2_skel.so    |   3 -
 .../dsp/libsnpe_dsp_v68_domains_v3_skel.so    |   3 -
 third_party/snpe/include/DiagLog/IDiagLog.hpp |  84 ---
 third_party/snpe/include/DiagLog/Options.hpp  |  79 ---
 .../snpe/include/DlContainer/IDlContainer.hpp | 191 -------
 third_party/snpe/include/DlSystem/DlEnums.hpp | 234 --------
 third_party/snpe/include/DlSystem/DlError.hpp | 259 ---------
 .../snpe/include/DlSystem/DlOptional.hpp      | 225 --------
 .../snpe/include/DlSystem/DlVersion.hpp       |  78 ---
 .../include/DlSystem/IBufferAttributes.hpp    |  86 ---
 .../include/DlSystem/IOBufferDataTypeMap.hpp  | 127 -----
 third_party/snpe/include/DlSystem/ITensor.hpp | 146 -----
 .../snpe/include/DlSystem/ITensorFactory.hpp  |  92 ---
 .../snpe/include/DlSystem/ITensorItr.hpp      | 182 ------
 .../snpe/include/DlSystem/ITensorItrImpl.hpp  |  42 --
 third_party/snpe/include/DlSystem/IUDL.hpp    | 105 ----
 .../snpe/include/DlSystem/IUserBuffer.hpp     | 358 ------------
 .../include/DlSystem/IUserBufferFactory.hpp   |  81 ---
 .../snpe/include/DlSystem/PlatformConfig.hpp  | 230 --------
 .../snpe/include/DlSystem/RuntimeList.hpp     | 154 -----
 third_party/snpe/include/DlSystem/String.hpp  | 104 ----
 .../snpe/include/DlSystem/StringList.hpp      | 107 ----
 .../snpe/include/DlSystem/TensorMap.hpp       | 120 ----
 .../snpe/include/DlSystem/TensorShape.hpp     | 203 -------
 .../snpe/include/DlSystem/TensorShapeMap.hpp  | 127 -----
 .../snpe/include/DlSystem/UDLContext.hpp      | 243 --------
 third_party/snpe/include/DlSystem/UDLFunc.hpp |  87 ---
 .../snpe/include/DlSystem/UserBufferMap.hpp   | 122 ----
 .../snpe/include/DlSystem/UserMemoryMap.hpp   | 129 -----
 .../snpe/include/DlSystem/ZdlExportDefine.hpp |  13 -
 .../PlatformValidator/PlatformValidator.hpp   | 118 ----
 .../include/SNPE/ApplicationBufferMap.hpp     | 101 ----
 third_party/snpe/include/SNPE/PSNPE.hpp       | 205 -------
 .../snpe/include/SNPE/RuntimeConfigList.hpp   |  85 ---
 third_party/snpe/include/SNPE/SNPE.hpp        | 258 ---------
 third_party/snpe/include/SNPE/SNPEBuilder.hpp | 306 ----------
 third_party/snpe/include/SNPE/SNPEFactory.hpp | 220 -------
 .../snpe/include/SNPE/UserBufferList.hpp      |  49 --
 third_party/snpe/include/SnpeUdo/UdoBase.h    | 537 ------------------
 third_party/snpe/include/SnpeUdo/UdoImpl.h    | 343 -----------
 third_party/snpe/include/SnpeUdo/UdoImplCpu.h |  44 --
 third_party/snpe/include/SnpeUdo/UdoImplDsp.h | 207 -------
 third_party/snpe/include/SnpeUdo/UdoImplGpu.h | 112 ----
 third_party/snpe/include/SnpeUdo/UdoReg.h     | 108 ----
 third_party/snpe/include/SnpeUdo/UdoShared.h  |  48 --
 third_party/snpe/larch64                      |   1 -
 third_party/snpe/x86_64                       |   1 -
 .../snpe/x86_64-linux-clang/libHtpPrepare.so  |   3 -
 .../snpe/x86_64-linux-clang/libSNPE.so        |   3 -
 third_party/snpe/x86_64-linux-clang/libomp.so |   3 -
 67 files changed, 4 insertions(+), 7016 deletions(-)
 delete mode 100644 sunnypilot/modeld/runners/snpemodel.cc
 delete mode 100644 sunnypilot/modeld/runners/snpemodel.h
 delete mode 100644 sunnypilot/modeld/runners/snpemodel.pxd
 delete mode 100644 sunnypilot/modeld/runners/snpemodel_pyx.pyx
 delete mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
 delete mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
 delete mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
 delete mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
 delete mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
 delete mode 100644 third_party/snpe/dsp/libcalculator_skel.so
 delete mode 100644 third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
 delete mode 100644 third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
 delete mode 100644 third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
 delete mode 100644 third_party/snpe/include/DiagLog/IDiagLog.hpp
 delete mode 100644 third_party/snpe/include/DiagLog/Options.hpp
 delete mode 100644 third_party/snpe/include/DlContainer/IDlContainer.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/DlEnums.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/DlError.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/DlOptional.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/DlVersion.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/IBufferAttributes.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/ITensor.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/ITensorFactory.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/ITensorItr.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/IUDL.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/IUserBuffer.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/PlatformConfig.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/RuntimeList.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/String.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/StringList.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/TensorMap.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/TensorShape.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/TensorShapeMap.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/UDLContext.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/UDLFunc.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/UserBufferMap.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/UserMemoryMap.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
 delete mode 100644 third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
 delete mode 100644 third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
 delete mode 100644 third_party/snpe/include/SNPE/PSNPE.hpp
 delete mode 100644 third_party/snpe/include/SNPE/RuntimeConfigList.hpp
 delete mode 100644 third_party/snpe/include/SNPE/SNPE.hpp
 delete mode 100644 third_party/snpe/include/SNPE/SNPEBuilder.hpp
 delete mode 100644 third_party/snpe/include/SNPE/SNPEFactory.hpp
 delete mode 100644 third_party/snpe/include/SNPE/UserBufferList.hpp
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoBase.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoImpl.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoImplCpu.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoImplDsp.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoImplGpu.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoReg.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoShared.h
 delete mode 120000 third_party/snpe/larch64
 delete mode 120000 third_party/snpe/x86_64
 delete mode 100644 third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
 delete mode 100644 third_party/snpe/x86_64-linux-clang/libSNPE.so
 delete mode 100755 third_party/snpe/x86_64-linux-clang/libomp.so

diff --git a/SConstruct b/SConstruct
index f5d5ec6fb86c8f..b2abae8d1b4f0d 100644
--- a/SConstruct
+++ b/SConstruct
@@ -75,7 +75,6 @@ env = Environment(
     "#third_party/acados/include/hpipm/include",
     "#third_party/catch2/include",
     "#third_party/libyuv/include",
-    "#third_party/snpe/include",
   ],
   LIBPATH=[
     "#common",
@@ -101,7 +100,6 @@ if arch == "larch64":
     "/usr/local/lib",
     "/system/vendor/lib64",
     "/usr/lib/aarch64-linux-gnu",
-    "#third_party/snpe/larch64",
   ])
   arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
   env.Append(CCFLAGS=arch_flags)
@@ -125,14 +123,6 @@ else:
     "/usr/local/lib",
   ])
 
-  if arch == "x86_64":
-    env.Append(LIBPATH=[
-      f"#third_party/snpe/{arch}"
-    ])
-    env.Append(RPATH=[
-      Dir(f"#third_party/snpe/{arch}").abspath,
-    ])
-
 # Sanitizers and extra CCFLAGS from CLI
 if GetOption('asan'):
   env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"])
diff --git a/sunnypilot/modeld/SConscript b/sunnypilot/modeld/SConscript
index dc6f6700d1727b..dfab658b20a96c 100644
--- a/sunnypilot/modeld/SConscript
+++ b/sunnypilot/modeld/SConscript
@@ -1,5 +1,3 @@
-import glob
-
 Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'transformations')
 lenv = env.Clone()
 lenvCython = envCython.Clone()
@@ -23,12 +21,6 @@ thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"]
 thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"]
 thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc
 
-# SNPE except on Mac and ARM Linux
-snpe_lib = []
-if arch != "Darwin" and arch != "aarch64":
-  common_src += ['runners/snpemodel.cc']
-  snpe_lib += ['SNPE']
-
 # OpenCL is a framework on Mac
 if arch == "Darwin":
   frameworks += ['OpenCL']
@@ -40,20 +32,13 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor
   for xenv in (lenv, lenvCython):
     xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
 
-# Compile cython
-snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64"
-snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
-snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
-
 cython_libs = envCython["LIBS"] + libs
-snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc'])
 commonmodel_lib = lenv.Library('commonmodel', common_src)
 
 lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
-lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
 
 if arch == "larch64":
   thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[common, 'OpenCL', 'dl'])
   thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
-  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, common, 'dl', 'OpenCL'])
\ No newline at end of file
+  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, common, 'dl', 'OpenCL'])
diff --git a/sunnypilot/modeld/runners/__init__.py b/sunnypilot/modeld/runners/__init__.py
index 3f4507e4eb08db..d105685bd8f123 100644
--- a/sunnypilot/modeld/runners/__init__.py
+++ b/sunnypilot/modeld/runners/__init__.py
@@ -4,20 +4,15 @@
 assert Runtime
 
 USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
-USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI))))
 
 class ModelRunner(RunModel):
   THNEED = 'THNEED'
-  SNPE = 'SNPE'
   ONNX = 'ONNX'
 
   def __new__(cls, paths, *args, **kwargs):
     if ModelRunner.THNEED in paths and USE_THNEED:
       from openpilot.sunnypilot.modeld.runners.thneedmodel_pyx import ThneedModel as Runner
       runner_type = ModelRunner.THNEED
-    elif ModelRunner.SNPE in paths and USE_SNPE:
-      from openpilot.sunnypilot.modeld.runners.snpemodel_pyx import SNPEModel as Runner
-      runner_type = ModelRunner.SNPE
     elif ModelRunner.ONNX in paths:
       from openpilot.sunnypilot.modeld.runners.onnxmodel import ONNXModel as Runner
       runner_type = ModelRunner.ONNX
diff --git a/sunnypilot/modeld/runners/run.h b/sunnypilot/modeld/runners/run.h
index 84d99fd10fd862..55e703ef97e419 100644
--- a/sunnypilot/modeld/runners/run.h
+++ b/sunnypilot/modeld/runners/run.h
@@ -1,4 +1,3 @@
 #pragma once
 
 #include "sunnypilot/modeld/runners/runmodel.h"
-#include "sunnypilot/modeld/runners/snpemodel.h"
diff --git a/sunnypilot/modeld/runners/snpemodel.cc b/sunnypilot/modeld/runners/snpemodel.cc
deleted file mode 100644
index ce06ba39f79040..00000000000000
--- a/sunnypilot/modeld/runners/snpemodel.cc
+++ /dev/null
@@ -1,116 +0,0 @@
-#pragma clang diagnostic ignored "-Wexceptions"
-
-#include "sunnypilot/modeld/runners/snpemodel.h"
-
-#include <cstring>
-#include <memory>
-#include <string>
-#include <utility>
-#include <vector>
-
-#include "common/util.h"
-#include "common/timing.h"
-
-void PrintErrorStringAndExit() {
-  std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
-  std::exit(EXIT_FAILURE);
-}
-
-SNPEModel::SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) {
-  output = _output;
-  output_size = _output_size;
-  use_tf8 = _use_tf8;
-
-#ifdef QCOM2
-  if (runtime == USE_GPU_RUNTIME) {
-    snpe_runtime = zdl::DlSystem::Runtime_t::GPU;
-  } else if (runtime == USE_DSP_RUNTIME) {
-    snpe_runtime = zdl::DlSystem::Runtime_t::DSP;
-  } else {
-    snpe_runtime = zdl::DlSystem::Runtime_t::CPU;
-  }
-  assert(zdl::SNPE::SNPEFactory::isRuntimeAvailable(snpe_runtime));
-#endif
-  model_data = util::read_file(path);
-  assert(model_data.size() > 0);
-
-  // load model
-  std::unique_ptr<zdl::DlContainer::IDlContainer> container = zdl::DlContainer::IDlContainer::open((uint8_t*)model_data.data(), model_data.size());
-  if (!container) { PrintErrorStringAndExit(); }
-  LOGW("loaded model with size: %lu", model_data.size());
-
-  // create model runner
-  zdl::SNPE::SNPEBuilder snpe_builder(container.get());
-  while (!snpe) {
-#ifdef QCOM2
-    snpe = snpe_builder.setOutputLayers({})
-                       .setRuntimeProcessor(snpe_runtime)
-                       .setUseUserSuppliedBuffers(true)
-                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
-                       .build();
-#else
-    snpe = snpe_builder.setOutputLayers({})
-                       .setUseUserSuppliedBuffers(true)
-                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
-                       .build();
-#endif
-    if (!snpe) std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
-  }
-
-  // create output buffer
-  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
-  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
-
-  const auto &output_tensor_names_opt = snpe->getOutputTensorNames();
-  if (!output_tensor_names_opt) throw std::runtime_error("Error obtaining output tensor names");
-  const auto &output_tensor_names = *output_tensor_names_opt;
-  assert(output_tensor_names.size() == 1);
-  const char *output_tensor_name = output_tensor_names.at(0);
-  const zdl::DlSystem::TensorShape &buffer_shape = snpe->getInputOutputBufferAttributes(output_tensor_name)->getDims();
-  if (output_size != 0) {
-    assert(output_size == buffer_shape[1]);
-  } else {
-    output_size = buffer_shape[1];
-  }
-  std::vector<size_t> output_strides = {output_size * sizeof(float), sizeof(float)};
-  output_buffer = ub_factory.createUserBuffer(output, output_size * sizeof(float), output_strides, &ub_encoding_float);
-  output_map.add(output_tensor_name, output_buffer.get());
-}
-
-void SNPEModel::addInput(const std::string name, float *buffer, int size) {
-  const int idx = inputs.size();
-  const auto &input_tensor_names_opt = snpe->getInputTensorNames();
-  if (!input_tensor_names_opt) throw std::runtime_error("Error obtaining input tensor names");
-  const auto &input_tensor_names = *input_tensor_names_opt;
-  const char *input_tensor_name = input_tensor_names.at(idx);
-  const bool input_tf8 = use_tf8 && strcmp(input_tensor_name, "input_img") == 0;  // TODO: This is a terrible hack, get rid of this name check both here and in onnx_runner.py
-  LOGW("adding index %d: %s", idx, input_tensor_name);
-
-  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
-  zdl::DlSystem::UserBufferEncodingTf8 ub_encoding_tf8(0, 1./255); // network takes 0-1
-  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
-  zdl::DlSystem::UserBufferEncoding *input_encoding = input_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_tf8 : (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_float;
-
-  const auto &buffer_shape_opt = snpe->getInputDimensions(input_tensor_name);
-  const zdl::DlSystem::TensorShape &buffer_shape = *buffer_shape_opt;
-  size_t size_of_input = input_tf8 ? sizeof(uint8_t) : sizeof(float);
-  std::vector<size_t> strides(buffer_shape.rank());
-  strides[strides.size() - 1] = size_of_input;
-  size_t product = 1;
-  for (size_t i = 0; i < buffer_shape.rank(); i++) product *= buffer_shape[i];
-  size_t stride = strides[strides.size() - 1];
-  for (size_t i = buffer_shape.rank() - 1; i > 0; i--) {
-    stride *= buffer_shape[i];
-    strides[i-1] = stride;
-  }
-
-  auto input_buffer = ub_factory.createUserBuffer(buffer, product*size_of_input, strides, input_encoding);
-  input_map.add(input_tensor_name, input_buffer.get());
-  inputs.push_back(std::unique_ptr<SNPEModelInput>(new SNPEModelInput(name, buffer, size, std::move(input_buffer))));
-}
-
-void SNPEModel::execute() {
-  if (!snpe->execute(input_map, output_map)) {
-    PrintErrorStringAndExit();
-  }
-}
diff --git a/sunnypilot/modeld/runners/snpemodel.h b/sunnypilot/modeld/runners/snpemodel.h
deleted file mode 100644
index bd766242134fef..00000000000000
--- a/sunnypilot/modeld/runners/snpemodel.h
+++ /dev/null
@@ -1,52 +0,0 @@
-#pragma once
-#pragma clang diagnostic ignored "-Wdeprecated-declarations"
-
-#include <memory>
-#include <string>
-#include <utility>
-
-#include <DlContainer/IDlContainer.hpp>
-#include <DlSystem/DlError.hpp>
-#include <DlSystem/ITensor.hpp>
-#include <DlSystem/ITensorFactory.hpp>
-#include <DlSystem/IUserBuffer.hpp>
-#include <DlSystem/IUserBufferFactory.hpp>
-#include <SNPE/SNPE.hpp>
-#include <SNPE/SNPEBuilder.hpp>
-#include <SNPE/SNPEFactory.hpp>
-
-#include "sunnypilot/modeld/runners/runmodel.h"
-
-struct SNPEModelInput : public ModelInput {
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> snpe_buffer;
-
-  SNPEModelInput(const std::string _name, float *_buffer, int _size, std::unique_ptr<zdl::DlSystem::IUserBuffer> _snpe_buffer) : ModelInput(_name, _buffer, _size), snpe_buffer(std::move(_snpe_buffer)) {}
-  void setBuffer(float *_buffer, int _size) {
-    ModelInput::setBuffer(_buffer, _size);
-    assert(snpe_buffer->setBufferAddress(_buffer) == true);
-  }
-};
-
-class SNPEModel : public RunModel {
-public:
-  SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
-  void addInput(const std::string name, float *buffer, int size);
-  void execute();
-
-private:
-  std::string model_data;
-
-#ifdef QCOM2
-  zdl::DlSystem::Runtime_t snpe_runtime;
-#endif
-
-  // snpe model stuff
-  std::unique_ptr<zdl::SNPE::SNPE> snpe;
-  zdl::DlSystem::UserBufferMap input_map;
-  zdl::DlSystem::UserBufferMap output_map;
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> output_buffer;
-
-  bool use_tf8;
-  float *output;
-  size_t output_size;
-};
diff --git a/sunnypilot/modeld/runners/snpemodel.pxd b/sunnypilot/modeld/runners/snpemodel.pxd
deleted file mode 100644
index f19501d37d00f2..00000000000000
--- a/sunnypilot/modeld/runners/snpemodel.pxd
+++ /dev/null
@@ -1,9 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-from msgq.visionipc.visionipc cimport cl_context
-
-cdef extern from "sunnypilot/modeld/runners/snpemodel.h":
-  cdef cppclass SNPEModel:
-    SNPEModel(string, float*, size_t, int, bool, cl_context)
diff --git a/sunnypilot/modeld/runners/snpemodel_pyx.pyx b/sunnypilot/modeld/runners/snpemodel_pyx.pyx
deleted file mode 100644
index 056ba9d4fe6ca4..00000000000000
--- a/sunnypilot/modeld/runners/snpemodel_pyx.pyx
+++ /dev/null
@@ -1,17 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import os
-from libcpp cimport bool
-from libcpp.string cimport string
-
-from .snpemodel cimport SNPEModel as cppSNPEModel
-from openpilot.sunnypilot.modeld.models.commonmodel_pyx cimport CLContext
-from openpilot.sunnypilot.modeld.runners.runmodel_pyx cimport RunModel
-from openpilot.sunnypilot.modeld.runners.runmodel cimport RunModel as cppRunModel
-
-os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/"
-
-cdef class SNPEModel(RunModel):
-  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
-    self.model = <cppRunModel *> new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 1e451a7e3e4c43..a917d6cbb8f770 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -116,7 +116,7 @@ def set(self, data: dict) -> None:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v9.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v10.json"
 
   def __init__(self, params: Params):
     self.params = params
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index 51a3a2459835b1..a581185371b5fa 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -19,8 +19,8 @@
 from pathlib import Path
 
 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 11
-REQUIRED_MIN_SELECTOR_VERSION = 11
+CURRENT_SELECTOR_VERSION = 12
+REQUIRED_MIN_SELECTOR_VERSION = 12
 
 USE_ONNX = os.getenv('USE_ONNX', PC)
 
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
deleted file mode 100644
index a1c6fed9107b7d..00000000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fb3b1fd29d958e9a3a6625eac9fac9e7cd6eb40309b285ad973324761db0b4c9
-size 1202792
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
deleted file mode 100644
index 54c0c32e41ff53..00000000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:161a5d0bf7347465b53ae49690a38fbacf03d606ef204147b3b148a5f59188da
-size 9008016
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
deleted file mode 100644
index 21542030263916..00000000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7e0e66c12a1eb3b5b4b2b2694831ca51e5132818f400dad789adbcc30e0e0793
-size 14032
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
deleted file mode 100644
index 1d81abd3a5cfac..00000000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:784f2e80fa3534cf7934c5ecbbda37db633104380f2b41d896b4721ad6006eb2
-size 2420312
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
deleted file mode 100644
index 40e3d5af74980e..00000000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:33afe465e74bbe2c409350d2ca8e86cfadf050ceb8feac75a86adc19ff1f9c48
-size 26016
diff --git a/third_party/snpe/dsp/libcalculator_skel.so b/third_party/snpe/dsp/libcalculator_skel.so
deleted file mode 100644
index 9e9e9221be9da2..00000000000000
--- a/third_party/snpe/dsp/libcalculator_skel.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7bee94d38195478ffdd0ce15292a2dfa7813377f4c3b7d99c270e05079d1746b
-size 20828
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
deleted file mode 100644
index 3f1b7a8b8c4a9d..00000000000000
--- a/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4e040c87072aa915c47859c8c7f74076b98c6919b83ddd5dc4bb555870d586a7
-size 1813866
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
deleted file mode 100644
index aa42b5e830c26f..00000000000000
--- a/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:838bc58ac0094ba9593cf7c44ab6e8a94ae3dbbe176e320d9fbe86ceead53c5e
-size 1817962
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
deleted file mode 100644
index 9423da1b94e388..00000000000000
--- a/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:77d025d59521e13e4ed012f0d9d2b684cdb858208d70426078df51219eaeb9bd
-size 10098673
diff --git a/third_party/snpe/include/DiagLog/IDiagLog.hpp b/third_party/snpe/include/DiagLog/IDiagLog.hpp
deleted file mode 100644
index 018b5672561c0b..00000000000000
--- a/third_party/snpe/include/DiagLog/IDiagLog.hpp
+++ /dev/null
@@ -1,84 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#ifndef __IDIAGLOG_HPP_
-#define __IDIAGLOG_HPP_
-
-#include <string>
-
-#include "DiagLog/Options.hpp"
-#include "DlSystem/String.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace DiagLog
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/// @brief .
-///
-/// Interface for controlling logging for zdl components.
-
-class ZDL_EXPORT IDiagLog
-{
-public:
-
-   /// @brief .
-   ///
-   /// Sets the options after initialization occurs.
-   ///
-   /// @param[in] loggingOptions The options to set up diagnostic logging.
-   ///
-   /// @return False if the options could not be set. Ensure logging is not started.
-   virtual bool setOptions(const Options& loggingOptions) = 0;
-
-   /// @brief .
-   ///
-   /// Gets the curent options for the diag logger.
-   ///
-   /// @return Diag log options object.
-   virtual Options getOptions() = 0;
-
-   /// @brief .
-   ///
-   /// Allows for setting the log mask once diag logging has started
-   ///
-   /// @return True if the level was set successfully, false if a failure occurred.
-   virtual bool setDiagLogMask(const std::string& mask) = 0;
-
-   /// @brief .
-   ///
-   /// Allows for setting the log mask once diag logging has started
-   ///
-   /// @return True if the level was set successfully, false if a failure occurred.
-   virtual bool setDiagLogMask(const zdl::DlSystem::String& mask) = 0;
-
-   /// @brief .
-   ///
-   /// Enables logging for zdl components.
-   ///
-   /// Logging should be started prior to the instantiation of zdl components
-   /// to ensure all events are captured.
-   ///
-   /// @return False if diagnostic logging could not be started.
-   virtual bool start(void) = 0;
-
-   /// @brief Disables logging for zdl components.
-   virtual bool stop(void) = 0;
-
-   virtual ~IDiagLog() {};
-};
-
-} // DiagLog namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif
diff --git a/third_party/snpe/include/DiagLog/Options.hpp b/third_party/snpe/include/DiagLog/Options.hpp
deleted file mode 100644
index 798fa3f1240a62..00000000000000
--- a/third_party/snpe/include/DiagLog/Options.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#ifndef __DIAGLOG_OPTIONS_HPP_
-#define __DIAGLOG_OPTIONS_HPP_
-
-#include <string>
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace DiagLog
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/// @brief .
-///
-/// Options for setting up diagnostic logging for zdl components.
-class ZDL_EXPORT Options
-{
-public:
-   Options() :
-      DiagLogMask(""),
-      LogFileDirectory("diaglogs"),
-      LogFileName("DiagLog"),
-      LogFileRotateCount(20),
-      LogFileReplace(true)
-   {
-      // Solves the empty string problem with multiple std libs
-      DiagLogMask.reserve(1);
-   }
-
-   /// @brief .
-   ///
-   /// Enables diag logging only on the specified area mask (DNN_RUNTIME=ON | OFF)
-   std::string DiagLogMask;
-
-   /// @brief .
-   ///
-   /// The path to the directory where log files will be written.
-   /// The path may be relative or absolute. Relative paths are interpreted
-   /// from the current working directory.
-   /// Default value is "diaglogs"
-   std::string LogFileDirectory;
-
-   /// @brief .
-   ///
-   //// The name used for log files. If this value is empty then BaseName will be
-   /// used as the default file name.
-   /// Default value is "DiagLog"
-   std::string LogFileName;
-
-   /// @brief .
-   ///
-   /// The maximum number of log files to create. If set to 0 no log rotation
-   /// will be used and the log file name specified will be used each time, overwriting
-   /// any existing log file that may exist.
-   /// Default value is 20
-   uint32_t LogFileRotateCount;
-
-   /// @brief
-   ///
-   /// If the log file already exists, control whether it will be replaced
-   /// (existing contents truncated), or appended.
-   /// Default value is true
-   bool LogFileReplace;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // DiagLog namespace
-} // zdl namespace
-
-
-#endif
diff --git a/third_party/snpe/include/DlContainer/IDlContainer.hpp b/third_party/snpe/include/DlContainer/IDlContainer.hpp
deleted file mode 100644
index 4e29b39bb41eb8..00000000000000
--- a/third_party/snpe/include/DlContainer/IDlContainer.hpp
+++ /dev/null
@@ -1,191 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef ZEROTH_IDNC_CONTAINER_HPP
-#define ZEROTH_IDNC_CONTAINER_HPP
-
-#include <memory>
-#include <stdint.h>
-#include <string>
-#include <vector>
-#include <set>
-
-#include "DlSystem/ZdlExportDefine.hpp"
-#include "DlSystem/String.hpp"
-
-namespace zdl {
-namespace DlContainer {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-class IDlContainer;
-class dlc_error;
-
-/**
- * The structure of a record in a DL container.
- */
-struct ZDL_EXPORT DlcRecord
-{
-   /// Name of the record.
-   std::string name;
-   /// Byte blob holding the data for the record.
-   std::vector<uint8_t> data;
-
-   DlcRecord();
-   DlcRecord( DlcRecord&& other )
-      : name(std::move(other.name))
-      , data(std::move(other.data))
-   {}
-   DlcRecord(const std::string& new_name)
-      : name(new_name)
-      , data()
-   {
-      if(name.empty())
-      {
-         name.reserve(1);
-      }
-   }
-   DlcRecord(const DlcRecord&) = delete;
-};
-
-// The maximum length of any record name.
-extern const uint32_t RECORD_NAME_MAX_SIZE;
-// The maximum size of the record payload (bytes).
-extern const uint32_t RECORD_DATA_MAX_SIZE;
-// The maximum number of records in an archive at one time.
-extern const uint32_t ARCHIVE_MAX_RECORDS;
-
-/**
- * Represents a container for a neural network model which can
- * be used to load the model into the SNPE runtime.
- */
-class ZDL_EXPORT IDlContainer
-{
-public:
-   /**
-    * Initializes a container from a container archive file.
-    *
-    * @param[in] filename Container archive file path.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const std::string &filename) noexcept;
-
-   /**
-    * Initializes a container from a container archive file.
-    *
-    * @param[in] filename Container archive file path.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const zdl::DlSystem::String &filename) noexcept;
-
-   /**
-    * Initializes a container from a byte buffer.
-    *
-    * @param[in] buffer Byte buffer holding the contents of an archive
-    *                   file.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const std::vector<uint8_t> &buffer) noexcept;
-
-   /**
-    * Initializes a container from a byte buffer.
-    *
-    * @param[in] buffer Byte buffer holding the contents of an archive
-    *                   file.
-    *
-    * @param[in] size Size of the byte buffer.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const uint8_t* buffer, const size_t size) noexcept;
-
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-   /**
-    * Get the record catalog for a container.
-    *
-    * @param[out] catalog Buffer that will hold the record names on
-    *                    return.
-    */
-   virtual void getCatalog(std::set<std::string> &catalog) const = 0;
-
-    /**
-     * Get the record catalog for a container.
-     *
-     * @param[out] catalog Buffer that will hold the record names on
-     *                    return.
-     */
-   virtual void getCatalog(std::set<zdl::DlSystem::String> &catalog) const = 0;
-
-   /**
-    * Get a record from a container by name.
-    *
-    * @param[in] name Name of the record to fetch.
-    * @param[out] record The passed in record will be populated with the
-    *                   record data on return. Note that the caller
-    *                   will own the data in the record and is
-    *                   responsible for freeing it if needed.
-    */
-   virtual void getRecord(const std::string &name, DlcRecord &record) const = 0;
-
-   /**
-    * Get a record from a container by name.
-    *
-    * @param[in] name Name of the record to fetch.
-    * @param[out] record The passed in record will be populated with the
-    *                   record data on return. Note that the caller
-    *                   will own the data in the record and is
-    *                   responsible for freeing it if needed.
-    */
-   virtual void getRecord(const zdl::DlSystem::String &name, DlcRecord &record) const = 0;
-
-   /**
-    * Save the container to an archive on disk. This function will save the
-    * container if the filename is different from the file that it was opened
-    * from, or if at least one record was modified since the container was
-    * opened.
-    *
-    * It will truncate any existing file at the target path.
-    *
-    * @param filename Container archive file path.
-    *
-    * @return indication of success/failure
-    */
-   virtual bool save(const std::string &filename) = 0;
-
-   /**
-    * Save the container to an archive on disk. This function will save the
-    * container if the filename is different from the file that it was opened
-    * from, or if at least one record was modified since the container was
-    * opened.
-    *
-    * It will truncate any existing file at the target path.
-    *
-    * @param filename Container archive file path.
-    *
-    * @return indication of success/failure
-    */
-   virtual bool save (const zdl::DlSystem::String &filename) = 0;
-
-   virtual ~IDlContainer() {}
-};
-
-} // ns DlContainer
-} // ns zdl
-
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/DlEnums.hpp b/third_party/snpe/include/DlSystem/DlEnums.hpp
deleted file mode 100644
index c9b3ef970a2aaa..00000000000000
--- a/third_party/snpe/include/DlSystem/DlEnums.hpp
+++ /dev/null
@@ -1,234 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2014-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _DL_ENUMS_HPP_
-#define _DL_ENUMS_HPP_
-
-#include "DlSystem/ZdlExportDefine.hpp"
-
-
-namespace zdl {
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Enumeration of supported target runtimes.
- */
-enum class Runtime_t
-{
-   /// Run the processing on Snapdragon CPU.
-   /// Data: float 32bit
-   /// Math: float 32bit
-   CPU_FLOAT32  = 0,
-
-   /// Run the processing on the Adreno GPU.
-   /// Data: float 16bit
-   /// Math: float 32bit
-   GPU_FLOAT32_16_HYBRID = 1,
-
-   /// Run the processing on the Hexagon DSP.
-   /// Data: 8bit fixed point Tensorflow style format
-   /// Math: 8bit fixed point Tensorflow style format
-   DSP_FIXED8_TF = 2,
-
-   /// Run the processing on the Adreno GPU.
-   /// Data: float 16bit
-   /// Math: float 16bit
-   GPU_FLOAT16 = 3,
-
-   /// Run the processing on Snapdragon AIX+HVX.
-   /// Data: 8bit fixed point Tensorflow style format
-   /// Math: 8bit fixed point Tensorflow style format
-   AIP_FIXED8_TF = 5,
-   AIP_FIXED_TF = AIP_FIXED8_TF,
-
-   /// Default legacy enum to retain backward compatibility.
-   /// CPU = CPU_FLOAT32
-   CPU = CPU_FLOAT32,
-
-   /// Default legacy enum to retain backward compatibility.
-   /// GPU = GPU_FLOAT32_16_HYBRID
-   GPU = GPU_FLOAT32_16_HYBRID,
-
-   /// Default legacy enum to retain backward compatibility.
-   /// DSP = DSP_FIXED8_TF
-   DSP = DSP_FIXED8_TF,
-
-   /// Special value indicating the property is unset.
-   UNSET = -1
-};
-
-/**
- * Enumeration of runtime available check options.
- */
-enum class RuntimeCheckOption_t
-{
-   /// Perform standard runtime available check
-   DEFAULT = 0,
-   /// Perform standard runtime available check
-   NORMAL_CHECK = 0,
-   /// Perform basic runtime available check, may be runtime specific
-   BASIC_CHECK = 1,
-   /// Perform unsignedPD runtime available check
-   UNSIGNEDPD_CHECK = 2,
-};
-
-/**
- * Enumeration of various performance profiles that can be requested.
- */
-enum class PerformanceProfile_t
-{
-    /// Run in a standard mode.
-    /// This mode will be deprecated in the future and replaced with BALANCED.
-    DEFAULT = 0,
-    /// Run in a balanced mode.
-    BALANCED = 0,
-
-    /// Run in high performance mode
-    HIGH_PERFORMANCE = 1,
-
-    /// Run in a power sensitive mode, at the expense of performance.
-    POWER_SAVER = 2,
-
-    /// Use system settings.  SNPE makes no calls to any performance related APIs.
-    SYSTEM_SETTINGS = 3,
-
-    /// Run in sustained high performance mode
-    SUSTAINED_HIGH_PERFORMANCE = 4,
-
-    /// Run in burst mode
-    BURST = 5,
-
-    /// Run in lower clock than POWER_SAVER, at the expense of performance.
-    LOW_POWER_SAVER = 6,
-
-    /// Run in higher clock and provides better performance than POWER_SAVER.
-    HIGH_POWER_SAVER = 7,
-
-    /// Run in lower balanced mode
-    LOW_BALANCED = 8,
-};
-
-/**
- * Enumeration of various profilngLevels that can be requested.
- */
-enum class ProfilingLevel_t
-{
-    /// No profiling.
-    /// Collects no runtime stats in the DiagLog
-    OFF = 0,
-
-    /// Basic profiling
-    /// Collects some runtime stats in the DiagLog
-    BASIC = 1,
-
-    /// Detailed profiling
-    /// Collects more runtime stats in the DiagLog, including per-layer statistics
-    /// Performance may be impacted
-    DETAILED = 2,
-
-    /// Moderate profiling
-    /// Collects more runtime stats in the DiagLog, no per-layer statistics
-    MODERATE = 3
-};
-
-/**
- * Enumeration of various execution priority hints.
- */
-enum class ExecutionPriorityHint_t
-{
-    /// Normal priority
-    NORMAL = 0,
-
-    /// Higher than normal priority
-    HIGH = 1,
-
-    /// Lower priority
-    LOW = 2
-
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++*/
-
-/**
- * Enumeration that lists the supported image encoding formats.
- */
-enum class ImageEncoding_t
-{
-   /// For unknown image type. Also used as a default value for ImageEncoding_t.
-   UNKNOWN = 0,
-
-   /// The RGB format consists of 3 bytes per pixel: one byte for
-   /// Red, one for Green, and one for Blue. The byte ordering is
-   /// endian independent and is always in RGB byte order.
-   RGB = 1,
-
-   /// The ARGB32 format consists of 4 bytes per pixel: one byte for
-   /// Red, one for Green, one for Blue, and one for the alpha channel.
-   /// The alpha channel is ignored. The byte ordering depends on the
-   /// underlying CPU. For little endian CPUs, the byte order is BGRA.
-   /// For big endian CPUs, the byte order is ARGB.
-   ARGB32 = 2,
-
-   /// The RGBA format consists of 4 bytes per pixel: one byte for
-   /// Red, one for Green, one for Blue, and one for the alpha channel.
-   /// The alpha channel is ignored. The byte ordering is endian independent
-   /// and is always in RGBA byte order.
-   RGBA = 3,
-
-   /// The GRAYSCALE format is for 8-bit grayscale.
-   GRAYSCALE = 4,
-
-   /// NV21 is the Android version of YUV. The Chrominance is down
-   /// sampled and has a subsampling ratio of 4:2:0. Note that this
-   /// image format has 3 channels, but the U and V channels
-   /// are subsampled. For every four Y pixels there is one U and one V pixel. @newpage
-   NV21 = 5,
-
-   /// The BGR format consists of 3 bytes per pixel: one byte for
-   /// Red, one for Green and one for Blue. The byte ordering is
-   /// endian independent and is always BGR byte order.
-   BGR = 6
-};
-
-/**
- * Enumeration that lists the supported LogLevels that can be set by users.
- */
-enum class LogLevel_t
-{
-    /// Enumeration variable to be used by user to set logging level to FATAL.
-    LOG_FATAL = 0,
-
-    /// Enumeration variable to be used by user to set logging level to ERROR.
-    LOG_ERROR = 1,
-
-    /// Enumeration variable to be used by user to set logging level to WARN.
-    LOG_WARN = 2,
-
-    /// Enumeration variable to be used by user to set logging level to INFO.
-    LOG_INFO = 3,
-
-    /// Enumeration variable to be used by user to set logging level to VERBOSE.
-    LOG_VERBOSE = 4
-};
-
-typedef enum : int
-{
-   UNSPECIFIED = 0,
-   FLOATING_POINT_32 = 1,
-   FLOATING_POINT_16 = 2,
-   FIXED_POINT_8 =  3,
-   FIXED_POINT_16 = 4
-} IOBufferDataType_t;
-
-}} // namespaces end
-
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/DlError.hpp b/third_party/snpe/include/DlSystem/DlError.hpp
deleted file mode 100644
index 57592f01baed27..00000000000000
--- a/third_party/snpe/include/DlSystem/DlError.hpp
+++ /dev/null
@@ -1,259 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _DL_ERROR_HPP_
-#define _DL_ERROR_HPP_
-
-#include <stdint.h>
-#include <limits> // numeric_limits
-
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace DlSystem {
-
-// clang and arm gcc different in how ZDL_EXPORT is used with enum class
-#if !defined (__clang__)
-enum class ErrorCode : uint32_t ZDL_EXPORT {
-#else
-enum class ZDL_EXPORT ErrorCode : uint32_t {
-#endif // ARM64V8A
-   NONE = 0,
-
-   // System config errors
-   SNPE_CONFIG_MISSING_PARAM                             = 100,
-   SNPE_CONFIG_INVALID_PARAM                             = 101,
-   SNPE_CONFIG_MISSING_FILE                              = 102,
-   SNPE_CONFIG_NNCONFIG_NOT_SET                          = 103,
-   SNPE_CONFIG_NNCONFIG_INVALID                          = 104,
-   SNPE_CONFIG_WRONG_INPUT_NAME                          = 105,
-   SNPE_CONFIG_INCORRECT_INPUT_DIMENSIONS                = 106,
-   SNPE_CONFIG_DIMENSIONS_MODIFICATION_NOT_SUPPORTED     = 107,
-   SNPE_CONFIG_BOTH_OUTPUT_LAYER_TENSOR_NAMES_SET        = 108,
-
-   SNPE_CONFIG_NNCONFIG_ONLY_TENSOR_SUPPORTED            = 120,
-   SNPE_CONFIG_NNCONFIG_ONLY_USER_BUFFER_SUPPORTED       = 121,
-
-   // DlSystem errors
-   SNPE_DLSYSTEM_MISSING_BUFFER                          = 200,
-   SNPE_DLSYSTEM_TENSOR_CAST_FAILED                      = 201,
-   SNPE_DLSYSTEM_FIXED_POINT_PARAM_INVALID               = 202,
-   SNPE_DLSYSTEM_SIZE_MISMATCH                           = 203,
-   SNPE_DLSYSTEM_NAME_NOT_FOUND                          = 204,
-   SNPE_DLSYSTEM_VALUE_MISMATCH                          = 205,
-   SNPE_DLSYSTEM_INSERT_FAILED                           = 206,
-   SNPE_DLSYSTEM_TENSOR_FILE_READ_FAILED                 = 207,
-   SNPE_DLSYSTEM_DIAGLOG_FAILURE                         = 208,
-   SNPE_DLSYSTEM_LAYER_NOT_SET                           = 209,
-   SNPE_DLSYSTEM_WRONG_NUMBER_INPUT_BUFFERS              = 210,
-   SNPE_DLSYSTEM_RUNTIME_TENSOR_SHAPE_MISMATCH           = 211,
-   SNPE_DLSYSTEM_TENSOR_MISSING                          = 212,
-   SNPE_DLSYSTEM_TENSOR_ITERATION_UNSUPPORTED            = 213,
-   SNPE_DLSYSTEM_BUFFER_MANAGER_MISSING                  = 214,
-   SNPE_DLSYSTEM_RUNTIME_BUFFER_SOURCE_UNSUPPORTED       = 215,
-   SNPE_DLSYSTEM_BUFFER_CAST_FAILED                      = 216,
-   SNPE_DLSYSTEM_WRONG_TRANSITION_TYPE                   = 217,
-   SNPE_DLSYSTEM_LAYER_ALREADY_REGISTERED                = 218,
-   SNPE_DLSYSTEM_TENSOR_DIM_INVALID                      = 219,
-
-   SNPE_DLSYSTEM_BUFFERENCODING_UNKNOWN                  = 240,
-   SNPE_DLSYSTEM_BUFFER_INVALID_PARAM                    = 241,
-
-   // DlContainer errors
-   SNPE_DLCONTAINER_MODEL_PARSING_FAILED                 = 300,
-   SNPE_DLCONTAINER_UNKNOWN_LAYER_CODE                   = 301,
-   SNPE_DLCONTAINER_MISSING_LAYER_PARAM                  = 302,
-   SNPE_DLCONTAINER_LAYER_PARAM_NOT_SUPPORTED            = 303,
-   SNPE_DLCONTAINER_LAYER_PARAM_INVALID                  = 304,
-   SNPE_DLCONTAINER_TENSOR_DATA_MISSING                  = 305,
-   SNPE_DLCONTAINER_MODEL_LOAD_FAILED                    = 306,
-   SNPE_DLCONTAINER_MISSING_RECORDS                      = 307,
-   SNPE_DLCONTAINER_INVALID_RECORD                       = 308,
-   SNPE_DLCONTAINER_WRITE_FAILURE                        = 309,
-   SNPE_DLCONTAINER_READ_FAILURE                         = 310,
-   SNPE_DLCONTAINER_BAD_CONTAINER                        = 311,
-   SNPE_DLCONTAINER_BAD_DNN_FORMAT_VERSION               = 312,
-   SNPE_DLCONTAINER_UNKNOWN_AXIS_ANNOTATION              = 313,
-   SNPE_DLCONTAINER_UNKNOWN_SHUFFLE_TYPE                 = 314,
-   SNPE_DLCONTAINER_TEMP_FILE_FAILURE                    = 315,
-
-   // Network errors
-   SNPE_NETWORK_EMPTY_NETWORK                            = 400,
-   SNPE_NETWORK_CREATION_FAILED                          = 401,
-   SNPE_NETWORK_PARTITION_FAILED                         = 402,
-   SNPE_NETWORK_NO_OUTPUT_DEFINED                        = 403,
-   SNPE_NETWORK_MISMATCH_BETWEEN_NAMES_AND_DIMS          = 404,
-   SNPE_NETWORK_MISSING_INPUT_NAMES                      = 405,
-   SNPE_NETWORK_MISSING_OUTPUT_NAMES                     = 406,
-   SNPE_NETWORK_EXECUTION_FAILED                         = 407,
-
-   // Host runtime errors
-   SNPE_HOST_RUNTIME_TARGET_UNAVAILABLE                  = 500,
-
-   // CPU runtime errors
-   SNPE_CPU_LAYER_NOT_SUPPORTED                          = 600,
-   SNPE_CPU_LAYER_PARAM_NOT_SUPPORTED                    = 601,
-   SNPE_CPU_LAYER_PARAM_INVALID                          = 602,
-   SNPE_CPU_LAYER_PARAM_COMBINATION_INVALID              = 603,
-   SNPE_CPU_BUFFER_NOT_FOUND                             = 604,
-   SNPE_CPU_NETWORK_NOT_SUPPORTED                        = 605,
-   SNPE_CPU_UDO_OPERATION_FAILED                         = 606,
-
-   // CPU fixed-point runtime errors
-   SNPE_CPU_FXP_LAYER_NOT_SUPPORTED                      = 700,
-   SNPE_CPU_FXP_LAYER_PARAM_NOT_SUPPORTED                = 701,
-   SNPE_CPU_FXP_LAYER_PARAM_INVALID                      = 702,
-
-   // GPU runtime errors
-   SNPE_GPU_LAYER_NOT_SUPPORTED                          = 800,
-   SNPE_GPU_LAYER_PARAM_NOT_SUPPORTED                    = 801,
-   SNPE_GPU_LAYER_PARAM_INVALID                          = 802,
-   SNPE_GPU_LAYER_PARAM_COMBINATION_INVALID              = 803,
-   SNPE_GPU_KERNEL_COMPILATION_FAILED                    = 804,
-   SNPE_GPU_CONTEXT_NOT_SET                              = 805,
-   SNPE_GPU_KERNEL_NOT_SET                               = 806,
-   SNPE_GPU_KERNEL_PARAM_INVALID                         = 807,
-   SNPE_GPU_OPENCL_CHECK_FAILED                          = 808,
-   SNPE_GPU_OPENCL_FUNCTION_ERROR                        = 809,
-   SNPE_GPU_BUFFER_NOT_FOUND                             = 810,
-   SNPE_GPU_TENSOR_DIM_INVALID                           = 811,
-   SNPE_GPU_MEMORY_FLAGS_INVALID                         = 812,
-   SNPE_GPU_UNEXPECTED_NUMBER_OF_IO                      = 813,
-   SNPE_GPU_LAYER_PROXY_ERROR                            = 814,
-   SNPE_GPU_BUFFER_IN_USE                                = 815,
-   SNPE_GPU_BUFFER_MODIFICATION_ERROR                    = 816,
-   SNPE_GPU_DATA_ARRANGEMENT_INVALID                     = 817,
-   SNPE_GPU_UDO_OPERATION_FAILED                         = 818,
-   // DSP runtime errors
-   SNPE_DSP_LAYER_NOT_SUPPORTED                          = 900,
-   SNPE_DSP_LAYER_PARAM_NOT_SUPPORTED                    = 901,
-   SNPE_DSP_LAYER_PARAM_INVALID                          = 902,
-   SNPE_DSP_LAYER_PARAM_COMBINATION_INVALID              = 903,
-   SNPE_DSP_STUB_NOT_PRESENT                             = 904,
-   SNPE_DSP_LAYER_NAME_TRUNCATED                         = 905,
-   SNPE_DSP_LAYER_INPUT_BUFFER_NAME_TRUNCATED            = 906,
-   SNPE_DSP_LAYER_OUTPUT_BUFFER_NAME_TRUNCATED           = 907,
-   SNPE_DSP_RUNTIME_COMMUNICATION_ERROR                  = 908,
-   SNPE_DSP_RUNTIME_INVALID_PARAM_ERROR                  = 909,
-   SNPE_DSP_RUNTIME_SYSTEM_ERROR                         = 910,
-   SNPE_DSP_RUNTIME_CRASHED_ERROR                        = 911,
-   SNPE_DSP_BUFFER_SIZE_ERROR                            = 912,
-   SNPE_DSP_UDO_EXECUTE_ERROR                            = 913,
-   SNPE_DSP_UDO_LIB_NOT_REGISTERED_ERROR                 = 914,
-   SNPE_DSP_UDO_INVALID_QUANTIZATION_TYPE_ERROR          = 915,
-   SNPE_DSP_RUNTIME_INVALID_RPC_DRIVER                   = 916,
-   SNPE_DSP_RUNTIME_RPC_PERMISSION_ERROR                 = 917,
-   SNPE_DSP_RUNTIME_DSP_FILE_OPEN_ERROR                  = 918,
-
-   // Model validataion errors
-   SNPE_MODEL_VALIDATION_LAYER_NOT_SUPPORTED             = 1000,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_NOT_SUPPORTED       = 1001,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_INVALID             = 1002,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_MISSING             = 1003,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_COMBINATION_INVALID = 1004,
-   SNPE_MODEL_VALIDATION_LAYER_ORDERING_INVALID          = 1005,
-   SNPE_MODEL_VALIDATION_INVALID_CONSTRAINT              = 1006,
-   SNPE_MODEL_VALIDATION_MISSING_BUFFER                  = 1007,
-   SNPE_MODEL_VALIDATION_BUFFER_REUSE_NOT_SUPPORTED      = 1008,
-   SNPE_MODEL_VALIDATION_LAYER_COULD_NOT_BE_ASSIGNED     = 1009,
-   SNPE_MODEL_VALIDATION_UDO_LAYER_FAILED                = 1010,
-
-   // UDL errors
-   SNPE_UDL_LAYER_EMPTY_UDL_NETWORK                      = 1100,
-   SNPE_UDL_LAYER_PARAM_INVALID                          = 1101,
-   SNPE_UDL_LAYER_INSTANCE_MISSING                       = 1102,
-   SNPE_UDL_LAYER_SETUP_FAILED                           = 1103,
-   SNPE_UDL_EXECUTE_FAILED                               = 1104,
-   SNPE_UDL_BUNDLE_INVALID                               = 1105,
-   SNPE_UDO_REGISTRATION_FAILED                          = 1106,
-   SNPE_UDO_GET_PACKAGE_FAILED                           = 1107,
-   SNPE_UDO_GET_IMPLEMENTATION_FAILED                    = 1108,
-
-   // Dependent library errors
-   SNPE_STD_LIBRARY_ERROR                                = 1200,
-
-   // Unknown exception (catch (...)), Has no component attached to this
-   SNPE_UNKNOWN_EXCEPTION                                = 1210,
-
-   // Storage Errors
-   SNPE_STORAGE_INVALID_KERNEL_REPO                      = 1300,
-
-   // AIP runtime errors
-   SNPE_AIP_LAYER_NOT_SUPPORTED                          = 1400,
-   SNPE_AIP_LAYER_PARAM_NOT_SUPPORTED                    = 1401,
-   SNPE_AIP_LAYER_PARAM_INVALID                          = 1402,
-   SNPE_AIP_LAYER_PARAM_COMBINATION_INVALID              = 1403,
-   SNPE_AIP_STUB_NOT_PRESENT                             = 1404,
-   SNPE_AIP_LAYER_NAME_TRUNCATED                         = 1405,
-   SNPE_AIP_LAYER_INPUT_BUFFER_NAME_TRUNCATED            = 1406,
-   SNPE_AIP_LAYER_OUTPUT_BUFFER_NAME_TRUNCATED           = 1407,
-   SNPE_AIP_RUNTIME_COMMUNICATION_ERROR                  = 1408,
-   SNPE_AIP_RUNTIME_INVALID_PARAM_ERROR                  = 1409,
-   SNPE_AIP_RUNTIME_SYSTEM_ERROR                         = 1410,
-   SNPE_AIP_RUNTIME_TENSOR_MISSING                       = 1411,
-   SNPE_AIP_RUNTIME_TENSOR_SHAPE_MISMATCH                = 1412,
-   SNPE_AIP_RUNTIME_BAD_AIX_RECORD                       = 1413,
-
-   // DlCaching errors
-   SNPE_DLCACHING_INVALID_METADATA                       = 1500,
-   SNPE_DLCACHING_INVALID_INITBLOB                       = 1501,
-
-   // Infrastructure Errors
-   SNPE_INFRA_CLUSTERMGR_INSTANCE_INVALID                = 1600,
-   SNPE_INFRA_CLUSTERMGR_EXECUTE_SYNC_FAILED             = 1601,
-
-   // Memory Errors
-   SNPE_MEMORY_CORRUPTION_ERROR                          = 1700
-
-};
-
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Returns the error code of the last error encountered.
- *
- * @return The error code.
- *
- * @note The returned error code is significant only when the return
- *       value of the call indicated an error.
- */
-ZDL_EXPORT ErrorCode getLastErrorCode();
-
-/**
- * Returns the error string of the last error encountered.
- *
- * @return The error string.
- *
- * @note The returned error string is significant only when the return
- *       value of the call indicated an error.
- */
-ZDL_EXPORT const char* getLastErrorString();
-
-/**
- * Returns the info string of the last error encountered.
- */
-ZDL_EXPORT const char* getLastInfoString();
-
-/**
- * Returns the uint32_t representation of the error code enum.
- *
- * @param[in] code The error code to be converted.
- *
- * @return uint32_t representation of the error code.
- */
-ZDL_EXPORT uint32_t enumToUInt32(zdl::DlSystem::ErrorCode code);
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // DlSystem
-} // zdl
-
-#endif // _DL_ERROR_HPP_
-
diff --git a/third_party/snpe/include/DlSystem/DlOptional.hpp b/third_party/snpe/include/DlSystem/DlOptional.hpp
deleted file mode 100644
index 4f83e6b4e417fc..00000000000000
--- a/third_party/snpe/include/DlSystem/DlOptional.hpp
+++ /dev/null
@@ -1,225 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2016, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _DL_SYSTEM_OPTIONAL_HPP_
-#define _DL_SYSTEM_OPTIONAL_HPP_
-
-#include <cstdio>
-#include <utility>
-#include <stdexcept>
-
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace DlSystem {
-
-template <typename T>
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Class to manage a value that may or may not exist. The boolean value
- * of the Optional class is true if the object contains a value and false
- * if it does not contain a value.
- *
- * The class must be evaluated and confirmed as true (containing a value)
- * before being dereferenced.
- */
-class ZDL_EXPORT Optional final {
-public:
-   enum class LIFECYCLE {
-      NONE = 0,
-      REFERENCE_OWNED = 1,
-      POINTER_OWNED = 2,
-      POINTER_NOT_OWNED = 3
-   };
-
-   struct ReferenceCount {
-      size_t count = 0;
-
-      void increment() { count++; }
-
-      size_t decrement() {
-         if (count > 0) {
-            count--;
-         }
-         return count;
-      }
-   };
-
-   using U = typename std::remove_pointer<T>::type;
-
-   /**
-    * The default constructor is set to not have any value, and is
-    * therefore evaluated as false.
-    */
-   // Do not explicit it so we can return {}
-   Optional() {
-      m_Type = LIFECYCLE::NONE;
-   }
-
-   /**
-    * Construct an Optional class using an object.
-    * @param[in] Reference to an object v
-    * @param[out] Optional instance of object v
-    */
-   template <typename Q = T>
-   Optional (const T& v, typename std::enable_if<!std::is_pointer<Q>::value>::type* = 0)
-           : m_Type(LIFECYCLE::REFERENCE_OWNED) {
-      try {
-         m_StoragePtr = new T(v);
-      } catch (...) {
-         m_StoragePtr = nullptr;
-         m_Type = LIFECYCLE::NONE;
-      }
-   }
-
-   template <typename Q = T>
-   Optional(U* v, LIFECYCLE type, typename std::enable_if<std::is_pointer<Q>::value>::type* = 0)
-           : m_Type(type) {
-      switch (m_Type) {
-         case LIFECYCLE::POINTER_OWNED:
-            m_StoragePtr = v;
-            m_Count = new ReferenceCount();
-            m_Count->increment();
-            break;
-         case LIFECYCLE::POINTER_NOT_OWNED:
-            m_StoragePtr = v;
-            break;
-         case LIFECYCLE::REFERENCE_OWNED:
-            throw std::bad_exception();
-         case LIFECYCLE::NONE:
-            break;
-      }
-   }
-
-   Optional(const Optional &other) : m_Type(other.m_Type), m_Count(other.m_Count) {
-      if (isReference()) {
-         m_StoragePtr = new U(*other.m_StoragePtr);
-      } else if (isPointer()) {
-         m_StoragePtr = other.m_StoragePtr;
-         if (isOwned()) {
-            m_Count->increment();
-         }
-      }
-   }
-
-   Optional& operator=(const Optional& other) noexcept {
-      Optional tmp(other);
-      swap(std::move(tmp));
-      return *this;
-   }
-
-   Optional(Optional&& other) noexcept {
-      swap(std::move(other));
-   }
-
-   Optional& operator=(Optional&& other) noexcept {
-      swap(std::move(other));
-      return *this;
-   }
-
-   ~Optional() {
-      if (isOwned()) {
-         if (isReference() || (isPointer() && m_Count->decrement() == 0)) {
-            delete m_StoragePtr;
-            delete m_Count;
-         }
-      }
-   }
-
-   /**
-    * Boolean value of Optional class is only true when there exists a value.
-    */
-   operator bool() const noexcept { return isValid(); }
-
-   bool operator!() const noexcept { return !isValid(); }
-
-   /**
-    * Get reference of Optional object
-    * @warning User must validate Optional has value before.
-    */
-   const T& operator*() { return this->GetReference(); }
-
-   /**
-    * Get reference of Optional object
-    * @warning User must validate Optional has value before.
-    */
-   const T& operator*() const { return this->GetReference(); }
-
-   operator T&() { return this->GetReference(); }
-
-   T operator->() {
-      T self = this->GetReference();
-      return self;
-   }
-private:
-   void swap(Optional&& other) {
-      m_Type = other.m_Type;
-      m_StoragePtr = other.m_StoragePtr;
-      m_Count = other.m_Count;
-
-      other.m_Type = LIFECYCLE::NONE;
-      other.m_StoragePtr = nullptr;
-      other.m_Count = nullptr;
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U, Q>::value, const Q&>::type GetReference() const noexcept {
-      if (!isReference()) std::terminate();
-      return *static_cast<const Q*>(m_StoragePtr);
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U*, Q>::value, const Q&>::type GetReference() const noexcept {
-      if (!isPointer()) std::terminate();
-      return static_cast<const Q&>(m_StoragePtr);
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U, Q>::value, Q&>::type GetReference() noexcept {
-      if (!isReference()) std::terminate();
-      return *m_StoragePtr;
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U*, Q>::value, Q&>::type GetReference() noexcept {
-      if (!isPointer()) std::terminate();
-      return m_StoragePtr;
-   }
-
-   bool isPointer() const {
-      return m_Type == LIFECYCLE::POINTER_OWNED || m_Type == LIFECYCLE::POINTER_NOT_OWNED;
-   }
-
-   bool isOwned() const {
-      return m_Type == LIFECYCLE::REFERENCE_OWNED || m_Type == LIFECYCLE::POINTER_OWNED;
-   }
-
-   bool isReference() const {
-      return m_Type == LIFECYCLE::REFERENCE_OWNED;
-   }
-
-   bool isValid() const {
-      return m_Type != LIFECYCLE::NONE;
-   }
-
-   U* m_StoragePtr = nullptr;
-   LIFECYCLE m_Type;
-   ReferenceCount *m_Count = nullptr;
-};
-
-} // ns DlSystem
-} // ns zdl
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // _DL_SYSTEM_OPTIONAL_HPP_
diff --git a/third_party/snpe/include/DlSystem/DlVersion.hpp b/third_party/snpe/include/DlSystem/DlVersion.hpp
deleted file mode 100644
index beb8d75f218caf..00000000000000
--- a/third_party/snpe/include/DlSystem/DlVersion.hpp
+++ /dev/null
@@ -1,78 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2014-2015 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-
-#ifndef _DL_VERSION_HPP_
-#define _DL_VERSION_HPP_
-
-#include "ZdlExportDefine.hpp"
-#include <stdint.h>
-#include <string>
-#include "DlSystem/String.hpp"
-
-
-namespace zdl {
-namespace DlSystem
-{
-   class Version_t;
-}}
-
-
-namespace zdl { namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * A class that contains the different portions of a version number.
- */
-class ZDL_EXPORT Version_t
-{
-public:
-   /// Holds the major version number. Changes in this value indicate
-   /// major changes that break backward compatibility.
-   int32_t         Major;
-
-   /// Holds the minor version number. Changes in this value indicate
-   /// minor changes made to library that are backwards compatible
-   /// (such as additions to the interface).
-   int32_t         Minor;
-
-   /// Holds the teeny version number. Changes in this value indicate
-   /// changes such as bug fixes and patches made to the library that
-   /// do not affect the interface.
-   int32_t         Teeny;
-
-   /// This string holds information about the build version.
-   ///
-   std::string     Build;
-
-   static zdl::DlSystem::Version_t fromString(const std::string &stringValue);
-
-   static zdl::DlSystem::Version_t fromString(const zdl::DlSystem::String &stringValue);
-
-   /**
-    * @brief Returns a string in the form Major.Minor.Teeny.Build
-    *
-    * @return A formatted string holding the version information.
-    */
-   const std::string toString() const;
-
-   /**
-    * @brief Returns a string in the form Major.Minor.Teeny.Build
-    *
-    * @return A formatted string holding the version information.
-    */
-   const zdl::DlSystem::String asString() const;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis */
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/IBufferAttributes.hpp b/third_party/snpe/include/DlSystem/IBufferAttributes.hpp
deleted file mode 100644
index f893e0a2370880..00000000000000
--- a/third_party/snpe/include/DlSystem/IBufferAttributes.hpp
+++ /dev/null
@@ -1,86 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2017-2019 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _IBUFFER_ATTRIBUTES_HPP
-#define _IBUFFER_ATTRIBUTES_HPP
-#include "IUserBuffer.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-
-namespace zdl {
-    namespace DlSystem {
-        class UserBufferEncoding;
-    }
-}
-
-namespace zdl {
-namespace DlSystem {
-
-/**
- * @brief IBufferAttributes returns a buffer's dimension and alignment
- *        requirements, along with info on its encoding type
- */
-class ZDL_EXPORT IBufferAttributes {
-public:
-
-    /**
-      * @brief Gets the buffer's element size, in bytes
-      *
-      * This can be used to compute the memory size required
-      * to back this buffer.
-      *
-      * @return Element size, in bytes
-     */
-    virtual size_t getElementSize() const noexcept = 0;
-
-    /**
-      * @brief Gets the element's encoding type
-      *
-      * @return encoding type
-     */
-    virtual zdl::DlSystem::UserBufferEncoding::ElementType_t getEncodingType() const noexcept = 0;
-
-    /**
-      * @brief Gets the number of elements in each dimension
-      *
-      * @return Dimension size, in terms of number of elements
-     */
-    virtual const TensorShape getDims() const noexcept = 0;
-
-    /**
-      * @brief Gets the alignment requirement of each dimension
-      *
-      * Alignment per each dimension is expressed as an multiple, for
-      * example, if one particular dimension can accept multiples of 8,
-      * the alignment will be 8.
-      *
-      * @return Alignment in each dimension, in terms of multiple of
-      *         number of elements
-     */
-    virtual const TensorShape getAlignments() const noexcept = 0;
-
-    /**
-      * @brief Gets the buffer encoding returned from the network responsible
-      * for generating this buffer. Depending on the encoding type, this will
-      * be an instance of an encoding type specific derived class.
-      *
-      * @return Derived user buffer encoding object.
-     */
-    virtual zdl::DlSystem::UserBufferEncoding* getEncoding() const noexcept = 0;
-
-    virtual ~IBufferAttributes() {}
-};
-
-
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}
-}
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp b/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
deleted file mode 100644
index ac33c84af81198..00000000000000
--- a/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
+++ /dev/null
@@ -1,127 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2021-2022 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-
-#ifndef DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
-#define DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
-
-#include <cstddef>
-#include <memory>
-#include "DlSystem/DlEnums.hpp"
-
-namespace DlSystem
-{
-   // Forward declaration of IOBufferDataTypeMapImpl implementation.
-   class IOBufferDataTypeMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * The IoBufferDataTypeMap class definition
- */
-class ZDL_EXPORT IOBufferDataTypeMap final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new Buffer Data type map
-    *
-    */
-   IOBufferDataTypeMap();
-
-   /**
-    * @brief Adds a name and the corresponding buffer data type
-    *        to the map
-    *
-    * @param[name] name The name of the buffer
-    * @param[bufferDataType] buffer Data Type of the buffer
-    *
-    * @note If a buffer with the same name already exists, no new
-    *       buffer is added.
-    */
-   void add(const char* name, zdl::DlSystem::IOBufferDataType_t bufferDataType);
-
-   /**
-    * @brief Removes a buffer name from the map
-    *
-    * @param[name] name The name of the buffer
-    *
-    */
-   void remove(const char* name);
-
-   /**
-    * @brief Returns the type of the named buffer
-    *
-    * @param[name] name The name of the buffer
-    *
-    * @return The type of the buffer, or UNSPECIFIED if the buffer does not exist
-    *
-    */
-   zdl::DlSystem::IOBufferDataType_t getBufferDataType(const char* name);
-
-   /**
-    * @brief Returns the type of the first buffer
-    *
-    * @return The type of the first buffer, or UNSPECIFIED if the map is empty.
-    *
-    */
-   zdl::DlSystem::IOBufferDataType_t getBufferDataType();
-
-   /**
-    * @brief Returns the size of the buffer type map.
-    *
-    * @return The size of the map
-    *
-    */
-   size_t size();
-
-   /**
-    * @brief Checks the existence of the named buffer in the map
-    *
-    * @return True if the named buffer exists, false otherwise.
-    *
-    */
-   bool find(const char* name);
-
-   /**
-    * @brief Resets the map
-    *
-    */
-   void clear();
-
-   /**
-    * @brief Checks whether the map is empty
-    *
-    * @return True if the map is empty, false otherwise.
-    *
-    */
-   bool empty();
-
-   /**
-    * @brief Destroys the map
-    *
-    */
-   ~IOBufferDataTypeMap();
-
-private:
-   std::shared_ptr<::DlSystem::IOBufferDataTypeMapImpl> m_IOBufferDataTypeMapImpl;
-};
-}
-
-}
-#endif
diff --git a/third_party/snpe/include/DlSystem/ITensor.hpp b/third_party/snpe/include/DlSystem/ITensor.hpp
deleted file mode 100644
index 2f006c857fc442..00000000000000
--- a/third_party/snpe/include/DlSystem/ITensor.hpp
+++ /dev/null
@@ -1,146 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_HPP_
-#define _ITENSOR_HPP_
-
-#include "ITensorItr.hpp"
-#include "ITensorItrImpl.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include <memory>
-#include <ostream>
-#include <cmath>
-
-namespace zdl {
-namespace DlSystem
-{
-   class ITensor;
-}}
-
-namespace zdl { namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Represents a tensor which holds n-dimensional data. It is important to
- * understand how the tensor data is represented in memory 
- * relative to the tensor dimensions. Tensors store data in 
- * memory in row-major order (i.e. the last tensor dimension is 
- * the fastest varying one). For example, if you have a two 
- * dimensional tensor with 3 rows and 2 columns (i.e. the tensor 
- * dimensions are 3,2 as returned in tensor dimension vectors)
- * with the following data in terms rows and columns: 
- *  
- * | 1 2 | <br/>
- * | 3 4 | <br/>
- * | 5 6 | <br/>
- *  
- * This data would be stored in memory as 1,2,3,4,5,6. 
- */
-class ZDL_EXPORT ITensor 
-{
-public:
-
-   typedef zdl::DlSystem::ITensorItr<false> iterator;
-   typedef zdl::DlSystem::ITensorItr<true> const_iterator;
-
-   virtual ~ITensor() {}
-
-   /**
-    * Returns a tensor iterator pointing to the beginning 
-    * of the data in the tensor.
-    * 
-    * @return A tensor iterator that points to the first data
-    *         element in the tensor.
-    */
-   virtual iterator begin() = 0;
-
-   /**
-    * Returns the const version of a tensor iterator 
-    * pointing to the beginning of the data in the tensor.
-    * 
-    * @return A tensor const iterator that points to the first data
-    *         element in the tensor.
-    */
-   virtual const_iterator cbegin() const = 0;
-
-   /**
-    * Returns a tensor iterator pointing to the end of the
-    * data in the tensor. This tensor should not be
-    * dereferenced.
-    * 
-    * @return A tensor iterator that points to the end of the data 
-    *         (one past the last element) in the tensor.
-    */
-   virtual iterator end() = 0;
-
-   /**
-    * Returns the const version of a tensor iterator 
-    * pointing to the end of the data in the tensor. This
-    * tensor should not be dereferenced.
-    * 
-    * @return A tensor const iterator that points to the end of the
-    *         data (one past the last element) in the tensor.
-    */
-   virtual const_iterator cend() const = 0;
-
-   /**
-    * @brief Gets the shape of this tensor.
-    *  
-    * The last element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest 
-    * varying dimension, etc. 
-    * 
-    * @return A shape class holding the tensor dimensions.
-    */
-   virtual TensorShape getShape() const = 0;
-
-   /**
-    * Returns the element size of the data in the tensor 
-    * (discounting strides). This is how big a buffer would
-    * need to be to hold the tensor data contiguously in
-    * memory.
-    *  
-    * @return The size of the tensor (in elements).
-    */
-   virtual size_t getSize() const = 0;
-
-   /**
-    * @brief Serializes the tensor to an output stream.
-    * 
-    * @param[in] output The output stream to which to write the tensor 
-    *  
-    * @throw std::runtime_error If the stream is ever in a bad 
-    *        state before the tensor is fully serialized.
-    */
-   virtual void serialize(std::ostream &output) const = 0;
-
-   friend iterator;
-   friend const_iterator;
-
-   virtual bool isQuantized() {return false;}
-   virtual float GetDelta() {return NAN;};
-   virtual float GetOffset() {return NAN;};
-
-protected:
-
-   /**
-    * Returns the tensor iterator implementation.
-    * 
-    * @return A pointer to the tensor iterator implementation.
-    */
-   virtual std::unique_ptr<::DlSystem::ITensorItrImpl> getItrImpl() const = 0;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorFactory.hpp b/third_party/snpe/include/DlSystem/ITensorFactory.hpp
deleted file mode 100644
index 57d2c8ea992375..00000000000000
--- a/third_party/snpe/include/DlSystem/ITensorFactory.hpp
+++ /dev/null
@@ -1,92 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_FACTORY_HPP
-#define _ITENSOR_FACTORY_HPP
-
-#include "ITensor.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include <istream>
-
-namespace zdl {
-    namespace DlSystem
-    {
-        class ITensor;
-        class TensorShape;
-    }
-}
-
-namespace zdl { namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Factory interface class to create ITensor objects.
- */
-class ZDL_EXPORT ITensorFactory
-{
-public:
-   virtual ~ITensorFactory() = default;
-
-   /**
-    * Creates a new ITensor with uninitialized data. 
-    *  
-    * The strides for the tensor will match the tensor dimensions 
-    * (i.e., the tensor data is contiguous in memory).
-    *  
-    * @param[in] shape The dimensions for the tensor in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    * 
-    * @return A pointer to the created tensor or nullptr if creating failed.
-    */
-   virtual std::unique_ptr<ITensor>
-      createTensor(const TensorShape &shape) noexcept = 0;
-
-   /**
-    * Creates a new ITensor by loading it from a file.
-    *  
-    * @param[in] input The input stream from which to read the tensor 
-    *                  data.
-    *  
-    * @return A pointer to the created tensor or nullptr if creating failed.
-    *
-    */
-   virtual std::unique_ptr<ITensor> createTensor(std::istream &input) noexcept = 0;
-
-   /**
-    * Create a new ITensor with specific data.
-    * (i.e. the tensor data is contiguous in memory). This tensor is
-    * primarily used to create a tensor where tensor size can't be
-    * computed directly from dimension. One such example is
-    * NV21-formatted image, or any YUV formatted image
-    *
-    * @param[in] shape The dimensions for the tensor in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-    * @param[in] data The actual data with which the Tensor object is filled.
-    *
-    * @param[in] dataSize The size of data
-    *
-    * @return A pointer to the created tensor
-    */
-   virtual std::unique_ptr<ITensor>
-      createTensor(const TensorShape &shape, const unsigned char *data, size_t dataSize) noexcept = 0;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorItr.hpp b/third_party/snpe/include/DlSystem/ITensorItr.hpp
deleted file mode 100644
index 4ce12a9f113acb..00000000000000
--- a/third_party/snpe/include/DlSystem/ITensorItr.hpp
+++ /dev/null
@@ -1,182 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_ITR_HPP_
-#define _ITENSOR_ITR_HPP_
-
-#include "ZdlExportDefine.hpp"
-#include "ITensorItrImpl.hpp"
-
-#include <memory>
-#include <iterator>
-#include <iostream>
-
-namespace zdl {
-namespace DlSystem
-{
-   template<bool IS_CONST> class ITensorItr;
-   class ITensor;
-   void ZDL_EXPORT fill(ITensorItr<false> first, ITensorItr<false> end, float val);
-   template<class InItr, class OutItr> OutItr ZDL_EXPORT copy(InItr first, InItr last, OutItr result)
-   {
-      return std::copy(first, last, result);
-   }
-}}
-namespace DlSystem
-{
-   class ITensorItrImpl;
-}
-
-namespace zdl { namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * A bidirectional iterator (with limited random access 
- * capabilities) for the zdl::DlSystem::ITensor class.
- *  
- * This is a standard bidrectional iterator and is compatible
- * with standard algorithm functions that operate on bidirectional 
- * access iterators (e.g., std::copy, std::fill, etc.). It uses a
- * template parameter to create const and non-const iterators 
- * from the same code. Iterators are easiest to declare via the 
- * typedefs iterator and const_iterator in the ITensor class 
- * (e.g., zdl::DlSystem::ITensor::iterator). 
- *  
- * Note that if the tensor the iterator is traversing was 
- * created with nondefault (i.e., nontrivial) strides, the 
- * iterator will obey the strides when traversing the tensor 
- * data. 
- *  
- * Also note that nontrivial strides dramatically affect the
- * performance of the iterator (on the order of 20x slower). 
- */ 
-template<bool IS_CONST=true>
-class ZDL_EXPORT ITensorItr : public std::iterator<std::bidirectional_iterator_tag, float>
-{
-public:
-
-   typedef typename std::conditional<IS_CONST, const float&, float&>::type VALUE_REF;
-
-   ITensorItr() = delete;
-   virtual ~ITensorItr() {}
-
-   ITensorItr(std::unique_ptr<::DlSystem::ITensorItrImpl> impl, 
-              bool isTrivial = false, 
-              float* data = nullptr)
-      : m_Impl(impl->clone())
-      , m_IsTrivial(isTrivial)
-      , m_Data(data)
-      , m_DataStart(data) {}
-
-   ITensorItr(const ITensorItr<IS_CONST>& itr)
-      : m_Impl(itr.m_Impl->clone()),
-        m_IsTrivial(itr.m_IsTrivial),
-        m_Data(itr.m_Data),
-        m_DataStart(itr.m_DataStart) {}
-
-   zdl::DlSystem::ITensorItr<IS_CONST>& operator=(const ITensorItr<IS_CONST>& other)
-   {
-      if (this == &other) return *this;
-      m_Impl = std::move(other.m_Impl->clone());
-      m_IsTrivial = other.m_IsTrivial;
-      m_Data = other.m_Data;
-      m_DataStart = other.m_DataStart;
-      return *this;
-   }
-
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator++()
-   {
-      if (m_IsTrivial) m_Data++; else m_Impl->increment();
-      return *this;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST> operator++(int)
-   {
-      ITensorItr tmp(*this);
-      operator++();
-      return tmp;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator--()
-   {
-      if (m_IsTrivial) m_Data--; else m_Impl->decrement();
-      return *this;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST> operator--(int)
-   {
-      ITensorItr tmp(*this);
-      operator--();
-      return tmp;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator+=(int rhs)
-   {
-      if (m_IsTrivial) m_Data += rhs; else m_Impl->increment(rhs);
-      return *this;
-   }
-   inline friend zdl::DlSystem::ITensorItr<IS_CONST> operator+(zdl::DlSystem::ITensorItr<IS_CONST> lhs, int rhs)
-      { lhs += rhs; return lhs; }
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator-=(int rhs)
-   {
-      if (m_IsTrivial) m_Data -= rhs; else m_Impl->decrement(rhs);
-      return *this;
-   }
-   inline friend zdl::DlSystem::ITensorItr<IS_CONST> operator-(zdl::DlSystem::ITensorItr<IS_CONST> lhs, int rhs)
-      { lhs -= rhs; return lhs; }
-
-   inline size_t operator-(const zdl::DlSystem::ITensorItr<IS_CONST>& rhs)
-   {
-      if (m_IsTrivial) return (m_Data - m_DataStart) - (rhs.m_Data - rhs.m_DataStart);
-      return m_Impl->getPosition() - rhs.m_Impl->getPosition();
-   }
-
-   inline friend bool operator<(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-   {
-      if (lhs.m_IsTrivial) return lhs.m_Data < rhs.m_Data;
-      return lhs.m_Impl->dataPointer() < rhs.m_Impl->dataPointer();
-   }
-   inline friend bool operator>(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-      { return rhs < lhs; }
-   inline friend bool operator<=(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-      { return !(lhs > rhs); }
-   inline friend bool operator>=(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-      { return !(lhs < rhs); }
-
-   inline bool operator==(const ITensorItr<IS_CONST>& rhs) const
-   {
-      if (m_IsTrivial) return m_Data == rhs.m_Data;
-      return m_Impl->dataPointer() == rhs.m_Impl->dataPointer();
-   }
-   inline bool operator!=(const ITensorItr<IS_CONST>& rhs) const
-      { return !operator==(rhs); }
-
-   inline VALUE_REF operator[](size_t idx)
-   {
-      if (m_IsTrivial) return *(m_DataStart + idx);
-      return m_Impl->getReferenceAt(idx);
-   }
-   inline VALUE_REF operator*()
-      { if (m_IsTrivial) return *m_Data; else return m_Impl->getReference(); }
-   inline VALUE_REF operator->()
-      { return *(*this); }
-   inline float* dataPointer() const
-      { if (m_IsTrivial) return m_Data; else return m_Impl->dataPointer(); }
-
-
-protected:
-   std::unique_ptr<::DlSystem::ITensorItrImpl> m_Impl;
-   bool m_IsTrivial = false;
-   float* m_Data = nullptr;
-   float* m_DataStart = nullptr;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp b/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
deleted file mode 100644
index 069e7a1d69031f..00000000000000
--- a/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_ITR_IMPL_HPP_
-#define _ITENSOR_ITR_IMPL_HPP_
-
-#include "ZdlExportDefine.hpp"
-
-#include <memory>
-#include <iterator>
-
-namespace DlSystem
-{
-   class ITensorItrImpl;
-}
-
-class ZDL_EXPORT DlSystem::ITensorItrImpl
-{
-public:
-   ITensorItrImpl() {}
-   virtual ~ITensorItrImpl() {}
-
-   virtual float getValue() const = 0;
-   virtual float& getReference() = 0;
-   virtual float& getReferenceAt(size_t idx) = 0;
-   virtual float* dataPointer() const = 0;
-   virtual void increment(int incVal = 1) = 0;
-   virtual void decrement(int decVal = 1) = 0;
-   virtual size_t getPosition() = 0;
-   virtual std::unique_ptr<DlSystem::ITensorItrImpl> clone() = 0;
-
-private:
-   ITensorItrImpl& operator=(const ITensorItrImpl& other) = delete;
-   ITensorItrImpl(const ITensorItrImpl& other) = delete;
-};
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/IUDL.hpp b/third_party/snpe/include/DlSystem/IUDL.hpp
deleted file mode 100644
index a171ac7e81d6a3..00000000000000
--- a/third_party/snpe/include/DlSystem/IUDL.hpp
+++ /dev/null
@@ -1,105 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _DL_SYSTEM_IUDL_HPP_
-#define _DL_SYSTEM_IUDL_HPP_
-
-#include "ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace DlSystem {
-
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- *
- * Base class user concrete UDL implementation.
- *
- * All functions are marked as:
- *
- * - virtual
- * - noexcept
- *
- * User should make sure no exceptions are propagated outside of
- * their module. Errors can be communicated via return values.
- */
-class ZDL_EXPORT IUDL {
-public:
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief .
-    *
-    * Destructor
-    */
-   virtual ~IUDL() = default;
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief Sets up the user's environment.
-    * This is called by the SNPE framework to allow the user the
-    * opportunity to setup anything which is needed for running
-    * user defined layers.
-    *
-    * @param cookie User provided opaque data returned by the SNPE
-    *               runtime
-    *
-    * @param insz How many elements in input size array
-    * @param indim Pointer to a buffer that holds input dimension
-    *               array
-    * @param indimsz Input dimension size  array of the buffer
-    *                 'indim'. Corresponds to indim
-    *
-    * @param outsz How many elements in output size array
-    * @param outdim Pointer to a buffer that holds output
-    *              dimension array
-    * @param outdimsz Output dimension size of the buffer 'oudim'.
-    *                  Corresponds to indim
-    *
-    * @return true on success, false otherwise
-    */
-   virtual bool setup(void *cookie,
-                      size_t insz, const size_t **indim, const size_t *indimsz,
-                      size_t outsz, const size_t **outdim, const size_t *outdimsz)  = 0;
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief Close the instance. Invoked by the SNPE
-    * framework to allow the user the opportunity to release any resources
-    * allocated during setup.
-    *
-    * @param cookie - User provided opaque data returned by the SNPE runtime
-    */
-   virtual void close(void *cookie) noexcept = 0;
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief Execute the user defined layer
-    *
-    * @param cookie User provided opaque data returned by the SNPE 
-    *               runtime
-    *
-    * @param input Const pointer to a float buffer that contains
-    *               the input
-    *
-    * @param output Float pointer to a buffer that would hold
-    *                 the user defined layer's output. This buffer
-    *                 is allocated and owned by SNPE runtime.
-    */
-   virtual bool execute(void *cookie, const float **input, float **output)  = 0;
-};
-
-} // ns DlSystem
-
-} // ns zdl
-
-#endif // _DL_SYSTEM_IUDL_HPP_
diff --git a/third_party/snpe/include/DlSystem/IUserBuffer.hpp b/third_party/snpe/include/DlSystem/IUserBuffer.hpp
deleted file mode 100644
index ea491a545b3269..00000000000000
--- a/third_party/snpe/include/DlSystem/IUserBuffer.hpp
+++ /dev/null
@@ -1,358 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2017-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _IUSER_BUFFER_HPP
-#define _IUSER_BUFFER_HPP
-
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include <math.h>
-
-namespace zdl {
-namespace DlSystem {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-
-/**
-  * @brief .
-  *
-  * A base class buffer encoding type
-  */
-class ZDL_EXPORT UserBufferEncoding {
-public:
-
-    /**
-      * @brief .
-      *
-      * An enum class of all supported element types in a IUserBuffer
-      */
-    enum class ElementType_t
-    {
-        /// Unknown element type.
-        UNKNOWN         = 0,
-
-        /// Each element is presented by float.
-        FLOAT           = 1,
-
-        /// Each element is presented by an unsigned int.
-        UNSIGNED8BIT    = 2,
-
-        /// Each element is presented by an 8-bit quantized value.
-        TF8             = 10,
-
-        /// Each element is presented by an 16-bit quantized value.
-        TF16            = 11
-    };
-
-    /**
-      * @brief Retrieves the size of the element, in bytes.
-      *
-      * @return Size of the element, in bytes.
-     */
-    virtual size_t getElementSize() const noexcept = 0;
-
-    /**
-      * @brief Retrieves the element type
-      *
-      * @return Element type
-     */
-    ElementType_t getElementType() const noexcept {return m_ElementType;};
-
-    virtual ~UserBufferEncoding() {}
-
-protected:
-    UserBufferEncoding(ElementType_t  elementType) : m_ElementType(elementType) {};
-private:
-    const ElementType_t  m_ElementType;
-};
-
-/**
-  * @brief .
-  *
-  * A base class buffer source type
-  *
-  * @note User buffer from CPU support all kinds of runtimes;
-  *       User buffer from GLBUFFER support only GPU runtime.
-  */
-class ZDL_EXPORT UserBufferSource {
-public:
-   enum class SourceType_t
-   {
-      /// Unknown buffer source type.
-      UNKNOWN = 0,
-
-      /// The network inputs are from CPU buffer.
-      CPU = 1,
-
-      /// The network inputs are from OpenGL buffer.
-      GLBUFFER = 2
-   };
-
-   /**
-     * @brief Retrieves the source type
-     *
-     * @return Source type
-    */
-   SourceType_t getSourceType() const noexcept {return m_SourceType;};
-
-protected:
-   UserBufferSource(SourceType_t sourceType): m_SourceType(sourceType) {};
-private:
-   const SourceType_t m_SourceType;
-};
-
-/**
-  * @brief .
-  *
-  * An source type where input data is delivered from OpenGL buffer
-  */
-class ZDL_EXPORT UserBufferSourceGLBuffer : public UserBufferSource{
-public:
-   UserBufferSourceGLBuffer() : UserBufferSource(SourceType_t::GLBUFFER) {};
-};
-
-/**
-  * @brief .
-  *
-  * An encoding type where each element is represented by an unsigned int
-  */
-class ZDL_EXPORT UserBufferEncodingUnsigned8Bit : public UserBufferEncoding {
-public:
-    UserBufferEncodingUnsigned8Bit() : UserBufferEncoding(ElementType_t::UNSIGNED8BIT) {};
-    size_t getElementSize() const noexcept override;
-
-protected:
-    UserBufferEncodingUnsigned8Bit(ElementType_t  elementType) : UserBufferEncoding(elementType) {};
-
-};
-
-/**
-  * @brief .
-  *
-  * An encoding type where each element is represented by a float
-  */
-class ZDL_EXPORT UserBufferEncodingFloat : public UserBufferEncoding {
-public:
-    UserBufferEncodingFloat() : UserBufferEncoding(ElementType_t::FLOAT) {};
-    size_t getElementSize() const noexcept override;
-
-};
-
-/**
-  * @brief .
-  *
-  * An encoding type where each element is represented by tf8, which is an
-  * 8-bit quantizd value, which has an exact representation of 0.0
-  */
-class ZDL_EXPORT UserBufferEncodingTfN : public UserBufferEncoding {
-public:
-   UserBufferEncodingTfN() = delete;
-   UserBufferEncodingTfN(uint64_t stepFor0, float stepSize, uint8_t bWidth=8):
-                                           UserBufferEncoding(getTypeFromWidth(bWidth)),
-                                           bitWidth(bWidth),
-                                           m_StepExactly0(stepFor0),
-                                           m_QuantizedStepSize(stepSize){};
-
-   UserBufferEncodingTfN(const zdl::DlSystem::UserBufferEncoding &ubEncoding) : UserBufferEncoding(ubEncoding.getElementType()){
-            const zdl::DlSystem::UserBufferEncodingTfN* ubEncodingTfN
-                            = dynamic_cast <const zdl::DlSystem::UserBufferEncodingTfN*> (&ubEncoding);
-            if (ubEncodingTfN) {
-                m_StepExactly0 = ubEncodingTfN->getStepExactly0();
-                m_QuantizedStepSize = ubEncodingTfN->getQuantizedStepSize();
-                bitWidth = ubEncodingTfN->bitWidth;
-            }
-   }
-
-   size_t getElementSize() const noexcept override;
-   /**
-      * @brief Sets the step value that represents 0
-      *
-      * @param[in] stepExactly0 The step value that represents 0
-      *
-     */
-   void setStepExactly0(uint64_t stepExactly0) {
-      m_StepExactly0 = stepExactly0;
-   }
-
-   /**
-     * @brief Sets the float value that each step represents
-     *
-     * @param[in] quantizedStepSize The float value of each step size
-     *
-    */
-   void setQuantizedStepSize(const float quantizedStepSize) {
-      m_QuantizedStepSize = quantizedStepSize;
-   }
-
-   /**
-     * @brief Retrieves the step that represents 0.0
-     *
-     * @return Step value
-    */
-   uint64_t getStepExactly0() const {
-      return m_StepExactly0;
-   }
-
-   /**
-    * Calculates the minimum floating point value that
-    * can be represented with this encoding.
-    *
-    * @return Minimum representable floating point value
-    */
-   float getMin() const {
-      return static_cast<float>(m_QuantizedStepSize * (0 - (double)m_StepExactly0));
-   }
-
-   /**
-    * Calculates the maximum floating point value that
-    * can be represented with this encoding.
-    *
-    * @return Maximum representable floating point value
-    */
-   float getMax() const{
-       return static_cast<float>(m_QuantizedStepSize * (pow(2,bitWidth)-1 - (double)m_StepExactly0));
-   };
-
-   /**
-     * @brief Retrieves the step size
-     *
-     * @return Step size
-    */
-   float getQuantizedStepSize() const {
-      return m_QuantizedStepSize;
-   }
-
-   ElementType_t getTypeFromWidth(uint8_t width);
-
-   uint8_t bitWidth;
-protected:
-   uint64_t m_StepExactly0;
-   float m_QuantizedStepSize;
-};
-
-
-class ZDL_EXPORT UserBufferEncodingTf8 : public UserBufferEncodingTfN {
-public:
-    UserBufferEncodingTf8() = delete;
-    UserBufferEncodingTf8(unsigned char stepFor0, float stepSize) :
-            UserBufferEncodingTfN(stepFor0, stepSize) {};
-
-    UserBufferEncodingTf8(const zdl::DlSystem::UserBufferEncoding &ubEncoding) : UserBufferEncodingTfN(ubEncoding){}
-
-/**
-      * @brief Sets the step value that represents 0
-      *
-      * @param[in] stepExactly0 The step value that represents 0
-      *
-     */
-
-    void setStepExactly0(const unsigned char stepExactly0) {
-        UserBufferEncodingTfN::m_StepExactly0 = stepExactly0;
-    }
-
-/**
-      * @brief Retrieves the step that represents 0.0
-      *
-      * @return Step value
-     */
-
-    unsigned char getStepExactly0() const {
-        return UserBufferEncodingTfN::m_StepExactly0;
-    }
-
-};
-
-
-/**
- * @brief UserBuffer contains a pointer and info on how to walk it and interpret its content.
- */
-class ZDL_EXPORT IUserBuffer {
-public:
-    virtual ~IUserBuffer() = default;
-    
-    /**
-      * @brief Retrieves the total number of bytes between elements in each dimension if
-      * the buffer were to be interpreted as a multi-dimensional array.
-      *
-      * @return Number of bytes between elements in each dimension.
-      * e.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would
-      * return strides of [24, 8, 4].
-     */
-    virtual const TensorShape& getStrides() const = 0;
-
-    /**
-      * @brief Retrieves the size of the buffer, in bytes.
-      *
-      * @return Size of the underlying buffer, in bytes.
-     */
-    virtual size_t getSize() const = 0;
-
-    /**
-      * @brief Retrieves the size of the inference data in the buffer, in bytes.
-      *
-      * The inference results from a dynamic-sized model may not be exactly the same size
-      * as the UserBuffer provided to SNPE. This function can be used to get the amount
-      * of output inference data, which may be less or greater than the size of the UserBuffer.
-      *
-      * If the inference results fit in the UserBuffer, getOutputSize() would be less than
-      * or equal to getSize(). But if the inference results were more than the capacity of
-      * the provided UserBuffer, the results would be truncated to fit the UserBuffer. But,
-      * getOutputSize() would be greater than getSize(), which indicates a bigger buffer
-      * needs to be provided to SNPE to hold all of the inference results.
-      *
-      * @return Size required for the buffer to hold all inference results, which can be less
-      * or more than the size of the buffer, in bytes.
-    */
-    virtual size_t getOutputSize() const = 0;
-
-    /**
-      * @brief Changes the underlying memory that backs the UserBuffer.
-      *
-      * This can be used to avoid creating multiple UserBuffer objects
-      * when the only thing that differs is the memory location.
-      *
-      * @param[in] buffer Pointer to the memory location
-      *
-      * @return Whether the set succeeds.
-     */
-    virtual bool setBufferAddress(void *buffer) noexcept = 0;
-
-    /**
-      * @brief Gets a const reference to the data encoding object of
-      *        the underlying buffer
-      *
-      * This is necessary when the UserBuffer is filled by SNPE with
-      * data types such as TF8, where the caller needs to know the quantization
-      * parameters in order to interpret the data properly
-      *
-      * @return A read-only encoding object
-     */
-    virtual const UserBufferEncoding& getEncoding() const noexcept = 0;
-
-    /**
-      * @brief Gets a reference to the data encoding object of
-      *        the underlying buffer
-      *
-      * This is necessary when the UserBuffer is re-used, and the encoding
-      * parameters can change.  For example, each input can be quantized with
-      * different step sizes.
-      *
-      * @return Data encoding meta-data
-     */
-    virtual UserBufferEncoding& getEncoding() noexcept = 0;
-
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}
-}
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp b/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
deleted file mode 100644
index 59803fbd8f8772..00000000000000
--- a/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
+++ /dev/null
@@ -1,81 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _IUSERBUFFER_FACTORY_HPP
-#define _IUSERBUFFER_FACTORY_HPP
-
-#include "IUserBuffer.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include "DlEnums.hpp"
-namespace zdl {
-    namespace DlSystem {
-        class IUserBuffer;
-
-        class TensorShape;
-    }
-}
-
-namespace zdl {
-namespace DlSystem {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-* Factory interface class to create IUserBuffer objects.
-*/
-class ZDL_EXPORT IUserBufferFactory {
-public:
-    virtual ~IUserBufferFactory() = default;
-
-    /**
-     * @brief Creates a UserBuffer
-     *
-     * @param[in] buffer Pointer to the buffer that the caller supplies
-     *
-     * @param[in] bufSize Buffer size, in bytes
-     *
-     * @param[in] strides Total number of bytes between elements in each dimension.
-     *          E.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would have strides of [24, 8, 4].
-     *
-     * @param[in] userBufferEncoding Reference to an UserBufferEncoding object
-     *
-     * @note Caller has to ensure that memory pointed to by buffer stays accessible
-     *       for the lifetime of the object created
-     */
-    virtual std::unique_ptr<IUserBuffer>
-    createUserBuffer(void *buffer, size_t bufSize, const zdl::DlSystem::TensorShape &strides, zdl::DlSystem::UserBufferEncoding* userBufferEncoding) noexcept = 0;
-
-    /**
-     * @brief Creates a UserBuffer
-     *
-     * @param[in] buffer Pointer to the buffer that the caller supplies
-     *
-     * @param[in] bufSize Buffer size, in bytes
-     *
-     * @param[in] strides Total number of bytes between elements in each dimension.
-     *          E.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would have strides of [24, 8, 4].
-     *
-     * @param[in] userBufferEncoding Reference to an UserBufferEncoding object
-     *
-     * @param[in] userBufferSource Reference to an UserBufferSource object
-     *
-     * @note Caller has to ensure that memory pointed to by buffer stays accessible
-     *       for the lifetime of the object created
-     */
-    virtual std::unique_ptr<IUserBuffer>
-    createUserBuffer(void *buffer, size_t bufSize, const zdl::DlSystem::TensorShape &strides, zdl::DlSystem::UserBufferEncoding* userBufferEncoding, zdl::DlSystem::UserBufferSource* userBufferSource) noexcept = 0;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}
-}
-
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/PlatformConfig.hpp b/third_party/snpe/include/DlSystem/PlatformConfig.hpp
deleted file mode 100644
index c7b85f43c1274b..00000000000000
--- a/third_party/snpe/include/DlSystem/PlatformConfig.hpp
+++ /dev/null
@@ -1,230 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017-2018,2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _DL_SYSTEM_PLATFORM_CONFIG_HPP_
-#define _DL_SYSTEM_PLATFORM_CONFIG_HPP_
-
-#include "DlSystem/ZdlExportDefine.hpp"
-#include <string>
-
-namespace zdl{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-
-/**
-  * @brief .
-  *
-  * A structure OpenGL configuration
-  *
-  * @note When certain OpenGL context and display are provided to UserGLConfig for using
-  *       GPU buffer as input directly, the user MUST ensure the particular OpenGL
-  *       context and display remain vaild throughout the execution of neural network models.
-  */
-struct ZDL_EXPORT UserGLConfig
-{
-   /// Holds user EGL context.
-   ///
-   void* userGLContext = nullptr;
-
-   /// Holds user EGL display.
-   void* userGLDisplay = nullptr;
-};
-
-/**
-  * @brief .
-  *
-  * A structure Gpu configuration
-  */
-struct ZDL_EXPORT UserGpuConfig{
-   /// Holds user OpenGL configuration.
-   ///
-   UserGLConfig userGLConfig;
-};
-
-/**
-  * @brief .
-  *
-  * A class user platform configuration
-  */
-class ZDL_EXPORT PlatformConfig
-{
-public:
-
-   /**
-     * @brief .
-     *
-     * An enum class of all supported platform types
-     */
-   enum class PlatformType_t
-   {
-      /// Unknown platform type.
-      UNKNOWN = 0,
-
-      /// Snapdragon CPU.
-      CPU = 1,
-
-      /// Adreno GPU.
-      GPU = 2,
-
-      /// Hexagon DSP.
-      DSP = 3
-   };
-
-   /**
-     * @brief .
-     *
-     * A union class user platform configuration information
-     */
-   union PlatformConfigInfo
-   {
-      /// Holds user GPU Configuration.
-      ///
-      UserGpuConfig userGpuConfig;
-
-      PlatformConfigInfo(){};
-   };
-
-   PlatformConfig() : m_PlatformType(PlatformType_t::UNKNOWN),
-                      m_PlatformOptions("") {};
-
-   /**
-     * @brief Retrieves the platform type
-     *
-     * @return Platform type
-     */
-   PlatformType_t getPlatformType() const {return m_PlatformType;};
-
-   /**
-     * @brief Indicates whther the plaform configuration is valid.
-     *
-     * @return True if the platform configuration is valid; false otherwise.
-     */
-   bool isValid() const {return (PlatformType_t::UNKNOWN != m_PlatformType);};
-
-   /**
-     * @brief Retrieves the Gpu configuration
-     *
-     * @param[out] userGpuConfig The passed in userGpuConfig populated with the Gpu configuration on return.
-     *
-     * @return True if Gpu configuration was retrieved; false otherwise.
-     */
-   bool getUserGpuConfig(UserGpuConfig& userGpuConfig) const
-   {
-      if(m_PlatformType == PlatformType_t::GPU)
-      {
-         userGpuConfig = m_PlatformConfigInfo.userGpuConfig;
-         return true;
-      }
-      else
-      {
-         return false;
-      }
-   }
-
-   /**
-     * @brief Sets the Gpu configuration
-     *
-     * @param[in] userGpuConfig Gpu Configuration
-     *
-     * @return True if Gpu configuration was successfully set; false otherwise.
-     */
-   bool setUserGpuConfig(UserGpuConfig& userGpuConfig)
-   {
-      if((userGpuConfig.userGLConfig.userGLContext != nullptr) && (userGpuConfig.userGLConfig.userGLDisplay != nullptr))
-      {
-         switch (m_PlatformType)
-         {
-         case PlatformType_t::GPU:
-            m_PlatformConfigInfo.userGpuConfig = userGpuConfig;
-            return true;
-         case PlatformType_t::UNKNOWN:
-            m_PlatformType = PlatformType_t::GPU;
-            m_PlatformConfigInfo.userGpuConfig = userGpuConfig;
-            return true;
-         default:
-            return false;
-         }
-      }
-      else
-         return false;
-   }
-
-   /**
-     * @brief Sets the platform options
-     *
-     * @param[in] options Options as a string in the form of "keyword:options"
-     *
-     * @return True if options are pass validation; otherwise false.  If false, the options are not updated.
-     */
-   bool setPlatformOptions(std::string options) {
-      std::string oldOptions = m_PlatformOptions;
-      m_PlatformOptions = options;
-      if (isOptionsValid()) {
-         return true;
-      } else {
-         m_PlatformOptions = oldOptions;
-         return false;
-      }
-   }
-
-   /**
-     * @brief Indicates whther the plaform configuration is valid.
-     *
-     * @return True if the platform configuration is valid; false otherwise.
-     */
-   bool isOptionsValid() const;
-
-   /**
-     * @brief Gets the platform options
-     *
-     * @return Options as a string
-     */
-   std::string getPlatformOptions() const { return m_PlatformOptions; }
-
-    /**
-      * @brief Sets the platform options
-      *
-      * @param[in] optionName Name of platform options"
-      * @param[in] value Value of specified optionName
-      *
-      * @return If true, add "optionName:value" to platform options if optionName don't exist, otherwise update the
-      *         value of specified optionName.
-      *         If false, the platform options will not be changed.
-      */
-   bool setPlatformOptionValue(const std::string& optionName, const std::string& value);
-
-    /**
-       * @brief Removes the platform options
-       *
-       * @param[in] optionName Name of platform options"
-       * @param[in] value Value of specified optionName
-       *
-       * @return If true, removed "optionName:value" to platform options if optionName don't exist, do nothing.
-       *         If false, the platform options will not be changed.
-       */
-    bool removePlatformOptionValue(const std::string& optionName, const std::string& value);
-
-   static void SetIsUserGLBuffer(bool isUserGLBuffer);
-   static bool GetIsUserGLBuffer();
-
-private:
-   PlatformType_t m_PlatformType;
-   PlatformConfigInfo m_PlatformConfigInfo;
-   std::string m_PlatformOptions;
-   static bool m_IsUserGLBuffer;
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}} //namespace end
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/RuntimeList.hpp b/third_party/snpe/include/DlSystem/RuntimeList.hpp
deleted file mode 100644
index 1088a5b31f4538..00000000000000
--- a/third_party/snpe/include/DlSystem/RuntimeList.hpp
+++ /dev/null
@@ -1,154 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2019 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#include "ZdlExportDefine.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/StringList.hpp"
-#include <cstddef>
-#include <memory>
-
-#ifndef DL_SYSTEM_RUNTIME_LIST_HPP
-#define DL_SYSTEM_RUNTIME_LIST_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of Runtime List implementation.
-   class RuntimeListImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing list of runtimes
-  */
-class ZDL_EXPORT RuntimeList final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new runtime list
-    *
-    */
-   RuntimeList();
-
-   /**
-   * @brief .
-   *
-   * copy constructor.
-   * @param[in] other object to copy.
-   */
-   RuntimeList(const RuntimeList& other);
-
-   /**
-   * @brief .
-   *
-   * constructor with single Runtime_t object
-   * @param[in] Runtime_t object
-   */
-   RuntimeList(const zdl::DlSystem::Runtime_t& runtime);
-
-   /**
-    * @brief .
-    *
-    * assignment operator.
-    */
-   RuntimeList& operator=(const RuntimeList& other);
-
-   /**
-    * @brief .
-    *
-    * subscript operator.
-    */
-   Runtime_t& operator[](size_t index);
-
-   /**
-    * @brief Adds runtime to the end of the runtime list
-    *        order of precedence is former followed by latter entry
-    *
-    * @param[in] runtime to add
-    *
-    * Ruturns false If the runtime already exists
-    */
-   bool add(const zdl::DlSystem::Runtime_t& runtime);
-
-   /**
-    * @brief Removes the runtime from the list
-    *
-    * @param[in] runtime to be removed
-    *
-    * @note If the runtime is not found, nothing is done.
-    */
-   void remove(const zdl::DlSystem::Runtime_t runtime) noexcept;
-
-   /**
-    * @brief Returns the number of runtimes in the list
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief Returns true if the list is empty
-    */
-   bool empty() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all runtime from the list
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief .
-    *
-    * Returns a StringList of names from the runtime list in
-    * order of precedence
-    */
-   zdl::DlSystem::StringList getRuntimeListNames() const;
-
-   /**
-    * @brief .
-    *
-    * @param[in] runtime string
-    * Returns a Runtime enum corresponding to the in param string
-    *
-    */
-   static zdl::DlSystem::Runtime_t stringToRuntime(const char* runtimeStr);
-
-   /**
-    * @brief .
-    *
-    * @param[in] runtime
-    * Returns a string corresponding to the in param runtime enum
-    *
-    */
-   static const char* runtimeToString(const zdl::DlSystem::Runtime_t runtime);
-
-   ~RuntimeList();
-
-private:
-   void deepCopy(const RuntimeList &other);
-   std::unique_ptr<::DlSystem::RuntimeListImpl> m_RuntimeListImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_RUNTIME_LIST_HPP
-
diff --git a/third_party/snpe/include/DlSystem/String.hpp b/third_party/snpe/include/DlSystem/String.hpp
deleted file mode 100644
index c1eba3bad96b02..00000000000000
--- a/third_party/snpe/include/DlSystem/String.hpp
+++ /dev/null
@@ -1,104 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef PLATFORM_STANDARD_STRING_HPP
-#define PLATFORM_STANDARD_STRING_HPP
-
-#include <cstdio>
-#include <string>
-#include <ostream>
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Class for wrapping char * as a really stripped down std::string replacement.
- */
-class ZDL_EXPORT String final
-{
-public:
-   String() = delete;
-
-   /**
-    * Construct a string from std::string reference.
-    * @param str Reference to a std::string
-    */
-   explicit String(const std::string& str);
-
-   /**
-    * Construct a string from char* reference.
-    * @param a char*
-    */
-   explicit String(const char* str);
-
-   /**
-    * move constructor.
-    */
-   String(String&& other) noexcept;
-
-   /**
-    * copy constructor.
-    */
-   String(const String& other) = delete;
-
-   /**
-    * assignment operator.
-    */
-   String& operator=(const String&) = delete;
-
-   /**
-    * move assignment operator.
-    */
-   String& operator=(String&&) = delete;
-
-   /**
-    * class comparators
-    */
-   bool operator<(const String& rhs) const noexcept;
-   bool operator>(const String& rhs) const noexcept;
-   bool operator<=(const String& rhs) const noexcept;
-   bool operator>=(const String& rhs) const noexcept;
-   bool operator==(const String& rhs) const noexcept;
-   bool operator!=(const String& rhs) const noexcept;
-
-   /**
-    * class comparators against std::string
-    */
-   bool operator<(const std::string& rhs) const noexcept;
-   bool operator>(const std::string& rhs) const noexcept;
-   bool operator<=(const std::string& rhs) const noexcept;
-   bool operator>=(const std::string& rhs) const noexcept;
-   bool operator==(const std::string& rhs) const noexcept;
-   bool operator!=(const std::string& rhs) const noexcept;
-
-   const char* c_str() const noexcept;
-
-   ~String();
-private:
-
-   char* m_string;
-};
-
-/**
- * overloaded << operator
- */
-ZDL_EXPORT std::ostream& operator<<(std::ostream& os, const String& str) noexcept;
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // PLATFORM_STANDARD_STRING_HPP
diff --git a/third_party/snpe/include/DlSystem/StringList.hpp b/third_party/snpe/include/DlSystem/StringList.hpp
deleted file mode 100644
index a9a7d5ed89674c..00000000000000
--- a/third_party/snpe/include/DlSystem/StringList.hpp
+++ /dev/null
@@ -1,107 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <cstdio>
-#include "ZdlExportDefine.hpp"
-
-#ifndef DL_SYSTEM_STRINGLIST_HPP
-#define DL_SYSTEM_STRINGLIST_HPP
-
-namespace zdl
-{
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Class for holding an order list of null-terminated ASCII strings.
- */
-class ZDL_EXPORT StringList final
-{
-public:
-   StringList() {}
-
-   /**
-    * Construct a string list with some pre-allocated memory.
-    * @warning Contents of the list will be uninitialized
-    * @param[in] length Number of elements for which to pre-allocate space.
-    */
-   explicit StringList(size_t length);
-
-   /**
-    * Append a string to the list.
-    * @param[in] str Null-terminated ASCII string to append to the list.
-    */
-   void append(const char* str);
-
-   /**
-    * Returns the string at the indicated position,
-    *  or an empty string if the positions is greater than the size
-    *  of the list.
-    * @param[in] idx Position in the list of the desired string
-    */
-   const char* at(size_t idx) const noexcept;
-
-   /**
-    * Pointer to the first string in the list.
-    *  Can be used to iterate through the list.
-    */
-   const char** begin() const noexcept;
-
-   /**
-    * Pointer to one after the last string in the list.
-    *  Can be used to iterate through the list.
-    */
-   const char** end() const noexcept;
-
-   /**
-    * Return the number of valid string pointers held by this list.
-    */
-   size_t size() const noexcept;
-
-
-   /**
-    * assignment operator. 
-    */
-   StringList& operator=(const StringList&) noexcept;
-
-   /**
-    * copy constructor.
-    * @param[in] other object to copy.
-    */
-   StringList(const StringList& other);
-
-   /**
-    * move constructor.
-    * @param[in] other object to move.    
-    */
-   StringList(StringList&& other) noexcept;
-
-   ~StringList();
-private:
-   void copy(const StringList& other);
-
-   void resize(size_t length);
-
-   void clear();
-
-   static const char* s_Empty;
-   const char** m_Strings = nullptr;
-   const char** m_End = nullptr;
-   size_t       m_Size = 0;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_STRINGLIST_HPP
-
diff --git a/third_party/snpe/include/DlSystem/TensorMap.hpp b/third_party/snpe/include/DlSystem/TensorMap.hpp
deleted file mode 100644
index feecec666729ad..00000000000000
--- a/third_party/snpe/include/DlSystem/TensorMap.hpp
+++ /dev/null
@@ -1,120 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <memory>
-#include "ZdlExportDefine.hpp"
-#include "ITensor.hpp"
-#include "StringList.hpp"
-
-#ifndef DL_SYSTEM_TENSOR_MAP_HPP
-#define DL_SYSTEM_TENSOR_MAP_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of tensor map implementation.
-   class TensorMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing the map of tensor.
-  */
-class ZDL_EXPORT TensorMap final
-{
-public:
-
-  /**
-   * @brief .
-   *
-   * Creates a new empty tensor map
-   */
-   TensorMap();
-
-  /**
-   * copy constructor.
-   * @param[in] other object to copy. 
-   */
-   TensorMap(const TensorMap& other);
-
-  /**
-    * assignment operator. 
-    */
-   TensorMap& operator=(const TensorMap& other);
-
-   /**
-    * @brief Adds a name and the corresponding tensor pointer
-    *        to the map
-    *
-    * @param[in] name The name of the tensor
-    * @param[out] tensor The pointer to the tensor
-    *
-    * @note If a tensor with the same name already exists, the
-    *       tensor is replaced with the existing tensor.
-    */
-   void add(const char *name, zdl::DlSystem::ITensor *tensor);
-
-   /**
-    * @brief Removes a mapping of tensor and its name by its name
-    *
-    * @param[in] name The name of tensor to be removed
-    *
-    * @note If no tensor with the specified name is found, nothing
-    *       is done.
-    */
-   void remove(const char *name) noexcept;
-
-   /**
-    * @brief Returns the number of tensors in the map
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all tensors from the map
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief Returns the tensor given its name.
-    *  
-    * @param[in] name The name of the tensor to get. 
-    *  
-    * @return nullptr if no tensor with the specified name is 
-    *         found; otherwise, a valid pointer to the tensor.
-    */
-   zdl::DlSystem::ITensor* getTensor(const char *name) const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Returns the names of all tensors
-    */
-   zdl::DlSystem::StringList getTensorNames() const;
-
-   ~TensorMap();
-private:
-   void swap(const TensorMap &other);
-   std::unique_ptr<::DlSystem::TensorMapImpl> m_TensorMapImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_TENSOR_MAP_HPP
-
diff --git a/third_party/snpe/include/DlSystem/TensorShape.hpp b/third_party/snpe/include/DlSystem/TensorShape.hpp
deleted file mode 100644
index 99583dccb40bac..00000000000000
--- a/third_party/snpe/include/DlSystem/TensorShape.hpp
+++ /dev/null
@@ -1,203 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <initializer_list>
-#include <cstdio>
-#include <memory>
-#include <vector>
-#include "ZdlExportDefine.hpp"
-
-#ifndef DL_SYSTEM_TENSOR_SHAPE_HPP
-#define DL_SYSTEM_TENSOR_SHAPE_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of tensor shape implementation.
-   class TensorShapeImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Convenient typedef to represent dimension
- */
-using Dimension = size_t;
-
-/**
-  * @brief .
-  *
-  * A class representing the shape of tensor. It is used at the
-  * time of creation of tensor.
-  */
-class ZDL_EXPORT TensorShape final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new shape with a list of dims specified in
-    * initializer list fashion.
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-    */
-   TensorShape(std::initializer_list<Dimension> dims);
-
-   /**
-    * @brief .
-    *
-    * Creates a new shape with a list of dims specified in array
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-    * @param[in] size Size of the array.
-    *
-    */
-   TensorShape(const Dimension *dims, size_t size);
-
-    /**
-    * @brief .
-    *
-    * Creates a new shape with a vector of dims specified in
-    * vector fashion.
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    * 
-    */   
-   TensorShape(std::vector<Dimension> dims);
-
-   /**
-   * @brief .
-   *   
-   * copy constructor.
-   * @param[in] other object to copy. 
-   */   
-   TensorShape(const TensorShape& other);
-
-   /**
-    * @brief .
-    *  
-    * assignment operator. 
-    */   
-   TensorShape& operator=(const TensorShape& other);
-
-    /**
-    * @brief .
-    *
-    * Creates a new shape with no dims. It can be extended later
-    * by invoking concatenate.
-    */
-   TensorShape();
-
-  /**
-    * @brief .
-    *
-    * Concatenates additional dimensions specified in 
-    * initializer list fashion to the existing dimensions. 
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-   */
-   void concatenate(std::initializer_list<Dimension> dims);
-
-   /**
-    * @brief .
-    *
-    * Concatenates additional dimensions specified in 
-    * the array to the existing dimensions. 
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    * 
-    * @param[in] size Size of the array.
-    *
-   */
-   void concatenate(const Dimension *dims, size_t size);
-
-  /**
-    * @brief .
-    *
-    * Concatenates an additional dimension to the existing
-    * dimensions.
-    *
-    * @param[in] dim The dimensions are specified in which the last element
-    * of the vector represents the fastest varying dimension and the
-    * zeroth element represents the slowest varying, etc.
-    *
-   */
-   void concatenate(const Dimension &dim);
-
-  /**
-    * @brief .
-    *
-    * Retrieves a single dimension, based on its index.
-    *
-    * @return The value of dimension
-    *
-    * @throws std::out_of_range if the index is >= the number of
-    * dimensions (or rank).
-    */
-   Dimension& operator[](size_t index);
-   Dimension& operator[](size_t index) const;
-
-  /**
-    * @brief .
-    *
-    * Retrieves the rank i.e. number of dimensions.
-    *
-    * @return The rank
-    */
-   size_t rank() const;
-
-  /**
-    * @brief .
-    *
-    * Retrieves a pointer to the first dimension of shape
-    *
-    * @return nullptr if no dimension exists; otherwise, points to
-    * the first dimension. 
-    *
-    */
-   const Dimension* getDimensions() const;
-
-   ~TensorShape();
-
-private:
-   void swap(const TensorShape &other);
-   std::unique_ptr<::DlSystem::TensorShapeImpl> m_TensorShapeImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_TENSOR_SHAPE_HPP
-
diff --git a/third_party/snpe/include/DlSystem/TensorShapeMap.hpp b/third_party/snpe/include/DlSystem/TensorShapeMap.hpp
deleted file mode 100644
index cef946e2e6dbc9..00000000000000
--- a/third_party/snpe/include/DlSystem/TensorShapeMap.hpp
+++ /dev/null
@@ -1,127 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <initializer_list>
-#include <cstdio>
-#include <memory>
-#include "ZdlExportDefine.hpp"
-#include "DlSystem/TensorShape.hpp"
-#include "DlSystem/StringList.hpp"
-
-#ifndef DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
-#define DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of tensor shape map implementation.
-   class TensorShapeMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing the map of names and tensorshapes.
-  */
-class ZDL_EXPORT TensorShapeMap final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new tensor shape map
-    *
-    */
-   TensorShapeMap();
-
-   /**
-   * @brief .
-   *
-   * copy constructor.
-   * @param[in] other object to copy.
-   */
-   TensorShapeMap(const TensorShapeMap& other);
-
-   /**
-    * @brief .
-    *
-    * assignment operator.
-    */
-   TensorShapeMap& operator=(const TensorShapeMap& other);
-
-   /**
-    * @brief Adds a name and the corresponding tensor pointer
-    *        to the map
-    *
-    * @param[in] name The name of the tensor
-    * @param[out] tensor The pointer to the tensor
-    *
-    * @note If a tensor with the same name already exists, no new
-    *       tensor is added.
-    */
-   void add(const char *name, const zdl::DlSystem::TensorShape& tensorShape);
-
-   /**
-    * @brief Removes a mapping of tensor and its name by its name
-    *
-    * @param[in] name The name of tensor to be removed
-    *
-    * @note If no tensor with the specified name is found, nothing
-    *       is done.
-    */
-   void remove(const char *name) noexcept;
-
-   /**
-    * @brief Returns the number of tensors in the map
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all tensors from the map
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief Returns the tensor given its name.
-    *
-    * @param[in] name The name of the tensor to get.
-    *
-    * @return nullptr if no tensor with the specified name is
-    *         found; otherwise, a valid pointer to the tensor.
-    */
-   zdl::DlSystem::TensorShape getTensorShape(const char *name) const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Returns the names of all tensor shapes
-    */
-   zdl::DlSystem::StringList getTensorShapeNames() const;
-
-   ~TensorShapeMap();
-private:
-   void swap(const TensorShapeMap &other);
-   std::unique_ptr<::DlSystem::TensorShapeMapImpl> m_TensorShapeMapImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
-
diff --git a/third_party/snpe/include/DlSystem/UDLContext.hpp b/third_party/snpe/include/DlSystem/UDLContext.hpp
deleted file mode 100644
index 21fce1b04ae308..00000000000000
--- a/third_party/snpe/include/DlSystem/UDLContext.hpp
+++ /dev/null
@@ -1,243 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef UDL_CONTEXT_HPP
-#define UDL_CONTEXT_HPP
-
-#include <cstring> // memset
-#include <tuple>
-
-#include "ZdlExportDefine.hpp"
-
-namespace zdl { namespace DlSystem {
-
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- *
- * UDLContext holds the user defined layer context which 
- * consists of a layer name, layer ID, blob and blob size. 
- *  
- * An instance of UDLContext is passed as an argument to the
- * UDLFactoryFunc provided by the user every time the SNPE 
- * runtime encounters an unknown layer descriptor. The instance 
- * of a UDLContext is created by the SNPE runtime and is 
- * consumed by the user's factory function. The user should 
- * obtain a copy of this class and should not assume any 
- * prolonged object lifetime beyond the UDLFactoryFunction.
- */
-class ZDL_EXPORT UDLContext final {
-public:
-   /**
-    * @brief Constructor
-    *
-    * @param[in] name name of the layer
-    *
-    * @param[in] type layer type
-    *
-    * @param[in] id identifier for the layer
-    *
-    * @param[in] id Blob/bytes as packed by the user code as part of
-    *           the Python converter script
-    */
-   UDLContext(const std::string& name,
-              const std::string& type,
-              int32_t id,
-              const std::string& blob) :
-      m_Name(name), m_Type(type), m_Size(blob.size()), m_Id(id) {
-      // FIXME not dealing with alloc error
-      m_Buffer = new uint8_t[m_Size];
-      std::memcpy(m_Buffer, blob.data(), m_Size);
-   }
-
-   /**
-    * @brief .
-    *
-    * Empty constructor is useful for
-    * creating an empty UDLContext and then run copy constructor
-    * from a fully initialized one.
-    */
-   explicit UDLContext() {}
-
-   /**
-    * @brief .
-    *
-    * destructor Deallocates any internal allocated memory
-    */
-   ~UDLContext() { release(); }
-
-   /**
-    * @brief .
-    *
-    * Deallocate any internally allocated memory
-    */
-   void release() {
-      if (m_Buffer && m_Size)
-         std::memset(m_Buffer, 0, m_Size);
-      delete []m_Buffer;
-      m_Buffer = nullptr;
-      m_Size = 0;
-   }
-
-   /**
-    * @brief .
-    *
-    * Copy Constructor - makes a copy from ctx
-    *
-    * @param[in] ctx Source UDLContext to copy from
-    */
-   UDLContext(const UDLContext& ctx) : m_Name(ctx.m_Name),
-      m_Type(ctx.m_Type),
-      m_Id(ctx.m_Id) {
-      std::tuple<uint8_t*, size_t> cpy = ctx.getCopy();
-      // current compiler does not support get<type>
-      m_Buffer = std::get<0>(cpy);
-      m_Size = std::get<1>(cpy);
-   }
-
-   /**
-    * @brief 
-    *
-    * Assignment operator - makes a copy from ctx
-    *
-    * @param[in] ctx Source UDLContext to copy from
-    *
-    * @return this
-    */
-   UDLContext& operator=(const UDLContext& ctx) {
-      UDLContext c (ctx);
-      this->swap(c); // non throwing swap
-      return *this;
-   }
-
-   /**
-    * @brief .
-    *
-    * Move Constructor - Move internals from ctx into this
-    *
-    * @param[in] ctx Source UDLContext to move from
-    */
-   UDLContext(UDLContext&& ctx) :
-      m_Name(std::move(ctx.m_Name)),
-      m_Type(std::move(ctx.m_Type)),
-      m_Buffer(ctx.m_Buffer),
-      m_Size(ctx.m_Size),
-      m_Id(ctx.m_Id) {
-      ctx.clear();
-   }
-
-   /**
-    * @brief .
-    *
-    * Assignment move - Move assignment operator from ctx
-    *
-    * @param[in] ctx Source UDLContext to move from
-    *
-    * @return this
-    */
-   UDLContext& operator=(UDLContext&& ctx) {
-      m_Name = std::move(ctx.m_Name);
-      m_Type = std::move(ctx.m_Type);
-      m_Buffer = ctx.m_Buffer;
-      m_Size = ctx.m_Size;
-      m_Id = ctx.m_Id;
-      ctx.clear();
-      return *this;
-   }
-
-   /**
-    * @brief .
-    *
-    * Obtain the name of the layer
-    *
-    * @return const reference to the name of the layer
-    */
-   const std::string& getName() const noexcept { return m_Name; }
-
-   /**
-    * @brief .
-    *
-    * Obtain the type of the layer
-    *
-    * @return const reference to the type of the layer
-    */
-   const std::string& getType() const noexcept { return m_Type; }
-
-   /**
-    * @brief .
-    *
-    * Obtain the Id of the layer
-    *
-    * @return The id of the layer
-    */
-   int32_t getId() const noexcept  { return m_Id; }
-
-   /**
-    * @brief .
-    *
-    * Obtain the size of the blob
-    *
-    * @return Size of the internal blob
-    */
-   size_t getSize() const noexcept { return m_Size; }
-
-   /**
-    * @brief .
-    *
-    * Get a const pointer to the internal blob
-    *
-    * @return Const pointer to the internal blob
-    */
-   const uint8_t* getBlob() const noexcept { return m_Buffer; }
-
-   /**
-    * @brief .
-    *
-    * Get a copy of the blob/size into a tuple
-    *
-    * @return A tuple with a pointer to a copy of the blob and a
-    *         size
-    */
-   std::tuple<uint8_t*, size_t> getCopy() const {
-      uint8_t* buf = new uint8_t[m_Size];
-      // FIXME missing memcpy
-      std::memcpy(buf, m_Buffer, m_Size);
-      return std::make_tuple(buf, m_Size);
-   }
-
-   /**
-    * @brief .
-    *
-    * Set zeros in the internals members
-    */
-   void clear() {
-      m_Name.clear();
-      m_Type.clear();
-      m_Buffer = 0;
-      m_Size = 0;
-      m_Id = -1;
-   }
-private:
-   void swap(UDLContext& c) noexcept {
-      std::swap(m_Name, c.m_Name);
-      std::swap(m_Type, c.m_Type);
-      std::swap(m_Id,   c.m_Id);
-      std::swap(m_Buffer, c.m_Buffer);
-      std::swap(m_Size, c.m_Size);
-   }
-   std::string m_Name; // name of the layer instance
-   std::string m_Type; // The actual layer type
-   uint8_t*    m_Buffer = nullptr;
-   size_t      m_Size = 0;
-   int32_t     m_Id = -1;
-};
-
-}}
-
-#endif /* UDL_CONTEXT_HPP */
diff --git a/third_party/snpe/include/DlSystem/UDLFunc.hpp b/third_party/snpe/include/DlSystem/UDLFunc.hpp
deleted file mode 100644
index 6a95eef1702ecc..00000000000000
--- a/third_party/snpe/include/DlSystem/UDLFunc.hpp
+++ /dev/null
@@ -1,87 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _UDL_FUNC_HPP_
-#define _UDL_FUNC_HPP_
-
-#include <functional>
-
-#include "ZdlExportDefine.hpp"
-#include <DlSystem/IUDL.hpp>
-
-namespace zdl {
-    namespace DlSystem {
-        class UDLContext;
-    }
-}
-
-namespace zdl { namespace DlSystem {
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- *
- * Definition of UDLFactoyFunc, using/typedef and default FactoryFunction
- * UDLBundle - a simple way to bundle func and cookie into one type
- */
-
-
-/**
- * @brief .
- * 
- * Convenient typedef for user defined layer creation factory
- *
- * @param[out] void* Cookie - a user opaque data that was passed during SNPE's runtime's
- *        CreateInstance. SNPE's runtime is passing this back to the user.
- *
- * @param[out] DlSystem::UDLContext* - The specific Layer Description context what is passe
- *        SNPE runtime.
- *
- * @return IUDL* - a Concrete instance of IUDL derivative
- */
-using UDLFactoryFunc = std::function<zdl::DlSystem::IUDL* (void*, const zdl::DlSystem::UDLContext*)>;
-
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- *
- * default UDL factory implementation
- *
- * @param[out] DlSystem::UDLContext* - The specific Layer Description context what is passe
- *        SNPE runtime.
- *
- * @param[out] void* Cookie - a user opaque data that was passed during SNPE's runtime's
- *        CreateInstance. SNPE's runtime is passing this back to the user.
- * 
- * @return IUDL* - nullptr to indicate SNPE's runtime that there is no specific
- *         implementation for UDL. When SNPE's runtime sees nullptr as a return
- *         value from the factory, it will halt execution if model has an unknown layer
- *
- */
-inline ZDL_EXPORT zdl::DlSystem::IUDL* DefaultUDLFunc(void*, const zdl::DlSystem::UDLContext*) { return nullptr; }
-
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- * 
- * Simple struct to bundle 2 elements.
- * A user defined cookie that would be returned for each
- * IUDL call. The user can place anything there and the
- * SNPE runtime will provide it back
- */
-struct ZDL_EXPORT UDLBundle {
-   void          *cookie = nullptr;
-   UDLFactoryFunc func   = DefaultUDLFunc;
-};
-
-}}
-
-
-#endif // _UDL_FUNC_HPP_
diff --git a/third_party/snpe/include/DlSystem/UserBufferMap.hpp b/third_party/snpe/include/DlSystem/UserBufferMap.hpp
deleted file mode 100644
index a03ddfe1d11ad8..00000000000000
--- a/third_party/snpe/include/DlSystem/UserBufferMap.hpp
+++ /dev/null
@@ -1,122 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <memory>
-#include "ZdlExportDefine.hpp"
-#include "StringList.hpp"
-
-#ifndef DL_SYSTEM_USER_BUFFER_MAP_HPP
-#define DL_SYSTEM_USER_BUFFER_MAP_HPP
-
-namespace DlSystem
-{
-    // Forward declaration of UserBuffer map implementation.
-    class UserBufferMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-class IUserBuffer;
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing the map of UserBuffer.
-  */
-class ZDL_EXPORT UserBufferMap final
-{
-public:
-
-    /**
-     * @brief .
-     *
-     * Creates a new empty UserBuffer map
-     */
-    UserBufferMap();
-
-    /**
-     * copy constructor.
-     * @param[in] other object to copy.
-     */
-    UserBufferMap(const UserBufferMap& other);
-
-    /**
-      * assignment operator.
-      */
-    UserBufferMap& operator=(const UserBufferMap& other);
-
-    /**
-     * @brief Adds a name and the corresponding UserBuffer pointer
-     *        to the map
-     *
-     * @param[in] name The name of the UserBuffer
-     * @param[in] userBuffer The pointer to the UserBuffer
-     *
-     * @note If a UserBuffer with the same name already exists, the new
-     *       UserBuffer pointer would be updated.
-     */
-    void add(const char *name, zdl::DlSystem::IUserBuffer *buffer);
-
-    /**
-     * @brief Removes a mapping of one UserBuffer and its name by its name
-     *
-     * @param[in] name The name of UserBuffer to be removed
-     *
-     * @note If no UserBuffer with the specified name is found, nothing
-     *       is done.
-     */
-    void remove(const char *name) noexcept;
-
-    /**
-     * @brief Returns the number of UserBuffers in the map
-     */
-    size_t size() const noexcept;
-
-    /**
-     * @brief .
-     *
-     * Removes all UserBuffers from the map
-     */
-    void clear() noexcept;
-
-    /**
-     * @brief Returns the UserBuffer given its name.
-     *
-     * @param[in] name The name of the UserBuffer to get.
-     *
-     * @return nullptr if no UserBuffer with the specified name is
-     *         found; otherwise, a valid pointer to the UserBuffer.
-     */
-    zdl::DlSystem::IUserBuffer* getUserBuffer(const char *name) const noexcept;
-
-    /**
-     * @brief .
-     *
-     * Returns the names of all UserBuffers
-     *
-     * @return A list of UserBuffer names.
-     */
-    zdl::DlSystem::StringList getUserBufferNames() const;
-
-    ~UserBufferMap();
-private:
-    void swap(const UserBufferMap &other);
-    std::unique_ptr<::DlSystem::UserBufferMapImpl> m_UserBufferMapImpl;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // DlSystem namespace
-} // zdl namespace
-
-
-#endif // DL_SYSTEM_TENSOR_MAP_HPP
-
diff --git a/third_party/snpe/include/DlSystem/UserMemoryMap.hpp b/third_party/snpe/include/DlSystem/UserMemoryMap.hpp
deleted file mode 100644
index 3685a8ddabed69..00000000000000
--- a/third_party/snpe/include/DlSystem/UserMemoryMap.hpp
+++ /dev/null
@@ -1,129 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <memory>
-#include "ZdlExportDefine.hpp"
-#include "StringList.hpp"
-
-#ifndef DL_SYSTEM_USER_MEMORY_MAP_HPP
-#define DL_SYSTEM_USER_MEMORY_MAP_HPP
-
-namespace DlSystem
-{
-    // Forward declaration of UserMemory map implementation.
-    class UserMemoryMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-class IUserBuffer;
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing the map of UserMemory.
-  */
-class ZDL_EXPORT UserMemoryMap final
-{
-public:
-
-    /**
-     * @brief .
-     *
-     * Creates a new empty UserMemory map
-     */
-    UserMemoryMap();
-
-    /**
-     * copy constructor.
-     * @param[in] other object to copy.
-     */
-    UserMemoryMap(const UserMemoryMap& other);
-
-    /**
-      * assignment operator.
-      */
-    UserMemoryMap& operator=(const UserMemoryMap& other);
-
-    /**
-     * @brief Adds a name and the corresponding buffer address
-     *        to the map
-     *
-     * @param[in] name The name of the UserMemory
-     * @param[in] address The pointer to the Buffer Memory
-     *
-     * @note If a UserBuffer with the same name already exists, the new
-     *       address would be updated.
-     */
-    void add(const char *name, void *address);
-
-    /**
-     * @brief Removes a mapping of one Buffer address and its name by its name
-     *
-     * @param[in] name The name of Memory address to be removed
-     *
-     * @note If no UserBuffer with the specified name is found, nothing
-     *       is done.
-     */
-    void remove(const char *name) noexcept;
-
-    /**
-     * @brief Returns the number of User Memory addresses in the map
-     */
-    size_t size() const noexcept;
-
-    /**
-     * @brief .
-     *
-     * Removes all User Memory from the map
-     */
-    void clear() noexcept;
-
-    /**
-     * @brief .
-     *
-     * Returns the names of all User Memory
-     *
-     * @return A list of Buffer names.
-     */
-    zdl::DlSystem::StringList getUserBufferNames() const;
-
-    /**
-     * @brief Returns the no of UserMemory addresses mapped to the buffer
-     *
-     * @param[in] name The name of the UserMemory
-     *
-     */
-    size_t getUserMemoryAddressCount(const char *name) const noexcept;
-
-    /**
-     * @brief Returns address at a specified index corresponding to a UserMemory buffer name
-     *
-     * @param[in] name The name of the buffer
-     * @param[in] index The index in the list of addresses
-     *
-     */
-    void* getUserMemoryAddressAtIndex(const char *name, uint32_t index) const noexcept;
-
-    ~UserMemoryMap();
-private:
-    void swap(const UserMemoryMap &other);
-    std::unique_ptr<::DlSystem::UserMemoryMapImpl> m_UserMemoryMapImpl;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // DlSystem namespace
-} // zdl namespace
-
-
-#endif // DL_SYSTEM_TENSOR_MAP_HPP
-
diff --git a/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp b/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
deleted file mode 100644
index 92eb786d312f6d..00000000000000
--- a/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
+++ /dev/null
@@ -1,13 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#pragma once
-
-#ifndef ZDL_EXPORT
-#define ZDL_EXPORT
-#endif
diff --git a/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp b/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
deleted file mode 100644
index 66097ba569f629..00000000000000
--- a/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
+++ /dev/null
@@ -1,118 +0,0 @@
-// =============================================================================
-//
-// Copyright (c) 2018-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-// =============================================================================
-
-#ifndef SNPE_PLATFORMVALIDATOR_HPP
-#define SNPE_PLATFORMVALIDATOR_HPP
-
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-#define DO_PRAGMA(s) _Pragma(#s)
-#define NO_WARNING "-Wunused-variable"
-
-#ifdef __clang__
-#define SNPE_DISABLE_WARNINGS(clang_warning,gcc_warning) \
-_Pragma("clang diagnostic push") \
-DO_PRAGMA(clang diagnostic ignored clang_warning)
-
-#define SNPE_ENABLE_WARNINGS \
-_Pragma("clang diagnostic pop")
-
-#elif defined __GNUC__
-#define SNPE_DISABLE_WARNINGS(clang_warning,gcc_warning) \
-_Pragma("GCC diagnostic push") \
-DO_PRAGMA(GCC diagnostic ignored gcc_warning)
-
-#define SNPE_ENABLE_WARNINGS \
-_Pragma("GCC diagnostic pop")
-
-#else
-#define SNPE_DISABLE_WARNINGS(...)
-#define SNPE_ENABLE_WARNINGS
-#endif
-
-SNPE_DISABLE_WARNINGS("-Wdelete-non-virtual-dtor","-Wdelete-non-virtual-dtor")
-#include <string>
-#include <memory>
-SNPE_ENABLE_WARNINGS
-
-namespace zdl
-{
-   namespace SNPE
-   {
-      class PlatformValidator;
-
-      class IPlatformValidatorRuntime;
-   }
-}
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-* The class for checking SNPE compatibility/capability of a device.
-*
-*/
-
-class ZDL_EXPORT zdl::SNPE::PlatformValidator
-{
-public:
-   /**
-    * @brief Default Constructor of the PlatformValidator Class
-    *
-    * @return A new instance of a PlatformValidator object
-    *         that can be used to check the SNPE compatibility
-    *         of a device
-    */
-   PlatformValidator();
-
-   ~PlatformValidator();
-
-   /**
-    * @brief Sets the runtime processor for compatibility check
-    *
-    * @return Void
-    */
-   void setRuntime(zdl::DlSystem::Runtime_t runtime);
-
-   /**
-    * @brief Checks if the Runtime prerequisites for SNPE are available.
-    *
-    * @return True if the Runtime prerequisites are available, else false.
-    */
-   bool isRuntimeAvailable();
-
-   /**
-    * @brief Returns the core version for the Runtime selected.
-    *
-    * @return String which contains the actual core version value
-    */
-   std::string getCoreVersion();
-
-   /**
-    * @brief Returns the library version for the Runtime selected.
-    *
-    * @return String which contains the actual lib version value
-    */
-   std::string getLibVersion();
-
-   /**
-    * @brief Runs a small program on the runtime and Checks if SNPE is supported for Runtime.
-    *
-    * @return If True, the device is ready for SNPE execution, else not.
-    */
-
-   bool runtimeCheck();
-
-private:
-    zdl::DlSystem::Runtime_t m_runtimeType;
-    std::unique_ptr<IPlatformValidatorRuntime> m_platformValidatorRuntime;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif //SNPE_PLATFORMVALIDATOR_HPP
diff --git a/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp b/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
deleted file mode 100644
index 380a3e0e6e77ee..00000000000000
--- a/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
+++ /dev/null
@@ -1,101 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2019 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef PSNPE_APPLICATIONBUFFERMAP_HPP
-#define PSNPE_APPLICATIONBUFFERMAP_HPP
-#include <vector>
-#include <string>
-#include <unordered_map>
-
-#include "DlSystem/UserBufferMap.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace PSNPE
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * A class representing the UserBufferMap of Input and Output asynchronous mode.
- */
-
-class ZDL_EXPORT ApplicationBufferMap final
-{
-
- public:
-   /**
-    * @brief Adds a name and the corresponding buffer
-    *        to the map
-    *
-    * @param[in] name The name of the UserBuffer
-    * @param[in] buffer The vector of the uint8_t data
-    *
-    * @note If a UserBuffer with the same name already exists, the new
-    *       UserBuffer pointer would be updated.
-    */
-   void add(const char* name, std::vector<uint8_t>& buff) noexcept;
-   void add(const char* name, std::vector<float>& buff) noexcept;
-   /**
-    * @brief Removes a mapping of one UserBuffer and its name by its name
-    *
-    * @param[in] name The name of UserBuffer to be removed
-    *
-    * @note If no UserBuffer with the specified name is found, nothing
-    *       is done.
-    */
-   void remove(const char* name) noexcept;
-
-   /**
-    * @brief Returns the number of UserBuffers in the map
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all UserBuffers from the map
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief Returns the UserBuffer given its name.
-    *
-    * @param[in] name The name of the UserBuffer to get.
-    *
-    * @return nullptr if no UserBuffer with the specified name is
-    *         found; otherwise, a valid pointer to the UserBuffer.
-    */
-   const std::vector<uint8_t>& getUserBuffer(const char* name) const;
-   const std::vector<uint8_t>& operator[](const char* name) const;
-   /**
-    * @brief .
-    *
-    * Returns the names of all UserAsyncBufferMap
-    *
-    * @return A list of UserBuffer names.
-    */
-   zdl::DlSystem::StringList getUserBufferNames() const;
-   const std::unordered_map<std::string, std::vector<uint8_t>>& getUserBuffer() const;
-   explicit ApplicationBufferMap();
-   ~ApplicationBufferMap();
-   explicit ApplicationBufferMap(
-     const std::unordered_map<std::string, std::vector<uint8_t>> buffer);
-
- private:
-   std::unordered_map<std::string, std::vector<uint8_t>> m_UserMap;
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-} // namespace PSNPE
-} // namespace zdl
-
-#endif // PSNPE_APPLICATIONBUFFERMAP_HPP
diff --git a/third_party/snpe/include/SNPE/PSNPE.hpp b/third_party/snpe/include/SNPE/PSNPE.hpp
deleted file mode 100644
index a823c0c7fa1d78..00000000000000
--- a/third_party/snpe/include/SNPE/PSNPE.hpp
+++ /dev/null
@@ -1,205 +0,0 @@
-// =============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-// =============================================================================
-
-#ifndef PSNPE_HPP
-#define PSNPE_HPP
-
-#include <cstdlib>
-#include <functional>
-#include "SNPE/SNPE.hpp"
-#include "DlSystem/UserBufferMap.hpp"
-#include "DlContainer/IDlContainer.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-#include "UserBufferList.hpp"
-#include "RuntimeConfigList.hpp"
-#include "ApplicationBufferMap.hpp"
-
-namespace zdl
-{
-namespace PSNPE
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- *@ brief build snpe instance in serial or parallel
- *
- */
-enum ZDL_EXPORT BuildMode {
-   SERIAL = 0,
-   PARALLEL = 1
-};
-/**
- * @brief  Input and output transmission mode
- */
-enum ZDL_EXPORT InputOutputTransmissionMode
-{
-   sync = 0,
-   outputAsync = 1,
-   inputOutputAsync = 2
-};
-
-/**
- * @brief  A structure representing parameters of callback function of Async Output mode
- */
-struct ZDL_EXPORT OutputAsyncCallbackParam
-{
-   size_t dataIndex;
-   bool executeStatus;
-   std::string errorMsg;
-   OutputAsyncCallbackParam(size_t _index,bool _status, const std::string& _errorMsg = std::string())
-     : dataIndex(_index),executeStatus(_status), errorMsg(_errorMsg){};
-};
-/**
- * @brief  A structure representing parameters of callback function of Async Input/Output mode
- */
-struct ZDL_EXPORT InputOutputAsyncCallbackParam
-{
-   size_t dataIndex;
-   const ApplicationBufferMap& outputMap;
-   bool executeStatus;
-   std::string errorMsg;
-   InputOutputAsyncCallbackParam(size_t _index, const ApplicationBufferMap& output_map,bool _status,
-                                 const std::string _ErrorMsg = std::string())
-     : dataIndex(_index)
-     , outputMap(output_map)
-     , executeStatus(_status)
-     , errorMsg(_ErrorMsg){};
-};
-/**
- * @brief  This callback is called when the output data is ready, only use for Output Async mode
- */
-using OutputAsyncCallbackFunc = std::function<void(OutputAsyncCallbackParam)>;
-/**
- * @brief  This callback is called when the output data is ready, only use for Output-Input Async mode
- */
-using InputOutputAsyncCallbackFunc = std::function<void(InputOutputAsyncCallbackParam)>;
-/**
- * @brief   This callback is called when the input data is ready,only use for Output-Input Async mode 
- */
-using InputOutputAsyncInputCallback = std::function<std::shared_ptr<ApplicationBufferMap>(const std::vector<std::string> &,
-    const zdl::DlSystem::StringList &)>;
-/**
- * @brief .
- *
- * A structure PSNPE configuration
- *
- */
-struct ZDL_EXPORT BuildConfig final
-{
-   BuildMode buildMode = BuildMode::SERIAL; ///< Specify build in serial mode or parallel mode
-   zdl::DlContainer::IDlContainer* container;///< The opened container ptr
-   zdl::DlSystem::StringList outputBufferNames;///< Specify the output layer name
-   zdl::DlSystem::StringList outputTensors;///< Specify the output layer name
-   RuntimeConfigList runtimeConfigList;///< The runtime config list for PSNPE, @see RuntimeConfig
-   size_t inputThreadNumbers = 1;///< Specify the number of threads used in the execution phase to process input data, only used in inputOutputAsync mode
-   size_t outputThreadNumbers = 1;///< Specify the number of threads used in the execution phase to process output data, only used in inputOutputAsync and outputAsync mode
-   OutputAsyncCallbackFunc outputCallback;///< The callback to deal with output data ,only used in outputAsync mode
-   InputOutputAsyncCallbackFunc inputOutputCallback;///< The callback to deal with output data ,only used in inputOutputAsync mode
-   InputOutputAsyncInputCallback inputOutputInputCallback;///< The callback to deal with input data ,only used in inputOutputAsync mode
-   InputOutputTransmissionMode inputOutputTransmissionMode = InputOutputTransmissionMode::sync;///< Specify execution mode
-   zdl::DlSystem::ProfilingLevel_t profilingLevel = zdl::DlSystem::ProfilingLevel_t::OFF;///< Specify profiling level for Diaglog
-   uint64_t encode[2] = {0, 0};
-   bool enableInitCache = false;
-   std::string platformOptions;
-   std::string diaglogOutputDir = "./diaglogs/"; ///< Specify a diaglog output directory to save the generated Diaglog files.
-};
-/**
- * @brief .
- *
- * The class for executing SNPE instances in parallel.
- */
-class ZDL_EXPORT PSNPE final
-{
- public:
-   ~PSNPE();
-
-   explicit PSNPE() noexcept :m_TransmissionMode(InputOutputTransmissionMode::sync){};
-
-   /**
-    * @brief Build snpe instances.
-    *
-    */
-   bool build(BuildConfig& buildConfig) noexcept;
-
-   /**
-    * @brief Execute snpe instances in Async Output mode and Sync mode
-    *
-    * @param[in] inputBufferList A list of user buffers that contains the input data
-    *
-    * @param[in,out] outputBufferList A list of user buffers that will hold the output data
-    *
-    */
-   bool execute(UserBufferList& inputBufferList, UserBufferList& outputBufferList) noexcept;
-
-   /**
-    * @brief  Execute snpe instances in Async Input/Output mode
-    *
-    * @param[in]inputMap A map of input buffers that contains input data. The names of buffers
-    *                     need to be matched with names retrived through getInputTensorNames()
-    *
-    * @param dataIndex Index of the input data
-    *
-    * @param isTF8buff Whether prefer to using 8 bit quantized element for inference
-    *
-    * @return True if executed successfully; flase, otherwise.
-    */
-   bool executeInputOutputAsync(const std::vector<std::string>& inputMap, size_t dataIndex, bool isTF8buff) noexcept;
-   bool executeInputOutputAsync(const std::vector<std::string>& inputMap, size_t dataIndex, bool isTF8buff,bool isTF8Outputbuff) noexcept;
-   /**
-    * @brief Returns the input layer names of the network.
-    *
-    * @return StringList which contains the input layer names
-    */
-   const zdl::DlSystem::StringList getInputTensorNames() const noexcept;
-
-   /**
-    * @brief Returns the output layer names of the network.
-    *
-    * @return StringList which contains the output layer names
-    */
-   const zdl::DlSystem::StringList getOutputTensorNames() const noexcept;
-
-   /**
-    * @brief Returns the input tensor dimensions of the network.
-    *
-    * @return TensorShape which contains the dimensions.
-    */
-   const zdl::DlSystem::TensorShape getInputDimensions() const noexcept;
-
-   const zdl::DlSystem::TensorShape getInputDimensions(const char *name) const noexcept;
-
-   /**
-    * @brief Returns attributes of buffers.
-    *
-    * @see zdl::SNPE
-    *
-    * @return BufferAttributes of input/output tensor named.
-    */
-   const zdl::DlSystem::TensorShape getBufferAttributesDims(const char *name) const noexcept;
-
-   zdl::DlSystem::Optional<zdl::DlSystem::IBufferAttributes*> getInputOutputBufferAttributes(const char *name) const noexcept;
-   bool registerIonBuffers(const zdl::DlSystem::UserMemoryMap& ionBufferMap) const noexcept;
-   bool deregisterIonBuffers(const zdl::DlSystem::StringList& ionBufferNames) const noexcept;
-
-   const char* getLastErrorString();
-
- private:
-   PSNPE(const PSNPE&) = delete;
-   PSNPE& operator=(const PSNPE&) = delete;
-   zdl::PSNPE::InputOutputTransmissionMode m_TransmissionMode;
-
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-} // namespace PSNPE
-} // namespace zdl
-#endif // PSNPE_HPP
diff --git a/third_party/snpe/include/SNPE/RuntimeConfigList.hpp b/third_party/snpe/include/SNPE/RuntimeConfigList.hpp
deleted file mode 100644
index 837dba092a1d21..00000000000000
--- a/third_party/snpe/include/SNPE/RuntimeConfigList.hpp
+++ /dev/null
@@ -1,85 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-#ifndef PSNPE_RUNTIMECONFIGLIST_HPP
-#define PSNPE_RUNTIMECONFIGLIST_HPP
-
-#include <iostream>
-#include "DlContainer/IDlContainer.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/RuntimeList.hpp"
-#include "DlSystem/TensorShapeMap.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-namespace zdl {
-namespace PSNPE {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * The structure for configuring a BulkSNPE runtime
- *
- */
-struct ZDL_EXPORT RuntimeConfig final {
-    zdl::DlSystem::Runtime_t runtime;
-    zdl::DlSystem::RuntimeList runtimeList;
-    zdl::DlSystem::PerformanceProfile_t perfProfile;
-    zdl::DlSystem::TensorShapeMap inputDimensionsMap;
-    bool enableCPUFallback;
-    RuntimeConfig()
-        : runtime{zdl::DlSystem::Runtime_t::CPU_FLOAT32},
-          perfProfile{zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE},
-          enableCPUFallback{false} {}
-    RuntimeConfig(const RuntimeConfig& other) {
-        runtime = other.runtime;
-        runtimeList = other.runtimeList;
-        perfProfile = other.perfProfile;
-        enableCPUFallback = other.enableCPUFallback;
-        inputDimensionsMap = other.inputDimensionsMap;
-    }
-
-    RuntimeConfig& operator=(const RuntimeConfig& other) {
-        this->runtimeList = other.runtimeList;
-        this->runtime = other.runtime;
-        this->perfProfile = other.perfProfile;
-        this->enableCPUFallback = other.enableCPUFallback;
-        this->inputDimensionsMap = other.inputDimensionsMap;
-        return *this;
-    }
-
-    ~RuntimeConfig() {}
-};
-
-/**
- * @brief .
- *
- * The class for creating a RuntimeConfig container.
- *
- */
-class ZDL_EXPORT RuntimeConfigList final {
-   public:
-    RuntimeConfigList();
-    RuntimeConfigList(const size_t size);
-    void push_back(const RuntimeConfig& runtimeConfig);
-    RuntimeConfig& operator[](const size_t index);
-    RuntimeConfigList& operator=(const RuntimeConfigList& other);
-    size_t size() const noexcept;
-    size_t capacity() const noexcept;
-    void clear() noexcept;
-    ~RuntimeConfigList() = default;
-
-   private:
-    void swap(const RuntimeConfigList& other);
-    std::vector<RuntimeConfig> m_runtimeConfigs;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}  // namespace PSNPE
-}  // namespace zdl
-#endif  // PSNPE_RUNTIMECONFIGLIST_HPP
diff --git a/third_party/snpe/include/SNPE/SNPE.hpp b/third_party/snpe/include/SNPE/SNPE.hpp
deleted file mode 100644
index 5ab45b82eedc85..00000000000000
--- a/third_party/snpe/include/SNPE/SNPE.hpp
+++ /dev/null
@@ -1,258 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _SNPE_SNPE_HPP_
-#define _SNPE_SNPE_HPP_
-
-#include "DlSystem/DlOptional.hpp"
-#include "DlSystem/DlVersion.hpp"
-#include "DlSystem/IBufferAttributes.hpp"
-#include "DlSystem/ITensor.hpp"
-#include "DlSystem/TensorShape.hpp"
-#include "DlSystem/TensorMap.hpp"
-#include "DlSystem/String.hpp"
-#include "DlSystem/StringList.hpp"
-#include "DlSystem/IUserBuffer.hpp"
-#include "DlSystem/UserBufferMap.hpp"
-#include "DlSystem/UserMemoryMap.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl {
-   namespace SNPE
-   {
-      class SnpeRuntime;
-   }
-}
-namespace zdl {
-   namespace DiagLog
-   {
-      class IDiagLog;
-   }
-}
-
-namespace zdl { namespace SNPE {
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * The SNPE interface class definition
- */
-class ZDL_EXPORT SNPE final
-{
-public:
-
-   // keep this undocumented to be hidden in doxygen using HIDE_UNDOC_MEMBERS
-   explicit SNPE(std::unique_ptr<zdl::SNPE::SnpeRuntime>&& runtime) noexcept;
-   ~SNPE();
-
-   /**
-    * @brief Gets the names of input tensors to the network
-    *
-    * To support multiple input scenarios, where multiple tensors are
-    * passed through execute() in a TensorMap, each tensor needs to
-    * be uniquely named. The names of tensors can be retrieved
-    * through this function.
-    *
-    * In the case of a single input, one name will be returned.
-    *
-    * @note Note that because the returned value is an Optional list,
-    * the list must be verified as boolean true value before being
-    * dereferenced.
-    *
-    * @return An Optional List of input tensor names.
-    *
-    * @see zdl::DlSystem::Optional
-    */
-   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
-      getInputTensorNames() const noexcept;
-
-    /**
-     * @brief Gets the names of output tensors to the network
-     *
-     * @return List of output tensor names.
-     */
-   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
-      getOutputTensorNames() const noexcept;
-
-   /**
-    * @brief Gets the name of output tensor from the input layer name
-    *
-    * @return Output tensor name.
-    */
-   zdl::DlSystem::StringList
-      getOutputTensorNamesByLayerName(const char *name) const noexcept;
-
-   /**
-    * @brief Processes the input data and returns the output
-    *
-    * @param[in] A map of tensors that contains the input data for
-    *            each input. The names of tensors needs to be
-    *            matched with names retrieved through
-    *            getInputTensorNames()
-    *
-    * @param[in,out] An empty map of tensors that will contain the output
-    *                data of potentially multiple layers (the key
-    *                in the map is the layer name) upon return
-    *
-    * @note output tensormap has to be empty.  To forward propagate
-    *       and get results in user-supplied tensors, use
-    *       executeWithSuppliedOutputTensors.
-    */
-   bool execute(const zdl::DlSystem::TensorMap &input,
-                zdl::DlSystem::TensorMap &output) noexcept;
-
-   /**
-    * @brief Processes the input data and returns the output
-    *
-    * @param[in] A single tensor contains the input data.
-    *
-    * @param[in,out] An empty map of tensors that will contain the output
-    *                data of potentially multiple layers (the key
-    *                in the map is the layer name) upon return
-    *
-    * @note output tensormap has to be empty.
-    */
-   bool execute(const zdl::DlSystem::ITensor *input,
-                zdl::DlSystem::TensorMap &output) noexcept;
-
-   /**
-    * @brief Processes the input data and returns the output, using
-    *        user-supplied buffers
-    *
-    * @param[in] A map of UserBuffers that contains the input data for
-    *            each input. The names of UserBuffers needs to be
-    *            matched with names retrieved through
-    *            getInputTensorNames()
-    *
-    * @param[in,out] A map of UserBuffers that will hold the output
-    *                data of potentially multiple layers (the key
-    *                in the map is the UserBuffer name)
-    *
-    * @note input and output UserBuffer maps must be fully pre-populated. with
-    *       dimensions matching what the network expects.
-    *       For example, if there are 5 output UserBuffers they all have to be
-    *       present in map.
-    *
-    *       Caller must guarantee that for the duration of execute(), the buffer
-    *       stored in UserBuffer would remain valid.  For more detail on buffer
-    *       ownership and lifetime requirements, please refer to zdl::DlSystem::UserBuffer
-    *       documentation.
-    */
-   bool execute(const zdl::DlSystem::UserBufferMap &input,
-                const zdl::DlSystem::UserBufferMap &output) noexcept;
-
-
-    /**
-    * @brief Regiter Client ION Buffers
-    * @param[in] A UserMemoryMap of virtual addresses
-    *
-    */
-   bool registerIonBuffers(const zdl::DlSystem::UserMemoryMap& ionBufferMap) noexcept;
-
-    /**
-    * @brief Regiter Client ION Buffers
-    * @param[in] A StringList of ION Buffer names
-    *
-    */
-   bool deregisterIonBuffers(const zdl::DlSystem::StringList& ionBufferNames) noexcept;
-
-    /**
-    * @brief Returns the version string embedded at model conversion
-    * time.
-    *
-    * @return Model version string, which is a free-form string
-    *         supplied at the time of the conversion
-    *
-    */
-   zdl::DlSystem::String getModelVersion() const noexcept;
-
-   /**
-    * @brief Returns the dimensions of the input data to the model in the
-    * form of TensorShape. The dimensions in TensorShape corresponds to
-    * what the tensor dimensions would need to be for an input tensor to
-    * the model.
-    *
-    * @param[in] layer input name.
-    *
-    * @note Note that this function only makes sense for networks 
-    *       that have a fixed input size. For networks in which the
-    *       input size varies with each call of Execute(), this
-    *       function should not be used.
-    *
-    * @note Because the returned type is an Optional instance, it must
-    *       be verified as a boolean true value before being dereferenced.
-    * 
-    * @return An Optional instance of TensorShape that maintains dimensions,
-    *         matching the tensor dimensions for input to the model,
-    *         where the last entry is the fastest varying dimension, etc.
-    *  
-    * @see zdl::DlSystem::ITensor
-    * @see zdl::DlSystem::TensorShape
-    * @see zdl::DlSystem::Optional
-    */
-   zdl::DlSystem::Optional<zdl::DlSystem::TensorShape>
-      getInputDimensions() const noexcept;
-   zdl::DlSystem::Optional<zdl::DlSystem::TensorShape>
-      getInputDimensions(const char *name) const noexcept;
-
-   /**
-    * @brief Gets the output layer(s) for the network. 
-    *  
-    * Note that the output layers returned by this function may be 
-    * different than those specified when the network was created 
-    * via the zdl::SNPE::SNPEBuilder. For example, if the
-    * network was created in debug mode with no explicit output 
-    * layers specified, this will contain all layers.
-    *
-    * @note Note that because the returned value is an Optional StringList,
-    * the list must be verified as a boolean true value before being
-    * dereferenced.
-    *
-    * @return A List of output layer names.
-    *
-    * @see zdl::DlSystem::Optional
-    */
-   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
-      getOutputLayerNames() const noexcept;
-
-   /**
-     * @brief Returns attributes of buffers used to feed input tensors and receive result from output tensors.
-     *
-     * @param[in] Tensor name.
-     *
-     * @return BufferAttributes of input/output tensor named
-     */
-   zdl::DlSystem::Optional<zdl::DlSystem::IBufferAttributes*> getInputOutputBufferAttributes(const char *name) const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Get the diagnostic logging interface
-    *
-    * @note Note that because the returned type is an Optional instance,
-    * it must be verified as a boolean true value before being
-    * dereferenced.
-    *
-    * @see zdl::DlSystem::Optional
-    */
-   zdl::DlSystem::Optional<zdl::DiagLog::IDiagLog*>
-      getDiagLogInterface() noexcept;
-
-private:
-   SNPE(const SNPE&) = delete;
-   SNPE& operator=(const SNPE&) = delete;
-
-   std::unique_ptr<SnpeRuntime> m_Runtime;
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-}}
-
-#endif
diff --git a/third_party/snpe/include/SNPE/SNPEBuilder.hpp b/third_party/snpe/include/SNPE/SNPEBuilder.hpp
deleted file mode 100644
index 5fc7846ced6486..00000000000000
--- a/third_party/snpe/include/SNPE/SNPEBuilder.hpp
+++ /dev/null
@@ -1,306 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2017-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _SNPE_BUILDER_HPP_
-#define _SNPE_BUILDER_HPP_
-
-#include "SNPE/SNPE.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/UDLFunc.hpp"
-#include "DlSystem/DlOptional.hpp"
-#include "DlSystem/TensorShapeMap.hpp"
-#include "DlSystem/PlatformConfig.hpp"
-#include "DlSystem/IOBufferDataTypeMap.hpp"
-#include "DlSystem/RuntimeList.hpp"
-
-namespace zdl {
-   namespace DlContainer
-   {
-      class IDlContainer;
-   }
-}
-
-struct SNPEBuilderImpl;
-
-
-namespace zdl { namespace SNPE {
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * The builder class for creating SNPE objects.
- * Not meant to be extended.
- */
-class ZDL_EXPORT SNPEBuilder final
-{
-private:
-   std::unique_ptr<::SNPEBuilderImpl> m_Impl;
-public:
-
-   /**
-    * @brief Constructor of NeuralNetwork Builder with a supplied model.
-    *
-    * @param[in] container A container holding the model.
-    *
-    * @return A new instance of a SNPEBuilder object
-    *         that can be used to configure and build
-    *         an instance of SNPE.
-    *
-    */
-   explicit SNPEBuilder(
-      zdl::DlContainer::IDlContainer* container);
-   ~SNPEBuilder();
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE. Please use
-    *       setRuntimeProcessorOrder()
-    *
-    * @brief Sets the runtime processor.
-    *
-    * @param[in] targetRuntimeProcessor The target runtime.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setRuntimeProcessor(
-      zdl::DlSystem::Runtime_t targetRuntimeProcessor);
-
-   /**
-    * @brief Requests a performance profile.
-    *
-    * @param[in] targetRuntimeProfile The target performance profile.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setPerformanceProfile(
-      zdl::DlSystem::PerformanceProfile_t performanceProfile);
-
-   /**
-    * @brief Sets the profiling level. Default profiling level for
-    *        SNPEBuilder is off. Off and basic only applies to DSP runtime.
-    *
-    * @param[in] profilingLevel The target profiling level.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setProfilingLevel(
-      zdl::DlSystem::ProfilingLevel_t profilingLevel);
-
-    /**
-     * @brief Sets a preference for execution priority.
-     *
-     * This allows the caller to give coarse hint to SNPE runtime
-     * about the priority of the network.  SNPE runtime is free to use
-     * this information to co-ordinate between different workloads
-     * that may or may not extend beyond SNPE.
-     *
-     * @param[in] ExecutionPriorityHint_t The target performance profile.
-     *
-     * @return The current instance of SNPEBuilder.
-     */
-   SNPEBuilder& setExecutionPriorityHint(
-            zdl::DlSystem::ExecutionPriorityHint_t priority);
-
-    /**
-    * @brief Sets the layers that will generate output.
-    *
-    * @param[in] outputLayerNames List of layer names to
-    *                             output. An empty list will
-    *                             result in only the final
-    *                             layer of the model being
-    *                             the output layer.  The list
-    *                             will be copied.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setOutputLayers(
-      const zdl::DlSystem::StringList& outputLayerNames);
-
-   /**
-   * @brief Sets the output tensor names.
-   *
-   * @param[in] outputTensorNames List of tensor names to
-   *                             output. An empty list will
-   *                             result in producing output for the final
-   *                             output tensor of the model.
-   *                             The list will be copied.
-   *
-   * @return The current instance of SNPEBuilder.
-   */
-   SNPEBuilder& setOutputTensors(
-      const zdl::DlSystem::StringList& outputTensorNames);
-
-   /**
-    * @brief Passes in a User-defined layer.
-    *
-    * @param udlBundle Bundle of udl factory function and a cookie
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setUdlBundle(
-      zdl::DlSystem::UDLBundle udlBundle);
-
-   /**
-    * @brief Sets whether this neural network will perform inference with
-    *        input from user-supplied buffers, and write output to user-supplied
-    *        buffers.  Default behaviour is to use tensors created by
-    *        ITensorFactory.
-    *
-    * @param[in] bufferMode Whether to use user-supplied buffer or not.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setUseUserSuppliedBuffers(
-      bool bufferMode);
-
-    /**
-    * @brief Sets the debug mode of the runtime.
-    *
-    * @param[in] debugMode This enables debug mode for the runtime. It
-    *                      does two things. For an empty
-    *                      outputLayerNames list, all layers will be
-    *                      output. It might also disable some internal
-    *                      runtime optimizations (e.g., some networks
-    *                      might be optimized by combining layers,
-    *                      etc.).
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setDebugMode(
-      bool debugMode);
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE. Please use
-    *       setRuntimeProcessorOrder()
-    *
-    * @brief Sets the mode of CPU fallback functionality.
-    *
-    * @param[in] mode   This flag enables/disables the functionality
-    *                   of CPU fallback. When the CPU fallback
-    *                   functionality is enabled, layers in model that
-    *                   violates runtime constraints will run on CPU
-    *                   while the rest of non-violating layers will
-    *                   run on the chosen runtime processor. In
-    *                   disabled mode, models with layers violating
-    *                   runtime constraints will NOT run on the chosen
-    *                   runtime processor and will result in runtime
-    *                   exception. By default, the functionality is
-    *                   enabled.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setCPUFallbackMode(
-      bool mode);
-
-
-   /**
-    * @brief Sets network's input dimensions to enable resizing of
-    *        the spatial dimensions of each layer for fully convolutional networks,
-    *        and the batch dimension for all networks.
-    *
-    * @param[in] tensorShapeMap The map of input names and their new dimensions.
-    *                           The new dimensions overwrite the input dimensions
-    *                           embedded in the model and then resize each layer
-    *                           of the model. If the model contains
-    *                           layers whose dimensions cannot be resized e.g FullyConnected,
-    *                           exception will be thrown when SNPE instance is actually built.
-    *                           In general the batch dimension is always resizable.
-    *                           After resizing of layers' dimensions in model based
-    *                           on new input dimensions, the new model is revalidated
-    *                           against all runtime constraints, whose failures may
-    *                           result in cpu fallback situation.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setInputDimensions(const zdl::DlSystem::TensorShapeMap& inputDimensionsMap);
-
-   /**
-    * @brief Sets the mode of init caching functionality.
-    *
-    * @param[in] mode   This flag enables/disables the functionality of init caching.
-    *                   When init caching functionality is enabled, a set of init caches
-    *                   will be created during network building/initialization process
-    *                   and will be added to DLC container. If such DLC container is saved
-    *                   by the user, in subsequent network building/initialization processes
-    *                   these init caches will be loaded from the DLC so as to reduce initialization time.
-    *                   In disable mode, no init caches will be added to DLC container.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setInitCacheMode(
-      bool cacheMode);
-
-   /**
-    * @brief Returns an instance of SNPE based on the current parameters.
-    *
-    * @return A new instance of a SNPE object that can be used
-    *         to execute models or null if any errors occur.
-    */
-   std::unique_ptr<SNPE> build() noexcept;
-
-   /**
-    * @brief Sets the platform configuration.
-    *
-    * @param[in] platformConfig The platform configuration.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setPlatformConfig(const zdl::DlSystem::PlatformConfig& platformConfig);
-
-   /**
-    * @brief Sets network's runtime order of precedence. Example:
-    *        CPU_FLOAT32, GPU_FLOAT16, AIP_FIXED8_TF
-    *        Note:- setRuntimeProcessor() or setCPUFallbackMode() will be silently ignored when
-    *        setRuntimeProcessorOrder() is invoked
-    *
-    * @param[in] runtimeList The list of runtime in order of precedence
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setRuntimeProcessorOrder(const zdl::DlSystem::RuntimeList& runtimeList);
-
-    /**
-    * @brief Sets the unconsumed tensors as output
-    *
-    * @param[in] setOutput This enables unconsumed tensors (i.e)
-    *                      outputs which are not inputs to any
-    *                      layer (basically dead ends) to be marked
-    *                      for output
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setUnconsumedTensorsAsOutputs(
-      bool setOutput);
-
-    /**
-    * @brief Execution terminated when exceeding time limit.
-    *        Only valid for dsp runtime currently.
-    *
-    * @param[in] timeout Time limit value
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setTimeOut(
-      uint64_t timeout);
-
-
-   /**
-    * @brief Sets the datatype of the buffer.
-    *        Only valid for dsp runtime currently.
-    *
-    * @param[in] Map of the buffer names and the datatype that needs to be set.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setBufferDataType(const zdl::DlSystem::IOBufferDataTypeMap& dataTypeMap);
-
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}}
-
-#endif
diff --git a/third_party/snpe/include/SNPE/SNPEFactory.hpp b/third_party/snpe/include/SNPE/SNPEFactory.hpp
deleted file mode 100644
index 2d78e81b173d2c..00000000000000
--- a/third_party/snpe/include/SNPE/SNPEFactory.hpp
+++ /dev/null
@@ -1,220 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _SNPE_FACTORY_HPP_
-#define _SNPE_FACTORY_HPP_
-
-#include "SNPE/SNPE.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/UDLFunc.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-#include "DlSystem/DlOptional.hpp"
-
-namespace zdl {
-   namespace DlSystem
-   {
-      class ITensorFactory;
-      class IUserBufferFactory;
-   }
-   namespace DlContainer
-   {
-      class IDlContainer;
-   }
-}
-
-
-
-namespace zdl { namespace SNPE {
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * The factory class for creating SNPE objects.
- *
- */
-class ZDL_EXPORT SNPEFactory
-{
-public:
-
-   /**
-    * Indicates whether the supplied runtime is available on the
-    * current platform.
-    *
-    * @param[in] runtime The target runtime to check.
-    *
-    * @return True if the supplied runtime is available; false,
-    *         otherwise.
-    */
-   static bool isRuntimeAvailable(zdl::DlSystem::Runtime_t runtime);
-
-   /**
-    * Indicates whether the supplied runtime is available on the
-    * current platform.
-    *
-    * @param[in] runtime The target runtime to check.
-    *
-    * @param[in] option Extent to perform runtime available check.
-    *
-    * @return True if the supplied runtime is available; false,
-    *         otherwise.
-    */
-   static bool isRuntimeAvailable(zdl::DlSystem::Runtime_t runtime,
-                                  zdl::DlSystem::RuntimeCheckOption_t option);
-
-   /**
-    * Gets a reference to the tensor factory.
-    *
-    * @return A reference to the tensor factory.
-    */
-   static zdl::DlSystem::ITensorFactory& getTensorFactory();
-
-   /**
-    * Gets a reference to the UserBuffer factory.
-    *
-    * @return A reference to the UserBuffer factory.
-    */
-   static zdl::DlSystem::IUserBufferFactory& getUserBufferFactory();
-
-   /**
-    * Gets the version of the SNPE library.
-    *
-    * @return Version of the SNPE library.
-    *
-    */
-   static zdl::DlSystem::Version_t getLibraryVersion();
-
-   /**
-    * Set the SNPE storage location for all SNPE instances in this
-    * process. Note that this may only be called once, and if so
-    * must be called before creating any SNPE instances.
-    *
-    * @param[in] storagePath Absolute path to a directory which SNPE may
-    *  use for caching and other storage purposes.
-    *
-    * @return True if the supplied path was succesfully set as
-    *  the SNPE storage location, false otherwise.
-    */
-   static bool setSNPEStorageLocation(const char* storagePath);
-
-   /**
-    * @brief Register a user-defined op package with SNPE.
-    *
-    * @param[in] regLibraryPath Path to the registration library
-    *                      that allows clients to register a set of operations that are
-    *                      part of the package, and share op info with SNPE
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool addOpPackage( const std::string& regLibraryPath );
-
-   /**
-    * Indicates whether the OpenGL and OpenCL interoperability is supported
-    * on GPU platform.
-    *
-    * @return True if the OpenGL and OpenCl interop is supported; false,
-    *         otherwise.
-    */
-   static bool isGLCLInteropSupported();
-
-   static const char* getLastError();
-
-   /**
-    * Initializes logging with the specified log level.
-    * initializeLogging with level, is used on Android platforms
-    * and after successful initialization, SNPE
-    * logs are printed in android logcat logs.
-    *
-    * It is recommended to initializeLogging before creating any
-    * SNPE instances, in order to capture information related to
-    * core initialization. If this is called again after first
-    * time initialization, subsequent calls are ignored.
-    * Also, Logging can be re-initialized after a call to
-    * terminateLogging API by calling initializeLogging again.
-    *
-    * A typical usage of Logging life cycle can be
-    * initializeLogging()
-    *        any other SNPE API like isRuntimeAvailable()
-    * * setLogLevel() - optional - can be called anytime
-    *         between initializeLogging & terminateLogging
-    *		  SNPE instance creation, inference, destroy
-    * terminateLogging().
-    *
-    * Please note, enabling logging can have performance impact.
-    *
-    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool initializeLogging(const zdl::DlSystem::LogLevel_t& level);
-
-   /**
-    * Initializes logging with the specified log level and log path.
-    * initializeLogging with level & log path, is used on non Android
-    * platforms and after successful initialization, SNPE
-    * logs are printed in std output & into log files created in the
-    * log path.
-    *
-    * It is recommended to initializeLogging before creating any
-    * SNPE instances, in order to capture information related to
-    * core initialization. If this is called again after first
-    * time initialization, subsequent calls are ignored.
-    * Also, Logging can be re-initialized after a call to
-    * terminateLogging API by calling initializeLogging again.
-    *
-    * A typical usage of Logging life cycle can be
-    * initializeLogging()
-    *        any other SNPE API like isRuntimeAvailable()
-    * * setLogLevel() - optional - can be called anytime
-    *         between initializeLogging & terminateLogging
-    *		  SNPE instance creation, inference, destroy
-    * terminateLogging()
-    *
-    * Please note, enabling logging can have performance impact
-    *
-    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
-    *
-    * @param[in] Path of directory to store logs.
-    *      If path is empty, the default path is "./Log".
-    *      For android, the log path is ignored.
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool initializeLogging(const zdl::DlSystem::LogLevel_t& level, const std::string& logPath);
-
-   /**
-    * Updates the current logging level with the specified level.
-    * setLogLevel is optional, called anytime after initializeLogging
-    * and before terminateLogging, to update the log level set.
-    * Log levels can be updated multiple times by calling setLogLevel
-    * A call to setLogLevel() is ignored if it is made before
-    * initializeLogging() or after terminateLogging()
-    *
-    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool setLogLevel(const zdl::DlSystem::LogLevel_t& level);
-
-   /**
-    * Terminates logging.
-    *
-    * It is recommended to terminateLogging after initializeLogging
-    * in order to disable logging information.
-    * If this is called before initialization or after first time termination,
-    * calls are ignored.
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool terminateLogging(void);
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-}}
-
-
-#endif
diff --git a/third_party/snpe/include/SNPE/UserBufferList.hpp b/third_party/snpe/include/SNPE/UserBufferList.hpp
deleted file mode 100644
index a660bca0f6a525..00000000000000
--- a/third_party/snpe/include/SNPE/UserBufferList.hpp
+++ /dev/null
@@ -1,49 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2019 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-#ifndef PSNPE_USERBUFFERLIST_HPP
-#define PSNPE_USERBUFFERLIST_HPP
-
-#include <vector>
-#include "DlSystem/UserBufferMap.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace PSNPE
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-/**
-* @brief .
-*
-* The class for creating a UserBufferMap container.
-*
-*/
-class ZDL_EXPORT UserBufferList final
-{
-public:
-   UserBufferList();
-   UserBufferList(const size_t size);
-   void push_back(const zdl::DlSystem::UserBufferMap &userBufferMap);
-   zdl::DlSystem::UserBufferMap& operator[](const size_t index);
-   UserBufferList& operator =(const UserBufferList &other);
-   size_t size() const noexcept;
-   size_t capacity() const noexcept;
-   void clear() noexcept;
-   ~UserBufferList() = default;
-
-private:
-   void swap(const UserBufferList &other);
-   std::vector<zdl::DlSystem::UserBufferMap> m_userBufferMaps;
-
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // namespace PSNPE
-} // namespace zdl
-#endif //PSNPE_USERBUFFERLIST_HPP
diff --git a/third_party/snpe/include/SnpeUdo/UdoBase.h b/third_party/snpe/include/SnpeUdo/UdoBase.h
deleted file mode 100644
index 7b2567920e3525..00000000000000
--- a/third_party/snpe/include/SnpeUdo/UdoBase.h
+++ /dev/null
@@ -1,537 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef SNPE_UDO_BASE_H
-#define SNPE_UDO_BASE_H
-
-#include <stdint.h>
-
-// Provide values to use for API version.
-#define API_VERSION_MAJOR 1
-#define API_VERSION_MINOR 6
-#define API_VERSION_TEENY 0
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-// Defines a bitmask of enum values.
-typedef uint32_t SnpeUdo_Bitmask_t;
-typedef SnpeUdo_Bitmask_t Udo_Bitmask_t;
-
-// A string of characters, rather than an array of bytes.
-// Assumed to be UTF-8.
-typedef char* SnpeUdo_String_t;
-typedef SnpeUdo_String_t Udo_String_t;
-
-// The maximum allowable length of a SnpeUdo_String_t in bytes,
-// including null terminator. SNPE will truncate strings longer
-// than this.
-#define SNPE_UDO_MAX_STRING_SIZE 1024
-
-/**
-  * An enum which holds the various error types.
-  * The error types are divided to classes :
-  * 0 - 99    : generic errors
-  * 100 - 200 : errors related to configuration
-  *
-  */
-typedef enum
-{
-   /// No Error
-   SNPE_UDO_NO_ERROR                    = 0,          UDO_NO_ERROR                    = 0,
-   /// Unsupported value for core type
-   SNPE_UDO_WRONG_CORE                  = 1,          UDO_WRONG_CORE                  = 1,
-   /// Invalid attribute/argument passed into UDO API
-   SNPE_UDO_INVALID_ARGUMENT            = 2,          UDO_INVALID_ARGUMENT            = 2,
-   /// Unsupported feature error
-   SNPE_UDO_UNSUPPORTED_FEATURE         = 3,          UDO_UNSUPPORTED_FEATURE         = 3,
-   /// Error relating to memory allocation
-   SNPE_UDO_MEM_ALLOC_ERROR             = 4,          UDO_MEM_ALLOC_ERROR             = 4,
-   /* Configuration Specific errors */
-   /// No op with given attributes available in library
-   SNPE_UDO_WRONG_OPERATION             = 100,        UDO_WRONG_OPERATION             = 100,
-   /// Unsupported value for core type in UDO configuration
-   SNPE_UDO_WRONG_CORE_TYPE             = 101,        UDO_WRONG_CORE_TYPE             = 101,
-   /// Wrong number of params in UDO definition
-   SNPE_UDO_WRONG_NUM_OF_PARAMS         = 102,        UDO_WRONG_NUM_OF_PARAMS         = 102,
-   /// Wrong number of dimensions for tensor(s) in UDO definition
-   SNPE_UDO_WRONG_NUM_OF_DIMENSIONS     = 103,        UDO_WRONG_NUM_OF_DIMENSIONS     = 103,
-   /// Wrong number of input tensors in UDO definition
-   SNPE_UDO_WRONG_NUM_OF_INPUTS         = 104,        UDO_WRONG_NUM_OF_INPUTS         = 104,
-   /// Wrong number of output tensors in UDO definition
-   SNPE_UDO_WRONG_NUM_OF_OUTPUTS        = 105,        UDO_WRONG_NUM_OF_OUTPUTS        = 105,
-   SNPE_UDO_PROGRAM_CACHE_NOT_FOUND     = 106,        UDO_PROGRAM_CACHE_NOT_FOUND     = 106,
-   SNPE_UDO_UNKNOWN_ERROR               = 0xFFFFFFFF, UDO_UNKNOWN_ERROR               = 0xFFFFFFFF
-} SnpeUdo_ErrorType_t;
-
-typedef SnpeUdo_ErrorType_t Udo_ErrorType_t;
-
-/**
-  * An enum which holds the various data types.
-  * Designed to be used as single values or combined into a bitfield parameter
-  * (0x1, 0x2, 0x4, etc)
-  * \n FIXED_XX types are targeted for data in tensors.
-  * \n UINT / INT types are targeted for scalar params
-  */
-typedef enum
-{
-   /// data type: 16-bit floating point
-   SNPE_UDO_DATATYPE_FLOAT_16       = 0x01,        UDO_DATATYPE_FLOAT_16       = 0x01,
-   /// data type: 32-bit floating point
-   SNPE_UDO_DATATYPE_FLOAT_32       = 0x02,        UDO_DATATYPE_FLOAT_32       = 0x02,
-   /// data type: 4-bit fixed point
-   SNPE_UDO_DATATYPE_FIXED_4        = 0x04,        UDO_DATATYPE_FIXED_4        = 0x04,
-   /// data type: 8-bit fixed point
-   SNPE_UDO_DATATYPE_FIXED_8        = 0x08,        UDO_DATATYPE_FIXED_8        = 0x08,
-   /// data type: 16-bit fixed point
-   SNPE_UDO_DATATYPE_FIXED_16       = 0x10,        UDO_DATATYPE_FIXED_16       = 0x10,
-   /// data type: 32-bit fixed point
-   SNPE_UDO_DATATYPE_FIXED_32       = 0x20,        UDO_DATATYPE_FIXED_32       = 0x20,
-   /// data type: 8-bit unsigned integer
-   SNPE_UDO_DATATYPE_UINT_8         = 0x100,       UDO_DATATYPE_UINT_8         = 0x100,
-   /// data type: 16-bit unsigned integer
-   SNPE_UDO_DATATYPE_UINT_16        = 0x200,       UDO_DATATYPE_UINT_16        = 0x200,
-   /// data type: 32-bit unsigned integer
-   SNPE_UDO_DATATYPE_UINT_32        = 0x400,       UDO_DATATYPE_UINT_32        = 0x400,
-   /// data type: 8-bit signed integer
-   SNPE_UDO_DATATYPE_INT_8          = 0x1000,      UDO_DATATYPE_INT_8          = 0x1000,
-   /// data type: 16-bit signed integer
-   SNPE_UDO_DATATYPE_INT_16         = 0x2000,      UDO_DATATYPE_INT_16         = 0x2000,
-   /// data type: 32-bit signed integer
-   SNPE_UDO_DATATYPE_INT_32         = 0x4000,      UDO_DATATYPE_INT_32         = 0x4000,
-   SNPE_UDO_DATATYPE_LAST           = 0xFFFFFFFF,  UDO_DATATYPE_LAST           = 0xFFFFFFFF
-} SnpeUdo_DataType_t;
-
-typedef SnpeUdo_DataType_t Udo_DataType_t;
-
-/**
-  * An enum which holds the various layouts.
-  * Designed to be used as single values or combined into a bitfield parameter
-  * (0x1, 0x2, 0x4, etc)
-  */
-typedef enum
-{
-   /// data layout (4D): NHWC (batch-height-width-channel)
-   SNPE_UDO_LAYOUT_NHWC             = 0x01,        UDO_LAYOUT_NHWC             = 0x01,
-   /// data layout (4D): NCHW (batch-channel-height-width)
-   SNPE_UDO_LAYOUT_NCHW             = 0x02,        UDO_LAYOUT_NCHW             = 0x02,
-   /// data layout (5D): NDHWC (batch-dimension-height-width-channel)
-   SNPE_UDO_LAYOUT_NDHWC            = 0x04,        UDO_LAYOUT_NDHWC            = 0x04,
-   SNPE_UDO_LAYOUT_GPU_OPTIMAL1     = 0x08,        UDO_LAYOUT_GPU_OPTIMAL1     = 0x08,
-   SNPE_UDO_LAYOUT_GPU_OPTIMAL2     = 0x10,        UDO_LAYOUT_GPU_OPTIMAL2     = 0x10,
-   SNPE_UDO_LAYOUT_DSP_OPTIMAL1     = 0x11,        UDO_LAYOUT_DSP_OPTIMAL1     = 0x11,
-   SNPE_UDO_LAYOUT_DSP_OPTIMAL2     = 0x12,        UDO_LAYOUT_DSP_OPTIMAL2     = 0x12,
-   // Indicates no data will be allocated for this tensor.
-   // Used to specify optional inputs/outputs positionally.
-   SNPE_UDO_LAYOUT_NULL             = 0x13,        UDO_LAYOUT_NULL             = 0x13,
-   SNPE_UDO_LAYOUT_LAST             = 0xFFFFFFFF,  UDO_LAYOUT_LAST             = 0xFFFFFFFF
-} SnpeUdo_TensorLayout_t;
-
-typedef SnpeUdo_TensorLayout_t Udo_TensorLayout_t;
-
-/**
-  * An enum which holds the UDO library Core type .
-  * Designed to be used as single values or combined into a bitfield parameter
-  * (0x1, 0x2, 0x4, etc)
-  */
-typedef enum
-{
-   /// Library target IP Core is undefined
-   SNPE_UDO_CORETYPE_UNDEFINED   = 0x00,          UDO_CORETYPE_UNDEFINED   = 0x00,
-   /// Library target IP Core is CPU
-   SNPE_UDO_CORETYPE_CPU         = 0x01,          UDO_CORETYPE_CPU         = 0x01,
-   /// Library target IP Core is GPU
-   SNPE_UDO_CORETYPE_GPU         = 0x02,          UDO_CORETYPE_GPU         = 0x02,
-   /// Library target IP Core is DSP
-   SNPE_UDO_CORETYPE_DSP         = 0x04,          UDO_CORETYPE_DSP         = 0x04,
-   SNPE_UDO_CORETYPE_LAST        = 0xFFFFFFFF,    UDO_CORETYPE_LAST        = 0xFFFFFFFF
-} SnpeUdo_CoreType_t;
-
-typedef SnpeUdo_CoreType_t Udo_CoreType_t;
-
-/**
-  * An enum to specify the parameter type : Scalar or Tensor
-  */
-typedef enum
-{
-   /// UDO static param type: scalar
-   SNPE_UDO_PARAMTYPE_SCALAR = 0x00,         UDO_PARAMTYPE_SCALAR = 0x00,
-   /// UDO static param type: string
-   SNPE_UDO_PARAMTYPE_STRING = 0x01,         UDO_PARAMTYPE_STRING = 0x01,
-   /// UDO static param type: tensor
-   SNPE_UDO_PARAMTYPE_TENSOR = 0x02,         UDO_PARAMTYPE_TENSOR = 0x02,
-   SNPE_UDO_PARAMTYPE_LAST   = 0xFFFFFFFF,   UDO_PARAMTYPE_LAST   = 0xFFFFFFFF
-} SnpeUdo_ParamType_t;
-
-typedef SnpeUdo_ParamType_t Udo_ParamType_t;
-
-/**
-  * An enum to specify quantization type
-  */
-typedef enum
-{
-   /// Tensor Quantization type: NONE. Signifies unquantized tensor data
-   SNPE_UDO_QUANTIZATION_NONE   = 0x00,         UDO_QUANTIZATION_NONE   = 0x00,
-   /// Tensor Quantization type: Tensorflow-style
-   SNPE_UDO_QUANTIZATION_TF     = 0x01,         UDO_QUANTIZATION_TF     = 0x01,
-   SNPE_UDO_QUANTIZATION_QMN    = 0x02,         UDO_QUANTIZATION_QMN    = 0x02,
-   SNPE_UDO_QUANTIZATION_LAST   = 0xFFFFFFFF,   UDO_QUANTIZATION_LAST   = 0xFFFFFFFF
-} SnpeUdo_QuantizationType_t;
-
-typedef SnpeUdo_QuantizationType_t Udo_QuantizationType_t;
-
-/**
- * @brief A struct which is used to provide a version number using 3 values : major, minor, teeny
- *
- */
-typedef struct
-{
-   /// version field: major - for backward-incompatible changes
-   uint32_t major;
-   /// version field: minor - for backward-compatible feature updates
-   uint32_t minor;
-   /// version field: teeny - for minor bug-fixes and clean-up
-   uint32_t teeny;
-} SnpeUdo_Version_t;
-
-typedef SnpeUdo_Version_t Udo_Version_t;
-
-/**
- * @brief A struct returned from version query, contains the Library version and API version
- *
- */
-typedef struct
-{
-   /// Version of UDO library. Controlled by users
-   SnpeUdo_Version_t libVersion;
-   /// Version of SNPE UDO API used in compiling library. Determined by SNPE
-   SnpeUdo_Version_t apiVersion;
-} SnpeUdo_LibVersion_t;
-
-/**
- * @brief A struct returned from version query, contains the package version
- *
- */
-typedef struct
-{
-   /// Version of UDO API used in package.
-   Udo_Version_t apiVersion;
-} Udo_PkgVersion_t;
-
-/**
- * @brief A union to hold the value of a generic type. Allows defining a parameter struct
- * in a generic way, with a "value" location that holds the data regardless of the type.
- *
- */
-typedef union
-{
-   /// value type: float
-   float    floatValue;
-   /// value type: unsigned 32-bit integer
-   uint32_t uint32Value;
-   /// value type: signed 32-bit integer
-   int32_t  int32Value;
-   /// value type: unsigned 16-bit integer
-   uint16_t uint16Value;
-   /// value type: signed 16-bit integer
-   int16_t  int16Value;
-   /// value type: unsigned 8-bit integer
-   uint8_t  uint8Value;
-   /// value type: signed 8-bit integer
-   int8_t   int8Value;
-} SnpeUdo_Value_t;
-
-typedef SnpeUdo_Value_t Udo_Value_t;
-
-/**
- * @brief A struct which defines a scalar parameter : name, data type, and union of values
- *
- */
-typedef struct
-{
-   /// The parameter data type : float, int, etc.
-   SnpeUdo_DataType_t  dataType;
-   /// a union of specified type which holds the data
-   SnpeUdo_Value_t dataValue;
-} SnpeUdo_ScalarParam_t;
-
-typedef SnpeUdo_ScalarParam_t Udo_ScalarParam_t;
-
-/**
- * @brief A struct which defines the quantization parameters in case of Tensorflow style quantization
- *
- */
-typedef struct
-{
-   /// minimum value of the quantization range of data
-   float minValue;
-   /// maximum value of the quantization range of data
-   float maxValue;
-} SnpeUdo_TFQuantize_t;
-
-typedef SnpeUdo_TFQuantize_t Udo_TFQuantize_t;
-
-/**
- * @brief A struct which defines the quantization type, and union of supported quantization structs
- *
- */
-typedef struct
-{
-   /// quantization type (only TF-style currently supported)
-   SnpeUdo_QuantizationType_t quantizeType;
-   union
-   {
-     /// TF-style min-max quantization ranges
-     SnpeUdo_TFQuantize_t TFParams;
-   };
-} SnpeUdo_QuantizeParams_t;
-
-typedef SnpeUdo_QuantizeParams_t Udo_QuantizeParams_t;
-
-/**
- * @brief A struct which defines the datatype associated with a specified core-type
- * This should be used to denote the datatypes for a single tensor info, depending
- * on the intended execution core.
- *
- */
-typedef struct
-{
-    /// The IP Core
-    SnpeUdo_CoreType_t     coreType;
-    /// The associated datatype for this coreType
-    SnpeUdo_DataType_t       dataType;
-} SnpeUdo_PerCoreDatatype_t;
-
-typedef SnpeUdo_PerCoreDatatype_t Udo_PerCoreDatatype_t;
-
-/**
- * @brief A struct which defines a tensor parameter : name, data type, layout, quantization, more.
- *        Also holds a pointer to the tensor data.
- *
- */
-typedef struct
-{
-   /// The maximum allowable dimensions of the tensor. The memory held in
-   /// _tensorData_ is guaranteed to be large enough for this.
-   uint32_t*                maxDimensions;
-   /// The current dimensions of the tensor. An operation may modify the current
-   /// dimensions of its output, to indicate cases where the output has been
-   /// "resized".
-   /// Note that for static parameters, the current and max dimensions must
-   /// match.
-   uint32_t*                currDimensions;
-   /// Quantization params applicable to the tensor. Currently only supports
-   /// Tensorflow quantization style.
-   SnpeUdo_QuantizeParams_t quantizeParams;
-   /// Number of dimensions to the tensor: 3D, 4D, etc.
-   uint32_t                 tensorRank;
-   /// The parameter data type: float, int, etc.
-   SnpeUdo_DataType_t       dataType;
-   /// The tensor layout type: NCHW, NHWC, etc.
-   SnpeUdo_TensorLayout_t   layout;
-   /// Opaque pointer to tensor data. User may be required to re-interpret the pointer
-   /// based on core-specific definitions.
-   void*                    tensorData;
-} SnpeUdo_TensorParam_t;
-
-typedef SnpeUdo_TensorParam_t Udo_TensorParam_t;
-
-/**
- * @brief A struct which defines tensor information for activation tensors only
- *
- * It describes an activation tensor object using its name, the intended layout and the datatype
- * it will take depending on the intended runtime core. The repeated field indicates that
- * that the tensor info describes several input/output activation tensors, which all share the
- * aforementioned properties.
- */
-typedef struct
-{
-    /// The tensor name
-    SnpeUdo_String_t    tensorName;
-    /// The tensor layout type: NCHW, NHWC, etc.
-    SnpeUdo_TensorLayout_t   layout;
-    /// The per core datatype: {SNPE_UDO_DATATYPE, SNPE_UDO_CORE_TYPE}
-    SnpeUdo_PerCoreDatatype_t* perCoreDatatype;
-    /// A boolean field indicating that this tensorinfo will be repeated e.x for ops such as Concat or Split
-    bool repeated;
-    /// A boolean field indicating whether input is static or not.
-    bool isStatic;
-} SnpeUdo_TensorInfo_t;
-
-typedef SnpeUdo_TensorInfo_t Udo_TensorInfo_t;
-
-/**
- * @brief struct which defines a UDO parameter - a union of scalar, tensor and string parameters
- *
- */
-typedef struct
-{
-   /// Type is scalar or tensor
-  SnpeUdo_ParamType_t paramType;
-  /// The param name, for example : "offset", "activation_type"
-  SnpeUdo_String_t    paramName;
-  union
-  {
-    /// scalar param value
-    SnpeUdo_ScalarParam_t scalarParam;
-    /// tensor param value
-    SnpeUdo_TensorParam_t tensorParam;
-    /// string param value
-    SnpeUdo_String_t      stringParam;
-  };
-} SnpeUdo_Param_t;
-
-typedef SnpeUdo_Param_t Udo_Param_t;
-
-/**
- * @brief A struct which defines Operation information which is specific for IP core (CPU, GPU, DSP ...)
- *
- */
-typedef struct
-{
-   /// The IP Core
-   SnpeUdo_CoreType_t     udoCoreType;
-   /// Bitmask, defines supported internal calculation types (like FLOAT_32, etc)
-   /// Based on SnpeUdo_DataType
-   SnpeUdo_Bitmask_t      operationCalculationTypes;
-} SnpeUdo_OpCoreInfo_t;
-
-typedef SnpeUdo_OpCoreInfo_t Udo_OpCoreInfo_t;
-
-/**
- * @brief A struct which defines the common and core-specific Operation information
- *
- */
-typedef struct
-{
-   /// Operation type
-   SnpeUdo_String_t      operationType;
-   /// A bitmask describing which IP Cores (CPU, GPU, DSP ...) support this operation
-   /// Translated based on SnpeUdo_CoreType
-   SnpeUdo_Bitmask_t     supportedByCores;
-   /// Number of static parameters defined by the op
-   uint32_t              numOfStaticParams;
-   /// Array of static parameters. Can be scalar or tensor params
-   SnpeUdo_Param_t*      staticParams;
-   /// Number of input tensors this op receives
-   uint32_t              numOfInputs;
-   /// Array of input tensor names to this operation
-   SnpeUdo_String_t*      inputNames;
-   /// Number of output tensors this op receives
-   uint32_t              numOfOutputs;
-   /// Array of output tensor names to this operation
-   SnpeUdo_String_t*      outputNames;
-   /// Number of cores that the op can execute on
-   uint32_t              numOfCoreInfo;
-   /// Array of per-core information entries
-   SnpeUdo_OpCoreInfo_t* opPerCoreInfo;
-    /// Array of input tensor infos for this operation
-   SnpeUdo_TensorInfo_t*     inputInfos;
-   /// Array of output tensor infos for this operation
-   SnpeUdo_TensorInfo_t*     outputInfos;
-} SnpeUdo_OperationInfo_t;
-
-typedef SnpeUdo_OperationInfo_t Udo_OperationInfo_t;
-
-/**
- * @brief A struct which provides the implementation library info : type, name
- *
- */
-typedef struct
-{
-   /// Defines the IP Core that this implementation library is targeting
-   SnpeUdo_CoreType_t     udoCoreType;
-   /// library name. will be looked at in the standard library path
-   SnpeUdo_String_t       libraryName;
-} SnpeUdo_LibraryInfo_t;
-
-typedef SnpeUdo_LibraryInfo_t Udo_LibraryInfo_t;
-
-/**
- * @brief A struct returned by the registration library and contains information on the UDO package :
- * name, operations, libraries, etc.
- *
- */
-typedef struct
-{
-   /// A string containing the package name
-   SnpeUdo_String_t         packageName;
-   /// A bitmask describing supported IP cores (CPU, GPU, DSP ...)
-   /// Translated based on SnpeUdo_CoreType
-   SnpeUdo_Bitmask_t        supportedCoreTypes;
-   /// The number of implementation libraries in the package
-   uint32_t                numOfImplementationLib;
-   /// Array of implementation libraries names/types
-   SnpeUdo_LibraryInfo_t*   implementationLib;
-   /// A string containing all operation types separated by space
-   SnpeUdo_String_t         operationsString;
-   /// Number of supported operations
-   uint32_t                numOfOperations;
-   /// Array of Operation info structs. Each entry describes one
-   /// Operation (name, params, inputs, outputs)
-   SnpeUdo_OperationInfo_t* operationsInfo;
-} SnpeUdo_RegInfo_t;
-
-typedef SnpeUdo_RegInfo_t Udo_RegInfo_t;
-
-/**
-* @brief A struct returned by the implementation library and contains information on the
-* specific library: name, IP Core, operations, etc.
-*
-*/
-typedef struct
-{
-   /// Defines the IP Core that this implementation library is targeting
-   SnpeUdo_CoreType_t     udoCoreType;
-   /// A string containing the package name
-   SnpeUdo_String_t       packageName;
-   /// A string containing all operation types separated by space
-   SnpeUdo_String_t       operationsString;
-   /// Number of supported operations
-   uint32_t              numOfOperations;
-} SnpeUdo_ImpInfo_t;
-
-typedef SnpeUdo_ImpInfo_t Udo_ImpInfo_t;
-
-/**
- * @brief This struct defines an operation. It is used for validation
- * or creation of an operation.
- * In case of using it for creation, the static params which are tensors
- * contain pointers to the real data (weights, for example), and input/output
- * tensors also include pointers to the buffers used.
- */
-typedef struct
-{
-   /// The IP Core that the operation is defined for - CPU, GPU, DSP...
-   SnpeUdo_CoreType_t      udoCoreType;
-   /// Operation type
-   SnpeUdo_String_t        operationType;
-   /// The number of static parameters provided in the staticParams array.
-   /// this number has to match the number provided by the UDO Registration library information
-   uint32_t               numOfStaticParams;
-   /// Array of static parameters
-   SnpeUdo_Param_t*        staticParams;
-   /// The number of input parameters provided in inputs array.
-   /// this number has to match the number provided by the UDO Registration library information
-   uint32_t               numOfInputs;
-   /// Array of input tensors, providing layout, data type, sizes, etc
-   /// When used to create an operation, also contains the initial location of the data
-   SnpeUdo_TensorParam_t*  inputs;
-   /// The number of output parameters provided in inputs array.
-   /// this number has to match the number provided by the UDO Registration library information
-   uint32_t               numOfOutputs;
-   /// Array of output tensors, providing layout, data type, sizes, etc
-   /// When used to create an operation, also contains the initial location of the data
-   SnpeUdo_TensorParam_t*  outputs;
-} SnpeUdo_OpDefinition_t;
-
-typedef SnpeUdo_OpDefinition_t Udo_OpDefinition_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif //SNPE_UDO_BASE_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImpl.h b/third_party/snpe/include/SnpeUdo/UdoImpl.h
deleted file mode 100644
index a0cb648cf725f8..00000000000000
--- a/third_party/snpe/include/SnpeUdo/UdoImpl.h
+++ /dev/null
@@ -1,343 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef SNPE_UDO_IMPL_H
-#define SNPE_UDO_IMPL_H
-
-#include <stdbool.h>
-
-#include "SnpeUdo/UdoShared.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-typedef struct _SnpeUdo_OpFactory_t* SnpeUdo_OpFactory_t;
-typedef struct _SnpeUdo_Operation_t* SnpeUdo_Operation_t;
-
-typedef SnpeUdo_OpFactory_t Udo_OpFactory_t;
-typedef SnpeUdo_Operation_t Udo_Operation_t;
-
-/**
- * @brief Initialize the shared library's data structures. Calling any other
- *        library function before this one will result in error.
- *
- * @param[in] globalInfrastructure Global core-specific infrastructure to be
- *            used by operations created in this library. The definition and
- *            semantics of this object will be defined in the corresponding
- *            implementation header for the core type.
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_initImplLibrary(void* globalInfrastructure);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_InitImplLibraryFunction_t)(void*);
-
-/**
- * @brief A function to query the API version of the UDO implementation library.
- *        The function populates a SnpeUdo_LibVersion_t struct, which contains a SnpeUdo_Version_t
- *        struct for API version and library version.
- *
- * @param[in, out] version A pointer to struct which contains major, minor, teeny information for
- *                 library and api versions.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getImplVersion(SnpeUdo_LibVersion_t** version);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_getImplVersion_t)(SnpeUdo_LibVersion_t** version);
-
-/**
- * @brief Release the shared library's data structures, and invalidate any
- *        handles returned by the library. The behavior of any outstanding
- *        asynchronous calls made to this library when this function is called
- *        are undefined. All library functions (except SnpeUdo_initImplLibrary) will
- *        return an error after this function has been successfully called.
- *
- *        It should be possible to call SnpeUdo_initImplLibrary after calling this
- *        function, and re-initialize the library.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_terminateImplLibrary(void);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_TerminateImplLibraryFunction_t)(void);
-
-
-/**
- * @brief A function to query info on the UDO implementation library.
- *        The function populates a structure which contains information about
- *        operations that are part of this library
- *
- * @param[in, out] implementationInfo A pointer to struct which contains information
- *                 on the operations
- *
- * @return error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getImpInfo(SnpeUdo_ImpInfo_t** implementationInfo);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_GetImpInfoFunction_t)(SnpeUdo_ImpInfo_t** implementationInfo);
-
-typedef SnpeUdo_GetImpInfoFunction_t Udo_GetImpInfoFunction_t;
-
-/**
- * @brief A function to create an operation factory.
- *        The function receives the operation type, and an array of static parameters,
- *        and returns operation factory handler
- *
- * @param[in] udoCoreType The Core type to create the operation on. An error will
- *            be returned if this does not match the core type of the library.
- *
- * @param[in] perFactoryInfrastructure CreateOpFactory infrastructure appropriate to this
- *            core type. The definition and semantics of this object will be defined
- *            in the corresponding implementation header for the core type.
- *
- * @param[in] operationType A string containing Operation type. for example "MY_CONV"
- *
- * @param[in] numOfStaticParams The number of static parameters.
- *
- * @param[in] staticParams Array of static parameters
- *
- * @param[in,out] opFactory Handler to Operation Factory, to be used when creating operations
- *
- * @return Error Code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_createOpFactory(SnpeUdo_CoreType_t    udoCoreType,
-                        void*                perFactoryInfrastructure,
-                        SnpeUdo_String_t      operationType,
-                        uint32_t             numOfStaticParams,
-                        SnpeUdo_Param_t*      staticParams,
-                        SnpeUdo_OpFactory_t*  opFactory);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_CreateOpFactoryFunction_t)(SnpeUdo_CoreType_t,
-                                     void*,
-                                     SnpeUdo_String_t,
-                                     uint32_t,
-                                     SnpeUdo_Param_t*,
-                                     SnpeUdo_OpFactory_t*);
-
-typedef SnpeUdo_CreateOpFactoryFunction_t Udo_CreateOpFactoryFunction_t;
-
-/**
- * @brief A function to release the resources allocated for an operation factory
- *        created by this library.
- *
- * @param[in] factory The operation factory to release. Upon success this handle will be invalidated.
- *
- * @return Error Code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_releaseOpFactory(SnpeUdo_OpFactory_t opFactory);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ReleaseOpFactoryFunction_t)(SnpeUdo_OpFactory_t);
-
-typedef SnpeUdo_ReleaseOpFactoryFunction_t Udo_ReleaseOpFactoryFunction_t;
-
-/**
- * @brief A function to create an operation from the factory.
- *        The function receives array of inputs and array of outputs, and creates an operation
- *        instance, returning the operation instance handler.
- *
- * @param[in] opFactory OpFactory instance containing the parameters for this operation.
- *
- * @param[in] perOpInfrastructure Per-Op infrastructure for this operation. The definition
- *            and semantics of this object will be defined in the implementation header
- *            appropriate to this core type.
- *
- * @param[in] numOfInputs The number of input tensors this operation will receive.
- *
- * @param[in] inputs Array of input tensors, providing both the sizes and initial
- *            location of the data.
- *
- * @param[in] numOfOutputs Number of output tensors this operation will produce.
- *
- * @param[in] outputs Array of output tensors, providing both the sizes and
- *            initial location of the data.
- *
- * @param[in,out] operation Handle for newly created operation instance.
- *
- * @return Error Code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_createOperation(SnpeUdo_OpFactory_t    opFactory,
-                        void*                 perOpInfrastructure,
-                        uint32_t              numOfInputs,
-                        SnpeUdo_TensorParam_t* inputs,
-                        uint32_t              numOfOutputs,
-                        SnpeUdo_TensorParam_t* outputs,
-                        SnpeUdo_Operation_t*   operation);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_CreateOperationFunction_t)(SnpeUdo_OpFactory_t,
-                                     void*,
-                                     uint32_t,
-                                     SnpeUdo_TensorParam_t*,
-                                     uint32_t,
-                                     SnpeUdo_TensorParam_t*,
-                                     SnpeUdo_Operation_t*);
-
-typedef SnpeUdo_CreateOperationFunction_t Udo_CreateOperationFunction_t;
-
-/**
- * @brief A pointer to notification function.
- *
- *        The notification function supports the non-blocking (e.g. asynchronous) execution use-case.
- *        In case an "executeUdoOp" function is called with "blocking" set to zero, and a
- *        notify function, this function will be called by the implementation library at the
- *        end of execution. The implementation library will pass the notify function the ID
- *        that was provided to it when "executeUdoOp" was called.
- *
- * @param[in] ID 32-bit value, that was provided to executeUdoOp by the calling entity.
- *            Can be used to track the notifications, in case of multiple execute calls issued.
- *
- * @return Error code
- *
- */
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ExternalNotify_t)(const uint32_t ID);
-
-typedef SnpeUdo_ExternalNotify_t Udo_ExternalNotify_t;
-
-/**
- * @brief Operation execution function.
- *
- *        Calling this function will run the operation on set of inputs, generating a set of outputs.
- *        The call can be blocking (synchronous) or non-blocking (asynchronous). To support the
- *        non-blocking mode, the calling entity can pass an ID and a notification function.
- *        At the end of the execution this notification function would be called, passing it the ID.
- *        <b> NOTE: Asynchronous execution mode not supported in this release. </b>
- *
- * @param[in] operation handle to the operation on which execute is invoked
- * @param[in] blocking flag to indicate execution mode.
- *            If set, execution is blocking,
- *            e.g SnpeUdo_executeOp call does not return until execution is done.
- *            If not set, SnpeUdo_executeOp returns immediately, and the
- *            library will call the notification function (if set) when execution is done.
- *
- * @param[in] ID 32-bit number that can be used by the calling entity to track execution
- *            in case of non-blocking execution.
- *            For example, it can be a sequence number, increased by one on each call.
- *
- * @param[in] notifyFunc Pointer to notification function. if the pointer is set, and execution is
- *            non-blocking, the library will call this function at end of execution,
- *            passing the number provided as ID
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_executeOp(SnpeUdo_Operation_t operation,
-                  bool         blocking,
-                  const uint32_t ID,
-                  SnpeUdo_ExternalNotify_t notifyFunc);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ExecuteOpFunction_t)(SnpeUdo_Operation_t,
-                               bool,
-                               const uint32_t,
-                               SnpeUdo_ExternalNotify_t);
-
-typedef SnpeUdo_ExecuteOpFunction_t Udo_ExecuteOpFunction_t;
-
-/**
- * @brief A function to setting the inputs & outputs. part of SnpeUdo_Operation struct,
- *        returned from creation of a new operation instance.
- *        <b> Not supported in this release. </b>
- *
- *        This function allows the calling entity to change some of the inputs and outputs
- *        between calls to execute.
- *        Note that the change is limited to changing the <b> pointer </b> to the tensor data only.
- *        Any other change may be rejected by the implementation library, causing
- *        immediate invalidation of the operation instance
- *
- * @param[in] operation Operation on which IO tensors are set
- *
- * @param[in] inputs array of tensor parameters. The calling entity may provide a subset of the
- *            operation inputs, providing only those that it wants to change.
- *
- * @param[in] outputs array of tensor parameters. The calling entity may provide a subset of the
- *            operation outputs, providing only those that it wants to change.
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_setOpIO(SnpeUdo_Operation_t operation,
-                SnpeUdo_TensorParam_t* inputs,
-                SnpeUdo_TensorParam_t* outputs);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_SetOpIOFunction_t)(SnpeUdo_Operation_t,
-                             SnpeUdo_TensorParam_t*,
-                             SnpeUdo_TensorParam_t*);
-
-typedef SnpeUdo_SetOpIOFunction_t Udo_SetOpIOFunction_t;
-
-/**
- * @brief A function to return execution times.
- *
- *        This function can be called to query the operation execution times on the IP core
- *        on which the operation is run. The time is provided in micro-seconds
- *
- * @param[in] operation Handle to operation whose execution time is being profiled
- *
- * @param[in,out] executionTime pointer to a uint32 value.This function writes the operation
- *                execution time in usec into this value.
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_profileOp(SnpeUdo_Operation_t operation, uint32_t *executionTime);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ProfileOpFunction_t)(SnpeUdo_Operation_t, uint32_t*);
-
-typedef SnpeUdo_ProfileOpFunction_t Udo_ProfileOpFunction_t;
-
-/**
- * @brief A function to release the operation instance
- *        \n When it is called, the implementation library needs to release all resources
- *        allocated for this operation instance.
- *        \n Note that all function pointers which are part of SnpeUdo_Operation become
- *        <b> invalid </b> once releaseUdoOp call returns.
- *
- * @param[in] operation Handle to operation to be released
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_releaseOp(SnpeUdo_Operation_t operation);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ReleaseOpFunction_t)(SnpeUdo_Operation_t);
-
-typedef SnpeUdo_ReleaseOpFunction_t Udo_ReleaseOpFunction_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#ifdef __cplusplus
-} // extern "C"
-#endif
-
-#endif //SNPE_UDO_IMPL_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplCpu.h b/third_party/snpe/include/SnpeUdo/UdoImplCpu.h
deleted file mode 100644
index 3bbe0638e60fc8..00000000000000
--- a/third_party/snpe/include/SnpeUdo/UdoImplCpu.h
+++ /dev/null
@@ -1,44 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-// Header to be used by a CPU UDO Implementation library
-
-#ifndef SNPE_UDO_IMPL_CPU_H
-#define SNPE_UDO_IMPL_CPU_H
-
-#include <stdio.h>
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief This struct provides the infrastructure needed by a developer of
- * CPU UDO Implementation library.
- *
- * The framework/runtime which loads the CPU UDO implementation library provides
- * this infrastructure data to the loaded library at the time of op factory creation.
- * as an opaque pointer. It contains hooks for the UDO library to invoke supported
- * functionality at the time of execution
- *
- * @param getData function pointer to retrieve raw tensor data from opaque pointer
- *  passed into the UDO when creating an instance.
- * @param getDataSize function pointer to retrieve tensor data size from opaque pointer
- */
-
-typedef struct
-{
-   /// function pointer to retrieve raw tensor data from opaque pointer
-   /// passed into the UDO when creating an instance.
-   float* (*getData)(void*);
-   /// function pointer to retrieve tensor data size from opaque pointer
-   size_t (*getDataSize) (void*);
-} SnpeUdo_CpuInfrastructure_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // SNPE_UDO_IMPL_CPU_H
\ No newline at end of file
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplDsp.h b/third_party/snpe/include/SnpeUdo/UdoImplDsp.h
deleted file mode 100644
index b97a6493202ae8..00000000000000
--- a/third_party/snpe/include/SnpeUdo/UdoImplDsp.h
+++ /dev/null
@@ -1,207 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-//==============================================================================
-/*
- * THIS HEADER FILE IS COPIED FROM HEXAGON-NN PROJECT
- *
- */
-//==============================================================================
-
-
-// Header to be used by a DSP Hexnn UDO Implementation library
-
-#ifndef SNPE_UDO_IMPL_DSP_H
-#define SNPE_UDO_IMPL_DSP_H
-#include <stdio.h>
-#include "SnpeUdo/UdoImpl.h"
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief A function to validate that a set of params is supported by an operation
- *        This function is HexNN specific, use case is when registration library is not in use.
- *        Optional function.
- *
- * @param[in] operationType Operation type
- * @param[in] numOfStaticParams Number of static params defined by the op
- * @param[in] staticParams Array of static params to the op
- * @return Error code, indicating if the operation can be created on this set of configuration or not.
- *
- */
-
-SnpeUdo_ErrorType_t
-SnpeUdo_validateOperation (SnpeUdo_String_t operationType,
-                           uint32_t numOfStaticParams,
-                           const SnpeUdo_Param_t* staticParams);
-
-typedef SnpeUdo_ErrorType_t (*SnpeUdo_ValidateOperationFunction_t) (SnpeUdo_String_t,
-                                                                    uint32_t,
-                                                                    const SnpeUdo_Param_t*);
-
-typedef SnpeUdo_ValidateOperationFunction_t Udo_ValidateOperationFunction_t;
-
-// enum used for indicating input/outout tensor data layouts on DSP, plain vs d32
-typedef enum {
-        SNPE_UDO_DSP_TENSOR_LAYOUT_PLAIN = 0x00,        UDO_DSP_TENSOR_LAYOUT_PLAIN = 0x00,
-        SNPE_UDO_DSP_TENSOR_LAYOUT_D32   = 0x01,        UDO_DSP_TENSOR_LAYOUT_D32   = 0x01
-} SnpeUdo_HexNNTensorLayout_t;
-
-typedef SnpeUdo_HexNNTensorLayout_t Udo_HexNNTensorLayout_t;
-
-/**
- * @brief A function to query numbers of inputs and outputs,
- *        quantization type of each input and each output as arrays,
- *        and data layout (plain vs d32) of each input and each output as arrays
- *        of an operation.
- * inputsQuantTypes and inputsLayouts should point to arrays of size numOfInputs
- * outputsQuantTypes and outputsLayouts should point to arrays of size numOfOutputs
- *
- * Note: inputsLayouts and inputsLayouts can point to NULL, in this case, it is
- * assumed all inputs and/or outputs have plain data layouts, i.e. no D32
- *
- * @param[in] operationType Operation type
- * @param[in] numOfStaticParams Number of static params defined by the op
- * @param[in] staticParams Array of static params to the op
- * @param[in,out] numOfInputs Number of input tensors to the op
- * @param[in,out] inputsQuantTypes Array of Quantization info for each input tensor
- * @param[in,out] inputsLayouts Array of layout type for each input tensor
- * @param[in,out] numOfOutputs Number of output tensors to the op
- * @param[in,out] outputsQuantTypes Array of Quantization info for each output tensor
- * @param[in,out] outputsLayouts Array of layout type for each output tensor
- * @return error code, indicating status of query
- */
-
-SnpeUdo_ErrorType_t
-SnpeUdo_queryOperation (SnpeUdo_String_t operationType,
-                        uint32_t numOfStaticParams,
-                        const SnpeUdo_Param_t* staticParams,
-                        uint32_t* numOfInputs,
-                        SnpeUdo_QuantizationType_t** inputsQuantTypes,
-                        SnpeUdo_HexNNTensorLayout_t** inputsLayouts,
-                        uint32_t* numOfOutputs,
-                        SnpeUdo_QuantizationType_t** outputsQuantTypes,
-                        SnpeUdo_HexNNTensorLayout_t** outputsLayouts);
-
-typedef SnpeUdo_ErrorType_t (*SnpeUdo_QueryOperationFunction_t) (SnpeUdo_String_t,
-                                                                 uint32_t,
-                                                                 const SnpeUdo_Param_t*,
-                                                                 uint32_t*,
-                                                                 SnpeUdo_QuantizationType_t**,
-                                                                 SnpeUdo_HexNNTensorLayout_t**,
-                                                                 uint32_t*,
-                                                                 SnpeUdo_QuantizationType_t**,
-                                                                 SnpeUdo_HexNNTensorLayout_t**);
-
-typedef SnpeUdo_QueryOperationFunction_t Udo_QueryOperationFunction_t;
-
-// Global infrastructure functions supported by Hexagon-NN v2
-typedef void (*workerThread_t) (void* perOpInfrastructure, void* userData);
-typedef int (*udoSetOutputTensorSize_t) (void* perOpInfrastructure, uint32_t outIdx, uint32_t size);
-typedef int (*udoGetInputD32Paddings_t) (void* perOpInfrastructure, uint32_t inIdx,
-                                         uint32_t* heightPadBefore, uint32_t* heightPadAfter,
-                                         uint32_t* widthPadBefore, uint32_t* widthPadAfter,
-                                         uint32_t* depthPadBefore, uint32_t* depthPadAfter);
-typedef int (*udoSetOutputD32ShapeSizePaddings_t) (void* perOpInfrastructure, uint32_t outIdx,
-                                                   uint32_t batch,
-                                                   uint32_t height, uint32_t heightPadBefore, uint32_t heightPadAfter,
-                                                   uint32_t width, uint32_t widthPadBefore, uint32_t widthPadAfter,
-                                                   uint32_t depth, uint32_t depthPadBefore, uint32_t depthPadAfter,
-                                                   SnpeUdo_DataType_t dataType);
-typedef void* (*udoMemalign_t) (size_t n, size_t size);
-typedef void* (*udoMalloc_t) (size_t size);
-typedef void* (*udoCalloc_t) (size_t n, size_t size);
-typedef void (*udoFree_t) (void* ptr);
-typedef uint32_t (*udoGetVtcmSize_t) (void* perOpInfrastructure);
-typedef void* (*udoGetVtcmPtr_t) (void* perOpInfrastructure);
-typedef uint32_t (*udoVtcmIsReal_t) (void* perOpInfrastructure);
-typedef void (*udoRunWorkerThreads_t) (void* perOpInfrastructure, uint32_t nThreads, workerThread_t w, void* userData);
-
-typedef struct hexNNv2GlobalInfra {
-    udoSetOutputTensorSize_t udoSetOutputTensorSize;
-    udoGetInputD32Paddings_t udoGetInputD32Paddings;
-    udoSetOutputD32ShapeSizePaddings_t udoSetOutputD32ShapeSizePaddings;
-    udoMemalign_t udoMemalign;
-    udoMalloc_t udoMalloc;
-    udoCalloc_t udoCalloc;
-    udoFree_t udoFree;
-    udoGetVtcmSize_t udoGetVtcmSize;
-    udoGetVtcmPtr_t udoGetVtcmPtr;
-    udoVtcmIsReal_t udoVtcmIsReal;
-    udoRunWorkerThreads_t udoRunWorkerThreads;
-} SnpeUdo_HexNNv2GlobalInfra_t;
-
-typedef SnpeUdo_HexNNv2GlobalInfra_t Udo_HexNNv2GlobalInfra_t;
-
-// hexnn types
-typedef enum hexnnInfraType {
-   UDO_INFRA_HEXNN_V2,
-   UDO_INFRA_HEXNN_V3   // reserved, do not use
-} SnpeUdo_HexNNInfraType_t;
-
-typedef SnpeUdo_HexNNInfraType_t Udo_HexNNInfraType_t;
-
-typedef struct {
-    Udo_CreateOpFactoryFunction_t create_op_factory;
-    Udo_CreateOperationFunction_t create_operation;
-    Udo_ExecuteOpFunction_t execute_op;
-    Udo_ReleaseOpFunction_t release_op;
-    Udo_ReleaseOpFactoryFunction_t release_op_factory;
-    Udo_ValidateOperationFunction_t validate_op;
-    Udo_QueryOperationFunction_t query_op;
-} udo_func_package_t;
-
-/**
- * @brief Infrastructures needed by a developer of DSP Hexnn UDO Implementation library.
- *
- * The framework/runtime which loads the Hexnn UDO implementation library provides
- * this infrastructure to the loaded library by calling "SnpeUdo_initImplLibrary"
- * function, and passing it (cast to void*). The Hexnn UDO library is expected
- * to cast it back to this structure.
- *
- */
-typedef struct dspGlobalInfrastructure {
-    SnpeUdo_Version_t   dspInfraVersion;     // api version
-    SnpeUdo_HexNNInfraType_t infraType;
-    SnpeUdo_HexNNv2GlobalInfra_t hexNNv2Infra;
-} SnpeUdo_DspGlobalInfrastructure_t;
-
-typedef SnpeUdo_DspGlobalInfrastructure_t Udo_DspGlobalInfrastructure_t;
-
-/**
- * hexnn v2 per op factory infrastructure
- *
- * The framework/runtime passes per op factory infrastructure as a void pointer
- * to HexNN UDO implementation library by calling function "SnpeUdo_createOpFactory".
- * UDO implementation library is expected to cast it back to this following struct.
- *
- */
-typedef struct hexnnv2OpFactoryInfra {
-   unsigned long graphId;
-} SnpeUdo_HexNNv2OpFactoryInfra_t;
-
-typedef SnpeUdo_HexNNv2OpFactoryInfra_t Udo_HexNNv2OpFactoryInfra_t;
-
-/**
- * hexnn v2 per operation infrastructure
- *
- * The framework/runtime passes per operation infrastructure as a void pointer
- * to HexNN UDO implementation library by calling function "SnpeUdo_createOperation".
- * UDO implementation library is expected to cast it to the following type and save it.
- *
- * This is needed to be passed back into some functions from global infrastructure.
- *
- */
-typedef void* SnpeUdo_HexNNv2OpInfra_t;
-
-typedef SnpeUdo_HexNNv2OpInfra_t Udo_HexNNv2OpInfra_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // SNPE_UDO_IMPL_DSP_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplGpu.h b/third_party/snpe/include/SnpeUdo/UdoImplGpu.h
deleted file mode 100644
index 1af654d110c26b..00000000000000
--- a/third_party/snpe/include/SnpeUdo/UdoImplGpu.h
+++ /dev/null
@@ -1,112 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-// Header to be used by a GPU UDO Implementation library
-
-#ifndef SNPE_UDO_IMPL_GPU_H
-#define SNPE_UDO_IMPL_GPU_H
-
-#include "CL/cl.h"
-#include "SnpeUdo/UdoBase.h"
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * This header defines version 0.0.0 of the GPU UDO Infrastructure.
- * It defines the interpretation of the global and per-OpFactory infrastructure pointers
- * as well as the interpretation of tensorData pointers.
- *
- * The per-Operation infrastructure pointer is defined to be null, and should not be used.
- *
- * The SnpeUdoTensorParam_t struct below provides the interpretation for
- * the tensorData opaque pointer for SnpeUdoTensorParams representing inputs or outputs.
- *
- * The tensorData opaque pointer populated in SnpeUdoScalarParam_t structs should be interpreted
- * as a host-readable data pointer.
- *
- */
-
-/**
- * @brief Function to retrieve opencl program from Program Cache repository.
- * @param programCache is opaque pointer to Program Cache repository provided by
- * SNPE GPU UDO runtime.
- * @param programName is name associated with opencl program for UDO.
- * @param program is pointer to opencl program which will be populated with
- * valid opencl program if found in Program Cache repository.
- * @return SnpeUdo_ErrorType_t is error type returned. SNPE_UDO_NO_ERROR is returned
- * on success.
- */
-typedef SnpeUdo_ErrorType_t (*SnpeUdo_getProgram_t)
-   (void* programCache, const char* programName, cl_program* program);
-
-/**
- * @brief Function to store valid opencl program in Program Cache repository.
- * @param programCache is opaque pointer to Program Cache repository provided by
- * SNPE GPU UDO runtime.
- * @param programName is name associated with opencl program for UDO.
- * @param program is valid opencl program after program is built.
- * @return SnpeUdo_ErrorType_t is error type returned. SNPE_UDO_NO_ERROR is returned
- * on success.
- * */
-typedef SnpeUdo_ErrorType_t (*SnpeUdo_storeProgram_t)
-   (void* programCache, const char * programName, cl_program program);
-
-/**
- * @brief Global Infrastructure Definition for GPU UDO Implementations.
- */
-typedef struct {
-   // Infrastructure definition version. This header is 0.0.0
-   SnpeUdo_Version_t   gpuInfraVersion;
-   SnpeUdo_getProgram_t SnpeUdo_getProgram;
-   SnpeUdo_storeProgram_t SnpeUdo_storeProgram;
-} SnpeUdo_GpuInfrastructure_t;
-
-/**
- * @brief Per OpFactory Infrastructure Definition for GPU UDO Implementations.
- * @note  This version of the infrastructure definition guarantees that the same
- *        Per OpFactory infrastructure pointer will be provided to all OpFactories
- *        in the same network.
- */
-typedef struct
-{
-   cl_context context;
-   cl_command_queue commandQueue;
-   void* programCache;
-} SnpeUdo_GpuOpFactoryInfrastructure_t;
-
-/**
- * @brief Opaque tensorData definition for operation inputs and outputs.
- *
- * The following is a list of all SnpeUdoTensorLayout_t values supported by the
- * GPU UDO implementation, and how the parameters of the struct should be
- * interpreted in each case:
- *
- * SNPE_UDO_LAYOUT_NHWC:
- *   mem shall be single-element array, pointing to a cl buffer memory object.
- *   the dimensions of this object match the dimensions specified in the encompassing
- *   SnpeUdoTensorParam_t's currDimensions.
- *
- *   memCount shall be 1.
- *
- *   paddedRank and paddedDimensions are undefined and shall be ignored by the UDO
- *   implementation.
- *
- */
-typedef struct
-{
-   cl_mem*   mem;
-   uint32_t  memCount;
-   uint32_t  paddedRank;
-   uint32_t* paddedDimensions;
-
-} SnpeUdo_GpuTensorData_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // SNPE_UDO_IMPL_GPU_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoReg.h b/third_party/snpe/include/SnpeUdo/UdoReg.h
deleted file mode 100644
index a5d239883355ab..00000000000000
--- a/third_party/snpe/include/SnpeUdo/UdoReg.h
+++ /dev/null
@@ -1,108 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef SNPE_UDO_REG_H
-#define SNPE_UDO_REG_H
-
-#include "SnpeUdo/UdoShared.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief Initialize the shared library's data structures. Calling any other
- *        library function before this one will result in an error being returned.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_initRegLibrary(void);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_InitRegLibraryFunction_t)(void);
-
-/**
- * @brief A function to query the API version of the UDO registration library.
- *        The function populates a SnpeUdo_LibVersion_t struct, which contains a SnpeUdo_Version_t
- *        struct for API version and library version.
- *
- * @param[in, out] version A pointer to struct which contains major, minor, teeny information for
- *                 library and api versions.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getRegLibraryVersion(SnpeUdo_LibVersion_t** version);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_getRegLibraryVersion_t)(SnpeUdo_LibVersion_t** version);
-
-/**
- * @brief Release the shared library's data structures, and invalidate any
- *        handles returned by the library. The behavior of any outstanding
- *        asynchronous calls made to this library when this function is called
- *        are undefined. All library functions (except SnpeUdo_InitRegLibrary) will
- *        return an error after this function has been successfully called.
- *
- *        It should be possible to call SnpeUdo_InitRegLibrary after calling this
- *        function, and re-initialize the library.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_terminateRegLibrary(void);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_TerminateRegLibraryFunction_t)(void);
-
-
-/**
- * @brief A function to query the info on the UDO set.
- *        The function populates a structure which contains information about
- *        the package and operations contained in it.
- *
- * @param[in, out] registrationInfo A struct which contains information on the set of UDOs
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getRegInfo(SnpeUdo_RegInfo_t** registrationInfo);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_GetRegInfoFunction_t)(SnpeUdo_RegInfo_t** registrationInfo);
-
-/**
- * @brief A function to validate that a set of params is supported by an operation
- *        The function receives an operation definition struct, and returns if this configuration is
- *        supported (e.g. if an operation can be created using this configuration)
- *
- * @param[in] opDefinition A struct of SnpeUdo_OpDefinition type, containing the information needed to
- *            validate that an operation can be created with this configuration.
- *
- * @return Error code, indicating is the operation can be created on this set or not.
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_validateOperation(SnpeUdo_OpDefinition_t* opDefinition);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ValidateOperationFunction_t)(SnpeUdo_OpDefinition_t* opDefinition);
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#ifdef __cplusplus
-} // extern "C"
-#endif
-
-#endif //SNPE_UDO_REG_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoShared.h b/third_party/snpe/include/SnpeUdo/UdoShared.h
deleted file mode 100644
index 418d9db9e2f91b..00000000000000
--- a/third_party/snpe/include/SnpeUdo/UdoShared.h
+++ /dev/null
@@ -1,48 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef SNPE_UDO_SHARED_H
-#define SNPE_UDO_SHARED_H
-
-#include "SnpeUdo/UdoBase.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief A function to return the various versions as they relate to the UDO
- *        The function returns a struct containing the the following:
- *        libVersion: the version of the implementation library compiled for the UDO. Set by user
- *        apiVersion: the version of the UDO API used in compiling the implementation library.
- *        Set by SNPE
- *
- * @param[in, out] version A pointer to Version struct of type SnpeUdo_LibVersion_t
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getVersion (SnpeUdo_LibVersion_t** version);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_GetVersionFunction_t) (SnpeUdo_LibVersion_t** version);
-
-typedef SnpeUdo_GetVersionFunction_t Udo_GetVersionFunction_t;
-
-#ifdef __cplusplus
-} // extern "C"
-#endif
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // SNPE_UDO_SHARED_H
diff --git a/third_party/snpe/larch64 b/third_party/snpe/larch64
deleted file mode 120000
index 2e2a1c315bf7d8..00000000000000
--- a/third_party/snpe/larch64
+++ /dev/null
@@ -1 +0,0 @@
-aarch64-ubuntu-gcc7.5
\ No newline at end of file
diff --git a/third_party/snpe/x86_64 b/third_party/snpe/x86_64
deleted file mode 120000
index 700025efab335e..00000000000000
--- a/third_party/snpe/x86_64
+++ /dev/null
@@ -1 +0,0 @@
-x86_64-linux-clang
\ No newline at end of file
diff --git a/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so b/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
deleted file mode 100644
index 20d1377a014366..00000000000000
--- a/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c4c33680010a8c7b2eef33e809844c0ad1d5ab0f0ec37abd49d924204670b357
-size 13556072
diff --git a/third_party/snpe/x86_64-linux-clang/libSNPE.so b/third_party/snpe/x86_64-linux-clang/libSNPE.so
deleted file mode 100644
index 0367b1106ba571..00000000000000
--- a/third_party/snpe/x86_64-linux-clang/libSNPE.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:024891d2e4e4e265a1e7e72b27bad41ee6ae077d2197f45959bb32f8071dc8cf
-size 5350008
diff --git a/third_party/snpe/x86_64-linux-clang/libomp.so b/third_party/snpe/x86_64-linux-clang/libomp.so
deleted file mode 100755
index db98cba162e784..00000000000000
--- a/third_party/snpe/x86_64-linux-clang/libomp.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f4784aa68e7ebdbe97db732eab87618b0a5fb73abeab4daed5476e01829b0e6e
-size 759208

From 9edc36ca66e9ab533d80d32329f9e4b3f272d06b Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Mon, 24 Nov 2025 11:18:12 -0500
Subject: [PATCH 0586/1434] ui: fix scroll panel mouse wheel behavior (#1506)

fix scroller. yay

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 system/ui/lib/scroll_panel.py | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/system/ui/lib/scroll_panel.py b/system/ui/lib/scroll_panel.py
index a5b9fc70d33555..6dd9ceaadccf4d 100644
--- a/system/ui/lib/scroll_panel.py
+++ b/system/ui/lib/scroll_panel.py
@@ -41,8 +41,12 @@ def _update_state(self, bounds: rl.Rectangle, content: rl.Rectangle):
     if DEBUG:
       rl.draw_rectangle_lines(0, 0, abs(int(self._velocity_filter_y.x)), 10, rl.RED)
 
-    # Handle mouse wheel
-    self._offset_filter_y.x += rl.get_mouse_wheel_move() * MOUSE_WHEEL_SCROLL_SPEED
+    # Handle mouse wheel only when the mouse cursor is over this panel
+    mouse_wheel = rl.get_mouse_wheel_move()
+    if mouse_wheel != 0:
+      mouse_pos = rl.get_mouse_position()
+      if rl.check_collision_point_rec(mouse_pos, bounds):
+        self._offset_filter_y.x += mouse_wheel * MOUSE_WHEEL_SCROLL_SPEED
 
     max_scroll_distance = max(0, content.height - bounds.height)
     if self._scroll_state == ScrollState.IDLE:

From 844f4cbc745e01621ae89f05c8ea5f415ef1aa74 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Mon, 24 Nov 2025 14:43:33 -0500
Subject: [PATCH 0587/1434] ui: sunnypilot panels (#1477)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* Panels. With Icons. And Scroller.

* patience, grasshopper

* more patience, grasshopper

* sp raylib preview

* fix callback

* fix ui preview

* add ui previews

* better padding

* this

* listitem -> listitemsp

* add show_description method

* remove padding from line separator.
like, WHY? 😩😩

* scroller -> scroller_tici

* scroller -> scroller_tici

* ui: `GuiApplicationExt`

* add to readme

* use gui_app.sunnypilot_ui()

* use gui_app.sunnypilot_ui()

* lint

* no fancy toggles :(

* match them

* mici scroller - no touchy

* no

* more

* size adjustments

* fix scroller. yay

* more

* loopy loop

* update brand name

* ui preview fixes

* Revert "update brand name"

This reverts commit ad44c32fc713aa6b8f6e6ab50adef7210e064a0e.

* fix sidebar scroller reset

* fix developer click

* more

* more

* try this out

* one more time

* bruh

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/layouts/main.py                  |   3 +
 .../ui/sunnypilot/layouts/settings/cruise.py  |  30 +++
 .../ui/sunnypilot/layouts/settings/device.py  |  12 ++
 .../ui/sunnypilot/layouts/settings/display.py |  30 +++
 .../ui/sunnypilot/layouts/settings/models.py  |  30 +++
 .../sunnypilot/layouts/settings/navigation.py |  30 +++
 .../ui/sunnypilot/layouts/settings/osm.py     |  30 +++
 .../sunnypilot/layouts/settings/settings.py   | 202 ++++++++++++++++++
 .../sunnypilot/layouts/settings/steering.py   |  30 +++
 .../sunnypilot/layouts/settings/sunnylink.py  |  30 +++
 .../ui/sunnypilot/layouts/settings/trips.py   |  30 +++
 .../ui/sunnypilot/layouts/settings/vehicle.py |  30 +++
 .../ui/sunnypilot/layouts/settings/visuals.py |  30 +++
 .../ui/tests/test_ui/raylib_screenshots.py    | 142 ++++++++----
 .../assets/offroad/icon_firehose.png          |   3 +
 .../selfdrive/assets/offroad/icon_home.png    |   3 +
 system/ui/sunnypilot/lib/styles.py            |   3 +-
 17 files changed, 631 insertions(+), 37 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/cruise.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/device.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/display.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/models.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/navigation.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/osm.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/settings.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/steering.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/trips.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/vehicle.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/visuals.py
 create mode 100644 sunnypilot/selfdrive/assets/offroad/icon_firehose.png
 create mode 100644 sunnypilot/selfdrive/assets/offroad/icon_home.png

diff --git a/selfdrive/ui/layouts/main.py b/selfdrive/ui/layouts/main.py
index 702854f98a7eb1..a020a63b55c97a 100644
--- a/selfdrive/ui/layouts/main.py
+++ b/selfdrive/ui/layouts/main.py
@@ -10,6 +10,9 @@
 from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow
 
+if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.layouts.settings.settings import SettingsLayoutSP as SettingsLayout
+
 
 class MainState(IntEnum):
   HOME = 0
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/cruise.py b/selfdrive/ui/sunnypilot/layouts/settings/cruise.py
new file mode 100644
index 00000000000000..9439c588d3e606
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/cruise.py
@@ -0,0 +1,30 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.params import Params
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets import Widget
+
+
+class CruiseLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+
+    items = [
+    ]
+    return items
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/device.py b/selfdrive/ui/sunnypilot/layouts/settings/device.py
new file mode 100644
index 00000000000000..081969cf101c70
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/device.py
@@ -0,0 +1,12 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
+
+
+class DeviceLayoutSP(DeviceLayout):
+  def __init__(self):
+    DeviceLayout.__init__(self)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/display.py b/selfdrive/ui/sunnypilot/layouts/settings/display.py
new file mode 100644
index 00000000000000..d1d0a661b1024a
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/display.py
@@ -0,0 +1,30 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.params import Params
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets import Widget
+
+
+class DisplayLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    items = [
+
+    ]
+    return items
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/models.py b/selfdrive/ui/sunnypilot/layouts/settings/models.py
new file mode 100644
index 00000000000000..add437b127f5b5
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/models.py
@@ -0,0 +1,30 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.params import Params
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets import Widget
+
+
+class ModelsLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    items = [
+
+    ]
+    return items
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/navigation.py b/selfdrive/ui/sunnypilot/layouts/settings/navigation.py
new file mode 100644
index 00000000000000..1f44775bb31306
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/navigation.py
@@ -0,0 +1,30 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.params import Params
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets import Widget
+
+
+class NavigationLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    items = [
+
+    ]
+    return items
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/osm.py b/selfdrive/ui/sunnypilot/layouts/settings/osm.py
new file mode 100644
index 00000000000000..d57a0de9d80cc7
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/osm.py
@@ -0,0 +1,30 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.params import Params
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets import Widget
+
+
+class OSMLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    items = [
+
+    ]
+    return items
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/settings.py b/selfdrive/ui/sunnypilot/layouts/settings/settings.py
new file mode 100644
index 00000000000000..bf174de90b5270
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/settings.py
@@ -0,0 +1,202 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from dataclasses import dataclass
+from enum import IntEnum
+
+import pyray as rl
+from openpilot.selfdrive.ui.layouts.settings import settings as OP
+from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP
+from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
+from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
+from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
+from openpilot.system.ui.lib.application import gui_app, MousePos
+from openpilot.system.ui.lib.multilang import tr_noop
+from openpilot.system.ui.sunnypilot.lib.styles import style
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets.network import NetworkUI
+from openpilot.system.ui.lib.wifi_manager import WifiManager
+from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.sunnylink import SunnylinkLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.osm import OSMLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.trips import TripsLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle import VehicleLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering import SteeringLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise import CruiseLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.visuals import VisualsLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import DisplayLayout
+
+# from openpilot.selfdrive.ui.sunnypilot.layouts.settings.navigation import NavigationLayout
+
+OP.PANEL_COLOR = rl.Color(10, 10, 10, 255)
+ICON_SIZE = 70
+
+OP.PanelType = IntEnum(  # type: ignore
+  "PanelType",
+  [es.name for es in OP.PanelType] + [
+    "SUNNYLINK",
+    "MODELS",
+    "STEERING",
+    "CRUISE",
+    "VISUALS",
+    "DISPLAY",
+    "OSM",
+    "NAVIGATION",
+    "TRIPS",
+    "VEHICLE",
+  ],
+  start=0,
+)
+
+
+@dataclass
+class PanelInfo(OP.PanelInfo):
+  icon: str = ""
+
+
+class NavButton(Widget):
+  def __init__(self, parent, p_type, p_info):
+    super().__init__()
+    self.parent = parent
+    self.panel_type = p_type
+    self.panel_info = p_info
+
+  def _render(self, rect):
+    is_selected = self.panel_type == self.parent._current_panel
+    text_color = OP.TEXT_SELECTED if is_selected else OP.TEXT_NORMAL
+    content_x = rect.x + 90
+    text_size = measure_text_cached(self.parent._font_medium, self.panel_info.name, 65)
+
+    # Draw background if selected
+    if is_selected:
+      self.container_rect = rl.Rectangle(
+        content_x - 50, rect.y, OP.SIDEBAR_WIDTH - 50, OP.NAV_BTN_HEIGHT
+      )
+      rl.draw_rectangle_rounded(self.container_rect, 0.2, 5, OP.CLOSE_BTN_COLOR)
+
+    if self.panel_info.icon:
+      icon_texture = gui_app.texture(self.panel_info.icon, ICON_SIZE, ICON_SIZE, keep_aspect_ratio=True)
+      rl.draw_texture(icon_texture, int(content_x), int(rect.y + (OP.NAV_BTN_HEIGHT - icon_texture.height) / 2),
+                      rl.WHITE)
+      content_x += ICON_SIZE + 20
+
+    # Draw button text (right-aligned)
+    text_pos = rl.Vector2(
+      content_x,
+      rect.y + (OP.NAV_BTN_HEIGHT - text_size.y) / 2
+    )
+    rl.draw_text_ex(self.parent._font_medium, self.panel_info.name, text_pos, 55, 0, text_color)
+
+    # Store button rect for click detection
+    self.panel_info.button_rect = rect
+
+
+class SettingsLayoutSP(OP.SettingsLayout):
+  def __init__(self):
+    OP.SettingsLayout.__init__(self)
+    self._nav_items: list[Widget] = []
+
+    # Create sidebar scroller
+    self._sidebar_scroller = Scroller([], spacing=0, line_separator=False, pad_end=False)
+
+    # Panel configuration
+    wifi_manager = WifiManager()
+    wifi_manager.set_active(False)
+
+    self._panels = {
+      OP.PanelType.DEVICE: PanelInfo(tr_noop("Device"), DeviceLayoutSP(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_home.png"),
+      OP.PanelType.NETWORK: PanelInfo(tr_noop("Network"), NetworkUI(wifi_manager), icon="icons/network.png"),
+      OP.PanelType.SUNNYLINK: PanelInfo(tr_noop("sunnylink"), SunnylinkLayout(), icon="icons/shell.png"),
+      OP.PanelType.TOGGLES: PanelInfo(tr_noop("Toggles"), TogglesLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
+      OP.PanelType.SOFTWARE: PanelInfo(tr_noop("Software"), SoftwareLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
+      OP.PanelType.MODELS: PanelInfo(tr_noop("Models"), ModelsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_models.png"),
+      OP.PanelType.STEERING: PanelInfo(tr_noop("Steering"), SteeringLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
+      OP.PanelType.CRUISE: PanelInfo(tr_noop("Cruise"), CruiseLayout(), icon="icons/speed_limit.png"),
+      OP.PanelType.VISUALS: PanelInfo(tr_noop("Visuals"), VisualsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"),
+      OP.PanelType.DISPLAY: PanelInfo(tr_noop("Display"), DisplayLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_display.png"),
+      OP.PanelType.OSM: PanelInfo(tr_noop("OSM"), OSMLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
+      # OP.PanelType.NAVIGATION: PanelInfo(tr_noop("Navigation"), NavigationLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
+      OP.PanelType.TRIPS: PanelInfo(tr_noop("Trips"), TripsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
+      OP.PanelType.VEHICLE: PanelInfo(tr_noop("Vehicle"), VehicleLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
+      OP.PanelType.FIREHOSE: PanelInfo(tr_noop("Firehose"), FirehoseLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_firehose.png"),
+      OP.PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayout(), icon="icons/shell.png"),
+    }
+
+  def _draw_sidebar(self, rect: rl.Rectangle):
+    rl.draw_rectangle_rec(rect, OP.SIDEBAR_COLOR)
+
+    # Close button
+    close_btn_rect = rl.Rectangle(
+      rect.x + style.ITEM_PADDING * 3, rect.y + style.ITEM_PADDING * 2, style.CLOSE_BTN_SIZE, style.CLOSE_BTN_SIZE
+    )
+
+    pressed = (rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and
+               rl.check_collision_point_rec(rl.get_mouse_position(), close_btn_rect))
+    close_color = OP.CLOSE_BTN_PRESSED if pressed else OP.CLOSE_BTN_COLOR
+    rl.draw_rectangle_rounded(close_btn_rect, 1.0, 20, close_color)
+
+    icon_color = rl.Color(255, 255, 255, 255) if not pressed else rl.Color(220, 220, 220, 255)
+    icon_dest = rl.Rectangle(
+      close_btn_rect.x + (close_btn_rect.width - self._close_icon.width) / 2,
+      close_btn_rect.y + (close_btn_rect.height - self._close_icon.height) / 2,
+      self._close_icon.width,
+      self._close_icon.height,
+    )
+    rl.draw_texture_pro(
+      self._close_icon,
+      rl.Rectangle(0, 0, self._close_icon.width, self._close_icon.height),
+      icon_dest,
+      rl.Vector2(0, 0),
+      0,
+      icon_color,
+    )
+
+    # Store close button rect for click detection
+    self._close_btn_rect = close_btn_rect
+
+    # Navigation buttons with scroller
+    if not self._nav_items:
+      for panel_type, panel_info in self._panels.items():
+        nav_button = NavButton(self, panel_type, panel_info)
+        nav_button.rect.width = rect.width - 100  # Full width minus padding
+        nav_button.rect.height = OP.NAV_BTN_HEIGHT
+        self._nav_items.append(nav_button)
+        self._sidebar_scroller.add_widget(nav_button)
+
+    # Draw navigation section with scroller
+    nav_rect = rl.Rectangle(
+      rect.x,
+      self._close_btn_rect.height + style.ITEM_PADDING * 4,  # Starting Y position for nav items
+      rect.width,
+      rect.height - 300  # Remaining height after close button
+    )
+
+    if self._nav_items:
+      self._sidebar_scroller.render(nav_rect)
+      return
+
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
+    # Check close button
+    if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
+      if self._close_callback:
+        self._close_callback()
+      return True
+
+    # Check navigation buttons
+    for panel_type, panel_info in self._panels.items():
+      if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect) and self._sidebar_scroller.scroll_panel.is_touch_valid():
+        self.set_current_panel(panel_type)
+        return True
+
+    return False
+
+  def show_event(self):
+    super().show_event()
+    self._panels[self._current_panel].instance.show_event()
+    self._sidebar_scroller.show_event()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering.py b/selfdrive/ui/sunnypilot/layouts/settings/steering.py
new file mode 100644
index 00000000000000..ac67eb91634bc7
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/steering.py
@@ -0,0 +1,30 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.params import Params
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets import Widget
+
+
+class SteeringLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    items = [
+
+    ]
+    return items
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py b/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
new file mode 100644
index 00000000000000..b1e12c17ab9157
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
@@ -0,0 +1,30 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.params import Params
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets import Widget
+
+
+class SunnylinkLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    items = [
+
+    ]
+    return items
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/trips.py b/selfdrive/ui/sunnypilot/layouts/settings/trips.py
new file mode 100644
index 00000000000000..a318cebeb097fb
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/trips.py
@@ -0,0 +1,30 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.params import Params
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets import Widget
+
+
+class TripsLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    items = [
+
+    ]
+    return items
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle.py
new file mode 100644
index 00000000000000..d04816a411a494
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle.py
@@ -0,0 +1,30 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.params import Params
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets import Widget
+
+
+class VehicleLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    items = [
+
+    ]
+    return items
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/visuals.py b/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
new file mode 100644
index 00000000000000..1036af3e5f594a
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
@@ -0,0 +1,30 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.params import Params
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets import Widget
+
+
+class VisualsLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    items = [
+
+    ]
+    return items
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()
diff --git a/selfdrive/ui/tests/test_ui/raylib_screenshots.py b/selfdrive/ui/tests/test_ui/raylib_screenshots.py
index d3de616cc0c866..cd383e4bc35c43 100755
--- a/selfdrive/ui/tests/test_ui/raylib_screenshots.py
+++ b/selfdrive/ui/tests/test_ui/raylib_screenshots.py
@@ -41,47 +41,47 @@ def put_update_params(params: Params):
   params.put("UpdaterTargetBranch", BRANCH_NAME)
 
 
-def setup_homescreen(click, pm: PubMaster):
+def setup_homescreen(click, pm: PubMaster, scroll=None):
   pass
 
 
-def setup_homescreen_update_available(click, pm: PubMaster):
+def setup_homescreen_update_available(click, pm: PubMaster, scroll=None):
   params = Params()
   params.put_bool("UpdateAvailable", True)
   put_update_params(params)
   setup_offroad_alert(click, pm)
 
 
-def setup_settings(click, pm: PubMaster):
+def setup_settings(click, pm: PubMaster, scroll=None):
   click(100, 100)
 
 
-def close_settings(click, pm: PubMaster):
-  click(240, 216)
+def close_settings(click, pm: PubMaster, scroll=None):
+  click(140, 120)
 
 
-def setup_settings_network(click, pm: PubMaster):
+def setup_settings_network(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
   click(278, 450)
 
 
-def setup_settings_network_advanced(click, pm: PubMaster):
-  setup_settings_network(click, pm)
+def setup_settings_network_advanced(click, pm: PubMaster, scroll=None):
+  setup_settings_network(click, pm, scroll=scroll)
   click(1880, 100)
 
 
-def setup_settings_toggles(click, pm: PubMaster):
+def setup_settings_toggles(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
-  click(278, 600)
+  click(278, 620)
 
 
-def setup_settings_software(click, pm: PubMaster):
+def setup_settings_software(click, pm: PubMaster, scroll=None):
   put_update_params(Params())
   setup_settings(click, pm)
-  click(278, 720)
+  click(278, 730)
 
 
-def setup_settings_software_download(click, pm: PubMaster):
+def setup_settings_software_download(click, pm: PubMaster, scroll=None):
   params = Params()
   # setup_settings_software but with "DOWNLOAD" button to test long text
   params.put("UpdaterState", "idle")
@@ -89,13 +89,13 @@ def setup_settings_software_download(click, pm: PubMaster):
   setup_settings_software(click, pm)
 
 
-def setup_settings_software_release_notes(click, pm: PubMaster):
-  setup_settings_software(click, pm)
+def setup_settings_software_release_notes(click, pm: PubMaster, scroll=None):
+  setup_settings_software(click, pm, scroll=scroll)
   click(588, 110)  # expand description for current version
 
 
-def setup_settings_software_branch_switcher(click, pm: PubMaster):
-  setup_settings_software(click, pm)
+def setup_settings_software_branch_switcher(click, pm: PubMaster, scroll=None):
+  setup_settings_software(click, pm, scroll=scroll)
   params = Params()
   params.put("UpdaterAvailableBranches", f"master,nightly,release,{BRANCH_NAME}")
   params.put("GitBranch", BRANCH_NAME)  # should be on top
@@ -103,30 +103,32 @@ def setup_settings_software_branch_switcher(click, pm: PubMaster):
   click(1984, 449)
 
 
-def setup_settings_firehose(click, pm: PubMaster):
+def setup_settings_firehose(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
-  click(278, 845)
+  scroll(-1000, 278, 950)
+  click(278, 850)
 
 
-def setup_settings_developer(click, pm: PubMaster):
+def setup_settings_developer(click, pm: PubMaster, scroll=None):
   CP = car.CarParams()
   CP.alphaLongitudinalAvailable = True  # show alpha long control toggle
   Params().put("CarParamsPersistent", CP.to_bytes())
 
   setup_settings(click, pm)
+  scroll(-1000, 278, 950)
   click(278, 950)
 
 
-def setup_keyboard(click, pm: PubMaster):
-  setup_settings_developer(click, pm)
+def setup_keyboard(click, pm: PubMaster, scroll=None):
+  setup_settings_developer(click, pm, scroll=scroll)
   click(1930, 470)
 
 
-def setup_pair_device(click, pm: PubMaster):
+def setup_pair_device(click, pm: PubMaster, scroll=None):
   click(1950, 800)
 
 
-def setup_offroad_alert(click, pm: PubMaster):
+def setup_offroad_alert(click, pm: PubMaster, scroll=None):
   put_update_params(Params())
   set_offroad_alert("Offroad_TemperatureTooHigh", True, extra_text='99C')
   set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text='longitudinal')
@@ -137,22 +139,73 @@ def setup_offroad_alert(click, pm: PubMaster):
   close_settings(click, pm)
 
 
-def setup_confirmation_dialog(click, pm: PubMaster):
+def setup_confirmation_dialog(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
   click(1985, 791)  # reset calibration
 
 
-def setup_experimental_mode_description(click, pm: PubMaster):
+def setup_experimental_mode_description(click, pm: PubMaster, scroll=None):
   setup_settings_toggles(click, pm)
   click(1200, 280)  # expand description for experimental mode
 
 
-def setup_openpilot_long_confirmation_dialog(click, pm: PubMaster):
-  setup_settings_developer(click, pm)
+def setup_openpilot_long_confirmation_dialog(click, pm: PubMaster, scroll=None):
+  setup_settings_developer(click, pm, scroll=scroll)
   click(650, 960)  # toggle openpilot longitudinal control
 
 
-def setup_onroad(click, pm: PubMaster):
+def setup_settings_sunnylink(click, pm: PubMaster, scroll=None):
+  setup_settings(click, pm)
+  click(278, 510)
+
+
+def setup_settings_models(click, pm: PubMaster, scroll=None):
+  setup_settings(click, pm)
+  click(278, 840)
+
+
+def setup_settings_steering(click, pm: PubMaster, scroll=None):
+  setup_settings(click, pm)
+  click(278, 950)
+
+
+def setup_settings_cruise(click, pm: PubMaster, scroll=None):
+  setup_settings(click, pm)
+  click(278, 1017)
+  scroll(-140, 278, 950)
+
+
+def setup_settings_visuals(click, pm: PubMaster, scroll=None):
+  setup_settings(click, pm)
+  scroll(-1000, 278, 950)
+  click(278, 330)
+
+
+def setup_settings_display(click, pm: PubMaster, scroll=None):
+  setup_settings(click, pm)
+  scroll(-1000, 278, 950)
+  click(278, 420)
+
+
+def setup_settings_osm(click, pm: PubMaster, scroll=None):
+  setup_settings(click, pm)
+  scroll(-1000, 278, 950)
+  click(278, 520)
+
+
+def setup_settings_trips(click, pm: PubMaster, scroll=None):
+  setup_settings(click, pm)
+  scroll(-1000, 278, 950)
+  click(278, 630)
+
+
+def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
+  setup_settings(click, pm)
+  scroll(-1000, 278, 950)
+  click(278, 750)
+
+
+def setup_onroad(click, pm: PubMaster, scroll=None):
   ds = messaging.new_message('deviceState')
   ds.deviceState.started = True
 
@@ -173,7 +226,7 @@ def setup_onroad(click, pm: PubMaster):
     time.sleep(0.05)
 
 
-def setup_onroad_sidebar(click, pm: PubMaster):
+def setup_onroad_sidebar(click, pm: PubMaster, scroll=None):
   setup_onroad(click, pm)
   click(100, 100)  # open sidebar
 
@@ -192,23 +245,23 @@ def setup_onroad_alert(click, pm: PubMaster, size: log.SelfdriveState.AlertSize,
     time.sleep(0.05)
 
 
-def setup_onroad_small_alert(click, pm: PubMaster):
+def setup_onroad_small_alert(click, pm: PubMaster, scroll=None):
   setup_onroad_alert(click, pm, AlertSize.small, "Small Alert", "This is a small alert", AlertStatus.normal)
 
 
-def setup_onroad_medium_alert(click, pm: PubMaster):
+def setup_onroad_medium_alert(click, pm: PubMaster, scroll=None):
   setup_onroad_alert(click, pm, AlertSize.mid, "Medium Alert", "This is a medium alert", AlertStatus.userPrompt)
 
 
-def setup_onroad_full_alert(click, pm: PubMaster):
+def setup_onroad_full_alert(click, pm: PubMaster, scroll=None):
   setup_onroad_alert(click, pm, AlertSize.full, "DISENGAGE IMMEDIATELY", "Driver Distracted", AlertStatus.critical)
 
 
-def setup_onroad_full_alert_multiline(click, pm: PubMaster):
+def setup_onroad_full_alert_multiline(click, pm: PubMaster, scroll=None):
   setup_onroad_alert(click, pm, AlertSize.full, "Reverse\nGear", "", AlertStatus.normal)
 
 
-def setup_onroad_full_alert_long_text(click, pm: PubMaster):
+def setup_onroad_full_alert_long_text(click, pm: PubMaster, scroll=None):
   setup_onroad_alert(click, pm, AlertSize.full, "TAKE CONTROL IMMEDIATELY", "Calibration Invalid: Remount Device & Recalibrate", AlertStatus.userPrompt)
 
 
@@ -243,6 +296,19 @@ def setup_onroad_full_alert_long_text(click, pm: PubMaster):
   "onroad_full_alert_long_text": setup_onroad_full_alert_long_text,
 }
 
+# sunnypilot cases
+CASES.update({
+  "settings_sunnylink": setup_settings_sunnylink,
+  "settings_models": setup_settings_models,
+  "settings_steering": setup_settings_steering,
+  "settings_cruise": setup_settings_cruise,
+  "settings_visuals": setup_settings_visuals,
+  "settings_display": setup_settings_display,
+  "settings_osm": setup_settings_osm,
+  "settings_trips": setup_settings_trips,
+  "settings_vehicle": setup_settings_vehicle,
+})
+
 
 class TestUI:
   def __init__(self):
@@ -276,11 +342,15 @@ def click(self, x: int, y: int, *args, **kwargs):
     time.sleep(0.01)
     pyautogui.mouseUp(self.ui.left + x, self.ui.top + y, *args, **kwargs)
 
+  def scroll(self, clicks, x, y, *args, **kwargs):
+    pyautogui.scroll(clicks, self.ui.left + x, self.ui.top + y, *args, **kwargs)
+    time.sleep(UI_DELAY)
+
   @with_processes(["ui"])
   def test_ui(self, name, setup_case):
     self.setup()
     time.sleep(UI_DELAY)  # wait for UI to start
-    setup_case(self.click, self.pm)
+    setup_case(self.click, self.pm, self.scroll)
     self.screenshot(name)
 
 
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_firehose.png b/sunnypilot/selfdrive/assets/offroad/icon_firehose.png
new file mode 100644
index 00000000000000..d579937f3fbfa2
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_firehose.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a258a022f0ab90368327d899ed4fb85b47dd0e35c93508e35851d9c3184528c0
+size 36382
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_home.png b/sunnypilot/selfdrive/assets/offroad/icon_home.png
new file mode 100644
index 00000000000000..1229af846d7395
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_home.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8623dbc5c7dd043a91d98777cb423cfd116014ed6390af6d7d00c1f8dea3c6e8
+size 1181
diff --git a/system/ui/sunnypilot/lib/styles.py b/system/ui/sunnypilot/lib/styles.py
index a232ac192dfa15..4880ad58de8208 100644
--- a/system/ui/sunnypilot/lib/styles.py
+++ b/system/ui/sunnypilot/lib/styles.py
@@ -17,6 +17,7 @@ class Base:
   ITEM_TEXT_FONT_SIZE = 50
   ITEM_DESC_FONT_SIZE = 40
   ITEM_DESC_V_OFFSET = 150
+  CLOSE_BTN_SIZE = 160
 
   # Toggle Control
   TOGGLE_HEIGHT = 120
@@ -29,7 +30,7 @@ class DefaultStyleSP(Base):
   # Base Colors
   BASE_BG_COLOR = rl.Color(57, 57, 57, 255)  # Grey
   ON_BG_COLOR = rl.Color(28, 101, 186, 255)  # Blue
-  OFF_BG_COLOR = rl.Color(70, 70, 70, 255)  # Lighter Grey
+  OFF_BG_COLOR = BASE_BG_COLOR
   ON_HOVER_BG_COLOR = rl.Color(17, 78, 150, 255)  # Dark Blue
   OFF_HOVER_BG_COLOR = rl.Color(21, 21, 21, 255)  # Dark gray
   DISABLED_ON_BG_COLOR = rl.Color(37, 70, 107, 255)  # Dull Blue

From c53e2134e2516d5f015286caf7b7bcc1dedd4d09 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Mon, 24 Nov 2025 23:33:40 +0100
Subject: [PATCH 0588/1434] sunnylink: centralize key pair handling in
 sunnylink registration (#1510)

* refactor(api): centralize key pair handling in SunnyLink registration

- Replaced manual key reading with `BaseApi.get_key_pair` for consistency.
- Simplifies code and improves maintainability of key management.

* cleanup
---
 sunnypilot/sunnylink/api.py | 11 +++--------
 1 file changed, 3 insertions(+), 8 deletions(-)

diff --git a/sunnypilot/sunnylink/api.py b/sunnypilot/sunnylink/api.py
index 330011eb78247d..26c3f3462d9c5b 100644
--- a/sunnypilot/sunnylink/api.py
+++ b/sunnypilot/sunnylink/api.py
@@ -3,7 +3,6 @@
 import random
 import time
 from datetime import datetime, timedelta
-from pathlib import Path
 
 import jwt
 from openpilot.common.api.base import BaseApi
@@ -81,23 +80,19 @@ def register_device(self, spinner=None, timeout=60, verbose=False):
     if sunnylink_dongle_id not in (None, UNREGISTERED_SUNNYLINK_DONGLE_ID):
       return sunnylink_dongle_id
 
-    privkey_path = Path(f"{Paths.persist_root()}/comma/id_rsa")
-    pubkey_path = Path(f"{Paths.persist_root()}/comma/id_rsa.pub")
+    jwt_algo, private_key, public_key = BaseApi.get_key_pair()
 
     start_time = time.monotonic()
     successful_registration = False
-    if not pubkey_path.is_file():
+    if not public_key:
       sunnylink_dongle_id = UNREGISTERED_SUNNYLINK_DONGLE_ID
       self._status_update("Public key not found, setting dongle ID to unregistered.")
     else:
       Params().put("LastSunnylinkPingTime", 0)  # Reset the last ping time to 0 if we are trying to register
-      with pubkey_path.open() as f1, privkey_path.open() as f2:
-        public_key = f1.read()
-        private_key = f2.read()
 
       backoff = 1
       while True:
-        register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm='RS256')
+        register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm=jwt_algo)
         try:
           if verbose or time.monotonic() - start_time < timeout / 2:
             self._status_update("Registering device to sunnylink...")

From 42b2e1534b06a409efdd01a8284d10236e03bdad Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 25 Nov 2025 16:56:53 -0500
Subject: [PATCH 0589/1434] ci: disable macos builds (#1514)

* ci: fix macos builds

* Revert "ci: fix macos builds"

This reverts commit 433ca0d7f62ce49c2422b9549e1d92818f58cb71.

* disable
---
 .github/workflows/tests.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index aab16ffbbea948..8d6449cb4b9266 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -107,6 +107,7 @@ jobs:
 
   build_mac:
     name: build macOS
+    if: false  # temp disable since gcc-arm-embedded install is getting stuck due to checksum mismatch
     runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
     steps:
     - uses: actions/checkout@v4

From ad88c306e912d21d96ea5462d87d5448630422d8 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 25 Nov 2025 17:51:03 -0500
Subject: [PATCH 0590/1434] ui: reduce sidebar `scroll` in UI Preview (#1513)

* ui: increase `scroll` delay in UI Preview

* sleep for clicks too

* don't lol

* try 1 secs

* try this out

* wait a sec before doing a screenshot

* nah
---
 selfdrive/ui/tests/test_ui/raylib_screenshots.py | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/selfdrive/ui/tests/test_ui/raylib_screenshots.py b/selfdrive/ui/tests/test_ui/raylib_screenshots.py
index cd383e4bc35c43..d9254b58c6f029 100755
--- a/selfdrive/ui/tests/test_ui/raylib_screenshots.py
+++ b/selfdrive/ui/tests/test_ui/raylib_screenshots.py
@@ -105,7 +105,7 @@ def setup_settings_software_branch_switcher(click, pm: PubMaster, scroll=None):
 
 def setup_settings_firehose(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
-  scroll(-1000, 278, 950)
+  scroll(-878, 278, 950)
   click(278, 850)
 
 
@@ -115,7 +115,7 @@ def setup_settings_developer(click, pm: PubMaster, scroll=None):
   Params().put("CarParamsPersistent", CP.to_bytes())
 
   setup_settings(click, pm)
-  scroll(-1000, 278, 950)
+  scroll(-878, 278, 950)
   click(278, 950)
 
 
@@ -177,31 +177,31 @@ def setup_settings_cruise(click, pm: PubMaster, scroll=None):
 
 def setup_settings_visuals(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
-  scroll(-1000, 278, 950)
+  scroll(-878, 278, 950)
   click(278, 330)
 
 
 def setup_settings_display(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
-  scroll(-1000, 278, 950)
+  scroll(-878, 278, 950)
   click(278, 420)
 
 
 def setup_settings_osm(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
-  scroll(-1000, 278, 950)
+  scroll(-878, 278, 950)
   click(278, 520)
 
 
 def setup_settings_trips(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
-  scroll(-1000, 278, 950)
+  scroll(-878, 278, 950)
   click(278, 630)
 
 
 def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
-  scroll(-1000, 278, 950)
+  scroll(-878, 278, 950)
   click(278, 750)
 
 

From 1e95e1cc0131bbf98517ca8f694a997d8ca6fe40 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 25 Nov 2025 18:04:21 -0500
Subject: [PATCH 0591/1434] Revert "ui: reduce sidebar `scroll` in UI Preview"
 (#1516)

Revert "ui: reduce sidebar `scroll` in UI Preview (#1513)"

This reverts commit ad88c306e912d21d96ea5462d87d5448630422d8.
---
 selfdrive/ui/tests/test_ui/raylib_screenshots.py | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/selfdrive/ui/tests/test_ui/raylib_screenshots.py b/selfdrive/ui/tests/test_ui/raylib_screenshots.py
index d9254b58c6f029..cd383e4bc35c43 100755
--- a/selfdrive/ui/tests/test_ui/raylib_screenshots.py
+++ b/selfdrive/ui/tests/test_ui/raylib_screenshots.py
@@ -105,7 +105,7 @@ def setup_settings_software_branch_switcher(click, pm: PubMaster, scroll=None):
 
 def setup_settings_firehose(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
-  scroll(-878, 278, 950)
+  scroll(-1000, 278, 950)
   click(278, 850)
 
 
@@ -115,7 +115,7 @@ def setup_settings_developer(click, pm: PubMaster, scroll=None):
   Params().put("CarParamsPersistent", CP.to_bytes())
 
   setup_settings(click, pm)
-  scroll(-878, 278, 950)
+  scroll(-1000, 278, 950)
   click(278, 950)
 
 
@@ -177,31 +177,31 @@ def setup_settings_cruise(click, pm: PubMaster, scroll=None):
 
 def setup_settings_visuals(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
-  scroll(-878, 278, 950)
+  scroll(-1000, 278, 950)
   click(278, 330)
 
 
 def setup_settings_display(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
-  scroll(-878, 278, 950)
+  scroll(-1000, 278, 950)
   click(278, 420)
 
 
 def setup_settings_osm(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
-  scroll(-878, 278, 950)
+  scroll(-1000, 278, 950)
   click(278, 520)
 
 
 def setup_settings_trips(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
-  scroll(-878, 278, 950)
+  scroll(-1000, 278, 950)
   click(278, 630)
 
 
 def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
-  scroll(-878, 278, 950)
+  scroll(-1000, 278, 950)
   click(278, 750)
 
 

From da35e601018d3b7a0a06a0716f0cf433d555d208 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 25 Nov 2025 18:10:40 -0500
Subject: [PATCH 0592/1434] ui: display mouse coordinates with debug mode
 (#1512)

* ui: add debug to display mouse coordinates

* cleanup

* use mouse x and y directly

* even less

* try this out

* ui: increase `scroll` delay in UI Preview

* sleep for clicks too

* don't lol

* try 1 secs

* try this out

* wait a sec before doing a screenshot

* nah
---
 selfdrive/ui/layouts/settings/developer.py |  1 +
 system/ui/lib/application.py               |  5 +++++
 system/ui/sunnypilot/lib/application.py    | 25 ++++++++++++++++++++++
 3 files changed, 31 insertions(+)

diff --git a/selfdrive/ui/layouts/settings/developer.py b/selfdrive/ui/layouts/settings/developer.py
index f47cd310ca2411..e3e462c549be46 100644
--- a/selfdrive/ui/layouts/settings/developer.py
+++ b/selfdrive/ui/layouts/settings/developer.py
@@ -148,6 +148,7 @@ def _on_enable_ui_debug(self, state: bool):
     self._params.put_bool("ShowDebugInfo", state)
     gui_app.set_show_touches(state)
     gui_app.set_show_fps(state)
+    gui_app.set_show_mouse_coords(state)
 
   def _on_enable_adb(self, state: bool):
     self._params.put_bool("AdbEnabled", state)
diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index 7271127838328e..e4850e9cbc036b 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -227,6 +227,8 @@ def __init__(self, width: int | None = None, height: int | None = None):
     self._render_profiler = None
     self._render_profile_start_time = None
 
+    GuiApplicationExt.__init__(self)
+
   @property
   def frame(self):
     return self._frame
@@ -467,6 +469,9 @@ def render(self):
         if self._show_touches:
           self._draw_touch_points()
 
+        if self._show_mouse_coords:
+          self._draw_mouse_coordinates(gui_app.font(FontWeight.SEMI_BOLD))
+
         if self._grid_size > 0:
           self._draw_grid()
 
diff --git a/system/ui/sunnypilot/lib/application.py b/system/ui/sunnypilot/lib/application.py
index b39bf31e9d0052..481886e37ad04c 100644
--- a/system/ui/sunnypilot/lib/application.py
+++ b/system/ui/sunnypilot/lib/application.py
@@ -6,10 +6,35 @@
 """
 import os
 
+import pyray as rl
+
+SHOW_MOUSE_COORDS = os.getenv("SHOW_MOUSE_COORDS") == "1"
 SUNNYPILOT_UI = os.getenv("SUNNYPILOT_UI", "1") == "1"
 
 
 class GuiApplicationExt:
+  def __init__(self):
+    self._show_mouse_coords = SHOW_MOUSE_COORDS
+
   @staticmethod
   def sunnypilot_ui() -> bool:
     return SUNNYPILOT_UI
+
+  def _draw_mouse_coordinates(self, font):
+    coords_text = f"X:{int(rl.get_mouse_x())}, Y:{int(rl.get_mouse_y())}"
+
+    green_color = rl.Color(0, 159, 47, 255)  # Match the green color of FPS counter
+
+    # Calculate text width to position it at the right edge; estimate width based on text length
+    # Each character is approximately 10-12 pixels wide at font size 20
+    estimated_text_width = len(coords_text) * 11
+
+    # Position text at the top right corner, 10px from the top
+    screen_width = self._scaled_width if self._scale != 1.0 else self._width
+    text_pos = rl.Vector2(screen_width - estimated_text_width - 10, 6)
+
+    # Draw the text
+    rl.draw_text_ex(font, coords_text, text_pos, 20, 0, green_color)
+
+  def set_show_mouse_coords(self, show: bool):
+    self._show_mouse_coords = show

From c229eb4f3848072958c6125c1c084a54075bb14a Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 25 Nov 2025 18:37:09 -0500
Subject: [PATCH 0593/1434] ui: reimplement sunnypilot branding with Raylib
 (#1517)

* ui: sunnypilot branding

* fr??
---
 selfdrive/ui/layouts/home.py                  |  2 +-
 selfdrive/ui/layouts/onboarding.py            |  8 +++----
 selfdrive/ui/layouts/settings/developer.py    | 11 +++++----
 selfdrive/ui/layouts/settings/device.py       |  8 +++----
 selfdrive/ui/layouts/settings/firehose.py     |  2 +-
 selfdrive/ui/layouts/settings/toggles.py      | 24 +++++++++----------
 selfdrive/ui/mici/layouts/home.py             |  4 ++--
 selfdrive/ui/mici/layouts/offroad_alerts.py   |  2 +-
 selfdrive/ui/mici/layouts/onboarding.py       |  8 +++----
 selfdrive/ui/mici/layouts/settings/device.py  |  6 ++---
 .../ui/mici/layouts/settings/firehose.py      |  2 +-
 selfdrive/ui/mici/layouts/settings/toggles.py |  2 +-
 selfdrive/ui/mici/onroad/alert_renderer.py    |  2 +-
 .../ui/mici/onroad/augmented_road_view.py     |  4 ++--
 selfdrive/ui/onroad/alert_renderer.py         |  2 +-
 .../ui/tests/test_ui/raylib_screenshots.py    |  2 +-
 system/ui/lib/wifi_manager.py                 |  2 +-
 system/ui/mici_setup.py                       |  2 +-
 18 files changed, 47 insertions(+), 46 deletions(-)

diff --git a/selfdrive/ui/layouts/home.py b/selfdrive/ui/layouts/home.py
index cd6ae600ef3a3a..c99c8fe12cb823 100644
--- a/selfdrive/ui/layouts/home.py
+++ b/selfdrive/ui/layouts/home.py
@@ -227,6 +227,6 @@ def _refresh(self):
     self._prev_alerts_present = alerts_present
 
   def _get_version_text(self) -> str:
-    brand = "openpilot"
+    brand = "sunnypilot"
     description = self.params.get("UpdaterCurrentDescription")
     return f"{brand} {description}" if description else brand
diff --git a/selfdrive/ui/layouts/onboarding.py b/selfdrive/ui/layouts/onboarding.py
index 5d61c1c95a3293..b19cebb266c4d8 100644
--- a/selfdrive/ui/layouts/onboarding.py
+++ b/selfdrive/ui/layouts/onboarding.py
@@ -109,8 +109,8 @@ def __init__(self, on_accept=None, on_decline=None):
     self._on_accept = on_accept
     self._on_decline = on_decline
 
-    self._title = Label(tr("Welcome to openpilot"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
-    self._desc = Label(tr("You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."),
+    self._title = Label(tr("Welcome to sunnypilot"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
+    self._desc = Label(tr("You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at https://comma.ai/terms before continuing."),
                        font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
 
     self._decline_btn = Button(tr("Decline"), click_callback=on_decline)
@@ -143,10 +143,10 @@ def _render(self, _):
 class DeclinePage(Widget):
   def __init__(self, back_callback=None):
     super().__init__()
-    self._text = Label(tr("You must accept the Terms and Conditions in order to use openpilot."),
+    self._text = Label(tr("You must accept the Terms and Conditions in order to use sunnypilot."),
                        font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
     self._back_btn = Button(tr("Back"), click_callback=back_callback)
-    self._uninstall_btn = Button(tr("Decline, uninstall openpilot"), button_style=ButtonStyle.DANGER,
+    self._uninstall_btn = Button(tr("Decline, uninstall sunnypilot"), button_style=ButtonStyle.DANGER,
                                  click_callback=self._on_uninstall_clicked)
 
   def _on_uninstall_clicked(self):
diff --git a/selfdrive/ui/layouts/settings/developer.py b/selfdrive/ui/layouts/settings/developer.py
index e3e462c549be46..2ff94aa52dfd1b 100644
--- a/selfdrive/ui/layouts/settings/developer.py
+++ b/selfdrive/ui/layouts/settings/developer.py
@@ -23,10 +23,11 @@
     "other than your own. A comma employee will NEVER ask you to add their GitHub username."
   ),
   'alpha_longitudinal': tr_noop(
-    "<b>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</b><br><br>" +
-    "On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. " +
-    "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. " +
-    "Changing this setting will restart openpilot if the car is powered on."
+    "<b>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</b><br><br>" +
+    "On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. " +
+    "Enable this to switch to sunnypilot longitudinal control. " +
+    "Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha. " +
+    "Changing this setting will restart sunnypilot if the car is powered on."
   ),
 }
 
@@ -71,7 +72,7 @@ def __init__(self):
     )
 
     self._alpha_long_toggle = toggle_item(
-      lambda: tr("openpilot Longitudinal Control (Alpha)"),
+      lambda: tr("sunnypilot Longitudinal Control (Alpha)"),
       description=lambda: tr(DESCRIPTIONS["alpha_longitudinal"]),
       initial_state=self._params.get_bool("AlphaLongitudinalEnabled"),
       callback=self._on_alpha_long_enabled,
diff --git a/selfdrive/ui/layouts/settings/device.py b/selfdrive/ui/layouts/settings/device.py
index 00ae6a188ea3fc..078623c8821f54 100644
--- a/selfdrive/ui/layouts/settings/device.py
+++ b/selfdrive/ui/layouts/settings/device.py
@@ -23,8 +23,8 @@
 DESCRIPTIONS = {
   'pair_device': tr_noop("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."),
   'driver_camera': tr_noop("Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"),
-  'reset_calibration': tr_noop("openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."),
-  'review_guide': tr_noop("Review the rules, features, and limitations of openpilot"),
+  'reset_calibration': tr_noop("sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."),
+  'review_guide': tr_noop("Review the rules, features, and limitations of sunnypilot"),
 }
 
 
@@ -162,8 +162,8 @@ def _update_calib_description(self):
         cloudlog.exception("invalid LiveTorqueParameters")
 
     desc += "<br><br>"
-    desc += tr("openpilot is continuously calibrating, resetting is rarely required. " +
-               "Resetting calibration will restart openpilot if the car is powered on.")
+    desc += tr("sunnypilot is continuously calibrating, resetting is rarely required. " +
+               "Resetting calibration will restart sunnypilot if the car is powered on.")
 
     self._reset_calib_btn.set_description(desc)
 
diff --git a/selfdrive/ui/layouts/settings/firehose.py b/selfdrive/ui/layouts/settings/firehose.py
index bbd4aef5324c4b..5ab82fd8f5daa8 100644
--- a/selfdrive/ui/layouts/settings/firehose.py
+++ b/selfdrive/ui/layouts/settings/firehose.py
@@ -17,7 +17,7 @@
 
 TITLE = tr_noop("Firehose Mode")
 DESCRIPTION = tr_noop(
-  "openpilot learns to drive by watching humans, like you, drive.\n\n"
+  "sunnypilot learns to drive by watching humans, like you, drive.\n\n"
   + "Firehose Mode allows you to maximize your training data uploads to improve "
   + "openpilot's driving models. More data means bigger models, which means better Experimental Mode."
 )
diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py
index b7f176e24f0394..cd233aa3acae4d 100644
--- a/selfdrive/ui/layouts/settings/toggles.py
+++ b/selfdrive/ui/layouts/settings/toggles.py
@@ -17,20 +17,20 @@
 # Description constants
 DESCRIPTIONS = {
   "OpenpilotEnabledToggle": tr_noop(
-    "Use the openpilot system for adaptive cruise control and lane keep driver assistance. " +
+    "Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. " +
     "Your attention is required at all times to use this feature."
   ),
-  "DisengageOnAccelerator": tr_noop("When enabled, pressing the accelerator pedal will disengage openpilot."),
+  "DisengageOnAccelerator": tr_noop("When enabled, pressing the accelerator pedal will disengage sunnypilot."),
   "LongitudinalPersonality": tr_noop(
-    "Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. " +
-    "In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with " +
+    "Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. " +
+    "In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with " +
     "your steering wheel distance button."
   ),
   "IsLdwEnabled": tr_noop(
     "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line " +
     "without a turn signal activated while driving over 31 mph (50 km/h)."
   ),
-  "AlwaysOnDM": tr_noop("Enable driver monitoring even when openpilot is not engaged."),
+  "AlwaysOnDM": tr_noop("Enable driver monitoring even when sunnypilot is not engaged."),
   'RecordFront': tr_noop("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
   "IsMetric": tr_noop("Display speed in km/h instead of mph."),
   "RecordAudio": tr_noop("Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."),
@@ -46,7 +46,7 @@ def __init__(self):
     # param, title, desc, icon, needs_restart
     self._toggle_defs = {
       "OpenpilotEnabledToggle": (
-        lambda: tr("Enable openpilot"),
+        lambda: tr("Enable sunnypilot"),
         DESCRIPTIONS["OpenpilotEnabledToggle"],
         "chffr_wheel.png",
         True,
@@ -125,7 +125,7 @@ def __init__(self):
       # Make description callable for live translation
       additional_desc = ""
       if needs_restart and not locked:
-        additional_desc = tr("Changing this setting will restart openpilot if the car is powered on.")
+        additional_desc = tr("Changing this setting will restart sunnypilot if the car is powered on.")
       toggle.set_description(lambda og_desc=toggle.description, add_desc=additional_desc: tr(og_desc) + (" " + tr(add_desc) if add_desc else ""))
 
       # track for engaged state updates
@@ -158,10 +158,10 @@ def _update_toggles(self):
     ui_state.update_params()
 
     e2e_description = tr(
-      "openpilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. " +
+      "sunnypilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. " +
       "Experimental features are listed below:<br>" +
       "<h4>End-to-End Longitudinal Control</h4><br>" +
-      "Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. " +
+      "Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. " +
       "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; " +
       "mistakes should be expected.<br>" +
       "<h4>New Driving Visualization</h4><br>" +
@@ -183,13 +183,13 @@ def _update_toggles(self):
 
         unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.")
 
-        long_desc = unavailable + " " + tr("openpilot longitudinal control may come in a future update.")
+        long_desc = unavailable + " " + tr("sunnypilot longitudinal control may come in a future update.")
         if ui_state.CP.alphaLongitudinalAvailable:
           if self._is_release:
-            long_desc = unavailable + " " + tr("An alpha version of openpilot longitudinal control can be tested, along with " +
+            long_desc = unavailable + " " + tr("An alpha version of sunnypilot longitudinal control can be tested, along with " +
                                                "Experimental mode, on non-release branches.")
           else:
-            long_desc = tr("Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.")
+            long_desc = tr("Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.")
 
         self._toggles["ExperimentalMode"].set_description("<b>" + long_desc + "</b><br><br>" + e2e_description)
     else:
diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index 014fc0c45f83fc..fd4de9a71723e6 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -45,7 +45,7 @@ def refresh(self):
     self._version_text = self._get_version_text()
 
   def _get_version_text(self) -> str:
-    brand = "openpilot"
+    brand = "sunnypilot"
     description = ui_state.params.get("UpdaterCurrentDescription")
     return f"{brand} {description}" if description else brand
 
@@ -111,7 +111,7 @@ def __init__(self):
     self._cell_high_txt = gui_app.texture("icons_mici/settings/network/cell_strength_high.png", 55, 35)
     self._cell_full_txt = gui_app.texture("icons_mici/settings/network/cell_strength_full.png", 55, 35)
 
-    self._openpilot_label = MiciLabel("openpilot", font_size=96, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.DISPLAY)
+    self._openpilot_label = MiciLabel("sunnypilot", font_size=96, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.DISPLAY)
     self._version_label = MiciLabel("", font_size=36, font_weight=FontWeight.ROMAN)
     self._large_version_label = MiciLabel("", font_size=64, color=rl.GRAY, font_weight=FontWeight.ROMAN)
     self._date_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
diff --git a/selfdrive/ui/mici/layouts/offroad_alerts.py b/selfdrive/ui/mici/layouts/offroad_alerts.py
index 2e9a8bee3c883a..cdde40d4a6ca14 100644
--- a/selfdrive/ui/mici/layouts/offroad_alerts.py
+++ b/selfdrive/ui/mici/layouts/offroad_alerts.py
@@ -254,7 +254,7 @@ def refresh(self) -> int:
           parts = new_desc.split(" / ")
           if len(parts) > 3:
             version, date = parts[0], parts[3]
-            update_alert_data.text = f"update available\n openpilot {version}, {date}. go to comma.ai/blog to read the release notes."
+            update_alert_data.text = f"update available\n sunnypilot {version}, {date}. go to comma.ai/blog to read the release notes."
 
         update_alert_data.visible = True
         active_count += 1
diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py
index afc7bfce177ecd..5f20cf7c78231c 100644
--- a/selfdrive/ui/mici/layouts/onboarding.py
+++ b/selfdrive/ui/mici/layouts/onboarding.py
@@ -182,7 +182,7 @@ class TrainingGuideAttentionNotice(SetupTermsPage):
   def __init__(self, continue_callback):
     super().__init__(continue_callback, continue_text="continue")
     self._title_header = TermsHeader("driver assistance", gui_app.texture("icons_mici/setup/warning.png", 60, 60))
-    self._warning_label = UnifiedLabel("1. openpilot is a driver assistance system.\n\n" +
+    self._warning_label = UnifiedLabel("1. sunnypilot is a driver assistance system.\n\n" +
                                        "2. You must pay attention at all times.\n\n" +
                                        "3. You must be ready to take over at any time.\n\n" +
                                        "4. You are fully responsible for driving the car.", 42,
@@ -239,12 +239,12 @@ def _render(self, _):
 class DeclinePage(Widget):
   def __init__(self, back_callback=None):
     super().__init__()
-    self._uninstall_slider = SmallSlider("uninstall openpilot", self._on_uninstall)
+    self._uninstall_slider = SmallSlider("uninstall sunnypilot", self._on_uninstall)
 
     self._back_button = SmallButton("back")
     self._back_button.set_click_callback(back_callback)
 
-    self._warning_header = TermsHeader("you must accept the\nterms to use openpilot",
+    self._warning_header = TermsHeader("you must accept the\nterms to use sunnypilot",
                                        gui_app.texture("icons_mici/setup/red_warning.png", 66, 60))
 
   def _on_uninstall(self):
@@ -282,7 +282,7 @@ def __init__(self, on_accept=None, on_decline=None):
     info_txt = gui_app.texture("icons_mici/setup/green_info.png", 60, 60)
     self._title_header = TermsHeader("terms & conditions", info_txt)
 
-    self._terms_label = UnifiedLabel("You must accept the Terms and Conditions to use openpilot. " +
+    self._terms_label = UnifiedLabel("You must accept the Terms and Conditions to use sunnypilot. " +
                                      "Read the latest terms at https://comma.ai/terms before continuing.", 36,
                                      FontWeight.ROMAN)
 
diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py
index b5e0ea838d75b7..1d5e4989ecef15 100644
--- a/selfdrive/ui/mici/layouts/settings/device.py
+++ b/selfdrive/ui/mici/layouts/settings/device.py
@@ -156,7 +156,7 @@ def __init__(self):
     self._txt_update_icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 64)
     self._txt_reboot_icon = gui_app.texture("icons_mici/settings/device/reboot.png", 64, 64)
     self._txt_up_to_date_icon = gui_app.texture("icons_mici/settings/device/up_to_date.png", 64, 64)
-    super().__init__("update openpilot", "", self._txt_update_icon)
+    super().__init__("update sunnypilot", "", self._txt_update_icon)
 
     self._waiting_for_updater_t: float | None = None
     self._hide_value_t: float | None = None
@@ -193,7 +193,7 @@ def set_value(self, value: str):
     if value:
       self.set_text("")
     else:
-      self.set_text("update openpilot")
+      self.set_text("update sunnypilot")
 
   def _update_state(self):
     if ui_state.started:
@@ -294,7 +294,7 @@ def uninstall_openpilot_callback():
     reset_calibration_btn = BigButton("reset calibration", "", "icons_mici/settings/device/lkas.png")
     reset_calibration_btn.set_click_callback(lambda: _engaged_confirmation_callback(reset_calibration_callback, "reset"))
 
-    uninstall_openpilot_btn = BigButton("uninstall openpilot", "", "icons_mici/settings/device/uninstall.png")
+    uninstall_openpilot_btn = BigButton("uninstall sunnypilot", "", "icons_mici/settings/device/uninstall.png")
     uninstall_openpilot_btn.set_click_callback(lambda: _engaged_confirmation_callback(uninstall_openpilot_callback, "uninstall"))
 
     reboot_btn = BigCircleButton("icons_mici/settings/device/reboot.png", red=False)
diff --git a/selfdrive/ui/mici/layouts/settings/firehose.py b/selfdrive/ui/mici/layouts/settings/firehose.py
index 303d976b07a552..18731d675e000e 100644
--- a/selfdrive/ui/mici/layouts/settings/firehose.py
+++ b/selfdrive/ui/mici/layouts/settings/firehose.py
@@ -17,7 +17,7 @@
 
 TITLE = tr_noop("Firehose Mode")
 DESCRIPTION = tr_noop(
-  "openpilot learns to drive by watching humans, like you, drive.\n\n"
+  "sunnypilot learns to drive by watching humans, like you, drive.\n\n"
   + "Firehose Mode allows you to maximize your training data uploads to improve "
   + "openpilot's driving models. More data means bigger models, which means better Experimental Mode."
 )
diff --git a/selfdrive/ui/mici/layouts/settings/toggles.py b/selfdrive/ui/mici/layouts/settings/toggles.py
index 8efb516a42d175..82a78ce37cc6a5 100644
--- a/selfdrive/ui/mici/layouts/settings/toggles.py
+++ b/selfdrive/ui/mici/layouts/settings/toggles.py
@@ -24,7 +24,7 @@ def __init__(self, back_callback: Callable):
     always_on_dm_toggle = BigParamControl("always-on driver monitor", "AlwaysOnDM")
     record_front = BigParamControl("record & upload driver camera", "RecordFront", toggle_callback=restart_needed_callback)
     record_mic = BigParamControl("record & upload mic audio", "RecordAudio", toggle_callback=restart_needed_callback)
-    enable_openpilot = BigParamControl("enable openpilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)
+    enable_openpilot = BigParamControl("enable sunnypilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)
 
     self._scroller = Scroller([
       self._personality_toggle,
diff --git a/selfdrive/ui/mici/onroad/alert_renderer.py b/selfdrive/ui/mici/onroad/alert_renderer.py
index eb5555660a62de..b7f00980733371 100644
--- a/selfdrive/ui/mici/onroad/alert_renderer.py
+++ b/selfdrive/ui/mici/onroad/alert_renderer.py
@@ -65,7 +65,7 @@ class Alert:
 
 # Pre-defined alert instances
 ALERT_STARTUP_PENDING = Alert(
-  text1="openpilot Unavailable",
+  text1="sunnypilot Unavailable",
   text2="Waiting to start",
   size=AlertSize.mid,
   status=AlertStatus.normal,
diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index ab55f392f75cd7..64d57e8958a481 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -153,7 +153,7 @@ def __init__(self, bookmark_callback=None, stream_type: VisionStreamType = Visio
     self._alert_renderer = AlertRenderer()
     self._driver_state_renderer = DriverStateRenderer()
     self._confidence_ball = ConfidenceBall()
-    self._offroad_label = UnifiedLabel("start the car to\nuse openpilot", 54, FontWeight.DISPLAY,
+    self._offroad_label = UnifiedLabel("start the car to\nuse sunnypilot", 54, FontWeight.DISPLAY,
                                        text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
                                        alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
                                        alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
@@ -171,7 +171,7 @@ def _update_state(self):
     if ui_state.panda_type == log.PandaState.PandaType.unknown:
       self._offroad_label.set_text("system booting")
     else:
-      self._offroad_label.set_text("start the car to\nuse openpilot")
+      self._offroad_label.set_text("start the car to\nuse sunnypilot")
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     # Don't trigger click callback if bookmark was triggered
diff --git a/selfdrive/ui/onroad/alert_renderer.py b/selfdrive/ui/onroad/alert_renderer.py
index a81fbfc440b0df..1e5f99cc662b1e 100644
--- a/selfdrive/ui/onroad/alert_renderer.py
+++ b/selfdrive/ui/onroad/alert_renderer.py
@@ -48,7 +48,7 @@ class Alert:
 
 # Pre-defined alert instances
 ALERT_STARTUP_PENDING = Alert(
-  text1=tr("openpilot Unavailable"),
+  text1=tr("sunnypilot Unavailable"),
   text2=tr("Waiting to start"),
   size=AlertSize.mid,
   status=AlertStatus.normal,
diff --git a/selfdrive/ui/tests/test_ui/raylib_screenshots.py b/selfdrive/ui/tests/test_ui/raylib_screenshots.py
index cd383e4bc35c43..e64398d227fb1e 100755
--- a/selfdrive/ui/tests/test_ui/raylib_screenshots.py
+++ b/selfdrive/ui/tests/test_ui/raylib_screenshots.py
@@ -151,7 +151,7 @@ def setup_experimental_mode_description(click, pm: PubMaster, scroll=None):
 
 def setup_openpilot_long_confirmation_dialog(click, pm: PubMaster, scroll=None):
   setup_settings_developer(click, pm, scroll=scroll)
-  click(650, 960)  # toggle openpilot longitudinal control
+  click(650, 960)  # toggle sunnypilot longitudinal control
 
 
 def setup_settings_sunnylink(click, pm: PubMaster, scroll=None):
diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py
index 28bd58f2260de5..cd809f2699b0d1 100644
--- a/system/ui/lib/wifi_manager.py
+++ b/system/ui/lib/wifi_manager.py
@@ -383,7 +383,7 @@ def worker():
         'connection': {
           'type': ('s', '802-11-wireless'),
           'uuid': ('s', str(uuid.uuid4())),
-          'id': ('s', f'openpilot connection {ssid}'),
+          'id': ('s', f'sunnypilot connection {ssid}'),
           'autoconnect-retries': ('i', 0),
         },
         '802-11-wireless': {
diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py
index d7395f9b7a0376..316e6c4a8b0774 100755
--- a/system/ui/mici_setup.py
+++ b/system/ui/mici_setup.py
@@ -701,7 +701,7 @@ def _download_thread(self):
 
     except urllib.error.HTTPError as e:
       if e.code == 409:
-        error_msg = "Incompatible openpilot version"
+        error_msg = "Incompatible sunnypilot version"
         self.download_failed(self.download_url, error_msg)
     except Exception:
       error_msg = "Invalid URL"

From 4914445415f1b5ae5adc61ff672323a05ec3f8e5 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 28 Nov 2025 01:02:31 -0500
Subject: [PATCH 0594/1434] ui: sunnypilot MultiButtonControl (#1478)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* commaai/openpilot:d05cb31e2e916fba41ba8167030945f427fd811b

* bump opendbc

* bump opendbc

* bump opendbc

* bump opendbc

* bump opendbc

* sunnypilot: remove Qt

* cabana: revert to stock Qt

* commaai/openpilot:5198b1b079c37742c1050f02ce0aa6dd42b038b9

* commaai/openpilot:954b567b9ba0f3d1ae57d6aa7797fa86dd92ec6e

* commaai/openpilot:7534b2a160faa683412c04c1254440e338931c5e

* sum more

* bump opendbc

* not yet

* should've been symlink'ed

* raylib says wut

* quiet mode back

* more fixes

* no more

* too extra red diff on the side

* need to bring this back

* too extra

* let's update docs here

* Revert "let's update docs here"

This reverts commit 51fe03cd5121e6fdf14657b2c33852c34922b851.

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* multi-button

* Lint

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* Panels. With Icons. And Scroller.

* patience, grasshopper

* more patience, grasshopper

* sp raylib preview

* fix callback

* fix ui preview

* add ui previews

* better padding

* this

* support for next line multi-button

* uhh

* disabled colors

* listitem -> listitemsp

* listitem -> listitemsp

* add show_description method

* remove padding from line separator.
like, WHY? 😩😩

* scroller -> scroller_tici

* scroller -> scroller_tici

* ui: `GuiApplicationExt`

* add to readme

* use gui_app.sunnypilot_ui()

* use gui_app.sunnypilot_ui()

* use in toggles panel

* ugh. no

* better & animated

* lint

* cleanup

* lint. LINT

* slight

* default no inline ty <3

* style change

* move stuff around

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/layouts/settings/toggles.py  |   3 +-
 system/ui/sunnypilot/lib/styles.py        |   9 ++
 system/ui/sunnypilot/widgets/list_view.py | 108 +++++++++++++++++++---
 system/ui/widgets/network.py              |   2 +
 4 files changed, 108 insertions(+), 14 deletions(-)

diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py
index cd233aa3acae4d..f5f3a4e9c54145 100644
--- a/selfdrive/ui/layouts/settings/toggles.py
+++ b/selfdrive/ui/layouts/settings/toggles.py
@@ -11,6 +11,7 @@
 
 if gui_app.sunnypilot_ui():
   from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp as toggle_item
+  from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp as multiple_button_item
 
 PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
 
@@ -99,7 +100,7 @@ def __init__(self):
       lambda: tr("Driving Personality"),
       lambda: tr(DESCRIPTIONS["LongitudinalPersonality"]),
       buttons=[lambda: tr("Aggressive"), lambda: tr("Standard"), lambda: tr("Relaxed")],
-      button_width=255,
+      button_width=300,
       callback=self._set_longitudinal_personality,
       selected_index=self._params.get("LongitudinalPersonality", return_default=True),
       icon="speed_limit.png"
diff --git a/system/ui/sunnypilot/lib/styles.py b/system/ui/sunnypilot/lib/styles.py
index 4880ad58de8208..b942f79d33288b 100644
--- a/system/ui/sunnypilot/lib/styles.py
+++ b/system/ui/sunnypilot/lib/styles.py
@@ -24,6 +24,10 @@ class Base:
   TOGGLE_WIDTH = int(TOGGLE_HEIGHT * 1.75)
   TOGGLE_BG_HEIGHT = TOGGLE_HEIGHT - 20
 
+  # Button Control
+  BUTTON_WIDTH = 300
+  BUTTON_HEIGHT = 120
+
 
 @dataclass
 class DefaultStyleSP(Base):
@@ -47,5 +51,10 @@ class DefaultStyleSP(Base):
   TOGGLE_DISABLED_OFF_COLOR = DISABLED_OFF_BG_COLOR
   TOGGLE_DISABLED_KNOB_COLOR = rl.Color(88, 88, 88, 255)  # Lighter Grey
 
+  # Multi Button Control
+  MBC_TRANSPARENT = rl.Color(255, 255, 255, 0)
+  MBC_BG_CHECKED_ENABLED = rl.Color(0x69, 0x68, 0x68, 0xFF)
+  MBC_DISABLED = rl.Color(0xFF, 0xFF, 0xFF, 0x33)
+
 
 style = DefaultStyleSP
diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py
index dcf8f6019df0a5..4ecb9a488163d4 100644
--- a/system/ui/sunnypilot/widgets/list_view.py
+++ b/system/ui/sunnypilot/widgets/list_view.py
@@ -7,9 +7,11 @@
 from collections.abc import Callable
 
 import pyray as rl
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import MousePos
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.sunnypilot.widgets.toggle import ToggleSP
-from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction
+from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction, MultipleButtonAction, _resolve_value
 from openpilot.system.ui.sunnypilot.lib.styles import style
 
 
@@ -20,11 +22,74 @@ def __init__(self, initial_state: bool = False, width: int = style.TOGGLE_WIDTH,
     self.toggle = ToggleSP(initial_state=initial_state, callback=callback, param=param)
 
 
+class MultipleButtonActionSP(MultipleButtonAction):
+  def __init__(self, buttons: list[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable = None,
+               param: str | None = None):
+    MultipleButtonAction.__init__(self, buttons, button_width, selected_index, callback)
+    self.param_key = param
+    self.params = Params()
+    if self.param_key:
+      self.selected_button = int(self.params.get(self.param_key, return_default=True))
+    self._anim_x: float | None = None
+
+  def _render(self, rect: rl.Rectangle):
+
+    button_y = rect.y + (rect.height - style.BUTTON_HEIGHT) / 2
+
+    total_width = len(self.buttons) * self.button_width
+    track_rect = rl.Rectangle(rect.x, button_y, total_width, style.BUTTON_HEIGHT)
+
+    bg_color = style.MBC_TRANSPARENT
+    text_color = style.ITEM_TEXT_COLOR if self.enabled else style.MBC_DISABLED
+    highlight_color = style.MBC_BG_CHECKED_ENABLED if self.enabled else style.MBC_DISABLED
+
+    # background
+    rl.draw_rectangle_rounded(track_rect, 0.2, 20, bg_color)
+
+    # border
+    border_color = style.MBC_BG_CHECKED_ENABLED if self.enabled else style.MBC_DISABLED
+    rl.draw_rectangle_rounded_lines_ex(track_rect, 0.2, 20, 2, border_color)
+
+    # highlight with animation
+    target_x = rect.x + self.selected_button * self.button_width
+    if not self._anim_x:
+      self._anim_x = target_x
+    self._anim_x += (target_x - self._anim_x) * 0.2
+
+    highlight_rect = rl.Rectangle(self._anim_x, button_y, self.button_width, style.BUTTON_HEIGHT)
+    rl.draw_rectangle_rounded(highlight_rect, 0.2, 20, highlight_color)
+
+    # text
+    for i, _text in enumerate(self.buttons):
+      button_x = rect.x + i * self.button_width
+
+      text = _resolve_value(_text, "")
+      text_size = measure_text_cached(self._font, text, 40)
+      text_x = button_x + (self.button_width - text_size.x) / 2
+      text_y = button_y + (style.BUTTON_HEIGHT - text_size.y) / 2
+
+      rl.draw_text_ex(self._font, text, rl.Vector2(text_x, text_y), 40, 0, text_color)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    MultipleButtonAction._handle_mouse_release(self, mouse_pos)
+    if self.param_key:
+      self.params.put(self.param_key, self.selected_button)
+
+
 class ListItemSP(ListItem):
   def __init__(self, title: str | Callable[[], str] = "", icon: str | None = None, description: str | Callable[[], str] | None = None,
                description_visible: bool = False, callback: Callable | None = None,
-               action_item: ItemAction | None = None):
+               action_item: ItemAction | None = None, inline: bool = True):
     ListItem.__init__(self, title, icon, description, description_visible, callback, action_item)
+    self.inline = inline
+    if not self.inline:
+      self._rect.height += style.ITEM_BASE_HEIGHT/1.75
+
+  def get_item_height(self, font: rl.Font, max_width: int) -> float:
+    height = super().get_item_height(font, max_width)
+    if not self.inline:
+      height = height + style.ITEM_BASE_HEIGHT/1.75
+    return height
 
   def show_description(self, show: bool):
     self._set_description_visible(show)
@@ -33,6 +98,10 @@ def get_right_item_rect(self, item_rect: rl.Rectangle) -> rl.Rectangle:
     if not self.action_item:
       return rl.Rectangle(0, 0, 0, 0)
 
+    if not self.inline:
+      action_y = item_rect.y + self._text_size.y + style.ITEM_PADDING * 3
+      return rl.Rectangle(item_rect.x + style.ITEM_PADDING, action_y, item_rect.width - (style.ITEM_PADDING * 2), style.BUTTON_HEIGHT)
+
     right_width = self.action_item.rect.width
     if right_width == 0:  # Full width action (like DualButtonAction)
       return rl.Rectangle(item_rect.x + style.ITEM_PADDING, item_rect.y,
@@ -47,6 +116,13 @@ def get_right_item_rect(self, item_rect: rl.Rectangle) -> rl.Rectangle:
     return rl.Rectangle(action_x, action_y, action_width, style.ITEM_BASE_HEIGHT)
 
   def _render(self, _):
+    if not self.is_visible:
+      return
+
+    # Don't draw items that are not in parent's viewport
+    if (self._rect.y + self.rect.height) <= self._parent_rect.y or self._rect.y >= (self._parent_rect.y + self._parent_rect.height):
+      return
+
     content_x = self._rect.x + style.ITEM_PADDING
     text_x = content_x
     left_action_item = isinstance(self.action_item, ToggleAction)
@@ -62,8 +138,8 @@ def _render(self, _):
 
       # Draw title
       if self.title:
-        text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
-        item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - text_size.y) // 2
+        self._text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
+        item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - self._text_size.y) // 2
         rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, style.ITEM_TEXT_COLOR)
 
       # Render toggle and handle callback
@@ -74,14 +150,13 @@ def _render(self, _):
     else:
       if self.title:
         # Draw main text
-        text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
-        item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - text_size.y) // 2
+        self._text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
+        item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - self._text_size.y) // 2 if self.inline else self._rect.y + style.ITEM_PADDING * 1.5
         rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, style.ITEM_TEXT_COLOR)
 
         # Draw right item if present
         if self.action_item:
           right_rect = self.get_right_item_rect(self._rect)
-          right_rect.y = self._rect.y
           if self.action_item.render(right_rect) and self.action_item.enabled:
             # Right item was clicked/activated
             if self.callback:
@@ -91,12 +166,12 @@ def _render(self, _):
     if self.description_visible:
       content_width = int(self._rect.width - style.ITEM_PADDING * 2)
       description_height = self._html_renderer.get_total_height(content_width)
-      description_rect = rl.Rectangle(
-        self._rect.x + style.ITEM_PADDING,
-        self._rect.y + style.ITEM_DESC_V_OFFSET,
-        content_width,
-        description_height
-      )
+
+      desc_y = self._rect.y + style.ITEM_DESC_V_OFFSET
+      if not self.inline and self.action_item:
+        desc_y = self.action_item.rect.y + style.ITEM_DESC_V_OFFSET - style.ITEM_PADDING * 1.75
+
+      description_rect = rl.Rectangle(self._rect.x + style.ITEM_PADDING, desc_y, content_width, description_height)
       self._html_renderer.render(description_rect)
 
 
@@ -104,3 +179,10 @@ def toggle_item_sp(title: str | Callable[[], str], description: str | Callable[[
                    callback: Callable | None = None, icon: str = "", enabled: bool | Callable[[], bool] = True, param: str | None = None) -> ListItemSP:
   action = ToggleActionSP(initial_state=initial_state, enabled=enabled, callback=callback, param=param)
   return ListItemSP(title=title, description=description, action_item=action, icon=icon, callback=callback)
+
+
+def multiple_button_item_sp(title: str | Callable[[], str], description: str | Callable[[], str], buttons: list[str | Callable[[], str]],
+                            selected_index: int = 0, button_width: int = style.BUTTON_WIDTH, callback: Callable = None,
+                            icon: str = "", param: str | None = None, inline: bool = False) -> ListItemSP:
+  action = MultipleButtonActionSP(buttons, button_width, selected_index, callback=callback, param=param)
+  return ListItemSP(title=title, description=description, icon=icon, action_item=action, inline=inline)
diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py
index fa47d355361bf1..71755cc284aa97 100644
--- a/system/ui/widgets/network.py
+++ b/system/ui/widgets/network.py
@@ -16,7 +16,9 @@
 from openpilot.system.ui.widgets.list_view import ButtonAction, ListItem, MultipleButtonAction, ToggleAction, button_item, text_item
 
 if gui_app.sunnypilot_ui():
+  from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP as ListItem
   from openpilot.system.ui.sunnypilot.widgets.list_view import ToggleActionSP as ToggleAction
+  from openpilot.system.ui.sunnypilot.widgets.list_view import MultipleButtonActionSP as MultipleButtonAction
 
 # These are only used for AdvancedNetworkSettings, standalone apps just need WifiManagerUI
 try:

From 1d6d0fb85c94c663be087683eb690a7578a18ad9 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 29 Nov 2025 02:19:30 +0100
Subject: [PATCH 0595/1434] ci: prevent build OOM by throttling locationd
 concurrency (#1527)

* ci: add conditional swap creation to prebuilt workflow

- Dynamically creates an 8GB swap file on systems with less than 8GB RAM.
- Ensures builds complete reliably on low-memory environments.
- Introduced cleanup step to remove swap after workflow execution.

* Nice save

* clean

* reduce swap size in prebuilt workflow
- Adjusted swap file size from 8GB to 4GB to optimize resource usage.

* remove swap creation from prebuilt workflow
- Simplified workflow by removing dynamic swap file creation and cleanup.
- Adjusted resource management to rely on existing system resources.

* update sunnypilot build workflow to use explicit script calls

- Replaced `op` commands with explicit `/data/openpilot/tools/op.sh` script calls for better reliability and clarity.

* update sunnypilot build workflow to use systemd for process management

- Replaced `/data/openpilot/tools/op.sh` script calls with `systemctl` commands for improved compatibility and reliability.
- Ensures consistent resource management during start and stop operations.

* Splitting a bit the build then?

* split build steps in sunnypilot prebuilt workflow

- Added separate build steps for `modeld`, `modeld_v2`, and `locationd` with descriptive messages.
- Improves logging and clarity during the build process.

* limit locationd parallel processes aiming to help with resource consumption

* typo

* adding op's location d AND bumping to 4 cores for them

* Apply suggestion from @sunnyhaibin

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .github/workflows/sunnypilot-build-prebuilt.yaml | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index d3ad2d24194b91..8af877963e381d 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -180,6 +180,15 @@ jobs:
           ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
           cd $BUILD_DIR
           sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
+          echo "Building sunnypilot's modeld..."
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld
+          echo "Building sunnypilot's modeld_v2..."
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2
+          echo "Building sunnypilot's locationd..."
+          scons -j4 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
+          echo "Building openpilot's locationd..."
+          scons -j4 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
+          echo "Building rest of sunnypilot"
           scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
           touch ${BUILD_DIR}/prebuilt
           if [[ "${{ runner.debug }}" == "1" ]]; then

From 9595a6f246505df380642d19aad26b2871aea755 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 28 Nov 2025 20:46:09 -0500
Subject: [PATCH 0596/1434] ui Qt: remove leftover files (#1530)

---
 selfdrive/ui/qt/offroad/offroad_home.cc | 158 ------------------------
 selfdrive/ui/qt/offroad/offroad_home.h  |  59 ---------
 2 files changed, 217 deletions(-)
 delete mode 100644 selfdrive/ui/qt/offroad/offroad_home.cc
 delete mode 100644 selfdrive/ui/qt/offroad/offroad_home.h

diff --git a/selfdrive/ui/qt/offroad/offroad_home.cc b/selfdrive/ui/qt/offroad/offroad_home.cc
deleted file mode 100644
index 9ca41e55672e3b..00000000000000
--- a/selfdrive/ui/qt/offroad/offroad_home.cc
+++ /dev/null
@@ -1,158 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "selfdrive/ui/qt/offroad/offroad_home.h"
-
-#include "selfdrive/ui/qt/offroad/experimental_mode.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/prime.h"
-
-// OffroadHome: the offroad home page
-
-OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
-  QVBoxLayout* main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(40, 40, 40, 40);
-
-  // top header
-  header_layout = new QHBoxLayout();
-  header_layout->setContentsMargins(0, 0, 0, 0);
-  header_layout->setSpacing(16);
-
-  update_notif = new QPushButton(tr("UPDATE"));
-  update_notif->setVisible(false);
-  update_notif->setStyleSheet("background-color: #364DEF;");
-  QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); });
-  header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
-
-  alert_notif = new QPushButton();
-  alert_notif->setVisible(false);
-  alert_notif->setStyleSheet("background-color: #E22C2C;");
-  QObject::connect(alert_notif, &QPushButton::clicked, [=] { center_layout->setCurrentIndex(2); });
-  header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
-
-  version = new ElidedLabel();
-  header_layout->addWidget(version, 0, Qt::AlignHCenter | Qt::AlignRight);
-
-  main_layout->addLayout(header_layout);
-
-  // main content
-  main_layout->addSpacing(25);
-  center_layout = new QStackedLayout();
-
-  QWidget *home_widget = new QWidget(this);
-  {
-    home_layout = new QHBoxLayout(home_widget);
-    home_layout->setContentsMargins(0, 0, 0, 0);
-    home_layout->setSpacing(30);
-
-#ifndef SUNNYPILOT
-    // left: PrimeAdWidget
-    QStackedWidget *left_widget = new QStackedWidget(this);
-    QVBoxLayout *left_prime_layout = new QVBoxLayout();
-    left_prime_layout->setContentsMargins(0, 0, 0, 0);
-    QWidget *prime_user = new PrimeUserWidget();
-    prime_user->setStyleSheet(R"(
-    border-radius: 10px;
-    background-color: #333333;
-    )");
-    left_prime_layout->addWidget(prime_user);
-    left_prime_layout->addStretch();
-    left_widget->addWidget(new LayoutWidget(left_prime_layout));
-    left_widget->addWidget(new PrimeAdWidget);
-    left_widget->setStyleSheet("border-radius: 10px;");
-
-    connect(uiState()->prime_state, &PrimeState::changed, [left_widget]() {
-      left_widget->setCurrentIndex(uiState()->prime_state->isSubscribed() ? 0 : 1);
-    });
-
-    home_layout->addWidget(left_widget, 1);
-#endif
-
-    // right: ExperimentalModeButton, SetupWidget
-    QWidget* right_widget = new QWidget(this);
-    QVBoxLayout* right_column = new QVBoxLayout(right_widget);
-    right_column->setContentsMargins(0, 0, 0, 0);
-    right_widget->setFixedWidth(750);
-    right_column->setSpacing(30);
-
-    ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this);
-    QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings);
-    right_column->addWidget(experimental_mode, 1);
-
-    SetupWidget *setup_widget = new SetupWidget;
-    QObject::connect(setup_widget, &SetupWidget::openSettings, this, &OffroadHome::openSettings);
-    right_column->addWidget(setup_widget, 1);
-
-    home_layout->addWidget(right_widget, 1);
-  }
-  center_layout->addWidget(home_widget);
-
-  // add update & alerts widgets
-  update_widget = new UpdateAlert();
-  QObject::connect(update_widget, &UpdateAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
-  center_layout->addWidget(update_widget);
-  alerts_widget = new OffroadAlert();
-  QObject::connect(alerts_widget, &OffroadAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
-  center_layout->addWidget(alerts_widget);
-
-  main_layout->addLayout(center_layout, 1);
-
-  // set up refresh timer
-  timer = new QTimer(this);
-  timer->callOnTimeout(this, &OffroadHome::refresh);
-
-  setStyleSheet(R"(
-    * {
-      color: white;
-    }
-    OffroadHome {
-      background-color: black;
-    }
-    OffroadHome > QPushButton {
-      padding: 15px 30px;
-      border-radius: 5px;
-      font-size: 40px;
-      font-weight: 500;
-    }
-    OffroadHome > QLabel {
-      font-size: 55px;
-    }
-  )");
-}
-
-void OffroadHome::showEvent(QShowEvent *event) {
-  refresh();
-  timer->start(10 * 1000);
-}
-
-void OffroadHome::hideEvent(QHideEvent *event) {
-  timer->stop();
-}
-
-void OffroadHome::refresh() {
-  version->setText(getBrand() + " " +  QString::fromStdString(params.get("UpdaterCurrentDescription")));
-
-  bool updateAvailable = update_widget->refresh();
-  int alerts = alerts_widget->refresh();
-
-  // pop-up new notification
-  int idx = center_layout->currentIndex();
-  if (!updateAvailable && !alerts) {
-    idx = 0;
-  } else if (updateAvailable && (!update_notif->isVisible() || (!alerts && idx == 2))) {
-    idx = 1;
-  } else if (alerts && (!alert_notif->isVisible() || (!updateAvailable && idx == 1))) {
-    idx = 2;
-  }
-  center_layout->setCurrentIndex(idx);
-
-  update_notif->setVisible(updateAvailable);
-  alert_notif->setVisible(alerts);
-  if (alerts) {
-    alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT")));
-  }
-}
diff --git a/selfdrive/ui/qt/offroad/offroad_home.h b/selfdrive/ui/qt/offroad/offroad_home.h
deleted file mode 100644
index cac37d58cd1a26..00000000000000
--- a/selfdrive/ui/qt/offroad/offroad_home.h
+++ /dev/null
@@ -1,59 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "common/params.h"
-#include "selfdrive/ui/qt/body.h"
-#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
-
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include "selfdrive/ui/sunnypilot/qt/onroad/onroad_home.h"
-#include "selfdrive/ui/sunnypilot/qt/sidebar.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/prime.h"
-#define OnroadWindow OnroadWindowSP
-#define LayoutWidget LayoutWidgetSP
-#define Sidebar SidebarSP
-#define ElidedLabel ElidedLabelSP
-#define SetupWidget SetupWidgetSP
-#else
-#include "selfdrive/ui/qt/widgets/controls.h"
-#include "selfdrive/ui/qt/onroad/onroad_home.h"
-#include "selfdrive/ui/qt/sidebar.h"
-#include "selfdrive/ui/qt/widgets/prime.h"
-#endif
-
-class OffroadHome : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit OffroadHome(QWidget* parent = 0);
-
-  signals:
-    void openSettings(int index = 0, const QString &param = "");
-
-protected:
-  QHBoxLayout *home_layout;
-  QHBoxLayout *header_layout;
-
-  void showEvent(QShowEvent *event) override;
-  void refresh();
-
-private:
-  void hideEvent(QHideEvent *event) override;
-
-  Params params;
-
-  QTimer* timer;
-  ElidedLabel* version;
-  QStackedLayout* center_layout;
-  UpdateAlert *update_widget;
-  OffroadAlert* alerts_widget;
-  QPushButton* alert_notif;
-  QPushButton* update_notif;
-};

From aa5a7ecb31c5f04f0bb4759e663f025be5550c42 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 29 Nov 2025 02:24:12 -0500
Subject: [PATCH 0597/1434] ci: no parallelism for LiveLocationKalman compile
 (#1531)

* ci: no parallelism for locationd compile

* just LLK

* bump to 2
---
 .../workflows/sunnypilot-build-prebuilt.yaml  | 28 +++++++++----------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 8af877963e381d..50456f93d35464 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -6,10 +6,10 @@ env:
   CI_DIR: ${{ github.workspace }}/release/ci
   SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
   PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
-  
+
   # Branch configurations
   STAGING_SOURCE_BRANCH: 'master'
-  
+
   # Runtime configuration
   SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
 
@@ -75,7 +75,7 @@ jobs:
             cancel="$(echo "$CONFIG" | jq -r '.cancel_publish_in_progress')";
             echo "cancel_publish_in_progress=$( [ "$cancel" = "null" ] && echo "true" || echo $cancel)" >> $GITHUB_OUTPUT
             echo "publish_concurrency_group=publish-${BRANCH}$( [ "$cancel" = "null" ] || [ "$cancel" = "true" ] || echo "${{ github.sha }}" )" >> $GITHUB_OUTPUT
-          
+
             is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
             echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
 
@@ -85,7 +85,7 @@ jobs:
           fi
           echo "build=$BUILD" >> $GITHUB_OUTPUT
           cat $GITHUB_OUTPUT
-  
+
   validate_tests:
     runs-on: ubuntu-24.04
     needs: [ prepare_strategy ]
@@ -119,7 +119,7 @@ jobs:
       needs.prepare_strategy.result == 'success' &&
       (needs.validate_tests.result == 'success' || needs.validate_tests.result == 'skipped') &&
       (!contains(github.event_name, 'pull_request') ||
-      (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) 
+      (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
       }}
     steps:
       - uses: actions/checkout@v4
@@ -134,7 +134,7 @@ jobs:
         with:
           path: ${{env.SCONS_CACHE_DIR}}
           key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
+          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
           #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
           restore-keys: |
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
@@ -148,7 +148,7 @@ jobs:
           echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
           echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
           echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
-          
+
           # Set up common environment
           source /etc/profile;
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
@@ -185,9 +185,9 @@ jobs:
           echo "Building sunnypilot's modeld_v2..."
           scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2
           echo "Building sunnypilot's locationd..."
-          scons -j4 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
+          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
           echo "Building openpilot's locationd..."
-          scons -j4 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
           echo "Building rest of sunnypilot"
           scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
           touch ${BUILD_DIR}/prebuilt
@@ -250,8 +250,8 @@ jobs:
         if: always()
         run: |
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
-  
-  
+
+
   publish:
     concurrency:
       # We do a bit of a hack here to avoid canceling the publishing job if a new commit comes in while we're publishing by adding the sha to the group name.
@@ -302,7 +302,7 @@ jobs:
           echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
           echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
           echo "3. Update as needed (JSON array with no spaces)"
-      
+
       - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
         if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
         run: |
@@ -311,7 +311,7 @@ jobs:
             git push -f origin ${TAG}
 
   notify:
-    needs: 
+    needs:
     - prepare_strategy
     - build
     - publish
@@ -340,7 +340,7 @@ jobs:
           ${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}
           EOF
           )
-          
+
           {
             echo 'content<<EOFMARKER'
             echo "$MESSAGE"

From 99ed90d459527b6d0ffc0bbd664309142a0b2202 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sat, 29 Nov 2025 03:10:59 -0500
Subject: [PATCH 0598/1434] ui: Option Control (#1479)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* Panels. With Icons. And Scroller.

* patience, grasshopper

* more patience, grasshopper

* sp raylib preview

* fix callback

* fix ui preview

* add ui previews

* Option Control

* Need this

* better padding

* this

* listitem -> listitemsp

* add show_description method

* remove padding from line separator.
like, WHY? 😩😩

* simplify

* I. SAID. SIMPLIFY.

* AAARGGGGGG.....

* option control value fix

* forgot about the setter

* scroller -> scroller_tici

* scroller -> scroller_tici

* ui: `GuiApplicationExt`

* add to readme

* use gui_app.sunnypilot_ui()

* use gui_app.sunnypilot_ui()

* ugh. no

* new style. old style.

* lint

* rename

* old but gold <3

---------

Co-authored-by: discountchubbs <alexgrant990@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
---
 system/ui/sunnypilot/lib/styles.py            |   9 +
 system/ui/sunnypilot/widgets/list_view.py     |  14 ++
 .../ui/sunnypilot/widgets/option_control.py   | 165 ++++++++++++++++++
 3 files changed, 188 insertions(+)
 create mode 100644 system/ui/sunnypilot/widgets/option_control.py

diff --git a/system/ui/sunnypilot/lib/styles.py b/system/ui/sunnypilot/lib/styles.py
index b942f79d33288b..0fb4a5c3090bd4 100644
--- a/system/ui/sunnypilot/lib/styles.py
+++ b/system/ui/sunnypilot/lib/styles.py
@@ -56,5 +56,14 @@ class DefaultStyleSP(Base):
   MBC_BG_CHECKED_ENABLED = rl.Color(0x69, 0x68, 0x68, 0xFF)
   MBC_DISABLED = rl.Color(0xFF, 0xFF, 0xFF, 0x33)
 
+  # Option Control
+  OPTION_CONTROL_CONTAINER_BG = OFF_BG_COLOR
+  OPTION_CONTROL_BTN_ENABLED = rl.Color(88, 88, 88, 255)
+  OPTION_CONTROL_BTN_PRESSED = rl.Color(0x69, 0x68, 0x68, 0xFF)
+  OPTION_CONTROL_BTN_DISABLED = DISABLED_OFF_BG_COLOR
+  OPTION_CONTROL_TEXT_ENABLED = rl.WHITE
+  OPTION_CONTROL_TEXT_PRESSED = rl.WHITE
+  OPTION_CONTROL_TEXT_DISABLED = ITEM_DISABLED_TEXT_COLOR
+
 
 style = DefaultStyleSP
diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py
index 4ecb9a488163d4..955adaa73e45bc 100644
--- a/system/ui/sunnypilot/widgets/list_view.py
+++ b/system/ui/sunnypilot/widgets/list_view.py
@@ -13,6 +13,7 @@
 from openpilot.system.ui.sunnypilot.widgets.toggle import ToggleSP
 from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction, MultipleButtonAction, _resolve_value
 from openpilot.system.ui.sunnypilot.lib.styles import style
+from openpilot.system.ui.sunnypilot.widgets.option_control import OptionControlSP, LABEL_WIDTH
 
 
 class ToggleActionSP(ToggleAction):
@@ -186,3 +187,16 @@ def multiple_button_item_sp(title: str | Callable[[], str], description: str | C
                             icon: str = "", param: str | None = None, inline: bool = False) -> ListItemSP:
   action = MultipleButtonActionSP(buttons, button_width, selected_index, callback=callback, param=param)
   return ListItemSP(title=title, description=description, icon=icon, action_item=action, inline=inline)
+
+
+def option_item_sp(title: str | Callable[[], str], param: str,
+                   min_value: int, max_value: int, description: str | Callable[[], str] | None = None,
+                   value_change_step: int = 1, on_value_changed: Callable[[int], None] | None = None,
+                   enabled: bool | Callable[[], bool] = True,
+                   icon: str = "", label_width: int = LABEL_WIDTH, value_map: dict[int, int] | None = None,
+                   use_float_scaling: bool = False, label_callback: Callable[[int], str] | None = None) -> ListItemSP:
+  action = OptionControlSP(
+    param, min_value, max_value, value_change_step,
+    enabled, on_value_changed, value_map, label_width, use_float_scaling, label_callback
+  )
+  return ListItemSP(title=title, description=description, action_item=action, icon=icon)
diff --git a/system/ui/sunnypilot/widgets/option_control.py b/system/ui/sunnypilot/widgets/option_control.py
new file mode 100644
index 00000000000000..91e9650ebd318f
--- /dev/null
+++ b/system/ui/sunnypilot/widgets/option_control.py
@@ -0,0 +1,165 @@
+import pyray as rl
+from collections.abc import Callable
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.sunnypilot.lib.styles import style
+from openpilot.system.ui.widgets.list_view import ItemAction
+
+# Dimensions and styling constants
+BUTTON_WIDTH = 150
+BUTTON_HEIGHT = 150
+LABEL_WIDTH = 350
+BUTTON_SPACING = 25
+VALUE_FONT_SIZE = 50
+BUTTON_FONT_SIZE = 60
+CONTAINER_PADDING = 20
+
+
+class OptionControlSP(ItemAction):
+  def __init__(self, param: str, min_value: int, max_value: int,
+               value_change_step: int = 1, enabled: bool | Callable[[], bool] = True,
+               on_value_changed: Callable[[int], None] | None = None,
+               value_map: dict[int, int] | None = None,
+               label_width: int = LABEL_WIDTH,
+               use_float_scaling: bool = False, label_callback: Callable[[int], str] | None = None):
+
+    super().__init__(enabled=enabled)
+    self.params = Params()
+    self.param_key = param
+    self.min_value = min_value
+    self.max_value = max_value
+    self.value_change_step = value_change_step
+    self._minus_enabled = enabled
+    self._plus_enabled = enabled
+    self.on_value_changed = on_value_changed
+    self.value_map = value_map
+    self.label_width = label_width
+    self.use_float_scaling = use_float_scaling
+    self.current_value = min_value
+    self.label_callback = label_callback
+    if self.value_map:
+      for key in self.value_map:
+        if self.value_map[key] == self.params.get(self.param_key, return_default=True):
+          self.current_value = int(key)
+          break
+    else:
+      self.current_value = int(self.params.get(self.param_key, return_default=True))
+
+    # Initialize font and button styles
+    self._font = gui_app.font(FontWeight.MEDIUM)
+
+    # Layout rectangles for components
+    self.minus_btn_rect = rl.Rectangle(0, 0, 0, 0)
+    self.plus_btn_rect = rl.Rectangle(0, 0, 0, 0)
+
+  def get_value(self) -> int:
+    """Get the current value of the control"""
+    return self.current_value
+
+  def set_value(self, value: int):
+    """Set the control to a specific value"""
+    if self.min_value <= value <= self.max_value:
+      self.current_value = value
+      if self.value_map:
+        self.params.put(self.param_key, self.value_map[value])
+      else:
+        if self.use_float_scaling:
+          self.params.put(self.param_key, value / 100.0)
+        else:
+          self.params.put(self.param_key, value)
+      if self.on_value_changed:
+        self.on_value_changed(value)
+
+  def get_displayed_value(self) -> str:
+    """Get the displayed value, handling value mapping if present"""
+    value = self.current_value
+
+    if callable(self.label_callback):
+      if self.value_map:
+        return self.label_callback(self.value_map[value])
+      else:
+        return self.label_callback(value)
+
+    if self.value_map:
+      # Use the value map to get the display string
+      if value in self.value_map:
+        return str(self.value_map[value])  # Return the display string
+
+    # If using float scaling, format as float
+    if self.use_float_scaling:
+      return f"{value / 100.0:.2f}"
+
+    return str(value)
+
+  def _render(self, rect: rl.Rectangle):
+    if self._rect.width == 0 or self._rect.height == 0 or not self.is_visible:
+      return
+
+    control_width = (BUTTON_WIDTH * 2) + self.label_width + (BUTTON_SPACING * 2)
+    total_width = control_width + (CONTAINER_PADDING * 2)
+    self._rect.width = total_width
+
+    start_x = self._rect.x + self._rect.width - control_width - (CONTAINER_PADDING * 2)
+    component_y = rect.y + (rect.height - BUTTON_HEIGHT) / 2
+    self.container_rect = rl.Rectangle(start_x, component_y, total_width, BUTTON_HEIGHT)
+
+    # background
+    rl.draw_rectangle_rounded(self.container_rect, 0.2, 20, style.OPTION_CONTROL_CONTAINER_BG)
+
+    # minus button
+    self.minus_btn_rect = rl.Rectangle(self.container_rect.x, component_y, BUTTON_WIDTH + CONTAINER_PADDING,
+                                       BUTTON_HEIGHT)
+
+    # label
+    label_x = self.container_rect.x + CONTAINER_PADDING + BUTTON_WIDTH + BUTTON_SPACING
+    self.label_rect = rl.Rectangle(label_x, component_y, self.label_width, BUTTON_HEIGHT)
+
+    # plus button
+    plus_x = label_x + self.label_width + BUTTON_SPACING
+    self.plus_btn_rect = rl.Rectangle(plus_x, component_y, BUTTON_WIDTH + CONTAINER_PADDING, BUTTON_HEIGHT)
+
+    self._minus_enabled = self.enabled and self.current_value > self.min_value
+    self._plus_enabled = self.enabled and self.current_value < self.max_value
+
+    self._render_button(self.minus_btn_rect, "-", self._minus_enabled)
+    self._render_value_label()
+    self._render_button(self.plus_btn_rect, "+", self._plus_enabled)
+
+  def _render_button(self, rect: rl.Rectangle, text: str, enabled: bool):
+    mouse_pos = rl.get_mouse_position()
+    is_pressed = (rl.check_collision_point_rec(mouse_pos, rect) and
+                  self._touch_valid() and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT))
+
+    text_color = style.ITEM_TEXT_COLOR if enabled else style.ITEM_DISABLED_TEXT_COLOR
+
+    # highlight
+    if enabled and is_pressed:
+      rl.draw_rectangle_rounded(rect, 0.2, 20, style.OPTION_CONTROL_BTN_PRESSED)
+
+    # button text
+    text_size = measure_text_cached(self._font, text, BUTTON_FONT_SIZE)
+    text_x = rect.x + (rect.width - text_size.x) / 2
+    text_y = rect.y + (rect.height - text_size.y) / 2
+    rl.draw_text_ex(self._font, text, rl.Vector2(text_x, text_y), BUTTON_FONT_SIZE, 0, text_color)
+
+  def _render_value_label(self):
+    """Render the current value label"""
+    text = self.get_displayed_value()
+    text_color = style.ITEM_TEXT_COLOR if self.enabled else style.ITEM_DISABLED_TEXT_COLOR
+
+    text_size = measure_text_cached(self._font, text, VALUE_FONT_SIZE)
+    text_x = self.label_rect.x + (self.label_rect.width - text_size.x) / 2
+    text_y = self.label_rect.y + (self.label_rect.height - text_size.y) / 2
+
+    rl.draw_text_ex(self._font, text, rl.Vector2(text_x, text_y), VALUE_FONT_SIZE, 0, text_color)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    if self._minus_enabled and rl.check_collision_point_rec(mouse_pos, self.minus_btn_rect):
+      self.current_value -= self.value_change_step
+      self.current_value = max(self.min_value, self.current_value)
+    elif self._plus_enabled and rl.check_collision_point_rec(mouse_pos, self.plus_btn_rect):
+      self.current_value += self.value_change_step
+      self.current_value = min(self.max_value, self.current_value)
+
+    self.set_value(self.current_value)

From bee820f8ed5af568dd0ae1ba584a86c62dd6237e Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 29 Nov 2025 00:23:03 -0800
Subject: [PATCH 0599/1434] ui: `InputDialogSP` (#1484)

* dialog txt

* compare vs what used to be done before InputDialog

* rm

* final

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 system/ui/sunnypilot/widgets/__init__.py     |  0
 system/ui/sunnypilot/widgets/input_dialog.py | 41 ++++++++++++++++++++
 2 files changed, 41 insertions(+)
 create mode 100644 system/ui/sunnypilot/widgets/__init__.py
 create mode 100644 system/ui/sunnypilot/widgets/input_dialog.py

diff --git a/system/ui/sunnypilot/widgets/__init__.py b/system/ui/sunnypilot/widgets/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/system/ui/sunnypilot/widgets/input_dialog.py b/system/ui/sunnypilot/widgets/input_dialog.py
new file mode 100644
index 00000000000000..88ab0b1a662e2a
--- /dev/null
+++ b/system/ui/sunnypilot/widgets/input_dialog.py
@@ -0,0 +1,41 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from collections.abc import Callable
+
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.keyboard import Keyboard
+
+
+class InputDialogSP:
+  def __init__(self, title: str, sub_title: str | None = None, current_text: str = "", param: str | None = None,
+               callback: Callable[[DialogResult, str], None] | None = None,
+               min_text_size: int = 0, password_mode: bool = False):
+    self.callback = callback
+    self.current_text = current_text
+    self.keyboard = Keyboard(max_text_size=255, min_text_size=min_text_size, password_mode=password_mode)
+    self.param = param
+    self._params = Params()
+    self.sub_title = sub_title
+    self.title = title
+
+  def show(self):
+    self.keyboard.reset(min_text_size=self.keyboard._min_text_size)
+    self.keyboard.set_title(tr(self.title), *(tr(self.sub_title),) if self.sub_title else ())
+    self.keyboard.set_text(self.current_text)
+
+    def internal_callback(result: DialogResult):
+      text = self.keyboard.text if result == DialogResult.CONFIRM else ""
+      if result == DialogResult.CONFIRM:
+        if self.param:
+          self._params.put(self.param, text)
+      if self.callback:
+        self.callback(result, text)
+
+    gui_app.set_modal_overlay(self.keyboard, internal_callback)

From 3e29a0ccfead6ef5e08584e0a5a37911543026db Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 29 Nov 2025 00:30:18 -0800
Subject: [PATCH 0600/1434] ui: `ProgressBarAction` (#1492)

* raylib: progress bar

* freaking test dir

* easier to see

* smoother updating

* final

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 system/ui/sunnypilot/widgets/progress_bar.py | 57 ++++++++++++++++++++
 1 file changed, 57 insertions(+)
 create mode 100644 system/ui/sunnypilot/widgets/progress_bar.py

diff --git a/system/ui/sunnypilot/widgets/progress_bar.py b/system/ui/sunnypilot/widgets/progress_bar.py
new file mode 100644
index 00000000000000..76f424341101f9
--- /dev/null
+++ b/system/ui/sunnypilot/widgets/progress_bar.py
@@ -0,0 +1,57 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets.list_view import ListItem, ItemAction
+
+
+class ProgressBarAction(ItemAction):
+  def __init__(self, width=600):
+    super().__init__(width=width)
+    self.progress = 0.0
+    self.text = ""
+    self.show_progress = False
+    self.text_color = rl.GRAY
+    self._font = gui_app.font(FontWeight.NORMAL)
+
+  def update(self, progress, text, show_progress=False, text_color=rl.GRAY):
+    self.progress = progress
+    self.text = text
+    self.show_progress = show_progress
+    self.text_color = text_color
+
+  def _render(self, rect: rl.Rectangle):
+    font_size = 40
+    text_size = measure_text_cached(self._font, self.text, font_size)
+    padding = 30
+    bar_width = text_size.x + 2 * padding
+    text_x = (bar_width - text_size.x) / 2
+
+    if self.show_progress and len(parts := self.text.split(' - ', 1)) == 2:
+      prefix = parts[0]
+      max_prefix_w = measure_text_cached(self._font, "100%", font_size).x
+      current_prefix_w = measure_text_cached(self._font, prefix, font_size).x
+
+      bar_width = (text_size.x - current_prefix_w + max_prefix_w) + 2 * padding
+      text_x = padding + (max_prefix_w - current_prefix_w)
+
+    bar_height = 60
+    bar_rect = rl.Rectangle(rect.x + rect.width - bar_width, rect.y + (rect.height - bar_height) / 2, bar_width, bar_height)
+
+    if self.show_progress:
+      inner_rect = rl.Rectangle(bar_rect.x + 4, bar_rect.y + 4, bar_rect.width - 8, bar_rect.height - 8)
+      if inner_rect.width > 0:
+        fill_width = max(0, min(inner_rect.width, inner_rect.width * (self.progress / 100.0)))
+        rl.draw_rectangle_rounded(rl.Rectangle(inner_rect.x, inner_rect.y, fill_width, inner_rect.height), 0.2, 10, rl.Color(30, 121, 232, 255))
+
+    rl.draw_text_ex(self._font, self.text, rl.Vector2(bar_rect.x + text_x, bar_rect.y + (bar_height - text_size.y) / 2), font_size, 0, self.text_color)
+
+
+def progress_item(title):
+  action = ProgressBarAction()
+  return ListItem(title=title, action_item=action)

From a4454721ea604d5dd1e4c53995ac4130d1b8034c Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 29 Nov 2025 09:52:01 +0100
Subject: [PATCH 0601/1434] sunnylink: dynamic param metadata (#1522)

* feat(params): add support for parameter metadata retrieval

- Introduced `getKeyMetadata` method for accessing metadata associated with params.
- Enhanced `getParamsAllKeysV1` to include metadata parsing and optional dynamic enum generation.
- Extended unit tests to verify metadata parsing, enum mapping, and edge cases.

* Revert "feat(params): add support for parameter metadata retrieval"

This reverts commit 865b695ff966bfab7dab4d211fb2d91f06fe92db.

* update: integrate params metadata management and unit tests

- Added `update_params_metadata.py` to manage and update parameters metadata.
- Enhanced `getParamsAllKeysV1` to include metadata for params.
- Created comprehensive tests (`test_params_metadata.py`, `test_params_sync.py`) to validate metadata integrity and params consistency.

* update: improve params metadata readability and enhance enums

- Renamed params titles for clarity and consistency.
- Added enum options and mappings to selected params for better usability.

* update: enhance params metadata with improved enum structures

- Replaced plain enum lists with detailed objects (`value`, `label`) for clarity.
- Standardized parameter options for consistency across metadata.

* update: add validation constraints to params metadata

- Introduced `min`, `max`, and `step` attributes for improved parameter range validation.
- Enhances user input handling and ensures consistency in metadata.

* lint

* more lint stuff and permissions

* does this suffice?

* more lint

* update: refine params type hinting and remove unused shebang

- Adjusted type annotation in `params_dict` for better compatibility.
- Removed unnecessary shebang from `test_params_metadata.py`.

* update: expand test coverage for params metadata validation

- Added detailed test cases to ensure metadata consistency (`options`, `constraints`, `titles`).
- Validates API response alignment with `params_metadata.json`.

* the finals

* names

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/sunnylink/athena/sunnylinkd.py     |   32 +-
 sunnypilot/sunnylink/params_metadata.json     | 1100 +++++++++++++++++
 .../sunnylink/tests/test_params_metadata.py   |   86 ++
 .../sunnylink/tests/test_params_sync.py       |  202 +++
 .../sunnylink/tools/update_params_metadata.py |   56 +
 5 files changed, 1469 insertions(+), 7 deletions(-)
 create mode 100644 sunnypilot/sunnylink/params_metadata.json
 create mode 100644 sunnypilot/sunnylink/tests/test_params_metadata.py
 create mode 100644 sunnypilot/sunnylink/tests/test_params_sync.py
 create mode 100755 sunnypilot/sunnylink/tools/update_params_metadata.py

diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index 1e3713c7efa5e2..a57b6ef55fcbd4 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -1,5 +1,10 @@
 #!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
 from __future__ import annotations
 
 import base64
@@ -32,9 +37,11 @@
 SUNNYLINK_LOG_ATTR_NAME = "user.sunny.upload"
 SUNNYLINK_RECONNECT_TIMEOUT_S = 70  # FYI changing this will also would require a change on sidebar.cc
 DISALLOW_LOG_UPLOAD = threading.Event()
+METADATA_PATH = os.path.join(os.path.dirname(os.path.dirname(os.path.abspath(__file__))), "params_metadata.json")
 
 params = Params()
 
+
 def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
   cloudlog.info("sunnylinkd.handle_long_poll started")
   sm = messaging.SubMaster(['deviceState'])
@@ -180,16 +187,30 @@ def getParamsAllKeys() -> list[str]:
 
 @dispatcher.add_method
 def getParamsAllKeysV1() -> dict[str, str]:
+  try:
+    with open(METADATA_PATH) as f:
+      metadata = json.load(f)
+  except Exception:
+    cloudlog.exception("sunnylinkd.getParamsAllKeysV1.exception")
+    metadata = {}
+
   available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
 
-  params_dict: dict[str, list[dict[str, str | bool | int | None]]] = {"params": []}
+  params_dict: dict[str, list[dict[str, str | bool | int | object | dict | None]]] = {"params": []}
   for key in available_keys:
     value = get_param_as_byte(key, get_default=True)
-    params_dict["params"].append({
+
+    param_entry = {
       "key": key,
       "type": int(params.get_type(key).value),
       "default_value": base64.b64encode(value).decode('utf-8') if value else None,
-    })
+    }
+
+    if key in metadata:
+      meta_copy = metadata[key].copy()
+      param_entry["_extra"] = meta_copy
+
+    params_dict["params"].append(param_entry)
 
   return {"keys": json.dumps(params_dict.get("params", []))}
 
@@ -238,10 +259,7 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local
 
   cloudlog.debug("athena.startLocalProxy.starting")
   ws = create_connection(
-    remote_ws_uri,
-    header={"Authorization": f"Bearer {sunnylink_api.get_token()}"},
-    enable_multithread=True,
-    sslopt={"cert_reqs": ssl.CERT_NONE}
+    remote_ws_uri, header={"Authorization": f"Bearer {sunnylink_api.get_token()}"}, enable_multithread=True, sslopt={"cert_reqs": ssl.CERT_NONE}
   )
 
   return start_local_proxy_shim(global_end_event, local_port, ws)
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
new file mode 100644
index 00000000000000..83ec3c7af820ed
--- /dev/null
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -0,0 +1,1100 @@
+{
+  "AccessToken": {
+    "title": "AccessTokenIsNice",
+    "description": ""
+  },
+  "AdbEnabled": {
+    "title": "Enable ADB",
+    "description": ""
+  },
+  "AlphaLongitudinalEnabled": {
+    "title": "Alpha Longitudinal",
+    "description": ""
+  },
+  "AlwaysOnDM": {
+    "title": "Always-on Driver Monitor",
+    "description": ""
+  },
+  "ApiCache_Device": {
+    "title": "Api Cache  Device",
+    "description": ""
+  },
+  "ApiCache_DriveStats": {
+    "title": "Api Cache  Drive Stats",
+    "description": ""
+  },
+  "ApiCache_FirehoseStats": {
+    "title": "Firehose Mode Stats",
+    "description": ""
+  },
+  "AssistNowToken": {
+    "title": "Assist Now Token",
+    "description": ""
+  },
+  "AthenadPid": {
+    "title": "Athenad Pid",
+    "description": ""
+  },
+  "AthenadRecentlyViewedRoutes": {
+    "title": "Athenad Recently Viewed Routes",
+    "description": ""
+  },
+  "AthenadUploadQueue": {
+    "title": "Athenad Upload Queue",
+    "description": ""
+  },
+  "AutoLaneChangeBsmDelay": {
+    "title": "Auto Lane Change BSM Delay",
+    "description": ""
+  },
+  "AutoLaneChangeTimer": {
+    "title": "Auto Lane Change Timer",
+    "description": "",
+    "options": [
+      {
+        "value": -1,
+        "label": "Off"
+      },
+      {
+        "value": 0,
+        "label": "Nudge"
+      },
+      {
+        "value": 1,
+        "label": "Nudgeless"
+      },
+      {
+        "value": 2,
+        "label": "0.5s"
+      },
+      {
+        "value": 3,
+        "label": "1s"
+      },
+      {
+        "value": 4,
+        "label": "2s"
+      },
+      {
+        "value": 5,
+        "label": "3s"
+      }
+    ]
+  },
+  "BackupManager_CreateBackup": {
+    "title": "Create Backup",
+    "description": ""
+  },
+  "BackupManager_RestoreVersion": {
+    "title": "Restore Version",
+    "description": ""
+  },
+  "BlindSpot": {
+    "title": "Blind Spot Detection",
+    "description": ""
+  },
+  "BlinkerMinLateralControlSpeed": {
+    "title": "Blinker Min Lateral Control Speed",
+    "description": ""
+  },
+  "BlinkerPauseLateralControl": {
+    "title": "Blinker Pause Lateral Control",
+    "description": ""
+  },
+  "BootCount": {
+    "title": "Boot Count",
+    "description": ""
+  },
+  "Brightness": {
+    "title": "Screen Brightness",
+    "description": ""
+  },
+  "CalibrationParams": {
+    "title": "Calibration Params",
+    "description": ""
+  },
+  "CameraDebugExpGain": {
+    "title": "Camera Debug Exp Gain",
+    "description": ""
+  },
+  "CameraDebugExpTime": {
+    "title": "Camera Debug Exp Time",
+    "description": ""
+  },
+  "CarBatteryCapacity": {
+    "title": "Car Battery Capacity",
+    "description": ""
+  },
+  "CarParams": {
+    "title": "Car Params",
+    "description": ""
+  },
+  "CarParamsCache": {
+    "title": "Car Params Cache",
+    "description": ""
+  },
+  "CarParamsPersistent": {
+    "title": "Car Params Persistent",
+    "description": ""
+  },
+  "CarParamsPrevRoute": {
+    "title": "Car Params Prev Route",
+    "description": ""
+  },
+  "CarParamsSP": {
+    "title": "Car Params Sp",
+    "description": ""
+  },
+  "CarParamsSPCache": {
+    "title": "Car Params Sp Cache",
+    "description": ""
+  },
+  "CarParamsSPPersistent": {
+    "title": "Car Params Sp Persistent",
+    "description": ""
+  },
+  "CarPlatformBundle": {
+    "title": "Car Platform Bundle",
+    "description": ""
+  },
+  "ChevronInfo": {
+    "title": "Chevron Info",
+    "description": ""
+  },
+  "CompletedTrainingVersion": {
+    "title": "Completed Training Version",
+    "description": ""
+  },
+  "ControlsReady": {
+    "title": "Controls Ready",
+    "description": ""
+  },
+  "CurrentBootlog": {
+    "title": "Current Bootlog",
+    "description": ""
+  },
+  "CurrentRoute": {
+    "title": "Current Route",
+    "description": ""
+  },
+  "CustomAccIncrementsEnabled": {
+    "title": "Custom ACC Increments Enabled",
+    "description": ""
+  },
+  "CustomAccLongPressIncrement": {
+    "title": "Custom ACC Long Press Increment",
+    "description": "",
+    "min": 1,
+    "max": 10,
+    "step": 1
+  },
+  "CustomAccShortPressIncrement": {
+    "title": "Custom ACC Short Press Increment",
+    "description": "",
+    "min": 1,
+    "max": 10,
+    "step": 1
+  },
+  "CustomTorqueParams": {
+    "title": "Custom Torque Params",
+    "description": ""
+  },
+  "DevUIInfo": {
+    "title": "Developer UI Info",
+    "description": ""
+  },
+  "DeviceBootMode": {
+    "title": "Device Boot Mode",
+    "description": "",
+    "options": [
+      {
+        "value": 0,
+        "label": "Standard"
+      },
+      {
+        "value": 1,
+        "label": "Always Offroad"
+      }
+    ]
+  },
+  "DisableLogging": {
+    "title": "Disable Logging",
+    "description": ""
+  },
+  "DisablePowerDown": {
+    "title": "Disable Power Down",
+    "description": ""
+  },
+  "DisableUpdates": {
+    "title": "Disable Updates",
+    "description": ""
+  },
+  "DisengageOnAccelerator": {
+    "title": "Disengage On Accelerator",
+    "description": ""
+  },
+  "DoReboot": {
+    "title": "Reboot",
+    "description": ""
+  },
+  "DoShutdown": {
+    "title": "Power Off",
+    "description": ""
+  },
+  "DoUninstall": {
+    "title": "Uninstall sunnypilot",
+    "description": ""
+  },
+  "DongleId": {
+    "title": "Device ID",
+    "description": ""
+  },
+  "DriverTooDistracted": {
+    "title": "Driver Too Distracted",
+    "description": ""
+  },
+  "DynamicExperimentalControl": {
+    "title": "Dynamic Experimental Control",
+    "description": ""
+  },
+  "EnableCopyparty": {
+    "title": "Enable Copyparty",
+    "description": ""
+  },
+  "EnableGithubRunner": {
+    "title": "Enable GitHub Runner",
+    "description": ""
+  },
+  "EnableSunnylinkUploader": {
+    "title": "Enable sunnylink Uploader",
+    "description": ""
+  },
+  "EnforceTorqueControl": {
+    "title": "Enforce Torque Control",
+    "description": ""
+  },
+  "ExperimentalMode": {
+    "title": "Experimental Mode",
+    "description": ""
+  },
+  "ExperimentalModeConfirmed": {
+    "title": "Experimental Mode Confirmed",
+    "description": ""
+  },
+  "FirmwareQueryDone": {
+    "title": "Firmware Query Done",
+    "description": ""
+  },
+  "ForcePowerDown": {
+    "title": "Force Power Down",
+    "description": ""
+  },
+  "GitBranch": {
+    "title": "Git Branch",
+    "description": ""
+  },
+  "GitCommit": {
+    "title": "Git Commit",
+    "description": ""
+  },
+  "GitCommitDate": {
+    "title": "Git Commit Date",
+    "description": ""
+  },
+  "GitDiff": {
+    "title": "Git Diff",
+    "description": ""
+  },
+  "GitRemote": {
+    "title": "Git Remote",
+    "description": ""
+  },
+  "GithubRunnerSufficientVoltage": {
+    "title": "Github Runner Sufficient Voltage",
+    "description": ""
+  },
+  "GithubSshKeys": {
+    "title": "Github Ssh Keys",
+    "description": ""
+  },
+  "GithubUsername": {
+    "title": "GitHub Username",
+    "description": ""
+  },
+  "GreenLightAlert": {
+    "title": "Green Light Alert",
+    "description": ""
+  },
+  "GsmApn": {
+    "title": "GSM APN",
+    "description": ""
+  },
+  "GsmMetered": {
+    "title": "Gsm Metered",
+    "description": ""
+  },
+  "GsmRoaming": {
+    "title": "GSM Roaming",
+    "description": ""
+  },
+  "HardwareSerial": {
+    "title": "Serial Number",
+    "description": ""
+  },
+  "HasAcceptedTerms": {
+    "title": "Has Accepted Terms",
+    "description": ""
+  },
+  "HideVEgoUI": {
+    "title": "Hide vEgo UI",
+    "description": ""
+  },
+  "HyundaiLongitudinalTuning": {
+    "title": "Hyundai Longitudinal Tuning",
+    "description": "",
+    "options": [
+      {
+        "value": 0,
+        "label": "Off"
+      },
+      {
+        "value": 1,
+        "label": "Dynamic"
+      },
+      {
+        "value": 2,
+        "label": "Predictive"
+      }
+    ]
+  },
+  "InstallDate": {
+    "title": "Install Date",
+    "description": ""
+  },
+  "IntelligentCruiseButtonManagement": {
+    "title": "Intelligent Cruise Button Management",
+    "description": ""
+  },
+  "InteractivityTimeout": {
+    "title": "Interactivity Timeout",
+    "description": ""
+  },
+  "IsDevelopmentBranch": {
+    "title": "Is Development Branch",
+    "description": ""
+  },
+  "IsDriverViewEnabled": {
+    "title": "Is Driver View Enabled",
+    "description": ""
+  },
+  "IsEngaged": {
+    "title": "Is Engaged",
+    "description": ""
+  },
+  "IsLdwEnabled": {
+    "title": "Lane Departure Warnings",
+    "description": ""
+  },
+  "IsMetric": {
+    "title": "Use Metric Units",
+    "description": ""
+  },
+  "IsOffroad": {
+    "title": "Is Offroad",
+    "description": ""
+  },
+  "IsOnroad": {
+    "title": "Is Onroad",
+    "description": ""
+  },
+  "IsReleaseBranch": {
+    "title": "Is Release Branch",
+    "description": ""
+  },
+  "IsReleaseSpBranch": {
+    "title": "Is Release Sp Branch",
+    "description": ""
+  },
+  "IsRhdDetected": {
+    "title": "Is Rhd Detected",
+    "description": ""
+  },
+  "IsTakingSnapshot": {
+    "title": "Is Taking Snapshot",
+    "description": ""
+  },
+  "IsTestedBranch": {
+    "title": "Is Tested Branch",
+    "description": ""
+  },
+  "JoystickDebugMode": {
+    "title": "Joystick Debug Mode",
+    "description": ""
+  },
+  "LagdToggle": {
+    "title": "LaGD Toggle",
+    "description": ""
+  },
+  "LagdToggleDelay": {
+    "title": "LaGD Toggle Delay",
+    "description": ""
+  },
+  "LagdValueCache": {
+    "title": "LaGD Value Cache",
+    "description": ""
+  },
+  "LaneTurnDesire": {
+    "title": "Lane Turn Desire",
+    "description": ""
+  },
+  "LaneTurnValue": {
+    "title": "Lane Turn Value",
+    "description": "",
+    "min": 0,
+    "max": 20,
+    "step": 1
+  },
+  "LanguageSetting": {
+    "title": "Language",
+    "description": ""
+  },
+  "LastAthenaPingTime": {
+    "title": "Last Athena Ping Time",
+    "description": ""
+  },
+  "LastGPSPosition": {
+    "title": "Last Gps Position",
+    "description": ""
+  },
+  "LastGPSPositionLLK": {
+    "title": "Last GPS Position LLK",
+    "description": ""
+  },
+  "LastManagerExitReason": {
+    "title": "Last Manager Exit Reason",
+    "description": ""
+  },
+  "LastOffroadStatusPacket": {
+    "title": "Last Offroad Status Packet",
+    "description": ""
+  },
+  "LastPowerDropDetected": {
+    "title": "Last Power Drop Detected",
+    "description": ""
+  },
+  "LastSunnylinkPingTime": {
+    "title": "Last sunnylink Ping Time",
+    "description": ""
+  },
+  "LastUpdateException": {
+    "title": "Last Update Exception",
+    "description": ""
+  },
+  "LastUpdateRouteCount": {
+    "title": "Last Update Route Count",
+    "description": ""
+  },
+  "LastUpdateTime": {
+    "title": "Last Update Time",
+    "description": ""
+  },
+  "LastUpdateUptimeOnroad": {
+    "title": "Last Update Uptime Onroad",
+    "description": ""
+  },
+  "LeadDepartAlert": {
+    "title": "Lead Depart Alert",
+    "description": ""
+  },
+  "LiveDelay": {
+    "title": "Live Delay",
+    "description": ""
+  },
+  "LiveParameters": {
+    "title": "Live Parameters",
+    "description": ""
+  },
+  "LiveParametersV2": {
+    "title": "Live Parameters V2",
+    "description": ""
+  },
+  "LiveTorqueParameters": {
+    "title": "Live Torque Parameters",
+    "description": ""
+  },
+  "LiveTorqueParamsRelaxedToggle": {
+    "title": "Live Torque Params Relaxed Toggle",
+    "description": ""
+  },
+  "LiveTorqueParamsToggle": {
+    "title": "Live Torque Params Toggle",
+    "description": ""
+  },
+  "LocationFilterInitialState": {
+    "title": "Location Filter Initial State",
+    "description": ""
+  },
+  "LongitudinalManeuverMode": {
+    "title": "Longitudinal Maneuver Mode",
+    "description": ""
+  },
+  "LongitudinalPersonality": {
+    "title": "Driving Personality",
+    "description": "",
+    "options": [
+      {
+        "value": 0,
+        "label": "Aggressive"
+      },
+      {
+        "value": 1,
+        "label": "Standard"
+      },
+      {
+        "value": 2,
+        "label": "Relaxed"
+      }
+    ]
+  },
+  "Mads": {
+    "title": "MADS Enabled",
+    "description": ""
+  },
+  "MadsMainCruiseAllowed": {
+    "title": "MADS Main Cruise Allowed",
+    "description": ""
+  },
+  "MadsSteeringMode": {
+    "title": "MADS Steering Mode",
+    "description": "",
+    "options": [
+      {
+        "value": 0,
+        "label": "Remain Active"
+      },
+      {
+        "value": 1,
+        "label": "Pause"
+      },
+      {
+        "value": 2,
+        "label": "Disengage"
+      }
+    ]
+  },
+  "MadsUnifiedEngagementMode": {
+    "title": "MADS Unified Engagement Mode",
+    "description": ""
+  },
+  "MapAdvisorySpeedLimit": {
+    "title": "Map Advisory Speed Limit",
+    "description": ""
+  },
+  "MapSpeedLimit": {
+    "title": "Map Speed Limit",
+    "description": ""
+  },
+  "MapTargetVelocities": {
+    "title": "Map Target Velocities",
+    "description": ""
+  },
+  "MapdVersion": {
+    "title": "Mapd Version",
+    "description": ""
+  },
+  "MaxTimeOffroad": {
+    "title": "Max Time Offroad",
+    "description": ""
+  },
+  "ModelManager_ActiveBundle": {
+    "title": "Model Manager Active Bundle",
+    "description": ""
+  },
+  "ModelManager_ClearCache": {
+    "title": "Model Manager Clear Cache",
+    "description": ""
+  },
+  "ModelManager_DownloadIndex": {
+    "title": "Model Manager Download Index",
+    "description": ""
+  },
+  "ModelManager_Favs": {
+    "title": "Model Manager Favorites",
+    "description": ""
+  },
+  "ModelManager_LastSyncTime": {
+    "title": "Model Manager Last Sync Time",
+    "description": ""
+  },
+  "ModelManager_ModelsCache": {
+    "title": "Model Manager Models Cache",
+    "description": ""
+  },
+  "ModelRunnerTypeCache": {
+    "title": "Model Runner Type Cache",
+    "description": ""
+  },
+  "NetworkMetered": {
+    "title": "Network Usage",
+    "description": "",
+    "options": [
+      {
+        "value": 0,
+        "label": "Default"
+      },
+      {
+        "value": 1,
+        "label": "Metered"
+      },
+      {
+        "value": 2,
+        "label": "Unmetered"
+      }
+    ]
+  },
+  "NeuralNetworkLateralControl": {
+    "title": "Neural Network Lateral Control",
+    "description": ""
+  },
+  "NextMapSpeedLimit": {
+    "title": "Next Map Speed Limit",
+    "description": ""
+  },
+  "OSMDownloadBounds": {
+    "title": "OSM Download Bounds",
+    "description": ""
+  },
+  "OSMDownloadLocations": {
+    "title": "OSM Download Locations",
+    "description": ""
+  },
+  "OSMDownloadProgress": {
+    "title": "OSM Download Progress",
+    "description": ""
+  },
+  "ObdMultiplexingChanged": {
+    "title": "Obd Multiplexing Changed",
+    "description": ""
+  },
+  "ObdMultiplexingEnabled": {
+    "title": "Obd Multiplexing Enabled",
+    "description": ""
+  },
+  "OffroadMode": {
+    "title": "Offroad Mode",
+    "description": ""
+  },
+  "Offroad_CarUnrecognized": {
+    "title": "Offroad Car Unrecognized",
+    "description": ""
+  },
+  "Offroad_ConnectivityNeeded": {
+    "title": "Offroad Connectivity Needed",
+    "description": ""
+  },
+  "Offroad_ConnectivityNeededPrompt": {
+    "title": "Offroad Connectivity Needed Prompt",
+    "description": ""
+  },
+  "Offroad_DriverMonitoringUncertain": {
+    "title": "Offroad Driver Monitoring Uncertain",
+    "description": ""
+  },
+  "Offroad_ExcessiveActuation": {
+    "title": "Offroad Excessive Actuation",
+    "description": ""
+  },
+  "Offroad_IsTakingSnapshot": {
+    "title": "Offroad Is Taking Snapshot",
+    "description": ""
+  },
+  "Offroad_NeosUpdate": {
+    "title": "Offroad Neos Update",
+    "description": ""
+  },
+  "Offroad_NoFirmware": {
+    "title": "Offroad No Firmware",
+    "description": ""
+  },
+  "Offroad_OSMUpdateRequired": {
+    "title": "Offroad OSM Update Required",
+    "description": ""
+  },
+  "Offroad_Recalibration": {
+    "title": "Offroad Recalibration",
+    "description": ""
+  },
+  "Offroad_TemperatureTooHigh": {
+    "title": "Offroad Temperature Too High",
+    "description": ""
+  },
+  "Offroad_TiciSupport": {
+    "title": "Offroad Tici Support",
+    "description": ""
+  },
+  "Offroad_UnregisteredHardware": {
+    "title": "Offroad Unregistered Hardware",
+    "description": ""
+  },
+  "Offroad_UpdateFailed": {
+    "title": "Offroad Update Failed",
+    "description": ""
+  },
+  "OnroadCycleRequested": {
+    "title": "Onroad Cycle Requested",
+    "description": ""
+  },
+  "OnroadScreenOffBrightness": {
+    "title": "Onroad Screen Off Brightness",
+    "description": "",
+    "min": 0,
+    "max": 100,
+    "step": 5
+  },
+  "OnroadScreenOffControl": {
+    "title": "Onroad Screen Off Control",
+    "description": ""
+  },
+  "OnroadScreenOffTimer": {
+    "title": "Onroad Screen Off Timer",
+    "description": "",
+    "min": 0,
+    "max": 60,
+    "step": 1
+  },
+  "OnroadUploads": {
+    "title": "Onroad Uploads",
+    "description": ""
+  },
+  "OpenpilotEnabledToggle": {
+    "title": "Enable sunnypilot",
+    "description": ""
+  },
+  "OsmDbUpdatesCheck": {
+    "title": "OSM DB Updates Check",
+    "description": ""
+  },
+  "OsmDownloadedDate": {
+    "title": "OSM Downloaded Date",
+    "description": ""
+  },
+  "OsmLocal": {
+    "title": "OSM Local",
+    "description": ""
+  },
+  "OsmLocationName": {
+    "title": "OSM Location Name",
+    "description": ""
+  },
+  "OsmLocationTitle": {
+    "title": "OSM Location Title",
+    "description": ""
+  },
+  "OsmLocationUrl": {
+    "title": "OSM Location URL",
+    "description": ""
+  },
+  "OsmStateName": {
+    "title": "OSM State Name",
+    "description": ""
+  },
+  "OsmStateTitle": {
+    "title": "OSM State Title",
+    "description": ""
+  },
+  "OsmWayTest": {
+    "title": "OSM Way Test",
+    "description": ""
+  },
+  "PandaHeartbeatLost": {
+    "title": "Panda Heartbeat Lost",
+    "description": ""
+  },
+  "PandaSignatures": {
+    "title": "Panda Signatures",
+    "description": ""
+  },
+  "PandaSomResetTriggered": {
+    "title": "Panda Som Reset Triggered",
+    "description": ""
+  },
+  "PrimeType": {
+    "title": "Prime Type",
+    "description": ""
+  },
+  "QuickBootToggle": {
+    "title": "Quick Boot",
+    "description": ""
+  },
+  "QuietMode": {
+    "title": "Quiet Mode",
+    "description": ""
+  },
+  "RainbowMode": {
+    "title": "Rainbow Mode",
+    "description": ""
+  },
+  "RecordAudio": {
+    "title": "Record & Upload Mic Audio",
+    "description": ""
+  },
+  "RecordAudioFeedback": {
+    "title": "Record Audio Feedback",
+    "description": ""
+  },
+  "RecordFront": {
+    "title": "Record & Upload Driver Camera",
+    "description": ""
+  },
+  "RecordFrontLock": {
+    "title": "Record Front Lock",
+    "description": ""
+  },
+  "RoadName": {
+    "title": "Road Name",
+    "description": ""
+  },
+  "RoadNameToggle": {
+    "title": "Road Name Toggle",
+    "description": ""
+  },
+  "RouteCount": {
+    "title": "Route Count",
+    "description": ""
+  },
+  "SecOCKey": {
+    "title": "Sec Oc Key",
+    "description": ""
+  },
+  "ShowAdvancedControls": {
+    "title": "Show Advanced Controls",
+    "description": ""
+  },
+  "ShowDebugInfo": {
+    "title": "UI Debug Mode",
+    "description": ""
+  },
+  "ShowTurnSignals": {
+    "title": "Show Turn Signals",
+    "description": ""
+  },
+  "SmartCruiseControlMap": {
+    "title": "Smart Cruise Control Map",
+    "description": ""
+  },
+  "SmartCruiseControlVision": {
+    "title": "Smart Cruise Control Vision",
+    "description": ""
+  },
+  "SnoozeUpdate": {
+    "title": "Snooze Update",
+    "description": ""
+  },
+  "SpeedLimitMode": {
+    "title": "Speed Limit Mode",
+    "description": "",
+    "options": [
+      {
+        "value": 0,
+        "label": "Off"
+      },
+      {
+        "value": 1,
+        "label": "Information"
+      },
+      {
+        "value": 2,
+        "label": "Warning"
+      },
+      {
+        "value": 3,
+        "label": "Assist"
+      }
+    ]
+  },
+  "SpeedLimitOffsetType": {
+    "title": "Speed Limit Offset Type",
+    "description": "",
+    "options": [
+      {
+        "value": 0,
+        "label": "Off"
+      },
+      {
+        "value": 1,
+        "label": "Fixed"
+      },
+      {
+        "value": 2,
+        "label": "Percentage"
+      }
+    ]
+  },
+  "SpeedLimitPolicy": {
+    "title": "Speed Limit Policy",
+    "description": "",
+    "options": [
+      {
+        "value": 0,
+        "label": "Car State Only"
+      },
+      {
+        "value": 1,
+        "label": "Map Data Only"
+      },
+      {
+        "value": 2,
+        "label": "Car State Priority"
+      },
+      {
+        "value": 3,
+        "label": "Map Data Priority"
+      },
+      {
+        "value": 4,
+        "label": "Combined"
+      }
+    ]
+  },
+  "SpeedLimitValueOffset": {
+    "title": "Speed Limit Value Offset",
+    "description": "",
+    "min": -30,
+    "max": 30,
+    "step": 1
+  },
+  "SshEnabled": {
+    "title": "Enable SSH",
+    "description": ""
+  },
+  "StandstillTimer": {
+    "title": "Standstill Timer",
+    "description": ""
+  },
+  "SubaruStopAndGo": {
+    "title": "Subaru Stop and Go",
+    "description": ""
+  },
+  "SubaruStopAndGoManualParkingBrake": {
+    "title": "Subaru Stop and Go Manual Parking Brake",
+    "description": ""
+  },
+  "SunnylinkCache_Roles": {
+    "title": "sunnylink Cache  Roles",
+    "description": ""
+  },
+  "SunnylinkCache_Users": {
+    "title": "sunnylink Cache  Users",
+    "description": ""
+  },
+  "SunnylinkDongleId": {
+    "title": "sunnylink Dongle ID",
+    "description": ""
+  },
+  "SunnylinkEnabled": {
+    "title": "sunnylink Enabled",
+    "description": ""
+  },
+  "SunnylinkTempFault": {
+    "title": "sunnylink Temp Fault",
+    "description": ""
+  },
+  "SunnylinkdPid": {
+    "title": "Sunnylinkd Pid",
+    "description": ""
+  },
+  "TermsVersion": {
+    "title": "Terms Version",
+    "description": ""
+  },
+  "TeslaCoopSteering": {
+    "title": "Tesla Coop Steering",
+    "description": ""
+  },
+  "TorqueParamsOverrideEnabled": {
+    "title": "Torque Params Override Enabled",
+    "description": ""
+  },
+  "TorqueParamsOverrideFriction": {
+    "title": "Torque Params Override Friction",
+    "description": "",
+    "min": 0.0,
+    "max": 1.0,
+    "step": 0.01
+  },
+  "TorqueParamsOverrideLatAccelFactor": {
+    "title": "Torque Params Override Lat Accel Factor",
+    "description": "",
+    "min": 0.1,
+    "max": 5.0,
+    "step": 0.1
+  },
+  "TrainingVersion": {
+    "title": "Training Version",
+    "description": ""
+  },
+  "TrueVEgoUI": {
+    "title": "True vEgo UI",
+    "description": ""
+  },
+  "UbloxAvailable": {
+    "title": "Ublox Available",
+    "description": ""
+  },
+  "UpdateAvailable": {
+    "title": "Update Available",
+    "description": ""
+  },
+  "UpdateFailedCount": {
+    "title": "Update Failed Count",
+    "description": ""
+  },
+  "UpdaterAvailableBranches": {
+    "title": "Updater Available Branches",
+    "description": ""
+  },
+  "UpdaterCurrentDescription": {
+    "title": "Updater Current Description",
+    "description": ""
+  },
+  "UpdaterCurrentReleaseNotes": {
+    "title": "Updater Current Release Notes",
+    "description": ""
+  },
+  "UpdaterFetchAvailable": {
+    "title": "Updater Fetch Available",
+    "description": ""
+  },
+  "UpdaterLastFetchTime": {
+    "title": "Updater Last Fetch Time",
+    "description": ""
+  },
+  "UpdaterNewDescription": {
+    "title": "Updater New Description",
+    "description": ""
+  },
+  "UpdaterNewReleaseNotes": {
+    "title": "Updater New Release Notes",
+    "description": ""
+  },
+  "UpdaterState": {
+    "title": "Updater State",
+    "description": ""
+  },
+  "UpdaterTargetBranch": {
+    "title": "Updater Target Branch",
+    "description": ""
+  },
+  "UptimeOffroad": {
+    "title": "Uptime Offroad",
+    "description": ""
+  },
+  "UptimeOnroad": {
+    "title": "Uptime Onroad",
+    "description": ""
+  },
+  "Version": {
+    "title": "openpilot Version",
+    "description": ""
+  }
+}
diff --git a/sunnypilot/sunnylink/tests/test_params_metadata.py b/sunnypilot/sunnylink/tests/test_params_metadata.py
new file mode 100644
index 00000000000000..f4f1fbc4b10e6d
--- /dev/null
+++ b/sunnypilot/sunnylink/tests/test_params_metadata.py
@@ -0,0 +1,86 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import json
+
+from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import getParamsAllKeysV1, METADATA_PATH
+
+
+def test_get_params_all_keys_v1():
+  """
+  Test the getParamsAllKeysV1 API endpoint.
+
+  Why:
+  This endpoint is used by the UI (and potentially external tools) to fetch the list of
+  available parameters along with their metadata (titles, descriptions, options, constraints).
+  We need to ensure it returns the correct structure and that the metadata from
+  params_metadata.json is correctly merged into the response.
+
+  Expected:
+  - The response should contain a "keys" field which is a JSON string of a list of parameters.
+  - Each parameter object should have "key", "type", "default_value", and optionally "_extra".
+  - The "_extra" field should contain the rich metadata (title, options, min/max, etc.) matching
+    the source of truth (params_metadata.json).
+  """
+  response = getParamsAllKeysV1()
+  assert "keys" in response
+
+  keys_json = response["keys"]
+  params_list = json.loads(keys_json)
+
+  assert isinstance(params_list, list)
+  assert len(params_list) > 0
+
+  # Check structure of first item
+  first_param = params_list[0]
+  assert "key" in first_param
+  assert "type" in first_param
+  assert "default_value" in first_param
+
+  if "_extra" in first_param:
+    assert isinstance(first_param["_extra"], dict)
+    assert "default" not in first_param["_extra"]
+    assert "type" not in first_param["_extra"]
+
+  # Load the source of truth
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  # Verify that the API response matches the metadata file for a few sample keys
+  # This ensures the plumbing is working without being brittle to content changes
+
+  # 1. Check a key that should have metadata
+  keys_with_metadata = [k for k in params_list if k["key"] in metadata]
+  assert len(keys_with_metadata) > 0, "No parameters found that match metadata keys"
+
+  for param in keys_with_metadata[:5]:  # Check first 5 matches
+    key = param["key"]
+    expected_meta = metadata[key]
+
+    assert "_extra" in param, f"Parameter {key} should have _extra field"
+    actual_meta = param["_extra"]
+
+    # Verify all fields in JSON are present in the API response
+    for meta_key, meta_val in expected_meta.items():
+      assert meta_key in actual_meta, f"Missing {meta_key} in API response for {key}"
+      assert actual_meta[meta_key] == meta_val, f"Mismatch for {key}.{meta_key}: expected {meta_val}, got {actual_meta[meta_key]}"
+
+  # 2. Check that we are correctly serving options if they exist
+  params_with_options = [k for k in keys_with_metadata if "options" in k.get("_extra", {})]
+  if params_with_options:
+    param = params_with_options[0]
+    key = param["key"]
+    assert isinstance(param["_extra"]["options"], list), f"Options for {key} should be a list"
+    assert param["_extra"]["options"] == metadata[key]["options"]
+
+  # 3. Check that we are correctly serving numeric constraints if they exist
+  params_with_constraints = [k for k in keys_with_metadata if "min" in k.get("_extra", {})]
+  if params_with_constraints:
+    param = params_with_constraints[0]
+    key = param["key"]
+    assert param["_extra"]["min"] == metadata[key]["min"]
+    assert param["_extra"]["max"] == metadata[key]["max"]
+    assert param["_extra"]["step"] == metadata[key]["step"]
diff --git a/sunnypilot/sunnylink/tests/test_params_sync.py b/sunnypilot/sunnylink/tests/test_params_sync.py
new file mode 100644
index 00000000000000..26bdca42d69649
--- /dev/null
+++ b/sunnypilot/sunnylink/tests/test_params_sync.py
@@ -0,0 +1,202 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import json
+import os
+import pytest
+
+from openpilot.common.params import Params
+from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import METADATA_PATH
+
+
+def test_metadata_json_exists():
+  """
+  Test that the params_metadata.json file exists at the expected path.
+
+  Why:
+  The metadata file is the source of truth for parameter descriptions, options, and constraints.
+  If it's missing, the UI will not be able to display rich information for parameters.
+
+  Expected:
+  The file should exist at sunnypilot/sunnylink/params_metadata.json.
+  """
+  assert os.path.exists(METADATA_PATH), f"Metadata file not found at {METADATA_PATH}"
+
+
+def test_metadata_json_valid():
+  """
+  Test that the params_metadata.json file contains valid JSON.
+
+  Why:
+  Invalid JSON will cause the metadata loading to fail, potentially crashing the UI or
+  resulting in missing metadata.
+
+  Expected:
+  The file content should be parseable as a JSON object (dictionary).
+  """
+  with open(METADATA_PATH) as f:
+    try:
+      data = json.load(f)
+    except json.JSONDecodeError:
+      pytest.fail("Metadata file is not valid JSON")
+
+    assert isinstance(data, dict), "Metadata root must be a dictionary"
+
+
+def test_all_params_have_metadata():
+  """
+  Test that every parameter in the codebase has a corresponding entry in params_metadata.json.
+
+  Why:
+  We want to ensure 100% coverage of parameter metadata. Any parameter added to the codebase
+  should also be documented in the metadata file.
+
+  Expected:
+  There should be no parameters in Params() that are missing from the metadata file.
+  If this fails, run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py'.
+  """
+  params = Params()
+  all_keys = [k.decode('utf-8') for k in params.all_keys()]
+
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  missing_keys = [key for key in all_keys if key not in metadata]
+
+  if missing_keys:
+    pytest.fail(
+      f"The following parameters are missing from metadata: {missing_keys}. "
+      + "Please run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py' to update."
+    )
+
+
+def test_metadata_keys_exist_in_params():
+  """
+  Test that all keys in params_metadata.json actually exist in the codebase.
+
+  Why:
+  We want to avoid stale metadata for parameters that have been removed or renamed.
+  This keeps the metadata file clean and relevant.
+
+  Expected:
+  There should be no keys in the metadata file that are not present in Params().
+  This prints a warning rather than failing, as it's less critical than missing metadata.
+  """
+  params = Params()
+  all_keys = {k.decode('utf-8') for k in params.all_keys()}
+
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  extra_keys = [key for key in metadata.keys() if key not in all_keys]
+
+  if extra_keys:
+    print(f"Warning: The following keys in metadata do not exist in Params: {extra_keys}")
+
+
+def test_no_default_titles():
+  """
+  Test that no parameter has a title that is identical to its key.
+
+  Why:
+  The default behavior of the update script is to set the title equal to the key.
+  We want to force developers to provide human-readable, descriptive titles for all parameters.
+
+  Expected:
+  No parameter metadata should have 'title' == 'key'.
+  """
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  default_title_keys = [key for key, meta in metadata.items() if meta.get("title") == key]
+
+  if default_title_keys:
+    pytest.fail(
+      f"The following parameters have default titles (title == key): {default_title_keys}. "
+      + "Please update 'params_metadata.json' with descriptive titles."
+    )
+
+
+def test_options_structure():
+  """
+  Test that the 'options' field in metadata follows the correct structure.
+
+  Why:
+  The UI expects 'options' to be a list of objects with 'value' and 'label' keys.
+  Incorrect structure will break the UI rendering for dropdowns/toggles.
+
+  Expected:
+  If 'options' is present, it must be a list of dicts, and each dict must have 'value' and 'label'.
+  """
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  for key, meta in metadata.items():
+    if "options" in meta:
+      options = meta["options"]
+      assert isinstance(options, list), f"Options for {key} must be a list"
+      for option in options:
+        assert isinstance(option, dict), f"Option in {key} must be a dictionary"
+        assert "value" in option, f"Option in {key} must have a 'value' key"
+        assert "label" in option, f"Option in {key} must have a 'label' key"
+
+
+def test_numeric_constraints():
+  """
+  Test that numeric parameters have valid 'min', 'max', and 'step' constraints.
+
+  Why:
+  The UI uses these constraints to validate user input and render sliders/steppers.
+  Missing or invalid constraints can lead to UI bugs or invalid parameter values.
+
+  Expected:
+  If any of min/max/step is present, ALL of them must be present.
+  They must be numbers (int/float), and min must be less than max.
+  """
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  for key, meta in metadata.items():
+    if "min" in meta or "max" in meta or "step" in meta:
+      assert "min" in meta, f"Numeric param {key} must have 'min'"
+      assert "max" in meta, f"Numeric param {key} must have 'max'"
+      assert "step" in meta, f"Numeric param {key} must have 'step'"
+
+      assert isinstance(meta["min"], (int, float)), f"Min for {key} must be number"
+      assert isinstance(meta["max"], (int, float)), f"Max for {key} must be number"
+      assert isinstance(meta["step"], (int, float)), f"Step for {key} must be number"
+      assert meta["min"] < meta["max"], f"Min must be less than max for {key}"
+
+
+def test_known_params_metadata():
+  """
+  Test specific known parameters to ensure they have the expected rich metadata.
+
+  Why:
+  This acts as a spot check to ensure that our rich metadata population logic is working correctly
+  and that critical parameters (like LongitudinalPersonality) have their options and constraints preserved.
+
+  Expected:
+  'LongitudinalPersonality' should have 3 options (Aggressive, Standard, Relaxed).
+  'CustomAccLongPressIncrement' should have min=1, max=10, step=1.
+  """
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  # Check an enum-like param
+  lp = metadata.get("LongitudinalPersonality")
+  assert lp is not None
+  assert "options" in lp
+  assert len(lp["options"]) == 3
+  assert lp["options"][0]["label"] == "Aggressive"
+  assert lp["options"][0]["value"] == 0
+
+  # Check a numeric param
+  acc_long = metadata.get("CustomAccLongPressIncrement")
+  assert acc_long is not None
+  assert acc_long["min"] == 1
+  assert acc_long["max"] == 10
+  assert acc_long["step"] == 1
diff --git a/sunnypilot/sunnylink/tools/update_params_metadata.py b/sunnypilot/sunnylink/tools/update_params_metadata.py
new file mode 100755
index 00000000000000..ac2ef556e6d81a
--- /dev/null
+++ b/sunnypilot/sunnylink/tools/update_params_metadata.py
@@ -0,0 +1,56 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import json
+import os
+
+from openpilot.common.params import Params
+
+METADATA_PATH = os.path.join(os.path.dirname(__file__), "../params_metadata.json")
+
+
+def main():
+  params = Params()
+  all_keys = params.all_keys()
+
+  if os.path.exists(METADATA_PATH):
+    with open(METADATA_PATH) as f:
+      try:
+        data = json.load(f)
+      except json.JSONDecodeError:
+        data = {}
+  else:
+    data = {}
+
+  # Add new keys
+  for key in all_keys:
+    key_str = key.decode("utf-8")
+    if key_str not in data:
+      print(f"Adding new key: {key_str}")
+      data[key_str] = {
+        "title": key_str,
+        "description": "",
+      }
+
+  # Remove deleted keys
+  # keys_to_remove = [k for k in data.keys() if k.encode("utf-8") not in all_keys]
+  # for k in keys_to_remove:
+  #   print(f"Removing deleted key: {k}")
+  #   del data[k]
+
+  # Sort keys
+  sorted_data = dict(sorted(data.items()))
+
+  with open(METADATA_PATH, "w") as f:
+    json.dump(sorted_data, f, indent=2)
+    f.write("\n")
+
+  print(f"Updated {METADATA_PATH}")
+
+
+if __name__ == "__main__":
+  main()

From 023b842e3cb346b6740a223a9ae91abc1d515b5c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 29 Nov 2025 03:58:58 -0500
Subject: [PATCH 0602/1434] controlsd_ext: use time.monotonic to check params
 intervals (#1481)

* controlsd_ext: use time.monotonic to check params intervals

* test

* Revert "test"

This reverts commit 151ac3bc6812cdd1693c1a7650f44bb3bcd8910e.
---
 selfdrive/controls/controlsd.py               | 36 +++++--------------
 .../selfdrive/controls/controlsd_ext.py       | 20 ++++++++---
 2 files changed, 24 insertions(+), 32 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index eaaf5a51e9e5a0..9d0e5c9f159d2d 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -1,7 +1,5 @@
 #!/usr/bin/env python3
 import math
-import threading
-import time
 from numbers import Number
 
 from cereal import car, log
@@ -22,8 +20,6 @@
 from openpilot.selfdrive.modeld.modeld import LAT_SMOOTH_SECONDS
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
-from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
-from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.selfdrive.controls.controlsd_ext import ControlsExt
 
 State = log.SelfdriveState.OpenpilotState
@@ -33,7 +29,7 @@
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
 
 
-class Controls(ControlsExt, ModelStateBase):
+class Controls(ControlsExt):
   def __init__(self) -> None:
     self.params = Params()
     cloudlog.info("controlsd is waiting for CarParams")
@@ -42,7 +38,6 @@ def __init__(self) -> None:
 
     # Initialize sunnypilot controlsd extension and base model state
     ControlsExt.__init__(self, self.CP, self.params)
-    ModelStateBase.__init__(self)
 
     self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
 
@@ -231,30 +226,15 @@ def publish(self, CC, lac_log):
     cc_send.carControl = CC
     self.pm.send('carControl', cc_send)
 
-  def params_thread(self, evt):
-    while not evt.is_set():
-      self.get_params_sp()
-
-      if self.CP.lateralTuning.which() == 'torque':
-        self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
-
-      time.sleep(0.1)
-
   def run(self):
     rk = Ratekeeper(100, print_delay_threshold=None)
-    e = threading.Event()
-    t = threading.Thread(target=self.params_thread, args=(e,))
-    try:
-      t.start()
-      while True:
-        self.update()
-        CC, lac_log = self.state_control()
-        self.publish(CC, lac_log)
-        self.run_ext(self.sm, self.pm)
-        rk.monitor_time()
-    finally:
-      e.set()
-      t.join()
+    while True:
+      self.update()
+      CC, lac_log = self.state_control()
+      self.publish(CC, lac_log)
+      self.get_params_sp(self.sm)
+      self.run_ext(self.sm, self.pm)
+      rk.monitor_time()
 
 
 def main():
diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
index 8caeeaeabc2ad8..3f6053d15871ef 100644
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -4,21 +4,27 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+import time
+
 import cereal.messaging as messaging
 from cereal import log, custom
 
 from opendbc.car import structs
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral
 
 
-class ControlsExt:
+class ControlsExt(ModelStateBase):
   def __init__(self, CP: structs.CarParams, params: Params):
+    ModelStateBase.__init__(self)
     self.CP = CP
     self.params = params
+    self._param_update_time: float = 0.0
     self.blinker_pause_lateral = BlinkerPauseLateral()
-    self.get_params_sp()
 
     cloudlog.info("controlsd_ext is waiting for CarParamsSP")
     self.CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
@@ -27,8 +33,14 @@ def __init__(self, CP: structs.CarParams, params: Params):
     self.sm_services_ext = ['radarState', 'selfdriveStateSP']
     self.pm_services_ext = ['carControlSP']
 
-  def get_params_sp(self) -> None:
-    self.blinker_pause_lateral.get_params()
+  def get_params_sp(self, sm: messaging.SubMaster) -> None:
+    if time.monotonic() - self._param_update_time > PARAMS_UPDATE_PERIOD:
+      self.blinker_pause_lateral.get_params()
+
+      if self.CP.lateralTuning.which() == 'torque':
+        self.lat_delay = get_lat_delay(self.params, sm["liveDelay"].lateralDelay)
+
+      self._param_update_time = time.monotonic()
 
   def get_lat_active(self, sm: messaging.SubMaster) -> bool:
     if self.blinker_pause_lateral.update(sm['carState']):

From ebca4fc90117b986f20868f62474a91a5e07151c Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 29 Nov 2025 01:19:48 -0800
Subject: [PATCH 0603/1434] ui: fuzzy search helper (#1507)

* ui: fuzzy search helper

* final

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../widgets/helpers/fuzzy_search.py           | 40 +++++++++++++++++++
 1 file changed, 40 insertions(+)
 create mode 100644 system/ui/sunnypilot/widgets/helpers/fuzzy_search.py

diff --git a/system/ui/sunnypilot/widgets/helpers/fuzzy_search.py b/system/ui/sunnypilot/widgets/helpers/fuzzy_search.py
new file mode 100644
index 00000000000000..8d0f6bd59bd559
--- /dev/null
+++ b/system/ui/sunnypilot/widgets/helpers/fuzzy_search.py
@@ -0,0 +1,40 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import re
+import unicodedata
+
+
+def normalize(text: str) -> str:
+  return unicodedata.normalize('NFKD', text).encode('ascii', 'ignore').decode('utf-8').lower()
+
+
+def search_from_list(query: str, items: list[str]) -> list[str]:
+  if not query:
+    return items
+
+  normalized_query = normalize(query)
+  search_terms = [re.sub(r'[^a-z0-9]', '', term) for term in normalized_query.split() if term.strip()]
+
+  results = []
+  for item in items:
+    normalized_item = normalize(item)
+    item_with_spaces = re.sub(r'[^a-z0-9\s]', ' ', normalized_item)
+    item_stripped = re.sub(r'[^a-z0-9]', '', normalized_item)
+
+    all_terms_match = True
+    for term in search_terms:
+      if not term:
+        continue
+
+      if term not in item_with_spaces and term not in item_stripped:
+        all_terms_match = False
+        break
+
+    if all_terms_match:
+      results.append(item)
+
+  return results

From 0f7498e214404b4eeafff2e62117a0e302f26ef7 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sun, 30 Nov 2025 00:54:03 -0500
Subject: [PATCH 0604/1434] ui: `UIStateSP` (#1489)

* introducing ui_state_sp for py

* param to control stock vs sp ui

* better

* add ui_update callback

* Revert "add ui_update callback"

This reverts commit 4da32cc0097434aab0aa6a3c35465eabb23c8958.

* ui: `GuiApplicationExt`

* add to readme

* use gui_app.sunnypilot_ui()

* add cp_sp to ui_state_sp

* fix ui crash

* update params

* more

* slightly more

* add directly to the list

* nah

* move around

* rename

* call before param time tracker is updated

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/ui_state.py | 26 ++++++++++++++++++++++++++
 selfdrive/ui/ui_state.py            |  9 +++++++--
 2 files changed, 33 insertions(+), 2 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/ui_state.py

diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
new file mode 100644
index 00000000000000..18e35508b7ae56
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -0,0 +1,26 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from cereal import messaging, custom
+from openpilot.common.params import Params
+
+
+class UIStateSP:
+  def __init__(self):
+    self.params = Params()
+    self.sm_services_ext = [
+      "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
+      "gpsLocation", "liveTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP"
+    ]
+
+  def update(self) -> None:
+    pass
+
+  def update_params(self) -> None:
+    CP_SP_bytes = self.params.get("CarParamsSPPersistent")
+    if CP_SP_bytes is not None:
+      self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
+    self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled")
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index ef0696a22c3dc5..c78fdccb59b084 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -12,6 +12,8 @@
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.hardware import HARDWARE, PC
 
+from openpilot.selfdrive.ui.sunnypilot.ui_state import UIStateSP
+
 BACKLIGHT_OFFROAD = 65 if HARDWARE.get_device_type() == "mici" else 50
 
 
@@ -21,7 +23,7 @@ class UIStatus(Enum):
   OVERRIDE = "override"
 
 
-class UIState:
+class UIState(UIStateSP):
   _instance: 'UIState | None' = None
 
   def __new__(cls):
@@ -31,6 +33,7 @@ def __new__(cls):
     return cls._instance
 
   def _initialize(self):
+    UIStateSP.__init__(self)
     self.params = Params()
     self.sm = messaging.SubMaster(
       [
@@ -55,7 +58,7 @@ def _initialize(self):
         "carControl",
         "liveParameters",
         "rawAudioData",
-      ]
+      ] + self.sm_services_ext
     )
 
     self.prime_state = PrimeState()
@@ -111,6 +114,7 @@ def update(self) -> None:
     if time.monotonic() - self._param_update_time > 5.0:
       self.update_params()
     device.update()
+    UIStateSP.update(self)
 
   def _update_state(self) -> None:
     # Handle panda states updates
@@ -180,6 +184,7 @@ def update_params(self) -> None:
         self.has_longitudinal_control = self.params.get_bool("AlphaLongitudinalEnabled")
       else:
         self.has_longitudinal_control = self.CP.openpilotLongitudinalControl
+    UIStateSP.update_params(self)
     self._param_update_time = time.monotonic()
 
 

From c68c914444866248a96a5b18d558f6dcac657f25 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 29 Nov 2025 22:21:15 -0800
Subject: [PATCH 0605/1434] ui: tree dialog widget (#1493)

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* sp raylib preview

* fix callback

* fix ui preview

* dialog txt

* compare vs what used to be done before InputDialog

* merge origin raylib toggles

* tree dialog

* less trees for the planet

* the heck

* save the trees we got icons

* Update process.py

* Remove 'sunnypilot_ui'

Removed 'sunnypilot_ui' parameter from params_keys.h

* Update raylib_screenshots.py

Removed the parameter setting for 'sunnypilot_ui' in the test.

* ui: fuzzy search helper

* better tree. fully dynamic and stuff

* rm

* more indent

* only show if fav_param is used in the call

* conditional for mypy

* sunny's new x,y makes this even easier!

* loathing loathing, unadulterated loathing, i loathe it all

* more changes!

* more changes!

* Update BUTTON_DISABLED_BG_COLOR to a lighter shade

* Update tree_dialog.py

* final

---------

Co-authored-by: nayan <nayan8teen@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 system/ui/sunnypilot/lib/styles.py            |   5 +
 .../ui/sunnypilot/widgets/helpers/__init__.py |   0
 .../sunnypilot/widgets/helpers/star_icon.py   |  26 +++
 system/ui/sunnypilot/widgets/tree_dialog.py   | 186 ++++++++++++++++++
 4 files changed, 217 insertions(+)
 create mode 100644 system/ui/sunnypilot/widgets/helpers/__init__.py
 create mode 100644 system/ui/sunnypilot/widgets/helpers/star_icon.py
 create mode 100644 system/ui/sunnypilot/widgets/tree_dialog.py

diff --git a/system/ui/sunnypilot/lib/styles.py b/system/ui/sunnypilot/lib/styles.py
index 0fb4a5c3090bd4..eb254166ebac53 100644
--- a/system/ui/sunnypilot/lib/styles.py
+++ b/system/ui/sunnypilot/lib/styles.py
@@ -65,5 +65,10 @@ class DefaultStyleSP(Base):
   OPTION_CONTROL_TEXT_PRESSED = rl.WHITE
   OPTION_CONTROL_TEXT_DISABLED = ITEM_DISABLED_TEXT_COLOR
 
+  # Tree Button Colors
+  BUTTON_PRIMARY_COLOR = rl.Color(70, 91, 234, 255)  # Royal Blue
+  BUTTON_NEUTRAL_GRAY = rl.Color(51, 51, 51, 255)
+  BUTTON_DISABLED_BG_COLOR = rl.Color(30, 30, 30, 255)  # Very Dark Grey
+
 
 style = DefaultStyleSP
diff --git a/system/ui/sunnypilot/widgets/helpers/__init__.py b/system/ui/sunnypilot/widgets/helpers/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/system/ui/sunnypilot/widgets/helpers/star_icon.py b/system/ui/sunnypilot/widgets/helpers/star_icon.py
new file mode 100644
index 00000000000000..14666d49b68882
--- /dev/null
+++ b/system/ui/sunnypilot/widgets/helpers/star_icon.py
@@ -0,0 +1,26 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import math
+
+import pyray as rl
+
+
+def draw_star(center_x, center_y, radius, is_filled, color):
+  center = rl.Vector2(center_x, center_y)
+  points = []
+
+  for i in range(10):
+    angle = -(i * 36 + 18) * math.pi / 180
+    r = radius if i % 2 == 0 else radius / 2
+    x = center_x + r * math.cos(angle)
+    y = center_y + r * math.sin(angle)
+    points.append(rl.Vector2(x, y))
+
+  for i in range(10):
+    if is_filled:
+      rl.draw_triangle(center, points[i], points[(i + 1) % 10], color)
+    rl.draw_line_ex(points[i], points[(i + 1) % 10], 2, color)
diff --git a/system/ui/sunnypilot/widgets/tree_dialog.py b/system/ui/sunnypilot/widgets/tree_dialog.py
new file mode 100644
index 00000000000000..aa2904424f5f05
--- /dev/null
+++ b/system/ui/sunnypilot/widgets/tree_dialog.py
@@ -0,0 +1,186 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from dataclasses import dataclass, field
+
+import pyray as rl
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.label import gui_label, Label
+from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
+
+from openpilot.system.ui.sunnypilot.lib.styles import style
+from openpilot.system.ui.sunnypilot.widgets.helpers.fuzzy_search import search_from_list
+from openpilot.system.ui.sunnypilot.widgets.helpers.star_icon import draw_star
+from openpilot.system.ui.sunnypilot.widgets.input_dialog import InputDialogSP
+
+
+@dataclass
+class TreeNode:
+  ref: str
+  data: dict = field(default_factory=dict)
+
+
+@dataclass
+class TreeFolder:
+  folder: str
+  nodes: list
+
+
+class TreeItemWidget(Button):
+  def __init__(self, text, ref, is_folder=False, indent_level=0, click_callback=None, favorite_callback=None, is_favorite=False):
+    super().__init__(text, click_callback, button_style=ButtonStyle.NORMAL, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                     text_padding=20 + indent_level * 30, elide_right=True)
+    self.text = text
+    self.ref = ref
+    self.is_folder = is_folder
+    self.indent_level = indent_level
+    self.is_favorite = is_favorite
+    self.selected = False
+    self._favorite_callback = favorite_callback
+    self.text_padding = 20 + indent_level * 30
+    self.border_radius = 10
+
+  def _render(self, rect):
+    indent = 60 * self.indent_level if self.indent_level > 0 else 10
+    self._rect = rl.Rectangle(rect.x + indent, rect.y, rect.width - indent, rect.height)
+    color = style.BUTTON_PRIMARY_COLOR if self.selected and not (self.ref == "search_bar" or self.is_folder) else style.BUTTON_DISABLED_BG_COLOR
+    roundness = self.border_radius / (min(self._rect.width, self._rect.height) / 2)
+    rl.draw_rectangle_rounded(self._rect, roundness, 10, color)
+    text_rect = rl.Rectangle(self._rect.x + self.text_padding + 20, self._rect.y, self._rect.width - self.text_padding - 20 - 90, self._rect.height)
+    self._label.render(text_rect)
+
+    if not self.is_folder and self._favorite_callback:
+      draw_star(self._rect.x + self._rect.width - 90, self._rect.y + self._rect.height / 2, 40, self.is_favorite,
+                style.ON_BG_COLOR if self.is_favorite else rl.GRAY)
+
+  def _handle_mouse_release(self, mouse_pos):
+    star_rect = rl.Rectangle(self._rect.x + self._rect.width - 90 - 40, self._rect.y + self._rect.height / 2 - 40, 80, 80)
+    if not self.is_folder and self._favorite_callback and rl.check_collision_point_rec(mouse_pos, star_rect):
+      self._favorite_callback()
+      return True
+    return super()._handle_mouse_release(mouse_pos)
+
+
+class TreeOptionDialog(MultiOptionDialog):
+  def __init__(self, title, folders, current_ref="", fav_param="", option_font_weight=FontWeight.MEDIUM, search_prompt=None,
+               get_folders_fn=None, on_exit=None, display_func=None, search_funcs=None):
+    super().__init__(title, [], "", option_font_weight)
+    self.folders = folders
+    self.selection_ref = current_ref
+    self.fav_param = fav_param
+    self.expanded = set()
+    self.params = Params()
+    val = self.params.get(fav_param) if fav_param else None
+    self.favorites = set(val.split(';')) if val else set()
+    self.query = ""
+    self.search_prompt = search_prompt or tr("Search")
+    self.get_folders_fn = get_folders_fn
+    self.on_exit = on_exit
+    self.display_func = display_func or (lambda node: node.data.get('display_name', node.ref))
+    self.search_funcs = search_funcs or [lambda node: node.data.get('display_name', ''), lambda node: node.data.get('short_name', '')]
+    self._build_visible_items()
+    self.cancel_rect = None
+    self.select_rect = None
+
+  def _on_search_confirm(self, result, text):
+    if result == DialogResult.CONFIRM:
+      self.query = text
+      self._build_visible_items()
+    gui_app.set_modal_overlay(self, callback=self.on_exit)
+
+  def _on_search_clicked(self):
+    InputDialogSP(tr("Enter search query"), current_text=self.query, callback=self._on_search_confirm).show()
+
+  def _toggle_folder(self, folder):
+    if folder.folder:
+      if folder.folder in self.expanded:
+        self.expanded.remove(folder.folder)
+      else:
+        self.expanded.add(folder.folder)
+      if folder == self.folders[-1] and folder.folder in self.expanded:
+        self.scroller.scroll_panel.set_offset(self.scroller.scroll_panel.offset - 200)
+      self._build_visible_items(reset_scroll=False)
+
+  def _select_node(self, node):
+    self.selection = self.display_func(node)
+    self.selection_ref = node.ref
+
+  def _toggle_favorite(self, node):
+    self.favorites.remove(node.ref) if node.ref in self.favorites else self.favorites.add(node.ref)
+    if self.fav_param:
+      self.params.put(self.fav_param, ';'.join(self.favorites))
+    if self.get_folders_fn:
+      self.folders = self.get_folders_fn(self.favorites)
+    self._build_visible_items(reset_scroll=False)
+
+  def _build_visible_items(self, reset_scroll=True):
+    self.visible_items = [TreeItemWidget(self.query or self.search_prompt, "search_bar", False, 0, self._on_search_clicked)]
+    for folder in self.folders:
+      nodes = [node for node in folder.nodes if not self.query or search_from_list(self.query, [search_func(node) for search_func in self.search_funcs])]
+      if not nodes and self.query:
+        continue
+      expanded = folder.folder in self.expanded or not folder.folder or bool(self.query)
+      if folder.folder:
+        self.visible_items.append(TreeItemWidget(f"{'-' if expanded else '+'} {folder.folder}", "", True, 0,
+                                                 lambda folder_ref=folder: self._toggle_folder(folder_ref)))
+      if expanded:
+        for node in nodes:
+          favorite_cb = (lambda node_ref=node: self._toggle_favorite(node_ref)) if self.fav_param and node.ref != "Default" else None
+          self.visible_items.append(TreeItemWidget(self.display_func(node), node.ref, False, 1 if folder.folder else 0,
+                                                   lambda node_ref=node: self._select_node(node_ref), favorite_cb, node.ref in self.favorites))
+    self.option_buttons = self.visible_items
+    self.options = [item.text for item in self.visible_items]
+    self.scroller._items = self.visible_items
+    if reset_scroll:
+      self.scroller.scroll_panel.set_offset(0)
+
+  def _draw_button(self, button_rect, button_text, is_primary=False, is_enabled=True):
+    if is_primary and is_enabled:
+      button_color = style.BUTTON_PRIMARY_COLOR
+    elif not is_enabled:
+      button_color = style.BUTTON_NEUTRAL_GRAY
+    else:
+      button_color = style.BUTTON_DISABLED_BG_COLOR
+    roundness = 10 / (min(button_rect.width, button_rect.height) / 2)
+    rl.draw_rectangle_rounded(button_rect, roundness, 10, button_color)
+    label = Label(button_text, 60, FontWeight.NORMAL, rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                  text_color=rl.WHITE if is_enabled else rl.GRAY)
+    label.render(button_rect)
+
+  def _render(self, rect):
+    dialog_content_rect = rl.Rectangle(rect.x + 50, rect.y + 50, rect.width - 100, rect.height - 100)
+    rl.draw_rectangle_rounded(dialog_content_rect, 0.02, 20, rl.BLACK)
+    gui_label(rl.Rectangle(dialog_content_rect.x + 50, dialog_content_rect.y + 50, dialog_content_rect.width - 100, 70),
+              self.title, 70, font_weight=FontWeight.BOLD)
+
+    options_area_rect = rl.Rectangle(dialog_content_rect.x + 50, dialog_content_rect.y + 170, dialog_content_rect.width - 100, dialog_content_rect.height - 330)
+    for index, option_text in enumerate(self.options):
+      self.option_buttons[index].selected = (option_text == self.selection)
+      self.option_buttons[index].set_button_style(ButtonStyle.PRIMARY if option_text == self.selection else ButtonStyle.NORMAL)
+      self.option_buttons[index].set_rect(rl.Rectangle(0, 0, options_area_rect.width, 135))
+    self.scroller.render(options_area_rect)
+
+    button_width = (dialog_content_rect.width - 150) / 2
+    button_y_position = dialog_content_rect.y + dialog_content_rect.height - 160
+    self.cancel_rect = rl.Rectangle(dialog_content_rect.x + 50, button_y_position, button_width, 160)
+    self.select_rect = rl.Rectangle(dialog_content_rect.x + 100 + button_width, button_y_position, button_width, 160)
+
+    self._draw_button(self.cancel_rect, tr("Cancel"))
+    self._draw_button(self.select_rect, tr("Select"), True, self.selection != self.current)
+    return self._result
+
+  def _handle_mouse_release(self, mouse_pos):
+    if self.cancel_rect and rl.check_collision_point_rec(mouse_pos, self.cancel_rect):
+      self._set_result(DialogResult.CANCEL)
+      return True
+    if self.select_rect and rl.check_collision_point_rec(mouse_pos, self.select_rect) and self.selection != self.current:
+      self._set_result(DialogResult.CONFIRM)
+      return True
+    return super()._handle_mouse_release(mouse_pos)

From 79fa8803b6499094d33abe788a9766ad2b003ead Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Mon, 1 Dec 2025 06:22:49 -0800
Subject: [PATCH 0606/1434] ui: add padding above tree dialog buttons (#1533)

add padding
---
 system/ui/sunnypilot/widgets/tree_dialog.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/ui/sunnypilot/widgets/tree_dialog.py b/system/ui/sunnypilot/widgets/tree_dialog.py
index aa2904424f5f05..6458ebf001f92b 100644
--- a/system/ui/sunnypilot/widgets/tree_dialog.py
+++ b/system/ui/sunnypilot/widgets/tree_dialog.py
@@ -160,7 +160,7 @@ def _render(self, rect):
     gui_label(rl.Rectangle(dialog_content_rect.x + 50, dialog_content_rect.y + 50, dialog_content_rect.width - 100, 70),
               self.title, 70, font_weight=FontWeight.BOLD)
 
-    options_area_rect = rl.Rectangle(dialog_content_rect.x + 50, dialog_content_rect.y + 170, dialog_content_rect.width - 100, dialog_content_rect.height - 330)
+    options_area_rect = rl.Rectangle(dialog_content_rect.x + 50, dialog_content_rect.y + 170, dialog_content_rect.width - 100, dialog_content_rect.height - 380)
     for index, option_text in enumerate(self.options):
       self.option_buttons[index].selected = (option_text == self.selection)
       self.option_buttons[index].set_button_style(ButtonStyle.PRIMARY if option_text == self.selection else ButtonStyle.NORMAL)

From 859745ea8615817481ce8e5f25971f2f3c8f4a41 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Mon, 1 Dec 2025 14:31:37 -0800
Subject: [PATCH 0607/1434] ui: tree dialog improvements (#1537)

* ui: highlight on pressed, and less indent

* inherit MultiOptionDialog main buttons

* align top level folders to the edge properly

* lint

* handle folder presses too

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 system/ui/sunnypilot/widgets/tree_dialog.py | 57 ++++++++-------------
 1 file changed, 22 insertions(+), 35 deletions(-)

diff --git a/system/ui/sunnypilot/widgets/tree_dialog.py b/system/ui/sunnypilot/widgets/tree_dialog.py
index 6458ebf001f92b..5685a6c27e57a3 100644
--- a/system/ui/sunnypilot/widgets/tree_dialog.py
+++ b/system/ui/sunnypilot/widgets/tree_dialog.py
@@ -11,8 +11,8 @@
 from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import DialogResult
-from openpilot.system.ui.widgets.button import Button, ButtonStyle
-from openpilot.system.ui.widgets.label import gui_label, Label
+from openpilot.system.ui.widgets.button import Button, ButtonStyle, BUTTON_PRESSED_BACKGROUND_COLORS
+from openpilot.system.ui.widgets.label import gui_label
 from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
 
 from openpilot.system.ui.sunnypilot.lib.styles import style
@@ -34,7 +34,7 @@ class TreeFolder:
 
 
 class TreeItemWidget(Button):
-  def __init__(self, text, ref, is_folder=False, indent_level=0, click_callback=None, favorite_callback=None, is_favorite=False):
+  def __init__(self, text, ref, is_folder=False, indent_level=0, click_callback=None, favorite_callback=None, is_favorite=False, is_expanded=False):
     super().__init__(text, click_callback, button_style=ButtonStyle.NORMAL, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
                      text_padding=20 + indent_level * 30, elide_right=True)
     self.text = text
@@ -46,14 +46,21 @@ def __init__(self, text, ref, is_folder=False, indent_level=0, click_callback=No
     self._favorite_callback = favorite_callback
     self.text_padding = 20 + indent_level * 30
     self.border_radius = 10
+    self.is_expanded = is_expanded
 
   def _render(self, rect):
-    indent = 60 * self.indent_level if self.indent_level > 0 else 10
+    indent = 60 * self.indent_level
     self._rect = rl.Rectangle(rect.x + indent, rect.y, rect.width - indent, rect.height)
-    color = style.BUTTON_PRIMARY_COLOR if self.selected and not (self.ref == "search_bar" or self.is_folder) else style.BUTTON_DISABLED_BG_COLOR
+    if self.is_pressed:
+      color = BUTTON_PRESSED_BACKGROUND_COLORS[self._button_style]
+    elif self.selected and self.ref != "search_bar":
+      color = style.BUTTON_PRIMARY_COLOR
+    else:
+      color = style.BUTTON_DISABLED_BG_COLOR
     roundness = self.border_radius / (min(self._rect.width, self._rect.height) / 2)
     rl.draw_rectangle_rounded(self._rect, roundness, 10, color)
-    text_rect = rl.Rectangle(self._rect.x + self.text_padding + 20, self._rect.y, self._rect.width - self.text_padding - 20 - 90, self._rect.height)
+    text_offset = self.text_padding + 20 - 15 if self.is_expanded and not self.is_folder and self.indent_level > 0 else self.text_padding + 20
+    text_rect = rl.Rectangle(self._rect.x + text_offset, self._rect.y, self._rect.width - self.text_padding - 20 - 90, self._rect.height)
     self._label.render(text_rect)
 
     if not self.is_folder and self._favorite_callback:
@@ -86,8 +93,6 @@ def __init__(self, title, folders, current_ref="", fav_param="", option_font_wei
     self.display_func = display_func or (lambda node: node.data.get('display_name', node.ref))
     self.search_funcs = search_funcs or [lambda node: node.data.get('display_name', ''), lambda node: node.data.get('short_name', '')]
     self._build_visible_items()
-    self.cancel_rect = None
-    self.select_rect = None
 
   def _on_search_confirm(self, result, text):
     if result == DialogResult.CONFIRM:
@@ -134,26 +139,14 @@ def _build_visible_items(self, reset_scroll=True):
         for node in nodes:
           favorite_cb = (lambda node_ref=node: self._toggle_favorite(node_ref)) if self.fav_param and node.ref != "Default" else None
           self.visible_items.append(TreeItemWidget(self.display_func(node), node.ref, False, 1 if folder.folder else 0,
-                                                   lambda node_ref=node: self._select_node(node_ref), favorite_cb, node.ref in self.favorites))
+                                                   lambda node_ref=node: self._select_node(node_ref),
+                                                   favorite_cb, node.ref in self.favorites, is_expanded=expanded))
     self.option_buttons = self.visible_items
     self.options = [item.text for item in self.visible_items]
     self.scroller._items = self.visible_items
     if reset_scroll:
       self.scroller.scroll_panel.set_offset(0)
 
-  def _draw_button(self, button_rect, button_text, is_primary=False, is_enabled=True):
-    if is_primary and is_enabled:
-      button_color = style.BUTTON_PRIMARY_COLOR
-    elif not is_enabled:
-      button_color = style.BUTTON_NEUTRAL_GRAY
-    else:
-      button_color = style.BUTTON_DISABLED_BG_COLOR
-    roundness = 10 / (min(button_rect.width, button_rect.height) / 2)
-    rl.draw_rectangle_rounded(button_rect, roundness, 10, button_color)
-    label = Label(button_text, 60, FontWeight.NORMAL, rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
-                  text_color=rl.WHITE if is_enabled else rl.GRAY)
-    label.render(button_rect)
-
   def _render(self, rect):
     dialog_content_rect = rl.Rectangle(rect.x + 50, rect.y + 50, rect.width - 100, rect.height - 100)
     rl.draw_rectangle_rounded(dialog_content_rect, 0.02, 20, rl.BLACK)
@@ -169,18 +162,12 @@ def _render(self, rect):
 
     button_width = (dialog_content_rect.width - 150) / 2
     button_y_position = dialog_content_rect.y + dialog_content_rect.height - 160
-    self.cancel_rect = rl.Rectangle(dialog_content_rect.x + 50, button_y_position, button_width, 160)
-    self.select_rect = rl.Rectangle(dialog_content_rect.x + 100 + button_width, button_y_position, button_width, 160)
 
-    self._draw_button(self.cancel_rect, tr("Cancel"))
-    self._draw_button(self.select_rect, tr("Select"), True, self.selection != self.current)
-    return self._result
+    cancel_rect = rl.Rectangle(dialog_content_rect.x + 50, button_y_position, button_width, 160)
+    self.cancel_button.render(cancel_rect)
 
-  def _handle_mouse_release(self, mouse_pos):
-    if self.cancel_rect and rl.check_collision_point_rec(mouse_pos, self.cancel_rect):
-      self._set_result(DialogResult.CANCEL)
-      return True
-    if self.select_rect and rl.check_collision_point_rec(mouse_pos, self.select_rect) and self.selection != self.current:
-      self._set_result(DialogResult.CONFIRM)
-      return True
-    return super()._handle_mouse_release(mouse_pos)
+    select_rect = rl.Rectangle(dialog_content_rect.x + 100 + button_width, button_y_position, button_width, 160)
+    self.select_button.set_enabled(self.selection != self.current)
+    self.select_button.render(select_rect)
+
+    return self._result

From 9ee965d2e0690640ac047888b3718b177f17063a Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 1 Dec 2025 21:35:28 -0500
Subject: [PATCH 0608/1434] ui: overridable title and subtitle for search query
 in `TreeOptionDialog` (#1538)

* ui: overridable title and subtitle for `TreeOptionDialog`

* lint
---
 system/ui/sunnypilot/widgets/input_dialog.py | 11 ++++++-----
 system/ui/sunnypilot/widgets/tree_dialog.py  | 15 +++++++++++++--
 2 files changed, 19 insertions(+), 7 deletions(-)

diff --git a/system/ui/sunnypilot/widgets/input_dialog.py b/system/ui/sunnypilot/widgets/input_dialog.py
index 88ab0b1a662e2a..ed67302fcb3704 100644
--- a/system/ui/sunnypilot/widgets/input_dialog.py
+++ b/system/ui/sunnypilot/widgets/input_dialog.py
@@ -8,7 +8,6 @@
 
 from openpilot.common.params import Params
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import DialogResult
 from openpilot.system.ui.widgets.keyboard import Keyboard
 
@@ -27,14 +26,16 @@ def __init__(self, title: str, sub_title: str | None = None, current_text: str =
 
   def show(self):
     self.keyboard.reset(min_text_size=self.keyboard._min_text_size)
-    self.keyboard.set_title(tr(self.title), *(tr(self.sub_title),) if self.sub_title else ())
+    if self.sub_title:
+      self.keyboard.set_title(self.title, self.sub_title)
+    else:
+      self.keyboard.set_title(self.title)
     self.keyboard.set_text(self.current_text)
 
     def internal_callback(result: DialogResult):
       text = self.keyboard.text if result == DialogResult.CONFIRM else ""
-      if result == DialogResult.CONFIRM:
-        if self.param:
-          self._params.put(self.param, text)
+      if result == DialogResult.CONFIRM and self.param:
+        self._params.put(self.param, text)
       if self.callback:
         self.callback(result, text)
 
diff --git a/system/ui/sunnypilot/widgets/tree_dialog.py b/system/ui/sunnypilot/widgets/tree_dialog.py
index 5685a6c27e57a3..4691f7f8f9b39a 100644
--- a/system/ui/sunnypilot/widgets/tree_dialog.py
+++ b/system/ui/sunnypilot/widgets/tree_dialog.py
@@ -77,7 +77,7 @@ def _handle_mouse_release(self, mouse_pos):
 
 class TreeOptionDialog(MultiOptionDialog):
   def __init__(self, title, folders, current_ref="", fav_param="", option_font_weight=FontWeight.MEDIUM, search_prompt=None,
-               get_folders_fn=None, on_exit=None, display_func=None, search_funcs=None):
+               get_folders_fn=None, on_exit=None, display_func=None, search_funcs=None, search_title=None, search_subtitle=None):
     super().__init__(title, [], "", option_font_weight)
     self.folders = folders
     self.selection_ref = current_ref
@@ -92,6 +92,17 @@ def __init__(self, title, folders, current_ref="", fav_param="", option_font_wei
     self.on_exit = on_exit
     self.display_func = display_func or (lambda node: node.data.get('display_name', node.ref))
     self.search_funcs = search_funcs or [lambda node: node.data.get('display_name', ''), lambda node: node.data.get('short_name', '')]
+
+    # Default title & overridable subtitle for InputDialogSP
+    self.search_title = search_title or tr("Enter search query")
+    self.search_subtitle = search_subtitle
+    self.search_dialog = InputDialogSP(
+      self.search_title,
+      self.search_subtitle,
+      current_text=self.query,
+      callback=self._on_search_confirm,
+    )
+
     self._build_visible_items()
 
   def _on_search_confirm(self, result, text):
@@ -101,7 +112,7 @@ def _on_search_confirm(self, result, text):
     gui_app.set_modal_overlay(self, callback=self.on_exit)
 
   def _on_search_clicked(self):
-    InputDialogSP(tr("Enter search query"), current_text=self.query, callback=self._on_search_confirm).show()
+    self.search_dialog.show()
 
   def _toggle_folder(self, folder):
     if folder.folder:

From f312c011e8b3d9d0285be5fdeafcdcf161f84b93 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 1 Dec 2025 23:33:26 -0500
Subject: [PATCH 0609/1434] ui: magnifying glass icon and new search bar style
 in `TreeDialog` (#1541)

* ui: magnifying glass icon and new search bar style in `TreeDialog`

* cleanup
---
 system/ui/sunnypilot/widgets/tree_dialog.py | 63 +++++++++++++++++++--
 1 file changed, 59 insertions(+), 4 deletions(-)

diff --git a/system/ui/sunnypilot/widgets/tree_dialog.py b/system/ui/sunnypilot/widgets/tree_dialog.py
index 4691f7f8f9b39a..a8947a9b18c836 100644
--- a/system/ui/sunnypilot/widgets/tree_dialog.py
+++ b/system/ui/sunnypilot/widgets/tree_dialog.py
@@ -92,6 +92,8 @@ def __init__(self, title, folders, current_ref="", fav_param="", option_font_wei
     self.on_exit = on_exit
     self.display_func = display_func or (lambda node: node.data.get('display_name', node.ref))
     self.search_funcs = search_funcs or [lambda node: node.data.get('display_name', ''), lambda node: node.data.get('short_name', '')]
+    self._search_rect = None
+    self._search_width = 0.475
 
     # Default title & overridable subtitle for InputDialogSP
     self.search_title = search_title or tr("Enter search query")
@@ -137,7 +139,7 @@ def _toggle_favorite(self, node):
     self._build_visible_items(reset_scroll=False)
 
   def _build_visible_items(self, reset_scroll=True):
-    self.visible_items = [TreeItemWidget(self.query or self.search_prompt, "search_bar", False, 0, self._on_search_clicked)]
+    self.visible_items = []
     for folder in self.folders:
       nodes = [node for node in folder.nodes if not self.query or search_from_list(self.query, [search_func(node) for search_func in self.search_funcs])]
       if not nodes and self.query:
@@ -161,10 +163,57 @@ def _build_visible_items(self, reset_scroll=True):
   def _render(self, rect):
     dialog_content_rect = rl.Rectangle(rect.x + 50, rect.y + 50, rect.width - 100, rect.height - 100)
     rl.draw_rectangle_rounded(dialog_content_rect, 0.02, 20, rl.BLACK)
-    gui_label(rl.Rectangle(dialog_content_rect.x + 50, dialog_content_rect.y + 50, dialog_content_rect.width - 100, 70),
-              self.title, 70, font_weight=FontWeight.BOLD)
 
-    options_area_rect = rl.Rectangle(dialog_content_rect.x + 50, dialog_content_rect.y + 170, dialog_content_rect.width - 100, dialog_content_rect.height - 380)
+    # Title on the left
+    title_rect = rl.Rectangle(dialog_content_rect.x + 50, dialog_content_rect.y + 50, dialog_content_rect.width * 0.5, 70)
+    gui_label(title_rect, self.title, 70, font_weight=FontWeight.BOLD)
+
+    # Search bar on the top right
+    search_width = dialog_content_rect.width * self._search_width
+    search_height = 110
+    search_x = dialog_content_rect.x + dialog_content_rect.width - 50 - search_width
+    search_y = dialog_content_rect.y + 40  # align roughly with title
+
+    self._search_rect = rl.Rectangle(search_x, search_y, search_width, search_height)
+
+    # Draw search field
+    inset = 4
+    roundness = 0.3
+    input_rect = rl.Rectangle(self._search_rect.x + inset, self._search_rect.y + inset,
+                              self._search_rect.width - inset * 2, self._search_rect.height - inset * 2)
+
+    # Transparent fill + border
+    rl.draw_rectangle_rounded(input_rect, roundness, 10, rl.Color(0, 0, 0, 0))
+    rl.draw_rectangle_rounded_lines_ex(input_rect, roundness, 10, 3, rl.Color(150, 150, 150, 200))
+
+    # Magnifying glass icon
+    icon_color = rl.Color(180, 180, 180, 240)
+    cx = input_rect.x + 60
+    cy = input_rect.y + input_rect.height / 2 - 5
+    radius = min(input_rect.height * 0.28, 26)
+
+    circle_thickness = 4
+    for i in range(circle_thickness):
+      rl.draw_circle_lines(int(cx), int(cy), radius - i, icon_color)
+
+    handle_thickness = 5
+    inner_x = cx + radius * 0.65
+    inner_y = cy + radius * 0.65
+    outer_x = cx + radius * 1.45
+    outer_y = cy + radius * 1.45
+
+    rl.draw_line_ex(rl.Vector2(inner_x, inner_y), rl.Vector2(outer_x, outer_y), handle_thickness, icon_color)
+
+    # User text (query), placed after the icon if present
+    if self.query:
+      text_start_x = outer_x + 45
+      text_rect = rl.Rectangle(text_start_x, input_rect.y, input_rect.x + input_rect.width - text_start_x - 10, input_rect.height)
+      gui_label(text_rect, self.query, 70, font_weight=FontWeight.MEDIUM)
+
+    options_top = self._search_rect.y + self._search_rect.height + 40
+    options_area_rect = rl.Rectangle(dialog_content_rect.x + 50, options_top, dialog_content_rect.width - 100,
+                                     dialog_content_rect.height - (options_top - dialog_content_rect.y) - 210)
+
     for index, option_text in enumerate(self.options):
       self.option_buttons[index].selected = (option_text == self.selection)
       self.option_buttons[index].set_button_style(ButtonStyle.PRIMARY if option_text == self.selection else ButtonStyle.NORMAL)
@@ -182,3 +231,9 @@ def _render(self, rect):
     self.select_button.render(select_rect)
 
     return self._result
+
+  def _handle_mouse_release(self, mouse_pos):
+    if self._search_rect and rl.check_collision_point_rec(mouse_pos, self._search_rect):
+      self._on_search_clicked()
+      return True
+    return super()._handle_mouse_release(mouse_pos)

From 7ba9876fa4586cf50c8110b0807f0bb3ca65e8ed Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 1 Dec 2025 23:44:01 -0500
Subject: [PATCH 0610/1434] ui: recreate search dialog with the latest query
 (#1542)

---
 system/ui/sunnypilot/widgets/tree_dialog.py | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/system/ui/sunnypilot/widgets/tree_dialog.py b/system/ui/sunnypilot/widgets/tree_dialog.py
index a8947a9b18c836..fd2a576d589ede 100644
--- a/system/ui/sunnypilot/widgets/tree_dialog.py
+++ b/system/ui/sunnypilot/widgets/tree_dialog.py
@@ -98,12 +98,7 @@ def __init__(self, title, folders, current_ref="", fav_param="", option_font_wei
     # Default title & overridable subtitle for InputDialogSP
     self.search_title = search_title or tr("Enter search query")
     self.search_subtitle = search_subtitle
-    self.search_dialog = InputDialogSP(
-      self.search_title,
-      self.search_subtitle,
-      current_text=self.query,
-      callback=self._on_search_confirm,
-    )
+    self.search_dialog = None
 
     self._build_visible_items()
 
@@ -114,6 +109,12 @@ def _on_search_confirm(self, result, text):
     gui_app.set_modal_overlay(self, callback=self.on_exit)
 
   def _on_search_clicked(self):
+    self.search_dialog = InputDialogSP(
+      self.search_title,
+      self.search_subtitle,
+      current_text=self.query,
+      callback=self._on_search_confirm,
+    )
     self.search_dialog.show()
 
   def _toggle_folder(self, folder):

From 04504d47f3215de63b6fc7240087a9e0ac5468a6 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Mon, 1 Dec 2025 21:02:33 -0800
Subject: [PATCH 0611/1434] ui: Platform Selector (#1508)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* Panels. With Icons. And Scroller.

* patience, grasshopper

* more patience, grasshopper

* sp raylib preview

* fix callback

* fix ui preview

* add ui previews

* dialog txt

* compare vs what used to be done before InputDialog

* introducing ui_state_sp for py

* param to control stock vs sp ui

* better

* add ui_update callback

* better padding

* this

* listitem -> listitemsp

* Revert "add ui_update callback"

This reverts commit 4da32cc0097434aab0aa6a3c35465eabb23c8958.

* add show_description method

* remove padding from line separator.
like, WHY? 😩😩

* scroller -> scroller_tici

* scroller -> scroller_tici

* ui: `GuiApplicationExt`

* add to readme

* use gui_app.sunnypilot_ui()

* use gui_app.sunnypilot_ui()

* use gui_app.sunnypilot_ui()

* lint

* no fancy toggles :(

* match them

* mici scroller - no touchy

* no

* more

* size adjustments

* fix scroller. yay

* ui vehicle panel: platform selector

* platform selector

* bruh

* ui_state_sp

* huh

* rebase

* rebae

* vic

* # Conflicts:
#	system/ui/sunnypilot/lib/styles.py
#	system/ui/sunnypilot/widgets/helpers/fuzzy_search.py

* loathing loathing, unadulterated loathing, i loathe it all

* more changes!

* Update styles.py

* add padding

* use symlink on sp side

* use make from json and show all actual makes

* all done!

* Revert "all done!"

This reverts commit 595c45f057d97bd317e4a0518755d393aa289d0c.

* reimpl onroad/offroad confirmation

* use global offroad directly

* ui: highlight on pressed, and less indent

* inherit MultiOptionDialog main buttons

* align top level folders to the edge properly

* lint

* lint

* handle folder presses too

* ui: overridable title and subtitle for `TreeOptionDialog`

* override TreeOptionDialog title and subtitle

* lint

* more

* ui: magnifying glass icon and new search bar style in `TreeDialog`

* cleanup

* ui: recreate search dialog with the latest query

* make model year but display as platform

* move into settings directory

* move into dir

---------

Co-authored-by: nayan <nayan8teen@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/__init__.py           |   0
 selfdrive/ui/sunnypilot/layouts/__init__.py   |   0
 .../sunnypilot/layouts/settings/__init__.py   |   0
 .../ui/sunnypilot/layouts/settings/vehicle.py |  30 ----
 .../layouts/settings/vehicle/__init__.py      |  43 ++++++
 .../settings/vehicle/platform_selector.py     | 141 ++++++++++++++++++
 system/ui/sunnypilot/lib/styles.py            |   5 +
 system/ui/sunnypilot/widgets/list_view.py     |   7 +-
 8 files changed, 193 insertions(+), 33 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/__init__.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/__init__.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/__init__.py
 delete mode 100644 selfdrive/ui/sunnypilot/layouts/settings/vehicle.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py

diff --git a/selfdrive/ui/sunnypilot/__init__.py b/selfdrive/ui/sunnypilot/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/selfdrive/ui/sunnypilot/layouts/__init__.py b/selfdrive/ui/sunnypilot/layouts/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/__init__.py b/selfdrive/ui/sunnypilot/layouts/settings/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle.py
deleted file mode 100644
index d04816a411a494..00000000000000
--- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle.py
+++ /dev/null
@@ -1,30 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from openpilot.common.params import Params
-from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets import Widget
-
-
-class VehicleLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._initialize_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _initialize_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
-
-  def show_event(self):
-    self._scroller.show_event()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
new file mode 100644
index 00000000000000..23b861f8c3ca0b
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
@@ -0,0 +1,43 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.list_view import ButtonAction
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.platform_selector import PlatformSelector, LegendWidget
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP
+
+
+class VehicleLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self._platform_selector = PlatformSelector(self._update_brand_settings)
+
+    self._vehicle_item = ListItemSP(title=self._platform_selector.text, action_item=ButtonAction(text=tr("Select")),
+                                    callback=self._platform_selector._on_clicked)
+    self._vehicle_item.title_color = self._platform_selector.color
+    self._legend_widget = LegendWidget(self._platform_selector)
+
+    self.items = [self._vehicle_item, self._legend_widget]
+    self._scroller = Scroller(self.items, line_separator=True, spacing=0)
+
+  def _update_brand_settings(self):
+    self._vehicle_item._title = self._platform_selector.text
+    self._vehicle_item.title_color = self._platform_selector.color
+    vehicle_text = tr("Remove") if ui_state.params.get("CarPlatformBundle") else tr("Select")
+    self._vehicle_item.action_item.set_text(vehicle_text)
+
+  def _update_state(self):
+    self._update_brand_settings()
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
new file mode 100644
index 00000000000000..60bc335ce46021
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
@@ -0,0 +1,141 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import json
+import os
+import pyray as rl
+from collections.abc import Callable
+from functools import partial
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import DialogResult, Widget
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+
+from openpilot.system.ui.sunnypilot.lib.styles import style
+from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "car", "car_list.json")
+
+
+class LegendWidget(Widget):
+  def __init__(self, platform_selector):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, 0, 350))
+    self._platform_selector = platform_selector
+    self._font = gui_app.font(FontWeight.NORMAL)
+    self._bold_font = gui_app.font(FontWeight.BOLD)
+
+  def _render(self, rect):
+    x = rect.x + 20
+    y = rect.y + 20
+    rl.draw_text_ex(self._font, tr("Select vehicle to force fingerprint manually."), rl.Vector2(x, y), 40, 0, style.ITEM_DESC_TEXT_COLOR)
+    y += 80
+    rl.draw_text_ex(self._font, tr("Colors represent vehicle fingerprint status:"), rl.Vector2(x, y), 40, 0, style.ITEM_DESC_TEXT_COLOR)
+    y += 80
+
+    items = [
+      (style.GREEN, tr("Fingerprinted automatically")),
+      (style.BLUE, tr("Manually selected fingerprint")),
+      (style.YELLOW, tr("Not fingerprinted or manually selected")),
+    ]
+    for color, text in items:
+      p_color = self._platform_selector.color
+      is_active = p_color.r == color.r and p_color.g == color.g and p_color.b == color.b and p_color.a == color.a
+      rl.draw_rectangle(int(x), int(y + 5), 30, 30, color)
+      font = self._bold_font if is_active else self._font
+      text_color = rl.WHITE if is_active else style.ITEM_DESC_TEXT_COLOR
+      rl.draw_text_ex(font, f"- {text}", rl.Vector2(x + 50, y - 7), 40, 0, text_color)
+      y += 50
+
+
+class PlatformSelector(Button):
+  def __init__(self, on_platform_change: Callable[[], None] | None = None):
+    super().__init__(tr("Vehicle"), self._on_clicked, button_style=ButtonStyle.NORMAL)
+    self.set_rect(rl.Rectangle(0, 0, 0, 120))
+
+    with open(CAR_LIST_JSON_OUT) as car_list_json:
+      self._platforms = json.load(car_list_json)
+
+    self._on_platform_change = on_platform_change
+    self.refresh()
+
+  @property
+  def text(self):
+    return self._label._text
+
+  def set_parent_rect(self, parent_rect):
+    super().set_parent_rect(parent_rect)
+    self._rect.width = parent_rect.width
+
+  def _on_clicked(self):
+    if ui_state.params.get("CarPlatformBundle"):
+      ui_state.params.remove("CarPlatformBundle")
+      self.refresh()
+      if self._on_platform_change:
+        self._on_platform_change()
+    else:
+      self._show_platform_dialog()
+
+  def _set_platform(self, platform_name):
+    if data := self._platforms.get(platform_name):
+      ui_state.params.put("CarPlatformBundle", {**data, "name": platform_name})
+      self.refresh()
+      if self._on_platform_change:
+        self._on_platform_change()
+
+  def _on_platform_selected(self, dialog, res):
+    if res == DialogResult.CONFIRM and dialog.selection_ref:
+      offroad_msg = tr("This setting will take effect immediately.") if ui_state.is_offroad else \
+                    tr("This setting will take effect once the device enters offroad state.")
+
+      confirm_dialog = ConfirmDialog(offroad_msg, tr("Confirm"))
+
+      callback = partial(self._confirm_platform, dialog.selection_ref)
+      gui_app.set_modal_overlay(confirm_dialog, callback=callback)
+
+  def _confirm_platform(self, platform_name, res):
+    if res == DialogResult.CONFIRM:
+      self._set_platform(platform_name)
+
+  def _show_platform_dialog(self):
+    platforms = sorted(self._platforms.keys())
+    makes = sorted({self._platforms[p].get('make') for p in platforms})
+    folders = [TreeFolder(make, [TreeNode(p, {
+      'display_name': p,
+      'search_tags': f"{p} {self._platforms[p].get('make')} {' '.join(map(str, self._platforms[p].get('year', [])))} {self._platforms[p].get('model', p)}"
+    }) for p in platforms if self._platforms[p].get('make') == make]) for make in makes]
+    dialog = TreeOptionDialog(
+      tr("Select a vehicle"),
+      folders,
+      search_title=tr("Search your vehicle"),
+      search_subtitle=tr("Enter model year (e.g., 2021) and model (Toyota Corolla):"),
+      search_funcs=[lambda node: node.data.get('display_name', ''), lambda node: node.data.get('search_tags', '')]
+    )
+    callback = partial(self._on_platform_selected, dialog)
+    dialog.on_exit = callback
+    gui_app.set_modal_overlay(dialog, callback=callback)
+
+  def refresh(self):
+    self.brand = ""
+    self.color = style.YELLOW
+    self._platform = tr("Unrecognized Vehicle")
+    self.set_text(tr("No vehicle selected"))
+
+    if bundle := ui_state.params.get("CarPlatformBundle"):
+      self._platform = bundle.get("name", "")
+      self.brand = bundle.get("brand", "")
+      self.set_text(self._platform)
+      self.color = style.BLUE
+    elif ui_state.CP and ui_state.CP.carFingerprint != "MOCK":
+      self._platform = ui_state.CP.carFingerprint
+      self.brand = ui_state.CP.brand
+      self.set_text(self._platform)
+      self.color = style.GREEN
+    self.set_enabled(True)
diff --git a/system/ui/sunnypilot/lib/styles.py b/system/ui/sunnypilot/lib/styles.py
index eb254166ebac53..68e68d41a94523 100644
--- a/system/ui/sunnypilot/lib/styles.py
+++ b/system/ui/sunnypilot/lib/styles.py
@@ -70,5 +70,10 @@ class DefaultStyleSP(Base):
   BUTTON_NEUTRAL_GRAY = rl.Color(51, 51, 51, 255)
   BUTTON_DISABLED_BG_COLOR = rl.Color(30, 30, 30, 255)  # Very Dark Grey
 
+  # Vehicle Description Colors
+  GREEN = rl.Color(0, 241, 0, 255)
+  BLUE = rl.Color(0, 134, 233, 255)
+  YELLOW = rl.Color(255, 213, 0, 255)
+
 
 style = DefaultStyleSP
diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py
index 955adaa73e45bc..0c87a06a16db49 100644
--- a/system/ui/sunnypilot/widgets/list_view.py
+++ b/system/ui/sunnypilot/widgets/list_view.py
@@ -80,8 +80,9 @@ def _handle_mouse_release(self, mouse_pos: MousePos):
 class ListItemSP(ListItem):
   def __init__(self, title: str | Callable[[], str] = "", icon: str | None = None, description: str | Callable[[], str] | None = None,
                description_visible: bool = False, callback: Callable | None = None,
-               action_item: ItemAction | None = None, inline: bool = True):
+               action_item: ItemAction | None = None, inline: bool = True, title_color: rl.Color = style.ITEM_TEXT_COLOR):
     ListItem.__init__(self, title, icon, description, description_visible, callback, action_item)
+    self.title_color = title_color
     self.inline = inline
     if not self.inline:
       self._rect.height += style.ITEM_BASE_HEIGHT/1.75
@@ -141,7 +142,7 @@ def _render(self, _):
       if self.title:
         self._text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
         item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - self._text_size.y) // 2
-        rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, style.ITEM_TEXT_COLOR)
+        rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, self.title_color)
 
       # Render toggle and handle callback
       if self.action_item.render(left_rect) and self.action_item.enabled:
@@ -153,7 +154,7 @@ def _render(self, _):
         # Draw main text
         self._text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
         item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - self._text_size.y) // 2 if self.inline else self._rect.y + style.ITEM_PADDING * 1.5
-        rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, style.ITEM_TEXT_COLOR)
+        rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, self.title_color)
 
         # Draw right item if present
         if self.action_item:

From eda189c56441d3439ca26a89dae4b086d20e06bf Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 2 Dec 2025 02:29:29 -0500
Subject: [PATCH 0612/1434] ui: refine height calculations and action placement
 in `ListViewSP` (#1543)

* ui: refine height calculations and action placement in `ListViewSP`

* relative
---
 system/ui/sunnypilot/widgets/list_view.py | 22 ++++++++++++++++------
 1 file changed, 16 insertions(+), 6 deletions(-)

diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py
index 0c87a06a16db49..f05de81397c08f 100644
--- a/system/ui/sunnypilot/widgets/list_view.py
+++ b/system/ui/sunnypilot/widgets/list_view.py
@@ -89,8 +89,13 @@ def __init__(self, title: str | Callable[[], str] = "", icon: str | None = None,
 
   def get_item_height(self, font: rl.Font, max_width: int) -> float:
     height = super().get_item_height(font, max_width)
+
+    if self.description_visible:
+      height += style.ITEM_PADDING * 1.5
+
     if not self.inline:
-      height = height + style.ITEM_BASE_HEIGHT/1.75
+      height += style.ITEM_BASE_HEIGHT / 1.75
+
     return height
 
   def show_description(self, show: bool):
@@ -101,13 +106,18 @@ def get_right_item_rect(self, item_rect: rl.Rectangle) -> rl.Rectangle:
       return rl.Rectangle(0, 0, 0, 0)
 
     if not self.inline:
-      action_y = item_rect.y + self._text_size.y + style.ITEM_PADDING * 3
+      has_description = bool(self.description) and self.description_visible
+
+      if has_description:
+        action_y = item_rect.y + self._text_size.y + style.ITEM_PADDING * 3
+      else:
+        action_y = item_rect.y + item_rect.height - style.BUTTON_HEIGHT - style.ITEM_PADDING * 1.5
+
       return rl.Rectangle(item_rect.x + style.ITEM_PADDING, action_y, item_rect.width - (style.ITEM_PADDING * 2), style.BUTTON_HEIGHT)
 
     right_width = self.action_item.rect.width
-    if right_width == 0:  # Full width action (like DualButtonAction)
-      return rl.Rectangle(item_rect.x + style.ITEM_PADDING, item_rect.y,
-                          item_rect.width - (style.ITEM_PADDING * 2), style.ITEM_BASE_HEIGHT)
+    if right_width == 0:
+      return rl.Rectangle(item_rect.x + style.ITEM_PADDING, item_rect.y, item_rect.width - (style.ITEM_PADDING * 2), style.ITEM_BASE_HEIGHT)
 
     action_width = self.action_item.rect.width
     if isinstance(self.action_item, ToggleAction):
@@ -171,7 +181,7 @@ def _render(self, _):
 
       desc_y = self._rect.y + style.ITEM_DESC_V_OFFSET
       if not self.inline and self.action_item:
-        desc_y = self.action_item.rect.y + style.ITEM_DESC_V_OFFSET - style.ITEM_PADDING * 1.75
+        desc_y = self.action_item.rect.y + style.ITEM_DESC_V_OFFSET - style.ITEM_PADDING * 0.5
 
       description_rect = rl.Rectangle(self._rect.x + style.ITEM_PADDING, desc_y, content_width, description_height)
       self._html_renderer.render(description_rect)

From 138d637bbd1918175c3de28f9670880be8e5a528 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 2 Dec 2025 13:34:35 -0500
Subject: [PATCH 0613/1434] ui: couple Platform Selector refresh in Vehicle
 panel state updates (#1545)

---
 selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
index 23b861f8c3ca0b..1b6c35df2c88ae 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
@@ -35,6 +35,7 @@ def _update_brand_settings(self):
 
   def _update_state(self):
     self._update_brand_settings()
+    self._platform_selector.refresh()
 
   def _render(self, rect):
     self._scroller.render(rect)

From 3c5841ff02966f973b7ff0e339efcb1b6af6d446 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Tue, 2 Dec 2025 11:44:50 -0800
Subject: [PATCH 0614/1434] ui: vehicle brand settings (#1509)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* commaai/openpilot:d05cb31e2e916fba41ba8167030945f427fd811b

* bump opendbc

* bump opendbc

* bump opendbc

* bump opendbc

* bump opendbc

* sunnypilot: remove Qt

* cabana: revert to stock Qt

* commaai/openpilot:5198b1b079c37742c1050f02ce0aa6dd42b038b9

* commaai/openpilot:954b567b9ba0f3d1ae57d6aa7797fa86dd92ec6e

* commaai/openpilot:7534b2a160faa683412c04c1254440e338931c5e

* sum more

* bump opendbc

* not yet

* should've been symlink'ed

* raylib says wut

* quiet mode back

* more fixes

* no more

* too extra red diff on the side

* need to bring this back

* too extra

* let's update docs here

* Revert "let's update docs here"

This reverts commit 51fe03cd5121e6fdf14657b2c33852c34922b851.

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* multi-button

* Lint

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* Panels. With Icons. And Scroller.

* patience, grasshopper

* more patience, grasshopper

* sp raylib preview

* fix callback

* fix ui preview

* add ui previews

* dialog txt

* compare vs what used to be done before InputDialog

* introducing ui_state_sp for py

* param to control stock vs sp ui

* better

* add ui_update callback

* better padding

* this

* support for next line multi-button

* uhh

* disabled colors

* listitem -> listitemsp

* listitem -> listitemsp

* Revert "add ui_update callback"

This reverts commit 4da32cc0097434aab0aa6a3c35465eabb23c8958.

* add show_description method

* remove padding from line separator.
like, WHY? 😩😩

* scroller -> scroller_tici

* scroller -> scroller_tici

* ui: `GuiApplicationExt`

* add to readme

* use gui_app.sunnypilot_ui()

* use gui_app.sunnypilot_ui()

* use gui_app.sunnypilot_ui()

* lint

* no fancy toggles :(

* match them

* mici scroller - no touchy

* no

* more

* size adjustments

* fix scroller. yay

* ui vehicle panel: platform selector

* some brands

* platform selector

* bruh

* ui_state_sp

* o

* is_offroad() and format

* huh

* use in toggles panel

* ugh. no

* better & animated

* lint

* cleanup

* lint. LINT

* slight

* rebase

* no more

* rebae

* vic

* v

* # Conflicts:
#	system/ui/sunnypilot/lib/styles.py
#	system/ui/sunnypilot/widgets/helpers/fuzzy_search.py

* loathing loathing, unadulterated loathing, i loathe it all

* more changes!

* Update styles.py

* set visibility

* Update hyundai.py

* add padding

* use symlink on sp side

* use make from json and show all actual makes

* all done!

* Revert "all done!"

This reverts commit 595c45f057d97bd317e4a0518755d393aa289d0c.

* reimpl onroad/offroad confirmation

* use global offroad directly

* ui: highlight on pressed, and less indent

* inherit MultiOptionDialog main buttons

* align top level folders to the edge properly

* lint

* lint

* handle folder presses too

* ui: overridable title and subtitle for `TreeOptionDialog`

* override TreeOptionDialog title and subtitle

* lint

* more

* ui: magnifying glass icon and new search bar style in `TreeDialog`

* cleanup

* ui: recreate search dialog with the latest query

* make model year but display as platform

* move into settings directory

* move into dir

* sync

* equality

* use singleton directly

* also use singleton directly

* inherit from base class

* include all brands

* added refresh

* always assume it's subaru

* slight

* split get brand

* hyundai changes

* tesla changes

* do not allow while offroad

* fix

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: nayan <nayan8teen@gmail.com>
---
 .../layouts/settings/vehicle/__init__.py      | 23 ++++++++
 .../settings/vehicle/brands/__init__.py       |  0
 .../layouts/settings/vehicle/brands/base.py   | 16 +++++
 .../layouts/settings/vehicle/brands/body.py   | 15 +++++
 .../settings/vehicle/brands/chrysler.py       | 15 +++++
 .../settings/vehicle/brands/factory.py        | 45 ++++++++++++++
 .../layouts/settings/vehicle/brands/ford.py   | 15 +++++
 .../layouts/settings/vehicle/brands/gm.py     | 15 +++++
 .../layouts/settings/vehicle/brands/honda.py  | 15 +++++
 .../settings/vehicle/brands/hyundai.py        | 59 +++++++++++++++++++
 .../layouts/settings/vehicle/brands/mazda.py  | 15 +++++
 .../layouts/settings/vehicle/brands/nissan.py | 15 +++++
 .../layouts/settings/vehicle/brands/psa.py    | 15 +++++
 .../layouts/settings/vehicle/brands/rivian.py | 15 +++++
 .../layouts/settings/vehicle/brands/subaru.py | 54 +++++++++++++++++
 .../layouts/settings/vehicle/brands/tesla.py  | 43 ++++++++++++++
 .../layouts/settings/vehicle/brands/toyota.py | 15 +++++
 .../settings/vehicle/brands/volkswagen.py     | 15 +++++
 .../settings/vehicle/platform_selector.py     |  3 -
 19 files changed, 405 insertions(+), 3 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/__init__.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/base.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/body.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/chrysler.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/factory.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/ford.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/gm.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/mazda.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/nissan.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/psa.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/rivian.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
index 1b6c35df2c88ae..86d9e61695851b 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
@@ -9,6 +9,7 @@
 from openpilot.system.ui.widgets.list_view import ButtonAction
 from openpilot.system.ui.widgets.scroller_tici import Scroller
 
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.factory import BrandSettingsFactory
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.platform_selector import PlatformSelector, LegendWidget
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP
@@ -17,6 +18,9 @@
 class VehicleLayout(Widget):
   def __init__(self):
     super().__init__()
+    self._brand_settings = None
+    self._brand_items = []
+    self._current_brand = None
     self._platform_selector = PlatformSelector(self._update_brand_settings)
 
     self._vehicle_item = ListItemSP(title=self._platform_selector.text, action_item=ButtonAction(text=tr("Select")),
@@ -27,14 +31,33 @@ def __init__(self):
     self.items = [self._vehicle_item, self._legend_widget]
     self._scroller = Scroller(self.items, line_separator=True, spacing=0)
 
+  @staticmethod
+  def get_brand():
+    if bundle := ui_state.params.get("CarPlatformBundle"):
+      return bundle.get("brand", "")
+    elif ui_state.CP and ui_state.CP.carFingerprint != "MOCK":
+      return ui_state.CP.brand
+    return ""
+
   def _update_brand_settings(self):
     self._vehicle_item._title = self._platform_selector.text
     self._vehicle_item.title_color = self._platform_selector.color
     vehicle_text = tr("Remove") if ui_state.params.get("CarPlatformBundle") else tr("Select")
     self._vehicle_item.action_item.set_text(vehicle_text)
 
+    brand = self.get_brand()
+    if brand != self._current_brand:
+      self._current_brand = brand
+      self._brand_settings = BrandSettingsFactory.create_brand_settings(brand)
+      self._brand_items = self._brand_settings.items if self._brand_settings else []
+
+      self.items = [self._vehicle_item, self._legend_widget] + self._brand_items
+      self._scroller = Scroller(self.items, line_separator=True, spacing=0)
+
   def _update_state(self):
     self._update_brand_settings()
+    if self._brand_settings:
+      self._brand_settings.update_settings()
     self._platform_selector.refresh()
 
   def _render(self, rect):
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/__init__.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/base.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/base.py
new file mode 100644
index 00000000000000..8d83fdf9162f21
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/base.py
@@ -0,0 +1,16 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import abc
+
+
+class BrandSettings(abc.ABC):
+  def __init__(self):
+    self.items = []
+
+  @abc.abstractmethod
+  def update_settings(self) -> None:
+    """Update the settings based on the current vehicle brand."""
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/body.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/body.py
new file mode 100644
index 00000000000000..d1c9ea5d64c16b
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/body.py
@@ -0,0 +1,15 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+
+
+class BodySettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+  def update_settings(self):
+    pass
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/chrysler.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/chrysler.py
new file mode 100644
index 00000000000000..ad62dba56f0a23
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/chrysler.py
@@ -0,0 +1,15 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+
+
+class ChryslerSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+  def update_settings(self):
+    pass
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/factory.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/factory.py
new file mode 100644
index 00000000000000..678732296f5a90
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/factory.py
@@ -0,0 +1,45 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.body import BodySettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.chrysler import ChryslerSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.ford import FordSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.gm import GMSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.honda import HondaSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.hyundai import HyundaiSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.mazda import MazdaSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.nissan import NissanSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.psa import PSASettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.rivian import RivianSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.subaru import SubaruSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.tesla import TeslaSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.toyota import ToyotaSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.volkswagen import VolkswagenSettings
+
+
+class BrandSettingsFactory:
+  _BRAND_MAP: dict[str, type[BrandSettings]] = {
+    "body": BodySettings,
+    "chrysler": ChryslerSettings,
+    "ford": FordSettings,
+    "gm": GMSettings,
+    "honda": HondaSettings,
+    "hyundai": HyundaiSettings,
+    "mazda": MazdaSettings,
+    "nissan": NissanSettings,
+    "psa": PSASettings,
+    "rivian": RivianSettings,
+    "subaru": SubaruSettings,
+    "tesla": TeslaSettings,
+    "toyota": ToyotaSettings,
+    "volkswagen": VolkswagenSettings,
+  }
+
+  @staticmethod
+  def create_brand_settings(brand: str) -> BrandSettings | None:
+    cls = BrandSettingsFactory._BRAND_MAP.get(brand)
+    return cls() if cls is not None else None
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/ford.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/ford.py
new file mode 100644
index 00000000000000..8871087e03f6aa
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/ford.py
@@ -0,0 +1,15 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+
+
+class FordSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+  def update_settings(self):
+    pass
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/gm.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/gm.py
new file mode 100644
index 00000000000000..edcd17cdb847bb
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/gm.py
@@ -0,0 +1,15 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+
+
+class GMSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+  def update_settings(self):
+    pass
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py
new file mode 100644
index 00000000000000..fec68795a60576
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py
@@ -0,0 +1,15 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+
+
+class HondaSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+  def update_settings(self):
+    pass
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py
new file mode 100644
index 00000000000000..f6849eb20153a4
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py
@@ -0,0 +1,59 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp
+from opendbc.car.hyundai.values import CAR, CANFD_UNSUPPORTED_LONGITUDINAL_CAR, UNSUPPORTED_LONGITUDINAL_CAR
+
+
+class HyundaiSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+    self.alpha_long_available = False
+
+    tuning_texts = [tr("Off"), tr("Dynamic"), tr("Predictive")]
+    self.longitudinal_tuning_item = multiple_button_item_sp(tr("Custom Longitudinal Tuning"), "", tuning_texts,
+                                                            button_width=300, callback=self._on_tuning_selected,
+                                                            param="HyundaiLongitudinalTuning", inline=False)
+    self.items = [self.longitudinal_tuning_item]
+
+  @staticmethod
+  def _on_tuning_selected(index):
+    ui_state.params.put("HyundaiLongitudinalTuning", index)
+
+  def update_settings(self):
+    self.alpha_long_available = False
+    bundle = ui_state.params.get("CarPlatformBundle")
+    if bundle:
+      platform = bundle.get("platform")
+      self.alpha_long_available = CAR[platform] not in (UNSUPPORTED_LONGITUDINAL_CAR | CANFD_UNSUPPORTED_LONGITUDINAL_CAR)
+    elif ui_state.CP:
+      self.alpha_long_available = ui_state.CP.alphaLongitudinalAvailable
+
+    tuning_param = int(ui_state.params.get("HyundaiLongitudinalTuning") or "0")
+    long_enabled = ui_state.has_longitudinal_control
+
+    long_tuning_descs = [
+      tr("Your vehicle will use the Default longitudinal tuning."),
+      tr("Your vehicle will use the Dynamic longitudinal tuning."),
+      tr("Your vehicle will use the Predictive longitudinal tuning."),
+    ]
+    long_tuning_desc = long_tuning_descs[tuning_param] if tuning_param < len(long_tuning_descs) else long_tuning_descs[0]
+
+    longitudinal_tuning_disabled = not ui_state.is_offroad() or not long_enabled
+    if longitudinal_tuning_disabled:
+      if not ui_state.is_offroad():
+        long_tuning_desc = tr("This feature is unavailable while the car is onroad.")
+      elif not long_enabled:
+        long_tuning_desc = tr("This feature is unavailable because sunnypilot Longitudinal Control (Alpha) is not enabled.")
+
+    self.longitudinal_tuning_item.action_item.set_enabled(not longitudinal_tuning_disabled)
+    self.longitudinal_tuning_item.set_description(long_tuning_desc)
+    self.longitudinal_tuning_item.show_description(True)
+    self.longitudinal_tuning_item.action_item.set_selected_button(tuning_param)
+    self.longitudinal_tuning_item.set_visible(self.alpha_long_available)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/mazda.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/mazda.py
new file mode 100644
index 00000000000000..d354f0f34b4804
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/mazda.py
@@ -0,0 +1,15 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+
+
+class MazdaSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+  def update_settings(self):
+    pass
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/nissan.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/nissan.py
new file mode 100644
index 00000000000000..7b3446a1a7c0eb
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/nissan.py
@@ -0,0 +1,15 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+
+
+class NissanSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+  def update_settings(self):
+    pass
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/psa.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/psa.py
new file mode 100644
index 00000000000000..6b767d332aa0ec
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/psa.py
@@ -0,0 +1,15 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+
+
+class PSASettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+  def update_settings(self):
+    pass
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/rivian.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/rivian.py
new file mode 100644
index 00000000000000..876aa2d2eafbc7
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/rivian.py
@@ -0,0 +1,15 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+
+
+class RivianSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+  def update_settings(self):
+    pass
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py
new file mode 100644
index 00000000000000..66e7ec1d5afdda
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py
@@ -0,0 +1,54 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+from opendbc.car.subaru.values import CAR, SubaruFlags
+
+
+class SubaruSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+    self.has_stop_and_go = False
+
+    self.stop_and_go_toggle = toggle_item_sp(tr("Stop and Go (Beta)"), "", param="SubaruStopAndGo", callback=self._on_toggle_changed)
+
+    self.stop_and_go_manual_parking_brake_toggle = toggle_item_sp(tr("Stop and Go for Manual Parking Brake (Beta)"), "",
+                                                                  param="SubaruStopAndGoManualParkingBrake", callback=self._on_toggle_changed)
+
+    self.items = [self.stop_and_go_toggle, self.stop_and_go_manual_parking_brake_toggle]
+
+  def _on_toggle_changed(self, _):
+    self.update_settings()
+
+  def stop_and_go_disabled_msg(self):
+    if not self.has_stop_and_go:
+      return tr("This feature is currently not available on this platform.")
+    elif not ui_state.is_offroad():
+      return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle.")
+    return ""
+
+  def update_settings(self):
+    bundle = ui_state.params.get("CarPlatformBundle")
+    if bundle:
+      platform = bundle.get("platform")
+      config = CAR[platform].config
+      self.has_stop_and_go = not (config.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
+    elif ui_state.CP:
+      self.has_stop_and_go = not (ui_state.CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
+
+    disabled_msg = self.stop_and_go_disabled_msg()
+    descriptions = [
+      tr("Experimental feature to enable auto-resume during stop-and-go for certain supported Subaru platforms."),
+      tr("Experimental feature to enable stop and go for Subaru Global models with manual handbrake. " +
+         "Models with electric parking brake should keep this disabled. Thanks to martinl for this implementation!")
+    ]
+
+    for toggle, desc in zip([self.stop_and_go_toggle, self.stop_and_go_manual_parking_brake_toggle], descriptions, strict=True):
+      toggle.action_item.set_enabled(self.has_stop_and_go and ui_state.is_offroad())
+      toggle.set_description(f"<b>{disabled_msg}</b><br><br>{desc}" if disabled_msg else desc)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
new file mode 100644
index 00000000000000..46d536c651d320
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
@@ -0,0 +1,43 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+
+COOP_STEERING_MIN_KMH = 23
+OEM_STEERING_MIN_KMH = 48
+KM_TO_MILE = 0.621371
+
+
+class TeslaSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+    self.coop_steering_toggle = toggle_item_sp(tr("Cooperative Steering (Beta)"), "", param="TeslaCoopSteering")
+    self.items = [self.coop_steering_toggle]
+
+  def update_settings(self):
+    is_metric = ui_state.is_metric
+    unit = "km/h" if is_metric else "mph"
+
+    display_value_coop = COOP_STEERING_MIN_KMH if is_metric else round(COOP_STEERING_MIN_KMH * KM_TO_MILE)
+    display_value_oem = OEM_STEERING_MIN_KMH if is_metric else round(OEM_STEERING_MIN_KMH * KM_TO_MILE)
+
+    coop_steering_disabled_msg = tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle.")
+    coop_steering_warning = tr(f"Warning: May experience steering oscillations below {display_value_oem} {unit} during turns, " +
+                               "recommend disabling this feature if you experience these.")
+    coop_steering_desc = (
+      f"<b>{coop_steering_warning}</b><br><br>" +
+      f"{tr('Allows the driver to provide limited steering input while openpilot is engaged.')}<br>" +
+      f"{tr(f'Only works above {display_value_coop} {unit}.')}"
+    )
+
+    if not ui_state.is_offroad():
+      coop_steering_desc = f"<b>{coop_steering_disabled_msg}</b><br><br>{coop_steering_desc}"
+
+    self.coop_steering_toggle.set_description(coop_steering_desc)
+    self.coop_steering_toggle.action_item.set_enabled(ui_state.is_offroad())
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
new file mode 100644
index 00000000000000..e061a8a22a0c03
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
@@ -0,0 +1,15 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+
+
+class ToyotaSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+  def update_settings(self):
+    pass
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
new file mode 100644
index 00000000000000..a6d44c5e4da300
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
@@ -0,0 +1,15 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+
+
+class VolkswagenSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+  def update_settings(self):
+    pass
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
index 60bc335ce46021..db90595274905c 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
@@ -123,19 +123,16 @@ def _show_platform_dialog(self):
     gui_app.set_modal_overlay(dialog, callback=callback)
 
   def refresh(self):
-    self.brand = ""
     self.color = style.YELLOW
     self._platform = tr("Unrecognized Vehicle")
     self.set_text(tr("No vehicle selected"))
 
     if bundle := ui_state.params.get("CarPlatformBundle"):
       self._platform = bundle.get("name", "")
-      self.brand = bundle.get("brand", "")
       self.set_text(self._platform)
       self.color = style.BLUE
     elif ui_state.CP and ui_state.CP.carFingerprint != "MOCK":
       self._platform = ui_state.CP.carFingerprint
-      self.brand = ui_state.CP.brand
       self.set_text(self._platform)
       self.color = style.GREEN
     self.set_enabled(True)

From f08dfa1c14f295209d134db0a8ef9b0de3dce1cb Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Wed, 3 Dec 2025 00:20:40 -0500
Subject: [PATCH 0615/1434] ui: sunnylink client-side implementation (#1488)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* sp raylib preview

* fix callback

* fix ui preview

* sunnylink state

* introducing ui_state_sp for py

* poll from ui_state_sp

* cloudlog & ruff

* param to control stock vs sp ui

* better

* better padding

* this

* listitem -> listitemsp

* add show_description method

* remove padding from line separator.
like, WHY? 😩😩

* ui: `GuiApplicationExt`

* add to readme

* use gui_app.sunnypilot_ui()

* use gui_app.sunnypilot_ui()

* fetch only when connected to network

* final

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/ui_state.py     |   5 +-
 sunnypilot/sunnylink/sunnylink_state.py | 205 ++++++++++++++++++++++++
 2 files changed, 209 insertions(+), 1 deletion(-)
 create mode 100644 sunnypilot/sunnylink/sunnylink_state.py

diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index 18e35508b7ae56..1db5ad613e0ae3 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -6,6 +6,7 @@
 """
 from cereal import messaging, custom
 from openpilot.common.params import Params
+from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState
 
 
 class UIStateSP:
@@ -16,8 +17,10 @@ def __init__(self):
       "gpsLocation", "liveTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP"
     ]
 
+    self.sunnylink_state = SunnylinkState()
+
   def update(self) -> None:
-    pass
+    self.sunnylink_state.start()
 
   def update_params(self) -> None:
     CP_SP_bytes = self.params.get("CarParamsSPPersistent")
diff --git a/sunnypilot/sunnylink/sunnylink_state.py b/sunnypilot/sunnylink/sunnylink_state.py
new file mode 100644
index 00000000000000..4d0b397e03d02b
--- /dev/null
+++ b/sunnypilot/sunnylink/sunnylink_state.py
@@ -0,0 +1,205 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from enum import IntEnum
+import threading
+import time
+import json
+
+from cereal import messaging
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID, SunnylinkApi
+
+
+class RoleType(IntEnum):
+  READONLY = 0
+  SPONSOR = 1
+  ADMIN = 2
+
+
+class SponsorTier(IntEnum):
+  FREE = 0
+  NOVICE = 1
+  SUPPORTER = 2
+  CONTRIBUTOR = 3
+  BENEFACTOR = 4
+  GUARDIAN = 5
+
+
+class User:
+  device_id: str
+  user_id: str
+  created_at: int
+  updated_at: int
+  token_hash: str
+
+  def __init__(self, json_data):
+    self.device_id = json_data.get("device_id")
+    self.user_id = json_data.get("user_id")
+    self.created_at = json_data.get("created_at")
+    self.updated_at = json_data.get("updated_at")
+    self.token_hash = json_data.get("token_hash")
+
+
+class Role:
+  role_type: str
+  role_tier: str
+
+  def __init__(self, json_data):
+    self.role_type = json_data.get("role_type")
+    self.role_tier = json_data.get("role_tier")
+
+
+def _parse_roles(roles: str) -> list[Role]:
+  lst_roles = []
+  try:
+    roles_list = json.loads(roles)
+    for r in roles_list:
+      try:
+        role = Role(r)
+        lst_roles.append(role)
+      except Exception as e:
+        cloudlog.exception(f"Failed to parse role {r}: {e}")
+    return lst_roles
+  except Exception as e:
+    cloudlog.exception(f"Error parsing roles: {e}")
+    return []
+
+
+def _parse_users(users: str) -> list[User]:
+  lst_users = []
+  try:
+    users_list = json.loads(users)
+    for u in users_list:
+      try:
+        user = User(u)
+        lst_users.append(user)
+      except Exception as e:
+        cloudlog.exception(f"Failed to parse user {u}: {e}")
+    return lst_users
+  except Exception as e:
+    cloudlog.exception(f"Error parsing users: {e}")
+    return []
+
+
+class SunnylinkState:
+  FETCH_INTERVAL = 5.0  # seconds between API calls
+  API_TIMEOUT = 10.0  # seconds for API requests
+  SLEEP_INTERVAL = 0.5  # seconds to sleep between checks in the worker thread
+  NOT_PAIRED_USERNAMES = ["unregisteredsponsor", "temporarysponsor"]
+
+  def __init__(self):
+    self._params = Params()
+    self._lock = threading.Lock()
+    self._running = False
+    self._thread = None
+    self._sm = messaging.SubMaster(['deviceState'])
+
+    self._roles: list[Role] = []
+    self._users: list[User] = []
+    self.sponsor_tier: SponsorTier = SponsorTier.FREE
+    self.sunnylink_dongle_id = self._params.get("SunnylinkDongleId")
+    self._api = SunnylinkApi(self.sunnylink_dongle_id)
+
+    self._load_initial_state()
+
+  def _load_initial_state(self) -> None:
+    roles_cache = self._params.get("SunnylinkCache_Roles")
+    users_cache = self._params.get("SunnylinkCache_Users")
+    if roles_cache is not None:
+      self._roles = _parse_roles(roles_cache)
+      self.sponsor_tier = self._get_highest_tier()
+    if users_cache is not None:
+      self._users = _parse_users(users_cache)
+
+  def _get_highest_tier(self) -> SponsorTier:
+    role_tier = SponsorTier.FREE
+    for role in self._roles:
+      try:
+        if RoleType[role.role_type.upper()] == RoleType.SPONSOR:
+          role_tier = max(role_tier, SponsorTier[role.role_tier.upper()])
+      except Exception as e:
+        cloudlog.exception(f"Error parsing role {role}: {e} for dongle id {self.sunnylink_dongle_id}")
+    return role_tier
+
+  def _fetch_roles(self) -> None:
+    if not self.sunnylink_dongle_id or self.sunnylink_dongle_id == UNREGISTERED_SUNNYLINK_DONGLE_ID:
+      return
+
+    try:
+      token = self._api.get_token()
+      response = self._api.api_get(f"device/{self.sunnylink_dongle_id}/roles", method='GET', access_token=token)
+      if response.status_code == 200:
+        self._roles = _parse_roles(response.text)
+        self._params.put("SunnylinkCache_Roles", response.text)
+        sponsor_tier = self._get_highest_tier()
+        with self._lock:
+          if sponsor_tier != self.sponsor_tier:
+            self.sponsor_tier = sponsor_tier
+            cloudlog.info(f"Sunnylink sponsor tier updated to {sponsor_tier.name}")
+    except Exception as e:
+      cloudlog.exception(f"Failed to fetch sunnylink roles: {e} for dongle id {self.sunnylink_dongle_id}")
+
+  def _fetch_users(self) -> None:
+    if not self.sunnylink_dongle_id or self.sunnylink_dongle_id == UNREGISTERED_SUNNYLINK_DONGLE_ID:
+      return
+
+    try:
+      token = self._api.get_token()
+      response = self._api.api_get(f"device/{self.sunnylink_dongle_id}/users", method='GET', access_token=token)
+      if response.status_code == 200:
+        users = response.text
+        self._params.put("SunnylinkCache_Users", users)
+        with self._lock:
+          _parse_users(users)
+    except Exception as e:
+      cloudlog.exception(f"Failed to fetch sunnylink users: {e} for dongle id {self.sunnylink_dongle_id}")
+
+  def _worker_thread(self) -> None:
+    while self._running:
+      if self.is_connected():
+        self._fetch_roles()
+        self._fetch_users()
+
+      for _ in range(int(self.FETCH_INTERVAL / self.SLEEP_INTERVAL)):
+        if not self._running:
+          break
+        time.sleep(self.SLEEP_INTERVAL)
+
+  def start(self) -> None:
+    if self._thread and self._thread.is_alive():
+      return
+    self._running = True
+    self._thread = threading.Thread(target=self._worker_thread, daemon=True)
+    self._thread.start()
+
+  def stop(self) -> None:
+    self._running = False
+    if self._thread and self._thread.is_alive():
+      self._thread.join(timeout=1.0)
+
+  def get_sponsor_tier(self) -> SponsorTier:
+    with self._lock:
+      return self.sponsor_tier
+
+  def is_sponsor(self) -> bool:
+    with self._lock:
+      is_sponsor = any(role.role_type.upper() == RoleType.SPONSOR.name and role.role_tier.upper() != SponsorTier.FREE.name
+                       for role in self._roles)
+      return is_sponsor
+
+  def is_paired(self) -> bool:
+    with self._lock:
+      is_paired = any(user.user_id not in self.NOT_PAIRED_USERNAMES for user in self._users)
+      return is_paired
+
+  def is_connected(self) -> bool:
+    network_type = self._sm["deviceState"].networkType
+    return bool(network_type != 0)
+
+  def __del__(self):
+    self.stop()

From a83c64ffbd410e610cbc8be3212fcbd3dad0537f Mon Sep 17 00:00:00 2001
From: David <49467229+TheSecurityDev@users.noreply.github.com>
Date: Tue, 2 Dec 2025 23:56:19 -0600
Subject: [PATCH 0616/1434] ui: fix sidebar scroll in UI screenshots (#1519)

* fix: delay between scroll clicks; add larger delay; fix cruise button

* scroll more for cruise

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../ui/tests/test_ui/raylib_screenshots.py    | 29 +++++++++++--------
 1 file changed, 17 insertions(+), 12 deletions(-)

diff --git a/selfdrive/ui/tests/test_ui/raylib_screenshots.py b/selfdrive/ui/tests/test_ui/raylib_screenshots.py
index e64398d227fb1e..164358bfced3d1 100755
--- a/selfdrive/ui/tests/test_ui/raylib_screenshots.py
+++ b/selfdrive/ui/tests/test_ui/raylib_screenshots.py
@@ -105,7 +105,7 @@ def setup_settings_software_branch_switcher(click, pm: PubMaster, scroll=None):
 
 def setup_settings_firehose(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
-  scroll(-1000, 278, 950)
+  scroll(-20, 278, 950)
   click(278, 850)
 
 
@@ -115,7 +115,7 @@ def setup_settings_developer(click, pm: PubMaster, scroll=None):
   Params().put("CarParamsPersistent", CP.to_bytes())
 
   setup_settings(click, pm)
-  scroll(-1000, 278, 950)
+  scroll(-20, 278, 950)
   click(278, 950)
 
 
@@ -171,37 +171,37 @@ def setup_settings_steering(click, pm: PubMaster, scroll=None):
 
 def setup_settings_cruise(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
-  click(278, 1017)
-  scroll(-140, 278, 950)
+  scroll(-4, 278, 950)
+  click(278, 860)
 
 
 def setup_settings_visuals(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
-  scroll(-1000, 278, 950)
+  scroll(-20, 278, 950)
   click(278, 330)
 
 
 def setup_settings_display(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
-  scroll(-1000, 278, 950)
+  scroll(-20, 278, 950)
   click(278, 420)
 
 
 def setup_settings_osm(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
-  scroll(-1000, 278, 950)
+  scroll(-20, 278, 950)
   click(278, 520)
 
 
 def setup_settings_trips(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
-  scroll(-1000, 278, 950)
+  scroll(-20, 278, 950)
   click(278, 630)
 
 
 def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
   setup_settings(click, pm)
-  scroll(-1000, 278, 950)
+  scroll(-20, 278, 950)
   click(278, 750)
 
 
@@ -342,9 +342,14 @@ def click(self, x: int, y: int, *args, **kwargs):
     time.sleep(0.01)
     pyautogui.mouseUp(self.ui.left + x, self.ui.top + y, *args, **kwargs)
 
-  def scroll(self, clicks, x, y, *args, **kwargs):
-    pyautogui.scroll(clicks, self.ui.left + x, self.ui.top + y, *args, **kwargs)
-    time.sleep(UI_DELAY)
+  def scroll(self, clicks: int, x, y, *args, **kwargs):
+    if clicks == 0:
+      return
+    click = -1 if clicks < 0 else 1  # -1 = down, 1 = up
+    for _ in range(abs(clicks)):
+      pyautogui.scroll(click, self.ui.left + x, self.ui.top + y, *args, **kwargs)  # scroll for individual clicks since we need to delay between clicks
+      time.sleep(0.01)  # small delay between scroll clicks to work properly
+    time.sleep(2)  # wait for scroll to fully settle
 
   @with_processes(["ui"])
   def test_ui(self, name, setup_case):

From c560ac43aa1531dabad415cd0cfecce9c652d616 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Tue, 2 Dec 2025 22:08:38 -0800
Subject: [PATCH 0617/1434] ui: `NetworkUISP` (#1535)

* ui: network panel

* refactor adding scan button without overriding upstream layout

* trigger immediate network refresh instead of waiting

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../ui/sunnypilot/layouts/settings/network.py | 46 +++++++++++++++++++
 .../sunnypilot/layouts/settings/settings.py   |  4 +-
 2 files changed, 48 insertions(+), 2 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/network.py

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/network.py b/selfdrive/ui/sunnypilot/layouts/settings/network.py
new file mode 100644
index 00000000000000..14f573c6282178
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/network.py
@@ -0,0 +1,46 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import threading
+import time
+import pyray as rl
+
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.network import NetworkUI, PanelType
+
+
+class NetworkUISP(NetworkUI):
+  def __init__(self, wifi_manager):
+    super().__init__(wifi_manager)
+
+    self.scan_button = Button(tr("Scan"), self._scan_clicked, button_style=ButtonStyle.NORMAL, font_size=60, border_radius=30)
+    self.scan_button.set_rect(rl.Rectangle(0, 0, 400, 100))
+
+    self._scanning = False
+    self._wifi_manager.add_callbacks(networks_updated=self._on_networks_updated)
+
+  def _scan_clicked(self):
+    self._scanning = True
+    self.scan_button.set_text(tr("Scanning..."))
+    self.scan_button.set_enabled(False)
+
+    threading.Thread(target=self._wifi_manager._update_networks, daemon=True).start()
+    self._wifi_manager._request_scan()
+    self._wifi_manager._last_network_update = time.monotonic()
+
+  def _on_networks_updated(self, networks):
+    if self._scanning:
+      self._scanning = False
+      self.scan_button.set_text(tr("Scan"))
+      self.scan_button.set_enabled(True)
+
+  def _render(self, rect: rl.Rectangle):
+    super()._render(rect)
+
+    if self._current_panel == PanelType.WIFI:
+      self.scan_button.set_position(self._rect.x, self._rect.y + 20)
+      self.scan_button.render()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/settings.py b/selfdrive/ui/sunnypilot/layouts/settings/settings.py
index bf174de90b5270..905338552fe756 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/settings.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/settings.py
@@ -19,10 +19,10 @@
 from openpilot.system.ui.sunnypilot.lib.styles import style
 from openpilot.system.ui.widgets.scroller_tici import Scroller
 from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.widgets.network import NetworkUI
 from openpilot.system.ui.lib.wifi_manager import WifiManager
 from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.network import NetworkUISP
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.sunnylink import SunnylinkLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.osm import OSMLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.trips import TripsLayout
@@ -111,7 +111,7 @@ def __init__(self):
 
     self._panels = {
       OP.PanelType.DEVICE: PanelInfo(tr_noop("Device"), DeviceLayoutSP(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_home.png"),
-      OP.PanelType.NETWORK: PanelInfo(tr_noop("Network"), NetworkUI(wifi_manager), icon="icons/network.png"),
+      OP.PanelType.NETWORK: PanelInfo(tr_noop("Network"), NetworkUISP(wifi_manager), icon="icons/network.png"),
       OP.PanelType.SUNNYLINK: PanelInfo(tr_noop("sunnylink"), SunnylinkLayout(), icon="icons/shell.png"),
       OP.PanelType.TOGGLES: PanelInfo(tr_noop("Toggles"), TogglesLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
       OP.PanelType.SOFTWARE: PanelInfo(tr_noop("Software"), SoftwareLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),

From b9c54e07fb721bd67bcec3f1ca5c29c70c0198d3 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 3 Dec 2025 01:18:00 -0500
Subject: [PATCH 0618/1434] Revert "ci: disable macos builds" (#1529)

Revert "ci: disable macos builds (#1514)"

This reverts commit 42b2e1534b06a409efdd01a8284d10236e03bdad.
---
 .github/workflows/tests.yaml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index 8d6449cb4b9266..aab16ffbbea948 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -107,7 +107,6 @@ jobs:
 
   build_mac:
     name: build macOS
-    if: false  # temp disable since gcc-arm-embedded install is getting stuck due to checksum mismatch
     runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
     steps:
     - uses: actions/checkout@v4

From bea05d4624671927b7e1a203e4daa0eb6d5b74a3 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 3 Dec 2025 02:29:33 -0500
Subject: [PATCH 0619/1434] ui: add pressed state and visual feedback for
 search button in `TreeOptionDialog` (#1547)

* ui: add pressed state and visual feedback for search button in `TreeDialog`

* less
---
 system/ui/sunnypilot/lib/styles.py          |  3 +++
 system/ui/sunnypilot/widgets/tree_dialog.py | 21 ++++++++++++++++++---
 2 files changed, 21 insertions(+), 3 deletions(-)

diff --git a/system/ui/sunnypilot/lib/styles.py b/system/ui/sunnypilot/lib/styles.py
index 68e68d41a94523..3597509dc5f064 100644
--- a/system/ui/sunnypilot/lib/styles.py
+++ b/system/ui/sunnypilot/lib/styles.py
@@ -69,6 +69,9 @@ class DefaultStyleSP(Base):
   BUTTON_PRIMARY_COLOR = rl.Color(70, 91, 234, 255)  # Royal Blue
   BUTTON_NEUTRAL_GRAY = rl.Color(51, 51, 51, 255)
   BUTTON_DISABLED_BG_COLOR = rl.Color(30, 30, 30, 255)  # Very Dark Grey
+  TREE_DIALOG_TRANSPARENT = rl.Color(0, 0, 0, 0)
+  TREE_DIALOG_SEARCH_BUTTON_PRESSED = rl.Color(0x69, 0x68, 0x68, 0xFF)
+  TREE_DIALOG_SEARCH_BUTTON_BORDER = rl.Color(150, 150, 150, 200)
 
   # Vehicle Description Colors
   GREEN = rl.Color(0, 241, 0, 255)
diff --git a/system/ui/sunnypilot/widgets/tree_dialog.py b/system/ui/sunnypilot/widgets/tree_dialog.py
index fd2a576d589ede..cfc0a5caf1e487 100644
--- a/system/ui/sunnypilot/widgets/tree_dialog.py
+++ b/system/ui/sunnypilot/widgets/tree_dialog.py
@@ -99,6 +99,7 @@ def __init__(self, title, folders, current_ref="", fav_param="", option_font_wei
     self.search_title = search_title or tr("Enter search query")
     self.search_subtitle = search_subtitle
     self.search_dialog = None
+    self._search_pressed = False
 
     self._build_visible_items()
 
@@ -183,9 +184,10 @@ def _render(self, rect):
     input_rect = rl.Rectangle(self._search_rect.x + inset, self._search_rect.y + inset,
                               self._search_rect.width - inset * 2, self._search_rect.height - inset * 2)
 
-    # Transparent fill + border
-    rl.draw_rectangle_rounded(input_rect, roundness, 10, rl.Color(0, 0, 0, 0))
-    rl.draw_rectangle_rounded_lines_ex(input_rect, roundness, 10, 3, rl.Color(150, 150, 150, 200))
+    # Transparent fill (unpressed), white fill (pressed), border
+    fill_color = style.TREE_DIALOG_SEARCH_BUTTON_PRESSED if self._search_pressed else style.TREE_DIALOG_TRANSPARENT
+    rl.draw_rectangle_rounded(input_rect, roundness, 10, fill_color)
+    rl.draw_rectangle_rounded_lines_ex(input_rect, roundness, 10, 3, style.TREE_DIALOG_SEARCH_BUTTON_BORDER)
 
     # Magnifying glass icon
     icon_color = rl.Color(180, 180, 180, 240)
@@ -233,8 +235,21 @@ def _render(self, rect):
 
     return self._result
 
+  def _handle_mouse_press(self, mouse_pos):
+    if self._search_rect and rl.check_collision_point_rec(mouse_pos, self._search_rect):
+      self._search_pressed = True
+      return True
+    return super()._handle_mouse_press(mouse_pos)
+
   def _handle_mouse_release(self, mouse_pos):
+    clicked_search = False
     if self._search_rect and rl.check_collision_point_rec(mouse_pos, self._search_rect):
+      clicked_search = self._search_pressed
+
+    self._search_pressed = False
+
+    if clicked_search:
       self._on_search_clicked()
       return True
+
     return super()._handle_mouse_release(mouse_pos)

From 1f967668a545b34e2a3ffc85d5e56afdd837efd7 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Thu, 4 Dec 2025 01:51:08 -0500
Subject: [PATCH 0620/1434] ui: add sunnypilot font (#1552)

add sp font
---
 selfdrive/assets/fonts/Audiowide-Regular.ttf | 3 +++
 system/ui/lib/application.py                 | 1 +
 2 files changed, 4 insertions(+)
 create mode 100644 selfdrive/assets/fonts/Audiowide-Regular.ttf

diff --git a/selfdrive/assets/fonts/Audiowide-Regular.ttf b/selfdrive/assets/fonts/Audiowide-Regular.ttf
new file mode 100644
index 00000000000000..1b6913947ba929
--- /dev/null
+++ b/selfdrive/assets/fonts/Audiowide-Regular.ttf
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:434a720871336d359378beff5ebff3f9fd654d958693d272c7c6f2e271c7e41c
+size 47676
diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index e4850e9cbc036b..60a110293df91a 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -94,6 +94,7 @@ class FontWeight(StrEnum):
   BOLD = "Inter-Bold.fnt"
   SEMI_BOLD = "Inter-SemiBold.fnt"
   UNIFONT = "unifont.fnt"
+  AUDIOWIDE = "Audiowide-Regular.fnt"
 
   # Small UI fonts
   DISPLAY_REGULAR = "Inter-Regular.fnt"

From d75d80b885de1e2f7339f29135aa86e444fdbeda Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 4 Dec 2025 17:53:33 -0500
Subject: [PATCH 0621/1434] ui: add right-aligned value display support in
 `ListItemSP` (#1554)

* ui: add right-aligned value display support in `ListItemSP`

* lint

* styles
---
 system/ui/sunnypilot/lib/styles.py        |  1 +
 system/ui/sunnypilot/widgets/list_view.py | 27 ++++++++++++++++++++++-
 2 files changed, 27 insertions(+), 1 deletion(-)

diff --git a/system/ui/sunnypilot/lib/styles.py b/system/ui/sunnypilot/lib/styles.py
index 3597509dc5f064..c1f8c3926e5530 100644
--- a/system/ui/sunnypilot/lib/styles.py
+++ b/system/ui/sunnypilot/lib/styles.py
@@ -17,6 +17,7 @@ class Base:
   ITEM_TEXT_FONT_SIZE = 50
   ITEM_DESC_FONT_SIZE = 40
   ITEM_DESC_V_OFFSET = 150
+  ITEM_TEXT_VALUE_COLOR = rl.Color(170, 170, 170, 255)
   CLOSE_BTN_SIZE = 160
 
   # Toggle Control
diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py
index f05de81397c08f..315840f7ea908c 100644
--- a/system/ui/sunnypilot/widgets/list_view.py
+++ b/system/ui/sunnypilot/widgets/list_view.py
@@ -8,9 +8,10 @@
 
 import pyray as rl
 from openpilot.common.params import Params
-from openpilot.system.ui.lib.application import MousePos
+from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.sunnypilot.widgets.toggle import ToggleSP
+from openpilot.system.ui.widgets.label import gui_label
 from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction, MultipleButtonAction, _resolve_value
 from openpilot.system.ui.sunnypilot.lib.styles import style
 from openpilot.system.ui.sunnypilot.widgets.option_control import OptionControlSP, LABEL_WIDTH
@@ -86,6 +87,17 @@ def __init__(self, title: str | Callable[[], str] = "", icon: str | None = None,
     self.inline = inline
     if not self.inline:
       self._rect.height += style.ITEM_BASE_HEIGHT/1.75
+    self._right_value_source: str | Callable[[], str] | None = None
+    self._right_value_font = gui_app.font(FontWeight.NORMAL)
+
+  def set_right_value(self, value: str | Callable[[], str]):
+    self._right_value_source = value
+
+  @property
+  def right_value(self) -> str:
+    if self._right_value_source is None:
+      return ""
+    return str(_resolve_value(self._right_value_source, ""))
 
   def get_item_height(self, font: rl.Font, max_width: int) -> float:
     height = super().get_item_height(font, max_width)
@@ -154,6 +166,19 @@ def _render(self, _):
         item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - self._text_size.y) // 2
         rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, self.title_color)
 
+      value_text = self.right_value
+      if value_text:
+        # area from after the title to the right edge of the row
+        value_rect = rl.Rectangle(
+          text_x,  # start at the beginning of the text area
+          self._rect.y,
+          self._rect.width - (text_x - self._rect.x) - style.ITEM_PADDING,
+          style.ITEM_BASE_HEIGHT,
+        )
+        if value_rect.width > 0:
+          gui_label(value_rect, value_text, font_size=style.ITEM_TEXT_FONT_SIZE, color=style.ITEM_TEXT_VALUE_COLOR, font_weight=FontWeight.NORMAL,
+                    alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
       # Render toggle and handle callback
       if self.action_item.render(left_rect) and self.action_item.enabled:
         if self.callback:

From c6818bd07f8cadb7a42880f4a814442575875c24 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 4 Dec 2025 21:41:58 -0500
Subject: [PATCH 0622/1434] ui: customizable value colors for `ButtonActionSP`
 and `ListViewSP` (#1555)

ui: introduce customizable value colors for `ButtonActionSP` and `ListViewSP`
---
 selfdrive/ui/layouts/settings/device.py   |  3 ++
 selfdrive/ui/layouts/settings/software.py |  3 ++
 system/ui/sunnypilot/lib/styles.py        |  2 +
 system/ui/sunnypilot/widgets/list_view.py | 57 +++++++++++++++++++----
 system/ui/widgets/network.py              |  1 +
 5 files changed, 56 insertions(+), 10 deletions(-)

diff --git a/selfdrive/ui/layouts/settings/device.py b/selfdrive/ui/layouts/settings/device.py
index 078623c8821f54..8830ef946f7010 100644
--- a/selfdrive/ui/layouts/settings/device.py
+++ b/selfdrive/ui/layouts/settings/device.py
@@ -19,6 +19,9 @@
 from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
 from openpilot.system.ui.widgets.scroller_tici import Scroller
 
+if gui_app.sunnypilot_ui():
+  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
+
 # Description constants
 DESCRIPTIONS = {
   'pair_device': tr_noop("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."),
diff --git a/selfdrive/ui/layouts/settings/software.py b/selfdrive/ui/layouts/settings/software.py
index 4b8b7015f85b01..c4f899d798cf6a 100644
--- a/selfdrive/ui/layouts/settings/software.py
+++ b/selfdrive/ui/layouts/settings/software.py
@@ -11,6 +11,9 @@
 from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
 from openpilot.system.ui.widgets.scroller_tici import Scroller
 
+if gui_app.sunnypilot_ui():
+  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
+
 # TODO: remove this. updater fails to respond on startup if time is not correct
 UPDATED_TIMEOUT = 10  # seconds to wait for updated to respond
 
diff --git a/system/ui/sunnypilot/lib/styles.py b/system/ui/sunnypilot/lib/styles.py
index c1f8c3926e5530..3e1d2dc408c666 100644
--- a/system/ui/sunnypilot/lib/styles.py
+++ b/system/ui/sunnypilot/lib/styles.py
@@ -20,6 +20,8 @@ class Base:
   ITEM_TEXT_VALUE_COLOR = rl.Color(170, 170, 170, 255)
   CLOSE_BTN_SIZE = 160
 
+  TEXT_PADDING = 20
+
   # Toggle Control
   TOGGLE_HEIGHT = 120
   TOGGLE_WIDTH = int(TOGGLE_HEIGHT * 1.75)
diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py
index 315840f7ea908c..bd68d35a4812af 100644
--- a/system/ui/sunnypilot/widgets/list_view.py
+++ b/system/ui/sunnypilot/widgets/list_view.py
@@ -12,7 +12,8 @@
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.sunnypilot.widgets.toggle import ToggleSP
 from openpilot.system.ui.widgets.label import gui_label
-from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction, MultipleButtonAction, _resolve_value
+from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction, MultipleButtonAction, ButtonAction, \
+                                                  _resolve_value, BUTTON_WIDTH, BUTTON_HEIGHT, TEXT_PADDING
 from openpilot.system.ui.sunnypilot.lib.styles import style
 from openpilot.system.ui.sunnypilot.widgets.option_control import OptionControlSP, LABEL_WIDTH
 
@@ -24,6 +25,34 @@ def __init__(self, initial_state: bool = False, width: int = style.TOGGLE_WIDTH,
     self.toggle = ToggleSP(initial_state=initial_state, callback=callback, param=param)
 
 
+class ButtonActionSP(ButtonAction):
+  def __init__(self, text: str | Callable[[], str], width: int = style.BUTTON_WIDTH, enabled: bool | Callable[[], bool] = True):
+    super().__init__(text=text, width=width, enabled=enabled)
+    self._value_color: rl.Color = style.ITEM_TEXT_VALUE_COLOR
+
+  def set_value(self, value: str | Callable[[], str], color: rl.Color = style.ITEM_TEXT_VALUE_COLOR):
+    self._value_source = value
+    self._value_color = color
+
+  def _render(self, rect: rl.Rectangle) -> bool:
+    """Duplicate of ButtonAction._render, with additional value rendering"""
+    self._button.set_text(self.text)
+    self._button.set_enabled(_resolve_value(self.enabled))
+    button_rect = rl.Rectangle(rect.x + rect.width - BUTTON_WIDTH, rect.y + (rect.height - BUTTON_HEIGHT) / 2, BUTTON_WIDTH, BUTTON_HEIGHT)
+    self._button.render(button_rect)
+
+    value_text = self.value
+    if value_text:
+      value_rect = rl.Rectangle(rect.x, rect.y, rect.width - BUTTON_WIDTH - TEXT_PADDING, rect.height)
+      gui_label(value_rect, value_text, font_size=style.ITEM_TEXT_FONT_SIZE, color=self._value_color,
+                font_weight=FontWeight.NORMAL, alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+    pressed = self._pressed
+    self._pressed = False
+    return pressed
+
+
 class MultipleButtonActionSP(MultipleButtonAction):
   def __init__(self, buttons: list[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable = None,
                param: str | None = None):
@@ -89,9 +118,11 @@ def __init__(self, title: str | Callable[[], str] = "", icon: str | None = None,
       self._rect.height += style.ITEM_BASE_HEIGHT/1.75
     self._right_value_source: str | Callable[[], str] | None = None
     self._right_value_font = gui_app.font(FontWeight.NORMAL)
+    self._right_value_color: rl.Color = style.ITEM_TEXT_VALUE_COLOR
 
-  def set_right_value(self, value: str | Callable[[], str]):
+  def set_right_value(self, value: str | Callable[[], str], color: rl.Color = style.ITEM_TEXT_VALUE_COLOR):
     self._right_value_source = value
+    self._right_value_color = color
 
   @property
   def right_value(self) -> str:
@@ -127,17 +158,17 @@ def get_right_item_rect(self, item_rect: rl.Rectangle) -> rl.Rectangle:
 
       return rl.Rectangle(item_rect.x + style.ITEM_PADDING, action_y, item_rect.width - (style.ITEM_PADDING * 2), style.BUTTON_HEIGHT)
 
-    right_width = self.action_item.rect.width
+    right_width = self.action_item.get_width_hint()
     if right_width == 0:
       return rl.Rectangle(item_rect.x + style.ITEM_PADDING, item_rect.y, item_rect.width - (style.ITEM_PADDING * 2), style.ITEM_BASE_HEIGHT)
 
-    action_width = self.action_item.rect.width
-    if isinstance(self.action_item, ToggleAction):
-      action_x = item_rect.x
-    else:
-      action_x = item_rect.x + item_rect.width - action_width
+    content_width = item_rect.width - (style.ITEM_PADDING * 2)
+    title_width = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE).x
+    right_width = min(content_width - title_width, right_width)
+
+    action_x = item_rect.x + item_rect.width - right_width
     action_y = item_rect.y
-    return rl.Rectangle(action_x, action_y, action_width, style.ITEM_BASE_HEIGHT)
+    return rl.Rectangle(action_x, action_y, right_width, style.ITEM_BASE_HEIGHT)
 
   def _render(self, _):
     if not self.is_visible:
@@ -176,7 +207,7 @@ def _render(self, _):
           style.ITEM_BASE_HEIGHT,
         )
         if value_rect.width > 0:
-          gui_label(value_rect, value_text, font_size=style.ITEM_TEXT_FONT_SIZE, color=style.ITEM_TEXT_VALUE_COLOR, font_weight=FontWeight.NORMAL,
+          gui_label(value_rect, value_text, font_size=style.ITEM_TEXT_FONT_SIZE, color=self._right_value_color, font_weight=FontWeight.NORMAL,
                     alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
 
       # Render toggle and handle callback
@@ -236,3 +267,9 @@ def option_item_sp(title: str | Callable[[], str], param: str,
     enabled, on_value_changed, value_map, label_width, use_float_scaling, label_callback
   )
   return ListItemSP(title=title, description=description, action_item=action, icon=icon)
+
+
+def button_item_sp(title: str | Callable[[], str], button_text: str | Callable[[], str], description: str | Callable[[], str] | None = None,
+                   callback: Callable | None = None, enabled: bool | Callable[[], bool] = True) -> ListItemSP:
+  action = ButtonActionSP(text=button_text, enabled=enabled)
+  return ListItemSP(title=title, description=description, action_item=action, callback=callback)
diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py
index 71755cc284aa97..2aeefd5444d611 100644
--- a/system/ui/widgets/network.py
+++ b/system/ui/widgets/network.py
@@ -16,6 +16,7 @@
 from openpilot.system.ui.widgets.list_view import ButtonAction, ListItem, MultipleButtonAction, ToggleAction, button_item, text_item
 
 if gui_app.sunnypilot_ui():
+  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
   from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP as ListItem
   from openpilot.system.ui.sunnypilot.widgets.list_view import ToggleActionSP as ToggleAction
   from openpilot.system.ui.sunnypilot.widgets.list_view import MultipleButtonActionSP as MultipleButtonAction

From b5b170b65a09b0725bca77fa0775e27059c2bc7e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 5 Dec 2025 00:30:48 -0500
Subject: [PATCH 0623/1434] ui: sunnypilot sponsor tier color mapping (#1556)

* ui: sunnypilot sponsor tier color mapping

* lint
---
 sunnypilot/sunnylink/sunnylink_state.py | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/sunnypilot/sunnylink/sunnylink_state.py b/sunnypilot/sunnylink/sunnylink_state.py
index 4d0b397e03d02b..13b5ad81ec2bd4 100644
--- a/sunnypilot/sunnylink/sunnylink_state.py
+++ b/sunnypilot/sunnylink/sunnylink_state.py
@@ -8,11 +8,13 @@
 import threading
 import time
 import json
+import pyray as rl
 
 from cereal import messaging
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID, SunnylinkApi
+from openpilot.system.ui.sunnypilot.lib.styles import style
 
 
 class RoleType(IntEnum):
@@ -201,5 +203,19 @@ def is_connected(self) -> bool:
     network_type = self._sm["deviceState"].networkType
     return bool(network_type != 0)
 
+  def get_sponsor_tier_color(self) -> rl.Color:
+    tier = self.get_sponsor_tier()
+
+    if tier == SponsorTier.GUARDIAN:
+      return rl.Color(255, 215, 0, 255)
+    elif tier == SponsorTier.BENEFACTOR:
+      return rl.Color(60, 179, 113, 255)
+    elif tier == SponsorTier.CONTRIBUTOR:
+      return rl.Color(70, 130, 180, 255)
+    elif tier == SponsorTier.SUPPORTER:
+      return rl.Color(147, 112, 219, 255)
+    else:
+      return style.ITEM_TEXT_VALUE_COLOR
+
   def __del__(self):
     self.stop()

From 1d9bda65fea8da24a2804a5a3605fe924eeaed18 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 5 Dec 2025 01:01:55 -0500
Subject: [PATCH 0624/1434] ui: sunnylink panel (#1494)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* sp raylib preview

* fix callback

* fix ui preview

* sunnylink state

* introducing ui_state_sp for py

* poll from ui_state_sp

* cloudlog & ruff

* param to control stock vs sp ui

* better

* better padding

* this

* listitem -> listitemsp

* add show_description method

* remove padding from line separator.
like, WHY? 😩😩

* ui: `GuiApplicationExt`

* add to readme

* use gui_app.sunnypilot_ui()

* use gui_app.sunnypilot_ui()

* fetch only when connected to network

* sponsor & pairing qr

* init panel elements

* backup & restore

* fruit loops

* update

* enable, disable, enable, disable

* handle layout updates

* not needed

* change it up

* better

* scroller -> scroller_tici

* optimizations

* remove Params

* fix button disablement

* ui_state_sp changes

* keep enabled

* add header text

* dad jokes?

* no

* lint? Lint!

* final touches

* add sp font

* use sp font

* some

* ui: add right-aligned value display support in `ListItem` (in another pr)

* display sunnylink device id

* display sunnylink device id and sponsor tiers

* ui: add right-aligned value display support in `ListItemSP`

* lint

* styles

* lint

* ui: introduce customizable value colors for `ButtonActionSP` and `ListViewSP`

* support

* convert to str

* disable if paired

* colored sponsors

* hide and disable pairing button if paired

* texts

* ui: sunnypilot sponsor tier color mapping

* lint

* dongle id for ui preview

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
---
 .../sunnypilot/layouts/settings/settings.py   |   2 +-
 .../sunnypilot/layouts/settings/sunnylink.py  | 326 +++++++++++++++++-
 .../ui/tests/test_ui/raylib_screenshots.py    |   1 +
 .../widgets/sunnylink_pairing_dialog.py       | 137 ++++++++
 4 files changed, 459 insertions(+), 7 deletions(-)
 create mode 100644 system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/settings.py b/selfdrive/ui/sunnypilot/layouts/settings/settings.py
index 905338552fe756..45c9b934835cbb 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/settings.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/settings.py
@@ -112,7 +112,7 @@ def __init__(self):
     self._panels = {
       OP.PanelType.DEVICE: PanelInfo(tr_noop("Device"), DeviceLayoutSP(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_home.png"),
       OP.PanelType.NETWORK: PanelInfo(tr_noop("Network"), NetworkUISP(wifi_manager), icon="icons/network.png"),
-      OP.PanelType.SUNNYLINK: PanelInfo(tr_noop("sunnylink"), SunnylinkLayout(), icon="icons/shell.png"),
+      OP.PanelType.SUNNYLINK: PanelInfo(tr_noop("sunnylink"), SunnylinkLayout(), icon="icons/wifi_strength_full.png"),
       OP.PanelType.TOGGLES: PanelInfo(tr_noop("Toggles"), TogglesLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
       OP.PanelType.SOFTWARE: PanelInfo(tr_noop("Software"), SoftwareLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
       OP.PanelType.MODELS: PanelInfo(tr_noop("Models"), ModelsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_models.png"),
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py b/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
index b1e12c17ab9157..7125fdf3f31df6 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
@@ -4,27 +4,341 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from openpilot.common.params import Params
-from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets import Widget
+from cereal import custom
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog
+from openpilot.system.ui.widgets.button import ButtonStyle, Button
+from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.list_view import button_item, dual_button_item
+from openpilot.system.ui.widgets.scroller_tici import Scroller, LineSeparator
+from openpilot.system.ui.widgets import Widget, DialogResult
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+import pyray as rl
+
+if gui_app.sunnypilot_ui():
+  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
+
+
+class SunnylinkHeader(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._title = UnifiedLabel(
+      text="🚀 sunnylink 🚀",
+      font_size=90,
+      font_weight=FontWeight.AUDIOWIDE,
+      text_color=rl.WHITE,
+      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+      wrap_text=False,
+      elide=False
+    )
+
+    self._description = UnifiedLabel(
+      text=tr("For secure backup, restore, and remote configuration"),
+      font_size=40,
+      font_weight=FontWeight.LIGHT,
+      text_color=rl.Color(0, 255, 0, 255),  # Green
+      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+      wrap_text=True,
+      elide=False
+    )
+
+    self._sponsor_msg = UnifiedLabel(
+      text=tr("Sponsorship isn't required for basic backup/restore") + "\n" +
+           tr("Click the Sponsor button for more details"),
+      font_size=35,
+      font_weight=FontWeight.LIGHT,
+      text_color=rl.Color(255, 165, 0, 255),  # Orange
+      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+      wrap_text=True,
+      elide=False
+    )
+
+    self._padding = 20
+    self._spacing = 10
+
+  def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
+    super().set_parent_rect(parent_rect)
+
+    content_width = int(parent_rect.width - (self._padding * 2))
+
+    title_height = self._title.get_content_height(content_width)
+    desc_height = self._description.get_content_height(content_width)
+    sponsor_height = self._sponsor_msg.get_content_height(content_width)
+
+    total_height = (self._padding + title_height + self._spacing +
+                    desc_height + self._spacing + sponsor_height + self._padding)
+
+    self._rect.width = parent_rect.width
+    self._rect.height = total_height
+
+  def _render(self, rect: rl.Rectangle):
+    content_width = rect.width - (self._padding * 2)
+    current_y = rect.y + self._padding
+
+    # Render title
+    title_height = self._title.get_content_height(int(content_width))
+    title_rect = rl.Rectangle(rect.x + self._padding, current_y, content_width, title_height)
+    self._title.render(title_rect)
+    current_y += title_height + self._spacing
+
+    # Render description
+    desc_height = self._description.get_content_height(int(content_width))
+    desc_rect = rl.Rectangle(rect.x + self._padding, current_y, content_width, desc_height)
+    self._description.render(desc_rect)
+    current_y += desc_height + self._spacing
+
+    # Render sponsor message
+    sponsor_height = self._sponsor_msg.get_content_height(int(content_width))
+    sponsor_rect = rl.Rectangle(rect.x + self._padding, current_y, content_width, sponsor_height)
+    self._sponsor_msg.render(sponsor_rect)
+
+
+class SunnylinkDescriptionItem(Widget):
+  def __init__(self):
+    super().__init__()
+    self._description = UnifiedLabel(
+      text="",
+      font_size=40,
+      font_weight=FontWeight.LIGHT,
+      text_color=rl.WHITE,
+      alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+      wrap_text=True,
+      elide=False,
+    )
+    self._padding = 20
+
+  def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
+    super().set_parent_rect(parent_rect)
+    desc_height = self._description.get_content_height(int(parent_rect.width)) + self._padding * 2
+
+    self._rect.width = parent_rect.width
+    self._rect.height = desc_height
+
+  def set_text(self, text: str):
+    self._description.set_text(text)
+
+  def set_color(self, color: rl.Color):
+    self._description.set_text_color(color)
+
+  def _render(self, rect: rl.Rectangle):
+    content_width = rect.width - (self._padding * 2)
+
+    desc_height = self._description.get_content_height(int(content_width))
+    desc_rect = rl.Rectangle(rect.x + self._padding, rect.y, content_width, desc_height)
+    self._description.render(desc_rect)
 
 
 class SunnylinkLayout(Widget):
   def __init__(self):
     super().__init__()
 
-    self._params = Params()
+    self._sunnylink_pairing_dialog: SunnylinkPairingDialog | None = None
+    self._restore_in_progress = False
+    self._backup_in_progress = False
+    self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled")
+
     items = self._initialize_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
+    self._scroller = Scroller(items, line_separator=False, spacing=0)
 
   def _initialize_items(self):
-    items = [
+    self._sunnylink_toggle = toggle_item_sp(
+      title=tr("Enable sunnylink"),
+      description=tr("This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that."),
+      param="SunnylinkEnabled",
+      callback=self._sunnylink_toggle_callback
+    )
+
+    self._sunnylink_description = SunnylinkDescriptionItem()
+    self._sunnylink_description.set_visible(False)
 
+    self._sponsor_btn = button_item(
+      title=tr("Sponsor Status"),
+      button_text=tr("SPONSOR"),
+      description=tr(
+        "Become a sponsor of sunnypilot to get early access to sunnylink features when they become available."),
+      callback=lambda: self._handle_pair_btn(False)
+    )
+    self._pair_btn = button_item(
+      title=tr("Pair GitHub Account"),
+      button_text=tr("Not Paired"),
+      description=tr(
+        "Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink."),
+      callback=lambda: self._handle_pair_btn(True)
+    )
+    self._sunnylink_uploader_toggle = toggle_item_sp(
+      title=tr("Enable sunnylink uploader (infrastructure test)"),
+      description=tr("Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. ") +
+                  tr("(Only for highest tiers, and does NOT bring ANY benefit to you yet. We are just testing data volume.)"),
+      param="EnableSunnylinkUploader"
+    )
+    self._sunnylink_backup_restore_buttons = dual_button_item(
+      description="",
+      left_text=tr("Backup Settings"),
+      right_text=tr("Restore Settings"),
+      left_callback=self._handle_backup_btn,
+      right_callback=self._handle_restore_btn
+    )
+    self._backup_btn: Button = self._sunnylink_backup_restore_buttons.action_item.left_button  # store for easy individual access
+    self._restore_btn: Button = self._sunnylink_backup_restore_buttons.action_item.right_button
+    self._backup_btn.set_button_style(ButtonStyle.NORMAL)
+    self._restore_btn.set_button_style(ButtonStyle.PRIMARY)
+
+    items = [
+      SunnylinkHeader(),
+      LineSeparator(),
+      self._sunnylink_toggle,
+      self._sunnylink_description,
+      LineSeparator(),
+      self._sponsor_btn,
+      LineSeparator(),
+      self._pair_btn,
+      LineSeparator(),
+      self._sunnylink_uploader_toggle,
+      LineSeparator(),
+      self._sunnylink_backup_restore_buttons
     ]
     return items
 
+  @staticmethod
+  def _get_sunnylink_dongle_id() -> str | None:
+    return str(ui_state.params.get("SunnylinkDongleId") or (lambda: tr("N/A")))
+
+  def _handle_pair_btn(self, sponsor_pairing: bool = False):
+    sunnylink_dongle_id = self._get_sunnylink_dongle_id()
+    if sunnylink_dongle_id == UNREGISTERED_SUNNYLINK_DONGLE_ID:
+      gui_app.set_modal_overlay(alert_dialog(message=tr("sunnylink Dongle ID not found. ") +
+                                                     tr("This may be due to weak internet connection or sunnylink registration issue. ") +
+                                                     tr("Please reboot and try again.")))
+    elif not self._sunnylink_pairing_dialog:
+      self._sunnylink_pairing_dialog = SunnylinkPairingDialog(sponsor_pairing)
+      gui_app.set_modal_overlay(self._sunnylink_pairing_dialog, callback=lambda result: setattr(self, '_sunnylink_pairing_dialog', None))
+
+  def _handle_backup_btn(self):
+    backup_dialog = ConfirmDialog(text=tr("Are you sure you want to backup your current sunnypilot settings?"), confirm_text="Backup")
+    gui_app.set_modal_overlay(backup_dialog, callback=self._backup_handler)
+
+  def _handle_restore_btn(self):
+    self._restore_btn.set_enabled(False)
+    restore_dialog = ConfirmDialog(text=tr("Are you sure you want to restore the last backed up sunnypilot settings?"), confirm_text="Restore")
+    gui_app.set_modal_overlay(restore_dialog, callback=self._restore_handler)
+
+  def _backup_handler(self, dialog_result: int):
+    if dialog_result == DialogResult.CONFIRM:
+      self._backup_in_progress = True
+      self._backup_btn.set_enabled(False)
+      ui_state.params.put_bool("BackupManager_CreateBackup", True)
+
+  def _restore_handler(self, dialog_result: int):
+    if dialog_result == DialogResult.CONFIRM:
+      self._restore_in_progress = True
+      self._restore_btn.set_enabled(False)
+      ui_state.params.put("BackupManager_RestoreVersion", "latest")
+
+  def handle_backup_restore_progress(self):
+    sunnylink_backup_manager = ui_state.sm["backupManagerSP"]
+
+    backup_status = sunnylink_backup_manager.backupStatus
+    restore_status = sunnylink_backup_manager.restoreStatus
+    backup_progress = sunnylink_backup_manager.backupProgress
+    restore_progress = sunnylink_backup_manager.restoreProgress
+
+    if self._backup_in_progress:
+      self._restore_btn.set_enabled(False)
+      self._backup_btn.set_enabled(False)
+
+      if backup_status == custom.BackupManagerSP.Status.inProgress:
+        self._backup_in_progress = True
+        text = tr(f"Backing up {backup_progress}%")
+        self._backup_btn.set_text(text)
+
+      elif backup_status == custom.BackupManagerSP.Status.failed:
+        self._backup_in_progress = False
+        self._backup_btn.set_enabled(not ui_state.is_onroad())
+        self._backup_btn.set_text(tr("Backup Failed"))
+
+      elif (backup_status == custom.BackupManagerSP.Status.completed or
+            (backup_status == custom.BackupManagerSP.Status.idle and backup_progress == 100.0)):
+        self._backup_in_progress = False
+        dialog = alert_dialog(tr("Settings backup completed."))
+        gui_app.set_modal_overlay(dialog)
+        self._backup_btn.set_enabled(not ui_state.is_onroad())
+
+    elif self._restore_in_progress:
+      self._restore_btn.set_enabled(False)
+      self._backup_btn.set_enabled(False)
+
+      if restore_status == custom.BackupManagerSP.Status.inProgress:
+        self._restore_in_progress = True
+        text = tr(f"Restoring {restore_progress}%")
+        self._restore_btn.set_text(text)
+
+      elif restore_status == custom.BackupManagerSP.Status.failed:
+        self._restore_in_progress = False
+        self._restore_btn.set_enabled(not ui_state.is_onroad())
+        self._restore_btn.set_text(tr("Restore Failed"))
+        dialog = alert_dialog(tr("Unable to restore the settings, try again later."))
+        gui_app.set_modal_overlay(dialog)
+
+      elif (restore_status == custom.BackupManagerSP.Status.completed or
+            (restore_status == custom.BackupManagerSP.Status.idle and restore_progress == 100.0)):
+        self._restore_in_progress = False
+        dialog = alert_dialog(tr("Settings restored. Confirm to restart the interface."))
+        gui_app.set_modal_overlay(dialog, callback=lambda: gui_app.request_close())
+
+    else:
+      can_enable = self._sunnylink_enabled and not ui_state.is_onroad()
+      self._backup_btn.set_enabled(can_enable)
+      self._backup_btn.set_text(tr("Backup Settings"))
+      self._restore_btn.set_enabled(can_enable)
+      self._restore_btn.set_text(tr("Restore Settings"))
+
+  def _sunnylink_toggle_callback(self, state: bool):
+    if state:
+      description = tr(
+        "Welcome back!! We're excited to see you've enabled sunnylink again!")
+      color = rl.Color(0, 255, 0, 255)  # Green
+    else:
+      description = ("😢 " + tr("Not going to lie, it's sad to see you disabled sunnylink") +
+                     tr(", but we'll be here when you're ready to come back."))
+      color = rl.Color(255, 165, 0, 255)  # Orange
+    self._sunnylink_description.set_text(description)
+    self._sunnylink_description.set_color(color)
+    self._sunnylink_description.set_visible(True)
+    self._sunnylink_toggle.show_description(False)
+
+  def _update_state(self):
+    super()._update_state()
+    self._sunnylink_enabled = ui_state.params.get_bool("SunnylinkEnabled")
+    self._sunnylink_toggle.set_right_value(tr("Dongle ID") + ": " + self._get_sunnylink_dongle_id())
+    self._sunnylink_toggle.action_item.set_enabled(not ui_state.is_onroad())
+    self._sunnylink_toggle.action_item.set_state(self._sunnylink_enabled)
+    self._sunnylink_uploader_toggle.action_item.set_enabled(self._sunnylink_enabled)
+    self.handle_backup_restore_progress()
+
+    sponsor_btn_text = tr("THANKS ♥") if ui_state.sunnylink_state.is_sponsor() else tr("SPONSOR")
+    tier_name = ui_state.sunnylink_state.get_sponsor_tier().name.capitalize() or tr("Not Sponsor")
+    self._sponsor_btn.action_item.set_text(sponsor_btn_text)
+    self._sponsor_btn.action_item.set_value(tier_name, ui_state.sunnylink_state.get_sponsor_tier_color())
+    self._sponsor_btn.action_item.set_enabled(self._sunnylink_enabled and not ui_state.sunnylink_state.is_sponsor())
+
+    pair_btn_text = tr("Paired") if ui_state.sunnylink_state.is_paired() else tr("Not Paired")
+    self._pair_btn.action_item.set_text(pair_btn_text)
+    self._pair_btn.set_visible(lambda: self._sunnylink_enabled and not ui_state.sunnylink_state.is_paired())
+    self._pair_btn.action_item.set_enabled(self._sunnylink_enabled and not ui_state.sunnylink_state.is_paired())
+
   def _render(self, rect):
     self._scroller.render(rect)
 
   def show_event(self):
+    super().show_event()
     self._scroller.show_event()
+    self._sunnylink_description.set_visible(False)
diff --git a/selfdrive/ui/tests/test_ui/raylib_screenshots.py b/selfdrive/ui/tests/test_ui/raylib_screenshots.py
index 164358bfced3d1..e209ab8060c84b 100755
--- a/selfdrive/ui/tests/test_ui/raylib_screenshots.py
+++ b/selfdrive/ui/tests/test_ui/raylib_screenshots.py
@@ -369,6 +369,7 @@ def create_screenshots():
     with OpenpilotPrefix():
       params = Params()
       params.put("DongleId", "123456789012345")
+      params.put("SunnylinkDongleId", "123456789012345")
 
       # Set branch name
       params.put("UpdaterCurrentDescription", VERSION)
diff --git a/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py b/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
new file mode 100644
index 00000000000000..4fab79caf15701
--- /dev/null
+++ b/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
@@ -0,0 +1,137 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import base64
+
+import pyray as rl
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog
+from openpilot.sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID, API_HOST
+from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+
+
+class SunnylinkPairingDialog(PairingDialog):
+  """Dialog for device pairing with QR code."""
+
+  QR_REFRESH_INTERVAL = 300  # 5 minutes in seconds
+
+  def __init__(self, sponsor_pairing: bool = False):
+    PairingDialog.__init__(self)
+    self._sponsor_pairing = sponsor_pairing
+
+  def _get_pairing_url(self) -> str:
+    qr_string = "https://github.com/sponsors/sunnyhaibin"
+
+    if self._sponsor_pairing:
+      try:
+        sl_dongle_id = self.params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID
+        token = SunnylinkApi(sl_dongle_id).get_token()
+        inner_string = f"1|{sl_dongle_id}|{token}"
+        payload_bytes = base64.b64encode(inner_string.encode('utf-8')).decode('utf-8')
+        qr_string = f"{API_HOST}/sso?state={payload_bytes}"
+      except Exception:
+        cloudlog.exception("Failed to get pairing token")
+
+    return qr_string
+
+  def _update_state(self):
+    if ui_state.sunnylink_state.is_paired():
+      gui_app.set_modal_overlay(None)
+
+  def _render(self, rect: rl.Rectangle) -> int:
+    rl.clear_background(rl.Color(224, 224, 224, 255))
+
+    self._check_qr_refresh()
+
+    margin = 70
+    content_rect = rl.Rectangle(rect.x + margin, rect.y + margin, rect.width - 2 * margin, rect.height - 2 * margin)
+    y = content_rect.y
+
+    # Close button
+    close_size = 80
+    pad = 20
+    close_rect = rl.Rectangle(content_rect.x - pad, y - pad, close_size + pad * 2, close_size + pad * 2)
+    self._close_btn.render(close_rect)
+
+    y += close_size + 40
+
+    # Title
+    title = tr("Pair your GitHub account") if self._sponsor_pairing else tr("Early Access: Become a sunnypilot Sponsor")
+    title_font = gui_app.font(FontWeight.NORMAL)
+    left_width = int(content_rect.width * 0.5 - 15)
+
+    title_wrapped = wrap_text(title_font, title, 75, left_width)
+    rl.draw_text_ex(title_font, "\n".join(title_wrapped), rl.Vector2(content_rect.x, y), 75, 0.0, rl.BLACK)
+    y += len(title_wrapped) * 75 + 60
+
+    # Two columns: instructions and QR code
+    remaining_height = content_rect.height - (y - content_rect.y)
+    right_width = content_rect.width // 2 - 20
+
+    # Instructions
+    self._render_instructions(rl.Rectangle(content_rect.x, y, left_width, remaining_height))
+
+    # QR code
+    qr_size = min(right_width, content_rect.height) - 40
+    qr_x = content_rect.x + left_width + 40 + (right_width - qr_size) // 2
+    qr_y = content_rect.y
+    self._render_qr_code(rl.Rectangle(qr_x, qr_y, qr_size, qr_size))
+
+    return -1
+
+  def _render_instructions(self, rect: rl.Rectangle) -> None:
+    if self._sponsor_pairing:
+      instructions = [
+        tr("Scan the QR code to login to your GitHub account"),
+        tr("Follow the prompts to complete the pairing process"),
+        tr("Re-enter the \"sunnylink\" panel to verify sponsorship status"),
+        tr("If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai")
+      ]
+    else:
+      instructions = [
+        tr("Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"),
+        tr("Choose your sponsorship tier and confirm your support"),
+        tr("Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues")
+      ]
+
+    font = gui_app.font(FontWeight.BOLD)
+    y = rect.y
+
+    for i, text in enumerate(instructions):
+      circle_radius = 25
+      circle_x = rect.x + circle_radius + 15
+      text_x = rect.x + circle_radius * 2 + 40
+      text_width = rect.width - (circle_radius * 2 + 40)
+
+      wrapped = wrap_text(font, text, 47, int(text_width))
+      text_height = len(wrapped) * 47
+      circle_y = y + text_height // 2
+
+      # Circle and number
+      rl.draw_circle(int(circle_x), int(circle_y), circle_radius, rl.Color(70, 70, 70, 255))
+      number = str(i + 1)
+      number_size = measure_text_cached(font, number, 30)
+      rl.draw_text_ex(font, number, (int(circle_x - number_size.x // 2), int(circle_y - number_size.y // 2)), 30, 0, rl.WHITE)
+
+      # Text
+      rl.draw_text_ex(font, "\n".join(wrapped), rl.Vector2(text_x, y), 47, 0.0, rl.BLACK)
+      y += text_height + 50
+
+
+if __name__ == "__main__":
+  gui_app.init_window("pairing device")
+  pairing = SunnylinkPairingDialog(sponsor_pairing=True)
+  try:
+    for _ in gui_app.render():
+      result = pairing.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+      if result != -1:
+        break
+  finally:
+    del pairing

From 57eca29970efd01ca17de7a6f7425a1e7ebac6dd Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Fri, 5 Dec 2025 00:14:53 -0800
Subject: [PATCH 0625/1434] ui: Models panel (#1495)

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* sp raylib preview

* fix callback

* fix ui preview

* dialog txt

* compare vs what used to be done before InputDialog

* introducing ui_state_sp for py

* raylib: input dialog

* raylib: SP Toggles

* raylib: SP Panels

* raylib: Option Control

* init

* param to control stock vs sp ui

* better

* tree dialog, progress bar widget cool stuff

* merge origin raylib toggles

* tree dialog

* less trees for the planet

* the heck

* add ui_update callback

* save the trees we got icons

* Update process.py

* yesssssssssss

* utilize ON_COLOR constant form op system

* Revert "add ui_update callback"

This reverts commit 4da32cc0097434aab0aa6a3c35465eabb23c8958.

* # Conflicts:
#	system/ui/sunnypilot/widgets/list_view.py
#	system/ui/sunnypilot/widgets/option_control.py

* Merge remote-tracking branch 'openpilot/master' into nov-19-sync

* ui: `GuiApplicationExt`

* add to readme

* scroller_tici :)

* use gui_app.sunnypilot_ui()

* # Conflicts:
#	selfdrive/ui/layouts/main.py
#	selfdrive/ui/sunnypilot/layouts/settings/cruise.py
#	selfdrive/ui/sunnypilot/layouts/settings/display.py
#	selfdrive/ui/sunnypilot/layouts/settings/models.py
#	selfdrive/ui/sunnypilot/layouts/settings/navigation.py
#	selfdrive/ui/sunnypilot/layouts/settings/osm.py
#	selfdrive/ui/sunnypilot/layouts/settings/steering.py
#	selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
#	selfdrive/ui/sunnypilot/layouts/settings/trips.py
#	selfdrive/ui/sunnypilot/layouts/settings/vehicle.py
#	selfdrive/ui/sunnypilot/layouts/settings/visuals.py
#	system/ui/sunnypilot/widgets/option_control.py

* init value

* Remove 'sunnypilot_ui'

Removed 'sunnypilot_ui' parameter from params_keys.h

* Update raylib_screenshots.py

Removed the parameter setting for 'sunnypilot_ui' in the test.

* easier to see

* Update progress_bar.py

* try something

* adjust placement

* more simple

* smoothing updating components

* ui: fuzzy search helper

* ui_state_sp

* description!

* fuzzy af searching

* better tree. fully dynamic and stuff

* rm

* rearrange

* license

* idk how maybe the merge

* more indent

* more indent

* cleanup

* temporaily revert ui_state_sp

* only show if fav_param is used in the call

* conditional for mypy

* mypy

* conditional for mypy

* str concatenation to reduce line len

* level

* sunny's new x,y makes this even easier!

* refreshing half a second seems legit.

* loathing loathing, unadulterated loathing, i loathe it all

* loathing loathing, unadulterated loathing, i loathe it all

* # Conflicts:
#	system/ui/sunnypilot/lib/styles.py
#	system/ui/sunnypilot/widgets/tree_dialog.py

* Update models.py

* Change BUTTON_DISABLED_BG_COLOR to a lighter shade

* I think this is it

* Update tree_dialog.py

* Update models.py

* Update models.py

* oops, angry f string

* bool

* Update ui_state.py

* Update ui_state.py

* wtf where'd the end quote go lol

* some

* more

* quick test

* Revert "quick test"

This reverts commit fb97afa54c2b94129e772a23a789059adf01f609.

* try this out

* use sp's

* cap

* how weird?

---------

Co-authored-by: nayan <nayan8teen@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../ui/sunnypilot/layouts/settings/models.py  | 244 +++++++++++++++++-
 selfdrive/ui/sunnypilot/ui_state.py           |   2 +-
 sunnypilot/models/manager.py                  |   4 +
 3 files changed, 241 insertions(+), 9 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/models.py b/selfdrive/ui/sunnypilot/layouts/settings/models.py
index add437b127f5b5..43f0d25b47ba19 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/models.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/models.py
@@ -4,24 +4,252 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from openpilot.common.params import Params
+import os
+import re
+import time
+import pyray as rl
+
+from cereal import custom
+from openpilot.common.constants import CV
+from openpilot.selfdrive.ui.ui_state import device, ui_state
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import DialogResult, Widget
+from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
 from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.toggle import ON_COLOR
+
+from openpilot.sunnypilot.models.runners.constants import CUSTOM_MODEL_PATH
+from openpilot.system.ui.sunnypilot.lib.styles import style
+from openpilot.system.ui.sunnypilot.widgets.list_view import ButtonActionSP, ListItemSP, toggle_item_sp, option_item_sp
+from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
+from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
+
+if gui_app.sunnypilot_ui():
+  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
+
+
+class ModelAction(ButtonActionSP):
+  def get_width_hint(self):
+    return super().get_width_hint() + 1
 
 
 class ModelsLayout(Widget):
   def __init__(self):
     super().__init__()
+    self.model_manager = None
+    self.download_status = None
+    self.prev_download_status = None
+    self.model_dialog = None
+    self.last_cache_calc_time = 0
 
-    self._params = Params()
-    items = self._initialize_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
+    self._initialize_items()
+
+    self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
+    for ctrl, key in [(self.lane_turn_value_control, "LaneTurnValue"), (self.delay_control, "LagdToggleDelay")]:
+      ctrl.action_item.set_value(int(float(ui_state.params.get(key, return_default=True)) * 100))
+
+    self._scroller = Scroller(self.items, line_separator=True, spacing=0)
 
   def _initialize_items(self):
-    items = [
+    self.current_model_item = ListItemSP(
+      title=tr("Current Model"),
+      description="",
+      action_item=ModelAction(tr("SELECT")),
+      callback=self._handle_current_model_clicked
+    )
+
+    self.supercombo_label = progress_item(tr("Driving Model"))
+    self.vision_label = progress_item(tr("Vision Model"))
+    self.policy_label = progress_item(tr("Policy Model"))
+
+    self.refresh_item = button_item(tr("Refresh Model List"), tr("REFRESH"), "",
+                                    lambda: (ui_state.params.put("ModelManager_LastSyncTime", 0),
+                                             gui_app.set_modal_overlay(alert_dialog(tr("Fetching Latest Models")))))
+
+    self.clear_cache_item = ListItemSP(
+      title=tr("Clear Model Cache"),
+      description="",
+      action_item=ModelAction(tr("CLEAR")),
+      callback=self._clear_cache
+    )
+
+    self.cancel_download_item = button_item(tr("Cancel Download"), tr("Cancel"), "", lambda: ui_state.params.remove("ModelManager_DownloadIndex"))
+
+    self.lane_turn_value_control = option_item_sp(tr("Adjust Lane Turn Speed"), "LaneTurnValue", 500, 2000,
+                                                  tr("Set the maximum speed for lane turn desires. Default is 19 mph."),
+                                                  int(round(100 / CV.MPH_TO_KPH)), None, True, "", style.BUTTON_WIDTH, None, True,
+                                                  lambda v: f"{int(round(v / 100 * (CV.MPH_TO_KPH if ui_state.is_metric else 1)))}" +
+                                                            f" {'km/h' if ui_state.is_metric else 'mph'}")
+
+    self.lane_turn_desire_toggle = toggle_item_sp(tr("Use Lane Turn Desires"),
+                                                  tr("If you're driving at 20 mph (32 km/h) or below and have your blinker on," +
+                                                     " the car will plan a turn in that direction at the nearest drivable path. " +
+                                                     "This prevents situations (like at red lights) where the car might plan the wrong turn direction."),
+                                                  param="LaneTurnDesire")
+
+    self.delay_control = option_item_sp(tr("Adjust Software Delay"), "LagdToggleDelay", 5, 50,
+                                        tr("Adjust the software delay when Live Learning Steer Delay is toggled off. The default software delay value is 0.2"),
+                                        1, None, True, "", style.BUTTON_WIDTH, None, True, lambda v: f"{v / 100:.2f}s")
+
+    self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle")
+
+    self.items = [self.current_model_item, self.cancel_download_item, self.supercombo_label, self.vision_label,
+                  self.policy_label, self.refresh_item, self.clear_cache_item, self.lane_turn_desire_toggle,
+                  self.lane_turn_value_control, self.lagd_toggle, self.delay_control]
+
+  def _update_lagd_description(self, lagd_toggle: bool):
+    desc = tr("Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. " +
+              "Keeping this on provides the stock openpilot experience.")
+    if lagd_toggle:
+      desc += f"<br>{tr('Live Steer Delay:')} {ui_state.sm['liveDelay'].lateralDelay:.3f} s"
+    elif ui_state.CP:
+      sw = float(ui_state.params.get("LagdToggleDelay", "0.2"))
+      cp = ui_state.CP.steerActuatorDelay
+      desc += f"<br>{tr('Actuator Delay:')} {cp:.2f} s + {tr('Software Delay:')} {sw:.2f} s = {tr('Total Delay:')} {cp + sw:.2f} s"
+    self.lagd_toggle.set_description(desc)
+
+  def _is_downloading(self):
+    return (self.model_manager and self.model_manager.selectedBundle and
+            self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading)
+
+  @staticmethod
+  def _calculate_cache_size():
+    cache_size = 0.0
+    if os.path.exists(CUSTOM_MODEL_PATH):
+      cache_size = sum(os.path.getsize(os.path.join(CUSTOM_MODEL_PATH, file)) for file in os.listdir(CUSTOM_MODEL_PATH)) / (1024**2)
+    return cache_size
+
+  def _clear_cache(self):
+    def _callback(response):
+      if response == DialogResult.CONFIRM:
+        ui_state.params.put_bool("ModelManager_ClearCache", True)
+        self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
+
+    gui_app.set_modal_overlay(ConfirmDialog(tr("This will delete ALL downloaded models from the cache except the currently active model. Are you sure?"),
+                                            tr("Clear Cache")), callback=_callback)
+
+  def _handle_bundle_download_progress(self):
+    labels = {custom.ModelManagerSP.Model.Type.supercombo: self.supercombo_label,
+              custom.ModelManagerSP.Model.Type.vision: self.vision_label,
+              custom.ModelManagerSP.Model.Type.policy: self.policy_label}
+    for label in labels.values():
+      label.set_visible(False)
+    self.cancel_download_item.set_visible(False)
+
+    if not self.model_manager or (not self.model_manager.selectedBundle and not self.model_manager.activeBundle):
+      return
+
+    bundle = self.model_manager.selectedBundle if self._is_downloading() or (
+      self.model_manager.selectedBundle and self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.failed
+    ) else self.model_manager.activeBundle
+    if not bundle:
+      return
+
+    self.download_status = bundle.status
+    status_changed = self.prev_download_status != self.download_status
+    self.prev_download_status = self.download_status
+
+    self.cancel_download_item.set_visible(bool(self.model_manager.selectedBundle) and bool(ui_state.params.get("ModelManager_DownloadIndex")))
+
+    if (current_time := time.monotonic()) - self.last_cache_calc_time > 0.5:
+      self.last_cache_calc_time = current_time
+      self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
+
+    if self.download_status == custom.ModelManagerSP.DownloadStatus.downloading:
+      device.reset_interactive_timeout()
+
+    for model in bundle.models:
+      if label := labels.get(getattr(model.type, 'raw', model.type)):
+        label.set_visible(True)
+        p = model.artifact.downloadProgress
+        text, show, color = f"pending - {bundle.displayName}", False, rl.GRAY
+        if p.status == custom.ModelManagerSP.DownloadStatus.downloading:
+          text, show = f"{int(p.progress)}% - {bundle.displayName}", True
+        elif p.status in (custom.ModelManagerSP.DownloadStatus.downloaded, custom.ModelManagerSP.DownloadStatus.cached):
+          status_text = tr("from cache" if p.status == custom.ModelManagerSP.DownloadStatus.cached else "downloaded")
+          text, color = f"{bundle.displayName} - {status_text if status_changed else tr('ready')}", ON_COLOR
+        elif p.status == custom.ModelManagerSP.DownloadStatus.failed:
+          text, color = f"download failed - {bundle.displayName}", rl.RED
+        label.action_item.update(p.progress, text, show, color)
+
+  @staticmethod
+  def _show_reset_params_dialog():
+    def _callback(response):
+      if response == DialogResult.CONFIRM:
+        ui_state.params.remove("CalibrationParams")
+        ui_state.params.remove("LiveTorqueParameters")
+    msg = tr("Model download has started in the background. We suggest resetting calibration. Would you like to do that now?")
+    gui_app.set_modal_overlay(ConfirmDialog(msg, tr("Reset Calibration")), callback=_callback)
+
+  def _on_model_selected(self, result):
+    if result != DialogResult.CONFIRM:
+      return
+    selected_ref = self.model_dialog.selection_ref
+    if selected_ref == "Default":
+      ui_state.params.remove("ModelManager_ActiveBundle")
+      self._show_reset_params_dialog()
+    elif selected_bundle := next((bundle for bundle in self.model_manager.availableBundles if bundle.ref == selected_ref), None):
+      ui_state.params.put("ModelManager_DownloadIndex", selected_bundle.index)
+      if self.model_manager.activeBundle and selected_bundle.generation != self.model_manager.activeBundle.generation:
+        self._show_reset_params_dialog()
+    self.model_dialog = None
+
+  @staticmethod
+  def _bundle_to_node(bundle):
+    return TreeNode(bundle.ref, {'display_name': bundle.displayName, 'short_name': bundle.internalName})
+
+  def _get_folders(self, favorites):
+    bundles = self.model_manager.availableBundles
+    folders = {}
+    for bundle in bundles:
+      folders.setdefault(next((ov_ride.value for ov_ride in bundle.overrides if ov_ride.key == "folder"), ""), []).append(bundle)
+
+    folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': tr("Default Model"), 'short_name': "Default"})])]
+    for folder, folder_bundles in sorted(folders.items(), key=lambda x: max((bundle.index for bundle in x[1]), default=-1), reverse=True):
+      folder_bundles.sort(key=lambda bundle: bundle.index, reverse=True)
+      name = folder + (f" - (Updated: {m.group(1)})" if folder_bundles and (m := re.search(r'\(([^)]*)\)[^(]*$', folder_bundles[0].displayName)) else "")
+      folders_list.append(TreeFolder(name, [self._bundle_to_node(bundle) for bundle in folder_bundles]))
+
+    if favorites and (fav_bundles := [bundle for bundle in bundles if bundle.ref in favorites]):
+      folders_list.insert(1, TreeFolder("Favorites", [self._bundle_to_node(bundle) for bundle in fav_bundles]))
+    return folders_list
+
+  def _handle_current_model_clicked(self):
+    favs = ui_state.params.get("ModelManager_Favs")
+    favorites = set(favs.split(';')) if favs else set()
+    folders_list = self._get_folders(favorites)
+
+    active_ref = self.model_manager.activeBundle.ref if self.model_manager.activeBundle else "Default"
+    self.model_dialog = TreeOptionDialog(tr("Select a Model"), folders_list, active_ref, "ModelManager_Favs",
+                                         get_folders_fn=self._get_folders, on_exit=self._on_model_selected)
+    gui_app.set_modal_overlay(self.model_dialog, callback=self._on_model_selected)
+
+  def _update_state(self):
+    advanced_controls: bool = ui_state.params.get_bool("ShowAdvancedControls")
+    turn_desire: bool = ui_state.params.get_bool("LaneTurnDesire")
+    live_delay: bool = ui_state.params.get_bool("LagdToggle")
+
+    self.lane_turn_desire_toggle.action_item.set_state(turn_desire)
+    self.lane_turn_value_control.set_visible(turn_desire and advanced_controls)
+    self.lagd_toggle.action_item.set_state(live_delay)
+    self.delay_control.set_visible(not live_delay and advanced_controls)
+    new_step = int(round(100 / CV.MPH_TO_KPH)) if ui_state.is_metric else 100
+    if self.lane_turn_value_control.action_item.value_change_step != new_step:
+      self.lane_turn_value_control.action_item.value_change_step = new_step
+
+    self._update_lagd_description(live_delay)
+    self.model_manager = ui_state.sm["modelManagerSP"]
+    self._handle_bundle_download_progress()
+    active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else tr("Default Model")
+    self.current_model_item.action_item.set_value(active_name)
 
-    ]
-    return items
+    if not ui_state.is_offroad():
+      self.current_model_item.action_item.set_enabled(False)
+      self.current_model_item.set_description(tr("Only available when vehicle is off, or always offroad mode is on"))
+    else:
+      self.current_model_item.action_item.set_enabled(True)
+      self.current_model_item.set_description("")
 
   def _render(self, rect):
     self._scroller.render(rect)
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index 1db5ad613e0ae3..af625ee619e58a 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -14,7 +14,7 @@ def __init__(self):
     self.params = Params()
     self.sm_services_ext = [
       "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
-      "gpsLocation", "liveTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP"
+      "gpsLocation", "liveTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "liveDelay"
     ]
 
     self.sunnylink_state = SunnylinkState()
diff --git a/sunnypilot/models/manager.py b/sunnypilot/models/manager.py
index c236643a06e408..2d3d670bfdaea4 100644
--- a/sunnypilot/models/manager.py
+++ b/sunnypilot/models/manager.py
@@ -63,6 +63,9 @@ async def _download_file(self, url: str, path: str, model) -> None:
             f.write(chunk)
             bytes_downloaded += len(chunk)
 
+            if not self.params.get("ModelManager_DownloadIndex"):
+              raise Exception("Download cancelled")
+
             if total_size > 0:
               progress = (bytes_downloaded / total_size) * 100
               model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading
@@ -176,6 +179,7 @@ def main_thread(self) -> None:
               cloudlog.exception(e)
             finally:
               self.params.remove("ModelManager_DownloadIndex")
+              self.selected_bundle = None
 
         if self.params.get("ModelManager_ClearCache"):
             self.clear_model_cache()

From d382cd08e5fd46e63b54400e6f74f284316ee494 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 5 Dec 2025 16:49:29 -0500
Subject: [PATCH 0626/1434] ui: adjust Sponsor and Pairing button behaviors in
 sunnylink panel (#1557)

ui: adjust sponsor and pairing button behaviors in sunnyLink panel
---
 selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py    | 5 ++---
 system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py | 4 +++-
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py b/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
index 7125fdf3f31df6..316d4d22405d74 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
@@ -328,12 +328,11 @@ def _update_state(self):
     tier_name = ui_state.sunnylink_state.get_sponsor_tier().name.capitalize() or tr("Not Sponsor")
     self._sponsor_btn.action_item.set_text(sponsor_btn_text)
     self._sponsor_btn.action_item.set_value(tier_name, ui_state.sunnylink_state.get_sponsor_tier_color())
-    self._sponsor_btn.action_item.set_enabled(self._sunnylink_enabled and not ui_state.sunnylink_state.is_sponsor())
+    self._sponsor_btn.action_item.set_enabled(self._sunnylink_enabled)
 
     pair_btn_text = tr("Paired") if ui_state.sunnylink_state.is_paired() else tr("Not Paired")
     self._pair_btn.action_item.set_text(pair_btn_text)
-    self._pair_btn.set_visible(lambda: self._sunnylink_enabled and not ui_state.sunnylink_state.is_paired())
-    self._pair_btn.action_item.set_enabled(self._sunnylink_enabled and not ui_state.sunnylink_state.is_paired())
+    self._pair_btn.action_item.set_enabled(self._sunnylink_enabled)
 
   def _render(self, rect):
     self._scroller.render(rect)
diff --git a/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py b/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
index 4fab79caf15701..af6b9cf45d0f17 100644
--- a/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+++ b/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
@@ -25,6 +25,7 @@ class SunnylinkPairingDialog(PairingDialog):
   def __init__(self, sponsor_pairing: bool = False):
     PairingDialog.__init__(self)
     self._sponsor_pairing = sponsor_pairing
+    self._is_paired_prev = ui_state.sunnylink_state.is_paired()
 
   def _get_pairing_url(self) -> str:
     qr_string = "https://github.com/sponsors/sunnyhaibin"
@@ -42,7 +43,8 @@ def _get_pairing_url(self) -> str:
     return qr_string
 
   def _update_state(self):
-    if ui_state.sunnylink_state.is_paired():
+    is_paired = ui_state.sunnylink_state.is_paired()
+    if not self._is_paired_prev and is_paired:
       gui_app.set_modal_overlay(None)
 
   def _render(self, rect: rl.Rectangle) -> int:

From 93c1c713a9ad4302520829c561698e6c2626254f Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 5 Dec 2025 22:52:41 -0500
Subject: [PATCH 0627/1434] ui: toggle should only toggle toggle - don't toggle
 description with toggle. Yeah, that! (#1559)

@sunnyhaibin, please!

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 system/ui/sunnypilot/widgets/list_view.py | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py
index bd68d35a4812af..ac646df5bffde9 100644
--- a/system/ui/sunnypilot/widgets/list_view.py
+++ b/system/ui/sunnypilot/widgets/list_view.py
@@ -165,8 +165,10 @@ def get_right_item_rect(self, item_rect: rl.Rectangle) -> rl.Rectangle:
     content_width = item_rect.width - (style.ITEM_PADDING * 2)
     title_width = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE).x
     right_width = min(content_width - title_width, right_width)
-
-    action_x = item_rect.x + item_rect.width - right_width
+    if isinstance(self.action_item, ToggleAction):
+      action_x = item_rect.x
+    else:
+      action_x = item_rect.x + item_rect.width - right_width
     action_y = item_rect.y
     return rl.Rectangle(action_x, action_y, right_width, style.ITEM_BASE_HEIGHT)
 

From 5007437969ca25ea566d390a2853a022f7ac756e Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 5 Dec 2025 22:58:53 -0500
Subject: [PATCH 0628/1434] ui: enforce fixed dimensions for `ToggleSP` (#1558)

fix rect

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 system/ui/sunnypilot/widgets/toggle.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/system/ui/sunnypilot/widgets/toggle.py b/system/ui/sunnypilot/widgets/toggle.py
index 46b390f773148c..2924aec2b430c0 100644
--- a/system/ui/sunnypilot/widgets/toggle.py
+++ b/system/ui/sunnypilot/widgets/toggle.py
@@ -24,6 +24,9 @@ def __init__(self, initial_state=False, callback: Callable[[bool], None] | None
       initial_state = self.params.get_bool(self.param_key)
     Toggle.__init__(self, initial_state, callback)
 
+  def set_rect(self, rect: rl.Rectangle):
+    self._rect = rl.Rectangle(rect.x, rect.y, style.TOGGLE_WIDTH, style.TOGGLE_HEIGHT)
+
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
     if self._enabled and self.param_key:

From 1807b193fafeca3c446560a7f9ddf95db66b1f74 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 7 Dec 2025 00:58:33 -0500
Subject: [PATCH 0629/1434] ui: preserve and update `current_ref` in
 `TreeOptionDialog` init (#1562)

* ui: preserve and update `current_ref` in `TreeOptionDialog` init

* do it in init instead
---
 system/ui/sunnypilot/widgets/tree_dialog.py | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/system/ui/sunnypilot/widgets/tree_dialog.py b/system/ui/sunnypilot/widgets/tree_dialog.py
index cfc0a5caf1e487..27a978153e8670 100644
--- a/system/ui/sunnypilot/widgets/tree_dialog.py
+++ b/system/ui/sunnypilot/widgets/tree_dialog.py
@@ -78,7 +78,7 @@ def _handle_mouse_release(self, mouse_pos):
 class TreeOptionDialog(MultiOptionDialog):
   def __init__(self, title, folders, current_ref="", fav_param="", option_font_weight=FontWeight.MEDIUM, search_prompt=None,
                get_folders_fn=None, on_exit=None, display_func=None, search_funcs=None, search_title=None, search_subtitle=None):
-    super().__init__(title, [], "", option_font_weight)
+    super().__init__(title, [], current_ref, option_font_weight)
     self.folders = folders
     self.selection_ref = current_ref
     self.fav_param = fav_param
@@ -101,6 +101,19 @@ def __init__(self, title, folders, current_ref="", fav_param="", option_font_wei
     self.search_dialog = None
     self._search_pressed = False
 
+    if current_ref:
+      found = False
+      for folder in folders:
+        for node in folder.nodes:
+          if node.ref == current_ref:
+            display = self.display_func(node)
+            self.selection = display
+            self.current = display
+            found = True
+            break
+        if found:
+          break
+
     self._build_visible_items()
 
   def _on_search_confirm(self, result, text):
@@ -156,6 +169,7 @@ def _build_visible_items(self, reset_scroll=True):
           self.visible_items.append(TreeItemWidget(self.display_func(node), node.ref, False, 1 if folder.folder else 0,
                                                    lambda node_ref=node: self._select_node(node_ref),
                                                    favorite_cb, node.ref in self.favorites, is_expanded=expanded))
+
     self.option_buttons = self.visible_items
     self.options = [item.text for item in self.visible_items]
     self.scroller._items = self.visible_items

From 96c2650ac4a43175214a6d23739c013b8bb92a89 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 7 Dec 2025 01:31:00 -0500
Subject: [PATCH 0630/1434] ui: improve `TreeOptionDialog` node selection and
 item handling (#1563)

---
 system/ui/sunnypilot/widgets/tree_dialog.py | 41 +++++++++++++++------
 1 file changed, 30 insertions(+), 11 deletions(-)

diff --git a/system/ui/sunnypilot/widgets/tree_dialog.py b/system/ui/sunnypilot/widgets/tree_dialog.py
index 27a978153e8670..2dd5e3a2dcffbe 100644
--- a/system/ui/sunnypilot/widgets/tree_dialog.py
+++ b/system/ui/sunnypilot/widgets/tree_dialog.py
@@ -101,18 +101,22 @@ def __init__(self, title, folders, current_ref="", fav_param="", option_font_wei
     self.search_dialog = None
     self._search_pressed = False
 
-    if current_ref:
-      found = False
-      for folder in folders:
-        for node in folder.nodes:
-          if node.ref == current_ref:
-            display = self.display_func(node)
-            self.selection = display
-            self.current = display
-            found = True
-            break
-        if found:
+    self.selection_node = None
+    # Try to match by ref, by display text, or fall back to "Default" when no ref is set
+    for folder in self.folders:
+      for node in folder.nodes:
+        display = self.display_func(node)
+        if (
+          node.ref == current_ref or
+          display == current_ref or
+          (not current_ref and node.ref == "Default")
+        ):
+          self.selection = display
+          self.current = display
+          self.selection_node = node
           break
+      if self.selection_node is not None:
+        break
 
     self._build_visible_items()
 
@@ -155,6 +159,17 @@ def _toggle_favorite(self, node):
 
   def _build_visible_items(self, reset_scroll=True):
     self.visible_items = []
+
+    # Pinned selected item at the very top (if any)
+    if getattr(self, "selection_node", None) is not None:
+      node = self.selection_node
+      display = self.display_func(node)
+      self.selection = self.current = display
+      favorite_cb = (lambda node_ref=node: self._toggle_favorite(node_ref)) if self.fav_param and node.ref != "Default" else None
+      self.visible_items.append(TreeItemWidget(self.display_func(node), node.ref, False, 0,
+                                               lambda node_ref=node: self._select_node(node_ref),
+                                               favorite_cb, node.ref in self.favorites, is_expanded=True))
+
     for folder in self.folders:
       nodes = [node for node in folder.nodes if not self.query or search_from_list(self.query, [search_func(node) for search_func in self.search_funcs])]
       if not nodes and self.query:
@@ -165,6 +180,10 @@ def _build_visible_items(self, reset_scroll=True):
                                                  lambda folder_ref=folder: self._toggle_folder(folder_ref)))
       if expanded:
         for node in nodes:
+          # Skip duplicate root-level item for the selected node
+          if self.selection_node is not None and node.ref == self.selection_node.ref and not folder.folder:
+            continue
+
           favorite_cb = (lambda node_ref=node: self._toggle_favorite(node_ref)) if self.fav_param and node.ref != "Default" else None
           self.visible_items.append(TreeItemWidget(self.display_func(node), node.ref, False, 1 if folder.folder else 0,
                                                    lambda node_ref=node: self._select_node(node_ref),

From 323b793a832d605a8e64f51235b713d295ed0c58 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 6 Dec 2025 22:36:02 -0800
Subject: [PATCH 0631/1434] ui: software panel (#1518)

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* sp raylib preview

* fix callback

* fix ui preview

* dialog txt

* compare vs what used to be done before InputDialog

* introducing ui_state_sp for py

* raylib: input dialog

* raylib: SP Toggles

* raylib: SP Panels

* raylib: Option Control

* init

* param to control stock vs sp ui

* better

* tree dialog, progress bar widget cool stuff

* merge origin raylib toggles

* tree dialog

* less trees for the planet

* the heck

* add ui_update callback

* save the trees we got icons

* Update process.py

* yesssssssssss

* utilize ON_COLOR constant form op system

* Revert "add ui_update callback"

This reverts commit 4da32cc0097434aab0aa6a3c35465eabb23c8958.

* # Conflicts:
#	system/ui/sunnypilot/widgets/list_view.py
#	system/ui/sunnypilot/widgets/option_control.py

* Merge remote-tracking branch 'openpilot/master' into nov-19-sync

* ui: `GuiApplicationExt`

* add to readme

* scroller_tici :)

* use gui_app.sunnypilot_ui()

* # Conflicts:
#	selfdrive/ui/layouts/main.py
#	selfdrive/ui/sunnypilot/layouts/settings/cruise.py
#	selfdrive/ui/sunnypilot/layouts/settings/display.py
#	selfdrive/ui/sunnypilot/layouts/settings/models.py
#	selfdrive/ui/sunnypilot/layouts/settings/navigation.py
#	selfdrive/ui/sunnypilot/layouts/settings/osm.py
#	selfdrive/ui/sunnypilot/layouts/settings/steering.py
#	selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
#	selfdrive/ui/sunnypilot/layouts/settings/trips.py
#	selfdrive/ui/sunnypilot/layouts/settings/vehicle.py
#	selfdrive/ui/sunnypilot/layouts/settings/visuals.py
#	system/ui/sunnypilot/widgets/option_control.py

* init value

* Remove 'sunnypilot_ui'

Removed 'sunnypilot_ui' parameter from params_keys.h

* Update raylib_screenshots.py

Removed the parameter setting for 'sunnypilot_ui' in the test.

* easier to see

* Update progress_bar.py

* try something

* adjust placement

* more simple

* smoothing updating components

* ui: fuzzy search helper

* ui_state_sp

* description!

* fuzzy af searching

* better tree. fully dynamic and stuff

* rm

* rearrange

* license

* idk how maybe the merge

* more indent

* more indent

* cleanup

* temporaily revert ui_state_sp

* only show if fav_param is used in the call

* conditional for mypy

* mypy

* conditional for mypy

* str concatenation to reduce line len

* level

* sunny's new x,y makes this even easier!

* refreshing half a second seems legit.

* software stuffs

* rm

* add

* loathing loathing, unadulterated loathing, i loathe it all

* loathing loathing, unadulterated loathing, i loathe it all

* # Conflicts:
#	system/ui/sunnypilot/lib/styles.py
#	system/ui/sunnypilot/widgets/tree_dialog.py

* search

* ds

* hide on advanced controls

* some

* handle toggle confirmation

* sunny, NO

* nayan, NO !!

* easier

* move

* move it!

* add more

* need to show current branch

---------

Co-authored-by: nayan <nayan8teen@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../sunnypilot/layouts/settings/settings.py   |  4 +-
 .../sunnypilot/layouts/settings/software.py   | 96 +++++++++++++++++++
 2 files changed, 98 insertions(+), 2 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/software.py

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/settings.py b/selfdrive/ui/sunnypilot/layouts/settings/settings.py
index 45c9b934835cbb..4de2cacafd0513 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/settings.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/settings.py
@@ -12,7 +12,7 @@
 from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP
 from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
-from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.software import SoftwareLayoutSP
 from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
 from openpilot.system.ui.lib.application import gui_app, MousePos
 from openpilot.system.ui.lib.multilang import tr_noop
@@ -114,7 +114,7 @@ def __init__(self):
       OP.PanelType.NETWORK: PanelInfo(tr_noop("Network"), NetworkUISP(wifi_manager), icon="icons/network.png"),
       OP.PanelType.SUNNYLINK: PanelInfo(tr_noop("sunnylink"), SunnylinkLayout(), icon="icons/wifi_strength_full.png"),
       OP.PanelType.TOGGLES: PanelInfo(tr_noop("Toggles"), TogglesLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
-      OP.PanelType.SOFTWARE: PanelInfo(tr_noop("Software"), SoftwareLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
+      OP.PanelType.SOFTWARE: PanelInfo(tr_noop("Software"), SoftwareLayoutSP(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
       OP.PanelType.MODELS: PanelInfo(tr_noop("Models"), ModelsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_models.png"),
       OP.PanelType.STEERING: PanelInfo(tr_noop("Steering"), SteeringLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
       OP.PanelType.CRUISE: PanelInfo(tr_noop("Cruise"), CruiseLayout(), icon="icons/speed_limit.png"),
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/software.py b/selfdrive/ui/sunnypilot/layouts/settings/software.py
new file mode 100644
index 00000000000000..b890dd5b5bf687
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/software.py
@@ -0,0 +1,96 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import os
+
+from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
+
+
+DESCRIPTIONS = {
+  'disable_updates_offroad': tr_noop(
+    "When enabled, automatic software updates will be off.<br><b>This requires a reboot to take effect.</b>"
+  ),
+  'disable_updates_onroad': tr_noop(
+    "Please enable \"Always Offroad\" mode or turn off the vehicle to adjust these toggles."
+  )
+}
+
+
+class SoftwareLayoutSP(SoftwareLayout):
+  def __init__(self):
+    super().__init__()
+    self.disable_updates_toggle = toggle_item_sp(
+      lambda: tr("Disable Updates"),
+      description="",
+      initial_state=ui_state.params.get_bool("DisableUpdates"),
+      callback=self._on_disable_updates_toggled,
+    )
+    self._scroller.add_widget(self.disable_updates_toggle)
+
+  def _handle_reboot(self, result):
+    if result == DialogResult.CONFIRM:
+      ui_state.params.put_bool("DisableUpdates", self.disable_updates_toggle.action_item.get_state())
+      ui_state.params.put_bool("DoReboot", True)
+    else:
+      self.disable_updates_toggle.action_item.set_state(ui_state.params.get_bool("DisableUpdates"))
+
+  def _on_disable_updates_toggled(self, enabled):
+    dialog = ConfirmDialog(tr("System reboot required for changes to take effect. Reboot now?"), tr("Reboot"))
+    gui_app.set_modal_overlay(dialog, callback=self._handle_reboot)
+
+  def _on_select_branch(self):
+    current_git_branch = ui_state.params.get("GitBranch") or ""
+    branches_str = ui_state.params.get("UpdaterAvailableBranches") or ""
+    branches = [b for b in branches_str.split(",") if b]
+    current_target = ui_state.params.get("UpdaterTargetBranch") or ""
+    top_level_branches = [current_git_branch, "release-mici", "release-tizi", "staging", "dev", "master"]
+
+    if HARDWARE.get_device_type() == "tici":
+      top_level_branches = ["release-tici", "staging-tici"]
+      branches = [b for b in branches if b.endswith("-tici")]
+
+    top_level_nodes = [TreeNode(b, {'display_name': b}) for b in top_level_branches if b in branches]
+    remaining_branches = [b for b in branches if b not in top_level_branches]
+    prebuilt_nodes = [TreeNode(b, {'display_name': b}) for b in remaining_branches if b.endswith("-prebuilt")]
+    non_prebuilt_nodes = [TreeNode(b, {'display_name': b}) for b in remaining_branches if not b.endswith("-prebuilt")]
+
+    folders = [
+      TreeFolder("", top_level_nodes),
+      TreeFolder("Prebuilt Branches", prebuilt_nodes),
+      TreeFolder("Non-Prebuilt Branches", non_prebuilt_nodes),
+    ]
+
+    def _on_branch_selected(result):
+      if result == DialogResult.CONFIRM and self._branch_dialog is not None:
+        selection = self._branch_dialog.selection_ref
+        if selection:
+          ui_state.params.put("UpdaterTargetBranch", selection)
+          self._branch_btn.action_item.set_value(selection)
+          os.system("pkill -SIGUSR1 -f system.updated.updated")
+      self._branch_dialog = None
+
+    self._branch_dialog = TreeOptionDialog(tr("Select a branch"), folders, current_target, "",
+                                           on_exit=_on_branch_selected)
+
+    gui_app.set_modal_overlay(self._branch_dialog, callback=_on_branch_selected)
+
+  def _update_state(self):
+    super()._update_state()
+    show_advanced = ui_state.params.get_bool("ShowAdvancedControls")
+    self.disable_updates_toggle.action_item.set_enabled(ui_state.is_offroad())
+    self.disable_updates_toggle.set_visible(show_advanced)
+
+    disable_updates_desc = tr(DESCRIPTIONS["disable_updates_offroad"] if ui_state.is_offroad() else DESCRIPTIONS["disable_updates_onroad"])
+    self.disable_updates_toggle.set_description(disable_updates_desc)

From b2e7dffa590f10901a98152ba5789a412bdb88a3 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Thu, 11 Dec 2025 20:24:45 -0800
Subject: [PATCH 0632/1434] modeld_v2: support planplus outputs (#1532)

* conditional concatenation

* v13

* modifucatuins
---
 sunnypilot/modeld_v2/fill_model_msg.py            | 5 ++---
 sunnypilot/modeld_v2/modeld.py                    | 5 ++++-
 sunnypilot/modeld_v2/parse_model_outputs_split.py | 2 ++
 sunnypilot/models/helpers.py                      | 2 +-
 4 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/sunnypilot/modeld_v2/fill_model_msg.py b/sunnypilot/modeld_v2/fill_model_msg.py
index ee0eb48684a7c5..57e968d02fca21 100644
--- a/sunnypilot/modeld_v2/fill_model_msg.py
+++ b/sunnypilot/modeld_v2/fill_model_msg.py
@@ -11,13 +11,12 @@
 ConfidenceClass = log.ModelDataV2.ConfidenceClass
 
 
-def get_curvature_from_output(output, vego, lat_action_t, mlsim):
+def get_curvature_from_output(output, plan, vego, lat_action_t, mlsim):
   if not mlsim:
     if desired_curv := output.get('desired_curvature'):  # If the model outputs the desired curvature, use that directly
       return float(desired_curv[0, 0])
 
-  plan_output = output['plan'][0]
-  return float(get_curvature_from_plan(plan_output[:, Plan.T_FROM_CURRENT_EULER][:, 2], plan_output[:, Plan.ORIENTATION_RATE][:, 2],
+  return float(get_curvature_from_plan(plan[:, Plan.T_FROM_CURRENT_EULER][:, 2], plan[:, Plan.ORIENTATION_RATE][:, 2],
                                        ModelConstants.T_IDXS, vego, lat_action_t))
 
 
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index 0fd45940d83538..82eb099e7ea1cb 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -28,6 +28,7 @@
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner
 
 PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
+RECOVERY_POWER = 1.0 # The higher this number the more aggressively the model will recover to lanecenter, too high and it will ping-pong
 
 
 class FrameMeta:
@@ -156,11 +157,13 @@ def process_desired_curvature(self, outputs, input_name_prev):
   def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                             lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
     plan = model_output['plan'][0]
+    if 'planplus' in model_output:
+      plan = plan + RECOVERY_POWER*model_output['planplus'][0]
     desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
                                                      action_t=long_action_t)
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
 
-    desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.mlsim)
+    desired_curvature = get_curvature_from_output(model_output, plan, v_ego, lat_action_t, self.mlsim)
     if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
       if v_ego > self.MIN_LAT_CONTROL_SPEED:
         desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
diff --git a/sunnypilot/modeld_v2/parse_model_outputs_split.py b/sunnypilot/modeld_v2/parse_model_outputs_split.py
index 9cf321a1b67130..a099facd15186a 100644
--- a/sunnypilot/modeld_v2/parse_model_outputs_split.py
+++ b/sunnypilot/modeld_v2/parse_model_outputs_split.py
@@ -108,6 +108,8 @@ def parse_dynamic_outputs(self, outs: dict[str, np.ndarray]) -> None:
       plan_in_N, plan_out_N = (SplitModelConstants.PLAN_MHP_N, SplitModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
       self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N,
                      out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
+      if 'planplus' in outs:
+        self.parse_mdn('planplus', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
 
   def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
     if 'desired_curvature' in outs:
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index a581185371b5fa..ce6625a1f08d5b 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -19,7 +19,7 @@
 from pathlib import Path
 
 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 12
+CURRENT_SELECTOR_VERSION = 13
 REQUIRED_MIN_SELECTOR_VERSION = 12
 
 USE_ONNX = os.getenv('USE_ONNX', PC)

From 928672999bd1a1f5d28a0110b363ac6a5f9c86b5 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 12 Dec 2025 02:31:06 -0500
Subject: [PATCH 0633/1434] ui: consolidate `NoElideButtonAction` (#1569)

---
 selfdrive/ui/sunnypilot/layouts/settings/models.py | 12 ++++--------
 system/ui/sunnypilot/lib/utils.py                  | 12 ++++++++++++
 2 files changed, 16 insertions(+), 8 deletions(-)
 create mode 100644 system/ui/sunnypilot/lib/utils.py

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/models.py b/selfdrive/ui/sunnypilot/layouts/settings/models.py
index 43f0d25b47ba19..16d406ea98635c 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/models.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/models.py
@@ -21,7 +21,8 @@
 
 from openpilot.sunnypilot.models.runners.constants import CUSTOM_MODEL_PATH
 from openpilot.system.ui.sunnypilot.lib.styles import style
-from openpilot.system.ui.sunnypilot.widgets.list_view import ButtonActionSP, ListItemSP, toggle_item_sp, option_item_sp
+from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
+from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP, toggle_item_sp, option_item_sp
 from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
 from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
 
@@ -29,11 +30,6 @@
   from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
 
 
-class ModelAction(ButtonActionSP):
-  def get_width_hint(self):
-    return super().get_width_hint() + 1
-
-
 class ModelsLayout(Widget):
   def __init__(self):
     super().__init__()
@@ -55,7 +51,7 @@ def _initialize_items(self):
     self.current_model_item = ListItemSP(
       title=tr("Current Model"),
       description="",
-      action_item=ModelAction(tr("SELECT")),
+      action_item=NoElideButtonAction(tr("SELECT")),
       callback=self._handle_current_model_clicked
     )
 
@@ -70,7 +66,7 @@ def _initialize_items(self):
     self.clear_cache_item = ListItemSP(
       title=tr("Clear Model Cache"),
       description="",
-      action_item=ModelAction(tr("CLEAR")),
+      action_item=NoElideButtonAction(tr("CLEAR")),
       callback=self._clear_cache
     )
 
diff --git a/system/ui/sunnypilot/lib/utils.py b/system/ui/sunnypilot/lib/utils.py
new file mode 100644
index 00000000000000..09230da14bbe2f
--- /dev/null
+++ b/system/ui/sunnypilot/lib/utils.py
@@ -0,0 +1,12 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.system.ui.sunnypilot.widgets.list_view import ButtonActionSP
+
+
+class NoElideButtonAction(ButtonActionSP):
+  def get_width_hint(self):
+    return super().get_width_hint() + 1

From 436ff5aa427f3d1e289188f1cf00271a44d2329c Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Thu, 11 Dec 2025 23:40:33 -0800
Subject: [PATCH 0634/1434] ui: OSM panel (#1515)

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* sp raylib preview

* fix callback

* fix ui preview

* dialog txt

* compare vs what used to be done before InputDialog

* merge origin raylib toggles

* tree dialog

* less trees for the planet

* the heck

* save the trees we got icons

* Update process.py

* Remove 'sunnypilot_ui'

Removed 'sunnypilot_ui' parameter from params_keys.h

* Update raylib_screenshots.py

Removed the parameter setting for 'sunnypilot_ui' in the test.

* ui: fuzzy search helper

* better tree. fully dynamic and stuff

* rm

* more indent

* Squashed commit of the following:

commit 6b5b686fa5f1b6c8ba05cb98606bcb5e22fdcfd9
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Mon Nov 24 17:16:17 2025 -0800

    more indent

commit 76bc538ac74898e026ee67502ddcb2a2a78eb429
Merge: 53eb821dc4 c53e2134e2
Author: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date:   Mon Nov 24 17:15:48 2025 -0800

    Merge branch 'master' into rl-tree-dialog

commit 53eb821dc41a09f0bbe5ddbc6957ddfb6023c979
Merge: 82e1ebe97e 844f4cbc74
Author: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date:   Mon Nov 24 11:54:55 2025 -0800

    Merge branch 'master' into rl-tree-dialog

commit 82e1ebe97ecae94f14adadcf77ac7a68d55cc0fe
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Mon Nov 24 10:23:35 2025 -0800

    rm

commit da3ff45bb6efe5f0bbd06eb6e4f61a7a3dd844b0
Merge: 41da513fca a829a1b972
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Mon Nov 24 10:19:08 2025 -0800

    Merge remote-tracking branch 'origin/rl-tree-dialog' into rl-tree-dialog

commit 41da513fcaf5a5ff302427734813b005b6385f0b
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Mon Nov 24 10:18:43 2025 -0800

    better tree. fully dynamic and stuff

commit b2950149fbafda7d58bb5ed2b316f59ccc8a47eb
Merge: 4fb8e4beed 924e5a3211
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Mon Nov 24 10:17:51 2025 -0800

    Merge remote-tracking branch 'origin/input-dialog' into rl-tree-dialog

commit a829a1b97269de24dc707188808ad5b623968dfa
Merge: 848290d07e 9edc36ca66
Author: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date:   Mon Nov 24 10:16:28 2025 -0800

    Merge branch 'master' into rl-tree-dialog

commit 4fb8e4beede0e6771c25aaac7c8b8f90b2f21c03
Merge: 848290d07e af4f0f8372
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Mon Nov 24 10:16:20 2025 -0800

    Merge remote-tracking branch 'origin/fuzzy-dialog' into rl-tree-dialog

commit af4f0f8372a63fdaeb94fe3b64703fbcca057b9c
Merge: 1d5f0ab282 3cd55260d9
Author: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date:   Mon Nov 24 06:39:29 2025 -0800

    Merge branch 'master' into fuzzy-dialog

commit 1d5f0ab282a01419d03e856b4a5a205f3bfb02aa
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Sun Nov 23 11:28:59 2025 -0800

    ui: fuzzy search helper

commit 848290d07eaab2ed5ba948bc8dd63338dc070ac1
Author: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date:   Fri Nov 21 21:08:07 2025 -0800

    Update raylib_screenshots.py

    Removed the parameter setting for 'sunnypilot_ui' in the test.

commit 6694928a467641d500bf7b81ad82308ff1652eb7
Author: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date:   Fri Nov 21 21:06:57 2025 -0800

    Remove 'sunnypilot_ui'

    Removed 'sunnypilot_ui' parameter from params_keys.h

commit b3c90ef7b2bdd0328442cdbeff7b13bcb260744e
Merge: 0d3bc959c8 457b6634fd
Author: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date:   Fri Nov 21 21:06:04 2025 -0800

    Merge branch 'master' into rl-tree-dialog

commit 924e5a3211b3db71d785cd578ee2bdc31de5f495
Merge: a4ee4ba76d d92d2cb683
Author: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date:   Fri Nov 21 19:33:18 2025 -0800

    Merge branch 'master' into input-dialog

commit a4ee4ba76d238fbb8da5261056da649e1dfbaab9
Merge: e911de5968 4f13a0f775
Author: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date:   Fri Nov 21 16:24:31 2025 -0800

    Merge branch 'master' into input-dialog

commit e911de59684c44e02784ca98937cbdeb76401e05
Merge: cea6e00819 0ba5cbea91
Author: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date:   Fri Nov 21 13:50:33 2025 -0800

    Merge branch 'master' into input-dialog

commit cea6e00819af66f3b46b9d72282a4e550c325798
Merge: d7b8ce86ed 8184cd8a6a
Author: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date:   Fri Nov 21 12:01:45 2025 -0800

    Merge branch 'master' into input-dialog

commit 0d3bc959c8547d97b14503cec73a67f5760ffb99
Author: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date:   Wed Nov 19 20:29:30 2025 -0800

    Update process.py

commit 4f3c19ffb54db603528280e9aa941f719c764185
Author: James Vecellio <alexgrant990@gmail.com>
Date:   Wed Nov 19 20:28:59 2025 -0800

    save the trees we got icons

commit ae5c44355db6a625f9e257db2f62b2a5691a827f
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Wed Nov 19 13:38:04 2025 -0800

    the heck

commit 066438ad107ce9a3e9b4b2a1c0de062c523bc747
Merge: 9532675814 e74460f3a8
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Wed Nov 19 12:18:17 2025 -0800

    Merge remote-tracking branch 'origin/rl-tree-dialog' into rl-tree-dialog

commit 95326758146bfe690b826d319c40f3bc7140392c
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Wed Nov 19 12:17:52 2025 -0800

    less trees for the planet

commit e74460f3a82d1338edb667bdf3423560270cbeab
Merge: c347db376a 423a7d2ed0
Author: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date:   Wed Nov 19 09:37:44 2025 -0800

    Merge branch 'rl-sp-toggles' into rl-tree-dialog

commit c347db376a08d3f3ee6d5cd66176bc12ec842582
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Wed Nov 19 09:36:33 2025 -0800

    tree dialog

commit c9bd67b26121fce0637aeec924b777ef73a66575
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Wed Nov 19 09:34:08 2025 -0800

    merge origin raylib toggles

commit d7b8ce86edaccb89452db51f4f69cf67643a0824
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Mon Nov 17 20:21:33 2025 -0800

    compare vs what used to be done before InputDialog

commit 2d3d104658d660e8f9f7c12e312544c419a5d406
Merge: ded02895f4 f1025f6ee9
Author: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date:   Mon Nov 17 19:24:20 2025 -0800

    Merge branch 'master' into input-dialog

commit ded02895f44a241afd3c9857760a18ec5e1406c4
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Mon Nov 17 19:22:01 2025 -0800

    dialog txt

commit 9778a925b09438c7eb9618dfb0fc38eb13d53a39
Merge: cb03d08397 08e85808c5
Author: Jason Wen <haibin.wen3@gmail.com>
Date:   Sun Nov 16 03:16:58 2025 -0500

    input dialog

commit 423a7d2ed0249e12743c2b36e1053d5a446f8d33
Author: nayan <nayan8teen@gmail.com>
Date:   Sun Nov 16 11:15:28 2025 -0500

    fix ui preview

commit e4e10d4b87d0bdf4fe2e766122935e5ee3706a5b
Author: nayan <nayan8teen@gmail.com>
Date:   Sun Nov 16 11:15:22 2025 -0500

    fix callback

commit 362e9ce04becc1ef1d16d2f23daa01cb2d5303c4
Author: nayan <nayan8teen@gmail.com>
Date:   Sun Nov 16 09:53:28 2025 -0500

    sp raylib preview

commit 3946e643f68fdb5784a2b42839162903a5f4a592
Author: nayan <nayan8teen@gmail.com>
Date:   Sat Nov 15 20:24:20 2025 -0500

    optimizations

commit 0c37a385967c201d7db6e23ca3506bc21a22d698
Author: nayan <nayan8teen@gmail.com>
Date:   Sat Nov 15 09:42:12 2025 -0500

    Lint

commit 9c5acf61c047c81fd17bd02e9354225aabf5f7e8
Author: nayan <nayan8teen@gmail.com>
Date:   Sat Nov 15 09:29:07 2025 -0500

    SP Toggles

commit 121b304fe0dcd8bfad02a05aaba6d3e0c9d3029e
Author: nayan <nayan8teen@gmail.com>
Date:   Sat Nov 15 09:28:58 2025 -0500

    init styles

commit 47d848293b54a6adf83c964120ed74dfbdf58359
Author: nayan <nayan8teen@gmail.com>
Date:   Sat Nov 15 09:28:43 2025 -0500

    param to control stock vs sp ui

* Squashed commit of the following:

commit 70ad001add04810c6d30fd27e44299245b2b5c86
Merge: 142663c490 844f4cbc74
Author: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date:   Mon Nov 24 11:54:58 2025 -0800

    Merge branch 'master' into rl-progress-bar

commit 142663c490b8ec88770fc0d8bc16cfcfff3f7a62
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Sat Nov 22 20:12:44 2025 -0800

    smoother updating

commit 4476e418dd5cbd84e7ef1c65bc85c21a7806c6c7
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Sat Nov 22 09:55:17 2025 -0800

    easier to see

commit ad66c22e88569c86f64095fab56a3c79310b63a3
Merge: 0c46ef5948 457b6634fd
Author: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date:   Sat Nov 22 07:45:05 2025 -0800

    Merge branch 'master' into rl-progress-bar

commit 0c46ef59482f678ec944ce772ac4202d257d29fd
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Sat Nov 22 07:42:59 2025 -0800

    freaking test dir

commit 11c19aad246b1e0bba02f49347517cf9af41a9d8
Merge: 7785238d54 8184cd8a6a
Author: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date:   Fri Nov 21 12:01:36 2025 -0800

    Merge branch 'master' into rl-progress-bar

commit 7785238d54e60f537418aea319e449ebccccbeac
Author: discountchubbs <alexgrant990@gmail.com>
Date:   Wed Nov 19 07:47:10 2025 -0800

    raylib: progress bar

* OSM panel

* fetching

* only show if fav_param is used in the call

* flattened and custom search query

* conditional for mypy

* sunny's new x,y makes this even easier!

* download all

* add back the rough estimate

* not sure i like the 'Download'

* simplify the path

* actual size as of today

* format

* more simple

* only show on download or delete

* loathing loathing, unadulterated loathing, i loathe it all

* loathing loathing, unadulterated loathing, i loathe it all

* # Conflicts:
#	system/ui/sunnypilot/lib/styles.py
#	system/ui/sunnypilot/widgets/tree_dialog.py

* search

* st

* Update osm.py

* one second updates:

 its heavy process, which isnt really noticeable during downloads ayways. the once a second ensures responsiveness on the ui, while also maintaining 20fps on device for country/state downloads.

* efficient? i hope

* big boi texts

* big boi texts

* use our own classes

* need to clear all params when delete all

* more

* collateral lol

* do not behave as selected if canceled during US->States dialog

* more

* instead of timestamp, let's just show formatted time

* disable button when downloading dbs

* should be the buttons being disabled

* well gotta re-enable them too

* empty country

* might be bigger now

* fixes for mapd manager

* should stay as a json

* sanitize it a bit

* revert

* only nuke if the cancel button is called

* always try to update the labels

* Revert "always try to update the labels"

This reverts commit ba0988fc06734234598f8235fdfe10270e1a3025.

* re-enable button after download is complete

* disable all while downloading (till we could cancel and re-download)

* fix progress bar not filling up as intended for smaller total counts

* revert

* use new

---------

Co-authored-by: nayan <nayan8teen@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../ui/sunnypilot/layouts/settings/osm.py     | 222 +++++++++++++++++-
 sunnypilot/mapd/mapd_manager.py               |   9 +-
 2 files changed, 213 insertions(+), 18 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/osm.py b/selfdrive/ui/sunnypilot/layouts/settings/osm.py
index d57a0de9d80cc7..3726a820f5aaca 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/osm.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/osm.py
@@ -4,27 +4,229 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+import datetime
+import os
+import platform
+import requests
+import shutil
+import threading
+from pathlib import Path
+from time import monotonic
+
 from openpilot.common.params import Params
+from openpilot.selfdrive.ui.ui_state import device, ui_state
+from openpilot.selfdrive.ui.layouts.settings.software import time_ago
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import DialogResult, Widget
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+from openpilot.system.ui.widgets.list_view import text_item
 from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets import Widget
+
+from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
+from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP
+from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeFolder, TreeNode, TreeOptionDialog
+from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
+
+MAP_PATH = Path(Paths.mapd_root()) / "offline"
 
 
 class OSMLayout(Widget):
   def __init__(self):
     super().__init__()
-
-    self._params = Params()
-    items = self._initialize_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
+    self._current_percent = 0
+    self._last_map_size_update = 0
+    self._mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else ui_state.params
+    self._initialize_items()
+    self._update_map_size()
+    self._progress.set_visible(False)
+    self._state_btn.set_visible(False)
+    self._mapd_version.action_item.set_text(ui_state.params.get("MapdVersion") or "Loading...")
+    self._scroller = Scroller(self.items, line_separator=True, spacing=0)
 
   def _initialize_items(self):
-    items = [
+    self._mapd_version = text_item(tr("Mapd Version"), lambda: ui_state.params.get("MapdVersion") or "Loading...")
+    self._delete_maps_btn = ListItemSP(tr("Downloaded Maps"), action_item=NoElideButtonAction(tr("DELETE"), enabled=True), callback=self._delete_maps)
+    self._progress = progress_item(tr("Downloading Map"))
+    self._update_btn = ListItemSP(tr("Database Update"), action_item=NoElideButtonAction(tr("CHECK"), enabled=True), callback=self._update_db)
+    self._country_btn = ListItemSP(tr("Country"), action_item=NoElideButtonAction(tr("SELECT"), enabled=True), callback=lambda: self._select_region("Country"))
+    self._state_btn = ListItemSP(tr("State"), action_item=NoElideButtonAction(tr("SELECT"), enabled=True), callback=lambda: self._select_region("State"))
 
-    ]
-    return items
+    self.items = [self._mapd_version, self._delete_maps_btn, self._progress, self._update_btn, self._country_btn, self._state_btn]
 
-  def _render(self, rect):
-    self._scroller.render(rect)
+  def _show_confirm(self, msg, confirm_text, func):
+    gui_app.set_modal_overlay(ConfirmDialog(msg, confirm_text), lambda res: func() if res == DialogResult.CONFIRM else None)
+
+  def calculate_size(self):
+    total_size = 0
+    directories_to_scan = [MAP_PATH] if MAP_PATH.exists() else []
+    while directories_to_scan:
+      try:
+        for entry in os.scandir(directories_to_scan.pop()):
+          if entry.is_file():
+            total_size += entry.stat().st_size
+          elif entry.is_dir():
+            directories_to_scan.append(entry.path)
+      except OSError:
+        pass
+    self._delete_maps_btn.action_item.set_value(f"{total_size / 1024 ** 2:.2f} MB" if total_size < 1024 ** 3 else f"{total_size / 1024 ** 3:.2f} GB")
+
+  def _update_map_size(self):
+    threading.Thread(target=self.calculate_size, daemon=True).start()
+
+  def _do_delete_maps(self):
+    if MAP_PATH.exists():
+      shutil.rmtree(MAP_PATH)
+
+    for param in ("OsmDownloadedDate", "OsmLocal", "OsmLocationName", "OsmLocationTitle", "OsmStateName", "OsmStateTitle"):
+      ui_state.params.remove(param)
+
+    self._delete_maps_btn.action_item.set_enabled(True)
+    self._delete_maps_btn.action_item.set_text(tr("DELETE"))
+    self._update_map_size()
+
+  def _on_confirm_delete_maps(self):
+    self._delete_maps_btn.action_item.set_enabled(False)
+    self._delete_maps_btn.action_item.set_text("DELETING...")
+    threading.Thread(target=self._do_delete_maps).start()
+
+  def _delete_maps(self):
+    self._show_confirm(tr("This will delete ALL downloaded maps\n\nAre you sure you want to delete all maps?"),
+                       tr("Yes, delete all maps"), self._on_confirm_delete_maps)
+
+  def _update_db(self):
+    self._show_confirm(tr("This will start the download process and it might take a while to complete."), tr("Start Download"),
+                       lambda: ui_state.params.put_bool("OsmDbUpdatesCheck", True))
+
+  def _select_region(self, region_type):
+    is_country = region_type == "Country"
+    btn = self._country_btn if is_country else self._state_btn
+    btn.action_item.set_enabled(False)
+    btn.action_item.set_text(tr("FETCHING..."))
+    threading.Thread(target=self._do_select_region, args=(region_type, btn)).start()
+
+  def _handle_region_selection(self, region_type, locations, key, res, ref):
+    if res != DialogResult.CONFIRM or not ref:
+      if region_type == "State" and res == DialogResult.CANCEL:
+        if ui_state.params.get("OsmLocationName") == "US" and not ui_state.params.get("OsmStateName"):
+          ui_state.params.remove("OsmLocationName")
+          ui_state.params.remove("OsmLocationTitle")
+          ui_state.params.remove("OsmLocal")
+          self._update_labels()
+      return
+
+    if region_type == "Country":
+      ui_state.params.put_bool("OsmLocal", True)
+      ui_state.params.remove("OsmStateName")
+      ui_state.params.remove("OsmStateTitle")
+
+    ui_state.params.put(f"{key}Name", ref)
+    name = next((n.data['display_name'] for n in locations if n.ref == ref), ref)
+    ui_state.params.put(f"{key}Title", name)
+
+    if ref == "US" and region_type == "Country":
+      self._select_region("State")
+    else:
+      self._update_db()
+
+  def _do_select_region(self, region_type, btn):
+    base_url = "https://raw.githubusercontent.com/pfeiferj/openpilot-mapd/main/"
+    url = base_url + ("nation_bounding_boxes.json" if region_type == "Country" else "us_states_bounding_boxes.json")
+    try:
+      data = requests.get(url, timeout=10).json()
+      locations = sorted([TreeNode(ref=k, data={'display_name': v['full_name']}) for k, v in data.items()], key=lambda n: n.data['display_name'])
+    except Exception:
+      locations = []
+
+    if region_type == "State":
+      locations.insert(0, TreeNode(ref="All", data={'display_name': tr("All states (~6.0 GB)")}))
+
+    btn.action_item.set_enabled(True)
+    btn.action_item.set_text(tr("SELECT"))
+
+    key = "OsmLocation" if region_type == "Country" else "OsmState"
+    current = ui_state.params.get(f"{key}Name") or ""
+
+    dialog = TreeOptionDialog(tr(f"Select {region_type}"), [TreeFolder(folder="", nodes=locations)], current_ref=current, search_prompt="Perform a search")
+    dialog.on_exit = lambda res: self._handle_region_selection(region_type, locations, key, res, dialog.selection_ref)
+    gui_app.set_modal_overlay(dialog, callback=lambda res: self._handle_region_selection(region_type, locations, key, res, dialog.selection_ref))
+
+  def _update_labels(self):
+    downloading = bool(self._mem_params.get("OSMDownloadLocations"))
+    self._country_btn.set_enabled(not downloading)
+    self._state_btn.set_enabled(not downloading)
+    self._state_btn.set_visible(ui_state.params.get("OsmLocationName") == "US")
+    self._update_btn.set_visible(bool(ui_state.params.get("OsmLocationName")))
+
+    self._country_btn.action_item.set_value(ui_state.params.get("OsmLocationTitle") or "")
+    self._state_btn.action_item.set_value(ui_state.params.get("OsmStateTitle") or "")
+
+    pending = ui_state.params.get_bool("OsmDbUpdatesCheck")
+    if downloading or pending:
+      if downloading:
+        device.reset_interactive_timeout()
+        self._update_map_size()
+      self._progress.set_visible(True)
+      progress = ui_state.params.get("OSMDownloadProgress")
+      total = progress.get('total_files', 0) if progress else 0
+      done = progress.get('downloaded_files', 0) if progress else 0
+      failed = total > 0 and not downloading and done < total
+
+      if total > 0:
+        progress_perc = max(0.0, min(100.0, (done / total) * 100.0))
+      else:
+        progress_perc = 0.0
+
+      if failed:
+        text = "0% - Downloading Maps"
+        btn_text = tr("Error: Invalid download. Retry.")
+        self._current_percent = 0.0
+      elif total > 0 and downloading:
+        self._current_percent = progress_perc
+        perc_int = int(progress_perc)
+        text = f"{perc_int}% - Downloading Maps"
+        btn_text = f"{done}/{total} ({perc_int}%)"
+      else:
+        self._current_percent = 0.0
+        text = "0% - Downloading Maps"
+        btn_text = tr("Downloading Maps...")
+
+      self._progress.action_item.update(self._current_percent, text, show_progress=total > 0 and downloading and not failed)
+      self._update_btn.action_item.set_enabled(not downloading)  # TODO-SP: introduce CANCEL database download with mapd
+      self._update_btn.action_item.set_value(btn_text)
+      self._country_btn.action_item.set_enabled(not downloading)
+      self._state_btn.action_item.set_enabled(not downloading)
+      self._delete_maps_btn.action_item.set_enabled(not downloading)
+    else:
+      self._progress.set_visible(False)
+      self._update_btn.action_item.set_enabled(True)
+      self._country_btn.action_item.set_enabled(True)
+      self._state_btn.action_item.set_enabled(True)
+      self._delete_maps_btn.action_item.set_enabled(True)
+
+      ts = ui_state.params.get("OsmDownloadedDate")
+      dt: datetime.datetime | None = None
+
+      if ts:
+        try:
+          ts_f = float(ts)
+          if ts_f > 0:
+            dt = datetime.datetime.fromtimestamp(ts_f, tz=datetime.UTC)
+        except (ValueError, TypeError):
+          dt = None
+
+      formatted = time_ago(dt)
+      self._update_btn.action_item.set_value(tr("Last checked {}").format(formatted))
 
   def show_event(self):
     self._scroller.show_event()
+
+  def _update_state(self):
+    now = monotonic()
+    if now - self._last_map_size_update >= 1.0:
+      self._last_map_size_update = now
+      self._update_labels()
+
+  def _render(self, rect):
+    self._scroller.render(rect)
diff --git a/sunnypilot/mapd/mapd_manager.py b/sunnypilot/mapd/mapd_manager.py
index 1211c1ecc63efe..9304f8f0b721ff 100755
--- a/sunnypilot/mapd/mapd_manager.py
+++ b/sunnypilot/mapd/mapd_manager.py
@@ -64,12 +64,7 @@ def request_refresh_osm_location_data(nations: list[str], states: list[str] = No
     "states": states or []
   }
 
-  osm_download_locations_dump = json.dumps({
-    "nations": nations,
-    "states": states or []
-  })
-
-  print(f"Downloading maps for {osm_download_locations_dump}")
+  print(f"Downloading maps for {json.dumps(osm_download_locations)}")
   mem_params.put("OSMDownloadLocations", osm_download_locations)
 
 
@@ -103,8 +98,6 @@ def filter_nations_and_states(nations: list[str], states: list[str] = None) -> t
 
 
 def update_osm_db() -> None:
-  # last_downloaded_date = params.get("OsmDownloadedDate", return_default=True)
-  # if params.get_bool("OsmDbUpdatesCheck") or time.monotonic() - last_downloaded_date >= 604800:  # 7 days * 24 hours/day * 60
   if params.get_bool("OsmDbUpdatesCheck"):
     cleanup_old_osm_data(get_files_for_cleanup())
     country = params.get("OsmLocationName", return_default=True)

From 46257aca02777737b04e2ce371e3a6e11c4f6a02 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 12 Dec 2025 03:16:57 -0500
Subject: [PATCH 0635/1434] ui: `HtmlModalSP` (#1570)

* ui: `HtmlModalSP`

* less
---
 system/ui/sunnypilot/widgets/html_render.py | 27 +++++++++++++++++++++
 1 file changed, 27 insertions(+)
 create mode 100644 system/ui/sunnypilot/widgets/html_render.py

diff --git a/system/ui/sunnypilot/widgets/html_render.py b/system/ui/sunnypilot/widgets/html_render.py
new file mode 100644
index 00000000000000..259067723e3c37
--- /dev/null
+++ b/system/ui/sunnypilot/widgets/html_render.py
@@ -0,0 +1,27 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.html_render import HtmlModal
+
+
+class HtmlModalSP(HtmlModal):
+  def __init__(self, file_path=None, text=None, callback=None):
+    super().__init__(file_path=file_path, text=text)
+    self._callback = callback
+    self._dialog_result = DialogResult.NO_ACTION
+    self._ok_button._click_callback = self._on_ok_clicked
+
+  def _on_ok_clicked(self):
+    self._dialog_result = DialogResult.CONFIRM
+    gui_app.set_modal_overlay(None)
+
+    if self._callback:
+      self._callback(self._dialog_result)
+
+  def reset(self):
+    self._dialog_result = DialogResult.NO_ACTION

From cab2a28e1092a01cfe69f30ec95b59ebd6f3d4c3 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Fri, 12 Dec 2025 21:50:57 -0800
Subject: [PATCH 0636/1434] ui: Developer panel extension (#1521)

* ui: developer panel

* comment out

* double translate

* quickboot and more efficient file checking

* use HtmlModalSP!

* ui: `HtmlModalSP`

* less

* lint

* less

* just use existing dir on PC

* grammar

* match official

* rename

* biiig

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../sunnypilot/layouts/settings/developer.py  | 106 ++++++++++++++++++
 .../sunnypilot/layouts/settings/settings.py   |   4 +-
 sunnypilot/sunnylink/params_metadata.json     |   4 +-
 3 files changed, 110 insertions(+), 4 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/developer.py

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/developer.py b/selfdrive/ui/sunnypilot/layouts/settings/developer.py
new file mode 100644
index 00000000000000..f3a24333737119
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/developer.py
@@ -0,0 +1,106 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import datetime
+import os
+from pathlib import Path
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
+from openpilot.system.hardware import PC
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+from openpilot.system.ui.widgets.list_view import button_item
+
+from openpilot.system.ui.sunnypilot.widgets.html_render import HtmlModalSP
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+
+PREBUILT_PATH = os.path.join(Paths.comma_home(), "prebuilt") if PC else "/data/openpilot/prebuilt"
+
+
+class DeveloperLayoutSP(DeveloperLayout):
+  def __init__(self):
+    super().__init__()
+    self.error_log_path = os.path.join(Paths.crash_log_root(), "error.log")
+    self._is_release_branch: bool = self._is_release or ui_state.params.get_bool("IsReleaseSpBranch")
+    self._is_development_branch: bool = ui_state.params.get_bool("IsTestedBranch") or ui_state.params.get_bool("IsDevelopmentBranch")
+    self._initialize_items()
+
+    for item in self.items:
+      self._scroller.add_widget(item)
+
+  def _initialize_items(self):
+    self.show_advanced_controls = toggle_item_sp(tr("Show Advanced Controls"),
+                                                 tr("Toggle visibility of advanced sunnypilot controls.<br>This only changes the visibility of the toggles; " +
+                                                    "it does not change the actual enabled/disabled state."), param="ShowAdvancedControls")
+
+    self.enable_github_runner_toggle = toggle_item_sp(tr("GitHub Runner Service"), tr("Enables or disables the GitHub runner service."),
+                                                      param="EnableGithubRunner")
+
+    self.enable_copyparty_toggle = toggle_item_sp(tr("copyparty Service"),
+                                                  tr("copyparty is a very capable file server, you can use it to download your routes, view your logs " +
+                                                     "and even make some edits on some files from your browser. " +
+                                                     "Requires you to connect to your comma locally via its IP address."), param="EnableCopyparty")
+
+    self.prebuilt_toggle = toggle_item_sp(tr("Quickboot Mode"), "", param="QuickBootToggle", callback=self._on_prebuilt_toggled)
+
+    self.error_log_btn = button_item(tr("Error Log"), tr("VIEW"), tr("View the error log for sunnypilot crashes."), callback=self._on_error_log_clicked)
+
+    self.items: list = [self.show_advanced_controls, self.enable_github_runner_toggle, self.enable_copyparty_toggle, self.prebuilt_toggle, self.error_log_btn,]
+
+  @staticmethod
+  def _on_prebuilt_toggled(state):
+    if state:
+      Path(PREBUILT_PATH).touch(exist_ok=True)
+    else:
+      os.remove(PREBUILT_PATH)
+    ui_state.params.put_bool("QuickBootToggle", state)
+
+  def _on_delete_confirm(self, result):
+    if result == DialogResult.CONFIRM:
+      if os.path.exists(self.error_log_path):
+        os.remove(self.error_log_path)
+
+  def _on_error_log_closed(self, result, log_exists):
+    if result == DialogResult.CONFIRM and log_exists:
+      dialog2 = ConfirmDialog(tr("Would you like to delete this log?"), tr("Yes"), tr("No"), rich=False)
+      gui_app.set_modal_overlay(dialog2, callback=self._on_delete_confirm)
+
+  def _on_error_log_clicked(self):
+    text = ""
+    if os.path.exists(self.error_log_path):
+      text = f"<b>{datetime.datetime.fromtimestamp(os.path.getmtime(self.error_log_path)).strftime('%d-%b-%Y %H:%M:%S').upper()}</b><br><br>"
+      try:
+        with open(self.error_log_path) as file:
+          text += file.read()
+      except Exception:
+        pass
+    dialog = HtmlModalSP(text=text, callback=lambda result: self._on_error_log_closed(result, os.path.exists(self.error_log_path)))
+    gui_app.set_modal_overlay(dialog)
+
+  def _update_state(self):
+    disable_updates = ui_state.params.get_bool("DisableUpdates")
+    show_advanced = ui_state.params.get_bool("ShowAdvancedControls")
+
+    if (prebuilt_file := os.path.exists(PREBUILT_PATH)) != ui_state.params.get_bool("QuickBootToggle"):
+      ui_state.params.put_bool("QuickBootToggle", prebuilt_file)
+      self.prebuilt_toggle.action_item.set_state(prebuilt_file)
+
+    self.prebuilt_toggle.set_visible(show_advanced and not (self._is_release_branch or self._is_development_branch))
+    self.prebuilt_toggle.action_item.set_enabled(disable_updates)
+
+    if disable_updates:
+      self.prebuilt_toggle.set_description(tr("When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it " +
+                                              "removes the prebuilt file so compilation of locally edited cpp files can be made."))
+    else:
+      self.prebuilt_toggle.set_description(tr("Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first."))
+
+    self.enable_copyparty_toggle.set_visible(show_advanced)
+    self.enable_github_runner_toggle.set_visible(show_advanced and not self._is_release_branch)
+    self.error_log_btn.set_visible(not self._is_release_branch)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/settings.py b/selfdrive/ui/sunnypilot/layouts/settings/settings.py
index 4de2cacafd0513..103dd99efdcdf2 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/settings.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/settings.py
@@ -9,7 +9,6 @@
 
 import pyray as rl
 from openpilot.selfdrive.ui.layouts.settings import settings as OP
-from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP
 from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.software import SoftwareLayoutSP
@@ -31,6 +30,7 @@
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise import CruiseLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.visuals import VisualsLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import DisplayLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.developer import DeveloperLayoutSP
 
 # from openpilot.selfdrive.ui.sunnypilot.layouts.settings.navigation import NavigationLayout
 
@@ -125,7 +125,7 @@ def __init__(self):
       OP.PanelType.TRIPS: PanelInfo(tr_noop("Trips"), TripsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
       OP.PanelType.VEHICLE: PanelInfo(tr_noop("Vehicle"), VehicleLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
       OP.PanelType.FIREHOSE: PanelInfo(tr_noop("Firehose"), FirehoseLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_firehose.png"),
-      OP.PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayout(), icon="icons/shell.png"),
+      OP.PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayoutSP(), icon="icons/shell.png"),
     }
 
   def _draw_sidebar(self, rect: rl.Rectangle):
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index 83ec3c7af820ed..4cc6b18089c229 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -258,11 +258,11 @@
     "description": ""
   },
   "EnableCopyparty": {
-    "title": "Enable Copyparty",
+    "title": "copyparty Service",
     "description": ""
   },
   "EnableGithubRunner": {
-    "title": "Enable GitHub Runner",
+    "title": "GitHub Runner Service",
     "description": ""
   },
   "EnableSunnylinkUploader": {

From d9bbc8f5bbbaf14dd5b26e64e573e521a20c1d3f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 13 Dec 2025 15:17:20 -0500
Subject: [PATCH 0637/1434] ci: update prebuilt exclusions (#1572)

---
 .../workflows/sunnypilot-build-prebuilt.yaml  | 21 ++++++-------------
 1 file changed, 6 insertions(+), 15 deletions(-)

diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 50456f93d35464..dacbacbe266dd0 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -200,37 +200,28 @@ jobs:
           sudo rm -rf ${OUTPUT_DIR}
           mkdir -p ${OUTPUT_DIR}
           rsync -am${RUNNER_DEBUG:+v} \
-            --include='**/panda/board/' \
-            --include='**/panda/board/obj' \
-            --include='**/panda/board/obj/panda.bin.signed' \
-            --include='**/panda/board/obj/panda_h7.bin.signed' \
-            --include='**/panda/board/obj/bootstub.panda.bin' \
-            --include='**/panda/board/obj/bootstub.panda_h7.bin' \
             --exclude='.sconsign.dblite' \
             --exclude='*.a' \
             --exclude='*.o' \
             --exclude='*.os' \
             --exclude='*.pyc' \
             --exclude='moc_*' \
-            --exclude='*.cc' \
+            --exclude='__pycache__' \
             --exclude='Jenkinsfile' \
-            --exclude='supercombo.onnx' \
-            --exclude='**/panda/board/*' \
-            --exclude='**/panda/board/obj/**' \
-            --exclude='**/panda/certs/' \
-            --exclude='**/panda/crypto/' \
             --exclude='**/release/' \
             --exclude='**/.github/' \
             --exclude='**/selfdrive/ui/replay/' \
             --exclude='**/__pycache__/' \
-            --exclude='**/selfdrive/ui/*.h' \
-            --exclude='**/selfdrive/ui/**/*.h' \
-            --exclude='**/selfdrive/ui/qt/offroad/sunnypilot/' \
             --exclude='${{env.SCONS_CACHE_DIR}}' \
             --exclude='**/.git/' \
             --exclude='**/SConstruct' \
             --exclude='**/SConscript' \
             --exclude='**/.venv/' \
+            --exclude='selfdrive/modeld/models/driving_vision.onnx' \
+            --exclude='selfdrive/modeld/models/driving_policy.onnx' \
+            --exclude='sunnypilot/modeld*/models/supercombo.onnx' \
+            --exclude='third_party/*x86*' \
+            --exclude='third_party/*Darwin*' \
             --delete-excluded \
             --chown=comma:comma \
             ${BUILD_DIR}/ ${OUTPUT_DIR}/

From 9c2fd8d2be4eff9ffcf31f05c5967d8f9573623e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 14 Dec 2025 22:44:51 -0500
Subject: [PATCH 0638/1434] ui: `ButtonSP` (#1575)

* ui: `ButtonSP`

* final

* revert for now

* revert
---
 .../ui/sunnypilot/layouts/settings/models.py   |  4 ++--
 system/ui/sunnypilot/lib/styles.py             |  8 +++++++-
 system/ui/sunnypilot/widgets/list_view.py      | 18 ++++++++++++++++--
 3 files changed, 25 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/models.py b/selfdrive/ui/sunnypilot/layouts/settings/models.py
index 16d406ea98635c..211aad6a22cd6a 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/models.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/models.py
@@ -74,7 +74,7 @@ def _initialize_items(self):
 
     self.lane_turn_value_control = option_item_sp(tr("Adjust Lane Turn Speed"), "LaneTurnValue", 500, 2000,
                                                   tr("Set the maximum speed for lane turn desires. Default is 19 mph."),
-                                                  int(round(100 / CV.MPH_TO_KPH)), None, True, "", style.BUTTON_WIDTH, None, True,
+                                                  int(round(100 / CV.MPH_TO_KPH)), None, True, "", style.BUTTON_ACTION_WIDTH, None, True,
                                                   lambda v: f"{int(round(v / 100 * (CV.MPH_TO_KPH if ui_state.is_metric else 1)))}" +
                                                             f" {'km/h' if ui_state.is_metric else 'mph'}")
 
@@ -86,7 +86,7 @@ def _initialize_items(self):
 
     self.delay_control = option_item_sp(tr("Adjust Software Delay"), "LagdToggleDelay", 5, 50,
                                         tr("Adjust the software delay when Live Learning Steer Delay is toggled off. The default software delay value is 0.2"),
-                                        1, None, True, "", style.BUTTON_WIDTH, None, True, lambda v: f"{v / 100:.2f}s")
+                                        1, None, True, "", style.BUTTON_ACTION_WIDTH, None, True, lambda v: f"{v / 100:.2f}s")
 
     self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle")
 
diff --git a/system/ui/sunnypilot/lib/styles.py b/system/ui/sunnypilot/lib/styles.py
index 3e1d2dc408c666..84fe4efb04ce96 100644
--- a/system/ui/sunnypilot/lib/styles.py
+++ b/system/ui/sunnypilot/lib/styles.py
@@ -28,7 +28,7 @@ class Base:
   TOGGLE_BG_HEIGHT = TOGGLE_HEIGHT - 20
 
   # Button Control
-  BUTTON_WIDTH = 300
+  BUTTON_ACTION_WIDTH = 300
   BUTTON_HEIGHT = 120
 
 
@@ -81,5 +81,11 @@ class DefaultStyleSP(Base):
   BLUE = rl.Color(0, 134, 233, 255)
   YELLOW = rl.Color(255, 213, 0, 255)
 
+  # Button Colors
+  BUTTON_ENABLED_OFF = rl.Color(0x39, 0x39, 0x39, 0xFF)
+  BUTTON_OFF_PRESSED = rl.Color(0x4A, 0x4A, 0x4A, 0xFF)
+  BUTTON_DISABLED = rl.Color(0x12, 0x12, 0x12, 0xFF)
+  BUTTON_TEXT_DISABLED = rl.Color(0x5C, 0x5C, 0x5C, 0xFF)
+
 
 style = DefaultStyleSP
diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py
index ac646df5bffde9..b79ed927182df0 100644
--- a/system/ui/sunnypilot/widgets/list_view.py
+++ b/system/ui/sunnypilot/widgets/list_view.py
@@ -11,6 +11,7 @@
 from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.sunnypilot.widgets.toggle import ToggleSP
+from openpilot.system.ui.widgets.button import Button
 from openpilot.system.ui.widgets.label import gui_label
 from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction, MultipleButtonAction, ButtonAction, \
                                                   _resolve_value, BUTTON_WIDTH, BUTTON_HEIGHT, TEXT_PADDING
@@ -25,8 +26,21 @@ def __init__(self, initial_state: bool = False, width: int = style.TOGGLE_WIDTH,
     self.toggle = ToggleSP(initial_state=initial_state, callback=callback, param=param)
 
 
+class ButtonSP(Button):
+  def _update_state(self):
+    super()._update_state()
+    if self.enabled:
+      if self.is_pressed:
+        self._background_color = style.BUTTON_OFF_PRESSED
+      else:
+        self._background_color = style.BUTTON_ENABLED_OFF
+    else:
+      self._background_color = style.BUTTON_DISABLED
+      self._label.set_text_color(style.BUTTON_TEXT_DISABLED)
+
+
 class ButtonActionSP(ButtonAction):
-  def __init__(self, text: str | Callable[[], str], width: int = style.BUTTON_WIDTH, enabled: bool | Callable[[], bool] = True):
+  def __init__(self, text: str | Callable[[], str], width: int = style.BUTTON_ACTION_WIDTH, enabled: bool | Callable[[], bool] = True):
     super().__init__(text=text, width=width, enabled=enabled)
     self._value_color: rl.Color = style.ITEM_TEXT_VALUE_COLOR
 
@@ -252,7 +266,7 @@ def toggle_item_sp(title: str | Callable[[], str], description: str | Callable[[
 
 
 def multiple_button_item_sp(title: str | Callable[[], str], description: str | Callable[[], str], buttons: list[str | Callable[[], str]],
-                            selected_index: int = 0, button_width: int = style.BUTTON_WIDTH, callback: Callable = None,
+                            selected_index: int = 0, button_width: int = style.BUTTON_ACTION_WIDTH, callback: Callable = None,
                             icon: str = "", param: str | None = None, inline: bool = False) -> ListItemSP:
   action = MultipleButtonActionSP(buttons, button_width, selected_index, callback=callback, param=param)
   return ListItemSP(title=title, description=description, icon=icon, action_item=action, inline=inline)

From e7554170b8a6d5196ec063cbc1f5e8e48d49c52d Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sun, 14 Dec 2025 23:18:49 -0500
Subject: [PATCH 0639/1434] ui: `SimpleButtonActionSP` (#1502)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* commaai/openpilot:d05cb31e2e916fba41ba8167030945f427fd811b

* bump opendbc

* bump opendbc

* bump opendbc

* bump opendbc

* bump opendbc

* sunnypilot: remove Qt

* cabana: revert to stock Qt

* commaai/openpilot:5198b1b079c37742c1050f02ce0aa6dd42b038b9

* commaai/openpilot:954b567b9ba0f3d1ae57d6aa7797fa86dd92ec6e

* commaai/openpilot:7534b2a160faa683412c04c1254440e338931c5e

* sum more

* bump opendbc

* not yet

* should've been symlink'ed

* raylib says wut

* quiet mode back

* more fixes

* no more

* too extra red diff on the side

* need to bring this back

* too extra

* let's update docs here

* Revert "let's update docs here"

This reverts commit 51fe03cd5121e6fdf14657b2c33852c34922b851.

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* multi-button

* Lint

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* sp raylib preview

* fix callback

* fix ui preview

* better padding

* this

* support for next line multi-button

* uhh

* disabled colors

* listitem -> listitemsp

* listitem -> listitemsp

* add show_description method

* remove padding from line separator.
like, WHY? 😩😩

* ui: `GuiApplicationExt`

* simple button

* simple button

* add to readme

* use gui_app.sunnypilot_ui()

* i've got something to confessa

* sync

* revert

* Fix SimpleButtonActionSP not respecting enabled state

* some more

* ui: `ButtonSP`

* slight cleanup

* fixes

* fix

* unused

* try this

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: discountchubbs <alexgrant990@gmail.com>
---
 system/ui/sunnypilot/lib/styles.py        |  4 +++
 system/ui/sunnypilot/widgets/list_view.py | 35 +++++++++++++++++++----
 2 files changed, 33 insertions(+), 6 deletions(-)

diff --git a/system/ui/sunnypilot/lib/styles.py b/system/ui/sunnypilot/lib/styles.py
index 84fe4efb04ce96..7a29b5bb13eb59 100644
--- a/system/ui/sunnypilot/lib/styles.py
+++ b/system/ui/sunnypilot/lib/styles.py
@@ -31,6 +31,10 @@ class Base:
   BUTTON_ACTION_WIDTH = 300
   BUTTON_HEIGHT = 120
 
+  # Simple Button Control
+  SIMPLE_BUTTON_WIDTH = 800
+  SIMPLE_BUTTON_HEIGHT = 150
+
 
 @dataclass
 class DefaultStyleSP(Base):
diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py
index b79ed927182df0..2d7239ae661e5a 100644
--- a/system/ui/sunnypilot/widgets/list_view.py
+++ b/system/ui/sunnypilot/widgets/list_view.py
@@ -11,7 +11,7 @@
 from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.sunnypilot.widgets.toggle import ToggleSP
-from openpilot.system.ui.widgets.button import Button
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
 from openpilot.system.ui.widgets.label import gui_label
 from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction, MultipleButtonAction, ButtonAction, \
                                                   _resolve_value, BUTTON_WIDTH, BUTTON_HEIGHT, TEXT_PADDING
@@ -39,6 +39,22 @@ def _update_state(self):
       self._label.set_text_color(style.BUTTON_TEXT_DISABLED)
 
 
+class SimpleButtonActionSP(ItemAction):
+  def __init__(self, button_text: str | Callable[[], str], callback: Callable = None,
+               enabled: bool | Callable[[], bool] = True, button_width: int = style.SIMPLE_BUTTON_WIDTH):
+    super().__init__(width=button_width, enabled=enabled)
+    self.button_action = ButtonSP(button_text, click_callback=callback, button_style=ButtonStyle.NORMAL,
+                                  border_radius=20)
+
+  def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
+    super().set_touch_valid_callback(touch_callback)
+    self.button_action.set_touch_valid_callback(touch_callback)
+
+  def _render(self, rect: rl.Rectangle) -> bool | int | None:
+    self.button_action.set_enabled(self.enabled)
+    return self.button_action.render(rect)
+
+
 class ButtonActionSP(ButtonAction):
   def __init__(self, text: str | Callable[[], str], width: int = style.BUTTON_ACTION_WIDTH, enabled: bool | Callable[[], bool] = True):
     super().__init__(text=text, width=width, enabled=enabled)
@@ -179,7 +195,7 @@ def get_right_item_rect(self, item_rect: rl.Rectangle) -> rl.Rectangle:
     content_width = item_rect.width - (style.ITEM_PADDING * 2)
     title_width = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE).x
     right_width = min(content_width - title_width, right_width)
-    if isinstance(self.action_item, ToggleAction):
+    if isinstance(self.action_item, ToggleAction) or isinstance(self.action_item, SimpleButtonActionSP):
       action_x = item_rect.x
     else:
       action_x = item_rect.x + item_rect.width - right_width
@@ -196,14 +212,15 @@ def _render(self, _):
 
     content_x = self._rect.x + style.ITEM_PADDING
     text_x = content_x
-    left_action_item = isinstance(self.action_item, ToggleAction)
+    left_action_item = isinstance(self.action_item, ToggleAction) or isinstance(self.action_item, SimpleButtonActionSP)
 
     if left_action_item:
+      item_height = style.SIMPLE_BUTTON_HEIGHT if isinstance(self.action_item, SimpleButtonActionSP) else style.TOGGLE_HEIGHT
       left_rect = rl.Rectangle(
         content_x,
-        self._rect.y + (style.ITEM_BASE_HEIGHT - style.TOGGLE_HEIGHT) // 2,
-        style.TOGGLE_WIDTH,
-        style.TOGGLE_HEIGHT
+        self._rect.y + (style.ITEM_BASE_HEIGHT - item_height) // 2,
+        self.action_item.rect.width,
+        item_height
       )
       text_x = left_rect.x + left_rect.width + style.ITEM_PADDING * 1.5
 
@@ -259,6 +276,12 @@ def _render(self, _):
       self._html_renderer.render(description_rect)
 
 
+def simple_button_item_sp(button_text: str | Callable[[], str], callback: Callable | None = None,
+                          enabled: bool | Callable[[], bool] = True, button_width: int = style.SIMPLE_BUTTON_WIDTH) -> ListItemSP:
+  action = SimpleButtonActionSP(button_text=button_text, enabled=enabled, callback=callback, button_width=button_width)
+  return ListItemSP(title="", callback=callback, description="", action_item=action)
+
+
 def toggle_item_sp(title: str | Callable[[], str], description: str | Callable[[], str] | None = None, initial_state: bool = False,
                    callback: Callable | None = None, icon: str = "", enabled: bool | Callable[[], bool] = True, param: str | None = None) -> ListItemSP:
   action = ToggleActionSP(initial_state=initial_state, enabled=enabled, callback=callback, param=param)

From a1d0f6aa55521fa00202d1d4003a2207ad8cda96 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 14 Dec 2025 23:50:44 -0500
Subject: [PATCH 0640/1434] ci: use Brewfile for macOS setup and update
 Homebrew cache keys (#1576)

* ci: use Brewfile for macOS setup and update Homebrew cache keys

* Brewfile
---
 .github/workflows/tests.yaml |  9 ++++-----
 tools/Brewfile               | 15 +++++++++++++++
 tools/mac_setup.sh           | 18 +-----------------
 3 files changed, 20 insertions(+), 22 deletions(-)
 create mode 100644 tools/Brewfile

diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index 38bb7435e28931..7ae393bb5b0d74 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -115,14 +115,13 @@ jobs:
     - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
     - name: Homebrew cache
       uses: ./.github/workflows/auto-cache
-      if: false # disabling the cache for now because it is breaking macos builds...
       with:
         save: false # No need save here if we manually save it later conditionally
         path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }}
         restore-keys: |
-          brew-macos-${{ env.CACHE_COMMIT_DATE }}
-          brew-macos
+          brew-macos-${{ hashFiles('tools/Brewfile') }}
+          brew-macos-
     - name: Install dependencies
       run: ./tools/mac_setup.sh
       env:
@@ -133,7 +132,7 @@ jobs:
       if: github.ref == 'refs/heads/master'
       with:
         path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }}
     - run: git lfs pull
     - name: Getting scons cache
       uses: ./.github/workflows/auto-cache
diff --git a/tools/Brewfile b/tools/Brewfile
new file mode 100644
index 00000000000000..af610be75dec03
--- /dev/null
+++ b/tools/Brewfile
@@ -0,0 +1,15 @@
+brew "git-lfs"
+brew "capnp"
+brew "coreutils"
+brew "eigen"
+brew "ffmpeg"
+brew "glfw"
+brew "libusb"
+brew "libtool"
+brew "llvm"
+brew "openssl@3.0"
+brew "qt@5"
+brew "zeromq"
+cask "gcc-arm-embedded"
+brew "portaudio"
+brew "gcc@13"
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index 0ae0b35359e6e8..ae8a1974ac90b3 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -32,23 +32,7 @@ else
     brew up
 fi
 
-brew bundle --file=- <<-EOS
-brew "git-lfs"
-brew "capnp"
-brew "coreutils"
-brew "eigen"
-brew "ffmpeg"
-brew "glfw"
-brew "libusb"
-brew "libtool"
-brew "llvm"
-brew "openssl@3.0"
-brew "qt@5"
-brew "zeromq"
-cask "gcc-arm-embedded"
-brew "portaudio"
-brew "gcc@13"
-EOS
+brew bundle --file=$DIR/Brewfile
 
 echo "[ ] finished brew install t=$SECONDS"
 

From 7560497f155a29d7ee0c35f8e9f0bf679ae250ac Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Wed, 17 Dec 2025 18:32:18 -0800
Subject: [PATCH 0641/1434] Revert "latcontrol_torque: lower kp and lower
 friction threshold (commaai/openpilot#36619)" (#1581)

* Revert " latcontrol_torque: delay independent jerk and lower kp and lower friction threshold (#36619)"

This reverts commit f01391a7d9b5d0b7a56a346d85c7de42302656b7

* revert opendbc_repo

* bump

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 opendbc_repo                                |  2 +-
 selfdrive/controls/lib/latcontrol_torque.py | 35 ++++++++++++---------
 selfdrive/test/process_replay/ref_commit    |  2 +-
 3 files changed, 22 insertions(+), 17 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 1890dbf2996049..a76d28a231dd8a 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 1890dbf2996049a2d58074adca0f4156a1591e0d
+Subproject commit a76d28a231dd8a3de11ed47db2d185d3852c6925
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 48d174bfa044c5..47d105f99356b9 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -22,17 +22,15 @@
 # Additionally, there is friction in the steering wheel that needs
 # to be overcome to move it at all, this is compensated for too.
 
-KP = 0.8
-KI = 0.15
-
+KP = 1.0
+KI = 0.3
+KD = 0.0
 INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
 KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
 
 LP_FILTER_CUTOFF_HZ = 1.2
-JERK_LOOKAHEAD_SECONDS = 0.19
-JERK_GAIN = 0.3
 LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
-VERSION = 1
+VERSION = 0
 
 class LatControlTorque(LatControl):
   def __init__(self, CP, CP_SP, CI, dt):
@@ -40,13 +38,13 @@ def __init__(self, CP, CP_SP, CI, dt):
     self.torque_params = CP.lateralTuning.torque.as_builder()
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
     self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
-    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, rate=1/self.dt)
+    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1/self.dt)
     self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
     self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
     self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
-    self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt)
-    self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
+    self.previous_measurement = 0.0
+    self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
 
     self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
 
@@ -78,15 +76,17 @@ def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvat
 
       delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
       expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
-      lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))
-      raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt)
-      desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk)
+      # TODO factor out lateral jerk from error to later replace it with delay independent alternative
       future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
       self.lat_accel_request_buffer.append(future_desired_lateral_accel)
       gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
-      setpoint = expected_lateral_accel
+      desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay
 
       measurement = measured_curvature * CS.vEgo ** 2
+      measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
+      self.previous_measurement = measurement
+
+      setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
       error = setpoint - measurement
 
       # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
@@ -94,10 +94,15 @@ def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvat
       ff = gravity_adjusted_future_lateral_accel
       # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
       ff -= self.torque_params.latAccelOffset
-      ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+      # TODO jerk is weighted by lat_delay for legacy reasons, but should be made independent of it
+      ff += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
       freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-      output_lataccel = self.pid.update(pid_log.error, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
+      output_lataccel = self.pid.update(pid_log.error,
+                                       -measurement_rate,
+                                        feedforward=ff,
+                                        speed=CS.vEgo,
+                                        freeze_integrator=freeze_integrator)
       output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
 
       # Lateral acceleration torque controller extension updates
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 4a58e321fc575a..cdd4301fcf90ab 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-e0ad86508edb61b3eaa1b84662c515d2c3368295
\ No newline at end of file
+b508f43fb0481bce0859c9b6ab4f45ee690b8dab
\ No newline at end of file

From 28fa7d5ed924e4b88b48a5a6338ff3d47de7a250 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Wed, 17 Dec 2025 20:54:39 -0800
Subject: [PATCH 0642/1434] sync: update message queues and upstream merge
 conflicts (#1585)

* bug: fix sp message queues and protected method access

* more

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 cereal/services.py                                 | 6 +++---
 selfdrive/ui/sunnypilot/layouts/settings/models.py | 2 +-
 selfdrive/ui/sunnypilot/layouts/settings/osm.py    | 2 +-
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/cereal/services.py b/cereal/services.py
index 666bd0d27dc314..a2fd5f7dceb909 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -90,8 +90,8 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "qRoadEncodeData": (False, 20., None, QueueSize.BIG),
 
   # sunnypilot
-  "modelManagerSP": (False, 1., 1),
-  "backupManagerSP": (False, 1., 1),
+  "modelManagerSP": (False, 1., 1, QueueSize.BIG),
+  "backupManagerSP": (False, 1., 1, QueueSize.BIG),
   "selfdriveStateSP": (True, 100., 10),
   "longitudinalPlanSP": (True, 20., 10),
   "onroadEventsSP": (True, 1., 1),
@@ -99,7 +99,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "carControlSP": (True, 100., 10),
   "carStateSP": (True, 100., 10),
   "liveMapDataSP": (True, 1., 1),
-  "modelDataV2SP": (True, 20.),
+  "modelDataV2SP": (True, 20., None, QueueSize.BIG),
   "liveLocationKalman": (True, 20.),
 
   # debug
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/models.py b/selfdrive/ui/sunnypilot/layouts/settings/models.py
index 211aad6a22cd6a..5820b34cc07512 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/models.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/models.py
@@ -153,7 +153,7 @@ def _handle_bundle_download_progress(self):
       self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
 
     if self.download_status == custom.ModelManagerSP.DownloadStatus.downloading:
-      device.reset_interactive_timeout()
+      device._reset_interactive_timeout()
 
     for model in bundle.models:
       if label := labels.get(getattr(model.type, 'raw', model.type)):
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/osm.py b/selfdrive/ui/sunnypilot/layouts/settings/osm.py
index 3726a820f5aaca..f8a3a85042acaf 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/osm.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/osm.py
@@ -165,7 +165,7 @@ def _update_labels(self):
     pending = ui_state.params.get_bool("OsmDbUpdatesCheck")
     if downloading or pending:
       if downloading:
-        device.reset_interactive_timeout()
+        device._reset_interactive_timeout()
         self._update_map_size()
       self._progress.set_visible(True)
       progress = ui_state.params.get("OSMDownloadProgress")

From f5b3d87e25424fda5e3e46a3c40910a3d9c255d1 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 18 Dec 2025 00:03:48 -0500
Subject: [PATCH 0643/1434] ci: add GitHub app token for authenticated pushes
 (#1586)

---
 .github/workflows/sunnypilot-master-dev-prep.yaml | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/sunnypilot-master-dev-prep.yaml b/.github/workflows/sunnypilot-master-dev-prep.yaml
index e7a966374389a1..10794bf0f78f30 100644
--- a/.github/workflows/sunnypilot-master-dev-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-prep.yaml
@@ -49,6 +49,7 @@ jobs:
         with:
           fetch-depth: 0  # Fetch all history for all branches
           token: ${{ secrets.GITHUB_TOKEN }}
+          persist-credentials: false
 
       - name: Wait for Tests
         uses: ./.github/workflows/wait-for-action # Path to where you place the action
@@ -173,11 +174,20 @@ jobs:
           echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
           echo '    locksverify = false' >> .lfsconfig
 
+      - uses: actions/create-github-app-token@v2
+        id: ci-token
+        with:
+          app-id: ${{ secrets.CI_GITHUB_ACTIONS_TOKEN_APP_ID }}
+          private-key: ${{ secrets.CI_GITHUB_ACTIONS_TOKEN_APP_PRIVATE_KEY }}
+
       - name: Push changes if there are diffs
-        id: push-changes  # Add an id so we can reference this step
+        id: push-changes
         run: |
           TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
 
+          # Use the App Token to set the remote URL with authentication
+          git remote set-url origin "https://x-access-token:${{ steps.ci-token.outputs.token }}@github.com/${{ github.repository }}.git"
+
           # Fetch the latest from remote
           git fetch origin $TARGET_BRANCH
 
@@ -188,7 +198,7 @@ jobs:
             exit 0
           fi
 
-          # If we get here, there are diffs, so push
+          # Push with the authenticated origin
           if ! git push origin $TARGET_BRANCH --force; then
             echo "Failed to push changes to $TARGET_BRANCH"
             exit 1

From 2b51adff11eb1f5ee785f89150c05ccdb9544947 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 18 Dec 2025 00:20:42 -0500
Subject: [PATCH 0644/1434] sunnylink: Vehicle Selector support (#1587)

* sunnylink: Vehicle Selector support

* shebang
---
 common/params_keys.h                          |  1 +
 .../selfdrive/car/sync_car_list_param.py      | 31 +++++++++++++++++++
 sunnypilot/sunnylink/athena/sunnylinkd.py     |  3 ++
 sunnypilot/sunnylink/params_metadata.json     |  4 +++
 4 files changed, 39 insertions(+)
 create mode 100755 sunnypilot/selfdrive/car/sync_car_list_param.py

diff --git a/common/params_keys.h b/common/params_keys.h
index a5f0ae29f2abf2..1b06711a95edee 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -139,6 +139,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"BlinkerMinLateralControlSpeed", {PERSISTENT | BACKUP, INT, "20"}},  // MPH or km/h
     {"BlinkerPauseLateralControl", {PERSISTENT | BACKUP, INT, "0"}},
     {"Brightness", {PERSISTENT | BACKUP, INT, "0"}},
+    {"CarList", {PERSISTENT, JSON}},
     {"CarParamsSP", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
     {"CarParamsSPCache", {CLEAR_ON_MANAGER_START, BYTES}},
     {"CarParamsSPPersistent", {PERSISTENT, BYTES}},
diff --git a/sunnypilot/selfdrive/car/sync_car_list_param.py b/sunnypilot/selfdrive/car/sync_car_list_param.py
new file mode 100755
index 00000000000000..5e25f6da9a5dcb
--- /dev/null
+++ b/sunnypilot/selfdrive/car/sync_car_list_param.py
@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import json
+import os
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+
+CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "car", "car_list.json")
+
+
+def update_car_list_param():
+  with open(CAR_LIST_JSON_OUT) as f:
+    current_car_list = json.load(f)
+
+  params = Params()
+  if params.get("CarList") != current_car_list:
+    params.put("CarList", current_car_list)
+    cloudlog.warning("Updated CarList param with latest platform list")
+  else:
+    cloudlog.warning("CarList param is up to date, no need to update")
+
+
+if __name__ == "__main__":
+  update_car_list_param()
diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index a57b6ef55fcbd4..3aeacf6a397a9f 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -28,6 +28,7 @@
                        create_connection, WebSocketConnectionClosedException)
 
 import cereal.messaging as messaging
+from openpilot.sunnypilot.selfdrive.car.sync_car_list_param import update_car_list_param
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
 from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
 
@@ -279,6 +280,8 @@ def main(exit_event: threading.Event = None):
   sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
   UploadQueueCache.initialize(upload_queue)
 
+  update_car_list_param()
+
   ws_uri = f"{SUNNYLINK_ATHENA_HOST}"
   conn_start = None
   conn_retries = 0
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index 3228fd0d62be3a..707e0620f9cce9 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -125,6 +125,10 @@
     "title": "Car Battery Capacity",
     "description": ""
   },
+  "CarList": {
+    "title": "Supported Car List",
+    "description": "All supported platform in sunnypilot"
+  },
   "CarParams": {
     "title": "Car Params",
     "description": ""

From f3598ce3ed902a2ad3a2bcc894f2609edca39fef Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Wed, 17 Dec 2025 21:29:37 -0800
Subject: [PATCH 0645/1434] ci: fix sunnypilot unit tests (#1584)

This PR aims to fix sunnypilot pytest that was broken on MacOS due to calling capnp to_dict, which isn't supported on pycapnp library for Mac.

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/selfdrive/car/interfaces.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index b534b7e37e715a..83114ac551de28 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -102,7 +102,10 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   _initialize_torque_lateral_control(CI, CP, enforce_torque, nnlc_enabled)
   _cleanup_unsupported_params(CP, CP_SP)
 
-  STATSLOGSP.raw('sunnypilot.car_params', CP.to_dict())
+  try:
+    STATSLOGSP.raw('sunnypilot.car_params', CP.to_dict())
+  except RuntimeError:
+    pass  # to_dict fails on macOS due to library issues.
   # STATSLOGSP.raw('sunnypilot_params.car_params_sp', CP_SP.to_dict()) # https://github.com/sunnypilot/opendbc/pull/361
 
 

From b52d0df6e3bf0a155656add339c22584e9ab33a5 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 18 Dec 2025 02:08:20 -0500
Subject: [PATCH 0646/1434] ci: enable mici Raylib UI Preview in sunnypilot
 (#1588)

---
 .github/workflows/mici_raylib_ui_preview.yaml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/mici_raylib_ui_preview.yaml b/.github/workflows/mici_raylib_ui_preview.yaml
index 707825b1ac4089..55525865294c12 100644
--- a/.github/workflows/mici_raylib_ui_preview.yaml
+++ b/.github/workflows/mici_raylib_ui_preview.yaml
@@ -24,7 +24,7 @@ env:
 
 jobs:
   preview:
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     name: preview
     runs-on: ubuntu-latest
     timeout-minutes: 20
@@ -64,7 +64,7 @@ jobs:
       - name: Getting master ui  # filename: master_ui_raylib/mici_ui_replay.mp4
         uses: actions/checkout@v4
         with:
-          repository: commaai/ci-artifacts
+          repository: sunnypilot/ci-artifacts
           ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
           path: ${{ github.workspace }}/master_ui_raylib
           ref: ${{ env.MASTER_BRANCH_NAME }}
@@ -100,7 +100,7 @@ jobs:
 
           # Run report
           export PYTHONPATH=${{ github.workspace }}
-          baseurl="https://github.com/commaai/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
+          baseurl="https://github.com/sunnypilot/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
           diff_exit_code=0
           python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py "${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" "${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" "diff.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
 
@@ -108,7 +108,7 @@ jobs:
           cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html ${{ github.workspace }}/pr_ui/
           cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.mp4 ${{ github.workspace }}/pr_ui/
 
-          REPORT_URL="https://commaai.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html"
+          REPORT_URL="https://sunnypilot.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html"
           if [ $diff_exit_code -eq 0 ]; then
             DIFF="✅ Videos are identical! [View Diff Report]($REPORT_URL)"
           else

From 93f98a8a362319c9894a566cc8414f9e142bd086 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Thu, 18 Dec 2025 03:01:16 -0700
Subject: [PATCH 0647/1434] [TIZI/TICI] ui: Developer Metrics (#1523)

* devui

* clean up

* clean up

* optimize text measurement for better rendering performance

* sp dir

* decouple from stock HudRenderer

* rename

* fetch mode in _update_state

* wrong type

* start decoupling elements

* decouple elements

* un-ew this pls

* fully decouple developer UI elements

* rename

* more decouple

* full send

* final

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/onroad/augmented_road_view.py    |   3 +
 selfdrive/ui/sunnypilot/onroad/__init__.py    |   0
 .../onroad/developer_ui/__init__.py           | 164 ++++++++++
 .../onroad/developer_ui/elements.py           | 303 ++++++++++++++++++
 .../ui/sunnypilot/onroad/hud_renderer.py      |  20 ++
 selfdrive/ui/sunnypilot/ui_state.py           |   1 +
 6 files changed, 491 insertions(+)
 create mode 100644 selfdrive/ui/sunnypilot/onroad/__init__.py
 create mode 100644 selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
 create mode 100644 selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
 create mode 100644 selfdrive/ui/sunnypilot/onroad/hud_renderer.py

diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py
index 1f202141c3806b..a47c04053d5a6b 100644
--- a/selfdrive/ui/onroad/augmented_road_view.py
+++ b/selfdrive/ui/onroad/augmented_road_view.py
@@ -14,6 +14,9 @@
 from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame
 from openpilot.common.transformations.orientation import rot_from_euler
 
+if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer
+
 OpState = log.SelfdriveState.OpenpilotState
 CALIBRATED = log.LiveCalibrationData.Status.calibrated
 ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD
diff --git a/selfdrive/ui/sunnypilot/onroad/__init__.py b/selfdrive/ui/sunnypilot/onroad/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py b/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
new file mode 100644
index 00000000000000..14a224ae775970
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
@@ -0,0 +1,164 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui.elements import (
+  UiElement, RelDistElement, RelSpeedElement, SteeringAngleElement,
+  DesiredLateralAccelElement, ActualLateralAccelElement, DesiredSteeringAngleElement,
+  AEgoElement, LeadSpeedElement, FrictionCoefficientElement, LatAccelFactorElement,
+  SteeringTorqueEpsElement, BearingDegElement, AltitudeElement
+)
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+
+
+class DeveloperUiRenderer(Widget):
+  DEV_UI_OFF = 0
+  DEV_UI_RIGHT = 1
+  DEV_UI_BOTTOM = 2
+  DEV_UI_BOTH = 3
+
+  def __init__(self):
+    super().__init__()
+    self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
+    self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
+    self.dev_ui_mode = self.DEV_UI_OFF
+
+    self.rel_dist_elem = RelDistElement()
+    self.rel_speed_elem = RelSpeedElement()
+    self.steering_angle_elem = SteeringAngleElement()
+    self.desired_lat_accel_elem = DesiredLateralAccelElement()
+    self.actual_lat_accel_elem = ActualLateralAccelElement()
+    self.desired_steer_elem = DesiredSteeringAngleElement()
+    self.a_ego_elem = AEgoElement()
+    self.lead_speed_elem = LeadSpeedElement()
+    self.friction_elem = FrictionCoefficientElement()
+    self.lat_accel_factor_elem = LatAccelFactorElement()
+    self.steering_torque_elem = SteeringTorqueEpsElement()
+    self.bearing_elem = BearingDegElement()
+    self.altitude_elem = AltitudeElement()
+
+  def _update_state(self) -> None:
+    self.dev_ui_mode = ui_state.developer_ui
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    if self.dev_ui_mode == self.DEV_UI_OFF:
+      return
+
+    sm = ui_state.sm
+    if sm.recv_frame["carState"] < ui_state.started_frame:
+      return
+
+    if self.dev_ui_mode == self.DEV_UI_RIGHT:
+      self._draw_right_dev_ui(rect)
+    elif self.dev_ui_mode == self.DEV_UI_BOTTOM:
+      self._draw_bottom_dev_ui(rect)
+    elif self.dev_ui_mode == self.DEV_UI_BOTH:
+      self._draw_right_dev_ui(rect)
+      self._draw_bottom_dev_ui(rect)
+
+  def _draw_right_dev_ui(self, rect: rl.Rectangle) -> None:
+    sm = ui_state.sm
+    controls_state = sm['controlsState']
+
+    UI_BORDER_SIZE = 20
+    container_width = 184
+    x = int(rect.x + rect.width - container_width - UI_BORDER_SIZE * 2)
+    y = int(rect.y + UI_BORDER_SIZE * 1.5)
+
+    elements = [
+      self.rel_dist_elem.update(sm, ui_state.is_metric),
+      self.rel_speed_elem.update(sm, ui_state.is_metric),
+      self.steering_angle_elem.update(sm, ui_state.is_metric),
+    ]
+    if controls_state.lateralControlState.which() == 'torqueState':
+      elements.append(self.desired_lat_accel_elem.update(sm, ui_state.is_metric))
+      elements.append(self.actual_lat_accel_elem.update(sm, ui_state.is_metric))
+    else:
+      elements.append(self.desired_steer_elem.update(sm, ui_state.is_metric))
+
+    current_y = y
+    for element in elements:
+      current_y += self._draw_right_dev_ui_element(x, current_y, element)
+
+  def _draw_right_dev_ui_element(self, x: int, y: int, element: UiElement) -> int:
+    x += 0
+    y += 230
+    container_width = 184
+    label_size = 28
+    value_size = 60
+    unit_size = 28
+    label_width = measure_text_cached(self._font_bold, element.label, label_size, 0).x
+    centered_label_x = x + (container_width - label_width) / 2
+    rl.draw_text_ex(self._font_bold, element.label, rl.Vector2(centered_label_x, y), label_size, 0, rl.WHITE)
+
+    y += 45
+    value_width = measure_text_cached(self._font_bold, element.value, value_size, 0).x
+    centered_value_x = x + (container_width - value_width) / 2
+    rl.draw_text_ex(self._font_bold, element.value, rl.Vector2(centered_value_x, y), value_size, 0, element.color)
+
+    if element.unit:
+      units_height = measure_text_cached(self._font_bold, element.unit, unit_size, 0).x
+
+      units_x = x + container_width - 10
+      units_y = y + (value_size / 2) + (units_height / 2)
+
+      rl.draw_text_pro(self._font_bold, element.unit, rl.Vector2(units_x, units_y), rl.Vector2(0, 0), -90.0, unit_size, 0, rl.WHITE)
+
+    return 130
+
+  def _draw_bottom_dev_ui(self, rect: rl.Rectangle) -> None:
+    sm = ui_state.sm
+    bar_height = 61
+    y = int(rect.y + rect.height - bar_height)
+
+    rl.draw_rectangle(int(rect.x), y, int(rect.width), bar_height,
+                      rl.Color(0, 0, 0, 100))
+
+    elements = [
+      self.a_ego_elem.update(sm, ui_state.is_metric),
+      self.lead_speed_elem.update(sm, ui_state.is_metric),
+    ]
+
+    # Add torque-specific elements if using torque control
+    if sm['controlsState'].lateralControlState.which() == 'torqueState':
+      if sm.valid['liveTorqueParameters']:
+        elements.extend([
+          self.friction_elem.update(sm, ui_state.is_metric),
+          self.lat_accel_factor_elem.update(sm, ui_state.is_metric),
+        ])
+    else:
+      # Non-torque: show steering torque and GPS data
+      elements.append(self.steering_torque_elem.update(sm, ui_state.is_metric))
+
+      if sm.valid['gpsLocationExternal'] or sm.valid['gpsLocation']:
+        elements.append(self.bearing_elem.update(sm, ui_state.is_metric))
+
+    # Add altitude if GPS available
+    if sm.valid['gpsLocationExternal'] or sm.valid['gpsLocation']:
+      elements.append(self.altitude_elem.update(sm, ui_state.is_metric))
+
+    current_x = int(rect.x + 90)
+    center_y = y + bar_height // 2
+    for element in elements:
+      current_x += self._draw_bottom_dev_ui_element(current_x, center_y, element)
+
+  def _draw_bottom_dev_ui_element(self, x: int, y: int, element: UiElement) -> int:
+    font_size = 38
+
+    label_text = f"{element.label} "
+    label_width = measure_text_cached(self._font_bold, label_text, font_size, 0).x
+    rl.draw_text_ex(self._font_bold, label_text, rl.Vector2(x, y - font_size // 2), font_size, 0, rl.WHITE)
+
+    value_width = measure_text_cached(self._font_bold, element.value, font_size, 0).x
+    rl.draw_text_ex(self._font_bold, element.value, rl.Vector2(x + label_width + 10, y - font_size // 2), font_size, 0, element.color)
+
+    if element.unit:
+      rl.draw_text_ex(self._font_bold, element.unit, rl.Vector2(x + label_width + value_width + 20, y - font_size // 2), font_size, 0, rl.WHITE)
+
+    return 400
diff --git a/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py b/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
new file mode 100644
index 00000000000000..e8daca88687fdd
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
@@ -0,0 +1,303 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+from dataclasses import dataclass
+
+from openpilot.common.constants import CV
+
+
+@dataclass
+class UiElement:
+  value: str
+  label: str
+  unit: str
+  color: rl.Color
+
+
+class LeadInfoElement:
+  @staticmethod
+  def get_lead_status(sm):
+    lead_one = sm['radarState'].leadOne
+    return lead_one.status, lead_one.dRel, lead_one.vRel
+
+  @staticmethod
+  def get_lead_color(lead_d_rel: float, lead_v_rel: float = 0.0, use_v_rel: bool = False) -> rl.Color:
+    if use_v_rel:
+      if lead_v_rel < -4.4704:
+        return rl.RED
+      elif lead_v_rel < 0:
+        return rl.Color(255, 188, 0, 255)  # Orange
+    else:
+      if lead_d_rel < 5:
+        return rl.RED
+      elif lead_d_rel < 15:
+        return rl.Color(255, 188, 0, 255)  # Orange
+    return rl.WHITE
+
+
+class LateralControlElement:
+  @staticmethod
+  def get_lat_color(lat_active: bool, steer_override: bool, angle_steers: float = 0.0,
+                    check_angle: bool = False) -> rl.Color:
+    color = rl.WHITE
+    if lat_active:
+      color = rl.Color(145, 155, 149, 255) if steer_override else rl.Color(0, 255, 0, 255)
+
+    if check_angle and lat_active:
+      if abs(angle_steers) > 180:
+        color = rl.RED
+      elif abs(angle_steers) > 90:
+        color = rl.Color(255, 188, 0, 255)
+      else:
+        # Keep green/grey from above
+        pass
+    elif check_angle and not lat_active:
+      if abs(angle_steers) > 180:
+        color = rl.RED
+      elif abs(angle_steers) > 90:
+        color = rl.Color(255, 188, 0, 255)
+
+    return color
+
+
+class RelDistElement(LeadInfoElement):
+  def __init__(self):
+    self.unit = "m"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    lead_status, lead_d_rel, _ = self.get_lead_status(sm)
+    value = f"{lead_d_rel:.0f}" if lead_status else "-"
+    color = self.get_lead_color(lead_d_rel) if lead_status else rl.WHITE
+    return UiElement(value, "REL DIST", self.unit, color)
+
+
+class RelSpeedElement(LeadInfoElement):
+  def __init__(self):
+    self.unit = "km/h"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    lead_status, _, lead_v_rel = self.get_lead_status(sm)
+
+    self.unit = "km/h" if is_metric else "mph"
+
+    conversion = CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH
+    value = f"{lead_v_rel * conversion:.0f}" if lead_status else "-"
+    color = self.get_lead_color(0, lead_v_rel, use_v_rel=True) if lead_status else rl.WHITE
+
+    return UiElement(value, "REL SPEED", self.unit, color)
+
+
+class SteeringAngleElement(LateralControlElement):
+  def __init__(self):
+    self.unit = ""
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    car_state = sm['carState']
+    angle_steers = car_state.steeringAngleDeg
+    lat_active = sm['carControl'].latActive
+    steer_override = car_state.steeringPressed
+
+    value = f"{angle_steers:.1f}°"
+    color = self.get_lat_color(lat_active, steer_override, angle_steers, check_angle=True)
+
+    return UiElement(value, "REAL STEER", self.unit, color)
+
+
+class DesiredSteeringAngleElement(LateralControlElement):
+  def __init__(self):
+    self.unit = ""
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    car_state = sm['carState']
+    controls_state = sm['controlsState']
+    lat_active = sm['carControl'].latActive
+    angle_steers = car_state.steeringAngleDeg
+    steer_angle_desired = controls_state.lateralControlState.angleState.steeringAngleDeg
+
+    value = f"{steer_angle_desired:.1f}°" if lat_active else "-"
+
+    color = rl.WHITE
+    if lat_active:
+      if abs(angle_steers) > 180:
+        color = rl.RED
+      elif abs(angle_steers) > 90:
+        color = rl.Color(255, 188, 0, 255)
+      else:
+        color = rl.Color(0, 255, 0, 255)
+
+    return UiElement(value, "DESIRED STEER", self.unit, color)
+
+
+class ActualLateralAccelElement(LateralControlElement):
+  def __init__(self):
+    self.unit = "m/s^2"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    controls_state = sm['controlsState']
+    curvature = controls_state.curvature
+    v_ego = sm['carState'].vEgo
+    roll = sm['liveParameters'].roll if sm.valid['liveParameters'] else 0.0
+    lat_active = sm['carControl'].latActive
+    steer_override = sm['carState'].steeringPressed
+
+    actual_lat_accel = (curvature * v_ego ** 2) - (roll * 9.81)
+    value = f"{actual_lat_accel:.2f}"
+    color = self.get_lat_color(lat_active, steer_override)
+
+    return UiElement(value, "ACTUAL L.A.", self.unit, color)
+
+
+class DesiredLateralAccelElement(LateralControlElement):
+  def __init__(self):
+    self.unit = "m/s^2"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    controls_state = sm['controlsState']
+    desired_curvature = controls_state.desiredCurvature
+    v_ego = sm['carState'].vEgo
+    roll = sm['liveParameters'].roll if sm.valid['liveParameters'] else 0.0
+    lat_active = sm['carControl'].latActive
+    steer_override = sm['carState'].steeringPressed
+
+    desired_lat_accel = (desired_curvature * v_ego ** 2) - (roll * 9.81)
+    value = f"{desired_lat_accel:.2f}" if lat_active else "-"
+    color = self.get_lat_color(lat_active, steer_override)
+
+    return UiElement(value, "DESIRED L.A.", self.unit, color)
+
+
+class AEgoElement:
+  def __init__(self):
+    self.unit = "m/s^2"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    a_ego = sm['carState'].aEgo
+    value = f"{a_ego:.1f}"
+    return UiElement(value, "ACC.", self.unit, rl.WHITE)
+
+
+class LeadSpeedElement(LeadInfoElement):
+  def __init__(self):
+    self.unit = "km/h"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    lead_status, _, lead_v_rel = self.get_lead_status(sm)
+    v_ego = sm['carState'].vEgo
+
+    self.unit = "km/h" if is_metric else "mph"
+
+    conversion = CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH
+    value = f"{(lead_v_rel + v_ego) * conversion:.0f}" if lead_status else "-"
+    color = self.get_lead_color(0, lead_v_rel, use_v_rel=True) if lead_status else rl.WHITE
+
+    return UiElement(value, "L.S.", self.unit, color)
+
+
+class FrictionCoefficientElement:
+  def __init__(self):
+    self.unit = ""
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    ltp = sm['liveTorqueParameters']
+    friction_coef = ltp.frictionCoefficientFiltered
+    live_valid = ltp.liveValid
+
+    value = f"{friction_coef:.3f}"
+    color = rl.Color(0, 255, 0, 255) if live_valid else rl.WHITE
+    return UiElement(value, "FRIC.", self.unit, color)
+
+
+class LatAccelFactorElement:
+  def __init__(self):
+    self.unit = ""
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    ltp = sm['liveTorqueParameters']
+    lat_accel_factor = ltp.latAccelFactorFiltered
+    live_valid = ltp.liveValid
+
+    value = f"{lat_accel_factor:.3f}"
+    color = rl.Color(0, 255, 0, 255) if live_valid else rl.WHITE
+    return UiElement(value, "L.A.F.", self.unit, color)
+
+
+class SteeringTorqueEpsElement:
+  def __init__(self):
+    self.unit = "N·dm"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    steering_torque_eps = sm['carState'].steeringTorqueEps
+    value = f"{abs(steering_torque_eps):.1f}"
+    return UiElement(value, "E.T.", self.unit, rl.WHITE)
+
+
+class GpsInfoElement:
+  @staticmethod
+  def get_gps_data(sm):
+    if sm.valid['gpsLocationExternal']:
+      return sm['gpsLocationExternal'], True
+    elif sm.valid['gpsLocation']:
+      return sm['gpsLocation'], True
+    return None, False
+
+
+class BearingDegElement(GpsInfoElement):
+  def __init__(self):
+    self.unit = ""
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    gps_data, valid = self.get_gps_data(sm)
+    if not valid:
+      return UiElement("OFF | -", "B.D.", self.unit, rl.WHITE)
+
+    bearing_accuracy_deg = gps_data.bearingAccuracyDeg
+    bearing_deg = gps_data.bearingDeg
+
+    if bearing_accuracy_deg != 180.0:
+      value = f"{bearing_deg:.0f}°"
+      if (337.5 <= bearing_deg <= 360) or (0 <= bearing_deg <= 22.5):
+        dir_value = "N"
+      elif 22.5 < bearing_deg < 67.5:
+        dir_value = "NE"
+      elif 67.5 <= bearing_deg <= 112.5:
+        dir_value = "E"
+      elif 112.5 < bearing_deg < 157.5:
+        dir_value = "SE"
+      elif 157.5 <= bearing_deg <= 202.5:
+        dir_value = "S"
+      elif 202.5 < bearing_deg < 247.5:
+        dir_value = "SW"
+      elif 247.5 <= bearing_deg <= 292.5:
+        dir_value = "W"
+      else:  # 292.5 < bearing_deg < 337.5
+        dir_value = "NW"
+    else:
+      value = "-"
+      dir_value = "OFF"
+
+    return UiElement(f"{dir_value} | {value}", "B.D.", self.unit, rl.WHITE)
+
+
+class AltitudeElement(GpsInfoElement):
+  def __init__(self):
+    self.unit = "m"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    gps_data, valid = self.get_gps_data(sm)
+
+    gps_accuracy = 0.0
+    altitude = 0.0
+
+    if valid:
+      altitude = gps_data.altitude
+      if sm.valid['gpsLocationExternal']:
+        gps_accuracy = gps_data.horizontalAccuracy
+      else:
+        gps_accuracy = 1.0  # Simulate valid for legacy check
+
+    value = f"{altitude:.1f}" if gps_accuracy != 0.0 else "-"
+    return UiElement(value, "ALT.", self.unit, rl.WHITE)
diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
new file mode 100644
index 00000000000000..33582df191ce78
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
@@ -0,0 +1,20 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+
+from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer
+
+
+class HudRendererSP(HudRenderer):
+  def __init__(self):
+    super().__init__()
+    self.developer_ui = DeveloperUiRenderer()
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    super()._render(rect)
+    self.developer_ui.render(rect)
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index af625ee619e58a..8a0bc24ad920bf 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -27,3 +27,4 @@ def update_params(self) -> None:
     if CP_SP_bytes is not None:
       self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
     self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled")
+    self.developer_ui = self.params.get("DevUIInfo")

From 57e7c0b2c1cee42b7e56ee0420714d048fc8c6df Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Thu, 18 Dec 2025 23:15:52 -0500
Subject: [PATCH 0648/1434] [comma 4] ui: sunnylink panel (#1544)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* sp raylib preview

* fix callback

* fix ui preview

* sunnylink state

* introducing ui_state_sp for py

* poll from ui_state_sp

* cloudlog & ruff

* param to control stock vs sp ui

* better

* better padding

* this

* listitem -> listitemsp

* add show_description method

* remove padding from line separator.
like, WHY? 😩😩

* ui: `GuiApplicationExt`

* add to readme

* use gui_app.sunnypilot_ui()

* use gui_app.sunnypilot_ui()

* fetch only when connected to network

* init sunnylink panels

* cleanup

* lint

* flippity floppity

* fix backup/restore status

* show contributor tier

* sunnylink-mici

* icons

* fix

* add uploader

* final

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/mici/layouts/main.py             |   3 +
 .../ui/sunnypilot/mici/layouts/__init__.py    |   0
 .../ui/sunnypilot/mici/layouts/settings.py    |  39 ++++
 .../ui/sunnypilot/mici/layouts/sunnylink.py   | 192 ++++++++++++++++++
 .../ui/sunnypilot/mici/widgets/__init__.py    |   0
 .../mici/widgets/sunnylink_pairing_dialog.py  |  57 ++++++
 6 files changed, 291 insertions(+)
 create mode 100644 selfdrive/ui/sunnypilot/mici/layouts/__init__.py
 create mode 100644 selfdrive/ui/sunnypilot/mici/layouts/settings.py
 create mode 100644 selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
 create mode 100644 selfdrive/ui/sunnypilot/mici/widgets/__init__.py
 create mode 100644 selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py

diff --git a/selfdrive/ui/mici/layouts/main.py b/selfdrive/ui/mici/layouts/main.py
index b52f9ed39a06f9..a83ebd1969c758 100644
--- a/selfdrive/ui/mici/layouts/main.py
+++ b/selfdrive/ui/mici/layouts/main.py
@@ -11,6 +11,9 @@
 from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.lib.application import gui_app
 
+if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
+
 
 ONROAD_DELAY = 2.5  # seconds
 
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/__init__.py b/selfdrive/ui/sunnypilot/mici/layouts/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/settings.py b/selfdrive/ui/sunnypilot/mici/layouts/settings.py
new file mode 100644
index 00000000000000..c6a2d5825797c8
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/mici/layouts/settings.py
@@ -0,0 +1,39 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from enum import IntEnum
+
+from openpilot.selfdrive.ui.mici.layouts.settings import settings as OP
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
+
+ICON_SIZE = 70
+
+OP.PanelType = IntEnum(  # type: ignore
+  "PanelType",
+  [es.name for es in OP.PanelType] + [
+    "SUNNYLINK",
+  ],
+  start=0,
+)
+
+
+class SettingsLayoutSP(OP.SettingsLayout):
+  def __init__(self):
+    OP.SettingsLayout.__init__(self)
+
+    sunnylink_btn = BigButton("sunnylink", "", "icons_mici/settings/developer/ssh.png")
+    sunnylink_btn.set_click_callback(lambda: self._set_current_panel(OP.PanelType.SUNNYLINK))
+    self._panels.update({
+      OP.PanelType.SUNNYLINK: OP.PanelInfo("sunnylink", SunnylinkLayoutMici(back_callback=lambda: self._set_current_panel(None))),
+    })
+
+    items = self._scroller._items.copy()
+
+    items.insert(1, sunnylink_btn)
+    self._scroller._items.clear()
+    for item in items:
+      self._scroller.add_widget(item)
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py b/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
new file mode 100644
index 00000000000000..2ab035c1cfced3
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
@@ -0,0 +1,192 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from collections.abc import Callable
+
+import pyray as rl
+from cereal import custom
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialogV2
+from openpilot.selfdrive.ui.sunnypilot.mici.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog
+from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
+from openpilot.system.ui.lib.multilang import tr
+
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle
+from openpilot.system.ui.lib.application import gui_app, MousePos
+from openpilot.system.ui.widgets import NavWidget
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+
+class SunnylinkLayoutMici(NavWidget):
+  def __init__(self, back_callback: Callable):
+    super().__init__()
+    self.set_back_callback(back_callback)
+    self._restore_in_progress = False
+    self._backup_in_progress = False
+    self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled")
+
+    self._sunnylink_toggle = BigToggle(text="",
+                                       initial_state=self._sunnylink_enabled,
+                                       toggle_callback=SunnylinkLayoutMici._sunnylink_toggle_callback)
+    self._sunnylink_sponsor_button = SunnylinkPairBigButton(sponsor_pairing=False)
+    self._sunnylink_pair_button = SunnylinkPairBigButton(sponsor_pairing=True)
+    self._backup_btn = BigButton(tr("backup settings"), "", "")
+    self._backup_btn.set_click_callback(lambda: self._handle_backup_restore_btn(restore=False))
+    self._restore_btn = BigButton(tr("restore settings"), "", "")
+    self._restore_btn.set_click_callback(lambda: self._handle_backup_restore_btn(restore=True))
+    self._sunnylink_uploader_toggle = BigToggle(text=tr("sunnylink uploader"), initial_state=False,
+                                                toggle_callback=SunnylinkLayoutMici._sunnylink_uploader_callback)
+
+    self._scroller = Scroller([
+      self._sunnylink_toggle,
+      self._sunnylink_sponsor_button,
+      self._sunnylink_pair_button,
+      self._backup_btn,
+      self._restore_btn,
+      self._sunnylink_uploader_toggle
+    ], snap_items=False)
+
+  def _update_state(self):
+    super()._update_state()
+    self._sunnylink_enabled = ui_state.sunnylink_enabled
+    self._sunnylink_toggle.set_text(tr("enable sunnylink"))
+    self._sunnylink_pair_button.set_visible(self._sunnylink_enabled)
+    self._sunnylink_sponsor_button.set_visible(self._sunnylink_enabled)
+    self._backup_btn.set_visible(self._sunnylink_enabled)
+    self._restore_btn.set_visible(self._sunnylink_enabled)
+    self._sunnylink_uploader_toggle.set_visible(self._sunnylink_enabled)
+    self.handle_backup_restore_progress()
+
+    if ui_state.sunnylink_state.is_sponsor():
+      self._sunnylink_sponsor_button.set_text(tr("thanks"))
+      self._sunnylink_sponsor_button.set_value(ui_state.sunnylink_state.get_sponsor_tier().name.lower())
+      self._sunnylink_sponsor_button.set_enabled(False)
+    else:
+      self._sunnylink_sponsor_button.set_text(tr("sponsor"))
+      self._sunnylink_sponsor_button.set_value("")
+
+    if ui_state.sunnylink_state.is_paired():
+      self._sunnylink_pair_button.set_text(tr("paired"))
+    else:
+      self._sunnylink_pair_button.set_text(tr("pair"))
+
+  def show_event(self):
+    super().show_event()
+    self._scroller.show_event()
+    ui_state.update_params()
+
+  def _render(self, rect: rl.Rectangle):
+    self._scroller.render(rect)
+
+  @staticmethod
+  def _sunnylink_toggle_callback(state: bool):
+    ui_state.params.put_bool("SunnylinkEnabled", state)
+    ui_state.update_params()
+
+  @staticmethod
+  def _sunnylink_uploader_callback(state: bool):
+    ui_state.params.put_bool("EnableSunnylinkUploader", state)
+
+  def _handle_backup_restore_btn(self, restore: bool = False):
+    lbl = tr("slide to restore") if restore else tr("slide to backup")
+    icon = "icons_mici/settings/device/update.png"
+    dlg = BigConfirmationDialogV2(lbl, icon, confirm_callback=self._restore_handler if restore else self._backup_handler)
+    gui_app.set_modal_overlay(dlg)
+
+  def _backup_handler(self):
+    self._backup_in_progress = True
+    self._backup_btn.set_enabled(False)
+    ui_state.params.put_bool("BackupManager_CreateBackup", True)
+
+  def _restore_handler(self):
+    self._restore_in_progress = True
+    self._restore_btn.set_enabled(False)
+    ui_state.params.put("BackupManager_RestoreVersion", "latest")
+
+  def handle_backup_restore_progress(self):
+    sunnylink_backup_manager = ui_state.sm["backupManagerSP"]
+
+    backup_status = sunnylink_backup_manager.backupStatus
+    restore_status = sunnylink_backup_manager.restoreStatus
+    backup_progress = sunnylink_backup_manager.backupProgress
+    restore_progress = sunnylink_backup_manager.restoreProgress
+
+    if self._backup_in_progress:
+      self._restore_btn.set_enabled(False)
+      self._backup_btn.set_enabled(False)
+
+      if backup_status == custom.BackupManagerSP.Status.inProgress:
+        self._backup_in_progress = True
+        self._backup_btn.set_text(tr("backing up"))
+        text = tr(f"{backup_progress}%")
+        self._backup_btn.set_value(text)
+
+      elif backup_status == custom.BackupManagerSP.Status.failed:
+        self._backup_in_progress = False
+        self._backup_btn.set_enabled(not ui_state.is_onroad())
+        self._backup_btn.set_text(tr("backup"))
+        self._backup_btn.set_value(tr("failed"))
+
+      elif (backup_status == custom.BackupManagerSP.Status.completed or
+            (backup_status == custom.BackupManagerSP.Status.idle and backup_progress == 100.0)):
+        self._backup_in_progress = False
+        gui_app.set_modal_overlay(BigDialog(title=tr("settings backed up"), description=""))
+        self._backup_btn.set_enabled(not ui_state.is_onroad())
+
+    elif self._restore_in_progress:
+      self._restore_btn.set_enabled(False)
+      self._backup_btn.set_enabled(False)
+
+      if restore_status == custom.BackupManagerSP.Status.inProgress:
+        self._restore_in_progress = True
+        self._restore_btn.set_text(tr("restoring"))
+        text = tr(f"{restore_progress}%")
+        self._restore_btn.set_value(text)
+
+      elif restore_status == custom.BackupManagerSP.Status.failed:
+        self._restore_in_progress = False
+        self._restore_btn.set_enabled(not ui_state.is_onroad())
+        self._restore_btn.set_text(tr("restore"))
+        self._restore_btn.set_value(tr("failed"))
+        gui_app.set_modal_overlay(BigDialog(title=tr("unable to restore"), description="try again later."))
+
+      elif (restore_status == custom.BackupManagerSP.Status.completed or
+            (restore_status == custom.BackupManagerSP.Status.idle and restore_progress == 100.0)):
+        self._restore_in_progress = False
+        gui_app.set_modal_overlay(BigConfirmationDialogV2(
+          title="slide to restart", icon="icons_mici/settings/device/reboot.png",
+          confirm_callback=lambda: gui_app.request_close()))
+
+    else:
+      can_enable = self._sunnylink_enabled and not ui_state.is_onroad()
+      self._backup_btn.set_enabled(can_enable)
+      self._backup_btn.set_text(tr("backup settings"))
+      self._backup_btn.set_value("")
+      self._restore_btn.set_enabled(can_enable)
+      self._restore_btn.set_text(tr("restore settings"))
+      self._restore_btn.set_value("")
+
+
+class SunnylinkPairBigButton(BigButton):
+  def __init__(self, sponsor_pairing: bool = False):
+    self.sponsor_pairing = sponsor_pairing
+    super().__init__("", "", "")
+
+  def _update_state(self):
+    super()._update_state()
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+
+    dlg: BigDialog | SunnylinkPairingDialog | None = None
+    if UNREGISTERED_SUNNYLINK_DONGLE_ID == (ui_state.params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID):
+      dlg = BigDialog(tr("sunnylink Dongle ID not found. Please reboot & try again."), "")
+    elif self.sponsor_pairing:
+      dlg = SunnylinkPairingDialog(sponsor_pairing=True)
+    elif not self.sponsor_pairing:
+      dlg = SunnylinkPairingDialog(sponsor_pairing=False)
+    if dlg:
+      gui_app.set_modal_overlay(dlg)
diff --git a/selfdrive/ui/sunnypilot/mici/widgets/__init__.py b/selfdrive/ui/sunnypilot/mici/widgets/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py b/selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py
new file mode 100644
index 00000000000000..e2cef2fa07af12
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py
@@ -0,0 +1,57 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import base64
+
+import pyray as rl
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog
+from openpilot.sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID, API_HOST
+from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import NavWidget
+from openpilot.system.ui.widgets.label import MiciLabel
+
+
+class SunnylinkPairingDialog(PairingDialog):
+  """Dialog for device pairing with QR code."""
+
+  def __init__(self, sponsor_pairing: bool = False):
+    PairingDialog.__init__(self)
+    self._sponsor_pairing = sponsor_pairing
+    label_text = tr("pair with sunnylink") if sponsor_pairing else tr("become a sunnypilot sponsor")
+    self._pair_label = MiciLabel(label_text, 48, font_weight=FontWeight.BOLD,
+                                 color=rl.Color(255, 255, 255, int(255 * 0.9)), line_height=40, wrap_text=True)
+
+  def _get_pairing_url(self) -> str:
+    qr_string = "https://github.com/sponsors/sunnyhaibin"
+
+    if self._sponsor_pairing:
+      try:
+        sl_dongle_id = self._params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID
+        token = SunnylinkApi(sl_dongle_id).get_token()
+        inner_string = f"1|{sl_dongle_id}|{token}"
+        payload_bytes = base64.b64encode(inner_string.encode('utf-8')).decode('utf-8')
+        qr_string = f"{API_HOST}/sso?state={payload_bytes}"
+      except Exception:
+        cloudlog.exception("Failed to get pairing token")
+
+    return qr_string
+
+  def _update_state(self):
+    NavWidget._update_state(self)
+
+
+if __name__ == "__main__":
+  gui_app.init_window("pairing device")
+  pairing = SunnylinkPairingDialog(sponsor_pairing=True)
+  try:
+    for _ in gui_app.render():
+      result = pairing.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+      if result != -1:
+        break
+  finally:
+    del pairing

From 5578b7e7540e194b36e78a8033aa7964875d3af7 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Fri, 19 Dec 2025 14:36:10 -0500
Subject: [PATCH 0649/1434] ui: lateral-only and longitudinal-only UI statuses
 support (#1539)

* init

* add only colors

* fix LAT_ONLY on mici

* better ball

* hide wheel on LONG_ONLY

* hide torquebar on LONG_ONLY

* simpler

* dont block demo

* path only on long

* lanelines only on lat

* hide on override

* better

* same LANE_LINE_COLORS for mads

* use mads colors

* Revert "use mads colors"

This reverts commit 556321e5debe44e33d4ad98f440f0ed9f961fdf5.

* slight decouple confidence ball

* slight decouple model renderer

* slight decouple augmented road view

* decouple status update

* decouple and override with our own, no overriding with steering if long only

* fix

* fix it

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/mici/onroad/confidence_ball.py   | 12 +++++-
 selfdrive/ui/mici/onroad/model_renderer.py    |  3 ++
 selfdrive/ui/mici/onroad/torque_bar.py        |  6 +--
 selfdrive/ui/onroad/augmented_road_view.py    |  3 ++
 .../ui/sunnypilot/mici/onroad/__init__.py     |  0
 .../sunnypilot/mici/onroad/confidence_ball.py | 26 ++++++++++++
 .../sunnypilot/mici/onroad/model_renderer.py  | 13 ++++++
 .../sunnypilot/onroad/augmented_road_view.py  | 13 ++++++
 selfdrive/ui/sunnypilot/ui_state.py           | 42 ++++++++++++++++++-
 selfdrive/ui/ui_state.py                      |  4 ++
 10 files changed, 116 insertions(+), 6 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/mici/onroad/__init__.py
 create mode 100644 selfdrive/ui/sunnypilot/mici/onroad/confidence_ball.py
 create mode 100644 selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
 create mode 100644 selfdrive/ui/sunnypilot/onroad/augmented_road_view.py

diff --git a/selfdrive/ui/mici/onroad/confidence_ball.py b/selfdrive/ui/mici/onroad/confidence_ball.py
index a5c95470f54c1e..54699eab54c1d2 100644
--- a/selfdrive/ui/mici/onroad/confidence_ball.py
+++ b/selfdrive/ui/mici/onroad/confidence_ball.py
@@ -6,6 +6,8 @@
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.common.filter_simple import FirstOrderFilter
 
+from openpilot.selfdrive.ui.sunnypilot.mici.onroad.confidence_ball import ConfidenceBallSP
+
 
 def draw_circle_gradient(center_x: float, center_y: float, radius: int,
                          top: rl.Color, bottom: rl.Color) -> None:
@@ -21,9 +23,10 @@ def draw_circle_gradient(center_x: float, center_y: float, radius: int,
                20, rl.BLACK)
 
 
-class ConfidenceBall(Widget):
+class ConfidenceBall(Widget, ConfidenceBallSP):
   def __init__(self, demo: bool = False):
-    super().__init__()
+    Widget.__init__(self)
+    ConfidenceBallSP.__init__(self)
     self._demo = demo
     self._confidence_filter = FirstOrderFilter(-0.5, 0.5, 1 / gui_app.target_fps)
 
@@ -37,6 +40,8 @@ def _update_state(self):
     # animate status dot in from bottom
     if ui_state.status == UIStatus.DISENGAGED:
       self._confidence_filter.update(-0.5)
+    elif ui_state.status in (UIStatus.LAT_ONLY, UIStatus.LONG_ONLY):
+      self._confidence_filter.update(1 - max(self.get_animate_status_probs() or [1]))
     else:
       self._confidence_filter.update((1 - max(ui_state.sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs or [1])) *
                                                         (1 - max(ui_state.sm['modelV2'].meta.disengagePredictions.steerOverrideProbs or [1])))
@@ -65,6 +70,9 @@ def _render(self, _):
         top_dot_color = rl.Color(255, 0, 21, 255)
         bottom_dot_color = rl.Color(255, 0, 89, 255)
 
+    elif ui_state.status in (UIStatus.LAT_ONLY, UIStatus.LONG_ONLY):
+      top_dot_color = bottom_dot_color = self.get_lat_long_dot_color()
+
     elif ui_state.status == UIStatus.OVERRIDE:
       top_dot_color = rl.Color(255, 255, 255, 255)
       bottom_dot_color = rl.Color(82, 82, 82, 255)
diff --git a/selfdrive/ui/mici/onroad/model_renderer.py b/selfdrive/ui/mici/onroad/model_renderer.py
index 3f1badfe84411f..db316aa6363a94 100644
--- a/selfdrive/ui/mici/onroad/model_renderer.py
+++ b/selfdrive/ui/mici/onroad/model_renderer.py
@@ -12,6 +12,8 @@
 from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
 from openpilot.system.ui.widgets import Widget
 
+from openpilot.selfdrive.ui.sunnypilot.mici.onroad.model_renderer import LANE_LINE_COLORS_SP
+
 CLIP_MARGIN = 500
 MIN_DRAW_DISTANCE = 10.0
 MAX_DRAW_DISTANCE = 100.0
@@ -32,6 +34,7 @@
   UIStatus.DISENGAGED: rl.Color(200, 200, 200, 255),
   UIStatus.OVERRIDE: rl.Color(255, 255, 255, 255),
   UIStatus.ENGAGED: rl.Color(0, 255, 64, 255),
+  **LANE_LINE_COLORS_SP,
 }
 
 
diff --git a/selfdrive/ui/mici/onroad/torque_bar.py b/selfdrive/ui/mici/onroad/torque_bar.py
index d7c9f27a92d225..c8485a3101cad3 100644
--- a/selfdrive/ui/mici/onroad/torque_bar.py
+++ b/selfdrive/ui/mici/onroad/torque_bar.py
@@ -185,13 +185,13 @@ def _render(self, rect: rl.Rectangle) -> None:
 
     # animate alpha and angle span
     if not self._demo:
-      self._torque_line_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED)
+      self._torque_line_alpha_filter.update(ui_state.status not in (UIStatus.DISENGAGED, UIStatus.LONG_ONLY))
     else:
       self._torque_line_alpha_filter.update(1.0)
 
     torque_line_bg_alpha = np.interp(abs(self._torque_filter.x), [0.5, 1.0], [0.25, 0.5])
     torque_line_bg_color = rl.Color(255, 255, 255, int(255 * torque_line_bg_alpha * self._torque_line_alpha_filter.x))
-    if ui_state.status != UIStatus.ENGAGED and not self._demo:
+    if ui_state.status not in (UIStatus.ENGAGED, UIStatus.LAT_ONLY) and not self._demo:
       torque_line_bg_color = rl.Color(255, 255, 255, int(255 * 0.15 * self._torque_line_alpha_filter.x))
 
     # draw curved line polygon torque bar
@@ -234,7 +234,7 @@ def _render(self, rect: rl.Rectangle) -> None:
       max(0, abs(self._torque_filter.x) - 0.75) * 4,
     )
 
-    if ui_state.status != UIStatus.ENGAGED and not self._demo:
+    if ui_state.status not in (UIStatus.ENGAGED, UIStatus.LAT_ONLY) and not self._demo:
       start_color = end_color = rl.Color(255, 255, 255, int(255 * 0.35 * self._torque_line_alpha_filter.x))
 
     gradient = Gradient(
diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py
index a47c04053d5a6b..1d66379f934116 100644
--- a/selfdrive/ui/onroad/augmented_road_view.py
+++ b/selfdrive/ui/onroad/augmented_road_view.py
@@ -17,6 +17,8 @@
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer
 
+from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP
+
 OpState = log.SelfdriveState.OpenpilotState
 CALIBRATED = log.LiveCalibrationData.Status.calibrated
 ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD
@@ -27,6 +29,7 @@
   UIStatus.DISENGAGED: rl.Color(0x12, 0x28, 0x39, 0xFF),  # Blue for disengaged state
   UIStatus.OVERRIDE: rl.Color(0x89, 0x92, 0x8D, 0xFF),  # Gray for override state
   UIStatus.ENGAGED: rl.Color(0x16, 0x7F, 0x40, 0xFF),  # Green for engaged state
+  **BORDER_COLORS_SP,
 }
 
 WIDE_CAM_MAX_SPEED = 10.0  # m/s (22 mph)
diff --git a/selfdrive/ui/sunnypilot/mici/onroad/__init__.py b/selfdrive/ui/sunnypilot/mici/onroad/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/selfdrive/ui/sunnypilot/mici/onroad/confidence_ball.py b/selfdrive/ui/sunnypilot/mici/onroad/confidence_ball.py
new file mode 100644
index 00000000000000..4a1aa92241de8a
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/mici/onroad/confidence_ball.py
@@ -0,0 +1,26 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.onroad.augmented_road_view import BORDER_COLORS
+from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
+
+
+class ConfidenceBallSP:
+  @staticmethod
+  def get_animate_status_probs():
+    if ui_state.status == UIStatus.LAT_ONLY:
+      return ui_state.sm['modelV2'].meta.disengagePredictions.steerOverrideProbs
+
+    # UIStatus.LONG_ONLY
+    return ui_state.sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs
+
+  @staticmethod
+  def get_lat_long_dot_color():
+    if ui_state.status == UIStatus.LAT_ONLY:
+      return BORDER_COLORS[UIStatus.LAT_ONLY]
+
+    # UIStatus.LONG_ONLY
+    return BORDER_COLORS[UIStatus.LONG_ONLY]
diff --git a/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py b/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
new file mode 100644
index 00000000000000..5a718947cf46c8
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
@@ -0,0 +1,13 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+from openpilot.selfdrive.ui.ui_state import UIStatus
+
+LANE_LINE_COLORS_SP = {
+  UIStatus.LAT_ONLY: rl.Color(0, 255, 64, 255),
+  UIStatus.LONG_ONLY: rl.Color(0, 255, 64, 255),
+}
diff --git a/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py b/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
new file mode 100644
index 00000000000000..0a5739cc0004b6
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
@@ -0,0 +1,13 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+from openpilot.selfdrive.ui.ui_state import UIStatus
+
+BORDER_COLORS_SP = {
+  UIStatus.LAT_ONLY: rl.Color(0x00, 0xC8, 0xC8, 0xFF),  # Cyan for lateral-only state
+  UIStatus.LONG_ONLY: rl.Color(0x96, 0x1C, 0xA8, 0xFF),  # Purple for longitudinal-only state
+}
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index 8a0bc24ad920bf..aca0644c1dab00 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -4,10 +4,13 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import messaging, custom
+from cereal import messaging, log, custom
 from openpilot.common.params import Params
 from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState
 
+OpenpilotState = log.SelfdriveState.OpenpilotState
+MADSState = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
+
 
 class UIStateSP:
   def __init__(self):
@@ -22,6 +25,43 @@ def __init__(self):
   def update(self) -> None:
     self.sunnylink_state.start()
 
+  @staticmethod
+  def update_status(ss, ss_sp, onroad_evt) -> str:
+    state = ss.state
+    mads = ss_sp.mads
+    mads_state = mads.state
+
+    if state == OpenpilotState.preEnabled:
+      return "override"
+
+    if state == OpenpilotState.overriding:
+      if not mads.available:
+        return "override"
+
+      if any(e.overrideLongitudinal for e in onroad_evt):
+        return "override"
+
+    if mads_state in (MADSState.paused, MADSState.overriding):
+      return "override"
+
+    # MADS specific statuses
+    if not mads.available:
+      return "engaged" if ss.enabled else "disengaged"
+
+    if not mads.enabled and not ss.enabled:
+      return "disengaged"
+
+    if mads.enabled and ss.enabled:
+      return "engaged"
+
+    if mads.enabled:
+      return "lat_only"
+
+    if ss.enabled:
+      return "long_only"
+
+    return "disengaged"
+
   def update_params(self) -> None:
     CP_SP_bytes = self.params.get("CarParamsSPPersistent")
     if CP_SP_bytes is not None:
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index 378731390a8ec3..f44dc152bb8d7f 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -21,6 +21,8 @@ class UIStatus(Enum):
   DISENGAGED = "disengaged"
   ENGAGED = "engaged"
   OVERRIDE = "override"
+  LAT_ONLY = "lat_only"
+  LONG_ONLY = "long_only"
 
 
 class UIState(UIStateSP):
@@ -156,6 +158,8 @@ def _update_status(self) -> None:
       else:
         self.status = UIStatus.ENGAGED if ss.enabled else UIStatus.DISENGAGED
 
+      self.status = UIStatus(UIStateSP.update_status(ss, self.sm["selfdriveStateSP"], self.sm["onroadEvents"]))
+
     # Check for engagement state changes
     if self.engaged != self._engaged_prev:
       for callback in self._engaged_transition_callbacks:

From 2e576178cbe26979060bb378390d3e87804cb6c2 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 19 Dec 2025 15:31:29 -0500
Subject: [PATCH 0650/1434] ci: fix duplicate `if` syntax error (#1590)

---
 .github/workflows/tests.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index 68dd5617a0d400..14fa6e1bd5443d 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -107,8 +107,8 @@ jobs:
 
   build_mac:
     name: build macOS
-    if: false # tmp disable due to brew install not working
     runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
+    if: false  # There'll be one day that this works. That day is not today.
     steps:
     - uses: actions/checkout@v4
       with:

From f8487cae23416baf563b468b0565286b519569e7 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 19 Dec 2025 15:49:24 -0500
Subject: [PATCH 0651/1434] sunnylink: elliptic curve keys support and improve
 key path handling (#1566)

* support ecdsa for mici

* lint

* ugh

* ugh ughain

* more

* symmetrical AES key derivation and some missing key handling

* cleanup

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/sunnylink/backups/manager.py |  4 +-
 sunnypilot/sunnylink/backups/utils.py   | 80 +++++++++++++++----------
 2 files changed, 51 insertions(+), 33 deletions(-)

diff --git a/sunnypilot/sunnylink/backups/manager.py b/sunnypilot/sunnylink/backups/manager.py
index 1b3c623fc4f97b..cc384760411feb 100644
--- a/sunnypilot/sunnylink/backups/manager.py
+++ b/sunnypilot/sunnylink/backups/manager.py
@@ -19,7 +19,7 @@
 
 from cereal import messaging, custom
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
-from openpilot.sunnypilot.sunnylink.backups.utils import decrypt_compressed_data, encrypt_compress_data, SnakeCaseEncoder
+from openpilot.sunnypilot.sunnylink.backups.utils import decrypt_compressed_data, encrypt_compressed_data, SnakeCaseEncoder
 from openpilot.sunnypilot.sunnylink.utils import get_param_as_byte, save_param_from_base64_encoded_string
 
 
@@ -95,7 +95,7 @@ async def create_backup(self) -> bool:
 
       # Serialize and encrypt config data
       config_json = json.dumps(config_data)
-      encrypted_config = encrypt_compress_data(config_json, use_aes_256=True)
+      encrypted_config = encrypt_compressed_data(config_json, use_aes_256=True)
       self._update_progress(50.0, OperationType.BACKUP)
 
       backup_info = custom.BackupManagerSP.BackupInfo()
diff --git a/sunnypilot/sunnylink/backups/utils.py b/sunnypilot/sunnylink/backups/utils.py
index 1734a7efcf08aa..a81a13b2c74eb7 100644
--- a/sunnypilot/sunnylink/backups/utils.py
+++ b/sunnypilot/sunnylink/backups/utils.py
@@ -4,9 +4,9 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-
 import base64
 import hashlib
+import os
 import zlib
 import re
 import json
@@ -14,8 +14,9 @@
 
 from cryptography.hazmat.backends import default_backend
 from cryptography.hazmat.primitives import serialization
-from cryptography.hazmat.primitives.asymmetric import rsa
+from cryptography.hazmat.primitives.asymmetric import rsa, ec
 
+from openpilot.common.api.base import KEYS
 from openpilot.sunnypilot.sunnylink.backups.AESCipher import AESCipher
 from openpilot.system.hardware.hw import Paths
 
@@ -27,37 +28,43 @@ def _load_key(file_path: str) -> bytes:
       return f.read()
 
   @staticmethod
-  def derive_aes_key_iv_from_rsa(key_path: str, use_aes_256: bool) -> tuple[bytes, bytes]:
-    rsa_key_pem: bytes = KeyDerivation._load_key(key_path)
-    key_plain = rsa_key_pem.decode(errors="ignore")
+  def derive_aes_key_iv(key_path: str, use_aes_256: bool) -> tuple[bytes, bytes]:
+    key_pem: bytes = KeyDerivation._load_key(key_path)
+    key_plain = key_pem.decode(errors="ignore")
 
     if "private" in key_plain.lower():
-      private_key = serialization.load_pem_private_key(rsa_key_pem, password=None, backend=default_backend())
-      if not isinstance(private_key, rsa.RSAPrivateKey):
-        raise ValueError("Invalid RSA key format: Unable to determine if key is public or private.")
-
-      der_data = private_key.private_bytes(
-        encoding=serialization.Encoding.DER,
-        format=serialization.PrivateFormat.TraditionalOpenSSL,
-        encryption_algorithm=serialization.NoEncryption()
-      )
+      private_key = serialization.load_pem_private_key(key_pem, password=None, backend=default_backend())
+      if isinstance(private_key, (rsa.RSAPrivateKey, ec.EllipticCurvePrivateKey)):
+        public_key = private_key.public_key()
+      else:
+        raise ValueError("Invalid key format: Unable to determine if key is public or private.")
     elif "public" in key_plain.lower():
-      public_key = serialization.load_pem_public_key(rsa_key_pem, backend=default_backend())
-      if not isinstance(public_key, rsa.RSAPublicKey):
-        raise ValueError("Invalid RSA key format: Unable to determine if key is public or private.")
+      public_key = serialization.load_pem_public_key(key_pem, backend=default_backend())  # type: ignore[assignment]
+      if not isinstance(public_key, (rsa.RSAPublicKey, ec.EllipticCurvePublicKey)):
+        raise ValueError("Invalid key format: Unable to determine if key is public or private.")
+    else:
+      raise ValueError("Invalid key format: Unable to determine if key is public or private.")
 
+    if isinstance(public_key, rsa.RSAPublicKey):
       der_data = public_key.public_bytes(encoding=serialization.Encoding.DER, format=serialization.PublicFormat.PKCS1)
+    elif isinstance(public_key, ec.EllipticCurvePublicKey):
+      der_data = public_key.public_bytes(encoding=serialization.Encoding.DER, format=serialization.PublicFormat.SubjectPublicKeyInfo)
     else:
-      raise ValueError("Unknown key format: Unable to determine if key is public or private.")
+      raise ValueError("Unsupported key type.")
 
-    sha256_hash = hashlib.sha256(der_data).digest()
-    aes_key = sha256_hash[:32] if use_aes_256 else sha256_hash[:16]
-    aes_iv = sha256_hash[16:32]
+    if use_aes_256:
+      # AES-256-CBC
+      key = hashlib.sha256(der_data).digest()
+      iv = hashlib.md5(der_data).digest()
+    else:
+      # AES-128-CBC
+      key = hashlib.md5(der_data).digest()
+      iv = hashlib.md5(der_data).digest()  # Insecure IV reuse, kept for compatibility
 
-    return aes_key, aes_iv
+    return key, iv
 
 
-def qUncompress(data):
+def uncompress_dat(data):
   """
   Decompress data using zlib.
 
@@ -71,7 +78,7 @@ def qUncompress(data):
   return zlib.decompress(data_stripped_4)
 
 
-def qCompress(data):
+def compress_dat(data):
   """
   Compress data using zlib.
 
@@ -85,6 +92,19 @@ def qCompress(data):
   return b"ZLIB" + compressed_data
 
 
+def get_key_path(use_aes_256=False) -> str:
+  key_path = ""
+  for key in KEYS:
+    if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
+      key_path = str(Path(Paths.persist_root() + f'/comma/{key}') if use_aes_256 else Path(Paths.persist_root() + f'/comma/{key}.pub'))
+      break
+
+  if not key_path:
+    raise FileNotFoundError("No valid key pair found in persist storage.")
+
+  return key_path
+
+
 def decrypt_compressed_data(encrypted_base64, use_aes_256=False):
   """
   Decrypt and decompress data from base64 string.
@@ -96,18 +116,17 @@ def decrypt_compressed_data(encrypted_base64, use_aes_256=False):
   Returns:
       str: Decrypted and decompressed string
   """
-  key_path = Path(f"{Paths.persist_root()}/comma/id_rsa") if use_aes_256 else Path(f"{Paths.persist_root()}/comma/id_rsa.pub")
   try:
     # Decode base64
     encrypted_data = base64.b64decode(encrypted_base64)
 
     # Decrypt
-    key, iv = KeyDerivation.derive_aes_key_iv_from_rsa(str(key_path), use_aes_256)
+    key, iv = KeyDerivation.derive_aes_key_iv(get_key_path(use_aes_256), use_aes_256)
     cipher = AESCipher(key, iv)
     decrypted_data = cipher.decrypt(encrypted_data)
 
     # Decompress
-    decompressed_data = qUncompress(decrypted_data)
+    decompressed_data = uncompress_dat(decrypted_data)
 
     # Decode UTF-8
     result = decompressed_data.decode('utf-8')
@@ -117,7 +136,7 @@ def decrypt_compressed_data(encrypted_base64, use_aes_256=False):
     return ""
 
 
-def encrypt_compress_data(text, use_aes_256=True):
+def encrypt_compressed_data(text, use_aes_256=True):
   """
   Compress and encrypt string data to base64.
 
@@ -128,16 +147,15 @@ def encrypt_compress_data(text, use_aes_256=True):
   Returns:
       str: Base64 encoded encrypted data
   """
-  key_path = Path(f"{Paths.persist_root()}/comma/id_rsa") if use_aes_256 else Path(f"{Paths.persist_root()}/comma/id_rsa.pub")
   try:
     # Encode to UTF-8
     text_bytes = text.encode('utf-8')
 
     # Compress
-    compressed_data = qCompress(text_bytes)
+    compressed_data = compress_dat(text_bytes)
 
     # Encrypt
-    key, iv = KeyDerivation.derive_aes_key_iv_from_rsa(str(key_path), use_aes_256)
+    key, iv = KeyDerivation.derive_aes_key_iv(get_key_path(use_aes_256), use_aes_256)
     cipher = AESCipher(key, iv)
     encrypted_data = cipher.encrypt(compressed_data)
 

From 40f838260b00fc282a341858064c7314330a31ed Mon Sep 17 00:00:00 2001
From: zikeji <caleb@blankemeyer.us>
Date: Fri, 19 Dec 2025 16:31:01 -0500
Subject: [PATCH 0652/1434] sunnylink: block remote modification of SSH key
 parameters (#1591)

* feat: add blocked parameter names

* add unit test to validate

* test: use cached method

* move it out

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/sunnylink/athena/sunnylinkd.py     | 11 ++++
 .../sunnylink/athena/tests/test_sunnylinkd.py | 59 +++++++++++++++++++
 2 files changed, 70 insertions(+)
 create mode 100644 sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py

diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index 3aeacf6a397a9f..9f70aead59d24b 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -42,6 +42,12 @@
 
 params = Params()
 
+# Parameters that should never be remotely modified for security reasons
+BLOCKED_PARAMS = {
+  "GithubUsername",  # Could grant SSH access
+  "GithubSshKeys",   # Direct SSH key injection
+}
+
 
 def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
   cloudlog.info("sunnylinkd.handle_long_poll started")
@@ -248,6 +254,11 @@ def getParams(params_keys: list[str], compression: bool = False) -> str | dict[s
 @dispatcher.add_method
 def saveParams(params_to_update: dict[str, str], compression: bool = False) -> None:
   for key, value in params_to_update.items():
+    # disallow modifications to blocked parameters
+    if key in BLOCKED_PARAMS:
+      cloudlog.warning(f"sunnylinkd.saveParams.blocked: Attempted to modify blocked parameter '{key}'")
+      continue
+
     try:
       save_param_from_base64_encoded_string(key, value, compression)
     except Exception as e:
diff --git a/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py b/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py
new file mode 100644
index 00000000000000..616bff037ecda6
--- /dev/null
+++ b/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py
@@ -0,0 +1,59 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.sunnypilot.sunnylink.athena import sunnylinkd
+
+
+class TestSunnylinkdMethods:
+  def setup_method(self):
+    self.saved_params = []
+
+    self.original_save = sunnylinkd.save_param_from_base64_encoded_string
+
+    def mock_save_param(key, value, compression=False):
+      self.saved_params.append((key, value, compression))
+
+    sunnylinkd.save_param_from_base64_encoded_string = mock_save_param
+
+  def teardown_method(self):
+    sunnylinkd.save_param_from_base64_encoded_string = self.original_save
+
+  def test_saveParams_blocked(self):
+    blocked_params = {
+      "GithubUsername": "attacker",
+      "GithubSshKeys": "ssh-rsa attacker_key",
+    }
+
+    sunnylinkd.saveParams(blocked_params)
+
+    assert len(self.saved_params) == 0
+
+  def test_saveParams_allowed(self):
+    allowed_params = {
+      "SpeedLimitOffset": "5",
+      "MyCustomParam": "123"
+    }
+
+    sunnylinkd.saveParams(allowed_params)
+
+    # verify content
+    assert len(self.saved_params) == 2
+    keys_saved = [p[0] for p in self.saved_params]
+    assert "SpeedLimitOffset" in keys_saved
+    assert "MyCustomParam" in keys_saved
+
+  def test_saveParams_mixed(self):
+    mixed_params = {
+      "GithubUsername": "attacker",
+      "SpeedLimitOffset": "10"
+    }
+
+    sunnylinkd.saveParams(mixed_params)
+
+    # should save allowed one
+    assert len(self.saved_params) == 1
+    assert self.saved_params[0][0] == "SpeedLimitOffset"
+    assert self.saved_params[0][1] == "10"

From f42dbf0c3489ea040963fef7a57b5b83891175ea Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Fri, 19 Dec 2025 15:36:43 -0700
Subject: [PATCH 0653/1434] [TIZI/TICI] ui: rainbow path (#1486)

* rainbow

* use monotonic

* sp dir

* lint

* decouple from stock model renderer

* call in ui state directly

* it's a boolean

* too long

* nope

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/onroad/model_renderer.py         | 11 ++-
 .../ui/sunnypilot/onroad/model_renderer.py    | 12 +++
 .../ui/sunnypilot/onroad/rainbow_path.py      | 78 +++++++++++++++++++
 selfdrive/ui/sunnypilot/ui_state.py           |  1 +
 4 files changed, 100 insertions(+), 2 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/onroad/model_renderer.py
 create mode 100644 selfdrive/ui/sunnypilot/onroad/rainbow_path.py

diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py
index b9f601f8fb2b33..bf38f8e553b656 100644
--- a/selfdrive/ui/onroad/model_renderer.py
+++ b/selfdrive/ui/onroad/model_renderer.py
@@ -11,6 +11,8 @@
 from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
 from openpilot.system.ui.widgets import Widget
 
+from openpilot.selfdrive.ui.sunnypilot.onroad.model_renderer import ModelRendererSP
+
 CLIP_MARGIN = 500
 MIN_DRAW_DISTANCE = 10.0
 MAX_DRAW_DISTANCE = 100.0
@@ -41,9 +43,10 @@ class LeadVehicle:
   fill_alpha: int = 0
 
 
-class ModelRenderer(Widget):
+class ModelRenderer(Widget, ModelRendererSP):
   def __init__(self):
-    super().__init__()
+    Widget.__init__(self)
+    ModelRendererSP.__init__(self)
     self._longitudinal_control = False
     self._experimental_mode = False
     self._blend_filter = FirstOrderFilter(1.0, 0.25, 1 / gui_app.target_fps)
@@ -281,6 +284,10 @@ def _draw_path(self, sm):
     allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control
     self._blend_filter.update(int(allow_throttle))
 
+    if ui_state.rainbow_path:
+      self.rainbow_path.draw_rainbow_path(self._rect, self._path)
+      return
+
     if self._experimental_mode:
       # Draw with acceleration coloring
       if len(self._exp_gradient.colors) > 1:
diff --git a/selfdrive/ui/sunnypilot/onroad/model_renderer.py b/selfdrive/ui/sunnypilot/onroad/model_renderer.py
new file mode 100644
index 00000000000000..214a855fb39044
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/model_renderer.py
@@ -0,0 +1,12 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
+
+
+class ModelRendererSP:
+  def __init__(self):
+    self.rainbow_path = RainbowPath()
diff --git a/selfdrive/ui/sunnypilot/onroad/rainbow_path.py b/selfdrive/ui/sunnypilot/onroad/rainbow_path.py
new file mode 100644
index 00000000000000..cd76261f89f6fa
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/rainbow_path.py
@@ -0,0 +1,78 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import time
+import colorsys
+import pyray as rl
+from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
+
+
+class RainbowPath:
+  DEFAULT_NUM_SEGMENTS = 8
+  DEFAULT_SPEED = 50.0  # degrees per second
+  DEFAULT_SATURATION = 0.9
+  DEFAULT_LIGHTNESS = 0.6
+  BASE_ALPHA = 0.8
+  ALPHA_FADE = 0.3  # Alpha reduction from bottom to top
+
+  def __init__(self, num_segments: int = None, speed: float = None, saturation: float = None, lightness: float = None):
+    self.num_segments = num_segments if num_segments is not None else self.DEFAULT_NUM_SEGMENTS
+    self.speed = speed if speed is not None else self.DEFAULT_SPEED
+    self.saturation = saturation if saturation is not None else self.DEFAULT_SATURATION
+    self.lightness = lightness if lightness is not None else self.DEFAULT_LIGHTNESS
+
+  def set_speed(self, speed: float):
+    self.speed = speed
+
+  def set_num_segments(self, num_segments: int):
+    self.num_segments = num_segments
+
+  def set_saturation(self, saturation: float):
+    self.saturation = max(0.0, min(1.0, saturation))
+
+  def set_lightness(self, lightness: float):
+    self.lightness = max(0.0, min(1.0, lightness))
+
+  def get_gradient(self) -> Gradient:
+    time_offset = time.monotonic()
+    hue_offset = (time_offset * self.speed) % 360.0
+
+    segment_colors = []
+    gradient_stops = []
+
+    for i in range(self.num_segments):
+      position = i / (self.num_segments - 1)
+      hue = (hue_offset + position * 360.0) % 360.0
+      alpha = self.BASE_ALPHA * (1.0 - position * self.ALPHA_FADE)
+      color = self._hsla_to_color(
+        hue / 360.0,
+        self.saturation,
+        self.lightness,
+        alpha
+      )
+      gradient_stops.append(position)
+      segment_colors.append(color)
+
+    return Gradient(
+      start=(0.0, 1.0),  # Bottom of path
+      end=(0.0, 0.0),  # Top of path
+      colors=segment_colors,
+      stops=gradient_stops,
+    )
+
+  @staticmethod
+  def _hsla_to_color(h: float, s: float, l: float, a: float) -> rl.Color:
+    rgb = colorsys.hls_to_rgb(h, l, s)
+    return rl.Color(
+      int(rgb[0] * 255),
+      int(rgb[1] * 255),
+      int(rgb[2] * 255),
+      int(a * 255)
+    )
+
+  def draw_rainbow_path(self, rect, path):
+    gradient = self.get_gradient()
+    draw_polygon(rect, path.projected_points, gradient=gradient)
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index aca0644c1dab00..2e817090b4cbbc 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -68,3 +68,4 @@ def update_params(self) -> None:
       self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
     self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled")
     self.developer_ui = self.params.get("DevUIInfo")
+    self.rainbow_path = self.params.get_bool("RainbowMode")

From 5bf2ac1657086cd21e6428b0994540d493dc96b6 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Fri, 19 Dec 2025 20:06:27 -0700
Subject: [PATCH 0654/1434] [TIZI/TICI] ui: chevron metrics (#1487)

* chevron info

* sp dir

* rename

* decouple from stock model renderer

* pain

* RED DIFF: get from ui state directly

* built in

* banned

* no magic

* space

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/onroad/model_renderer.py         |   6 +-
 .../ui/sunnypilot/onroad/chevron_metrics.py   | 147 ++++++++++++++++++
 .../ui/sunnypilot/onroad/model_renderer.py    |   2 +
 selfdrive/ui/sunnypilot/ui_state.py           |   1 +
 4 files changed, 154 insertions(+), 2 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/onroad/chevron_metrics.py

diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py
index bf38f8e553b656..cae97653412a1e 100644
--- a/selfdrive/ui/onroad/model_renderer.py
+++ b/selfdrive/ui/onroad/model_renderer.py
@@ -11,7 +11,7 @@
 from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
 from openpilot.system.ui.widgets import Widget
 
-from openpilot.selfdrive.ui.sunnypilot.onroad.model_renderer import ModelRendererSP
+from openpilot.selfdrive.ui.sunnypilot.onroad.model_renderer import ChevronMetrics, ModelRendererSP
 
 CLIP_MARGIN = 500
 MIN_DRAW_DISTANCE = 10.0
@@ -43,9 +43,10 @@ class LeadVehicle:
   fill_alpha: int = 0
 
 
-class ModelRenderer(Widget, ModelRendererSP):
+class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
   def __init__(self):
     Widget.__init__(self)
+    ChevronMetrics.__init__(self)
     ModelRendererSP.__init__(self)
     self._longitudinal_control = False
     self._experimental_mode = False
@@ -131,6 +132,7 @@ def _render(self, rect: rl.Rectangle):
 
     if render_lead_indicator and radar_state:
       self._draw_lead_indicator()
+      self.chevron_metrics.draw_lead_status(sm, radar_state, self._rect, self._lead_vehicles)
 
   def _update_raw_points(self, model):
     """Update raw 3D points from model data"""
diff --git a/selfdrive/ui/sunnypilot/onroad/chevron_metrics.py b/selfdrive/ui/sunnypilot/onroad/chevron_metrics.py
new file mode 100644
index 00000000000000..a8a342c129cb43
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/chevron_metrics.py
@@ -0,0 +1,147 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import numpy as np
+
+import pyray as rl
+from openpilot.common.constants import CV
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+
+
+class ChevronOptions:
+  OFF = 0
+  DISTANCE_ONLY = 1
+  SPEED_ONLY = 2
+  TTC_ONLY = 3
+  ALL = 4
+
+
+class ChevronMetrics:
+  def __init__(self):
+    self._lead_status_alpha: float = 0.0
+    self._font = gui_app.font(FontWeight.SEMI_BOLD)
+
+  def update_alpha(self, has_lead: bool):
+    """Update the alpha value for fade in/out animation"""
+    if not has_lead:
+      self._lead_status_alpha = max(0.0, self._lead_status_alpha - 0.05)
+    else:
+      self._lead_status_alpha = min(1.0, self._lead_status_alpha + 0.1)
+
+  def should_render(self) -> bool:
+    """Check if dev UI should be rendered"""
+    return ui_state.chevron_metrics != ChevronOptions.OFF and self._lead_status_alpha > 0.0
+
+  def _draw_lead(self, lead_data, lead_vehicle, v_ego: float, rect: rl.Rectangle):
+    """Draw lead vehicle status information (distance, speed, TTC)"""
+    if not self.should_render():
+      return
+
+    d_rel = lead_data.dRel
+    v_rel = lead_data.vRel
+
+    if not lead_vehicle.chevron or len(lead_vehicle.chevron) < 2:
+      return
+
+    chevron_x = lead_vehicle.chevron[1][0]
+    chevron_y = lead_vehicle.chevron[1][1]
+    sz = np.clip((25 * 30) / (d_rel / 3 + 30), 15.0, 30.0) * 2.35
+
+    text_lines = self._build_text_lines(d_rel, v_rel, v_ego)
+    if not text_lines:
+      return
+
+    self._render_text_lines(text_lines, chevron_x, chevron_y, sz, rect)
+
+  @staticmethod
+  def _build_text_lines(d_rel: float, v_rel: float, v_ego: float) -> list[str]:
+    """Build text lines based on chevron info setting"""
+    text_lines = []
+
+    # Distance
+    if ui_state.chevron_metrics == ChevronOptions.DISTANCE_ONLY or ui_state.chevron_metrics == ChevronOptions.ALL:
+      val = max(0.0, d_rel)
+      unit = "m" if ui_state.is_metric else "ft"
+      if not ui_state.is_metric:
+        val *= 3.28084
+      text_lines.append(f"{val:.0f} {unit}")
+
+    # Speed
+    if ui_state.chevron_metrics == ChevronOptions.SPEED_ONLY or ui_state.chevron_metrics == ChevronOptions.ALL:
+      multiplier = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+      val = max(0.0, (v_rel + v_ego) * multiplier)
+      unit = "km/h" if ui_state.is_metric else "mph"
+      text_lines.append(f"{val:.0f} {unit}")
+
+    # Time to collision
+    if ui_state.chevron_metrics == ChevronOptions.TTC_ONLY or ui_state.chevron_metrics == ChevronOptions.ALL:
+      val = (d_rel / v_ego) if (d_rel > 0 and v_ego > 0) else 0.0
+      ttc_text = f"{val:.1f} s" if (0 < val < 200) else "---"
+      text_lines.append(ttc_text)
+
+    return text_lines
+
+  def _render_text_lines(self, text_lines: list[str], chevron_x: float, chevron_y: float,
+                         sz: float, rect: rl.Rectangle):
+    """Render text lines with proper centering and positioning"""
+    font_size = 40
+    line_height = 50
+    margin = 20
+
+    text_y = chevron_y + sz + 15
+    total_height = len(text_lines) * line_height
+
+    # Adjust Y position if text would go off screen
+    if text_y + total_height > rect.height - margin:
+      y_max = min(chevron_y, rect.height - margin)
+      text_y = y_max - 15 - total_height
+      text_y = max(margin, text_y)
+
+    alpha = int(255 * self._lead_status_alpha)
+    text_color = rl.Color(255, 255, 255, alpha)
+    shadow_color = rl.Color(0, 0, 0, int(200 * self._lead_status_alpha))
+
+    for i, line in enumerate(text_lines):
+      y = int(text_y + (i * line_height))
+      if y + line_height > rect.height - margin:
+        break
+
+      # Measure actual text width for proper centering
+      text_size = measure_text_cached(self._font, line, font_size, 0)
+      text_width = text_size.x
+
+      # Center the text horizontally on the chevron
+      x = int(chevron_x - text_width / 2)
+      x = int(np.clip(x, margin, rect.width - text_width - margin))
+
+      # Draw shadow
+      rl.draw_text_ex(self._font, line, rl.Vector2(x + 2, y + 2), font_size, 0, shadow_color)
+      # Draw text
+      rl.draw_text_ex(self._font, line, rl.Vector2(x, y), font_size, 0, text_color)
+
+  def draw_lead_status(self, sm, radar_state, rect, lead_vehicles):
+    lead_one = radar_state.leadOne
+    lead_two = radar_state.leadTwo
+
+    has_lead_one = lead_one.status if lead_one else False
+    has_lead_two = lead_two.status if lead_two else False
+
+    self.update_alpha(has_lead_one or has_lead_two)
+
+    if not self.should_render():
+      return
+
+    v_ego = sm['carState'].vEgo
+
+    if has_lead_one and lead_vehicles[0].chevron:
+      self._draw_lead(lead_one, lead_vehicles[0], v_ego, rect)
+
+    if has_lead_two and lead_vehicles[1].chevron:
+      d_rel_diff = abs(lead_one.dRel - lead_two.dRel) if has_lead_one else float('inf')
+      if d_rel_diff > 3.0:
+        self._draw_lead(lead_two, lead_vehicles[1], v_ego, rect)
diff --git a/selfdrive/ui/sunnypilot/onroad/model_renderer.py b/selfdrive/ui/sunnypilot/onroad/model_renderer.py
index 214a855fb39044..5d789976620c3a 100644
--- a/selfdrive/ui/sunnypilot/onroad/model_renderer.py
+++ b/selfdrive/ui/sunnypilot/onroad/model_renderer.py
@@ -4,9 +4,11 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+from openpilot.selfdrive.ui.sunnypilot.onroad.chevron_metrics import ChevronMetrics
 from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
 
 
 class ModelRendererSP:
   def __init__(self):
     self.rainbow_path = RainbowPath()
+    self.chevron_metrics = ChevronMetrics()
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index 2e817090b4cbbc..fe90e3bdfa1c97 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -69,3 +69,4 @@ def update_params(self) -> None:
     self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled")
     self.developer_ui = self.params.get("DevUIInfo")
     self.rainbow_path = self.params.get_bool("RainbowMode")
+    self.chevron_metrics = self.params.get("ChevronInfo")

From 452aa675816b2f82e8baba80d9196993ac4218e6 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Dec 2025 15:20:24 -0500
Subject: [PATCH 0655/1434] DM: fix upstream merge overwrite with `latActive`
 check (#1594)

* Update enabled condition to include latActive

* Todo-sp
---
 selfdrive/monitoring/helpers.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 3377ce6c6835c7..002e01ae391973 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -449,7 +449,8 @@ def run_step(self, sm, demo=False):
       rpyCalib = [0., 0., 0.]
     else:
       highway_speed = sm['carState'].vEgo
-      enabled = sm['selfdriveState'].enabled
+      # TODO-SP: unit test to assert both control checks are always present
+      enabled = sm['selfdriveState'].enabled or sm['carControl'].latActive
       wrong_gear = sm['carState'].gearShifter not in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low)
       standstill = sm['carState'].standstill
       driver_engaged = sm['carState'].steeringPressed or sm['carState'].gasPressed

From 1a1178140f614cb7fa6538a6d6cfeddba8b35599 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Dec 2025 21:35:51 -0500
Subject: [PATCH 0656/1434] ui: include MADS enabled state to `engaged` check
 (#1595)

---
 selfdrive/ui/ui_state.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index f44dc152bb8d7f..0e1710c240d057 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -100,7 +100,7 @@ def add_engaged_transition_callback(self, callback: Callable[[], None]):
 
   @property
   def engaged(self) -> bool:
-    return self.started and self.sm["selfdriveState"].enabled
+    return self.started and (self.sm["selfdriveState"].enabled or self.sm["selfdriveStateSP"].mads.enabled)
 
   def is_onroad(self) -> bool:
     return self.started

From 09c4b933a82aadc2ab1577ad9db394d91fc80fd0 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Dec 2025 22:14:19 -0500
Subject: [PATCH 0657/1434] ui: capitalize button texts in Vehicle panel
 (#1597)

---
 selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
index 86d9e61695851b..0dd12d76f4038c 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
@@ -23,7 +23,7 @@ def __init__(self):
     self._current_brand = None
     self._platform_selector = PlatformSelector(self._update_brand_settings)
 
-    self._vehicle_item = ListItemSP(title=self._platform_selector.text, action_item=ButtonAction(text=tr("Select")),
+    self._vehicle_item = ListItemSP(title=self._platform_selector.text, action_item=ButtonAction(text=tr("SELECT")),
                                     callback=self._platform_selector._on_clicked)
     self._vehicle_item.title_color = self._platform_selector.color
     self._legend_widget = LegendWidget(self._platform_selector)
@@ -42,7 +42,7 @@ def get_brand():
   def _update_brand_settings(self):
     self._vehicle_item._title = self._platform_selector.text
     self._vehicle_item.title_color = self._platform_selector.color
-    vehicle_text = tr("Remove") if ui_state.params.get("CarPlatformBundle") else tr("Select")
+    vehicle_text = tr("REMOVE") if ui_state.params.get("CarPlatformBundle") else tr("SELECT")
     self._vehicle_item.action_item.set_text(vehicle_text)
 
     brand = self.get_brand()

From 8904300565b74e775df5ec00b95ca73a71488046 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Dec 2025 22:40:40 -0500
Subject: [PATCH 0658/1434] Toyota: Enforce Factory Longitudinal Control
 (#1596)

* Toyota: enforce factory longitudinal control support

* sunnylink!

* bump

* bruh
---
 common/params_keys.h                          |  1 +
 opendbc_repo                                  |  2 +-
 .../layouts/settings/vehicle/brands/toyota.py | 44 +++++++++++++++++++
 sunnypilot/selfdrive/car/interfaces.py        |  7 ++-
 sunnypilot/sunnylink/params_metadata.json     |  4 ++
 5 files changed, 56 insertions(+), 2 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 1b06711a95edee..7cfdf75406bf6a 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -213,6 +213,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
diff --git a/opendbc_repo b/opendbc_repo
index a76d28a231dd8a..74ac6785011b28 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit a76d28a231dd8a3de11ed47db2d185d3852c6925
+Subproject commit 74ac6785011b2861b822651f51d0cd2f01ce79d2
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
index e061a8a22a0c03..ac3d04f367a8c9 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
@@ -5,11 +5,55 @@
 See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+
+
+DESCRIPTIONS = {
+  'enforce_stock_longitudinal': tr_noop(
+    'sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used.'
+  ),
+}
 
 
 class ToyotaSettings(BrandSettings):
   def __init__(self):
     super().__init__()
 
+    self.enforce_stock_longitudinal = toggle_item_sp(
+      lambda: tr("Enforce Factory Longitudinal Control"),
+      description=lambda: tr(DESCRIPTIONS["enforce_stock_longitudinal"]),
+      initial_state=ui_state.params.get_bool("ToyotaEnforceStockLongitudinal"),
+      callback=self._on_enable_enforce_stock_longitudinal,
+      enabled=lambda: not ui_state.engaged,
+    )
+
+    self.items = [self.enforce_stock_longitudinal, ]
+
+  def _on_enable_enforce_stock_longitudinal(self, state: bool):
+    if state:
+      def confirm_callback(result: int):
+        if result == DialogResult.CONFIRM:
+          ui_state.params.put_bool("ToyotaEnforceStockLongitudinal", True)
+          if ui_state.params.get_bool("AlphaLongitudinalEnabled"):
+            ui_state.params.put_bool("AlphaLongitudinalEnabled", False)
+          ui_state.params.put_bool("OnroadCycleRequested", True)
+        else:
+          self.enforce_stock_longitudinal.action_item.set_state(False)
+
+      content = (f"<h1>{self.enforce_stock_longitudinal.title}</h1><br>" +
+                 f"<p>{self.enforce_stock_longitudinal.description}</p>")
+
+      dlg = ConfirmDialog(content, tr("Enable"), rich=True)
+      gui_app.set_modal_overlay(dlg, callback=confirm_callback)
+
+    else:
+      ui_state.params.put_bool("ToyotaEnforceStockLongitudinal", False)
+      ui_state.params.put_bool("OnroadCycleRequested", True)
+
   def update_settings(self):
     pass
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index 83114ac551de28..a93f5724b5a688 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -114,7 +114,7 @@ def initialize_params(params) -> list[dict[str, Any]]:
 
   # hyundai
   keys.extend([
-    "HyundaiLongitudinalTuning"
+    "HyundaiLongitudinalTuning",
   ])
 
   # subaru
@@ -128,4 +128,9 @@ def initialize_params(params) -> list[dict[str, Any]]:
     "TeslaCoopSteering",
   ])
 
+  # toyota
+  keys.extend([
+    "ToyotaEnforceStockLongitudinal",
+  ])
+
   return [{k: params.get(k, return_default=True)} for k in keys]
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index 707e0620f9cce9..bbefc3d0c802b0 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -1037,6 +1037,10 @@
     "max": 5.0,
     "step": 0.1
   },
+  "ToyotaEnforceStockLongitudinal": {
+    "title": "Toyota: Enforce Factory Longitudinal Control",
+    "description": "When enabled, sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used."
+  },
   "TrainingVersion": {
     "title": "Training Version",
     "description": ""

From 6c6be573c7460a6ece20a81ff7043a1831565a9f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Dec 2025 22:50:58 -0500
Subject: [PATCH 0659/1434] ui: `LineSeparatorSP` (#1598)

---
 system/ui/sunnypilot/widgets/list_view.py | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py
index 2d7239ae661e5a..cf69e929238c0d 100644
--- a/system/ui/sunnypilot/widgets/list_view.py
+++ b/system/ui/sunnypilot/widgets/list_view.py
@@ -15,6 +15,7 @@
 from openpilot.system.ui.widgets.label import gui_label
 from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction, MultipleButtonAction, ButtonAction, \
                                                   _resolve_value, BUTTON_WIDTH, BUTTON_HEIGHT, TEXT_PADDING
+from openpilot.system.ui.widgets.scroller_tici import LineSeparator, LINE_COLOR, LINE_PADDING
 from openpilot.system.ui.sunnypilot.lib.styles import style
 from openpilot.system.ui.sunnypilot.widgets.option_control import OptionControlSP, LABEL_WIDTH
 
@@ -312,3 +313,15 @@ def button_item_sp(title: str | Callable[[], str], button_text: str | Callable[[
                    callback: Callable | None = None, enabled: bool | Callable[[], bool] = True) -> ListItemSP:
   action = ButtonActionSP(text=button_text, enabled=enabled)
   return ListItemSP(title=title, description=description, action_item=action, callback=callback)
+
+
+class LineSeparatorSP(LineSeparator):
+  def __init__(self, height: int = 1):
+    super().__init__()
+    self._rect = rl.Rectangle(0, 0, 0, height)
+
+  def _render(self, _):
+    line_y = int(self._rect.y + self._rect.height // 2)
+    rl.draw_line(int(self._rect.x) + LINE_PADDING, line_y,
+                 int(self._rect.x + self._rect.width) - LINE_PADDING, line_y,
+                 LINE_COLOR)

From 9c7c84bd038de56cbd25f9630bfcaa72b695ba8e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Dec 2025 23:30:30 -0500
Subject: [PATCH 0660/1434] ui: simplify non-inline action button positioning
 in `ListViewSP` (#1599)

ui: update non-inline action button positioning in `ListViewSP`
---
 system/ui/sunnypilot/widgets/list_view.py | 9 ++-------
 1 file changed, 2 insertions(+), 7 deletions(-)

diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py
index cf69e929238c0d..6ba41f1435f036 100644
--- a/system/ui/sunnypilot/widgets/list_view.py
+++ b/system/ui/sunnypilot/widgets/list_view.py
@@ -180,13 +180,8 @@ def get_right_item_rect(self, item_rect: rl.Rectangle) -> rl.Rectangle:
       return rl.Rectangle(0, 0, 0, 0)
 
     if not self.inline:
-      has_description = bool(self.description) and self.description_visible
-
-      if has_description:
-        action_y = item_rect.y + self._text_size.y + style.ITEM_PADDING * 3
-      else:
-        action_y = item_rect.y + item_rect.height - style.BUTTON_HEIGHT - style.ITEM_PADDING * 1.5
-
+      text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
+      action_y = item_rect.y + text_size.y + style.ITEM_PADDING * 3
       return rl.Rectangle(item_rect.x + style.ITEM_PADDING, action_y, item_rect.width - (style.ITEM_PADDING * 2), style.BUTTON_HEIGHT)
 
     right_width = self.action_item.get_width_hint()

From 3093bb0b66d20438197890d97bc5226518337972 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sun, 21 Dec 2025 22:26:11 -0500
Subject: [PATCH 0661/1434] ui: fix sunnylink paired/sponsorship state (#1603)

* fix

* no point polling when disabled
---
 selfdrive/ui/sunnypilot/ui_state.py     | 5 ++++-
 sunnypilot/sunnylink/sunnylink_state.py | 9 +++++----
 2 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index fe90e3bdfa1c97..ac08538dffaedb 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -23,7 +23,10 @@ def __init__(self):
     self.sunnylink_state = SunnylinkState()
 
   def update(self) -> None:
-    self.sunnylink_state.start()
+    if self.sunnylink_enabled:
+      self.sunnylink_state.start()
+    else:
+      self.sunnylink_state.stop()
 
   @staticmethod
   def update_status(ss, ss_sp, onroad_evt) -> str:
diff --git a/sunnypilot/sunnylink/sunnylink_state.py b/sunnypilot/sunnylink/sunnylink_state.py
index 13b5ad81ec2bd4..efdfa70715953d 100644
--- a/sunnypilot/sunnylink/sunnylink_state.py
+++ b/sunnypilot/sunnylink/sunnylink_state.py
@@ -136,10 +136,11 @@ def _fetch_roles(self) -> None:
       token = self._api.get_token()
       response = self._api.api_get(f"device/{self.sunnylink_dongle_id}/roles", method='GET', access_token=token)
       if response.status_code == 200:
-        self._roles = _parse_roles(response.text)
-        self._params.put("SunnylinkCache_Roles", response.text)
-        sponsor_tier = self._get_highest_tier()
+        roles = response.text
+        self._params.put("SunnylinkCache_Roles", roles)
         with self._lock:
+          self._roles = _parse_roles(roles)
+          sponsor_tier = self._get_highest_tier()
           if sponsor_tier != self.sponsor_tier:
             self.sponsor_tier = sponsor_tier
             cloudlog.info(f"Sunnylink sponsor tier updated to {sponsor_tier.name}")
@@ -157,7 +158,7 @@ def _fetch_users(self) -> None:
         users = response.text
         self._params.put("SunnylinkCache_Users", users)
         with self._lock:
-          _parse_users(users)
+          self._users = _parse_users(users)
     except Exception as e:
       cloudlog.exception(f"Failed to fetch sunnylink users: {e} for dongle id {self.sunnylink_dongle_id}")
 

From e54ddf30b89166b4e291d54a7f034a092097676d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 21 Dec 2025 22:48:45 -0500
Subject: [PATCH 0662/1434] ci: restore workflows from source branch for reset
 and squash (#1607)

---
 .../workflows/sunnypilot-master-dev-prep.yaml  | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/.github/workflows/sunnypilot-master-dev-prep.yaml b/.github/workflows/sunnypilot-master-dev-prep.yaml
index 10794bf0f78f30..8e8e3c3d9df82e 100644
--- a/.github/workflows/sunnypilot-master-dev-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-prep.yaml
@@ -174,6 +174,24 @@ jobs:
           echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
           echo '    locksverify = false' >> .lfsconfig
 
+      - name: Restore workflows from source
+        run: |
+          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
+          SOURCE_BRANCH="${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
+
+          # Ensure we are on the target branch
+          git checkout $TARGET_BRANCH
+
+          echo "Restoring .github/workflows from $SOURCE_BRANCH"
+          git checkout origin/$SOURCE_BRANCH -- .github/workflows
+
+          if ! git diff --cached --quiet; then
+            echo "Workflows differ. Committing restoration."
+            git commit -m "chore: restore .github/workflows from $SOURCE_BRANCH"
+          else
+            echo "Workflows match $SOURCE_BRANCH."
+          fi
+
       - uses: actions/create-github-app-token@v2
         id: ci-token
         with:

From 6d7910ed74b46939ebddf2086d24ae4b714acee0 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 21 Dec 2025 22:56:51 -0500
Subject: [PATCH 0663/1434] ui: add `inline` to `option_item_sp` (#1600)

---
 system/ui/sunnypilot/widgets/list_view.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py
index 6ba41f1435f036..4a9c5fead4bc09 100644
--- a/system/ui/sunnypilot/widgets/list_view.py
+++ b/system/ui/sunnypilot/widgets/list_view.py
@@ -296,12 +296,12 @@ def option_item_sp(title: str | Callable[[], str], param: str,
                    value_change_step: int = 1, on_value_changed: Callable[[int], None] | None = None,
                    enabled: bool | Callable[[], bool] = True,
                    icon: str = "", label_width: int = LABEL_WIDTH, value_map: dict[int, int] | None = None,
-                   use_float_scaling: bool = False, label_callback: Callable[[int], str] | None = None) -> ListItemSP:
+                   use_float_scaling: bool = False, label_callback: Callable[[int], str] | None = None, inline: bool = False) -> ListItemSP:
   action = OptionControlSP(
     param, min_value, max_value, value_change_step,
     enabled, on_value_changed, value_map, label_width, use_float_scaling, label_callback
   )
-  return ListItemSP(title=title, description=description, action_item=action, icon=icon)
+  return ListItemSP(title=title, description=description, action_item=action, icon=icon, inline=inline)
 
 
 def button_item_sp(title: str | Callable[[], str], button_text: str | Callable[[], str], description: str | Callable[[], str] | None = None,

From e96b0da9d764d934d9e75b17b7a7a0bfd7ba6da0 Mon Sep 17 00:00:00 2001
From: Matt Purnell <65473602+mpurnell1@users.noreply.github.com>
Date: Sun, 21 Dec 2025 22:07:01 -0600
Subject: [PATCH 0664/1434] ci: Add unit test to prevent MADS DM regressions
 (#1602)

* monitoring/tests: Add unit test to prevent MADS regressions

* dm: remove TODO

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/monitoring/helpers.py         |  1 -
 selfdrive/monitoring/test_monitoring.py | 66 ++++++++++++++++++++++++-
 2 files changed, 65 insertions(+), 2 deletions(-)

diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 002e01ae391973..4f068c4f5a6026 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -449,7 +449,6 @@ def run_step(self, sm, demo=False):
       rpyCalib = [0., 0., 0.]
     else:
       highway_speed = sm['carState'].vEgo
-      # TODO-SP: unit test to assert both control checks are always present
       enabled = sm['selfdriveState'].enabled or sm['carControl'].latActive
       wrong_gear = sm['carState'].gearShifter not in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low)
       standstill = sm['carState'].standstill
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index 6ea9b80283fc7d..75adb6a2c8ae64 100644
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -1,6 +1,7 @@
 import numpy as np
+import pytest
 
-from cereal import log
+from cereal import log, car
 from openpilot.common.realtime import DT_DMON
 from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS
 from openpilot.system.hardware import HARDWARE
@@ -204,3 +205,66 @@ def test_somehow_indecisive_model(self):
     assert EventName.driverUnresponsive in \
                               events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
 
+
+@pytest.mark.parametrize("enabled_state, lat_active_state, expected", [
+  (False, False, False), # Both Disabled
+  (True, False, True),   # OP Enabled, Lat Inactive
+  (False, True, True),   # OP Disabled, Lat Active (e.g. MADS)
+  (True, True, True)     # Both Active
+])
+def test_enabled_states(enabled_state, lat_active_state, expected):
+  """
+  Test DriverMonitoring.run_step with all 4 combinations of:
+  - selfdriveState.enabled (True/False)
+  - carControl.latActive (True/False)
+  """
+  cs = car.CarState.new_message()
+  cs.vEgo = 30.0
+  cs.gearShifter = car.CarState.GearShifter.drive
+  cs.standstill = False
+  cs.steeringPressed = False
+  cs.gasPressed = False
+
+  ss = log.SelfdriveState.new_message()
+  ss.enabled = enabled_state
+
+  cc = car.CarControl.new_message()
+  cc.latActive = lat_active_state
+
+  mv2 = log.ModelDataV2.new_message()
+  mv2.meta.disengagePredictions.brakeDisengageProbs = [0.0]
+
+  lc = log.LiveCalibrationData.new_message()
+  lc.rpyCalib = [0.0, 0.0, 0.0]
+
+  ds = make_msg(False)
+
+  sm = {
+      'carState': cs,
+      'selfdriveState': ss,
+      'carControl': cc,
+      'modelV2': mv2,
+      'liveCalibration': lc,
+      'driverStateV2': ds
+  }
+
+  driver_monitoring = DriverMonitoring()
+
+  # run_test doesn't assign enabled to a variable, so we need to spy on _update_events to see its value
+  captured_args = []
+  original_update_events = driver_monitoring._update_events
+
+  def spy_update_events(driver_engaged, op_engaged, standstill, wrong_gear, car_speed):
+      captured_args.append(op_engaged)
+      return original_update_events(driver_engaged, op_engaged, standstill, wrong_gear, car_speed)
+
+  driver_monitoring._update_events = spy_update_events
+
+  driver_monitoring.run_step(sm, demo=False)
+
+  # Assertion
+  assert len(captured_args) == 1, "Expected _update_events to be called exactly once"
+  actual_enabled = captured_args[0]
+
+  assert actual_enabled == expected, f"Expected op_engaged={expected}, but got {actual_enabled}"
+

From 34ce7468695dac0469f8f9ece4bd9e03d2ce8b9b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 22 Dec 2025 09:29:01 -0500
Subject: [PATCH 0665/1434] ui: `DualButtonActionSP` and `dual_button_item_sp`
 helpers (#1608)

---
 system/ui/sunnypilot/widgets/list_view.py | 50 +++++++++++++++++++----
 1 file changed, 42 insertions(+), 8 deletions(-)

diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py
index 4a9c5fead4bc09..c71d6e226407e5 100644
--- a/system/ui/sunnypilot/widgets/list_view.py
+++ b/system/ui/sunnypilot/widgets/list_view.py
@@ -14,7 +14,7 @@
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
 from openpilot.system.ui.widgets.label import gui_label
 from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction, MultipleButtonAction, ButtonAction, \
-                                                  _resolve_value, BUTTON_WIDTH, BUTTON_HEIGHT, TEXT_PADDING
+                                                  _resolve_value, BUTTON_WIDTH, BUTTON_HEIGHT, TEXT_PADDING, DualButtonAction
 from openpilot.system.ui.widgets.scroller_tici import LineSeparator, LINE_COLOR, LINE_PADDING
 from openpilot.system.ui.sunnypilot.lib.styles import style
 from openpilot.system.ui.sunnypilot.widgets.option_control import OptionControlSP, LABEL_WIDTH
@@ -84,6 +84,33 @@ def _render(self, rect: rl.Rectangle) -> bool:
     return pressed
 
 
+class DualButtonActionSP(DualButtonAction):
+  def __init__(self, left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable = None,
+               right_callback: Callable = None, enabled: bool | Callable[[], bool] = True, border_radius: int = 15):
+    DualButtonAction.__init__(self, left_text, right_text, left_callback, right_callback, enabled)
+    self.left_button._border_radius = self.right_button._border_radius = border_radius
+
+  def _render(self, rect: rl.Rectangle):
+    button_spacing = 20
+    button_height = 150
+    button_width = (rect.width - button_spacing) / 2
+    button_y = rect.y + (rect.height - button_height) / 2
+
+    left_rect = rl.Rectangle(rect.x, button_y, button_width, button_height)
+    right_rect = rl.Rectangle(rect.x + button_width + button_spacing, button_y, button_width, button_height)
+
+    # expand one to full width if other is not visible
+    if not self.left_button.is_visible:
+      right_rect.x = rect.x
+      right_rect.width = rect.width
+    elif not self.right_button.is_visible:
+      left_rect.width = rect.width
+
+    # Render buttons
+    self.left_button.render(left_rect)
+    self.right_button.render(right_rect)
+
+
 class MultipleButtonActionSP(MultipleButtonAction):
   def __init__(self, buttons: list[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable = None,
                param: str | None = None):
@@ -251,13 +278,13 @@ def _render(self, _):
         item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - self._text_size.y) // 2 if self.inline else self._rect.y + style.ITEM_PADDING * 1.5
         rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, self.title_color)
 
-        # Draw right item if present
-        if self.action_item:
-          right_rect = self.get_right_item_rect(self._rect)
-          if self.action_item.render(right_rect) and self.action_item.enabled:
-            # Right item was clicked/activated
-            if self.callback:
-              self.callback()
+      # Draw right item if present
+      if self.action_item:
+        right_rect = self.get_right_item_rect(self._rect)
+        if self.action_item.render(right_rect) and self.action_item.enabled:
+          # Right item was clicked/activated
+          if self.callback:
+            self.callback()
 
     # Draw description if visible
     if self.description_visible:
@@ -310,6 +337,13 @@ def button_item_sp(title: str | Callable[[], str], button_text: str | Callable[[
   return ListItemSP(title=title, description=description, action_item=action, callback=callback)
 
 
+def dual_button_item_sp(left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable = None,
+                        right_callback: Callable = None, description: str | Callable[[], str] | None = None,
+                        enabled: bool | Callable[[], bool] = True, border_radius: int = 15) -> ListItemSP:
+  action = DualButtonActionSP(left_text, right_text, left_callback, right_callback, enabled, border_radius)
+  return ListItemSP(title="", description=description, action_item=action)
+
+
 class LineSeparatorSP(LineSeparator):
   def __init__(self, height: int = 1):
     super().__init__()

From 373894a81f573d76e667ce7fcdc24ec1ad2d29c4 Mon Sep 17 00:00:00 2001
From: Matt Purnell <65473602+mpurnell1@users.noreply.github.com>
Date: Mon, 22 Dec 2025 23:42:24 -0600
Subject: [PATCH 0666/1434] docs: Update branch installation instructions in
 README (#1610)

* Update branch installation instructions

* Add another link

* Add limited support link

* Incorporate suggested link

* Tweak wording
---
 README.md | 60 ++-----------------------------------------------------
 1 file changed, 2 insertions(+), 58 deletions(-)

diff --git a/README.md b/README.md
index 598e1273a7ebad..71fbb00e4cf31f 100644
--- a/README.md
+++ b/README.md
@@ -11,66 +11,10 @@ Join the official sunnypilot community forum to stay up to date with all the lat
 https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
 
 ## 🚘 Running on a dedicated device in a car
-* A supported device to run this software
-    * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
-* This software
-* One of [the 325+ supported cars](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
-* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
-
-Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
+First, check out this list of items you'll need to [get started](https://community.sunnypilot.ai/t/getting-started-using-sunnypilot-in-your-supported-car/251).
 
 ## Installation
-Please refer to [Recommended Branches](#recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging` branch.
-
-### If you want to use our newest branches (our rewrite)
-> [!TIP]
->You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
-
-* sunnypilot not installed or you installed a version before 0.8.17?
-  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
-  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#recommended-branches). Example: ```https://staging.sunnypilot.ai```.
-  4. Complete the rest of the installation following the onscreen instructions.
-
-* sunnypilot already installed and you installed a version after 0.8.17?
-  1. On the comma three/3X, go to `Settings` ▶� `Software`.
-  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
-  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging`
-
-### Recommended Branches
-|      Branch     |                 Installation URL              |
-|:---------------:|:---------------------------------------------:|
-| `release`       | `https://release.sunnypilot.ai`               |
-| `staging`       | `https://staging.sunnypilot.ai`               |
-|   `dev`         | `https://dev.sunnypilot.ai`                   |
-| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
-
-> [!TIP]
-> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging'.
-
-> [!NOTE]
-> Do you require further assistance with software installation? Join the [sunnypilot community forum](https://community.sunnypilot.ai/new-topic?category=general/qa) and create a topic in the General/Q&A Category channel.
-
-
-<details>
-
-<summary>Older legacy branches</summary>
-
-### If you want to use our older legacy branches (*not recommended*)
-
-> [**IMPORTANT**]
-> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
-> You can still restore the latest sunnylink backup made on the old branches.
-
-|    Branch    |         Installation URL         |
-|:------------:|:--------------------------------:|
-| `release-c3` | https://release-c3.sunnypilot.ai |
-| `staging-c3` | https://staging-c3.sunnypilot.ai |
-|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
-
-</details>
-
+Next, refer to the sunnypilot community forum for [installation instructions](https://community.sunnypilot.ai/t/read-before-installing-sunnypilot/254), as well as a complete list of [Recommended Branch Installations](https://community.sunnypilot.ai/t/recommended-branch-installations/235).
 
 ## 🎆 Pull Requests
 We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.

From a04a5b4284066f3f05feede209f7ec544a79d6f7 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Tue, 23 Dec 2025 00:51:35 -0500
Subject: [PATCH 0667/1434] ui: expand `DeviceLayoutSP` (#1560)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* commaai/openpilot:d05cb31e2e916fba41ba8167030945f427fd811b

* bump opendbc

* bump opendbc

* bump opendbc

* bump opendbc

* bump opendbc

* sunnypilot: remove Qt

* cabana: revert to stock Qt

* commaai/openpilot:5198b1b079c37742c1050f02ce0aa6dd42b038b9

* commaai/openpilot:954b567b9ba0f3d1ae57d6aa7797fa86dd92ec6e

* commaai/openpilot:7534b2a160faa683412c04c1254440e338931c5e

* sum more

* bump opendbc

* not yet

* should've been symlink'ed

* raylib says wut

* quiet mode back

* more fixes

* no more

* too extra red diff on the side

* need to bring this back

* too extra

* let's update docs here

* Revert "let's update docs here"

This reverts commit 51fe03cd5121e6fdf14657b2c33852c34922b851.

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* multi-button

* Lint

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* sp raylib preview

* fix callback

* fix ui preview

* better padding

* this

* support for next line multi-button

* uhh

* disabled colors

* listitem -> listitemsp

* listitem -> listitemsp

* add show_description method

* remove padding from line separator.
like, WHY? 😩😩

* ui: `GuiApplicationExt`

* simple button

* simple button

* add to readme

* use gui_app.sunnypilot_ui()

* i've got something to confessa

* init

* more init

* power buttons always visible

* uh, nope

* add reset to offroad only

* support wake up offroad

* flippity floppity

* dual button item sp

* use dual button item sp

* lint

* keep @devtekve from going blind

* more round

* some

* revert

* slight diff

* should've been inline

* cleanup power btns and offroad transitions

* bruh

* 1st row red diff

* 2nd row red diff

* 3rd row red diff

* slight diff

* move around

* more diff

* only when onroad we move to the top, not the toggle

* nah

* sort

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: discountchubbs <alexgrant990@gmail.com>
---
 .../ui/sunnypilot/layouts/settings/device.py  | 208 ++++++++++++++++++
 .../sunnypilot/layouts/settings/settings.py   |  28 +--
 selfdrive/ui/sunnypilot/ui_state.py           |   9 +
 selfdrive/ui/ui_state.py                      |   6 +-
 system/ui/sunnypilot/widgets/list_view.py     |  14 ++
 5 files changed, 249 insertions(+), 16 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/device.py b/selfdrive/ui/sunnypilot/layouts/settings/device.py
index 081969cf101c70..36c5fdb34260c2 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/device.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/device.py
@@ -5,8 +5,216 @@
 See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp, multiple_button_item_sp, button_item_sp, \
+  dual_button_item_sp, Spacer
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.button import ButtonStyle
+from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
+from openpilot.system.ui.widgets.list_view import text_item
+from openpilot.system.ui.widgets.scroller_tici import LineSeparator
+
+offroad_time_options = {
+  0: 0,
+  1: 5,
+  2: 10,
+  3: 15,
+  4: 30,
+  5: 60,
+  6: 120,
+  7: 180,
+  8: 300,
+  9: 600,
+  10: 1440,
+  11: 1800,
+}
 
 
 class DeviceLayoutSP(DeviceLayout):
   def __init__(self):
     DeviceLayout.__init__(self)
+    self._scroller._line_separator = None
+
+  def _initialize_items(self):
+    DeviceLayout._initialize_items(self)
+
+    # Using dual button with no right button for better alignment
+    self._always_offroad_btn = dual_button_item_sp(
+      left_text=lambda: tr("Enable Always Offroad"),
+      left_callback=self._handle_always_offroad,
+      right_text="",
+      right_callback=None,
+    )
+    self._always_offroad_btn.action_item.right_button.set_visible(False)
+
+    self._max_time_offroad = option_item_sp(
+      title=lambda: tr("Max Time Offroad"),
+      description=lambda: tr("Device will automatically shutdown after set time once the engine is turned off.\n(30h is the default)"),
+      param="MaxTimeOffroad",
+      min_value=0,
+      max_value=11,
+      value_change_step=1,
+      on_value_changed=None,
+      enabled=True,
+      icon="",
+      value_map=offroad_time_options,
+      label_width=360,
+      use_float_scaling=False,
+      inline=True,
+      label_callback=self._update_max_time_offroad_label
+    )
+
+    self._device_wake_mode = multiple_button_item_sp(
+      title=lambda: tr("Wake Up Behavior"),
+      description=self.wake_mode_description,
+      param="DeviceBootMode",
+      buttons=[lambda: tr("Default"), lambda: tr("Offroad")],
+      button_width=364,
+      callback=None,
+      inline=True,
+    )
+
+    self._quiet_mode_and_dcam = dual_button_item_sp(
+      left_text=lambda: tr("Quiet Mode"),
+      right_text=lambda: tr("Driver Camera Preview"),
+      left_callback=lambda: ui_state.params.put_bool("QuietMode", not ui_state.params.get_bool("QuietMode")),
+      right_callback=self._show_driver_camera
+    )
+    self._quiet_mode_and_dcam.action_item.right_button.set_button_style(ButtonStyle.NORMAL)
+
+    self._reg_and_training = dual_button_item_sp(
+      left_text=lambda: tr("Regulatory"),
+      left_callback=self._on_regulatory,
+      right_text=lambda: tr("Training Guide"),
+      right_callback=self._on_review_training_guide
+    )
+    self._reg_and_training.action_item.right_button.set_button_style(ButtonStyle.NORMAL)
+
+    self._onroad_uploads_and_reset_settings = dual_button_item_sp(
+      left_text=lambda: tr("Onroad Uploads"),
+      left_callback=lambda: ui_state.params.put_bool("OnroadUploads", not ui_state.params.get_bool("OnroadUploads")),
+      right_text=lambda: tr("Reset Settings"),
+      right_callback=self._reset_settings
+    )
+
+    self._power_buttons = dual_button_item_sp(
+      left_text=lambda: tr("Reboot"),
+      right_text=lambda: tr("Power Off"),
+      left_callback=self._reboot_prompt,
+      right_callback=self._power_off_prompt
+    )
+
+    items = [
+      text_item(lambda: tr("Dongle ID"), self._params.get("DongleId") or (lambda: tr("N/A"))),
+      LineSeparator(),
+      text_item(lambda: tr("Serial"), self._params.get("HardwareSerial") or (lambda: tr("N/A"))),
+      LineSeparator(),
+      self._pair_device_btn,
+      LineSeparator(),
+      self._reset_calib_btn,
+      LineSeparator(),
+      button_item_sp(lambda: tr("Change Language"), lambda: tr("CHANGE"), callback=self._show_language_dialog),
+      LineSeparator(),
+      self._device_wake_mode,
+      LineSeparator(),
+      self._max_time_offroad,
+      LineSeparator(height=10),
+      self._quiet_mode_and_dcam,
+      self._reg_and_training,
+      self._onroad_uploads_and_reset_settings,
+      Spacer(10),
+      LineSeparator(height=10),
+      self._power_buttons,
+    ]
+
+    return items
+
+  def _offroad_transition(self):
+    self._power_buttons.action_item.right_button.set_visible(ui_state.is_offroad())
+
+  @staticmethod
+  def wake_mode_description() -> str:
+    def_str = tr("Default: Device will boot/wake-up normally & will be ready to engage.")
+    offrd_str = tr("Offroad: Device will be in Always Offroad mode after boot/wake-up.")
+    header = tr("Controls state of the device after boot/sleep.")
+
+    return f"{header}\n\n{def_str}\n{offrd_str}"
+
+  @staticmethod
+  def _reset_settings():
+    def _do_reset(result: int):
+      if result == DialogResult.CONFIRM:
+        for _key in ui_state.params.all_keys():
+          ui_state.params.remove(_key)
+        HARDWARE.reboot()
+
+    def _second_confirm(result: int):
+      if result == DialogResult.CONFIRM:
+        gui_app.set_modal_overlay(ConfirmDialog(
+          text=tr("The reset cannot be undone. You have been warned."),
+          confirm_text=tr("Confirm")
+        ), callback=_do_reset)
+
+    gui_app.set_modal_overlay(ConfirmDialog(
+      text=tr("Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back."),
+      confirm_text=tr("Reset")
+    ), callback=_second_confirm)
+
+  @staticmethod
+  def _handle_always_offroad():
+    if ui_state.engaged:
+      gui_app.set_modal_overlay(alert_dialog(tr("Disengage to Enter Always Offroad Mode")))
+      return
+
+    _offroad_mode_state = ui_state.params.get_bool("OffroadMode")
+    _offroad_mode_str = tr("Are you sure you want to exit Always Offroad mode?") if _offroad_mode_state else \
+                        tr("Are you sure you want to enter Always Offroad mode?")
+
+    def _set_always_offroad(result: int):
+      if result == DialogResult.CONFIRM and not ui_state.engaged:
+        ui_state.params.put_bool("OffroadMode", not _offroad_mode_state)
+
+    gui_app.set_modal_overlay(ConfirmDialog(_offroad_mode_str, tr("Confirm")), callback=lambda result: _set_always_offroad(result))
+
+  @staticmethod
+  def _update_max_time_offroad_label(value: int) -> str:
+    label = tr("Always On") if value == 0 else f"{value}" + tr("m") if value < 60 else f"{value // 60}" + tr("h")
+    label += tr(" (Default)") if value == 1800 else ""
+    return label
+
+  def _update_state(self):
+    super()._update_state()
+
+    # Handle Always Offroad button
+    always_offroad = ui_state.params.get_bool("OffroadMode")
+
+    # Text & Color
+    offroad_mode_btn_text = tr("Exit Always Offroad") if always_offroad else tr("Enable Always Offroad")
+    offroad_mode_btn_style = ButtonStyle.NORMAL if always_offroad else ButtonStyle.DANGER
+    self._always_offroad_btn.action_item.left_button.set_text(offroad_mode_btn_text)
+    self._always_offroad_btn.action_item.left_button.set_button_style(offroad_mode_btn_style)
+
+    # Position
+    if self._scroller._items.__contains__(self._always_offroad_btn):
+      self._scroller._items.remove(self._always_offroad_btn)
+    if ui_state.is_offroad() and not always_offroad:
+      self._scroller._items.insert(len(self._scroller._items) - 1, self._always_offroad_btn)
+    elif not ui_state.is_offroad():
+      self._scroller._items.insert(0, self._always_offroad_btn)
+
+    # Quiet Mode button
+    self._quiet_mode_and_dcam.action_item.left_button.set_button_style(ButtonStyle.PRIMARY if ui_state.params.get_bool("QuietMode") else ButtonStyle.NORMAL)
+
+    # Onroad Uploads
+    self._onroad_uploads_and_reset_settings.action_item.left_button.set_button_style(
+      ButtonStyle.PRIMARY if ui_state.params.get_bool("OnroadUploads") else ButtonStyle.NORMAL
+    )
+
+    # Offroad only buttons
+    self._quiet_mode_and_dcam.action_item.right_button.set_enabled(ui_state.is_offroad())
+    self._reg_and_training.action_item.left_button.set_enabled(ui_state.is_offroad())
+    self._reg_and_training.action_item.right_button.set_enabled(ui_state.is_offroad())
+    self._onroad_uploads_and_reset_settings.action_item.right_button.set_enabled(ui_state.is_offroad())
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/settings.py b/selfdrive/ui/sunnypilot/layouts/settings/settings.py
index 103dd99efdcdf2..bc83c82f855132 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/settings.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/settings.py
@@ -9,28 +9,28 @@
 
 import pyray as rl
 from openpilot.selfdrive.ui.layouts.settings import settings as OP
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP
 from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.software import SoftwareLayoutSP
 from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
-from openpilot.system.ui.lib.application import gui_app, MousePos
-from openpilot.system.ui.lib.multilang import tr_noop
-from openpilot.system.ui.sunnypilot.lib.styles import style
-from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.wifi_manager import WifiManager
-from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise import CruiseLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.developer import DeveloperLayoutSP
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import DisplayLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.network import NetworkUISP
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.sunnylink import SunnylinkLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.osm import OSMLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.software import SoftwareLayoutSP
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering import SteeringLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.sunnylink import SunnylinkLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.trips import TripsLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle import VehicleLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering import SteeringLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise import CruiseLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.visuals import VisualsLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import DisplayLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.developer import DeveloperLayoutSP
+from openpilot.system.ui.lib.application import gui_app, MousePos
+from openpilot.system.ui.lib.multilang import tr_noop
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.wifi_manager import WifiManager
+from openpilot.system.ui.sunnypilot.lib.styles import style
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.scroller_tici import Scroller
 
 # from openpilot.selfdrive.ui.sunnypilot.layouts.settings.navigation import NavigationLayout
 
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index ac08538dffaedb..ca8125512adcf0 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -73,3 +73,12 @@ def update_params(self) -> None:
     self.developer_ui = self.params.get("DevUIInfo")
     self.rainbow_path = self.params.get_bool("RainbowMode")
     self.chevron_metrics = self.params.get("ChevronInfo")
+
+
+class DeviceSP:
+  def __init__(self):
+    self._params = Params()
+
+  def _set_awake(self, on: bool):
+    if on and self._params.get("DeviceBootMode", return_default=True) == 1:
+      self._params.put_bool("OffroadMode", True)
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index 0e1710c240d057..a86c84ada30ee0 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -12,7 +12,7 @@
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.hardware import HARDWARE, PC
 
-from openpilot.selfdrive.ui.sunnypilot.ui_state import UIStateSP
+from openpilot.selfdrive.ui.sunnypilot.ui_state import UIStateSP, DeviceSP
 
 BACKLIGHT_OFFROAD = 65 if HARDWARE.get_device_type() == "mici" else 50
 
@@ -192,8 +192,9 @@ def update_params(self) -> None:
     self._param_update_time = time.monotonic()
 
 
-class Device:
+class Device(DeviceSP):
   def __init__(self):
+    DeviceSP.__init__(self)
     self._ignition = False
     self._interaction_time: float = -1
     self._override_interactive_timeout: int | None = None
@@ -284,6 +285,7 @@ def _update_wakefulness(self):
 
   def _set_awake(self, on: bool):
     if on != self._awake:
+      DeviceSP._set_awake(self, on)
       self._awake = on
       cloudlog.debug(f"setting display power {int(on)}")
       HARDWARE.set_display_power(on)
diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py
index c71d6e226407e5..bf78147a58ef64 100644
--- a/system/ui/sunnypilot/widgets/list_view.py
+++ b/system/ui/sunnypilot/widgets/list_view.py
@@ -11,6 +11,7 @@
 from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.sunnypilot.widgets.toggle import ToggleSP
+from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
 from openpilot.system.ui.widgets.label import gui_label
 from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction, MultipleButtonAction, ButtonAction, \
@@ -20,6 +21,19 @@
 from openpilot.system.ui.sunnypilot.widgets.option_control import OptionControlSP, LABEL_WIDTH
 
 
+class Spacer(Widget):
+  def __init__(self, height: int = 1):
+    super().__init__()
+    self._rect = rl.Rectangle(0, 0, 0, height)
+
+  def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
+    super().set_parent_rect(parent_rect)
+    self._rect.width = parent_rect.width
+
+  def _render(self, _):
+    rl.draw_rectangle(int(self._rect.x), int(self._rect.y), int(self._rect.x + self._rect.width), int(self._rect.y), rl.Color(0,0,0,0))
+
+
 class ToggleActionSP(ToggleAction):
   def __init__(self, initial_state: bool = False, width: int = style.TOGGLE_WIDTH, enabled: bool | Callable[[], bool] = True,
                callback: Callable[[bool], None] | None = None, param: str | None = None):

From c876a83a31c1021f00818d31ca66d66910d54a87 Mon Sep 17 00:00:00 2001
From: dzid26 <dzidmail@gmail.com>
Date: Tue, 23 Dec 2025 14:34:56 +0000
Subject: [PATCH 0668/1434] ui: fix malformed dongle ID display on the PC if
 dongleID is not set (#1612)

---
 selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py b/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
index 316d4d22405d74..2b5497fb56c603 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
@@ -209,8 +209,8 @@ def _initialize_items(self):
     return items
 
   @staticmethod
-  def _get_sunnylink_dongle_id() -> str | None:
-    return str(ui_state.params.get("SunnylinkDongleId") or (lambda: tr("N/A")))
+  def _get_sunnylink_dongle_id() -> str:
+    return ui_state.params.get("SunnylinkDongleId") or tr("N/A")
 
   def _handle_pair_btn(self, sponsor_pairing: bool = False):
     sunnylink_dongle_id = self._get_sunnylink_dongle_id()

From c6c644a3a6dc97ffe7a151f64c2b903fd74956b8 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Tue, 23 Dec 2025 16:34:00 -0500
Subject: [PATCH 0669/1434] [mici] ui: sunnypilot font on home menu (#1561)

use sp font on home

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/mici/layouts/home.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index 750a30b73aa0bb..bdffea4cfe3d5f 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -109,7 +109,7 @@ def __init__(self):
     self._cell_high_txt = gui_app.texture("icons_mici/settings/network/cell_strength_high.png", 55, 35)
     self._cell_full_txt = gui_app.texture("icons_mici/settings/network/cell_strength_full.png", 55, 35)
 
-    self._openpilot_label = MiciLabel("sunnypilot", font_size=96, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.DISPLAY)
+    self._openpilot_label = MiciLabel("sunnypilot", font_size=90, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.AUDIOWIDE)
     self._version_label = MiciLabel("", font_size=36, font_weight=FontWeight.ROMAN)
     self._large_version_label = MiciLabel("", font_size=64, color=rl.GRAY, font_weight=FontWeight.ROMAN)
     self._date_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)

From 763049f06886f59f9fd5975b0e7576551ecb26c0 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 27 Dec 2025 17:49:26 +0100
Subject: [PATCH 0670/1434] SL: Re enable and validate ingestion of swaglogs
 (#1580)

* Re enable and validate ingestion
---
 sunnypilot/sunnylink/athena/sunnylinkd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index 9f70aead59d24b..d1a03778c6de80 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -62,7 +62,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
               threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'),
               threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
               threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
-              # threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
+              threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
               threading.Thread(target=stat_handler, args=(end_event, Paths.stats_sp_root(), True), name='stat_handler'),
             ] + [
               threading.Thread(target=jsonrpc_handler, args=(end_event, partial(startLocalProxy, end_event),), name=f'worker_{x}')

From 9442bc9aeccf979a90fcc7e1e1b291ea630559df Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Mon, 29 Dec 2025 14:55:39 -0700
Subject: [PATCH 0671/1434] modeld_v2: planplus model tuning (#1620)

* modeld: planplus model tuning

* little more

* final

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/params_keys.h                          |  1 +
 sunnypilot/modeld_v2/modeld.py                |  6 +-
 .../modeld_v2/tests/test_recovery_power.py    | 61 +++++++++++++++++++
 sunnypilot/sunnylink/params_metadata.json     |  7 +++
 4 files changed, 73 insertions(+), 2 deletions(-)
 create mode 100644 sunnypilot/modeld_v2/tests/test_recovery_power.py

diff --git a/common/params_keys.h b/common/params_keys.h
index 7cfdf75406bf6a..89f70471c580ba 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -224,6 +224,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
     {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
+    {"PlanplusControl", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
 
     // mapd
     {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index 82eb099e7ea1cb..b3b1d35fd999b0 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -28,7 +28,6 @@
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner
 
 PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
-RECOVERY_POWER = 1.0 # The higher this number the more aggressively the model will recover to lanecenter, too high and it will ping-pong
 
 
 class FrameMeta:
@@ -63,6 +62,7 @@ def __init__(self, context: CLContext):
     self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".0"))
     self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
     self.MIN_LAT_CONTROL_SPEED = 0.3
+    self.PLANPLUS_CONTROL: float = 1.0
 
     buffer_length = 5 if self.model_runner.is_20hz else 2
     self.frames = {name: DrivingModelFrame(context, buffer_length) for name in self.model_runner.vision_input_names}
@@ -158,7 +158,8 @@ def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action
                             lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
     plan = model_output['plan'][0]
     if 'planplus' in model_output:
-      plan = plan + RECOVERY_POWER*model_output['planplus'][0]
+      recovery_power = self.PLANPLUS_CONTROL * (0.75 if v_ego > 20.0 else 1.0)
+      plan = plan + recovery_power * model_output['planplus'][0]
     desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
                                                      action_t=long_action_t)
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
@@ -283,6 +284,7 @@ def main(demo=False):
     v_ego = max(sm["carState"].vEgo, 0.)
     if sm.frame % 60 == 0:
       model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
+      model.PLANPLUS_CONTROL = params.get("PlanplusControl", return_default=True)
     lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
diff --git a/sunnypilot/modeld_v2/tests/test_recovery_power.py b/sunnypilot/modeld_v2/tests/test_recovery_power.py
new file mode 100644
index 00000000000000..e38b2c86dc519d
--- /dev/null
+++ b/sunnypilot/modeld_v2/tests/test_recovery_power.py
@@ -0,0 +1,61 @@
+import numpy as np
+
+from cereal import log
+
+from openpilot.sunnypilot.modeld_v2.constants import Plan
+from openpilot.sunnypilot.modeld_v2.modeld import ModelState
+import openpilot.sunnypilot.modeld_v2.modeld as modeld
+
+
+class MockStruct:
+  def __init__(self, **kwargs):
+    for k, v in kwargs.items():
+      setattr(self, k, v)
+
+
+def test_recovery_power_scaling():
+  state = MockStruct(
+    PLANPLUS_CONTROL=1.0,
+    LONG_SMOOTH_SECONDS=0.3,
+    LAT_SMOOTH_SECONDS=0.1,
+    MIN_LAT_CONTROL_SPEED=0.3,
+    mlsim=True,
+    generation=12,
+    constants=MockStruct(T_IDXS=np.arange(100), DESIRE_LEN=8)
+  )
+  prev_action = log.ModelDataV2.Action()
+  recorded_vel: list = []
+
+  def mock_accel(plan_vel, plan_accel, t_idxs, action_t=0.0):
+    recorded_vel.append(plan_vel.copy())
+    return 0.0, False
+
+  modeld.get_accel_from_plan = mock_accel
+  modeld.get_curvature_from_output = lambda *args: 0.0
+  plan = np.random.rand(1, 100, 15).astype(np.float32)
+  planplus = np.random.rand(1, 100, 15).astype(np.float32)
+
+  model_output: dict = {
+    'plan': plan.copy(),
+    'planplus': planplus.copy()
+  }
+
+  test_cases: list = [
+    # (control, v_ego, expected_factor)
+    (0.55, 20.0, 1.0),
+    (1.0, 25.0, .75),
+    (1.5, 25.1, 0.75),
+    (2.0, 20.0, 1.0),
+    (0.75, 19.0, 1.0),
+    (0.8, 25.1, 0.75),
+  ]
+
+  for control, v_ego, factor in test_cases:
+    state.PLANPLUS_CONTROL = control
+    recorded_vel.clear()
+    ModelState.get_action_from_model(state, model_output, prev_action, 0.0, 0.0, v_ego)
+
+    expected_recovery_power = control * factor
+    expected_plan_vel = plan[0, :, Plan.VELOCITY][:, 0] + expected_recovery_power * planplus[0, :, Plan.VELOCITY][:, 0]
+
+    np.testing.assert_allclose(recorded_vel[0], expected_plan_vel, rtol=1e-5, atol=1e-6)
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index bbefc3d0c802b0..f335457fb5dea7 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -826,6 +826,13 @@
     "title": "Panda Som Reset Triggered",
     "description": ""
   },
+  "PlanplusControl": {
+    "title": "Plan Plus Controls",
+    "description": "Adjust planplus model recentering strength. The higher this number the more aggressively the model will recover to lanecenter, too high and it will ping-pong",
+    "min": 0.0,
+    "max": 2.0,
+    "step": 0.1
+  },
   "PrimeType": {
     "title": "Prime Type",
     "description": ""

From 6df313b974ef2d7a779c23b1540b30c5eaed283c Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Mon, 29 Dec 2025 15:01:58 -0700
Subject: [PATCH 0672/1434] modeld_v2: remove dead test (#1621)

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/modeld_v2/tests/test_modeld.py | 102 ----------------------
 1 file changed, 102 deletions(-)
 delete mode 100644 sunnypilot/modeld_v2/tests/test_modeld.py

diff --git a/sunnypilot/modeld_v2/tests/test_modeld.py b/sunnypilot/modeld_v2/tests/test_modeld.py
deleted file mode 100644
index 6927c9e4731ef3..00000000000000
--- a/sunnypilot/modeld_v2/tests/test_modeld.py
+++ /dev/null
@@ -1,102 +0,0 @@
-import numpy as np
-import random
-
-import cereal.messaging as messaging
-from msgq.visionipc import VisionIpcServer, VisionStreamType
-from opendbc.car.car_helpers import get_demo_car_params
-from openpilot.common.params import Params
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.common.realtime import DT_MDL
-from openpilot.system.manager.process_config import managed_processes
-from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
-
-CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam
-IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8)
-IMG_BYTES = IMG.flatten().tobytes()
-
-
-class TestModeld:
-
-  def setup_method(self):
-    self.vipc_server = VisionIpcServer("camerad")
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height)
-    self.vipc_server.start_listener()
-    Params().put("CarParams", get_demo_car_params().to_bytes())
-
-    self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
-    self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration'])
-
-    managed_processes['modeld'].start()
-    self.pm.wait_for_readers_to_update("roadCameraState", 10)
-
-  def teardown_method(self):
-    managed_processes['modeld'].stop()
-    del self.vipc_server
-
-  def _send_frames(self, frame_id, cams=None):
-    if cams is None:
-      cams = ('roadCameraState', 'wideRoadCameraState')
-
-    cs = None
-    for cam in cams:
-      msg = messaging.new_message(cam)
-      cs = getattr(msg, cam)
-      cs.frameId = frame_id
-      cs.timestampSof = int((frame_id * DT_MDL) * 1e9)
-      cs.timestampEof = int(cs.timestampSof + (DT_MDL * 1e9))
-      cam_meta = meta_from_camera_state(cam)
-
-      self.pm.send(msg.which(), msg)
-      self.vipc_server.send(cam_meta.stream, IMG_BYTES, cs.frameId,
-                            cs.timestampSof, cs.timestampEof)
-    return cs
-
-  def _wait(self):
-    self.sm.update(5000)
-    if self.sm['modelV2'].frameId != self.sm['cameraOdometry'].frameId:
-      self.sm.update(1000)
-
-  def test_modeld(self):
-    for n in range(1, 500):
-      cs = self._send_frames(n)
-      self._wait()
-
-      mdl = self.sm['modelV2']
-      assert mdl.frameId == n
-      assert mdl.frameIdExtra == n
-      assert mdl.timestampEof == cs.timestampEof
-      assert mdl.frameAge == 0
-      assert mdl.frameDropPerc == 0
-
-      odo = self.sm['cameraOdometry']
-      assert odo.frameId == n
-      assert odo.timestampEof == cs.timestampEof
-
-  def test_dropped_frames(self):
-    """
-      modeld should only run on consecutive road frames
-    """
-    frame_id = -1
-    road_frames = list()
-    for n in range(1, 50):
-      if (random.random() < 0.1) and n > 3:
-        cams = random.choice([(), ('wideRoadCameraState', )])
-        self._send_frames(n, cams)
-      else:
-        self._send_frames(n)
-        road_frames.append(n)
-      self._wait()
-
-      if len(road_frames) < 3 or road_frames[-1] - road_frames[-2] == 1:
-        frame_id = road_frames[-1]
-
-      mdl = self.sm['modelV2']
-      odo = self.sm['cameraOdometry']
-      assert mdl.frameId == frame_id
-      assert mdl.frameIdExtra == frame_id
-      assert odo.frameId == frame_id
-      if n != frame_id:
-        assert not self.sm.updated['modelV2']
-        assert not self.sm.updated['cameraOdometry']

From edeede5e82282369e0e5f8e302de0863159efb3d Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Mon, 29 Dec 2025 20:03:08 -0700
Subject: [PATCH 0673/1434] modeld_v2: conditional model compilation for
 metadrive testing (#1623)

* modeld_v2: conditional model compilation for PC

* full send

* shebang

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/modeld_v2/SConscript           | 36 +++++++++
 sunnypilot/modeld_v2/install_models_pc.py | 89 +++++++++++++++++++++++
 sunnypilot/models/runners/helpers.py      | 10 +--
 3 files changed, 126 insertions(+), 9 deletions(-)
 create mode 100755 sunnypilot/modeld_v2/install_models_pc.py

diff --git a/sunnypilot/modeld_v2/SConscript b/sunnypilot/modeld_v2/SConscript
index 4c04b7382f5426..750a242ad5cc3c 100644
--- a/sunnypilot/modeld_v2/SConscript
+++ b/sunnypilot/modeld_v2/SConscript
@@ -1,3 +1,4 @@
+import os
 import glob
 
 Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'transformations')
@@ -28,3 +29,38 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor
 cython_libs = envCython["LIBS"] + libs
 commonmodel_lib = lenv.Library('commonmodel', common_src)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
+tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
+
+# Get model metadata
+PC = not os.path.isfile('/TICI')
+if PC:
+  inputs = tinygrad_files + [File(Dir("#sunnypilot/modeld_v2").File("install_models_pc.py").abspath)]
+  outputs = []
+  model_dir = Dir("models").abspath
+  cmd = f'python3 {Dir("#sunnypilot/modeld_v2").abspath}/install_models_pc.py {model_dir}'
+
+  for model_name in ['supercombo', 'driving_vision', 'driving_policy']:
+    if File(f"models/{model_name}.onnx").exists():
+        inputs.append(File(f"models/{model_name}.onnx"))
+        inputs.append(File(f"models/{model_name}_tinygrad.pkl"))
+        outputs.append(File(f"models/{model_name}_metadata.pkl"))
+  if outputs:
+    lenv.Command(outputs, inputs, cmd)
+
+def tg_compile(flags, model_name):
+  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
+  fn = File(f"models/{model_name}").abspath
+  return lenv.Command(
+    fn + "_tinygrad.pkl",
+    [fn + ".onnx"] + tinygrad_files,
+    f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
+  )
+
+# Compile small models
+for model_name in ['supercombo', 'driving_vision', 'driving_policy']:
+  if File(f"models/{model_name}.onnx").exists():
+    flags = {
+      'larch64': 'DEV=QCOM',
+      'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
+    }.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0')
+    tg_compile(flags, model_name)
diff --git a/sunnypilot/modeld_v2/install_models_pc.py b/sunnypilot/modeld_v2/install_models_pc.py
new file mode 100755
index 00000000000000..3f964dc28582aa
--- /dev/null
+++ b/sunnypilot/modeld_v2/install_models_pc.py
@@ -0,0 +1,89 @@
+#!/usr/bin/env python3
+import sys
+import shutil
+import pickle
+import codecs
+import onnx
+from pathlib import Path
+
+from openpilot.system.hardware.hw import Paths
+
+
+def get_name_and_shape(value_info):
+  shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
+  return value_info.name, shape
+
+
+def get_metadata_value_by_name(model, name):
+  for prop in model.metadata_props:
+    if prop.key == name:
+      return prop.value
+  return None
+
+
+def generate_metadata_pkl(model_path, output_path):
+  try:
+    model = onnx.load(str(model_path))
+    output_slices = get_metadata_value_by_name(model, 'output_slices')
+
+    if output_slices:
+      metadata = {
+        'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
+        'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
+        'input_shapes': dict([get_name_and_shape(x) for x in model.graph.input]),
+        'output_shapes': dict([get_name_and_shape(x) for x in model.graph.output])
+      }
+      with open(output_path, 'wb') as f:
+        pickle.dump(metadata, f)
+      return True
+    else:
+      return False
+  except Exception:
+    return False
+
+
+def install_models(model_dir):
+  model_dir = Path(model_dir)
+  models = ["driving_policy", "driving_vision"]
+  found_models = []
+
+  for model in models:
+    if (model_dir / f"{model}.onnx").exists():
+      found_models.append(model)
+
+  if not found_models:
+    return
+
+  try:
+    custom_name = input(f"Found models ({', '.join(found_models)}). Enter model short name (e.g. wmiv4): ").strip()
+  except EOFError:
+    return
+
+  if not custom_name:
+    print("No name provided, skipping installation.")
+    return
+
+  dest_dir = Path(Paths.model_root())
+  dest_dir.mkdir(parents=True, exist_ok=True)
+
+  for model in found_models:
+    onnx_path = model_dir / f"{model}.onnx"
+    tinygrad_pkl = model_dir / f"{model}_tinygrad.pkl"
+    metadata_pkl = model_dir / f"{model}_metadata.pkl"
+
+    if not metadata_pkl.exists():
+      generate_metadata_pkl(onnx_path, metadata_pkl)
+
+    dest_tinygrad = dest_dir / f"{model}_{custom_name}_tinygrad.pkl"
+    dest_metadata = dest_dir / f"{model}_{custom_name}_metadata.pkl"
+
+    if tinygrad_pkl.exists():
+      shutil.move(str(tinygrad_pkl), str(dest_tinygrad))
+    if metadata_pkl.exists():
+      shutil.move(str(metadata_pkl), str(dest_metadata))
+
+if __name__ == "__main__":
+  if len(sys.argv) < 2:
+    print("Usage: install_models_pc.py <model_dir>")
+    sys.exit(1)
+  install_models(sys.argv[1])
diff --git a/sunnypilot/models/runners/helpers.py b/sunnypilot/models/runners/helpers.py
index 6a128b340e4dfe..8f9d8fc2f50d91 100644
--- a/sunnypilot/models/runners/helpers.py
+++ b/sunnypilot/models/runners/helpers.py
@@ -2,25 +2,17 @@
 from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
 from openpilot.sunnypilot.models.runners.tinygrad.tinygrad_runner import TinygradRunner, TinygradSplitRunner
 from openpilot.sunnypilot.models.runners.constants import ModelType
-from openpilot.system.hardware import TICI
 
-if not TICI:
-  from openpilot.sunnypilot.models.runners.onnx.onnx_runner import ONNXRunner
 
 def get_model_runner() -> ModelRunner:
   """
   Factory function to create and return the appropriate ModelRunner instance.
 
-  Selects between ONNXRunner (for non-TICI platforms) and TinygradRunner
-  (for TICI platforms), choosing TinygradSplitRunner if separate vision/policy
+  Selects TinygradRunner, choosing TinygradSplitRunner if separate vision/policy
   models are detected in the active bundle.
 
   :return: An instance of a ModelRunner subclass (ONNXRunner, TinygradRunner, or TinygradSplitRunner).
   """
-  if not TICI:
-    return ONNXRunner()
-
-  # On TICI platforms, use Tinygrad runners
   bundle = get_active_bundle()
   if bundle and bundle.models:
     model_types = {m.type.raw for m in bundle.models}

From 70386c6b00a903deff9a641104911bc6c7ec51a5 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Tue, 30 Dec 2025 23:20:20 -0500
Subject: [PATCH 0674/1434] ui: fix Always Offroad button visibility (#1632)

always offroad button fix
---
 selfdrive/ui/sunnypilot/layouts/settings/device.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/device.py b/selfdrive/ui/sunnypilot/layouts/settings/device.py
index 36c5fdb34260c2..448a4faab61498 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/device.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/device.py
@@ -202,7 +202,7 @@ def _update_state(self):
       self._scroller._items.remove(self._always_offroad_btn)
     if ui_state.is_offroad() and not always_offroad:
       self._scroller._items.insert(len(self._scroller._items) - 1, self._always_offroad_btn)
-    elif not ui_state.is_offroad():
+    else:
       self._scroller._items.insert(0, self._always_offroad_btn)
 
     # Quiet Mode button

From fb8f46cba9dc90af481719945c21eeecef8d6996 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 31 Dec 2025 00:08:36 -0500
Subject: [PATCH 0675/1434] Reimplement sunnypilot Terms of Service & sunnylink
 Consent Screens (#1633)

* tos reimpl

* nah

* simpler

* check consent on sunnylink panel - mici

* slight cleanup

* rename

* keep it off

* decouple

* more rename

* more decouple

* a bit more

* fix state

* decouple more

* a bit more

* wrong type

* rearrange

* don't do that

* final

* lint

* include

* more

---------

Co-authored-by: nayan <nayan8teen@gmail.com>
---
 common/params_keys.h                          |   2 +
 selfdrive/ui/layouts/onboarding.py            |  47 +++++--
 selfdrive/ui/mici/layouts/onboarding.py       |  45 +++++--
 selfdrive/ui/sunnypilot/layouts/onboarding.py | 116 ++++++++++++++++++
 .../sunnypilot/layouts/settings/sunnylink.py  |  34 +++--
 selfdrive/ui/sunnypilot/mici/__init__.py      |   0
 .../ui/sunnypilot/mici/layouts/onboarding.py  |  97 +++++++++++++++
 .../ui/sunnypilot/mici/layouts/sunnylink.py   |  41 +++++--
 selfdrive/ui/tests/diff/replay.py             |   4 +-
 .../ui/tests/test_ui/raylib_screenshots.py    |   4 +-
 sunnypilot/selfdrive/assets/logo.png          |   3 +
 sunnypilot/sunnylink/athena/sunnylinkd.py     |   6 +-
 sunnypilot/sunnylink/params_metadata.json     |   8 ++
 system/hardware/hardwared.py                  |   3 +-
 system/version.py                             |   3 +
 15 files changed, 373 insertions(+), 40 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/layouts/onboarding.py
 create mode 100644 selfdrive/ui/sunnypilot/mici/__init__.py
 create mode 100644 selfdrive/ui/sunnypilot/mici/layouts/onboarding.py
 create mode 100644 sunnypilot/selfdrive/assets/logo.png

diff --git a/common/params_keys.h b/common/params_keys.h
index 89f70471c580ba..054ce97e6d6c16 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -145,6 +145,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CarParamsSPPersistent", {PERSISTENT, BYTES}},
     {"CarPlatformBundle", {PERSISTENT | BACKUP, JSON}},
     {"ChevronInfo", {PERSISTENT | BACKUP, INT, "4"}},
+    {"CompletedSunnylinkConsentVersion", {PERSISTENT, STRING, "0"}},
     {"CustomAccIncrementsEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
     {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
@@ -154,6 +155,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
     {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
+    {"HasAcceptedTermsSP", {PERSISTENT, STRING, "0"}},
     {"HideVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
diff --git a/selfdrive/ui/layouts/onboarding.py b/selfdrive/ui/layouts/onboarding.py
index b19cebb266c4d8..c480a3ed9dc233 100644
--- a/selfdrive/ui/layouts/onboarding.py
+++ b/selfdrive/ui/layouts/onboarding.py
@@ -11,7 +11,9 @@
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
 from openpilot.system.ui.widgets.label import Label
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.version import terms_version, training_version
+from openpilot.system.version import terms_version, training_version, terms_version_sp
+
+from openpilot.selfdrive.ui.sunnypilot.layouts.onboarding import SunnylinkOnboarding
 
 DEBUG = False
 
@@ -33,6 +35,7 @@ class OnboardingState(IntEnum):
   TERMS = 0
   ONBOARDING = 1
   DECLINE = 2
+  SUNNYLINK_CONSENT = 3
 
 
 class TrainingGuide(Widget):
@@ -110,14 +113,14 @@ def __init__(self, on_accept=None, on_decline=None):
     self._on_decline = on_decline
 
     self._title = Label(tr("Welcome to sunnypilot"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
-    self._desc = Label(tr("You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at https://comma.ai/terms before continuing."),
+    self._desc = Label(tr("You must accept the Terms of Service to use sunnypilot. Read the latest terms at https://sunnypilot.ai/terms before continuing."),
                        font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
 
     self._decline_btn = Button(tr("Decline"), click_callback=on_decline)
     self._accept_btn = Button(tr("Agree"), button_style=ButtonStyle.PRIMARY, click_callback=on_accept)
 
   def _render(self, _):
-    welcome_x = self._rect.x + 165
+    welcome_x = self._rect.x + 95
     welcome_y = self._rect.y + 165
     welcome_rect = rl.Rectangle(welcome_x, welcome_y, self._rect.width - welcome_x, 90)
     self._title.render(welcome_rect)
@@ -143,7 +146,7 @@ def _render(self, _):
 class DeclinePage(Widget):
   def __init__(self, back_callback=None):
     super().__init__()
-    self._text = Label(tr("You must accept the Terms and Conditions in order to use sunnypilot."),
+    self._text = Label(tr("You must accept the Terms of Service in order to use sunnypilot."),
                        font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
     self._back_btn = Button(tr("Back"), click_callback=back_callback)
     self._uninstall_btn = Button(tr("Decline, uninstall sunnypilot"), button_style=ButtonStyle.DANGER,
@@ -180,9 +183,21 @@ def __init__(self):
     self._training_guide: TrainingGuide | None = None
     self._decline_page = DeclinePage(back_callback=self._on_decline_back)
 
+    # sunnylink consent pages
+    self._accepted_terms = self._accepted_terms and ui_state.params.get("HasAcceptedTermsSP") == terms_version_sp
+    self._sunnylink = SunnylinkOnboarding()
+    if not self._accepted_terms:
+      self._state = OnboardingState.TERMS
+    elif not self._sunnylink.completed:
+      self._state = OnboardingState.SUNNYLINK_CONSENT
+    elif not self._training_done:
+      self._state = OnboardingState.ONBOARDING
+    else:
+      self._state = OnboardingState.ONBOARDING
+
   @property
   def completed(self) -> bool:
-    return self._accepted_terms and self._training_done
+    return self._accepted_terms and self._sunnylink.completed and self._training_done
 
   def _on_terms_declined(self):
     self._state = OnboardingState.DECLINE
@@ -192,8 +207,12 @@ def _on_decline_back(self):
 
   def _on_terms_accepted(self):
     ui_state.params.put("HasAcceptedTerms", terms_version)
-    self._state = OnboardingState.ONBOARDING
-    if self._training_done:
+    ui_state.params.put("HasAcceptedTermsSP", terms_version_sp)
+    if not self._sunnylink.completed:
+      self._state = OnboardingState.SUNNYLINK_CONSENT
+    elif not self._training_done:
+      self._state = OnboardingState.ONBOARDING
+    else:
       gui_app.set_modal_overlay(None)
 
   def _on_completed_training(self):
@@ -206,8 +225,18 @@ def _render(self, _):
 
     if self._state == OnboardingState.TERMS:
       self._terms.render(self._rect)
-    if self._state == OnboardingState.ONBOARDING:
-      self._training_guide.render(self._rect)
+    elif self._state == OnboardingState.SUNNYLINK_CONSENT:
+      self._sunnylink.render(self._rect)
+      if self._sunnylink.completed:
+        if not self._training_done:
+          self._state = OnboardingState.ONBOARDING
+        else:
+          gui_app.set_modal_overlay(None)
+    elif self._state == OnboardingState.ONBOARDING:
+      if not self._training_done:
+        self._training_guide.render(self._rect)
+      else:
+        gui_app.set_modal_overlay(None)
     elif self._state == OnboardingState.DECLINE:
       self._decline_page.render(self._rect)
     return -1
diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py
index b175a3fd2e2ec4..c7fcd7853049bf 100644
--- a/selfdrive/ui/mici/layouts/onboarding.py
+++ b/selfdrive/ui/mici/layouts/onboarding.py
@@ -17,13 +17,16 @@
 from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog
 from openpilot.system.ui.widgets.label import gui_label
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.version import terms_version, training_version
+from openpilot.system.version import terms_version, training_version, terms_version_sp
+
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkOnboarding
 
 
 class OnboardingState(IntEnum):
   TERMS = 0
   ONBOARDING = 1
   DECLINE = 2
+  SUNNYLINK_CONSENT = 3
 
 
 class DriverCameraSetupDialog(DriverCameraDialog):
@@ -412,10 +415,10 @@ def __init__(self, on_accept=None, on_decline=None):
     super().__init__(on_accept, on_decline, "decline")
 
     info_txt = gui_app.texture("icons_mici/setup/green_info.png", 60, 60)
-    self._title_header = TermsHeader("terms & conditions", info_txt)
+    self._title_header = TermsHeader("terms of service", info_txt)
 
-    self._terms_label = UnifiedLabel("You must accept the Terms and Conditions to use sunnypilot. " +
-                                     "Read the latest terms at https://comma.ai/terms before continuing.", 36,
+    self._terms_label = UnifiedLabel("You must accept the Terms of Service to use sunnypilot. " +
+                                     "Read the latest terms at https://sunnypilot.ai/terms before continuing.", 36,
                                      FontWeight.ROMAN)
 
   @property
@@ -449,6 +452,18 @@ def __init__(self):
     self._training_guide = TrainingGuide(completed_callback=self._on_completed_training)
     self._decline_page = DeclinePage(back_callback=self._on_decline_back)
 
+    # sunnylink consent pages
+    self._accepted_terms = self._accepted_terms and ui_state.params.get("HasAcceptedTermsSP") == terms_version_sp
+    self._sunnylink = SunnylinkOnboarding()
+    if not self._accepted_terms:
+      self._state = OnboardingState.TERMS
+    elif not self._sunnylink.completed:
+      self._state = OnboardingState.SUNNYLINK_CONSENT
+    elif not self._training_done:
+      self._state = OnboardingState.ONBOARDING
+    else:
+      self._state = OnboardingState.ONBOARDING
+
   def show_event(self):
     super().show_event()
     device.set_override_interactive_timeout(300)
@@ -459,7 +474,7 @@ def hide_event(self):
 
   @property
   def completed(self) -> bool:
-    return self._accepted_terms and self._training_done
+    return self._accepted_terms and self._sunnylink.completed and self._training_done
 
   def _on_terms_declined(self):
     self._state = OnboardingState.DECLINE
@@ -473,7 +488,13 @@ def close(self):
 
   def _on_terms_accepted(self):
     ui_state.params.put("HasAcceptedTerms", terms_version)
-    self._state = OnboardingState.ONBOARDING
+    ui_state.params.put("HasAcceptedTermsSP", terms_version_sp)
+    if not self._sunnylink.completed:
+      self._state = OnboardingState.SUNNYLINK_CONSENT
+    elif not self._training_done:
+      self._state = OnboardingState.ONBOARDING
+    else:
+      self.close()
 
   def _on_completed_training(self):
     ui_state.params.put("CompletedTrainingVersion", training_version)
@@ -482,8 +503,18 @@ def _on_completed_training(self):
   def _render(self, _):
     if self._state == OnboardingState.TERMS:
       self._terms.render(self._rect)
+    elif self._state == OnboardingState.SUNNYLINK_CONSENT:
+      self._sunnylink.render(self._rect)
+      if self._sunnylink.completed:
+        if not self._training_done:
+          self._state = OnboardingState.ONBOARDING
+        else:
+          self.close()
     elif self._state == OnboardingState.ONBOARDING:
-      self._training_guide.render(self._rect)
+      if not self._training_done:
+        self._training_guide.render(self._rect)
+      else:
+        self.close()
     elif self._state == OnboardingState.DECLINE:
       self._decline_page.render(self._rect)
     return -1
diff --git a/selfdrive/ui/sunnypilot/layouts/onboarding.py b/selfdrive/ui/sunnypilot/layouts/onboarding.py
new file mode 100644
index 00000000000000..9ba9f07494f780
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/onboarding.py
@@ -0,0 +1,116 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.label import Label
+from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
+
+
+class SunnylinkConsentPage(Widget):
+  def __init__(self, done_callback=None):
+    super().__init__()
+    self._done_callback = done_callback
+    self._step = 0
+
+    self._title = Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
+
+    self._content = [
+      {
+        "text": tr("sunnylink enables secured remote access to your comma device from anywhere, " +
+                   "including settings management, remote monitoring, real-time dashboard, etc."),
+        "primary_btn": tr("Enable"),
+        "secondary_btn": tr("Disable"),
+        "highlight_primary": True
+      },
+      {
+        "text": tr("sunnylink is designed to be enabled as part of sunnypilot's core functionality. " +
+                   "If sunnylink is disabled, features such as settings management, remote monitoring, " +
+                   "real-time dashboards will be unavailable."),
+        "secondary_btn": tr("Back"),
+        "danger_btn": tr("Disable"),
+        "highlight_primary": True
+      }
+    ]
+
+    self._primary_btn = Button("", button_style=ButtonStyle.PRIMARY, click_callback=lambda: self._handle_choice("enable"))
+    self._secondary_btn = Button("", button_style=ButtonStyle.NORMAL, click_callback=lambda: self._handle_choice("secondary"))
+    self._danger_btn = Button("", button_style=ButtonStyle.DANGER, click_callback=lambda: self._handle_choice("disable"))
+
+  def _handle_choice(self, choice):
+    if choice == "enable":
+      ui_state.params.put_bool("SunnylinkEnabled", True)
+      ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
+      if self._done_callback:
+        self._done_callback()
+    elif choice == "secondary":
+      if self._step == 0:
+        self._step = 1
+      elif self._step == 1:
+        self._step = 0
+    elif choice == "disable":
+      ui_state.params.put_bool("SunnylinkEnabled", False)
+      ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined)
+      if self._done_callback:
+        self._done_callback()
+
+  def _render(self, _):
+    step_data = self._content[self._step]
+
+    welcome_x = self._rect.x + 95
+    welcome_y = self._rect.y + 165
+    welcome_rect = rl.Rectangle(welcome_x, welcome_y, self._rect.width - welcome_x, 90)
+    self._title.render(welcome_rect)
+
+    desc_x = welcome_x
+    desc_y = welcome_y + 120
+    desc_rect = rl.Rectangle(desc_x, desc_y, self._rect.width - desc_x, self._rect.height - desc_y - 250)
+
+    desc_label = Label(step_data["text"], font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
+    desc_label.render(desc_rect)
+
+    btn_y = self._rect.y + self._rect.height - 160 - 45
+
+    if "danger_btn" in step_data:
+      btn_width = (self._rect.width - 45 * 3) / 2
+
+      self._secondary_btn.set_text(step_data["secondary_btn"])
+      self._secondary_btn.render(rl.Rectangle(self._rect.x + 45, btn_y, btn_width, 160))
+
+      self._danger_btn.set_text(step_data["danger_btn"])
+      self._danger_btn.render(rl.Rectangle(self._rect.x + 45 * 2 + btn_width, btn_y, btn_width, 160))
+
+    else:
+      btn_width = (self._rect.width - 45 * 3) / 2
+
+      self._secondary_btn.set_text(step_data["secondary_btn"])
+      self._secondary_btn.render(rl.Rectangle(self._rect.x + 45, btn_y, btn_width, 160))
+
+      self._primary_btn.set_text(step_data["primary_btn"])
+      self._primary_btn.render(rl.Rectangle(self._rect.x + 45 * 2 + btn_width, btn_y, btn_width, 160))
+
+    return -1
+
+
+class SunnylinkOnboarding:
+  def __init__(self):
+    self.consent_page = SunnylinkConsentPage(done_callback=self._on_done)
+    self.consent_done: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") in {sunnylink_consent_version, sunnylink_consent_declined}
+
+  @property
+  def completed(self) -> bool:
+    return self.consent_done
+
+  def _on_done(self):
+    self.consent_done = True
+
+  def render(self, rect):
+    if not self.consent_done:
+      self.consent_page.render(rect)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py b/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
index 2b5497fb56c603..00baf0cccf8ca2 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
@@ -4,23 +4,23 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+import pyray as rl
 from cereal import custom
+from openpilot.selfdrive.ui.sunnypilot.layouts.onboarding import SunnylinkConsentPage
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
 from openpilot.system.ui.sunnypilot.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog
+from openpilot.system.ui.widgets import Widget, DialogResult
 from openpilot.system.ui.widgets.button import ButtonStyle, Button
 from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
 from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.system.ui.widgets.list_view import button_item, dual_button_item
+from openpilot.system.ui.widgets.list_view import dual_button_item
 from openpilot.system.ui.widgets.scroller_tici import Scroller, LineSeparator
-from openpilot.system.ui.widgets import Widget, DialogResult
-from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
-import pyray as rl
-
-if gui_app.sunnypilot_ui():
-  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
+from openpilot.system.version import sunnylink_consent_version
 
 
 class SunnylinkHeader(Widget):
@@ -160,14 +160,14 @@ def _initialize_items(self):
     self._sunnylink_description = SunnylinkDescriptionItem()
     self._sunnylink_description.set_visible(False)
 
-    self._sponsor_btn = button_item(
+    self._sponsor_btn = button_item_sp(
       title=tr("Sponsor Status"),
       button_text=tr("SPONSOR"),
       description=tr(
         "Become a sponsor of sunnypilot to get early access to sunnylink features when they become available."),
       callback=lambda: self._handle_pair_btn(False)
     )
-    self._pair_btn = button_item(
+    self._pair_btn = button_item_sp(
       title=tr("Pair GitHub Account"),
       button_text=tr("Not Paired"),
       description=tr(
@@ -302,6 +302,22 @@ def handle_backup_restore_progress(self):
       self._restore_btn.set_text(tr("Restore Settings"))
 
   def _sunnylink_toggle_callback(self, state: bool):
+    sl_consent: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") == sunnylink_consent_version
+    sl_enabled: bool = ui_state.params.get_bool("SunnylinkEnabled")
+
+    if state and not sl_consent and not sl_enabled:
+      def on_consent_done():
+        enabled = ui_state.params.get_bool("SunnylinkEnabled")
+        self._update_description(enabled)
+        gui_app.set_modal_overlay(None)
+
+      sl_terms_dlg = SunnylinkConsentPage(done_callback=on_consent_done)
+      gui_app.set_modal_overlay(sl_terms_dlg)
+    else:
+      ui_state.params.put_bool("SunnylinkEnabled", state)
+      self._update_description(state)
+
+  def _update_description(self, state: bool):
     if state:
       description = tr(
         "Welcome back!! We're excited to see you've enabled sunnylink again!")
diff --git a/selfdrive/ui/sunnypilot/mici/__init__.py b/selfdrive/ui/sunnypilot/mici/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/onboarding.py b/selfdrive/ui/sunnypilot/mici/layouts/onboarding.py
new file mode 100644
index 00000000000000..930853e55cc59a
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/mici/layouts/onboarding.py
@@ -0,0 +1,97 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.slider import SmallSlider
+from openpilot.system.ui.mici_setup import TermsHeader, TermsPage as SetupTermsPage
+from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+
+class SunnylinkConsentPage(SetupTermsPage):
+  def __init__(self, on_accept=None, on_decline=None, left_text: str = "disable", right_text: str = "enable"):
+    super().__init__(on_accept, on_decline, left_text, continue_text=right_text)
+
+    self._title_header = TermsHeader("sunnylink",
+                                     gui_app.texture("../../sunnypilot/selfdrive/assets/logo.png", 66, 60))
+
+    self._terms_label = UnifiedLabel("sunnylink enables secured remote access to your comma device from anywhere, " +
+                                     "including settings management, remote monitoring, real-time dashboard, etc.",
+                                     36, FontWeight.ROMAN)
+
+  @property
+  def _content_height(self):
+    return self._terms_label.rect.y + self._terms_label.rect.height - self._scroll_panel.get_offset()
+
+  def _render(self, _):
+    super()._render(_)
+    return -1
+
+  def _render_content(self, scroll_offset):
+    self._title_header.set_position(self._rect.x + 16, self._rect.y + 12 + scroll_offset)
+    self._title_header.render()
+
+    self._terms_label.render(rl.Rectangle(
+      self._rect.x + 16,
+      self._title_header.rect.y + self._title_header.rect.height + self.ITEM_SPACING,
+      self._rect.width - 100,
+      self._terms_label.get_content_height(int(self._rect.width - 100)),
+    ))
+
+
+class SunnylinkConsentDisableConfirmPage(SunnylinkConsentPage):
+  def __init__(self, on_accept=None, on_decline=None):
+    super().__init__(on_accept=on_decline, on_decline=on_accept, left_text="enable", right_text="disable")
+
+    # we flip the continue & disable buttons to use slider for disable
+    self._continue_slider = True
+    self._continue_button = SmallSlider("disable", confirm_callback=on_decline)
+    self._scroll_panel.set_enabled(lambda: not self._continue_button.is_pressed)
+
+    self._title_header = TermsHeader("disable sunnylink?",
+                                     gui_app.texture("icons_mici/setup/red_warning.png", 66, 60))
+
+    self._terms_label = UnifiedLabel("sunnylink is designed to be enabled as part of sunnypilot's core functionality. " +
+                                     "If sunnylink is disabled, features such as settings management, " +
+                                     "remote monitoring, real-time dashboards will be unavailable.",
+                                     36, FontWeight.ROMAN)
+
+
+class SunnylinkOnboarding:
+  def __init__(self):
+    self.consent_done: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") in {sunnylink_consent_version, sunnylink_consent_declined}
+    self.disable_confirm = False
+
+    self.consent_page = SunnylinkConsentPage(on_decline=self._on_decline, on_accept=self._on_accept)
+    self.confirm_page = SunnylinkConsentDisableConfirmPage(on_decline=self._on_confirm_decline, on_accept=self._on_accept)
+
+  @property
+  def completed(self) -> bool:
+    return self.consent_done
+
+  def _on_accept(self):
+    ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
+    ui_state.params.put_bool("SunnylinkEnabled", True)
+    self.consent_done = True
+
+  def _on_decline(self):
+    self.disable_confirm = True
+
+  def _on_confirm_decline(self):
+    ui_state.params.put_bool("SunnylinkEnabled", False)
+    ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined)
+    self.consent_done = True
+
+  def render(self, rect):
+    if self.consent_done:
+      return
+
+    if self.disable_confirm:
+      self.confirm_page.render(rect)
+    else:
+      self.consent_page.render(rect)
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py b/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
index 2ab035c1cfced3..172ef7d2f8b3d0 100644
--- a/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
+++ b/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
@@ -8,16 +8,17 @@
 
 import pyray as rl
 from cereal import custom
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialogV2
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkConsentPage
 from openpilot.selfdrive.ui.sunnypilot.mici.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog
+from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
-from openpilot.system.ui.lib.multilang import tr
-
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle
 from openpilot.system.ui.lib.application import gui_app, MousePos
+from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import NavWidget
-from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
 
 
 class SunnylinkLayoutMici(NavWidget):
@@ -28,9 +29,9 @@ def __init__(self, back_callback: Callable):
     self._backup_in_progress = False
     self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled")
 
-    self._sunnylink_toggle = BigToggle(text="",
+    self._sunnylink_toggle = BigToggle(text=tr("enable sunnylink"),
                                        initial_state=self._sunnylink_enabled,
-                                       toggle_callback=SunnylinkLayoutMici._sunnylink_toggle_callback)
+                                       toggle_callback=self._sunnylink_toggle_callback)
     self._sunnylink_sponsor_button = SunnylinkPairBigButton(sponsor_pairing=False)
     self._sunnylink_pair_button = SunnylinkPairBigButton(sponsor_pairing=True)
     self._backup_btn = BigButton(tr("backup settings"), "", "")
@@ -38,7 +39,7 @@ def __init__(self, back_callback: Callable):
     self._restore_btn = BigButton(tr("restore settings"), "", "")
     self._restore_btn.set_click_callback(lambda: self._handle_backup_restore_btn(restore=True))
     self._sunnylink_uploader_toggle = BigToggle(text=tr("sunnylink uploader"), initial_state=False,
-                                                toggle_callback=SunnylinkLayoutMici._sunnylink_uploader_callback)
+                                                toggle_callback=self._sunnylink_uploader_callback)
 
     self._scroller = Scroller([
       self._sunnylink_toggle,
@@ -51,8 +52,8 @@ def __init__(self, back_callback: Callable):
 
   def _update_state(self):
     super()._update_state()
-    self._sunnylink_enabled = ui_state.sunnylink_enabled
-    self._sunnylink_toggle.set_text(tr("enable sunnylink"))
+    self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled")
+    self._sunnylink_toggle.set_checked(self._sunnylink_enabled)
     self._sunnylink_pair_button.set_visible(self._sunnylink_enabled)
     self._sunnylink_sponsor_button.set_visible(self._sunnylink_enabled)
     self._backup_btn.set_visible(self._sunnylink_enabled)
@@ -83,7 +84,25 @@ def _render(self, rect: rl.Rectangle):
 
   @staticmethod
   def _sunnylink_toggle_callback(state: bool):
-    ui_state.params.put_bool("SunnylinkEnabled", state)
+    sl_consent: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") == sunnylink_consent_version
+    sl_enabled: bool = ui_state.params.get("SunnylinkEnabled")
+
+    def sl_terms_accepted():
+      ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
+      ui_state.params.put_bool("SunnylinkEnabled", True)
+      gui_app.set_modal_overlay(None)
+
+    def sl_terms_declined():
+      ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined)
+      ui_state.params.put_bool("SunnylinkEnabled", False)
+      gui_app.set_modal_overlay(None)
+
+    if state and not sl_consent and not sl_enabled:
+      sl_terms_dlg = SunnylinkConsentPage(on_accept=sl_terms_accepted, on_decline=sl_terms_declined)
+      gui_app.set_modal_overlay(sl_terms_dlg)
+    else:
+      ui_state.params.put_bool("SunnylinkEnabled", state)
+
     ui_state.update_params()
 
   @staticmethod
diff --git a/selfdrive/ui/tests/diff/replay.py b/selfdrive/ui/tests/diff/replay.py
index 9da157660e6cf0..ce24bf9190840f 100755
--- a/selfdrive/ui/tests/diff/replay.py
+++ b/selfdrive/ui/tests/diff/replay.py
@@ -13,7 +13,7 @@
 os.environ["RECORD_OUTPUT"] = os.path.join(DIFF_OUT_DIR, os.environ["RECORD_OUTPUT"])
 
 from openpilot.common.params import Params
-from openpilot.system.version import terms_version, training_version
+from openpilot.system.version import terms_version, training_version, terms_version_sp, sunnylink_consent_version
 from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
@@ -45,6 +45,8 @@ def setup_state():
   params.put("CompletedTrainingVersion", training_version)
   params.put("DongleId", "test123456789")
   params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30")
+  params.put("HasAcceptedTermsSP", terms_version_sp)
+  params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
   return None
 
 
diff --git a/selfdrive/ui/tests/test_ui/raylib_screenshots.py b/selfdrive/ui/tests/test_ui/raylib_screenshots.py
index e209ab8060c84b..cd27b1c12f594e 100755
--- a/selfdrive/ui/tests/test_ui/raylib_screenshots.py
+++ b/selfdrive/ui/tests/test_ui/raylib_screenshots.py
@@ -18,7 +18,7 @@
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.system.updated.updated import parse_release_notes
-from openpilot.system.version import terms_version, training_version
+from openpilot.system.version import terms_version, training_version, terms_version_sp, sunnylink_consent_version
 
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
@@ -378,6 +378,8 @@ def create_screenshots():
       # Set terms and training version (to skip onboarding)
       params.put("HasAcceptedTerms", terms_version)
       params.put("CompletedTrainingVersion", training_version)
+      params.put("HasAcceptedTermsSP", terms_version_sp)
+      params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
 
       if name == "homescreen_paired":
         params.put("PrimeType", 0)  # NONE
diff --git a/sunnypilot/selfdrive/assets/logo.png b/sunnypilot/selfdrive/assets/logo.png
new file mode 100644
index 00000000000000..690cf7fb7028c1
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/logo.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66b3aefa108dd0c7f64205a11e424430c318e6fd06de31b5550d0b9d05616e6a
+size 19035
diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index d1a03778c6de80..73fa42e71431b8 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -42,10 +42,14 @@
 
 params = Params()
 
-# Parameters that should never be remotely modified for security reasons
+# Parameters that should never be remotely modified
 BLOCKED_PARAMS = {
+  "CompletedSunnylinkConsentVersion",
+  "CompletedTrainingVersion",
   "GithubUsername",  # Could grant SSH access
   "GithubSshKeys",   # Direct SSH key injection
+  "HasAcceptedTerms",
+  "HasAcceptedTermsSP",
 }
 
 
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index f335457fb5dea7..95a143ea667b2b 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -165,6 +165,10 @@
     "title": "Chevron Info",
     "description": ""
   },
+  "CompletedSunnylinkConsentVersion": {
+    "title": "Completed sunnylink Consent Version",
+    "description": ""
+  },
   "CompletedTrainingVersion": {
     "title": "Completed Training Version",
     "description": ""
@@ -349,6 +353,10 @@
     "title": "Has Accepted Terms",
     "description": ""
   },
+  "HasAcceptedTermsSP": {
+    "title": "Has Accepted sunnypilot Terms",
+    "description": ""
+  },
   "HideVEgoUI": {
     "title": "Hide vEgo UI",
     "description": ""
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 1d1893a8c51906..1179914d0d2927 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -23,7 +23,7 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.power_monitoring import PowerMonitoring
 from openpilot.system.hardware.fan_controller import TiciFanController
-from openpilot.system.version import terms_version, training_version, get_build_metadata
+from openpilot.system.version import terms_version, training_version, get_build_metadata, terms_version_sp
 
 ThermalStatus = log.DeviceState.ThermalStatus
 NetworkType = log.DeviceState.NetworkType
@@ -310,6 +310,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     startup_conditions["no_excessive_actuation"] = params.get("Offroad_ExcessiveActuation") is None
     startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall")
     startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version
+    startup_conditions["accepted_terms_sp"] = params.get("HasAcceptedTermsSP") == terms_version_sp
 
     # with 2% left, we killall, otherwise the phone will take a long time to boot
     startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2
diff --git a/system/version.py b/system/version.py
index 8a0e2da3e297f5..ae6ac1b13abaec 100755
--- a/system/version.py
+++ b/system/version.py
@@ -30,6 +30,9 @@
 
 training_version: str = "0.2.0"
 terms_version: str = "2"
+terms_version_sp: str = "1.0"
+sunnylink_consent_version: str = "1.0"
+sunnylink_consent_declined: str = "-1"
 
 
 def get_version(path: str = BASEDIR) -> str:

From 19a7d1d5d71a857d942835e27ee195c09cc54414 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Tue, 30 Dec 2025 22:27:53 -0700
Subject: [PATCH 0676/1434] [TIZI/TICI] ui: update dmoji position and Developer
 UI adjustments (#1601)

* ui: improve layout and centering of bottom developer UI elements

* int

* less is more, y'all

* always show actual lat for all cars

* lint

* perfect

* cleanup

* too long

* inherit

* remove unused

* inir

* need to fix

* final

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/onroad/augmented_road_view.py    |  1 +
 .../onroad/developer_ui/__init__.py           | 51 +++++++++++++------
 .../onroad/developer_ui/elements.py           | 21 ++++++++
 .../ui/sunnypilot/onroad/driver_state.py      | 49 ++++++++++++++++++
 4 files changed, 107 insertions(+), 15 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/onroad/driver_state.py

diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py
index 1d66379f934116..a1d10193a8ec89 100644
--- a/selfdrive/ui/onroad/augmented_road_view.py
+++ b/selfdrive/ui/onroad/augmented_road_view.py
@@ -16,6 +16,7 @@
 
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer
+  from openpilot.selfdrive.ui.sunnypilot.onroad.driver_state import DriverStateRendererSP as DriverStateRenderer
 
 from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP
 
diff --git a/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py b/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
index 14a224ae775970..441a169d23bbee 100644
--- a/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
+++ b/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
@@ -22,6 +22,7 @@ class DeveloperUiRenderer(Widget):
   DEV_UI_RIGHT = 1
   DEV_UI_BOTTOM = 2
   DEV_UI_BOTH = 3
+  BOTTOM_BAR_HEIGHT = 61
 
   def __init__(self):
     super().__init__()
@@ -43,6 +44,12 @@ def __init__(self):
     self.bearing_elem = BearingDegElement()
     self.altitude_elem = AltitudeElement()
 
+  @staticmethod
+  def get_bottom_dev_ui_offset():
+    if ui_state.developer_ui in (DeveloperUiRenderer.DEV_UI_BOTTOM, DeveloperUiRenderer.DEV_UI_BOTH):
+      return DeveloperUiRenderer.BOTTOM_BAR_HEIGHT
+    return 0
+
   def _update_state(self) -> None:
     self.dev_ui_mode = ui_state.developer_ui
 
@@ -78,10 +85,11 @@ def _draw_right_dev_ui(self, rect: rl.Rectangle) -> None:
     ]
     if controls_state.lateralControlState.which() == 'torqueState':
       elements.append(self.desired_lat_accel_elem.update(sm, ui_state.is_metric))
-      elements.append(self.actual_lat_accel_elem.update(sm, ui_state.is_metric))
     else:
       elements.append(self.desired_steer_elem.update(sm, ui_state.is_metric))
 
+    elements.append(self.actual_lat_accel_elem.update(sm, ui_state.is_metric))
+
     current_y = y
     for element in elements:
       current_y += self._draw_right_dev_ui_element(x, current_y, element)
@@ -105,7 +113,7 @@ def _draw_right_dev_ui_element(self, x: int, y: int, element: UiElement) -> int:
     if element.unit:
       units_height = measure_text_cached(self._font_bold, element.unit, unit_size, 0).x
 
-      units_x = x + container_width - 10
+      units_x = x + container_width
       units_y = y + (value_size / 2) + (units_height / 2)
 
       rl.draw_text_pro(self._font_bold, element.unit, rl.Vector2(units_x, units_y), rl.Vector2(0, 0), -90.0, unit_size, 0, rl.WHITE)
@@ -143,22 +151,35 @@ def _draw_bottom_dev_ui(self, rect: rl.Rectangle) -> None:
     if sm.valid['gpsLocationExternal'] or sm.valid['gpsLocation']:
       elements.append(self.altitude_elem.update(sm, ui_state.is_metric))
 
-    current_x = int(rect.x + 90)
-    center_y = y + bar_height // 2
-    for element in elements:
-      current_x += self._draw_bottom_dev_ui_element(current_x, center_y, element)
+    if not elements:
+      return
 
-  def _draw_bottom_dev_ui_element(self, x: int, y: int, element: UiElement) -> int:
     font_size = 38
+    element_widths = []
+    for element in elements:
+      element.measure(self._font_bold, font_size)
+      element_widths.append(element.total_width)
 
-    label_text = f"{element.label} "
-    label_width = measure_text_cached(self._font_bold, label_text, font_size, 0).x
-    rl.draw_text_ex(self._font_bold, label_text, rl.Vector2(x, y - font_size // 2), font_size, 0, rl.WHITE)
+    total_element_width = sum(element_widths)
+    num_gaps = len(elements) + 1
+    available_width = rect.width
+    gap_width = (available_width - total_element_width) / num_gaps
 
-    value_width = measure_text_cached(self._font_bold, element.value, font_size, 0).x
-    rl.draw_text_ex(self._font_bold, element.value, rl.Vector2(x + label_width + 10, y - font_size // 2), font_size, 0, element.color)
+    center_y = y + bar_height // 2
+    current_x = rect.x + gap_width
 
-    if element.unit:
-      rl.draw_text_ex(self._font_bold, element.unit, rl.Vector2(x + label_width + value_width + 20, y - font_size // 2), font_size, 0, rl.WHITE)
+    for i, element in enumerate(elements):
+      element_center_x = int(current_x + element_widths[i] / 2)
+      self._draw_bottom_dev_ui_element(element_center_x, center_y, element)
+      current_x += element_widths[i] + gap_width
+
+  def _draw_bottom_dev_ui_element(self, center_x: int, y: int, element: UiElement) -> None:
+    font_size = 38
+    start_x = center_x - element.total_width / 2
+
+    rl.draw_text_ex(self._font_bold, element.label_text, rl.Vector2(start_x, y - font_size // 2), font_size, 0, rl.WHITE)
+    rl.draw_text_ex(self._font_bold, element.val_text, rl.Vector2(start_x + element.label_width, y - font_size // 2), font_size, 0, element.color)
 
-    return 400
+    if element.unit:
+      rl.draw_text_ex(self._font_bold, element.unit_text, rl.Vector2(start_x + element.label_width + element.val_width, y - font_size // 2),
+                      font_size, 0, rl.WHITE)
diff --git a/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py b/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
index e8daca88687fdd..652469bddd2085 100644
--- a/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
+++ b/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
@@ -10,12 +10,33 @@
 from openpilot.common.constants import CV
 
 
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+
+
 @dataclass
 class UiElement:
   value: str
   label: str
   unit: str
   color: rl.Color
+  val_text: str = ""
+  label_text: str = ""
+  unit_text: str = ""
+  val_width: float = 0.0
+  label_width: float = 0.0
+  unit_width: float = 0.0
+  total_width: float = 0.0
+
+  def measure(self, font, font_size: int):
+    self.label_text = f"{self.label} "
+    self.val_text = self.value
+    self.unit_text = f" {self.unit}" if self.unit else ""
+
+    self.label_width = measure_text_cached(font, self.label_text, font_size, 0).x
+    self.val_width = measure_text_cached(font, self.val_text, font_size, 0).x
+    self.unit_width = measure_text_cached(font, self.unit_text, font_size, 0).x if self.unit else 0
+
+    self.total_width = self.label_width + self.val_width + self.unit_width
 
 
 class LeadInfoElement:
diff --git a/selfdrive/ui/sunnypilot/onroad/driver_state.py b/selfdrive/ui/sunnypilot/onroad/driver_state.py
new file mode 100644
index 00000000000000..4f2d264ee27b01
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/driver_state.py
@@ -0,0 +1,49 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import numpy as np
+
+from openpilot.selfdrive.ui import UI_BORDER_SIZE
+from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer, BTN_SIZE, ARC_LENGTH
+from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer
+
+
+class DriverStateRendererSP(DriverStateRenderer):
+  def __init__(self):
+    super().__init__()
+    self.dev_ui_offset = DeveloperUiRenderer.get_bottom_dev_ui_offset()
+
+  def _pre_calculate_drawing_elements(self):
+    """Pre-calculate all drawing elements based on the current rectangle"""
+    # Calculate icon position (bottom-left or bottom-right)
+    width, height = self._rect.width, self._rect.height
+    offset = UI_BORDER_SIZE + BTN_SIZE // 2
+    self.position_x = self._rect.x + (width - offset if self.is_rhd else offset)
+    self.position_y = self._rect.y + height - offset - self.dev_ui_offset
+
+    # Pre-calculate the face lines positions
+    positioned_keypoints = self.face_keypoints_transformed + np.array([self.position_x, self.position_y])
+    for i in range(len(positioned_keypoints)):
+      self.face_lines[i].x = positioned_keypoints[i][0]
+      self.face_lines[i].y = positioned_keypoints[i][1]
+
+    # Calculate arc dimensions based on head rotation
+    delta_x = -self.driver_pose_sins[1] * ARC_LENGTH / 2.0  # Horizontal movement
+    delta_y = -self.driver_pose_sins[0] * ARC_LENGTH / 2.0  # Vertical movement
+
+    # Horizontal arc
+    h_width = abs(delta_x)
+    self.h_arc_data = self._calculate_arc_data(
+      delta_x, h_width, self.position_x, self.position_y - ARC_LENGTH / 2,
+      self.driver_pose_sins[1], self.driver_pose_diff[1], is_horizontal=True
+    )
+
+    # Vertical arc
+    v_height = abs(delta_y)
+    self.v_arc_data = self._calculate_arc_data(
+      delta_y, v_height, self.position_x - ARC_LENGTH / 2, self.position_y,
+      self.driver_pose_sins[0], self.driver_pose_diff[0], is_horizontal=False
+    )

From a30fc9bcd2d044e3f11b102fc443da5d15a7d314 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Thu, 1 Jan 2026 12:23:01 -0700
Subject: [PATCH 0677/1434] modeld: configurable camera offset (#1614)

* modeld: configurable camera offset

Negative Values: Shears the image to the left, moving the models center to the Right.

Positive Value: Shears the image to the right, moving the models center to the Left.

* modeld: camera offset class

* verify zero offset I @ A = A

* slithered and slunked

* Update params_metadata.json

* wait

* Update model_renderer.py

* Update model_renderer.py

* requested changes

* stricter

* Update model_renderer.py

* more

* return default

* Update params_metadata.json

* final

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/params_keys.h                          |  1 +
 selfdrive/ui/mici/onroad/model_renderer.py    | 15 +++-
 selfdrive/ui/onroad/model_renderer.py         | 15 ++--
 selfdrive/ui/sunnypilot/ui_state.py           |  1 +
 sunnypilot/modeld/modeld.py                   |  4 +
 sunnypilot/modeld_v2/camera_offset_helper.py  | 39 +++++++++
 sunnypilot/modeld_v2/modeld.py                |  7 +-
 .../tests/test_camera_offset_helper.py        | 84 +++++++++++++++++++
 sunnypilot/sunnylink/params_metadata.json     |  7 ++
 9 files changed, 162 insertions(+), 11 deletions(-)
 create mode 100644 sunnypilot/modeld_v2/camera_offset_helper.py
 create mode 100644 sunnypilot/modeld_v2/tests/test_camera_offset_helper.py

diff --git a/common/params_keys.h b/common/params_keys.h
index 054ce97e6d6c16..a559d411e4ce03 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -221,6 +221,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // sunnypilot model params
+    {"CameraOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
     {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
     {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
diff --git a/selfdrive/ui/mici/onroad/model_renderer.py b/selfdrive/ui/mici/onroad/model_renderer.py
index db316aa6363a94..0908de0bf4e8df 100644
--- a/selfdrive/ui/mici/onroad/model_renderer.py
+++ b/selfdrive/ui/mici/onroad/model_renderer.py
@@ -80,6 +80,9 @@ def __init__(self):
     self._transform_dirty = True
     self._clip_region = None
 
+    self._counter = -1
+    self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
+
     self._exp_gradient = Gradient(
       start=(0.0, 1.0),  # Bottom of path
       end=(0.0, 0.0),  # Top of path
@@ -99,6 +102,10 @@ def set_transform(self, transform: np.ndarray):
   def _render(self, rect: rl.Rectangle):
     sm = ui_state.sm
 
+    if self._counter % 180 == 0:  # This runs at 60fps, so we query every 3 seconds
+      self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
+    self._counter += 1
+
     self._torque_filter.update(-ui_state.sm['carOutput'].actuatorsOutput.torque)
 
     # Check if data is up-to-date
@@ -150,13 +157,13 @@ def _render(self, rect: rl.Rectangle):
 
   def _update_raw_points(self, model):
     """Update raw 3D points from model data"""
-    self._path.raw_points = np.array([model.position.x, model.position.y, model.position.z], dtype=np.float32).T
+    self._path.raw_points = np.array([model.position.x, np.array(model.position.y) + self._camera_offset, model.position.z], dtype=np.float32).T
 
     for i, lane_line in enumerate(model.laneLines):
-      self._lane_lines[i].raw_points = np.array([lane_line.x, lane_line.y, lane_line.z], dtype=np.float32).T
+      self._lane_lines[i].raw_points = np.array([lane_line.x, np.array(lane_line.y) + self._camera_offset, lane_line.z], dtype=np.float32).T
 
     for i, road_edge in enumerate(model.roadEdges):
-      self._road_edges[i].raw_points = np.array([road_edge.x, road_edge.y, road_edge.z], dtype=np.float32).T
+      self._road_edges[i].raw_points = np.array([road_edge.x, np.array(road_edge.y) + self._camera_offset, road_edge.z], dtype=np.float32).T
 
     self._lane_line_probs = np.array(model.laneLineProbs, dtype=np.float32)
     self._road_edge_stds = np.array(model.roadEdgeStds, dtype=np.float32)
@@ -174,7 +181,7 @@ def _update_leads(self, radar_state, path_x_array):
 
         # Get z-coordinate from path at the lead vehicle position
         z = self._path.raw_points[idx, 2] if idx < len(self._path.raw_points) else 0.0
-        point = self._map_to_screen(d_rel, -y_rel, z + self._path_offset_z)
+        point = self._map_to_screen(d_rel, -y_rel + self._camera_offset, z + self._path_offset_z)
         if point:
           self._lead_vehicles[i] = self._update_lead_vehicle(d_rel, v_rel, point, self._rect)
 
diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py
index cae97653412a1e..353cc5aa40c71c 100644
--- a/selfdrive/ui/onroad/model_renderer.py
+++ b/selfdrive/ui/onroad/model_renderer.py
@@ -56,7 +56,8 @@ def __init__(self):
     self._road_edge_stds = np.zeros(2, dtype=np.float32)
     self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
     self._path_offset_z = HEIGHT_INIT[0]
-
+    self._counter = -1
+    self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
     # Initialize ModelPoints objects
     self._path = ModelPoints()
     self._lane_lines = [ModelPoints() for _ in range(4)]
@@ -103,6 +104,10 @@ def _render(self, rect: rl.Rectangle):
     live_calib = sm['liveCalibration']
     self._path_offset_z = live_calib.height[0] if live_calib.height else HEIGHT_INIT[0]
 
+    if self._counter % 60 == 0:
+      self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
+    self._counter += 1
+
     if sm.updated['carParams']:
       self._longitudinal_control = sm['carParams'].openpilotLongitudinalControl
 
@@ -136,13 +141,13 @@ def _render(self, rect: rl.Rectangle):
 
   def _update_raw_points(self, model):
     """Update raw 3D points from model data"""
-    self._path.raw_points = np.array([model.position.x, model.position.y, model.position.z], dtype=np.float32).T
+    self._path.raw_points = np.array([model.position.x, np.array(model.position.y) + self._camera_offset, model.position.z], dtype=np.float32).T
 
     for i, lane_line in enumerate(model.laneLines):
-      self._lane_lines[i].raw_points = np.array([lane_line.x, lane_line.y, lane_line.z], dtype=np.float32).T
+      self._lane_lines[i].raw_points = np.array([lane_line.x, np.array(lane_line.y) + self._camera_offset, lane_line.z], dtype=np.float32).T
 
     for i, road_edge in enumerate(model.roadEdges):
-      self._road_edges[i].raw_points = np.array([road_edge.x, road_edge.y, road_edge.z], dtype=np.float32).T
+      self._road_edges[i].raw_points = np.array([road_edge.x, np.array(road_edge.y) + self._camera_offset, road_edge.z], dtype=np.float32).T
 
     self._lane_line_probs = np.array(model.laneLineProbs, dtype=np.float32)
     self._road_edge_stds = np.array(model.roadEdgeStds, dtype=np.float32)
@@ -160,7 +165,7 @@ def _update_leads(self, radar_state, path_x_array):
 
         # Get z-coordinate from path at the lead vehicle position
         z = self._path.raw_points[idx, 2] if idx < len(self._path.raw_points) else 0.0
-        point = self._map_to_screen(d_rel, -y_rel, z + self._path_offset_z)
+        point = self._map_to_screen(d_rel, -y_rel + self._camera_offset, z + self._path_offset_z)
         if point:
           self._lead_vehicles[i] = self._update_lead_vehicle(d_rel, v_rel, point, self._rect)
 
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index ca8125512adcf0..21ed78b0968a69 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -73,6 +73,7 @@ def update_params(self) -> None:
     self.developer_ui = self.params.get("DevUIInfo")
     self.rainbow_path = self.params.get_bool("RainbowMode")
     self.chevron_metrics = self.params.get("ChevronInfo")
+    self.active_bundle = self.params.get("ModelManager_ActiveBundle")
 
 
 class DeviceSP:
diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
index 3d11ed23f485f7..b36aea405ae471 100755
--- a/sunnypilot/modeld/modeld.py
+++ b/sunnypilot/modeld/modeld.py
@@ -24,6 +24,7 @@
 from openpilot.sunnypilot.modeld.runners import ModelRunner, Runtime
 from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
 from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
+from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
 from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
 from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants
 from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
@@ -195,6 +196,7 @@ def main(demo=False):
   buf_main, buf_extra = None, None
   meta_main = FrameMeta()
   meta_extra = FrameMeta()
+  camera_offset_helper = CameraOffsetHelper()
 
 
   if demo:
@@ -250,12 +252,14 @@ def main(demo=False):
     frame_id = sm["roadCameraState"].frameId
     if sm.frame % 60 == 0:
       model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
+      camera_offset_helper.set_offset(params.get("CameraOffset", return_default=True))
     lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
       model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
       model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
+      model_transform_main, model_transform_extra = camera_offset_helper.update(model_transform_main, model_transform_extra, sm, main_wide_camera)
       live_calib_seen = True
 
     traffic_convention = np.zeros(2)
diff --git a/sunnypilot/modeld_v2/camera_offset_helper.py b/sunnypilot/modeld_v2/camera_offset_helper.py
new file mode 100644
index 00000000000000..7502c3eeb09bfb
--- /dev/null
+++ b/sunnypilot/modeld_v2/camera_offset_helper.py
@@ -0,0 +1,39 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import numpy as np
+
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+
+
+class CameraOffsetHelper:
+  def __init__(self):
+    self.camera_offset = 0.0
+    self.actual_camera_offset = 0.0
+
+  @staticmethod
+  def apply_camera_offset(model_transform, intrinsics, height, offset_param):
+    cy = intrinsics[1, 2]
+    shear = np.eye(3, dtype=np.float32)
+    shear[0, 1] = offset_param / height
+    shear[0, 2] = -offset_param / height * cy
+    model_transform = (shear @ model_transform).astype(np.float32)
+    return model_transform
+
+  def set_offset(self, offset):
+    self.camera_offset = offset
+
+  def update(self, model_transform_main, model_transform_extra, sm, main_wide_camera):
+    self.actual_camera_offset = (0.9 * self.actual_camera_offset) + (0.1 * self.camera_offset)
+    dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
+    height = sm["liveCalibration"].height[0] if sm['liveCalibration'].height else 1.22
+
+    intrinsics_main = dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics
+    model_transform_main = self.apply_camera_offset(model_transform_main, intrinsics_main, height, self.actual_camera_offset)
+
+    intrinsics_extra = dc.ecam.intrinsics
+    model_transform_extra = self.apply_camera_offset(model_transform_extra, intrinsics_extra, height, self.actual_camera_offset)
+    return model_transform_main, model_transform_extra
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index b3b1d35fd999b0..be0724db0df692 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -21,6 +21,7 @@
 from openpilot.sunnypilot.modeld_v2.constants import Plan
 from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLContext
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
+from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
 
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
@@ -230,6 +231,7 @@ def main(demo=False):
   buf_main, buf_extra = None, None
   meta_main = FrameMeta()
   meta_extra = FrameMeta()
+  camera_offset_helper = CameraOffsetHelper()
 
 
   if demo:
@@ -285,13 +287,14 @@ def main(demo=False):
     if sm.frame % 60 == 0:
       model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
       model.PLANPLUS_CONTROL = params.get("PlanplusControl", return_default=True)
+      camera_offset_helper.set_offset(params.get("CameraOffset", return_default=True))
     lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
-      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics,
-                                             False).astype(np.float32)
+      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
       model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
+      model_transform_main, model_transform_extra = camera_offset_helper.update(model_transform_main, model_transform_extra, sm, main_wide_camera)
       live_calib_seen = True
 
     traffic_convention = np.zeros(2)
diff --git a/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py b/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py
new file mode 100644
index 00000000000000..f25bcd0a35e9fd
--- /dev/null
+++ b/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py
@@ -0,0 +1,84 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import numpy as np
+
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.common.transformations.model import get_warp_matrix
+from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
+
+
+class MockStruct:
+  def __init__(self, **kwargs):
+    for k, v in kwargs.items():
+      setattr(self, k, v)
+
+  def __getitem__(self, item):
+    return getattr(self, item)
+
+
+class TestCameraOffset:
+  def setup_method(self):
+    self.camera_offset = CameraOffsetHelper()
+    self.dc = DEVICE_CAMERAS[('mici', 'os04c10')]
+
+  def test_smoothing(self):
+    self.camera_offset.set_offset(0.2)
+
+    sm = MockStruct(
+      deviceState=MockStruct(deviceType='mici'),
+      roadCameraState=MockStruct(sensor='os04c10'),
+      liveCalibration=MockStruct(rpyCalib=[0.0, 0.0, 0.0], height=[1.22])
+    )
+
+    intrinsics_main = self.dc.fcam.intrinsics
+    intrinsics_extra = self.dc.ecam.intrinsics
+    device_from_calib_euler = np.array([0.0, 0.0, 0.0], dtype=np.float32)
+    main_transform = get_warp_matrix(device_from_calib_euler, intrinsics_main, False).astype(np.float32)
+    extra_transform = get_warp_matrix(device_from_calib_euler, intrinsics_extra, True).astype(np.float32)
+
+    self.camera_offset.update(main_transform, extra_transform, sm, False)
+    np.testing.assert_almost_equal(self.camera_offset.actual_camera_offset, 0.02)
+    self.camera_offset.update(main_transform, extra_transform, sm, False)
+    np.testing.assert_almost_equal(self.camera_offset.actual_camera_offset, 0.038)
+
+  def test_camera_offset_(self):
+    intrinsics = self.dc.fcam.intrinsics
+    transform = np.eye(3, dtype=np.float32)
+    height = 1.22
+    offset = 0.1
+
+    cy = intrinsics[1, 2]
+    expected_shear = np.eye(3, dtype=np.float32)
+    expected_shear[0, 1] = offset / height
+    expected_shear[0, 2] = -offset / height * cy
+
+    result = CameraOffsetHelper.apply_camera_offset(transform, intrinsics, height, offset)
+    np.testing.assert_array_almost_equal(result, expected_shear)
+
+  def test_update(self):
+    sm = MockStruct(
+      deviceState=MockStruct(deviceType='mici'),
+      roadCameraState=MockStruct(sensor='os04c10'),
+      liveCalibration=MockStruct(rpyCalib=[0.0, 0.0, 0.0], height=[1.22])
+    )
+    intrinsics_main = self.dc.fcam.intrinsics
+    intrinsics_extra = self.dc.ecam.intrinsics
+    device_from_calib_euler = np.array([0.0, 0.0, 0.0], dtype=np.float32)
+    main_transform = get_warp_matrix(device_from_calib_euler, intrinsics_main, False).astype(np.float32)
+    extra_transform = get_warp_matrix(device_from_calib_euler, intrinsics_extra, True).astype(np.float32)
+
+    self.camera_offset.set_offset(0.0)  # test default offset doesn't change transformation
+    main_out, extra_out = self.camera_offset.update(main_transform, extra_transform, sm, False)
+    np.testing.assert_array_equal(main_out, main_transform)
+    np.testing.assert_array_equal(extra_out, extra_transform)
+
+    self.camera_offset.set_offset(0.2)  # test valid offset changes transformation
+    main_out, extra_out = self.camera_offset.update(main_transform, extra_transform, sm, False)
+    assert not np.array_equal(main_out, main_transform)
+    assert not np.array_equal(extra_out, extra_transform)
+    assert main_out[0, 1] != 0.0
+    assert main_out[0, 2] != 0.0
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index 95a143ea667b2b..cccf98d7968b3e 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -121,6 +121,13 @@
     "title": "Camera Debug Exp Time",
     "description": ""
   },
+  "CameraOffset": {
+    "title": "Adjust Camera Offset on non Default Model",
+    "description": "Adjust this to center the car in its lane by virtually shifting the camera's perspective. Negative Values: Shears the image to the left, moving the model's center to the Right; Positive Values: Shears the image to the right, moving the model's center to the Left. Note: these values are in meters.",
+    "min": -0.35,
+    "max": 0.35,
+    "step": 0.01
+  },
   "CarBatteryCapacity": {
     "title": "Car Battery Capacity",
     "description": ""

From 50b8ae9e09b2e5a428ff2b45d8c062a700602d26 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sat, 3 Jan 2026 08:35:02 -0500
Subject: [PATCH 0678/1434] sunnylink: update params metadata (#1636)

* sunnylink model controls

* cleanup more controls

* update verbiage

Co-authored-by: DevTekVE <devtekve@gmail.com>

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 sunnypilot/sunnylink/params_metadata.json | 67 ++++++++++++-----------
 1 file changed, 35 insertions(+), 32 deletions(-)

diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index cccf98d7968b3e..f0ddbc954883ba 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -122,8 +122,8 @@
     "description": ""
   },
   "CameraOffset": {
-    "title": "Adjust Camera Offset on non Default Model",
-    "description": "Adjust this to center the car in its lane by virtually shifting the camera's perspective. Negative Values: Shears the image to the left, moving the model's center to the Right; Positive Values: Shears the image to the right, moving the model's center to the Left. Note: these values are in meters.",
+    "title": "Adjust Camera Offset",
+    "description": "Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)",
     "min": -0.35,
     "max": 0.35,
     "step": 0.01
@@ -193,7 +193,7 @@
     "description": ""
   },
   "CustomAccIncrementsEnabled": {
-    "title": "Custom ACC Increments Enabled",
+    "title": "Custom ACC Increments",
     "description": ""
   },
   "CustomAccLongPressIncrement": {
@@ -211,8 +211,8 @@
     "step": 1
   },
   "CustomTorqueParams": {
-    "title": "Custom Torque Params",
-    "description": ""
+    "title": "Enable Custom Torque Tuning",
+    "description": "Enables custom tuning for Torque lateral control"
   },
   "DevUIInfo": {
     "title": "Developer UI Info",
@@ -286,7 +286,7 @@
   },
   "EnforceTorqueControl": {
     "title": "Enforce Torque Control",
-    "description": ""
+    "description": "Enable this to enforce sunnypilot to steer with Torque lateral control."
   },
   "ExperimentalMode": {
     "title": "Experimental Mode",
@@ -451,12 +451,15 @@
     "description": ""
   },
   "LagdToggle": {
-    "title": "LaGD Toggle",
-    "description": ""
+    "title": "Live Learning Steer Delay",
+    "description": "Allow device to learn and adapt car's steering response time"
   },
   "LagdToggleDelay": {
-    "title": "LaGD Toggle Delay",
-    "description": ""
+    "title": "Manual Software Delay",
+    "description": "Software delay to use when Live Learning Steer Delay is toggled off",
+    "min": 0.05,
+    "max": 0.5,
+    "step": 0.01
   },
   "LagdValueCache": {
     "title": "LaGD Value Cache",
@@ -464,11 +467,11 @@
   },
   "LaneTurnDesire": {
     "title": "Lane Turn Desire",
-    "description": ""
+    "description": "Force model to plan an intent to turn based on blinker"
   },
   "LaneTurnValue": {
-    "title": "Lane Turn Value",
-    "description": "",
+    "title": "Lane Turn Speed",
+    "description": "Maximum speed for lane turn desire",
     "min": 0,
     "max": 20,
     "step": 1
@@ -546,12 +549,12 @@
     "description": ""
   },
   "LiveTorqueParamsRelaxedToggle": {
-    "title": "Live Torque Params Relaxed Toggle",
-    "description": ""
+    "title": "Less Restrict Settings for Self-Tune (Beta)",
+    "description": "Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values."
   },
   "LiveTorqueParamsToggle": {
-    "title": "Live Torque Params Toggle",
-    "description": ""
+    "title": "Self-Tune",
+    "description": "Enables self-tune for Torque lateral control"
   },
   "LocationFilterInitialState": {
     "title": "Location Filter Initial State",
@@ -704,7 +707,7 @@
     "description": ""
   },
   "OffroadMode": {
-    "title": "Offroad Mode",
+    "title": "Force Offroad Mode",
     "description": ""
   },
   "Offroad_CarUnrecognized": {
@@ -768,18 +771,18 @@
     "description": ""
   },
   "OnroadScreenOffBrightness": {
-    "title": "Onroad Screen Off Brightness",
+    "title": "Onroad Brightness",
     "description": "",
     "min": 0,
     "max": 100,
     "step": 5
   },
   "OnroadScreenOffControl": {
-    "title": "Onroad Screen Off Control",
-    "description": ""
+    "title": "Onroad Screen: Reduced Brightness",
+    "description": "Turn off device screen or reduce brightness after driving starts"
   },
   "OnroadScreenOffTimer": {
-    "title": "Onroad Screen Off Timer",
+    "title": "Onroad Brightness Delay",
     "description": "",
     "min": 0,
     "max": 60,
@@ -885,7 +888,7 @@
     "description": ""
   },
   "RoadNameToggle": {
-    "title": "Road Name Toggle",
+    "title": "Display Road Name",
     "description": ""
   },
   "RouteCount": {
@@ -898,7 +901,7 @@
   },
   "ShowAdvancedControls": {
     "title": "Show Advanced Controls",
-    "description": ""
+    "description": "Enable to show advanced controls on device"
   },
   "ShowDebugInfo": {
     "title": "UI Debug Mode",
@@ -909,11 +912,11 @@
     "description": ""
   },
   "SmartCruiseControlMap": {
-    "title": "Smart Cruise Control Map",
+    "title": "Smart Cruise Control - Map",
     "description": ""
   },
   "SmartCruiseControlVision": {
-    "title": "Smart Cruise Control Vision",
+    "title": "Smart Cruise Control - Vision",
     "description": ""
   },
   "SnoozeUpdate": {
@@ -921,7 +924,7 @@
     "description": ""
   },
   "SpeedLimitMode": {
-    "title": "Speed Limit Mode",
+    "title": "Speed Limit Assist Mode",
     "description": "",
     "options": [
       {
@@ -961,7 +964,7 @@
     ]
   },
   "SpeedLimitPolicy": {
-    "title": "Speed Limit Policy",
+    "title": "Speed Limit Source",
     "description": "",
     "options": [
       {
@@ -987,7 +990,7 @@
     ]
   },
   "SpeedLimitValueOffset": {
-    "title": "Speed Limit Value Offset",
+    "title": "Speed Limit Offset Value",
     "description": "",
     "min": -30,
     "max": 30,
@@ -1042,18 +1045,18 @@
     "description": ""
   },
   "TorqueParamsOverrideEnabled": {
-    "title": "Torque Params Override Enabled",
+    "title": "Manual Real-Time Tuning",
     "description": ""
   },
   "TorqueParamsOverrideFriction": {
-    "title": "Torque Params Override Friction",
+    "title": "Manual Tune - Friction",
     "description": "",
     "min": 0.0,
     "max": 1.0,
     "step": 0.01
   },
   "TorqueParamsOverrideLatAccelFactor": {
-    "title": "Torque Params Override Lat Accel Factor",
+    "title": "Manual Tune - Lateral Acceleration Factor",
     "description": "",
     "min": 0.1,
     "max": 5.0,

From 9a04a5eaae0e5fea4cb7b5221d11aa68e2d0587d Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Sat, 3 Jan 2026 15:54:55 -0500
Subject: [PATCH 0679/1434] [bot] Update Python packages (#1565)

* Update Python packages

* no

---------

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 74ac6785011b28..e03fbf9be8d063 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 74ac6785011b2861b822651f51d0cd2f01ce79d2
+Subproject commit e03fbf9be8d063ad8aee260a67338e1dadea8037

From 987f53e69a145a7c02567bdcefc09674f5042494 Mon Sep 17 00:00:00 2001
From: Copilot <198982749+Copilot@users.noreply.github.com>
Date: Sat, 3 Jan 2026 21:01:21 -0500
Subject: [PATCH 0680/1434] [TIZI/TICI] ui: sunnylink status on sidebar (#1638)

* Initial plan

* feat: add sunnylink status metric

Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com>

* chore: extract sidebar constants

Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com>

* refactor: guard metric spacing

Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com>

* chore: clarify sunnylink helpers

Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com>

* refactor: guard metric spacing edge cases

Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com>

* chore: simplify spacing guards

Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com>

* chore: normalize sunnylink params

Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com>

* chore: harden sunnylink param parsing

Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com>

* chore: add param decode helper

Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com>

* chore: simplify sidebar metric spacing

Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com>

* chore: update sunnylink status color logic for improved clarity

* sunnylink: update status handling to reflect offline state and improve fault indication

sunnylink: enhance status handling with temporary fault indication

* sunnylink: enhance status update logic for improved accuracy and clarity

* make it int

* Ugly with zero value, but done. Now we only need to remember to check the new sidebar if the old sidebar ever changes

* Revert "Ugly with zero value, but done. Now we only need to remember to check the new sidebar if the old sidebar ever changes"

This reverts commit 2d3b740e382206997885d47c60585b929baa773f.

* decouple

* no bad bot

---------

Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com>
Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/layouts/sidebar.py            | 15 +++-
 selfdrive/ui/sunnypilot/layouts/sidebar.py | 87 ++++++++++++++++++++++
 2 files changed, 100 insertions(+), 2 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/layouts/sidebar.py

diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py
index 050cd795bffba7..bfa60c88eddf09 100644
--- a/selfdrive/ui/layouts/sidebar.py
+++ b/selfdrive/ui/layouts/sidebar.py
@@ -9,6 +9,8 @@
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.widgets import Widget
 
+from openpilot.selfdrive.ui.sunnypilot.layouts.sidebar import SidebarSP
+
 SIDEBAR_WIDTH = 300
 METRIC_HEIGHT = 126
 METRIC_WIDTH = 240
@@ -62,9 +64,10 @@ def update(self, label: str, value: str, color: rl.Color):
     self.color = color
 
 
-class Sidebar(Widget):
+class Sidebar(Widget, SidebarSP):
   def __init__(self):
-    super().__init__()
+    Widget.__init__(self)
+    SidebarSP.__init__(self)
     self._net_type = NETWORK_TYPES.get(NetworkType.none)
     self._net_strength = 0
 
@@ -112,6 +115,7 @@ def _update_state(self):
     self._update_temperature_status(device_state)
     self._update_connection_status(device_state)
     self._update_panda_status()
+    SidebarSP._update_sunnylink_status(self)
 
   def _update_network_status(self, device_state):
     self._net_type = NETWORK_TYPES.get(device_state.networkType.raw, tr_noop("Unknown"))
@@ -200,6 +204,13 @@ def _draw_network_indicator(self, rect: rl.Rectangle):
     rl.draw_text_ex(self._font_regular, tr(self._net_type), text_pos, FONT_SIZE, 0, Colors.WHITE)
 
   def _draw_metrics(self, rect: rl.Rectangle):
+    if gui_app.sunnypilot_ui():
+      metrics, start_y, spacing = SidebarSP._draw_metrics_w_sunnylink(self, rect, self._temp_status, self._panda_status, self._connect_status)
+      for idx, metric in enumerate(metrics):
+        self._draw_metric(rect, metric, start_y + idx * spacing)
+
+      return
+
     metrics = [(self._temp_status, 338), (self._panda_status, 496), (self._connect_status, 654)]
 
     for metric, y_offset in metrics:
diff --git a/selfdrive/ui/sunnypilot/layouts/sidebar.py b/selfdrive/ui/sunnypilot/layouts/sidebar.py
new file mode 100644
index 00000000000000..79bb15dbb89ee9
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/sidebar.py
@@ -0,0 +1,87 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+import time
+from dataclasses import dataclass
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
+from openpilot.system.ui.lib.multilang import tr_noop
+
+
+PING_TIMEOUT_NS = 80_000_000_000  # 80 seconds in nanoseconds
+METRIC_HEIGHT = 126
+METRIC_MARGIN = 30
+METRIC_START_Y = 300
+HOME_BTN = rl.Rectangle(60, 860, 180, 180)
+
+
+# Color scheme
+class Colors:
+  WHITE = rl.WHITE
+  WHITE_DIM = rl.Color(255, 255, 255, 85)
+  GRAY = rl.Color(84, 84, 84, 255)
+
+  # Status colors
+  GOOD = rl.WHITE
+  WARNING = rl.Color(218, 202, 37, 255)
+  DANGER = rl.Color(201, 34, 49, 255)
+  PROGRESS = rl.Color(0, 134, 233, 255)
+  DISABLED = rl.Color(128, 128, 128, 255)
+
+  # UI elements
+  METRIC_BORDER = rl.Color(255, 255, 255, 85)
+  BUTTON_NORMAL = rl.WHITE
+  BUTTON_PRESSED = rl.Color(255, 255, 255, 166)
+
+
+@dataclass(slots=True)
+class MetricData:
+  label: str
+  value: str
+  color: rl.Color
+
+  def update(self, label: str, value: str, color: rl.Color):
+    self.label = label
+    self.value = value
+    self.color = color
+
+
+class SidebarSP:
+  def __init__(self):
+    self._sunnylink_status = MetricData(tr_noop("SUNNYLINK"), tr_noop("OFFLINE"), Colors.WARNING)
+
+  def _update_sunnylink_status(self):
+    if not ui_state.params.get_bool("SunnylinkEnabled"):
+      self._sunnylink_status.update(tr_noop("SUNNYLINK"), tr_noop("DISABLED"), Colors.DISABLED)
+      return
+
+    last_ping = ui_state.params.get("LastSunnylinkPingTime") or 0
+    dongle_id = ui_state.params.get("SunnylinkDongleId")
+
+    is_online = last_ping and (time.monotonic_ns() - last_ping) < PING_TIMEOUT_NS
+    is_temp_fault = ui_state.params.get_bool("SunnylinkTempFault")
+    is_registering = not is_temp_fault and dongle_id in (None, "", UNREGISTERED_SUNNYLINK_DONGLE_ID)
+
+    # Determine status/color pair based on priority
+    if last_ping:
+      status, color = (tr_noop("ONLINE"), Colors.GOOD) if is_online else (tr_noop("ERROR"), Colors.DANGER)
+    elif is_temp_fault:
+      status, color = (tr_noop("FAULT"), Colors.WARNING)
+    elif is_registering:
+      status, color = (tr_noop("REGIST..."), Colors.PROGRESS)
+    else:
+      status, color = (tr_noop("OFFLINE"), Colors.DANGER)
+
+    self._sunnylink_status.update(tr_noop("SUNNYLINK"), status, color)
+
+  def _draw_metrics_w_sunnylink(self, rect: rl.Rectangle, _temp, _panda, _connect):
+    metrics = [_temp, _panda, _connect, self._sunnylink_status]
+    start_y = int(rect.y) + METRIC_START_Y
+    available_height = max(0, int(HOME_BTN.y) - METRIC_MARGIN - METRIC_HEIGHT - start_y)
+    spacing = available_height / max(1, len(metrics) - 1)
+
+    return metrics, start_y, spacing

From 1eb82fcc852798e6ef7dd0af7216442bdf82bd9c Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sun, 4 Jan 2026 00:27:22 -0500
Subject: [PATCH 0681/1434] ui: Global Brightness Override (#1579)

* global brightness

* initialize

* keep stock

* lint

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/ui_state.py |  3 +++
 selfdrive/ui/ui_state.py            | 11 ++++++++++-
 2 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index 21ed78b0968a69..79ca410e1b22d6 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -22,6 +22,8 @@ def __init__(self):
 
     self.sunnylink_state = SunnylinkState()
 
+    self.global_brightness_override: int = self.params.get("Brightness", return_default=True)
+
   def update(self) -> None:
     if self.sunnylink_enabled:
       self.sunnylink_state.start()
@@ -74,6 +76,7 @@ def update_params(self) -> None:
     self.rainbow_path = self.params.get_bool("RainbowMode")
     self.chevron_metrics = self.params.get("ChevronInfo")
     self.active_bundle = self.params.get("ModelManager_ActiveBundle")
+    self.global_brightness_override = self.params.get("Brightness", return_default=True)
 
 
 class DeviceSP:
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index a86c84ada30ee0..7aad769bb153dc 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -255,9 +255,18 @@ def _update_brightness(self):
       else:
         clipped_brightness = ((clipped_brightness + 16.0) / 116.0) ** 3.0
 
-      clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [30, 100]))
+      if gui_app.sunnypilot_ui():
+        if ui_state.global_brightness_override <= 0:
+          min_global_brightness = 1 if ui_state.global_brightness_override < 0 else 30
+          clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [min_global_brightness, 100]))
+      else:
+        clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [30, 100]))
 
     brightness = round(self._brightness_filter.update(clipped_brightness))
+
+    if gui_app.sunnypilot_ui() and ui_state.global_brightness_override > 0:
+      brightness = ui_state.global_brightness_override
+
     if not self._awake:
       brightness = 0
 

From e5e56614c97d147c8e05c69b60bd61b7f434dcb0 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 4 Jan 2026 00:33:32 -0500
Subject: [PATCH 0682/1434] ui: Customizable Interactive Timeout (#1640)

* ui: Custom Interactive Timeout

* rename

* lint
---
 selfdrive/ui/sunnypilot/ui_state.py | 2 ++
 selfdrive/ui/ui_state.py            | 3 +++
 2 files changed, 5 insertions(+)

diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index 79ca410e1b22d6..35d85eca50ad6b 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -22,6 +22,7 @@ def __init__(self):
 
     self.sunnylink_state = SunnylinkState()
 
+    self.custom_interactive_timeout: int = self.params.get("InteractivityTimeout", return_default=True)
     self.global_brightness_override: int = self.params.get("Brightness", return_default=True)
 
   def update(self) -> None:
@@ -76,6 +77,7 @@ def update_params(self) -> None:
     self.rainbow_path = self.params.get_bool("RainbowMode")
     self.chevron_metrics = self.params.get("ChevronInfo")
     self.active_bundle = self.params.get("ModelManager_ActiveBundle")
+    self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
     self.global_brightness_override = self.params.get("Brightness", return_default=True)
 
 
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index 7aad769bb153dc..c7f9a7ddace883 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -221,6 +221,9 @@ def interactive_timeout(self) -> int:
     if self._override_interactive_timeout is not None:
       return self._override_interactive_timeout
 
+    if gui_app.sunnypilot_ui() and ui_state.custom_interactive_timeout != 0:
+      return ui_state.custom_interactive_timeout
+
     ignition_timeout = 10 if gui_app.big_ui() else 5
     return ignition_timeout if ui_state.ignition else 30
 

From a58db66a98b3afe723deaf5b723a412a8233e47c Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 9 Jan 2026 18:40:09 -0500
Subject: [PATCH 0683/1434] sunnylink: add units to param metadata (#1643)

add units
---
 sunnypilot/sunnylink/params_metadata.json | 68 ++++++++++++++++++++---
 1 file changed, 60 insertions(+), 8 deletions(-)

diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index f0ddbc954883ba..e484787b6ceeee 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -126,11 +126,13 @@
     "description": "Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)",
     "min": -0.35,
     "max": 0.35,
-    "step": 0.01
+    "step": 0.01,
+    "unit": "meters"
   },
   "CarBatteryCapacity": {
     "title": "Car Battery Capacity",
-    "description": ""
+    "description": "Battery Size",
+    "unit": "kWh"
   },
   "CarList": {
     "title": "Supported Car List",
@@ -396,7 +398,8 @@
   },
   "InteractivityTimeout": {
     "title": "Interactivity Timeout",
-    "description": ""
+    "description": "",
+    "unit": "seconds"
   },
   "IsDevelopmentBranch": {
     "title": "Is Development Branch",
@@ -630,7 +633,8 @@
   },
   "MaxTimeOffroad": {
     "title": "Max Time Offroad",
-    "description": ""
+    "description": "",
+    "unit": "seconds"
   },
   "ModelManager_ActiveBundle": {
     "title": "Model Manager Active Bundle",
@@ -784,9 +788,56 @@
   "OnroadScreenOffTimer": {
     "title": "Onroad Brightness Delay",
     "description": "",
-    "min": 0,
-    "max": 60,
-    "step": 1
+    "options": [
+      {
+        "value": 15,
+        "label": "15s"
+      },
+      {
+        "value": 30,
+        "label": "30s"
+      },
+      {
+        "value": 60,
+        "label": "1m"
+      },
+      {
+        "value": 120,
+        "label": "2m"
+      },
+      {
+        "value": 180,
+        "label": "3m"
+      },
+      {
+        "value": 240,
+        "label": "4m"
+      },
+      {
+        "value": 300,
+        "label": "5m"
+      },
+      {
+        "value": 360,
+        "label": "6m"
+      },
+      {
+        "value": 420,
+        "label": "7m"
+      },
+      {
+        "value": 480,
+        "label": "8m"
+      },
+      {
+        "value": 540,
+        "label": "9m"
+      },
+      {
+        "value": 600,
+        "label": "10m"
+      }
+    ]
   },
   "OnroadUploads": {
     "title": "Onroad Uploads",
@@ -1060,7 +1111,8 @@
     "description": "",
     "min": 0.1,
     "max": 5.0,
-    "step": 0.1
+    "step": 0.1,
+    "unit": "m/s²"
   },
   "ToyotaEnforceStockLongitudinal": {
     "title": "Toyota: Enforce Factory Longitudinal Control",

From a0c10be1ffd9d3d73409aa826b111713be1a85bf Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 10 Jan 2026 21:24:44 +0100
Subject: [PATCH 0684/1434] Revert "ui: Global Brightness Override (#1579)"

This reverts commit 1eb82fcc
---
 selfdrive/ui/sunnypilot/ui_state.py |  2 --
 selfdrive/ui/ui_state.py            | 11 +----------
 2 files changed, 1 insertion(+), 12 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index 35d85eca50ad6b..fe7124e5cc94db 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -23,7 +23,6 @@ def __init__(self):
     self.sunnylink_state = SunnylinkState()
 
     self.custom_interactive_timeout: int = self.params.get("InteractivityTimeout", return_default=True)
-    self.global_brightness_override: int = self.params.get("Brightness", return_default=True)
 
   def update(self) -> None:
     if self.sunnylink_enabled:
@@ -78,7 +77,6 @@ def update_params(self) -> None:
     self.chevron_metrics = self.params.get("ChevronInfo")
     self.active_bundle = self.params.get("ModelManager_ActiveBundle")
     self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
-    self.global_brightness_override = self.params.get("Brightness", return_default=True)
 
 
 class DeviceSP:
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index c7f9a7ddace883..11e0cce74ee667 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -258,18 +258,9 @@ def _update_brightness(self):
       else:
         clipped_brightness = ((clipped_brightness + 16.0) / 116.0) ** 3.0
 
-      if gui_app.sunnypilot_ui():
-        if ui_state.global_brightness_override <= 0:
-          min_global_brightness = 1 if ui_state.global_brightness_override < 0 else 30
-          clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [min_global_brightness, 100]))
-      else:
-        clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [30, 100]))
+      clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [30, 100]))
 
     brightness = round(self._brightness_filter.update(clipped_brightness))
-
-    if gui_app.sunnypilot_ui() and ui_state.global_brightness_override > 0:
-      brightness = ui_state.global_brightness_override
-
     if not self._awake:
       brightness = 0
 

From 49b6ef7f48c660b4913cc5dddd6fa7c38a56226a Mon Sep 17 00:00:00 2001
From: Copilot <198982749+Copilot@users.noreply.github.com>
Date: Sat, 17 Jan 2026 14:36:19 -0500
Subject: [PATCH 0685/1434] SL: Fix MaxTimeOffroad metadata unit from seconds
 to minutes (#1650)

* Initial plan

* Fix MaxTimeOffroad metadata unit from seconds to minutes

Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com>

---------

Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com>
Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com>
---
 sunnypilot/sunnylink/params_metadata.json | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index e484787b6ceeee..1fc3f991b05f7b 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -634,7 +634,7 @@
   "MaxTimeOffroad": {
     "title": "Max Time Offroad",
     "description": "",
-    "unit": "seconds"
+    "unit": "minutes"
   },
   "ModelManager_ActiveBundle": {
     "title": "Model Manager Active Bundle",

From 3662a8e96250b669d0334f41deb2b23d057f0804 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 19 Jan 2026 01:26:16 -0500
Subject: [PATCH 0686/1434] ui: Customizable Onroad Brightness (#1641)

* ui: Customizable Onroad Brightness

* fixes

* lint

* reset on show/hide

* reset on show/hide for mici

* only set if true

* wrong var

* try this out

* use clear

* starts cleanup

* wake for all visual alerts and handle timeouts

* fixup: wake for all visual alerts and handle timeouts

* handle always wake if there's an event properly

* some

* slightly more

* need this back

* Reapply "ui: Global Brightness Override (#1579)"

This reverts commit a0c10be1ffd9d3d73409aa826b111713be1a85bf.

* do not touch light sensor logic

* override properly and clip to 30% minimum

* wrap

* lint

* update immediately

* read

* max global brightness

* rename

* gotta do it for mici too lol

* revert

* Revert "revert"

This reverts commit 121a082de11960ffa40b9f1414fe46fa54023507.

* no more

* ui

* more

* intenum

* simplify ONROAD_BRIGHTNESS_TIMER_VALUES

* no more toggle

* 15 seconds countdown for auto dark regardless

* auto dark refinement

* only consume if expired

* immediately set

* rename

* update sl metadata

* no more

---------

Co-authored-by: nayan <nayan8teen@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 common/params_keys.h                          |  1 -
 selfdrive/ui/mici/onroad/alert_renderer.py    |  3 +
 .../ui/mici/onroad/augmented_road_view.py     | 11 +++
 selfdrive/ui/onroad/alert_renderer.py         |  4 +
 selfdrive/ui/onroad/augmented_road_view.py    | 14 ++-
 .../ui/sunnypilot/layouts/settings/display.py | 60 +++++++++++-
 selfdrive/ui/sunnypilot/ui_state.py           | 88 +++++++++++++++++
 selfdrive/ui/ui_state.py                      | 13 ++-
 sunnypilot/sunnylink/params_metadata.json     | 97 ++++++++++++++++++-
 9 files changed, 279 insertions(+), 12 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index a559d411e4ce03..e042113927b7e8 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -168,7 +168,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
     {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
     {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
-    {"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}},
     {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
     {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
diff --git a/selfdrive/ui/mici/onroad/alert_renderer.py b/selfdrive/ui/mici/onroad/alert_renderer.py
index b5f796bb032d9b..5c93e5e423ca48 100644
--- a/selfdrive/ui/mici/onroad/alert_renderer.py
+++ b/selfdrive/ui/mici/onroad/alert_renderer.py
@@ -222,6 +222,9 @@ def _render(self, rect: rl.Rectangle) -> bool:
     self._alert_y_filter.update(self._rect.y - 50 if alert is None else self._rect.y)
     self._alpha_filter.update(0 if alert is None else 1)
 
+    if gui_app.sunnypilot_ui():
+      ui_state.onroad_brightness_handle_alerts(ui_state.started, alert)
+
     if alert is None:
       # If still animating out, keep the previous alert
       if self._alpha_filter.x > 0.01 and self._prev_alert is not None:
diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index 5fe33a7e484573..0546920e53bd38 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -19,6 +19,9 @@
 from openpilot.common.transformations.orientation import rot_from_euler
 from enum import IntEnum
 
+if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus
+
 OpState = log.SelfdriveState.OpenpilotState
 CALIBRATED = log.LiveCalibrationData.Status.calibrated
 ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD
@@ -351,6 +354,14 @@ def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
 
     return self._cached_matrix
 
+  def show_event(self):
+    if gui_app.sunnypilot_ui():
+      ui_state.reset_onroad_sleep_timer(OnroadTimerStatus.RESUME)
+
+  def hide_event(self):
+    if gui_app.sunnypilot_ui():
+      ui_state.reset_onroad_sleep_timer(OnroadTimerStatus.PAUSE)
+
 
 if __name__ == "__main__":
   gui_app.init_window("OnRoad Camera View")
diff --git a/selfdrive/ui/onroad/alert_renderer.py b/selfdrive/ui/onroad/alert_renderer.py
index 1e5f99cc662b1e..2c21b4006ed959 100644
--- a/selfdrive/ui/onroad/alert_renderer.py
+++ b/selfdrive/ui/onroad/alert_renderer.py
@@ -116,6 +116,10 @@ def get_alert(self, sm: messaging.SubMaster) -> Alert | None:
 
   def _render(self, rect: rl.Rectangle):
     alert = self.get_alert(ui_state.sm)
+
+    if gui_app.sunnypilot_ui():
+      ui_state.onroad_brightness_handle_alerts(ui_state.started, alert)
+
     if not alert:
       return
 
diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py
index a1d10193a8ec89..bcbcb2dcfb34de 100644
--- a/selfdrive/ui/onroad/augmented_road_view.py
+++ b/selfdrive/ui/onroad/augmented_road_view.py
@@ -15,10 +15,10 @@
 from openpilot.common.transformations.orientation import rot_from_euler
 
 if gui_app.sunnypilot_ui():
-  from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer
+  from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP
   from openpilot.selfdrive.ui.sunnypilot.onroad.driver_state import DriverStateRendererSP as DriverStateRenderer
-
-from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP
+  from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer
+  from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus
 
 OpState = log.SelfdriveState.OpenpilotState
 CALIBRATED = log.LiveCalibrationData.Status.calibrated
@@ -224,6 +224,14 @@ def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
 
     return self._cached_matrix
 
+  def show_event(self):
+    if gui_app.sunnypilot_ui():
+      ui_state.reset_onroad_sleep_timer(OnroadTimerStatus.RESUME)
+
+  def hide_event(self):
+    if gui_app.sunnypilot_ui():
+      ui_state.reset_onroad_sleep_timer(OnroadTimerStatus.PAUSE)
+
 
 if __name__ == "__main__":
   gui_app.init_window("OnRoad Camera View")
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/display.py b/selfdrive/ui/sunnypilot/layouts/settings/display.py
index d1d0a661b1024a..abbfbe7c9ab213 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/display.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/display.py
@@ -4,9 +4,21 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+from enum import IntEnum
+
 from openpilot.common.params import Params
-from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.sunnypilot.widgets.option_control import OptionControlSP
 from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp, ToggleActionSP
+
+ONROAD_BRIGHTNESS_TIMER_VALUES = {0: 15, 1: 30, **{i: (i - 1) * 60 for i in range(2, 12)}}
+
+
+class OnroadBrightness(IntEnum):
+  AUTO = 0
+  AUTO_DARK = 1
 
 
 class DisplayLayout(Widget):
@@ -18,11 +30,55 @@ def __init__(self):
     self._scroller = Scroller(items, line_separator=True, spacing=0)
 
   def _initialize_items(self):
+    self._onroad_brightness = option_item_sp(
+      param="OnroadScreenOffBrightness",
+      title=lambda: tr("Onroad Brightness"),
+      description="",
+      min_value=0,
+      max_value=21,
+      value_change_step=1,
+      label_callback=lambda value: self.update_onroad_brightness(value),
+      inline=True
+    )
+    self._onroad_brightness_timer = option_item_sp(
+      param="OnroadScreenOffTimer",
+      title=lambda: tr("Onroad Brightness Delay"),
+      description="",
+      min_value=0,
+      max_value=11,
+      value_change_step=1,
+      value_map=ONROAD_BRIGHTNESS_TIMER_VALUES,
+      label_callback=lambda value: f"{value} s" if value < 60 else f"{int(value/60)} m",
+      inline=True
+    )
     items = [
-
+      self._onroad_brightness,
+      self._onroad_brightness_timer,
     ]
     return items
 
+  @staticmethod
+  def update_onroad_brightness(val):
+    if val == OnroadBrightness.AUTO:
+      return tr("Auto (Default)")
+
+    if val == OnroadBrightness.AUTO_DARK:
+      return tr("Auto (Dark)")
+
+    return f"{(val - 1) * 5} %"
+
+  def _update_state(self):
+    super()._update_state()
+
+    for _item in self._scroller._items:
+      if isinstance(_item.action_item, ToggleActionSP) and _item.action_item.toggle.param_key is not None:
+        _item.action_item.set_state(self._params.get_bool(_item.action_item.toggle.param_key))
+      elif isinstance(_item.action_item, OptionControlSP) and _item.action_item.param_key is not None:
+        _item.action_item.set_value(self._params.get(_item.action_item.param_key, return_default=True))
+
+    brightness_val = self._params.get("OnroadScreenOffBrightness", return_default=True)
+    self._onroad_brightness_timer.action_item.set_enabled(brightness_val not in (OnroadBrightness.AUTO, OnroadBrightness.AUTO_DARK))
+
   def _render(self, rect):
     self._scroller.render(rect)
 
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index fe7124e5cc94db..2644c157ad3a54 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -4,13 +4,25 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+from enum import Enum
+
 from cereal import messaging, log, custom
 from openpilot.common.params import Params
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import OnroadBrightness
 from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState
+from openpilot.system.ui.lib.application import gui_app
 
 OpenpilotState = log.SelfdriveState.OpenpilotState
 MADSState = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 
+ONROAD_BRIGHTNESS_TIMER_PAUSED = -1
+
+
+class OnroadTimerStatus(Enum):
+  NONE = 0
+  PAUSE = 1
+  RESUME = 2
+
 
 class UIStateSP:
   def __init__(self):
@@ -21,8 +33,11 @@ def __init__(self):
     ]
 
     self.sunnylink_state = SunnylinkState()
+    self.update_params()
 
+    self.onroad_brightness_timer: int = 0
     self.custom_interactive_timeout: int = self.params.get("InteractivityTimeout", return_default=True)
+    self.reset_onroad_sleep_timer()
 
   def update(self) -> None:
     if self.sunnylink_enabled:
@@ -30,6 +45,40 @@ def update(self) -> None:
     else:
       self.sunnylink_state.stop()
 
+  def onroad_brightness_handle_alerts(self, started: bool, alert):
+    has_alert = started and self.onroad_brightness != OnroadBrightness.AUTO and alert is not None
+
+    self.update_onroad_brightness(has_alert)
+    if has_alert:
+      self.reset_onroad_sleep_timer()
+
+  def update_onroad_brightness(self, has_alert: bool) -> None:
+    if has_alert:
+      return
+
+    if self.onroad_brightness_timer > 0:
+      self.onroad_brightness_timer -= 1
+
+  def reset_onroad_sleep_timer(self, timer_status: OnroadTimerStatus = OnroadTimerStatus.NONE) -> None:
+    # Toggling from active state to inactive
+    if timer_status == OnroadTimerStatus.PAUSE and self.onroad_brightness_timer != ONROAD_BRIGHTNESS_TIMER_PAUSED:
+      self.onroad_brightness_timer = ONROAD_BRIGHTNESS_TIMER_PAUSED
+    # Toggling from a previously inactive state or resetting an active timer
+    elif (self.onroad_brightness_timer_param >= 0 and self.onroad_brightness != OnroadBrightness.AUTO and
+          self.onroad_brightness_timer != ONROAD_BRIGHTNESS_TIMER_PAUSED) or timer_status == OnroadTimerStatus.RESUME:
+      if self.onroad_brightness == OnroadBrightness.AUTO_DARK:
+        self.onroad_brightness_timer = 15 * gui_app.target_fps
+      else:
+        self.onroad_brightness_timer = self.onroad_brightness_timer_param * gui_app.target_fps
+
+  @property
+  def onroad_brightness_timer_expired(self) -> bool:
+    return self.onroad_brightness != OnroadBrightness.AUTO and self.onroad_brightness_timer == 0
+
+  @property
+  def auto_onroad_brightness(self) -> bool:
+    return self.onroad_brightness in (OnroadBrightness.AUTO, OnroadBrightness.AUTO_DARK)
+
   @staticmethod
   def update_status(ss, ss_sp, onroad_evt) -> str:
     state = ss.state
@@ -78,6 +127,10 @@ def update_params(self) -> None:
     self.active_bundle = self.params.get("ModelManager_ActiveBundle")
     self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
 
+    # Onroad Screen Brightness
+    self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True)))
+    self.onroad_brightness_timer_param = self.params.get("OnroadScreenOffTimer", return_default=True)
+
 
 class DeviceSP:
   def __init__(self):
@@ -86,3 +139,38 @@ def __init__(self):
   def _set_awake(self, on: bool):
     if on and self._params.get("DeviceBootMode", return_default=True) == 1:
       self._params.put_bool("OffroadMode", True)
+
+  @staticmethod
+  def set_onroad_brightness(_ui_state, awake: bool, cur_brightness: float) -> float:
+    if not awake or not _ui_state.started:
+      return cur_brightness
+
+    if _ui_state.onroad_brightness_timer != 0:
+      if _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
+        return max(30.0, cur_brightness)
+      # For AUTO (Default) and Manual modes (while timer running), use standard brightness
+      return cur_brightness
+
+    # 0: Auto (Default), 1: Auto (Dark)
+    if _ui_state.onroad_brightness == OnroadBrightness.AUTO:
+      return cur_brightness
+    elif _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
+      return cur_brightness
+
+    # 2-21: 5% - 100%
+    return float((_ui_state.onroad_brightness - 1) * 5)
+
+  @staticmethod
+  def set_min_onroad_brightness(_ui_state, min_brightness: int) -> int:
+    if _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
+      min_brightness = 10
+
+    return min_brightness
+
+  @staticmethod
+  def wake_from_dimmed_onroad_brightness(_ui_state, evs) -> None:
+    if _ui_state.started and (_ui_state.onroad_brightness_timer_expired or _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK):
+      if any(ev.left_down for ev in evs):
+        if _ui_state.onroad_brightness_timer_expired:
+          gui_app.mouse_events.clear()
+        _ui_state.reset_onroad_sleep_timer()
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index 11e0cce74ee667..a9127ac3c52e92 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -258,9 +258,17 @@ def _update_brightness(self):
       else:
         clipped_brightness = ((clipped_brightness + 16.0) / 116.0) ** 3.0
 
-      clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [30, 100]))
+      min_brightness = 30
+      if gui_app.sunnypilot_ui():
+        min_brightness = DeviceSP.set_min_onroad_brightness(ui_state, min_brightness)
+
+      clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [min_brightness, 100]))
 
     brightness = round(self._brightness_filter.update(clipped_brightness))
+
+    if gui_app.sunnypilot_ui():
+      brightness = DeviceSP.set_onroad_brightness(ui_state, self._awake, brightness)
+
     if not self._awake:
       brightness = 0
 
@@ -276,6 +284,9 @@ def _update_wakefulness(self):
     self._ignition = ui_state.ignition
 
     if ignition_just_turned_off or any(ev.left_down for ev in gui_app.mouse_events):
+      if gui_app.sunnypilot_ui():
+        DeviceSP.wake_from_dimmed_onroad_brightness(ui_state, gui_app.mouse_events)
+
       self._reset_interactive_timeout()
 
     interaction_timeout = time.monotonic() > self._interaction_time
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index 1fc3f991b05f7b..0c1c9016fc4e38 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -777,13 +777,100 @@
   "OnroadScreenOffBrightness": {
     "title": "Onroad Brightness",
     "description": "",
-    "min": 0,
-    "max": 100,
-    "step": 5
+    "options": [
+      {
+        "value": 0,
+        "label": "Auto (Default)"
+      },
+      {
+        "value": 1,
+        "label": "Auto (Dark)"
+      },
+      {
+        "value": 2,
+        "label": "5 %"
+      },
+      {
+        "value": 3,
+        "label": "10 %"
+      },
+      {
+        "value": 4,
+        "label": "15 %"
+      },
+      {
+        "value": 5,
+        "label": "20 %"
+      },
+      {
+        "value": 6,
+        "label": "25 %"
+      },
+      {
+        "value": 7,
+        "label": "30 %"
+      },
+      {
+        "value": 8,
+        "label": "35 %"
+      },
+      {
+        "value": 9,
+        "label": "40 %"
+      },
+      {
+        "value": 10,
+        "label": "45 %"
+      },
+      {
+        "value": 11,
+        "label": "50 %"
+      },
+      {
+        "value": 12,
+        "label": "55 %"
+      },
+      {
+        "value": 13,
+        "label": "60 %"
+      },
+      {
+        "value": 14,
+        "label": "65 %"
+      },
+      {
+        "value": 15,
+        "label": "70 %"
+      },
+      {
+        "value": 16,
+        "label": "75 %"
+      },
+      {
+        "value": 17,
+        "label": "80 %"
+      },
+      {
+        "value": 18,
+        "label": "85 %"
+      },
+      {
+        "value": 19,
+        "label": "90 %"
+      },
+      {
+        "value": 20,
+        "label": "95 %"
+      },
+      {
+        "value": 21,
+        "label": "100 %"
+      }
+    ]
   },
   "OnroadScreenOffControl": {
-    "title": "Onroad Screen: Reduced Brightness",
-    "description": "Turn off device screen or reduce brightness after driving starts"
+    "title": "Onroad Brightness",
+    "description": "Adjusts the screen brightness while it's in onroad state."
   },
   "OnroadScreenOffTimer": {
     "title": "Onroad Brightness Delay",

From e7b6e62b823c5c8563050b925734c5c1f5eb1f77 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Mon, 19 Jan 2026 01:42:24 -0500
Subject: [PATCH 0687/1434] [TIZI/TICI] ui: expose Interactivity Timeout option
 (#1497)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* Panels. With Icons. And Scroller.

* patience, grasshopper

* more patience, grasshopper

* sp raylib preview

* fix callback

* fix ui preview

* add ui previews

* Option Control

* Need this

* introducing ui_state_sp for py

* param to control stock vs sp ui

* better

* add ui_update callback

* better padding

* this

* listitem -> listitemsp

* Revert "add ui_update callback"

This reverts commit 4da32cc0097434aab0aa6a3c35465eabb23c8958.

* add show_description method

* remove padding from line separator.
like, WHY? 😩😩

* simplify

* I. SAID. SIMPLIFY.

* AAARGGGGGG.....

* init

* option control value fix

* add all controls

* hide all controls

* lint

* scroller -> scroller_tici

* scroller -> scroller_tici

* ui: `GuiApplicationExt`

* add to readme

* use gui_app.sunnypilot_ui()

* use gui_app.sunnypilot_ui()

* use gui_app.sunnypilot_ui()

* optimizations

* Removed hide for now

* refresh controls

* ugh

* global brightness

* initialize

* inline everything again

* change name

* Onroad Brightness reimpl

* Custom Interactive Timeout reimpl

* Global Brightness Override reimpl

* keep stock

* ui: Custom Interactive Timeout

* rename

* ui: Customizable Onroad Brightness

* lint

* lint

* Revert "Global Brightness Override reimpl"

This reverts commit 53522da4f869fef410b9abd117d4fd367f67a12c.

* Revert "Custom Interactive Timeout reimpl"

This reverts commit 459863a9bb54cbc0829a2071caaca1e1fd45cbcf.

* Revert "Onroad Brightness reimpl"

This reverts commit 4092d23e57273d013f691cd8ed51ad302e69a6bd.

* fixes

* lint

* reset on show/hide

* reset on show/hide for mici

* only set if true

* wrong var

* try this out

* use clear

* starts cleanup

* wake for all visual alerts and handle timeouts

* fixup: wake for all visual alerts and handle timeouts

* handle always wake if there's an event properly

* some

* slightly more

* need this back

* Reapply "ui: Global Brightness Override (#1579)"

This reverts commit a0c10be1ffd9d3d73409aa826b111713be1a85bf.

* do not touch light sensor logic

* override properly and clip to 30% minimum

* wrap

* lint

* update immediately

* read

* max global brightness

* rename

* gotta do it for mici too lol

* update metadata

* desc

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .../ui/sunnypilot/layouts/settings/display.py | 14 +++++
 sunnypilot/sunnylink/params_metadata.json     | 57 ++++++++++++++++++-
 2 files changed, 69 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/display.py b/selfdrive/ui/sunnypilot/layouts/settings/display.py
index abbfbe7c9ab213..e5f1eba1810d15 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/display.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/display.py
@@ -51,9 +51,23 @@ def _initialize_items(self):
       label_callback=lambda value: f"{value} s" if value < 60 else f"{int(value/60)} m",
       inline=True
     )
+    self._interactivity_timeout = option_item_sp(
+      param="InteractivityTimeout",
+      title=lambda: tr("Interactivity Timeout"),
+      description=lambda: tr("Apply a custom timeout for settings UI." +
+                             "<br>This is the time after which settings UI closes automatically " +
+                             "if user is not interacting with the screen."),
+      min_value=0,
+      max_value=120,
+      value_change_step=10,
+      label_callback=lambda value: (tr("Default") if not value or value == 0 else
+                                    f"{value} s" if value < 60 else f"{int(value/60)} m"),
+      inline=True
+    )
     items = [
       self._onroad_brightness,
       self._onroad_brightness_timer,
+      self._interactivity_timeout,
     ]
     return items
 
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index 0c1c9016fc4e38..e4390586bc680e 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -398,8 +398,61 @@
   },
   "InteractivityTimeout": {
     "title": "Interactivity Timeout",
-    "description": "",
-    "unit": "seconds"
+    "description": "Apply a custom timeout for settings UI. This is the time after which settings UI closes automatically if user is not interacting with the screen.",
+    "options": [
+      {
+        "value": 0,
+        "label": "Default"
+      },
+      {
+        "value": 10,
+        "label": "10 s"
+      },
+      {
+        "value": 20,
+        "label": "20 s"
+      },
+      {
+        "value": 30,
+        "label": "30 s"
+      },
+      {
+        "value": 40,
+        "label": "40 s"
+      },
+      {
+        "value": 50,
+        "label": "50 s"
+      },
+      {
+        "value": 60,
+        "label": "1 m"
+      },
+      {
+        "value": 70,
+        "label": "1 m"
+      },
+      {
+        "value": 80,
+        "label": "1 m"
+      },
+      {
+        "value": 90,
+        "label": "1 m"
+      },
+      {
+        "value": 100,
+        "label": "1 m"
+      },
+      {
+        "value": 110,
+        "label": "1 m"
+      },
+      {
+        "value": 120,
+        "label": "2 m"
+      }
+    ]
   },
   "IsDevelopmentBranch": {
     "title": "Is Development Branch",

From a0a5c9b9ca19833e7fac3b73c3c25899aa11e49b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 23 Jan 2026 22:49:10 -0500
Subject: [PATCH 0688/1434] ui: add `set_title` and improve state updates in
 `ListViewSP` (#1656)

---
 system/ui/sunnypilot/widgets/list_view.py | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py
index 1241f8eda07b92..39e88169d290e1 100644
--- a/system/ui/sunnypilot/widgets/list_view.py
+++ b/system/ui/sunnypilot/widgets/list_view.py
@@ -192,6 +192,9 @@ def __init__(self, title: str | Callable[[], str] = "", icon: str | None = None,
     self._right_value_font = gui_app.font(FontWeight.NORMAL)
     self._right_value_color: rl.Color = style.ITEM_TEXT_VALUE_COLOR
 
+  def set_title(self, title: str | Callable[[], str] = ""):
+    self._title = title
+
   def set_right_value(self, value: str | Callable[[], str], color: rl.Color = style.ITEM_TEXT_VALUE_COLOR):
     self._right_value_source = value
     self._right_value_color = color
@@ -202,6 +205,13 @@ def right_value(self) -> str:
       return ""
     return str(_resolve_value(self._right_value_source, ""))
 
+  def _update_state(self):
+    prev_desc = self._prev_description
+    super()._update_state()
+    if self.description_visible and self._prev_description != prev_desc:
+      content_width = int(self._rect.width - style.ITEM_PADDING * 2)
+      self._rect.height = self.get_item_height(self._font, content_width)
+
   def get_item_height(self, font: rl.Font, max_width: int) -> float:
     height = super().get_item_height(font, max_width)
 

From 2e788ae54dc2758215ffd725fe553316bab7d67a Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 23 Jan 2026 22:55:50 -0500
Subject: [PATCH 0689/1434] [TIZI/TICI] ui: Steering panel (#1540)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* commaai/openpilot:d05cb31e2e916fba41ba8167030945f427fd811b

* bump opendbc

* bump opendbc

* bump opendbc

* bump opendbc

* bump opendbc

* sunnypilot: remove Qt

* cabana: revert to stock Qt

* commaai/openpilot:5198b1b079c37742c1050f02ce0aa6dd42b038b9

* commaai/openpilot:954b567b9ba0f3d1ae57d6aa7797fa86dd92ec6e

* commaai/openpilot:7534b2a160faa683412c04c1254440e338931c5e

* sum more

* bump opendbc

* not yet

* should've been symlink'ed

* raylib says wut

* quiet mode back

* more fixes

* no more

* too extra red diff on the side

* need to bring this back

* too extra

* let's update docs here

* Revert "let's update docs here"

This reverts commit 51fe03cd5121e6fdf14657b2c33852c34922b851.

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* multi-button

* Lint

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* Panels. With Icons. And Scroller.

* patience, grasshopper

* more patience, grasshopper

* sp raylib preview

* fix callback

* fix ui preview

* add ui previews

* Option Control

* Need this

* sunnylink state

* introducing ui_state_sp for py

* poll from ui_state_sp

* cloudlog & ruff

* param to control stock vs sp ui

* better

* sponsor & pairing qr

* init panel elements

* backup & restore

* fruit loops

* update

* enable, disable, enable, disable

* handle layout updates

* not needed

* add ui_update callback

* change it up

* better padding

* this

* support for next line multi-button

* uhh

* disabled colors

* better

* listitem -> listitemsp

* listitem -> listitemsp

* Revert "add ui_update callback"

This reverts commit 4da32cc0097434aab0aa6a3c35465eabb23c8958.

* add show_description method

* remove padding from line separator.
like, WHY? 😩😩

* simplify

* I. SAID. SIMPLIFY.

* AAARGGGGGG.....

* option control value fix

* left button

* more init

* simple_button, yay

* simple_button, yay

* more more init

* scroller -> scroller_tici

* scroller -> scroller_tici

* ui: `GuiApplicationExt`

* simple button

* simple button

* add to readme

* use gui_app.sunnypilot_ui()

* use gui_app.sunnypilot_ui()

* use gui_app.sunnypilot_ui()

* optimizations

* change order

* subpanels

* lane change timer

* update toggles

* update toggles

* add cp_sp to ui_state

* mads

* add cp_sp to ui_state_sp

* fix ui crash

* update params

* ui_state changes

* descriptions

* Update scroller.py

* wrong pr

* listen nessa, yes nessa

* i've got something to confessa

* some bs

* # Conflicts:
#	selfdrive/ui/sunnypilot/layouts/settings/steering.py
#	selfdrive/ui/sunnypilot/layouts/settings/vehicle.py
#	system/ui/sunnypilot/widgets/list_view.py

* sine

* more

* Delete selfdrive/ui/sunnypilot/layouts/vehicle_settings/platform_selector.py

* Update styles.py

* allow sunnylink

* nah

* more

* sync

* lint

* revert

* button is always shown, just disabled if off

* revert

* Fix SimpleButtonActionSP not respecting enabled state

* some changes

* new pr

* some more

* ui: `ButtonSP`

* slight cleanup

* fixes

* no

* fix

* much better

* ui: `LineSeparatorSP`

* ui: add `inline` to `option_item_sp`

* small cleanup mads

* lane change

* allow changing title

* torque settings init

* lont

* more logic

* import directly

* more

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: discountchubbs <alexgrant990@gmail.com>
---
 .../sunnypilot/layouts/settings/steering.py   | 130 ++++++++++++++++-
 .../lane_change_settings.py                   |  81 +++++++++++
 .../steering_sub_layouts/mads_settings.py     | 135 ++++++++++++++++++
 .../steering_sub_layouts/torque_settings.py   | 115 +++++++++++++++
 4 files changed, 456 insertions(+), 5 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering.py b/selfdrive/ui/sunnypilot/layouts/settings/steering.py
index ac67eb91634bc7..f82c4097c3ba4e 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/steering.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/steering.py
@@ -4,27 +4,147 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from openpilot.common.params import Params
+from cereal import car
+from enum import IntEnum
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, simple_button_item_sp, option_item_sp, LineSeparatorSP
 from openpilot.system.ui.widgets.scroller_tici import Scroller
 from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering_sub_layouts.lane_change_settings import LaneChangeSettingsLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering_sub_layouts.mads_settings import MadsSettingsLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering_sub_layouts.torque_settings import TorqueSettingsLayout
+
+
+class PanelType(IntEnum):
+  STEERING = 0
+  MADS = 1
+  LANE_CHANGE = 2
+  TORQUE_CONTROL = 3
 
 
 class SteeringLayout(Widget):
   def __init__(self):
     super().__init__()
 
-    self._params = Params()
+    self._current_panel = PanelType.STEERING
+    self._lane_change_settings_layout = LaneChangeSettingsLayout(lambda: self._set_current_panel(PanelType.STEERING))
+    self._mads_settings_layout = MadsSettingsLayout(lambda: self._set_current_panel(PanelType.STEERING))
+    self._torque_control_layout = TorqueSettingsLayout(lambda: self._set_current_panel(PanelType.STEERING))
+
     items = self._initialize_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
+    self._scroller = Scroller(items, line_separator=False, spacing=0)
 
   def _initialize_items(self):
-    items = [
+    self._mads_base_desc = tr("Enable the beloved MADS feature. " +
+                              "Disable toggle to revert back to stock sunnypilot engagement/disengagement.")
+    self._mads_limited_desc = tr("This platform supports limited MADS settings.")
+    self._mads_full_desc = tr("This platform supports all MADS settings.")
+    self._mads_check_compat_desc = tr("Start the vehicle to check vehicle compatibility.")
+
+    self._mads_toggle = toggle_item_sp(
+      param="Mads",
+      title=lambda: tr("Modular Assistive Driving System (MADS)"),
+      description=self._mads_base_desc,
+    )
+    self._mads_settings_button = simple_button_item_sp(
+      button_text=lambda: tr("Customize MADS"),
+      button_width=800,
+      callback=lambda: self._set_current_panel(PanelType.MADS)
+    )
+    self._lane_change_settings_button = simple_button_item_sp(
+      button_text=lambda: tr("Customize Lane Change"),
+      button_width=800,
+      callback=lambda: self._set_current_panel(PanelType.LANE_CHANGE)
+    )
+    self._blinker_control_toggle = toggle_item_sp(
+      param="BlinkerPauseLateralControl",
+      description=lambda: tr("Pause lateral control with blinker when traveling below the desired speed selected."),
+      title=lambda: tr("Pause Lateral Control with Blinker"),
+    )
+    self._blinker_control_options = option_item_sp(
+      param="BlinkerMinLateralControlSpeed",
+      title=lambda: tr("Minimum Speed to Pause Lateral Control"),
+      min_value=0,
+      max_value=255,
+      value_change_step=5,
+      description="",
+      label_callback=lambda speed: f'{speed} {"km/h" if ui_state.is_metric else "mph"}',
+    )
+    self._torque_control_toggle = toggle_item_sp(
+      param="EnforceTorqueControl",
+      title=lambda: tr("Enforce Torque Lateral Control"),
+      description=lambda: tr("Enable this to enforce sunnypilot to steer with Torque lateral control."),
+    )
+    self._torque_customization_button = simple_button_item_sp(
+      button_text=lambda: tr("Customize Torque Params"),
+      button_width=850,
+      callback=lambda: self._set_current_panel(PanelType.TORQUE_CONTROL)
+    )
+    self._nnlc_toggle = toggle_item_sp(
+      param="NeuralNetworkLateralControl",
+      title=lambda: tr("Neural Network Lateral Control (NNLC)"),
+      description=""
+    )
 
+    items = [
+      self._mads_toggle,
+      self._mads_settings_button,
+      LineSeparatorSP(40),
+      self._lane_change_settings_button,
+      LineSeparatorSP(40),
+      self._blinker_control_toggle,
+      self._blinker_control_options,
+      LineSeparatorSP(40),
+      self._torque_control_toggle,
+      self._torque_customization_button,
+      LineSeparatorSP(40),
+      self._nnlc_toggle,
     ]
     return items
 
+  def _set_current_panel(self, panel: PanelType):
+    self._current_panel = panel
+
+  def _update_state(self):
+    super()._update_state()
+
+    torque_allowed = True
+    if ui_state.CP is not None:
+      mads_main_desc = self._mads_limited_desc if self._mads_settings_layout._mads_limited_settings() else self._mads_full_desc
+      self._mads_toggle.set_description(f"<b>{mads_main_desc}</b><br><br>{self._mads_base_desc}")
+
+      if ui_state.CP.steerControlType == car.CarParams.SteerControlType.angle:
+        ui_state.params.remove("EnforceTorqueControl")
+        ui_state.params.remove("NeuralNetworkLateralControl")
+        torque_allowed = False
+    else:
+      self._mads_toggle.set_description(f"<b>{self._mads_check_compat_desc}</b><br><br>{self._mads_base_desc}")
+      ui_state.params.remove("EnforceTorqueControl")
+      ui_state.params.remove("NeuralNetworkLateralControl")
+      torque_allowed = False
+
+    self._mads_toggle.action_item.set_enabled(ui_state.is_offroad())
+    self._mads_settings_button.action_item.set_enabled(ui_state.is_offroad() and self._mads_toggle.action_item.get_state())
+    self._blinker_control_options.set_visible(self._blinker_control_toggle.action_item.get_state())
+
+    enforce_torque_enabled = self._torque_control_toggle.action_item.get_state()
+    nnlc_enabled = self._nnlc_toggle.action_item.get_state()
+    self._nnlc_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not enforce_torque_enabled)
+    self._torque_control_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not nnlc_enabled)
+    self._torque_customization_button.action_item.set_enabled(self._torque_control_toggle.action_item.get_state())
+
   def _render(self, rect):
-    self._scroller.render(rect)
+    if self._current_panel == PanelType.LANE_CHANGE:
+      self._lane_change_settings_layout.render(rect)
+    elif self._current_panel == PanelType.MADS:
+      self._mads_settings_layout.render(rect)
+    elif self._current_panel == PanelType.TORQUE_CONTROL:
+      self._torque_control_layout.render(rect)
+    else:
+      self._scroller.render(rect)
 
   def show_event(self):
+    self._set_current_panel(PanelType.STEERING)
     self._scroller.show_event()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py
new file mode 100644
index 00000000000000..9a5d5202a50a1e
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py
@@ -0,0 +1,81 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from collections.abc import Callable
+import pyray as rl
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp, LineSeparatorSP
+from openpilot.system.ui.widgets.network import NavButton
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets import Widget
+
+from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
+
+
+class LaneChangeSettingsLayout(Widget):
+  def __init__(self, back_btn_callback: Callable):
+    super().__init__()
+    self._back_button = NavButton(tr("Back"))
+    self._back_button.set_click_callback(back_btn_callback)
+
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=False, spacing=0)
+
+  def _initialize_items(self):
+    self._lane_change_timer = option_item_sp(
+      title=lambda: tr("Auto Lane Change by Blinker"),
+      param="AutoLaneChangeTimer",
+      description=lambda: tr("Set a timer to delay the auto lane change operation when the blinker is used. " +
+                             "No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.<br>" +
+                             "Please use caution when using this feature. Only use the blinker when traffic and road conditions permit."),
+      min_value=-1,
+      max_value=5,
+      value_change_step=1,
+      label_callback=(lambda x:
+                      tr("Off") if x == -1 else
+                      tr("Nudge") if x == 0 else
+                      tr("Nudgeless") if x == 1 else
+                      f"0.5 {tr('s')}" if x == 2 else
+                      f"1 {tr('s')}" if x == 3 else
+                      f"2 {tr('s')}" if x == 4 else
+                      f"3 {tr('s')}")
+    )
+    self._bsm_delay = toggle_item_sp(
+      param="AutoLaneChangeBsmDelay",
+      title=lambda: tr("Auto Lane Change: Delay with Blind Spot"),
+      description=lambda: tr("Toggle to enable a delay timer for seamless lane changes when blind spot monitoring " +
+                             "(BSM) detects a obstructing vehicle, ensuring safe maneuvering."),
+    )
+
+    items = [
+      self._lane_change_timer,
+      LineSeparatorSP(40),
+      self._bsm_delay,
+    ]
+
+    return items
+
+  def _update_state(self):
+    super()._update_state()
+    self._update_toggles()
+
+  def _render(self, rect):
+    self._back_button.set_position(self._rect.x, self._rect.y + 20)
+    self._back_button.render()
+    # subtract button
+    content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40, rect.width, rect.height - self._back_button.rect.height - 40)
+    self._scroller.render(content_rect)
+
+  def show_event(self):
+    self._scroller.show_event()
+
+  def _update_toggles(self):
+    enable_bsm = ui_state.CP and ui_state.CP.enableBsm
+    if not enable_bsm and ui_state.params.get_bool("AutoLaneChangeBsmDelay"):
+      ui_state.params.remove("AutoLaneChangeBsmDelay")
+    self._bsm_delay.action_item.set_enabled(enable_bsm and ui_state.params.get("AutoLaneChangeTimer", return_default=True) > AutoLaneChangeMode.NUDGE)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
new file mode 100644
index 00000000000000..d3f38e04d138ed
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
@@ -0,0 +1,135 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from collections.abc import Callable
+import pyray as rl
+
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.network import NavButton
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp, toggle_item_sp
+
+MADS_STEERING_MODE_OPTIONS = [
+  (tr("Remain Active"), tr_noop("Remain Active: ALC will remain active when the brake pedal is pressed.")),
+  (tr("Pause"), tr_noop("Pause: ALC will pause when the brake pedal is pressed.")),
+  (tr("Disengage"), tr_noop("Disengage: ALC will disengage when the brake pedal is pressed.")),
+]
+
+MADS_MAIN_CRUISE_BASE_DESC = tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.")
+MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC = "{engage}<br><h4>{note}</h4>".format(
+  engage=tr("Engage lateral and longitudinal control with cruise control engagement."),
+  note=tr("Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."),
+)
+
+STATUS_CHECK_COMPATIBILITY = tr("Start the vehicle to check vehicle compatibility.")
+DEFAULT_TO_OFF = tr("This feature defaults to OFF, and does not allow selection due to vehicle limitations.")
+DEFAULT_TO_ON = tr("This feature defaults to ON, and does not allow selection due to vehicle limitations.")
+STATUS_DISENGAGE_ONLY = tr("This platform only supports Disengage mode due to vehicle limitations.")
+
+
+class MadsSettingsLayout(Widget):
+  def __init__(self, back_btn_callback: Callable):
+    super().__init__()
+    self._back_button = NavButton(tr("Back"))
+    self._back_button.set_click_callback(back_btn_callback)
+    self._initialize_items()
+    self._scroller = Scroller(self.items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    self._main_cruise_toggle = toggle_item_sp(
+      title=lambda: tr("Toggle with Main Cruise"),
+      description=MADS_MAIN_CRUISE_BASE_DESC,
+      param="MadsMainCruiseAllowed",
+    )
+    self._unified_engagement_toggle = toggle_item_sp(
+      title=lambda: tr("Unified Engagement Mode (UEM)"),
+      description=MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC,
+      param="MadsUnifiedEngagementMode"
+    )
+    self._steering_mode = multiple_button_item_sp(
+      param="MadsSteeringMode",
+      title=lambda: tr("Steering Mode on Brake Pedal"),
+      description="",
+      buttons=[opt[0] for opt in MADS_STEERING_MODE_OPTIONS],
+      inline=False,
+      button_width=350,
+      callback=self._update_steering_mode_description,
+    )
+
+    self.items = [
+      self._main_cruise_toggle,
+      self._unified_engagement_toggle,
+      self._steering_mode,
+    ]
+
+  def _update_state(self):
+    super()._update_state()
+    self._update_toggles()
+
+  def _render(self, rect):
+    self._back_button.set_position(self._rect.x, self._rect.y + 20)
+    self._back_button.render()
+    # subtract button
+    content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40, rect.width, rect.height - self._back_button.rect.height - 40)
+    self._scroller.render(content_rect)
+
+  def show_event(self):
+    self._scroller.show_event()
+
+  @staticmethod
+  def _mads_limited_settings() -> bool:
+    brand = ""
+    if ui_state.is_offroad():
+      bundle = ui_state.params.get("CarPlatformBundle")
+      if bundle:
+        brand = bundle.get("brand", "")
+    if not brand:
+      brand = ui_state.CP.brand if ui_state.CP else ""
+
+    if brand == "rivian":
+      return True
+    elif brand == "tesla":
+      return not (ui_state.CP_SP and ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
+    return False
+
+  def _update_steering_mode_description(self, button_index: int):
+    base_desc = tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.")
+    result = base_desc + "<br><br>"
+    for opt in MADS_STEERING_MODE_OPTIONS:
+      desc = "<b>" + opt[1] + "</b>" if button_index == MADS_STEERING_MODE_OPTIONS.index(opt) else opt[1]
+      result += desc + "<br>"
+    self._steering_mode.set_description(result)
+    self._steering_mode.show_description(True)
+
+  def _update_toggles(self):
+    self._update_steering_mode_description(self._steering_mode.action_item.get_selected_button())
+    if self._mads_limited_settings():
+      ui_state.params.remove("MadsMainCruiseAllowed")
+      ui_state.params.put_bool("MadsUnifiedEngagementMode", True)
+      ui_state.params.put("MadsSteeringMode", 2)
+
+      self._main_cruise_toggle.action_item.set_enabled(False)
+      self._main_cruise_toggle.action_item.set_state(False)
+      self._main_cruise_toggle.set_description("<b>" + DEFAULT_TO_OFF + "</b><br>" + MADS_MAIN_CRUISE_BASE_DESC)
+
+      self._unified_engagement_toggle.action_item.set_enabled(False)
+      self._unified_engagement_toggle.action_item.set_state(True)
+      self._unified_engagement_toggle.set_description("<b>" + DEFAULT_TO_ON + "</b><br>" + MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC)
+
+      self._steering_mode.action_item.set_enabled(False)
+      self._steering_mode.set_description(STATUS_DISENGAGE_ONLY)
+      self._steering_mode.action_item.set_selected_button(2)
+    else:
+      self._main_cruise_toggle.action_item.set_enabled(True)
+      self._main_cruise_toggle.set_description(MADS_MAIN_CRUISE_BASE_DESC)
+
+      self._unified_engagement_toggle.action_item.set_enabled(True)
+      self._unified_engagement_toggle.set_description(MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC)
+
+      self._steering_mode.action_item.set_enabled(True)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
new file mode 100644
index 00000000000000..dceee8b5180b0f
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
@@ -0,0 +1,115 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from collections.abc import Callable
+import pyray as rl
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp
+from openpilot.system.ui.widgets.network import NavButton
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets import Widget
+
+
+class TorqueSettingsLayout(Widget):
+  def __init__(self, back_btn_callback: Callable):
+    super().__init__()
+    self._back_button = NavButton(tr("Back"))
+    self._back_button.set_click_callback(back_btn_callback)
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    self._self_tune_toggle = toggle_item_sp(
+      param="LiveTorqueParamsToggle",
+      title=lambda: tr("Self-Tune"),
+      description=lambda: tr("Enables self-tune for Torque lateral control for platforms that do not use " +
+                             "Torque lateral control by default."),
+    )
+    self._relaxed_tune_toggle = toggle_item_sp(
+      param="LiveTorqueParamsRelaxedToggle",
+      title=lambda: tr("Less Restrict Settings for Self-Tune (Beta)"),
+      description=lambda: tr("Less strict settings when using Self-Tune. This allows torqued to be more " +
+                             "forgiving when learning values."),
+    )
+    self._custom_tune_toggle = toggle_item_sp(
+      param="CustomTorqueParams",
+      title=lambda: tr("Enable Custom Tuning"),
+      description=lambda: tr("Enables custom tuning for Torque lateral control. " +
+                             "Modifying Lateral Acceleration Factor and Friction below will override the offline values " +
+                             "indicated in the YAML files within \"opendbc/car/torque_data\". " +
+                             "The values will also be used live when \"Manual Real-Time Tuning\" toggle is enabled."),
+    )
+    self._torque_prams_override_toggle = toggle_item_sp(
+      param="TorqueParamsOverrideEnabled",
+      title=lambda: tr("Manual Real-Time Tuning"),
+      description=lambda: tr("Enforces the torque lateral controller to use the fixed values instead of the learned " +
+                             "values from Self-Tune. Enabling this toggle overrides Self-Tune values."),
+    )
+    self._torque_lat_accel_factor = option_item_sp(
+      title=lambda: tr("Lateral Acceleration Factor"),
+      param="TorqueParamsOverrideLatAccelFactor",
+      description="",
+      min_value=1,
+      max_value=500,
+      value_change_step=1,
+      label_callback=(lambda x: f"{x/100} m/s^2"),
+      use_float_scaling=True
+    )
+
+    self._torque_friction = option_item_sp(
+      title=lambda: tr("Friction"),
+      param="TorqueParamsOverrideFriction",
+      description="",
+      min_value=1,
+      max_value=100,
+      value_change_step=1,
+      label_callback=(lambda x: f"{x/100}"),
+      use_float_scaling=True
+    )
+
+    items = [
+      self._self_tune_toggle,
+      self._relaxed_tune_toggle,
+      self._custom_tune_toggle,
+      self._torque_prams_override_toggle,
+      self._torque_lat_accel_factor,
+      self._torque_friction,
+    ]
+    return items
+
+  def _update_state(self):
+    super()._update_state()
+    if not ui_state.params.get_bool("LiveTorqueParamsToggle"):
+      ui_state.params.remove("LiveTorqueParamsRelaxedToggle")
+      self._relaxed_tune_toggle.action_item.set_state(False)
+    self._self_tune_toggle.action_item.set_enabled(ui_state.is_offroad())
+    self._relaxed_tune_toggle.action_item.set_enabled(ui_state.is_offroad() and self._self_tune_toggle.action_item.get_state())
+    self._custom_tune_toggle.action_item.set_enabled(ui_state.is_offroad())
+    custom_tune_enabled = self._custom_tune_toggle.action_item.get_state()
+    self._torque_prams_override_toggle.set_visible(custom_tune_enabled)
+    self._torque_lat_accel_factor.set_visible(custom_tune_enabled)
+    self._torque_friction.set_visible(custom_tune_enabled)
+
+    self._torque_prams_override_toggle.action_item.set_enabled(ui_state.is_offroad())
+    sliders_enabled = self._torque_prams_override_toggle.action_item.get_state() or ui_state.is_offroad()
+    self._torque_lat_accel_factor.action_item.set_enabled(sliders_enabled)
+    self._torque_friction.action_item.set_enabled(sliders_enabled)
+
+    title_text = tr("Real-Time & Offline") if ui_state.params.get("TorqueParamsOverrideEnabled") else tr("Offline Only")
+    self._torque_lat_accel_factor.set_title(lambda: tr("Lateral Acceleration Factor") + " (" + title_text + ")")
+    self._torque_friction.set_title(lambda: tr("Friction") + " (" + title_text + ")")
+
+  def _render(self, rect):
+    self._back_button.set_position(self._rect.x, self._rect.y + 20)
+    self._back_button.render()
+    # subtract button
+    content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40, rect.width, rect.height - self._back_button.rect.height - 40)
+    self._scroller.render(content_rect)
+
+  def show_event(self):
+    self._scroller.show_event()

From 8c36739ebd346f3a52e89978f4dcf657841b61da Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Fri, 23 Jan 2026 21:27:12 -0700
Subject: [PATCH 0690/1434] [TIZI/TICI] ui: Rocket Fuel (#1337)

* rocket

* raylib

* extra

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/params_keys.h                          |  1 +
 .../ui/sunnypilot/onroad/hud_renderer.py      |  5 +++
 selfdrive/ui/sunnypilot/onroad/rocket_fuel.py | 45 +++++++++++++++++++
 selfdrive/ui/sunnypilot/ui_state.py           |  1 +
 sunnypilot/sunnylink/params_metadata.json     |  4 ++
 5 files changed, 56 insertions(+)
 create mode 100644 selfdrive/ui/sunnypilot/onroad/rocket_fuel.py

diff --git a/common/params_keys.h b/common/params_keys.h
index e042113927b7e8..ecc656cc789083 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -173,6 +173,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
index 33582df191ce78..9a29a97b9f44cb 100644
--- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
+++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
@@ -6,15 +6,20 @@
 """
 import pyray as rl
 
+from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel
 
 
 class HudRendererSP(HudRenderer):
   def __init__(self):
     super().__init__()
     self.developer_ui = DeveloperUiRenderer()
+    self.rocket_fuel = RocketFuel()
 
   def _render(self, rect: rl.Rectangle) -> None:
     super()._render(rect)
     self.developer_ui.render(rect)
+    if ui_state.rocket_fuel:
+      self.rocket_fuel.render(rect, ui_state.sm)
diff --git a/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py b/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py
new file mode 100644
index 00000000000000..af25711a926f17
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py
@@ -0,0 +1,45 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+
+
+class RocketFuel:
+  def __init__(self):
+    self.vc_accel = 0.0
+
+  def render(self, rect: rl.Rectangle, sm) -> None:
+    vc_accel0 = sm['carState'].aEgo
+
+    # Smooth the acceleration
+    self.vc_accel = self.vc_accel + (vc_accel0 - self.vc_accel) / 5.0
+
+    hha = 0.0
+    color = rl.Color(0, 0, 0, 0)  # Transparent by default
+
+    if self.vc_accel > 0:
+      hha = 0.85 - 0.1 / self.vc_accel  # only extend up to 85%
+      color = rl.Color(0, 245, 0, 200)
+    elif self.vc_accel < 0:
+      hha = 0.85 + 0.1 / self.vc_accel  # only extend up to 85%
+      color = rl.Color(245, 0, 0, 200)
+
+    if hha < 0:
+      hha = 0.0
+
+    hha = hha * rect.height
+    wp = 28.0
+
+    # Draw
+    rect_h = rect.height
+
+    if self.vc_accel > 0:
+      ra_y = rect_h / 2.0 - hha / 2.0
+    else:
+      ra_y = rect_h / 2.0
+
+    if hha > 0:
+      rl.draw_rectangle(int(rect.x), int(rect.y + ra_y), int(wp), int(hha / 2.0), color)
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index 2644c157ad3a54..9ef4e1d7c86370 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -122,6 +122,7 @@ def update_params(self) -> None:
       self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
     self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled")
     self.developer_ui = self.params.get("DevUIInfo")
+    self.rocket_fuel = self.params.get_bool("RocketFuel")
     self.rainbow_path = self.params.get_bool("RainbowMode")
     self.chevron_metrics = self.params.get("ChevronInfo")
     self.active_bundle = self.params.get("ModelManager_ActiveBundle")
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index e4390586bc680e..7f597a96219531 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -1082,6 +1082,10 @@
     "title": "Display Road Name",
     "description": ""
   },
+  "RocketFuel": {
+    "title": "Display Rocket Fuel Bar",
+    "description": "Show an indicator on the left side of the screen to display real-time vehicle acceleration and deceleration."
+  },
   "RouteCount": {
     "title": "Route Count",
     "description": ""

From 76d50df4665ec83e1dc6d9fc6502fbf90d5d8d94 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Fri, 23 Jan 2026 22:46:00 -0700
Subject: [PATCH 0691/1434] [TIZI/TICI] ui: MICI style turn signals (#1504)

* mici turn signal for c3x

* sp dir

* decouple

* more

* ty

* refactor and slim down

* bigger

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../ui/sunnypilot/onroad/hud_renderer.py      |   9 ++
 selfdrive/ui/sunnypilot/onroad/turn_signal.py | 125 ++++++++++++++++++
 2 files changed, 134 insertions(+)
 create mode 100644 selfdrive/ui/sunnypilot/onroad/turn_signal.py

diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
index 9a29a97b9f44cb..0155e38a6e3cd6 100644
--- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
+++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
@@ -10,6 +10,7 @@
 from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel
+from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController
 
 
 class HudRendererSP(HudRenderer):
@@ -17,9 +18,17 @@ def __init__(self):
     super().__init__()
     self.developer_ui = DeveloperUiRenderer()
     self.rocket_fuel = RocketFuel()
+    self.turn_signal_controller = TurnSignalController()
+
+  def _update_state(self) -> None:
+    super()._update_state()
+    self.turn_signal_controller.update()
 
   def _render(self, rect: rl.Rectangle) -> None:
     super()._render(rect)
     self.developer_ui.render(rect)
+
+    self.turn_signal_controller.render()
+
     if ui_state.rocket_fuel:
       self.rocket_fuel.render(rect, ui_state.sm)
diff --git a/selfdrive/ui/sunnypilot/onroad/turn_signal.py b/selfdrive/ui/sunnypilot/onroad/turn_signal.py
new file mode 100644
index 00000000000000..ad14e72f5aaa5d
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/turn_signal.py
@@ -0,0 +1,125 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+import time
+from dataclasses import dataclass
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.mici.onroad.alert_renderer import IconSide, TURN_SIGNAL_BLINK_PERIOD
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import Widget
+from openpilot.common.filter_simple import FirstOrderFilter
+
+
+@dataclass(frozen=True)
+class TurnSignalConfig:
+  left_x: int = 870
+  left_y: int = 220
+  right_x: int = 1140
+  right_y: int = 220
+  size: int = 150
+
+
+class TurnSignalWidget(Widget):
+  def __init__(self, direction: IconSide):
+    super().__init__()
+    self._direction = direction
+    self._active = False
+
+    self._turn_signal_timer = 0.0
+    self._turn_signal_alpha_filter = FirstOrderFilter(0.0, 0.3, 1 / gui_app.target_fps)
+
+    texture_path = f'icons_mici/onroad/turn_signal_{direction}.png'
+    self._texture = gui_app.texture(texture_path, 120, 109)
+
+  def _render(self, _):
+    if not self._active:
+      return
+
+    if time.monotonic() - self._turn_signal_timer > TURN_SIGNAL_BLINK_PERIOD:
+      self._turn_signal_timer = time.monotonic()
+      self._turn_signal_alpha_filter.x = 255 * 2
+    else:
+      self._turn_signal_alpha_filter.update(255 * 0.2)
+
+    icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255))
+
+    if self._texture:
+      pos_x = int(self._rect.x + (self._rect.width - self._texture.width) / 2)
+      pos_y = int(self._rect.y + (self._rect.height - self._texture.height) / 2)
+      color = rl.Color(255, 255, 255, icon_alpha)
+      rl.draw_texture(self._texture, pos_x, pos_y, color)
+
+  def activate(self):
+    if not self._active:
+      self._turn_signal_timer = 0.0
+    self._active = True
+
+  def deactivate(self):
+    self._active = False
+    self._turn_signal_timer = 0.0
+
+
+class TurnSignalController:
+  def __init__(self, config: TurnSignalConfig | None = None):
+    self._config = config or TurnSignalConfig()
+    self._left_signal = TurnSignalWidget(direction=IconSide.left)
+    self._right_signal = TurnSignalWidget(direction=IconSide.right)
+    self._last_icon_side = None
+
+  def update(self):
+    sm = ui_state.sm
+    ss = sm['selfdriveState']
+
+    event_name = ss.alertType.split('/')[0] if ss.alertType else ''
+
+    if event_name == 'preLaneChangeLeft':
+      self._last_icon_side = IconSide.left
+      self._left_signal.activate()
+      self._right_signal.deactivate()
+
+    elif event_name == 'preLaneChangeRight':
+      self._last_icon_side = IconSide.right
+      self._right_signal.activate()
+      self._left_signal.deactivate()
+
+    elif event_name == 'laneChange':
+      if self._last_icon_side == IconSide.left:
+        self._left_signal.activate()
+        self._right_signal.deactivate()
+      elif self._last_icon_side == IconSide.right:
+        self._right_signal.activate()
+        self._left_signal.deactivate()
+
+    else:
+      self._last_icon_side = None
+      self._left_signal.deactivate()
+      self._right_signal.deactivate()
+
+  def render(self):
+    if self._last_icon_side == IconSide.left:
+      self._left_signal.render(rl.Rectangle(
+        self._config.left_x,
+        self._config.left_y,
+        self._config.size,
+        self._config.size
+      ))
+    elif self._last_icon_side == IconSide.right:
+      self._right_signal.render(rl.Rectangle(
+        self._config.right_x,
+        self._config.right_y,
+        self._config.size,
+        self._config.size
+      ))
+
+  @property
+  def config(self) -> TurnSignalConfig:
+    return self._config
+
+  @config.setter
+  def config(self, new_config: TurnSignalConfig):
+    self._config = new_config

From 1bd3255f14f9e32bca542778652e979412538972 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 24 Jan 2026 01:04:25 -0500
Subject: [PATCH 0692/1434] [TIZI/TICI] ui: MICI style blindspot indicators
 (#1657)

* introduce blinker

* add blind spot

* bigger

* nah

* lint
---
 selfdrive/ui/sunnypilot/onroad/turn_signal.py | 71 ++++++++++++++-----
 1 file changed, 54 insertions(+), 17 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/onroad/turn_signal.py b/selfdrive/ui/sunnypilot/onroad/turn_signal.py
index ad14e72f5aaa5d..4e5f1183d891ac 100644
--- a/selfdrive/ui/sunnypilot/onroad/turn_signal.py
+++ b/selfdrive/ui/sunnypilot/onroad/turn_signal.py
@@ -29,24 +29,30 @@ def __init__(self, direction: IconSide):
     super().__init__()
     self._direction = direction
     self._active = False
+    self._type = 'signal'
 
     self._turn_signal_timer = 0.0
     self._turn_signal_alpha_filter = FirstOrderFilter(0.0, 0.3, 1 / gui_app.target_fps)
 
-    texture_path = f'icons_mici/onroad/turn_signal_{direction}.png'
-    self._texture = gui_app.texture(texture_path, 120, 109)
+    self._signal_texture = gui_app.texture(f'icons_mici/onroad/turn_signal_{direction}.png', 120, 109)
+    self._blind_spot_texture = gui_app.texture(f'icons_mici/onroad/blind_spot_{direction}.png', 120, 109)
+    self._texture = self._signal_texture
 
   def _render(self, _):
     if not self._active:
       return
 
-    if time.monotonic() - self._turn_signal_timer > TURN_SIGNAL_BLINK_PERIOD:
-      self._turn_signal_timer = time.monotonic()
-      self._turn_signal_alpha_filter.x = 255 * 2
+    if self._type == 'signal':
+      if time.monotonic() - self._turn_signal_timer > TURN_SIGNAL_BLINK_PERIOD:
+        self._turn_signal_timer = time.monotonic()
+        self._turn_signal_alpha_filter.x = 255 * 2
+      else:
+        self._turn_signal_alpha_filter.update(255 * 0.2)
+      icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255))
     else:
-      self._turn_signal_alpha_filter.update(255 * 0.2)
+      icon_alpha = 255
 
-    icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255))
+    self._texture = self._blind_spot_texture if self._type == 'blind_spot' else self._signal_texture
 
     if self._texture:
       pos_x = int(self._rect.x + (self._rect.width - self._texture.width) / 2)
@@ -54,10 +60,11 @@ def _render(self, _):
       color = rl.Color(255, 255, 255, icon_alpha)
       rl.draw_texture(self._texture, pos_x, pos_y, color)
 
-  def activate(self):
-    if not self._active:
+  def activate(self, _type: str = 'signal'):
+    if not self._active or self._type != _type:
       self._turn_signal_timer = 0.0
     self._active = True
+    self._type = _type
 
   def deactivate(self):
     self._active = False
@@ -79,36 +86,66 @@ def update(self):
 
     if event_name == 'preLaneChangeLeft':
       self._last_icon_side = IconSide.left
-      self._left_signal.activate()
+      self._left_signal.activate('signal')
       self._right_signal.deactivate()
 
     elif event_name == 'preLaneChangeRight':
       self._last_icon_side = IconSide.right
-      self._right_signal.activate()
+      self._right_signal.activate('signal')
       self._left_signal.deactivate()
 
     elif event_name == 'laneChange':
       if self._last_icon_side == IconSide.left:
-        self._left_signal.activate()
+        self._left_signal.activate('signal')
         self._right_signal.deactivate()
       elif self._last_icon_side == IconSide.right:
-        self._right_signal.activate()
+        self._right_signal.activate('signal')
+        self._left_signal.deactivate()
+
+    elif event_name == 'laneChangeBlocked':
+      CS = sm['carState']
+      if CS.leftBlinker:
+        icon_side = IconSide.left
+      elif CS.rightBlinker:
+        icon_side = IconSide.right
+      else:
+        icon_side = self._last_icon_side
+
+      if icon_side == IconSide.left:
+        self._left_signal.activate('blind_spot')
+        self._right_signal.deactivate()
+      elif icon_side == IconSide.right:
+        self._right_signal.activate('blind_spot')
         self._left_signal.deactivate()
 
     else:
       self._last_icon_side = None
-      self._left_signal.deactivate()
-      self._right_signal.deactivate()
+      CS = sm['carState']
+
+      if CS.leftBlindspot:
+        self._left_signal.activate('blind_spot')
+      elif CS.leftBlinker:
+        self._left_signal.activate('signal')
+      else:
+        self._left_signal.deactivate()
+
+      if CS.rightBlindspot:
+        self._right_signal.activate('blind_spot')
+      elif CS.rightBlinker:
+        self._right_signal.activate('signal')
+      else:
+        self._right_signal.deactivate()
 
   def render(self):
-    if self._last_icon_side == IconSide.left:
+    if self._left_signal._active:
       self._left_signal.render(rl.Rectangle(
         self._config.left_x,
         self._config.left_y,
         self._config.size,
         self._config.size
       ))
-    elif self._last_icon_side == IconSide.right:
+
+    if self._right_signal._active:
       self._right_signal.render(rl.Rectangle(
         self._config.right_x,
         self._config.right_y,

From d7770ad55ca67fc15f766e75b66e7e3946d8595e Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Fri, 23 Jan 2026 23:36:47 -0700
Subject: [PATCH 0693/1434] [MICI] ui: display blindspot indicators when
 available (#1525)

* always bsm

* c4 bsm for c3x

* position

* sperate

* sp dir

* revert

* decouple

* final

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../ui/mici/onroad/augmented_road_view.py     |  1 +
 selfdrive/ui/mici/onroad/hud_renderer.py      |  4 +-
 .../ui/sunnypilot/mici/onroad/hud_renderer.py | 27 ++++++++++
 .../onroad/blind_spot_indicators.py           | 49 +++++++++++++++++++
 4 files changed, 80 insertions(+), 1 deletion(-)
 create mode 100644 selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py
 create mode 100644 selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py

diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index 0546920e53bd38..316052fdc19038 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -20,6 +20,7 @@
 from enum import IntEnum
 
 if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.mici.onroad.hud_renderer import HudRendererSP as HudRenderer
   from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus
 
 OpState = log.SelfdriveState.OpenpilotState
diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py
index 7f489ccf9813ad..44ce12437a9121 100644
--- a/selfdrive/ui/mici/onroad/hud_renderer.py
+++ b/selfdrive/ui/mici/onroad/hud_renderer.py
@@ -183,11 +183,13 @@ def _render(self, rect: rl.Rectangle) -> None:
   def _draw_steering_wheel(self, rect: rl.Rectangle) -> None:
     wheel_txt = self._txt_wheel_critical if self._show_wheel_critical else self._txt_wheel
 
+    bsm_detected = self._has_blind_spot_detected() if gui_app.sunnypilot_ui() else False
+
     if self._show_wheel_critical:
       self._wheel_alpha_filter.update(255)
       self._wheel_y_filter.update(0)
     else:
-      if ui_state.status == UIStatus.DISENGAGED:
+      if ui_state.status == UIStatus.DISENGAGED or bsm_detected:
         self._wheel_alpha_filter.update(0)
         self._wheel_y_filter.update(wheel_txt.height / 2)
       else:
diff --git a/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py
new file mode 100644
index 00000000000000..de52bb46222957
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py
@@ -0,0 +1,27 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+
+from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.blind_spot_indicators import BlindSpotIndicators
+
+
+class HudRendererSP(HudRenderer):
+  def __init__(self):
+    super().__init__()
+    self.blind_spot_indicators = BlindSpotIndicators()
+
+  def _update_state(self) -> None:
+    super()._update_state()
+    self.blind_spot_indicators.update()
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    super()._render(rect)
+    self.blind_spot_indicators.render(rect)
+
+  def _has_blind_spot_detected(self) -> bool:
+    return self.blind_spot_indicators.detected
diff --git a/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py b/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py
new file mode 100644
index 00000000000000..1087579fefcaa0
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py
@@ -0,0 +1,49 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.common.filter_simple import FirstOrderFilter
+
+
+class BlindSpotIndicators:
+  def __init__(self):
+    self._txt_blind_spot_left: rl.Texture = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 108, 128)
+    self._txt_blind_spot_right: rl.Texture = gui_app.texture('icons_mici/onroad/blind_spot_right.png', 108, 128)
+
+    self._blind_spot_left_alpha_filter = FirstOrderFilter(0, 0.15, 1 / gui_app.target_fps)
+    self._blind_spot_right_alpha_filter = FirstOrderFilter(0, 0.15, 1 / gui_app.target_fps)
+
+  def update(self) -> None:
+    sm = ui_state.sm
+    CS = sm['carState']
+
+    self._blind_spot_left_alpha_filter.update(1.0 if CS.leftBlindspot else 0.0)
+    self._blind_spot_right_alpha_filter.update(1.0 if CS.rightBlindspot else 0.0)
+
+  @property
+  def detected(self) -> bool:
+    return self._blind_spot_left_alpha_filter.x > 0.01 or self._blind_spot_right_alpha_filter.x > 0.01
+
+  def render(self, rect: rl.Rectangle) -> None:
+    BLIND_SPOT_MARGIN_X = 20  # Distance from edge of screen
+    BLIND_SPOT_Y_OFFSET = 100  # Distance from top of screen
+
+    if self._blind_spot_left_alpha_filter.x > 0.01:
+      pos_x = int(rect.x + BLIND_SPOT_MARGIN_X)
+      pos_y = int(rect.y + BLIND_SPOT_Y_OFFSET)
+      alpha = int(255 * self._blind_spot_left_alpha_filter.x)
+      color = rl.Color(255, 255, 255, alpha)
+      rl.draw_texture(self._txt_blind_spot_left, pos_x, pos_y, color)
+
+    if self._blind_spot_right_alpha_filter.x > 0.01:
+      pos_x = int(rect.x + rect.width - BLIND_SPOT_MARGIN_X - self._txt_blind_spot_right.width)
+      pos_y = int(rect.y + BLIND_SPOT_Y_OFFSET)
+      alpha = int(255 * self._blind_spot_right_alpha_filter.x)
+      color = rl.Color(255, 255, 255, alpha)
+      rl.draw_texture(self._txt_blind_spot_right, pos_x, pos_y, color)

From 5c01365125c1b1fff9239a8cde5f9482e3265022 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Sat, 24 Jan 2026 00:04:42 -0700
Subject: [PATCH 0694/1434] [TIZI/TICI] ui: Road Name (#1654)

* road name

* decouple

* rename

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../ui/sunnypilot/onroad/hud_renderer.py      |  4 ++
 selfdrive/ui/sunnypilot/onroad/road_name.py   | 56 +++++++++++++++++++
 2 files changed, 60 insertions(+)
 create mode 100644 selfdrive/ui/sunnypilot/onroad/road_name.py

diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
index 0155e38a6e3cd6..933b573bf13be6 100644
--- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
+++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
@@ -9,6 +9,7 @@
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.road_name import RoadNameRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel
 from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController
 
@@ -17,17 +18,20 @@ class HudRendererSP(HudRenderer):
   def __init__(self):
     super().__init__()
     self.developer_ui = DeveloperUiRenderer()
+    self.road_name_renderer = RoadNameRenderer()
     self.rocket_fuel = RocketFuel()
     self.turn_signal_controller = TurnSignalController()
 
   def _update_state(self) -> None:
     super()._update_state()
+    self.road_name_renderer.update()
     self.turn_signal_controller.update()
 
   def _render(self, rect: rl.Rectangle) -> None:
     super()._render(rect)
     self.developer_ui.render(rect)
 
+    self.road_name_renderer.render(rect)
     self.turn_signal_controller.render()
 
     if ui_state.rocket_fuel:
diff --git a/selfdrive/ui/sunnypilot/onroad/road_name.py b/selfdrive/ui/sunnypilot/onroad/road_name.py
new file mode 100644
index 00000000000000..652e620ad6406a
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/road_name.py
@@ -0,0 +1,56 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+
+
+class RoadNameRenderer(Widget):
+  def __init__(self):
+    super().__init__()
+    self.road_name = ""
+    self.is_metric = False
+    self.font_demi = gui_app.font(FontWeight.SEMI_BOLD)
+
+  def update(self):
+    sm = ui_state.sm
+    if sm.recv_frame["carState"] < ui_state.started_frame:
+      return
+
+    self.is_metric = ui_state.is_metric
+
+    if sm.updated["liveMapDataSP"]:
+      lmd = sm["liveMapDataSP"]
+      self.road_name = lmd.roadName
+
+  def _render(self, rect: rl.Rectangle):
+    if not self.road_name:
+      return
+
+    text = self.road_name
+    text_size = measure_text_cached(self.font_demi, text, 46)
+
+    padding = 40
+    rect_width = max(200, min(text_size.x + padding, rect.width - 40))
+
+    road_rect = rl.Rectangle(rect.x + rect.width / 2 - rect_width / 2, rect.y - 4, rect_width, 60)
+
+    rl.draw_rectangle_rounded(road_rect, 0.2, 10, rl.Color(0, 0, 0, 120))
+
+    max_text_width = road_rect.width - 20
+    if text_size.x > max_text_width:
+      while text_size.x > max_text_width and len(text) > 3:
+        text = text[:-1]
+        text_size = measure_text_cached(self.font_demi, text + "...", 46)
+      text = text + "..."
+
+    sz = measure_text_cached(self.font_demi, text, 46)
+    origin = rl.Vector2(road_rect.x + road_rect.width / 2 - sz.x / 2, road_rect.y + road_rect.height / 2 - sz.y / 2)
+    rl.draw_text_ex(self.font_demi, text, origin, 46, 0, rl.Color(255, 255, 255, 200))

From fc4a0fb944de619e64e1ee9b312bdd6c03509a02 Mon Sep 17 00:00:00 2001
From: dzid26 <dzidmail@gmail.com>
Date: Sat, 24 Jan 2026 07:11:38 +0000
Subject: [PATCH 0695/1434] [TIZI/TICI] ui: Blue "Exit Always Offroad" button
 (#1655)

Blue "Exit Always Offroad" button

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/layouts/settings/device.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/device.py b/selfdrive/ui/sunnypilot/layouts/settings/device.py
index 448a4faab61498..8f9d0ae22b432d 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/device.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/device.py
@@ -193,7 +193,7 @@ def _update_state(self):
 
     # Text & Color
     offroad_mode_btn_text = tr("Exit Always Offroad") if always_offroad else tr("Enable Always Offroad")
-    offroad_mode_btn_style = ButtonStyle.NORMAL if always_offroad else ButtonStyle.DANGER
+    offroad_mode_btn_style = ButtonStyle.PRIMARY if always_offroad else ButtonStyle.DANGER
     self._always_offroad_btn.action_item.left_button.set_text(offroad_mode_btn_text)
     self._always_offroad_btn.action_item.left_button.set_button_style(offroad_mode_btn_style)
 

From 5dea009113b5946e8f13aa62471f461930c13d50 Mon Sep 17 00:00:00 2001
From: Candy0707 <93701039+Candy0707@users.noreply.github.com>
Date: Sun, 25 Jan 2026 11:50:39 +0800
Subject: [PATCH 0696/1434] [TIZI/TICI] ui: Fix misaligned turn signals and
 blindspot indicators with sidebar (#1659)

* Fix Bug Turn and blind

* use separate y coord for left and right signals

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../ui/sunnypilot/onroad/hud_renderer.py      |  2 +-
 selfdrive/ui/sunnypilot/onroad/turn_signal.py | 32 +++++++++----------
 2 files changed, 16 insertions(+), 18 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
index 933b573bf13be6..0ea008f4e61458 100644
--- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
+++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
@@ -32,7 +32,7 @@ def _render(self, rect: rl.Rectangle) -> None:
     self.developer_ui.render(rect)
 
     self.road_name_renderer.render(rect)
-    self.turn_signal_controller.render()
+    self.turn_signal_controller.render(rect)
 
     if ui_state.rocket_fuel:
       self.rocket_fuel.render(rect, ui_state.sm)
diff --git a/selfdrive/ui/sunnypilot/onroad/turn_signal.py b/selfdrive/ui/sunnypilot/onroad/turn_signal.py
index 4e5f1183d891ac..3a66ffeb03be07 100644
--- a/selfdrive/ui/sunnypilot/onroad/turn_signal.py
+++ b/selfdrive/ui/sunnypilot/onroad/turn_signal.py
@@ -17,10 +17,10 @@
 
 @dataclass(frozen=True)
 class TurnSignalConfig:
-  left_x: int = 870
-  left_y: int = 220
-  right_x: int = 1140
-  right_y: int = 220
+  left_x: int = 80
+  left_y: int = 190
+  right_x: int = 80
+  right_y: int = 190
   size: int = 150
 
 
@@ -136,22 +136,20 @@ def update(self):
       else:
         self._right_signal.deactivate()
 
-  def render(self):
+  def render(self, rect: rl.Rectangle):
+    x = rect.x + rect.width / 2
+
+    left_x = x - self._config.left_x - self._config.size
+    left_y = rect.y + self._config.left_y
+
+    right_x = x + self._config.right_x
+    right_y = rect.y + self._config.right_y
+
     if self._left_signal._active:
-      self._left_signal.render(rl.Rectangle(
-        self._config.left_x,
-        self._config.left_y,
-        self._config.size,
-        self._config.size
-      ))
+      self._left_signal.render(rl.Rectangle(left_x, left_y, self._config.size, self._config.size))
 
     if self._right_signal._active:
-      self._right_signal.render(rl.Rectangle(
-        self._config.right_x,
-        self._config.right_y,
-        self._config.size,
-        self._config.size
-      ))
+      self._right_signal.render(rl.Rectangle(right_x, right_y, self._config.size, self._config.size))
 
   @property
   def config(self) -> TurnSignalConfig:

From fb58e8f1f7470d4699359988939a4a84a23a9673 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Sun, 25 Jan 2026 23:54:42 -0700
Subject: [PATCH 0697/1434] [TIZI/TICI] ui: Speed Limit (#1653)

* sla ui

remove dub

debug ahead

postition

maybe

posttion

think

* sunny will be mad

Reapply "test"

This reverts commit 7a35fd3053425b06c1e4cebf68b6c9676eb6e279.

Revert "test"

This reverts commit 1a79155d3cfc8e6e09a6fc38d13747883745ef6a.

test

* road name

* Revert "road name"

This reverts commit 02e69b008603c357f14b4793e8fc893e00b3d3a0.

* decouple

* dial it in

* match cur

* no magic numbers

* cleanup

* more cleanup

* match

* always draw ahead

* Revert "always draw ahead"

This reverts commit f695e000789aab316af8234d8ea3e282e0b72ec3.

* new

* type

* Revert "type"

This reverts commit 2dafa024076ff0b9e027c88e5fd532f8bc4ec0c7.

* default

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../ui/sunnypilot/onroad/hud_renderer.py      |   5 +-
 selfdrive/ui/sunnypilot/onroad/speed_limit.py | 281 ++++++++++++++++++
 selfdrive/ui/sunnypilot/ui_state.py           |   1 +
 3 files changed, 286 insertions(+), 1 deletion(-)
 create mode 100644 selfdrive/ui/sunnypilot/onroad/speed_limit.py

diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
index 0ea008f4e61458..8ca7269802887a 100644
--- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
+++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
@@ -11,6 +11,7 @@
 from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.road_name import RoadNameRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel
+from openpilot.selfdrive.ui.sunnypilot.onroad.speed_limit import SpeedLimitRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController
 
 
@@ -20,18 +21,20 @@ def __init__(self):
     self.developer_ui = DeveloperUiRenderer()
     self.road_name_renderer = RoadNameRenderer()
     self.rocket_fuel = RocketFuel()
+    self.speed_limit_renderer = SpeedLimitRenderer()
     self.turn_signal_controller = TurnSignalController()
 
   def _update_state(self) -> None:
     super()._update_state()
     self.road_name_renderer.update()
+    self.speed_limit_renderer.update()
     self.turn_signal_controller.update()
 
   def _render(self, rect: rl.Rectangle) -> None:
     super()._render(rect)
     self.developer_ui.render(rect)
-
     self.road_name_renderer.render(rect)
+    self.speed_limit_renderer.render(rect)
     self.turn_signal_controller.render(rect)
 
     if ui_state.rocket_fuel:
diff --git a/selfdrive/ui/sunnypilot/onroad/speed_limit.py b/selfdrive/ui/sunnypilot/onroad/speed_limit.py
new file mode 100644
index 00000000000000..a0b5ea39355b74
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/speed_limit.py
@@ -0,0 +1,281 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from dataclasses import dataclass
+import math
+import pyray as rl
+
+from cereal import custom
+from openpilot.common.constants import CV
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.ui.onroad.hud_renderer import UI_CONFIG
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+
+METER_TO_FOOT = 3.28084
+METER_TO_MILE = 0.000621371
+AHEAD_THRESHOLD = 5
+
+AssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
+SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source
+
+
+@dataclass(frozen=True)
+class Colors:
+  WHITE = rl.WHITE
+  BLACK = rl.BLACK
+  RED = rl.RED
+  GREY = rl.Color(145, 155, 149, 255)
+  DARK_GREY = rl.Color(77, 77, 77, 255)
+  SUB_BG = rl.Color(0, 0, 0, 180)
+  MUTCD_LINES = rl.Color(255, 255, 255, 100)
+
+
+class SpeedLimitRenderer(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self.speed_limit = 0.0
+    self.speed_limit_last = 0.0
+    self.speed_limit_offset = 0.0
+    self.speed_limit_valid = False
+    self.speed_limit_last_valid = False
+    self.speed_limit_final_last = 0.0
+    self.speed_limit_source = SpeedLimitSource.none
+    self.speed_limit_assist_state = AssistState.disabled
+
+    self.speed_limit_ahead = 0.0
+    self.speed_limit_ahead_dist = 0.0
+    self.speed_limit_ahead_dist_prev = 0.0
+    self.speed_limit_ahead_valid = False
+    self.speed_limit_ahead_frame = 0
+
+    self.assist_frame = 0
+    self.speed = 0.0
+    self.set_speed = 0.0
+
+    self.font_bold = gui_app.font(FontWeight.BOLD)
+    self.font_demi = gui_app.font(FontWeight.SEMI_BOLD)
+    self.font_norm = gui_app.font(FontWeight.NORMAL)
+    self._sign_alpha_filter = FirstOrderFilter(1.0, 0.5, 1 / gui_app.target_fps)
+
+    arrow_size = 90
+    self._arrow_up = gui_app.texture("../../sunnypilot/selfdrive/assets/img_plus_arrow_up.png", arrow_size, arrow_size)
+    self._arrow_down = gui_app.texture("../../sunnypilot/selfdrive/assets/img_minus_arrow_down.png", arrow_size, arrow_size)
+
+  @property
+  def speed_conv(self):
+    return CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+
+  def update(self):
+    sm = ui_state.sm
+    if sm.recv_frame["carState"] < ui_state.started_frame:
+      return
+
+    if sm.updated["longitudinalPlanSP"]:
+      lp_sp = sm["longitudinalPlanSP"]
+      resolver = lp_sp.speedLimit.resolver
+      assist = lp_sp.speedLimit.assist
+
+      self.speed_limit = resolver.speedLimit * self.speed_conv
+      self.speed_limit_last = resolver.speedLimitLast * self.speed_conv
+      self.speed_limit_offset = resolver.speedLimitOffset * self.speed_conv
+      self.speed_limit_valid = resolver.speedLimitValid
+      self.speed_limit_last_valid = resolver.speedLimitLastValid
+      self.speed_limit_final_last = resolver.speedLimitFinalLast * self.speed_conv
+      self.speed_limit_source = resolver.source
+      self.speed_limit_assist_state = assist.state
+
+    if sm.updated["liveMapDataSP"]:
+      lmd = sm["liveMapDataSP"]
+      self.speed_limit_ahead_valid = lmd.speedLimitAheadValid
+      self.speed_limit_ahead = lmd.speedLimitAhead * self.speed_conv
+      self.speed_limit_ahead_dist = lmd.speedLimitAheadDistance
+
+      if self.speed_limit_ahead_dist < self.speed_limit_ahead_dist_prev and self.speed_limit_ahead_frame < AHEAD_THRESHOLD:
+        self.speed_limit_ahead_frame += 1
+      elif self.speed_limit_ahead_dist > self.speed_limit_ahead_dist_prev and self.speed_limit_ahead_frame > 0:
+        self.speed_limit_ahead_frame -= 1
+
+      self.speed_limit_ahead_dist_prev = self.speed_limit_ahead_dist
+
+    cs = sm["carState"]
+    self.set_speed = cs.cruiseState.speed * self.speed_conv
+    v_ego = cs.vEgoCluster if cs.vEgoCluster != 0.0 else cs.vEgo
+    self.speed = max(0.0, v_ego * self.speed_conv)
+
+  @staticmethod
+  def _draw_text_centered(font, text, size, pos_center, color):
+    sz = measure_text_cached(font, text, size)
+    rl.draw_text_ex(font, text, rl.Vector2(pos_center.x - sz.x / 2, pos_center.y - sz.y / 2), size, 0, color)
+
+  def _render(self, rect: rl.Rectangle):
+    width = UI_CONFIG.set_speed_width_metric if ui_state.is_metric else UI_CONFIG.set_speed_width_imperial
+    x = rect.x + 60 + width + 30 - 6
+    y = rect.y + 45 - 6
+
+    sign_rect = rl.Rectangle(x, y, width, UI_CONFIG.set_speed_height + 6 * 2)
+
+    if self.speed_limit_assist_state == AssistState.preActive:
+      self.assist_frame += 1
+      pulse_value = 0.65 + 0.35 * math.sin(self.assist_frame * math.pi / gui_app.target_fps)
+      alpha = self._sign_alpha_filter.update(pulse_value)
+    else:
+      self.assist_frame = 0
+      alpha = self._sign_alpha_filter.update(1.0)
+
+    if ui_state.speed_limit_mode != SpeedLimitMode.off:
+      self._draw_sign_main(sign_rect, alpha)
+      if self.speed_limit_assist_state == AssistState.preActive:
+        self._draw_pre_active_arrow(sign_rect)
+      else:
+        self._draw_ahead_info(sign_rect)
+
+  def _draw_sign_main(self, rect, alpha=1.0):
+    speed_limit_warning_enabled = ui_state.speed_limit_mode >= SpeedLimitMode.warning
+    has_limit = self.speed_limit_valid or self.speed_limit_last_valid
+    is_overspeed = has_limit and round(self.speed_limit_final_last) < round(self.speed)
+
+    limit_str = str(round(self.speed_limit_last)) if has_limit else "---"
+    sub_text = ""
+    if self.speed_limit_offset != 0:
+      sign = "" if self.speed_limit_offset > 0 else "-"
+      sub_text = f"{sign}{round(abs(self.speed_limit_offset))}"
+
+    txt_color = Colors.BLACK
+    if speed_limit_warning_enabled and is_overspeed:
+      txt_color = Colors.RED
+    elif not self.speed_limit_valid:
+      txt_color = Colors.GREY
+
+    if ui_state.is_metric:
+      self._render_vienna(rect, limit_str, sub_text, txt_color, has_limit, alpha)
+    else:
+      self._render_mutcd(rect, limit_str, sub_text, txt_color, has_limit, alpha)
+
+  def _draw_pre_active_arrow(self, sign_rect):
+    set_speed_rounded = round(self.set_speed)
+    limit_rounded = round(self.speed_limit_final_last)
+
+    bounce_frequency = 2.0 * math.pi / (gui_app.target_fps * 2.5)
+    bounce_offset = int(20 * math.sin(self.assist_frame * bounce_frequency))
+
+    sign_margin = 12
+    arrow_spacing = int(sign_margin * 1.4)
+    arrow_x = sign_rect.x + sign_rect.width + arrow_spacing
+
+    if set_speed_rounded < limit_rounded:
+      arrow_y = sign_rect.y + (sign_rect.height - self._arrow_up.height) / 2 + bounce_offset
+      rl.draw_texture(self._arrow_up, int(arrow_x), int(arrow_y), rl.WHITE)
+    elif set_speed_rounded > limit_rounded:
+      arrow_y = sign_rect.y + (sign_rect.height - self._arrow_down.height) / 2 - bounce_offset
+      rl.draw_texture(self._arrow_down, int(arrow_x), int(arrow_y), rl.WHITE)
+
+  def _render_vienna(self, rect, val, sub, color, has_limit, alpha=1.0):
+    center = rl.Vector2(rect.x + rect.width / 2, rect.y + rect.height / 2)
+    radius = (rect.width + 18) / 2
+
+    white = rl.Color(255, 255, 255, int(255 * alpha))
+    red = rl.Color(255, 0, 0, int(255 * alpha))
+
+    if hasattr(color, 'r'):
+      text_color = rl.Color(color.r, color.g, color.b, int(255 * alpha))
+    else:
+      text_color = rl.Color(color[0], color[1], color[2], int(255 * alpha))
+
+    black = rl.Color(0, 0, 0, int(255 * alpha))
+    dark_grey = rl.Color(77, 77, 77, int(255 * alpha))
+
+    rl.draw_circle_v(center, radius, white)
+    rl.draw_ring(center, radius * 0.80, radius, 0, 360, 36, red)
+
+    f_size = 70 if len(val) >= 3 else 85
+    self._draw_text_centered(self.font_bold, val, f_size, center, text_color)
+
+    if sub and has_limit:
+      s_radius = radius * 0.4
+      s_center = rl.Vector2(rect.x + rect.width - s_radius / 2, rect.y + s_radius / 2)
+
+      rl.draw_circle_v(s_center, s_radius, black)
+      rl.draw_ring(s_center, s_radius - 3, s_radius, 0, 360, 36, dark_grey)
+
+      f_scale = 0.5 if len(sub) < 3 else 0.45
+      self._draw_text_centered(self.font_bold, sub, int(s_radius * 2 * f_scale), s_center, white)
+
+  def _render_mutcd(self, rect, val, sub, color, has_limit, alpha=1.0):
+    white = rl.Color(255, 255, 255, int(255 * alpha))
+    black = rl.Color(0, 0, 0, int(255 * alpha))
+    dark_grey = rl.Color(77, 77, 77, int(255 * alpha))
+
+    if hasattr(color, 'r'):
+      text_color = rl.Color(color.r, color.g, color.b, int(255 * alpha))
+    else:
+      text_color = rl.Color(color[0], color[1], color[2], int(255 * alpha))
+
+    rl.draw_rectangle_rounded(rect, 0.35, 10, white)
+    inner = rl.Rectangle(rect.x + 10, rect.y + 10, rect.width - 20, rect.height - 20)
+    rl.draw_rectangle_rounded_lines_ex(inner, 0.35, 10, 4, black)
+
+    self._draw_text_centered(self.font_demi, "SPEED", 40, rl.Vector2(rect.x + rect.width / 2, rect.y + 40), black)
+    self._draw_text_centered(self.font_demi, "LIMIT", 40, rl.Vector2(rect.x + rect.width / 2, rect.y + 80), black)
+    self._draw_text_centered(self.font_bold, val, 90, rl.Vector2(rect.x + rect.width / 2, rect.y + 150), text_color)
+
+    if sub and has_limit:
+      box_sz = rect.width * 0.3
+      overlap = box_sz * 0.2
+      s_rect = rl.Rectangle(rect.x + rect.width - box_sz / 1.5 + overlap, rect.y - box_sz / 1.25 + overlap, box_sz, box_sz)
+
+      rl.draw_rectangle_rounded(s_rect, 0.35, 10, black)
+      rl.draw_rectangle_rounded_lines_ex(s_rect, 0.35, 10, 6, dark_grey)
+
+      f_scale = 0.6 if len(sub) < 3 else 0.475
+      self._draw_text_centered(self.font_bold, sub, int(box_sz * f_scale), rl.Vector2(s_rect.x + box_sz / 2, s_rect.y + box_sz / 2), white)
+
+  def _draw_ahead_info(self, sign_rect):
+    source_is_map = self.speed_limit_source == SpeedLimitSource.map
+    valid = self.speed_limit_ahead_valid and self.speed_limit_ahead > 0 and self.speed_limit_ahead != self.speed_limit
+
+    if not (valid and source_is_map):
+      return
+
+    rect = rl.Rectangle(sign_rect.x + (sign_rect.width - 170) / 2, sign_rect.y + sign_rect.height + 10, 170, 160)
+    rl.draw_rectangle_rounded(rect, 0.35, 10, Colors.SUB_BG)
+    rl.draw_rectangle_rounded_lines_ex(rect, 0.35, 10, 3, Colors.MUTCD_LINES)
+
+    mid_x = rect.x + rect.width / 2
+    self._draw_text_centered(self.font_demi, "AHEAD", 40, rl.Vector2(mid_x, rect.y + 28), Colors.GREY)
+    self._draw_text_centered(self.font_bold, str(round(self.speed_limit_ahead)), 70, rl.Vector2(mid_x, rect.y + 82), Colors.WHITE)
+    self._draw_text_centered(self.font_norm, self._format_dist(self.speed_limit_ahead_dist), 36, rl.Vector2(mid_x, rect.y + 134), Colors.GREY)
+
+  @staticmethod
+  def _format_dist(d):
+    # metric
+    if ui_state.is_metric:
+      if d < 50:
+        return tr("Near")
+
+      if d >= 1000:
+        return f"{d / 1000:.1f} km"
+
+      d_rounded = round(d, -1) if d < 200 else round(d, -2)
+      return f"{int(d_rounded)} m"
+
+    # imperial
+    d_ft = d * METER_TO_FOOT
+    if d_ft < 100:
+      return tr("Near")
+
+    if d_ft >= 900:
+      return f"{d * METER_TO_MILE:.1f} mi"
+
+    if d_ft < 500:
+      return f"{int(round(d_ft / 50) * 50)} ft"
+
+    return f"{int(round(d_ft / 100) * 100)} ft"
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index 9ef4e1d7c86370..f38280d498d206 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -127,6 +127,7 @@ def update_params(self) -> None:
     self.chevron_metrics = self.params.get("ChevronInfo")
     self.active_bundle = self.params.get("ModelManager_ActiveBundle")
     self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
+    self.speed_limit_mode = self.params.get("SpeedLimitMode", return_default=True)
 
     # Onroad Screen Brightness
     self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True)))

From 8f970bcb99ac4e6e4e95be9a42fca2d4fa86de12 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 2 Feb 2026 22:13:37 -0500
Subject: [PATCH 0698/1434] Reapply "latcontrol_torque: lower kp and lower
 friction threshold (commaai/openpilot#36619)" (#1581) (#1669)

* Reapply "latcontrol_torque: lower kp and lower friction threshold (commaai/openpilot#36619)" (#1581)

This reverts commit 7560497f

* bump
---
 opendbc_repo                                |  2 +-
 selfdrive/controls/lib/latcontrol_torque.py | 35 +++++++++------------
 selfdrive/test/process_replay/ref_commit    |  2 +-
 3 files changed, 17 insertions(+), 22 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index bbc6869d70d99d..a653199681e95b 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit bbc6869d70d99d70dffb73f737b36bce46f54cca
+Subproject commit a653199681e95be113aea491bb7a6023c8b73eb1
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 47d105f99356b9..48d174bfa044c5 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -22,15 +22,17 @@
 # Additionally, there is friction in the steering wheel that needs
 # to be overcome to move it at all, this is compensated for too.
 
-KP = 1.0
-KI = 0.3
-KD = 0.0
+KP = 0.8
+KI = 0.15
+
 INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
 KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
 
 LP_FILTER_CUTOFF_HZ = 1.2
+JERK_LOOKAHEAD_SECONDS = 0.19
+JERK_GAIN = 0.3
 LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
-VERSION = 0
+VERSION = 1
 
 class LatControlTorque(LatControl):
   def __init__(self, CP, CP_SP, CI, dt):
@@ -38,13 +40,13 @@ def __init__(self, CP, CP_SP, CI, dt):
     self.torque_params = CP.lateralTuning.torque.as_builder()
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
     self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
-    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1/self.dt)
+    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, rate=1/self.dt)
     self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
     self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
     self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
-    self.previous_measurement = 0.0
-    self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
+    self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt)
+    self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
 
     self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
 
@@ -76,17 +78,15 @@ def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvat
 
       delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
       expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
-      # TODO factor out lateral jerk from error to later replace it with delay independent alternative
+      lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))
+      raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt)
+      desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk)
       future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
       self.lat_accel_request_buffer.append(future_desired_lateral_accel)
       gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
-      desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay
+      setpoint = expected_lateral_accel
 
       measurement = measured_curvature * CS.vEgo ** 2
-      measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
-      self.previous_measurement = measurement
-
-      setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
       error = setpoint - measurement
 
       # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
@@ -94,15 +94,10 @@ def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvat
       ff = gravity_adjusted_future_lateral_accel
       # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
       ff -= self.torque_params.latAccelOffset
-      # TODO jerk is weighted by lat_delay for legacy reasons, but should be made independent of it
-      ff += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+      ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
       freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-      output_lataccel = self.pid.update(pid_log.error,
-                                       -measurement_rate,
-                                        feedforward=ff,
-                                        speed=CS.vEgo,
-                                        freeze_integrator=freeze_integrator)
+      output_lataccel = self.pid.update(pid_log.error, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
       output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
 
       # Lateral acceleration torque controller extension updates
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index c109bf49f1279a..4a58e321fc575a 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-b259f6f8f099a9d82e4c65dd5deae2e4e293007b
\ No newline at end of file
+e0ad86508edb61b3eaa1b84662c515d2c3368295
\ No newline at end of file

From f309be90383da69768774162424a1a2dfbb4dfba Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 4 Feb 2026 00:15:08 -0500
Subject: [PATCH 0699/1434] DEC: refactor mode conditions with Experimental
 Mode

---
 selfdrive/controls/lib/longitudinal_planner.py       |  2 +-
 .../selfdrive/controls/lib/longitudinal_planner.py   | 12 ++++--------
 2 files changed, 5 insertions(+), 9 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index f5bdd37103cbce..cabaa552900960 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -160,7 +160,7 @@ def update(self, sm):
     output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
     output_should_stop_e2e = sm['modelV2'].action.shouldStop
 
-    if sm['selfdriveState'].experimentalMode:
+    if self.is_e2e(sm):
       output_a_target = min(output_a_target_e2e, output_a_target_mpc)
       self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
       if output_a_target < output_a_target_mpc:
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index 68b50c3e19d2e9..6efda4585f7979 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -36,16 +36,12 @@ def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP, mpc):
     self.output_v_target = 0.
     self.output_a_target = 0.
 
-  @property
-  def mlsim(self) -> bool:
-    # If we don't have a generation set, we assume it's default model. Which as of today are mlsim.
-    return bool(self.generation is None or self.generation >= 11)
-
-  def get_mpc_mode(self) -> str | None:
+  def is_e2e(self, sm: messaging.SubMaster) -> bool:
+    experimental_mode = sm['selfdriveState'].experimentalMode
     if not self.dec.active():
-      return None
+      return experimental_mode
 
-    return self.dec.mode()
+    return experimental_mode and self.dec.mode() == "blended"
 
   def update_targets(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> tuple[float, float]:
     CS = sm['carState']

From 4d65c52e6d16ac1604d5d21d6f8e691391046bd2 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Thu, 5 Feb 2026 05:35:57 -0800
Subject: [PATCH 0700/1434] modeld_v2: refactor abstract class to support
 off-policy models (#1672)

* modeld_v2: refactor abstract class to support off-policy models.

* whoops

* bump
---
 cereal/custom.capnp                           |  1 +
 release/ci/model_generator.py                 |  4 ++-
 sunnypilot/modeld_v2/SConscript               |  4 +--
 sunnypilot/modeld_v2/install_models_pc.py     |  2 +-
 sunnypilot/models/fetcher.py                  |  2 +-
 .../models/runners/tinygrad/model_types.py    | 16 ++++++++++
 .../runners/tinygrad/tinygrad_runner.py       | 32 +++++++++++++++----
 7 files changed, 50 insertions(+), 11 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 5c0a004fa6d1bb..53986262ecb976 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -153,6 +153,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
       navigation @1;
       vision @2;
       policy @3;
+      offPolicy @4;
     }
   }
 
diff --git a/release/ci/model_generator.py b/release/ci/model_generator.py
index ee41343be895c9..96352254b6c9e1 100755
--- a/release/ci/model_generator.py
+++ b/release/ci/model_generator.py
@@ -68,8 +68,10 @@ def generate_metadata(model_path: Path, output_dir: Path, short_name: str):
     metadata_file = metadata_file.rename(output_path / f"{base}_{short_name.lower()}_metadata.pkl")
 
   # Build the metadata structure
+  model_type = "offPolicy" if "off_policy" in base else base.split("_")[-1]
+
   model_metadata = {
-    "type": base.split("_")[-1] if "dmonitoring" not in base else "dmonitoring",
+    "type": model_type,
     "artifact": {
       "file_name": tinygrad_file.name,
       "download_uri": {
diff --git a/sunnypilot/modeld_v2/SConscript b/sunnypilot/modeld_v2/SConscript
index 48b9c75ef508a0..94033846b0d34a 100644
--- a/sunnypilot/modeld_v2/SConscript
+++ b/sunnypilot/modeld_v2/SConscript
@@ -39,7 +39,7 @@ if PC:
   model_dir = Dir("models").abspath
   cmd = f'python3 {Dir("#sunnypilot/modeld_v2").abspath}/install_models_pc.py {model_dir}'
 
-  for model_name in ['supercombo', 'driving_vision', 'driving_policy']:
+  for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']:
     if File(f"models/{model_name}.onnx").exists():
         inputs.append(File(f"models/{model_name}.onnx"))
         inputs.append(File(f"models/{model_name}_tinygrad.pkl"))
@@ -57,7 +57,7 @@ def tg_compile(flags, model_name):
   )
 
 # Compile small models
-for model_name in ['supercombo', 'driving_vision', 'driving_policy']:
+for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']:
   if File(f"models/{model_name}.onnx").exists():
     flags = {
       'larch64': 'DEV=QCOM',
diff --git a/sunnypilot/modeld_v2/install_models_pc.py b/sunnypilot/modeld_v2/install_models_pc.py
index 3f964dc28582aa..a378d90b114866 100755
--- a/sunnypilot/modeld_v2/install_models_pc.py
+++ b/sunnypilot/modeld_v2/install_models_pc.py
@@ -44,7 +44,7 @@ def generate_metadata_pkl(model_path, output_path):
 
 def install_models(model_dir):
   model_dir = Path(model_dir)
-  models = ["driving_policy", "driving_vision"]
+  models = ["driving_off_policy", "driving_policy", "driving_vision"]
   found_models = []
 
   for model in models:
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index a917d6cbb8f770..1d8da083a939e5 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -116,7 +116,7 @@ def set(self, data: dict) -> None:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v10.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v11.json"
 
   def __init__(self, params: Params):
     self.params = params
diff --git a/sunnypilot/models/runners/tinygrad/model_types.py b/sunnypilot/models/runners/tinygrad/model_types.py
index ba388aed937892..11f0965828ed74 100644
--- a/sunnypilot/models/runners/tinygrad/model_types.py
+++ b/sunnypilot/models/runners/tinygrad/model_types.py
@@ -13,6 +13,22 @@
 CUSTOM_MODEL_PATH = Paths.model_root()
 
 
+class OffPolicyTinygrad(ModularRunner, ABC):
+  """
+  A TinygradRunner specialized for off-policy models.
+
+  Uses a SplitParser to handle outputs specific to the off-policy part of a split model setup.
+  """
+  def __init__(self):
+    self._off_policy_parser = SplitParser()
+    self.parser_method_dict[ModelType.offPolicy] = self._parse_off_policy_outputs
+
+  def _parse_off_policy_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses off-policy model outputs using SplitParser."""
+    result: NumpyDict = self._off_policy_parser.parse_policy_outputs(self._slice_outputs(model_outputs))
+    return result
+
+
 class PolicyTinygrad(ModularRunner, ABC):
   """
   A TinygradRunner specialized for policy-only models.
diff --git a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
index 2800179fb2b415..7b48e3086bb53f 100644
--- a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
+++ b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
@@ -4,7 +4,7 @@
 from openpilot.sunnypilot.modeld_v2.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
 from openpilot.sunnypilot.models.runners.constants import CLMemDict, FrameDict, NumpyDict, ModelType, ShapeDict, CUSTOM_MODEL_PATH, SliceDict
 from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
-from openpilot.sunnypilot.models.runners.tinygrad.model_types import PolicyTinygrad, VisionTinygrad, SupercomboTinygrad
+from openpilot.sunnypilot.models.runners.tinygrad.model_types import PolicyTinygrad, VisionTinygrad, SupercomboTinygrad, OffPolicyTinygrad
 from openpilot.system.hardware import TICI
 from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
@@ -12,7 +12,7 @@
 from tinygrad.tensor import Tensor
 
 
-class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTinygrad):
+class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTinygrad, OffPolicyTinygrad):
   """
   A ModelRunner implementation for executing Tinygrad models.
 
@@ -27,6 +27,7 @@ def __init__(self, model_type: int = ModelType.supercombo):
     SupercomboTinygrad.__init__(self)
     PolicyTinygrad.__init__(self)
     VisionTinygrad.__init__(self)
+    OffPolicyTinygrad.__init__(self)
     self._constants = ModelConstants
     self._model_data = self.models.get(model_type)
     if not self._model_data or not self._model_data.model:
@@ -106,13 +107,20 @@ def __init__(self):
     self.is_20hz_3d = True
     self.vision_runner = TinygradRunner(ModelType.vision)
     self.policy_runner = TinygradRunner(ModelType.policy)
+    self.off_policy_runner = TinygradRunner(ModelType.offPolicy) if self.models.get(ModelType.offPolicy) else None
     self._constants = SplitModelConstants
 
   def _run_model(self) -> NumpyDict:
     """Runs both vision and policy models and merges their parsed outputs."""
     policy_output = self.policy_runner.run_model()
     vision_output = self.vision_runner.run_model()
-    return {**policy_output, **vision_output} # Combine results
+    outputs = {**policy_output, **vision_output}
+
+    if self.off_policy_runner:
+      off_policy_output = self.off_policy_runner.run_model()
+      outputs.update(off_policy_output)
+
+    return outputs
 
   @property
   def vision_input_names(self) -> list[str]:
@@ -122,12 +130,18 @@ def vision_input_names(self) -> list[str]:
   @property
   def input_shapes(self) -> ShapeDict:
     """Returns the combined input shapes from both vision and policy models."""
-    return {**self.policy_runner.input_shapes, **self.vision_runner.input_shapes}
+    shapes = {**self.policy_runner.input_shapes, **self.vision_runner.input_shapes}
+    if self.off_policy_runner:
+      shapes.update(self.off_policy_runner.input_shapes)
+    return shapes
 
   @property
   def output_slices(self) -> SliceDict:
     """Returns the combined output slices from both vision and policy models."""
-    return {**self.policy_runner.output_slices, **self.vision_runner.output_slices}
+    slices = {**self.policy_runner.output_slices, **self.vision_runner.output_slices}
+    if self.off_policy_runner:
+      slices.update(self.off_policy_runner.output_slices)
+    return slices
 
   def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict:
     """Prepares inputs for both vision and policy models."""
@@ -135,5 +149,11 @@ def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: Fr
     self.policy_runner.prepare_policy_inputs(numpy_inputs)
     # Vision inputs depend on imgs_cl and frames
     self.vision_runner.prepare_vision_inputs(imgs_cl, frames)
+    inputs = {**self.policy_runner.inputs, **self.vision_runner.inputs}
+
+    if self.off_policy_runner:
+      self.off_policy_runner.prepare_policy_inputs(numpy_inputs)
+      inputs.update(self.off_policy_runner.inputs)
+
     # Return combined inputs (though they are stored within respective runners)
-    return {**self.policy_runner.inputs, **self.vision_runner.inputs}
+    return inputs

From c908189e73af3b3d15f1c1945d8b05dae035fd42 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Sun, 8 Feb 2026 00:32:12 -0500
Subject: [PATCH 0701/1434] ui: use correct signals while using PID with
 Developer UI (#1674)

* only if angleState

* pidState element
---
 .../onroad/developer_ui/__init__.py           |  7 ++++--
 .../onroad/developer_ui/elements.py           | 25 +++++++++++++++++++
 2 files changed, 30 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py b/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
index 441a169d23bbee..f74f1f4c301187 100644
--- a/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
+++ b/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
@@ -10,7 +10,7 @@
   UiElement, RelDistElement, RelSpeedElement, SteeringAngleElement,
   DesiredLateralAccelElement, ActualLateralAccelElement, DesiredSteeringAngleElement,
   AEgoElement, LeadSpeedElement, FrictionCoefficientElement, LatAccelFactorElement,
-  SteeringTorqueEpsElement, BearingDegElement, AltitudeElement
+  SteeringTorqueEpsElement, BearingDegElement, AltitudeElement, DesiredSteeringPIDElement
 )
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.text_measure import measure_text_cached
@@ -36,6 +36,7 @@ def __init__(self):
     self.desired_lat_accel_elem = DesiredLateralAccelElement()
     self.actual_lat_accel_elem = ActualLateralAccelElement()
     self.desired_steer_elem = DesiredSteeringAngleElement()
+    self.desired_pid_steer_elem = DesiredSteeringPIDElement()
     self.a_ego_elem = AEgoElement()
     self.lead_speed_elem = LeadSpeedElement()
     self.friction_elem = FrictionCoefficientElement()
@@ -85,8 +86,10 @@ def _draw_right_dev_ui(self, rect: rl.Rectangle) -> None:
     ]
     if controls_state.lateralControlState.which() == 'torqueState':
       elements.append(self.desired_lat_accel_elem.update(sm, ui_state.is_metric))
-    else:
+    elif controls_state.lateralControlState.which() == 'angleState':
       elements.append(self.desired_steer_elem.update(sm, ui_state.is_metric))
+    elif controls_state.lateralControlState.which() == 'pidState':
+      elements.append(self.desired_pid_steer_elem.update(sm, ui_state.is_metric))
 
     elements.append(self.actual_lat_accel_elem.update(sm, ui_state.is_metric))
 
diff --git a/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py b/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
index 652469bddd2085..94e3af42eb6a0a 100644
--- a/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
+++ b/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
@@ -191,6 +191,31 @@ def update(self, sm, is_metric: bool) -> UiElement:
     return UiElement(value, "DESIRED L.A.", self.unit, color)
 
 
+class DesiredSteeringPIDElement(LateralControlElement):
+  def __init__(self):
+    self.unit = ""
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    car_state = sm['carState']
+    controls_state = sm['controlsState']
+    lat_active = sm['carControl'].latActive
+    angle_steers = car_state.steeringAngleDeg
+    steer_angle_desired = controls_state.lateralControlState.pidState.steeringAngleDesiredDeg
+
+    value = f"{steer_angle_desired:.1f}°" if lat_active else "-"
+
+    color = rl.WHITE
+    if lat_active:
+      if abs(angle_steers) > 180:
+        color = rl.RED
+      elif abs(angle_steers) > 90:
+        color = rl.Color(255, 188, 0, 255)
+      else:
+        color = rl.Color(0, 255, 0, 255)
+
+    return UiElement(value, "DESIRED STEER", self.unit, color)
+
+
 class AEgoElement:
   def __init__(self):
     self.unit = "m/s^2"

From 81bd8aa0e262ed2a5cfb024d1214d0a34231c352 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Sun, 8 Feb 2026 01:03:16 -0500
Subject: [PATCH 0702/1434] [bot] Update Python packages (#1662)

* Update Python packages

* bump

---------

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 docs/CARS.md | 11 +----------
 opendbc_repo |  2 +-
 2 files changed, 2 insertions(+), 11 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index a1f50e41d08f53..ab1eabeb1378fc 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 344 Supported Cars
+# 335 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -23,10 +23,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
-|Chevrolet|Malibu Non-ACC 2016-23|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Non-ACC 2016-23">Buy Here</a></sub></details>|||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
 |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
@@ -91,7 +88,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
-|Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
@@ -122,7 +118,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Non-SCC 2022">Buy Here</a></sub></details>|||
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
@@ -140,9 +135,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric Non-SCC 2019">Buy Here</a></sub></details>|||
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Non-SCC 2019">Buy Here</a></sub></details>|||
 |Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
@@ -166,13 +159,11 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
-|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
 |Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
 |Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
-|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2019">Buy Here</a></sub></details>|||
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
diff --git a/opendbc_repo b/opendbc_repo
index 1abdb9872f22c3..ff2f9686c20882 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 1abdb9872f22c361322ac9e29d376c35233ba890
+Subproject commit ff2f9686c208824a72b30d4cc540a6ab78c5983e

From 35c87a151972c88f8251f8d877be615ced253334 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Sun, 8 Feb 2026 17:00:37 -0500
Subject: [PATCH 0703/1434] [TIZI/TICI] ui: steering arc (#1628)

* init

* lint

* add toggle

* Update params_keys.h

* Update params_metadata.json

* Update params_keys.h

* bool

* decouple

* no

* make it perfect

* fade it

* only with torque bar

* dynamic

* in another PR

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/params_keys.h                          |  1 +
 selfdrive/ui/mici/onroad/torque_bar.py        | 16 ++++++++-------
 selfdrive/ui/onroad/augmented_road_view.py    |  8 +++++---
 .../sunnypilot/onroad/augmented_road_view.py  | 20 ++++++++++++++++++-
 .../ui/sunnypilot/onroad/hud_renderer.py      |  9 +++++++++
 selfdrive/ui/sunnypilot/ui_state.py           |  1 +
 sunnypilot/sunnylink/params_metadata.json     |  4 ++++
 7 files changed, 48 insertions(+), 11 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index ecc656cc789083..44584c91136270 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -115,6 +115,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"SshEnabled", {PERSISTENT | BACKUP, BOOL}},
     {"TermsVersion", {PERSISTENT, STRING}},
+    {"TorqueBar", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TrainingVersion", {PERSISTENT, STRING}},
     {"UbloxAvailable", {PERSISTENT, BOOL}},
     {"UpdateAvailable", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
diff --git a/selfdrive/ui/mici/onroad/torque_bar.py b/selfdrive/ui/mici/onroad/torque_bar.py
index c8485a3101cad3..c1de694633c1eb 100644
--- a/selfdrive/ui/mici/onroad/torque_bar.py
+++ b/selfdrive/ui/mici/onroad/torque_bar.py
@@ -146,9 +146,11 @@ def get_cap(left: bool, a_deg: float):
 
 
 class TorqueBar(Widget):
-  def __init__(self, demo: bool = False):
+  def __init__(self, demo: bool = False, scale: float = 1.0, always: bool = False):
     super().__init__()
     self._demo = demo
+    self._scale = scale
+    self._always = always
     self._torque_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
     self._torque_line_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
 
@@ -180,8 +182,8 @@ def _update_state(self):
 
   def _render(self, rect: rl.Rectangle) -> None:
     # adjust y pos with torque
-    torque_line_offset = np.interp(abs(self._torque_filter.x), [0.5, 1], [22, 26])
-    torque_line_height = np.interp(abs(self._torque_filter.x), [0.5, 1], [14, 56])
+    torque_line_offset = np.interp(abs(self._torque_filter.x), [0.5, 1], [22 * self._scale, 26 * self._scale])
+    torque_line_height = np.interp(abs(self._torque_filter.x), [0.5, 1], [14 * self._scale, 56 * self._scale])
 
     # animate alpha and angle span
     if not self._demo:
@@ -195,7 +197,7 @@ def _render(self, rect: rl.Rectangle) -> None:
       torque_line_bg_color = rl.Color(255, 255, 255, int(255 * 0.15 * self._torque_line_alpha_filter.x))
 
     # draw curved line polygon torque bar
-    torque_line_radius = 1200
+    torque_line_radius = 1200 * self._scale
     top_angle = -90
     torque_bg_angle_span = self._torque_line_alpha_filter.x * TORQUE_ANGLE_SPAN
     torque_start_angle = top_angle - torque_bg_angle_span / 2
@@ -207,13 +209,13 @@ def _render(self, rect: rl.Rectangle) -> None:
     cy = rect.y + rect.height + torque_line_radius - torque_line_offset
 
     # draw bg torque indicator line
-    bg_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, torque_start_angle, torque_end_angle)
+    bg_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, torque_start_angle, torque_end_angle, cap_radius=7 * self._scale)
     draw_polygon(rect, bg_pts, color=torque_line_bg_color)
 
     # draw torque indicator line
     a0s = top_angle
     a1s = a0s + torque_bg_angle_span / 2 * self._torque_filter.x
-    sl_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, a0s, a1s)
+    sl_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, a0s, a1s, cap_radius=7 * self._scale)
 
     # draw beautiful gradient from center to 65% of the bg torque bar width
     start_grad_pt = cx / rect.width
@@ -252,5 +254,5 @@ def _render(self, rect: rl.Rectangle) -> None:
     # draw center torque bar dot
     if abs(self._torque_filter.x) < 0.5:
       dot_y = self._rect.y + self._rect.height - torque_line_offset - torque_line_height / 2
-      rl.draw_circle(int(cx), int(dot_y), 10 // 2,
+      rl.draw_circle(int(cx), int(dot_y), (10 // 2 * self._scale),
                      rl.Color(182, 182, 182, int(255 * 0.9 * self._torque_line_alpha_filter.x)))
diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py
index bcbcb2dcfb34de..76e7b078d1787c 100644
--- a/selfdrive/ui/onroad/augmented_road_view.py
+++ b/selfdrive/ui/onroad/augmented_road_view.py
@@ -15,7 +15,7 @@
 from openpilot.common.transformations.orientation import rot_from_euler
 
 if gui_app.sunnypilot_ui():
-  from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP
+  from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP, AugmentedRoadViewSP
   from openpilot.selfdrive.ui.sunnypilot.onroad.driver_state import DriverStateRendererSP as DriverStateRenderer
   from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer
   from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus
@@ -38,9 +38,10 @@
 INF_POINT = np.array([1000.0, 0.0, 0.0])
 
 
-class AugmentedRoadView(CameraView):
+class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
   def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD):
-    super().__init__("camerad", stream_type)
+    CameraView.__init__(self, "camerad", stream_type)
+    AugmentedRoadViewSP.__init__(self)
     self._set_placeholder_color(BORDER_COLORS[UIStatus.DISENGAGED])
 
     self.device_camera: DeviceCameraConfig | None = None
@@ -92,6 +93,7 @@ def _render(self, rect):
 
     # Draw all UI overlays
     self.model_renderer.render(self._content_rect)
+    AugmentedRoadViewSP.update_fade_out_bottom_overlay(self, self._content_rect)
     self._hud_renderer.render(self._content_rect)
     self.alert_renderer.render(self._content_rect)
     self.driver_state_renderer.render(self._content_rect)
diff --git a/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py b/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
index 0a5739cc0004b6..c7dedee5406403 100644
--- a/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
+++ b/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
@@ -5,9 +5,27 @@
 See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl
-from openpilot.selfdrive.ui.ui_state import UIStatus
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.ui.ui_state import UIStatus, ui_state
+from openpilot.system.ui.lib.application import gui_app
 
 BORDER_COLORS_SP = {
   UIStatus.LAT_ONLY: rl.Color(0x00, 0xC8, 0xC8, 0xFF),  # Cyan for lateral-only state
   UIStatus.LONG_ONLY: rl.Color(0x96, 0x1C, 0xA8, 0xFF),  # Purple for longitudinal-only state
 }
+
+
+class AugmentedRoadViewSP:
+  def __init__(self):
+    self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
+    self._fade_alpha_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
+
+  def update_fade_out_bottom_overlay(self, _content_rect):
+    # Fade out bottom of overlays for looks (only when engaged)
+    fade_alpha = self._fade_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED)
+    if ui_state.torque_bar and fade_alpha > 1e-2:
+      # Scale the fade texture to the content rect
+      rl.draw_texture_pro(self._fade_texture,
+                          rl.Rectangle(0, 0, self._fade_texture.width, self._fade_texture.height),
+                          _content_rect, rl.Vector2(0, 0), 0.0,
+                          rl.Color(255, 255, 255, int(255 * fade_alpha)))
diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
index 8ca7269802887a..74e15fe0bd2974 100644
--- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
+++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
@@ -6,6 +6,7 @@
 """
 import pyray as rl
 
+from openpilot.selfdrive.ui.mici.onroad.torque_bar import TorqueBar
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer
@@ -23,6 +24,7 @@ def __init__(self):
     self.rocket_fuel = RocketFuel()
     self.speed_limit_renderer = SpeedLimitRenderer()
     self.turn_signal_controller = TurnSignalController()
+    self._torque_bar = TorqueBar(scale=3.0, always=True)
 
   def _update_state(self) -> None:
     super()._update_state()
@@ -32,6 +34,13 @@ def _update_state(self) -> None:
 
   def _render(self, rect: rl.Rectangle) -> None:
     super()._render(rect)
+
+    if ui_state.torque_bar and ui_state.sm['controlsState'].lateralControlState.which() != 'angleState':
+      torque_rect = rect
+      if ui_state.developer_ui in (DeveloperUiRenderer.DEV_UI_BOTTOM, DeveloperUiRenderer.DEV_UI_BOTH):
+        torque_rect = rl.Rectangle(rect.x, rect.y, rect.width, rect.height - DeveloperUiRenderer.BOTTOM_BAR_HEIGHT)
+      self._torque_bar.render(torque_rect)
+
     self.developer_ui.render(rect)
     self.road_name_renderer.render(rect)
     self.speed_limit_renderer.render(rect)
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index f38280d498d206..98ddbe526659bc 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -125,6 +125,7 @@ def update_params(self) -> None:
     self.rocket_fuel = self.params.get_bool("RocketFuel")
     self.rainbow_path = self.params.get_bool("RainbowMode")
     self.chevron_metrics = self.params.get("ChevronInfo")
+    self.torque_bar = self.params.get_bool("TorqueBar")
     self.active_bundle = self.params.get("ModelManager_ActiveBundle")
     self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
     self.speed_limit_mode = self.params.get("SpeedLimitMode", return_default=True)
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index 7f597a96219531..090beb49f0cbe5 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -1239,6 +1239,10 @@
     "title": "Tesla Coop Steering",
     "description": ""
   },
+  "TorqueBar": {
+    "title": "Steering Arc",
+    "description": "[TIZI/TICI only] Display steering arc on the driving screen when lateral control is enabled."
+  },
   "TorqueParamsOverrideEnabled": {
     "title": "Manual Real-Time Tuning",
     "description": ""

From c274dba36ed91f82eb1ad8cddafe9de2ea09c0c7 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 8 Feb 2026 18:28:36 -0500
Subject: [PATCH 0704/1434] [TIZI/TICI] ui: Smart Cruise Control elements
 (#1675)

* init

* punch

* lower

* colors
---
 .../ui/sunnypilot/onroad/hud_renderer.py      |   4 +
 .../sunnypilot/onroad/smart_cruise_control.py | 131 ++++++++++++++++++
 2 files changed, 135 insertions(+)
 create mode 100644 selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py

diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
index 74e15fe0bd2974..d6f9278d2287da 100644
--- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
+++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
@@ -13,6 +13,7 @@
 from openpilot.selfdrive.ui.sunnypilot.onroad.road_name import RoadNameRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel
 from openpilot.selfdrive.ui.sunnypilot.onroad.speed_limit import SpeedLimitRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.smart_cruise_control import SmartCruiseControlRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController
 
 
@@ -23,6 +24,7 @@ def __init__(self):
     self.road_name_renderer = RoadNameRenderer()
     self.rocket_fuel = RocketFuel()
     self.speed_limit_renderer = SpeedLimitRenderer()
+    self.smart_cruise_control_renderer = SmartCruiseControlRenderer()
     self.turn_signal_controller = TurnSignalController()
     self._torque_bar = TorqueBar(scale=3.0, always=True)
 
@@ -30,6 +32,7 @@ def _update_state(self) -> None:
     super()._update_state()
     self.road_name_renderer.update()
     self.speed_limit_renderer.update()
+    self.smart_cruise_control_renderer.update()
     self.turn_signal_controller.update()
 
   def _render(self, rect: rl.Rectangle) -> None:
@@ -44,6 +47,7 @@ def _render(self, rect: rl.Rectangle) -> None:
     self.developer_ui.render(rect)
     self.road_name_renderer.render(rect)
     self.speed_limit_renderer.render(rect)
+    self.smart_cruise_control_renderer.render(rect)
     self.turn_signal_controller.render(rect)
 
     if ui_state.rocket_fuel:
diff --git a/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py b/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py
new file mode 100644
index 00000000000000..ca71fcac4aae8d
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py
@@ -0,0 +1,131 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+
+from openpilot.selfdrive.ui.onroad.hud_renderer import COLORS
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+
+
+class SmartCruiseControlRenderer(Widget):
+  def __init__(self):
+    super().__init__()
+    self.vision_enabled = False
+    self.vision_active = False
+    self.vision_frame = 0
+    self.map_enabled = False
+    self.map_active = False
+    self.map_frame = 0
+    self.long_override = False
+
+    self.font = gui_app.font(FontWeight.BOLD)
+    self.scc_tex = rl.load_render_texture(256, 128)
+
+  def update(self):
+    sm = ui_state.sm
+    if sm.updated["longitudinalPlanSP"]:
+      lp_sp = sm["longitudinalPlanSP"]
+      vision = lp_sp.smartCruiseControl.vision
+      map_ = lp_sp.smartCruiseControl.map
+
+      self.vision_enabled = vision.enabled
+      self.vision_active = vision.active
+      self.map_enabled = map_.enabled
+      self.map_active = map_.active
+
+    if sm.updated["carControl"]:
+      self.long_override = sm["carControl"].cruiseControl.override
+
+    if self.vision_active:
+      self.vision_frame += 1
+    else:
+      self.vision_frame = 0
+
+    if self.map_active:
+      self.map_frame += 1
+    else:
+      self.map_frame = 0
+
+  @staticmethod
+  def _pulse_element(frame):
+    return not (frame % gui_app.target_fps < (gui_app.target_fps / 2.5))
+
+  def _draw_icon(self, rect_center_x, rect_height, x_offset, y_offset, name):
+    text = name
+    font_size = 36
+    padding_v = 5
+    box_width = 160
+
+    sz = measure_text_cached(self.font, text, font_size)
+    box_height = int(sz.y + padding_v * 2)
+
+    texture_width = 256
+    texture_height = 128
+
+    rl.begin_texture_mode(self.scc_tex)
+    rl.clear_background(rl.Color(0, 0, 0, 0))
+
+    if self.long_override:
+      box_color = COLORS.OVERRIDE
+    else:
+      box_color = rl.Color(0, 255, 0, 255)
+
+    # Center box in texture
+    box_x = (texture_width - box_width) // 2
+    box_y = (texture_height - box_height) // 2
+
+    rl.draw_rectangle_rounded(rl.Rectangle(box_x, box_y, box_width, box_height), 0.2, 10, box_color)
+
+    # Draw text with custom blend mode to punch hole
+    rl.rl_set_blend_factors(rl.RL_ZERO, rl.RL_ONE_MINUS_SRC_ALPHA, 0x8006)
+    rl.rl_set_blend_mode(rl.BLEND_CUSTOM)
+
+    text_pos_x = box_x + (box_width - sz.x) / 2
+    text_pos_y = box_y + (box_height - sz.y) / 2
+
+    rl.draw_text_ex(self.font, text, rl.Vector2(text_pos_x, text_pos_y), font_size, 0, rl.WHITE)
+
+    rl.rl_set_blend_mode(rl.BLEND_ALPHA)  # Reset
+    rl.end_texture_mode()
+
+    screen_y = rect_height / 4 + y_offset
+
+    dest_x = rect_center_x + x_offset - texture_width / 2
+    dest_y = screen_y - texture_height / 2
+
+    src_rect = rl.Rectangle(0, 0, texture_width, -texture_height)
+    dst_rect = rl.Rectangle(dest_x, dest_y, texture_width, texture_height)
+
+    rl.draw_texture_pro(self.scc_tex.texture, src_rect, dst_rect, rl.Vector2(0, 0), 0, rl.WHITE)
+
+  def _render(self, rect: rl.Rectangle):
+    x_offset = -260
+    y1_offset = -40
+    y2_offset = -100
+
+    orders = [y1_offset, y2_offset]
+    y_scc_v = 0
+    y_scc_m = 0
+    idx = 0
+
+    if self.vision_enabled:
+      y_scc_v = orders[idx]
+      idx += 1
+
+    if self.map_enabled:
+      y_scc_m = orders[idx]
+      idx += 1
+
+    scc_vision_pulse = self._pulse_element(self.vision_frame)
+    if (self.vision_enabled and not self.vision_active) or (self.vision_active and scc_vision_pulse):
+      self._draw_icon(rect.x + rect.width / 2, rect.height, x_offset, y_scc_v, "SCC-V")
+
+    scc_map_pulse = self._pulse_element(self.map_frame)
+    if (self.map_enabled and not self.map_active) or (self.map_active and scc_map_pulse):
+      self._draw_icon(rect.x + rect.width / 2, rect.height, x_offset, y_scc_m, "SCC-M")

From 020f503364c3a4380de23175aace486f04d88828 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 8 Feb 2026 19:14:19 -0500
Subject: [PATCH 0705/1434] [TIZI/TICI] ui: Green Light and Lead Departure
 elements (#1676)

* init

* big for now

* only adjust for right dev ui for now

* final

* final final
---
 selfdrive/ui/sunnypilot/onroad/e2e_alerts.py  | 101 ++++++++++++++++++
 .../ui/sunnypilot/onroad/hud_renderer.py      |   4 +
 2 files changed, 105 insertions(+)
 create mode 100644 selfdrive/ui/sunnypilot/onroad/e2e_alerts.py

diff --git a/selfdrive/ui/sunnypilot/onroad/e2e_alerts.py b/selfdrive/ui/sunnypilot/onroad/e2e_alerts.py
new file mode 100644
index 00000000000000..b15db94c16212a
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/e2e_alerts.py
@@ -0,0 +1,101 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+
+from cereal import log
+from openpilot.selfdrive.ui import UI_BORDER_SIZE
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer
+from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+
+
+class E2eAlertsRenderer:
+  def __init__(self):
+    self._green_light_alert_img = gui_app.texture("../../sunnypilot/selfdrive/assets/images/green_light.png", 250, 250)
+    self._lead_depart_alert_img = gui_app.texture("../../sunnypilot/selfdrive/assets/images/lead_depart.png", 250, 250)
+
+    self._e2e_alert_display_timer = 0
+    self._e2e_alert_frame = 0
+    self._green_light_alert = False
+    self._lead_depart_alert = False
+    self._alert_text = ""
+    self._alert_img = None
+    self._allow_e2e_alerts = False
+
+  def update(self) -> None:
+    sm = ui_state.sm
+    lp_sp = sm['longitudinalPlanSP']
+    self._green_light_alert = lp_sp.e2eAlerts.greenLightAlert
+    self._lead_depart_alert = lp_sp.e2eAlerts.leadDepartAlert
+
+    self._allow_e2e_alerts = sm['selfdriveState'].alertSize == log.SelfdriveState.AlertSize.none and \
+                             sm.recv_frame['driverStateV2'] > ui_state.started_frame
+
+    if self._green_light_alert or self._lead_depart_alert:
+      self._e2e_alert_display_timer = 3 * gui_app.target_fps
+
+    if self._e2e_alert_display_timer > 0:
+      self._e2e_alert_frame += 1
+      self._e2e_alert_display_timer -= 1
+
+      if self._green_light_alert:
+        self._alert_text = "GREEN\nLIGHT"
+        self._alert_img = self._green_light_alert_img
+      elif self._lead_depart_alert:
+        self._alert_text = "LEAD VEHICLE\nDEPARTING"
+        self._alert_img = self._lead_depart_alert_img
+    else:
+      self._e2e_alert_frame = 0
+
+  def render(self, rect: rl.Rectangle) -> None:
+    if not self._allow_e2e_alerts or self._e2e_alert_display_timer <= 0:
+      return
+
+    e2e_alert_size = 250
+    dev_ui_width_adjustment = 180 if ui_state.developer_ui in (DeveloperUiRenderer.DEV_UI_RIGHT, DeveloperUiRenderer.DEV_UI_BOTH) else 100
+
+    x = rect.x + rect.width - e2e_alert_size - dev_ui_width_adjustment - (UI_BORDER_SIZE * 3)
+    y = rect.y + rect.height / 2 + 20
+
+    alert_rect = rl.Rectangle(x - e2e_alert_size, y - e2e_alert_size, e2e_alert_size * 2, e2e_alert_size * 2)
+    center = rl.Vector2(alert_rect.x + alert_rect.width / 2, alert_rect.y + alert_rect.height / 2)
+
+    # Pulse logic
+    is_pulsing = (self._e2e_alert_frame % gui_app.target_fps) < (gui_app.target_fps / 2.5)
+    frame_color = rl.Color(255, 255, 255, 75) if is_pulsing else rl.Color(0, 255, 0, 75)
+
+    # Draw Circle
+    rl.draw_circle_v(center, e2e_alert_size, rl.Color(0, 0, 0, 190))
+    # Draw Ring (Border)
+    rl.draw_ring(center, e2e_alert_size - 7.5, e2e_alert_size + 7.5, 0, 360, 0, frame_color)
+
+    # Draw Image
+    if self._alert_img:
+      img_x = int(center.x - self._alert_img.width / 2)
+      img_y = int(center.y - self._alert_img.height / 2)
+      rl.draw_texture(self._alert_img, img_x, img_y, rl.WHITE)
+
+    # Draw Text
+    txt_color = rl.Color(255, 255, 255, 255) if is_pulsing else rl.Color(0, 255, 0, 190)
+    font = gui_app.font(FontWeight.BOLD)
+    text_size = 48
+    spacing = 0
+
+    lines = self._alert_text.split('\n')
+
+    # Position text at bottom of alert circle
+    bottom_y = (alert_rect.y + alert_rect.height) - (alert_rect.height / 7)
+
+    # Draw lines upwards from bottom
+    current_y = bottom_y - (len(lines) * text_size * FONT_SCALE)
+
+    for line in lines:
+      measure = measure_text_cached(font, line, text_size, spacing)
+      line_x = center.x - measure.x / 2
+      rl.draw_text_ex(font, line, rl.Vector2(line_x, current_y), text_size, spacing, txt_color)
+      current_y += text_size * FONT_SCALE
diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
index d6f9278d2287da..d99e3cb0d10d76 100644
--- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
+++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
@@ -15,6 +15,7 @@
 from openpilot.selfdrive.ui.sunnypilot.onroad.speed_limit import SpeedLimitRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.smart_cruise_control import SmartCruiseControlRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController
+from openpilot.selfdrive.ui.sunnypilot.onroad.e2e_alerts import E2eAlertsRenderer
 
 
 class HudRendererSP(HudRenderer):
@@ -26,6 +27,7 @@ def __init__(self):
     self.speed_limit_renderer = SpeedLimitRenderer()
     self.smart_cruise_control_renderer = SmartCruiseControlRenderer()
     self.turn_signal_controller = TurnSignalController()
+    self.e2e_alerts_renderer = E2eAlertsRenderer()
     self._torque_bar = TorqueBar(scale=3.0, always=True)
 
   def _update_state(self) -> None:
@@ -34,6 +36,7 @@ def _update_state(self) -> None:
     self.speed_limit_renderer.update()
     self.smart_cruise_control_renderer.update()
     self.turn_signal_controller.update()
+    self.e2e_alerts_renderer.update()
 
   def _render(self, rect: rl.Rectangle) -> None:
     super()._render(rect)
@@ -49,6 +52,7 @@ def _render(self, rect: rl.Rectangle) -> None:
     self.speed_limit_renderer.render(rect)
     self.smart_cruise_control_renderer.render(rect)
     self.turn_signal_controller.render(rect)
+    self.e2e_alerts_renderer.render(rect)
 
     if ui_state.rocket_fuel:
       self.rocket_fuel.render(rect, ui_state.sm)

From a9229e11a067ef75c64565f4065b58f6bb38e404 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 8 Feb 2026 19:40:04 -0500
Subject: [PATCH 0706/1434] [TIZI/TICI] ui: standstill timer (#1677)

* standstill timer

* final
---
 .../{e2e_alerts.py => circular_alerts.py}     | 59 ++++++++++++++++---
 .../ui/sunnypilot/onroad/hud_renderer.py      |  8 +--
 selfdrive/ui/sunnypilot/ui_state.py           |  1 +
 3 files changed, 55 insertions(+), 13 deletions(-)
 rename selfdrive/ui/sunnypilot/onroad/{e2e_alerts.py => circular_alerts.py} (59%)

diff --git a/selfdrive/ui/sunnypilot/onroad/e2e_alerts.py b/selfdrive/ui/sunnypilot/onroad/circular_alerts.py
similarity index 59%
rename from selfdrive/ui/sunnypilot/onroad/e2e_alerts.py
rename to selfdrive/ui/sunnypilot/onroad/circular_alerts.py
index b15db94c16212a..965ce7fe770bff 100644
--- a/selfdrive/ui/sunnypilot/onroad/e2e_alerts.py
+++ b/selfdrive/ui/sunnypilot/onroad/circular_alerts.py
@@ -14,7 +14,7 @@
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 
 
-class E2eAlertsRenderer:
+class CircularAlertsRenderer:
   def __init__(self):
     self._green_light_alert_img = gui_app.texture("../../sunnypilot/selfdrive/assets/images/green_light.png", 250, 250)
     self._lead_depart_alert_img = gui_app.texture("../../sunnypilot/selfdrive/assets/images/lead_depart.png", 250, 250)
@@ -23,6 +23,9 @@ def __init__(self):
     self._e2e_alert_frame = 0
     self._green_light_alert = False
     self._lead_depart_alert = False
+    self._standstill_timer = False
+    self._standstill_elapsed_time = 0.0
+    self._is_standstill = False
     self._alert_text = ""
     self._alert_img = None
     self._allow_e2e_alerts = False
@@ -30,14 +33,22 @@ def __init__(self):
   def update(self) -> None:
     sm = ui_state.sm
     lp_sp = sm['longitudinalPlanSP']
+    car_state = sm['carState']
     self._green_light_alert = lp_sp.e2eAlerts.greenLightAlert
     self._lead_depart_alert = lp_sp.e2eAlerts.leadDepartAlert
+    self._standstill_timer = ui_state.standstill_timer
+    self._is_standstill = car_state.standstill
+
+    if not ui_state.started:
+      self._standstill_elapsed_time = 0.0
 
     self._allow_e2e_alerts = sm['selfdriveState'].alertSize == log.SelfdriveState.AlertSize.none and \
                              sm.recv_frame['driverStateV2'] > ui_state.started_frame
 
     if self._green_light_alert or self._lead_depart_alert:
       self._e2e_alert_display_timer = 3 * gui_app.target_fps
+      # reset onroad sleep timer for e2e alerts
+      ui_state.reset_onroad_sleep_timer()
 
     if self._e2e_alert_display_timer > 0:
       self._e2e_alert_frame += 1
@@ -49,11 +60,22 @@ def update(self) -> None:
       elif self._lead_depart_alert:
         self._alert_text = "LEAD VEHICLE\nDEPARTING"
         self._alert_img = self._lead_depart_alert_img
+
+    elif self._standstill_timer and self._is_standstill:
+      self._alert_img = None
+      self._standstill_elapsed_time += 1.0 / gui_app.target_fps
+      minute = int(self._standstill_elapsed_time / 60)
+      second = int(self._standstill_elapsed_time - (minute * 60))
+      self._alert_text = f"{minute:01d}:{second:02d}"
+      self._e2e_alert_frame += 1
+
     else:
       self._e2e_alert_frame = 0
+      if not self._is_standstill:
+        self._standstill_elapsed_time = 0.0
 
   def render(self, rect: rl.Rectangle) -> None:
-    if not self._allow_e2e_alerts or self._e2e_alert_display_timer <= 0:
+    if not self._allow_e2e_alerts or (self._e2e_alert_display_timer <= 0 and not (self._standstill_timer and self._is_standstill)):
       return
 
     e2e_alert_size = 250
@@ -67,7 +89,12 @@ def render(self, rect: rl.Rectangle) -> None:
 
     # Pulse logic
     is_pulsing = (self._e2e_alert_frame % gui_app.target_fps) < (gui_app.target_fps / 2.5)
-    frame_color = rl.Color(255, 255, 255, 75) if is_pulsing else rl.Color(0, 255, 0, 75)
+
+    # Standstill Timer (STOPPED) should be static white
+    if self._e2e_alert_display_timer == 0 and self._standstill_timer and self._is_standstill:
+      frame_color = rl.Color(255, 255, 255, 75)
+    else:
+      frame_color = rl.Color(255, 255, 255, 75) if is_pulsing else rl.Color(0, 255, 0, 75)
 
     # Draw Circle
     rl.draw_circle_v(center, e2e_alert_size, rl.Color(0, 0, 0, 190))
@@ -75,7 +102,7 @@ def render(self, rect: rl.Rectangle) -> None:
     rl.draw_ring(center, e2e_alert_size - 7.5, e2e_alert_size + 7.5, 0, 360, 0, frame_color)
 
     # Draw Image
-    if self._alert_img:
+    if self._alert_img and self._e2e_alert_display_timer > 0:
       img_x = int(center.x - self._alert_img.width / 2)
       img_y = int(center.y - self._alert_img.height / 2)
       rl.draw_texture(self._alert_img, img_x, img_y, rl.WHITE)
@@ -94,8 +121,22 @@ def render(self, rect: rl.Rectangle) -> None:
     # Draw lines upwards from bottom
     current_y = bottom_y - (len(lines) * text_size * FONT_SCALE)
 
-    for line in lines:
-      measure = measure_text_cached(font, line, text_size, spacing)
-      line_x = center.x - measure.x / 2
-      rl.draw_text_ex(font, line, rl.Vector2(line_x, current_y), text_size, spacing, txt_color)
-      current_y += text_size * FONT_SCALE
+    if self._e2e_alert_display_timer == 0 and self._standstill_timer and self._is_standstill:
+      # Standstill Timer Text
+      alert_alt_text = "STOPPED"
+      top_text_size = 80
+      measure_top = measure_text_cached(font, alert_alt_text, top_text_size, spacing)
+      top_y = alert_rect.y + alert_rect.height / 3.5
+      rl.draw_text_ex(font, alert_alt_text, rl.Vector2(center.x - measure_top.x / 2, top_y), top_text_size, spacing, rl.Color(255, 175, 3, 240))
+
+      # Timer
+      timer_text_size = 100
+      measure_timer = measure_text_cached(font, self._alert_text, timer_text_size, spacing)
+      timer_y = (alert_rect.y + alert_rect.height) - (alert_rect.height / 5) - measure_timer.y
+      rl.draw_text_ex(font, self._alert_text, rl.Vector2(center.x - measure_timer.x / 2, timer_y), timer_text_size, spacing, rl.WHITE)
+    else:
+      for line in lines:
+        measure = measure_text_cached(font, line, text_size, spacing)
+        line_x = center.x - measure.x / 2
+        rl.draw_text_ex(font, line, rl.Vector2(line_x, current_y), text_size, spacing, txt_color)
+        current_y += text_size * FONT_SCALE
diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
index d99e3cb0d10d76..f765936d6e88f4 100644
--- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
+++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
@@ -15,7 +15,7 @@
 from openpilot.selfdrive.ui.sunnypilot.onroad.speed_limit import SpeedLimitRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.smart_cruise_control import SmartCruiseControlRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController
-from openpilot.selfdrive.ui.sunnypilot.onroad.e2e_alerts import E2eAlertsRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.circular_alerts import CircularAlertsRenderer
 
 
 class HudRendererSP(HudRenderer):
@@ -27,7 +27,7 @@ def __init__(self):
     self.speed_limit_renderer = SpeedLimitRenderer()
     self.smart_cruise_control_renderer = SmartCruiseControlRenderer()
     self.turn_signal_controller = TurnSignalController()
-    self.e2e_alerts_renderer = E2eAlertsRenderer()
+    self.circular_alerts_renderer = CircularAlertsRenderer()
     self._torque_bar = TorqueBar(scale=3.0, always=True)
 
   def _update_state(self) -> None:
@@ -36,7 +36,7 @@ def _update_state(self) -> None:
     self.speed_limit_renderer.update()
     self.smart_cruise_control_renderer.update()
     self.turn_signal_controller.update()
-    self.e2e_alerts_renderer.update()
+    self.circular_alerts_renderer.update()
 
   def _render(self, rect: rl.Rectangle) -> None:
     super()._render(rect)
@@ -52,7 +52,7 @@ def _render(self, rect: rl.Rectangle) -> None:
     self.speed_limit_renderer.render(rect)
     self.smart_cruise_control_renderer.render(rect)
     self.turn_signal_controller.render(rect)
-    self.e2e_alerts_renderer.render(rect)
+    self.circular_alerts_renderer.render(rect)
 
     if ui_state.rocket_fuel:
       self.rocket_fuel.render(rect, ui_state.sm)
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index 98ddbe526659bc..89a650bae98a28 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -129,6 +129,7 @@ def update_params(self) -> None:
     self.active_bundle = self.params.get("ModelManager_ActiveBundle")
     self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
     self.speed_limit_mode = self.params.get("SpeedLimitMode", return_default=True)
+    self.standstill_timer = self.params.get_bool("StandstillTimer")
 
     # Onroad Screen Brightness
     self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True)))

From 96b58024abcb25eed9d2e0a7a1917cd2fadaeff9 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sun, 8 Feb 2026 16:54:33 -0800
Subject: [PATCH 0707/1434] [MICI] ui: driving models selector (#1574)

* ui: models mici

* Update models.py

* Update models.py

* sync

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../ui/sunnypilot/mici/layouts/models.py      | 122 ++++++++++++++++++
 .../ui/sunnypilot/mici/layouts/settings.py    |   8 ++
 2 files changed, 130 insertions(+)
 create mode 100644 selfdrive/ui/sunnypilot/mici/layouts/models.py

diff --git a/selfdrive/ui/sunnypilot/mici/layouts/models.py b/selfdrive/ui/sunnypilot/mici/layouts/models.py
new file mode 100644
index 00000000000000..d5964ea964920c
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/mici/layouts/models.py
@@ -0,0 +1,122 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from collections.abc import Callable
+
+from cereal import custom
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import NavWidget, Widget
+from openpilot.system.ui.widgets.scroller import Scroller
+
+
+class ModelsLayoutMici(NavWidget):
+  def __init__(self, back_callback: Callable):
+    super().__init__()
+    self.set_back_callback(back_callback)
+    self.original_back_callback = back_callback
+    self.focused_widget = None
+
+    self.current_model_btn = BigButton(tr("current model"), "", "")
+    self.current_model_btn.set_click_callback(self._show_folders)
+
+    self.cancel_download_btn = BigButton(tr("cancel download"), "", "")
+    self.cancel_download_btn.set_click_callback(lambda: ui_state.params.remove("ModelManager_DownloadIndex"))
+
+    self.main_items: list[Widget] = [self.current_model_btn, self.cancel_download_btn]
+    self._scroller = Scroller(self.main_items, snap_items=False)
+
+  @property
+  def model_manager(self):
+    return ui_state.sm["modelManagerSP"]
+
+  def _get_grouped_bundles(self):
+    bundles = self.model_manager.availableBundles
+    folders = {}
+    for bundle in bundles:
+      folder = next((override.value for override in bundle.overrides if override.key == "folder"), "")
+      folders.setdefault(folder, []).append(bundle)
+    return folders
+
+  def _show_selection_view(self, items: list[Widget], back_callback: Callable):
+    self._scroller._items = items
+    for item in items:
+      item.set_touch_valid_callback(lambda: self._scroller.scroll_panel.is_touch_valid() and self._scroller.enabled)
+    self._scroller.scroll_panel.set_offset(0)
+    self.set_back_callback(back_callback)
+
+  def _show_folders(self):
+    self.focused_widget = self.current_model_btn
+    folders = self._get_grouped_bundles()
+    folder_buttons = []
+    default_btn = BigButton(tr("default model"), "", "")
+    default_btn.set_click_callback(self._select_default)
+    folder_buttons.append(default_btn)
+
+    for folder in sorted(folders.keys(), key=lambda f: max((bundle.index for bundle in folders[f]), default=-1), reverse=True):
+      if folder.lower() in ["release models", "master models"]:
+        btn = BigButton(folder.lower(), "", "")
+        btn.set_click_callback(lambda f=folder: self._select_folder(f))
+        folder_buttons.append(btn)
+    self._show_selection_view(folder_buttons, self._reset_main_view)
+
+  def _select_model(self, bundle):
+    ui_state.params.put("ModelManager_DownloadIndex", bundle.index)
+    self._reset_main_view()
+
+  def _select_default(self):
+    ui_state.params.remove("ModelManager_ActiveBundle")
+    self._reset_main_view()
+
+  def _select_folder(self, folder_name):
+    folders = self._get_grouped_bundles()
+    bundles = sorted(folders.get(folder_name, []), key=lambda b: b.index, reverse=True)
+
+    btns = []
+    for bundle in bundles:
+      txt = bundle.displayName.lower()
+      btn = BigButton(txt, "", "")
+      btn.set_click_callback(lambda b=bundle: self._select_model(b))
+      btns.append(btn)
+    self._show_selection_view(btns, self._show_folders)
+
+  def _reset_main_view(self):
+    self._scroller._items = self.main_items
+    self.set_back_callback(self.original_back_callback)
+    if self.focused_widget and self.focused_widget in self.main_items:
+      x = self._scroller._pad_start
+      for item in self.main_items:
+        if not item.is_visible:
+          continue
+        if item == self.focused_widget:
+          break
+        x += item.rect.width + self._scroller._spacing
+      self._scroller.scroll_panel.set_offset(0)
+      self._scroller.scroll_to(x)
+      self.focused_widget = None
+    else:
+      self._scroller.scroll_panel.set_offset(0)
+
+  def _update_state(self):
+    super()._update_state()
+
+    manager = self.model_manager
+    if manager.selectedBundle and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading:
+      self.current_model_btn.set_value("downloading...")
+      self.cancel_download_btn.set_visible(True)
+    else:
+      self.current_model_btn.set_value(manager.activeBundle.internalName.lower() if manager.activeBundle else tr("default model"))
+      self.cancel_download_btn.set_visible(False)
+    self.current_model_btn.set_enabled(ui_state.is_offroad())
+    self.current_model_btn.set_text(tr("current model"))
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    super().show_event()
+    self._scroller.show_event()
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/settings.py b/selfdrive/ui/sunnypilot/mici/layouts/settings.py
index f6fae6630c9fe9..69982e22981757 100644
--- a/selfdrive/ui/sunnypilot/mici/layouts/settings.py
+++ b/selfdrive/ui/sunnypilot/mici/layouts/settings.py
@@ -9,6 +9,7 @@
 from openpilot.selfdrive.ui.mici.layouts.settings import settings as OP
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
 
 ICON_SIZE = 70
 
@@ -16,6 +17,7 @@
   "PanelType",
   [es.name for es in OP.PanelType] + [
     "SUNNYLINK",
+    "MODELS",
   ],
   start=0,
 )
@@ -27,13 +29,19 @@ def __init__(self):
 
     sunnylink_btn = BigButton("sunnylink", "", "icons_mici/settings/developer/ssh.png")
     sunnylink_btn.set_click_callback(lambda: self._set_current_panel(OP.PanelType.SUNNYLINK))
+
+    models_btn = BigButton("models", "", "../../sunnypilot/selfdrive/assets/offroad/icon_models.png")
+    models_btn.set_click_callback(lambda: self._set_current_panel(OP.PanelType.MODELS))
+
     self._panels.update({
       OP.PanelType.SUNNYLINK: OP.PanelInfo("sunnylink", SunnylinkLayoutMici(back_callback=lambda: self._set_current_panel(None))),
+      OP.PanelType.MODELS: OP.PanelInfo("models", ModelsLayoutMici(back_callback=lambda: self._set_current_panel(None))),
     })
 
     items = self._scroller._items.copy()
 
     items.insert(1, sunnylink_btn)
+    items.insert(2, models_btn)
     self._scroller._items.clear()
     for item in items:
       self._scroller.add_widget(item)

From 254f55ac15a40343d7255f2f098de3442e0c4a6f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 8 Feb 2026 20:42:23 -0500
Subject: [PATCH 0708/1434] [TIZI/TICI] ui: Hide vEgo and True vEgo (#1678)

---
 .../ui/sunnypilot/onroad/hud_renderer.py      |  6 +++
 .../ui/sunnypilot/onroad/speed_renderer.py    | 46 +++++++++++++++++++
 selfdrive/ui/sunnypilot/ui_state.py           |  2 +
 3 files changed, 54 insertions(+)
 create mode 100644 selfdrive/ui/sunnypilot/onroad/speed_renderer.py

diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
index f765936d6e88f4..3b810d62e94b55 100644
--- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
+++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
@@ -16,6 +16,7 @@
 from openpilot.selfdrive.ui.sunnypilot.onroad.smart_cruise_control import SmartCruiseControlRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController
 from openpilot.selfdrive.ui.sunnypilot.onroad.circular_alerts import CircularAlertsRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.speed_renderer import SpeedRenderer
 
 
 class HudRendererSP(HudRenderer):
@@ -28,6 +29,7 @@ def __init__(self):
     self.smart_cruise_control_renderer = SmartCruiseControlRenderer()
     self.turn_signal_controller = TurnSignalController()
     self.circular_alerts_renderer = CircularAlertsRenderer()
+    self.speed_renderer = SpeedRenderer()
     self._torque_bar = TorqueBar(scale=3.0, always=True)
 
   def _update_state(self) -> None:
@@ -37,6 +39,10 @@ def _update_state(self) -> None:
     self.smart_cruise_control_renderer.update()
     self.turn_signal_controller.update()
     self.circular_alerts_renderer.update()
+    self.speed_renderer.update()
+
+  def _draw_current_speed(self, rect: rl.Rectangle) -> None:
+    self.speed_renderer.render(rect)
 
   def _render(self, rect: rl.Rectangle) -> None:
     super()._render(rect)
diff --git a/selfdrive/ui/sunnypilot/onroad/speed_renderer.py b/selfdrive/ui/sunnypilot/onroad/speed_renderer.py
new file mode 100644
index 00000000000000..0a017876e15649
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/speed_renderer.py
@@ -0,0 +1,46 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+
+from openpilot.common.constants import CV
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.selfdrive.ui.onroad.hud_renderer import FONT_SIZES, COLORS
+
+
+class SpeedRenderer:
+  def __init__(self):
+    self.speed: float = 0.0
+    self.v_ego_cluster_seen: bool = False
+
+    self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
+    self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
+
+  def update(self) -> None:
+    car_state = ui_state.sm['carState']
+    v_ego_cluster = car_state.vEgoCluster
+    self.v_ego_cluster_seen = self.v_ego_cluster_seen or v_ego_cluster != 0.0
+    v_ego = v_ego_cluster if self.v_ego_cluster_seen and not ui_state.true_v_ego_ui else car_state.vEgo
+    speed_conversion = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+    self.speed = max(0.0, v_ego * speed_conversion)
+
+  def render(self, rect: rl.Rectangle) -> None:
+    if ui_state.hide_v_ego_ui:
+      return
+
+    # Draw current speed and unit
+    speed_text = str(round(self.speed))
+    speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
+    speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
+    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE)
+
+    unit_text = tr("km/h") if ui_state.is_metric else tr("mph")
+    unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
+    unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
+    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT)
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index 89a650bae98a28..6d7eab51cd3c31 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -130,6 +130,8 @@ def update_params(self) -> None:
     self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
     self.speed_limit_mode = self.params.get("SpeedLimitMode", return_default=True)
     self.standstill_timer = self.params.get_bool("StandstillTimer")
+    self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI")
+    self.hide_v_ego_ui = self.params.get_bool("HideVEgoUI")
 
     # Onroad Screen Brightness
     self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True)))

From 981494a35433e4edbef7b38ea6676a9cdafe121b Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Mon, 9 Feb 2026 00:17:34 -0500
Subject: [PATCH 0709/1434] [TIZI/TICI] ui: Visuals panel (#1496)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* commaai/openpilot:d05cb31e2e916fba41ba8167030945f427fd811b

* bump opendbc

* bump opendbc

* bump opendbc

* bump opendbc

* bump opendbc

* sunnypilot: remove Qt

* cabana: revert to stock Qt

* commaai/openpilot:5198b1b079c37742c1050f02ce0aa6dd42b038b9

* commaai/openpilot:954b567b9ba0f3d1ae57d6aa7797fa86dd92ec6e

* commaai/openpilot:7534b2a160faa683412c04c1254440e338931c5e

* sum more

* bump opendbc

* not yet

* should've been symlink'ed

* raylib says wut

* quiet mode back

* more fixes

* no more

* too extra red diff on the side

* need to bring this back

* too extra

* let's update docs here

* Revert "let's update docs here"

This reverts commit 51fe03cd5121e6fdf14657b2c33852c34922b851.

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* multi-button

* Lint

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* Panels. With Icons. And Scroller.

* patience, grasshopper

* more patience, grasshopper

* sp raylib preview

* fix callback

* fix ui preview

* add ui previews

* introducing ui_state_sp for py

* param to control stock vs sp ui

* better

* add ui_update callback

* better padding

* init

* revert padding to 20

* new line, who dis

* this

* support for next line multi-button

* use inline=false

* uhh

* disabled colors

* hide em all

* lambdas

* NOT inline

* final touches

* hide HIDE

* ruff.. RUFF.. WHY RUFF

* listitem -> listitemsp

* Revert "add ui_update callback"

This reverts commit 4da32cc0097434aab0aa6a3c35465eabb23c8958.

* add show_description method

* remove padding from line separator.
like, WHY? 😩😩

* scroller -> scroller_tici

* scroller -> scroller_tici

* remove line separator padding

* ui: `GuiApplicationExt`

* add to readme

* use gui_app.sunnypilot_ui()

* use gui_app.sunnypilot_ui()

* use gui_app.sunnypilot_ui()

* uhhh. nope

* optimizations

* I THINK this is not needed, i don't see it used on the visuals panel...

* unhide for now... Why hidden tho?

* refresh controls

* missing

* blindspot

* standstill timer

* road name toggle

* more descriptions

* more descriptions

* update desc

* param turn signals

* sort

* fix

* always show desc if not available

* should be bool

* rocket fuel

* steering arc

* lint

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 common/params_keys.h                          |   2 +-
 .../ui/sunnypilot/layouts/settings/visuals.py | 126 +++++++++++++++++-
 .../onroad/blind_spot_indicators.py           |   3 +
 .../ui/sunnypilot/onroad/circular_alerts.py   |  10 +-
 .../ui/sunnypilot/onroad/hud_renderer.py      |   4 +-
 selfdrive/ui/sunnypilot/onroad/road_name.py   |   2 +-
 selfdrive/ui/sunnypilot/onroad/rocket_fuel.py |   5 +
 selfdrive/ui/sunnypilot/onroad/turn_signal.py |   3 +
 selfdrive/ui/sunnypilot/ui_state.py           |  23 ++--
 sunnypilot/sunnylink/params_metadata.json     |  40 +++---
 10 files changed, 175 insertions(+), 43 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 44584c91136270..f2a63ec1b1a3f4 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -249,7 +249,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OsmStateTitle", {PERSISTENT, STRING}},
     {"OsmWayTest", {PERSISTENT, STRING}},
     {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
-    {"RoadNameToggle", {PERSISTENT, STRING}},
+    {"RoadNameToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // Speed Limit
     {"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/visuals.py b/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
index 1036af3e5f594a..84be5a26abcb37 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
@@ -5,9 +5,18 @@
 See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.common.params import Params
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, multiple_button_item_sp
 from openpilot.system.ui.widgets.scroller_tici import Scroller
 from openpilot.system.ui.widgets import Widget
 
+CHEVRON_INFO_DESCRIPTION = {
+  "enabled": tr_noop("Display useful metrics below the chevron that tracks the lead car " +
+                     "only applicable to cars with sunnypilot longitudinal control."),
+  "disabled": tr_noop("This feature requires sunnypilot longitudinal control to be available.")
+}
+
 
 class VisualsLayout(Widget):
   def __init__(self):
@@ -18,13 +27,128 @@ def __init__(self):
     self._scroller = Scroller(items, line_separator=True, spacing=0)
 
   def _initialize_items(self):
-    items = [
+    self._toggle_defs = {
+      "BlindSpot": (
+        lambda: tr("Show Blind Spot Warnings"),
+        tr("Enabling this will display warnings when a vehicle is detected in your " +
+           "blind spot as long as your car has BSM supported."),
+        None,
+      ),
+      "TorqueBar": (
+        lambda: tr("Steering Arc"),
+        tr("Display steering arc on the driving screen when lateral control is enabled."),
+        None,
+      ),
+      "RainbowMode": (
+        lambda: tr("Enable Tesla Rainbow Mode"),
+        tr("A beautiful rainbow effect on the path the model wants to take. " +
+           "It does not affect driving in any way."),
+        None,
+      ),
+      "StandstillTimer": (
+        lambda: tr("Enable Standstill Timer"),
+        tr("Show a timer on the HUD when the car is at a standstill."),
+        None,
+      ),
+      "RoadNameToggle": (
+        lambda: tr("Display Road Name"),
+        tr("Displays the name of the road the car is traveling on." +
+           "<br>The OpenStreetMap database of the location must be downloaded from " +
+           "the OSM panel to fetch the road name."),
+        None,
+      ),
+      "GreenLightAlert": (
+        lambda: tr("Green Traffic Light Alert (Beta)"),
+        tr("A chime and on-screen alert will play when the traffic light you are waiting for " +
+           "turns green and you have no vehicle in front of you." +
+           "<br>Note: This chime is only designed as a notification. " +
+           "It is the driver's responsibility to observe their environment and make decisions accordingly."),
+        None,
+      ),
+      "LeadDepartAlert": (
+        lambda: tr("Lead Departure Alert (Beta)"),
+        tr("A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving." +
+           "<br>Note: This chime is only designed as a notification. " +
+           "It is the driver's responsibility to observe their environment and make decisions accordingly."),
+        None,
+      ),
+      "TrueVEgoUI": (
+        lambda: tr("Speedometer: Always Display True Speed"),
+        tr("For applicable vehicles, always display the true vehicle current speed from wheel speed sensors."),
+        None,
+      ),
+      "HideVEgoUI": (
+        lambda: tr("Speedometer: Hide from Onroad Screen"),
+        tr("When enabled, the speedometer on the onroad screen is not displayed."),
+        None,
+      ),
+      "ShowTurnSignals": (
+        lambda: tr("Display Turn Signals"),
+        tr("When enabled, visual turn indicators are drawn on the HUD."),
+        None,
+      ),
+      "RocketFuel": (
+        lambda: tr("Real-time Acceleration Bar"),
+        tr("Show an indicator on the left side of the screen to display real-time vehicle acceleration and deceleration. " +
+           "This displays what the car is currently doing, not what the planner is requesting."),
+        None,
+      ),
+    }
+    self._toggles = {}
+    for param, (title, desc, callback) in self._toggle_defs.items():
+      toggle = toggle_item_sp(
+        title=title,
+        description=desc,
+        param=param,
+        initial_state=ui_state.params.get_bool(param),
+        callback=callback,
+      )
+      self._toggles[param] = toggle
+
+    self._chevron_info = multiple_button_item_sp(
+      title=lambda: tr("Display Metrics Below Chevron"),
+      description="",
+      buttons=[lambda: tr("Off"), lambda: tr("Distance"), lambda: tr("Speed"), lambda: tr("Time"), lambda: tr("All")],
+      param="ChevronInfo",
+      inline=False
+    )
+    self._dev_ui_info = multiple_button_item_sp(
+      title=lambda: tr("Developer UI"),
+      description=lambda: tr("Display real-time parameters and metrics from various sources."),
+      buttons=[lambda: tr("Off"), lambda: tr("Bottom"), lambda: tr("Right"), lambda: tr("Right & Bottom")],
+      param="DevUIInfo",
+      button_width=350,
+      inline=False
+    )
 
+    items = list(self._toggles.values()) + [
+      self._chevron_info,
+      self._dev_ui_info,
     ]
     return items
 
+  def _update_state(self):
+    super()._update_state()
+
+    for param in self._toggle_defs:
+      self._toggles[param].action_item.set_state(self._params.get_bool(param))
+
+    self._dev_ui_info.action_item.set_selected_button(ui_state.params.get("DevUIInfo", return_default=True))
+
+    if ui_state.has_longitudinal_control:
+      self._chevron_info.set_description(tr(CHEVRON_INFO_DESCRIPTION["enabled"]))
+      self._chevron_info.action_item.set_selected_button(ui_state.params.get("ChevronInfo", return_default=True))
+      self._chevron_info.action_item.set_enabled(True)
+    else:
+      self._chevron_info.set_description(tr(CHEVRON_INFO_DESCRIPTION["disabled"]))
+      self._chevron_info.action_item.set_enabled(False)
+      ui_state.params.put("ChevronInfo", 0)
+
   def _render(self, rect):
     self._scroller.render(rect)
 
   def show_event(self):
     self._scroller.show_event()
+    if not ui_state.has_longitudinal_control:
+      self._chevron_info.set_description(tr(CHEVRON_INFO_DESCRIPTION["disabled"]))
+      self._chevron_info.show_description(True)
diff --git a/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py b/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py
index 1087579fefcaa0..61aa52537b3878 100644
--- a/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py
+++ b/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py
@@ -31,6 +31,9 @@ def detected(self) -> bool:
     return self._blind_spot_left_alpha_filter.x > 0.01 or self._blind_spot_right_alpha_filter.x > 0.01
 
   def render(self, rect: rl.Rectangle) -> None:
+    if not ui_state.blindspot:
+      return
+
     BLIND_SPOT_MARGIN_X = 20  # Distance from edge of screen
     BLIND_SPOT_Y_OFFSET = 100  # Distance from top of screen
 
diff --git a/selfdrive/ui/sunnypilot/onroad/circular_alerts.py b/selfdrive/ui/sunnypilot/onroad/circular_alerts.py
index 965ce7fe770bff..8aa4c71d0d4e4e 100644
--- a/selfdrive/ui/sunnypilot/onroad/circular_alerts.py
+++ b/selfdrive/ui/sunnypilot/onroad/circular_alerts.py
@@ -23,7 +23,6 @@ def __init__(self):
     self._e2e_alert_frame = 0
     self._green_light_alert = False
     self._lead_depart_alert = False
-    self._standstill_timer = False
     self._standstill_elapsed_time = 0.0
     self._is_standstill = False
     self._alert_text = ""
@@ -36,7 +35,6 @@ def update(self) -> None:
     car_state = sm['carState']
     self._green_light_alert = lp_sp.e2eAlerts.greenLightAlert
     self._lead_depart_alert = lp_sp.e2eAlerts.leadDepartAlert
-    self._standstill_timer = ui_state.standstill_timer
     self._is_standstill = car_state.standstill
 
     if not ui_state.started:
@@ -61,7 +59,7 @@ def update(self) -> None:
         self._alert_text = "LEAD VEHICLE\nDEPARTING"
         self._alert_img = self._lead_depart_alert_img
 
-    elif self._standstill_timer and self._is_standstill:
+    elif ui_state.standstill_timer and self._is_standstill:
       self._alert_img = None
       self._standstill_elapsed_time += 1.0 / gui_app.target_fps
       minute = int(self._standstill_elapsed_time / 60)
@@ -75,7 +73,7 @@ def update(self) -> None:
         self._standstill_elapsed_time = 0.0
 
   def render(self, rect: rl.Rectangle) -> None:
-    if not self._allow_e2e_alerts or (self._e2e_alert_display_timer <= 0 and not (self._standstill_timer and self._is_standstill)):
+    if not self._allow_e2e_alerts or (self._e2e_alert_display_timer <= 0 and not (ui_state.standstill_timer and self._is_standstill)):
       return
 
     e2e_alert_size = 250
@@ -91,7 +89,7 @@ def render(self, rect: rl.Rectangle) -> None:
     is_pulsing = (self._e2e_alert_frame % gui_app.target_fps) < (gui_app.target_fps / 2.5)
 
     # Standstill Timer (STOPPED) should be static white
-    if self._e2e_alert_display_timer == 0 and self._standstill_timer and self._is_standstill:
+    if self._e2e_alert_display_timer == 0 and ui_state.standstill_timer and self._is_standstill:
       frame_color = rl.Color(255, 255, 255, 75)
     else:
       frame_color = rl.Color(255, 255, 255, 75) if is_pulsing else rl.Color(0, 255, 0, 75)
@@ -121,7 +119,7 @@ def render(self, rect: rl.Rectangle) -> None:
     # Draw lines upwards from bottom
     current_y = bottom_y - (len(lines) * text_size * FONT_SCALE)
 
-    if self._e2e_alert_display_timer == 0 and self._standstill_timer and self._is_standstill:
+    if self._e2e_alert_display_timer == 0 and ui_state.standstill_timer and self._is_standstill:
       # Standstill Timer Text
       alert_alt_text = "STOPPED"
       top_text_size = 80
diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
index 3b810d62e94b55..d8ba4b8bf0fe4d 100644
--- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
+++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
@@ -59,6 +59,4 @@ def _render(self, rect: rl.Rectangle) -> None:
     self.smart_cruise_control_renderer.render(rect)
     self.turn_signal_controller.render(rect)
     self.circular_alerts_renderer.render(rect)
-
-    if ui_state.rocket_fuel:
-      self.rocket_fuel.render(rect, ui_state.sm)
+    self.rocket_fuel.render(rect, ui_state.sm)
diff --git a/selfdrive/ui/sunnypilot/onroad/road_name.py b/selfdrive/ui/sunnypilot/onroad/road_name.py
index 652e620ad6406a..f85285ef53bbeb 100644
--- a/selfdrive/ui/sunnypilot/onroad/road_name.py
+++ b/selfdrive/ui/sunnypilot/onroad/road_name.py
@@ -31,7 +31,7 @@ def update(self):
       self.road_name = lmd.roadName
 
   def _render(self, rect: rl.Rectangle):
-    if not self.road_name:
+    if not self.road_name or not ui_state.road_name_toggle:
       return
 
     text = self.road_name
diff --git a/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py b/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py
index af25711a926f17..cb1012890e07e4 100644
--- a/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py
+++ b/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py
@@ -6,12 +6,17 @@
 """
 import pyray as rl
 
+from openpilot.selfdrive.ui.ui_state import ui_state
+
 
 class RocketFuel:
   def __init__(self):
     self.vc_accel = 0.0
 
   def render(self, rect: rl.Rectangle, sm) -> None:
+    if not ui_state.rocket_fuel:
+      return
+
     vc_accel0 = sm['carState'].aEgo
 
     # Smooth the acceleration
diff --git a/selfdrive/ui/sunnypilot/onroad/turn_signal.py b/selfdrive/ui/sunnypilot/onroad/turn_signal.py
index 3a66ffeb03be07..04fff7db76f347 100644
--- a/selfdrive/ui/sunnypilot/onroad/turn_signal.py
+++ b/selfdrive/ui/sunnypilot/onroad/turn_signal.py
@@ -137,6 +137,9 @@ def update(self):
         self._right_signal.deactivate()
 
   def render(self, rect: rl.Rectangle):
+    if not ui_state.turn_signals:
+      return
+
     x = rect.x + rect.width / 2
 
     left_x = x - self._config.left_x - self._config.size
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index 6d7eab51cd3c31..6403157d5c8a3d 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -120,22 +120,23 @@ def update_params(self) -> None:
     CP_SP_bytes = self.params.get("CarParamsSPPersistent")
     if CP_SP_bytes is not None:
       self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
-    self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled")
-    self.developer_ui = self.params.get("DevUIInfo")
-    self.rocket_fuel = self.params.get_bool("RocketFuel")
-    self.rainbow_path = self.params.get_bool("RainbowMode")
-    self.chevron_metrics = self.params.get("ChevronInfo")
-    self.torque_bar = self.params.get_bool("TorqueBar")
     self.active_bundle = self.params.get("ModelManager_ActiveBundle")
+    self.blindspot = self.params.get_bool("BlindSpot")
+    self.chevron_metrics = self.params.get("ChevronInfo")
     self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
-    self.speed_limit_mode = self.params.get("SpeedLimitMode", return_default=True)
-    self.standstill_timer = self.params.get_bool("StandstillTimer")
-    self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI")
+    self.developer_ui = self.params.get("DevUIInfo")
     self.hide_v_ego_ui = self.params.get_bool("HideVEgoUI")
-
-    # Onroad Screen Brightness
     self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True)))
     self.onroad_brightness_timer_param = self.params.get("OnroadScreenOffTimer", return_default=True)
+    self.rainbow_path = self.params.get_bool("RainbowMode")
+    self.road_name_toggle = self.params.get_bool("RoadNameToggle")
+    self.rocket_fuel = self.params.get_bool("RocketFuel")
+    self.speed_limit_mode = self.params.get("SpeedLimitMode", return_default=True)
+    self.standstill_timer = self.params.get_bool("StandstillTimer")
+    self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled")
+    self.torque_bar = self.params.get_bool("TorqueBar")
+    self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI")
+    self.turn_signals = self.params.get_bool("ShowTurnSignals")
 
 
 class DeviceSP:
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index 090beb49f0cbe5..c0c84eac09523a 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -90,8 +90,8 @@
     "description": ""
   },
   "BlindSpot": {
-    "title": "Blind Spot Detection",
-    "description": ""
+    "title": "[TIZI/TICI only] Blind Spot Detection",
+    "description": "Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported."
   },
   "BlinkerMinLateralControlSpeed": {
     "title": "Blinker Min Lateral Control Speed",
@@ -339,8 +339,8 @@
     "description": ""
   },
   "GreenLightAlert": {
-    "title": "Green Light Alert",
-    "description": ""
+    "title": "Green Traffic Light Alert (Beta)",
+    "description": "A chime and on-screen alert (TIZI/TICI only) will play when the traffic light you are waiting for turns green and you have no vehicle in front of you. <br>Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly."
   },
   "GsmApn": {
     "title": "GSM APN",
@@ -367,8 +367,8 @@
     "description": ""
   },
   "HideVEgoUI": {
-    "title": "Hide vEgo UI",
-    "description": ""
+    "title": "[TIZI/TICI only] Speedometer: Hide from Onroad Screen",
+    "description": "When enabled, the speedometer on the onroad screen is not displayed."
   },
   "HyundaiLongitudinalTuning": {
     "title": "Hyundai Longitudinal Tuning",
@@ -585,8 +585,8 @@
     "description": ""
   },
   "LeadDepartAlert": {
-    "title": "Lead Depart Alert",
-    "description": ""
+    "title": "Lead Departure Alert (Beta)",
+    "description": "A chime and on-screen alert (TIZI/TICI only) will play when you are stopped, and the vehicle in front of you start moving. <br>Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly."
   },
   "LiveDelay": {
     "title": "Live Delay",
@@ -1079,12 +1079,12 @@
     "description": ""
   },
   "RoadNameToggle": {
-    "title": "Display Road Name",
-    "description": ""
+    "title": "[TIZI/TICI only] Display Road Name",
+    "description": "Displays the name of the road the car is traveling on. <br>The OpenStreetMap database of the location must be downloaded to fetch the road name."
   },
   "RocketFuel": {
-    "title": "Display Rocket Fuel Bar",
-    "description": "Show an indicator on the left side of the screen to display real-time vehicle acceleration and deceleration."
+    "title": "[TIZI/TICI only] Real-time Acceleration Bar",
+    "description": "Show an indicator on the left side of the screen to display real-time vehicle acceleration and deceleration. This displays what the car is currently doing, not what the planner is requesting."
   },
   "RouteCount": {
     "title": "Route Count",
@@ -1103,8 +1103,8 @@
     "description": ""
   },
   "ShowTurnSignals": {
-    "title": "Show Turn Signals",
-    "description": ""
+    "title": "[TIZI/TICI only] Display Turn Signals",
+    "description": "When enabled, visual turn indicators are drawn on the HUD."
   },
   "SmartCruiseControlMap": {
     "title": "Smart Cruise Control - Map",
@@ -1196,8 +1196,8 @@
     "description": ""
   },
   "StandstillTimer": {
-    "title": "Standstill Timer",
-    "description": ""
+    "title": "[TIZI/TICI only] Standstill Timer",
+    "description": "Show a timer on the HUD when the car is at a standstill."
   },
   "SubaruStopAndGo": {
     "title": "Subaru Stop and Go",
@@ -1240,8 +1240,8 @@
     "description": ""
   },
   "TorqueBar": {
-    "title": "Steering Arc",
-    "description": "[TIZI/TICI only] Display steering arc on the driving screen when lateral control is enabled."
+    "title": "[TIZI/TICI only] Steering Arc",
+    "description": "Display steering arc on the driving screen when lateral control is enabled."
   },
   "TorqueParamsOverrideEnabled": {
     "title": "Manual Real-Time Tuning",
@@ -1271,8 +1271,8 @@
     "description": ""
   },
   "TrueVEgoUI": {
-    "title": "True vEgo UI",
-    "description": ""
+    "title": "[TIZI/TICI only] Speedometer: Always Display True Speed",
+    "description": "For applicable vehicles, always display the true vehicle current speed from wheel speed sensors."
   },
   "UbloxAvailable": {
     "title": "Ublox Available",

From 1f778c8c23df8508fff09c3535f05356c4fa683d Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Mon, 9 Feb 2026 00:38:39 -0500
Subject: [PATCH 0710/1434] Device: Retain QuickBoot state after op switch
 (#1333)

Device: Retain QuickBoot state after SSH Update

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 system/manager/manager.py | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/system/manager/manager.py b/system/manager/manager.py
index 36e45488f62226..8c5d35d0724a95 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -20,6 +20,7 @@
 from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.version import get_build_metadata
 from openpilot.system.hardware.hw import Paths
+from openpilot.system.hardware import PC
 
 
 def manager_init() -> None:
@@ -39,6 +40,12 @@ def manager_init() -> None:
   if params.get("DeviceBootMode") == 1:  # start in Always Offroad mode
     params.put_bool("OffroadMode", True)
 
+  # quick boot
+  if params.get_bool("QuickBootToggle") and not PC:
+    prebuilt_path = "/data/openpilot/prebuilt"
+    if not os.path.exists(prebuilt_path):
+      open(prebuilt_path, 'x').close()
+
   if params.get_bool("RecordFrontLock"):
     params.put_bool("RecordFront", True)
 

From 8be8bbbfdbbbd5d773413c5b7834dbf1377b0f45 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 9 Feb 2026 02:43:28 -0500
Subject: [PATCH 0711/1434] [TIZI/TICI] ui: Trips panel (#1679)

* init

* more

* change

* exist

* better title

* adjust

* more

* seems better

* slightly more

* slightly more

* center it

* final

* move

* no bc ew

* more less
---
 .../ui/sunnypilot/layouts/settings/trips.py   | 146 ++++++++++++++++--
 sunnypilot/selfdrive/assets/icons/clock.png   |   3 +
 2 files changed, 137 insertions(+), 12 deletions(-)
 create mode 100644 sunnypilot/selfdrive/assets/icons/clock.png

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/trips.py b/selfdrive/ui/sunnypilot/layouts/settings/trips.py
index a318cebeb097fb..185b0adc4def19 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/trips.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/trips.py
@@ -4,27 +4,149 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+import json
+import requests
+import threading
+import time
+import pyray as rl
+
+from openpilot.common.api import api_get
+from openpilot.common.constants import CV
 from openpilot.common.params import Params
-from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.ui.lib.api_helpers import get_token
+from openpilot.selfdrive.ui.ui_state import ui_state, device
+from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
+from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.widgets import Widget
 
 
 class TripsLayout(Widget):
+  PARAM_KEY = "ApiCache_DriveStats"
+  UPDATE_INTERVAL = 30  # seconds
+
   def __init__(self):
     super().__init__()
-
     self._params = Params()
-    items = self._initialize_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
+    self._session = requests.Session()
+    self._stats = self._get_stats()
+
+    self._icon_distance = gui_app.texture("icons/road.png", 100, 100, keep_aspect_ratio=True)
+    self._icon_drives = gui_app.texture("icons_mici/wheel.png", 80, 80, keep_aspect_ratio=True)
+    self._icon_hours = gui_app.texture("../../sunnypilot/selfdrive/assets/icons/clock.png", 80, 80, keep_aspect_ratio=True)
+
+    self._running = True
+    self._update_thread = threading.Thread(target=self._update_loop, daemon=True)
+    self._update_thread.start()
+
+  def __del__(self):
+    self._running = False
+    try:
+      if self._update_thread and self._update_thread.is_alive():
+        self._update_thread.join(timeout=1.0)
+    except Exception:
+      pass
+
+  def _get_stats(self):
+    stats = self._params.get(self.PARAM_KEY)
+    if not stats:
+      return {}
+    try:
+      return json.loads(stats)
+    except Exception:
+      cloudlog.exception(f"Failed to decode drive stats: {stats}")
+      return {}
+
+  def _fetch_drive_stats(self):
+    try:
+      dongle_id = self._params.get("DongleId")
+      if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
+        return
+      identity_token = get_token(dongle_id)
+      response = api_get(f"v1.1/devices/{dongle_id}/stats", access_token=identity_token, session=self._session)
+      if response.status_code == 200:
+        data = response.json()
+        self._stats = data
+        self._params.put(self.PARAM_KEY, data)
+    except Exception as e:
+      cloudlog.error(f"Failed to fetch drive stats: {e}")
+
+  def _update_loop(self):
+    while self._running:
+      if not ui_state.started and device._awake:
+        self._fetch_drive_stats()
+      time.sleep(self.UPDATE_INTERVAL)
+
+  def _render_stat_group(self, x, y, width, height, title, data, is_metric):
+    # Card Background
+    rl.draw_rectangle_rounded(rl.Rectangle(x, y, width, height), 0.05, 10, rl.Color(30, 30, 30, 255))
+
+    # Title
+    title_font = gui_app.font(FontWeight.BOLD)
+    rl.draw_text_ex(title_font, title, rl.Vector2(x + 60, y + 30), 50 * FONT_SCALE, 0, rl.Color(200, 200, 200, 255))
+
+    # Internal content area
+    # Center the content block (Icon + Value + Unit) vertically
+    content_y = y + (height / 2) - (140 * FONT_SCALE)
+    col_width = width / 3
+
+    # Values
+    number_font = gui_app.font(FontWeight.BOLD)
+    unit_font = gui_app.font(FontWeight.LIGHT)
+    number_base_size = 92
+    unit_base_size = 55
+    number_size = number_base_size * FONT_SCALE
+    unit_size = unit_base_size * FONT_SCALE
+    color_unit = rl.Color(160, 160, 160, 255)
+
+    routes = int(data.get("routes", 0))
+    distance = data.get("distance", 0)
+    distance_str = str(int(distance * CV.MPH_TO_KPH)) if is_metric else str(int(distance))
+    hours = int(data.get("minutes", 0) / 60)
+
+    dist_unit = tr("KM") if is_metric else tr("Miles")
+
+    def draw_col(col_idx, icon, value, unit):
+      col_x = x + (col_width * col_idx)
+      center_x = col_x + (col_width / 2)
+
+      # Icon
+      icon_x = int(center_x - (icon.width / 2))
+      icon_y = int(content_y + 60)
+      rl.draw_texture(icon, icon_x, icon_y, rl.WHITE)
+
+      # Value
+      val_size = measure_text_cached(number_font, value, number_base_size)
+      rl.draw_text_ex(number_font, value, rl.Vector2(center_x - val_size.x / 1.65, content_y + 145 * FONT_SCALE), number_size, 0, rl.WHITE)
+
+      # Unit
+      unit_size_vec = measure_text_cached(unit_font, unit, unit_base_size)
+      rl.draw_text_ex(unit_font, unit, rl.Vector2(center_x - unit_size_vec.x / 1.65, content_y + 255 * FONT_SCALE), unit_size, 0, color_unit)
+
+    draw_col(0, self._icon_drives, str(routes), tr("Drives"))
+    draw_col(1, self._icon_distance, distance_str, dist_unit)
+    draw_col(2, self._icon_hours, str(hours), tr("Hours"))
+
+    return y + height
+
+  def _render(self, rect: rl.Rectangle):
+    x = rect.x
+    y = rect.y
+    w = rect.width
+
+    spacing = 30
+    available_h = rect.height - 30
+    card_height = available_h / 2
 
-  def _initialize_items(self):
-    items = [
+    is_metric = self._params.get_bool("IsMetric")
 
-    ]
-    return items
+    all_time = self._stats.get("all", {})
+    week = self._stats.get("week", {})
 
-  def _render(self, rect):
-    self._scroller.render(rect)
+    y = self._render_stat_group(x, y, w, card_height, tr("ALL TIME"), all_time, is_metric)
+    y += spacing
+    y = self._render_stat_group(x, y, w, card_height, tr("PAST WEEK"), week, is_metric)
 
-  def show_event(self):
-    self._scroller.show_event()
+    return -1
diff --git a/sunnypilot/selfdrive/assets/icons/clock.png b/sunnypilot/selfdrive/assets/icons/clock.png
new file mode 100644
index 00000000000000..e04d1db949eee5
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/icons/clock.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e095cfc4de71788bd4a99699a2e7ab4098cd426277d672b9e43981c5fab8b40f
+size 16407

From 51d3f0dea29ee4ddb773fc8d499e2cc6398291d8 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 9 Feb 2026 02:47:35 -0500
Subject: [PATCH 0712/1434] [TIZI/TICI] ui: drive stat cache is a json already

---
 selfdrive/ui/sunnypilot/layouts/settings/trips.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/trips.py b/selfdrive/ui/sunnypilot/layouts/settings/trips.py
index 185b0adc4def19..1a51509ad84894 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/trips.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/trips.py
@@ -54,7 +54,7 @@ def _get_stats(self):
     if not stats:
       return {}
     try:
-      return json.loads(stats)
+      return stats
     except Exception:
       cloudlog.exception(f"Failed to decode drive stats: {stats}")
       return {}

From 043eab56204ac3b915fbaa24fbc16a7d2420b9d4 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 9 Feb 2026 02:54:58 -0500
Subject: [PATCH 0713/1434] Revert "[TIZI/TICI] ui: drive stat cache is a json
 already"

This reverts commit 51d3f0dea29ee4ddb773fc8d499e2cc6398291d8.
---
 selfdrive/ui/sunnypilot/layouts/settings/trips.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/trips.py b/selfdrive/ui/sunnypilot/layouts/settings/trips.py
index 1a51509ad84894..185b0adc4def19 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/trips.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/trips.py
@@ -54,7 +54,7 @@ def _get_stats(self):
     if not stats:
       return {}
     try:
-      return stats
+      return json.loads(stats)
     except Exception:
       cloudlog.exception(f"Failed to decode drive stats: {stats}")
       return {}

From 7722d14b8923ad21e65adeca4df3a2786e6d47fa Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 9 Feb 2026 02:55:06 -0500
Subject: [PATCH 0714/1434] Reapply "[TIZI/TICI] ui: drive stat cache is a json
 already"

This reverts commit 043eab56204ac3b915fbaa24fbc16a7d2420b9d4.
---
 selfdrive/ui/sunnypilot/layouts/settings/trips.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/trips.py b/selfdrive/ui/sunnypilot/layouts/settings/trips.py
index 185b0adc4def19..b389892d5d52f0 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/trips.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/trips.py
@@ -4,7 +4,6 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-import json
 import requests
 import threading
 import time
@@ -54,7 +53,7 @@ def _get_stats(self):
     if not stats:
       return {}
     try:
-      return json.loads(stats)
+      return stats
     except Exception:
       cloudlog.exception(f"Failed to decode drive stats: {stats}")
       return {}

From c51b41e96a3d22844cd394d4ec4c13877ef6f29b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 9 Feb 2026 23:46:39 -0500
Subject: [PATCH 0715/1434] sunnylink: shorter timeout for websocket reconnect
 (#1681)

* separate

* no need

* shorten

* lint
---
 common/api/__init__.py                    | 4 ++--
 sunnypilot/sunnylink/athena/sunnylinkd.py | 8 ++------
 2 files changed, 4 insertions(+), 8 deletions(-)

diff --git a/common/api/__init__.py b/common/api/__init__.py
index 45c73e2a05782e..2186542cb85ffe 100644
--- a/common/api/__init__.py
+++ b/common/api/__init__.py
@@ -18,8 +18,8 @@ def get_token(self, payload_extra=None, expiry_hours=1):
     return self.service.get_token(payload_extra, expiry_hours)
 
 
-def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, **params):
-  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, session, **params)
+def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, json=None, **params):
+  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, session, json, **params)
 
 
 def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index fe0a2481000629..3e44c8c96b5d06 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -12,7 +12,6 @@
 import gzip
 import json
 import os
-import ssl
 import threading
 import time
 
@@ -274,9 +273,7 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local
   sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
 
   cloudlog.debug("athena.startLocalProxy.starting")
-  ws = create_connection(
-    remote_ws_uri, header={"Authorization": f"Bearer {sunnylink_api.get_token()}"}, enable_multithread=True, sslopt={"cert_reqs": ssl.CERT_NONE}
-  )
+  ws = create_connection(remote_ws_uri, header={"Authorization": f"Bearer {sunnylink_api.get_token()}"}, enable_multithread=True)
 
   return start_local_proxy_shim(global_end_event, local_port, ws)
 
@@ -310,8 +307,7 @@ def main(exit_event: threading.Event | None = None):
         ws_uri,
         header={"Authorization": f"Bearer {sunnylink_api.get_token()}"},
         enable_multithread=True,
-        sslopt={"cert_reqs": ssl.CERT_NONE if "localhost" in ws_uri else ssl.CERT_REQUIRED},
-        timeout=SUNNYLINK_RECONNECT_TIMEOUT_S,
+        timeout=30.0,
       )
       cloudlog.event("sunnylinkd.main.connected_ws", ws_uri=ws_uri, retries=conn_retries,
                      duration=time.monotonic() - conn_start)

From 117927321714571cd3f4d9686a99df86c8c7f264 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Tue, 10 Feb 2026 17:28:51 +0100
Subject: [PATCH 0716/1434] Revert "sunnylink: shorter timeout for websocket
 reconnect" (#1683)

Revert "sunnylink: shorter timeout for websocket reconnect (#1681)"

This reverts commit c51b41e96a3d22844cd394d4ec4c13877ef6f29b.
---
 common/api/__init__.py                    | 4 ++--
 sunnypilot/sunnylink/athena/sunnylinkd.py | 8 ++++++--
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/common/api/__init__.py b/common/api/__init__.py
index 2186542cb85ffe..45c73e2a05782e 100644
--- a/common/api/__init__.py
+++ b/common/api/__init__.py
@@ -18,8 +18,8 @@ def get_token(self, payload_extra=None, expiry_hours=1):
     return self.service.get_token(payload_extra, expiry_hours)
 
 
-def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, json=None, **params):
-  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, session, json, **params)
+def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, **params):
+  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, session, **params)
 
 
 def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index 3e44c8c96b5d06..fe0a2481000629 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -12,6 +12,7 @@
 import gzip
 import json
 import os
+import ssl
 import threading
 import time
 
@@ -273,7 +274,9 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local
   sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
 
   cloudlog.debug("athena.startLocalProxy.starting")
-  ws = create_connection(remote_ws_uri, header={"Authorization": f"Bearer {sunnylink_api.get_token()}"}, enable_multithread=True)
+  ws = create_connection(
+    remote_ws_uri, header={"Authorization": f"Bearer {sunnylink_api.get_token()}"}, enable_multithread=True, sslopt={"cert_reqs": ssl.CERT_NONE}
+  )
 
   return start_local_proxy_shim(global_end_event, local_port, ws)
 
@@ -307,7 +310,8 @@ def main(exit_event: threading.Event | None = None):
         ws_uri,
         header={"Authorization": f"Bearer {sunnylink_api.get_token()}"},
         enable_multithread=True,
-        timeout=30.0,
+        sslopt={"cert_reqs": ssl.CERT_NONE if "localhost" in ws_uri else ssl.CERT_REQUIRED},
+        timeout=SUNNYLINK_RECONNECT_TIMEOUT_S,
       )
       cloudlog.event("sunnylinkd.main.connected_ws", ws_uri=ws_uri, retries=conn_retries,
                      duration=time.monotonic() - conn_start)

From bef93ecf656998882f3b4b45449ece9130c59fad Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 10 Feb 2026 22:24:18 -0500
Subject: [PATCH 0717/1434] [TIZI/TICI] ui: fix Developer UI orders (#1682)

---
 .../ui/sunnypilot/onroad/developer_ui/__init__.py      | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py b/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
index f74f1f4c301187..8e19f876a27985 100644
--- a/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
+++ b/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
@@ -19,8 +19,8 @@
 
 class DeveloperUiRenderer(Widget):
   DEV_UI_OFF = 0
-  DEV_UI_RIGHT = 1
-  DEV_UI_BOTTOM = 2
+  DEV_UI_BOTTOM = 1
+  DEV_UI_RIGHT = 2
   DEV_UI_BOTH = 3
   BOTTOM_BAR_HEIGHT = 61
 
@@ -62,10 +62,10 @@ def _render(self, rect: rl.Rectangle) -> None:
     if sm.recv_frame["carState"] < ui_state.started_frame:
       return
 
-    if self.dev_ui_mode == self.DEV_UI_RIGHT:
-      self._draw_right_dev_ui(rect)
-    elif self.dev_ui_mode == self.DEV_UI_BOTTOM:
+    if self.dev_ui_mode == self.DEV_UI_BOTTOM:
       self._draw_bottom_dev_ui(rect)
+    elif self.dev_ui_mode == self.DEV_UI_RIGHT:
+      self._draw_right_dev_ui(rect)
     elif self.dev_ui_mode == self.DEV_UI_BOTH:
       self._draw_right_dev_ui(rect)
       self._draw_bottom_dev_ui(rect)

From 3d3a5de4097ade84e192313a3d62be69f8305f18 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 10 Feb 2026 22:58:59 -0500
Subject: [PATCH 0718/1434] [TIZI/TICI] ui: dynamic ICBM status (#1684)

* [TIZI/TICI] ui: dynamic ICBM status

* wat

* make sure to init

* make sure it exists

* send it for all
---
 .../ui/sunnypilot/onroad/hud_renderer.py      | 80 ++++++++++++++++++-
 selfdrive/ui/sunnypilot/ui_state.py           |  1 +
 2 files changed, 79 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
index d8ba4b8bf0fe4d..86fcf3c693f4f4 100644
--- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
+++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
@@ -6,9 +6,8 @@
 """
 import pyray as rl
 
+from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.mici.onroad.torque_bar import TorqueBar
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.road_name import RoadNameRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel
@@ -17,6 +16,11 @@
 from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController
 from openpilot.selfdrive.ui.sunnypilot.onroad.circular_alerts import CircularAlertsRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.speed_renderer import SpeedRenderer
+from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
+from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer, UI_CONFIG, FONT_SIZES, COLORS, CRUISE_DISABLED_CHAR
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.text_measure import measure_text_cached
 
 
 class HudRendererSP(HudRenderer):
@@ -32,7 +36,21 @@ def __init__(self):
     self.speed_renderer = SpeedRenderer()
     self._torque_bar = TorqueBar(scale=3.0, always=True)
 
+    self.pcm_cruise_speed: bool = True
+    self.show_icbm_status: bool = False
+    self.icbm_active_counter: int = 0
+    self.speed_cluster: float = 0.0
+    self.speed_conv: float = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+
   def _update_state(self) -> None:
+    if ui_state.sm.recv_frame["carState"] < ui_state.started_frame:
+      return
+
+    if ui_state.CP_SP is not None:
+      self.pcm_cruise_speed = ui_state.CP_SP.pcmCruiseSpeed
+    self.speed_conv = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+    self.speed_cluster = ui_state.sm['carState'].cruiseState.speedCluster * self.speed_conv
+
     super()._update_state()
     self.road_name_renderer.update()
     self.speed_limit_renderer.update()
@@ -41,6 +59,64 @@ def _update_state(self) -> None:
     self.circular_alerts_renderer.update()
     self.speed_renderer.update()
 
+  def _get_icbm_status(self):
+    if not self.pcm_cruise_speed and ui_state.sm['carControl'].enabled:
+      if round(self.set_speed) != round(self.speed_cluster):
+        self.icbm_active_counter = 3 * gui_app.target_fps  # 3 seconds usually
+      elif self.icbm_active_counter > 0:
+        self.icbm_active_counter -= 1
+    else:
+      self.icbm_active_counter = 0
+
+    self.show_icbm_status = self.icbm_active_counter > 0
+
+  def _draw_set_speed(self, rect: rl.Rectangle) -> None:
+    self._get_icbm_status()
+
+    set_speed_width = UI_CONFIG.set_speed_width_metric if ui_state.is_metric else UI_CONFIG.set_speed_width_imperial
+    x = rect.x + 60 + (UI_CONFIG.set_speed_width_imperial - set_speed_width) // 2
+    y = rect.y + 45
+
+    set_speed_rect = rl.Rectangle(x, y, set_speed_width, UI_CONFIG.set_speed_height)
+    rl.draw_rectangle_rounded(set_speed_rect, 0.35, 10, COLORS.BLACK_TRANSLUCENT)
+    rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.35, 10, 6, COLORS.BORDER_TRANSLUCENT)
+
+    max_color = COLORS.GREY
+    set_speed_color = COLORS.DARK_GREY
+    if self.is_cruise_set:
+      set_speed_color = COLORS.WHITE
+      if ui_state.status == UIStatus.ENGAGED:
+        max_color = COLORS.ENGAGED
+      elif ui_state.status == UIStatus.DISENGAGED:
+        max_color = COLORS.DISENGAGED
+      elif ui_state.status == UIStatus.OVERRIDE:
+        max_color = COLORS.OVERRIDE
+
+    max_str_size = 60 if self.show_icbm_status else 40
+    max_str_y = 15 if self.show_icbm_status else 27
+
+    max_text = str(round(self.speed_cluster)) if self.show_icbm_status else tr("MAX")
+    max_text_width = measure_text_cached(self._font_semi_bold, max_text, max_str_size).x
+    rl.draw_text_ex(
+      self._font_semi_bold,
+      max_text,
+      rl.Vector2(x + (set_speed_width - max_text_width) / 2, y + max_str_y),
+      max_str_size,
+      0,
+      max_color,
+    )
+
+    set_speed_text = CRUISE_DISABLED_CHAR if not self.is_cruise_set else str(round(self.set_speed))
+    speed_text_width = measure_text_cached(self._font_bold, set_speed_text, FONT_SIZES.set_speed).x
+    rl.draw_text_ex(
+      self._font_bold,
+      set_speed_text,
+      rl.Vector2(x + (set_speed_width - speed_text_width) / 2, y + 77),
+      FONT_SIZES.set_speed,
+      0,
+      set_speed_color,
+    )
+
   def _draw_current_speed(self, rect: rl.Rectangle) -> None:
     self.speed_renderer.render(rect)
 
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index 6403157d5c8a3d..3699098121c275 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -26,6 +26,7 @@ class OnroadTimerStatus(Enum):
 
 class UIStateSP:
   def __init__(self):
+    self.CP_SP: custom.CarParamsSP | None = None
     self.params = Params()
     self.sm_services_ext = [
       "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",

From f9c57ff285a51439d9d00106dd4ba7dbb35669b1 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 11 Feb 2026 00:20:23 -0500
Subject: [PATCH 0719/1434] Revert "`CI`: enable `macos` tests (#37005)"

This reverts commit c179a3ccb7a5e3a6ff550feb04e97255f40256f2.
---
 .github/workflows/tests.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index 18f01715d07de9..62a30bdde3e6e4 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -107,6 +107,7 @@ jobs:
 
   build_mac:
     name: build macOS
+    if: false # tmp disable due to brew install not working
     runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
     steps:
     - uses: actions/checkout@v6

From dc5dfe7f3ba353a084b801cb04ff00374e00552a Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 11 Feb 2026 00:27:57 -0500
Subject: [PATCH 0720/1434] maneuversd: keep services happy (#1685)

---
 tools/longitudinal_maneuvers/maneuversd.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
index c17ae23757cdfc..9044afaa8f45bf 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -132,7 +132,7 @@ def main():
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
 
   sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'selfdriveState', 'modelV2'], poll='modelV2')
-  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'alertDebug'])
+  pm = messaging.PubMaster(['longitudinalPlan', 'longitudinalPlanSP', 'driverAssistance', 'alertDebug'])
 
   maneuvers = iter(MANEUVERS)
   maneuver = None
@@ -177,6 +177,10 @@ def main():
 
     pm.send('longitudinalPlan', plan_send)
 
+    plan_sp_send = messaging.new_message('longitudinalPlanSP')
+    plan_sp_send.valid = True
+    pm.send('longitudinalPlanSP', plan_sp_send)
+
     assistance_send = messaging.new_message('driverAssistance')
     assistance_send.valid = True
     pm.send('driverAssistance', assistance_send)

From decd7d4c1c71913b7ab579344eed0b0f29ab7f89 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 11 Feb 2026 00:35:03 -0500
Subject: [PATCH 0721/1434] [TIZI/TICI] ui: exclude angleState from fade
 effects when rendering torque bar (#1686)

---
 selfdrive/ui/sunnypilot/onroad/augmented_road_view.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py b/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
index c7dedee5406403..64d7a3d9469cc8 100644
--- a/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
+++ b/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
@@ -23,7 +23,7 @@ def __init__(self):
   def update_fade_out_bottom_overlay(self, _content_rect):
     # Fade out bottom of overlays for looks (only when engaged)
     fade_alpha = self._fade_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED)
-    if ui_state.torque_bar and fade_alpha > 1e-2:
+    if ui_state.torque_bar and ui_state.sm['controlsState'].lateralControlState.which() != 'angleState' and fade_alpha > 1e-2:
       # Scale the fade texture to the content rect
       rl.draw_texture_pro(self._fade_texture,
                           rl.Rectangle(0, 0, self._fade_texture.width, self._fade_texture.height),

From dae95af1df6299a47778ecc225ee11b5d71eb0c8 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 12 Feb 2026 22:07:05 -0500
Subject: [PATCH 0722/1434] [TIZI/TICI] ui: override `set_parent_rect` to
 dynamically update item height (#1689)

[TIZI/TICI] ui: override `set_parent_rect` method to update item height dynamically
---
 system/ui/sunnypilot/widgets/list_view.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py
index 39e88169d290e1..30a2d992a72671 100644
--- a/system/ui/sunnypilot/widgets/list_view.py
+++ b/system/ui/sunnypilot/widgets/list_view.py
@@ -212,6 +212,12 @@ def _update_state(self):
       content_width = int(self._rect.width - style.ITEM_PADDING * 2)
       self._rect.height = self.get_item_height(self._font, content_width)
 
+  def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
+    super().set_parent_rect(parent_rect)
+    if self.description_visible:
+      content_width = int(self._rect.width - style.ITEM_PADDING * 2)
+      self._rect.height = self.get_item_height(self._font, content_width)
+
   def get_item_height(self, font: rl.Font, max_width: int) -> float:
     height = super().get_item_height(font, max_width)
 

From bafbfe19b4d31bff31e0185f99c8f3b958d5613b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 12 Feb 2026 22:32:15 -0500
Subject: [PATCH 0723/1434] [TIZI/TICI] ui: individual button states support
 for `MultipleButtonActionSP` (#1690)

* [TIZI/TICI] ui: individual button states support for MultipleButtonActionSP

* no magic nums
---
 .../steering_sub_layouts/mads_settings.py     |  8 +++--
 system/ui/sunnypilot/widgets/list_view.py     | 29 +++++++++++++++++--
 2 files changed, 32 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
index d3f38e04d138ed..3542adf285f5e0 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
@@ -9,6 +9,7 @@
 
 from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake
 from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.network import NavButton
@@ -112,7 +113,7 @@ def _update_toggles(self):
     if self._mads_limited_settings():
       ui_state.params.remove("MadsMainCruiseAllowed")
       ui_state.params.put_bool("MadsUnifiedEngagementMode", True)
-      ui_state.params.put("MadsSteeringMode", 2)
+      ui_state.params.put("MadsSteeringMode", MadsSteeringModeOnBrake.DISENGAGE)
 
       self._main_cruise_toggle.action_item.set_enabled(False)
       self._main_cruise_toggle.action_item.set_state(False)
@@ -122,9 +123,9 @@ def _update_toggles(self):
       self._unified_engagement_toggle.action_item.set_state(True)
       self._unified_engagement_toggle.set_description("<b>" + DEFAULT_TO_ON + "</b><br>" + MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC)
 
-      self._steering_mode.action_item.set_enabled(False)
       self._steering_mode.set_description(STATUS_DISENGAGE_ONLY)
-      self._steering_mode.action_item.set_selected_button(2)
+      self._steering_mode.action_item.set_selected_button(MadsSteeringModeOnBrake.DISENGAGE)
+      self._steering_mode.action_item.set_enabled_buttons({MadsSteeringModeOnBrake.DISENGAGE})
     else:
       self._main_cruise_toggle.action_item.set_enabled(True)
       self._main_cruise_toggle.set_description(MADS_MAIN_CRUISE_BASE_DESC)
@@ -133,3 +134,4 @@ def _update_toggles(self):
       self._unified_engagement_toggle.set_description(MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC)
 
       self._steering_mode.action_item.set_enabled(True)
+      self._steering_mode.action_item.set_enabled_buttons(None)
diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py
index 30a2d992a72671..1dd69c24cb4a5e 100644
--- a/system/ui/sunnypilot/widgets/list_view.py
+++ b/system/ui/sunnypilot/widgets/list_view.py
@@ -134,6 +134,10 @@ def __init__(self, buttons: list[str | Callable[[], str]], button_width: int, se
     if self.param_key:
       self.selected_button = int(self.params.get(self.param_key, return_default=True))
     self._anim_x: float | None = None
+    self.enabled_buttons: set[int] | None = None
+
+  def set_enabled_buttons(self, indices: set[int] | None):
+    self.enabled_buttons = indices
 
   def _render(self, rect: rl.Rectangle):
 
@@ -171,10 +175,31 @@ def _render(self, rect: rl.Rectangle):
       text_x = button_x + (self.button_width - text_size.x) / 2
       text_y = button_y + (style.BUTTON_HEIGHT - text_size.y) / 2
 
-      rl.draw_text_ex(self._font, text, rl.Vector2(text_x, text_y), 40, 0, text_color)
+      # Check individual button enabled state
+      is_button_enabled = self.enabled and (self.enabled_buttons is None or i in self.enabled_buttons)
+      current_text_color = text_color if is_button_enabled else style.MBC_DISABLED
+
+      rl.draw_text_ex(self._font, text, rl.Vector2(text_x, text_y), 40, 0, current_text_color)
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
-    MultipleButtonAction._handle_mouse_release(self, mouse_pos)
+    # Override parent method to check individual button enabled state
+    if not self.enabled:
+      return
+
+    button_y = self._rect.y + (self._rect.height - style.BUTTON_HEIGHT) / 2
+    for i, _ in enumerate(self.buttons):
+      button_x = self._rect.x + i * self.button_width
+      button_rect = rl.Rectangle(button_x, button_y, self.button_width, style.BUTTON_HEIGHT)
+
+      if rl.check_collision_point_rec(mouse_pos, button_rect):
+        # Check if this specific button is enabled
+        if self.enabled_buttons is not None and i not in self.enabled_buttons:
+          return
+
+        self.selected_button = i
+        if self.callback:
+          self.callback(i)
+
     if self.param_key:
       self.params.put(self.param_key, self.selected_button)
 

From 58af294ffd527fe9df4c534c8bebd82720de1fc5 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 12 Feb 2026 22:56:18 -0500
Subject: [PATCH 0724/1434] [TIZI/TICI] ui: Cruise panel (#1691)

* init cruise panel

* init descriptions

* damn descriptions

* init SLA sub layout

* reorder

* icbm it

* callback for `Custom ACC Speed Increments` toggle to update dependent UI elements dynamically.

* works

* more init

* more

* [TIZI/TICI] ui: individual button states support for MultipleButtonActionSP

* less

* convert

* init properly

---------

Co-authored-by: nayan <nayan8teen@gmail.com>
---
 .../ui/sunnypilot/layouts/settings/cruise.py  | 171 ++++++++++++++++-
 .../cruise_sub_layouts/speed_limit_policy.py  |  65 +++++++
 .../speed_limit_settings.py                   | 178 ++++++++++++++++++
 selfdrive/ui/sunnypilot/ui_state.py           |   4 +
 system/ui/sunnypilot/widgets/__init__.py      |  18 ++
 5 files changed, 432 insertions(+), 4 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_policy.py
 create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_settings.py

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/cruise.py b/selfdrive/ui/sunnypilot/layouts/settings/cruise.py
index 9439c588d3e606..671174ac7a6c5d 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/cruise.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/cruise.py
@@ -4,27 +4,190 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from openpilot.common.params import Params
-from openpilot.system.ui.widgets.scroller_tici import Scroller
+from enum import IntEnum
+
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise_sub_layouts.speed_limit_settings import SpeedLimitSettingsLayout
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp, simple_button_item_sp
 from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+
+
+class PanelType(IntEnum):
+  CRUISE = 0
+  SLA = 1
+
+
+ICBM_DESC = tr_noop("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons " +
+                    "by emulating button presses for limited longitudinal control.")
+ICMB_UNAVAILABLE = tr_noop("Intelligent Cruise Button Management is currently unavailable on this platform.")
+ICMB_UNAVAILABLE_LONG_AVAILABLE = tr_noop("Disable the sunnypilot Longitudinal Control (alpha) toggle to allow Intelligent Cruise Button Management.")
+ICMB_UNAVAILABLE_LONG_UNAVAILABLE = tr_noop("sunnypilot Longitudinal Control is the default longitudinal control for this platform.")
+
+ACC_ENABLED_DESCRIPTION = tr_noop("Enable custom Short & Long press increments for cruise speed increase/decrease.")
+ACC_NOLONG_DESCRIPTION = tr_noop("This feature can only be used with sunnypilot longitudinal control enabled.")
+ACC_PCMCRUISE_DISABLED_DESCRIPTION = tr_noop("This feature is not supported on this platform due to vehicle limitations.")
+ONROAD_ONLY_DESCRIPTION = tr_noop("Start the vehicle to check vehicle compatibility.")
 
 
 class CruiseLayout(Widget):
   def __init__(self):
     super().__init__()
+    self._current_panel = PanelType.CRUISE
+    self._speed_limit_layout = SpeedLimitSettingsLayout(lambda: self._set_current_panel(PanelType.CRUISE))
 
-    self._params = Params()
     items = self._initialize_items()
     self._scroller = Scroller(items, line_separator=True, spacing=0)
 
   def _initialize_items(self):
 
+    self.icbm_toggle = toggle_item_sp(
+      title=tr("Intelligent Cruise Button Management (ICBM) (Alpha)"),
+      description="",
+      param="IntelligentCruiseButtonManagement")
+
+    self.scc_v_toggle = toggle_item_sp(
+      title=tr("Smart Cruise Control - Vision"),
+      description=tr("Use vision path predictions to estimate the appropriate speed to drive through turns ahead."),
+      param="SmartCruiseControlVision")
+
+    self.scc_m_toggle = toggle_item_sp(
+      title=tr("Smart Cruise Control - Map"),
+      description=tr("Use map data to estimate the appropriate speed to drive through turns ahead."),
+      param="SmartCruiseControlMap")
+
+    self.custom_acc_toggle = toggle_item_sp(
+      title=tr("Custom ACC Speed Increments"),
+      description="",
+      param="CustomAccIncrementsEnabled",
+      callback=self._on_custom_acc_toggle)
+
+    self.custom_acc_short_increment = option_item_sp(
+      title=tr("Short Press Increment"),
+      param="CustomAccShortPressIncrement",
+      min_value=1, max_value=10, value_change_step=1,
+      inline=True)
+
+    self.custom_acc_long_increment = option_item_sp(
+      title=tr("Long Press Increment"),
+      param="CustomAccLongPressIncrement",
+      value_map={1: 1, 2: 5, 3: 10},
+      min_value=1, max_value=3, value_change_step=1,
+      inline=True)
+
+    self.sla_settings_button = simple_button_item_sp(
+      button_text=lambda: tr("Speed Limit"),
+      button_width=800,
+      callback=lambda: self._set_current_panel(PanelType.SLA)
+    )
+
+    self.dec_toggle = toggle_item_sp(
+      title=tr("Enable Dynamic Experimental Control"),
+      description=tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
+      param="DynamicExperimentalControl")
+
     items = [
+      self.icbm_toggle,
+      self.dec_toggle,
+      self.scc_v_toggle,
+      self.scc_m_toggle,
+      self.custom_acc_toggle,
+      self.custom_acc_short_increment,
+      self.custom_acc_long_increment,
+      self.sla_settings_button,
     ]
     return items
 
   def _render(self, rect):
-    self._scroller.render(rect)
+    if self._current_panel == PanelType.SLA:
+      self._speed_limit_layout.render(rect)
+    else:
+      self._scroller.render(rect)
 
   def show_event(self):
+    self._set_current_panel(PanelType.CRUISE)
     self._scroller.show_event()
+    self.icbm_toggle.show_description(True)
+    self.custom_acc_toggle.show_description(True)
+
+  def _set_current_panel(self, panel: PanelType):
+    self._current_panel = panel
+    if panel == PanelType.SLA:
+      self._speed_limit_layout.show_event()
+
+  def _update_state(self):
+    super()._update_state()
+
+    if ui_state.CP is not None and ui_state.CP_SP is not None:
+      has_icbm = ui_state.has_icbm
+      has_long = ui_state.has_longitudinal_control
+
+      if ui_state.CP_SP.intelligentCruiseButtonManagementAvailable and not has_long:
+        self.icbm_toggle.action_item.set_enabled(ui_state.is_offroad())
+        self.icbm_toggle.set_description(tr(ICBM_DESC))
+      else:
+        ui_state.params.remove("IntelligentCruiseButtonManagement")
+        self.icbm_toggle.action_item.set_enabled(False)
+
+        long_desc = ICMB_UNAVAILABLE
+        if has_long:
+          if ui_state.CP.alphaLongitudinalAvailable:
+            long_desc += " " + ICMB_UNAVAILABLE_LONG_AVAILABLE
+          else:
+            long_desc += " " + ICMB_UNAVAILABLE_LONG_UNAVAILABLE
+
+        new_desc = "<b>" + tr(long_desc) + "</b>\n\n" + tr(ICBM_DESC)
+        if self.icbm_toggle.description != new_desc:
+          self.icbm_toggle.set_description(new_desc)
+          self.icbm_toggle.show_description(True)
+
+      if has_long or has_icbm:
+        self.custom_acc_toggle.action_item.set_enabled(((has_long and not ui_state.CP.pcmCruise) or has_icbm) and ui_state.is_offroad())
+        self.dec_toggle.action_item.set_enabled(has_long)
+        self.scc_v_toggle.action_item.set_enabled(True)
+        self.scc_m_toggle.action_item.set_enabled(True)
+      else:
+        ui_state.params.remove("CustomAccIncrementsEnabled")
+        ui_state.params.remove("DynamicExperimentalControl")
+        ui_state.params.remove("SmartCruiseControlVision")
+        ui_state.params.remove("SmartCruiseControlMap")
+        self.custom_acc_toggle.action_item.set_enabled(False)
+        self.dec_toggle.action_item.set_enabled(False)
+        self.scc_v_toggle.action_item.set_enabled(False)
+        self.scc_m_toggle.action_item.set_enabled(False)
+
+    else:
+      has_icbm = has_long = False
+      self.icbm_toggle.action_item.set_enabled(False)
+      self.icbm_toggle.set_description(tr(ONROAD_ONLY_DESCRIPTION))
+
+    show_custom_acc_desc = False
+
+    if ui_state.is_offroad():
+      new_custom_acc_desc = tr(ONROAD_ONLY_DESCRIPTION)
+      show_custom_acc_desc = True
+    else:
+      if has_long or has_icbm:
+        if has_long and ui_state.CP.pcmCruise:
+          new_custom_acc_desc = tr(ACC_PCMCRUISE_DISABLED_DESCRIPTION)
+          show_custom_acc_desc = True
+        else:
+          new_custom_acc_desc = tr(ACC_ENABLED_DESCRIPTION)
+      else:
+        new_custom_acc_desc = tr(ACC_NOLONG_DESCRIPTION)
+        show_custom_acc_desc = True
+        self.custom_acc_toggle.action_item.set_state(False)
+
+    if self.custom_acc_toggle.description != new_custom_acc_desc:
+      self.custom_acc_toggle.set_description(new_custom_acc_desc)
+      if show_custom_acc_desc:
+        self.custom_acc_toggle.show_description(True)
+
+    self._on_custom_acc_toggle(self.custom_acc_toggle.action_item.get_state())
+
+  def _on_custom_acc_toggle(self, state):
+    self.custom_acc_short_increment.set_visible(state)
+    self.custom_acc_long_increment.set_visible(state)
+    self.custom_acc_short_increment.action_item.set_enabled(self.custom_acc_toggle.action_item.enabled)
+    self.custom_acc_long_increment.action_item.set_enabled(self.custom_acc_toggle.action_item.enabled)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_policy.py b/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_policy.py
new file mode 100644
index 00000000000000..e6846744a2ac93
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_policy.py
@@ -0,0 +1,65 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from collections.abc import Callable
+
+import pyray as rl
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp
+from openpilot.system.ui.widgets.network import NavButton
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.sunnypilot.widgets import get_highlighted_description
+
+SPEED_LIMIT_POLICY_BUTTONS = [tr("Car Only"), tr("Map Only"), tr("Car First"), tr("Map First"), tr("Combined")]
+
+SPEED_LIMIT_POLICY_DESCRIPTIONS = [
+  tr("Car Only: Use Speed Limit data only from Car"),
+  tr("Map Only: Use Speed Limit data only from OpenStreetMaps"),
+  tr("Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps"),
+  tr("Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car"),
+  tr("Combined: Use combined Speed Limit data from Car & OpenStreetMaps")
+]
+
+
+class SpeedLimitPolicyLayout(Widget):
+  def __init__(self, back_btn_callback: Callable):
+    super().__init__()
+    self._back_button = NavButton(tr("Back"))
+    self._back_button.set_click_callback(back_btn_callback)
+
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=False, spacing=0)
+
+  def _initialize_items(self):
+    self._speed_limit_policy = multiple_button_item_sp(
+      title=lambda: tr("Speed Limit Source"),
+      description=self._get_policy_description,
+      buttons=SPEED_LIMIT_POLICY_BUTTONS,
+      param="SpeedLimitPolicy",
+      button_width=250,
+    )
+
+    items = [
+      self._speed_limit_policy
+    ]
+    return items
+
+  @staticmethod
+  def _get_policy_description():
+    return get_highlighted_description(ui_state.params, "SpeedLimitPolicy", SPEED_LIMIT_POLICY_DESCRIPTIONS)
+
+  def _render(self, rect):
+    self._back_button.set_position(self._rect.x, self._rect.y + 20)
+    self._back_button.render()
+
+    content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40, rect.width, rect.height - self._back_button.rect.height - 40)
+    self._scroller.render(content_rect)
+
+  def show_event(self):
+    self._scroller.show_event()
+    self._speed_limit_policy.show_description(True)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_settings.py b/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_settings.py
new file mode 100644
index 00000000000000..c14330d9ac87e1
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_settings.py
@@ -0,0 +1,178 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from collections.abc import Callable
+from enum import IntEnum
+
+import pyray as rl
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise_sub_layouts.speed_limit_policy import SpeedLimitPolicyLayout
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import OffsetType as SpeedLimitOffsetType
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets import get_highlighted_description
+from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp, option_item_sp, simple_button_item_sp, LineSeparatorSP
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.network import NavButton
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+
+SPEED_LIMIT_MODE_BUTTONS = [tr("Off"), tr("Info"), tr("Warning"), tr("Assist")]
+SPEED_LIMIT_OFFSET_TYPE_BUTTONS = [tr("None"), tr("Fixed"), tr("%")]
+
+SPEED_LIMIT_MODE_DESCRIPTIONS = [
+  tr("Off: Disables the Speed Limit functions."),
+  tr("Information: Displays the current road's speed limit."),
+  tr("Warning: Provides a warning when exceeding the current road's speed limit."),
+  tr("Assist: Adjusts the vehicle's cruise speed based on the current road's speed limit when operating the +/- buttons."),
+]
+
+SPEED_LIMIT_OFFSET_DESCRIPTIONS = [
+  tr("None: No Offset"),
+  tr("Fixed: Adds a fixed offset [Speed Limit + Offset]"),
+  tr("Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]"),
+]
+
+
+class PanelType(IntEnum):
+  SETTINGS = 0
+  POLICY = 1
+
+
+class SpeedLimitSettingsLayout(Widget):
+  def __init__(self, back_btn_callback: Callable):
+    super().__init__()
+    self._current_panel = PanelType.SETTINGS
+
+    self._back_button = NavButton(tr("Back"))
+    self._back_button.set_click_callback(back_btn_callback)
+
+    self._policy_layout = SpeedLimitPolicyLayout(lambda: self._set_current_panel(PanelType.SETTINGS))
+
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=False, spacing=0)
+
+  def _initialize_items(self):
+    self._speed_limit_mode = multiple_button_item_sp(
+      title=lambda: tr("Speed Limit"),
+      description=self._get_mode_description,
+      buttons=SPEED_LIMIT_MODE_BUTTONS,
+      param="SpeedLimitMode",
+      button_width=380,
+    )
+
+    self._source_button = simple_button_item_sp(
+      button_text=lambda: tr("Customize Source"),
+      button_width=720,
+      callback=lambda: self._set_current_panel(PanelType.POLICY)
+    )
+
+    self._speed_limit_offset_type = multiple_button_item_sp(
+      title=lambda: tr("Speed Limit Offset"),
+      description="",
+      buttons=SPEED_LIMIT_OFFSET_TYPE_BUTTONS,
+      param="SpeedLimitOffsetType",
+      button_width=450,
+    )
+
+    self._speed_limit_value_offset = option_item_sp(
+      title="",
+      param="SpeedLimitValueOffset",
+      min_value=-30,
+      max_value=30,
+      description=self._get_offset_description,
+      label_callback=self._get_offset_label,
+    )
+
+    items = [
+      self._speed_limit_mode,
+      LineSeparatorSP(40),
+      self._source_button,
+      LineSeparatorSP(40),
+      self._speed_limit_offset_type,
+      self._speed_limit_value_offset
+    ]
+    return items
+
+  def _set_current_panel(self, panel: PanelType):
+    self._current_panel = panel
+    if panel == PanelType.POLICY:
+      self._policy_layout.show_event()
+
+  @staticmethod
+  def _get_mode_description():
+    return get_highlighted_description(ui_state.params, "SpeedLimitMode", SPEED_LIMIT_MODE_DESCRIPTIONS)
+
+  @staticmethod
+  def _get_offset_description():
+    return get_highlighted_description(ui_state.params, "SpeedLimitOffsetType", SPEED_LIMIT_OFFSET_DESCRIPTIONS)
+
+  @staticmethod
+  def _get_offset_label(value):
+    offset_type = int(ui_state.params.get("SpeedLimitOffsetType", return_default=True))
+    unit = tr("km/h") if ui_state.is_metric else tr("mph")
+
+    if offset_type == int(SpeedLimitOffsetType.percentage):
+      return f"{value}%"
+    elif offset_type == int(SpeedLimitOffsetType.fixed):
+      return f"{value} {unit}"
+    return str(value)
+
+  def _update_state(self):
+    super()._update_state()
+
+    speed_limit_mode_param = ui_state.params.get("SpeedLimitMode", return_default=True)
+    if ui_state.CP is not None and ui_state.CP_SP is not None:
+      brand = ui_state.CP.brand
+      has_long = ui_state.has_longitudinal_control
+      has_icbm = ui_state.has_icbm
+
+      """
+          Speed Limit Assist is available when:
+          - has_long or has_icbm, and
+          - is not a release branch or not a disallowed brand, and
+          - is not always disallwed
+      """
+      sla_disallow_in_release = brand == "tesla" and ui_state.is_sp_release
+      sla_always_disallow = brand == "rivian"
+      sla_available = (has_long or has_icbm) and not sla_disallow_in_release and not sla_always_disallow
+
+      if not sla_available and speed_limit_mode_param == int(SpeedLimitMode.assist):
+        ui_state.params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
+
+    else:
+      sla_available = False
+
+    if not sla_available:
+      self._speed_limit_mode.action_item.set_enabled_buttons({
+        int(SpeedLimitMode.off),
+        int(SpeedLimitMode.information),
+        int(SpeedLimitMode.warning),
+      })
+    else:
+      self._speed_limit_mode.action_item.set_enabled_buttons(None)
+
+    offset_type = ui_state.params.get("SpeedLimitOffsetType", return_default=True)
+    self._speed_limit_value_offset.set_visible(offset_type != int(SpeedLimitOffsetType.off))
+
+  def _render(self, rect):
+    if self._current_panel == PanelType.POLICY:
+      self._policy_layout.render(rect)
+      return
+
+    self._back_button.set_position(self._rect.x, self._rect.y + 20)
+    self._back_button.render()
+
+    content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40, rect.width, rect.height - self._back_button.rect.height - 40)
+    self._scroller.render(content_rect)
+
+  def show_event(self):
+    self._current_panel = PanelType.SETTINGS
+    self._scroller.show_event()
+    self._speed_limit_mode.show_description(True)
+
+  def hide_event(self):
+    self._current_panel = PanelType.SETTINGS
+    self._scroller.hide_event()
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index 3699098121c275..5a2f722fec279c 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -39,6 +39,9 @@ def __init__(self):
     self.onroad_brightness_timer: int = 0
     self.custom_interactive_timeout: int = self.params.get("InteractivityTimeout", return_default=True)
     self.reset_onroad_sleep_timer()
+    self.CP_SP: custom.CarParamsSP | None = None
+    self.has_icbm: bool = False
+    self.is_sp_release: bool = self.params.get_bool("IsReleaseSpBranch")
 
   def update(self) -> None:
     if self.sunnylink_enabled:
@@ -121,6 +124,7 @@ def update_params(self) -> None:
     CP_SP_bytes = self.params.get("CarParamsSPPersistent")
     if CP_SP_bytes is not None:
       self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
+      self.has_icbm = self.CP_SP.intelligentCruiseButtonManagementAvailable and self.params.get_bool("IntelligentCruiseButtonManagement")
     self.active_bundle = self.params.get("ModelManager_ActiveBundle")
     self.blindspot = self.params.get_bool("BlindSpot")
     self.chevron_metrics = self.params.get("ChevronInfo")
diff --git a/system/ui/sunnypilot/widgets/__init__.py b/system/ui/sunnypilot/widgets/__init__.py
index e69de29bb2d1d6..96865e60423105 100644
--- a/system/ui/sunnypilot/widgets/__init__.py
+++ b/system/ui/sunnypilot/widgets/__init__.py
@@ -0,0 +1,18 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+
+def get_highlighted_description(params, param_name: str, descriptions: list[str]) -> str:
+  index = int(params.get(param_name, return_default=True))
+  lines = []
+  for i, desc in enumerate(descriptions):
+    if i == index:
+      lines.append(f"<b>{desc}</b>")
+    else:
+      lines.append(f"{desc}")
+
+  return "<br>".join(lines)

From 33a26ba373fa80bfa9fb9a52f842dc1b79094658 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Thu, 12 Feb 2026 23:09:24 -0500
Subject: [PATCH 0725/1434] ui: better wake mode support (#1578)

* wake mode support

* use ui_state.params

* better

* cleanup

* fix

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/ui_state.py | 11 +++++------
 selfdrive/ui/ui_state.py            |  2 +-
 2 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index 5a2f722fec279c..4d26e138b1e213 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -142,15 +142,14 @@ def update_params(self) -> None:
     self.torque_bar = self.params.get_bool("TorqueBar")
     self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI")
     self.turn_signals = self.params.get_bool("ShowTurnSignals")
+    self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
 
 
 class DeviceSP:
-  def __init__(self):
-    self._params = Params()
-
-  def _set_awake(self, on: bool):
-    if on and self._params.get("DeviceBootMode", return_default=True) == 1:
-      self._params.put_bool("OffroadMode", True)
+  @staticmethod
+  def _set_awake(on: bool, _ui_state):
+    if _ui_state.boot_offroad_mode == 1 and not on:
+      _ui_state.params.put_bool("OffroadMode", True)
 
   @staticmethod
   def set_onroad_brightness(_ui_state, awake: bool, cur_brightness: float) -> float:
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index a9127ac3c52e92..f7a5d44d9a24d7 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -299,7 +299,7 @@ def _update_wakefulness(self):
 
   def _set_awake(self, on: bool):
     if on != self._awake:
-      DeviceSP._set_awake(self, on)
+      DeviceSP._set_awake(on, ui_state)
       self._awake = on
       cloudlog.debug(f"setting display power {int(on)}")
       HARDWARE.set_display_power(on)

From b3878fb211f3a3a03acd061096da049cae17f6c3 Mon Sep 17 00:00:00 2001
From: Christopher Haucke <132518562+CHaucke89@users.noreply.github.com>
Date: Thu, 12 Feb 2026 23:33:38 -0500
Subject: [PATCH 0726/1434] Pause Lateral Control with Blinker: Post-Blinker
 Delay (#1567)

* Delay lateral reengagement

* UI elements

* Add tests

* Update title and description

* Update params_metadata

* Didn't mean to pass this to int()

* Keep sentry happy

* Title and description update

* always 100 hz

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/params_keys.h                             |  1 +
 .../ui/sunnypilot/layouts/settings/steering.py   | 11 +++++++++++
 .../controls/lib/blinker_pause_lateral.py        | 16 +++++++++++++---
 .../lib/tests/test_blinker_pause_lateral.py      | 14 ++++++++++++++
 sunnypilot/sunnylink/params_metadata.json        |  4 ++++
 5 files changed, 43 insertions(+), 3 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index f2a63ec1b1a3f4..dba0742268318f 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -137,6 +137,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ApiCache_DriveStats", {PERSISTENT, JSON}},
     {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
+    {"BlinkerLateralReengageDelay", {PERSISTENT | BACKUP, INT, "0"}},  // seconds
     {"BlinkerMinLateralControlSpeed", {PERSISTENT | BACKUP, INT, "20"}},  // MPH or km/h
     {"BlinkerPauseLateralControl", {PERSISTENT | BACKUP, INT, "0"}},
     {"Brightness", {PERSISTENT | BACKUP, INT, "0"}},
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering.py b/selfdrive/ui/sunnypilot/layouts/settings/steering.py
index f82c4097c3ba4e..14d840138ee3dd 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/steering.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/steering.py
@@ -72,6 +72,15 @@ def _initialize_items(self):
       description="",
       label_callback=lambda speed: f'{speed} {"km/h" if ui_state.is_metric else "mph"}',
     )
+    self._blinker_reengage_delay = option_item_sp(
+      param="BlinkerLateralReengageDelay",
+      title=lambda: tr("Post-Blinker Delay"),
+      min_value=0,
+      max_value=10,
+      value_change_step=1,
+      description=lambda: tr("Delay before lateral control resumes after the turn signal ends."),
+      label_callback=lambda delay: f'{delay} {"s"}'
+    )
     self._torque_control_toggle = toggle_item_sp(
       param="EnforceTorqueControl",
       title=lambda: tr("Enforce Torque Lateral Control"),
@@ -96,6 +105,7 @@ def _initialize_items(self):
       LineSeparatorSP(40),
       self._blinker_control_toggle,
       self._blinker_control_options,
+      self._blinker_reengage_delay,
       LineSeparatorSP(40),
       self._torque_control_toggle,
       self._torque_customization_button,
@@ -128,6 +138,7 @@ def _update_state(self):
     self._mads_toggle.action_item.set_enabled(ui_state.is_offroad())
     self._mads_settings_button.action_item.set_enabled(ui_state.is_offroad() and self._mads_toggle.action_item.get_state())
     self._blinker_control_options.set_visible(self._blinker_control_toggle.action_item.get_state())
+    self._blinker_reengage_delay.set_visible(self._blinker_control_toggle.action_item.get_state())
 
     enforce_torque_enabled = self._torque_control_toggle.action_item.get_state()
     nnlc_enabled = self._nnlc_toggle.action_item.get_state()
diff --git a/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py b/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py
index 2f27e7e42ff504..98757cd532baa0 100644
--- a/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py
+++ b/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py
@@ -17,13 +17,16 @@ def __init__(self):
     self.enabled = self.params.get_bool("BlinkerPauseLateralControl")
     self.is_metric = self.params.get_bool("IsMetric")
     self.min_speed = 0
+    self.reengage_delay = 0
+    self.blinker_off_timer = 0.0
 
   def get_params(self) -> None:
     self.enabled = self.params.get_bool("BlinkerPauseLateralControl")
     self.is_metric = self.params.get_bool("IsMetric")
-    self.min_speed = self.params.get("BlinkerMinLateralControlSpeed")
+    self.min_speed = self.params.get("BlinkerMinLateralControlSpeed", return_default=True)
+    self.reengage_delay = self.params.get("BlinkerLateralReengageDelay", return_default=True)
 
-  def update(self, CS: car.CarState) -> bool:
+  def update(self, CS: car.CarState, DT_CTRL: float = 0.01) -> bool:
     if not self.enabled:
       return False
 
@@ -31,4 +34,11 @@ def update(self, CS: car.CarState) -> bool:
     speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
     min_speed_ms = self.min_speed * speed_factor
 
-    return bool(one_blinker and CS.vEgo < min_speed_ms)
+    below_speed = CS.vEgo < min_speed_ms
+
+    if one_blinker and below_speed:
+      self.blinker_off_timer = self.reengage_delay
+    elif self.blinker_off_timer > 0:
+      self.blinker_off_timer -= DT_CTRL
+
+    return bool((one_blinker and below_speed) or self.blinker_off_timer > 0)
diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py b/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py
index ca8f16fe7464d8..b547ea96b692b5 100644
--- a/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py
+++ b/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py
@@ -20,6 +20,8 @@ def _reset_states(self):
     self.blinker_pause_lateral.enabled = True
     self.blinker_pause_lateral.is_metric = False
     self.blinker_pause_lateral.min_speed = 20  # MPH
+    self.blinker_pause_lateral.reengage_delay = 0
+    self.blinker_pause_lateral.blinker_off_timer = 0.0
 
     self.CS = car.CarState.new_message()
     self.CS.vEgo = 0
@@ -46,6 +48,18 @@ def test_below_min_speed_blinker(self):
     }
     self._test_should_blinker_pause_lateral(expected_results)
 
+  def test_reengage_delay(self):
+    self.blinker_pause_lateral.reengage_delay = 2 # seconds
+    self.CS.vEgo = 4.5 # ~10 MPH
+
+    expected_results = {
+      (False, False): True,
+      (True, False): True,
+      (False, True): True,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
   def test_above_min_speed_blinker(self):
     self.CS.vEgo = 13.4  # ~30 MPH
 
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index c0c84eac09523a..ad94ad35ffbca4 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -93,6 +93,10 @@
     "title": "[TIZI/TICI only] Blind Spot Detection",
     "description": "Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported."
   },
+  "BlinkerLateralReengageDelay": {
+    "title": "Post-Blinker Delay",
+    "description": "Delay before lateral control resumes after the turn signal ends."
+  },
   "BlinkerMinLateralControlSpeed": {
     "title": "Blinker Min Lateral Control Speed",
     "description": ""

From 3fe33cbe97087c8ce2ae0bd86e746f7e72aea0c9 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 13 Feb 2026 11:33:52 -0500
Subject: [PATCH 0727/1434] [TIZI/TICI] ui: fix toggle states and simplify
 blindspots/turn signals updates (#1692)

* [TIZI/TICI] ui: fix toggle states and simplify blindspots/turn signals updates

* more
---
 selfdrive/ui/sunnypilot/onroad/turn_signal.py | 72 ++++---------------
 1 file changed, 14 insertions(+), 58 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/onroad/turn_signal.py b/selfdrive/ui/sunnypilot/onroad/turn_signal.py
index 04fff7db76f347..bd1aa7ee10ac50 100644
--- a/selfdrive/ui/sunnypilot/onroad/turn_signal.py
+++ b/selfdrive/ui/sunnypilot/onroad/turn_signal.py
@@ -72,72 +72,28 @@ def deactivate(self):
 
 
 class TurnSignalController:
-  def __init__(self, config: TurnSignalConfig | None = None):
-    self._config = config or TurnSignalConfig()
+  def __init__(self):
+    self._config = TurnSignalConfig()
     self._left_signal = TurnSignalWidget(direction=IconSide.left)
     self._right_signal = TurnSignalWidget(direction=IconSide.right)
-    self._last_icon_side = None
-
-  def update(self):
-    sm = ui_state.sm
-    ss = sm['selfdriveState']
-
-    event_name = ss.alertType.split('/')[0] if ss.alertType else ''
-
-    if event_name == 'preLaneChangeLeft':
-      self._last_icon_side = IconSide.left
-      self._left_signal.activate('signal')
-      self._right_signal.deactivate()
-
-    elif event_name == 'preLaneChangeRight':
-      self._last_icon_side = IconSide.right
-      self._right_signal.activate('signal')
-      self._left_signal.deactivate()
-
-    elif event_name == 'laneChange':
-      if self._last_icon_side == IconSide.left:
-        self._left_signal.activate('signal')
-        self._right_signal.deactivate()
-      elif self._last_icon_side == IconSide.right:
-        self._right_signal.activate('signal')
-        self._left_signal.deactivate()
-
-    elif event_name == 'laneChangeBlocked':
-      CS = sm['carState']
-      if CS.leftBlinker:
-        icon_side = IconSide.left
-      elif CS.rightBlinker:
-        icon_side = IconSide.right
-      else:
-        icon_side = self._last_icon_side
-
-      if icon_side == IconSide.left:
-        self._left_signal.activate('blind_spot')
-        self._right_signal.deactivate()
-      elif icon_side == IconSide.right:
-        self._right_signal.activate('blind_spot')
-        self._left_signal.deactivate()
 
+  @staticmethod
+  def _update_signal(signal, blindspot, blinker):
+    if ui_state.blindspot and blindspot:
+      signal.activate('blind_spot')
+    elif ui_state.turn_signals and blinker:
+      signal.activate('signal')
     else:
-      self._last_icon_side = None
-      CS = sm['carState']
+      signal.deactivate()
 
-      if CS.leftBlindspot:
-        self._left_signal.activate('blind_spot')
-      elif CS.leftBlinker:
-        self._left_signal.activate('signal')
-      else:
-        self._left_signal.deactivate()
+  def update(self):
+    CS = ui_state.sm['carState']
 
-      if CS.rightBlindspot:
-        self._right_signal.activate('blind_spot')
-      elif CS.rightBlinker:
-        self._right_signal.activate('signal')
-      else:
-        self._right_signal.deactivate()
+    self._update_signal(self._left_signal, CS.leftBlindspot, CS.leftBlinker)
+    self._update_signal(self._right_signal, CS.rightBlindspot, CS.rightBlinker)
 
   def render(self, rect: rl.Rectangle):
-    if not ui_state.turn_signals:
+    if not ui_state.turn_signals and not ui_state.blindspot:
       return
 
     x = rect.x + rect.width / 2

From 4bd60cd3cd0743c4fac042c8b0461e20823655ea Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Fri, 13 Feb 2026 11:41:30 -0500
Subject: [PATCH 0728/1434] [MICI] ui: rainbow path (#1630)

* allow rainbow road on mici

* initialization

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/mici/onroad/model_renderer.py            | 11 ++++++++---
 selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py |  6 ++++++
 2 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/mici/onroad/model_renderer.py b/selfdrive/ui/mici/onroad/model_renderer.py
index 0908de0bf4e8df..ca051c6d949be6 100644
--- a/selfdrive/ui/mici/onroad/model_renderer.py
+++ b/selfdrive/ui/mici/onroad/model_renderer.py
@@ -12,7 +12,7 @@
 from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
 from openpilot.system.ui.widgets import Widget
 
-from openpilot.selfdrive.ui.sunnypilot.mici.onroad.model_renderer import LANE_LINE_COLORS_SP
+from openpilot.selfdrive.ui.sunnypilot.mici.onroad.model_renderer import LANE_LINE_COLORS_SP, ModelRendererSP
 
 CLIP_MARGIN = 500
 MIN_DRAW_DISTANCE = 10.0
@@ -51,9 +51,10 @@ class LeadVehicle:
   fill_alpha: int = 0
 
 
-class ModelRenderer(Widget):
+class ModelRenderer(Widget, ModelRendererSP):
   def __init__(self):
-    super().__init__()
+    Widget.__init__(self)
+    ModelRendererSP.__init__(self)
     self._longitudinal_control = False
     self._experimental_mode = False
     self._blend_filter = FirstOrderFilter(1.0, 0.25, 1 / gui_app.target_fps)
@@ -340,6 +341,10 @@ def _draw_path(self, sm):
     allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control
     self._blend_filter.update(int(allow_throttle))
 
+    if ui_state.rainbow_path:
+      self.rainbow_path.draw_rainbow_path(self._rect, self._path)
+      return
+
     if self._experimental_mode:
       # Draw with acceleration coloring
       if ui_state.status == UIStatus.DISENGAGED:
diff --git a/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py b/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
index 5a718947cf46c8..e3de9401ceff77 100644
--- a/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
+++ b/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
@@ -6,8 +6,14 @@
 """
 import pyray as rl
 from openpilot.selfdrive.ui.ui_state import UIStatus
+from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
 
 LANE_LINE_COLORS_SP = {
   UIStatus.LAT_ONLY: rl.Color(0, 255, 64, 255),
   UIStatus.LONG_ONLY: rl.Color(0, 255, 64, 255),
 }
+
+
+class ModelRendererSP:
+  def __init__(self):
+    self.rainbow_path = RainbowPath()

From 037e8c18f89ce6264d92d47538227bb21bbf4983 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 13 Feb 2026 16:22:51 -0500
Subject: [PATCH 0729/1434] sunnylink: update subscribed services states while
 running (#1694)

---
 sunnypilot/sunnylink/sunnylink_state.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/sunnypilot/sunnylink/sunnylink_state.py b/sunnypilot/sunnylink/sunnylink_state.py
index 02b91c3cbc0bbc..acd20d23aed892 100644
--- a/sunnypilot/sunnylink/sunnylink_state.py
+++ b/sunnypilot/sunnylink/sunnylink_state.py
@@ -166,6 +166,7 @@ def _fetch_users(self) -> None:
 
   def _worker_thread(self) -> None:
     while self._running:
+      self._sm.update()
       if self.is_connected():
         self._fetch_roles()
         self._fetch_users()

From b62014eb12875a4248382c206f6ba31bc398fc42 Mon Sep 17 00:00:00 2001
From: Yasuhiro Ohno <84763339+yasu-oh@users.noreply.github.com>
Date: Sat, 14 Feb 2026 07:03:03 +0900
Subject: [PATCH 0730/1434] SCC-V: Use p97 for predicted lateral accel (#1635)

* SCC-V: Use p97 for predicted lateral accel

* SCC-V: add param tests for p97 max_pred_lat_acc

* fix

* typo

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../tests/test_vision_controller.py           | 112 +++++++++++++++++-
 .../smart_cruise_control/vision_controller.py |   2 +-
 2 files changed, 112 insertions(+), 2 deletions(-)

diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
index 9f6efffb55adbe..d35b79a73b12d7 100644
--- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
+++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
@@ -5,6 +5,7 @@
 See the LICENSE.md file in the root directory for more details.
 """
 import numpy as np
+import pytest
 
 import cereal.messaging as messaging
 from cereal import custom, log
@@ -12,11 +13,52 @@
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.vision_controller import SmartCruiseControlVision
+from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control import MIN_V
+from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.vision_controller import SmartCruiseControlVision, _ENTERING_PRED_LAT_ACC_TH
 
 VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.VisionState
 
 
+def _th_above_f32(th: float) -> float:
+  """
+  Return the next representable float32 *above* `th`.
+  This avoids flaky comparisons around thresholds due to float32 rounding.
+  """
+  th32 = np.float32(th)
+  above32 = np.nextafter(th32, np.float32(np.inf), dtype=np.float32)
+  return float(above32)
+
+
+def _build_single_spike_filtered(n: int, base: float = 1.0) -> np.ndarray:
+  """
+  Create an array where max() is >= threshold but p97 is < threshold.
+  This demonstrates the behavior difference vs np.amax().
+
+  Note: We intentionally construct using float32-representable values to match
+  the data path through cereal/capnp.
+  """
+  th = float(_ENTERING_PRED_LAT_ACC_TH)
+  th32 = float(np.float32(th))
+
+  # numpy percentile default is linear interpolation: idx=(n-1)*p/100
+  idx = (n - 1) * 0.97
+  w = float(idx - np.floor(idx))
+
+  base32 = float(np.float32(base))
+
+  # Choose spike so that p97 = base + w*(spike-base) < th
+  # -> spike < base + (th-base)/w. Use a margin (0.9) and ensure spike >= th.
+  if w == 0.0:
+    spike = th32 + 1.0
+  else:
+    spike = base32 + (th32 - base32) / w * 0.9
+    spike = max(spike, th32 + 0.01)
+
+  arr = np.full(n, base32, dtype=np.float32)
+  arr[-1] = np.float32(spike)
+  return arr
+
+
 def generate_modelV2():
   model = messaging.new_message('modelV2')
   position = log.XYZTData.new_message()
@@ -101,4 +143,72 @@ def test_transition_disabled_to_enabled(self):
       self.scc_v.update(self.sm, True, False, 0., 0., 0.)
     assert self.scc_v.state == VisionState.enabled
 
+  @pytest.mark.parametrize(
+    "case, should_enter",
+    [
+      ("p97_just_above_threshold", True),
+      ("single_spike_filtered", False),
+      ("persistent_high_values", True),
+    ],
+    ids=[
+      "p97>threshold_enters",
+      "single_spike_max_large_but_p97_below_threshold",
+      "high_values_persist_trigger_entering",
+    ],
+  )
+  def test_max_pred_lat_acc_uses_p97_and_threshold(self, case, should_enter):
+    n = len(ModelConstants.T_IDXS)
+    th = float(_ENTERING_PRED_LAT_ACC_TH)
+
+    if case == "p97_just_above_threshold":
+      # Use the next representable float32 above threshold to avoid float32 rounding flakiness.
+      val = _th_above_f32(th)
+      pred_lat_accels = np.full(n, np.float32(val), dtype=np.float32)
+
+    elif case == "single_spike_filtered":
+      pred_lat_accels = _build_single_spike_filtered(n, base=1.0)
+
+    elif case == "persistent_high_values":
+      # Make enough "high" samples so p97 is driven by the persistent trend, not a single outlier.
+      high_count = max(2, int(np.ceil(n * 0.03)) + 1)
+      pred_lat_accels = np.full(n, np.float32(1.0), dtype=np.float32)
+      pred_lat_accels[-high_count:] = np.float32(2.0)
+      pred_lat_accels[-1] = np.float32(8.0)  # keep one big outlier too
+
+    else:
+      raise AssertionError(f"Unknown case: {case}")
+
+    # Override model predictions so:
+    # predicted_lat_accels = abs(orientationRate.z) * velocity.x == pred_lat_accels
+    mdl = generate_modelV2()
+    mdl.modelV2.velocity.x = [1.0 for _ in range(n)]
+    mdl.modelV2.orientationRate.z = [float(x) for x in pred_lat_accels]
+    self.sm["modelV2"] = mdl.modelV2
+
+    v_ego = float(MIN_V + 5.0)
+
+    # 1st update: disabled -> enabled
+    self.scc_v.update(self.sm, True, False, v_ego, 0.0, 0.0)
+    # 2nd update: evaluate entering condition from enabled state
+    self.scc_v.update(self.sm, True, False, v_ego, 0.0, 0.0)
+
+    # Controller does percentile on numpy float64 arrays (values already quantized by capnp),
+    # so compute expected in float64 to match behavior and avoid interpolation/rounding deltas.
+    expected_p97 = float(np.percentile(pred_lat_accels.astype(np.float64), 97))
+
+    # allow tiny numeric differences due to float conversions/interpolation
+    assert np.isclose(self.scc_v.max_pred_lat_acc, expected_p97, rtol=1e-6, atol=1e-5)
+
+    if should_enter:
+      # We assert entering primarily by state (this is the actual intended behavior).
+      assert self.scc_v.state == VisionState.entering
+      # Optional sanity: should be >= threshold with some margin (since we used nextafter above threshold).
+      assert self.scc_v.max_pred_lat_acc > th
+
+    else:
+      # Difference vs np.amax(): max can be above threshold, but p97 stays below it.
+      assert float(np.max(pred_lat_accels)) >= th
+      assert self.scc_v.max_pred_lat_acc < th
+      assert self.scc_v.state == VisionState.enabled
+
   # TODO-SP: mock modelV2 data to test other states
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
index d144178e939c32..a9d2a66227fd09 100644
--- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
+++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
@@ -90,7 +90,7 @@ def _update_calculations(self, sm: messaging.SubMaster) -> None:
 
       # get the maximum lat accel from the model
       predicted_lat_accels = rate_plan * vel_plan
-      self.max_pred_lat_acc = np.amax(predicted_lat_accels)
+      self.max_pred_lat_acc = np.percentile(predicted_lat_accels, 97)
 
       # get the maximum curve based on the current velocity
       v_ego = max(self.v_ego, 0.1)  # ensure a value greater than 0 for calculations

From 065096455915cb46b0f67e9bf1cc4f87f19e07f2 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 13 Feb 2026 23:39:55 -0500
Subject: [PATCH 0731/1434] [TIZI/TICI] ui: only fetch roles and users when the
 sunnylink panel is opened (#1697)

* sunnylink: only roles and users when the sunnylink panel is opened

* shadow

* thread-safe
---
 .../sunnypilot/layouts/settings/sunnylink.py   |  5 +++++
 sunnypilot/sunnylink/sunnylink_state.py        | 18 ++++++++++++++----
 2 files changed, 19 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py b/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
index 00baf0cccf8ca2..7955f132029cb9 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
@@ -355,5 +355,10 @@ def _render(self, rect):
 
   def show_event(self):
     super().show_event()
+    ui_state.sunnylink_state.set_settings_open(True)
     self._scroller.show_event()
     self._sunnylink_description.set_visible(False)
+
+  def hide_event(self):
+    super().hide_event()
+    ui_state.sunnylink_state.set_settings_open(False)
diff --git a/sunnypilot/sunnylink/sunnylink_state.py b/sunnypilot/sunnylink/sunnylink_state.py
index acd20d23aed892..927d041991ad89 100644
--- a/sunnypilot/sunnylink/sunnylink_state.py
+++ b/sunnypilot/sunnylink/sunnylink_state.py
@@ -109,6 +109,8 @@ def __init__(self):
     self.sunnylink_dongle_id = self._params.get("SunnylinkDongleId")
     self._api = SunnylinkApi(self.sunnylink_dongle_id)
 
+    self._panel_open = False
+
     self._load_initial_state()
 
   def _load_initial_state(self) -> None:
@@ -166,10 +168,14 @@ def _fetch_users(self) -> None:
 
   def _worker_thread(self) -> None:
     while self._running:
-      self._sm.update()
-      if self.is_connected():
-        self._fetch_roles()
-        self._fetch_users()
+      with self._lock:
+        panel_open = self._panel_open
+
+      if panel_open:
+        self._sm.update()
+        if self.is_connected():
+          self._fetch_roles()
+          self._fetch_users()
 
       for _ in range(int(self.FETCH_INTERVAL / self.SLEEP_INTERVAL)):
         if not self._running:
@@ -221,5 +227,9 @@ def get_sponsor_tier_color(self) -> rl.Color:
     else:
       return style.ITEM_TEXT_VALUE_COLOR
 
+  def set_settings_open(self, _open: bool) -> None:
+    with self._lock:
+      self._panel_open = _open
+
   def __del__(self):
     self.stop()

From a48988ccb3e8c1a2010f989630d9149cd9756b6d Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Mon, 16 Feb 2026 00:01:59 -0800
Subject: [PATCH 0732/1434] chore: sync tinygrad (#1680)

* chore: sync tinygrad

Runs great in sim. now we need to rebuild some models

* oops forgot to unblock this after testing

* helpers

* oh yeah

* latest tg

* this wont do anything empriically

* reduce complexity

* okay lint

* Update tinygrad_runner.py

* Update modeld.py

* Update build-all-tinygrad-models.yaml

* tinygrad bump

* Update modeld.py

* Update tinygrad_runner.py

* bump

* Update SConscript

* Update SConscript

* com

* Update fetcher.py

* Update helpers.py

* Update model_runner.py

* Update model_runner.py

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .github/workflows/build-all-tinygrad-models.yaml      |  3 ++-
 .gitmodules                                           |  2 +-
 selfdrive/modeld/SConscript                           |  2 +-
 sunnypilot/modeld_v2/SConscript                       |  2 +-
 sunnypilot/modeld_v2/modeld.py                        |  7 +++++++
 sunnypilot/models/fetcher.py                          |  2 +-
 sunnypilot/models/helpers.py                          |  4 ++--
 sunnypilot/models/runners/model_runner.py             | 11 -----------
 sunnypilot/models/runners/tinygrad/tinygrad_runner.py |  4 ++--
 tinygrad_repo                                         |  2 +-
 10 files changed, 18 insertions(+), 21 deletions(-)

diff --git a/.github/workflows/build-all-tinygrad-models.yaml b/.github/workflows/build-all-tinygrad-models.yaml
index 00864d38a0d03c..e901baee0c5c36 100644
--- a/.github/workflows/build-all-tinygrad-models.yaml
+++ b/.github/workflows/build-all-tinygrad-models.yaml
@@ -140,7 +140,7 @@ jobs:
         run: |
           echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
           built=(); while IFS= read -r line; do built+=("$line"); done < <(
-            ls output | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
+            find output -maxdepth 1 -name 'model-*' -printf "%f\n" | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
           )
           jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
             'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
@@ -168,6 +168,7 @@ jobs:
     if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
     runs-on: ubuntu-latest
     strategy:
+      fail-fast: false
       max-parallel: 1
       matrix:
         model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
diff --git a/.gitmodules b/.gitmodules
index cd6cf2168fd5a6..5c5d72a7dc54d6 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -15,7 +15,7 @@
   url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/commaai/tinygrad.git
+  url = https://github.com/sunnypilot/tinygrad.git
 [submodule "sunnypilot/neural_network_data"]
   path = sunnypilot/neural_network_data
   url = https://github.com/sunnypilot/neural-network-data.git
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 903cb5d3891d24..7865e86f660ded 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -50,7 +50,7 @@ def tg_compile(flags, model_name):
 # Compile small models
 for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
   flags = {
-    'larch64': 'DEV=QCOM',
+    'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 IMAGE=2 JIT_BATCH_SIZE=0',
     'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
   }.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0')
   tg_compile(flags, model_name)
diff --git a/sunnypilot/modeld_v2/SConscript b/sunnypilot/modeld_v2/SConscript
index 94033846b0d34a..28d39a75f14864 100644
--- a/sunnypilot/modeld_v2/SConscript
+++ b/sunnypilot/modeld_v2/SConscript
@@ -60,7 +60,7 @@ def tg_compile(flags, model_name):
 for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']:
   if File(f"models/{model_name}.onnx").exists():
     flags = {
-      'larch64': 'DEV=QCOM',
+      'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 IMAGE=2 JIT_BATCH_SIZE=0',
       'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
     }.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0')
     tg_compile(flags, model_name)
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index be0724db0df692..e25078f52f2120 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -1,4 +1,11 @@
 #!/usr/bin/env python3
+import os
+from openpilot.system.hardware import TICI
+os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
+USBGPU = "USBGPU" in os.environ
+if USBGPU:
+  os.environ['DEV'] = 'AMD'
+  os.environ['AMD_IFACE'] = 'USB'
 import time
 import numpy as np
 import cereal.messaging as messaging
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 1d8da083a939e5..0de749657877bb 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -116,7 +116,7 @@ def set(self, data: dict) -> None:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v11.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v14.json"
 
   def __init__(self, params: Params):
     self.params = params
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index ce6625a1f08d5b..7fcf7f85efd536 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -19,8 +19,8 @@
 from pathlib import Path
 
 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 13
-REQUIRED_MIN_SELECTOR_VERSION = 12
+CURRENT_SELECTOR_VERSION = 14
+REQUIRED_MIN_SELECTOR_VERSION = 14
 
 USE_ONNX = os.getenv('USE_ONNX', PC)
 
diff --git a/sunnypilot/models/runners/model_runner.py b/sunnypilot/models/runners/model_runner.py
index 6902ed09b8c11e..a49ff4d2065c1f 100644
--- a/sunnypilot/models/runners/model_runner.py
+++ b/sunnypilot/models/runners/model_runner.py
@@ -1,9 +1,7 @@
-import os
 from abc import abstractmethod, ABC
 
 import numpy as np
 from openpilot.sunnypilot.models.helpers import get_active_bundle
-from openpilot.system.hardware import TICI
 from openpilot.sunnypilot.models.runners.constants import NumpyDict, ShapeDict, CLMemDict, FrameDict, Model, SliceDict, SEND_RAW_PRED
 from openpilot.system.hardware.hw import Paths
 import pickle
@@ -11,15 +9,6 @@
 CUSTOM_MODEL_PATH = Paths.model_root()
 
 
-# Set QCOM environment variable for TICI devices, potentially enabling hardware acceleration
-USBGPU = "USBGPU" in os.environ
-if USBGPU:
-  os.environ['DEV'] = 'AMD'
-  os.environ['AMD_IFACE'] = 'USB'
-else:
-  os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
-
-
 class ModelData:
   """
   Stores metadata and configuration for a specific machine learning model.
diff --git a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
index 7b48e3086bb53f..2df1c65e088734 100644
--- a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
+++ b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
@@ -51,7 +51,7 @@ def __init__(self, model_type: int = ModelType.supercombo):
     self.input_to_dtype = {}
     self.input_to_device = {}
     for idx, name in enumerate(self.model_run.captured.expected_names):
-      info = self.model_run.captured.expected_st_vars_dtype_device[idx]
+      info = self.model_run.captured.expected_input_info[idx]
       self.input_to_dtype[name] = info[2]  # dtype
       self.input_to_device[name] = info[3]  # device
 
@@ -84,7 +84,7 @@ def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: Fr
 
   def _run_model(self) -> NumpyDict:
     """Runs the Tinygrad model inference and parses the outputs."""
-    outputs = self.model_run(**self.inputs).contiguous().realize().uop.base.buffer.numpy()
+    outputs = self.model_run(**self.inputs).numpy().flatten()
     return self._parse_outputs(outputs)
 
   def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
diff --git a/tinygrad_repo b/tinygrad_repo
index 7296c74cbd2666..3501a714785ff3 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 7296c74cbd2666da7dce95d7ca6dab5340653a5c
+Subproject commit 3501a714785ff370cffb966a45d5f9cdf6c9ea7a

From a120053d124488342ff40e9d1e6ff3f3b153a31b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 16 Feb 2026 03:32:08 -0500
Subject: [PATCH 0733/1434] docker: Dockerfile.sunnypilot uv run scons (#1700)

* docker: Dockerfile.sunnypilot uv run scons

* docker: Dockerfile.sunnypilot: don't set UV_PROJECT_ENVIRONMENT
---
 Dockerfile.sunnypilot | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/Dockerfile.sunnypilot b/Dockerfile.sunnypilot
index 88a226ad08260a..abc207171eda13 100644
--- a/Dockerfile.sunnypilot
+++ b/Dockerfile.sunnypilot
@@ -9,4 +9,6 @@ WORKDIR ${OPENPILOT_PATH}
 
 COPY . ${OPENPILOT_PATH}/
 
-RUN scons --cache-readonly -j$(nproc)
+ENV UV_BIN="/home/batman/.local/bin/"
+ENV PATH="$UV_BIN:$PATH"
+RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc)

From 4a869778a916ee0ef86f218229229d4c46d9fb50 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 16 Feb 2026 04:07:07 -0500
Subject: [PATCH 0734/1434] Revert "ci: skip uv lock upgrade on forks" (#1701)

Revert "ci: skip uv lock upgrade on forks (#1213)"

This reverts commit 220cfff04d28fceda9c2a258579240d679825918.
---
 .github/workflows/repo-maintenance.yaml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 3c652b6ce6af87..0e567a0a407eb9 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -43,7 +43,6 @@ jobs:
       with:
         submodules: true
     - name: uv lock
-      if: github.repository == 'commaai/openpilot'
       run: |
         python3 -m ensurepip --upgrade
         pip3 install uv

From 0cb6b7b807955e1f20b9c5e5d86341b03907ae57 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 16 Feb 2026 04:16:49 -0500
Subject: [PATCH 0735/1434] ci: exclude non-sunnypilot maintained submodules
 from repo maintenance (#1703)

* ci: exclude non-sunnypilot maintained submodules from repo maintenance

* match names
---
 .github/workflows/repo-maintenance.yaml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 0e567a0a407eb9..9be42cd041b0d3 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -56,6 +56,9 @@ jobs:
     - name: bump submodules
       run: |
         git config --global --add safe.directory '*'
+        git config submodule.msgq.update none
+        git config submodule.rednose_repo.update none
+        git config submodule.teleoprtc_repo.update none
         git config submodule.tinygrad.update none
         git submodule update --remote
         git add .

From f81e7245fef3b7269ef7b868e4d970d9177ee47c Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Mon, 16 Feb 2026 04:18:44 -0500
Subject: [PATCH 0736/1434] [bot] Update Python packages (#1702)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 opendbc_repo |   2 +-
 uv.lock      | 126 +++++++++++++++++++++++++--------------------------
 2 files changed, 64 insertions(+), 64 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index f07b9b3f38ab94..8289577096cf30 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit f07b9b3f38ab94a367c4d576b8cdc0f73a81ee06
+Subproject commit 8289577096cf303e3f8c53a86d0e7355651b53b5
diff --git a/uv.lock b/uv.lock
index 8909934e9a002e..782c20849cd26a 100644
--- a/uv.lock
+++ b/uv.lock
@@ -415,11 +415,11 @@ wheels = [
 
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 ]
 
 [[package]]

From e8f65bc6520e2af5472b085fb17040a8eea6880d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 17 Feb 2026 13:17:03 -0500
Subject: [PATCH 0737/1434] Controls:  Support for Torque Lateral Control v0
 Tune (#1693)

* init

* no

* more

* tree it

* final

* comment

* only with enforce torque

* only with enforce torque

* missed

* no

* lint

* Apply suggestion from @sunnyhaibin

* sunnylink metadata sync

* Apply suggestion from @sunnyhaibin

---------

Co-authored-by: nayan <nayan8teen@gmail.com>
---
 common/params_keys.h                          |   1 +
 selfdrive/controls/controlsd.py               |   2 +
 .../steering_sub_layouts/torque_settings.py   |  79 ++++++++++-
 .../selfdrive/controls/controlsd_ext.py       |  12 ++
 .../controls/lib/latcontrol_torque_v0.py      | 128 ++++++++++++++++++
 .../lib/latcontrol_torque_versions.json       |   8 ++
 sunnypilot/sunnylink/params_metadata.json     |  18 +++
 .../sunnylink/tests/test_params_sync.py       |  82 +++++++++++
 .../sunnylink/tools/update_params_metadata.py |  29 ++++
 9 files changed, 357 insertions(+), 2 deletions(-)
 create mode 100644 sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/latcontrol_torque_versions.json

diff --git a/common/params_keys.h b/common/params_keys.h
index dba0742268318f..6f27d9582d8eac 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -268,6 +268,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
     {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
     {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
+    {"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT}},
     {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
     {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 9d0e5c9f159d2d..12b146e80b02d1 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -64,6 +64,8 @@ def __init__(self) -> None:
     elif self.CP.lateralTuning.which() == 'torque':
       self.LaC = LatControlTorque(self.CP, self.CP_SP, self.CI, DT_CTRL)
 
+    self.LaC = ControlsExt.initialize_lateral_control(self, self.LaC, self.CI, DT_CTRL)
+
   def update(self):
     self.sm.update(15)
     if self.sm.updated["liveCalibration"]:
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
index dceee8b5180b0f..b4302e1abdcd1d 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
@@ -4,15 +4,24 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+import json
+import math
+import os
 from collections.abc import Callable
 import pyray as rl
 
+from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp
+from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
+from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP, toggle_item_sp, option_item_sp
+from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeFolder, TreeNode
+from openpilot.system.ui.widgets import Widget, DialogResult
 from openpilot.system.ui.widgets.network import NavButton
 from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets import Widget
+
+TORQUE_VERSIONS_PATH = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
 
 
 class TorqueSettingsLayout(Widget):
@@ -20,10 +29,23 @@ def __init__(self, back_btn_callback: Callable):
     super().__init__()
     self._back_button = NavButton(tr("Back"))
     self._back_button.set_click_callback(back_btn_callback)
+    self._torque_version_dialog: TreeOptionDialog | None = None
+    self.cached_torque_versions = {}
+    self._load_versions()
     items = self._initialize_items()
     self._scroller = Scroller(items, line_separator=True, spacing=0)
 
+  def _load_versions(self):
+    with open(TORQUE_VERSIONS_PATH) as f:
+      self.cached_torque_versions = json.load(f)
+
   def _initialize_items(self):
+    self._torque_control_versions = ListItemSP(
+      title=tr("Torque Control Tune Version"),
+      description="Select the version of Torque Control Tune to use.",
+      action_item=NoElideButtonAction(tr("SELECT")),
+      callback=self._show_torque_version_dialog,
+    )
     self._self_tune_toggle = toggle_item_sp(
       param="LiveTorqueParamsToggle",
       title=lambda: tr("Self-Tune"),
@@ -73,6 +95,7 @@ def _initialize_items(self):
     )
 
     items = [
+      self._torque_control_versions,
       self._self_tune_toggle,
       self._relaxed_tune_toggle,
       self._custom_tune_toggle,
@@ -103,6 +126,7 @@ def _update_state(self):
     title_text = tr("Real-Time & Offline") if ui_state.params.get("TorqueParamsOverrideEnabled") else tr("Offline Only")
     self._torque_lat_accel_factor.set_title(lambda: tr("Lateral Acceleration Factor") + " (" + title_text + ")")
     self._torque_friction.set_title(lambda: tr("Friction") + " (" + title_text + ")")
+    self._torque_control_versions.action_item.set_value(self._get_current_torque_version_label())
 
   def _render(self, rect):
     self._back_button.set_position(self._rect.x, self._rect.y + 20)
@@ -113,3 +137,54 @@ def _render(self, rect):
 
   def show_event(self):
     self._scroller.show_event()
+
+  def _get_current_torque_version_label(self):
+    current_val_bytes = ui_state.params.get("TorqueControlTune")
+    if current_val_bytes is None:
+      return tr("Default")
+
+    try:
+      current_val = float(current_val_bytes)
+      for label, info in self.cached_torque_versions.items():
+        if math.isclose(float(info["version"]), current_val, rel_tol=1e-5):
+          return label
+    except (ValueError, KeyError):
+      pass
+
+    return tr("Default")
+
+  def _show_torque_version_dialog(self):
+    options_map = {}
+    for label, info in self.cached_torque_versions.items():
+      try:
+        options_map[label] = float(info["version"])
+      except (ValueError, KeyError):
+        pass
+
+    # Sort options by label in descending order
+    sorted_labels = sorted(options_map.keys(), key=lambda k: options_map[k], reverse=True)
+
+    nodes = [TreeNode(tr("Default"))]
+    for label in sorted_labels:
+      nodes.append(TreeNode(label))
+
+    folders = [TreeFolder("", nodes)]
+
+    current_label = self._get_current_torque_version_label()
+
+    def handle_selection(result: int):
+      if result == DialogResult.CONFIRM and self._torque_version_dialog:
+        selected_ref = self._torque_version_dialog.selection_ref
+        if selected_ref == tr("Default"):
+          ui_state.params.remove("TorqueControlTune")
+        elif selected_ref in options_map:
+          ui_state.params.put("TorqueControlTune", options_map[selected_ref])
+      self._torque_version_dialog = None
+
+    self._torque_version_dialog = TreeOptionDialog(
+      tr("Select Torque Control Tune Version"),
+      folders,
+      current_ref=current_label,
+      option_font_weight=FontWeight.UNIFONT,
+    )
+    gui_app.set_modal_overlay(self._torque_version_dialog, callback=handle_selection)
diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
index 3f6053d15871ef..3f6ef2b4397fc9 100644
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -16,6 +16,7 @@
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_v0 import LatControlTorque as LatControlTorqueV0
 
 
 class ControlsExt(ModelStateBase):
@@ -33,6 +34,17 @@ def __init__(self, CP: structs.CarParams, params: Params):
     self.sm_services_ext = ['radarState', 'selfdriveStateSP']
     self.pm_services_ext = ['carControlSP']
 
+  def initialize_lateral_control(self, lac, CI, dt):
+    enforce_torque_control = self.params.get_bool("EnforceTorqueControl")
+    torque_versions = self.params.get("TorqueControlTune")
+    if not enforce_torque_control:
+      return lac
+
+    if torque_versions == 0.0:  # v0
+      return LatControlTorqueV0(self.CP, self.CP_SP, CI, dt)
+    else:
+      return lac
+
   def get_params_sp(self, sm: messaging.SubMaster) -> None:
     if time.monotonic() - self._param_update_time > PARAMS_UPDATE_PERIOD:
       self.blinker_pause_lateral.get_params()
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py
new file mode 100644
index 00000000000000..f7874cc539e3ca
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py
@@ -0,0 +1,128 @@
+import math
+import numpy as np
+from collections import deque
+
+from cereal import log
+from opendbc.car.lateral import get_friction
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl
+from openpilot.common.pid import PIDController
+
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext import LatControlTorqueExt
+
+# At higher speeds (25+mph) we can assume:
+# Lateral acceleration achieved by a specific car correlates to
+# torque applied to the steering rack. It does not correlate to
+# wheel slip, or to speed.
+
+# This controller applies torque to achieve desired lateral
+# accelerations. To compensate for the low speed effects the
+# proportional gain is increased at low speeds by the PID controller.
+# Additionally, there is friction in the steering wheel that needs
+# to be overcome to move it at all, this is compensated for too.
+
+KP = 1.0
+KI = 0.3
+KD = 0.0
+INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
+KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
+
+LP_FILTER_CUTOFF_HZ = 1.2
+LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
+FRICTION_THRESHOLD = 0.3
+VERSION = 0
+
+
+class LatControlTorque(LatControl):
+  def __init__(self, CP, CP_SP, CI, dt):
+    super().__init__(CP, CP_SP, CI, dt)
+    self.torque_params = CP.lateralTuning.torque.as_builder()
+    self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
+    self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
+    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1/self.dt)
+    self.update_limits()
+    self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
+    self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
+    self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
+    self.previous_measurement = 0.0
+    self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
+
+    self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
+
+  def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
+    self.torque_params.latAccelFactor = latAccelFactor
+    self.torque_params.latAccelOffset = latAccelOffset
+    self.torque_params.friction = friction
+    self.update_limits()
+
+  def update_limits(self):
+    self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
+                        self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
+
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited, lat_delay):
+    # Override torque params from extension
+    if self.extension.update_override_torque_params(self.torque_params):
+      self.update_limits()
+
+    pid_log = log.ControlsState.LateralTorqueState.new_message()
+    pid_log.version = VERSION
+    if not active:
+      output_torque = 0.0
+      pid_log.active = False
+    else:
+      measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+      roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
+      curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
+      lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
+
+      delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
+      expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
+      # TODO factor out lateral jerk from error to later replace it with delay independent alternative
+      future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
+      self.lat_accel_request_buffer.append(future_desired_lateral_accel)
+      gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
+      desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay
+
+      measurement = measured_curvature * CS.vEgo ** 2
+      measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
+      self.previous_measurement = measurement
+
+      setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
+      error = setpoint - measurement
+
+      # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
+      pid_log.error = float(error)
+      ff = gravity_adjusted_future_lateral_accel
+      # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
+      ff -= self.torque_params.latAccelOffset
+      # TODO jerk is weighted by lat_delay for legacy reasons, but should be made independent of it
+      ff += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+
+      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+      output_lataccel = self.pid.update(pid_log.error,
+                                       -measurement_rate,
+                                        feedforward=ff,
+                                        speed=CS.vEgo,
+                                        freeze_integrator=freeze_integrator)
+      output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
+
+      # Lateral acceleration torque controller extension updates
+      # Overrides pid_log.error and output_torque
+      pid_log, output_torque = self.extension.update(CS, VM, self.pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
+                                                     future_desired_lateral_accel, measurement, lateral_accel_deadzone, gravity_adjusted_future_lateral_accel,
+                                                     desired_curvature, measured_curvature, steer_limited_by_safety, output_torque)
+
+      pid_log.active = True
+      pid_log.p = float(self.pid.p)
+      pid_log.i = float(self.pid.i)
+      pid_log.d = float(self.pid.d)
+      pid_log.f = float(self.pid.f)
+      pid_log.output = float(-output_torque) # TODO: log lat accel?
+      pid_log.actualLateralAccel = float(measurement)
+      pid_log.desiredLateralAccel = float(setpoint)
+      pid_log.desiredLateralJerk = float(desired_lateral_jerk)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
+
+    # TODO left is positive in this convention
+    return -output_torque, 0.0, pid_log
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_versions.json b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_versions.json
new file mode 100644
index 00000000000000..21b5884a01d61d
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_versions.json
@@ -0,0 +1,8 @@
+{
+  "v1.0": {
+    "version": "1.0"
+  },
+  "v0.0": {
+    "version": "0.0"
+  }
+}
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index ad94ad35ffbca4..67ce903aba42ee 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -1247,6 +1247,24 @@
     "title": "[TIZI/TICI only] Steering Arc",
     "description": "Display steering arc on the driving screen when lateral control is enabled."
   },
+  "TorqueControlTune": {
+    "title": "Torque Control Tune Version",
+    "description": "Select the version of Torque Control Tune to use.",
+    "options": [
+      {
+        "value": "",
+        "label": "Default"
+      },
+      {
+        "value": 1.0,
+        "label": "v1.0"
+      },
+      {
+        "value": 0.0,
+        "label": "v0.0"
+      }
+    ]
+  },
   "TorqueParamsOverrideEnabled": {
     "title": "Manual Real-Time Tuning",
     "description": ""
diff --git a/sunnypilot/sunnylink/tests/test_params_sync.py b/sunnypilot/sunnylink/tests/test_params_sync.py
index 26bdca42d69649..05114de49aff58 100644
--- a/sunnypilot/sunnylink/tests/test_params_sync.py
+++ b/sunnypilot/sunnylink/tests/test_params_sync.py
@@ -200,3 +200,85 @@ def test_known_params_metadata():
   assert acc_long["min"] == 1
   assert acc_long["max"] == 10
   assert acc_long["step"] == 1
+
+
+def test_torque_control_tune_versions_in_sync():
+  """
+  Test that TorqueControlTune options in params_metadata.json match versions in latcontrol_torque_versions.json.
+
+  Why:
+  The TorqueControlTune dropdown in the UI should always reflect the available torque tune versions.
+  If versions are added/removed from latcontrol_torque_versions.json, the metadata must be updated accordingly.
+
+  Expected:
+  - TorqueControlTune should have a 'Default' option with empty string value
+  - All versions from latcontrol_torque_versions.json should be present in the options
+  - The version values and labels should match between both files
+  """
+  from openpilot.common.basedir import BASEDIR
+
+  versions_json_path = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
+  sync_script_path = "python3 sunnypilot/sunnylink/tools/sync_torque_versions.py"
+
+  # Load both files
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  with open(versions_json_path) as f:
+    versions = json.load(f)
+
+  # Get TorqueControlTune metadata
+  torque_tune = metadata.get("TorqueControlTune")
+  if torque_tune is None:
+    pytest.fail(f"TorqueControlTune not found in params_metadata.json. Please run '{sync_script_path}' to sync.")
+
+  if "options" not in torque_tune:
+    pytest.fail(f"TorqueControlTune must have options. Please run '{sync_script_path}' to sync.")
+
+  options = torque_tune["options"]
+  if not isinstance(options, list):
+    pytest.fail(f"TorqueControlTune options must be a list. Please run '{sync_script_path}' to sync.")
+
+  if len(options) == 0:
+    pytest.fail(f"TorqueControlTune must have at least one option. Please run '{sync_script_path}' to sync.")
+
+  # Check that Default option exists
+  default_option = next((opt for opt in options if opt.get("value") == ""), None)
+  if default_option is None:
+    pytest.fail(f"TorqueControlTune must have a 'Default' option with empty string value. Please run '{sync_script_path}' to sync.")
+
+  if default_option.get("label") != "Default":
+    pytest.fail(f"Default option must have label 'Default'. Please run '{sync_script_path}' to sync.")
+
+  # Build expected options from versions.json
+  expected_version_keys = set(versions.keys())
+  actual_version_keys = set()
+
+  for option in options:
+    if option.get("value") == "":
+      continue  # Skip the default option
+
+    label = option.get("label")
+    value = option.get("value")
+
+    # Check that this option corresponds to a version
+    if label not in versions:
+      pytest.fail(f"Option label '{label}' not found in latcontrol_torque_versions.json. Please run '{sync_script_path}' to sync.")
+
+    # Check that the value matches the version number
+    expected_value = float(versions[label]["version"])
+    if value != expected_value:
+      pytest.fail(f"Option '{label}' has value {value}, expected {expected_value}. Please run '{sync_script_path}' to sync.")
+
+    actual_version_keys.add(label)
+
+  # Check that all versions are represented
+  missing_versions = expected_version_keys - actual_version_keys
+  if missing_versions:
+    pytest.fail(f"The following versions are missing from TorqueControlTune options: {missing_versions}. " +
+                f"Please run '{sync_script_path}' to sync.")
+
+  extra_versions = actual_version_keys - expected_version_keys
+  if extra_versions:
+    pytest.fail("The following versions in TorqueControlTune options are not in latcontrol_torque_versions.json: " +
+                f"{extra_versions}. Please run '{sync_script_path}' to sync.")
diff --git a/sunnypilot/sunnylink/tools/update_params_metadata.py b/sunnypilot/sunnylink/tools/update_params_metadata.py
index ac2ef556e6d81a..3ef91debe0abac 100755
--- a/sunnypilot/sunnylink/tools/update_params_metadata.py
+++ b/sunnypilot/sunnylink/tools/update_params_metadata.py
@@ -8,9 +8,11 @@
 import json
 import os
 
+from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 
 METADATA_PATH = os.path.join(os.path.dirname(__file__), "../params_metadata.json")
+TORQUE_VERSIONS_JSON = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
 
 
 def main():
@@ -51,6 +53,33 @@ def main():
 
   print(f"Updated {METADATA_PATH}")
 
+  # update torque versions param
+  update_torque_versions_param()
+
+def update_torque_versions_param():
+  with open(TORQUE_VERSIONS_JSON) as f:
+    current_versions = json.load(f)
+
+  try:
+    with open(METADATA_PATH) as f:
+      params_metadata = json.load(f)
+
+    options = [{"value": "", "label": "Default"}]
+    for version_key, version_data in current_versions.items():
+      version_value = float(version_data["version"])
+      options.append({"value": version_value, "label": str(version_key)})
+
+    if "TorqueControlTune" in params_metadata:
+      params_metadata["TorqueControlTune"]["options"] = options
+
+      with open(METADATA_PATH, 'w') as f:
+        json.dump(params_metadata, f, indent=2)
+        f.write('\n')
+
+      print(f"Updated TorqueControlTune options in params_metadata.json with {len(options)} options: \n{options}")
+
+  except Exception as e:
+    print(f"Failed to update TorqueControlTune versions in params_metadata.json: {e}")
 
 if __name__ == "__main__":
   main()

From c07ddcefb09f221aa878b8f99224808e8fb621ae Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 17 Feb 2026 19:48:37 -0500
Subject: [PATCH 0738/1434] version: bump to 2026.001.000

---
 sunnypilot/common/version.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/common/version.h b/sunnypilot/common/version.h
index 6833a508de126f..1c7fcd2e642c75 100644
--- a/sunnypilot/common/version.h
+++ b/sunnypilot/common/version.h
@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2025.003.000"
+#define SUNNYPILOT_VERSION "2026.001.000"

From 80e23509ba349c8b1b1492150257a21d4bfaf9ec Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 17 Feb 2026 22:33:28 -0500
Subject: [PATCH 0739/1434] Update CHANGELOG.md

---
 CHANGELOG.md | 100 ++++++++++++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 99 insertions(+), 1 deletion(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 61bc81bafc60c0..d22324bcf9e6e6 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,103 @@
-sunnypilot Version 2025.003.000 (20xx-xx-xx)
+sunnypilot Version 2026.001.000 (2026-03-xx)
 ========================
+* What's Changed (sunnypilot/sunnypilot)
+  * Complete rewrite of the user interface from Qt C++ to Raylib Python
+  * comma four support
+  * ui: sunnypilot toggle style by @nayan8teen
+  * ui: fix scroll panel mouse wheel behavior by @nayan8teen
+  * ui: sunnypilot panels by @nayan8teen
+  * sunnylink: centralize key pair handling in sunnylink registration by @devtekve
+  * ui: reimplement sunnypilot branding with Raylib by @sunnyhaibin
+  * ui: Platform Selector by @Discountchubbs
+  * ui: vehicle brand settings by @Discountchubbs
+  * ui: sunnylink client-side implementation by @nayan8teen
+  * ui: `NetworkUISP` by @Discountchubbs
+  * ui: add sunnypilot font by @nayan8teen
+  * ui: sunnypilot sponsor tier color mapping by @sunnyhaibin
+  * ui: sunnylink panel by @nayan8teen
+  * ui: Models panel by @Discountchubbs
+  * ui: software panel by @Discountchubbs
+  * modeld_v2: support planplus outputs by @Discountchubbs
+  * ui: OSM panel by @Discountchubbs
+  * ui: Developer panel extension by @Discountchubbs
+  * sunnylink: Vehicle Selector support by @sunnyhaibin
+  * [TIZI/TICI] ui: Developer Metrics by @rav4kumar
+  * [comma 4] ui: sunnylink panel by @nayan8teen
+  * ui: lateral-only and longitudinal-only UI statuses support by @royjr
+  * sunnylink: elliptic curve keys support and improve key path handling by @nayan8teen
+  * sunnylink: block remote modification of SSH key parameters by @zikeji
+  * [TIZI/TICI] ui: rainbow path by @rav4kumar
+  * [TIZI/TICI] ui: chevron metrics by @rav4kumar
+  * ui: include MADS enabled state to `engaged` check by @sunnyhaibin
+  * Toyota: Enforce Factory Longitudinal Control by @sunnyhaibin
+  * ui: fix malformed dongle ID display on the PC if dongleID is not set by @dzid26
+  * SL: Re enable and validate ingestion of swaglogs by @devtekve
+  * modeld_v2: planplus model tuning by @Discountchubbs
+  * ui: fix Always Offroad button visibility by @nayan8teen
+  * Reimplement sunnypilot Terms of Service & sunnylink Consent Screens by @sunnyhaibin
+  * [TIZI/TICI] ui: update dmoji position and Developer UI adjustments by @rav4kumar
+  * modeld: configurable camera offset by @Discountchubbs
+  * [TIZI/TICI] ui: sunnylink status on sidebar by @Copilot
+  * ui: Global Brightness Override by @nayan8teen
+  * ui: Customizable Interactive Timeout by @sunnyhaibin
+  * sunnylink: add units to param metadata by @nayan8teen
+  * ui: Customizable Onroad Brightness by @sunnyhaibin
+  * [TIZI/TICI] ui: Steering panel by @nayan8teen
+  * [TIZI/TICI] ui: Rocket Fuel by @rav4kumar
+  * [TIZI/TICI] ui: MICI style turn signals by @rav4kumar
+  * [TIZI/TICI] ui: MICI style blindspot indicators by @sunnyhaibin
+  * [MICI] ui: display blindspot indicators when available by @rav4kumar
+  * [TIZI/TICI] ui: Road Name by @rav4kumar
+  * [TIZI/TICI] ui: Blue "Exit Always Offroad" button by @dzid26
+  * [TIZI/TICI] ui: Speed Limit by @rav4kumar
+  * Reapply "latcontrol_torque: lower kp and lower friction threshold (commaai/openpilot#36619)" by @sunnyhaibin
+  * [TIZI/TICI] ui: steering arc by @royjr
+  * [TIZI/TICI] ui: Smart Cruise Control elements by @sunnyhaibin
+  * [TIZI/TICI] ui: Green Light and Lead Departure elements by @sunnyhaibin
+  * [TIZI/TICI] ui: standstill timer by @sunnyhaibin
+  * [MICI] ui: driving models selector by @Discountchubbs
+  * [TIZI/TICI] ui: Hide vEgo and True vEgo by @sunnyhaibin
+  * [TIZI/TICI] ui: Visuals panel by @nayan8teen
+  * Device: Retain QuickBoot state after op switch by @nayan8teen
+  * [TIZI/TICI] ui: Trips panel by @sunnyhaibin
+  * [TIZI/TICI] ui: dynamic ICBM status by @sunnyhaibin
+  * [TIZI/TICI] ui: Cruise panel by @sunnyhaibin
+  * ui: better wake mode support by @nayan8teen
+  * Pause Lateral Control with Blinker: Post-Blinker Delay by @CHaucke89
+  * SCC-V: Use p97 for predicted lateral accel by @yasu-oh
+  * Controls: Support for Torque Lateral Control v0 Tune by @sunnyhaibin
+* What's Changed (sunnypilot/opendbc)
+  * Honda: DBC for Accord 9th Generation by @mvl-boston
+  * FCA: update tire stiffness values for `RAM_HD` by @dparring
+  * Honda: Nidec hybrid baseline brake support by @mvl-boston
+  * Subaru Global Gen2: bump steering limits and update tuning by @sunnyhaibin
+  * Toyota: Enforce Stock Longitudinal Control by @rav4kumar
+  * Nissan: use MADS enabled status for LKAS HUD logic by @downquark7
+  * Reapply "Lateral: lower friction threshold (#2915)" (#378) by @sunnyhaibin
+  * HKG: add KIA_FORTE_2019_NON_SCC fingerprint by @royjr
+  * Nissan: Parse cruise control buttons by @downquark7
+  * Rivian: Add stalk down ACC behavior to match stock Rivian by @lukasloetkolben
+  * Tesla: remove `TESLA_MODEL_X` from `dashcamOnly` by @ssysm
+  * Hyundai Longitudinal: refactor tuning by @Discountchubbs
+  * Tesla: add fingerprint for Model 3 Performance HW4 by @sunnyhaibin
+  * Toyota: do not disable radar when smartDSU or CAN Filter detected by @sunnyhaibin
+  * Honda: add missing `GasInterceptor` messages to Taiwan Odyssey DBC by @mvl-boston
+  * GM: remove `CHEVROLET_EQUINOX_NON_ACC_3RD_GEN` from `dashcamOnly` by @sunnyhaibin
+* New Contributors (sunnypilot/sunnypilot)
+  * @TheSecurityDev made their first contribution in "ui: fix sidebar scroll in UI screenshots"
+  * @zikeji made their first contribution in "sunnylink: block remote modification of SSH key parameters"
+  * @Candy0707 made their first contribution in "[TIZI/TICI] ui: Fix misaligned turn signals and blindspot indicators with sidebar"
+  * @CHaucke89 made their first contribution in "Pause Lateral Control with Blinker: Post-Blinker Delay"
+  * @yasu-oh made their first contribution in "SCC-V: Use p97 for predicted lateral accel"
+* New Contributors (sunnypilot/opendbc)
+  * @AmyJeanes made their first contribution in "Tesla: Fix stock LKAS being blocked when MADS is enabled"
+  * @mvl-boston made their first contribution in "Honda: Update Clarity brake to renamed DBC message name"
+  * @dzid26 made their first contribution in "Tesla: Parse speed limit from CAN"
+  * @firestar5683 made their first contribution in "GM: Non-ACC platforms with steering only support"
+  * @downquark7 made their first contribution in "Nissan: use MADS enabled status for LKAS HUD logic"
+  * @royjr made their first contribution in "HKG: add KIA_FORTE_2019_NON_SCC fingerprint"
+  * @ssysm made their first contribution in "Tesla: remove `TESLA_MODEL_X` from `dashcamOnly`"
+* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2025.002.000...v2026.001.000
 
 sunnypilot Version 2025.002.000 (2025-11-06)
 ========================

From 57b461a186d838aeb2041c7947d94f7a8e9784ae Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Wed, 18 Feb 2026 01:32:49 -0500
Subject: [PATCH 0740/1434] [bot] Update Python packages (#1704)

* Update Python packages

* Update CHANGELOG.md

---------

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 CHANGELOG.md |  1 +
 opendbc_repo |  2 +-
 uv.lock      | 15 +++++++--------
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index d22324bcf9e6e6..8ad026b12b96b5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -83,6 +83,7 @@ sunnypilot Version 2026.001.000 (2026-03-xx)
   * Toyota: do not disable radar when smartDSU or CAN Filter detected by @sunnyhaibin
   * Honda: add missing `GasInterceptor` messages to Taiwan Odyssey DBC by @mvl-boston
   * GM: remove `CHEVROLET_EQUINOX_NON_ACC_3RD_GEN` from `dashcamOnly` by @sunnyhaibin
+  * GM: remove `CHEVROLET_BOLT_NON_ACC_2ND_GEN` from `dashcamOnly` by @sunnyhaibin
 * New Contributors (sunnypilot/sunnypilot)
   * @TheSecurityDev made their first contribution in "ui: fix sidebar scroll in UI screenshots"
   * @zikeji made their first contribution in "sunnylink: block remote modification of SSH key parameters"
diff --git a/opendbc_repo b/opendbc_repo
index 8289577096cf30..a996ed701bd0ef 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 8289577096cf303e3f8c53a86d0e7355651b53b5
+Subproject commit a996ed701bd0efe0ebcefa057373ba426dfb3a11
diff --git a/uv.lock b/uv.lock
index 782c20849cd26a..a6b43b6fe5f868 100644
--- a/uv.lock
+++ b/uv.lock
@@ -356,13 +356,12 @@ wheels = [
 
 [[package]]
 name = "dearpygui"
-version = "2.1.1"
+version = "2.2"
 source = { registry = "https://pypi.org/simple" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/79/41/2146e8d03d28b5a66d5282beb26ffd9ab68a729a29d31e2fe91809271bf5/dearpygui-2.1.1-cp312-cp312-macosx_10_6_x86_64.whl", hash = "sha256:238aea7b4be7376f564dae8edd563b280ec1483a03786022969938507691e017", size = 2101529, upload-time = "2025-11-14T14:47:39.646Z" },
-    { url = "https://files.pythonhosted.org/packages/b0/c5/fcc37ef834fe225241aa4f18d77aaa2903134f283077978d65a901c624c6/dearpygui-2.1.1-cp312-cp312-macosx_13_0_arm64.whl", hash = "sha256:c27ca6ecd4913555b717f3bb341c0b6a27d6c9fdc9932f0b3c31ae2ef893ae35", size = 1895555, upload-time = "2025-11-14T14:47:48.149Z" },
-    { url = "https://files.pythonhosted.org/packages/74/66/19f454ba02d5f03a847cc1dfee4a849cd2307d97add5ba26fecdca318adb/dearpygui-2.1.1-cp312-cp312-manylinux1_x86_64.whl", hash = "sha256:8c071e9c165d89217bdcdaf769c6069252fcaee50bf369489add524107932273", size = 2641509, upload-time = "2025-11-14T14:47:54.581Z" },
-    { url = "https://files.pythonhosted.org/packages/5e/58/d01538556103d544a5a5b4cbcb00646ff92d8a97f0a6283a56bede4307c8/dearpygui-2.1.1-cp312-cp312-win_amd64.whl", hash = "sha256:9f2291313d2035f8a4108e13f60d8c1a0e7c19af7554a7739a3fd15b3d5af8f7", size = 1808971, upload-time = "2025-11-14T14:47:28.15Z" },
+    { url = "https://files.pythonhosted.org/packages/17/c8/b4afdac89c7bf458513366af3143f7383d7b09721637989c95788d93e24c/dearpygui-2.2-cp312-cp312-macosx_13_0_arm64.whl", hash = "sha256:34ceae1ca1b65444e49012d6851312e44f08713da1b8cc0150cf41f1c207af9c", size = 1931443, upload-time = "2026-02-17T14:21:54.394Z" },
+    { url = "https://files.pythonhosted.org/packages/43/93/a2d083b2e0edb095be815662cc41e40cf9ea7b65d6323e47bb30df7eb284/dearpygui-2.2-cp312-cp312-manylinux1_x86_64.whl", hash = "sha256:e1fae9ae59fec0e41773df64c80311a6ba67696219dde5506a2a4c013e8bcdfa", size = 2592645, upload-time = "2026-02-17T14:22:02.869Z" },
+    { url = "https://files.pythonhosted.org/packages/80/ba/eae13acaad479f522db853e8b1ccd695a7bc8da2b9685c1d70a3b318df89/dearpygui-2.2-cp312-cp312-win_amd64.whl", hash = "sha256:7d399543b5a26ab6426ef3bbd776e55520b491b3e169647bde5e6b2de3701b35", size = 1830531, upload-time = "2026-02-17T14:21:43.386Z" },
 ]
 
 [[package]]
@@ -4089,15 +4088,15 @@ wheels = [
 
 [[package]]
 name = "sentry-sdk"
-version = "2.52.0"
+version = "2.53.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "certifi" },
     { name = "urllib3" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/59/eb/1b497650eb564701f9a7b8a95c51b2abe9347ed2c0b290ba78f027ebe4ea/sentry_sdk-2.52.0.tar.gz", hash = "sha256:fa0bec872cfec0302970b2996825723d67390cdd5f0229fb9efed93bd5384899", size = 410273, upload-time = "2026-02-04T15:03:54.706Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/d3/06/66c8b705179bc54087845f28fd1b72f83751b6e9a195628e2e9af9926505/sentry_sdk-2.53.0.tar.gz", hash = "sha256:6520ef2c4acd823f28efc55e43eb6ce2e6d9f954a95a3aa96b6fd14871e92b77", size = 412369, upload-time = "2026-02-16T11:11:14.743Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/ca/63/2c6daf59d86b1c30600bff679d039f57fd1932af82c43c0bde1cbc55e8d4/sentry_sdk-2.52.0-py2.py3-none-any.whl", hash = "sha256:931c8f86169fc6f2752cb5c4e6480f0d516112e78750c312e081ababecbaf2ed", size = 435547, upload-time = "2026-02-04T15:03:51.567Z" },
+    { url = "https://files.pythonhosted.org/packages/47/d4/2fdf854bc3b9c7f55219678f812600a20a138af2dd847d99004994eada8f/sentry_sdk-2.53.0-py2.py3-none-any.whl", hash = "sha256:46e1ed8d84355ae54406c924f6b290c3d61f4048625989a723fd622aab838899", size = 437908, upload-time = "2026-02-16T11:11:13.227Z" },
 ]
 
 [[package]]

From 5eed9490c6ed92895d1c67636574b5b4854b2395 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 18 Feb 2026 02:02:34 -0500
Subject: [PATCH 0741/1434] ci: remove double prebuilt workflow runs

---
 .github/workflows/sunnypilot-master-dev-prep.yaml | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/.github/workflows/sunnypilot-master-dev-prep.yaml b/.github/workflows/sunnypilot-master-dev-prep.yaml
index 8e8e3c3d9df82e..36cfc2e7ee8e9c 100644
--- a/.github/workflows/sunnypilot-master-dev-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-prep.yaml
@@ -242,9 +242,4 @@ jobs:
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Trigger prebuilt workflow
-        if: success() && steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          gh workflow run sunnypilot-build-prebuilt.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+

From 3a74f8c568ab429633c87761b9ab00a2808c4b23 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 18 Feb 2026 02:57:25 -0500
Subject: [PATCH 0742/1434] [TIZI/TICI] ui: ensure null checks for `CarParams`
 and `CarParamsSP` (#1706)

* [TIZI/TICI] ui: ensure null checks for `CarParams` and `CarParamsSP`

* space
---
 .github/workflows/sunnypilot-master-dev-prep.yaml             | 2 --
 selfdrive/ui/sunnypilot/layouts/settings/models.py            | 2 +-
 .../settings/steering_sub_layouts/lane_change_settings.py     | 2 +-
 .../layouts/settings/steering_sub_layouts/mads_settings.py    | 4 ++--
 selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py  | 2 +-
 .../ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py  | 2 +-
 .../ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py   | 2 +-
 .../sunnypilot/layouts/settings/vehicle/platform_selector.py  | 2 +-
 8 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/sunnypilot-master-dev-prep.yaml b/.github/workflows/sunnypilot-master-dev-prep.yaml
index 36cfc2e7ee8e9c..1cb574764b8ed1 100644
--- a/.github/workflows/sunnypilot-master-dev-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-prep.yaml
@@ -241,5 +241,3 @@ jobs:
           gh run watch "$RUN_ID"
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/models.py b/selfdrive/ui/sunnypilot/layouts/settings/models.py
index 5820b34cc07512..4fb579a0f2e7e3 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/models.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/models.py
@@ -99,7 +99,7 @@ def _update_lagd_description(self, lagd_toggle: bool):
               "Keeping this on provides the stock openpilot experience.")
     if lagd_toggle:
       desc += f"<br>{tr('Live Steer Delay:')} {ui_state.sm['liveDelay'].lateralDelay:.3f} s"
-    elif ui_state.CP:
+    elif ui_state.CP is not None:
       sw = float(ui_state.params.get("LagdToggleDelay", "0.2"))
       cp = ui_state.CP.steerActuatorDelay
       desc += f"<br>{tr('Actuator Delay:')} {cp:.2f} s + {tr('Software Delay:')} {sw:.2f} s = {tr('Total Delay:')} {cp + sw:.2f} s"
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py
index 9a5d5202a50a1e..fbb9ce7cf78ef9 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py
@@ -75,7 +75,7 @@ def show_event(self):
     self._scroller.show_event()
 
   def _update_toggles(self):
-    enable_bsm = ui_state.CP and ui_state.CP.enableBsm
+    enable_bsm = ui_state.CP is not None and ui_state.CP.enableBsm
     if not enable_bsm and ui_state.params.get_bool("AutoLaneChangeBsmDelay"):
       ui_state.params.remove("AutoLaneChangeBsmDelay")
     self._bsm_delay.action_item.set_enabled(enable_bsm and ui_state.params.get("AutoLaneChangeTimer", return_default=True) > AutoLaneChangeMode.NUDGE)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
index 3542adf285f5e0..098fcf8ce883cd 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
@@ -91,12 +91,12 @@ def _mads_limited_settings() -> bool:
       if bundle:
         brand = bundle.get("brand", "")
     if not brand:
-      brand = ui_state.CP.brand if ui_state.CP else ""
+      brand = ui_state.CP.brand if ui_state.CP is not None else ""
 
     if brand == "rivian":
       return True
     elif brand == "tesla":
-      return not (ui_state.CP_SP and ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
+      return not (ui_state.CP_SP is not None and ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
     return False
 
   def _update_steering_mode_description(self, button_index: int):
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
index 0dd12d76f4038c..d8fdd61e7261a9 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
@@ -35,7 +35,7 @@ def __init__(self):
   def get_brand():
     if bundle := ui_state.params.get("CarPlatformBundle"):
       return bundle.get("brand", "")
-    elif ui_state.CP and ui_state.CP.carFingerprint != "MOCK":
+    elif ui_state.CP is not None and ui_state.CP.carFingerprint != "MOCK":
       return ui_state.CP.brand
     return ""
 
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py
index f6849eb20153a4..351dacbbc292fb 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py
@@ -32,7 +32,7 @@ def update_settings(self):
     if bundle:
       platform = bundle.get("platform")
       self.alpha_long_available = CAR[platform] not in (UNSUPPORTED_LONGITUDINAL_CAR | CANFD_UNSUPPORTED_LONGITUDINAL_CAR)
-    elif ui_state.CP:
+    elif ui_state.CP is not None:
       self.alpha_long_available = ui_state.CP.alphaLongitudinalAvailable
 
     tuning_param = int(ui_state.params.get("HyundaiLongitudinalTuning") or "0")
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py
index 66e7ec1d5afdda..5ef53a0e43aad1 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py
@@ -39,7 +39,7 @@ def update_settings(self):
       platform = bundle.get("platform")
       config = CAR[platform].config
       self.has_stop_and_go = not (config.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
-    elif ui_state.CP:
+    elif ui_state.CP is not None:
       self.has_stop_and_go = not (ui_state.CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
 
     disabled_msg = self.stop_and_go_disabled_msg()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
index db90595274905c..517a7d96203d10 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
@@ -131,7 +131,7 @@ def refresh(self):
       self._platform = bundle.get("name", "")
       self.set_text(self._platform)
       self.color = style.BLUE
-    elif ui_state.CP and ui_state.CP.carFingerprint != "MOCK":
+    elif ui_state.CP is not None and ui_state.CP.carFingerprint != "MOCK":
       self._platform = ui_state.CP.carFingerprint
       self.set_text(self._platform)
       self.color = style.GREEN

From 0bb2f8c9d43eed52afd4fac6c8531965d968b382 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Thu, 19 Feb 2026 01:22:00 -0500
Subject: [PATCH 0743/1434] [bot] Update Python packages (#1707)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 opendbc_repo | 2 +-
 uv.lock      | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index a996ed701bd0ef..613a562bba8099 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit a996ed701bd0efe0ebcefa057373ba426dfb3a11
+Subproject commit 613a562bba80997b5c1c74cd799641d06fb2b38c
diff --git a/uv.lock b/uv.lock
index a6b43b6fe5f868..c2c8d3c8b6f88d 100644
--- a/uv.lock
+++ b/uv.lock
@@ -414,11 +414,11 @@ wheels = [
 
 [[package]]
 name = "filelock"
-version = "3.24.2"
+version = "3.24.3"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/02/a8/dae62680be63cbb3ff87cfa2f51cf766269514ea5488479d42fec5aa6f3a/filelock-3.24.2.tar.gz", hash = "sha256:c22803117490f156e59fafce621f0550a7a853e2bbf4f87f112b11d469b6c81b", size = 37601, upload-time = "2026-02-16T02:50:45.614Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/73/92/a8e2479937ff39185d20dd6a851c1a63e55849e447a55e798cc2e1f49c65/filelock-3.24.3.tar.gz", hash = "sha256:011a5644dc937c22699943ebbfc46e969cdde3e171470a6e40b9533e5a72affa", size = 37935, upload-time = "2026-02-19T00:48:20.543Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/e7/04/a94ebfb4eaaa08db56725a40de2887e95de4e8641b9e902c311bfa00aa39/filelock-3.24.2-py3-none-any.whl", hash = "sha256:667d7dc0b7d1e1064dd5f8f8e80bdac157a6482e8d2e02cd16fd3b6b33bd6556", size = 24152, upload-time = "2026-02-16T02:50:44Z" },
+    { url = "https://files.pythonhosted.org/packages/9c/0f/5d0c71a1aefeb08efff26272149e07ab922b64f46c63363756224bd6872e/filelock-3.24.3-py3-none-any.whl", hash = "sha256:426e9a4660391f7f8a810d71b0555bce9008b0a1cc342ab1f6947d37639e002d", size = 24331, upload-time = "2026-02-19T00:48:18.465Z" },
 ]
 
 [[package]]

From 5ccabb9d547d88794a3ee8808dfdf1bc88894aba Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 19 Feb 2026 01:36:08 -0500
Subject: [PATCH 0744/1434] [TIZI/TICI] ui: use `vCruiseCluster` and
 `vEgoCluster` for SLA `preActive` (#1708)

---
 selfdrive/ui/sunnypilot/onroad/speed_limit.py | 29 +++++++++++++++----
 1 file changed, 24 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/onroad/speed_limit.py b/selfdrive/ui/sunnypilot/onroad/speed_limit.py
index a0b5ea39355b74..e8b5c5cfcdfea9 100644
--- a/selfdrive/ui/sunnypilot/onroad/speed_limit.py
+++ b/selfdrive/ui/sunnypilot/onroad/speed_limit.py
@@ -22,6 +22,8 @@
 METER_TO_FOOT = 3.28084
 METER_TO_MILE = 0.000621371
 AHEAD_THRESHOLD = 5
+SET_SPEED_NA = 255
+KM_TO_MILE = 0.621371
 
 AssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
 SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source
@@ -58,8 +60,11 @@ def __init__(self):
     self.speed_limit_ahead_frame = 0
 
     self.assist_frame = 0
-    self.speed = 0.0
-    self.set_speed = 0.0
+    self.is_cruise_set: bool = False
+    self.is_cruise_available: bool = True
+    self.set_speed: float = SET_SPEED_NA
+    self.speed: float = 0.0
+    self.v_ego_cluster_seen: bool = False
 
     self.font_bold = gui_app.font(FontWeight.BOLD)
     self.font_demi = gui_app.font(FontWeight.SEMI_BOLD)
@@ -77,6 +82,8 @@ def speed_conv(self):
   def update(self):
     sm = ui_state.sm
     if sm.recv_frame["carState"] < ui_state.started_frame:
+      self.set_speed = SET_SPEED_NA
+      self.speed = 0.0
       return
 
     if sm.updated["longitudinalPlanSP"]:
@@ -106,9 +113,21 @@ def update(self):
 
       self.speed_limit_ahead_dist_prev = self.speed_limit_ahead_dist
 
-    cs = sm["carState"]
-    self.set_speed = cs.cruiseState.speed * self.speed_conv
-    v_ego = cs.vEgoCluster if cs.vEgoCluster != 0.0 else cs.vEgo
+    controls_state = sm['controlsState']
+    car_state = sm["carState"]
+
+    v_cruise_cluster = car_state.vCruiseCluster
+    self.set_speed = (
+      controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+    )
+    self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
+    self.is_cruise_available = self.set_speed != -1
+
+    if self.is_cruise_set and not ui_state.is_metric:
+      self.set_speed *= KM_TO_MILE
+
+    self.v_ego_cluster_seen = self.v_ego_cluster_seen or car_state.vEgoCluster != 0.0
+    v_ego = car_state.vEgoCluster if self.v_ego_cluster_seen else car_state.vEgo
     self.speed = max(0.0, v_ego * self.speed_conv)
 
   @staticmethod

From 082cf39d736ad10a10ca33c7ba3f01f12e0a9f00 Mon Sep 17 00:00:00 2001
From: Christopher Haucke <132518562+CHaucke89@users.noreply.github.com>
Date: Sat, 21 Feb 2026 20:01:27 -0500
Subject: [PATCH 0745/1434] UI: Fix option control display for floating point
 params (#1711)

---
 system/ui/sunnypilot/widgets/option_control.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/system/ui/sunnypilot/widgets/option_control.py b/system/ui/sunnypilot/widgets/option_control.py
index 91e9650ebd318f..291d8f6ff07d2a 100644
--- a/system/ui/sunnypilot/widgets/option_control.py
+++ b/system/ui/sunnypilot/widgets/option_control.py
@@ -44,7 +44,8 @@ def __init__(self, param: str, min_value: int, max_value: int,
           self.current_value = int(key)
           break
     else:
-      self.current_value = int(self.params.get(self.param_key, return_default=True))
+      value = self.params.get(self.param_key, return_default=True)
+      self.current_value = int(float(value) * 100.0) if self.use_float_scaling else int(value)
 
     # Initialize font and button styles
     self._font = gui_app.font(FontWeight.MEDIUM)

From 111e8897be79f4c99734e77d0c389612f14a8e50 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Mon, 23 Feb 2026 22:23:08 -0500
Subject: [PATCH 0746/1434] models: fix default & index "0" (#1718)

* default be gone

* zero is the most significant number, don't ignore it.

* thanks sentry!!
---
 common/params_keys.h         | 2 +-
 sunnypilot/models/manager.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 6f27d9582d8eac..8f3ee858f063cd 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -190,7 +190,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     // Model Manager params
     {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
     {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT, "0"}},
+    {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
     {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
     {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
diff --git a/sunnypilot/models/manager.py b/sunnypilot/models/manager.py
index 2d3d670bfdaea4..8fee0798b61cac 100644
--- a/sunnypilot/models/manager.py
+++ b/sunnypilot/models/manager.py
@@ -171,7 +171,7 @@ def main_thread(self) -> None:
         self.available_models = self.model_fetcher.get_available_bundles()
         self.active_bundle = get_active_bundle(self.params)
 
-        if index_to_download := self.params.get("ModelManager_DownloadIndex"):
+        if (index_to_download := self.params.get("ModelManager_DownloadIndex")) is not None:
           if model_to_download := next((model for model in self.available_models if model.index == index_to_download), None):
             try:
               self.download(model_to_download, Paths.model_root())

From 8a64cc57a96845c1ea67b537d648441631f97a6d Mon Sep 17 00:00:00 2001
From: Angus Dippenaar <angusdippenaar@gmail.com>
Date: Tue, 24 Feb 2026 06:22:40 +0100
Subject: [PATCH 0747/1434] [TIZI/TICI] visuals: Improved speed limit (#1713)

improved speed limit

Co-authored-by: royjr <royjr96@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/onroad/speed_limit.py | 47 +++++++++----------
 1 file changed, 22 insertions(+), 25 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/onroad/speed_limit.py b/selfdrive/ui/sunnypilot/onroad/speed_limit.py
index e8b5c5cfcdfea9..39a9848d372090 100644
--- a/selfdrive/ui/sunnypilot/onroad/speed_limit.py
+++ b/selfdrive/ui/sunnypilot/onroad/speed_limit.py
@@ -4,6 +4,7 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+
 from dataclasses import dataclass
 import math
 import pyray as rl
@@ -33,7 +34,7 @@
 class Colors:
   WHITE = rl.WHITE
   BLACK = rl.BLACK
-  RED = rl.RED
+  RED = rl.Color(235, 32, 32, 255)
   GREY = rl.Color(145, 155, 149, 255)
   DARK_GREY = rl.Color(77, 77, 77, 255)
   SUB_BG = rl.Color(0, 0, 0, 180)
@@ -201,22 +202,17 @@ def _render_vienna(self, rect, val, sub, color, has_limit, alpha=1.0):
     center = rl.Vector2(rect.x + rect.width / 2, rect.y + rect.height / 2)
     radius = (rect.width + 18) / 2
 
-    white = rl.Color(255, 255, 255, int(255 * alpha))
-    red = rl.Color(255, 0, 0, int(255 * alpha))
-
-    if hasattr(color, 'r'):
-      text_color = rl.Color(color.r, color.g, color.b, int(255 * alpha))
-    else:
-      text_color = rl.Color(color[0], color[1], color[2], int(255 * alpha))
-
-    black = rl.Color(0, 0, 0, int(255 * alpha))
-    dark_grey = rl.Color(77, 77, 77, int(255 * alpha))
+    white = rl.color_alpha(Colors.WHITE, alpha)
+    red = rl.color_alpha(Colors.RED, alpha)
+    black = rl.color_alpha(Colors.BLACK, alpha)
+    dark_grey = rl.color_alpha(Colors.DARK_GREY, alpha)
+    text_color = rl.color_alpha(color, alpha)
 
     rl.draw_circle_v(center, radius, white)
-    rl.draw_ring(center, radius * 0.80, radius, 0, 360, 36, red)
+    rl.draw_ring(center, radius * 0.75, radius, 0, 360, 36, red)
 
-    f_size = 70 if len(val) >= 3 else 85
-    self._draw_text_centered(self.font_bold, val, f_size, center, text_color)
+    font_size = 70 if len(val) >= 3 else 85
+    self._draw_text_centered(self.font_bold, val, font_size, center, text_color)
 
     if sub and has_limit:
       s_radius = radius * 0.4
@@ -225,22 +221,23 @@ def _render_vienna(self, rect, val, sub, color, has_limit, alpha=1.0):
       rl.draw_circle_v(s_center, s_radius, black)
       rl.draw_ring(s_center, s_radius - 3, s_radius, 0, 360, 36, dark_grey)
 
-      f_scale = 0.5 if len(sub) < 3 else 0.45
-      self._draw_text_centered(self.font_bold, sub, int(s_radius * 2 * f_scale), s_center, white)
+      font_scale = 0.5 if len(sub) < 3 else 0.45
+      self._draw_text_centered(self.font_bold, sub, int(s_radius * 2 * font_scale), s_center, white)
 
   def _render_mutcd(self, rect, val, sub, color, has_limit, alpha=1.0):
-    white = rl.Color(255, 255, 255, int(255 * alpha))
-    black = rl.Color(0, 0, 0, int(255 * alpha))
-    dark_grey = rl.Color(77, 77, 77, int(255 * alpha))
-
-    if hasattr(color, 'r'):
-      text_color = rl.Color(color.r, color.g, color.b, int(255 * alpha))
-    else:
-      text_color = rl.Color(color[0], color[1], color[2], int(255 * alpha))
+    white = rl.color_alpha(Colors.WHITE, alpha)
+    black = rl.color_alpha(Colors.BLACK, alpha)
+    dark_grey = rl.color_alpha(Colors.DARK_GREY, alpha)
+    text_color = rl.color_alpha(color, alpha)
 
     rl.draw_rectangle_rounded(rect, 0.35, 10, white)
+
     inner = rl.Rectangle(rect.x + 10, rect.y + 10, rect.width - 20, rect.height - 20)
-    rl.draw_rectangle_rounded_lines_ex(inner, 0.35, 10, 4, black)
+    outer_radius = 0.35 * rect.width / 2.0
+    inner_radius = outer_radius - 10.0
+    inner_roundness = inner_radius / (inner.width / 2.0)
+
+    rl.draw_rectangle_rounded_lines_ex(inner, inner_roundness, 10, 4, black)
 
     self._draw_text_centered(self.font_demi, "SPEED", 40, rl.Vector2(rect.x + rect.width / 2, rect.y + 40), black)
     self._draw_text_centered(self.font_demi, "LIMIT", 40, rl.Vector2(rect.x + rect.width / 2, rect.y + 80), black)

From c48b724de1e3f44e0eaea43b1c2cf79c9b5ece1e Mon Sep 17 00:00:00 2001
From: James Mikesell <james.mikesell@gmail.com>
Date: Tue, 24 Feb 2026 02:38:19 -0500
Subject: [PATCH 0748/1434] ICBM: ensure button timers update on disable to
 clear stale presses (#1688)

* ICBM: ensure button timers update on disable to clear stale presses

* fix race condition

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/car/cruise.py | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index 9973862b858e50..572dfabc02a985 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -48,14 +48,14 @@ def update_v_cruise(self, CS, enabled, is_metric):
 
     self.get_minimum_set_speed(is_metric)
 
+    _enabled = self.update_enabled_state(CS, enabled)
+
     if CS.cruiseState.available:
-      _enabled = self.update_enabled_state(CS, enabled)
       if not self.CP.pcmCruise or (not self.CP_SP.pcmCruiseSpeed and _enabled):
         # if stock cruise is completely disabled, then we can use our own set speed logic
         self._update_v_cruise_non_pcm(CS, _enabled, is_metric)
         self.update_speed_limit_assist_v_cruise_non_pcm()
         self.v_cruise_cluster_kph = self.v_cruise_kph
-        self.update_button_timers(CS, enabled)
       else:
         self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
         self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
@@ -69,6 +69,9 @@ def update_v_cruise(self, CS, enabled, is_metric):
       self.v_cruise_kph = V_CRUISE_UNSET
       self.v_cruise_cluster_kph = V_CRUISE_UNSET
 
+    if not self.CP.pcmCruise or not self.CP_SP.pcmCruiseSpeed:
+      self.update_button_timers(CS, enabled)
+
   def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
     # handle button presses. TODO: this should be in state_control, but a decelCruise press
     # would have the effect of both enabling and changing speed is checked after the state transition

From 03a14ff864af684f9f894a4f8b207e76e690c3b6 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 24 Feb 2026 03:02:36 -0500
Subject: [PATCH 0749/1434] [TIZI/TICI] ui: simplify Smart Cruise Control text
 rendering (#1719)

---
 .../sunnypilot/onroad/smart_cruise_control.py | 35 ++++---------------
 1 file changed, 7 insertions(+), 28 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py b/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py
index ca71fcac4aae8d..b4848141e9daaa 100644
--- a/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py
+++ b/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py
@@ -25,7 +25,6 @@ def __init__(self):
     self.long_override = False
 
     self.font = gui_app.font(FontWeight.BOLD)
-    self.scc_tex = rl.load_render_texture(256, 128)
 
   def update(self):
     sm = ui_state.sm
@@ -65,44 +64,24 @@ def _draw_icon(self, rect_center_x, rect_height, x_offset, y_offset, name):
     sz = measure_text_cached(self.font, text, font_size)
     box_height = int(sz.y + padding_v * 2)
 
-    texture_width = 256
-    texture_height = 128
-
-    rl.begin_texture_mode(self.scc_tex)
-    rl.clear_background(rl.Color(0, 0, 0, 0))
-
     if self.long_override:
       box_color = COLORS.OVERRIDE
     else:
       box_color = rl.Color(0, 255, 0, 255)
 
-    # Center box in texture
-    box_x = (texture_width - box_width) // 2
-    box_y = (texture_height - box_height) // 2
+    screen_y = rect_height / 4 + y_offset
+
+    box_x = rect_center_x + x_offset - box_width / 2
+    box_y = screen_y - box_height / 2
 
+    # Draw rounded background box
     rl.draw_rectangle_rounded(rl.Rectangle(box_x, box_y, box_width, box_height), 0.2, 10, box_color)
 
-    # Draw text with custom blend mode to punch hole
-    rl.rl_set_blend_factors(rl.RL_ZERO, rl.RL_ONE_MINUS_SRC_ALPHA, 0x8006)
-    rl.rl_set_blend_mode(rl.BLEND_CUSTOM)
-
+    # Draw text centered in the box (black color for contrast against bright green/grey)
     text_pos_x = box_x + (box_width - sz.x) / 2
     text_pos_y = box_y + (box_height - sz.y) / 2
 
-    rl.draw_text_ex(self.font, text, rl.Vector2(text_pos_x, text_pos_y), font_size, 0, rl.WHITE)
-
-    rl.rl_set_blend_mode(rl.BLEND_ALPHA)  # Reset
-    rl.end_texture_mode()
-
-    screen_y = rect_height / 4 + y_offset
-
-    dest_x = rect_center_x + x_offset - texture_width / 2
-    dest_y = screen_y - texture_height / 2
-
-    src_rect = rl.Rectangle(0, 0, texture_width, -texture_height)
-    dst_rect = rl.Rectangle(dest_x, dest_y, texture_width, texture_height)
-
-    rl.draw_texture_pro(self.scc_tex.texture, src_rect, dst_rect, rl.Vector2(0, 0), 0, rl.WHITE)
+    rl.draw_text_ex(self.font, text, rl.Vector2(text_pos_x, text_pos_y), font_size, 0, rl.BLACK)
 
   def _render(self, rect: rl.Rectangle):
     x_offset = -260

From 7a43e2cb6736421e45b4b5e2e51cb381ac3ecd9e Mon Sep 17 00:00:00 2001
From: Zeph <zephleggett@gmail.com>
Date: Wed, 25 Feb 2026 00:52:48 -0600
Subject: [PATCH 0750/1434] controlsd: fix steer_limited_by_safety not updating
 under MADS (#1716)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The `steer_limited_by_safety` update in `publish()` is gated by
`selfdriveState.active`, which is False during MADS lateral-only
control. This causes the flag to never update once cruise deactivates
— it stays stuck at whatever value it had during the last ramp-up
(typically True), permanently suppressing the saturation timer in
`_check_saturation` and preventing the "Turn Exceeds Steering Limit"
alert from firing.

Use `CC.latActive` instead, which already accounts for MADS via
`get_lat_active()` in ControlsExt.

Bug was introduced in #446 (MADS), which updated `CC.latActive` to
use `mads.active` but missed updating the `steer_limited_by_safety`
gate in `publish()`.
---
 selfdrive/controls/controlsd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 12b146e80b02d1..1c8e9f76b15650 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -185,7 +185,7 @@ def publish(self, CC, lac_log):
       hudControl.leftLaneDepart = self.sm['driverAssistance'].leftLaneDeparture
       hudControl.rightLaneDepart = self.sm['driverAssistance'].rightLaneDeparture
 
-    if self.sm['selfdriveState'].active:
+    if self.get_lat_active(self.sm):
       CO = self.sm['carOutput']
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
         self.steer_limited_by_safety = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \

From 538e1e8a9a77ababf8492108867b8adccc59e7d3 Mon Sep 17 00:00:00 2001
From: Zeph <zephleggett@gmail.com>
Date: Wed, 25 Feb 2026 01:00:07 -0600
Subject: [PATCH 0751/1434] soundd: trigger timeout warning during MADS
 lateral-only (#1717)

* soundd: trigger timeout warning during MADS lateral-only

The selfdrive timeout alert (warningImmediate) only fires when
selfdriveState.enabled is True. During MADS lateral-only mode,
enabled is False even though the system is actively steering.

If selfdrived stops publishing while MADS lateral is active, the
driver gets no audible warning that steering has become unresponsive.

Add selfdriveStateSP to the SubMaster and check mads.active alongside
selfdriveState.enabled so the timeout alert fires whenever the system
is actuating steering.

* test_soundd: add MADS lateral-only timeout test

Test that the selfdrive timeout warning fires when selfdriveState.enabled
is False but selfdriveStateSP.mads.active is True.

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/soundd.py            |  4 ++--
 selfdrive/ui/tests/test_soundd.py | 30 ++++++++++++++++++++++++++++--
 2 files changed, 30 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index c41fec2676bfdf..edf28b71286e92 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -65,7 +65,7 @@ def check_selfdrive_timeout_alert(sm):
   ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
 
   if ss_missing > SELFDRIVE_STATE_TIMEOUT:
-    if sm['selfdriveState'].enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < 10:
+    if (sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.enabled) and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < 10:
       return True
 
   return False
@@ -158,7 +158,7 @@ def soundd_thread(self):
     # sounddevice must be imported after forking processes
     import sounddevice as sd
 
-    sm = messaging.SubMaster(['selfdriveState', 'soundPressure'])
+    sm = messaging.SubMaster(['selfdriveState', 'selfdriveStateSP', 'soundPressure'])
 
     with self.get_stream(sd) as stream:
       rk = Ratekeeper(20)
diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py
index a9da8455ebdd24..226117ae8f24bb 100644
--- a/selfdrive/ui/tests/test_soundd.py
+++ b/selfdrive/ui/tests/test_soundd.py
@@ -10,8 +10,8 @@
 
 class TestSoundd:
   def test_check_selfdrive_timeout_alert(self):
-    sm = SubMaster(['selfdriveState'])
-    pm = PubMaster(['selfdriveState'])
+    sm = SubMaster(['selfdriveState', 'selfdriveStateSP'])
+    pm = PubMaster(['selfdriveState', 'selfdriveStateSP'])
 
     for _ in range(100):
       cs = messaging.new_message('selfdriveState')
@@ -31,5 +31,31 @@ def test_check_selfdrive_timeout_alert(self):
 
     assert check_selfdrive_timeout_alert(sm)
 
+  def test_check_selfdrive_timeout_alert_mads_lateral_only(self):
+    sm = SubMaster(['selfdriveState', 'selfdriveStateSP'])
+    pm = PubMaster(['selfdriveState', 'selfdriveStateSP'])
+
+    for _ in range(100):
+      cs = messaging.new_message('selfdriveState')
+      cs.selfdriveState.enabled = False
+
+      ss_sp = messaging.new_message('selfdriveStateSP')
+      ss_sp.selfdriveStateSP.mads.enabled = True
+
+      pm.send("selfdriveState", cs)
+      pm.send("selfdriveStateSP", ss_sp)
+
+      time.sleep(0.01)
+
+      sm.update(0)
+
+      assert not check_selfdrive_timeout_alert(sm)
+
+    for _ in range(SELFDRIVE_STATE_TIMEOUT * 110):
+      sm.update(0)
+      time.sleep(0.01)
+
+    assert check_selfdrive_timeout_alert(sm)
+
   # TODO: add test with micd for checking that soundd actually outputs sounds
 

From a4166563e1fe28d9f64637f7049ebe65cc59bfed Mon Sep 17 00:00:00 2001
From: Lukas Heintz <61192133+lukasloetkolben@users.noreply.github.com>
Date: Wed, 25 Feb 2026 08:39:50 +0100
Subject: [PATCH 0752/1434] pandad: flasher for Rivian long upgrade module
 (#1712)

* flasher for Rivian long upgrade

* self-contained no dependency on Panda.F4_DEVICES

* standalone flasher

* move to sp module

* use brand field directly

* use brand field directly

* use brand field directly

* bump

* add some logging

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 opendbc_repo                                  |   2 +-
 selfdrive/pandad/pandad.py                    |   5 +
 sunnypilot/selfdrive/pandad/__init__.py       |   0
 .../selfdrive/pandad/rivian_long_flasher.py   |  96 ++++++++++++++++++
 .../pandad/rivian_long_fw.bin.signed          | Bin 0 -> 59500 bytes
 5 files changed, 102 insertions(+), 1 deletion(-)
 create mode 100644 sunnypilot/selfdrive/pandad/__init__.py
 create mode 100755 sunnypilot/selfdrive/pandad/rivian_long_flasher.py
 create mode 100644 sunnypilot/selfdrive/pandad/rivian_long_fw.bin.signed

diff --git a/opendbc_repo b/opendbc_repo
index 613a562bba8099..cbcd1269510943 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 613a562bba80997b5c1c74cd799641d06fb2b38c
+Subproject commit cbcd126951094311ab5a43dd384a495cd881c080
diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index d21e60f838fc6d..c9ddfd6338e464 100755
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -12,6 +12,8 @@
 from openpilot.system.hardware import HARDWARE
 from openpilot.common.swaglog import cloudlog
 
+from openpilot.sunnypilot.selfdrive.pandad.rivian_long_flasher import flash_rivian_long
+
 
 def get_expected_signature() -> bytes:
   try:
@@ -129,6 +131,9 @@ def signal_handler(signum, frame):
       for serial in panda_serials:
         pandas.append(flash_panda(serial))
 
+      # flash Rivian longitudinal upgrade panda
+      flash_rivian_long(pandas)
+
       # Ensure internal panda is present if expected
       internal_pandas = [panda for panda in pandas if panda.is_internal()]
       if HARDWARE.has_internal_panda() and len(internal_pandas) == 0:
diff --git a/sunnypilot/selfdrive/pandad/__init__.py b/sunnypilot/selfdrive/pandad/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/selfdrive/pandad/rivian_long_flasher.py b/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
new file mode 100755
index 00000000000000..58ff0683be216d
--- /dev/null
+++ b/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
@@ -0,0 +1,96 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import os
+from itertools import accumulate
+
+from cereal import car, messaging
+from panda import Panda
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+
+FW_PATH = os.path.join(os.path.dirname(os.path.abspath(__file__)), "rivian_long_fw.bin.signed")
+SECTOR_SIZES = [0x4000] * 4 + [0x10000] + [0x20000] * 11
+
+
+def _is_rivian() -> bool:
+  params = Params()
+
+  # check fixed fingerprint
+  if bundle := params.get("CarPlatformBundle"):
+    if bundle.get("brand") == "rivian":
+      return True
+
+  # check cached fingerprint
+  CP_bytes = params.get("CarParamsPersistent")
+  if CP_bytes is not None:
+    CP = messaging.log_from_bytes(CP_bytes, car.CarParams)
+    if CP.brand == "rivian":
+      return True
+
+  return False
+
+
+def _flash_static(handle, code):
+  assert Panda.flasher_present(handle)
+  last_sector = next((i + 1 for i, v in enumerate(accumulate(SECTOR_SIZES[1:])) if v > len(code)), -1)
+  assert 1 <= last_sector < 7, "Invalid firmware size"
+
+  handle.controlWrite(Panda.REQUEST_IN, 0xb1, 0, 0, b'')
+  for i in range(1, last_sector + 1):
+    handle.controlWrite(Panda.REQUEST_IN, 0xb2, i, 0, b'')
+  for i in range(0, len(code), 0x10):
+    handle.bulkWrite(2, code[i:i + 0x10])
+  try:
+    handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'', expect_disconnect=True)
+  except Exception:
+    pass
+
+
+def _flash_panda(panda: Panda) -> None:
+  expected_sig = Panda.get_signature_from_firmware(FW_PATH)
+  if not panda.bootstub and panda.get_signature() == expected_sig:
+    cloudlog.info(f"F4 panda {panda.get_usb_serial()} already up to date")
+    return
+
+  cloudlog.info(f"Flashing F4 panda {panda.get_usb_serial()}")
+  with open(FW_PATH, "rb") as f:
+    code = f.read()
+
+  if not panda.bootstub:
+    # enter bootstub directly, panda.reset() rejects deprecated hw types
+    try:
+      panda._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 1, 0, b'', timeout=15000, expect_disconnect=True)
+    except Exception:
+      pass
+    panda.close()
+    panda.reconnect()
+
+  _flash_static(panda._handle, code)
+  panda.reconnect()
+
+
+def flash_rivian_long(pandas: list[Panda]) -> None:
+  if not os.path.isfile(FW_PATH):
+    cloudlog.error(f"Rivian longitudinal upgrade firmware not found at {FW_PATH}")
+    return
+
+  if not _is_rivian():
+    cloudlog.info("Not a Rivian, skipping longitudinal upgrade...")
+    return
+
+  for panda in pandas:
+    # only flash external black pandas (HW_TYPE_BLACK = 0x03)
+    if panda.get_type() == b'\x03' and not panda.is_internal():
+      try:
+        _flash_panda(panda)
+      except Exception:
+        cloudlog.exception(f"Failed to flash F4 panda {panda.get_usb_serial()}")
+
+
+if __name__ == '__main__':
+  flash_rivian_long([Panda(s) for s in Panda.list()])
diff --git a/sunnypilot/selfdrive/pandad/rivian_long_fw.bin.signed b/sunnypilot/selfdrive/pandad/rivian_long_fw.bin.signed
new file mode 100644
index 0000000000000000000000000000000000000000..bdbd237ba99589813bdda2199ad71f42bfc2937a
GIT binary patch
literal 59500
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z#maMGFL|JL>kPcqZVFy|wwrogD9tBD1xa#i{&pveh=rl`u|4rB>z3a$XA%js`Fols
zH88X;v}b=tjYdN!$(cRJp>W_Mqu{ld{8mV4?fzWM>m<DDd6Xn)_L;A*2E9tV*%L2s
zGmo-YyQ$|p_N2G7=6$3?k&M0jU(!p{8F>HK+O1b7@u4%@tuvmtT$P+j^U2ORhx1$3
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z_Q&G|DF6LN(bZ$`d8&9J3gp=v?>c!MK<f+nec|tC0x&FAwHrNe_G-88GQG+fb9>><
ziDkTUww7Gwd~LqZIXBKBpN%etP8gh<eGq4B`xihzj_Q1EEaJ}N?ClBI{jf&)e61*A
zz@^5^9CTfDP;B^fao=s{I-~_R`^2-pui;$p0+f>uyKX#m2BADU>-)*XpFZn*Z{nD2
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s;p4m$7p&f{>8;<bxV+)axH+%YI$s)^{m9~x2^YWo=AlWOil%w}KZ4=V6#xJL

literal 0
HcmV?d00001


From 06a5a380df70244a2a7c82218ca7748095aa9d6d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 25 Feb 2026 02:51:39 -0500
Subject: [PATCH 0753/1434] bump

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index a95e060e855dc5..7b9eb4b247e09e 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit a95e060e855dc59898dd3bf2274a598dacdd2571
+Subproject commit 7b9eb4b247e09e4aa40b78394e45d92f5b42a569

From f43dc93bd91ef16fb374954b4c106d2aa1bb9cc8 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 25 Feb 2026 03:34:05 -0500
Subject: [PATCH 0754/1434] Revert "bump"

This reverts commit 06a5a380df70244a2a7c82218ca7748095aa9d6d.
---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 7b9eb4b247e09e..a95e060e855dc5 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 7b9eb4b247e09e4aa40b78394e45d92f5b42a569
+Subproject commit a95e060e855dc59898dd3bf2274a598dacdd2571

From ddf05d7126e8e20a018bb45788130f6998b9da62 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Fri, 27 Feb 2026 13:15:59 -0800
Subject: [PATCH 0755/1434] modeld_v2: tinygrad transformation warp (#1698)

* chore: sync tinygrad

Runs great in sim. now we need to rebuild some models

* oops forgot to unblock this after testing

* helpers

* oh yeah

* latest tg

* this wont do anything empriically

* reduce complexity

* okay lint

* Update tinygrad_runner.py

* Update modeld.py

* Update build-all-tinygrad-models.yaml

* tinygrad bump

* Update modeld.py

* Update tinygrad_runner.py

* bump

* Update SConscript

* Update SConscript

* com

* Update fetcher.py

* Update helpers.py

* life is froughtless, when you're thoughtless

* lint

* ozdust ballroom

* shiz

* Update tinygrad_runner.py

* Update tinygrad_runner.py

* slough it off as i do

* try old support one last time

* support mixed input dtypes

* use internal

* dont need that shiz

* Update fill_model_msg.py

* Update onnx_runner.py

* Update onnx_runner.py

* Update model_runner.py

* see if this speeds up execution

if not, revert me

* no

* Update helpers.py

* rebase

* more

* planplus

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .github/workflows/sunnypilot-build-model.yaml |   2 +-
 selfdrive/debug/uiview.py                     |   6 +-
 sunnypilot/SConscript                         |   1 -
 sunnypilot/modeld_v2/SConscript               |  63 ++++----
 sunnypilot/modeld_v2/get_model_metadata.py    |  37 +++--
 sunnypilot/modeld_v2/install_models_pc.py     |  38 ++---
 sunnypilot/modeld_v2/modeld.py                |  41 +++---
 sunnypilot/modeld_v2/models/commonmodel.cc    |  62 --------
 sunnypilot/modeld_v2/models/commonmodel.h     |  97 -------------
 sunnypilot/modeld_v2/models/commonmodel.pxd   |  27 ----
 .../modeld_v2/models/commonmodel_pyx.pxd      |  13 --
 .../modeld_v2/models/commonmodel_pyx.pyx      |  74 ----------
 .../modeld_v2/parse_model_outputs_split.py    |   4 +-
 sunnypilot/modeld_v2/runners/ort_helpers.py   |  36 -----
 .../modeld_v2/runners/tinygrad_helpers.py     |   8 -
 .../tests/test_buffer_logic_inspect.py        |   6 +-
 sunnypilot/modeld_v2/tests/test_warp.py       | 102 +++++++++++++
 sunnypilot/modeld_v2/transforms/loadyuv.cc    |  76 ----------
 sunnypilot/modeld_v2/transforms/loadyuv.cl    |  47 ------
 sunnypilot/modeld_v2/transforms/loadyuv.h     |  20 ---
 sunnypilot/modeld_v2/transforms/transform.cc  |  97 -------------
 sunnypilot/modeld_v2/transforms/transform.cl  |  54 -------
 sunnypilot/modeld_v2/transforms/transform.h   |  25 ----
 sunnypilot/modeld_v2/warp.py                  | 137 ++++++++++++++++++
 sunnypilot/models/fetcher.py                  |   2 +-
 sunnypilot/models/helpers.py                  |  15 +-
 sunnypilot/models/runners/constants.py        |   3 -
 sunnypilot/models/runners/model_runner.py     |   6 +-
 sunnypilot/models/runners/onnx/onnx_runner.py |  62 --------
 .../runners/tinygrad/tinygrad_runner.py       |  44 +++---
 system/manager/process_config.py              |   5 -
 31 files changed, 355 insertions(+), 855 deletions(-)
 delete mode 100644 sunnypilot/modeld_v2/models/commonmodel.cc
 delete mode 100644 sunnypilot/modeld_v2/models/commonmodel.h
 delete mode 100644 sunnypilot/modeld_v2/models/commonmodel.pxd
 delete mode 100644 sunnypilot/modeld_v2/models/commonmodel_pyx.pxd
 delete mode 100644 sunnypilot/modeld_v2/models/commonmodel_pyx.pyx
 delete mode 100644 sunnypilot/modeld_v2/runners/ort_helpers.py
 delete mode 100644 sunnypilot/modeld_v2/runners/tinygrad_helpers.py
 create mode 100644 sunnypilot/modeld_v2/tests/test_warp.py
 delete mode 100644 sunnypilot/modeld_v2/transforms/loadyuv.cc
 delete mode 100644 sunnypilot/modeld_v2/transforms/loadyuv.cl
 delete mode 100644 sunnypilot/modeld_v2/transforms/loadyuv.h
 delete mode 100644 sunnypilot/modeld_v2/transforms/transform.cc
 delete mode 100644 sunnypilot/modeld_v2/transforms/transform.cl
 delete mode 100644 sunnypilot/modeld_v2/transforms/transform.h
 create mode 100644 sunnypilot/modeld_v2/warp.py
 delete mode 100644 sunnypilot/models/runners/onnx/onnx_runner.py

diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml
index bc4ecfe04bdfbc..293c0f2a017b90 100644
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -173,7 +173,7 @@ jobs:
 
             echo "Compiling: $onnx_file -> $output_file"
             QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
-            QCOM=1 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
+            DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
           done
 
       - name: Prepare Output
diff --git a/selfdrive/debug/uiview.py b/selfdrive/debug/uiview.py
index ad3ccea036620d..eac1f8fbf45173 100755
--- a/selfdrive/debug/uiview.py
+++ b/selfdrive/debug/uiview.py
@@ -3,7 +3,7 @@
 
 from cereal import car, log, messaging
 from openpilot.common.params import Params
-from openpilot.system.manager.process_config import managed_processes, is_snpe_model, is_tinygrad_model, is_stock_model
+from openpilot.system.manager.process_config import managed_processes, is_tinygrad_model, is_stock_model
 from openpilot.system.hardware import HARDWARE
 
 if __name__ == "__main__":
@@ -11,8 +11,6 @@
   params = Params()
   params.put("CarParams", CP.to_bytes())
 
-  if use_snpe_modeld := is_snpe_model(False, params, CP):
-    print("Using SNPE modeld")
   if use_tinygrad_modeld := is_tinygrad_model(False, params, CP):
     print("Using TinyGrad modeld")
   if use_stock_modeld := is_stock_model(False, params, CP):
@@ -21,7 +19,7 @@
   HARDWARE.set_power_save(False)
 
   procs = ['camerad', 'ui', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
-  procs += ["modeld_snpe" if use_snpe_modeld else "modeld_tinygrad" if use_tinygrad_modeld else "modeld"]
+  procs += ["modeld_tinygrad" if use_tinygrad_modeld else "modeld"]
   for p in procs:
     managed_processes[p].start()
 
diff --git a/sunnypilot/SConscript b/sunnypilot/SConscript
index eb3698f9d04b25..09ad39ab439f2b 100644
--- a/sunnypilot/SConscript
+++ b/sunnypilot/SConscript
@@ -1,4 +1,3 @@
 SConscript(['common/transformations/SConscript'])
-SConscript(['modeld/SConscript'])
 SConscript(['modeld_v2/SConscript'])
 SConscript(['selfdrive/locationd/SConscript'])
diff --git a/sunnypilot/modeld_v2/SConscript b/sunnypilot/modeld_v2/SConscript
index 28d39a75f14864..ddf889c0c0057c 100644
--- a/sunnypilot/modeld_v2/SConscript
+++ b/sunnypilot/modeld_v2/SConscript
@@ -1,34 +1,8 @@
 import os
 import glob
 
-Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
+Import('env', 'arch')
 lenv = env.Clone()
-lenvCython = envCython.Clone()
-
-libs = [cereal, messaging, visionipc, common, 'capnp', 'kj', 'pthread']
-frameworks = []
-
-common_src = [
-  "models/commonmodel.cc",
-  "transforms/loadyuv.cc",
-  "transforms/transform.cc",
-]
-
-# OpenCL is a framework on Mac
-if arch == "Darwin":
-  frameworks += ['OpenCL']
-else:
-  libs += ['OpenCL']
-
-# Set path definitions
-for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
-  for xenv in (lenv, lenvCython):
-    xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
-
-# Compile cython
-cython_libs = envCython["LIBS"] + libs
-commonmodel_lib = lenv.Library('commonmodel', common_src)
-lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
 tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
 
 # Get model metadata
@@ -47,20 +21,39 @@ if PC:
   if outputs:
     lenv.Command(outputs, inputs, cmd)
 
+tg_flags = {
+  'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
+  'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}',
+}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0')
+
+image_flag = {
+  'larch64': 'IMAGE=2',
+}.get(arch, 'IMAGE=0')
+
 def tg_compile(flags, model_name):
   pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
   fn = File(f"models/{model_name}").abspath
+  out = fn + "_tinygrad.pkl"
+
   return lenv.Command(
-    fn + "_tinygrad.pkl",
+    out,
     [fn + ".onnx"] + tinygrad_files,
-    f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
+    f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {out}'
   )
 
-# Compile small models
+# Compile models
 for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']:
   if File(f"models/{model_name}.onnx").exists():
-    flags = {
-      'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 IMAGE=2 JIT_BATCH_SIZE=0',
-      'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
-    }.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0')
-    tg_compile(flags, model_name)
+    tg_compile(tg_flags, model_name)
+
+script_files = [File("warp.py"), File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
+pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + ':' + env.Dir("#").abspath + '"'
+compile_warp_cmd = f'{pythonpath_string} {tg_flags} python3 -m sunnypilot.modeld_v2.warp'
+
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+warp_targets = []
+for cam in [_ar_ox_fisheye, _os_fisheye]:
+  w, h = cam.width, cam.height
+  for bl in [2, 5]:
+    warp_targets.append(File(f"models/warp_{w}x{h}_b{bl}_tinygrad.pkl").abspath)
+lenv.Command(warp_targets, tinygrad_files + script_files, compile_warp_cmd)
diff --git a/sunnypilot/modeld_v2/get_model_metadata.py b/sunnypilot/modeld_v2/get_model_metadata.py
index e0b5adc51b05a2..838b1e9f404e86 100755
--- a/sunnypilot/modeld_v2/get_model_metadata.py
+++ b/sunnypilot/modeld_v2/get_model_metadata.py
@@ -1,36 +1,51 @@
 #!/usr/bin/env python3
 import sys
 import pathlib
-import onnx
 import codecs
 import pickle
 from typing import Any
 
+from tinygrad.nn.onnx import OnnxPBParser
 
-def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
-  shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
-  name = value_info.name
+
+class MetadataOnnxPBParser(OnnxPBParser):
+  def _parse_ModelProto(self) -> dict:
+    obj: dict[str, Any] = {"graph": {"input": [], "output": []}, "metadata_props": []}
+    for fid, wire_type in self._parse_message(self.reader.len):
+      match fid:
+        case 7:
+          obj["graph"] = self._parse_GraphProto()
+        case 14:
+          obj["metadata_props"].append(self._parse_StringStringEntryProto())
+        case _:
+          self.reader.skip_field(wire_type)
+    return obj
+
+
+def get_name_and_shape(value_info: dict[str, Any]) -> tuple[str, tuple[int, ...]]:
+  shape = tuple(int(dim) if isinstance(dim, int) else 0 for dim in value_info["parsed_type"].shape)
+  name = value_info["name"]
   return name, shape
 
 
-def get_metadata_value_by_name(model:onnx.ModelProto, name:str) -> str | Any:
-  for prop in model.metadata_props:
-    if prop.key == name:
-      return prop.value
+def get_metadata_value_by_name(model: dict[str, Any], name: str) -> str | Any:
+  for prop in model["metadata_props"]:
+    if prop["key"] == name:
+      return prop["value"]
   return None
 
 
 if __name__ == "__main__":
   model_path = pathlib.Path(sys.argv[1])
-  model = onnx.load(str(model_path))
+  model = MetadataOnnxPBParser(model_path).parse()
   output_slices = get_metadata_value_by_name(model, 'output_slices')
   assert output_slices is not None, 'output_slices not found in metadata'
 
   metadata = {
     'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
     'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
-    'input_shapes': dict([get_name_and_shape(x) for x in model.graph.input]),
-    'output_shapes': dict([get_name_and_shape(x) for x in model.graph.output])
+    'input_shapes': dict(get_name_and_shape(x) for x in model["graph"]["input"]),
+    'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
   }
 
   metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
diff --git a/sunnypilot/modeld_v2/install_models_pc.py b/sunnypilot/modeld_v2/install_models_pc.py
index a378d90b114866..d203de34872eb6 100755
--- a/sunnypilot/modeld_v2/install_models_pc.py
+++ b/sunnypilot/modeld_v2/install_models_pc.py
@@ -3,41 +3,27 @@
 import shutil
 import pickle
 import codecs
-import onnx
 from pathlib import Path
 
 from openpilot.system.hardware.hw import Paths
-
-
-def get_name_and_shape(value_info):
-  shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
-  return value_info.name, shape
-
-
-def get_metadata_value_by_name(model, name):
-  for prop in model.metadata_props:
-    if prop.key == name:
-      return prop.value
-  return None
+from sunnypilot.modeld_v2.get_model_metadata import MetadataOnnxPBParser, get_name_and_shape, get_metadata_value_by_name
 
 
 def generate_metadata_pkl(model_path, output_path):
   try:
-    model = onnx.load(str(model_path))
+    model = MetadataOnnxPBParser(model_path).parse()
     output_slices = get_metadata_value_by_name(model, 'output_slices')
-
-    if output_slices:
-      metadata = {
-        'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
-        'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
-        'input_shapes': dict([get_name_and_shape(x) for x in model.graph.input]),
-        'output_shapes': dict([get_name_and_shape(x) for x in model.graph.output])
-      }
-      with open(output_path, 'wb') as f:
-        pickle.dump(metadata, f)
-      return True
-    else:
+    if not output_slices:
       return False
+    metadata = {
+      'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
+      'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
+      'input_shapes': dict(get_name_and_shape(x) for x in model["graph"]["input"]),
+      'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
+    }
+    with open(output_path, 'wb') as f:
+      pickle.dump(metadata, f)
+    return True
   except Exception:
     return False
 
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index e25078f52f2120..c38ba40d4f6072 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -26,7 +26,7 @@
 
 from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output
 from openpilot.sunnypilot.modeld_v2.constants import Plan
-from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLContext
+from openpilot.sunnypilot.modeld_v2.warp import Warp
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
 
@@ -49,12 +49,12 @@ def __init__(self, vipc=None):
 
 
 class ModelState(ModelStateBase):
-  frames: dict[str, DrivingModelFrame]
+  frames: dict[str, Warp]
   inputs: dict[str, np.ndarray]
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
   temporal_idxs: slice | np.ndarray
 
-  def __init__(self, context: CLContext):
+  def __init__(self):
     ModelStateBase.__init__(self)
     try:
       self.model_runner = get_model_runner()
@@ -73,17 +73,16 @@ def __init__(self, context: CLContext):
     self.PLANPLUS_CONTROL: float = 1.0
 
     buffer_length = 5 if self.model_runner.is_20hz else 2
-    self.frames = {name: DrivingModelFrame(context, buffer_length) for name in self.model_runner.vision_input_names}
+    self.warp = Warp(buffer_length)
     self.prev_desire = np.zeros(self.constants.DESIRE_LEN, dtype=np.float32)
-
-    # img buffers are managed in openCL transform code
     self.numpy_inputs = {}
     self.temporal_buffers = {}
     self.temporal_idxs_map = {}
 
     for key, shape in self.model_runner.input_shapes.items():
-      if key not in self.frames: # Managed by opencl
+      if key not in self.model_runner.vision_input_names: # Policy inputs
         self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
+
         # Temporal input: shape is [batch, history, features]
         if len(shape) == 3 and shape[1] > 1:
           buffer_history_len = shape[1] * 4 if shape[1] < 99 else shape[1]  # Allow for higher history buffers in the future
@@ -129,10 +128,10 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
       if key in inputs and key not in [self.desire_key]:
         self.numpy_inputs[key][:] = inputs[key]
 
-    imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.model_runner.vision_input_names}
-
-    # Prepare inputs using the model runner
-    self.model_runner.prepare_inputs(imgs_cl, self.numpy_inputs, self.frames)
+    imgs_tensors = self.warp.process(bufs, transforms)
+    for name, tensor in imgs_tensors.items():
+      self.model_runner.inputs[name] = tensor
+    self.model_runner.prepare_inputs(self.numpy_inputs)
 
     if prepare_only:
       return None
@@ -147,12 +146,11 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
 
     if "desired_curvature" in outputs:
       input_name_prev = None
-      if "prev_desired_curvs" in self.numpy_inputs.keys():
-        input_name_prev = 'prev_desired_curvs'
-      elif "prev_desired_curv" in self.numpy_inputs.keys():
+      if "prev_desired_curv" in self.numpy_inputs.keys():
         input_name_prev = 'prev_desired_curv'
       if input_name_prev and input_name_prev in self.temporal_buffers:
         self.process_desired_curvature(outputs, input_name_prev)
+
     return outputs
 
   def process_desired_curvature(self, outputs, input_name_prev):
@@ -165,9 +163,8 @@ def process_desired_curvature(self, outputs, input_name_prev):
   def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                             lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
     plan = model_output['plan'][0]
-    if 'planplus' in model_output:
-      recovery_power = self.PLANPLUS_CONTROL * (0.75 if v_ego > 20.0 else 1.0)
-      plan = plan + recovery_power * model_output['planplus'][0]
+    if 'planplus' in model_output and self.PLANPLUS_CONTROL != 1.0:
+      plan = plan + (self.PLANPLUS_CONTROL - 1.0) * model_output['planplus'][0]
     desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
                                                      action_t=long_action_t)
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
@@ -190,10 +187,8 @@ def main(demo=False):
   setproctitle(PROCESS_NAME)
   config_realtime_process(7, 54)
 
-  cloudlog.warning("setting up CL context")
-  cl_context = CLContext()
-  cloudlog.warning("CL context ready; loading model")
-  model = ModelState(cl_context)
+  cloudlog.warning("loading model")
+  model = ModelState()
   cloudlog.warning("models loaded, modeld starting")
 
   # visionipc clients
@@ -206,8 +201,8 @@ def main(demo=False):
     time.sleep(.1)
 
   vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD
-  vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context)
-  vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context)
+  vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True)
+  vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False)
   cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
 
   while not vipc_client_main.connect(False):
diff --git a/sunnypilot/modeld_v2/models/commonmodel.cc b/sunnypilot/modeld_v2/models/commonmodel.cc
deleted file mode 100644
index 5cd3a84fccc350..00000000000000
--- a/sunnypilot/modeld_v2/models/commonmodel.cc
+++ /dev/null
@@ -1,62 +0,0 @@
-#include "sunnypilot/modeld_v2/models/commonmodel.h"
-
-#include <cmath>
-#include <cstring>
-
-#include "common/clutil.h"
-
-DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, uint8_t buffer_length) : ModelFrame(device_id, context), buffer_length(buffer_length) {
-  input_frames = std::make_unique<uint8_t[]>(buf_size);
-  input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buffer_length*frame_size_bytes, NULL, &err));
-  region.origin = (buffer_length - 1)  * frame_size_bytes;
-  region.size = frame_size_bytes;
-  last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
-  // printf("Buffer length: %d, region origin: %lu, region size: %lu\n", buffer_length, region.origin, region.size);
-
-  loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
-  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
-}
-
-cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
-
-  for (int i = 0; i < (buffer_length - 1); i++) {
-    CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
-  }
-  loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
-
-  copy_queue(&loadyuv, q, img_buffer_20hz_cl, input_frames_cl, 0, 0, frame_size_bytes);
-  copy_queue(&loadyuv, q, last_img_cl, input_frames_cl, 0, frame_size_bytes, frame_size_bytes);
-
-  // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
-  clFinish(q);
-  return &input_frames_cl;
-}
-
-DrivingModelFrame::~DrivingModelFrame() {
-  deinit_transform();
-  loadyuv_destroy(&loadyuv);
-  CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
-  CL_CHECK(clReleaseMemObject(last_img_cl));
-  CL_CHECK(clReleaseCommandQueue(q));
-}
-
-
-MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
-  input_frames = std::make_unique<uint8_t[]>(buf_size);
-  input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-
-  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
-}
-
-cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
-  clFinish(q);
-  return &y_cl;
-}
-
-MonitoringModelFrame::~MonitoringModelFrame() {
-  deinit_transform();
-  CL_CHECK(clReleaseCommandQueue(q));
-}
diff --git a/sunnypilot/modeld_v2/models/commonmodel.h b/sunnypilot/modeld_v2/models/commonmodel.h
deleted file mode 100644
index 8203e064e06ab3..00000000000000
--- a/sunnypilot/modeld_v2/models/commonmodel.h
+++ /dev/null
@@ -1,97 +0,0 @@
-#pragma once
-
-#include <cfloat>
-#include <cstdlib>
-#include <cassert>
-
-#include <memory>
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/mat.h"
-#include "sunnypilot/modeld_v2/transforms/loadyuv.h"
-#include "sunnypilot/modeld_v2/transforms/transform.h"
-
-class ModelFrame {
-public:
-  ModelFrame(cl_device_id device_id, cl_context context) {
-    q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
-  }
-  virtual ~ModelFrame() {}
-  virtual cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { return NULL; }
-  uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) {
-    CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr));
-    clFinish(q);
-    return &input_frames[0];
-  }
-
-  int MODEL_WIDTH;
-  int MODEL_HEIGHT;
-  int MODEL_FRAME_SIZE;
-  int buf_size;
-
-protected:
-  cl_mem y_cl, u_cl, v_cl;
-  Transform transform;
-  cl_command_queue q;
-  std::unique_ptr<uint8_t[]> input_frames;
-
-  void init_transform(cl_device_id device_id, cl_context context, int model_width, int model_height) {
-    y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, model_width * model_height, NULL, &err));
-    u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
-    v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
-    transform_init(&transform, context, device_id);
-  }
-
-  void deinit_transform() {
-    transform_destroy(&transform);
-    CL_CHECK(clReleaseMemObject(v_cl));
-    CL_CHECK(clReleaseMemObject(u_cl));
-    CL_CHECK(clReleaseMemObject(y_cl));
-  }
-
-  void run_transform(cl_mem yuv_cl, int model_width, int model_height, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-    transform_queue(&transform, q,
-        yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
-        y_cl, u_cl, v_cl, model_width, model_height, projection);
-  }
-};
-
-class DrivingModelFrame : public ModelFrame {
-public:
-  DrivingModelFrame(cl_device_id device_id, cl_context context, uint8_t buffer_length);
-  ~DrivingModelFrame();
-  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
-
-  const int MODEL_WIDTH = 512;
-  const int MODEL_HEIGHT = 256;
-  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
-  const int buf_size = MODEL_FRAME_SIZE * 2;
-  const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
-  const uint8_t buffer_length;
-
-private:
-  LoadYUVState loadyuv;
-  cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl;
-  cl_buffer_region region;
-};
-
-class MonitoringModelFrame : public ModelFrame {
-public:
-  MonitoringModelFrame(cl_device_id device_id, cl_context context);
-  ~MonitoringModelFrame();
-  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
-
-  const int MODEL_WIDTH = 1440;
-  const int MODEL_HEIGHT = 960;
-  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT;
-  const int buf_size = MODEL_FRAME_SIZE;
-
-private:
-  cl_mem input_frame_cl;
-};
diff --git a/sunnypilot/modeld_v2/models/commonmodel.pxd b/sunnypilot/modeld_v2/models/commonmodel.pxd
deleted file mode 100644
index 55023ac4b90f2a..00000000000000
--- a/sunnypilot/modeld_v2/models/commonmodel.pxd
+++ /dev/null
@@ -1,27 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem
-
-cdef extern from "common/mat.h":
-  cdef struct mat3:
-    float v[9]
-
-cdef extern from "common/clutil.h":
-  cdef unsigned long CL_DEVICE_TYPE_DEFAULT
-  cl_device_id cl_get_device_id(unsigned long)
-  cl_context cl_create_context(cl_device_id)
-  void cl_release_context(cl_context)
-
-cdef extern from "sunnypilot/modeld_v2/models/commonmodel.h":
-  cppclass ModelFrame:
-    int buf_size
-    unsigned char * buffer_from_cl(cl_mem*, int);
-    cl_mem * prepare(cl_mem, int, int, int, int, mat3)
-
-  cppclass DrivingModelFrame:
-    int buf_size
-    DrivingModelFrame(cl_device_id, cl_context, unsigned char)
-
-  cppclass MonitoringModelFrame:
-    int buf_size
-    MonitoringModelFrame(cl_device_id, cl_context)
diff --git a/sunnypilot/modeld_v2/models/commonmodel_pyx.pxd b/sunnypilot/modeld_v2/models/commonmodel_pyx.pxd
deleted file mode 100644
index 0bb798625be28d..00000000000000
--- a/sunnypilot/modeld_v2/models/commonmodel_pyx.pxd
+++ /dev/null
@@ -1,13 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext
-
-cdef class CLContext(BaseCLContext):
-  pass
-
-cdef class CLMem:
-  cdef cl_mem * mem
-
-  @staticmethod
-  cdef create(void*)
diff --git a/sunnypilot/modeld_v2/models/commonmodel_pyx.pyx b/sunnypilot/modeld_v2/models/commonmodel_pyx.pyx
deleted file mode 100644
index 78a891f031e0bb..00000000000000
--- a/sunnypilot/modeld_v2/models/commonmodel_pyx.pyx
+++ /dev/null
@@ -1,74 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import numpy as np
-cimport numpy as cnp
-from libc.string cimport memcpy
-from libc.stdint cimport uintptr_t, uint8_t
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
-from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context, cl_release_context
-from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame
-
-
-cdef class CLContext(BaseCLContext):
-  def __cinit__(self):
-    self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
-    self.context = cl_create_context(self.device_id)
-
-  def __dealloc__(self):
-    if self.context:
-      cl_release_context(self.context)
-
-cdef class CLMem:
-  @staticmethod
-  cdef create(void * cmem):
-    mem = CLMem()
-    mem.mem = <cl_mem*> cmem
-    return mem
-
-  @property
-  def mem_address(self):
-    return <uintptr_t>(self.mem)
-
-def cl_from_visionbuf(VisionBuf buf):
-  return CLMem.create(<void*>&buf.buf.buf_cl)
-
-
-cdef class ModelFrame:
-  cdef cppModelFrame * frame
-  cdef int buf_size
-
-  def __dealloc__(self):
-    del self.frame
-
-  def prepare(self, VisionBuf buf, float[:] projection):
-    cdef mat3 cprojection
-    memcpy(cprojection.v, &projection[0], 9*sizeof(float))
-    cdef cl_mem * data
-    data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection)
-    return CLMem.create(data)
-
-  def buffer_from_cl(self, CLMem in_frames):
-    cdef unsigned char * data2
-    data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size)
-    return np.asarray(<cnp.uint8_t[:self.buf_size]> data2)
-
-
-cdef class DrivingModelFrame(ModelFrame):
-  cdef cppDrivingModelFrame * _frame
-
-  def __cinit__(self, CLContext context, int buffer_length=2):
-    self._frame = new cppDrivingModelFrame(context.device_id, context.context, buffer_length)
-    self.frame = <cppModelFrame*>(self._frame)
-    self.buf_size = self._frame.buf_size
-
-cdef class MonitoringModelFrame(ModelFrame):
-  cdef cppMonitoringModelFrame * _frame
-
-  def __cinit__(self, CLContext context):
-    self._frame = new cppMonitoringModelFrame(context.device_id, context.context)
-    self.frame = <cppModelFrame*>(self._frame)
-    self.buf_size = self._frame.buf_size
-
diff --git a/sunnypilot/modeld_v2/parse_model_outputs_split.py b/sunnypilot/modeld_v2/parse_model_outputs_split.py
index a099facd15186a..831649e3c1cbf4 100644
--- a/sunnypilot/modeld_v2/parse_model_outputs_split.py
+++ b/sunnypilot/modeld_v2/parse_model_outputs_split.py
@@ -108,8 +108,8 @@ def parse_dynamic_outputs(self, outs: dict[str, np.ndarray]) -> None:
       plan_in_N, plan_out_N = (SplitModelConstants.PLAN_MHP_N, SplitModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
       self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N,
                      out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
-      if 'planplus' in outs:
-        self.parse_mdn('planplus', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
+    if 'planplus' in outs:
+      self.parse_mdn('planplus', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
 
   def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
     if 'desired_curvature' in outs:
diff --git a/sunnypilot/modeld_v2/runners/ort_helpers.py b/sunnypilot/modeld_v2/runners/ort_helpers.py
deleted file mode 100644
index 26afb035624a29..00000000000000
--- a/sunnypilot/modeld_v2/runners/ort_helpers.py
+++ /dev/null
@@ -1,36 +0,0 @@
-import onnx
-import onnxruntime as ort
-import numpy as np
-import itertools
-
-ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
-
-def attributeproto_fp16_to_fp32(attr):
-  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
-  attr.data_type = 1
-  attr.raw_data = float32_list.astype(np.float32).tobytes()
-
-def convert_fp16_to_fp32(model):
-  for i in model.graph.initializer:
-    if i.data_type == 10:
-      attributeproto_fp16_to_fp32(i)
-  for i in itertools.chain(model.graph.input, model.graph.output):
-    if i.type.tensor_type.elem_type == 10:
-      i.type.tensor_type.elem_type = 1
-  for i in model.graph.node:
-    if i.op_type == 'Cast' and i.attribute[0].i == 10:
-      i.attribute[0].i = 1
-    for a in i.attribute:
-      if hasattr(a, 't'):
-        if a.t.data_type == 10:
-          attributeproto_fp16_to_fp32(a.t)
-  return model.SerializeToString()
-
-
-def make_onnx_cpu_runner(model_path):
-  options = ort.SessionOptions()
-  options.intra_op_num_threads = 4
-  options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
-  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
-  model_data = convert_fp16_to_fp32(onnx.load(model_path))
-  return ort.InferenceSession(model_data,  options, providers=['CPUExecutionProvider'])
diff --git a/sunnypilot/modeld_v2/runners/tinygrad_helpers.py b/sunnypilot/modeld_v2/runners/tinygrad_helpers.py
deleted file mode 100644
index 776381341cf373..00000000000000
--- a/sunnypilot/modeld_v2/runners/tinygrad_helpers.py
+++ /dev/null
@@ -1,8 +0,0 @@
-
-from tinygrad.tensor import Tensor
-from tinygrad.helpers import to_mv
-
-def qcom_tensor_from_opencl_address(opencl_address, shape, dtype):
-  cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0]
-  rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer.
-  return Tensor.from_blob(rawbuf_ptr, shape, dtype=dtype, device='QCOM')
diff --git a/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py b/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py
index f664db31b3d01c..15009c94d90f76 100644
--- a/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py
+++ b/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py
@@ -53,7 +53,7 @@ def __init__(self, input_shapes: dict[str, tuple[int, int, int]], constants: Any
       self.is_20hz = False
 
   # Minimal prepare/run methods so ModelState can be run without actually running the model
-  def prepare_inputs(self, imgs_cl, numpy_inputs, frames):
+  def prepare_inputs(self, numpy_inputs):
     return None
 
   def run_model(self):
@@ -105,7 +105,7 @@ def get_expected_indices(shape, constants, mode, key=None):
 
 @pytest.mark.parametrize("shapes,mode", SHAPE_MODE_PARAMS, indirect=["shapes"])
 def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
-  state = ModelState(None)
+  state = ModelState()
   constants = DummyModelRunner(shapes).constants
   for key in shapes:
     buf = state.temporal_buffers.get(key, None)
@@ -236,7 +236,7 @@ def run_model_stub():
 @pytest.mark.parametrize("shapes,mode", SHAPE_MODE_PARAMS, indirect=["shapes"])
 @pytest.mark.parametrize("key", ["desire", "features_buffer", "prev_desired_curv"])
 def test_buffer_update_equivalence(shapes, mode, key, apply_patches):
-  state = ModelState(None)
+  state = ModelState()
   if key == "desire":
     desire_keys = [k for k in shapes.keys() if k.startswith('desire')]
     if desire_keys:
diff --git a/sunnypilot/modeld_v2/tests/test_warp.py b/sunnypilot/modeld_v2/tests/test_warp.py
new file mode 100644
index 00000000000000..daf0dd528c45fa
--- /dev/null
+++ b/sunnypilot/modeld_v2/tests/test_warp.py
@@ -0,0 +1,102 @@
+import os
+os.environ['DEV'] = 'CPU'
+import pytest
+import numpy as np
+from openpilot.selfdrive.modeld.compile_warp import get_nv12_info, CAMERA_CONFIGS
+from openpilot.sunnypilot.modeld_v2.warp import Warp, MODEL_W, MODEL_H
+
+VISION_NAME_PAIRS = [  # needed to account for supercombos input_imgs
+  ('img', 'big_img'),
+  ('input_imgs', 'big_input_imgs'),
+]
+
+
+class MockVisionBuf:
+  def __init__(self, w, h):
+    self.width = w
+    self.height = h
+    _, _, _, yuv_size = get_nv12_info(w, h)
+    self.data = np.zeros(yuv_size, dtype=np.uint8)
+
+
+@pytest.mark.parametrize("buffer_length", [2, 5])
+def test_warp_initialization(buffer_length):
+  warp = Warp(buffer_length)
+  assert warp.buffer_length == buffer_length
+  assert warp.img_buffer_shape == (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
+
+
+@pytest.mark.parametrize("buffer_length", [2, 5])
+@pytest.mark.parametrize("cam_w, cam_h", CAMERA_CONFIGS)
+@pytest.mark.parametrize("road, wide", VISION_NAME_PAIRS)
+def test_warp_process(buffer_length, cam_w, cam_h, road, wide):
+  warp = Warp(buffer_length)
+  mock_buf = MockVisionBuf(cam_w, cam_h)
+  transform = np.eye(3, dtype=np.float32).flatten()
+  bufs = {road: mock_buf, wide: mock_buf}
+  transforms = {road: transform, wide: transform}
+
+  out = warp.process(bufs, transforms)
+  assert isinstance(out, dict)
+  assert road in out and wide in out
+  assert out[road].shape == (1, 12, MODEL_H // 2, MODEL_W // 2)
+  assert out[wide].shape == (1, 12, MODEL_H // 2, MODEL_W // 2)
+
+  key = (cam_w, cam_h)
+  assert key in warp.jit_cache
+
+  out2 = warp.process(bufs, transforms)
+  assert out2[road].shape == out[road].shape
+
+
+@pytest.mark.parametrize("road, wide", VISION_NAME_PAIRS)
+def test_warp_buffer_shift(road, wide):
+  warp = Warp(2)
+  cam_w, cam_h = CAMERA_CONFIGS[1]
+  transform = np.eye(3, dtype=np.float32).flatten()
+
+  buf1 = MockVisionBuf(cam_w, cam_h)
+  buf1.data[0] = 255
+  bufs1 = {road: buf1, wide: buf1}
+  transforms = {road: transform, wide: transform}
+  out1 = warp.process(bufs1, transforms)
+  road1 = out1[road].numpy().copy()
+
+  buf2 = MockVisionBuf(cam_w, cam_h)
+  buf2.data[0] = 128
+  bufs2 = {road: buf2, wide: buf2}
+  out2 = warp.process(bufs2, transforms)
+  assert not np.array_equal(road1, out2[road].numpy())
+
+
+@pytest.mark.parametrize("buffer_length", [2, 5])
+@pytest.mark.parametrize("road, wide", VISION_NAME_PAIRS)
+def test_warp_buffer_accumulation(buffer_length, road, wide):
+  warp = Warp(buffer_length)
+  cam_w, cam_h = CAMERA_CONFIGS[0]
+  transform = np.eye(3, dtype=np.float32).flatten()
+  transforms = {road: transform, wide: transform}
+  outputs = []
+
+  for i in range(buffer_length + 1):
+    buf = MockVisionBuf(cam_w, cam_h)
+    buf.data[:] = i * 10
+    out = warp.process({road: buf, wide: buf}, transforms)
+    outputs.append(out[road].numpy().copy())
+
+  assert warp.full_buffers['img'].shape == (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
+  for i in range(1, len(outputs)):
+    assert not np.array_equal(outputs[i - 1], outputs[i])
+
+
+def test_warp_different_cameras_same_instance():
+  warp = Warp(2)
+  transform = np.eye(3, dtype=np.float32).flatten()
+
+  buf1 = MockVisionBuf(*CAMERA_CONFIGS[0])
+  warp.process({'img': buf1, 'big_img': buf1}, {'img': transform, 'big_img': transform})
+  assert len(warp.jit_cache) == 1
+
+  buf2 = MockVisionBuf(*CAMERA_CONFIGS[1])
+  warp.process({'img': buf2, 'big_img': buf2}, {'img': transform, 'big_img': transform})
+  assert len(warp.jit_cache) == 2
diff --git a/sunnypilot/modeld_v2/transforms/loadyuv.cc b/sunnypilot/modeld_v2/transforms/loadyuv.cc
deleted file mode 100644
index eb669a5929526e..00000000000000
--- a/sunnypilot/modeld_v2/transforms/loadyuv.cc
+++ /dev/null
@@ -1,76 +0,0 @@
-#include "sunnypilot/modeld_v2/transforms/loadyuv.h"
-
-#include <cassert>
-#include <cstdio>
-#include <cstring>
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
-  memset(s, 0, sizeof(*s));
-
-  s->width = width;
-  s->height = height;
-
-  char args[1024];
-  snprintf(args, sizeof(args),
-           "-cl-fast-relaxed-math -cl-denorms-are-zero "
-           "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
-           width, height);
-  cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args);
-
-  s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
-  s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
-  s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err));
-
-  // done with this
-  CL_CHECK(clReleaseProgram(prg));
-}
-
-void loadyuv_destroy(LoadYUVState* s) {
-  CL_CHECK(clReleaseKernel(s->loadys_krnl));
-  CL_CHECK(clReleaseKernel(s->loaduv_krnl));
-  CL_CHECK(clReleaseKernel(s->copy_krnl));
-}
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl) {
-  cl_int global_out_off = 0;
-
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  const size_t loadys_work_size = (s->width*s->height)/8;
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
-                               &loadys_work_size, NULL, 0, 0, NULL));
-
-  const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
-  global_out_off += (s->width*s->height);
-
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL));
-
-  global_out_off += (s->width/2)*(s->height/2);
-
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL));
-}
-
-void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
-                 size_t src_offset, size_t dst_offset, size_t size) {
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src));
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst));
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset));
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset));
-  const size_t copy_work_size = size/8;
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
-                              &copy_work_size, NULL, 0, 0, NULL));
-}
\ No newline at end of file
diff --git a/sunnypilot/modeld_v2/transforms/loadyuv.cl b/sunnypilot/modeld_v2/transforms/loadyuv.cl
deleted file mode 100644
index 970187a6d70129..00000000000000
--- a/sunnypilot/modeld_v2/transforms/loadyuv.cl
+++ /dev/null
@@ -1,47 +0,0 @@
-#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
-
-__kernel void loadys(__global uchar8 const * const Y,
-                     __global uchar * out,
-                     int out_offset)
-{
-    const int gid = get_global_id(0);
-    const int ois = gid * 8;
-    const int oy = ois / TRANSFORMED_WIDTH;
-    const int ox = ois % TRANSFORMED_WIDTH;
-
-    const uchar8 ys = Y[gid];
-
-    // 02
-    // 13
-
-    __global uchar* outy0;
-    __global uchar* outy1;
-    if ((oy & 1) == 0) {
-      outy0 = out + out_offset; //y0
-      outy1 = out + out_offset + UV_SIZE*2; //y2
-    } else {
-      outy0 = out + out_offset + UV_SIZE; //y1
-      outy1 = out + out_offset + UV_SIZE*3; //y3
-    }
-
-    vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-    vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-}
-
-__kernel void loaduv(__global uchar8 const * const in,
-                     __global uchar8 * out,
-                     int out_offset)
-{
-  const int gid = get_global_id(0);
-  const uchar8 inv = in[gid];
-  out[gid + out_offset / 8] = inv;
-}
-
-__kernel void copy(__global uchar8 * in,
-                   __global uchar8 * out,
-                   int in_offset,
-                   int out_offset)
-{
-  const int gid = get_global_id(0);
-  out[gid + out_offset / 8] = in[gid + in_offset / 8];
-}
diff --git a/sunnypilot/modeld_v2/transforms/loadyuv.h b/sunnypilot/modeld_v2/transforms/loadyuv.h
deleted file mode 100644
index 659059cd25e610..00000000000000
--- a/sunnypilot/modeld_v2/transforms/loadyuv.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#pragma once
-
-#include "common/clutil.h"
-
-typedef struct {
-  int width, height;
-  cl_kernel loadys_krnl, loaduv_krnl, copy_krnl;
-} LoadYUVState;
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height);
-
-void loadyuv_destroy(LoadYUVState* s);
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl);
-
-
-void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
-                 size_t src_offset, size_t dst_offset, size_t size);
\ No newline at end of file
diff --git a/sunnypilot/modeld_v2/transforms/transform.cc b/sunnypilot/modeld_v2/transforms/transform.cc
deleted file mode 100644
index adc9bcebf4ccce..00000000000000
--- a/sunnypilot/modeld_v2/transforms/transform.cc
+++ /dev/null
@@ -1,97 +0,0 @@
-#include "sunnypilot/modeld_v2/transforms/transform.h"
-
-#include <cassert>
-#include <cstring>
-
-#include "common/clutil.h"
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
-  memset(s, 0, sizeof(*s));
-
-  cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, "");
-  s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
-  // done with this
-  CL_CHECK(clReleaseProgram(prg));
-
-  s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-  s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-}
-
-void transform_destroy(Transform* s) {
-  CL_CHECK(clReleaseMemObject(s->m_y_cl));
-  CL_CHECK(clReleaseMemObject(s->m_uv_cl));
-  CL_CHECK(clReleaseKernel(s->krnl));
-}
-
-void transform_queue(Transform* s,
-                     cl_command_queue q,
-                     cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     const mat3& projection) {
-  const int zero = 0;
-
-  // sampled using pixel center origin
-  // (because that's how fastcv and opencv does it)
-
-  mat3 projection_y = projection;
-
-  // in and out uv is half the size of y.
-  mat3 projection_uv = transform_scale_buffer(projection, 0.5);
-
-  CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL));
-  CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL));
-
-  const int in_y_width = in_width;
-  const int in_y_height = in_height;
-  const int in_y_px_stride = 1;
-  const int in_uv_width = in_width/2;
-  const int in_uv_height = in_height/2;
-  const int in_uv_px_stride = 2;
-  const int in_u_offset = in_uv_offset;
-  const int in_v_offset = in_uv_offset + 1;
-
-  const int out_y_width = out_width;
-  const int out_y_height = out_height;
-  const int out_uv_width = out_width/2;
-  const int out_uv_height = out_height/2;
-
-  CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv));  // src
-  CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride));  // src_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride));  // src_px_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero));  // src_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height));  // src_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width));  // src_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y));  // dst
-  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width));  // dst_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height));  // dst_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width));  // dst_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl));  // M
-
-  const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height};
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_y, NULL, 0, 0, NULL));
-
-  const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height};
-
-  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride));  // src_px_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset));  // src_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height));  // src_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width));  // src_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u));  // dst
-  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width));  // dst_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height));  // dst_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width));  // dst_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl));  // M
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset));  // src_ofset
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v));  // dst
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-}
diff --git a/sunnypilot/modeld_v2/transforms/transform.cl b/sunnypilot/modeld_v2/transforms/transform.cl
deleted file mode 100644
index 2ca25920cd19be..00000000000000
--- a/sunnypilot/modeld_v2/transforms/transform.cl
+++ /dev/null
@@ -1,54 +0,0 @@
-#define INTER_BITS 5
-#define INTER_TAB_SIZE (1 << INTER_BITS)
-#define INTER_SCALE 1.f / INTER_TAB_SIZE
-
-#define INTER_REMAP_COEF_BITS 15
-#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS)
-
-__kernel void warpPerspective(__global const uchar * src,
-                              int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols,
-                              __global uchar * dst,
-                              int dst_row_stride, int dst_offset, int dst_rows, int dst_cols,
-                              __constant float * M)
-{
-    int dx = get_global_id(0);
-    int dy = get_global_id(1);
-
-    if (dx < dst_cols && dy < dst_rows)
-    {
-        float X0 = M[0] * dx + M[1] * dy + M[2];
-        float Y0 = M[3] * dx + M[4] * dy + M[5];
-        float W = M[6] * dx + M[7] * dy + M[8];
-        W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
-        int X = rint(X0 * W), Y = rint(Y0 * W);
-
-        int sx = convert_short_sat(X >> INTER_BITS);
-        int sy = convert_short_sat(Y >> INTER_BITS);
-
-        short sx_clamp = clamp(sx, 0, src_cols - 1);
-        short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
-        short sy_clamp = clamp(sy, 0, src_rows - 1);
-        short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
-        int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
-        int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-        int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
-        int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-
-        short ay = (short)(Y & (INTER_TAB_SIZE - 1));
-        short ax = (short)(X & (INTER_TAB_SIZE - 1));
-        float taby = 1.f/INTER_TAB_SIZE*ay;
-        float tabx = 1.f/INTER_TAB_SIZE*ax;
-
-        int dst_index = mad24(dy, dst_row_stride, dst_offset + dx);
-
-        int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
-        int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE );
-        int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
-        int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE );
-
-        int val = v0 * itab0 +  v1 * itab1 + v2 * itab2 + v3 * itab3;
-
-        uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS);
-        dst[dst_index] = pix;
-    }
-}
diff --git a/sunnypilot/modeld_v2/transforms/transform.h b/sunnypilot/modeld_v2/transforms/transform.h
deleted file mode 100644
index 771a7054b35d29..00000000000000
--- a/sunnypilot/modeld_v2/transforms/transform.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#pragma once
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/mat.h"
-
-typedef struct {
-  cl_kernel krnl;
-  cl_mem m_y_cl, m_uv_cl;
-} Transform;
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id);
-
-void transform_destroy(Transform* transform);
-
-void transform_queue(Transform* s, cl_command_queue q,
-                     cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     const mat3& projection);
diff --git a/sunnypilot/modeld_v2/warp.py b/sunnypilot/modeld_v2/warp.py
new file mode 100644
index 00000000000000..829cbcca4998cc
--- /dev/null
+++ b/sunnypilot/modeld_v2/warp.py
@@ -0,0 +1,137 @@
+import pickle
+import time
+import numpy as np
+from pathlib import Path
+from tinygrad.tensor import Tensor
+from tinygrad.engine.jit import TinyJit
+from tinygrad.device import Device
+
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+from openpilot.selfdrive.modeld.compile_warp import (
+  CAMERA_CONFIGS, MEDMODEL_INPUT_SIZE, make_frame_prepare, make_update_both_imgs,
+  warp_pkl_path,
+)
+
+MODELS_DIR = Path(__file__).parent / 'models'
+MODEL_W, MODEL_H = MEDMODEL_INPUT_SIZE
+UPSTREAM_BUFFER_LENGTH = 5
+
+
+def v2_warp_pkl_path(cam_w, cam_h, buffer_length):
+  return MODELS_DIR / f'warp_{cam_w}x{cam_h}_b{buffer_length}_tinygrad.pkl'
+
+
+def compile_v2_warp(cam_w, cam_h, buffer_length):
+  _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
+  img_buffer_shape = (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
+
+  print(f"Compiling v2 warp for {cam_w}x{cam_h} buffer_length={buffer_length}...")
+
+  frame_prepare = make_frame_prepare(cam_w, cam_h, MODEL_W, MODEL_H)
+  update_both_imgs = make_update_both_imgs(frame_prepare, MODEL_W, MODEL_H)
+  update_img_jit = TinyJit(update_both_imgs, prune=True)
+
+  full_buffer = Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize()
+  big_full_buffer = Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize()
+  full_buffer_np = np.zeros(img_buffer_shape, dtype=np.uint8)
+  big_full_buffer_np = np.zeros(img_buffer_shape, dtype=np.uint8)
+
+  for i in range(10):
+    new_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
+    img_inputs = [full_buffer,
+                  Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
+                  Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
+    new_big_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
+    big_img_inputs = [big_full_buffer,
+                      Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
+                      Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
+    inputs = img_inputs + big_img_inputs
+    Device.default.synchronize()
+
+    inputs_np = [x.numpy() for x in inputs]
+    inputs_np[0] = full_buffer_np
+    inputs_np[3] = big_full_buffer_np
+
+    st = time.perf_counter()
+    out = update_img_jit(*inputs)
+    full_buffer = out[0].contiguous().realize().clone()
+    big_full_buffer = out[2].contiguous().realize().clone()
+    mt = time.perf_counter()
+    Device.default.synchronize()
+    et = time.perf_counter()
+    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+
+  pkl_path = v2_warp_pkl_path(cam_w, cam_h, buffer_length)
+  with open(pkl_path, "wb") as f:
+    pickle.dump(update_img_jit, f)
+  print(f"  Saved to {pkl_path}")
+
+  jit = pickle.load(open(pkl_path, "rb"))
+  jit(*inputs)
+
+
+class Warp:
+  def __init__(self, buffer_length=2):
+    self.buffer_length = buffer_length
+    self.img_buffer_shape = (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
+
+    self.jit_cache = {}
+    self.full_buffers = {k: Tensor.zeros(self.img_buffer_shape, dtype='uint8').contiguous().realize() for k in ['img', 'big_img']}
+    self._blob_cache: dict[int, Tensor] = {}
+    self._nv12_cache: dict[tuple[int, int], int] = {}
+    self.transforms_np = {k: np.zeros((3, 3), dtype=np.float32) for k in ['img', 'big_img']}
+    self.transforms = {k: Tensor(v, device='NPY').realize() for k, v in self.transforms_np.items()}
+
+  def process(self, bufs, transforms):
+    if not bufs:
+      return {}
+    road = next(n for n in bufs if 'big' not in n)
+    wide = next(n for n in bufs if 'big' in n)
+    cam_w, cam_h = bufs[road].width, bufs[road].height
+    key = (cam_w, cam_h)
+
+    if key not in self.jit_cache:
+      v2_pkl = v2_warp_pkl_path(cam_w, cam_h, self.buffer_length)
+      if v2_pkl.exists():
+        with open(v2_pkl, 'rb') as f:
+          self.jit_cache[key] = pickle.load(f)
+      elif self.buffer_length == UPSTREAM_BUFFER_LENGTH:
+        upstream_pkl = warp_pkl_path(cam_w, cam_h)
+        if upstream_pkl.exists():
+          with open(upstream_pkl, 'rb') as f:
+            self.jit_cache[key] = pickle.load(f)
+      if key not in self.jit_cache:
+        frame_prepare = make_frame_prepare(cam_w, cam_h, MODEL_W, MODEL_H)
+        update_both_imgs = make_update_both_imgs(frame_prepare, MODEL_W, MODEL_H)
+        self.jit_cache[key] = TinyJit(update_both_imgs, prune=True)
+
+    if key not in self._nv12_cache:
+      self._nv12_cache[key] = get_nv12_info(cam_w, cam_h)[3]
+    yuv_size = self._nv12_cache[key]
+
+    road_ptr = bufs[road].data.ctypes.data
+    wide_ptr = bufs[wide].data.ctypes.data
+    if road_ptr not in self._blob_cache:
+      self._blob_cache[road_ptr] = Tensor.from_blob(road_ptr, (yuv_size,), dtype='uint8')
+    if wide_ptr not in self._blob_cache:
+      self._blob_cache[wide_ptr] = Tensor.from_blob(wide_ptr, (yuv_size,), dtype='uint8')
+    road_blob = self._blob_cache[road_ptr]
+    wide_blob = self._blob_cache[wide_ptr] if wide_ptr != road_ptr else Tensor.from_blob(wide_ptr, (yuv_size,), dtype='uint8')
+    np.copyto(self.transforms_np['img'], transforms[road].reshape(3, 3))
+    np.copyto(self.transforms_np['big_img'], transforms[wide].reshape(3, 3))
+
+    Device.default.synchronize()
+    res = self.jit_cache[key](
+      self.full_buffers['img'], road_blob, self.transforms['img'],
+      self.full_buffers['big_img'], wide_blob, self.transforms['big_img'],
+    )
+    self.full_buffers['img'], out_road = res[0].realize(), res[1].realize()
+    self.full_buffers['big_img'], out_wide = res[2].realize(), res[3].realize()
+
+    return {road: out_road, wide: out_wide}
+
+
+if __name__ == "__main__":
+  for cam_w, cam_h in CAMERA_CONFIGS:
+    for bl in [2, 5]:
+      compile_v2_warp(cam_w, cam_h, bl)
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 0de749657877bb..5990ee2e4143b6 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -116,7 +116,7 @@ def set(self, data: dict) -> None:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v14.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v15.json"
 
   def __init__(self, params: Params):
     self.params = params
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index 7fcf7f85efd536..98f7d9e385fe69 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -13,16 +13,13 @@
 from openpilot.common.params import Params
 from cereal import custom
 from openpilot.sunnypilot.modeld.constants import Meta, MetaTombRaider, MetaSimPose
-from openpilot.sunnypilot.modeld.runners import ModelRunner
-from openpilot.system.hardware import PC
 from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 14
+CURRENT_SELECTOR_VERSION = 15
 REQUIRED_MIN_SELECTOR_VERSION = 14
 
-USE_ONNX = os.getenv('USE_ONNX', PC)
 
 CUSTOM_MODEL_PATH = Paths.model_root()
 METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
@@ -122,16 +119,6 @@ def _get_model():
 
   return None
 
-def get_model_path():
-  if USE_ONNX:
-    return {ModelRunner.ONNX: Path(__file__).parent / '../models/supercombo.onnx'}
-
-  if model := _get_model():
-    return {ModelRunner.THNEED: f"{CUSTOM_MODEL_PATH}/{model.artifact.fileName}"}
-
-  return {ModelRunner.THNEED: Path(__file__).parent / '../models/supercombo.thneed'}
-
-
 def load_metadata():
   metadata_path = METADATA_PATH
 
diff --git a/sunnypilot/models/runners/constants.py b/sunnypilot/models/runners/constants.py
index cbd1fdb3760634..acb316888c7754 100644
--- a/sunnypilot/models/runners/constants.py
+++ b/sunnypilot/models/runners/constants.py
@@ -1,6 +1,5 @@
 import os
 import numpy as np
-from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLMem
 from openpilot.system.hardware.hw import Paths
 from cereal import custom
 
@@ -8,8 +7,6 @@
 NumpyDict = dict[str, np.ndarray]
 ShapeDict = dict[str, tuple[int, ...]]
 SliceDict = dict[str, slice]
-CLMemDict = dict[str, CLMem]
-FrameDict = dict[str, DrivingModelFrame]
 
 ModelType = custom.ModelManagerSP.Model.Type
 Model = custom.ModelManagerSP.Model
diff --git a/sunnypilot/models/runners/model_runner.py b/sunnypilot/models/runners/model_runner.py
index a49ff4d2065c1f..051fa349db887b 100644
--- a/sunnypilot/models/runners/model_runner.py
+++ b/sunnypilot/models/runners/model_runner.py
@@ -2,7 +2,7 @@
 
 import numpy as np
 from openpilot.sunnypilot.models.helpers import get_active_bundle
-from openpilot.sunnypilot.models.runners.constants import NumpyDict, ShapeDict, CLMemDict, FrameDict, Model, SliceDict, SEND_RAW_PRED
+from openpilot.sunnypilot.models.runners.constants import NumpyDict, ShapeDict, Model, SliceDict, SEND_RAW_PRED
 from openpilot.system.hardware.hw import Paths
 import pickle
 
@@ -133,13 +133,11 @@ def vision_input_names(self) -> list[str]:
     raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
 
   @abstractmethod
-  def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict:
+  def prepare_inputs(self, numpy_inputs: NumpyDict) -> dict:
     """
     Abstract method to prepare inputs for model inference.
 
-    :param imgs_cl: Dictionary of OpenCL memory objects for image inputs.
     :param numpy_inputs: Dictionary of numpy arrays for non-image inputs.
-    :param frames: Dictionary of DrivingModelFrame objects for context.
     :return: Dictionary of prepared inputs ready for the model.
     """
     raise NotImplementedError
diff --git a/sunnypilot/models/runners/onnx/onnx_runner.py b/sunnypilot/models/runners/onnx/onnx_runner.py
deleted file mode 100644
index 1ffead45604341..00000000000000
--- a/sunnypilot/models/runners/onnx/onnx_runner.py
+++ /dev/null
@@ -1,62 +0,0 @@
-import numpy as np
-
-from openpilot.sunnypilot.modeld_v2 import MODEL_PATH
-from openpilot.sunnypilot.modeld_v2.runners.ort_helpers import make_onnx_cpu_runner, ORT_TYPES_TO_NP_TYPES
-from openpilot.sunnypilot.models.runners.constants import ModelType, ShapeDict, CLMemDict, NumpyDict, FrameDict
-from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
-from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
-
-
-class ONNXRunner(ModelRunner):
-  """
-  A ModelRunner implementation for executing ONNX models using ONNX Runtime CPU.
-
-  Handles loading the ONNX model, preparing inputs as numpy arrays, running
-  inference, and parsing outputs. This runner is typically used on non-TICI platforms.
-  """
-  def __init__(self):
-    super().__init__()
-    # Initialize ONNX Runtime session for the model at MODEL_PATH
-    self.runner = make_onnx_cpu_runner(MODEL_PATH)
-    # Map expected input names to numpy dtypes
-    self.input_to_nptype = {
-      model_input.name: ORT_TYPES_TO_NP_TYPES[model_input.type]
-      for model_input in self.runner.get_inputs()
-    }
-    # For ONNX, _model_data isn't strictly necessary as shapes/types come from the runner
-    # However, we might still need output_slices if custom models define them.
-    # We assume supercombo type for potentially loading output_slices metadata if available.
-    self._model_data = self.models.get(ModelType.supercombo)
-    self._constants = ModelConstants  # Constants for ONNX models, if needed
-
-  @property
-  def input_shapes(self) -> ShapeDict:
-    """Returns the input shapes defined in the ONNX model."""
-    # ONNX shapes are derived directly from the model definition via the runner
-    return {runner_input.name: runner_input.shape for runner_input in self.runner.get_inputs()}
-
-  def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict:
-    """Prepares inputs for the ONNX model as numpy arrays."""
-    self.inputs = numpy_inputs # Start with non-image numpy inputs
-    # Convert image inputs from OpenCL buffers to numpy arrays
-    for key in imgs_cl:
-      buffer = frames[key].buffer_from_cl(imgs_cl[key])
-      reshaped_buffer = buffer.reshape(self.input_shapes[key])
-      self.inputs[key] = reshaped_buffer.astype(dtype=self.input_to_nptype[key])
-    return self.inputs
-
-  def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
-    """Parses the raw ONNX model outputs using the standard Parser."""
-    # Use slicing if metadata is available, otherwise pass raw outputs
-    if self._model_data is None:
-      raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
-
-    outputs_to_parse = self._slice_outputs(model_outputs) if self._model_data else {'raw_pred': model_outputs}
-    result: NumpyDict = self.parser_method_dict[self._model_data.model.type.raw](outputs_to_parse)
-    return result
-
-  def _run_model(self) -> NumpyDict:
-    """Runs the ONNX model inference and parses the outputs."""
-    # Execute the ONNX Runtime session
-    outputs = self.runner.run(None, self.inputs)[0].flatten()
-    return self._parse_outputs(outputs)
diff --git a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
index 2df1c65e088734..9033c892ebc66b 100644
--- a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
+++ b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
@@ -1,11 +1,9 @@
 import pickle
 
 import numpy as np
-from openpilot.sunnypilot.modeld_v2.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
-from openpilot.sunnypilot.models.runners.constants import CLMemDict, FrameDict, NumpyDict, ModelType, ShapeDict, CUSTOM_MODEL_PATH, SliceDict
+from openpilot.sunnypilot.models.runners.constants import NumpyDict, ModelType, ShapeDict, CUSTOM_MODEL_PATH, SliceDict
 from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
 from openpilot.sunnypilot.models.runners.tinygrad.model_types import PolicyTinygrad, VisionTinygrad, SupercomboTinygrad, OffPolicyTinygrad
-from openpilot.system.hardware import TICI
 from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
 
@@ -54,37 +52,31 @@ def __init__(self, model_type: int = ModelType.supercombo):
       info = self.model_run.captured.expected_input_info[idx]
       self.input_to_dtype[name] = info[2]  # dtype
       self.input_to_device[name] = info[3]  # device
+    self._policy_cached = False
 
   @property
   def vision_input_names(self) -> list[str]:
     """Returns the list of vision input names from the input shapes."""
     return [name for name in self.input_shapes.keys() if 'img' in name]
 
-  def prepare_vision_inputs(self, imgs_cl: CLMemDict, frames: FrameDict):
-    """Prepares vision (image) inputs as Tinygrad Tensors."""
-    for key in imgs_cl:
-      if TICI and key not in self.inputs:
-        # On TICI, directly use OpenCL memory address for efficiency via QCOM extensions
-        self.inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=self.input_to_dtype[key])
-      elif not TICI:
-        # On other platforms, copy data from CL buffer to a numpy array first
-        shape = frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key])
-        self.inputs[key] = Tensor(shape, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize()
 
   def prepare_policy_inputs(self, numpy_inputs: NumpyDict):
-    """Prepares non-image (policy) inputs as Tinygrad Tensors."""
-    for key, value in numpy_inputs.items():
-      self.inputs[key] = Tensor(value, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize()
+    if not self._policy_cached:
+      for key, value in numpy_inputs.items():
+        self.inputs[key] = Tensor(value, device='NPY').realize()
+      self._policy_cached = True
 
-  def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict:
+  def prepare_inputs(self, numpy_inputs: NumpyDict) -> dict:
     """Prepares all vision and policy inputs for the model."""
-    self.prepare_vision_inputs(imgs_cl, frames)
     self.prepare_policy_inputs(numpy_inputs)
+    for key in self.vision_input_names:
+      if key in self.inputs:
+        self.inputs[key] = self.inputs[key].cast(self.input_to_dtype[key])
     return self.inputs
 
   def _run_model(self) -> NumpyDict:
     """Runs the Tinygrad model inference and parses the outputs."""
-    outputs = self.model_run(**self.inputs).numpy().flatten()
+    outputs = self.model_run(**self.inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
     return self._parse_outputs(outputs)
 
   def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
@@ -120,6 +112,9 @@ def _run_model(self) -> NumpyDict:
       off_policy_output = self.off_policy_runner.run_model()
       outputs.update(off_policy_output)
 
+    if 'planplus' in outputs and 'plan' in outputs:
+      outputs['plan'] = outputs['plan'] + outputs['planplus']
+
     return outputs
 
   @property
@@ -143,17 +138,18 @@ def output_slices(self) -> SliceDict:
       slices.update(self.off_policy_runner.output_slices)
     return slices
 
-  def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict:
+  def prepare_inputs(self, numpy_inputs: NumpyDict) -> dict:
     """Prepares inputs for both vision and policy models."""
     # Policy inputs only depend on numpy_inputs
     self.policy_runner.prepare_policy_inputs(numpy_inputs)
-    # Vision inputs depend on imgs_cl and frames
-    self.vision_runner.prepare_vision_inputs(imgs_cl, frames)
+
+    for key in self.vision_input_names:
+      if key in self.inputs:
+        self.vision_runner.inputs[key] = self.inputs[key].cast(self.vision_runner.input_to_dtype[key])
+
     inputs = {**self.policy_runner.inputs, **self.vision_runner.inputs}
 
     if self.off_policy_runner:
       self.off_policy_runner.prepare_policy_inputs(numpy_inputs)
       inputs.update(self.off_policy_runner.inputs)
-
-    # Return combined inputs (though they are stored within respective runners)
     return inputs
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 793fbc07fab3aa..2e43dfada6c943 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -80,10 +80,6 @@ def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
   """Shim for use_sunnylink_uploader to match the process manager signature."""
   return use_sunnylink_uploader(params)
 
-def is_snpe_model(started, params, CP: car.CarParams) -> bool:
-  """Check if the active model runner is SNPE."""
-  return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.snpe)
-
 def is_tinygrad_model(started, params, CP: car.CarParams) -> bool:
   """Check if the active model runner is SNPE."""
   return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.tinygrad)
@@ -170,7 +166,6 @@ def and_(*fns):
 procs += [
   # Models
   PythonProcess("models_manager", "sunnypilot.models.manager", only_offroad),
-  NativeProcess("modeld_snpe", "sunnypilot/modeld", ["./modeld"], and_(only_onroad, is_snpe_model)),
   NativeProcess("modeld_tinygrad", "sunnypilot/modeld_v2", ["./modeld"], and_(only_onroad, is_tinygrad_model)),
 
   # Backup

From 05e331736d2943c4e2fdec2c86ed53e862e6d012 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Fri, 27 Feb 2026 16:27:16 -0500
Subject: [PATCH 0756/1434] [bot] Update Python packages (#1715)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 docs/CARS.md |   3 +-
 opendbc_repo |   2 +-
 panda        |   2 +-
 uv.lock      | 106 +++++++++++++++++++++++++--------------------------
 4 files changed, 57 insertions(+), 56 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index ab1eabeb1378fc..dc8f1be4f1cd75 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 335 Supported Cars
+# 336 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -166,6 +166,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Kia|K7 2017|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K7 2017">Buy Here</a></sub></details>|||
 |Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
 |Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
diff --git a/opendbc_repo b/opendbc_repo
index a4182dab12d5e0..c5ad5063304987 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
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+Subproject commit c5ad5063304987896fa0502553cb79f95acb1149
diff --git a/panda b/panda
index 2b9ee96761ccfb..a0d3a4abe13235 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
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+Subproject commit a0d3a4abe132358a2889929469d794182a582fb1
diff --git a/uv.lock b/uv.lock
index 9094417693999f..b6dc99e79ab825 100644
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=releases#11895d3f6bc62a229e84c87505948f15f9018ce0" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=releases#11895d3f6bc62a229e84c87505948f15f9018ce0" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=releases#11895d3f6bc62a229e84c87505948f15f9018ce0" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ncurses&rev=releases#11895d3f6bc62a229e84c87505948f15f9018ce0" }
 
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From 6f6dfa6bba41b447c32d37eb19236bda0171b2b0 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 27 Feb 2026 17:53:42 -0500
Subject: [PATCH 0757/1434] tools: block `manage_sunnylinkd` in sim startup
 script (#1725)

* ui sync conflicts with upstream

* md

* ref

* ci

* lint

* more

* more ci

* new new

* tools: block `manage_sunnylinkd` in sim startup script

* try this out

* unbump
---
 tools/sim/launch_openpilot.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh
index 392f365d037c9b..ea3c4cb8f113f8 100755
--- a/tools/sim/launch_openpilot.sh
+++ b/tools/sim/launch_openpilot.sh
@@ -6,7 +6,7 @@ export SIMULATION="1"
 export SKIP_FW_QUERY="1"
 export FINGERPRINT="HONDA_CIVIC_2022"
 
-export BLOCK="${BLOCK},camerad,loggerd,encoderd,micd,logmessaged,manage_athenad"
+export BLOCK="${BLOCK},camerad,loggerd,encoderd,micd,logmessaged,manage_athenad,manage_sunnylinkd"
 if [[ "$CI" ]]; then
   # TODO: offscreen UI should work
   export BLOCK="${BLOCK},ui"

From 3beee1b80e94180f8bed9c317713eb0ecb6ac745 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 27 Feb 2026 20:01:06 -0500
Subject: [PATCH 0758/1434] [MICI] ui: need superclass `_render` in
 `HudRendererSP` (#1728)

---
 selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py
index c079c5a0ef997f..9d39d0172754f3 100644
--- a/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py
+++ b/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py
@@ -20,7 +20,9 @@ def _update_state(self) -> None:
     self.blind_spot_indicators.update()
 
   def _render(self, rect: rl.Rectangle) -> None:
+    super()._render(rect)
     self.blind_spot_indicators.render(rect)
 
   def _has_blind_spot_detected(self) -> bool:
+
     return self.blind_spot_indicators.detected

From 7eb65e878be32bed443fb3ba4f801cee8a875fd3 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 27 Feb 2026 22:56:26 -0500
Subject: [PATCH 0759/1434] [TIZI/TICI] ui: Speed Limit Assist active status
 (#1729)

[TIZI/TICI] ui: display Speed Limit Assist active status
---
 .../ui/sunnypilot/onroad/hud_renderer.py      | 20 +++++++++++++------
 1 file changed, 14 insertions(+), 6 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
index 86fcf3c693f4f4..b96a921a8b9274 100644
--- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
+++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
@@ -22,6 +22,8 @@
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 
+SLA_ACTIVE_COLOR = rl.Color(0x91, 0x9b, 0x95, 0xff)
+
 
 class HudRendererSP(HudRenderer):
   def __init__(self):
@@ -71,6 +73,8 @@ def _get_icbm_status(self):
     self.show_icbm_status = self.icbm_active_counter > 0
 
   def _draw_set_speed(self, rect: rl.Rectangle) -> None:
+    long_plan_sp = ui_state.sm['longitudinalPlanSP']
+    long_override = ui_state.sm['carControl'].cruiseControl.override
     self._get_icbm_status()
 
     set_speed_width = UI_CONFIG.set_speed_width_metric if ui_state.is_metric else UI_CONFIG.set_speed_width_imperial
@@ -85,12 +89,16 @@ def _draw_set_speed(self, rect: rl.Rectangle) -> None:
     set_speed_color = COLORS.DARK_GREY
     if self.is_cruise_set:
       set_speed_color = COLORS.WHITE
-      if ui_state.status == UIStatus.ENGAGED:
-        max_color = COLORS.ENGAGED
-      elif ui_state.status == UIStatus.DISENGAGED:
-        max_color = COLORS.DISENGAGED
-      elif ui_state.status == UIStatus.OVERRIDE:
-        max_color = COLORS.OVERRIDE
+      if long_plan_sp.speedLimit.assist.active:
+        set_speed_color = SLA_ACTIVE_COLOR if long_override else rl.Color(0, 0xff, 0, 0xff)
+        max_color = SLA_ACTIVE_COLOR if long_override else rl.Color(0x80, 0xd8, 0xa6, 0xff)
+      else:
+        if ui_state.status == UIStatus.ENGAGED:
+          max_color = COLORS.ENGAGED
+        elif ui_state.status == UIStatus.DISENGAGED:
+          max_color = COLORS.DISENGAGED
+        elif ui_state.status == UIStatus.OVERRIDE:
+          max_color = COLORS.OVERRIDE
 
     max_str_size = 60 if self.show_icbm_status else 40
     max_str_y = 15 if self.show_icbm_status else 27

From 29a3b3315ff4448c650c442feb887318acf4ebe1 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 28 Feb 2026 00:18:35 -0500
Subject: [PATCH 0760/1434] ui: reimplement "Screen Off" option to Onroad
 Brightness (#1732)

* ui: Add "Screen Off" option to Onroad Brightness

* migrate old value

* bruh

* fix algo

* comment

* no
---
 common/params_keys.h                          |  1 +
 .../ui/sunnypilot/layouts/settings/display.py |  8 +++-
 selfdrive/ui/sunnypilot/ui_state.py           | 10 ++--
 sunnypilot/sunnylink/params_metadata.json     | 46 +++++++++++--------
 .../sunnylink/tools/update_params_metadata.py | 26 +++++++++++
 sunnypilot/system/__init__.py                 |  0
 sunnypilot/system/params_migration.py         | 27 +++++++++++
 system/manager/manager.py                     |  4 ++
 8 files changed, 97 insertions(+), 25 deletions(-)
 create mode 100644 sunnypilot/system/__init__.py
 create mode 100644 sunnypilot/system/params_migration.py

diff --git a/common/params_keys.h b/common/params_keys.h
index 8f3ee858f063cd..65402b5b35ace6 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -170,6 +170,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
     {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
     {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
+    {"OnroadScreenOffBrightnessMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}},
     {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
     {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/display.py b/selfdrive/ui/sunnypilot/layouts/settings/display.py
index e5f1eba1810d15..d44118d8f4ea07 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/display.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/display.py
@@ -19,6 +19,7 @@
 class OnroadBrightness(IntEnum):
   AUTO = 0
   AUTO_DARK = 1
+  SCREEN_OFF = 2
 
 
 class DisplayLayout(Widget):
@@ -35,7 +36,7 @@ def _initialize_items(self):
       title=lambda: tr("Onroad Brightness"),
       description="",
       min_value=0,
-      max_value=21,
+      max_value=22,
       value_change_step=1,
       label_callback=lambda value: self.update_onroad_brightness(value),
       inline=True
@@ -79,7 +80,10 @@ def update_onroad_brightness(val):
     if val == OnroadBrightness.AUTO_DARK:
       return tr("Auto (Dark)")
 
-    return f"{(val - 1) * 5} %"
+    if val == OnroadBrightness.SCREEN_OFF:
+      return tr("Screen Off")
+
+    return f"{(val - 2) * 5} %"
 
   def _update_state(self):
     super()._update_state()
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index 4d26e138b1e213..050df6d26d9580 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -162,14 +162,16 @@ def set_onroad_brightness(_ui_state, awake: bool, cur_brightness: float) -> floa
       # For AUTO (Default) and Manual modes (while timer running), use standard brightness
       return cur_brightness
 
-    # 0: Auto (Default), 1: Auto (Dark)
+    # 0: Auto (Default), 1: Auto (Dark), 2: Screen Off
     if _ui_state.onroad_brightness == OnroadBrightness.AUTO:
       return cur_brightness
-    elif _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
+    if _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
       return cur_brightness
+    if _ui_state.onroad_brightness == OnroadBrightness.SCREEN_OFF:
+      return 0.0
 
-    # 2-21: 5% - 100%
-    return float((_ui_state.onroad_brightness - 1) * 5)
+    # 3-22: 5% - 100%
+    return float((_ui_state.onroad_brightness - 2) * 5)
 
   @staticmethod
   def set_min_onroad_brightness(_ui_state, min_brightness: int) -> int:
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index 67ce903aba42ee..59c473b973b720 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -845,86 +845,94 @@
       },
       {
         "value": 2,
-        "label": "5 %"
+        "label": "Screen Off"
       },
       {
         "value": 3,
-        "label": "10 %"
+        "label": "5 %"
       },
       {
         "value": 4,
-        "label": "15 %"
+        "label": "10 %"
       },
       {
         "value": 5,
-        "label": "20 %"
+        "label": "15 %"
       },
       {
         "value": 6,
-        "label": "25 %"
+        "label": "20 %"
       },
       {
         "value": 7,
-        "label": "30 %"
+        "label": "25 %"
       },
       {
         "value": 8,
-        "label": "35 %"
+        "label": "30 %"
       },
       {
         "value": 9,
-        "label": "40 %"
+        "label": "35 %"
       },
       {
         "value": 10,
-        "label": "45 %"
+        "label": "40 %"
       },
       {
         "value": 11,
-        "label": "50 %"
+        "label": "45 %"
       },
       {
         "value": 12,
-        "label": "55 %"
+        "label": "50 %"
       },
       {
         "value": 13,
-        "label": "60 %"
+        "label": "55 %"
       },
       {
         "value": 14,
-        "label": "65 %"
+        "label": "60 %"
       },
       {
         "value": 15,
-        "label": "70 %"
+        "label": "65 %"
       },
       {
         "value": 16,
-        "label": "75 %"
+        "label": "70 %"
       },
       {
         "value": 17,
-        "label": "80 %"
+        "label": "75 %"
       },
       {
         "value": 18,
-        "label": "85 %"
+        "label": "80 %"
       },
       {
         "value": 19,
-        "label": "90 %"
+        "label": "85 %"
       },
       {
         "value": 20,
-        "label": "95 %"
+        "label": "90 %"
       },
       {
         "value": 21,
+        "label": "95 %"
+      },
+      {
+        "value": 22,
         "label": "100 %"
       }
     ]
   },
+  "OnroadScreenOffBrightnessMigrated": {
+    "title": "Onroad Brightness Migration Version",
+    "description": "This param is to track whether OnroadScreenOffBrightness needs to be migrated."
+  },
   "OnroadScreenOffControl": {
     "title": "Onroad Brightness",
     "description": "Adjusts the screen brightness while it's in onroad state."
diff --git a/sunnypilot/sunnylink/tools/update_params_metadata.py b/sunnypilot/sunnylink/tools/update_params_metadata.py
index 3ef91debe0abac..013544005bb212 100755
--- a/sunnypilot/sunnylink/tools/update_params_metadata.py
+++ b/sunnypilot/sunnylink/tools/update_params_metadata.py
@@ -53,9 +53,34 @@ def main():
 
   print(f"Updated {METADATA_PATH}")
 
+  # update onroad screen brightness params
+  update_onroad_brightness_param()
+
   # update torque versions param
   update_torque_versions_param()
 
+
+def update_onroad_brightness_param():
+  try:
+    with open(METADATA_PATH) as f:
+      params_metadata = json.load(f)
+    if "OnroadScreenOffBrightness" in params_metadata:
+      options = [
+        {"value": 0, "label": "Auto (Default)"},
+        {"value": 1, "label": "Auto (Dark)"},
+        {"value": 2, "label": "Screen Off"},
+      ]
+      for i in range(3, 23):
+        options.append({"value": i, "label": f"{(i - 2) * 5} %"})
+      params_metadata["OnroadScreenOffBrightness"]["options"] = options
+      with open(METADATA_PATH, 'w') as f:
+        json.dump(params_metadata, f, indent=2)
+        f.write('\n')
+      print(f"Updated OnroadScreenOffBrightness options in params_metadata.json with {len(options)} options.")
+  except Exception as e:
+    print(f"Failed to update OnroadScreenOffBrightness versions in params_metadata.json: {e}")
+
+
 def update_torque_versions_param():
   with open(TORQUE_VERSIONS_JSON) as f:
     current_versions = json.load(f)
@@ -81,5 +106,6 @@ def update_torque_versions_param():
   except Exception as e:
     print(f"Failed to update TorqueControlTune versions in params_metadata.json: {e}")
 
+
 if __name__ == "__main__":
   main()
diff --git a/sunnypilot/system/__init__.py b/sunnypilot/system/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/system/params_migration.py b/sunnypilot/system/params_migration.py
new file mode 100644
index 00000000000000..6a82f1866da672
--- /dev/null
+++ b/sunnypilot/system/params_migration.py
@@ -0,0 +1,27 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.swaglog import cloudlog
+
+ONROAD_BRIGHTNESS_MIGRATION_VERSION: str = "1.0"
+
+
+def run_migration(_params):
+  # migrate OnroadScreenOffBrightness
+  if _params.get("OnroadScreenOffBrightnessMigrated") != ONROAD_BRIGHTNESS_MIGRATION_VERSION:
+    try:
+      val = _params.get("OnroadScreenOffBrightness")
+      if val >= 2:  # old: 5%, new: Screen Off
+        new_val = val + 1
+        _params.put("OnroadScreenOffBrightness", new_val)
+        log_str = f"Successfully migrated OnroadScreenOffBrightness from {val} to {new_val}."
+      else:
+        log_str = "Migration not required for OnroadScreenOffBrightness."
+
+      _params.put("OnroadScreenOffBrightnessMigrated", ONROAD_BRIGHTNESS_MIGRATION_VERSION)
+      cloudlog.info(log_str + f" Setting OnroadScreenOffBrightnessMigrated to {ONROAD_BRIGHTNESS_MIGRATION_VERSION}")
+    except Exception as e:
+      cloudlog.exception(f"Error migrating OnroadScreenOffBrightness: {e}")
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 8c5d35d0724a95..8c219909e43d23 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -22,6 +22,8 @@
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware import PC
 
+from openpilot.sunnypilot.system.params_migration import run_migration
+
 
 def manager_init() -> None:
   save_bootlog()
@@ -49,6 +51,8 @@ def manager_init() -> None:
   if params.get_bool("RecordFrontLock"):
     params.put_bool("RecordFront", True)
 
+  run_migration(params)
+
   # set unset params to their default value
   for k in params.all_keys():
     default_value = params.get_default_value(k)

From 16047e3c3d3bffab6b05025985b0b6a0538dbdd0 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Sat, 28 Feb 2026 00:28:08 -0500
Subject: [PATCH 0761/1434] ui: dont hide steering wheel when blindspot
 disabled (#1709)

Update blind_spot_indicators.py

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py b/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py
index f2f482525d5f40..4e1d748117af3f 100644
--- a/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py
+++ b/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py
@@ -28,7 +28,7 @@ def update(self) -> None:
 
   @property
   def detected(self) -> bool:
-    return self._blind_spot_left_alpha_filter.x > 0.01 or self._blind_spot_right_alpha_filter.x > 0.01
+    return ui_state.blindspot and (self._blind_spot_left_alpha_filter.x > 0.01 or self._blind_spot_right_alpha_filter.x > 0.01)
 
   def render(self, rect: rl.Rectangle) -> None:
     if not ui_state.blindspot:

From fd1937c6d49e73328b503d4bc5d43d805cb216f4 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 28 Feb 2026 15:23:04 -0500
Subject: [PATCH 0762/1434] ui: Speed Limit Assist `preActive` improvements 
 (#1743)

* mici init

* obv

* hybrid

* too soon junior

* make them all flash the same pls

* abstract

* shorter

* also too soon junior

* not so fast
---
 selfdrive/ui/sunnypilot/onroad/speed_limit.py | 61 +++++++++++--------
 .../selfdrive/assets/img_minus_arrow_down.png |  4 +-
 .../selfdrive/assets/img_plus_arrow_up.png    |  4 +-
 sunnypilot/selfdrive/selfdrived/events.py     | 18 +++---
 4 files changed, 51 insertions(+), 36 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/onroad/speed_limit.py b/selfdrive/ui/sunnypilot/onroad/speed_limit.py
index 39a9848d372090..962c96e17a1934 100644
--- a/selfdrive/ui/sunnypilot/onroad/speed_limit.py
+++ b/selfdrive/ui/sunnypilot/onroad/speed_limit.py
@@ -6,7 +6,6 @@
 """
 
 from dataclasses import dataclass
-import math
 import pyray as rl
 
 from cereal import custom
@@ -41,9 +40,32 @@ class Colors:
   MUTCD_LINES = rl.Color(255, 255, 255, 100)
 
 
-class SpeedLimitRenderer(Widget):
+class SpeedLimitAlertRenderer:
   def __init__(self):
-    super().__init__()
+    arrow_size = 200
+    self.arrow_up = gui_app.texture("../../sunnypilot/selfdrive/assets/img_plus_arrow_up.png", arrow_size, arrow_size)
+    self.arrow_down = gui_app.texture("../../sunnypilot/selfdrive/assets/img_minus_arrow_down.png", arrow_size, arrow_size)
+
+    self._pre_active_alpha_filter = FirstOrderFilter(1.0, 0.05, 1 / gui_app.target_fps)
+    self._pre_active_alert_frame = 0
+
+  def update(self):
+    assist_state = ui_state.sm['longitudinalPlanSP'].speedLimit.assist.state
+    if assist_state == AssistState.preActive:
+      self._pre_active_alert_frame += 1
+      if (self._pre_active_alert_frame % gui_app.target_fps) < (gui_app.target_fps * 0.75):
+        self._pre_active_alpha_filter.x = 1.0
+      else:
+        self._pre_active_alpha_filter.update(0.0)
+    else:
+      self._pre_active_alert_frame = 0
+      self._pre_active_alpha_filter.update(1.0)
+
+
+class SpeedLimitRenderer(Widget, SpeedLimitAlertRenderer):
+  def __init__(self):
+    Widget.__init__(self)
+    SpeedLimitAlertRenderer.__init__(self)
 
     self.speed_limit = 0.0
     self.speed_limit_last = 0.0
@@ -60,7 +82,6 @@ def __init__(self):
     self.speed_limit_ahead_valid = False
     self.speed_limit_ahead_frame = 0
 
-    self.assist_frame = 0
     self.is_cruise_set: bool = False
     self.is_cruise_available: bool = True
     self.set_speed: float = SET_SPEED_NA
@@ -70,17 +91,13 @@ def __init__(self):
     self.font_bold = gui_app.font(FontWeight.BOLD)
     self.font_demi = gui_app.font(FontWeight.SEMI_BOLD)
     self.font_norm = gui_app.font(FontWeight.NORMAL)
-    self._sign_alpha_filter = FirstOrderFilter(1.0, 0.5, 1 / gui_app.target_fps)
-
-    arrow_size = 90
-    self._arrow_up = gui_app.texture("../../sunnypilot/selfdrive/assets/img_plus_arrow_up.png", arrow_size, arrow_size)
-    self._arrow_down = gui_app.texture("../../sunnypilot/selfdrive/assets/img_minus_arrow_down.png", arrow_size, arrow_size)
 
   @property
   def speed_conv(self):
     return CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
 
   def update(self):
+    SpeedLimitAlertRenderer.update(self)
     sm = ui_state.sm
     if sm.recv_frame["carState"] < ui_state.started_frame:
       self.set_speed = SET_SPEED_NA
@@ -143,13 +160,7 @@ def _render(self, rect: rl.Rectangle):
 
     sign_rect = rl.Rectangle(x, y, width, UI_CONFIG.set_speed_height + 6 * 2)
 
-    if self.speed_limit_assist_state == AssistState.preActive:
-      self.assist_frame += 1
-      pulse_value = 0.65 + 0.35 * math.sin(self.assist_frame * math.pi / gui_app.target_fps)
-      alpha = self._sign_alpha_filter.update(pulse_value)
-    else:
-      self.assist_frame = 0
-      alpha = self._sign_alpha_filter.update(1.0)
+    alpha = self._pre_active_alpha_filter.x
 
     if ui_state.speed_limit_mode != SpeedLimitMode.off:
       self._draw_sign_main(sign_rect, alpha)
@@ -184,19 +195,19 @@ def _draw_pre_active_arrow(self, sign_rect):
     set_speed_rounded = round(self.set_speed)
     limit_rounded = round(self.speed_limit_final_last)
 
-    bounce_frequency = 2.0 * math.pi / (gui_app.target_fps * 2.5)
-    bounce_offset = int(20 * math.sin(self.assist_frame * bounce_frequency))
-
     sign_margin = 12
     arrow_spacing = int(sign_margin * 1.4)
     arrow_x = sign_rect.x + sign_rect.width + arrow_spacing
 
-    if set_speed_rounded < limit_rounded:
-      arrow_y = sign_rect.y + (sign_rect.height - self._arrow_up.height) / 2 + bounce_offset
-      rl.draw_texture(self._arrow_up, int(arrow_x), int(arrow_y), rl.WHITE)
-    elif set_speed_rounded > limit_rounded:
-      arrow_y = sign_rect.y + (sign_rect.height - self._arrow_down.height) / 2 - bounce_offset
-      rl.draw_texture(self._arrow_down, int(arrow_x), int(arrow_y), rl.WHITE)
+    icon_alpha = max(0.0, min(self._pre_active_alpha_filter.x * 255.0, 255.0))
+    if icon_alpha > 0:
+      color = rl.Color(255, 255, 255, int(icon_alpha))
+      if set_speed_rounded < limit_rounded:
+        arrow_y = sign_rect.y + (sign_rect.height - self.arrow_up.height) / 2
+        rl.draw_texture(self.arrow_up, int(arrow_x), int(arrow_y), color)
+      elif set_speed_rounded > limit_rounded:
+        arrow_y = sign_rect.y + (sign_rect.height - self.arrow_down.height) / 2
+        rl.draw_texture(self.arrow_down, int(arrow_x), int(arrow_y), color)
 
   def _render_vienna(self, rect, val, sub, color, has_limit, alpha=1.0):
     center = rl.Vector2(rect.x + rect.width / 2, rect.y + rect.height / 2)
diff --git a/sunnypilot/selfdrive/assets/img_minus_arrow_down.png b/sunnypilot/selfdrive/assets/img_minus_arrow_down.png
index 250f640585c2cb..2dc99789a58d1d 100644
--- a/sunnypilot/selfdrive/assets/img_minus_arrow_down.png
+++ b/sunnypilot/selfdrive/assets/img_minus_arrow_down.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0f4a0bf26cfd2c64939759d43bee839aadfd017a6f74065095a27b03615e55a4
-size 26627
+oid sha256:ad42ecaeff96a0a6c1a6db67b01e3c0452566906dd3a7f0336a1010ae854d27b
+size 60924
diff --git a/sunnypilot/selfdrive/assets/img_plus_arrow_up.png b/sunnypilot/selfdrive/assets/img_plus_arrow_up.png
index 14c1529da31950..4247827340c44d 100644
--- a/sunnypilot/selfdrive/assets/img_plus_arrow_up.png
+++ b/sunnypilot/selfdrive/assets/img_plus_arrow_up.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3e451ff31e9b3f144822ab282b8e47cd5a603ca59ff94bd1849271181b86c6b1
-size 29220
+oid sha256:1fdea39873f60a0c4b216b75792e826f3633091a72ea2abd05740bd6e4e72089
+size 63058
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py
index 4edc0bd470ae1e..d7507ab2e35a58 100644
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -1,3 +1,9 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
 import cereal.messaging as messaging
 from cereal import log, car, custom
 from openpilot.common.constants import CV
@@ -34,7 +40,6 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
   speed_limit_final_last = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimitFinalLast
   speed_limit_final_last_conv = round(speed_limit_final_last * speed_conv)
   alert_1_str = ""
-  alert_2_str = ""
   alert_size = AlertSize.none
 
   if CP.openpilotLongitudinalControl and CP.pcmCruise:
@@ -44,13 +49,12 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
     pcm_long_required_max_set_speed_conv = round(pcm_long_required_max * speed_conv)
     speed_unit = "km/h" if metric else "mph"
 
-    alert_1_str = "Speed Limit Assist: Activation Required"
-    alert_2_str = f"Manually change set speed to {pcm_long_required_max_set_speed_conv} {speed_unit} to activate"
-    alert_size = AlertSize.mid
+    alert_1_str = f"Speed Limit Assist: set to {pcm_long_required_max_set_speed_conv} {speed_unit} to engage"
+    alert_size = AlertSize.small
 
   return Alert(
     alert_1_str,
-    alert_2_str,
+    "",
     AlertStatus.normal, alert_size,
     Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleLow, .1)
 
@@ -193,7 +197,7 @@ def get_event_msg_type(self):
 
   EventNameSP.speedLimitActive: {
     ET.WARNING: Alert(
-      "Automatically adjusting to the posted speed limit",
+      "Auto adjusting to speed limit",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
@@ -213,7 +217,7 @@ def get_event_msg_type(self):
 
   EventNameSP.speedLimitPending: {
     ET.WARNING: Alert(
-      "Automatically adjusting to the last speed limit",
+      "Auto adjusting to last speed limit",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),

From 5a0c06434609b762b4d84da594ff567f0910df07 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 28 Feb 2026 20:06:38 -0500
Subject: [PATCH 0763/1434] ui: consolidate Speed Limit Assist `preActive`
 status rendering (#1745)

* mici init

* obv

* hybrid

* adapt

* less

* consolidate

* oops

Refactor speed limit alert function to use car state directly.

* no event border for tizi/tici

* abstract it

* too soon junior

* refactor
---
 selfdrive/ui/sunnypilot/onroad/speed_limit.py | 65 ++++++++++++++-----
 1 file changed, 47 insertions(+), 18 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/onroad/speed_limit.py b/selfdrive/ui/sunnypilot/onroad/speed_limit.py
index 962c96e17a1934..02df292cd6551a 100644
--- a/selfdrive/ui/sunnypilot/onroad/speed_limit.py
+++ b/selfdrive/ui/sunnypilot/onroad/speed_limit.py
@@ -6,6 +6,7 @@
 """
 
 from dataclasses import dataclass
+from enum import StrEnum
 import pyray as rl
 
 from cereal import custom
@@ -14,6 +15,7 @@
 from openpilot.selfdrive.ui.onroad.hud_renderer import UI_CONFIG
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
+from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.text_measure import measure_text_cached
@@ -40,11 +42,21 @@ class Colors:
   MUTCD_LINES = rl.Color(255, 255, 255, 100)
 
 
+class IconSide(StrEnum):
+  left = 'left'
+  right = 'right'
+
+
 class SpeedLimitAlertRenderer:
+  ARROW_SIZE = 90 if HARDWARE.get_device_type() == 'mici' else 200
+
   def __init__(self):
-    arrow_size = 200
-    self.arrow_up = gui_app.texture("../../sunnypilot/selfdrive/assets/img_plus_arrow_up.png", arrow_size, arrow_size)
-    self.arrow_down = gui_app.texture("../../sunnypilot/selfdrive/assets/img_minus_arrow_down.png", arrow_size, arrow_size)
+    self.arrow_up = gui_app.texture("../../sunnypilot/selfdrive/assets/img_plus_arrow_up.png", self.ARROW_SIZE, self.ARROW_SIZE)
+    self.arrow_down = gui_app.texture("../../sunnypilot/selfdrive/assets/img_minus_arrow_down.png", self.ARROW_SIZE, self.ARROW_SIZE)
+
+    blank_image = rl.gen_image_color(self.ARROW_SIZE, self.ARROW_SIZE, rl.Color(0, 0, 0, 0))
+    self.arrow_blank = rl.load_texture_from_image(blank_image)
+    rl.unload_image(blank_image)
 
     self._pre_active_alpha_filter = FirstOrderFilter(1.0, 0.05, 1 / gui_app.target_fps)
     self._pre_active_alert_frame = 0
@@ -61,6 +73,31 @@ def update(self):
       self._pre_active_alert_frame = 0
       self._pre_active_alpha_filter.update(1.0)
 
+  def speed_limit_pre_active_icon_helper(self):
+    icon_alpha = max(0.0, min(self._pre_active_alpha_filter.x * 255.0, 255.0))
+    txt_icon = self.arrow_blank
+    icon_margin_x = 10
+    icon_margin_y = 18
+
+    if icon_alpha > 0:
+      speed_conv = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+      speed_limit_final_last = ui_state.sm['longitudinalPlanSP'].speedLimit.resolver.speedLimitFinalLast
+
+      v_cruise_cluster = ui_state.sm['carState'].vCruiseCluster
+      set_speed = ui_state.sm['controlsState'].vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+      if not ui_state.is_metric:
+        set_speed *= KM_TO_MILE
+
+      set_speed_round = round(set_speed)
+      speed_limit_round = round(speed_limit_final_last * speed_conv)
+
+      if set_speed_round < speed_limit_round:
+        txt_icon = self.arrow_up
+      elif set_speed_round > speed_limit_round:
+        txt_icon = self.arrow_down
+
+    return IconSide.right, txt_icon, icon_alpha, icon_margin_x, icon_margin_y
+
 
 class SpeedLimitRenderer(Widget, SpeedLimitAlertRenderer):
   def __init__(self):
@@ -192,22 +229,14 @@ def _draw_sign_main(self, rect, alpha=1.0):
       self._render_mutcd(rect, limit_str, sub_text, txt_color, has_limit, alpha)
 
   def _draw_pre_active_arrow(self, sign_rect):
-    set_speed_rounded = round(self.set_speed)
-    limit_rounded = round(self.speed_limit_final_last)
-
-    sign_margin = 12
-    arrow_spacing = int(sign_margin * 1.4)
-    arrow_x = sign_rect.x + sign_rect.width + arrow_spacing
-
-    icon_alpha = max(0.0, min(self._pre_active_alpha_filter.x * 255.0, 255.0))
-    if icon_alpha > 0:
+    _, txt_icon, icon_alpha, _, _ = SpeedLimitAlertRenderer.speed_limit_pre_active_icon_helper(self)
+    if icon_alpha > 0 and txt_icon != self.arrow_blank:
+      sign_margin = 12
+      arrow_spacing = int(sign_margin * 1.4)
+      arrow_x = sign_rect.x + sign_rect.width + arrow_spacing
+      arrow_y = sign_rect.y + (sign_rect.height - txt_icon.height) / 2
       color = rl.Color(255, 255, 255, int(icon_alpha))
-      if set_speed_rounded < limit_rounded:
-        arrow_y = sign_rect.y + (sign_rect.height - self.arrow_up.height) / 2
-        rl.draw_texture(self.arrow_up, int(arrow_x), int(arrow_y), color)
-      elif set_speed_rounded > limit_rounded:
-        arrow_y = sign_rect.y + (sign_rect.height - self.arrow_down.height) / 2
-        rl.draw_texture(self.arrow_down, int(arrow_x), int(arrow_y), color)
+      rl.draw_texture(txt_icon, int(arrow_x), int(arrow_y), color)
 
   def _render_vienna(self, rect, val, sub, color, has_limit, alpha=1.0):
     center = rl.Vector2(rect.x + rect.width / 2, rect.y + rect.height / 2)

From 60ae57a3edbb0918f9448d321d099ba52c83f6a7 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 28 Feb 2026 20:19:40 -0500
Subject: [PATCH 0764/1434] [MICI] ui: Speed Limit Assist `preActive` status
 (#1742)

* mici init

* obv

* hybrid

* adapt

* less

* consolidate

* oops

Refactor speed limit alert function to use car state directly.

* no event border for tizi/tici

* abstract it

* less

* nah
---
 selfdrive/ui/mici/onroad/alert_renderer.py | 19 +++++++++++++++----
 sunnypilot/selfdrive/selfdrived/events.py  | 19 ++++++++++++++++---
 2 files changed, 31 insertions(+), 7 deletions(-)

diff --git a/selfdrive/ui/mici/onroad/alert_renderer.py b/selfdrive/ui/mici/onroad/alert_renderer.py
index 344c955c3e9ea7..68b2aef7a59516 100644
--- a/selfdrive/ui/mici/onroad/alert_renderer.py
+++ b/selfdrive/ui/mici/onroad/alert_renderer.py
@@ -13,6 +13,8 @@
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 
+from openpilot.selfdrive.ui.sunnypilot.onroad.speed_limit import SpeedLimitAlertRenderer
+
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 
@@ -46,6 +48,7 @@ class IconLayout(NamedTuple):
   side: IconSide
   margin_x: int
   margin_y: int
+  alpha: float = 255.0
 
 
 class AlertLayout(NamedTuple):
@@ -86,9 +89,10 @@ class Alert:
 )
 
 
-class AlertRenderer(Widget):
+class AlertRenderer(Widget, SpeedLimitAlertRenderer):
   def __init__(self):
-    super().__init__()
+    Widget.__init__(self)
+    SpeedLimitAlertRenderer.__init__(self)
 
     self._alert_text1_label = UnifiedLabel(text="", font_size=ALERT_FONT_BIG, font_weight=FontWeight.DISPLAY, line_height=0.86,
                                            letter_spacing=-0.02)
@@ -155,6 +159,7 @@ def will_render(self) -> tuple[Alert | None, bool]:
   def _icon_helper(self, alert: Alert) -> AlertLayout:
     icon_side = None
     txt_icon = None
+    icon_alpha = 255.0
     icon_margin_x = 20
     icon_margin_y = 18
 
@@ -191,6 +196,9 @@ def _icon_helper(self, alert: Alert) -> AlertLayout:
       icon_margin_x = 8
       icon_margin_y = 0
 
+    elif event_name == 'speedLimitPreActive':
+      icon_side, txt_icon, icon_alpha, icon_margin_x, icon_margin_y = SpeedLimitAlertRenderer.speed_limit_pre_active_icon_helper(self)
+
     else:
       self._turn_signal_timer = 0.0
 
@@ -212,7 +220,7 @@ def _icon_helper(self, alert: Alert) -> AlertLayout:
       text_width,
       self._rect.height,
     )
-    icon_layout = IconLayout(txt_icon, icon_side, icon_margin_x, icon_margin_y) if txt_icon is not None and icon_side is not None else None
+    icon_layout = IconLayout(txt_icon, icon_side, icon_margin_x, icon_margin_y, icon_alpha) if txt_icon is not None and icon_side is not None else None
     return AlertLayout(text_rect, icon_layout)
 
   def _render(self, rect: rl.Rectangle) -> bool:
@@ -235,6 +243,9 @@ def _render(self, rect: rl.Rectangle) -> bool:
 
     self._draw_background(alert)
 
+    # update speed limit UI states
+    SpeedLimitAlertRenderer.update(self)
+
     alert_layout = self._icon_helper(alert)
     self._draw_text(alert, alert_layout)
     self._draw_icons(alert_layout)
@@ -257,7 +268,7 @@ def _draw_icons(self, alert_layout: AlertLayout) -> None:
       pos_x = int(self._rect.x + self._rect.width - alert_layout.icon.margin_x - alert_layout.icon.texture.width)
 
     if alert_layout.icon.texture not in (self._txt_turn_signal_left, self._txt_turn_signal_right):
-      icon_alpha = 255
+      icon_alpha = alert_layout.icon.alpha
     else:
       icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255))
 
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py
index d7507ab2e35a58..b1343b2a083de4 100644
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -10,7 +10,7 @@
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
   NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
-
+from openpilot.system.hardware import HARDWARE
 
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
@@ -23,6 +23,8 @@
 # get event name from enum
 EVENT_NAME_SP = {v: k for k, v in EventNameSP.schema.enumerants.items()}
 
+IS_MICI = HARDWARE.get_device_type() == 'mici'
+
 
 def speed_limit_adjust_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   speedLimit = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimit
@@ -37,10 +39,14 @@ def speed_limit_adjust_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.
 
 def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   speed_conv = CV.MS_TO_KPH if metric else CV.MS_TO_MPH
+  v_cruise_cluster = CS.vCruiseCluster
+  set_speed = sm['controlsState'].vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+  set_speed_conv = round(set_speed * speed_conv)
+
   speed_limit_final_last = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimitFinalLast
   speed_limit_final_last_conv = round(speed_limit_final_last * speed_conv)
   alert_1_str = ""
-  alert_size = AlertSize.none
+  alert_size = AlertSize.small
 
   if CP.openpilotLongitudinalControl and CP.pcmCruise:
     # PCM long
@@ -50,7 +56,14 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
     speed_unit = "km/h" if metric else "mph"
 
     alert_1_str = f"Speed Limit Assist: set to {pcm_long_required_max_set_speed_conv} {speed_unit} to engage"
-    alert_size = AlertSize.small
+  else:
+    if IS_MICI:
+      if set_speed_conv < speed_limit_final_last_conv:
+        alert_1_str = "Press + to confirm speed limit"
+      elif set_speed_conv > speed_limit_final_last_conv:
+        alert_1_str = "Press - to confirm speed limit"
+    else:
+      alert_size = AlertSize.none
 
   return Alert(
     alert_1_str,

From de0790f91248acdfbb4c239242514d1692e80967 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 28 Feb 2026 21:07:24 -0800
Subject: [PATCH 0765/1434] sunnypilot modeld: remove thneed modeld (#1731)

* sunnypilot modeld: remove unused modeld

* more

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .github/workflows/sunnypilot-build-model.yaml |   1 -
 .gitignore                                    |   2 -
 selfdrive/modeld/modeld.py                    |   2 +-
 sunnypilot/modeld/.gitignore                  |   1 -
 sunnypilot/modeld/SConscript                  |  44 ---
 sunnypilot/modeld/__init__.py                 |   0
 sunnypilot/modeld/fill_model_msg.py           | 223 -----------
 sunnypilot/modeld/get_model_metadata.py       |  28 --
 sunnypilot/modeld/modeld                      |  10 -
 sunnypilot/modeld/modeld.py                   | 348 ------------------
 sunnypilot/modeld/models/__init__.py          |   0
 sunnypilot/modeld/models/commonmodel.cc       |  50 ---
 sunnypilot/modeld/models/commonmodel.h        |  36 --
 sunnypilot/modeld/models/commonmodel.pxd      |  18 -
 sunnypilot/modeld/models/commonmodel_pyx.pxd  |  13 -
 sunnypilot/modeld/models/commonmodel_pyx.pyx  |  45 ---
 sunnypilot/modeld/parse_model_outputs.py      | 107 ------
 sunnypilot/modeld/runners/__init__.py         |  22 --
 sunnypilot/modeld/runners/onnxmodel.py        |  98 -----
 sunnypilot/modeld/runners/run.h               |   3 -
 sunnypilot/modeld/runners/runmodel.h          |  49 ---
 sunnypilot/modeld/runners/runmodel.pxd        |  14 -
 sunnypilot/modeld/runners/runmodel_pyx.pxd    |   6 -
 sunnypilot/modeld/runners/runmodel_pyx.pyx    |  37 --
 sunnypilot/modeld/runners/thneedmodel.cc      |  58 ---
 sunnypilot/modeld/runners/thneedmodel.h       |  17 -
 sunnypilot/modeld/runners/thneedmodel.pxd     |   9 -
 sunnypilot/modeld/runners/thneedmodel_pyx.pyx |  14 -
 sunnypilot/modeld/thneed/README               |   8 -
 sunnypilot/modeld/thneed/__init__.py          |   0
 sunnypilot/modeld/thneed/clutil_legacy.cc     | 126 -------
 sunnypilot/modeld/thneed/clutil_legacy.h      |  13 -
 sunnypilot/modeld/thneed/serialize.cc         | 155 --------
 sunnypilot/modeld/thneed/thneed.h             | 133 -------
 sunnypilot/modeld/thneed/thneed_common.cc     | 216 -----------
 sunnypilot/modeld/thneed/thneed_pc.cc         |  32 --
 sunnypilot/modeld/thneed/thneed_qcom2.cc      | 258 -------------
 sunnypilot/modeld/transforms/loadyuv.cc       |  74 ----
 sunnypilot/modeld/transforms/loadyuv.cl       |  47 ---
 sunnypilot/modeld/transforms/loadyuv.h        |  16 -
 sunnypilot/modeld/transforms/transform.cc     |  97 -----
 sunnypilot/modeld/transforms/transform.cl     |  54 ---
 sunnypilot/modeld/transforms/transform.h      |  25 --
 sunnypilot/modeld_v2/modeld.py                |   2 +-
 .../{modeld => modeld_v2}/modeld_base.py      |   0
 sunnypilot/{modeld => models}/constants.py    |   0
 sunnypilot/models/helpers.py                  |   2 +-
 .../selfdrive/controls/controlsd_ext.py       |   2 +-
 .../selfdrive/controls/lib/drive_helpers.py   |  27 --
 49 files changed, 4 insertions(+), 2538 deletions(-)
 delete mode 100644 sunnypilot/modeld/.gitignore
 delete mode 100644 sunnypilot/modeld/SConscript
 delete mode 100644 sunnypilot/modeld/__init__.py
 delete mode 100644 sunnypilot/modeld/fill_model_msg.py
 delete mode 100755 sunnypilot/modeld/get_model_metadata.py
 delete mode 100755 sunnypilot/modeld/modeld
 delete mode 100755 sunnypilot/modeld/modeld.py
 delete mode 100644 sunnypilot/modeld/models/__init__.py
 delete mode 100644 sunnypilot/modeld/models/commonmodel.cc
 delete mode 100644 sunnypilot/modeld/models/commonmodel.h
 delete mode 100644 sunnypilot/modeld/models/commonmodel.pxd
 delete mode 100644 sunnypilot/modeld/models/commonmodel_pyx.pxd
 delete mode 100644 sunnypilot/modeld/models/commonmodel_pyx.pyx
 delete mode 100644 sunnypilot/modeld/parse_model_outputs.py
 delete mode 100644 sunnypilot/modeld/runners/__init__.py
 delete mode 100644 sunnypilot/modeld/runners/onnxmodel.py
 delete mode 100644 sunnypilot/modeld/runners/run.h
 delete mode 100644 sunnypilot/modeld/runners/runmodel.h
 delete mode 100644 sunnypilot/modeld/runners/runmodel.pxd
 delete mode 100644 sunnypilot/modeld/runners/runmodel_pyx.pxd
 delete mode 100644 sunnypilot/modeld/runners/runmodel_pyx.pyx
 delete mode 100644 sunnypilot/modeld/runners/thneedmodel.cc
 delete mode 100644 sunnypilot/modeld/runners/thneedmodel.h
 delete mode 100644 sunnypilot/modeld/runners/thneedmodel.pxd
 delete mode 100644 sunnypilot/modeld/runners/thneedmodel_pyx.pyx
 delete mode 100644 sunnypilot/modeld/thneed/README
 delete mode 100644 sunnypilot/modeld/thneed/__init__.py
 delete mode 100644 sunnypilot/modeld/thneed/clutil_legacy.cc
 delete mode 100644 sunnypilot/modeld/thneed/clutil_legacy.h
 delete mode 100644 sunnypilot/modeld/thneed/serialize.cc
 delete mode 100644 sunnypilot/modeld/thneed/thneed.h
 delete mode 100644 sunnypilot/modeld/thneed/thneed_common.cc
 delete mode 100644 sunnypilot/modeld/thneed/thneed_pc.cc
 delete mode 100644 sunnypilot/modeld/thneed/thneed_qcom2.cc
 delete mode 100644 sunnypilot/modeld/transforms/loadyuv.cc
 delete mode 100644 sunnypilot/modeld/transforms/loadyuv.cl
 delete mode 100644 sunnypilot/modeld/transforms/loadyuv.h
 delete mode 100644 sunnypilot/modeld/transforms/transform.cc
 delete mode 100644 sunnypilot/modeld/transforms/transform.cl
 delete mode 100644 sunnypilot/modeld/transforms/transform.h
 rename sunnypilot/{modeld => modeld_v2}/modeld_base.py (100%)
 rename sunnypilot/{modeld => models}/constants.py (100%)
 delete mode 100644 sunnypilot/selfdrive/controls/lib/drive_helpers.py

diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml
index 293c0f2a017b90..9414a7fd046541 100644
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -184,7 +184,6 @@ jobs:
           # Copy the model files
           rsync -avm \
             --include='*.dlc' \
-            --include='*.thneed' \
             --include='*.pkl' \
             --include='*.onnx' \
             --exclude='*' \
diff --git a/.gitignore b/.gitignore
index b6a1d34606062f..cd5e64e52b40b7 100644
--- a/.gitignore
+++ b/.gitignore
@@ -65,8 +65,6 @@ cppcheck_report.txt
 comma*.sh
 
 selfdrive/modeld/models/*.pkl*
-sunnypilot/modeld*/thneed/compile
-sunnypilot/modeld*/models/*.thneed
 sunnypilot/modeld*/models/*.pkl
 
 # openpilot log files
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index fd55eeb167dc40..494feb99c19c6d 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -31,7 +31,7 @@
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
-from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
+from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
diff --git a/sunnypilot/modeld/.gitignore b/sunnypilot/modeld/.gitignore
deleted file mode 100644
index 742d3d120534b5..00000000000000
--- a/sunnypilot/modeld/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-*_pyx.cpp
diff --git a/sunnypilot/modeld/SConscript b/sunnypilot/modeld/SConscript
deleted file mode 100644
index 777f842ac0a6e4..00000000000000
--- a/sunnypilot/modeld/SConscript
+++ /dev/null
@@ -1,44 +0,0 @@
-Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
-lenv = env.Clone()
-lenvCython = envCython.Clone()
-
-libs = [cereal, messaging, visionipc, common, 'capnp', 'kj', 'pthread']
-frameworks = []
-
-common_src = [
-  "models/commonmodel.cc",
-  "transforms/loadyuv.cc",
-  "transforms/transform.cc",
-]
-
-thneed_src_common = [
-  "thneed/clutil_legacy.cc",
-  "thneed/thneed_common.cc",
-  "thneed/serialize.cc",
-]
-
-thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"]
-thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"]
-thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc
-
-# OpenCL is a framework on Mac
-if arch == "Darwin":
-  frameworks += ['OpenCL']
-else:
-  libs += ['OpenCL']
-
-# Set path definitions
-for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
-  for xenv in (lenv, lenvCython):
-    xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
-
-cython_libs = envCython["LIBS"] + libs
-commonmodel_lib = lenv.Library('commonmodel', common_src)
-
-lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
-lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
-
-if arch == "larch64":
-  thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[common, 'OpenCL', 'dl'])
-  thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
-  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, common, 'dl', 'OpenCL'])
diff --git a/sunnypilot/modeld/__init__.py b/sunnypilot/modeld/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/sunnypilot/modeld/fill_model_msg.py b/sunnypilot/modeld/fill_model_msg.py
deleted file mode 100644
index a62c451efdccf0..00000000000000
--- a/sunnypilot/modeld/fill_model_msg.py
+++ /dev/null
@@ -1,223 +0,0 @@
-import os
-import capnp
-import numpy as np
-from cereal import log
-from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
-from openpilot.sunnypilot.models.helpers import plan_x_idxs_helper
-from openpilot.sunnypilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_lag_adjusted_curvature, MIN_SPEED
-
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-
-ConfidenceClass = log.ModelDataV2.ConfidenceClass
-
-class PublishState:
-  def __init__(self):
-    self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
-    self.prev_brake_5ms2_probs = np.zeros(ModelConstants.FCW_5MS2_PROBS_WIDTH, dtype=np.float32)
-    self.prev_brake_3ms2_probs = np.zeros(ModelConstants.FCW_3MS2_PROBS_WIDTH, dtype=np.float32)
-
-def fill_xyzt(builder, t, x, y, z, x_std=None, y_std=None, z_std=None):
-  builder.t = t
-  builder.x = x.tolist()
-  builder.y = y.tolist()
-  builder.z = z.tolist()
-  if x_std is not None:
-    builder.xStd = x_std.tolist()
-  if y_std is not None:
-    builder.yStd = y_std.tolist()
-  if z_std is not None:
-    builder.zStd = z_std.tolist()
-
-def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std=None):
-  builder.t = t
-  builder.x = x.tolist()
-  builder.y = y.tolist()
-  builder.v = v.tolist()
-  builder.a = a.tolist()
-  if x_std is not None:
-    builder.xStd = x_std.tolist()
-  if y_std is not None:
-    builder.yStd = y_std.tolist()
-  if v_std is not None:
-    builder.vStd = v_std.tolist()
-  if a_std is not None:
-    builder.aStd = a_std.tolist()
-
-def fill_xyz_poly(builder, degree, x, y, z):
-  xyz = np.stack([x, y, z], axis=1)
-  coeffs = np.polynomial.polynomial.polyfit(ModelConstants.T_IDXS, xyz, deg=degree)
-  builder.xCoefficients = coeffs[:, 0].tolist()
-  builder.yCoefficients = coeffs[:, 1].tolist()
-  builder.zCoefficients = coeffs[:, 2].tolist()
-
-def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
-                   net_output_data: dict[str, np.ndarray], action: log.ModelDataV2.Action, publish_state: PublishState,
-                   vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
-                   timestamp_eof: int, model_execution_time: float, valid: bool,
-                   v_ego: float, steer_delay: float, meta_const) -> None:
-  frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
-  frame_drop_perc = frame_drop * 100
-  extended_msg.valid = valid
-  base_msg.valid = valid
-
-  if 'lat_planner_solution' in net_output_data:
-    x, y, yaw, yawRate = [net_output_data['lat_planner_solution'][0, :, i].tolist() for i in range(4)]
-    x_sol = np.column_stack([x, y, yaw, yawRate])
-    v_ego = max(MIN_SPEED, v_ego)
-    psis = x_sol[0:CONTROL_N, 2].tolist()
-    curvatures = (x_sol[0:CONTROL_N, 3] / v_ego).tolist()
-    desired_curvature = get_lag_adjusted_curvature(steer_delay, v_ego, psis, curvatures)
-  else:
-    desired_curvature = float(net_output_data['desired_curvature'][0, 0])
-
-  driving_model_data = base_msg.drivingModelData
-
-  driving_model_data.frameId = vipc_frame_id
-  driving_model_data.frameIdExtra = vipc_frame_id_extra
-  driving_model_data.frameDropPerc = frame_drop_perc
-  driving_model_data.modelExecutionTime = model_execution_time
-
-  # Populate drivingModelData.action
-  driving_model_data_action = driving_model_data.action
-  driving_model_data_action.desiredAcceleration = action.desiredAcceleration
-  driving_model_data_action.shouldStop = action.shouldStop
-  driving_model_data_action.desiredCurvature = desired_curvature
-
-  modelV2 = extended_msg.modelV2
-  modelV2.frameId = vipc_frame_id
-  modelV2.frameIdExtra = vipc_frame_id_extra
-  modelV2.frameAge = frame_age
-  modelV2.frameDropPerc = frame_drop_perc
-  modelV2.timestampEof = timestamp_eof
-  modelV2.modelExecutionTime = model_execution_time
-
-  # plan
-  position = modelV2.position
-  fill_xyzt(position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T)
-  velocity = modelV2.velocity
-  fill_xyzt(velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T)
-  acceleration = modelV2.acceleration
-  fill_xyzt(acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T)
-  orientation = modelV2.orientation
-  fill_xyzt(orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
-  orientation_rate = modelV2.orientationRate
-  fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
-
-  # temporal pose
-  temporal_pose = modelV2.temporalPoseDEPRECATED
-  temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
-  temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
-  temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
-  temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
-
-  # poly path
-  poly_path = driving_model_data.path
-  fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
-
-  # lateral planning
-  modelV2_action = modelV2.action
-  modelV2_action.desiredAcceleration = action.desiredAcceleration
-  modelV2_action.shouldStop = action.shouldStop
-  modelV2_action.desiredCurvature = desired_curvature
-
-  # times at X_IDXS according to model plan
-  PLAN_T_IDXS: list[float] = plan_x_idxs_helper(ModelConstants, Plan, net_output_data)
-
-  # lane lines
-  modelV2.init('laneLines', 4)
-  for i in range(4):
-    lane_line = modelV2.laneLines[i]
-    fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
-  modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
-  modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
-
-  lane_line_meta = driving_model_data.laneLineMeta
-  lane_line_meta.leftY = modelV2.laneLines[1].y[0]
-  lane_line_meta.leftProb = modelV2.laneLineProbs[1]
-  lane_line_meta.rightY = modelV2.laneLines[2].y[0]
-  lane_line_meta.rightProb = modelV2.laneLineProbs[2]
-
-  # road edges
-  modelV2.init('roadEdges', 2)
-  for i in range(2):
-    road_edge = modelV2.roadEdges[i]
-    fill_xyzt(road_edge, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1])
-  modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist()
-
-  # leads
-  modelV2.init('leadsV3', 3)
-  for i in range(3):
-    lead = modelV2.leadsV3[i]
-    fill_xyvat(lead, ModelConstants.LEAD_T_IDXS, *net_output_data['lead'][0,i].T, *net_output_data['lead_stds'][0,i].T)
-    lead.prob = net_output_data['lead_prob'][0,i].tolist()
-    lead.probTime = ModelConstants.LEAD_T_OFFSETS[i]
-
-  # meta
-  meta = modelV2.meta
-  meta.desireState = net_output_data['desire_state'][0].reshape(-1).tolist()
-  meta.desirePrediction = net_output_data['desire_pred'][0].reshape(-1).tolist()
-  meta.engagedProb = net_output_data['meta'][0,meta_const.ENGAGED].item()
-  meta.init('disengagePredictions')
-  disengage_predictions = meta.disengagePredictions
-  disengage_predictions.t = ModelConstants.META_T_IDXS
-  disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,meta_const.BRAKE_DISENGAGE].tolist()
-  disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,meta_const.GAS_DISENGAGE].tolist()
-  disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,meta_const.STEER_OVERRIDE].tolist()
-  disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,meta_const.HARD_BRAKE_3].tolist()
-  disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,meta_const.HARD_BRAKE_4].tolist()
-  disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,meta_const.HARD_BRAKE_5].tolist()
-  if 'sim_pose' not in net_output_data:
-    disengage_predictions.gasPressProbs = net_output_data['meta'][0,meta_const.GAS_PRESS].tolist()
-    disengage_predictions.brakePressProbs = net_output_data['meta'][0,meta_const.BRAKE_PRESS].tolist()
-
-  publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
-  publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,meta_const.HARD_BRAKE_5][0]
-  publish_state.prev_brake_3ms2_probs[:-1] = publish_state.prev_brake_3ms2_probs[1:]
-  publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,meta_const.HARD_BRAKE_3][0]
-  hard_brake_predicted = (publish_state.prev_brake_5ms2_probs > ModelConstants.FCW_THRESHOLDS_5MS2).all() and \
-    (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all()
-  meta.hardBrakePredicted = hard_brake_predicted.item()
-
-  # confidence
-  if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
-    # any disengage prob
-    brake_disengage_probs = net_output_data['meta'][0,meta_const.BRAKE_DISENGAGE]
-    gas_disengage_probs = net_output_data['meta'][0,meta_const.GAS_DISENGAGE]
-    steer_override_probs = net_output_data['meta'][0,meta_const.STEER_OVERRIDE]
-    any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs))
-    # independent disengage prob for each 2s slice
-    ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])]
-    # rolling buf for 2, 4, 6, 8, 10s
-    publish_state.disengage_buffer[:-ModelConstants.DISENGAGE_WIDTH] = publish_state.disengage_buffer[ModelConstants.DISENGAGE_WIDTH:]
-    publish_state.disengage_buffer[-ModelConstants.DISENGAGE_WIDTH:] = ind_disengage_probs
-
-  score = 0.
-  for i in range(ModelConstants.DISENGAGE_WIDTH):
-    score += publish_state.disengage_buffer[i*ModelConstants.DISENGAGE_WIDTH+ModelConstants.DISENGAGE_WIDTH-1-i].item() / ModelConstants.DISENGAGE_WIDTH
-  if score < ModelConstants.RYG_GREEN:
-    modelV2.confidence = ConfidenceClass.green
-  elif score < ModelConstants.RYG_YELLOW:
-    modelV2.confidence = ConfidenceClass.yellow
-  else:
-    modelV2.confidence = ConfidenceClass.red
-
-  # raw prediction if enabled
-  if SEND_RAW_PRED:
-    modelV2.rawPredictions = net_output_data['raw_pred'].tobytes()
-
-def fill_pose_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray],
-                  vipc_frame_id: int, vipc_dropped_frames: int, timestamp_eof: int, live_calib_seen: bool) -> None:
-  msg.valid = live_calib_seen & (vipc_dropped_frames < 1)
-  cameraOdometry = msg.cameraOdometry
-
-  cameraOdometry.frameId = vipc_frame_id
-  cameraOdometry.timestampEof = timestamp_eof
-
-  cameraOdometry.trans = net_output_data['pose'][0,:3].tolist()
-  cameraOdometry.rot = net_output_data['pose'][0,3:].tolist()
-  cameraOdometry.wideFromDeviceEuler = net_output_data['wide_from_device_euler'][0,:].tolist()
-  cameraOdometry.roadTransformTrans = net_output_data['road_transform'][0,:3].tolist()
-  cameraOdometry.transStd = net_output_data['pose_stds'][0,:3].tolist()
-  cameraOdometry.rotStd = net_output_data['pose_stds'][0,3:].tolist()
-  cameraOdometry.wideFromDeviceEulerStd = net_output_data['wide_from_device_euler_stds'][0,:].tolist()
-  cameraOdometry.roadTransformTransStd = net_output_data['road_transform_stds'][0,:3].tolist()
diff --git a/sunnypilot/modeld/get_model_metadata.py b/sunnypilot/modeld/get_model_metadata.py
deleted file mode 100755
index 144860204fd79c..00000000000000
--- a/sunnypilot/modeld/get_model_metadata.py
+++ /dev/null
@@ -1,28 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import pathlib
-import onnx
-import codecs
-import pickle
-
-def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
-  shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
-  name = value_info.name
-  return name, shape
-
-if __name__ == "__main__":
-  model_path = pathlib.Path(sys.argv[1])
-  model = onnx.load(str(model_path))
-  i = [x.key for x in model.metadata_props].index('output_slices')
-  output_slices = model.metadata_props[i].value
-
-  metadata = {}
-  metadata['output_slices'] = pickle.loads(codecs.decode(output_slices.encode(), "base64"))
-  metadata['input_shapes'] = dict([get_name_and_shape(x) for x in model.graph.input])
-  metadata['output_shapes'] = dict([get_name_and_shape(x) for x in model.graph.output])
-
-  metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
-  with open(metadata_path, 'wb') as f:
-    pickle.dump(metadata, f)
-
-  print(f'saved metadata to {metadata_path}')
diff --git a/sunnypilot/modeld/modeld b/sunnypilot/modeld/modeld
deleted file mode 100755
index e1cef4dcc35f18..00000000000000
--- a/sunnypilot/modeld/modeld
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env bash
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd "$DIR/../../"
-
-if [ -f "$DIR/libthneed.so" ]; then
-  export LD_PRELOAD="$DIR/libthneed.so"
-fi
-
-exec "$DIR/modeld.py" "$@"
diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
deleted file mode 100755
index b36aea405ae471..00000000000000
--- a/sunnypilot/modeld/modeld.py
+++ /dev/null
@@ -1,348 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import numpy as np
-import cereal.messaging as messaging
-from cereal import car, log
-from pathlib import Path
-from setproctitle import setproctitle
-from cereal.messaging import PubMaster, SubMaster
-from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
-from opendbc.car.car_helpers import get_demo_car_params
-from openpilot.common.swaglog import cloudlog
-from openpilot.common.params import Params
-from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import DT_MDL, config_realtime_process
-from numpy import interp
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.common.transformations.model import get_warp_matrix
-from openpilot.system import sentry
-from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
-
-from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
-from openpilot.sunnypilot.modeld.runners import ModelRunner, Runtime
-from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
-from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
-from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
-from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
-from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants
-from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
-from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
-
-
-PROCESS_NAME = "selfdrive.modeld.modeld_snpe"
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-
-MODEL_PATHS = {
-  ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed',
-  ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'}
-
-METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
-
-
-class FrameMeta:
-  frame_id: int = 0
-  timestamp_sof: int = 0
-  timestamp_eof: int = 0
-
-  def __init__(self, vipc=None):
-    if vipc is not None:
-      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
-
-class ModelState(ModelStateBase):
-  frame: ModelFrame
-  wide_frame: ModelFrame
-  inputs: dict[str, np.ndarray]
-  output: np.ndarray
-  prev_desire: np.ndarray  # for tracking the rising edge of the pulse
-  model: ModelRunner
-
-  def __init__(self, context: CLContext):
-    ModelStateBase.__init__(self)
-    self.frame = ModelFrame(context)
-    self.wide_frame = ModelFrame(context)
-    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    bundle = get_active_bundle()
-    overrides = {override.key: override.value for override in bundle.overrides}
-    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".0"))
-    self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
-
-    model_paths = get_model_path()
-    self.model_metadata = load_metadata()
-    self.inputs = prepare_inputs(self.model_metadata)
-    self.meta = load_meta_constants(self.model_metadata)
-
-    self.output_slices = self.model_metadata['output_slices']
-    net_output_size = self.model_metadata['output_shapes']['outputs'][1]
-    self.output = np.zeros(net_output_size, dtype=np.float32)
-    self.parser = Parser()
-
-    self.model = ModelRunner(model_paths, self.output, Runtime.GPU, False, context)
-    self.model.addInput("input_imgs", None)
-    self.model.addInput("big_input_imgs", None)
-    for k,v in self.inputs.items():
-      self.model.addInput(k, v)
-
-  def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]:
-    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
-    if SEND_RAW_PRED:
-      parsed_model_outputs['raw_pred'] = model_outputs.copy()
-    return parsed_model_outputs
-
-  def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
-                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
-    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire'][0] = 0
-    self.inputs['desire'][:-ModelConstants.DESIRE_LEN] = self.inputs['desire'][ModelConstants.DESIRE_LEN:]
-    self.inputs['desire'][-ModelConstants.DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
-    self.prev_desire[:] = inputs['desire']
-
-    for k in self.inputs:
-      if k in inputs and k != 'desire':
-        self.inputs[k][:] = inputs[k]
-
-    # if getCLBuffer is not None, frame will be None
-    self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
-    if wbuf is not None:
-      self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
-
-    if prepare_only:
-      return None
-
-    self.model.execute()
-    outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
-
-    self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:]
-    self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :]
-
-    if "lat_planner_solution" in outputs and "lat_planner_state" in self.inputs.keys():
-      self.inputs['lat_planner_state'][2] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 2])
-      self.inputs['lat_planner_state'][3] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 3])
-
-    if "desired_curvature" in outputs:
-      if "prev_desired_curvs" in self.inputs.keys():
-        self.inputs['prev_desired_curvs'][:-1] = self.inputs['prev_desired_curvs'][1:]
-        self.inputs['prev_desired_curvs'][-1] = outputs['desired_curvature'][0, 0]
-
-      if "prev_desired_curv" in self.inputs.keys():
-        self.inputs['prev_desired_curv'][:-1] = self.inputs['prev_desired_curv'][1:]
-        self.inputs['prev_desired_curv'][-1:] = outputs['desired_curvature'][0, :]
-    return outputs
-
-  def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
-                            long_action_t: float) -> log.ModelDataV2.Action:
-    plan = model_output['plan'][0]
-    desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], ModelConstants.T_IDXS,
-                                                     action_t=long_action_t)
-    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
-
-    return log.ModelDataV2.Action(desiredAcceleration=float(desired_accel), shouldStop=bool(should_stop))
-
-
-def main(demo=False):
-  cloudlog.warning("modeld init")
-
-  sentry.set_tag("daemon", PROCESS_NAME)
-  cloudlog.bind(daemon=PROCESS_NAME)
-  setproctitle(PROCESS_NAME)
-  config_realtime_process(7, 54)
-
-  cloudlog.warning("setting up CL context")
-  cl_context = CLContext()
-  cloudlog.warning("CL context ready; loading model")
-  model = ModelState(cl_context)
-  cloudlog.warning("models loaded, modeld starting")
-
-  # visionipc clients
-  while True:
-    available_streams = VisionIpcClient.available_streams("camerad", block=False)
-    if available_streams:
-      use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams
-      main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams
-      break
-    time.sleep(.1)
-
-  vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD
-  vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context)
-  vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context)
-  cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
-
-  while not vipc_client_main.connect(False):
-    time.sleep(0.1)
-  while use_extra_client and not vipc_client_extra.connect(False):
-    time.sleep(0.1)
-
-  cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})")
-  if use_extra_client:
-    cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
-
-  # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
-  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
-
-  publish_state = PublishState()
-  params = Params()
-
-  # setup filter to track dropped frames
-  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
-  frame_id = 0
-  last_vipc_frame_id = 0
-  run_count = 0
-
-  model_transform_main = np.zeros((3, 3), dtype=np.float32)
-  model_transform_extra = np.zeros((3, 3), dtype=np.float32)
-  live_calib_seen = False
-  buf_main, buf_extra = None, None
-  meta_main = FrameMeta()
-  meta_extra = FrameMeta()
-  camera_offset_helper = CameraOffsetHelper()
-
-
-  if demo:
-    CP = get_demo_car_params()
-  else:
-    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-
-  cloudlog.info("modeld got CarParams: %s", CP.brand)
-
-  # Enable lagd support for sunnypilot modeld
-  long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
-  prev_action = log.ModelDataV2.Action()
-
-  DH = DesireHelper()
-
-  while True:
-    # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
-    while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
-      buf_main = vipc_client_main.recv()
-      meta_main = FrameMeta(vipc_client_main)
-      if buf_main is None:
-        break
-
-    if buf_main is None:
-      cloudlog.debug("vipc_client_main no frame")
-      continue
-
-    if use_extra_client:
-      # Keep receiving extra frames until frame id matches main camera
-      while True:
-        buf_extra = vipc_client_extra.recv()
-        meta_extra = FrameMeta(vipc_client_extra)
-        if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
-          break
-
-      if buf_extra is None:
-        cloudlog.debug("vipc_client_extra no frame")
-        continue
-
-      if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000:
-        cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\
-                         extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})")
-
-    else:
-      # Use single camera
-      buf_extra = buf_main
-      meta_extra = meta_main
-
-    sm.update(0)
-    desire = DH.desire
-    v_ego = sm["carState"].vEgo
-    is_rhd = sm["driverMonitoringState"].isRHD
-    frame_id = sm["roadCameraState"].frameId
-    if sm.frame % 60 == 0:
-      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
-      camera_offset_helper.set_offset(params.get("CameraOffset", return_default=True))
-    lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
-    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
-      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
-      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
-      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
-      model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
-      model_transform_main, model_transform_extra = camera_offset_helper.update(model_transform_main, model_transform_extra, sm, main_wide_camera)
-      live_calib_seen = True
-
-    traffic_convention = np.zeros(2)
-    traffic_convention[int(is_rhd)] = 1
-
-    vec_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    if desire >= 0 and desire < ModelConstants.DESIRE_LEN:
-      vec_desire[desire] = 1
-
-    # tracked dropped frames
-    vipc_dropped_frames = max(0, meta_main.frame_id - last_vipc_frame_id - 1)
-    frames_dropped = frame_dropped_filter.update(min(vipc_dropped_frames, 10))
-    if run_count < 10: # let frame drops warm up
-      frame_dropped_filter.x = 0.
-      frames_dropped = 0.
-    run_count = run_count + 1
-
-    frame_drop_ratio = frames_dropped / (1 + frames_dropped)
-    prepare_only = vipc_dropped_frames > 0
-    if prepare_only:
-      cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
-
-    inputs:dict[str, np.ndarray] = {
-      'desire': vec_desire,
-      'traffic_convention': traffic_convention,
-      }
-
-    if "lateral_control_params" in model.inputs.keys():
-      inputs['lateral_control_params'] = np.array([max(v_ego, 0.), lat_delay], dtype=np.float32)
-
-    if "driving_style" in model.inputs.keys():
-      inputs['driving_style'] = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32)
-
-    if "nav_features" in model.inputs.keys():
-      inputs['nav_features'] = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32)
-
-    if "nav_instructions" in model.inputs.keys():
-      inputs['nav_instructions'] = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32)
-
-    mt1 = time.perf_counter()
-    model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
-    mt2 = time.perf_counter()
-    model_execution_time = mt2 - mt1
-
-    if model_output is not None:
-      modelv2_send = messaging.new_message('modelV2')
-      drivingdata_send = messaging.new_message('drivingModelData')
-      posenet_send = messaging.new_message('cameraOdometry')
-      mdv2sp_send = messaging.new_message('modelDataV2SP')
-      action = model.get_action_from_model(model_output, prev_action, long_delay + DT_MDL)
-      fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
-                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen,
-                     v_ego, lat_delay, model.meta)
-
-      desire_state = modelv2_send.modelV2.meta.desireState
-      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
-      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
-      lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
-      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
-      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
-      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
-      drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
-      drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
-
-      fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
-      pm.send('modelV2', modelv2_send)
-      pm.send('drivingModelData', drivingdata_send)
-      pm.send('cameraOdometry', posenet_send)
-      pm.send('modelDataV2SP', mdv2sp_send)
-
-    last_vipc_frame_id = meta_main.frame_id
-
-
-if __name__ == "__main__":
-  try:
-    import argparse
-    parser = argparse.ArgumentParser()
-    parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
-    args = parser.parse_args()
-    main(demo=args.demo)
-  except KeyboardInterrupt:
-    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
-  except Exception:
-    sentry.capture_exception()
-    raise
diff --git a/sunnypilot/modeld/models/__init__.py b/sunnypilot/modeld/models/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/sunnypilot/modeld/models/commonmodel.cc b/sunnypilot/modeld/models/commonmodel.cc
deleted file mode 100644
index f1e15e5a4edc15..00000000000000
--- a/sunnypilot/modeld/models/commonmodel.cc
+++ /dev/null
@@ -1,50 +0,0 @@
-#include "sunnypilot/modeld/models/commonmodel.h"
-
-#include <cassert>
-#include <cmath>
-#include <cstring>
-
-#include "common/clutil.h"
-
-ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
-  input_frames = std::make_unique<float[]>(buf_size);
-
-  q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
-  y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
-  u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
-  v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
-  net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(float), NULL, &err));
-
-  transform_init(&transform, context, device_id);
-  loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
-}
-
-float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
-  transform_queue(&this->transform, q,
-                  yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
-                  y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
-
-  if (output == NULL) {
-    loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
-
-    std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(float) * MODEL_FRAME_SIZE);
-    CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(float), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
-    clFinish(q);
-    return &input_frames[0];
-  } else {
-    loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, *output, true);
-    // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
-    clFinish(q);
-    return NULL;
-  }
-}
-
-ModelFrame::~ModelFrame() {
-  transform_destroy(&transform);
-  loadyuv_destroy(&loadyuv);
-  CL_CHECK(clReleaseMemObject(net_input_cl));
-  CL_CHECK(clReleaseMemObject(v_cl));
-  CL_CHECK(clReleaseMemObject(u_cl));
-  CL_CHECK(clReleaseMemObject(y_cl));
-  CL_CHECK(clReleaseCommandQueue(q));
-}
diff --git a/sunnypilot/modeld/models/commonmodel.h b/sunnypilot/modeld/models/commonmodel.h
deleted file mode 100644
index 9d34ebb6d3ea09..00000000000000
--- a/sunnypilot/modeld/models/commonmodel.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#pragma once
-
-#include <cfloat>
-#include <cstdlib>
-
-#include <memory>
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/mat.h"
-#include "sunnypilot/modeld/transforms/loadyuv.h"
-#include "sunnypilot/modeld/transforms/transform.h"
-
-class ModelFrame {
-public:
-  ModelFrame(cl_device_id device_id, cl_context context);
-  ~ModelFrame();
-  float* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);
-
-  const int MODEL_WIDTH = 512;
-  const int MODEL_HEIGHT = 256;
-  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
-  const int buf_size = MODEL_FRAME_SIZE * 2;
-
-private:
-  Transform transform;
-  LoadYUVState loadyuv;
-  cl_command_queue q;
-  cl_mem y_cl, u_cl, v_cl, net_input_cl;
-  std::unique_ptr<float[]> input_frames;
-};
diff --git a/sunnypilot/modeld/models/commonmodel.pxd b/sunnypilot/modeld/models/commonmodel.pxd
deleted file mode 100644
index c7fd85411d4e29..00000000000000
--- a/sunnypilot/modeld/models/commonmodel.pxd
+++ /dev/null
@@ -1,18 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem
-
-cdef extern from "common/mat.h":
-  cdef struct mat3:
-    float v[9]
-
-cdef extern from "common/clutil.h":
-  cdef unsigned long CL_DEVICE_TYPE_DEFAULT
-  cl_device_id cl_get_device_id(unsigned long)
-  cl_context cl_create_context(cl_device_id)
-
-cdef extern from "sunnypilot/modeld/models/commonmodel.h":
-  cppclass ModelFrame:
-    int buf_size
-    ModelFrame(cl_device_id, cl_context)
-    float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
diff --git a/sunnypilot/modeld/models/commonmodel_pyx.pxd b/sunnypilot/modeld/models/commonmodel_pyx.pxd
deleted file mode 100644
index 0bb798625be28d..00000000000000
--- a/sunnypilot/modeld/models/commonmodel_pyx.pxd
+++ /dev/null
@@ -1,13 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext
-
-cdef class CLContext(BaseCLContext):
-  pass
-
-cdef class CLMem:
-  cdef cl_mem * mem
-
-  @staticmethod
-  cdef create(void*)
diff --git a/sunnypilot/modeld/models/commonmodel_pyx.pyx b/sunnypilot/modeld/models/commonmodel_pyx.pyx
deleted file mode 100644
index d66fddea54e797..00000000000000
--- a/sunnypilot/modeld/models/commonmodel_pyx.pyx
+++ /dev/null
@@ -1,45 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import numpy as np
-cimport numpy as cnp
-from libc.string cimport memcpy
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
-from openpilot.sunnypilot.modeld.models.commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
-from openpilot.sunnypilot.modeld.models.commonmodel cimport mat3, ModelFrame as cppModelFrame
-
-
-cdef class CLContext(BaseCLContext):
-  def __cinit__(self):
-    self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
-    self.context = cl_create_context(self.device_id)
-
-cdef class CLMem:
-  @staticmethod
-  cdef create(void * cmem):
-    mem = CLMem()
-    mem.mem = <cl_mem*> cmem
-    return mem
-
-cdef class ModelFrame:
-  cdef cppModelFrame * frame
-
-  def __cinit__(self, CLContext context):
-    self.frame = new cppModelFrame(context.device_id, context.context)
-
-  def __dealloc__(self):
-    del self.frame
-
-  def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
-    cdef mat3 cprojection
-    memcpy(cprojection.v, &projection[0], 9*sizeof(float))
-    cdef float * data
-    if output is None:
-      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL)
-    else:
-      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
-    if not data:
-      return None
-    return np.asarray(<cnp.float32_t[:self.frame.buf_size]> data)
diff --git a/sunnypilot/modeld/parse_model_outputs.py b/sunnypilot/modeld/parse_model_outputs.py
deleted file mode 100644
index 9cd5f1465c21d9..00000000000000
--- a/sunnypilot/modeld/parse_model_outputs.py
+++ /dev/null
@@ -1,107 +0,0 @@
-import numpy as np
-from openpilot.sunnypilot.modeld.constants import ModelConstants
-
-def safe_exp(x, out=None):
-  # -11 is around 10**14, more causes float16 overflow
-  return np.exp(np.clip(x, -np.inf, 11), out=out)
-
-def sigmoid(x):
-  return 1. / (1. + safe_exp(-x))
-
-def softmax(x, axis=-1):
-  x -= np.max(x, axis=axis, keepdims=True)
-  if x.dtype == np.float32 or x.dtype == np.float64:
-    safe_exp(x, out=x)
-  else:
-    x = safe_exp(x)
-  x /= np.sum(x, axis=axis, keepdims=True)
-  return x
-
-class Parser:
-  def __init__(self, ignore_missing=False):
-    self.ignore_missing = ignore_missing
-
-  def check_missing(self, outs, name):
-    if name not in outs and not self.ignore_missing:
-      raise ValueError(f"Missing output {name}")
-    return name not in outs
-
-  def parse_categorical_crossentropy(self, name, outs, out_shape=None):
-    if self.check_missing(outs, name):
-      return
-    raw = outs[name]
-    if out_shape is not None:
-      raw = raw.reshape((raw.shape[0],) + out_shape)
-    outs[name] = softmax(raw, axis=-1)
-
-  def parse_binary_crossentropy(self, name, outs):
-    if self.check_missing(outs, name):
-      return
-    raw = outs[name]
-    outs[name] = sigmoid(raw)
-
-  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
-    if self.check_missing(outs, name):
-      return
-    raw = outs[name]
-    raw = raw.reshape((raw.shape[0], max(in_N, 1), -1))
-
-    n_values = (raw.shape[2] - out_N)//2
-    pred_mu = raw[:,:,:n_values]
-    pred_std = safe_exp(raw[:,:,n_values: 2*n_values])
-
-    if in_N > 1:
-      weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype)
-      for i in range(out_N):
-        weights[:,:,i - out_N] = softmax(raw[:,:,i - out_N], axis=-1)
-
-      if out_N == 1:
-        for fidx in range(weights.shape[0]):
-          idxs = np.argsort(weights[fidx][:,0])[::-1]
-          weights[fidx] = weights[fidx][idxs]
-          pred_mu[fidx] = pred_mu[fidx][idxs]
-          pred_std[fidx] = pred_std[fidx][idxs]
-      full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
-      outs[name + '_weights'] = weights
-      outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
-      outs[name + '_stds_hypotheses'] = pred_std.reshape(full_shape)
-
-      pred_mu_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
-      pred_std_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
-      for fidx in range(weights.shape[0]):
-        for hidx in range(out_N):
-          idxs = np.argsort(weights[fidx,:,hidx])[::-1]
-          pred_mu_final[fidx, hidx] = pred_mu[fidx, idxs[0]]
-          pred_std_final[fidx, hidx] = pred_std[fidx, idxs[0]]
-    else:
-      pred_mu_final = pred_mu
-      pred_std_final = pred_std
-
-    if out_N > 1:
-      final_shape = tuple([raw.shape[0], out_N] + list(out_shape))
-    else:
-      final_shape = tuple([raw.shape[0],] + list(out_shape))
-    outs[name] = pred_mu_final.reshape(final_shape)
-    outs[name + '_stds'] = pred_std_final.reshape(final_shape)
-
-  def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
-                   out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    if 'sim_pose' in outs:
-      self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
-    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
-    if 'lat_planner_solution' in outs:
-      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
-    if 'desired_curvature' in outs:
-      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
-    for k in ['lead_prob', 'lane_lines_prob', 'meta']:
-      self.parse_binary_crossentropy(k, outs)
-    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
-    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
-    return outs
diff --git a/sunnypilot/modeld/runners/__init__.py b/sunnypilot/modeld/runners/__init__.py
deleted file mode 100644
index d105685bd8f123..00000000000000
--- a/sunnypilot/modeld/runners/__init__.py
+++ /dev/null
@@ -1,22 +0,0 @@
-import os
-from openpilot.system.hardware import TICI
-from openpilot.sunnypilot.modeld.runners.runmodel_pyx import RunModel, Runtime
-assert Runtime
-
-USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
-
-class ModelRunner(RunModel):
-  THNEED = 'THNEED'
-  ONNX = 'ONNX'
-
-  def __new__(cls, paths, *args, **kwargs):
-    if ModelRunner.THNEED in paths and USE_THNEED:
-      from openpilot.sunnypilot.modeld.runners.thneedmodel_pyx import ThneedModel as Runner
-      runner_type = ModelRunner.THNEED
-    elif ModelRunner.ONNX in paths:
-      from openpilot.sunnypilot.modeld.runners.onnxmodel import ONNXModel as Runner
-      runner_type = ModelRunner.ONNX
-    else:
-      raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path")
-
-    return Runner(str(paths[runner_type]), *args, **kwargs)
diff --git a/sunnypilot/modeld/runners/onnxmodel.py b/sunnypilot/modeld/runners/onnxmodel.py
deleted file mode 100644
index 047f13dc9d08da..00000000000000
--- a/sunnypilot/modeld/runners/onnxmodel.py
+++ /dev/null
@@ -1,98 +0,0 @@
-import onnx
-import itertools
-import os
-import sys
-import numpy as np
-from typing import Any
-
-from openpilot.sunnypilot.modeld.runners.runmodel_pyx import RunModel
-
-ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
-
-def attributeproto_fp16_to_fp32(attr):
-  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
-  attr.data_type = 1
-  attr.raw_data = float32_list.astype(np.float32).tobytes()
-
-def convert_fp16_to_fp32(onnx_path_or_bytes):
-  if isinstance(onnx_path_or_bytes, bytes):
-    model = onnx.load_from_string(onnx_path_or_bytes)
-  elif isinstance(onnx_path_or_bytes, str):
-    model = onnx.load(onnx_path_or_bytes)
-
-  for i in model.graph.initializer:
-    if i.data_type == 10:
-      attributeproto_fp16_to_fp32(i)
-  for i in itertools.chain(model.graph.input, model.graph.output):
-    if i.type.tensor_type.elem_type == 10:
-      i.type.tensor_type.elem_type = 1
-  for i in model.graph.node:
-    if i.op_type == 'Cast' and i.attribute[0].i == 10:
-      i.attribute[0].i = 1
-    for a in i.attribute:
-      if hasattr(a, 't'):
-        if a.t.data_type == 10:
-          attributeproto_fp16_to_fp32(a.t)
-  return model.SerializeToString()
-
-def create_ort_session(path, fp16_to_fp32):
-  os.environ["OMP_NUM_THREADS"] = "4"
-  os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
-
-  import onnxruntime as ort
-  print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
-  options = ort.SessionOptions()
-  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
-
-  provider: str | tuple[str, dict[Any, Any]]
-  if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
-    provider = 'OpenVINOExecutionProvider'
-  elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
-    options.intra_op_num_threads = 2
-    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'})
-  else:
-    options.intra_op_num_threads = 2
-    options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
-    options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
-    provider = 'CPUExecutionProvider'
-
-  model_data = convert_fp16_to_fp32(path) if fp16_to_fp32 else path
-  print("Onnx selected provider: ", [provider], file=sys.stderr)
-  ort_session = ort.InferenceSession(model_data, options, providers=[provider])
-  print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
-  return ort_session
-
-
-class ONNXModel(RunModel):
-  def __init__(self, path, output, runtime, use_tf8, cl_context):
-    self.inputs = {}
-    self.output = output
-
-    self.session = create_ort_session(path, fp16_to_fp32=True)
-    self.input_names = [x.name for x in self.session.get_inputs()]
-    self.input_shapes = {x.name: [1, *x.shape[1:]] for x in self.session.get_inputs()}
-    self.input_dtypes = {x.name: ORT_TYPES_TO_NP_TYPES[x.type] for x in self.session.get_inputs()}
-
-    # run once to initialize CUDA provider
-    if "CUDAExecutionProvider" in self.session.get_providers():
-      self.session.run(None, {k: np.zeros(self.input_shapes[k], dtype=self.input_dtypes[k]) for k in self.input_names})
-    print("ready to run onnx model", self.input_shapes, file=sys.stderr)
-
-  def addInput(self, name, buffer):
-    assert name in self.input_names
-    self.inputs[name] = buffer
-
-  def setInputBuffer(self, name, buffer):
-    assert name in self.inputs
-    self.inputs[name] = buffer
-
-  def getCLBuffer(self, name):
-    return None
-
-  def execute(self):
-    inputs = {k: v.view(self.input_dtypes[k]) for k,v in self.inputs.items()}
-    inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()}
-    outputs = self.session.run(None, inputs)
-    assert len(outputs) == 1, "Only single model outputs are supported"
-    self.output[:] = outputs[0]
-    return self.output
diff --git a/sunnypilot/modeld/runners/run.h b/sunnypilot/modeld/runners/run.h
deleted file mode 100644
index 55e703ef97e419..00000000000000
--- a/sunnypilot/modeld/runners/run.h
+++ /dev/null
@@ -1,3 +0,0 @@
-#pragma once
-
-#include "sunnypilot/modeld/runners/runmodel.h"
diff --git a/sunnypilot/modeld/runners/runmodel.h b/sunnypilot/modeld/runners/runmodel.h
deleted file mode 100644
index 18cc180cb7f1d9..00000000000000
--- a/sunnypilot/modeld/runners/runmodel.h
+++ /dev/null
@@ -1,49 +0,0 @@
-#pragma once
-
-#include <string>
-#include <vector>
-#include <memory>
-#include <cassert>
-
-#include "common/clutil.h"
-#include "common/swaglog.h"
-
-#define USE_CPU_RUNTIME 0
-#define USE_GPU_RUNTIME 1
-#define USE_DSP_RUNTIME 2
-
-struct ModelInput {
-  const std::string name;
-  float *buffer;
-  int size;
-
-  ModelInput(const std::string _name, float *_buffer, int _size) : name(_name), buffer(_buffer), size(_size) {}
-  virtual void setBuffer(float *_buffer, int _size) {
-    assert(size == _size || size == 0);
-    buffer = _buffer;
-    size = _size;
-  }
-};
-
-class RunModel {
-public:
-  std::vector<std::unique_ptr<ModelInput>> inputs;
-
-  virtual ~RunModel() {}
-  virtual void execute() {}
-  virtual void* getCLBuffer(const std::string name) { return nullptr; }
-
-  virtual void addInput(const std::string name, float *buffer, int size) {
-    inputs.push_back(std::unique_ptr<ModelInput>(new ModelInput(name, buffer, size)));
-  }
-  virtual void setInputBuffer(const std::string name, float *buffer, int size) {
-    for (auto &input : inputs) {
-      if (name == input->name) {
-        input->setBuffer(buffer, size);
-        return;
-      }
-    }
-    LOGE("Tried to update input `%s` but no input with this name exists", name.c_str());
-    assert(false);
-  }
-};
diff --git a/sunnypilot/modeld/runners/runmodel.pxd b/sunnypilot/modeld/runners/runmodel.pxd
deleted file mode 100644
index b83434473d9b71..00000000000000
--- a/sunnypilot/modeld/runners/runmodel.pxd
+++ /dev/null
@@ -1,14 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-cdef extern from "sunnypilot/modeld/runners/runmodel.h":
-  cdef int USE_CPU_RUNTIME
-  cdef int USE_GPU_RUNTIME
-  cdef int USE_DSP_RUNTIME
-
-  cdef cppclass RunModel:
-    void addInput(string, float*, int)
-    void setInputBuffer(string, float*, int)
-    void * getCLBuffer(string)
-    void execute()
diff --git a/sunnypilot/modeld/runners/runmodel_pyx.pxd b/sunnypilot/modeld/runners/runmodel_pyx.pxd
deleted file mode 100644
index b6ede7cf37f733..00000000000000
--- a/sunnypilot/modeld/runners/runmodel_pyx.pxd
+++ /dev/null
@@ -1,6 +0,0 @@
-# distutils: language = c++
-
-from .runmodel cimport RunModel as cppRunModel
-
-cdef class RunModel:
-  cdef cppRunModel * model
diff --git a/sunnypilot/modeld/runners/runmodel_pyx.pyx b/sunnypilot/modeld/runners/runmodel_pyx.pyx
deleted file mode 100644
index d2b448594464a0..00000000000000
--- a/sunnypilot/modeld/runners/runmodel_pyx.pyx
+++ /dev/null
@@ -1,37 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-from libcpp.string cimport string
-
-from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
-from openpilot.sunnypilot.modeld.models.commonmodel_pyx cimport CLMem
-
-class Runtime:
-  CPU = USE_CPU_RUNTIME
-  GPU = USE_GPU_RUNTIME
-  DSP = USE_DSP_RUNTIME
-
-cdef class RunModel:
-  def __dealloc__(self):
-    del self.model
-
-  def addInput(self, string name, float[:] buffer):
-    if buffer is not None:
-      self.model.addInput(name, &buffer[0], len(buffer))
-    else:
-      self.model.addInput(name, NULL, 0)
-
-  def setInputBuffer(self, string name, float[:] buffer):
-    if buffer is not None:
-      self.model.setInputBuffer(name, &buffer[0], len(buffer))
-    else:
-      self.model.setInputBuffer(name, NULL, 0)
-
-  def getCLBuffer(self, string name):
-    cdef void * cl_buf = self.model.getCLBuffer(name)
-    if not cl_buf:
-      return None
-    return CLMem.create(cl_buf)
-
-  def execute(self):
-    self.model.execute()
diff --git a/sunnypilot/modeld/runners/thneedmodel.cc b/sunnypilot/modeld/runners/thneedmodel.cc
deleted file mode 100644
index d83fc0a5f9c7ee..00000000000000
--- a/sunnypilot/modeld/runners/thneedmodel.cc
+++ /dev/null
@@ -1,58 +0,0 @@
-#include "sunnypilot/modeld/runners/thneedmodel.h"
-
-#include <string>
-
-#include "common/swaglog.h"
-
-ThneedModel::ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool luse_tf8, cl_context context) {
-  thneed = new Thneed(true, context);
-  thneed->load(path.c_str());
-  thneed->clexec();
-
-  recorded = false;
-  output = _output;
-}
-
-void* ThneedModel::getCLBuffer(const std::string name) {
-  int index = -1;
-  for (int i = 0; i < inputs.size(); i++) {
-    if (name == inputs[i]->name) {
-      index = i;
-      break;
-    }
-  }
-
-  if (index == -1) {
-    LOGE("Tried to get CL buffer for input `%s` but no input with this name exists", name.c_str());
-    assert(false);
-  }
-
-  if (thneed->input_clmem.size() >= inputs.size()) {
-    return &thneed->input_clmem[inputs.size() - index - 1];
-  } else {
-    return nullptr;
-  }
-}
-
-void ThneedModel::execute() {
-  if (!recorded) {
-    thneed->record = true;
-    float *input_buffers[inputs.size()];
-    for (int i = 0; i < inputs.size(); i++) {
-      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
-    }
-
-    thneed->copy_inputs(input_buffers);
-    thneed->clexec();
-    thneed->copy_output(output);
-    thneed->stop();
-
-    recorded = true;
-  } else {
-    float *input_buffers[inputs.size()];
-    for (int i = 0; i < inputs.size(); i++) {
-      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
-    }
-    thneed->execute(input_buffers, output);
-  }
-}
diff --git a/sunnypilot/modeld/runners/thneedmodel.h b/sunnypilot/modeld/runners/thneedmodel.h
deleted file mode 100644
index ecc7207c1f1fce..00000000000000
--- a/sunnypilot/modeld/runners/thneedmodel.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#pragma once
-
-#include <string>
-
-#include "sunnypilot/modeld/runners/runmodel.h"
-#include "sunnypilot/modeld/thneed/thneed.h"
-
-class ThneedModel : public RunModel {
-public:
-  ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
-  void *getCLBuffer(const std::string name);
-  void execute();
-private:
-  Thneed *thneed = NULL;
-  bool recorded;
-  float *output;
-};
diff --git a/sunnypilot/modeld/runners/thneedmodel.pxd b/sunnypilot/modeld/runners/thneedmodel.pxd
deleted file mode 100644
index ace7443b50e42b..00000000000000
--- a/sunnypilot/modeld/runners/thneedmodel.pxd
+++ /dev/null
@@ -1,9 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-from msgq.visionipc.visionipc cimport cl_context
-
-cdef extern from "sunnypilot/modeld/runners/thneedmodel.h":
-  cdef cppclass ThneedModel:
-    ThneedModel(string, float*, size_t, int, bool, cl_context)
diff --git a/sunnypilot/modeld/runners/thneedmodel_pyx.pyx b/sunnypilot/modeld/runners/thneedmodel_pyx.pyx
deleted file mode 100644
index eaabc4a776570a..00000000000000
--- a/sunnypilot/modeld/runners/thneedmodel_pyx.pyx
+++ /dev/null
@@ -1,14 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-from libcpp cimport bool
-from libcpp.string cimport string
-
-from .thneedmodel cimport ThneedModel as cppThneedModel
-from openpilot.sunnypilot.modeld.models.commonmodel_pyx cimport CLContext
-from openpilot.sunnypilot.modeld.runners.runmodel_pyx cimport RunModel
-from openpilot.sunnypilot.modeld.runners.runmodel cimport RunModel as cppRunModel
-
-cdef class ThneedModel(RunModel):
-  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
-    self.model = <cppRunModel *> new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/sunnypilot/modeld/thneed/README b/sunnypilot/modeld/thneed/README
deleted file mode 100644
index f3bc66d8fc26ff..00000000000000
--- a/sunnypilot/modeld/thneed/README
+++ /dev/null
@@ -1,8 +0,0 @@
-thneed is an SNPE accelerator. I know SNPE is already an accelerator, but sometimes things need to go even faster..
-
-It runs on the local device, and caches a single model run. Then it replays it, but fast.
-
-thneed slices through abstraction layers like a fish.
-
-You need a thneed.
-
diff --git a/sunnypilot/modeld/thneed/__init__.py b/sunnypilot/modeld/thneed/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/sunnypilot/modeld/thneed/clutil_legacy.cc b/sunnypilot/modeld/thneed/clutil_legacy.cc
deleted file mode 100644
index 3bf93164325135..00000000000000
--- a/sunnypilot/modeld/thneed/clutil_legacy.cc
+++ /dev/null
@@ -1,126 +0,0 @@
-#include "common/clutil.h"
-
-#include <cassert>
-#include <iostream>
-#include <memory>
-
-#include "common/util.h"
-#include "common/swaglog.h"
-#include "sunnypilot/modeld/thneed/clutil_legacy.h"
-
-void cl_print_build_errors(cl_program program, cl_device_id device) {
-  cl_build_status status;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
-  size_t log_size;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
-  std::string log(log_size, '\0');
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
-
-  LOGE("build failed; status=%d, log: %s", status, log.c_str());
-}
-
-cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args) {
-  cl_program prg = CL_CHECK_ERR(clCreateProgramWithBinary(ctx, 1, &device_id, &length, &binary, NULL, &err));
-  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
-    cl_print_build_errors(prg, device_id);
-    assert(0);
-  }
-  return prg;
-}
-
-// Given a cl code and return a string representation
-#define CL_ERR_TO_STR(err) case err: return #err
-const char* cl_get_error_string(int err) {
-  switch (err) {
-    CL_ERR_TO_STR(CL_SUCCESS);
-    CL_ERR_TO_STR(CL_DEVICE_NOT_FOUND);
-    CL_ERR_TO_STR(CL_DEVICE_NOT_AVAILABLE);
-    CL_ERR_TO_STR(CL_COMPILER_NOT_AVAILABLE);
-    CL_ERR_TO_STR(CL_MEM_OBJECT_ALLOCATION_FAILURE);
-    CL_ERR_TO_STR(CL_OUT_OF_RESOURCES);
-    CL_ERR_TO_STR(CL_OUT_OF_HOST_MEMORY);
-    CL_ERR_TO_STR(CL_PROFILING_INFO_NOT_AVAILABLE);
-    CL_ERR_TO_STR(CL_MEM_COPY_OVERLAP);
-    CL_ERR_TO_STR(CL_IMAGE_FORMAT_MISMATCH);
-    CL_ERR_TO_STR(CL_IMAGE_FORMAT_NOT_SUPPORTED);
-    CL_ERR_TO_STR(CL_MAP_FAILURE);
-    CL_ERR_TO_STR(CL_MISALIGNED_SUB_BUFFER_OFFSET);
-    CL_ERR_TO_STR(CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST);
-    CL_ERR_TO_STR(CL_COMPILE_PROGRAM_FAILURE);
-    CL_ERR_TO_STR(CL_LINKER_NOT_AVAILABLE);
-    CL_ERR_TO_STR(CL_LINK_PROGRAM_FAILURE);
-    CL_ERR_TO_STR(CL_DEVICE_PARTITION_FAILED);
-    CL_ERR_TO_STR(CL_KERNEL_ARG_INFO_NOT_AVAILABLE);
-    CL_ERR_TO_STR(CL_INVALID_VALUE);
-    CL_ERR_TO_STR(CL_INVALID_DEVICE_TYPE);
-    CL_ERR_TO_STR(CL_INVALID_PLATFORM);
-    CL_ERR_TO_STR(CL_INVALID_DEVICE);
-    CL_ERR_TO_STR(CL_INVALID_CONTEXT);
-    CL_ERR_TO_STR(CL_INVALID_QUEUE_PROPERTIES);
-    CL_ERR_TO_STR(CL_INVALID_COMMAND_QUEUE);
-    CL_ERR_TO_STR(CL_INVALID_HOST_PTR);
-    CL_ERR_TO_STR(CL_INVALID_MEM_OBJECT);
-    CL_ERR_TO_STR(CL_INVALID_IMAGE_FORMAT_DESCRIPTOR);
-    CL_ERR_TO_STR(CL_INVALID_IMAGE_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_SAMPLER);
-    CL_ERR_TO_STR(CL_INVALID_BINARY);
-    CL_ERR_TO_STR(CL_INVALID_BUILD_OPTIONS);
-    CL_ERR_TO_STR(CL_INVALID_PROGRAM);
-    CL_ERR_TO_STR(CL_INVALID_PROGRAM_EXECUTABLE);
-    CL_ERR_TO_STR(CL_INVALID_KERNEL_NAME);
-    CL_ERR_TO_STR(CL_INVALID_KERNEL_DEFINITION);
-    CL_ERR_TO_STR(CL_INVALID_KERNEL);
-    CL_ERR_TO_STR(CL_INVALID_ARG_INDEX);
-    CL_ERR_TO_STR(CL_INVALID_ARG_VALUE);
-    CL_ERR_TO_STR(CL_INVALID_ARG_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_KERNEL_ARGS);
-    CL_ERR_TO_STR(CL_INVALID_WORK_DIMENSION);
-    CL_ERR_TO_STR(CL_INVALID_WORK_GROUP_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_WORK_ITEM_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_GLOBAL_OFFSET);
-    CL_ERR_TO_STR(CL_INVALID_EVENT_WAIT_LIST);
-    CL_ERR_TO_STR(CL_INVALID_EVENT);
-    CL_ERR_TO_STR(CL_INVALID_OPERATION);
-    CL_ERR_TO_STR(CL_INVALID_GL_OBJECT);
-    CL_ERR_TO_STR(CL_INVALID_BUFFER_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_MIP_LEVEL);
-    CL_ERR_TO_STR(CL_INVALID_GLOBAL_WORK_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_PROPERTY);
-    CL_ERR_TO_STR(CL_INVALID_IMAGE_DESCRIPTOR);
-    CL_ERR_TO_STR(CL_INVALID_COMPILER_OPTIONS);
-    CL_ERR_TO_STR(CL_INVALID_LINKER_OPTIONS);
-    CL_ERR_TO_STR(CL_INVALID_DEVICE_PARTITION_COUNT);
-    case -69: return "CL_INVALID_PIPE_SIZE";
-    case -70: return "CL_INVALID_DEVICE_QUEUE";
-    case -71: return "CL_INVALID_SPEC_ID";
-    case -72: return "CL_MAX_SIZE_RESTRICTION_EXCEEDED";
-    case -1002: return "CL_INVALID_D3D10_DEVICE_KHR";
-    case -1003: return "CL_INVALID_D3D10_RESOURCE_KHR";
-    case -1004: return "CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR";
-    case -1005: return "CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR";
-    case -1006: return "CL_INVALID_D3D11_DEVICE_KHR";
-    case -1007: return "CL_INVALID_D3D11_RESOURCE_KHR";
-    case -1008: return "CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR";
-    case -1009: return "CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR";
-    case -1010: return "CL_INVALID_DX9_MEDIA_ADAPTER_KHR";
-    case -1011: return "CL_INVALID_DX9_MEDIA_SURFACE_KHR";
-    case -1012: return "CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR";
-    case -1013: return "CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR";
-    case -1093: return "CL_INVALID_EGL_OBJECT_KHR";
-    case -1092: return "CL_EGL_RESOURCE_NOT_ACQUIRED_KHR";
-    case -1001: return "CL_PLATFORM_NOT_FOUND_KHR";
-    case -1057: return "CL_DEVICE_PARTITION_FAILED_EXT";
-    case -1058: return "CL_INVALID_PARTITION_COUNT_EXT";
-    case -1059: return "CL_INVALID_PARTITION_NAME_EXT";
-    case -1094: return "CL_INVALID_ACCELERATOR_INTEL";
-    case -1095: return "CL_INVALID_ACCELERATOR_TYPE_INTEL";
-    case -1096: return "CL_INVALID_ACCELERATOR_DESCRIPTOR_INTEL";
-    case -1097: return "CL_ACCELERATOR_TYPE_NOT_SUPPORTED_INTEL";
-    case -1000: return "CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR";
-    case -1098: return "CL_INVALID_VA_API_MEDIA_ADAPTER_INTEL";
-    case -1099: return "CL_INVALID_VA_API_MEDIA_SURFACE_INTEL";
-    case -1100: return "CL_VA_API_MEDIA_SURFACE_ALREADY_ACQUIRED_INTEL";
-    case -1101: return "CL_VA_API_MEDIA_SURFACE_NOT_ACQUIRED_INTEL";
-    default: return "CL_UNKNOWN_ERROR";
-  }
-}
\ No newline at end of file
diff --git a/sunnypilot/modeld/thneed/clutil_legacy.h b/sunnypilot/modeld/thneed/clutil_legacy.h
deleted file mode 100644
index 8aebdcf1a9e6cc..00000000000000
--- a/sunnypilot/modeld/thneed/clutil_legacy.h
+++ /dev/null
@@ -1,13 +0,0 @@
-#pragma once
-
-#include "common/clutil.h"
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include <string>
-
-cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
-const char* cl_get_error_string(int err);
\ No newline at end of file
diff --git a/sunnypilot/modeld/thneed/serialize.cc b/sunnypilot/modeld/thneed/serialize.cc
deleted file mode 100644
index 9279a90e0fdaaa..00000000000000
--- a/sunnypilot/modeld/thneed/serialize.cc
+++ /dev/null
@@ -1,155 +0,0 @@
-#include <cassert>
-#include <set>
-
-#include "third_party/json11/json11.hpp"
-#include "common/util.h"
-#include "common/clutil.h"
-#include "common/swaglog.h"
-#include "sunnypilot/modeld/thneed/thneed.h"
-#include "sunnypilot/modeld/thneed/clutil_legacy.h"
-using namespace json11;
-
-extern map<cl_program, string> g_program_source;
-
-void Thneed::load(const char *filename) {
-  LOGD("Thneed::load: loading from %s\n", filename);
-
-  string buf = util::read_file(filename);
-  int jsz = *(int *)buf.data();
-  string jsonerr;
-  string jj(buf.data() + sizeof(int), jsz);
-  Json jdat = Json::parse(jj, jsonerr);
-
-  map<cl_mem, cl_mem> real_mem;
-  real_mem[NULL] = NULL;
-
-  int ptr = sizeof(int)+jsz;
-  for (auto &obj : jdat["objects"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    cl_mem clbuf = NULL;
-
-    if (mobj["buffer_id"].string_value().size() > 0) {
-      // image buffer must already be allocated
-      clbuf = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-      assert(mobj["needs_load"].bool_value() == false);
-    } else {
-      if (mobj["needs_load"].bool_value()) {
-        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, &buf[ptr], NULL);
-        if (debug >= 1) printf("loading %p %d @ 0x%X\n", clbuf, sz, ptr);
-        ptr += sz;
-      } else {
-        // TODO: is there a faster way to init zeroed out buffers?
-        void *host_zeros = calloc(sz, 1);
-        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, host_zeros, NULL);
-        free(host_zeros);
-      }
-    }
-    assert(clbuf != NULL);
-
-    if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") {
-      cl_image_desc desc = {0};
-      desc.image_type = (mobj["arg_type"] == "image2d_t") ? CL_MEM_OBJECT_IMAGE2D : CL_MEM_OBJECT_IMAGE1D_BUFFER;
-      desc.image_width = mobj["width"].int_value();
-      desc.image_height = mobj["height"].int_value();
-      desc.image_row_pitch = mobj["row_pitch"].int_value();
-      assert(sz == desc.image_height*desc.image_row_pitch);
-#ifdef QCOM2
-      desc.buffer = clbuf;
-#else
-      // TODO: we are creating unused buffers on PC
-      clReleaseMemObject(clbuf);
-#endif
-      cl_image_format format = {0};
-      format.image_channel_order = CL_RGBA;
-      format.image_channel_data_type = mobj["float32"].bool_value() ? CL_FLOAT : CL_HALF_FLOAT;
-
-      cl_int errcode;
-
-#ifndef QCOM2
-      if (mobj["needs_load"].bool_value()) {
-        clbuf = clCreateImage(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, &format, &desc, &buf[ptr-sz], &errcode);
-      } else {
-        clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
-      }
-#else
-      clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
-#endif
-      if (clbuf == NULL) {
-        LOGE("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode),
-             desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer);
-      }
-      assert(clbuf != NULL);
-    }
-
-    real_mem[*(cl_mem*)(mobj["id"].string_value().data())] = clbuf;
-  }
-
-  map<string, cl_program> g_programs;
-  for (const auto &[name, source] : jdat["programs"].object_items()) {
-    if (debug >= 1) printf("building %s with size %zu\n", name.c_str(), source.string_value().size());
-    g_programs[name] = cl_program_from_source(context, device_id, source.string_value());
-  }
-
-  for (auto &obj : jdat["inputs"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-    input_clmem.push_back(aa);
-    input_sizes.push_back(sz);
-    LOGD("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz);
-
-    cl_int cl_err;
-    void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &cl_err);
-    if (cl_err != CL_SUCCESS) LOGE("clError: %s map %p %d\n", cl_get_error_string(cl_err), aa, sz);
-    assert(cl_err == CL_SUCCESS);
-    inputs.push_back(ret);
-  }
-
-  for (auto &obj : jdat["outputs"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    LOGD("Thneed::save: adding output with size %d\n", sz);
-    // TODO: support multiple outputs
-    output = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-    assert(output != NULL);
-  }
-
-  for (auto &obj : jdat["binaries"].array_items()) {
-    string name = obj["name"].string_value();
-    size_t length = obj["length"].int_value();
-    if (debug >= 1) printf("binary %s with size %zu\n", name.c_str(), length);
-    g_programs[name] = cl_program_from_binary(context, device_id, (const uint8_t*)&buf[ptr], length);
-    ptr += length;
-  }
-
-  for (auto &obj : jdat["kernels"].array_items()) {
-    auto gws = obj["global_work_size"];
-    auto lws = obj["local_work_size"];
-    auto kk = shared_ptr<CLQueuedKernel>(new CLQueuedKernel(this));
-
-    kk->name = obj["name"].string_value();
-    kk->program = g_programs[kk->name];
-    kk->work_dim = obj["work_dim"].int_value();
-    for (int i = 0; i < kk->work_dim; i++) {
-      kk->global_work_size[i] = gws[i].int_value();
-      kk->local_work_size[i] = lws[i].int_value();
-    }
-    kk->num_args = obj["num_args"].int_value();
-    for (int i = 0; i < kk->num_args; i++) {
-      string arg = obj["args"].array_items()[i].string_value();
-      int arg_size = obj["args_size"].array_items()[i].int_value();
-      kk->args_size.push_back(arg_size);
-      if (arg_size == 8) {
-        cl_mem val = *(cl_mem*)(arg.data());
-        val = real_mem[val];
-        kk->args.push_back(string((char*)&val, sizeof(val)));
-      } else {
-        kk->args.push_back(arg);
-      }
-    }
-    kq.push_back(kk);
-  }
-
-  clFinish(command_queue);
-}
diff --git a/sunnypilot/modeld/thneed/thneed.h b/sunnypilot/modeld/thneed/thneed.h
deleted file mode 100644
index 47e18e0be3bb30..00000000000000
--- a/sunnypilot/modeld/thneed/thneed.h
+++ /dev/null
@@ -1,133 +0,0 @@
-#pragma once
-
-#ifndef __user
-#define __user __attribute__(())
-#endif
-
-#include <cstdint>
-#include <cstdlib>
-#include <memory>
-#include <string>
-#include <vector>
-
-#include <CL/cl.h>
-
-#include "third_party/linux/include/msm_kgsl.h"
-
-using namespace std;
-
-cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value);
-
-namespace json11 {
-  class Json;
-}
-class Thneed;
-
-class GPUMalloc {
-  public:
-    GPUMalloc(int size, int fd);
-    ~GPUMalloc();
-    void *alloc(int size);
-  private:
-    uint64_t base;
-    int remaining;
-};
-
-class CLQueuedKernel {
-  public:
-    CLQueuedKernel(Thneed *lthneed) { thneed = lthneed; }
-    CLQueuedKernel(Thneed *lthneed,
-                   cl_kernel _kernel,
-                   cl_uint _work_dim,
-                   const size_t *_global_work_size,
-                   const size_t *_local_work_size);
-    cl_int exec();
-    void debug_print(bool verbose);
-    int get_arg_num(const char *search_arg_name);
-    cl_program program;
-    string name;
-    cl_uint num_args;
-    vector<string> arg_names;
-    vector<string> arg_types;
-    vector<string> args;
-    vector<int> args_size;
-    cl_kernel kernel = NULL;
-    json11::Json to_json() const;
-
-    cl_uint work_dim;
-    size_t global_work_size[3] = {0};
-    size_t local_work_size[3] = {0};
-  private:
-    Thneed *thneed;
-};
-
-class CachedIoctl {
-  public:
-    virtual void exec() {}
-};
-
-class CachedSync: public CachedIoctl {
-  public:
-    CachedSync(Thneed *lthneed, string ldata) { thneed = lthneed; data = ldata; }
-    void exec();
-  private:
-    Thneed *thneed;
-    string data;
-};
-
-class CachedCommand: public CachedIoctl {
-  public:
-    CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd);
-    void exec();
-  private:
-    void disassemble(int cmd_index);
-    struct kgsl_gpu_command cache;
-    unique_ptr<kgsl_command_object[]> cmds;
-    unique_ptr<kgsl_command_object[]> objs;
-    Thneed *thneed;
-    vector<shared_ptr<CLQueuedKernel> > kq;
-};
-
-class Thneed {
-  public:
-    Thneed(bool do_clinit=false, cl_context _context = NULL);
-    void stop();
-    void execute(float **finputs, float *foutput, bool slow=false);
-    void wait();
-
-    vector<cl_mem> input_clmem;
-    vector<void *> inputs;
-    vector<size_t> input_sizes;
-    cl_mem output = NULL;
-
-    cl_context context = NULL;
-    cl_command_queue command_queue;
-    cl_device_id device_id;
-    int context_id;
-
-    // protected?
-    bool record = false;
-    int debug;
-    int timestamp;
-
-#ifdef QCOM2
-    unique_ptr<GPUMalloc> ram;
-    vector<unique_ptr<CachedIoctl> > cmds;
-    int fd;
-#endif
-
-    // all CL kernels
-    void copy_inputs(float **finputs, bool internal=false);
-    void copy_output(float *foutput);
-    cl_int clexec();
-    vector<shared_ptr<CLQueuedKernel> > kq;
-
-    // pending CL kernels
-    vector<shared_ptr<CLQueuedKernel> > ckq;
-
-    // loading
-    void load(const char *filename);
-  private:
-    void clinit();
-};
-
diff --git a/sunnypilot/modeld/thneed/thneed_common.cc b/sunnypilot/modeld/thneed/thneed_common.cc
deleted file mode 100644
index 56fbe70d8fdda8..00000000000000
--- a/sunnypilot/modeld/thneed/thneed_common.cc
+++ /dev/null
@@ -1,216 +0,0 @@
-#include "sunnypilot/modeld/thneed/thneed.h"
-
-#include <cassert>
-#include <cstring>
-#include <map>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-map<pair<cl_kernel, int>, string> g_args;
-map<pair<cl_kernel, int>, int> g_args_size;
-map<cl_program, string> g_program_source;
-
-void Thneed::stop() {
-  //printf("Thneed::stop: recorded %lu commands\n", cmds.size());
-  record = false;
-}
-
-void Thneed::clinit() {
-  device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  if (context == NULL) context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-  //cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, CL_QUEUE_PROFILING_ENABLE, 0};
-  cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, 0, 0};
-  command_queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
-  printf("Thneed::clinit done\n");
-}
-
-cl_int Thneed::clexec() {
-  if (debug >= 1) printf("Thneed::clexec: running %lu queued kernels\n", kq.size());
-  for (auto &k : kq) {
-    if (record) ckq.push_back(k);
-    cl_int ret = k->exec();
-    assert(ret == CL_SUCCESS);
-  }
-  return clFinish(command_queue);
-}
-
-void Thneed::copy_inputs(float **finputs, bool internal) {
-  for (int idx = 0; idx < inputs.size(); ++idx) {
-    if (debug >= 1) printf("copying %lu -- %p -> %p (cl %p)\n", input_sizes[idx], finputs[idx], inputs[idx], input_clmem[idx]);
-
-    if (internal) {
-      // if it's internal, using memcpy is fine since the buffer sync is cached in the ioctl layer
-      if (finputs[idx] != NULL) memcpy(inputs[idx], finputs[idx], input_sizes[idx]);
-    } else {
-      if (finputs[idx] != NULL) CL_CHECK(clEnqueueWriteBuffer(command_queue, input_clmem[idx], CL_TRUE, 0, input_sizes[idx], finputs[idx], 0, NULL, NULL));
-    }
-  }
-}
-
-void Thneed::copy_output(float *foutput) {
-  if (output != NULL) {
-    size_t sz;
-    clGetMemObjectInfo(output, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-    if (debug >= 1) printf("copying %lu for output %p -> %p\n", sz, output, foutput);
-    CL_CHECK(clEnqueueReadBuffer(command_queue, output, CL_TRUE, 0, sz, foutput, 0, NULL, NULL));
-  } else {
-    printf("CAUTION: model output is NULL, does it have no outputs?\n");
-  }
-}
-
-// *********** CLQueuedKernel ***********
-
-CLQueuedKernel::CLQueuedKernel(Thneed *lthneed,
-                               cl_kernel _kernel,
-                               cl_uint _work_dim,
-                               const size_t *_global_work_size,
-                               const size_t *_local_work_size) {
-  thneed = lthneed;
-  kernel = _kernel;
-  work_dim = _work_dim;
-  assert(work_dim <= 3);
-  for (int i = 0; i < work_dim; i++) {
-    global_work_size[i] = _global_work_size[i];
-    local_work_size[i] = _local_work_size[i];
-  }
-
-  char _name[0x100];
-  clGetKernelInfo(kernel, CL_KERNEL_FUNCTION_NAME, sizeof(_name), _name, NULL);
-  name = string(_name);
-  clGetKernelInfo(kernel, CL_KERNEL_NUM_ARGS, sizeof(num_args), &num_args, NULL);
-
-  // get args
-  for (int i = 0; i < num_args; i++) {
-    char arg_name[0x100] = {0};
-    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
-    arg_names.push_back(string(arg_name));
-    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
-    arg_types.push_back(string(arg_name));
-
-    args.push_back(g_args[make_pair(kernel, i)]);
-    args_size.push_back(g_args_size[make_pair(kernel, i)]);
-  }
-
-  // get program
-  clGetKernelInfo(kernel, CL_KERNEL_PROGRAM, sizeof(program), &program, NULL);
-}
-
-int CLQueuedKernel::get_arg_num(const char *search_arg_name) {
-  for (int i = 0; i < num_args; i++) {
-    if (arg_names[i] == search_arg_name) return i;
-  }
-  printf("failed to find %s in %s\n", search_arg_name, name.c_str());
-  assert(false);
-}
-
-cl_int CLQueuedKernel::exec() {
-  if (kernel == NULL) {
-    kernel = clCreateKernel(program, name.c_str(), NULL);
-    arg_names.clear();
-    arg_types.clear();
-
-    for (int j = 0; j < num_args; j++) {
-      char arg_name[0x100] = {0};
-      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
-      arg_names.push_back(string(arg_name));
-      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
-      arg_types.push_back(string(arg_name));
-
-      cl_int ret;
-      if (args[j].size() != 0) {
-        assert(args[j].size() == args_size[j]);
-        ret = thneed_clSetKernelArg(kernel, j, args[j].size(), args[j].data());
-      } else {
-        ret = thneed_clSetKernelArg(kernel, j, args_size[j], NULL);
-      }
-      assert(ret == CL_SUCCESS);
-    }
-  }
-
-  if (thneed->debug >= 1) {
-    debug_print(thneed->debug >= 2);
-  }
-
-  return clEnqueueNDRangeKernel(thneed->command_queue,
-    kernel, work_dim, NULL, global_work_size, local_work_size, 0, NULL, NULL);
-}
-
-void CLQueuedKernel::debug_print(bool verbose) {
-  printf("%p %56s -- ", kernel, name.c_str());
-  for (int i = 0; i < work_dim; i++) {
-    printf("%4zu ", global_work_size[i]);
-  }
-  printf(" -- ");
-  for (int i = 0; i < work_dim; i++) {
-    printf("%4zu ", local_work_size[i]);
-  }
-  printf("\n");
-
-  if (verbose) {
-    for (int i = 0; i < num_args; i++) {
-      string arg = args[i];
-      printf("  %s %s", arg_types[i].c_str(), arg_names[i].c_str());
-      void *arg_value = (void*)arg.data();
-      int arg_size = arg.size();
-      if (arg_size == 0) {
-        printf(" (size) %d", args_size[i]);
-      } else if (arg_size == 1) {
-        printf(" = %d", *((char*)arg_value));
-      } else if (arg_size == 2) {
-        printf(" = %d", *((short*)arg_value));
-      } else if (arg_size == 4) {
-        if (arg_types[i] == "float") {
-          printf(" = %f", *((float*)arg_value));
-        } else {
-          printf(" = %d", *((int*)arg_value));
-        }
-      } else if (arg_size == 8) {
-        cl_mem val = (cl_mem)(*((uintptr_t*)arg_value));
-        printf(" = %p", val);
-        if (val != NULL) {
-          cl_mem_object_type obj_type;
-          clGetMemObjectInfo(val, CL_MEM_TYPE, sizeof(obj_type), &obj_type, NULL);
-          if (arg_types[i] == "image2d_t" || arg_types[i] == "image1d_t" || obj_type == CL_MEM_OBJECT_IMAGE2D) {
-            cl_image_format format;
-            size_t width, height, depth, array_size, row_pitch, slice_pitch;
-            cl_mem buf;
-            clGetImageInfo(val, CL_IMAGE_FORMAT, sizeof(format), &format, NULL);
-            assert(format.image_channel_order == CL_RGBA);
-            assert(format.image_channel_data_type == CL_HALF_FLOAT || format.image_channel_data_type == CL_FLOAT);
-            clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL);
-            clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL);
-            clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL);
-            clGetImageInfo(val, CL_IMAGE_DEPTH, sizeof(depth), &depth, NULL);
-            clGetImageInfo(val, CL_IMAGE_ARRAY_SIZE, sizeof(array_size), &array_size, NULL);
-            clGetImageInfo(val, CL_IMAGE_SLICE_PITCH, sizeof(slice_pitch), &slice_pitch, NULL);
-            assert(depth == 0);
-            assert(array_size == 0);
-            assert(slice_pitch == 0);
-
-            clGetImageInfo(val, CL_IMAGE_BUFFER, sizeof(buf), &buf, NULL);
-            size_t sz = 0;
-            if (buf != NULL) clGetMemObjectInfo(buf, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-            printf(" image %zu x %zu rp %zu @ %p buffer %zu", width, height, row_pitch, buf, sz);
-          } else {
-            size_t sz;
-            clGetMemObjectInfo(val, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-            printf(" buffer %zu", sz);
-          }
-        }
-      }
-      printf("\n");
-    }
-  }
-}
-
-cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value) {
-  g_args_size[make_pair(kernel, arg_index)] = arg_size;
-  if (arg_value != NULL) {
-    g_args[make_pair(kernel, arg_index)] = string((char*)arg_value, arg_size);
-  } else {
-    g_args[make_pair(kernel, arg_index)] = string("");
-  }
-  cl_int ret = clSetKernelArg(kernel, arg_index, arg_size, arg_value);
-  return ret;
-}
diff --git a/sunnypilot/modeld/thneed/thneed_pc.cc b/sunnypilot/modeld/thneed/thneed_pc.cc
deleted file mode 100644
index 629d0ee3595b6a..00000000000000
--- a/sunnypilot/modeld/thneed/thneed_pc.cc
+++ /dev/null
@@ -1,32 +0,0 @@
-#include "sunnypilot/modeld/thneed/thneed.h"
-
-#include <cassert>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-Thneed::Thneed(bool do_clinit, cl_context _context) {
-  context = _context;
-  if (do_clinit) clinit();
-  char *thneed_debug_env = getenv("THNEED_DEBUG");
-  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
-}
-
-void Thneed::execute(float **finputs, float *foutput, bool slow) {
-  uint64_t tb, te;
-  if (debug >= 1) tb = nanos_since_boot();
-
-  // ****** copy inputs
-  copy_inputs(finputs);
-
-  // ****** run commands
-  clexec();
-
-  // ****** copy outputs
-  copy_output(foutput);
-
-  if (debug >= 1) {
-    te = nanos_since_boot();
-    printf("model exec in %lu us\n", (te-tb)/1000);
-  }
-}
diff --git a/sunnypilot/modeld/thneed/thneed_qcom2.cc b/sunnypilot/modeld/thneed/thneed_qcom2.cc
deleted file mode 100644
index b940da1ce1215d..00000000000000
--- a/sunnypilot/modeld/thneed/thneed_qcom2.cc
+++ /dev/null
@@ -1,258 +0,0 @@
-#include "sunnypilot/modeld/thneed/thneed.h"
-
-#include <dlfcn.h>
-#include <sys/mman.h>
-
-#include <cassert>
-#include <cerrno>
-#include <cstring>
-#include <map>
-#include <string>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-Thneed *g_thneed = NULL;
-int g_fd = -1;
-
-void hexdump(uint8_t *d, int len) {
-  assert((len%4) == 0);
-  printf("  dumping %p len 0x%x\n", d, len);
-  for (int i = 0; i < len/4; i++) {
-    if (i != 0 && (i%0x10) == 0) printf("\n");
-    printf("%8x ", d[i]);
-  }
-  printf("\n");
-}
-
-// *********** ioctl interceptor ***********
-
-extern "C" {
-
-int (*my_ioctl)(int filedes, unsigned long request, void *argp) = NULL;
-#undef ioctl
-int ioctl(int filedes, unsigned long request, void *argp) {
-  request &= 0xFFFFFFFF;  // needed on QCOM2
-  if (my_ioctl == NULL) my_ioctl = reinterpret_cast<decltype(my_ioctl)>(dlsym(RTLD_NEXT, "ioctl"));
-  Thneed *thneed = g_thneed;
-
-  // save the fd
-  if (request == IOCTL_KGSL_GPUOBJ_ALLOC) g_fd = filedes;
-
-  // note that this runs always, even without a thneed object
-  if (request == IOCTL_KGSL_DRAWCTXT_CREATE) {
-    struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp;
-    create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK;
-    create->flags |= 6 << KGSL_CONTEXT_PRIORITY_SHIFT;   // priority from 1-15, 1 is max priority
-    printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags);
-  }
-
-  if (thneed != NULL) {
-    if (request == IOCTL_KGSL_GPU_COMMAND) {
-      struct kgsl_gpu_command *cmd = (struct kgsl_gpu_command *)argp;
-      if (thneed->record) {
-        thneed->timestamp = cmd->timestamp;
-        thneed->context_id = cmd->context_id;
-        thneed->cmds.push_back(unique_ptr<CachedCommand>(new CachedCommand(thneed, cmd)));
-      }
-      if (thneed->debug >= 1) {
-        printf("IOCTL_KGSL_GPU_COMMAND(%2zu): flags: 0x%lx    context_id: %u  timestamp: %u  numcmds: %d  numobjs: %d\n",
-            thneed->cmds.size(),
-            cmd->flags,
-            cmd->context_id, cmd->timestamp, cmd->numcmds, cmd->numobjs);
-      }
-    } else if (request == IOCTL_KGSL_GPUOBJ_SYNC) {
-      struct kgsl_gpuobj_sync *cmd = (struct kgsl_gpuobj_sync *)argp;
-      struct kgsl_gpuobj_sync_obj *objs = (struct kgsl_gpuobj_sync_obj *)(cmd->objs);
-
-      if (thneed->debug >= 2) {
-        printf("IOCTL_KGSL_GPUOBJ_SYNC count:%d ", cmd->count);
-        for (int i = 0; i < cmd->count; i++) {
-          printf(" -- offset:0x%lx len:0x%lx id:%d op:%d  ", objs[i].offset, objs[i].length, objs[i].id, objs[i].op);
-        }
-        printf("\n");
-      }
-
-      if (thneed->record) {
-        thneed->cmds.push_back(unique_ptr<CachedSync>(new
-              CachedSync(thneed, string((char *)objs, sizeof(struct kgsl_gpuobj_sync_obj)*cmd->count))));
-      }
-    } else if (request == IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID) {
-      struct kgsl_device_waittimestamp_ctxtid *cmd = (struct kgsl_device_waittimestamp_ctxtid *)argp;
-      if (thneed->debug >= 1) {
-        printf("IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID: context_id: %d  timestamp: %d  timeout: %d\n",
-            cmd->context_id, cmd->timestamp, cmd->timeout);
-      }
-    } else if (request == IOCTL_KGSL_SETPROPERTY) {
-      if (thneed->debug >= 1) {
-        struct kgsl_device_getproperty *prop = (struct kgsl_device_getproperty *)argp;
-        printf("IOCTL_KGSL_SETPROPERTY: 0x%x sizebytes:%zu\n", prop->type, prop->sizebytes);
-        if (thneed->debug >= 2) {
-          hexdump((uint8_t *)prop->value, prop->sizebytes);
-          if (prop->type == KGSL_PROP_PWR_CONSTRAINT) {
-            struct kgsl_device_constraint *constraint = (struct kgsl_device_constraint *)prop->value;
-            hexdump((uint8_t *)constraint->data, constraint->size);
-          }
-        }
-      }
-    } else if (request == IOCTL_KGSL_DRAWCTXT_CREATE || request == IOCTL_KGSL_DRAWCTXT_DESTROY) {
-      // this happens
-    } else if (request == IOCTL_KGSL_GPUOBJ_ALLOC || request == IOCTL_KGSL_GPUOBJ_FREE) {
-      // this happens
-    } else {
-      if (thneed->debug >= 1) {
-        printf("other ioctl %lx\n", request);
-      }
-    }
-  }
-
-  int ret = my_ioctl(filedes, request, argp);
-  // NOTE: This error message goes into stdout and messes up pyenv
-  // if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno);
-  return ret;
-}
-
-}
-
-// *********** GPUMalloc ***********
-
-GPUMalloc::GPUMalloc(int size, int fd) {
-  struct kgsl_gpuobj_alloc alloc;
-  memset(&alloc, 0, sizeof(alloc));
-  alloc.size = size;
-  alloc.flags = 0x10000a00;
-  ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc);
-  void *addr = mmap64(NULL, alloc.mmapsize, 0x3, 0x1, fd, alloc.id*0x1000);
-  assert(addr != MAP_FAILED);
-
-  base = (uint64_t)addr;
-  remaining = size;
-}
-
-GPUMalloc::~GPUMalloc() {
-  // TODO: free the GPU malloced area
-}
-
-void *GPUMalloc::alloc(int size) {
-  void *ret = (void*)base;
-  size = (size+0xff) & (~0xFF);
-  assert(size <= remaining);
-  remaining -= size;
-  base += size;
-  return ret;
-}
-
-// *********** CachedSync, at the ioctl layer ***********
-
-void CachedSync::exec() {
-  struct kgsl_gpuobj_sync cmd;
-
-  cmd.objs = (uint64_t)data.data();
-  cmd.obj_len = data.length();
-  cmd.count = data.length() / sizeof(struct kgsl_gpuobj_sync_obj);
-
-  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPUOBJ_SYNC, &cmd);
-  assert(ret == 0);
-}
-
-// *********** CachedCommand, at the ioctl layer ***********
-
-CachedCommand::CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd) {
-  thneed = lthneed;
-  assert(cmd->numsyncs == 0);
-
-  memcpy(&cache, cmd, sizeof(cache));
-
-  if (cmd->numcmds > 0) {
-    cmds = make_unique<struct kgsl_command_object[]>(cmd->numcmds);
-    memcpy(cmds.get(), (void *)cmd->cmdlist, sizeof(struct kgsl_command_object)*cmd->numcmds);
-    cache.cmdlist = (uint64_t)cmds.get();
-    for (int i = 0; i < cmd->numcmds; i++) {
-      void *nn = thneed->ram->alloc(cmds[i].size);
-      memcpy(nn, (void*)cmds[i].gpuaddr, cmds[i].size);
-      cmds[i].gpuaddr = (uint64_t)nn;
-    }
-  }
-
-  if (cmd->numobjs > 0) {
-    objs = make_unique<struct kgsl_command_object[]>(cmd->numobjs);
-    memcpy(objs.get(), (void *)cmd->objlist, sizeof(struct kgsl_command_object)*cmd->numobjs);
-    cache.objlist = (uint64_t)objs.get();
-    for (int i = 0; i < cmd->numobjs; i++) {
-      void *nn = thneed->ram->alloc(objs[i].size);
-      memset(nn, 0, objs[i].size);
-      objs[i].gpuaddr = (uint64_t)nn;
-    }
-  }
-
-  kq = thneed->ckq;
-  thneed->ckq.clear();
-}
-
-void CachedCommand::exec() {
-  cache.timestamp = ++thneed->timestamp;
-  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPU_COMMAND, &cache);
-
-  if (thneed->debug >= 1) printf("CachedCommand::exec got %d\n", ret);
-
-  if (thneed->debug >= 2) {
-    for (auto &it : kq) {
-      it->debug_print(false);
-    }
-  }
-
-  assert(ret == 0);
-}
-
-// *********** Thneed ***********
-
-Thneed::Thneed(bool do_clinit, cl_context _context) {
-  // TODO: QCOM2 actually requires a different context
-  //context = _context;
-  if (do_clinit) clinit();
-  assert(g_fd != -1);
-  fd = g_fd;
-  ram = make_unique<GPUMalloc>(0x80000, fd);
-  timestamp = -1;
-  g_thneed = this;
-  char *thneed_debug_env = getenv("THNEED_DEBUG");
-  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
-}
-
-void Thneed::wait() {
-  struct kgsl_device_waittimestamp_ctxtid wait;
-  wait.context_id = context_id;
-  wait.timestamp = timestamp;
-  wait.timeout = -1;
-
-  uint64_t tb = nanos_since_boot();
-  int wret = ioctl(fd, IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID, &wait);
-  uint64_t te = nanos_since_boot();
-
-  if (debug >= 1) printf("wait %d after %lu us\n", wret, (te-tb)/1000);
-}
-
-void Thneed::execute(float **finputs, float *foutput, bool slow) {
-  uint64_t tb, te;
-  if (debug >= 1) tb = nanos_since_boot();
-
-  // ****** copy inputs
-  copy_inputs(finputs, true);
-
-  // ****** run commands
-  int i = 0;
-  for (auto &it : cmds) {
-    ++i;
-    if (debug >= 1) printf("run %2d @ %7lu us: ", i, (nanos_since_boot()-tb)/1000);
-    it->exec();
-    if ((i == cmds.size()) || slow) wait();
-  }
-
-  // ****** copy outputs
-  copy_output(foutput);
-
-  if (debug >= 1) {
-    te = nanos_since_boot();
-    printf("model exec in %lu us\n", (te-tb)/1000);
-  }
-}
diff --git a/sunnypilot/modeld/transforms/loadyuv.cc b/sunnypilot/modeld/transforms/loadyuv.cc
deleted file mode 100644
index f7d571416ce27f..00000000000000
--- a/sunnypilot/modeld/transforms/loadyuv.cc
+++ /dev/null
@@ -1,74 +0,0 @@
-#include "sunnypilot/modeld/transforms/loadyuv.h"
-
-#include <cassert>
-#include <cstdio>
-#include <cstring>
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
-  memset(s, 0, sizeof(*s));
-
-  s->width = width;
-  s->height = height;
-
-  char args[1024];
-  snprintf(args, sizeof(args),
-           "-cl-fast-relaxed-math -cl-denorms-are-zero "
-           "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
-           width, height);
-  cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args);
-
-  s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
-  s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
-  s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err));
-
-  // done with this
-  CL_CHECK(clReleaseProgram(prg));
-}
-
-void loadyuv_destroy(LoadYUVState* s) {
-  CL_CHECK(clReleaseKernel(s->loadys_krnl));
-  CL_CHECK(clReleaseKernel(s->loaduv_krnl));
-  CL_CHECK(clReleaseKernel(s->copy_krnl));
-}
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl, bool do_shift) {
-  cl_int global_out_off = 0;
-  if (do_shift) {
-    // shift the image in slot 1 to slot 0, then place the new image in slot 1
-    global_out_off += (s->width*s->height) + (s->width/2)*(s->height/2)*2;
-    CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &out_cl));
-    CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_int), &global_out_off));
-    const size_t copy_work_size = global_out_off/8;
-    CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
-                                &copy_work_size, NULL, 0, 0, NULL));
-  }
-
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  const size_t loadys_work_size = (s->width*s->height)/8;
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
-                               &loadys_work_size, NULL, 0, 0, NULL));
-
-  const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
-  global_out_off += (s->width*s->height);
-
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL));
-
-  global_out_off += (s->width/2)*(s->height/2);
-
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL));
-}
diff --git a/sunnypilot/modeld/transforms/loadyuv.cl b/sunnypilot/modeld/transforms/loadyuv.cl
deleted file mode 100644
index 7dd3d973a3ef69..00000000000000
--- a/sunnypilot/modeld/transforms/loadyuv.cl
+++ /dev/null
@@ -1,47 +0,0 @@
-#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
-
-__kernel void loadys(__global uchar8 const * const Y,
-                     __global float * out,
-                     int out_offset)
-{
-    const int gid = get_global_id(0);
-    const int ois = gid * 8;
-    const int oy = ois / TRANSFORMED_WIDTH;
-    const int ox = ois % TRANSFORMED_WIDTH;
-
-    const uchar8 ys = Y[gid];
-    const float8 ysf = convert_float8(ys);
-
-    // 02
-    // 13
-
-    __global float* outy0;
-    __global float* outy1;
-    if ((oy & 1) == 0) {
-      outy0 = out + out_offset; //y0
-      outy1 = out + out_offset + UV_SIZE*2; //y2
-    } else {
-      outy0 = out + out_offset + UV_SIZE; //y1
-      outy1 = out + out_offset + UV_SIZE*3; //y3
-    }
-
-    vstore4(ysf.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-    vstore4(ysf.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-}
-
-__kernel void loaduv(__global uchar8 const * const in,
-                     __global float8 * out,
-                     int out_offset)
-{
-  const int gid = get_global_id(0);
-  const uchar8 inv = in[gid];
-  const float8 outv  = convert_float8(inv);
-  out[gid + out_offset / 8] = outv;
-}
-
-__kernel void copy(__global float8 * inout,
-                   int in_offset)
-{
-  const int gid = get_global_id(0);
-  inout[gid] = inout[gid + in_offset / 8];
-}
diff --git a/sunnypilot/modeld/transforms/loadyuv.h b/sunnypilot/modeld/transforms/loadyuv.h
deleted file mode 100644
index 7d27ef5d468dba..00000000000000
--- a/sunnypilot/modeld/transforms/loadyuv.h
+++ /dev/null
@@ -1,16 +0,0 @@
-#pragma once
-
-#include "common/clutil.h"
-
-typedef struct {
-  int width, height;
-  cl_kernel loadys_krnl, loaduv_krnl, copy_krnl;
-} LoadYUVState;
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height);
-
-void loadyuv_destroy(LoadYUVState* s);
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl, bool do_shift = false);
diff --git a/sunnypilot/modeld/transforms/transform.cc b/sunnypilot/modeld/transforms/transform.cc
deleted file mode 100644
index ebab670b537091..00000000000000
--- a/sunnypilot/modeld/transforms/transform.cc
+++ /dev/null
@@ -1,97 +0,0 @@
-#include "sunnypilot/modeld/transforms/transform.h"
-
-#include <cassert>
-#include <cstring>
-
-#include "common/clutil.h"
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
-  memset(s, 0, sizeof(*s));
-
-  cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, "");
-  s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
-  // done with this
-  CL_CHECK(clReleaseProgram(prg));
-
-  s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-  s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-}
-
-void transform_destroy(Transform* s) {
-  CL_CHECK(clReleaseMemObject(s->m_y_cl));
-  CL_CHECK(clReleaseMemObject(s->m_uv_cl));
-  CL_CHECK(clReleaseKernel(s->krnl));
-}
-
-void transform_queue(Transform* s,
-                     cl_command_queue q,
-                     cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     const mat3& projection) {
-  const int zero = 0;
-
-  // sampled using pixel center origin
-  // (because that's how fastcv and opencv does it)
-
-  mat3 projection_y = projection;
-
-  // in and out uv is half the size of y.
-  mat3 projection_uv = transform_scale_buffer(projection, 0.5);
-
-  CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL));
-  CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL));
-
-  const int in_y_width = in_width;
-  const int in_y_height = in_height;
-  const int in_y_px_stride = 1;
-  const int in_uv_width = in_width/2;
-  const int in_uv_height = in_height/2;
-  const int in_uv_px_stride = 2;
-  const int in_u_offset = in_uv_offset;
-  const int in_v_offset = in_uv_offset + 1;
-
-  const int out_y_width = out_width;
-  const int out_y_height = out_height;
-  const int out_uv_width = out_width/2;
-  const int out_uv_height = out_height/2;
-
-  CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv));  // src
-  CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride));  // src_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride));  // src_px_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero));  // src_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height));  // src_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width));  // src_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y));  // dst
-  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width));  // dst_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height));  // dst_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width));  // dst_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl));  // M
-
-  const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height};
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_y, NULL, 0, 0, NULL));
-
-  const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height};
-
-  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride));  // src_px_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset));  // src_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height));  // src_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width));  // src_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u));  // dst
-  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width));  // dst_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height));  // dst_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width));  // dst_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl));  // M
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset));  // src_ofset
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v));  // dst
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-}
diff --git a/sunnypilot/modeld/transforms/transform.cl b/sunnypilot/modeld/transforms/transform.cl
deleted file mode 100644
index 2ca25920cd19be..00000000000000
--- a/sunnypilot/modeld/transforms/transform.cl
+++ /dev/null
@@ -1,54 +0,0 @@
-#define INTER_BITS 5
-#define INTER_TAB_SIZE (1 << INTER_BITS)
-#define INTER_SCALE 1.f / INTER_TAB_SIZE
-
-#define INTER_REMAP_COEF_BITS 15
-#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS)
-
-__kernel void warpPerspective(__global const uchar * src,
-                              int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols,
-                              __global uchar * dst,
-                              int dst_row_stride, int dst_offset, int dst_rows, int dst_cols,
-                              __constant float * M)
-{
-    int dx = get_global_id(0);
-    int dy = get_global_id(1);
-
-    if (dx < dst_cols && dy < dst_rows)
-    {
-        float X0 = M[0] * dx + M[1] * dy + M[2];
-        float Y0 = M[3] * dx + M[4] * dy + M[5];
-        float W = M[6] * dx + M[7] * dy + M[8];
-        W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
-        int X = rint(X0 * W), Y = rint(Y0 * W);
-
-        int sx = convert_short_sat(X >> INTER_BITS);
-        int sy = convert_short_sat(Y >> INTER_BITS);
-
-        short sx_clamp = clamp(sx, 0, src_cols - 1);
-        short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
-        short sy_clamp = clamp(sy, 0, src_rows - 1);
-        short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
-        int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
-        int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-        int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
-        int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-
-        short ay = (short)(Y & (INTER_TAB_SIZE - 1));
-        short ax = (short)(X & (INTER_TAB_SIZE - 1));
-        float taby = 1.f/INTER_TAB_SIZE*ay;
-        float tabx = 1.f/INTER_TAB_SIZE*ax;
-
-        int dst_index = mad24(dy, dst_row_stride, dst_offset + dx);
-
-        int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
-        int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE );
-        int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
-        int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE );
-
-        int val = v0 * itab0 +  v1 * itab1 + v2 * itab2 + v3 * itab3;
-
-        uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS);
-        dst[dst_index] = pix;
-    }
-}
diff --git a/sunnypilot/modeld/transforms/transform.h b/sunnypilot/modeld/transforms/transform.h
deleted file mode 100644
index 771a7054b35d29..00000000000000
--- a/sunnypilot/modeld/transforms/transform.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#pragma once
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/mat.h"
-
-typedef struct {
-  cl_kernel krnl;
-  cl_mem m_y_cl, m_uv_cl;
-} Transform;
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id);
-
-void transform_destroy(Transform* transform);
-
-void transform_queue(Transform* s, cl_command_queue q,
-                     cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     const mat3& projection);
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index c38ba40d4f6072..231d9d66d3f6ab 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -31,7 +31,7 @@
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
 
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
-from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
+from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner
 
diff --git a/sunnypilot/modeld/modeld_base.py b/sunnypilot/modeld_v2/modeld_base.py
similarity index 100%
rename from sunnypilot/modeld/modeld_base.py
rename to sunnypilot/modeld_v2/modeld_base.py
diff --git a/sunnypilot/modeld/constants.py b/sunnypilot/models/constants.py
similarity index 100%
rename from sunnypilot/modeld/constants.py
rename to sunnypilot/models/constants.py
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index 98f7d9e385fe69..56270803193623 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -12,7 +12,7 @@
 
 from openpilot.common.params import Params
 from cereal import custom
-from openpilot.sunnypilot.modeld.constants import Meta, MetaTombRaider, MetaSimPose
+from openpilot.sunnypilot.models.constants import Meta, MetaTombRaider, MetaSimPose
 from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
index 3f6ef2b4397fc9..4b6c92ae2c1da4 100644
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -14,7 +14,7 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
-from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
+from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral
 from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_v0 import LatControlTorque as LatControlTorqueV0
 
diff --git a/sunnypilot/selfdrive/controls/lib/drive_helpers.py b/sunnypilot/selfdrive/controls/lib/drive_helpers.py
deleted file mode 100644
index b0fda7bd8c274e..00000000000000
--- a/sunnypilot/selfdrive/controls/lib/drive_helpers.py
+++ /dev/null
@@ -1,27 +0,0 @@
-from numpy import clip, interp
-from openpilot.common.realtime import DT_MDL
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, MAX_LATERAL_JERK
-from openpilot.sunnypilot.modeld.constants import ModelConstants
-
-
-def get_lag_adjusted_curvature(steer_delay, v_ego, psis, curvatures):
-  if len(psis) != CONTROL_N:
-    psis = [0.0]*CONTROL_N
-    curvatures = [0.0]*CONTROL_N
-  v_ego = max(MIN_SPEED, v_ego)
-
-  # MPC can plan to turn the wheel and turn back before t_delay. This means
-  # in high delay cases some corrections never even get commanded. So just use
-  # psi to calculate a simple linearization of desired curvature
-  current_curvature_desired = curvatures[0]
-  psi = interp(steer_delay, ModelConstants.T_IDXS[:CONTROL_N], psis)
-  average_curvature_desired = psi / (v_ego * steer_delay)
-  desired_curvature = 2 * average_curvature_desired - current_curvature_desired
-
-  # This is the "desired rate of the setpoint" not an actual desired rate
-  max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
-  safe_desired_curvature = clip(desired_curvature,
-                                current_curvature_desired - max_curvature_rate * DT_MDL,
-                                current_curvature_desired + max_curvature_rate * DT_MDL)
-
-  return float(safe_desired_curvature)

From d1005f3b695226f8a1b9589699cccd5d6a93c0aa Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 28 Feb 2026 22:03:43 -0800
Subject: [PATCH 0766/1434] modeld_v2: decouple planplus scaling from accel
 (#1730)

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/modeld_v2/modeld.py                |  5 +--
 .../modeld_v2/tests/test_recovery_power.py    | 37 ++++++++++++-------
 2 files changed, 25 insertions(+), 17 deletions(-)

diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index 231d9d66d3f6ab..f8622861819eeb 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -163,13 +163,12 @@ def process_desired_curvature(self, outputs, input_name_prev):
   def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                             lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
     plan = model_output['plan'][0]
-    if 'planplus' in model_output and self.PLANPLUS_CONTROL != 1.0:
-      plan = plan + (self.PLANPLUS_CONTROL - 1.0) * model_output['planplus'][0]
     desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
                                                      action_t=long_action_t)
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
 
-    desired_curvature = get_curvature_from_output(model_output, plan, v_ego, lat_action_t, self.mlsim)
+    curvature_plan = plan + (self.PLANPLUS_CONTROL - 1.0) * model_output['planplus'][0] if 'planplus' in model_output and self.PLANPLUS_CONTROL != 1.0 else plan
+    desired_curvature = get_curvature_from_output(model_output, curvature_plan, v_ego, lat_action_t, self.mlsim)
     if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
       if v_ego > self.MIN_LAT_CONTROL_SPEED:
         desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
diff --git a/sunnypilot/modeld_v2/tests/test_recovery_power.py b/sunnypilot/modeld_v2/tests/test_recovery_power.py
index e38b2c86dc519d..cfa2272386e017 100644
--- a/sunnypilot/modeld_v2/tests/test_recovery_power.py
+++ b/sunnypilot/modeld_v2/tests/test_recovery_power.py
@@ -15,7 +15,7 @@ def __init__(self, **kwargs):
 
 def test_recovery_power_scaling():
   state = MockStruct(
-    PLANPLUS_CONTROL=1.0,
+    PLANPLUS_CONTROL=0.75,
     LONG_SMOOTH_SECONDS=0.3,
     LAT_SMOOTH_SECONDS=0.1,
     MIN_LAT_CONTROL_SPEED=0.3,
@@ -25,37 +25,46 @@ def test_recovery_power_scaling():
   )
   prev_action = log.ModelDataV2.Action()
   recorded_vel: list = []
+  recorded_curv_plans: list = []
 
   def mock_accel(plan_vel, plan_accel, t_idxs, action_t=0.0):
     recorded_vel.append(plan_vel.copy())
     return 0.0, False
 
+  def mock_curvature(output, plan, vego, lat_action_t, mlsim):
+    recorded_curv_plans.append(plan.copy())
+    return 0.0
+
   modeld.get_accel_from_plan = mock_accel
-  modeld.get_curvature_from_output = lambda *args: 0.0
+  modeld.get_curvature_from_output = mock_curvature
   plan = np.random.rand(1, 100, 15).astype(np.float32)
   planplus = np.random.rand(1, 100, 15).astype(np.float32)
+  merged_plan = plan + planplus
 
   model_output: dict = {
-    'plan': plan.copy(),
+    'plan': merged_plan.copy(),
     'planplus': planplus.copy()
   }
 
   test_cases: list = [
-    # (control, v_ego, expected_factor)
-    (0.55, 20.0, 1.0),
-    (1.0, 25.0, .75),
-    (1.5, 25.1, 0.75),
-    (2.0, 20.0, 1.0),
-    (0.75, 19.0, 1.0),
-    (0.8, 25.1, 0.75),
+    # (control, v_ego)
+    (0.55, 20.0),
+    (1.0, 25.0),
+    (1.5, 25.1),
+    (2.0, 20.0),
+    (0.75, 19.0),
+    (0.8, 25.1),
   ]
 
-  for control, v_ego, factor in test_cases:
+  for control, v_ego in test_cases:
     state.PLANPLUS_CONTROL = control
     recorded_vel.clear()
+    recorded_curv_plans.clear()
     ModelState.get_action_from_model(state, model_output, prev_action, 0.0, 0.0, v_ego)
 
-    expected_recovery_power = control * factor
-    expected_plan_vel = plan[0, :, Plan.VELOCITY][:, 0] + expected_recovery_power * planplus[0, :, Plan.VELOCITY][:, 0]
+    expected_accel_plan_vel = plan[0, :, Plan.VELOCITY][:, 0] + planplus[0, :, Plan.VELOCITY][:, 0]
+    np.testing.assert_allclose(recorded_vel[0], expected_accel_plan_vel, rtol=1e-5, atol=1e-6)
 
-    np.testing.assert_allclose(recorded_vel[0], expected_plan_vel, rtol=1e-5, atol=1e-6)
+    # For the below, yes, I know this isn't the same slicing as fillmodlmsg. This is to show that the values are only scaled on curv
+    expected_curv_plan_vel = plan[0, :, Plan.VELOCITY][:, 0] + control * planplus[0, :, Plan.VELOCITY][:, 0]
+    np.testing.assert_allclose(recorded_curv_plans[0][:, Plan.VELOCITY][:, 0], expected_curv_plan_vel, rtol=1e-5, atol=1e-6)

From b2201c2a1dc051d974204290d95cca2b14143eca Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Sat, 28 Feb 2026 22:12:16 -0800
Subject: [PATCH 0767/1434] CI: validate model after build (#1744)

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .github/workflows/sunnypilot-build-model.yaml |  9 ++++
 release/ci/model_generator.py                 | 46 +++++++++++++++++++
 2 files changed, 55 insertions(+)

diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml
index 9414a7fd046541..ff09489b92b038 100644
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -176,6 +176,15 @@ jobs:
             DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
           done
 
+      - name: Validate Model Outputs
+        run: |
+          source /etc/profile
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
+            --validate-only \
+            --model-dir "${{ env.MODELS_DIR }}"
+
       - name: Prepare Output
         run: |
           sudo rm -rf ${{ env.OUTPUT_DIR }}
diff --git a/release/ci/model_generator.py b/release/ci/model_generator.py
index 96352254b6c9e1..da6b933030a782 100755
--- a/release/ci/model_generator.py
+++ b/release/ci/model_generator.py
@@ -1,4 +1,5 @@
 import os
+import pickle
 import sys
 import hashlib
 import json
@@ -6,6 +7,41 @@
 from pathlib import Path
 from datetime import datetime, UTC
 
+REQUIRED_OUTPUT_KEYS = frozenset({
+  "plan",
+  "lane_lines",
+  "road_edges",
+  "lead",
+  "desire_state",
+  "desire_pred",
+  "meta",
+  "lead_prob",
+  "lane_lines_prob",
+  "pose",
+  "wide_from_device_euler",
+  "road_transform",
+  "hidden_state",
+})
+OPTIONAL_OUTPUT_KEYS = frozenset({
+  "planplus",
+  "sim_pose",
+  "desired_curvature",
+})
+
+
+def validate_model_outputs(metadata_paths: list[Path]) -> None:
+  combined_keys: set[str] = set()
+  for path in metadata_paths:
+    with open(path, "rb") as f:
+      metadata = pickle.load(f)
+    combined_keys.update(metadata.get("output_slices", {}).keys())
+  missing = REQUIRED_OUTPUT_KEYS - combined_keys
+  if missing:
+    raise ValueError(f"Combined model metadata is missing required output keys: {sorted(missing)}")
+  detected_optional = sorted(OPTIONAL_OUTPUT_KEYS & combined_keys)
+  if detected_optional:
+    print(f"Optional output keys detected: {detected_optional}")
+
 
 def create_short_name(full_name):
   # Remove parentheses and extract alphanumeric words
@@ -124,9 +160,19 @@ def create_metadata_json(models: list, output_dir: Path, custom_name=None, short
   parser.add_argument("--output-dir", default="./output", help="Output directory for metadata")
   parser.add_argument("--custom-name", help="Custom display name for the model")
   parser.add_argument("--is-20hz", action="store_true", help="Whether this is a 20Hz model")
+  parser.add_argument("--validate-only", action="store_true")
   parser.add_argument("--upstream-branch", default="unknown", help="Upstream branch name")
   args = parser.parse_args()
 
+  if args.validate_only:
+    metadata_paths = glob.glob(os.path.join(args.model_dir, "*_metadata.pkl"))
+    if not metadata_paths:
+      print(f"No metadata files found in {args.model_dir}", file=sys.stderr)
+      sys.exit(1)
+    validate_model_outputs([Path(p) for p in metadata_paths])
+    print(f"Validated {len(metadata_paths)} metadata files successfully.")
+    sys.exit(0)
+
   # Find all ONNX files in the given directory
   model_paths = glob.glob(os.path.join(args.model_dir, "*.onnx"))
   if not model_paths:

From 42f43c32318159e83229cadd363f68d669f98ba6 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 1 Mar 2026 07:50:09 +0100
Subject: [PATCH 0768/1434] sunnylink: Handle exceptions in
 `getParamsAllKeysV1` to log crashes (#1722)

Handle exceptions in `getParamsAllKeysV1` to prevent crashes
- Added `try-except` block to improve error handling during key parsing.
- Ensures robustness by logging exceptions and re-raising them.

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/sunnylink/athena/sunnylinkd.py | 35 ++++++++++++-----------
 1 file changed, 19 insertions(+), 16 deletions(-)

diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index fe0a2481000629..e8066dca49f72a 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -202,28 +202,31 @@ def getParamsAllKeysV1() -> dict[str, str]:
     with open(METADATA_PATH) as f:
       metadata = json.load(f)
   except Exception:
-    cloudlog.exception("sunnylinkd.getParamsAllKeysV1.exception")
+    cloudlog.exception("sunnylinkd.getParamsAllKeysV1.metadata.exception")
     metadata = {}
 
-  available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
-
-  params_dict: dict[str, list[dict[str, str | bool | int | object | dict | None]]] = {"params": []}
-  for key in available_keys:
-    value = get_param_as_byte(key, get_default=True)
+  try:
+    available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
 
-    param_entry = {
-      "key": key,
-      "type": int(params.get_type(key).value),
-      "default_value": base64.b64encode(value).decode('utf-8') if value else None,
-    }
+    params_dict: dict[str, list[dict[str, str | bool | int | object | dict | None]]] = {"params": []}
+    for key in available_keys:
+      value = get_param_as_byte(key, get_default=True)
 
-    if key in metadata:
-      meta_copy = metadata[key].copy()
-      param_entry["_extra"] = meta_copy
+      param_entry = {
+        "key": key,
+        "type": int(params.get_type(key).value),
+        "default_value": base64.b64encode(value).decode('utf-8') if value else None,
+      }
 
-    params_dict["params"].append(param_entry)
+      if key in metadata:
+        meta_copy = metadata[key].copy()
+        param_entry["_extra"] = meta_copy
 
-  return {"keys": json.dumps(params_dict.get("params", []))}
+      params_dict["params"].append(param_entry)
+    return {"keys": json.dumps(params_dict.get("params", []))}
+  except Exception:
+    cloudlog.exception("sunnylinkd.getParamsAllKeysV1.exception")
+    raise
 
 
 @dispatcher.add_method

From 7b104c682b13a0bd3ea3985877e87efa413ac591 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 1 Mar 2026 01:53:50 -0500
Subject: [PATCH 0769/1434] ci: no more sunnypilot modeld builds

---
 .github/workflows/sunnypilot-build-prebuilt.yaml | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index dacbacbe266dd0..3966d1a6c915a6 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -180,8 +180,6 @@ jobs:
           ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
           cd $BUILD_DIR
           sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
-          echo "Building sunnypilot's modeld..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld
           echo "Building sunnypilot's modeld_v2..."
           scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2
           echo "Building sunnypilot's locationd..."
@@ -219,7 +217,6 @@ jobs:
             --exclude='**/.venv/' \
             --exclude='selfdrive/modeld/models/driving_vision.onnx' \
             --exclude='selfdrive/modeld/models/driving_policy.onnx' \
-            --exclude='sunnypilot/modeld*/models/supercombo.onnx' \
             --exclude='third_party/*x86*' \
             --exclude='third_party/*Darwin*' \
             --delete-excluded \

From cfc28176f2cb5654db7ed3d7c99bd8f1dcc1ecf4 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 1 Mar 2026 02:07:23 -0500
Subject: [PATCH 0770/1434] [TIZI/TICI] ui: Developer UI cleanup (#1746)

* [TIZI/TICI] ui: Developer UI cleanup

* why 61
---
 .../ui/sunnypilot/onroad/circular_alerts.py   |  4 +-
 .../onroad/developer_ui/__init__.py           | 37 ++++++++++---------
 .../ui/sunnypilot/onroad/driver_state.py      |  5 +--
 .../ui/sunnypilot/onroad/hud_renderer.py      |  6 +--
 4 files changed, 27 insertions(+), 25 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/onroad/circular_alerts.py b/selfdrive/ui/sunnypilot/onroad/circular_alerts.py
index 8aa4c71d0d4e4e..9c9ab7ac84f082 100644
--- a/selfdrive/ui/sunnypilot/onroad/circular_alerts.py
+++ b/selfdrive/ui/sunnypilot/onroad/circular_alerts.py
@@ -9,7 +9,7 @@
 from cereal import log
 from openpilot.selfdrive.ui import UI_BORDER_SIZE
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiState
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 
@@ -77,7 +77,7 @@ def render(self, rect: rl.Rectangle) -> None:
       return
 
     e2e_alert_size = 250
-    dev_ui_width_adjustment = 180 if ui_state.developer_ui in (DeveloperUiRenderer.DEV_UI_RIGHT, DeveloperUiRenderer.DEV_UI_BOTH) else 100
+    dev_ui_width_adjustment = 180 if ui_state.developer_ui in (DeveloperUiState.RIGHT, DeveloperUiState.BOTH) else 100
 
     x = rect.x + rect.width - e2e_alert_size - dev_ui_width_adjustment - (UI_BORDER_SIZE * 3)
     y = rect.y + rect.height / 2 + 20
diff --git a/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py b/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
index 8e19f876a27985..8204253d32a5a1 100644
--- a/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
+++ b/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
@@ -4,6 +4,8 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+from enum import IntEnum
+
 import pyray as rl
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui.elements import (
@@ -17,18 +19,25 @@
 from openpilot.system.ui.widgets import Widget
 
 
-class DeveloperUiRenderer(Widget):
-  DEV_UI_OFF = 0
-  DEV_UI_BOTTOM = 1
-  DEV_UI_RIGHT = 2
-  DEV_UI_BOTH = 3
-  BOTTOM_BAR_HEIGHT = 61
+def get_bottom_dev_ui_offset():
+  if ui_state.developer_ui in (DeveloperUiState.BOTTOM, DeveloperUiState.BOTH):
+    return 60
+  return 0
+
+
+class DeveloperUiState(IntEnum):
+  OFF = 0
+  BOTTOM = 1
+  RIGHT = 2
+  BOTH = 3
 
+
+class DeveloperUiRenderer(Widget):
   def __init__(self):
     super().__init__()
     self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
     self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
-    self.dev_ui_mode = self.DEV_UI_OFF
+    self.dev_ui_mode = DeveloperUiState.OFF
 
     self.rel_dist_elem = RelDistElement()
     self.rel_speed_elem = RelSpeedElement()
@@ -45,28 +54,22 @@ def __init__(self):
     self.bearing_elem = BearingDegElement()
     self.altitude_elem = AltitudeElement()
 
-  @staticmethod
-  def get_bottom_dev_ui_offset():
-    if ui_state.developer_ui in (DeveloperUiRenderer.DEV_UI_BOTTOM, DeveloperUiRenderer.DEV_UI_BOTH):
-      return DeveloperUiRenderer.BOTTOM_BAR_HEIGHT
-    return 0
-
   def _update_state(self) -> None:
     self.dev_ui_mode = ui_state.developer_ui
 
   def _render(self, rect: rl.Rectangle) -> None:
-    if self.dev_ui_mode == self.DEV_UI_OFF:
+    if self.dev_ui_mode == DeveloperUiState.OFF:
       return
 
     sm = ui_state.sm
     if sm.recv_frame["carState"] < ui_state.started_frame:
       return
 
-    if self.dev_ui_mode == self.DEV_UI_BOTTOM:
+    if self.dev_ui_mode == DeveloperUiState.BOTTOM:
       self._draw_bottom_dev_ui(rect)
-    elif self.dev_ui_mode == self.DEV_UI_RIGHT:
+    elif self.dev_ui_mode == DeveloperUiState.RIGHT:
       self._draw_right_dev_ui(rect)
-    elif self.dev_ui_mode == self.DEV_UI_BOTH:
+    elif self.dev_ui_mode == DeveloperUiState.BOTH:
       self._draw_right_dev_ui(rect)
       self._draw_bottom_dev_ui(rect)
 
diff --git a/selfdrive/ui/sunnypilot/onroad/driver_state.py b/selfdrive/ui/sunnypilot/onroad/driver_state.py
index 4f2d264ee27b01..d3239b9e3dca9e 100644
--- a/selfdrive/ui/sunnypilot/onroad/driver_state.py
+++ b/selfdrive/ui/sunnypilot/onroad/driver_state.py
@@ -8,13 +8,12 @@
 
 from openpilot.selfdrive.ui import UI_BORDER_SIZE
 from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer, BTN_SIZE, ARC_LENGTH
-from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import get_bottom_dev_ui_offset
 
 
 class DriverStateRendererSP(DriverStateRenderer):
   def __init__(self):
     super().__init__()
-    self.dev_ui_offset = DeveloperUiRenderer.get_bottom_dev_ui_offset()
 
   def _pre_calculate_drawing_elements(self):
     """Pre-calculate all drawing elements based on the current rectangle"""
@@ -22,7 +21,7 @@ def _pre_calculate_drawing_elements(self):
     width, height = self._rect.width, self._rect.height
     offset = UI_BORDER_SIZE + BTN_SIZE // 2
     self.position_x = self._rect.x + (width - offset if self.is_rhd else offset)
-    self.position_y = self._rect.y + height - offset - self.dev_ui_offset
+    self.position_y = self._rect.y + height - offset - get_bottom_dev_ui_offset()
 
     # Pre-calculate the face lines positions
     positioned_keypoints = self.face_keypoints_transformed + np.array([self.position_x, self.position_y])
diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
index b96a921a8b9274..2a66b3664b4d1d 100644
--- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
+++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
@@ -8,7 +8,7 @@
 
 from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.mici.onroad.torque_bar import TorqueBar
-from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer, DeveloperUiState, get_bottom_dev_ui_offset
 from openpilot.selfdrive.ui.sunnypilot.onroad.road_name import RoadNameRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel
 from openpilot.selfdrive.ui.sunnypilot.onroad.speed_limit import SpeedLimitRenderer
@@ -133,8 +133,8 @@ def _render(self, rect: rl.Rectangle) -> None:
 
     if ui_state.torque_bar and ui_state.sm['controlsState'].lateralControlState.which() != 'angleState':
       torque_rect = rect
-      if ui_state.developer_ui in (DeveloperUiRenderer.DEV_UI_BOTTOM, DeveloperUiRenderer.DEV_UI_BOTH):
-        torque_rect = rl.Rectangle(rect.x, rect.y, rect.width, rect.height - DeveloperUiRenderer.BOTTOM_BAR_HEIGHT)
+      if ui_state.developer_ui in (DeveloperUiState.BOTTOM, DeveloperUiState.BOTH):
+        torque_rect = rl.Rectangle(rect.x, rect.y, rect.width, rect.height - get_bottom_dev_ui_offset())
       self._torque_bar.render(torque_rect)
 
     self.developer_ui.render(rect)

From 0376600decdcb8e0a91c5bd0f9fdca22a1b90c65 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sun, 1 Mar 2026 02:22:47 -0500
Subject: [PATCH 0771/1434] [TIZI/TICI] ui: dynamic alert size (#1634)

* dynamic alert sizing

* lint

* uhhh.. yeah

* more

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/onroad/augmented_road_view.py    |   1 +
 .../ui/sunnypilot/onroad/alert_renderer.py    | 103 ++++++++++++++++++
 2 files changed, 104 insertions(+)
 create mode 100644 selfdrive/ui/sunnypilot/onroad/alert_renderer.py

diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py
index bad9da6fabbcc6..8abc8fbb52c931 100644
--- a/selfdrive/ui/onroad/augmented_road_view.py
+++ b/selfdrive/ui/onroad/augmented_road_view.py
@@ -15,6 +15,7 @@
 from openpilot.common.transformations.orientation import rot_from_euler
 
 if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.onroad.alert_renderer import AlertRendererSP as AlertRenderer
   from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP, AugmentedRoadViewSP
   from openpilot.selfdrive.ui.sunnypilot.onroad.driver_state import DriverStateRendererSP as DriverStateRenderer
   from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer
diff --git a/selfdrive/ui/sunnypilot/onroad/alert_renderer.py b/selfdrive/ui/sunnypilot/onroad/alert_renderer.py
new file mode 100644
index 00000000000000..9f48287a70e230
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/alert_renderer.py
@@ -0,0 +1,103 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+from openpilot.selfdrive.ui.onroad.alert_renderer import AlertRenderer, AlertSize, ALERT_FONT_MEDIUM, ALERT_FONT_BIG, \
+  ALERT_FONT_SMALL, ALERT_MARGIN, ALERT_HEIGHTS, ALERT_PADDING, Alert
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.wrap_text import wrap_text
+
+ALERT_LINE_SPACING = 15
+
+
+class AlertRendererSP(AlertRenderer):
+  def __init__(self):
+    super().__init__()
+
+  def _draw_text(self, rect: rl.Rectangle, alert: Alert) -> None:
+    if alert.size == AlertSize.small:
+      self._draw_multiline_centered(alert.text1, rect, self.font_bold, ALERT_FONT_MEDIUM)
+
+    elif alert.size == AlertSize.mid:
+      wrap_width = int(rect.width)
+      lines1 = wrap_text(self.font_bold, alert.text1, ALERT_FONT_BIG, wrap_width)
+      lines2 = wrap_text(self.font_regular, alert.text2, ALERT_FONT_SMALL, wrap_width) if alert.text2 else []
+
+      total_text_height = len(lines1) * measure_text_cached(self.font_bold, "A", ALERT_FONT_BIG).y
+      if lines2:
+        total_text_height += ALERT_LINE_SPACING + len(lines2) * measure_text_cached(self.font_regular, "A", ALERT_FONT_SMALL).y
+
+      curr_y = rect.y + (rect.height - total_text_height) / 2
+
+      for line in lines1:
+        line_height = measure_text_cached(self.font_bold, alert.text1, ALERT_FONT_BIG).y
+        self._draw_line_centered(line, rl.Rectangle(rect.x, curr_y, rect.width, line_height), self.font_bold, ALERT_FONT_BIG)
+        curr_y += line_height
+
+      if lines2:
+        curr_y += ALERT_LINE_SPACING
+        for line in lines2:
+          line_height = measure_text_cached(self.font_regular, alert.text2, ALERT_FONT_SMALL).y
+          self._draw_line_centered(line, rl.Rectangle(rect.x, curr_y, rect.width, line_height), self.font_regular, ALERT_FONT_SMALL)
+          curr_y += line_height
+
+    else:
+      super()._draw_text(rect, alert)
+
+  def _draw_multiline_centered(self, text, rect, font, font_size, color=rl.WHITE) -> None:
+    lines = wrap_text(font, text, font_size, rect.width)
+    line_height = measure_text_cached(font, text, font_size).y
+    total_height = len(lines) * line_height
+    curr_y = rect.y + (rect.height - total_height) / 2
+    for line in lines:
+      self._draw_line_centered(line, rl.Rectangle(rect.x, curr_y, rect.width, line_height), font, font_size, color)
+      curr_y += line_height
+
+  def _draw_line_centered(self, text, rect, font, font_size, color=rl.WHITE) -> None:
+    text_size = measure_text_cached(font, text, font_size)
+    x = rect.x + (rect.width - text_size.x) / 2
+    y = rect.y
+    rl.draw_text_ex(font, text, rl.Vector2(x, y), font_size, 0, color)
+
+  def _get_alert_rect(self, rect: rl.Rectangle, size: int) -> rl.Rectangle:
+    if size == AlertSize.full:
+      return rect
+
+    dev_ui_info = ui_state.developer_ui
+    v_adjustment = 40 if dev_ui_info in {2, 3} and size != AlertSize.full else 0
+    h_adjustment = 230 if dev_ui_info in {1, 3} and size != AlertSize.full else 0
+
+    w = int(rect.width - ALERT_MARGIN * 2 - h_adjustment)
+    h = self._calculate_dynamic_height(size, w)
+    return rl.Rectangle(rect.x + ALERT_MARGIN, rect.y + rect.height - h + ALERT_MARGIN - v_adjustment, w,
+                        h - ALERT_MARGIN * 2)
+
+  def _calculate_dynamic_height(self, size: int, width: int) -> int:
+    alert = self.get_alert(ui_state.sm)
+    if not alert:
+      return ALERT_HEIGHTS.get(size, 271)
+
+    height = 2 * ALERT_PADDING
+    wrap_width = width - 2 * ALERT_PADDING
+
+    if size == AlertSize.small:
+      lines = wrap_text(self.font_bold, alert.text1, ALERT_FONT_MEDIUM, wrap_width)
+      line_height = measure_text_cached(self.font_bold, alert.text1, ALERT_FONT_MEDIUM).y
+      height += int(len(lines) * line_height)
+    elif size == AlertSize.mid:
+      lines1 = wrap_text(self.font_bold, alert.text1, ALERT_FONT_BIG, wrap_width)
+      line_height1 = measure_text_cached(self.font_bold, alert.text1, ALERT_FONT_BIG).y
+      height += int(len(lines1) * line_height1)
+
+      if alert.text2:
+        lines2 = wrap_text(self.font_regular, alert.text2, ALERT_FONT_SMALL, wrap_width)
+        line_height2 = measure_text_cached(self.font_regular, alert.text2, ALERT_FONT_SMALL).y
+        height += int(ALERT_LINE_SPACING + len(lines2) * line_height2)
+    else:
+      height = ALERT_HEIGHTS.get(size, 271)
+
+    return int(height)

From c188c96956ab55267a5a3fbacdd6f0e0f8c4302f Mon Sep 17 00:00:00 2001
From: Chris <chris@dc-consulting.pro>
Date: Sun, 1 Mar 2026 08:37:13 +0100
Subject: [PATCH 0772/1434] i18n(fr): Add French translations (#1624)

i18n(fr): Add French translations for sunnypilot UI

Update 36 existing French translations with corrections and add
369 new sunnypilot-specific translation entries.

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/translations/app_fr.po | 1803 +++++++++++++++++++++++++--
 1 file changed, 1672 insertions(+), 131 deletions(-)

diff --git a/selfdrive/ui/translations/app_fr.po b/selfdrive/ui/translations/app_fr.po
index 409761588e9652..ed9900a6ba4e83 100644
--- a/selfdrive/ui/translations/app_fr.po
+++ b/selfdrive/ui/translations/app_fr.po
@@ -21,12 +21,12 @@ msgstr ""
 #: selfdrive/ui/layouts/settings/device.py:160
 #, python-format
 msgid " Steering torque response calibration is complete."
-msgstr " L'étalonnage de la réponse du couple de direction est terminé."
+msgstr " Calibration de la réponse du couple de direction terminée."
 
 #: selfdrive/ui/layouts/settings/device.py:158
 #, python-format
 msgid " Steering torque response calibration is {}% complete."
-msgstr " L'étalonnage de la réponse du couple de direction est terminé à {}%."
+msgstr " Calibration du couple de direction : {}% effectué."
 
 #: selfdrive/ui/layouts/settings/device.py:133
 #, python-format
@@ -61,32 +61,31 @@ msgstr "5G"
 
 #: selfdrive/ui/layouts/settings/developer.py:23
 msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
+"<b>WARNING: openpilot longitudinal control is in alpha for this car and will"
+" disable Automatic Emergency Braking (AEB).</b><br><br>On this car, "
+"openpilot defaults to the car's built-in ACC instead of openpilot's "
+"longitudinal control. Enable this to switch to openpilot longitudinal "
+"control. Enabling Experimental mode is recommended when enabling openpilot "
+"longitudinal control alpha. Changing this setting will restart openpilot if "
+"the car is powered on."
 msgstr ""
 "<b>ATTENTION : le contrôle longitudinal openpilot est en alpha pour cette "
-"voiture et désactivera le freinage d'urgence automatique (AEB).</"
-"b><br><br>Sur cette voiture, openpilot utilise par défaut le régulateur de "
-"vitesse adaptatif intégré au véhicule plutôt que le contrôle longitudinal "
-"d'openpilot. Activez ceci pour passer au contrôle longitudinal openpilot. Il "
-"est recommandé d'activer le mode expérimental lors de l'activation du "
-"contrôle longitudinal openpilot alpha."
+"voiture et désactivera le freinage d'urgence automatique "
+"(AEB).</b><br><br>Sur cette voiture, openpilot utilise par défaut le "
+"régulateur de vitesse adaptatif intégré au véhicule plutôt que le contrôle "
+"longitudinal d'openpilot. Activez ceci pour passer au contrôle longitudinal "
+"openpilot. Il est recommandé d'activer le mode expérimental lors de "
+"l'activation du contrôle longitudinal openpilot alpha."
 
 #: selfdrive/ui/layouts/settings/device.py:148
 #, python-format
 msgid "<br><br>Steering lag calibration is complete."
-msgstr "<br><br>L'étalonnage du délai de réponse de la direction est terminé."
+msgstr "<br><br>La calibration du délai de direction est terminée."
 
 #: selfdrive/ui/layouts/settings/device.py:146
 #, python-format
 msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr ""
-"<br><br>L'étalonnage du délai de réponse de la direction est terminé à {}%."
+msgstr "<br><br>Calibration du délai de direction : {}% effectué."
 
 #: selfdrive/ui/layouts/settings/firehose.py:138
 #, python-format
@@ -95,11 +94,12 @@ msgstr "ACTIF"
 
 #: selfdrive/ui/layouts/settings/developer.py:15
 msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
+"ADB (Android Debug Bridge) allows connecting to your device over USB or over"
+" the network. See https://docs.comma.ai/how-to/connect-to-comma for more "
+"info."
 msgstr ""
-"ADB (Android Debug Bridge) permet de connecter votre appareil via USB ou via "
-"le réseau. Voir https://docs.comma.ai/how-to/connect-to-comma pour plus "
+"ADB (Android Debug Bridge) permet de connecter votre appareil via USB ou via"
+" le réseau. Voir https://docs.comma.ai/how-to/connect-to-comma pour plus "
 "d'informations."
 
 #: selfdrive/ui/widgets/ssh_key.py:30
@@ -109,7 +109,7 @@ msgstr "AJOUTER"
 #: system/ui/widgets/network.py:139
 #, python-format
 msgid "APN Setting"
-msgstr "Paramètres APN"
+msgstr "Paramètre APN"
 
 #: selfdrive/ui/widgets/offroad_alerts.py:109
 #, python-format
@@ -139,8 +139,8 @@ msgstr "Surveillance continue du conducteur"
 #: selfdrive/ui/layouts/settings/toggles.py:186
 #, python-format
 msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
+"An alpha version of openpilot longitudinal control can be tested, along with"
+" Experimental mode, on non-release branches."
 msgstr ""
 "Une version alpha du contrôle longitudinal openpilot peut être testée, avec "
 "le mode expérimental, sur des branches non publiées."
@@ -210,10 +210,11 @@ msgstr "CONNECTER"
 #: system/ui/widgets/network.py:369
 #, python-format
 msgid "CONNECTING..."
-msgstr "CONNECTER..."
+msgstr "CONNEXION..."
 
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
+#: system/ui/widgets/confirm_dialog.py:23
+#: system/ui/widgets/option_dialog.py:35 system/ui/widgets/keyboard.py:81
+#: system/ui/widgets/network.py:318
 #, python-format
 msgid "Cancel"
 msgstr "Annuler"
@@ -221,7 +222,7 @@ msgstr "Annuler"
 #: system/ui/widgets/network.py:134
 #, python-format
 msgid "Cellular Metered"
-msgstr "Données cellulaire limitées"
+msgstr "Données cellulaires limitées"
 
 #: selfdrive/ui/layouts/settings/device.py:68
 #, python-format
@@ -320,7 +321,7 @@ msgstr "Personnalité de conduite"
 #: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
 #, python-format
 msgid "EDIT"
-msgstr "EDITER"
+msgstr "MODIFIER"
 
 #: selfdrive/ui/layouts/sidebar.py:138
 msgid "ERROR"
@@ -354,7 +355,7 @@ msgstr "Activer les alertes de sortie de voie"
 #: system/ui/widgets/network.py:129
 #, python-format
 msgid "Enable Roaming"
-msgstr "Activer openpilot"
+msgstr "Activer l'itinérance"
 
 #: selfdrive/ui/layouts/settings/developer.py:48
 #, python-format
@@ -364,7 +365,7 @@ msgstr "Activer SSH"
 #: system/ui/widgets/network.py:120
 #, python-format
 msgid "Enable Tethering"
-msgstr "Activer les alertes de sortie de voie"
+msgstr "Activer le partage de connexion"
 
 #: selfdrive/ui/layouts/settings/toggles.py:30
 msgid "Enable driver monitoring even when openpilot is not engaged."
@@ -389,22 +390,22 @@ msgstr ""
 #: system/ui/widgets/network.py:204
 #, python-format
 msgid "Enter APN"
-msgstr "Saisir l'APN"
+msgstr "Entrez l'APN"
 
 #: system/ui/widgets/network.py:241
 #, python-format
 msgid "Enter SSID"
-msgstr "Entrer le SSID"
+msgstr "Entrez le SSID"
 
 #: system/ui/widgets/network.py:254
 #, python-format
 msgid "Enter new tethering password"
-msgstr "Saisir le mot de passe du partage de connexion"
+msgstr "Entrez un nouveau mot de passe de partage"
 
 #: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
 #, python-format
 msgid "Enter password"
-msgstr "Saisir le mot de passe"
+msgstr "Entrez le mot de passe"
 
 #: selfdrive/ui/widgets/ssh_key.py:89
 #, python-format
@@ -424,8 +425,8 @@ msgstr "Mode expérimental"
 #: selfdrive/ui/layouts/settings/toggles.py:181
 #, python-format
 msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
+"Experimental mode is currently unavailable on this car since the car's stock"
+" ACC is used for longitudinal control."
 msgstr ""
 "Le mode expérimental est actuellement indisponible sur cette voiture car "
 "l'ACC d'origine est utilisé pour le contrôle longitudinal."
@@ -433,12 +434,12 @@ msgstr ""
 #: system/ui/widgets/network.py:373
 #, python-format
 msgid "FORGETTING..."
-msgstr "OUBLIER..."
+msgstr "SUPPRESSION..."
 
 #: selfdrive/ui/widgets/setup.py:44
 #, python-format
 msgid "Finish Setup"
-msgstr "Terminer la configuration"
+msgstr "Finir la config."
 
 #: selfdrive/ui/layouts/settings/settings.py:66
 msgid "Firehose"
@@ -450,47 +451,35 @@ msgstr "Mode Firehose"
 
 #: selfdrive/ui/layouts/settings/firehose.py:25
 msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
+"For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.\n"
 "\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
+"Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.\n"
 "\n"
 "\n"
 "Frequently Asked Questions\n"
 "\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
+"Does it matter how or where I drive? Nope, just drive as you normally would.\n"
 "\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
+"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a subset of your segments.\n"
 "\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
+"What's a good USB-C adapter? Any fast phone or laptop charger should be fine.\n"
 "\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
+"Does it matter which software I run? Yes, only upstream openpilot (and particular forks) are able to be used for training."
 msgstr ""
-"Pour une efficacité maximale, rentrez votre appareil et connectez-le chaque "
-"semaine à un bon adaptateur USB-C et au Wi‑Fi.\n"
+"Pour une efficacité maximale, rentrez votre appareil et connectez-le chaque semaine à un bon adaptateur USB-C et au Wi‑Fi.\n"
 "\n"
-"Le Mode Firehose peut aussi fonctionner pendant que vous conduisez si vous "
-"êtes connecté à un hotspot ou à une carte SIM illimitée.\n"
+"Le Mode Firehose peut aussi fonctionner pendant que vous conduisez si vous êtes connecté à un hotspot ou à une carte SIM illimitée.\n"
 "\n"
 "\n"
 "Foire aux questions\n"
 "\n"
-"Est-ce que la manière ou l'endroit où je conduis compte ? Non, conduisez "
-"normalement.\n"
+"Est-ce que la manière ou l'endroit où je conduis compte ? Non, conduisez normalement.\n"
 "\n"
-"Tous mes segments sont-ils récupérés en Mode Firehose ? Non, nous récupérons "
-"de façon sélective un sous-ensemble de vos segments.\n"
+"Tous mes segments sont-ils récupérés en Mode Firehose ? Non, nous récupérons de façon sélective un sous-ensemble de vos segments.\n"
 "\n"
-"Quel est un bon adaptateur USB-C ? Tout chargeur rapide de téléphone ou "
-"d'ordinateur portable convient.\n"
+"Quel est un bon adaptateur USB-C ? Tout chargeur rapide de téléphone ou d'ordinateur portable convient.\n"
 "\n"
-"Le logiciel utilisé importe-t-il ? Oui, seul openpilot amont (et certains "
-"forks) peut être utilisé pour l'entraînement."
+"Le logiciel utilisé importe-t-il ? Oui, seul openpilot amont (et certains forks) peut être utilisé pour l'entraînement."
 
 #: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
 #, python-format
@@ -500,11 +489,11 @@ msgstr "Oublier"
 #: system/ui/widgets/network.py:319
 #, python-format
 msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr "Oublier le réseau Wi-Fi \"{}\" ?"
+msgstr "Oublier le réseau Wi‑Fi \"{}\" ?"
 
 #: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
 msgid "GOOD"
-msgstr "BON"
+msgstr "BONNE"
 
 #: selfdrive/ui/widgets/pairing_dialog.py:128
 #, python-format
@@ -518,7 +507,7 @@ msgstr "ÉLEVÉ"
 #: system/ui/widgets/network.py:155
 #, python-format
 msgid "Hidden Network"
-msgstr "Réseau"
+msgstr "Réseau masqué"
 
 #: selfdrive/ui/layouts/settings/firehose.py:140
 #, python-format
@@ -569,14 +558,14 @@ msgstr "MAX"
 msgid ""
 "Maximize your training data uploads to improve openpilot's driving models."
 msgstr ""
-"Maximisez vos envois de données d'entraînement pour améliorer les modèles de "
-"conduite d'openpilot."
+"Maximisez vos envois de données d'entraînement pour améliorer les modèles de"
+" conduite d'openpilot."
 
 #: selfdrive/ui/layouts/settings/device.py:59
 #: selfdrive/ui/layouts/settings/device.py:60
 #, python-format
 msgid "N/A"
-msgstr "NC"
+msgstr "N/A"
 
 #: selfdrive/ui/layouts/sidebar.py:142
 msgid "NO"
@@ -661,8 +650,8 @@ msgid ""
 "Pair your device with comma connect (connect.comma.ai) and claim your comma "
 "prime offer."
 msgstr ""
-"Associez votre appareil à comma connect (connect.comma.ai) et réclamez votre "
-"offre comma prime."
+"Associez votre appareil à comma connect (connect.comma.ai) et réclamez votre"
+" offre comma prime."
 
 #: selfdrive/ui/widgets/setup.py:91
 #, python-format
@@ -679,15 +668,13 @@ msgstr "Éteindre"
 #, python-format
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr ""
-"Eviter les transferts de données volumineux lorsque vous êtes connecté à un "
-"réseau Wi-Fi limité"
+"Empêcher les téléversements volumineux sur une connexion Wi‑Fi limitée"
 
 #: system/ui/widgets/network.py:135
 #, python-format
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr ""
-"Eviter les transferts de données volumineux lors d'une connexion à un réseau "
-"cellulaire limité"
+"Empêcher les téléversements volumineux sur une connexion cellulaire limitée"
 
 #: selfdrive/ui/layouts/settings/device.py:25
 msgid ""
@@ -736,11 +723,11 @@ msgstr "Redémarrer et mettre à jour"
 #: selfdrive/ui/layouts/settings/toggles.py:27
 msgid ""
 "Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
+"detected lane line without a turn signal activated while driving over 31 mph"
+" (50 km/h)."
 msgstr ""
-"Recevez des alertes pour revenir dans la voie lorsque votre véhicule dépasse "
-"une ligne de voie détectée sans clignotant activé en roulant au-delà de 31 "
+"Recevez des alertes pour revenir dans la voie lorsque votre véhicule dépasse"
+" une ligne de voie détectée sans clignotant activé en roulant au-delà de 31 "
 "mph (50 km/h)."
 
 #: selfdrive/ui/layouts/settings/toggles.py:76
@@ -808,17 +795,17 @@ msgstr "Consultez les règles, fonctionnalités et limitations d'openpilot"
 #: selfdrive/ui/layouts/settings/software.py:61
 #, python-format
 msgid "SELECT"
-msgstr "SELECTIONNER"
+msgstr "CHOISIR"
 
 #: selfdrive/ui/layouts/settings/developer.py:53
 #, python-format
 msgid "SSH Keys"
-msgstr "Clefs SSH"
+msgstr "Clés SSH"
 
 #: system/ui/widgets/network.py:310
 #, python-format
 msgid "Scanning Wi-Fi networks..."
-msgstr "Analyse des réseaux Wi-Fi..."
+msgstr "Recherche des réseaux Wi‑Fi..."
 
 #: system/ui/widgets/option_dialog.py:36
 #, python-format
@@ -833,7 +820,7 @@ msgstr "Sélectionner une branche"
 #: selfdrive/ui/layouts/settings/device.py:91
 #, python-format
 msgid "Select a language"
-msgstr "Sélectionner un langage"
+msgstr "Sélectionner une langue"
 
 #: selfdrive/ui/layouts/settings/device.py:60
 #, python-format
@@ -856,8 +843,8 @@ msgstr "Standard"
 
 #: selfdrive/ui/layouts/settings/toggles.py:22
 msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
+"Standard is recommended. In aggressive mode, openpilot will follow lead cars"
+" closer and be more aggressive with the gas and brake. In relaxed mode "
 "openpilot will stay further away from lead cars. On supported cars, you can "
 "cycle through these personalities with your steering wheel distance button."
 msgstr ""
@@ -881,7 +868,7 @@ msgstr "REPRENEZ IMMÉDIATEMENT LE CONTRÔLE"
 #: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
 #: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
 msgid "TEMP"
-msgstr "TEMPÉRATURE"
+msgstr "TEMP."
 
 #: selfdrive/ui/layouts/settings/software.py:61
 #, python-format
@@ -891,7 +878,7 @@ msgstr "Branche cible"
 #: system/ui/widgets/network.py:124
 #, python-format
 msgid "Tethering Password"
-msgstr "Mot de passe du partage de connexion"
+msgstr "Mot de passe de partage"
 
 #: selfdrive/ui/layouts/settings/settings.py:64
 msgid "Toggles"
@@ -900,7 +887,7 @@ msgstr "Options"
 #: selfdrive/ui/layouts/settings/software.py:72
 #, python-format
 msgid "UNINSTALL"
-msgstr "DÉSINSTALLER"
+msgstr "SUPPRIMER"
 
 #: selfdrive/ui/layouts/home.py:155
 #, python-format
@@ -926,15 +913,15 @@ msgstr ""
 #: selfdrive/ui/widgets/prime.py:33
 #, python-format
 msgid "Upgrade Now"
-msgstr "Mettre à niveau maintenant"
+msgstr "Mettre à jour"
 
 #: selfdrive/ui/layouts/settings/toggles.py:31
 msgid ""
 "Upload data from the driver facing camera and help improve the driver "
 "monitoring algorithm."
 msgstr ""
-"Téléverser les données de la caméra orientée conducteur et aider à améliorer "
-"l'algorithme de surveillance du conducteur."
+"Téléverser les données de la caméra orientée conducteur et aider à améliorer"
+" l'algorithme de surveillance du conducteur."
 
 #: selfdrive/ui/layouts/settings/toggles.py:88
 #, python-format
@@ -971,8 +958,8 @@ msgid ""
 "NEVER ask you to add their GitHub username."
 msgstr ""
 "Avertissement : Ceci accorde un accès SSH à toutes les clés publiques dans "
-"vos paramètres GitHub. N'entrez jamais un nom d'utilisateur GitHub autre que "
-"le vôtre. Un employé comma ne vous demandera JAMAIS d'ajouter son nom "
+"vos paramètres GitHub. N'entrez jamais un nom d'utilisateur GitHub autre que"
+" le vôtre. Un employé comma ne vous demandera JAMAIS d'ajouter son nom "
 "d'utilisateur GitHub."
 
 #: selfdrive/ui/layouts/onboarding.py:111
@@ -992,12 +979,12 @@ msgstr "Wi‑Fi"
 #: system/ui/widgets/network.py:144
 #, python-format
 msgid "Wi-Fi Network Metered"
-msgstr "Réseau Wi-Fi limité"
+msgstr "Réseau Wi‑Fi limité"
 
 #: system/ui/widgets/network.py:314
 #, python-format
 msgid "Wrong password"
-msgstr "Mauvais mot de passe"
+msgstr "Mot de passe incorrect"
 
 #: selfdrive/ui/layouts/onboarding.py:145
 #, python-format
@@ -1026,7 +1013,7 @@ msgstr "comma prime"
 #: system/ui/widgets/network.py:142
 #, python-format
 msgid "default"
-msgstr "défaut"
+msgstr "par défaut"
 
 #: selfdrive/ui/layouts/settings/device.py:133
 #, python-format
@@ -1051,7 +1038,7 @@ msgstr "km/h"
 #: system/ui/widgets/network.py:204
 #, python-format
 msgid "leave blank for automatic configuration"
-msgstr "ne pas remplir pour une configuration automatique"
+msgstr "laisser vide pour configuration automatique"
 
 #: selfdrive/ui/layouts/settings/device.py:134
 #, python-format
@@ -1091,30 +1078,30 @@ msgstr "openpilot indisponible"
 #: selfdrive/ui/layouts/settings/toggles.py:158
 #, python-format
 msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
+"openpilot defaults to driving in chill mode. Experimental mode enables "
+"alpha-level features that aren't ready for chill mode. Experimental features"
+" are listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the "
+"driving model control the gas and brakes. openpilot will drive as it thinks "
+"a human would, including stopping for red lights and stop signs. Since the "
+"driving model decides the speed to drive, the set speed will only act as an "
+"upper bound. This is an alpha quality feature; mistakes should be "
+"expected.<br><h4>New Driving Visualization</h4><br>The driving visualization"
+" will transition to the road-facing wide-angle camera at low speeds to "
+"better show some turns. The Experimental mode logo will also be shown in the"
+" top right corner."
 msgstr ""
 "openpilot roule par défaut en mode chill. Le mode expérimental active des "
 "fonctionnalités de niveau alpha qui ne sont pas prêtes pour le mode chill. "
 "Les fonctionnalités expérimentales sont listées ci‑dessous:<br><h4>Contrôle "
-"longitudinal de bout en bout</h4><br>Laissez le modèle de conduite contrôler "
-"l'accélérateur et les freins. openpilot conduira comme il pense qu'un humain "
-"le ferait, y compris s'arrêter aux feux rouges et aux panneaux stop. Comme "
-"le modèle décide de la vitesse à adopter, la vitesse réglée n'agira que "
-"comme une limite supérieure. C'est une fonctionnalité de qualité alpha ; des "
-"erreurs sont à prévoir.<br><h4>Nouvelle visualisation de conduite</h4><br>La "
-"visualisation passera à la caméra grand angle orientée route à basse vitesse "
-"pour mieux montrer certains virages. Le logo du mode expérimental sera "
-"également affiché en haut à droite."
+"longitudinal de bout en bout</h4><br>Laissez le modèle de conduite contrôler"
+" l'accélérateur et les freins. openpilot conduira comme il pense qu'un "
+"humain le ferait, y compris s'arrêter aux feux rouges et aux panneaux stop. "
+"Comme le modèle décide de la vitesse à adopter, la vitesse réglée n'agira "
+"que comme une limite supérieure. C'est une fonctionnalité de qualité alpha ;"
+" des erreurs sont à prévoir.<br><h4>Nouvelle visualisation de "
+"conduite</h4><br>La visualisation passera à la caméra grand angle orientée "
+"route à basse vitesse pour mieux montrer certains virages. Le logo du mode "
+"expérimental sera également affiché en haut à droite."
 
 #: selfdrive/ui/layouts/settings/device.py:165
 #, python-format
@@ -1122,24 +1109,18 @@ msgid ""
 "openpilot is continuously calibrating, resetting is rarely required. "
 "Resetting calibration will restart openpilot if the car is powered on."
 msgstr ""
-"La modification de ce réglage redémarrera openpilot si la voiture est sous "
+" La modification de ce réglage redémarrera openpilot si la voiture est sous "
 "tension."
 
 #: selfdrive/ui/layouts/settings/firehose.py:20
 msgid ""
 "openpilot learns to drive by watching humans, like you, drive.\n"
 "\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
+"Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode."
 msgstr ""
-"openpilot apprend à conduire en regardant des humains, comme vous, "
-"conduire.\n"
+"openpilot apprend à conduire en regardant des humains, comme vous, conduire.\n"
 "\n"
-"Le Mode Firehose vous permet de maximiser vos envois de données "
-"d'entraînement pour améliorer les modèles de conduite d'openpilot. Plus de "
-"données signifie des modèles plus grands, ce qui signifie un meilleur Mode "
-"expérimental."
+"Le Mode Firehose vous permet de maximiser vos envois de données d'entraînement pour améliorer les modèles de conduite d'openpilot. Plus de données signifie des modèles plus grands, ce qui signifie un meilleur Mode expérimental."
 
 #: selfdrive/ui/layouts/settings/toggles.py:183
 #, python-format
@@ -1153,8 +1134,8 @@ msgid ""
 "openpilot requires the device to be mounted within 4° left or right and "
 "within 5° up or 9° down."
 msgstr ""
-"openpilot exige que l'appareil soit monté à moins de 4° à gauche ou à droite "
-"et à moins de 5° vers le haut ou 9° vers le bas."
+"openpilot exige que l'appareil soit monté à moins de 4° à gauche ou à droite"
+" et à moins de 5° vers le haut ou 9° vers le bas."
 
 #: selfdrive/ui/layouts/settings/device.py:134
 #, python-format
@@ -1164,7 +1145,7 @@ msgstr "droite"
 #: system/ui/widgets/network.py:142
 #, python-format
 msgid "unmetered"
-msgstr "non limité"
+msgstr "illimité"
 
 #: selfdrive/ui/layouts/settings/device.py:133
 #, python-format
@@ -1234,3 +1215,1563 @@ msgstr "✓ ABONNÉ"
 #, python-format
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🔥 Mode Firehose 🔥"
+
+msgid " (Default)"
+msgstr " (Par défaut)"
+
+msgid "%"
+msgstr "%"
+
+msgid ""
+"(Only for highest tiers, and does NOT bring ANY benefit to you yet. We are "
+"just testing data volume.)"
+msgstr ""
+"(Réservé aux niveaux les plus élevés, et ne vous apporte AUCUN avantage pour"
+" l'instant. Nous testons juste le volume de données.)"
+
+msgid ", but we'll be here when you're ready to come back."
+msgstr ", mais nous serons là quand vous serez prêt à revenir."
+
+msgid ""
+"<b>WARNING: sunnypilot longitudinal control is in alpha for this car and "
+"will disable Automatic Emergency Braking (AEB).</b><br><br>On this car, "
+"sunnypilot defaults to the car's built-in ACC instead of sunnypilot's "
+"longitudinal control. Enable this to switch to sunnypilot longitudinal "
+"control. Enabling Experimental mode is recommended when enabling sunnypilot "
+"longitudinal control alpha. Changing this setting will restart sunnypilot if"
+" the car is powered on."
+msgstr ""
+"<b>ATTENTION : le contrôle longitudinal sunnypilot est en alpha pour cette "
+"voiture et désactivera le freinage d'urgence automatique "
+"(AEB).</b><br><br>Sur cette voiture, sunnypilot utilise par défaut le "
+"régulateur de vitesse adaptatif intégré au véhicule plutôt que le contrôle "
+"longitudinal de sunnypilot. Activez ceci pour passer au contrôle "
+"longitudinal sunnypilot. Il est recommandé d'activer le mode expérimental "
+"lors de l'activation du contrôle longitudinal sunnypilot alpha. La "
+"modification de ce réglage redémarrera sunnypilot si la voiture est sous "
+"tension."
+
+msgid ""
+"A beautiful rainbow effect on the path the model wants to take. It does not "
+"affect driving in any way."
+msgstr ""
+"Un magnifique effet arc-en-ciel sur le trajet que le modèle souhaite "
+"emprunter. Cela n'affecte en rien la conduite."
+
+msgid ""
+"A chime and on-screen alert will play when the traffic light you are waiting"
+" for turns green and you have no vehicle in front of you.<br>Note: This "
+"chime is only designed as a notification. It is the driver's responsibility "
+"to observe their environment and make decisions accordingly."
+msgstr ""
+"Un carillon et une alerte à l'écran se déclencheront lorsque le feu de "
+"circulation que vous attendez passera au vert et qu'il n'y a pas de véhicule"
+" devant vous.<br>Note : Ce carillon est uniquement conçu comme une "
+"notification. Il incombe au conducteur d'observer son environnement et de "
+"prendre les décisions en conséquence."
+
+msgid ""
+"A chime and on-screen alert will play when you are stopped, and the vehicle "
+"in front of you start moving.<br>Note: This chime is only designed as a "
+"notification. It is the driver's responsibility to observe their environment"
+" and make decisions accordingly."
+msgstr ""
+"Un carillon et une alerte à l'écran se déclencheront lorsque vous êtes à "
+"l'arrêt et que le véhicule devant vous commence à avancer.<br>Note : Ce "
+"carillon est uniquement conçu comme une notification. Il incombe au "
+"conducteur d'observer son environnement et de prendre les décisions en "
+"conséquence."
+
+msgid "ALL TIME"
+msgstr "TOUT TEMPS"
+
+msgid "Actuator Delay:"
+msgstr "Délai actionneur :"
+
+msgid "Adjust Lane Turn Speed"
+msgstr "Ajuster la vitesse de virage de voie"
+
+msgid "Adjust Software Delay"
+msgstr "Ajuster le délai logiciel"
+
+msgid ""
+"Adjust the software delay when Live Learning Steer Delay is toggled off. The"
+" default software delay value is 0.2"
+msgstr ""
+"Ajuster le délai logiciel lorsque l'apprentissage en direct du délai de "
+"direction est désactivé. La valeur par défaut du délai logiciel est 0.2"
+
+msgid "All"
+msgstr "Tout"
+
+msgid "All states (~6.0 GB)"
+msgstr "Toutes les régions (~6.0 Go)"
+
+msgid ""
+"Allows the driver to provide limited steering input while openpilot is "
+"engaged."
+msgstr ""
+"Permet au conducteur de fournir une entrée de direction limitée pendant "
+"qu'openpilot est engagé."
+
+msgid "Always On"
+msgstr "Toujours allumé"
+
+msgid ""
+"An alpha version of sunnypilot longitudinal control can be tested, along "
+"with Experimental mode, on non-release branches."
+msgstr ""
+"Une version alpha du contrôle longitudinal sunnypilot peut être testée, avec"
+" le mode expérimental, sur des branches non publiées."
+
+msgid ""
+"Apply a custom timeout for settings UI.<br>This is the time after which "
+"settings UI closes automatically if user is not interacting with the screen."
+msgstr ""
+"Appliquer un délai d'inactivité personnalisé pour l'interface des "
+"paramètres.<br>C'est le temps après lequel l'interface des paramètres se "
+"ferme automatiquement si l'utilisateur n'interagit pas avec l'écran."
+
+msgid "Are you sure you want to backup your current sunnypilot settings?"
+msgstr ""
+"Êtes-vous sûr de vouloir sauvegarder vos paramètres sunnypilot actuels ?"
+
+msgid "Are you sure you want to enter Always Offroad mode?"
+msgstr "Êtes-vous sûr de vouloir entrer en mode toujours hors route ?"
+
+msgid "Are you sure you want to exit Always Offroad mode?"
+msgstr "Êtes-vous sûr de vouloir quitter le mode toujours hors route ?"
+
+msgid ""
+"Are you sure you want to reset all sunnypilot settings to default? Once the "
+"settings are reset, there is no going back."
+msgstr ""
+"Êtes-vous sûr de vouloir réinitialiser tous les paramètres sunnypilot par "
+"défaut ? Une fois les paramètres réinitialisés, il n'y a pas de retour en "
+"arrière."
+
+msgid ""
+"Are you sure you want to restore the last backed up sunnypilot settings?"
+msgstr ""
+"Êtes-vous sûr de vouloir restaurer la dernière sauvegarde des paramètres "
+"sunnypilot ?"
+
+msgid "Assist"
+msgstr "Assistance"
+
+msgid ""
+"Assist: Adjusts the vehicle's cruise speed based on the current road's speed"
+" limit when operating the +/- buttons."
+msgstr ""
+"Assistance : Ajuste la vitesse de croisière du véhicule en fonction de la "
+"limite de vitesse de la route actuelle lors de l'utilisation des boutons "
+"+/-."
+
+msgid "Auto (Dark)"
+msgstr "Auto (Sombre)"
+
+msgid "Auto (Default)"
+msgstr "Auto (Par défaut)"
+
+msgid "Auto Lane Change by Blinker"
+msgstr "Changement de voie auto par clignotant"
+
+msgid "Auto Lane Change: Delay with Blind Spot"
+msgstr "Changement de voie auto : Délai avec angle mort"
+
+msgid "Backup Failed"
+msgstr "Échec de la sauvegarde"
+
+msgid "Backup Settings"
+msgstr "Sauvegarder les paramètres"
+
+msgid ""
+"Become a sponsor of sunnypilot to get early access to sunnylink features "
+"when they become available."
+msgstr ""
+"Devenez parrain de sunnypilot pour obtenir un accès anticipé aux "
+"fonctionnalités sunnylink dès leur disponibilité."
+
+msgid "Bottom"
+msgstr "Bas"
+
+msgid "CLEAR"
+msgstr "VIDER"
+
+msgid "Cancel Download"
+msgstr "Annuler le téléchargement"
+
+msgid "Car First"
+msgstr "Voiture d'abord"
+
+msgid ""
+"Car First: Use Speed Limit data from Car if available, else use from "
+"OpenStreetMaps"
+msgstr ""
+"Voiture d'abord : Utiliser les données de limite de vitesse de la voiture si"
+" disponibles, sinon utiliser OpenStreetMaps"
+
+msgid "Car Only"
+msgstr "Voiture uniquement"
+
+msgid "Car Only: Use Speed Limit data only from Car"
+msgstr ""
+"Voiture uniquement : Utiliser les données de limite de vitesse uniquement de"
+" la voiture"
+
+msgid ""
+"Changing this setting will restart sunnypilot if the car is powered on."
+msgstr ""
+"La modification de ce réglage redémarrera sunnypilot si la voiture est sous "
+"tension."
+
+msgid ""
+"Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is "
+"manually pressed in sunnypilot."
+msgstr ""
+"Choisissez comment le centrage automatique de voie (ALC) se comporte après "
+"un appui manuel sur la pédale de frein dans sunnypilot."
+
+msgid "Choose your sponsorship tier and confirm your support"
+msgstr "Choisissez votre niveau de parrainage et confirmez votre soutien"
+
+msgid "Clear Cache"
+msgstr "Vider le cache"
+
+msgid "Clear Model Cache"
+msgstr "Vider le cache des modèles"
+
+msgid "Click the Sponsor button for more details"
+msgstr "Cliquez sur le bouton Sponsor pour plus de détails"
+
+msgid "Colors represent vehicle fingerprint status:"
+msgstr "Les couleurs représentent le statut d'empreinte du véhicule :"
+
+msgid "Combined"
+msgstr "Combiné"
+
+msgid "Combined: Use combined Speed Limit data from Car & OpenStreetMaps"
+msgstr ""
+"Combiné : Utiliser les données combinées de limite de vitesse de la voiture "
+"et d'OpenStreetMaps"
+
+msgid "Confirm"
+msgstr "Confirmer"
+
+msgid "Controls state of the device after boot/sleep."
+msgstr "Contrôle l'état de l'appareil après démarrage/veille."
+
+msgid "Cooperative Steering (Beta)"
+msgstr "Direction coopérative (Bêta)"
+
+msgid "Country"
+msgstr "Pays"
+
+msgid "Cruise"
+msgstr "Régulateur"
+
+msgid "Current Model"
+msgstr "Modèle actuel"
+
+msgid "Custom ACC Speed Increments"
+msgstr "Incréments de vitesse ACC personnalisés"
+
+msgid "Custom Longitudinal Tuning"
+msgstr "Réglage longitudinal personnalisé"
+
+msgid "Customize Lane Change"
+msgstr "Personnaliser le changement de voie"
+
+msgid "Customize MADS"
+msgstr "Personnaliser MADS"
+
+msgid "Customize Source"
+msgstr "Personnaliser la source"
+
+msgid "Customize Torque Params"
+msgstr "Personnaliser les paramètres de couple"
+
+msgid "DELETE"
+msgstr "SUPPRIMER"
+
+msgid "DISABLED"
+msgstr "DÉSACTIVÉ"
+
+msgid "Database Update"
+msgstr "Mise à jour de la base de données"
+
+msgid "Decline, uninstall sunnypilot"
+msgstr "Refuser, désinstaller sunnypilot"
+
+msgid "Default"
+msgstr "Par défaut"
+
+msgid "Default Model"
+msgstr "Modèle par défaut"
+
+msgid "Default: Device will boot/wake-up normally & will be ready to engage."
+msgstr "Par défaut : L'appareil démarrera normalement et sera prêt à engager."
+
+msgid "Delay before lateral control resumes after the turn signal ends."
+msgstr ""
+"Délai avant la reprise du contrôle latéral après la fin du clignotant."
+
+msgid "Developer UI"
+msgstr "Interface développeur"
+
+msgid ""
+"Device will automatically shutdown after set time once the engine is turned off.\n"
+"(30h is the default)"
+msgstr ""
+"L'appareil s'éteindra automatiquement après le temps défini une fois le moteur coupé.\n"
+"(30h par défaut)"
+
+msgid "Disable"
+msgstr "Désactiver"
+
+msgid "Disable Updates"
+msgstr "Désactiver les mises à jour"
+
+msgid ""
+"Disable the sunnypilot Longitudinal Control (alpha) toggle to allow "
+"Intelligent Cruise Button Management."
+msgstr ""
+"Désactivez l'option contrôle longitudinal sunnypilot (alpha) pour permettre "
+"la gestion intelligente des boutons de régulateur."
+
+msgid "Disengage"
+msgstr "Désengager"
+
+msgid "Disengage to Enter Always Offroad Mode"
+msgstr "Désengager pour entrer en mode toujours hors route"
+
+msgid "Disengage: ALC will disengage when the brake pedal is pressed."
+msgstr ""
+"Désengager : ALC se désengagera lorsque la pédale de frein est enfoncée."
+
+msgid "Display"
+msgstr "Affichage"
+
+msgid "Display Metrics Below Chevron"
+msgstr "Afficher les métriques sous le chevron"
+
+msgid "Display Road Name"
+msgstr "Afficher le nom de la route"
+
+msgid "Display Turn Signals"
+msgstr "Afficher les clignotants"
+
+msgid "Display real-time parameters and metrics from various sources."
+msgstr ""
+"Afficher les paramètres et métriques en temps réel provenant de diverses "
+"sources."
+
+msgid ""
+"Display steering arc on the driving screen when lateral control is enabled."
+msgstr ""
+"Afficher l'arc de direction sur l'écran de conduite lorsque le contrôle "
+"latéral est activé."
+
+msgid ""
+"Display useful metrics below the chevron that tracks the lead car only "
+"applicable to cars with sunnypilot longitudinal control."
+msgstr ""
+"Afficher des métriques utiles sous le chevron qui suit le véhicule en tête, "
+"uniquement applicable aux voitures avec le contrôle longitudinal sunnypilot."
+
+msgid ""
+"Displays the name of the road the car is traveling on.<br>The OpenStreetMap "
+"database of the location must be downloaded from the OSM panel to fetch the "
+"road name."
+msgstr ""
+"Affiche le nom de la route sur laquelle la voiture circule.<br>La base de "
+"données OpenStreetMap de la localisation doit être téléchargée depuis le "
+"panneau OSM pour récupérer le nom de la route."
+
+msgid "Distance"
+msgstr "Distance"
+
+msgid "Downloaded Maps"
+msgstr "Cartes téléchargées"
+
+msgid "Downloading Map"
+msgstr "Téléchargement de la carte"
+
+msgid "Downloading Maps..."
+msgstr "Téléchargement des cartes..."
+
+msgid "Driver Camera Preview"
+msgstr "Aperçu caméra conducteur"
+
+msgid "Drives"
+msgstr "Trajets"
+
+msgid "Driving Model"
+msgstr "Modèle de conduite"
+
+msgid "Dynamic"
+msgstr "Dynamique"
+
+msgid "Early Access: Become a sunnypilot Sponsor"
+msgstr "Accès anticipé : Devenez parrain sunnypilot"
+
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle."
+msgstr ""
+"Activez \"Toujours hors route\" dans le panneau Appareil, ou éteignez le "
+"véhicule pour basculer."
+
+msgid "Enable Always Offroad"
+msgstr "Activer le mode toujours hors route"
+
+msgid "Enable Custom Tuning"
+msgstr "Activer le réglage personnalisé"
+
+msgid "Enable Dynamic Experimental Control"
+msgstr "Activer le contrôle expérimental dynamique"
+
+msgid "Enable Standstill Timer"
+msgstr "Activer le chronomètre à l'arrêt"
+
+msgid "Enable Tesla Rainbow Mode"
+msgstr "Activer le mode arc-en-ciel Tesla"
+
+msgid ""
+"Enable custom Short & Long press increments for cruise speed "
+"increase/decrease."
+msgstr ""
+"Activer les incréments personnalisés d'appui court et long pour "
+"augmenter/diminuer la vitesse de croisière."
+
+msgid "Enable driver monitoring even when sunnypilot is not engaged."
+msgstr ""
+"Activer la surveillance du conducteur même lorsque sunnypilot n'est pas "
+"engagé."
+
+msgid "Enable sunnylink"
+msgstr "Activer sunnylink"
+
+msgid "Enable sunnylink uploader (infrastructure test)"
+msgstr "Activer le téléversement sunnylink"
+
+msgid ""
+"Enable sunnylink uploader to allow sunnypilot to upload your driving data to"
+" sunnypilot servers. "
+msgstr ""
+"Activer le téléversement sunnylink pour permettre à sunnypilot de téléverser"
+" vos données de conduite vers les serveurs sunnypilot. "
+
+msgid "Enable sunnypilot"
+msgstr "Activer sunnypilot"
+
+msgid ""
+"Enable the beloved MADS feature. Disable toggle to revert back to stock "
+"sunnypilot engagement/disengagement."
+msgstr ""
+"Activer la fonctionnalité MADS. Désactivez l'option pour revenir au "
+"comportement d'engagement/désengagement sunnypilot d'origine."
+
+msgid ""
+"Enable the sunnypilot longitudinal control (alpha) toggle to allow "
+"Experimental mode."
+msgstr ""
+"Activez l'option de contrôle longitudinal sunnypilot (alpha) pour autoriser "
+"le mode expérimental."
+
+msgid ""
+"Enable this for the car to learn and adapt its steering response time. "
+"Disable to use a fixed steering response time. Keeping this on provides the "
+"stock openpilot experience."
+msgstr ""
+"Activez pour que la voiture apprenne et adapte son temps de réponse de "
+"direction. Désactivez pour utiliser un temps de réponse fixe. Garder activé "
+"offre l'expérience openpilot d'origine."
+
+msgid ""
+"Enable this to enforce sunnypilot to steer with Torque lateral control."
+msgstr ""
+"Activez ceci pour forcer sunnypilot à diriger avec le contrôle latéral par "
+"couple."
+
+msgid ""
+"Enable toggle to allow the model to determine when to use sunnypilot ACC or "
+"sunnypilot End to End Longitudinal."
+msgstr ""
+"Activez l'option pour permettre au modèle de déterminer quand utiliser le "
+"ACC sunnypilot ou le contrôle longitudinal de bout en bout sunnypilot."
+
+msgid ""
+"Enables custom tuning for Torque lateral control. Modifying Lateral "
+"Acceleration Factor and Friction below will override the offline values "
+"indicated in the YAML files within \"opendbc/car/torque_data\". The values "
+"will also be used live when \"Manual Real-Time Tuning\" toggle is enabled."
+msgstr ""
+"Active le réglage personnalisé pour le contrôle latéral par couple. La "
+"modification du facteur d'accélération latérale et de la friction ci-dessous"
+" remplacera les valeurs hors ligne indiquées dans les fichiers YAML du "
+"dossier \"opendbc/car/torque_data\". Les valeurs seront également utilisées "
+"en direct lorsque l'option \"Réglage manuel en temps réel\" est activée."
+
+msgid "Enables or disables the GitHub runner service."
+msgstr "Active ou désactive le service GitHub runner."
+
+msgid ""
+"Enables self-tune for Torque lateral control for platforms that do not use "
+"Torque lateral control by default."
+msgstr ""
+"Active l'auto-réglage pour le contrôle latéral par couple pour les "
+"plateformes qui n'utilisent pas le contrôle latéral par couple par défaut."
+
+msgid ""
+"Enabling this will display warnings when a vehicle is detected in your blind"
+" spot as long as your car has BSM supported."
+msgstr ""
+"L'activation affichera des avertissements lorsqu'un véhicule est détecté "
+"dans votre angle mort, à condition que votre voiture supporte le BSM."
+
+msgid "Enforce Factory Longitudinal Control"
+msgstr "Forcer le contrôle longitudinal d'usine"
+
+msgid "Enforce Torque Lateral Control"
+msgstr "Forcer le contrôle latéral par couple"
+
+msgid ""
+"Enforces the torque lateral controller to use the fixed values instead of "
+"the learned values from Self-Tune. Enabling this toggle overrides Self-Tune "
+"values."
+msgstr ""
+"Force le contrôleur latéral par couple à utiliser les valeurs fixes au lieu "
+"des valeurs apprises par l'auto-réglage. L'activation de cette option "
+"remplace les valeurs de l'auto-réglage."
+
+msgid ""
+"Engage lateral and longitudinal control with cruise control engagement."
+msgstr ""
+"Engager le contrôle latéral et longitudinal avec l'activation du régulateur "
+"de vitesse."
+
+msgid "Enter model year (e.g., 2021) and model (Toyota Corolla):"
+msgstr "Entrez l'année (ex. 2021) et le modèle (Toyota Corolla) :"
+
+msgid "Enter search query"
+msgstr "Entrez votre recherche"
+
+msgid "Error Log"
+msgstr "Journal d'erreurs"
+
+msgid "Error: Invalid download. Retry."
+msgstr "Erreur : Téléchargement invalide. Réessayez."
+
+msgid "Exit Always Offroad"
+msgstr "Quitter le mode toujours hors route"
+
+msgid ""
+"Experimental feature to enable auto-resume during stop-and-go for certain "
+"supported Subaru platforms."
+msgstr ""
+"Fonctionnalité expérimentale pour activer la reprise automatique en stop-"
+"and-go pour certaines plateformes Subaru supportées."
+
+msgid ""
+"Experimental feature to enable stop and go for Subaru Global models with "
+"manual handbrake. Models with electric parking brake should keep this "
+"disabled. Thanks to martinl for this implementation!"
+msgstr ""
+"Fonctionnalité expérimentale pour activer le stop and go pour les modèles "
+"Subaru Global avec frein à main manuel. Les modèles avec frein de "
+"stationnement électrique doivent garder ceci désactivé. Merci à martinl pour"
+" cette implémentation !"
+
+msgid "FAULT"
+msgstr "DÉFAUT"
+
+msgid "FETCHING..."
+msgstr "RÉCUPÉRATION..."
+
+msgid "Fetching Latest Models"
+msgstr "Récupération des derniers modèles"
+
+msgid "Fingerprinted automatically"
+msgstr "Empreinte automatique"
+
+msgid "Fixed"
+msgstr "Fixe"
+
+msgid "Fixed: Adds a fixed offset [Speed Limit + Offset]"
+msgstr "Fixe : Ajoute un décalage fixe [Limite de vitesse + Décalage]"
+
+msgid "Follow the prompts to complete the pairing process"
+msgstr "Suivez les instructions pour terminer le processus d'association"
+
+msgid ""
+"For applicable vehicles, always display the true vehicle current speed from "
+"wheel speed sensors."
+msgstr ""
+"Pour les véhicules compatibles, toujours afficher la vitesse réelle actuelle"
+" du véhicule à partir des capteurs de vitesse de roue."
+
+msgid "For secure backup, restore, and remote configuration"
+msgstr ""
+"Pour la sauvegarde sécurisée, la restauration et la configuration à distance"
+
+msgid "Friction"
+msgstr "Friction"
+
+msgid "GitHub Runner Service"
+msgstr "Service GitHub Runner"
+
+msgid "Green Traffic Light Alert (Beta)"
+msgstr "Alerte feu vert (Bêta)"
+
+msgid "Hours"
+msgstr "Heures"
+
+msgid ""
+"If sponsorship status was not updated, please contact a moderator on the "
+"community forum at https://community.sunnypilot.ai"
+msgstr ""
+"Si le statut de parrainage n'a pas été mis à jour, veuillez contacter un "
+"modérateur sur le forum communautaire à https://community.sunnypilot.ai"
+
+msgid ""
+"If you're driving at 20 mph (32 km/h) or below and have your blinker on, the"
+" car will plan a turn in that direction at the nearest drivable path. This "
+"prevents situations (like at red lights) where the car might plan the wrong "
+"turn direction."
+msgstr ""
+"Si vous roulez à 32 km/h ou moins avec le clignotant activé, la voiture "
+"planifiera un virage dans cette direction vers le chemin praticable le plus "
+"proche. Cela évite les situations (comme aux feux rouges) où la voiture "
+"pourrait planifier la mauvaise direction de virage."
+
+msgid "Info"
+msgstr "Info"
+
+msgid "Information: Displays the current road's speed limit."
+msgstr "Information : Affiche la limite de vitesse de la route actuelle."
+
+msgid "Intelligent Cruise Button Management (ICBM) (Alpha)"
+msgstr "Gestion intelligente des boutons de régulateur (ICBM) (Alpha)"
+
+msgid ""
+"Intelligent Cruise Button Management is currently unavailable on this "
+"platform."
+msgstr ""
+"La gestion intelligente des boutons de régulateur est actuellement "
+"indisponible sur cette plateforme."
+
+msgid "Interactivity Timeout"
+msgstr "Délai d'inactivité"
+
+msgid ""
+"Join our Community Forum at https://community.sunnypilot.ai and reach out to"
+" a moderator if you have issues"
+msgstr ""
+"Rejoignez notre forum communautaire à https://community.sunnypilot.ai et "
+"contactez un modérateur si vous avez des problèmes"
+
+msgid "KM"
+msgstr "KM"
+
+msgid "Last checked {}"
+msgstr "Dernière vérification {}"
+
+msgid "Lateral Acceleration Factor"
+msgstr "Facteur d'accélération latérale"
+
+msgid "Lead Departure Alert (Beta)"
+msgstr "Alerte de départ du véhicule en tête (Bêta)"
+
+msgid "Less Restrict Settings for Self-Tune (Beta)"
+msgstr "Paramètres moins restrictifs pour l'auto-réglage (Bêta)"
+
+msgid ""
+"Less strict settings when using Self-Tune. This allows torqued to be more "
+"forgiving when learning values."
+msgstr ""
+"Paramètres moins stricts lors de l'utilisation de l'auto-réglage. Cela "
+"permet à torqued d'être plus tolérant lors de l'apprentissage des valeurs."
+
+msgid "Live Learning Steer Delay"
+msgstr "Apprentissage en direct du délai de direction"
+
+msgid "Live Steer Delay:"
+msgstr "Délai direction en direct :"
+
+msgid "Long Press Increment"
+msgstr "Incrément appui long"
+
+msgid "Manual Real-Time Tuning"
+msgstr "Réglage manuel en temps réel"
+
+msgid "Manually selected fingerprint"
+msgstr "Empreinte sélectionnée manuellement"
+
+msgid "Map First"
+msgstr "Carte d'abord"
+
+msgid ""
+"Map First: Use Speed Limit data from OpenStreetMaps if available, else use "
+"from Car"
+msgstr ""
+"Carte d'abord : Utiliser les données de limite de vitesse d'OpenStreetMaps "
+"si disponibles, sinon utiliser celles de la voiture"
+
+msgid "Map Only"
+msgstr "Carte uniquement"
+
+msgid "Map Only: Use Speed Limit data only from OpenStreetMaps"
+msgstr ""
+"Carte uniquement : Utiliser les données de limite de vitesse uniquement "
+"d'OpenStreetMaps"
+
+msgid "Mapd Version"
+msgstr "Version Mapd"
+
+msgid "Max Time Offroad"
+msgstr "Durée max hors route"
+
+msgid "Miles"
+msgstr "Km"
+
+msgid "Minimum Speed to Pause Lateral Control"
+msgstr "Vitesse minimum pour suspendre le contrôle latéral"
+
+msgid ""
+"Model download has started in the background. We suggest resetting "
+"calibration. Would you like to do that now?"
+msgstr ""
+"Le téléchargement du modèle a démarré en arrière-plan. Nous suggérons de "
+"réinitialiser la calibration. Voulez-vous le faire maintenant ?"
+
+msgid "Models"
+msgstr "Modèles"
+
+msgid "Modular Assistive Driving System (MADS)"
+msgstr "Système d'aide à la conduite modulaire (MADS)"
+
+msgid "Near"
+msgstr "Proche"
+
+msgid "Neural Network Lateral Control (NNLC)"
+msgstr "Contrôle latéral par réseau neuronal (NNLC)"
+
+msgid "No"
+msgstr "Non"
+
+msgid "No vehicle selected"
+msgstr "Aucun véhicule sélectionné"
+
+msgid "None"
+msgstr "Aucun"
+
+msgid "None: No Offset"
+msgstr "Aucun : Pas de décalage"
+
+msgid "Not Paired"
+msgstr "Non associé"
+
+msgid "Not Sponsor"
+msgstr "Non parrain"
+
+msgid "Not fingerprinted or manually selected"
+msgstr "Pas d'empreinte ou sélection manuelle"
+
+msgid "Not going to lie, it's sad to see you disabled sunnylink"
+msgstr "Honnêtement, c'est triste de voir que vous avez désactivé sunnylink"
+
+msgid ""
+"Note: For vehicles without LFA/LKAS button, disabling this will prevent "
+"lateral control engagement."
+msgstr ""
+"Note : Pour les véhicules sans bouton LFA/LKAS, désactiver ceci empêchera "
+"l'engagement du contrôle latéral."
+
+msgid ""
+"Note: Once lateral control is engaged via UEM, it will remain engaged until "
+"it is manually disabled via the MADS button or car shut off."
+msgstr ""
+"Note : Une fois le contrôle latéral engagé via UEM, il restera engagé "
+"jusqu'à ce qu'il soit désactivé manuellement via le bouton MADS ou "
+"l'extinction de la voiture."
+
+msgid "Nudge"
+msgstr "Impulsion"
+
+msgid "Nudgeless"
+msgstr "Sans impulsion"
+
+msgid "OSM"
+msgstr "OSM"
+
+msgid "Off"
+msgstr "Désactivé"
+
+msgid "Off: Disables the Speed Limit functions."
+msgstr "Désactivé : Désactive les fonctions de limite de vitesse."
+
+msgid "Offline Only"
+msgstr "Hors ligne uniquement"
+
+msgid "Offroad"
+msgstr "Hors route"
+
+msgid "Offroad: Device will be in Always Offroad mode after boot/wake-up."
+msgstr ""
+"Hors route : L'appareil sera en mode toujours hors route après démarrage."
+
+msgid "Only available when vehicle is off, or always offroad mode is on"
+msgstr ""
+"Disponible uniquement lorsque le véhicule est éteint ou en mode toujours "
+"hors route"
+
+msgid "Onroad Brightness"
+msgstr "Luminosité en conduite"
+
+msgid "Onroad Brightness Delay"
+msgstr "Délai de luminosité en conduite"
+
+msgid "Onroad Uploads"
+msgstr "Téléversements en conduite"
+
+msgid "PAST WEEK"
+msgstr "SEMAINE PASSÉE"
+
+msgid "Pair GitHub Account"
+msgstr "Associer un compte GitHub"
+
+msgid "Pair your GitHub account"
+msgstr "Associer votre compte GitHub"
+
+msgid ""
+"Pair your GitHub account to grant your device sponsor benefits, including "
+"API access on sunnylink."
+msgstr ""
+"Associez votre compte GitHub pour accorder à votre appareil les avantages de"
+" parrain, y compris l'accès API sur sunnylink."
+
+msgid "Paired"
+msgstr "Associé"
+
+msgid "Pause"
+msgstr "Pause"
+
+msgid "Pause Lateral Control with Blinker"
+msgstr "Suspendre le contrôle latéral avec le clignotant"
+
+msgid ""
+"Pause lateral control with blinker when traveling below the desired speed "
+"selected."
+msgstr ""
+"Suspendre le contrôle latéral avec le clignotant lorsque la vitesse est "
+"inférieure à la vitesse souhaitée sélectionnée."
+
+msgid "Pause: ALC will pause when the brake pedal is pressed."
+msgstr ""
+"Pause : ALC se mettra en pause lorsque la pédale de frein est enfoncée."
+
+msgid "Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]"
+msgstr ""
+"Pourcentage : Ajoute un décalage en pourcentage [Limite de vitesse + "
+"(Décalage % Limite de vitesse)]"
+
+msgid ""
+"Please enable \"Always Offroad\" mode or turn off the vehicle to adjust "
+"these toggles."
+msgstr ""
+"Veuillez activer le mode \"Toujours hors route\" ou éteindre le véhicule "
+"pour ajuster ces options."
+
+msgid "Please reboot and try again."
+msgstr "Veuillez redémarrer et réessayer."
+
+msgid "Policy Model"
+msgstr "Modèle de politique"
+
+msgid "Post-Blinker Delay"
+msgstr "Délai post-clignotant"
+
+msgid "Predictive"
+msgstr "Prédictif"
+
+msgid "Quickboot Mode"
+msgstr "Mode démarrage rapide"
+
+msgid ""
+"Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' "
+"in the Software panel first."
+msgstr ""
+"Le mode démarrage rapide nécessite que les mises à jour soient "
+"désactivées.<br>Activez d'abord 'Désactiver les mises à jour' dans le "
+"panneau Logiciel."
+
+msgid "Quiet Mode"
+msgstr "Mode silencieux"
+
+msgid "REFRESH"
+msgstr "ACTUALISER"
+
+msgid "REGIST..."
+msgstr "ENREG..."
+
+msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
+msgstr ""
+"Retournez dans le panneau \"sunnylink\" pour vérifier le statut de "
+"parrainage"
+
+msgid "Real-Time & Offline"
+msgstr "Temps réel et hors ligne"
+
+msgid "Real-time Acceleration Bar"
+msgstr "Barre d'accélération en temps réel"
+
+msgid "Refresh Model List"
+msgstr "Actualiser la liste des modèles"
+
+msgid "Remain Active"
+msgstr "Rester actif"
+
+msgid "Remain Active: ALC will remain active when the brake pedal is pressed."
+msgstr ""
+"Rester actif : ALC restera actif lorsque la pédale de frein est enfoncée."
+
+msgid "Reset Settings"
+msgstr "Réinitialiser les paramètres"
+
+msgid "Restore Failed"
+msgstr "Échec de la restauration"
+
+msgid "Restore Settings"
+msgstr "Restaurer les paramètres"
+
+msgid "Review the rules, features, and limitations of sunnypilot"
+msgstr "Consultez les règles, fonctionnalités et limitations de sunnypilot"
+
+msgid "Right"
+msgstr "Droite"
+
+msgid "Right & Bottom"
+msgstr "Droite et bas"
+
+msgid "SPONSOR"
+msgstr "PARRAINER"
+
+msgid "SUNNYLINK"
+msgstr "SUNNYLINK"
+
+msgid "Scan"
+msgstr "Analyser"
+
+msgid "Scan the QR code to login to your GitHub account"
+msgstr "Scannez le code QR pour vous connecter à votre compte GitHub"
+
+msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
+msgstr ""
+"Scannez le code QR pour visiter la page GitHub Sponsors de sunnyhaibin"
+
+msgid "Scanning..."
+msgstr "Analyse en cours..."
+
+msgid "Search"
+msgstr "Rechercher"
+
+msgid "Search your vehicle"
+msgstr "Rechercher votre véhicule"
+
+msgid "Select a Model"
+msgstr "Sélectionner un modèle"
+
+msgid "Select a vehicle"
+msgstr "Sélectionner un véhicule"
+
+msgid "Select vehicle to force fingerprint manually."
+msgstr "Sélectionnez le véhicule pour forcer l'empreinte manuellement."
+
+msgid "Self-Tune"
+msgstr "Auto-réglage"
+
+msgid ""
+"Set a timer to delay the auto lane change operation when the blinker is "
+"used. No nudge on the steering wheel is required to auto lane change if a "
+"timer is set. Default is Nudge.<br>Please use caution when using this "
+"feature. Only use the blinker when traffic and road conditions permit."
+msgstr ""
+"Définir un minuteur pour retarder le changement de voie automatique lorsque "
+"le clignotant est utilisé. Aucune impulsion sur le volant n'est nécessaire "
+"pour le changement de voie automatique si un minuteur est défini. Par défaut"
+" : Impulsion.<br>Veuillez utiliser cette fonctionnalité avec prudence. "
+"N'utilisez le clignotant que lorsque la circulation et les conditions "
+"routières le permettent."
+
+msgid "Set the maximum speed for lane turn desires. Default is 19 mph."
+msgstr ""
+"Définir la vitesse max. pour les changements de voie assistés. Par défaut : "
+"30 km/h."
+
+msgid "Settings backup completed."
+msgstr "Sauvegarde des paramètres terminée."
+
+msgid "Settings restored. Confirm to restart the interface."
+msgstr "Paramètres restaurés. Confirmez pour redémarrer l'interface."
+
+msgid "Short Press Increment"
+msgstr "Incrément appui court"
+
+msgid "Show Advanced Controls"
+msgstr "Afficher les contrôles avancés"
+
+msgid "Show Blind Spot Warnings"
+msgstr "Afficher les alertes d'angle mort"
+
+msgid "Show a timer on the HUD when the car is at a standstill."
+msgstr "Afficher un chronomètre sur le HUD lorsque la voiture est à l'arrêt."
+
+msgid ""
+"Show an indicator on the left side of the screen to display real-time "
+"vehicle acceleration and deceleration. This displays what the car is "
+"currently doing, not what the planner is requesting."
+msgstr ""
+"Afficher un indicateur à gauche de l'écran pour visualiser l'accélération et"
+" la décélération du véhicule en temps réel. Cela affiche ce que la voiture "
+"fait actuellement, pas ce que le planificateur demande."
+
+msgid "Smart Cruise Control - Map"
+msgstr "Régulateur intelligent - Carte"
+
+msgid "Smart Cruise Control - Vision"
+msgstr "Régulateur intelligent - Vision"
+
+msgid "Software Delay:"
+msgstr "Délai logiciel :"
+
+msgid "Speed"
+msgstr "Vitesse"
+
+msgid "Speed Limit"
+msgstr "Limite de vitesse"
+
+msgid "Speed Limit Offset"
+msgstr "Décalage de limite de vitesse"
+
+msgid "Speed Limit Source"
+msgstr "Source de limite de vitesse"
+
+msgid "Speedometer: Always Display True Speed"
+msgstr "Compteur : Toujours afficher la vitesse réelle"
+
+msgid "Speedometer: Hide from Onroad Screen"
+msgstr "Compteur : Masquer de l'écran de conduite"
+
+msgid "Sponsor Status"
+msgstr "Statut de parrainage"
+
+msgid "Sponsorship isn't required for basic backup/restore"
+msgstr ""
+"Le parrainage n'est pas requis pour la sauvegarde/restauration de base"
+
+msgid ""
+"Standard is recommended. In aggressive mode, sunnypilot will follow lead "
+"cars closer and be more aggressive with the gas and brake. In relaxed mode "
+"sunnypilot will stay further away from lead cars. On supported cars, you can"
+" cycle through these personalities with your steering wheel distance button."
+msgstr ""
+"Le mode standard est recommandé. En mode agressif, sunnypilot suivra les "
+"véhicules en tête de plus près et sera plus agressif avec l'accélérateur et "
+"le frein. En mode détendu, sunnypilot restera plus éloigné des véhicules en "
+"tête. Sur les voitures compatibles, vous pouvez parcourir ces personnalités "
+"avec le bouton de distance sur le volant."
+
+msgid "Start Download"
+msgstr "Démarrer le téléchargement"
+
+msgid "Start the vehicle to check vehicle compatibility."
+msgstr "Démarrez le véhicule pour vérifier la compatibilité du véhicule."
+
+msgid "State"
+msgstr "Région"
+
+msgid "Steering"
+msgstr "Direction"
+
+msgid "Steering Arc"
+msgstr "Arc de direction"
+
+msgid "Steering Mode on Brake Pedal"
+msgstr "Mode direction au freinage"
+
+msgid "Stop and Go (Beta)"
+msgstr "Stop and Go (Bêta)"
+
+msgid "Stop and Go for Manual Parking Brake (Beta)"
+msgstr "Stop and Go pour frein à main manuel (Bêta)"
+
+msgid "System reboot required for changes to take effect. Reboot now?"
+msgstr ""
+"Redémarrage système nécessaire pour appliquer les changements. Redémarrer "
+"maintenant ?"
+
+msgid "THANKS ♥"
+msgstr "MERCI ♥"
+
+msgid "The reset cannot be undone. You have been warned."
+msgstr "La réinitialisation ne peut pas être annulée. Vous êtes prévenu."
+
+msgid ""
+"This feature can only be used with sunnypilot longitudinal control enabled."
+msgstr ""
+"Cette fonctionnalité ne peut être utilisée qu'avec le contrôle longitudinal "
+"sunnypilot activé."
+
+msgid ""
+"This feature defaults to OFF, and does not allow selection due to vehicle "
+"limitations."
+msgstr ""
+"Cette fonctionnalité est désactivée par défaut et ne permet pas la sélection"
+" en raison des limitations du véhicule."
+
+msgid ""
+"This feature defaults to ON, and does not allow selection due to vehicle "
+"limitations."
+msgstr ""
+"Cette fonctionnalité est activée par défaut et ne permet pas la sélection en"
+" raison des limitations du véhicule."
+
+msgid "This feature is currently not available on this platform."
+msgstr ""
+"Cette fonctionnalité n'est actuellement pas disponible sur cette plateforme."
+
+msgid ""
+"This feature is not supported on this platform due to vehicle limitations."
+msgstr ""
+"Cette fonctionnalité n'est pas prise en charge sur cette plateforme en "
+"raison des limitations du véhicule."
+
+msgid ""
+"This feature is unavailable because sunnypilot Longitudinal Control (Alpha) "
+"is not enabled."
+msgstr ""
+"Cette fonctionnalité est indisponible car le contrôle longitudinal "
+"sunnypilot (Alpha) n'est pas activé."
+
+msgid "This feature is unavailable while the car is onroad."
+msgstr ""
+"Cette fonctionnalité est indisponible lorsque la voiture est sur la route."
+
+msgid "This feature requires sunnypilot longitudinal control to be available."
+msgstr ""
+"Cette fonctionnalité nécessite que le contrôle longitudinal sunnypilot soit "
+"disponible."
+
+msgid ""
+"This is the master switch, it will allow you to cutoff any sunnylink "
+"requests should you want to do that."
+msgstr ""
+"C'est l'interrupteur principal, il vous permettra de couper toutes les "
+"requêtes sunnylink si vous le souhaitez."
+
+msgid ""
+"This may be due to weak internet connection or sunnylink registration issue."
+" "
+msgstr ""
+"Cela peut être dû à une connexion internet faible ou un problème "
+"d'enregistrement sunnylink. "
+
+msgid "This platform only supports Disengage mode due to vehicle limitations."
+msgstr ""
+"Cette plateforme ne supporte que le mode Désengager en raison des "
+"limitations du véhicule."
+
+msgid "This platform supports all MADS settings."
+msgstr "Cette plateforme supporte tous les paramètres MADS."
+
+msgid "This platform supports limited MADS settings."
+msgstr "Cette plateforme supporte des paramètres MADS limités."
+
+msgid "This setting will take effect immediately."
+msgstr "Ce paramètre prendra effet immédiatement."
+
+msgid "This setting will take effect once the device enters offroad state."
+msgstr "Ce paramètre prendra effet une fois l'appareil en mode hors route."
+
+msgid ""
+"This will delete ALL downloaded maps\n"
+"\n"
+"Are you sure you want to delete all maps?"
+msgstr ""
+"Cela supprimera TOUTES les cartes téléchargées\n"
+"\n"
+"Êtes-vous sûr de vouloir supprimer toutes les cartes ?"
+
+msgid ""
+"This will delete ALL downloaded models from the cache except the currently "
+"active model. Are you sure?"
+msgstr ""
+"Cela supprimera TOUS les modèles téléchargés du cache sauf le modèle "
+"actuellement actif. Êtes-vous sûr ?"
+
+msgid ""
+"This will start the download process and it might take a while to complete."
+msgstr "Cela démarrera le téléchargement et peut prendre un certain temps."
+
+msgid "Time"
+msgstr "Temps"
+
+msgid ""
+"Toggle to enable a delay timer for seamless lane changes when blind spot "
+"monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering."
+msgstr ""
+"Activer un minuteur de délai pour des changements de voie fluides lorsque la"
+" surveillance d'angle mort (BSM) détecte un véhicule gênant, assurant une "
+"manœuvre en toute sécurité."
+
+msgid ""
+"Toggle visibility of advanced sunnypilot controls.<br>This only changes the "
+"visibility of the toggles; it does not change the actual enabled/disabled "
+"state."
+msgstr ""
+"Basculer la visibilité des contrôles avancés sunnypilot.<br>Cela ne change "
+"que la visibilité des options, pas leur état activé/désactivé réel."
+
+msgid "Toggle with Main Cruise"
+msgstr "Basculer avec le régulateur principal"
+
+msgid "Total Delay:"
+msgstr "Délai total :"
+
+msgid "Training Guide"
+msgstr "Guide d'entraînement"
+
+msgid "Trips"
+msgstr "Trajets"
+
+msgid "UI Debug Mode"
+msgstr "Mode débogage UI"
+
+msgid "Unable to restore the settings, try again later."
+msgstr "Impossible de restaurer les paramètres, réessayez plus tard."
+
+msgid "Unified Engagement Mode (UEM)"
+msgstr "Mode d'engagement unifié (UEM)"
+
+msgid "Unrecognized Vehicle"
+msgstr "Véhicule non reconnu"
+
+msgid "Use Lane Turn Desires"
+msgstr "Changements de voie assistés"
+
+msgid ""
+"Use map data to estimate the appropriate speed to drive through turns ahead."
+msgstr ""
+"Utiliser les données cartographiques pour estimer la vitesse appropriée pour"
+" aborder les virages à venir."
+
+msgid ""
+"Use the sunnypilot system for adaptive cruise control and lane keep driver "
+"assistance. Your attention is required at all times to use this feature."
+msgstr ""
+"Utiliser le système sunnypilot pour le régulateur de vitesse adaptatif et "
+"l'aide au maintien de voie. Votre attention est requise en permanence pour "
+"utiliser cette fonctionnalité."
+
+msgid ""
+"Use vision path predictions to estimate the appropriate speed to drive "
+"through turns ahead."
+msgstr ""
+"Utiliser les prédictions de trajectoire visuelle pour estimer la vitesse "
+"appropriée pour aborder les virages à venir."
+
+msgid "Vehicle"
+msgstr "Véhicule"
+
+msgid "View the error log for sunnypilot crashes."
+msgstr "Voir le journal d'erreurs pour les plantages sunnypilot."
+
+msgid "Vision Model"
+msgstr "Modèle de vision"
+
+msgid "Visuals"
+msgstr "Visuels"
+
+msgid "Wake Up Behavior"
+msgstr "Comportement au réveil"
+
+msgid "Warning"
+msgstr "Avertissement"
+
+msgid ""
+"Warning: Provides a warning when exceeding the current road's speed limit."
+msgstr ""
+"Avertissement : Fournit un avertissement lorsque la limite de vitesse de la "
+"route actuelle est dépassée."
+
+msgid "Welcome back!! We're excited to see you've enabled sunnylink again!"
+msgstr ""
+"Bon retour !! Nous sommes ravis de voir que vous avez réactivé sunnylink !"
+
+msgid "Welcome to sunnypilot"
+msgstr "Bienvenue sur sunnypilot"
+
+msgid ""
+"When enabled, automatic software updates will be off.<br><b>This requires a "
+"reboot to take effect.</b>"
+msgstr ""
+"Lorsqu'activé, les mises à jour automatiques seront désactivées.<br><b>Cela "
+"nécessite un redémarrage pour prendre effet.</b>"
+
+msgid ""
+"When enabled, pressing the accelerator pedal will disengage sunnypilot."
+msgstr ""
+"Lorsqu'activé, appuyer sur la pédale d'accélérateur désengagera sunnypilot."
+
+msgid ""
+"When enabled, sunnypilot will attempt to manage the built-in cruise control "
+"buttons by emulating button presses for limited longitudinal control."
+msgstr ""
+"Lorsqu'activé, sunnypilot tentera de gérer les boutons de régulateur de "
+"vitesse intégrés en émulant des appuis de bouton pour un contrôle "
+"longitudinal limité."
+
+msgid "When enabled, the speedometer on the onroad screen is not displayed."
+msgstr ""
+"Lorsqu'activé, le compteur de vitesse sur l'écran de conduite n'est pas "
+"affiché."
+
+msgid "When enabled, visual turn indicators are drawn on the HUD."
+msgstr ""
+"Lorsqu'activé, les indicateurs visuels de virage sont affichés sur le HUD."
+
+msgid ""
+"When toggled on, this creates a prebuilt file to allow accelerated boot "
+"times. When toggled off, it removes the prebuilt file so compilation of "
+"locally edited cpp files can be made."
+msgstr ""
+"Lorsqu'activé, cela crée un fichier précompilé pour accélérer le temps de "
+"démarrage. Lorsque désactivé, le fichier précompilé est supprimé pour "
+"permettre la compilation des fichiers cpp modifiés localement."
+
+msgid "Would you like to delete this log?"
+msgstr "Voulez-vous supprimer ce journal ?"
+
+msgid "Yes"
+msgstr "Oui"
+
+msgid "Yes, delete all maps"
+msgstr "Oui, supprimer toutes les cartes"
+
+msgid "You must accept the Terms of Service in order to use sunnypilot."
+msgstr ""
+"Vous devez accepter les conditions d'utilisation pour utiliser sunnypilot."
+
+msgid ""
+"You must accept the Terms of Service to use sunnypilot. Read the latest "
+"terms at https://sunnypilot.ai/terms before continuing."
+msgstr ""
+"Vous devez accepter les conditions d'utilisation pour utiliser sunnypilot. "
+"Consultez les dernières conditions sur https://sunnypilot.ai/terms avant de "
+"continuer."
+
+msgid "Your vehicle will use the Default longitudinal tuning."
+msgstr "Votre véhicule utilisera le réglage longitudinal par défaut."
+
+msgid "Your vehicle will use the Dynamic longitudinal tuning."
+msgstr "Votre véhicule utilisera le réglage longitudinal dynamique."
+
+msgid "Your vehicle will use the Predictive longitudinal tuning."
+msgstr "Votre véhicule utilisera le réglage longitudinal prédictif."
+
+msgid "backing up"
+msgstr "sauvegarde en cours"
+
+msgid "backup"
+msgstr "sauvegarde"
+
+msgid "backup settings"
+msgstr "sauvegarder les paramètres"
+
+msgid "become a sunnypilot sponsor"
+msgstr "devenir sponsor sunnypilot"
+
+msgid "cancel download"
+msgstr "annuler le téléchargement"
+
+msgid "checking..."
+msgstr "vérification..."
+
+msgid "copyparty Service"
+msgstr "Service copyparty"
+
+msgid ""
+"copyparty is a very capable file server, you can use it to download your "
+"routes, view your logs and even make some edits on some files from your "
+"browser. Requires you to connect to your comma locally via its IP address."
+msgstr ""
+"copyparty est un serveur de fichiers très performant, vous pouvez l'utiliser"
+" pour télécharger vos trajets, consulter vos logs et même modifier certains "
+"fichiers depuis votre navigateur. Nécessite de vous connecter à votre comma "
+"localement via son adresse IP."
+
+msgid "current model"
+msgstr "modèle actuel"
+
+msgid "default model"
+msgstr "modèle par défaut"
+
+msgid "downloading..."
+msgstr "téléchargement..."
+
+msgid "enable sunnylink"
+msgstr "activer sunnylink"
+
+msgid "failed"
+msgstr "échoué"
+
+msgid "finalizing update..."
+msgstr "finalisation de la mise à jour..."
+
+msgid "from cache"
+msgstr "depuis le cache"
+
+msgid "h"
+msgstr "h"
+
+msgid "m"
+msgstr "min"
+
+msgid "pair"
+msgstr "associer"
+
+msgid "pair with sunnylink"
+msgstr "associer avec sunnylink"
+
+msgid "paired"
+msgstr "associé"
+
+msgid "ready"
+msgstr "prêt"
+
+msgid "recommend disabling this feature if you experience these."
+msgstr ""
+"nous recommandons de désactiver cette fonctionnalité si vous rencontrez ces "
+"problèmes."
+
+msgid "restore"
+msgstr "restaurer"
+
+msgid "restore settings"
+msgstr "restaurer les paramètres"
+
+msgid "restoring"
+msgstr "restauration en cours"
+
+msgid "s"
+msgstr "s"
+
+msgid "settings backed up"
+msgstr "paramètres sauvegardés"
+
+msgid "slide to backup"
+msgstr "glisser pour sauvegarder"
+
+msgid "slide to restore"
+msgstr "glisser pour restaurer"
+
+msgid "sponsor"
+msgstr "sponsor"
+
+msgid "sunnylink"
+msgstr "sunnylink"
+
+msgid "sunnylink Dongle ID not found. "
+msgstr "ID Dongle sunnylink introuvable. "
+
+msgid "sunnylink Dongle ID not found. Please reboot & try again."
+msgstr "ID Dongle sunnylink introuvable. Veuillez redémarrer et réessayer."
+
+msgid ""
+"sunnylink enables secured remote access to your comma device from anywhere, "
+"including settings management, remote monitoring, real-time dashboard, etc."
+msgstr ""
+"sunnylink permet un accès à distance sécurisé à votre appareil comma depuis "
+"n'importe où, y compris la gestion des paramètres, la surveillance à "
+"distance, le tableau de bord en temps réel, etc."
+
+msgid ""
+"sunnylink is designed to be enabled as part of sunnypilot's core "
+"functionality. If sunnylink is disabled, features such as settings "
+"management, remote monitoring, real-time dashboards will be unavailable."
+msgstr ""
+"sunnylink est conçu pour être activé dans le cadre des fonctionnalités de "
+"base de sunnypilot. Si sunnylink est désactivé, des fonctionnalités telles "
+"que la gestion des paramètres, la surveillance à distance et les tableaux de"
+" bord en temps réel seront indisponibles."
+
+msgid "sunnylink uploader"
+msgstr "téléverseur sunnylink"
+
+msgid "sunnypilot Longitudinal Control (Alpha)"
+msgstr "Contrôle longitudinal sunnypilot (Alpha)"
+
+msgid ""
+"sunnypilot Longitudinal Control is the default longitudinal control for this"
+" platform."
+msgstr ""
+"Le contrôle longitudinal sunnypilot est le contrôle longitudinal par défaut "
+"pour cette plateforme."
+
+msgid "sunnypilot Unavailable"
+msgstr "sunnypilot indisponible"
+
+msgid ""
+"sunnypilot defaults to driving in chill mode. Experimental mode enables "
+"alpha-level features that aren't ready for chill mode. Experimental features"
+" are listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the "
+"driving model control the gas and brakes. sunnypilot will drive as it thinks"
+" a human would, including stopping for red lights and stop signs. Since the "
+"driving model decides the speed to drive, the set speed will only act as an "
+"upper bound. This is an alpha quality feature; mistakes should be "
+"expected.<br><h4>New Driving Visualization</h4><br>The driving visualization"
+" will transition to the road-facing wide-angle camera at low speeds to "
+"better show some turns. The Experimental mode logo will also be shown in the"
+" top right corner."
+msgstr ""
+"sunnypilot conduit par défaut en mode chill. Le mode expérimental active des"
+" fonctionnalités de niveau alpha qui ne sont pas prêtes pour le mode chill. "
+"Les fonctionnalités expérimentales sont listées ci-dessous :<br><h4>Contrôle"
+" longitudinal de bout en bout</h4><br>Laissez le modèle de conduite "
+"contrôler l'accélérateur et les freins. sunnypilot conduira comme il pense "
+"qu'un humain le ferait, y compris s'arrêter aux feux rouges et aux panneaux "
+"stop. Puisque le modèle de conduite décide de la vitesse, la vitesse définie"
+" ne servira que de limite supérieure. Il s'agit d'une fonctionnalité de "
+"qualité alpha ; des erreurs sont à prévoir.<br><h4>Nouvelle visualisation de"
+" conduite</h4><br>La visualisation de conduite passera à la caméra grand "
+"angle orientée route à basse vitesse pour mieux montrer certains virages. Le"
+" logo du mode expérimental sera également affiché dans le coin supérieur "
+"droit."
+
+msgid ""
+"sunnypilot is continuously calibrating, resetting is rarely required. "
+"Resetting calibration will restart sunnypilot if the car is powered on."
+msgstr ""
+"sunnypilot se calibre en permanence, la réinitialisation est rarement "
+"nécessaire. La réinitialisation de la calibration redémarrera sunnypilot si "
+"la voiture est sous tension."
+
+msgid ""
+"sunnypilot learns to drive by watching humans, like you, drive.\n"
+"\n"
+"Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode."
+msgstr ""
+"sunnypilot apprend à conduire en regardant des humains, comme vous, conduire.\n"
+"\n"
+"Le mode Firehose vous permet de maximiser vos envois de données d'entraînement pour améliorer les modèles de conduite d'openpilot. Plus de données signifie de plus grands modèles, ce qui signifie un meilleur mode expérimental."
+
+msgid "sunnypilot longitudinal control may come in a future update."
+msgstr ""
+"Le contrôle longitudinal sunnypilot pourrait arriver dans une future mise à "
+"jour."
+
+msgid ""
+"sunnypilot will not take over control of gas and brakes. Factory Toyota "
+"longitudinal control will be used."
+msgstr ""
+"sunnypilot ne prendra pas le contrôle de l'accélérateur et des freins. Le "
+"contrôle longitudinal Toyota d'origine sera utilisé."

From 56ef3751d822d1b99f6a5f901e62146b3b8c1e36 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Sun, 1 Mar 2026 10:49:01 -0500
Subject: [PATCH 0773/1434] [bot] Update Python packages (#1747)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 docs/CARS.md | 2 +-
 opendbc_repo | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index dc8f1be4f1cd75..31f6f2d32bfeb9 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -346,7 +346,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
-<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
+<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
 <sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
 <sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
diff --git a/opendbc_repo b/opendbc_repo
index 8b160905e046cc..628b14ceceec2a 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 8b160905e046ccfc46b1817238e077cf8e55b6d7
+Subproject commit 628b14ceceec2a8e2ee74d805b0c89c2e63df51e

From daaec59464e90dca6afd92b473a659e607628ac3 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 1 Mar 2026 11:14:42 -0500
Subject: [PATCH 0774/1434] Toyota: Stop and Go Hack (Alpha) (#1733)

* init

* sl

* some

* more

* alpha

* bump

* onroad cycle it
---
 common/params_keys.h                          |  1 +
 opendbc_repo                                  |  2 +-
 .../layouts/settings/vehicle/brands/toyota.py | 66 ++++++++++++++++++-
 sunnypilot/selfdrive/car/interfaces.py        |  1 +
 sunnypilot/sunnylink/params_metadata.json     |  4 ++
 5 files changed, 71 insertions(+), 3 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 65402b5b35ace6..3164fe5365c09d 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -219,6 +219,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
diff --git a/opendbc_repo b/opendbc_repo
index 628b14ceceec2a..9918ec656ffa0d 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 628b14ceceec2a8e2ee74d805b0c89c2e63df51e
+Subproject commit 9918ec656ffa0d1a576f8ae159390408adcaf4cd
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
index fb375e444effca..5a696466b115d2 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
@@ -13,10 +13,17 @@
 from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
 
 
+ONROAD_ONLY_DESCRIPTION = tr_noop("Start the vehicle to check vehicle compatibility.")
+SNG_HACK_UNAVAILABLE = tr_noop("sunnypilot Longitudinal Control must be available and enabled for your vehicle to use this feature.")
+
 DESCRIPTIONS = {
   'enforce_stock_longitudinal': tr_noop(
     'sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used.'
   ),
+  'stop_and_go_hack': tr_noop(
+    'sunnypilot will allow some Toyota/Lexus cars to auto resume during stop and go traffic. ' +
+    'This feature is only applicable to certain models that are able to use longitudinal control. This is an alpha feature. Use at your own risk.'
+  )
 }
 
 
@@ -32,7 +39,18 @@ def __init__(self):
       enabled=lambda: not ui_state.engaged,
     )
 
-    self.items = [self.enforce_stock_longitudinal, ]
+    self.stop_and_go_hack = toggle_item_sp(
+      lambda: tr("Stop and Go Hack (Alpha)"),
+      description=lambda: tr(DESCRIPTIONS["stop_and_go_hack"]),
+      initial_state=ui_state.params.get_bool("ToyotaStopAndGoHack"),
+      callback=self._on_enable_stop_and_go_hack,
+      enabled=lambda: not ui_state.engaged,
+    )
+
+    self.items = [
+      self.enforce_stock_longitudinal,
+      self.stop_and_go_hack,
+    ]
 
   def _on_enable_enforce_stock_longitudinal(self, state: bool):
     if state:
@@ -41,6 +59,8 @@ def confirm_callback(result: int):
           ui_state.params.put_bool("ToyotaEnforceStockLongitudinal", True)
           if ui_state.params.get_bool("AlphaLongitudinalEnabled"):
             ui_state.params.put_bool("AlphaLongitudinalEnabled", False)
+          ui_state.params.put_bool("ToyotaStopAndGoHack", False)
+          self.stop_and_go_hack.action_item.set_state(False)
           ui_state.params.put_bool("OnroadCycleRequested", True)
         else:
           self.enforce_stock_longitudinal.action_item.set_state(False)
@@ -55,5 +75,47 @@ def confirm_callback(result: int):
       ui_state.params.put_bool("ToyotaEnforceStockLongitudinal", False)
       ui_state.params.put_bool("OnroadCycleRequested", True)
 
+  def _on_enable_stop_and_go_hack(self, state: bool):
+    if state:
+      def confirm_callback(result: int):
+        if result == DialogResult.CONFIRM:
+          ui_state.params.put_bool("ToyotaStopAndGoHack", True)
+          ui_state.params.put_bool("OnroadCycleRequested", True)
+        else:
+          self.stop_and_go_hack.action_item.set_state(False)
+
+      content = (f"<h1>{self.stop_and_go_hack.title}</h1><br>" +
+                 f"<p>{self.stop_and_go_hack.description}</p>")
+
+      dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback)
+      gui_app.push_widget(dlg)
+
+    else:
+      ui_state.params.put_bool("ToyotaStopAndGoHack", False)
+      ui_state.params.put_bool("OnroadCycleRequested", True)
+
   def update_settings(self):
-    pass
+    if ui_state.CP is not None:
+      longitudinal = ui_state.CP.openpilotLongitudinalControl
+      enforce_stock = self.enforce_stock_longitudinal.action_item.get_state()
+
+      if longitudinal and not enforce_stock:
+        self.stop_and_go_hack.action_item.set_enabled(not ui_state.engaged)
+        new_desc = tr(DESCRIPTIONS["stop_and_go_hack"])
+        show_desc = False
+      else:
+        self.stop_and_go_hack.action_item.set_enabled(False)
+        self.stop_and_go_hack.action_item.set_state(False)
+        new_desc = "<b>" + tr(SNG_HACK_UNAVAILABLE) + "</b>\n\n" + tr(DESCRIPTIONS["stop_and_go_hack"])
+        show_desc = True
+
+      if self.stop_and_go_hack.description != new_desc:
+        self.stop_and_go_hack.set_description(new_desc)
+        if show_desc:
+          self.stop_and_go_hack.show_description(True)
+    else:
+      self.stop_and_go_hack.action_item.set_enabled(False)
+      new_desc = "<b>" + tr(ONROAD_ONLY_DESCRIPTION) + "</b>\n\n" + tr(DESCRIPTIONS["stop_and_go_hack"])
+      if self.stop_and_go_hack.description != new_desc:
+        self.stop_and_go_hack.set_description(new_desc)
+        self.stop_and_go_hack.show_description(True)
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index a93f5724b5a688..e4db6c8e97f056 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -131,6 +131,7 @@ def initialize_params(params) -> list[dict[str, Any]]:
   # toyota
   keys.extend([
     "ToyotaEnforceStockLongitudinal",
+    "ToyotaStopAndGoHack",
   ])
 
   return [{k: params.get(k, return_default=True)} for k in keys]
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index 59c473b973b720..79c2b5caf95d0f 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -1296,6 +1296,10 @@
     "title": "Toyota: Enforce Factory Longitudinal Control",
     "description": "When enabled, sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used."
   },
+  "ToyotaStopAndGoHack": {
+    "title": "Toyota: Stop and Go Hack (Alpha)",
+    "description": "sunnypilot will allow some Toyota/Lexus cars to auto resume during stop and go traffic. This feature is only applicable to certain models that are able to use longitudinal control. This is an alpha feature. Use at your own risk."
+  },
   "TrainingVersion": {
     "title": "Training Version",
     "description": ""

From 9c5bf2ce0af3860749ebac3a5c039a6bd874eae1 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 1 Mar 2026 13:50:44 -0500
Subject: [PATCH 0775/1434] ui: `AlertFadeAnimator` for longitudinal-related
 statuses (#1748)

---
 .../sunnypilot/onroad/smart_cruise_control.py | 53 +++++++++----------
 selfdrive/ui/sunnypilot/onroad/speed_limit.py | 19 ++-----
 system/ui/sunnypilot/lib/utils.py             | 24 +++++++++
 3 files changed, 53 insertions(+), 43 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py b/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py
index b4848141e9daaa..c89bd914bea9f2 100644
--- a/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py
+++ b/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py
@@ -10,6 +10,7 @@
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.sunnypilot.lib.utils import AlertFadeAnimator
 from openpilot.system.ui.widgets import Widget
 
 
@@ -18,12 +19,13 @@ def __init__(self):
     super().__init__()
     self.vision_enabled = False
     self.vision_active = False
-    self.vision_frame = 0
     self.map_enabled = False
     self.map_active = False
-    self.map_frame = 0
     self.long_override = False
 
+    self._vision_fade = AlertFadeAnimator(gui_app.target_fps)
+    self._map_fade = AlertFadeAnimator(gui_app.target_fps)
+
     self.font = gui_app.font(FontWeight.BOLD)
 
   def update(self):
@@ -41,21 +43,10 @@ def update(self):
     if sm.updated["carControl"]:
       self.long_override = sm["carControl"].cruiseControl.override
 
-    if self.vision_active:
-      self.vision_frame += 1
-    else:
-      self.vision_frame = 0
-
-    if self.map_active:
-      self.map_frame += 1
-    else:
-      self.map_frame = 0
-
-  @staticmethod
-  def _pulse_element(frame):
-    return not (frame % gui_app.target_fps < (gui_app.target_fps / 2.5))
+    self._vision_fade.update(self.vision_active)
+    self._map_fade.update(self.map_active)
 
-  def _draw_icon(self, rect_center_x, rect_height, x_offset, y_offset, name):
+  def _draw_icon(self, rect_center_x, rect_height, x_offset, y_offset, name, alpha=1.0):
     text = name
     font_size = 36
     padding_v = 5
@@ -65,9 +56,12 @@ def _draw_icon(self, rect_center_x, rect_height, x_offset, y_offset, name):
     box_height = int(sz.y + padding_v * 2)
 
     if self.long_override:
-      box_color = COLORS.OVERRIDE
+      color = COLORS.OVERRIDE
+      box_color = rl.Color(color.r, color.g, color.b, int(alpha * 255))
     else:
-      box_color = rl.Color(0, 255, 0, 255)
+      box_color = rl.Color(0, 255, 0, int(alpha * 255))
+
+    text_color = rl.Color(0, 0, 0, int(alpha * 255))
 
     screen_y = rect_height / 4 + y_offset
 
@@ -75,13 +69,14 @@ def _draw_icon(self, rect_center_x, rect_height, x_offset, y_offset, name):
     box_y = screen_y - box_height / 2
 
     # Draw rounded background box
-    rl.draw_rectangle_rounded(rl.Rectangle(box_x, box_y, box_width, box_height), 0.2, 10, box_color)
+    if alpha > 0.01:
+      rl.draw_rectangle_rounded(rl.Rectangle(box_x, box_y, box_width, box_height), 0.2, 10, box_color)
 
-    # Draw text centered in the box (black color for contrast against bright green/grey)
-    text_pos_x = box_x + (box_width - sz.x) / 2
-    text_pos_y = box_y + (box_height - sz.y) / 2
+      # Draw text centered in the box (black color for contrast against bright green/grey)
+      text_pos_x = box_x + (box_width - sz.x) / 2
+      text_pos_y = box_y + (box_height - sz.y) / 2
 
-    rl.draw_text_ex(self.font, text, rl.Vector2(text_pos_x, text_pos_y), font_size, 0, rl.BLACK)
+      rl.draw_text_ex(self.font, text, rl.Vector2(text_pos_x, text_pos_y), font_size, 0, text_color)
 
   def _render(self, rect: rl.Rectangle):
     x_offset = -260
@@ -101,10 +96,10 @@ def _render(self, rect: rl.Rectangle):
       y_scc_m = orders[idx]
       idx += 1
 
-    scc_vision_pulse = self._pulse_element(self.vision_frame)
-    if (self.vision_enabled and not self.vision_active) or (self.vision_active and scc_vision_pulse):
-      self._draw_icon(rect.x + rect.width / 2, rect.height, x_offset, y_scc_v, "SCC-V")
+    if self.vision_enabled:
+      alpha = self._vision_fade.alpha if self.vision_active else 1.0
+      self._draw_icon(rect.x + rect.width / 2, rect.height, x_offset, y_scc_v, "SCC-V", alpha)
 
-    scc_map_pulse = self._pulse_element(self.map_frame)
-    if (self.map_enabled and not self.map_active) or (self.map_active and scc_map_pulse):
-      self._draw_icon(rect.x + rect.width / 2, rect.height, x_offset, y_scc_m, "SCC-M")
+    if self.map_enabled:
+      alpha = self._map_fade.alpha if self.map_active else 1.0
+      self._draw_icon(rect.x + rect.width / 2, rect.height, x_offset, y_scc_m, "SCC-M", alpha)
diff --git a/selfdrive/ui/sunnypilot/onroad/speed_limit.py b/selfdrive/ui/sunnypilot/onroad/speed_limit.py
index 02df292cd6551a..1b03e9a204d84a 100644
--- a/selfdrive/ui/sunnypilot/onroad/speed_limit.py
+++ b/selfdrive/ui/sunnypilot/onroad/speed_limit.py
@@ -11,7 +11,6 @@
 
 from cereal import custom
 from openpilot.common.constants import CV
-from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.ui.onroad.hud_renderer import UI_CONFIG
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
@@ -19,6 +18,7 @@
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.sunnypilot.lib.utils import AlertFadeAnimator
 from openpilot.system.ui.widgets import Widget
 
 METER_TO_FOOT = 3.28084
@@ -58,23 +58,14 @@ def __init__(self):
     self.arrow_blank = rl.load_texture_from_image(blank_image)
     rl.unload_image(blank_image)
 
-    self._pre_active_alpha_filter = FirstOrderFilter(1.0, 0.05, 1 / gui_app.target_fps)
-    self._pre_active_alert_frame = 0
+    self._pre_active_fade = AlertFadeAnimator(gui_app.target_fps, duration_on=0.75, rc=0.05)
 
   def update(self):
     assist_state = ui_state.sm['longitudinalPlanSP'].speedLimit.assist.state
-    if assist_state == AssistState.preActive:
-      self._pre_active_alert_frame += 1
-      if (self._pre_active_alert_frame % gui_app.target_fps) < (gui_app.target_fps * 0.75):
-        self._pre_active_alpha_filter.x = 1.0
-      else:
-        self._pre_active_alpha_filter.update(0.0)
-    else:
-      self._pre_active_alert_frame = 0
-      self._pre_active_alpha_filter.update(1.0)
+    self._pre_active_fade.update(assist_state == AssistState.preActive)
 
   def speed_limit_pre_active_icon_helper(self):
-    icon_alpha = max(0.0, min(self._pre_active_alpha_filter.x * 255.0, 255.0))
+    icon_alpha = max(0.0, min(self._pre_active_fade.alpha * 255.0, 255.0))
     txt_icon = self.arrow_blank
     icon_margin_x = 10
     icon_margin_y = 18
@@ -197,7 +188,7 @@ def _render(self, rect: rl.Rectangle):
 
     sign_rect = rl.Rectangle(x, y, width, UI_CONFIG.set_speed_height + 6 * 2)
 
-    alpha = self._pre_active_alpha_filter.x
+    alpha = self._pre_active_fade.alpha
 
     if ui_state.speed_limit_mode != SpeedLimitMode.off:
       self._draw_sign_main(sign_rect, alpha)
diff --git a/system/ui/sunnypilot/lib/utils.py b/system/ui/sunnypilot/lib/utils.py
index 09230da14bbe2f..ecaba86f4bc55f 100644
--- a/system/ui/sunnypilot/lib/utils.py
+++ b/system/ui/sunnypilot/lib/utils.py
@@ -10,3 +10,27 @@
 class NoElideButtonAction(ButtonActionSP):
   def get_width_hint(self):
     return super().get_width_hint() + 1
+
+
+class AlertFadeAnimator:
+  def __init__(self, target_fps: int, duration_on: float = 0.75, rc: float = 0.05):
+    from openpilot.common.filter_simple import FirstOrderFilter
+    self._filter = FirstOrderFilter(1.0, rc, 1 / target_fps)
+    self._frame = 0
+    self._target_fps = target_fps
+    self._duration_on = duration_on
+
+  def update(self, active: bool):
+    if active:
+      self._frame += 1
+      if (self._frame % self._target_fps) < (self._target_fps * self._duration_on):
+        self._filter.x = 1.0
+      else:
+        self._filter.update(0.0)
+    else:
+      self._frame = 0
+      self._filter.update(1.0)
+
+  @property
+  def alpha(self) -> float:
+    return self._filter.x

From 6bea70ac865b6814639332dd1f7dcd3cd2ee7f29 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 4 Mar 2026 23:15:10 -0500
Subject: [PATCH 0776/1434] pandad: gate unsupported pandas before flashing
 (#1754)

---
 selfdrive/pandad/pandad.py | 30 ++++++++++++++++++------------
 1 file changed, 18 insertions(+), 12 deletions(-)

diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index a0bca3f2393245..bda349aec2e59c 100755
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -32,8 +32,7 @@ def flash_panda(panda_serial: str) -> Panda:
     raise
 
   # skip flashing if the detected panda is not supported
-  supported_panda = check_panda_support(panda)
-  if not supported_panda:
+  if panda.get_type() not in Panda.SUPPORTED_DEVICES:
     cloudlog.warning(f"Panda {panda_serial} is not supported (hw_type: {panda.get_type()}), skipping flash...")
     return panda
 
@@ -69,10 +68,19 @@ def flash_panda(panda_serial: str) -> Panda:
   return panda
 
 
-def check_panda_support(panda) -> bool:
-  hw_type = panda.get_type()
-  if hw_type in Panda.SUPPORTED_DEVICES:
-    return True
+def check_panda_support(panda_serials: list[str]) -> bool:
+  unsupported = []
+  for serial in panda_serials:
+    panda = Panda(serial)
+    hw_type = panda.get_type()
+    panda.close()
+    if hw_type in Panda.SUPPORTED_DEVICES:
+      return True
+
+    unsupported.append((serial, hw_type))
+
+  for serial, hw_type in unsupported:
+    cloudlog.warning(f"Panda {serial} is not supported (hw_type: {hw_type}), skipping...")
 
   return False
 
@@ -126,6 +134,10 @@ def signal_handler(signum, frame):
 
       cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
 
+      # skip flashing and health check if no supported panda is detected
+      if not check_panda_support(panda_serials):
+        continue
+
       # Flash the first panda
       panda_serial = panda_serials[0]
       panda = flash_panda(panda_serial)
@@ -143,12 +155,6 @@ def signal_handler(signum, frame):
       # log panda fw version
       params.put("PandaSignatures", panda.get_signature())
 
-      # skip health check if the detected panda is not supported
-      supported_panda = check_panda_support(panda)
-      if not supported_panda:
-        cloudlog.warning(f"Panda {panda.get_usb_serial()} is not supported (hw_type: {panda.get_type()}), skipping health check...")
-        continue
-
       # check health for lost heartbeat
       health = panda.health()
       if health["heartbeat_lost"]:

From 7c3759e1474a836f45f3b5f78a7adbb273d45fa3 Mon Sep 17 00:00:00 2001
From: Lukas Heintz <61192133+lukasloetkolben@users.noreply.github.com>
Date: Thu, 5 Mar 2026 18:34:08 +0100
Subject: [PATCH 0777/1434] Rivian: Flash xnor's Longitudinal Upgrade Kit prior
 supported panda check (#1752)

* fixed missing internal panda

* lets do it like that

* cleanup

* move up

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/pandad/pandad.py                    |  6 ++---
 .../selfdrive/pandad/rivian_long_flasher.py   | 22 ++++++++++++-------
 2 files changed, 17 insertions(+), 11 deletions(-)

diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index bda349aec2e59c..a8300de321a83b 100755
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -134,6 +134,9 @@ def signal_handler(signum, frame):
 
       cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
 
+      # custom flasher for xnor's Rivian Longitudinal Upgrade Kit
+      flash_rivian_long(panda_serials)
+
       # skip flashing and health check if no supported panda is detected
       if not check_panda_support(panda_serials):
         continue
@@ -142,9 +145,6 @@ def signal_handler(signum, frame):
       panda_serial = panda_serials[0]
       panda = flash_panda(panda_serial)
 
-      # flash Rivian longitudinal upgrade panda
-      flash_rivian_long(panda)
-
       # Ensure internal panda is present if expected
       if HARDWARE.has_internal_panda() and not panda.is_internal():
         cloudlog.error("Internal panda is missing, trying again")
diff --git a/sunnypilot/selfdrive/pandad/rivian_long_flasher.py b/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
index 24191a73a23f11..70ddb4435813ad 100755
--- a/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
+++ b/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
@@ -72,9 +72,10 @@ def _flash_panda(panda: Panda) -> None:
 
   _flash_static(panda._handle, code)
   panda.reconnect()
+  cloudlog.info(f"Successfully flashed xnor's Rivian Longitudinal Upgrade Kit: {panda.get_usb_serial()}")
 
 
-def flash_rivian_long(panda: Panda) -> None:
+def flash_rivian_long(panda_serials: list[str]) -> None:
   if not os.path.isfile(FW_PATH):
     cloudlog.error(f"Rivian longitudinal upgrade firmware not found at {FW_PATH}")
     return
@@ -83,13 +84,18 @@ def flash_rivian_long(panda: Panda) -> None:
     cloudlog.info("Not a Rivian, skipping longitudinal upgrade...")
     return
 
-  # only flash external black pandas (HW_TYPE_BLACK = 0x03)
-  if panda.get_type() == b'\x03' and not panda.is_internal():
-    try:
-      _flash_panda(panda)
-    except Exception:
-      cloudlog.exception(f"Failed to flash F4 panda {panda.get_usb_serial()}")
+  for serial in panda_serials:
+    panda = Panda(serial)
+    # only flash external black pandas (HW_TYPE_BLACK = 0x03)
+    if panda.get_type() == b'\x03' and not panda.is_internal():
+      try:
+        _flash_panda(panda)
+      except Exception:
+        cloudlog.exception(f"Failed to flash xnor's Rivian Longitudinal Upgrade Kit: {serial}")
+    panda.close()
+
+  return
 
 
 if __name__ == '__main__':
-  flash_rivian_long(Panda())
+  flash_rivian_long(Panda.list())

From 4e0a26be8d8b4383ec6f0fb4feb47c1f1a6358c4 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 5 Mar 2026 17:03:22 -0500
Subject: [PATCH 0778/1434] [TIZI/TICI] ui: add back gate steering arc behind
 toggle (#1756)

---
 selfdrive/ui/sunnypilot/onroad/hud_renderer.py | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
index 1063809c32275f..f8e4257733b4d0 100644
--- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
+++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
@@ -131,10 +131,11 @@ def _draw_current_speed(self, rect: rl.Rectangle) -> None:
   def _render(self, rect: rl.Rectangle) -> None:
     super()._render(rect)
 
-    torque_rect = rect
-    if ui_state.developer_ui in (DeveloperUiState.BOTTOM, DeveloperUiState.BOTH):
-      torque_rect = rl.Rectangle(rect.x, rect.y, rect.width, rect.height - get_bottom_dev_ui_offset())
-    self._torque_bar.render(torque_rect)
+    if ui_state.torque_bar:
+      torque_rect = rect
+      if ui_state.developer_ui in (DeveloperUiState.BOTTOM, DeveloperUiState.BOTH):
+        torque_rect = rl.Rectangle(rect.x, rect.y, rect.width, rect.height - get_bottom_dev_ui_offset())
+      self._torque_bar.render(torque_rect)
 
     self.developer_ui.render(rect)
     self.road_name_renderer.render(rect)

From 6dd72973eca41d61cdcfe8b63709f7255caaf119 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 5 Mar 2026 18:13:36 -0500
Subject: [PATCH 0779/1434] [TIZI/TICI] ui: more add back gate steering arc
 behind toggle

---
 selfdrive/ui/sunnypilot/onroad/augmented_road_view.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py b/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
index 64d7a3d9469cc8..c7dedee5406403 100644
--- a/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
+++ b/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
@@ -23,7 +23,7 @@ def __init__(self):
   def update_fade_out_bottom_overlay(self, _content_rect):
     # Fade out bottom of overlays for looks (only when engaged)
     fade_alpha = self._fade_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED)
-    if ui_state.torque_bar and ui_state.sm['controlsState'].lateralControlState.which() != 'angleState' and fade_alpha > 1e-2:
+    if ui_state.torque_bar and fade_alpha > 1e-2:
       # Scale the fade texture to the content rect
       rl.draw_texture_pro(self._fade_texture,
                           rl.Rectangle(0, 0, self._fade_texture.width, self._fade_texture.height),

From c01719bb99811a6fe3a4c17227662fd0cc96c952 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 6 Mar 2026 23:38:38 -0500
Subject: [PATCH 0780/1434] ui: gate Onroad Brightness Delay on readiness
 (#1761)

ui: gate Onroad Brightness Timer on readiness
---
 selfdrive/ui/mici/onroad/alert_renderer.py | 2 +-
 selfdrive/ui/onroad/alert_renderer.py      | 2 +-
 selfdrive/ui/sunnypilot/ui_state.py        | 7 +++++--
 3 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/mici/onroad/alert_renderer.py b/selfdrive/ui/mici/onroad/alert_renderer.py
index 68b2aef7a59516..a9d4f3a48b51b8 100644
--- a/selfdrive/ui/mici/onroad/alert_renderer.py
+++ b/selfdrive/ui/mici/onroad/alert_renderer.py
@@ -231,7 +231,7 @@ def _render(self, rect: rl.Rectangle) -> bool:
     self._alpha_filter.update(0 if alert is None else 1)
 
     if gui_app.sunnypilot_ui():
-      ui_state.onroad_brightness_handle_alerts(ui_state.started, alert)
+      ui_state.onroad_brightness_handle_alerts(ui_state, alert)
 
     if alert is None:
       # If still animating out, keep the previous alert
diff --git a/selfdrive/ui/onroad/alert_renderer.py b/selfdrive/ui/onroad/alert_renderer.py
index 2c21b4006ed959..6e79d23253b602 100644
--- a/selfdrive/ui/onroad/alert_renderer.py
+++ b/selfdrive/ui/onroad/alert_renderer.py
@@ -118,7 +118,7 @@ def _render(self, rect: rl.Rectangle):
     alert = self.get_alert(ui_state.sm)
 
     if gui_app.sunnypilot_ui():
-      ui_state.onroad_brightness_handle_alerts(ui_state.started, alert)
+      ui_state.onroad_brightness_handle_alerts(ui_state, alert)
 
     if not alert:
       return
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index 050df6d26d9580..7766c353ad81ac 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -49,8 +49,11 @@ def update(self) -> None:
     else:
       self.sunnylink_state.stop()
 
-  def onroad_brightness_handle_alerts(self, started: bool, alert):
-    has_alert = started and self.onroad_brightness != OnroadBrightness.AUTO and alert is not None
+  def onroad_brightness_handle_alerts(self, _ui_state, alert):
+    if _ui_state.sm.recv_frame["carState"] < _ui_state.started_frame:
+      return
+
+    has_alert = _ui_state.started and self.onroad_brightness != OnroadBrightness.AUTO and alert is not None
 
     self.update_onroad_brightness(has_alert)
     if has_alert:

From a9d5c9e23ad4584acac4b702ee7311f18d2d8408 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 7 Mar 2026 01:36:24 -0500
Subject: [PATCH 0781/1434] ui: add new timer options for Onroad Brightness
 Delay (#1760)

* ui: add new timer options for OnOnroad Brightness Delay

* migrate

* in future pr

* Revert "in future pr"

This reverts commit ca9940f809d8ce8541e4a044c9cc367c7af1346c.

* consolidate

* update

* gate

* fix
---
 common/params_keys.h                          |  1 +
 .../ui/sunnypilot/layouts/settings/display.py | 11 ++++++----
 sunnypilot/sunnylink/params_metadata.json     | 22 ++++++++++++++++++-
 .../sunnylink/tools/update_params_metadata.py | 22 +++++++++++++++++++
 sunnypilot/system/params_migration.py         | 22 ++++++++++++++++++-
 system/manager/manager.py                     |  3 ++-
 6 files changed, 74 insertions(+), 7 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 3164fe5365c09d..a247798e3024bd 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -172,6 +172,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
     {"OnroadScreenOffBrightnessMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}},
     {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
+    {"OnroadScreenOffTimerMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}},
     {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/display.py b/selfdrive/ui/sunnypilot/layouts/settings/display.py
index d44118d8f4ea07..acd7b52dcc0a32 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/display.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/display.py
@@ -12,8 +12,7 @@
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets.scroller_tici import Scroller
 from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp, ToggleActionSP
-
-ONROAD_BRIGHTNESS_TIMER_VALUES = {0: 15, 1: 30, **{i: (i - 1) * 60 for i in range(2, 12)}}
+from openpilot.sunnypilot.system.params_migration import ONROAD_BRIGHTNESS_TIMER_VALUES
 
 
 class OnroadBrightness(IntEnum):
@@ -46,7 +45,7 @@ def _initialize_items(self):
       title=lambda: tr("Onroad Brightness Delay"),
       description="",
       min_value=0,
-      max_value=11,
+      max_value=15,
       value_change_step=1,
       value_map=ONROAD_BRIGHTNESS_TIMER_VALUES,
       label_callback=lambda value: f"{value} s" if value < 60 else f"{int(value/60)} m",
@@ -92,7 +91,11 @@ def _update_state(self):
       if isinstance(_item.action_item, ToggleActionSP) and _item.action_item.toggle.param_key is not None:
         _item.action_item.set_state(self._params.get_bool(_item.action_item.toggle.param_key))
       elif isinstance(_item.action_item, OptionControlSP) and _item.action_item.param_key is not None:
-        _item.action_item.set_value(self._params.get(_item.action_item.param_key, return_default=True))
+        raw_value = self._params.get(_item.action_item.param_key, return_default=True)
+        if _item.action_item.value_map:
+          reverse_map = {v: k for k, v in _item.action_item.value_map.items()}
+          raw_value = reverse_map.get(raw_value, _item.action_item.current_value)
+        _item.action_item.set_value(raw_value)
 
     brightness_val = self._params.get("OnroadScreenOffBrightness", return_default=True)
     self._onroad_brightness_timer.action_item.set_enabled(brightness_val not in (OnroadBrightness.AUTO, OnroadBrightness.AUTO_DARK))
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index 79c2b5caf95d0f..4d66bf8762ec1a 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -941,6 +941,22 @@
     "title": "Onroad Brightness Delay",
     "description": "",
     "options": [
+      {
+        "value": 3,
+        "label": "3s"
+      },
+      {
+        "value": 5,
+        "label": "5s"
+      },
+      {
+        "value": 7,
+        "label": "7s"
+      },
+      {
+        "value": 10,
+        "label": "10s"
+      },
       {
         "value": 15,
         "label": "15s"
@@ -991,6 +1007,10 @@
       }
     ]
   },
+  "OnroadScreenOffTimerMigrated": {
+    "title": "Onroad Brightness Delay Migration Version",
+    "description": "This param is to track whether OnroadScreenOffTimer needs to be migrated."
+  },
   "OnroadUploads": {
     "title": "Onroad Uploads",
     "description": ""
@@ -1290,7 +1310,7 @@
     "min": 0.1,
     "max": 5.0,
     "step": 0.1,
-    "unit": "m/s²"
+    "unit": "m/s\u00b2"
   },
   "ToyotaEnforceStockLongitudinal": {
     "title": "Toyota: Enforce Factory Longitudinal Control",
diff --git a/sunnypilot/sunnylink/tools/update_params_metadata.py b/sunnypilot/sunnylink/tools/update_params_metadata.py
index 013544005bb212..ea3765420d68db 100755
--- a/sunnypilot/sunnylink/tools/update_params_metadata.py
+++ b/sunnypilot/sunnylink/tools/update_params_metadata.py
@@ -10,6 +10,7 @@
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
+from openpilot.sunnypilot.system.params_migration import ONROAD_BRIGHTNESS_TIMER_VALUES
 
 METADATA_PATH = os.path.join(os.path.dirname(__file__), "../params_metadata.json")
 TORQUE_VERSIONS_JSON = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
@@ -56,6 +57,9 @@ def main():
   # update onroad screen brightness params
   update_onroad_brightness_param()
 
+  # update onroad screen brightness timer params
+  update_onroad_brightness_timer_param()
+
   # update torque versions param
   update_torque_versions_param()
 
@@ -81,6 +85,24 @@ def update_onroad_brightness_param():
     print(f"Failed to update OnroadScreenOffBrightness versions in params_metadata.json: {e}")
 
 
+def update_onroad_brightness_timer_param():
+  try:
+    with open(METADATA_PATH) as f:
+      params_metadata = json.load(f)
+    if "OnroadScreenOffTimer" in params_metadata:
+      options = []
+      for _index, seconds in sorted(ONROAD_BRIGHTNESS_TIMER_VALUES.items()):
+        label = f"{seconds}s" if seconds < 60 else f"{seconds // 60}m"
+        options.append({"value": seconds, "label": label})
+      params_metadata["OnroadScreenOffTimer"]["options"] = options
+      with open(METADATA_PATH, 'w') as f:
+        json.dump(params_metadata, f, indent=2)
+        f.write('\n')
+      print(f"Updated OnroadScreenOffTimer options in params_metadata.json with {len(options)} options.")
+  except Exception as e:
+    print(f"Failed to update OnroadScreenOffTimer options in params_metadata.json: {e}")
+
+
 def update_torque_versions_param():
   with open(TORQUE_VERSIONS_JSON) as f:
     current_versions = json.load(f)
diff --git a/sunnypilot/system/params_migration.py b/sunnypilot/system/params_migration.py
index 6a82f1866da672..5e524de06ec010 100644
--- a/sunnypilot/system/params_migration.py
+++ b/sunnypilot/system/params_migration.py
@@ -7,13 +7,18 @@
 from openpilot.common.swaglog import cloudlog
 
 ONROAD_BRIGHTNESS_MIGRATION_VERSION: str = "1.0"
+ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION: str = "1.0"
+
+# index → seconds mapping for OnroadScreenOffTimer (SSoT)
+ONROAD_BRIGHTNESS_TIMER_VALUES = {0: 3, 1: 5, 2: 7, 3: 10, 4: 15, 5: 30, **{i: (i - 5) * 60 for i in range(6, 16)}}
+VALID_TIMER_VALUES = set(ONROAD_BRIGHTNESS_TIMER_VALUES.values())
 
 
 def run_migration(_params):
   # migrate OnroadScreenOffBrightness
   if _params.get("OnroadScreenOffBrightnessMigrated") != ONROAD_BRIGHTNESS_MIGRATION_VERSION:
     try:
-      val = _params.get("OnroadScreenOffBrightness")
+      val = _params.get("OnroadScreenOffBrightness", return_default=True)
       if val >= 2:  # old: 5%, new: Screen Off
         new_val = val + 1
         _params.put("OnroadScreenOffBrightness", new_val)
@@ -25,3 +30,18 @@ def run_migration(_params):
       cloudlog.info(log_str + f" Setting OnroadScreenOffBrightnessMigrated to {ONROAD_BRIGHTNESS_MIGRATION_VERSION}")
     except Exception as e:
       cloudlog.exception(f"Error migrating OnroadScreenOffBrightness: {e}")
+
+  # migrate OnroadScreenOffTimer
+  if _params.get("OnroadScreenOffTimerMigrated") != ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION:
+    try:
+      val = _params.get("OnroadScreenOffTimer", return_default=True)
+      if val not in VALID_TIMER_VALUES:
+        _params.put("OnroadScreenOffTimer", 15)
+        log_str = f"Successfully migrated OnroadScreenOffTimer from {val} to 15 (default)."
+      else:
+        log_str = "Migration not required for OnroadScreenOffTimer."
+
+      _params.put("OnroadScreenOffTimerMigrated", ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION)
+      cloudlog.info(log_str + f" Setting OnroadScreenOffTimerMigrated to {ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION}")
+    except Exception as e:
+      cloudlog.exception(f"Error migrating OnroadScreenOffTimer: {e}")
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 8c219909e43d23..3ec554f904886e 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -51,7 +51,8 @@ def manager_init() -> None:
   if params.get_bool("RecordFrontLock"):
     params.put_bool("RecordFront", True)
 
-  run_migration(params)
+  if not PC:
+    run_migration(params)
 
   # set unset params to their default value
   for k in params.all_keys():

From b71914e0066a96e1c90536e0748ac7bc99f8ab21 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 7 Mar 2026 01:48:35 -0500
Subject: [PATCH 0782/1434] [TIZI/TICI] ui: branch switcher is always available
 (#1762)

---
 selfdrive/ui/layouts/settings/software.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/selfdrive/ui/layouts/settings/software.py b/selfdrive/ui/layouts/settings/software.py
index f7424b974d856c..8086b1f6352ebc 100644
--- a/selfdrive/ui/layouts/settings/software.py
+++ b/selfdrive/ui/layouts/settings/software.py
@@ -69,7 +69,6 @@ def __init__(self):
 
     # Branch switcher
     self._branch_btn = button_item(lambda: tr("Target Branch"), lambda: tr("SELECT"), callback=self._on_select_branch)
-    self._branch_btn.set_visible(not ui_state.params.get_bool("IsTestedBranch"))
     self._branch_btn.action_item.set_value(ui_state.params.get("UpdaterTargetBranch") or "")
     self._branch_dialog: MultiOptionDialog | None = None
 

From 2e82908c0788e5613d8a7cea943934edcb32eeab Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 10 Mar 2026 20:30:25 -0400
Subject: [PATCH 0783/1434] pandad: always prioritize internal panda (#1759)

* pandad: filter out external panda

* fix

* internal panda

* move it even higher

* this

* should be this still

* anoter

* more

* 1 more time

* bruh

* try this out

* revert

* gotta do this after

* filter
---
 selfdrive/pandad/pandad.py                    | 26 +++++++++----------
 .../selfdrive/pandad/rivian_long_flasher.py   |  4 +++
 2 files changed, 17 insertions(+), 13 deletions(-)

diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index a8300de321a83b..f65c64259f57ba 100755
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -68,21 +68,20 @@ def flash_panda(panda_serial: str) -> Panda:
   return panda
 
 
-def check_panda_support(panda_serials: list[str]) -> bool:
-  unsupported = []
+def check_panda_support(panda_serials: list[str]) -> list[str]:
+  spi_serials = set(Panda.spi_list())
+  for serial in panda_serials:
+    if serial in spi_serials:
+      return [serial]
+
   for serial in panda_serials:
     panda = Panda(serial)
-    hw_type = panda.get_type()
+    is_internal = panda.is_internal()
     panda.close()
-    if hw_type in Panda.SUPPORTED_DEVICES:
-      return True
-
-    unsupported.append((serial, hw_type))
+    if is_internal:
+      return [serial]
 
-  for serial, hw_type in unsupported:
-    cloudlog.warning(f"Panda {serial} is not supported (hw_type: {hw_type}), skipping...")
-
-  return False
+  return []
 
 
 def main() -> None:
@@ -137,8 +136,9 @@ def signal_handler(signum, frame):
       # custom flasher for xnor's Rivian Longitudinal Upgrade Kit
       flash_rivian_long(panda_serials)
 
-      # skip flashing and health check if no supported panda is detected
-      if not check_panda_support(panda_serials):
+      # find the internal supported panda (e.g. skip external Black Panda)
+      panda_serials = check_panda_support(panda_serials)
+      if len(panda_serials) == 0:
         continue
 
       # Flash the first panda
diff --git a/sunnypilot/selfdrive/pandad/rivian_long_flasher.py b/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
index 70ddb4435813ad..305b994c78ef0b 100755
--- a/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
+++ b/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
@@ -84,7 +84,11 @@ def flash_rivian_long(panda_serials: list[str]) -> None:
     cloudlog.info("Not a Rivian, skipping longitudinal upgrade...")
     return
 
+  # only check USB connected pandas, internal panda uses SPI and is never an external panda
+  usb_serials = set(Panda.usb_list())
   for serial in panda_serials:
+    if serial not in usb_serials:
+      continue
     panda = Panda(serial)
     # only flash external black pandas (HW_TYPE_BLACK = 0x03)
     if panda.get_type() == b'\x03' and not panda.is_internal():

From 4e239dbc22a22e425cd02162ee33f4eceea44c4e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 11 Mar 2026 11:35:32 -0700
Subject: [PATCH 0784/1434] bump opendbc: in-memory DBC generation, drop scons
 build (#37646)

---
 .github/workflows/repo-maintenance.yaml | 1 -
 SConstruct                              | 1 -
 opendbc_repo                            | 2 +-
 3 files changed, 1 insertion(+), 3 deletions(-)

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 2c5d049e4c33fa..1ac6efb4f0a893 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -68,7 +68,6 @@ jobs:
         git add .
     - name: update car docs
       run: |
-        scons -j$(nproc) --minimal opendbc_repo
         python selfdrive/car/docs.py
         git add docs/CARS.md
     - name: Create Pull Request
diff --git a/SConstruct b/SConstruct
index c6c86325602408..6ec98b429e4745 100644
--- a/SConstruct
+++ b/SConstruct
@@ -195,7 +195,6 @@ Export('common')
 env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
 
 SConscript(['cereal/SConscript'])
 
diff --git a/opendbc_repo b/opendbc_repo
index ffe10c0c809cc4..ddeba888a3d03b 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit ffe10c0c809cc48726292c832b109a14fee603be
+Subproject commit ddeba888a3d03b32269f0c780490ad8578917527

From 58d6211bc27cc88066ca65ede50812e621f8aae9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 11 Mar 2026 18:58:51 -0700
Subject: [PATCH 0785/1434] ui: no int textures (#37649)

* no int textures

* round qr code

* unround firehose

* ignore here
---
 pyproject.toml                                |  1 +
 selfdrive/ui/layouts/onboarding.py            |  2 +-
 selfdrive/ui/layouts/sidebar.py               |  8 ++---
 selfdrive/ui/mici/layouts/home.py             |  2 +-
 selfdrive/ui/mici/layouts/offroad_alerts.py   |  4 +--
 .../ui/mici/layouts/settings/firehose.py      | 12 +++----
 .../mici/layouts/settings/network/wifi_ui.py  |  2 +-
 selfdrive/ui/mici/onroad/alert_renderer.py    |  4 +--
 .../ui/mici/onroad/augmented_road_view.py     |  2 +-
 selfdrive/ui/mici/onroad/driver_state.py      | 17 +++++-----
 selfdrive/ui/mici/onroad/hud_renderer.py      |  2 +-
 selfdrive/ui/mici/widgets/dialog.py           | 34 +++++++++----------
 selfdrive/ui/mici/widgets/pairing_dialog.py   |  2 +-
 selfdrive/ui/onroad/exp_button.py             |  2 +-
 system/ui/tici_setup.py                       |  2 +-
 system/ui/widgets/button.py                   |  6 ++--
 system/ui/widgets/layouts.py                  |  2 +-
 system/ui/widgets/list_view.py                |  2 +-
 system/ui/widgets/mici_keyboard.py            |  2 +-
 system/ui/widgets/nav_widget.py               |  8 ++---
 system/ui/widgets/scroller.py                 |  4 +--
 tools/replay/ui.py                            |  8 ++---
 22 files changed, 64 insertions(+), 64 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 408513600ff41e..bf841613179703 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -204,6 +204,7 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 "pyray.is_mouse_button_pressed".msg = "This can miss events. Use Widget._handle_mouse_press"
 "pyray.is_mouse_button_released".msg = "This can miss events. Use Widget._handle_mouse_release"
 "pyray.draw_text".msg = "Use a function (such as rl.draw_font_ex) that takes font as an argument"
+"pyray.draw_texture".msg = "Use rl.draw_texture_ex for float position support"
 
 [tool.ruff.format]
 quote-style = "preserve"
diff --git a/selfdrive/ui/layouts/onboarding.py b/selfdrive/ui/layouts/onboarding.py
index 25294511d4d914..37205b0e26adec 100644
--- a/selfdrive/ui/layouts/onboarding.py
+++ b/selfdrive/ui/layouts/onboarding.py
@@ -91,7 +91,7 @@ def _update_state(self):
   def _render(self, _):
     # Safeguard against fast tapping
     step = min(self._step, len(self._textures) - 1)
-    rl.draw_texture(self._textures[step], 0, 0, rl.WHITE)
+    rl.draw_texture_ex(self._textures[step], rl.Vector2(0, 0), 0.0, 1.0, rl.WHITE)
 
     # progress bar
     if 0 < step < len(STEP_RECTS) - 1:
diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py
index 050cd795bffba7..a7f3a46279bca5 100644
--- a/selfdrive/ui/layouts/sidebar.py
+++ b/selfdrive/ui/layouts/sidebar.py
@@ -161,14 +161,14 @@ def _draw_buttons(self, rect: rl.Rectangle):
     # Settings button
     settings_down = mouse_down and rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN)
     tint = Colors.BUTTON_PRESSED if settings_down else Colors.BUTTON_NORMAL
-    rl.draw_texture(self._settings_img, int(SETTINGS_BTN.x), int(SETTINGS_BTN.y), tint)
+    rl.draw_texture_ex(self._settings_img, rl.Vector2(SETTINGS_BTN.x, SETTINGS_BTN.y), 0.0, 1.0, tint)
 
     # Home/Flag button
     flag_pressed = mouse_down and rl.check_collision_point_rec(mouse_pos, HOME_BTN)
     button_img = self._flag_img if ui_state.started else self._home_img
 
     tint = Colors.BUTTON_PRESSED if (ui_state.started and flag_pressed) else Colors.BUTTON_NORMAL
-    rl.draw_texture(button_img, int(HOME_BTN.x), int(HOME_BTN.y), tint)
+    rl.draw_texture_ex(button_img, rl.Vector2(HOME_BTN.x, HOME_BTN.y), 0.0, 1.0, tint)
 
     # Microphone button
     if self._recording_audio:
@@ -178,8 +178,8 @@ def _draw_buttons(self, rect: rl.Rectangle):
       bg_color = rl.Color(Colors.DANGER.r, Colors.DANGER.g, Colors.DANGER.b, int(255 * 0.65)) if mic_pressed else Colors.DANGER
 
       rl.draw_rectangle_rounded(self._mic_indicator_rect, 1, 10, bg_color)
-      rl.draw_texture(self._mic_img, int(self._mic_indicator_rect.x + (self._mic_indicator_rect.width - self._mic_img.width) / 2),
-                      int(self._mic_indicator_rect.y + (self._mic_indicator_rect.height - self._mic_img.height) / 2), Colors.WHITE)
+      rl.draw_texture_ex(self._mic_img, rl.Vector2(self._mic_indicator_rect.x + (self._mic_indicator_rect.width - self._mic_img.width) / 2,
+                         self._mic_indicator_rect.y + (self._mic_indicator_rect.height - self._mic_img.height) / 2), 0.0, 1.0, Colors.WHITE)
 
   def _draw_network_indicator(self, rect: rl.Rectangle):
     # Signal strength dots
diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index da5b0ac5e058c2..77b665f5d8b822 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -77,7 +77,7 @@ def _render(self, _):
       # Offset by difference in height between slashless and slash icons to make center align match
       draw_y -= (self._wifi_slash_txt.height - self._wifi_none_txt.height) / 2
 
-    rl.draw_texture(draw_net_txt, int(draw_x), int(draw_y), rl.Color(255, 255, 255, int(255 * 0.9)))
+    rl.draw_texture_ex(draw_net_txt, rl.Vector2(draw_x, draw_y), 0.0, 1.0, rl.Color(255, 255, 255, int(255 * 0.9)))
 
 
 class MiciHomeLayout(Widget):
diff --git a/selfdrive/ui/mici/layouts/offroad_alerts.py b/selfdrive/ui/mici/layouts/offroad_alerts.py
index 5ccb815da65edc..0dae5d207595ef 100644
--- a/selfdrive/ui/mici/layouts/offroad_alerts.py
+++ b/selfdrive/ui/mici/layouts/offroad_alerts.py
@@ -144,7 +144,7 @@ def _render(self, _):
       bg_texture = self._bg_small_pressed if self.is_pressed else self._bg_small
 
     # Draw background
-    rl.draw_texture(bg_texture, int(self._rect.x), int(self._rect.y), rl.WHITE)
+    rl.draw_texture_ex(bg_texture, rl.Vector2(self._rect.x, self._rect.y), 0.0, 1.0, rl.WHITE)
 
     # Calculate text area (left side, avoiding icon on right)
     title_width = self.ALERT_WIDTH - (self.ALERT_PADDING * 2) - self.ICON_SIZE - self.ICON_MARGIN
@@ -183,7 +183,7 @@ def _render(self, _):
       icon_texture = self._icon_orange
     icon_x = self._rect.x + self.ALERT_WIDTH - self.ALERT_PADDING - self.ICON_SIZE
     icon_y = self._rect.y + self.ALERT_PADDING
-    rl.draw_texture(icon_texture, int(icon_x), int(icon_y), rl.WHITE)
+    rl.draw_texture_ex(icon_texture, rl.Vector2(icon_x, icon_y), 0.0, 1.0, rl.WHITE)
 
 
 class MiciOffroadAlerts(Scroller):
diff --git a/selfdrive/ui/mici/layouts/settings/firehose.py b/selfdrive/ui/mici/layouts/settings/firehose.py
index e5b6301acfdc78..4c27a909f96ee7 100644
--- a/selfdrive/ui/mici/layouts/settings/firehose.py
+++ b/selfdrive/ui/mici/layouts/settings/firehose.py
@@ -81,12 +81,12 @@ def _get_segment_count(self) -> int:
   def _render(self, rect: rl.Rectangle):
     # compute total content height for scrolling
     content_height = self._measure_content_height(rect)
-    scroll_offset = round(self._scroll_panel.update(rect, content_height))
+    scroll_offset = self._scroll_panel.update(rect, content_height)
 
     # start drawing with offset
-    x = int(rect.x + 40)
-    y = int(rect.y + 40 + scroll_offset)
-    w = int(rect.width - 80)
+    x = rect.x + 40
+    y = rect.y + 40 + scroll_offset
+    w = rect.width - 80
 
     # Title
     title_text = tr(TITLE)
@@ -100,7 +100,7 @@ def _render(self, rect: rl.Rectangle):
     y += 20
 
     # Separator
-    rl.draw_rectangle(x, y, w, 2, self.GRAY)
+    rl.draw_rectangle_rec(rl.Rectangle(x, y, w, 2), self.GRAY)
     y += 20
 
     # Status
@@ -116,7 +116,7 @@ def _render(self, rect: rl.Rectangle):
       y += 20
 
     # Separator
-    rl.draw_rectangle(x, y, w, 2, self.GRAY)
+    rl.draw_rectangle_rec(rl.Rectangle(x, y, w, 2), self.GRAY)
     y += 20
 
     # Instructions intro
diff --git a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
index 10d828fbd8a7da..006027e258d02d 100644
--- a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
+++ b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
@@ -165,7 +165,7 @@ def _draw_content(self, btn_y: float):
 
       if self._is_connected and not self._network_forgetting:
         check_y = int(label_y - sub_label_height + (sub_label_height - self._check_txt.height) / 2)
-        rl.draw_texture(self._check_txt, int(sub_label_x), check_y, rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)))
+        rl.draw_texture_ex(self._check_txt, rl.Vector2(sub_label_x, check_y), 0.0, 1.0, rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)))
         sub_label_x += self._check_txt.width + 14
 
       sub_label_rect = rl.Rectangle(sub_label_x, label_y - sub_label_height, sub_label_w, sub_label_height)
diff --git a/selfdrive/ui/mici/onroad/alert_renderer.py b/selfdrive/ui/mici/onroad/alert_renderer.py
index 1c1fd8404f7b66..7b006aaaeaa968 100644
--- a/selfdrive/ui/mici/onroad/alert_renderer.py
+++ b/selfdrive/ui/mici/onroad/alert_renderer.py
@@ -258,8 +258,8 @@ def _draw_icons(self, alert_layout: AlertLayout) -> None:
     else:
       icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255))
 
-    rl.draw_texture(alert_layout.icon.texture, pos_x, int(self._rect.y + alert_layout.icon.margin_y),
-                    rl.Color(255, 255, 255, int(icon_alpha * self._alpha_filter.x)))
+    rl.draw_texture_ex(alert_layout.icon.texture, rl.Vector2(pos_x, self._rect.y + alert_layout.icon.margin_y), 0.0, 1.0,
+                       rl.Color(255, 255, 255, int(icon_alpha * self._alpha_filter.x)))
 
   def _draw_background(self, alert: Alert) -> None:
     # draw top gradient for alert text at top
diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index 2c083e84b98606..09d5d57fbbae3f 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -126,7 +126,7 @@ def _render(self, _):
     if self._offset_filter.x > 0:
       icon_x = self.rect.x + self.rect.width - round(self._offset_filter.x)
       icon_y = self.rect.y + (self.rect.height - self._icon.height) / 2  # Vertically centered
-      rl.draw_texture(self._icon, int(icon_x), int(icon_y), rl.WHITE)
+      rl.draw_texture_ex(self._icon, rl.Vector2(icon_x, icon_y), 0.0, 1.0, rl.WHITE)
 
 
 class AugmentedRoadView(CameraView):
diff --git a/selfdrive/ui/mici/onroad/driver_state.py b/selfdrive/ui/mici/onroad/driver_state.py
index 356d7ac832cfa1..92ff07c1e9b5bb 100644
--- a/selfdrive/ui/mici/onroad/driver_state.py
+++ b/selfdrive/ui/mici/onroad/driver_state.py
@@ -61,7 +61,7 @@ def load_icons(self):
     self._dm_cone = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_cone.png", cone_and_person_size, cone_and_person_size)
     center_size = round(36 / self.BASE_SIZE * self._rect.width)
     self._dm_center = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_center.png", center_size, center_size)
-    self._dm_background = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_background.png", self._rect.width, self._rect.height)
+    self._dm_background = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_background.png", int(self._rect.width), int(self._rect.height))
 
   def set_should_draw(self, should_draw: bool):
     self._should_draw = should_draw
@@ -88,15 +88,14 @@ def _render(self, _):
     if DEBUG:
       rl.draw_rectangle_lines_ex(self._rect, 1, rl.RED)
 
-    rl.draw_texture(self._dm_background,
-                    int(self._rect.x),
-                    int(self._rect.y),
-                    rl.Color(255, 255, 255, int(255 * self._fade_filter.x)))
+    rl.draw_texture_ex(self._dm_background,
+                       rl.Vector2(self._rect.x, self._rect.y), 0.0, 1.0,
+                       rl.Color(255, 255, 255, int(255 * self._fade_filter.x)))
 
-    rl.draw_texture(self._dm_person,
-                    int(self._rect.x + (self._rect.width - self._dm_person.width) / 2),
-                    int(self._rect.y + (self._rect.height - self._dm_person.height) / 2),
-                    rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x)))
+    rl.draw_texture_ex(self._dm_person,
+                       rl.Vector2(self._rect.x + (self._rect.width - self._dm_person.width) / 2,
+                                  self._rect.y + (self._rect.height - self._dm_person.height) / 2), 0.0, 1.0,
+                       rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x)))
 
     if self.effective_active:
       source_rect = rl.Rectangle(0, 0, self._dm_cone.width, self._dm_cone.height)
diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py
index 21e30e7426314d..35d04fe702f3c2 100644
--- a/selfdrive/ui/mici/onroad/hud_renderer.py
+++ b/selfdrive/ui/mici/onroad/hud_renderer.py
@@ -219,7 +219,7 @@ def _draw_steering_wheel(self, rect: rl.Rectangle) -> None:
       EXCLAMATION_POINT_SPACING = 10
       exclamation_pos_x = pos_x - self._txt_exclamation_point.width / 2 + wheel_txt.width / 2 + EXCLAMATION_POINT_SPACING
       exclamation_pos_y = pos_y - self._txt_exclamation_point.height / 2
-      rl.draw_texture(self._txt_exclamation_point, int(exclamation_pos_x), int(exclamation_pos_y), rl.WHITE)
+      rl.draw_texture_ex(self._txt_exclamation_point, rl.Vector2(exclamation_pos_x, exclamation_pos_y), 0.0, 1.0, rl.WHITE)
 
   def _draw_set_speed(self, rect: rl.Rectangle) -> None:
     """Draw the MAX speed indicator box."""
diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py
index 1f67b987f1d82f..396ea35cc8d620 100644
--- a/selfdrive/ui/mici/widgets/dialog.py
+++ b/selfdrive/ui/mici/widgets/dialog.py
@@ -44,20 +44,20 @@ def _render(self, _):
     title_wrapped = '\n'.join(wrap_text(gui_app.font(FontWeight.BOLD), self._title, 50, int(max_width)))
     title_size = measure_text_cached(gui_app.font(FontWeight.BOLD), title_wrapped, 50)
     text_x_offset = 0
-    title_rect = rl.Rectangle(int(self._rect.x + text_x_offset + PADDING),
-                              int(self._rect.y + PADDING),
-                              int(max_width),
-                              int(title_size.y))
+    title_rect = rl.Rectangle(self._rect.x + text_x_offset + PADDING,
+                              self._rect.y + PADDING,
+                              max_width,
+                              title_size.y)
     gui_label(title_rect, title_wrapped, 50, font_weight=FontWeight.BOLD,
               alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
 
     # draw description
     desc_wrapped = '\n'.join(wrap_text(gui_app.font(FontWeight.MEDIUM), self._description, 30, int(max_width)))
     desc_size = measure_text_cached(gui_app.font(FontWeight.MEDIUM), desc_wrapped, 30)
-    desc_rect = rl.Rectangle(int(self._rect.x + text_x_offset + PADDING),
-                             int(self._rect.y + self._rect.height / 3),
-                             int(max_width),
-                             int(desc_size.y))
+    desc_rect = rl.Rectangle(self._rect.x + text_x_offset + PADDING,
+                             self._rect.y + self._rect.height / 3,
+                             max_width,
+                             desc_size.y)
     # TODO: text align doesn't seem to work properly with newlines
     gui_label(desc_rect, desc_wrapped, 30, font_weight=FontWeight.MEDIUM,
               alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
@@ -156,9 +156,9 @@ def _render(self, _):
 
     bg_block_margin = 5
     text_x = PADDING / 2 + self._enter_img.width + PADDING
-    text_field_rect = rl.Rectangle(text_x, int(self._rect.y + PADDING) - bg_block_margin,
-                                   int(self._rect.width - text_x * 2),
-                                   int(text_size.y))
+    text_field_rect = rl.Rectangle(text_x, self._rect.y + PADDING - bg_block_margin,
+                                   self._rect.width - text_x * 2,
+                                   text_size.y)
 
     # draw text input
     # push text left with a gradient on left side if too long
@@ -179,8 +179,8 @@ def _render(self, _):
 
     # draw gradient on left side to indicate more text
     if text_size.x > text_field_rect.width:
-      rl.draw_rectangle_gradient_h(int(text_field_rect.x), int(text_field_rect.y), 80, int(text_field_rect.height),
-                                   rl.BLACK, rl.BLANK)
+      rl.draw_rectangle_gradient_ex(rl.Rectangle(text_field_rect.x, text_field_rect.y, 80, text_field_rect.height),
+                                    rl.BLACK, rl.BLANK, rl.BLANK, rl.BLACK)
 
     # draw cursor
     blink_alpha = (math.sin(rl.get_time() * 6) + 1) / 2
@@ -188,14 +188,14 @@ def _render(self, _):
       cursor_x = min(text_x + text_size.x + 3, text_field_rect.x + text_field_rect.width)
     else:
       cursor_x = text_field_rect.x - 6
-    rl.draw_rectangle_rounded(rl.Rectangle(int(cursor_x), int(text_field_rect.y), 4, int(text_size.y)),
+    rl.draw_rectangle_rounded(rl.Rectangle(cursor_x, text_field_rect.y, 4, text_size.y),
                               1, 4, rl.Color(255, 255, 255, int(255 * blink_alpha)))
 
     # draw backspace icon with nice fade
     self._backspace_img_alpha.update(255 * bool(text))
     if self._backspace_img_alpha.x > 1:
       color = rl.Color(255, 255, 255, int(self._backspace_img_alpha.x))
-      rl.draw_texture(self._backspace_img, int(self._rect.width - self._backspace_img.width - 27), int(self._rect.y + 14), color)
+      rl.draw_texture_ex(self._backspace_img, rl.Vector2(self._rect.width - self._backspace_img.width - 27, self._rect.y + 14), 0.0, 1.0, color)
 
     if not text and self._hint_label.text and not candidate_char:
       # draw description if no text entered yet and not drawing candidate char
@@ -213,9 +213,9 @@ def _render(self, _):
     # draw enter button
     self._enter_img_alpha.update(255 if len(text) >= self._minimum_length else 0)
     color = rl.Color(255, 255, 255, int(self._enter_img_alpha.x))
-    rl.draw_texture(self._enter_img, int(self._rect.x + PADDING / 2), int(self._rect.y), color)
+    rl.draw_texture_ex(self._enter_img, rl.Vector2(self._rect.x + PADDING / 2, self._rect.y), 0.0, 1.0, color)
     color = rl.Color(255, 255, 255, 255 - int(self._enter_img_alpha.x))
-    rl.draw_texture(self._enter_disabled_img, int(self._rect.x + PADDING / 2), int(self._rect.y), color)
+    rl.draw_texture_ex(self._enter_disabled_img, rl.Vector2(self._rect.x + PADDING / 2, self._rect.y), 0.0, 1.0, color)
 
     # keyboard goes over everything
     self._keyboard.render(self._rect)
diff --git a/selfdrive/ui/mici/widgets/pairing_dialog.py b/selfdrive/ui/mici/widgets/pairing_dialog.py
index 8421b516d24a02..a18b26ec0248af 100644
--- a/selfdrive/ui/mici/widgets/pairing_dialog.py
+++ b/selfdrive/ui/mici/widgets/pairing_dialog.py
@@ -92,7 +92,7 @@ def _render_qr_code(self) -> None:
       return
 
     scale = self._rect.height / self._qr_texture.height
-    pos = rl.Vector2(self._rect.x + 8, self._rect.y)
+    pos = rl.Vector2(round(self._rect.x + 8), round(self._rect.y))
     rl.draw_texture_ex(self._qr_texture, pos, 0.0, scale, rl.WHITE)
 
   def __del__(self):
diff --git a/selfdrive/ui/onroad/exp_button.py b/selfdrive/ui/onroad/exp_button.py
index e5d81714130d67..9a92ebc3c358a1 100644
--- a/selfdrive/ui/onroad/exp_button.py
+++ b/selfdrive/ui/onroad/exp_button.py
@@ -50,7 +50,7 @@ def _render(self, rect: rl.Rectangle) -> None:
 
     texture = self._txt_exp if self._held_or_actual_mode() else self._txt_wheel
     rl.draw_circle(center_x, center_y, self._rect.width / 2, self._black_bg)
-    rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color)
+    rl.draw_texture_ex(texture, rl.Vector2(center_x - texture.width / 2, center_y - texture.height / 2), 0.0, 1.0, self._white_color)
 
   def _held_or_actual_mode(self):
     now = time.monotonic()
diff --git a/system/ui/tici_setup.py b/system/ui/tici_setup.py
index f98ab5ffaa1817..9eefb6af537613 100755
--- a/system/ui/tici_setup.py
+++ b/system/ui/tici_setup.py
@@ -183,7 +183,7 @@ def _network_setup_continue_button_callback(self):
       self.state = SetupState.CUSTOM_SOFTWARE
 
   def render_low_voltage(self, rect: rl.Rectangle):
-    rl.draw_texture(self.warning, int(rect.x + 150), int(rect.y + 110), rl.WHITE)
+    rl.draw_texture_ex(self.warning, rl.Vector2(rect.x + 150, rect.y + 110), 0.0, 1.0, rl.WHITE)
 
     self._low_voltage_title_label.render(rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 100, rect.width - 500 - 150, TITLE_FONT_SIZE * FONT_SCALE))
     self._low_voltage_body_label.render(rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 150, rect.width - 500, BODY_FONT_SIZE * FONT_SCALE * 3))
diff --git a/system/ui/widgets/button.py b/system/ui/widgets/button.py
index 60f9e60735bc16..36ef3bedab6473 100644
--- a/system/ui/widgets/button.py
+++ b/system/ui/widgets/button.py
@@ -191,7 +191,7 @@ def _render(self, rect: rl.Rectangle):
       color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.35 * self._opacity_filter.x))
     draw_x = rect.x + (rect.width - self._texture.width) / 2
     draw_y = rect.y + (rect.height - self._texture.height) / 2
-    rl.draw_texture(self._texture, int(draw_x), int(draw_y), color)
+    rl.draw_texture_ex(self._texture, rl.Vector2(draw_x, draw_y), 0.0, 1.0, color)
 
 
 class SmallCircleIconButton(Widget):
@@ -219,7 +219,7 @@ def _render(self, _):
       bg_txt = self._icon_bg_pressed_txt if self.is_pressed else self._icon_bg_txt
       icon_white = white
 
-    rl.draw_texture(bg_txt, int(self.rect.x), int(self.rect.y), white)
+    rl.draw_texture_ex(bg_txt, rl.Vector2(self.rect.x, self.rect.y), 0.0, 1.0, white)
     icon_x = self.rect.x + (self.rect.width - self._icon_txt.width) / 2
     icon_y = self.rect.y + (self.rect.height - self._icon_txt.height) / 2
-    rl.draw_texture(self._icon_txt, int(icon_x), int(icon_y), icon_white)
+    rl.draw_texture_ex(self._icon_txt, rl.Vector2(icon_x, icon_y), 0.0, 1.0, icon_white)
diff --git a/system/ui/widgets/layouts.py b/system/ui/widgets/layouts.py
index 6fd3bffd8c9142..6bbc49e9275604 100644
--- a/system/ui/widgets/layouts.py
+++ b/system/ui/widgets/layouts.py
@@ -54,6 +54,6 @@ def _render(self, _):
         y = self._rect.y + (self._rect.height - widget.rect.height) / 2
 
       # Update widget position and render
-      widget.set_position(round(x), round(y))
+      widget.set_position(x, y)
       widget.set_parent_rect(self._rect)
       widget.render()
diff --git a/system/ui/widgets/list_view.py b/system/ui/widgets/list_view.py
index 1cf530a66aa61c..82613c37c8efac 100644
--- a/system/ui/widgets/list_view.py
+++ b/system/ui/widgets/list_view.py
@@ -355,7 +355,7 @@ def _render(self, _):
     if self.title:
       # Draw icon if present
       if self.icon:
-        rl.draw_texture(self._icon_texture, int(content_x), int(self._rect.y + (ITEM_BASE_HEIGHT - self._icon_texture.height) // 2), rl.WHITE)
+        rl.draw_texture_ex(self._icon_texture, rl.Vector2(content_x, self._rect.y + (ITEM_BASE_HEIGHT - self._icon_texture.height) / 2), 0.0, 1.0, rl.WHITE)
         text_x += ICON_SIZE + ITEM_PADDING
 
       # Draw main text
diff --git a/system/ui/widgets/mici_keyboard.py b/system/ui/widgets/mici_keyboard.py
index 74f1f5634630e8..75a3c29e6b3551 100644
--- a/system/ui/widgets/mici_keyboard.py
+++ b/system/ui/widgets/mici_keyboard.py
@@ -95,7 +95,7 @@ def set_font_size(self, size: float):
     self._size_filter.update(size)
 
   def _get_font_size(self) -> int:
-    return int(round(self._size_filter.x))
+    return round(self._size_filter.x)
 
 
 class SmallKey(Key):
diff --git a/system/ui/widgets/nav_widget.py b/system/ui/widgets/nav_widget.py
index 6f2bbd025b845d..11770bbe5def5b 100644
--- a/system/ui/widgets/nav_widget.py
+++ b/system/ui/widgets/nav_widget.py
@@ -148,7 +148,7 @@ def _update_state(self):
     if self._playing_dismiss_animation:
       new_y = self._rect.height + DISMISS_PUSH_OFFSET
 
-    new_y = round(self._y_pos_filter.update(new_y))
+    new_y = self._y_pos_filter.update(new_y)
     if abs(new_y) < 1 and abs(self._y_pos_filter.velocity.x) < 0.5:
       new_y = self._y_pos_filter.x = 0.0
       self._y_pos_filter.velocity.x = 0.0
@@ -176,10 +176,10 @@ def _update_state(self):
   def _layout(self):
     # Dim whatever is behind this widget, fading with position (runs after _update_state so position is correct)
     overlay_alpha = int(200 * max(0.0, min(1.0, 1.0 - self._rect.y / self._rect.height))) if self._rect.height > 0 else 0
-    rl.draw_rectangle(0, 0, int(self._rect.width), int(self._rect.height), rl.Color(0, 0, 0, overlay_alpha))
+    rl.draw_rectangle_rec(rl.Rectangle(0, 0, self._rect.width, self._rect.height), rl.Color(0, 0, 0, overlay_alpha))
 
     bounce_height = 20
-    rl.draw_rectangle(int(self._rect.x), int(self._rect.y), int(self._rect.width), int(self._rect.height + bounce_height), rl.BLACK)
+    rl.draw_rectangle_rec(rl.Rectangle(self._rect.x, self._rect.y, self._rect.width, self._rect.height + bounce_height), rl.BLACK)
 
   def render(self, rect: rl.Rectangle | None = None) -> bool | int | None:
     ret = super().render(rect)
@@ -196,7 +196,7 @@ def render(self, rect: rl.Rectangle | None = None) -> bool | int | None:
     else:
       self._nav_bar_y_filter.update(NAV_BAR_MARGIN)
 
-    self._nav_bar.set_position(bar_x, round(self._nav_bar_y_filter.x))
+    self._nav_bar.set_position(bar_x, self._nav_bar_y_filter.x)
     self._nav_bar.render()
 
     return ret
diff --git a/system/ui/widgets/scroller.py b/system/ui/widgets/scroller.py
index 65f23739c1f09d..a3a0d2b38f41ff 100644
--- a/system/ui/widgets/scroller.py
+++ b/system/ui/widgets/scroller.py
@@ -190,7 +190,7 @@ def _get_scroll(self, visible_items: list[Widget], content_size: float) -> float
     self.scroll_panel.set_enabled(scroll_enabled and self.enabled and not self._scrolling_to[1])
     self.scroll_panel.update(self._rect, content_size)
     if not self._snap_items:
-      return round(self.scroll_panel.get_offset())
+      return self.scroll_panel.get_offset()
 
     # Snap closest item to center
     center_pos = self._rect.x + self._rect.width / 2 if self._horizontal else self._rect.y + self._rect.height / 2
@@ -341,7 +341,7 @@ def _layout(self):
       x, y = self._do_move_animation(item, x, y)
 
       # Update item state
-      item.set_position(round(x), round(y))  # round to prevent jumping when settling
+      item.set_position(x, y)
       item.set_parent_rect(self._rect)
 
   def _render_item(self, item: Widget):
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
index 8707f2be99c04a..7fe2f405a16b4b 100755
--- a/tools/replay/ui.py
+++ b/tools/replay/ui.py
@@ -218,7 +218,7 @@ def ui_thread(addr):
     # Update camera texture from numpy array
     img_rgba = cv2.cvtColor(img, cv2.COLOR_RGB2RGBA)
     rl.update_texture(camera_texture, rl.ffi.cast("void *", img_rgba.ctypes.data))
-    rl.draw_texture(camera_texture, 0, 0, rl.WHITE)
+    rl.draw_texture(camera_texture, 0, 0, rl.WHITE)  # noqa: TID251
 
     # display alerts
     rl.draw_text_ex(font, sm['selfdriveState'].alertText1, rl.Vector2(180, 150), 30, 0, rl.RED)
@@ -227,15 +227,15 @@ def ui_thread(addr):
     # draw plots (texture is reused internally)
     plot_texture = draw_plots(plot_arr)
     if hor_mode:
-      rl.draw_texture(plot_texture, 640 + 384, 0, rl.WHITE)
+      rl.draw_texture(plot_texture, 640 + 384, 0, rl.WHITE)  # noqa: TID251
     else:
-      rl.draw_texture(plot_texture, 0, 600, rl.WHITE)
+      rl.draw_texture(plot_texture, 0, 600, rl.WHITE)  # noqa: TID251
 
     # Convert lid_overlay to RGBA and update top_down texture
     # lid_overlay is (384, 960), need to transpose to (960, 384) for row-major RGBA buffer
     lid_rgba = palette[lid_overlay.T]
     rl.update_texture(top_down_texture, rl.ffi.cast("void *", np.ascontiguousarray(lid_rgba).ctypes.data))
-    rl.draw_texture(top_down_texture, 640, 0, rl.WHITE)
+    rl.draw_texture(top_down_texture, 640, 0, rl.WHITE)  # noqa: TID251
 
     SPACING = 25
     lines = [

From 7dfb7967b63c378211cb45013ed7bbae856bb5f8 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 11 Mar 2026 19:51:34 -0700
Subject: [PATCH 0786/1434] ui: proper mici scaling (#37652)

* scale

* remove low res image finder

* check self scale

* simplify
---
 system/ui/lib/application.py | 40 +++++++++++++++++++++++++++++++++---
 1 file changed, 37 insertions(+), 3 deletions(-)

diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index ddcde014968544..07a0169ccbb722 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -1,5 +1,6 @@
 import atexit
 import cffi
+import math
 import os
 import queue
 import time
@@ -278,7 +279,7 @@ def _close(sig, frame):
       if self._scale != 1.0:
         rl.set_mouse_scale(1 / self._scale, 1 / self._scale)
       if needs_render_texture:
-        self._render_texture = rl.load_render_texture(self._width, self._height)
+        self._render_texture = rl.load_render_texture(self._scaled_width, self._scaled_height)
         rl.set_texture_filter(self._render_texture.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
 
       if RECORD:
@@ -289,7 +290,7 @@ def _close(sig, frame):
           '-nostats',               # Suppress encoding progress
           '-f', 'rawvideo',         # Input format
           '-pix_fmt', 'rgba',       # Input pixel format
-          '-s', f'{self._width}x{self._height}',  # Input resolution
+          '-s', f'{self._scaled_width}x{self._scaled_height}',  # Input resolution
           '-r', str(fps),           # Input frame rate
           '-i', 'pipe:0',           # Input from stdin
           '-vf', 'vflip,format=yuv420p',  # Flip vertically and convert to yuv420p
@@ -319,6 +320,7 @@ def _close(sig, frame):
       self._set_styles()
       self._load_fonts()
       self._patch_text_functions()
+      self._patch_scissor_mode()
       if BURN_IN_MODE and self._burn_in_shader is None:
         self._burn_in_shader = rl.load_shader_from_memory(BURN_IN_VERTEX_SHADER, BURN_IN_FRAGMENT_SHADER)
 
@@ -454,6 +456,12 @@ def texture(self, asset_path: str, width: int | None = None, height: int | None
     with as_file(ASSETS_DIR.joinpath(asset_path)) as fspath:
       image_obj = self._load_image_from_path(fspath.as_posix(), width, height, alpha_premultiply, keep_aspect_ratio, flip_x)
       texture_obj = self._load_texture_from_image(image_obj)
+
+    # Set logical size so widget layout math stays at 1x coordinates
+    if self._scale != 1.0 and width is not None and height is not None:
+      texture_obj.width = width
+      texture_obj.height = height
+
     self._textures[cache_key] = texture_obj
     return texture_obj
 
@@ -465,6 +473,11 @@ def _load_image_from_path(self, image_path: str, width: int | None = None, heigh
     if alpha_premultiply:
       rl.image_alpha_premultiply(image)
 
+    # Scale up load size for sharper rendering, capped at source resolution
+    if self._scale != 1.0 and width is not None and height is not None:
+      width = min(int(width * self._scale), image.width)
+      height = min(int(height * self._scale), image.height)
+
     if width is not None and height is not None:
       same_dimensions = image.width == width and image.height == height
 
@@ -588,6 +601,10 @@ def render(self):
           rl.begin_drawing()
           rl.clear_background(rl.BLACK)
 
+        if self._scale != 1.0:
+          rl.rl_push_matrix()
+          rl.rl_scalef(self._scale, self._scale, 1.0)
+
         # Allow a Widget to still run a function regardless of the stack depth
         for tick in self._nav_stack_ticks:
           tick()
@@ -598,11 +615,14 @@ def render(self):
 
         yield True
 
+        if self._scale != 1.0:
+          rl.rl_pop_matrix()
+
         if self._render_texture:
           rl.end_texture_mode()
           rl.begin_drawing()
           rl.clear_background(rl.BLACK)
-          src_rect = rl.Rectangle(0, 0, float(self._width), -float(self._height))
+          src_rect = rl.Rectangle(0, 0, float(self._scaled_width), -float(self._scaled_height))
           dst_rect = rl.Rectangle(0, 0, float(self._scaled_width), float(self._scaled_height))
           texture = self._render_texture.texture
           if texture:
@@ -679,6 +699,20 @@ def _draw_text_ex_scaled(font, text, position, font_size, spacing, tint):
 
     rl.draw_text_ex = _draw_text_ex_scaled
 
+  def _patch_scissor_mode(self):
+    if self._scale == 1.0:
+      return
+
+    if not hasattr(rl, "_orig_begin_scissor_mode"):
+      rl._orig_begin_scissor_mode = rl.begin_scissor_mode
+
+    def _begin_scissor_mode_scaled(x, y, width, height):
+      return rl._orig_begin_scissor_mode(
+        int(x * self._scale), int(y * self._scale),
+        int(math.ceil(width * self._scale)), int(math.ceil(height * self._scale)))
+
+    rl.begin_scissor_mode = _begin_scissor_mode_scaled
+
   def _set_log_callback(self):
     ffi_libc = cffi.FFI()
     ffi_libc.cdef("""

From c631a22eb6f01adcae677503835b9f45dfb36c0a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 11 Mar 2026 23:19:02 -0700
Subject: [PATCH 0787/1434] ui: fix 1px flash at bottom of DM camera during
 onboarding swipe (#37653)

Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>
---
 selfdrive/ui/mici/layouts/onboarding.py | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py
index 781f60ee2164b0..35db4412d52ed4 100644
--- a/selfdrive/ui/mici/layouts/onboarding.py
+++ b/selfdrive/ui/mici/layouts/onboarding.py
@@ -151,8 +151,10 @@ def _update_state(self):
   def _render(self, _):
     self._dialog.render(self._rect)
 
-    rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - 80),
-                                 int(self._rect.width), 80, rl.BLANK, rl.BLACK)
+    gradient_y = int(self._rect.y + self._rect.height - 80)
+    gradient_h = int(self._rect.y) + int(self._rect.height) - gradient_y
+    rl.draw_rectangle_gradient_v(int(self._rect.x), gradient_y,
+                                 int(self._rect.width), gradient_h, rl.BLANK, rl.BLACK)
 
     # draw white ring around dm icon to indicate progress
     ring_thickness = 8

From 6e7587a75ce6d0c38d2e281e643e001c5cd41454 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 11 Mar 2026 23:35:56 -0700
Subject: [PATCH 0788/1434] modeld: quiet do_chunk output during scons build
 (#37654)

* modeld: quiet do_chunk output during scons build

SCons default-prints Python function actions with all their args.
The do_chunk function has 1259 tinygrad source files as deps, causing
a wall of text during builds. Wrap in SAction with a short strfunction.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

* split compile and chunk into separate Commands

cleaner fix: do_chunk only depends on the pkl, not tinygrad files

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

---------

Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>
---
 selfdrive/modeld/SConscript | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 95ac06bb1af852..3f38324a6e9526 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -45,13 +45,17 @@ def tg_compile(flags, model_name):
   pkl = fn + "_tinygrad.pkl"
   onnx_path = fn + ".onnx"
   chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
+  compile_node = lenv.Command(
+    pkl,
+    [onnx_path] + tinygrad_files + [chunker_file],
+    f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
+  )
   def do_chunk(target, source, env):
     chunk_file(pkl, chunk_targets)
   return lenv.Command(
     chunk_targets,
-    [onnx_path] + tinygrad_files + [chunker_file],
-    [f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
-     do_chunk]
+    compile_node,
+    do_chunk,
   )
 
 # Compile small models

From 9bcd965f0ba44ccc7fd67d26b0df72203d3e0ec4 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 11 Mar 2026 23:38:51 -0700
Subject: [PATCH 0789/1434] ui: don't load unused light font

---
 system/ui/lib/application.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index 07a0169ccbb722..4fbfbc0de2fc21 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -95,7 +95,6 @@
 
 
 class FontWeight(StrEnum):
-  LIGHT = "Inter-Light.fnt"
   NORMAL = "Inter-Regular.fnt" if BIG_UI else "Inter-Medium.fnt"
   MEDIUM = "Inter-Medium.fnt"
   BOLD = "Inter-Bold.fnt"

From d8ae8c201a635195b9113ddd8263309e068c5474 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 12 Mar 2026 00:15:14 -0700
Subject: [PATCH 0790/1434] onboarding: block back (#37655)

no back from onboarding
---
 selfdrive/ui/mici/layouts/onboarding.py | 17 ++++++++++++++---
 1 file changed, 14 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py
index 35db4412d52ed4..6f35370dc5a8eb 100644
--- a/selfdrive/ui/mici/layouts/onboarding.py
+++ b/selfdrive/ui/mici/layouts/onboarding.py
@@ -258,9 +258,11 @@ def __init__(self, continue_callback: Callable[[], None]):
 
 
 class TrainingGuide(NavWidget):
-  def __init__(self, completed_callback: Callable[[], None]):
+  def __init__(self, completed_callback: Callable[[], None], block_back: bool = False):
     super().__init__()
 
+    self._block_back = block_back
+
     self._steps = [
       TrainingGuideAttentionNotice(continue_callback=lambda: gui_app.push_widget(self._steps[1])),
       TrainingGuidePreDMTutorial(continue_callback=lambda: gui_app.push_widget(self._steps[2])),
@@ -271,6 +273,14 @@ def __init__(self, completed_callback: Callable[[], None]):
     self._child(self._steps[0])
     self._steps[0].set_enabled(lambda: self.enabled and not self.is_dismissing)  # for nav stack
 
+  def _back_enabled(self) -> bool:
+    return not self._block_back
+
+  def show_event(self):
+    super().show_event()
+    if self._block_back:
+      self._nav_bar._alpha = 0.0
+
   def _render(self, _):
     self._steps[0].render(self._rect)
 
@@ -314,7 +324,8 @@ class TermsPage(Scroller):
   def __init__(self, on_accept, on_decline):
     super().__init__()
 
-    self._accept_button = BigConfirmationCircleButton("accept\nterms", gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64), on_accept)
+    self._accept_button = BigConfirmationCircleButton("accept\nterms", gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64), on_accept,
+                                                      exit_on_confirm=False)
     self._decline_button = BigConfirmationCircleButton("decline &\nuninstall", gui_app.texture("icons_mici/setup/cancel.png", 64, 64), on_decline,
                                                        red=True, exit_on_confirm=False)
 
@@ -349,7 +360,7 @@ def __init__(self, completed_callback: Callable[[], None]):
     # Windows
     self._terms = TermsPage(on_accept=self._on_terms_accepted, on_decline=self._on_uninstall)
     self._terms.set_enabled(lambda: self.enabled)  # for nav stack
-    self._training_guide = TrainingGuide(completed_callback=self._on_completed_training)
+    self._training_guide = TrainingGuide(completed_callback=self._on_completed_training, block_back=True)
     self._training_guide.set_enabled(lambda: self.enabled)  # for nav stack
 
   def _on_uninstall(self):

From 2b0aab3a38f71a32023ec50ebf02e8fbbc4bd85b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 12 Mar 2026 01:47:20 -0700
Subject: [PATCH 0791/1434] ui: round QR code draw position in onboarding
 (#37656)

Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>
---
 selfdrive/ui/mici/layouts/onboarding.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py
index 6f35370dc5a8eb..e19ac9dcf190cb 100644
--- a/selfdrive/ui/mici/layouts/onboarding.py
+++ b/selfdrive/ui/mici/layouts/onboarding.py
@@ -313,7 +313,7 @@ def _generate_qr(self, url: str):
   def _render(self, _):
     if self._qr_texture:
       scale = self._size / self._qr_texture.height
-      rl.draw_texture_ex(self._qr_texture, rl.Vector2(self._rect.x, self._rect.y), 0.0, scale, rl.WHITE)
+      rl.draw_texture_ex(self._qr_texture, rl.Vector2(round(self._rect.x), round(self._rect.y)), 0.0, scale, rl.WHITE)
 
   def __del__(self):
     if self._qr_texture and self._qr_texture.id != 0:

From bbed1a2551d625dfc1eef66a4293b31f5d37c473 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 12 Mar 2026 02:55:56 -0700
Subject: [PATCH 0792/1434] scroll: use iOS-style weighted velocity averaging
 for fling (#37659)

* scroll: use iOS-style weighted velocity averaging for fling

Weight older velocity samples more heavily on finger release to produce
more consistent fling velocities. The last touch samples before lift are
noisy (finger decelerating, rotating, jittering), so we trust the earlier
steadier samples more: 60% oldest, 35% middle, 5% newest.

Reverse-engineered from iOS UIScrollView by the Flutter team.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

* Update system/ui/lib/application.py

* Apply suggestions from code review

---------

Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>
---
 system/ui/lib/application.py   |  4 ++++
 system/ui/lib/scroll_panel2.py | 25 ++++++++++++++++++++++++-
 2 files changed, 28 insertions(+), 1 deletion(-)

diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index 4fbfbc0de2fc21..5d40abdc14376b 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -169,6 +169,10 @@ def _run_thread(self):
       self._rk.keep_time()
 
   def _handle_mouse_event(self):
+    # TODO: read touch events from evdev directly to get real kernel timestamps.
+    #  Polling at 140Hz with time.monotonic() causes timing jitter that makes scroll
+    #  velocity oscillate (alternating high/low). Real timestamps would also let us
+    #  detect swipe-stop-lift via event gaps instead of the fragile decel heuristic.
     for slot in range(MAX_TOUCH_SLOTS):
       mouse_pos = rl.get_touch_position(slot)
       x = mouse_pos.x / self._scale if self._scale != 1.0 else mouse_pos.x
diff --git a/system/ui/lib/scroll_panel2.py b/system/ui/lib/scroll_panel2.py
index e2a548ba261c22..18fd8a9a6718ed 100644
--- a/system/ui/lib/scroll_panel2.py
+++ b/system/ui/lib/scroll_panel2.py
@@ -20,6 +20,21 @@
 DEBUG = os.getenv("DEBUG_SCROLL", "0") == "1"
 
 
+# Weights older (steadier) velocity samples more heavily on release.
+# Finger-lift samples are noisy; trusting earlier samples gives consistent fling velocity.
+# Reverse-engineered from iOS UIScrollView (tuned at 120Hz touch) by Flutter team:
+# https://github.com/flutter/flutter/pull/60501
+# 3 samples ≈ 25ms at 120Hz (iOS) / ~21ms at 140Hz (comma). Scale if touch rate changes.
+def weighted_velocity(buffer: deque) -> float:
+  if len(buffer) >= 3:
+    return buffer[-3] * 0.6 + buffer[-2] * 0.35 + buffer[-1] * 0.05
+  elif len(buffer) == 2:
+    return buffer[-2] * 0.7 + buffer[-1] * 0.3
+  elif len(buffer) == 1:
+    return buffer[-1]
+  return 0.0
+
+
 # from https://ariya.io/2011/10/flick-list-with-its-momentum-scrolling-and-deceleration
 class ScrollState(Enum):
   STEADY = 0
@@ -151,7 +166,13 @@ def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bou
         # Touch rejection: when releasing finger after swiping and stopping, panel
         # reports a few erroneous touch events with high velocity, try to ignore.
 
-        # If velocity decelerates very quickly, assume user doesn't intend to auto scroll
+        # If velocity decelerates very quickly, assume user doesn't intend to auto scroll.
+        # Catches two cases: 1) swipe, stop finger, then lift (stale high velocity in buffer)
+        # 2) dirty finger lift where finger rotates/slides producing spurious velocity spike.
+        # TODO: this heuristic false-positives on fast swipes because 140Hz touch polling
+        #  jitter causes velocity to oscillate (not real deceleration). Better approaches:
+        #  - Use evdev kernel timestamps to eliminate velocity oscillation at the source
+        #  - Replace with a time-since-last-event check (40ms timeout) for swipe-stop-lift
         high_decel = False
         if len(self._velocity_buffer) > 2:
           # We limit max to first half since final few velocities can surpass first few
@@ -166,6 +187,8 @@ def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bou
               print('deceleration too high, going to STEADY')
             high_decel = True
 
+        self._velocity = weighted_velocity(self._velocity_buffer)
+
         # If final velocity is below some threshold, switch to steady state too
         low_speed = abs(self._velocity) <= MIN_VELOCITY_FOR_CLICKING * 1.5  # plus some margin
 

From d0375942b8cc49722a3ad846e9f3d1a6822cb90e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 12 Mar 2026 20:03:22 -0700
Subject: [PATCH 0793/1434] Revert "onboarding: block back" (#37663)

Revert "onboarding: block back (#37655)"

This reverts commit d8ae8c201a635195b9113ddd8263309e068c5474.
---
 selfdrive/ui/mici/layouts/onboarding.py | 17 +++--------------
 1 file changed, 3 insertions(+), 14 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py
index e19ac9dcf190cb..b918bf6ef600f2 100644
--- a/selfdrive/ui/mici/layouts/onboarding.py
+++ b/selfdrive/ui/mici/layouts/onboarding.py
@@ -258,11 +258,9 @@ def __init__(self, continue_callback: Callable[[], None]):
 
 
 class TrainingGuide(NavWidget):
-  def __init__(self, completed_callback: Callable[[], None], block_back: bool = False):
+  def __init__(self, completed_callback: Callable[[], None]):
     super().__init__()
 
-    self._block_back = block_back
-
     self._steps = [
       TrainingGuideAttentionNotice(continue_callback=lambda: gui_app.push_widget(self._steps[1])),
       TrainingGuidePreDMTutorial(continue_callback=lambda: gui_app.push_widget(self._steps[2])),
@@ -273,14 +271,6 @@ def __init__(self, completed_callback: Callable[[], None], block_back: bool = Fa
     self._child(self._steps[0])
     self._steps[0].set_enabled(lambda: self.enabled and not self.is_dismissing)  # for nav stack
 
-  def _back_enabled(self) -> bool:
-    return not self._block_back
-
-  def show_event(self):
-    super().show_event()
-    if self._block_back:
-      self._nav_bar._alpha = 0.0
-
   def _render(self, _):
     self._steps[0].render(self._rect)
 
@@ -324,8 +314,7 @@ class TermsPage(Scroller):
   def __init__(self, on_accept, on_decline):
     super().__init__()
 
-    self._accept_button = BigConfirmationCircleButton("accept\nterms", gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64), on_accept,
-                                                      exit_on_confirm=False)
+    self._accept_button = BigConfirmationCircleButton("accept\nterms", gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64), on_accept)
     self._decline_button = BigConfirmationCircleButton("decline &\nuninstall", gui_app.texture("icons_mici/setup/cancel.png", 64, 64), on_decline,
                                                        red=True, exit_on_confirm=False)
 
@@ -360,7 +349,7 @@ def __init__(self, completed_callback: Callable[[], None]):
     # Windows
     self._terms = TermsPage(on_accept=self._on_terms_accepted, on_decline=self._on_uninstall)
     self._terms.set_enabled(lambda: self.enabled)  # for nav stack
-    self._training_guide = TrainingGuide(completed_callback=self._on_completed_training, block_back=True)
+    self._training_guide = TrainingGuide(completed_callback=self._on_completed_training)
     self._training_guide.set_enabled(lambda: self.enabled)  # for nav stack
 
   def _on_uninstall(self):

From 5908b7cda00a0d79453cf876b5dc867397a23b85 Mon Sep 17 00:00:00 2001
From: David <49467229+TheSecurityDev@users.noreply.github.com>
Date: Thu, 12 Mar 2026 22:09:10 -0500
Subject: [PATCH 0794/1434] ui replay: add mici UI exploration (#37641)

* replay: add dragging gesture support

* update dragging to support distance and duration; update mici script to go through settings

* refactor

* fix and add network

* add more

* interact device

* fix

* match statements

* more

* improve

* simplify script

* add keyboard test

* format

* simplify

* improve

* comment

* improve

* clarify

* clean

* simplify

* simplify

* move

* improve

* more delay

* simplify keyboard test

* simplify

* comment

* add onroad alert tests to mici

* scroll less

* test offroad alerts

* remove space

* scroll faster

* more toggle tests

* back to home

* test settings onroad

* fix pairing qr code

* add replay progress bar

* add replay progress bar

* simplify

* correct comment

* remove _

* we don't need this

* change click

* add return types

* fast typing

* use frames instead

* use frames instead

* update

* disable in CI

* +1

* fix script

* refactor how mici replay script cases are built

* refactor

* refactor: rename helper function for exploring settings in build_mici_script

* remove onroad settings check

* refactor

* simplify

* refactor: use explore_setting in more places to reduce duplication

* add type

* refactor: simplify explore_cases function by removing swipe_wait parameter

* add case to open wifi selection

* refactor: enhance run_actions to support after_each callback for interaction tests; rename explore_cases to scroll_through_cases

* add review training guide

* update comment

* comments

* comment

* fix swipe back
---
 selfdrive/ui/tests/diff/replay_script.py | 226 ++++++++++++++++++++---
 1 file changed, 203 insertions(+), 23 deletions(-)

diff --git a/selfdrive/ui/tests/diff/replay_script.py b/selfdrive/ui/tests/diff/replay_script.py
index c43442a33d3d21..c53d2f116bf76a 100644
--- a/selfdrive/ui/tests/diff/replay_script.py
+++ b/selfdrive/ui/tests/diff/replay_script.py
@@ -15,9 +15,16 @@
 from openpilot.system.updated.updated import parse_release_notes
 
 # Default frames to wait after events
-WAIT = FPS // 2
+WAIT_LONG = FPS
+WAIT_SHORT = FPS // 2
 FAST_CLICK = FPS // 6
 
+# Direction vectors for drag gestures
+DIR_LEFT = (-1, 0)
+DIR_RIGHT = (1, 0)
+DIR_UP = (0, -1)
+DIR_DOWN = (0, 1)
+
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 
@@ -61,26 +68,47 @@ def wait(self, frames: int) -> None:
     """Add a delay for the given number of frames followed by an empty event."""
     self.add(ScriptEvent(), before=frames)
 
-  def setup(self, fn: Callable, wait_after: int = WAIT) -> None:
+  def setup(self, fn: Callable, wait_after: int = WAIT_SHORT) -> None:
     """Add a setup function to be called immediately followed by a delay of the given number of frames."""
     self.add(ScriptEvent(setup=fn), after=wait_after)
 
-  def set_send(self, fn: Callable, wait_after: int = WAIT) -> None:
+  def set_send(self, fn: Callable, wait_after: int = WAIT_SHORT) -> None:
     """Set a new persistent send function to be called every frame."""
     self.add(ScriptEvent(send_fn=fn), after=wait_after)
 
-  # TODO: Also add more complex gestures, like swipe or drag
-  def click(self, x: int, y: int, wait_after: int = WAIT, wait_between: int = 2) -> None:
+  def click(self, x: int, y: int, wait_after: int = WAIT_SHORT, wait_between: int = 2) -> None:
     """Add a click event to the script for the given position and specify frames to wait between mouse events or after the click."""
     # NOTE: By default we wait a couple frames between mouse events so pressed states will be rendered
     from openpilot.system.ui.lib.application import MouseEvent, MousePos
 
-    # TODO: Add support for long press (left_down=True)
     mouse_down = MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=True, left_released=False, left_down=False, t=self.get_frame_time())
     self.add(ScriptEvent(mouse_events=[mouse_down]), after=wait_between)
     mouse_up = MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=True, left_down=False, t=self.get_frame_time())
     self.add(ScriptEvent(mouse_events=[mouse_up]), after=wait_after)
 
+  def drag(self, start_x: int, start_y: int, direction: tuple[int, int], distance: int, duration_frames: int, wait_after: int = WAIT_LONG) -> None:
+    """Add a drag gesture to the script from start position in the specified direction by the given distance over the given number of frames."""
+    from openpilot.system.ui.lib.application import MouseEvent, MousePos
+
+    # Calculate delta and end position based on direction and distance
+    delta_x, delta_y = direction[0] * distance, direction[1] * distance
+    end_x, end_y = start_x + delta_x, start_y + delta_y
+
+    # Mouse down at start
+    mouse_down = MouseEvent(pos=MousePos(start_x, start_y), slot=0, left_pressed=True, left_released=False, left_down=True, t=self.get_frame_time())
+    self.add(ScriptEvent(mouse_events=[mouse_down]), after=1)
+
+    # Interpolate positions over duration_frames
+    for i in range(1, duration_frames):
+      t = i / duration_frames
+      x, y = int(start_x + delta_x * t), int(start_y + delta_y * t)
+      mouse_move = MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=False, left_down=True, t=self.get_frame_time())
+      self.add(ScriptEvent(mouse_events=[mouse_move]), after=1)
+
+    # Mouse up at end
+    mouse_up = MouseEvent(pos=MousePos(end_x, end_y), slot=0, left_pressed=False, left_released=True, left_down=False, t=self.get_frame_time())
+    self.add(ScriptEvent(mouse_events=[mouse_up]), after=wait_after)
+
 
 # --- Setup functions ---
 
@@ -169,18 +197,181 @@ def _send() -> None:
   return _send
 
 
+def test_onroad_alerts(script: Script, pm: PubMaster) -> None:
+  """Go through various alert types and sizes and add them to the script to test alert rendering.
+    Each alert is sent as a separate event with a delay in between."""
+  # Small alert (normal)
+  script.set_send(make_alert_setup(pm, AlertSize.small, "Small Alert", "This is a small alert", AlertStatus.normal))
+  # Medium alert (userPrompt)
+  script.set_send(make_alert_setup(pm, AlertSize.mid, "Medium Alert", "This is a medium alert", AlertStatus.userPrompt))
+  # Full alert (critical)
+  script.set_send(make_alert_setup(pm, AlertSize.full, "DISENGAGE IMMEDIATELY", "Driver Distracted", AlertStatus.critical))
+  # Full alert multiline
+  script.set_send(make_alert_setup(pm, AlertSize.full, "Reverse\nGear", "", AlertStatus.normal))
+  # Full alert long text
+  script.set_send(make_alert_setup(pm, AlertSize.full, "TAKE CONTROL IMMEDIATELY", "Calibration Invalid: Remount Device & Recalibrate", AlertStatus.userPrompt))
+
+
 # --- Script builders ---
 
 def build_mici_script(pm: PubMaster, main_layout, script: Script) -> None:
   """Build the replay script for the mici layout."""
   from openpilot.system.ui.lib.application import gui_app
 
-  center = (gui_app.width // 2, gui_app.height // 2)
+  width, height = gui_app.width, gui_app.height
+  center = (width // 2, height // 2)
+  right = (width * 4 // 5, height // 2)
+  left = (width // 5, height // 2)
+  top = (width // 2, height // 10)
+  bottom = (width // 2, height * 9 // 10)
+
+  DURATION = 5
+  SWIPE_WAIT = FPS * 3 // 4
+
+  def click(times: int = 1, wait_after: int = WAIT_SHORT) -> None:
+    """Click at the center of the screen the given number of times with optional delay after."""
+    for _ in range(times):
+      script.click(*center, wait_after=wait_after)
+
+  def press(x: int, y: int, duration_frames: int = DURATION, wait_after: int = WAIT_SHORT) -> None:
+    """Perform a drag with no movement to simulate a left_down mouse event at the given position for the specified duration and delay after."""
+    script.drag(x, y, (0, 0), 0, duration_frames, wait_after=wait_after)
+
+  def swipe_left(distance: int = right[0] - left[0], duration_frames: int = DURATION, wait_after: int = SWIPE_WAIT) -> None:
+    """Drag from right edge to left (scroll right / slide confirmation)."""
+    script.drag(*right, DIR_LEFT, distance, duration_frames, wait_after)
+
+  def swipe_right(distance: int = right[0] - left[0], duration_frames: int = DURATION, wait_after: int = SWIPE_WAIT) -> None:
+    """Drag from left edge to right (scroll left)."""
+    script.drag(*left, DIR_RIGHT, distance, duration_frames, wait_after)
+
+  def swipe_down(distance: int = bottom[1] - top[1], duration_frames: int = DURATION, wait_after: int = SWIPE_WAIT) -> None:
+    """Drag from top edge to bottom (scroll up / go back)."""
+    script.drag(*top, DIR_DOWN, distance, duration_frames, wait_after)
+
+  def swipe_up(distance: int = bottom[1] - top[1], duration_frames: int = DURATION, wait_after: int = SWIPE_WAIT) -> None:
+    """Drag from bottom edge to top (scroll down)."""
+    script.drag(*bottom, DIR_UP, distance, duration_frames, wait_after)
+
+  ActionFn = Callable[[], None] | None
+  Cases = list[ActionFn]
+
+  def run_actions(*actions: ActionFn, after_each: ActionFn = None) -> None:
+    """Helper function to run a sequence of actions in order for interaction tests, calling after_each callback after each action if provided."""
+    for action in actions:
+      if action is not None:
+        action()
+      if after_each is not None:
+        after_each()
+
+  def explore_setting(*actions: ActionFn) -> None:
+    """Helper function to open a settings item, run the given actions, and go back."""
+    run_actions(click, *actions, swipe_down)  # open, interact, go back
+
+  def scroll_through_cases(cases: Cases) -> None:
+    """Helper function to explore a panel by calling the interaction callbacks for each item/page before swiping to the next one."""
+    run_actions(*cases, after_each=lambda: swipe_left(210, 10))  # swipe to roughly the center of the next toggle after each case
+
+  def interact_keyboard() -> None:
+    """Interact with the keyboard in various ways to test different actions and states.
+    Assumes it's a password keyboard with 8 characters required. Closes by pressing confirm at the end."""
+    KEY = (250, 160)  # key in the middle of the keyboard ('G')
+    SHIFT = (50, 210)
+    NUMBERS = (480, 210)
+    SPACE = (500, 160)
+    BACKSPACE = (490, 30)
+    CONFIRM = (50, 30)
+    # Begin interactions
+    press(*CONFIRM, wait_after=FAST_CLICK)  # confirm while disabled should do nothing
+    swipe_left(duration_frames=FPS // 2)  # swipe to type
+    swipe_up(duration_frames=FPS // 2)  # swipe out of keyboard (nothing typed)
+    # press various keys to test different states:
+    for key in [
+      SHIFT, KEY, KEY, SHIFT, SHIFT, KEY, KEY,  # test casing (upper, lower, caps lock)
+      SPACE, SPACE, BACKSPACE, BACKSPACE,  # test multiple space and backspace
+      NUMBERS, KEY, center, SHIFT, KEY  # test numbers and symbols
+    ]:
+      press(*key, wait_after=FAST_CLICK)
+    # press confirm to close
+    script.wait(WAIT_SHORT)  # wait for confirm to enable
+    press(*CONFIRM)
+
+  toggle_cases: Cases = [
+    lambda: click(times=3, wait_after=FAST_CLICK),  # first toggle is personality, which has 3 states
+    None, None, None, None, None, None,  # skip other toggles to save time
+    lambda: click(times=2, wait_after=FAST_CLICK),  # test final toggle (enable openpilot)
+  ]
+
+  network_cases: Cases = [
+    explore_setting,  # select wifi (just open and close)
+    None, None,
+    lambda: run_actions(click, interact_keyboard),  # tether password keyboard
+  ]
+
+  device_cases: Cases = [
+    None,
+    click,  # update
+    explore_setting,  # pairing (just open and close)
+    lambda: explore_setting(
+      # training guide
+      lambda: swipe_left(width * 2), click,  # first page, click next
+      lambda: swipe_left(width * 2), swipe_down  # second page, go back (TODO: make driver cam preview work)
+    ),
+    None,  # TODO: preview driver camera; enabling this causes MultiplePublishersError later in onroad alert tests
+    lambda: explore_setting(swipe_left),  # terms & conditions (swipe to view QR code)
+    lambda: explore_setting(lambda: swipe_up(height * 3), lambda: swipe_down(height * 3)),  # regulatory info
+    lambda: run_actions(click, lambda: swipe_left(width)),  # reset calibration confirm (goes back automatically)
+    lambda: explore_setting(lambda: swipe_left(width)),  # uninstall
+    lambda: run_actions(
+      lambda: explore_setting(lambda: swipe_left(width)),  # reboot
+      lambda: script.click(430, 120), lambda: swipe_left(width), swipe_down,  # shutdown
+    ),
+  ]
+
+  developer_cases: Cases = [
+    lambda: click(times=2, wait_after=FAST_CLICK),  # toggle ssh mode
+    explore_setting,  # SSH keys keyboard (just open and close)
+    None,  # joystick mode
+    lambda: click(wait_after=FAST_CLICK),  # longitudinal maneuver mode (disabled; should do nothing)
+    lambda: click(times=2, wait_after=FAST_CLICK),  # toggle UI debug mode
+  ]
+
+  settings_cases: Cases = [
+    lambda: scroll_through_cases(toggle_cases),
+    lambda: scroll_through_cases(network_cases),
+    lambda: scroll_through_cases(device_cases),
+    lambda: script.wait(WAIT_SHORT),  # pairing
+    lambda: run_actions(lambda: swipe_up(height * 3), lambda: swipe_down(height * 3)),  # firehose (scroll down and back up)
+    lambda: scroll_through_cases(developer_cases),
+  ]
+
+  # === Homescreen === #
+  script.wait(WAIT_SHORT)
+  swipe_left(width, wait_after=WAIT_SHORT)  # onroad screen
+  swipe_right(width, wait_after=WAIT_SHORT)  # back to home
+
+  # === Offroad Alerts ===
+  def setup_offroad_alerts_and_refresh() -> None:
+    """Setup function to trigger offroad alerts and force a refresh on the alerts layout."""
+    setup_offroad_alerts()
+    main_layout._alerts_layout.refresh()
+
+  swipe_right(width, wait_after=WAIT_SHORT)  # open alerts
+  script.setup(setup_offroad_alerts_and_refresh)  # show alerts
+  swipe_up(height)  # scroll alerts
+  swipe_left(width, wait_after=WAIT_SHORT)  # close alerts
+
+  # === Settings === #
+  click()  # open settings
+  scroll_through_cases([lambda case=case: explore_setting(case) for case in settings_cases])  # explore settings
+  swipe_down()  # back to home
+
+  # === Onroad ===
+  script.set_send(lambda: send_onroad(pm))
+  swipe_left(width, wait_after=WAIT_SHORT)  # onroad screen
+  test_onroad_alerts(script, pm)
+  swipe_right(width)  # back to home
 
-  # TODO: Explore more
-  script.wait(FPS)
-  script.click(*center, FPS)  # Open settings
-  script.click(*center, FPS)  # Open toggles
   script.end()
 
 
@@ -313,18 +504,7 @@ def type_keyboard() -> None:
   # === Onroad ===
   script.set_send(lambda: send_onroad(pm))
   script.click(1000, 500)  # click onroad to toggle sidebar
-
-  # === Onroad alerts ===
-  # Small alert (normal)
-  script.set_send(make_alert_setup(pm, AlertSize.small, "Small Alert", "This is a small alert", AlertStatus.normal))
-  # Medium alert (userPrompt)
-  script.set_send(make_alert_setup(pm, AlertSize.mid, "Medium Alert", "This is a medium alert", AlertStatus.userPrompt))
-  # Full alert (critical)
-  script.set_send(make_alert_setup(pm, AlertSize.full, "DISENGAGE IMMEDIATELY", "Driver Distracted", AlertStatus.critical))
-  # Full alert multiline
-  script.set_send(make_alert_setup(pm, AlertSize.full, "Reverse\nGear", "", AlertStatus.normal))
-  # Full alert long text
-  script.set_send(make_alert_setup(pm, AlertSize.full, "TAKE CONTROL IMMEDIATELY", "Calibration Invalid: Remount Device & Recalibrate", AlertStatus.userPrompt))
+  test_onroad_alerts(script, pm)
 
   # End
   script.end()

From 0376660023fe0a141d1429e9dce7cdadf9f5e5c0 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Fri, 13 Mar 2026 10:19:45 -0700
Subject: [PATCH 0795/1434] ci: modify models repo title (#1764)

---
 .github/workflows/build-all-tinygrad-models.yaml   | 6 +++---
 .github/workflows/build-single-tinygrad-model.yaml | 2 +-
 sunnypilot/models/fetcher.py                       | 2 +-
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/build-all-tinygrad-models.yaml b/.github/workflows/build-all-tinygrad-models.yaml
index e901baee0c5c36..412676e5fd5b43 100644
--- a/.github/workflows/build-all-tinygrad-models.yaml
+++ b/.github/workflows/build-all-tinygrad-models.yaml
@@ -34,10 +34,10 @@ jobs:
           echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
           echo "tinygrad_ref is $ref"
 
-      - name: Checkout docs repo (sunnypilot-docs, gh-pages)
+      - name: Checkout docs repo (sunnypilot-models, gh-pages)
         uses: actions/checkout@v4
         with:
-          repository: sunnypilot/sunnypilot-docs
+          repository: sunnypilot/sunnypilot-models
           ref: gh-pages
           path: docs
           ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
@@ -202,7 +202,7 @@ jobs:
       - name: Checkout docs repo
         uses: actions/checkout@v4
         with:
-          repository: sunnypilot/sunnypilot-docs
+          repository: sunnypilot/sunnypilot-models
           ref: gh-pages
           path: docs
           ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
diff --git a/.github/workflows/build-single-tinygrad-model.yaml b/.github/workflows/build-single-tinygrad-model.yaml
index fae9d6aa0103e7..e7e3b67b51cdce 100644
--- a/.github/workflows/build-single-tinygrad-model.yaml
+++ b/.github/workflows/build-single-tinygrad-model.yaml
@@ -119,7 +119,7 @@ jobs:
       - name: Checkout docs repo
         uses: actions/checkout@v4
         with:
-          repository: sunnypilot/sunnypilot-docs
+          repository: sunnypilot/sunnypilot-models
           ref: gh-pages
           path: docs
           ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 5990ee2e4143b6..452c59e06bfc7b 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -116,7 +116,7 @@ def set(self, data: dict) -> None:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v15.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v15.json"
 
   def __init__(self, params: Params):
     self.params = params

From 37ac33fbcccb17e7beb3b329de6c19aa5803c42f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 13 Mar 2026 19:19:37 -0400
Subject: [PATCH 0796/1434] gitignore: add CLAUDE.md and SKILL.md

---
 .gitignore | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.gitignore b/.gitignore
index cd5e64e52b40b7..ebe6ca6c9dc839 100644
--- a/.gitignore
+++ b/.gitignore
@@ -101,6 +101,8 @@ Pipfile
 .context/
 PLAN.md
 TASK.md
+CLAUDE.md
+SKILL.md
 
 ### JetBrains ###
 !.idea/customTargets.xml

From 2cc70ef2e4c3d0f7109342e119c67dafcb6f329c Mon Sep 17 00:00:00 2001
From: David <49467229+TheSecurityDev@users.noreply.github.com>
Date: Fri, 13 Mar 2026 18:34:22 -0500
Subject: [PATCH 0797/1434] record: smaller clip sizes by adjusting preset
 (#37666)

use veryfast instead of ultrafast
---
 system/ui/lib/application.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index 5d40abdc14376b..1d518309d3e5e0 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -299,7 +299,7 @@ def _close(sig, frame):
           '-vf', 'vflip,format=yuv420p',  # Flip vertically and convert to yuv420p
           '-r', str(output_fps),    # Output frame rate (for speed multiplier)
           '-c:v', 'libx264',
-          '-preset', 'ultrafast',
+          '-preset', 'veryfast',
           '-crf', str(RECORD_QUALITY)
         ]
         if RECORD_BITRATE:

From 06630e8a398d9491d173fb4e70a19a58f41c8a2a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 13 Mar 2026 19:20:02 -0700
Subject: [PATCH 0798/1434] setup: remove brew (#37669)

---
 tools/setup_dependencies.sh | 12 ------------
 1 file changed, 12 deletions(-)

diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
index 0b785bf4a2eaf1..8132cd16dc182f 100755
--- a/tools/setup_dependencies.sh
+++ b/tools/setup_dependencies.sh
@@ -113,24 +113,12 @@ function install_python_deps() {
   source .venv/bin/activate
 }
 
-function install_macos_deps() {
-  if ! command -v brew > /dev/null 2>&1; then
-    echo "homebrew not found, skipping macOS system dependency install"
-    return 0
-  fi
-
-  if ! command -v cmake > /dev/null 2>&1; then
-    brew install cmake
-  fi
-}
-
 # --- Main ---
 
 if [[ "$OSTYPE" == "linux-gnu"* ]]; then
   install_ubuntu_deps
   echo "[ ] installed system dependencies t=$SECONDS"
 elif [[ "$OSTYPE" == "darwin"* ]]; then
-  install_macos_deps
   if [[ $SHELL == "/bin/zsh" ]]; then
     RC_FILE="$HOME/.zshrc"
   elif [[ $SHELL == "/bin/bash" ]]; then

From ee9da82aab4bfa59af65a5ce00604b4b2073786b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 13 Mar 2026 19:20:33 -0700
Subject: [PATCH 0799/1434] cleanup build paths (#37667)

* cleanup build paths

* not used

* lil more

* rm those too

* rm

* lil more
---
 SConstruct              | 28 ++++++-------------
 common/SConscript       |  2 +-
 selfdrive/SConscript    |  6 ----
 selfdrive/ui/SConscript | 62 ++++++++++++++++++++---------------------
 tools/cabana/SConscript |  4 +--
 5 files changed, 41 insertions(+), 61 deletions(-)
 delete mode 100644 selfdrive/SConscript

diff --git a/SConstruct b/SConstruct
index 6ec98b429e4745..0a4a3701a64a8e 100644
--- a/SConstruct
+++ b/SConstruct
@@ -15,9 +15,6 @@ Decider('MD5-timestamp')
 
 SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
 
-AddOption('--asan', action='store_true', help='turn on ASAN')
-AddOption('--ubsan', action='store_true', help='turn on UBSan')
-AddOption('--mutation', action='store_true', help='generate mutation-ready code')
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
 AddOption('--verbose', action='store_true', default=False, help='show full build commands')
 AddOption('--minimal',
@@ -99,8 +96,6 @@ if arch == "larch64":
   env["CC"] = "clang"
   env["CXX"] = "clang++"
   env.Append(LIBPATH=[
-    "/usr/local/lib",
-    "/system/vendor/lib64",
     "/usr/lib/aarch64-linux-gnu",
   ])
   arch_flags = ["-D__TICI__", "-mcpu=cortex-a57"]
@@ -112,19 +107,6 @@ elif arch == "Darwin":
   ])
   env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
   env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
-else:
-  env.Append(LIBPATH=[
-    "/usr/lib",
-    "/usr/local/lib",
-  ])
-
-# Sanitizers and extra CCFLAGS from CLI
-if GetOption('asan'):
-  env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"])
-  env.Append(LINKFLAGS=["-fsanitize=address"])
-elif GetOption('ubsan'):
-  env.Append(CCFLAGS=["-fsanitize=undefined"])
-  env.Append(LINKFLAGS=["-fsanitize=undefined"])
 
 _extra_cc = shlex.split(GetOption('ccflags') or '')
 if _extra_cc:
@@ -220,7 +202,15 @@ if arch == "larch64":
 # Build openpilot
 SConscript(['third_party/SConscript'])
 
-SConscript(['selfdrive/SConscript'])
+# Build selfdrive
+SConscript([
+  'selfdrive/pandad/SConscript',
+  'selfdrive/controls/lib/lateral_mpc_lib/SConscript',
+  'selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
+  'selfdrive/locationd/SConscript',
+  'selfdrive/modeld/SConscript',
+  'selfdrive/ui/SConscript',
+])
 
 if Dir('#tools/cabana/').exists() and arch != "larch64":
   SConscript(['tools/cabana/SConscript'])
diff --git a/common/SConscript b/common/SConscript
index 15a0e5eff1503a..c9bd1c72d136c0 100644
--- a/common/SConscript
+++ b/common/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch')
+Import('env', 'envCython')
 
 common_libs = [
   'params.cc',
diff --git a/selfdrive/SConscript b/selfdrive/SConscript
deleted file mode 100644
index 55f347c44ebfdf..00000000000000
--- a/selfdrive/SConscript
+++ /dev/null
@@ -1,6 +0,0 @@
-SConscript(['pandad/SConscript'])
-SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
-SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
-SConscript(['locationd/SConscript'])
-SConscript(['modeld/SConscript'])
-SConscript(['ui/SConscript'])
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 4d7448c62f858b..1a662e6b245163 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -1,4 +1,3 @@
-import re
 from pathlib import Path
 Import('env', 'arch', 'common')
 
@@ -19,39 +18,38 @@ env.Command(
 
 if GetOption('extras') and arch == "larch64":
   # build installers
-  if arch != "Darwin":
-    raylib_env = env.Clone()
-    raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
-    raylib_env['LINKFLAGS'].append('-Wl,-strip-debug')
+  raylib_env = env.Clone()
+  raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
+  raylib_env['LINKFLAGS'].append('-Wl,-strip-debug')
 
-    raylib_libs = common + ["raylib"]
-    if arch == "larch64":
-      raylib_libs += ["GLESv2", "EGL", "gbm", "drm"]
-    else:
-      raylib_libs += ["GL"]
+  raylib_libs = common + ["raylib"]
+  if arch == "larch64":
+    raylib_libs += ["GLESv2", "EGL", "gbm", "drm"]
+  else:
+    raylib_libs += ["GL"]
 
-    release = "release3"
-    installers = [
-      ("openpilot", release),
-      ("openpilot_test", f"{release}-staging"),
-      ("openpilot_nightly", "nightly"),
-      ("openpilot_internal", "nightly-dev"),
-    ]
+  release = "release3"
+  installers = [
+    ("openpilot", release),
+    ("openpilot_test", f"{release}-staging"),
+    ("openpilot_nightly", "nightly"),
+    ("openpilot_internal", "nightly-dev"),
+  ]
 
-    cont = raylib_env.Command("installer/continue_openpilot.o", "installer/continue_openpilot.sh",
+  cont = raylib_env.Command("installer/continue_openpilot.o", "installer/continue_openpilot.sh",
+                            "ld -r -b binary -o $TARGET $SOURCE")
+  inter = raylib_env.Command("installer/inter_ttf.o", "installer/inter-ascii.ttf",
+                             "ld -r -b binary -o $TARGET $SOURCE")
+  inter_bold = raylib_env.Command("installer/inter_bold.o", "../assets/fonts/Inter-Bold.ttf",
                               "ld -r -b binary -o $TARGET $SOURCE")
-    inter = raylib_env.Command("installer/inter_ttf.o", "installer/inter-ascii.ttf",
-                               "ld -r -b binary -o $TARGET $SOURCE")
-    inter_bold = raylib_env.Command("installer/inter_bold.o", "../assets/fonts/Inter-Bold.ttf",
-                                "ld -r -b binary -o $TARGET $SOURCE")
-    inter_light = raylib_env.Command("installer/inter_light.o", "../assets/fonts/Inter-Light.ttf",
-                                "ld -r -b binary -o $TARGET $SOURCE")
-    for name, branch in installers:
-      d = {'BRANCH': f"'\"{branch}\"'"}
-      if "internal" in name:
-        d['INTERNAL'] = "1"
+  inter_light = raylib_env.Command("installer/inter_light.o", "../assets/fonts/Inter-Light.ttf",
+                              "ld -r -b binary -o $TARGET $SOURCE")
+  for name, branch in installers:
+    d = {'BRANCH': f"'\"{branch}\"'"}
+    if "internal" in name:
+      d['INTERNAL'] = "1"
 
-      obj = raylib_env.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
-      f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter, inter_bold, inter_light], LIBS=raylib_libs)
-      # keep installers small
-      assert f[0].get_size() < 2500*1e3, f[0].get_size()
+    obj = raylib_env.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
+    f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter, inter_bold, inter_light], LIBS=raylib_libs)
+    # keep installers small
+    assert f[0].get_size() < 2500*1e3, f[0].get_size()
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index 1f7ba3eaef79d2..ad77231ea6681a 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -71,14 +71,12 @@ if arch == "Darwin":
 else:
   base_libs.append('Qt5Charts')
 
-qt_libs = base_libs
-
 cabana_env = qt_env.Clone()
 if arch == "Darwin":
   cabana_env['CPPPATH'] += [f"{brew_prefix}/include"]
   cabana_env['LIBPATH'] += [f"{brew_prefix}/lib"]
 
-cabana_libs = [cereal, messaging, visionipc, replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'bz2', 'zstd', 'yuv', 'usb-1.0'] + qt_libs
+cabana_libs = [cereal, messaging, visionipc, replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'bz2', 'zstd', 'yuv', 'usb-1.0'] + base_libs
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc/dbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 

From 9d19cca006648da50f8e86bb92f10c107a1bf63d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 13 Mar 2026 20:12:13 -0700
Subject: [PATCH 0800/1434] scons: whitelist non-vendored includes and
 libraries (#37670)

---
 SConstruct | 40 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 40 insertions(+)

diff --git a/SConstruct b/SConstruct
index 0a4a3701a64a8e..be77027ad98aba 100644
--- a/SConstruct
+++ b/SConstruct
@@ -8,6 +8,7 @@ import importlib
 import numpy as np
 
 import SCons.Errors
+from SCons.Defaults import _stripixes
 
 SCons.Warnings.warningAsException(True)
 
@@ -39,6 +40,44 @@ assert arch in [
 pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 
+
+# ***** enforce a whitelist of system libraries *****
+# this prevents silently relying on a 3rd party package,
+# e.g. apt-installed libusb. all libraries should either
+# be distributed with all Linux distros and macOS, or
+# vendored in commaai/dependencies.
+allowed_system_libs = {
+  "EGL", "GLESv2", "GL", "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
+  "crypto", "dl", "drm", "gbm", "m", "pthread", "ssl", "usb-1.0",
+}
+
+def _resolve_lib(env, name):
+  for d in env.Flatten(env.get('LIBPATH', [])):
+    p = Dir(str(d)).abspath
+    for ext in ('.a', '.so', '.dylib'):
+      f = File(os.path.join(p, f'lib{name}{ext}'))
+      if f.exists() or f.has_builder():
+        return f
+  if name in allowed_system_libs:
+    return name
+  raise SCons.Errors.UserError(f"Unexpected non-vendored library '{name}'")
+
+def _libflags(target, source, env, for_signature):
+  libs = []
+  lp = env.subst('$LIBLITERALPREFIX')
+  for lib in env.Flatten(env.get('LIBS', [])):
+    if isinstance(lib, str):
+      if os.sep in lib or lib.startswith('#'):
+        libs.append(File(lib))
+      elif lib.startswith('-') or (lp and lib.startswith(lp)):
+        libs.append(lib)
+      else:
+        libs.append(_resolve_lib(env, lib))
+    else:
+      libs.append(lib)
+  return _stripixes(env['LIBLINKPREFIX'], libs, env['LIBLINKSUFFIX'],
+                    env['LIBPREFIXES'], env['LIBSUFFIXES'], env, env['LIBLITERALPREFIX'])
+
 env = Environment(
   ENV={
     "PATH": os.environ['PATH'],
@@ -90,6 +129,7 @@ env = Environment(
   tools=["default", "cython", "compilation_db", "rednose_filter"],
   toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
+env['_LIBFLAGS'] = _libflags
 
 # Arch-specific flags and paths
 if arch == "larch64":

From 24121f8abff77ec86d3cdbc79f5de4445d94716c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 13 Mar 2026 20:16:34 -0700
Subject: [PATCH 0801/1434] ui: asynchronous ssh key fetcher (#37668)

* async

* clean on failure

* fix

* meh job

* one less

* no clear

* disable

* no clue

* better

* always passed
---
 .../ui/mici/layouts/settings/developer.py     | 29 +++---
 selfdrive/ui/widgets/ssh_key.py               | 90 ++++++++++++-------
 2 files changed, 77 insertions(+), 42 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/selfdrive/ui/mici/layouts/settings/developer.py
index eccaa3ec0937ff..b471c50f99b64d 100644
--- a/selfdrive/ui/mici/layouts/settings/developer.py
+++ b/selfdrive/ui/mici/layouts/settings/developer.py
@@ -5,25 +5,30 @@
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.ui.widgets.ssh_key import SshKeyAction
+from openpilot.selfdrive.ui.widgets.ssh_key import SshKeyFetcher
 
 
 class DeveloperLayoutMici(NavScroller):
   def __init__(self):
     super().__init__()
+    self._ssh_fetcher = SshKeyFetcher(ui_state.params)
 
     def github_username_callback(username: str):
       if username:
-        ssh_keys = SshKeyAction()
-        ssh_keys._fetch_ssh_key(username)
-        if not ssh_keys._error_message:
-          self._ssh_keys_btn.set_value(username)
-        else:
-          dlg = BigDialog("", ssh_keys._error_message)
-          gui_app.push_widget(dlg)
+        self._ssh_keys_btn.set_value("Loading...")
+        self._ssh_keys_btn.set_enabled(False)
+
+        def on_response(error):
+          self._ssh_keys_btn.set_enabled(True)
+          if error is None:
+            self._ssh_keys_btn.set_value(username)
+          else:
+            self._ssh_keys_btn.set_value("Not set")
+            gui_app.push_widget(BigDialog("", error))
+
+        self._ssh_fetcher.fetch(username, on_response)
       else:
-        ui_state.params.remove("GithubUsername")
-        ui_state.params.remove("GithubSshKeys")
+        self._ssh_fetcher.clear()
         self._ssh_keys_btn.set_value("Not set")
 
     def ssh_keys_callback():
@@ -99,6 +104,10 @@ def ssh_keys_callback():
 
     ui_state.add_offroad_transition_callback(self._update_toggles)
 
+  def _update_state(self):
+    super()._update_state()
+    self._ssh_fetcher.update()
+
   def show_event(self):
     super().show_event()
     self._update_toggles()
diff --git a/selfdrive/ui/widgets/ssh_key.py b/selfdrive/ui/widgets/ssh_key.py
index b31a9eb3bd1a8d..b3ff5c1711b52d 100644
--- a/selfdrive/ui/widgets/ssh_key.py
+++ b/selfdrive/ui/widgets/ssh_key.py
@@ -1,7 +1,6 @@
 import pyray as rl
 import requests
 import threading
-import copy
 from collections.abc import Callable
 from enum import Enum
 
@@ -25,6 +24,51 @@
 VALUE_FONT_SIZE = 48
 
 
+class SshKeyFetcher:
+  HTTP_TIMEOUT = 15  # seconds
+
+  def __init__(self, params: Params):
+    self._params = params
+    self._on_response: Callable[[str | None], None] | None = None
+    self._done: bool = False
+    self._error: str | None = None
+
+  def fetch(self, username: str, on_response: Callable[[str | None], None]):
+    self._error = None
+    self._on_response = on_response
+    threading.Thread(target=self._fetch_thread, args=(username,), daemon=True).start()
+
+  def update(self):
+    if not self._done:
+      return
+    self._done = False
+    if self._error is not None:
+      self.clear()
+    if self._on_response:
+      self._on_response(self._error)
+
+  def clear(self):
+    self._params.remove("GithubUsername")
+    self._params.remove("GithubSshKeys")
+
+  def _fetch_thread(self, username: str):
+    try:
+      response = requests.get(f"https://github.com/{username}.keys", timeout=self.HTTP_TIMEOUT)
+      response.raise_for_status()
+      keys = response.text.strip()
+      if not keys:
+        raise requests.exceptions.HTTPError("No SSH keys found")
+
+      self._params.put("GithubUsername", username)
+      self._params.put("GithubSshKeys", keys)
+    except requests.exceptions.Timeout:
+      self._error = tr("Request timed out")
+    except Exception:
+      self._error = tr("No SSH keys found for user '{}'").format(username)
+    finally:
+      self._done = True
+
+
 class SshKeyActionState(Enum):
   LOADING = tr_noop("LOADING")
   ADD = tr_noop("ADD")
@@ -32,7 +76,6 @@ class SshKeyActionState(Enum):
 
 
 class SshKeyAction(ItemAction):
-  HTTP_TIMEOUT = 15  # seconds
   MAX_WIDTH = 500
 
   def __init__(self):
@@ -40,7 +83,7 @@ def __init__(self):
 
     self._keyboard = Keyboard(min_text_size=1)
     self._params = Params()
-    self._error_message: str = ""
+    self._fetcher = SshKeyFetcher(self._params)
     self._text_font = gui_app.font(FontWeight.NORMAL)
     self._button = Button("", click_callback=self._handle_button_click, button_style=ButtonStyle.LIST_ACTION,
                           border_radius=BUTTON_BORDER_RADIUS, font_size=BUTTON_FONT_SIZE)
@@ -55,14 +98,11 @@ def _refresh_state(self):
     self._username = self._params.get("GithubUsername")
     self._state = SshKeyActionState.REMOVE if self._params.get("GithubSshKeys") else SshKeyActionState.ADD
 
-  def _render(self, rect: rl.Rectangle) -> bool:
-    # Show error dialog if there's an error
-    if self._error_message:
-      message = copy.copy(self._error_message)
-      gui_app.push_widget(alert_dialog(message))
-      self._username = ""
-      self._error_message = ""
+  def _update_state(self):
+    super()._update_state()
+    self._fetcher.update()
 
+  def _render(self, rect: rl.Rectangle) -> bool:
     # Draw username if exists
     if self._username:
       text_size = measure_text_cached(self._text_font, self._username, VALUE_FONT_SIZE)
@@ -90,8 +130,7 @@ def _handle_button_click(self):
       self._keyboard.set_callback(self._on_username_submit)
       gui_app.push_widget(self._keyboard)
     elif self._state == SshKeyActionState.REMOVE:
-      self._params.remove("GithubUsername")
-      self._params.remove("GithubSshKeys")
+      self._fetcher.clear()
       self._refresh_state()
 
   def _on_username_submit(self, result: DialogResult):
@@ -103,29 +142,16 @@ def _on_username_submit(self, result: DialogResult):
       return
 
     self._state = SshKeyActionState.LOADING
-    threading.Thread(target=lambda: self._fetch_ssh_key(username), daemon=True).start()
+    self._fetcher.fetch(username, self._on_fetch_response)
 
-  def _fetch_ssh_key(self, username: str):
-    try:
-      url = f"https://github.com/{username}.keys"
-      response = requests.get(url, timeout=self.HTTP_TIMEOUT)
-      response.raise_for_status()
-      keys = response.text.strip()
-      if not keys:
-        raise requests.exceptions.HTTPError(tr("No SSH keys found"))
-
-      # Success - save keys
-      self._params.put("GithubUsername", username)
-      self._params.put("GithubSshKeys", keys)
+  def _on_fetch_response(self, error: str | None):
+    if error is None:
       self._state = SshKeyActionState.REMOVE
-      self._username = username
-
-    except requests.exceptions.Timeout:
-      self._error_message = tr("Request timed out")
-      self._state = SshKeyActionState.ADD
-    except Exception:
-      self._error_message = tr("No SSH keys found for user '{}'").format(username)
+      self._username = self._params.get("GithubUsername")
+    else:
       self._state = SshKeyActionState.ADD
+      self._username = ""
+      gui_app.push_widget(alert_dialog(error))
 
 
 def ssh_key_item(title: str | Callable[[], str], description: str | Callable[[], str]) -> ListItem:

From 380d91c8f71a2d6cdc61384892be9d7fa3f1505f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 13 Mar 2026 20:26:32 -0700
Subject: [PATCH 0802/1434] don't need to whitelist on larch64

---
 SConstruct | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/SConstruct b/SConstruct
index be77027ad98aba..e8edfe1feee484 100644
--- a/SConstruct
+++ b/SConstruct
@@ -129,7 +129,8 @@ env = Environment(
   tools=["default", "cython", "compilation_db", "rednose_filter"],
   toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
-env['_LIBFLAGS'] = _libflags
+if arch != "larch64":
+  env['_LIBFLAGS'] = _libflags
 
 # Arch-specific flags and paths
 if arch == "larch64":

From 46bbe6890a8888e3e7db95b931650f024a64c0fb Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 13 Mar 2026 21:56:07 -0700
Subject: [PATCH 0803/1434] mici ui: consistent dialogs (#37671)

* new dialog

* clean up

* got wish

* use in mici reset

* punctuation

* clean up
---
 .../ui/mici/layouts/settings/developer.py     |  2 +-
 selfdrive/ui/mici/layouts/settings/device.py  |  8 ++--
 selfdrive/ui/mici/widgets/button.py           | 37 +++++++++++++++
 selfdrive/ui/mici/widgets/dialog.py           | 46 ++++---------------
 system/ui/mici_reset.py                       | 20 +++-----
 system/ui/mici_setup.py                       | 39 +---------------
 6 files changed, 59 insertions(+), 93 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/selfdrive/ui/mici/layouts/settings/developer.py
index b471c50f99b64d..386b4689280904 100644
--- a/selfdrive/ui/mici/layouts/settings/developer.py
+++ b/selfdrive/ui/mici/layouts/settings/developer.py
@@ -35,7 +35,7 @@ def ssh_keys_callback():
       github_username = ui_state.params.get("GithubUsername") or ""
       dlg = BigInputDialog("enter GitHub username...", github_username, minimum_length=0, confirm_callback=github_username_callback)
       if not system_time_valid():
-        dlg = BigDialog("Please connect to Wi-Fi to fetch your key", "")
+        dlg = BigDialog("", "Please connect to Wi-Fi to fetch your key.")
         gui_app.push_widget(dlg)
         return
       gui_app.push_widget(dlg)
diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py
index 909e30ac719c24..3c165b5bb35b6b 100644
--- a/selfdrive/ui/mici/layouts/settings/device.py
+++ b/selfdrive/ui/mici/layouts/settings/device.py
@@ -74,7 +74,7 @@ def confirm_callback():
 
     gui_app.push_widget(BigConfirmationDialog(f"slide to\n{action_text.lower()}", icon, confirm_callback, exit_on_confirm=exit_on_confirm, red=red))
   else:
-    gui_app.push_widget(BigDialog(f"Disengage to {action_text}", ""))
+    gui_app.push_widget(BigDialog("", f"Disengage to {action_text}"))
 
 
 class EngagedConfirmationCircleButton(BigCircleButton):
@@ -156,9 +156,9 @@ def _handle_mouse_release(self, mouse_pos: MousePos):
       return
     dlg: BigDialog | PairingDialog
     if not system_time_valid():
-      dlg = BigDialog(tr("Please connect to Wi-Fi to complete initial pairing"), "")
+      dlg = BigDialog("", tr("Please connect to Wi-Fi to complete initial pairing."))
     elif UNREGISTERED_DONGLE_ID == (ui_state.params.get("DongleId") or UNREGISTERED_DONGLE_ID):
-      dlg = BigDialog(tr("Device must be registered with the comma.ai backend to pair"), "")
+      dlg = BigDialog("", tr("Device must be registered with the comma.ai backend to pair."))
     else:
       dlg = PairingDialog()
     gui_app.push_widget(dlg)
@@ -188,7 +188,7 @@ def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
 
     if not system_time_valid():
-      dlg = BigDialog(tr("Please connect to Wi-Fi to update"), "")
+      dlg = BigDialog("", tr("Please connect to Wi-Fi to update."))
       gui_app.push_widget(dlg)
       return
 
diff --git a/selfdrive/ui/mici/widgets/button.py b/selfdrive/ui/mici/widgets/button.py
index 9724a18192f8f2..058c351fb639f9 100644
--- a/selfdrive/ui/mici/widgets/button.py
+++ b/selfdrive/ui/mici/widgets/button.py
@@ -335,6 +335,43 @@ def _draw_content(self, btn_y: float):
       y += 35
 
 
+class GreyBigButton(BigButton):
+  """Users should manage newlines with this class themselves"""
+
+  LABEL_HORIZONTAL_PADDING = 30
+
+  def __init__(self, *args, **kwargs):
+    super().__init__(*args, **kwargs)
+    self.set_touch_valid_callback(lambda: False)
+
+    self._rect.width = 476
+
+    self._label.set_font_size(36)
+    self._label.set_font_weight(FontWeight.BOLD)
+    self._label.set_line_height(1.0)
+
+    self._sub_label.set_font_size(36)
+    self._sub_label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.9)))
+    self._sub_label.set_font_weight(FontWeight.DISPLAY_REGULAR)
+    self._sub_label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE if not self._label.text else
+                                           rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
+    self._sub_label.set_line_height(0.95)
+
+  @property
+  def LABEL_VERTICAL_PADDING(self):
+    return BigButton.LABEL_VERTICAL_PADDING if self._label.text else 18
+
+  def _width_hint(self) -> int:
+    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2)
+
+  def _get_label_font_size(self):
+    return 36
+
+  def _render(self, _):
+    rl.draw_rectangle_rounded(self._rect, 0.4, 10, rl.Color(255, 255, 255, int(255 * 0.15)))
+    self._draw_content(self._rect.y)
+
+
 class BigMultiParamToggle(BigMultiToggle):
   def __init__(self, text: str, param: str, options: list[str], toggle_callback: Callable | None = None,
                select_callback: Callable | None = None):
diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py
index 396ea35cc8d620..ed1466449b269a 100644
--- a/selfdrive/ui/mici/widgets/dialog.py
+++ b/selfdrive/ui/mici/widgets/dialog.py
@@ -4,14 +4,13 @@
 from typing import Union
 from collections.abc import Callable
 from openpilot.system.ui.widgets.nav_widget import NavWidget
-from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
+from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.mici_keyboard import MiciKeyboard
 from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.wrap_text import wrap_text
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.widgets.slider import RedBigSlider, BigSlider
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton, BigButton
+from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton, BigButton, GreyBigButton
 
 DEBUG = False
 
@@ -25,42 +24,17 @@ def __init__(self):
 
 
 class BigDialog(BigDialogBase):
-  def __init__(self,
-               title: str,
-               description: str):
+  def __init__(self, title: str, description: str, icon: Union[rl.Texture, None] = None):
     super().__init__()
-    self._title = title
-    self._description = description
+    self._card = GreyBigButton(title, description, icon)
 
   def _render(self, _):
-    super()._render(_)
-
-    # draw title
-    # TODO: we desperately need layouts
-    # TODO: coming up with these numbers manually is a pain and not scalable
-    # TODO: no clue what any of these numbers mean. VBox and HBox would remove all of this shite
-    max_width = self._rect.width - PADDING * 2
-
-    title_wrapped = '\n'.join(wrap_text(gui_app.font(FontWeight.BOLD), self._title, 50, int(max_width)))
-    title_size = measure_text_cached(gui_app.font(FontWeight.BOLD), title_wrapped, 50)
-    text_x_offset = 0
-    title_rect = rl.Rectangle(self._rect.x + text_x_offset + PADDING,
-                              self._rect.y + PADDING,
-                              max_width,
-                              title_size.y)
-    gui_label(title_rect, title_wrapped, 50, font_weight=FontWeight.BOLD,
-              alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
-
-    # draw description
-    desc_wrapped = '\n'.join(wrap_text(gui_app.font(FontWeight.MEDIUM), self._description, 30, int(max_width)))
-    desc_size = measure_text_cached(gui_app.font(FontWeight.MEDIUM), desc_wrapped, 30)
-    desc_rect = rl.Rectangle(self._rect.x + text_x_offset + PADDING,
-                             self._rect.y + self._rect.height / 3,
-                             max_width,
-                             desc_size.y)
-    # TODO: text align doesn't seem to work properly with newlines
-    gui_label(desc_rect, desc_wrapped, 30, font_weight=FontWeight.MEDIUM,
-              alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    self._card.render(rl.Rectangle(
+      self._rect.x + self._rect.width / 2 - self._card.rect.width / 2,
+      self._rect.y + self._rect.height / 2 - self._card.rect.height / 2,
+      self._card.rect.width,
+      self._card.rect.height,
+    ))
 
 
 class BigConfirmationDialog(BigDialogBase):
diff --git a/system/ui/mici_reset.py b/system/ui/mici_reset.py
index af9d866d5442bd..9cc6e7f3f8ee27 100755
--- a/system/ui/mici_reset.py
+++ b/system/ui/mici_reset.py
@@ -10,9 +10,8 @@
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.widgets.nav_widget import NavWidget
 from openpilot.system.ui.mici_setup import GreyBigButton, FailedPage
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationCircleButton
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationCircleButton
 
 USERDATA = "/dev/disk/by-partlabel/userdata"
 TIMEOUT = 3*60
@@ -36,16 +35,14 @@ def _back_enabled(self) -> bool:
     return False
 
 
-class ResettingPage(NavWidget):
+class ResettingPage(BigDialog):
   DOT_STEP = 0.6
 
   def __init__(self):
-    super().__init__()
+    super().__init__("resetting device", "this may take up to\na minute...",
+                     gui_app.texture("icons_mici/setup/factory_reset.png", 64, 64))
     self._show_time = 0.0
 
-    self._resetting_card = GreyBigButton("resetting device", "this may take up to\na minute...",
-                                         gui_app.texture("icons_mici/setup/factory_reset.png", 64, 64))
-
   def show_event(self):
     super().show_event()
     self._nav_bar._alpha = 0.0  # not dismissable
@@ -57,13 +54,8 @@ def _back_enabled(self) -> bool:
   def _render(self, _):
     t = (rl.get_time() - self._show_time) % (self.DOT_STEP * 2)
     dots = "." * min(int(t / (self.DOT_STEP / 4)), 3)
-    self._resetting_card.set_value(f"this may take up to\na minute{dots}")
-    self._resetting_card.render(rl.Rectangle(
-      self._rect.x + self._rect.width / 2 - self._resetting_card.rect.width / 2,
-      self._rect.y + self._rect.height / 2 - self._resetting_card.rect.height / 2,
-      self._resetting_card.rect.width,
-      self._resetting_card.rect.height,
-    ))
+    self._card.set_value(f"this may take up to\na minute{dots}")
+    super()._render(_)
 
 
 class Reset(Scroller):
diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py
index 62d9dcd8274a2e..d55fc5e1eb361b 100755
--- a/system/ui/mici_setup.py
+++ b/system/ui/mici_setup.py
@@ -28,7 +28,7 @@
 from openpilot.selfdrive.ui.mici.layouts.settings.network import WifiNetworkButton
 from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog, BigConfirmationCircleButton
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, GreyBigButton
 
 NetworkType = log.DeviceState.NetworkType
 
@@ -254,43 +254,6 @@ def set_reason(self, reason: str):
       self._reason_card.set_visible(False)
 
 
-class GreyBigButton(BigButton):
-  """Users should manage newlines with this class themselves"""
-
-  LABEL_HORIZONTAL_PADDING = 30
-
-  def __init__(self, *args, **kwargs):
-    super().__init__(*args, **kwargs)
-    self.set_touch_valid_callback(lambda: False)
-
-    self._rect.width = 476
-
-    self._label.set_font_size(36)
-    self._label.set_font_weight(FontWeight.BOLD)
-    self._label.set_line_height(1.0)
-
-    self._sub_label.set_font_size(36)
-    self._sub_label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.9)))
-    self._sub_label.set_font_weight(FontWeight.DISPLAY_REGULAR)
-    self._sub_label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE if not self._label.text else
-                                           rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
-    self._sub_label.set_line_height(0.95)
-
-  @property
-  def LABEL_VERTICAL_PADDING(self):
-    return BigButton.LABEL_VERTICAL_PADDING if self._label.text else 18
-
-  def _width_hint(self) -> int:
-    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2)
-
-  def _get_label_font_size(self):
-    return 36
-
-  def _render(self, _):
-    rl.draw_rectangle_rounded(self._rect, 0.4, 10, rl.Color(255, 255, 255, int(255 * 0.15)))
-    self._draw_content(self._rect.y)
-
-
 class BigPillButton(BigButton):
   def __init__(self, *args, green: bool = False, disabled_background: bool = False, **kwargs):
     self._green = green

From f4657aa2d5442b382a9db9c646a9f076b078281d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Sat, 14 Mar 2026 13:42:57 -0700
Subject: [PATCH 0804/1434] Sconstruct: use name (#37675)

---
 SConstruct | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/SConstruct b/SConstruct
index e8edfe1feee484..e649a6be168772 100644
--- a/SConstruct
+++ b/SConstruct
@@ -57,7 +57,7 @@ def _resolve_lib(env, name):
     for ext in ('.a', '.so', '.dylib'):
       f = File(os.path.join(p, f'lib{name}{ext}'))
       if f.exists() or f.has_builder():
-        return f
+        return name
   if name in allowed_system_libs:
     return name
   raise SCons.Errors.UserError(f"Unexpected non-vendored library '{name}'")

From cc4f786846d0b43ecbb2cac26539dfaaa473831c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 14 Mar 2026 15:01:45 -0700
Subject: [PATCH 0805/1434] deps: switch vendored packages to per-package
 release branches (#37678)

---
 pyproject.toml | 22 +++++++++++-----------
 uv.lock        | 44 ++++++++++++++++++++++----------------------
 2 files changed, 33 insertions(+), 33 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index bf841613179703..b60346b0313cad 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -26,17 +26,17 @@ dependencies = [
   "numpy >=2.0",
 
   # vendored native dependencies
-  "bzip2 @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=bzip2",
-  "capnproto @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=capnproto",
-  "eigen @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=eigen",
-  "ffmpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ffmpeg",
-  "libjpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=libjpeg",
-  "libyuv @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=libyuv",
-  "zstd @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zstd",
-  "ncurses @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ncurses",
-  "zeromq @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zeromq",
-  "git-lfs @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=git-lfs",
-  "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=gcc-arm-none-eabi",
+  "bzip2 @ git+https://github.com/commaai/dependencies.git@release-bzip2#subdirectory=bzip2",
+  "capnproto @ git+https://github.com/commaai/dependencies.git@release-capnproto#subdirectory=capnproto",
+  "eigen @ git+https://github.com/commaai/dependencies.git@release-eigen#subdirectory=eigen",
+  "ffmpeg @ git+https://github.com/commaai/dependencies.git@release-ffmpeg#subdirectory=ffmpeg",
+  "libjpeg @ git+https://github.com/commaai/dependencies.git@release-libjpeg#subdirectory=libjpeg",
+  "libyuv @ git+https://github.com/commaai/dependencies.git@release-libyuv#subdirectory=libyuv",
+  "zstd @ git+https://github.com/commaai/dependencies.git@release-zstd#subdirectory=zstd",
+  "ncurses @ git+https://github.com/commaai/dependencies.git@release-ncurses#subdirectory=ncurses",
+  "zeromq @ git+https://github.com/commaai/dependencies.git@release-zeromq#subdirectory=zeromq",
+  "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
+  "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
 
   # body / webrtcd
   "av",
diff --git a/uv.lock b/uv.lock
index 578b19f6462af3..ce613e08bad608 100644
--- a/uv.lock
+++ b/uv.lock
@@ -116,12 +116,12 @@ wheels = [
 [[package]]
 name = "bzip2"
 version = "1.0.8"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=releases#9777ee38aa5ca9439843125392af38ed1262e500" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#4808f76c45cb797e697ab21e5e37d68a0ab3b2d4" }
 
 [[package]]
 name = "capnproto"
 version = "1.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=releases#9777ee38aa5ca9439843125392af38ed1262e500" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#f735fd22c66029b92019019d0596da6a4445b931" }
 
 [[package]]
 name = "casadi"
@@ -371,7 +371,7 @@ wheels = [
 [[package]]
 name = "eigen"
 version = "3.4.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=releases#9777ee38aa5ca9439843125392af38ed1262e500" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=release-eigen#fc9915c3a81d6488eafcdbbdc428f15d8123e540" }
 
 [[package]]
 name = "execnet"
@@ -385,7 +385,7 @@ wheels = [
 [[package]]
 name = "ffmpeg"
 version = "7.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=releases#9777ee38aa5ca9439843125392af38ed1262e500" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=release-ffmpeg#8d693da088e5905d4479550e07484961765df45b" }
 
 [[package]]
 name = "fonttools"
@@ -432,7 +432,7 @@ wheels = [
 [[package]]
 name = "gcc-arm-none-eabi"
 version = "13.2.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=releases#9777ee38aa5ca9439843125392af38ed1262e500" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi#e101138b29023effc932df7a58fb76a26c4e443a" }
 
 [[package]]
 name = "ghp-import"
@@ -449,7 +449,7 @@ wheels = [
 [[package]]
 name = "git-lfs"
 version = "3.6.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=releases#9777ee38aa5ca9439843125392af38ed1262e500" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=release-git-lfs#5407b1d37b7a8a9ae3747cc20cb6e7a7b01f5059" }
 
 [[package]]
 name = "google-crc32c"
@@ -567,7 +567,7 @@ wheels = [
 [[package]]
 name = "libjpeg"
 version = "3.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=releases#9777ee38aa5ca9439843125392af38ed1262e500" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg#83fa530843e5109c51aef14327b6fde5dcb4507b" }
 
 [[package]]
 name = "libusb1"
@@ -583,7 +583,7 @@ wheels = [
 [[package]]
 name = "libyuv"
 version = "1922.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=releases#9777ee38aa5ca9439843125392af38ed1262e500" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv#600cdd08cb77cbcc001daeb031abcb5c6008c7c2" }
 
 [[package]]
 name = "markdown"
@@ -735,7 +735,7 @@ wheels = [
 [[package]]
 name = "ncurses"
 version = "6.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ncurses&rev=releases#9777ee38aa5ca9439843125392af38ed1262e500" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ncurses&rev=release-ncurses#0503ac0d54799b58c84f900dba75abcad17e780f" }
 
 [[package]]
 name = "numpy"
@@ -857,30 +857,30 @@ requires-dist = [
     { name = "aiohttp" },
     { name = "aiortc" },
     { name = "av" },
-    { name = "bzip2", git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=releases" },
-    { name = "capnproto", git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=releases" },
+    { name = "bzip2", git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2" },
+    { name = "capnproto", git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto" },
     { name = "casadi", specifier = ">=3.6.6" },
     { name = "cffi" },
     { name = "codespell", marker = "extra == 'testing'" },
     { name = "coverage", marker = "extra == 'testing'" },
     { name = "crcmod-plus" },
     { name = "cython" },
-    { name = "eigen", git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=releases" },
-    { name = "ffmpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=releases" },
-    { name = "gcc-arm-none-eabi", git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=releases" },
-    { name = "git-lfs", git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=releases" },
+    { name = "eigen", git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=release-eigen" },
+    { name = "ffmpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=release-ffmpeg" },
+    { name = "gcc-arm-none-eabi", git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi" },
+    { name = "git-lfs", git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=release-git-lfs" },
     { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" },
     { name = "inputs" },
     { name = "jeepney" },
     { name = "jinja2", marker = "extra == 'docs'" },
     { name = "json-rpc" },
-    { name = "libjpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=releases" },
+    { name = "libjpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg" },
     { name = "libusb1" },
-    { name = "libyuv", git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=releases" },
+    { name = "libyuv", git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv" },
     { name = "matplotlib", marker = "extra == 'dev'" },
     { name = "metadrive-simulator", marker = "platform_machine != 'aarch64' and extra == 'tools'", git = "https://github.com/commaai/metadrive.git?rev=minimal" },
     { name = "mkdocs", marker = "extra == 'docs'" },
-    { name = "ncurses", git = "https://github.com/commaai/dependencies.git?subdirectory=ncurses&rev=releases" },
+    { name = "ncurses", git = "https://github.com/commaai/dependencies.git?subdirectory=ncurses&rev=release-ncurses" },
     { name = "numpy", specifier = ">=2.0" },
     { name = "opencv-python-headless", marker = "extra == 'dev'" },
     { name = "pillow" },
@@ -912,9 +912,9 @@ requires-dist = [
     { name = "ty", marker = "extra == 'testing'" },
     { name = "websocket-client" },
     { name = "xattr" },
-    { name = "zeromq", git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=releases" },
+    { name = "zeromq", git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq" },
     { name = "zstandard" },
-    { name = "zstd", git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=releases" },
+    { name = "zstd", git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd" },
 ]
 provides-extras = ["docs", "testing", "dev", "tools"]
 
@@ -1652,7 +1652,7 @@ wheels = [
 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=releases#9777ee38aa5ca9439843125392af38ed1262e500" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#768bd6d6d67acc7b4e919993967187532af0d410" }
 
 [[package]]
 name = "zstandard"
@@ -1682,4 +1682,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=releases#9777ee38aa5ca9439843125392af38ed1262e500" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#4d4dd0b74dfc52bdeec36706fd1a3a27754679ec" }

From 5e7f5dd840995fb806433e2eacefce74fb3d92a1 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 14 Mar 2026 16:43:19 -0700
Subject: [PATCH 0806/1434] replay/cabana: remove unused openssl dependency
 (#37680)

---
 SConstruct              |  2 +-
 tools/cabana/SConscript |  2 +-
 tools/replay/SConscript |  2 +-
 tools/replay/util.cc    | 10 ----------
 tools/replay/util.h     |  1 -
 5 files changed, 3 insertions(+), 14 deletions(-)

diff --git a/SConstruct b/SConstruct
index e649a6be168772..9d3dc8526e7d28 100644
--- a/SConstruct
+++ b/SConstruct
@@ -48,7 +48,7 @@ pkgs = [importlib.import_module(name) for name in pkg_names]
 # vendored in commaai/dependencies.
 allowed_system_libs = {
   "EGL", "GLESv2", "GL", "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
-  "crypto", "dl", "drm", "gbm", "m", "pthread", "ssl", "usb-1.0",
+  "dl", "drm", "gbm", "m", "pthread", "usb-1.0",
 }
 
 def _resolve_lib(env, name):
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index ad77231ea6681a..d604fe67ef16d2 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -64,7 +64,7 @@ qt_env['LIBPATH'] += ['#selfdrive/ui', ]
 qt_env['LIBS'] = qt_libs
 
 base_frameworks = qt_env['FRAMEWORKS']
-base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+base_libs = [common, messaging, cereal, visionipc, 'm', 'pthread'] + qt_env["LIBS"]
 
 if arch == "Darwin":
   base_frameworks.append('QtCharts')
diff --git a/tools/replay/SConscript b/tools/replay/SConscript
index 3efa970b3765d5..757f3fec4e6107 100644
--- a/tools/replay/SConscript
+++ b/tools/replay/SConscript
@@ -4,7 +4,7 @@ replay_env = env.Clone()
 replay_env['CCFLAGS'] += ['-Wno-deprecated-declarations']
 
 base_frameworks = []
-base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread']
+base_libs = [common, messaging, cereal, visionipc, 'm', 'pthread']
 
 replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc",
                   "route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "py_downloader.cc"]
diff --git a/tools/replay/util.cc b/tools/replay/util.cc
index 7294de82820573..7b308b5c3d4704 100644
--- a/tools/replay/util.cc
+++ b/tools/replay/util.cc
@@ -1,7 +1,6 @@
 #include "tools/replay/util.h"
 
 #include <bzlib.h>
-#include <openssl/sha.h>
 
 #include <cassert>
 #include <cstdarg>
@@ -162,15 +161,6 @@ void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &interrupt_reques
   }
 }
 
-std::string sha256(const std::string &str) {
-  unsigned char hash[SHA256_DIGEST_LENGTH];
-  SHA256_CTX sha256;
-  SHA256_Init(&sha256);
-  SHA256_Update(&sha256, str.c_str(), str.size());
-  SHA256_Final(hash, &sha256);
-  return util::hexdump(hash, SHA256_DIGEST_LENGTH);
-}
-
 std::vector<std::string> split(std::string_view source, char delimiter) {
   std::vector<std::string> fields;
   size_t last = 0;
diff --git a/tools/replay/util.h b/tools/replay/util.h
index ee92190337d823..a2d0f6203a8d1a 100644
--- a/tools/replay/util.h
+++ b/tools/replay/util.h
@@ -46,7 +46,6 @@ class MonotonicBuffer {
   static constexpr float growth_factor = 1.5;
 };
 
-std::string sha256(const std::string &str);
 void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &interrupt_requested);
 std::string decompressBZ2(const std::string &in, std::atomic<bool> *abort = nullptr);
 std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool> *abort = nullptr);

From a68ea44af3418cf80d6b8d34bd1f7299af05c19a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 14 Mar 2026 16:47:17 -0700
Subject: [PATCH 0807/1434] cabana: use vendored libusb from
 commaai/dependencies (#37681)

---
 SConstruct              | 2 +-
 pyproject.toml          | 1 +
 tools/cabana/SConscript | 7 ++++---
 uv.lock                 | 7 +++++++
 4 files changed, 13 insertions(+), 4 deletions(-)

diff --git a/SConstruct b/SConstruct
index 9d3dc8526e7d28..feaadd5a41c512 100644
--- a/SConstruct
+++ b/SConstruct
@@ -48,7 +48,7 @@ pkgs = [importlib.import_module(name) for name in pkg_names]
 # vendored in commaai/dependencies.
 allowed_system_libs = {
   "EGL", "GLESv2", "GL", "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
-  "dl", "drm", "gbm", "m", "pthread", "usb-1.0",
+  "dl", "drm", "gbm", "m", "pthread",
 }
 
 def _resolve_lib(env, name):
diff --git a/pyproject.toml b/pyproject.toml
index b60346b0313cad..a754f580bddb04 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -35,6 +35,7 @@ dependencies = [
   "zstd @ git+https://github.com/commaai/dependencies.git@release-zstd#subdirectory=zstd",
   "ncurses @ git+https://github.com/commaai/dependencies.git@release-ncurses#subdirectory=ncurses",
   "zeromq @ git+https://github.com/commaai/dependencies.git@release-zeromq#subdirectory=zeromq",
+  "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
   "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
   "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
 
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index d604fe67ef16d2..dbe4dbc6593a8c 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -2,6 +2,8 @@ import subprocess
 import os
 import shutil
 
+import libusb
+
 Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal')
 
 # Detect Qt - skip build if not available
@@ -72,9 +74,8 @@ else:
   base_libs.append('Qt5Charts')
 
 cabana_env = qt_env.Clone()
-if arch == "Darwin":
-  cabana_env['CPPPATH'] += [f"{brew_prefix}/include"]
-  cabana_env['LIBPATH'] += [f"{brew_prefix}/lib"]
+cabana_env['CPPPATH'] += [libusb.INCLUDE_DIR]
+cabana_env['LIBPATH'] += [libusb.LIB_DIR]
 
 cabana_libs = [cereal, messaging, visionipc, replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'bz2', 'zstd', 'yuv', 'usb-1.0'] + base_libs
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc/dbc").abspath)
diff --git a/uv.lock b/uv.lock
index ce613e08bad608..8e597db6ef1d7b 100644
--- a/uv.lock
+++ b/uv.lock
@@ -569,6 +569,11 @@ name = "libjpeg"
 version = "3.1.0"
 source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg#83fa530843e5109c51aef14327b6fde5dcb4507b" }
 
+[[package]]
+name = "libusb"
+version = "1.0.29"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb#5f188080524c3c6d098ab6cb8d206ceef0394e8e" }
+
 [[package]]
 name = "libusb1"
 version = "3.3.1"
@@ -796,6 +801,7 @@ dependencies = [
     { name = "jeepney" },
     { name = "json-rpc" },
     { name = "libjpeg" },
+    { name = "libusb" },
     { name = "libusb1" },
     { name = "libyuv" },
     { name = "ncurses" },
@@ -875,6 +881,7 @@ requires-dist = [
     { name = "jinja2", marker = "extra == 'docs'" },
     { name = "json-rpc" },
     { name = "libjpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg" },
+    { name = "libusb", git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb" },
     { name = "libusb1" },
     { name = "libyuv", git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv" },
     { name = "matplotlib", marker = "extra == 'dev'" },

From 23c774eb19fd7e5c00cc65f45e6a97f58fca2564 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 17 Mar 2026 06:21:03 -0400
Subject: [PATCH 0808/1434] sunnylinkd: fetch compressed params schema (#1771)

---
 sunnypilot/sunnylink/athena/sunnylinkd.py | 35 +++++++++++++++++++++++
 1 file changed, 35 insertions(+)

diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index e8066dca49f72a..39fe5679ce1de1 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -229,6 +229,41 @@ def getParamsAllKeysV1() -> dict[str, str]:
     raise
 
 
+@dispatcher.add_method
+def getParamsMetadata() -> str:
+  """Compressed equivalent of getParamsAllKeysV1 — same struct, gzipped + base64."""
+  try:
+    with open(METADATA_PATH) as f:
+      metadata = json.load(f)
+  except Exception:
+    cloudlog.exception("sunnylinkd.getParamsMetadata.exception")
+    metadata = {}
+
+  try:
+    available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
+
+    params_list: list[dict] = []
+    for key in available_keys:
+      value = get_param_as_byte(key, get_default=True)
+
+      param_entry: dict = {
+        "key": key,
+        "type": int(params.get_type(key).value),
+        "default_value": base64.b64encode(value).decode('utf-8') if value else None,
+      }
+
+      if key in metadata:
+        param_entry["_extra"] = metadata[key]
+
+      params_list.append(param_entry)
+
+    raw = json.dumps(params_list, separators=(',', ':')).encode('utf-8')
+    return base64.b64encode(gzip.compress(raw)).decode('utf-8')
+  except Exception:
+    cloudlog.exception("sunnylinkd.getParamsMetadata.exception")
+    raise
+
+
 @dispatcher.add_method
 def getParams(params_keys: list[str], compression: bool = False) -> str | dict[str, str]:
   params = Params()

From 1658898498b8867dca06b22be85bc650e6a284f9 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 18 Mar 2026 08:45:27 -0400
Subject: [PATCH 0809/1434] Controls: default Torque Lateral Control to v0 Tune

---
 common/params_keys.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index a247798e3024bd..3dc0222617eae2 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -271,7 +271,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
     {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
     {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
-    {"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT}},
+    {"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
     {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
     {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},

From 1c1437579638939f2741dbd89ba84240c1c6f051 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Thu, 19 Mar 2026 19:35:10 -0700
Subject: [PATCH 0810/1434] locationd: cam odo delay compensation (#37543)

* Delay compensation for camera odomtry

* Frame skip definition

* CAM_ODO_POSE_DELAY const

* Remove import

* Use timestampEof

* CAM_ODO_STD_MULT

* locationd processing_time=0.01

* Update angular velocity Q

* Try 075

* Acc obs std 0.75

* Adjust Cam odo std mults

* More tweaking

* Smoothing in lld tests

* Comment

* Remove import

* Revert gyro bias P update

* Tweak to 0.75
---
 selfdrive/locationd/locationd.py                     |  9 +++++++--
 selfdrive/locationd/models/pose_kf.py                |  4 ++--
 selfdrive/locationd/test/test_locationd_scenarios.py | 12 +++++++++---
 selfdrive/test/process_replay/process_replay.py      |  1 +
 4 files changed, 19 insertions(+), 7 deletions(-)

diff --git a/selfdrive/locationd/locationd.py b/selfdrive/locationd/locationd.py
index f6a0935ed97c9a..a34a584ff3733e 100755
--- a/selfdrive/locationd/locationd.py
+++ b/selfdrive/locationd/locationd.py
@@ -28,6 +28,9 @@
 INPUT_INVALID_RECOVERY = 10.0 # ~10 secs to resume after exceeding allowed bad inputs by one
 POSENET_STD_INITIAL_VALUE = 10.0
 POSENET_STD_HIST_HALF = 20
+CAM_ODO_POSE_DELAY = 0.1 # dependent on the vision model context frames and temporal frequency (current model is 5 fps with 2 context frames)
+CAM_ODO_ROT_STD_MULT = 10
+CAM_ODO_TRANS_STD_MULT = 4
 
 
 def calculate_invalid_input_decay(invalid_limit, recovery_time, frequency):
@@ -155,6 +158,8 @@ def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader) -> H
         self.device_from_calib = rot_from_euler(calib)
 
     elif which == "cameraOdometry":
+      # camera odometry is delayed depending on the model context frames and temporal frequency
+      t = msg.timestampEof * 1e-9 - CAM_ODO_POSE_DELAY
       if not self._validate_timestamp(t):
         return HandleLogResult.TIMING_INVALID
 
@@ -177,8 +182,8 @@ def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader) -> H
       self.posenet_stds[-1] = trans_calib_std[0]
 
       # Multiply by N to avoid to high certainty in kalman filter because of temporally correlated noise
-      rot_calib_std *= 10
-      trans_calib_std *= 2
+      rot_calib_std *= CAM_ODO_ROT_STD_MULT
+      trans_calib_std *= CAM_ODO_TRANS_STD_MULT
 
       rot_device_std = rotate_std(self.device_from_calib, rot_calib_std)
       trans_device_std = rotate_std(self.device_from_calib, trans_calib_std)
diff --git a/selfdrive/locationd/models/pose_kf.py b/selfdrive/locationd/models/pose_kf.py
index 020e51ad6e50a4..a8ff80c7130542 100755
--- a/selfdrive/locationd/models/pose_kf.py
+++ b/selfdrive/locationd/models/pose_kf.py
@@ -47,13 +47,13 @@ class PoseKalman(KalmanFilter):
   # process noise
   Q = np.diag([0.001**2, 0.001**2, 0.001**2,
                0.01**2, 0.01**2, 0.01**2,
-               0.1**2, 0.1**2, 0.1**2,
+               0.085**2, 0.085**2, 0.085**2,
                (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
                3**2, 3**2, 3**2,
                0.005**2, 0.005**2, 0.005**2])
 
   obs_noise = {ObservationKind.PHONE_GYRO: np.diag([0.025**2, 0.025**2, 0.025**2]),
-               ObservationKind.PHONE_ACCEL: np.diag([.5**2, .5**2, .5**2]),
+               ObservationKind.PHONE_ACCEL: np.diag([0.75**2, 0.75**2, 0.75**2]),
                ObservationKind.CAMERA_ODO_TRANSLATION: np.diag([0.5**2, 0.5**2, 0.5**2]),
                ObservationKind.CAMERA_ODO_ROTATION: np.diag([0.05**2, 0.05**2, 0.05**2])}
 
diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py
index 0ea7ac183f2dc4..69f2ca2821b98a 100644
--- a/selfdrive/locationd/test/test_locationd_scenarios.py
+++ b/selfdrive/locationd/test/test_locationd_scenarios.py
@@ -3,6 +3,7 @@
 from enum import Enum
 
 from openpilot.tools.lib.logreader import LogReader
+from openpilot.selfdrive.locationd.lagd import masked_symmetric_moving_average
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
 from openpilot.selfdrive.test.process_replay.process_replay import replay_process_with_name
 
@@ -15,6 +16,7 @@
   'inputs_flag': ['inputsOK'],
   'sensors_flag': ['sensorsOK'],
 }
+SMOOTH_FIELDS = ['yaw_rate', 'roll']
 JUNK_IDX = 100
 CONSISTENT_SPIKES_COUNT = 10
 
@@ -32,6 +34,8 @@ class Scenario(Enum):
 
 
 def get_select_fields_data(logs):
+  def sig_smooth(signal):
+    return masked_symmetric_moving_average(signal, np.ones_like(signal), 5, 1.0)
   def get_nested_keys(msg, keys):
     val = None
     for key in keys:
@@ -44,6 +48,8 @@ def get_nested_keys(msg, keys):
       data[key].append(get_nested_keys(msg, fields))
   for key in data:
     data[key] = np.array(data[key][JUNK_IDX:], dtype=float)
+    if key in SMOOTH_FIELDS:
+      data[key] = sig_smooth(data[key])
   return data
 
 
@@ -110,7 +116,7 @@ def test_base(self):
     """
     orig_data, replayed_data = run_scenarios(Scenario.BASE, self.logs)
     assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
-    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.35))
 
   def test_gyro_off(self):
     """
@@ -135,7 +141,7 @@ def test_gyro_spike(self):
     """
     orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs)
     assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
-    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.35))
     assert np.all(replayed_data['inputs_flag'] == orig_data['inputs_flag'])
     assert np.all(replayed_data['sensors_flag'] == orig_data['sensors_flag'])
 
@@ -169,7 +175,7 @@ def test_accel_spike(self):
     """
     orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY, self.logs)
     assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
-    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.35))
 
   def test_single_timing_spike(self):
     """
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index d168a7e8002024..5e9b2e742c61d0 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -509,6 +509,7 @@ def selfdrived_config_callback(params, cfg, lr):
     ignore=["logMonoTime"],
     should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
     tolerance=NUMPY_TOLERANCE,
+    processing_time=0.01,
   ),
   ProcessConfig(
     proc_name="paramsd",

From f95959afdb98138ead2bb5e640b3526a5c286942 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Thu, 19 Mar 2026 19:44:14 -0700
Subject: [PATCH 0811/1434] Bump rednose (#37698)

---
 rednose_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rednose_repo b/rednose_repo
index 6ccb8d055652cd..7ffefa3d8811a8 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 6ccb8d055652cd9769b5e418edf116272fde4e09
+Subproject commit 7ffefa3d8811a842f8ec97d311103ce3a45dfae0

From 78b15773c95d368c75c4cfa48c2fe4d51b16fe70 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 20 Mar 2026 14:07:33 -0700
Subject: [PATCH 0812/1434] pj: update stale layouts

---
 .../layouts/controls_mismatch_debug.xml       |  3 +--
 tools/plotjuggler/layouts/gps_vs_llk.xml      |  9 +++----
 .../plotjuggler/layouts/system_lag_debug.xml  |  3 +--
 tools/plotjuggler/layouts/tuning.xml          | 27 ++++++++++++-------
 4 files changed, 24 insertions(+), 18 deletions(-)

diff --git a/tools/plotjuggler/layouts/controls_mismatch_debug.xml b/tools/plotjuggler/layouts/controls_mismatch_debug.xml
index 646e12a281a66b..cf337aa7df7813 100644
--- a/tools/plotjuggler/layouts/controls_mismatch_debug.xml
+++ b/tools/plotjuggler/layouts/controls_mismatch_debug.xml
@@ -16,7 +16,7 @@
       <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
        <range top="27.087398" bottom="-0.905168" left="0.018309" right="59.674401"/>
        <limitY/>
-       <curve color="#9467bd" name="/controlsState/cumLagMs"/>
+       <curve color="#9467bd" name="/carState/cumLagMs"/>
       </plot>
      </DockArea>
      <DockArea name="...">
@@ -58,4 +58,3 @@
  <snippets/>
  <!-- - - - - - - - - - - - - - - -->
 </root>
-
diff --git a/tools/plotjuggler/layouts/gps_vs_llk.xml b/tools/plotjuggler/layouts/gps_vs_llk.xml
index 69b8f20058bbf9..2051c2bef2db83 100644
--- a/tools/plotjuggler/layouts/gps_vs_llk.xml
+++ b/tools/plotjuggler/layouts/gps_vs_llk.xml
@@ -24,8 +24,8 @@
        <plot mode="TimeSeries" style="Lines" flip_y="false" flip_x="false">
         <range bottom="-0.100000" right="196.811937" left="76.646983" top="0.100000"/>
         <limitY/>
-        <curve name="/liveLocationKalman/positionGeodetic/std/0" color="#d62728"/>
-        <curve name="/liveLocationKalman/positionGeodetic/std/1" color="#1ac938"/>
+        <curve name="/liveLocationKalmanDEPRECATED/positionGeodetic/std/0" color="#d62728"/>
+        <curve name="/liveLocationKalmanDEPRECATED/positionGeodetic/std/1" color="#1ac938"/>
        </plot>
       </DockArea>
       <DockArea name="...">
@@ -72,12 +72,11 @@ return distance</function>
    <linked_source>/gpsLocationExternal/latitude</linked_source>
    <additional_sources>
     <v1>/gpsLocationExternal/longitude</v1>
-    <v2>/liveLocationKalman/positionGeodetic/value/0</v2>
-    <v3>/liveLocationKalman/positionGeodetic/value/1</v3>
+    <v2>/liveLocationKalmanDEPRECATED/positionGeodetic/value/0</v2>
+    <v3>/liveLocationKalmanDEPRECATED/positionGeodetic/value/1</v3>
    </additional_sources>
   </snippet>
  </customMathEquations>
  <snippets/>
  <!-- - - - - - - - - - - - - - - -->
 </root>
-
diff --git a/tools/plotjuggler/layouts/system_lag_debug.xml b/tools/plotjuggler/layouts/system_lag_debug.xml
index a90bba0e279627..88511ffe09bbe2 100644
--- a/tools/plotjuggler/layouts/system_lag_debug.xml
+++ b/tools/plotjuggler/layouts/system_lag_debug.xml
@@ -45,7 +45,7 @@
       <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
        <range top="-3.593455" right="59.992103" left="0.000000" bottom="-12.190956"/>
        <limitY/>
-       <curve name="/controlsState/cumLagMs" color="#9467bd"/>
+       <curve name="/carState/cumLagMs" color="#9467bd"/>
       </plot>
      </DockArea>
     </DockSplitter>
@@ -64,4 +64,3 @@
  <!-- - - - - - - - - - - - - - - -->
  <!-- - - - - - - - - - - - - - - -->
 </root>
-
diff --git a/tools/plotjuggler/layouts/tuning.xml b/tools/plotjuggler/layouts/tuning.xml
index 503e726caf46d6..699f6ff683ea32 100644
--- a/tools/plotjuggler/layouts/tuning.xml
+++ b/tools/plotjuggler/layouts/tuning.xml
@@ -24,14 +24,14 @@
       <plot style="Lines" mode="TimeSeries">
        <range left="0.000000" top="0.166067" bottom="-1.598381" right="631.038276"/>
        <limitY/>
-       <curve color="#ffb000" name="/liveLocationKalman/calibratedOrientationNED/value/0"/>
+       <curve color="#ffb000" name="/carControl/orientationNED/0"/>
       </plot>
      </DockArea>
      <DockArea name="Engaged [green] Steering Pressed [blue]">
       <plot style="Lines" mode="TimeSeries">
        <range left="1.252984" top="1.025000" bottom="-0.025000" right="631.055584"/>
        <limitY/>
-       <curve color="#009e73" name="/controlsState/enabled"/>
+       <curve color="#009e73" name="/selfdriveState/enabled"/>
        <curve color="#0072b2" name="/carState/steeringPressed"/>
       </plot>
      </DockArea>
@@ -39,7 +39,7 @@
       <plot style="Lines" mode="TimeSeries">
        <range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055584"/>
        <limitY/>
-       <curve name="/carState/steeringRateLimited" color="#ffb000"/>
+       <curve name="steering rate limited" color="#ffb000"/>
        <curve name="/controlsState/lateralControlState/pidState/saturated" color="#dc267f"/>
       </plot>
      </DockArea>
@@ -71,7 +71,7 @@
       <plot style="Lines" mode="TimeSeries">
        <range left="0.000000" top="0.158854" bottom="-0.594843" right="631.038276"/>
        <limitY/>
-       <curve color="#ffb000" name="/liveLocationKalman/calibratedOrientationNED/value/1"/>
+       <curve color="#ffb000" name="/carControl/orientationNED/1"/>
       </plot>
      </DockArea>
      <DockArea name="Engaged [green] Gas [orange] Brake [magenta]">
@@ -126,7 +126,7 @@
       <plot style="Lines" mode="TimeSeries">
        <range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055584"/>
        <limitY/>
-       <curve name="/carState/steeringRateLimited" color="#ffb000"/>
+       <curve name="steering rate limited" color="#ffb000"/>
        <curve name="/controlsState/lateralControlState/pidState/saturated" color="#dc267f"/>
       </plot>
      </DockArea>
@@ -161,11 +161,11 @@ if (time > last_bad_time + engage_delay) then
 else
   return 0
 end</function>
-   <linked_source>/liveLocationKalman/angularVelocityCalibrated/value/2</linked_source>
+   <linked_source>/carControl/angularVelocity/2</linked_source>
    <additional_sources>
     <v1>/carState/steeringPressed</v1>
     <v2>/carControl/enabled</v2>
-    <v3>/liveLocationKalman/velocityCalibrated/value/0</v3>
+    <v3>/carState/vEgo</v3>
    </additional_sources>
   </snippet>
   <snippet name="engaged curvature vehicle model">
@@ -206,7 +206,7 @@ if (time > last_bad_time + engage_delay) then
 else
   return 0
 end</function>
-   <linked_source>/lateralPlan/curvatures/0</linked_source>
+   <linked_source>/modelV2/action/desiredCurvature</linked_source>
    <additional_sources>
     <v1>/carState/steeringPressed</v1>
     <v2>/carControl/enabled</v2>
@@ -284,8 +284,17 @@ end</function>
     <v3>/carControl/enabled</v3>
    </additional_sources>
   </snippet>
+  <snippet name="steering rate limited">
+   <global></global>
+   <function>return (math.abs(value - v1) > 0.001 or math.abs(v2 - v3) > 0.05) and 1 or 0</function>
+   <linked_source>/carControl/actuators/torque</linked_source>
+   <additional_sources>
+    <v1>/carOutput/actuatorsOutput/torque</v1>
+    <v2>/carControl/actuators/steeringAngleDeg</v2>
+    <v3>/carOutput/actuatorsOutput/steeringAngleDeg</v3>
+   </additional_sources>
+  </snippet>
  </customMathEquations>
  <snippets/>
  <!-- - - - - - - - - - - - - - - -->
 </root>
-

From d0382e2d48999176bf0d7b802a719aaa77eb3875 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 20 Mar 2026 15:02:47 -0700
Subject: [PATCH 0813/1434] just remove this, actions is so broken

---
 .github/workflows/auto_pr_review.yaml | 17 -----------------
 1 file changed, 17 deletions(-)

diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
index 6052ec07120c23..99c3a258c649a3 100644
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -33,20 +33,3 @@ jobs:
         change-to: ${{ github.base_ref }}
         already-exists-action: close_this
         already-exists-comment: "Your PR should be made against the `master` branch"
-
-    # Welcome comment
-    - name: "First timers PR"
-      uses: actions/first-interaction@v1
-      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
-      with:
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        pr-message: |
-            <!-- _(run_id **${{ github.run_id }}**)_ -->
-            Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
-            * Convert your PR to a draft unless it's ready to review
-            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
-            * Before marking as "ready for review", ensure:
-              * the goal is clearly stated in the description
-              * all the tests are passing
-              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
-              * include a route or your device' dongle ID if relevant

From e53cc41b470624bc92089eb09fa15ea29a80756d Mon Sep 17 00:00:00 2001
From: Thomas Burgess <thomasburgess2000@gmail.com>
Date: Fri, 20 Mar 2026 17:23:02 -0500
Subject: [PATCH 0814/1434] docs: rename comma 3X references to comma four
 (#37701)

* docs: rename comma 3X references to comma four

* docs: update comma four links and labels
---
 README.md                                 |  8 ++++----
 docs/CONTRIBUTING.md                      |  2 +-
 docs/concepts/glossary.md                 |  2 +-
 docs/getting-started/what-is-openpilot.md |  2 +-
 docs/how-to/connect-to-comma.md           | 12 ++++++------
 docs/how-to/replay-a-drive.md             |  2 +-
 docs/how-to/turn-the-speed-blue.md        |  2 +-
 7 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/README.md b/README.md
index a77a80935d59ae..a1f494c33cf1e0 100644
--- a/README.md
+++ b/README.md
@@ -17,7 +17,7 @@
   <span> · </span>
   <a href="https://discord.comma.ai">Community</a>
   <span> · </span>
-  <a href="https://comma.ai/shop">Try it on a comma 3X</a>
+  <a href="https://comma.ai/shop">Try it on a comma four</a>
 </h3>
 
 Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
@@ -42,10 +42,10 @@ Using openpilot in a car
 ------
 
 To use openpilot in a car, you need four things:
-1. **Supported Device:** a comma 3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
-2. **Software:** The setup procedure for the comma 3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
+1. **Supported Device:** a comma four, available at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four).
+2. **Software:** The setup procedure for the comma four allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
 3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
-4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3X to your car.
+4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma four to your car.
 
 We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
 
diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md
index 62468c7448f0fe..3d39420c01b18d 100644
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@@ -39,7 +39,7 @@ All of these are examples of good PRs:
 ### First contribution
 
 [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-There are a lot of bounties that don't require a comma 3X or a car.
+There are a lot of bounties that don't require a comma four or a car.
 
 ## Pull Requests
 
diff --git a/docs/concepts/glossary.md b/docs/concepts/glossary.md
index a09b0f07853e78..3bfe71bcb4abf6 100644
--- a/docs/concepts/glossary.md
+++ b/docs/concepts/glossary.md
@@ -6,4 +6,4 @@
 * **segment**: routes are split into one minute chunks called segments.
 * **comma connect**: the web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai).
 * **panda**: this is the secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda).
-* **comma 3X**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop](https://comma.ai/shop).
+* **comma four**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four).
diff --git a/docs/getting-started/what-is-openpilot.md b/docs/getting-started/what-is-openpilot.md
index b3c56c8410d803..6fab2b979b1429 100644
--- a/docs/getting-started/what-is-openpilot.md
+++ b/docs/getting-started/what-is-openpilot.md
@@ -5,7 +5,7 @@
 
 ## How do I use it?
 
-openpilot is designed to be used on the comma 3X.
+openpilot is designed to be used on the comma four.
 
 ## How does it work?
 
diff --git a/docs/how-to/connect-to-comma.md b/docs/how-to/connect-to-comma.md
index 5f02e115994cb1..58d4f91bb2b2aa 100644
--- a/docs/how-to/connect-to-comma.md
+++ b/docs/how-to/connect-to-comma.md
@@ -1,15 +1,15 @@
-# connect to a comma 3X
+# connect to a comma four
 
-A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+A comma four is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
 
 ## Serial Console
 
-On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
-Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
+On both the comma three and comma four, the serial console is accessible from the main OBD-C port.
+Connect the comma four to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
 
 On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
 
-On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
+On the comma four, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
 
   * Username: `comma`
   * Password: `comma`
@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
     * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
 
 > [!NOTE]
-> The default port for ADB is 5555 on the comma 3X.
+> The default port for ADB is 5555 on the comma four.
 
 For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
 
diff --git a/docs/how-to/replay-a-drive.md b/docs/how-to/replay-a-drive.md
index b0db36a46f0ecd..a11b29dcc4e3f7 100644
--- a/docs/how-to/replay-a-drive.md
+++ b/docs/how-to/replay-a-drive.md
@@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
 Just run `tools/replay/replay --demo`.
 
 ## Replaying CAN data
-*Hardware required: jungle and comma 3X*
+*Hardware required: jungle and comma four*
 
 1. Connect your PC to a jungle.
 2.
diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md
index 644c35e0abe1b1..bc1d634012917c 100644
--- a/docs/how-to/turn-the-speed-blue.md
+++ b/docs/how-to/turn-the-speed-blue.md
@@ -3,7 +3,7 @@
 
 In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.
 
-And if you have a comma 3X, we'll deploy the change to your device for testing.
+And if you have a comma four, we'll deploy the change to your device for testing.
 
 ## 1. Set up your development environment
 

From d5e75dd0afafac5e449f647e92320646831ff35d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Fri, 20 Mar 2026 15:29:58 -0700
Subject: [PATCH 0815/1434] locationd: publish filter time (#37697)

* Include filter time in the message

* Move the line up

* Use nantonum
---
 cereal/log.capnp                           | 2 ++
 selfdrive/locationd/locationd.py           | 1 +
 selfdrive/test/process_replay/migration.py | 1 +
 3 files changed, 4 insertions(+)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index d1f85d325ca22b..c26c1f9d3a2cc4 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -1426,6 +1426,8 @@ struct LivePose {
   posenetOK @5 :Bool = false;
   sensorsOK @6 :Bool = false;
 
+  timestamp @8 :UInt64;
+
   debugFilterState @7 :FilterState;
 
   struct XYZMeasurement {
diff --git a/selfdrive/locationd/locationd.py b/selfdrive/locationd/locationd.py
index a34a584ff3733e..57aecb22e73fdb 100755
--- a/selfdrive/locationd/locationd.py
+++ b/selfdrive/locationd/locationd.py
@@ -239,6 +239,7 @@ def get_msg(self, sensors_valid: bool, inputs_valid: bool, filter_valid: bool):
     livePose.inputsOK = inputs_valid
     livePose.posenetOK = not std_spike or self.car_speed <= 5.0
     livePose.sensorsOK = sensors_valid
+    livePose.timestamp = int(np.nan_to_num(self.kf.t) * 1e9)
 
     return msg
 
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 232722d1b1edc1..2a2633c34bb557 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -175,6 +175,7 @@ def migrate_liveLocationKalman(msgs):
     m = messaging.new_message('livePose')
     m.valid = msg.valid
     m.logMonoTime = msg.logMonoTime
+    m.livePose.timestamp = msg.logMonoTime
     for field in ["orientationNED", "velocityDevice", "accelerationDevice", "angularVelocityDevice"]:
       lp_field, llk_field = getattr(m.livePose, field), getattr(msg.liveLocationKalmanDEPRECATED, field)
       lp_field.x, lp_field.y, lp_field.z = llk_field.value or nans

From 240e0036d257cef2bb9d7291ee64b5f076555db1 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Fri, 20 Mar 2026 18:52:01 -0400
Subject: [PATCH 0816/1434] macOS: fix build (#37686)

* Update SConscript

* do we need this?

* fix that

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 tools/cabana/SConscript | 2 +-
 tools/cabana/cabana     | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index dbe4dbc6593a8c..7c5581f5269629 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -69,7 +69,7 @@ base_frameworks = qt_env['FRAMEWORKS']
 base_libs = [common, messaging, cereal, visionipc, 'm', 'pthread'] + qt_env["LIBS"]
 
 if arch == "Darwin":
-  base_frameworks.append('QtCharts')
+  base_frameworks += ['QtCharts', 'CoreFoundation', 'IOKit', 'Security']
 else:
   base_libs.append('Qt5Charts')
 
diff --git a/tools/cabana/cabana b/tools/cabana/cabana
index 00709734a54fda..128e49400e870b 100755
--- a/tools/cabana/cabana
+++ b/tools/cabana/cabana
@@ -33,6 +33,6 @@ fi
 
 # Build _cabana
 cd "$ROOT"
-scons -j"$(nproc)" tools/cabana/_cabana
+scons -j4 tools/cabana/_cabana
 
 exec "$DIR/_cabana" "$@"

From 08d8bb9975a3b42fdd2d2fecb81e2a015c98bcab Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Fri, 20 Mar 2026 18:19:47 -0700
Subject: [PATCH 0817/1434] livePose timestamp migration (#37705)

* Add livePose migraiton

* Fix
---
 selfdrive/test/process_replay/migration.py | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 2a2633c34bb557..14b38e0481adb5 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -39,6 +39,7 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
     migrate_controlsState,
     migrate_carState,
     migrate_liveLocationKalman,
+    migrate_livePose,
     migrate_liveTracks,
     migrate_driverAssistance,
     migrate_drivingModelData,
@@ -187,6 +188,21 @@ def migrate_liveLocationKalman(msgs):
   return ops, [], []
 
 
+@migration(inputs=["livePose"])
+def migrate_livePose(msgs):
+  ops = []
+  needs_migration = all(msg.livePose.timestamp == 0 for _, msg in msgs if msg.which() == 'livePose')
+  if not needs_migration:
+    return [], [], []
+
+  for index, msg in msgs:
+    if msg.which() == "livePose":
+      new_msg = msg.as_builder()
+      new_msg.livePose.timestamp = msg.logMonoTime
+      ops.append((index, new_msg.as_reader()))
+  return ops, [], []
+
+
 @migration(inputs=["controlsState"], product="selfdriveState")
 def migrate_controlsState(msgs):
   add_ops = []

From 7fae59167e6c156fb4a378501b1e0a20cf1e8b6c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Fri, 20 Mar 2026 19:10:59 -0700
Subject: [PATCH 0818/1434] paramsd/torqued: use the correct livePose timestamp
 (#37704)

* Use the correct filter time in torqued/paramsd

* Fix

* Check if lp valid

* Update tests fake data with new required fields
---
 selfdrive/controls/tests/test_torqued_lat_accel_offset.py | 6 ++++--
 selfdrive/locationd/paramsd.py                            | 1 +
 selfdrive/locationd/torqued.py                            | 4 +++-
 3 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/selfdrive/controls/tests/test_torqued_lat_accel_offset.py b/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
index 84389856b64bab..2f95d7c14f7b05 100644
--- a/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
+++ b/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
@@ -50,8 +50,10 @@ def simulate_straight_road_msgs(est):
   lat_accels = TORQUE_TUNE.latAccelFactor * steer_torques
   for t, steer_torque, lat_accel in zip(ts, steer_torques, lat_accels, strict=True):
     carOutput.actuatorsOutput.torque = float(-steer_torque)
-    livePose.orientationNED.x = float(np.deg2rad(ROLL_BIAS_DEG))
-    livePose.angularVelocityDevice.z = float(lat_accel / V_EGO)
+    livePose.orientationNED = {'x': float(np.deg2rad(ROLL_BIAS_DEG)), 'valid': True}
+    livePose.angularVelocityDevice = {'z': float(lat_accel / V_EGO), 'valid': True}
+    livePose.inputsOK, livePose.sensorsOK, livePose.posenetOK = True, True, True
+    livePose.timestamp = int(t * 1e9)
     for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)):
       est.handle_log(t, which, msg)
 
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index fd03d3d09368f7..0489ae417442cc 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -65,6 +65,7 @@ def reset(self, t: float | None):
 
   def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader):
     if which == 'livePose':
+      t = msg.timestamp * 1e-9
       device_pose = Pose.from_live_pose(msg)
       calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
 
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index f4dc5a14716f9c..9a2b6c17b16442 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -180,7 +180,9 @@ def handle_log(self, t, which, msg):
       self.lag = msg.lateralDelay
     # calculate lateral accel from past steering torque
     elif which == "livePose":
-      if len(self.raw_points['steer_torque']) == self.hist_len:
+      is_valid = msg.angularVelocityDevice.valid and msg.orientationNED.valid and msg.inputsOK and msg.sensorsOK and msg.posenetOK
+      if len(self.raw_points['steer_torque']) == self.hist_len and is_valid:
+        t = msg.timestamp * 1e-9
         device_pose = Pose.from_live_pose(msg)
         calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
         angular_velocity_calibrated = calibrated_pose.angular_velocity

From af09b7a45b9aafd111cb89192f7432dc6b96b013 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 21 Mar 2026 09:47:15 -0700
Subject: [PATCH 0819/1434] add imgui package (#37711)

---
 pyproject.toml |   1 +
 uv.lock        | 321 +++++++++++++++++++++++++------------------------
 2 files changed, 168 insertions(+), 154 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index a754f580bddb04..a1123234001436 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -107,6 +107,7 @@ dev = [
 ]
 
 tools = [
+  "imgui  @ git+https://github.com/commaai/dependencies.git@release-imgui#subdirectory=imgui",
   "metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
 ]
 
diff --git a/uv.lock b/uv.lock
index 8e597db6ef1d7b..2e7a0f0ac97ae3 100644
--- a/uv.lock
+++ b/uv.lock
@@ -91,11 +91,11 @@ wheels = [
 
 [[package]]
 name = "attrs"
-version = "25.4.0"
+version = "26.1.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/6b/5c/685e6633917e101e5dcb62b9dd76946cbb57c26e133bae9e0cd36033c0a9/attrs-25.4.0.tar.gz", hash = "sha256:16d5969b87f0859ef33a48b35d55ac1be6e42ae49d5e853b597db70c35c57e11", size = 934251, upload-time = "2025-10-06T13:54:44.725Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/9a/8e/82a0fe20a541c03148528be8cac2408564a6c9a0cc7e9171802bc1d26985/attrs-26.1.0.tar.gz", hash = "sha256:d03ceb89cb322a8fd706d4fb91940737b6642aa36998fe130a9bc96c985eff32", size = 952055, upload-time = "2026-03-19T14:22:25.026Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/3a/2a/7cc015f5b9f5db42b7d48157e23356022889fc354a2813c15934b7cb5c0e/attrs-25.4.0-py3-none-any.whl", hash = "sha256:adcf7e2a1fb3b36ac48d97835bb6d8ade15b8dcce26aba8bf1d14847b57a3373", size = 67615, upload-time = "2025-10-06T13:54:43.17Z" },
+    { url = "https://files.pythonhosted.org/packages/64/b4/17d4b0b2a2dc85a6df63d1157e028ed19f90d4cd97c36717afef2bc2f395/attrs-26.1.0-py3-none-any.whl", hash = "sha256:c647aa4a12dfbad9333ca4e71fe62ddc36f4e63b2d260a37a8b83d2f043ac309", size = 67548, upload-time = "2026-03-19T14:22:23.645Z" },
 ]
 
 [[package]]
@@ -116,12 +116,12 @@ wheels = [
 [[package]]
 name = "bzip2"
 version = "1.0.8"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#4808f76c45cb797e697ab21e5e37d68a0ab3b2d4" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#347ac440220660253b244526e6e0ed96bea63595" }
 
 [[package]]
 name = "capnproto"
 version = "1.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#f735fd22c66029b92019019d0596da6a4445b931" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#8883c2a61e7056212e9b541a954cc96e5dfd4fdf" }
 
 [[package]]
 name = "casadi"
@@ -174,27 +174,27 @@ wheels = [
 
 [[package]]
 name = "charset-normalizer"
-version = "3.4.4"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/13/69/33ddede1939fdd074bce5434295f38fae7136463422fe4fd3e0e89b98062/charset_normalizer-3.4.4.tar.gz", hash = "sha256:94537985111c35f28720e43603b8e7b43a6ecfb2ce1d3058bbe955b73404e21a", size = 129418, upload-time = "2025-10-14T04:42:32.879Z" }
-wheels = [
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 ]
 
 [[package]]
@@ -1659,7 +1672,7 @@ wheels = [
 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#768bd6d6d67acc7b4e919993967187532af0d410" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#1bfcfd916e94f0b8ef94c9e6e783f765b07850bf" }
 
 [[package]]
 name = "zstandard"
@@ -1689,4 +1702,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#4d4dd0b74dfc52bdeec36706fd1a3a27754679ec" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#3c54d941828579c8fc5956eb71b69df85d3b7f07" }

From 470c3f4a92c99333ec293995dafd677f3c44833c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 21 Mar 2026 12:08:10 -0700
Subject: [PATCH 0820/1434] pandad: remove best case startup time test case

---
 selfdrive/pandad/tests/test_pandad.py | 16 ----------------
 1 file changed, 16 deletions(-)

diff --git a/selfdrive/pandad/tests/test_pandad.py b/selfdrive/pandad/tests/test_pandad.py
index 88d3939a6ad8dd..6a5840d4875b36 100644
--- a/selfdrive/pandad/tests/test_pandad.py
+++ b/selfdrive/pandad/tests/test_pandad.py
@@ -78,22 +78,6 @@ def test_internal_panda_reset(self):
 
     assert any(Panda(s).is_internal() for s in Panda.list())
 
-  def test_best_case_startup_time(self):
-    # run once so we're up to date
-    self._run_test(60)
-
-    ts = []
-    for _ in range(10):
-      # should be nearly instant this time
-      dt = self._run_test(5)
-      ts.append(dt)
-
-    # 5s for USB (due to enumeration)
-    # - 0.2s pandad -> pandad
-    # - plus some buffer
-    print("startup times", ts, sum(ts) / len(ts))
-    assert 0.1 < (sum(ts)/len(ts)) < 0.7
-
   def test_old_spi_protocol(self):
     # flash firmware with old SPI protocol
     self._flash_bootstub(os.path.join(HERE, "bootstub.panda_h7_spiv0.bin"))

From a8b5c7450789f685774791e6fd6bb85bb006ba5f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 21 Mar 2026 16:49:57 -0700
Subject: [PATCH 0821/1434] prep for imgui tools (#37712)

* prep for imgui tools

* build cleanups
---
 SConstruct                                | 13 ++++++++----
 third_party/bootstrap/bootstrap-icons.ttf |  3 +++
 third_party/bootstrap/pull.sh             | 10 +++++++++
 tools/cabana/SConscript                   |  5 +----
 uv.lock                                   | 26 +++++++++++------------
 5 files changed, 36 insertions(+), 21 deletions(-)
 create mode 100644 third_party/bootstrap/bootstrap-icons.ttf

diff --git a/SConstruct b/SConstruct
index feaadd5a41c512..792a48eb7d35c3 100644
--- a/SConstruct
+++ b/SConstruct
@@ -47,8 +47,9 @@ pkgs = [importlib.import_module(name) for name in pkg_names]
 # be distributed with all Linux distros and macOS, or
 # vendored in commaai/dependencies.
 allowed_system_libs = {
-  "EGL", "GLESv2", "GL", "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
-  "dl", "drm", "gbm", "m", "pthread",
+  "EGL", "GLESv2", "GL",
+  "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
+  "dl", "drm", "gbm",  "m", "pthread",
 }
 
 def _resolve_lib(env, name):
@@ -253,8 +254,12 @@ SConscript([
   'selfdrive/ui/SConscript',
 ])
 
-if Dir('#tools/cabana/').exists() and arch != "larch64":
-  SConscript(['tools/cabana/SConscript'])
+# Build tools
+if arch != "larch64":
+  SConscript([
+    'tools/replay/SConscript',
+    'tools/cabana/SConscript',
+  ])
 
 
 env.CompilationDatabase('compile_commands.json')
diff --git a/third_party/bootstrap/bootstrap-icons.ttf b/third_party/bootstrap/bootstrap-icons.ttf
new file mode 100644
index 00000000000000..49c8ea699a0fdf
--- /dev/null
+++ b/third_party/bootstrap/bootstrap-icons.ttf
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57e798d421bb56bb058ed9b0c83dd97fe1e411cde3a2bd6eb4a8705234f69027
+size 453096
diff --git a/third_party/bootstrap/pull.sh b/third_party/bootstrap/pull.sh
index 0b03b4db9eff3e..5c4c955c04308d 100755
--- a/third_party/bootstrap/pull.sh
+++ b/third_party/bootstrap/pull.sh
@@ -12,3 +12,13 @@ cd icons
 git fetch --all
 git checkout d5aa187483a1b0b186f87adcfa8576350d970d98
 cp bootstrap-icons.svg ../
+
+# Convert WOFF → TTF for imgui (imgui only reads TTF/OTF)
+python3 -c "
+from fontTools.ttLib import TTFont
+import io
+f = TTFont('font/fonts/bootstrap-icons.woff')
+f.flavor = None
+f.save('../bootstrap-icons.ttf')
+print('bootstrap-icons.ttf written')
+"
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index 7c5581f5269629..cc688ba679b37f 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -4,7 +4,7 @@ import shutil
 
 import libusb
 
-Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal')
+Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib')
 
 # Detect Qt - skip build if not available
 if arch == "Darwin":
@@ -18,9 +18,6 @@ else:
 if not has_qt:
   Return()
 
-SConscript(['#tools/replay/SConscript'])
-Import('replay_lib')
-
 qt_env = env.Clone()
 qt_modules = ["Widgets", "Gui", "Core"]
 
diff --git a/uv.lock b/uv.lock
index 2e7a0f0ac97ae3..795c85bd52746f 100644
--- a/uv.lock
+++ b/uv.lock
@@ -116,12 +116,12 @@ wheels = [
 [[package]]
 name = "bzip2"
 version = "1.0.8"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#347ac440220660253b244526e6e0ed96bea63595" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#fa14088a2deba2f4d511d4008e3a867dd8227867" }
 
 [[package]]
 name = "capnproto"
 version = "1.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#8883c2a61e7056212e9b541a954cc96e5dfd4fdf" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#022412ed0d8f0ca3d566d6b9442a6867756194b9" }
 
 [[package]]
 name = "casadi"
@@ -371,7 +371,7 @@ wheels = [
 [[package]]
 name = "eigen"
 version = "3.4.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=release-eigen#42ca1061f8bfff9b0d8836781e4222bd6dd28a31" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=release-eigen#79b2584590b24652c930dac2669fb8cd44624743" }
 
 [[package]]
 name = "execnet"
@@ -385,7 +385,7 @@ wheels = [
 [[package]]
 name = "ffmpeg"
 version = "7.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=release-ffmpeg#f33e25f6fd36f3c581add7bb3740f659aab002c1" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=release-ffmpeg#da4537d3bf8132e4a715ebe8f10efa956123c394" }
 
 [[package]]
 name = "fonttools"
@@ -432,7 +432,7 @@ wheels = [
 [[package]]
 name = "gcc-arm-none-eabi"
 version = "13.2.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi#770e647fd6e1db963c8d8168a223bebb8696c8b1" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi#11b0bc7decdb804608c7192e69edac3d3f08bedf" }
 
 [[package]]
 name = "ghp-import"
@@ -449,7 +449,7 @@ wheels = [
 [[package]]
 name = "git-lfs"
 version = "3.6.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=release-git-lfs#75aa1619f3a1d283979aa404fec7b0c777c237bf" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=release-git-lfs#8afe53e9efe0ab4fd6b32ef2fa1408eb872806bc" }
 
 [[package]]
 name = "google-crc32c"
@@ -498,7 +498,7 @@ wheels = [
 [[package]]
 name = "imgui"
 version = "1.92.7"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=imgui&rev=release-imgui#013161b390b962778878a1d42cbe7cc738e5537f" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=imgui&rev=release-imgui#23fe87ea4bfee37224134bfc8c8c26a832ea054e" }
 
 [[package]]
 name = "iniconfig"
@@ -578,12 +578,12 @@ wheels = [
 [[package]]
 name = "libjpeg"
 version = "3.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg#8ca1f9de9dc7a31e65454f7f987bbf8aa673e908" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg#24abc422ee0fd9d5485873ca673658bde791b061" }
 
 [[package]]
 name = "libusb"
 version = "1.0.29"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb#5f188080524c3c6d098ab6cb8d206ceef0394e8e" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb#9443bd2571f772a8538b8cf69e293519822ad354" }
 
 [[package]]
 name = "libusb1"
@@ -599,7 +599,7 @@ wheels = [
 [[package]]
 name = "libyuv"
 version = "1922.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv#4d09f32d9de02c74adc3c0cbbd0e59ae2193217a" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv#01e4405ee8c1ed8a73024b6cee27294c306a288f" }
 
 [[package]]
 name = "markdown"
@@ -751,7 +751,7 @@ wheels = [
 [[package]]
 name = "ncurses"
 version = "6.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ncurses&rev=release-ncurses#a1f3891afb2143ae34d80b6ecd502bda30fb1e28" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ncurses&rev=release-ncurses#c4d49b4c8a9c804f708236f95933b857e98d50b5" }
 
 [[package]]
 name = "numpy"
@@ -1672,7 +1672,7 @@ wheels = [
 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#1bfcfd916e94f0b8ef94c9e6e783f765b07850bf" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#8852c13c0ba3788704c0f0eb0d1b5586e7846510" }
 
 [[package]]
 name = "zstandard"
@@ -1702,4 +1702,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#3c54d941828579c8fc5956eb71b69df85d3b7f07" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#70ffdccbe7bcf49f2d186c54a255eadf946b32f3" }

From 31e4fe55ac666da16be0ade30d1f950731d309e5 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 22 Mar 2026 17:36:35 -0700
Subject: [PATCH 0822/1434] tools: setup ffmpeg hwaccel (#37718)

---
 system/loggerd/SConscript | 11 ++++++++---
 tools/cabana/SConscript   |  4 +++-
 tools/replay/SConscript   |  4 +++-
 uv.lock                   | 26 +++++++++++++-------------
 4 files changed, 27 insertions(+), 18 deletions(-)

diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript
index b02c40924080c0..45e8b25d208e04 100644
--- a/system/loggerd/SConscript
+++ b/system/loggerd/SConscript
@@ -3,11 +3,16 @@ Import('env', 'arch', 'messaging', 'common', 'visionipc')
 libs = [common, messaging, visionipc,
         'avformat', 'avcodec', 'swresample', 'avutil', 'x264',
         'pthread', 'z', 'm', 'zstd']
+frameworks = []
 
 src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/jpeg_encoder.cc']
 if arch != "larch64":
   src += ['encoder/ffmpeg_encoder.cc']
   libs += ['yuv']
+  if arch == "Darwin":
+    frameworks += ['VideoToolbox', 'CoreMedia', 'CoreFoundation', 'CoreVideo']
+  else:
+    libs += ['va', 'va-drm', 'drm']
 
 if arch == "Darwin":
   # exclude v4l
@@ -16,9 +21,9 @@ if arch == "Darwin":
 logger_lib = env.Library('logger', src)
 libs.insert(0, logger_lib)
 
-env.Program('loggerd', ['loggerd.cc'], LIBS=libs)
-env.Program('encoderd', ['encoderd.cc'], LIBS=libs + ["jpeg"])
-env.Program('bootlog.cc', LIBS=libs)
+env.Program('loggerd', ['loggerd.cc'], LIBS=libs, FRAMEWORKS=frameworks)
+env.Program('encoderd', ['encoderd.cc'], LIBS=libs + ["jpeg"], FRAMEWORKS=frameworks)
+env.Program('bootlog.cc', LIBS=libs, FRAMEWORKS=frameworks)
 
 if GetOption('extras'):
   env.Program('tests/test_logger', ['tests/test_runner.cc', 'tests/test_logger.cc', 'tests/test_zstd_writer.cc'], LIBS=libs)
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index cc688ba679b37f..f5ef0f4393946d 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -66,7 +66,7 @@ base_frameworks = qt_env['FRAMEWORKS']
 base_libs = [common, messaging, cereal, visionipc, 'm', 'pthread'] + qt_env["LIBS"]
 
 if arch == "Darwin":
-  base_frameworks += ['QtCharts', 'CoreFoundation', 'IOKit', 'Security']
+  base_frameworks += ['QtCharts', 'CoreFoundation', 'CoreVideo', 'CoreMedia', 'IOKit', 'Security', 'VideoToolbox']
 else:
   base_libs.append('Qt5Charts')
 
@@ -75,6 +75,8 @@ cabana_env['CPPPATH'] += [libusb.INCLUDE_DIR]
 cabana_env['LIBPATH'] += [libusb.LIB_DIR]
 
 cabana_libs = [cereal, messaging, visionipc, replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'bz2', 'zstd', 'yuv', 'usb-1.0'] + base_libs
+if arch != "Darwin":
+  cabana_libs += ['va', 'va-drm', 'drm']
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc/dbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
diff --git a/tools/replay/SConscript b/tools/replay/SConscript
index 757f3fec4e6107..d047415f58dedf 100644
--- a/tools/replay/SConscript
+++ b/tools/replay/SConscript
@@ -3,7 +3,7 @@ Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal')
 replay_env = env.Clone()
 replay_env['CCFLAGS'] += ['-Wno-deprecated-declarations']
 
-base_frameworks = []
+base_frameworks = ['VideoToolbox', 'CoreMedia', 'CoreFoundation', 'CoreVideo'] if arch == "Darwin" else []
 base_libs = [common, messaging, cereal, visionipc, 'm', 'pthread']
 
 replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc",
@@ -13,6 +13,8 @@ if arch != "Darwin":
 replay_lib = replay_env.Library("replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
 Export('replay_lib')
 replay_libs = [replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'bz2', 'zstd', 'yuv', 'ncurses'] + base_libs
+if arch != "Darwin":
+  replay_libs += ['va', 'va-drm', 'drm']
 replay_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('extras'):
diff --git a/uv.lock b/uv.lock
index 795c85bd52746f..272421934ce94b 100644
--- a/uv.lock
+++ b/uv.lock
@@ -116,12 +116,12 @@ wheels = [
 [[package]]
 name = "bzip2"
 version = "1.0.8"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#fa14088a2deba2f4d511d4008e3a867dd8227867" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#90b7fefbe37fc2ca26597e6e9e0035dd386effa1" }
 
 [[package]]
 name = "capnproto"
 version = "1.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#022412ed0d8f0ca3d566d6b9442a6867756194b9" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#05582563f2fdf6638a550fef61b129a2fb288d05" }
 
 [[package]]
 name = "casadi"
@@ -371,7 +371,7 @@ wheels = [
 [[package]]
 name = "eigen"
 version = "3.4.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=release-eigen#79b2584590b24652c930dac2669fb8cd44624743" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=release-eigen#40e5d76de1b33a86c5181b63db6782d8f06da1da" }
 
 [[package]]
 name = "execnet"
@@ -385,7 +385,7 @@ wheels = [
 [[package]]
 name = "ffmpeg"
 version = "7.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=release-ffmpeg#da4537d3bf8132e4a715ebe8f10efa956123c394" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=release-ffmpeg#b9732165bcf5a3fab83b05994187802a0d115b6e" }
 
 [[package]]
 name = "fonttools"
@@ -432,7 +432,7 @@ wheels = [
 [[package]]
 name = "gcc-arm-none-eabi"
 version = "13.2.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi#11b0bc7decdb804608c7192e69edac3d3f08bedf" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi#15a616d4f08f6b8ecaa9b2390c75d2fe0c0fffb8" }
 
 [[package]]
 name = "ghp-import"
@@ -449,7 +449,7 @@ wheels = [
 [[package]]
 name = "git-lfs"
 version = "3.6.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=release-git-lfs#8afe53e9efe0ab4fd6b32ef2fa1408eb872806bc" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=release-git-lfs#f77417aad13a05b03bb2696a0b5a124f339d117b" }
 
 [[package]]
 name = "google-crc32c"
@@ -498,7 +498,7 @@ wheels = [
 [[package]]
 name = "imgui"
 version = "1.92.7"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=imgui&rev=release-imgui#23fe87ea4bfee37224134bfc8c8c26a832ea054e" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=imgui&rev=release-imgui#c5c108b23a2e0346480d7f4c4981bf6ec7ba9054" }
 
 [[package]]
 name = "iniconfig"
@@ -578,12 +578,12 @@ wheels = [
 [[package]]
 name = "libjpeg"
 version = "3.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg#24abc422ee0fd9d5485873ca673658bde791b061" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg#2d69723fe445dadc68ceb9072510a505111b64a7" }
 
 [[package]]
 name = "libusb"
 version = "1.0.29"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb#9443bd2571f772a8538b8cf69e293519822ad354" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb#8daf8079f98809ef4674177bca915a0a81eac52f" }
 
 [[package]]
 name = "libusb1"
@@ -599,7 +599,7 @@ wheels = [
 [[package]]
 name = "libyuv"
 version = "1922.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv#01e4405ee8c1ed8a73024b6cee27294c306a288f" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv#28c3c2a2444232aeeaf989c33fd333ce74e6fc90" }
 
 [[package]]
 name = "markdown"
@@ -751,7 +751,7 @@ wheels = [
 [[package]]
 name = "ncurses"
 version = "6.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ncurses&rev=release-ncurses#c4d49b4c8a9c804f708236f95933b857e98d50b5" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ncurses&rev=release-ncurses#e33e7f648009ad97638b1a0a373a06a05526c040" }
 
 [[package]]
 name = "numpy"
@@ -1672,7 +1672,7 @@ wheels = [
 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#8852c13c0ba3788704c0f0eb0d1b5586e7846510" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#0f7d2b9121cc30c0e377717fc1db52205a8e4c80" }
 
 [[package]]
 name = "zstandard"
@@ -1702,4 +1702,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#70ffdccbe7bcf49f2d186c54a255eadf946b32f3" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#b2b10636beba0384eada30979651b4ca7cf919ff" }

From 54db569c2cd30deb75f1fbfac5bc80afbced247c Mon Sep 17 00:00:00 2001
From: Ethan Reish <Ereish02@gmail.com>
Date: Sun, 22 Mar 2026 21:03:40 -0500
Subject: [PATCH 0823/1434] Do not map tici to tizi release (#37719)

* Do not map tici to tizi release

* tici

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 selfdrive/ui/installer/installer.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc
index 759945419462ab..fb661b966da4e2 100644
--- a/selfdrive/ui/installer/installer.cc
+++ b/selfdrive/ui/installer/installer.cc
@@ -48,7 +48,7 @@ Font font_display;
 const bool tici_device = Hardware::get_device_type() == cereal::InitData::DeviceType::TICI ||
                          Hardware::get_device_type() == cereal::InitData::DeviceType::TIZI;
 
-std::vector<std::string> tici_prebuilt_branches = {"release3", "release-tizi", "release3-staging", "nightly", "nightly-dev"};
+std::vector<std::string> tici_prebuilt_branches = {"release3", "release-tici", "release3-staging", "nightly", "nightly-dev"};
 std::string migrated_branch;
 
 void branchMigration() {

From 1d48cbdffa6392aaf20f4e5c8883fd6644317591 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Mon, 23 Mar 2026 04:00:28 -0400
Subject: [PATCH 0824/1434] ui: fix BIG ui with scale (#37690)

* Update application.py

* Apply suggestions from code review

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 system/ui/lib/application.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index 1d518309d3e5e0..980410b022a625 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -452,6 +452,11 @@ def set_should_render(self, should_render: bool):
 
   def texture(self, asset_path: str, width: int | None = None, height: int | None = None,
               alpha_premultiply=False, keep_aspect_ratio=True, flip_x: bool = False) -> rl.Texture:
+    if width is not None:
+      width = round(width)
+    if height is not None:
+      height = round(height)
+
     cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}_{keep_aspect_ratio}_{flip_x}"
     if cache_key in self._textures:
       return self._textures[cache_key]

From 6871203c450ed9264d4b2aae1253ee3105e40ae6 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 23 Mar 2026 08:36:14 -0700
Subject: [PATCH 0825/1434] [bot] Update Python packages (#37529)

* Update Python packages

* revert tg

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 docs/CARS.md | 4 ++--
 msgq_repo    | 2 +-
 opendbc_repo | 2 +-
 panda        | 2 +-
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 5487ef1ee1f31d..097f45e34f9b97 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -171,7 +171,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV (with HDA II) 2025|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2025">Buy Here</a></sub></details>|||
+|Kia|Niro EV (with HDA II) 2024-25|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2024-25">Buy Here</a></sub></details>|||
 |Kia|Niro EV (without HDA II) 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (without HDA II) 2023-25">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2018|Smart Cruise Control (SCC)|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2018">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2021">Buy Here</a></sub></details>|||
@@ -339,7 +339,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
-<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
+<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
 <sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
 <sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
diff --git a/msgq_repo b/msgq_repo
index ed2777747d60de..b7688b9bd731de 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit ed2777747d60de5a399b74ef1d4be4c1fb406ae1
+Subproject commit b7688b9bd731dea4520adf248bf1eb49b6dde776
diff --git a/opendbc_repo b/opendbc_repo
index ddeba888a3d03b..e27af8c188cec1 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit ddeba888a3d03b32269f0c780490ad8578917527
+Subproject commit e27af8c188cec1ad7ef6c39ad57f6338f8b02281
diff --git a/panda b/panda
index c10b82f8ff03c7..d079b0958b51ce 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit c10b82f8ff03c7d677a9420c21c0c50126a5071e
+Subproject commit d079b0958b51ce33fc313def95317ef52b54b2ec

From 576620276350291c19c768711d7fe3de5af6d24d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 23 Mar 2026 08:59:37 -0700
Subject: [PATCH 0826/1434] translations: auto-generate with codex (#37462)

---
 .github/workflows/repo-maintenance.yaml       |   22 -
 selfdrive/ui/tests/test_translations.py       |  196 ++--
 selfdrive/ui/translations/README.md           |    3 -
 selfdrive/ui/translations/app.pot             |  922 ++++++---------
 selfdrive/ui/translations/app_de.po           |  671 ++++-------
 selfdrive/ui/translations/app_en.po           |  643 ++++------
 selfdrive/ui/translations/app_es.po           |  721 ++++--------
 selfdrive/ui/translations/app_fr.po           |  644 ++++------
 selfdrive/ui/translations/app_ja.po           |  639 ++++------
 selfdrive/ui/translations/app_ko.po           |  637 ++++------
 selfdrive/ui/translations/app_pt-BR.po        |  667 ++++-------
 selfdrive/ui/translations/app_th.po           | 1034 +++++++----------
 selfdrive/ui/translations/app_tr.po           |  717 ++++--------
 selfdrive/ui/translations/app_uk.po           |  638 ++++------
 selfdrive/ui/translations/app_zh-CHS.po       |  643 ++++------
 selfdrive/ui/translations/app_zh-CHT.po       |  643 ++++------
 selfdrive/ui/translations/auto_translate.py   |  138 ---
 selfdrive/ui/translations/auto_translate.sh   |   26 +
 selfdrive/ui/translations/create_badges.py    |  108 --
 selfdrive/ui/translations/potools.py          |   79 +-
 .../{ => translations}/update_translations.py |    0
 21 files changed, 3385 insertions(+), 6406 deletions(-)
 delete mode 100644 selfdrive/ui/translations/README.md
 delete mode 100755 selfdrive/ui/translations/auto_translate.py
 create mode 100755 selfdrive/ui/translations/auto_translate.sh
 delete mode 100755 selfdrive/ui/translations/create_badges.py
 rename selfdrive/ui/{ => translations}/update_translations.py (100%)

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 1ac6efb4f0a893..f829415f4eea68 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -9,28 +9,6 @@ env:
   PYTHONPATH: ${{ github.workspace }}
 
 jobs:
-  update_translations:
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          submodules: true
-      - run: ./tools/op.sh setup
-      - name: Update translations
-        run: python3 selfdrive/ui/update_translations.py --vanish
-      - name: Create Pull Request
-        uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
-        with:
-          author: Vehicle Researcher <user@comma.ai>
-          commit-message: "Update translations"
-          title: "[bot] Update translations"
-          body: "Automatic PR from repo-maintenance -> update_translations"
-          branch: "update-translations"
-          base: "master"
-          delete-branch: true
-          labels: bot
-
   package_updates:
     name: package_updates
     runs-on: ubuntu-latest
diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py
index 599c99013c6fee..fba595acadb3f4 100644
--- a/selfdrive/ui/tests/test_translations.py
+++ b/selfdrive/ui/tests/test_translations.py
@@ -1,124 +1,106 @@
-import pytest
 import json
-import os
 import re
-import xml.etree.ElementTree as ET
 import string
-import requests
-from openpilot.common.parameterized import parameterized_class
-from openpilot.system.ui.lib.multilang import TRANSLATIONS_DIR, LANGUAGES_FILE
-
-with open(str(LANGUAGES_FILE)) as f:
-  translation_files = json.load(f)
-
-UNFINISHED_TRANSLATION_TAG = "<translation type=\"unfinished\""  # non-empty translations can be marked unfinished
-LOCATION_TAG = "<location "
-FORMAT_ARG = re.compile("%[0-9]+")
-
-
-@pytest.mark.skip("TODO: update for raylib")
-@parameterized_class(("name", "file"), translation_files.items())
-class TestTranslations:
-  name: str
-  file: str
-
-  @staticmethod
-  def _read_translation_file(path, file):
-    tr_file = os.path.join(path, f"{file}.ts")
-    with open(tr_file) as f:
-      return f.read()
-
-  def test_missing_translation_files(self):
-    assert os.path.exists(os.path.join(str(TRANSLATIONS_DIR), f"{self.file}.ts")), \
-                    f"{self.name} has no XML translation file, run selfdrive/ui/update_translations.py"
-
-  @pytest.mark.skip("Only test unfinished translations before going to release")
-  def test_unfinished_translations(self):
-    cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
-    assert UNFINISHED_TRANSLATION_TAG not in cur_translations, \
-                    f"{self.file} ({self.name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist"
-
-  def test_vanished_translations(self):
-    cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
-    assert "<translation type=\"vanished\">" not in cur_translations, \
-                    f"{self.file} ({self.name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them"
-
-  def test_finished_translations(self):
-    """
-      Tests ran on each translation marked "finished"
-      Plural:
-      - that any numerus (plural) translations have all plural forms non-empty
-      - that the correct format specifier is used (%n)
-      Non-plural:
-      - that translation is not empty
-      - that translation format arguments are consistent
-    """
-    tr_xml = ET.parse(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts"))
-
-    for context in tr_xml.getroot():
-      for message in context.iterfind("message"):
-        translation = message.find("translation")
-        source_text = message.find("source").text
-
-        # Do not test unfinished translations
-        if translation.get("type") == "unfinished":
-          continue
+from pathlib import Path
+
+import pytest
+
+from openpilot.selfdrive.ui.translations.potools import parse_po
+from openpilot.system.ui.lib.multilang import LANGUAGES_FILE, TRANSLATIONS_DIR
+
+PERCENT_PLACEHOLDER_RE = re.compile(r"%(?:n|\d+)")
+BAD_ENTITY_RE = re.compile(r'@(\w+);')
+LINE_NUMBER_REF_RE = re.compile(r'^#:\s+.+:\d+(?:\s|$)')
+FORMATTER = string.Formatter()
+PO_DIR = Path(str(TRANSLATIONS_DIR))
+
+with LANGUAGES_FILE.open(encoding='utf-8') as f:
+  TRANSLATION_LANGUAGES = json.load(f)
+
+
+def extract_placeholders(text: str) -> list[str]:
+  placeholders = PERCENT_PLACEHOLDER_RE.findall(text)
 
-        if message.get("numerus") == "yes":
-          numerusform = [t.text for t in translation.findall("numerusform")]
+  try:
+    parsed = list(FORMATTER.parse(text))
+  except ValueError as e:
+    raise AssertionError(f"invalid brace formatting in {text!r}: {e}") from e
 
-          for nf in numerusform:
-            assert nf is not None, f"Ensure all plural translation forms are completed: {source_text}"
-            assert "%n" in nf, "Ensure numerus argument (%n) exists in translation."
-            assert FORMAT_ARG.search(nf) is None, f"Plural translations must use %n, not %1, %2, etc.: {numerusform}"
+  for _, field_name, format_spec, conversion in parsed:
+    if field_name is None:
+      continue
 
-        else:
-          assert translation.text is not None, f"Ensure translation is completed: {source_text}"
+    token = "{"
+    token += field_name
+    if conversion:
+      token += f"!{conversion}"
+    if format_spec:
+      token += f":{format_spec}"
+    token += "}"
+    placeholders.append(token)
 
-          source_args = FORMAT_ARG.findall(source_text)
-          translation_args = FORMAT_ARG.findall(translation.text)
-          assert sorted(source_args) == sorted(translation_args), \
-                           f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`"
+  return sorted(placeholders)
 
-  def test_no_locations(self):
-    for line in self._read_translation_file(TRANSLATIONS_DIR, self.file).splitlines():
-      assert not line.strip().startswith(LOCATION_TAG), \
-                       f"Line contains location tag: {line.strip()}, remove all line numbers."
 
-  def test_entities_error(self):
-    cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
-    matches = re.findall(r'@(\w+);', cur_translations)
-    assert len(matches) == 0, f"The string(s) {matches} were found with '@' instead of '&'"
+def load_po_text(po_path: Path) -> str:
+  return po_path.read_text(encoding='utf-8')
 
-  def test_bad_language(self):
-    IGNORED_WORDS = {'pédale'}
 
-    match = re.search(r'([a-zA-Z]{2,3})', self.file)
-    assert match, f"{self.name} - could not parse language"
+@pytest.mark.parametrize("language_code", sorted(TRANSLATION_LANGUAGES.values()))
+def test_translation_file_exists(language_code: str):
+  po_path = PO_DIR / f"app_{language_code}.po"
+  assert po_path.exists(), f"missing translation file: {po_path}"
 
-    try:
-      response = requests.get(
-        f"https://raw.githubusercontent.com/LDNOOBW/List-of-Dirty-Naughty-Obscene-and-Otherwise-Bad-Words/master/{match.group(1)}"
+
+@pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
+def test_translation_placeholders_are_preserved(po_path: Path):
+  _, entries = parse_po(po_path)
+  language = po_path.stem.removeprefix("app_")
+
+  for entry in entries:
+    source_placeholders = extract_placeholders(entry.msgid)
+
+    if entry.is_plural:
+      plural_placeholders = extract_placeholders(entry.msgid_plural)
+      message = (
+        f"{language}: source plural placeholders do not match singular for "
+        + f"{entry.msgid!r}: {source_placeholders} vs {plural_placeholders}"
       )
-      response.raise_for_status()
-    except requests.exceptions.HTTPError as e:
-      if e.response is not None and e.response.status_code == 429:
-        pytest.skip("word list rate limited")
-      raise
-
-    banned_words = {line.strip() for line in response.text.splitlines()}
-
-    for context in ET.parse(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")).getroot():
-      for message in context.iterfind("message"):
-        translation = message.find("translation")
-        if translation.get("type") == "unfinished":
+      assert plural_placeholders == source_placeholders, message
+
+      for idx, msgstr in sorted(entry.msgstr_plural.items()):
+        if not msgstr:
           continue
 
-        translation_text = " ".join([t.text for t in translation.findall("numerusform")]) if message.get("numerus") == "yes" else translation.text
+        translated_placeholders = extract_placeholders(msgstr)
+        message = (
+          f"{language}: plural form {idx} changes placeholders for {entry.msgid!r}: "
+          + f"expected {source_placeholders}, got {translated_placeholders}"
+        )
+        assert translated_placeholders == source_placeholders, message
+    else:
+      if not entry.msgstr:
+        continue
+
+      translated_placeholders = extract_placeholders(entry.msgstr)
+      message = (
+        f"{language}: translation changes placeholders for {entry.msgid!r}: "
+        + f"expected {source_placeholders}, got {translated_placeholders}"
+      )
+      assert translated_placeholders == source_placeholders, message
+
+
+@pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
+def test_translation_refs_do_not_include_line_numbers(po_path: Path):
+  for line in load_po_text(po_path).splitlines():
+    assert not LINE_NUMBER_REF_RE.match(line), (
+      f"{po_path.name}: line-number source reference found: {line}"
+    )
 
-        if not translation_text:
-          continue
 
-        words = set(translation_text.translate(str.maketrans('', '', string.punctuation + '%n')).lower().split())
-        bad_words_found = words & (banned_words - IGNORED_WORDS)
-        assert not bad_words_found, f"Bad language found in {self.name}: '{translation_text}'. Bad word(s): {', '.join(bad_words_found)}"
+@pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
+def test_translation_entities_are_valid(po_path: Path):
+  matches = BAD_ENTITY_RE.findall(load_po_text(po_path))
+  assert not matches, (
+    f"{po_path.name}: found '@...;' entity typo(s): {', '.join(sorted(set(matches)))}"
+  )
diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md
deleted file mode 100644
index 433eb7d64a009a..00000000000000
--- a/selfdrive/ui/translations/README.md
+++ /dev/null
@@ -1,3 +0,0 @@
-# Multilanguage
-
-[![languages](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge.svg)](#)
diff --git a/selfdrive/ui/translations/app.pot b/selfdrive/ui/translations/app.pot
index 468ff35fd9d2c2..0872ed538e3021 100644
--- a/selfdrive/ui/translations/app.pot
+++ b/selfdrive/ui/translations/app.pot
@@ -1,1035 +1,823 @@
-# SOME DESCRIPTIVE TITLE.
-# Copyright (C) YEAR THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# FIRST AUTHOR <EMAIL@ADDRESS>, YEAR.
-#
-#, fuzzy
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2026-03-09 14:21+0000\n"
-"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
-"Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
-"Language-Team: LANGUAGE <LL@li.org>\n"
-"Language: \n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
-"Plural-Forms: nplurals=INTEGER; plural=EXPRESSION;\n"
 
-#: system/ui/widgets/network.py:92
-#: system/ui/widgets/network.py:74
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
+msgid "OK"
+msgstr ""
+
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
+msgid "Cancel"
+msgstr ""
+
+#: system/ui/widgets/network.py
 msgid "Advanced"
 msgstr ""
 
-#: system/ui/widgets/network.py:96
-#: openpilot/selfdrive/ui/layouts/onboarding.py:151
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr ""
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr ""
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr ""
 
-#: system/ui/widgets/network.py:243
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr ""
 
-#: system/ui/widgets/network.py:257
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr ""
 
-#: system/ui/widgets/network.py:117
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr ""
 
-#: system/ui/widgets/network.py:120
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
 msgstr ""
 
-#: system/ui/widgets/network.py:121
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr ""
 
-#: system/ui/widgets/network.py:126
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr ""
 
-#: system/ui/widgets/network.py:131
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr ""
 
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr ""
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr ""
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
 msgstr ""
 
-#: system/ui/widgets/network.py:316
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr ""
 
-#: system/ui/widgets/network.py:376
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr ""
 
-#: system/ui/widgets/network.py:458
-#: system/ui/widgets/network.py:326
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
 msgstr ""
 
-#: system/ui/widgets/network.py:132
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr ""
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
 msgstr ""
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
 msgstr ""
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
 msgstr ""
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr ""
 
-#: system/ui/widgets/network.py:147
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
 msgstr ""
 
-#: system/ui/widgets/network.py:152
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr ""
 
-#: system/ui/widgets/network.py:152
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr ""
 
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr ""
 
-#: system/ui/widgets/network.py:326
-#: system/ui/widgets/confirm_dialog.py:24
-#: system/ui/widgets/option_dialog.py:36
-#: system/ui/widgets/keyboard.py:83
-#, python-format
-msgid "Cancel"
-msgstr ""
-
-#: system/ui/widgets/network.py:380
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr ""
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:321
-#, python-format
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr ""
 
-#: system/ui/widgets/network.py:327
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr ""
 
-#: system/ui/widgets/confirm_dialog.py:93
-#: system/ui/widgets/html_render.py:263
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#, python-format
-msgid "OK"
+#: system/ui/widgets/list_view.py
+msgid "Error"
 msgstr ""
 
-#: system/ui/widgets/option_dialog.py:37
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr ""
 
-#: system/ui/widgets/list_view.py:123
-#: system/ui/widgets/list_view.py:160
-#, python-format
-msgid "Error"
-msgstr ""
-
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:92
-#, python-format
-msgid "Pair your device to your comma account"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:117
-#, python-format
-msgid "Go to https://connect.comma.ai on your phone"
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:118
-#, python-format
-msgid "Click \"add new device\" and scan the QR code on the right"
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Finish Setup"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:119
-#, python-format
-msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair device"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:150
-#, python-format
-msgid "QR Code Error"
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Open"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/setup.py:47
-#: openpilot/selfdrive/ui/layouts/settings/device.py:23
-#, python-format
-msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "🔥 Firehose Mode 🔥"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/setup.py:74
-#, python-format
-msgid "Maximize your training data uploads to improve openpilot's driving models."
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/setup.py:43
-#, python-format
-msgid "Finish Setup"
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Close"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/setup.py:18
-#, python-format
-msgid "Pair device"
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Snooze Update"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/setup.py:19
-#, python-format
-msgid "Open"
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Acknowledge Excessive Actuation"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/setup.py:21
-#, python-format
-msgid "🔥 Firehose Mode 🔥"
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Reboot and Update"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/setup.py:91
-#, python-format
-msgid "Please connect to Wi-Fi to complete initial pairing"
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "No release notes available."
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Request timed out"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:124
-#, python-format
-msgid "Request timed out"
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "No SSH keys found for user '{}'"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:115
-#, python-format
-msgid "No SSH keys found"
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Pair your device to your comma account"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:127
-#, python-format
-msgid "No SSH keys found for user '{}'"
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Go to https://connect.comma.ai on your phone"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "QR Code Error"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
-msgid "Close"
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "UPDATE"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
-msgid "Snooze Update"
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] ""
+msgstr[1] ""
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Welcome to openpilot"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
-msgid "Acknowledge Excessive Actuation"
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
-msgid "Reboot and Update"
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:321
-#, python-format
-msgid "No release notes available."
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Agree"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms and Conditions in order to use openpilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline, uninstall openpilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/home.py:155
-#, python-format
-msgid "UPDATE"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/home.py:169
-#, python-format
-msgid "{} ALERT"
-msgid_plural "{} ALERTS"
-msgstr[0] ""
-msgstr[1] ""
-
-#: openpilot/selfdrive/ui/layouts/onboarding.py:115
-#, python-format
-msgid "Welcome to openpilot"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/onboarding.py:116
-#, python-format
-msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/onboarding.py:119
-#, python-format
-msgid "Decline"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/onboarding.py:120
-#, python-format
-msgid "Agree"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/onboarding.py:149
-#, python-format
-msgid "You must accept the Terms and Conditions in order to use openpilot."
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/onboarding.py:152
-#, python-format
-msgid "Decline, uninstall openpilot"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:20
-msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:30
-msgid "Enable driver monitoring even when openpilot is not engaged."
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:31
-msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:32
-msgid "Display speed in km/h instead of mph."
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:33
-msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
-msgid "Driving Personality"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
-msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:182
-#, python-format
-msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:229
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:180
-#, python-format
-msgid "Enable"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
-msgid "Enable openpilot"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
-msgid "Experimental Mode"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
-msgid "Disengage on Accelerator Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
-msgid "Enable Lane Departure Warnings"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
-msgid "Always-On Driver Monitoring"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
-msgid "Record and Upload Driver Camera"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
-msgid "Record and Upload Microphone Audio"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
-msgid "Use Metric System"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:184
-#, python-format
-msgid "openpilot longitudinal control may come in a future update."
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Aggressive"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Standard"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Relaxed"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:190
-#, python-format
-msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:59
-msgid "Device"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:60
-msgid "Network"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:61
-msgid "Toggles"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:62
-msgid "Software"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:63
-msgid "Firehose"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:64
-msgid "Developer"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/device.py:24
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:25
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:26
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:89
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:140
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:95
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:164
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:176
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:150
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:10
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
 msgstr[0] ""
 msgstr[1] ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:19
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable ADB"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable SSH"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "SSH Keys"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Joystick Debug Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Longitudinal Maneuver Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "openpilot Longitudinal Control (Alpha)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "checking..."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "downloading..."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:21
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "finalizing update..."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:27
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:38
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:157
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#: openpilot/selfdrive/ui/layouts/settings/software.py:117
-#: openpilot/selfdrive/ui/layouts/settings/software.py:128
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:203
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:41
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] ""
 msgstr[1] ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:44
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] ""
 msgstr[1] ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:47
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] ""
 msgstr[1] ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:55
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#: openpilot/selfdrive/ui/layouts/settings/software.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
-msgid "Enable ADB"
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Device"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
-msgid "Enable SSH"
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Network"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
-msgid "SSH Keys"
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Toggles"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
-msgid "Joystick Debug Mode"
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Software"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
-msgid "Longitudinal Maneuver Mode"
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Firehose"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
-msgid "openpilot Longitudinal Control (Alpha)"
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Developer"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:79
-#, python-format
-msgid "UI Debug Mode"
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
 msgstr ""
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
-msgid "openpilot Unavailable"
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable driver monitoring even when openpilot is not engaged."
 msgstr ""
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
-msgid "Waiting to start"
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
 msgstr ""
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
-msgid "TAKE CONTROL IMMEDIATELY"
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Display speed in km/h instead of mph."
 msgstr ""
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:59
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
-msgid "System Unresponsive"
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr ""
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
-msgid "Reboot Device"
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Driving Personality"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Changing this setting will restart openpilot if the car is powered on."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable openpilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Disengage on Accelerator Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable Lane Departure Warnings"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Always-On Driver Monitoring"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Driver Camera"
 msgstr ""
 
-#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py:38
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Microphone Audio"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Use Metric System"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "openpilot longitudinal control may come in a future update."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Aggressive"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Standard"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Relaxed"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr ""
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr ""
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
 msgstr ""
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
 msgstr ""
 
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "openpilot Unavailable"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Waiting to start"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "System Unresponsive"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Reboot Device"
+msgstr ""
+
diff --git a/selfdrive/ui/translations/app_de.po b/selfdrive/ui/translations/app_de.po
index 9888bb718e755e..287ecde1a01ed2 100644
--- a/selfdrive/ui/translations/app_de.po
+++ b/selfdrive/ui/translations/app_de.po
@@ -1,1034 +1,825 @@
-# German translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-20 16:35-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: de\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
+"Language: de\n"
 "Plural-Forms: nplurals=2; plural=(n != 1);\n"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
 msgstr " Die Lenkmoment-Reaktionskalibrierung ist abgeschlossen."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:150
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
 msgstr " Die Lenkmoment-Reaktionskalibrierung ist zu {}% abgeschlossen."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr " Ihr Gerät ist um {:.1f}° {} und {:.1f}° {} ausgerichtet."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr "--"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr "1 Jahr Fahrtdatenspeicherung"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr "24/7 LTE‑Verbindung"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr "2G"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:140
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
 msgstr "<br><br>Kalibrierung der Lenkverzögerung abgeschlossen."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
 msgstr "<br><br>Kalibrierung der Lenkverzögerung zu {}% abgeschlossen."
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr "HINZUFÃœGEN"
 
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "APN‑Einstellung"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
 msgstr "Übermäßige Betätigung bestätigen"
 
-#: system/ui/widgets/network.py:92
-#: system/ui/widgets/network.py:74
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "Erweitert"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr "Aggressiv"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
 msgstr "Zustimmen"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "Immer aktive Fahrerüberwachung"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr "Sind Sie sicher, dass Sie ausschalten möchten?"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr "Sind Sie sicher, dass Sie neu starten möchten?"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr "Sind Sie sicher, dass Sie die Kalibrierung zurücksetzen möchten?"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr "Sind Sie sicher, dass Sie deinstallieren möchten?"
 
-#: system/ui/widgets/network.py:96
-#: openpilot/selfdrive/ui/layouts/onboarding.py:151
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr "Zurück"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Werden Sie comma prime Mitglied auf connect.comma.ai"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:119
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "Fügen Sie connect.comma.ai Ihrem Startbildschirm hinzu, um es wie eine App zu verwenden"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "ÄNDERN"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:157
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#: openpilot/selfdrive/ui/layouts/settings/software.py:117
-#: openpilot/selfdrive/ui/layouts/settings/software.py:128
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr "PRÃœFEN"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr "CHILL‑MODUS AKTIV"
 
-#: system/ui/widgets/network.py:152
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "VERBINDUNG"
 
-#: system/ui/widgets/network.py:376
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "VERBINDUNG"
 
-#: system/ui/widgets/network.py:326
-#: system/ui/widgets/confirm_dialog.py:24
-#: system/ui/widgets/option_dialog.py:36
-#: system/ui/widgets/keyboard.py:83
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "Abbrechen"
 
-#: system/ui/widgets/network.py:131
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "Getaktete Mobilfunkverbindung"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr "Sprache ändern"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
 msgstr " Durch Ändern dieser Einstellung wird openpilot neu gestartet, wenn das Auto eingeschaltet ist."
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:118
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
 msgstr "Klicken Sie auf \"add new device\" und scannen Sie den QR‑Code rechts"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
 msgstr "Schließen"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Aktuelle Version"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "HERUNTERLADEN"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
 msgstr "Ablehnen"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
 msgstr "Ablehnen, openpilot deinstallieren"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr "Entwickler"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:59
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr "Gerät"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Beim Gaspedal deaktivieren"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:176
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr "Zum Ausschalten deaktivieren"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:164
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr "Zum Neustart deaktivieren"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:95
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr "Zum Zurücksetzen der Kalibrierung deaktivieren"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "Geschwindigkeit in km/h statt mph anzeigen."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
 msgstr "Dongle-ID"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr "Herunterladen"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr "Fahrerkamera"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
 msgstr "Fahrstil"
 
-#: system/ui/widgets/network.py:120
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "BEARBEITEN"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "FEHLER"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr "ETH"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr "EXPERIMENTALMODUS AKTIV"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:229
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:180
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
 msgstr "Aktivieren"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "ADB aktivieren"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Spurverlassenswarnungen aktivieren"
 
-#: system/ui/widgets/network.py:126
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
-msgstr "openpilot aktivieren"
+msgstr "Roaming aktivieren"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
 msgstr "SSH aktivieren"
 
-#: system/ui/widgets/network.py:117
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
-msgstr "Spurverlassenswarnungen aktivieren"
+msgstr "Tethering aktivieren"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
 msgstr "Fahrerüberwachung auch aktivieren, wenn openpilot nicht aktiv ist."
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr "openpilot aktivieren"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:190
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr "Den Schalter für die openpilot-Längsregelung (Alpha) aktivieren, um den Experimentalmodus zu erlauben."
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "APN eingeben"
 
-#: system/ui/widgets/network.py:243
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "SSID eingeben"
 
-#: system/ui/widgets/network.py:257
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "Neues Tethering‑Passwort eingeben"
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "Passwort eingeben"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr "Geben Sie Ihren GitHub‑Benutzernamen ein"
 
-#: system/ui/widgets/list_view.py:123
-#: system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "Fehler"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr "Experimentalmodus"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:182
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "Der Experimentalmodus ist derzeit auf diesem Fahrzeug nicht verfügbar, da der serienmäßige ACC für die Längsregelung verwendet wird."
 
-#: system/ui/widgets/network.py:380
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "WIRD VERGESSEN..."
 
-#: openpilot/selfdrive/ui/widgets/setup.py:43
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
 msgstr "Einrichtung abschließen"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
-msgstr "Firehose"
+msgstr "Datenstrom"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:10
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr "Firehose‑Modus"
 
-#: system/ui/widgets/network.py:458
-#: system/ui/widgets/network.py:326
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
 msgstr "Vergessen"
 
-#: system/ui/widgets/network.py:327
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "WLAN‑Netz „{}“ vergessen?"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr "GUT"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:117
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "Gehen Sie auf Ihrem Telefon zu https://connect.comma.ai"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr "HOCH"
 
-#: system/ui/widgets/network.py:152
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
-msgstr "Netzwerk"
+msgstr "Verstecktes Netzwerk"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#: openpilot/selfdrive/ui/layouts/settings/software.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "INSTALLIEREN"
 
-#: system/ui/widgets/network.py:147
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "IP‑Adresse"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Update installieren"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
 msgstr "Joystick‑Debugmodus"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "LADEN"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr "LTE"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Längsmanövermodus"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
-msgstr "MAX"
+msgstr "MAX."
 
-#: openpilot/selfdrive/ui/widgets/setup.py:74
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "Maximieren Sie Ihre Trainingsdaten‑Uploads, um die Fahrmodelle von openpilot zu verbessern."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "k. A."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
 msgstr "KEIN"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:60
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr "Netzwerk"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:115
-#, python-format
-msgid "No SSH keys found"
-msgstr "Keine SSH‑Schlüssel gefunden"
-
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:127
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
-msgstr "Keine SSH‑Schlüssel für Benutzer '{username}' gefunden"
+msgstr "Keine SSH‑Schlüssel für Benutzer '{}' gefunden"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:321
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
 msgstr "Keine Versionshinweise verfügbar."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
-msgstr "OFFLINE"
+msgstr "GETRENNT"
 
-#: system/ui/widgets/confirm_dialog.py:93
-#: system/ui/widgets/html_render.py:263
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
-msgstr "ONLINE"
+msgstr "VERBUNDEN"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Öffnen"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr "KOPPELN"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr "PANDA"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr "VORSCHAU"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr "PRIME‑FUNKTIONEN:"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr "Gerät koppeln"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:18
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
 msgstr "Gerät koppeln"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:92
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
 msgstr "Koppeln Sie Ihr Gerät mit Ihrem comma‑Konto"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:47
-#: openpilot/selfdrive/ui/layouts/settings/device.py:23
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "Koppeln Sie Ihr Gerät mit comma connect (connect.comma.ai) und lösen Sie Ihr comma‑prime‑Angebot ein."
 
-#: openpilot/selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Bitte mit WLAN verbinden, um das erste Koppeln abzuschließen"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr "Ausschalten"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr ""
+msgstr "Verhindern Sie das Hochladen großer Datenmengen bei einer getakteten WLAN-Verbindung"
 
-#: system/ui/widgets/network.py:132
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr ""
+msgstr "Verhindern Sie das Hochladen großer Datenmengen bei einer getakteten Mobilfunkverbindung"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:24
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
 msgstr "Vorschau der Fahrer‑Kamera, um sicherzustellen, dass die Fahrerüberwachung gute Sicht hat. (Fahrzeug muss ausgeschaltet sein)"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:150
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
 msgstr "QR‑Code‑Fehler"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr "ENTFERNEN"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr "ZURÃœCKSETZEN"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "ANSEHEN"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr "Neustart"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr "Gerät neu starten"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
 msgstr "Neustarten und aktualisieren"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr "Fahrerkamera aufzeichnen und hochladen"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr "Mikrofonton aufzeichnen und hochladen"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:33
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "Mikrofonton während der Fahrt aufzeichnen und speichern. Die Audiospur wird im Dashcam‑Video in comma connect enthalten sein."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Vorschriften"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr "Entspannt"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "Fernzugriff"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr "Remote‑Schnappschüsse"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:124
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
 msgstr "Zeitüberschreitung bei der Anfrage"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr "Zurücksetzen"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr "Kalibrierung zurücksetzen"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Trainingsanleitung ansehen"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:26
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
 msgstr "Überprüfen Sie die Regeln, Funktionen und Einschränkungen von openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
-msgstr ""
+msgstr "WÄHLEN"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
 msgstr "SSH‑Schlüssel"
 
-#: system/ui/widgets/network.py:316
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "WLAN‑Netzwerke werden gesucht..."
 
-#: system/ui/widgets/option_dialog.py:37
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "Auswählen"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:203
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
-msgstr ""
+msgstr "Zweig auswählen"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:89
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
 msgstr "Sprache auswählen"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "Seriennummer"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Update verschieben"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
-msgstr "Software"
+msgstr "Softwarebereich"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
-msgstr "Standard"
+msgstr "Standardmodus"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:59
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "System reagiert nicht"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "SOFORT DIE KONTROLLE ÃœBERNEHMEN"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
-msgstr "TEMP"
+msgstr "TEMP."
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
-msgstr ""
+msgstr "Zielzweig"
 
-#: system/ui/widgets/network.py:121
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "Tethering‑Passwort"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:61
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Schalter"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
-msgstr ""
+msgstr "UI-Debug-Modus"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr "DEINSTALLIEREN"
 
-#: openpilot/selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
-msgstr "UPDATE"
+msgstr "AKTUALISIEREN"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Deinstallieren"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr "Unbekannt"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:55
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
 msgstr "Updates werden nur heruntergeladen, wenn das Auto aus ist."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr "Jetzt abonnieren"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:31
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
 msgstr "Daten von der Fahrer‑Kamera hochladen und den Fahrerüberwachungs‑Algorithmus verbessern."
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr "Metersystem verwenden"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "FAHRZEUG"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr "ANSEHEN"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr "Warten auf Start"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
 msgstr "Willkommen bei openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
 msgstr "Wenn aktiviert, deaktiviert das Drücken des Gaspedals openpilot."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "WLAN"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Getaktetes WLAN‑Netzwerk"
 
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "Falsches Passwort"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:149
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
 msgstr "Sie müssen die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden."
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
 msgstr "Sie müssen die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden. Lesen Sie die aktuellen Bedingungen unter https://comma.ai/terms, bevor Sie fortfahren."
 
-#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py:38
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr "Kamera startet"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:19
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "checking..."
-msgstr ""
+msgstr "Überprüfung..."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
 msgstr "Standard"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
 msgstr "unten"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "downloading..."
-msgstr ""
+msgstr "Herunterladen..."
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr "Überprüfung auf Updates fehlgeschlagen"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:21
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "finalizing update..."
-msgstr ""
+msgstr "Update wird finalisiert..."
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:321
-#, python-format
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "für „{}“"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "für automatische Konfiguration leer lassen"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
 msgstr "links"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
 msgstr "getaktet"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
 msgstr "mph"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:27
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr "nie"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:38
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr "jetzt"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
 msgstr "openpilot Längsregelung (Alpha)"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr "openpilot nicht verfügbar"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
 msgstr "Die openpilot‑Längsregelung könnte in einem zukünftigen Update kommen."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:25
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr "openpilot erfordert, dass das Gerät innerhalb von 4° nach links oder rechts und innerhalb von 5° nach oben oder 9° nach unten montiert ist."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
 msgstr "rechts"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "unbegrenzt"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
 msgstr "oben"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr "Aktuell, zuletzt geprüft: nie"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr "Aktuell, zuletzt geprüft: {}"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr "Update verfügbar"
 
-#: openpilot/selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
 msgstr[0] "{} WARNUNG"
 msgstr[1] "{} WARNUNGEN"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:47
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] "vor {} Tag"
 msgstr[1] "vor {} Tagen"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:44
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] "vor {} Stunde"
 msgstr[1] "vor {} Stunden"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:41
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "vor {} Minute"
 msgstr[1] "vor {} Minuten"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
 msgstr[0] "{} Segment Ihrer Fahrten ist bisher im Trainingsdatensatz."
 msgstr[1] "{} Segmente Ihrer Fahrten sind bisher im Trainingsdatensatz."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ ABONNIERT"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:21
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🔥 Firehose‑Modus 🔥"
 
diff --git a/selfdrive/ui/translations/app_en.po b/selfdrive/ui/translations/app_en.po
index 37440962266926..9f99c42b1116a9 100644
--- a/selfdrive/ui/translations/app_en.po
+++ b/selfdrive/ui/translations/app_en.po
@@ -1,1034 +1,825 @@
-# English translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-21 18:18-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: en\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
+"Language: en\n"
 "Plural-Forms: nplurals=2; plural=(n != 1);\n"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
 msgstr " Steering torque response calibration is complete."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:150
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
 msgstr " Steering torque response calibration is {}% complete."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr "--"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr "1 year of drive storage"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr "24/7 LTE connectivity"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr "2G"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:140
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
 msgstr "<br><br>Steering lag calibration is complete."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
 msgstr "<br><br>Steering lag calibration is {}% complete."
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr "ADD"
 
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "APN Setting"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
 msgstr "Acknowledge Excessive Actuation"
 
-#: system/ui/widgets/network.py:92
-#: system/ui/widgets/network.py:74
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "Advanced"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr "Aggressive"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
 msgstr "Agree"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "Always-On Driver Monitoring"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr "Are you sure you want to power off?"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr "Are you sure you want to reboot?"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr "Are you sure you want to reset calibration?"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr "Are you sure you want to uninstall?"
 
-#: system/ui/widgets/network.py:96
-#: openpilot/selfdrive/ui/layouts/onboarding.py:151
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr "Back"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Become a comma prime member at connect.comma.ai"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:119
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "Bookmark connect.comma.ai to your home screen to use it like an app"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "CHANGE"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:157
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#: openpilot/selfdrive/ui/layouts/settings/software.py:117
-#: openpilot/selfdrive/ui/layouts/settings/software.py:128
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr "CHECK"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr "CHILL MODE ON"
 
-#: system/ui/widgets/network.py:152
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "CONNECT"
 
-#: system/ui/widgets/network.py:376
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "CONNECTING..."
 
-#: system/ui/widgets/network.py:326
-#: system/ui/widgets/confirm_dialog.py:24
-#: system/ui/widgets/option_dialog.py:36
-#: system/ui/widgets/keyboard.py:83
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "Cancel"
 
-#: system/ui/widgets/network.py:131
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "Cellular Metered"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr "Change Language"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
 msgstr "Changing this setting will restart openpilot if the car is powered on."
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:118
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
 msgstr "Click \"add new device\" and scan the QR code on the right"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
 msgstr "Close"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Current Version"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "DOWNLOAD"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
 msgstr "Decline"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
 msgstr "Decline, uninstall openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr "Developer"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:59
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr "Device"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Disengage on Accelerator Pedal"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:176
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr "Disengage to Power Off"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:164
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr "Disengage to Reboot"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:95
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr "Disengage to Reset Calibration"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "Display speed in km/h instead of mph."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
 msgstr "Dongle ID"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr "Download"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr "Driver Camera"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
 msgstr "Driving Personality"
 
-#: system/ui/widgets/network.py:120
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "EDIT"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "ERROR"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr "ETH"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr "EXPERIMENTAL MODE ON"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:229
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:180
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
 msgstr "Enable"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "Enable ADB"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Enable Lane Departure Warnings"
 
-#: system/ui/widgets/network.py:126
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "Enable Roaming"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
 msgstr "Enable SSH"
 
-#: system/ui/widgets/network.py:117
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "Enable Tethering"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
 msgstr "Enable driver monitoring even when openpilot is not engaged."
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr "Enable openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:190
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "Enter APN"
 
-#: system/ui/widgets/network.py:243
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "Enter SSID"
 
-#: system/ui/widgets/network.py:257
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "Enter new tethering password"
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "Enter password"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr "Enter your GitHub username"
 
-#: system/ui/widgets/list_view.py:123
-#: system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "Error"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr "Experimental Mode"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:182
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 
-#: system/ui/widgets/network.py:380
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "FORGETTING..."
 
-#: openpilot/selfdrive/ui/widgets/setup.py:43
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
 msgstr "Finish Setup"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
 msgstr "Firehose"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:10
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr "Firehose Mode"
 
-#: system/ui/widgets/network.py:458
-#: system/ui/widgets/network.py:326
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
 msgstr "Forget"
 
-#: system/ui/widgets/network.py:327
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "Forget Wi-Fi Network \"{}\"?"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr "GOOD"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:117
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "Go to https://connect.comma.ai on your phone"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr "HIGH"
 
-#: system/ui/widgets/network.py:152
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "Hidden Network"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#: openpilot/selfdrive/ui/layouts/settings/software.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "INSTALL"
 
-#: system/ui/widgets/network.py:147
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "IP Address"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Install Update"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
 msgstr "Joystick Debug Mode"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "LOADING"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr "LTE"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Longitudinal Maneuver Mode"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "MAX"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:74
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "Maximize your training data uploads to improve openpilot's driving models."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "N/A"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
 msgstr "NO"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:60
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr "Network"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:115
-#, python-format
-msgid "No SSH keys found"
-msgstr "No SSH keys found"
-
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:127
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
 msgstr "No SSH keys found for user '{}'"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:321
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
 msgstr "No release notes available."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "OFFLINE"
 
-#: system/ui/widgets/confirm_dialog.py:93
-#: system/ui/widgets/html_render.py:263
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
 msgstr "ONLINE"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Open"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr "PAIR"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr "PANDA"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr "PREVIEW"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr "PRIME FEATURES:"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr "Pair Device"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:18
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
 msgstr "Pair device"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:92
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
 msgstr "Pair your device to your comma account"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:47
-#: openpilot/selfdrive/ui/layouts/settings/device.py:23
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 
-#: openpilot/selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Please connect to Wi-Fi to complete initial pairing"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr "Power Off"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "Prevent large data uploads when on a metered Wi-Fi connection"
 
-#: system/ui/widgets/network.py:132
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "Prevent large data uploads when on a metered cellular connection"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:24
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
 msgstr "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:150
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
 msgstr "QR Code Error"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr "REMOVE"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr "RESET"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "REVIEW"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr "Reboot"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr "Reboot Device"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
 msgstr "Reboot and Update"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr "Record and Upload Driver Camera"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr "Record and Upload Microphone Audio"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:33
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Regulatory"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr "Relaxed"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "Remote access"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr "Remote snapshots"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:124
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
 msgstr "Request timed out"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr "Reset"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr "Reset Calibration"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Review Training Guide"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:26
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
 msgstr "Review the rules, features, and limitations of openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
-msgstr ""
+msgstr "SELECT"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
 msgstr "SSH Keys"
 
-#: system/ui/widgets/network.py:316
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "Scanning Wi-Fi networks..."
 
-#: system/ui/widgets/option_dialog.py:37
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "Select"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:203
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
-msgstr ""
+msgstr "Select a branch"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:89
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
 msgstr "Select a language"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "Serial"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Snooze Update"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
 msgstr "Software"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "Standard"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:59
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "System Unresponsive"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "TAKE CONTROL IMMEDIATELY"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
 msgstr "TEMP"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
-msgstr ""
+msgstr "Target Branch"
 
-#: system/ui/widgets/network.py:121
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "Tethering Password"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:61
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Toggles"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
-msgstr ""
+msgstr "UI Debug Mode"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr "UNINSTALL"
 
-#: openpilot/selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
 msgstr "UPDATE"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Uninstall"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr "Unknown"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:55
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
 msgstr "Updates are only downloaded while the car is off."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr "Upgrade Now"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:31
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
 msgstr "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr "Use Metric System"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "VEHICLE"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr "VIEW"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr "Waiting to start"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
 msgstr "Welcome to openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
 msgstr "When enabled, pressing the accelerator pedal will disengage openpilot."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi-Fi"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Wi-Fi Network Metered"
 
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "Wrong password"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:149
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
 msgstr "You must accept the Terms and Conditions in order to use openpilot."
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
 msgstr "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
 
-#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py:38
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr "camera starting"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:19
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "checking..."
-msgstr ""
+msgstr "checking..."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
 msgstr "default"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
 msgstr "down"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "downloading..."
-msgstr ""
+msgstr "downloading..."
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr "failed to check for update"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:21
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "finalizing update..."
-msgstr ""
+msgstr "finalizing update..."
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:321
-#, python-format
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "for \"{}\""
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "leave blank for automatic configuration"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
 msgstr "left"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
 msgstr "metered"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
 msgstr "mph"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:27
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr "never"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:38
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr "now"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
 msgstr "openpilot Longitudinal Control (Alpha)"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr "openpilot Unavailable"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
 msgstr "openpilot longitudinal control may come in a future update."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:25
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
 msgstr "right"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "unmetered"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
 msgstr "up"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr "up to date, last checked never"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr "up to date, last checked {}"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr "update available"
 
-#: openpilot/selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
 msgstr[0] "{} ALERT"
 msgstr[1] "{} ALERTS"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:47
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] "{} day ago"
 msgstr[1] "{} days ago"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:44
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] "{} hour ago"
 msgstr[1] "{} hours ago"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:41
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "{} minute ago"
 msgstr[1] "{} minutes ago"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
 msgstr[0] "{} segment of your driving is in the training dataset so far."
 msgstr[1] "{} segments of your driving is in the training dataset so far."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ SUBSCRIBED"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:21
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🔥 Firehose Mode 🔥"
 
diff --git a/selfdrive/ui/translations/app_es.po b/selfdrive/ui/translations/app_es.po
index 35188fe2fc9a8b..707816bc009c90 100644
--- a/selfdrive/ui/translations/app_es.po
+++ b/selfdrive/ui/translations/app_es.po
@@ -1,1034 +1,825 @@
-# Spanish translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-20 16:35-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: es\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
+"Language: es\n"
 "Plural-Forms: nplurals=2; plural=(n != 1);\n"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
 msgstr " La calibración de respuesta de par de dirección está completa."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:150
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
 msgstr " La calibración de respuesta de par de dirección está {}% completa."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr " Tu dispositivo está orientado {:.1f}° {} y {:.1f}° {}."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr "--"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr "1 año de almacenamiento de conducción"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr "Conectividad LTE 24/7"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr "2G"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:140
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
-msgstr ""
+msgstr "<br><br>La calibración del retraso de dirección está completa."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr ""
+msgstr "<br><br>La calibración del retraso de dirección está completa en un {}%."
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr "AÑADIR"
 
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
-msgstr ""
+msgstr "Configuración de APN"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
 msgstr "Reconocer actuación excesiva"
 
-#: system/ui/widgets/network.py:92
-#: system/ui/widgets/network.py:74
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
-msgstr ""
+msgstr "Avanzado"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr "Agresivo"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
 msgstr "Aceptar"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "Supervisión del conductor siempre activa"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr "¿Seguro que quieres apagar?"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr "¿Seguro que quieres reiniciar?"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr "¿Seguro que quieres restablecer la calibración?"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr "¿Seguro que quieres desinstalar?"
 
-#: system/ui/widgets/network.py:96
-#: openpilot/selfdrive/ui/layouts/onboarding.py:151
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr "Atrás"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Hazte miembro de comma prime en connect.comma.ai"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:119
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "Añade connect.comma.ai a tu pantalla de inicio para usarlo como una app"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "CAMBIAR"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:157
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#: openpilot/selfdrive/ui/layouts/settings/software.py:117
-#: openpilot/selfdrive/ui/layouts/settings/software.py:128
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr "COMPROBAR"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr "MODO CHILL ACTIVADO"
 
-#: system/ui/widgets/network.py:152
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "CONECTAR"
 
-#: system/ui/widgets/network.py:376
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "CONECTAR"
 
-#: system/ui/widgets/network.py:326
-#: system/ui/widgets/confirm_dialog.py:24
-#: system/ui/widgets/option_dialog.py:36
-#: system/ui/widgets/keyboard.py:83
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
-msgstr ""
+msgstr "Cancelar"
 
-#: system/ui/widgets/network.py:131
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
-msgstr ""
+msgstr "Medición celular"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr "Cambiar idioma"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
 msgstr " Cambiar esta configuración reiniciará openpilot si el coche está encendido."
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:118
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
 msgstr "Haz clic en \"añadir nuevo dispositivo\" y escanea el código QR de la derecha"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
 msgstr "Cerrar"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Versión actual"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "DESCARGAR"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
 msgstr "Rechazar"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
 msgstr "Rechazar, desinstalar openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr "Desarrollador"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:59
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr "Dispositivo"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Desactivar con el pedal del acelerador"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:176
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr "Desactivar para apagar"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:164
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr "Desactivar para reiniciar"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:95
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr "Desactivar para restablecer la calibración"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "Mostrar la velocidad en km/h en lugar de mph."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
 msgstr "ID del dongle"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr "Descargar"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr "Cámara del conductor"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
 msgstr "Estilo de conducción"
 
-#: system/ui/widgets/network.py:120
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
-msgstr ""
+msgstr "EDITAR"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
-msgstr "ERROR"
+msgstr "FALLO"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr "ETH"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr "MODO EXPERIMENTAL ACTIVADO"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:229
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:180
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
 msgstr "Activar"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "Activar ADB"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Activar advertencias de salida de carril"
 
-#: system/ui/widgets/network.py:126
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
-msgstr "Activar openpilot"
+msgstr "Activar roaming"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
 msgstr "Activar SSH"
 
-#: system/ui/widgets/network.py:117
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
-msgstr "Activar advertencias de salida de carril"
+msgstr "Activar anclaje"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
 msgstr "Activar la supervisión del conductor incluso cuando openpilot no esté activado."
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr "Activar openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:190
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr "Activa el interruptor de control longitudinal de openpilot (alpha) para permitir el modo Experimental."
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
-msgstr ""
+msgstr "Introduce APN"
 
-#: system/ui/widgets/network.py:243
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
-msgstr ""
+msgstr "Introduzca SSID"
 
-#: system/ui/widgets/network.py:257
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
-msgstr ""
+msgstr "Ingrese una nueva contraseña de anclaje a red"
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
-msgstr ""
+msgstr "Introduce la contraseña"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr "Introduce tu nombre de usuario de GitHub"
 
-#: system/ui/widgets/list_view.py:123
-#: system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
-msgstr ""
+msgstr "Fallo"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr "Modo experimental"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:182
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "El modo experimental no está disponible actualmente en este coche, ya que se usa el ACC de fábrica para el control longitudinal."
 
-#: system/ui/widgets/network.py:380
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
-msgstr ""
+msgstr "OLVIDAR..."
 
-#: openpilot/selfdrive/ui/widgets/setup.py:43
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
 msgstr "Finalizar configuración"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
-msgstr "Firehose"
+msgstr "Flujo masivo"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:10
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr "Modo Firehose"
 
-#: system/ui/widgets/network.py:458
-#: system/ui/widgets/network.py:326
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
-msgstr ""
+msgstr "Olvidar"
 
-#: system/ui/widgets/network.py:327
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr ""
+msgstr "¿Olvidaste la red Wi-Fi \"{}\"?"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr "BUENO"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:117
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "Ve a https://connect.comma.ai en tu teléfono"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr "ALTO"
 
-#: system/ui/widgets/network.py:152
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
-msgstr "Red"
+msgstr "Red oculta"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#: openpilot/selfdrive/ui/layouts/settings/software.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "INSTALAR"
 
-#: system/ui/widgets/network.py:147
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
-msgstr ""
+msgstr "Dirección IP"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Instalar actualización"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
 msgstr "Modo de depuración de joystick"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "CARGANDO"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr "LTE"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Modo de maniobra longitudinal"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "M�X"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:74
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "Maximiza tus cargas de datos de entrenamiento para mejorar los modelos de conducción de openpilot."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
-msgstr ""
+msgstr "N / A"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
-msgstr "NO"
+msgstr "SIN"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:60
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr "Red"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:115
-#, python-format
-msgid "No SSH keys found"
-msgstr "No se encontraron claves SSH"
-
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:127
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
-msgstr "No se encontraron claves SSH para el usuario '{username}'"
+msgstr "No se encontraron claves SSH para el usuario '{}'"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:321
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
 msgstr "No hay notas de versión disponibles."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "SIN CONEXIÓN"
 
-#: system/ui/widgets/confirm_dialog.py:93
-#: system/ui/widgets/html_render.py:263
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
 msgstr "EN L�NEA"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Abrir"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr "EMPAREJAR"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr "PANDA"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr "VISTA PREVIA"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr "FUNCIONES PRIME:"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr "Emparejar dispositivo"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:18
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
 msgstr "Emparejar dispositivo"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:92
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
 msgstr "Empareja tu dispositivo con tu cuenta de comma"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:47
-#: openpilot/selfdrive/ui/layouts/settings/device.py:23
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "Empareja tu dispositivo con comma connect (connect.comma.ai) y reclama tu oferta de comma prime."
 
-#: openpilot/selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Conéctate a Wi‑Fi para completar el emparejamiento inicial"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr "Apagar"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr ""
+msgstr "Evite grandes cargas de datos cuando esté en una conexión Wi-Fi medida"
 
-#: system/ui/widgets/network.py:132
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr ""
+msgstr "Evite grandes cargas de datos cuando esté en una conexión celular medida"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:24
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
 msgstr "Previsualiza la cámara hacia el conductor para asegurarte de que la supervisión del conductor tenga buena visibilidad. (el vehículo debe estar apagado)"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:150
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
 msgstr "Error de código QR"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr "ELIMINAR"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr "RESTABLECER"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "REVISAR"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr "Reiniciar"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr "Reiniciar dispositivo"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
 msgstr "Reiniciar y actualizar"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr "Grabar y subir cámara del conductor"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr "Grabar y subir audio del micrófono"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:33
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "Grabar y almacenar audio del micrófono mientras conduces. El audio se incluirá en el video de la dashcam en comma connect."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Reglamentario"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr "Relajado"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "Acceso remoto"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr "Capturas remotas"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:124
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
 msgstr "Se agotó el tiempo de espera de la solicitud"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr "Restablecer"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr "Restablecer calibración"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Revisar guía de entrenamiento"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:26
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
 msgstr "Revisa las reglas, funciones y limitaciones de openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
-msgstr ""
+msgstr "SELECCIONAR"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
-msgstr ""
+msgstr "Claves SSH"
 
-#: system/ui/widgets/network.py:316
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
-msgstr ""
+msgstr "Escaneando redes Wi-Fi..."
 
-#: system/ui/widgets/option_dialog.py:37
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
-msgstr ""
+msgstr "Seleccionar"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:203
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
-msgstr ""
+msgstr "Selecciona una rama"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:89
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
 msgstr "Selecciona un idioma"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "Número de serie"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Posponer actualización"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
-msgstr "Software"
+msgstr "Sistema"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "Estándar"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:59
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "Sistema sin respuesta"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "TOME EL CONTROL INMEDIATAMENTE"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
-msgstr "TEMP"
+msgstr "TEMP."
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
-msgstr ""
+msgstr "Rama objetivo"
 
-#: system/ui/widgets/network.py:121
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
-msgstr ""
+msgstr "Contraseña de anclaje"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:61
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Interruptores"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
-msgstr ""
+msgstr "Modo de depuración de la interfaz de usuario"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr "DESINSTALAR"
 
-#: openpilot/selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
 msgstr "ACTUALIZAR"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Desinstalar"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr "Desconocido"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:55
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
 msgstr "Las actualizaciones solo se descargan cuando el coche está apagado."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr "Mejorar ahora"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:31
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
 msgstr "Sube datos de la cámara orientada al conductor y ayuda a mejorar el algoritmo de supervisión del conductor."
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr "Usar sistema métrico"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "VEH�CULO"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr "VER"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr "Esperando para iniciar"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
 msgstr "Bienvenido a openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
 msgstr "Cuando está activado, al presionar el pedal del acelerador se desactivará openpilot."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
-msgstr ""
+msgstr "Red Wi-Fi medida"
 
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
-msgstr ""
+msgstr "Contraseña incorrecta"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:149
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
 msgstr "Debes aceptar los Términos y Condiciones para poder usar openpilot."
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
 msgstr "Debes aceptar los Términos y Condiciones para usar openpilot. Lee los términos más recientes en https://comma.ai/terms antes de continuar."
 
-#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py:38
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr "iniciando cámara"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:19
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "checking..."
-msgstr ""
+msgstr "de cheques..."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
-msgstr ""
+msgstr "por defecto"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
 msgstr "abajo"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "downloading..."
-msgstr ""
+msgstr "descargando..."
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr "Error al buscar actualizaciones"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:21
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "finalizing update..."
-msgstr ""
+msgstr "finalizando actualización..."
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:321
-#, python-format
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
-msgstr ""
+msgstr "para \"{}\""
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
-msgstr ""
+msgstr "dejar en blanco para configuración automática"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
 msgstr "izquierda"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
-msgstr ""
+msgstr "medido"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
 msgstr "mph"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:27
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr "nunca"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:38
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr "ahora"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
 msgstr "Control longitudinal de openpilot (Alpha)"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr "openpilot no disponible"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
 msgstr "El control longitudinal de openpilot podría llegar en una actualización futura."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:25
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr "openpilot requiere que el dispositivo esté montado dentro de 4° a izquierda o derecha y dentro de 5° hacia arriba o 9° hacia abajo."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
 msgstr "derecha"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
-msgstr ""
+msgstr "sin medir"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
 msgstr "arriba"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr "actualizado, última comprobación: nunca"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr "actualizado, última comprobación: {}"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr "actualización disponible"
 
-#: openpilot/selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
 msgstr[0] "{} ALERTA"
 msgstr[1] "{} ALERTAS"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:47
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] "hace {} día"
 msgstr[1] "hace {} días"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:44
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] "hace {} hora"
 msgstr[1] "hace {} horas"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:41
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "hace {} minuto"
 msgstr[1] "hace {} minutos"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
 msgstr[0] "{} segmento de tu conducción está en el conjunto de entrenamiento hasta ahora."
 msgstr[1] "{} segmentos de tu conducción están en el conjunto de entrenamiento hasta ahora."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ SUSCRITO"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:21
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🔥 Modo Firehose 🔥"
 
diff --git a/selfdrive/ui/translations/app_fr.po b/selfdrive/ui/translations/app_fr.po
index d3ce386bdcbd0e..7c0aecc9ec3846 100644
--- a/selfdrive/ui/translations/app_fr.po
+++ b/selfdrive/ui/translations/app_fr.po
@@ -1,1035 +1,825 @@
-# French translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: \n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2026-01-24 12:37+0100\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: fr\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
+"Language: fr\n"
 "Plural-Forms: nplurals=2; plural=(n > 1);\n"
-"X-Generator: Poedit 3.8\n"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
 msgstr " L'étalonnage de la réponse du couple de direction est terminé."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:150
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
 msgstr " L'étalonnage de la réponse du couple de direction est terminé à {}%."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr " Votre appareil est orienté {:.1f}° {} et {:.1f}° {}."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr "--"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr "1 an de stockage de trajets"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr "Connexion LTE 24/7"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr "2G"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:140
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
 msgstr "<br><br>L'étalonnage du délai de réponse de la direction est terminé."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
 msgstr "<br><br>L'étalonnage du délai de réponse de la direction est terminé à {}%."
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr "AJOUTER"
 
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "Paramètres APN"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
 msgstr "Accuser réception d'actionnement excessif"
 
-#: system/ui/widgets/network.py:92
-#: system/ui/widgets/network.py:74
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "Avancé"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr "Agressif"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
 msgstr "Accepter"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "Surveillance continue du conducteur"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr "Êtes-vous sûr de vouloir éteindre ?"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr "Êtes-vous sûr de vouloir redémarrer ?"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr "Êtes-vous sûr de vouloir réinitialiser la calibration ?"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr "Êtes-vous sûr de vouloir désinstaller ?"
 
-#: system/ui/widgets/network.py:96
-#: openpilot/selfdrive/ui/layouts/onboarding.py:151
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr "Retour"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Devenez membre comma prime sur connect.comma.ai"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:119
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "Ajoutez connect.comma.ai à votre écran d'accueil pour l'utiliser comme une application"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "CHANGER"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:157
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#: openpilot/selfdrive/ui/layouts/settings/software.py:117
-#: openpilot/selfdrive/ui/layouts/settings/software.py:128
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr "VÉRIFIER"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr "MODE CHILL ACTIVÉ"
 
-#: system/ui/widgets/network.py:152
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "CONNECTER"
 
-#: system/ui/widgets/network.py:376
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "CONNECTER..."
 
-#: system/ui/widgets/network.py:326
-#: system/ui/widgets/confirm_dialog.py:24
-#: system/ui/widgets/option_dialog.py:36
-#: system/ui/widgets/keyboard.py:83
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "Annuler"
 
-#: system/ui/widgets/network.py:131
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "Données cellulaire limitées"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr "Changer la langue"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
 msgstr "La modification de ce réglage redémarrera openpilot si la voiture est sous tension."
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:118
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
 msgstr "Cliquez sur \"add new device\" et scannez le code QR à droite"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
 msgstr "Fermer"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Version actuelle"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "TÉLÉCHARGER"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
 msgstr "Refuser"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
 msgstr "Refuser, désinstaller openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr "Développeur"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:59
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr "Appareil"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Désengager à l'appui sur l'accélérateur"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:176
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr "Désengager pour éteindre"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:164
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr "Désengager pour redémarrer"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:95
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr "Désengager pour réinitialiser la calibration"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "Afficher la vitesse en km/h au lieu de mph."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
 msgstr "ID du dongle"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr "Télécharger"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr "Caméra conducteur"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
 msgstr "Personnalité de conduite"
 
-#: system/ui/widgets/network.py:120
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "EDITER"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "ERREUR"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr "ETH"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr "MODE EXPÉRIMENTAL ACTIVÉ"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:229
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:180
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
 msgstr "Activer"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "Activer ADB"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Activer les alertes de sortie de voie"
 
-#: system/ui/widgets/network.py:126
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "Activer openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
 msgstr "Activer SSH"
 
-#: system/ui/widgets/network.py:117
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "Activer les alertes de sortie de voie"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
 msgstr "Activer la surveillance du conducteur même lorsque openpilot n'est pas engagé."
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr "Activer openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:190
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr "Activez l'option de contrôle longitudinal openpilot (alpha) pour autoriser le mode expérimental."
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "Saisir l'APN"
 
-#: system/ui/widgets/network.py:243
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "Entrer le SSID"
 
-#: system/ui/widgets/network.py:257
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "Saisir le mot de passe du partage de connexion"
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "Saisir le mot de passe"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr "Entrez votre nom d'utilisateur GitHub"
 
-#: system/ui/widgets/list_view.py:123
-#: system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "Erreur"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr "Mode expérimental"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:182
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "Le mode expérimental est actuellement indisponible sur cette voiture car l'ACC d'origine est utilisé pour le contrôle longitudinal."
 
-#: system/ui/widgets/network.py:380
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "OUBLIER..."
 
-#: openpilot/selfdrive/ui/widgets/setup.py:43
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
 msgstr "Terminer la configuration"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
-msgstr "Firehose"
+msgstr "Flux continu"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:10
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr "Mode Firehose"
 
-#: system/ui/widgets/network.py:458
-#: system/ui/widgets/network.py:326
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
 msgstr "Oublier"
 
-#: system/ui/widgets/network.py:327
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "Oublier le réseau Wi-Fi \"{}\" ?"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr "BON"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:117
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "Allez sur https://connect.comma.ai sur votre téléphone"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr "ÉLEVÉ"
 
-#: system/ui/widgets/network.py:152
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "Réseau"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#: openpilot/selfdrive/ui/layouts/settings/software.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "INSTALLER"
 
-#: system/ui/widgets/network.py:147
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "Adresse IP"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Installer la mise à jour"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
 msgstr "Mode débogage joystick"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "CHARGEMENT"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr "LTE"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Mode de manœuvre longitudinale"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
-msgstr "MAX"
+msgstr "MAX."
 
-#: openpilot/selfdrive/ui/widgets/setup.py:74
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "Maximisez vos envois de données d'entraînement pour améliorer les modèles de conduite d'openpilot."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "NC"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
 msgstr "NON"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:60
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr "Réseau"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:115
-#, python-format
-msgid "No SSH keys found"
-msgstr "Aucune clé SSH trouvée"
-
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:127
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
 msgstr "Aucune clé SSH trouvée pour l'utilisateur '{}'"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:321
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
 msgstr "Aucune note de version disponible."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "HORS LIGNE"
 
-#: system/ui/widgets/confirm_dialog.py:93
-#: system/ui/widgets/html_render.py:263
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
 msgstr "EN LIGNE"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Ouvrir"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr "ASSOCIER"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr "PANDA"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr "APERÇU"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr "FONCTIONNALITÉS PRIME :"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr "Associer l'appareil"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:18
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
 msgstr "Associer l'appareil"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:92
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
 msgstr "Associez votre appareil à votre compte comma"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:47
-#: openpilot/selfdrive/ui/layouts/settings/device.py:23
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "Associez votre appareil à comma connect (connect.comma.ai) et réclamez votre offre comma prime."
 
-#: openpilot/selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Veuillez vous connecter au Wi‑Fi pour terminer l'association initiale"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr "Éteindre"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "Eviter les transferts de données volumineux lorsque vous êtes connecté à un réseau Wi-Fi limité"
 
-#: system/ui/widgets/network.py:132
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "Eviter les transferts de données volumineux lors d'une connexion à un réseau cellulaire limité"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:24
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
 msgstr "Prévisualisez la caméra orientée conducteur pour vous assurer que la surveillance du conducteur a une bonne visibilité. (le véhicule doit être éteint)"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:150
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
 msgstr "Erreur de code QR"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr "SUPPRIMER"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr "RÉINITIALISER"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "CONSULTER"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr "Redémarrer"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr "Redémarrer l'appareil"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
 msgstr "Redémarrer et mettre à jour"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr "Enregistrer et téléverser la caméra conducteur"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr "Enregistrer et téléverser l'audio du microphone"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:33
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "Enregistrer et stocker l'audio du microphone pendant la conduite. L'audio sera inclus dans la vidéo dashcam dans comma connect."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Réglementaire"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr "Détendu"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "Accès à distance"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr "Captures à distance"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:124
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
 msgstr "Délai de la requête dépassé"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr "Réinitialiser"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr "Réinitialiser la calibration"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Consulter le guide d'entraînement"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:26
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
 msgstr "Consultez les règles, fonctionnalités et limitations d'openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
 msgstr "SELECTIONNER"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
 msgstr "Clefs SSH"
 
-#: system/ui/widgets/network.py:316
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "Analyse des réseaux Wi-Fi..."
 
-#: system/ui/widgets/option_dialog.py:37
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "Sélectionner"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:203
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
 msgstr "Sélectionner une branche"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:89
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
 msgstr "Sélectionner un langage"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "Numéro de série"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Reporter la mise à jour"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
 msgstr "Logiciel"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
-msgstr "Standard"
+msgstr "Normal"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:59
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "Système non réactif"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "REPRENEZ IMMÉDIATEMENT LE CONTRÔLE"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
 msgstr "TEMPÉRATURE"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "Branche cible"
 
-#: system/ui/widgets/network.py:121
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "Mot de passe du partage de connexion"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:61
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Options"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
-msgstr ""
+msgstr "Mode de débogage de l'interface utilisateur"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr "DÉSINSTALLER"
 
-#: openpilot/selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
 msgstr "METTRE À JOUR"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Désinstaller"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr "Inconnu"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:55
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
 msgstr "Les mises à jour ne sont téléchargées que lorsque la voiture est éteinte."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr "Mettre à niveau maintenant"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:31
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
 msgstr "Téléverser les données de la caméra orientée conducteur et aider à améliorer l'algorithme de surveillance du conducteur."
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr "Utiliser le système métrique"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "VÉHICULE"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr "VOIR"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr "En attente de démarrage"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
 msgstr "Bienvenue sur openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
 msgstr "Lorsque activé, appuyer sur la pédale d'accélérateur désengagera openpilot."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Réseau Wi-Fi limité"
 
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "Mauvais mot de passe"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:149
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
 msgstr "Vous devez accepter les conditions générales pour utiliser openpilot."
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
 msgstr "Vous devez accepter les conditions générales pour utiliser openpilot. Lisez les dernières conditions sur https://comma.ai/terms avant de continuer."
 
-#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py:38
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr "démarrage de la caméra"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:19
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "checking..."
-msgstr ""
+msgstr "vérification..."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
 msgstr "défaut"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
 msgstr "bas"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "downloading..."
-msgstr ""
+msgstr "téléchargement..."
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr "échec de la vérification de mise à jour"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:21
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "finalizing update..."
-msgstr ""
+msgstr "finalisation de la mise à jour..."
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:321
-#, python-format
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "pour \"{}\""
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "ne pas remplir pour une configuration automatique"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
 msgstr "gauche"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
 msgstr "limité"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
 msgstr "mph"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:27
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr "jamais"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:38
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr "maintenant"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
 msgstr "Contrôle longitudinal openpilot (Alpha)"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr "openpilot indisponible"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
 msgstr "Le contrôle longitudinal openpilot pourra arriver dans une future mise à jour."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:25
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr "openpilot exige que l'appareil soit monté à moins de 4° à gauche ou à droite et à moins de 5° vers le haut ou 9° vers le bas."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
 msgstr "droite"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "non limité"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
 msgstr "haut"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr "à jour, dernière vérification jamais"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr "à jour, dernière vérification {}"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr "mise à jour disponible"
 
-#: openpilot/selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
 msgstr[0] "{} ALERTE"
 msgstr[1] "{} ALERTES"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:47
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] "il y a {} jour"
 msgstr[1] "il y a {} jours"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:44
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] "il y a {} heure"
 msgstr[1] "il y a {} heures"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:41
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "il y a {} minute"
 msgstr[1] "il y a {} minutes"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
 msgstr[0] "{} segment de votre conduite est dans l'ensemble d'entraînement jusqu'à présent."
 msgstr[1] "{} segments de votre conduite sont dans l'ensemble d'entraînement jusqu'à présent."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ ABONNÉ"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:21
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🔥 Mode Firehose 🔥"
 
diff --git a/selfdrive/ui/translations/app_ja.po b/selfdrive/ui/translations/app_ja.po
index 41eb91dd58b048..78d3cf17c678eb 100644
--- a/selfdrive/ui/translations/app_ja.po
+++ b/selfdrive/ui/translations/app_ja.po
@@ -1,1029 +1,820 @@
-# Japanese translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-22 16:32-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: ja\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
+"Language: ja\n"
 "Plural-Forms: nplurals=1; plural=0;\n"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
 msgstr " ステアリングトルク応答�キャリブレーション�完了����。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:150
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
 msgstr " ステアリングトルク応答�キャリブレーション�{}%完了����。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr " デ�イス�{:.1f}°{}�{:.1f}°{}�����。"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr "--"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr "走行データを1年間�存"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr "24時間365日�LTE接続"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr "2G"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:140
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
 msgstr "<br><br>ステアリング�延�キャリブレーション�完了����。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
 msgstr "<br><br>ステアリング�延�キャリブレーション�{}%完了����。"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr "追加"
 
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "APN設定"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
 msgstr "�度�作動を承�"
 
-#: system/ui/widgets/network.py:92
-#: system/ui/widgets/network.py:74
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "詳細設定"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr "アグレッシブ"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
 msgstr "���る"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "常時ドライ�ーモニタリング"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr "本当�電�をオフ�����？"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr "本当��起動����？"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr "本当�キャリブレーションをリセット����？"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr "本当�アンインストール����？"
 
-#: system/ui/widgets/network.py:96
-#: openpilot/selfdrive/ui/layouts/onboarding.py:151
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr "戻る"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "connect.comma.ai� comma prime �加入"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:119
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "connect.comma.aiをホーム画��追加��アプリ�よ��使���ょ�"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "変更"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:157
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#: openpilot/selfdrive/ui/layouts/settings/software.py:117
-#: openpilot/selfdrive/ui/layouts/settings/software.py:128
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr "確�"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr "�ルモードON"
 
-#: system/ui/widgets/network.py:152
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "接続"
 
-#: system/ui/widgets/network.py:376
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "接続中..."
 
-#: system/ui/widgets/network.py:326
-#: system/ui/widgets/confirm_dialog.py:24
-#: system/ui/widgets/option_dialog.py:36
-#: system/ui/widgets/keyboard.py:83
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "キャンセル"
 
-#: system/ui/widgets/network.py:131
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "従�課金��帯回線"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr "言語を変更"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
 msgstr "車�起動中�場����設定を変更�る�openpilot��起動���。"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:118
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
 msgstr "\"add new device\"を押�����QRコードをスキャン"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
 msgstr "閉�る"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "�在��ージョン"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "ダウンロード"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
 msgstr "拒��る"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
 msgstr "拒���openpilotをアンインストール"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr "開発者"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:59
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr "デ�イス"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "アクセル�解除"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:176
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr "解除��電�オフ"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:164
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr "解除���起動"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:95
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr "解除��キャリブレーションをリセット"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "速度をmph����km/h�表示���。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
 msgstr "ドングルID"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr "ダウンロード"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr "ドライ�ーカメラ"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
 msgstr "走行性格"
 
-#: system/ui/widgets/network.py:120
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "編集"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "エラー"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr "ETH"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr "実験モードON"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:229
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:180
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
 msgstr "有効化"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "ADBを有効化"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "車線逸脱警報を有効化"
 
-#: system/ui/widgets/network.py:126
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "ローミングを有効化"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
 msgstr "SSHを有効化"
 
-#: system/ui/widgets/network.py:117
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "テザリングを有効化"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
 msgstr "openpilot�未作動�もドライ�ーモニタリングを有効����。"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr "openpilotを有効化"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:190
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr "openpilot縦制御（アルファ）�トグルを有効��る�実験モード�使用����。"
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "APNを入力"
 
-#: system/ui/widgets/network.py:243
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "SSIDを入力"
 
-#: system/ui/widgets/network.py:257
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "新��テザリング�パスワードを入力"
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "パスワードを入力"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr "GitHubユーザー�を入力"
 
-#: system/ui/widgets/list_view.py:123
-#: system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "エラー"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr "実験モード"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:182
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "��車��縦制御�純正ACCを使用�る����在実験モード�利用����ん。"
 
-#: system/ui/widgets/network.py:380
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "削除中..."
 
-#: openpilot/selfdrive/ui/widgets/setup.py:43
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
 msgstr "セットアップを完了"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
-msgstr "Firehose"
+msgstr "大��信"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:10
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr "Firehoseモード"
 
-#: system/ui/widgets/network.py:458
-#: system/ui/widgets/network.py:326
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
 msgstr "削除"
 
-#: system/ui/widgets/network.py:327
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "Wi‑Fi�ットワーク「{}�を削除����？"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr "良好"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:117
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "スマートフォン� https://connect.comma.ai �アクセス"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr "高温"
 
-#: system/ui/widgets/network.py:152
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "�公開�ットワーク"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#: openpilot/selfdrive/ui/layouts/settings/software.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "インストール"
 
-#: system/ui/widgets/network.py:147
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "IPアドレス"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "アップデートをインストール"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
 msgstr "ジョイスティックデ�ッグモード"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "読�込�中"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr "LTE"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "縦制御マヌー�ーモード"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "最大"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:74
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "学習データ�アップロードを最大化��openpilot��転モデルを改善���ょ�。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "該当��"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
 msgstr "���"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:60
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr "�ットワーク"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:115
-#, python-format
-msgid "No SSH keys found"
-msgstr "SSH��見��り��ん"
-
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:127
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
 msgstr "ユーザー'{}'�SSH��見��り��ん"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:321
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
 msgstr "リリースノート��り��ん。"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "オフライン"
 
-#: system/ui/widgets/confirm_dialog.py:93
-#: system/ui/widgets/html_render.py:263
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
 msgstr "オンライン"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "開�"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr "ペアリング"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr "PANDA"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr "プレビュー"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr "prime �特典:"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr "デ�イスをペアリング"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:18
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
 msgstr "デ�イスをペアリング"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:92
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
 msgstr "デ�イスを���� comma アカウント�ペアリング"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:47
-#: openpilot/selfdrive/ui/layouts/settings/device.py:23
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "デ�イスを comma connect（connect.comma.ai）�ペアリング���comma prime 特典を���り��ょ�。"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "�回ペアリングを完了�る��Wi‑Fi�接続������"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr "電�オフ"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "従�課金�Wi‑Fi接続時�大��データ�アップロードを抑制"
 
-#: system/ui/widgets/network.py:132
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "従�課金��帯回線接続時�大��データ�アップロードを抑制"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:24
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
 msgstr "ドライ�ー��カメラ�プレビュー�モニタリング�視界を確����。（車両��止状態��る必���り��）"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:150
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
 msgstr "QRコードエラー"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr "削除"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr "リセット"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "確�"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr "�起動"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr "デ�イスを�起動"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
 msgstr "�起動��更新"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr "ドライ�ーカメラを記録��アップロード"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr "マイク音声を記録��アップロード"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:33
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "走行中�マイク音声を記録・�存���。音声� comma connect �ドライブレコーダー動画���れ��。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "�制情報"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr "リラックス"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "リモートアクセス"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr "リモートスナップショット"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:124
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
 msgstr "リクエスト�タイムアウト����"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr "リセット"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr "キャリブレーションをリセット"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "トレーニングガイドを確�"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:26
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
 msgstr "openpilot�ルール�機能�制�を確�"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
 msgstr "�択"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
 msgstr "SSH�"
 
-#: system/ui/widgets/network.py:316
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "Wi‑Fi�ットワークを検索中..."
 
-#: system/ui/widgets/option_dialog.py:37
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "�択"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:203
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
 msgstr "ブラン�を�択"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:89
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
 msgstr "言語を�択"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "シリアル"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "更新を後�通知"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
 msgstr "ソフトウェア"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "スタンダード"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:59
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "システム�応答���ん"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "���手動介入������"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
 msgstr "温度"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "対象ブラン�"
 
-#: system/ui/widgets/network.py:121
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "テザリング�パスワード"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:61
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "トグル"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
-msgstr ""
+msgstr "UIデ�ッグモード"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr "アンインストール"
 
-#: openpilot/selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
 msgstr "æ›´æ–°"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "アンインストール"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr "�明"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:55
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
 msgstr "アップデート�車両�電��切れ��る間��ダウンロード�れ��。"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr "今��アップグレード"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:31
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
 msgstr "ドライ�ー��カメラ�データをアップロード��モニタリングアルゴリズム�改善��力������。"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr "メートル法を使用"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "車両"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr "表示"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr "開始待機中"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
 msgstr "openpilot�よ���"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
 msgstr "有効��る��アクセルを�む�openpilot�解除�れ��。"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Wi‑Fi�ットワーク（従�課金）"
 
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "パスワード�����"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:149
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
 msgstr "openpilotを使用�る���利用�約����る必���り��。"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
 msgstr "openpilotを使用�る��利用�約����る必���り��。続行�る�� https://comma.ai/terms �最新��約を�読�����。"
 
-#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py:38
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr "カメラを起動中"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:19
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "checking..."
-msgstr ""
+msgstr "�ェック中..."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
 msgstr "既定"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
 msgstr "下"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "downloading..."
-msgstr ""
+msgstr "ダウンロード中..."
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr "アップデート�確��失敗����"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:21
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "finalizing update..."
-msgstr ""
+msgstr "アップデートを終了�����..."
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:321
-#, python-format
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "「{}���"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "自動設定�場��空欄����������"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
 msgstr "å·¦"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
 msgstr "従�"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
 msgstr "mph"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:27
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr "��"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:38
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr "今"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
 msgstr "openpilot 縦制御（アルファ）"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr "openpilot�利用����ん"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
 msgstr "openpilot�縦制御�将��アップデート��供�れる�能性��り��。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:25
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr "openpilot���デ�イス��り付�角度�左�±4°�上方�5°以内�下方�9°以内��る必���り��。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
 msgstr "�"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "�従�"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
 msgstr "上"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr "最新��。最終確�: ��"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr "最新��。最終確�: {}"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr "更新��り��"
 
-#: openpilot/selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
 msgstr[0] "{}件�アラート"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:47
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] "{}日�"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:44
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] "{}時間�"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:41
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "{}分�"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
 msgstr[0] "�れ�������走行�{}セグメント�学習データセット���れ����。"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ 登録済�"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:21
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🔥 Firehoseモード 🔥"
 
diff --git a/selfdrive/ui/translations/app_ko.po b/selfdrive/ui/translations/app_ko.po
index 9b73a22387ac43..24306ae02a7684 100644
--- a/selfdrive/ui/translations/app_ko.po
+++ b/selfdrive/ui/translations/app_ko.po
@@ -1,1029 +1,820 @@
-# Korean translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-22 16:32-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: ko\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
+"Language: ko\n"
 "Plural-Forms: nplurals=1; plural=0;\n"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
 msgstr " 스티어� 토� �답 보정� 완료�었습니다."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:150
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
 msgstr " 스티어� 토� �답 보정� {}% 완료�었습니다."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr " 장치는 {:.1f}° {} � {:.1f}° {} 방향� 가리키고 있습니다."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr "--"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr "주행 ��터 1년 보관"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr "연중무휴 LTE 연결"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr "2G"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:140
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
 msgstr "<br><br>스티어� 지연 보정� 완료�었습니다."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
 msgstr "<br><br>스티어� 지연 보정� {}% 완료�었습니다."
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr "추가"
 
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "APN 설정"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
 msgstr "과�한 작�� 확�"
 
-#: system/ui/widgets/network.py:92
-#: system/ui/widgets/network.py:74
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "고급"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr "공격�"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
 msgstr "��"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "운전� 모니터� 항� 켜�"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr "정� 전�� �시겠습니까?"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr "정� 재시작하시겠습니까?"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr "정� 보정� 재설정하시겠습니까?"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr "정� 제거하시겠습니까?"
 
-#: system/ui/widgets/network.py:96
-#: openpilot/selfdrive/ui/layouts/onboarding.py:151
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr "뒤로"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "connect.comma.ai�서 comma prime 회�� �세요"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:119
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "connect.comma.ai를 홈 화면� 추가하여 앱처럼 사용하세요"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "변경"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:157
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#: openpilot/selfdrive/ui/layouts/settings/software.py:117
-#: openpilot/selfdrive/ui/layouts/settings/software.py:128
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr "확�"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr "안정� 모드 켜�"
 
-#: system/ui/widgets/network.py:152
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "ì—°ê²°"
 
-#: system/ui/widgets/network.py:376
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "연결 중..."
 
-#: system/ui/widgets/network.py:326
-#: system/ui/widgets/confirm_dialog.py:24
-#: system/ui/widgets/option_dialog.py:36
-#: system/ui/widgets/keyboard.py:83
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "취소"
 
-#: system/ui/widgets/network.py:131
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "종량제 셀룰러"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr "언어 변경"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
 msgstr "차량 전�� 켜져 있으면 � 설정� 변경할 때 openpilot� 재시작�니다."
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:118
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
 msgstr "\"add new device\"를 눌러 오른쪽� QR 코드를 스캔하세요"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
 msgstr "닫기"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "현재 버전"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "다운로드"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
 msgstr "거부"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
 msgstr "거부하고 openpilot 제거"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr "개발�"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:59
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr "장치"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "가� 페달로 해제"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:176
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr "해제 후 전� �기"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:164
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr "해제 후 재시작"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:95
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr "해제 후 캘리브레�션 재설정"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "��를 mph 대신 km/h로 표시합니다."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
 msgstr "�글 ID"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr "다운로드"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr "운전� 카메�"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
 msgstr "주행 성향"
 
-#: system/ui/widgets/network.py:120
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "편집"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "오류"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr "ETH"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr "실험 모드 켜�"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:229
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:180
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
 msgstr "사용"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "ADB 사용"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "차선 �탈 경고 사용"
 
-#: system/ui/widgets/network.py:126
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "로� 사용"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
 msgstr "SSH 사용"
 
-#: system/ui/widgets/network.py:117
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "테�� 사용"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
 msgstr "openpilot� 작� 중� 아� 때� 운전� 모니터�� 사용합니다."
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr "openpilot 사용"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:190
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr "실험 모드를 사용하려면 openpilot 롱컨 제어(알파) 토글� 켜세요."
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "APN ìž…ë ¥"
 
-#: system/ui/widgets/network.py:243
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "SSID ìž…ë ¥"
 
-#: system/ui/widgets/network.py:257
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "새 테�� 비밀번호 입력"
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "비밀번호 입력"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr "GitHub 사용� �름 입력"
 
-#: system/ui/widgets/list_view.py:123
-#: system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "오류"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr "실험 모드"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:182
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "� 차량� 롱컨 제어� 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습니다."
 
-#: system/ui/widgets/network.py:380
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "삭제 중..."
 
-#: openpilot/selfdrive/ui/widgets/setup.py:43
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
 msgstr "설정 완료"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
 msgstr "파�어호스"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:10
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr "파�어호스 모드"
 
-#: system/ui/widgets/network.py:458
-#: system/ui/widgets/network.py:326
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
 msgstr "삭제"
 
-#: system/ui/widgets/network.py:327
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "Wi‑Fi 네트워� \"{}\"를 삭제하시겠습니까?"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr "양호"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:117
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "휴대��서 https://connect.comma.ai � 접�하세요"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr "높�"
 
-#: system/ui/widgets/network.py:152
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "숨겨진 네트워�"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#: openpilot/selfdrive/ui/layouts/settings/software.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "설치"
 
-#: system/ui/widgets/network.py:147
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "IP 주소"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "업��트 설치"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
 msgstr "조�스틱 디버그 모드"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "로딩 중"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr "LTE"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "롱컨 기� 모드"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "최대"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:74
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "학습 ��터 업로드를 최대화하여 openpilot� 주행 모�� 개선하세요."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "해당 없�"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
 msgstr "아니오"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:60
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr "네트워�"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:115
-#, python-format
-msgid "No SSH keys found"
-msgstr "SSH 키를 찾� 수 없습니다"
-
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:127
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
 msgstr "사용� '{}'� SSH 키를 찾� 수 없습니다"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:321
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
 msgstr "릴리스 노트가 없습니다."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "오프��"
 
-#: system/ui/widgets/confirm_dialog.py:93
-#: system/ui/widgets/html_render.py:263
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "확�"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
 msgstr "온��"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "열기"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr "페어�"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr "PANDA"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr "미리보기"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr "프�임 기능:"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr "장치 페어�"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:18
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
 msgstr "장치 페어�"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:92
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
 msgstr "장치를 귀하� comma 계정� 페어�하세요"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:47
-#: openpilot/selfdrive/ui/layouts/settings/device.py:23
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "장치를 comma connect(connect.comma.ai)와 페어�하고 comma 프�임 혜�� 받으세요."
 
-#: openpilot/selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "초기 페어�� 완료하려면 Wi‑Fi� 연결하세요"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr "전� �기"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "종량제 Wi‑Fi 연결 시 대용량 업로드 방지"
 
-#: system/ui/widgets/network.py:132
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "종량제 셀룰러 연결 시 대용량 업로드 방지"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:24
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
 msgstr "운전� 모니터�� 가시성� 확�하기 위해 운전� 카메�를 미리 봅니다. (차량� 꺼져 있어야 합니다)"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:150
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
 msgstr "QR 코드 오류"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr "제거"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr "재설정"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "검토"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr "재시작"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr "장치 재시작"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
 msgstr "재시작 � 업��트"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr "운전� 카메� 기� � 업로드"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr "마�� 오디오 기� � 업로드"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:33
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "주행 중 마�� 오디오를 기�하고 저장합니다. 오디오는 comma connect� 대시캠 ��� �함�니다."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "규제 정보"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr "편안한"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "�격 액세스"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr "�격 스냅샷"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:124
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
 msgstr "요청 시간� 초과�었습니다"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr "재설정"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr "캘리브레�션 재설정"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "학습 가�드 검토"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:26
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
 msgstr "openpilot� 규칙, 기능 � 제한� 검토"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
 msgstr "선�"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
 msgstr "SSH 키"
 
-#: system/ui/widgets/network.py:316
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "Wi‑Fi 네트워� 검색 중..."
 
-#: system/ui/widgets/option_dialog.py:37
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "선�"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:203
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
 msgstr "브랜치 선�"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:89
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
 msgstr "언어 선�"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "시리얼"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "업��트 나중� 알림"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
 msgstr "소프트웨어"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "표준"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:59
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "시스템 �답 없�"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "즉시 수� 조작하세요"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
 msgstr "온�"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "대� 브랜치"
 
-#: system/ui/widgets/network.py:121
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "테�� 비밀번호"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:61
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "토글"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
-msgstr ""
+msgstr "UI 디버그 모드"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr "제거"
 
-#: openpilot/selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
 msgstr "업��트"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "제거"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr "알수없�"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:55
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
 msgstr "업��트는 차량 전�� 꺼져 있� 때만 다운로드�니다."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr "지금 업그레�드"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:31
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
 msgstr "운전� 방향 카메� ��터를 업로드하여 운전� 모니터� 알고리즘 개선� �움� 주세요."
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr "미터법 사용"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "차량"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr "보기"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr "시작 대기 중"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
 msgstr "openpilot� 오신 것� 환�합니다"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
 msgstr "� 옵션� 켜면 가� 페달� 밟� 때 openpilot� 해제�니다."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Wi‑Fi 네트워� 종량제"
 
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "비밀번호가 올바르지 않습니다"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:149
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
 msgstr "openpilot� 사용하려면 약관� ��해야 합니다."
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
 msgstr "openpilot� 사용하려면 약관� ��해야 합니다. 계�하기 전� https://comma.ai/terms �서 최신 약관� �어주세요."
 
-#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py:38
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr "카메� 시작 중"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:19
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "checking..."
-msgstr ""
+msgstr "확� 중..."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr "comma 프�임"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
 msgstr "기본값"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
 msgstr "아래"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "downloading..."
-msgstr ""
+msgstr "다운로드 중..."
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr "업��트 확� 실패"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:21
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "finalizing update..."
-msgstr ""
+msgstr "업��트 마무리 중..."
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:321
-#, python-format
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "\"{}\"ìš©"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "�� 구성� 사용하려면 비워 �세요"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
 msgstr "왼쪽"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
 msgstr "종량제"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
 msgstr "mph"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:27
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr "없�"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:38
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr "지금"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
 msgstr "openpilot 롱컨 제어(알파)"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr "openpilot 사용 불가"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
 msgstr "openpilot 롱컨 제어는 향후 업��트�서 제공� 수 있습니다."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:25
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr "openpilot� 장치를 좌우 4°, 위쪽 5°, 아래쪽 9° �내로 장착해야 합니다."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
 msgstr "오른쪽"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "비종량제"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
 msgstr "위"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr "최신입니다. 마지막 확�: 없�"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr "최신입니다. 마지막 확�: {}"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr "업��트 가능"
 
-#: openpilot/selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
 msgstr[0] "{}건� 알림"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:47
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] "{}� 전"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:44
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] "{}시간 전"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:41
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "{}분 전"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
 msgstr[0] "현재까지 귀하� 주행 {}구간� 학습 ��터셋� �함�었습니다."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ 구��"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:21
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🔥 파�어호스 모드 🔥"
 
diff --git a/selfdrive/ui/translations/app_pt-BR.po b/selfdrive/ui/translations/app_pt-BR.po
index 1adb797c887ef0..58f20944794242 100644
--- a/selfdrive/ui/translations/app_pt-BR.po
+++ b/selfdrive/ui/translations/app_pt-BR.po
@@ -1,1036 +1,825 @@
-# Language pt-BR translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-21 00:00-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: pt-BR\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
+"Language: pt-BR\n"
 "Plural-Forms: nplurals=2; plural=(n > 1);\n"
-"X-Language: pt_BR\n"
-"X-Source-Language: C\n"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
 msgstr " A calibração da resposta de torque da direção foi concluída."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:150
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
 msgstr " A calibração da resposta de torque da direção está {}% concluída."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr " Seu dispositivo está apontado {:.1f}° {} e {:.1f}° {}."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr "--"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr "1 ano de armazenamento de condução"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr "Conectividade LTE 24/7"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr "2G"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:140
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
 msgstr "<br><br>A calibração da latência da direção está concluída."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
 msgstr "<br><br>A calibração da latência da direção está {}% concluída."
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr "ADICIONAR"
 
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "Configuração de APN"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
 msgstr "Reconhecer Atuação Excessiva"
 
-#: system/ui/widgets/network.py:92
-#: system/ui/widgets/network.py:74
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "Avançado"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr "Agressivo"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
 msgstr "Concordo"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "Monitoramento de Motorista Sempre Ativo"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr "Tem certeza de que deseja desligar?"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr "Tem certeza de que deseja reiniciar?"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr "Tem certeza de que deseja redefinir a calibração?"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr "Tem certeza de que deseja desinstalar?"
 
-#: system/ui/widgets/network.py:96
-#: openpilot/selfdrive/ui/layouts/onboarding.py:151
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr "Voltar"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Torne-se membro comma prime em connect.comma.ai"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:119
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "Adicione connect.comma.ai à tela inicial para usá-lo como um app"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "ALTERAR"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:157
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#: openpilot/selfdrive/ui/layouts/settings/software.py:117
-#: openpilot/selfdrive/ui/layouts/settings/software.py:128
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr "VERIFICAR"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr "MODO CHILL ATIVO"
 
-#: system/ui/widgets/network.py:152
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "CONECTAR"
 
-#: system/ui/widgets/network.py:376
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "CONECTANDO..."
 
-#: system/ui/widgets/network.py:326
-#: system/ui/widgets/confirm_dialog.py:24
-#: system/ui/widgets/option_dialog.py:36
-#: system/ui/widgets/keyboard.py:83
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "Cancelar"
 
-#: system/ui/widgets/network.py:131
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "Dados móveis limitados"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr "Alterar Idioma"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
 msgstr "Alterar esta configuração reiniciará o openpilot se o carro estiver ligado."
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:118
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
 msgstr "Toque em \"adicionar novo dispositivo\" e escaneie o QR code à direita"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
 msgstr "Fechar"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Versão Atual"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "BAIXAR"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
 msgstr "Recusar"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
 msgstr "Recusar, desinstalar o openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr "Desenvolv"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:59
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr "Dispositivo"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Desativar ao pressionar o acelerador"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:176
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr "Desativar para Desligar"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:164
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr "Desativar para Reiniciar"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:95
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr "Desativar para Redefinir Calibração"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "Exibir velocidade em km/h em vez de mph."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
 msgstr "ID do Dongle"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr "Baixar"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr "Câmera do Motorista"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
 msgstr "Personalidade"
 
-#: system/ui/widgets/network.py:120
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "EDITAR"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "ERRO"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr "ETH"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr "MODO EXPERIMENTAL ATIVO"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:229
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:180
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
 msgstr "Ativar"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "Ativar ADB"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Ativar alertas de saída de faixa"
 
-#: system/ui/widgets/network.py:126
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
-msgstr "Ativar openpilot"
+msgstr "Ativar roaming"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
 msgstr "Ativar SSH"
 
-#: system/ui/widgets/network.py:117
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
-msgstr "Ativar alertas de saída de faixa"
+msgstr "Ativar compartilhamento"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
 msgstr "Ativar monitoramento do motorista mesmo quando o openpilot não está engajado."
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr "Ativar openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:190
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr "Ative a opção de controle longitudinal do openpilot (alpha) para permitir o Modo Experimental."
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "Digite APN"
 
-#: system/ui/widgets/network.py:243
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "Digite SSID"
 
-#: system/ui/widgets/network.py:257
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "Digite nova senha tethering"
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "Digite a senha"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr "Digite seu nome de usuário do GitHub"
 
-#: system/ui/widgets/list_view.py:123
-#: system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "Erro"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr "Modo Experimental"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:182
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "O Modo Experimental está indisponível neste carro pois o ACC original do carro é usado para controle longitudinal."
 
-#: system/ui/widgets/network.py:380
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "ESQUECENDO..."
 
-#: openpilot/selfdrive/ui/widgets/setup.py:43
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
 msgstr "Configure"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
-msgstr "Firehose"
+msgstr "Fluxo contínuo"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:10
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr "Modo Firehose"
 
-#: system/ui/widgets/network.py:458
-#: system/ui/widgets/network.py:326
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
 msgstr "Esquecer"
 
-#: system/ui/widgets/network.py:327
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "Esquecer rede Wi-Fi \"{}\"?"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr "BOM"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:117
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "Acesse https://connect.comma.ai no seu telefone"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr "ALTO"
 
-#: system/ui/widgets/network.py:152
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
-msgstr "Rede"
+msgstr "Rede oculta"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#: openpilot/selfdrive/ui/layouts/settings/software.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "INSTALAR"
 
-#: system/ui/widgets/network.py:147
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "Endereço IP"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Instalar Atualização"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
 msgstr "Modo de Depuração do Joystick"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "CARREGANDO"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr "LTE"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Modo de Manobra Longitudinal"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "M�X"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:74
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "Maximize seus envios de dados de treinamento para melhorar os modelos de condução do openpilot."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
-msgstr "N/A"
+msgstr "Indisp."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
 msgstr "NÃO"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:60
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr "Rede"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:115
-#, python-format
-msgid "No SSH keys found"
-msgstr "Nenhuma chave SSH encontrada"
-
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:127
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
-msgstr "Nenhuma chave SSH encontrada para o usuário '{username}'"
+msgstr "Nenhuma chave SSH encontrada para o usuário '{}'"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:321
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
 msgstr "Sem notas de versão disponíveis."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
-msgstr "OFFLINE"
+msgstr "OFF-LINE"
 
-#: system/ui/widgets/confirm_dialog.py:93
-#: system/ui/widgets/html_render.py:263
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
-msgstr "ONLINE"
+msgstr "ON-LINE"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Abrir"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr "EMPARELHAR"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr "PANDA"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr "PRÉVIA"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr "RECURSOS PRIME:"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr "Emparelhar Dispositivo"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:18
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
 msgstr "Emparelhar dispositivo"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:92
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
 msgstr "Emparelhe seu dispositivo à sua conta comma"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:47
-#: openpilot/selfdrive/ui/layouts/settings/device.py:23
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "Emparelhe seu dispositivo com o comma connect (connect.comma.ai) e resgate sua oferta comma prime."
 
-#: openpilot/selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Conecte-se ao Wi‑Fi para concluir o emparelhamento inicial"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr "Desligar"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "Evitar uploads grandes de dados em conexões Wi-Fi limitadas"
 
-#: system/ui/widgets/network.py:132
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "Evitar uploads grandes de dados em conexões móveis limitadas"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:24
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
 msgstr "Pré-visualize a câmera voltada para o motorista para garantir que o monitoramento do motorista tenha boa visibilidade. (veículo deve estar desligado)"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:150
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
 msgstr "Erro no QR Code"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr "REMOVER"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr "REDEFINIR"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "REVISAR"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr "Reiniciar"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr "Reiniciar Dispositivo"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
 msgstr "Reiniciar e Atualizar"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr "Gravar e Enviar Câmera do Motorista"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr "Gravar e Enviar �udio do Microfone"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:33
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "Grave e armazene o áudio do microfone enquanto dirige. O áudio será incluído no vídeo da dashcam no comma connect."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Regulatório"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr "Relaxado"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "Acesso remoto"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr "Capturas remotas"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:124
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
 msgstr "Tempo da solicitação esgotado"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr "Redefinir"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr "Redefinir Calibração"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Revisar Guia de Treinamento"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:26
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
 msgstr "Revise as regras, recursos e limitações do openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
 msgstr "SELECIONAR"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
 msgstr "Chaves SSH"
 
-#: system/ui/widgets/network.py:316
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "Procurando redes Wi-Fi..."
 
-#: system/ui/widgets/option_dialog.py:37
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "Selecione"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:203
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
-msgstr "Selecione uma branch"
+msgstr "Selecione uma ramificação"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:89
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
 msgstr "Selecione um idioma"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
-msgstr "Serial"
+msgstr "Número de série"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Adiar Atualização"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
-msgstr "Software"
+msgstr "Sistema"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "Padrão"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:59
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "Sistema sem resposta"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "ASSUMA O CONTROLE IMEDIATAMENTE"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
-msgstr "TEMP"
+msgstr "TEMP."
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "Branch Alvo"
 
-#: system/ui/widgets/network.py:121
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "Senha Tethering"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:61
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
-msgstr "Toggles"
+msgstr "Alternativas"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
-msgstr ""
+msgstr "Modo de depuração da interface do usuário"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr "DESINSTALAR"
 
-#: openpilot/selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
 msgstr "ATUALIZAR"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Desinstalar"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr "Desconhecido"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:55
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
 msgstr "Atualizações são baixadas apenas com o carro desligado."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr "Atualizar Agora"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:31
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
 msgstr "Envie dados da câmera voltada para o motorista e ajude a melhorar o algoritmo de monitoramento do motorista."
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr "Usar Sistema Métrico"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "VE�CULO"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr "VER"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr "Aguardando para iniciar"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
 msgstr "Bem-vindo ao openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
 msgstr "Quando ativado, pressionar o pedal do acelerador desengajará o openpilot."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Rede Wi-Fi limitada"
 
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "Senha errada"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:149
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
 msgstr "Você deve aceitar os Termos e Condições para usar o openpilot."
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
 msgstr "Você deve aceitar os Termos e Condições para usar o openpilot. Leia os termos mais recentes em https://comma.ai/terms antes de continuar."
 
-#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py:38
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr "câmera iniciando"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:19
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "checking..."
-msgstr ""
+msgstr "verificando..."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
-msgstr "default"
+msgstr "padrão"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
 msgstr "para baixo"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "downloading..."
-msgstr ""
+msgstr "baixando..."
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr "falha ao verificar atualização"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:21
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "finalizing update..."
-msgstr ""
+msgstr "finalizando atualização..."
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:321
-#, python-format
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "para \"{}\""
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "deixe em branco para configuração automática"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
 msgstr "à esquerda"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
 msgstr "limitados"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
 msgstr "mph"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:27
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr "nunca"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:38
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr "agora"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
 msgstr "Controle Longitudinal do openpilot (Alpha)"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr "openpilot Indisponível"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
 msgstr "o controle longitudinal do openpilot pode vir em uma atualização futura."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:25
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr "o openpilot requer que o dispositivo seja montado dentro de 4° para a esquerda ou direita e dentro de 5° para cima ou 9° para baixo."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
 msgstr "à direita"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "ilimitados"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
 msgstr "para cima"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr "atualizado, última verificação: nunca"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr "atualizado, última verificação: {}"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr "atualização disponível"
 
-#: openpilot/selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
 msgstr[0] "{} ALERTA"
 msgstr[1] "{} ALERTAS"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:47
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] "{} dia atrás"
 msgstr[1] "{} dias atrás"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:44
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] "{} hora atrás"
 msgstr[1] "{} horas atrás"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:41
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "{} minuto atrás"
 msgstr[1] "{} minutos atrás"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
 msgstr[0] "{} segmento da sua condução está no conjunto de treinamento até agora."
 msgstr[1] "{} segmentos da sua condução estão no conjunto de treinamento até agora."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ ASSINADO"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:21
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🔥 Modo Firehose 🔥"
 
diff --git a/selfdrive/ui/translations/app_th.po b/selfdrive/ui/translations/app_th.po
index facf52d9228be5..4e45cae14b3960 100644
--- a/selfdrive/ui/translations/app_th.po
+++ b/selfdrive/ui/translations/app_th.po
@@ -1,1034 +1,820 @@
-# Thai translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-22 16:32-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: th\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
+"Language: th\n"
 "Plural-Forms: nplurals=1; plural=0;\n"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
-msgstr ""
+msgstr "�ารสอบเทียบ�ารตอบสนอง�รงบิดของพวงมาลัยเสร็จสมบูรณ์"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:150
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
-msgstr ""
+msgstr "�ารสอบเทียบ�ารตอบสนอง�รงบิดของพวงมาลัยเสร็จสมบูรณ์ {}%"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
-msgstr ""
+msgstr "อุป�รณ์ของคุณชี้ไปที่ {:.1f}° {} �ละ {:.1f}° {}"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
-msgstr ""
+msgstr "--"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
-msgstr ""
+msgstr "พื้นที่เ�็บข้อมูลไดรฟ์ 1 ปี"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
-msgstr ""
+msgstr "�ารเชื่อมต่อ LTE ตลอด 24 ชั่วโมงทุ�วัน"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
-msgstr ""
+msgstr "2จี"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
-msgstr ""
+msgstr "3จี"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
-msgstr ""
+msgstr "5จี"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:140
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
-msgstr ""
+msgstr "<br><br>�ารปรับเทียบความล่าช้าของพวงมาลัยเสร็จสมบูรณ์"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr ""
+msgstr "<br><br>�ารปรับเทียบความล่าช้าของพวงมาลัย {}% เสร็จสมบูรณ์"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
-msgstr ""
+msgstr "เพิ่ม"
 
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
-msgstr ""
+msgstr "�ารตั้งค่า APN"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
-msgstr ""
+msgstr "รับทราบ�ารดำเนิน�ารที่มา�เ�ินไป"
 
-#: system/ui/widgets/network.py:92
-#: system/ui/widgets/network.py:74
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
-msgstr ""
+msgstr "ขั้นสูง"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
-msgstr ""
+msgstr "�้าวร้าว"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
-msgstr ""
+msgstr "เห็นด้วย"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
-msgstr ""
+msgstr "�ารตรวจสอบไดรเวอร์ตลอดเวลา"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
-msgstr ""
+msgstr "คุณ�น่ใจหรือไม่ว่าต้อง�ารปิดเครื่อง?"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
-msgstr ""
+msgstr "คุณ�น่ใจหรือไม่ว่าต้อง�ารรีบูต?"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
-msgstr ""
+msgstr "คุณ�น่ใจหรือไม่ว่าต้อง�ารรีเซ็ต�ารปรับเทียบ"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
-msgstr ""
+msgstr "คุณ�น่ใจหรือไม่ว่าต้อง�ารถอน�ารติดตั้ง?"
 
-#: system/ui/widgets/network.py:96
-#: openpilot/selfdrive/ui/layouts/onboarding.py:151
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
-msgstr ""
+msgstr "�ลับ"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
-msgstr ""
+msgstr "เป็นสมาชิ�จุลภาคไพรม์ที่ Connect.comma.ai"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:119
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr ""
+msgstr "คั่นหน้า Connect.comma.ai ไปที่หน้าจอหลั�ของคุณเพื่อใช้เหมือน�อป"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
-msgstr ""
+msgstr "เปลี่ยน"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:157
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#: openpilot/selfdrive/ui/layouts/settings/software.py:117
-#: openpilot/selfdrive/ui/layouts/settings/software.py:128
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
-msgstr ""
+msgstr "ตรวจสอบ"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
-msgstr ""
+msgstr "เปิดโหมด Chill"
 
-#: system/ui/widgets/network.py:152
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
-msgstr ""
+msgstr "เชื่อมต่อ"
 
-#: system/ui/widgets/network.py:376
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
-msgstr ""
+msgstr "�ำลังเชื่อมต่อ..."
 
-#: system/ui/widgets/network.py:326
-#: system/ui/widgets/confirm_dialog.py:24
-#: system/ui/widgets/option_dialog.py:36
-#: system/ui/widgets/keyboard.py:83
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
-msgstr ""
+msgstr "ย�เลิ�"
 
-#: system/ui/widgets/network.py:131
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
-msgstr ""
+msgstr "เซลล์วัด�สง"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
-msgstr ""
+msgstr "เปลี่ยนภาษา"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr ""
+msgstr "�ารเปลี่ยน�ารตั้งค่านี้จะรีสตาร์ท Openpilot หา�รถเปิดอยู่"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:118
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
-msgstr ""
+msgstr "คลิ� \"เพิ่มอุป�รณ์ใหม่\" �ละส��นโค้ด QR ทางด้านขวา"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
-msgstr ""
+msgstr "ปิด"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
-msgstr ""
+msgstr "เวอร์ชันปัจจุบัน"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
-msgstr ""
+msgstr "ดาวน์โหลด"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
-msgstr ""
+msgstr "ป�ิเสธ"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
-msgstr ""
+msgstr "ป�ิเสธ ถอน�ารติดตั้ง openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
-msgstr ""
+msgstr "นั�พัฒนา"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:59
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
-msgstr ""
+msgstr "อุป�รณ์"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
-msgstr ""
+msgstr "ปลดเมื่อเหยียบคันเร่ง"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:176
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
-msgstr ""
+msgstr "ปลดเพื่อปิดเครื่อง"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:164
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
-msgstr ""
+msgstr "ย�เลิ��ารเชื่อมต่อเพื่อรีบูต"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:95
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
-msgstr ""
+msgstr "ปลดเพื่อรีเซ็ต�ารปรับเทียบ"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
-msgstr ""
+msgstr "�สดงความเร็วเป็น km/h �ทน mph"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
-msgstr ""
+msgstr "รหัสดองเ�ิล"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
-msgstr ""
+msgstr "ดาวน์โหลด"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
-msgstr ""
+msgstr "�ล้องไดร์เวอร์"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
-msgstr ""
+msgstr "บุคลิ�ภาพใน�ารขับขี่"
 
-#: system/ui/widgets/network.py:120
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
-msgstr ""
+msgstr "��้ไข"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
-msgstr ""
+msgstr "ข้อผิดพลาด"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
-msgstr ""
+msgstr "ผลประโยชน์ทับซ้อน"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
-msgstr ""
+msgstr "โหมดทดลองเปิดอยู่"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:229
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:180
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
-msgstr ""
+msgstr "เปิดใช้งาน"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
-msgstr ""
+msgstr "เปิดใช้งาน ADB"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
-msgstr ""
+msgstr "เปิดใช้งานคำเตือน�ารออ�นอ�เลน"
 
-#: system/ui/widgets/network.py:126
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
-msgstr ""
+msgstr "เปิดใช้งานโรมมิ่ง"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
-msgstr ""
+msgstr "เปิดใช้งาน SSH"
 
-#: system/ui/widgets/network.py:117
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
-msgstr ""
+msgstr "เปิดใช้งาน�ารปล่อยสั��าณ"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
-msgstr ""
+msgstr "เปิดใช้งาน�ารตรวจสอบไดรเวอร์�ม้ว่าจะไม่ได้ใช้งาน openpilot �็ตาม"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
-msgstr ""
+msgstr "เปิดใช้งานโอเพ่นไพลอต"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:190
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
-msgstr ""
+msgstr "เปิดใช้งาน�ารสลับ�ารควบคุมตามยาวของ openpilot (อัลฟา) เพื่ออนุ�าตโหมด�ารทดลอง"
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
-msgstr ""
+msgstr "ป้อน APN"
 
-#: system/ui/widgets/network.py:243
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
-msgstr ""
+msgstr "ป้อน SSID"
 
-#: system/ui/widgets/network.py:257
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
-msgstr ""
+msgstr "ป้อนรหัสผ่าน�ารปล่อยสั��าณใหม่"
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
-msgstr ""
+msgstr "ใส่รหัสผ่าน"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
-msgstr ""
+msgstr "ป้อนชื่อผู้ใช้ GitHub ของคุณ"
 
-#: system/ui/widgets/list_view.py:123
-#: system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
-msgstr ""
+msgstr "ข้อผิดพลาด"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
-msgstr ""
+msgstr "โหมดทดลอง"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:182
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
-msgstr ""
+msgstr "ขณะนี้โหมดทดลองไม่สามารถใช้งานได้บนรถคันนี้ เนื่องจา� ACC ในสต็อ�ของรถใช้สำหรับ�ารควบคุมตามยาว"
 
-#: system/ui/widgets/network.py:380
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
-msgstr ""
+msgstr "�ำลังลืม..."
 
-#: openpilot/selfdrive/ui/widgets/setup.py:43
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
-msgstr ""
+msgstr "เสร็จสิ้น�ารตั้งค่า"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
-msgstr ""
+msgstr "สายดับเพลิง"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:10
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
-msgstr ""
+msgstr "โหมดสายดับเพลิง"
 
-#: system/ui/widgets/network.py:458
-#: system/ui/widgets/network.py:326
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
-msgstr ""
+msgstr "ลืม"
 
-#: system/ui/widgets/network.py:327
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr ""
+msgstr "ลืมเครือข่าย Wi-Fi \"{}\" หรือไม่"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
-msgstr ""
+msgstr "ดี"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:117
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
-msgstr ""
+msgstr "ไปที่ https://connect.comma.ai บนโทรศัพท์ของคุณ"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
-msgstr ""
+msgstr "สูง"
 
-#: system/ui/widgets/network.py:152
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
-msgstr ""
+msgstr "เครือข่ายที่ซ่อนอยู่"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#: openpilot/selfdrive/ui/layouts/settings/software.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
-msgstr ""
+msgstr "ติดตั้ง"
 
-#: system/ui/widgets/network.py:147
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
-msgstr ""
+msgstr "ที่อยู่ IP"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
-msgstr ""
+msgstr "ติดตั้งอัปเดต"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
-msgstr ""
+msgstr "โหมดดีบั�จอยสติ๊�"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
-msgstr ""
+msgstr "�ำลังโหลด"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
-msgstr ""
+msgstr "�อลทีที"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
-msgstr ""
+msgstr "โหมด�ารซ้อมรบตามยาว"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
-msgstr ""
+msgstr "สูงสุด"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:74
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Maximize your training data uploads to improve openpilot's driving models."
-msgstr ""
+msgstr "เพิ่ม�ารอัปโหลดข้อมูล�าร�ึ�ของคุณให้สูงสุดเพื่อปรับปรุงโมเดล�ารขับขี่ของ Openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
-msgstr ""
+msgstr "ไม่มี"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
-msgstr ""
+msgstr "เลขที่"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:60
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
-msgstr ""
-
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:115
-#, python-format
-msgid "No SSH keys found"
-msgstr ""
+msgstr "เครือข่าย"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:127
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
-msgstr ""
+msgstr "ไม่พบคีย์ SSH สำหรับผู้ใช้ '{}'"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:321
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
-msgstr ""
+msgstr "ไม่มีบันทึ�ประจำรุ่น"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
-msgstr ""
+msgstr "ออฟไลน์"
 
-#: system/ui/widgets/confirm_dialog.py:93
-#: system/ui/widgets/html_render.py:263
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
-msgstr ""
+msgstr "ต�ลง"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
-msgstr ""
+msgstr "ออนไลน์"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
-msgstr ""
+msgstr "เปิด"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
-msgstr ""
+msgstr "คู่"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
-msgstr ""
+msgstr "�พนด้า"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
-msgstr ""
+msgstr "ดูตัวอย่าง"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
-msgstr ""
+msgstr "คุณสมบัติเด่น:"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
-msgstr ""
+msgstr "จับคู่อุป�รณ์"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:18
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
-msgstr ""
+msgstr "จับคู่อุป�รณ์"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:92
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
-msgstr ""
+msgstr "จับคู่อุป�รณ์ของคุณ�ับบั�ชีลู�น้ำของคุณ"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:47
-#: openpilot/selfdrive/ui/layouts/settings/device.py:23
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
-msgstr ""
+msgstr "จับคู่อุป�รณ์ของคุณ�ับ�ารเชื่อมต่อด้วยเครื่องหมายจุลภาค (connect.comma.ai) �ละรับข้อเสนอจุลภาคเฉพาะของคุณ"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
-msgstr ""
+msgstr "โปรดเชื่อมต่อ Wi-Fi เพื่อทำ�ารจับคู่ครั้ง�ร�ให้เสร็จสิ้น"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
-msgstr ""
+msgstr "ปิดเครื่อง"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr ""
+msgstr "ป้อง�ัน�ารอัปโหลดข้อมูลขนาดให�่เมื่อใช้�ารเชื่อมต่อ Wi-Fi �บบมิเตอร์"
 
-#: system/ui/widgets/network.py:132
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr ""
+msgstr "ป้อง�ัน�ารอัพโหลดข้อมูลขนาดให�่เมื่อใช้�ารเชื่อมต่อมือถือ�บบคิดค่าบริ�ารตามปริมาณข้อมูล"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:24
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
-msgstr ""
+msgstr "ดูตัวอย่าง�ล้องที่หันหน้าไปทางคนขับเพื่อให้�น่ใจว่า�ารตรวจสอบผู้ขับขี่มีทัศนวิสัยที่ดี (รถจะต้องถู�ปิด)"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:150
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
-msgstr ""
+msgstr "ข้อผิดพลาดรหัส QR"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
-msgstr ""
+msgstr "ลบ"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
-msgstr ""
+msgstr "รีเซ็ต"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
-msgstr ""
+msgstr "ทบทวน"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
-msgstr ""
+msgstr "รีบูต"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
-msgstr ""
+msgstr "รีบูตอุป�รณ์"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
-msgstr ""
+msgstr "รีบูต�ละอัปเดต"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
-msgstr ""
+msgstr "บันทึ��ละอัพโหลด�ล้องไดร์เวอร์"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
-msgstr ""
+msgstr "บันทึ��ละอัปโหลดเสียงไมโครโฟน"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:33
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
-msgstr ""
+msgstr "บันทึ��ละจัดเ�็บเสียงไมโครโฟนขณะขับรถ เสียงจะรวมอยู่ในวิดีโอ dashcam ด้วย�ารเชื่อมต่อด้วยเครื่องหมายจุลภาค"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
-msgstr ""
+msgstr "�ฎระเบียบ"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
-msgstr ""
+msgstr "ผ่อนคลาย"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
-msgstr ""
+msgstr "�ารเข้าถึงระยะไ�ล"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
-msgstr ""
+msgstr "ส�นปชอตระยะไ�ล"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:124
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
-msgstr ""
+msgstr "คำขอหมดเวลา"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
-msgstr ""
+msgstr "รีเซ็ต"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
-msgstr ""
+msgstr "รีเซ็ต�ารปรับเทียบ"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
-msgstr ""
+msgstr "ทบทวนคู่มือ�าร�ึ�อบรม"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:26
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
-msgstr ""
+msgstr "ตรวจสอบ�ฎ คุณสมบัติ �ละข้อจำ�ัดของ openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
-msgstr ""
+msgstr "เลือ�"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
-msgstr ""
+msgstr "คีย์ SSH"
 
-#: system/ui/widgets/network.py:316
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
-msgstr ""
+msgstr "�ำลังส��นเครือข่าย Wi-Fi..."
 
-#: system/ui/widgets/option_dialog.py:37
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
-msgstr ""
+msgstr "เลือ�"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:203
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
-msgstr ""
+msgstr "เลือ�สาขา"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:89
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
-msgstr ""
+msgstr "เลือ�ภาษา"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
-msgstr ""
+msgstr "อนุ�รม"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
-msgstr ""
+msgstr "เลื่อน�ารอัปเดต"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
-msgstr ""
+msgstr "ซอฟต์�วร์"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
-msgstr ""
+msgstr "มาตร�าน"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:59
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
-msgstr ""
+msgstr "ระบบไม่ตอบสนอง"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
-msgstr ""
+msgstr "เข้าควบคุมทันที"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
-msgstr ""
+msgstr "อุณหภูมิ"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
-msgstr ""
+msgstr "สาขาเป้าหมาย"
 
-#: system/ui/widgets/network.py:121
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
-msgstr ""
+msgstr "รหัสผ่าน�าร�ชร์อินเทอร์เน็ต"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:61
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
-msgstr ""
+msgstr "สลับ"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
-msgstr ""
+msgstr "โหมดดีบั� UI"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
-msgstr ""
+msgstr "ถอน�ารติดตั้ง"
 
-#: openpilot/selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
-msgstr ""
+msgstr "อัปเดต"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
-msgstr ""
+msgstr "ถอน�ารติดตั้ง"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
-msgstr ""
+msgstr "ไม่ทราบ"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:55
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
-msgstr ""
+msgstr "�ารอัพเดตจะถู�ดาวน์โหลดในขณะที่รถดับอยู่เท่านั้น"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
-msgstr ""
+msgstr "อัพเ�รดทันที"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:31
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
-msgstr ""
+msgstr "อัปโหลดข้อมูลจา��ล้องที่หันเข้าหาคนขับ�ละช่วยปรับปรุงอัล�อริธึม�ารตรวจสอบผู้ขับขี่"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
-msgstr ""
+msgstr "ใช้ระบบเมตริ�"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
-msgstr ""
+msgstr "ยานพาหนะ"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
-msgstr ""
+msgstr "ดู"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
-msgstr ""
+msgstr "�ำลังรอที่จะเริ่ม"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
-msgstr ""
+msgstr "ยินดีต้อนรับสู่ openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
-msgstr ""
+msgstr "เมื่อเปิดใช้งาน �าร�ด�ป้นคันเร่งจะเป็น�ารปลดโอเพ่นไพลอต"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
-msgstr ""
+msgstr "อินเตอร์เน็ตไร้สาย"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
-msgstr ""
+msgstr "เครือข่าย Wi-Fi มี�ารตรวจวัด"
 
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
-msgstr ""
+msgstr "รหัสผ่านผิด"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:149
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
-msgstr ""
+msgstr "คุณต้องยอมรับข้อ�ำหนด�ละเงื่อนไขเพื่อใช้งาน openpilot"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
-msgstr ""
+msgstr "คุณต้องยอมรับข้อ�ำหนด�ละเงื่อนไขเพื่อใช้ openpilot อ่านข้อ�ำหนดล่าสุดได้ที่ https://comma.ai/terms �่อนดำเนิน�ารต่อ"
 
-#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py:38
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
-msgstr ""
+msgstr "�ำลังเริ่ม�ล้อง"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:19
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "checking..."
-msgstr ""
+msgstr "�ำลังตรวจสอบ..."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
-msgstr ""
+msgstr "เครื่องหมายลู�น้ำเฉพาะ"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
-msgstr ""
+msgstr "ค่าเริ่มต้น"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
-msgstr ""
+msgstr "ลง"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "downloading..."
-msgstr ""
+msgstr "�ำลังดาวน์โหลด..."
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
-msgstr ""
+msgstr "ไม่สามารถตรวจสอบ�ารอัปเดตได้"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:21
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "finalizing update..."
-msgstr ""
+msgstr "�ำลังสรุป�ารอัปเดต..."
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:321
-#, python-format
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
-msgstr ""
+msgstr "สำหรับ \"{}\""
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
-msgstr ""
+msgstr "�ม./ชม"
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
-msgstr ""
+msgstr "เว้นว่างไว้เพื่อ�ำหนดค่าอัตโนมัติ"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
-msgstr ""
+msgstr "ซ้าย"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
-msgstr ""
+msgstr "คิดค่าบริ�ารตามปริมาณ"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
-msgstr ""
+msgstr "ไมล์/ชม."
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:27
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
-msgstr ""
+msgstr "ไม่เคย"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:38
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
-msgstr ""
+msgstr "ตอนนี้"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
-msgstr ""
+msgstr "�ารควบคุมตามยาวของ openpilot (อัลฟา)"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
-msgstr ""
+msgstr "openpilot ไม่พร้อมใช้งาน"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
-msgstr ""
+msgstr "ระบบควบคุมตามยาวของ openpilot อาจมาใน�ารอัปเดตครั้งถัดไป"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:25
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
-msgstr ""
+msgstr "openpilot ต้องติดตั้งอุป�รณ์ให้อยู่ในช่วงเอียงซ้ายหรือขวาไม่เ�ิน 4° �ละเอียงขึ้นไม่เ�ิน 5° หรือเอียงลงไม่เ�ิน 9°"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
-msgstr ""
+msgstr "ขวา"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
-msgstr ""
+msgstr "ไม่จำ�ัดปริมาณ"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
-msgstr ""
+msgstr "ขึ้น"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
-msgstr ""
+msgstr "เป็นเวอร์ชันล่าสุด ตรวจสอบครั้งล่าสุด: ไม่เคย"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
-msgstr ""
+msgstr "เป็นเวอร์ชันล่าสุด ตรวจสอบครั้งล่าสุดเมื่อ {}"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
-msgstr ""
+msgstr "มีอัปเดตใหม่"
 
-#: openpilot/selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
-msgstr[0] ""
-msgstr[1] ""
+msgstr[0] "�าร�จ้งเตือน {} ราย�าร"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:47
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
-msgstr[0] ""
-msgstr[1] ""
+msgstr[0] "{} วันที่�ล้ว"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:44
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
-msgstr[0] ""
-msgstr[1] ""
+msgstr[0] "{} ชั่วโมงที่�ล้ว"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:41
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
-msgstr[0] ""
-msgstr[1] ""
+msgstr[0] "{} นาทีที่�ล้ว"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] ""
-msgstr[1] ""
+msgstr[0] "ขณะนี้มีช่วง�ารขับขี่ของคุณ {} ช่วงอยู่ในชุดข้อมูล�ึ�สอน�ล้ว"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
-msgstr ""
+msgstr "✓ สมัคร�ล้ว"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:21
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
-msgstr ""
+msgstr "🔥 โหมด Firehose 🔥"
 
diff --git a/selfdrive/ui/translations/app_tr.po b/selfdrive/ui/translations/app_tr.po
index 137d350c2a0c52..dbb5b325a61624 100644
--- a/selfdrive/ui/translations/app_tr.po
+++ b/selfdrive/ui/translations/app_tr.po
@@ -1,1034 +1,825 @@
-# Turkish translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-20 18:19-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: tr\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
+"Language: tr\n"
 "Plural-Forms: nplurals=2; plural=(n != 1);\n"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
 msgstr " Direksiyon tork tepkisi kalibrasyonu tamamlandı."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:150
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
 msgstr " Direksiyon tork tepkisi kalibrasyonu {}% tamamlandı."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr " Cihazınız {:.1f}° {} ve {:.1f}° {} yönünde konumlandırılmış."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr "--"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr "1 yıl sürüş depolaması"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr "7/24 LTE bağlantısı"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr "2G"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:140
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
-msgstr ""
+msgstr "<br><br>Direksiyon gecikmesi kalibrasyonu tamamlandı."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr ""
+msgstr "<br><br>Direksiyon gecikmesi kalibrasyonu %{} tamamlandı."
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr "EKLE"
 
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
-msgstr ""
+msgstr "APN Ayarı"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
 msgstr "Aşırı Müdahaleyi Onayla"
 
-#: system/ui/widgets/network.py:92
-#: system/ui/widgets/network.py:74
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
-msgstr ""
+msgstr "GeliÅŸmiÅŸ"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr "Agresif"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
 msgstr "Kabul et"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "Sürekli Sürücü İzleme"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr "Kapatmak istediÄŸinizden emin misiniz?"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr "Yeniden baÅŸlatmak istediÄŸinizden emin misiniz?"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr "Kalibrasyonu sıfırlamak istediğinizden emin misiniz?"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr "Kaldırmak istediğinizden emin misiniz?"
 
-#: system/ui/widgets/network.py:96
-#: openpilot/selfdrive/ui/layouts/onboarding.py:151
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr "Geri"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "connect.comma.ai adresinde comma prime üyesi olun"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:119
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "connect.comma.ai'yi ana ekranınıza ekleyerek bir uygulama gibi kullanın"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "DEĞİŞTİR"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:157
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#: openpilot/selfdrive/ui/layouts/settings/software.py:117
-#: openpilot/selfdrive/ui/layouts/settings/software.py:128
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr "KONTROL ET"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr "CHILL MODU AÇIK"
 
-#: system/ui/widgets/network.py:152
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "BAÄžLAN"
 
-#: system/ui/widgets/network.py:376
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "BAÄžLAN"
 
-#: system/ui/widgets/network.py:326
-#: system/ui/widgets/confirm_dialog.py:24
-#: system/ui/widgets/option_dialog.py:36
-#: system/ui/widgets/keyboard.py:83
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
-msgstr ""
+msgstr "Ä°ptal"
 
-#: system/ui/widgets/network.py:131
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
-msgstr ""
+msgstr "Ölçülü Hücresel"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr "Dili DeÄŸiÅŸtir"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
 msgstr " Bu ayarı değiştirmek, araç çalışıyorsa openpilot'u yeniden başlatacaktır."
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:118
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
 msgstr "\"yeni cihaz ekle\"ye tıklayın ve sağdaki QR kodunu tarayın"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
 msgstr "Kapat"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Geçerli Sürüm"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "Ä°NDÄ°R"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
 msgstr "Reddet"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
 msgstr "Reddet, openpilot'u kaldır"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr "GeliÅŸtirici"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:59
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr "Cihaz"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Gaz Pedalında Devreden Çık"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:176
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr "Kapatmak için Devreden Çıkın"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:164
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr "Yeniden Başlatmak için Devreden Çıkın"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:95
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr "Kalibrasyonu Sıfırlamak için Devreden Çıkın"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "Hızı mph yerine km/h olarak göster."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
-msgstr "Dongle ID"
+msgstr "Dongle kimliÄŸi"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr "Ä°ndir"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr "Sürücü Kamerası"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
 msgstr "Sürüş Kişiliği"
 
-#: system/ui/widgets/network.py:120
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
-msgstr ""
+msgstr "DÃœZENLE"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "HATA"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr "ETH"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr "DENEYSEL MOD AÇIK"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:229
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:180
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
 msgstr "EtkinleÅŸtir"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "ADB'yi EtkinleÅŸtir"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Şerit Terk Uyarılarını Etkinleştir"
 
-#: system/ui/widgets/network.py:126
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
-msgstr "openpilot'u etkinleÅŸtir"
+msgstr "Dolaşımı Etkinleştir"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
 msgstr "SSH'yi EtkinleÅŸtir"
 
-#: system/ui/widgets/network.py:117
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
-msgstr "Şerit Terk Uyarılarını Etkinleştir"
+msgstr "İnternet Paylaşımını Etkinleştir"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
 msgstr "openpilot devrede değilken bile sürücü izlemesini etkinleştir."
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr "openpilot'u etkinleÅŸtir"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:190
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr "Deneysel modu etkinleştirmek için openpilot boylamsal kontrolünü (alfa) açın."
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
-msgstr ""
+msgstr "APN girin"
 
-#: system/ui/widgets/network.py:243
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
-msgstr ""
+msgstr "SSID girin"
 
-#: system/ui/widgets/network.py:257
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
-msgstr ""
+msgstr "Yeni internet paylaşımı şifresini girin"
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
-msgstr ""
+msgstr "Åžifre girin"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr "GitHub kullanıcı adınızı girin"
 
-#: system/ui/widgets/list_view.py:123
-#: system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
-msgstr ""
+msgstr "Hata"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr "Deneysel Mod"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:182
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "Bu araçta boylamsal kontrol için stok ACC kullanıldığından şu anda Deneysel mod kullanılamıyor."
 
-#: system/ui/widgets/network.py:380
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
-msgstr ""
+msgstr "UNUTULUYOR..."
 
-#: openpilot/selfdrive/ui/widgets/setup.py:43
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
 msgstr "Kurulumu Bitir"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
-msgstr "Firehose"
+msgstr "Yoğun veri akışı"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:10
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr "Firehose Modu"
 
-#: system/ui/widgets/network.py:458
-#: system/ui/widgets/network.py:326
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
-msgstr ""
+msgstr "Unut"
 
-#: system/ui/widgets/network.py:327
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr ""
+msgstr "\"{}\" Wi‑Fi ağı unutulsun mu?"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr "Ä°YÄ°"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:117
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "Telefonunuzda https://connect.comma.ai adresine gidin"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr "YÃœKSEK"
 
-#: system/ui/widgets/network.py:152
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
-msgstr "AÄŸ"
+msgstr "Gizli AÄŸ"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#: openpilot/selfdrive/ui/layouts/settings/software.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "YÃœKLE"
 
-#: system/ui/widgets/network.py:147
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
-msgstr ""
+msgstr "IP Adresi"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Güncellemeyi Yükle"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
 msgstr "Joystick Hata Ayıklama Modu"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "YÃœKLENÄ°YOR"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr "LTE"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Boylamsal Manevra Modu"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "MAKS"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:74
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "openpilot'un sürüş modellerini iyileştirmek için eğitim veri yüklemelerinizi en üst düzeye çıkarın."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
-msgstr ""
+msgstr "Yok"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
 msgstr "HAYIR"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:60
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr "AÄŸ"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:115
-#, python-format
-msgid "No SSH keys found"
-msgstr "SSH anahtarı bulunamadı"
-
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:127
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
-msgstr "'{username}' için SSH anahtarı bulunamadı"
+msgstr "'{}' kullanıcısı için SSH anahtarı bulunamadı"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:321
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
 msgstr "Sürüm notu mevcut değil."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "ÇEVRİMDIŞI"
 
-#: system/ui/widgets/confirm_dialog.py:93
-#: system/ui/widgets/html_render.py:263
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
 msgstr "ÇEVRİMİÇİ"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Aç"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr "EÅžLE"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr "PANDA"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr "ÖNİZLEME"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr "PRIME ÖZELLİKLERİ:"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr "Cihazı Eşle"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:18
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
 msgstr "Cihazı eşle"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:92
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
 msgstr "Cihazınızı comma hesabınızla eşleştirin"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:47
-#: openpilot/selfdrive/ui/layouts/settings/device.py:23
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "Cihazınızı comma connect (connect.comma.ai) ile eşleştirin ve comma prime teklifinizi alın."
 
-#: openpilot/selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "İlk eşleştirmeyi tamamlamak için lütfen Wi‑Fi'a bağlanın"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr "Kapat"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr ""
+msgstr "Ölçülü bir Wi‑Fi bağlantısındayken büyük veri yüklemelerini engelle"
 
-#: system/ui/widgets/network.py:132
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr ""
+msgstr "Ölçülü bir hücresel bağlantıdayken büyük veri yüklemelerini engelle"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:24
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
 msgstr "Sürücü izleme görünürlüğünün iyi olduğundan emin olmak için sürücüye bakan kamerayı önizleyin. (araç kapalı olmalıdır)"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:150
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
 msgstr "QR Kod Hatası"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr "KALDIR"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr "SIFIRLA"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "GÖZDEN GEÇİR"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr "Yeniden BaÅŸlat"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr "Cihazı Yeniden Başlat"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
 msgstr "Yeniden Başlat ve Güncelle"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr "Sürücü Kamerasını Kaydet ve Yükle"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr "Mikrofon Sesini Kaydet ve Yükle"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:33
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "Sürüş sırasında mikrofon sesini kaydedip saklayın. Ses, comma connect'teki ön kamera videosuna dahil edilecektir."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Mevzuat"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr "Rahat"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "Uzaktan eriÅŸim"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr "Uzaktan anlık görüntüler"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:124
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
 msgstr "İstek zaman aşımına uğradı"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr "Sıfırla"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr "Kalibrasyonu Sıfırla"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Eğitim Kılavuzunu İncele"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:26
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
 msgstr "openpilot'un kurallarını, özelliklerini ve sınırlamalarını gözden geçirin"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
-msgstr ""
+msgstr "SEÇ"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
-msgstr ""
+msgstr "SSH Anahtarları"
 
-#: system/ui/widgets/network.py:316
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
-msgstr ""
+msgstr "Wi‑Fi ağları taranıyor..."
 
-#: system/ui/widgets/option_dialog.py:37
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
-msgstr ""
+msgstr "Seç"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:203
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
-msgstr ""
+msgstr "Bir dal seçin"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:89
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
 msgstr "Bir dil seçin"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "Seri"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Güncellemeyi Ertele"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
 msgstr "Yazılım"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "Standart"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:59
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "Sistem Yanıt Vermiyor"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "HEMEN KONTROLÜ DEVRALIN"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
-msgstr "TEMP"
+msgstr "SIC."
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
-msgstr ""
+msgstr "Hedef Dal"
 
-#: system/ui/widgets/network.py:121
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
-msgstr ""
+msgstr "İnternet Paylaşımı Şifresi"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:61
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Seçenekler"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
-msgstr ""
+msgstr "Arayüz Hata Ayıklama Modu"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr "KALDIR"
 
-#: openpilot/selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
 msgstr "GÃœNCELLE"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Kaldır"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr "Bilinmiyor"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:55
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
 msgstr "Güncellemeler yalnızca araç kapalıyken indirilir."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr "Şimdi Yükselt"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:31
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
 msgstr "Sürücüye bakan kameradan veri yükleyin ve sürücü izleme algoritmasını geliştirmeye yardımcı olun."
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr "Metrik Sistemi Kullan"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "ARAÇ"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr "GÖRÜNTÜLE"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr "BaÅŸlatma bekleniyor"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
 msgstr "openpilot'a hoÅŸ geldiniz"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
 msgstr "Etkinleştirildiğinde, gaz pedalına basmak openpilot'u devreden çıkarır."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
-msgstr ""
+msgstr "Ölçülü Wi‑Fi Ağı"
 
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
-msgstr ""
+msgstr "Yanlış şifre"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:149
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
 msgstr "openpilot'u kullanmak için Şartlar ve Koşulları kabul etmelisiniz."
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
 msgstr "openpilot'u kullanmak için Şartlar ve Koşulları kabul etmelisiniz. Devam etmeden önce en güncel şartları https://comma.ai/terms adresinde okuyun."
 
-#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py:38
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr "kamera başlatılıyor"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:19
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "checking..."
-msgstr ""
+msgstr "kontrol ediliyor..."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
-msgstr ""
+msgstr "varsayılan"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
 msgstr "aşağı"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "downloading..."
-msgstr ""
+msgstr "indiriliyor..."
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr "güncelleme kontrolü başarısız"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:21
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "finalizing update..."
-msgstr ""
+msgstr "güncelleme tamamlanıyor..."
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:321
-#, python-format
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
-msgstr ""
+msgstr "\"{}\" için"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
-msgstr ""
+msgstr "otomatik yapılandırma için boş bırakın"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
 msgstr "sol"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
-msgstr ""
+msgstr "ölçülü"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
 msgstr "mph"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:27
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr "asla"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:38
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr "ÅŸimdi"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
 msgstr "openpilot Boylamsal Kontrol (Alfa)"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr "openpilot Kullanılamıyor"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
 msgstr "openpilot boylamsal kontrolü gelecekteki bir güncellemede gelebilir."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:25
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr "openpilot, cihazın sağa/sola 4° ve yukarı 5° veya aşağı 9° içinde monte edilmesini gerektirir."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
 msgstr "saÄŸ"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
-msgstr ""
+msgstr "ölçüsüz"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
 msgstr "yukarı"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr "güncel, son kontrol asla"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr "güncel, son kontrol {}"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr "güncelleme mevcut"
 
-#: openpilot/selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
 msgstr[0] "{} UYARI"
 msgstr[1] "{} UYARILAR"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:47
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] "{} gün önce"
 msgstr[1] "{} gün önce"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:44
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] "{} saat önce"
 msgstr[1] "{} saat önce"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:41
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "{} dakika önce"
 msgstr[1] "{} dakika önce"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
 msgstr[0] "{} segment sürüşünüz eğitim veri setinde."
 msgstr[1] "{} segment sürüşünüz eğitim veri setinde."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ ABONE"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:21
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🔥 Firehose Modu 🔥"
 
diff --git a/selfdrive/ui/translations/app_uk.po b/selfdrive/ui/translations/app_uk.po
index e36ceac2ceb774..3f3d1866579338 100644
--- a/selfdrive/ui/translations/app_uk.po
+++ b/selfdrive/ui/translations/app_uk.po
@@ -1,1040 +1,830 @@
-# Ukrainian translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: \n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-11-19 12:21+0200\n"
-"PO-Revision-Date: 2025-11-19 13:27+0200\n"
-"Last-Translator: KeeFeeRe <me@keefeere.me>\n"
-"Language-Team: none\n"
-"Language: uk\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
-"Plural-Forms: nplurals=3; plural=(n%10==1 && n%100!=11 ? 0 : n%10>=2 && n%10<=4 && (n%100<10 || n%100>=20) ? 1 : 2);\n"
-"X-Generator: Poedit 3.8\n"
+"Language: uk\n"
+"Plural-Forms: nplurals=3; plural=(n%10==1 && n%100!=11 ? 0 : n%10>=2 && n%10<=4 && (n%100<12 || n%100>14) ? 1 : 2);\n"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
 msgstr " Калібруванн� реакції крутного моменту керма завершено."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:150
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
 msgstr "Калібруванн� реакції крутного моменту керма завершено на {}%."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr " Ваш при�трій нахилено на {:.1f}° {} та {:.1f}° {}."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr "--"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr "1 рік зберіганн� поїздок"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr "Підключенн� LTE 24/7"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr "2G"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:140
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
 msgstr "<br><br>Калібруванн� затримки кермуванн� завершено."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
 msgstr "<br><br>Калібруванн� затримки кермуванн� завершено на {}%."
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr "ДОД�ТИ"
 
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "�алаштуванн� APN"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
 msgstr "Визнайте надмірне �працьовуванн�"
 
-#: system/ui/widgets/network.py:92
-#: system/ui/widgets/network.py:74
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "Розширені"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr "�гре�ивн."
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
 msgstr "Погодити��"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "По�тійний моніторинг воді�"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr "Ви впевнені, що хочете вимкнути?"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr "Ви впевнені, що хочете перезавантажити?"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr "Ви впевнені, що хочете �кинути калібруванн�?"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr "Ви впевнені, що хочете видалити?"
 
-#: system/ui/widgets/network.py:96
-#: openpilot/selfdrive/ui/layouts/onboarding.py:151
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr "�азад"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Станьте членом comma prime на connect.comma.ai"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:119
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "Додайте connect.comma.ai до головного екрану, щоб викори�товувати його �к додаток."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "ЗМІ�ИТИ"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:157
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#: openpilot/selfdrive/ui/layouts/settings/software.py:117
-#: openpilot/selfdrive/ui/layouts/settings/software.py:128
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr "ПЕРЕВІРИТИ"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr "СПОКІЙ�ИЙ РЕЖИМ"
 
-#: system/ui/widgets/network.py:152
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
-msgstr "CONNECT"
+msgstr "ПІДКЛЮЧИТИ"
 
-#: system/ui/widgets/network.py:376
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "ПІДКЛЮЧ�..."
 
-#: system/ui/widgets/network.py:326
-#: system/ui/widgets/confirm_dialog.py:24
-#: system/ui/widgets/option_dialog.py:36
-#: system/ui/widgets/keyboard.py:83
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "Ска�увати"
 
-#: system/ui/widgets/network.py:131
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "Лімітне �тільникове з'єднанн�"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr "Змінити мову"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
 msgstr "Зміна цього параметра призведе до перезапу�ку openpilot, �кщо автомобіль увімкнено."
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:118
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
 msgstr "�ати�ніть «додати новий при�трій» і від�кануйте QR-код праворуч."
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
 msgstr "Закрити"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Поточна вер�і�"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "В��Т�Ж"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
 msgstr "Відхилити"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
 msgstr "Відхилити, видалити openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr "Розробник"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:59
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr "При�трій"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Вимкненн� при нати�канні на педаль газу"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:176
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr "Вимкніть openpilot, щоб вимкнути при�трій"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:164
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr "Вимкніть openpilot, щоб перезавантажити"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:95
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr "Деактивуйте дл� �киданн� калібруванн�"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "Відображати швидкі�ть у км/год замі�ть миль/год."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
 msgstr "ID ключа"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr "Завантажити"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr "Камера воді�"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
 msgstr "Стиль водінн�"
 
-#: system/ui/widgets/network.py:120
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "РЕД�Г."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "ПОМИЛК�"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr "ETH"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr "ЕКСПЕРИМЕ�Т. РЕЖИМ"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:229
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:180
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
 msgstr "Увімкнути"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "Увімкнути ADB"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Увімкнути попередженн� про виїзд зі �муги"
 
-#: system/ui/widgets/network.py:126
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "Увімкнути роумінг"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
 msgstr "Увімкнути SSH"
 
-#: system/ui/widgets/network.py:117
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "Увімкнути точку до�тупу"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
 msgstr "Увімкнути моніторинг воді�, навіть коли openpilot не ввімкнено."
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr "Увімкнути openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:190
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr "Увімкніть перемикач поздовжнього керуванн� openpilot (альфа), щоб увімкнути ек�периментальний режим."
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "Введіть APN"
 
-#: system/ui/widgets/network.py:243
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "Введіть SSID"
 
-#: system/ui/widgets/network.py:257
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "Введіть новий пароль дл� модему"
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "Введіть пароль"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr "Введіть ваш логін GitHub"
 
-#: system/ui/widgets/list_view.py:123
-#: system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "Помилка"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr "Ек�периментальний режим"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:182
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "Ек�периментальний режим наразі недо�тупний дл� цього автомобіл�, о�кільки дл� поздовжнього керуванн� викори�товуєть�� штатний адаптивний круїз-контроль (ACC)."
 
-#: system/ui/widgets/network.py:380
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "З�БУВ�Ю..."
 
-#: openpilot/selfdrive/ui/widgets/setup.py:43
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
 msgstr "Завершити налаштуванн�"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
 msgstr "Злива"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:10
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr "Режим зливи"
 
-#: system/ui/widgets/network.py:458
-#: system/ui/widgets/network.py:326
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
-msgstr "Заб-и"
+msgstr "Забути"
 
-#: system/ui/widgets/network.py:327
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "Забути мережу Wi-Fi \"{}\"?"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr "ДОБР�"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:117
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "Перейдіть на �айт https://connect.comma.ai на �воєму телефоні."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr "ВИСОК�"
 
-#: system/ui/widgets/network.py:152
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "Прихована мережа"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#: openpilot/selfdrive/ui/layouts/settings/software.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "ВСТ��ОВ."
 
-#: system/ui/widgets/network.py:147
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "IP-адре�а"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "В�тановити оновленн�"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
 msgstr "Режим зневадженн� джой�тика"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "З�В��Т�ЖЕ��Я"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr "LTE"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Режим поздовжнього маневруванн�"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "М�КС"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:74
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "Мак�имізуйте завантаженн� навчальних даних, щоб поліпшити моделі openpilot."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "�/Д"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
 msgstr "�ЕМ�Є"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:60
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr "Мережа"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:115
-#, python-format
-msgid "No SSH keys found"
-msgstr "�е знайдено ключів SSH"
-
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:127
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
 msgstr "Кори�тувач '{}' не має ключів на GitHub"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:321
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
 msgstr "Інформаці� про випу�к від�утн�."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "ОФЛ�Й�"
 
-#: system/ui/widgets/confirm_dialog.py:93
-#: system/ui/widgets/html_render.py:263
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
 msgstr "О�Л�Й�"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "ВІДКРИТИ"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr "ПІДКЛЮЧИТИ"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr "PANDA"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr "ПОК�ЖИ"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr "X�Р�КТЕРИСТИКИ PRIME:"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr "Підключити при�трій"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:18
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
 msgstr "Підключити при�трій"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:92
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
 msgstr "Підключіть �вій при�трій до обліковки comma connect"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:47
-#: openpilot/selfdrive/ui/layouts/settings/device.py:23
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "Підключіть �вій при�трій до comma connect (connect.comma.ai) і отримайте �вою пропозицію comma prime."
 
-#: openpilot/selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Будь ла�ка, підключіть�� до Wi-Fi, щоб завершити початкове �полученн�."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr "Вимкнути"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "Запобігайте завантаженню великих об��гів даних під ча� викори�танн� Wi-Fi-з'єднанн� з обмеженим трафіком"
 
-#: system/ui/widgets/network.py:132
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "Запобігати великим завантаженн�м даних під ча� лімітного �тільникового з'єднанн�"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:24
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
 msgstr "Попередньо перегл�ньте камеру, �пр�мовану на воді�, щоб переконати��, що �и�тема моніторингу воді� має добру видимі�ть. (автомобіль повинен бути вимкнений)"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:150
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
 msgstr "Помилка QR-коду"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr "ВИД�ЛИТИ"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr "Скинути"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "ДИВИТИСЬ"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr "Перезавантажити"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr "Перезавантажте при�трій"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
 msgstr "Перезавантажити та оновити"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr "Пи�ати та вантажити відео з камери воді�"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr "Запи� та завантаженн� аудіо з мікрофона"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:33
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "Запи�уйте та зберігайте аудіо з мікрофона під ча� руху. �удіо буде включено до відео з відеореє�тратора в comma connect."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "�ормативні документи"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr "Спокійний"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "Віддалений до�туп"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr "Віддалені знімки"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:124
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
 msgstr "Ча� запиту вичерпано"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr "Скинути"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr "Скинути калібруванн�"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Перегл�нути по�ібник з навчанн�"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:26
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
 msgstr "Перегл�ньте правила, функції та обмеженн� openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
 msgstr "ВИБР�ТИ"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
 msgstr "SSH ключі"
 
-#: system/ui/widgets/network.py:316
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "Пошук мереж..."
 
-#: system/ui/widgets/option_dialog.py:37
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "Вибрати"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:203
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
 msgstr "Виберіть гілку"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:89
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
 msgstr "Виберіть мову"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "Серійний номер"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Відкла�ти оновленн�"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
 msgstr "Програма"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "Стандарт"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:59
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "Си�тема не реагує"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "КЕРМУЙТЕ �ЕГ�Й�О"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
 msgstr "ТЕМП"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "Цільова гілка"
 
-#: system/ui/widgets/network.py:121
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "Пароль дл� точки до�тупу"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:61
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Перемикачі"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
-msgstr ""
+msgstr "Режим налагодженн� інтерфей�у"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr "ВИД�ЛИТИ"
 
-#: openpilot/selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
 msgstr "О�ОВИТИ"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Видалити"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr "�евідомо"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:55
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
 msgstr "Оновленн� завантажують�� лише тоді, коли автомобіль вимкнено."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr "Оновити зараз"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:31
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
 msgstr "Завантажуйте дані з камери, �пр�мованої на воді�, та допоможіть покращити алгоритм моніторингу воді�."
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr "Викори�товувати метричну �и�тему"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "�ВТО"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr "ДИВИСЬ"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr "Очікуванн� початку"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
 msgstr "Ла�каво про�имо до openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
 msgstr "Якщо увімкнено, нати�канн� на педаль ак�елератора вимкне openpilot."
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi-Fi"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Трафік Wi-Fi"
 
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "�евірний пароль"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:149
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
 msgstr "Ви повинні прийн�ти Умови та положенн�, щоб кори�тувати�� openpilot."
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
 msgstr "Ви повинні прийн�ти Умови викори�танн�, щоб кори�тувати�� openpilot. Перед тим, �к продовжити, ознайомте�� з о�танніми умовами на �айті https://comma.ai/terms."
 
-#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py:38
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr "запу�к камери"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:19
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "checking..."
 msgstr "перевір�ю..."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
 msgstr "замовч."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
 msgstr "вниз"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "downloading..."
 msgstr "завантажую..."
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr "не вдало�� перевірити оновленн�"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:21
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "finalizing update..."
 msgstr "завершую..."
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:321
-#, python-format
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "дл� \"{}\""
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
 msgstr "км/год"
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "залиште порожнім дл� автоматичного налаштуванн�"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
 msgstr "вліво"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
 msgstr "обмеж."
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
 msgstr "миль/год"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:27
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr "ніколи"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:38
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr "зараз"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
 msgstr "Поздовжнє керуванн� openpilot (�льфа)"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr "openpilot �едо�тупний"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
 msgstr "Поздовжнє керуванн� openpilot може з'�вити�� в майбутньому оновленні."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:25
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr "Дл� роботи openpilot потрібно, щоб при�трій був в�тановлений з нахилом не більше 4° вліво або вправо та не більше 5° вгору або 9° вниз. openpilot по�тійно калібруєть��, тому �киданн� калібруванн� потрібне рідко."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
 msgstr "вправо"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "необмеж."
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
 msgstr "вгору"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr "оновлено, ніколи не перевір�ло�ь"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr "оновлено, перевірив {}"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr "до�тупне оновленн�"
 
-#: openpilot/selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
 msgstr[0] "{} СПОВІЩЕ��Я"
 msgstr[1] "{} СПОВІЩЕ��Я"
 msgstr[2] "{} СПОВІЩЕ�Ь"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:47
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] "{} день тому"
 msgstr[1] "{} дні тому"
 msgstr[2] "{} днів тому"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:44
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] "{} година тому"
 msgstr[1] "{} години тому"
 msgstr[2] "{} годин тому"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:41
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "{} хвилина тому"
 msgstr[1] "{} хвилини тому"
 msgstr[2] "{} хвилин тому"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
 msgstr[0] "{} �егмент вашого водінн� на даний момент мі�т�ть�� в тренувальному наборі даних."
 msgstr[1] "{} �егменти вашого водінн� на даний момент мі�т�ть�� в тренувальному наборі даних."
 msgstr[2] "{} �егментів вашого водінн� на даний момент мі�т�ть�� в тренувальному наборі даних."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ ПІДПИС��О"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:21
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🌧� Режим зливи 🌧�"
 
diff --git a/selfdrive/ui/translations/app_zh-CHS.po b/selfdrive/ui/translations/app_zh-CHS.po
index 4d9a5b78e27198..55a7c329f632a8 100644
--- a/selfdrive/ui/translations/app_zh-CHS.po
+++ b/selfdrive/ui/translations/app_zh-CHS.po
@@ -1,1034 +1,825 @@
-# Language zh-CHS translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-22 16:32-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: zh-CHS\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
+"Language: zh-CHS\n"
 "Plural-Forms: nplurals=1; plural=0;\n"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
 msgstr " 转�扭矩�应校准完�。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:150
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
 msgstr " 转�扭矩�应校准已完� {}%。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr " 您的设备�� {:.1f}° {} 与 {:.1f}° {}。"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr "--"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr "1 年行驶数�存储"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr "全天候 LTE 连接"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr "2G"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:140
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
 msgstr "<br><br>转�延迟校准完�。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
 msgstr "<br><br>转�延迟校准已完� {}%。"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr "添加"
 
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "APN 设置"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
 msgstr "确认过度作动"
 
-#: system/ui/widgets/network.py:92
-#: system/ui/widgets/network.py:74
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "高级"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr "激进"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
 msgstr "��"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "始终�用驾驶员监控"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr "确定�关机�？"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr "确定����？"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr "确定��置校准�？"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr "确定��载�？"
 
-#: system/ui/widgets/network.py:96
-#: openpilot/selfdrive/ui/layouts/onboarding.py:151
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr "返回"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "�往 connect.comma.ai �为 comma prime 会员"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:119
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "将 connect.comma.ai 添加到主�幕，�应用一样使用"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "更改"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:157
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#: openpilot/selfdrive/ui/layouts/settings/software.py:117
-#: openpilot/selfdrive/ui/layouts/settings/software.py:128
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr "检查"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr "安稳模�已开�"
 
-#: system/ui/widgets/network.py:152
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
-msgstr "CONNECT"
+msgstr "连接"
 
-#: system/ui/widgets/network.py:376
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "连接中..."
 
-#: system/ui/widgets/network.py:326
-#: system/ui/widgets/confirm_dialog.py:24
-#: system/ui/widgets/option_dialog.py:36
-#: system/ui/widgets/keyboard.py:83
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "�消"
 
-#: system/ui/widgets/network.py:131
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "蜂�计�"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr "更改语言"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
 msgstr "若车辆通电，更改此设置将�� openpilot。"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:118
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
 msgstr "点击“添加新设备�，扫��侧二维�"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
 msgstr "关闭"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "当�版本"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "下载"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
 msgstr "拒�"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
 msgstr "拒�并�载 openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr "开�者"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:59
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr "设备"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "踩下加速��时脱离"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:176
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr "脱离以关机"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:164
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr "脱离以��"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:95
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr "脱离以�置校准"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "以 km/h 显示速度（� mph）。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
-msgstr "Dongle ID"
+msgstr "设备 ID"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr "下载"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr "车内摄�头"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
 msgstr "驾驶风格"
 
-#: system/ui/widgets/network.py:120
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "编辑"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "错误"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr "ETH"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr "实验模�已开�"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:229
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:180
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
 msgstr "�用"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "�用 ADB"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "�用车��离警示"
 
-#: system/ui/widgets/network.py:126
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "�用漫游"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
 msgstr "�用 SSH"
 
-#: system/ui/widgets/network.py:117
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "�用网络共享"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
 msgstr "�使未�用 openpilot 也�用驾驶员监控。"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr "�用 openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:190
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr "�用 openpilot 纵�控制（alpha）开关，以使用实验模�。"
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "输入 APN"
 
-#: system/ui/widgets/network.py:243
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "输入 SSID"
 
-#: system/ui/widgets/network.py:257
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "输入新的网络共享密�"
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "输入密�"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr "输入您的 GitHub 用户�"
 
-#: system/ui/widgets/list_view.py:123
-#: system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "错误"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr "实验模�"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:182
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "此车型当�无法使用实验模�，因为纵�控制使用的是原厂 ACC。"
 
-#: system/ui/widgets/network.py:380
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "正在�忘..."
 
-#: openpilot/selfdrive/ui/widgets/setup.py:43
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
 msgstr "完�设置"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
-msgstr "Firehose"
+msgstr "数�洪�"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:10
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr "Firehose 模�"
 
-#: system/ui/widgets/network.py:458
-#: system/ui/widgets/network.py:326
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
 msgstr "忘记"
 
-#: system/ui/widgets/network.py:327
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "�忘记 Wi‑Fi 网络“{}��？"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr "良好"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:117
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "在手机上�往 https://connect.comma.ai"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr "高"
 
-#: system/ui/widgets/network.py:152
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "��网络"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#: openpilot/selfdrive/ui/layouts/settings/software.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "安装"
 
-#: system/ui/widgets/network.py:147
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "IP 地�"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "安装更新"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
 msgstr "摇�调试模�"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "加载中"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr "LTE"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "纵��作模�"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "最大"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:74
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "最大化上传训练数�，以改进 openpilot 的驾驶模型。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "æ— "
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
 msgstr "�"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:60
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr "网络"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:115
-#, python-format
-msgid "No SSH keys found"
-msgstr "未找到 SSH 密钥"
-
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:127
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
 msgstr "未找到用户“{}�的 SSH 密钥"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:321
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
 msgstr "暂无�行说明。"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "离线"
 
-#: system/ui/widgets/confirm_dialog.py:93
-#: system/ui/widgets/html_render.py:263
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "确定"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
 msgstr "在线"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "打开"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr "�对"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr "PANDA"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr "预览"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr "PRIME 功能："
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr "�对设备"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:18
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
 msgstr "�对设备"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:92
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
 msgstr "将设备�对到您的 comma 账�"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:47
-#: openpilot/selfdrive/ui/layouts/settings/device.py:23
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "将设备与 comma connect（connect.comma.ai）�对，领�您的 comma prime 优惠。"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "请连接 Wi‑Fi 以完��始�对"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr "关机"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "在计�制 Wi‑Fi 连接时��大�上传"
 
-#: system/ui/widgets/network.py:132
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "在计�制蜂�网络时��大�上传"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:24
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
 msgstr "预览车内摄�头以确�驾驶员监控视野良好。（车辆必须熄�）"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:150
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
 msgstr "二维�错误"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr "移除"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr "�置"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "查看"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr "��"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr "��设备"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
 msgstr "��并更新"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr "录制并上传车内摄�头"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr "录制并上传麦克风音频"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:33
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "行驶时录制并�存麦克风音频。音频将包�在 comma connect 的行车记录视频中。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "法规"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr "从容"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "远程访问"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr "远程快照"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:124
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
 msgstr "请求超时"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr "�置"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr "�置校准"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "查看训练指�"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:26
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
 msgstr "查看 openpilot 的规则�功能与�制"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
 msgstr "选择"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
 msgstr "SSH 密钥"
 
-#: system/ui/widgets/network.py:316
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "正在扫� Wi‑Fi 网络…"
 
-#: system/ui/widgets/option_dialog.py:37
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "选择"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:203
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
 msgstr "选择分支"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:89
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
 msgstr "选择语言"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "�列�"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "延�更新"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
 msgstr "软件"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "标准"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:59
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "系统无�应"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "请立�接管控制"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
 msgstr "温度"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "目标分支"
 
-#: system/ui/widgets/network.py:121
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "网络共享密�"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:61
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "切�"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
-msgstr ""
+msgstr "界�调试模�"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr "�载"
 
-#: openpilot/selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
 msgstr "æ›´æ–°"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "�载"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr "未知"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:55
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
 msgstr "仅在车辆熄�时下载更新。"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr "立��级"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:31
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
 msgstr "上传车内摄�头数�，帮助改进驾驶员监控算法。"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr "使用公制"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "车辆"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr "查看"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr "等待开始"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
 msgstr "欢迎使用 openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
 msgstr "�用�，踩下加速��将会脱离 openpilot。"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Wi‑Fi 计�网络"
 
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "密�错误"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:149
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
 msgstr "您必须接��款与�件�能使用 openpilot。"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
 msgstr "您必须接��款与�件�能使用 openpilot。继续�请阅读 https://comma.ai/terms 上的最新�款。"
 
-#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py:38
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr "相机�动中"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:19
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "checking..."
-msgstr ""
+msgstr "检查中..."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
 msgstr "默认"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
 msgstr "下"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "downloading..."
-msgstr ""
+msgstr "下载中..."
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr "检查更新失败"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:21
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "finalizing update..."
-msgstr ""
+msgstr "正在完�更新..."
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:321
-#, python-format
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "用于“{}�"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "留空以自动�置"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
 msgstr "å·¦"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
 msgstr "计�"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
 msgstr "mph"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:27
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr "从�"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:38
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr "现在"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
 msgstr "openpilot 纵�控制（Alpha）"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr "openpilot 无法使用"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
 msgstr "openpilot 纵�控制�能会在未�更新中�供。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:25
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr "openpilot �求设备安装在左� 4°�上 5° 或下 9° 以内。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
 msgstr "�"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "����"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
 msgstr "上"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr "已是最新，最�检查：从未"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr "已是最新，最�检查：{}"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr "有�用更新"
 
-#: openpilot/selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
 msgstr[0] "{} �警报"
 msgstr[1] "{} �警报"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:47
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] "{} 天�"
 msgstr[1] "{} 天�"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:44
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] "{} �时�"
 msgstr[1] "{} �时�"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:41
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "{} 分钟�"
 msgstr[1] "{} 分钟�"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
 msgstr[0] "目�已有 {} 个您的驾驶片段被纳入训练数�集。"
 msgstr[1] "目�已有 {} 个您的驾驶片段被纳入训练数�集。"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ 已订阅"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:21
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🔥 Firehose 模� 🔥"
 
diff --git a/selfdrive/ui/translations/app_zh-CHT.po b/selfdrive/ui/translations/app_zh-CHT.po
index 1c2fd065633fb0..93f9b9ed8e1039 100644
--- a/selfdrive/ui/translations/app_zh-CHT.po
+++ b/selfdrive/ui/translations/app_zh-CHT.po
@@ -1,1034 +1,825 @@
-# Language zh-CHT translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-22 16:32-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: zh-CHT\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
+"Language: zh-CHT\n"
 "Plural-Forms: nplurals=1; plural=0;\n"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
 msgstr " 轉�扭矩回應校正完�。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:150
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
 msgstr " 轉�扭矩回應校正已完� {}%。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr " 您的�置�� {:.1f}° {} 與 {:.1f}° {}。"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr "--"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr "1 年行駛資料儲存"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr "全年無休 LTE 連線"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr "2G"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:140
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
 msgstr "<br><br>轉�延�校正完�。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
 msgstr "<br><br>轉�延�校正已完� {}%。"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr "新增"
 
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "APN 設定"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
 msgstr "確��度作動"
 
-#: system/ui/widgets/network.py:92
-#: system/ui/widgets/network.py:74
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "進階"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr "�極"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
 msgstr "��"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "�續啟用駕駛監控"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr "確定�關機嗎？"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr "確定��新啟動嗎？"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr "確定��設校正嗎？"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr "確定�解除安�嗎？"
 
-#: system/ui/widgets/network.py:96
-#: openpilot/selfdrive/ui/layouts/onboarding.py:151
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr "返回"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "�往 connect.comma.ai �為 comma prime 會員"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:119
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "將 connect.comma.ai 加到主畫�，� App 一樣使用"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "變更"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:157
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#: openpilot/selfdrive/ui/layouts/settings/software.py:117
-#: openpilot/selfdrive/ui/layouts/settings/software.py:128
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr "檢查"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr "安穩模�已開啟"
 
-#: system/ui/widgets/network.py:152
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
-msgstr "CONNECT"
+msgstr "連線"
 
-#: system/ui/widgets/network.py:376
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "連線中..."
 
-#: system/ui/widgets/network.py:326
-#: system/ui/widgets/confirm_dialog.py:24
-#: system/ui/widgets/option_dialog.py:36
-#: system/ui/widgets/keyboard.py:83
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "�消"
 
-#: system/ui/widgets/network.py:131
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "行動網路計�"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:66
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr "變更語言"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
 msgstr "若車輛通電，變更此設定將�新啟動 openpilot。"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:118
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
 msgstr "點�「新增�置�，掃��� QR 碼"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
 msgstr "關閉"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "目�版本"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:120
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "下載"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
 msgstr "拒絕"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:152
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
 msgstr "拒絕並解除安� openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr "開發人員"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:59
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr "�置"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "踩下加速��時脫離"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:176
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr "脫離以關機"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:164
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr "脫離以�新啟動"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:95
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr "脫離以�設校正"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "以 km/h 顯示速度（� mph）。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
-msgstr "Dongle ID"
+msgstr "�置 ID"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:57
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr "下載"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr "車內�頭"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
 msgstr "駕駛風格"
 
-#: system/ui/widgets/network.py:120
-#: system/ui/widgets/network.py:136
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "編輯"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "錯誤"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr "ETH"
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py:51
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr "實驗模�已開啟"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:229
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:180
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
 msgstr "啟用"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "啟用 ADB"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "啟用�離車�警示"
 
-#: system/ui/widgets/network.py:126
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "啟用漫�"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
 msgstr "啟用 SSH"
 
-#: system/ui/widgets/network.py:117
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "啟用網路共享"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
 msgstr "�使未啟動 openpilot 亦啟用駕駛監控。"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr "啟用 openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:190
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr "啟用 openpilot 縱�控制（alpha）切�，以使用實驗模�。"
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "輸入 APN"
 
-#: system/ui/widgets/network.py:243
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "輸入 SSID"
 
-#: system/ui/widgets/network.py:257
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "輸入新的網路共享密碼"
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "輸入密碼"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr "輸入您的 GitHub 使用者�稱"
 
-#: system/ui/widgets/list_view.py:123
-#: system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "錯誤"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr "實驗模�"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:182
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "此車款目�無法使用實驗模�，因為縱�控制使用的是原廠 ACC。"
 
-#: system/ui/widgets/network.py:380
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "正在�忘..."
 
-#: openpilot/selfdrive/ui/widgets/setup.py:43
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
 msgstr "完�設定"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
-msgstr "Firehose"
+msgstr "資料洪�"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:10
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr "Firehose 模�"
 
-#: system/ui/widgets/network.py:458
-#: system/ui/widgets/network.py:326
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
 msgstr "忘記"
 
-#: system/ui/widgets/network.py:327
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "�忘記 Wi‑Fi 網路「{}�嗎？"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr "良好"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:117
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "在手機上�往 https://connect.comma.ai"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr "高"
 
-#: system/ui/widgets/network.py:152
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "隱�網路"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#: openpilot/selfdrive/ui/layouts/settings/software.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "安�"
 
-#: system/ui/widgets/network.py:147
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "IP ��"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "安�更新"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
 msgstr "�桿除錯模�"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "載入中"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr "LTE"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "縱��作模�"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "最大"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:74
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "最大化上傳訓練資料，以改進 openpilot 的駕駛模型。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:57
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "ç„¡"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
 msgstr "�"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:60
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr "網路"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:115
-#, python-format
-msgid "No SSH keys found"
-msgstr "找�到 SSH 金鑰"
-
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:127
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
 msgstr "找�到使用者 '{}' 的 SSH 金鑰"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:321
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
 msgstr "無�用發行說明。"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:73
-#: openpilot/selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "離線"
 
-#: system/ui/widgets/confirm_dialog.py:93
-#: system/ui/widgets/html_render.py:263
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "確定"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
-#: openpilot/selfdrive/ui/layouts/sidebar.py:136
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
 msgstr "線上"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "é–‹å•Ÿ"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr "��"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr "PANDA"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr "�覽"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr "PRIME 功能："
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:45
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr "���置"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:18
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
 msgstr "���置"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:92
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
 msgstr "將�置��至您的 comma 帳號"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:47
-#: openpilot/selfdrive/ui/layouts/settings/device.py:23
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "將�置與 comma connect（connect.comma.ai）��，領�您的 comma prime 優惠。"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "請連線至 Wi‑Fi 以完��始化��"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:183
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr "關機"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "在計�制 Wi‑Fi 連線時��大�上傳"
 
-#: system/ui/widgets/network.py:132
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "在計�制行動網路時��大�上傳"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:24
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
 msgstr "�覽車內�頭以確�駕駛監控視野良好。（車輛須熄�）"
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py:150
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
 msgstr "QR 碼錯誤"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr "移除"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr "�設"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "檢視"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:171
-#: openpilot/selfdrive/ui/layouts/settings/device.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr "�新啟動"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr "�新啟動�置"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
 msgstr "�新啟動並更新"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr "錄製並上傳車內�頭"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr "錄製並上傳麥克風音訊"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:33
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "行車時錄製並儲存麥克風音訊。音訊將包�在 comma connect 的行車紀錄影片中。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "法�"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr "從容"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "�端存�"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr "�端擷圖"
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py:124
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
 msgstr "�求逾時"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr "�設"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr "�設校正"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "檢視訓練指�"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:26
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
 msgstr "檢視 openpilot 的�則�功能與�制"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
 msgstr "��"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
 msgstr "SSH 金鑰"
 
-#: system/ui/widgets/network.py:316
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "正在掃� Wi‑Fi 網路…"
 
-#: system/ui/widgets/option_dialog.py:37
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "��"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:203
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
 msgstr "��分支"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:89
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
 msgstr "��語言"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "�號"
 
-#: openpilot/selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "延後更新"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
 msgstr "軟體"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "標準"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:59
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "系統無回應"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "請立刻接手控制"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:71
-#: openpilot/selfdrive/ui/layouts/sidebar.py:125
-#: openpilot/selfdrive/ui/layouts/sidebar.py:127
-#: openpilot/selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
 msgstr "溫度"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "目標分支"
 
-#: system/ui/widgets/network.py:121
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "網路共享密碼"
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py:61
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "切�"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
-msgstr ""
+msgstr "介�除錯模�"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr "解除安�"
 
-#: openpilot/selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
 msgstr "æ›´æ–°"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:173
-#: openpilot/selfdrive/ui/layouts/settings/software.py:79
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "解除安�"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr "未知"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:55
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
 msgstr "僅在車輛熄�時下載更新。"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr "立��級"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:31
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
 msgstr "上傳車內�頭資料，�助改善駕駛監控演算法。"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr "使用公制"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:72
-#: openpilot/selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "車輛"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr "檢視"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr "等待開始"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
 msgstr "歡迎使用 openpilot"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
 msgstr "啟用後，踩下加速��將會脫離 openpilot。"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py:141
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Wi‑Fi 計�網路"
 
-#: system/ui/widgets/network.py:320
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "密碼錯誤"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:149
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
 msgstr "您必須接��款與細則�能使用 openpilot。"
 
-#: openpilot/selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
 msgstr "您必須接��款與細則�能使用 openpilot。繼續�請閱讀 https://comma.ai/terms 上的最新�款。"
 
-#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py:38
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr "相機啟動中"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:19
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "checking..."
-msgstr ""
+msgstr "檢查中..."
 
-#: openpilot/selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
 msgstr "�設"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
 msgstr "下"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "downloading..."
-msgstr ""
+msgstr "下載中..."
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr "檢查更新失敗"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:21
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "finalizing update..."
-msgstr ""
+msgstr "正在完�更新..."
 
-#: system/ui/widgets/network.py:238
-#: system/ui/widgets/network.py:321
-#, python-format
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "�用於「{}�"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py:201
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "留空以自動設定"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
 msgstr "å·¦"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
 msgstr "計�"
 
-#: openpilot/selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
 msgstr "mph"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:27
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr "從�"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:38
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr "�在"
 
-#: openpilot/selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
 msgstr "openpilot 縱�控制（Alpha）"
 
-#: openpilot/selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr "openpilot 無法使用"
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
 msgstr "openpilot 縱�控制�能於未來更新�供。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:25
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr "openpilot �求�置安�在左� 4°�上 5° 或下 9° 以內。"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:126
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
 msgstr "�"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "����"
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
 msgstr "上"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr "已為最新，最後檢查：從未"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr "已為最新，最後檢查：{}"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr "有�用更新"
 
-#: openpilot/selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
 msgstr[0] "{} 則警示"
 msgstr[1] "{} 則警示"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:47
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] "{} 天�"
 msgstr[1] "{} 天�"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:44
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] "{} �時�"
 msgstr[1] "{} �時�"
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py:41
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "{} 分��"
 msgstr[1] "{} 分��"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
 msgstr[0] "目�已有 {} 個您的駕駛片段�入訓練資料集。"
 msgstr[1] "目�已有 {} 個您的駕駛片段�入訓練資料集。"
 
-#: openpilot/selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ 已訂閱"
 
-#: openpilot/selfdrive/ui/widgets/setup.py:21
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🔥 Firehose 模� 🔥"
 
diff --git a/selfdrive/ui/translations/auto_translate.py b/selfdrive/ui/translations/auto_translate.py
deleted file mode 100755
index 9354790f94f9e5..00000000000000
--- a/selfdrive/ui/translations/auto_translate.py
+++ /dev/null
@@ -1,138 +0,0 @@
-#!/usr/bin/env python3
-
-import argparse
-import json
-import os
-import pathlib
-import xml.etree.ElementTree as ET
-from typing import cast
-
-import requests
-
-TRANSLATIONS_DIR = pathlib.Path(__file__).resolve().parent
-TRANSLATIONS_LANGUAGES = TRANSLATIONS_DIR / "languages.json"
-
-OPENAI_MODEL = "gpt-4"
-OPENAI_API_KEY = os.environ.get("OPENAI_API_KEY")
-OPENAI_PROMPT = "You are a professional translator from English to {language} (ISO 639 language code). " + \
-                "The following sentence or word is in the GUI of a software called openpilot, translate it accordingly."
-
-
-def get_language_files(languages: list[str] | None = None) -> dict[str, pathlib.Path]:
-  files = {}
-
-  with open(TRANSLATIONS_LANGUAGES) as fp:
-    language_dict = json.load(fp)
-
-    for filename in language_dict.values():
-      path = TRANSLATIONS_DIR / f"{filename}.ts"
-      language = path.stem
-
-      if languages is None or language in languages:
-        files[language] = path
-
-  return files
-
-
-def translate_phrase(text: str, language: str) -> str:
-  response = requests.post(
-    "https://api.openai.com/v1/chat/completions",
-    json={
-      "model": OPENAI_MODEL,
-      "messages": [
-        {
-          "role": "system",
-          "content": OPENAI_PROMPT.format(language=language),
-        },
-        {
-          "role": "user",
-          "content": text,
-        },
-      ],
-      "temperature": 0.8,
-      "max_tokens": 1024,
-      "top_p": 1,
-    },
-    headers={
-      "Authorization": f"Bearer {OPENAI_API_KEY}",
-      "Content-Type": "application/json",
-    },
-  )
-
-  if 400 <= response.status_code < 600:
-    raise requests.HTTPError(f'Error {response.status_code}: {response.json()}', response=response)
-
-  data = response.json()
-
-  return cast(str, data["choices"][0]["message"]["content"])
-
-
-def translate_file(path: pathlib.Path, language: str, all_: bool) -> None:
-  tree = ET.parse(path)
-
-  root = tree.getroot()
-
-  for context in root.findall("./context"):
-    name = context.find("name")
-    if name is None:
-      raise ValueError("name not found")
-
-    print(f"Context: {name.text}")
-
-    for message in context.findall("./message"):
-      source = message.find("source")
-      translation = message.find("translation")
-
-      if source is None or translation is None:
-        raise ValueError("source or translation not found")
-
-      if not all_ and translation.attrib.get("type") != "unfinished":
-        continue
-
-      llm_translation = translate_phrase(cast(str, source.text), language)
-
-      print(f"Source: {source.text}\n" +
-            f"Current translation: {translation.text}\n" +
-            f"LLM translation: {llm_translation}")
-
-      translation.text = llm_translation
-
-  with path.open("w", encoding="utf-8") as fp:
-    fp.write('<?xml version="1.0" encoding="utf-8"?>\n' +
-             '<!DOCTYPE TS>\n' +
-             ET.tostring(root, encoding="utf-8").decode())
-
-
-def main():
-  arg_parser = argparse.ArgumentParser("Auto translate")
-
-  group = arg_parser.add_mutually_exclusive_group(required=True)
-  group.add_argument("-a", "--all-files", action="store_true", help="Translate all files")
-  group.add_argument("-f", "--file", nargs="+", help="Translate the selected files. (Example: -f fr de)")
-
-  arg_parser.add_argument("-t", "--all-translations", action="store_true", default=False, help="Translate all sections. (Default: only unfinished)")
-
-  args = arg_parser.parse_args()
-
-  if OPENAI_API_KEY is None:
-    print("OpenAI API key is missing. (Hint: use `export OPENAI_API_KEY=YOUR-KEY` before you run the script).\n" +
-          "If you don't have one go to: https://beta.openai.com/account/api-keys.")
-    exit(1)
-
-  files = get_language_files(None if args.all_files else args.file)
-
-  if args.file:
-    missing_files = set(args.file) - set(files)
-    if len(missing_files):
-      print(f"No language files found: {missing_files}")
-      exit(1)
-
-  print(f"Translation mode: {'all' if args.all_translations else 'only unfinished'}. Files: {list(files)}")
-
-  for lang, path in files.items():
-    print(f"Translate {lang} ({path})")
-    translate_file(path, lang, args.all_translations)
-
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/ui/translations/auto_translate.sh b/selfdrive/ui/translations/auto_translate.sh
new file mode 100755
index 00000000000000..03a207ca3c4b0a
--- /dev/null
+++ b/selfdrive/ui/translations/auto_translate.sh
@@ -0,0 +1,26 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+DIR="$(cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd)"
+ROOT="$DIR/../../../"
+
+cd $DIR
+./update_translations.py
+
+command -v codex >/dev/null || {
+  echo "Install codex CLI to continue:"
+  echo "-> https://developers.openai.com/codex/cli"
+  echo
+  exit 1
+}
+
+codex exec --cd "$ROOT" -c 'model_reasoning_effort="low"' --dangerously-bypass-approvals-and-sandbox "$(cat <<EOF
+Update openpilot UI translations in selfdrive/ui/translations.
+- Translate English UI text naturally.
+- Preserve placeholders (%n, %1, {}, {:.1f}), HTML/tags, and plural forms.
+- Edit .po files in place.
+- Print a short summary of changes.
+- All strings should be translated. Don't stop until it's 100%.
+- Be mindful of the layout/style of the UI and length of the original English string.
+EOF
+)"
diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py
deleted file mode 100755
index 2948c4857d8c65..00000000000000
--- a/selfdrive/ui/translations/create_badges.py
+++ /dev/null
@@ -1,108 +0,0 @@
-#!/usr/bin/env python3
-import json
-import os
-import requests
-import xml.etree.ElementTree as ET
-
-from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.ui.update_translations import LANGUAGES_FILE, TRANSLATIONS_DIR
-
-BADGE_HEIGHT = 20 + 8
-SHIELDS_URL = "https://img.shields.io/badge"
-
-def parse_po_file(file_path):
-  """
-  Parse a .po file and count total and unfinished translations.
-  Returns: (total_translations, unfinished_translations)
-  """
-  with open(file_path) as f:
-    content = f.read()
-
-  total_translations = 0
-  unfinished_translations = 0
-
-  # Split into entries (separated by blank lines)
-  entries = content.split('\n\n')
-
-  for entry in entries:
-    # Skip header entry (contains Project-Id-Version)
-    if 'Project-Id-Version' in entry:
-      continue
-
-    # Check if this entry has a msgid (translation entry)
-    # After skipping header, any entry with msgid " is a translation
-    # (both msgid "content" and msgid "" for multiline contain msgid ")
-    if 'msgid "' not in entry:
-      continue
-
-    total_translations += 1
-
-    # Check if msgstr is empty (unfinished translation)
-    if 'msgstr ""' in entry:
-      # Check if there are continuation lines with content after msgstr ""
-      lines = entry.split('\n')
-      msgstr_idx = None
-      for i, line in enumerate(lines):
-        if line.strip().startswith('msgstr ""'):
-          msgstr_idx = i
-          break
-
-      if msgstr_idx is not None:
-        # Check if any continuation lines have content
-        has_content = False
-        for line in lines[msgstr_idx + 1:]:
-          stripped = line.strip()
-          # Continuation line with content
-          if stripped.startswith('"') and len(stripped) > 2:
-            has_content = True
-            break
-          # End of entry
-          if stripped.startswith(('msgid', '#')) or not stripped:
-            break
-
-        if not has_content:
-          unfinished_translations += 1
-
-  return (total_translations, unfinished_translations)
-
-if __name__ == "__main__":
-  with open(LANGUAGES_FILE) as f:
-    translation_files = json.load(f)
-
-  badge_svg = []
-  max_badge_width = 0  # keep track of max width to set parent element
-  for idx, (name, file) in enumerate(translation_files.items()):
-    po_file_path = os.path.join(str(TRANSLATIONS_DIR), f"app_{file}.po")
-
-    total_translations, unfinished_translations = parse_po_file(po_file_path)
-
-    percent_finished = int(100 - (unfinished_translations / total_translations * 100.)) if total_translations > 0 else 0
-    color = f"rgb{(94, 188, 0) if percent_finished == 100 else (248, 255, 50) if percent_finished > 90 else (204, 55, 27)}"
-
-    # Download badge
-    badge_label = f"LANGUAGE {name}"
-    badge_message = f"{percent_finished}% complete"
-    if unfinished_translations != 0:
-      badge_message += f" ({unfinished_translations} unfinished)"
-
-    r = requests.get(f"{SHIELDS_URL}/{badge_label}-{badge_message}-{color}", timeout=10)
-    assert r.status_code == 200, "Error downloading badge"
-    content_svg = r.content.decode("utf-8")
-
-    xml = ET.fromstring(content_svg)
-    assert "width" in xml.attrib
-    max_badge_width = max(max_badge_width, int(xml.attrib["width"]))
-
-    # Make tag ids in each badge unique to combine them into one svg
-    for tag in ("r", "s"):
-      content_svg = content_svg.replace(f'id="{tag}"', f'id="{tag}{idx}"')
-      content_svg = content_svg.replace(f'"url(#{tag})"', f'"url(#{tag}{idx})"')
-
-    badge_svg.extend([f'<g transform="translate(0, {idx * BADGE_HEIGHT})">', content_svg, "</g>"])
-
-  badge_svg.insert(0, '<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" ' +
-                   f'height="{len(translation_files) * BADGE_HEIGHT}" width="{max_badge_width}">')
-  badge_svg.append("</svg>")
-
-  with open(os.path.join(BASEDIR, "translation_badge.svg"), "w") as badge_f:
-    badge_f.write("\n".join(badge_svg))
diff --git a/selfdrive/ui/translations/potools.py b/selfdrive/ui/translations/potools.py
index 7571cccdd64e32..ac4dafb9888a4f 100644
--- a/selfdrive/ui/translations/potools.py
+++ b/selfdrive/ui/translations/potools.py
@@ -8,7 +8,6 @@
 import os
 import re
 from dataclasses import dataclass, field
-from datetime import UTC, datetime
 from pathlib import Path
 
 
@@ -165,18 +164,18 @@ def write_po(path: str | Path, header: POEntry | None, entries: list[POEntry]) -
     if header:
       for c in header.comments:
         f.write(c + '\n')
-      if header.flags:
-        f.write('#, ' + ', '.join(header.flags) + '\n')
       f.write(f'msgid {_quote("")}\n')
       f.write(f'msgstr {_quote(header.msgstr)}\n\n')
 
     for entry in entries:
       for c in entry.comments:
         f.write(c + '\n')
-      for ref in entry.source_refs:
+      # Keep file-level context for translators, but drop line numbers to
+      # avoid churning PO diffs on unrelated code edits.
+      source_files = sorted({ref.rsplit(':', 1)[0] for ref in entry.source_refs})
+      for ref in source_files:
         f.write(f'#: {ref}\n')
-      if entry.flags:
-        f.write('#, ' + ', '.join(entry.flags) + '\n')
+      # Runtime loading ignores gettext flags; omit them to reduce noise.
       f.write(f'msgid {_quote(entry.msgid)}\n')
       if entry.is_plural:
         f.write(f'msgid_plural {_quote(entry.msgid_plural)}\n')
@@ -256,31 +255,24 @@ def extract_strings(files: list[str], basedir: str) -> list[POEntry]:
 
 # ──── POT generation ────
 
+def _build_pot_header() -> POEntry:
+  return POEntry(
+    msgstr='Content-Type: text/plain; charset=UTF-8\n',
+  )
+
+
+def _build_po_header(language: str) -> POEntry:
+  plural_forms = PLURAL_FORMS.get(language, 'nplurals=2; plural=(n != 1);')
+  return POEntry(
+    msgstr='Content-Type: text/plain; charset=UTF-8\n' +
+      f'Language: {language}\n' +
+      f'Plural-Forms: {plural_forms}\n',
+  )
+
+
 def generate_pot(entries: list[POEntry], pot_path: str | Path) -> None:
   """Generate a .pot template file from extracted entries."""
-  now = datetime.now(UTC).strftime('%Y-%m-%d %H:%M%z')
-  header = POEntry(
-    comments=[
-      '# SOME DESCRIPTIVE TITLE.',
-      "# Copyright (C) YEAR THE PACKAGE'S COPYRIGHT HOLDER",
-      '# This file is distributed under the same license as the PACKAGE package.',
-      '# FIRST AUTHOR <EMAIL@ADDRESS>, YEAR.',
-      '#',
-    ],
-    flags=['fuzzy'],
-    msgstr='Project-Id-Version: PACKAGE VERSION\n' +
-      'Report-Msgid-Bugs-To: \n' +
-      f'POT-Creation-Date: {now}\n' +
-      'PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n' +
-      'Last-Translator: FULL NAME <EMAIL@ADDRESS>\n' +
-      'Language-Team: LANGUAGE <LL@li.org>\n' +
-      'Language: \n' +
-      'MIME-Version: 1.0\n' +
-      'Content-Type: text/plain; charset=UTF-8\n' +
-      'Content-Transfer-Encoding: 8bit\n' +
-      'Plural-Forms: nplurals=INTEGER; plural=EXPRESSION;\n',
-  )
-  write_po(pot_path, header, entries)
+  write_po(pot_path, _build_pot_header(), entries)
 
 
 # ──── PO init (replaces msginit) ────
@@ -305,43 +297,22 @@ def init_po(pot_path: str | Path, po_path: str | Path, language: str) -> None:
   """Create a new .po file from a .pot template (replaces msginit)."""
   _, entries = parse_po(pot_path)
   plural_forms = PLURAL_FORMS.get(language, 'nplurals=2; plural=(n != 1);')
-  now = datetime.now(UTC).strftime('%Y-%m-%d %H:%M%z')
-
-  header = POEntry(
-    comments=[
-      f'# {language} translations for PACKAGE package.',
-      "# Copyright (C) YEAR THE PACKAGE'S COPYRIGHT HOLDER",
-      '# This file is distributed under the same license as the PACKAGE package.',
-      '# Automatically generated.',
-      '#',
-    ],
-    msgstr='Project-Id-Version: PACKAGE VERSION\n' +
-      'Report-Msgid-Bugs-To: \n' +
-      f'POT-Creation-Date: {now}\n' +
-      f'PO-Revision-Date: {now}\n' +
-      'Last-Translator: Automatically generated\n' +
-      'Language-Team: none\n' +
-      f'Language: {language}\n' +
-      'MIME-Version: 1.0\n' +
-      'Content-Type: text/plain; charset=UTF-8\n' +
-      'Content-Transfer-Encoding: 8bit\n' +
-      f'Plural-Forms: {plural_forms}\n',
-  )
 
   nplurals = int(re.search(r'nplurals=(\d+)', plural_forms).group(1))
   for e in entries:
     if e.is_plural:
       e.msgstr_plural = dict.fromkeys(range(nplurals), '')
 
-  write_po(po_path, header, entries)
+  write_po(po_path, _build_po_header(language), entries)
 
 
 # ──── PO merge (replaces msgmerge) ────
 
 def merge_po(po_path: str | Path, pot_path: str | Path) -> None:
   """Update a .po file with entries from a .pot template (replaces msgmerge --update)."""
-  po_header, po_entries = parse_po(po_path)
+  _, po_entries = parse_po(po_path)
   _, pot_entries = parse_po(pot_path)
+  language = Path(po_path).stem.removeprefix("app_")
 
   existing = {e.msgid: e for e in po_entries}
   merged = []
@@ -359,4 +330,4 @@ def merge_po(po_path: str | Path, pot_path: str | Path) -> None:
       merged.append(pot_e)
 
   merged.sort(key=lambda e: e.msgid)
-  write_po(po_path, po_header, merged)
+  write_po(po_path, _build_po_header(language), merged)
diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/translations/update_translations.py
similarity index 100%
rename from selfdrive/ui/update_translations.py
rename to selfdrive/ui/translations/update_translations.py

From f4b8384332bd98f4bc8a445017ab938db83d4d04 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Mon, 23 Mar 2026 09:41:52 -0700
Subject: [PATCH 0827/1434] Process replay: add diff report (#37048)

* rm upload

* use ci-artifacts

* sanitize

* rm ref_commit

* add ci

* handle exept

* bootstrap

* always

* fix

* replay

* keep ref_commit fork compatibility

* remove upload-only

* apply comments

* safe diffs in master

* Revert "safe diffs in master"

This reverts commit 369fccac786a67799193e9152488813c6df20414.

* continue on master diff

* imports

* copy formatting from car_diff

* main

* setup refs and cur

* copy diff

* copy formatting

* comment

* rm token

* rm hash

* continue on master diff

* use ci-artifacts refs

* add run card diff

* checkout

* shebang

* card_diff.yml

* rm ci-artifacts

* apply ci-artifacts

* call differ

* rename

* uv lock

* tests

* readme

* checkout

* add all configs

* import base_url

* rename yaml

* integrate in test_processes

* fix diff report

* var names

* extract to module

* print report

* add msg count to diff

* traceback

* diff format

* typing

* name step

* allow NaN

* replace join
---
 .github/workflows/diff_report.yaml            | 45 +++++++++
 .github/workflows/tests.yaml                  | 10 ++
 selfdrive/test/process_replay/diff_report.py  | 92 +++++++++++++++++++
 .../test/process_replay/test_processes.py     | 24 +++--
 4 files changed, 165 insertions(+), 6 deletions(-)
 create mode 100644 .github/workflows/diff_report.yaml
 create mode 100644 selfdrive/test/process_replay/diff_report.py

diff --git a/.github/workflows/diff_report.yaml b/.github/workflows/diff_report.yaml
new file mode 100644
index 00000000000000..2ddb8509449148
--- /dev/null
+++ b/.github/workflows/diff_report.yaml
@@ -0,0 +1,45 @@
+name: diff report
+
+on:
+  pull_request_target:
+    types: [opened, synchronize, reopened]
+
+jobs:
+  comment:
+    name: comment
+    runs-on: ubuntu-latest
+    timeout-minutes: 10
+    permissions:
+      contents: read
+      pull-requests: write
+      actions: read
+    steps:
+    - name: Wait for process replay
+      id: wait
+      continue-on-error: true
+      uses: lewagon/wait-on-check-action@v1.3.4
+      with:
+        ref: ${{ github.event.pull_request.head.sha }}
+        check-name: process replay
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        allowed-conclusions: success,failure
+        wait-interval: 20
+    - name: Download diff
+      if: steps.wait.outcome == 'success'
+      uses: dawidd6/action-download-artifact@v6
+      with:
+        github_token: ${{ secrets.GITHUB_TOKEN }}
+        workflow: tests.yaml
+        workflow_conclusion: ''
+        pr: ${{ github.event.number }}
+        name: diff_report_${{ github.event.number }}
+        path: .
+        allow_forks: true
+    - name: Comment on PR
+      if: steps.wait.outcome == 'success'
+      uses: thollander/actions-comment-pull-request@v2
+      with:
+        filePath: diff_report.txt
+        comment_tag: diff_report
+        pr_number: ${{ github.event.number }}
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index f4be0ad5a62394..91a8e5c32443e1 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -139,12 +139,22 @@ jobs:
       id: print-diff
       if: always()
       run: cat selfdrive/test/process_replay/diff.txt
+    - name: Print diff report
+      if: always()
+      run: cat selfdrive/test/process_replay/diff_report.txt
     - uses: actions/upload-artifact@v6
       if: always()
       continue-on-error: true
       with:
         name: process_replay_diff.txt
         path: selfdrive/test/process_replay/diff.txt
+    - name: Upload diff report
+      uses: actions/upload-artifact@v6
+      if: always() && github.event_name == 'pull_request'
+      continue-on-error: true
+      with:
+        name: diff_report_${{ github.event.number }}
+        path: selfdrive/test/process_replay/diff_report.txt
     - name: Checkout ci-artifacts
       if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
       uses: actions/checkout@v4
diff --git a/selfdrive/test/process_replay/diff_report.py b/selfdrive/test/process_replay/diff_report.py
new file mode 100644
index 00000000000000..32f058f8ee9c17
--- /dev/null
+++ b/selfdrive/test/process_replay/diff_report.py
@@ -0,0 +1,92 @@
+import os
+from collections import defaultdict
+
+from opendbc.car.tests.car_diff import format_diff, format_numeric_diffs
+from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs
+from openpilot.selfdrive.test.process_replay.process_replay import PROC_REPLAY_DIR
+
+
+class MsgWrap:
+  """Adapter so to_dict() includes defaults"""
+  def __init__(self, msg):
+    self._msg = msg
+  def to_dict(self) -> dict:
+    return self._msg.to_dict(verbose=True)
+
+
+def diff_process(cfg, ref_msgs, new_msgs) -> tuple | None:
+  ref = defaultdict(list)
+  new = defaultdict(list)
+  for m in ref_msgs:
+    if m.which() in cfg.subs:
+      ref[m.which()].append(m)
+  for m in new_msgs:
+    if m.which() in cfg.subs:
+      new[m.which()].append(m)
+
+  diffs = []
+  for sub in cfg.subs:
+    if len(ref[sub]) != len(new[sub]):
+      diffs.append((f"{sub} (message count)", 0, (len(ref[sub]), len(new[sub])), 0))
+    for i, (r, n) in enumerate(zip(ref[sub], new[sub], strict=False)):
+      for d in compare_logs([r], [n], cfg.ignore, tolerance=cfg.tolerance):
+        if d[0] == "change":
+          a, b = d[2]
+          if a != a and b != b:
+            continue
+          diffs.append((d[1], i, d[2], r.logMonoTime))
+        elif d[0] in ("add", "remove"):
+          for item in d[2]:
+            if item[1] != item[1]:
+              continue
+            diffs.append((f"{d[1]}.{item[0]}", i, (d[0], item[1]), r.logMonoTime))
+  return (diffs, ref, new) if diffs else None
+
+
+def diff_format(diffs, ref, new, field) -> list[str]:
+  if any(part.isdigit() for part in field.split(".")):
+    return format_numeric_diffs(diffs)
+  msg_type = field.split(".")[0]
+  ref_ts = [(m.logMonoTime, MsgWrap(m)) for m in ref.get(msg_type, [])]
+  new_wrapped = [MsgWrap(m) for m in new.get(msg_type, [])]
+  return format_diff(diffs, ref_ts, new_wrapped, field)
+
+
+def diff_report(replay_diffs, segments) -> None:
+  seg_to_plat = {seg: plat for plat, seg in segments}
+
+  with_diffs, errors, n_passed = [], [], 0
+  for seg, proc, data in replay_diffs:
+    plat = seg_to_plat.get(seg, "UNKNOWN")
+    if data is None:
+      n_passed += 1
+    elif isinstance(data, str):
+      errors.append((plat, seg, proc, data))
+    else:
+      with_diffs.append((plat, seg, proc, data))
+
+  icon = "⚠�" if with_diffs else "✅"
+  lines = [
+    "## Process replay diff report",
+    "Replays driving segments through this PR and compares the behavior to master.",
+    "Please review any changes carefully to ensure they are expected.\n",
+    f"{icon}  {len(with_diffs)} changed, {n_passed} passed, {len(errors)} errors",
+  ]
+
+  for plat, seg, proc, err in errors:
+    lines.append(f"\nERROR {plat} - {seg} [{proc}]: {err}")
+
+  if with_diffs:
+    lines.append("<details><summary><b>Show changes</b></summary>\n\n```")
+    for plat, seg, proc, (diffs, ref, new) in with_diffs:
+      lines.append(f"\n{plat} - {seg} [{proc}]")
+      by_field = defaultdict(list)
+      for d in diffs:
+        by_field[d[0]].append(d)
+      for field, fd in sorted(by_field.items()):
+        lines.append(f"\n  {field} ({len(fd)} diffs)")
+        lines.extend(diff_format(fd, ref, new, field))
+    lines.append("```\n</details>")
+
+  with open(os.path.join(PROC_REPLAY_DIR, "diff_report.txt"), "w") as f:
+    f.write("\n".join(lines))
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index fbe300a7c9a75c..bc0085534c179f 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -3,6 +3,7 @@
 import concurrent.futures
 import os
 import sys
+import traceback
 from collections import defaultdict
 from tqdm import tqdm
 from typing import Any
@@ -11,6 +12,7 @@
 from openpilot.common.git import get_commit
 from openpilot.tools.lib.openpilotci import get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
+from openpilot.selfdrive.test.process_replay.diff_report import diff_process, diff_report
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process, \
                                                                    check_most_messages_valid
 from openpilot.tools.lib.filereader import FileReader
@@ -72,11 +74,16 @@
 
 def run_test_process(data):
   segment, cfg, args, cur_log_fn, ref_log_path, lr_dat = data
+  ref_log_msgs = list(LogReader(ref_log_path))
   lr = LogReader.from_bytes(lr_dat)
-  res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs)
+  res, log_msgs = test_process(cfg, lr, segment, ref_log_msgs, cur_log_fn, args.ignore_fields, args.ignore_msgs)
   # save logs so we can update refs
   save_log(cur_log_fn, log_msgs)
-  return (segment, cfg.proc_name, res)
+  try:
+    diff_data = diff_process(cfg, ref_log_msgs, log_msgs)
+  except Exception:
+    diff_data = traceback.format_exc()
+  return (segment, cfg.proc_name, res, diff_data)
 
 
 def get_log_data(segment):
@@ -85,14 +92,12 @@ def get_log_data(segment):
     return (segment, f.read())
 
 
-def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None):
+def test_process(cfg, lr, segment, ref_log_msgs, new_log_path, ignore_fields=None, ignore_msgs=None):
   if ignore_fields is None:
     ignore_fields = []
   if ignore_msgs is None:
     ignore_msgs = []
 
-  ref_log_msgs = list(LogReader(ref_log_path))
-
   try:
     log_msgs = replay_process(cfg, lr, disable_progress=True)
   except Exception as e:
@@ -201,9 +206,11 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
         log_paths[segment][cfg.proc_name]['new'] = cur_log_fn
 
     results: Any = defaultdict(dict)
+    diffs: list = []
     p2 = pool.map(run_test_process, pool_args)
-    for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
+    for (segment, proc, result, diff_data) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
       results[segment][proc] = result
+      diffs.append((segment, proc, diff_data))
 
   diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit)
   if not args.update_refs:
@@ -211,6 +218,11 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
       f.write(diff_long)
     print(diff_short)
 
+    try:
+      diff_report(diffs, segments)
+    except Exception:
+      print(f"failed to generate diff report:\n{traceback.format_exc()}")
+
     if failed:
       print("TEST FAILED")
     else:

From d75b8f45406fb6d962a66493c20d6d1051aae885 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Mon, 23 Mar 2026 13:25:31 -0700
Subject: [PATCH 0828/1434] process_replay: fix logMonoTime simulation (#37708)

* Fix logMonoTime

* Fix last drain

* Remove import

* Bring it back
---
 selfdrive/test/process_replay/process_replay.py | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 5e9b2e742c61d0..a74dfcbb4364b5 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -145,6 +145,7 @@ def __init__(self, cfg: ProcessConfig):
     self.cfg = copy.deepcopy(cfg)
     self.process = copy.deepcopy(managed_processes[cfg.proc_name])
     self.msg_queue: list[capnp._DynamicStructReader] = []
+    self.last_input_log_mono_time: int = -1
     self.cnt = 0
     self.pm: messaging.PubMaster | None = None
     self.sockets: list[messaging.SubSocket] | None = None
@@ -267,6 +268,7 @@ def get_output_msgs(self, start_time: int):
       ms = messaging.drain_sock(socket)
       for m in ms:
         m = m.as_builder()
+        assert start_time > 0, "start_time must be positive"
         m.logMonoTime = start_time + int(self.cfg.processing_time * 1e9)
         output_msgs.append(m.as_reader())
     return output_msgs
@@ -293,10 +295,11 @@ def run_step(self, msg: capnp._DynamicStructReader, frs: dict[str, FrameReader]
           trigger_empty_recv = any(m.which() == self.cfg.main_pub for m in self.msg_queue)
 
         # get output msgs from previous inputs
-        output_msgs = self.get_output_msgs(msg.logMonoTime)
+        output_msgs = self.get_output_msgs(self.last_input_log_mono_time)
 
         for m in self.msg_queue:
           self.pm.send(m.which(), m.as_builder())
+          self.last_input_log_mono_time = max(self.last_input_log_mono_time, m.logMonoTime)
           # send frames if needed
           if self.vipc_server is not None and m.which() in self.cfg.vision_pubs:
             camera_state = getattr(m, m.which())
@@ -713,7 +716,7 @@ def _replay_multi_process(
 
     # flush last set of messages from each process
     for container in containers:
-      last_time = log_msgs[-1].logMonoTime if len(log_msgs) > 0 else int(time.monotonic() * 1e9)
+      last_time = container.last_input_log_mono_time if container.last_input_log_mono_time > 0 else int(time.monotonic() * 1e9)
       log_msgs.extend(container.get_output_msgs(last_time))
   finally:
     for container in containers:

From 0870e26fb6aef77e9fc19a6634e6cf4bef673feb Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 23 Mar 2026 19:57:35 -0700
Subject: [PATCH 0829/1434] fix debug fw query script

---
 selfdrive/debug/debug_fw_fingerprinting_offline.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/debug/debug_fw_fingerprinting_offline.py b/selfdrive/debug/debug_fw_fingerprinting_offline.py
index d841e91053d789..d36b350bbcd07f 100755
--- a/selfdrive/debug/debug_fw_fingerprinting_offline.py
+++ b/selfdrive/debug/debug_fw_fingerprinting_offline.py
@@ -44,7 +44,7 @@ def main(route: str | None, addrs: list[int], rxoffset: int | None):
   parser = argparse.ArgumentParser(description='View back and forth ISO-TP communication between various ECUs given an address')
   parser.add_argument('route', nargs='?', help='Route name, live if not specified')
   parser.add_argument('--addrs', nargs='*', default=[], help='List of tx address to view (0x7e0 for engine)')
-  parser.add_argument('--rxoffset', default='')
+  parser.add_argument('--rxoffset', default='0x8')
   args = parser.parse_args()
 
   addrs = [int(addr, base=16) if addr.startswith('0x') else int(addr) for addr in args.addrs]

From e5ebd455761d9b40243e4f466b6cff46d69d52d5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 23 Mar 2026 22:04:11 -0700
Subject: [PATCH 0830/1434] fw query: remove aux panda support (#37725)

* rm num_pandas

* bump to master
---
 opendbc_repo                       | 2 +-
 selfdrive/car/card.py              | 3 +--
 selfdrive/debug/car/fw_versions.py | 4 +---
 3 files changed, 3 insertions(+), 6 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index e27af8c188cec1..e72e18e113b864 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit e27af8c188cec1ad7ef6c39ad57f6338f8b02281
+Subproject commit e72e18e113b8649fdda3e78b85110586751f1a81
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 12b831347100a8..b64210514a62b3 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -90,7 +90,6 @@ def __init__(self, CI=None, RI=None) -> None:
           break
 
       alpha_long_allowed = self.params.get_bool("AlphaLongitudinalEnabled")
-      num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
 
       cached_params = None
       cached_params_raw = self.params.get("CarParamsCache")
@@ -98,7 +97,7 @@ def __init__(self, CI=None, RI=None) -> None:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
           cached_params = _cached_params
 
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, cached_params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
       self.CP = self.CI.CP
 
diff --git a/selfdrive/debug/car/fw_versions.py b/selfdrive/debug/car/fw_versions.py
index 6ae10d2fb23ff2..5fb65e6972dbe9 100755
--- a/selfdrive/debug/car/fw_versions.py
+++ b/selfdrive/debug/car/fw_versions.py
@@ -45,8 +45,6 @@
       extra[(Ecu.unknown, 0x750, i)] = []
     extra = {"any": {"debug": extra}}
 
-  num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
-
   t = time.monotonic()
   print("Getting vin...")
   set_obd_multiplexing(True)
@@ -56,7 +54,7 @@
   print()
 
   t = time.monotonic()
-  fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, progress=True)
+  fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, progress=True)
   _, candidates = match_fw_to_car(fw_vers, vin)
 
   print()

From 12f1be19ccff662ebaba6b0337e9cf43d34d54db Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Tue, 24 Mar 2026 14:40:45 -0700
Subject: [PATCH 0831/1434] POP model (#37727)

* f9f6da19-c248-460f-8e16-d47e9824bfb7/100

* 05a58a51-e0e3-4e9b-8e27-e644685f2c50/100
---
 selfdrive/modeld/models/driving_policy.onnx | 4 ++--
 selfdrive/modeld/models/driving_vision.onnx | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx
index 611ae9fe85f837..7c71bc94714310 100644
--- a/selfdrive/modeld/models/driving_policy.onnx
+++ b/selfdrive/modeld/models/driving_policy.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:78477124cbf3ffe30fa951ebada8410b43c4242c6054584d656f1d329b067e15
-size 14060847
+oid sha256:853c6634746ff439a848349d00e4d5581cd941f13f7c1862c31b72a31cc24858
+size 14061595
diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx
index 6c9fc4c84d3632..afd617667c6094 100644
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ b/selfdrive/modeld/models/driving_vision.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ee29ee5bce84d1ce23e9ff381280de9b4e4d96d2934cd751740354884e112c66
-size 46877473
+oid sha256:940e9006a25f27f0b6e85da798e6a8fd1f6dd492dd7d0b9ff1a9436460f46129
+size 46887794

From e4813645fa7e36221640eb21dcd50128b5744fb3 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Wed, 25 Mar 2026 20:02:51 -0500
Subject: [PATCH 0832/1434] remove any stale scons lock on device startup
 (#37734)

remove any stale scons lock at device startup
---
 launch_chffrplus.sh | 1 +
 1 file changed, 1 insertion(+)

diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index d4689aae53aa1b..5e7b4fa0db830c 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -7,6 +7,7 @@ source "$DIR/launch_env.sh"
 function agnos_init {
   # TODO: move this to agnos
   sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
+  rm -f /data/scons_cache/config.lock
 
   # set success flag for current boot slot
   sudo abctl --set_success

From b706673e1cf3ed61a928e6eb68bf8d663904a5de Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 25 Mar 2026 19:49:38 -0700
Subject: [PATCH 0833/1434] jotpluggler: part one (#37730)

---
 SConstruct                                    |    3 +-
 tools/jotpluggler/.gitignore                  |    9 +
 tools/jotpluggler/SConscript                  |   92 +
 tools/jotpluggler/app.cc                      | 1914 ++++++++++++++
 tools/jotpluggler/app.h                       |  884 +++++++
 tools/jotpluggler/browser.cc                  |  465 ++++
 tools/jotpluggler/camera.cc                   |   54 +
 tools/jotpluggler/camera.h                    |    5 +
 tools/jotpluggler/common.cc                   |  179 ++
 tools/jotpluggler/common.h                    |   63 +
 tools/jotpluggler/custom_series.cc            |  750 ++++++
 tools/jotpluggler/dbc.h                       |  400 +++
 tools/jotpluggler/generated_dbcs/.gitignore   |    2 +
 tools/jotpluggler/icons.cc                    |   24 +
 tools/jotpluggler/internal.h                  |  166 ++
 tools/jotpluggler/layout.cc                   |  704 ++++++
 tools/jotpluggler/layout_io.cc                |  128 +
 tools/jotpluggler/layouts/.gitignore          |    1 +
 tools/jotpluggler/layouts/CAN-bus-debug.json  |    1 +
 tools/jotpluggler/layouts/camera-timings.json |    1 +
 .../jotpluggler/layouts/cameras-and-map.json  |    1 +
 tools/jotpluggler/layouts/can-states.json     |    1 +
 .../layouts/controls_mismatch_debug.json      |    1 +
 tools/jotpluggler/layouts/gps.json            |    1 +
 tools/jotpluggler/layouts/gps_vs_llk.json     |    1 +
 .../jotpluggler/layouts/locationd_debug.json  |    1 +
 tools/jotpluggler/layouts/longitudinal.json   |    1 +
 .../jotpluggler/layouts/max-torque-debug.json |    1 +
 tools/jotpluggler/layouts/new-layout.json     |    1 +
 .../jotpluggler/layouts/system_lag_debug.json |    1 +
 tools/jotpluggler/layouts/thermal_debug.json  |    1 +
 .../layouts/torque-controller.json            |    1 +
 tools/jotpluggler/layouts/tuning.json         |    1 +
 tools/jotpluggler/layouts/ublox-debug.json    |    1 +
 tools/jotpluggler/logs.cc                     |  419 ++++
 tools/jotpluggler/main.cc                     |  126 +
 tools/jotpluggler/map.cc                      | 1328 ++++++++++
 tools/jotpluggler/map.h                       |   61 +
 tools/jotpluggler/math_eval.py                |  145 ++
 tools/jotpluggler/plot.cc                     | 1027 ++++++++
 tools/jotpluggler/render.cc                   |  173 ++
 tools/jotpluggler/runtime.cc                  | 1280 ++++++++++
 tools/jotpluggler/session.cc                  |  773 ++++++
 tools/jotpluggler/sidebar.cc                  |  215 ++
 tools/jotpluggler/sketch_layout.cc            | 2202 +++++++++++++++++
 tools/jotpluggler/stream.cc                   |  207 ++
 tools/jotpluggler/util.cc                     |   59 +
 tools/jotpluggler/util.h                      |  103 +
 tools/replay/logreader.cc                     |   58 +-
 tools/replay/logreader.h                      |   25 +-
 tools/replay/py_downloader.cc                 |    9 +-
 51 files changed, 14061 insertions(+), 8 deletions(-)
 create mode 100644 tools/jotpluggler/.gitignore
 create mode 100644 tools/jotpluggler/SConscript
 create mode 100644 tools/jotpluggler/app.cc
 create mode 100644 tools/jotpluggler/app.h
 create mode 100644 tools/jotpluggler/browser.cc
 create mode 100644 tools/jotpluggler/camera.cc
 create mode 100644 tools/jotpluggler/camera.h
 create mode 100644 tools/jotpluggler/common.cc
 create mode 100644 tools/jotpluggler/common.h
 create mode 100644 tools/jotpluggler/custom_series.cc
 create mode 100644 tools/jotpluggler/dbc.h
 create mode 100644 tools/jotpluggler/generated_dbcs/.gitignore
 create mode 100644 tools/jotpluggler/icons.cc
 create mode 100644 tools/jotpluggler/internal.h
 create mode 100644 tools/jotpluggler/layout.cc
 create mode 100644 tools/jotpluggler/layout_io.cc
 create mode 100644 tools/jotpluggler/layouts/.gitignore
 create mode 100644 tools/jotpluggler/layouts/CAN-bus-debug.json
 create mode 100644 tools/jotpluggler/layouts/camera-timings.json
 create mode 100644 tools/jotpluggler/layouts/cameras-and-map.json
 create mode 100644 tools/jotpluggler/layouts/can-states.json
 create mode 100644 tools/jotpluggler/layouts/controls_mismatch_debug.json
 create mode 100644 tools/jotpluggler/layouts/gps.json
 create mode 100644 tools/jotpluggler/layouts/gps_vs_llk.json
 create mode 100644 tools/jotpluggler/layouts/locationd_debug.json
 create mode 100644 tools/jotpluggler/layouts/longitudinal.json
 create mode 100644 tools/jotpluggler/layouts/max-torque-debug.json
 create mode 100644 tools/jotpluggler/layouts/new-layout.json
 create mode 100644 tools/jotpluggler/layouts/system_lag_debug.json
 create mode 100644 tools/jotpluggler/layouts/thermal_debug.json
 create mode 100644 tools/jotpluggler/layouts/torque-controller.json
 create mode 100644 tools/jotpluggler/layouts/tuning.json
 create mode 100644 tools/jotpluggler/layouts/ublox-debug.json
 create mode 100644 tools/jotpluggler/logs.cc
 create mode 100644 tools/jotpluggler/main.cc
 create mode 100644 tools/jotpluggler/map.cc
 create mode 100644 tools/jotpluggler/map.h
 create mode 100755 tools/jotpluggler/math_eval.py
 create mode 100644 tools/jotpluggler/plot.cc
 create mode 100644 tools/jotpluggler/render.cc
 create mode 100644 tools/jotpluggler/runtime.cc
 create mode 100644 tools/jotpluggler/session.cc
 create mode 100644 tools/jotpluggler/sidebar.cc
 create mode 100644 tools/jotpluggler/sketch_layout.cc
 create mode 100644 tools/jotpluggler/stream.cc
 create mode 100644 tools/jotpluggler/util.cc
 create mode 100644 tools/jotpluggler/util.h

diff --git a/SConstruct b/SConstruct
index 792a48eb7d35c3..119209dcdbb316 100644
--- a/SConstruct
+++ b/SConstruct
@@ -49,7 +49,7 @@ pkgs = [importlib.import_module(name) for name in pkg_names]
 allowed_system_libs = {
   "EGL", "GLESv2", "GL",
   "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
-  "dl", "drm", "gbm",  "m", "pthread",
+  "dl", "drm", "gbm", "m", "pthread",
 }
 
 def _resolve_lib(env, name):
@@ -259,6 +259,7 @@ if arch != "larch64":
   SConscript([
     'tools/replay/SConscript',
     'tools/cabana/SConscript',
+    'tools/jotpluggler/SConscript',
   ])
 
 
diff --git a/tools/jotpluggler/.gitignore b/tools/jotpluggler/.gitignore
new file mode 100644
index 00000000000000..7cb98300fef21e
--- /dev/null
+++ b/tools/jotpluggler/.gitignore
@@ -0,0 +1,9 @@
+__pycache__/
+jot_*.o
+*.o
+jotpluggler
+car_fingerprint_to_dbc.h
+generated_dbcs/.stamp
+generated_dbcs/*.dbc
+layouts/.jotpluggler_autosave/
+reports/
diff --git a/tools/jotpluggler/SConscript b/tools/jotpluggler/SConscript
new file mode 100644
index 00000000000000..122d502341c542
--- /dev/null
+++ b/tools/jotpluggler/SConscript
@@ -0,0 +1,92 @@
+import os
+import imgui
+import libusb
+from opendbc import get_generated_dbcs
+from opendbc.car import Bus
+from opendbc.car.fingerprints import MIGRATION
+from opendbc.car.values import PLATFORMS
+from openpilot.common.basedir import BASEDIR
+
+Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib')
+
+jot_env = env.Clone()
+jot_env["LIBPATH"] += [imgui.MESA_DIR, libusb.LIB_DIR]
+jot_env["CPPPATH"] += [imgui.INCLUDE_DIR, libusb.INCLUDE_DIR]
+jot_env["CXXFLAGS"] += [
+  "-DGLFW_INCLUDE_NONE",
+  '-DJOTP_REPO_ROOT=\'"%s"\'' % os.path.realpath(BASEDIR),
+]
+
+def materialize_generated_dbcs(target, source, env):
+  out_dir = os.path.dirname(str(target[0]))
+  os.makedirs(out_dir, exist_ok=True)
+
+  for name in os.listdir(out_dir):
+    if name.endswith('.dbc'):
+      os.unlink(os.path.join(out_dir, name))
+
+  for name, content in sorted(get_generated_dbcs().items()):
+    with open(os.path.join(out_dir, f"{name}.dbc"), "w") as f:
+      f.write(content)
+
+  with open(str(target[0]), "w") as f:
+    f.write("ok\n")
+
+  return None
+
+def write_car_fingerprint_to_dbc_header(target, source, env):
+  pairs = {}
+
+  for name, platform in sorted(PLATFORMS.items()):
+    dbc = platform.config.dbc_dict.get(Bus.pt, "")
+    if not dbc and name.startswith("TESLA_"):
+      dbc = platform.config.dbc_dict.get(Bus.party, "")
+    if not dbc and name == "COMMA_BODY":
+      dbc = "comma_body"
+    if dbc and name != "MOCK":
+      pairs[name] = dbc
+
+  for fingerprint, car in sorted(MIGRATION.items()):
+    dbc = pairs.get(str(car), "")
+    if dbc:
+      pairs[fingerprint] = dbc
+
+  lines = [
+    "#pragma once",
+    "",
+    "#include <string_view>",
+    "#include <utility>",
+    "",
+    "inline constexpr std::pair<std::string_view, std::string_view> kCarFingerprintToDbc[] = {",
+  ]
+  lines.extend(f'  {{"{fingerprint}", "{dbc}"}},' for fingerprint, dbc in sorted(pairs.items()))
+  lines.extend([
+    "};",
+    "",
+    "inline std::string_view dbc_for_car_fingerprint(std::string_view fingerprint) {",
+    "  for (const auto &[car_fingerprint, dbc] : kCarFingerprintToDbc) {",
+    "    if (car_fingerprint == fingerprint) return dbc;",
+    "  }",
+    "  return {};",
+    "}",
+    "",
+  ])
+
+  with open(str(target[0]), "w") as f:
+    f.write("\n".join(lines))
+
+  return None
+
+generated_dbc_stamp = jot_env.Command(f"generated_dbcs/.stamp", [], materialize_generated_dbcs)
+car_fingerprint_to_dbc = jot_env.Command("car_fingerprint_to_dbc.h", [], write_car_fingerprint_to_dbc_header)
+
+libs = [replay_lib, common, messaging, visionipc, cereal, File(f"{imgui.LIB_DIR}/libimgui.a"), File(f"{imgui.LIB_DIR}/libglfw3.a"),
+        "avformat", "avcodec", "avutil", "x264", "yuv", "z", "bz2", "zstd", "m", "pthread", "usb-1.0"]
+if arch == "Darwin":
+  jot_env["FRAMEWORKS"] = ["OpenGL", "Cocoa", "IOKit", "CoreFoundation", "CoreVideo", "CoreMedia", "VideoToolbox"]
+else:
+  libs += ["GL", "dl", "va", "va-drm", "drm"]
+
+program = jot_env.Program("jotpluggler", jot_env.Glob("*.cc"), LIBS=libs)
+jot_env.Depends(program, generated_dbc_stamp)
+jot_env.Depends(program, car_fingerprint_to_dbc)
diff --git a/tools/jotpluggler/app.cc b/tools/jotpluggler/app.cc
new file mode 100644
index 00000000000000..4b56299ead39e5
--- /dev/null
+++ b/tools/jotpluggler/app.cc
@@ -0,0 +1,1914 @@
+#include "tools/jotpluggler/app.h"
+#include "tools/jotpluggler/camera.h"
+#include "tools/jotpluggler/common.h"
+#include "tools/jotpluggler/internal.h"
+#include "tools/jotpluggler/map.h"
+#include "system/hardware/hw.h"
+#include "imgui_impl_glfw.h"
+
+#include "imgui_internal.h"
+#include "imgui_impl_opengl3.h"
+#include "imgui_impl_opengl3_loader.h"
+#include "implot.h"
+
+#include <GLFW/glfw3.h>
+
+#include <chrono>
+#include <cmath>
+#include <cfloat>
+#include <cstring>
+#include <condition_variable>
+#include <iomanip>
+#include <iostream>
+#include <limits>
+#include <mutex>
+#include <stdexcept>
+#include <thread>
+#include <unordered_set>
+#include <unistd.h>
+
+#include "third_party/json11/json11.hpp"
+
+namespace fs = std::filesystem;
+
+constexpr const char *UNTITLED_PANE_TITLE = "...";
+ImFont *g_ui_font = nullptr;
+ImFont *g_ui_bold_font = nullptr;
+ImFont *g_mono_font = nullptr;
+
+std::string layout_name_from_arg(const std::string &layout_arg) {
+  const fs::path raw(layout_arg);
+  if (raw.extension() == ".xml" || raw.extension() == ".json") {
+    return raw.stem().string();
+  }
+  if (raw.filename() != raw) {
+    return raw.filename().replace_extension("").string();
+  }
+  fs::path stem_path = raw;
+  return stem_path.replace_extension("").string();
+}
+
+fs::path layouts_dir() {
+  return repo_root() / "tools" / "jotpluggler" / "layouts";
+}
+
+std::string sanitize_layout_stem(std::string_view name) {
+  std::string out;
+  out.reserve(name.size());
+  bool last_was_dash = false;
+  for (const char raw : name) {
+    const unsigned char c = static_cast<unsigned char>(raw);
+    if (std::isalnum(c) != 0) {
+      out.push_back(static_cast<char>(std::tolower(c)));
+      last_was_dash = false;
+    } else if (raw == '-' || raw == '_') {
+      out.push_back(raw);
+      last_was_dash = false;
+    } else if (!last_was_dash && !out.empty()) {
+      out.push_back('-');
+      last_was_dash = true;
+    }
+  }
+  while (!out.empty() && out.back() == '-') {
+    out.pop_back();
+  }
+  return out.empty() ? "untitled" : out;
+}
+
+fs::path autosave_dir() {
+  return layouts_dir() / ".jotpluggler_autosave";
+}
+
+fs::path resolve_layout_path(const std::string &layout_arg) {
+  const fs::path direct(layout_arg);
+  if (fs::exists(direct)) {
+    if (direct.extension() == ".json") return fs::absolute(direct);
+    const fs::path sibling_json = direct.parent_path() / (direct.stem().string() + ".json");
+    if (direct.extension() == ".xml" && fs::exists(sibling_json)) {
+      return fs::absolute(sibling_json);
+    }
+  }
+  const fs::path candidate = layouts_dir() / (layout_name_from_arg(layout_arg) + ".json");
+  if (!fs::exists(candidate)) throw std::runtime_error("Unknown layout: " + layout_arg);
+  return candidate;
+}
+
+fs::path autosave_path_for_layout(const fs::path &layout_path) {
+  const std::string stem = layout_path.empty() ? "untitled" : layout_path.stem().string();
+  return autosave_dir() / (sanitize_layout_stem(stem) + ".json");
+}
+
+std::vector<std::string> available_layout_names() {
+  std::vector<std::string> names;
+  const fs::path root = layouts_dir();
+  if (!fs::exists(root) || !fs::is_directory(root)) {
+    return names;
+  }
+  for (const auto &entry : fs::directory_iterator(root)) {
+    if (!entry.is_regular_file() || entry.path().extension() != ".json") {
+      continue;
+    }
+    names.push_back(entry.path().stem().string());
+  }
+  std::sort(names.begin(), names.end());
+  return names;
+}
+
+void refresh_replaced_layout_ui(AppSession *session, UiState *state, bool mark_docks) {
+  state->tabs.clear();
+  cancel_rename_tab(state);
+  sync_ui_state(state, session->layout);
+  sync_layout_buffers(state, *session);
+  if (mark_docks) {
+    mark_all_docks_dirty(state);
+  }
+}
+
+void start_new_layout(AppSession *session, UiState *state, const std::string &status_text) {
+  session->layout = make_empty_layout();
+  session->layout_path.clear();
+  session->autosave_path.clear();
+  state->undo.reset(session->layout);
+  state->layout_dirty = false;
+  state->status_text = status_text;
+  refresh_replaced_layout_ui(session, state, true);
+  reset_shared_range(state, *session);
+}
+
+bool is_decoded_can_series_path(std::string_view path) {
+  const std::string value(path);
+  return util::starts_with(value, "/can/") || util::starts_with(value, "/sendcan/");
+}
+
+bool apply_route_can_decode_update(AppSession *session, UiState *state);
+
+void rebuild_series_lookup_preserving_formats(AppSession *session,
+                                              std::string_view updated_prefix,
+                                              bool refresh_updated_formats_only) {
+  const std::string prefix(updated_prefix);
+  if (!updated_prefix.empty()) {
+    for (auto it = session->route_data.series_formats.begin(); it != session->route_data.series_formats.end();) {
+      if (util::starts_with(it->first, prefix)) {
+        it = session->route_data.series_formats.erase(it);
+      } else {
+        ++it;
+      }
+    }
+  }
+  session->series_by_path.clear();
+  session->series_by_path.reserve(session->route_data.series.size());
+  for (RouteSeries &series : session->route_data.series) {
+    session->series_by_path.emplace(series.path, &series);
+    if (refresh_updated_formats_only) {
+      if (!updated_prefix.empty() && util::starts_with(series.path, prefix)) {
+        const bool enum_like = session->route_data.enum_info.find(series.path) != session->route_data.enum_info.end();
+        session->route_data.series_formats[series.path] = compute_series_format(series.values, enum_like);
+      }
+    } else {
+      const bool enum_like = session->route_data.enum_info.find(series.path) != session->route_data.enum_info.end();
+      session->route_data.series_formats[series.path] = compute_series_format(series.values, enum_like);
+    }
+  }
+}
+
+bool apply_route_can_decode_update(AppSession *session, UiState *state) {
+  const std::string active_dbc_name = !session->dbc_override.empty() ? session->dbc_override : session->route_data.dbc_name;
+  if (!active_dbc_name.empty() && !load_dbc_by_name(active_dbc_name).has_value()) {
+    state->error_text = "DBC not found: " + active_dbc_name;
+    state->open_error_popup = true;
+    return false;
+  }
+  std::unordered_map<std::string, EnumInfo> can_enum_info;
+  std::vector<RouteSeries> can_series = decode_can_messages(session->route_data.can_messages, active_dbc_name, &can_enum_info);
+
+  std::vector<RouteSeries> updated_series;
+  updated_series.reserve(session->route_data.series.size() + can_series.size());
+  for (RouteSeries &series : session->route_data.series) {
+    if (!is_decoded_can_series_path(series.path)) {
+      updated_series.push_back(std::move(series));
+    }
+  }
+  for (RouteSeries &series : can_series) {
+    updated_series.push_back(std::move(series));
+  }
+  std::sort(updated_series.begin(), updated_series.end(), [](const RouteSeries &a, const RouteSeries &b) {
+    return a.path < b.path;
+  });
+
+  std::unordered_map<std::string, EnumInfo> updated_enum_info;
+  updated_enum_info.reserve(session->route_data.enum_info.size() + can_enum_info.size());
+  for (auto &[path, info] : session->route_data.enum_info) {
+    if (!is_decoded_can_series_path(path)) {
+      updated_enum_info.emplace(path, std::move(info));
+    }
+  }
+  for (auto &[path, info] : can_enum_info) {
+    updated_enum_info[path] = std::move(info);
+  }
+
+  session->route_data.series = std::move(updated_series);
+  session->route_data.enum_info = std::move(updated_enum_info);
+  session->route_data.paths.clear();
+  session->route_data.paths.reserve(session->route_data.series.size());
+  for (const RouteSeries &series : session->route_data.series) {
+    session->route_data.paths.push_back(series.path);
+  }
+  std::sort(session->route_data.paths.begin(), session->route_data.paths.end());
+  session->route_data.roots = collect_route_roots_for_paths(session->route_data.paths);
+
+  rebuild_route_index(session);
+  rebuild_browser_nodes(session, state);
+  refresh_all_custom_curves(session, state);
+  sync_camera_feeds(session);
+  return true;
+}
+
+void apply_dbc_override_change(AppSession *session, UiState *state, const std::string &dbc_override) {
+  session->dbc_override = dbc_override;
+  if (session->data_mode == SessionDataMode::Stream) {
+    start_stream_session(session, state, session->stream_source, session->stream_buffer_seconds, false);
+  } else if (!session->route_name.empty()) {
+    const bool ok = apply_route_can_decode_update(session, state);
+    if (ok) {
+      state->status_text = dbc_override.empty() ? "DBC auto-detect enabled" : "DBC set to " + dbc_override;
+    } else {
+      state->status_text = "Failed to apply DBC";
+    }
+  } else if (dbc_override.empty()) {
+    state->status_text = "DBC auto-detect enabled";
+  } else {
+    state->status_text = "DBC set to " + dbc_override;
+  }
+}
+
+void configure_style() {
+  ImGui::StyleColorsLight();
+  ImPlot::StyleColorsLight();
+
+  ImGuiIO &io = ImGui::GetIO();
+  g_ui_font = nullptr;
+  g_ui_bold_font = nullptr;
+  g_mono_font = nullptr;
+  const fs::path fonts_dir = repo_root() / "selfdrive" / "assets" / "fonts";
+  ImFontConfig font_cfg;
+  font_cfg.OversampleH = 2;
+  font_cfg.OversampleV = 2;
+  font_cfg.RasterizerDensity = 1.0f;
+  icon_add_font(16.0f);
+  const auto add_font_with_icons = [&](const fs::path &path, float size) -> ImFont * {
+    ImFont *font = io.Fonts->AddFontFromFileTTF(path.c_str(), size, &font_cfg);
+    if (font != nullptr) {
+      icon_add_font(size, true, font);
+    }
+    return font;
+  };
+  if (ImFont *font = add_font_with_icons(fonts_dir / "Inter-Regular.ttf", 16.0f); font != nullptr) {
+    g_ui_font = font;
+    io.FontDefault = font;
+  }
+  g_ui_bold_font = add_font_with_icons(fonts_dir / "Inter-SemiBold.ttf", 16.75f);
+  if (g_ui_font == nullptr) {
+    if (ImFont *font = add_font_with_icons(fonts_dir / "JetBrainsMono-Medium.ttf", 15.75f); font != nullptr) {
+      g_mono_font = font;
+      io.FontDefault = font;
+    }
+  }
+  if (g_mono_font == nullptr) {
+    g_mono_font = add_font_with_icons(fonts_dir / "JetBrainsMono-Medium.ttf", 15.75f);
+  }
+  if (g_ui_bold_font == nullptr) {
+    g_ui_bold_font = g_ui_font;
+  }
+
+  ImGuiStyle &style = ImGui::GetStyle();
+  style.WindowRounding = 0.0f;
+  style.ChildRounding = 0.0f;
+  style.PopupRounding = 0.0f;
+  style.FrameRounding = 2.0f;
+  style.ScrollbarRounding = 2.0f;
+  style.GrabRounding = 2.0f;
+  style.TabRounding = 0.0f;
+  style.WindowBorderSize = 1.0f;
+  style.ChildBorderSize = 1.0f;
+  style.FrameBorderSize = 1.0f;
+  style.WindowPadding = ImVec2(8.0f, 7.0f);
+  style.FramePadding = ImVec2(6.0f, 3.0f);
+  style.ItemSpacing = ImVec2(8.0f, 5.0f);
+  style.ItemInnerSpacing = ImVec2(6.0f, 3.0f);
+  struct ColorDef { ImGuiCol idx; int r, g, b; };
+  constexpr ColorDef COLORS[] = {
+    {ImGuiCol_WindowBg, 250, 250, 251},  {ImGuiCol_ChildBg, 255, 255, 255},
+    {ImGuiCol_Border, 194, 198, 204},    {ImGuiCol_TitleBg, 252, 252, 253},
+    {ImGuiCol_TitleBgActive, 252, 252, 253}, {ImGuiCol_TitleBgCollapsed, 252, 252, 253},
+    {ImGuiCol_Text, 74, 80, 88},         {ImGuiCol_TextDisabled, 108, 118, 128},
+    {ImGuiCol_Button, 255, 255, 255},    {ImGuiCol_ButtonHovered, 246, 248, 250},
+    {ImGuiCol_ButtonActive, 238, 240, 244}, {ImGuiCol_FrameBg, 255, 255, 255},
+    {ImGuiCol_FrameBgHovered, 248, 249, 251}, {ImGuiCol_FrameBgActive, 241, 244, 248},
+    {ImGuiCol_Header, 243, 245, 248},    {ImGuiCol_HeaderHovered, 237, 240, 244},
+    {ImGuiCol_HeaderActive, 232, 236, 240}, {ImGuiCol_PopupBg, 248, 249, 251},
+    {ImGuiCol_MenuBarBg, 232, 236, 241}, {ImGuiCol_Separator, 194, 198, 204},
+    {ImGuiCol_ScrollbarBg, 240, 242, 245}, {ImGuiCol_ScrollbarGrab, 202, 207, 214},
+    {ImGuiCol_ScrollbarGrabHovered, 180, 186, 194}, {ImGuiCol_ScrollbarGrabActive, 164, 171, 180},
+    {ImGuiCol_Tab, 219, 224, 230},       {ImGuiCol_TabHovered, 232, 236, 241},
+    {ImGuiCol_TabSelected, 250, 251, 253}, {ImGuiCol_TabSelectedOverline, 92, 109, 136},
+    {ImGuiCol_TabDimmed, 213, 219, 226}, {ImGuiCol_TabDimmedSelected, 244, 247, 249},
+    {ImGuiCol_TabDimmedSelectedOverline, 92, 109, 136}, {ImGuiCol_DockingEmptyBg, 244, 246, 248},
+  };
+  for (const auto &c : COLORS) { style.Colors[c.idx] = color_rgb(c.r, c.g, c.b); }
+  style.Colors[ImGuiCol_DockingPreview] = color_rgb(69, 115, 184, 0.22f);
+
+  ImPlotStyle &plot_style = ImPlot::GetStyle();
+  plot_style.PlotBorderSize = 1.0f;
+  plot_style.MinorAlpha = 0.65f;
+  plot_style.LegendPadding = ImVec2(6.0f, 5.0f);
+  plot_style.LegendInnerPadding = ImVec2(6.0f, 3.0f);
+  plot_style.LegendSpacing = ImVec2(7.0f, 2.0f);
+  plot_style.PlotPadding = ImVec2(4.0f, 8.0f);
+  plot_style.FitPadding = ImVec2(0.02f, 0.4f);
+
+  ImPlot::MapInputDefault();
+  ImPlotInputMap &input_map = ImPlot::GetInputMap();
+  input_map.Pan = ImGuiMouseButton_Right;
+  input_map.PanMod = ImGuiMod_None;
+  input_map.Select = ImGuiMouseButton_Left;
+  input_map.SelectCancel = ImGuiMouseButton_Right;
+  input_map.SelectMod = ImGuiMod_None;
+}
+
+void app_push_mono_font() {
+  if (g_mono_font != nullptr) {
+    ImGui::PushFont(g_mono_font);
+  }
+}
+
+void app_pop_mono_font() {
+  if (g_mono_font != nullptr) {
+    ImGui::PopFont();
+  }
+}
+
+void app_push_bold_font() {
+  if (g_ui_bold_font != nullptr) {
+    ImGui::PushFont(g_ui_bold_font);
+  }
+}
+
+void app_pop_bold_font() {
+  if (g_ui_bold_font != nullptr) {
+    ImGui::PopFont();
+  }
+}
+
+UiMetrics compute_ui_metrics(const ImVec2 &size, float top_offset, float sidebar_width) {
+  UiMetrics ui;
+  ui.width = size.x;
+  ui.height = size.y;
+  ui.top_offset = top_offset;
+  ui.sidebar_width = sidebar_width <= 0.0f
+    ? 0.0f
+    : std::clamp(sidebar_width, SIDEBAR_MIN_WIDTH, std::min(SIDEBAR_MAX_WIDTH, size.x * 0.6f));
+  ui.content_x = ui.sidebar_width;
+  ui.content_y = top_offset;
+  ui.content_w = std::max(1.0f, size.x - ui.content_x);
+  ui.content_h = std::max(1.0f, size.y - ui.content_y - STATUS_BAR_HEIGHT);
+  ui.status_bar_y = std::max(0.0f, size.y - STATUS_BAR_HEIGHT);
+  return ui;
+}
+
+void sync_ui_state(UiState *state, const SketchLayout &layout) {
+  const bool initializing = state->tabs.empty();
+  state->tabs.resize(layout.tabs.size());
+  if (layout.tabs.empty()) {
+    state->active_tab_index = 0;
+    state->requested_tab_index = -1;
+    return;
+  }
+  if (initializing) {
+    state->active_tab_index = std::clamp(layout.current_tab_index, 0, static_cast<int>(layout.tabs.size()) - 1);
+    state->requested_tab_index = state->active_tab_index;
+  }
+  state->active_tab_index = std::clamp(state->active_tab_index, 0, static_cast<int>(layout.tabs.size()) - 1);
+  for (size_t i = 0; i < layout.tabs.size(); ++i) {
+    if (state->tabs[i].runtime_id == 0) {
+      state->tabs[i].runtime_id = state->next_tab_runtime_id++;
+    }
+    const int pane_count = static_cast<int>(layout.tabs[i].panes.size());
+    state->tabs[i].map_panes.resize(static_cast<size_t>(std::max(0, pane_count)));
+    state->tabs[i].camera_panes.resize(static_cast<size_t>(std::max(0, pane_count)));
+    state->tabs[i].active_pane_index = pane_count <= 0
+      ? 0
+      : std::clamp(state->tabs[i].active_pane_index, 0, pane_count - 1);
+  }
+}
+
+void resize_tab_pane_state(TabUiState *tab_state, size_t pane_count) {
+  if (tab_state == nullptr) return;
+  tab_state->map_panes.resize(pane_count);
+  tab_state->camera_panes.resize(pane_count);
+}
+
+void sync_route_buffers(UiState *state, const AppSession &session) {
+  state->route_buffer = session.route_name;
+  state->data_dir_buffer = session.data_dir;
+}
+
+void sync_stream_buffers(UiState *state, const AppSession &session) {
+  state->stream_address_buffer = session.stream_source.address;
+  state->stream_source_kind = session.stream_source.kind;
+  state->stream_buffer_seconds = session.stream_buffer_seconds;
+}
+
+fs::path default_layout_save_path(const AppSession &session) {
+  return session.layout_path.empty() ? layouts_dir() / "new-layout.json" : session.layout_path;
+}
+
+void sync_layout_buffers(UiState *state, const AppSession &session) {
+  state->load_layout_buffer = session.layout_path.empty() ? std::string() : session.layout_path.string();
+  state->save_layout_buffer = default_layout_save_path(session).string();
+}
+
+const WorkspaceTab *app_active_tab(const SketchLayout &layout, const UiState &state) {
+  if (layout.tabs.empty()) return nullptr;
+  const int index = std::clamp(state.active_tab_index, 0, static_cast<int>(layout.tabs.size()) - 1);
+  return &layout.tabs[static_cast<size_t>(index)];
+}
+
+WorkspaceTab *app_active_tab(SketchLayout *layout, const UiState &state) {
+  if (layout->tabs.empty()) return nullptr;
+  const int index = std::clamp(state.active_tab_index, 0, static_cast<int>(layout->tabs.size()) - 1);
+  return &layout->tabs[static_cast<size_t>(index)];
+}
+
+TabUiState *app_active_tab_state(UiState *state) {
+  if (state->tabs.empty()) return nullptr;
+  const int index = std::clamp(state->active_tab_index, 0, static_cast<int>(state->tabs.size()) - 1);
+  return &state->tabs[static_cast<size_t>(index)];
+}
+
+std::string pane_window_name(int tab_runtime_id, int pane_index, const Pane &pane) {
+  const char *title = pane.title.empty() ? UNTITLED_PANE_TITLE : pane.title.c_str();
+  return util::string_format("%s###tab%d_pane%d", title, tab_runtime_id, pane_index);
+}
+
+std::string tab_item_label(const WorkspaceTab &tab, int tab_runtime_id) {
+  return util::string_format("%s##workspace_tab_%d", tab.tab_name.c_str(), tab_runtime_id);
+}
+
+void request_tab_selection(UiState *state, int tab_index) {
+  state->active_tab_index = tab_index;
+  state->requested_tab_index = tab_index;
+}
+
+void begin_rename_tab(const SketchLayout &layout, UiState *state, int tab_index) {
+  if (tab_index < 0 || tab_index >= static_cast<int>(layout.tabs.size())) {
+    return;
+  }
+  state->rename_tab_buffer = layout.tabs[static_cast<size_t>(tab_index)].tab_name;
+  state->rename_tab_index = tab_index;
+  state->focus_rename_tab_input = true;
+  request_tab_selection(state, tab_index);
+}
+
+void cancel_rename_tab(UiState *state) {
+  state->rename_tab_index = -1;
+  state->focus_rename_tab_input = false;
+}
+
+ImGuiID dockspace_id_for_tab(int tab_runtime_id) {
+  return ImHashStr(util::string_format("jotpluggler_dockspace_%d", tab_runtime_id).c_str());
+}
+
+bool curve_has_local_samples(const Curve &curve) {
+  return curve.xs.size() > 1 && curve.xs.size() == curve.ys.size();
+}
+
+void mark_all_docks_dirty(UiState *state) {
+  for (TabUiState &tab_state : state->tabs) {
+    tab_state.dock_needs_build = true;
+  }
+}
+
+void mark_tab_dock_dirty(UiState *state, int tab_index) {
+  if (tab_index >= 0 && tab_index < static_cast<int>(state->tabs.size())) {
+    state->tabs[static_cast<size_t>(tab_index)].dock_needs_build = true;
+  }
+}
+
+void normalize_split_node(WorkspaceNode *node) {
+  if (node->is_pane) {
+    return;
+  }
+  for (WorkspaceNode &child : node->children) {
+    normalize_split_node(&child);
+  }
+  if (node->children.empty()) {
+    return;
+  }
+  if (node->children.size() == 1) {
+    *node = node->children.front();
+    return;
+  }
+  if (node->sizes.size() != node->children.size()) {
+    node->sizes.assign(node->children.size(), 1.0f / static_cast<float>(node->children.size()));
+    return;
+  }
+  float total = 0.0f;
+  for (float &size : node->sizes) {
+    size = std::max(size, 0.0f);
+    total += size;
+  }
+  if (total <= 0.0f) {
+    node->sizes.assign(node->children.size(), 1.0f / static_cast<float>(node->children.size()));
+    return;
+  }
+  for (float &size : node->sizes) {
+    size /= total;
+  }
+}
+
+void decrement_pane_indices(WorkspaceNode *node, int removed_index) {
+  if (node->is_pane) {
+    if (node->pane_index > removed_index) {
+      node->pane_index -= 1;
+    }
+    return;
+  }
+  for (WorkspaceNode &child : node->children) {
+    decrement_pane_indices(&child, removed_index);
+  }
+}
+
+bool remove_pane_node(WorkspaceNode *node, int pane_index) {
+  if (node->is_pane) return node->pane_index == pane_index;
+
+  for (size_t i = 0; i < node->children.size();) {
+    if (remove_pane_node(&node->children[i], pane_index)) {
+      node->children.erase(node->children.begin() + static_cast<std::ptrdiff_t>(i));
+      if (i < node->sizes.size()) {
+        node->sizes.erase(node->sizes.begin() + static_cast<std::ptrdiff_t>(i));
+      }
+    } else {
+      ++i;
+    }
+  }
+
+  normalize_split_node(node);
+  return !node->is_pane && node->children.empty();
+}
+
+bool split_pane_node(WorkspaceNode *node, int target_pane_index, SplitOrientation orientation,
+                     bool new_before, int new_pane_index) {
+  if (node->is_pane) {
+    if (node->pane_index != target_pane_index) return false;
+    WorkspaceNode existing_pane;
+    existing_pane.is_pane = true;
+    existing_pane.pane_index = target_pane_index;
+
+    WorkspaceNode new_pane;
+    new_pane.is_pane = true;
+    new_pane.pane_index = new_pane_index;
+
+    node->is_pane = false;
+    node->pane_index = -1;
+    node->orientation = orientation;
+    node->sizes = {0.5f, 0.5f};
+    node->children.clear();
+    if (new_before) {
+      node->children.push_back(std::move(new_pane));
+      node->children.push_back(std::move(existing_pane));
+    } else {
+      node->children.push_back(std::move(existing_pane));
+      node->children.push_back(std::move(new_pane));
+    }
+    return true;
+  }
+
+  if (node->orientation == orientation) {
+    for (size_t i = 0; i < node->children.size(); ++i) {
+      WorkspaceNode &child = node->children[i];
+      if (!child.is_pane || child.pane_index != target_pane_index) {
+        continue;
+      }
+
+      WorkspaceNode new_pane;
+      new_pane.is_pane = true;
+      new_pane.pane_index = new_pane_index;
+
+      const auto insert_it = node->children.begin() + static_cast<std::ptrdiff_t>(new_before ? i : i + 1);
+      node->children.insert(insert_it, std::move(new_pane));
+      node->sizes.assign(node->children.size(), 1.0f / static_cast<float>(node->children.size()));
+      return true;
+    }
+  }
+
+  for (WorkspaceNode &child : node->children) {
+    if (split_pane_node(&child, target_pane_index, orientation, new_before, new_pane_index)) return true;
+  }
+  return false;
+}
+
+Pane make_empty_pane(const std::string &title = UNTITLED_PANE_TITLE) {
+  Pane pane;
+  pane.title = title;
+  return pane;
+}
+
+WorkspaceTab make_empty_tab(const std::string &tab_name) {
+  WorkspaceTab tab;
+  tab.tab_name = tab_name;
+  tab.panes.push_back(make_empty_pane());
+  tab.root.is_pane = true;
+  tab.root.pane_index = 0;
+  return tab;
+}
+
+SketchLayout make_empty_layout() {
+  SketchLayout layout;
+  layout.tabs.push_back(make_empty_tab("tab1"));
+  layout.current_tab_index = 0;
+  layout.roots.push_back("layout");
+  return layout;
+}
+
+bool tab_name_exists(const SketchLayout &layout, const std::string &name) {
+  return std::any_of(layout.tabs.begin(), layout.tabs.end(), [&](const WorkspaceTab &tab) {
+    return tab.tab_name == name;
+  });
+}
+
+std::string next_tab_name(const SketchLayout &layout, const std::string &base_name) {
+  if (base_name == "tab" || base_name == "tab1") {
+    int max_suffix = 0;
+    for (const WorkspaceTab &tab : layout.tabs) {
+      if (tab.tab_name.size() > 3 && util::starts_with(tab.tab_name, "tab")) {
+        const std::string suffix = tab.tab_name.substr(3);
+        if (!suffix.empty() && std::all_of(suffix.begin(), suffix.end(), ::isdigit)) {
+          max_suffix = std::max(max_suffix, std::stoi(suffix));
+        }
+      }
+    }
+    return "tab" + std::to_string(std::max(1, max_suffix + 1));
+  }
+  std::string base = base_name.empty() ? "tab" : base_name;
+  if (!tab_name_exists(layout, base)) return base;
+  for (int i = 2; i < 1000; ++i) {
+    const std::string candidate = base + " " + std::to_string(i);
+    if (!tab_name_exists(layout, candidate)) return candidate;
+  }
+  return base + " copy";
+}
+
+void clear_layout_autosave(const AppSession &session) {
+  if (!session.autosave_path.empty() && fs::exists(session.autosave_path)) {
+    fs::remove(session.autosave_path);
+  }
+}
+
+bool autosave_layout(AppSession *session, UiState *state) {
+  try {
+    if (session->autosave_path.empty()) {
+      session->autosave_path = autosave_path_for_layout(session->layout_path);
+    }
+    session->layout.current_tab_index = state->active_tab_index;
+    save_layout_json(session->layout, session->autosave_path);
+    state->layout_dirty = true;
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Failed to save layout draft";
+    return false;
+  }
+}
+
+bool mark_layout_dirty(AppSession *session, UiState *state) {
+  return autosave_layout(session, state);
+}
+
+bool active_tab_has_map_pane(const SketchLayout &layout) {
+  if (layout.tabs.empty()) {
+    return false;
+  }
+  const int tab_index = std::clamp(layout.current_tab_index, 0, static_cast<int>(layout.tabs.size()) - 1);
+  const WorkspaceTab &tab = layout.tabs[static_cast<size_t>(tab_index)];
+  return std::any_of(tab.panes.begin(), tab.panes.end(), [](const Pane &pane) {
+    return pane_kind_is_special(pane.kind);
+  });
+}
+
+void draw_browser_special_item(const char *item_id, const char *label) {
+  const ImGuiStyle &style = ImGui::GetStyle();
+  const ImVec2 row_size(std::max(1.0f, ImGui::GetContentRegionAvail().x), ImGui::GetFrameHeight());
+  ImGui::PushID(item_id);
+  ImGui::InvisibleButton("##special_data_row", row_size);
+  const bool hovered = ImGui::IsItemHovered();
+  const bool held = ImGui::IsItemActive();
+  const ImRect rect(ImGui::GetItemRectMin(), ImGui::GetItemRectMax());
+  ImDrawList *draw_list = ImGui::GetWindowDrawList();
+  if (hovered) {
+    const ImU32 bg = ImGui::GetColorU32(held ? ImGuiCol_HeaderActive : ImGuiCol_HeaderHovered);
+    draw_list->AddRectFilled(rect.Min, rect.Max, bg, 0.0f);
+  }
+  ImGui::RenderTextEllipsis(draw_list,
+                            ImVec2(rect.Min.x + style.FramePadding.x, rect.Min.y + style.FramePadding.y),
+                            ImVec2(rect.Max.x - style.FramePadding.x, rect.Max.y),
+                            rect.Max.x - style.FramePadding.x,
+                            label,
+                            nullptr,
+                            nullptr);
+  if (ImGui::BeginDragDropSource(ImGuiDragDropFlags_SourceAllowNullID)) {
+    ImGui::SetDragDropPayload("JOTP_SPECIAL_ITEM", item_id, std::strlen(item_id) + 1);
+    ImGui::TextUnformatted(label);
+    ImGui::EndDragDropSource();
+  }
+  ImGui::PopID();
+}
+
+std::array<uint8_t, 3> app_next_curve_color(const Pane &pane) {
+  static constexpr std::array<std::array<uint8_t, 3>, 10> PALETTE = {{
+    {35, 107, 180},
+    {220, 82, 52},
+    {67, 160, 71},
+    {243, 156, 18},
+    {123, 97, 255},
+    {0, 150, 136},
+    {214, 48, 49},
+    {52, 73, 94},
+    {197, 90, 17},
+    {96, 125, 139},
+  }};
+  return PALETTE[pane.curves.size() % PALETTE.size()];
+}
+
+void draw_sidebar(AppSession *session, const UiMetrics &ui, UiState *state, bool show_camera_feed) {
+  ImGui::SetNextWindowPos(ImVec2(0.0f, ui.top_offset));
+  ImGui::SetNextWindowSize(ImVec2(ui.sidebar_width, std::max(1.0f, ui.height - ui.top_offset)));
+  ImGui::PushStyleColor(ImGuiCol_WindowBg, color_rgb(238, 240, 244));
+  ImGui::PushStyleColor(ImGuiCol_Border, color_rgb(190, 197, 205));
+  const ImGuiWindowFlags flags = ImGuiWindowFlags_NoDecoration |
+                                 ImGuiWindowFlags_NoMove |
+                                 ImGuiWindowFlags_NoResize |
+                                 ImGuiWindowFlags_NoSavedSettings;
+  if (ImGui::Begin("##sidebar", nullptr, flags)) {
+    const RouteLoadSnapshot load = session->route_loader ? session->route_loader->snapshot() : RouteLoadSnapshot{};
+    const bool show_load_progress = session->route_loader && (load.active || load.total_segments > 0);
+    const bool streaming = session->data_mode == SessionDataMode::Stream;
+    CameraFeedView *sidebar_camera = session->pane_camera_feeds[static_cast<size_t>(sidebar_preview_camera_view(*session))].get();
+    if (show_camera_feed && sidebar_camera != nullptr) {
+      sidebar_camera->draw(ImGui::GetContentRegionAvail().x, load.active);
+    } else if (streaming) {
+      ImGui::SeparatorText("Camera");
+      ImGui::TextDisabled("Camera not available during live stream.");
+      ImGui::Spacing();
+    }
+
+    ImGui::SeparatorText(streaming ? "Stream" : "Route");
+    if (streaming) {
+      const StreamPollSnapshot stream = session->stream_poller ? session->stream_poller->snapshot() : StreamPollSnapshot{};
+      const bool paused = stream.paused || session->stream_paused;
+      const bool live = stream.connected && !paused;
+      const ImVec4 status_color = live ? color_rgb(38, 135, 67) : (paused ? color_rgb(168, 119, 34) : color_rgb(155, 63, 63));
+      ImGui::TextColored(status_color, "%s %s", live ? "â—�" : "â—‹", stream.source_label.c_str());
+      ImGui::TextDisabled("%s%s", stream_source_kind_label(stream.source_kind), paused ? "  paused" : "");
+      const double span = session->route_data.has_time_range ? (session->route_data.x_max - session->route_data.x_min) : 0.0;
+      const float fill = stream.buffer_seconds <= 0.0
+        ? 0.0f
+        : std::clamp(static_cast<float>(span / stream.buffer_seconds), 0.0f, 1.0f);
+      ImGui::ProgressBar(fill, ImVec2(-FLT_MIN, 0.0f), nullptr);
+      ImGui::TextDisabled("%.0fs buffer | %zu series", session->stream_buffer_seconds, session->route_data.series.size());
+      const char *button_label = paused ? "Resume" : "Pause";
+      if (ImGui::Button(button_label, ImVec2(std::max(1.0f, ImGui::GetContentRegionAvail().x), 0.0f))) {
+        if (paused) {
+          start_stream_session(session, state, session->stream_source, session->stream_buffer_seconds, true);
+        } else {
+          stop_stream_session(session, state);
+          state->status_text = "Paused stream " + stream_source_target_label(session->stream_source);
+        }
+      }
+    } else if (session->route_name.empty()) {
+      ImGui::TextDisabled("No route loaded");
+    }
+    if (!session->route_data.car_fingerprint.empty()) {
+      ImGui::TextWrapped("Car: %s", session->route_data.car_fingerprint.c_str());
+    }
+    const std::vector<std::string> dbc_names = available_dbc_names();
+    ImGui::SetNextItemWidth(-FLT_MIN);
+    if (ImGui::BeginCombo("##dbc_combo", dbc_combo_label(*session).c_str())) {
+      const bool auto_selected = session->dbc_override.empty();
+      if (ImGui::Selectable("Auto", auto_selected)) {
+        apply_dbc_override_change(session, state, {});
+      }
+      if (auto_selected) {
+        ImGui::SetItemDefaultFocus();
+      }
+      ImGui::Separator();
+      for (const std::string &dbc_name : dbc_names) {
+        const bool selected = session->dbc_override == dbc_name;
+        if (ImGui::Selectable(dbc_name.c_str(), selected) && !selected) {
+          apply_dbc_override_change(session, state, dbc_name);
+        }
+        if (selected) {
+          ImGui::SetItemDefaultFocus();
+        }
+      }
+      ImGui::EndCombo();
+    }
+    ImGui::SeparatorText("Layout");
+    ImGui::SetNextItemWidth(-FLT_MIN);
+    const std::string layout_combo_label = [&] {
+      const std::string base = session->layout_path.empty() ? std::string("untitled") : session->layout_path.stem().string();
+      return state->layout_dirty ? base + " *" : base;
+    }();
+    if (ImGui::BeginCombo("##layout_combo", layout_combo_label.c_str())) {
+      if (ImGui::Selectable("New Layout")) {
+        start_new_layout(session, state);
+      }
+      ImGui::Separator();
+      const std::vector<std::string> layouts = available_layout_names();
+      const std::string current_layout = session->layout_path.empty() ? std::string("untitled") : session->layout_path.stem().string();
+      for (const std::string &layout_name : layouts) {
+        const bool selected = layout_name == current_layout;
+        if (ImGui::Selectable(layout_name.c_str(), selected) && !selected) {
+          reload_layout(session, state, layout_name);
+        }
+        if (selected) {
+          ImGui::SetItemDefaultFocus();
+        }
+      }
+      ImGui::EndCombo();
+    }
+    const float layout_button_gap = ImGui::GetStyle().ItemSpacing.x;
+    const float layout_row_width = std::max(1.0f, ImGui::GetContentRegionAvail().x);
+    const float layout_button_width = std::max(1.0f, (layout_row_width - 2.0f * layout_button_gap) / 3.0f);
+    if (ImGui::Button("New", ImVec2(layout_button_width, 0.0f))) {
+      start_new_layout(session, state);
+    }
+    ImGui::SameLine(0.0f, layout_button_gap);
+    if (ImGui::Button("Save", ImVec2(layout_button_width, 0.0f))) {
+      state->request_save_layout = true;
+    }
+    ImGui::SameLine(0.0f, layout_button_gap);
+    ImGui::BeginDisabled(!state->layout_dirty);
+    if (ImGui::Button("Reset", ImVec2(layout_button_width, 0.0f))) {
+      state->request_reset_layout = true;
+    }
+    ImGui::EndDisabled();
+    ImGui::Spacing();
+
+    ImGui::SeparatorText("Data Sources");
+    ImGui::SetNextItemWidth(-FLT_MIN);
+    input_text_with_hint_string("##browser_filter", "Search...", &state->browser_filter);
+    const float footer_height = ImGui::GetFrameHeightWithSpacing()
+                              + ImGui::GetTextLineHeightWithSpacing()
+                              + 16.0f
+                              + (show_load_progress ? (ImGui::GetFrameHeightWithSpacing() + 12.0f) : 0.0f);
+    const float browser_height = std::max(1.0f, ImGui::GetContentRegionAvail().y - footer_height);
+    ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(6.0f, 2.0f));
+    ImGui::PushStyleVar(ImGuiStyleVar_ItemSpacing, ImVec2(8.0f, 3.0f));
+    if (ImGui::BeginChild("##timeseries_browser", ImVec2(0.0f, browser_height), true)) {
+      const std::string filter = lowercase_copy(state->browser_filter);
+      std::vector<std::string> visible_paths;
+      for (const BrowserNode &node : session->browser_nodes) {
+        collect_visible_leaf_paths(node, filter, &visible_paths);
+      }
+      for (const SpecialItemSpec &spec : kSpecialItemSpecs) {
+        draw_browser_special_item(spec.id, spec.label);
+      }
+      ImGui::Dummy(ImVec2(0.0f, 2.0f));
+      ImGui::Separator();
+      ImGui::Dummy(ImVec2(0.0f, 2.0f));
+      for (const BrowserNode &node : session->browser_nodes) {
+        draw_browser_node(session, node, state, filter, visible_paths);
+      }
+    }
+    ImGui::EndChild();
+    ImGui::PopStyleVar(2);
+
+    ImGui::SeparatorText("Custom Series");
+    if (ImGui::Button("Create...", ImVec2(std::max(1.0f, ImGui::GetContentRegionAvail().x), 0.0f))) {
+      open_custom_series_editor(state, state->selected_browser_path);
+    }
+    if (show_load_progress) {
+      const float total = static_cast<float>(std::max<size_t>(1, load.total_segments));
+      const bool finalizing = load.active
+                           && load.total_segments > 0
+                           && load.segments_downloaded >= load.total_segments
+                           && load.segments_parsed >= load.total_segments;
+      const float progress = load.total_segments == 0
+        ? 0.0f
+        : (finalizing
+            ? 0.99f
+            : std::clamp(static_cast<float>(load.segments_downloaded + load.segments_parsed) / (2.0f * total), 0.0f, 0.99f));
+      ImGui::Dummy(ImVec2(0.0f, 8.0f));
+      ImGui::ProgressBar(progress, ImVec2(-FLT_MIN, 0.0f), finalizing ? "Finalizing..." : nullptr);
+    }
+  }
+  ImGui::End();
+  ImGui::PopStyleColor(2);
+}
+
+std::string app_curve_display_name(const Curve &curve) {
+  if (!curve.label.empty()) return curve.label;
+  if (!curve.name.empty()) return curve.name;
+  return "curve";
+}
+
+Curve make_curve_for_path(const Pane &pane, const std::string &path) {
+  Curve curve;
+  curve.name = path;
+  curve.label = path;
+  curve.color = app_next_curve_color(pane);
+  return curve;
+}
+
+bool add_curve_to_pane(WorkspaceTab *tab, int pane_index, Curve curve) {
+  if (pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    return false;
+  }
+  Pane &pane = tab->panes[static_cast<size_t>(pane_index)];
+  if (pane.kind != PaneKind::Plot) {
+    pane.kind = PaneKind::Plot;
+    if (is_default_special_title(pane.title)) {
+      pane.title = UNTITLED_PANE_TITLE;
+    }
+  }
+  for (Curve &existing : pane.curves) {
+    const bool same_named_curve = !curve.name.empty() && existing.name == curve.name;
+    const bool same_unnamed_curve = curve.name.empty() && existing.name.empty() && existing.label == curve.label;
+    if (same_named_curve || same_unnamed_curve) {
+      existing.visible = true;
+      return false;
+    }
+  }
+  pane.curves.push_back(std::move(curve));
+  return true;
+}
+
+bool add_path_curve_to_pane(AppSession *session, UiState *state, int pane_index, const std::string &path) {
+  if (app_find_route_series(*session, path) == nullptr) {
+    state->status_text = "Path not found in route";
+    return false;
+  }
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  if (tab == nullptr || pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    state->status_text = "No active pane";
+    return false;
+  }
+  const SketchLayout before_layout = session->layout;
+  const bool inserted = add_curve_to_pane(tab, pane_index, make_curve_for_path(tab->panes[static_cast<size_t>(pane_index)], path));
+  bool autosave_ok = true;
+  if (inserted) {
+    state->undo.push(before_layout);
+    autosave_ok = mark_layout_dirty(session, state);
+  }
+  if (autosave_ok) {
+    state->status_text = inserted ? "Added " + path : "Curve already present";
+  }
+  return true;
+}
+
+int add_path_curves_to_pane(AppSession *session, UiState *state, int pane_index, const std::vector<std::string> &paths) {
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  if (tab == nullptr || pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    state->status_text = "No active pane";
+    return 0;
+  }
+
+  int inserted_count = 0;
+  int duplicate_count = 0;
+  const SketchLayout before_layout = session->layout;
+  for (const std::string &path : paths) {
+    if (app_find_route_series(*session, path) == nullptr) continue;
+    if (add_curve_to_pane(tab, pane_index, make_curve_for_path(tab->panes[static_cast<size_t>(pane_index)], path))) {
+      ++inserted_count;
+    } else {
+      ++duplicate_count;
+    }
+  }
+
+  if (inserted_count > 0) {
+    state->undo.push(before_layout);
+    if (mark_layout_dirty(session, state)) {
+      state->status_text = inserted_count == 1
+        ? "Added " + paths.front()
+        : "Added " + std::to_string(inserted_count) + " curves";
+    }
+    return inserted_count;
+  }
+
+  if (duplicate_count > 0) {
+    state->status_text = duplicate_count == 1 ? "Curve already present" : "Curves already present";
+  } else {
+    state->status_text = "No matching series found";
+  }
+  return 0;
+}
+
+bool app_add_curve_to_active_pane(AppSession *session, UiState *state, const std::string &path) {
+  const TabUiState *tab_state = app_active_tab_state(state);
+  if (tab_state == nullptr) {
+    state->status_text = "No active pane";
+    return false;
+  }
+  return add_path_curve_to_pane(session, state, tab_state->active_pane_index, path);
+}
+
+bool apply_special_item_to_pane(WorkspaceTab *tab, TabUiState *tab_state, int pane_index, std::string_view item_id) {
+  if (tab == nullptr || tab_state == nullptr) return false;
+  if (pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) return false;
+  const SpecialItemSpec *spec = special_item_spec(item_id);
+  if (spec == nullptr) return false;
+  Pane &pane = tab->panes[static_cast<size_t>(pane_index)];
+  if (!((pane.kind == PaneKind::Plot && pane.curves.empty()) || pane_kind_is_special(pane.kind))) {
+    return false;
+  }
+  if (pane.kind == spec->kind && (spec->kind != PaneKind::Camera || pane.camera_view == spec->camera_view)) {
+    tab_state->active_pane_index = pane_index;
+    return false;
+  }
+  const PaneKind previous_kind = pane.kind;
+  pane.kind = spec->kind;
+  pane.camera_view = spec->camera_view;
+  if (spec->kind == PaneKind::Map) {
+    if (pane.title == UNTITLED_PANE_TITLE || previous_kind != PaneKind::Plot) {
+      pane.title = spec->label;
+    }
+  } else {
+    pane.title = spec->label;
+    resize_tab_pane_state(tab_state, tab->panes.size());
+    tab_state->camera_panes[static_cast<size_t>(pane_index)].fit_to_pane = true;
+  }
+  tab_state->active_pane_index = pane_index;
+  return true;
+}
+
+bool split_pane(WorkspaceTab *tab, int pane_index, PaneDropZone zone, std::optional<Curve> curve = std::nullopt) {
+  if (pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    return false;
+  }
+  if (zone == PaneDropZone::Center) return false;
+
+  const int new_pane_index = static_cast<int>(tab->panes.size());
+  Pane new_pane = make_empty_pane();
+  if (curve.has_value()) {
+    new_pane.curves.push_back(*curve);
+  }
+  tab->panes.push_back(std::move(new_pane));
+
+  const bool vertical = zone == PaneDropZone::Top || zone == PaneDropZone::Bottom;
+  const bool new_before = zone == PaneDropZone::Left || zone == PaneDropZone::Top;
+  return split_pane_node(&tab->root, pane_index,
+    vertical ? SplitOrientation::Vertical : SplitOrientation::Horizontal,
+    new_before, new_pane_index);
+}
+
+bool close_pane(WorkspaceTab *tab, int pane_index) {
+  if (pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    return false;
+  }
+  if (tab->panes.size() <= 1) {
+    tab->panes[static_cast<size_t>(pane_index)] = make_empty_pane();
+    return true;
+  }
+  if (remove_pane_node(&tab->root, pane_index)) return false;
+  tab->panes.erase(tab->panes.begin() + static_cast<std::ptrdiff_t>(pane_index));
+  decrement_pane_indices(&tab->root, pane_index);
+  normalize_split_node(&tab->root);
+  return true;
+}
+
+void clear_pane(WorkspaceTab *tab, int pane_index) {
+  if (pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    return;
+  }
+  Pane &pane = tab->panes[static_cast<size_t>(pane_index)];
+  pane.curves.clear();
+  pane.title = UNTITLED_PANE_TITLE;
+}
+
+void create_runtime_tab(SketchLayout *layout, UiState *state) {
+  const std::string tab_name = next_tab_name(*layout, "tab1");
+  layout->tabs.push_back(make_empty_tab(tab_name));
+  state->tabs.push_back(TabUiState{.dock_needs_build = true, .active_pane_index = 0, .runtime_id = state->next_tab_runtime_id++});
+  request_tab_selection(state, static_cast<int>(layout->tabs.size()) - 1);
+  state->status_text = "Created " + tab_name;
+}
+
+void duplicate_runtime_tab(SketchLayout *layout, UiState *state) {
+  if (layout->tabs.empty()) {
+    return;
+  }
+  const int source_index = std::clamp(state->active_tab_index, 0, static_cast<int>(layout->tabs.size()) - 1);
+  WorkspaceTab copy = layout->tabs[static_cast<size_t>(source_index)];
+  copy.tab_name = next_tab_name(*layout, copy.tab_name + " copy");
+  layout->tabs.push_back(std::move(copy));
+  const int active_pane_index = source_index < static_cast<int>(state->tabs.size()) ? state->tabs[static_cast<size_t>(source_index)].active_pane_index : 0;
+  state->tabs.push_back(TabUiState{.dock_needs_build = true, .active_pane_index = active_pane_index, .runtime_id = state->next_tab_runtime_id++});
+  request_tab_selection(state, static_cast<int>(layout->tabs.size()) - 1);
+  state->status_text = "Duplicated tab";
+}
+
+void close_runtime_tab(SketchLayout *layout, UiState *state) {
+  if (layout->tabs.empty()) {
+    return;
+  }
+  const int tab_index = std::clamp(state->active_tab_index, 0, static_cast<int>(layout->tabs.size()) - 1);
+  if (layout->tabs.size() == 1) {
+    layout->tabs[0] = make_empty_tab(layout->tabs[0].tab_name.empty() ? "tab1" : layout->tabs[0].tab_name);
+    if (state->tabs.empty()) {
+      state->tabs.push_back(TabUiState{.dock_needs_build = true, .active_pane_index = 0});
+    } else {
+      state->tabs.resize(1);
+      state->tabs[0] = TabUiState{
+        .dock_needs_build = true,
+        .active_pane_index = 0,
+        .runtime_id = state->tabs[0].runtime_id == 0 ? state->next_tab_runtime_id++ : state->tabs[0].runtime_id,
+      };
+    }
+    state->active_tab_index = 0;
+    state->requested_tab_index = 0;
+    layout->current_tab_index = 0;
+    cancel_rename_tab(state);
+    state->status_text = "Closed tab";
+    return;
+  }
+  layout->tabs.erase(layout->tabs.begin() + static_cast<std::ptrdiff_t>(tab_index));
+  if (tab_index < static_cast<int>(state->tabs.size())) {
+    state->tabs.erase(state->tabs.begin() + static_cast<std::ptrdiff_t>(tab_index));
+  }
+  if (state->active_tab_index >= static_cast<int>(layout->tabs.size())) {
+    state->active_tab_index = static_cast<int>(layout->tabs.size()) - 1;
+  }
+  sync_ui_state(state, *layout);
+  state->requested_tab_index = state->active_tab_index;
+  state->status_text = "Closed tab";
+}
+
+void rename_runtime_tab(SketchLayout *layout, UiState *state) {
+  if (state->rename_tab_index < 0 || state->rename_tab_index >= static_cast<int>(layout->tabs.size())) {
+    return;
+  }
+  layout->tabs[static_cast<size_t>(state->rename_tab_index)].tab_name = state->rename_tab_buffer;
+  state->status_text = "Renamed tab";
+  layout->current_tab_index = state->rename_tab_index;
+  cancel_rename_tab(state);
+}
+
+void draw_inline_tab_editor(AppSession *session, UiState *state, const ImRect &tab_rect) {
+  const int rename_tab_index = state->rename_tab_index;
+  if (rename_tab_index < 0 || rename_tab_index >= static_cast<int>(session->layout.tabs.size())) {
+    return;
+  }
+
+  const float width = std::max(48.0f, tab_rect.Max.x - tab_rect.Min.x - 10.0f);
+  const ImVec2 pos = ImVec2(tab_rect.Min.x + 5.0f, tab_rect.Min.y + 2.0f);
+  ImGui::SetCursorScreenPos(pos);
+  ImGui::PushItemWidth(width);
+  ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(4.0f, 2.0f));
+  if (state->focus_rename_tab_input) {
+    ImGui::SetKeyboardFocusHere();
+    state->focus_rename_tab_input = false;
+  }
+  const bool submitted = input_text_string("##rename_tab_inline",
+                                           &state->rename_tab_buffer,
+                                           ImGuiInputTextFlags_AutoSelectAll | ImGuiInputTextFlags_EnterReturnsTrue);
+  const bool active = ImGui::IsItemActive();
+  const bool escape = active && ImGui::IsKeyPressed(ImGuiKey_Escape);
+  const bool deactivated = ImGui::IsItemDeactivated();
+  ImGui::PopStyleVar();
+  ImGui::PopItemWidth();
+
+  if (escape) {
+    cancel_rename_tab(state);
+  } else if (submitted || deactivated) {
+    const SketchLayout before_layout = session->layout;
+    rename_runtime_tab(&session->layout, state);
+    state->undo.push(before_layout);
+    mark_layout_dirty(session, state);
+  }
+}
+
+
+std::optional<PaneDropAction> draw_pane_drop_target(int tab_index, int pane_index, const Pane &target_pane) {
+  if (ImGui::GetDragDropPayload() == nullptr) return std::nullopt;
+
+  const ImVec2 window_pos = ImGui::GetWindowPos();
+  const ImVec2 content_min = ImGui::GetWindowContentRegionMin();
+  const ImVec2 content_max = ImGui::GetWindowContentRegionMax();
+  ImRect content_rect(ImVec2(window_pos.x + content_min.x, window_pos.y + content_min.y),
+                      ImVec2(window_pos.x + content_max.x, window_pos.y + content_max.y));
+  content_rect.Expand(ImVec2(-6.0f, -6.0f));
+  if (content_rect.GetWidth() < 60.0f || content_rect.GetHeight() < 60.0f) {
+    return std::nullopt;
+  }
+
+  const float edge_w = std::min(90.0f, content_rect.GetWidth() * 0.24f);
+  const float edge_h = std::min(72.0f, content_rect.GetHeight() * 0.24f);
+  struct ZoneRect {
+    PaneDropZone zone;
+    ImRect rect;
+  };
+  const std::array<ZoneRect, 5> zones = {{
+    {PaneDropZone::Left, ImRect(content_rect.Min, ImVec2(content_rect.Min.x + edge_w, content_rect.Max.y))},
+    {PaneDropZone::Right, ImRect(ImVec2(content_rect.Max.x - edge_w, content_rect.Min.y), content_rect.Max)},
+    {PaneDropZone::Top, ImRect(content_rect.Min, ImVec2(content_rect.Max.x, content_rect.Min.y + edge_h))},
+    {PaneDropZone::Bottom, ImRect(ImVec2(content_rect.Min.x, content_rect.Max.y - edge_h), content_rect.Max)},
+    {PaneDropZone::Center, ImRect(ImVec2(content_rect.Min.x + edge_w, content_rect.Min.y + edge_h),
+                                  ImVec2(content_rect.Max.x - edge_w, content_rect.Max.y - edge_h))},
+  }};
+
+  ImDrawList *draw_list = ImGui::GetWindowDrawList();
+  for (const ZoneRect &zone : zones) {
+    if (zone.rect.GetWidth() <= 0.0f || zone.rect.GetHeight() <= 0.0f) {
+      continue;
+    }
+
+    ImGui::PushID(static_cast<int>(zone.zone) * 1000 + pane_index + tab_index * 100);
+    ImGui::SetCursorScreenPos(zone.rect.Min);
+    ImGui::InvisibleButton("##drop_zone", zone.rect.GetSize());
+    if (ImGui::BeginDragDropTarget()) {
+      auto try_accept = [&](const char *type) -> const ImGuiPayload * {
+        const ImGuiPayload *p = ImGui::AcceptDragDropPayload(type, ImGuiDragDropFlags_AcceptBeforeDelivery);
+        if (p && p->Preview) {
+          draw_list->AddRectFilled(zone.rect.Min, zone.rect.Max, IM_COL32(70, 130, 220, 55));
+          draw_list->AddRect(zone.rect.Min, zone.rect.Max, IM_COL32(45, 95, 175, 220), 0.0f, 0, 2.0f);
+        }
+        return p;
+      };
+      auto deliver = [&](PaneDropAction action) -> std::optional<PaneDropAction> {
+        action.zone = zone.zone;
+        action.target_pane_index = pane_index;
+        ImGui::EndDragDropTarget();
+        ImGui::PopID();
+        return action;
+      };
+      if (const ImGuiPayload *p = try_accept("JOTP_BROWSER_PATHS"); p && p->Delivery) {
+        if (zone.zone != PaneDropZone::Center || target_pane.kind == PaneKind::Plot) {
+          PaneDropAction action;
+          action.from_browser = true;
+          action.browser_paths = decode_browser_drag_payload(static_cast<const char *>(p->Data));
+          return deliver(std::move(action));
+        }
+      }
+      if (zone.zone != PaneDropZone::Center || (target_pane.kind == PaneKind::Plot && target_pane.curves.empty()) || pane_kind_is_special(target_pane.kind)) {
+        if (const ImGuiPayload *p = try_accept("JOTP_SPECIAL_ITEM"); p && p->Delivery) {
+          PaneDropAction action;
+          action.special_item_id = static_cast<const char *>(p->Data);
+          return deliver(std::move(action));
+        }
+      }
+      if (const ImGuiPayload *p = try_accept("JOTP_PANE_CURVE"); p && p->Delivery) {
+        if (zone.zone != PaneDropZone::Center || target_pane.kind == PaneKind::Plot) {
+          PaneDropAction action;
+          action.curve_ref = *static_cast<const PaneCurveDragPayload *>(p->Data);
+          return deliver(std::move(action));
+        }
+      }
+      ImGui::EndDragDropTarget();
+    }
+    ImGui::PopID();
+  }
+  return std::nullopt;
+}
+
+bool commit_tab_layout_change(AppSession *session,
+                              UiState *state,
+                              WorkspaceTab *tab,
+                              TabUiState *tab_state,
+                              const SketchLayout &before_layout,
+                              std::string_view status_text,
+                              bool dock_changed) {
+  if (dock_changed) {
+    mark_tab_dock_dirty(state, state->active_tab_index);
+  }
+  resize_tab_pane_state(tab_state, tab->panes.size());
+  state->undo.push(before_layout);
+  if (mark_layout_dirty(session, state)) {
+    state->status_text = std::string(status_text);
+  }
+  return true;
+}
+
+bool apply_pane_menu_action(AppSession *session, UiState *state, int pane_index,
+                            const PaneMenuAction &action) {
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  TabUiState *tab_state = app_active_tab_state(state);
+  if (tab == nullptr || tab_state == nullptr) return false;
+
+  const int original_pane_count = static_cast<int>(tab->panes.size());
+  const SketchLayout before_layout = session->layout;
+  bool dock_changed = false;
+  bool layout_changed = false;
+  std::string_view success_status = "Workspace updated";
+  switch (action.kind) {
+    case PaneMenuActionKind::OpenAxisLimits:
+      tab_state->active_pane_index = pane_index;
+      open_axis_limits_editor(*session, state, pane_index);
+      state->status_text = "Axis limits editor opened";
+      return true;
+    case PaneMenuActionKind::OpenCustomSeries:
+      tab_state->active_pane_index = pane_index;
+      open_custom_series_editor(state, preferred_custom_series_source(tab->panes[static_cast<size_t>(pane_index)]));
+      state->status_text = "Custom series editor opened";
+      return true;
+    case PaneMenuActionKind::SplitLeft:
+    case PaneMenuActionKind::SplitRight:
+    case PaneMenuActionKind::SplitTop:
+    case PaneMenuActionKind::SplitBottom: {
+      constexpr PaneDropZone kZones[] = {PaneDropZone::Left, PaneDropZone::Right, PaneDropZone::Top, PaneDropZone::Bottom};
+      const auto zone = kZones[static_cast<int>(action.kind) - static_cast<int>(PaneMenuActionKind::SplitLeft)];
+      if (split_pane(tab, pane_index, zone)) {
+        tab_state->active_pane_index = static_cast<int>(tab->panes.size()) - 1;
+        dock_changed = true;
+        layout_changed = true;
+      }
+      break;
+    }
+    case PaneMenuActionKind::ResetView:
+      reset_shared_range(state, *session);
+      state->follow_latest = session->data_mode == SessionDataMode::Stream;
+      state->suppress_range_side_effects = true;
+      clamp_shared_range(state, *session);
+      persist_shared_range_to_tab(tab, *state);
+      clear_pane_vertical_limits(&tab->panes[static_cast<size_t>(pane_index)]);
+      layout_changed = true;
+      success_status = "Plot view reset";
+      break;
+    case PaneMenuActionKind::ResetHorizontal:
+      reset_shared_range(state, *session);
+      state->follow_latest = session->data_mode == SessionDataMode::Stream;
+      state->suppress_range_side_effects = true;
+      clamp_shared_range(state, *session);
+      persist_shared_range_to_tab(tab, *state);
+      layout_changed = true;
+      success_status = "Horizontal zoom reset";
+      break;
+    case PaneMenuActionKind::ResetVertical:
+      clear_pane_vertical_limits(&tab->panes[static_cast<size_t>(pane_index)]);
+      layout_changed = true;
+      success_status = "Vertical zoom reset";
+      break;
+    case PaneMenuActionKind::Clear:
+      clear_pane(tab, pane_index);
+      tab_state->active_pane_index = pane_index;
+      layout_changed = true;
+      break;
+    case PaneMenuActionKind::Close:
+      if (close_pane(tab, pane_index)) {
+        tab_state->active_pane_index = std::clamp(pane_index, 0, static_cast<int>(tab->panes.size()) - 1);
+        layout_changed = true;
+        dock_changed = static_cast<int>(tab->panes.size()) != original_pane_count;
+      }
+      break;
+    case PaneMenuActionKind::None:
+      return false;
+  }
+
+  if (!layout_changed) {
+    return false;
+  }
+  return commit_tab_layout_change(session, state, tab, tab_state, before_layout, success_status, dock_changed);
+}
+
+bool apply_pane_drop_action(AppSession *session, UiState *state, const PaneDropAction &action) {
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  TabUiState *tab_state = app_active_tab_state(state);
+  if (tab == nullptr || tab_state == nullptr) return false;
+
+  if (!action.special_item_id.empty()) {
+    const SpecialItemSpec *spec = special_item_spec(action.special_item_id);
+    if (spec == nullptr) {
+      return false;
+    }
+    if (action.zone == PaneDropZone::Center) {
+      if (action.target_pane_index < 0 || action.target_pane_index >= static_cast<int>(tab->panes.size())) {
+        return false;
+      }
+      if (!((tab->panes[static_cast<size_t>(action.target_pane_index)].kind == PaneKind::Plot
+             && tab->panes[static_cast<size_t>(action.target_pane_index)].curves.empty())
+             || pane_kind_is_special(tab->panes[static_cast<size_t>(action.target_pane_index)].kind))) {
+        state->status_text = std::string(special_item_label(action.special_item_id)) + " can only replace another special pane or use an empty pane";
+        return false;
+      }
+      const SketchLayout before_layout = session->layout;
+      const bool changed = apply_special_item_to_pane(tab, tab_state, action.target_pane_index, spec->id);
+      if (!changed) {
+        state->status_text = std::string(special_item_label(action.special_item_id)) + " already shown in pane";
+        return false;
+      }
+      return commit_tab_layout_change(session, state, tab, tab_state, before_layout,
+                                      std::string(special_item_label(action.special_item_id)) + " added to pane",
+                                      false);
+    }
+    const SketchLayout before_layout = session->layout;
+    if (split_pane(tab, action.target_pane_index, action.zone)) {
+      tab_state->active_pane_index = static_cast<int>(tab->panes.size()) - 1;
+      const bool changed = apply_special_item_to_pane(tab, tab_state, tab_state->active_pane_index, spec->id);
+      if (!changed) {
+        return false;
+      }
+      return commit_tab_layout_change(session, state, tab, tab_state, before_layout,
+                                      "Split pane and added " + std::string(special_item_label(action.special_item_id)),
+                                      true);
+    }
+    return false;
+  }
+
+  if (action.from_browser) {
+    if (action.browser_paths.empty()) return false;
+    if (action.zone == PaneDropZone::Center) {
+      const int inserted_count = add_path_curves_to_pane(session, state, action.target_pane_index, action.browser_paths);
+      if (inserted_count > 0) {
+        tab_state->active_pane_index = action.target_pane_index;
+      }
+      return inserted_count > 0;
+    }
+    const SketchLayout before_layout = session->layout;
+    if (split_pane(tab, action.target_pane_index, action.zone)) {
+      tab_state->active_pane_index = static_cast<int>(tab->panes.size()) - 1;
+      int inserted_count = 0;
+      for (const std::string &path : action.browser_paths) {
+        if (app_find_route_series(*session, path) == nullptr) continue;
+        if (add_curve_to_pane(tab, tab_state->active_pane_index,
+                              make_curve_for_path(tab->panes[static_cast<size_t>(tab_state->active_pane_index)], path))) {
+          ++inserted_count;
+        }
+      }
+      if (inserted_count > 0) {
+        return commit_tab_layout_change(session, state, tab, tab_state, before_layout,
+                                        inserted_count == 1
+                                          ? "Split pane and added " + action.browser_paths.front()
+                                          : "Split pane and added " + std::to_string(inserted_count) + " curves",
+                                        true);
+      }
+      return false;
+    }
+    return false;
+  }
+
+  if (action.curve_ref.tab_index < 0
+      || action.curve_ref.tab_index >= static_cast<int>(session->layout.tabs.size())) {
+    return false;
+  }
+  WorkspaceTab &source_tab = session->layout.tabs[static_cast<size_t>(action.curve_ref.tab_index)];
+  if (action.curve_ref.pane_index < 0
+      || action.curve_ref.pane_index >= static_cast<int>(source_tab.panes.size())) {
+    return false;
+  }
+  const Pane &source_pane = source_tab.panes[static_cast<size_t>(action.curve_ref.pane_index)];
+  if (action.curve_ref.curve_index < 0
+      || action.curve_ref.curve_index >= static_cast<int>(source_pane.curves.size())) {
+    return false;
+  }
+  const Curve curve = source_pane.curves[static_cast<size_t>(action.curve_ref.curve_index)];
+
+  if (action.zone == PaneDropZone::Center) {
+    const SketchLayout before_layout = session->layout;
+    const bool inserted = add_curve_to_pane(tab, action.target_pane_index, curve);
+    tab_state->active_pane_index = action.target_pane_index;
+    if (inserted) {
+      state->undo.push(before_layout);
+      if (mark_layout_dirty(session, state)) {
+        state->status_text = "Added " + app_curve_display_name(curve);
+      }
+    } else {
+      state->status_text = "Curve already present";
+    }
+    return true;
+  }
+  const SketchLayout before_layout = session->layout;
+  if (split_pane(tab, action.target_pane_index, action.zone, curve)) {
+    tab_state->active_pane_index = static_cast<int>(tab->panes.size()) - 1;
+    return commit_tab_layout_change(session, state, tab, tab_state, before_layout,
+                                    "Split pane and added " + app_curve_display_name(curve),
+                                    true);
+  }
+  return false;
+}
+
+ImGuiDir dock_direction(SplitOrientation orientation) {
+  return orientation == SplitOrientation::Horizontal ? ImGuiDir_Left : ImGuiDir_Up;
+}
+
+void build_dock_tree(const WorkspaceNode &node, const WorkspaceTab &tab, int tab_runtime_id, ImGuiID dock_id) {
+  if (node.is_pane) {
+    if (node.pane_index >= 0 && node.pane_index < static_cast<int>(tab.panes.size())) {
+      ImGui::DockBuilderDockWindow(
+        pane_window_name(tab_runtime_id, node.pane_index, tab.panes[static_cast<size_t>(node.pane_index)]).c_str(),
+        dock_id);
+      if (ImGuiDockNode *dock_node = ImGui::DockBuilderGetNode(dock_id); dock_node != nullptr) {
+        dock_node->LocalFlags |= ImGuiDockNodeFlags_AutoHideTabBar |
+                                 ImGuiDockNodeFlags_NoWindowMenuButton |
+                                 ImGuiDockNodeFlags_NoCloseButton;
+      }
+    }
+    return;
+  }
+  if (node.children.empty()) {
+    return;
+  }
+  if (node.children.size() == 1) {
+    build_dock_tree(node.children.front(), tab, tab_runtime_id, dock_id);
+    return;
+  }
+
+  float remaining = 1.0f;
+  ImGuiID current = dock_id;
+  for (size_t i = 0; i + 1 < node.children.size(); ++i) {
+    const float child_size = i < node.sizes.size() ? node.sizes[i] : 0.0f;
+    const float ratio = remaining <= 0.0f ? 0.5f : std::clamp(child_size / remaining, 0.05f, 0.95f);
+    ImGuiID child_id = 0;
+    ImGuiID remainder_id = 0;
+    ImGui::DockBuilderSplitNode(current, dock_direction(node.orientation), ratio, &child_id, &remainder_id);
+    build_dock_tree(node.children[i], tab, tab_runtime_id, child_id);
+    current = remainder_id;
+    remaining = std::max(0.0f, remaining - child_size);
+  }
+  build_dock_tree(node.children.back(), tab, tab_runtime_id, current);
+}
+
+void ensure_dockspace(const WorkspaceTab &tab, TabUiState *tab_state, ImVec2 dockspace_size) {
+  if (dockspace_size.x <= 0.0f || dockspace_size.y <= 0.0f || tab_state == nullptr) {
+    return;
+  }
+  const bool size_changed = std::abs(tab_state->last_dockspace_size.x - dockspace_size.x) > 1.0f
+                         || std::abs(tab_state->last_dockspace_size.y - dockspace_size.y) > 1.0f;
+  if (!tab_state->dock_needs_build && !size_changed) {
+    return;
+  }
+
+  const ImGuiID dockspace_id = dockspace_id_for_tab(tab_state->runtime_id);
+  ImGui::DockBuilderRemoveNode(dockspace_id);
+  ImGui::DockBuilderAddNode(dockspace_id, ImGuiDockNodeFlags_DockSpace | ImGuiDockNodeFlags_AutoHideTabBar);
+  ImGui::DockBuilderSetNodeSize(dockspace_id, dockspace_size);
+  build_dock_tree(tab.root, tab, tab_state->runtime_id, dockspace_id);
+  ImGui::DockBuilderFinish(dockspace_id);
+  tab_state->dock_needs_build = false;
+  tab_state->last_dockspace_size = dockspace_size;
+}
+
+void draw_pane_windows(AppSession *session, UiState *state) {
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  TabUiState *tab_state = app_active_tab_state(state);
+  if (tab == nullptr || tab_state == nullptr) {
+    return;
+  }
+
+  std::optional<std::pair<int, PaneMenuAction>> pending_menu_action;
+  std::optional<int> pending_close_pane;
+  std::optional<PaneDropAction> pending_drop_action;
+
+  for (size_t i = 0; i < tab->panes.size(); ++i) {
+    Pane &pane = tab->panes[i];
+    std::optional<PaneMenuAction> menu_action;
+    std::optional<PaneDropAction> drop_action;
+    bool close_pane_requested = false;
+    ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(2.0f, 2.0f));
+    ImGui::PushStyleColor(ImGuiCol_WindowBg, color_rgb(250, 250, 251));
+    ImGui::PushStyleColor(ImGuiCol_Border, color_rgb(194, 198, 204));
+    ImGui::PushStyleColor(ImGuiCol_TitleBg, color_rgb(252, 252, 253));
+    ImGui::PushStyleColor(ImGuiCol_TitleBgActive, color_rgb(252, 252, 253));
+    ImGui::PushStyleColor(ImGuiCol_TitleBgCollapsed, color_rgb(252, 252, 253));
+    const ImGuiWindowFlags flags = ImGuiWindowFlags_NoCollapse;
+    const std::string window_name = pane_window_name(tab_state->runtime_id, static_cast<int>(i), pane);
+    const bool opened = ImGui::Begin(window_name.c_str(), nullptr, flags);
+    if (opened) {
+      if (ImGui::IsWindowFocused(ImGuiFocusedFlags_RootAndChildWindows)
+          || (ImGui::IsWindowHovered(ImGuiHoveredFlags_RootAndChildWindows) && ImGui::IsMouseClicked(0))) {
+        tab_state->active_pane_index = static_cast<int>(i);
+      }
+      if (pane.kind == PaneKind::Map) {
+        draw_map_pane(session, state, &pane, static_cast<int>(i));
+      } else if (pane.kind == PaneKind::Camera) {
+        draw_camera_pane(session, state, tab_state, static_cast<int>(i), pane);
+      } else {
+        draw_plot(*session, &pane, state);
+      }
+      draw_pane_frame_overlay();
+      close_pane_requested = draw_pane_close_button_overlay();
+      menu_action = draw_pane_context_menu(*tab, static_cast<int>(i));
+      drop_action = draw_pane_drop_target(state->active_tab_index, static_cast<int>(i), pane);
+    }
+    ImGui::End();
+    ImGui::PopStyleVar();
+    ImGui::PopStyleColor(5);
+    if (!pending_menu_action.has_value() && menu_action.has_value()) {
+      pending_menu_action = std::make_pair(static_cast<int>(i), *menu_action);
+    }
+    if (!pending_menu_action.has_value() && !pending_close_pane.has_value() && close_pane_requested) {
+      pending_close_pane = static_cast<int>(i);
+    }
+    if (!pending_menu_action.has_value() && !pending_close_pane.has_value()
+        && !pending_drop_action.has_value() && drop_action.has_value()) {
+      pending_drop_action = *drop_action;
+    }
+  }
+
+  if (pending_menu_action.has_value()) {
+    apply_pane_menu_action(session, state, pending_menu_action->first, pending_menu_action->second);
+    return;
+  }
+  if (pending_close_pane.has_value()) {
+    PaneMenuAction action;
+    action.kind = PaneMenuActionKind::Close;
+    action.pane_index = *pending_close_pane;
+    apply_pane_menu_action(session, state, *pending_close_pane, action);
+    return;
+  }
+  if (pending_drop_action.has_value()) {
+    apply_pane_drop_action(session, state, *pending_drop_action);
+  }
+}
+
+void draw_workspace(AppSession *session, const UiMetrics &ui, UiState *state) {
+  state->custom_series.selected = false;
+  state->logs.selected = false;
+  ImGui::SetNextWindowPos(ImVec2(ui.content_x, ui.content_y));
+  ImGui::SetNextWindowSize(ImVec2(ui.content_w, ui.content_h));
+  ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(0.0f, 0.0f));
+  ImGui::PushStyleColor(ImGuiCol_WindowBg, color_rgb(244, 246, 248));
+  ImGui::PushStyleColor(ImGuiCol_Border, color_rgb(186, 191, 198));
+  const ImGuiWindowFlags flags = ImGuiWindowFlags_NoDecoration |
+                                 ImGuiWindowFlags_NoMove |
+                                 ImGuiWindowFlags_NoResize |
+                                 ImGuiWindowFlags_NoSavedSettings |
+                                 ImGuiWindowFlags_NoScrollbar |
+                                 ImGuiWindowFlags_NoScrollWithMouse;
+  if (ImGui::Begin("##workspace_host", nullptr, flags)) {
+    const int selection_request = state->requested_tab_index;
+    std::optional<ImRect> rename_tab_rect;
+    ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(10.0f, 6.0f));
+    ImGui::PushStyleVar(ImGuiStyleVar_ItemInnerSpacing, ImVec2(8.0f, 4.0f));
+    ImGui::PushStyleColor(ImGuiCol_Button, ImVec4(0.0f, 0.0f, 0.0f, 0.0f));
+    ImGui::PushStyleColor(ImGuiCol_ButtonHovered, ImVec4(0.0f, 0.0f, 0.0f, 0.0f));
+    ImGui::PushStyleColor(ImGuiCol_ButtonActive, ImVec4(0.0f, 0.0f, 0.0f, 0.0f));
+    if (ImGui::BeginTabBar("##layout_tabs", ImGuiTabBarFlags_FittingPolicyScroll)) {
+      enum class TabActionKind {
+        None,
+        New,
+        Rename,
+        Duplicate,
+        Close,
+      };
+      TabActionKind pending_action = TabActionKind::None;
+      int pending_tab_index = -1;
+      bool custom_series_tab_open = state->custom_series.open;
+      bool suppress_aux_tabs_this_frame = state->request_close_tab && session->layout.tabs.size() == 1;
+      for (size_t i = 0; i < session->layout.tabs.size(); ++i) {
+        const WorkspaceTab &tab = session->layout.tabs[i];
+        const TabUiState &tab_ui = state->tabs[i];
+        ImGuiTabItemFlags tab_flags = ImGuiTabItemFlags_None;
+        if (static_cast<int>(i) == selection_request) {
+          tab_flags |= ImGuiTabItemFlags_SetSelected;
+        }
+        bool tab_open = true;
+        const bool opened = ImGui::BeginTabItem(tab_item_label(tab, tab_ui.runtime_id).c_str(), &tab_open, tab_flags);
+        if (state->rename_tab_index == static_cast<int>(i)) {
+          rename_tab_rect = ImRect(ImGui::GetItemRectMin(), ImGui::GetItemRectMax());
+        }
+        if (ImGui::IsItemHovered() && ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Left)) {
+          pending_action = TabActionKind::Rename;
+          pending_tab_index = static_cast<int>(i);
+        }
+        if (!tab_open) {
+          pending_action = TabActionKind::Close;
+          pending_tab_index = static_cast<int>(i);
+          if (session->layout.tabs.size() == 1) {
+            suppress_aux_tabs_this_frame = true;
+          }
+        }
+        if (ImGui::BeginPopupContextItem()) {
+          if (ImGui::MenuItem("New Tab")) {
+            pending_action = TabActionKind::New;
+          }
+          if (ImGui::MenuItem("Rename Tab...")) {
+            pending_action = TabActionKind::Rename;
+            pending_tab_index = static_cast<int>(i);
+          }
+          if (ImGui::MenuItem("Duplicate Tab")) {
+            pending_action = TabActionKind::Duplicate;
+            pending_tab_index = static_cast<int>(i);
+          }
+          if (ImGui::MenuItem("Close Tab")) {
+            pending_action = TabActionKind::Close;
+            pending_tab_index = static_cast<int>(i);
+          }
+          ImGui::EndPopup();
+        }
+        if (opened) {
+          state->active_tab_index = static_cast<int>(i);
+          session->layout.current_tab_index = state->active_tab_index;
+          if (i < state->tabs.size()) {
+            ensure_dockspace(tab, &state->tabs[i], ImGui::GetContentRegionAvail());
+          }
+          ImGui::DockSpace(dockspace_id_for_tab(tab_ui.runtime_id),
+                           ImVec2(0.0f, 0.0f),
+                           ImGuiDockNodeFlags_AutoHideTabBar |
+                             ImGuiDockNodeFlags_NoWindowMenuButton |
+                             ImGuiDockNodeFlags_NoCloseButton);
+          ImGui::EndTabItem();
+        }
+      }
+      if (!suppress_aux_tabs_this_frame) {
+        ImGuiTabItemFlags logs_flags = ImGuiTabItemFlags_None;
+        if (state->logs.request_select) {
+          logs_flags |= ImGuiTabItemFlags_SetSelected;
+        }
+        if (ImGui::BeginTabItem("Logs##workspace_logs", nullptr, logs_flags)) {
+          state->logs.request_select = false;
+          state->logs.selected = true;
+          draw_logs_tab(session, state);
+          ImGui::EndTabItem();
+        }
+        if (custom_series_tab_open) {
+          ImGuiTabItemFlags custom_flags = ImGuiTabItemFlags_None;
+          if (state->custom_series.request_select) {
+            custom_flags |= ImGuiTabItemFlags_SetSelected;
+          }
+          if (ImGui::BeginTabItem("Custom Series##workspace_custom_series", &custom_series_tab_open, custom_flags)) {
+            state->custom_series.request_select = false;
+            state->custom_series.selected = true;
+            draw_custom_series_editor(session, state);
+            ImGui::EndTabItem();
+          }
+        }
+      }
+      ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(12.0f, 5.0f));
+      ImGui::PushStyleColor(ImGuiCol_Tab, color_rgb(210, 217, 225));
+      ImGui::PushStyleColor(ImGuiCol_TabHovered, color_rgb(224, 230, 237));
+      ImGui::PushStyleColor(ImGuiCol_TabSelected, color_rgb(242, 245, 248));
+      if (ImGui::TabItemButton("   ##new_tab_button", ImGuiTabItemFlags_Trailing)) {
+        pending_action = TabActionKind::New;
+      }
+      {
+        const ImRect rect(ImGui::GetItemRectMin(), ImGui::GetItemRectMax());
+        ImDrawList *draw_list = ImGui::GetWindowDrawList();
+        const ImU32 color = ImGui::GetColorU32(color_rgb(72, 79, 88));
+        const ImVec2 center((rect.Min.x + rect.Max.x) * 0.5f, (rect.Min.y + rect.Max.y) * 0.5f);
+        constexpr float half_extent = 6.25f;
+        constexpr float thickness = 2.0f;
+        draw_list->AddLine(ImVec2(center.x - half_extent, center.y),
+                           ImVec2(center.x + half_extent, center.y),
+                           color,
+                           thickness);
+        draw_list->AddLine(ImVec2(center.x, center.y - half_extent),
+                           ImVec2(center.x, center.y + half_extent),
+                           color,
+                           thickness);
+      }
+      if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayShort)) {
+        ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(8.0f, 6.0f));
+        ImGui::BeginTooltip();
+        ImGui::TextUnformatted("New Tab");
+        ImGui::EndTooltip();
+        ImGui::PopStyleVar();
+      }
+      ImGui::PopStyleColor(3);
+      ImGui::PopStyleVar();
+      ImGui::EndTabBar();
+
+      if (!custom_series_tab_open) {
+        state->custom_series.open = false;
+        state->custom_series.request_select = false;
+      }
+
+      if (rename_tab_rect.has_value()) {
+        draw_inline_tab_editor(session, state, *rename_tab_rect);
+      }
+
+      if (state->request_new_tab || pending_action == TabActionKind::New) {
+        const SketchLayout before_layout = session->layout;
+        create_runtime_tab(&session->layout, state);
+        state->undo.push(before_layout);
+        mark_layout_dirty(session, state);
+        state->request_new_tab = false;
+      } else if (pending_action == TabActionKind::Rename) {
+        begin_rename_tab(session->layout, state, pending_tab_index);
+      } else if (state->request_duplicate_tab || pending_action == TabActionKind::Duplicate) {
+        if (pending_tab_index >= 0) {
+          request_tab_selection(state, pending_tab_index);
+        }
+        const SketchLayout before_layout = session->layout;
+        duplicate_runtime_tab(&session->layout, state);
+        state->undo.push(before_layout);
+        mark_layout_dirty(session, state);
+        state->request_duplicate_tab = false;
+      } else if (state->request_close_tab || pending_action == TabActionKind::Close) {
+        if (pending_tab_index >= 0) {
+          request_tab_selection(state, pending_tab_index);
+        }
+        const SketchLayout before_layout = session->layout;
+        close_runtime_tab(&session->layout, state);
+        state->undo.push(before_layout);
+        mark_layout_dirty(session, state);
+        state->request_close_tab = false;
+      }
+      if (state->requested_tab_index == selection_request) {
+        state->requested_tab_index = -1;
+      }
+    }
+    ImGui::PopStyleColor(3);
+    ImGui::PopStyleVar(2);
+  }
+  ImGui::End();
+  ImGui::PopStyleVar();
+  ImGui::PopStyleColor(2);
+}
+
+int run(const Options &options) {
+  try {
+  const fs::path layout_path = options.layout.empty() ? fs::path() : resolve_layout_path(options.layout);
+  AppSession session = {
+    .layout_path = layout_path,
+    .autosave_path = layout_path.empty() ? fs::path() : autosave_path_for_layout(layout_path),
+    .route_name = options.route_name,
+    .data_dir = options.data_dir,
+    .dbc_override = {},
+    .stream_source = StreamSourceConfig{.kind = is_local_stream_address(options.stream_address)
+                                                 ? StreamSourceKind::CerealLocal
+                                                 : StreamSourceKind::CerealRemote,
+                                        .address = options.stream_address},
+    .stream_buffer_seconds = options.stream_buffer_seconds,
+    .data_mode = options.stream ? SessionDataMode::Stream : SessionDataMode::Route,
+    .route_id = options.stream ? RouteIdentifier{} : parse_route_identifier(options.route_name),
+    .layout = options.layout.empty() ? make_empty_layout() : load_sketch_layout(layout_path),
+  };
+  UiState ui_state;
+  if (!layout_path.empty() && !session.autosave_path.empty() && fs::exists(session.autosave_path)) {
+    session.layout = load_sketch_layout(session.autosave_path);
+    ui_state.layout_dirty = true;
+  }
+  ui_state.undo.reset(session.layout);
+  sync_ui_state(&ui_state, session.layout);
+  sync_route_buffers(&ui_state, session);
+  sync_stream_buffers(&ui_state, session);
+  sync_layout_buffers(&ui_state, session);
+
+  session.async_route_loading = session.data_mode == SessionDataMode::Route
+    && options.show && options.output_path.empty() && !options.sync_load;
+  if (session.data_mode == SessionDataMode::Route && !session.async_route_loading) {
+    TerminalRouteProgress route_progress(::isatty(STDERR_FILENO) != 0);
+    rebuild_session_route_data(&session, &ui_state, [&](const RouteLoadProgress &update) {
+      route_progress.update(update);
+    });
+    route_progress.finish();
+  }
+
+  GlfwRuntime glfw_runtime(options);
+  ImGuiRuntime imgui_runtime(glfw_runtime.window());
+  configure_style();
+  session.map_data = std::make_unique<MapDataManager>();
+  for (std::unique_ptr<CameraFeedView> &feed : session.pane_camera_feeds) {
+    feed = std::make_unique<CameraFeedView>();
+  }
+  sync_camera_feeds(&session);
+
+  if (session.async_route_loading) {
+    session.route_loader = std::make_unique<AsyncRouteLoader>(::isatty(STDERR_FILENO) != 0);
+    start_async_route_load(&session, &ui_state);
+  } else if (session.data_mode == SessionDataMode::Stream) {
+    session.stream_poller = std::make_unique<StreamPoller>();
+    start_stream_session(&session, &ui_state, session.stream_source, session.stream_buffer_seconds);
+  }
+
+  const bool should_capture = !options.output_path.empty();
+  const fs::path output_path = should_capture ? fs::path(options.output_path) : fs::path();
+  const bool capture_has_map = should_capture && active_tab_has_map_pane(session.layout);
+  if (options.show) {
+    bool captured = false;
+    const auto capture_ready_at = std::chrono::steady_clock::now() + (capture_has_map ? std::chrono::milliseconds(1800)
+                                                                                      : std::chrono::milliseconds(0));
+    while (!glfwWindowShouldClose(glfw_runtime.window())) {
+      const bool capture_ready = std::chrono::steady_clock::now() >= capture_ready_at;
+      const fs::path *capture_path = (!captured && should_capture && capture_ready) ? &output_path : nullptr;
+      render_frame(glfw_runtime.window(), &session, &ui_state, capture_path);
+      captured = captured || capture_path != nullptr;
+    }
+  } else {
+    render_frame(glfw_runtime.window(), &session, &ui_state, nullptr);
+    if (should_capture) {
+      for (int i = 0; i < 3; ++i) {
+        render_frame(glfw_runtime.window(), &session, &ui_state, nullptr);
+      }
+      if (capture_has_map) {
+        for (int i = 0; i < 18; ++i) {
+          std::this_thread::sleep_for(std::chrono::milliseconds(100));
+          render_frame(glfw_runtime.window(), &session, &ui_state, nullptr);
+        }
+      }
+      render_frame(glfw_runtime.window(), &session, &ui_state, &output_path);
+    }
+  }
+  if (session.stream_poller) {
+    session.stream_poller->stop();
+  }
+  session.map_data.reset();
+  for (std::unique_ptr<CameraFeedView> &feed : session.pane_camera_feeds) {
+    feed.reset();
+  }
+  return 0;
+  } catch (const std::exception &err) {
+    std::cerr << err.what() << "\n";
+    return 1;
+  }
+}
diff --git a/tools/jotpluggler/app.h b/tools/jotpluggler/app.h
new file mode 100644
index 00000000000000..71f71f2d9f375b
--- /dev/null
+++ b/tools/jotpluggler/app.h
@@ -0,0 +1,884 @@
+#pragma once
+
+#include "cereal/gen/cpp/log.capnp.h"
+#include "imgui.h"
+#include "tools/jotpluggler/dbc.h"
+#include "tools/jotpluggler/util.h"
+
+#include <algorithm>
+#include <array>
+#include <atomic>
+#include <cstdint>
+#include <filesystem>
+#include <future>
+#include <functional>
+#include <memory>
+#include <optional>
+#include <string>
+#include <string_view>
+#include <unordered_map>
+#include <vector>
+
+// *****
+// app options & entry point
+// *****
+
+struct Options {
+  std::string layout;
+  std::string route_name;
+  std::string data_dir;
+  std::string output_path;
+  std::string stream_address = "127.0.0.1";
+  int width = 1600;
+  int height = 900;
+  bool show = false;
+  bool sync_load = false;
+  bool stream = false;
+  double stream_buffer_seconds = 30.0;
+};
+
+int run(const Options &options);
+
+// *****
+// sketch layout & route data
+// *****
+
+struct PlotRange {
+  bool valid = false;
+  double left = 0.0;
+  double right = 0.0;
+  double bottom = 0.0;
+  double top = 1.0;
+  bool has_y_limit_min = false;
+  bool has_y_limit_max = false;
+  double y_limit_min = 0.0;
+  double y_limit_max = 1.0;
+};
+
+struct CustomPythonSeries {
+  std::string linked_source;
+  std::vector<std::string> additional_sources;
+  std::string globals_code;
+  std::string function_code;
+};
+
+struct Curve {
+  std::string name;
+  std::string label;
+  std::array<uint8_t, 3> color = {160, 170, 180};
+  bool visible = true;
+  bool derivative = false;
+  double derivative_dt = 0.0;
+  double value_scale = 1.0;
+  double value_offset = 0.0;
+  bool runtime_only = false;
+  std::optional<CustomPythonSeries> custom_python;
+  std::string runtime_error_message;
+  std::vector<double> xs;
+  std::vector<double> ys;
+};
+
+enum class PaneKind : uint8_t {
+  Plot,
+  Map,
+  Camera,
+};
+
+enum class CameraViewKind : uint8_t {
+  Road,
+  Driver,
+  WideRoad,
+  QRoad,
+};
+
+struct Pane {
+  PaneKind kind = PaneKind::Plot;
+  CameraViewKind camera_view = CameraViewKind::Road;
+  std::string title;
+  PlotRange range;
+  std::vector<Curve> curves;
+};
+
+enum class SplitOrientation {
+  Horizontal,
+  Vertical,
+};
+
+struct WorkspaceNode {
+  bool is_pane = false;
+  int pane_index = -1;
+  SplitOrientation orientation = SplitOrientation::Horizontal;
+  std::vector<float> sizes;
+  std::vector<WorkspaceNode> children;
+};
+
+struct WorkspaceTab {
+  std::string tab_name;
+  WorkspaceNode root;
+  std::vector<Pane> panes;
+};
+
+struct RouteSeries {
+  std::string path;
+  std::vector<double> times;
+  std::vector<double> values;
+};
+
+struct CameraSegmentFile {
+  int segment = -1;
+  std::string path;
+};
+
+struct CameraFrameIndexEntry {
+  double timestamp = 0.0;
+  int segment = -1;
+  int decode_index = -1;
+  uint32_t frame_id = 0;
+};
+
+struct CameraFeedIndex {
+  std::vector<CameraSegmentFile> segment_files;
+  std::vector<CameraFrameIndexEntry> entries;
+};
+
+enum class LogOrigin : uint8_t {
+  Log,
+  Android,
+  Alert,
+};
+
+struct LogEntry {
+  double mono_time = 0.0;
+  double boot_time = 0.0;
+  double wall_time = 0.0;
+  uint8_t level = 20;
+  std::string source;
+  std::string func;
+  std::string message;
+  std::string context;
+  LogOrigin origin = LogOrigin::Log;
+};
+
+struct EnumInfo {
+  std::vector<std::string> names;
+};
+
+struct SeriesFormat {
+  int decimals = 3;
+  bool integer_like = false;
+  bool has_negative = false;
+  int digits_before = 1;
+  int total_width = 0;
+  char fmt[16] = "%7.3f";
+};
+
+enum class CanServiceKind : uint8_t {
+  Can,
+  Sendcan,
+};
+
+struct CanMessageId {
+  CanServiceKind service = CanServiceKind::Can;
+  uint8_t bus = 0;
+  uint32_t address = 0;
+
+  bool operator==(const CanMessageId &other) const {
+    return service == other.service && bus == other.bus && address == other.address;
+  }
+};
+
+struct CanMessageIdHash {
+  size_t operator()(const CanMessageId &id) const {
+    return (static_cast<size_t>(id.service) << 40)
+         ^ (static_cast<size_t>(id.bus) << 32)
+         ^ static_cast<size_t>(id.address);
+  }
+};
+
+struct CanFrameSample {
+  double mono_time = 0.0;
+  uint16_t bus_time = 0;
+  std::string data;
+};
+
+struct LiveCanFrame {
+  double mono_time = 0.0;
+  uint8_t bus = 0;
+  uint32_t address = 0;
+  uint16_t bus_time = 0;
+  std::string data;
+};
+
+struct CanMessageData {
+  CanMessageId id;
+  std::vector<CanFrameSample> samples;
+};
+
+struct TimelineEntry {
+  enum class Type : uint8_t {
+    None,
+    Engaged,
+    AlertInfo,
+    AlertWarning,
+    AlertCritical,
+  };
+
+  double start_time = 0.0;
+  double end_time = 0.0;
+  Type type = Type::None;
+};
+
+struct GpsPoint {
+  double time = 0.0;
+  double lat = 0.0;
+  double lon = 0.0;
+  float bearing = 0.0f;
+  TimelineEntry::Type type = TimelineEntry::Type::None;
+};
+
+struct GpsTrace {
+  std::vector<GpsPoint> points;
+  double min_lat = 0.0;
+  double max_lat = 0.0;
+  double min_lon = 0.0;
+  double max_lon = 0.0;
+};
+
+enum class LogSelector : uint8_t {
+  Auto,
+  RLog,
+  QLog,
+};
+
+struct RouteIdentifier {
+  std::string dongle_id;
+  std::string log_id;
+  int slice_begin = 0;
+  int slice_end = -1;
+  bool slice_explicit = false;
+  LogSelector selector = LogSelector::Auto;
+  bool selector_explicit = false;
+  int available_begin = 0;
+  int available_end = 0;
+
+  bool empty() const {
+    return dongle_id.empty() || log_id.empty();
+  }
+
+  std::string canonical() const {
+    return empty() ? std::string() : dongle_id + "/" + log_id;
+  }
+
+  std::string onebox() const {
+    return empty() ? std::string() : dongle_id + "|" + log_id;
+  }
+
+  std::string display_slice() const {
+    const int begin = slice_explicit ? slice_begin : available_begin;
+    const int end = slice_explicit ? slice_end : available_end;
+    if (end < 0 || end == begin) {
+      return std::to_string(begin);
+    }
+    return std::to_string(begin) + ":" + std::to_string(end);
+  }
+
+  char selector_char() const {
+    switch (selector) {
+      case LogSelector::RLog: return 'r';
+      case LogSelector::QLog: return 'q';
+      case LogSelector::Auto:
+      default: return 'a';
+    }
+  }
+
+  std::string full_spec() const {
+    if (empty()) return {};
+    std::string spec = dongle_id + "/" + log_id;
+    if (slice_explicit) {
+      spec += "/";
+      spec += display_slice();
+    }
+    if (selector_explicit) {
+      spec += "/";
+      spec.push_back(selector_char());
+    }
+    return spec;
+  }
+};
+
+struct RouteData {
+  std::vector<RouteSeries> series;
+  std::vector<std::string> paths;
+  std::vector<std::string> roots;
+  std::vector<CanMessageData> can_messages;
+  CameraFeedIndex road_camera;
+  CameraFeedIndex driver_camera;
+  CameraFeedIndex wide_road_camera;
+  CameraFeedIndex qroad_camera;
+  GpsTrace gps_trace;
+  std::vector<LogEntry> logs;
+  std::vector<TimelineEntry> timeline;
+  std::unordered_map<std::string, EnumInfo> enum_info;
+  std::unordered_map<std::string, SeriesFormat> series_formats;
+  std::string car_fingerprint;
+  std::string dbc_name;
+  RouteIdentifier route_id;
+  bool has_time_range = false;
+  double x_min = 0.0;
+  double x_max = 1.0;
+};
+
+struct StreamExtractBatch {
+  std::vector<RouteSeries> series;
+  std::vector<CanMessageData> can_messages;
+  std::vector<LogEntry> logs;
+  std::vector<TimelineEntry> timeline;
+  std::unordered_map<std::string, EnumInfo> enum_info;
+  std::string car_fingerprint;
+  std::string dbc_name;
+  bool has_time_offset = false;
+  double time_offset = 0.0;
+};
+
+struct SketchLayout {
+  std::vector<WorkspaceTab> tabs;
+  std::vector<std::string> roots;
+  int current_tab_index = 0;
+};
+
+enum class RouteLoadStage {
+  Resolving,
+  DownloadingSegment,
+  ParsingSegment,
+  Finished,
+};
+
+struct RouteLoadProgress {
+  RouteLoadStage stage = RouteLoadStage::Resolving;
+  size_t segment_index = 0;
+  size_t segment_count = 0;
+  uint64_t current = 0;
+  uint64_t total = 0;
+  size_t segments_downloaded = 0;
+  size_t segments_parsed = 0;
+  size_t total_segments = 0;
+  uint64_t bytes_downloaded = 0;
+  int num_workers = 1;
+  std::string segment_name;
+};
+
+using RouteLoadProgressCallback = std::function<void(const RouteLoadProgress &)>;
+
+class StreamAccumulator {
+public:
+  explicit StreamAccumulator(const std::string &dbc_name = {}, std::optional<double> time_offset = std::nullopt);
+  ~StreamAccumulator();
+
+  StreamAccumulator(const StreamAccumulator &) = delete;
+  StreamAccumulator &operator=(const StreamAccumulator &) = delete;
+
+  void setDbcName(const std::string &dbc_name);
+  void appendEvent(cereal::Event::Which which, kj::ArrayPtr<const capnp::word> data);
+  void appendCanFrames(CanServiceKind service, const std::vector<LiveCanFrame> &frames);
+  StreamExtractBatch takeBatch();
+  const std::string &carFingerprint() const;
+  const std::string &dbc_name() const;
+  std::optional<double> timeOffset() const;
+
+private:
+  struct Impl;
+  std::unique_ptr<Impl> impl_;
+};
+
+SketchLayout load_sketch_layout(const std::filesystem::path &layout_path);
+std::vector<std::string> available_dbc_names();
+std::vector<std::string> collect_route_roots_for_paths(const std::vector<std::string> &paths);
+std::optional<dbc::Database> load_dbc_by_name(const std::string &dbc_name);
+std::vector<RouteSeries> decode_can_messages(const std::vector<CanMessageData> &can_messages,
+                                             const std::string &dbc_name,
+                                             std::unordered_map<std::string, EnumInfo> *enum_info = nullptr);
+RouteData load_route_data(const std::string &route_name,
+                          const std::string &data_dir = {},
+                          const std::string &dbc_name = {},
+                          const RouteLoadProgressCallback &progress = {});
+RouteIdentifier parse_route_identifier(std::string_view route_name);
+void rebuild_gps_trace(RouteData *route_data);
+
+// *****
+// icons
+// *****
+
+namespace icon {
+constexpr const char ARROW_DOWN_UP[]         = "\xef\x84\xa7";
+constexpr const char ARROW_LEFT_RIGHT[]      = "\xef\x84\xab";
+constexpr const char BAR_CHART[]             = "\xef\x85\xbe";
+constexpr const char BOX_ARROW_UP_RIGHT[]    = "\xef\x87\x85";
+constexpr const char CLIPBOARD[]             = "\xef\x8a\x90";
+constexpr const char CLIPBOARD2[]            = "\xef\x9c\xb3";
+constexpr const char DISTRIBUTE_HORIZONTAL[] = "\xef\x8c\x83";
+constexpr const char DISTRIBUTE_VERTICAL[]   = "\xef\x8c\x84";
+constexpr const char FILE_EARMARK_IMAGE[]    = "\xef\x8d\xad";
+constexpr const char FILES[]                 = "\xef\x8f\x82";
+constexpr const char INFO_CIRCLE[]           = "\xef\x90\xb1";
+constexpr const char PALETTE[]               = "\xef\x92\xb1";
+constexpr const char PLUS_SLASH_MINUS[]       = "\xef\x9a\xaa";
+constexpr const char SAVE[]                  = "\xef\x94\xa5";
+constexpr const char SLIDERS[]               = "\xef\x95\xab";
+constexpr const char TRASH[]                 = "\xef\x97\x9e";
+constexpr const char X_SQUARE[]              = "\xef\x98\xa9";
+constexpr const char ZOOM_OUT[]              = "\xef\x98\xad";
+}  // namespace icon
+
+void icon_add_font(float size, bool merge = false, const ImFont *base_font = nullptr);
+bool icon_menu_item(const char *glyph,
+                    const char *label,
+                    const char *shortcut = nullptr,
+                    bool selected = false,
+                    bool enabled = true);
+
+// *****
+// app session, UI state, & internal API
+// *****
+
+class AsyncRouteLoader;
+class CameraFeedView;
+class StreamPoller;
+class MapDataManager;
+
+enum class SessionDataMode : uint8_t {
+  Route,
+  Stream,
+};
+
+enum class StreamSourceKind : uint8_t {
+  CerealLocal,
+  CerealRemote,
+};
+
+struct StreamSourceConfig {
+  StreamSourceKind kind = StreamSourceKind::CerealLocal;
+  std::string address = "127.0.0.1";
+};
+
+struct BrowserNode {
+  std::string label;
+  std::string full_path;
+  std::vector<BrowserNode> children;
+};
+
+struct AppSession {
+  std::filesystem::path layout_path;
+  std::filesystem::path autosave_path;
+  std::string route_name;
+  std::string data_dir;
+  std::string dbc_override;
+  StreamSourceConfig stream_source;
+  double stream_buffer_seconds = 30.0;
+  SessionDataMode data_mode = SessionDataMode::Route;
+  RouteIdentifier route_id;
+  SketchLayout layout;
+  RouteData route_data;
+  std::unordered_map<std::string, RouteSeries *> series_by_path;
+  std::vector<BrowserNode> browser_nodes;
+  std::unique_ptr<AsyncRouteLoader> route_loader;
+  std::unique_ptr<StreamPoller> stream_poller;
+  std::array<std::unique_ptr<CameraFeedView>, 4> pane_camera_feeds;
+  std::unique_ptr<MapDataManager> map_data;
+  bool async_route_loading = false;
+  double next_stream_custom_refresh_time = 0.0;
+  bool stream_paused = false;
+  std::optional<double> stream_time_offset;
+};
+
+struct TabUiState {
+  struct MapPaneState {
+    bool initialized = false;
+    bool follow = false;
+    float zoom = 1.0f;
+    double center_lat = 0.0;
+    double center_lon = 0.0;
+  };
+
+  struct CameraPaneState {
+    bool fit_to_pane = true;
+  };
+
+  bool dock_needs_build = true;
+  int active_pane_index = 0;
+  int runtime_id = 0;
+  ImVec2 last_dockspace_size = ImVec2(0.0f, 0.0f);
+  std::vector<MapPaneState> map_panes;
+  std::vector<CameraPaneState> camera_panes;
+};
+
+struct CustomSeriesEditorState {
+  bool open = false;
+  bool open_help = false;
+  bool request_select = false;
+  bool selected = false;
+  bool focus_name = false;
+  int selected_template = 0;
+  int selected_additional_source = -1;
+  std::string name;
+  std::string linked_source;
+  std::vector<std::string> additional_sources;
+  std::string globals_code;
+  std::string function_code = "return value";
+  std::string preview_label;
+  std::vector<double> preview_xs;
+  std::vector<double> preview_ys;
+  bool preview_is_result = false;
+};
+
+enum class LogTimeMode : uint8_t {
+  Route,
+  Boot,
+  WallClock,
+};
+
+struct LogsUiState {
+  bool selected = false;
+  bool request_select = false;
+  bool all_sources = true;
+  uint32_t enabled_levels_mask = 0b11110;
+  int expanded_index = -1;
+  std::string search;
+  std::vector<std::string> selected_sources;
+  double last_auto_scroll_time = -1.0;
+  LogTimeMode time_mode = LogTimeMode::Route;
+};
+
+struct AxisLimitsEditorState {
+  bool open = false;
+  int pane_index = -1;
+  double x_min = 0.0;
+  double x_max = 1.0;
+  bool y_min_enabled = false;
+  bool y_max_enabled = false;
+  double y_min = 0.0;
+  double y_max = 1.0;
+};
+
+struct DbcEditorState {
+  bool open = false;
+  bool loaded = false;
+  std::string source_name;
+  std::filesystem::path source_path;
+  enum class SourceKind : uint8_t {
+    None,
+    Generated,
+    Opendbc,
+  };
+  SourceKind source_kind = SourceKind::None;
+  std::string save_name;
+  std::string text;
+};
+
+enum class TimelineDragMode : uint8_t {
+  None,
+  ScrubCursor,
+  PanViewport,
+  ResizeLeft,
+  ResizeRight,
+};
+
+struct UndoStack {
+  static constexpr size_t kMaxHistory = 50;
+
+  std::vector<SketchLayout> history;
+  int position = -1;
+
+  void reset(const SketchLayout &layout) {
+    history.clear();
+    history.push_back(layout);
+    position = 0;
+  }
+
+  void push(const SketchLayout &layout) {
+    if (position < 0) {
+      reset(layout);
+      return;
+    }
+    if (position + 1 < static_cast<int>(history.size())) {
+      history.resize(static_cast<size_t>(position + 1));
+    }
+    history.push_back(layout);
+    if (history.size() > kMaxHistory) {
+      history.erase(history.begin());
+    }
+    position = static_cast<int>(history.size()) - 1;
+  }
+
+  bool can_undo() const {
+    return position > 0;
+  }
+
+  bool can_redo() const {
+    return position >= 0 && position + 1 < static_cast<int>(history.size());
+  }
+
+  const SketchLayout &undo() {
+    return history[static_cast<size_t>(--position)];
+  }
+
+  const SketchLayout &redo() {
+    return history[static_cast<size_t>(++position)];
+  }
+};
+
+struct UiState {
+  bool open_open_route = false;
+  bool open_stream = false;
+  bool open_load_layout = false;
+  bool open_save_layout = false;
+  bool open_preferences = false;
+  bool open_find_signal = false;
+  bool request_close = false;
+  bool request_reset_layout = false;
+  bool request_save_layout = false;
+  bool request_new_tab = false;
+  bool request_duplicate_tab = false;
+  bool request_close_tab = false;
+  bool follow_latest = false;
+  bool has_shared_range = false;
+  bool has_tracker_time = false;
+  bool layout_dirty = false;
+  bool playback_loop = false;
+  bool playback_playing = false;
+  bool show_deprecated_fields = false;
+  bool show_fps_overlay = false;
+  bool fps_overlay_initialized = false;
+  bool suppress_range_side_effects = false;
+  bool browser_nodes_dirty = false;
+  int active_tab_index = 0;
+  int next_tab_runtime_id = 1;
+  int requested_tab_index = -1;
+  int rename_tab_index = -1;
+  bool focus_rename_tab_input = false;
+  std::vector<TabUiState> tabs;
+  std::string route_buffer;
+  std::string stream_address_buffer;
+  std::string rename_tab_buffer;
+  std::string browser_filter;
+  std::string data_dir_buffer;
+  std::string load_layout_buffer;
+  std::string save_layout_buffer;
+  std::string find_signal_buffer;
+  std::string selected_browser_path;
+  std::vector<std::string> selected_browser_paths;
+  std::string browser_selection_anchor;
+  std::string route_slice_buffer;
+  std::string error_text;
+  bool open_error_popup = false;
+  std::string status_text = "Ready";
+  std::string route_copy_feedback_text;
+  double route_copy_feedback_until = 0.0;
+  bool editing_route_slice = false;
+  bool focus_route_slice_input = false;
+  StreamSourceKind stream_source_kind = StreamSourceKind::CerealLocal;
+  float sidebar_width = 320.0f;
+  double route_x_min = 0.0;
+  double route_x_max = 1.0;
+  double x_view_min = 0.0;
+  double x_view_max = 1.0;
+  double tracker_time = 0.0;
+  double playback_rate = 1.0;
+  double playback_step = 0.1;
+  double stream_buffer_seconds = 30.0;
+  TimelineDragMode timeline_drag_mode = TimelineDragMode::None;
+  double timeline_drag_anchor_time = 0.0;
+  double timeline_drag_anchor_x_min = 0.0;
+  double timeline_drag_anchor_x_max = 0.0;
+  AxisLimitsEditorState axis_limits;
+  DbcEditorState dbc_editor;
+  CustomSeriesEditorState custom_series;
+  LogsUiState logs;
+  UndoStack undo;
+};
+
+// app.cc public API
+
+const WorkspaceTab *app_active_tab(const SketchLayout &layout, const UiState &state);
+WorkspaceTab *app_active_tab(SketchLayout *layout, const UiState &state);
+TabUiState *app_active_tab_state(UiState *state);
+
+void app_push_mono_font();
+void app_pop_mono_font();
+bool app_add_curve_to_active_pane(AppSession *session, UiState *state, const std::string &path);
+
+std::string app_curve_display_name(const Curve &curve);
+std::array<uint8_t, 3> app_next_curve_color(const Pane &pane);
+const RouteSeries *app_find_route_series(const AppSession &session, const std::string &path);
+void app_decimate_samples(const std::vector<double> &xs_in,
+                          const std::vector<double> &ys_in,
+                          int max_points,
+                          std::vector<double> *xs_out,
+                          std::vector<double> *ys_out);
+std::optional<double> app_sample_xy_value_at_time(const std::vector<double> &xs,
+                                                   const std::vector<double> &ys,
+                                                   bool stairs,
+                                                   double tm);
+void save_layout_json(const SketchLayout &layout, const std::filesystem::path &path);
+
+// *****
+// browser
+// *****
+
+void rebuild_route_index(AppSession *session);
+void rebuild_browser_nodes(AppSession *session, UiState *state);
+SeriesFormat compute_series_format(const std::vector<double> &values, bool enum_like = false);
+std::string format_display_value(double display_value,
+                                 const SeriesFormat &format,
+                                 const EnumInfo *enum_info);
+std::vector<std::string> decode_browser_drag_payload(std::string_view payload);
+void collect_visible_leaf_paths(const BrowserNode &node,
+                                const std::string &filter,
+                                std::vector<std::string> *out);
+void draw_browser_node(AppSession *session,
+                       const BrowserNode &node,
+                       UiState *state,
+                       const std::string &filter,
+                       const std::vector<std::string> &visible_paths);
+
+// *****
+// custom series
+// *****
+
+void open_custom_series_editor(UiState *state, const std::string &preferred_source = {});
+std::string preferred_custom_series_source(const Pane &pane);
+void refresh_all_custom_curves(AppSession *session, UiState *state);
+void draw_custom_series_editor(AppSession *session, UiState *state);
+
+// *****
+// logs
+// *****
+
+void draw_logs_tab(AppSession *session, UiState *state);
+
+// *****
+// map
+// *****
+
+void draw_map_pane(AppSession *session, UiState *state, Pane *pane, int pane_index);
+
+// *****
+// runtime (GLFW, async loaders, streaming, camera)
+// *****
+
+struct GLFWwindow;
+
+struct RouteLoadSnapshot {
+  bool active = false;
+  size_t total_segments = 0;
+  size_t segments_downloaded = 0;
+  size_t segments_parsed = 0;
+};
+
+struct StreamPollSnapshot {
+  bool active = false;
+  bool connected = false;
+  bool paused = false;
+  StreamSourceKind source_kind = StreamSourceKind::CerealLocal;
+  std::string source_label;
+  std::string dbc_name;
+  std::string car_fingerprint;
+  double buffer_seconds = 30.0;
+  uint64_t received_messages = 0;
+};
+
+class GlfwRuntime {
+public:
+  explicit GlfwRuntime(const Options &options);
+  ~GlfwRuntime();
+
+  GlfwRuntime(const GlfwRuntime &) = delete;
+  GlfwRuntime &operator=(const GlfwRuntime &) = delete;
+
+  GLFWwindow *window() const;
+
+private:
+  GLFWwindow *window_ = nullptr;
+};
+
+class ImGuiRuntime {
+public:
+  explicit ImGuiRuntime(GLFWwindow *window);
+  ~ImGuiRuntime();
+
+  ImGuiRuntime(const ImGuiRuntime &) = delete;
+  ImGuiRuntime &operator=(const ImGuiRuntime &) = delete;
+};
+
+class TerminalRouteProgress {
+public:
+  explicit TerminalRouteProgress(bool enabled);
+  ~TerminalRouteProgress();
+
+  TerminalRouteProgress(const TerminalRouteProgress &) = delete;
+  TerminalRouteProgress &operator=(const TerminalRouteProgress &) = delete;
+
+  void update(const RouteLoadProgress &progress);
+  void finish();
+
+private:
+  struct Impl;
+  std::unique_ptr<Impl> impl_;
+};
+
+class AsyncRouteLoader {
+public:
+  explicit AsyncRouteLoader(bool enable_terminal_progress);
+  ~AsyncRouteLoader();
+
+  AsyncRouteLoader(const AsyncRouteLoader &) = delete;
+  AsyncRouteLoader &operator=(const AsyncRouteLoader &) = delete;
+
+  void start(const std::string &route_name, const std::string &data_dir, const std::string &dbc_name);
+  RouteLoadSnapshot snapshot() const;
+  bool consume(RouteData *route_data, std::string *error_text);
+
+private:
+  struct Impl;
+  std::unique_ptr<Impl> impl_;
+};
+
+class StreamPoller {
+public:
+  StreamPoller();
+  ~StreamPoller();
+
+  StreamPoller(const StreamPoller &) = delete;
+  StreamPoller &operator=(const StreamPoller &) = delete;
+
+  void start(const StreamSourceConfig &source,
+             double buffer_seconds,
+             const std::string &dbc_name,
+             std::optional<double> time_offset = std::nullopt);
+  void setPaused(bool paused);
+  void stop();
+  StreamPollSnapshot snapshot() const;
+  bool consume(StreamExtractBatch *batch, std::string *error_text);
+
+private:
+  struct Impl;
+  std::unique_ptr<Impl> impl_;
+};
+
+class CameraFeedView {
+public:
+  CameraFeedView();
+  ~CameraFeedView();
+
+  CameraFeedView(const CameraFeedView &) = delete;
+  CameraFeedView &operator=(const CameraFeedView &) = delete;
+
+  void setRouteData(const RouteData &route_data);
+  void setCameraIndex(const CameraFeedIndex &camera_index, CameraViewKind view);
+  void update(double tracker_time);
+  void draw(float width, bool loading);
+  void drawSized(ImVec2 size, bool loading, bool fit_to_pane = false);
+
+private:
+  struct Impl;
+  std::unique_ptr<Impl> impl_;
+};
diff --git a/tools/jotpluggler/browser.cc b/tools/jotpluggler/browser.cc
new file mode 100644
index 00000000000000..0d1b5a2c1ba55d
--- /dev/null
+++ b/tools/jotpluggler/browser.cc
@@ -0,0 +1,465 @@
+#include "tools/jotpluggler/app.h"
+
+#include "imgui_internal.h"
+
+#include <cmath>
+#include <cstdio>
+#include <unordered_set>
+
+namespace {
+
+constexpr float BROWSER_VALUE_WIDTH = 88.0f;
+
+bool path_matches_filter(const std::string &path, const std::string &lower_filter) {
+  if (lower_filter.empty()) return true;
+  return lowercase_copy(path).find(lower_filter) != std::string::npos;
+}
+
+void insert_browser_path(std::vector<BrowserNode> *nodes, const std::string &path) {
+  size_t start = 0;
+  while (start < path.size() && path[start] == '/') {
+    ++start;
+  }
+  std::vector<std::string> parts;
+  while (start < path.size()) {
+    const size_t end = path.find('/', start);
+    parts.push_back(path.substr(start, end == std::string::npos ? std::string::npos : end - start));
+    if (end == std::string::npos) break;
+    start = end + 1;
+  }
+  if (parts.empty()) {
+    return;
+  }
+
+  std::vector<BrowserNode> *current_nodes = nodes;
+  std::string current_path;
+  for (size_t i = 0; i < parts.size(); ++i) {
+    if (!current_path.empty()) {
+      current_path += "/";
+    }
+    current_path += parts[i];
+    auto it = std::find_if(current_nodes->begin(), current_nodes->end(),
+                           [&](const BrowserNode &node) { return node.label == parts[i]; });
+    if (it == current_nodes->end()) {
+      current_nodes->push_back(BrowserNode{.label = parts[i]});
+      it = std::prev(current_nodes->end());
+    }
+    if (i + 1 == parts.size()) {
+      it->full_path = "/" + current_path;
+    }
+    current_nodes = &it->children;
+  }
+}
+
+void sort_browser_nodes(std::vector<BrowserNode> *nodes) {
+  std::sort(nodes->begin(), nodes->end(), [](const BrowserNode &a, const BrowserNode &b) {
+    if (a.children.empty() != b.children.empty()) {
+      return !a.children.empty();
+    }
+    return a.label < b.label;
+  });
+  for (BrowserNode &node : *nodes) {
+    sort_browser_nodes(&node.children);
+  }
+}
+
+std::vector<BrowserNode> build_browser_tree(const std::vector<std::string> &paths) {
+  std::vector<BrowserNode> nodes;
+  for (const std::string &path : paths) {
+    insert_browser_path(&nodes, path);
+  }
+  sort_browser_nodes(&nodes);
+  return nodes;
+}
+
+bool is_deprecated_browser_path(const std::string &path) {
+  return path.find("DEPRECATED") != std::string::npos;
+}
+
+std::vector<std::string> visible_browser_paths(const RouteData &route_data, bool show_deprecated_fields) {
+  if (show_deprecated_fields) return route_data.paths;
+  std::vector<std::string> filtered;
+  filtered.reserve(route_data.paths.size());
+  for (const std::string &path : route_data.paths) {
+    if (!is_deprecated_browser_path(path)) {
+      filtered.push_back(path);
+    }
+  }
+  return filtered;
+}
+
+bool browser_selection_contains(const UiState &state, std::string_view path) {
+  return std::find(state.selected_browser_paths.begin(), state.selected_browser_paths.end(), path)
+    != state.selected_browser_paths.end();
+}
+
+std::vector<std::string> browser_drag_paths(const UiState &state, const std::string &dragged_path) {
+  if (browser_selection_contains(state, dragged_path) && !state.selected_browser_paths.empty()) {
+    return state.selected_browser_paths;
+  }
+  return {dragged_path};
+}
+
+std::string encode_browser_drag_payload(const std::vector<std::string> &paths) {
+  std::string payload;
+  for (size_t i = 0; i < paths.size(); ++i) {
+    if (i != 0) {
+      payload.push_back('\n');
+    }
+    payload += paths[i];
+  }
+  return payload;
+}
+
+void set_browser_selection_single(UiState *state, const std::string &path) {
+  state->selected_browser_paths = {path};
+  state->selected_browser_path = path;
+  state->browser_selection_anchor = path;
+}
+
+void toggle_browser_selection(UiState *state, const std::string &path) {
+  auto it = std::find(state->selected_browser_paths.begin(), state->selected_browser_paths.end(), path);
+  if (it == state->selected_browser_paths.end()) {
+    state->selected_browser_paths.push_back(path);
+  } else {
+    state->selected_browser_paths.erase(it);
+  }
+  state->selected_browser_path = path;
+  state->browser_selection_anchor = path;
+  if (state->selected_browser_paths.empty()) {
+    state->selected_browser_path.clear();
+  }
+}
+
+void select_browser_range(UiState *state, const std::vector<std::string> &visible_paths, const std::string &clicked_path) {
+  if (visible_paths.empty()) {
+    set_browser_selection_single(state, clicked_path);
+    return;
+  }
+
+  const std::string anchor = state->browser_selection_anchor.empty() ? clicked_path : state->browser_selection_anchor;
+  const auto anchor_it = std::find(visible_paths.begin(), visible_paths.end(), anchor);
+  const auto clicked_it = std::find(visible_paths.begin(), visible_paths.end(), clicked_path);
+  if (clicked_it == visible_paths.end()) {
+    return;
+  }
+  if (anchor_it == visible_paths.end()) {
+    set_browser_selection_single(state, clicked_path);
+    return;
+  }
+
+  const auto [begin_it, end_it] = std::minmax(anchor_it, clicked_it);
+  std::vector<std::string> selected;
+  selected.reserve(static_cast<size_t>(std::distance(begin_it, end_it)) + 1);
+  for (auto it = begin_it; it != end_it + 1; ++it) {
+    selected.push_back(*it);
+  }
+  state->selected_browser_paths = std::move(selected);
+  state->selected_browser_path = clicked_path;
+}
+
+void prune_browser_selection(UiState *state, const std::vector<std::string> &visible_paths) {
+  const std::unordered_set<std::string> visible_set(visible_paths.begin(), visible_paths.end());
+  auto is_visible = [&](const std::string &path) {
+    return visible_set.count(path) > 0;
+  };
+
+  state->selected_browser_paths.erase(
+    std::remove_if(state->selected_browser_paths.begin(), state->selected_browser_paths.end(),
+                   [&](const std::string &path) { return !is_visible(path); }),
+    state->selected_browser_paths.end());
+
+  if (!state->selected_browser_path.empty() && !is_visible(state->selected_browser_path)) {
+    state->selected_browser_path.clear();
+  }
+  if (!state->browser_selection_anchor.empty() && !is_visible(state->browser_selection_anchor)) {
+    state->browser_selection_anchor.clear();
+  }
+  if (state->selected_browser_paths.empty()) {
+    state->selected_browser_path.clear();
+  } else if (state->selected_browser_path.empty()) {
+    state->selected_browser_path = state->selected_browser_paths.back();
+  }
+}
+
+std::optional<double> sample_route_series_value(const RouteSeries &series, double tm, bool stairs) {
+  return app_sample_xy_value_at_time(series.times, series.values, stairs, tm);
+}
+
+std::string browser_series_value_text(const AppSession &session, const UiState &state, std::string_view path) {
+  auto it = session.series_by_path.find(std::string(path));
+  if (it == session.series_by_path.end() || it->second == nullptr) return {};
+
+  const RouteSeries &series = *it->second;
+  if (series.values.empty()) return {};
+
+  const auto enum_it = session.route_data.enum_info.find(series.path);
+  const EnumInfo *enum_info = enum_it == session.route_data.enum_info.end() ? nullptr : &enum_it->second;
+  const bool stairs = enum_info != nullptr;
+
+  std::optional<double> value;
+  if (state.has_tracker_time) {
+    value = sample_route_series_value(series, state.tracker_time, stairs);
+  } else {
+    value = series.values.back();
+  }
+  if (!value.has_value()) return {};
+
+  const auto display_it = session.route_data.series_formats.find(series.path);
+  const SeriesFormat display_info = display_it == session.route_data.series_formats.end()
+    ? compute_series_format(series.values, enum_info != nullptr)
+    : display_it->second;
+
+  return format_display_value(*value, display_info, enum_info);
+}
+
+bool browser_node_matches(const BrowserNode &node, const std::string &filter) {
+  if (filter.empty()) return true;
+  if (!node.full_path.empty() && path_matches_filter(node.full_path, filter)) {
+    return true;
+  }
+  for (const BrowserNode &child : node.children) {
+    if (browser_node_matches(child, filter)) return true;
+  }
+  return false;
+}
+
+}  // namespace
+
+namespace {
+
+int decimals_needed(double value) {
+  const double abs_value = std::abs(value);
+  if (abs_value < 1.0e-12) return 0;
+  for (int decimals = 0; decimals <= 6; ++decimals) {
+    const double scale = std::pow(10.0, decimals);
+    if (std::abs(abs_value * scale - std::round(abs_value * scale)) < 1.0e-6) {
+      return decimals;
+    }
+  }
+  return 6;
+}
+
+void finalize_series_format(SeriesFormat *format) {
+  format->digits_before = std::max(format->digits_before, 1);
+  format->decimals = std::clamp(format->decimals, 0, 6);
+  format->integer_like = format->decimals == 0;
+  const int sign_width = format->has_negative ? 1 : 0;
+  const int dot_width = format->decimals > 0 ? 1 : 0;
+  format->total_width = sign_width + format->digits_before + dot_width + format->decimals;
+  std::snprintf(format->fmt, sizeof(format->fmt), "%%%d.%df", format->total_width, format->decimals);
+}
+
+}  // namespace
+
+SeriesFormat compute_series_format(const std::vector<double> &values, bool enum_like) {
+  SeriesFormat format;
+  if (values.empty()) return format;
+
+  const size_t step = std::max<size_t>(1, values.size() / 256);
+  bool saw_finite = false;
+  bool all_integer = enum_like;
+  double min_value = 0.0;
+  double max_value = 0.0;
+  int max_needed_decimals = 0;
+
+  for (size_t i = 0; i < values.size(); i += step) {
+    const double value = values[i];
+    if (!std::isfinite(value)) continue;
+    if (!saw_finite) {
+      min_value = value;
+      max_value = value;
+      saw_finite = true;
+    } else {
+      min_value = std::min(min_value, value);
+      max_value = std::max(max_value, value);
+    }
+    if (std::abs(value - std::round(value)) > 1.0e-9) {
+      all_integer = false;
+    }
+    if (!all_integer) {
+      max_needed_decimals = std::max(max_needed_decimals, decimals_needed(value));
+    }
+  }
+
+  if (!saw_finite) return format;
+
+  format.has_negative = min_value < 0.0;
+  const double peak = std::max(std::abs(min_value), std::abs(max_value));
+  format.digits_before = peak < 1.0 ? 1 : static_cast<int>(std::floor(std::log10(peak))) + 1;
+
+  if (enum_like || all_integer) {
+    format.decimals = 0;
+  } else if (peak >= 1000.0) {
+    format.decimals = std::min(max_needed_decimals, 1);
+  } else if (peak >= 100.0) {
+    format.decimals = std::min(max_needed_decimals, 2);
+  } else {
+    format.decimals = std::min(max_needed_decimals, 4);
+  }
+
+  finalize_series_format(&format);
+  return format;
+}
+
+std::string format_display_value(double display_value,
+                                 const SeriesFormat &display_info,
+                                 const EnumInfo *enum_info) {
+  if (!std::isfinite(display_value)) return "---";
+  if (enum_info != nullptr) {
+    const int idx = static_cast<int>(std::llround(display_value));
+    if (idx >= 0 && std::abs(display_value - static_cast<double>(idx)) < 0.01
+        && static_cast<size_t>(idx) < enum_info->names.size()
+        && !enum_info->names[static_cast<size_t>(idx)].empty()) {
+      return enum_info->names[static_cast<size_t>(idx)];
+    }
+  }
+  char buf[64] = {};
+  std::snprintf(buf, sizeof(buf), display_info.fmt, display_value);
+  return buf;
+}
+
+std::vector<std::string> decode_browser_drag_payload(std::string_view payload) {
+  std::vector<std::string> out;
+  size_t begin = 0;
+  while (begin <= payload.size()) {
+    const size_t end = payload.find('\n', begin);
+    const size_t length = (end == std::string_view::npos ? payload.size() : end) - begin;
+    if (length > 0) {
+      out.emplace_back(payload.substr(begin, length));
+    }
+    if (end == std::string_view::npos) break;
+    begin = end + 1;
+  }
+  return out;
+}
+
+void collect_visible_leaf_paths(const BrowserNode &node,
+                                const std::string &filter,
+                                std::vector<std::string> *out) {
+  if (!browser_node_matches(node, filter)) {
+    return;
+  }
+  if (node.children.empty()) {
+    if (!node.full_path.empty()) {
+      out->push_back(node.full_path);
+    }
+    return;
+  }
+  for (const BrowserNode &child : node.children) {
+    collect_visible_leaf_paths(child, filter, out);
+  }
+}
+
+void rebuild_browser_nodes(AppSession *session, UiState *state) {
+  const std::vector<std::string> paths = visible_browser_paths(session->route_data, state->show_deprecated_fields);
+  session->browser_nodes = build_browser_tree(paths);
+  prune_browser_selection(state, paths);
+}
+
+void rebuild_route_index(AppSession *session) {
+  session->series_by_path.clear();
+  session->route_data.series_formats.clear();
+  for (RouteSeries &series : session->route_data.series) {
+    session->series_by_path.emplace(series.path, &series);
+    const bool enum_like = session->route_data.enum_info.find(series.path) != session->route_data.enum_info.end();
+    session->route_data.series_formats.emplace(series.path, compute_series_format(series.values, enum_like));
+  }
+}
+
+void draw_browser_node(AppSession *session,
+                       const BrowserNode &node,
+                       UiState *state,
+                       const std::string &filter,
+                       const std::vector<std::string> &visible_paths) {
+  if (!browser_node_matches(node, filter)) {
+    return;
+  }
+
+  if (node.children.empty()) {
+    const bool selected = browser_selection_contains(*state, node.full_path);
+    const std::string value_text = browser_series_value_text(*session, *state, node.full_path);
+    const ImGuiStyle &style = ImGui::GetStyle();
+    const ImVec2 row_size(std::max(1.0f, ImGui::GetContentRegionAvail().x), ImGui::GetFrameHeight());
+    ImGui::PushID(node.full_path.c_str());
+    const bool clicked = ImGui::InvisibleButton("##browser_leaf", row_size);
+    const bool hovered = ImGui::IsItemHovered();
+    const bool held = ImGui::IsItemActive();
+    const ImRect rect(ImGui::GetItemRectMin(), ImGui::GetItemRectMax());
+    ImDrawList *draw_list = ImGui::GetWindowDrawList();
+    if (selected || hovered) {
+      const ImU32 bg = ImGui::GetColorU32(selected
+        ? (held ? ImGuiCol_HeaderActive : ImGuiCol_Header)
+        : ImGuiCol_HeaderHovered);
+      draw_list->AddRectFilled(rect.Min, rect.Max, bg, 0.0f);
+    }
+
+    const float value_right = rect.Max.x - style.FramePadding.x;
+    const float value_left = value_right - (value_text.empty() ? 0.0f : BROWSER_VALUE_WIDTH);
+    const float label_left = rect.Min.x + style.FramePadding.x;
+    const float label_right = value_text.empty()
+      ? rect.Max.x - style.FramePadding.x
+      : std::max(label_left + 40.0f, value_left - 10.0f);
+    ImGui::RenderTextEllipsis(draw_list,
+                              ImVec2(label_left, rect.Min.y + style.FramePadding.y),
+                              ImVec2(label_right, rect.Max.y),
+                              label_right,
+                              node.label.c_str(),
+                              nullptr,
+                              nullptr);
+    if (!value_text.empty()) {
+      app_push_mono_font();
+      ImGui::PushStyleColor(ImGuiCol_Text, selected ? color_rgb(70, 77, 86) : color_rgb(116, 124, 133));
+      ImGui::RenderTextClipped(ImVec2(value_left, rect.Min.y + style.FramePadding.y),
+                               ImVec2(value_right, rect.Max.y),
+                               value_text.c_str(),
+                               nullptr,
+                               nullptr,
+                               ImVec2(1.0f, 0.0f));
+      ImGui::PopStyleColor();
+      app_pop_mono_font();
+    }
+
+    if (clicked) {
+      const bool shift_down = ImGui::GetIO().KeyShift;
+      const bool ctrl_down = ImGui::GetIO().KeyCtrl || ImGui::GetIO().KeySuper;
+      if (shift_down) {
+        select_browser_range(state, visible_paths, node.full_path);
+      } else if (ctrl_down) {
+        toggle_browser_selection(state, node.full_path);
+      } else {
+        set_browser_selection_single(state, node.full_path);
+      }
+    }
+    if (hovered && ImGui::IsMouseDoubleClicked(0)) {
+      set_browser_selection_single(state, node.full_path);
+      app_add_curve_to_active_pane(session, state, node.full_path);
+    }
+    if (ImGui::BeginDragDropSource(ImGuiDragDropFlags_SourceAllowNullID)) {
+      const std::vector<std::string> drag_paths = browser_drag_paths(*state, node.full_path);
+      const std::string payload = encode_browser_drag_payload(drag_paths);
+      ImGui::SetDragDropPayload("JOTP_BROWSER_PATHS", payload.c_str(), payload.size() + 1);
+      if (drag_paths.size() == 1) {
+        ImGui::TextUnformatted(drag_paths.front().c_str());
+      } else {
+        ImGui::Text("%zu timeseries", drag_paths.size());
+        ImGui::TextUnformatted(drag_paths.front().c_str());
+      }
+      ImGui::EndDragDropSource();
+    }
+    ImGui::PopID();
+    return;
+  }
+
+  ImGuiTreeNodeFlags flags = ImGuiTreeNodeFlags_SpanAvailWidth;
+  if (!filter.empty()) {
+    flags |= ImGuiTreeNodeFlags_DefaultOpen;
+  }
+  const bool open = ImGui::TreeNodeEx(node.label.c_str(), flags);
+  if (open) {
+    for (const BrowserNode &child : node.children) {
+      draw_browser_node(session, child, state, filter, visible_paths);
+    }
+    ImGui::TreePop();
+  }
+}
diff --git a/tools/jotpluggler/camera.cc b/tools/jotpluggler/camera.cc
new file mode 100644
index 00000000000000..24a35d87943597
--- /dev/null
+++ b/tools/jotpluggler/camera.cc
@@ -0,0 +1,54 @@
+#include "tools/jotpluggler/camera.h"
+
+#include "imgui.h"
+#include "imgui_internal.h"
+
+namespace {
+
+bool draw_camera_fit_toggle_overlay(bool fit_to_pane) {
+  const ImVec2 window_pos = ImGui::GetWindowPos();
+  const ImVec2 content_min = ImGui::GetWindowContentRegionMin();
+  const ImRect rect(ImVec2(window_pos.x + content_min.x + 8.0f, window_pos.y + content_min.y + 8.0f),
+                    ImVec2(window_pos.x + content_min.x + 58.0f, window_pos.y + content_min.y + 28.0f));
+  const bool hovered = ImGui::IsMouseHoveringRect(rect.Min, rect.Max, false);
+  const bool held = hovered && ImGui::IsMouseDown(ImGuiMouseButton_Left);
+  if (hovered) ImGui::SetMouseCursor(ImGuiMouseCursor_Hand);
+
+  ImDrawList *draw_list = ImGui::GetWindowDrawList();
+  draw_list->AddRectFilled(rect.Min, rect.Max, hovered ? IM_COL32(255, 255, 255, 234) : IM_COL32(255, 255, 255, 214), 4.0f);
+  draw_list->AddRect(rect.Min, rect.Max, IM_COL32(184, 189, 196, 255), 4.0f, 0, 1.0f);
+  const ImRect box(ImVec2(rect.Min.x + 6.0f, rect.Min.y + 4.0f), ImVec2(rect.Min.x + 18.0f, rect.Min.y + 16.0f));
+  draw_list->AddRect(box.Min, box.Max, IM_COL32(112, 120, 129, 255), 2.0f, 0, 1.0f);
+  if (fit_to_pane) {
+    draw_list->AddLine(ImVec2(box.Min.x + 2.5f, box.Min.y + 6.5f), ImVec2(box.Min.x + 5.5f, box.Max.y - 2.5f), IM_COL32(60, 111, 202, 255), 1.8f);
+    draw_list->AddLine(ImVec2(box.Min.x + 5.5f, box.Max.y - 2.5f), ImVec2(box.Max.x - 2.5f, box.Min.y + 2.5f), IM_COL32(60, 111, 202, 255), 1.8f);
+  }
+  draw_list->AddText(ImVec2(box.Max.x + 6.0f, rect.Min.y + 3.0f), IM_COL32(72, 79, 88, 255), "Fit");
+  return hovered && !held && ImGui::IsMouseReleased(ImGuiMouseButton_Left);
+}
+
+}  // namespace
+
+void draw_camera_pane(AppSession *session, UiState *state, TabUiState *tab_state, int pane_index, const Pane &pane) {
+  CameraFeedView *feed = session->pane_camera_feeds[static_cast<size_t>(pane.camera_view)].get();
+  if (feed == nullptr) {
+    ImGui::TextDisabled("Camera unavailable");
+    return;
+  }
+
+  const bool fit_to_pane = tab_state != nullptr
+    && pane_index >= 0
+    && pane_index < static_cast<int>(tab_state->camera_panes.size())
+    ? tab_state->camera_panes[static_cast<size_t>(pane_index)].fit_to_pane
+    : true;
+  if (state->has_tracker_time) {
+    feed->update(state->tracker_time);
+  }
+  feed->drawSized(ImGui::GetContentRegionAvail(), session->async_route_loading, fit_to_pane);
+  if (tab_state != nullptr
+      && pane_index >= 0
+      && pane_index < static_cast<int>(tab_state->camera_panes.size())
+      && draw_camera_fit_toggle_overlay(fit_to_pane)) {
+    tab_state->camera_panes[static_cast<size_t>(pane_index)].fit_to_pane = !fit_to_pane;
+  }
+}
diff --git a/tools/jotpluggler/camera.h b/tools/jotpluggler/camera.h
new file mode 100644
index 00000000000000..666e335af89d43
--- /dev/null
+++ b/tools/jotpluggler/camera.h
@@ -0,0 +1,5 @@
+#pragma once
+
+#include "tools/jotpluggler/app.h"
+
+void draw_camera_pane(AppSession *session, UiState *state, TabUiState *tab_state, int pane_index, const Pane &pane);
diff --git a/tools/jotpluggler/common.cc b/tools/jotpluggler/common.cc
new file mode 100644
index 00000000000000..9bd6c18ceaaef5
--- /dev/null
+++ b/tools/jotpluggler/common.cc
@@ -0,0 +1,179 @@
+#include "tools/jotpluggler/common.h"
+
+#include <algorithm>
+#include <array>
+#include <cstdlib>
+
+namespace {
+
+std::string format_coord(const GpsPoint &point) {
+  return util::string_format("%.5f,%.5f", point.lat, point.lon);
+}
+
+}  // namespace
+
+const CameraViewSpec &camera_view_spec(CameraViewKind view) {
+  auto it = std::find_if(kCameraViewSpecs.begin(), kCameraViewSpecs.end(), [&](const CameraViewSpec &spec) {
+    return spec.view == view;
+  });
+  return it != kCameraViewSpecs.end() ? *it : kCameraViewSpecs.front();
+}
+
+const CameraViewSpec *camera_view_spec_from_special_item(std::string_view item_id) {
+  auto it = std::find_if(kCameraViewSpecs.begin(), kCameraViewSpecs.end(), [&](const CameraViewSpec &spec) {
+    return item_id == spec.special_item_id;
+  });
+  return it != kCameraViewSpecs.end() ? &*it : nullptr;
+}
+
+const CameraViewSpec *camera_view_spec_from_layout_name(std::string_view layout_name) {
+  auto it = std::find_if(kCameraViewSpecs.begin(), kCameraViewSpecs.end(), [&](const CameraViewSpec &spec) {
+    return layout_name == spec.layout_name;
+  });
+  return it != kCameraViewSpecs.end() ? &*it : nullptr;
+}
+
+const SpecialItemSpec *special_item_spec(std::string_view item_id) {
+  auto it = std::find_if(kSpecialItemSpecs.begin(), kSpecialItemSpecs.end(), [&](const SpecialItemSpec &spec) {
+    return item_id == spec.id;
+  });
+  return it != kSpecialItemSpecs.end() ? &*it : nullptr;
+}
+
+const char *special_item_label(std::string_view item_id) {
+  const SpecialItemSpec *spec = special_item_spec(item_id);
+  return spec != nullptr ? spec->label : "Item";
+}
+
+bool pane_kind_is_special(PaneKind kind) {
+  return kind == PaneKind::Map || kind == PaneKind::Camera;
+}
+
+bool is_default_special_title(std::string_view title) {
+  if (title == "Map") return true;
+  return std::any_of(kCameraViewSpecs.begin(), kCameraViewSpecs.end(), [&](const CameraViewSpec &spec) {
+    return title == spec.label;
+  });
+}
+
+CameraViewKind sidebar_preview_camera_view(const AppSession &session) {
+  return session.route_data.road_camera.entries.empty() && !session.route_data.qroad_camera.entries.empty()
+    ? CameraViewKind::QRoad
+    : CameraViewKind::Road;
+}
+
+const std::filesystem::path &repo_root() {
+  static const std::filesystem::path root(JOTP_REPO_ROOT);
+  return root;
+}
+
+ImU32 timeline_entry_color(TimelineEntry::Type type, float alpha) {
+  return timeline_entry_color(type, alpha, {111, 143, 175});
+}
+
+ImU32 timeline_entry_color(TimelineEntry::Type type, float alpha, std::array<uint8_t, 3> none_color) {
+  switch (type) {
+    case TimelineEntry::Type::Engaged:
+      return ImGui::GetColorU32(color_rgb(0, 163, 108, alpha));
+    case TimelineEntry::Type::AlertInfo:
+      return ImGui::GetColorU32(color_rgb(255, 195, 0, alpha));
+    case TimelineEntry::Type::AlertWarning:
+    case TimelineEntry::Type::AlertCritical:
+      return ImGui::GetColorU32(color_rgb(199, 0, 57, alpha));
+    case TimelineEntry::Type::None:
+    default:
+      return ImGui::GetColorU32(color_rgb(none_color, alpha));
+  }
+}
+
+const char *timeline_entry_label(TimelineEntry::Type type) {
+  static constexpr const char *kLabels[] = {
+    "disengaged",
+    "engaged",
+    "alert info",
+    "alert warning",
+    "alert critical",
+  };
+  const size_t index = static_cast<size_t>(type);
+  return index < std::size(kLabels) ? kLabels[index] : kLabels[0];
+}
+
+TimelineEntry::Type timeline_type_at_time(const std::vector<TimelineEntry> &timeline, double time_value) {
+  for (const TimelineEntry &entry : timeline) {
+    if (time_value >= entry.start_time && time_value <= entry.end_time) {
+      return entry.type;
+    }
+  }
+  return TimelineEntry::Type::None;
+}
+
+std::string normalize_stream_address(std::string address) {
+  return is_local_stream_address(address) ? "127.0.0.1" : address;
+}
+
+const char *stream_source_kind_label(StreamSourceKind kind) {
+  static constexpr const char *kLabels[] = {
+    "Local (MSGQ)",
+    "Remote (ZMQ)",
+  };
+  const size_t index = static_cast<size_t>(kind);
+  return index < std::size(kLabels) ? kLabels[index] : kLabels[0];
+}
+
+std::string stream_source_target_label(const StreamSourceConfig &source) {
+  switch (source.kind) {
+    case StreamSourceKind::CerealRemote:
+      return normalize_stream_address(source.address);
+    case StreamSourceKind::CerealLocal:
+    default:
+      return "127.0.0.1";
+  }
+}
+
+bool env_flag_enabled(const char *name, bool default_value) {
+  const char *raw = std::getenv(name);
+  if (raw == nullptr || raw[0] == '\0') {
+    return default_value;
+  }
+  const std::string value = lowercase_copy(util::strip(raw));
+  return !(value == "0" || value == "false" || value == "no" || value == "off");
+}
+
+void open_external_url(std::string_view url) {
+#ifdef __APPLE__
+  const std::string command = "open " + shell_quote(url) + " &";
+#else
+  const std::string command = "xdg-open " + shell_quote(url) + " >/dev/null 2>&1 &";
+#endif
+  util::check_system(command);
+}
+
+std::string route_useradmin_url(const RouteIdentifier &route_id) {
+  return route_id.empty() ? std::string()
+                          : "https://useradmin.comma.ai/?onebox=" + route_id.dongle_id + "%7C" + route_id.log_id;
+}
+
+std::string route_connect_url(const RouteIdentifier &route_id) {
+  return route_id.empty() ? std::string()
+                          : "https://connect.comma.ai/" + route_id.canonical();
+}
+
+std::string route_google_maps_url(const GpsTrace &trace) {
+  if (trace.points.size() < 2) {
+    return {};
+  }
+
+  const std::string prefix = "https://www.google.com/maps/dir/?api=1&travelmode=driving&origin="
+                           + format_coord(trace.points.front()) + "&destination=" + format_coord(trace.points.back());
+  for (size_t n = std::min<size_t>(9, trace.points.size() > 2 ? trace.points.size() - 2 : 0); ; --n) {
+    std::string url = prefix;
+    if (n > 0) {
+      url += "&waypoints=";
+      for (size_t i = 0; i < n; ++i) {
+        if (i) url += "%7C";
+        url += format_coord(trace.points[1 + ((trace.points.size() - 2) * (i + 1)) / (n + 1)]);
+      }
+    }
+    if (url.size() <= 1900 || n == 0) return url;
+  }
+}
diff --git a/tools/jotpluggler/common.h b/tools/jotpluggler/common.h
new file mode 100644
index 00000000000000..25b1f91e8950d2
--- /dev/null
+++ b/tools/jotpluggler/common.h
@@ -0,0 +1,63 @@
+#pragma once
+
+#include "tools/jotpluggler/app.h"
+
+#include <array>
+#include <string_view>
+
+struct CameraViewSpec {
+  CameraViewKind view = CameraViewKind::Road;
+  const char *label = "";
+  const char *runtime_name = "";
+  const char *layout_name = "";
+  const char *special_item_id = "";
+  CameraFeedIndex RouteData::*route_member = nullptr;
+};
+
+struct SpecialItemSpec {
+  const char *id = "";
+  const char *label = "";
+  PaneKind kind = PaneKind::Plot;
+  CameraViewKind camera_view = CameraViewKind::Road;
+};
+
+inline constexpr std::array<CameraViewSpec, 4> kCameraViewSpecs = {{
+  {CameraViewKind::Road,     "Road Camera",      "road",   "road",      "camera_road",      &RouteData::road_camera},
+  {CameraViewKind::Driver,   "Driver Camera",    "driver", "driver",    "camera_driver",    &RouteData::driver_camera},
+  {CameraViewKind::WideRoad, "Wide Road Camera", "wide",   "wide_road", "camera_wide_road", &RouteData::wide_road_camera},
+  {CameraViewKind::QRoad,    "qRoad Camera",     "qroad",  "qroad",     "camera_qroad",     &RouteData::qroad_camera},
+}};
+
+inline constexpr std::array<SpecialItemSpec, 5> kSpecialItemSpecs = {{
+  {"map", "Map", PaneKind::Map, CameraViewKind::Road},
+  {kCameraViewSpecs[0].special_item_id, kCameraViewSpecs[0].label, PaneKind::Camera, kCameraViewSpecs[0].view},
+  {kCameraViewSpecs[1].special_item_id, kCameraViewSpecs[1].label, PaneKind::Camera, kCameraViewSpecs[1].view},
+  {kCameraViewSpecs[2].special_item_id, kCameraViewSpecs[2].label, PaneKind::Camera, kCameraViewSpecs[2].view},
+  {kCameraViewSpecs[3].special_item_id, kCameraViewSpecs[3].label, PaneKind::Camera, kCameraViewSpecs[3].view},
+}};
+
+const CameraViewSpec &camera_view_spec(CameraViewKind view);
+const CameraViewSpec *camera_view_spec_from_special_item(std::string_view item_id);
+const CameraViewSpec *camera_view_spec_from_layout_name(std::string_view layout_name);
+
+const SpecialItemSpec *special_item_spec(std::string_view item_id);
+const char *special_item_label(std::string_view item_id);
+
+bool pane_kind_is_special(PaneKind kind);
+bool is_default_special_title(std::string_view title);
+CameraViewKind sidebar_preview_camera_view(const AppSession &session);
+const std::filesystem::path &repo_root();
+
+ImU32 timeline_entry_color(TimelineEntry::Type type, float alpha = 1.0f);
+ImU32 timeline_entry_color(TimelineEntry::Type type, float alpha, std::array<uint8_t, 3> none_color);
+const char *timeline_entry_label(TimelineEntry::Type type);
+TimelineEntry::Type timeline_type_at_time(const std::vector<TimelineEntry> &timeline, double time_value);
+std::string normalize_stream_address(std::string address);
+const char *stream_source_kind_label(StreamSourceKind kind);
+std::string stream_source_target_label(const StreamSourceConfig &source);
+
+bool env_flag_enabled(const char *name, bool default_value = false);
+void open_external_url(std::string_view url);
+std::string route_useradmin_url(const RouteIdentifier &route_id);
+std::string route_connect_url(const RouteIdentifier &route_id);
+std::string route_google_maps_url(const GpsTrace &trace);
diff --git a/tools/jotpluggler/custom_series.cc b/tools/jotpluggler/custom_series.cc
new file mode 100644
index 00000000000000..bd2a3f36d191d0
--- /dev/null
+++ b/tools/jotpluggler/custom_series.cc
@@ -0,0 +1,750 @@
+#include "tools/jotpluggler/app.h"
+#include "tools/jotpluggler/common.h"
+
+#include "implot.h"
+
+#include <cfloat>
+#include <chrono>
+#include <cstring>
+#include <regex>
+#include <set>
+#include <stdexcept>
+#include <unistd.h>
+
+#include "third_party/json11/json11.hpp"
+
+namespace fs = std::filesystem;
+
+namespace {
+
+struct PythonEvalResult {
+  std::vector<double> xs;
+  std::vector<double> ys;
+};
+
+struct CustomSeriesTemplate {
+  const char *name;
+  const char *globals_code;
+  const char *function_code;
+  const char *preview_text;
+  int required_additional_sources;
+  const char *requirement_text;
+};
+
+void write_binary_vector(const fs::path &path, const std::vector<double> &values) {
+  write_file_or_throw(path, values.data(), values.size() * sizeof(double));
+}
+
+std::vector<double> read_binary_vector(const fs::path &path) {
+  const std::string raw = read_file_or_throw(path);
+  if (raw.size() % sizeof(double) != 0) {
+    throw std::runtime_error("Invalid binary series file: " + path.string());
+  }
+  std::vector<double> values(raw.size() / sizeof(double));
+  if (!values.empty()) {
+    std::memcpy(values.data(), raw.data(), raw.size());
+  }
+  return values;
+}
+
+void write_text_file(const fs::path &path, std::string_view text) {
+  write_file_or_throw(path, text);
+}
+
+fs::path create_custom_series_temp_dir() {
+  const auto stamp = std::chrono::steady_clock::now().time_since_epoch().count();
+  const fs::path dir = fs::temp_directory_path() / ("jotpluggler_math_" + std::to_string(::getpid()) + "_" + std::to_string(stamp));
+  fs::create_directories(dir);
+  return dir;
+}
+
+void reset_custom_series_editor(CustomSeriesEditorState *editor) {
+  *editor = CustomSeriesEditorState{};
+}
+
+bool add_additional_source(CustomSeriesEditorState *editor, const std::string &path) {
+  if (path.empty() || path == editor->linked_source) return false;
+  if (std::find(editor->additional_sources.begin(), editor->additional_sources.end(), path) != editor->additional_sources.end()) {
+    return false;
+  }
+  editor->additional_sources.push_back(path);
+  return true;
+}
+
+std::string next_custom_curve_name(const Pane &pane) {
+  std::set<std::string> used;
+  for (const Curve &curve : pane.curves) {
+    if (!curve.label.empty()) {
+      used.insert(curve.label);
+    }
+    if (!curve.name.empty()) {
+      used.insert(curve.name);
+    }
+  }
+  for (int i = 1; i < 1000; ++i) {
+    const std::string candidate = "series" + std::to_string(i);
+    if (used.find(candidate) == used.end()) {
+      return candidate;
+    }
+  }
+  return "series";
+}
+
+Curve make_custom_curve(const Pane &pane,
+                        const std::string &name,
+                        const CustomPythonSeries &spec,
+                        PythonEvalResult result) {
+  Curve curve;
+  curve.name = name;
+  curve.label = name;
+  curve.color = app_next_curve_color(pane);
+  curve.runtime_only = true;
+  curve.custom_python = spec;
+  curve.xs = std::move(result.xs);
+  curve.ys = std::move(result.ys);
+  return curve;
+}
+
+bool upsert_custom_curve_in_pane(WorkspaceTab *tab, int pane_index, Curve curve) {
+  if (pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    return false;
+  }
+  Pane &pane = tab->panes[static_cast<size_t>(pane_index)];
+  for (Curve &existing : pane.curves) {
+    if (existing.runtime_only && existing.name == curve.name) {
+      existing.visible = true;
+      existing.label = curve.label;
+      existing.custom_python = curve.custom_python;
+      existing.xs = std::move(curve.xs);
+      existing.ys = std::move(curve.ys);
+      return false;
+    }
+  }
+  pane.curves.push_back(std::move(curve));
+  return true;
+}
+
+std::set<std::string> collect_custom_series_paths(const CustomPythonSeries &spec,
+                                                  std::string_view globals_code,
+                                                  std::string_view function_code) {
+  std::set<std::string> paths;
+  if (!spec.linked_source.empty()) {
+    paths.insert(spec.linked_source);
+  }
+  paths.insert(spec.additional_sources.begin(), spec.additional_sources.end());
+
+  static const std::regex kPathRegex(R"([tv]\(\s*["']([^"']+)["']\s*\))");
+  const auto collect_from = [&](std::string_view code) {
+    std::string owned(code);
+    for (std::sregex_iterator it(owned.begin(), owned.end(), kPathRegex), end; it != end; ++it) {
+      paths.insert((*it)[1].str());
+    }
+  };
+  collect_from(globals_code);
+  collect_from(function_code);
+  return paths;
+}
+
+PythonEvalResult evaluate_custom_python_series(const AppSession &session,
+                                               const CustomPythonSeries &spec) {
+  const std::set<std::string> referenced_paths =
+    collect_custom_series_paths(spec, spec.globals_code, spec.function_code);
+  if (referenced_paths.empty()) throw std::runtime_error("No input series referenced. Set an input timeseries or reference route paths in code.");
+
+  const fs::path temp_dir = create_custom_series_temp_dir();
+  try {
+    const fs::path globals_path = temp_dir / "globals.py";
+    const fs::path code_path = temp_dir / "code.py";
+    const fs::path manifest_path = temp_dir / "manifest.json";
+    const fs::path out_t_path = temp_dir / "result.t.bin";
+    const fs::path out_v_path = temp_dir / "result.v.bin";
+
+    write_text_file(globals_path, spec.globals_code);
+    write_text_file(code_path, spec.function_code);
+
+    json11::Json::array paths_json(session.route_data.paths.begin(), session.route_data.paths.end());
+    json11::Json::array additional_json(spec.additional_sources.begin(), spec.additional_sources.end());
+    json11::Json::array series_json;
+    size_t series_index = 0;
+    for (const std::string &path : referenced_paths) {
+      const RouteSeries *series = app_find_route_series(session, path);
+      if (series == nullptr || series->times.size() < 2 || series->times.size() != series->values.size()) {
+        throw std::runtime_error("Missing route series " + path);
+      }
+      const std::string prefix = "series_" + std::to_string(series_index++);
+      const fs::path time_path = temp_dir / (prefix + ".t.bin");
+      const fs::path value_path = temp_dir / (prefix + ".v.bin");
+      write_binary_vector(time_path, series->times);
+      write_binary_vector(value_path, series->values);
+      series_json.push_back(json11::Json::object{
+        {"path", path}, {"t", time_path.string()}, {"v", value_path.string()}});
+    }
+    const json11::Json manifest_json = json11::Json::object{
+      {"paths", std::move(paths_json)},
+      {"linked_source", spec.linked_source},
+      {"additional_sources", std::move(additional_json)},
+      {"series", std::move(series_json)},
+    };
+    write_text_file(manifest_path, manifest_json.dump());
+
+    const CommandResult process = run_process_capture_output({
+      "python3",
+      (repo_root() / "tools" / "jotpluggler" / "math_eval.py").string(),
+      manifest_path.string(),
+      globals_path.string(),
+      code_path.string(),
+      out_t_path.string(),
+      out_v_path.string(),
+    });
+    if (process.exit_code != 0) {
+      const std::string error_text = util::strip(process.output);
+      throw std::runtime_error(error_text.empty() ? "Python evaluation failed" : error_text);
+    }
+
+    PythonEvalResult result;
+    result.xs = read_binary_vector(out_t_path);
+    result.ys = read_binary_vector(out_v_path);
+    if (result.xs.size() < 2 || result.xs.size() != result.ys.size()) {
+      throw std::runtime_error("Custom series returned invalid output");
+    }
+    fs::remove_all(temp_dir);
+    return result;
+  } catch (...) {
+    std::error_code ignore_error;
+    fs::remove_all(temp_dir, ignore_error);
+    throw;
+  }
+}
+
+void refresh_custom_curve_samples(AppSession *session, UiState *state, Curve *curve) {
+  if (!curve->custom_python.has_value()) {
+    return;
+  }
+  if (!session->route_data.has_time_range || session->route_data.series.empty()) {
+    curve->runtime_error_message.clear();
+    curve->xs.clear();
+    curve->ys.clear();
+    return;
+  }
+  try {
+    PythonEvalResult result = evaluate_custom_python_series(*session, *curve->custom_python);
+    curve->runtime_error_message.clear();
+    curve->xs = std::move(result.xs);
+    curve->ys = std::move(result.ys);
+  } catch (const std::exception &err) {
+    curve->xs.clear();
+    curve->ys.clear();
+    const std::string err_text = err.what();
+    if (session->data_mode == SessionDataMode::Stream && util::starts_with(err_text, "Missing route series ")) {
+      curve->runtime_error_message = err_text;
+      return;
+    }
+    const std::string error_message = std::string("Failed to evaluate custom series \"")
+      + app_curve_display_name(*curve) + "\":\n\n" + err_text;
+    if (curve->runtime_error_message != error_message) {
+      curve->runtime_error_message = error_message;
+      state->error_text = error_message;
+      state->open_error_popup = true;
+    }
+  }
+}
+
+const std::array<CustomSeriesTemplate, 4> &custom_series_templates() {
+  static constexpr std::array<CustomSeriesTemplate, 4> kTemplates = {{
+    {
+      .name = "Derivative",
+      .globals_code = "",
+      .function_code = "return np.gradient(value, time)",
+      .preview_text = "return np.gradient(value, time)",
+      .required_additional_sources = 0,
+      .requirement_text = "",
+    },
+    {
+      .name = "Difference",
+      .globals_code = "",
+      .function_code = "return value - v1",
+      .preview_text = "Requires one additional source timeseries.\n\nreturn value - v1",
+      .required_additional_sources = 1,
+      .requirement_text = "Difference requires one additional source timeseries for v1.",
+    },
+    {
+      .name = "Smoothing",
+      .globals_code = "window = 20\nweights = np.ones(window) / window",
+      .function_code = "return np.convolve(value, weights, mode='same')",
+      .preview_text = "window = 20\nweights = np.ones(window) / window\n\nreturn np.convolve(value, weights, mode='same')",
+      .required_additional_sources = 0,
+      .requirement_text = "",
+    },
+    {
+      .name = "Integral",
+      .globals_code = "",
+      .function_code = "dt = np.mean(np.diff(time))\nreturn np.cumsum(value) * dt",
+      .preview_text = "dt = np.mean(np.diff(time))\nreturn np.cumsum(value) * dt",
+      .required_additional_sources = 0,
+      .requirement_text = "",
+    },
+  }};
+  return kTemplates;
+}
+
+void draw_custom_series_help_popup(CustomSeriesEditorState *editor) {
+  if (editor->open_help) {
+    ImGui::OpenPopup("Custom Series Help");
+    editor->open_help = false;
+  }
+  if (!ImGui::BeginPopupModal("Custom Series Help", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+    return;
+  }
+  ImGui::TextUnformatted("Available variables");
+  ImGui::Separator();
+  ImGui::BulletText("np: numpy");
+  ImGui::BulletText("t(path), v(path): timestamps and values for a route series");
+  ImGui::BulletText("paths: all available route series paths");
+  ImGui::BulletText("time, value: linked input timeseries");
+  ImGui::BulletText("t1, v1, t2, v2, ...: additional source timeseries");
+  ImGui::Spacing();
+  ImGui::TextWrapped("Write either a single expression like \"return np.gradient(value, time)\" "
+                     "or a multi-line Python body that returns an array or a (times, values) tuple.");
+  ImGui::Spacing();
+  if (ImGui::Button("Close", ImVec2(120.0f, 0.0f))) {
+    ImGui::CloseCurrentPopup();
+  }
+  ImGui::EndPopup();
+}
+
+void draw_custom_series_preview(const AppSession &session, CustomSeriesEditorState *editor) {
+  std::vector<double> preview_xs;
+  std::vector<double> preview_ys;
+  std::string preview_label = editor->preview_label;
+  if (editor->preview_is_result && editor->preview_xs.size() > 1 && editor->preview_xs.size() == editor->preview_ys.size()) {
+    preview_xs = editor->preview_xs;
+    preview_ys = editor->preview_ys;
+    if (preview_label.empty()) {
+      preview_label = "Result preview";
+    }
+  } else if (!editor->linked_source.empty()) {
+    if (const RouteSeries *series = app_find_route_series(session, editor->linked_source); series != nullptr
+        && series->times.size() > 1 && series->times.size() == series->values.size()) {
+      preview_xs = series->times;
+      preview_ys = series->values;
+      preview_label = "Input preview (not result)";
+    }
+  }
+
+  if (!preview_xs.empty() && preview_xs.size() == preview_ys.size()) {
+    std::vector<double> plot_xs;
+    std::vector<double> plot_ys;
+    app_decimate_samples(preview_xs, preview_ys, 1200, &plot_xs, &plot_ys);
+    const double preview_x_min = preview_xs.front();
+    const double preview_x_max = preview_xs.back() > preview_xs.front()
+      ? preview_xs.back()
+      : preview_xs.front() + 1e-6;
+    std::string plot_id = "##custom_series_preview";
+    if (editor->preview_is_result) {
+      plot_id += "_result_";
+      plot_id += editor->name.empty() ? preview_label : editor->name;
+    } else if (!editor->linked_source.empty()) {
+      plot_id += "_input_";
+      plot_id += editor->linked_source;
+    }
+    ImGui::TextUnformatted(preview_label.c_str());
+    if (!editor->linked_source.empty() && !editor->preview_is_result) {
+      ImGui::SameLine();
+      ImGui::TextDisabled("%s", editor->linked_source.c_str());
+    }
+    if (ImPlot::BeginPlot(plot_id.c_str(),
+                          ImVec2(-1.0f, std::max(180.0f, ImGui::GetContentRegionAvail().y - 6.0f)),
+                          ImPlotFlags_NoTitle | ImPlotFlags_NoMenus | ImPlotFlags_NoLegend)) {
+      ImPlot::SetupAxes(nullptr, nullptr, ImPlotAxisFlags_NoMenus | ImPlotAxisFlags_NoHighlight,
+                        ImPlotAxisFlags_NoMenus | ImPlotAxisFlags_NoHighlight | ImPlotAxisFlags_AutoFit | ImPlotAxisFlags_RangeFit);
+      ImPlot::SetupAxisLimitsConstraints(ImAxis_X1, preview_x_min, preview_x_max);
+      ImPlot::SetupAxisLimits(ImAxis_X1, preview_x_min, preview_x_max, ImPlotCond_Once);
+      ImPlot::SetupAxisFormat(ImAxis_X1, "%.1f");
+      ImPlot::SetupAxisFormat(ImAxis_Y1, "%.6g");
+      ImPlotSpec spec;
+      spec.LineColor = color_rgb(35, 107, 180);
+      spec.LineWeight = 2.0f;
+      ImPlot::PlotLine("##custom_preview_line", plot_xs.data(), plot_ys.data(), static_cast<int>(plot_xs.size()), spec);
+      ImPlot::EndPlot();
+    }
+  } else {
+    ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 72.0f);
+    ImGui::PushStyleColor(ImGuiCol_Text, color_rgb(116, 124, 133));
+    ImGui::TextWrapped("Choose an input timeseries or click Preview to evaluate the custom result.");
+    ImGui::PopStyleColor();
+  }
+}
+
+std::string custom_series_name_status(const Pane &pane, std::string_view name) {
+  const std::string trimmed = util::strip(std::string(name));
+  if (trimmed.empty()) return "name required";
+  if (!trimmed.empty() && trimmed.front() == '/') {
+    return "cannot start with /";
+  }
+  for (const Curve &curve : pane.curves) {
+    if (curve.runtime_only && curve.name == trimmed) return "updates existing curve";
+  }
+  return "new curve";
+}
+
+const CustomSeriesTemplate &selected_custom_series_template(const CustomSeriesEditorState &editor) {
+  const auto &templates = custom_series_templates();
+  return templates[static_cast<size_t>(std::clamp(editor.selected_template, 0, static_cast<int>(templates.size()) - 1))];
+}
+
+bool custom_series_template_ready(const CustomSeriesEditorState &editor) {
+  const CustomSeriesTemplate &templ = selected_custom_series_template(editor);
+  return !editor.linked_source.empty()
+      && static_cast<int>(editor.additional_sources.size()) >= templ.required_additional_sources;
+}
+
+bool prepare_custom_series_spec(CustomSeriesEditorState *editor,
+                                UiState *state,
+                                bool require_name,
+                                CustomPythonSeries *out_spec) {
+  editor->name = util::strip(editor->name);
+  editor->linked_source = util::strip(editor->linked_source);
+  for (std::string &path : editor->additional_sources) {
+    path = util::strip(path);
+  }
+  editor->additional_sources.erase(
+    std::remove_if(editor->additional_sources.begin(), editor->additional_sources.end(),
+                   [&](const std::string &path) { return path.empty() || path == editor->linked_source; }),
+    editor->additional_sources.end());
+
+  if (require_name && editor->name.empty()) {
+    state->error_text = "Custom series name is required.";
+    state->open_error_popup = true;
+    return false;
+  }
+  if (require_name && !editor->name.empty() && editor->name.front() == '/') {
+    state->error_text = "Custom series names may not start with '/'.";
+    state->open_error_popup = true;
+    return false;
+  }
+
+  *out_spec = CustomPythonSeries{
+    .linked_source = editor->linked_source,
+    .additional_sources = editor->additional_sources,
+    .globals_code = editor->globals_code,
+    .function_code = editor->function_code,
+  };
+  return true;
+}
+
+bool preview_custom_series_editor(AppSession *session, UiState *state) {
+  CustomSeriesEditorState &editor = state->custom_series;
+  const CustomSeriesTemplate &templ = selected_custom_series_template(editor);
+  if (editor.linked_source.empty()) {
+    state->error_text = "Choose an input timeseries before previewing.";
+    state->open_error_popup = true;
+    state->status_text = "Custom series preview failed";
+    return false;
+  }
+  if (static_cast<int>(editor.additional_sources.size()) < templ.required_additional_sources) {
+    state->error_text = templ.requirement_text;
+    state->open_error_popup = true;
+    state->status_text = "Custom series preview failed";
+    return false;
+  }
+  CustomPythonSeries spec;
+  if (!prepare_custom_series_spec(&editor, state, false, &spec)) return false;
+
+  try {
+    PythonEvalResult result = evaluate_custom_python_series(*session, spec);
+    editor.preview_label = editor.name.empty() ? "Result preview" : editor.name;
+    editor.preview_xs = std::move(result.xs);
+    editor.preview_ys = std::move(result.ys);
+    editor.preview_is_result = true;
+    state->status_text = "Previewed custom series";
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Custom series preview failed";
+    return false;
+  }
+}
+
+bool apply_custom_series_editor(AppSession *session, UiState *state) {
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  TabUiState *tab_state = app_active_tab_state(state);
+  if (tab == nullptr || tab_state == nullptr) {
+    state->status_text = "No active pane";
+    return false;
+  }
+  if (tab_state->active_pane_index < 0 || tab_state->active_pane_index >= static_cast<int>(tab->panes.size())) {
+    state->status_text = "No active pane";
+    return false;
+  }
+
+  CustomSeriesEditorState &editor = state->custom_series;
+  CustomPythonSeries spec;
+  if (!prepare_custom_series_spec(&editor, state, true, &spec)) return false;
+
+  try {
+    PythonEvalResult result = evaluate_custom_python_series(*session, spec);
+    const SketchLayout before_layout = session->layout;
+    Pane &pane = tab->panes[static_cast<size_t>(tab_state->active_pane_index)];
+    editor.preview_label = editor.name;
+    editor.preview_xs = result.xs;
+    editor.preview_ys = result.ys;
+    editor.preview_is_result = true;
+    const bool inserted = upsert_custom_curve_in_pane(tab,
+                                                      tab_state->active_pane_index,
+                                                      make_custom_curve(pane, editor.name, spec, std::move(result)));
+    state->undo.push(before_layout);
+    state->status_text = inserted ? "Created custom series " + editor.name
+                                  : "Updated custom series " + editor.name;
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Custom series failed";
+    return false;
+  }
+}
+
+}  // namespace
+
+void open_custom_series_editor(UiState *state, const std::string &preferred_source) {
+  CustomSeriesEditorState &editor = state->custom_series;
+  if (!editor.open && editor.name.empty() && editor.linked_source.empty() && editor.function_code == "return value") {
+    editor.focus_name = true;
+  }
+  if (editor.linked_source.empty() && !preferred_source.empty()) {
+    editor.linked_source = preferred_source;
+  }
+  editor.open = true;
+  editor.request_select = true;
+}
+
+std::string preferred_custom_series_source(const Pane &pane) {
+  for (const Curve &curve : pane.curves) {
+    if (!curve.name.empty() && curve.name.front() == '/') {
+      return curve.name;
+    }
+    if (curve.custom_python.has_value() && !curve.custom_python->linked_source.empty()) {
+      return curve.custom_python->linked_source;
+    }
+  }
+  return {};
+}
+
+void refresh_all_custom_curves(AppSession *session, UiState *state) {
+  for (WorkspaceTab &tab : session->layout.tabs) {
+    for (Pane &pane : tab.panes) {
+      for (Curve &curve : pane.curves) {
+        refresh_custom_curve_samples(session, state, &curve);
+      }
+    }
+  }
+}
+
+void draw_editor_source_panel(UiState *state, CustomSeriesEditorState &editor) {
+  ImGui::TextWrapped("Input timeseries. Provides arguments time and value:");
+  ImGui::SetNextItemWidth(-FLT_MIN);
+  input_text_string("##custom_linked_source", &editor.linked_source, ImGuiInputTextFlags_ReadOnly);
+  if (ImGui::BeginDragDropTarget()) {
+    if (const ImGuiPayload *payload = ImGui::AcceptDragDropPayload("JOTP_BROWSER_PATH")) {
+      editor.linked_source = static_cast<const char *>(payload->Data);
+      editor.additional_sources.erase(
+        std::remove(editor.additional_sources.begin(), editor.additional_sources.end(), editor.linked_source),
+        editor.additional_sources.end());
+      editor.preview_is_result = false;
+    }
+    ImGui::EndDragDropTarget();
+  }
+  if (ImGui::Button("Use Selected", ImVec2(120.0f, 0.0f)) && !state->selected_browser_path.empty()) {
+    editor.linked_source = state->selected_browser_path;
+    editor.additional_sources.erase(
+      std::remove(editor.additional_sources.begin(), editor.additional_sources.end(), editor.linked_source),
+      editor.additional_sources.end());
+    editor.preview_is_result = false;
+  }
+  ImGui::SameLine();
+  if (ImGui::Button("Clear", ImVec2(120.0f, 0.0f))) {
+    editor.linked_source.clear();
+    editor.preview_is_result = false;
+  }
+
+  ImGui::Spacing();
+  ImGui::TextUnformatted("Additional source timeseries:");
+  ImGui::SameLine();
+  const CustomSeriesTemplate &tmpl = selected_custom_series_template(editor);
+  if (tmpl.required_additional_sources > 0) {
+    const bool ready = static_cast<int>(editor.additional_sources.size()) >= tmpl.required_additional_sources;
+    ImGui::TextColored(ready ? color_rgb(58, 126, 73) : color_rgb(180, 122, 44), "%s", tmpl.requirement_text);
+  }
+  ImGui::SameLine();
+  ImGui::BeginDisabled(editor.selected_additional_source < 0
+                       || editor.selected_additional_source >= static_cast<int>(editor.additional_sources.size()));
+  if (ImGui::Button("Remove Selected", ImVec2(140.0f, 0.0f))
+      && editor.selected_additional_source >= 0
+      && editor.selected_additional_source < static_cast<int>(editor.additional_sources.size())) {
+    editor.additional_sources.erase(editor.additional_sources.begin()
+      + static_cast<std::ptrdiff_t>(editor.selected_additional_source));
+    editor.selected_additional_source = editor.additional_sources.empty()
+      ? -1 : std::clamp(editor.selected_additional_source, 0, static_cast<int>(editor.additional_sources.size()) - 1);
+    editor.preview_is_result = false;
+  }
+  ImGui::EndDisabled();
+
+  if (ImGui::BeginChild("##custom_additional_sources", ImVec2(0.0f, 156.0f), true)) {
+    if (ImGui::BeginTable("##custom_additional_table", 2,
+                          ImGuiTableFlags_Borders | ImGuiTableFlags_RowBg | ImGuiTableFlags_SizingStretchProp)) {
+      ImGui::TableSetupColumn("id", ImGuiTableColumnFlags_WidthFixed, 42.0f);
+      ImGui::TableSetupColumn("path", ImGuiTableColumnFlags_WidthStretch);
+      for (size_t i = 0; i < editor.additional_sources.size(); ++i) {
+        ImGui::TableNextRow();
+        ImGui::TableNextColumn();
+        ImGui::Text("v%zu", i + 1);
+        ImGui::TableNextColumn();
+        if (ImGui::Selectable(editor.additional_sources[i].c_str(),
+                              editor.selected_additional_source == static_cast<int>(i),
+                              ImGuiSelectableFlags_SpanAllColumns)) {
+          editor.selected_additional_source = static_cast<int>(i);
+        }
+      }
+      ImGui::EndTable();
+    }
+    if (ImGui::BeginDragDropTarget()) {
+      if (const ImGuiPayload *payload = ImGui::AcceptDragDropPayload("JOTP_BROWSER_PATH")) {
+        if (add_additional_source(&editor, static_cast<const char *>(payload->Data)))
+          editor.preview_is_result = false;
+      }
+      ImGui::EndDragDropTarget();
+    }
+  }
+  ImGui::EndChild();
+  if (ImGui::Button("Add Selected", ImVec2(120.0f, 0.0f))) {
+    for (const std::string &path : state->selected_browser_paths) {
+      if (add_additional_source(&editor, path)) editor.preview_is_result = false;
+    }
+  }
+
+  ImGui::Spacing();
+  ImGui::SeparatorText("Function library");
+  const auto &templates = custom_series_templates();
+  if (ImGui::BeginChild("##custom_series_template_list", ImVec2(0.0f, 132.0f), true)) {
+    for (size_t i = 0; i < templates.size(); ++i) {
+      if (ImGui::Selectable(templates[i].name, editor.selected_template == static_cast<int>(i),
+                            ImGuiSelectableFlags_AllowDoubleClick)) {
+        editor.selected_template = static_cast<int>(i);
+        if (ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Left)) {
+          editor.globals_code = templates[i].globals_code;
+          editor.function_code = templates[i].function_code;
+          editor.preview_is_result = false;
+        }
+      }
+    }
+  }
+  ImGui::EndChild();
+  if (ImGui::Button("Use Selected Example")) {
+    const auto &sel = selected_custom_series_template(editor);
+    editor.globals_code = sel.globals_code;
+    editor.function_code = sel.function_code;
+    editor.preview_is_result = false;
+  }
+  ImGui::Spacing();
+  ImGui::TextDisabled("Preview");
+  ImGui::BeginChild("##custom_series_template_preview", ImVec2(0.0f, 0.0f), true);
+  ImGui::TextUnformatted(selected_custom_series_template(editor).preview_text);
+  ImGui::EndChild();
+}
+
+void draw_editor_code_panel(CustomSeriesEditorState &editor, const Pane *active_pane) {
+  const std::string name_status = active_pane != nullptr ? custom_series_name_status(*active_pane, editor.name) : "no active pane";
+  ImGui::TextUnformatted("New name:");
+  ImGui::SameLine();
+  const bool name_error = name_status == "name required" || name_status == "cannot start with /";
+  ImGui::TextColored(name_error ? color_rgb(200, 72, 64) : color_rgb(58, 126, 73), "%s", name_status.c_str());
+  if (editor.focus_name) { ImGui::SetKeyboardFocusHere(); editor.focus_name = false; }
+  ImGui::SetNextItemWidth(-FLT_MIN);
+  input_text_string("##custom_series_name", &editor.name, ImGuiInputTextFlags_AutoSelectAll);
+
+  ImGui::Spacing();
+  ImGui::SeparatorText("Global variables");
+  ImGui::SameLine();
+  if (ImGui::SmallButton("Help")) editor.open_help = true;
+  const float globals_h = std::max(96.0f, ImGui::GetContentRegionAvail().y * 0.28f);
+  if (input_text_multiline_string("##custom_series_globals", &editor.globals_code,
+                                  ImVec2(-FLT_MIN, globals_h), ImGuiInputTextFlags_AllowTabInput))
+    editor.preview_is_result = false;
+
+  ImGui::Spacing();
+  ImGui::TextUnformatted("def calc(time, value):");
+  const float func_h = std::max(180.0f, ImGui::GetContentRegionAvail().y - 16.0f);
+  if (input_text_multiline_string("##custom_series_function", &editor.function_code,
+                                  ImVec2(-FLT_MIN, func_h), ImGuiInputTextFlags_AllowTabInput))
+    editor.preview_is_result = false;
+}
+
+void draw_custom_series_editor(AppSession *session, UiState *state) {
+  CustomSeriesEditorState &editor = state->custom_series;
+  if (!editor.open) return;
+
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  TabUiState *tab_state = app_active_tab_state(state);
+  Pane *active_pane = (tab && tab_state && tab_state->active_pane_index >= 0
+                       && tab_state->active_pane_index < static_cast<int>(tab->panes.size()))
+    ? &tab->panes[static_cast<size_t>(tab_state->active_pane_index)] : nullptr;
+  if (editor.focus_name && active_pane && editor.name.empty())
+    editor.name = next_custom_curve_name(*active_pane);
+
+  draw_custom_series_help_popup(&editor);
+
+  if (ImGui::BeginTabBar("##custom_series_tabs")) {
+    if (ImGui::BeginTabItem("Single Function")) {
+      const float footer_height = ImGui::GetFrameHeightWithSpacing() * 2.0f + 10.0f;
+      if (ImGui::BeginChild("##custom_series_body",
+                            ImVec2(0.0f, std::max(1.0f, ImGui::GetContentRegionAvail().y - footer_height)), false)) {
+        if (ImGui::BeginChild("##custom_series_preview_child",
+                              ImVec2(0.0f, std::max(200.0f, ImGui::GetContentRegionAvail().y * 0.28f)), true))
+          draw_custom_series_preview(*session, &editor);
+        ImGui::EndChild();
+        ImGui::Spacing();
+
+        if (ImGui::BeginTable("##custom_series_editor_table", 2,
+                              ImGuiTableFlags_Resizable | ImGuiTableFlags_BordersInnerV | ImGuiTableFlags_SizingStretchProp,
+                              ImVec2(0.0f, std::max(1.0f, ImGui::GetContentRegionAvail().y)))) {
+          ImGui::TableSetupColumn("left", ImGuiTableColumnFlags_WidthFixed, 320.0f);
+          ImGui::TableSetupColumn("right", ImGuiTableColumnFlags_WidthStretch);
+          ImGui::TableNextColumn();
+          if (ImGui::BeginChild("##custom_series_left", ImVec2(0.0f, 0.0f), false))
+            draw_editor_source_panel(state, editor);
+          ImGui::EndChild();
+          ImGui::TableNextColumn();
+          if (ImGui::BeginChild("##custom_series_right", ImVec2(0.0f, 0.0f), false))
+            draw_editor_code_panel(editor, active_pane);
+          ImGui::EndChild();
+          ImGui::EndTable();
+        }
+      }
+      ImGui::EndChild();
+
+      ImGui::Spacing();
+      if (ImGui::Button("New", ImVec2(120.0f, 0.0f))) {
+        reset_custom_series_editor(&editor);
+        if (!state->selected_browser_path.empty()) editor.linked_source = state->selected_browser_path;
+        editor.open = true;
+        editor.focus_name = true;
+      }
+      ImGui::SameLine();
+      ImGui::BeginDisabled(!custom_series_template_ready(editor));
+      if (ImGui::Button("Preview Result", ImVec2(120.0f, 0.0f)))
+        preview_custom_series_editor(session, state);
+      ImGui::EndDisabled();
+      if (ImGui::IsItemHovered(ImGuiHoveredFlags_AllowWhenDisabled) && !custom_series_template_ready(editor)) {
+        if (editor.linked_source.empty()) ImGui::SetTooltip("Choose an input timeseries first.");
+        else ImGui::SetTooltip("%s", selected_custom_series_template(editor).requirement_text);
+      }
+      ImGui::SameLine();
+      if (ImGui::Button("Apply", ImVec2(120.0f, 0.0f))) apply_custom_series_editor(session, state);
+      ImGui::SameLine();
+      if (ImGui::Button("Close", ImVec2(120.0f, 0.0f))) { editor.open = false; editor.request_select = false; }
+      ImGui::EndTabItem();
+    }
+    ImGui::EndTabBar();
+  }
+}
diff --git a/tools/jotpluggler/dbc.h b/tools/jotpluggler/dbc.h
new file mode 100644
index 00000000000000..d7c5461502b0e9
--- /dev/null
+++ b/tools/jotpluggler/dbc.h
@@ -0,0 +1,400 @@
+#pragma once
+
+#include "common/util.h"
+
+#include <algorithm>
+#include <cmath>
+#include <cstddef>
+#include <cstdint>
+#include <filesystem>
+#include <fstream>
+#include <optional>
+#include <regex>
+#include <sstream>
+#include <stdexcept>
+#include <string>
+#include <tuple>
+#include <unordered_map>
+#include <vector>
+
+namespace dbc {
+
+
+struct ValueDescriptionEntry {
+  double value = 0.0;
+  std::string text;
+};
+
+struct Signal {
+  enum class Type {
+    Normal = 0,
+    Multiplexed,
+    Multiplexor,
+  };
+
+  Type type = Type::Normal;
+  std::string name;
+  int start_bit = 0;
+  int msb = 0;
+  int lsb = 0;
+  int size = 0;
+  double factor = 1.0;
+  double offset = 0.0;
+  double min = 0.0;
+  double max = 0.0;
+  bool is_signed = false;
+  bool is_little_endian = false;
+  std::string unit;
+  std::string comment;
+  std::string receiver_name;
+  int multiplex_value = 0;
+  int multiplexor_index = -1;
+  std::vector<ValueDescriptionEntry> value_descriptions;
+};
+
+struct Message {
+  uint32_t address = 0;
+  std::string name;
+  uint32_t size = 0;
+  std::string comment;
+  std::string transmitter;
+  std::vector<Signal> signals;
+  int multiplexor_index = -1;
+
+  const std::vector<Signal> &getSignals() const { return signals; }
+};
+
+class Database {
+public:
+  Database() = default;
+  explicit Database(const std::filesystem::path &path);
+  static Database fromContent(const std::string &content, const std::string &filename = "<dbc>");
+
+  const Message *message(uint32_t address) const;
+  const std::unordered_map<uint32_t, Message> &messages() const { return messages_; }
+  std::vector<std::string> enumNames(const Signal &signal) const;
+
+private:
+  void parse(const std::string &content, const std::string &filename);
+  void parseBo(const std::string &line, int line_number, Message **current_message);
+  void parseSg(const std::string &line, int line_number, Message *current_message);
+  void parseVal(const std::string &line, int line_number);
+  void parseCmBo(const std::string &line, int line_number);
+  void parseCmSg(const std::string &line, int line_number);
+  void finalize();
+
+  std::string filename_;
+  std::unordered_map<uint32_t, Message> messages_;
+};
+
+void updateMsbLsb(Signal *signal);
+double rawSignalValue(const Signal &signal, const uint8_t *data, size_t data_size);
+std::optional<double> signalValue(const Signal &signal, const Message &message, const uint8_t *data, size_t data_size);
+
+namespace {
+
+std::string unescape_dbc_string(std::string text) {
+  size_t pos = 0;
+  while ((pos = text.find("\\\"", pos)) != std::string::npos) {
+    text.replace(pos, 2, "\"");
+    ++pos;
+  }
+  return text;
+}
+
+int flip_bit_pos(int start_bit) {
+  return 8 * (start_bit / 8) + 7 - start_bit % 8;
+}
+
+std::string read_multiline_statement(std::istream &stream, std::string statement, int *line_number) {
+  static const std::regex statement_end(R"(\"\s*;\s*$)");
+  while (true) {
+    const std::string trimmed = util::strip(statement);
+    if (std::regex_search(trimmed, statement_end)) {
+      return trimmed;
+    }
+
+    std::string next_line;
+    if (!std::getline(stream, next_line)) {
+      return trimmed;
+    }
+    statement += "\n";
+    statement += next_line;
+    ++(*line_number);
+  }
+}
+
+}  // namespace
+
+inline void updateMsbLsb(Signal *signal) {
+  if (signal->is_little_endian) {
+    signal->lsb = signal->start_bit;
+    signal->msb = signal->start_bit + signal->size - 1;
+  } else {
+    signal->lsb = flip_bit_pos(flip_bit_pos(signal->start_bit) + signal->size - 1);
+    signal->msb = signal->start_bit;
+  }
+}
+
+inline double rawSignalValue(const Signal &signal, const uint8_t *data, size_t data_size) {
+  const int msb_byte = signal.msb / 8;
+  if (msb_byte >= static_cast<int>(data_size)) return 0.0;
+
+  const int lsb_byte = signal.lsb / 8;
+  uint64_t val = 0;
+  if (msb_byte == lsb_byte) {
+    val = (data[msb_byte] >> (signal.lsb & 7)) & ((1ULL << signal.size) - 1);
+  } else {
+    int bits = signal.size;
+    int i = msb_byte;
+    const int step = signal.is_little_endian ? -1 : 1;
+    while (i >= 0 && i < static_cast<int>(data_size) && bits > 0) {
+      const int msb = (i == msb_byte) ? signal.msb & 7 : 7;
+      const int lsb = (i == lsb_byte) ? signal.lsb & 7 : 0;
+      const int nbits = msb - lsb + 1;
+      val = (val << nbits) | ((data[i] >> lsb) & ((1ULL << nbits) - 1));
+      bits -= nbits;
+      i += step;
+    }
+  }
+
+  if (signal.is_signed && (val & (1ULL << (signal.size - 1)))) {
+    val |= ~((1ULL << signal.size) - 1);
+  }
+
+  return static_cast<int64_t>(val) * signal.factor + signal.offset;
+}
+
+[[noreturn]] inline void parse_error(const std::string &filename, int line_number, const std::string &message, const std::string &line) {
+  std::ostringstream out;
+  out << "[" << filename << ":" << line_number << "] " << message << ": " << line;
+  throw std::runtime_error(out.str());
+}
+
+inline Database::Database(const std::filesystem::path &path) {
+  const std::string content = util::read_file(path.string());
+  if (content.empty() && !std::filesystem::exists(path)) {
+    throw std::runtime_error("Failed to open DBC " + path.string());
+  }
+  parse(content, path.filename().string());
+}
+
+inline Database Database::fromContent(const std::string &content, const std::string &filename) {
+  Database db;
+  db.parse(content, filename);
+  return db;
+}
+
+inline const Message *Database::message(uint32_t address) const {
+  auto it = messages_.find(address);
+  return it == messages_.end() ? nullptr : &it->second;
+}
+
+inline std::vector<std::string> Database::enumNames(const Signal &signal) const {
+  if (signal.value_descriptions.empty()) return {};
+  int max_index = -1;
+  for (const auto &entry : signal.value_descriptions) {
+    const double rounded = std::round(entry.value);
+    if (std::abs(entry.value - rounded) > 1e-6 || rounded < 0.0 || rounded > 512.0) return {};
+    max_index = std::max(max_index, static_cast<int>(rounded));
+  }
+  if (max_index < 0) return {};
+  std::vector<std::string> names(static_cast<size_t>(max_index + 1));
+  for (const auto &entry : signal.value_descriptions) {
+    names[static_cast<size_t>(std::llround(entry.value))] = entry.text;
+  }
+  return names;
+}
+
+inline void Database::parse(const std::string &content, const std::string &filename) {
+  filename_ = filename;
+  messages_.clear();
+  std::istringstream stream(content);
+  std::string raw_line;
+  Message *current_message = nullptr;
+  int line_number = 0;
+  while (std::getline(stream, raw_line)) {
+    ++line_number;
+    std::string line = util::strip(raw_line);
+    if (line.empty()) continue;
+    if (util::starts_with(line, "BO_ ")) {
+      parseBo(line, line_number, &current_message);
+    } else if (util::starts_with(line, "SG_ ")) {
+      if (current_message == nullptr) {
+        parse_error(filename, line_number, "Signal without current message", line);
+      }
+      parseSg(line, line_number, current_message);
+    } else if (util::starts_with(line, "VAL_ ")) {
+      parseVal(line, line_number);
+    } else if (util::starts_with(line, "CM_ BO_")) {
+      parseCmBo(read_multiline_statement(stream, raw_line, &line_number), line_number);
+    } else if (util::starts_with(line, "CM_ SG_")) {
+      parseCmSg(read_multiline_statement(stream, raw_line, &line_number), line_number);
+    }
+  }
+  finalize();
+}
+
+inline void Database::parseBo(const std::string &line, int line_number, Message **current_message) {
+  static const std::regex pattern(R"(^BO_\s+(\w+)\s+(\w+)\s*:\s*(\w+)\s+(\w+)\s*$)");
+  std::smatch match;
+  if (!std::regex_match(line, match, pattern)) {
+    parse_error("<dbc>", line_number, "Invalid BO_ line format", line);
+  }
+  uint32_t address = static_cast<uint32_t>(std::stoul(match[1].str(), nullptr, 0));
+  if (messages_.find(address) != messages_.end()) {
+    parse_error(filename_, line_number, "Duplicate message address", line);
+  }
+  Message &message = messages_[address];
+  message.address = address;
+  message.name = match[2].str();
+  message.size = static_cast<uint32_t>(std::stoul(match[3].str(), nullptr, 0));
+  message.transmitter = match[4].str();
+  message.signals.clear();
+  message.multiplexor_index = -1;
+  *current_message = &message;
+}
+
+inline void Database::parseSg(const std::string &line, int line_number, Message *current_message) {
+  static const std::regex multiplex_pattern(R"(^SG_\s+(\w+)\s+(\w+)\s*:\s*(\d+)\|(\d+)@(\d)([+-])\s+\(([0-9.+\-eE]+),([0-9.+\-eE]+)\)\s+\[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\]\s+\"(.*)\"\s+(.*)$)");
+  static const std::regex normal_pattern(R"(^SG_\s+(\w+)\s*:\s*(\d+)\|(\d+)@(\d)([+-])\s+\(([0-9.+\-eE]+),([0-9.+\-eE]+)\)\s+\[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\]\s+\"(.*)\"\s+(.*)$)");
+
+  std::smatch match;
+  Signal signal;
+  int offset = 0;
+  if (std::regex_match(line, match, normal_pattern)) {
+    offset = 0;
+  } else if (std::regex_match(line, match, multiplex_pattern)) {
+    offset = 1;
+    const std::string indicator = match[2].str();
+    if (indicator == "M") {
+      if (std::any_of(current_message->signals.begin(), current_message->signals.end(), [](const Signal &existing) {
+            return existing.type == Signal::Type::Multiplexor;
+          })) {
+        parse_error(filename_, line_number, "Multiple multiplexor", line);
+      }
+      signal.type = Signal::Type::Multiplexor;
+    } else if (!indicator.empty() && indicator.front() == 'm') {
+      signal.type = Signal::Type::Multiplexed;
+      signal.multiplex_value = std::stoi(indicator.substr(1));
+    } else {
+      parse_error("<dbc>", line_number, "Invalid multiplex indicator", line);
+    }
+  } else {
+    parse_error("<dbc>", line_number, "Invalid SG_ line format", line);
+  }
+
+  signal.name = match[1].str();
+  if (std::any_of(current_message->signals.begin(), current_message->signals.end(), [&](const Signal &existing) {
+        return existing.name == signal.name;
+      })) {
+    parse_error(filename_, line_number, "Duplicate signal name", line);
+  }
+  signal.start_bit = std::stoi(match[2 + offset].str());
+  signal.size = std::stoi(match[3 + offset].str());
+  signal.is_little_endian = match[4 + offset].str() == "1";
+  signal.is_signed = match[5 + offset].str() == "-";
+  signal.factor = std::stod(match[6 + offset].str());
+  signal.offset = std::stod(match[7 + offset].str());
+  signal.min = std::stod(match[8 + offset].str());
+  signal.max = std::stod(match[9 + offset].str());
+  signal.unit = match[10 + offset].str();
+  signal.receiver_name = util::strip(match[11 + offset].str());
+  updateMsbLsb(&signal);
+  current_message->signals.push_back(std::move(signal));
+}
+
+inline void Database::parseVal(const std::string &line, int line_number) {
+  static const std::regex prefix(R"(^VAL_\s+(\w+)\s+(\w+)\s+(.*);$)");
+  std::smatch match;
+  if (!std::regex_match(line, match, prefix)) {
+    parse_error("<dbc>", line_number, "Invalid VAL_ line format", line);
+  }
+
+  const uint32_t address = static_cast<uint32_t>(std::stoul(match[1].str(), nullptr, 0));
+  auto msg_it = messages_.find(address);
+  if (msg_it == messages_.end()) {
+    return;
+  }
+  auto sig_it = std::find_if(msg_it->second.signals.begin(), msg_it->second.signals.end(), [&](const Signal &signal) {
+    return signal.name == match[2].str();
+  });
+  if (sig_it == msg_it->second.signals.end()) {
+    return;
+  }
+
+  static const std::regex entry_pattern(R"(([+-]?\d+(?:\.\d+)?)\s+\"((?:[^\"\\]|\\.)*)\")");
+  const std::string defs = match[3].str();
+  for (std::sregex_iterator it(defs.begin(), defs.end(), entry_pattern), end; it != end; ++it) {
+    sig_it->value_descriptions.push_back(ValueDescriptionEntry{
+      .value = std::stod((*it)[1].str()),
+      .text = (*it)[2].str(),
+    });
+  }
+}
+
+inline void Database::parseCmBo(const std::string &line, int line_number) {
+  static const std::regex pattern(R"(^CM_\s+BO_\s*(\w+)\s*\"((?:[^\"\\]|\\.|[\r\n])*)\"\s*;\s*$)");
+  std::smatch match;
+  if (!std::regex_match(line, match, pattern)) {
+    parse_error(filename_, line_number, "Invalid message comment format", line);
+  }
+  const uint32_t address = static_cast<uint32_t>(std::stoul(match[1].str(), nullptr, 0));
+  auto it = messages_.find(address);
+  if (it != messages_.end()) {
+    it->second.comment = unescape_dbc_string(match[2].str());
+  }
+}
+
+inline void Database::parseCmSg(const std::string &line, int line_number) {
+  static const std::regex pattern(R"(^CM_\s+SG_\s*(\w+)\s*(\w+)\s*\"((?:[^\"\\]|\\.|[\r\n])*)\"\s*;\s*$)");
+  std::smatch match;
+  if (!std::regex_match(line, match, pattern)) {
+    parse_error(filename_, line_number, "Invalid signal comment format", line);
+  }
+
+  const uint32_t address = static_cast<uint32_t>(std::stoul(match[1].str(), nullptr, 0));
+  auto msg_it = messages_.find(address);
+  if (msg_it == messages_.end()) return;
+
+  auto sig_it = std::find_if(msg_it->second.signals.begin(), msg_it->second.signals.end(), [&](const Signal &signal) {
+    return signal.name == match[2].str();
+  });
+  if (sig_it != msg_it->second.signals.end()) {
+    sig_it->comment = unescape_dbc_string(match[3].str());
+  }
+}
+
+inline void Database::finalize() {
+  for (auto &[_, message] : messages_) {
+    std::sort(message.signals.begin(), message.signals.end(), [](const Signal &left, const Signal &right) {
+      return std::tie(right.type, left.multiplex_value, left.start_bit, left.name)
+           < std::tie(left.type, right.multiplex_value, right.start_bit, right.name);
+    });
+    message.multiplexor_index = -1;
+    for (size_t i = 0; i < message.signals.size(); ++i) {
+      if (message.signals[i].type == Signal::Type::Multiplexor) {
+        message.multiplexor_index = static_cast<int>(i);
+        break;
+      }
+    }
+    for (Signal &signal : message.signals) {
+      signal.multiplexor_index = signal.type == Signal::Type::Multiplexed ? message.multiplexor_index : -1;
+      if (signal.type == Signal::Type::Multiplexed && signal.multiplexor_index < 0) {
+        signal.type = Signal::Type::Normal;
+        signal.multiplex_value = 0;
+      }
+    }
+  }
+}
+
+inline std::optional<double> signalValue(const Signal &signal, const Message &message, const uint8_t *data, size_t data_size) {
+  if (signal.multiplexor_index >= 0) {
+    const Signal &multiplexor = message.signals[static_cast<size_t>(signal.multiplexor_index)];
+    const double mux_value = rawSignalValue(multiplexor, data, data_size);
+    if (std::llround(mux_value) != signal.multiplex_value) return std::nullopt;
+  }
+  return rawSignalValue(signal, data, data_size);
+}
+
+}  // namespace dbc
diff --git a/tools/jotpluggler/generated_dbcs/.gitignore b/tools/jotpluggler/generated_dbcs/.gitignore
new file mode 100644
index 00000000000000..d6b7ef32c8478a
--- /dev/null
+++ b/tools/jotpluggler/generated_dbcs/.gitignore
@@ -0,0 +1,2 @@
+*
+!.gitignore
diff --git a/tools/jotpluggler/icons.cc b/tools/jotpluggler/icons.cc
new file mode 100644
index 00000000000000..9507090e036b62
--- /dev/null
+++ b/tools/jotpluggler/icons.cc
@@ -0,0 +1,24 @@
+#include "tools/jotpluggler/app.h"
+#include "tools/jotpluggler/common.h"
+
+#include <cmath>
+
+void icon_add_font(float size, bool merge, const ImFont *base_font) {
+  const std::filesystem::path ttf = repo_root() / "third_party" / "bootstrap" / "bootstrap-icons.ttf";
+  ImGuiIO &io = ImGui::GetIO();
+  ImFontConfig config;
+  config.MergeMode = merge;
+  config.GlyphMinAdvanceX = size;
+  if (base_font != nullptr) {
+    ImFontBaked *baked = const_cast<ImFont *>(base_font)->GetFontBaked(size);
+    const float base_center = baked != nullptr ? (baked->Ascent + baked->Descent) * 0.5f : size * 0.5f;
+    config.GlyphOffset.y = std::round(size * 0.5f - base_center);
+  }
+  static const ImWchar ranges[] = {0xF000, 0xF8FF, 0};
+  io.Fonts->AddFontFromFileTTF(ttf.c_str(), size, &config, ranges);
+}
+
+bool icon_menu_item(const char *glyph, const char *label, const char *shortcut, bool selected, bool enabled) {
+  assert(glyph != nullptr && glyph[0] != '\0');
+  return ImGui::MenuItem(util::string_format("%s  %s", glyph, label).c_str(), shortcut, selected, enabled);
+}
diff --git a/tools/jotpluggler/internal.h b/tools/jotpluggler/internal.h
new file mode 100644
index 00000000000000..22a5c1dd959450
--- /dev/null
+++ b/tools/jotpluggler/internal.h
@@ -0,0 +1,166 @@
+#pragma once
+
+#include "tools/jotpluggler/common.h"
+#include "tools/jotpluggler/map.h"
+
+#include <filesystem>
+#include <functional>
+#include <optional>
+
+struct GLFWwindow;
+
+enum class PaneDropZone {
+  Center,
+  Left,
+  Right,
+  Top,
+  Bottom,
+};
+
+enum class PaneMenuActionKind {
+  None,
+  OpenAxisLimits,
+  OpenCustomSeries,
+  SplitLeft,
+  SplitRight,
+  SplitTop,
+  SplitBottom,
+  ResetView,
+  ResetHorizontal,
+  ResetVertical,
+  Clear,
+  Close,
+};
+
+struct PaneMenuAction {
+  PaneMenuActionKind kind = PaneMenuActionKind::None;
+  int pane_index = -1;
+};
+
+struct PaneCurveDragPayload {
+  int tab_index = -1;
+  int pane_index = -1;
+  int curve_index = -1;
+};
+
+struct PaneDropAction {
+  PaneDropZone zone = PaneDropZone::Center;
+  int target_pane_index = -1;
+  bool from_browser = false;
+  std::vector<std::string> browser_paths;
+  std::string special_item_id;
+  PaneCurveDragPayload curve_ref;
+};
+
+inline constexpr float SIDEBAR_WIDTH = 320.0f;
+inline constexpr float SIDEBAR_MIN_WIDTH = 220.0f;
+inline constexpr float SIDEBAR_MAX_WIDTH = 520.0f;
+inline constexpr float TIMELINE_BAR_HEIGHT = 14.0f;
+inline constexpr float STATUS_BAR_HEIGHT = 52.0f;
+inline constexpr double MIN_HORIZONTAL_ZOOM_SECONDS = 2.0;
+
+struct UiMetrics {
+  float width = 0.0f;
+  float height = 0.0f;
+  float top_offset = 0.0f;
+  float sidebar_width = SIDEBAR_WIDTH;
+  float content_x = 0.0f;
+  float content_y = 0.0f;
+  float content_w = 0.0f;
+  float content_h = 0.0f;
+  float status_bar_y = 0.0f;
+};
+
+std::filesystem::path resolve_layout_path(const std::string &layout_arg);
+std::filesystem::path autosave_path_for_layout(const std::filesystem::path &layout_path);
+std::vector<std::string> available_layout_names();
+
+SketchLayout make_empty_layout();
+void cancel_rename_tab(UiState *state);
+void sync_ui_state(UiState *state, const SketchLayout &layout);
+void sync_route_buffers(UiState *state, const AppSession &session);
+void sync_stream_buffers(UiState *state, const AppSession &session);
+void sync_layout_buffers(UiState *state, const AppSession &session);
+void mark_all_docks_dirty(UiState *state);
+void clear_layout_autosave(const AppSession &session);
+bool autosave_layout(AppSession *session, UiState *state);
+bool apply_axis_limits_editor(AppSession *session, UiState *state);
+void open_axis_limits_editor(const AppSession &session, UiState *state, int pane_index);
+void persist_shared_range_to_tab(WorkspaceTab *tab, const UiState &state);
+void clear_pane_vertical_limits(Pane *pane);
+
+void refresh_replaced_layout_ui(AppSession *session, UiState *state, bool mark_docks);
+void start_new_layout(AppSession *session, UiState *state, const std::string &status_text = "New untitled layout");
+void apply_dbc_override_change(AppSession *session, UiState *state, const std::string &dbc_override);
+
+void app_push_bold_font();
+void app_pop_bold_font();
+void draw_vertical_splitter(const char *id, float height, float min_left, float max_left, float *left_width);
+void draw_right_splitter(const char *id, float height, float min_right, float max_right, float *right_width);
+bool draw_horizontal_splitter(const char *id, float width, float min_top, float max_top, float *top_height);
+void draw_payload_bytes(std::string_view data, const std::string *prev_data = nullptr);
+void draw_payload_preview_boxes(const char *id, std::string_view data, const std::string *prev_data, float max_width);
+void draw_signal_sparkline(const AppSession &session,
+                           const UiState &state,
+                           std::string_view signal_path,
+                           bool selected,
+                           ImVec2 size = ImVec2(0.0f, 24.0f));
+ImU32 mix_color(ImU32 a, ImU32 b, float t);
+void draw_empty_panel(const char *title, const char *message);
+
+UiMetrics compute_ui_metrics(const ImVec2 &size, float top_offset, float sidebar_width);
+void draw_sidebar(AppSession *session, const UiMetrics &ui, UiState *state, bool show_camera_feed);
+void draw_workspace(AppSession *session, const UiMetrics &ui, UiState *state);
+void draw_pane_windows(AppSession *session, UiState *state);
+
+// plot.cc
+void draw_plot(const AppSession &session, Pane *pane, UiState *state);
+bool draw_pane_close_button_overlay();
+void draw_pane_frame_overlay();
+std::optional<PaneMenuAction> draw_pane_context_menu(const WorkspaceTab &tab, int pane_index);
+bool curve_has_samples(const AppSession &session, const Curve &curve);
+bool curve_has_local_samples(const Curve &curve);
+std::string app_curve_display_name(const Curve &curve);
+bool mark_layout_dirty(AppSession *session, UiState *state);
+
+const RouteSeries *app_find_route_series(const AppSession &session, const std::string &path);
+void sync_camera_feeds(AppSession *session);
+void apply_route_data(AppSession *session, UiState *state, RouteData route_data);
+bool apply_undo(AppSession *session, UiState *state);
+bool apply_redo(AppSession *session, UiState *state);
+bool infer_stream_follow_state(const UiState &state, const AppSession &session);
+void ensure_shared_range(UiState *state, const AppSession &session);
+void clamp_shared_range(UiState *state, const AppSession &session);
+void reset_shared_range(UiState *state, const AppSession &session);
+void update_follow_range(UiState *state, const AppSession &session);
+void advance_playback(UiState *state, const AppSession &session);
+void step_tracker(UiState *state, double direction);
+std::string dbc_combo_label(const AppSession &session);
+const char *log_selector_name(LogSelector selector);
+const char *log_selector_description(LogSelector selector);
+std::string format_cache_bytes(uint64_t bytes);
+MapCacheStats directory_cache_stats(const std::filesystem::path &root);
+float draw_main_menu_bar(AppSession *session, UiState *state);
+
+bool reset_layout(AppSession *session, UiState *state);
+bool reload_layout(AppSession *session, UiState *state, const std::string &layout_arg);
+bool save_layout(AppSession *session, UiState *state, const std::string &layout_path);
+void rebuild_session_route_data(AppSession *session, UiState *state,
+                                const RouteLoadProgressCallback &progress = {});
+void stop_stream_session(AppSession *session, UiState *state, bool preserve_data = true);
+bool start_stream_session(AppSession *session,
+                          UiState *state,
+                          const StreamSourceConfig &source,
+                          double buffer_seconds,
+                          bool preserve_existing_data = false);
+void start_async_route_load(AppSession *session, UiState *state);
+void poll_async_route_load(AppSession *session, UiState *state);
+bool reload_session(AppSession *session, UiState *state, const std::string &route_name, const std::string &data_dir);
+void draw_popups(AppSession *session, UiState *state);
+
+void draw_status_bar(const AppSession &session, const UiMetrics &ui, UiState *state);
+void draw_sidebar_resizer(const UiMetrics &ui, UiState *state);
+
+void apply_stream_batch(AppSession *session, UiState *state, StreamExtractBatch batch);
+
+void render_frame(GLFWwindow *window, AppSession *session, UiState *state, const std::filesystem::path *capture_path);
diff --git a/tools/jotpluggler/layout.cc b/tools/jotpluggler/layout.cc
new file mode 100644
index 00000000000000..8a58ef7cd6b5d1
--- /dev/null
+++ b/tools/jotpluggler/layout.cc
@@ -0,0 +1,704 @@
+#include "tools/jotpluggler/internal.h"
+#include "system/hardware/hw.h"
+
+#include <unistd.h>
+
+namespace fs = std::filesystem;
+
+namespace {
+
+enum class ModalAction {
+  None,
+  Primary,
+  Secondary,
+};
+
+struct FindSignalMatch {
+  const std::string *path = nullptr;
+  int score = 0;
+};
+
+struct DbcEditorSource {
+  fs::path path;
+  DbcEditorState::SourceKind kind = DbcEditorState::SourceKind::None;
+};
+
+StreamSourceConfig stream_source_config_from_ui(const UiState &state) {
+  StreamSourceConfig source;
+  source.kind = state.stream_source_kind;
+  source.address = util::strip(state.stream_address_buffer);
+  if (source.kind == StreamSourceKind::CerealLocal) {
+    source.address = "127.0.0.1";
+  } else {
+    source.address = normalize_stream_address(std::move(source.address));
+  }
+  return source;
+}
+
+void open_queued_popup(bool &flag, const char *name) {
+  if (flag) {
+    ImGui::OpenPopup(name);
+    flag = false;
+  }
+}
+
+ModalAction draw_modal_action_row(const char *primary_label,
+                                  const char *secondary_label = "Cancel",
+                                  float width = 120.0f) {
+  if (ImGui::Button(primary_label, ImVec2(width, 0.0f))) {
+    return ModalAction::Primary;
+  }
+  ImGui::SameLine();
+  if (ImGui::Button(secondary_label, ImVec2(width, 0.0f))) {
+    return ModalAction::Secondary;
+  }
+  return ModalAction::None;
+}
+
+std::vector<FindSignalMatch> find_signal_matches(const AppSession &session, std::string_view query) {
+  std::vector<FindSignalMatch> matches;
+  if (query.empty()) {
+    return matches;
+  }
+  const std::string needle = lowercase_copy(query);
+  for (const std::string &path : session.route_data.paths) {
+    const std::string hay = lowercase_copy(path);
+    const size_t pos = hay.find(needle);
+    if (pos == std::string::npos) {
+      continue;
+    }
+    const size_t slash = path.find_last_of('/');
+    const std::string_view label = slash == std::string::npos ? std::string_view(path) : std::string_view(path).substr(slash + 1);
+    int score = static_cast<int>(pos * 8 + path.size());
+    if (lowercase_copy(label) == needle) score -= 60;
+    if (util::starts_with(hay, needle)) score -= 30;
+    matches.push_back({.path = &path, .score = score});
+  }
+  std::sort(matches.begin(), matches.end(), [](const FindSignalMatch &a, const FindSignalMatch &b) {
+    return std::tie(a.score, *a.path) < std::tie(b.score, *b.path);
+  });
+  if (matches.size() > 200) {
+    matches.resize(200);
+  }
+  return matches;
+}
+
+bool open_find_signal_result(UiState *state, const std::string &path) {
+  state->selected_browser_paths = {path};
+  state->selected_browser_path = path;
+  state->browser_selection_anchor = path;
+  state->status_text = "Selected signal " + path;
+  return true;
+}
+
+void draw_open_route_popup(AppSession *session, UiState *state) {
+  if (!ImGui::BeginPopupModal("Open Route", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+    return;
+  }
+  ImGui::TextUnformatted("Load a route into the current layout.");
+  ImGui::Separator();
+  input_text_string("Route", &state->route_buffer);
+  input_text_string("Data Dir", &state->data_dir_buffer);
+  ImGui::Spacing();
+  switch (draw_modal_action_row("Load")) {
+    case ModalAction::Primary:
+      reload_session(session, state, state->route_buffer, state->data_dir_buffer);
+      ImGui::CloseCurrentPopup();
+      break;
+    case ModalAction::Secondary:
+      sync_route_buffers(state, *session);
+      ImGui::CloseCurrentPopup();
+      break;
+    case ModalAction::None:
+      break;
+  }
+  ImGui::EndPopup();
+}
+
+void draw_stream_popup(AppSession *session, UiState *state) {
+  if (!ImGui::BeginPopupModal("Live Stream", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+    return;
+  }
+
+  ImGui::TextUnformatted("Connect to a live source.");
+  ImGui::Separator();
+  if (ImGui::RadioButton("Local (MSGQ)", state->stream_source_kind == StreamSourceKind::CerealLocal)) {
+    state->stream_source_kind = StreamSourceKind::CerealLocal;
+  }
+  if (ImGui::RadioButton("Remote (ZMQ)", state->stream_source_kind == StreamSourceKind::CerealRemote)) {
+    state->stream_source_kind = StreamSourceKind::CerealRemote;
+  }
+
+  if (state->stream_source_kind == StreamSourceKind::CerealRemote) {
+    input_text_string("Address", &state->stream_address_buffer);
+  }
+  ImGui::InputDouble("Buffer (seconds)", &state->stream_buffer_seconds, 0.0, 0.0, "%.0f");
+  ImGui::Spacing();
+  switch (draw_modal_action_row("Connect")) {
+    case ModalAction::Primary: {
+      const StreamSourceConfig source = stream_source_config_from_ui(*state);
+      if (start_stream_session(session, state, source, state->stream_buffer_seconds, false)) {
+        ImGui::CloseCurrentPopup();
+      }
+      break;
+    }
+    case ModalAction::Secondary:
+      sync_stream_buffers(state, *session);
+      ImGui::CloseCurrentPopup();
+      break;
+    case ModalAction::None:
+      break;
+  }
+  ImGui::EndPopup();
+}
+
+void draw_load_layout_popup(AppSession *session, UiState *state) {
+  if (!ImGui::BeginPopupModal("Load Layout", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+    return;
+  }
+  ImGui::TextUnformatted("Load a JotPlugger JSON layout.");
+  ImGui::Separator();
+  input_text_string("Layout", &state->load_layout_buffer);
+  ImGui::Spacing();
+  switch (draw_modal_action_row("Load")) {
+    case ModalAction::Primary:
+      if (reload_layout(session, state, state->load_layout_buffer)) {
+        ImGui::CloseCurrentPopup();
+      }
+      break;
+    case ModalAction::Secondary:
+      sync_layout_buffers(state, *session);
+      ImGui::CloseCurrentPopup();
+      break;
+    case ModalAction::None:
+      break;
+  }
+  ImGui::EndPopup();
+}
+
+void draw_save_layout_popup(AppSession *session, UiState *state) {
+  if (!ImGui::BeginPopupModal("Save Layout", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+    return;
+  }
+  ImGui::TextUnformatted("Save the current workspace as a JotPlugger JSON layout.");
+  ImGui::Separator();
+  input_text_string("Layout", &state->save_layout_buffer);
+  ImGui::Spacing();
+  switch (draw_modal_action_row("Save")) {
+    case ModalAction::Primary:
+      if (save_layout(session, state, state->save_layout_buffer)) {
+        ImGui::CloseCurrentPopup();
+      }
+      break;
+    case ModalAction::Secondary:
+      sync_layout_buffers(state, *session);
+      ImGui::CloseCurrentPopup();
+      break;
+    case ModalAction::None:
+      break;
+  }
+  ImGui::EndPopup();
+}
+
+void draw_preferences_popup(AppSession *session, UiState *state) {
+  if (!ImGui::BeginPopupModal("Preferences", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+    return;
+  }
+  if (session->map_data) {
+    const MapCacheStats map_cache = session->map_data->cacheStats();
+    const MapCacheStats download_cache = directory_cache_stats(Path::download_cache_root());
+    ImGui::TextUnformatted("Map");
+    ImGui::Separator();
+    ImGui::Text("Map cache: %s in %zu file%s",
+                format_cache_bytes(map_cache.bytes).c_str(),
+                map_cache.files,
+                map_cache.files == 1 ? "" : "s");
+    if (ImGui::Button("Clear Map Cache", ImVec2(120.0f, 0.0f))) {
+      session->map_data->clearCache();
+      state->status_text = "Cleared map cache";
+    }
+    ImGui::Spacing();
+    ImGui::TextUnformatted("comma Download Cache");
+    ImGui::Separator();
+    ImGui::Text("Download cache: %s in %zu file%s",
+                format_cache_bytes(download_cache.bytes).c_str(),
+                download_cache.files,
+                download_cache.files == 1 ? "" : "s");
+    ImGui::TextDisabled("%s", Path::download_cache_root().c_str());
+    ImGui::Spacing();
+  }
+  if (ImGui::Button("Close", ImVec2(120.0f, 0.0f))) {
+    ImGui::CloseCurrentPopup();
+  }
+  ImGui::EndPopup();
+}
+
+void draw_find_signal_popup(AppSession *session, UiState *state) {
+  if (!ImGui::BeginPopupModal("Find Signal", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+    return;
+  }
+  ImGui::TextUnformatted("Search decoded signals across the loaded route.");
+  ImGui::Separator();
+  ImGui::SetNextItemWidth(560.0f);
+  input_text_with_hint_string("##find_signal_query", "Search signal path or name...", &state->find_signal_buffer);
+  if (ImGui::IsWindowAppearing()) {
+    ImGui::SetKeyboardFocusHere(-1);
+  }
+  const std::vector<FindSignalMatch> matches = find_signal_matches(*session, state->find_signal_buffer);
+  ImGui::Spacing();
+  ImGui::TextDisabled("%zu match%s", matches.size(), matches.size() == 1 ? "" : "es");
+  if (ImGui::BeginChild("##find_signal_results", ImVec2(760.0f, 360.0f), true)) {
+    for (const FindSignalMatch &match : matches) {
+      const std::string &path = *match.path;
+      const size_t slash = path.find_last_of('/');
+      const std::string_view label = slash == std::string::npos ? std::string_view(path) : std::string_view(path).substr(slash + 1);
+      if (ImGui::Selectable((std::string(label) + "##" + path).c_str(), false, ImGuiSelectableFlags_SpanAllColumns)) {
+        if (open_find_signal_result(state, path)) {
+          ImGui::CloseCurrentPopup();
+        }
+      }
+      ImGui::SameLine(280.0f);
+      ImGui::TextDisabled("%s", path.c_str());
+    }
+  }
+  ImGui::EndChild();
+  ImGui::Spacing();
+  if (ImGui::Button("Close", ImVec2(120.0f, 0.0f))) {
+    ImGui::CloseCurrentPopup();
+  }
+  ImGui::EndPopup();
+}
+
+std::string default_dbc_template() {
+  return "VERSION \"\"\n\nNS_ :\nBS_:\nBU_: XXX\n";
+}
+
+DbcEditorSource resolve_dbc_editor_source(const std::string &dbc_name) {
+  const fs::path generated_dbc_dir = repo_root() / "tools" / "jotpluggler" / "generated_dbcs";
+  const std::array<DbcEditorSource, 2> candidates = {{
+    {.path = repo_root() / "opendbc" / "dbc" / (dbc_name + ".dbc"), .kind = DbcEditorState::SourceKind::Opendbc},
+    {.path = generated_dbc_dir / (dbc_name + ".dbc"), .kind = DbcEditorState::SourceKind::Generated},
+  }};
+  for (const DbcEditorSource &candidate : candidates) {
+    if (fs::exists(candidate.path)) {
+      return candidate;
+    }
+  }
+  return {};
+}
+
+void load_dbc_editor_state(const AppSession &session, UiState *state) {
+  DbcEditorState &editor = state->dbc_editor;
+  const std::string dbc_name = !session.dbc_override.empty() ? session.dbc_override : session.route_data.dbc_name;
+  editor.source_name = dbc_name.empty() ? "untitled" : dbc_name;
+  editor.source_path.clear();
+  editor.source_kind = DbcEditorState::SourceKind::None;
+  if (dbc_name.empty()) {
+    editor.save_name = "custom_can";
+    editor.text = default_dbc_template();
+  } else {
+    const DbcEditorSource source = resolve_dbc_editor_source(dbc_name);
+    editor.source_kind = source.kind;
+    editor.source_path = source.path;
+    editor.text = source.path.empty() ? default_dbc_template() : read_file_or_throw(source.path);
+    editor.save_name = source.kind == DbcEditorState::SourceKind::Generated ? dbc_name : dbc_name + "_edited";
+  }
+  editor.loaded = true;
+}
+
+bool ensure_dbc_editor_loaded(const AppSession &session, UiState *state) {
+  if (!state->dbc_editor.loaded) {
+    try {
+      load_dbc_editor_state(session, state);
+    } catch (const std::exception &err) {
+      state->error_text = err.what();
+      state->open_error_popup = true;
+      return false;
+    }
+  }
+  return true;
+}
+
+bool save_dbc_editor_contents(AppSession *session, UiState *state) {
+  DbcEditorState &editor = state->dbc_editor;
+  editor.save_name = util::strip(editor.save_name);
+  if (editor.save_name.empty()) {
+    state->error_text = "DBC name cannot be empty";
+    state->open_error_popup = true;
+    return false;
+  }
+  if (editor.source_kind == DbcEditorState::SourceKind::Opendbc && editor.save_name == editor.source_name) {
+    state->error_text = "Save edited opendbc files under a new name";
+    state->open_error_popup = true;
+    return false;
+  }
+  try {
+    dbc::Database::fromContent(editor.text, editor.save_name + ".dbc");
+    const fs::path generated_dbc_dir = repo_root() / "tools" / "jotpluggler" / "generated_dbcs";
+    fs::create_directories(generated_dbc_dir);
+    const fs::path output = generated_dbc_dir / (editor.save_name + ".dbc");
+    write_file_or_throw(output, editor.text);
+    apply_dbc_override_change(session, state, editor.save_name);
+    editor.source_name = editor.save_name;
+    editor.source_path = output;
+    editor.source_kind = DbcEditorState::SourceKind::Generated;
+    editor.loaded = false;
+    state->status_text = "Saved DBC " + editor.save_name;
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    return false;
+  }
+}
+
+void draw_dbc_editor_popup(AppSession *session, UiState *state) {
+  if (!ImGui::BeginPopupModal("DBC Editor", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+    return;
+  }
+  DbcEditorState &editor = state->dbc_editor;
+  if (!ensure_dbc_editor_loaded(*session, state)) {
+    ImGui::CloseCurrentPopup();
+    ImGui::EndPopup();
+    return;
+  }
+  ImGui::TextUnformatted("Edit DBC text and save it into generated_dbcs.");
+  ImGui::Separator();
+  ImGui::SetNextItemWidth(260.0f);
+  input_text_string("DBC Name", &editor.save_name, ImGuiInputTextFlags_AutoSelectAll);
+  if (!editor.source_path.empty()) {
+    ImGui::TextDisabled("%s", editor.source_path.string().c_str());
+  } else {
+    ImGui::TextDisabled("New in-memory DBC");
+  }
+  ImGui::Spacing();
+  input_text_multiline_string("##dbc_editor_text", &editor.text, ImVec2(920.0f, 520.0f), ImGuiInputTextFlags_AllowTabInput);
+  ImGui::Spacing();
+  if (ImGui::Button("Apply + Save", ImVec2(140.0f, 0.0f))) {
+    if (save_dbc_editor_contents(session, state)) {
+      ImGui::CloseCurrentPopup();
+    }
+  }
+  ImGui::SameLine();
+  if (ImGui::Button("Reload Source", ImVec2(140.0f, 0.0f))) {
+    editor.loaded = false;
+  }
+  ImGui::SameLine();
+  if (ImGui::Button("Close", ImVec2(120.0f, 0.0f))) {
+    editor.loaded = false;
+    ImGui::CloseCurrentPopup();
+  }
+  ImGui::EndPopup();
+}
+
+void draw_axis_limits_popup(AppSession *session, UiState *state) {
+  if (!ImGui::BeginPopupModal("Edit Axis Limits", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+    return;
+  }
+  const WorkspaceTab *tab = app_active_tab(session->layout, *state);
+  const bool valid_pane = tab != nullptr
+    && state->axis_limits.pane_index >= 0
+    && state->axis_limits.pane_index < static_cast<int>(tab->panes.size());
+  if (!valid_pane) {
+    ImGui::TextWrapped("The selected pane is no longer available.");
+    ImGui::Spacing();
+    if (ImGui::Button("Close", ImVec2(120.0f, 0.0f))) {
+      state->axis_limits.pane_index = -1;
+      ImGui::CloseCurrentPopup();
+    }
+    ImGui::EndPopup();
+    return;
+  }
+
+  ImGui::TextUnformatted("X range applies to the active tab. Y limits apply to the selected pane.");
+  ImGui::Separator();
+  ImGui::TextUnformatted("Horizontal");
+  ImGui::SetNextItemWidth(180.0f);
+  ImGui::InputDouble("X Min", &state->axis_limits.x_min, 0.0, 0.0, "%.3f");
+  ImGui::SetNextItemWidth(180.0f);
+  ImGui::InputDouble("X Max", &state->axis_limits.x_max, 0.0, 0.0, "%.3f");
+  ImGui::Spacing();
+  ImGui::TextUnformatted("Vertical");
+  ImGui::Checkbox("Use Y Min", &state->axis_limits.y_min_enabled);
+  ImGui::BeginDisabled(!state->axis_limits.y_min_enabled);
+  ImGui::SetNextItemWidth(180.0f);
+  ImGui::InputDouble("Y Min", &state->axis_limits.y_min, 0.0, 0.0, "%.6g");
+  ImGui::EndDisabled();
+  ImGui::Checkbox("Use Y Max", &state->axis_limits.y_max_enabled);
+  ImGui::BeginDisabled(!state->axis_limits.y_max_enabled);
+  ImGui::SetNextItemWidth(180.0f);
+  ImGui::InputDouble("Y Max", &state->axis_limits.y_max, 0.0, 0.0, "%.6g");
+  ImGui::EndDisabled();
+  ImGui::Spacing();
+  switch (draw_modal_action_row("Apply")) {
+    case ModalAction::Primary:
+      if (apply_axis_limits_editor(session, state)) {
+        state->axis_limits.pane_index = -1;
+        ImGui::CloseCurrentPopup();
+      }
+      break;
+    case ModalAction::Secondary:
+      state->axis_limits.pane_index = -1;
+      ImGui::CloseCurrentPopup();
+      break;
+    case ModalAction::None:
+      break;
+  }
+  ImGui::EndPopup();
+}
+
+void draw_error_popup(UiState *state) {
+  if (state->open_error_popup) {
+    ImGui::OpenPopup("Error");
+    state->open_error_popup = false;
+  }
+  if (!ImGui::BeginPopupModal("Error", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+    return;
+  }
+  ImGui::TextWrapped("%s", state->error_text.c_str());
+  ImGui::Spacing();
+  if (ImGui::Button("Close", ImVec2(120.0f, 0.0f))) {
+    ImGui::CloseCurrentPopup();
+  }
+  ImGui::EndPopup();
+}
+
+}  // namespace
+
+bool reset_layout(AppSession *session, UiState *state) {
+  try {
+    if (session->layout_path.empty()) {
+      start_new_layout(session, state, "Reset layout");
+      return true;
+    }
+    clear_layout_autosave(*session);
+    session->layout = load_sketch_layout(session->layout_path);
+    state->layout_dirty = false;
+    session->autosave_path = autosave_path_for_layout(session->layout_path);
+    state->undo.reset(session->layout);
+    refresh_replaced_layout_ui(session, state, false);
+    reset_shared_range(state, *session);
+    state->status_text = "Reset layout";
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Failed to reset layout";
+    return false;
+  }
+}
+
+bool reload_layout(AppSession *session, UiState *state, const std::string &layout_arg) {
+  try {
+    const bool preserve_shared_range = session->route_data.has_time_range && state->has_shared_range;
+    const double preserved_x_min = state->x_view_min;
+    const double preserved_x_max = state->x_view_max;
+    const fs::path layout_path = resolve_layout_path(layout_arg);
+    session->autosave_path = autosave_path_for_layout(layout_path);
+    const bool load_draft = fs::exists(session->autosave_path);
+    session->layout = load_sketch_layout(load_draft ? session->autosave_path : layout_path);
+    session->layout_path = layout_path;
+    state->layout_dirty = load_draft;
+    state->undo.reset(session->layout);
+    refresh_replaced_layout_ui(session, state, true);
+    if (preserve_shared_range) {
+      state->has_shared_range = true;
+      state->x_view_min = preserved_x_min;
+      state->x_view_max = preserved_x_max;
+      clamp_shared_range(state, *session);
+    } else {
+      reset_shared_range(state, *session);
+    }
+    state->status_text = std::string(load_draft ? "Loaded layout draft " : "Loaded layout ")
+      + layout_path.filename().string();
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Failed to load layout";
+    return false;
+  }
+}
+
+bool save_layout(AppSession *session, UiState *state, const std::string &layout_path) {
+  try {
+    if (layout_path.empty()) throw std::runtime_error("Layout path is empty");
+    session->layout.current_tab_index = state->active_tab_index;
+    const fs::path previous_autosave = session->autosave_path;
+    const fs::path output = fs::absolute(fs::path(layout_path));
+    save_layout_json(session->layout, output);
+    session->layout_path = output;
+    session->autosave_path = autosave_path_for_layout(output);
+    if (!previous_autosave.empty() && previous_autosave != session->autosave_path && fs::exists(previous_autosave)) {
+      fs::remove(previous_autosave);
+    }
+    clear_layout_autosave(*session);
+    state->layout_dirty = false;
+    sync_layout_buffers(state, *session);
+    state->status_text = "Saved layout " + output.filename().string();
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Failed to save layout";
+    return false;
+  }
+}
+
+void rebuild_session_route_data(AppSession *session, UiState *state,
+                                const RouteLoadProgressCallback &progress) {
+  apply_route_data(session, state, load_route_data(session->route_name, session->data_dir, session->dbc_override, progress));
+}
+
+void stop_stream_session(AppSession *session, UiState *state, bool preserve_data) {
+  if (preserve_data && session->stream_poller && session->data_mode == SessionDataMode::Stream) {
+    session->stream_poller->setPaused(true);
+  } else if (session->stream_poller) {
+    session->stream_poller->stop();
+  }
+  session->stream_paused = preserve_data && session->data_mode == SessionDataMode::Stream;
+  if (!preserve_data) {
+    session->stream_time_offset.reset();
+    apply_route_data(session, state, RouteData{});
+  }
+  sync_stream_buffers(state, *session);
+}
+
+bool start_stream_session(AppSession *session,
+                          UiState *state,
+                          const StreamSourceConfig &source,
+                          double buffer_seconds,
+                          bool preserve_existing_data) {
+  try {
+    if (session->route_loader) {
+      session->route_loader.reset();
+    }
+    session->data_mode = SessionDataMode::Stream;
+    session->route_id = {};
+    session->route_name.clear();
+    session->data_dir.clear();
+    session->stream_source = source;
+    if (session->stream_source.kind == StreamSourceKind::CerealLocal) {
+      session->stream_source.address = "127.0.0.1";
+    }
+    session->stream_buffer_seconds = std::max(1.0, buffer_seconds);
+    session->next_stream_custom_refresh_time = 0.0;
+    session->stream_paused = false;
+    if (preserve_existing_data && session->stream_poller) {
+      StreamPollSnapshot snapshot = session->stream_poller->snapshot();
+      if (snapshot.active) {
+        session->stream_poller->setPaused(false);
+        sync_route_buffers(state, *session);
+        sync_stream_buffers(state, *session);
+        state->follow_latest = true;
+        state->playback_playing = false;
+        state->status_text = "Resumed stream " + stream_source_target_label(session->stream_source);
+        return true;
+      }
+    }
+    if (!preserve_existing_data) {
+      session->stream_time_offset.reset();
+      apply_route_data(session, state, RouteData{});
+    }
+    if (!session->stream_poller) {
+      session->stream_poller = std::make_unique<StreamPoller>();
+    }
+    session->stream_poller->start(session->stream_source,
+                                  session->stream_buffer_seconds,
+                                  session->dbc_override,
+                                  session->stream_time_offset);
+    sync_route_buffers(state, *session);
+    sync_stream_buffers(state, *session);
+    state->follow_latest = true;
+    state->playback_playing = false;
+    state->status_text = preserve_existing_data ? "Resumed stream " + stream_source_target_label(session->stream_source)
+                                                : "Streaming from " + stream_source_target_label(session->stream_source);
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Failed to start stream";
+    return false;
+  }
+}
+
+void start_async_route_load(AppSession *session, UiState *state) {
+  if (!session->route_loader) {
+    return;
+  }
+  apply_route_data(session, state, RouteData{});
+  session->route_loader->start(session->route_name, session->data_dir, session->dbc_override);
+  state->status_text = session->route_name.empty() ? "Ready" : "Loading route " + session->route_name;
+}
+
+void poll_async_route_load(AppSession *session, UiState *state) {
+  if (!session->route_loader) {
+    return;
+  }
+  RouteData loaded_route;
+  std::string error_text;
+  if (!session->route_loader->consume(&loaded_route, &error_text)) {
+    return;
+  }
+  if (!error_text.empty()) {
+    state->error_text = error_text;
+    state->open_error_popup = true;
+    state->status_text = "Failed to load route";
+    return;
+  }
+  apply_route_data(session, state, std::move(loaded_route));
+  state->status_text = session->route_name.empty() ? "Ready" : "Loaded route " + session->route_name;
+}
+
+bool reload_session(AppSession *session, UiState *state, const std::string &route_name, const std::string &data_dir) {
+  try {
+    stop_stream_session(session, state, false);
+    session->data_mode = SessionDataMode::Route;
+    session->route_name = route_name;
+    session->route_id = parse_route_identifier(route_name);
+    session->data_dir = data_dir;
+    if (session->async_route_loading) {
+      if (!session->route_loader) {
+        session->route_loader = std::make_unique<AsyncRouteLoader>(::isatty(STDERR_FILENO) != 0);
+      }
+      start_async_route_load(session, state);
+    } else {
+      rebuild_session_route_data(session, state);
+      state->status_text = "Loaded route " + route_name;
+    }
+    sync_route_buffers(state, *session);
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Failed to load route";
+    return false;
+  }
+}
+
+void draw_popups(AppSession *session, UiState *state) {
+  open_queued_popup(state->open_open_route, "Open Route");
+  if (state->open_stream) {
+    sync_stream_buffers(state, *session);
+  }
+  open_queued_popup(state->open_stream, "Live Stream");
+  if (state->open_load_layout || state->open_save_layout) {
+    sync_layout_buffers(state, *session);
+  }
+  open_queued_popup(state->open_load_layout, "Load Layout");
+  open_queued_popup(state->open_save_layout, "Save Layout");
+  open_queued_popup(state->open_preferences, "Preferences");
+  open_queued_popup(state->dbc_editor.open, "DBC Editor");
+  open_queued_popup(state->open_find_signal, "Find Signal");
+  open_queued_popup(state->axis_limits.open, "Edit Axis Limits");
+
+  draw_open_route_popup(session, state);
+  draw_stream_popup(session, state);
+  draw_load_layout_popup(session, state);
+  draw_save_layout_popup(session, state);
+  draw_preferences_popup(session, state);
+  draw_dbc_editor_popup(session, state);
+  draw_find_signal_popup(session, state);
+  draw_axis_limits_popup(session, state);
+  draw_error_popup(state);
+}
diff --git a/tools/jotpluggler/layout_io.cc b/tools/jotpluggler/layout_io.cc
new file mode 100644
index 00000000000000..f984c0f0e8e19b
--- /dev/null
+++ b/tools/jotpluggler/layout_io.cc
@@ -0,0 +1,128 @@
+#include "tools/jotpluggler/app.h"
+#include "tools/jotpluggler/common.h"
+
+#include <cmath>
+#include <iomanip>
+#include <sstream>
+#include <stdexcept>
+
+#include "third_party/json11/json11.hpp"
+
+namespace fs = std::filesystem;
+
+namespace {
+
+std::string curve_color_hex(const std::array<uint8_t, 3> &color) {
+  std::ostringstream hex;
+  hex << "#" << std::hex << std::setfill('0')
+      << std::setw(2) << static_cast<int>(color[0])
+      << std::setw(2) << static_cast<int>(color[1])
+      << std::setw(2) << static_cast<int>(color[2]);
+  return hex.str();
+}
+
+json11::Json curve_to_json(const Curve &curve) {
+  json11::Json::object obj = {
+    {"name", curve.name},
+    {"color", curve_color_hex(curve.color)},
+  };
+  if (curve.derivative) {
+    obj["transform"] = "derivative";
+    if (curve.derivative_dt > 0.0) {
+      obj["derivative_dt"] = curve.derivative_dt;
+    }
+  } else if (std::abs(curve.value_scale - 1.0) > 1.0e-9 || std::abs(curve.value_offset) > 1.0e-9) {
+    obj["transform"] = "scale";
+    obj["scale"] = curve.value_scale;
+    obj["offset"] = curve.value_offset;
+  }
+  if (curve.custom_python.has_value()) {
+    json11::Json::array additional_sources;
+    for (const std::string &path : curve.custom_python->additional_sources) {
+      additional_sources.push_back(path);
+    }
+    obj["custom_python"] = json11::Json::object{
+      {"linked_source", curve.custom_python->linked_source},
+      {"additional_sources", additional_sources},
+      {"globals_code", curve.custom_python->globals_code},
+      {"function_code", curve.custom_python->function_code},
+    };
+  }
+  return obj;
+}
+
+json11::Json workspace_node_to_json(const WorkspaceNode &node, const WorkspaceTab &tab) {
+  if (node.is_pane) {
+    if (node.pane_index < 0 || node.pane_index >= static_cast<int>(tab.panes.size())) {
+      return nullptr;
+    }
+    const Pane &pane = tab.panes[static_cast<size_t>(node.pane_index)];
+    json11::Json::object obj = {
+      {"title", pane.title.empty() ? std::string("...") : pane.title},
+    };
+    if (pane.kind == PaneKind::Map) {
+      obj["kind"] = "map";
+    } else if (pane.kind == PaneKind::Camera) {
+      obj["kind"] = "camera";
+      obj["camera_view"] = camera_view_spec(pane.camera_view).layout_name;
+    }
+    if (pane.range.valid) {
+      obj["range"] = json11::Json::object{
+        {"left", pane.range.left}, {"right", pane.range.right},
+        {"top", pane.range.top}, {"bottom", pane.range.bottom},
+      };
+    }
+    if (pane.range.has_y_limit_min || pane.range.has_y_limit_max) {
+      json11::Json::object limits;
+      if (pane.range.has_y_limit_min) {
+        limits["min"] = pane.range.y_limit_min;
+      }
+      if (pane.range.has_y_limit_max) {
+        limits["max"] = pane.range.y_limit_max;
+      }
+      obj["y_limits"] = limits;
+    }
+    json11::Json::array curves;
+    for (const Curve &curve : pane.curves) {
+      if (!curve.runtime_only) {
+        curves.push_back(curve_to_json(curve));
+      }
+    }
+    obj["curves"] = curves;
+    return obj;
+  }
+
+  if (node.children.empty()) return nullptr;
+  json11::Json::array sizes;
+  for (size_t i = 0; i < node.children.size(); ++i) {
+    sizes.push_back(i < node.sizes.size() ? static_cast<double>(node.sizes[i])
+                                          : 1.0 / static_cast<double>(node.children.size()));
+  }
+  json11::Json::array children;
+  for (const WorkspaceNode &child : node.children) {
+    children.push_back(workspace_node_to_json(child, tab));
+  }
+  return json11::Json::object{
+    {"split", node.orientation == SplitOrientation::Horizontal ? "horizontal" : "vertical"},
+    {"sizes", sizes},
+    {"children", children},
+  };
+}
+
+}  // namespace
+
+void save_layout_json(const SketchLayout &layout, const fs::path &path) {
+  ensure_parent_dir(path);
+  json11::Json::array tabs;
+  for (const WorkspaceTab &tab : layout.tabs) {
+    tabs.push_back(json11::Json::object{
+      {"name", tab.tab_name},
+      {"root", workspace_node_to_json(tab.root, tab)},
+    });
+  }
+  const json11::Json root = json11::Json::object{
+    {"current_tab_index", std::clamp(layout.current_tab_index, 0, std::max(0, static_cast<int>(layout.tabs.size()) - 1))},
+    {"tabs", tabs},
+  };
+  write_file_or_throw(path, root.dump() + "\n");
+}
diff --git a/tools/jotpluggler/layouts/.gitignore b/tools/jotpluggler/layouts/.gitignore
new file mode 100644
index 00000000000000..a965bb777d6c66
--- /dev/null
+++ b/tools/jotpluggler/layouts/.gitignore
@@ -0,0 +1 @@
+.jotpluggler_autosave/
diff --git a/tools/jotpluggler/layouts/CAN-bus-debug.json b/tools/jotpluggler/layouts/CAN-bus-debug.json
new file mode 100644
index 00000000000000..496993a1fd4835
--- /dev/null
+++ b/tools/jotpluggler/layouts/CAN-bus-debug.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.33362,0.33276,0.33362],"children":[{"title":"CAN RX","range":{"left":0.0,"right":60.526742,"top":1101.875,"bottom":-26.875},"curves":[{"name":"/pandaStates/0/canState0/totalRxCnt","color":"#f14cc1","transform":"derivative","derivative_dt":1.0},{"name":"/pandaStates/0/canState1/totalRxCnt","color":"#9467bd","transform":"derivative","derivative_dt":1.0},{"name":"/pandaStates/0/canState2/totalRxCnt","color":"#ff7f0e","transform":"derivative","derivative_dt":1.0}]},{"title":"CAN TX","range":{"left":0.0,"right":60.526742,"top":455.1,"bottom":-11.1},"curves":[{"name":"/pandaStates/0/canState0/totalTxCnt","color":"#17becf","transform":"derivative","derivative_dt":1.0},{"name":"/pandaStates/0/canState1/totalTxCnt","color":"#bcbd22","transform":"derivative","derivative_dt":1.0},{"name":"/pandaStates/0/canState2/totalTxCnt","color":"#1f77b4","transform":"derivative","derivative_dt":1.0}]},{"title":"CAN errors","range":{"left":0.0,"right":60.526742,"top":2515.35,"bottom":-61.35},"curves":[{"name":"/pandaStates/0/canState0/totalErrorCnt","color":"#1f77b4","transform":"derivative","derivative_dt":1.0},{"name":"/pandaStates/0/canState1/totalErrorCnt","color":"#d62728","transform":"derivative","derivative_dt":1.0},{"name":"/pandaStates/0/canState2/totalErrorCnt","color":"#1ac938","transform":"derivative","derivative_dt":1.0}]}]}}]}
diff --git a/tools/jotpluggler/layouts/camera-timings.json b/tools/jotpluggler/layouts/camera-timings.json
new file mode 100644
index 00000000000000..64decf15d387e5
--- /dev/null
+++ b/tools/jotpluggler/layouts/camera-timings.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"SOF / EOF (encodeIdx)","root":{"split":"vertical","sizes":[0.500885,0.499115],"children":[{"title":"...","range":{"left":0.0,"right":630.006367,"top":65000000.0,"bottom":35000000.0},"curves":[{"name":"/driverEncodeIdx/timestampSof","color":"#1f77b4","transform":"derivative","derivative_dt":1.0},{"name":"/roadEncodeIdx/timestampSof","color":"#d62728","transform":"derivative","derivative_dt":1.0},{"name":"/wideRoadEncodeIdx/timestampSof","color":"#1ac938","transform":"derivative","derivative_dt":1.0}],"y_limits":{"min":35000000.0,"max":65000000.0}},{"title":"...","range":{"left":0.0,"right":630.006367,"top":65000000.0,"bottom":35000000.0},"curves":[{"name":"/driverEncodeIdx/timestampEof","color":"#f14cc1","transform":"derivative","derivative_dt":1.0},{"name":"/roadEncodeIdx/timestampEof","color":"#9467bd","transform":"derivative","derivative_dt":1.0},{"name":"/wideRoadEncodeIdx/timestampEof","color":"#17becf","transform":"derivative","derivative_dt":1.0}],"y_limits":{"min":35000000.0,"max":65000000.0}}]}},{"name":"model timings","root":{"split":"vertical","sizes":[0.5,0.5],"children":[{"title":"...","range":{"left":0.0,"right":630.006367,"top":0.016865,"bottom":0.015143},"curves":[{"name":"/modelV2/modelExecutionTime","color":"#ff7f0e"}]},{"title":"...","range":{"left":0.0,"right":630.006367,"top":0.1,"bottom":-0.1},"curves":[{"name":"/modelV2/frameDropPerc","color":"#f14cc1"}]}]}},{"name":"sensor info","root":{"split":"vertical","sizes":[1.0],"children":[{"title":"...","range":{"left":0.0,"right":630.006367,"top":0.1,"bottom":-0.1},"curves":[{"name":"/driverCameraState/sensor","color":"#bcbd22"},{"name":"/roadCameraState/sensor","color":"#1f77b4"},{"name":"/wideRoadCameraState/sensor","color":"#d62728"}]}]}},{"name":"SOF / EOF (cameraState)","root":{"split":"vertical","sizes":[0.500885,0.499115],"children":[{"title":"...","range":{"left":0.0,"right":630.006367,"top":65000000.0,"bottom":35000000.0},"curves":[{"name":"/driverCameraState/timestampSof","color":"#1f77b4","transform":"derivative","derivative_dt":1.0},{"name":"/roadCameraState/timestampSof","color":"#d62728","transform":"derivative","derivative_dt":1.0},{"name":"/wideRoadCameraState/timestampSof","color":"#1ac938","transform":"derivative","derivative_dt":1.0}],"y_limits":{"min":35000000.0,"max":65000000.0}},{"title":"...","range":{"left":0.0,"right":630.006367,"top":65000000.0,"bottom":35000000.0},"curves":[{"name":"/driverCameraState/timestampEof","color":"#ff7f0e","transform":"derivative","derivative_dt":1.0},{"name":"/roadCameraState/timestampEof","color":"#f14cc1","transform":"derivative","derivative_dt":1.0},{"name":"/wideRoadCameraState/timestampEof","color":"#9467bd","transform":"derivative","derivative_dt":1.0}],"y_limits":{"min":35000000.0,"max":65000000.0}}]}}]}
diff --git a/tools/jotpluggler/layouts/cameras-and-map.json b/tools/jotpluggler/layouts/cameras-and-map.json
new file mode 100644
index 00000000000000..68c590f7bc5711
--- /dev/null
+++ b/tools/jotpluggler/layouts/cameras-and-map.json
@@ -0,0 +1 @@
+{"current_tab_index": 0, "tabs": [{"name": "tab1", "root": {"children": [{"children": [{"curves": [], "kind": "map", "title": "Map"}, {"camera_view": "road", "curves": [], "kind": "camera", "title": "Road Camera"}], "sizes": [0.5, 0.5], "split": "horizontal"}, {"children": [{"camera_view": "wide_road", "curves": [], "kind": "camera", "title": "Wide Road Camera"}, {"camera_view": "driver", "curves": [], "kind": "camera", "title": "Driver Camera"}], "sizes": [0.5, 0.5], "split": "horizontal"}], "sizes": [0.5, 0.5], "split": "vertical"}}]}
diff --git a/tools/jotpluggler/layouts/can-states.json b/tools/jotpluggler/layouts/can-states.json
new file mode 100644
index 00000000000000..6f04940a33527d
--- /dev/null
+++ b/tools/jotpluggler/layouts/can-states.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.500381,0.499619],"children":[{"split":"horizontal","sizes":[0.5,0.5],"children":[{"title":"...","range":{"left":0.0,"right":632.799721,"top":771630.925,"bottom":-17755.925},"curves":[{"name":"/pandaStates/0/canState0/totalRxCnt","color":"#1f77b4"},{"name":"/pandaStates/0/canState1/totalRxCnt","color":"#d62728"},{"name":"/pandaStates/0/canState2/totalRxCnt","color":"#1ac938"}]},{"title":"...","range":{"left":0.0,"right":632.799721,"top":760365.5,"bottom":-18545.5},"curves":[{"name":"/pandaStates/0/canState0/totalTxCnt","color":"#ff7f0e"},{"name":"/pandaStates/0/canState1/totalTxCnt","color":"#f14cc1"},{"name":"/pandaStates/0/canState2/totalTxCnt","color":"#9467bd"}]}]},{"split":"horizontal","sizes":[0.333333,0.333333,0.333333],"children":[{"title":"...","range":{"left":0.0,"right":632.799721,"top":55.35,"bottom":-1.35},"curves":[{"name":"/pandaStates/0/canState0/totalRxLostCnt","color":"#ff7f0e"},{"name":"/pandaStates/0/canState1/totalRxLostCnt","color":"#f14cc1"},{"name":"/pandaStates/0/canState2/totalRxLostCnt","color":"#9467bd"}]},{"title":"...","range":{"left":0.0,"right":632.799721,"top":2.05,"bottom":-0.05},"curves":[{"name":"/pandaStates/0/canState0/totalTxLostCnt","color":"#17becf"},{"name":"/pandaStates/0/canState1/totalTxLostCnt","color":"#bcbd22"},{"name":"/pandaStates/0/canState2/totalTxLostCnt","color":"#1f77b4"}]},{"title":"...","range":{"left":0.0,"right":632.799721,"top":0.1,"bottom":-0.1},"curves":[{"name":"/pandaStates/0/canState0/busOffCnt","color":"#17becf"},{"name":"/pandaStates/0/canState1/busOffCnt","color":"#1ac938"},{"name":"/pandaStates/0/canState2/busOffCnt","color":"#bcbd22"}]}]}]}}]}
diff --git a/tools/jotpluggler/layouts/controls_mismatch_debug.json b/tools/jotpluggler/layouts/controls_mismatch_debug.json
new file mode 100644
index 00000000000000..16912cd68401fe
--- /dev/null
+++ b/tools/jotpluggler/layouts/controls_mismatch_debug.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.2,0.2,0.2,0.2,0.2],"children":[{"title":"...","range":{"left":0.018309,"right":59.674401,"top":1.025,"bottom":-0.025},"curves":[{"name":"/carControl/enabled","color":"#1f77b4"},{"name":"/pandaStates/0/controlsAllowed","color":"#d62728"}]},{"title":"...","range":{"left":0.018309,"right":59.674401,"top":27.087398,"bottom":-0.905168},"curves":[{"name":"/carState/cumLagMs","color":"#9467bd"}]},{"title":"...","range":{"left":0.018309,"right":59.674401,"top":1.025,"bottom":-0.025},"curves":[{"name":"/pandaStates/0/safetyRxInvalid","color":"#1f77b4"},{"name":"/pandaStates/0/safetyRxChecksInvalid","color":"#e801ce"}]},{"title":"...","range":{"left":0.018309,"right":59.674401,"top":158.85,"bottom":-2.85},"curves":[{"name":"/pandaStates/0/safetyTxBlocked","color":"#d62728"}]},{"title":"...","range":{"left":0.018309,"right":59.674401,"top":1.025,"bottom":-0.025},"curves":[{"name":"/carState/gasPressed","color":"#1ac938"},{"name":"/carState/brakePressed","color":"#ff7f0e"}]}]}}]}
diff --git a/tools/jotpluggler/layouts/gps.json b/tools/jotpluggler/layouts/gps.json
new file mode 100644
index 00000000000000..fdabbfd381c6ad
--- /dev/null
+++ b/tools/jotpluggler/layouts/gps.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.24977,0.250689,0.24977,0.24977],"children":[{"title":"...","range":{"left":0.0,"right":1678.753571,"top":1.025,"bottom":-0.025},"curves":[{"name":"/gpsLocationExternal/hasFix","color":"#1f77b4"}]},{"title":"...","range":{"left":0.0,"right":1678.753571,"top":17.425,"bottom":-0.425},"curves":[{"name":"/gpsLocationExternal/satelliteCount","color":"#d62728"}]},{"title":"...","range":{"left":0.0,"right":1678.753571,"top":3.0,"bottom":0.0},"curves":[{"name":"/gpsLocationExternal/horizontalAccuracy","color":"#1ac938"}],"y_limits":{"min":0.0,"max":3.0}},{"title":"...","range":{"left":0.0,"right":1678.753571,"top":766.374004,"bottom":-17.262},"curves":[{"name":"/gpsLocationExternal/horizontalAccuracy","color":"#1ac938"}]}]}}]}
diff --git a/tools/jotpluggler/layouts/gps_vs_llk.json b/tools/jotpluggler/layouts/gps_vs_llk.json
new file mode 100644
index 00000000000000..878e0a57a81405
--- /dev/null
+++ b/tools/jotpluggler/layouts/gps_vs_llk.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.333805,0.33239,0.333805],"children":[{"title":"...","range":{"left":76.646983,"right":196.811937,"top":32.070386,"bottom":0.368228},"curves":[{"name":"haversine distance [m]","color":"#1f77b4","custom_python":{"linked_source":"/gpsLocationExternal/latitude","additional_sources":["/gpsLocationExternal/longitude","/liveLocationKalmanDEPRECATED/positionGeodetic/value/0","/liveLocationKalmanDEPRECATED/positionGeodetic/value/1"],"globals_code":"R = 6378.137 # Radius of earth in KM","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3):\n    global R\n    # Compute the Haversine distance between\n    # two points defined by latitude and longitude.\n    # Return the distance in meters\n    lat1, lon1 = value, v1\n    lat2, lon2 = v2, v3\n    dLat = (lat2 - lat1) * np.pi / 180\n    dLon = (lon2 - lon1) * np.pi / 180\n    a = np.sin(dLat/2) * np.sin(dLat/2) +\n    np.cos(lat1 * np.pi / 180) * np.cos(lat2 * np.pi / 180) *\n    np.sin(dLon/2) * np.sin(dLon/2)\n    c = 2 * np.arctan2(np.sqrt(a), np.sqrt(1-a))\n    d = R * c\n    distance = d * 1000 # meters\n    return distance\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"...","range":{"left":76.646983,"right":196.811937,"top":12.637299,"bottom":-0.259115},"curves":[{"name":"/carState/vEgo","color":"#17becf"},{"name":"/gpsLocationExternal/speed","color":"#bcbd22"}]},{"split":"horizontal","sizes":[0.500516,0.499484],"children":[{"title":"...","range":{"left":76.646983,"right":196.811937,"top":0.1,"bottom":-0.1},"curves":[{"name":"/liveLocationKalmanDEPRECATED/positionGeodetic/std/0","color":"#d62728"},{"name":"/liveLocationKalmanDEPRECATED/positionGeodetic/std/1","color":"#1ac938"}]},{"title":"...","range":{"left":76.646983,"right":196.811937,"top":7.160833,"bottom":-0.449385},"curves":[{"name":"/gpsLocationExternal/horizontalAccuracy","color":"#ff7f0e"},{"name":"/gpsLocationExternal/verticalAccuracy","color":"#f14cc1"},{"name":"/gpsLocationExternal/speedAccuracy","color":"#9467bd"}]}]}]}}]}
diff --git a/tools/jotpluggler/layouts/locationd_debug.json b/tools/jotpluggler/layouts/locationd_debug.json
new file mode 100644
index 00000000000000..0541427bc1e29e
--- /dev/null
+++ b/tools/jotpluggler/layouts/locationd_debug.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.166588,0.167062,0.166113,0.166588,0.167062,0.166588],"children":[{"title":"...","range":{"left":0.0,"right":2280.128382,"top":1.025,"bottom":-0.025},"curves":[{"name":"/livePose/inputsOK","color":"#ff7f0e"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":14.542814,"bottom":-5.586039},"curves":[{"name":"/accelerometer/acceleration/v/0","color":"#f14cc1"},{"name":"/accelerometer/acceleration/v/1","color":"#9467bd"},{"name":"/accelerometer/acceleration/v/2","color":"#17becf"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":0.988911,"bottom":-0.745939},"curves":[{"name":"/gyroscope/gyroUncalibrated/v/0","color":"#d62728"},{"name":"/gyroscope/gyroUncalibrated/v/1","color":"#1ac938"},{"name":"/gyroscope/gyroUncalibrated/v/2","color":"#ff7f0e"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":1.025,"bottom":-0.025},"curves":[{"name":"/accelerometer/__valid","color":"#17becf"},{"name":"/gyroscope/__valid","color":"#bcbd22"},{"name":"/carState/__valid","color":"#f14cc1"},{"name":"/liveCalibration/__valid","color":"#1ac938"},{"name":"/cameraOdometry/__valid","color":"#9467bd"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":1000000000.292252,"bottom":999999999.735447},"curves":[{"name":"/gyroscope/__logMonoTime","color":"#1f77b4","transform":"derivative"},{"name":"/accelerometer/__logMonoTime","color":"#d62728","transform":"derivative"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":20790107743.93223,"bottom":-529653831.495853},"curves":[{"name":"/accelerometer/timestamp","color":"#bcbd22","transform":"derivative"},{"name":"/gyroscope/timestamp","color":"#1f77b4","transform":"derivative"}]}]}}]}
diff --git a/tools/jotpluggler/layouts/longitudinal.json b/tools/jotpluggler/layouts/longitudinal.json
new file mode 100644
index 00000000000000..27f43eb35775d1
--- /dev/null
+++ b/tools/jotpluggler/layouts/longitudinal.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.250401,0.249599,0.250401,0.249599],"children":[{"title":"...","range":{"left":104.907277,"right":126.285782,"top":1.391623,"bottom":-2.563614},"curves":[{"name":"/carState/aEgo","color":"#f14cc1"},{"name":"/longitudinalPlan/accels/0","color":"#9467bd"},{"name":"/carControl/actuators/accel","color":"#17becf"},{"name":"/carOutput/actuatorsOutput/accel","color":"#d62728"}]},{"title":"...","range":{"left":104.907277,"right":126.285782,"top":1.18496,"bottom":-1.811222},"curves":[{"name":"/controlsState/upAccelCmd","color":"#1f77b4"},{"name":"/controlsState/uiAccelCmd","color":"#d62728"},{"name":"/controlsState/ufAccelCmd","color":"#1ac938"}]},{"title":"...","range":{"left":104.907277,"right":126.285782,"top":15.862889,"bottom":-0.568809},"curves":[{"name":"/carState/vEgo","color":"#1ac938"},{"name":"/longitudinalPlan/speeds/0","color":"#ff7f0e"}]},{"title":"...","range":{"left":104.907277,"right":126.285782,"top":1.025,"bottom":-0.025},"curves":[{"name":"/carControl/longActive","color":"#1f77b4"},{"name":"/carState/gasPressed","color":"#d62728"}]}]}}]}
diff --git a/tools/jotpluggler/layouts/max-torque-debug.json b/tools/jotpluggler/layouts/max-torque-debug.json
new file mode 100644
index 00000000000000..3a87fb3217bf20
--- /dev/null
+++ b/tools/jotpluggler/layouts/max-torque-debug.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.249724,0.250829,0.249724,0.249724],"children":[{"title":"...","range":{"left":0.00045,"right":2483.624998,"top":6.050533,"bottom":-7.599037},"curves":[{"name":"Actual lateral accel (roll compensated)","color":"#1ac938","custom_python":{"linked_source":"/controlsState/curvature","additional_sources":["/carState/vEgo","/liveParameters/roll"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    return (value * v1 ** 2) - (v2 * 9.81)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"Desired lateral accel (roll compensated)","color":"#ff7f0e","custom_python":{"linked_source":"/controlsState/desiredCurvature","additional_sources":["/carState/vEgo","/liveParameters/roll"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    return (value * v1 ** 2) - (v2 * 9.81)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"...","range":{"left":0.00045,"right":2483.624998,"top":5.384416,"bottom":-7.503945},"curves":[{"name":"roll compensated lateral acceleration","color":"#1ac938","custom_python":{"linked_source":"/controlsState/curvature","additional_sources":["/carState/vEgo","/liveParameters/roll","/carState/steeringPressed","/carControl/latActive"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3, v4):\n    if (v3 == 0 and v4 == 1):\n        return  (value * v1 ** 2) - (v2 * 9.81)\n    return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i], v4[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"...","range":{"left":0.00045,"right":2483.624998,"top":1.05,"bottom":-1.05},"curves":[{"name":"/carState/steeringPressed","color":"#0097ff"},{"name":"/carOutput/actuatorsOutput/torque","color":"#d62728"}]},{"title":"...","range":{"left":0.00045,"right":2483.624998,"top":80.762969,"bottom":-2.181837},"curves":[{"name":"/carState/vEgo","color":"#f14cc1","transform":"scale","scale":2.23694,"offset":0.0}]}]}}]}
diff --git a/tools/jotpluggler/layouts/new-layout.json b/tools/jotpluggler/layouts/new-layout.json
new file mode 100644
index 00000000000000..bffb62d7c76c1e
--- /dev/null
+++ b/tools/jotpluggler/layouts/new-layout.json
@@ -0,0 +1 @@
+{"current_tab_index": 0, "tabs": [{"name": "tab1", "root": {"curves": [], "title": "..."}}]}
diff --git a/tools/jotpluggler/layouts/system_lag_debug.json b/tools/jotpluggler/layouts/system_lag_debug.json
new file mode 100644
index 00000000000000..281de440faa363
--- /dev/null
+++ b/tools/jotpluggler/layouts/system_lag_debug.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.249729,0.250814,0.249729,0.249729],"children":[{"title":"...","range":{"left":0.0,"right":59.992103,"top":102.5,"bottom":-2.5},"curves":[{"name":"/deviceState/cpuUsagePercent/0","color":"#1f77b4"},{"name":"/deviceState/cpuUsagePercent/1","color":"#d62728"},{"name":"/deviceState/cpuUsagePercent/2","color":"#1ac938"},{"name":"/deviceState/cpuUsagePercent/3","color":"#ff7f0e"},{"name":"/deviceState/cpuUsagePercent/4","color":"#f14cc1"},{"name":"/deviceState/cpuUsagePercent/5","color":"#9467bd"},{"name":"/deviceState/cpuUsagePercent/6","color":"#17becf"},{"name":"/deviceState/cpuUsagePercent/7","color":"#bcbd22"}]},{"title":"...","range":{"left":0.0,"right":59.992103,"top":64.005001,"bottom":51.195},"curves":[{"name":"/deviceState/cpuTempC/0","color":"#d62728"},{"name":"/deviceState/cpuTempC/1","color":"#1ac938"},{"name":"/deviceState/cpuTempC/2","color":"#ff7f0e"},{"name":"/deviceState/cpuTempC/3","color":"#f14cc1"},{"name":"/deviceState/cpuTempC/4","color":"#9467bd"},{"name":"/deviceState/cpuTempC/5","color":"#17becf"},{"name":"/deviceState/cpuTempC/6","color":"#bcbd22"},{"name":"/deviceState/cpuTempC/7","color":"#1f77b4"},{"name":"/deviceState/gpuTempC/0","color":"#d62728"},{"name":"/deviceState/gpuTempC/1","color":"#1ac938"}]},{"title":"...","range":{"left":0.0,"right":59.992103,"top":37.371108,"bottom":-0.91149},"curves":[{"name":"/modelV2/frameDropPerc","color":"#f14cc1"}]},{"title":"...","range":{"left":0.0,"right":59.992103,"top":-3.593455,"bottom":-12.190956},"curves":[{"name":"/carState/cumLagMs","color":"#9467bd"}]}]}}]}
diff --git a/tools/jotpluggler/layouts/thermal_debug.json b/tools/jotpluggler/layouts/thermal_debug.json
new file mode 100644
index 00000000000000..3a7ce454cf6f83
--- /dev/null
+++ b/tools/jotpluggler/layouts/thermal_debug.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.166785,0.166785,0.166075,0.166785,0.166785,0.166785],"children":[{"title":"...","range":{"left":0.006955,"right":301.842654,"top":87.987497,"bottom":75.912497},"curves":[{"name":"/deviceState/cpuTempC/0","color":"#1f77b4"},{"name":"/deviceState/cpuTempC/1","color":"#d62728"},{"name":"/deviceState/cpuTempC/2","color":"#1ac938"},{"name":"/deviceState/cpuTempC/3","color":"#ff7f0e"},{"name":"/deviceState/cpuTempC/4","color":"#f14cc1"},{"name":"/deviceState/cpuTempC/5","color":"#9467bd"},{"name":"/deviceState/cpuTempC/6","color":"#17becf"},{"name":"/deviceState/cpuTempC/7","color":"#bcbd22"}]},{"title":"...","range":{"left":0.006955,"right":301.842654,"top":85.861052,"bottom":66.49695},"curves":[{"name":"/deviceState/pmicTempC/0","color":"#1f77b4"},{"name":"/deviceState/gpuTempC/0","color":"#d62728"},{"name":"/deviceState/gpuTempC/1","color":"#1ac938"},{"name":"/deviceState/memoryTempC","color":"#f14cc1"}]},{"title":"...","range":{"left":0.006955,"right":301.842654,"top":86.207876,"bottom":70.665918},"curves":[{"name":"/deviceState/maxTempC","color":"#1f77b4"}]},{"title":"...","range":{"left":0.006955,"right":301.842654,"top":1.025,"bottom":-0.025},"curves":[{"name":"/deviceState/thermalStatus","color":"#1f77b4"}]},{"split":"horizontal","sizes":[0.333124,0.333752,0.333124],"children":[{"title":"...","range":{"left":0.006955,"right":301.842654,"top":12.057358,"bottom":4.843517},"curves":[{"name":"/deviceState/powerDrawW","color":"#ff7f0e"}]},{"title":"...","range":{"left":0.006955,"right":301.842654,"top":100.0,"bottom":0.0},"curves":[{"name":"/deviceState/fanSpeedPercentDesired","color":"#9467bd"},{"name":"/pandaStates/0/fanPower","color":"#1f77b4"}],"y_limits":{"min":0.0,"max":100.0}},{"title":"...","range":{"left":0.006955,"right":301.842654,"top":5018.4,"bottom":255.6},"curves":[{"name":"/peripheralState/fanSpeedRpm","color":"#1f77b4"}]}]},{"split":"horizontal","sizes":[0.502513,0.497487],"children":[{"title":"...","range":{"left":0.006955,"right":301.842654,"top":100.025,"bottom":14.975},"curves":[{"name":"/deviceState/cpuUsagePercent/0","color":"#1f77b4"},{"name":"/deviceState/cpuUsagePercent/1","color":"#d62728"},{"name":"/deviceState/cpuUsagePercent/2","color":"#1ac938"},{"name":"/deviceState/cpuUsagePercent/3","color":"#ff7f0e"}]},{"title":"...","range":{"left":0.006955,"right":301.842654,"top":102.5,"bottom":-2.5},"curves":[{"name":"/deviceState/cpuUsagePercent/4","color":"#f14cc1"},{"name":"/deviceState/cpuUsagePercent/5","color":"#9467bd"},{"name":"/deviceState/cpuUsagePercent/6","color":"#17becf"},{"name":"/deviceState/cpuUsagePercent/7","color":"#bcbd22"}]}]}]}}]}
diff --git a/tools/jotpluggler/layouts/torque-controller.json b/tools/jotpluggler/layouts/torque-controller.json
new file mode 100644
index 00000000000000..7e269e59e6c95d
--- /dev/null
+++ b/tools/jotpluggler/layouts/torque-controller.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"Lateral Plan Conformance","root":{"split":"vertical","sizes":[0.250949,0.249051,0.250949,0.249051],"children":[{"title":"desired vs actual lateral acceleration (closer means better conformance to plan)","range":{"left":0.000194,"right":1138.891674,"top":1.858161,"bottom":-1.823407},"curves":[{"name":"/controlsState/lateralControlState/torqueState/actualLateralAccel","color":"#1f77b4"},{"name":"/controlsState/lateralControlState/torqueState/desiredLateralAccel","color":"#d62728"}]},{"title":"desired vs actual lateral acceleration, road-roll factored out (closer means better conformance to plan)","range":{"left":0.000194,"right":1138.891674,"top":2.749816,"bottom":-3.723091},"curves":[{"name":"Actual lateral accel (roll compensated)","color":"#1ac938","custom_python":{"linked_source":"/controlsState/curvature","additional_sources":["/carState/vEgo","/liveParameters/roll"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    return (value * v1 ** 2) - (v2 * 9.81)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"Desired lateral accel (roll compensated)","color":"#ff7f0e","custom_python":{"linked_source":"/controlsState/desiredCurvature","additional_sources":["/carState/vEgo","/liveParameters/roll"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    return (value * v1 ** 2) - (v2 * 9.81)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"controller feed-forward vs actuator output (closer means controller prediction is more accurate)","range":{"left":0.000194,"right":1138.891674,"top":1.978032,"bottom":-1.570956},"curves":[{"name":"/carOutput/actuatorsOutput/torque","color":"#9467bd","transform":"scale","scale":-1.0,"offset":0.0},{"name":"/controlsState/lateralControlState/torqueState/f","color":"#1f77b4"},{"name":"/carState/steeringPressed","color":"#ff000f"}]},{"title":"vehicle speed","range":{"left":0.000194,"right":1138.891674,"top":105.981304,"bottom":-2.709314},"curves":[{"name":"carState.vEgo mph","color":"#d62728","custom_python":{"linked_source":"/carState/vEgo","additional_sources":[],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value):\n    return value * 2.23694\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"carState.vEgo kmh","color":"#1ac938","custom_python":{"linked_source":"/carState/vEgo","additional_sources":[],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value):\n    return value * 3.6\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"/carState/vEgo","color":"#ff7f0e"}]}]}},{"name":"Vehicle Dynamics","root":{"split":"vertical","sizes":[0.334282,0.331437,0.334282],"children":[{"title":"configured-initial vs online-learned steerRatio, set configured value to match learned","range":{"left":0.0,"right":1138.816328,"top":19.665784,"bottom":19.359553},"curves":[{"name":"/carParams/steerRatio","color":"#1f77b4"},{"name":"/liveParameters/steerRatio","color":"#1ac938"}]},{"title":"configured-initial vs online-learned tireStiffnessRatio, set configured value to match learned","range":{"left":0.0,"right":1138.816328,"top":1.11221,"bottom":0.995631},"curves":[{"name":"/carParams/tireStiffnessFactor","color":"#d62728"},{"name":"/liveParameters/stiffnessFactor","color":"#ff7f0e"}]},{"title":"live steering angle offsets for straight-ahead driving, large values here may indicate alignment problems","range":{"left":0.0,"right":1138.816328,"top":-1.081041,"bottom":-4.494133},"curves":[{"name":"/liveParameters/angleOffsetAverageDeg","color":"#f14cc1"},{"name":"/liveParameters/angleOffsetDeg","color":"#9467bd"}]}]}},{"name":"Actuator Performance","root":{"split":"vertical","sizes":[0.333333,0.333333,0.333333],"children":[{"title":"offline-calculated vs online-learned lateral accel scaling factor, accel obtained from 100% actuator output","range":{"left":0.0,"right":1138.920072,"top":1.21611,"bottom":0.539474},"curves":[{"name":"/liveTorqueParameters/latAccelFactorFiltered","color":"#1f77b4"},{"name":"/liveTorqueParameters/latAccelFactorRaw","color":"#d62728"},{"name":"/carParams/lateralTuning/torque/latAccelFactor","color":"#1c9222"}]},{"title":"learned lateral accel offset, vehicle-specific compensation to obtain true zero lateral accel","range":{"left":0.0,"right":1138.920072,"top":-0.304367,"bottom":-0.418688},"curves":[{"name":"/liveTorqueParameters/latAccelOffsetFiltered","color":"#1ac938"},{"name":"/liveTorqueParameters/latAccelOffsetRaw","color":"#ff7f0e"}]},{"title":"offline-calculated vs online-learned EPS friction factor, necessary to start moving the steering wheel","range":{"left":0.0,"right":1138.920072,"top":0.226389,"bottom":0.15805},"curves":[{"name":"/liveTorqueParameters/frictionCoefficientFiltered","color":"#f14cc1"},{"name":"/liveTorqueParameters/frictionCoefficientRaw","color":"#9467bd"},{"name":"/carParams/lateralTuning/torque/friction","color":"#1c9222"}]}]}},{"name":"Actuator Delay","root":{"split":"vertical","sizes":[0.30441,0.358464,0.337127],"children":[{"title":"actuator lag learning state, 0 = learning, 1 = learned/applying, 2 = invalid","range":{"left":0.0,"right":1138.749979,"top":1.025,"bottom":-0.025},"curves":[{"name":"/liveDelay/status","color":"#ff7f0e"}]},{"title":"offline default vs online estimated steering actuator lag","range":{"left":0.0,"right":1138.749979,"top":0.419648,"bottom":0.318362},"curves":[{"name":"/liveDelay/lateralDelay","color":"#1f77b4"},{"name":"/liveDelay/lateralDelayEstimate","color":"#d62728"},{"name":"opendbc default steering lag","color":"#1ac938","custom_python":{"linked_source":"/carParams/steerActuatorDelay","additional_sources":[],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value):\n    return value + 0.2\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"online estimated steering actuator lag, standard deviation","range":{"left":0.0,"right":1138.749979,"top":0.06732,"bottom":-0.001642},"curves":[{"name":"/liveDelay/lateralDelayEstimateStd","color":"#f14cc1"}]}]}},{"name":"Controls Performance","root":{"split":"vertical","sizes":[0.265655,0.251898,0.245731,0.236717],"children":[{"title":"rate-of-change limits on steering actuator (blue = original, green = rate-limited before CAN output)","range":{"left":0.000194,"right":1138.891921,"top":1.05,"bottom":-1.05},"curves":[{"name":"/carControl/actuators/torque","color":"#0c00f2"},{"name":"/carOutput/actuatorsOutput/torque","color":"#2cd63a"}]},{"title":"controller feed-forward vs actuator output (closer means controller prediction is more accurate)","range":{"left":0.000194,"right":1138.891921,"top":1.978032,"bottom":-1.570956},"curves":[{"name":"/carOutput/actuatorsOutput/torque","color":"#9467bd","transform":"scale","scale":-1.0,"offset":0.0},{"name":"/controlsState/lateralControlState/torqueState/f","color":"#1f77b4"},{"name":"/carState/steeringPressed","color":"#ff000f"}]},{"title":"proportional, integral, and feed-forward terms (actuator output = sum of PIF terms)","range":{"left":0.000194,"right":1138.891921,"top":2.099784,"bottom":-4.027542},"curves":[{"name":"/controlsState/lateralControlState/torqueState/f","color":"#0ab027"},{"name":"/controlsState/lateralControlState/torqueState/p","color":"#d62728"},{"name":"/controlsState/lateralControlState/torqueState/i","color":"#ffaf00"},{"name":"Zero","color":"#756a6a","custom_python":{"linked_source":"/carState/canValid","additional_sources":[],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value):\n    return (0)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"road roll angle, from openpilot localizer","range":{"left":0.000194,"right":1138.891921,"top":0.109446,"bottom":-0.045525},"curves":[{"name":"/liveParameters/roll","color":"#f14cc1"}]}]}}]}
diff --git a/tools/jotpluggler/layouts/tuning.json b/tools/jotpluggler/layouts/tuning.json
new file mode 100644
index 00000000000000..0a8e81743eb596
--- /dev/null
+++ b/tools/jotpluggler/layouts/tuning.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"Lateral","root":{"split":"vertical","sizes":[0.200458,0.199313,0.200458,0.199313,0.200458],"children":[{"title":"Velocity [m/s]","range":{"left":1.253354,"right":631.055584,"top":29.954036,"bottom":-0.841715},"curves":[{"name":"/carState/vEgo","color":"#0072b2"}]},{"title":"Curvature [1/m] True [blue] Vehicle Model [purple] Plan [green]","range":{"left":0.0,"right":631.055209,"top":0.006648,"bottom":-0.00315},"curves":[{"name":"engaged curvature plan","color":"#009e73","custom_python":{"linked_source":"/modelV2/action/desiredCurvature","additional_sources":["/carState/steeringPressed","/carControl/enabled"],"globals_code":"engage_delay = 5\nlast_bad_time = -engage_delay","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    global engage_delay, last_bad_time\n    curvature = value\n    pressed = v1\n    enabled = v2\n    if (pressed == 1 or enabled == 0):\n        last_bad_time = time\n    if (time > last_bad_time + engage_delay):\n        return value\n    else:\n        return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"engaged curvature vehicle model","color":"#785ef0","custom_python":{"linked_source":"/controlsState/curvature","additional_sources":["/carState/steeringPressed","/carControl/enabled"],"globals_code":"engage_delay = 5\nlast_bad_time = -engage_delay","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    global engage_delay, last_bad_time\n    curvature = value\n    pressed = v1\n    enabled = v2\n    if (pressed == 1 or enabled == 0):\n        last_bad_time = time\n    if (time > last_bad_time + engage_delay):\n        return value\n    else:\n        return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"engaged curvature yaw","color":"#0072b2","custom_python":{"linked_source":"/carControl/angularVelocity/2","additional_sources":["/carState/steeringPressed","/carControl/enabled","/carState/vEgo"],"globals_code":"engage_delay = 5\nlast_bad_time = -engage_delay","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3):\n    global engage_delay, last_bad_time\n    curvature = value / v3\n    pressed = v1\n    enabled = v2\n    if (pressed == 1 or enabled == 0):\n        last_bad_time = time\n    if (time > last_bad_time + engage_delay):\n        return curvature\n    else:\n        return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"Roll [rad]","range":{"left":0.0,"right":631.038276,"top":0.166067,"bottom":-1.598381},"curves":[{"name":"/carControl/orientationNED/0","color":"#ffb000"}]},{"title":"Engaged [green] Steering Pressed [blue]","range":{"left":1.252984,"right":631.055584,"top":1.025,"bottom":-0.025},"curves":[{"name":"/selfdriveState/enabled","color":"#009e73"},{"name":"/carState/steeringPressed","color":"#0072b2"}]},{"title":"Steering Limited: Rate [orange] Saturated [magenta]","range":{"left":1.253354,"right":631.055584,"top":1.025,"bottom":-0.025},"curves":[{"name":"steering rate limited","color":"#ffb000","custom_python":{"linked_source":"/carControl/actuators/torque","additional_sources":["/carOutput/actuatorsOutput/torque","/carControl/actuators/steeringAngleDeg","/carOutput/actuatorsOutput/steeringAngleDeg"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3):\n    return (np.abs(value - v1) > 0.001 or np.abs(v2 - v3) > 0.05) and 1 or 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"/controlsState/lateralControlState/pidState/saturated","color":"#dc267f"}]}]}},{"name":"Longitudinal","root":{"split":"vertical","sizes":[0.1875,0.1875,0.1875,0.1875,0.25],"children":[{"title":"Velocity [m/s] True [blue] Plan [green] Cruise [magenta]","range":{"left":0.0,"right":631.055584,"top":42.713492,"bottom":-1.041792},"curves":[{"name":"/carState/cruiseState/speed","color":"#dc267f"},{"name":"/longitudinalPlan/speeds/0","color":"#009e73"},{"name":"/carState/vEgo","color":"#0072b2"}]},{"title":"Acceleration [m/s^2] True [blue] Actuator [purple] Plan [green]","range":{"left":1.253354,"right":631.055759,"top":0.808303,"bottom":-1.213305},"curves":[{"name":"engaged_accel_plan","color":"#009e73","custom_python":{"linked_source":"/longitudinalPlan/accels/0","additional_sources":["/carState/brakePressed","/carState/gasPressed","/carControl/enabled"],"globals_code":"engage_delay = 5\nlast_bad_time = -engage_delay","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3):\n    global engage_delay, last_bad_time\n    accel = value\n    brake = v1\n    gas = v2\n    enabled = v3\n    if (brake != 0 or gas != 0 or enabled == 0):\n        last_bad_time = time\n    if (time > last_bad_time + engage_delay):\n        return value\n    else:\n        return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"engaged_accel_actuator","color":"#785ef0","custom_python":{"linked_source":"/carControl/actuators/accel","additional_sources":["/carState/brakePressed","/carState/gasPressed","/carControl/enabled"],"globals_code":"engage_delay = 5\nlast_bad_time = -engage_delay","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3):\n    global engage_delay, last_bad_time\n    accel = value\n    brake = v1\n    gas = v2\n    enabled = v3\n    if (brake != 0 or gas != 0 or enabled == 0):\n        last_bad_time = time\n    if (time > last_bad_time + engage_delay):\n        return value\n    else:\n        return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"engaged_accel_actual","color":"#0072b2","custom_python":{"linked_source":"/carState/aEgo","additional_sources":["/carState/brakePressed","/carState/gasPressed","/carControl/enabled"],"globals_code":"engage_delay = 5\nlast_bad_time = -engage_delay","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3):\n    global engage_delay, last_bad_time\n    accel = value\n    brake = v1\n    gas = v2\n    enabled = v3\n    if (brake != 0 or gas != 0 or enabled == 0):\n        last_bad_time = time\n    if (time > last_bad_time + engage_delay):\n        return value\n    else:\n        return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"Pitch [rad]","range":{"left":0.0,"right":631.038276,"top":0.158854,"bottom":-0.594843},"curves":[{"name":"/carControl/orientationNED/1","color":"#ffb000"}]},{"title":"Engaged [green] Gas [orange] Brake [magenta]","range":{"left":1.253354,"right":631.055759,"top":1.025,"bottom":-0.025},"curves":[{"name":"/carControl/enabled","color":"#009e73"},{"name":"/carState/gasPressed","color":"#ffb000"},{"name":"/carState/brakePressed","color":"#dc267f"}]},{"title":"State [blue: off,pid,stop,start] Source [green: cruise,lead0,lead1,lead2,e2e]","range":{"left":1.25362,"right":631.055759,"top":5.125,"bottom":-0.125},"curves":[{"name":"/carControl/actuators/longControlState","color":"#0072b2"},{"name":"/longitudinalPlan/longitudinalPlanSource","color":"#009e73"}]}]}},{"name":"Lateral Debug","root":{"split":"vertical","sizes":[0.25,0.25,0.25,0.25],"children":[{"title":"Controller F [magenta] P [purple] I [blue]","range":{"left":0.0,"right":1.0,"top":1.0,"bottom":0.0},"curves":[{"name":"/controlsState/lateralControlState/pidState/f","color":"#f14cc1"},{"name":"/controlsState/lateralControlState/pidState/p","color":"#9467bd"},{"name":"/controlsState/lateralControlState/pidState/i","color":"#17becf"}]},{"title":"Driver Torque [blue] EPS Torque [green]","range":{"left":1.253354,"right":631.055584,"top":2690.99903,"bottom":-3450.198981},"curves":[{"name":"/carState/steeringTorqueEps","color":"#009e73"},{"name":"/carState/steeringTorque","color":"#0072b2"}]},{"title":"Engaged [green] Steering Pressed [blue]","range":{"left":1.253354,"right":631.055759,"top":1.025,"bottom":-0.025},"curves":[{"name":"/carControl/enabled","color":"#009e73"},{"name":"/carState/steeringPressed","color":"#0072b2"}]},{"title":"Steering Limited: Rate [orange] Saturated [magenta]","range":{"left":1.253354,"right":631.055584,"top":1.025,"bottom":-0.025},"curves":[{"name":"steering rate limited","color":"#ffb000","custom_python":{"linked_source":"/carControl/actuators/torque","additional_sources":["/carOutput/actuatorsOutput/torque","/carControl/actuators/steeringAngleDeg","/carOutput/actuatorsOutput/steeringAngleDeg"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3):\n    return (np.abs(value - v1) > 0.001 or np.abs(v2 - v3) > 0.05) and 1 or 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"/controlsState/lateralControlState/pidState/saturated","color":"#dc267f"}]}]}}]}
diff --git a/tools/jotpluggler/layouts/ublox-debug.json b/tools/jotpluggler/layouts/ublox-debug.json
new file mode 100644
index 00000000000000..4509a192df130c
--- /dev/null
+++ b/tools/jotpluggler/layouts/ublox-debug.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.333333,0.333333,0.333333],"children":[{"title":"...","range":{"left":0.0,"right":134.825489,"top":4402341.574525,"bottom":-107369.555525},"curves":[{"name":"/gpsLocationExternal/horizontalAccuracy","color":"#1f77b4"}]},{"title":"...","range":{"left":0.0,"right":134.825489,"top":1.025,"bottom":-0.025},"curves":[{"name":"/gpsLocationExternal/flags","color":"#d62728"}]},{"title":"...","range":{"left":0.0,"right":134.825489,"top":6.15,"bottom":-0.15},"curves":[{"name":"/ubloxGnss/measurementReport/numMeas","color":"#1ac938"}]}]}}]}
diff --git a/tools/jotpluggler/logs.cc b/tools/jotpluggler/logs.cc
new file mode 100644
index 00000000000000..4da1cbf501a02c
--- /dev/null
+++ b/tools/jotpluggler/logs.cc
@@ -0,0 +1,419 @@
+#include "tools/jotpluggler/app.h"
+
+#include <cmath>
+#include <ctime>
+
+namespace {
+
+struct LevelOption {
+  const char *label;
+  int value;
+};
+
+constexpr std::array<LevelOption, 5> LEVEL_OPTIONS = {{
+  {"DEBUG", 10},
+  {"INFO", 20},
+  {"WARNING", 30},
+  {"ERROR", 40},
+  {"CRITICAL", 50},
+}};
+constexpr uint32_t ALL_LEVEL_MASK = (1u << LEVEL_OPTIONS.size()) - 1u;
+
+bool log_matches_search(const LogEntry &entry, std::string_view query) {
+  if (query.empty()) return true;
+  const std::string needle = lowercase_copy(query);
+  const auto contains = [&](std::string_view haystack) {
+    return lowercase_copy(haystack).find(needle) != std::string::npos;
+  };
+  return contains(entry.message) || contains(entry.source) || contains(entry.func);
+}
+
+std::vector<std::string> collect_log_sources(const std::vector<LogEntry> &logs) {
+  std::vector<std::string> sources;
+  for (const LogEntry &entry : logs) {
+    if (entry.source.empty()) continue;
+    if (std::find(sources.begin(), sources.end(), entry.source) == sources.end()) {
+      sources.push_back(entry.source);
+    }
+  }
+  std::sort(sources.begin(), sources.end());
+  return sources;
+}
+
+std::vector<int> filter_log_indices(const RouteData &route_data, const LogsUiState &logs_state) {
+  std::vector<int> indices;
+  indices.reserve(route_data.logs.size());
+  for (size_t i = 0; i < route_data.logs.size(); ++i) {
+    const LogEntry &entry = route_data.logs[i];
+    int level_index = 0;
+    if (entry.level >= 50) {
+      level_index = 4;
+    } else if (entry.level >= 40) {
+      level_index = 3;
+    } else if (entry.level >= 30) {
+      level_index = 2;
+    } else if (entry.level >= 20) {
+      level_index = 1;
+    }
+    if ((logs_state.enabled_levels_mask & (1u << level_index)) == 0) {
+      continue;
+    }
+    if (!logs_state.all_sources) {
+      const auto it = std::find(logs_state.selected_sources.begin(),
+                                logs_state.selected_sources.end(),
+                                entry.source);
+      if (it == logs_state.selected_sources.end()) continue;
+    }
+    if (!log_matches_search(entry, logs_state.search)) continue;
+    indices.push_back(static_cast<int>(i));
+  }
+  return indices;
+}
+
+int find_active_log_position(const RouteData &route_data,
+                             const std::vector<int> &filtered_indices,
+                             double tracker_time) {
+  if (filtered_indices.empty()) return -1;
+  auto it = std::lower_bound(filtered_indices.begin(), filtered_indices.end(), tracker_time,
+                             [&](int log_index, double tm) {
+                               return route_data.logs[static_cast<size_t>(log_index)].mono_time < tm;
+                             });
+  if (it == filtered_indices.begin()) return static_cast<int>(std::distance(filtered_indices.begin(), it));
+  if (it == filtered_indices.end()) return static_cast<int>(filtered_indices.size()) - 1;
+  if (route_data.logs[static_cast<size_t>(*it)].mono_time > tracker_time) {
+    --it;
+  }
+  return static_cast<int>(std::distance(filtered_indices.begin(), it));
+}
+
+std::string format_route_time(double seconds) {
+  if (seconds < 0.0) {
+    seconds = 0.0;
+  }
+  const int minutes = static_cast<int>(seconds / 60.0);
+  const double remaining = seconds - static_cast<double>(minutes) * 60.0;
+  return util::string_format("%d:%06.3f", minutes, remaining);
+}
+
+std::string format_boot_time(double seconds) {
+  return util::string_format("%.3f", seconds);
+}
+
+std::string format_wall_time(double seconds) {
+  if (seconds <= 0.0) return "--";
+  const time_t wall_seconds = static_cast<time_t>(seconds);
+  std::tm wall_tm = {};
+  localtime_r(&wall_seconds, &wall_tm);
+  const int millis = static_cast<int>(std::llround((seconds - std::floor(seconds)) * 1000.0));
+  return util::string_format("%02d:%02d:%02d.%03d",
+                             wall_tm.tm_hour, wall_tm.tm_min, wall_tm.tm_sec, millis);
+}
+
+std::string format_log_time(const LogEntry &entry, LogTimeMode mode) {
+  switch (mode) {
+    case LogTimeMode::Route:
+      return format_route_time(entry.mono_time);
+    case LogTimeMode::Boot:
+      return format_boot_time(entry.boot_time);
+    case LogTimeMode::WallClock:
+      return format_wall_time(entry.wall_time);
+  }
+  return format_route_time(entry.mono_time);
+}
+
+const char *time_mode_label(LogTimeMode mode) {
+  switch (mode) {
+    case LogTimeMode::Route: return "Route";
+    case LogTimeMode::Boot: return "Boot";
+    case LogTimeMode::WallClock: return "Wall clock";
+  }
+  return "Route";
+}
+
+std::string level_filter_label(uint32_t mask) {
+  if (mask == ALL_LEVEL_MASK) return "All levels";
+  if (mask == 0b11110) return "INFO+";
+  if (mask == 0b11100) return "WARNING+";
+  if (mask == 0b11000) return "ERROR+";
+  if (mask == 0b10000) return "CRITICAL";
+
+  int enabled_count = 0;
+  const char *last_label = "None";
+  for (size_t i = 0; i < LEVEL_OPTIONS.size(); ++i) {
+    if ((mask & (1u << i)) == 0) {
+      continue;
+    }
+    ++enabled_count;
+    last_label = LEVEL_OPTIONS[i].label;
+  }
+  if (enabled_count == 0) return "None";
+  if (enabled_count == 1) return last_label;
+  return "Custom";
+}
+
+std::string source_filter_label(const LogsUiState &logs_state, const std::vector<std::string> &sources) {
+  if (logs_state.all_sources || logs_state.selected_sources.size() == sources.size()) {
+    return "All sources";
+  }
+  if (logs_state.selected_sources.empty()) return "No sources";
+  if (logs_state.selected_sources.size() == 1) return logs_state.selected_sources.front();
+  return std::to_string(logs_state.selected_sources.size()) + " sources";
+}
+
+const char *level_label(const LogEntry &entry) {
+  if (entry.origin == LogOrigin::Alert) return "ALRT";
+  if (entry.level >= 50) return "CRIT";
+  if (entry.level >= 40) return "ERR";
+  if (entry.level >= 30) return "WARN";
+  if (entry.level >= 20) return "INFO";
+  return "DBG";
+}
+
+ImVec4 level_text_color(const LogEntry &entry, bool active) {
+  if (active) return color_rgb(46, 54, 63);
+  if (entry.origin == LogOrigin::Alert) return color_rgb(50, 100, 200);
+  if (entry.level >= 50) return color_rgb(176, 26, 18);
+  if (entry.level >= 40) return color_rgb(200, 50, 40);
+  if (entry.level >= 30) return color_rgb(200, 130, 0);
+  if (entry.level >= 20) return color_rgb(80, 86, 94);
+  return color_rgb(126, 133, 141);
+}
+
+ImU32 row_bg_color(const LogEntry &entry, bool active) {
+  if (active) return IM_COL32(80, 140, 210, 38);
+  return 0;
+}
+
+void set_tracker_to_log(UiState *state, const LogEntry &entry) {
+  state->tracker_time = entry.mono_time;
+  state->has_tracker_time = true;
+  state->logs.last_auto_scroll_time = entry.mono_time;
+}
+
+void draw_log_expansion_row(const LogEntry &entry) {
+  ImGui::TableNextRow();
+  ImGui::TableSetColumnIndex(0);
+  ImGui::TextUnformatted("");
+  ImGui::TableSetColumnIndex(1);
+  ImGui::TextUnformatted("");
+  ImGui::TableSetColumnIndex(2);
+  ImGui::TextUnformatted(entry.func.empty() ? "" : entry.func.c_str());
+  ImGui::TableSetColumnIndex(3);
+  ImGui::PushStyleColor(ImGuiCol_Text, color_rgb(96, 104, 113));
+  ImGui::TextWrapped("%s", entry.message.c_str());
+  if (!entry.func.empty()) {
+    ImGui::TextWrapped("func: %s", entry.func.c_str());
+  }
+  if (!entry.context.empty()) {
+    ImGui::TextWrapped("ctx: %s", entry.context.c_str());
+  }
+  ImGui::PopStyleColor();
+}
+
+void draw_log_row(const LogEntry &entry,
+                  int log_index,
+                  bool active,
+                  UiState *state) {
+  ImGui::PushID(log_index);
+  const ImU32 bg = row_bg_color(entry, active);
+  ImGui::TableNextRow();
+  if (bg != 0) {
+    ImGui::TableSetBgColor(ImGuiTableBgTarget_RowBg0, bg);
+  }
+
+  const std::string time_text = std::string(active ? "\xE2\x96\xB6 " : "  ") + format_log_time(entry, state->logs.time_mode);
+  const auto clickable_text = [&](const char *id, const std::string &text, ImVec4 color = color_rgb(74, 80, 88)) {
+    ImGui::PushID(id);
+    ImGui::PushStyleColor(ImGuiCol_Text, color);
+    ImGui::PushStyleColor(ImGuiCol_Header, ImVec4(0, 0, 0, 0));
+    ImGui::PushStyleColor(ImGuiCol_HeaderHovered, ImVec4(0, 0, 0, 0));
+    ImGui::PushStyleColor(ImGuiCol_HeaderActive, ImVec4(0, 0, 0, 0));
+    const bool clicked = ImGui::Selectable(text.c_str(), false, ImGuiSelectableFlags_AllowDoubleClick);
+    ImGui::PopStyleColor(4);
+    ImGui::PopID();
+    return clicked;
+  };
+
+  bool clicked = false;
+  ImGui::TableSetColumnIndex(0);
+  app_push_mono_font();
+  clicked = clickable_text("time", time_text);
+  app_pop_mono_font();
+
+  ImGui::TableSetColumnIndex(1);
+  clicked = clickable_text("level", level_label(entry), level_text_color(entry, active)) || clicked;
+
+  ImGui::TableSetColumnIndex(2);
+  clicked = clickable_text("source", entry.source) || clicked;
+
+  ImGui::TableSetColumnIndex(3);
+  clicked = clickable_text("message", entry.message) || clicked;
+
+  if (clicked) {
+    set_tracker_to_log(state, entry);
+    state->logs.expanded_index = state->logs.expanded_index == log_index ? -1 : log_index;
+  }
+  ImGui::PopID();
+}
+
+}  // namespace
+
+void draw_logs_tab(AppSession *session, UiState *state) {
+  LogsUiState &logs_state = state->logs;
+  const RouteData &route_data = session->route_data;
+  const RouteLoadSnapshot load = session->route_loader ? session->route_loader->snapshot() : RouteLoadSnapshot{};
+  const bool loading_logs = load.active && route_data.logs.empty();
+  const std::vector<std::string> sources = collect_log_sources(route_data.logs);
+
+  if (!logs_state.all_sources) {
+    logs_state.selected_sources.erase(
+      std::remove_if(logs_state.selected_sources.begin(),
+                     logs_state.selected_sources.end(),
+                     [&](const std::string &source) {
+                       return std::find(sources.begin(), sources.end(), source) == sources.end();
+                     }),
+      logs_state.selected_sources.end());
+  }
+
+  ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(6.0f, 3.0f));
+  ImGui::SetNextItemWidth(110.0f);
+  const std::string levels_label = level_filter_label(logs_state.enabled_levels_mask);
+  if (ImGui::BeginCombo("##logs_level", levels_label.c_str())) {
+    bool all_levels = logs_state.enabled_levels_mask == ALL_LEVEL_MASK;
+    if (ImGui::Checkbox("All levels", &all_levels)) {
+      logs_state.enabled_levels_mask = all_levels ? ALL_LEVEL_MASK : 0u;
+    }
+    ImGui::Separator();
+    for (size_t i = 0; i < LEVEL_OPTIONS.size(); ++i) {
+      bool enabled = (logs_state.enabled_levels_mask & (1u << i)) != 0;
+      if (ImGui::Checkbox(LEVEL_OPTIONS[i].label, &enabled)) {
+        if (enabled) {
+          logs_state.enabled_levels_mask |= (1u << i);
+        } else {
+          logs_state.enabled_levels_mask &= ~(1u << i);
+        }
+      }
+    }
+    ImGui::EndCombo();
+  }
+  ImGui::SameLine();
+
+  ImGui::SetNextItemWidth(150.0f);
+  input_text_with_hint_string("##logs_search", "Search...", &logs_state.search);
+  ImGui::SameLine();
+
+  const std::string sources_label = source_filter_label(logs_state, sources);
+  ImGui::SetNextItemWidth(180.0f);
+  if (ImGui::BeginCombo("##logs_source", sources_label.c_str())) {
+    bool all_sources = logs_state.all_sources;
+    if (ImGui::Checkbox("All sources", &all_sources)) {
+      logs_state.all_sources = all_sources;
+      if (logs_state.all_sources) {
+        logs_state.selected_sources.clear();
+      } else {
+        logs_state.selected_sources = sources;
+      }
+    }
+    ImGui::Separator();
+    for (const std::string &source : sources) {
+      bool enabled = logs_state.all_sources
+        || std::find(logs_state.selected_sources.begin(), logs_state.selected_sources.end(), source) != logs_state.selected_sources.end();
+      if (ImGui::Checkbox(source.c_str(), &enabled)) {
+        if (logs_state.all_sources) {
+          logs_state.all_sources = false;
+          logs_state.selected_sources = sources;
+        }
+        auto it = std::find(logs_state.selected_sources.begin(), logs_state.selected_sources.end(), source);
+        if (enabled) {
+          if (it == logs_state.selected_sources.end()) {
+            logs_state.selected_sources.push_back(source);
+          }
+        } else if (it != logs_state.selected_sources.end()) {
+          logs_state.selected_sources.erase(it);
+        }
+        if (logs_state.selected_sources.size() == sources.size()) {
+          logs_state.all_sources = true;
+          logs_state.selected_sources.clear();
+        }
+      }
+    }
+    ImGui::EndCombo();
+  }
+  ImGui::SameLine();
+
+  ImGui::SetNextItemWidth(110.0f);
+  if (ImGui::BeginCombo("##logs_time_mode", time_mode_label(logs_state.time_mode))) {
+    for (LogTimeMode mode : {LogTimeMode::Route, LogTimeMode::Boot, LogTimeMode::WallClock}) {
+      const bool selected = logs_state.time_mode == mode;
+      if (ImGui::Selectable(time_mode_label(mode), selected)) {
+        logs_state.time_mode = mode;
+      }
+    }
+    ImGui::EndCombo();
+  }
+
+  const std::vector<int> filtered_indices = filter_log_indices(route_data, logs_state);
+  const bool have_tracker = state->has_tracker_time && !filtered_indices.empty();
+  const int active_pos = have_tracker ? find_active_log_position(route_data, filtered_indices, state->tracker_time) : -1;
+
+  ImGui::SameLine();
+  ImGui::SetCursorPosX(std::max(ImGui::GetCursorPosX(), ImGui::GetWindowContentRegionMax().x - 110.0f));
+  ImGui::Text("%zu / %zu", filtered_indices.size(), route_data.logs.size());
+  ImGui::PopStyleVar();
+
+  if (route_data.logs.empty()) {
+    ImGui::Spacing();
+    ImGui::PushStyleColor(ImGuiCol_Text, color_rgb(116, 124, 133));
+    ImGui::TextWrapped("%s", loading_logs ? "Loading logs..." : "No text logs available for this route.");
+    ImGui::PopStyleColor();
+    return;
+  }
+
+  if (ImGui::BeginChild("##logs_table_child", ImVec2(0.0f, 0.0f), false)) {
+    if (have_tracker && std::abs(logs_state.last_auto_scroll_time - state->tracker_time) > 1.0e-6) {
+      const float row_height = ImGui::GetTextLineHeightWithSpacing() + 6.0f;
+      const float visible_h = std::max(1.0f, ImGui::GetWindowHeight());
+      const float target = std::max(0.0f, static_cast<float>(active_pos) * row_height - visible_h * 0.45f);
+      ImGui::SetScrollY(target);
+      logs_state.last_auto_scroll_time = state->tracker_time;
+    }
+
+    if (ImGui::BeginTable("##logs_table",
+                          4,
+                          ImGuiTableFlags_BordersInnerV |
+                            ImGuiTableFlags_RowBg |
+                            ImGuiTableFlags_Resizable |
+                            ImGuiTableFlags_SizingStretchProp)) {
+      ImGui::TableSetupColumn("Time", ImGuiTableColumnFlags_WidthFixed, 120.0f);
+      ImGui::TableSetupColumn("Level", ImGuiTableColumnFlags_WidthFixed, 72.0f);
+      ImGui::TableSetupColumn("Source", ImGuiTableColumnFlags_WidthFixed, 180.0f);
+      ImGui::TableSetupColumn("Message", ImGuiTableColumnFlags_WidthStretch);
+      ImGui::TableHeadersRow();
+
+      const bool use_clipper = logs_state.expanded_index < 0;
+      if (use_clipper) {
+        ImGuiListClipper clipper;
+        clipper.Begin(static_cast<int>(filtered_indices.size()));
+        while (clipper.Step()) {
+          for (int i = clipper.DisplayStart; i < clipper.DisplayEnd; ++i) {
+            const int log_index = filtered_indices[static_cast<size_t>(i)];
+            const LogEntry &entry = route_data.logs[static_cast<size_t>(log_index)];
+            draw_log_row(entry, log_index, i == active_pos, state);
+          }
+        }
+      } else {
+        for (int i = 0; i < static_cast<int>(filtered_indices.size()); ++i) {
+          const int log_index = filtered_indices[static_cast<size_t>(i)];
+          const LogEntry &entry = route_data.logs[static_cast<size_t>(log_index)];
+          draw_log_row(entry, log_index, i == active_pos, state);
+          if (logs_state.expanded_index == log_index) {
+            draw_log_expansion_row(entry);
+          }
+        }
+      }
+
+      ImGui::EndTable();
+    }
+  }
+  ImGui::EndChild();
+}
diff --git a/tools/jotpluggler/main.cc b/tools/jotpluggler/main.cc
new file mode 100644
index 00000000000000..22bc29664c2616
--- /dev/null
+++ b/tools/jotpluggler/main.cc
@@ -0,0 +1,126 @@
+#include <cstdlib>
+#include <iostream>
+
+#include "tools/jotpluggler/app.h"
+
+namespace {
+
+constexpr const char *DEMO_ROUTE = "5beb9b58bd12b691/0000010a--a51155e496";
+
+void print_usage(const char *argv0) {
+  std::cerr
+      << "Usage: " << argv0 << " [--layout <layout>] [options] [route]\n"
+      << "\n"
+      << "Options:\n"
+      << "  --demo\n"
+      << "  --data-dir <dir>\n"
+      << "  --stream\n"
+      << "  --address <host>\n"
+      << "  --buffer-seconds <seconds>\n"
+      << "  --width <pixels>\n"
+      << "  --height <pixels>\n"
+      << "  --output <png>\n"
+      << "  --show\n"
+      << "  --sync-load\n"
+      << "\n"
+      << "Examples:\n"
+      << "  " << argv0 << "\n"
+      << "  " << argv0 << " --demo\n"
+      << "  " << argv0 << " --layout longitudinal --demo\n"
+      << "  " << argv0 << " --layout longitudinal --demo --output /tmp/longitudinal.png\n"
+      << "  " << argv0 << " --stream --show\n"
+      << "  " << argv0 << " --stream --address 192.168.60.52 --buffer-seconds 45 --show\n";
+}
+
+bool parse_int(const char *value, int *out) {
+  char *end = nullptr;
+  const long parsed = std::strtol(value, &end, 10);
+  if (end == nullptr || *end != '\0') return false;
+  *out = static_cast<int>(parsed);
+  return true;
+}
+
+bool parse_double(const char *value, double *out) {
+  char *end = nullptr;
+  const double parsed = std::strtod(value, &end);
+  if (end == nullptr || *end != '\0') return false;
+  *out = parsed;
+  return true;
+}
+
+}  // namespace
+
+int main(int argc, char *argv[]) {
+  Options options;
+  for (int i = 1; i < argc; ++i) {
+    const std::string arg = argv[i];
+    const auto require_value = [&](const char *flag) -> const char * {
+      if (i + 1 >= argc) {
+        std::cerr << "Missing value for " << flag << "\n";
+        print_usage(argv[0]);
+        std::exit(2);
+      }
+      return argv[++i];
+    };
+
+    if (arg == "--layout") {
+      options.layout = require_value("--layout");
+    } else if (arg == "--demo") {
+      options.route_name = DEMO_ROUTE;
+    } else if (arg == "--data-dir") {
+      options.data_dir = require_value("--data-dir");
+    } else if (arg == "--stream") {
+      options.stream = true;
+    } else if (arg == "--address") {
+      options.stream_address = require_value("--address");
+    } else if (arg == "--buffer-seconds") {
+      if (!parse_double(require_value("--buffer-seconds"), &options.stream_buffer_seconds)) {
+        std::cerr << "Invalid buffer seconds\n";
+        return 2;
+      }
+    } else if (arg == "--output") {
+      options.output_path = require_value("--output");
+    } else if (arg == "--width") {
+      if (!parse_int(require_value("--width"), &options.width)) {
+        std::cerr << "Invalid width\n";
+        return 2;
+      }
+    } else if (arg == "--height") {
+      if (!parse_int(require_value("--height"), &options.height)) {
+        std::cerr << "Invalid height\n";
+        return 2;
+      }
+    } else if (arg == "--show") {
+      options.show = true;
+    } else if (arg == "--sync-load") {
+      options.sync_load = true;
+    } else if (arg == "--help" || arg == "-h") {
+      print_usage(argv[0]);
+      return 0;
+    } else if (!arg.empty() && arg[0] != '-' && options.route_name.empty()) {
+      options.route_name = arg;
+    } else {
+      std::cerr << "Unknown argument: " << arg << "\n";
+      print_usage(argv[0]);
+      return 2;
+    }
+  }
+
+  if (options.output_path.empty() && !options.show) {
+    options.show = true;
+  }
+  if (options.width <= 0 || options.height <= 0) {
+    std::cerr << "Width and height must be positive\n";
+    return 2;
+  }
+  if (options.stream && !options.route_name.empty()) {
+    std::cerr << "Route/file mode and --stream are mutually exclusive\n";
+    return 2;
+  }
+  if (options.stream_buffer_seconds <= 0.0) {
+    std::cerr << "Buffer seconds must be positive\n";
+    return 2;
+  }
+
+  return run(options);
+}
diff --git a/tools/jotpluggler/map.cc b/tools/jotpluggler/map.cc
new file mode 100644
index 00000000000000..8725908ea022ed
--- /dev/null
+++ b/tools/jotpluggler/map.cc
@@ -0,0 +1,1328 @@
+#include "tools/jotpluggler/app.h"
+#include "tools/jotpluggler/common.h"
+#include "tools/jotpluggler/map.h"
+
+#include <GLFW/glfw3.h>
+
+extern "C" {
+#include <zstd.h>
+}
+
+#include <array>
+#include <algorithm>
+#include <cmath>
+#include <condition_variable>
+#include <cstdint>
+#include <cstring>
+#include <filesystem>
+#include <limits>
+#include <mutex>
+#include <optional>
+#include <string_view>
+#include <thread>
+#include <unordered_set>
+#include <utility>
+#include <vector>
+
+#include "common/util.h"
+#include "third_party/json11/json11.hpp"
+
+namespace fs = std::filesystem;
+
+namespace {
+
+constexpr int MAP_MIN_ZOOM = 1;
+constexpr int MAP_MAX_ZOOM = 18;
+constexpr int MAP_SINGLE_POINT_MIN_ZOOM = 14;
+constexpr float MAP_WHEEL_ZOOM_STEP = 0.25f;
+constexpr double MAP_TRACE_PAD_FRAC = 0.45;
+constexpr double MAP_TRACE_MIN_LAT_PAD = 0.01;
+constexpr double MAP_BOUNDS_GRID = 0.005;
+constexpr double MAP_CORRIDOR_LAT_PAD = 0.010;
+constexpr double MAP_CORRIDOR_MIN_STEP_S = 1.5;
+constexpr size_t MAP_CORRIDOR_MAX_BOXES = 36;
+constexpr float MAP_INITIAL_FIT_FILL = 0.88f;
+constexpr float MAP_MIN_ZOOM_FILL = 0.98f;
+constexpr float MAP_EDGE_FADE_FRAC = 0.28f;
+constexpr const char *MAP_QUERY_ENDPOINTS[] = {
+  "https://overpass-api.de/api/interpreter",
+  "https://overpass.private.coffee/api/interpreter",
+};
+struct GeoPoint {
+  double lat = 0.0;
+  double lon = 0.0;
+};
+
+struct ProjectedPoint {
+  float x = 0.0f;
+  float y = 0.0f;
+};
+
+struct ProjectedBounds {
+  float min_x = 0.0f;
+  float min_y = 0.0f;
+  float max_x = 0.0f;
+  float max_y = 0.0f;
+
+  bool valid() const {
+    return max_x >= min_x && max_y >= min_y;
+  }
+};
+
+enum class RoadClass : uint8_t {
+  Motorway,
+  Primary,
+  Secondary,
+  Local,
+};
+
+struct RoadFeature {
+  RoadClass road_class = RoadClass::Local;
+  ProjectedBounds bounds;
+  std::vector<ProjectedPoint> points;
+};
+
+struct WaterLineFeature {
+  ProjectedBounds bounds;
+  std::vector<ProjectedPoint> points;
+};
+
+struct WaterPolygonFeature {
+  ProjectedBounds bounds;
+  std::vector<ProjectedPoint> ring;
+};
+
+}  // namespace
+
+struct RouteBasemap {
+  std::string key;
+  GeoBounds bounds;
+  ProjectedBounds projected_bounds;
+  std::vector<RoadFeature> roads;
+  std::vector<WaterLineFeature> water_lines;
+  std::vector<WaterPolygonFeature> water_polygons;
+};
+
+struct MapRequestSpec {
+  std::string key;
+  GeoBounds bounds;
+  std::string query;
+};
+
+namespace {
+
+double lon_to_world_x(double lon, double zoom) {
+  return (lon + 180.0) / 360.0 * 256.0 * std::exp2(zoom);
+}
+
+double lat_to_world_y(double lat, double zoom) {
+  const double lat_rad = lat * M_PI / 180.0;
+  return (1.0 - std::log(std::tan(lat_rad) + 1.0 / std::cos(lat_rad)) / M_PI) / 2.0 * 256.0 * std::exp2(zoom);
+}
+
+double world_x_to_lon(double x, double zoom) {
+  return x / std::exp2(zoom) / 256.0 * 360.0 - 180.0;
+}
+
+double world_y_to_lat(double y, double zoom) {
+  const double n = M_PI - (2.0 * M_PI * (y / std::exp2(zoom))) / 256.0;
+  return 180.0 / M_PI * std::atan(std::sinh(n));
+}
+
+double map_trace_center_lat(const GpsTrace &trace) {
+  return (trace.min_lat + trace.max_lat) * 0.5;
+}
+
+double map_trace_center_lon(const GpsTrace &trace) {
+  return (trace.min_lon + trace.max_lon) * 0.5;
+}
+
+double clamp_lat(double lat) {
+  return std::clamp(lat, -85.0, 85.0);
+}
+
+double clamp_lon(double lon) {
+  return std::clamp(lon, -179.999, 179.999);
+}
+
+float project_lon0(double lon) {
+  return static_cast<float>((lon + 180.0) / 360.0 * 256.0);
+}
+
+float project_lat0(double lat) {
+  const double lat_rad = lat * M_PI / 180.0;
+  return static_cast<float>((1.0 - std::log(std::tan(lat_rad) + 1.0 / std::cos(lat_rad)) / M_PI) / 2.0 * 256.0);
+}
+
+double cos_lat_scale(double lat) {
+  return std::max(0.2, std::cos(lat * M_PI / 180.0));
+}
+
+double quantize_down(double value, double step) {
+  return std::floor(value / step) * step;
+}
+
+double quantize_up(double value, double step) {
+  return std::ceil(value / step) * step;
+}
+
+ProjectedBounds compute_projected_bounds(const std::vector<ProjectedPoint> &points) {
+  ProjectedBounds bounds;
+  if (points.empty()) {
+    return bounds;
+  }
+  bounds.min_x = bounds.max_x = points.front().x;
+  bounds.min_y = bounds.max_y = points.front().y;
+  for (const ProjectedPoint &point : points) {
+    bounds.min_x = std::min(bounds.min_x, point.x);
+    bounds.max_x = std::max(bounds.max_x, point.x);
+    bounds.min_y = std::min(bounds.min_y, point.y);
+    bounds.max_y = std::max(bounds.max_y, point.y);
+  }
+  return bounds;
+}
+
+ProjectedBounds project_bounds0(const GeoBounds &bounds) {
+  if (!bounds.valid()) {
+    return {};
+  }
+  return ProjectedBounds{
+    .min_x = project_lon0(bounds.west),
+    .min_y = project_lat0(bounds.north),
+    .max_x = project_lon0(bounds.east),
+    .max_y = project_lat0(bounds.south),
+  };
+}
+
+bool feature_intersects_view(const ProjectedBounds &feature, const ProjectedBounds &view, float zoom_scale) {
+  const float min_x = feature.min_x * zoom_scale;
+  const float max_x = feature.max_x * zoom_scale;
+  const float min_y = feature.min_y * zoom_scale;
+  const float max_y = feature.max_y * zoom_scale;
+  return !(max_x < view.min_x || min_x > view.max_x
+        || max_y < view.min_y || min_y > view.max_y);
+}
+
+GeoBounds requested_bounds_for_trace(const GpsTrace &trace) {
+  if (trace.points.empty()) {
+    return {};
+  }
+  const double center_lat = map_trace_center_lat(trace);
+  const double lat_span = std::max(trace.max_lat - trace.min_lat, 0.002);
+  const double lon_span = std::max(trace.max_lon - trace.min_lon, 0.002 / cos_lat_scale(center_lat));
+  const double lat_pad = std::max(lat_span * MAP_TRACE_PAD_FRAC, MAP_TRACE_MIN_LAT_PAD);
+  const double lon_pad = std::max(lon_span * MAP_TRACE_PAD_FRAC, MAP_TRACE_MIN_LAT_PAD / cos_lat_scale(center_lat));
+
+  GeoBounds bounds;
+  bounds.south = clamp_lat(quantize_down(trace.min_lat - lat_pad, MAP_BOUNDS_GRID));
+  bounds.north = clamp_lat(quantize_up(trace.max_lat + lat_pad, MAP_BOUNDS_GRID));
+  bounds.west = clamp_lon(quantize_down(trace.min_lon - lon_pad, MAP_BOUNDS_GRID));
+  bounds.east = clamp_lon(quantize_up(trace.max_lon + lon_pad, MAP_BOUNDS_GRID));
+  return bounds;
+}
+
+GeoBounds merge_bounds(const GeoBounds &a, const GeoBounds &b) {
+  if (!a.valid()) return b;
+  if (!b.valid()) return a;
+  return GeoBounds{
+    .south = std::min(a.south, b.south),
+    .west = std::min(a.west, b.west),
+    .north = std::max(a.north, b.north),
+    .east = std::max(a.east, b.east),
+  };
+}
+
+bool bounds_overlap_or_touch(const GeoBounds &a, const GeoBounds &b) {
+  return !(a.east < b.west || b.east < a.west || a.north < b.south || b.north < a.south);
+}
+
+std::vector<GeoBounds> corridor_boxes_for_trace(const GpsTrace &trace) {
+  std::vector<GeoBounds> boxes;
+  if (trace.points.empty()) {
+    return boxes;
+  }
+
+  const double center_lat = map_trace_center_lat(trace);
+  const double lon_pad = MAP_CORRIDOR_LAT_PAD / cos_lat_scale(center_lat);
+  const double total_time = trace.points.back().time - trace.points.front().time;
+  const double target_boxes = std::min<double>(MAP_CORRIDOR_MAX_BOXES, std::max<double>(8.0, total_time / MAP_CORRIDOR_MIN_STEP_S));
+  const size_t stride = std::max<size_t>(1, static_cast<size_t>(std::ceil(trace.points.size() / target_boxes)));
+
+  auto add_box = [&](double lat, double lon) {
+    GeoBounds box{
+      .south = clamp_lat(quantize_down(lat - MAP_CORRIDOR_LAT_PAD, MAP_BOUNDS_GRID)),
+      .west = clamp_lon(quantize_down(lon - lon_pad, MAP_BOUNDS_GRID)),
+      .north = clamp_lat(quantize_up(lat + MAP_CORRIDOR_LAT_PAD, MAP_BOUNDS_GRID)),
+      .east = clamp_lon(quantize_up(lon + lon_pad, MAP_BOUNDS_GRID)),
+    };
+    if (!box.valid()) {
+      return;
+    }
+    for (GeoBounds &existing : boxes) {
+      if (bounds_overlap_or_touch(existing, box)) {
+        existing = merge_bounds(existing, box);
+        return;
+      }
+    }
+    boxes.push_back(box);
+  };
+
+  add_box(trace.points.front().lat, trace.points.front().lon);
+  for (size_t i = stride; i < trace.points.size(); i += stride) {
+    add_box(trace.points[i].lat, trace.points[i].lon);
+  }
+  add_box(trace.points.back().lat, trace.points.back().lon);
+
+  bool merged = true;
+  while (merged) {
+    merged = false;
+    for (size_t i = 0; i < boxes.size() && !merged; ++i) {
+      for (size_t j = i + 1; j < boxes.size(); ++j) {
+        if (bounds_overlap_or_touch(boxes[i], boxes[j])) {
+          boxes[i] = merge_bounds(boxes[i], boxes[j]);
+          boxes.erase(boxes.begin() + static_cast<std::ptrdiff_t>(j));
+          merged = true;
+          break;
+        }
+      }
+    }
+  }
+  return boxes;
+}
+
+ProjectedBounds view_bounds(double top_left_x, double top_left_y, float width, float height) {
+  return ProjectedBounds{
+    .min_x = static_cast<float>(top_left_x),
+    .min_y = static_cast<float>(top_left_y),
+    .max_x = static_cast<float>(top_left_x + width),
+    .max_y = static_cast<float>(top_left_y + height),
+  };
+}
+
+int fit_map_zoom_for_bounds(const GeoBounds &bounds, float width, float height, float fill_fraction) {
+  if (!bounds.valid()) {
+    return MAP_MIN_ZOOM;
+  }
+  const double max_width = std::max(1.0f, width * fill_fraction);
+  const double max_height = std::max(1.0f, height * fill_fraction);
+  for (int z = MAP_MAX_ZOOM; z >= MAP_MIN_ZOOM; --z) {
+    const double pixel_width = std::abs(lon_to_world_x(bounds.east, z) - lon_to_world_x(bounds.west, z));
+    const double pixel_height = std::abs(lat_to_world_y(bounds.south, z) - lat_to_world_y(bounds.north, z));
+    if (pixel_width <= max_width && pixel_height <= max_height) {
+      return z;
+    }
+  }
+  return MAP_MIN_ZOOM;
+}
+
+int fit_map_zoom_for_trace(const GpsTrace &trace, float width, float height) {
+  return fit_map_zoom_for_bounds(requested_bounds_for_trace(trace), width, height, MAP_INITIAL_FIT_FILL);
+}
+
+int minimum_allowed_map_zoom(const GeoBounds &bounds, const GpsTrace &trace, ImVec2 size) {
+  if (trace.points.size() <= 1) {
+    return MAP_SINGLE_POINT_MIN_ZOOM;
+  }
+  const int fit_zoom = fit_map_zoom_for_bounds(bounds.valid() ? bounds : requested_bounds_for_trace(trace),
+                                               size.x, size.y, MAP_MIN_ZOOM_FILL);
+  return std::clamp(fit_zoom, MAP_MIN_ZOOM, MAP_MAX_ZOOM);
+}
+
+std::optional<GpsPoint> interpolate_gps(const GpsTrace &trace, double time_value) {
+  if (trace.points.empty()) {
+    return std::nullopt;
+  }
+  if (time_value <= trace.points.front().time) {
+    return trace.points.front();
+  }
+  if (time_value >= trace.points.back().time) {
+    return trace.points.back();
+  }
+  auto upper = std::lower_bound(trace.points.begin(), trace.points.end(), time_value,
+                                [](const GpsPoint &point, double target) {
+                                  return point.time < target;
+                                });
+  if (upper == trace.points.begin()) {
+    return trace.points.front();
+  }
+  const GpsPoint &p1 = *upper;
+  const GpsPoint &p0 = *(upper - 1);
+  const double dt = p1.time - p0.time;
+  if (dt <= 1.0e-9) {
+    return p0;
+  }
+  const double alpha = (time_value - p0.time) / dt;
+  GpsPoint out;
+  out.time = time_value;
+  out.lat = p0.lat + (p1.lat - p0.lat) * alpha;
+  out.lon = p0.lon + (p1.lon - p0.lon) * alpha;
+  out.bearing = static_cast<float>(p0.bearing + (p1.bearing - p0.bearing) * alpha);
+  out.type = alpha < 0.5 ? p0.type : p1.type;
+  return out;
+}
+
+ImU32 map_timeline_color(TimelineEntry::Type type, float alpha = 1.0f) {
+  return timeline_entry_color(type, alpha, {140, 150, 165});
+}
+
+ImVec2 gps_to_screen(double lat, double lon, double zoom, double top_left_x, double top_left_y, const ImVec2 &rect_min) {
+  return ImVec2(rect_min.x + static_cast<float>(lon_to_world_x(lon, zoom) - top_left_x),
+                rect_min.y + static_cast<float>(lat_to_world_y(lat, zoom) - top_left_y));
+}
+
+bool point_in_rect_with_margin(const ImVec2 &point, const ImVec2 &rect_min, const ImVec2 &rect_max,
+                               float margin_fraction) {
+  const float width = rect_max.x - rect_min.x;
+  const float height = rect_max.y - rect_min.y;
+  const float margin_x = width * margin_fraction;
+  const float margin_y = height * margin_fraction;
+  return point.x >= rect_min.x + margin_x && point.x <= rect_max.x - margin_x
+      && point.y >= rect_min.y + margin_y && point.y <= rect_max.y - margin_y;
+}
+
+void draw_car_marker(ImDrawList *draw_list, ImVec2 center, float bearing_deg, ImU32 color, float size) {
+  const float rad = bearing_deg * static_cast<float>(M_PI / 180.0);
+  const ImVec2 forward(std::sin(rad), -std::cos(rad));
+  const ImVec2 perp(-forward.y, forward.x);
+  const ImVec2 tip(center.x + forward.x * size, center.y + forward.y * size);
+  const ImVec2 base(center.x - forward.x * size * 0.45f, center.y - forward.y * size * 0.45f);
+  const ImVec2 left(base.x + perp.x * size * 0.6f, base.y + perp.y * size * 0.6f);
+  const ImVec2 right(base.x - perp.x * size * 0.6f, base.y - perp.y * size * 0.6f);
+  draw_list->AddTriangleFilled(tip, left, right, color);
+  draw_list->AddTriangle(tip, left, right, IM_COL32(255, 255, 255, 210), 2.0f);
+}
+
+bool is_convex_ring(const std::vector<ImVec2> &points) {
+  if (points.size() < 4) {
+    return false;
+  }
+  float sign = 0.0f;
+  const size_t n = points.size();
+  for (size_t i = 0; i < n; ++i) {
+    const ImVec2 &a = points[i];
+    const ImVec2 &b = points[(i + 1) % n];
+    const ImVec2 &c = points[(i + 2) % n];
+    const float cross = (b.x - a.x) * (c.y - b.y) - (b.y - a.y) * (c.x - b.x);
+    if (std::abs(cross) < 1.0e-3f) {
+      continue;
+    }
+    if (sign == 0.0f) {
+      sign = cross;
+    } else if ((cross > 0.0f) != (sign > 0.0f)) {
+      return false;
+    }
+  }
+  return sign != 0.0f;
+}
+
+uint64_t fnv1a64(std::string_view text) {
+  uint64_t value = 1469598103934665603ULL;
+  for (unsigned char c : text) {
+    value ^= static_cast<uint64_t>(c);
+    value *= 1099511628211ULL;
+  }
+  return value;
+}
+
+fs::path basemap_cache_root() {
+  const char *home = std::getenv("HOME");
+  fs::path root = home != nullptr ? fs::path(home) / ".comma" : fs::temp_directory_path();
+  root /= "jotpluggler_vector_map";
+  fs::create_directories(root);
+  return root;
+}
+
+std::string bounds_key(const GeoBounds &bounds) {
+  return util::string_format("v2_%.5f_%.5f_%.5f_%.5f",
+                             bounds.south, bounds.west, bounds.north, bounds.east);
+}
+
+fs::path basemap_cache_path(const std::string &key) {
+  const uint64_t hash = fnv1a64(key);
+  return basemap_cache_root() / util::string_format("%016llx.bin.zst", static_cast<unsigned long long>(hash));
+}
+
+uint64_t cache_directory_size_bytes() {
+  uint64_t total = 0;
+  const fs::path root = basemap_cache_root();
+  if (!fs::exists(root)) {
+    return 0;
+  }
+  for (const fs::directory_entry &entry : fs::directory_iterator(root)) {
+    if (entry.is_regular_file()) {
+      total += static_cast<uint64_t>(entry.file_size());
+    }
+  }
+  return total;
+}
+
+size_t cache_directory_file_count() {
+  size_t count = 0;
+  const fs::path root = basemap_cache_root();
+  if (!fs::exists(root)) {
+    return 0;
+  }
+  for (const fs::directory_entry &entry : fs::directory_iterator(root)) {
+    if (entry.is_regular_file()) {
+      ++count;
+    }
+  }
+  return count;
+}
+
+void clear_cache_directory() {
+  const fs::path root = basemap_cache_root();
+  if (!fs::exists(root)) {
+    return;
+  }
+  for (const fs::directory_entry &entry : fs::directory_iterator(root)) {
+    if (entry.is_regular_file()) {
+      std::error_code ec;
+      fs::remove(entry.path(), ec);
+    }
+  }
+}
+
+std::string percent_encode(std::string_view text) {
+  std::string out;
+  out.reserve(text.size() * 3);
+  for (unsigned char c : text) {
+    if ((c >= 'a' && c <= 'z') || (c >= 'A' && c <= 'Z') || (c >= '0' && c <= '9')
+        || c == '-' || c == '_' || c == '.' || c == '~') {
+      out.push_back(static_cast<char>(c));
+    } else {
+      out += util::string_format("%%%02X", static_cast<unsigned int>(c));
+    }
+  }
+  return out;
+}
+
+std::string bbox_string(const GeoBounds &bounds) {
+  return util::string_format("%.6f,%.6f,%.6f,%.6f",
+                             bounds.south, bounds.west, bounds.north, bounds.east);
+}
+
+MapRequestSpec build_request_for_trace(const GpsTrace &trace) {
+  const std::vector<GeoBounds> boxes = corridor_boxes_for_trace(trace);
+  GeoBounds union_bounds;
+  std::string query = "[out:json][timeout:25];(";
+  for (const GeoBounds &box : boxes) {
+    union_bounds = merge_bounds(union_bounds, box);
+    const std::string bbox = bbox_string(box);
+    query += "way[\"highway\"][\"area\"!=\"yes\"](" + bbox + ");";
+    query += "way[\"natural\"=\"water\"](" + bbox + ");";
+    query += "way[\"waterway\"=\"riverbank\"](" + bbox + ");";
+    query += "way[\"waterway\"~\"river|stream|canal\"](" + bbox + ");";
+  }
+  query += ");out tags geom;";
+
+  std::string key = bounds_key(union_bounds);
+  key += ":";
+  key += std::to_string(boxes.size());
+  for (const GeoBounds &box : boxes) {
+    key += ":";
+    key += bbox_string(box);
+  }
+  return MapRequestSpec{
+    .key = std::move(key),
+    .bounds = union_bounds,
+    .query = std::move(query),
+  };
+}
+
+bool fetch_overpass_json(std::string_view query, std::string *out) {
+  const std::string body = std::string("data=") + percent_encode(query);
+  for (const char *endpoint : MAP_QUERY_ENDPOINTS) {
+    const std::string command = "curl -fsSL --compressed --connect-timeout 8 --max-time 30 "
+                              "-A 'jotpluggler-vector-map/1.0' "
+                              "-H 'Content-Type: application/x-www-form-urlencoded; charset=UTF-8' "
+                              "--data-raw " + shell_quote(body) + " "
+                              + shell_quote(endpoint);
+    const std::string response = util::check_output(command);
+    if (!response.empty() && response.front() == '{') {
+      *out = response;
+      return true;
+    }
+  }
+  return false;
+}
+
+std::string load_overpass_json(std::string_view query) {
+  std::string response;
+  if (!fetch_overpass_json(query, &response)) {
+    return {};
+  }
+  return response;
+}
+
+template <typename T>
+void append_pod(std::string *out, const T &value) {
+  const size_t start = out->size();
+  out->resize(start + sizeof(T));
+  std::memcpy(out->data() + start, &value, sizeof(T));
+}
+
+template <typename T>
+bool read_pod(std::string_view data, size_t *offset, T *value) {
+  if (*offset + sizeof(T) > data.size()) {
+    return false;
+  }
+  std::memcpy(value, data.data() + *offset, sizeof(T));
+  *offset += sizeof(T);
+  return true;
+}
+
+void append_points(std::string *out, const std::vector<ProjectedPoint> &points) {
+  const uint32_t count = static_cast<uint32_t>(points.size());
+  append_pod(out, count);
+  for (const ProjectedPoint &point : points) {
+    append_pod(out, point.x);
+    append_pod(out, point.y);
+  }
+}
+
+bool read_points(std::string_view data, size_t *offset, std::vector<ProjectedPoint> *points) {
+  uint32_t count = 0;
+  if (!read_pod(data, offset, &count)) {
+    return false;
+  }
+  points->clear();
+  points->reserve(count);
+  for (uint32_t i = 0; i < count; ++i) {
+    ProjectedPoint point;
+    if (!read_pod(data, offset, &point.x) || !read_pod(data, offset, &point.y)) {
+      return false;
+    }
+    points->push_back(point);
+  }
+  return true;
+}
+
+std::string serialize_basemap_payload(const RouteBasemap &basemap) {
+  std::string raw;
+  raw.reserve(1024 + basemap.roads.size() * 48);
+  raw.append("JBM2", 4);
+  append_pod(&raw, basemap.bounds.south);
+  append_pod(&raw, basemap.bounds.west);
+  append_pod(&raw, basemap.bounds.north);
+  append_pod(&raw, basemap.bounds.east);
+
+  const uint32_t road_count = static_cast<uint32_t>(basemap.roads.size());
+  const uint32_t water_line_count = static_cast<uint32_t>(basemap.water_lines.size());
+  const uint32_t water_polygon_count = static_cast<uint32_t>(basemap.water_polygons.size());
+  append_pod(&raw, road_count);
+  append_pod(&raw, water_line_count);
+  append_pod(&raw, water_polygon_count);
+
+  for (const RoadFeature &road : basemap.roads) {
+    const uint8_t kind = static_cast<uint8_t>(road.road_class);
+    append_pod(&raw, kind);
+    append_points(&raw, road.points);
+  }
+  for (const WaterLineFeature &water : basemap.water_lines) {
+    append_points(&raw, water.points);
+  }
+  for (const WaterPolygonFeature &water : basemap.water_polygons) {
+    append_points(&raw, water.ring);
+  }
+  return raw;
+}
+
+std::optional<RouteBasemap> deserialize_basemap_payload(std::string_view raw, const std::string &key) {
+  if (!util::starts_with(std::string(raw), "JBM2")) {
+    return std::nullopt;
+  }
+  size_t offset = 4;
+  RouteBasemap basemap;
+  basemap.key = key;
+  if (!read_pod(raw, &offset, &basemap.bounds.south)
+      || !read_pod(raw, &offset, &basemap.bounds.west)
+      || !read_pod(raw, &offset, &basemap.bounds.north)
+      || !read_pod(raw, &offset, &basemap.bounds.east)) {
+    return std::nullopt;
+  }
+  basemap.projected_bounds = project_bounds0(basemap.bounds);
+
+  uint32_t road_count = 0;
+  uint32_t water_line_count = 0;
+  uint32_t water_polygon_count = 0;
+  if (!read_pod(raw, &offset, &road_count)
+      || !read_pod(raw, &offset, &water_line_count)
+      || !read_pod(raw, &offset, &water_polygon_count)) {
+    return std::nullopt;
+  }
+
+  basemap.roads.reserve(road_count);
+  for (uint32_t i = 0; i < road_count; ++i) {
+    uint8_t kind = 0;
+    std::vector<ProjectedPoint> points;
+    if (!read_pod(raw, &offset, &kind) || !read_points(raw, &offset, &points)) {
+      return std::nullopt;
+    }
+    basemap.roads.push_back(RoadFeature{
+      .road_class = static_cast<RoadClass>(kind),
+      .bounds = compute_projected_bounds(points),
+      .points = std::move(points),
+    });
+  }
+
+  basemap.water_lines.reserve(water_line_count);
+  for (uint32_t i = 0; i < water_line_count; ++i) {
+    std::vector<ProjectedPoint> points;
+    if (!read_points(raw, &offset, &points)) {
+      return std::nullopt;
+    }
+    basemap.water_lines.push_back(WaterLineFeature{
+      .bounds = compute_projected_bounds(points),
+      .points = std::move(points),
+    });
+  }
+
+  basemap.water_polygons.reserve(water_polygon_count);
+  for (uint32_t i = 0; i < water_polygon_count; ++i) {
+    std::vector<ProjectedPoint> ring;
+    if (!read_points(raw, &offset, &ring)) {
+      return std::nullopt;
+    }
+    basemap.water_polygons.push_back(WaterPolygonFeature{
+      .bounds = compute_projected_bounds(ring),
+      .ring = std::move(ring),
+    });
+  }
+  return basemap;
+}
+
+bool save_compressed_basemap(const fs::path &path, const RouteBasemap &basemap) {
+  const std::string raw = serialize_basemap_payload(basemap);
+  const size_t bound = ZSTD_compressBound(raw.size());
+  std::string compressed(bound, '\0');
+  const size_t size = ZSTD_compress(compressed.data(), compressed.size(), raw.data(), raw.size(), 5);
+  if (ZSTD_isError(size)) {
+    return false;
+  }
+  compressed.resize(size);
+  ensure_parent_dir(path);
+  const std::string path_string = path.string();
+  return util::write_file(path_string.c_str(), compressed.data(), compressed.size(), O_WRONLY | O_CREAT | O_TRUNC) == 0;
+}
+
+std::optional<RouteBasemap> load_compressed_basemap(const fs::path &path, const std::string &key) {
+  const std::string compressed = util::read_file(path.string());
+  if (compressed.empty()) {
+    return std::nullopt;
+  }
+  const unsigned long long raw_size = ZSTD_getFrameContentSize(compressed.data(), compressed.size());
+  if (raw_size == ZSTD_CONTENTSIZE_ERROR || raw_size == ZSTD_CONTENTSIZE_UNKNOWN || raw_size > (1ULL << 31)) {
+    return std::nullopt;
+  }
+  std::string raw(static_cast<size_t>(raw_size), '\0');
+  const size_t actual = ZSTD_decompress(raw.data(), raw.size(), compressed.data(), compressed.size());
+  if (ZSTD_isError(actual)) {
+    return std::nullopt;
+  }
+  raw.resize(actual);
+  return deserialize_basemap_payload(raw, key);
+}
+
+std::vector<ProjectedPoint> geometry_points(const json11::Json &geometry_json) {
+  std::vector<ProjectedPoint> points;
+  const auto items = geometry_json.array_items();
+  points.reserve(items.size());
+  for (const json11::Json &point : items) {
+    if (!point["lat"].is_number() || !point["lon"].is_number()) {
+      continue;
+    }
+    points.push_back(ProjectedPoint{
+      .x = project_lon0(point["lon"].number_value()),
+      .y = project_lat0(point["lat"].number_value()),
+    });
+  }
+  return points;
+}
+
+std::optional<RoadClass> classify_road(std::string_view highway) {
+  if (highway == "motorway" || highway == "motorway_link" || highway == "trunk" || highway == "trunk_link") {
+    return RoadClass::Motorway;
+  }
+  if (highway == "primary" || highway == "primary_link") {
+    return RoadClass::Primary;
+  }
+  if (highway == "secondary" || highway == "secondary_link" || highway == "tertiary" || highway == "tertiary_link") {
+    return RoadClass::Secondary;
+  }
+  if (highway == "residential" || highway == "unclassified" || highway == "living_street" || highway == "road") {
+    return RoadClass::Local;
+  }
+  return std::nullopt;
+}
+
+std::optional<RouteBasemap> parse_basemap_json(const std::string &raw, const GeoBounds &bounds, const std::string &key) {
+  std::string parse_error;
+  const json11::Json root = json11::Json::parse(raw, parse_error);
+  if (!parse_error.empty() || !root.is_object()) {
+    return std::nullopt;
+  }
+
+  RouteBasemap basemap;
+  basemap.key = key;
+  basemap.bounds = bounds;
+  basemap.projected_bounds = project_bounds0(bounds);
+
+  for (const json11::Json &element : root["elements"].array_items()) {
+    if (element["type"].string_value() != "way") {
+      continue;
+    }
+    const json11::Json &tags = element["tags"];
+    const std::vector<ProjectedPoint> points = geometry_points(element["geometry"]);
+    if (points.size() < 2) {
+      continue;
+    }
+
+    const std::string highway = tags["highway"].string_value();
+    if (!highway.empty()) {
+      const std::optional<RoadClass> road_class = classify_road(highway);
+      if (!road_class.has_value()) {
+        continue;
+      }
+      basemap.roads.push_back(RoadFeature{
+        .road_class = *road_class,
+        .bounds = compute_projected_bounds(points),
+        .points = points,
+      });
+      continue;
+    }
+
+    const std::string natural = tags["natural"].string_value();
+    const std::string waterway = tags["waterway"].string_value();
+    const bool closed = points.size() >= 4
+                     && std::abs(points.front().x - points.back().x) < 1.0e-6f
+                     && std::abs(points.front().y - points.back().y) < 1.0e-6f;
+    if ((natural == "water" || waterway == "riverbank") && closed) {
+      basemap.water_polygons.push_back(WaterPolygonFeature{
+        .bounds = compute_projected_bounds(points),
+        .ring = points,
+      });
+      continue;
+    }
+    if (waterway == "river" || waterway == "stream" || waterway == "canal") {
+      basemap.water_lines.push_back(WaterLineFeature{
+        .bounds = compute_projected_bounds(points),
+        .points = points,
+      });
+    }
+  }
+
+  return basemap;
+}
+
+struct RoadPaint {
+  ImU32 casing = 0;
+  ImU32 fill = 0;
+  float casing_width = 1.0f;
+  float fill_width = 1.0f;
+};
+
+constexpr ImU32 MAP_BG_COLOR = IM_COL32(244, 243, 238, 255);
+constexpr ImU32 MAP_WATER_FILL = IM_COL32(193, 216, 235, 185);
+constexpr ImU32 MAP_WATER_OUTLINE = IM_COL32(143, 173, 201, 220);
+constexpr ImU32 MAP_WATER_LINE = IM_COL32(156, 186, 214, 205);
+constexpr ImU32 MAP_ROUTE_HALO = IM_COL32(31, 40, 50, 92);
+
+RoadPaint road_paint(RoadClass road_class, float zoom) {
+  const float scale = std::clamp(0.88f + 0.12f * (zoom - 12.0f), 0.76f, 1.95f);
+  switch (road_class) {
+    case RoadClass::Motorway:
+      return {
+        .casing = IM_COL32(163, 157, 149, 235),
+        .fill = IM_COL32(245, 235, 215, 255),
+        .casing_width = 5.6f * scale,
+        .fill_width = 3.7f * scale,
+      };
+    case RoadClass::Primary:
+      return {
+        .casing = IM_COL32(171, 171, 168, 220),
+        .fill = IM_COL32(249, 246, 237, 248),
+        .casing_width = 4.6f * scale,
+        .fill_width = 2.95f * scale,
+      };
+    case RoadClass::Secondary:
+      return {
+        .casing = IM_COL32(183, 186, 189, 210),
+        .fill = IM_COL32(252, 251, 247, 240),
+        .casing_width = 3.5f * scale,
+        .fill_width = 2.15f * scale,
+      };
+    case RoadClass::Local:
+    default:
+      return {
+        .casing = IM_COL32(200, 202, 205, 195),
+        .fill = IM_COL32(255, 255, 254, 230),
+        .casing_width = 2.5f * scale,
+        .fill_width = 1.5f * scale,
+      };
+  }
+}
+
+void clamp_map_center(TabUiState::MapPaneState *map_state, const GeoBounds &bounds, const ImVec2 &size) {
+  if (!bounds.valid() || size.x <= 1.0f || size.y <= 1.0f) {
+    return;
+  }
+  const double zoom = map_state->zoom;
+  const double min_x = lon_to_world_x(bounds.west, zoom);
+  const double max_x = lon_to_world_x(bounds.east, zoom);
+  const double min_y = lat_to_world_y(bounds.north, zoom);
+  const double max_y = lat_to_world_y(bounds.south, zoom);
+  const double half_w = size.x * 0.5;
+  const double half_h = size.y * 0.5;
+  double center_x = lon_to_world_x(map_state->center_lon, zoom);
+  double center_y = lat_to_world_y(map_state->center_lat, zoom);
+  if (max_x - min_x <= size.x) {
+    center_x = (min_x + max_x) * 0.5;
+  } else {
+    center_x = std::clamp(center_x, min_x + half_w, max_x - half_w);
+  }
+  if (max_y - min_y <= size.y) {
+    center_y = (min_y + max_y) * 0.5;
+  } else {
+    center_y = std::clamp(center_y, min_y + half_h, max_y - half_h);
+  }
+  map_state->center_lon = world_x_to_lon(center_x, zoom);
+  map_state->center_lat = world_y_to_lat(center_y, zoom);
+}
+
+void initialize_map_pane_state(TabUiState::MapPaneState *map_state,
+                               const GpsTrace &trace,
+                               const GeoBounds &bounds,
+                               ImVec2 size,
+                               SessionDataMode mode,
+                               std::optional<GpsPoint> cursor_point) {
+  if (trace.points.empty()) {
+    return;
+  }
+  map_state->initialized = true;
+  map_state->follow = mode == SessionDataMode::Stream;
+  const int min_zoom = minimum_allowed_map_zoom(bounds, trace, size);
+  if (mode == SessionDataMode::Stream && cursor_point.has_value()) {
+    map_state->zoom = std::max(16.0f, static_cast<float>(min_zoom));
+    map_state->center_lat = cursor_point->lat;
+    map_state->center_lon = cursor_point->lon;
+  } else {
+    map_state->zoom = std::max(static_cast<float>(fit_map_zoom_for_trace(trace, size.x, size.y)),
+                               static_cast<float>(min_zoom));
+    map_state->center_lat = map_trace_center_lat(trace);
+    map_state->center_lon = map_trace_center_lon(trace);
+  }
+  clamp_map_center(map_state, bounds, size);
+}
+
+void draw_feature_polyline(ImDrawList *draw_list,
+                           const std::vector<ProjectedPoint> &points,
+                           float zoom_scale,
+                           double top_left_x,
+                           double top_left_y,
+                           const ImVec2 &rect_min,
+                           ImU32 color,
+                           float thickness,
+                           bool closed = false) {
+  if (points.size() < 2) {
+    return;
+  }
+  std::vector<ImVec2> screen;
+  screen.reserve(points.size());
+  for (const ProjectedPoint &point : points) {
+    screen.push_back(ImVec2(rect_min.x + point.x * zoom_scale - static_cast<float>(top_left_x),
+                            rect_min.y + point.y * zoom_scale - static_cast<float>(top_left_y)));
+  }
+  draw_list->AddPolyline(screen.data(), static_cast<int>(screen.size()), color,
+                         closed ? ImDrawFlags_Closed : ImDrawFlags_None, thickness);
+}
+
+void draw_water_polygon(ImDrawList *draw_list,
+                        const WaterPolygonFeature &feature,
+                        float zoom_scale,
+                        double top_left_x,
+                        double top_left_y,
+                        const ImVec2 &rect_min) {
+  if (feature.ring.size() < 3) {
+    return;
+  }
+  std::vector<ImVec2> screen;
+  screen.reserve(feature.ring.size());
+  for (const ProjectedPoint &point : feature.ring) {
+    screen.push_back(ImVec2(rect_min.x + point.x * zoom_scale - static_cast<float>(top_left_x),
+                            rect_min.y + point.y * zoom_scale - static_cast<float>(top_left_y)));
+  }
+  if (screen.size() >= 3 && is_convex_ring(screen)) {
+    draw_list->AddConvexPolyFilled(screen.data(), static_cast<int>(screen.size()), MAP_WATER_FILL);
+  }
+  draw_list->AddPolyline(screen.data(), static_cast<int>(screen.size()), MAP_WATER_OUTLINE,
+                         ImDrawFlags_Closed, 1.8f);
+}
+
+void draw_edge_fade(ImDrawList *draw_list,
+                    const GeoBounds &bounds,
+                    double zoom,
+                    double top_left_x,
+                    double top_left_y,
+                    const ImVec2 &rect_min,
+                    const ImVec2 &rect_max) {
+  if (!bounds.valid()) {
+    return;
+  }
+
+  const float west_x = rect_min.x + static_cast<float>(lon_to_world_x(bounds.west, zoom) - top_left_x);
+  const float east_x = rect_min.x + static_cast<float>(lon_to_world_x(bounds.east, zoom) - top_left_x);
+  const float north_y = rect_min.y + static_cast<float>(lat_to_world_y(bounds.north, zoom) - top_left_y);
+  const float south_y = rect_min.y + static_cast<float>(lat_to_world_y(bounds.south, zoom) - top_left_y);
+
+  const float fade_x = std::max(28.0f, (rect_max.x - rect_min.x) * MAP_EDGE_FADE_FRAC);
+  const float fade_y = std::max(28.0f, (rect_max.y - rect_min.y) * MAP_EDGE_FADE_FRAC);
+  const ImU32 solid = MAP_BG_COLOR;
+  const ImU32 clear = IM_COL32(244, 243, 238, 6);
+
+  if (west_x > rect_min.x) {
+    const float x0 = rect_min.x;
+    const float x1 = std::min(rect_max.x, west_x);
+    const float xfade = std::max(x0, x1 - fade_x);
+    draw_list->AddRectFilledMultiColor(ImVec2(x0, rect_min.y), ImVec2(xfade, rect_max.y), solid, solid, solid, solid);
+    draw_list->AddRectFilledMultiColor(ImVec2(xfade, rect_min.y), ImVec2(x1, rect_max.y), solid, clear, clear, solid);
+  }
+  if (east_x < rect_max.x) {
+    const float x0 = std::max(rect_min.x, east_x);
+    const float x1 = rect_max.x;
+    const float xfade = std::min(x1, x0 + fade_x);
+    draw_list->AddRectFilledMultiColor(ImVec2(x0, rect_min.y), ImVec2(xfade, rect_max.y), clear, solid, solid, clear);
+    draw_list->AddRectFilledMultiColor(ImVec2(xfade, rect_min.y), ImVec2(x1, rect_max.y), solid, solid, solid, solid);
+  }
+  if (north_y > rect_min.y) {
+    const float y0 = rect_min.y;
+    const float y1 = std::min(rect_max.y, north_y);
+    const float yfade = std::max(y0, y1 - fade_y);
+    draw_list->AddRectFilledMultiColor(ImVec2(rect_min.x, y0), ImVec2(rect_max.x, yfade), solid, solid, solid, solid);
+    draw_list->AddRectFilledMultiColor(ImVec2(rect_min.x, yfade), ImVec2(rect_max.x, y1), solid, solid, clear, clear);
+  }
+  if (south_y < rect_max.y) {
+    const float y0 = std::max(rect_min.y, south_y);
+    const float y1 = rect_max.y;
+    const float yfade = std::min(y1, y0 + fade_y);
+    draw_list->AddRectFilledMultiColor(ImVec2(rect_min.x, y0), ImVec2(rect_max.x, yfade), clear, clear, solid, solid);
+    draw_list->AddRectFilledMultiColor(ImVec2(rect_min.x, yfade), ImVec2(rect_max.x, y1), solid, solid, solid, solid);
+  }
+}
+
+}  // namespace
+
+MapDataManager::MapDataManager() : worker_([this]() { run(); }) {}
+
+MapDataManager::~MapDataManager() {
+  {
+    std::lock_guard<std::mutex> lock(mutex_);
+    stopping_ = true;
+  }
+  cv_.notify_all();
+  if (worker_.joinable()) {
+    worker_.join();
+  }
+}
+
+void MapDataManager::pump() {
+  std::unique_ptr<RouteBasemap> ready;
+  {
+    std::lock_guard<std::mutex> lock(mutex_);
+    ready = std::move(completed_);
+  }
+  if (ready) {
+    current_ = std::move(ready);
+  }
+}
+
+void MapDataManager::ensureTrace(const GpsTrace &trace) {
+  if (trace.points.empty()) {
+    return;
+  }
+  const MapRequestSpec wanted = build_request_for_trace(trace);
+  if (!wanted.bounds.valid()) {
+    return;
+  }
+
+  std::lock_guard<std::mutex> lock(mutex_);
+  if ((current_ && current_->key == wanted.key) || (pending_ && pending_->key == wanted.key)) {
+    return;
+  }
+
+  if (const auto cached = load_compressed_basemap(basemap_cache_path(wanted.key), wanted.key)) {
+    current_ = std::make_unique<RouteBasemap>(std::move(*cached));
+    completed_.reset();
+    pending_.reset();
+    active_.reset();
+    return;
+  }
+
+  pending_ = std::make_unique<Request>(Request{
+    .key = wanted.key,
+    .bounds = wanted.bounds,
+    .query = wanted.query,
+  });
+  cv_.notify_one();
+}
+
+bool MapDataManager::loading() const {
+  std::lock_guard<std::mutex> lock(mutex_);
+  return active_ || pending_;
+}
+
+const RouteBasemap *MapDataManager::current() const {
+  return current_.get();
+}
+
+void MapDataManager::clearCache() {
+  std::lock_guard<std::mutex> lock(mutex_);
+  clear_cache_directory();
+}
+
+MapCacheStats MapDataManager::cacheStats() const {
+  return MapCacheStats{
+    .bytes = cache_directory_size_bytes(),
+    .files = cache_directory_file_count(),
+  };
+}
+
+void MapDataManager::run() {
+  while (true) {
+    Request request;
+    {
+      std::unique_lock<std::mutex> lock(mutex_);
+      cv_.wait(lock, [&]() { return stopping_ || pending_ != nullptr; });
+      if (stopping_) {
+        return;
+      }
+      request = *pending_;
+      active_ = std::move(pending_);
+    }
+
+    std::unique_ptr<RouteBasemap> parsed;
+    const std::string raw = load_overpass_json(request.query);
+    if (!raw.empty()) {
+      if (auto basemap = parse_basemap_json(raw, request.bounds, request.key)) {
+        save_compressed_basemap(basemap_cache_path(request.key), *basemap);
+        parsed = std::make_unique<RouteBasemap>(std::move(*basemap));
+      }
+    }
+
+    {
+      std::lock_guard<std::mutex> lock(mutex_);
+      if (active_ && active_->key == request.key) {
+        completed_ = std::move(parsed);
+        active_.reset();
+      }
+    }
+  }
+}
+
+void draw_map_pane(AppSession *session, UiState *state, Pane *, int pane_index) {
+  TabUiState *tab_state = app_active_tab_state(state);
+  if (tab_state == nullptr || pane_index < 0 || pane_index >= static_cast<int>(tab_state->map_panes.size())) {
+    ImGui::TextUnformatted("Map unavailable");
+    return;
+  }
+  if (!session->map_data) {
+    ImGui::TextUnformatted("Map unavailable");
+    return;
+  }
+
+  session->map_data->ensureTrace(session->route_data.gps_trace);
+  session->map_data->pump();
+
+  TabUiState::MapPaneState &map_state = tab_state->map_panes[static_cast<size_t>(pane_index)];
+  const GpsTrace &trace = session->route_data.gps_trace;
+  const RouteBasemap *basemap = session->map_data->current();
+  const GeoBounds map_bounds = basemap != nullptr ? basemap->bounds : requested_bounds_for_trace(trace);
+
+  const ImVec2 rect_min = ImGui::GetCursorScreenPos();
+  const ImVec2 size = ImGui::GetContentRegionAvail();
+  const ImVec2 input_size(std::max(1.0f, size.x - 22.0f), std::max(1.0f, size.y));
+  ImGui::SetNextItemAllowOverlap();
+  ImGui::InvisibleButton("##map_canvas", input_size);
+  const ImVec2 rect_max(rect_min.x + size.x, rect_min.y + size.y);
+  const float rect_width = rect_max.x - rect_min.x;
+  const float rect_height = rect_max.y - rect_min.y;
+  ImDrawList *draw_list = ImGui::GetWindowDrawList();
+
+  draw_list->PushClipRect(rect_min, rect_max, true);
+  draw_list->AddRectFilled(rect_min, rect_max, MAP_BG_COLOR);
+
+  if (trace.points.empty()) {
+    const char *label = session->async_route_loading ? "Loading map..." : "No GPS trace";
+    const ImVec2 text = ImGui::CalcTextSize(label);
+    draw_list->AddText(ImVec2(rect_min.x + (rect_width - text.x) * 0.5f,
+                              rect_min.y + (rect_height - text.y) * 0.5f),
+                       IM_COL32(110, 118, 128, 255), label);
+    draw_list->PopClipRect();
+    return;
+  }
+
+  const std::optional<GpsPoint> cursor_point = state->has_tracker_time
+    ? interpolate_gps(trace, state->tracker_time)
+    : std::optional<GpsPoint>{};
+  if (!map_state.initialized) {
+    initialize_map_pane_state(&map_state, trace, map_bounds, size, session->data_mode, cursor_point);
+  }
+
+  const int min_zoom = minimum_allowed_map_zoom(map_bounds, trace, size);
+  if (map_state.follow && cursor_point.has_value()) {
+    const float follow_zoom = std::clamp(map_state.zoom, static_cast<float>(min_zoom), static_cast<float>(MAP_MAX_ZOOM));
+    const double center_x = lon_to_world_x(map_state.center_lon, follow_zoom);
+    const double center_y = lat_to_world_y(map_state.center_lat, follow_zoom);
+    const double top_left_x = center_x - rect_width * 0.5;
+    const double top_left_y = center_y - rect_height * 0.5;
+    const ImVec2 car_screen = gps_to_screen(cursor_point->lat, cursor_point->lon, follow_zoom, top_left_x, top_left_y, rect_min);
+    if (!point_in_rect_with_margin(car_screen, rect_min, rect_max, 0.22f)) {
+      map_state.center_lat = cursor_point->lat;
+      map_state.center_lon = cursor_point->lon;
+    }
+  }
+
+  map_state.zoom = std::clamp(map_state.zoom, static_cast<float>(min_zoom), static_cast<float>(MAP_MAX_ZOOM));
+  clamp_map_center(&map_state, map_bounds, size);
+
+  const double zoom = map_state.zoom;
+  const float zoom_scale = static_cast<float>(std::exp2(zoom));
+  const double center_x = lon_to_world_x(map_state.center_lon, zoom);
+  const double center_y = lat_to_world_y(map_state.center_lat, zoom);
+  const double top_left_x = center_x - rect_width * 0.5;
+  const double top_left_y = center_y - rect_height * 0.5;
+  const ProjectedBounds current_view = view_bounds(top_left_x, top_left_y, rect_width, rect_height);
+
+  if (basemap != nullptr) {
+    for (const WaterPolygonFeature &water : basemap->water_polygons) {
+      if (feature_intersects_view(water.bounds, current_view, zoom_scale)) {
+        draw_water_polygon(draw_list, water, zoom_scale, top_left_x, top_left_y, rect_min);
+      }
+    }
+    for (const WaterLineFeature &water : basemap->water_lines) {
+      if (feature_intersects_view(water.bounds, current_view, zoom_scale)) {
+        draw_feature_polyline(draw_list, water.points, zoom_scale, top_left_x, top_left_y, rect_min,
+                              MAP_WATER_LINE, 2.4f);
+      }
+    }
+
+    std::array<RoadClass, 4> order = {
+      RoadClass::Local,
+      RoadClass::Secondary,
+      RoadClass::Primary,
+      RoadClass::Motorway,
+    };
+    for (RoadClass road_class : order) {
+      const RoadPaint paint = road_paint(road_class, static_cast<float>(zoom));
+      for (const RoadFeature &road : basemap->roads) {
+        if (road.road_class != road_class || !feature_intersects_view(road.bounds, current_view, zoom_scale)) {
+          continue;
+        }
+        draw_feature_polyline(draw_list, road.points, zoom_scale, top_left_x, top_left_y, rect_min,
+                              paint.casing, paint.casing_width);
+        draw_feature_polyline(draw_list, road.points, zoom_scale, top_left_x, top_left_y, rect_min,
+                              paint.fill, paint.fill_width);
+      }
+    }
+  }
+
+  if (basemap != nullptr) {
+    draw_edge_fade(draw_list, basemap->bounds, zoom, top_left_x, top_left_y, rect_min, rect_max);
+  }
+
+  for (size_t i = 1; i < trace.points.size(); ++i) {
+    const GpsPoint &p0 = trace.points[i - 1];
+    const GpsPoint &p1 = trace.points[i];
+    const ImVec2 s0 = gps_to_screen(p0.lat, p0.lon, zoom, top_left_x, top_left_y, rect_min);
+    const ImVec2 s1 = gps_to_screen(p1.lat, p1.lon, zoom, top_left_x, top_left_y, rect_min);
+    draw_list->AddLine(s0, s1, MAP_ROUTE_HALO, 5.8f);
+    draw_list->AddLine(s0, s1, map_timeline_color(p1.type, 1.0f), 3.25f);
+  }
+
+  if (cursor_point.has_value()) {
+    const ImVec2 marker = gps_to_screen(cursor_point->lat, cursor_point->lon, zoom, top_left_x, top_left_y, rect_min);
+    const float marker_size = std::clamp(9.0f + 1.0f * static_cast<float>(zoom - min_zoom), 9.0f, 20.0f);
+    draw_car_marker(draw_list, marker, cursor_point->bearing, map_timeline_color(cursor_point->type, 1.0f), marker_size);
+  }
+
+  if (session->map_data->loading()) {
+    const char *label = basemap != nullptr ? "Refreshing roads..." : "Loading roads...";
+    const ImVec2 text = ImGui::CalcTextSize(label);
+    const ImVec2 pos(rect_min.x + 12.0f, rect_max.y - text.y - 12.0f);
+    draw_list->AddRectFilled(ImVec2(pos.x - 6.0f, pos.y - 4.0f),
+                             ImVec2(pos.x + text.x + 6.0f, pos.y + text.y + 4.0f),
+                             IM_COL32(255, 255, 255, 180), 4.0f);
+    draw_list->AddText(pos, IM_COL32(84, 93, 105, 255), label);
+  }
+  draw_list->PopClipRect();
+
+  const bool canvas_hovered = ImGui::IsItemHovered();
+  const bool double_clicked = canvas_hovered && ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Left);
+  bool overlay_hovered = false;
+  if (const std::string google_maps_url = route_google_maps_url(trace); !google_maps_url.empty()) {
+    std::string label = std::string("Google Maps ") + icon::BOX_ARROW_UP_RIGHT;
+    const ImVec2 text_size = ImGui::CalcTextSize(label.c_str());
+    const ImVec2 button_size(text_size.x + 20.0f, text_size.y + 10.0f);
+    const ImVec2 button_pos(rect_max.x - button_size.x - 28.0f, rect_min.y + 10.0f);
+    ImGui::SetCursorScreenPos(button_pos);
+    ImGui::SetNextItemAllowOverlap();
+    if (ImGui::Button("##open_google_maps", button_size)) {
+      open_external_url(google_maps_url);
+      state->status_text = "Opened Google Maps";
+    }
+    overlay_hovered = ImGui::IsItemHovered();
+    draw_list->AddText(ImVec2(button_pos.x + 10.0f, button_pos.y + (button_size.y - text_size.y) * 0.5f),
+                       ImGui::GetColorU32(ImGuiCol_Text), label.c_str());
+  }
+  const bool hovered = canvas_hovered && !overlay_hovered;
+  if (hovered && ImGui::GetIO().MouseWheel != 0.0f) {
+    const float next_zoom = std::clamp(static_cast<float>(zoom) + ImGui::GetIO().MouseWheel * MAP_WHEEL_ZOOM_STEP,
+                                       static_cast<float>(min_zoom), static_cast<float>(MAP_MAX_ZOOM));
+    if (std::abs(next_zoom - zoom) > 1.0e-4f) {
+      const ImVec2 mouse = ImGui::GetIO().MousePos;
+      const double mouse_world_x = top_left_x + (mouse.x - rect_min.x);
+      const double mouse_world_y = top_left_y + (mouse.y - rect_min.y);
+      const double mouse_lon = world_x_to_lon(mouse_world_x, zoom);
+      const double mouse_lat = world_y_to_lat(mouse_world_y, zoom);
+      const double next_center_x = lon_to_world_x(mouse_lon, next_zoom) - (mouse.x - rect_min.x) + rect_width * 0.5;
+      const double next_center_y = lat_to_world_y(mouse_lat, next_zoom) - (mouse.y - rect_min.y) + rect_height * 0.5;
+      map_state.zoom = next_zoom;
+      map_state.center_lon = world_x_to_lon(next_center_x, next_zoom);
+      map_state.center_lat = world_y_to_lat(next_center_y, next_zoom);
+      map_state.follow = false;
+      clamp_map_center(&map_state, map_bounds, size);
+    }
+  }
+  if (hovered && ImGui::IsMouseDragging(ImGuiMouseButton_Left, 2.0f)) {
+    const ImVec2 delta = ImGui::GetIO().MouseDelta;
+    const double next_center_x = center_x - delta.x;
+    const double next_center_y = center_y - delta.y;
+    map_state.center_lon = world_x_to_lon(next_center_x, zoom);
+    map_state.center_lat = world_y_to_lat(next_center_y, zoom);
+    map_state.follow = false;
+    clamp_map_center(&map_state, map_bounds, size);
+  } else if (hovered && ImGui::IsMouseReleased(ImGuiMouseButton_Left)) {
+    const ImVec2 drag_delta = ImGui::GetMouseDragDelta(ImGuiMouseButton_Left);
+    if (drag_delta.x * drag_delta.x + drag_delta.y * drag_delta.y < 16.0f) {
+      const ImVec2 mouse = ImGui::GetIO().MousePos;
+      double best_dist = std::numeric_limits<double>::max();
+      double best_time = state->tracker_time;
+      for (const GpsPoint &point : trace.points) {
+        const ImVec2 screen = gps_to_screen(point.lat, point.lon, zoom, top_left_x, top_left_y, rect_min);
+        const double dx = static_cast<double>(screen.x - mouse.x);
+        const double dy = static_cast<double>(screen.y - mouse.y);
+        const double dist = dx * dx + dy * dy;
+        if (dist < best_dist) {
+          best_dist = dist;
+          best_time = point.time;
+        }
+      }
+      state->tracker_time = best_time;
+      state->has_tracker_time = true;
+    }
+    ImGui::ResetMouseDragDelta(ImGuiMouseButton_Left);
+  }
+  if (double_clicked) {
+    map_state.initialized = false;
+  }
+}
diff --git a/tools/jotpluggler/map.h b/tools/jotpluggler/map.h
new file mode 100644
index 00000000000000..97473f1ba90576
--- /dev/null
+++ b/tools/jotpluggler/map.h
@@ -0,0 +1,61 @@
+#pragma once
+
+#include <condition_variable>
+#include <cstddef>
+#include <cstdint>
+#include <memory>
+#include <mutex>
+#include <string>
+#include <thread>
+
+struct GpsTrace;
+struct GeoBounds {
+  double south = 0.0;
+  double west = 0.0;
+  double north = 0.0;
+  double east = 0.0;
+
+  bool valid() const {
+    return south < north && west < east;
+  }
+};
+
+struct RouteBasemap;
+struct MapCacheStats {
+  uint64_t bytes = 0;
+  size_t files = 0;
+};
+
+class MapDataManager {
+public:
+  MapDataManager();
+  ~MapDataManager();
+
+  MapDataManager(const MapDataManager &) = delete;
+  MapDataManager &operator=(const MapDataManager &) = delete;
+
+  void pump();
+  void ensureTrace(const GpsTrace &trace);
+  void clearCache();
+  bool loading() const;
+  const RouteBasemap *current() const;
+  MapCacheStats cacheStats() const;
+
+private:
+  struct Request {
+    std::string key;
+    GeoBounds bounds;
+    std::string query;
+  };
+
+  void run();
+
+  mutable std::mutex mutex_;
+  std::condition_variable cv_;
+  bool stopping_ = false;
+  std::unique_ptr<Request> pending_;
+  std::unique_ptr<Request> active_;
+  std::unique_ptr<RouteBasemap> completed_;
+  std::unique_ptr<RouteBasemap> current_;
+  std::thread worker_;
+};
diff --git a/tools/jotpluggler/math_eval.py b/tools/jotpluggler/math_eval.py
new file mode 100755
index 00000000000000..a865c88a3a7777
--- /dev/null
+++ b/tools/jotpluggler/math_eval.py
@@ -0,0 +1,145 @@
+#!/usr/bin/env python3
+
+import json
+import sys
+import textwrap
+import traceback
+
+import numpy as np
+
+
+def _load_manifest(path: str) -> dict:
+  with open(path, encoding="utf-8") as f:
+    return json.load(f)
+
+
+def _load_vector(path: str) -> np.ndarray:
+  return np.fromfile(path, dtype=np.float64)
+
+
+def _write_vector(path: str, values: np.ndarray) -> None:
+  np.asarray(values, dtype=np.float64).tofile(path)
+
+
+def _resample_to_reference(ref_t: np.ndarray, src_t: np.ndarray, src_v: np.ndarray) -> np.ndarray:
+  ref_t = np.asarray(ref_t, dtype=np.float64).reshape(-1)
+  src_t = np.asarray(src_t, dtype=np.float64).reshape(-1)
+  src_v = np.asarray(src_v, dtype=np.float64).reshape(-1)
+  if ref_t.size == 0 or src_t.size == 0 or src_v.size == 0:
+    return np.empty_like(ref_t)
+  indices = np.searchsorted(src_t, ref_t, side="right") - 1
+  indices = np.clip(indices, 0, src_v.size - 1)
+  return src_v[indices]
+
+
+def _evaluate_user_code(code: str, env: dict):
+  stripped = code.strip()
+  if not stripped:
+    raise ValueError("Function body is empty")
+
+  expr = stripped
+  if expr.startswith("return "):
+    expr = expr[7:].strip()
+  try:
+    return eval(expr, env, env)
+  except SyntaxError:
+    pass
+
+  function_src = "def __jotpluggler_eval__():\n" + textwrap.indent(code, "    ")
+  exec(function_src, env, env)
+  return env["__jotpluggler_eval__"]()
+
+
+def main() -> int:
+  if len(sys.argv) != 6:
+    print("usage: math_eval.py <manifest.json> <globals.py> <code.py> <out_t.bin> <out_v.bin>", file=sys.stderr)
+    return 2
+
+  manifest_path, globals_path, code_path, out_t_path, out_v_path = sys.argv[1:6]
+  manifest = _load_manifest(manifest_path)
+
+  series_t = {}
+  series_v = {}
+  for entry in manifest.get("series", []):
+    path = entry["path"]
+    series_t[path] = _load_vector(entry["t"])
+    series_v[path] = _load_vector(entry["v"])
+
+  first_path = manifest.get("linked_source") or None
+
+  def remember(path: str) -> None:
+    nonlocal first_path
+    if first_path is None:
+      first_path = path
+
+  def t(path: str) -> np.ndarray:
+    remember(path)
+    return series_t[path]
+
+  def v(path: str) -> np.ndarray:
+    remember(path)
+    return series_v[path]
+
+  additional_sources = list(manifest.get("additional_sources", []))
+  linked_source = manifest.get("linked_source") or ""
+  paths = list(manifest.get("paths", []))
+
+  env = {
+    "__builtins__": __builtins__,
+    "np": np,
+    "t": t,
+    "v": v,
+    "paths": paths,
+    "linked_source": linked_source,
+    "additional_sources": additional_sources,
+  }
+
+  reference_time = None
+  if linked_source:
+    reference_time = series_t[linked_source]
+    env["time"] = reference_time
+    env["value"] = series_v[linked_source]
+
+  for i, path in enumerate(additional_sources, start=1):
+    if reference_time is None:
+      env[f"t{i}"] = series_t[path]
+      env[f"v{i}"] = series_v[path]
+    else:
+      env[f"t{i}"] = reference_time
+      env[f"v{i}"] = _resample_to_reference(reference_time, series_t[path], series_v[path])
+
+  with open(globals_path, encoding="utf-8") as f:
+    globals_code = f.read()
+  if globals_code.strip():
+    exec(globals_code, env, env)
+
+  with open(code_path, encoding="utf-8") as f:
+    user_code = f.read()
+  result = _evaluate_user_code(user_code, env)
+
+  if isinstance(result, tuple) and len(result) == 2:
+    result_t, result_v = result
+  else:
+    if first_path is None:
+      raise ValueError("No reference series found. Set an input timeseries or return (times, values).")
+    result_t = series_t[first_path]
+    result_v = result
+
+  result_t = np.asarray(result_t, dtype=np.float64).reshape(-1)
+  result_v = np.asarray(result_v, dtype=np.float64).reshape(-1)
+  if result_t.size == 0 or result_v.size == 0:
+    raise ValueError("Custom series returned an empty result")
+  if result_t.shape != result_v.shape:
+    raise ValueError(f"Time/value arrays must have the same shape, got {result_t.shape} and {result_v.shape}")
+
+  _write_vector(out_t_path, result_t)
+  _write_vector(out_v_path, result_v)
+  return 0
+
+
+if __name__ == "__main__":
+  try:
+    raise SystemExit(main())
+  except Exception as err:
+    traceback.print_exc()
+    raise SystemExit(1) from err
diff --git a/tools/jotpluggler/plot.cc b/tools/jotpluggler/plot.cc
new file mode 100644
index 00000000000000..a3c68ddcefa991
--- /dev/null
+++ b/tools/jotpluggler/plot.cc
@@ -0,0 +1,1027 @@
+#include "tools/jotpluggler/internal.h"
+
+#include "implot.h"
+#include "imgui_internal.h"
+
+#include <cmath>
+#include <cstdio>
+#include <limits>
+#include <unordered_set>
+
+constexpr double PLOT_Y_PAD_FRACTION = 0.4;
+
+struct PlotBounds {
+  double x_min = 0.0;
+  double x_max = 1.0;
+  double y_min = 0.0;
+  double y_max = 1.0;
+};
+
+bool curve_has_samples(const AppSession &session, const Curve &curve) {
+  if (curve_has_local_samples(curve)) return true;
+  if (curve.name.empty() || curve.name.front() != '/') {
+    return false;
+  }
+  const RouteSeries *series = app_find_route_series(session, curve.name);
+  return series != nullptr && series->times.size() > 1 && series->times.size() == series->values.size();
+}
+
+void extend_range(const std::vector<double> &values, bool *found, double *min_value, double *max_value) {
+  if (values.empty()) {
+    return;
+  }
+  const auto [min_it, max_it] = std::minmax_element(values.begin(), values.end());
+  if (!*found) {
+    *min_value = *min_it;
+    *max_value = *max_it;
+    *found = true;
+    return;
+  }
+  *min_value = std::min(*min_value, *min_it);
+  *max_value = std::max(*max_value, *max_it);
+}
+
+void ensure_non_degenerate_range(double *min_value, double *max_value, double pad_fraction, double fallback_pad) {
+  if (*max_value <= *min_value) {
+    const double pad = std::max(std::abs(*min_value) * 0.1, fallback_pad);
+    *min_value -= pad;
+    *max_value += pad;
+    return;
+  }
+  const double span = *max_value - *min_value;
+  const double pad = std::max(span * pad_fraction, fallback_pad);
+  *min_value -= pad;
+  *max_value += pad;
+}
+
+struct PreparedCurve {
+  int pane_curve_index = -1;
+  std::string label;
+  std::array<uint8_t, 3> color = {160, 170, 180};
+  float line_weight = 2.0f;
+  bool stairs = false;
+  const EnumInfo *enum_info = nullptr;
+  SeriesFormat display_info;
+  std::optional<double> legend_value;
+  std::vector<double> xs;
+  std::vector<double> ys;
+};
+
+struct StateBlock {
+  double t0 = 0.0;
+  double t1 = 0.0;
+  int value = 0;
+  std::string label;
+};
+
+struct PaneEnumContext {
+  std::vector<const EnumInfo *> enums;
+};
+
+struct PaneValueFormatContext {
+  SeriesFormat format;
+  bool valid = false;
+};
+
+bool curves_are_bool_like(const std::vector<PreparedCurve> &prepared_curves) {
+  if (prepared_curves.empty()) {
+    return false;
+  }
+  for (const PreparedCurve &curve : prepared_curves) {
+    if (!curve.display_info.integer_like || curve.ys.empty()) {
+      return false;
+    }
+    bool found_finite = false;
+    for (double value : curve.ys) {
+      if (!std::isfinite(value)) continue;
+      found_finite = true;
+      if (std::abs(value) > 0.01 && std::abs(value - 1.0) > 0.01) {
+        return false;
+      }
+    }
+    if (!found_finite) {
+      return false;
+    }
+  }
+  return true;
+}
+
+bool curve_is_state_like(const PreparedCurve &curve) {
+  if (!curve.display_info.integer_like || curve.xs.size() < 2 || curve.xs.size() != curve.ys.size()) {
+    return false;
+  }
+  if (curve.enum_info != nullptr) {
+    return true;
+  }
+  std::unordered_set<int> distinct_values;
+  for (double value : curve.ys) {
+    if (!std::isfinite(value)) {
+      continue;
+    }
+    distinct_values.insert(static_cast<int>(std::llround(value)));
+    if (distinct_values.size() > 12) {
+      return false;
+    }
+  }
+  return !distinct_values.empty();
+}
+
+bool curves_use_state_blocks(const std::vector<PreparedCurve> &prepared_curves) {
+  if (prepared_curves.empty()) {
+    return false;
+  }
+  for (const PreparedCurve &curve : prepared_curves) {
+    if (!curve_is_state_like(curve)) {
+      return false;
+    }
+  }
+  return true;
+}
+
+ImU32 state_block_color(int value, float alpha = 1.0f) {
+  static constexpr std::array<std::array<uint8_t, 3>, 8> kPalette = {{
+    {{111, 143, 175}},
+    {{0, 163, 108}},
+    {{255, 195, 0}},
+    {{199, 0, 57}},
+    {{123, 97, 255}},
+    {{0, 150, 136}},
+    {{214, 48, 49}},
+    {{52, 73, 94}},
+  }};
+  const size_t index = static_cast<size_t>(std::abs(value)) % kPalette.size();
+  return ImGui::GetColorU32(color_rgb(kPalette[index], alpha));
+}
+
+std::string state_block_label(const PreparedCurve &curve, int value) {
+  if (curve.enum_info != nullptr && value >= 0 && static_cast<size_t>(value) < curve.enum_info->names.size()) {
+    const std::string &name = curve.enum_info->names[static_cast<size_t>(value)];
+    if (!name.empty()) {
+      return name;
+    }
+  }
+  return std::to_string(value);
+}
+
+std::vector<StateBlock> build_state_blocks(const PreparedCurve &curve) {
+  std::vector<StateBlock> blocks;
+  if (curve.xs.size() < 2 || curve.xs.size() != curve.ys.size()) {
+    return blocks;
+  }
+
+  int current_value = static_cast<int>(std::llround(curve.ys.front()));
+  double start_time = curve.xs.front();
+  for (size_t i = 1; i < curve.xs.size(); ++i) {
+    const int value = static_cast<int>(std::llround(curve.ys[i]));
+    if (value == current_value) {
+      continue;
+    }
+    const double end_time = curve.xs[i];
+    if (end_time > start_time) {
+      blocks.push_back(StateBlock{
+        .t0 = start_time,
+        .t1 = end_time,
+        .value = current_value,
+        .label = state_block_label(curve, current_value),
+      });
+    }
+    current_value = value;
+    start_time = end_time;
+  }
+
+  const double final_time = curve.xs.back();
+  if (final_time >= start_time) {
+    blocks.push_back(StateBlock{
+      .t0 = start_time,
+      .t1 = final_time,
+      .value = current_value,
+      .label = state_block_label(curve, current_value),
+    });
+  }
+  return blocks;
+}
+
+void app_decimate_samples_impl(const std::vector<double> &xs_in,
+                           const std::vector<double> &ys_in,
+                           int max_points,
+                           std::vector<double> *xs_out,
+                           std::vector<double> *ys_out) {
+
+  const size_t bucket_count = std::max<size_t>(1, static_cast<size_t>(max_points / 4));
+  const size_t bucket_size = std::max<size_t>(
+    1,
+    static_cast<size_t>(std::ceil(static_cast<double>(xs_in.size()) / static_cast<double>(bucket_count))));
+  xs_out->reserve(bucket_count * 4 + 2);
+  ys_out->reserve(bucket_count * 4 + 2);
+
+  size_t last_index = std::numeric_limits<size_t>::max();
+  auto append_index = [&](size_t index) {
+    if (index >= xs_in.size() || index == last_index) {
+      return;
+    }
+    xs_out->push_back(xs_in[index]);
+    ys_out->push_back(ys_in[index]);
+    last_index = index;
+  };
+
+  for (size_t start = 0; start < xs_in.size(); start += bucket_size) {
+    const size_t end = std::min(xs_in.size(), start + bucket_size);
+    size_t min_index = start;
+    size_t max_index = start;
+    for (size_t index = start + 1; index < end; ++index) {
+      if (ys_in[index] < ys_in[min_index]) {
+        min_index = index;
+      }
+      if (ys_in[index] > ys_in[max_index]) {
+        max_index = index;
+      }
+    }
+
+    std::array<size_t, 4> indices = {start, min_index, max_index, end - 1};
+    std::sort(indices.begin(), indices.end());
+    for (size_t index : indices) {
+      append_index(index);
+    }
+  }
+}
+
+void app_decimate_samples(const std::vector<double> &xs_in,
+                      const std::vector<double> &ys_in,
+                      int max_points,
+                      std::vector<double> *xs_out,
+                      std::vector<double> *ys_out) {
+  xs_out->clear();
+  ys_out->clear();
+  if (xs_in.empty() || xs_in.size() != ys_in.size()) {
+    return;
+  }
+  if (max_points <= 0 || static_cast<int>(xs_in.size()) <= max_points) {
+    *xs_out = xs_in;
+    *ys_out = ys_in;
+    return;
+  }
+  app_decimate_samples_impl(xs_in, ys_in, max_points, xs_out, ys_out);
+}
+
+void app_decimate_samples(std::vector<double> &&xs_in,
+                      std::vector<double> &&ys_in,
+                      int max_points,
+                      std::vector<double> *xs_out,
+                      std::vector<double> *ys_out) {
+  xs_out->clear();
+  ys_out->clear();
+  if (xs_in.empty() || xs_in.size() != ys_in.size()) {
+    return;
+  }
+  if (max_points <= 0 || static_cast<int>(xs_in.size()) <= max_points) {
+    *xs_out = std::move(xs_in);
+    *ys_out = std::move(ys_in);
+    return;
+  }
+  app_decimate_samples_impl(xs_in, ys_in, max_points, xs_out, ys_out);
+}
+
+std::optional<double> app_sample_xy_value_at_time(const std::vector<double> &xs,
+                                              const std::vector<double> &ys,
+                                              bool stairs,
+                                              double tm) {
+  if (xs.size() < 2 || xs.size() != ys.size()) {
+    return std::nullopt;
+  }
+  if (tm <= xs.front()) return ys.front();
+  if (tm >= xs.back()) return ys.back();
+
+  const auto upper = std::lower_bound(xs.begin(), xs.end(), tm);
+  if (upper == xs.begin()) return ys.front();
+  if (upper == xs.end()) return ys.back();
+
+  const size_t upper_index = static_cast<size_t>(std::distance(xs.begin(), upper));
+  const size_t lower_index = upper_index - 1;
+  const double x0 = xs[lower_index];
+  const double x1 = xs[upper_index];
+  const double y0 = ys[lower_index];
+  const double y1 = ys[upper_index];
+  if (std::abs(tm - x1) < 1.0e-9) return y1;
+  if (stairs || x1 <= x0) return y0;
+  const double alpha = (tm - x0) / (x1 - x0);
+  return y0 + (y1 - y0) * alpha;
+}
+
+int format_enum_axis_tick(double value, char *buf, int size, void *user_data) {
+  const auto *ctx = static_cast<const PaneEnumContext *>(user_data);
+  const int idx = static_cast<int>(std::llround(value));
+  if (ctx != nullptr && idx >= 0 && std::abs(value - static_cast<double>(idx)) < 0.01) {
+    std::vector<std::string_view> names;
+    names.reserve(ctx->enums.size());
+    for (const EnumInfo *info : ctx->enums) {
+      if (info == nullptr || static_cast<size_t>(idx) >= info->names.size()) {
+        continue;
+      }
+      const std::string &name = info->names[static_cast<size_t>(idx)];
+      if (name.empty()) continue;
+      if (std::find(names.begin(), names.end(), std::string_view(name)) == names.end()) {
+        names.emplace_back(name);
+      }
+    }
+    if (!names.empty()) {
+      std::string joined;
+      for (size_t i = 0; i < names.size(); ++i) {
+        if (i != 0) {
+          joined += ", ";
+        }
+        joined += names[i];
+      }
+      return std::snprintf(buf, size, "%d (%s)", idx, joined.c_str());
+    }
+  }
+  return std::snprintf(buf, size, "%.6g", value);
+}
+
+int format_numeric_axis_tick(double value, char *buf, int size, void *user_data) {
+  const auto *ctx = static_cast<const PaneValueFormatContext *>(user_data);
+  if (ctx == nullptr || !ctx->valid) {
+    return std::snprintf(buf, size, "%.6g", value);
+  }
+  if (ctx->format.integer_like) {
+    const double nearest_int = std::round(value);
+    if (std::abs(value - nearest_int) > 1.0e-6) {
+      int decimals = 1;
+      while (decimals < 4) {
+        const double scale = std::pow(10.0, decimals);
+        const double rounded = std::round(value * scale) / scale;
+        if (std::abs(value - rounded) <= 1.0e-6) {
+          break;
+        }
+        ++decimals;
+      }
+      return std::snprintf(buf, size, "%.*f", decimals, value);
+    }
+  }
+  return std::snprintf(buf, size, ctx->format.fmt, value);
+}
+
+void merge_pane_value_format(PaneValueFormatContext *ctx, const SeriesFormat &format) {
+  if (!ctx->valid) {
+    ctx->format = format;
+    ctx->valid = true;
+    return;
+  }
+  ctx->format.has_negative = ctx->format.has_negative || format.has_negative;
+  ctx->format.digits_before = std::max(ctx->format.digits_before, format.digits_before);
+  ctx->format.decimals = std::max(ctx->format.decimals, format.decimals);
+  ctx->format.integer_like = ctx->format.decimals == 0;
+  const int sign_width = ctx->format.has_negative ? 1 : 0;
+  const int dot_width = ctx->format.decimals > 0 ? 1 : 0;
+  ctx->format.total_width = sign_width + ctx->format.digits_before + dot_width + ctx->format.decimals;
+  std::snprintf(ctx->format.fmt, sizeof(ctx->format.fmt), "%%%d.%df",
+                ctx->format.total_width, ctx->format.decimals);
+}
+
+std::string curve_legend_label(const PreparedCurve &curve, bool has_cursor_time, size_t label_width) {
+  if (!has_cursor_time) return curve.label;
+  if (!curve.legend_value.has_value()) return curve.label;
+  const std::string value_text = format_display_value(*curve.legend_value, curve.display_info, curve.enum_info);
+  if (value_text.empty()) return curve.label;
+  const size_t padded_width = std::max(label_width, curve.label.size());
+  return curve.label + std::string(padded_width - curve.label.size() + 2, ' ') + value_text;
+}
+
+bool build_curve_series(const AppSession &session,
+                        const Curve &curve,
+                        const UiState &state,
+                        int max_points,
+                        PreparedCurve *prepared) {
+  std::vector<double> xs;
+  std::vector<double> ys;
+  if (curve_has_local_samples(curve)) {
+    xs = curve.xs;
+    ys = curve.ys;
+  } else {
+    const RouteSeries *series = app_find_route_series(session, curve.name);
+    if (series == nullptr || series->times.size() < 2 || series->times.size() != series->values.size()) {
+      return false;
+    }
+
+    size_t begin_index = 0;
+    size_t end_index = series->times.size();
+    if (state.has_shared_range && state.x_view_max > state.x_view_min) {
+      auto begin_it = std::lower_bound(series->times.begin(), series->times.end(), state.x_view_min);
+      auto end_it = std::upper_bound(series->times.begin(), series->times.end(), state.x_view_max);
+      begin_index = begin_it == series->times.begin() ? 0 : static_cast<size_t>(std::distance(series->times.begin(), begin_it - 1));
+      end_index = end_it == series->times.end() ? series->times.size() : static_cast<size_t>(std::distance(series->times.begin(), end_it + 1));
+      end_index = std::min(end_index, series->times.size());
+    }
+    if (end_index <= begin_index + 1) return false;
+    xs.assign(series->times.begin() + begin_index, series->times.begin() + end_index);
+    ys.assign(series->values.begin() + begin_index, series->values.begin() + end_index);
+  }
+
+  std::vector<double> transformed_xs;
+  std::vector<double> transformed_ys;
+  if (curve.derivative) {
+    if (xs.size() < 2) return false;
+    transformed_xs.reserve(xs.size() - 1);
+    transformed_ys.reserve(ys.size() - 1);
+    for (size_t i = 1; i < xs.size(); ++i) {
+      const double dt = curve.derivative_dt > 0.0 ? curve.derivative_dt : (xs[i] - xs[i - 1]);
+      if (dt <= 0.0) continue;
+      transformed_xs.push_back(xs[i]);
+      transformed_ys.push_back((ys[i] - ys[i - 1]) / dt);
+    }
+  } else {
+    transformed_xs = std::move(xs);
+    transformed_ys = std::move(ys);
+  }
+
+  if (transformed_xs.size() < 2 || transformed_xs.size() != transformed_ys.size()) {
+    return false;
+  }
+
+  for (double &value : transformed_ys) {
+    value = value * curve.value_scale + curve.value_offset;
+  }
+
+  prepared->label = app_curve_display_name(curve);
+  prepared->color = curve.color;
+  prepared->line_weight = curve.derivative ? 1.8f : 2.25f;
+  if (!curve.derivative
+      && curve.value_scale == 1.0
+      && curve.value_offset == 0.0
+      && !curve_has_local_samples(curve)
+      && !curve.name.empty()
+      && curve.name.front() == '/') {
+    auto it = session.route_data.enum_info.find(curve.name);
+    if (it != session.route_data.enum_info.end()) {
+      prepared->enum_info = &it->second;
+    }
+  }
+  if (prepared->enum_info != nullptr) {
+    prepared->display_info = compute_series_format(transformed_ys, true);
+  } else if (!curve_has_local_samples(curve)
+             && !curve.derivative
+             && curve.value_scale == 1.0
+             && curve.value_offset == 0.0
+             && !curve.name.empty()
+             && curve.name.front() == '/') {
+    auto display_it = session.route_data.series_formats.find(curve.name);
+    if (display_it != session.route_data.series_formats.end()) {
+      prepared->display_info = display_it->second;
+    } else {
+      prepared->display_info = compute_series_format(transformed_ys, false);
+    }
+  } else {
+    prepared->display_info = compute_series_format(transformed_ys, false);
+  }
+  const bool stairs = !curve.derivative && prepared->display_info.integer_like;
+  if (state.has_tracker_time) {
+    prepared->legend_value = app_sample_xy_value_at_time(transformed_xs, transformed_ys, stairs, state.tracker_time);
+  }
+  if (stairs) {
+    prepared->xs = std::move(transformed_xs);
+    prepared->ys = std::move(transformed_ys);
+  } else {
+    app_decimate_samples(std::move(transformed_xs), std::move(transformed_ys), max_points, &prepared->xs, &prepared->ys);
+  }
+  prepared->stairs = stairs;
+  return prepared->xs.size() > 1 && prepared->xs.size() == prepared->ys.size();
+}
+
+bool draw_pane_close_button_overlay() {
+  const ImVec2 window_pos = ImGui::GetWindowPos();
+  const ImVec2 content_min = ImGui::GetWindowContentRegionMin();
+  const ImVec2 content_max = ImGui::GetWindowContentRegionMax();
+  const ImRect rect(ImVec2(window_pos.x + content_max.x - 42.0f, window_pos.y + content_min.y + 4.0f),
+                    ImVec2(window_pos.x + content_max.x - 4.0f, window_pos.y + content_min.y + 42.0f));
+  const bool hovered = ImGui::IsMouseHoveringRect(rect.Min, rect.Max, false);
+  const bool held = hovered && ImGui::IsMouseDown(ImGuiMouseButton_Left);
+  if (hovered) {
+    ImGui::SetMouseCursor(ImGuiMouseCursor_Hand);
+  }
+  ImDrawList *draw_list = ImGui::GetWindowDrawList();
+  const float pad = 11.0f;
+  const ImU32 color = hovered || held
+    ? ImGui::GetColorU32(color_rgb(72, 79, 88))
+    : ImGui::GetColorU32(color_rgb(138, 146, 156));
+  draw_list->AddLine(ImVec2(rect.Min.x + pad, rect.Min.y + pad),
+                     ImVec2(rect.Max.x - pad, rect.Max.y - pad),
+                     color,
+                     2.4f);
+  draw_list->AddLine(ImVec2(rect.Min.x + pad, rect.Max.y - pad),
+                     ImVec2(rect.Max.x - pad, rect.Min.y + pad),
+                     color,
+                     2.4f);
+  return hovered && ImGui::IsMouseClicked(ImGuiMouseButton_Left);
+}
+
+void draw_pane_frame_overlay() {
+  const ImVec2 window_pos = ImGui::GetWindowPos();
+  const ImVec2 content_min = ImGui::GetWindowContentRegionMin();
+  const ImVec2 content_max = ImGui::GetWindowContentRegionMax();
+  const ImRect frame_rect(ImVec2(window_pos.x + content_min.x, window_pos.y + content_min.y),
+                          ImVec2(window_pos.x + content_max.x, window_pos.y + content_max.y));
+  ImGui::GetWindowDrawList()->AddRect(frame_rect.Min,
+                                      frame_rect.Max,
+                                      ImGui::GetColorU32(color_rgb(186, 190, 196)),
+                                      0.0f,
+                                      0,
+                                      1.0f);
+}
+
+PlotBounds compute_plot_bounds(const Pane &pane,
+                               const std::vector<PreparedCurve> &prepared_curves,
+                               const UiState &state) {
+  PlotBounds bounds;
+  bounds.x_min = state.has_shared_range ? state.x_view_min : 0.0;
+  bounds.x_max = state.has_shared_range ? state.x_view_max : 1.0;
+  if (bounds.x_max <= bounds.x_min) {
+    bounds.x_max = bounds.x_min + 1.0;
+  }
+
+  bool found = false;
+  double min_value = 0.0;
+  double max_value = 1.0;
+  for (const PreparedCurve &curve : prepared_curves) {
+    extend_range(curve.ys, &found, &min_value, &max_value);
+  }
+  if (!found) {
+    min_value = 0.0;
+    max_value = 1.0;
+  }
+  if (curves_are_bool_like(prepared_curves)) {
+    min_value = std::min(min_value, 0.0);
+    max_value = std::max(max_value, 1.0);
+  }
+  ensure_non_degenerate_range(&min_value, &max_value, PLOT_Y_PAD_FRACTION, 0.1);
+  if (pane.range.has_y_limit_min) {
+    min_value = pane.range.y_limit_min;
+  }
+  if (pane.range.has_y_limit_max) {
+    max_value = pane.range.y_limit_max;
+  }
+  ensure_non_degenerate_range(&min_value, &max_value, 0.0, 0.1);
+  bounds.y_min = min_value;
+  bounds.y_max = max_value;
+  return bounds;
+}
+
+void draw_state_blocks_pane(const std::vector<PreparedCurve> &prepared_curves, UiState *state) {
+  if (prepared_curves.empty() || !state->has_shared_range || state->x_view_max <= state->x_view_min) {
+    return;
+  }
+
+  ImDrawList *draw_list = ImPlot::GetPlotDrawList();
+  const ImVec2 plot_min = ImPlot::GetPlotPos();
+  const ImVec2 plot_size = ImPlot::GetPlotSize();
+  const int curve_count = static_cast<int>(prepared_curves.size());
+  if (plot_size.x <= 2.0f || plot_size.y <= 2.0f || curve_count <= 0) {
+    return;
+  }
+
+  float label_width = 0.0f;
+  if (curve_count > 1) {
+    for (const PreparedCurve &curve : prepared_curves) {
+      label_width = std::max(label_width, ImGui::CalcTextSize(curve.label.c_str()).x);
+    }
+    label_width = std::clamp(label_width + 14.0f, 72.0f, std::min(160.0f, plot_size.x * 0.35f));
+  }
+
+  const float row_height = plot_size.y / static_cast<float>(curve_count);
+  const float blocks_min_x = plot_min.x + label_width;
+  const float blocks_max_x = plot_min.x + plot_size.x;
+  const float blocks_width = std::max(1.0f, blocks_max_x - blocks_min_x);
+  const double x_span = std::max(1.0e-9, state->x_view_max - state->x_view_min);
+
+  struct HoveredBlock {
+    int curve_index = -1;
+    StateBlock block;
+  };
+  std::optional<HoveredBlock> hovered;
+
+  const ImVec2 mouse_pos = ImGui::GetMousePos();
+  const bool plot_hovered = ImPlot::IsPlotHovered();
+
+  for (int curve_index = 0; curve_index < curve_count; ++curve_index) {
+    const PreparedCurve &curve = prepared_curves[static_cast<size_t>(curve_index)];
+    const float y0 = plot_min.y + row_height * static_cast<float>(curve_index);
+    const float y1 = y0 + row_height;
+    const std::vector<StateBlock> blocks = build_state_blocks(curve);
+
+    if (curve_index > 0) {
+      draw_list->AddLine(ImVec2(plot_min.x, y0), ImVec2(plot_min.x + plot_size.x, y0),
+                         IM_COL32(210, 214, 220, 255), 1.0f);
+    }
+    if (curve_count > 1) {
+      draw_list->AddLine(ImVec2(blocks_min_x, y0), ImVec2(blocks_min_x, y1),
+                         IM_COL32(210, 214, 220, 255), 1.0f);
+      const float label_left = plot_min.x + 6.0f;
+      const float label_right = std::max(label_left + 12.0f, blocks_min_x - 6.0f);
+      ImGui::PushStyleColor(ImGuiCol_Text, color_rgb(120, 128, 138));
+      ImGui::RenderTextEllipsis(draw_list,
+                                ImVec2(label_left, y0 + 4.0f),
+                                ImVec2(label_right, y1 - 4.0f),
+                                label_right,
+                                curve.label.c_str(),
+                                nullptr,
+                                nullptr);
+      ImGui::PopStyleColor();
+    }
+
+    for (const StateBlock &block : blocks) {
+      const double visible_t0 = std::max(block.t0, state->x_view_min);
+      const double visible_t1 = std::min(block.t1, state->x_view_max);
+      if (visible_t1 <= visible_t0) {
+        continue;
+      }
+      const float x0 = blocks_min_x + static_cast<float>((visible_t0 - state->x_view_min) / x_span) * blocks_width;
+      const float x1 = blocks_min_x + static_cast<float>((visible_t1 - state->x_view_min) / x_span) * blocks_width;
+      const ImU32 fill_color = state_block_color(block.value, 0.15f);
+      const ImU32 line_color = state_block_color(block.value, 0.90f);
+      draw_list->AddRectFilled(ImVec2(x0, y0), ImVec2(std::max(x1, x0 + 1.0f), y1), fill_color);
+      draw_list->AddLine(ImVec2(x0, y0), ImVec2(x0, y1), line_color, 2.0f);
+
+      const float block_width = x1 - x0;
+      if (block_width > 14.0f) {
+        const float text_left = x0 + 6.0f;
+        const float text_right = x1 - 6.0f;
+        if (text_right > text_left) {
+          ImGui::PushStyleColor(ImGuiCol_Text, ImGui::ColorConvertU32ToFloat4(state_block_color(block.value, 0.80f)));
+          ImGui::RenderTextEllipsis(draw_list,
+                                    ImVec2(text_left, y0 + 4.0f),
+                                    ImVec2(text_right, y1 - 4.0f),
+                                    text_right,
+                                    block.label.c_str(),
+                                    nullptr,
+                                    nullptr);
+          ImGui::PopStyleColor();
+        }
+      }
+
+      if (plot_hovered && mouse_pos.x >= blocks_min_x && mouse_pos.x <= blocks_max_x && mouse_pos.y >= y0 && mouse_pos.y <= y1) {
+        const double hover_time = state->x_view_min + static_cast<double>((mouse_pos.x - blocks_min_x) / blocks_width) * x_span;
+        if (hover_time >= block.t0 && hover_time <= block.t1) {
+          hovered = HoveredBlock{
+            .curve_index = curve_index,
+            .block = block,
+          };
+        }
+      }
+    }
+  }
+
+  if (hovered.has_value()) {
+    const HoveredBlock &info = *hovered;
+    ImGui::BeginTooltip();
+    if (curve_count > 1) {
+      ImGui::Text("%s: %s (%d)", prepared_curves[static_cast<size_t>(info.curve_index)].label.c_str(),
+                  info.block.label.c_str(), info.block.value);
+    } else {
+      ImGui::Text("%s (%d)", info.block.label.c_str(), info.block.value);
+    }
+    ImGui::Separator();
+    ImGui::Text("%.3fs -> %.3fs", info.block.t0, info.block.t1);
+    ImGui::Text("duration: %.3fs", info.block.t1 - info.block.t0);
+    ImGui::EndTooltip();
+  }
+}
+
+void persist_shared_range_to_tab(WorkspaceTab *tab, const UiState &state) {
+  if (tab == nullptr || !state.has_shared_range) {
+    return;
+  }
+  const double x_min = state.x_view_min;
+  const double x_max = state.x_view_max > state.x_view_min ? state.x_view_max : state.x_view_min + 1.0;
+  for (Pane &pane : tab->panes) {
+    pane.range.valid = true;
+    pane.range.left = x_min;
+    pane.range.right = x_max;
+  }
+}
+
+void clear_pane_vertical_limits(Pane *pane) {
+  if (pane == nullptr) {
+    return;
+  }
+  pane->range.has_y_limit_min = false;
+  pane->range.has_y_limit_max = false;
+}
+
+PlotBounds current_plot_bounds_for_pane(const AppSession &session, const Pane &pane, const UiState &state) {
+  std::vector<PreparedCurve> prepared_curves;
+  prepared_curves.reserve(pane.curves.size());
+  constexpr int kAxisEditorMaxPoints = 2048;
+  for (size_t curve_index = 0; curve_index < pane.curves.size(); ++curve_index) {
+    const Curve &curve = pane.curves[curve_index];
+    if (!curve.visible || !curve_has_samples(session, curve)) continue;
+    PreparedCurve prepared;
+    if (build_curve_series(session, curve, state, kAxisEditorMaxPoints, &prepared)) {
+      prepared.pane_curve_index = static_cast<int>(curve_index);
+      prepared_curves.push_back(std::move(prepared));
+    }
+  }
+  return compute_plot_bounds(pane, prepared_curves, state);
+}
+
+void open_axis_limits_editor(const AppSession &session, UiState *state, int pane_index) {
+  ensure_shared_range(state, session);
+  clamp_shared_range(state, session);
+  const WorkspaceTab *tab = app_active_tab(session.layout, *state);
+  if (tab == nullptr || pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    return;
+  }
+
+  const Pane &pane = tab->panes[static_cast<size_t>(pane_index)];
+  const PlotBounds bounds = current_plot_bounds_for_pane(session, pane, *state);
+  AxisLimitsEditorState &editor = state->axis_limits;
+  editor.open = true;
+  editor.pane_index = pane_index;
+  editor.x_min = state->x_view_min;
+  editor.x_max = state->x_view_max;
+  editor.y_min_enabled = pane.range.has_y_limit_min;
+  editor.y_max_enabled = pane.range.has_y_limit_max;
+  editor.y_min = pane.range.has_y_limit_min ? pane.range.y_limit_min : bounds.y_min;
+  editor.y_max = pane.range.has_y_limit_max ? pane.range.y_limit_max : bounds.y_max;
+}
+
+bool apply_axis_limits_editor(AppSession *session, UiState *state) {
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  if (tab == nullptr) return false;
+
+  AxisLimitsEditorState &editor = state->axis_limits;
+  if (editor.pane_index < 0 || editor.pane_index >= static_cast<int>(tab->panes.size())) {
+    state->error_text = "The selected pane is no longer available.";
+    state->open_error_popup = true;
+    return false;
+  }
+  if (!std::isfinite(editor.x_min) || !std::isfinite(editor.x_max)) {
+    state->error_text = "Axis limits must be finite numbers.";
+    state->open_error_popup = true;
+    return false;
+  }
+  if (editor.x_max <= editor.x_min) {
+    state->error_text = "X max must be greater than X min.";
+    state->open_error_popup = true;
+    return false;
+  }
+  if (editor.y_min_enabled && !std::isfinite(editor.y_min)) {
+    state->error_text = "Y min must be a finite number.";
+    state->open_error_popup = true;
+    return false;
+  }
+  if (editor.y_max_enabled && !std::isfinite(editor.y_max)) {
+    state->error_text = "Y max must be a finite number.";
+    state->open_error_popup = true;
+    return false;
+  }
+  if (editor.y_min_enabled && editor.y_max_enabled && editor.y_max <= editor.y_min) {
+    state->error_text = "Y max must be greater than Y min.";
+    state->open_error_popup = true;
+    return false;
+  }
+
+  const SketchLayout before_layout = session->layout;
+  state->has_shared_range = true;
+  state->x_view_min = editor.x_min;
+  state->x_view_max = editor.x_max;
+  if (session->data_mode == SessionDataMode::Stream) {
+    state->follow_latest = infer_stream_follow_state(*state, *session);
+  } else {
+    state->follow_latest = false;
+  }
+  state->suppress_range_side_effects = true;
+  clamp_shared_range(state, *session);
+  persist_shared_range_to_tab(tab, *state);
+
+  Pane &pane = tab->panes[static_cast<size_t>(editor.pane_index)];
+  pane.range.has_y_limit_min = editor.y_min_enabled;
+  pane.range.has_y_limit_max = editor.y_max_enabled;
+  if (editor.y_min_enabled) {
+    pane.range.y_limit_min = editor.y_min;
+  }
+  if (editor.y_max_enabled) {
+    pane.range.y_limit_max = editor.y_max;
+  }
+
+  const PlotBounds bounds = current_plot_bounds_for_pane(*session, pane, *state);
+  pane.range.valid = true;
+  pane.range.left = state->x_view_min;
+  pane.range.right = state->x_view_max;
+  pane.range.bottom = bounds.y_min;
+  pane.range.top = bounds.y_max;
+
+  state->undo.push(before_layout);
+  const bool ok = mark_layout_dirty(session, state);
+  if (ok) {
+    state->status_text = "Axis limits updated";
+  }
+  return ok;
+}
+
+void draw_plot(const AppSession &session, Pane *pane, UiState *state) {
+  std::vector<PreparedCurve> prepared_curves;
+  prepared_curves.reserve(pane->curves.size());
+  const int max_points = std::max(256, static_cast<int>(ImGui::GetContentRegionAvail().x) * 2);
+  for (size_t curve_index = 0; curve_index < pane->curves.size(); ++curve_index) {
+    const Curve &curve = pane->curves[curve_index];
+    if (!curve.visible || !curve_has_samples(session, curve)) continue;
+    PreparedCurve prepared;
+    if (build_curve_series(session, curve, *state, max_points, &prepared)) {
+      prepared.pane_curve_index = static_cast<int>(curve_index);
+      prepared_curves.push_back(std::move(prepared));
+    }
+  }
+
+  const PlotBounds bounds = compute_plot_bounds(*pane, prepared_curves, *state);
+  PaneEnumContext enum_context;
+  PaneValueFormatContext pane_value_format;
+  const bool state_block_mode = curves_use_state_blocks(prepared_curves);
+  bool all_enum_curves = !prepared_curves.empty();
+  size_t max_legend_label_width = 0;
+  for (const PreparedCurve &curve : prepared_curves) {
+    max_legend_label_width = std::max(max_legend_label_width, curve.label.size());
+    if (curve.enum_info != nullptr) {
+      enum_context.enums.push_back(curve.enum_info);
+    } else {
+      all_enum_curves = false;
+      merge_pane_value_format(&pane_value_format, curve.display_info);
+    }
+  }
+  if (prepared_curves.empty()) {
+    all_enum_curves = false;
+  }
+  const int supported_count = static_cast<int>(prepared_curves.size());
+  const ImVec2 plot_size = ImGui::GetContentRegionAvail();
+  const bool has_cursor_time = state->has_tracker_time;
+  const double cursor_time = state->tracker_time;
+
+  ImPlot::PushStyleColor(ImPlotCol_PlotBg, color_rgb(255, 255, 255));
+  ImPlot::PushStyleColor(ImPlotCol_PlotBorder, color_rgb(186, 190, 196));
+  ImPlot::PushStyleColor(ImPlotCol_LegendBg, color_rgb(248, 249, 251, 0.92f));
+  ImPlot::PushStyleColor(ImPlotCol_LegendBorder, color_rgb(168, 175, 184));
+  ImPlot::PushStyleColor(ImPlotCol_LegendText, color_rgb(57, 62, 69));
+  ImPlot::PushStyleColor(ImPlotCol_TitleText, color_rgb(57, 62, 69));
+  ImPlot::PushStyleColor(ImPlotCol_InlayText, color_rgb(95, 103, 112));
+  ImPlot::PushStyleColor(ImPlotCol_AxisGrid, color_rgb(188, 196, 206));
+  ImPlot::PushStyleColor(ImPlotCol_AxisText, color_rgb(95, 103, 112));
+  ImPlot::PushStyleColor(ImPlotCol_AxisBg, color_rgb(255, 255, 255, 0.0f));
+  ImPlot::PushStyleColor(ImPlotCol_AxisBgHovered, color_rgb(214, 220, 228, 0.45f));
+  ImPlot::PushStyleColor(ImPlotCol_AxisBgActive, color_rgb(199, 209, 222, 0.55f));
+  ImPlot::PushStyleColor(ImPlotCol_Selection, color_rgb(252, 211, 77, 0.28f));
+  ImPlot::PushStyleColor(ImPlotCol_Crosshairs, color_rgb(120, 128, 138, 0.70f));
+  ImPlot::PushStyleVar(ImPlotStyleVar_LegendPadding, ImVec2(56.0f, 10.0f));
+
+  ImPlotFlags plot_flags = ImPlotFlags_NoTitle | ImPlotFlags_NoMenus;
+  if (state_block_mode) {
+    plot_flags |= ImPlotFlags_NoLegend | ImPlotFlags_NoMouseText;
+  }
+  if (supported_count == 0) {
+    plot_flags |= ImPlotFlags_NoLegend;
+  }
+
+  const ImPlotAxisFlags x_axis_flags = ImPlotAxisFlags_NoMenus | ImPlotAxisFlags_NoHighlight;
+  ImPlotAxisFlags y_axis_flags = ImPlotAxisFlags_NoMenus | ImPlotAxisFlags_NoHighlight;
+  if (state_block_mode) {
+    y_axis_flags |= ImPlotAxisFlags_NoDecorations;
+  }
+  const bool explicit_y = pane->range.has_y_limit_min || pane->range.has_y_limit_max;
+  if (!state_block_mode && !explicit_y && supported_count > 0) {
+    y_axis_flags |= ImPlotAxisFlags_AutoFit | ImPlotAxisFlags_RangeFit;
+  }
+
+  const double previous_x_min = state->x_view_min;
+  const double previous_x_max = state->x_view_max;
+  app_push_mono_font();
+  if (ImPlot::BeginPlot("##plot", plot_size, plot_flags)) {
+    ImPlot::SetupAxes(nullptr, nullptr, x_axis_flags, y_axis_flags);
+    ImPlot::SetupAxisFormat(ImAxis_X1, "%.1f");
+    if (state_block_mode) {
+      ImPlot::SetupAxisLimits(ImAxis_Y1, 0.0, 1.0, ImPlotCond_Always);
+    } else if (all_enum_curves && !enum_context.enums.empty()) {
+      ImPlot::SetupAxisFormat(ImAxis_Y1, format_enum_axis_tick, &enum_context);
+    } else if (pane_value_format.valid) {
+      ImPlot::SetupAxisFormat(ImAxis_Y1, format_numeric_axis_tick, &pane_value_format);
+    } else {
+      ImPlot::SetupAxisFormat(ImAxis_Y1, "%.6g");
+    }
+    ImPlot::SetupAxisLinks(ImAxis_X1, &state->x_view_min, &state->x_view_max);
+    if (state->route_x_max > state->route_x_min) {
+      const double x_constraint_min = session.data_mode == SessionDataMode::Stream
+        ? state->route_x_min - std::max(MIN_HORIZONTAL_ZOOM_SECONDS, session.stream_buffer_seconds)
+        : state->route_x_min;
+      ImPlot::SetupAxisLimitsConstraints(ImAxis_X1, x_constraint_min, state->route_x_max);
+    }
+    if (!state_block_mode) {
+      ImPlot::SetupMouseText(ImPlotLocation_SouthEast, ImPlotMouseTextFlags_NoAuxAxes);
+    }
+    if (!state_block_mode && (explicit_y || supported_count == 0)) {
+      ImPlot::SetupAxisLimits(ImAxis_Y1, bounds.y_min, bounds.y_max, ImPlotCond_Always);
+    }
+    if (!state_block_mode && supported_count > 0) {
+      ImPlot::SetupLegend(ImPlotLocation_NorthEast);
+    }
+
+    if (state_block_mode) {
+      draw_state_blocks_pane(prepared_curves, state);
+    } else {
+      for (size_t i = 0; i < prepared_curves.size(); ++i) {
+        const PreparedCurve &curve = prepared_curves[i];
+        std::string series_id = curve_legend_label(curve, has_cursor_time, max_legend_label_width) + "##curve" + std::to_string(i);
+        ImPlotSpec spec;
+        spec.LineColor = color_rgb(curve.color);
+        spec.LineWeight = curve.line_weight;
+        spec.Flags = ImPlotLineFlags_SkipNaN;
+        if (!curve.xs.empty() && curve.xs.size() == curve.ys.size()) {
+          if (curve.stairs) {
+            spec.Flags = ImPlotStairsFlags_PreStep;
+            ImPlot::PlotStairs(series_id.c_str(), curve.xs.data(), curve.ys.data(), static_cast<int>(curve.xs.size()), spec);
+          } else {
+            ImPlot::PlotLine(series_id.c_str(), curve.xs.data(), curve.ys.data(), static_cast<int>(curve.xs.size()), spec);
+          }
+        }
+      }
+    }
+    if (has_cursor_time) {
+      const double clamped_cursor_time = std::clamp(cursor_time, state->route_x_min, state->route_x_max);
+      ImPlotSpec cursor_spec;
+      cursor_spec.LineColor = color_rgb(108, 118, 128, 0.7f);
+      cursor_spec.LineWeight = 1.0f;
+      cursor_spec.Flags = ImPlotItemFlags_NoLegend;
+      ImPlot::PlotInfLines("##tracker_cursor", &clamped_cursor_time, 1, cursor_spec);
+    }
+    if (ImPlot::IsPlotHovered() && ImGui::IsMouseClicked(ImGuiMouseButton_Left)) {
+      state->tracker_time = std::clamp(ImPlot::GetPlotMousePos().x, state->route_x_min, state->route_x_max);
+      state->has_tracker_time = true;
+    }
+    ImPlot::EndPlot();
+  }
+  app_pop_mono_font();
+  clamp_shared_range(state, session);
+  if (std::abs(state->x_view_min - previous_x_min) > 1.0e-6
+      || std::abs(state->x_view_max - previous_x_max) > 1.0e-6) {
+    if (!state->suppress_range_side_effects) {
+      if (session.data_mode == SessionDataMode::Stream) {
+        state->follow_latest = infer_stream_follow_state(*state, session);
+      } else {
+        state->follow_latest = false;
+      }
+    }
+  }
+  ImPlot::PopStyleVar();
+  ImPlot::PopStyleColor(12);
+}
+
+std::optional<PaneMenuAction> draw_pane_context_menu(const WorkspaceTab &tab, int pane_index) {
+  if (!ImGui::BeginPopupContextWindow("##pane_context")) return std::nullopt;
+
+  PaneMenuAction action;
+  action.pane_index = pane_index;
+  const Pane *pane = pane_index >= 0 && pane_index < static_cast<int>(tab.panes.size())
+    ? &tab.panes[static_cast<size_t>(pane_index)]
+    : nullptr;
+  const bool has_curves = pane_index >= 0
+    && pane_index < static_cast<int>(tab.panes.size())
+    && !tab.panes[static_cast<size_t>(pane_index)].curves.empty();
+  const bool is_plot = pane != nullptr && pane->kind == PaneKind::Plot;
+  if (icon_menu_item(icon::SLIDERS, "Edit Axis Limits...", nullptr, false, is_plot)) {
+    action.kind = PaneMenuActionKind::OpenAxisLimits;
+  }
+  icon_menu_item(icon::PALETTE, "Edit Curve Style...", nullptr, false, false && is_plot);
+  if (action.kind == PaneMenuActionKind::None
+      && icon_menu_item(icon::PLUS_SLASH_MINUS, "Apply filter to data...", nullptr, false, has_curves && is_plot)) {
+    action.kind = PaneMenuActionKind::OpenCustomSeries;
+  }
+  ImGui::Separator();
+  if (action.kind == PaneMenuActionKind::None && icon_menu_item(icon::DISTRIBUTE_HORIZONTAL, "Split Left / Right")) {
+    action.kind = PaneMenuActionKind::SplitRight;
+  } else if (action.kind == PaneMenuActionKind::None
+             && icon_menu_item(icon::DISTRIBUTE_VERTICAL, "Split Top / Bottom")) {
+    action.kind = PaneMenuActionKind::SplitBottom;
+  }
+  ImGui::Separator();
+  if (icon_menu_item(icon::ZOOM_OUT, "Zoom Out", nullptr, false, is_plot)) {
+    action.kind = PaneMenuActionKind::ResetView;
+  } else if (icon_menu_item(icon::ARROW_LEFT_RIGHT, "Zoom Out Horizontally", nullptr, false, is_plot)) {
+    action.kind = PaneMenuActionKind::ResetHorizontal;
+  } else if (icon_menu_item(icon::ARROW_DOWN_UP, "Zoom Out Vertically", nullptr, false, is_plot)) {
+    action.kind = PaneMenuActionKind::ResetVertical;
+  }
+  ImGui::Separator();
+  if (icon_menu_item(icon::TRASH, "Remove ALL curves", nullptr, false, is_plot)) {
+    action.kind = PaneMenuActionKind::Clear;
+  }
+  ImGui::Separator();
+  icon_menu_item(icon::ARROW_LEFT_RIGHT, "Flip Horizontal Axis", nullptr, false, false);
+  icon_menu_item(icon::ARROW_DOWN_UP, "Flip Vertical Axis", nullptr, false, false);
+  ImGui::Separator();
+  icon_menu_item(icon::FILES, "Copy", nullptr, false, false);
+  icon_menu_item(icon::CLIPBOARD2, "Paste", nullptr, false, false);
+  icon_menu_item(icon::FILE_EARMARK_IMAGE, "Copy image to clipboard", nullptr, false, false);
+  icon_menu_item(icon::SAVE, "Save plot to file", nullptr, false, false);
+  icon_menu_item(icon::BAR_CHART, "Show data statistics", nullptr, false, false);
+  ImGui::Separator();
+  if (icon_menu_item(icon::X_SQUARE, "Close Pane")) {
+    action.kind = PaneMenuActionKind::Close;
+  }
+  ImGui::EndPopup();
+  if (action.kind == PaneMenuActionKind::None) return std::nullopt;
+  return action;
+}
diff --git a/tools/jotpluggler/render.cc b/tools/jotpluggler/render.cc
new file mode 100644
index 00000000000000..54f0c16cc394b9
--- /dev/null
+++ b/tools/jotpluggler/render.cc
@@ -0,0 +1,173 @@
+#include "tools/jotpluggler/internal.h"
+
+#include "imgui_impl_glfw.h"
+#include "imgui_impl_opengl3.h"
+#include "imgui_impl_opengl3_loader.h"
+
+#include <GLFW/glfw3.h>
+
+namespace fs = std::filesystem;
+
+void draw_fps_overlay(const UiState &state, float top_offset) {
+  if (!state.show_fps_overlay) {
+    return;
+  }
+  ImGuiViewport *viewport = ImGui::GetMainViewport();
+  const ImGuiIO &io = ImGui::GetIO();
+  const float fps = io.Framerate;
+  const std::string label = util::string_format("%.1f fps", fps);
+
+  const ImVec2 padding(10.0f, 8.0f);
+  const ImVec2 margin(12.0f, 10.0f);
+  app_push_mono_font();
+  ImFont *font = ImGui::GetFont();
+  const float font_size = ImGui::GetFontSize();
+  const ImVec2 text_size = ImGui::CalcTextSize(label.c_str());
+  app_pop_mono_font();
+  const ImVec2 size(text_size.x + padding.x * 2.0f, text_size.y + padding.y * 2.0f);
+  const ImVec2 pos(viewport->Pos.x + viewport->Size.x - size.x - margin.x,
+                   viewport->Pos.y + top_offset + margin.y);
+  ImDrawList *draw_list = ImGui::GetForegroundDrawList(viewport);
+  const ImVec2 max(pos.x + size.x, pos.y + size.y);
+  draw_list->AddRectFilled(pos, max, ImGui::GetColorU32(color_rgb(248, 249, 251, 0.92f)), 4.0f);
+  draw_list->AddRect(pos, max, ImGui::GetColorU32(color_rgb(182, 188, 196, 0.95f)), 4.0f);
+  draw_list->AddText(font, font_size, ImVec2(pos.x + padding.x, pos.y + padding.y),
+                     ImGui::GetColorU32(color_rgb(57, 62, 69)), label.c_str(), nullptr);
+}
+
+void render_layout(AppSession *session, UiState *state, bool show_camera_feed) {
+  if (!state->fps_overlay_initialized) {
+    state->show_fps_overlay = false;
+    state->fps_overlay_initialized = true;
+  }
+  ensure_shared_range(state, *session);
+  if (state->follow_latest) {
+    update_follow_range(state, *session);
+    state->suppress_range_side_effects = true;
+  } else {
+    clamp_shared_range(state, *session);
+  }
+  const bool ctrl = ImGui::GetIO().KeyCtrl || ImGui::GetIO().KeySuper;
+  const bool shift = ImGui::GetIO().KeyShift;
+  if (!ImGui::GetIO().WantTextInput && ctrl && ImGui::IsKeyPressed(ImGuiKey_Z, false)) {
+    if (shift) {
+      apply_redo(session, state);
+    } else {
+      apply_undo(session, state);
+    }
+  }
+  if (!ImGui::GetIO().WantTextInput && ctrl && ImGui::IsKeyPressed(ImGuiKey_F, false)) {
+    state->open_find_signal = true;
+  }
+  if (ImGui::IsKeyPressed(ImGuiKey_LeftArrow, false)) {
+    step_tracker(state, -1.0);
+  }
+  if (ImGui::IsKeyPressed(ImGuiKey_RightArrow, false)) {
+    step_tracker(state, 1.0);
+  }
+  if (!ImGui::GetIO().WantTextInput && ImGui::IsKeyPressed(ImGuiKey_Space, false)) {
+    state->playback_playing = !state->playback_playing;
+  }
+  advance_playback(state, *session);
+  CameraFeedView *sidebar_camera = session->pane_camera_feeds[static_cast<size_t>(sidebar_preview_camera_view(*session))].get();
+  if (show_camera_feed && sidebar_camera != nullptr && state->has_tracker_time) {
+    sidebar_camera->update(state->tracker_time);
+  }
+  const float menu_height = draw_main_menu_bar(session, state);
+  UiMetrics ui = compute_ui_metrics(ImGui::GetMainViewport()->Size, menu_height, state->sidebar_width);
+  if (state->browser_nodes_dirty) {
+    rebuild_browser_nodes(session, state);
+    state->browser_nodes_dirty = false;
+  }
+  state->sidebar_width = ui.sidebar_width;
+  draw_sidebar(session, ui, state, show_camera_feed);
+  draw_workspace(session, ui, state);
+  draw_sidebar_resizer(ui, state);
+  if (!state->custom_series.selected && !state->logs.selected) {
+    draw_pane_windows(session, state);
+  }
+  draw_status_bar(*session, ui, state);
+  draw_popups(session, state);
+  draw_fps_overlay(*state, menu_height);
+}
+
+void save_framebuffer_png(const fs::path &output_path, int width, int height) {
+  ensure_parent_dir(output_path);
+  if (width <= 0 || height <= 0) throw std::runtime_error("Invalid framebuffer size");
+
+  std::vector<uint8_t> pixels(static_cast<size_t>(width) * static_cast<size_t>(height) * 4U, 0);
+  glPixelStorei(GL_PACK_ALIGNMENT, 1);
+  glReadPixels(0, 0, width, height, GL_RGBA, GL_UNSIGNED_BYTE, pixels.data());
+
+  const fs::path ppm_path = output_path.parent_path() / (output_path.stem().string() + ".ppm");
+  std::string ppm = util::string_format("P6\n%d %d\n255\n", width, height);
+  ppm.reserve(ppm.size() + static_cast<size_t>(width) * static_cast<size_t>(height) * 3U);
+  for (int y = height - 1; y >= 0; --y) {
+    for (int x = 0; x < width; ++x) {
+      const size_t index = static_cast<size_t>((y * width + x) * 4);
+      ppm.append(reinterpret_cast<const char *>(&pixels[index]), 3);
+    }
+  }
+  write_file_or_throw(ppm_path, ppm.data(), ppm.size());
+
+  const std::string command = "convert " + shell_quote(ppm_path.string()) + " " + shell_quote(output_path.string());
+  run_system_or_throw(command, "image conversion");
+  fs::remove(ppm_path);
+}
+
+void render_frame(GLFWwindow *window, AppSession *session, UiState *state, const fs::path *capture_path) {
+  glfwPollEvents();
+
+  int framebuffer_width = 0;
+  int framebuffer_height = 0;
+  glfwGetFramebufferSize(window, &framebuffer_width, &framebuffer_height);
+
+  ImGui_ImplOpenGL3_NewFrame();
+  ImGui_ImplGlfw_NewFrame();
+  ImGui::NewFrame();
+
+  if (state->request_save_layout) {
+    if (session->layout_path.empty()) {
+      state->open_save_layout = true;
+    } else {
+      save_layout(session, state, session->layout_path.string());
+    }
+    state->request_save_layout = false;
+  }
+  if (state->request_reset_layout) {
+    reset_layout(session, state);
+    state->request_reset_layout = false;
+  }
+  poll_async_route_load(session, state);
+  if (session->data_mode == SessionDataMode::Stream && session->stream_poller) {
+    StreamExtractBatch batch;
+    std::string error_text;
+    if (session->stream_poller->consume(&batch, &error_text)) {
+      if (!error_text.empty()) {
+        state->error_text = error_text;
+        state->open_error_popup = true;
+        state->status_text = "Stream disconnected";
+      } else {
+        apply_stream_batch(session, state, std::move(batch));
+      }
+    }
+  }
+
+  const bool show_camera = capture_path == nullptr && session->data_mode != SessionDataMode::Stream;
+  render_layout(session, state, show_camera);
+  ImGui::Render();
+  if (state->request_close) {
+    glfwSetWindowShouldClose(window, GLFW_TRUE);
+    state->request_close = false;
+  }
+
+  glViewport(0, 0, framebuffer_width, framebuffer_height);
+  glClearColor(227.0f / 255.0f, 229.0f / 255.0f, 233.0f / 255.0f, 1.0f);
+  glClear(GL_COLOR_BUFFER_BIT);
+  ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
+  if (capture_path != nullptr) {
+    save_framebuffer_png(*capture_path, framebuffer_width, framebuffer_height);
+  }
+  glfwSwapBuffers(window);
+  state->suppress_range_side_effects = false;
+}
diff --git a/tools/jotpluggler/runtime.cc b/tools/jotpluggler/runtime.cc
new file mode 100644
index 00000000000000..47344c5519a857
--- /dev/null
+++ b/tools/jotpluggler/runtime.cc
@@ -0,0 +1,1280 @@
+#include "tools/jotpluggler/app.h"
+#include "tools/jotpluggler/common.h"
+
+#include "cereal/services.h"
+#include "common/timing.h"
+#include "imgui_impl_glfw.h"
+#include "imgui_impl_opengl3.h"
+#include "imgui_impl_opengl3_loader.h"
+#include "implot.h"
+#include "libyuv.h"
+#include "msgq_repo/msgq/ipc.h"
+#include "tools/replay/framereader.h"
+
+#include <GLFW/glfw3.h>
+
+#include <chrono>
+#include <cmath>
+#include <condition_variable>
+#include <cstdio>
+#include <cstdlib>
+#include <deque>
+#include <iomanip>
+#include <iostream>
+#include <mutex>
+#include <sstream>
+#include <stdexcept>
+#include <memory>
+#include <thread>
+#include <unordered_map>
+#include <unordered_set>
+#include <unistd.h>
+
+#include "system/camerad/cameras/nv12_info.h"
+
+namespace {
+
+std::atomic<bool> g_glfw_alive{false};
+const bool kLogCameraTimings = env_flag_enabled("JOTP_CAMERA_TIMINGS");
+
+CameraType decoder_camera_type(CameraViewKind view) {
+  switch (view) {
+    case CameraViewKind::Driver: return DriverCam;
+    case CameraViewKind::WideRoad: return WideRoadCam;
+    case CameraViewKind::QRoad: return RoadCam;
+    case CameraViewKind::Road:
+    default: return RoadCam;
+  }
+}
+
+bool stream_batch_has_data(const StreamExtractBatch &batch) {
+  return !batch.series.empty()
+      || !batch.can_messages.empty()
+      || !batch.logs.empty()
+      || !batch.timeline.empty()
+      || !batch.enum_info.empty()
+      || !batch.car_fingerprint.empty()
+      || !batch.dbc_name.empty();
+}
+
+bool should_subscribe_stream_service(const std::string &name) {
+  static const std::array<std::string_view, 13> kSkippedServices = {{
+    "roadEncodeIdx",
+    "driverEncodeIdx",
+    "wideRoadEncodeIdx",
+    "qRoadEncodeIdx",
+    "roadEncodeData",
+    "driverEncodeData",
+    "wideRoadEncodeData",
+    "qRoadEncodeData",
+    "livestreamWideRoadEncodeIdx",
+    "livestreamRoadEncodeIdx",
+    "livestreamDriverEncodeIdx",
+    "thumbnail",
+    "navThumbnail",
+  }};
+  if (name == "rawAudioData") return false;
+  for (std::string_view skipped : kSkippedServices) {
+    if (name == skipped) return false;
+  }
+  return true;
+}
+
+void glfw_error_callback(int error, const char *description) {
+  const std::string_view desc = description != nullptr ? description : "unknown";
+  if (error == 65539 && desc.find("Invalid window attribute 0x0002000D") != std::string_view::npos) {
+    return;
+  }
+  std::cerr << "GLFW error " << error << ": " << desc << "\n";
+}
+
+}  // namespace
+
+GlfwRuntime::GlfwRuntime(const Options &options) {
+  glfwSetErrorCallback(glfw_error_callback);
+  if (!glfwInit()) throw std::runtime_error("glfwInit failed");
+  g_glfw_alive.store(true);
+
+  glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
+  glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
+  glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
+#ifdef __APPLE__
+  glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GLFW_TRUE);
+#endif
+  const bool fixed_size = !options.show;
+  glfwWindowHint(GLFW_RESIZABLE, fixed_size ? GLFW_FALSE : GLFW_TRUE);
+  glfwWindowHint(GLFW_VISIBLE, options.show ? GLFW_TRUE : GLFW_FALSE);
+
+  window_ = glfwCreateWindow(options.width, options.height, "jotpluggler", nullptr, nullptr);
+  if (window_ == nullptr) {
+    glfwTerminate();
+    throw std::runtime_error("glfwCreateWindow failed");
+  }
+
+  if (fixed_size) {
+    glfwSetWindowSizeLimits(window_, options.width, options.height, options.width, options.height);
+  }
+  glfwMakeContextCurrent(window_);
+  glfwSwapInterval(options.show ? 1 : 0);
+}
+
+GlfwRuntime::~GlfwRuntime() {
+  if (window_ != nullptr) {
+    glfwDestroyWindow(window_);
+  }
+  g_glfw_alive.store(false);
+  glfwTerminate();
+}
+
+GLFWwindow *GlfwRuntime::window() const {
+  return window_;
+}
+
+ImGuiRuntime::ImGuiRuntime(GLFWwindow *window) {
+  IMGUI_CHECKVERSION();
+  ImGui::CreateContext();
+  ImPlot::CreateContext();
+
+  ImGuiIO &io = ImGui::GetIO();
+  io.ConfigFlags |= ImGuiConfigFlags_DockingEnable;
+  io.IniFilename = nullptr;
+  io.LogFilename = nullptr;
+
+  if (!ImGui_ImplGlfw_InitForOpenGL(window, true)) {
+    ImPlot::DestroyContext();
+    ImGui::DestroyContext();
+    throw std::runtime_error("ImGui_ImplGlfw_InitForOpenGL failed");
+  }
+  if (!ImGui_ImplOpenGL3_Init("#version 330")) {
+    ImGui_ImplGlfw_Shutdown();
+    ImPlot::DestroyContext();
+    ImGui::DestroyContext();
+    throw std::runtime_error("ImGui_ImplOpenGL3_Init failed");
+  }
+}
+
+ImGuiRuntime::~ImGuiRuntime() {
+  ImGui_ImplOpenGL3_Shutdown();
+  ImGui_ImplGlfw_Shutdown();
+  ImPlot::DestroyContext();
+  ImGui::DestroyContext();
+}
+
+struct TerminalRouteProgress::Impl {
+  explicit Impl(bool enabled) : enabled_(enabled) {}
+
+  void update(const RouteLoadProgress &progress) {
+    std::lock_guard<std::mutex> lock(mutex_);
+    if (!enabled_) {
+      return;
+    }
+
+    double overall = 0.0;
+    std::string detail = "Resolving route";
+    if (progress.stage == RouteLoadStage::Finished) {
+      overall = 1.0;
+      detail = "Ready";
+    } else if (progress.total_segments > 0) {
+      const bool finalizing = progress.segments_downloaded >= progress.total_segments
+                           && progress.segments_parsed >= progress.total_segments;
+      if (finalizing) {
+        overall = 0.99;
+        detail = "Finalizing route data";
+      } else {
+        const double total_work = static_cast<double>(progress.total_segments) * 2.0;
+        const double complete_work = static_cast<double>(progress.segments_downloaded + progress.segments_parsed);
+        overall = total_work <= 0.0 ? 0.0 : std::clamp(complete_work / total_work, 0.0, 0.99);
+        std::ostringstream desc;
+        desc << "Downloaded " << progress.segments_downloaded << "/" << progress.total_segments
+             << "  Parsed " << progress.segments_parsed << "/" << progress.total_segments;
+        detail = desc.str();
+      }
+    }
+
+    render(overall, detail);
+  }
+
+  void finish() {
+    std::lock_guard<std::mutex> lock(mutex_);
+    if (!enabled_ || !rendered_) {
+      return;
+    }
+    render(1.0, "Ready");
+    std::fputc('\n', stderr);
+    std::fflush(stderr);
+    rendered_ = false;
+  }
+
+  void render(double progress, const std::string &detail) {
+    const int percent = std::clamp(static_cast<int>(std::round(progress * 100.0)), 0, 100);
+    if (percent == last_percent_ && detail == last_detail_) {
+      return;
+    }
+
+    constexpr int kWidth = 20;
+    const int filled = std::clamp(static_cast<int>(std::round(progress * kWidth)), 0, kWidth);
+    const std::string bar = std::string(static_cast<size_t>(filled), '=') + std::string(static_cast<size_t>(kWidth - filled), ' ');
+    std::ostringstream line;
+    line << "\r[" << bar << "] " << percent << "% " << detail;
+
+    const std::string text = line.str();
+    std::fprintf(stderr, "%s", text.c_str());
+    if (text.size() < last_line_width_) {
+      std::fprintf(stderr, "%s", std::string(last_line_width_ - text.size(), ' ').c_str());
+    }
+    std::fflush(stderr);
+
+    rendered_ = true;
+    last_percent_ = percent;
+    last_detail_ = detail;
+    last_line_width_ = text.size();
+  }
+
+  bool enabled_ = false;
+  bool rendered_ = false;
+  int last_percent_ = -1;
+  size_t last_line_width_ = 0;
+  std::string last_detail_;
+  std::mutex mutex_;
+};
+
+TerminalRouteProgress::TerminalRouteProgress(bool enabled)
+  : impl_(std::make_unique<Impl>(enabled)) {}
+
+TerminalRouteProgress::~TerminalRouteProgress() {
+  finish();
+}
+
+void TerminalRouteProgress::update(const RouteLoadProgress &progress) {
+  impl_->update(progress);
+}
+
+void TerminalRouteProgress::finish() {
+  impl_->finish();
+}
+
+struct AsyncRouteLoader::Impl {
+  explicit Impl(bool enable_terminal_progress)
+      : terminal_progress(enable_terminal_progress) {}
+
+  ~Impl() {
+    join();
+  }
+
+  void start(const std::string &route_name_value, const std::string &data_dir_value, const std::string &dbc_name_value) {
+    join();
+    {
+      std::lock_guard<std::mutex> lock(mutex);
+      route_name = route_name_value;
+      data_dir = data_dir_value;
+      dbc_name = dbc_name_value;
+      result.reset();
+      error_text.clear();
+    }
+    active.store(!route_name_value.empty());
+    completed.store(route_name_value.empty());
+    success.store(route_name_value.empty());
+    total_segments.store(0);
+    segments_downloaded.store(0);
+    segments_parsed.store(0);
+    if (route_name_value.empty()) {
+      return;
+    }
+
+    worker = std::thread([this]() {
+      try {
+        RouteData route_data = load_route_data(route_name, data_dir, dbc_name, [this](const RouteLoadProgress &progress) {
+          total_segments.store(progress.total_segments > 0 ? progress.total_segments : progress.segment_count);
+          segments_downloaded.store(progress.segments_downloaded);
+          segments_parsed.store(progress.segments_parsed);
+          terminal_progress.update(progress);
+        });
+        {
+          std::lock_guard<std::mutex> lock(mutex);
+          result = std::make_unique<RouteData>(std::move(route_data));
+          error_text.clear();
+        }
+        success.store(true);
+      } catch (const std::exception &err) {
+        std::lock_guard<std::mutex> lock(mutex);
+        result.reset();
+        error_text = err.what();
+        success.store(false);
+      }
+      active.store(false);
+      completed.store(true);
+      terminal_progress.finish();
+    });
+  }
+
+  RouteLoadSnapshot snapshot() const {
+    RouteLoadSnapshot snapshot;
+    snapshot.active = active.load();
+    snapshot.total_segments = total_segments.load();
+    snapshot.segments_downloaded = segments_downloaded.load();
+    snapshot.segments_parsed = segments_parsed.load();
+    return snapshot;
+  }
+
+  bool consume(RouteData *route_data, std::string *error_text_out) {
+    if (!completed.load()) return false;
+    join();
+    std::lock_guard<std::mutex> lock(mutex);
+    completed.store(false);
+    if (result) {
+      *route_data = std::move(*result);
+      result.reset();
+      if (error_text_out != nullptr) {
+        error_text_out->clear();
+      }
+      return true;
+    }
+    if (error_text_out != nullptr) {
+      *error_text_out = error_text;
+    }
+    return true;
+  }
+
+  void join() {
+    if (worker.joinable()) {
+      worker.join();
+    }
+  }
+
+  mutable std::mutex mutex;
+  std::thread worker;
+  std::unique_ptr<RouteData> result;
+  std::string route_name;
+  std::string data_dir;
+  std::string dbc_name;
+  std::string error_text;
+  std::atomic<bool> active{false};
+  std::atomic<bool> completed{false};
+  std::atomic<bool> success{false};
+  std::atomic<size_t> total_segments{0};
+  std::atomic<size_t> segments_downloaded{0};
+  std::atomic<size_t> segments_parsed{0};
+  TerminalRouteProgress terminal_progress;
+};
+
+AsyncRouteLoader::AsyncRouteLoader(bool enable_terminal_progress)
+  : impl_(std::make_unique<Impl>(enable_terminal_progress)) {}
+
+AsyncRouteLoader::~AsyncRouteLoader() = default;
+
+void AsyncRouteLoader::start(const std::string &route_name, const std::string &data_dir, const std::string &dbc_name) {
+  impl_->start(route_name, data_dir, dbc_name);
+}
+
+RouteLoadSnapshot AsyncRouteLoader::snapshot() const {
+  return impl_->snapshot();
+}
+
+bool AsyncRouteLoader::consume(RouteData *route_data, std::string *error_text) {
+  return impl_->consume(route_data, error_text);
+}
+
+struct StreamPoller::Impl {
+  ~Impl() {
+    stop();
+  }
+
+  void start(const StreamSourceConfig &requested_source,
+             double requested_buffer_seconds,
+             const std::string &dbc_name,
+             std::optional<double> time_offset) {
+    stop();
+    {
+      std::lock_guard<std::mutex> lock(mutex);
+      pending = {};
+      pending_series_slots.clear();
+      pending_can_slots.clear();
+      error_text.clear();
+      source = requested_source;
+      if (source.kind == StreamSourceKind::CerealLocal) {
+        source.address = "127.0.0.1";
+      } else if (source.kind == StreamSourceKind::CerealRemote) {
+        source.address = normalize_stream_address(source.address);
+      }
+      buffer_seconds = std::max(1.0, requested_buffer_seconds);
+      latest_dbc_name = dbc_name;
+      latest_car_fingerprint.clear();
+    }
+    received_messages.store(0);
+    connected.store(false);
+    paused.store(false);
+    running.store(true);
+    worker = std::thread([this, dbc_name, time_offset]() {
+      try {
+        StreamAccumulator accumulator(dbc_name, time_offset);
+        switch (source.kind) {
+          case StreamSourceKind::CerealLocal:
+          case StreamSourceKind::CerealRemote:
+            run_cereal_source(&accumulator);
+            break;
+        }
+      } catch (const std::exception &err) {
+        std::lock_guard<std::mutex> lock(mutex);
+        error_text = err.what();
+      }
+      connected.store(false);
+      running.store(false);
+    });
+  }
+
+  void setPaused(bool paused_value) {
+    paused.store(paused_value);
+    if (paused_value) {
+      std::lock_guard<std::mutex> lock(mutex);
+      pending = {};
+      pending_series_slots.clear();
+      pending_can_slots.clear();
+      error_text.clear();
+    }
+  }
+
+  void set_error_text(std::string text) {
+    std::lock_guard<std::mutex> lock(mutex);
+    error_text = std::move(text);
+  }
+
+  void clear_error_text() {
+    std::lock_guard<std::mutex> lock(mutex);
+    error_text.clear();
+  }
+
+  void stop() {
+    running.store(false);
+    paused.store(false);
+    if (worker.joinable()) {
+      worker.join();
+    }
+    connected.store(false);
+  }
+
+  StreamPollSnapshot snapshot() const {
+    StreamPollSnapshot out;
+    out.active = running.load();
+    out.connected = connected.load();
+    out.paused = paused.load();
+    out.source_kind = source.kind;
+    out.source_label = stream_source_target_label(source);
+    out.buffer_seconds = buffer_seconds;
+    out.received_messages = received_messages.load();
+    std::lock_guard<std::mutex> lock(mutex);
+    out.dbc_name = latest_dbc_name;
+    out.car_fingerprint = latest_car_fingerprint;
+    return out;
+  }
+
+  bool consume(StreamExtractBatch *batch, std::string *out_error_text) {
+    std::lock_guard<std::mutex> lock(mutex);
+    const bool has_error = !error_text.empty();
+    const bool has_batch = stream_batch_has_data(pending);
+    if (!has_error && !has_batch) return false;
+    if (batch != nullptr) {
+      *batch = std::move(pending);
+      pending = {};
+      pending_series_slots.clear();
+      pending_can_slots.clear();
+    }
+    if (out_error_text != nullptr) {
+      *out_error_text = error_text;
+      error_text.clear();
+    }
+    return true;
+  }
+
+  static void merge_route_series(RouteSeries *dst, RouteSeries *src) {
+    if (src->times.empty()) {
+      return;
+    }
+    if (dst->path.empty()) {
+      dst->path = src->path;
+    }
+    dst->times.insert(dst->times.end(), src->times.begin(), src->times.end());
+    dst->values.insert(dst->values.end(), src->values.begin(), src->values.end());
+  }
+
+  static void merge_can_message_data(CanMessageData *dst, CanMessageData *src) {
+    if (src->samples.empty()) {
+      return;
+    }
+    if (dst->samples.empty()) {
+      *dst = std::move(*src);
+      return;
+    }
+    dst->samples.insert(dst->samples.end(),
+                        std::make_move_iterator(src->samples.begin()),
+                        std::make_move_iterator(src->samples.end()));
+  }
+
+  static void merge_batch(StreamExtractBatch *dst,
+                          std::unordered_map<std::string, size_t> *series_slots,
+                          std::unordered_map<CanMessageId, size_t, CanMessageIdHash> *can_slots,
+                          StreamExtractBatch *src) {
+    for (RouteSeries &series : src->series) {
+      auto [it, inserted] = series_slots->try_emplace(series.path, dst->series.size());
+      if (inserted) {
+        dst->series.push_back(RouteSeries{.path = series.path});
+      }
+      merge_route_series(&dst->series[it->second], &series);
+    }
+    for (CanMessageData &message : src->can_messages) {
+      auto [it, inserted] = can_slots->try_emplace(message.id, dst->can_messages.size());
+      if (inserted) {
+        dst->can_messages.push_back(CanMessageData{.id = message.id});
+      }
+      merge_can_message_data(&dst->can_messages[it->second], &message);
+    }
+    if (!src->logs.empty()) {
+      dst->logs.insert(dst->logs.end(),
+                       std::make_move_iterator(src->logs.begin()),
+                       std::make_move_iterator(src->logs.end()));
+    }
+    if (!src->timeline.empty()) {
+      dst->timeline.insert(dst->timeline.end(),
+                           std::make_move_iterator(src->timeline.begin()),
+                           std::make_move_iterator(src->timeline.end()));
+    }
+    for (auto &[path, info] : src->enum_info) {
+      dst->enum_info[path] = std::move(info);
+    }
+    if (!src->car_fingerprint.empty()) {
+      dst->car_fingerprint = src->car_fingerprint;
+    }
+    if (!src->dbc_name.empty()) {
+      dst->dbc_name = src->dbc_name;
+    }
+  }
+
+  void publish_batch(StreamAccumulator *accumulator) {
+    StreamExtractBatch batch = accumulator->takeBatch();
+    if (!stream_batch_has_data(batch)) {
+      return;
+    }
+    std::lock_guard<std::mutex> lock(mutex);
+    merge_batch(&pending, &pending_series_slots, &pending_can_slots, &batch);
+    latest_dbc_name = pending.dbc_name;
+    latest_car_fingerprint = pending.car_fingerprint;
+  }
+
+  void run_cereal_source(StreamAccumulator *accumulator) {
+    if (source.kind == StreamSourceKind::CerealRemote) {
+      setenv("ZMQ", "1", 1);
+    } else {
+      unsetenv("ZMQ");
+    }
+
+    std::unique_ptr<Context> context(Context::create());
+    std::unique_ptr<Poller> poller(Poller::create());
+    std::vector<std::unique_ptr<SubSocket>> sockets;
+    sockets.reserve(services.size());
+    for (const auto &[name, info] : services) {
+      if (!should_subscribe_stream_service(name)) continue;
+      std::unique_ptr<SubSocket> socket(
+        SubSocket::create(context.get(), name.c_str(), source.address.c_str(), false, true, info.queue_size));
+      if (socket == nullptr) continue;
+      socket->setTimeout(0);
+      poller->registerSocket(socket.get());
+      sockets.push_back(std::move(socket));
+    }
+    if (sockets.empty()) throw std::runtime_error("Failed to connect to any cereal service");
+    connected.store(true);
+
+    while (running.load()) {
+      std::vector<SubSocket *> ready = poller->poll(1);
+      for (SubSocket *socket : ready) {
+        while (running.load()) {
+          std::unique_ptr<Message> msg(socket->receive(true));
+          if (!msg) break;
+          const size_t size = msg->getSize();
+          if (size < sizeof(capnp::word) || (size % sizeof(capnp::word)) != 0) {
+            continue;
+          }
+          if (paused.load()) {
+            received_messages.fetch_add(1);
+            continue;
+          }
+          kj::ArrayPtr<const capnp::word> data(reinterpret_cast<const capnp::word *>(msg->getData()),
+                                               size / sizeof(capnp::word));
+          capnp::FlatArrayMessageReader event_reader(data);
+          const cereal::Event::Reader event = event_reader.getRoot<cereal::Event>();
+          accumulator->appendEvent(event.which(), data);
+          received_messages.fetch_add(1);
+        }
+      }
+      publish_batch(accumulator);
+    }
+  }
+
+  mutable std::mutex mutex;
+  std::thread worker;
+  std::atomic<bool> running{false};
+  std::atomic<bool> connected{false};
+  std::atomic<bool> paused{false};
+  std::atomic<uint64_t> received_messages{0};
+  StreamExtractBatch pending;
+  std::unordered_map<std::string, size_t> pending_series_slots;
+  std::unordered_map<CanMessageId, size_t, CanMessageIdHash> pending_can_slots;
+  std::string error_text;
+  StreamSourceConfig source;
+  std::string latest_dbc_name;
+  std::string latest_car_fingerprint;
+  double buffer_seconds = 30.0;
+};
+
+StreamPoller::StreamPoller()
+  : impl_(std::make_unique<Impl>()) {}
+
+StreamPoller::~StreamPoller() = default;
+
+void StreamPoller::start(const StreamSourceConfig &source,
+                         double buffer_seconds,
+                         const std::string &dbc_name,
+                         std::optional<double> time_offset) {
+  impl_->start(source, buffer_seconds, dbc_name, time_offset);
+}
+
+void StreamPoller::setPaused(bool paused) {
+  impl_->setPaused(paused);
+}
+
+void StreamPoller::stop() {
+  impl_->stop();
+}
+
+StreamPollSnapshot StreamPoller::snapshot() const {
+  return impl_->snapshot();
+}
+
+bool StreamPoller::consume(StreamExtractBatch *batch, std::string *error_text) {
+  return impl_->consume(batch, error_text);
+}
+
+struct CameraFeedView::Impl {
+  struct RequestKey {
+    int segment = -1;
+    int decode_index = -1;
+  };
+
+  struct DecodeRequest {
+    RequestKey key;
+    std::string path;
+    uint64_t serial = 0;
+    uint64_t generation = 0;
+  };
+
+  struct PreloadTask {
+    int segment = -1;
+    std::string path;
+    uint64_t generation = 0;
+  };
+
+  struct DecodeResult {
+    RequestKey key;
+    bool success = false;
+    int width = 0;
+    int height = 0;
+    double decode_ms = 0.0;
+    std::vector<uint8_t> rgba;
+  };
+
+  static constexpr float kDefaultAspect = 1208.0f / 1928.0f;
+  static constexpr size_t kCachedFrames = 8;
+  static constexpr int kPrefetchAhead = 2;
+  static constexpr int kImmediateNearbyFrameDistance = 8;
+  static constexpr int kPreloadWorkerCount = 2;
+
+  Impl() {
+    demand_worker = std::thread([this]() { demand_worker_loop(); });
+    for (int i = 0; i < kPreloadWorkerCount; ++i) {
+      preload_workers.emplace_back([this]() { preload_worker_loop(); });
+    }
+  }
+
+  ~Impl() {
+    stop.store(true);
+    cv.notify_all();
+    if (demand_worker.joinable()) {
+      demand_worker.join();
+    }
+    for (std::thread &worker : preload_workers) {
+      if (worker.joinable()) {
+        worker.join();
+      }
+    }
+    destroy_texture();
+  }
+
+  void setRouteData(const RouteData &route_data) {
+    setCameraIndex(route_data.road_camera, CameraViewKind::Road);
+  }
+
+  void setCameraIndex(const CameraFeedIndex &camera_index, CameraViewKind view) {
+    destroy_texture();
+    {
+      std::lock_guard<std::mutex> lock(mutex);
+      route_index = camera_index;
+      camera_view = view;
+      pending_request.reset();
+      pending_result.reset();
+      cached_results.clear();
+      preload_queue.clear();
+      preload_focus_segment = -1;
+      ++route_generation;
+      latest_request_serial = 0;
+      int initial_focus_segment = -1;
+      if (!route_index.entries.empty()) {
+        initial_focus_segment = route_index.entries.front().segment;
+      } else {
+        for (const CameraSegmentFile &segment_file : route_index.segment_files) {
+          if (!segment_file.path.empty()) {
+            initial_focus_segment = segment_file.segment;
+            break;
+          }
+        }
+      }
+      if (initial_focus_segment >= 0) {
+        rebuild_preload_queue_locked(initial_focus_segment);
+      }
+    }
+    abort_demand_work.store(true);
+    abort_preload_work.store(true);
+    active_request.reset();
+    displayed_request.reset();
+    failed_request.reset();
+    frame_width = 0;
+    frame_height = 0;
+    cv.notify_all();
+  }
+
+  void update(double tracker_time) {
+    upload_pending_result();
+    std::optional<DecodeRequest> request = request_for_time(tracker_time);
+    if (!request.has_value()) {
+      return;
+    }
+    if (same_request(active_request, request->key) || same_request(displayed_request, request->key) ||
+        same_request(failed_request, request->key)) {
+      return;
+    }
+    if (try_upload_cached_result(request->key)) {
+      return;
+    }
+    try_upload_nearby_cached_result(request->key);
+
+    bool focus_changed = false;
+    {
+      std::lock_guard<std::mutex> lock(mutex);
+      if (preload_focus_segment != request->key.segment) {
+        rebuild_preload_queue_locked(request->key.segment);
+        focus_changed = true;
+      }
+      request->serial = ++latest_request_serial;
+      request->generation = route_generation;
+      pending_request = request;
+    }
+    abort_demand_work.store(true);
+    if (focus_changed) {
+      abort_preload_work.store(true);
+    }
+    active_request = request->key;
+    failed_request.reset();
+    cv.notify_all();
+  }
+
+  void draw(float width, bool loading) {
+    const float preview_width = std::max(1.0f, width);
+    const float preview_height = preview_width * preview_aspect();
+    drawSized(ImVec2(preview_width, preview_height), loading, false);
+    ImGui::Spacing();
+  }
+
+  void drawSized(ImVec2 size, bool loading, bool fit_to_pane) {
+    size.x = std::max(1.0f, size.x);
+    size.y = std::max(1.0f, size.y);
+    const float aspect = preview_aspect();
+    ImVec2 frame_size = size;
+    ImVec2 top_left = ImGui::GetCursorScreenPos();
+    ImVec2 uv0(0.0f, 0.0f);
+    ImVec2 uv1(1.0f, 1.0f);
+    if (aspect > 0.0f && !fit_to_pane) {
+      frame_size.y = std::min(size.y, size.x * aspect);
+      frame_size.x = std::min(size.x, frame_size.y / aspect);
+      top_left = ImVec2(top_left.x + (size.x - frame_size.x) * 0.5f,
+                        top_left.y + (size.y - frame_size.y) * 0.5f);
+    } else if (aspect > 0.0f && fit_to_pane) {
+      const float src_aspect = 1.0f / aspect;
+      const float dst_aspect = size.x / size.y;
+      if (dst_aspect > src_aspect) {
+        const float visible_v = std::clamp(src_aspect / dst_aspect, 0.0f, 1.0f);
+        const float v_pad = (1.0f - visible_v) * 0.5f;
+        uv0.y = v_pad;
+        uv1.y = 1.0f - v_pad;
+      } else if (dst_aspect < src_aspect) {
+        const float visible_u = std::clamp(dst_aspect / src_aspect, 0.0f, 1.0f);
+        const float u_pad = (1.0f - visible_u) * 0.5f;
+        uv0.x = u_pad;
+        uv1.x = 1.0f - u_pad;
+      }
+    }
+    ImGui::InvisibleButton("##camera_feed_sized", size);
+    if (texture != 0) {
+      ImGui::GetWindowDrawList()->AddImage(static_cast<ImTextureID>(texture),
+                                           top_left,
+                                           ImVec2(top_left.x + frame_size.x, top_left.y + frame_size.y),
+                                           uv0,
+                                           uv1);
+    } else {
+      ImDrawList *draw_list = ImGui::GetWindowDrawList();
+      draw_list->AddRectFilled(top_left, ImVec2(top_left.x + frame_size.x, top_left.y + frame_size.y), IM_COL32(45, 47, 50, 255));
+      draw_list->AddRect(top_left, ImVec2(top_left.x + frame_size.x, top_left.y + frame_size.y), IM_COL32(95, 100, 106, 255));
+
+      const char *label = (loading || has_video_source()) ? "loading" : "no video";
+      const ImVec2 text_size = ImGui::CalcTextSize(label);
+      const ImVec2 text_pos(top_left.x + (frame_size.x - text_size.x) * 0.5f,
+                            top_left.y + (frame_size.y - text_size.y) * 0.5f);
+      draw_list->AddText(text_pos, IM_COL32(187, 187, 187, 255), label);
+    }
+  }
+
+  static bool same_request(const std::optional<RequestKey> &lhs, const RequestKey &rhs) {
+    return lhs.has_value() && lhs->segment == rhs.segment && lhs->decode_index == rhs.decode_index;
+  }
+
+  bool has_video_source() const {
+    std::lock_guard<std::mutex> lock(mutex);
+    return !route_index.entries.empty() && !route_index.segment_files.empty();
+  }
+
+  float preview_aspect() const {
+    if (frame_width > 0 && frame_height > 0) return static_cast<float>(frame_height) / static_cast<float>(frame_width);
+    return kDefaultAspect;
+  }
+
+  std::optional<DecodeRequest> request_for_time(double tracker_time) const {
+    std::lock_guard<std::mutex> lock(mutex);
+    if (route_index.entries.empty()) return std::nullopt;
+
+    auto it = std::lower_bound(route_index.entries.begin(), route_index.entries.end(), tracker_time,
+                               [](const CameraFrameIndexEntry &entry, double tm) {
+                                 return entry.timestamp < tm;
+                               });
+    if (it == route_index.entries.end()) {
+      it = std::prev(route_index.entries.end());
+    } else if (it != route_index.entries.begin()) {
+      const auto prev = std::prev(it);
+      if (std::abs(prev->timestamp - tracker_time) <= std::abs(it->timestamp - tracker_time)) {
+        it = prev;
+      }
+    }
+
+    auto path_it = std::find_if(route_index.segment_files.begin(), route_index.segment_files.end(),
+                                [&](const CameraSegmentFile &segment) {
+                                  return segment.segment == it->segment && !segment.path.empty();
+                                });
+    if (path_it == route_index.segment_files.end()) return std::nullopt;
+
+    return DecodeRequest{
+      .key = RequestKey{.segment = it->segment, .decode_index = it->decode_index},
+      .path = path_it->path,
+    };
+  }
+
+  void upload_pending_result() {
+    std::optional<DecodeResult> result;
+    {
+      std::lock_guard<std::mutex> lock(mutex);
+      if (!pending_result.has_value()) {
+        return;
+      }
+      result = std::move(pending_result);
+      pending_result.reset();
+    }
+
+    active_request.reset();
+    if (!result->success || result->rgba.empty() || result->width <= 0 || result->height <= 0) {
+      failed_request = result->key;
+      return;
+    }
+
+    upload_result(*result);
+  }
+
+  void upload_result(const DecodeResult &result) {
+    remember_cached_result(result);
+
+    const bool new_size = texture_width != result.width || texture_height != result.height;
+    if (texture == 0) {
+      glGenTextures(1, &texture);
+    }
+    glBindTexture(GL_TEXTURE_2D, texture);
+    if (new_size) {
+      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+      glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
+      glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, result.width, result.height, 0, GL_RGBA, GL_UNSIGNED_BYTE, result.rgba.data());
+      texture_width = result.width;
+      texture_height = result.height;
+    } else {
+      glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, result.width, result.height, GL_RGBA, GL_UNSIGNED_BYTE, result.rgba.data());
+    }
+    glBindTexture(GL_TEXTURE_2D, 0);
+
+    frame_width = result.width;
+    frame_height = result.height;
+    displayed_request = result.key;
+    failed_request.reset();
+  }
+
+  bool try_upload_cached_result(const RequestKey &key) {
+    std::optional<DecodeResult> result;
+    {
+      std::lock_guard<std::mutex> lock(mutex);
+      auto it = std::find_if(cached_results.begin(), cached_results.end(), [&](const DecodeResult &cached) {
+        return cached.key.segment == key.segment && cached.key.decode_index == key.decode_index;
+      });
+      if (it == cached_results.end()) {
+        return false;
+      }
+      result = *it;
+    }
+    active_request.reset();
+    upload_result(*result);
+    return true;
+  }
+
+  bool try_upload_nearby_cached_result(const RequestKey &key) {
+    std::optional<DecodeResult> result;
+    int best_distance = std::numeric_limits<int>::max();
+    {
+      std::lock_guard<std::mutex> lock(mutex);
+      for (const DecodeResult &cached : cached_results) {
+        if (cached.key.segment != key.segment) continue;
+        const int distance = std::abs(cached.key.decode_index - key.decode_index);
+        if (distance == 0 || distance > kImmediateNearbyFrameDistance || distance >= best_distance) continue;
+        best_distance = distance;
+        result = cached;
+      }
+    }
+    if (!result.has_value()) {
+      return false;
+    }
+    upload_result(*result);
+    return true;
+  }
+
+  void remember_cached_result(const DecodeResult &result) {
+    std::lock_guard<std::mutex> lock(mutex);
+    auto it = std::find_if(cached_results.begin(), cached_results.end(), [&](const DecodeResult &cached) {
+      return cached.key.segment == result.key.segment && cached.key.decode_index == result.key.decode_index;
+    });
+    if (it != cached_results.end()) {
+      cached_results.erase(it);
+    }
+    cached_results.push_front(result);
+    while (cached_results.size() > kCachedFrames) {
+      cached_results.pop_back();
+    }
+  }
+
+  void destroy_texture() {
+    if (texture != 0 && g_glfw_alive.load() && glfwGetCurrentContext() != nullptr) {
+      glDeleteTextures(1, &texture);
+    }
+    texture = 0;
+    texture_width = 0;
+    texture_height = 0;
+    frame_width = 0;
+    frame_height = 0;
+  }
+
+  static bool ensure_decode_buffer(FrameReader *reader, VisionBuf *buf, bool &allocated, int &w, int &h) {
+    if (!reader) return false;
+    if (allocated && w == reader->width && h == reader->height) return true;
+    if (allocated) { buf->free(); allocated = false; }
+    const auto [stride, y_height, _uv_height, size] = get_nv12_info(reader->width, reader->height);
+    buf->allocate(size);
+    buf->init_yuv(reader->width, reader->height, stride, stride * y_height);
+    w = reader->width;
+    h = reader->height;
+    allocated = true;
+    return true;
+  }
+
+  void publish_result(const DecodeRequest &request, DecodeResult result) {
+    std::lock_guard<std::mutex> lock(mutex);
+    if (!pending_request.has_value() || pending_request->serial != request.serial ||
+        pending_request->generation != request.generation) {
+      return;
+    }
+    pending_result = std::move(result);
+  }
+
+  bool has_newer_pending_request(uint64_t serial) const {
+    std::lock_guard<std::mutex> lock(mutex);
+    return pending_request.has_value() && pending_request->serial != serial;
+  }
+
+  void rebuild_preload_queue_locked(int focus_segment) {
+    std::vector<PreloadTask> ordered;
+    ordered.reserve(route_index.segment_files.size());
+    for (const CameraSegmentFile &segment_file : route_index.segment_files) {
+      if (segment_file.path.empty()) continue;
+      if (segment_file.segment == focus_segment) continue;
+      ordered.push_back(PreloadTask{
+        .segment = segment_file.segment,
+        .path = segment_file.path,
+        .generation = route_generation,
+      });
+    }
+    std::sort(ordered.begin(), ordered.end(), [&](const PreloadTask &a, const PreloadTask &b) {
+      const int distance_a = std::abs(a.segment - focus_segment);
+      const int distance_b = std::abs(b.segment - focus_segment);
+      if (distance_a != distance_b) return distance_a < distance_b;
+      return a.segment < b.segment;
+    });
+    preload_queue.assign(ordered.begin(), ordered.end());
+    preload_focus_segment = focus_segment;
+  }
+
+  std::shared_ptr<FrameReader> find_loaded_reader_locked(int segment, uint64_t generation) {
+    if (readers_generation != generation) {
+      readers.clear();
+      loading_segments.clear();
+      readers_generation = generation;
+    }
+    auto it = readers.find(segment);
+    return it != readers.end() ? it->second : nullptr;
+  }
+
+  std::shared_ptr<FrameReader> ensure_reader_loaded(int segment,
+                                                    const std::string &path,
+                                                    uint64_t generation,
+                                                    const char *reason,
+                                                    std::atomic<bool> *abort_flag,
+                                                    bool wait_for_inflight) {
+    while (!stop.load()) {
+      {
+        std::unique_lock<std::mutex> lock(readers_mutex);
+        if (std::shared_ptr<FrameReader> cached = find_loaded_reader_locked(segment, generation)) {
+          return cached;
+        }
+        if (loading_segments.find(segment) != loading_segments.end()) {
+          if (!wait_for_inflight) {
+            return nullptr;
+          }
+          readers_cv.wait(lock, [&]() {
+            return stop.load()
+                || readers_generation != generation
+                || loading_segments.find(segment) == loading_segments.end();
+          });
+          continue;
+        }
+        loading_segments.insert(segment);
+      }
+
+      auto reader = std::make_shared<FrameReader>();
+      const auto load_begin = std::chrono::steady_clock::now();
+      const bool loaded = reader->load(decoder_camera_type(camera_view), path, false, abort_flag, true);
+
+      {
+        std::lock_guard<std::mutex> lock(readers_mutex);
+        if (readers_generation != generation) {
+          readers.clear();
+          loading_segments.clear();
+          readers_generation = generation;
+        }
+        loading_segments.erase(segment);
+        if (loaded) {
+          readers[segment] = reader;
+        }
+      }
+      readers_cv.notify_all();
+
+      if (!loaded) {
+        return nullptr;
+      }
+      if (kLogCameraTimings) {
+        const double load_ms = std::chrono::duration<double, std::milli>(std::chrono::steady_clock::now() - load_begin).count();
+        std::fprintf(stderr, "camera[%s] %s-load seg=%d %.1fms\n",
+                     camera_view_spec(camera_view).runtime_name, reason, segment, load_ms);
+      }
+      return reader;
+    }
+    return nullptr;
+  }
+
+  void preload_worker_loop() {
+    while (true) {
+      std::optional<PreloadTask> preload;
+      {
+        std::unique_lock<std::mutex> lock(mutex);
+        cv.wait(lock, [&]() { return stop.load() || !preload_queue.empty(); });
+        if (stop.load()) {
+          break;
+        }
+        preload = preload_queue.front();
+        preload_queue.pop_front();
+      }
+
+      abort_preload_work.store(false);
+      {
+        std::lock_guard<std::mutex> lock(readers_mutex);
+        if (find_loaded_reader_locked(preload->segment, preload->generation)) {
+          continue;
+        }
+      }
+      ensure_reader_loaded(preload->segment, preload->path, preload->generation, "preload",
+                           &abort_preload_work, false);
+    }
+  }
+
+  void demand_worker_loop() {
+    uint64_t handled_serial = 0;
+    VisionBuf decode_buffer;
+    bool buffer_allocated = false;
+    int buffer_width = 0;
+    int buffer_height = 0;
+
+    while (true) {
+      std::optional<DecodeRequest> request;
+      {
+        std::unique_lock<std::mutex> lock(mutex);
+        cv.wait(lock, [&]() {
+          return stop.load() || (pending_request.has_value() && pending_request->serial != handled_serial);
+        });
+        if (stop.load()) break;
+        request = *pending_request;
+        handled_serial = request->serial;
+      }
+
+      abort_demand_work.store(false);
+
+      DecodeResult result{.key = request->key};
+      std::shared_ptr<FrameReader> reader = ensure_reader_loaded(request->key.segment, request->path,
+                                                                 request->generation, "demand",
+                                                                 &abort_demand_work, true);
+      if (!reader) {
+        publish_result(*request, std::move(result));
+        continue;
+      }
+      if (has_newer_pending_request(request->serial)) {
+        continue;
+      }
+
+      const auto decode_begin = std::chrono::steady_clock::now();
+      if (!ensure_decode_buffer(reader.get(), &decode_buffer, buffer_allocated, buffer_width, buffer_height) ||
+          !reader->get(request->key.decode_index, &decode_buffer)) {
+        publish_result(*request, std::move(result));
+        continue;
+      }
+
+      result.width = reader->width;
+      result.height = reader->height;
+      result.rgba.resize(static_cast<size_t>(result.width) * static_cast<size_t>(result.height) * 4U, 0);
+      libyuv::NV12ToABGR(decode_buffer.y,
+                         static_cast<int>(decode_buffer.stride),
+                         decode_buffer.uv,
+                         static_cast<int>(decode_buffer.stride),
+                         result.rgba.data(),
+                         result.width * 4,
+                         result.width,
+                         result.height);
+      result.success = true;
+      result.decode_ms = std::chrono::duration<double, std::milli>(std::chrono::steady_clock::now() - decode_begin).count();
+      publish_result(*request, std::move(result));
+
+      for (int offset = 1; offset <= kPrefetchAhead; ++offset) {
+        if (stop.load() || has_newer_pending_request(request->serial)) {
+          break;
+        }
+        const int next_index = request->key.decode_index + offset;
+        if (next_index < 0 || next_index >= static_cast<int>(reader->getFrameCount())) {
+          break;
+        }
+        if (!reader->get(next_index, &decode_buffer)) {
+          break;
+        }
+        DecodeResult prefetched{
+          .key = RequestKey{.segment = request->key.segment, .decode_index = next_index},
+          .success = true,
+          .width = reader->width,
+          .height = reader->height,
+        };
+        prefetched.rgba.resize(static_cast<size_t>(prefetched.width) * static_cast<size_t>(prefetched.height) * 4U, 0);
+        libyuv::NV12ToABGR(decode_buffer.y,
+                           static_cast<int>(decode_buffer.stride),
+                           decode_buffer.uv,
+                           static_cast<int>(decode_buffer.stride),
+                           prefetched.rgba.data(),
+                           prefetched.width * 4,
+                           prefetched.width,
+                           prefetched.height);
+        remember_cached_result(prefetched);
+      }
+    }
+
+    if (buffer_allocated) {
+      decode_buffer.free();
+    }
+  }
+
+  mutable std::mutex mutex;
+  std::condition_variable cv;
+  std::thread demand_worker;
+  std::vector<std::thread> preload_workers;
+  std::atomic<bool> stop{false};
+  std::atomic<bool> abort_demand_work{false};
+  std::atomic<bool> abort_preload_work{false};
+  CameraFeedIndex route_index;
+  CameraViewKind camera_view = CameraViewKind::Road;
+  std::optional<DecodeRequest> pending_request;
+  std::optional<DecodeResult> pending_result;
+  std::deque<PreloadTask> preload_queue;
+  int preload_focus_segment = -1;
+  std::deque<DecodeResult> cached_results;
+  uint64_t latest_request_serial = 0;
+  uint64_t route_generation = 1;
+  std::optional<RequestKey> active_request;
+  std::optional<RequestKey> displayed_request;
+  std::optional<RequestKey> failed_request;
+  std::mutex readers_mutex;
+  std::condition_variable readers_cv;
+  std::unordered_map<int, std::shared_ptr<FrameReader>> readers;
+  std::unordered_set<int> loading_segments;
+  uint64_t readers_generation = 0;
+  GLuint texture = 0;
+  int texture_width = 0;
+  int texture_height = 0;
+  int frame_width = 0;
+  int frame_height = 0;
+};
+
+CameraFeedView::CameraFeedView()
+  : impl_(std::make_unique<Impl>()) {}
+
+CameraFeedView::~CameraFeedView() = default;
+
+void CameraFeedView::setRouteData(const RouteData &route_data) {
+  impl_->setRouteData(route_data);
+}
+
+void CameraFeedView::setCameraIndex(const CameraFeedIndex &camera_index, CameraViewKind view) {
+  impl_->setCameraIndex(camera_index, view);
+}
+
+void CameraFeedView::update(double tracker_time) {
+  impl_->update(tracker_time);
+}
+
+void CameraFeedView::draw(float width, bool loading) {
+  impl_->draw(width, loading);
+}
+
+void CameraFeedView::drawSized(ImVec2 size, bool loading, bool fit_to_pane) {
+  impl_->drawSized(size, loading, fit_to_pane);
+}
diff --git a/tools/jotpluggler/session.cc b/tools/jotpluggler/session.cc
new file mode 100644
index 00000000000000..22dd7dd463873a
--- /dev/null
+++ b/tools/jotpluggler/session.cc
@@ -0,0 +1,773 @@
+#include "tools/jotpluggler/internal.h"
+
+#include "imgui_internal.h"
+
+#include <array>
+#include <cmath>
+#include <cstdlib>
+
+namespace fs = std::filesystem;
+
+const RouteSeries *app_find_route_series(const AppSession &session, const std::string &path) {
+  auto it = session.series_by_path.find(path);
+  return it == session.series_by_path.end() ? nullptr : it->second;
+}
+
+void sync_camera_feeds(AppSession *session) {
+  for (size_t i = 0; i < kCameraViewSpecs.size(); ++i) {
+    if (session->pane_camera_feeds[i]) {
+      session->pane_camera_feeds[i]->setCameraIndex(session->route_data.*(kCameraViewSpecs[i].route_member), kCameraViewSpecs[i].view);
+    }
+  }
+}
+
+void apply_route_data(AppSession *session, UiState *state, RouteData route_data) {
+  if (!route_data.route_id.empty()) {
+    session->route_id = route_data.route_id;
+  } else if (session->route_name.empty() && session->data_mode == SessionDataMode::Route) {
+    session->route_id = {};
+  }
+  session->route_data = std::move(route_data);
+  rebuild_route_index(session);
+  rebuild_browser_nodes(session, state);
+  state->browser_nodes_dirty = false;
+  refresh_all_custom_curves(session, state);
+  sync_camera_feeds(session);
+  state->has_shared_range = false;
+  state->has_tracker_time = false;
+  reset_shared_range(state, *session);
+}
+
+bool restore_undo_layout(AppSession *session, UiState *state, const SketchLayout &layout, const char *status_text) {
+  session->layout = layout;
+  cancel_rename_tab(state);
+  state->custom_series.request_select = false;
+  state->active_tab_index = std::clamp(layout.current_tab_index, 0, std::max(0, static_cast<int>(layout.tabs.size()) - 1));
+  state->requested_tab_index = state->active_tab_index;
+  sync_ui_state(state, session->layout);
+  mark_all_docks_dirty(state);
+  const bool autosave_ok = autosave_layout(session, state);
+  if (autosave_ok) {
+    state->status_text = status_text;
+  }
+  return autosave_ok;
+}
+
+bool apply_undo(AppSession *session, UiState *state) {
+  if (!state->undo.can_undo()) {
+    return false;
+  }
+  return restore_undo_layout(session, state, state->undo.undo(), "Undo");
+}
+
+bool apply_redo(AppSession *session, UiState *state) {
+  if (!state->undo.can_redo()) {
+    return false;
+  }
+  return restore_undo_layout(session, state, state->undo.redo(), "Redo");
+}
+
+std::optional<std::pair<double, double>> tab_default_x_range(const WorkspaceTab &tab) {
+  bool found = false;
+  double min_value = 0.0;
+  double max_value = 1.0;
+  for (const Pane &pane : tab.panes) {
+    if (!pane.range.valid || pane.range.right <= pane.range.left) continue;
+    if (!found) {
+      min_value = pane.range.left;
+      max_value = pane.range.right;
+      found = true;
+    } else {
+      min_value = std::min(min_value, pane.range.left);
+      max_value = std::max(max_value, pane.range.right);
+    }
+  }
+  if (!found) return std::nullopt;
+  return std::make_pair(min_value, max_value);
+}
+
+bool infer_stream_follow_state(const UiState &state, const AppSession &session) {
+  if (session.data_mode != SessionDataMode::Stream || !state.has_shared_range || !session.route_data.has_time_range) {
+    return false;
+  }
+  const double target_span = std::max(MIN_HORIZONTAL_ZOOM_SECONDS, session.stream_buffer_seconds);
+  const double current_span = std::max(0.0, state.x_view_max - state.x_view_min);
+  const double edge_epsilon = std::max(0.05, target_span * 0.02);
+  return std::abs(state.x_view_max - state.route_x_max) <= edge_epsilon
+      && std::abs(current_span - target_span) <= edge_epsilon;
+}
+
+void ensure_shared_range(UiState *state, const AppSession &session) {
+  if (session.route_data.has_time_range) {
+    state->route_x_min = session.route_data.x_min;
+    state->route_x_max = session.route_data.x_max;
+  } else {
+    state->route_x_min = 0.0;
+    state->route_x_max = 1.0;
+  }
+
+  if (state->has_shared_range) {
+    return;
+  }
+
+  if (session.data_mode == SessionDataMode::Stream) {
+    const double target_span = std::max(MIN_HORIZONTAL_ZOOM_SECONDS, session.stream_buffer_seconds);
+    if (session.route_data.has_time_range) {
+      state->x_view_max = state->route_x_max;
+      state->x_view_min = state->x_view_max - target_span;
+    } else {
+      state->x_view_min = 0.0;
+      state->x_view_max = target_span;
+    }
+    if (state->x_view_max <= state->x_view_min) {
+      state->x_view_max = state->x_view_min + 1.0;
+    }
+    state->has_shared_range = true;
+    if (!state->has_tracker_time || state->tracker_time < state->route_x_min || state->tracker_time > state->route_x_max) {
+      state->tracker_time = state->route_x_max;
+      state->has_tracker_time = session.route_data.has_time_range;
+    }
+    return;
+  }
+
+  if (const WorkspaceTab *tab = app_active_tab(session.layout, *state); tab != nullptr) {
+    if (std::optional<std::pair<double, double>> tab_range = tab_default_x_range(*tab); tab_range.has_value()) {
+      state->x_view_min = tab_range->first;
+      state->x_view_max = tab_range->second;
+      state->has_shared_range = true;
+      if (!state->has_tracker_time || state->tracker_time < state->route_x_min || state->tracker_time > state->route_x_max) {
+        state->tracker_time = state->route_x_min;
+        state->has_tracker_time = true;
+      }
+      return;
+    }
+  }
+
+  state->x_view_min = state->route_x_min;
+  state->x_view_max = state->route_x_max;
+  if (state->x_view_max <= state->x_view_min) {
+    state->x_view_max = state->x_view_min + 1.0;
+  }
+  state->has_shared_range = true;
+  if (!state->has_tracker_time || state->tracker_time < state->route_x_min || state->tracker_time > state->route_x_max) {
+    state->tracker_time = state->route_x_min;
+    state->has_tracker_time = true;
+  }
+}
+
+void clamp_shared_range(UiState *state, const AppSession &session) {
+  if (!state->has_shared_range) {
+    return;
+  }
+  const double min_span = MIN_HORIZONTAL_ZOOM_SECONDS;
+  double span = state->x_view_max - state->x_view_min;
+  if (span < min_span) {
+    const double center = 0.5 * (state->x_view_min + state->x_view_max);
+    span = min_span;
+    state->x_view_min = center - span * 0.5;
+    state->x_view_max = center + span * 0.5;
+  }
+  if (session.data_mode == SessionDataMode::Stream) {
+    if (session.route_data.has_time_range && state->x_view_max > state->route_x_max) {
+      state->x_view_min -= state->x_view_max - state->route_x_max;
+      state->x_view_max = state->route_x_max;
+    }
+    if (state->x_view_max <= state->x_view_min) {
+      state->x_view_max = state->x_view_min + min_span;
+    }
+    if (state->has_tracker_time && session.route_data.has_time_range) {
+      state->tracker_time = std::clamp(state->tracker_time, state->route_x_min, state->route_x_max);
+    }
+    if (session.route_data.has_time_range) {
+      state->follow_latest = infer_stream_follow_state(*state, session);
+    }
+    return;
+  }
+  if (state->route_x_max > state->route_x_min) {
+    if (state->x_view_min < state->route_x_min) {
+      state->x_view_max += state->route_x_min - state->x_view_min;
+      state->x_view_min = state->route_x_min;
+    }
+    if (state->x_view_max > state->route_x_max) {
+      state->x_view_min -= state->x_view_max - state->route_x_max;
+      state->x_view_max = state->route_x_max;
+    }
+    if (state->x_view_min < state->route_x_min) {
+      state->x_view_min = state->route_x_min;
+    }
+    if (state->x_view_max <= state->x_view_min) {
+      state->x_view_max = std::min(state->route_x_max, state->x_view_min + min_span);
+    }
+  }
+  if (state->has_tracker_time) {
+    state->tracker_time = std::clamp(state->tracker_time, state->route_x_min, state->route_x_max);
+  }
+}
+
+void reset_shared_range(UiState *state, const AppSession &session) {
+  state->has_shared_range = false;
+  ensure_shared_range(state, session);
+  clamp_shared_range(state, session);
+}
+
+void update_follow_range(UiState *state, const AppSession &session) {
+  if (!state->follow_latest || !state->has_shared_range) {
+    return;
+  }
+  const double span = session.data_mode == SessionDataMode::Stream
+    ? std::max(MIN_HORIZONTAL_ZOOM_SECONDS, session.stream_buffer_seconds)
+    : std::max(MIN_HORIZONTAL_ZOOM_SECONDS, state->x_view_max - state->x_view_min);
+  const double route_span = state->route_x_max - state->route_x_min;
+  if (route_span <= 0.0) {
+    return;
+  }
+  state->x_view_max = state->route_x_max;
+  state->x_view_min = state->x_view_max - span;
+  clamp_shared_range(state, session);
+}
+
+void advance_playback(UiState *state, const AppSession &session) {
+  if (!state->playback_playing || !state->has_shared_range || state->route_x_max <= state->route_x_min) {
+    return;
+  }
+
+  const double delta = std::max(0.0, static_cast<double>(ImGui::GetIO().DeltaTime)) * state->playback_rate;
+  const double view_span = std::max(MIN_HORIZONTAL_ZOOM_SECONDS, state->x_view_max - state->x_view_min);
+  const double loop_min = state->playback_loop
+    ? std::clamp(state->x_view_min, state->route_x_min, state->route_x_max)
+    : state->route_x_min;
+  const double loop_max = state->playback_loop
+    ? std::clamp(state->x_view_max, state->route_x_min, state->route_x_max)
+    : state->route_x_max;
+
+  state->tracker_time += delta;
+  if (state->tracker_time >= loop_max) {
+    if (state->playback_loop) {
+      state->tracker_time = loop_min;
+    } else {
+      state->tracker_time = state->route_x_max;
+      state->playback_playing = false;
+    }
+  }
+
+  if (!state->playback_loop) {
+    constexpr double kScrollStartFraction = 0.70;
+    const double scroll_anchor = state->x_view_min + view_span * kScrollStartFraction;
+    if (state->tracker_time > scroll_anchor && state->x_view_max < state->route_x_max) {
+      state->x_view_min = state->tracker_time - view_span * kScrollStartFraction;
+      state->x_view_max = state->x_view_min + view_span;
+      clamp_shared_range(state, session);
+    } else if (state->tracker_time < state->x_view_min || state->tracker_time > state->x_view_max) {
+      state->x_view_min = state->tracker_time - view_span * 0.5;
+      state->x_view_max = state->x_view_min + view_span;
+      clamp_shared_range(state, session);
+    }
+  }
+}
+
+void step_tracker(UiState *state, double direction) {
+  if (!state->has_shared_range) {
+    return;
+  }
+  state->tracker_time += direction * std::max(0.001, state->playback_step);
+  state->tracker_time = std::clamp(state->tracker_time, state->route_x_min, state->route_x_max);
+}
+
+const char *log_selector_name(LogSelector selector) {
+  static constexpr const char *kLabels[] = {"a", "r", "q"};
+  const size_t index = static_cast<size_t>(selector);
+  return index < std::size(kLabels) ? kLabels[index] : kLabels[0];
+}
+
+const char *log_selector_description(LogSelector selector) {
+  static constexpr const char *kLabels[] = {
+    "any of rlog or qlog",
+    "rlog only",
+    "qlog only",
+  };
+  const size_t index = static_cast<size_t>(selector);
+  return index < std::size(kLabels) ? kLabels[index] : kLabels[0];
+}
+
+std::string shorten_route_part(std::string_view text, size_t keep) {
+  if (text.size() <= keep) {
+    return std::string(text);
+  }
+  return std::string(text.substr(0, keep));
+}
+
+bool parse_slice_spec(std::string_view text, int *begin, int *end) {
+  const auto parse_nonnegative = [](std::string_view value, int *out) {
+    if (value.empty()) return false;
+    char *end_ptr = nullptr;
+    const long parsed = std::strtol(std::string(value).c_str(), &end_ptr, 10);
+    if (end_ptr == nullptr || *end_ptr != '\0' || parsed < 0) {
+      return false;
+    }
+    *out = static_cast<int>(parsed);
+    return true;
+  };
+  const std::string trimmed = util::strip(std::string(text));
+  if (trimmed.empty()) {
+    return false;
+  }
+  const size_t colon = trimmed.find(':');
+  int parsed_begin = 0;
+  if (!parse_nonnegative(trimmed.substr(0, colon), &parsed_begin)) {
+    return false;
+  }
+  int parsed_end = parsed_begin;
+  if (colon != std::string::npos) {
+    const std::string end_text = trimmed.substr(colon + 1);
+    if (end_text.empty()) {
+      parsed_end = -1;
+    } else if (!parse_nonnegative(end_text, &parsed_end) || parsed_end < parsed_begin) {
+      return false;
+    }
+  }
+  *begin = parsed_begin;
+  *end = parsed_end;
+  return true;
+}
+
+std::string format_duration_short(double seconds) {
+  const double clamped = std::max(0.0, seconds);
+  const int total_ms = static_cast<int>(std::round(clamped * 1000.0));
+  const int minutes = total_ms / 60000;
+  const int rem_ms = total_ms % 60000;
+  const int secs = rem_ms / 1000;
+  const int millis = rem_ms % 1000;
+  return util::string_format("%d:%02d.%03d", minutes, secs, millis);
+}
+
+bool apply_route_identifier(AppSession *session, UiState *state, const RouteIdentifier &route_id, const char *status_text) {
+  if (route_id.empty()) {
+    return false;
+  }
+  if (!reload_session(session, state, route_id.full_spec(), session->data_dir)) {
+    return false;
+  }
+  state->status_text = status_text;
+  return true;
+}
+
+bool apply_route_slice_change(AppSession *session, UiState *state, std::string_view slice_text) {
+  int begin = 0;
+  int end = 0;
+  if (!parse_slice_spec(slice_text, &begin, &end)) {
+    state->error_text = "Slice must be N or N:M.";
+    state->open_error_popup = true;
+    return false;
+  }
+  RouteIdentifier next = session->route_id;
+  next.slice_begin = begin;
+  next.slice_end = end;
+  next.slice_explicit = true;
+  return apply_route_identifier(session, state, next, "Updated route slice");
+}
+
+bool apply_route_selector_change(AppSession *session, UiState *state, LogSelector selector) {
+  RouteIdentifier next = session->route_id;
+  next.selector = selector;
+  next.selector_explicit = true;
+  return apply_route_identifier(session, state, next, "Updated log selector");
+}
+
+ImU32 route_chip_part_color(int part_index, bool explicit_part) {
+  constexpr std::array<std::array<int, 3>, 4> BASE = {{
+    {70, 96, 126},   // dongle
+    {100, 86, 148},  // log id
+    {72, 112, 86},   // slice
+    {156, 104, 38},  // selector
+  }};
+  const std::array<int, 3> &base = BASE[static_cast<size_t>(std::clamp(part_index, 0, 3))];
+  if (explicit_part) {
+    return ImGui::GetColorU32(color_rgb(base[0], base[1], base[2]));
+  }
+  const int gray = 144;
+  return ImGui::GetColorU32(color_rgb((base[0] + gray) / 2, (base[1] + gray) / 2, (base[2] + gray) / 2));
+}
+
+bool draw_route_chip_text_button(const char *id,
+                                 std::string_view text,
+                                 ImVec2 pos,
+                                 ImU32 color,
+                                 ImDrawList *draw_list,
+                                 const char *tooltip = nullptr) {
+  const ImVec2 size = ImGui::CalcTextSize(text.data(), text.data() + text.size());
+  ImGui::SetCursorScreenPos(pos);
+  ImGui::InvisibleButton(id, size);
+  const bool hovered = ImGui::IsItemHovered();
+  if (hovered) {
+    ImGui::SetMouseCursor(ImGuiMouseCursor_Hand);
+    draw_list->AddRectFilled(ImVec2(pos.x - 5.0f, pos.y - 1.0f),
+                             ImVec2(pos.x + size.x + 5.0f, pos.y + size.y + 2.0f),
+                             ImGui::GetColorU32(color_rgb(225, 231, 239, 0.95f)), 0.0f);
+  }
+  draw_list->AddText(pos, color, text.data(), text.data() + text.size());
+  if (tooltip != nullptr && ImGui::IsItemHovered(ImGuiHoveredFlags_DelayShort)) {
+    ImGui::BeginTooltip();
+    ImGui::TextUnformatted(tooltip);
+    ImGui::EndTooltip();
+  }
+  return ImGui::IsItemClicked(ImGuiMouseButton_Left);
+}
+
+void draw_route_copy_feedback(UiState *state, ImDrawList *draw_list, ImVec2 chip_max) {
+  if (state->route_copy_feedback_text.empty()) {
+    return;
+  }
+  const double now = ImGui::GetTime();
+  if (now >= state->route_copy_feedback_until) {
+    state->route_copy_feedback_text.clear();
+    state->route_copy_feedback_until = 0.0;
+    return;
+  }
+
+  const float alpha = static_cast<float>(std::clamp((state->route_copy_feedback_until - now) / 1.1, 0.0, 1.0));
+  const ImVec2 text_size = ImGui::CalcTextSize(state->route_copy_feedback_text.c_str());
+  const ImVec2 pad(9.0f, 5.0f);
+  const ImVec2 bubble_min(chip_max.x - text_size.x - pad.x * 2.0f, chip_max.y + 7.0f);
+  const ImVec2 bubble_max(chip_max.x, bubble_min.y + text_size.y + pad.y * 2.0f);
+  draw_list->AddRectFilled(bubble_min, bubble_max,
+                           ImGui::GetColorU32(color_rgb(46, 125, 80, 0.96f * alpha)), 7.0f);
+  draw_list->AddRect(bubble_min, bubble_max,
+                     ImGui::GetColorU32(color_rgb(35, 96, 61, 0.9f * alpha)), 7.0f, 0, 1.0f);
+  draw_list->AddText(ImVec2(std::floor(bubble_min.x + pad.x), std::floor(bubble_min.y + pad.y)),
+                     ImGui::GetColorU32(color_rgb(247, 251, 248, alpha)),
+                     state->route_copy_feedback_text.c_str());
+}
+
+void draw_route_info_popup(AppSession *session, UiState *state, ImVec2 anchor) {
+  if (session->route_id.empty()) {
+    return;
+  }
+  ImGui::SetNextWindowPos(anchor, ImGuiCond_Appearing);
+  ImGui::SetNextWindowSizeConstraints(ImVec2(300.0f, 0.0f), ImVec2(420.0f, FLT_MAX));
+  if (!ImGui::BeginPopup("##route_info_popup",
+                         ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings)) {
+    return;
+  }
+
+  ImGui::TextUnformatted("Route Info");
+  ImGui::Separator();
+  app_push_mono_font();
+  ImGui::TextUnformatted(session->route_id.canonical().c_str());
+  app_pop_mono_font();
+
+  const char *copy_icon = icon::CLIPBOARD;
+  const char *link_icon = icon::BOX_ARROW_UP_RIGHT;
+  const std::string useradmin_label = std::string("Useradmin ") + link_icon;
+  const std::string connect_label = std::string("comma connect ") + link_icon;
+  if (ImGui::Button(copy_icon, ImVec2(34.0f, 26.0f))) {
+    ImGui::SetClipboardText(session->route_id.canonical().c_str());
+    state->status_text = "Copied route to clipboard";
+    state->route_copy_feedback_text = "Copied";
+    state->route_copy_feedback_until = ImGui::GetTime() + 1.1;
+  }
+  if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayShort)) {
+    ImGui::BeginTooltip();
+    ImGui::TextUnformatted("Copy route");
+    ImGui::EndTooltip();
+  }
+  ImGui::SameLine();
+  if (ImGui::Button(useradmin_label.c_str(), ImVec2(132.0f, 26.0f))) {
+    open_external_url(route_useradmin_url(session->route_id));
+    state->status_text = "Opened useradmin";
+  }
+  ImGui::SameLine();
+  if (ImGui::Button(connect_label.c_str(), ImVec2(156.0f, 26.0f))) {
+    open_external_url(route_connect_url(session->route_id));
+    state->status_text = "Opened comma connect";
+  }
+
+  ImGui::Spacing();
+  const int loaded_begin = session->route_id.available_begin;
+  const int loaded_end = session->route_id.available_end;
+  const int loaded_count = loaded_end >= loaded_begin ? (loaded_end - loaded_begin + 1) : 0;
+  ImGui::Text("Duration   %s", format_duration_short(session->route_data.x_max - session->route_data.x_min).c_str());
+  ImGui::Text("Segments   %s (%d)", session->route_id.display_slice().c_str(), loaded_count);
+  ImGui::Text("Selector   %s", log_selector_description(session->route_id.selector));
+  if (!session->route_data.car_fingerprint.empty()) {
+    ImGui::TextWrapped("Car        %s", session->route_data.car_fingerprint.c_str());
+  }
+  if (!session->route_data.dbc_name.empty()) {
+    ImGui::TextWrapped("DBC        %s", session->route_data.dbc_name.c_str());
+  }
+
+  ImGui::EndPopup();
+}
+
+void draw_route_id_chip(AppSession *session, UiState *state) {
+  if (session->data_mode != SessionDataMode::Route || session->route_id.empty()) {
+    return;
+  }
+
+  ImGuiWindow *window = ImGui::GetCurrentWindow();
+  ImDrawList *draw_list = ImGui::GetWindowDrawList();
+  const RouteIdentifier &route_id = session->route_id;
+  app_push_bold_font();
+  const std::string dongle_text = shorten_route_part(route_id.dongle_id, 8);
+  const std::string log_text = shorten_route_part(route_id.log_id, 16);
+  const std::string slice_text = route_id.display_slice();
+  const std::string selector_text(1, route_id.selector_char());
+  const std::string sep_text = " / ";
+
+  const ImVec2 dongle_size = ImGui::CalcTextSize(dongle_text.c_str());
+  const ImVec2 log_size = ImGui::CalcTextSize(log_text.c_str());
+  const ImVec2 slice_size = state->editing_route_slice
+    ? ImVec2(68.0f, ImGui::GetFrameHeight())
+    : ImGui::CalcTextSize(slice_text.c_str());
+  const ImVec2 selector_size = ImGui::CalcTextSize(selector_text.c_str());
+  const ImVec2 sep_size = ImGui::CalcTextSize(sep_text.c_str());
+  constexpr float chip_pad_x = 12.0f;
+  constexpr float info_size = 18.0f;
+  const float chip_h = 28.0f;
+  const float chip_w = chip_pad_x * 2.0f + dongle_size.x + sep_size.x + log_size.x + sep_size.x
+                     + slice_size.x + sep_size.x + selector_size.x + 10.0f + info_size;
+  const float menu_right = window->Pos.x + window->Size.x - 8.0f;
+  const float cursor_x = ImGui::GetCursorScreenPos().x + 4.0f;
+  const float chip_x = std::clamp(cursor_x, window->Pos.x + 48.0f, std::max(window->Pos.x + 48.0f, menu_right - chip_w));
+  const float chip_y = std::floor(window->Pos.y + std::max(0.0f, (window->Size.y - chip_h) * 0.5f));
+  const ImVec2 chip_min(chip_x, chip_y);
+  const ImVec2 chip_max(chip_x + chip_w, chip_y + chip_h);
+  const float text_y = std::floor(chip_y + std::max(0.0f, (chip_h - ImGui::GetTextLineHeight()) * 0.5f));
+  const ImU32 chip_bg = ImGui::GetColorU32(color_rgb(247, 249, 252));
+  const ImU32 chip_border = ImGui::GetColorU32(color_rgb(184, 191, 200));
+  const ImU32 sep = ImGui::GetColorU32(color_rgb(162, 170, 178));
+  draw_list->AddRectFilled(chip_min, chip_max, chip_bg, 0.0f);
+  draw_list->AddRect(chip_min, chip_max, chip_border, 0.0f, 0, 1.0f);
+
+  float x = chip_x + chip_pad_x;
+  const bool dongle_click = draw_route_chip_text_button(
+    "##route_dongle", dongle_text, ImVec2(x, text_y), route_chip_part_color(0, true), draw_list,
+    "Device identifier");
+  x += dongle_size.x;
+  draw_list->AddText(ImVec2(x, text_y), sep, sep_text.c_str());
+  x += sep_size.x;
+  const bool log_click = draw_route_chip_text_button(
+    "##route_log", log_text, ImVec2(x, text_y), route_chip_part_color(1, true), draw_list,
+    "Route identifier");
+  x += log_size.x;
+  draw_list->AddText(ImVec2(x, text_y), sep, sep_text.c_str());
+  x += sep_size.x;
+
+  if (state->editing_route_slice) {
+    ImGui::SetCursorScreenPos(ImVec2(x - 4.0f, chip_y + 1.0f));
+    ImGui::SetNextItemWidth(76.0f);
+    if (state->focus_route_slice_input) {
+      ImGui::SetKeyboardFocusHere();
+      state->focus_route_slice_input = false;
+    }
+    const bool applied = input_text_string("##route_slice_edit", &state->route_slice_buffer,
+                                           ImGuiInputTextFlags_EnterReturnsTrue);
+    const bool deactivated = ImGui::IsItemDeactivated();
+    const bool clicked_elsewhere = ImGui::IsMouseClicked(ImGuiMouseButton_Left)
+                                && !ImGui::IsItemHovered()
+                                && !ImGui::IsItemActive();
+    if (applied) {
+      if (apply_route_slice_change(session, state, state->route_slice_buffer)) {
+        state->editing_route_slice = false;
+      }
+    } else if (ImGui::IsKeyPressed(ImGuiKey_Escape)) {
+      state->editing_route_slice = false;
+    } else if (deactivated || clicked_elsewhere) {
+      const std::string trimmed = util::strip(state->route_slice_buffer);
+      if (trimmed != route_id.display_slice()) {
+        int begin = 0;
+        int end = 0;
+        if (parse_slice_spec(trimmed, &begin, &end)) {
+          apply_route_slice_change(session, state, trimmed);
+        } else {
+          state->status_text = "Canceled route slice edit";
+        }
+      }
+      state->editing_route_slice = false;
+    }
+    x += slice_size.x;
+  } else {
+    const bool slice_click = draw_route_chip_text_button(
+      "##route_slice", slice_text, ImVec2(x, text_y),
+      route_chip_part_color(2, route_id.slice_explicit), draw_list,
+      "Segment range");
+    if (slice_click) {
+      state->editing_route_slice = true;
+      state->focus_route_slice_input = true;
+      state->route_slice_buffer = route_id.display_slice();
+    }
+    x += slice_size.x;
+  }
+
+  draw_list->AddText(ImVec2(x, text_y), sep, sep_text.c_str());
+  x += sep_size.x;
+  const bool selector_click = draw_route_chip_text_button(
+    "##route_selector", selector_text, ImVec2(x, text_y),
+    route_chip_part_color(3, route_id.selector_explicit), draw_list,
+    "Log selector");
+  if (selector_click) {
+    ImGui::OpenPopup("##route_selector_popup");
+  }
+  x += selector_size.x + 10.0f;
+
+  const ImVec2 info_center(x + info_size * 0.5f, chip_y + chip_h * 0.5f);
+  ImGui::SetCursorScreenPos(ImVec2(x, chip_y + (chip_h - info_size) * 0.5f));
+  ImGui::InvisibleButton("##route_info_button", ImVec2(info_size, info_size));
+  const bool info_hovered = ImGui::IsItemHovered();
+  if (info_hovered) {
+    ImGui::SetMouseCursor(ImGuiMouseCursor_Hand);
+  }
+  draw_list->AddCircleFilled(info_center, info_size * 0.5f,
+                             ImGui::GetColorU32(info_hovered ? color_rgb(220, 229, 240) : color_rgb(239, 243, 248)));
+  draw_list->AddCircle(info_center, info_size * 0.5f, chip_border, 20, 1.0f);
+  const char *info_text = icon::INFO_CIRCLE;
+  const ImVec2 info_text_size = ImGui::CalcTextSize(info_text);
+  draw_list->AddText(ImVec2(std::floor(info_center.x - info_text_size.x * 0.5f),
+                            std::floor(info_center.y - info_text_size.y * 0.5f)),
+                     route_chip_part_color(0, true), info_text);
+  if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayShort)) {
+    ImGui::BeginTooltip();
+    ImGui::TextUnformatted("Route details");
+    ImGui::EndTooltip();
+  }
+  if (ImGui::IsItemClicked(ImGuiMouseButton_Left)) {
+    ImGui::OpenPopup("##route_info_popup");
+  }
+
+  app_pop_bold_font();
+
+  if (dongle_click || log_click) {
+    ImGui::SetClipboardText(route_id.canonical().c_str());
+    state->status_text = "Copied route to clipboard";
+    state->route_copy_feedback_text = "Copied";
+    state->route_copy_feedback_until = ImGui::GetTime() + 1.1;
+  }
+
+  ImGui::SetNextWindowPos(ImVec2(chip_max.x - 60.0f, chip_max.y + 4.0f), ImGuiCond_Appearing);
+  if (ImGui::BeginPopup("##route_selector_popup")) {
+    for (LogSelector selector : {LogSelector::Auto, LogSelector::RLog, LogSelector::QLog}) {
+      const bool selected = route_id.selector == selector;
+      const std::string label = std::string(log_selector_name(selector)) + "  " + log_selector_description(selector);
+      if (ImGui::Selectable(label.c_str(), selected) && !selected) {
+        apply_route_selector_change(session, state, selector);
+      }
+      if (selected) {
+        ImGui::SetItemDefaultFocus();
+      }
+    }
+    ImGui::EndPopup();
+  }
+
+  draw_route_copy_feedback(state, draw_list, chip_max);
+  draw_route_info_popup(session, state, ImVec2(std::max(window->Pos.x + 16.0f, chip_max.x - 360.0f), chip_max.y + 6.0f));
+}
+
+std::string format_cache_bytes(uint64_t bytes) {
+  if (bytes >= (1ULL << 30)) {
+    return util::string_format("%.1f GiB", static_cast<double>(bytes) / static_cast<double>(1ULL << 30));
+  } else if (bytes >= (1ULL << 20)) {
+    return util::string_format("%.1f MiB", static_cast<double>(bytes) / static_cast<double>(1ULL << 20));
+  } else if (bytes >= (1ULL << 10)) {
+    return util::string_format("%.1f KiB", static_cast<double>(bytes) / static_cast<double>(1ULL << 10));
+  }
+  return util::string_format("%llu B", static_cast<unsigned long long>(bytes));
+}
+
+MapCacheStats directory_cache_stats(const fs::path &root) {
+  MapCacheStats stats;
+  std::error_code ec;
+  if (!fs::exists(root, ec)) {
+    return stats;
+  }
+  fs::recursive_directory_iterator it(root, fs::directory_options::skip_permission_denied, ec);
+  for (const fs::directory_entry &entry : it) {
+    if (ec) {
+      ec.clear();
+      continue;
+    }
+    const fs::file_status status = entry.symlink_status(ec);
+    if (ec || !fs::is_regular_file(status)) {
+      ec.clear();
+      continue;
+    }
+    const uintmax_t size = entry.file_size(ec);
+    if (!ec) {
+      stats.bytes += static_cast<uint64_t>(size);
+      ++stats.files;
+    } else {
+      ec.clear();
+    }
+  }
+  return stats;
+}
+
+float draw_main_menu_bar(AppSession *session, UiState *state) {
+  ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(7.0f, 5.0f));
+  ImGui::PushStyleVar(ImGuiStyleVar_ItemSpacing, ImVec2(9.0f, 6.0f));
+  float height = ImGui::GetFrameHeight();
+  if (ImGui::BeginMainMenuBar()) {
+    if (ImGui::BeginMenu("File")) {
+      if (ImGui::MenuItem("Undo", "Ctrl+Z", false, state->undo.can_undo())) {
+        apply_undo(session, state);
+      }
+      if (ImGui::MenuItem("Redo", "Ctrl+Shift+Z", false, state->undo.can_redo())) {
+        apply_redo(session, state);
+      }
+      ImGui::Separator();
+      if (ImGui::MenuItem("Open Route...")) {
+        state->open_open_route = true;
+      }
+      if (ImGui::MenuItem("Stream...")) {
+        state->open_stream = true;
+      }
+      if (ImGui::MenuItem("Find Signal...", "Ctrl+F")) {
+        state->open_find_signal = true;
+      }
+      ImGui::Separator();
+      if (ImGui::MenuItem("New Layout")) {
+        start_new_layout(session, state);
+      }
+      if (ImGui::MenuItem("Load Layout...")) {
+        state->open_load_layout = true;
+      }
+      if (ImGui::MenuItem("Save Layout")) {
+        state->request_save_layout = true;
+      }
+      if (ImGui::MenuItem("Save Layout As...")) {
+        state->open_save_layout = true;
+      }
+      if (ImGui::MenuItem("Reset Layout")) {
+        state->request_reset_layout = true;
+      }
+      ImGui::Separator();
+      if (ImGui::MenuItem("Show DEPRECATED Fields", nullptr, state->show_deprecated_fields)) {
+        state->show_deprecated_fields = !state->show_deprecated_fields;
+        rebuild_browser_nodes(session, state);
+      }
+      if (ImGui::MenuItem("Show FPS", nullptr, state->show_fps_overlay)) {
+        state->show_fps_overlay = !state->show_fps_overlay;
+      }
+      if (ImGui::MenuItem("Preferences...")) {
+        state->open_preferences = true;
+      }
+      ImGui::Separator();
+      if (ImGui::MenuItem("Reset Plot View")) {
+        reset_shared_range(state, *session);
+        state->follow_latest = session->data_mode == SessionDataMode::Stream;
+        clamp_shared_range(state, *session);
+        state->suppress_range_side_effects = true;
+        state->status_text = "Plot view reset";
+      }
+      ImGui::Separator();
+      if (ImGui::MenuItem("Close")) {
+        state->request_close = true;
+      }
+      ImGui::EndMenu();
+    }
+    ImGui::SameLine(0.0f, 8.0f);
+    draw_route_id_chip(session, state);
+    height = ImGui::GetWindowSize().y;
+    ImGui::EndMainMenuBar();
+  }
+  ImGui::PopStyleVar(2);
+  return height;
+}
diff --git a/tools/jotpluggler/sidebar.cc b/tools/jotpluggler/sidebar.cc
new file mode 100644
index 00000000000000..c120b47908e6b1
--- /dev/null
+++ b/tools/jotpluggler/sidebar.cc
@@ -0,0 +1,215 @@
+#include "tools/jotpluggler/internal.h"
+
+std::string dbc_combo_label(const AppSession &session) {
+  if (!session.dbc_override.empty()) return session.dbc_override;
+  if (!session.route_data.dbc_name.empty()) return "Auto: " + session.route_data.dbc_name;
+  return "Auto";
+}
+
+float timeline_time_to_x(double time_value, double route_min, double route_max, float x_min, float x_max) {
+  const double span = route_max - route_min;
+  if (span <= 0.0) {
+    return x_min;
+  }
+  const double ratio = (time_value - route_min) / span;
+  return x_min + static_cast<float>(ratio * static_cast<double>(x_max - x_min));
+}
+
+double timeline_x_to_time(float x, double route_min, double route_max, float x_min, float x_max) {
+  const float width = std::max(1.0f, x_max - x_min);
+  const float clamped_x = std::clamp(x, x_min, x_max);
+  const double ratio = static_cast<double>((clamped_x - x_min) / width);
+  return route_min + ratio * (route_max - route_min);
+}
+
+void reset_timeline_view(UiState *state, const AppSession &session) {
+  state->follow_latest = session.data_mode == SessionDataMode::Stream;
+  reset_shared_range(state, session);
+}
+
+void draw_timeline_bar_contents(const AppSession &session, UiState *state, float width) {
+  if (!session.route_data.has_time_range) {
+    ImGui::Dummy(ImVec2(width, TIMELINE_BAR_HEIGHT));
+    return;
+  }
+
+  const ImVec2 cursor = ImGui::GetCursorScreenPos();
+  const ImVec2 size(width, TIMELINE_BAR_HEIGHT);
+  const ImVec2 bar_min(cursor.x + 1.0f, cursor.y + 1.0f);
+  const ImVec2 bar_max(cursor.x + size.x - 1.0f, cursor.y + size.y - 1.0f);
+  const double route_min = state->route_x_min;
+  const double route_max = state->route_x_max;
+  const float vp_left = timeline_time_to_x(std::clamp(state->x_view_min, route_min, route_max),
+                                           route_min, route_max, bar_min.x, bar_max.x);
+  const float vp_right = timeline_time_to_x(std::clamp(state->x_view_max, route_min, route_max),
+                                            route_min, route_max, bar_min.x, bar_max.x);
+
+  ImGui::InvisibleButton("##timeline_button", size);
+  const bool hovered = ImGui::IsItemHovered();
+  const bool active = ImGui::IsItemActive();
+  const bool double_clicked = hovered && ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Left);
+  ImDrawList *draw_list = ImGui::GetWindowDrawList();
+
+  draw_list->AddRectFilled(bar_min, bar_max, timeline_entry_color(TimelineEntry::Type::None, 0.2f));
+  if (session.route_data.timeline.empty()) {
+    draw_list->AddRectFilled(ImVec2(vp_left, bar_min.y), ImVec2(vp_right, bar_max.y),
+                             timeline_entry_color(TimelineEntry::Type::None, 1.0f));
+  } else {
+    for (const TimelineEntry &entry : session.route_data.timeline) {
+      float x0 = timeline_time_to_x(entry.start_time, route_min, route_max, bar_min.x, bar_max.x);
+      float x1 = timeline_time_to_x(entry.end_time, route_min, route_max, bar_min.x, bar_max.x);
+      x1 = std::max(x1, x0 + 1.0f);
+      draw_list->AddRectFilled(ImVec2(x0, bar_min.y), ImVec2(x1, bar_max.y),
+                               timeline_entry_color(entry.type, 0.25f));
+    }
+    for (const TimelineEntry &entry : session.route_data.timeline) {
+      float x0 = std::max(timeline_time_to_x(entry.start_time, route_min, route_max, bar_min.x, bar_max.x), vp_left);
+      float x1 = std::min(std::max(timeline_time_to_x(entry.end_time, route_min, route_max, bar_min.x, bar_max.x), x0 + 1.0f), vp_right);
+      if (x1 <= x0) {
+        continue;
+      }
+      draw_list->AddRectFilled(ImVec2(x0, bar_min.y), ImVec2(x1, bar_max.y),
+                               timeline_entry_color(entry.type, 1.0f));
+    }
+  }
+
+  draw_list->AddLine(ImVec2(vp_left, bar_min.y), ImVec2(vp_left, bar_max.y), IM_COL32(60, 70, 80, 200), 1.0f);
+  draw_list->AddLine(ImVec2(vp_right, bar_min.y), ImVec2(vp_right, bar_max.y), IM_COL32(60, 70, 80, 200), 1.0f);
+  if (state->has_tracker_time) {
+    const float cx = timeline_time_to_x(std::clamp(state->tracker_time, route_min, route_max),
+                                        route_min, route_max, bar_min.x, bar_max.x);
+    draw_list->AddLine(ImVec2(cx, bar_min.y), ImVec2(cx, bar_max.y), IM_COL32(220, 60, 50, 255), 1.5f);
+  }
+  draw_list->AddRect(bar_min, bar_max, IM_COL32(170, 178, 186, 255), 0.0f, 0, 1.0f);
+
+  const float edge_grab = 4.0f;
+  const float mouse_x = ImGui::GetIO().MousePos.x;
+  const double mouse_time = timeline_x_to_time(mouse_x, route_min, route_max, bar_min.x, bar_max.x);
+  if (double_clicked) {
+    reset_timeline_view(state, session);
+  } else if (hovered && ImGui::IsMouseClicked(ImGuiMouseButton_Left)) {
+    state->timeline_drag_anchor_time = mouse_time;
+    state->timeline_drag_anchor_x_min = state->x_view_min;
+    state->timeline_drag_anchor_x_max = state->x_view_max;
+    if (std::abs(mouse_x - vp_left) <= edge_grab) {
+      state->timeline_drag_mode = TimelineDragMode::ResizeLeft;
+    } else if (std::abs(mouse_x - vp_right) <= edge_grab) {
+      state->timeline_drag_mode = TimelineDragMode::ResizeRight;
+    } else if (mouse_x >= vp_left && mouse_x <= vp_right) {
+      state->timeline_drag_mode = TimelineDragMode::PanViewport;
+    } else {
+      state->timeline_drag_mode = TimelineDragMode::ScrubCursor;
+      state->tracker_time = std::clamp(mouse_time, route_min, route_max);
+      state->has_tracker_time = true;
+    }
+  }
+
+  if (!ImGui::IsMouseDown(ImGuiMouseButton_Left)) {
+    state->timeline_drag_mode = TimelineDragMode::None;
+  } else if (active || state->timeline_drag_mode != TimelineDragMode::None) {
+    switch (state->timeline_drag_mode) {
+      case TimelineDragMode::ScrubCursor:
+        state->tracker_time = std::clamp(mouse_time, route_min, route_max);
+        state->has_tracker_time = true;
+        break;
+      case TimelineDragMode::PanViewport: {
+        const double delta = mouse_time - state->timeline_drag_anchor_time;
+        state->x_view_min = state->timeline_drag_anchor_x_min + delta;
+        state->x_view_max = state->timeline_drag_anchor_x_max + delta;
+        clamp_shared_range(state, session);
+        break;
+      }
+      case TimelineDragMode::ResizeLeft:
+        state->x_view_min = std::min(mouse_time, state->x_view_max - MIN_HORIZONTAL_ZOOM_SECONDS);
+        clamp_shared_range(state, session);
+        break;
+      case TimelineDragMode::ResizeRight:
+        state->x_view_max = std::max(mouse_time, state->x_view_min + MIN_HORIZONTAL_ZOOM_SECONDS);
+        clamp_shared_range(state, session);
+        break;
+      case TimelineDragMode::None:
+        break;
+    }
+  }
+
+  if (hovered) {
+    if (std::abs(mouse_x - vp_left) <= edge_grab || std::abs(mouse_x - vp_right) <= edge_grab) {
+      ImGui::SetMouseCursor(ImGuiMouseCursor_ResizeEW);
+    } else if (mouse_x >= vp_left && mouse_x <= vp_right) {
+      ImGui::SetMouseCursor(ImGuiMouseCursor_Hand);
+    }
+    ImGui::BeginTooltip();
+    ImGui::Text("t=%.1fs — %s", mouse_time, timeline_entry_label(timeline_type_at_time(session.route_data.timeline, mouse_time)));
+    ImGui::EndTooltip();
+  }
+}
+
+void draw_status_bar(const AppSession &session, const UiMetrics &ui, UiState *state) {
+  ImGui::SetNextWindowPos(ImVec2(ui.content_x, ui.status_bar_y));
+  ImGui::SetNextWindowSize(ImVec2(ui.content_w, STATUS_BAR_HEIGHT));
+  ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(0.0f, 0.0f));
+  ImGui::PushStyleColor(ImGuiCol_WindowBg, color_rgb(247, 248, 250));
+  ImGui::PushStyleColor(ImGuiCol_Border, color_rgb(188, 193, 199));
+  const ImGuiWindowFlags flags = ImGuiWindowFlags_NoDecoration |
+                                 ImGuiWindowFlags_NoMove |
+                                 ImGuiWindowFlags_NoResize |
+                                 ImGuiWindowFlags_NoSavedSettings;
+  if (ImGui::Begin("##status_bar", nullptr, flags)) {
+    draw_timeline_bar_contents(session, state, ui.content_w);
+    const float row_y = TIMELINE_BAR_HEIGHT + 8.0f;
+    ImGui::SetCursorPos(ImVec2(8.0f, row_y));
+    ImGui::BeginDisabled(!session.route_data.has_time_range);
+    ImGui::Checkbox("Loop", &state->playback_loop);
+    ImGui::SameLine(0.0f, 10.0f);
+    if (ImGui::Button(state->playback_playing ? "Pause" : "Play", ImVec2(56.0f, 0.0f))) {
+      state->playback_playing = !state->playback_playing;
+    }
+    ImGui::SameLine(0.0f, 10.0f);
+    if (ImGui::Button("Reset View", ImVec2(86.0f, 0.0f))) {
+      reset_timeline_view(state, session);
+    }
+    const float controls_end_x = ImGui::GetItemRectMax().x - ImGui::GetWindowPos().x;
+    ImGui::EndDisabled();
+
+    const char *status_text = state->status_text.empty() ? "Ready" : state->status_text.c_str();
+    const float status_x = controls_end_x + 16.0f;
+    ImGui::SetCursorPos(ImVec2(status_x, row_y + 2.0f));
+    ImGui::PushStyleColor(ImGuiCol_Text, color_rgb(102, 110, 118));
+    ImGui::TextUnformatted(status_text);
+    ImGui::PopStyleColor();
+
+  }
+  ImGui::End();
+  ImGui::PopStyleColor(2);
+  ImGui::PopStyleVar();
+}
+
+void draw_sidebar_resizer(const UiMetrics &ui, UiState *state) {
+  constexpr float kHandleWidth = 14.0f;
+  ImGui::SetNextWindowPos(ImVec2(ui.sidebar_width - kHandleWidth * 0.5f, ui.top_offset));
+  ImGui::SetNextWindowSize(ImVec2(kHandleWidth, std::max(1.0f, ui.height - ui.top_offset)));
+  const ImGuiWindowFlags flags = ImGuiWindowFlags_NoDecoration |
+                                 ImGuiWindowFlags_NoMove |
+                                 ImGuiWindowFlags_NoResize |
+                                 ImGuiWindowFlags_NoSavedSettings |
+                                 ImGuiWindowFlags_NoBackground;
+  ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(0.0f, 0.0f));
+  if (ImGui::Begin("##sidebar_resizer", nullptr, flags)) {
+    ImGui::InvisibleButton("##sidebar_resizer_button", ImVec2(kHandleWidth, std::max(1.0f, ui.height - ui.top_offset)));
+    if (ImGui::IsItemHovered() || ImGui::IsItemActive()) {
+      ImGui::SetMouseCursor(ImGuiMouseCursor_ResizeEW);
+    }
+    if (ImGui::IsItemActive()) {
+      const float max_width = std::min(SIDEBAR_MAX_WIDTH, ui.width * 0.6f);
+      state->sidebar_width = std::clamp(ImGui::GetIO().MousePos.x, SIDEBAR_MIN_WIDTH, max_width);
+    }
+
+    ImDrawList *draw_list = ImGui::GetWindowDrawList();
+    const ImVec2 origin = ImGui::GetWindowPos();
+    draw_list->AddLine(ImVec2(origin.x + kHandleWidth * 0.5f, origin.y),
+                       ImVec2(origin.x + kHandleWidth * 0.5f, origin.y + std::max(1.0f, ui.height - ui.top_offset)),
+                       IM_COL32(194, 198, 204, 255));
+  }
+  ImGui::End();
+  ImGui::PopStyleVar();
+}
diff --git a/tools/jotpluggler/sketch_layout.cc b/tools/jotpluggler/sketch_layout.cc
new file mode 100644
index 00000000000000..cd0bf51015234d
--- /dev/null
+++ b/tools/jotpluggler/sketch_layout.cc
@@ -0,0 +1,2202 @@
+#include "tools/jotpluggler/app.h"
+#include "tools/jotpluggler/car_fingerprint_to_dbc.h"
+#include "tools/jotpluggler/common.h"
+
+#include <capnp/dynamic.h>
+
+#include <chrono>
+#include <cmath>
+#include <cstdlib>
+#include <cstring>
+#include <iostream>
+#include <map>
+#include <mutex>
+#include <limits>
+#include <numeric>
+#include <regex>
+#include <set>
+#include <stdexcept>
+#include <thread>
+#include <tuple>
+#include <unordered_set>
+#include <utility>
+
+#include "common/util.h"
+#include "third_party/json11/json11.hpp"
+#include "tools/replay/logreader.h"
+#include "tools/replay/py_downloader.h"
+
+namespace fs = std::filesystem;
+
+namespace {
+
+struct RouteSelection {
+  std::string dongle_id;
+  std::string timestamp;
+  int begin_segment = 0;
+  int end_segment = -1;
+  bool slice_explicit = false;
+  LogSelector selector = LogSelector::Auto;
+  bool selector_explicit = false;
+  std::string canonical_name;
+};
+
+struct SegmentLogs {
+  std::string rlog;
+  std::string qlog;
+  std::string fcamera;
+  std::string dcamera;
+  std::string ecamera;
+  std::string qcamera;
+};
+
+enum class ScalarKind {
+  None,
+  Bool,
+  Int,
+  UInt,
+  Float,
+  Enum,
+};
+
+enum class ResolvedNodeKind {
+  Ignore,
+  Scalar,
+  Struct,
+  List,
+};
+
+struct ResolvedNode {
+  ResolvedNodeKind kind = ResolvedNodeKind::Ignore;
+  ScalarKind scalar_kind = ScalarKind::None;
+  int fixed_slot = -1;
+  bool has_field = false;
+  capnp::StructSchema::Field field;
+  std::string segment;
+  std::string path;
+  bool skip_large_scalar_list = false;
+  std::vector<ResolvedNode> children;
+  std::unique_ptr<ResolvedNode> element;
+};
+
+struct ResolvedService {
+  uint16_t event_which = 0;
+  capnp::StructSchema::Field union_field;
+  std::string service_name;
+  int valid_slot = -1;
+  int log_mono_time_slot = -1;
+  int seconds_slot = -1;
+  ResolvedNode payload;
+};
+
+struct SchemaIndex {
+  std::vector<std::optional<ResolvedService>> by_which;
+  size_t fixed_series_count = 0;
+  std::vector<std::string> fixed_paths;
+
+  static const SchemaIndex &instance();
+};
+
+constexpr size_t INVALID_DYNAMIC_SLOT = std::numeric_limits<size_t>::max();
+
+struct SeriesAccumulator {
+  explicit SeriesAccumulator(size_t fixed_count = 0) : fixed_series(fixed_count) {}
+
+  std::vector<RouteSeries> fixed_series;
+  std::vector<RouteSeries> dynamic_series;
+  std::vector<CanMessageData> can_messages;
+  std::unordered_map<std::string, size_t> dynamic_slots;
+  std::unordered_map<std::string, std::vector<size_t>> list_scalar_slots;
+  std::unordered_map<CanMessageId, size_t, CanMessageIdHash> can_message_slots;
+  std::unordered_map<std::string, EnumInfo> enum_info;
+};
+
+struct LoadedRouteArtifacts {
+  std::vector<RouteSeries> series;
+  std::vector<CanMessageData> can_messages;
+  std::vector<LogEntry> logs;
+  std::vector<TimelineEntry> timeline;
+  std::unordered_map<std::string, EnumInfo> enum_info;
+};
+
+struct RouteMetadata {
+  std::string car_fingerprint;
+};
+
+struct LoadStats {
+  using Clock = std::chrono::steady_clock;
+  using TimePoint = Clock::time_point;
+
+  struct SegmentStats {
+    int segment_number = -1;
+    std::string log_path;
+    double download_seconds = 0.0;
+    double decompress_seconds = 0.0;
+    double parse_seconds = 0.0;
+    double extract_seconds = 0.0;
+    size_t compressed_bytes = 0;
+    size_t decompressed_bytes = 0;
+    size_t event_count = 0;
+    size_t series_count = 0;
+    bool failed = false;
+  };
+
+  explicit LoadStats(const RouteLoadProgressCallback &callback) : progress(callback) {}
+
+  void publish(RouteLoadStage stage, size_t segment_index, const std::string &segment_name) {
+    if (!progress) {
+      return;
+    }
+    RouteLoadProgress update;
+    update.stage = stage;
+    update.segment_index = segment_index;
+    update.segment_count = segment_count;
+    update.current = stage == RouteLoadStage::DownloadingSegment
+      ? segments_downloaded.load()
+      : segments_parsed.load();
+    update.total = total_segments.load();
+    update.segments_downloaded = segments_downloaded.load();
+    update.segments_parsed = segments_parsed.load();
+    update.total_segments = total_segments.load();
+    update.bytes_downloaded = bytes_downloaded.load();
+    update.num_workers = num_workers;
+    update.segment_name = segment_name;
+    std::lock_guard<std::mutex> lock(progress_mutex);
+    progress(update);
+  }
+
+  void print_summary(size_t final_series_count) const {
+    const auto secs = [](TimePoint a, TimePoint b) { return std::chrono::duration<double>(b - a).count(); };
+    const auto mb = [](size_t bytes) { return static_cast<double>(bytes) / (1024.0 * 1024.0); };
+    double dl = 0, dc = 0, pa = 0, ex = 0;
+    size_t ev = 0, cb = 0, db = 0;
+    for (const auto &s : segments) {
+      dl += s.download_seconds; dc += s.decompress_seconds;
+      pa += s.parse_seconds; ex += s.extract_seconds;
+      ev += s.event_count; cb += s.compressed_bytes; db += s.decompressed_bytes;
+    }
+    std::cerr << std::fixed << std::setprecision(1)
+      << "route loaded in " << secs(load_start, load_end) << "s (" << segment_count << " segments, " << num_workers << " workers)\n"
+      << "  resolve: " << secs(load_start, resolve_end) << "s  fetch: " << dl << "s (" << mb(cb) << " MB)"
+      << "  decompress: " << dc << "s (" << mb(db) << " MB)\n"
+      << "  parse: " << pa << "s (" << ev << " events)  extract: " << ex << "s  merge: " << secs(merge_start, merge_end) << "s"
+      << "  series: " << final_series_count << " paths\n";
+    for (const auto &s : segments) {
+      std::cerr << "    seg " << std::setw(2) << s.segment_number << ": "
+        << (s.failed ? "FAILED" : std::to_string(s.download_seconds) + "s + " + std::to_string(s.parse_seconds)
+          + "s (" + std::to_string(s.event_count) + " ev, " + std::to_string(s.series_count) + " series)") << "\n";
+    }
+    std::cerr.unsetf(std::ios::floatfield);
+  }
+
+  TimePoint load_start;
+  TimePoint resolve_end;
+  TimePoint merge_start;
+  TimePoint merge_end;
+  TimePoint load_end;
+  size_t segment_count = 0;
+  int num_workers = 1;
+  std::vector<SegmentStats> segments;
+  std::atomic<size_t> segments_downloaded{0};
+  std::atomic<size_t> segments_parsed{0};
+  std::atomic<size_t> total_segments{0};
+  std::atomic<uint64_t> bytes_downloaded{0};
+  RouteLoadProgressCallback progress;
+  mutable std::mutex progress_mutex;
+};
+
+std::string curve_label(std::string_view series_name) {
+  return std::string(series_name.empty() ? std::string_view{"plot"} : series_name);
+}
+
+bool parse_segment_number(std::string_view value, int *out) {
+  if (value.empty()) return false;
+  char *end = nullptr;
+  const long parsed = std::strtol(std::string(value).c_str(), &end, 10);
+  if (end == nullptr || *end != '\0') return false;
+  *out = static_cast<int>(parsed);
+  return true;
+}
+
+bool is_log_selector_char(char c) {
+  return c == 'a' || c == 'r' || c == 'q';
+}
+
+LogSelector parse_log_selector_char(char c) {
+  switch (c) {
+    case 'r': return LogSelector::RLog;
+    case 'q': return LogSelector::QLog;
+    case 'a':
+    default: return LogSelector::Auto;
+  }
+}
+
+const std::string &selected_log_path(const SegmentLogs &segment, LogSelector selector) {
+  switch (selector) {
+    case LogSelector::RLog:
+      return segment.rlog;
+    case LogSelector::QLog:
+      return segment.qlog;
+    case LogSelector::Auto:
+    default:
+      return !segment.rlog.empty() ? segment.rlog : segment.qlog;
+  }
+}
+
+RouteSelection parse_route_selection(std::string route_name) {
+  RouteSelection route = {};
+  route_name = util::strip(route_name);
+  if (route_name.size() >= 2 && route_name[route_name.size() - 2] == '/'
+      && is_log_selector_char(static_cast<char>(std::tolower(route_name.back())))) {
+    route.selector = parse_log_selector_char(static_cast<char>(std::tolower(route_name.back())));
+    route.selector_explicit = true;
+    route_name.resize(route_name.size() - 2);
+  }
+  static const std::regex pattern(R"(^(([a-z0-9]{16})[|_/])?(.{20})((--|/)((-?\d+(:(-?\d+)?)?)|(:-?\d+)))?$)");
+  std::smatch match;
+  if (!std::regex_match(route_name, match, pattern)) return route;
+
+  route.dongle_id = match[2].str();
+  route.timestamp = match[3].str();
+  route.canonical_name = route.dongle_id + "|" + route.timestamp;
+
+  const std::string separator = match[5].str();
+  const std::string range_str = match[6].str();
+  if (!range_str.empty()) {
+    route.slice_explicit = true;
+    if (separator == "/") {
+      size_t pos = range_str.find(':');
+      int begin_segment = 0;
+      if (!parse_segment_number(range_str.substr(0, pos), &begin_segment)) {
+        return {};
+      }
+      route.begin_segment = begin_segment;
+      route.end_segment = begin_segment;
+      if (pos != std::string::npos) {
+        int end_segment = -1;
+        const std::string end_str = range_str.substr(pos + 1);
+        if (!end_str.empty() && !parse_segment_number(end_str, &end_segment)) {
+          return {};
+        }
+        route.end_segment = end_str.empty() ? -1 : end_segment;
+      }
+    } else if (separator == "--") {
+      int begin_segment = 0;
+      if (!parse_segment_number(range_str, &begin_segment)) return {};
+      route.begin_segment = begin_segment;
+    }
+  }
+  return route;
+}
+
+void add_log_file_to_segments(std::map<int, SegmentLogs> *segments, int segment_number, const std::string &file) {
+  std::string name = extractFileName(file);
+  const size_t pos = name.find_last_of("--");
+  name = pos != std::string::npos ? name.substr(pos + 2) : name;
+  SegmentLogs &segment = (*segments)[segment_number];
+  if (name == "rlog.bz2" || name == "rlog.zst" || name == "rlog") {
+    segment.rlog = file;
+  } else if (name == "qlog.bz2" || name == "qlog.zst" || name == "qlog") {
+    segment.qlog = file;
+  } else if (name == "fcamera.hevc") {
+    segment.fcamera = file;
+  } else if (name == "dcamera.hevc") {
+    segment.dcamera = file;
+  } else if (name == "ecamera.hevc") {
+    segment.ecamera = file;
+  } else if (name == "qcamera.ts") {
+    segment.qcamera = file;
+  }
+}
+
+std::map<int, SegmentLogs> trim_segments(std::map<int, SegmentLogs> segments, const RouteSelection &route) {
+  if (route.begin_segment > 0) {
+    segments.erase(segments.begin(), segments.lower_bound(route.begin_segment));
+  }
+  if (route.end_segment >= 0) {
+    segments.erase(segments.upper_bound(route.end_segment), segments.end());
+  }
+  return segments;
+}
+
+std::map<int, SegmentLogs> load_segments_from_json(const json11::Json &json) {
+  std::map<int, SegmentLogs> segments;
+  static const std::regex rx(R"(\/(\d+)\/)");
+  for (const auto &value : json.object_items()) {
+    for (const auto &url : value.second.array_items()) {
+      const std::string url_str = url.string_value();
+      std::smatch match;
+      if (!std::regex_search(url_str, match, rx)) continue;
+      add_log_file_to_segments(&segments, std::stoi(match[1].str()), url_str);
+    }
+  }
+  return segments;
+}
+
+std::map<int, SegmentLogs> load_segments_from_server(const RouteSelection &route) {
+  const std::string result = PyDownloader::getRouteFiles(route.canonical_name);
+  if (result.empty()) throw std::runtime_error("Failed to fetch route files for " + route.canonical_name);
+
+  std::string parse_error;
+  const auto json = json11::Json::parse(result, parse_error);
+  if (!parse_error.empty()) throw std::runtime_error("Failed to parse route file list for " + route.canonical_name);
+  if (json.is_object() && json["error"].is_string()) {
+    throw std::runtime_error("Route API error for " + route.canonical_name + ": " + json["error"].string_value());
+  }
+  return load_segments_from_json(json);
+}
+
+std::map<int, SegmentLogs> load_segments_from_local(const RouteSelection &route, const std::string &data_dir) {
+  std::map<int, SegmentLogs> segments;
+  const std::string pattern = route.timestamp + "--";
+  for (const auto &entry : fs::directory_iterator(data_dir)) {
+    if (!entry.is_directory()) continue;
+    const std::string dirname = entry.path().filename().string();
+    if (dirname.find(pattern) == std::string::npos) continue;
+    const size_t marker = dirname.rfind("--");
+    if (marker == std::string::npos) continue;
+    int segment_number = 0;
+    if (!parse_segment_number(dirname.substr(marker + 2), &segment_number)) {
+      continue;
+    }
+    for (const auto &file : fs::directory_iterator(entry.path())) {
+      if (file.is_regular_file()) {
+        add_log_file_to_segments(&segments, segment_number, file.path().string());
+      }
+    }
+  }
+  return segments;
+}
+
+RouteIdentifier make_route_identifier(const RouteSelection &route, const std::map<int, SegmentLogs> &segments) {
+  RouteIdentifier route_id;
+  route_id.dongle_id = route.dongle_id;
+  route_id.log_id = route.timestamp;
+  route_id.slice_begin = route.begin_segment;
+  route_id.slice_end = route.end_segment;
+  route_id.slice_explicit = route.slice_explicit;
+  route_id.selector = route.selector;
+  route_id.selector_explicit = route.selector_explicit;
+  if (!segments.empty()) {
+    route_id.available_begin = segments.begin()->first;
+    route_id.available_end = segments.rbegin()->first;
+  }
+  return route_id;
+}
+
+std::string detect_dbc_for_fingerprint(std::string_view car_fingerprint) {
+  return std::string(dbc_for_car_fingerprint(car_fingerprint));
+}
+
+std::vector<std::string> available_dbc_names_impl() {
+  std::set<std::string> names;
+  for (const fs::path &dbc_dir : {
+         repo_root() / "opendbc" / "dbc",
+         repo_root() / "tools" / "jotpluggler" / "generated_dbcs",
+       }) {
+    if (fs::exists(dbc_dir) && fs::is_directory(dbc_dir)) {
+      for (const auto &entry : fs::directory_iterator(dbc_dir)) {
+        if (!entry.is_regular_file() || entry.path().extension() != ".dbc") {
+          continue;
+        }
+        names.insert(entry.path().stem().string());
+      }
+    }
+  }
+  for (const auto &[_, dbc_name] : kCarFingerprintToDbc) {
+    if (!dbc_name.empty()) {
+      names.insert(std::string(dbc_name));
+    }
+  }
+  return std::vector<std::string>(names.begin(), names.end());
+}
+
+fs::path resolve_dbc_path(const std::string &dbc_name) {
+  for (const fs::path &candidate : {
+         repo_root() / "opendbc" / "dbc" / (dbc_name + ".dbc"),
+         repo_root() / "tools" / "jotpluggler" / "generated_dbcs" / (dbc_name + ".dbc"),
+       }) {
+    if (fs::exists(candidate)) return candidate;
+  }
+  throw std::runtime_error("DBC not found: " + dbc_name);
+}
+
+std::array<uint8_t, 3> parse_color(std::string_view color) {
+  if (!color.empty() && color.front() == '#') {
+    color.remove_prefix(1);
+  }
+  if (color.size() != 6) return {160, 170, 180};
+
+  std::array<uint8_t, 3> out = {};
+  for (size_t i = 0; i < 3; ++i) {
+    const std::string byte(color.substr(i * 2, 2));
+    char *end = nullptr;
+    const long parsed = std::strtol(byte.c_str(), &end, 16);
+    if (end == nullptr || *end != '\0' || parsed < 0 || parsed > 255) return {160, 170, 180};
+    out[i] = static_cast<uint8_t>(parsed);
+  }
+  return out;
+}
+
+uint8_t android_priority_to_level(uint8_t priority) {
+  switch (priority) {
+    case 2:
+    case 3:
+      return 10;
+    case 4:
+      return 20;
+    case 5:
+      return 30;
+    case 6:
+      return 40;
+    case 7:
+    default:
+      return 50;
+  }
+}
+
+uint8_t alert_status_to_level(cereal::SelfdriveState::AlertStatus status) {
+  switch (status) {
+    case cereal::SelfdriveState::AlertStatus::NORMAL:
+      return 20;
+    case cereal::SelfdriveState::AlertStatus::USER_PROMPT:
+      return 30;
+    case cereal::SelfdriveState::AlertStatus::CRITICAL:
+      return 40;
+  }
+  return 20;
+}
+
+TimelineEntry::Type alert_status_to_timeline_type(cereal::SelfdriveState::AlertStatus status, bool enabled) {
+  if (!enabled) {
+    return TimelineEntry::Type::None;
+  }
+  switch (status) {
+    case cereal::SelfdriveState::AlertStatus::NORMAL:
+      return TimelineEntry::Type::Engaged;
+    case cereal::SelfdriveState::AlertStatus::USER_PROMPT:
+      return TimelineEntry::Type::AlertInfo;
+    case cereal::SelfdriveState::AlertStatus::CRITICAL:
+      return TimelineEntry::Type::AlertCritical;
+  }
+  return TimelineEntry::Type::Engaged;
+}
+
+void append_timeline_entry(std::vector<TimelineEntry> *timeline, double mono_time, TimelineEntry::Type type) {
+  if (timeline == nullptr) {
+    return;
+  }
+  if (!timeline->empty() && timeline->back().type == type) {
+    timeline->back().end_time = std::max(timeline->back().end_time, mono_time);
+    return;
+  }
+  timeline->push_back(TimelineEntry{
+    .start_time = mono_time,
+    .end_time = mono_time,
+    .type = type,
+  });
+}
+
+double android_wall_time_seconds(uint64_t timestamp) {
+  if (timestamp == 0) return 0.0;
+  if (timestamp > 1000000000000ULL) return static_cast<double>(timestamp) / 1.0e9;
+  if (timestamp > 1000000000ULL) return static_cast<double>(timestamp) / 1.0e6;
+  return static_cast<double>(timestamp);
+}
+
+std::optional<uint64_t> json_u64_value(const json11::Json &value) {
+  if (value.is_number()) {
+    const double number = value.number_value();
+    if (number >= 0.0) return static_cast<uint64_t>(number);
+  }
+  if (value.is_string()) {
+    try {
+      return static_cast<uint64_t>(std::stoull(value.string_value()));
+    } catch (...) {
+    }
+  }
+  return std::nullopt;
+}
+
+std::optional<int> json_int_value(const json11::Json &value) {
+  if (value.is_number()) return value.int_value();
+  if (value.is_string()) {
+    try {
+      return std::stoi(value.string_value());
+    } catch (...) {
+    }
+  }
+  return std::nullopt;
+}
+
+std::string json_value_for_log(const json11::Json &value) {
+  if (value.is_string()) return value.string_value();
+  if (value.is_bool()) return value.bool_value() ? "true" : "false";
+  return value.dump();
+}
+
+std::string format_journal_context(const json11::Json &parsed, int pid, int tid) {
+  std::vector<std::string> lines;
+  if (pid != 0 || tid != 0) {
+    lines.push_back("pid=" + std::to_string(pid) + ", tid=" + std::to_string(tid));
+  }
+
+  const std::array<const char *, 5> preferred_keys = {
+    "_HOSTNAME",
+    "_TRANSPORT",
+    "PRIORITY",
+    "SYSLOG_FACILITY",
+    "__MONOTONIC_TIMESTAMP",
+  };
+  for (const char *key : preferred_keys) {
+    const json11::Json &value = parsed[key];
+    if (!value.is_null()) {
+      lines.push_back(std::string(key) + "=" + json_value_for_log(value));
+    }
+  }
+  return join(lines, "\n");
+}
+
+std::string alert_message_text(const cereal::SelfdriveState::Reader &state) {
+  std::string text = state.getAlertText1().cStr();
+  const std::string text2 = state.getAlertText2().cStr();
+  if (!text2.empty()) {
+    text += " - " + text2;
+  }
+  return text;
+}
+
+bool same_log_entry(const LogEntry &a, const LogEntry &b) {
+  return a.mono_time == b.mono_time
+      && a.level == b.level
+      && a.source == b.source
+      && a.func == b.func
+      && a.message == b.message
+      && a.context == b.context
+      && a.origin == b.origin;
+}
+
+void append_log_event(cereal::Event::Which which,
+                      const cereal::Event::Reader &event,
+                      double time_offset,
+                      std::vector<LogEntry> *logs,
+                      std::string *last_alert_key) {
+  const double boot_time = static_cast<double>(event.getLogMonoTime()) / 1.0e9;
+  const double mono_time = boot_time - time_offset;
+
+  auto make_entry = [&](LogOrigin origin, uint8_t level = 20) {
+    LogEntry e;
+    e.mono_time = mono_time;
+    e.boot_time = boot_time;
+    e.origin = origin;
+    e.level = level;
+    return e;
+  };
+
+  switch (which) {
+    case cereal::Event::Which::LOG_MESSAGE:
+    case cereal::Event::Which::ERROR_LOG_MESSAGE: {
+      const std::string raw = which == cereal::Event::Which::LOG_MESSAGE
+        ? event.getLogMessage().cStr() : event.getErrorLogMessage().cStr();
+      auto entry = make_entry(LogOrigin::Log, which == cereal::Event::Which::ERROR_LOG_MESSAGE ? 40 : 20);
+      entry.source = "log";
+      entry.message = raw;
+      std::string err;
+      if (const auto p = json11::Json::parse(raw, err); err.empty() && p.is_object()) {
+        entry.wall_time = p["created"].number_value();
+        if (p["levelnum"].is_number()) entry.level = static_cast<uint8_t>(p["levelnum"].int_value());
+        const std::string fn = p["filename"].string_value();
+        const int ln = p["lineno"].is_number() ? p["lineno"].int_value() : 0;
+        entry.source = fn.empty() ? "log" : fn + (ln > 0 ? ":" + std::to_string(ln) : "");
+        entry.func = p["funcname"].string_value();
+        if (p["msg"].is_string()) entry.message = p["msg"].string_value();
+        if (!p["ctx"].is_null()) entry.context = p["ctx"].dump();
+      }
+      logs->push_back(std::move(entry));
+      break;
+    }
+    case cereal::Event::Which::ANDROID_LOG: {
+      const auto android = event.getAndroidLog();
+      auto entry = make_entry(LogOrigin::Android, android_priority_to_level(android.getPriority()));
+      entry.wall_time = android_wall_time_seconds(android.getTs());
+      entry.source = android.hasTag() ? android.getTag().cStr() : "android";
+      entry.message = android.hasMessage() ? android.getMessage().cStr() : std::string();
+      entry.context = "pid=" + std::to_string(android.getPid()) + ", tid=" + std::to_string(android.getTid());
+      if (!entry.message.empty()) {
+        std::string err;
+        if (const auto p = json11::Json::parse(entry.message, err); err.empty() && p.is_object()) {
+          if (p["MESSAGE"].is_string()) entry.message = p["MESSAGE"].string_value();
+          if (p["SYSLOG_IDENTIFIER"].is_string() && !p["SYSLOG_IDENTIFIER"].string_value().empty())
+            entry.source = p["SYSLOG_IDENTIFIER"].string_value();
+          if (auto pri = json_int_value(p["PRIORITY"]); pri.has_value())
+            entry.level = android_priority_to_level(*pri);
+          if (auto ts = json_u64_value(p["__REALTIME_TIMESTAMP"]); ts.has_value())
+            entry.wall_time = android_wall_time_seconds(*ts);
+          entry.context = format_journal_context(p, android.getPid(), android.getTid());
+        }
+      }
+      logs->push_back(std::move(entry));
+      break;
+    }
+    case cereal::Event::Which::SELFDRIVE_STATE: {
+      const auto sd = event.getSelfdriveState();
+      const std::string alert_type = sd.getAlertType().cStr();
+      const std::string alert_text1 = sd.getAlertText1().cStr();
+      if (alert_text1.empty() && alert_type.empty()) break;
+      const std::string key = alert_type + "\n" + alert_text1 + "\n" + std::string(sd.getAlertText2().cStr());
+      if (last_alert_key != nullptr && key == *last_alert_key) break;
+      if (last_alert_key != nullptr) *last_alert_key = key;
+      auto entry = make_entry(LogOrigin::Alert, alert_status_to_level(sd.getAlertStatus()));
+      entry.source = "alert";
+      entry.func = alert_type;
+      entry.message = alert_message_text(sd);
+      logs->push_back(std::move(entry));
+      break;
+    }
+    default:
+      break;
+  }
+}
+
+std::vector<TimelineEntry> extract_segment_timeline(const std::vector<Event> &events) {
+  std::vector<TimelineEntry> timeline;
+  timeline.reserve(events.size() / 16);
+
+  for (const Event &event_record : events) {
+    if (event_record.which != cereal::Event::Which::SELFDRIVE_STATE) {
+      continue;
+    }
+    capnp::FlatArrayMessageReader event_reader(event_record.data);
+    const cereal::Event::Reader event = event_reader.getRoot<cereal::Event>();
+    const auto sd = event.getSelfdriveState();
+    const double mono_time = static_cast<double>(event.getLogMonoTime()) / 1.0e9;
+    append_timeline_entry(&timeline, mono_time, alert_status_to_timeline_type(sd.getAlertStatus(), sd.getEnabled()));
+  }
+
+  return timeline;
+}
+
+std::vector<LogEntry> extract_segment_logs(const std::vector<Event> &events) {
+  std::vector<LogEntry> logs;
+  logs.reserve(events.size() / 8);
+  std::string last_alert_key;
+
+  for (const Event &event_record : events) {
+    capnp::FlatArrayMessageReader event_reader(event_record.data);
+    const cereal::Event::Reader event = event_reader.getRoot<cereal::Event>();
+    append_log_event(event_record.which, event, 0.0, &logs, &last_alert_key);
+  }
+
+  return logs;
+}
+
+RouteMetadata extract_segment_metadata(const std::vector<Event> &events) {
+  RouteMetadata metadata;
+  for (const Event &event_record : events) {
+    if (event_record.which != cereal::Event::Which::CAR_PARAMS) continue;
+    capnp::FlatArrayMessageReader event_reader(event_record.data);
+    const cereal::Event::Reader event = event_reader.getRoot<cereal::Event>();
+    metadata.car_fingerprint = event.getCarParams().getCarFingerprint().cStr();
+    if (!metadata.car_fingerprint.empty()) break;
+  }
+  return metadata;
+}
+
+RouteMetadata detect_route_metadata(const std::map<int, SegmentLogs> &segments, LogSelector selector) {
+  for (const auto &[_, segment] : segments) {
+    const std::string &log_path = selector == LogSelector::Auto
+      ? (!segment.qlog.empty() ? segment.qlog : segment.rlog)
+      : selected_log_path(segment, selector);
+    if (log_path.empty()) {
+      continue;
+    }
+    LogReader reader;
+    if (!reader.load(log_path, nullptr, true)) continue;
+    RouteMetadata metadata = extract_segment_metadata(reader.events);
+    if (!metadata.car_fingerprint.empty()) return metadata;
+  }
+  return {};
+}
+
+std::vector<double> normalize_sizes(const json11::Json &sizes_json, size_t child_count) {
+  std::vector<double> parsed;
+  if (sizes_json.is_array()) {
+    for (const json11::Json &value : sizes_json.array_items()) {
+      if (value.is_number()) {
+        parsed.push_back(std::max(value.number_value(), 0.0));
+      }
+    }
+  }
+
+  if (parsed.size() != child_count || child_count == 0) return std::vector<double>(child_count, child_count == 0 ? 0.0 : 1.0 / static_cast<double>(child_count));
+
+  const double total = std::accumulate(parsed.begin(), parsed.end(), 0.0);
+  if (total <= 0.0) return std::vector<double>(child_count, 1.0 / static_cast<double>(child_count));
+  for (double &value : parsed) {
+    value /= total;
+  }
+  return parsed;
+}
+
+PlotRange parse_range(const json11::Json &pane_node) {
+  PlotRange range;
+  const json11::Json &range_node = pane_node["range"];
+  if (range_node.is_object()) {
+    range.valid = true;
+    range.left = range_node["left"].number_value();
+    range.right = range_node["right"].number_value();
+    range.bottom = range_node["bottom"].number_value();
+    range.top = range_node["top"].is_number() ? range_node["top"].number_value() : 1.0;
+  }
+  const json11::Json &limit_y_node = pane_node["y_limits"];
+  if (limit_y_node.is_object()) {
+    if (limit_y_node["min"].is_number()) {
+      range.has_y_limit_min = true;
+      range.y_limit_min = limit_y_node["min"].number_value();
+    }
+    if (limit_y_node["max"].is_number()) {
+      range.has_y_limit_max = true;
+      range.y_limit_max = limit_y_node["max"].number_value();
+    }
+  }
+  return range;
+}
+
+Curve parse_curve(const json11::Json &curve_node) {
+  Curve curve;
+  curve.name = curve_node["name"].string_value();
+  curve.label = curve_label(curve.name);
+  curve.color = parse_color(curve_node["color"].string_value());
+
+  const std::string transform_name = curve_node["transform"].string_value();
+  if (transform_name == "derivative") {
+    curve.derivative = true;
+    curve.derivative_dt = curve_node["derivative_dt"].is_number() ? curve_node["derivative_dt"].number_value() : 0.0;
+  } else if (transform_name == "scale") {
+    curve.value_scale = curve_node["scale"].is_number() ? curve_node["scale"].number_value() : 1.0;
+    curve.value_offset = curve_node["offset"].is_number() ? curve_node["offset"].number_value() : 0.0;
+  }
+  const json11::Json &custom_node = curve_node["custom_python"];
+  if (custom_node.is_object()) {
+    CustomPythonSeries spec;
+    spec.linked_source = custom_node["linked_source"].string_value();
+    spec.globals_code = custom_node["globals_code"].string_value();
+    spec.function_code = custom_node["function_code"].string_value();
+    for (const json11::Json &source : custom_node["additional_sources"].array_items()) {
+      if (source.is_string()) {
+        spec.additional_sources.push_back(source.string_value());
+      }
+    }
+    curve.custom_python = std::move(spec);
+  }
+  return curve;
+}
+
+std::string pane_title(const json11::Json &dock_area_node) {
+  const std::string raw = dock_area_node["title"].string_value();
+  return raw.empty() ? "..." : raw;
+}
+
+Pane parse_dock_area(const json11::Json &dock_area_node) {
+  Pane pane;
+  const std::string kind = dock_area_node["kind"].string_value();
+  if (kind == "map") {
+    pane.kind = PaneKind::Map;
+  } else if (kind == "camera") {
+    pane.kind = PaneKind::Camera;
+    const std::string camera_view = dock_area_node["camera_view"].string_value();
+    if (const CameraViewSpec *spec = camera_view_spec_from_layout_name(camera_view)) {
+      pane.camera_view = spec->view;
+    } else {
+      pane.camera_view = CameraViewKind::Road;
+    }
+  }
+  pane.range = parse_range(dock_area_node);
+  const json11::Json &curves_node = dock_area_node["curves"];
+  if (curves_node.is_array()) {
+    for (const json11::Json &curve_node : curves_node.array_items()) {
+      if (curve_node.is_object()) {
+        pane.curves.push_back(parse_curve(curve_node));
+      }
+    }
+  }
+  pane.title = pane_title(dock_area_node);
+  return pane;
+}
+
+WorkspaceNode parse_workspace_node(const json11::Json &node, WorkspaceTab *tab) {
+  WorkspaceNode workspace_node;
+  if (!node.is_object()) return workspace_node;
+
+  if (node["curves"].is_array()) {
+    workspace_node.is_pane = true;
+    workspace_node.pane_index = static_cast<int>(tab->panes.size());
+    tab->panes.push_back(parse_dock_area(node));
+    return workspace_node;
+  }
+
+  const json11::Json &children_node = node["children"];
+  if (!children_node.is_array()) return workspace_node;
+
+  const std::vector<json11::Json> children = children_node.array_items();
+  if (children.empty()) return workspace_node;
+
+  const std::string split = node["split"].string_value();
+  workspace_node.orientation = split == "vertical" ? SplitOrientation::Vertical : SplitOrientation::Horizontal;
+  const std::vector<double> sizes = normalize_sizes(node["sizes"], children.size());
+  workspace_node.sizes.reserve(sizes.size());
+  workspace_node.children.reserve(children.size());
+  for (size_t i = 0; i < children.size(); ++i) {
+    workspace_node.sizes.push_back(static_cast<float>(sizes[i]));
+    workspace_node.children.push_back(parse_workspace_node(children[i], tab));
+  }
+  return workspace_node;
+}
+
+WorkspaceTab parse_tab(const json11::Json &tab, const fs::path &layout_path) {
+  WorkspaceTab workspace_tab;
+  workspace_tab.tab_name = tab["name"].string_value().empty() ? "tab1" : tab["name"].string_value();
+  const json11::Json &dock_root = tab["root"];
+  if (!dock_root.is_object()) throw std::runtime_error("Layout tab has no dock content: " + layout_path.string());
+  workspace_tab.root = parse_workspace_node(dock_root, &workspace_tab);
+  return workspace_tab;
+}
+
+SketchLayout parse_layout(const fs::path &layout_path) {
+  const std::string text = util::read_file(layout_path.string());
+  if (text.empty()) throw std::runtime_error("Failed to read layout JSON: " + layout_path.string());
+
+  std::string parse_error;
+  const json11::Json root = json11::Json::parse(text, parse_error);
+  if (!parse_error.empty() || !root.is_object()) {
+    throw std::runtime_error("Failed to parse layout JSON: " + layout_path.string());
+  }
+  SketchLayout layout;
+  for (const json11::Json &tab : root["tabs"].array_items()) {
+    if (tab.is_object()) {
+      layout.tabs.push_back(parse_tab(tab, layout_path));
+    }
+  }
+  if (layout.tabs.empty()) throw std::runtime_error("Layout has no tabs: " + layout_path.string());
+  const json11::Json &tab_index = root["current_tab_index"].is_number() ? root["current_tab_index"] : root["currentTabIndex"];
+  layout.current_tab_index = std::clamp(tab_index.is_number() ? tab_index.int_value() : 0,
+                                        0,
+                                        static_cast<int>(layout.tabs.size()) - 1);
+  return layout;
+}
+
+ScalarKind scalar_kind_for_type(const capnp::Type &type) {
+  if (type.isBool()) return ScalarKind::Bool;
+  if (type.isInt8() || type.isInt16() || type.isInt32() || type.isInt64()) {
+    return ScalarKind::Int;
+  }
+  if (type.isUInt8() || type.isUInt16() || type.isUInt32() || type.isUInt64()) {
+    return ScalarKind::UInt;
+  }
+  if (type.isFloat32() || type.isFloat64()) {
+    return ScalarKind::Float;
+  }
+  if (type.isEnum()) return ScalarKind::Enum;
+  return ScalarKind::None;
+}
+
+ResolvedNode build_resolved_type(const capnp::Type &type,
+                                 bool has_field,
+                                 capnp::StructSchema::Field field,
+                                 std::string segment,
+                                 std::string path,
+                                 size_t *next_fixed_slot,
+                                 std::vector<std::string> *fixed_paths,
+                                 bool dynamic_path = false) {
+  ResolvedNode node;
+  node.has_field = has_field;
+  node.field = field;
+  node.segment = std::move(segment);
+  node.path = std::move(path);
+  node.scalar_kind = scalar_kind_for_type(type);
+  if (node.scalar_kind != ScalarKind::None) {
+    node.kind = ResolvedNodeKind::Scalar;
+    if (!dynamic_path) {
+      node.fixed_slot = static_cast<int>((*next_fixed_slot)++);
+      fixed_paths->push_back(node.path);
+    }
+    return node;
+  }
+
+  if (type.isStruct()) {
+    node.kind = ResolvedNodeKind::Struct;
+    for (auto child : type.asStruct().getFields()) {
+      const std::string child_segment = child.getProto().getName().cStr();
+      node.children.push_back(build_resolved_type(
+        child.getType(),
+        true,
+        child,
+        child_segment,
+        node.path + "/" + child_segment,
+        next_fixed_slot,
+        fixed_paths,
+        dynamic_path));
+    }
+    return node;
+  }
+
+  if (type.isList()) {
+    const capnp::Type element_type = type.asList().getElementType();
+    if (element_type.isText() || element_type.isData() || element_type.isInterface() || element_type.isAnyPointer()) {
+      node.kind = ResolvedNodeKind::Ignore;
+      return node;
+    }
+    node.kind = ResolvedNodeKind::List;
+    node.skip_large_scalar_list = scalar_kind_for_type(element_type) != ScalarKind::None;
+    node.element = std::make_unique<ResolvedNode>(
+      build_resolved_type(element_type,
+                          false,
+                          capnp::StructSchema::Field(),
+                          "",
+                          node.path,
+                          next_fixed_slot,
+                          fixed_paths,
+                          true));
+    return node;
+  }
+
+  node.kind = ResolvedNodeKind::Ignore;
+  return node;
+}
+
+int register_fixed_series_path(const std::string &path,
+                               size_t *next_fixed_slot,
+                               std::vector<std::string> *fixed_paths) {
+  const int slot = static_cast<int>((*next_fixed_slot)++);
+  fixed_paths->push_back(path);
+  return slot;
+}
+
+const SchemaIndex &SchemaIndex::instance() {
+  static const SchemaIndex index = [] {
+    SchemaIndex out;
+    const auto event_schema = capnp::Schema::from<cereal::Event>().asStruct();
+    uint16_t max_discriminant = 0;
+    for (auto union_field : event_schema.getUnionFields()) {
+      max_discriminant = std::max<uint16_t>(max_discriminant, union_field.getProto().getDiscriminantValue());
+    }
+    out.by_which.resize(static_cast<size_t>(max_discriminant) + 1);
+    size_t next_fixed_slot = 0;
+    for (auto union_field : event_schema.getUnionFields()) {
+      ResolvedService service;
+      service.event_which = union_field.getProto().getDiscriminantValue();
+      service.union_field = union_field;
+      service.service_name = union_field.getProto().getName().cStr();
+      service.valid_slot = register_fixed_series_path(
+        "/" + service.service_name + "/valid", &next_fixed_slot, &out.fixed_paths);
+      service.log_mono_time_slot = register_fixed_series_path(
+        "/" + service.service_name + "/logMonoTime", &next_fixed_slot, &out.fixed_paths);
+      service.seconds_slot = register_fixed_series_path(
+        "/" + service.service_name + "/t", &next_fixed_slot, &out.fixed_paths);
+      service.payload = build_resolved_type(
+        union_field.getType(),
+        false,
+        capnp::StructSchema::Field(),
+        service.service_name,
+        "/" + service.service_name,
+        &next_fixed_slot,
+        &out.fixed_paths);
+      out.by_which[service.event_which] = std::move(service);
+    }
+    out.fixed_series_count = next_fixed_slot;
+    return out;
+  }();
+  return index;
+}
+
+bool is_absolute_curve(const std::string &name) {
+  return !name.empty() && name.front() == '/';
+}
+
+std::optional<double> scalar_value_to_double(const capnp::DynamicValue::Reader &value, ScalarKind kind) {
+  switch (kind) {
+    case ScalarKind::Bool:
+      return value.as<bool>() ? 1.0 : 0.0;
+    case ScalarKind::Int:
+      return static_cast<double>(value.as<int64_t>());
+    case ScalarKind::UInt:
+      return static_cast<double>(value.as<uint64_t>());
+    case ScalarKind::Float:
+      return value.as<double>();
+    case ScalarKind::Enum:
+      return static_cast<double>(value.as<capnp::DynamicEnum>().getRaw());
+    case ScalarKind::None:
+      return std::nullopt;
+  }
+  return std::nullopt;
+}
+
+void capture_enum_info(const std::string &path,
+                       const capnp::DynamicValue::Reader &value,
+                       SeriesAccumulator *series) {
+  if (series->enum_info.find(path) != series->enum_info.end()) {
+    return;
+  }
+
+  const auto dynamic_enum = value.as<capnp::DynamicEnum>();
+  EnumInfo info;
+  for (auto enumerant : dynamic_enum.getSchema().getEnumerants()) {
+    const uint16_t ordinal = enumerant.getOrdinal();
+    if (ordinal >= info.names.size()) {
+      info.names.resize(static_cast<size_t>(ordinal) + 1);
+    }
+    info.names[ordinal] = enumerant.getProto().getName().cStr();
+  }
+  if (!info.names.empty()) {
+    series->enum_info.emplace(path, std::move(info));
+  }
+}
+
+void append_scalar_point(RouteSeries *series,
+                         const std::string &path,
+                         double tm,
+                         double value) {
+  if (series->path.empty()) {
+    series->path = path;
+  }
+  series->times.push_back(tm);
+  series->values.push_back(value);
+}
+
+void append_fixed_scalar_point(RouteSeries *series, double tm, double value) {
+  series->times.push_back(tm);
+  series->values.push_back(value);
+}
+
+CanMessageData *ensure_can_message(CanServiceKind service, uint8_t bus, uint32_t address, SeriesAccumulator *series) {
+  const CanMessageId id{service, bus, address};
+  auto [it, inserted] = series->can_message_slots.try_emplace(id, series->can_messages.size());
+  if (inserted) {
+    series->can_messages.push_back(CanMessageData{.id = id});
+  }
+  return &series->can_messages[it->second];
+}
+
+void append_can_frame(CanServiceKind service,
+                      uint8_t bus,
+                      uint32_t address,
+                      uint16_t bus_time,
+                      capnp::Data::Reader dat,
+                      double tm,
+                      SeriesAccumulator *series) {
+  CanMessageData *message = ensure_can_message(service, bus, address, series);
+  message->samples.push_back(CanFrameSample{
+    .mono_time = tm,
+    .bus_time = bus_time,
+    .data = std::string(reinterpret_cast<const char *>(dat.begin()), dat.size()),
+  });
+}
+
+void append_dynamic_scalar_point(const std::string &path, double tm, double value, SeriesAccumulator *series);
+
+void decode_can_frame(const dbc::Database *can_dbc,
+                      const std::string &service_name,
+                      uint8_t bus,
+                      uint32_t address,
+                      const uint8_t *raw,
+                      size_t data_size,
+                      double tm,
+                      SeriesAccumulator *series) {
+  if (can_dbc == nullptr) {
+    return;
+  }
+  const dbc::Message *message = can_dbc->message(address);
+  if (message == nullptr) {
+    return;
+  }
+  const std::string base_path = "/" + service_name + "/" + std::to_string(bus) + "/" + message->name;
+  for (const dbc::Signal &signal : message->signals) {
+    std::optional<double> value = dbc::signalValue(signal, *message, raw, data_size);
+    if (!value.has_value()) continue;
+    const std::string path = base_path + "/" + signal.name;
+    append_dynamic_scalar_point(path, tm, *value, series);
+    if (series->enum_info.find(path) == series->enum_info.end()) {
+      std::vector<std::string> enum_names = can_dbc->enumNames(signal);
+      if (!enum_names.empty()) {
+        series->enum_info.emplace(path, EnumInfo{.names = std::move(enum_names)});
+      }
+    }
+  }
+}
+
+void append_live_can_frame(CanServiceKind service,
+                           const LiveCanFrame &frame,
+                           double time_offset,
+                           const dbc::Database *can_dbc,
+                           SeriesAccumulator *series) {
+  const double tm = frame.mono_time - time_offset;
+  CanMessageData *message = ensure_can_message(service, frame.bus, frame.address, series);
+  message->samples.push_back(CanFrameSample{
+    .mono_time = tm,
+    .bus_time = frame.bus_time,
+    .data = frame.data,
+  });
+  decode_can_frame(can_dbc,
+                   service == CanServiceKind::Can ? "can" : "sendcan",
+                   frame.bus,
+                   frame.address,
+                   reinterpret_cast<const uint8_t *>(frame.data.data()),
+                   frame.data.size(),
+                   tm,
+                   series);
+}
+
+SeriesAccumulator make_series_accumulator(const SchemaIndex &schema) {
+  SeriesAccumulator out(schema.fixed_series_count);
+  for (size_t i = 0; i < schema.fixed_paths.size(); ++i) {
+    out.fixed_series[i].path = schema.fixed_paths[i];
+  }
+  return out;
+}
+
+size_t ensure_dynamic_slot(const std::string &path, SeriesAccumulator *series) {
+  auto [it, inserted] = series->dynamic_slots.try_emplace(path, series->dynamic_series.size());
+  if (inserted) {
+    series->dynamic_series.push_back(RouteSeries{it->first});
+  }
+  return it->second;
+}
+
+RouteSeries *ensure_dynamic_series(const std::string &path, SeriesAccumulator *series) {
+  return &series->dynamic_series[ensure_dynamic_slot(path, series)];
+}
+
+RouteSeries *ensure_list_scalar_series(const std::string &base_path, size_t index, SeriesAccumulator *series) {
+  auto [it, _] = series->list_scalar_slots.try_emplace(base_path);
+  std::vector<size_t> &slots = it->second;
+  if (slots.size() <= index) {
+    slots.resize(index + 1, INVALID_DYNAMIC_SLOT);
+  }
+  if (slots[index] == INVALID_DYNAMIC_SLOT) {
+    slots[index] = ensure_dynamic_slot(base_path + "/" + std::to_string(index), series);
+  }
+  return &series->dynamic_series[slots[index]];
+}
+
+void append_dynamic_scalar_point(const std::string &path, double tm, double value, SeriesAccumulator *series) {
+  append_scalar_point(ensure_dynamic_series(path, series), path, tm, value);
+}
+
+void append_scalar_value(const ResolvedNode &node,
+                         const std::string *path_override,
+                         const capnp::DynamicValue::Reader &raw_value,
+                         double tm,
+                         double value,
+                         SeriesAccumulator *series) {
+  if (path_override == nullptr && node.fixed_slot >= 0) {
+    if (node.scalar_kind == ScalarKind::Enum) {
+      capture_enum_info(node.path, raw_value, series);
+    }
+    append_fixed_scalar_point(&series->fixed_series[static_cast<size_t>(node.fixed_slot)], tm, value);
+    return;
+  }
+
+  const std::string &path = path_override != nullptr ? *path_override : node.path;
+  if (node.scalar_kind == ScalarKind::Enum) {
+    capture_enum_info(path, raw_value, series);
+  }
+  append_dynamic_scalar_point(path, tm, value, series);
+}
+
+void append_fast_node(const ResolvedNode &node,
+                      const capnp::DynamicValue::Reader &value,
+                      double tm,
+                      SeriesAccumulator *series,
+                      const std::string *path_override = nullptr) {
+  switch (node.kind) {
+    case ResolvedNodeKind::Scalar: {
+      if (std::optional<double> scalar = scalar_value_to_double(value, node.scalar_kind); scalar.has_value()) {
+        append_scalar_value(node, path_override, value, tm, *scalar, series);
+      }
+      return;
+    }
+    case ResolvedNodeKind::Struct: {
+      const capnp::DynamicStruct::Reader reader = value.as<capnp::DynamicStruct>();
+      for (const ResolvedNode &child : node.children) {
+        if (!child.has_field || !reader.has(child.field)) continue;
+        if (path_override == nullptr) {
+          append_fast_node(child, reader.get(child.field), tm, series, nullptr);
+        } else {
+          const std::string child_path = child.segment.empty() ? *path_override : (*path_override + "/" + child.segment);
+          append_fast_node(child, reader.get(child.field), tm, series, &child_path);
+        }
+      }
+      return;
+    }
+    case ResolvedNodeKind::List: {
+      if (!node.element) {
+        return;
+      }
+      const capnp::DynamicList::Reader list = value.as<capnp::DynamicList>();
+      if (list.size() == 0) {
+        return;
+      }
+      if (node.skip_large_scalar_list && list.size() > 16) {
+        return;
+      }
+      const std::string &base_path = path_override != nullptr ? *path_override : node.path;
+      if (node.element->kind == ResolvedNodeKind::Scalar) {
+        for (uint i = 0; i < list.size(); ++i) {
+          if (std::optional<double> scalar = scalar_value_to_double(list[i], node.element->scalar_kind); scalar.has_value()) {
+            RouteSeries *item_series = ensure_list_scalar_series(base_path, i, series);
+            if (node.element->scalar_kind == ScalarKind::Enum && !item_series->path.empty()) {
+              capture_enum_info(item_series->path, list[i], series);
+            }
+            append_fixed_scalar_point(item_series, tm, *scalar);
+          }
+        }
+        return;
+      }
+      for (uint i = 0; i < list.size(); ++i) {
+        const std::string item_path = base_path + "/" + std::to_string(i);
+        append_fast_node(*node.element, list[i], tm, series, &item_path);
+      }
+      return;
+    }
+    case ResolvedNodeKind::Ignore:
+      return;
+  }
+}
+
+void append_event_fast(cereal::Event::Which which,
+                       int32_t eidx_segnum,
+                       kj::ArrayPtr<const capnp::word> data,
+                       const SchemaIndex &schema,
+                       const dbc::Database *can_dbc,
+                       bool skip_raw_can,
+                       double time_offset,
+                       SeriesAccumulator *series) {
+  if (eidx_segnum != -1) {
+    return;
+  }
+  const uint16_t which_index = static_cast<uint16_t>(which);
+  if (which_index >= schema.by_which.size() || !schema.by_which[which_index].has_value()) {
+    return;
+  }
+  const ResolvedService &service = *schema.by_which[which_index];
+  capnp::FlatArrayMessageReader event_reader(data);
+  const cereal::Event::Reader event = event_reader.getRoot<cereal::Event>();
+  const double tm = static_cast<double>(event.getLogMonoTime()) / 1.0e9 - time_offset;
+  append_fixed_scalar_point(&series->fixed_series[static_cast<size_t>(service.valid_slot)],
+                            tm,
+                            event.getValid() ? 1.0 : 0.0);
+  append_fixed_scalar_point(&series->fixed_series[static_cast<size_t>(service.log_mono_time_slot)],
+                            tm,
+                            static_cast<double>(event.getLogMonoTime()));
+  append_fixed_scalar_point(&series->fixed_series[static_cast<size_t>(service.seconds_slot)],
+                            tm,
+                            tm);
+  if (service.service_name == "can" || service.service_name == "sendcan") {
+    const CanServiceKind can_service = service.service_name == "can"
+      ? CanServiceKind::Can
+      : CanServiceKind::Sendcan;
+    auto decode_message = [&](uint8_t bus, uint32_t address, const auto &dat_reader) {
+      const auto bytes = dat_reader.begin();
+      decode_can_frame(can_dbc, service.service_name, bus, address, bytes, dat_reader.size(), tm, series);
+    };
+    if (service.service_name == "can") {
+      for (const auto &msg : event.getCan()) {
+        append_can_frame(can_service,
+                         static_cast<uint8_t>(msg.getSrc()),
+                         msg.getAddress(),
+                         msg.getBusTimeDEPRECATED(),
+                         msg.getDat(),
+                         tm,
+                         series);
+        if (!skip_raw_can) continue;
+        decode_message(static_cast<uint8_t>(msg.getSrc()), msg.getAddress(), msg.getDat());
+      }
+    } else {
+      for (const auto &msg : event.getSendcan()) {
+        append_can_frame(can_service,
+                         static_cast<uint8_t>(msg.getSrc()),
+                         msg.getAddress(),
+                         msg.getBusTimeDEPRECATED(),
+                         msg.getDat(),
+                         tm,
+                         series);
+        if (!skip_raw_can) continue;
+        decode_message(static_cast<uint8_t>(msg.getSrc()), msg.getAddress(), msg.getDat());
+      }
+    }
+    if (skip_raw_can) {
+      return;
+    }
+  }
+
+  const capnp::DynamicStruct::Reader dynamic_event(event);
+  append_fast_node(service.payload, dynamic_event.get(service.union_field), tm, series);
+}
+
+void append_events_fast_range(const std::vector<Event> &events,
+                              size_t begin,
+                              size_t end,
+                              const SchemaIndex &schema,
+                              const dbc::Database *can_dbc,
+                              bool skip_raw_can,
+                              SeriesAccumulator *series) {
+  for (size_t i = begin; i < end; ++i) {
+    const Event &event_record = events[i];
+    append_event_fast(event_record.which,
+                      event_record.eidx_segnum,
+                      event_record.data,
+                      schema,
+                      can_dbc,
+                      skip_raw_can,
+                      0.0,
+                      series);
+  }
+}
+
+void merge_route_series(RouteSeries *dst, RouteSeries *src) {
+  if (src->times.empty()) {
+    return;
+  }
+  if (dst->times.empty()) {
+    *dst = std::move(*src);
+    return;
+  }
+
+  dst->times.reserve(dst->times.size() + src->times.size());
+  dst->values.reserve(dst->values.size() + src->values.size());
+  dst->times.insert(dst->times.end(), src->times.begin(), src->times.end());
+  dst->values.insert(dst->values.end(), src->values.begin(), src->values.end());
+}
+
+void merge_can_message_data(CanMessageData *dst, CanMessageData *src) {
+  if (src->samples.empty()) {
+    return;
+  }
+  if (dst->samples.empty()) {
+    *dst = std::move(*src);
+    return;
+  }
+  dst->samples.reserve(dst->samples.size() + src->samples.size());
+  dst->samples.insert(dst->samples.end(),
+                      std::make_move_iterator(src->samples.begin()),
+                      std::make_move_iterator(src->samples.end()));
+}
+
+void merge_series_accumulator(SeriesAccumulator *dst, SeriesAccumulator *src) {
+  if (dst->fixed_series.size() != src->fixed_series.size()) {
+    throw std::runtime_error("Fixed-series slot count mismatch during merge");
+  }
+
+  for (size_t i = 0; i < dst->fixed_series.size(); ++i) {
+    merge_route_series(&dst->fixed_series[i], &src->fixed_series[i]);
+  }
+  for (auto &series : src->dynamic_series) {
+    if (series.path.empty()) continue;
+    RouteSeries &dst_series = dst->dynamic_series[ensure_dynamic_slot(series.path, dst)];
+    merge_route_series(&dst_series, &series);
+  }
+  for (auto &message : src->can_messages) {
+    CanMessageData &dst_message = *ensure_can_message(message.id.service, message.id.bus, message.id.address, dst);
+    merge_can_message_data(&dst_message, &message);
+  }
+  for (auto &[path, info] : src->enum_info) {
+    dst->enum_info.try_emplace(path, std::move(info));
+  }
+}
+
+size_t populated_series_count(const SeriesAccumulator &series) {
+  size_t count = 0;
+  for (const RouteSeries &fixed : series.fixed_series) {
+    count += !fixed.times.empty();
+  }
+  for (const RouteSeries &dynamic : series.dynamic_series) {
+    count += !dynamic.times.empty();
+  }
+  return count;
+}
+
+bool series_is_sorted(const RouteSeries &series) {
+  for (size_t i = 1; i < series.times.size(); ++i) {
+    if (series.times[i] < series.times[i - 1]) return false;
+  }
+  return true;
+}
+
+void sort_series_by_time(RouteSeries *series) {
+  if (series->times.size() <= 1 || series_is_sorted(*series)) {
+    return;
+  }
+  std::vector<size_t> order(series->times.size());
+  std::iota(order.begin(), order.end(), 0);
+  std::sort(order.begin(), order.end(), [&](size_t a, size_t b) {
+    return series->times[a] < series->times[b];
+  });
+
+  std::vector<double> sorted_times(series->times.size());
+  std::vector<double> sorted_values(series->values.size());
+  for (size_t i = 0; i < order.size(); ++i) {
+    sorted_times[i] = series->times[order[i]];
+    sorted_values[i] = series->values[order[i]];
+  }
+  series->times = std::move(sorted_times);
+  series->values = std::move(sorted_values);
+}
+
+std::vector<RouteSeries> collect_series(SeriesAccumulator &&series) {
+  std::vector<RouteSeries> out;
+  out.reserve(series.fixed_series.size() + series.dynamic_series.size());
+  for (auto &fixed : series.fixed_series) {
+    sort_series_by_time(&fixed);
+    if (!fixed.times.empty()) {
+      out.push_back(std::move(fixed));
+    }
+  }
+  for (auto &dynamic : series.dynamic_series) {
+    sort_series_by_time(&dynamic);
+    if (!dynamic.times.empty()) {
+      out.push_back(std::move(dynamic));
+    }
+  }
+  return out;
+}
+
+RouteData build_route_data(std::vector<RouteSeries> &&series_list,
+                           std::vector<CanMessageData> &&can_messages,
+                           std::vector<LogEntry> &&logs,
+                           std::vector<TimelineEntry> &&timeline,
+                           std::unordered_map<std::string, EnumInfo> &&enum_info,
+                           std::string car_fingerprint,
+                           std::string dbc_name) {
+  RouteData route_data;
+  route_data.series.reserve(series_list.size());
+  route_data.paths.reserve(series_list.size());
+  for (RouteSeries &series : series_list) {
+    if (series.times.empty()) continue;
+    route_data.has_time_range = true;
+    route_data.x_min = route_data.series.empty() ? series.times.front() : std::min(route_data.x_min, series.times.front());
+    route_data.x_max = route_data.series.empty() ? series.times.back() : std::max(route_data.x_max, series.times.back());
+    route_data.paths.push_back(series.path);
+    route_data.series.push_back(std::move(series));
+  }
+
+  std::sort(route_data.paths.begin(), route_data.paths.end());
+  std::sort(route_data.series.begin(), route_data.series.end(), [](const RouteSeries &a, const RouteSeries &b) {
+    return a.path < b.path;
+  });
+  std::sort(logs.begin(), logs.end(), [](const LogEntry &a, const LogEntry &b) {
+    return a.mono_time < b.mono_time;
+  });
+  logs.erase(std::unique(logs.begin(), logs.end(), [](const LogEntry &a, const LogEntry &b) {
+               return same_log_entry(a, b);
+             }),
+             logs.end());
+
+  std::vector<LogEntry> deduped_logs;
+  deduped_logs.reserve(logs.size());
+  for (LogEntry &entry : logs) {
+    if (!deduped_logs.empty()
+        && entry.origin == LogOrigin::Alert
+        && deduped_logs.back().origin == LogOrigin::Alert
+        && deduped_logs.back().func == entry.func
+        && deduped_logs.back().message == entry.message) {
+      continue;
+    }
+    deduped_logs.push_back(std::move(entry));
+  }
+  route_data.logs = std::move(deduped_logs);
+
+  if (!route_data.has_time_range && !route_data.logs.empty()) {
+    route_data.has_time_range = true;
+    route_data.x_min = route_data.logs.front().mono_time;
+    route_data.x_max = route_data.logs.back().mono_time;
+  }
+  if (!route_data.has_time_range) {
+    bool initialized = false;
+    for (const CanMessageData &message : can_messages) {
+      if (message.samples.empty()) continue;
+      if (!initialized) {
+        route_data.x_min = message.samples.front().mono_time;
+        route_data.x_max = message.samples.back().mono_time;
+        initialized = true;
+      } else {
+        route_data.x_min = std::min(route_data.x_min, message.samples.front().mono_time);
+        route_data.x_max = std::max(route_data.x_max, message.samples.back().mono_time);
+      }
+    }
+    route_data.has_time_range = initialized;
+  }
+  if (!route_data.has_time_range && !timeline.empty()) {
+    route_data.has_time_range = true;
+    route_data.x_min = timeline.front().start_time;
+    route_data.x_max = timeline.back().end_time;
+  }
+
+  if (route_data.has_time_range) {
+    const double time_offset = route_data.x_min;
+    for (RouteSeries &series : route_data.series) {
+      for (double &tm : series.times) {
+        tm -= time_offset;
+      }
+    }
+    for (LogEntry &entry : route_data.logs) {
+      entry.boot_time = entry.mono_time;
+      entry.mono_time -= time_offset;
+    }
+    for (CanMessageData &message : can_messages) {
+      for (CanFrameSample &sample : message.samples) {
+        sample.mono_time -= time_offset;
+      }
+    }
+    for (TimelineEntry &entry : timeline) {
+      entry.start_time -= time_offset;
+      entry.end_time -= time_offset;
+    }
+    route_data.x_max -= time_offset;
+    route_data.x_min = 0.0;
+  }
+
+  std::sort(timeline.begin(), timeline.end(), [](const TimelineEntry &a, const TimelineEntry &b) {
+    return a.start_time < b.start_time;
+  });
+  std::vector<TimelineEntry> merged_timeline;
+  merged_timeline.reserve(timeline.size());
+  for (TimelineEntry &entry : timeline) {
+    if (!merged_timeline.empty() && merged_timeline.back().type == entry.type) {
+      merged_timeline.back().end_time = std::max(merged_timeline.back().end_time, entry.end_time);
+      continue;
+    }
+    merged_timeline.push_back(std::move(entry));
+  }
+  route_data.timeline = std::move(merged_timeline);
+  std::sort(can_messages.begin(), can_messages.end(), [](const CanMessageData &a, const CanMessageData &b) {
+    return std::make_tuple(a.id.service, a.id.bus, a.id.address)
+         < std::make_tuple(b.id.service, b.id.bus, b.id.address);
+  });
+  route_data.can_messages = std::move(can_messages);
+
+  route_data.enum_info = std::move(enum_info);
+  route_data.car_fingerprint = std::move(car_fingerprint);
+  route_data.dbc_name = std::move(dbc_name);
+  rebuild_gps_trace(&route_data);
+  route_data.roots = collect_route_roots_for_paths(route_data.paths);
+  return route_data;
+}
+
+const RouteSeries *find_route_series(const RouteData &route_data, std::string_view path) {
+  auto it = std::lower_bound(route_data.series.begin(), route_data.series.end(), path,
+                             [](const RouteSeries &series, std::string_view target) {
+                               return series.path < target;
+                             });
+  if (it == route_data.series.end() || it->path != path) return nullptr;
+  return &(*it);
+}
+
+std::optional<double> sample_series_at_time(const RouteSeries &series, double tm) {
+  if (series.times.empty() || series.times.size() != series.values.size()) {
+    return std::nullopt;
+  }
+  if (tm <= series.times.front()) {
+    return series.values.front();
+  }
+  if (tm >= series.times.back()) {
+    return series.values.back();
+  }
+  auto upper = std::lower_bound(series.times.begin(), series.times.end(), tm);
+  if (upper == series.times.begin()) {
+    return series.values.front();
+  }
+  if (upper == series.times.end()) {
+    return series.values.back();
+  }
+  const size_t upper_index = static_cast<size_t>(std::distance(series.times.begin(), upper));
+  const size_t lower_index = upper_index - 1;
+  const double t0 = series.times[lower_index];
+  const double t1 = series.times[upper_index];
+  const double v0 = series.values[lower_index];
+  const double v1 = series.values[upper_index];
+  if (t1 <= t0) {
+    return v0;
+  }
+  const double alpha = (tm - t0) / (t1 - t0);
+  return v0 + (v1 - v0) * alpha;
+}
+
+}  // namespace
+
+void rebuild_gps_trace(RouteData *route_data) {
+  route_data->gps_trace = {};
+  const RouteSeries *latitude = find_route_series(*route_data, "/gpsLocationExternal/latitude");
+  const RouteSeries *longitude = find_route_series(*route_data, "/gpsLocationExternal/longitude");
+  const RouteSeries *has_fix = find_route_series(*route_data, "/gpsLocationExternal/hasFix");
+  if (latitude == nullptr || longitude == nullptr || has_fix == nullptr) {
+    return;
+  }
+
+  const RouteSeries *bearing = find_route_series(*route_data, "/gpsLocationExternal/bearingDeg");
+  size_t count = std::min({latitude->times.size(), latitude->values.size(),
+                           longitude->times.size(), longitude->values.size(),
+                           has_fix->times.size(), has_fix->values.size()});
+  if (count == 0) {
+    return;
+  }
+
+  bool found = false;
+  route_data->gps_trace.points.reserve(count);
+  for (size_t i = 0; i < count; ++i) {
+    if (has_fix->values[i] < 0.5) {
+      continue;
+    }
+    const double lat = latitude->values[i];
+    const double lon = longitude->values[i];
+    if (!std::isfinite(lat) || !std::isfinite(lon)) {
+      continue;
+    }
+    const double tm = latitude->times[i];
+    const float bearing_value = bearing != nullptr
+      ? static_cast<float>(sample_series_at_time(*bearing, tm).value_or(0.0))
+      : 0.0f;
+    route_data->gps_trace.points.push_back(GpsPoint{
+      .time = tm,
+      .lat = lat,
+      .lon = lon,
+      .bearing = bearing_value,
+      .type = timeline_type_at_time(route_data->timeline, tm),
+    });
+    if (!found) {
+      route_data->gps_trace.min_lat = route_data->gps_trace.max_lat = lat;
+      route_data->gps_trace.min_lon = route_data->gps_trace.max_lon = lon;
+      found = true;
+    } else {
+      route_data->gps_trace.min_lat = std::min(route_data->gps_trace.min_lat, lat);
+      route_data->gps_trace.max_lat = std::max(route_data->gps_trace.max_lat, lat);
+      route_data->gps_trace.min_lon = std::min(route_data->gps_trace.min_lon, lon);
+      route_data->gps_trace.max_lon = std::max(route_data->gps_trace.max_lon, lon);
+    }
+  }
+  if (!found) {
+    route_data->gps_trace = {};
+  }
+}
+
+namespace {
+
+void build_camera_index(const std::map<int, SegmentLogs> &segments,
+                        const RouteData &route_data,
+                        std::string SegmentLogs::*file_member,
+                        std::string_view index_name,
+                        CameraFeedIndex *out) {
+  *out = {};
+  out->segment_files.reserve(segments.size());
+
+  std::unordered_set<int> available_segments;
+  available_segments.reserve(segments.size());
+  for (const auto &[segment_number, segment] : segments) {
+    const std::string &path = segment.*file_member;
+    if (path.empty()) continue;
+    out->segment_files.push_back(CameraSegmentFile{
+      .segment = segment_number,
+      .path = path,
+    });
+    available_segments.insert(segment_number);
+  }
+  if (out->segment_files.empty()) {
+    return;
+  }
+
+  const std::string prefix = "/" + std::string(index_name);
+  const RouteSeries *segment_numbers = find_route_series(route_data, prefix + "/segmentNum");
+  const RouteSeries *decode_indices = find_route_series(route_data, prefix + "/segmentId");
+  if (decode_indices == nullptr) {
+    decode_indices = find_route_series(route_data, prefix + "/segmentIdEncode");
+  }
+  const RouteSeries *frame_ids = find_route_series(route_data, prefix + "/frameId");
+  if (segment_numbers == nullptr || decode_indices == nullptr) {
+    return;
+  }
+
+  size_t count = std::min(segment_numbers->times.size(), segment_numbers->values.size());
+  count = std::min(count, decode_indices->values.size());
+  if (frame_ids != nullptr) {
+    count = std::min(count, frame_ids->values.size());
+  }
+  out->entries.reserve(count);
+  for (size_t i = 0; i < count; ++i) {
+    const int segment_number = static_cast<int>(std::llround(segment_numbers->values[i]));
+    if (available_segments.find(segment_number) == available_segments.end()) {
+      continue;
+    }
+    const int decode_index = static_cast<int>(std::llround(decode_indices->values[i]));
+    const uint32_t frame_id = frame_ids != nullptr
+      ? static_cast<uint32_t>(std::llround(frame_ids->values[i]))
+      : static_cast<uint32_t>(std::max(0, decode_index));
+    out->entries.push_back(CameraFrameIndexEntry{
+      .timestamp = segment_numbers->times[i],
+      .segment = segment_number,
+      .decode_index = decode_index,
+      .frame_id = frame_id,
+    });
+  }
+
+  std::sort(out->entries.begin(), out->entries.end(),
+            [](const CameraFrameIndexEntry &a, const CameraFrameIndexEntry &b) {
+              return a.timestamp < b.timestamp;
+            });
+}
+
+size_t load_worker_budget() {
+  size_t worker_count = std::thread::hardware_concurrency();
+  if (worker_count == 0) {
+    worker_count = 1;
+  }
+  if (const char *raw = std::getenv("JOTP_LOAD_WORKERS"); raw != nullptr && std::strlen(raw) > 0) {
+    char *end = nullptr;
+    const unsigned long parsed = std::strtoul(raw, &end, 10);
+    if (end != nullptr && *end == '\0' && parsed > 0) {
+      worker_count = static_cast<size_t>(parsed);
+    }
+  }
+  return std::max<size_t>(1, worker_count);
+}
+
+size_t segment_worker_count(size_t segment_count, size_t worker_budget) {
+  return std::max<size_t>(1, std::min(worker_budget, segment_count));
+}
+
+size_t extract_chunk_count(size_t event_count, size_t worker_budget, size_t segment_workers) {
+  if (event_count < 4096) return 1;
+  const size_t per_segment_budget = std::max<size_t>(1, worker_budget / std::max<size_t>(1, segment_workers));
+  const size_t chunk_target = std::max<size_t>(1, (event_count + 14999) / 15000);
+  return std::max<size_t>(1, std::min({per_segment_budget, chunk_target, static_cast<size_t>(8)}));
+}
+
+SeriesAccumulator extract_segment_series(const std::vector<Event> &events,
+                                         const SchemaIndex &schema,
+                                         const dbc::Database *can_dbc,
+                                         bool skip_raw_can,
+                                         size_t worker_budget,
+                                         size_t segment_workers) {
+  const size_t chunk_count = extract_chunk_count(events.size(), worker_budget, segment_workers);
+  if (chunk_count <= 1 || events.empty()) {
+    SeriesAccumulator series = make_series_accumulator(schema);
+    append_events_fast_range(events, 0, events.size(), schema, can_dbc, skip_raw_can, &series);
+    return series;
+  }
+
+  const size_t events_per_chunk = (events.size() + chunk_count - 1) / chunk_count;
+  std::vector<SeriesAccumulator> chunk_results;
+  chunk_results.reserve(chunk_count);
+  for (size_t i = 0; i < chunk_count; ++i) {
+    chunk_results.push_back(make_series_accumulator(schema));
+  }
+
+  std::vector<std::thread> workers;
+  workers.reserve(chunk_count > 0 ? chunk_count - 1 : 0);
+  for (size_t chunk = 1; chunk < chunk_count; ++chunk) {
+    workers.emplace_back([&, chunk]() {
+      const size_t begin = chunk * events_per_chunk;
+      const size_t end = std::min(events.size(), begin + events_per_chunk);
+      append_events_fast_range(events, begin, end, schema, can_dbc, skip_raw_can, &chunk_results[chunk]);
+    });
+  }
+  append_events_fast_range(events, 0, std::min(events.size(), events_per_chunk), schema, can_dbc, skip_raw_can, &chunk_results[0]);
+  for (std::thread &worker : workers) {
+    worker.join();
+  }
+
+  SeriesAccumulator merged = make_series_accumulator(schema);
+  for (SeriesAccumulator &chunk : chunk_results) {
+    merge_series_accumulator(&merged, &chunk);
+  }
+  return merged;
+}
+
+LoadedRouteArtifacts load_route_series_parallel(
+    const std::map<int, SegmentLogs> &segments,
+    const SchemaIndex &schema,
+    const dbc::Database *can_dbc,
+    LogSelector selector,
+    bool skip_raw_can,
+    LoadStats *stats) {
+  struct SegmentResult {
+    SeriesAccumulator series;
+    std::vector<LogEntry> logs;
+    std::vector<TimelineEntry> timeline;
+  };
+
+  const std::vector<std::pair<int, SegmentLogs>> segment_list(segments.begin(), segments.end());
+  std::vector<SegmentResult> results;
+  results.reserve(segment_list.size());
+  for (size_t i = 0; i < segment_list.size(); ++i) {
+    results.emplace_back(SegmentResult{make_series_accumulator(schema)});
+  }
+  std::atomic<size_t> next_segment{0};
+  std::mutex error_mutex;
+  std::string first_error;
+  const size_t worker_budget = static_cast<size_t>(stats->num_workers);
+  const size_t segment_workers = segment_worker_count(segment_list.size(), worker_budget);
+
+  auto worker = [&]() {
+    while (true) {
+      const size_t index = next_segment.fetch_add(1);
+      if (index >= segment_list.size()) {
+        return;
+      }
+
+      const auto &[segment_number, segment] = segment_list[index];
+      const std::string &log_path = selected_log_path(segment, selector);
+      LoadStats::SegmentStats &segment_stats = stats->segments[index];
+      segment_stats.segment_number = segment_number;
+      segment_stats.log_path = log_path;
+      if (log_path.empty()) {
+        segment_stats.failed = true;
+        std::lock_guard<std::mutex> lock(error_mutex);
+        if (first_error.empty()) {
+          first_error = "Missing log path for segment " + std::to_string(segment_number);
+        }
+        stats->publish(RouteLoadStage::DownloadingSegment, index, std::to_string(segment_number));
+        stats->publish(RouteLoadStage::ParsingSegment, index, std::to_string(segment_number));
+        continue;
+      }
+
+      LogReader reader;
+      if (!reader.load(log_path, nullptr, true)) {
+        segment_stats.failed = true;
+        std::lock_guard<std::mutex> lock(error_mutex);
+        if (first_error.empty()) {
+          first_error = "Failed to load log segment: " + log_path;
+        }
+        stats->publish(RouteLoadStage::DownloadingSegment, index, std::to_string(segment_number));
+        stats->publish(RouteLoadStage::ParsingSegment, index, std::to_string(segment_number));
+        continue;
+      }
+
+      segment_stats.download_seconds = reader.download_seconds();
+      segment_stats.decompress_seconds = reader.decompress_seconds();
+      segment_stats.parse_seconds = reader.parse_seconds();
+      segment_stats.compressed_bytes = reader.compressed_size();
+      segment_stats.decompressed_bytes = reader.decompressed_size();
+      stats->bytes_downloaded.fetch_add(reader.compressed_size());
+      stats->segments_downloaded.fetch_add(1);
+      stats->publish(RouteLoadStage::DownloadingSegment, index, std::to_string(segment_number));
+
+      const auto extract_start = LoadStats::Clock::now();
+      results[index].series = extract_segment_series(reader.events, schema, can_dbc, skip_raw_can, worker_budget, segment_workers);
+      results[index].logs = extract_segment_logs(reader.events);
+      results[index].timeline = extract_segment_timeline(reader.events);
+      segment_stats.extract_seconds = std::chrono::duration<double>(LoadStats::Clock::now() - extract_start).count();
+      segment_stats.event_count = reader.events.size();
+      segment_stats.series_count = populated_series_count(results[index].series);
+      stats->segments_parsed.fetch_add(1);
+      stats->publish(RouteLoadStage::ParsingSegment, index, std::to_string(segment_number));
+    }
+  };
+
+  std::vector<std::thread> workers;
+  workers.reserve(segment_workers);
+  for (size_t i = 0; i < segment_workers; ++i) {
+    workers.emplace_back(worker);
+  }
+  for (std::thread &thread : workers) {
+    thread.join();
+  }
+
+  if (!first_error.empty()) throw std::runtime_error(first_error);
+
+  stats->merge_start = LoadStats::Clock::now();
+  SeriesAccumulator merged = make_series_accumulator(schema);
+  for (size_t i = 0; i < results.size(); ++i) {
+    merge_series_accumulator(&merged, &results[i].series);
+  }
+  std::vector<LogEntry> logs;
+  std::vector<TimelineEntry> timeline;
+  for (SegmentResult &result : results) {
+    if (!result.logs.empty()) {
+      logs.insert(logs.end(),
+                  std::make_move_iterator(result.logs.begin()),
+                  std::make_move_iterator(result.logs.end()));
+    }
+    if (!result.timeline.empty()) {
+      timeline.insert(timeline.end(),
+                      std::make_move_iterator(result.timeline.begin()),
+                      std::make_move_iterator(result.timeline.end()));
+    }
+  }
+  LoadedRouteArtifacts artifacts;
+  artifacts.series = collect_series(std::move(merged));
+  artifacts.can_messages = std::move(merged.can_messages);
+  artifacts.logs = std::move(logs);
+  artifacts.timeline = std::move(timeline);
+  artifacts.enum_info = std::move(merged.enum_info);
+  stats->merge_end = LoadStats::Clock::now();
+  return artifacts;
+}
+
+std::vector<std::string> collect_layout_roots(const SketchLayout &layout) {
+  std::vector<std::string> roots;
+  for (const auto &tab : layout.tabs) {
+    for (const auto &pane : tab.panes) {
+      for (const auto &curve : pane.curves) {
+        std::string root = "custom";
+        if (is_absolute_curve(curve.name)) {
+          const size_t slash = curve.name.find('/', 1);
+          root = curve.name.substr(1, slash == std::string::npos ? std::string::npos : slash - 1);
+        }
+        if (std::find(roots.begin(), roots.end(), root) == roots.end()) {
+          roots.push_back(root);
+        }
+      }
+    }
+  }
+  if (roots.empty()) {
+    roots.push_back("layout");
+  }
+  return roots;
+}
+
+}  // namespace
+
+std::vector<std::string> collect_route_roots_for_paths(const std::vector<std::string> &paths) {
+  std::vector<std::string> roots;
+  for (const std::string &path : paths) {
+    if (!is_absolute_curve(path)) continue;
+    const size_t slash = path.find('/', 1);
+    const std::string root = path.substr(1, slash == std::string::npos ? std::string::npos : slash - 1);
+    if (!root.empty() && std::find(roots.begin(), roots.end(), root) == roots.end()) {
+      roots.push_back(root);
+    }
+  }
+  std::sort(roots.begin(), roots.end());
+  return roots;
+}
+
+struct StreamAccumulator::Impl {
+  const SchemaIndex &schema = SchemaIndex::instance();
+  SeriesAccumulator series = make_series_accumulator(schema);
+  std::vector<LogEntry> logs;
+  std::vector<TimelineEntry> timeline;
+  std::string last_alert_key;
+  std::string manual_dbc_name;
+  std::string detected_dbc_name;
+  std::string car_fingerprint;
+  std::optional<dbc::Database> can_dbc;
+  std::optional<double> time_offset;
+
+  void refresh_dbc() {
+    const std::string next_dbc = !manual_dbc_name.empty() ? manual_dbc_name : detect_dbc_for_fingerprint(car_fingerprint);
+    if (next_dbc == detected_dbc_name) {
+      return;
+    }
+    detected_dbc_name = next_dbc;
+    can_dbc.reset();
+    if (!detected_dbc_name.empty()) {
+      can_dbc.emplace(resolve_dbc_path(detected_dbc_name));
+    }
+  }
+};
+
+StreamAccumulator::StreamAccumulator(const std::string &dbc_name, std::optional<double> time_offset)
+  : impl_(std::make_unique<Impl>()) {
+  impl_->manual_dbc_name = dbc_name;
+  impl_->time_offset = time_offset;
+  impl_->refresh_dbc();
+}
+
+StreamAccumulator::~StreamAccumulator() = default;
+
+void StreamAccumulator::setDbcName(const std::string &dbc_name) {
+  impl_->manual_dbc_name = dbc_name;
+  impl_->refresh_dbc();
+}
+
+void StreamAccumulator::appendEvent(cereal::Event::Which which, kj::ArrayPtr<const capnp::word> data) {
+  capnp::FlatArrayMessageReader event_reader(data);
+  const cereal::Event::Reader event = event_reader.getRoot<cereal::Event>();
+  const double boot_time = static_cast<double>(event.getLogMonoTime()) / 1.0e9;
+  if (!impl_->time_offset.has_value()) {
+    impl_->time_offset = boot_time;
+  }
+  if (which == cereal::Event::Which::CAR_PARAMS) {
+    const std::string fingerprint = event.getCarParams().getCarFingerprint().cStr();
+    if (!fingerprint.empty() && fingerprint != impl_->car_fingerprint) {
+      impl_->car_fingerprint = fingerprint;
+      impl_->refresh_dbc();
+    }
+  }
+
+  append_event_fast(which,
+                    -1,
+                    data,
+                    impl_->schema,
+                    impl_->can_dbc ? &*impl_->can_dbc : nullptr,
+                    true,
+                    *impl_->time_offset,
+                    &impl_->series);
+  append_log_event(which, event, *impl_->time_offset, &impl_->logs, &impl_->last_alert_key);
+  if (which == cereal::Event::Which::SELFDRIVE_STATE) {
+    const auto sd = event.getSelfdriveState();
+    append_timeline_entry(&impl_->timeline, boot_time - *impl_->time_offset,
+                          alert_status_to_timeline_type(sd.getAlertStatus(), sd.getEnabled()));
+  }
+}
+
+void StreamAccumulator::appendCanFrames(CanServiceKind service, const std::vector<LiveCanFrame> &frames) {
+  if (frames.empty()) {
+    return;
+  }
+  if (!impl_->time_offset.has_value()) {
+    impl_->time_offset = frames.front().mono_time;
+  }
+  for (const LiveCanFrame &frame : frames) {
+    append_live_can_frame(service,
+                          frame,
+                          *impl_->time_offset,
+                          impl_->can_dbc ? &*impl_->can_dbc : nullptr,
+                          &impl_->series);
+  }
+}
+
+StreamExtractBatch StreamAccumulator::takeBatch() {
+  StreamExtractBatch batch;
+  batch.car_fingerprint = impl_->car_fingerprint;
+  batch.dbc_name = impl_->detected_dbc_name;
+  if (impl_->time_offset.has_value()) {
+    batch.has_time_offset = true;
+    batch.time_offset = *impl_->time_offset;
+  }
+  if (impl_->logs.empty() && impl_->timeline.empty()
+      && populated_series_count(impl_->series) == 0
+      && impl_->series.enum_info.empty()
+      && impl_->series.can_messages.empty()) {
+    return batch;
+  }
+
+  SeriesAccumulator emitted = std::move(impl_->series);
+  batch.can_messages = std::move(emitted.can_messages);
+  batch.enum_info = std::move(emitted.enum_info);
+  batch.series = collect_series(std::move(emitted));
+  batch.logs = std::move(impl_->logs);
+  batch.timeline = std::move(impl_->timeline);
+  impl_->series = make_series_accumulator(impl_->schema);
+  impl_->logs.clear();
+  impl_->timeline.clear();
+  return batch;
+}
+
+const std::string &StreamAccumulator::carFingerprint() const {
+  return impl_->car_fingerprint;
+}
+
+const std::string &StreamAccumulator::dbc_name() const {
+  return impl_->detected_dbc_name;
+}
+
+std::optional<double> StreamAccumulator::timeOffset() const {
+  return impl_->time_offset;
+}
+
+SketchLayout load_sketch_layout(const fs::path &layout_path) {
+  SketchLayout layout = parse_layout(layout_path);
+  layout.roots = collect_layout_roots(layout);
+  return layout;
+}
+
+RouteData load_route_data(const std::string &route_name,
+                          const std::string &data_dir,
+                          const std::string &dbc_name,
+                          const RouteLoadProgressCallback &progress) {
+  if (route_name.empty()) return RouteData{};
+
+  const RouteSelection route = parse_route_selection(route_name);
+  if (route.canonical_name.empty() || (data_dir.empty() && route.dongle_id.empty())) {
+    throw std::runtime_error("Invalid route format: " + route_name);
+  }
+  LoadStats stats(progress);
+  stats.load_start = LoadStats::Clock::now();
+  std::map<int, SegmentLogs> segments = data_dir.empty()
+    ? load_segments_from_server(route)
+    : load_segments_from_local(route, data_dir);
+  segments = trim_segments(std::move(segments), route);
+  if (segments.empty()) throw std::runtime_error("No log segments found for " + route_name);
+  stats.resolve_end = LoadStats::Clock::now();
+  stats.segment_count = segments.size();
+  stats.total_segments.store(segments.size());
+  stats.num_workers = static_cast<int>(load_worker_budget());
+  stats.segments.resize(segments.size());
+  stats.publish(RouteLoadStage::Resolving, 0, {});
+
+  const RouteMetadata metadata = detect_route_metadata(segments, route.selector);
+  const std::string resolved_dbc = !dbc_name.empty() ? dbc_name : detect_dbc_for_fingerprint(metadata.car_fingerprint);
+  const std::optional<dbc::Database> can_dbc = resolved_dbc.empty()
+    ? std::nullopt
+    : std::optional<dbc::Database>(std::in_place, resolve_dbc_path(resolved_dbc));
+
+  const SchemaIndex &schema = SchemaIndex::instance();
+  LoadedRouteArtifacts artifacts = load_route_series_parallel(segments, schema, can_dbc ? &*can_dbc : nullptr,
+                                                             route.selector, !resolved_dbc.empty(), &stats);
+  RouteData route_data = build_route_data(std::move(artifacts.series),
+                                          std::move(artifacts.can_messages),
+                                          std::move(artifacts.logs),
+                                          std::move(artifacts.timeline),
+                                          std::move(artifacts.enum_info),
+                                          metadata.car_fingerprint,
+                                          resolved_dbc);
+  route_data.route_id = make_route_identifier(route, segments);
+  build_camera_index(segments, route_data, &SegmentLogs::fcamera, "roadEncodeIdx", &route_data.road_camera);
+  build_camera_index(segments, route_data, &SegmentLogs::dcamera, "driverEncodeIdx", &route_data.driver_camera);
+  build_camera_index(segments, route_data, &SegmentLogs::ecamera, "wideRoadEncodeIdx", &route_data.wide_road_camera);
+  build_camera_index(segments, route_data, &SegmentLogs::qcamera, "qRoadEncodeIdx", &route_data.qroad_camera);
+  stats.load_end = LoadStats::Clock::now();
+  stats.publish(RouteLoadStage::Finished, segments.size(), {});
+  stats.print_summary(route_data.series.size());
+  return route_data;
+}
+
+RouteIdentifier parse_route_identifier(std::string_view route_name) {
+  return make_route_identifier(parse_route_selection(std::string(route_name)), {});
+}
+
+std::vector<std::string> available_dbc_names() {
+  return available_dbc_names_impl();
+}
+
+std::optional<dbc::Database> load_dbc_by_name(const std::string &dbc_name) {
+  if (dbc_name.empty()) {
+    return std::nullopt;
+  }
+  try {
+    return std::optional<dbc::Database>(std::in_place, resolve_dbc_path(dbc_name));
+  } catch (...) {
+    return std::nullopt;
+  }
+}
+
+std::vector<RouteSeries> decode_can_messages(const std::vector<CanMessageData> &can_messages,
+                                             const std::string &dbc_name,
+                                             std::unordered_map<std::string, EnumInfo> *enum_info) {
+  if (enum_info != nullptr) {
+    enum_info->clear();
+  }
+  const std::optional<dbc::Database> can_dbc = load_dbc_by_name(dbc_name);
+  if (!can_dbc.has_value()) {
+    return {};
+  }
+
+  SeriesAccumulator series;
+  for (const CanMessageData &message : can_messages) {
+    const char *service_name = message.id.service == CanServiceKind::Can ? "can" : "sendcan";
+    for (const CanFrameSample &sample : message.samples) {
+      decode_can_frame(&*can_dbc,
+                       service_name,
+                       message.id.bus,
+                       message.id.address,
+                       reinterpret_cast<const uint8_t *>(sample.data.data()),
+                       sample.data.size(),
+                       sample.mono_time,
+                       &series);
+    }
+  }
+  if (enum_info != nullptr) {
+    *enum_info = std::move(series.enum_info);
+  }
+  return collect_series(std::move(series));
+}
diff --git a/tools/jotpluggler/stream.cc b/tools/jotpluggler/stream.cc
new file mode 100644
index 00000000000000..fcfa6585bbf60e
--- /dev/null
+++ b/tools/jotpluggler/stream.cc
@@ -0,0 +1,207 @@
+#include "tools/jotpluggler/internal.h"
+
+#include <tuple>
+
+template <typename Cmp, typename SeriesAccessor, typename LogAccessor>
+std::optional<double> stream_batch_extreme_time(const StreamExtractBatch &batch,
+                                                Cmp cmp,
+                                                SeriesAccessor series_time,
+                                                LogAccessor log_time_fn) {
+  std::optional<double> result;
+  for (const RouteSeries &series : batch.series) {
+    if (!series.times.empty()) {
+      const double t = series_time(series);
+      result = result.has_value() ? cmp(*result, t) : t;
+    }
+  }
+  if (!batch.logs.empty()) {
+    const double t = log_time_fn(batch);
+    result = result.has_value() ? cmp(*result, t) : t;
+  }
+  if (!batch.timeline.empty()) {
+    const double t = cmp(batch.timeline.front().start_time, batch.timeline.back().end_time);
+    result = result.has_value() ? cmp(*result, t) : t;
+  }
+  for (const CanMessageData &message : batch.can_messages) {
+    if (!message.samples.empty()) {
+      const double t = cmp(message.samples.front().mono_time, message.samples.back().mono_time);
+      result = result.has_value() ? cmp(*result, t) : t;
+    }
+  }
+  return result;
+}
+
+std::optional<double> earliest_stream_batch_time(const StreamExtractBatch &batch) {
+  return stream_batch_extreme_time(batch,
+    [](double a, double b) { return std::min(a, b); },
+    [](const RouteSeries &s) { return s.times.front(); },
+    [](const StreamExtractBatch &b) { return b.logs.front().mono_time; });
+}
+
+std::optional<double> latest_stream_batch_time(const StreamExtractBatch &batch) {
+  return stream_batch_extreme_time(batch,
+    [](double a, double b) { return std::max(a, b); },
+    [](const RouteSeries &s) { return s.times.back(); },
+    [](const StreamExtractBatch &b) { return b.logs.back().mono_time; });
+}
+
+bool layout_has_custom_curves(const SketchLayout &layout) {
+  for (const WorkspaceTab &tab : layout.tabs) {
+    for (const Pane &pane : tab.panes) {
+      for (const Curve &curve : pane.curves) {
+        if (curve.custom_python.has_value()) return true;
+      }
+    }
+  }
+  return false;
+}
+
+void append_stream_timeline_entries(std::vector<TimelineEntry> *timeline, std::vector<TimelineEntry> entries) {
+  for (TimelineEntry &entry : entries) {
+    if (!timeline->empty() && timeline->back().type == entry.type) {
+      timeline->back().end_time = std::max(timeline->back().end_time, entry.end_time);
+    } else {
+      timeline->push_back(std::move(entry));
+    }
+  }
+}
+
+bool can_message_less(const CanMessageData &a, const CanMessageData &b) {
+  return std::make_tuple(a.id.service, a.id.bus, a.id.address)
+       < std::make_tuple(b.id.service, b.id.bus, b.id.address);
+}
+
+void apply_stream_batch(AppSession *session, UiState *state, StreamExtractBatch batch) {
+  if (batch.has_time_offset) {
+    session->stream_time_offset = batch.time_offset;
+  }
+  if (!batch.car_fingerprint.empty()) {
+    session->route_data.car_fingerprint = batch.car_fingerprint;
+  }
+  if (!batch.dbc_name.empty()) {
+    session->route_data.dbc_name = batch.dbc_name;
+  }
+  if (!batch.enum_info.empty()) {
+    for (auto &[path, info] : batch.enum_info) {
+      session->route_data.enum_info[path] = std::move(info);
+    }
+  }
+
+  bool new_paths = false;
+  std::vector<RouteSeries> new_series;
+  std::vector<std::string> touched_paths;
+  touched_paths.reserve(batch.series.size());
+  for (RouteSeries &incoming : batch.series) {
+    touched_paths.push_back(incoming.path);
+    auto existing_it = session->series_by_path.find(incoming.path);
+    if (existing_it == session->series_by_path.end()) {
+      new_series.push_back(std::move(incoming));
+      new_paths = true;
+      continue;
+    }
+    RouteSeries &existing = *existing_it->second;
+    existing.times.insert(existing.times.end(), incoming.times.begin(), incoming.times.end());
+    existing.values.insert(existing.values.end(), incoming.values.begin(), incoming.values.end());
+  }
+  for (RouteSeries &series : new_series) {
+    session->route_data.paths.push_back(series.path);
+    session->route_data.series.push_back(std::move(series));
+  }
+
+  if (!batch.logs.empty()) {
+    std::sort(batch.logs.begin(), batch.logs.end(), [](const LogEntry &a, const LogEntry &b) {
+      return a.mono_time < b.mono_time;
+    });
+    const size_t old_size = session->route_data.logs.size();
+    session->route_data.logs.insert(session->route_data.logs.end(),
+                                    std::make_move_iterator(batch.logs.begin()),
+                                    std::make_move_iterator(batch.logs.end()));
+    if (old_size > 0 && session->route_data.logs.size() > old_size
+        && session->route_data.logs[old_size - 1].mono_time > session->route_data.logs[old_size].mono_time) {
+      std::inplace_merge(session->route_data.logs.begin(),
+                         session->route_data.logs.begin() + static_cast<ptrdiff_t>(old_size),
+                         session->route_data.logs.end(),
+                         [](const LogEntry &a, const LogEntry &b) {
+                           return a.mono_time < b.mono_time;
+                         });
+    }
+  }
+  if (!batch.timeline.empty()) {
+    append_stream_timeline_entries(&session->route_data.timeline, std::move(batch.timeline));
+  }
+
+  for (CanMessageData &incoming : batch.can_messages) {
+    auto it = std::lower_bound(session->route_data.can_messages.begin(),
+                               session->route_data.can_messages.end(),
+                               incoming,
+                               can_message_less);
+    if (it == session->route_data.can_messages.end()
+        || can_message_less(incoming, *it)
+        || can_message_less(*it, incoming)) {
+      session->route_data.can_messages.insert(it, std::move(incoming));
+    } else {
+      it->samples.insert(it->samples.end(),
+                         std::make_move_iterator(incoming.samples.begin()),
+                         std::make_move_iterator(incoming.samples.end()));
+    }
+  }
+
+  if (new_paths) {
+    const size_t old_path_count = session->route_data.paths.size() - new_series.size();
+    std::sort(session->route_data.paths.begin() + static_cast<ptrdiff_t>(old_path_count), session->route_data.paths.end());
+    std::inplace_merge(session->route_data.paths.begin(),
+                       session->route_data.paths.begin() + static_cast<ptrdiff_t>(old_path_count),
+                       session->route_data.paths.end());
+    const size_t old_series_count = session->route_data.series.size() - new_series.size();
+    auto series_cmp = [](const RouteSeries &a, const RouteSeries &b) { return a.path < b.path; };
+    std::sort(session->route_data.series.begin() + static_cast<ptrdiff_t>(old_series_count),
+              session->route_data.series.end(), series_cmp);
+    std::inplace_merge(session->route_data.series.begin(),
+                       session->route_data.series.begin() + static_cast<ptrdiff_t>(old_series_count),
+                       session->route_data.series.end(), series_cmp);
+    session->route_data.roots = collect_route_roots_for_paths(session->route_data.paths);
+    rebuild_route_index(session);
+    rebuild_browser_nodes(session, state);
+    state->browser_nodes_dirty = false;
+  } else {
+    for (const std::string &path : touched_paths) {
+      auto series_it = session->series_by_path.find(path);
+      if (series_it == session->series_by_path.end() || series_it->second == nullptr) continue;
+      const bool enum_like = session->route_data.enum_info.find(path) != session->route_data.enum_info.end();
+      session->route_data.series_formats[path] = compute_series_format(series_it->second->values, enum_like);
+    }
+  }
+  const std::optional<double> earliest_time = earliest_stream_batch_time(batch);
+  const std::optional<double> latest_time = latest_stream_batch_time(batch);
+  if (earliest_time.has_value() && latest_time.has_value()) {
+    if (!session->route_data.has_time_range) {
+      session->route_data.x_min = *earliest_time;
+      session->route_data.x_max = *latest_time;
+    } else {
+      session->route_data.x_min = std::min(session->route_data.x_min, *earliest_time);
+      session->route_data.x_max = std::max(session->route_data.x_max, *latest_time);
+    }
+    session->route_data.has_time_range = true;
+  }
+
+  if (new_paths
+      || std::find(touched_paths.begin(), touched_paths.end(), "/gpsLocationExternal/latitude") != touched_paths.end()
+      || std::find(touched_paths.begin(), touched_paths.end(), "/gpsLocationExternal/longitude") != touched_paths.end()
+      || std::find(touched_paths.begin(), touched_paths.end(), "/gpsLocationExternal/hasFix") != touched_paths.end()
+      || std::find(touched_paths.begin(), touched_paths.end(), "/gpsLocationExternal/bearingDeg") != touched_paths.end()) {
+    rebuild_gps_trace(&session->route_data);
+  }
+
+  if (latest_time.has_value() && layout_has_custom_curves(session->layout)
+      && *latest_time >= session->next_stream_custom_refresh_time) {
+    refresh_all_custom_curves(session, state);
+    session->next_stream_custom_refresh_time = *latest_time + 0.1;
+  }
+  if (state->follow_latest || !state->has_tracker_time) {
+    state->tracker_time = session->route_data.x_max;
+    state->has_tracker_time = session->route_data.has_time_range;
+  }
+  if (!state->has_shared_range) {
+    reset_shared_range(state, *session);
+  }
+}
diff --git a/tools/jotpluggler/util.cc b/tools/jotpluggler/util.cc
new file mode 100644
index 00000000000000..5c20e795f6ba06
--- /dev/null
+++ b/tools/jotpluggler/util.cc
@@ -0,0 +1,59 @@
+#include "tools/jotpluggler/util.h"
+
+#include <cstdio>
+#include <cstdlib>
+#include <stdexcept>
+#include <sys/wait.h>
+
+std::string read_file_or_throw(const std::filesystem::path &path) {
+  const std::string contents = util::read_file(path.string());
+  if (!contents.empty() || std::filesystem::exists(path)) {
+    return contents;
+  }
+  throw std::runtime_error("Failed to read " + path.string());
+}
+
+void write_file_or_throw(const std::filesystem::path &path, const void *data, size_t size) {
+  ensure_parent_dir(path);
+  const std::string path_string = path.string();
+  const void *bytes = size == 0 ? static_cast<const void *>("") : data;
+  if (util::write_file(path_string.c_str(), bytes, size, O_WRONLY | O_CREAT | O_TRUNC) != 0) {
+    throw std::runtime_error("Failed to write " + path_string);
+  }
+}
+
+void write_file_or_throw(const std::filesystem::path &path, std::string_view contents) {
+  write_file_or_throw(path, contents.data(), contents.size());
+}
+
+void run_system_or_throw(const std::string &command, std::string_view action) {
+  const int ret = std::system(command.c_str());
+  if (ret != 0) {
+    throw std::runtime_error(util::string_format("%.*s failed with exit code %d",
+                                                 static_cast<int>(action.size()), action.data(), ret));
+  }
+}
+
+CommandResult run_process_capture_output(const std::vector<std::string> &args) {
+  std::string command;
+  for (const std::string &arg : args) {
+    if (!command.empty()) command += ' ';
+    command += shell_quote(arg);
+  }
+  command += " 2>&1";
+
+  FILE *pipe = popen(command.c_str(), "r");
+  if (pipe == nullptr) {
+    throw std::runtime_error("popen() failed");
+  }
+
+  CommandResult result;
+  std::array<char, 4096> buf = {};
+  while (fgets(buf.data(), static_cast<int>(buf.size()), pipe) != nullptr) {
+    result.output += buf.data();
+  }
+
+  const int status = pclose(pipe);
+  result.exit_code = WIFEXITED(status) ? WEXITSTATUS(status) : 1;
+  return result;
+}
diff --git a/tools/jotpluggler/util.h b/tools/jotpluggler/util.h
new file mode 100644
index 00000000000000..ea77a236f0e487
--- /dev/null
+++ b/tools/jotpluggler/util.h
@@ -0,0 +1,103 @@
+#pragma once
+
+#include "common/util.h"
+#include "imgui.h"
+
+#include <algorithm>
+#include <array>
+#include <cctype>
+#include <cstddef>
+#include <cstdint>
+#include <filesystem>
+#include <string>
+#include <string_view>
+#include <vector>
+
+inline ImVec4 color_rgb(int r, int g, int b, float alpha = 1.0f) {
+  return ImVec4(static_cast<float>(r) / 255.0f,
+                static_cast<float>(g) / 255.0f,
+                static_cast<float>(b) / 255.0f,
+                alpha);
+}
+
+inline ImVec4 color_rgb(const std::array<uint8_t, 3> &color, float alpha = 1.0f) {
+  return color_rgb(color[0], color[1], color[2], alpha);
+}
+
+inline std::string lowercase_copy(std::string_view value) {
+  std::string out(value);
+  std::transform(out.begin(), out.end(), out.begin(), [](unsigned char c) {
+    return static_cast<char>(std::tolower(c));
+  });
+  return out;
+}
+
+inline int imgui_resize_callback(ImGuiInputTextCallbackData *data) {
+  if (data->EventFlag != ImGuiInputTextFlags_CallbackResize || data->UserData == nullptr) return 0;
+  auto *text = static_cast<std::string *>(data->UserData);
+  text->resize(static_cast<size_t>(data->BufTextLen));
+  data->Buf = text->data();
+  return 0;
+}
+
+inline bool input_text_string(const char *label,
+                              std::string *text,
+                              ImGuiInputTextFlags flags = 0) {
+  flags |= ImGuiInputTextFlags_CallbackResize;
+  return ImGui::InputText(label, text->data(), text->capacity() + 1,
+                          flags, imgui_resize_callback, text);
+}
+
+inline bool input_text_with_hint_string(const char *label,
+                                        const char *hint,
+                                        std::string *text,
+                                        ImGuiInputTextFlags flags = 0) {
+  flags |= ImGuiInputTextFlags_CallbackResize;
+  return ImGui::InputTextWithHint(label, hint, text->data(), text->capacity() + 1,
+                                  flags, imgui_resize_callback, text);
+}
+
+inline bool input_text_multiline_string(const char *label,
+                                        std::string *text,
+                                        const ImVec2 &size = ImVec2(0.0f, 0.0f),
+                                        ImGuiInputTextFlags flags = 0) {
+  flags |= ImGuiInputTextFlags_CallbackResize;
+  return ImGui::InputTextMultiline(label, text->data(), text->capacity() + 1,
+                                   size, flags, imgui_resize_callback, text);
+}
+
+inline bool is_local_stream_address(std::string_view address) {
+  return address.empty() || address == "127.0.0.1" || address == "localhost";
+}
+
+inline void ensure_parent_dir(const std::filesystem::path &path) {
+  if (path.has_parent_path()) {
+    std::filesystem::create_directories(path.parent_path());
+  }
+}
+
+inline std::string shell_quote(std::string_view value) {
+  std::string quoted;
+  quoted.reserve(value.size() + 8);
+  quoted.push_back('\'');
+  for (char c : value) {
+    if (c == '\'') {
+      quoted += "'\\''";
+    } else {
+      quoted.push_back(c);
+    }
+  }
+  quoted.push_back('\'');
+  return quoted;
+}
+
+struct CommandResult {
+  int exit_code = 0;
+  std::string output;
+};
+
+std::string read_file_or_throw(const std::filesystem::path &path);
+void write_file_or_throw(const std::filesystem::path &path, std::string_view contents);
+void write_file_or_throw(const std::filesystem::path &path, const void *data, size_t size);
+void run_system_or_throw(const std::string &command, std::string_view action);
+CommandResult run_process_capture_output(const std::vector<std::string> &args);
diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc
index 997a4bc00f0acb..aba67bcdf8c260 100644
--- a/tools/replay/logreader.cc
+++ b/tools/replay/logreader.cc
@@ -1,31 +1,68 @@
 #include "tools/replay/logreader.h"
 
 #include <algorithm>
+#include <chrono>
 #include <utility>
 #include "tools/replay/filereader.h"
+#include "tools/replay/py_downloader.h"
 #include "tools/replay/util.h"
 #include "common/util.h"
 
-bool LogReader::load(const std::string &url, std::atomic<bool> *abort, bool local_cache) {
+bool LogReader::load(const std::string &url, std::atomic<bool> *abort, bool local_cache,
+                     const ProgressCallback &progress) {
+  using Clock = std::chrono::steady_clock;
+  compressed_size_ = 0;
+  decompressed_size_ = 0;
+  download_seconds_ = 0.0;
+  decompress_seconds_ = 0.0;
+  parse_seconds_ = 0.0;
+
+  if (progress) {
+    installDownloadProgressHandler([progress](uint64_t cur, uint64_t total, bool success) {
+      if (success) {
+        progress(ProgressStage::Downloading, cur, total);
+      }
+    });
+  }
+  const auto download_start = Clock::now();
   std::string data = FileReader(local_cache).read(url, abort);
+  const auto download_end = Clock::now();
+  if (progress) {
+    installDownloadProgressHandler(nullptr);
+  }
+  compressed_size_ = data.size();
+  download_seconds_ = std::chrono::duration<double>(download_end - download_start).count();
   if (!data.empty()) {
+    const auto decompress_start = Clock::now();
     if (url.find(".bz2") != std::string::npos || util::starts_with(data, "BZh9")) {
       data = decompressBZ2(data, abort);
     } else if (url.find(".zst") != std::string::npos || util::starts_with(data, "\x28\xB5\x2F\xFD")) {
       data = decompressZST(data, abort);
     }
+    const auto decompress_end = Clock::now();
+    decompress_seconds_ = std::chrono::duration<double>(decompress_end - decompress_start).count();
   }
+  decompressed_size_ = data.size();
 
-  bool success = !data.empty() && load(data.data(), data.size(), abort);
+  bool success = !data.empty() && load(data.data(), data.size(), abort, progress);
   if (filters_.empty())
     raw_ = std::move(data);
   return success;
 }
 
-bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
+bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort,
+                     const ProgressCallback &progress) {
+  using Clock = std::chrono::steady_clock;
+  const auto parse_start = Clock::now();
   try {
     events.reserve(65000);
     kj::ArrayPtr<const capnp::word> words((const capnp::word *)data, size / sizeof(capnp::word));
+    const uint64_t total_bytes = size;
+    const uint64_t report_step = std::max<uint64_t>(1, total_bytes / 200);
+    uint64_t last_reported = 0;
+    if (progress) {
+      progress(ProgressStage::Parsing, 0, total_bytes);
+    }
     while (words.size() > 0 && !(abort && *abort)) {
       capnp::FlatArrayMessageReader reader(words);
       auto event = reader.getRoot<cereal::Event>();
@@ -56,15 +93,30 @@ bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
           events.emplace_back(which, sof ? sof : mono_time, event_data, idx.getSegmentNum());
         }
       }
+
+      if (progress) {
+        const uint64_t current_bytes =
+          total_bytes - static_cast<uint64_t>(words.size() * sizeof(capnp::word));
+        if (current_bytes >= total_bytes || current_bytes - last_reported >= report_step) {
+          progress(ProgressStage::Parsing, current_bytes, total_bytes);
+          last_reported = current_bytes;
+        }
+      }
     }
   } catch (const kj::Exception &e) {
     rWarning("Failed to parse log : %s.\nRetrieved %zu events from corrupt log", e.getDescription().cStr(), events.size());
   }
 
+  if (progress) {
+    progress(ProgressStage::Parsing, size, size);
+  }
+
   if (requires_migration) {
     migrateOldEvents();
   }
 
+  parse_seconds_ = std::chrono::duration<double>(Clock::now() - parse_start).count();
+
   if (!events.empty() && !(abort && *abort)) {
     events.shrink_to_fit();
     std::sort(events.begin(), events.end());
diff --git a/tools/replay/logreader.h b/tools/replay/logreader.h
index 9219878ace0036..fe11ab0f77d3bb 100644
--- a/tools/replay/logreader.h
+++ b/tools/replay/logreader.h
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <cstdint>
+#include <functional>
 #include <string>
 #include <vector>
 
@@ -26,12 +28,26 @@ class Event {
 
 class LogReader {
 public:
+  enum class ProgressStage {
+    Downloading,
+    Parsing,
+  };
+
+  using ProgressCallback = std::function<void(ProgressStage stage, uint64_t current, uint64_t total)>;
+
   LogReader(const std::vector<bool> &filters = {}) { filters_ = filters; }
   bool load(const std::string &url, std::atomic<bool> *abort = nullptr,
-            bool local_cache = false);
-  bool load(const char *data, size_t size, std::atomic<bool> *abort = nullptr);
+            bool local_cache = false, const ProgressCallback &progress = {});
+  bool load(const char *data, size_t size, std::atomic<bool> *abort = nullptr,
+            const ProgressCallback &progress = {});
   std::vector<Event> events;
 
+  uint64_t compressed_size() const { return compressed_size_; }
+  uint64_t decompressed_size() const { return decompressed_size_; }
+  double download_seconds() const { return download_seconds_; }
+  double decompress_seconds() const { return decompress_seconds_; }
+  double parse_seconds() const { return parse_seconds_; }
+
 private:
   void migrateOldEvents();
 
@@ -39,4 +55,9 @@ class LogReader {
   bool requires_migration = true;
   std::vector<bool> filters_;
   MonotonicBuffer buffer_{1024 * 1024};
+  uint64_t compressed_size_ = 0;
+  uint64_t decompressed_size_ = 0;
+  double download_seconds_ = 0.0;
+  double decompress_seconds_ = 0.0;
+  double parse_seconds_ = 0.0;
 };
diff --git a/tools/replay/py_downloader.cc b/tools/replay/py_downloader.cc
index efaf3c93a25913..5063d6947c57ed 100644
--- a/tools/replay/py_downloader.cc
+++ b/tools/replay/py_downloader.cc
@@ -149,11 +149,16 @@ std::string runPython(const std::vector<std::string> &args, std::atomic<bool> *a
   int status;
   waitpid(pid, &status, 0);
 
-  bool failed = (abort && *abort) ||
+  const bool aborted = abort && *abort;
+  const bool expected_sigterm = aborted && WIFSIGNALED(status) && WTERMSIG(status) == SIGTERM;
+  bool failed = aborted ||
                 (WIFEXITED(status) && WEXITSTATUS(status) != 0) ||
                 WIFSIGNALED(status);
   if (failed) {
-    if (WIFEXITED(status) && WEXITSTATUS(status) != 0) {
+    if (expected_sigterm) {
+      // Route/camera teardown cancels outstanding downloader subprocesses.
+      // Keep that expected shutdown path quiet.
+    } else if (WIFEXITED(status) && WEXITSTATUS(status) != 0) {
       rWarning("py_downloader: process exited with code %d", WEXITSTATUS(status));
     } else if (WIFSIGNALED(status)) {
       rWarning("py_downloader: process killed by signal %d", WTERMSIG(status));

From 6b94c47c6aa68a71ee24c9300ce094a97d7acef2 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Fri, 27 Mar 2026 13:31:00 -0700
Subject: [PATCH 0834/1434] Lateral maneuver report (#37562)

* lateral report

* mutually exclude buttons

* gating

* set maneuver

* add timer

* timer text

* fix plot

* use curvature

* more curves

* fix gating

* rm delay

* highway speed only

* msg

* add sine

* add step-down

* use relative

* text

* stabilize

* tuning

* windup

* text

* winddown

* no windup

* tuning

* more tuning

* more

* formatting

* test faster

* extend sine

* report crossings

* add readme

* clean report

* fix lint

* gating

* fix

* straighter

* compensate roll

* rm abs roll

* len

* Revert "rm abs roll"

This reverts commit a22d6bb136f90d2bf997e6b9aeee2f784398ef42.

* Revert "compensate roll"

This reverts commit dfda52119cc4a2e29ac2854b9154c08459086fea.

* print actuators

* show curve and roll

* tune roll

* text

* slower

* timer

* too much banked streets in US

* readme

* filter incomplete

* plot jerk

* plot angle jerk

* lil edits

* fix lint

* apply suggestions

* better table

* apply comments

* clean

* shane comments

* deflicker

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 cereal/log.capnp                              |   7 +
 cereal/services.py                            |   1 +
 common/params_keys.h                          |   1 +
 selfdrive/controls/controlsd.py               |   7 +-
 selfdrive/selfdrived/events.py                |   5 +
 selfdrive/selfdrived/selfdrived.py            |  10 +-
 selfdrive/ui/layouts/settings/developer.py    |  27 +-
 .../ui/mici/layouts/settings/developer.py     |  26 +-
 system/manager/process_config.py              |   4 +
 tools/lateral_maneuvers/.gitignore            |   1 +
 tools/lateral_maneuvers/README.md             |  42 +++
 tools/lateral_maneuvers/generate_report.py    | 249 ++++++++++++++++++
 tools/lateral_maneuvers/lateral_maneuversd.py | 180 +++++++++++++
 tools/longitudinal_maneuvers/maneuversd.py    |  40 +--
 14 files changed, 577 insertions(+), 23 deletions(-)
 create mode 100644 tools/lateral_maneuvers/.gitignore
 create mode 100644 tools/lateral_maneuvers/README.md
 create mode 100755 tools/lateral_maneuvers/generate_report.py
 create mode 100755 tools/lateral_maneuvers/lateral_maneuversd.py

diff --git a/cereal/log.capnp b/cereal/log.capnp
index c26c1f9d3a2cc4..d8e9f563165cff 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -88,6 +88,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     lowMemory @51;
     stockAeb @52;
     stockLkas @98;
+    lateralManeuver @99;
     ldw @53;
     carUnrecognized @54;
     invalidLkasSetting @55;
@@ -1241,6 +1242,10 @@ struct DriverAssistance {
   # FCW, AEB, etc. will go here
 }
 
+struct LateralManeuverPlan {
+  desiredCurvature @0 :Float32;  # 1/m
+}
+
 struct LongitudinalPlan @0xe00b5b3eba12876c {
   modelMonoTime @9 :UInt64;
   hasLead @7 :Bool;
@@ -2612,6 +2617,8 @@ struct Event {
     bookmarkButton @148 :UserBookmark;
     audioFeedback @149 :AudioFeedback;
 
+    lateralManeuverPlan @150 :LateralManeuverPlan;
+
     # *********** debug ***********
     testJoystick @52 :Joystick;
     roadEncodeData @86 :EncodeData;
diff --git a/cereal/services.py b/cereal/services.py
index e7350aceac06fa..6b98128d64b42c 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -49,6 +49,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "carControl": (True, 100., 10),
   "carOutput": (True, 100., 10),
   "longitudinalPlan": (True, 20., 10),
+  "lateralManeuverPlan": (True, 20.),
   "driverAssistance": (True, 20., 20),
   "procLog": (True, 0.5, 15, QueueSize.BIG),
   "gpsLocationExternal": (True, 10., 10),
diff --git a/common/params_keys.h b/common/params_keys.h
index d6104e749773dc..b81a373d0876ef 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -82,6 +82,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LiveParametersV2", {PERSISTENT, BYTES}},
     {"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
     {"LocationFilterInitialState", {PERSISTENT, BYTES}},
+    {"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"LongitudinalPersonality", {PERSISTENT, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
     {"NetworkMetered", {PERSISTENT, BOOL}},
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 9e31ac15268bf0..b49e46604a4893 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -37,7 +37,7 @@ def __init__(self) -> None:
     self.CI = interfaces[self.CP.carFingerprint](self.CP)
 
     self.sm = messaging.SubMaster(['liveDelay', 'liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
-                                   'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
+                                   'liveCalibration', 'livePose', 'longitudinalPlan', 'lateralManeuverPlan', 'carState', 'carOutput',
                                    'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='selfdriveState')
     self.pm = messaging.PubMaster(['carControl', 'controlsState'])
 
@@ -116,7 +116,10 @@ def state_control(self):
 
     # Steering PID loop and lateral MPC
     # Reset desired curvature to current to avoid violating the limits on engage
-    new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
+    if self.sm.valid['lateralManeuverPlan']:
+      new_desired_curvature = self.sm['lateralManeuverPlan'].desiredCurvature if CC.latActive else self.curvature
+    else:
+      new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
     self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)
     lat_delay = self.sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
 
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index e10f67fa459550..55af93c42b1cc0 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -409,6 +409,11 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
                                        "Ensure road ahead is clear"),
   },
 
+  EventName.lateralManeuver: {
+    ET.WARNING: longitudinal_maneuver_alert,
+    ET.PERMANENT: NormalPermanentAlert("Lateral Maneuver Mode"),
+  },
+
   EventName.selfdriveInitializing: {
     ET.NO_ENTRY: NoEntryAlert("System Initializing"),
   },
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 997c7e37701153..6a294ca8d82786 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -74,7 +74,7 @@ def __init__(self, CP=None):
     # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
     self.car_state_sock = messaging.sub_sock('carState', timeout=20)
 
-    ignore = self.sensor_packets + self.gps_packets + ['alertDebug']
+    ignore = self.sensor_packets + self.gps_packets + ['alertDebug', 'lateralManeuverPlan']
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
     if REPLAY:
@@ -83,7 +83,8 @@ def __init__(self, CP=None):
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback'] + \
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
+                                   'lateralManeuverPlan'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -148,7 +149,10 @@ def update_events(self, CS):
       self.events.add(EventName.joystickDebug)
       self.startup_event = None
 
-    if self.sm.recv_frame['alertDebug'] > 0:
+    if self.sm.recv_frame['lateralManeuverPlan'] > 0:
+      self.events.add(EventName.lateralManeuver)
+      self.startup_event = None
+    elif self.sm.recv_frame['alertDebug'] > 0:
       self.events.add(EventName.longitudinalManeuver)
       self.startup_event = None
 
diff --git a/selfdrive/ui/layouts/settings/developer.py b/selfdrive/ui/layouts/settings/developer.py
index bd064ab834b56d..c61a40685863f1 100644
--- a/selfdrive/ui/layouts/settings/developer.py
+++ b/selfdrive/ui/layouts/settings/developer.py
@@ -67,6 +67,13 @@ def __init__(self):
       callback=self._on_long_maneuver_mode,
     )
 
+    self._lat_maneuver_toggle = toggle_item(
+      lambda: tr("Lateral Maneuver Mode"),
+      description="",
+      initial_state=self._params.get_bool("LateralManeuverMode"),
+      callback=self._on_lat_maneuver_mode,
+    )
+
     self._alpha_long_toggle = toggle_item(
       lambda: tr("openpilot Longitudinal Control (Alpha)"),
       description=lambda: tr(DESCRIPTIONS["alpha_longitudinal"]),
@@ -89,6 +96,7 @@ def __init__(self):
       self._ssh_keys,
       self._joystick_toggle,
       self._long_maneuver_toggle,
+      self._lat_maneuver_toggle,
       self._alpha_long_toggle,
       self._ui_debug_toggle,
     ], line_separator=True, spacing=0)
@@ -109,7 +117,7 @@ def _update_toggles(self):
 
     # Hide non-release toggles on release builds
     # TODO: we can do an onroad cycle, but alpha long toggle requires a deinit function to re-enable radar and not fault
-    for item in (self._joystick_toggle, self._long_maneuver_toggle, self._alpha_long_toggle):
+    for item in (self._joystick_toggle, self._long_maneuver_toggle, self._lat_maneuver_toggle, self._alpha_long_toggle):
       item.set_visible(not self._is_release)
 
     # CP gating
@@ -126,8 +134,12 @@ def _update_toggles(self):
       if not long_man_enabled:
         self._long_maneuver_toggle.action_item.set_state(False)
         self._params.put_bool("LongitudinalManeuverMode", False)
+
+      lat_man_enabled = ui_state.is_offroad()
+      self._lat_maneuver_toggle.action_item.set_enabled(lat_man_enabled)
     else:
       self._long_maneuver_toggle.action_item.set_enabled(False)
+      self._lat_maneuver_toggle.action_item.set_enabled(False)
       self._alpha_long_toggle.set_visible(False)
 
     # TODO: make a param control list item so we don't need to manage internal state as much here
@@ -137,6 +149,7 @@ def _update_toggles(self):
       ("SshEnabled", self._ssh_toggle),
       ("JoystickDebugMode", self._joystick_toggle),
       ("LongitudinalManeuverMode", self._long_maneuver_toggle),
+      ("LateralManeuverMode", self._lat_maneuver_toggle),
       ("AlphaLongitudinalEnabled", self._alpha_long_toggle),
       ("ShowDebugInfo", self._ui_debug_toggle),
     ):
@@ -157,11 +170,23 @@ def _on_joystick_debug_mode(self, state: bool):
     self._params.put_bool("JoystickDebugMode", state)
     self._params.put_bool("LongitudinalManeuverMode", False)
     self._long_maneuver_toggle.action_item.set_state(False)
+    self._params.put_bool("LateralManeuverMode", False)
+    self._lat_maneuver_toggle.action_item.set_state(False)
 
   def _on_long_maneuver_mode(self, state: bool):
     self._params.put_bool("LongitudinalManeuverMode", state)
     self._params.put_bool("JoystickDebugMode", False)
     self._joystick_toggle.action_item.set_state(False)
+    self._params.put_bool("LateralManeuverMode", False)
+    self._lat_maneuver_toggle.action_item.set_state(False)
+
+  def _on_lat_maneuver_mode(self, state: bool):
+    self._params.put_bool("LateralManeuverMode", state)
+    self._params.put_bool("ExperimentalMode", False)
+    self._params.put_bool("JoystickDebugMode", False)
+    self._joystick_toggle.action_item.set_state(False)
+    self._params.put_bool("LongitudinalManeuverMode", False)
+    self._long_maneuver_toggle.action_item.set_state(False)
 
   def _on_alpha_long_enabled(self, state: bool):
     if state:
diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/selfdrive/ui/mici/layouts/settings/developer.py
index 386b4689280904..f47614c073eca6 100644
--- a/selfdrive/ui/mici/layouts/settings/developer.py
+++ b/selfdrive/ui/mici/layouts/settings/developer.py
@@ -55,6 +55,9 @@ def ssh_keys_callback():
     self._long_maneuver_toggle = BigToggle("longitudinal maneuver mode",
                                            initial_state=ui_state.params.get_bool("LongitudinalManeuverMode"),
                                            toggle_callback=self._on_long_maneuver_mode)
+    self._lat_maneuver_toggle = BigToggle("lateral maneuver mode",
+                                          initial_state=ui_state.params.get_bool("LateralManeuverMode"),
+                                          toggle_callback=self._on_lat_maneuver_mode)
     self._alpha_long_toggle = BigToggle("alpha longitudinal",
                                         initial_state=ui_state.params.get_bool("AlphaLongitudinalEnabled"),
                                         toggle_callback=self._on_alpha_long_enabled)
@@ -68,6 +71,7 @@ def ssh_keys_callback():
       self._ssh_keys_btn,
       self._joystick_toggle,
       self._long_maneuver_toggle,
+      self._lat_maneuver_toggle,
       self._alpha_long_toggle,
       self._debug_mode_toggle,
     ])
@@ -78,12 +82,13 @@ def ssh_keys_callback():
       ("SshEnabled", self._ssh_toggle),
       ("JoystickDebugMode", self._joystick_toggle),
       ("LongitudinalManeuverMode", self._long_maneuver_toggle),
+      ("LateralManeuverMode", self._lat_maneuver_toggle),
       ("AlphaLongitudinalEnabled", self._alpha_long_toggle),
       ("ShowDebugInfo", self._debug_mode_toggle),
     )
     onroad_blocked_toggles = (self._adb_toggle, self._joystick_toggle)
-    release_blocked_toggles = (self._joystick_toggle, self._long_maneuver_toggle, self._alpha_long_toggle)
-    engaged_blocked_toggles = (self._long_maneuver_toggle, self._alpha_long_toggle)
+    release_blocked_toggles = (self._joystick_toggle, self._long_maneuver_toggle, self._lat_maneuver_toggle, self._alpha_long_toggle)
+    engaged_blocked_toggles = (self._long_maneuver_toggle, self._lat_maneuver_toggle, self._alpha_long_toggle)
 
     # Hide non-release toggles on release builds
     for item in release_blocked_toggles:
@@ -129,8 +134,12 @@ def _update_toggles(self):
       if not long_man_enabled:
         self._long_maneuver_toggle.set_checked(False)
         ui_state.params.put_bool("LongitudinalManeuverMode", False)
+
+      lat_man_enabled = ui_state.is_offroad()
+      self._lat_maneuver_toggle.set_enabled(lat_man_enabled)
     else:
       self._long_maneuver_toggle.set_enabled(False)
+      self._lat_maneuver_toggle.set_enabled(False)
       self._alpha_long_toggle.set_visible(False)
 
     # Refresh toggles from params to mirror external changes
@@ -141,11 +150,24 @@ def _on_joystick_debug_mode(self, state: bool):
     ui_state.params.put_bool("JoystickDebugMode", state)
     ui_state.params.put_bool("LongitudinalManeuverMode", False)
     self._long_maneuver_toggle.set_checked(False)
+    ui_state.params.put_bool("LateralManeuverMode", False)
+    self._lat_maneuver_toggle.set_checked(False)
 
   def _on_long_maneuver_mode(self, state: bool):
     ui_state.params.put_bool("LongitudinalManeuverMode", state)
     ui_state.params.put_bool("JoystickDebugMode", False)
     self._joystick_toggle.set_checked(False)
+    ui_state.params.put_bool("LateralManeuverMode", False)
+    self._lat_maneuver_toggle.set_checked(False)
+    restart_needed_callback(state)
+
+  def _on_lat_maneuver_mode(self, state: bool):
+    ui_state.params.put_bool("LateralManeuverMode", state)
+    ui_state.params.put_bool("ExperimentalMode", False)
+    ui_state.params.put_bool("JoystickDebugMode", False)
+    self._joystick_toggle.set_checked(False)
+    ui_state.params.put_bool("LongitudinalManeuverMode", False)
+    self._long_maneuver_toggle.set_checked(False)
     restart_needed_callback(state)
 
   def _on_alpha_long_enabled(self, state: bool):
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 0b99183193e6e4..7e96b7776a4f5f 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -40,6 +40,9 @@ def not_joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
 def long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
   return started and params.get_bool("LongitudinalManeuverMode")
 
+def lat_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and params.get_bool("LateralManeuverMode")
+
 def not_long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
   return started and not params.get_bool("LongitudinalManeuverMode")
 
@@ -100,6 +103,7 @@ def and_(*fns):
   PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
   PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),
   PythonProcess("maneuversd", "tools.longitudinal_maneuvers.maneuversd", long_maneuver),
+  PythonProcess("lateral_maneuversd", "tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
   PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
   PythonProcess("hardwared", "system.hardware.hardwared", always_run),
   PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
diff --git a/tools/lateral_maneuvers/.gitignore b/tools/lateral_maneuvers/.gitignore
new file mode 100644
index 00000000000000..a0b6efe6b3f9a1
--- /dev/null
+++ b/tools/lateral_maneuvers/.gitignore
@@ -0,0 +1 @@
+/lateral_reports/
diff --git a/tools/lateral_maneuvers/README.md b/tools/lateral_maneuvers/README.md
new file mode 100644
index 00000000000000..3a54bc74099bef
--- /dev/null
+++ b/tools/lateral_maneuvers/README.md
@@ -0,0 +1,42 @@
+# Lateral Maneuvers Testing Tool
+
+> [!WARNING]
+> Use caution when using this tool.
+
+Test your vehicle's lateral control tuning with this tool. The tool will test the vehicle's ability to follow a few lateral maneuvers and includes a tool to generate a report from the route.
+
+## Instructions
+
+1. Check out a development branch such as `master` on your comma device.
+2. The full maneuver suite runs at 20 and 30 mph.
+3. Enable "Lateral Maneuver Mode" in Settings > Developer on the device while offroad. Alternatively, set the parameter manually:
+
+   ```sh
+   echo -n 1 > /data/params/d/LateralManeuverMode
+   ```
+
+4. Turn your vehicle back on. You will see "Lateral Maneuver Mode".
+
+5. Ensure the area ahead is clear, as openpilot will command lateral acceleration steps in this mode. Once you are ready, set ACC manually to the target speed shown on screen and let openpilot stabilize lateral. After 1 seconds of steady straight driving, the maneuver will begin automatically. openpilot lateral control stays engaged between maneuvers normally while waiting for the next maneuver's readiness conditions. The maneuver will be aborted and repeated if speed is out of range, steering is touched or openpilot disengages.
+
+6. When the testing is complete, you'll see an alert that says "Maneuvers Finished." Complete the route by pulling over and turning off the vehicle.
+
+7. Visit https://connect.comma.ai and locate the route(s). They will stand out with lots of orange intervals in their timeline. Ensure "All logs" show as "uploaded."
+
+   ![image](https://github.com/user-attachments/assets/cfe4c6d9-752f-4b24-b421-4b90a01933dc)
+
+8. Gather the route ID and then run the report generator. The file will be exported to the same directory:
+
+    ```sh
+    $ python tools/lateral_maneuvers/generate_report.py 98395b7c5b27882e/000001cc--5a73bde686
+
+    processing report for KIA_EV6
+    plotting maneuver: step right 20mph, runs: 3
+    plotting maneuver: step left 20mph, runs: 3
+    plotting maneuver: sine 0.5Hz 20mph, runs: 3
+    plotting maneuver: step right 30mph, runs: 3
+
+    Opening report: /home/batman/openpilot/tools/lateral_maneuvers/lateral_reports/KIA_EV6_98395b7c5b27882e_000001cc--5a73bde686.html
+    ```
+
+You can reach out on [Discord](https://discord.comma.ai) if you have any questions about these instructions or the tool itself.
diff --git a/tools/lateral_maneuvers/generate_report.py b/tools/lateral_maneuvers/generate_report.py
new file mode 100755
index 00000000000000..9a6fe1b979aa7b
--- /dev/null
+++ b/tools/lateral_maneuvers/generate_report.py
@@ -0,0 +1,249 @@
+#!/usr/bin/env python3
+import argparse
+import base64
+import io
+import math
+import numpy as np
+import os
+import webbrowser
+from collections import defaultdict
+from pathlib import Path
+import matplotlib.pyplot as plt
+from openpilot.common.utils import tabulate
+
+from cereal import car
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.controls.lib.latcontrol_torque import LP_FILTER_CUTOFF_HZ
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.system.hardware.hw import Paths
+from openpilot.common.constants import CV
+from openpilot.tools.longitudinal_maneuvers.generate_report import format_car_params
+
+
+def lat_accel(curvature, v):
+  return curvature * max(v, 1.0) ** 2
+
+
+def report(platform, route, _description, CP, ID, maneuvers):
+  output_path = Path(__file__).resolve().parent / "lateral_reports"
+  output_fn = output_path / f"{platform}_{route.replace('/', '_')}.html"
+  output_path.mkdir(exist_ok=True)
+  target_cross_times = defaultdict(list)
+
+  builder = [
+    "<style>summary { cursor: pointer; }\n td, th { padding: 8px; } </style>\n",
+    "<h1>Lateral maneuver report</h1>\n",
+    f"<h3>{platform}</h3>\n",
+    f"<h3>{route}</h3>\n",
+    f"<h3>{ID.gitCommit}, {ID.gitBranch}, {ID.gitRemote}</h3>\n",
+  ]
+  if _description is not None:
+    builder.append(f"<h3>Description: {_description}</h3>\n")
+  builder.append(f"<details><summary><h3 style='display: inline-block;'>CarParams</h3></summary><pre>{format_car_params(CP)}</pre></details>\n")
+  builder.append('{ summary }')  # to be replaced below
+  for description, runs in maneuvers:
+    # filter incomplete runs
+    completed_runs = [msgs for msgs in runs
+                      if any(m.alertDebug.alertText1 == 'Complete' for m in msgs if m.which() == 'alertDebug')]
+    print(f'plotting maneuver: {description}')
+    if not completed_runs:
+      continue
+    builder.append("<div style='border-top: 1px solid #000; margin: 20px 0;'></div>\n")
+    builder.append(f"<h2>{description}</h2>\n")
+    for run, msgs in enumerate(completed_runs):
+      t_carControl, carControl = zip(*[(m.logMonoTime, m.carControl) for m in msgs if m.which() == 'carControl'], strict=True)
+      t_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'], strict=True)
+      t_controlsState, controlsState = zip(*[(m.logMonoTime, m.controlsState) for m in msgs if m.which() == 'controlsState'], strict=True)
+      t_lateralPlan, lateralPlan = zip(*[(m.logMonoTime, m.lateralManeuverPlan) for m in msgs if m.which() == 'lateralManeuverPlan' and m.valid], strict=True)
+      t_carOutput, carOutput = zip(*[(m.logMonoTime, m.carOutput) for m in msgs if m.which() == 'carOutput'], strict=True)
+
+      # make time relative seconds
+      t_carControl = [(t - t_carControl[0]) / 1e9 for t in t_carControl]
+      t_carState = [(t - t_carState[0]) / 1e9 for t in t_carState]
+      t_controlsState = [(t - t_controlsState[0]) / 1e9 for t in t_controlsState]
+      t_lateralPlan = [(t - t_lateralPlan[0]) / 1e9 for t in t_lateralPlan]
+      t_carOutput = [(t - t_carOutput[0]) / 1e9 for t in t_carOutput]
+
+      # maneuver validity
+      latActive = [m.latActive for m in carControl]
+      maneuver_valid = all(latActive) and not any(cs.steeringPressed for cs in carState)
+
+      _open = 'open' if maneuver_valid else ''
+      title = f'Run #{int(run)+1}' + (' <span style="color: red">(invalid maneuver!)</span>' if not maneuver_valid else '')
+
+      builder.append(f"<details {_open}><summary><h3 style='display: inline-block;'>{title}</h3></summary>\n")
+
+      baseline_accel = lat_accel(controlsState[0].curvature, carState[0].vEgo)
+      v_ego = [m.vEgo for m in carState]
+      cross_markers = []
+
+      if description.startswith('sine'):
+        amplitude = max(abs(lat_accel(lp.desiredCurvature, v) - baseline_accel)
+                        for lp, v in zip(lateralPlan, v_ego, strict=False))
+        threshold = amplitude * 0.5
+        builder.append('<h3 style="font-weight: normal">50% peak')
+        for t, cs, v in zip(t_controlsState, controlsState, v_ego, strict=False):
+          actual = lat_accel(cs.curvature, v) - baseline_accel
+          if abs(actual) > threshold:
+            builder.append(f', <strong>crossed in {t:.3f}s</strong>')
+            cross_markers.append((t, actual + baseline_accel))
+            if maneuver_valid:
+              target_cross_times[description].append(t)
+            break
+        else:
+          builder.append(', <strong>not crossed</strong>')
+        builder.append('</h3>')
+        if maneuver_valid:
+          target_cross_times.setdefault(description, [])
+      else:
+        action_targets = [(0, lat_accel(lateralPlan[0].desiredCurvature, v_ego[0]) - baseline_accel)]
+        for i in range(1, min(len(lateralPlan), len(v_ego))):
+          if abs(lateralPlan[i].desiredCurvature - lateralPlan[i - 1].desiredCurvature) > 0.001:
+            desired = lat_accel(lateralPlan[i].desiredCurvature, v_ego[i]) - baseline_accel
+            action_targets.append((i, desired))
+
+        for j, (start_i, act_target) in enumerate(action_targets):
+          start_time = t_lateralPlan[start_i]
+          end_time = t_lateralPlan[action_targets[j + 1][0]] if j + 1 < len(action_targets) else t_controlsState[-1]
+
+          builder.append(f'<h3 style="font-weight: normal">aTarget: {round(act_target, 1)} m/s^2')
+          prev_crossed = False
+          for t, cs, v in zip(t_controlsState, controlsState, v_ego, strict=False):
+            if not (start_time <= t <= end_time):
+              continue
+            actual_accel = lat_accel(cs.curvature, v) - baseline_accel
+            crossed = (0 < act_target < actual_accel) or (0 > act_target > actual_accel)
+            if crossed and prev_crossed:
+              cross_time = t - start_time
+              builder.append(f', <strong>crossed in {cross_time:.3f}s</strong>')
+              cross_markers.append((t, act_target + baseline_accel))
+              if maneuver_valid:
+                target_cross_times[description].append(cross_time)
+              break
+            prev_crossed = crossed
+          else:
+            builder.append(', <strong>not crossed</strong>')
+          builder.append('</h3>')
+          if maneuver_valid:
+            target_cross_times.setdefault(description, [])
+
+      plt.rcParams['font.size'] = 40
+      fig = plt.figure(figsize=(30, 30))
+      ax = fig.subplots(4, 1, sharex=True, gridspec_kw={'height_ratios': [5, 3, 3, 3]})
+
+      ax[0].grid(linewidth=4)
+      desired_lat_accel = [lat_accel(m.desiredCurvature, v) for m, v in zip(lateralPlan, v_ego, strict=False)]
+      if description.startswith('sine'):
+        ax[0].plot(t_lateralPlan[:len(desired_lat_accel)], desired_lat_accel, label='desired lat accel', linewidth=6)
+      else:
+        t_desired = [t_lateralPlan[0]] + t_lateralPlan[:len(desired_lat_accel)]
+        desired_lat_accel = [baseline_accel] + desired_lat_accel
+        ax[0].step(t_desired, desired_lat_accel, label='desired lat accel', linewidth=6, where='post')
+      actual_lat_accel = [lat_accel(cs.curvature, v) for cs, v in zip(controlsState, v_ego, strict=False)]
+      ax[0].plot(t_controlsState[:len(actual_lat_accel)], actual_lat_accel, label='actual lat accel', linewidth=6)
+      ax[0].set_ylabel('Lateral Accel (m/s^2)')
+
+      for ct, cv in cross_markers:
+        ax[0].plot(ct, cv, marker='o', markersize=50, markeredgewidth=7, markeredgecolor='black', markerfacecolor='None')
+
+      ax2 = ax[0].twinx()
+      if CP.steerControlType == car.CarParams.SteerControlType.angle:
+        ax2.plot(t_carOutput, [-m.actuatorsOutput.steeringAngleDeg for m in carOutput], 'C2', label='steer angle', linewidth=6)
+      else:
+        ax2.plot(t_carOutput, [-m.actuatorsOutput.torque for m in carOutput], 'C2', label='steer torque', linewidth=6)
+
+      h1, l1 = ax[0].get_legend_handles_labels()
+      h2, l2 = ax2.get_legend_handles_labels()
+      ax[0].legend(h1 + h2, l1 + l2, prop={'size': 30})
+
+      ax[1].grid(linewidth=4)
+      ax[1].plot(t_carState, [v * CV.MS_TO_MPH for v in v_ego], label='vEgo', linewidth=6)
+      ax[1].set_ylabel('Velocity (mph)')
+      ax[1].yaxis.set_major_formatter(plt.FormatStrFormatter('%.1f'))
+      ax[1].legend()
+
+      t_accel = np.array(t_controlsState[:len(actual_lat_accel)])
+      raw_jerk = np.gradient(actual_lat_accel, t_accel)
+      dt_avg = np.mean(np.diff(t_accel))
+      jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), dt_avg)
+      filtered_jerk = [jerk_filter.update(j) for j in raw_jerk]
+      ax[2].grid(linewidth=4)
+      ax[2].plot(t_accel, filtered_jerk, label='actual jerk', linewidth=6)
+      if CP.steerControlType == car.CarParams.SteerControlType.torque:
+        desired_jerk = [cs.lateralControlState.torqueState.desiredLateralJerk for cs in controlsState]
+        ax[2].plot(t_controlsState[:len(controlsState)], desired_jerk, label='desired jerk', linewidth=6)
+      ax[2].set_ylabel('Jerk (m/s^3)')
+      ax[2].legend()
+
+      ax[3].grid(linewidth=4)
+      ax[3].plot(t_carControl, [math.degrees(m.orientationNED[0]) for m in carControl], label='roll', linewidth=6)
+      ax[3].set_ylabel('Roll (deg)')
+      ax[3].legend()
+
+      ax[-1].set_xlabel("Time (s)")
+      fig.tight_layout()
+
+      buffer = io.BytesIO()
+      fig.savefig(buffer, format='webp')
+      plt.close(fig)
+      buffer.seek(0)
+      builder.append(f"<img src='data:image/webp;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
+      builder.append("</details>\n")
+
+  summary = ["<h2>Summary</h2>\n"]
+  cols = ['maneuver', 'crossed', 'mean', 'min', 'max']
+  table = []
+  for description, times in target_cross_times.items():
+    l = [description, len(times)]
+    if len(times):
+      l.extend([round(sum(times) / len(times), 2), round(min(times), 2), round(max(times), 2)])
+    table.append(l)
+  summary.append(tabulate(table, headers=cols, tablefmt='html', numalign='left') + '\n')
+
+  sum_idx = builder.index('{ summary }')
+  builder[sum_idx:sum_idx + 1] = summary
+
+  with open(output_fn, "w") as f:
+    f.write(''.join(builder))
+
+  print(f"\nOpening report: {output_fn}\n")
+  webbrowser.open_new_tab(str(output_fn))
+
+
+if __name__ == '__main__':
+  parser = argparse.ArgumentParser(description='Generate lateral maneuver report from route')
+  parser.add_argument('route', type=str, help='Route name (e.g. 00000000--5f742174be)')
+  parser.add_argument('description', type=str, nargs='?')
+
+  args = parser.parse_args()
+
+  if '/' in args.route or '|' in args.route:
+    lr = LogReader(args.route, only_union_types=True)
+  else:
+    segs = [seg for seg in os.listdir(Paths.log_root()) if args.route in seg]
+    lr = LogReader([os.path.join(Paths.log_root(), seg, 'rlog.zst') for seg in segs], only_union_types=True)
+
+  CP = lr.first('carParams')
+  ID = lr.first('initData')
+  platform = CP.carFingerprint
+  print('processing report for', platform)
+
+  maneuvers: list[tuple[str, list[list]]] = []
+  active_prev = False
+  description_prev = None
+
+  for msg in lr:
+    if msg.which() == 'alertDebug':
+      active = 'Active' in msg.alertDebug.alertText1 or msg.alertDebug.alertText1 == 'Complete'
+      if active and not active_prev:
+        if msg.alertDebug.alertText2 == description_prev:
+          maneuvers[-1][1].append([])
+        else:
+          maneuvers.append((msg.alertDebug.alertText2, [[]]))
+        description_prev = maneuvers[-1][0]
+      active_prev = active
+
+    if active_prev:
+      maneuvers[-1][1][-1].append(msg)
+
+  report(platform, args.route, args.description, CP, ID, maneuvers)
diff --git a/tools/lateral_maneuvers/lateral_maneuversd.py b/tools/lateral_maneuvers/lateral_maneuversd.py
new file mode 100755
index 00000000000000..d8a7185410ba0b
--- /dev/null
+++ b/tools/lateral_maneuvers/lateral_maneuversd.py
@@ -0,0 +1,180 @@
+#!/usr/bin/env python3
+import numpy as np
+from dataclasses import dataclass
+
+from cereal import messaging, car
+from openpilot.common.constants import CV
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
+from openpilot.tools.longitudinal_maneuvers.maneuversd import Action, Maneuver as _Maneuver
+
+# thresholds for starting maneuvers
+MAX_SPEED_DEV = 0.7 # deviation in m/s
+MAX_CURV = 0.002 # 500 m radius
+MAX_ROLL = 0.08 # 4.56°
+TIMER = 2.0 # sec stable conditions before starting maneuver
+
+@dataclass
+class Maneuver(_Maneuver):
+  _baseline_curvature: float = 0.0
+
+  def get_accel(self, v_ego: float, lat_active: bool, curvature: float, roll: float) -> float:
+    self._run_completed = False
+    # only start maneuver on straight, flat roads
+    ready = abs(v_ego - self.initial_speed) < MAX_SPEED_DEV and lat_active and abs(curvature) < MAX_CURV and abs(roll) < MAX_ROLL
+    self._ready_cnt = (self._ready_cnt + 1) if ready else max(self._ready_cnt - 1, 0)
+
+    if self._ready_cnt > (TIMER / DT_MDL):
+      if not self._active:
+        self._baseline_curvature = curvature
+      self._active = True
+
+    if not self._active:
+      return 0.0
+
+    return self._step()
+
+  def reset(self):
+    super().reset()
+    self._ready_cnt = 0
+
+
+def _sine_action(amplitude, period, duration):
+  t = np.linspace(0, duration, int(duration / DT_MDL) + 1)
+  a = amplitude * np.sin(2 * np.pi * t / period)
+  return Action(a.tolist(), t.tolist())
+
+
+MANEUVERS = [
+  Maneuver(
+    "step right 20mph",
+    [Action([0.5], [1.0]), Action([-0.5], [1.5])],
+    repeat=2,
+    initial_speed=20. * CV.MPH_TO_MS,
+  ),
+  Maneuver(
+    "step left 20mph",
+    [Action([-0.5], [1.0]), Action([0.5], [1.5])],
+    repeat=2,
+    initial_speed=20. * CV.MPH_TO_MS,
+  ),
+  Maneuver(
+    "sine 0.5Hz 20mph",
+    [_sine_action(1.0, 2.0, 2.0), Action([0.0], [0.5])],
+    repeat=2,
+    initial_speed=20. * CV.MPH_TO_MS,
+  ),
+  Maneuver(
+    "step right 30mph",
+    [Action([0.5], [1.0]), Action([-0.5], [1.5])],
+    repeat=2,
+    initial_speed=30. * CV.MPH_TO_MS,
+  ),
+  Maneuver(
+    "step left 30mph",
+    [Action([-0.5], [1.0]), Action([0.5], [1.5])],
+    repeat=2,
+    initial_speed=30. * CV.MPH_TO_MS,
+  ),
+  Maneuver(
+    "sine 0.5Hz 30mph",
+    [_sine_action(1.0, 2.0, 2.0), Action([0.0], [0.5])],
+    repeat=2,
+    initial_speed=30. * CV.MPH_TO_MS,
+  ),
+]
+
+
+def main():
+  params = Params()
+  cloudlog.info("lateral_maneuversd is waiting for CarParams")
+  messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
+
+  sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'selfdriveState', 'modelV2'], poll='modelV2')
+  pm = messaging.PubMaster(['lateralManeuverPlan', 'alertDebug'])
+
+  maneuvers = iter(MANEUVERS)
+  maneuver = None
+  complete_cnt = 0
+  display_holdoff = 0
+  prev_text = ''
+
+  while True:
+    sm.update()
+
+    if maneuver is None:
+      maneuver = next(maneuvers, None)
+
+    alert_msg = messaging.new_message('alertDebug')
+    alert_msg.valid = True
+
+    plan_send = messaging.new_message('lateralManeuverPlan')
+
+    accel = 0
+    v_ego = max(sm['carState'].vEgo, 0)
+    curvature = sm['controlsState'].desiredCurvature
+
+    if complete_cnt > 0:
+      complete_cnt -= 1
+      alert_msg.alertDebug.alertText1 = 'Completed'
+      alert_msg.alertDebug.alertText2 = maneuver.description
+    elif maneuver is not None:
+      # reset maneuver on steering override or out of range speed
+      if sm['carState'].steeringPressed or (maneuver.active and abs(v_ego - maneuver.initial_speed) > MAX_SPEED_DEV):
+        maneuver.reset()
+
+      roll = sm['carControl'].orientationNED[0] if len(sm['carControl'].orientationNED) == 3 else 0.0
+      accel = maneuver.get_accel(v_ego, sm['carControl'].latActive, curvature, roll)
+
+      if maneuver._run_completed:
+        complete_cnt = int(1.0 / DT_MDL)
+        alert_msg.alertDebug.alertText1 = 'Complete'
+        alert_msg.alertDebug.alertText2 = maneuver.description
+      elif maneuver.active:
+        action_remaining = maneuver.actions[maneuver._action_index].time_bp[-1] - maneuver._action_frames * DT_MDL
+        if maneuver.description.startswith('sine'):
+          freq = maneuver.description.split()[1]
+          alert_msg.alertDebug.alertText1 = f'Active sine {freq} {max(action_remaining, 0):.1f}s'
+        else:
+          alert_msg.alertDebug.alertText1 = f'Active {accel:+.1f}m/s² {max(action_remaining, 0):.1f}s'
+        alert_msg.alertDebug.alertText2 = maneuver.description
+      elif not (abs(v_ego - maneuver.initial_speed) < MAX_SPEED_DEV and sm['carControl'].latActive):
+        alert_msg.alertDebug.alertText1 = f'Set speed to {maneuver.initial_speed * CV.MS_TO_MPH:0.0f} mph'
+      elif maneuver._ready_cnt > 0:
+        ready_time = max(TIMER - maneuver._ready_cnt * DT_MDL, 0)
+        alert_msg.alertDebug.alertText1 = f'Starting: {int(ready_time) + 1}'
+        alert_msg.alertDebug.alertText2 = maneuver.description
+      else:
+        curv_ok = abs(curvature) < MAX_CURV
+        reason = 'road not straight' if not curv_ok else 'road not flat'
+        alert_msg.alertDebug.alertText1 = f'Waiting: {reason}'
+        alert_msg.alertDebug.alertText2 = maneuver.description
+    else:
+      alert_msg.alertDebug.alertText1 = 'Maneuvers Finished'
+
+    # prevent flickering text
+    setup = ('Set speed', 'Starting', 'Waiting')
+    text = alert_msg.alertDebug.alertText1
+    same = text == prev_text or (text.startswith('Starting') and prev_text.startswith('Starting'))
+    if not same and text.startswith(setup) and prev_text.startswith(setup) and display_holdoff > 0:
+      alert_msg.alertDebug.alertText1 = prev_text
+      display_holdoff -= 1
+    else:
+      prev_text = text
+      display_holdoff = int(0.5 / DT_MDL) if text.startswith(setup) else 0
+
+    pm.send('alertDebug', alert_msg)
+
+    plan_send.valid = maneuver is not None and maneuver.active and complete_cnt == 0
+    if plan_send.valid:
+      plan_send.lateralManeuverPlan.desiredCurvature = maneuver._baseline_curvature + accel / max(v_ego, MIN_SPEED) ** 2
+    pm.send('lateralManeuverPlan', plan_send)
+
+    if maneuver is not None and maneuver.finished and complete_cnt == 0:
+      maneuver = None
+
+
+if __name__ == "__main__":
+  main()
diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
index c17ae23757cdfc..f8dc6787cc488b 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -27,23 +27,14 @@ class Maneuver:
 
   _active: bool = False
   _finished: bool = False
+  _run_completed: bool = False
   _action_index: int = 0
   _action_frames: int = 0
   _ready_cnt: int = 0
   _repeated: int = 0
 
-  def get_accel(self, v_ego: float, long_active: bool, standstill: bool, cruise_standstill: bool) -> float:
-    ready = abs(v_ego - self.initial_speed) < 0.3 and long_active and not cruise_standstill
-    if self.initial_speed < 0.01:
-      ready = ready and standstill
-    self._ready_cnt = (self._ready_cnt + 1) if ready else 0
-
-    if self._ready_cnt > (3. / DT_MDL):
-      self._active = True
-
-    if not self._active:
-      return min(max(self.initial_speed - v_ego, -2.), 2.)
-
+  def _step(self) -> float:
+    self._run_completed = False
     action = self.actions[self._action_index]
     action_accel = np.interp(self._action_frames * DT_MDL, action.time_bp, action.accel_bp)
 
@@ -58,15 +49,34 @@ def get_accel(self, v_ego: float, long_active: bool, standstill: bool, cruise_st
       # repeat maneuver
       elif self._repeated < self.repeat:
         self._repeated += 1
-        self._action_index = 0
-        self._action_frames = 0
-        self._active = False
+        self._run_completed = True
+        self.reset()
       # finish maneuver
       else:
+        self._run_completed = True
         self._finished = True
 
     return float(action_accel)
 
+  def get_accel(self, v_ego: float, long_active: bool, standstill: bool, cruise_standstill: bool) -> float:
+    ready = abs(v_ego - self.initial_speed) < 0.3 and long_active and not cruise_standstill
+    if self.initial_speed < 0.01:
+      ready = ready and standstill
+    self._ready_cnt = (self._ready_cnt + 1) if ready else 0
+
+    if self._ready_cnt > (3. / DT_MDL):
+      self._active = True
+
+    if not self._active:
+      return min(max(self.initial_speed - v_ego, -2.), 2.)
+
+    return self._step()
+
+  def reset(self):
+    self._active = False
+    self._action_frames = 0
+    self._action_index = 0
+
   @property
   def finished(self):
     return self._finished

From 9be7a48ccd4dca7c59c5e107ca0d8a5baaee8a7b Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Fri, 27 Mar 2026 13:45:34 -0700
Subject: [PATCH 0835/1434] bump opendbc (#37738)

* bump opendbc

* regen CARS.md

* bump opendbc

* regen CARS.md
---
 docs/CARS.md | 127 ++++++++++++++++++++++++++-------------------------
 opendbc_repo |   2 +-
 2 files changed, 65 insertions(+), 64 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 097f45e34f9b97..56f80d160635fc 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -13,14 +13,14 @@ A supported vehicle is one that just works when you install a comma device. All
 |Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
-|Acura|TLX 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
+|Acura|TLX 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
 |Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
@@ -32,7 +32,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -176,7 +176,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Niro Hybrid 2018|Smart Cruise Control (SCC)|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2018">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2021">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2022">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023">Buy Here</a></sub></details>|||
+|Kia|Niro Hybrid 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023-24">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
@@ -220,8 +220,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
@@ -231,8 +231,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
 |Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
@@ -243,15 +243,15 @@ A supported vehicle is one that just works when you install a comma device. All
 |Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Å koda|Fabia 2022-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Å koda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Å koda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Å koda|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Å koda|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Å koda|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Å koda|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Å koda|Scala 2020-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Scala 2020-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Å koda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Superb 2015-22">Buy Here</a></sub></details>|||
+|Å koda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Å koda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Å koda[<sup>11</sup>](#footnotes)|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Å koda[<sup>11</sup>](#footnotes)|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Å koda[<sup>11</sup>](#footnotes)|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Å koda[<sup>11</sup>](#footnotes)|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Å koda[<sup>11</sup>](#footnotes)|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Å koda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Å koda[<sup>11</sup>](#footnotes)|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Superb 2015-22">Buy Here</a></sub></details>|||
 |Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
 |Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
@@ -301,42 +301,42 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
-|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen[<sup>11</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
@@ -349,11 +349,12 @@ A supported vehicle is one that just works when you install a comma device. All
 <sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
 <sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
 <sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>11</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>12</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>13</sup>Some Å koda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>14</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>15</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>11</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
+<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>14</sup>Some Å koda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
diff --git a/opendbc_repo b/opendbc_repo
index e72e18e113b864..00431e091fdbd2 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit e72e18e113b8649fdda3e78b85110586751f1a81
+Subproject commit 00431e091fdbd2301a0104a44a40e5bffe37b917

From 8badc7d8133497f8b89e57e1e3afae454bb4f32f Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Sat, 28 Mar 2026 21:20:35 -0700
Subject: [PATCH 0836/1434] controls: HKG angle control saturation from car
 port safety (#37746)

---
 selfdrive/controls/lib/latcontrol_angle.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index 808c9a659aa5fd..a7d0403248751b 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -11,7 +11,7 @@ class LatControlAngle(LatControl):
   def __init__(self, CP, CI, dt):
     super().__init__(CP, CI, dt)
     self.sat_check_min_speed = 5.
-    self.use_steer_limited_by_safety = CP.brand == "tesla"
+    self.use_steer_limited_by_safety = CP.brand in ("tesla", "hyundai")
 
   def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay):
     angle_log = log.ControlsState.LateralAngleState.new_message()

From 1dec68014f73eccb4570821d6bfe2a1f6f8126e4 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 30 Mar 2026 15:12:34 -0700
Subject: [PATCH 0837/1434] rivian gen2!

---
 RELEASES.md | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/RELEASES.md b/RELEASES.md
index a3a95ae6a8643f..55141710d07edf 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,7 +1,8 @@
-Version 0.11.1 (2026-04-08)
+Version 0.11.1 (2026-04-22)
 ========================
 * New driver monitoring model
 * Improved image processing pipeline for driver camera
+* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
 
 Version 0.11.0 (2026-03-17)
 ========================

From bf43c7e8c7f3033786c91ba49dacfa524badf127 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 31 Mar 2026 18:22:56 -0700
Subject: [PATCH 0838/1434] fix scaled exclamation point

---
 selfdrive/ui/mici/onroad/hud_renderer.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py
index 35d04fe702f3c2..56d83992ffb0ac 100644
--- a/selfdrive/ui/mici/onroad/hud_renderer.py
+++ b/selfdrive/ui/mici/onroad/hud_renderer.py
@@ -120,7 +120,7 @@ def __init__(self):
 
     self._txt_wheel: rl.Texture = gui_app.texture('icons_mici/wheel.png', 50, 50)
     self._txt_wheel_critical: rl.Texture = gui_app.texture('icons_mici/wheel_critical.png', 50, 50)
-    self._txt_exclamation_point: rl.Texture = gui_app.texture('icons_mici/exclamation_point.png', 44, 44)
+    self._txt_exclamation_point: rl.Texture = gui_app.texture('icons_mici/exclamation_point.png', 9, 44)
 
     self._wheel_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
     self._wheel_y_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)

From 5dcaf3bef877a5ddc9fa7f89f185624b81a82ab7 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Wed, 1 Apr 2026 00:40:13 -0700
Subject: [PATCH 0839/1434] DM: fewer alerts during maneuvers (#37751)

* 2in1

* clip

* drop aodm lowspeed

* cleanup

* add lower bd

* that was random
---
 selfdrive/monitoring/helpers.py         | 29 +++++++++++++++++--------
 selfdrive/monitoring/test_monitoring.py |  8 +++----
 2 files changed, 24 insertions(+), 13 deletions(-)

diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 0b54504b647296..19d169da42872d 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -1,4 +1,4 @@
-from math import atan2
+from math import atan2, radians
 import numpy as np
 
 from cereal import car, log
@@ -43,6 +43,9 @@ def __init__(self, device_type):
     self._POSE_YAW_THRESHOLD = 0.4020
     self._POSE_YAW_THRESHOLD_SLACK = 0.5042
     self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
+    self._POSE_YAW_MIN_STEER_DEG = 30
+    self._POSE_YAW_STEER_FACTOR = 0.15
+    self._POSE_YAW_STEER_MAX_OFFSET = 0.3927
     self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
     self._PITCH_NATURAL_THRESHOLD = 0.449
     self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
@@ -59,7 +62,6 @@ def __init__(self, device_type):
     self._POSESTD_THRESHOLD = 0.3
     self._HI_STD_FALLBACK_TIME = int(10  / self._DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
     self._DISTRACTED_FILTER_TS = 0.25  # 0.6Hz
-    self._ALWAYS_ON_ALERT_MIN_SPEED = 11
 
     self._POSE_CALIB_MIN_SPEED = 13  # 30 mph
     self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON)  # valid data counts before calibration completes, 1min cumulative
@@ -101,6 +103,7 @@ def __init__(self, settings):
     self.low_std = True
     self.cfactor_pitch = 1.
     self.cfactor_yaw = 1.
+    self.steer_yaw_offset = 0.
 
 class DriverProb:
   def __init__(self, raw_priors, max_trackable):
@@ -238,7 +241,11 @@ def _get_distracted_types(self):
       yaw_error = self.pose.yaw - min(max(self.pose.yaw_offseter.filtered_stat.mean(),
                                                     self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
     pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
-    yaw_error = abs(yaw_error)
+
+    if yaw_error * self.pose.steer_yaw_offset > 0: # unidirectional
+      yaw_error = max(abs(yaw_error) - min(abs(self.pose.steer_yaw_offset), self.settings._POSE_YAW_STEER_MAX_OFFSET), 0.)
+    else:
+      yaw_error = abs(yaw_error)
 
     pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
     yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
@@ -254,7 +261,7 @@ def _get_distracted_types(self):
 
     return distracted_types
 
-  def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False):
+  def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False, steering_angle_deg=0.):
     rhd_pred = driver_state.wheelOnRightProb
     # calibrates only when there's movement and either face detected
     if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
@@ -277,8 +284,11 @@ def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstil
 
     self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD
     self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
+    steer_d = max(abs(steering_angle_deg) - self.settings._POSE_YAW_MIN_STEER_DEG, 0.)
+    self.pose.steer_yaw_offset = radians(steer_d) * -np.sign(steering_angle_deg) * self.settings._POSE_YAW_STEER_FACTOR
     if self.wheel_on_right:
       self.pose.yaw *= -1
+      self.pose.steer_yaw_offset *= -1
     self.wheel_on_right_last = self.wheel_on_right
     self.pose.pitch_std = driver_data.faceOrientationStd[0]
     self.pose.yaw_std = driver_data.faceOrientationStd[1]
@@ -360,19 +370,19 @@ def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear, car
       if self.awareness > self.threshold_prompt:
         return
 
+    _reaching_pre = self.awareness - self.step_change <= self.threshold_pre
     _reaching_audible = self.awareness - self.step_change <= self.threshold_prompt
     _reaching_terminal = self.awareness - self.step_change <= 0
-    standstill_orange_exemption = standstill and _reaching_audible
+    standstill_exemption = standstill and _reaching_pre
     always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
-    always_on_lowspeed_exemption = always_on_valid and not op_engaged and car_speed < self.settings._ALWAYS_ON_ALERT_MIN_SPEED
 
     certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
     maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected
 
     if certainly_distracted or maybe_distracted:
-      # should always be counting if distracted unless at standstill (lowspeed for always-on) and reaching orange
+      # should always be counting if distracted unless at standstill and reaching green
       # also will not be reaching 0 if DM is active when not engaged
-      if not (standstill_orange_exemption or always_on_red_exemption or (always_on_lowspeed_exemption and _reaching_audible)):
+      if not (standstill_exemption or always_on_red_exemption):
         self.awareness = max(self.awareness - self.step_change, -0.1)
 
     alert = None
@@ -385,7 +395,7 @@ def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear, car
     elif self.awareness <= self.threshold_prompt:
       # prompt orange alert
       alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive
-    elif self.awareness <= self.threshold_pre and not always_on_lowspeed_exemption:
+    elif self.awareness <= self.threshold_pre:
       # pre green alert
       alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive
 
@@ -451,6 +461,7 @@ def run_step(self, sm, demo=False):
       op_engaged=enabled,
       standstill=standstill,
       demo_mode=demo,
+      steering_angle_deg=sm['carState'].steeringAngleDeg,
     )
 
     # Update distraction events
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index 6ea9b80283fc7d..15eb2c860540a1 100644
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -186,10 +186,10 @@ def test_long_traffic_light_victim(self):
     standstill_vector = always_true[:]
     standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON)
     events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
-    assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0] == \
-                                                                                                                    EventName.preDriverDistracted
-    assert events[int((_redlight_time-0.1)/DT_DMON)].names[0] == EventName.preDriverDistracted
-    assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.promptDriverDistracted
+    assert len(events[int((_redlight_time-0.1)/DT_DMON)]) == 0
+    _pre_to_prompt = d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL - d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL
+    assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.preDriverDistracted
+    assert events[int((_redlight_time+_pre_to_prompt+0.5)/DT_DMON)].names[0] == EventName.promptDriverDistracted
 
   # engaged, model is somehow uncertain and driver is distracted
   #  - should fall back to wheel touch after uncertain alert

From efd5301f6534d6dcb8bcc22bda462450c7afc8d7 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Wed, 1 Apr 2026 16:11:07 -0700
Subject: [PATCH 0840/1434] bump opendbc (#37750)

* bump opendbc
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 00431e091fdbd2..ef70686afee3e0 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 00431e091fdbd2301a0104a44a40e5bffe37b917
+Subproject commit ef70686afee3e0fe5e6be4938eaafc52e9e77935

From d8569b07ebeed5fcb2b466fcd3824b968b4a8271 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Wed, 1 Apr 2026 16:14:15 -0700
Subject: [PATCH 0841/1434] DM: Lancia Delta HF Integrale model (#37696)

* 00c00ac7-7b6e-4546-b86f-7ddd5f0596b4

* mici cleanup

* update msg

* rename
---
 cereal/log.capnp                              | 12 +++++-----
 .../assets/icons_mici/onroad/glasses.png      |  3 ---
 selfdrive/modeld/dmonitoringmodeld.py         |  9 +++-----
 .../modeld/models/dmonitoring_model.onnx      |  4 ++--
 selfdrive/monitoring/helpers.py               | 19 +++++-----------
 selfdrive/monitoring/test_monitoring.py       |  6 ++---
 selfdrive/test/process_replay/model_replay.py |  2 +-
 .../ui/mici/onroad/driver_camera_dialog.py    | 22 ++++---------------
 8 files changed, 24 insertions(+), 53 deletions(-)
 delete mode 100644 selfdrive/assets/icons_mici/onroad/glasses.png

diff --git a/cereal/log.capnp b/cereal/log.capnp
index d8e9f563165cff..56af5ae5f63167 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2176,12 +2176,14 @@ struct DriverStateV2 {
     facePosition @2 :List(Float32);
     facePositionStd @3 :List(Float32);
     faceProb @4 :Float32;
-    leftEyeProb @5 :Float32;
-    rightEyeProb @6 :Float32;
-    leftBlinkProb @7 :Float32;
-    rightBlinkProb @8 :Float32;
-    sunglassesProb @9 :Float32;
+    eyesVisibleProb @14 :Float32;
+    eyesClosedProb @15 :Float32;
     phoneProb @13 :Float32;
+    leftEyeProbDEPRECATED @5 :Float32;
+    rightEyeProbDEPRECATED @6 :Float32;
+    leftBlinkProbDEPRECATED @7 :Float32;
+    rightBlinkProbDEPRECATED @8 :Float32;
+    sunglassesProbDEPRECATED @9 :Float32;
     notReadyProbDEPRECATED @12 :List(Float32);
     occludedProbDEPRECATED @10 :Float32;
     readyProbDEPRECATED @11 :List(Float32);
diff --git a/selfdrive/assets/icons_mici/onroad/glasses.png b/selfdrive/assets/icons_mici/onroad/glasses.png
deleted file mode 100644
index 006972fd397c41..00000000000000
--- a/selfdrive/assets/icons_mici/onroad/glasses.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:56de402482b5987ed9a0ff3f793a1c89f857304b34fbb8a3deb5b5d4a332be1c
-size 3688
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 28190db3e68a8e..efd8214b9faa0c 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -80,7 +80,7 @@ def parse_model_output(model_output):
     face_descs = model_output[f'face_descs_{ds_suffix}']
     parsed[f'face_descs_{ds_suffix}'] = face_descs[:, :-6]
     parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:])
-    for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
+    for key in ['face_prob', 'eyes_visible_prob', 'eyes_closed_prob', 'using_phone_prob']:
       parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
   return parsed
 
@@ -90,11 +90,8 @@ def fill_driver_data(msg, model_output, ds_suffix):
   msg.facePosition = model_output[f'face_descs_{ds_suffix}'][0, 3:5].tolist()
   msg.facePositionStd = model_output[f'face_descs_{ds_suffix}_std'][0, 3:5].tolist()
   msg.faceProb = model_output[f'face_prob_{ds_suffix}'][0, 0].item()
-  msg.leftEyeProb = model_output[f'left_eye_prob_{ds_suffix}'][0, 0].item()
-  msg.rightEyeProb = model_output[f'right_eye_prob_{ds_suffix}'][0, 0].item()
-  msg.leftBlinkProb = model_output[f'left_blink_prob_{ds_suffix}'][0, 0].item()
-  msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item()
-  msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item()
+  msg.eyesVisibleProb = model_output[f'eyes_visible_prob_{ds_suffix}'][0, 0].item()
+  msg.eyesClosedProb = model_output[f'eyes_closed_prob_{ds_suffix}'][0, 0].item()
   msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()
 
 def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float):
diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx
index dc621bed03a45f..628f385796991f 100644
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/selfdrive/modeld/models/dmonitoring_model.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7aff7ff1dc08bbaf562a8f77380ab5e5914f8557dba2f760d87e4d953f5604b0
-size 7307246
+oid sha256:2fd471febb6e973313ac0d0c6755f6410c1937ba92230b58a433761e8c883072
+size 7364290
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 19d169da42872d..90cc565802de3d 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -32,9 +32,8 @@ def __init__(self, device_type):
     self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
 
     self._FACE_THRESHOLD = 0.7
-    self._EYE_THRESHOLD = 0.65
-    self._SG_THRESHOLD = 0.9
-    self._BLINK_THRESHOLD = 0.865
+    self._EYE_THRESHOLD = 0.5
+    self._BLINK_THRESHOLD = 0.5
     self._PHONE_THRESH = 0.5
 
     self._POSE_PITCH_THRESHOLD = 0.3133
@@ -111,11 +110,6 @@ def __init__(self, raw_priors, max_trackable):
     self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
     self.prob_calibrated = False
 
-class DriverBlink:
-  def __init__(self):
-    self.left = 0.
-    self.right = 0.
-
 
 # model output refers to center of undistorted+leveled image
 EFL = 598.0 # focal length in K
@@ -150,7 +144,7 @@ def __init__(self, rhd_saved=False, settings=None, always_on=False):
     wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
     self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
     self.pose = DriverPose(settings=self.settings)
-    self.blink = DriverBlink()
+    self.blink_prob = 0.
     self.phone_prob = 0.
 
     self.always_on = always_on
@@ -253,7 +247,7 @@ def _get_distracted_types(self):
     if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
       distracted_types.append(DistractedType.DISTRACTED_POSE)
 
-    if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
+    if self.blink_prob > self.settings._BLINK_THRESHOLD:
       distracted_types.append(DistractedType.DISTRACTED_BLINK)
 
     if self.phone_prob > self.settings._PHONE_THRESH:
@@ -294,10 +288,7 @@ def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstil
     self.pose.yaw_std = driver_data.faceOrientationStd[1]
     model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
     self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
-    self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
-                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
-    self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
-                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
+    self.blink_prob = driver_data.eyesClosedProb * (driver_data.eyesVisibleProb > self.settings._EYE_THRESHOLD)
     self.phone_prob = driver_data.phoneProb
 
     self.distracted_types = self._get_distracted_types()
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index 15eb2c860540a1..733ea85bc041b5 100644
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -19,10 +19,8 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
   ds.leftDriverData.faceOrientation = [0., 0., 0.]
   ds.leftDriverData.facePosition = [0., 0.]
   ds.leftDriverData.faceProb = 1. * face_detected
-  ds.leftDriverData.leftEyeProb = 1.
-  ds.leftDriverData.rightEyeProb = 1.
-  ds.leftDriverData.leftBlinkProb = 1. * distracted
-  ds.leftDriverData.rightBlinkProb = 1. * distracted
+  ds.leftDriverData.eyesVisibleProb = 1.
+  ds.leftDriverData.eyesClosedProb = 1. * distracted
   ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
   ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
   # TODO: test both separately when e2e is used
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index a6ccaa104778a6..eb7cdbe34acfdd 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -76,7 +76,7 @@ def generate_report(proposed, master, tmp, commit):
                      (lambda x: get_idx_if_non_empty(x.wheelOnRightProb), "wheelOnRightProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.faceProb), "leftDriverData.faceProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.faceOrientation, 0), "leftDriverData.faceOrientation0"),
-                     (lambda x: get_idx_if_non_empty(x.leftDriverData.leftBlinkProb), "leftDriverData.leftBlinkProb"),
+                     (lambda x: get_idx_if_non_empty(x.leftDriverData.eyesClosedProb), "leftDriverData.eyesClosedProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.phoneProb), "leftDriverData.phoneProb"),
                      (lambda x: get_idx_if_non_empty(x.rightDriverData.faceProb), "rightDriverData.faceProb"),
                     ], "driverStateV2")
diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
index e8321b099c7e08..e8b8abb7f5cfd0 100644
--- a/selfdrive/ui/mici/onroad/driver_camera_dialog.py
+++ b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
@@ -39,8 +39,6 @@ def __init__(self):
     self._eye_fill_texture = None
     self._eye_orange_texture = None
     self._eye_size = 74
-    self._glasses_texture = None
-    self._glasses_size = 171
 
     self._load_eye_textures()
 
@@ -154,8 +152,6 @@ def _load_eye_textures(self):
       self._eye_fill_texture = gui_app.texture("icons_mici/onroad/eye_fill.png", self._eye_size, self._eye_size)
     if self._eye_orange_texture is None:
       self._eye_orange_texture = gui_app.texture("icons_mici/onroad/eye_orange.png", self._eye_size, self._eye_size)
-    if self._glasses_texture is None:
-      self._glasses_texture = gui_app.texture("icons_mici/onroad/glasses.png", self._glasses_size, self._glasses_size)
 
   def _draw_face_detection(self, rect: rl.Rectangle):
     dm_state = ui_state.sm["driverMonitoringState"]
@@ -202,31 +198,21 @@ def _draw_eyes(self, rect: rl.Rectangle, driver_data):
     eye_offset_x = 10
     eye_offset_y = 10
     eye_spacing = self._eye_size + 15
+    eyes_prob = driver_data.eyesVisibleProb
 
     left_eye_x = rect.x + eye_offset_x
     left_eye_y = rect.y + eye_offset_y
-    left_eye_prob = driver_data.leftEyeProb
 
     right_eye_x = rect.x + eye_offset_x + eye_spacing
     right_eye_y = rect.y + eye_offset_y
-    right_eye_prob = driver_data.rightEyeProb
 
     # Draw eyes with opacity based on probability
-    for eye_x, eye_y, eye_prob in [(left_eye_x, left_eye_y, left_eye_prob), (right_eye_x, right_eye_y, right_eye_prob)]:
-      fill_opacity = eye_prob
-      orange_opacity = 1.0 - eye_prob
-
+    fill_opacity = eyes_prob
+    orange_opacity = 1.0 - eyes_prob
+    for eye_x, eye_y in [(left_eye_x, left_eye_y), (right_eye_x, right_eye_y)]:
       rl.draw_texture_v(self._eye_orange_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * orange_opacity)))
       rl.draw_texture_v(self._eye_fill_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * fill_opacity)))
 
-    # Draw sunglasses indicator based on sunglasses probability
-    # Position glasses centered between the two eyes at top left
-    glasses_x = rect.x + eye_offset_x - 4
-    glasses_y = rect.y
-    glasses_pos = rl.Vector2(glasses_x, glasses_y)
-    glasses_prob = driver_data.sunglassesProb
-    rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))
-
 
 class DriverCameraDialog(NavWidget, BaseDriverCameraDialog):
   def __init__(self):

From cb327933002bc1a00bf60a3c20af2eb7a5f653e5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Wed, 1 Apr 2026 16:24:50 -0700
Subject: [PATCH 0842/1434] OP model (#37740)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* Off policy model

* 2f70b996-c604-4a46-9ac9-13ce7534605b/100

* misc fixes

* 1cc1791b-4555-41ce-a5cb-ce046967075a/100

* fix model

* 6ab6fae5-fbbd-4ad0-928a-b33794f60dba/100

* recomp

* update models

* qxfinally correct

* b8b96ac6-7918-401a-a862-eaf1fdbba88d/100

* wrong plan

* wrong plan

* Vf9b3fb5f-4d0d-4dcb-bc3a-5e94d1fdcdaa/200

* bump dbc

* ready to merge

* rename to on-policy

* Just cleanup big models for now

---------

Co-authored-by: Kacper RÄ…czy <gfw.kra@gmail.com>
---
 scripts/reporter.py                           |  9 +++--
 selfdrive/modeld/SConscript                   | 18 ++--------
 selfdrive/modeld/modeld.py                    | 34 ++++++++++++++-----
 .../modeld/models/big_driving_policy.onnx     |  1 -
 .../modeld/models/big_driving_vision.onnx     |  1 -
 .../modeld/models/driving_off_policy.onnx     |  3 ++
 .../modeld/models/driving_on_policy.onnx      |  3 ++
 selfdrive/modeld/models/driving_policy.onnx   |  3 --
 selfdrive/modeld/models/driving_vision.onnx   |  4 +--
 selfdrive/modeld/parse_model_outputs.py       | 11 ++++--
 10 files changed, 52 insertions(+), 35 deletions(-)
 delete mode 120000 selfdrive/modeld/models/big_driving_policy.onnx
 delete mode 120000 selfdrive/modeld/models/big_driving_vision.onnx
 create mode 100644 selfdrive/modeld/models/driving_off_policy.onnx
 create mode 100644 selfdrive/modeld/models/driving_on_policy.onnx
 delete mode 100644 selfdrive/modeld/models/driving_policy.onnx

diff --git a/scripts/reporter.py b/scripts/reporter.py
index d894b8af48abc7..64f6cb99b8370f 100755
--- a/scripts/reporter.py
+++ b/scripts/reporter.py
@@ -38,6 +38,11 @@ def get_checkpoint(f):
       continue
 
     fn = os.path.basename(f)
-    master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn)
+    master_path = MASTER_PATH + MODEL_PATH + fn
+    if os.path.exists(master_path):
+      master = get_checkpoint(master_path)
+      master_col = f"[{master}](https://reporter.comma.life/experiment/{master})"
+    else:
+      master_col = "N/A (new model)"
     pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
-    print("|", fn, "|", f"[{master}](https://reporter.comma.life/experiment/{master})", "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")
+    print("|", fn, "|", master_col, "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 3f38324a6e9526..7a82ff88b8e44b 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -21,7 +21,7 @@ tg_flags = {
 }.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0')
 
 # Get model metadata
-for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
+for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']:
   fn = File(f"models/{model_name}").abspath
   script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
   cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
@@ -59,19 +59,5 @@ def tg_compile(flags, model_name):
   )
 
 # Compile small models
-for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
+for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']:
   tg_compile(tg_flags, model_name)
-
-# Compile BIG model if USB GPU is available
-if "USBGPU" in os.environ:
-  import subprocess
-  # because tg doesn't support multi-process
-  devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True, cwd=env.Dir('#').abspath)
-  if b"AMD" in devs:
-    print("USB GPU detected... building")
-    flags = "DEV=AMD AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
-    bp = tg_compile(flags, "big_driving_policy")
-    bv = tg_compile(flags, "big_driving_vision")
-    lenv.SideEffect('lock', [bp, bv])  # tg doesn't support multi-process so build serially
-  else:
-    print("USB GPU not detected... skipping")
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index bff59366d6ec4c..6421ecfd21668b 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -34,11 +34,13 @@
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
-VISION_PKL_PATH = Path(__file__).parent / 'models/driving_vision_tinygrad.pkl'
-POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
-VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
-POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
 MODELS_DIR = Path(__file__).parent / 'models'
+VISION_PKL_PATH = MODELS_DIR / 'driving_vision_tinygrad.pkl'
+VISION_METADATA_PATH = MODELS_DIR / 'driving_vision_metadata.pkl'
+ON_POLICY_PKL_PATH = MODELS_DIR / 'driving_on_policy_tinygrad.pkl'
+ON_POLICY_METADATA_PATH = MODELS_DIR / 'driving_on_policy_metadata.pkl'
+OFF_POLICY_PKL_PATH = MODELS_DIR / 'driving_off_policy_tinygrad.pkl'
+OFF_POLICY_METADATA_PATH = MODELS_DIR / 'driving_off_policy_metadata.pkl'
 
 LAT_SMOOTH_SECONDS = 0.0
 LONG_SMOOTH_SECONDS = 0.3
@@ -151,7 +153,13 @@ def __init__(self):
       self.vision_output_slices = vision_metadata['output_slices']
       vision_output_size = vision_metadata['output_shapes']['outputs'][1]
 
-    with open(POLICY_METADATA_PATH, 'rb') as f:
+    with open(OFF_POLICY_METADATA_PATH, 'rb') as f:
+      off_policy_metadata = pickle.load(f)
+      self.off_policy_input_shapes =  off_policy_metadata['input_shapes']
+      self.off_policy_output_slices = off_policy_metadata['output_slices']
+      off_policy_output_size = off_policy_metadata['output_shapes']['outputs'][1]
+
+    with open(ON_POLICY_METADATA_PATH, 'rb') as f:
       policy_metadata = pickle.load(f)
       self.policy_input_shapes =  policy_metadata['input_shapes']
       self.policy_output_slices = policy_metadata['output_slices']
@@ -175,11 +183,13 @@ def __init__(self):
     self.vision_output = np.zeros(vision_output_size, dtype=np.float32)
     self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
     self.policy_output = np.zeros(policy_output_size, dtype=np.float32)
+    self.off_policy_output = np.zeros(off_policy_output_size, dtype=np.float32)
     self.parser = Parser()
     self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {}
     self.update_imgs = None
     self.vision_run = pickle.loads(read_file_chunked(str(VISION_PKL_PATH)))
-    self.policy_run = pickle.loads(read_file_chunked(str(POLICY_PKL_PATH)))
+    self.policy_run = pickle.loads(read_file_chunked(str(ON_POLICY_PKL_PATH)))
+    self.off_policy_run = pickle.loads(read_file_chunked(str(OFF_POLICY_PKL_PATH)))
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
@@ -228,9 +238,17 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
 
     self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
     policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
-    combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
+
+    self.off_policy_output = self.off_policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
+    off_policy_outputs_dict = self.parser.parse_off_policy_outputs(self.slice_outputs(self.off_policy_output, self.off_policy_output_slices))
+    off_policy_outputs_dict.pop('plan')
+
+
+    combined_outputs_dict = {**vision_outputs_dict, **off_policy_outputs_dict, **policy_outputs_dict}
+    if 'planplus' in combined_outputs_dict and 'plan' in combined_outputs_dict:
+      combined_outputs_dict['plan'] = combined_outputs_dict['plan'] + combined_outputs_dict['planplus']
     if SEND_RAW_PRED:
-      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
+      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy(), self.off_policy_output.copy()])
 
     return combined_outputs_dict
 
diff --git a/selfdrive/modeld/models/big_driving_policy.onnx b/selfdrive/modeld/models/big_driving_policy.onnx
deleted file mode 120000
index e1b653a14a03d6..00000000000000
--- a/selfdrive/modeld/models/big_driving_policy.onnx
+++ /dev/null
@@ -1 +0,0 @@
-driving_policy.onnx
\ No newline at end of file
diff --git a/selfdrive/modeld/models/big_driving_vision.onnx b/selfdrive/modeld/models/big_driving_vision.onnx
deleted file mode 120000
index 28ee71dd746e63..00000000000000
--- a/selfdrive/modeld/models/big_driving_vision.onnx
+++ /dev/null
@@ -1 +0,0 @@
-driving_vision.onnx
\ No newline at end of file
diff --git a/selfdrive/modeld/models/driving_off_policy.onnx b/selfdrive/modeld/models/driving_off_policy.onnx
new file mode 100644
index 00000000000000..33f6e0a2c1e705
--- /dev/null
+++ b/selfdrive/modeld/models/driving_off_policy.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb6992bd60bada6162fea298e1a414b6b3d6a326db4eda46b9de62bcd8554754
+size 13393859
diff --git a/selfdrive/modeld/models/driving_on_policy.onnx b/selfdrive/modeld/models/driving_on_policy.onnx
new file mode 100644
index 00000000000000..cbc072409a15eb
--- /dev/null
+++ b/selfdrive/modeld/models/driving_on_policy.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86680a657bbb34f997034d1930bb2cb65c38b9222cea199732f72bd45791cfad
+size 13022803
diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx
deleted file mode 100644
index 7c71bc94714310..00000000000000
--- a/selfdrive/modeld/models/driving_policy.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:853c6634746ff439a848349d00e4d5581cd941f13f7c1862c31b72a31cc24858
-size 14061595
diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx
index afd617667c6094..383cde35e4346f 100644
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ b/selfdrive/modeld/models/driving_vision.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:940e9006a25f27f0b6e85da798e6a8fd1f6dd492dd7d0b9ff1a9436460f46129
-size 46887794
+oid sha256:7af05e03fd170653ff5771baf373a2c57b363da12c4c411cd416dee067b4cf58
+size 23266366
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index 5c11e8ca1853c3..802f0ad85998b0 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -96,11 +96,17 @@ def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndar
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
+    self.parse_binary_crossentropy('meta', outs)
+    return outs
+
+  def parse_off_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    plan_mhp = self.is_mhp(outs, 'plan',  ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
+    plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
+    self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
     self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
     self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
     self.parse_binary_crossentropy('lane_lines_prob', outs)
-    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
-    self.parse_binary_crossentropy('meta', outs)
     self.parse_binary_crossentropy('lead_prob', outs)
     lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH)
     lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
@@ -120,5 +126,6 @@ def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndar
 
   def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     outs = self.parse_vision_outputs(outs)
+    outs = self.parse_off_policy_outputs(outs)
     outs = self.parse_policy_outputs(outs)
     return outs

From 55c3885742bd13272bff2eadfa98ba010867c0cd Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Thu, 2 Apr 2026 09:16:11 -0700
Subject: [PATCH 0843/1434] bump tg (#37700)

* bump tg

* bump tg

* assign

* bump

* cpu llvm

* frame buffer updated in place, no need to return

* don't bake in stale pointers

* fix update image output indices

* lint

* bump
---
 selfdrive/modeld/SConscript      |  2 +-
 selfdrive/modeld/compile_warp.py | 31 ++++++++++---------------------
 selfdrive/modeld/modeld.py       |  3 +--
 tinygrad_repo                    |  2 +-
 4 files changed, 13 insertions(+), 25 deletions(-)

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 7a82ff88b8e44b..bad1cdd5003d7d 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -18,7 +18,7 @@ def estimate_pickle_max_size(onnx_size):
 tg_flags = {
     'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
     'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
-}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0')
+}.get(arch, 'DEV=CPU:LLVM THREADS=0')
 
 # Get model metadata
 for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']:
diff --git a/selfdrive/modeld/compile_warp.py b/selfdrive/modeld/compile_warp.py
index 75cc65f84cb7f5..47511f2a2b6b23 100755
--- a/selfdrive/modeld/compile_warp.py
+++ b/selfdrive/modeld/compile_warp.py
@@ -94,11 +94,11 @@ def frame_prepare_tinygrad(input_frame, M_inv):
 
 
 def make_update_img_input(frame_prepare, model_w, model_h):
-  def update_img_input_tinygrad(tensor, frame, M_inv):
+  def update_img_input_tinygrad(frame_buffer, frame, M_inv):
     M_inv = M_inv.to(Device.DEFAULT)
     new_img = frame_prepare(frame, M_inv)
-    full_buffer = tensor[6:].cat(new_img, dim=0).contiguous()
-    return full_buffer, Tensor.cat(full_buffer[:6], full_buffer[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
+    frame_buffer.assign(frame_buffer[6:].cat(new_img, dim=0).contiguous())
+    return Tensor.cat(frame_buffer[:6], frame_buffer[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
   return update_img_input_tinygrad
 
 
@@ -107,9 +107,9 @@ def make_update_both_imgs(frame_prepare, model_w, model_h):
 
   def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
                                 calib_big_img_buffer, new_big_img, M_inv_big):
-    calib_img_buffer, calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
-    calib_big_img_buffer, calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
-    return calib_img_buffer, calib_img_pair, calib_big_img_buffer, calib_big_img_pair
+    calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
+    calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
+    return calib_img_pair, calib_big_img_pair
   return update_both_imgs_tinygrad
 
 
@@ -136,29 +136,18 @@ def compile_modeld_warp(cam_w, cam_h):
 
   full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
   big_full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
-  full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8)
-  big_full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8)
-
   for i in range(10):
-    new_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
     img_inputs = [full_buffer,
-                  Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
+                  Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize(),
                   Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
-    new_big_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
     big_img_inputs = [big_full_buffer,
-                      Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
+                      Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize(),
                       Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
     inputs = img_inputs + big_img_inputs
     Device.default.synchronize()
 
-    inputs_np = [x.numpy() for x in inputs]
-    inputs_np[0] = full_buffer_np
-    inputs_np[3] = big_full_buffer_np
-
     st = time.perf_counter()
-    out = update_img_jit(*inputs)
-    full_buffer = out[0].contiguous().realize().clone()
-    big_full_buffer = out[2].contiguous().realize().clone()
+    _ = update_img_jit(*inputs)
     mt = time.perf_counter()
     Device.default.synchronize()
     et = time.perf_counter()
@@ -183,7 +172,7 @@ def compile_dm_warp(cam_w, cam_h):
   warp_dm_jit = TinyJit(warp_dm, prune=True)
 
   for i in range(10):
-    inputs = [Tensor.from_blob((32 * Tensor.randn(yuv_size,) + 128).cast(dtype='uint8').realize().numpy().ctypes.data, (yuv_size,), dtype='uint8'),
+    inputs = [Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize(),
               Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
     Device.default.synchronize()
     st = time.perf_counter()
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 6421ecfd21668b..07c3af4b7e36d5 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -222,8 +222,7 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
 
     out = self.update_imgs(self.img_queues['img'], self.full_frames['img'], self.transforms['img'],
                            self.img_queues['big_img'], self.full_frames['big_img'], self.transforms['big_img'])
-    self.img_queues['img'], self.img_queues['big_img'] = out[0].realize(), out[2].realize()
-    vision_inputs = {'img': out[1], 'big_img': out[3]}
+    vision_inputs = {'img': out[0], 'big_img': out[1]}
 
     if prepare_only:
       return None
diff --git a/tinygrad_repo b/tinygrad_repo
index 2f55005ad93c77..1aa04eab086d9c 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 2f55005ad93c777cca69b20dddc28c7f02f0eb01
+Subproject commit 1aa04eab086d9c22855cfe50f746235200d28867

From b5d2026fc750a2c474dfb6ade5e93828abe5a6c4 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 2 Apr 2026 21:14:39 -0400
Subject: [PATCH 0844/1434] sunnypilot models: support for on-policy models

---
 cereal/custom.capnp                           |  1 +
 common/model.h                                |  2 +-
 release/ci/model_generator.py                 |  2 +-
 .../ui/sunnypilot/layouts/settings/models.py  |  8 +++-
 sunnypilot/modeld_v2/install_models_pc.py     |  2 +-
 sunnypilot/models/default_model.py            |  8 ++--
 sunnypilot/models/fetcher.py                  |  2 +-
 sunnypilot/models/runners/helpers.py          |  5 ++-
 .../models/runners/tinygrad/model_types.py    | 16 +++++++
 .../runners/tinygrad/tinygrad_runner.py       | 44 ++++++++++++++-----
 sunnypilot/models/tests/model_hash            |  2 +-
 sunnypilot/models/tests/test_default_model.py |  7 +--
 12 files changed, 74 insertions(+), 25 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 53986262ecb976..fe3ed9196f3108 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -154,6 +154,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
       vision @2;
       policy @3;
       offPolicy @4;
+      onPolicy @5;
     }
   }
 
diff --git a/common/model.h b/common/model.h
index 444727be93df27..b482499c7437af 100644
--- a/common/model.h
+++ b/common/model.h
@@ -1 +1 @@
-#define DEFAULT_MODEL "CD210 (Default)"
+#define DEFAULT_MODEL "OP Model (Default)"
diff --git a/release/ci/model_generator.py b/release/ci/model_generator.py
index da6b933030a782..feeb80095bf078 100755
--- a/release/ci/model_generator.py
+++ b/release/ci/model_generator.py
@@ -104,7 +104,7 @@ def generate_metadata(model_path: Path, output_dir: Path, short_name: str):
     metadata_file = metadata_file.rename(output_path / f"{base}_{short_name.lower()}_metadata.pkl")
 
   # Build the metadata structure
-  model_type = "offPolicy" if "off_policy" in base else base.split("_")[-1]
+  model_type = "offPolicy" if "off_policy" in base else "onPolicy" if "on_policy" in base else base.split("_")[-1]
 
   model_metadata = {
     "type": model_type,
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/models.py b/selfdrive/ui/sunnypilot/layouts/settings/models.py
index bf6af5694180c2..b34604af0c5112 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/models.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/models.py
@@ -58,6 +58,8 @@ def _initialize_items(self):
     self.supercombo_label = progress_item(tr("Driving Model"))
     self.vision_label = progress_item(tr("Vision Model"))
     self.policy_label = progress_item(tr("Policy Model"))
+    self.off_policy_label = progress_item(tr("Off-Policy Model"))
+    self.on_policy_label = progress_item(tr("On-Policy Model"))
 
     self.refresh_item = button_item(tr("Refresh Model List"), tr("REFRESH"), "",
                                     lambda: (ui_state.params.put("ModelManager_LastSyncTime", 0),
@@ -91,7 +93,7 @@ def _initialize_items(self):
     self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle")
 
     self.items = [self.current_model_item, self.cancel_download_item, self.supercombo_label, self.vision_label,
-                  self.policy_label, self.refresh_item, self.clear_cache_item, self.lane_turn_desire_toggle,
+                  self.policy_label, self.off_policy_label, self.on_policy_label, self.refresh_item, self.clear_cache_item, self.lane_turn_desire_toggle,
                   self.lane_turn_value_control, self.lagd_toggle, self.delay_control]
 
   def _update_lagd_description(self, lagd_toggle: bool):
@@ -129,7 +131,9 @@ def _callback(response):
   def _handle_bundle_download_progress(self):
     labels = {custom.ModelManagerSP.Model.Type.supercombo: self.supercombo_label,
               custom.ModelManagerSP.Model.Type.vision: self.vision_label,
-              custom.ModelManagerSP.Model.Type.policy: self.policy_label}
+              custom.ModelManagerSP.Model.Type.policy: self.policy_label,
+              custom.ModelManagerSP.Model.Type.offPolicy: self.off_policy_label,
+              custom.ModelManagerSP.Model.Type.onPolicy: self.on_policy_label}
     for label in labels.values():
       label.set_visible(False)
     self.cancel_download_item.set_visible(False)
diff --git a/sunnypilot/modeld_v2/install_models_pc.py b/sunnypilot/modeld_v2/install_models_pc.py
index d203de34872eb6..1bba001abd43b8 100755
--- a/sunnypilot/modeld_v2/install_models_pc.py
+++ b/sunnypilot/modeld_v2/install_models_pc.py
@@ -30,7 +30,7 @@ def generate_metadata_pkl(model_path, output_path):
 
 def install_models(model_dir):
   model_dir = Path(model_dir)
-  models = ["driving_off_policy", "driving_policy", "driving_vision"]
+  models = ["driving_off_policy", "driving_on_policy", "driving_vision"]
   found_models = []
 
   for model in models:
diff --git a/sunnypilot/models/default_model.py b/sunnypilot/models/default_model.py
index 0260a3c3bc7912..d540efbffdd4bd 100755
--- a/sunnypilot/models/default_model.py
+++ b/sunnypilot/models/default_model.py
@@ -8,14 +8,16 @@
 DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "common", "model.h")
 MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "tests", "model_hash")
 VISION_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_vision.onnx")
-POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_policy.onnx")
+OFF_POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_off_policy.onnx")
+ON_POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_on_policy.onnx")
 
 
 def update_model_hash():
   vision_hash = get_file_hash(VISION_ONNX_PATH)
-  policy_hash = get_file_hash(POLICY_ONNX_PATH)
+  off_policy_hash = get_file_hash(OFF_POLICY_ONNX_PATH)
+  on_policy_hash = get_file_hash(ON_POLICY_ONNX_PATH)
 
-  combined_hash = hashlib.sha256((vision_hash + policy_hash).encode()).hexdigest()
+  combined_hash = hashlib.sha256((vision_hash + off_policy_hash + on_policy_hash).encode()).hexdigest()
 
   with open(MODEL_HASH_PATH, "w") as f:
     f.write(combined_hash)
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 452c59e06bfc7b..0b6853da8a4fcd 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -116,7 +116,7 @@ def set(self, data: dict) -> None:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v15.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v16.json"
 
   def __init__(self, params: Params):
     self.params = params
diff --git a/sunnypilot/models/runners/helpers.py b/sunnypilot/models/runners/helpers.py
index 8f9d8fc2f50d91..b34a62132b695a 100644
--- a/sunnypilot/models/runners/helpers.py
+++ b/sunnypilot/models/runners/helpers.py
@@ -16,8 +16,9 @@ def get_model_runner() -> ModelRunner:
   bundle = get_active_bundle()
   if bundle and bundle.models:
     model_types = {m.type.raw for m in bundle.models}
-    # Check if the bundle uses separate vision and policy models
-    if ModelType.vision in model_types or ModelType.policy in model_types:
+    # Check if the bundle uses separate vision and policy models (legacy or new split format)
+    split_types = {ModelType.vision, ModelType.policy, ModelType.offPolicy, ModelType.onPolicy}
+    if model_types & split_types:
       return TinygradSplitRunner()
     # Otherwise, assume a single model (likely supercombo)
     if bundle.models:
diff --git a/sunnypilot/models/runners/tinygrad/model_types.py b/sunnypilot/models/runners/tinygrad/model_types.py
index 11f0965828ed74..015adc035f5d39 100644
--- a/sunnypilot/models/runners/tinygrad/model_types.py
+++ b/sunnypilot/models/runners/tinygrad/model_types.py
@@ -29,6 +29,22 @@ def _parse_off_policy_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
     return result
 
 
+class OnPolicyTinygrad(ModularRunner, ABC):
+  """
+  A TinygradRunner specialized for on-policy models.
+
+  Uses a SplitParser to handle outputs specific to the on-policy part of a split model setup.
+  """
+  def __init__(self):
+    self._on_policy_parser = SplitParser()
+    self.parser_method_dict[ModelType.onPolicy] = self._parse_on_policy_outputs
+
+  def _parse_on_policy_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses on-policy model outputs using SplitParser."""
+    result: NumpyDict = self._on_policy_parser.parse_policy_outputs(self._slice_outputs(model_outputs))
+    return result
+
+
 class PolicyTinygrad(ModularRunner, ABC):
   """
   A TinygradRunner specialized for policy-only models.
diff --git a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
index 9033c892ebc66b..4e17bd5ead5d08 100644
--- a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
+++ b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
@@ -3,14 +3,14 @@
 import numpy as np
 from openpilot.sunnypilot.models.runners.constants import NumpyDict, ModelType, ShapeDict, CUSTOM_MODEL_PATH, SliceDict
 from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
-from openpilot.sunnypilot.models.runners.tinygrad.model_types import PolicyTinygrad, VisionTinygrad, SupercomboTinygrad, OffPolicyTinygrad
+from openpilot.sunnypilot.models.runners.tinygrad.model_types import PolicyTinygrad, VisionTinygrad, SupercomboTinygrad, OffPolicyTinygrad, OnPolicyTinygrad
 from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
 
 from tinygrad.tensor import Tensor
 
 
-class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTinygrad, OffPolicyTinygrad):
+class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTinygrad, OffPolicyTinygrad, OnPolicyTinygrad):
   """
   A ModelRunner implementation for executing Tinygrad models.
 
@@ -26,6 +26,7 @@ def __init__(self, model_type: int = ModelType.supercombo):
     PolicyTinygrad.__init__(self)
     VisionTinygrad.__init__(self)
     OffPolicyTinygrad.__init__(self)
+    OnPolicyTinygrad.__init__(self)
     self._constants = ModelConstants
     self._model_data = self.models.get(model_type)
     if not self._model_data or not self._model_data.model:
@@ -98,20 +99,30 @@ def __init__(self):
     super().__init__()
     self.is_20hz_3d = True
     self.vision_runner = TinygradRunner(ModelType.vision)
-    self.policy_runner = TinygradRunner(ModelType.policy)
+    self.policy_runner = TinygradRunner(ModelType.policy) if self.models.get(ModelType.policy) else None
     self.off_policy_runner = TinygradRunner(ModelType.offPolicy) if self.models.get(ModelType.offPolicy) else None
+    self.on_policy_runner = TinygradRunner(ModelType.onPolicy) if self.models.get(ModelType.onPolicy) else None
     self._constants = SplitModelConstants
 
   def _run_model(self) -> NumpyDict:
     """Runs both vision and policy models and merges their parsed outputs."""
-    policy_output = self.policy_runner.run_model()
     vision_output = self.vision_runner.run_model()
-    outputs = {**policy_output, **vision_output}
+    outputs = {**vision_output}
+
+    if self.policy_runner:
+      policy_output = self.policy_runner.run_model()
+      outputs.update(policy_output)
 
     if self.off_policy_runner:
       off_policy_output = self.off_policy_runner.run_model()
+      if self.on_policy_runner:
+        off_policy_output.pop('plan', None)
       outputs.update(off_policy_output)
 
+    if self.on_policy_runner:
+      on_policy_output = self.on_policy_runner.run_model()
+      outputs.update(on_policy_output)
+
     if 'planplus' in outputs and 'plan' in outputs:
       outputs['plan'] = outputs['plan'] + outputs['planplus']
 
@@ -125,31 +136,44 @@ def vision_input_names(self) -> list[str]:
   @property
   def input_shapes(self) -> ShapeDict:
     """Returns the combined input shapes from both vision and policy models."""
-    shapes = {**self.policy_runner.input_shapes, **self.vision_runner.input_shapes}
+    shapes = {**self.vision_runner.input_shapes}
+    if self.policy_runner:
+      shapes.update(self.policy_runner.input_shapes)
     if self.off_policy_runner:
       shapes.update(self.off_policy_runner.input_shapes)
+    if self.on_policy_runner:
+      shapes.update(self.on_policy_runner.input_shapes)
     return shapes
 
   @property
   def output_slices(self) -> SliceDict:
     """Returns the combined output slices from both vision and policy models."""
-    slices = {**self.policy_runner.output_slices, **self.vision_runner.output_slices}
+    slices = {**self.vision_runner.output_slices}
+    if self.policy_runner:
+      slices.update(self.policy_runner.output_slices)
     if self.off_policy_runner:
       slices.update(self.off_policy_runner.output_slices)
+    if self.on_policy_runner:
+      slices.update(self.on_policy_runner.output_slices)
     return slices
 
   def prepare_inputs(self, numpy_inputs: NumpyDict) -> dict:
     """Prepares inputs for both vision and policy models."""
-    # Policy inputs only depend on numpy_inputs
-    self.policy_runner.prepare_policy_inputs(numpy_inputs)
+    if self.policy_runner:
+      self.policy_runner.prepare_policy_inputs(numpy_inputs)
 
     for key in self.vision_input_names:
       if key in self.inputs:
         self.vision_runner.inputs[key] = self.inputs[key].cast(self.vision_runner.input_to_dtype[key])
 
-    inputs = {**self.policy_runner.inputs, **self.vision_runner.inputs}
+    inputs = {**self.vision_runner.inputs}
+    if self.policy_runner:
+      inputs.update(self.policy_runner.inputs)
 
     if self.off_policy_runner:
       self.off_policy_runner.prepare_policy_inputs(numpy_inputs)
       inputs.update(self.off_policy_runner.inputs)
+    if self.on_policy_runner:
+      self.on_policy_runner.prepare_policy_inputs(numpy_inputs)
+      inputs.update(self.on_policy_runner.inputs)
     return inputs
diff --git a/sunnypilot/models/tests/model_hash b/sunnypilot/models/tests/model_hash
index f363f8309aba20..9a9ea5a9680b16 100644
--- a/sunnypilot/models/tests/model_hash
+++ b/sunnypilot/models/tests/model_hash
@@ -1 +1 @@
-32f57bdc91f910df1f48ddae7c59aaf6e751f9df6756da481a210577dbce8bcf
\ No newline at end of file
+adfcb5ccac9cfaf291af6091d12e71be3f543c7694fc29d80caa561dc32194d7
diff --git a/sunnypilot/models/tests/test_default_model.py b/sunnypilot/models/tests/test_default_model.py
index 7c2fde70a8a80b..abe685c36ad182 100644
--- a/sunnypilot/models/tests/test_default_model.py
+++ b/sunnypilot/models/tests/test_default_model.py
@@ -6,16 +6,17 @@
 """
 
 from openpilot.sunnypilot import get_file_hash
-from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, VISION_ONNX_PATH, POLICY_ONNX_PATH
+from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, VISION_ONNX_PATH, OFF_POLICY_ONNX_PATH, ON_POLICY_ONNX_PATH
 import hashlib
 
 
 class TestDefaultModel:
   def test_compare_onnx_hashes(self):
     vision_hash = get_file_hash(VISION_ONNX_PATH)
-    policy_hash = get_file_hash(POLICY_ONNX_PATH)
+    off_policy_hash = get_file_hash(OFF_POLICY_ONNX_PATH)
+    on_policy_hash = get_file_hash(ON_POLICY_ONNX_PATH)
 
-    combined_hash = hashlib.sha256((vision_hash + policy_hash).encode()).hexdigest()
+    combined_hash = hashlib.sha256((vision_hash + off_policy_hash + on_policy_hash).encode()).hexdigest()
 
     with open(MODEL_HASH_PATH) as f:
       current_hash = f.read().strip()

From 052692b25d63c5ddda276b5c2271383b6aff129f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Fri, 3 Apr 2026 09:34:03 -0700
Subject: [PATCH 0845/1434] OP model 7 (#37760)

* a76ae294-e61a-43b8-b07e-c3496dbfc5ff/100

* recompile

* unused

* correct naming
---
 selfdrive/modeld/models/driving_off_policy.onnx | 4 ++--
 selfdrive/modeld/models/driving_on_policy.onnx  | 4 ++--
 selfdrive/modeld/models/driving_vision.onnx     | 4 ++--
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/selfdrive/modeld/models/driving_off_policy.onnx b/selfdrive/modeld/models/driving_off_policy.onnx
index 33f6e0a2c1e705..5b0effc1003e87 100644
--- a/selfdrive/modeld/models/driving_off_policy.onnx
+++ b/selfdrive/modeld/models/driving_off_policy.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:eb6992bd60bada6162fea298e1a414b6b3d6a326db4eda46b9de62bcd8554754
-size 13393859
+oid sha256:e53f4e0527766082ba7bde38e275def0fe3c14f6c59ae2854439e239884d3ecc
+size 13393365
diff --git a/selfdrive/modeld/models/driving_on_policy.onnx b/selfdrive/modeld/models/driving_on_policy.onnx
index cbc072409a15eb..bfe10ca185b7c7 100644
--- a/selfdrive/modeld/models/driving_on_policy.onnx
+++ b/selfdrive/modeld/models/driving_on_policy.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:86680a657bbb34f997034d1930bb2cb65c38b9222cea199732f72bd45791cfad
-size 13022803
+oid sha256:ea89c50da3a16e710da292f97c81b083a982cfdee5c28eca0d37ed2fb99af6c5
+size 13022642
diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx
index 383cde35e4346f..335e9dbcf8ea20 100644
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ b/selfdrive/modeld/models/driving_vision.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7af05e03fd170653ff5771baf373a2c57b363da12c4c411cd416dee067b4cf58
-size 23266366
+oid sha256:6263aa3fbb44cde6c68a34cdb7cd8c389789dbc02b15c1911afdac4e018281ae
+size 23267151

From f0053d46194bb75dc8f277d7ba6f91ea02effae7 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 3 Apr 2026 14:52:35 -0700
Subject: [PATCH 0846/1434] jotpluggler: state transition view is only for
 enums (#37761)

* jotpluggler: state transition view is only for enums

* cleaner
---
 tools/jotpluggler/plot.cc | 82 ++-------------------------------------
 1 file changed, 3 insertions(+), 79 deletions(-)

diff --git a/tools/jotpluggler/plot.cc b/tools/jotpluggler/plot.cc
index a3c68ddcefa991..5d9d644808c308 100644
--- a/tools/jotpluggler/plot.cc
+++ b/tools/jotpluggler/plot.cc
@@ -6,7 +6,6 @@
 #include <cmath>
 #include <cstdio>
 #include <limits>
-#include <unordered_set>
 
 constexpr double PLOT_Y_PAD_FRACTION = 0.4;
 
@@ -74,10 +73,6 @@ struct StateBlock {
   std::string label;
 };
 
-struct PaneEnumContext {
-  std::vector<const EnumInfo *> enums;
-};
-
 struct PaneValueFormatContext {
   SeriesFormat format;
   bool valid = false;
@@ -106,38 +101,6 @@ bool curves_are_bool_like(const std::vector<PreparedCurve> &prepared_curves) {
   return true;
 }
 
-bool curve_is_state_like(const PreparedCurve &curve) {
-  if (!curve.display_info.integer_like || curve.xs.size() < 2 || curve.xs.size() != curve.ys.size()) {
-    return false;
-  }
-  if (curve.enum_info != nullptr) {
-    return true;
-  }
-  std::unordered_set<int> distinct_values;
-  for (double value : curve.ys) {
-    if (!std::isfinite(value)) {
-      continue;
-    }
-    distinct_values.insert(static_cast<int>(std::llround(value)));
-    if (distinct_values.size() > 12) {
-      return false;
-    }
-  }
-  return !distinct_values.empty();
-}
-
-bool curves_use_state_blocks(const std::vector<PreparedCurve> &prepared_curves) {
-  if (prepared_curves.empty()) {
-    return false;
-  }
-  for (const PreparedCurve &curve : prepared_curves) {
-    if (!curve_is_state_like(curve)) {
-      return false;
-    }
-  }
-  return true;
-}
-
 ImU32 state_block_color(int value, float alpha = 1.0f) {
   static constexpr std::array<std::array<uint8_t, 3>, 8> kPalette = {{
     {{111, 143, 175}},
@@ -307,36 +270,6 @@ std::optional<double> app_sample_xy_value_at_time(const std::vector<double> &xs,
   return y0 + (y1 - y0) * alpha;
 }
 
-int format_enum_axis_tick(double value, char *buf, int size, void *user_data) {
-  const auto *ctx = static_cast<const PaneEnumContext *>(user_data);
-  const int idx = static_cast<int>(std::llround(value));
-  if (ctx != nullptr && idx >= 0 && std::abs(value - static_cast<double>(idx)) < 0.01) {
-    std::vector<std::string_view> names;
-    names.reserve(ctx->enums.size());
-    for (const EnumInfo *info : ctx->enums) {
-      if (info == nullptr || static_cast<size_t>(idx) >= info->names.size()) {
-        continue;
-      }
-      const std::string &name = info->names[static_cast<size_t>(idx)];
-      if (name.empty()) continue;
-      if (std::find(names.begin(), names.end(), std::string_view(name)) == names.end()) {
-        names.emplace_back(name);
-      }
-    }
-    if (!names.empty()) {
-      std::string joined;
-      for (size_t i = 0; i < names.size(); ++i) {
-        if (i != 0) {
-          joined += ", ";
-        }
-        joined += names[i];
-      }
-      return std::snprintf(buf, size, "%d (%s)", idx, joined.c_str());
-    }
-  }
-  return std::snprintf(buf, size, "%.6g", value);
-}
-
 int format_numeric_axis_tick(double value, char *buf, int size, void *user_data) {
   const auto *ctx = static_cast<const PaneValueFormatContext *>(user_data);
   if (ctx == nullptr || !ctx->valid) {
@@ -831,23 +764,16 @@ void draw_plot(const AppSession &session, Pane *pane, UiState *state) {
   }
 
   const PlotBounds bounds = compute_plot_bounds(*pane, prepared_curves, *state);
-  PaneEnumContext enum_context;
   PaneValueFormatContext pane_value_format;
-  const bool state_block_mode = curves_use_state_blocks(prepared_curves);
-  bool all_enum_curves = !prepared_curves.empty();
+  bool state_block_mode = !prepared_curves.empty();
   size_t max_legend_label_width = 0;
   for (const PreparedCurve &curve : prepared_curves) {
     max_legend_label_width = std::max(max_legend_label_width, curve.label.size());
-    if (curve.enum_info != nullptr) {
-      enum_context.enums.push_back(curve.enum_info);
-    } else {
-      all_enum_curves = false;
+    if (curve.enum_info == nullptr) {
+      state_block_mode = false;
       merge_pane_value_format(&pane_value_format, curve.display_info);
     }
   }
-  if (prepared_curves.empty()) {
-    all_enum_curves = false;
-  }
   const int supported_count = static_cast<int>(prepared_curves.size());
   const ImVec2 plot_size = ImGui::GetContentRegionAvail();
   const bool has_cursor_time = state->has_tracker_time;
@@ -895,8 +821,6 @@ void draw_plot(const AppSession &session, Pane *pane, UiState *state) {
     ImPlot::SetupAxisFormat(ImAxis_X1, "%.1f");
     if (state_block_mode) {
       ImPlot::SetupAxisLimits(ImAxis_Y1, 0.0, 1.0, ImPlotCond_Always);
-    } else if (all_enum_curves && !enum_context.enums.empty()) {
-      ImPlot::SetupAxisFormat(ImAxis_Y1, format_enum_axis_tick, &enum_context);
     } else if (pane_value_format.valid) {
       ImPlot::SetupAxisFormat(ImAxis_Y1, format_numeric_axis_tick, &pane_value_format);
     } else {

From 310ba9d2c01eccf127f3005037bd98e717b616ad Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 3 Apr 2026 20:01:33 -0700
Subject: [PATCH 0847/1434] replay/ui: fix Qt threading issue (#37762)

* fix ui

* fix

* clean up
---
 tools/replay/ui.py | 67 +++++++++++++++++++---------------------------
 1 file changed, 28 insertions(+), 39 deletions(-)

diff --git a/tools/replay/ui.py b/tools/replay/ui.py
index 7fe2f405a16b4b..3f6eb1fdb73edb 100755
--- a/tools/replay/ui.py
+++ b/tools/replay/ui.py
@@ -3,7 +3,6 @@
 import os
 import sys
 
-import cv2
 import numpy as np
 import pyray as rl
 
@@ -22,7 +21,8 @@
   plot_lead,
   plot_model,
 )
-from msgq.visionipc import VisionIpcClient, VisionStreamType
+from msgq.visionipc import VisionStreamType
+from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 
 os.environ['BASEDIR'] = BASEDIR
 
@@ -30,8 +30,6 @@
 
 
 def ui_thread(addr):
-  cv2.setNumThreads(1)
-
   # Get monitor info before creating window
   rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT)
   rl.init_window(1, 1, "")
@@ -59,14 +57,15 @@ def ui_thread(addr):
   font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts/JetBrainsMono-Medium.ttf")
   font = rl.load_font_ex(font_path, 32, None, 0)
 
-  # Create textures for camera and top-down view
-  camera_image = rl.gen_image_color(640, 480, rl.BLACK)
-  camera_texture = rl.load_texture_from_image(camera_image)
-  rl.unload_image(camera_image)
+  camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+
+  # Overlay texture for model/lane line drawing
+  overlay_img = np.zeros((480, 640, 4), dtype='uint8')
+  overlay_image = rl.gen_image_color(640, 480, rl.BLANK)
+  overlay_texture = rl.load_texture_from_image(overlay_image)
+  rl.unload_image(overlay_image)
 
   # lid_overlay array is (lidar_x, lidar_y) = (384, 960)
-  # pygame treats first axis as width, so texture is 384 wide x 960 tall
-  # For raylib, we need to transpose to get (height, width) = (960, 384) for the RGBA array
   top_down_image = rl.gen_image_color(UP.lidar_x, UP.lidar_y, rl.BLACK)
   top_down_texture = rl.load_texture_from_image(top_down_image)
   rl.unload_image(top_down_image)
@@ -89,7 +88,6 @@ def ui_thread(addr):
   )
 
   img = np.zeros((480, 640, 3), dtype='uint8')
-  imgff = None
   num_px = 0
   calibration = None
 
@@ -138,20 +136,16 @@ def ui_thread(addr):
   palette[110] = [110, 110, 110, 255]  # car_color (gray)
   palette[255] = [255, 255, 255, 255]  # WHITE
 
-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
   while not rl.window_should_close():
-    # ***** frame *****
-    if not vipc_client.is_connected():
-      vipc_client.connect(False)
-
     rl.begin_drawing()
     rl.clear_background(rl.Color(64, 64, 64, 255))
 
-    yuv_img_raw = vipc_client.recv()
-    if yuv_img_raw is None or not yuv_img_raw.data.any():
-      rl.draw_text_ex(font, "waiting for frames", rl.Vector2(200, 200), 30, 0, rl.WHITE)
-      rl.end_drawing()
-      continue
+    # Render camera (NV12->RGB on GPU via shader)
+    if camera_view.frame:
+      cam_h = 640.0 * camera_view.frame.height / camera_view.frame.width
+    else:
+      cam_h = 480.0
+    camera_view.render(rl.Rectangle(0, 0, 640, cam_h))
 
     lid_overlay = lid_overlay_blank.copy()
     top_down = top_down_texture, lid_overlay
@@ -159,19 +153,10 @@ def ui_thread(addr):
     sm.update(0)
 
     camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))]
-
-    # Use received buffer dimensions (full HEVC can have stride != buffer_len/rows due to VENUS padding)
-    h, w, stride = yuv_img_raw.height, yuv_img_raw.width, yuv_img_raw.stride
-    nv12_size = h * 3 // 2 * stride
-    imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8, count=nv12_size).reshape((h * 3 // 2, stride))
-    num_px = w * h
-    rgb = cv2.cvtColor(imgff[: h * 3 // 2, : w], cv2.COLOR_YUV2RGB_NV12)
-
-    qcam = "QCAM" in os.environ
-    bb_scale = (528 if qcam else camera.fcam.width) / 640.0
     calib_scale = camera.fcam.width / 640.0
-    zoom_matrix = np.asarray([[bb_scale, 0.0, 0.0], [0.0, bb_scale, 0.0], [0.0, 0.0, 1.0]])
-    cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
+
+    if camera_view.frame:
+      num_px = camera_view.frame.width * camera_view.frame.height
 
     intrinsic_matrix = camera.fcam.intrinsics
 
@@ -201,6 +186,8 @@ def ui_thread(addr):
     if len(sm['longitudinalPlan'].accels):
       plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0]
 
+    # Draw model overlays onto img, then blit as transparent overlay
+    img[:] = 0
     if sm.recv_frame['modelV2']:
       plot_model(sm['modelV2'], img, calibration, top_down)
 
@@ -214,11 +201,12 @@ def ui_thread(addr):
       rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib)
       calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale)
 
-    # *** blits ***
-    # Update camera texture from numpy array
-    img_rgba = cv2.cvtColor(img, cv2.COLOR_RGB2RGBA)
-    rl.update_texture(camera_texture, rl.ffi.cast("void *", img_rgba.ctypes.data))
-    rl.draw_texture(camera_texture, 0, 0, rl.WHITE)  # noqa: TID251
+    # Update overlay texture (RGB img -> RGBA with non-black pixels visible)
+    mask = np.any(img > 0, axis=2)
+    overlay_img[:, :, :3] = img
+    overlay_img[:, :, 3] = mask * 255
+    rl.update_texture(overlay_texture, rl.ffi.cast("void *", overlay_img.ctypes.data))
+    rl.draw_texture(overlay_texture, 0, 0, rl.WHITE)  # noqa: TID251
 
     # display alerts
     rl.draw_text_ex(font, sm['selfdriveState'].alertText1, rl.Vector2(180, 150), 30, 0, rl.RED)
@@ -257,9 +245,10 @@ def ui_thread(addr):
 
     rl.end_drawing()
 
-  rl.unload_texture(camera_texture)
+  rl.unload_texture(overlay_texture)
   rl.unload_texture(top_down_texture)
   rl.unload_font(font)
+  camera_view.close()
   rl.close_window()
 
 

From fa329eb9ffffe66390925bc1c4b2f01b6e3ae247 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 3 Apr 2026 20:17:19 -0700
Subject: [PATCH 0848/1434] sunnypilot locationd: remove unused car_ekf filter
 (#1790)

* sunnypilot locationd: remove unused car_ekf filter

* revert

* Revert "revert"

This reverts commit 115f04656c66085712288f860b1d90e71d32f66e.

* just 2

* just 1
---
 .github/workflows/sunnypilot-build-prebuilt.yaml | 2 +-
 sunnypilot/selfdrive/locationd/SConscript        | 7 -------
 2 files changed, 1 insertion(+), 8 deletions(-)

diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 3966d1a6c915a6..79cb5e3d616234 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -185,7 +185,7 @@ jobs:
           echo "Building sunnypilot's locationd..."
           scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
           echo "Building openpilot's locationd..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
+          scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
           echo "Building rest of sunnypilot"
           scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
           touch ${BUILD_DIR}/prebuilt
diff --git a/sunnypilot/selfdrive/locationd/SConscript b/sunnypilot/selfdrive/locationd/SConscript
index 27cd4d5b40bcae..3e71f367828c7b 100644
--- a/sunnypilot/selfdrive/locationd/SConscript
+++ b/sunnypilot/selfdrive/locationd/SConscript
@@ -14,13 +14,6 @@ live_ekf = env.RednoseCompileFilter(
   extra_gen_artifacts=['live_kf_constants.h'],
   gen_script_deps=rednose_gen_deps,
 )
-car_ekf = env.RednoseCompileFilter(
-  target='car',
-  filter_gen_script='models/car_kf.py',
-  output_dir=rednose_gen_dir,
-  extra_gen_artifacts=[],
-  gen_script_deps=rednose_gen_deps,
-)
 
 # locationd build
 locationd_sources = ["locationd.cc", "models/live_kf.cc"]

From f170440f4ac49d4804eaa9079adf30fa291e49e7 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 4 Apr 2026 18:30:34 -0400
Subject: [PATCH 0849/1434] safety: add reserved controls_allowed fields for
 forks (like MADS) (#37747)

---
 cereal/log.capnp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 56af5ae5f63167..7e47ab171d4741 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -613,6 +613,11 @@ struct PandaState @0xa7649e2575e4591e {
   voltage @0 :UInt32;
   current @1 :UInt32;
 
+  # these fields are not used by openpilot, but they're
+  # reserved for forks building alternate experiences.
+  controlsAllowedRESERVED1 @38 :Bool;
+  controlsAllowedRESERVED2 @39 :Bool;
+
   enum FaultStatus {
     none @0;
     faultTemp @1;

From dc4dae6794c724be50edbe2fa1edd2046ff3b813 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 4 Apr 2026 20:28:16 -0700
Subject: [PATCH 0850/1434] replay/ui: color lines, use aTarget (#37764)

* color lines, use aTarget

* only scroll when updated
---
 tools/replay/lib/ui_helpers.py | 14 ++++++++++++--
 tools/replay/ui.py             |  8 ++++----
 2 files changed, 16 insertions(+), 6 deletions(-)

diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py
index 7c95e9cad40764..039dd4f235959f 100644
--- a/tools/replay/lib/ui_helpers.py
+++ b/tools/replay/lib/ui_helpers.py
@@ -5,6 +5,7 @@
 import pyray as rl
 
 from matplotlib.backends.backend_agg import FigureCanvasAgg
+from matplotlib.offsetbox import AnchoredOffsetbox, HPacker, TextArea
 
 from openpilot.common.transformations.camera import get_view_frame_from_calib_frame
 from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
@@ -94,6 +95,7 @@ def draw_path(path, color, img, calibration, top_down, lid_color=None, z_off=0):
 
 def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles):
   color_palette = {"r": (1, 0, 0), "g": (0, 1, 0), "b": (0, 0, 1), "k": (0, 0, 0), "y": (1, 1, 0), "p": (0, 1, 1), "m": (1, 0, 1)}
+  label_palette = {**color_palette, "b": (43/255, 114/255, 1.0)}
 
   dpi = 90
   fig = plt.figure(figsize=(575 / dpi, 600 / dpi), dpi=dpi)
@@ -116,10 +118,18 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co
       plots.append(plot)
       idxs.append(name_to_arr_idx[item])
       plot_select.append(i)
-    axs[i].set_title(", ".join(f"{nm} ({cl})" for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10)
+    # Build colored title: each label colored to match its plot line
+    title_texts = []
+    for j2, (nm, cl) in enumerate(zip(pl_list, plot_colors[i], strict=False)):
+      if j2 > 0:
+        title_texts.append(TextArea(", ", textprops=dict(color="white", fontsize=10)))
+      title_texts.append(TextArea(nm, textprops=dict(color=label_palette[cl], fontsize=10)))
+    packed = HPacker(children=title_texts, pad=0, sep=0)
+    ab = AnchoredOffsetbox(loc='lower center', child=packed, bbox_to_anchor=(0.5, 1.0),
+                           bbox_transform=axs[i].transAxes, frameon=False, pad=0)
+    axs[i].add_artist(ab)
     axs[i].tick_params(axis="x", colors="white")
     axs[i].tick_params(axis="y", colors="white")
-    axs[i].title.set_color("white")
 
     if i < len(plot_ylims) - 1:
       axs[i].set_xticks([])
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
index 3f6eb1fdb73edb..405c79f42502f5 100755
--- a/tools/replay/ui.py
+++ b/tools/replay/ui.py
@@ -114,7 +114,7 @@ def ui_thread(addr):
   plot_arr = np.zeros((100, len(name_to_arr_idx.values())))
 
   plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])]
-  plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0.0, 75.0), (-3.0, 2.0)]
+  plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0.0, 75.0), (-3.5, 2.0)]
   plot_names = [
     ["gas", "computer_gas", "user_brake", "computer_brake"],
     ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
@@ -168,7 +168,8 @@ def ui_thread(addr):
     else:
       angle_steers_k = np.inf
 
-    plot_arr[:-1] = plot_arr[1:]
+    if sm.updated['carState']:
+      plot_arr[:-1] = plot_arr[1:]
     plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
     plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
     plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
@@ -183,8 +184,7 @@ def ui_thread(addr):
     plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
     plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
 
-    if len(sm['longitudinalPlan'].accels):
-      plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0]
+    plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].aTarget
 
     # Draw model overlays onto img, then blit as transparent overlay
     img[:] = 0

From 3c93d4cba17de6728a450492a6daea57b95704c5 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Sun, 5 Apr 2026 13:56:44 -0400
Subject: [PATCH 0851/1434] [bot] Update Python packages (#1751)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 docs/CARS.md | 135 ++++++++++-----------
 opendbc_repo |   2 +-
 panda        |   2 +-
 uv.lock      | 322 +++++++++++++++++++++++++--------------------------
 4 files changed, 233 insertions(+), 228 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 31f6f2d32bfeb9..92e63922361191 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,23 +4,24 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 336 Supported Cars
+# 340 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
+|Acura|MDX 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
 |Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
-|Acura|TLX 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
+|Acura|TLX 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
 |Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
@@ -32,7 +33,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -103,6 +104,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
+|Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
 |Honda|Passport 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
@@ -172,12 +174,12 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV (with HDA II) 2025|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2025">Buy Here</a></sub></details>|||
+|Kia|Niro EV (with HDA II) 2024-25|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2024-25">Buy Here</a></sub></details>|||
 |Kia|Niro EV (without HDA II) 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (without HDA II) 2023-25">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2018|Smart Cruise Control (SCC)|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2018">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2021">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2022">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023">Buy Here</a></sub></details>|||
+|Kia|Niro Hybrid 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023-24">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
@@ -221,8 +223,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
@@ -233,9 +235,11 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
 |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
+|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
 |Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
@@ -250,15 +254,15 @@ A supported vehicle is one that just works when you install a comma device. All
 |Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Å koda|Fabia 2022-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Å koda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Å koda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Å koda|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Å koda|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Å koda|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Å koda|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Å koda|Scala 2020-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Scala 2020-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Å koda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Superb 2015-22">Buy Here</a></sub></details>|||
+|Å koda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Å koda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Å koda[<sup>11</sup>](#footnotes)|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Å koda[<sup>11</sup>](#footnotes)|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Å koda[<sup>11</sup>](#footnotes)|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Å koda[<sup>11</sup>](#footnotes)|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Å koda[<sup>11</sup>](#footnotes)|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Å koda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Å koda[<sup>11</sup>](#footnotes)|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Superb 2015-22">Buy Here</a></sub></details>|||
 |Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
 |Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
@@ -308,42 +312,42 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
-|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen[<sup>11</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
@@ -356,11 +360,12 @@ A supported vehicle is one that just works when you install a comma device. All
 <sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
 <sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
 <sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>11</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>12</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>13</sup>Some Å koda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>14</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>15</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>11</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
+<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>14</sup>Some Å koda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
diff --git a/opendbc_repo b/opendbc_repo
index 2689d9ffc3b4d6..d7260245ffcbc7 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 2689d9ffc3b4d6720dc1f4c8a190698055af933d
+Subproject commit d7260245ffcbc7f6bb7524d8db102226b3220be7
diff --git a/panda b/panda
index 01a2c250f9d5f9..80846cff66e024 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 01a2c250f9d5f9964aed52cfdbae035a9e0dd4c3
+Subproject commit 80846cff66e0241adee27ec026f2e5cbcb15c5b4
diff --git a/uv.lock b/uv.lock
index 272421934ce94b..38c89e3fec3709 100644
--- a/uv.lock
+++ b/uv.lock
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 [[package]]
@@ -116,12 +116,12 @@ wheels = [
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 version = "1.0.8"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#90b7fefbe37fc2ca26597e6e9e0035dd386effa1" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#1ddfd3eb7b9e30a957c263930e1b0660e5dce6d1" }
 
 [[package]]
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg#d90bc630661092de49428bfc3a82a371ee35a889" }
 
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 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#0f7d2b9121cc30c0e377717fc1db52205a8e4c80" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#250faf500a3d101b91f4c85a4618fe1882c9cf61" }
 
 [[package]]
 name = "zstandard"
@@ -1702,4 +1702,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#b2b10636beba0384eada30979651b4ca7cf919ff" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#6896f3e5ea22d632c5ea3bc6e5f3b773c144f43b" }

From e5ac18702c8ca7dbc7249f14e56cd9e739a99ce7 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 5 Apr 2026 14:15:30 -0400
Subject: [PATCH 0852/1434] Revert "[bot] Update Python packages" (#1792)

Revert "[bot] Update Python packages (#1751)"

This reverts commit 3c93d4cba17de6728a450492a6daea57b95704c5.
---
 docs/CARS.md | 135 +++++++++++----------
 opendbc_repo |   2 +-
 panda        |   2 +-
 uv.lock      | 322 +++++++++++++++++++++++++--------------------------
 4 files changed, 228 insertions(+), 233 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 92e63922361191..31f6f2d32bfeb9 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,24 +4,23 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 340 Supported Cars
+# 336 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
-|Acura|MDX 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
 |Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
-|Acura|TLX 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
+|Acura|TLX 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
 |Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
@@ -33,7 +32,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|CUPRA[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -104,7 +103,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
-|Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
 |Honda|Passport 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
@@ -174,12 +172,12 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV (with HDA II) 2024-25|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2024-25">Buy Here</a></sub></details>|||
+|Kia|Niro EV (with HDA II) 2025|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2025">Buy Here</a></sub></details>|||
 |Kia|Niro EV (without HDA II) 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (without HDA II) 2023-25">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2018|Smart Cruise Control (SCC)|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2018">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2021">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2022">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023-24">Buy Here</a></sub></details>|||
+|Kia|Niro Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
@@ -223,8 +221,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
@@ -235,11 +233,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
 |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
-|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
 |Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
@@ -254,15 +250,15 @@ A supported vehicle is one that just works when you install a comma device. All
 |Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Å koda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Å koda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Å koda[<sup>11</sup>](#footnotes)|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Å koda[<sup>11</sup>](#footnotes)|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Å koda[<sup>11</sup>](#footnotes)|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Å koda[<sup>11</sup>](#footnotes)|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Å koda[<sup>11</sup>](#footnotes)|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Å koda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Å koda[<sup>11</sup>](#footnotes)|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Superb 2015-22">Buy Here</a></sub></details>|||
+|Å koda|Fabia 2022-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Å koda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Å koda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Å koda|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Å koda|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Å koda|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Å koda|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Å koda|Scala 2020-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Scala 2020-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Å koda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Superb 2015-22">Buy Here</a></sub></details>|||
 |Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
 |Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
@@ -312,42 +308,42 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen[<sup>11</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
+|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
@@ -360,12 +356,11 @@ A supported vehicle is one that just works when you install a comma device. All
 <sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
 <sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
 <sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>11</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
-<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>14</sup>Some Å koda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>11</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>12</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>13</sup>Some Å koda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>14</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>15</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
diff --git a/opendbc_repo b/opendbc_repo
index d7260245ffcbc7..2689d9ffc3b4d6 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit d7260245ffcbc7f6bb7524d8db102226b3220be7
+Subproject commit 2689d9ffc3b4d6720dc1f4c8a190698055af933d
diff --git a/panda b/panda
index 80846cff66e024..01a2c250f9d5f9 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 80846cff66e0241adee27ec026f2e5cbcb15c5b4
+Subproject commit 01a2c250f9d5f9964aed52cfdbae035a9e0dd4c3
diff --git a/uv.lock b/uv.lock
index 38c89e3fec3709..272421934ce94b 100644
--- a/uv.lock
+++ b/uv.lock
@@ -13,7 +13,7 @@ wheels = [
 
 [[package]]
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi#15a616d4f08f6b8ecaa9b2390c75d2fe0c0fffb8" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=imgui&rev=release-imgui#c5c108b23a2e0346480d7f4c4981bf6ec7ba9054" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg#2d69723fe445dadc68ceb9072510a505111b64a7" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb#8daf8079f98809ef4674177bca915a0a81eac52f" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv#28c3c2a2444232aeeaf989c33fd333ce74e6fc90" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ncurses&rev=release-ncurses#e33e7f648009ad97638b1a0a373a06a05526c040" }
 
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 ]
 
 [[package]]
@@ -1672,7 +1672,7 @@ wheels = [
 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#250faf500a3d101b91f4c85a4618fe1882c9cf61" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#0f7d2b9121cc30c0e377717fc1db52205a8e4c80" }
 
 [[package]]
 name = "zstandard"
@@ -1702,4 +1702,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#6896f3e5ea22d632c5ea3bc6e5f3b773c144f43b" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#b2b10636beba0384eada30979651b4ca7cf919ff" }

From e541489b332f33040896fa1e26d86ae819beb0cd Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Sun, 5 Apr 2026 21:04:24 -0400
Subject: [PATCH 0853/1434] [bot] Update Python packages (#1793)

* Update Python packages

* need this

---------

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 docs/CARS.md                               | 135 ++++-----
 opendbc_repo                               |   2 +-
 panda                                      |   2 +-
 selfdrive/test/process_replay/migration.py |   2 +-
 uv.lock                                    | 322 ++++++++++-----------
 5 files changed, 234 insertions(+), 229 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 31f6f2d32bfeb9..92e63922361191 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,23 +4,24 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 336 Supported Cars
+# 340 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
+|Acura|MDX 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
 |Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
-|Acura|TLX 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
+|Acura|TLX 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
 |Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
@@ -32,7 +33,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -103,6 +104,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
+|Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
 |Honda|Passport 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
@@ -172,12 +174,12 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV (with HDA II) 2025|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2025">Buy Here</a></sub></details>|||
+|Kia|Niro EV (with HDA II) 2024-25|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2024-25">Buy Here</a></sub></details>|||
 |Kia|Niro EV (without HDA II) 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (without HDA II) 2023-25">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2018|Smart Cruise Control (SCC)|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2018">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2021">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2022">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023">Buy Here</a></sub></details>|||
+|Kia|Niro Hybrid 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023-24">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
@@ -221,8 +223,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
@@ -233,9 +235,11 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
 |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
+|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
 |Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
@@ -250,15 +254,15 @@ A supported vehicle is one that just works when you install a comma device. All
 |Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Å koda|Fabia 2022-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Å koda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Å koda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Å koda|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Å koda|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Å koda|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Å koda|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Å koda|Scala 2020-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Scala 2020-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Å koda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Superb 2015-22">Buy Here</a></sub></details>|||
+|Å koda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Å koda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Å koda[<sup>11</sup>](#footnotes)|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Å koda[<sup>11</sup>](#footnotes)|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Å koda[<sup>11</sup>](#footnotes)|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Å koda[<sup>11</sup>](#footnotes)|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Å koda[<sup>11</sup>](#footnotes)|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Å koda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Å koda[<sup>11</sup>](#footnotes)|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Superb 2015-22">Buy Here</a></sub></details>|||
 |Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
 |Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
@@ -308,42 +312,42 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
-|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen[<sup>11</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
@@ -356,11 +360,12 @@ A supported vehicle is one that just works when you install a comma device. All
 <sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
 <sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
 <sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>11</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>12</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>13</sup>Some Å koda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>14</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>15</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>11</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
+<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>14</sup>Some Å koda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
diff --git a/opendbc_repo b/opendbc_repo
index 2689d9ffc3b4d6..d7260245ffcbc7 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 2689d9ffc3b4d6720dc1f4c8a190698055af933d
+Subproject commit d7260245ffcbc7f6bb7524d8db102226b3220be7
diff --git a/panda b/panda
index 01a2c250f9d5f9..80846cff66e024 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 01a2c250f9d5f9964aed52cfdbae035a9e0dd4c3
+Subproject commit 80846cff66e0241adee27ec026f2e5cbcb15c5b4
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 594f5b2e7b7606..d41664040a90ac 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -294,7 +294,7 @@ def migrate_pandaStates(msgs):
   safety_param_migration = {
     "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.STOCK_LONGITUDINAL,
     "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.ALT_BRAKE,
-    "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEERING,
+    "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEER_MSG,
     "CHEVROLET_VOLT": GMSafetyFlags.EV,
     "CHEVROLET_BOLT_EUV": GMSafetyFlags.EV | GMSafetyFlags.HW_CAM,
   }
diff --git a/uv.lock b/uv.lock
index 272421934ce94b..38c89e3fec3709 100644
--- a/uv.lock
+++ b/uv.lock
@@ -13,7 +13,7 @@ wheels = [
 
 [[package]]
 name = "aiohttp"
-version = "3.13.3"
+version = "3.13.5"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -24,25 +24,25 @@ dependencies = [
     { name = "propcache" },
     { name = "yarl" },
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=imgui&rev=release-imgui#f3d874be2f3aa44869ffd4775e0957e986a30a68" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg#d90bc630661092de49428bfc3a82a371ee35a889" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb#6562b0138726a380368d68a6ac5f6e36d6aea2da" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv#22b976c39a3f2607ef5458056b1a10558da0e85f" }
 
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 ]
 
 [[package]]
@@ -1672,7 +1672,7 @@ wheels = [
 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#0f7d2b9121cc30c0e377717fc1db52205a8e4c80" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#250faf500a3d101b91f4c85a4618fe1882c9cf61" }
 
 [[package]]
 name = "zstandard"
@@ -1702,4 +1702,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#b2b10636beba0384eada30979651b4ca7cf919ff" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#6896f3e5ea22d632c5ea3bc6e5f3b773c144f43b" }

From f37fd3ea34301bfb3fb08db305c5e182e7c23f0d Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Mon, 6 Apr 2026 18:46:14 +0200
Subject: [PATCH 0854/1434] Fixes the debugging of safety after scons removal
 (#37769)

Fixes the debugging after scons removal
---
 .vscode/launch.json | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.vscode/launch.json b/.vscode/launch.json
index f090061c42b0a2..151b757dabbece 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -52,6 +52,9 @@
       "type": "lldb",
       "request": "attach",
       "pid": "${command:pickMyProcess}",
+      "sourceMap": {
+        ".": "${workspaceFolder}/opendbc/safety"
+      },
       "initCommands": [
         "script import time; time.sleep(3)"
       ]

From 08401a96c2e2141cef8a4d60111f64da3ffd6403 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Mon, 6 Apr 2026 14:15:38 -0700
Subject: [PATCH 0855/1434] modeld: frame delay (#37731)

* Frame delay

* Multiply

* If replay

* For long too

* DT_MDL / 2

* Shorten comment

* Just 50ms

* Remove REPLAY const
---
 selfdrive/modeld/modeld.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 07c3af4b7e36d5..82e750cf8b3be2 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -405,7 +405,9 @@ def main(demo=False):
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
 
-      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
+      frame_delay = DT_MDL # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average
+      action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state)
+      action = get_action_from_model(model_output, prev_action, lat_delay + frame_delay + action_delay, long_delay + frame_delay + action_delay, v_ego)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,

From c7382f8258a95161e4be999e3c8632d4760e72c9 Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Tue, 7 Apr 2026 14:33:49 -0700
Subject: [PATCH 0856/1434] esim: harden AtClient with retry loops and
 reconnect (#37771)

---
 system/hardware/esim.py     |   9 ---
 system/hardware/tici/lpa.py | 119 +++++++++++++++++++++++++-----------
 2 files changed, 85 insertions(+), 43 deletions(-)

diff --git a/system/hardware/esim.py b/system/hardware/esim.py
index 9b7d4f9ec0b086..40600d26b565f5 100755
--- a/system/hardware/esim.py
+++ b/system/hardware/esim.py
@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 
 import argparse
-import time
 from openpilot.system.hardware import HARDWARE
 
 
@@ -13,16 +12,13 @@
   parser.add_argument('--nickname', nargs=2, metavar=('iccid', 'name'), help='update the nickname for a profile')
   args = parser.parse_args()
 
-  mutated = False
   lpa = HARDWARE.get_sim_lpa()
   if args.switch:
     lpa.switch_profile(args.switch)
-    mutated = True
   elif args.delete:
     confirm = input('are you sure you want to delete this profile? (y/N) ')
     if confirm == 'y':
       lpa.delete_profile(args.delete)
-      mutated = True
     else:
       print('cancelled')
       exit(0)
@@ -33,11 +29,6 @@
   else:
     parser.print_help()
 
-  if mutated:
-    HARDWARE.reboot_modem()
-    # eUICC needs a small delay post-reboot before querying profiles
-    time.sleep(.5)
-
   profiles = lpa.list_profiles()
   print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:')
   for p in profiles:
diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py
index 2e7e6a0ba97366..93cbca2479a545 100644
--- a/system/hardware/tici/lpa.py
+++ b/system/hardware/tici/lpa.py
@@ -5,14 +5,17 @@
 import math
 import os
 import serial
+import subprocess
 import sys
+import termios
+import time
 
 from collections.abc import Generator
 
 from openpilot.system.hardware.base import LPABase, Profile
 
 
-DEFAULT_DEVICE = "/dev/ttyUSB2"
+DEFAULT_DEVICE = "/dev/modem_at0"
 DEFAULT_BAUD = 9600
 DEFAULT_TIMEOUT = 5.0
 # https://euicc-manual.osmocom.org/docs/lpa/applet-id/
@@ -20,6 +23,10 @@
 MM = "org.freedesktop.ModemManager1"
 MM_MODEM = MM + ".Modem"
 ES10X_MSS = 120
+OPEN_ISDR_RETRIES = 10
+OPEN_ISDR_RETRY_DELAY_S = 0.25
+OPEN_ISDR_RESET_ATTEMPT = 5
+SEND_APDU_RETRIES = 3
 DEBUG = os.environ.get("DEBUG") == "1"
 
 # TLV Tags
@@ -36,28 +43,28 @@ def b64e(data: bytes) -> str:
 
 
 class AtClient:
-  def __init__(self, device: str, baud: int, timeout: float, debug: bool) -> None:
-    self.debug = debug
+  def __init__(self, device: str, baud: int, timeout: float) -> None:
     self.channel: str | None = None
+    self._device = device
+    self._baud = baud
     self._timeout = timeout
     self._serial: serial.Serial | None = None
-    try:
-      self._serial = serial.Serial(device, baudrate=baud, timeout=timeout)
-      self._serial.reset_input_buffer()
-    except (serial.SerialException, PermissionError, OSError):
-      pass
+    self._use_dbus = not os.path.exists(device)
 
   def close(self) -> None:
     try:
       if self.channel:
-        self.query(f"AT+CCHC={self.channel}")
+        try:
+          self.query(f"AT+CCHC={self.channel}")
+        except (RuntimeError, TimeoutError):
+          pass
         self.channel = None
     finally:
       if self._serial:
         self._serial.close()
 
   def _send(self, cmd: str) -> None:
-    if self.debug:
+    if DEBUG:
       print(f"SER >> {cmd}", file=sys.stderr)
     self._serial.write((cmd + "\r").encode("ascii"))
 
@@ -70,7 +77,7 @@ def _expect(self) -> list[str]:
       line = raw.decode(errors="ignore").strip()
       if not line:
         continue
-      if self.debug:
+      if DEBUG:
         print(f"SER << {line}", file=sys.stderr)
       if line == "OK":
         return lines
@@ -78,6 +85,18 @@ def _expect(self) -> list[str]:
         raise RuntimeError(f"AT command failed: {line}")
       lines.append(line)
 
+  def _ensure_serial(self, reconnect: bool = False) -> None:
+    if reconnect:
+      self.channel = None
+      try:
+        if self._serial:
+          self._serial.close()
+      except Exception:
+        pass
+      self._serial = None
+    if self._serial is None:
+      self._serial = serial.Serial(self._device, baudrate=self._baud, timeout=self._timeout)
+
   def _get_modem(self):
     import dbus
     bus = dbus.SystemBus()
@@ -87,48 +106,81 @@ def _get_modem(self):
     return bus.get_object(MM, modem_path)
 
   def _dbus_query(self, cmd: str) -> list[str]:
-    if self.debug:
+    if DEBUG:
       print(f"DBUS >> {cmd}", file=sys.stderr)
     try:
       result = str(self._get_modem().Command(cmd, math.ceil(self._timeout), dbus_interface=MM_MODEM, timeout=self._timeout))
     except Exception as e:
       raise RuntimeError(f"AT command failed: {e}") from e
     lines = [line.strip() for line in result.splitlines() if line.strip()]
-    if self.debug:
+    if DEBUG:
       for line in lines:
         print(f"DBUS << {line}", file=sys.stderr)
     return lines
 
   def query(self, cmd: str) -> list[str]:
-    if self._serial:
+    if self._use_dbus:
+      return self._dbus_query(cmd)
+    self._ensure_serial()
+    try:
+      self._send(cmd)
+      return self._expect()
+    except serial.SerialException:
+      self._ensure_serial(reconnect=True)
       self._send(cmd)
       return self._expect()
-    return self._dbus_query(cmd)
 
-  def open_isdr(self) -> None:
-    # close any stale logical channel from a previous crashed session
-    try:
-      self.query("AT+CCHC=1")
-    except RuntimeError:
-      pass
+  def _open_isdr_once(self) -> None:
+    if self.channel:
+      try:
+        self.query(f"AT+CCHC={self.channel}")
+      except RuntimeError:
+        pass
+      self.channel = None
+    # drain any unsolicited responses before opening
+    if self._serial and not self._use_dbus:
+      try:
+        self._serial.reset_input_buffer()
+      except (OSError, serial.SerialException, termios.error):
+        self._ensure_serial(reconnect=True)
     for line in self.query(f'AT+CCHO="{ISDR_AID}"'):
       if line.startswith("+CCHO:") and (ch := line.split(":", 1)[1].strip()):
         self.channel = ch
         return
     raise RuntimeError("Failed to open ISD-R application")
 
+  def open_isdr(self) -> None:
+    for attempt in range(OPEN_ISDR_RETRIES):
+      try:
+        self._open_isdr_once()
+        return
+      except (RuntimeError, TimeoutError, termios.error, serial.SerialException):
+        time.sleep(OPEN_ISDR_RETRY_DELAY_S)
+        if attempt == OPEN_ISDR_RESET_ATTEMPT:
+          # reset modem via lte.sh
+          subprocess.run(['/usr/comma/lte/lte.sh', 'start'], capture_output=True)
+          self._serial = None  # serial port will be re-opened on next attempt
+    raise RuntimeError("Failed to open ISD-R after retries")
+
   def send_apdu(self, apdu: bytes) -> tuple[bytes, int, int]:
-    if not self.channel:
-      raise RuntimeError("Logical channel is not open")
-    hex_payload = apdu.hex().upper()
-    for line in self.query(f'AT+CGLA={self.channel},{len(hex_payload)},"{hex_payload}"'):
-      if line.startswith("+CGLA:"):
-        parts = line.split(":", 1)[1].split(",", 1)
-        if len(parts) == 2:
-          data = bytes.fromhex(parts[1].strip().strip('"'))
-          if len(data) >= 2:
-            return data[:-2], data[-2], data[-1]
-    raise RuntimeError("Missing +CGLA response")
+    for attempt in range(SEND_APDU_RETRIES):
+      try:
+        if not self.channel:
+          self.open_isdr()
+        hex_payload = apdu.hex().upper()
+        for line in self.query(f'AT+CGLA={self.channel},{len(hex_payload)},"{hex_payload}"'):
+          if line.startswith("+CGLA:"):
+            parts = line.split(":", 1)[1].split(",", 1)
+            if len(parts) == 2:
+              data = bytes.fromhex(parts[1].strip().strip('"'))
+              if len(data) >= 2:
+                return data[:-2], data[-2], data[-1]
+        raise RuntimeError("Missing +CGLA response")
+      except (RuntimeError, ValueError):
+        self.channel = None
+        if attempt == SEND_APDU_RETRIES - 1:
+          raise
+    raise RuntimeError("send_apdu failed")
 
 
 # --- TLV utilities ---
@@ -250,8 +302,7 @@ def __new__(cls):
   def __init__(self):
     if hasattr(self, '_client'):
       return
-    self._client = AtClient(DEFAULT_DEVICE, DEFAULT_BAUD, DEFAULT_TIMEOUT, debug=DEBUG)
-    self._client.open_isdr()
+    self._client = AtClient(DEFAULT_DEVICE, DEFAULT_BAUD, DEFAULT_TIMEOUT)
     atexit.register(self._client.close)
 
   def list_profiles(self) -> list[Profile]:

From b0b9079437b49c58dae366355f47b95cd2cce296 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 7 Apr 2026 17:57:44 -0700
Subject: [PATCH 0857/1434] bump opendbc (#37775)

fix opendbc
---
 opendbc_repo                               | 2 +-
 selfdrive/test/process_replay/migration.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index ef70686afee3e0..ebaca24c02b2d5 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit ef70686afee3e0fe5e6be4938eaafc52e9e77935
+Subproject commit ebaca24c02b2d5eb9765ca6f63d5b11e67f52eca
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 14b38e0481adb5..87988edbc15e45 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -292,7 +292,7 @@ def migrate_pandaStates(msgs):
   safety_param_migration = {
     "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.STOCK_LONGITUDINAL,
     "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.ALT_BRAKE,
-    "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEERING,
+    "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEER_MSG,
     "CHEVROLET_VOLT": GMSafetyFlags.EV,
     "CHEVROLET_BOLT_EUV": GMSafetyFlags.EV | GMSafetyFlags.HW_CAM,
   }

From 54a2d31e97542373d7a5bc6b3646792fff17f088 Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Tue, 7 Apr 2026 18:14:45 -0700
Subject: [PATCH 0858/1434] esim: TLV helpers, acquire_channel, and TiciLPA
 rework (#37776)

---
 system/hardware/tici/lpa.py | 108 ++++++++++++++++++++++++++----------
 1 file changed, 79 insertions(+), 29 deletions(-)

diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py
index 93cbca2479a545..ca93b3e4178110 100644
--- a/system/hardware/tici/lpa.py
+++ b/system/hardware/tici/lpa.py
@@ -2,6 +2,7 @@
 
 import atexit
 import base64
+import fcntl
 import math
 import os
 import serial
@@ -10,7 +11,9 @@
 import termios
 import time
 
-from collections.abc import Generator
+from collections.abc import Callable, Generator
+from contextlib import contextmanager
+from typing import Any
 
 from openpilot.system.hardware.base import LPABase, Profile
 
@@ -27,21 +30,35 @@
 OPEN_ISDR_RETRY_DELAY_S = 0.25
 OPEN_ISDR_RESET_ATTEMPT = 5
 SEND_APDU_RETRIES = 3
+LOCK_FILE = '/dev/shm/modem_lpa.lock'
 DEBUG = os.environ.get("DEBUG") == "1"
 
 # TLV Tags
 TAG_ICCID = 0x5A
+TAG_STATUS = 0x80
 TAG_PROFILE_INFO_LIST = 0xBF2D
+TAG_OK = 0xA0
 
 STATE_LABELS = {0: "disabled", 1: "enabled", 255: "unknown"}
 ICON_LABELS = {0: "jpeg", 1: "png", 255: "unknown"}
 CLASS_LABELS = {0: "test", 1: "provisioning", 2: "operational", 255: "unknown"}
 
+# TLV tag -> (field_name, decoder)
+FieldMap = dict[int, tuple[str, Callable[[bytes], Any]]]
+
 
 def b64e(data: bytes) -> str:
   return base64.b64encode(data).decode("ascii")
 
 
+def base64_trim(s: str) -> str:
+  return "".join(c for c in s if c not in "\n\r \t")
+
+
+def b64d(s: str) -> bytes:
+  return base64.b64decode(base64_trim(s))
+
+
 class AtClient:
   def __init__(self, device: str, baud: int, timeout: float) -> None:
     self.channel: str | None = None
@@ -222,12 +239,37 @@ def find_tag(data: bytes, target: int) -> bytes | None:
   return next((v for t, v in iter_tlv(data) if t == target), None)
 
 
+def require_tag(data: bytes, target: int, label: str = "") -> bytes:
+  v = find_tag(data, target)
+  if v is None:
+    raise RuntimeError(f"Missing {label or f'tag 0x{target:X}'}")
+  return v
+
+
 def tbcd_to_string(raw: bytes) -> str:
   return "".join(str(n) for b in raw for n in (b & 0x0F, b >> 4) if n <= 9)
 
 
-# Profile field decoders: TLV tag -> (field_name, decoder)
-_PROFILE_FIELDS = {
+def string_to_tbcd(s: str) -> bytes:
+  digits = [int(c) for c in s if c.isdigit()]
+  return bytes(digits[i] | ((digits[i + 1] if i + 1 < len(digits) else 0xF) << 4) for i in range(0, len(digits), 2))
+
+
+def encode_tlv(tag: int, value: bytes) -> bytes:
+  tag_bytes = bytes([(tag >> 8) & 0xFF, tag & 0xFF]) if tag > 255 else bytes([tag])
+  vlen = len(value)
+  if vlen <= 127:
+    return tag_bytes + bytes([vlen]) + value
+  length_bytes = vlen.to_bytes((vlen.bit_length() + 7) // 8, "big")
+  return tag_bytes + bytes([0x80 | len(length_bytes)]) + length_bytes + value
+
+
+def int_bytes(n: int) -> bytes:
+  """Encode a positive integer as minimal big-endian bytes (at least 1 byte)."""
+  return n.to_bytes((n.bit_length() + 7) // 8 or 1, "big")
+
+
+PROFILE: FieldMap = {
   TAG_ICCID: ("iccid", tbcd_to_string),
   0x4F: ("isdpAid", lambda v: v.hex().upper()),
   0x9F70: ("profileState", lambda v: STATE_LABELS.get(v[0], "unknown")),
@@ -240,11 +282,11 @@ def tbcd_to_string(raw: bytes) -> str:
 }
 
 
-def _decode_profile_fields(data: bytes) -> dict:
-  """Parse known profile metadata TLV fields into a dict."""
-  result = {}
+def decode_struct(data: bytes, field_map: FieldMap) -> dict[str, Any]:
+  """Parse TLV data using a {tag: (field_name, decoder)} map into a dict."""
+  result: dict[str, Any] = {name: None for name, _ in field_map.values()}
   for tag, value in iter_tlv(data):
-    if (field := _PROFILE_FIELDS.get(tag)):
+    if (field := field_map.get(tag)):
       result[field[0]] = field[1](value)
   return result
 
@@ -277,14 +319,11 @@ def es10x_command(client: AtClient, data: bytes) -> bytes:
 # --- Profile operations ---
 
 def decode_profiles(blob: bytes) -> list[dict]:
-  root = find_tag(blob, TAG_PROFILE_INFO_LIST)
-  if root is None:
-    raise RuntimeError("Missing ProfileInfoList")
-  list_ok = find_tag(root, 0xA0)
+  root = require_tag(blob, TAG_PROFILE_INFO_LIST, "ProfileInfoList")
+  list_ok = find_tag(root, TAG_OK)
   if list_ok is None:
     return []
-  defaults = {name: None for name, _ in _PROFILE_FIELDS.values()}
-  return [{**defaults, **_decode_profile_fields(value)} for tag, value in iter_tlv(list_ok) if tag == 0xE3]
+  return [decode_struct(value, PROFILE) for tag, value in iter_tlv(list_ok) if tag == 0xE3]
 
 
 def list_profiles(client: AtClient) -> list[dict]:
@@ -292,29 +331,40 @@ def list_profiles(client: AtClient) -> list[dict]:
 
 
 class TiciLPA(LPABase):
-  _instance = None
-
-  def __new__(cls):
-    if cls._instance is None:
-      cls._instance = super().__new__(cls)
-    return cls._instance
-
   def __init__(self):
     if hasattr(self, '_client'):
       return
     self._client = AtClient(DEFAULT_DEVICE, DEFAULT_BAUD, DEFAULT_TIMEOUT)
     atexit.register(self._client.close)
 
+  @contextmanager
+  def _acquire_channel(self):
+    fd = os.open(LOCK_FILE, os.O_CREAT | os.O_RDWR)
+    try:
+      fcntl.flock(fd, fcntl.LOCK_EX)
+      self._client.open_isdr()
+      yield
+    finally:
+      if self._client.channel:
+        try:
+          self._client.query(f"AT+CCHC={self._client.channel}")
+        except (RuntimeError, TimeoutError):
+          pass
+        self._client.channel = None
+      fcntl.flock(fd, fcntl.LOCK_UN)
+      os.close(fd)
+
   def list_profiles(self) -> list[Profile]:
-    return [
-      Profile(
-        iccid=p.get("iccid", ""),
-        nickname=p.get("profileNickname") or "",
-        enabled=p.get("profileState") == "enabled",
-        provider=p.get("serviceProviderName") or "",
-      )
-      for p in list_profiles(self._client)
-    ]
+    with self._acquire_channel():
+      return [
+        Profile(
+          iccid=p.get("iccid", ""),
+          nickname=p.get("profileNickname") or "",
+          enabled=p.get("profileState") == "enabled",
+          provider=p.get("serviceProviderName") or "",
+        )
+        for p in list_profiles(self._client)
+      ]
 
   def get_active_profile(self) -> Profile | None:
     return None

From f28d6fb6bc0ce653e119490c26ada7f8f1f5f075 Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Tue, 7 Apr 2026 19:17:09 -0700
Subject: [PATCH 0859/1434] esim: implement profile nickname (#37777)

---
 system/hardware/tici/lpa.py | 20 ++++++++++++++++++--
 1 file changed, 18 insertions(+), 2 deletions(-)

diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py
index ca93b3e4178110..34b0a62ed2e8d3 100644
--- a/system/hardware/tici/lpa.py
+++ b/system/hardware/tici/lpa.py
@@ -15,7 +15,7 @@
 from contextlib import contextmanager
 from typing import Any
 
-from openpilot.system.hardware.base import LPABase, Profile
+from openpilot.system.hardware.base import LPABase, LPAError, Profile
 
 
 DEFAULT_DEVICE = "/dev/modem_at0"
@@ -37,6 +37,7 @@
 TAG_ICCID = 0x5A
 TAG_STATUS = 0x80
 TAG_PROFILE_INFO_LIST = 0xBF2D
+TAG_SET_NICKNAME = 0xBF29
 TAG_OK = 0xA0
 
 STATE_LABELS = {0: "disabled", 1: "enabled", 255: "unknown"}
@@ -330,6 +331,20 @@ def list_profiles(client: AtClient) -> list[dict]:
   return decode_profiles(es10x_command(client, TAG_PROFILE_INFO_LIST.to_bytes(2, "big") + b"\x00"))
 
 
+def set_profile_nickname(client: AtClient, iccid: str, nickname: str) -> None:
+  nickname_bytes = nickname.encode("utf-8")
+  if len(nickname_bytes) > 64:
+    raise ValueError("Profile nickname must be 64 bytes or less")
+  content = encode_tlv(TAG_ICCID, string_to_tbcd(iccid)) + encode_tlv(0x90, nickname_bytes)
+  response = es10x_command(client, encode_tlv(TAG_SET_NICKNAME, content))
+  root = require_tag(response, TAG_SET_NICKNAME, "SetNicknameResponse")
+  code = require_tag(root, TAG_STATUS, "status in SetNicknameResponse")[0]
+  if code == 0x01:
+    raise LPAError(f"profile {iccid} not found")
+  if code != 0x00:
+    raise RuntimeError(f"SetNickname failed with status 0x{code:02X}")
+
+
 class TiciLPA(LPABase):
   def __init__(self):
     if hasattr(self, '_client'):
@@ -376,7 +391,8 @@ def download_profile(self, qr: str, nickname: str | None = None) -> None:
     return None
 
   def nickname_profile(self, iccid: str, nickname: str) -> None:
-    return None
+    with self._acquire_channel():
+      set_profile_nickname(self._client, iccid, nickname)
 
   def switch_profile(self, iccid: str) -> None:
     return None

From 508863e5a82b24e82c1cda13ce3d7a6ba069a6e2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Tue, 7 Apr 2026 21:49:31 -0700
Subject: [PATCH 0860/1434] Long policy: less creepy (#37755)

* fix

* better
---
 selfdrive/controls/lib/drive_helpers.py | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index bf6dd04f603a2f..1e2fb27b51d55b 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -39,19 +39,17 @@ def clip_curvature(v_ego, prev_curvature, new_curvature, roll) -> tuple[float, b
   return float(new_curvature), limited_accel or limited_max_curv
 
 
-def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05):
+def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.3):
   if len(speeds) == len(t_idxs):
     v_now = speeds[0]
     a_now = accels[0]
     v_target = np.interp(action_t, t_idxs, speeds)
     a_target = 2 * (v_target - v_now) / (action_t) - a_now
-    v_target_1sec = np.interp(action_t + 1.0, t_idxs, speeds)
   else:
+    v_now = 0.0
     v_target = 0.0
-    v_target_1sec = 0.0
     a_target = 0.0
-  should_stop = (v_target < vEgoStopping and
-                 v_target_1sec < vEgoStopping)
+  should_stop = (v_now < vEgoStopping and a_target < 0.1)
   return a_target, should_stop
 
 def curv_from_psis(psi_target, psi_rate, vego, action_t):

From 19d56f685b4152ad9497c94295f0d6351ed72dfb Mon Sep 17 00:00:00 2001
From: Andi Radulescu <andi.radulescu@gmail.com>
Date: Wed, 8 Apr 2026 08:11:00 +0300
Subject: [PATCH 0861/1434] DM: auto reset audible alert coming to a stop
 (#37071)

* dm: suppress audible alert at standstill

* test: driver distracted then stops at standstill

* use recovery instead

* add back

* fix comment

---------

Co-authored-by: ZwX1616 <zwx1616@gmail.com>
---
 selfdrive/monitoring/helpers.py         | 16 +++++++---------
 selfdrive/monitoring/test_monitoring.py | 11 +++++++++++
 2 files changed, 18 insertions(+), 9 deletions(-)

diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 90cc565802de3d..f195c2ff847903 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -345,10 +345,14 @@ def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear, car
       self._reset_awareness()
       return
 
-    driver_attentive = self.driver_distraction_filter.x < 0.37
     awareness_prev = self.awareness
+    _reaching_pre = self.awareness - self.step_change <= self.threshold_pre
+    _reaching_terminal = self.awareness - self.step_change <= 0
+    standstill_orange_exemption = standstill and _reaching_pre
+    always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
 
-    if (driver_attentive and self.face_detected and self.pose.low_std and self.awareness > 0):
+    if self.awareness > 0 and \
+       ((self.driver_distraction_filter.x < 0.37 and self.face_detected and self.pose.low_std) or standstill_orange_exemption):
       if driver_engaged:
         self._reset_awareness()
         return
@@ -361,19 +365,13 @@ def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear, car
       if self.awareness > self.threshold_prompt:
         return
 
-    _reaching_pre = self.awareness - self.step_change <= self.threshold_pre
-    _reaching_audible = self.awareness - self.step_change <= self.threshold_prompt
-    _reaching_terminal = self.awareness - self.step_change <= 0
-    standstill_exemption = standstill and _reaching_pre
-    always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
-
     certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
     maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected
 
     if certainly_distracted or maybe_distracted:
       # should always be counting if distracted unless at standstill and reaching green
       # also will not be reaching 0 if DM is active when not engaged
-      if not (standstill_exemption or always_on_red_exemption):
+      if not (standstill_orange_exemption or always_on_red_exemption):
         self.awareness = max(self.awareness - self.step_change, -0.1)
 
     alert = None
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index 733ea85bc041b5..50a381502e68d2 100644
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -189,6 +189,17 @@ def test_long_traffic_light_victim(self):
     assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.preDriverDistracted
     assert events[int((_redlight_time+_pre_to_prompt+0.5)/DT_DMON)].names[0] == EventName.promptDriverDistracted
 
+  # engaged, distracted while moving, then car stops after reaching orange
+  #  - should reset timer to pre green at standstill
+  def test_distracted_then_stops(self):
+    _stop_time = DISTRACTED_SECONDS_TO_ORANGE + 1  # stop 1 second after reaching orange
+    standstill_vector = always_false[:]
+    standstill_vector[int(_stop_time/DT_DMON):] = [True] * int((TEST_TIMESPAN-_stop_time)/DT_DMON)
+    events, _ = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
+    # just before and briefly after stopping: orange alert; goes away quickly after stopped
+    assert events[int((_stop_time+0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
+    assert len(events[int((_stop_time+0.5)/DT_DMON)]) == 0
+
   # engaged, model is somehow uncertain and driver is distracted
   #  - should fall back to wheel touch after uncertain alert
   def test_somehow_indecisive_model(self):

From 21538e5a099f525c42b6f5cca440de2c9a22b069 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Wed, 8 Apr 2026 13:55:00 -0700
Subject: [PATCH 0862/1434] autodetect tg backend (#37778)

* pick fastest

* save config

* fix

* Ignore generated tg_compiled_flags file

* helper

* cleaner

* whitespace not needed

* no shebang

* whitespace
---
 .gitignore                            |  1 +
 selfdrive/modeld/SConscript           | 45 ++++++++++++++++++++-------
 selfdrive/modeld/dmonitoringmodeld.py | 11 +++----
 selfdrive/modeld/modeld.py            |  7 ++---
 selfdrive/modeld/tinygrad_helpers.py  | 11 +++++++
 5 files changed, 54 insertions(+), 21 deletions(-)
 create mode 100644 selfdrive/modeld/tinygrad_helpers.py

diff --git a/.gitignore b/.gitignore
index 1f58a371e0b667..c4022a86535f9e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -44,6 +44,7 @@ bin/
 config.json
 compile_commands.json
 compare_runtime*.html
+selfdrive/modeld/models/tg_compiled_flags.json
 
 # build artifacts
 selfdrive/pandad/pandad
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index bad1cdd5003d7d..f45dd4e7c6d446 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -1,6 +1,9 @@
-import os
 import glob
+import json
+import os
+from SCons.Script import Value
 from openpilot.common.file_chunker import chunk_file, get_chunk_paths
+from tinygrad import Device
 
 Import('env', 'arch')
 chunker_file = File("#common/file_chunker.py")
@@ -13,31 +16,51 @@ tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "
 def estimate_pickle_max_size(onnx_size):
   return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty
 
-# compile warp
 # THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
-tg_flags = {
-    'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
-    'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
-}.get(arch, 'DEV=CPU:LLVM THREADS=0')
+# get fastest TG config
+available = set(Device.get_available_devices())
+if 'CUDA' in available:
+  tg_backend = 'CUDA'
+  tg_flags = f'DEV={tg_backend}'
+elif 'QCOM' in available:
+  tg_backend = 'QCOM'
+  tg_flags = f'DEV={tg_backend} FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0'
+else:
+  tg_backend = 'CPU'
+  tg_flags = f'DEV={tg_backend} THREADS=0'
+
+def write_tg_compiled_flags(target, source, env):
+  with open(str(target[0]), "w") as f:
+    json.dump({"DEV": tg_backend}, f)
+    f.write("\n")
+
+compiled_flags_node = lenv.Command(
+  File("models/tg_compiled_flags.json").abspath,
+  tinygrad_files + [Value(tg_backend)],
+  write_tg_compiled_flags,
+)
+
+# tinygrad calls brew which needs a $HOME in the env
+mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
 
 # Get model metadata
 for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']:
   fn = File(f"models/{model_name}").abspath
   script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
-  cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
-  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
+  cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
+  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [compiled_flags_node], cmd)
 
 image_flag = {
      'larch64': 'IMAGE=2',
 }.get(arch, 'IMAGE=0')
 script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
-compile_warp_cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
+compile_warp_cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 warp_targets = []
 for cam in [_ar_ox_fisheye, _os_fisheye]:
   w, h = cam.width, cam.height
   warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath]
-lenv.Command(warp_targets, tinygrad_files + script_files, compile_warp_cmd)
+lenv.Command(warp_targets, tinygrad_files + script_files + [compiled_flags_node], compile_warp_cmd)
 
 def tg_compile(flags, model_name):
   pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
@@ -47,7 +70,7 @@ def tg_compile(flags, model_name):
   chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
   compile_node = lenv.Command(
     pkl,
-    [onnx_path] + tinygrad_files + [chunker_file],
+    [onnx_path] + tinygrad_files + [chunker_file, compiled_flags_node],
     f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
   )
   def do_chunk(target, source, env):
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index efd8214b9faa0c..d5901e89439481 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,12 +1,12 @@
 #!/usr/bin/env python3
 import os
-from openpilot.system.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
+from openpilot.selfdrive.modeld.tinygrad_helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
+set_tinygrad_backend_from_compiled_flags()
+
 from tinygrad.tensor import Tensor
 import time
 import pickle
 import numpy as np
-from pathlib import Path
 
 from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
@@ -21,9 +21,8 @@
 
 PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
-METADATA_PATH = Path(__file__).parent / 'models/dmonitoring_model_metadata.pkl'
-MODELS_DIR = Path(__file__).parent / 'models'
+MODEL_PKL_PATH = MODELS_DIR / 'dmonitoring_model_tinygrad.pkl'
+METADATA_PATH = MODELS_DIR / 'dmonitoring_model_metadata.pkl'
 
 class ModelState:
   inputs: dict[str, np.ndarray]
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 82e750cf8b3be2..c61e417e1ac00d 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,7 +1,8 @@
 #!/usr/bin/env python3
 import os
-from openpilot.system.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
+from openpilot.selfdrive.modeld.tinygrad_helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
+set_tinygrad_backend_from_compiled_flags()
+
 USBGPU = "USBGPU" in os.environ
 if USBGPU:
   os.environ['DEV'] = 'AMD'
@@ -12,7 +13,6 @@
 import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
-from pathlib import Path
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
@@ -34,7 +34,6 @@
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
-MODELS_DIR = Path(__file__).parent / 'models'
 VISION_PKL_PATH = MODELS_DIR / 'driving_vision_tinygrad.pkl'
 VISION_METADATA_PATH = MODELS_DIR / 'driving_vision_metadata.pkl'
 ON_POLICY_PKL_PATH = MODELS_DIR / 'driving_on_policy_tinygrad.pkl'
diff --git a/selfdrive/modeld/tinygrad_helpers.py b/selfdrive/modeld/tinygrad_helpers.py
new file mode 100644
index 00000000000000..e833c20968a936
--- /dev/null
+++ b/selfdrive/modeld/tinygrad_helpers.py
@@ -0,0 +1,11 @@
+import json
+import os
+from pathlib import Path
+
+MODELS_DIR = Path(__file__).parent / 'models'
+COMPILED_FLAGS_PATH = MODELS_DIR / 'tg_compiled_flags.json'
+
+
+def set_tinygrad_backend_from_compiled_flags() -> None:
+  with open(COMPILED_FLAGS_PATH) as f:
+    os.environ['DEV'] = str(json.load(f)['DEV'])

From 8b53f9158d09a2a12f6eb04bd793e18f425257cd Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 8 Apr 2026 14:29:32 -0700
Subject: [PATCH 0863/1434] Rename DM alerts to numbered stages (#37783)

* Rename DM alerts to numbered stages

* Handle renamed DM events in replay migration

* Remove replay migration test

* Skip unknown replay event names
---
 cereal/log.capnp                           | 12 ++---
 selfdrive/debug/cycle_alerts.py            |  6 +--
 selfdrive/monitoring/helpers.py            |  6 +--
 selfdrive/monitoring/test_monitoring.py    | 53 +++++++++++-----------
 selfdrive/selfdrived/events.py             | 16 +++----
 selfdrive/test/process_replay/migration.py | 23 ++++++++--
 6 files changed, 64 insertions(+), 52 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 7e47ab171d4741..56502606990cde 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -68,12 +68,12 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     longitudinalManeuver @30;
     steerTempUnavailableSilent @31;
     resumeRequired @32;
-    preDriverDistracted @33;
-    promptDriverDistracted @34;
-    driverDistracted @35;
-    preDriverUnresponsive @36;
-    promptDriverUnresponsive @37;
-    driverUnresponsive @38;
+    driverDistracted1 @33;
+    driverDistracted2 @34;
+    driverDistracted3 @35;
+    driverUnresponsive1 @36;
+    driverUnresponsive2 @37;
+    driverUnresponsive3 @38;
     belowSteerSpeed @39;
     lowBattery @40;
     accFaulted @41;
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index 00fa33ac63a2f0..4b1def4fc64e01 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -30,9 +30,9 @@ def cycle_alerts(duration=200, is_metric=False):
     (EventName.accFaulted, ET.IMMEDIATE_DISABLE),
 
     # DM sequence
-    (EventName.preDriverDistracted, ET.WARNING),
-    (EventName.promptDriverDistracted, ET.WARNING),
-    (EventName.driverDistracted, ET.WARNING),
+    (EventName.driverDistracted1, ET.WARNING),
+    (EventName.driverDistracted2, ET.WARNING),
+    (EventName.driverDistracted3, ET.WARNING),
   ]
 
   # debug alerts
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index f195c2ff847903..a9d8f5b11aec2d 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -377,16 +377,16 @@ def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear, car
     alert = None
     if self.awareness <= 0.:
       # terminal red alert: disengagement required
-      alert = EventName.driverDistracted if self.active_monitoring_mode else EventName.driverUnresponsive
+      alert = EventName.driverDistracted3 if self.active_monitoring_mode else EventName.driverUnresponsive3
       self.terminal_time += 1
       if awareness_prev > 0.:
         self.terminal_alert_cnt += 1
     elif self.awareness <= self.threshold_prompt:
       # prompt orange alert
-      alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive
+      alert = EventName.driverDistracted2 if self.active_monitoring_mode else EventName.driverUnresponsive2
     elif self.awareness <= self.threshold_pre:
       # pre green alert
-      alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive
+      alert = EventName.driverDistracted1 if self.active_monitoring_mode else EventName.driverUnresponsive1
 
     if alert is not None:
       self.current_events.add(alert)
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index 50a381502e68d2..d391d3f755e94d 100644
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -75,11 +75,11 @@ def test_fully_distracted_driver(self):
     assert len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
     assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL + \
                     ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
-                    EventName.preDriverDistracted
+                    EventName.driverDistracted1
     assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + \
-                    ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverDistracted
+                    ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.driverDistracted2
     assert events[int((d_status.settings._DISTRACTED_TIME + \
-                    ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted
+                    ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted3
     assert isinstance(d_status.awareness, float)
 
   # engaged, no face detected the whole time, no action
@@ -88,11 +88,11 @@ def test_fully_invisible_driver(self):
     assert len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
     assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL + \
                       ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
-                      EventName.preDriverUnresponsive
+                      EventName.driverUnresponsive1
     assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + \
-                      ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
+                      ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive2
     assert events[int((d_status.settings._AWARENESS_TIME + \
-                      ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive
+                      ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive3
 
   # engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel
   #  - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention
@@ -105,10 +105,10 @@ def test_normal_driver(self):
                          [car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON))
     events, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
     assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
+    assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
     assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]) == 0
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
+    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
+    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
     assert len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]) == 0
 
   # engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \
@@ -128,9 +128,9 @@ def test_biggest_comma_fan(self):
     op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \
                                                         = [False] * int(0.5/DT_DMON)
     events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted
-    assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted
+    assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted2
+    assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted3
+    assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted3
     assert len(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0
 
   # engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
@@ -144,13 +144,13 @@ def test_sometimes_transparent_commuter(self):
     interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
     events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
     assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
+    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
     assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0
     if _visible_time == 0.5:
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.preDriverUnresponsive
+      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
+      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive1
     elif _visible_time == 10:
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
+      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
       assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0
 
   # engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages
@@ -165,10 +165,10 @@ def test_last_second_responder(self):
     op_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON)
     events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
     assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-    assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive
-    assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive
-    assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive
+    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
+    assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive3
+    assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive3
+    assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive3
     assert len(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0
 
   # disengaged, always distracted driver
@@ -186,8 +186,8 @@ def test_long_traffic_light_victim(self):
     events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
     assert len(events[int((_redlight_time-0.1)/DT_DMON)]) == 0
     _pre_to_prompt = d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL - d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL
-    assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.preDriverDistracted
-    assert events[int((_redlight_time+_pre_to_prompt+0.5)/DT_DMON)].names[0] == EventName.promptDriverDistracted
+    assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.driverDistracted1
+    assert events[int((_redlight_time+_pre_to_prompt+0.5)/DT_DMON)].names[0] == EventName.driverDistracted2
 
   # engaged, distracted while moving, then car stops after reaching orange
   #  - should reset timer to pre green at standstill
@@ -197,7 +197,7 @@ def test_distracted_then_stops(self):
     standstill_vector[int(_stop_time/DT_DMON):] = [True] * int((TEST_TIMESPAN-_stop_time)/DT_DMON)
     events, _ = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
     # just before and briefly after stopping: orange alert; goes away quickly after stopped
-    assert events[int((_stop_time+0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
+    assert events[int((_stop_time+0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
     assert len(events[int((_stop_time+0.5)/DT_DMON)]) == 0
 
   # engaged, model is somehow uncertain and driver is distracted
@@ -206,10 +206,9 @@ def test_somehow_indecisive_model(self):
     ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON)
     interaction_vector = always_false[:]
     events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
-    assert EventName.preDriverUnresponsive in \
+    assert EventName.driverUnresponsive1 in \
                               events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names
-    assert EventName.promptDriverUnresponsive in \
+    assert EventName.driverUnresponsive2 in \
                               events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
-    assert EventName.driverUnresponsive in \
+    assert EventName.driverUnresponsive3 in \
                               events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
-
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 55af93c42b1cc0..99e25571bd1136 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -512,7 +512,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8),
   },
 
-  EventName.preDriverDistracted: {
+  EventName.driverDistracted1: {
     ET.PERMANENT: Alert(
       "Pay Attention",
       "",
@@ -520,7 +520,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
   },
 
-  EventName.promptDriverDistracted: {
+  EventName.driverDistracted2: {
     ET.PERMANENT: Alert(
       "Pay Attention",
       "Driver Distracted",
@@ -528,7 +528,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
   },
 
-  EventName.driverDistracted: {
+  EventName.driverDistracted3: {
     ET.PERMANENT: Alert(
       "DISENGAGE IMMEDIATELY",
       "Driver Distracted",
@@ -536,7 +536,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
       Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1),
   },
 
-  EventName.preDriverUnresponsive: {
+  EventName.driverUnresponsive1: {
     ET.PERMANENT: Alert(
       "Touch Steering Wheel: No Face Detected",
       "",
@@ -544,7 +544,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1),
   },
 
-  EventName.promptDriverUnresponsive: {
+  EventName.driverUnresponsive2: {
     ET.PERMANENT: Alert(
       "Touch Steering Wheel",
       "Driver Unresponsive",
@@ -552,7 +552,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
   },
 
-  EventName.driverUnresponsive: {
+  EventName.driverUnresponsive3: {
     ET.PERMANENT: Alert(
       "DISENGAGE IMMEDIATELY",
       "Driver Unresponsive",
@@ -1032,14 +1032,14 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
 
 if HARDWARE.get_device_type() == 'mici':
   EVENTS.update({
-    EventName.preDriverDistracted: {
+    EventName.driverDistracted1: {
       ET.PERMANENT: Alert(
         "Pay Attention",
         "",
         AlertStatus.normal, AlertSize.small,
         Priority.LOW, VisualAlert.none, AudibleAlert.none, 2),
     },
-    EventName.promptDriverDistracted: {
+    EventName.driverDistracted2: {
       ET.PERMANENT: Alert(
         "Pay Attention",
         "Driver Distracted",
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 87988edbc15e45..11eb24198740e9 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -98,6 +98,17 @@ def wrapper(*args, **kwargs):
   return decorator
 
 
+def migrate_onroad_event(event: capnp.lib.capnp._DynamicStructReader):
+  event_dict = event.to_dict()
+  try:
+    return log.OnroadEvent(**event_dict)
+  except capnp.lib.capnp.KjException as e:
+    # Ignore legacy events the current schema no longer defines.
+    if "enum has no such enumerant" in str(e):
+      return None
+    raise
+
+
 @migration(inputs=["longitudinalPlan", "carParams"])
 def migrate_longitudinalPlan(msgs):
   ops = []
@@ -456,12 +467,13 @@ def migrate_onroadEvents(msgs):
     for event in msg.onroadEventsDEPRECATED:
       try:
         if not str(event.name).endswith('DEPRECATED'):
-          # dict converts name enum into string representation
-          onroadEvents.append(log.OnroadEvent(**event.to_dict()))
+          migrated_event = migrate_onroad_event(event)
+          if migrated_event is not None:
+            onroadEvents.append(migrated_event)
       except RuntimeError:  # Member was null
         traceback.print_exc()
 
-    new_msg = messaging.new_message('onroadEvents', len(msg.onroadEventsDEPRECATED))
+    new_msg = messaging.new_message('onroadEvents', len(onroadEvents))
     new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
     new_msg.onroadEvents = onroadEvents
@@ -479,8 +491,9 @@ def migrate_driverMonitoringState(msgs):
     for event in msg.driverMonitoringState.eventsDEPRECATED:
       try:
         if not str(event.name).endswith('DEPRECATED'):
-          # dict converts name enum into string representation
-          events.append(log.OnroadEvent(**event.to_dict()))
+          migrated_event = migrate_onroad_event(event)
+          if migrated_event is not None:
+            events.append(migrated_event)
       except RuntimeError:  # Member was null
         traceback.print_exc()
 

From 8abfbc56a16bf7cd24097d4b1007d120cdcef017 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Wed, 8 Apr 2026 14:34:23 -0700
Subject: [PATCH 0864/1434] [bot] Update Python packages (#37749)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 docs/CARS.md  |   6 +-
 opendbc_repo  |   2 +-
 panda         |   2 +-
 tinygrad_repo |   2 +-
 uv.lock       | 328 +++++++++++++++++++++++++-------------------------
 5 files changed, 172 insertions(+), 168 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 56f80d160635fc..cceff62cd92b2e 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,12 +4,13 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 329 Supported Cars
+# 333 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
+|Acura|MDX 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
 |Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
@@ -103,6 +104,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
+|Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
 |Honda|Passport 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
@@ -230,7 +232,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
 |SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
 |SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
 |Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
diff --git a/opendbc_repo b/opendbc_repo
index ebaca24c02b2d5..37c8ae0c2d6830 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit ebaca24c02b2d5eb9765ca6f63d5b11e67f52eca
+Subproject commit 37c8ae0c2d6830b70d11e1a4e849721cedfe3f03
diff --git a/panda b/panda
index d079b0958b51ce..18f37937cc0edb 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit d079b0958b51ce33fc313def95317ef52b54b2ec
+Subproject commit 18f37937cc0edb0151d17ee7d15a142e88ec3a5b
diff --git a/tinygrad_repo b/tinygrad_repo
index 1aa04eab086d9c..4cf2759fc8a375 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 1aa04eab086d9c22855cfe50f746235200d28867
+Subproject commit 4cf2759fc8a3759abea89fa2805cce1f788d4367
diff --git a/uv.lock b/uv.lock
index 272421934ce94b..7ecb51f5d12b9c 100644
--- a/uv.lock
+++ b/uv.lock
@@ -13,7 +13,7 @@ wheels = [
 
 [[package]]
 name = "aiohttp"
-version = "3.13.3"
+version = "3.13.5"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -24,25 +24,25 @@ dependencies = [
     { name = "propcache" },
     { name = "yarl" },
 ]
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi#fd995de677db114e2862cf4ed245ca9a17536668" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=imgui&rev=release-imgui#f3d874be2f3aa44869ffd4775e0957e986a30a68" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg#d90bc630661092de49428bfc3a82a371ee35a889" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb#6562b0138726a380368d68a6ac5f6e36d6aea2da" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv#22b976c39a3f2607ef5458056b1a10558da0e85f" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ncurses&rev=release-ncurses#b733e08a93873e8d8ac47caabc2eb64a425f7146" }
 
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 ]
 
 [[package]]
@@ -1672,7 +1672,7 @@ wheels = [
 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#0f7d2b9121cc30c0e377717fc1db52205a8e4c80" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#250faf500a3d101b91f4c85a4618fe1882c9cf61" }
 
 [[package]]
 name = "zstandard"
@@ -1702,4 +1702,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#b2b10636beba0384eada30979651b4ca7cf919ff" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#6896f3e5ea22d632c5ea3bc6e5f3b773c144f43b" }

From 09a55a7833dd2ac1ae4f99eb1928125d2c6a867a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Wed, 8 Apr 2026 16:16:39 -0700
Subject: [PATCH 0865/1434] autodetect tg backend: use CPU:LLVM on Linux
 (#37785)

autodetect tg backend: use CPU:LLVM on Linux, CPU on Darwin
---
 selfdrive/modeld/SConscript | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index f45dd4e7c6d446..05045d09847b6d 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -26,7 +26,7 @@ elif 'QCOM' in available:
   tg_backend = 'QCOM'
   tg_flags = f'DEV={tg_backend} FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0'
 else:
-  tg_backend = 'CPU'
+  tg_backend = 'CPU' if arch == 'Darwin' else 'CPU:LLVM'
   tg_flags = f'DEV={tg_backend} THREADS=0'
 
 def write_tg_compiled_flags(target, source, env):

From 58090f5f7e3afe3d56740ab3d31f215af2f4903f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 8 Apr 2026 18:07:59 -0700
Subject: [PATCH 0866/1434] cereal: legacy -> deprecated (#37787)

---
 cereal/SConscript                         |  2 +-
 cereal/{legacy.capnp => deprecated.capnp} |  2 +-
 cereal/log.capnp                          | 60 +++++++++++------------
 3 files changed, 32 insertions(+), 32 deletions(-)
 rename cereal/{legacy.capnp => deprecated.capnp} (99%)

diff --git a/cereal/SConscript b/cereal/SConscript
index 73dc61844b3c58..de7ca0d7214ae1 100644
--- a/cereal/SConscript
+++ b/cereal/SConscript
@@ -4,7 +4,7 @@ cereal_dir = Dir('.')
 gen_dir = Dir('gen')
 
 # Build cereal
-schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
+schema_files = ['log.capnp', 'car.capnp', 'deprecated.capnp', 'custom.capnp']
 env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
             schema_files,
             f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
diff --git a/cereal/legacy.capnp b/cereal/deprecated.capnp
similarity index 99%
rename from cereal/legacy.capnp
rename to cereal/deprecated.capnp
index a8fa5e4a1f7d5d..82abdb18f7a125 100644
--- a/cereal/legacy.capnp
+++ b/cereal/deprecated.capnp
@@ -3,7 +3,7 @@ $Cxx.namespace("cereal");
 
 @0x80ef1ec4889c2a63;
 
-# legacy.capnp: a home for deprecated structs
+# deprecated.capnp: a home for deprecated structs
 
 struct LogRotate @0x9811e1f38f62f2d1 {
   segmentNum @0 :Int32;
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 56502606990cde..bc036d52c87b49 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2,7 +2,7 @@ using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");
 
 using Car = import "car.capnp";
-using Legacy = import "legacy.capnp";
+using Deprecated = import "deprecated.capnp";
 using Custom = import "custom.capnp";
 
 @0xf3b1f17e25a4285b;
@@ -2671,40 +2671,40 @@ struct Event {
     customReserved19 @145 :Custom.CustomReserved19;
 
     # *********** legacy + deprecated ***********
-    model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
+    model @9 :Deprecated.ModelData; # TODO: rename modelV2 and mark this as deprecated
     liveMpcDEPRECATED @36 :LiveMpcData;
     liveLongitudinalMpcDEPRECATED @37 :LiveLongitudinalMpcData;
-    liveLocationKalmanLegacyDEPRECATED @51 :Legacy.LiveLocationData;
-    orbslamCorrectionDEPRECATED @45 :Legacy.OrbslamCorrection;
-    liveUIDEPRECATED @14 :Legacy.LiveUI;
+    liveLocationKalmanDeprecatedDEPRECATED @51 :Deprecated.LiveLocationData;
+    orbslamCorrectionDEPRECATED @45 :Deprecated.OrbslamCorrection;
+    liveUIDEPRECATED @14 :Deprecated.LiveUI;
     sensorEventDEPRECATED @4 :SensorEventData;
-    liveEventDEPRECATED @8 :List(Legacy.LiveEventData);
-    liveLocationDEPRECATED @25 :Legacy.LiveLocationData;
-    ethernetDataDEPRECATED @26 :List(Legacy.EthernetPacket);
-    cellInfoDEPRECATED @28 :List(Legacy.CellInfo);
-    wifiScanDEPRECATED @29 :List(Legacy.WifiScan);
-    uiNavigationEventDEPRECATED @50 :Legacy.UiNavigationEvent;
+    liveEventDEPRECATED @8 :List(Deprecated.LiveEventData);
+    liveLocationDEPRECATED @25 :Deprecated.LiveLocationData;
+    ethernetDataDEPRECATED @26 :List(Deprecated.EthernetPacket);
+    cellInfoDEPRECATED @28 :List(Deprecated.CellInfo);
+    wifiScanDEPRECATED @29 :List(Deprecated.WifiScan);
+    uiNavigationEventDEPRECATED @50 :Deprecated.UiNavigationEvent;
     liveMapDataDEPRECATED @62 :LiveMapDataDEPRECATED;
-    gpsPlannerPointsDEPRECATED @40 :Legacy.GPSPlannerPoints;
-    gpsPlannerPlanDEPRECATED @41 :Legacy.GPSPlannerPlan;
+    gpsPlannerPointsDEPRECATED @40 :Deprecated.GPSPlannerPoints;
+    gpsPlannerPlanDEPRECATED @41 :Deprecated.GPSPlannerPlan;
     applanixRawDEPRECATED @42 :Data;
-    androidGnssDEPRECATED @30 :Legacy.AndroidGnss;
-    lidarPtsDEPRECATED @32 :Legacy.LidarPts;
-    navStatusDEPRECATED @38 :Legacy.NavStatus;
-    trafficEventsDEPRECATED @43 :List(Legacy.TrafficEvent);
-    liveLocationTimingDEPRECATED @44 :Legacy.LiveLocationData;
-    liveLocationCorrectedDEPRECATED @46 :Legacy.LiveLocationData;
-    navUpdateDEPRECATED @27 :Legacy.NavUpdate;
-    orbObservationDEPRECATED @47 :List(Legacy.OrbObservation);
-    locationDEPRECATED @49 :Legacy.LiveLocationData;
-    orbOdometryDEPRECATED @53 :Legacy.OrbOdometry;
-    orbFeaturesDEPRECATED @54 :Legacy.OrbFeatures;
-    applanixLocationDEPRECATED @55 :Legacy.LiveLocationData;
-    orbKeyFrameDEPRECATED @56 :Legacy.OrbKeyFrame;
-    orbFeaturesSummaryDEPRECATED @58 :Legacy.OrbFeaturesSummary;
-    featuresDEPRECATED @10 :Legacy.CalibrationFeatures;
-    kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry;
-    uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
+    androidGnssDEPRECATED @30 :Deprecated.AndroidGnss;
+    lidarPtsDEPRECATED @32 :Deprecated.LidarPts;
+    navStatusDEPRECATED @38 :Deprecated.NavStatus;
+    trafficEventsDEPRECATED @43 :List(Deprecated.TrafficEvent);
+    liveLocationTimingDEPRECATED @44 :Deprecated.LiveLocationData;
+    liveLocationCorrectedDEPRECATED @46 :Deprecated.LiveLocationData;
+    navUpdateDEPRECATED @27 :Deprecated.NavUpdate;
+    orbObservationDEPRECATED @47 :List(Deprecated.OrbObservation);
+    locationDEPRECATED @49 :Deprecated.LiveLocationData;
+    orbOdometryDEPRECATED @53 :Deprecated.OrbOdometry;
+    orbFeaturesDEPRECATED @54 :Deprecated.OrbFeatures;
+    applanixLocationDEPRECATED @55 :Deprecated.LiveLocationData;
+    orbKeyFrameDEPRECATED @56 :Deprecated.OrbKeyFrame;
+    orbFeaturesSummaryDEPRECATED @58 :Deprecated.OrbFeaturesSummary;
+    featuresDEPRECATED @10 :Deprecated.CalibrationFeatures;
+    kalmanOdometryDEPRECATED @65 :Deprecated.KalmanOdometry;
+    uiLayoutStateDEPRECATED @57 :Deprecated.UiLayoutState;
     pandaStateDEPRECATED @12 :PandaState;
     driverStateDEPRECATED @59 :DriverStateDEPRECATED;
     sensorEventsDEPRECATED @11 :List(SensorEventData);

From b5576de97efb8695522d22b566c6b90ba5b4a65a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 8 Apr 2026 23:56:24 -0700
Subject: [PATCH 0867/1434] soundd: update volume while playing alert (#37789)

lways
---
 selfdrive/ui/soundd.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index 6a203d3afcb44c..a99e5874b186f8 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -155,7 +155,8 @@ def soundd_thread(self):
       while True:
         sm.update(0)
 
-        if sm.updated['soundPressure'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
+        # Always update volume, even when alert is playing
+        if sm.updated['soundPressure']:
           self.spl_filter_weighted.update(sm["soundPressure"].soundPressureWeightedDb)
           self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
 

From 934fd5a5a88d7833655a4742c96e42eba1601fd5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 9 Apr 2026 00:13:27 -0700
Subject: [PATCH 0868/1434] soundd: ramp immediate alert volume (#37788)

* raise volume

* stuff

* fix

* 4s

* revert

* clean up

* lean up
---
 selfdrive/ui/soundd.py | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index a99e5874b186f8..8225efabf9af5a 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -18,6 +18,7 @@
 SAMPLE_BUFFER = 4096 # (approx 100ms)
 MAX_VOLUME = 1.0
 MIN_VOLUME = 0.1
+ALERT_RAMP_TIME = 4 # seconds to ramp to max volume for warningImmediate
 SELFDRIVE_STATE_TIMEOUT = 5 # 5 seconds
 FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES)
 
@@ -69,6 +70,9 @@ def __init__(self):
     self.current_volume = MIN_VOLUME
     self.current_sound_frame = 0
 
+    self.ramp_start_volume = MIN_VOLUME
+    self.ramp_start_time = 0.
+
     self.selfdrive_timeout_alert = False
 
     self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
@@ -117,6 +121,9 @@ def callback(self, data_out: np.ndarray, frames: int, time, status) -> None:
   def update_alert(self, new_alert):
     current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame > len(self.loaded_sounds[self.current_alert])
     if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once):
+      if new_alert == AudibleAlert.warningImmediate:
+        self.ramp_start_volume = self.current_volume
+        self.ramp_start_time = time.monotonic()
       self.current_alert = new_alert
       self.current_sound_frame = 0
 
@@ -162,6 +169,12 @@ def soundd_thread(self):
 
         self.get_audible_alert(sm)
 
+        # Ramp up immediate warning sound over 4s
+        if self.current_alert == AudibleAlert.warningImmediate:
+          elapsed = time.monotonic() - self.ramp_start_time
+          ramp_vol = float(np.interp(elapsed, [0, ALERT_RAMP_TIME], [self.ramp_start_volume, MAX_VOLUME]))
+          self.current_volume = max(self.current_volume, ramp_vol)
+
         rk.keep_time()
 
         assert stream.active

From f17a0aac94380238e266131d81ebbadf7239fd0c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 9 Apr 2026 01:41:40 -0700
Subject: [PATCH 0869/1434] services: increase logMessage queue size (#37790)

* services: increase logMessage queue size

logMessage and errorLogMessage defaulted to SMALL (250KB) after
bcdeec3133, but logmessaged allows messages up to 2MB. The msgq
assert requires 3 messages to fit in the queue, so any log message
over ~83KB crashes logmessaged. This happens on dirty devices when
updated logs the full git diff output.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

* use BIG queue size to fully cover 2MB cap

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

---------

Co-authored-by: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
---
 cereal/services.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/cereal/services.py b/cereal/services.py
index 6b98128d64b42c..c8525c0dd3034e 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -39,8 +39,8 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "roadEncodeIdx": (False, 20., 1),
   "liveTracks": (True, 20.),
   "sendcan": (True, 100., 139, QueueSize.MEDIUM),
-  "logMessage": (True, 0.),
-  "errorLogMessage": (True, 0., 1),
+  "logMessage": (True, 0., None, QueueSize.BIG),
+  "errorLogMessage": (True, 0., 1, QueueSize.BIG),
   "liveCalibration": (True, 4., 4),
   "liveTorqueParameters": (True, 4., 1),
   "liveDelay": (True, 4., 1),

From 9dc4986e216c910fdeedb2bc6bd9e7d2ef27b94d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 9 Apr 2026 10:03:22 -0700
Subject: [PATCH 0870/1434] cereal: move deprecated structs to deprecated.capnp
 (#37786)

* lil more

* cleanup
---
 cereal/deprecated.capnp | 87 ++++++++++++++++++++++++++++++++++++
 cereal/log.capnp        | 98 +++--------------------------------------
 2 files changed, 92 insertions(+), 93 deletions(-)

diff --git a/cereal/deprecated.capnp b/cereal/deprecated.capnp
index 82abdb18f7a125..02ed918375ed52 100644
--- a/cereal/deprecated.capnp
+++ b/cereal/deprecated.capnp
@@ -571,4 +571,91 @@ struct LidarPts @0xe3d6685d4e9d8f7a {
   pkt @4 :Data;
 }
 
+struct LiveTracksDEPRECATED @0xb16f60103159415a {
+  trackId @0 :Int32;
+  dRel @1 :Float32;
+  yRel @2 :Float32;
+  vRel @3 :Float32;
+  aRel @4 :Float32;
+  timeStamp @5 :Float32;
+  status @6 :Float32;
+  currentTime @7 :Float32;
+  stationary @8 :Bool;
+  oncoming @9 :Bool;
+}
+
+struct LiveMpcData @0x92a5e332a85f32a0 {
+  x @0 :List(Float32);
+  y @1 :List(Float32);
+  psi @2 :List(Float32);
+  curvature @3 :List(Float32);
+  qpIterations @4 :UInt32;
+  calculationTime @5 :UInt64;
+  cost @6 :Float64;
+}
+
+struct LiveLongitudinalMpcData @0xe7e17c434f865ae2 {
+  xEgo @0 :List(Float32);
+  vEgo @1 :List(Float32);
+  aEgo @2 :List(Float32);
+  xLead @3 :List(Float32);
+  vLead @4 :List(Float32);
+  aLead @5 :List(Float32);
+  aLeadTau @6 :Float32;    # lead accel time constant
+  qpIterations @7 :UInt32;
+  mpcId @8 :UInt32;
+  calculationTime @9 :UInt64;
+  cost @10 :Float64;
+}
+
+struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
+  frameId @0 :UInt32;
+  modelExecutionTime @14 :Float32;
+  dspExecutionTime @16 :Float32;
+  rawPredictions @15 :Data;
+
+  faceOrientation @3 :List(Float32);
+  facePosition @4 :List(Float32);
+  faceProb @5 :Float32;
+  leftEyeProb @6 :Float32;
+  rightEyeProb @7 :Float32;
+  leftBlinkProb @8 :Float32;
+  rightBlinkProb @9 :Float32;
+  faceOrientationStd @11 :List(Float32);
+  facePositionStd @12 :List(Float32);
+  sunglassesProb @13 :Float32;
+  poorVision @17 :Float32;
+  partialFace @18 :Float32;
+  distractedPose @19 :Float32;
+  distractedEyes @20 :Float32;
+  eyesOnRoad @21 :Float32;
+  phoneUse @22 :Float32;
+  occludedProb @23 :Float32;
+
+  readyProb @24 :List(Float32);
+  notReadyProb @25 :List(Float32);
+
+  irPwrDEPRECATED @10 :Float32;
+  descriptorDEPRECATED @1 :List(Float32);
+  stdDEPRECATED @2 :Float32;
+}
+
+struct NavModelData @0xac3de5c437be057a {
+  frameId @0 :UInt32;
+  locationMonoTime @6 :UInt64;
+  modelExecutionTime @1 :Float32;
+  dspExecutionTime @2 :Float32;
+  features @3 :List(Float32);
+  # predicted future position
+  position @4 :XYData;
+  desirePrediction @5 :List(Float32);
+
+  # All SI units and in device frame
+  struct XYData @0xbe09e615b2507e26 {
+    x @0 :List(Float32);
+    y @1 :List(Float32);
+    xStd @2 :List(Float32);
+    yStd @3 :List(Float32);
+  }
+}
 
diff --git a/cereal/log.capnp b/cereal/log.capnp
index bc036d52c87b49..c04e6f7b07984d 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -808,19 +808,6 @@ struct LiveCalibrationData {
   }
 }
 
-struct LiveTracksDEPRECATED {
-  trackId @0 :Int32;
-  dRel @1 :Float32;
-  yRel @2 :Float32;
-  vRel @3 :Float32;
-  aRel @4 :Float32;
-  timeStamp @5 :Float32;
-  status @6 :Float32;
-  currentTime @7 :Float32;
-  stationary @8 :Bool;
-  oncoming @9 :Bool;
-}
-
 struct SelfdriveState {
   # high level system state
   state @0 :OpenpilotState;
@@ -2135,30 +2122,6 @@ struct Clocks {
   modemUptimeMillisDEPRECATED @4 :UInt64;
 }
 
-struct LiveMpcData {
-  x @0 :List(Float32);
-  y @1 :List(Float32);
-  psi @2 :List(Float32);
-  curvature @3 :List(Float32);
-  qpIterations @4 :UInt32;
-  calculationTime @5 :UInt64;
-  cost @6 :Float64;
-}
-
-struct LiveLongitudinalMpcData {
-  xEgo @0 :List(Float32);
-  vEgo @1 :List(Float32);
-  aEgo @2 :List(Float32);
-  xLead @3 :List(Float32);
-  vLead @4 :List(Float32);
-  aLead @5 :List(Float32);
-  aLeadTau @6 :Float32;    # lead accel time constant
-  qpIterations @7 :UInt32;
-  mpcId @8 :UInt32;
-  calculationTime @9 :UInt64;
-  cost @10 :Float64;
-}
-
 struct Joystick {
   # convenient for debug and live tuning
   axes @0: List(Float32);
@@ -2198,38 +2161,6 @@ struct DriverStateV2 {
   poorVisionProbDEPRECATED @4 :Float32;
 }
 
-struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
-  frameId @0 :UInt32;
-  modelExecutionTime @14 :Float32;
-  dspExecutionTime @16 :Float32;
-  rawPredictions @15 :Data;
-
-  faceOrientation @3 :List(Float32);
-  facePosition @4 :List(Float32);
-  faceProb @5 :Float32;
-  leftEyeProb @6 :Float32;
-  rightEyeProb @7 :Float32;
-  leftBlinkProb @8 :Float32;
-  rightBlinkProb @9 :Float32;
-  faceOrientationStd @11 :List(Float32);
-  facePositionStd @12 :List(Float32);
-  sunglassesProb @13 :Float32;
-  poorVision @17 :Float32;
-  partialFace @18 :Float32;
-  distractedPose @19 :Float32;
-  distractedEyes @20 :Float32;
-  eyesOnRoad @21 :Float32;
-  phoneUse @22 :Float32;
-  occludedProb @23 :Float32;
-
-  readyProb @24 :List(Float32);
-  notReadyProb @25 :List(Float32);
-
-  irPwrDEPRECATED @10 :Float32;
-  descriptorDEPRECATED @1 :List(Float32);
-  stdDEPRECATED @2 :Float32;
-}
-
 struct DriverMonitoringState @0xb83cda094a1da284 {
   events @18 :List(OnroadEvent);
   faceDetected @1 :Bool;
@@ -2464,25 +2395,6 @@ struct MapRenderState {
   frameId @2: UInt32;
 }
 
-struct NavModelData {
-  frameId @0 :UInt32;
-  locationMonoTime @6 :UInt64;
-  modelExecutionTime @1 :Float32;
-  dspExecutionTime @2 :Float32;
-  features @3 :List(Float32);
-  # predicted future position
-  position @4 :XYData;
-  desirePrediction @5 :List(Float32);
-
-  # All SI units and in device frame
-  struct XYData {
-    x @0 :List(Float32);
-    y @1 :List(Float32);
-    xStd @2 :List(Float32);
-    yStd @3 :List(Float32);
-  }
-}
-
 struct EncodeData {
   idx @0 :EncodeIndex;
   data @1 :Data;
@@ -2672,8 +2584,8 @@ struct Event {
 
     # *********** legacy + deprecated ***********
     model @9 :Deprecated.ModelData; # TODO: rename modelV2 and mark this as deprecated
-    liveMpcDEPRECATED @36 :LiveMpcData;
-    liveLongitudinalMpcDEPRECATED @37 :LiveLongitudinalMpcData;
+    liveMpcDEPRECATED @36 :Deprecated.LiveMpcData;
+    liveLongitudinalMpcDEPRECATED @37 :Deprecated.LiveLongitudinalMpcData;
     liveLocationKalmanDeprecatedDEPRECATED @51 :Deprecated.LiveLocationData;
     orbslamCorrectionDEPRECATED @45 :Deprecated.OrbslamCorrection;
     liveUIDEPRECATED @14 :Deprecated.LiveUI;
@@ -2706,13 +2618,13 @@ struct Event {
     kalmanOdometryDEPRECATED @65 :Deprecated.KalmanOdometry;
     uiLayoutStateDEPRECATED @57 :Deprecated.UiLayoutState;
     pandaStateDEPRECATED @12 :PandaState;
-    driverStateDEPRECATED @59 :DriverStateDEPRECATED;
+    driverStateDEPRECATED @59 :Deprecated.DriverStateDEPRECATED;
     sensorEventsDEPRECATED @11 :List(SensorEventData);
     lateralPlanDEPRECATED @64 :LateralPlan;
-    navModelDEPRECATED @104 :NavModelData;
+    navModelDEPRECATED @104 :Deprecated.NavModelData;
     uiPlanDEPRECATED @106 :UiPlan;
     liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
-    liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
+    liveTracksDEPRECATED @16 :List(Deprecated.LiveTracksDEPRECATED);
     onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
     gyroscope2DEPRECATED @100 :SensorEventData;
     accelerometer2DEPRECATED @101 :SensorEventData;

From a89ed55b65e0d43ff4048ae0766b013d47c43baf Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 9 Apr 2026 10:41:04 -0700
Subject: [PATCH 0871/1434] cereal: group inline deprecated fields (#37791)

---
 cereal/deprecated.capnp                    | 128 +++++
 cereal/log.capnp                           | 592 +++++++++------------
 common/utils.py                            |   4 +-
 selfdrive/test/fuzzy_generation.py         |   4 +-
 selfdrive/test/process_replay/migration.py |  10 +-
 selfdrive/ui/mici/onroad/hud_renderer.py   |   2 +-
 selfdrive/ui/onroad/hud_renderer.py        |   2 +-
 system/ubloxd/ubloxd.py                    |   2 +-
 system/webrtc/schema.py                    |   2 +-
 tools/jotpluggler/browser.cc               |   2 +-
 tools/jotpluggler/sketch_layout.cc         |   4 +-
 tools/replay/logreader.cc                  |  25 +-
 12 files changed, 415 insertions(+), 362 deletions(-)

diff --git a/cereal/deprecated.capnp b/cereal/deprecated.capnp
index 02ed918375ed52..45ce25c6827e27 100644
--- a/cereal/deprecated.capnp
+++ b/cereal/deprecated.capnp
@@ -659,3 +659,131 @@ struct NavModelData @0xac3de5c437be057a {
   }
 }
 
+struct AndroidBuildInfo @0xfe2919d5c21f426c {
+  board @0 :Text;
+  bootloader @1 :Text;
+  brand @2 :Text;
+  device @3 :Text;
+  display @4 :Text;
+  fingerprint @5 :Text;
+  hardware @6 :Text;
+  host @7 :Text;
+  id @8 :Text;
+  manufacturer @9 :Text;
+  model @10 :Text;
+  product @11 :Text;
+  radioVersion @12 :Text;
+  serial @13 :Text;
+  supportedAbis @14 :List(Text);
+  tags @15 :Text;
+  time @16 :Int64;
+  type @17 :Text;
+  user @18 :Text;
+
+  versionCodename @19 :Text;
+  versionRelease @20 :Text;
+  versionSdk @21 :Int32;
+  versionSecurityPatch @22 :Text;
+}
+
+struct AndroidSensor @0x9b513b93a887dbcd {
+  id @0 :Int32;
+  name @1 :Text;
+  vendor @2 :Text;
+  version @3 :Int32;
+  handle @4 :Int32;
+  type @5 :Int32;
+  maxRange @6 :Float32;
+  resolution @7 :Float32;
+  power @8 :Float32;
+  minDelay @9 :Int32;
+  fifoReservedEventCount @10 :UInt32;
+  fifoMaxEventCount @11 :UInt32;
+  stringType @12 :Text;
+  maxDelay @13 :Int32;
+}
+
+struct IosBuildInfo @0xd97e3b28239f5580 {
+  appVersion @0 :Text;
+  appBuild @1 :UInt32;
+  osVersion @2 :Text;
+  deviceModel @3 :Text;
+}
+
+enum FrameTypeDEPRECATED @0xa37f0d8558e193fd {
+  unknown @0;
+  neo @1;
+  chffrAndroid @2;
+  front @3;
+}
+
+struct AndroidCaptureResult @0xbcc3efbac41d2048 {
+  sensitivity @0 :Int32;
+  frameDuration @1 :Int64;
+  exposureTime @2 :Int64;
+  rollingShutterSkew @3 :UInt64;
+  colorCorrectionTransform @4 :List(Int32);
+  colorCorrectionGains @5 :List(Float32);
+  displayRotation @6 :Int8;
+}
+
+enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 {
+  none @0;
+  client @1;
+  cdp @2;
+  dcp @3;
+}
+
+struct LateralINDIState @0x939463348632375e {
+  active @0 :Bool;
+  steeringAngleDeg @1 :Float32;
+  steeringRateDeg @2 :Float32;
+  steeringAccelDeg @3 :Float32;
+  rateSetPoint @4 :Float32;
+  accelSetPoint @5 :Float32;
+  accelError @6 :Float32;
+  delayedOutput @7 :Float32;
+  delta @8 :Float32;
+  output @9 :Float32;
+  saturated @10 :Bool;
+  steeringAngleDesiredDeg @11 :Float32;
+  steeringRateDesiredDeg @12 :Float32;
+}
+
+struct LateralLQRState @0x9024e2d790c82ade {
+  active @0 :Bool;
+  steeringAngleDeg @1 :Float32;
+  i @2 :Float32;
+  output @3 :Float32;
+  lqrOutput @4 :Float32;
+  saturated @5 :Bool;
+  steeringAngleDesiredDeg @6 :Float32;
+}
+
+struct LateralCurvatureState @0xad9d8095c06f7c61 {
+  active @0 :Bool;
+  actualCurvature @1 :Float32;
+  desiredCurvature @2 :Float32;
+  error @3 :Float32;
+  p @4 :Float32;
+  i @5 :Float32;
+  f @6 :Float32;
+  output @7 :Float32;
+  saturated @8 :Bool;
+}
+
+struct LateralPlannerSolution @0x84caeca5a6b4acfe {
+  x @0 :List(Float32);
+  y @1 :List(Float32);
+  yaw @2 :List(Float32);
+  yawRate @3 :List(Float32);
+  xStd @4 :List(Float32);
+  yStd @5 :List(Float32);
+  yawStd @6 :List(Float32);
+  yawRateStd @7 :List(Float32);
+}
+
+struct GpsTrajectory @0x8cfeb072f5301000 {
+  x @0 :List(Float32);
+  y @1 :List(Float32);
+}
diff --git a/cereal/log.capnp b/cereal/log.capnp
index c04e6f7b07984d..0f8b5470a44d1a 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -192,66 +192,16 @@ struct InitData {
     espVersion @3 :Text;
   }
 
-  # ***** deprecated stuff *****
-  gctxDEPRECATED @1 :Text;
-  androidBuildInfo @5 :AndroidBuildInfo;
-  androidSensorsDEPRECATED @6 :List(AndroidSensor);
-  chffrAndroidExtraDEPRECATED @7 :ChffrAndroidExtra;
-  iosBuildInfoDEPRECATED @14 :IosBuildInfo;
-
-  struct AndroidBuildInfo {
-    board @0 :Text;
-    bootloader @1 :Text;
-    brand @2 :Text;
-    device @3 :Text;
-    display @4 :Text;
-    fingerprint @5 :Text;
-    hardware @6 :Text;
-    host @7 :Text;
-    id @8 :Text;
-    manufacturer @9 :Text;
-    model @10 :Text;
-    product @11 :Text;
-    radioVersion @12 :Text;
-    serial @13 :Text;
-    supportedAbis @14 :List(Text);
-    tags @15 :Text;
-    time @16 :Int64;
-    type @17 :Text;
-    user @18 :Text;
-
-    versionCodename @19 :Text;
-    versionRelease @20 :Text;
-    versionSdk @21 :Int32;
-    versionSecurityPatch @22 :Text;
-  }
-
-  struct AndroidSensor {
-    id @0 :Int32;
-    name @1 :Text;
-    vendor @2 :Text;
-    version @3 :Int32;
-    handle @4 :Int32;
-    type @5 :Int32;
-    maxRange @6 :Float32;
-    resolution @7 :Float32;
-    power @8 :Float32;
-    minDelay @9 :Int32;
-    fifoReservedEventCount @10 :UInt32;
-    fifoMaxEventCount @11 :UInt32;
-    stringType @12 :Text;
-    maxDelay @13 :Int32;
-  }
-
   struct ChffrAndroidExtra {
     allCameraCharacteristics @0 :Map(Text, Text);
   }
 
-  struct IosBuildInfo {
-    appVersion @0 :Text;
-    appBuild @1 :UInt32;
-    osVersion @2 :Text;
-    deviceModel @3 :Text;
+  deprecated :group {
+    gctx @1 :Text;
+    androidBuildInfo @5 :Deprecated.AndroidBuildInfo;
+    androidSensors @6 :List(Deprecated.AndroidSensor);
+    chffrAndroidExtra @7 :ChffrAndroidExtra;
+    iosBuildInfo @14 :Deprecated.IosBuildInfo;
   }
 }
 
@@ -280,13 +230,6 @@ struct FrameData {
 
   temperaturesC @24 :List(Float32);
 
-  enum FrameTypeDEPRECATED {
-    unknown @0;
-    neo @1;
-    chffrAndroid @2;
-    front @3;
-  }
-
   sensor @26 :ImageSensor;
   enum ImageSensor {
     unknown @0;
@@ -295,26 +238,19 @@ struct FrameData {
     os04c10 @3;
   }
 
-  frameLengthDEPRECATED @3 :Int32;
-  globalGainDEPRECATED @5 :Int32;
-  frameTypeDEPRECATED @7 :FrameTypeDEPRECATED;
-  androidCaptureResultDEPRECATED @9 :AndroidCaptureResult;
-  lensPosDEPRECATED @11 :Int32;
-  lensSagDEPRECATED @12 :Float32;
-  lensErrDEPRECATED @13 :Float32;
-  lensTruePosDEPRECATED @14 :Float32;
-  focusValDEPRECATED @16 :List(Int16);
-  focusConfDEPRECATED @17 :List(UInt8);
-  sharpnessScoreDEPRECATED @18 :List(UInt16);
-  recoverStateDEPRECATED @19 :Int32;
-  struct AndroidCaptureResult {
-    sensitivity @0 :Int32;
-    frameDuration @1 :Int64;
-    exposureTime @2 :Int64;
-    rollingShutterSkew @3 :UInt64;
-    colorCorrectionTransform @4 :List(Int32);
-    colorCorrectionGains @5 :List(Float32);
-    displayRotation @6 :Int8;
+  deprecated :group {
+    frameLength @3 :Int32;
+    globalGain @5 :Int32;
+    frameType @7 :Deprecated.FrameTypeDEPRECATED;
+    androidCaptureResult @9 :Deprecated.AndroidCaptureResult;
+    lensPos @11 :Int32;
+    lensSag @12 :Float32;
+    lensErr @13 :Float32;
+    lensTruePos @14 :Float32;
+    focusVal @16 :List(Int16);
+    focusConf @17 :List(UInt8);
+    sharpnessScore @18 :List(UInt16);
+    recoverState @19 :Int32;
   }
 }
 
@@ -343,7 +279,6 @@ struct SensorEventData {
   sensor @1 :Int32;
   type @2 :Int32;
   timestamp @3 :Int64;
-  uncalibratedDEPRECATED @10 :Bool;
 
   union {
     acceleration @4 :SensorVec;
@@ -378,6 +313,10 @@ struct SensorEventData {
     lsm6ds3trc @10;
     mmc5603nj @11;
   }
+
+  deprecated :group {
+    uncalibrated @10 :Bool;
+  }
 }
 
 # android struct GpsLocation
@@ -463,7 +402,10 @@ struct CanData {
   address @0 :UInt32;
   dat     @2 :Data;
   src     @3 :UInt8;
-  busTimeDEPRECATED @1 :UInt16;
+
+  deprecated :group {
+    busTime @1 :UInt16;
+  }
 }
 
 struct DeviceState @0xa4d8b5af2aa492eb {
@@ -553,26 +495,27 @@ struct DeviceState @0xa4d8b5af2aa492eb {
     wwanRx @1 :Int64;
   }
 
-  # deprecated
-  cpu0DEPRECATED @0 :UInt16;
-  cpu1DEPRECATED @1 :UInt16;
-  cpu2DEPRECATED @2 :UInt16;
-  cpu3DEPRECATED @3 :UInt16;
-  memDEPRECATED @4 :UInt16;
-  gpuDEPRECATED @5 :UInt16;
-  batDEPRECATED @6 :UInt32;
-  pa0DEPRECATED @21 :UInt16;
-  cpuUsagePercentDEPRECATED @20 :Int8;
-  batteryStatusDEPRECATED @9 :Text;
-  batteryVoltageDEPRECATED @16 :Int32;
-  batteryTempCDEPRECATED @29 :Float32;
-  batteryPercentDEPRECATED @8 :Int16;
-  batteryCurrentDEPRECATED @15 :Int32;
-  chargingErrorDEPRECATED @17 :Bool;
-  chargingDisabledDEPRECATED @18 :Bool;
-  usbOnlineDEPRECATED @12 :Bool;
-  ambientTempCDEPRECATED @30 :Float32;
-  nvmeTempCDEPRECATED @35 :List(Float32);
+  deprecated :group {
+    cpu0 @0 :UInt16;
+    cpu1 @1 :UInt16;
+    cpu2 @2 :UInt16;
+    cpu3 @3 :UInt16;
+    mem @4 :UInt16;
+    gpu @5 :UInt16;
+    bat @6 :UInt32;
+    pa0 @21 :UInt16;
+    cpuUsagePercent @20 :Int8;
+    batteryStatus @9 :Text;
+    batteryVoltage @16 :Int32;
+    batteryTempC @29 :Float32;
+    batteryPercent @8 :Int16;
+    batteryCurrent @15 :Int32;
+    chargingError @17 :Bool;
+    chargingDisabled @18 :Bool;
+    usbOnline @12 :Bool;
+    ambientTempC @30 :Float32;
+    nvmeTempC @35 :List(Float32);
+  }
 }
 
 struct PandaState @0xa7649e2575e4591e {
@@ -714,15 +657,17 @@ struct PandaState @0xa7649e2575e4591e {
     }
   }
 
-  gasInterceptorDetectedDEPRECATED @4 :Bool;
-  startedSignalDetectedDEPRECATED @5 :Bool;
-  hasGpsDEPRECATED @6 :Bool;
-  gmlanSendErrsDEPRECATED @9 :UInt32;
-  fanSpeedRpmDEPRECATED @11 :UInt16;
-  usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
-  safetyParamDEPRECATED @20 :Int16;
-  safetyParam2DEPRECATED @26 :UInt32;
-  fanStallCountDEPRECATED @34 :UInt8;
+  deprecated :group {
+    gasInterceptorDetected @4 :Bool;
+    startedSignalDetected @5 :Bool;
+    hasGps @6 :Bool;
+    gmlanSendErrs @9 :UInt32;
+    fanSpeedRpm @11 :UInt16;
+    usbPowerMode @12 :Deprecated.UsbPowerModeDEPRECATED;
+    safetyParam @20 :Int16;
+    safetyParam2 @26 :UInt32;
+    fanStallCount @34 :UInt8;
+  }
 }
 
 struct PeripheralState {
@@ -731,12 +676,8 @@ struct PeripheralState {
   current @2 :UInt32;
   fanSpeedRpm @3 :UInt16;
 
-  usbPowerModeDEPRECATED @4 :UsbPowerModeDEPRECATED;
-  enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 {
-    none @0;
-    client @1;
-    cdp @2;
-    dcp @3;
+  deprecated :group {
+    usbPowerMode @4 :Deprecated.UsbPowerModeDEPRECATED;
   }
 }
 
@@ -765,19 +706,22 @@ struct RadarState @0x9a185389d6fdd05f {
     radar @14 :Bool;
     radarTrackId @15 :Int32 = -1;
 
-    aLeadDEPRECATED @5 :Float32;
+    deprecated :group {
+      aLead @5 :Float32;
+    }
   }
 
-  # deprecated
-  ftMonoTimeDEPRECATED @7 :UInt64;
-  warpMatrixDEPRECATED @0 :List(Float32);
-  angleOffsetDEPRECATED @1 :Float32;
-  calStatusDEPRECATED @2 :Int8;
-  calCycleDEPRECATED @8 :Int32;
-  calPercDEPRECATED @9 :Int8;
-  canMonoTimesDEPRECATED @10 :List(UInt64);
-  cumLagMsDEPRECATED @5 :Float32;
-  radarErrorsDEPRECATED @12 :List(Car.RadarData.ErrorDEPRECATED);
+  deprecated :group {
+    ftMonoTime @7 :UInt64;
+    warpMatrix @0 :List(Float32);
+    angleOffset @1 :Float32;
+    calStatus @2 :Int8;
+    calCycle @8 :Int32;
+    calPerc @9 :Int8;
+    canMonoTimes @10 :List(UInt64);
+    cumLagMs @5 :Float32;
+    radarErrors @12 :List(Car.RadarData.ErrorDEPRECATED);
+  }
 }
 
 struct LiveCalibrationData {
@@ -795,10 +739,6 @@ struct LiveCalibrationData {
   wideFromDeviceEuler @10 :List(Float32);
   height @12 :List(Float32);
 
-  warpMatrixDEPRECATED @0 :List(Float32);
-  calStatusDEPRECATED @1 :Int8;
-  warpMatrix2DEPRECATED @5 :List(Float32);
-  warpMatrixBigDEPRECATED @6 :List(Float32);
 
   enum Status {
     uncalibrated @0;
@@ -806,6 +746,13 @@ struct LiveCalibrationData {
     invalid @2;
     recalibrating @3;
   }
+
+  deprecated :group {
+    warpMatrix @0 :List(Float32);
+    calStatus @1 :Int8;
+    warpMatrix2 @5 :List(Float32);
+    warpMatrixBig @6 :List(Float32);
+  }
 }
 
 struct SelfdriveState {
@@ -868,25 +815,9 @@ struct ControlsState @0x97ff69c53601abf1 {
     debugState @59 :LateralDebugState;
     torqueState @60 :LateralTorqueState;
 
-    curvatureStateDEPRECATED @65 :LateralCurvatureState;
-    lqrStateDEPRECATED @55 :LateralLQRState;
-    indiStateDEPRECATED @52 :LateralINDIState;
-  }
-
-  struct LateralINDIState {
-    active @0 :Bool;
-    steeringAngleDeg @1 :Float32;
-    steeringRateDeg @2 :Float32;
-    steeringAccelDeg @3 :Float32;
-    rateSetPoint @4 :Float32;
-    accelSetPoint @5 :Float32;
-    accelError @6 :Float32;
-    delayedOutput @7 :Float32;
-    delta @8 :Float32;
-    output @9 :Float32;
-    saturated @10 :Bool;
-    steeringAngleDesiredDeg @11 :Float32;
-    steeringRateDesiredDeg @12 :Float32;
+    curvatureStateDEPRECATED @65 :Deprecated.LateralCurvatureState;
+    lqrStateDEPRECATED @55 :Deprecated.LateralLQRState;
+    indiStateDEPRECATED @52 :Deprecated.LateralINDIState;
   }
 
   struct LateralPIDState {
@@ -918,16 +849,6 @@ struct ControlsState @0x97ff69c53601abf1 {
     version @12 :Int32;
    }
 
-  struct LateralLQRState {
-    active @0 :Bool;
-    steeringAngleDeg @1 :Float32;
-    i @2 :Float32;
-    output @3 :Float32;
-    lqrOutput @4 :Float32;
-    saturated @5 :Bool;
-    steeringAngleDesiredDeg @6 :Float32;
-  }
-
   struct LateralAngleState {
     active @0 :Bool;
     steeringAngleDeg @1 :Float32;
@@ -936,18 +857,6 @@ struct ControlsState @0x97ff69c53601abf1 {
     steeringAngleDesiredDeg @4 :Float32;
   }
 
-  struct LateralCurvatureState {
-    active @0 :Bool;
-    actualCurvature @1 :Float32;
-    desiredCurvature @2 :Float32;
-    error @3 :Float32;
-    p @4 :Float32;
-    i @5 :Float32;
-    f @6 :Float32;
-    output @7 :Float32;
-    saturated @8 :Bool;
-  }
-
   struct LateralDebugState {
     active @0 :Bool;
     steeringAngleDeg @1 :Float32;
@@ -955,58 +864,59 @@ struct ControlsState @0x97ff69c53601abf1 {
     saturated @3 :Bool;
   }
 
-  # deprecated
-  vEgoDEPRECATED @0 :Float32;
-  vEgoRawDEPRECATED @32 :Float32;
-  aEgoDEPRECATED @1 :Float32;
-  canMonoTimeDEPRECATED @16 :UInt64;
-  radarStateMonoTimeDEPRECATED @17 :UInt64;
-  mdMonoTimeDEPRECATED @18 :UInt64;
-  yActualDEPRECATED @6 :Float32;
-  yDesDEPRECATED @7 :Float32;
-  upSteerDEPRECATED @8 :Float32;
-  uiSteerDEPRECATED @9 :Float32;
-  ufSteerDEPRECATED @34 :Float32;
-  aTargetMinDEPRECATED @10 :Float32;
-  aTargetMaxDEPRECATED @11 :Float32;
-  rearViewCamDEPRECATED @23 :Bool;
-  driverMonitoringOnDEPRECATED @43 :Bool;
-  hudLeadDEPRECATED @14 :Int32;
-  alertSoundDEPRECATED @45 :Text;
-  angleModelBiasDEPRECATED @27 :Float32;
-  gpsPlannerActiveDEPRECATED @40 :Bool;
-  decelForTurnDEPRECATED @47 :Bool;
-  decelForModelDEPRECATED @54 :Bool;
-  awarenessStatusDEPRECATED @26 :Float32;
-  angleSteersDEPRECATED @13 :Float32;
-  vCurvatureDEPRECATED @46 :Float32;
-  mapValidDEPRECATED @49 :Bool;
-  jerkFactorDEPRECATED @12 :Float32;
-  steerOverrideDEPRECATED @20 :Bool;
-  steeringAngleDesiredDegDEPRECATED @29 :Float32;
-  canMonoTimesDEPRECATED @21 :List(UInt64);
-  desiredCurvatureRateDEPRECATED @62 :Float32;
-  canErrorCounterDEPRECATED @57 :UInt32;
-  vPidDEPRECATED @2 :Float32;
-  alertBlinkingRateDEPRECATED @42 :Float32;
-  alertText1DEPRECATED @24 :Text;
-  alertText2DEPRECATED @25 :Text;
-  alertStatusDEPRECATED @38 :SelfdriveState.AlertStatus;
-  alertSizeDEPRECATED @39 :SelfdriveState.AlertSize;
-  alertTypeDEPRECATED @44 :Text;
-  alertSound2DEPRECATED @56 :Car.CarControl.HUDControl.AudibleAlert;
-  engageableDEPRECATED @41 :Bool;  # can OP be engaged?
-  stateDEPRECATED @31 :SelfdriveState.OpenpilotState;
-  enabledDEPRECATED @19 :Bool;
-  activeDEPRECATED @36 :Bool;
-  experimentalModeDEPRECATED @64 :Bool;
-  personalityDEPRECATED @66 :LongitudinalPersonality;
-  vCruiseDEPRECATED @22 :Float32;  # actual set speed
-  vCruiseClusterDEPRECATED @63 :Float32;  # set speed to display in the UI
-  startMonoTimeDEPRECATED @48 :UInt64;
-  cumLagMsDEPRECATED @15 :Float32;
-  aTargetDEPRECATED @35 :Float32;
-  vTargetLeadDEPRECATED @3 :Float32;
+  deprecated :group {
+    vEgo @0 :Float32;
+    vEgoRaw @32 :Float32;
+    aEgo @1 :Float32;
+    canMonoTime @16 :UInt64;
+    radarStateMonoTime @17 :UInt64;
+    mdMonoTime @18 :UInt64;
+    yActual @6 :Float32;
+    yDes @7 :Float32;
+    upSteer @8 :Float32;
+    uiSteer @9 :Float32;
+    ufSteer @34 :Float32;
+    aTargetMin @10 :Float32;
+    aTargetMax @11 :Float32;
+    rearViewCam @23 :Bool;
+    driverMonitoringOn @43 :Bool;
+    hudLead @14 :Int32;
+    alertSound @45 :Text;
+    angleModelBias @27 :Float32;
+    gpsPlannerActive @40 :Bool;
+    decelForTurn @47 :Bool;
+    decelForModel @54 :Bool;
+    awarenessStatus @26 :Float32;
+    angleSteers @13 :Float32;
+    vCurvature @46 :Float32;
+    mapValid @49 :Bool;
+    jerkFactor @12 :Float32;
+    steerOverride @20 :Bool;
+    steeringAngleDesiredDeg @29 :Float32;
+    canMonoTimes @21 :List(UInt64);
+    desiredCurvatureRate @62 :Float32;
+    canErrorCounter @57 :UInt32;
+    vPid @2 :Float32;
+    alertBlinkingRate @42 :Float32;
+    alertText1 @24 :Text;
+    alertText2 @25 :Text;
+    alertStatus @38 :SelfdriveState.AlertStatus;
+    alertSize @39 :SelfdriveState.AlertSize;
+    alertType @44 :Text;
+    alertSound2 @56 :Car.CarControl.HUDControl.AudibleAlert;
+    engageable @41 :Bool;  # can OP be engaged?
+    state @31 :SelfdriveState.OpenpilotState;
+    enabled @19 :Bool;
+    active @36 :Bool;
+    experimentalMode @64 :Bool;
+    personality @66 :LongitudinalPersonality;
+    vCruise @22 :Float32;  # actual set speed
+    vCruiseCluster @63 :Float32;  # set speed to display in the UI
+    startMonoTime @48 :UInt64;
+    cumLagMs @15 :Float32;
+    aTarget @35 :Float32;
+    vTargetLead @3 :Float32;
+  }
 }
 
 struct DrivingModelData {
@@ -1082,16 +992,10 @@ struct ModelDataV2 {
   meta @12 :MetaData;
   confidence @23: ConfidenceClass;
 
-  # Model perceived motion
-  temporalPoseDEPRECATED @21 :Pose;
-
   # e2e lateral planner
   action @26: Action;
 
-  gpuExecutionTimeDEPRECATED @17 :Float32;
-  navEnabledDEPRECATED @22 :Bool;
-  locationMonoTimeDEPRECATED @24 :UInt64;
-  lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
+  lateralPlannerSolutionDEPRECATED @25: Deprecated.LateralPlannerSolution;
 
   struct LeadDataV2 {
     prob @0 :Float32; # probability that car is your lead at time t
@@ -1133,10 +1037,11 @@ struct ModelDataV2 {
     laneChangeDirection @9 :LaneChangeDirection;
 
 
-    # deprecated
-    brakeDisengageProbDEPRECATED @2 :Float32;
-    gasDisengageProbDEPRECATED @3 :Float32;
-    steerOverrideProbDEPRECATED @4 :Float32;
+    deprecated :group {
+      brakeDisengageProb @2 :Float32;
+      gasDisengageProb @3 :Float32;
+      steerOverrideProb @4 :Float32;
+    }
   }
 
   enum ConfidenceClass {
@@ -1164,22 +1069,18 @@ struct ModelDataV2 {
     rotStd @3 :List(Float32); # std rad/s in device frame
   }
 
-  struct LateralPlannerSolution {
-    x @0 :List(Float32);
-    y @1 :List(Float32);
-    yaw @2 :List(Float32);
-    yawRate @3 :List(Float32);
-    xStd @4 :List(Float32);
-    yStd @5 :List(Float32);
-    yawStd @6 :List(Float32);
-    yawRateStd @7 :List(Float32);
-  }
-
   struct Action {
     desiredCurvature @0 :Float32;
     desiredAcceleration @1 :Float32;
     shouldStop @2 :Bool;
   }
+
+  deprecated :group {
+    temporalPose @21 :Pose;
+    gpuExecutionTime @17 :Float32;
+    navEnabled @22 :Bool;
+    locationMonoTime @24 :UInt64;
+  }
 }
 
 struct EncodeIndex {
@@ -1265,38 +1166,35 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
     e2e @4;
   }
 
-  # deprecated
-  vCruiseDEPRECATED @16 :Float32;
-  aCruiseDEPRECATED @17 :Float32;
-  vTargetDEPRECATED @3 :Float32;
-  vTargetFutureDEPRECATED @14 :Float32;
-  vStartDEPRECATED @26 :Float32;
-  aStartDEPRECATED @27 :Float32;
-  vMaxDEPRECATED @20 :Float32;
-  radarStateMonoTimeDEPRECATED @10 :UInt64;
-  jerkFactorDEPRECATED @6 :Float32;
-  hasLeftLaneDEPRECATED @23 :Bool;
-  hasRightLaneDEPRECATED @24 :Bool;
-  aTargetMinDEPRECATED @4 :Float32;
-  aTargetMaxDEPRECATED @5 :Float32;
-  lateralValidDEPRECATED @0 :Bool;
-  longitudinalValidDEPRECATED @2 :Bool;
-  dPolyDEPRECATED @1 :List(Float32);
-  laneWidthDEPRECATED @11 :Float32;
-  vCurvatureDEPRECATED @21 :Float32;
-  decelForTurnDEPRECATED @22 :Bool;
-  mapValidDEPRECATED @25 :Bool;
-  radarValidDEPRECATED @28 :Bool;
-  radarCanErrorDEPRECATED @30 :Bool;
-  commIssueDEPRECATED @31 :Bool;
-  eventsDEPRECATED @13 :List(Car.OnroadEventDEPRECATED);
-  gpsTrajectoryDEPRECATED @12 :GpsTrajectory;
-  gpsPlannerActiveDEPRECATED @19 :Bool;
-  personalityDEPRECATED @36 :LongitudinalPersonality;
-
-  struct GpsTrajectory {
-    x @0 :List(Float32);
-    y @1 :List(Float32);
+
+  deprecated :group {
+    vCruise @16 :Float32;
+    aCruise @17 :Float32;
+    vTarget @3 :Float32;
+    vTargetFuture @14 :Float32;
+    vStart @26 :Float32;
+    aStart @27 :Float32;
+    vMax @20 :Float32;
+    radarStateMonoTime @10 :UInt64;
+    jerkFactor @6 :Float32;
+    hasLeftLane @23 :Bool;
+    hasRightLane @24 :Bool;
+    aTargetMin @4 :Float32;
+    aTargetMax @5 :Float32;
+    lateralValid @0 :Bool;
+    longitudinalValid @2 :Bool;
+    dPoly @1 :List(Float32);
+    laneWidth @11 :Float32;
+    vCurvature @21 :Float32;
+    decelForTurn @22 :Bool;
+    mapValid @25 :Bool;
+    radarValid @28 :Bool;
+    radarCanError @30 :Bool;
+    commIssue @31 :Bool;
+    events @13 :List(Car.OnroadEventDEPRECATED);
+    gpsTrajectory @12 :Deprecated.GpsTrajectory;
+    gpsPlannerActive @19 :Bool;
+    personality @36 :LongitudinalPersonality;
   }
 }
 struct UiPlan {
@@ -1307,11 +1205,7 @@ struct UiPlan {
 
 struct LateralPlan @0xe1e9318e2ae8b51e {
   modelMonoTime @31 :UInt64;
-  laneWidthDEPRECATED @0 :Float32;
-  lProbDEPRECATED @5 :Float32;
-  rProbDEPRECATED @7 :Float32;
   dPathPoints @20 :List(Float32);
-  dProbDEPRECATED @21 :Float32;
 
   mpcSolutionValid @9 :Bool;
   desire @17 :Desire;
@@ -1333,24 +1227,29 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
     u @1 :List(Float32);
   }
 
-  # deprecated
-  curvatureDEPRECATED @22 :Float32;
-  curvatureRateDEPRECATED @23 :Float32;
-  rawCurvatureDEPRECATED @24 :Float32;
-  rawCurvatureRateDEPRECATED @25 :Float32;
-  cProbDEPRECATED @3 :Float32;
-  dPolyDEPRECATED @1 :List(Float32);
-  cPolyDEPRECATED @2 :List(Float32);
-  lPolyDEPRECATED @4 :List(Float32);
-  rPolyDEPRECATED @6 :List(Float32);
-  modelValidDEPRECATED @12 :Bool;
-  commIssueDEPRECATED @15 :Bool;
-  posenetValidDEPRECATED @16 :Bool;
-  sensorValidDEPRECATED @14 :Bool;
-  paramsValidDEPRECATED @10 :Bool;
-  steeringAngleDegDEPRECATED @8 :Float32; # deg
-  steeringRateDegDEPRECATED @13 :Float32; # deg/s
-  angleOffsetDegDEPRECATED @11 :Float32;
+  deprecated :group {
+    laneWidth @0 :Float32;
+    lProb @5 :Float32;
+    rProb @7 :Float32;
+    dProb @21 :Float32;
+    curvature @22 :Float32;
+    curvatureRate @23 :Float32;
+    rawCurvature @24 :Float32;
+    rawCurvatureRate @25 :Float32;
+    cProb @3 :Float32;
+    dPoly @1 :List(Float32);
+    cPoly @2 :List(Float32);
+    lPoly @4 :List(Float32);
+    rPoly @6 :List(Float32);
+    modelValid @12 :Bool;
+    commIssue @15 :Bool;
+    posenetValid @16 :Bool;
+    sensorValid @14 :Bool;
+    paramsValid @10 :Bool;
+    steeringAngleDeg @8 :Float32;  # deg
+    steeringRateDeg @13 :Float32;  # deg/s
+    angleOffsetDeg @11 :Float32;
+  }
 }
 
 struct LiveLocationKalman {
@@ -1545,7 +1444,10 @@ struct GnssMeasurements {
     # Satellite position and velocity [x,y,z]
     satPos @7 :List(Float64);
     satVel @8 :List(Float64);
-    ephemerisSourceDEPRECATED @9 :EphemerisSourceDEPRECATED;
+
+    deprecated :group {
+      ephemerisSource @9 :EphemerisSourceDEPRECATED;
+    }
   }
 
   struct EphemerisSourceDEPRECATED {
@@ -1700,7 +1602,6 @@ struct UbloxGnss {
 
     iDot @26 :Float64;
     codesL2 @27 :Float64;
-    gpsWeekDEPRECATED @28 :Float64;
     l2 @29 :Float64;
 
     svAcc @30 :Float64;
@@ -1720,6 +1621,10 @@ struct UbloxGnss {
     towCount @40 :UInt32;
     toeWeek @41 :UInt16;
     tocWeek @42 :UInt16;
+
+    deprecated :group {
+      gpsWeek @28 :Float64;
+    }
   }
 
   struct IonoData {
@@ -1798,7 +1703,6 @@ struct UbloxGnss {
     age @17 :UInt8;
 
     svHealth @18 :UInt8;
-    tkDEPRECATED @19 :UInt16;
     tb @20 :UInt16;
 
     tauN @21 :Float64;
@@ -1810,12 +1714,16 @@ struct UbloxGnss {
     p3 @26 :UInt8;
     p4 @27 :UInt8;
 
-    freqNumDEPRECATED @28 :UInt32;
 
     n4 @29 :UInt8;
     nt @30 :UInt16;
     freqNum @31 :Int16;
     tkSeconds @32 :UInt32;
+
+    deprecated :group {
+      tk @19 :UInt16;
+      freqNum @28 :UInt32;
+    }
   }
 }
 
@@ -2116,10 +2024,12 @@ struct QcomGnss @0xde94674b07ae51c1 {
 struct Clocks {
   wallTimeNanos @3 :UInt64;  # unix epoch time
 
-  bootTimeNanosDEPRECATED @0 :UInt64;
-  monotonicNanosDEPRECATED @1 :UInt64;
-  monotonicRawNanosDEPRECATD @2 :UInt64;
-  modemUptimeMillisDEPRECATED @4 :UInt64;
+  deprecated :group {
+    bootTimeNanos @0 :UInt64;
+    monotonicNanos @1 :UInt64;
+    monotonicRawNanos @2 :UInt64;
+    modemUptimeMillis @4 :UInt64;
+  }
 }
 
 struct Joystick {
@@ -2147,18 +2057,23 @@ struct DriverStateV2 {
     eyesVisibleProb @14 :Float32;
     eyesClosedProb @15 :Float32;
     phoneProb @13 :Float32;
-    leftEyeProbDEPRECATED @5 :Float32;
-    rightEyeProbDEPRECATED @6 :Float32;
-    leftBlinkProbDEPRECATED @7 :Float32;
-    rightBlinkProbDEPRECATED @8 :Float32;
-    sunglassesProbDEPRECATED @9 :Float32;
-    notReadyProbDEPRECATED @12 :List(Float32);
-    occludedProbDEPRECATED @10 :Float32;
-    readyProbDEPRECATED @11 :List(Float32);
-  }
-
-  dspExecutionTimeDEPRECATED @2 :Float32;
-  poorVisionProbDEPRECATED @4 :Float32;
+
+    deprecated :group {
+      leftEyeProb @5 :Float32;
+      rightEyeProb @6 :Float32;
+      leftBlinkProb @7 :Float32;
+      rightBlinkProb @8 :Float32;
+      sunglassesProb @9 :Float32;
+      notReadyProb @12 :List(Float32);
+      occludedProb @10 :Float32;
+      readyProb @11 :List(Float32);
+    }
+  }
+
+  deprecated :group {
+    dspExecutionTime @2 :Float32;
+    poorVisionProb @4 :Float32;
+  }
 }
 
 struct DriverMonitoringState @0xb83cda094a1da284 {
@@ -2180,11 +2095,13 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
   isRHD @4 :Bool;
   uncertainCount @19 :UInt32;
 
-  phoneProbOffsetDEPRECATED @20 :Float32;
-  phoneProbValidCountDEPRECATED @21 :UInt32;
-  isPreviewDEPRECATED @15 :Bool;
-  rhdCheckedDEPRECATED @5 :Bool;
-  eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);
+  deprecated :group {
+    phoneProbOffset @20 :Float32;
+    phoneProbValidCount @21 :UInt32;
+    isPreview @15 :Bool;
+    rhdChecked @5 :Bool;
+    events @0 :List(Car.OnroadEventDEPRECATED);
+  }
 }
 
 struct Boot {
@@ -2193,8 +2110,10 @@ struct Boot {
   commands @5 :Map(Text, Data);
   launchLog @3 :Text;
 
-  lastKmsgDEPRECATED @1 :Data;
-  lastPmsgDEPRECATED @2 :Data;
+  deprecated :group {
+    lastKmsg @1 :Data;
+    lastPmsg @2 :Data;
+  }
 }
 
 struct LiveParametersData {
@@ -2219,13 +2138,16 @@ struct LiveParametersData {
   steerRatioValid @19 :Bool = true;
   stiffnessFactorValid @20 :Bool = true;
 
-  yawRateDEPRECATED @7 :Float32;
-  filterStateDEPRECATED @15 :LiveLocationKalman.Measurement;
 
   struct FilterState {
     value @0 : List(Float64);
     std @1 : List(Float64);
   }
+
+  deprecated :group {
+    yawRate @7 :Float32;
+    filterState @15 :LiveLocationKalman.Measurement;
+  }
 }
 
 struct LiveTorqueParametersData {
@@ -2419,7 +2341,9 @@ struct SoundPressure @0xdc24138990726023 {
   soundPressureWeighted @3 :Float32;
   soundPressureWeightedDb @1 :Float32;
 
-  filteredSoundPressureWeightedDbDEPRECATED @2 :Float32;
+  deprecated :group {
+    filteredSoundPressureWeightedDb @2 :Float32;
+  }
 }
 
 struct AudioData {
diff --git a/common/utils.py b/common/utils.py
index faaa96ecbcd28e..28b9274d825b30 100644
--- a/common/utils.py
+++ b/common/utils.py
@@ -131,11 +131,11 @@ def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.Buffered
     return compressed_stream, compressed_size
 
 
-# remove all keys that end in DEPRECATED
+# remove all keys that end in DEPRECATED, plus any "deprecated" group
 def strip_deprecated_keys(d):
   for k in list(d.keys()):
     if isinstance(k, str):
-      if k.endswith('DEPRECATED'):
+      if k.endswith('DEPRECATED') or k == 'deprecated':
         d.pop(k)
       elif isinstance(d[k], dict):
         strip_deprecated_keys(d[k])
diff --git a/selfdrive/test/fuzzy_generation.py b/selfdrive/test/fuzzy_generation.py
index 131dab47b23a85..9f028a8fc8dd3e 100644
--- a/selfdrive/test/fuzzy_generation.py
+++ b/selfdrive/test/fuzzy_generation.py
@@ -46,8 +46,8 @@ def rec(field_type: capnp.lib.capnp._DynamicStructReader) -> st.SearchStrategy:
 
   def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str | None = None) -> st.SearchStrategy[dict[str, Any]]:
     single_fill: tuple[str, ...] = (event,) if event else (self.draw(st.sampled_from(schema.union_fields)),) if schema.union_fields else ()
-    fields_to_generate = schema.non_union_fields + single_fill
-    return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate if not field.endswith('DEPRECATED')})
+    fields_to_generate = [f for f in schema.non_union_fields + single_fill if not f.endswith('DEPRECATED') and f != 'deprecated']
+    return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate})
 
   @staticmethod
   @cache
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 11eb24198740e9..03e59e53675d07 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -225,7 +225,7 @@ def migrate_controlsState(msgs):
     for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2",
                   "alertStatus", "alertSize", "alertType", "experimentalMode",
                   "personality"):
-      setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED"))
+      setattr(ss, field, getattr(msg.controlsState.deprecated, field))
     add_ops.append(m.as_reader())
   return [], add_ops, []
 
@@ -238,10 +238,10 @@ def migrate_carState(msgs):
     if msg.which() == 'controlsState':
       last_cs = msg
     elif msg.which() == 'carState' and last_cs is not None:
-      if last_cs.controlsState.vCruiseDEPRECATED - msg.carState.vCruise > 0.1:
+      if last_cs.controlsState.deprecated.vCruise - msg.carState.vCruise > 0.1:
         msg = msg.as_builder()
-        msg.carState.vCruise = last_cs.controlsState.vCruiseDEPRECATED
-        msg.carState.vCruiseCluster = last_cs.controlsState.vCruiseClusterDEPRECATED
+        msg.carState.vCruise = last_cs.controlsState.deprecated.vCruise
+        msg.carState.vCruiseCluster = last_cs.controlsState.deprecated.vCruiseCluster
         ops.append((index, msg.as_reader()))
   return ops, [], []
 
@@ -488,7 +488,7 @@ def migrate_driverMonitoringState(msgs):
   for index, msg in msgs:
     msg = msg.as_builder()
     events = []
-    for event in msg.driverMonitoringState.eventsDEPRECATED:
+    for event in msg.driverMonitoringState.deprecated.events:
       try:
         if not str(event.name).endswith('DEPRECATED'):
           migrated_event = migrate_onroad_event(event)
diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py
index 56d83992ffb0ac..7f69ea94331e79 100644
--- a/selfdrive/ui/mici/onroad/hud_renderer.py
+++ b/selfdrive/ui/mici/onroad/hud_renderer.py
@@ -153,7 +153,7 @@ def _update_state(self) -> None:
 
     v_cruise_cluster = car_state.vCruiseCluster
     set_speed = (
-      controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+      controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
     )
     engaged = sm['selfdriveState'].enabled
     if (set_speed != self.set_speed and engaged) or (engaged and not self._engaged):
diff --git a/selfdrive/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py
index 79f150deea03d2..73df8b3961897a 100644
--- a/selfdrive/ui/onroad/hud_renderer.py
+++ b/selfdrive/ui/onroad/hud_renderer.py
@@ -86,7 +86,7 @@ def _update_state(self) -> None:
 
     v_cruise_cluster = car_state.vCruiseCluster
     self.set_speed = (
-      controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+      controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
     )
     self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
     self.is_cruise_available = self.set_speed != -1
diff --git a/system/ubloxd/ubloxd.py b/system/ubloxd/ubloxd.py
index e55cadcf78be3e..78429a847b7c0e 100755
--- a/system/ubloxd/ubloxd.py
+++ b/system/ubloxd/ubloxd.py
@@ -365,7 +365,7 @@ def _parse_glonass_ephemeris(self, msg: Ubx.RxmSfrbx) -> tuple[str, capnp.lib.ca
     assert isinstance(s1, Glonass.String1)
     eph.p1 = int(s1.p1)
     tk = int(s1.t_k)
-    eph.tkDEPRECATED = tk
+    eph.deprecated.tk = tk
     eph.xVel = float(s1.x_vel) * math.pow(2, -20)
     eph.xAccel = float(s1.x_accel) * math.pow(2, -30)
     eph.x = float(s1.x) * math.pow(2, -11)
diff --git a/system/webrtc/schema.py b/system/webrtc/schema.py
index d80986ebf2599e..4876198eb065ae 100644
--- a/system/webrtc/schema.py
+++ b/system/webrtc/schema.py
@@ -16,7 +16,7 @@ def generate_type(type_walker, schema_walker) -> str | list[Any] | dict[str, Any
 
 
 def generate_struct(schema: capnp.lib.capnp._StructSchema) -> dict[str, Any]:
-  return {field: generate_field(schema.fields[field]) for field in schema.fields if not field.endswith("DEPRECATED")}
+  return {field: generate_field(schema.fields[field]) for field in schema.fields if not field.endswith("DEPRECATED") and field != "deprecated"}
 
 
 def generate_field(field: capnp.lib.capnp._StructSchemaField) -> str | list[Any] | dict[str, Any]:
diff --git a/tools/jotpluggler/browser.cc b/tools/jotpluggler/browser.cc
index 0d1b5a2c1ba55d..27378b4b6bf2f0 100644
--- a/tools/jotpluggler/browser.cc
+++ b/tools/jotpluggler/browser.cc
@@ -73,7 +73,7 @@ std::vector<BrowserNode> build_browser_tree(const std::vector<std::string> &path
 }
 
 bool is_deprecated_browser_path(const std::string &path) {
-  return path.find("DEPRECATED") != std::string::npos;
+  return path.find("DEPRECATED") != std::string::npos || path.find("/deprecated/") != std::string::npos;
 }
 
 std::vector<std::string> visible_browser_paths(const RouteData &route_data, bool show_deprecated_fields) {
diff --git a/tools/jotpluggler/sketch_layout.cc b/tools/jotpluggler/sketch_layout.cc
index cd0bf51015234d..bc110b534f4758 100644
--- a/tools/jotpluggler/sketch_layout.cc
+++ b/tools/jotpluggler/sketch_layout.cc
@@ -1304,7 +1304,7 @@ void append_event_fast(cereal::Event::Which which,
         append_can_frame(can_service,
                          static_cast<uint8_t>(msg.getSrc()),
                          msg.getAddress(),
-                         msg.getBusTimeDEPRECATED(),
+                         msg.getDeprecated().getBusTime(),
                          msg.getDat(),
                          tm,
                          series);
@@ -1316,7 +1316,7 @@ void append_event_fast(cereal::Event::Which which,
         append_can_frame(can_service,
                          static_cast<uint8_t>(msg.getSrc()),
                          msg.getAddress(),
-                         msg.getBusTimeDEPRECATED(),
+                         msg.getDeprecated().getBusTime(),
                          msg.getDat(),
                          tm,
                          series);
diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc
index aba67bcdf8c260..54b69dc168c1e6 100644
--- a/tools/replay/logreader.cc
+++ b/tools/replay/logreader.cc
@@ -142,18 +142,19 @@ void LogReader::migrateOldEvents() {
       new_evt.setLogMonoTime(old_evt.getLogMonoTime());
       auto new_state = new_evt.initSelfdriveState();
 
-      new_state.setActive(old_state.getActiveDEPRECATED());
-      new_state.setAlertSize(old_state.getAlertSizeDEPRECATED());
-      new_state.setAlertSound(old_state.getAlertSound2DEPRECATED());
-      new_state.setAlertStatus(old_state.getAlertStatusDEPRECATED());
-      new_state.setAlertText1(old_state.getAlertText1DEPRECATED());
-      new_state.setAlertText2(old_state.getAlertText2DEPRECATED());
-      new_state.setAlertType(old_state.getAlertTypeDEPRECATED());
-      new_state.setEnabled(old_state.getEnabledDEPRECATED());
-      new_state.setEngageable(old_state.getEngageableDEPRECATED());
-      new_state.setExperimentalMode(old_state.getExperimentalModeDEPRECATED());
-      new_state.setPersonality(old_state.getPersonalityDEPRECATED());
-      new_state.setState(old_state.getStateDEPRECATED());
+      auto old_dep = old_state.getDeprecated();
+      new_state.setActive(old_dep.getActive());
+      new_state.setAlertSize(old_dep.getAlertSize());
+      new_state.setAlertSound(old_dep.getAlertSound2());
+      new_state.setAlertStatus(old_dep.getAlertStatus());
+      new_state.setAlertText1(old_dep.getAlertText1());
+      new_state.setAlertText2(old_dep.getAlertText2());
+      new_state.setAlertType(old_dep.getAlertType());
+      new_state.setEnabled(old_dep.getEnabled());
+      new_state.setEngageable(old_dep.getEngageable());
+      new_state.setExperimentalMode(old_dep.getExperimentalMode());
+      new_state.setPersonality(old_dep.getPersonality());
+      new_state.setState(old_dep.getState());
 
       // Serialize the new event to the buffer
       auto buf_size = msg.getSerializedSize();

From 6ce156ee161558a724a72c3ea6e53115b4867c49 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 9 Apr 2026 20:02:17 -0700
Subject: [PATCH 0872/1434] op switch: clear update after switch (#37793)

---
 tools/op.sh | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/tools/op.sh b/tools/op.sh
index f21a285d175701..3b02602619c660 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -383,6 +383,9 @@ function op_switch() {
   git submodule update --init --recursive
   git submodule foreach git reset --hard
   git submodule foreach git clean -df
+
+  # remove openpilot update flag if present
+  rm -f .overlay_init
 }
 
 function op_start() {

From 9db432e8fb4b90d0ee6d817dbd0e2be1b3d37539 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 10 Apr 2026 04:33:47 -0400
Subject: [PATCH 0873/1434] installer: update cached remote URL during fork
 installs (#37797)

---
 selfdrive/ui/installer/installer.cc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc
index fb661b966da4e2..0832fbb628dfcd 100644
--- a/selfdrive/ui/installer/installer.cc
+++ b/selfdrive/ui/installer/installer.cc
@@ -144,6 +144,7 @@ int cachedFetch(const std::string &cache) {
   LOGD("Fetching with cache: %s", cache.c_str());
 
   run(util::string_format("cp -rp %s %s", cache.c_str(), TMP_INSTALL_PATH).c_str());
+  run(util::string_format("cd %s && git remote set-url origin %s", TMP_INSTALL_PATH, GIT_URL.c_str()).c_str());
   run(util::string_format("cd %s && git remote set-branches --add origin %s", TMP_INSTALL_PATH, migrated_branch.c_str()).c_str());
 
   renderProgress(10);

From 64e785d00f14bf440d3e6836058085f0bad50195 Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Fri, 10 Apr 2026 09:57:22 -0700
Subject: [PATCH 0874/1434] remove webjoystick components that no longer work
 (#37798)

* remove webjoystick components that no longer work

* remove audio track request
---
 tools/bodyteleop/static/index.html     | 67 +++++---------------------
 tools/bodyteleop/static/js/controls.js | 34 -------------
 tools/bodyteleop/static/js/jsmain.js   | 10 +---
 tools/bodyteleop/static/js/webrtc.js   | 42 ++--------------
 tools/bodyteleop/static/main.css       |  7 ---
 5 files changed, 18 insertions(+), 142 deletions(-)

diff --git a/tools/bodyteleop/static/index.html b/tools/bodyteleop/static/index.html
index 365476975625c1..48672dbbf0c16b 100644
--- a/tools/bodyteleop/static/index.html
+++ b/tools/bodyteleop/static/index.html
@@ -15,29 +15,23 @@
   <body>
     <div id="main">
       <p class="jumbo">comma body</p>
-      <audio id="audio" autoplay="true"></audio>
       <video id="video" playsinline autoplay muted loop poster="/static/poster.png"></video>
-      <div id="icon-panel" class="row">
-        <div class="col-sm-12 col-md-6 details">
-          <div class="icon-sup-panel col-12">
-            <div class="icon-sub-panel">
-              <div class="icon-sub-sub-panel">
-                <i class="bi bi-speaker-fill pre-blob"></i>
-                <i class="bi bi-mic-fill pre-blob"></i>
-                <i class="bi bi-camera-video-fill pre-blob"></i>
-              </div>
-              <p class="small">body</p>
+      <div class="row" style="width: 100%; padding: 10px 10px 0px 10px;">
+        <div id="wasd" class="col-md-12 row">
+          <div class="col-md-6 col-sm-12" style="justify-content: center; display: flex; flex-direction: column;">
+            <div class="wasd-row">
+              <div class="keys" id="key-w">W</div>
             </div>
-            <div class="icon-sub-panel">
-              <div class="icon-sub-sub-panel">
-                <i class="bi bi-speaker-fill pre-blob"></i>
-                <i class="bi bi-mic-fill pre-blob"></i>
-              </div>
-              <p class="small">you</p>
+            <div class="wasd-row">
+              <div class="keys" id="key-a">A</div>
+              <div class="keys" id="key-s">S</div>
+              <div class="keys" id="key-d">D</div>
             </div>
           </div>
         </div>
-        <div class="col-sm-12 col-md-6 details">
+      </div>
+      <div id="icon-panel" class="row" style="width: 100%; padding: 0px 10px 0px 10px;">
+        <div class="col-12 details">
           <div class="icon-sup-panel col-12">
             <div class="icon-sub-panel">
               <div class="icon-sub-sub-panel">
@@ -53,43 +47,6 @@
             </div>
           </div>
         </div>
-        <!-- <div class="icon-sub-panel">
-                <button type="button" id="start" class="btn btn-light btn-lg">Start</button>
-                <button type="button" id="stop" class="btn btn-light btn-lg">Stop</button>
-            </div> -->
-      </div>
-      <div class="row" style="width: 100%; padding: 0px 10px 0px 10px;">
-        <div id="wasd" class="col-md-12 row">
-          <div class="col-md-6 col-sm-12" style="justify-content: center; display: flex; flex-direction: column;">
-            <div class="wasd-row">
-              <div class="keys" id="key-w">W</div>
-              <div id="key-val"><span id="pos-vals">0,0</span><span>x,y</span></div>
-            </div>
-            <div class="wasd-row">
-              <div class="keys" id="key-a">A</div>
-              <div class="keys" id="key-s">S</div>
-              <div class="keys" id="key-d">D</div>
-            </div>
-          </div>
-          <div class="col-md-6 col-sm-12 form-group plan-form">
-            <label for="plan-text">Plan (w, a, s, d, t)</label>
-            <label style="font-size: 15px;" for="plan-text">*Extremely Experimental*</label>
-            <textarea class="form-control" id="plan-text" rows="7" placeholder="1,0,0,0,2"></textarea>
-            <button type="button" id="plan-button" class="btn btn-light btn-lg">Execute</button>
-          </div>
-        </div>
-      </div>
-      <div class="row" style="padding: 0px 10px 0px 10px; width: 100%;">
-        <div class="panel row">
-          <div class="col-sm-3" style="text-align: center;">
-            <p>Play Sounds</p>
-          </div>
-          <div class="btn-group col-sm-8">
-            <button type="button" id="sound-engage" class="btn btn-outline-success btn-lg sound">Engage</button>
-            <button type="button" id="sound-disengage" class="btn btn-outline-warning btn-lg sound">Disengage</button>
-            <button type="button" id="sound-error" class="btn btn-outline-danger btn-lg sound">Error</button>
-          </div>
-        </div>
       </div>
       <div class="row" style="padding: 0px 10px 0px 10px; width: 100%;">
         <div class="panel row">
diff --git a/tools/bodyteleop/static/js/controls.js b/tools/bodyteleop/static/js/controls.js
index b1e0e7ee70e340..3a11f78b9efada 100644
--- a/tools/bodyteleop/static/js/controls.js
+++ b/tools/bodyteleop/static/js/controls.js
@@ -18,37 +18,3 @@ export const handleKeyX = (key, setValue) => {
     $("#pos-vals").text(x+","+y);
   }
 };
-
-export async function executePlan() {
-  let plan = $("#plan-text").val();
-  const planList = [];
-  plan.split("\n").forEach(function(e){
-    let line = e.split(",").map(k=>parseInt(k));
-    if (line.length != 5 || line.slice(0, 4).map(e=>[1, 0].includes(e)).includes(false) || line[4] < 0 || line[4] > 10){
-      console.log("invalid plan");
-    }
-    else{
-      planList.push(line)
-    }
-  });
-
-  async function execute() {
-    for (var i = 0; i < planList.length; i++) {
-      let [w, a, s, d, t] = planList[i];
-      while(t > 0){
-        console.log(w, a, s, d, t);
-        if(w==1){$("#key-w").mousedown();}
-        if(a==1){$("#key-a").mousedown();}
-        if(s==1){$("#key-s").mousedown();}
-        if(d==1){$("#key-d").mousedown();}
-        await sleep(50);
-        $("#key-w").mouseup();
-        $("#key-a").mouseup();
-        $("#key-s").mouseup();
-        $("#key-d").mouseup();
-        t = t - 0.05;
-      }
-    }
-  }
-  execute();
-}
\ No newline at end of file
diff --git a/tools/bodyteleop/static/js/jsmain.js b/tools/bodyteleop/static/js/jsmain.js
index 83205a876bd4c2..0db1dcd9b3084d 100644
--- a/tools/bodyteleop/static/js/jsmain.js
+++ b/tools/bodyteleop/static/js/jsmain.js
@@ -1,5 +1,5 @@
-import { handleKeyX, executePlan } from "./controls.js";
-import { start, stop, lastChannelMessageTime, playSoundRequest } from "./webrtc.js";
+import { handleKeyX } from "./controls.js";
+import { start, stop, lastChannelMessageTime } from "./webrtc.js";
 
 export var pc = null;
 export var dc = null;
@@ -8,12 +8,6 @@ document.addEventListener('keydown', (e)=>(handleKeyX(e.key.toLowerCase(), 1)));
 document.addEventListener('keyup', (e)=>(handleKeyX(e.key.toLowerCase(), 0)));
 $(".keys").bind("mousedown touchstart", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 1));
 $(".keys").bind("mouseup touchend", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 0));
-$("#plan-button").click(executePlan);
-$(".sound").click((e)=>{
-  const sound = $(e.target).attr('id').replace('sound-', '')
-  return playSoundRequest(sound);
-});
-
 setInterval( () => {
   const dt = new Date().getTime();
   if ((dt - lastChannelMessageTime) > 1000) {
diff --git a/tools/bodyteleop/static/js/webrtc.js b/tools/bodyteleop/static/js/webrtc.js
index 165a2ce6c4b9bc..28bea238e62614 100644
--- a/tools/bodyteleop/static/js/webrtc.js
+++ b/tools/bodyteleop/static/js/webrtc.js
@@ -15,15 +15,6 @@ export function offerRtcRequest(sdp, type) {
 }
 
 
-export function playSoundRequest(sound) {
-  return fetch('/sound', {
-    body: JSON.stringify({sound}),
-    headers: {'Content-Type': 'application/json'},
-    method: 'POST'
-  });
-}
-
-
 export function pingHeadRequest() {
   return fetch('/', {
     method: 'HEAD'
@@ -38,20 +29,18 @@ export function createPeerConnection(pc) {
 
   pc = new RTCPeerConnection(config);
 
-  // connect audio / video
+  // connect video
   pc.addEventListener('track', function(evt) {
     console.log("Adding Tracks!")
     if (evt.track.kind == 'video')
       document.getElementById('video').srcObject = evt.streams[0];
-    else
-      document.getElementById('audio').srcObject = evt.streams[0];
   });
   return pc;
 }
 
 
 export function negotiate(pc) {
-  return pc.createOffer({offerToReceiveAudio:true, offerToReceiveVideo:true}).then(function(offer) {
+  return pc.createOffer({offerToReceiveVideo:true}).then(function(offer) {
     return pc.setLocalDescription(offer);
   }).then(function() {
     return new Promise(function(resolve) {
@@ -90,14 +79,6 @@ function isMobile() {
 
 
 export const constraints = {
-  audio: {
-    autoGainControl: false,
-    sampleRate: 48000,
-    sampleSize: 16,
-    echoCancellation: true,
-    noiseSuppression: true,
-    channelCount: 1
-  },
   video: isMobile()
 };
 
@@ -105,23 +86,8 @@ export const constraints = {
 export function start(pc, dc) {
   pc = createPeerConnection(pc);
 
-  // add audio track
-  navigator.mediaDevices.enumerateDevices()
-    .then(function(devices) {
-      const hasAudioInput = devices.find((device) => device.kind === "audioinput");
-      var modifiedConstraints = {};
-      modifiedConstraints.video = constraints.video;
-      modifiedConstraints.audio = hasAudioInput ? constraints.audio : false;
-
-      return Promise.resolve(modifiedConstraints);
-    })
-    .then(function(constraints) {
-      if (constraints.audio || constraints.video) {
-        return navigator.mediaDevices.getUserMedia(constraints);
-      } else{
-        return Promise.resolve(null);
-      }
-    })
+  // add a local video track on mobile
+  (constraints.video ? navigator.mediaDevices.getUserMedia(constraints) : Promise.resolve(null))
     .then(function(stream) {
       if (stream) {
         stream.getTracks().forEach(function(track) {
diff --git a/tools/bodyteleop/static/main.css b/tools/bodyteleop/static/main.css
index 1bfb5982b4ec98..79fe8052ff9cb7 100644
--- a/tools/bodyteleop/static/main.css
+++ b/tools/bodyteleop/static/main.css
@@ -172,13 +172,6 @@ video {
   display: none;
 }
 
-.plan-form {
-  display: flex;
-  flex-direction: column;
-  justify-content: space-between;
-  align-items: center;
-}
-
 .details {
   display: flex;
   padding: 0px 10px 0px 10px;

From 0a58d8b761a7a5b072953dd1a542a1e3dffec9cd Mon Sep 17 00:00:00 2001
From: Bruce Wayne <harald.the.engineer@gmail.com>
Date: Fri, 10 Apr 2026 19:28:41 -0700
Subject: [PATCH 0875/1434] Modeld: support uncompiled

---
 selfdrive/modeld/tinygrad_helpers.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/modeld/tinygrad_helpers.py b/selfdrive/modeld/tinygrad_helpers.py
index e833c20968a936..49a6ed6161855c 100644
--- a/selfdrive/modeld/tinygrad_helpers.py
+++ b/selfdrive/modeld/tinygrad_helpers.py
@@ -7,5 +7,6 @@
 
 
 def set_tinygrad_backend_from_compiled_flags() -> None:
-  with open(COMPILED_FLAGS_PATH) as f:
-    os.environ['DEV'] = str(json.load(f)['DEV'])
+  if os.path.isfile(COMPILED_FLAGS_PATH):
+    with open(COMPILED_FLAGS_PATH) as f:
+      os.environ['DEV'] = str(json.load(f)['DEV'])

From b930f5c3f145342263e6b74bee868e43b778c74a Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Fri, 10 Apr 2026 22:01:49 -0700
Subject: [PATCH 0876/1434] esim: implement profile switching and deletion
 (#37779)

---
 system/hardware/tici/lpa.py | 63 ++++++++++++++++++++++++++++++++-----
 1 file changed, 56 insertions(+), 7 deletions(-)

diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py
index 34b0a62ed2e8d3..ceb901e2f72758 100644
--- a/system/hardware/tici/lpa.py
+++ b/system/hardware/tici/lpa.py
@@ -33,13 +33,26 @@
 LOCK_FILE = '/dev/shm/modem_lpa.lock'
 DEBUG = os.environ.get("DEBUG") == "1"
 
+
 # TLV Tags
 TAG_ICCID = 0x5A
 TAG_STATUS = 0x80
 TAG_PROFILE_INFO_LIST = 0xBF2D
 TAG_SET_NICKNAME = 0xBF29
+TAG_ENABLE_PROFILE = 0xBF31
+TAG_DELETE_PROFILE = 0xBF33
 TAG_OK = 0xA0
 
+PROFILE_OK = 0x00
+PROFILE_NOT_IN_DISABLED_STATE = 0x02
+PROFILE_CAT_BUSY = 0x05
+
+PROFILE_ERROR_CODES = {
+  0x01: "iccidOrAidNotFound", PROFILE_NOT_IN_DISABLED_STATE: "profileNotInDisabledState",
+  0x03: "disallowedByPolicy", 0x04: "wrongProfileReenabling",
+  PROFILE_CAT_BUSY: "catBusy", 0x06: "undefinedError",
+}
+
 STATE_LABELS = {0: "disabled", 1: "enabled", 255: "unknown"}
 ICON_LABELS = {0: "jpeg", 1: "png", 255: "unknown"}
 CLASS_LABELS = {0: "test", 1: "provisioning", 2: "operational", 255: "unknown"}
@@ -69,6 +82,12 @@ def __init__(self, device: str, baud: int, timeout: float) -> None:
     self._serial: serial.Serial | None = None
     self._use_dbus = not os.path.exists(device)
 
+  def send_raw(self, data: bytes) -> None:
+    self._ensure_serial()
+    self._serial.reset_input_buffer()
+    self._serial.write(data)
+    self._serial.flush()
+
   def close(self) -> None:
     try:
       if self.channel:
@@ -167,6 +186,15 @@ def _open_isdr_once(self) -> None:
         return
     raise RuntimeError("Failed to open ISD-R application")
 
+  def _reset_modem(self) -> None:
+    if self._serial:
+      try:
+        self._serial.close()
+      except Exception:
+        pass
+      self._serial = None
+    subprocess.run(['/usr/comma/lte/lte.sh', 'start'], capture_output=True)
+
   def open_isdr(self) -> None:
     for attempt in range(OPEN_ISDR_RETRIES):
       try:
@@ -175,9 +203,7 @@ def open_isdr(self) -> None:
       except (RuntimeError, TimeoutError, termios.error, serial.SerialException):
         time.sleep(OPEN_ISDR_RETRY_DELAY_S)
         if attempt == OPEN_ISDR_RESET_ATTEMPT:
-          # reset modem via lte.sh
-          subprocess.run(['/usr/comma/lte/lte.sh', 'start'], capture_output=True)
-          self._serial = None  # serial port will be re-opened on next attempt
+          self._reset_modem()
     raise RuntimeError("Failed to open ISD-R after retries")
 
   def send_apdu(self, apdu: bytes) -> tuple[bytes, int, int]:
@@ -337,8 +363,7 @@ def set_profile_nickname(client: AtClient, iccid: str, nickname: str) -> None:
     raise ValueError("Profile nickname must be 64 bytes or less")
   content = encode_tlv(TAG_ICCID, string_to_tbcd(iccid)) + encode_tlv(0x90, nickname_bytes)
   response = es10x_command(client, encode_tlv(TAG_SET_NICKNAME, content))
-  root = require_tag(response, TAG_SET_NICKNAME, "SetNicknameResponse")
-  code = require_tag(root, TAG_STATUS, "status in SetNicknameResponse")[0]
+  code = require_tag(require_tag(response, TAG_SET_NICKNAME, "SetNicknameResponse"), TAG_STATUS, "SetNickname status")[0]
   if code == 0x01:
     raise LPAError(f"profile {iccid} not found")
   if code != 0x00:
@@ -385,7 +410,14 @@ def get_active_profile(self) -> Profile | None:
     return None
 
   def delete_profile(self, iccid: str) -> None:
-    return None
+    if self.is_comma_profile(iccid):
+      raise LPAError("refusing to delete a comma profile")
+    with self._acquire_channel():
+      request = encode_tlv(TAG_DELETE_PROFILE, encode_tlv(TAG_ICCID, string_to_tbcd(iccid)))
+      response = es10x_command(self._client, request)
+      code = require_tag(require_tag(response, TAG_DELETE_PROFILE, "DeleteProfileResponse"), TAG_STATUS, "DeleteProfile status")[0]
+    if code != PROFILE_OK:
+      raise LPAError(f"DeleteProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
 
   def download_profile(self, qr: str, nickname: str | None = None) -> None:
     return None
@@ -394,5 +426,22 @@ def nickname_profile(self, iccid: str, nickname: str) -> None:
     with self._acquire_channel():
       set_profile_nickname(self._client, iccid, nickname)
 
+  def _enable_profile(self, iccid: str) -> int:
+    inner = encode_tlv(TAG_OK, encode_tlv(TAG_ICCID, string_to_tbcd(iccid)))
+    inner += b'\x01\x01\x01'  # refreshFlag=1
+    response = es10x_command(self._client, encode_tlv(TAG_ENABLE_PROFILE, inner))
+    return require_tag(require_tag(response, TAG_ENABLE_PROFILE, "EnableProfileResponse"), TAG_STATUS, "EnableProfile status")[0]
+
   def switch_profile(self, iccid: str) -> None:
-    return None
+    with self._acquire_channel():
+      code = self._enable_profile(iccid)
+      if code == PROFILE_CAT_BUSY:  # stale eUICC transaction, reset and retry
+        self._client._reset_modem()
+        self._client.open_isdr()
+        code = self._enable_profile(iccid)
+      if code not in (PROFILE_OK, PROFILE_NOT_IN_DISABLED_STATE):
+        raise LPAError(f"EnableProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
+    from openpilot.system.hardware import HARDWARE
+    if HARDWARE.get_device_type() == "mici":
+      self._client.send_raw(b'AT+CFUN=0\rAT+CFUN=1\r')  # mici has no SIM presence pin; raw because CFUN=0 drops serial
+      self._client._ensure_serial(reconnect=True)

From f83b749ec2ecd93bb4f1ceb7daafcfeefe4d3091 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Sun, 12 Apr 2026 15:30:29 -0400
Subject: [PATCH 0877/1434] github_utils: use exact-match ref lookup in
 get_bucket_sha (#37813)

The plural `git/refs/heads/{bucket}` endpoint does prefix matching
and returns a list when multiple refs share the prefix, which makes
`r.json()['object']` raise TypeError. Switch to the singular
`git/ref/heads/{bucket}` endpoint so we only match the exact bucket
and get a clean 404 otherwise.
---
 tools/lib/github_utils.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/lib/github_utils.py b/tools/lib/github_utils.py
index 46a0dcf3cb1d01..6a443b4155bc7d 100644
--- a/tools/lib/github_utils.py
+++ b/tools/lib/github_utils.py
@@ -62,7 +62,7 @@ def create_bucket(self, bucket):
     self.api_call(github_path, data=data, method=HTTPMethod.POST, data_call=True)
 
   def get_bucket_sha(self, bucket):
-    github_path = f"git/refs/heads/{bucket}"
+    github_path = f"git/ref/heads/{bucket}"
     r = self.api_call(github_path, data_call=True, raise_on_failure=False)
     return r.json()['object']['sha'] if r.ok else None
 

From 8c240cc1a4b07a2f94ccbd4dbcb9a812d7c0293a Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 12 Apr 2026 16:19:59 -0400
Subject: [PATCH 0878/1434] Revert "Modeld: support uncompiled"

This reverts commit 0a58d8b761a7a5b072953dd1a542a1e3dffec9cd.
---
 selfdrive/modeld/tinygrad_helpers.py | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/selfdrive/modeld/tinygrad_helpers.py b/selfdrive/modeld/tinygrad_helpers.py
index 49a6ed6161855c..e833c20968a936 100644
--- a/selfdrive/modeld/tinygrad_helpers.py
+++ b/selfdrive/modeld/tinygrad_helpers.py
@@ -7,6 +7,5 @@
 
 
 def set_tinygrad_backend_from_compiled_flags() -> None:
-  if os.path.isfile(COMPILED_FLAGS_PATH):
-    with open(COMPILED_FLAGS_PATH) as f:
-      os.environ['DEV'] = str(json.load(f)['DEV'])
+  with open(COMPILED_FLAGS_PATH) as f:
+    os.environ['DEV'] = str(json.load(f)['DEV'])

From 3fa6726f88b9afe45fd0393b81fe040a3fb4d553 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 12 Apr 2026 16:20:01 -0400
Subject: [PATCH 0879/1434] Revert "autodetect tg backend: use CPU:LLVM on
 Linux (#37785)"

This reverts commit 09a55a7833dd2ac1ae4f99eb1928125d2c6a867a.
---
 selfdrive/modeld/SConscript | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 05045d09847b6d..f45dd4e7c6d446 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -26,7 +26,7 @@ elif 'QCOM' in available:
   tg_backend = 'QCOM'
   tg_flags = f'DEV={tg_backend} FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0'
 else:
-  tg_backend = 'CPU' if arch == 'Darwin' else 'CPU:LLVM'
+  tg_backend = 'CPU'
   tg_flags = f'DEV={tg_backend} THREADS=0'
 
 def write_tg_compiled_flags(target, source, env):

From b782958abdda76b9d70aa835e9d8531bc5b0fda1 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 12 Apr 2026 16:20:03 -0400
Subject: [PATCH 0880/1434] Revert "autodetect tg backend (#37778)"

This reverts commit 21538e5a099f525c42b6f5cca440de2c9a22b069.
---
 .gitignore                            |  1 -
 selfdrive/modeld/SConscript           | 45 +++++++--------------------
 selfdrive/modeld/dmonitoringmodeld.py | 11 ++++---
 selfdrive/modeld/modeld.py            |  7 +++--
 selfdrive/modeld/tinygrad_helpers.py  | 11 -------
 5 files changed, 21 insertions(+), 54 deletions(-)
 delete mode 100644 selfdrive/modeld/tinygrad_helpers.py

diff --git a/.gitignore b/.gitignore
index f6d19d9e419d64..738a150b7e1072 100644
--- a/.gitignore
+++ b/.gitignore
@@ -44,7 +44,6 @@ bin/
 config.json
 compile_commands.json
 compare_runtime*.html
-selfdrive/modeld/models/tg_compiled_flags.json
 
 # build artifacts
 selfdrive/pandad/pandad
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index f45dd4e7c6d446..bad1cdd5003d7d 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -1,9 +1,6 @@
-import glob
-import json
 import os
-from SCons.Script import Value
+import glob
 from openpilot.common.file_chunker import chunk_file, get_chunk_paths
-from tinygrad import Device
 
 Import('env', 'arch')
 chunker_file = File("#common/file_chunker.py")
@@ -16,51 +13,31 @@ tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "
 def estimate_pickle_max_size(onnx_size):
   return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty
 
+# compile warp
 # THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
-# get fastest TG config
-available = set(Device.get_available_devices())
-if 'CUDA' in available:
-  tg_backend = 'CUDA'
-  tg_flags = f'DEV={tg_backend}'
-elif 'QCOM' in available:
-  tg_backend = 'QCOM'
-  tg_flags = f'DEV={tg_backend} FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0'
-else:
-  tg_backend = 'CPU'
-  tg_flags = f'DEV={tg_backend} THREADS=0'
-
-def write_tg_compiled_flags(target, source, env):
-  with open(str(target[0]), "w") as f:
-    json.dump({"DEV": tg_backend}, f)
-    f.write("\n")
-
-compiled_flags_node = lenv.Command(
-  File("models/tg_compiled_flags.json").abspath,
-  tinygrad_files + [Value(tg_backend)],
-  write_tg_compiled_flags,
-)
-
-# tinygrad calls brew which needs a $HOME in the env
-mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
+tg_flags = {
+    'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
+    'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
+}.get(arch, 'DEV=CPU:LLVM THREADS=0')
 
 # Get model metadata
 for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']:
   fn = File(f"models/{model_name}").abspath
   script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
-  cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
-  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [compiled_flags_node], cmd)
+  cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
+  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
 
 image_flag = {
      'larch64': 'IMAGE=2',
 }.get(arch, 'IMAGE=0')
 script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
-compile_warp_cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
+compile_warp_cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 warp_targets = []
 for cam in [_ar_ox_fisheye, _os_fisheye]:
   w, h = cam.width, cam.height
   warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath]
-lenv.Command(warp_targets, tinygrad_files + script_files + [compiled_flags_node], compile_warp_cmd)
+lenv.Command(warp_targets, tinygrad_files + script_files, compile_warp_cmd)
 
 def tg_compile(flags, model_name):
   pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
@@ -70,7 +47,7 @@ def tg_compile(flags, model_name):
   chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
   compile_node = lenv.Command(
     pkl,
-    [onnx_path] + tinygrad_files + [chunker_file, compiled_flags_node],
+    [onnx_path] + tinygrad_files + [chunker_file],
     f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
   )
   def do_chunk(target, source, env):
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index d5901e89439481..efd8214b9faa0c 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,12 +1,12 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.tinygrad_helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
-set_tinygrad_backend_from_compiled_flags()
-
+from openpilot.system.hardware import TICI
+os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
 from tinygrad.tensor import Tensor
 import time
 import pickle
 import numpy as np
+from pathlib import Path
 
 from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
@@ -21,8 +21,9 @@
 
 PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-MODEL_PKL_PATH = MODELS_DIR / 'dmonitoring_model_tinygrad.pkl'
-METADATA_PATH = MODELS_DIR / 'dmonitoring_model_metadata.pkl'
+MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
+METADATA_PATH = Path(__file__).parent / 'models/dmonitoring_model_metadata.pkl'
+MODELS_DIR = Path(__file__).parent / 'models'
 
 class ModelState:
   inputs: dict[str, np.ndarray]
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index a93bdd23ef51f0..73425b9e5a6c78 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,8 +1,7 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.tinygrad_helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
-set_tinygrad_backend_from_compiled_flags()
-
+from openpilot.system.hardware import TICI
+os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
 USBGPU = "USBGPU" in os.environ
 if USBGPU:
   os.environ['DEV'] = 'AMD'
@@ -13,6 +12,7 @@
 import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
+from pathlib import Path
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
@@ -37,6 +37,7 @@
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
+MODELS_DIR = Path(__file__).parent / 'models'
 VISION_PKL_PATH = MODELS_DIR / 'driving_vision_tinygrad.pkl'
 VISION_METADATA_PATH = MODELS_DIR / 'driving_vision_metadata.pkl'
 ON_POLICY_PKL_PATH = MODELS_DIR / 'driving_on_policy_tinygrad.pkl'
diff --git a/selfdrive/modeld/tinygrad_helpers.py b/selfdrive/modeld/tinygrad_helpers.py
deleted file mode 100644
index e833c20968a936..00000000000000
--- a/selfdrive/modeld/tinygrad_helpers.py
+++ /dev/null
@@ -1,11 +0,0 @@
-import json
-import os
-from pathlib import Path
-
-MODELS_DIR = Path(__file__).parent / 'models'
-COMPILED_FLAGS_PATH = MODELS_DIR / 'tg_compiled_flags.json'
-
-
-def set_tinygrad_backend_from_compiled_flags() -> None:
-  with open(COMPILED_FLAGS_PATH) as f:
-    os.environ['DEV'] = str(json.load(f)['DEV'])

From 9022b4d3224a05a3509c943e50aee5a03efa8c72 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 12 Apr 2026 16:20:12 -0400
Subject: [PATCH 0881/1434] Revert "bump tg (#37700)"

This reverts commit 55c38857
---
 selfdrive/modeld/SConscript      |  2 +-
 selfdrive/modeld/compile_warp.py | 31 +++++++++++++++++++++----------
 selfdrive/modeld/modeld.py       |  3 ++-
 3 files changed, 24 insertions(+), 12 deletions(-)

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index bad1cdd5003d7d..7a82ff88b8e44b 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -18,7 +18,7 @@ def estimate_pickle_max_size(onnx_size):
 tg_flags = {
     'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
     'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
-}.get(arch, 'DEV=CPU:LLVM THREADS=0')
+}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0')
 
 # Get model metadata
 for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']:
diff --git a/selfdrive/modeld/compile_warp.py b/selfdrive/modeld/compile_warp.py
index 47511f2a2b6b23..75cc65f84cb7f5 100755
--- a/selfdrive/modeld/compile_warp.py
+++ b/selfdrive/modeld/compile_warp.py
@@ -94,11 +94,11 @@ def frame_prepare_tinygrad(input_frame, M_inv):
 
 
 def make_update_img_input(frame_prepare, model_w, model_h):
-  def update_img_input_tinygrad(frame_buffer, frame, M_inv):
+  def update_img_input_tinygrad(tensor, frame, M_inv):
     M_inv = M_inv.to(Device.DEFAULT)
     new_img = frame_prepare(frame, M_inv)
-    frame_buffer.assign(frame_buffer[6:].cat(new_img, dim=0).contiguous())
-    return Tensor.cat(frame_buffer[:6], frame_buffer[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
+    full_buffer = tensor[6:].cat(new_img, dim=0).contiguous()
+    return full_buffer, Tensor.cat(full_buffer[:6], full_buffer[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
   return update_img_input_tinygrad
 
 
@@ -107,9 +107,9 @@ def make_update_both_imgs(frame_prepare, model_w, model_h):
 
   def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
                                 calib_big_img_buffer, new_big_img, M_inv_big):
-    calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
-    calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
-    return calib_img_pair, calib_big_img_pair
+    calib_img_buffer, calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
+    calib_big_img_buffer, calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
+    return calib_img_buffer, calib_img_pair, calib_big_img_buffer, calib_big_img_pair
   return update_both_imgs_tinygrad
 
 
@@ -136,18 +136,29 @@ def compile_modeld_warp(cam_w, cam_h):
 
   full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
   big_full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
+  full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8)
+  big_full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8)
+
   for i in range(10):
+    new_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
     img_inputs = [full_buffer,
-                  Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize(),
+                  Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
                   Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
+    new_big_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
     big_img_inputs = [big_full_buffer,
-                      Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize(),
+                      Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
                       Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
     inputs = img_inputs + big_img_inputs
     Device.default.synchronize()
 
+    inputs_np = [x.numpy() for x in inputs]
+    inputs_np[0] = full_buffer_np
+    inputs_np[3] = big_full_buffer_np
+
     st = time.perf_counter()
-    _ = update_img_jit(*inputs)
+    out = update_img_jit(*inputs)
+    full_buffer = out[0].contiguous().realize().clone()
+    big_full_buffer = out[2].contiguous().realize().clone()
     mt = time.perf_counter()
     Device.default.synchronize()
     et = time.perf_counter()
@@ -172,7 +183,7 @@ def compile_dm_warp(cam_w, cam_h):
   warp_dm_jit = TinyJit(warp_dm, prune=True)
 
   for i in range(10):
-    inputs = [Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize(),
+    inputs = [Tensor.from_blob((32 * Tensor.randn(yuv_size,) + 128).cast(dtype='uint8').realize().numpy().ctypes.data, (yuv_size,), dtype='uint8'),
               Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
     Device.default.synchronize()
     st = time.perf_counter()
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 73425b9e5a6c78..df77c9c0e7e098 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -227,7 +227,8 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
 
     out = self.update_imgs(self.img_queues['img'], self.full_frames['img'], self.transforms['img'],
                            self.img_queues['big_img'], self.full_frames['big_img'], self.transforms['big_img'])
-    vision_inputs = {'img': out[0], 'big_img': out[1]}
+    self.img_queues['img'], self.img_queues['big_img'] = out[0].realize(), out[2].realize()
+    vision_inputs = {'img': out[1], 'big_img': out[3]}
 
     if prepare_only:
       return None

From 0584a5f5ebd2b800aa79980ab74d1a9bbd75a6b2 Mon Sep 17 00:00:00 2001
From: John Belmonte <john@neggie.net>
Date: Sun, 12 Apr 2026 14:29:22 -0700
Subject: [PATCH 0882/1434] add bridge target to cabana run script (#37814)

The cabana run script builds for convenience, but omitted the cereal/messaging/bridge dependency needed for streaming.
---
 tools/cabana/cabana | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/cabana/cabana b/tools/cabana/cabana
index 128e49400e870b..cd9bf1dd7970ad 100755
--- a/tools/cabana/cabana
+++ b/tools/cabana/cabana
@@ -33,6 +33,6 @@ fi
 
 # Build _cabana
 cd "$ROOT"
-scons -j4 tools/cabana/_cabana
+scons -j4 tools/cabana/_cabana cereal/messaging/bridge
 
 exec "$DIR/_cabana" "$@"

From 63107e6e6bdd39f75717a2cb7223e7eb0b250b2e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 12 Apr 2026 18:24:22 -0400
Subject: [PATCH 0883/1434] modeld_v2: update deprecated temporalPose ref
 (#1796)

---
 sunnypilot/modeld_v2/fill_model_msg.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/modeld_v2/fill_model_msg.py b/sunnypilot/modeld_v2/fill_model_msg.py
index 57e968d02fca21..1f281258ba63f0 100644
--- a/sunnypilot/modeld_v2/fill_model_msg.py
+++ b/sunnypilot/modeld_v2/fill_model_msg.py
@@ -100,7 +100,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
   # temporal pose
-  temporal_pose = modelV2.temporalPoseDEPRECATED
+  temporal_pose = modelV2.deprecated.temporalPose
   if 'sim_pose' in net_output_data:
     temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
     temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()

From c91a0a83f61d6502153adf0628ab001cd77ffcab Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Sun, 12 Apr 2026 23:47:43 -0400
Subject: [PATCH 0884/1434] Revert OP (#37812)

* Revert "OP model 7 (#37760)"

This reverts commit 052692b25d63c5ddda276b5c2271383b6aff129f.

* Revert "OP model (#37740)"

This reverts commit cb327933002bc1a00bf60a3c20af2eb7a5f653e5.

* dead

* parse_model_outputs: drop extra space
---
 scripts/reporter.py                           |  9 ++----
 selfdrive/modeld/SConscript                   |  5 ++--
 selfdrive/modeld/modeld.py                    | 30 ++++---------------
 .../modeld/models/big_driving_policy.onnx     |  1 +
 .../modeld/models/big_driving_vision.onnx     |  1 +
 .../modeld/models/driving_off_policy.onnx     |  3 --
 .../modeld/models/driving_on_policy.onnx      |  3 --
 selfdrive/modeld/models/driving_policy.onnx   |  3 ++
 selfdrive/modeld/models/driving_vision.onnx   |  4 +--
 selfdrive/modeld/parse_model_outputs.py       | 13 ++------
 10 files changed, 21 insertions(+), 51 deletions(-)
 create mode 120000 selfdrive/modeld/models/big_driving_policy.onnx
 create mode 120000 selfdrive/modeld/models/big_driving_vision.onnx
 delete mode 100644 selfdrive/modeld/models/driving_off_policy.onnx
 delete mode 100644 selfdrive/modeld/models/driving_on_policy.onnx
 create mode 100644 selfdrive/modeld/models/driving_policy.onnx

diff --git a/scripts/reporter.py b/scripts/reporter.py
index 64f6cb99b8370f..d894b8af48abc7 100755
--- a/scripts/reporter.py
+++ b/scripts/reporter.py
@@ -38,11 +38,6 @@ def get_checkpoint(f):
       continue
 
     fn = os.path.basename(f)
-    master_path = MASTER_PATH + MODEL_PATH + fn
-    if os.path.exists(master_path):
-      master = get_checkpoint(master_path)
-      master_col = f"[{master}](https://reporter.comma.life/experiment/{master})"
-    else:
-      master_col = "N/A (new model)"
+    master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn)
     pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
-    print("|", fn, "|", master_col, "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")
+    print("|", fn, "|", f"[{master}](https://reporter.comma.life/experiment/{master})", "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 05045d09847b6d..86b62d2c1707b0 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -44,7 +44,7 @@ compiled_flags_node = lenv.Command(
 mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
 
 # Get model metadata
-for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']:
+for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
   fn = File(f"models/{model_name}").abspath
   script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
   cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
@@ -82,5 +82,6 @@ def tg_compile(flags, model_name):
   )
 
 # Compile small models
-for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']:
+for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
   tg_compile(tg_flags, model_name)
+
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index c61e417e1ac00d..0c50d8beb51970 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -36,10 +36,8 @@
 
 VISION_PKL_PATH = MODELS_DIR / 'driving_vision_tinygrad.pkl'
 VISION_METADATA_PATH = MODELS_DIR / 'driving_vision_metadata.pkl'
-ON_POLICY_PKL_PATH = MODELS_DIR / 'driving_on_policy_tinygrad.pkl'
-ON_POLICY_METADATA_PATH = MODELS_DIR / 'driving_on_policy_metadata.pkl'
-OFF_POLICY_PKL_PATH = MODELS_DIR / 'driving_off_policy_tinygrad.pkl'
-OFF_POLICY_METADATA_PATH = MODELS_DIR / 'driving_off_policy_metadata.pkl'
+POLICY_PKL_PATH = MODELS_DIR / 'driving_policy_tinygrad.pkl'
+POLICY_METADATA_PATH = MODELS_DIR / 'driving_policy_metadata.pkl'
 
 LAT_SMOOTH_SECONDS = 0.0
 LONG_SMOOTH_SECONDS = 0.3
@@ -152,13 +150,7 @@ def __init__(self):
       self.vision_output_slices = vision_metadata['output_slices']
       vision_output_size = vision_metadata['output_shapes']['outputs'][1]
 
-    with open(OFF_POLICY_METADATA_PATH, 'rb') as f:
-      off_policy_metadata = pickle.load(f)
-      self.off_policy_input_shapes =  off_policy_metadata['input_shapes']
-      self.off_policy_output_slices = off_policy_metadata['output_slices']
-      off_policy_output_size = off_policy_metadata['output_shapes']['outputs'][1]
-
-    with open(ON_POLICY_METADATA_PATH, 'rb') as f:
+    with open(POLICY_METADATA_PATH, 'rb') as f:
       policy_metadata = pickle.load(f)
       self.policy_input_shapes =  policy_metadata['input_shapes']
       self.policy_output_slices = policy_metadata['output_slices']
@@ -182,13 +174,11 @@ def __init__(self):
     self.vision_output = np.zeros(vision_output_size, dtype=np.float32)
     self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
     self.policy_output = np.zeros(policy_output_size, dtype=np.float32)
-    self.off_policy_output = np.zeros(off_policy_output_size, dtype=np.float32)
     self.parser = Parser()
     self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {}
     self.update_imgs = None
     self.vision_run = pickle.loads(read_file_chunked(str(VISION_PKL_PATH)))
-    self.policy_run = pickle.loads(read_file_chunked(str(ON_POLICY_PKL_PATH)))
-    self.off_policy_run = pickle.loads(read_file_chunked(str(OFF_POLICY_PKL_PATH)))
+    self.policy_run = pickle.loads(read_file_chunked(str(POLICY_PKL_PATH)))
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
@@ -236,17 +226,9 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
 
     self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
     policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
-
-    self.off_policy_output = self.off_policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
-    off_policy_outputs_dict = self.parser.parse_off_policy_outputs(self.slice_outputs(self.off_policy_output, self.off_policy_output_slices))
-    off_policy_outputs_dict.pop('plan')
-
-
-    combined_outputs_dict = {**vision_outputs_dict, **off_policy_outputs_dict, **policy_outputs_dict}
-    if 'planplus' in combined_outputs_dict and 'plan' in combined_outputs_dict:
-      combined_outputs_dict['plan'] = combined_outputs_dict['plan'] + combined_outputs_dict['planplus']
+    combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
     if SEND_RAW_PRED:
-      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy(), self.off_policy_output.copy()])
+      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
 
     return combined_outputs_dict
 
diff --git a/selfdrive/modeld/models/big_driving_policy.onnx b/selfdrive/modeld/models/big_driving_policy.onnx
new file mode 120000
index 00000000000000..e1b653a14a03d6
--- /dev/null
+++ b/selfdrive/modeld/models/big_driving_policy.onnx
@@ -0,0 +1 @@
+driving_policy.onnx
\ No newline at end of file
diff --git a/selfdrive/modeld/models/big_driving_vision.onnx b/selfdrive/modeld/models/big_driving_vision.onnx
new file mode 120000
index 00000000000000..28ee71dd746e63
--- /dev/null
+++ b/selfdrive/modeld/models/big_driving_vision.onnx
@@ -0,0 +1 @@
+driving_vision.onnx
\ No newline at end of file
diff --git a/selfdrive/modeld/models/driving_off_policy.onnx b/selfdrive/modeld/models/driving_off_policy.onnx
deleted file mode 100644
index 5b0effc1003e87..00000000000000
--- a/selfdrive/modeld/models/driving_off_policy.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e53f4e0527766082ba7bde38e275def0fe3c14f6c59ae2854439e239884d3ecc
-size 13393365
diff --git a/selfdrive/modeld/models/driving_on_policy.onnx b/selfdrive/modeld/models/driving_on_policy.onnx
deleted file mode 100644
index bfe10ca185b7c7..00000000000000
--- a/selfdrive/modeld/models/driving_on_policy.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ea89c50da3a16e710da292f97c81b083a982cfdee5c28eca0d37ed2fb99af6c5
-size 13022642
diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx
new file mode 100644
index 00000000000000..7c71bc94714310
--- /dev/null
+++ b/selfdrive/modeld/models/driving_policy.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:853c6634746ff439a848349d00e4d5581cd941f13f7c1862c31b72a31cc24858
+size 14061595
diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx
index 335e9dbcf8ea20..afd617667c6094 100644
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ b/selfdrive/modeld/models/driving_vision.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6263aa3fbb44cde6c68a34cdb7cd8c389789dbc02b15c1911afdac4e018281ae
-size 23267151
+oid sha256:940e9006a25f27f0b6e85da798e6a8fd1f6dd492dd7d0b9ff1a9436460f46129
+size 46887794
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index 802f0ad85998b0..a0b45d2a981685 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -96,17 +96,11 @@ def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndar
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
-    self.parse_binary_crossentropy('meta', outs)
-    return outs
-
-  def parse_off_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    plan_mhp = self.is_mhp(outs, 'plan',  ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
-    plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
-    self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
     self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
     self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
     self.parse_binary_crossentropy('lane_lines_prob', outs)
+    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
+    self.parse_binary_crossentropy('meta', outs)
     self.parse_binary_crossentropy('lead_prob', outs)
     lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH)
     lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
@@ -116,7 +110,7 @@ def parse_off_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.
     return outs
 
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    plan_mhp = self.is_mhp(outs, 'plan',  ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
+    plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
     plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
     self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
     if 'planplus' in outs:
@@ -126,6 +120,5 @@ def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndar
 
   def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     outs = self.parse_vision_outputs(outs)
-    outs = self.parse_off_policy_outputs(outs)
     outs = self.parse_policy_outputs(outs)
     return outs

From fcb0a496edf22851309dca7ae523272a710717f3 Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Mon, 13 Apr 2026 12:38:02 -0700
Subject: [PATCH 0885/1434] model reporter links (#37817)

---
 scripts/reporter.py | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/scripts/reporter.py b/scripts/reporter.py
index d894b8af48abc7..93b71761a9e421 100755
--- a/scripts/reporter.py
+++ b/scripts/reporter.py
@@ -33,11 +33,7 @@ def get_checkpoint(f):
   print("|-| -----  | --------- |")
 
   for f in glob.glob(BASEDIR + MODEL_PATH + "/*.onnx"):
-    # TODO: add checkpoint to DM
-    if "dmonitoring" in f:
-      continue
-
     fn = os.path.basename(f)
     master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn)
     pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
-    print("|", fn, "|", f"[{master}](https://reporter.comma.life/experiment/{master})", "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")
+    print("|", fn, "|", f"[{master}](https://reporterv2.comma.life/{master})", "|", f"[{pr}](https://reporterv2.comma.life/{pr})", "|")

From bf2294dee24c8be4be5d058fe695635784a0489f Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Mon, 13 Apr 2026 13:51:50 -0700
Subject: [PATCH 0886/1434] Set fan to 100% when onroad is thermally blocked 
 (#37804)

set fan to 100% when onroad is thermally blocked
---
 system/hardware/hardwared.py | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index aad30f77b2b32c..4324e90c75faf0 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -323,6 +323,9 @@ def hardware_thread(end_event, hw_queue) -> None:
     show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"]
     set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)
 
+    if show_alert:
+      msg.deviceState.fanSpeedPercentDesired = 100
+
     # *** registration check ***
     if not PC:
       # we enforce this for our software, but you are welcome
@@ -421,9 +424,10 @@ def hardware_thread(end_event, hw_queue) -> None:
     statlog.gauge("fan_speed_percent_desired", msg.deviceState.fanSpeedPercentDesired)
     statlog.gauge("screen_brightness_percent", msg.deviceState.screenBrightnessPercent)
 
-    # report to server once every 10 minutes
+    # report to server once every 10 minutes, or every 1s when thermally blocked
     rising_edge_started = should_start and not should_start_prev
-    if rising_edge_started or (count % int(600. / DT_HW)) == 0:
+    status_packet_interval = 1. if show_alert else 600.
+    if rising_edge_started or (count % int(status_packet_interval / DT_HW)) == 0:
       dat = {
         'count': count,
         'pandaStates': [strip_deprecated_keys(p.to_dict()) for p in pandaStates],

From 2406b32d55e3ddbfa0ba1a5196d1d2ab9e101fd9 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 14 Apr 2026 12:50:43 -0400
Subject: [PATCH 0887/1434] Default model: POP model

---
 common/model.h                                | 2 +-
 sunnypilot/modeld_v2/SConscript               | 4 ++--
 sunnypilot/models/default_model.py            | 8 +++-----
 sunnypilot/models/tests/model_hash            | 2 +-
 sunnypilot/models/tests/test_default_model.py | 7 +++----
 5 files changed, 10 insertions(+), 13 deletions(-)

diff --git a/common/model.h b/common/model.h
index fc1110431c240f..d134ebd15e529e 100644
--- a/common/model.h
+++ b/common/model.h
@@ -1 +1 @@
-#define DEFAULT_MODEL "OP Model 7 (Default)"
+#define DEFAULT_MODEL "POP model (Default)"
diff --git a/sunnypilot/modeld_v2/SConscript b/sunnypilot/modeld_v2/SConscript
index ddf889c0c0057c..8526fd27293a3f 100644
--- a/sunnypilot/modeld_v2/SConscript
+++ b/sunnypilot/modeld_v2/SConscript
@@ -13,7 +13,7 @@ if PC:
   model_dir = Dir("models").abspath
   cmd = f'python3 {Dir("#sunnypilot/modeld_v2").abspath}/install_models_pc.py {model_dir}'
 
-  for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']:
+  for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_on_policy', 'driving_policy']:
     if File(f"models/{model_name}.onnx").exists():
         inputs.append(File(f"models/{model_name}.onnx"))
         inputs.append(File(f"models/{model_name}_tinygrad.pkl"))
@@ -42,7 +42,7 @@ def tg_compile(flags, model_name):
   )
 
 # Compile models
-for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']:
+for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_on_policy', 'driving_policy']:
   if File(f"models/{model_name}.onnx").exists():
     tg_compile(tg_flags, model_name)
 
diff --git a/sunnypilot/models/default_model.py b/sunnypilot/models/default_model.py
index d540efbffdd4bd..0260a3c3bc7912 100755
--- a/sunnypilot/models/default_model.py
+++ b/sunnypilot/models/default_model.py
@@ -8,16 +8,14 @@
 DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "common", "model.h")
 MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "tests", "model_hash")
 VISION_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_vision.onnx")
-OFF_POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_off_policy.onnx")
-ON_POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_on_policy.onnx")
+POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_policy.onnx")
 
 
 def update_model_hash():
   vision_hash = get_file_hash(VISION_ONNX_PATH)
-  off_policy_hash = get_file_hash(OFF_POLICY_ONNX_PATH)
-  on_policy_hash = get_file_hash(ON_POLICY_ONNX_PATH)
+  policy_hash = get_file_hash(POLICY_ONNX_PATH)
 
-  combined_hash = hashlib.sha256((vision_hash + off_policy_hash + on_policy_hash).encode()).hexdigest()
+  combined_hash = hashlib.sha256((vision_hash + policy_hash).encode()).hexdigest()
 
   with open(MODEL_HASH_PATH, "w") as f:
     f.write(combined_hash)
diff --git a/sunnypilot/models/tests/model_hash b/sunnypilot/models/tests/model_hash
index 3fdf97dd1b362a..eaf923358cb15f 100644
--- a/sunnypilot/models/tests/model_hash
+++ b/sunnypilot/models/tests/model_hash
@@ -1 +1 @@
-793b5d480edb5a30eed3d0d3bdb43259522978670f6bc3dea7a4d661261d3c48
+5d4d21f1899de21137f69d74a4602c44cc5a6b04cf4e4aa9d0ec9206f8c30350
\ No newline at end of file
diff --git a/sunnypilot/models/tests/test_default_model.py b/sunnypilot/models/tests/test_default_model.py
index abe685c36ad182..7c2fde70a8a80b 100644
--- a/sunnypilot/models/tests/test_default_model.py
+++ b/sunnypilot/models/tests/test_default_model.py
@@ -6,17 +6,16 @@
 """
 
 from openpilot.sunnypilot import get_file_hash
-from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, VISION_ONNX_PATH, OFF_POLICY_ONNX_PATH, ON_POLICY_ONNX_PATH
+from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, VISION_ONNX_PATH, POLICY_ONNX_PATH
 import hashlib
 
 
 class TestDefaultModel:
   def test_compare_onnx_hashes(self):
     vision_hash = get_file_hash(VISION_ONNX_PATH)
-    off_policy_hash = get_file_hash(OFF_POLICY_ONNX_PATH)
-    on_policy_hash = get_file_hash(ON_POLICY_ONNX_PATH)
+    policy_hash = get_file_hash(POLICY_ONNX_PATH)
 
-    combined_hash = hashlib.sha256((vision_hash + off_policy_hash + on_policy_hash).encode()).hexdigest()
+    combined_hash = hashlib.sha256((vision_hash + policy_hash).encode()).hexdigest()
 
     with open(MODEL_HASH_PATH) as f:
       current_hash = f.read().strip()

From 30a858c23d3376caba8e9b0b0e20aecb0f61778b Mon Sep 17 00:00:00 2001
From: mmmorks <mmmorks@mmmorks.net>
Date: Tue, 14 Apr 2026 10:33:51 -0700
Subject: [PATCH 0888/1434] NNLC: restore pre-v1 PID gains in torque extension
 (#1779)

* NNLC: restore pre-v1 PID gains in torque extension

When the torque lateral controller was refactored for v1 (VERSION=1),
the NNLC extension's PID gains were inadvertently changed from the
per-vehicle defaults (kp=1.0, ki=0.3, kf=1.0) to the new base
controller values (kp=0.8, ki=0.15, no kf with speed interpolation).

The NNLC extension operates in torque space with its own PID loop
that is independent of the base controller's lateral acceleration PID.
Coupling these gains to the base controller's values results in
noticeably weaker steering response and ping-pong oscillation for
NNLC users, with no workaround since Enforce Torque Lateral Control
and NNLC are mutually exclusive.

This restores the original PID gains that were used before the v1
refactor, matching the behavior from v2025.003.000 and earlier.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

* Remove k_f from PIDController init

k_f was removed from PIDController in the v1 refactor. The old
k_f=1.0 was a no-op (feedforward scale of 1.0), and the current
PIDController applies feedforward unscaled via update(), so
behavior is unchanged.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

---------

Co-authored-by: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../controls/lib/latcontrol_torque_ext_base.py         | 10 ++++------
 sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py         | 10 +++++-----
 2 files changed, 9 insertions(+), 11 deletions(-)

diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
index c6658bdc78b8f8..df773889a901c1 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
@@ -14,11 +14,8 @@
 LAT_PLAN_MIN_IDX = 5
 LATERAL_LAG_MOD = 0.0  # seconds, modifies how far in the future we look ahead for the lateral plan
 
-# from selfdrive/controls/lib/latcontrol_torque.py
-KP = 0.8
-KI = 0.15
-INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
-KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
+KP = 1.0
+KI = 0.3
 
 
 def get_predicted_lateral_jerk(lat_accels, t_diffs):
@@ -61,9 +58,10 @@ def __init__(self, lac_torque, CP, CP_SP, CI):
     self.lookahead_lateral_jerk: float = 0.0
 
     self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()
+    self.torque_params = lac_torque.torque_params
 
     self._ff = 0.0
-    self._pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI)
+    self._pid = PIDController(KP, KI)
     self._pid_log = None
     self._setpoint = 0.0
     self._measurement = 0.0
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
index 2db88299ca9dd4..1738a11e49337f 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
@@ -75,14 +75,14 @@ def update_lateral_lag(self, lag):
 
   def update_feedforward_torque_space(self, CS):
     torque_from_setpoint = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._setpoint, self._roll_compensation, CS.vEgo, CS.aEgo),
-                                                                          self.lac_torque.torque_params, gravity_adjusted=False)
+                                                                          self.torque_params, gravity_adjusted=False)
     torque_from_measurement = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._measurement, self._roll_compensation, CS.vEgo, CS.aEgo),
-                                                                             self.lac_torque.torque_params, gravity_adjusted=False)
+                                                                             self.torque_params, gravity_adjusted=False)
     self._pid_log.error = float(torque_from_setpoint - torque_from_measurement)
     self._ff = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._gravity_adjusted_lateral_accel, self._roll_compensation,
-                                                                               CS.vEgo, CS.aEgo), self.lac_torque.torque_params, gravity_adjusted=True)
+                                                                               CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=True)
     self._ff += get_friction_in_torque_space(self._desired_lateral_accel - self._actual_lateral_accel, self._lateral_accel_deadzone,
-                                             FRICTION_THRESHOLD, self.lac_torque.torque_params)
+                                             FRICTION_THRESHOLD, self.torque_params)
 
   def update_output_torque(self, CS):
     freeze_integrator = self._steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
@@ -159,6 +159,6 @@ def update_neural_network_feedforward(self, CS, params, calibrated_pose) -> None
 
     # apply friction override for cars with low NN friction response
     if self.model.friction_override:
-      self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.lac_torque.torque_params)
+      self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
     self.update_output_torque(CS)

From 4a15bdcdae141a430811b5f5a2105eeeb2df4257 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Tue, 14 Apr 2026 12:02:30 -0700
Subject: [PATCH 0889/1434] Add alerts pill (#37821)

* add notification pill

* add update

* comment

* lfs upload

* rename

* fix

* try widget

* white is banned!

* same for bell

* need everywhere?

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/assets/icons_mici/alerts_bell.png |  3 ++
 selfdrive/assets/icons_mici/alerts_pill.png |  3 ++
 selfdrive/ui/mici/layouts/home.py           | 43 +++++++++++++++++++--
 selfdrive/ui/mici/layouts/main.py           | 10 ++++-
 4 files changed, 55 insertions(+), 4 deletions(-)
 create mode 100644 selfdrive/assets/icons_mici/alerts_bell.png
 create mode 100644 selfdrive/assets/icons_mici/alerts_pill.png

diff --git a/selfdrive/assets/icons_mici/alerts_bell.png b/selfdrive/assets/icons_mici/alerts_bell.png
new file mode 100644
index 00000000000000..5d775425ebfe7c
--- /dev/null
+++ b/selfdrive/assets/icons_mici/alerts_bell.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ce1d357acadd798939b398cce1761ceb05564b44f2a5bc6865c7842e60e79f2
+size 1474
diff --git a/selfdrive/assets/icons_mici/alerts_pill.png b/selfdrive/assets/icons_mici/alerts_pill.png
new file mode 100644
index 00000000000000..29ab2ad5b3fa50
--- /dev/null
+++ b/selfdrive/assets/icons_mici/alerts_pill.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3fe73cd1a24c05346a9b4a02e4f900a314c83a422beb38b0f88f91389582cd4
+size 3960
diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index 77b665f5d8b822..16a40b6d4ca69e 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -7,8 +7,8 @@
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.layouts import HBoxLayout
 from openpilot.system.ui.widgets.icon_widget import IconWidget
-from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, DEFAULT_TEXT_COLOR
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.version import RELEASE_BRANCHES
 
@@ -28,6 +28,34 @@
 }
 
 
+class AlertsPill(Widget):
+  def __init__(self):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, 104, 52))
+
+    self._pill_bg_txt = gui_app.texture("icons_mici/alerts_pill.png", 104, 52)
+    self._bell_txt = gui_app.texture("icons_mici/alerts_bell.png", 28, 30)
+    self._alert_count_callback: Callable[[], int] | None = None
+
+  def set_alert_count_callback(self, callback: Callable[[], int] | None):
+    self._alert_count_callback = callback
+
+  def _render(self, _):
+    alert_count = self._alert_count_callback() if self._alert_count_callback else 0
+    if alert_count > 0:
+      pill_w, pill_h = self._pill_bg_txt.width, self._pill_bg_txt.height
+      rl.draw_texture_ex(self._pill_bg_txt, rl.Vector2(self.rect.x, self.rect.y), 0.0, 1.0, rl.WHITE)
+
+      bell_x = self.rect.x + 20
+      bell_y = self.rect.y + (pill_h - self._bell_txt.height) / 2
+      rl.draw_texture_ex(self._bell_txt, rl.Vector2(bell_x, bell_y), 0.0, 1.0, DEFAULT_TEXT_COLOR)
+
+      count_rect = rl.Rectangle(self.rect.x, self.rect.y, pill_w - 20, pill_h)
+      gui_label(count_rect, str(alert_count), font_size=36,
+                alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
+                alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+
 class NetworkIcon(Widget):
   def __init__(self):
     super().__init__()
@@ -84,6 +112,7 @@ class MiciHomeLayout(Widget):
   def __init__(self):
     super().__init__()
     self._on_settings_click: Callable | None = None
+    self._alert_count_callback: Callable[[], int] | None = None
 
     self._last_refresh = 0
     self._mouse_down_t: None | float = None
@@ -96,6 +125,8 @@ def __init__(self):
     self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48))
     self._mic_icon = IconWidget("icons_mici/microphone.png", (32, 46))
 
+    self._alerts_pill = AlertsPill()
+
     self._status_bar_layout = HBoxLayout([
       IconWidget("icons_mici/settings.png", (48, 48), opacity=0.9),
       NetworkIcon(),
@@ -141,8 +172,9 @@ def _update_state(self):
       self._last_refresh = rl.get_time()
       self._update_params()
 
-  def set_callbacks(self, on_settings: Callable | None = None):
+  def set_callbacks(self, on_settings: Callable | None = None, alert_count_callback: Callable[[], int] | None = None):
     self._on_settings_click = on_settings
+    self._alerts_pill.set_alert_count_callback(alert_count_callback)
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     if not self._did_long_press:
@@ -203,3 +235,8 @@ def _render(self, _):
 
     footer_rect = rl.Rectangle(self.rect.x + HOME_PADDING, self.rect.y + self.rect.height - 48, self.rect.width - HOME_PADDING, 48)
     self._status_bar_layout.render(footer_rect)
+
+    # TODO: add alignment to hboxlayout and add to there
+    self._alerts_pill.set_position(self.rect.x + self.rect.width - self._alerts_pill.rect.width - HOME_PADDING,
+                                   self.rect.y + self.rect.height - self._alerts_pill.rect.height)
+    self._alerts_pill.render()
diff --git a/selfdrive/ui/mici/layouts/main.py b/selfdrive/ui/mici/layouts/main.py
index 95258e2795d1f4..b25c4af7b2b504 100644
--- a/selfdrive/ui/mici/layouts/main.py
+++ b/selfdrive/ui/mici/layouts/main.py
@@ -58,7 +58,10 @@ def __init__(self):
       gui_app.push_widget(self._onboarding_window)
 
   def _setup_callbacks(self):
-    self._home_layout.set_callbacks(on_settings=lambda: gui_app.push_widget(self._settings_layout))
+    self._home_layout.set_callbacks(
+      on_settings=lambda: gui_app.push_widget(self._settings_layout),
+      alert_count_callback=self._alerts_layout.active_alerts,
+    )
     self._onroad_layout.set_click_callback(lambda: self._scroll_to(self._home_layout))
     device.add_interactive_timeout_callback(self._on_interactive_timeout)
 
@@ -66,6 +69,11 @@ def _scroll_to(self, layout: Widget):
     layout_x = int(layout.rect.x)
     self._scroller.scroll_to(layout_x, smooth=True)
 
+  def _update_state(self):
+    super()._update_state()
+    # TODO: Hack to run alert updates while not in view. Add a nav stack tick?
+    self._alerts_layout._update_state()
+
   def _render(self, _):
     if not self._setup:
       if self._alerts_layout.active_alerts() > 0:

From c23f2dce2cc7193bc9e2ee05af7ed758f6789874 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 14 Apr 2026 16:28:13 -0400
Subject: [PATCH 0890/1434] MADS safety: enable heartbeat and lateral controls
 mismatch checks (#1801)

* init

* nah

* rename

* bump

* bump
---
 cereal/log.capnp               |  4 ++--
 opendbc_repo                   |  2 +-
 panda                          |  2 +-
 selfdrive/pandad/pandad.cc     | 15 ++++-----------
 sunnypilot/mads/mads.py        | 17 +++++++++++++++++
 tools/cabana/panda.cc          |  4 ++--
 tools/cabana/panda.h           |  2 +-
 tools/sim/lib/simulated_car.py |  2 ++
 8 files changed, 30 insertions(+), 18 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 7138a6178dbc28..cf91e017e6fa07 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -558,8 +558,8 @@ struct PandaState @0xa7649e2575e4591e {
 
   # these fields are not used by openpilot, but they're
   # reserved for forks building alternate experiences.
-  controlsAllowedRESERVED1 @38 :Bool;
-  controlsAllowedRESERVED2 @39 :Bool;
+  controlsAllowedLateral @38 :Bool;
+  controlsAllowedLongitudinal @39 :Bool;
 
   enum FaultStatus {
     none @0;
diff --git a/opendbc_repo b/opendbc_repo
index 427032a89a556b..ded068839b7b84 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 427032a89a556b4d80b700749582f68807fe2443
+Subproject commit ded068839b7b84708f35b07ad207601f36652f4e
diff --git a/panda b/panda
index 6cd1972ecf3142..c0cc96fbad1d11 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 6cd1972ecf31429abb55647cadeb8ab3e19a9141
+Subproject commit c0cc96fbad1d11445c34141d7626703fc13a9938
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index 3d0a551d800123..cafc3e12255993 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -21,8 +21,6 @@
 #define CUTOFF_IL 400
 #define SATURATE_IL 1000
 
-#define ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE 2048
-
 ExitHandler do_exit;
 
 bool check_connected(Panda *panda) {
@@ -34,15 +32,8 @@ bool check_connected(Panda *panda) {
 }
 
 bool process_mads_heartbeat(SubMaster *sm) {
-  const int &alt_exp = (*sm)["carParams"].getCarParams().getAlternativeExperience();
-  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE) != 0;
-
   const auto &mads = (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads();
-  const bool heartbeat_type = disengage_lateral_on_brake ? mads.getActive() : mads.getEnabled();
-
-  const bool engaged = sm->allAliveAndValid({"selfdriveStateSP"}) && heartbeat_type;
-
-  return engaged;
+  return sm->allAliveAndValid({"selfdriveStateSP"}) && mads.getEnabled();
 }
 
 Panda *connect(std::string serial) {
@@ -152,6 +143,8 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
   ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
   ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
   ps.setSoundOutputLevel(health.sound_output_level_pkt);
+  ps.setControlsAllowedLateral(health.controls_allowed_lateral_pkt);
+  ps.setControlsAllowedLongitudinal(health.controls_allowed_longitudinal_pkt);
 }
 
 void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const can_health_t &can_health) {
@@ -380,7 +373,7 @@ void pandad_run(Panda *panda) {
 
   Params params;
   RateKeeper rk("pandad", 100);
-  SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"});
+  SubMaster sm({"selfdriveState", "selfdriveStateSP"});
   PubMaster pm({"can", "pandaStates", "peripheralState"});
   PandaSafety panda_safety(panda);
   bool engaged = false;
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 7eab55e6ea6511..0c87da4a2a5c48 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -33,6 +33,7 @@ def __init__(self, selfdrive):
     self.enabled = False
     self.active = False
     self.available = False
+    self.lateral_mismatch_counter = 0
     self.allow_always = False
     self.no_main_cruise = False
     self.selfdrive = selfdrive
@@ -104,6 +105,17 @@ def replace_event(self, old_event: int, new_event: int):
     self.events.remove(old_event)
     self.events_sp.add(new_event)
 
+  def data_sample(self):
+    # When the safety and selfdrived do not agree on controls_allowed_lateral
+    # we want to disengage sunnypilot. However the status from the panda goes through
+    # another socket other than the CAN messages and one can arrive earlier than the other.
+    # Therefore we allow a mismatch for two samples, then we trigger the disengagement.
+    if not self.active or self.selfdrive.enabled:
+      self.lateral_mismatch_counter = 0
+    elif any(not ps.controlsAllowedLateral for ps in self.selfdrive.sm['pandaStates']
+             if ps.safetyModel not in IGNORED_SAFETY_MODES):
+      self.lateral_mismatch_counter += 1
+
   def update_events(self, CS: structs.CarState):
     if not self.selfdrive.enabled and self.enabled:
       if CS.standstill:
@@ -186,6 +198,9 @@ def update_events(self, CS: structs.CarState):
       if self.state_machine.state == State.paused:
         self.events_sp.add(EventNameSP.silentLkasEnable)
 
+    if self.lateral_mismatch_counter >= 200:
+      self.events_sp.add(EventNameSP.controlsMismatchLateral)
+
     self.events.remove(EventName.pcmDisable)
     self.events.remove(EventName.buttonCancel)
     self.events.remove(EventName.pedalPressed)
@@ -195,6 +210,8 @@ def update(self, CS: structs.CarState):
     if not self.enabled_toggle:
       return
 
+    self.data_sample()
+
     self.update_events(CS)
 
     if not self.CP.passive and self.selfdrive.initialized:
diff --git a/tools/cabana/panda.cc b/tools/cabana/panda.cc
index 0612d677469a03..cf5354a507667e 100644
--- a/tools/cabana/panda.cc
+++ b/tools/cabana/panda.cc
@@ -106,8 +106,8 @@ cereal::PandaState::PandaType Panda::get_hw_type() {
 
 
 
-void Panda::send_heartbeat(bool engaged) {
-  control_write(0xf3, engaged, 0);
+void Panda::send_heartbeat(bool engaged, bool engaged_mads) {
+  control_write(0xf3, engaged, engaged_mads);
 }
 
 void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) {
diff --git a/tools/cabana/panda.h b/tools/cabana/panda.h
index d318c33f4d8457..8b861a24762cec 100644
--- a/tools/cabana/panda.h
+++ b/tools/cabana/panda.h
@@ -64,7 +64,7 @@ class Panda {
   // Panda functionality
   cereal::PandaState::PandaType get_hw_type();
   void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
-  void send_heartbeat(bool engaged);
+  void send_heartbeat(bool engaged, bool engaged_mads = false);
   void set_can_speed_kbps(uint16_t bus, uint16_t speed);
   void set_data_speed_kbps(uint16_t bus, uint16_t speed);
   bool can_receive(std::vector<can_frame>& out_vec);
diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py
index 68ff3050db9ec0..1567c20ef909af 100644
--- a/tools/sim/lib/simulated_car.py
+++ b/tools/sim/lib/simulated_car.py
@@ -92,6 +92,8 @@ def send_panda_state(self, simulator_state):
       'ignitionLine': simulator_state.ignition,
       'pandaType': "blackPanda",
       'controlsAllowed': True,
+      'controlsAllowedLateral': True,
+      'controlsAllowedLongitudinal': True,
       'safetyModel': 'hondaBosch',
       'alternativeExperience': self.sm["carParams"].alternativeExperience,
       'safetyParam': HondaSafetyFlags.RADARLESS.value | HondaSafetyFlags.BOSCH_LONG.value,

From c7efc009a4be54286c6f446ec70140009709f23a Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Tue, 14 Apr 2026 16:38:00 -0400
Subject: [PATCH 0891/1434] [MICI] ui: models panel enhancements (#1705)

* model panel - give it some love

* fix sync issues

* update for upstream sync

* fix label

* not red

* fav models

* uhh, yeah

* handling for downloading state

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../ui/sunnypilot/layouts/settings/models.py  |   8 +-
 .../ui/sunnypilot/mici/layouts/models.py      | 145 ++++++++++++++----
 2 files changed, 119 insertions(+), 34 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/models.py b/selfdrive/ui/sunnypilot/layouts/settings/models.py
index b34604af0c5112..adbd99f1f3e782 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/models.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/models.py
@@ -41,7 +41,7 @@ def __init__(self):
 
     self._initialize_items()
 
-    self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
+    self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB")
     for ctrl, key in [(self.lane_turn_value_control, "LaneTurnValue"), (self.delay_control, "LagdToggleDelay")]:
       ctrl.action_item.set_value(int(float(ui_state.params.get(key, return_default=True)) * 100))
 
@@ -112,7 +112,7 @@ def _is_downloading(self):
             self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading)
 
   @staticmethod
-  def _calculate_cache_size():
+  def calculate_cache_size():
     cache_size = 0.0
     if os.path.exists(CUSTOM_MODEL_PATH):
       cache_size = sum(os.path.getsize(os.path.join(CUSTOM_MODEL_PATH, file)) for file in os.listdir(CUSTOM_MODEL_PATH)) / (1024**2)
@@ -122,7 +122,7 @@ def _clear_cache(self):
     def _callback(response):
       if response == DialogResult.CONFIRM:
         ui_state.params.put_bool("ModelManager_ClearCache", True)
-        self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
+        self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB")
 
     dialog = ConfirmDialog(tr("This will delete ALL downloaded models from the cache except the currently active model. Are you sure?"),
                            tr("Clear Cache"), callback=_callback)
@@ -155,7 +155,7 @@ def _handle_bundle_download_progress(self):
 
     if (current_time := time.monotonic()) - self.last_cache_calc_time > 0.5:
       self.last_cache_calc_time = current_time
-      self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
+      self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB")
 
     if self.download_status == custom.ModelManagerSP.DownloadStatus.downloading:
       device._reset_interactive_timeout()
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/models.py b/selfdrive/ui/sunnypilot/mici/layouts/models.py
index d8da750fe13039..331743416f6714 100644
--- a/selfdrive/ui/sunnypilot/mici/layouts/models.py
+++ b/selfdrive/ui/sunnypilot/mici/layouts/models.py
@@ -5,13 +5,45 @@
 See the LICENSE.md file in the root directory for more details.
 """
 from collections.abc import Callable
+import pyray as rl
 
 from cereal import custom
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton
-from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
+from openpilot.selfdrive.ui.ui_state import ui_state, device
+from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import NavScroller
 
+class CurrentModelInfo(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self.set_rect(rl.Rectangle(0, 0, 360, 180))
+
+    header_color = rl.Color(255, 255, 255, int(255 * 0.9))
+    subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
+    max_width = int(self._rect.width - 20)
+    self.current_model_header = UnifiedLabel(tr("active model"), 48, max_width=max_width, text_color=header_color, font_weight=FontWeight.DISPLAY)
+    self.current_model_text = UnifiedLabel(tr("default model"), 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN, scroll=True)
+
+    self.info_header = UnifiedLabel("cache size", 48, max_width=max_width, text_color=header_color, font_weight=FontWeight.DISPLAY)
+    self.info_text = UnifiedLabel("0 mb", 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN)
+
+  def _render(self, _):
+    self.current_model_header.set_position(self._rect.x + 20, self._rect.y - 10)
+    self.current_model_header.render()
+
+    self.current_model_text.set_position(self._rect.x + 20, self._rect.y + 68 - 25)
+    self.current_model_text.render()
+
+    self.info_header.set_position(self._rect.x + 20, self._rect.y + 114 - 30)
+    self.info_header.render()
+
+    self.info_text.set_position(self._rect.x + 20, self._rect.y + 161 - 25)
+    self.info_text.render()
 
 class ModelsLayoutMici(NavScroller):
   def __init__(self, back_callback: Callable):
@@ -20,25 +52,35 @@ def __init__(self, back_callback: Callable):
     self.original_back_callback = back_callback
     self.focused_widget = None
 
-    self.current_model_btn = BigButton(tr("current model"))
-    self.current_model_btn.set_click_callback(self._show_folders)
+    self.current_model_info = CurrentModelInfo()
+    self._download_progress = "."
+    self._download_frame = 0
+    self._was_downloading = False
+
+    self.select_model_btn = BigButton(tr("select model"))
+    self.select_model_btn.set_click_callback(self._show_folders)
 
     self.cancel_download_btn = BigButton(tr("cancel download"))
     self.cancel_download_btn.set_click_callback(lambda: ui_state.params.remove("ModelManager_DownloadIndex"))
 
-    self.main_items = [self.current_model_btn, self.cancel_download_btn]
+    self.main_items = [self.current_model_info, self.select_model_btn, self.cancel_download_btn]
     self._scroller.add_widgets(self.main_items)
 
   @property
   def model_manager(self):
     return ui_state.sm["modelManagerSP"]
 
-  def _get_grouped_bundles(self):
+  def _get_grouped_bundles(self, favorites = None):
     bundles = self.model_manager.availableBundles
     folders = {}
     for bundle in bundles:
       folder = next((override.value for override in bundle.overrides if override.key == "folder"), "")
       folders.setdefault(folder, []).append(bundle)
+
+    if favorites:
+      for fav_bundle in [bundle for bundle in bundles if bundle.ref in favorites]:
+        folders.setdefault("favorites", []).append(fav_bundle)
+
     return folders
 
   def _show_selection_view(self, items, back_callback: Callable):
@@ -49,18 +91,25 @@ def _show_selection_view(self, items, back_callback: Callable):
     self.set_back_callback(back_callback)
 
   def _show_folders(self):
-    self.focused_widget = self.current_model_btn
-    folders = self._get_grouped_bundles()
+    self.focused_widget = self.select_model_btn
+
+    favs = ui_state.params.get("ModelManager_Favs")
+    favorites = set(favs.split(';')) if favs else set()
+
+    folders = self._get_grouped_bundles(favorites)
     folder_buttons = []
     default_btn = BigButton(tr("default model"))
     default_btn.set_click_callback(self._select_default)
     folder_buttons.append(default_btn)
 
     for folder in sorted(folders.keys(), key=lambda f: max((bundle.index for bundle in folders[f]), default=-1), reverse=True):
-      if folder.lower() in ["release models", "master models"]:
+      if folder.lower() in ["release models", "master models", "favorites"]:
         btn = BigButton(folder.lower())
         btn.set_click_callback(lambda f=folder: self._select_folder(f))
-        folder_buttons.append(btn)
+        if folder.lower() == "favorites":
+          folder_buttons.insert(0, btn)
+        else:
+          folder_buttons.append(btn)
     self._show_selection_view(folder_buttons, self._reset_main_view)
 
   def _select_model(self, bundle):
@@ -72,7 +121,10 @@ def _select_default(self):
     self._reset_main_view()
 
   def _select_folder(self, folder_name):
-    folders = self._get_grouped_bundles()
+    favs = ui_state.params.get("ModelManager_Favs")
+    favorites = set(favs.split(';')) if favs else set()
+
+    folders = self._get_grouped_bundles(favorites)
     bundles = sorted(folders.get(folder_name, []), key=lambda b: b.index, reverse=True)
 
     btns = []
@@ -86,29 +138,62 @@ def _select_folder(self, folder_name):
   def _reset_main_view(self):
     self._scroller._items = self.main_items
     self.set_back_callback(self.original_back_callback)
-    if self.focused_widget and self.focused_widget in self.main_items:
-      x = self._scroller._pad
-      for item in self.main_items:
-        if not item.is_visible:
-          continue
-        if item == self.focused_widget:
-          break
-        x += item.rect.width + self._scroller._spacing
-      self._scroller.scroll_panel.set_offset(0)
-      self._scroller.scroll_to(x)
-      self.focused_widget = None
-    else:
-      self._scroller.scroll_panel.set_offset(0)
+    self._scroller.scroll_panel.set_offset(0)
+    self._scroller.scroll_to(0)
+
+  def hide_event(self):
+    super().hide_event()
+    if self._was_downloading:
+      device.set_override_interactive_timeout(None)
+      self._was_downloading = False
 
   def _update_state(self):
     super()._update_state()
 
+    self.select_model_btn.set_enabled(ui_state.is_offroad())
+    self.cancel_download_btn.set_visible(False)
+    self.current_model_info.current_model_header._shimmer = False
+    self.current_model_info.info_header._shimmer = False
+
     manager = self.model_manager
-    if manager.selectedBundle and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading:
-      self.current_model_btn.set_value("downloading...")
+    self._download_frame += 1
+    should_update = self._download_frame % (gui_app.target_fps / 2) == 0
+    if should_update:
+      self._download_progress = self._download_progress + "." if len(self._download_progress) < 3 else ""
+
+    is_downloading = (manager.selectedBundle
+                      and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading)
+    if self._was_downloading and not is_downloading:
+      device.set_override_interactive_timeout(None)
+    self._was_downloading = is_downloading
+
+    self.current_model_info.current_model_header.set_text(tr("active model"))
+    self.current_model_info.current_model_text.set_text(manager.activeBundle.displayName.lower() if manager.activeBundle.index > 0 else tr("default model"))
+    self.current_model_info.info_header.set_text(tr("cache size"))
+    self.current_model_info.info_text.set_text(f"{ModelsLayout.calculate_cache_size():.2f} MB")
+
+    if manager.selectedBundle and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.failed:
+      self.current_model_info.info_header.set_text(tr("error") + self._download_progress)
+      self.current_model_info.info_text.set_text(tr("download failed"))
+
+    elif manager.selectedBundle and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading:
       self.cancel_download_btn.set_visible(True)
-    else:
-      self.current_model_btn.set_value(manager.activeBundle.internalName.lower() if manager.activeBundle else tr("default model"))
-      self.cancel_download_btn.set_visible(False)
-    self.current_model_btn.set_enabled(ui_state.is_offroad())
-    self.current_model_btn.set_text(tr("current model"))
+      device.set_override_interactive_timeout(5)
+      progress = 0.0
+      count = 0
+      for model in manager.selectedBundle.models:
+        count += 1
+        p = model.artifact.downloadProgress
+        if p.status == custom.ModelManagerSP.DownloadStatus.downloading:
+          progress += p.progress
+        elif p.status in (custom.ModelManagerSP.DownloadStatus.downloaded,
+                          custom.ModelManagerSP.DownloadStatus.cached):
+          progress += 100.0
+
+      self.current_model_info.current_model_header.set_text(tr("downloading"))
+      self.current_model_info.current_model_header._shimmer = True
+      self.current_model_info.current_model_text.set_text(f"{manager.selectedBundle.internalName.lower()}")
+      self.current_model_info.info_header.set_text(tr("progress") + self._download_progress)
+      self.current_model_info.info_header._shimmer = True
+      self.current_model_info.info_text.set_text(f"{progress/count:.2f}%")
+

From 6102aedf05abaa30d92dcdf84e85df4f368ae66e Mon Sep 17 00:00:00 2001
From: David <49467229+TheSecurityDev@users.noreply.github.com>
Date: Tue, 14 Apr 2026 16:56:39 -0400
Subject: [PATCH 0892/1434] [TIZI/TICI] ui: fix unintended selection while
 scrolling in TreeOptionDialog (#1763)

* fix: enable touch validation for visible items in TreeOptionDialog during scrolling

* rebuild scroller and call add_widget instead

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 system/ui/sunnypilot/widgets/tree_dialog.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/system/ui/sunnypilot/widgets/tree_dialog.py b/system/ui/sunnypilot/widgets/tree_dialog.py
index c34db092e8e391..69233b803d7509 100644
--- a/system/ui/sunnypilot/widgets/tree_dialog.py
+++ b/system/ui/sunnypilot/widgets/tree_dialog.py
@@ -198,7 +198,10 @@ def _build_visible_items(self, reset_scroll=True):
 
     self.option_buttons = self.visible_items
     self.options = [item.text for item in self.visible_items]
-    self.scroller._items = self.visible_items
+    # Rebuild scroller items to ensure proper setup of touch callbacks
+    self.scroller._items.clear()
+    for item in self.option_buttons:
+      self.scroller.add_widget(item)
     if reset_scroll:
       self.scroller.scroll_panel.set_offset(0)
 

From fd590b206e411683c3eda4a3cec848b14f32ec07 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Tue, 14 Apr 2026 14:23:15 -0700
Subject: [PATCH 0893/1434] tools: script for video concatenation (#1613)

* tools: script for video concatenation

* more

* final

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/tools/pull_footage.py | 136 +++++++++++++++++++++++++++++++
 1 file changed, 136 insertions(+)
 create mode 100755 sunnypilot/tools/pull_footage.py

diff --git a/sunnypilot/tools/pull_footage.py b/sunnypilot/tools/pull_footage.py
new file mode 100755
index 00000000000000..9964ef5769021a
--- /dev/null
+++ b/sunnypilot/tools/pull_footage.py
@@ -0,0 +1,136 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import argparse
+import os
+import shutil
+import subprocess
+import sys
+import requests
+from openpilot.tools.lib.route import Route
+
+
+def get_segments(source, route_id, camera, seg_range):
+  if "@" in source or "comma-" in source or "sunny-" in source:  # SSH
+    if not route_id:
+      raise ValueError("route_id required for SSH")
+    cmd = ["ssh", source, f"ls -d /data/media/0/realdata/{route_id.split('--')[0]}--*"]
+    output = subprocess.check_output(cmd, stderr=subprocess.DEVNULL).decode("utf-8").strip()
+    return [{
+      "type": "ssh",
+      "host": source,
+      "src": os.path.join(path, camera),
+      "num": int(path.split("--")[-1])
+    } for path in sorted(output.split("\n"), key=lambda x: int(x.split("--")[-1])) if path]
+  else:  # URL
+    route = Route(route_id)
+    cameras = [camera]
+    if camera == "fcamera.hevc":
+      cameras.extend([c for c in ["ecamera.hevc", "qcamera.ts"] if c != camera])
+
+    for cam in cameras:
+      attr_name = "camera_paths" if cam == "fcamera.hevc" else f"{cam.split('.')[0]}_paths"
+      paths = getattr(route, attr_name)()
+      if any(paths):
+        return [{"type": "url", "src": url, "num": idx, "cam": cam} for idx, url in enumerate(paths) if url]
+
+    raise ValueError(f"No footage found for {route_id}")
+
+
+def download(job, out_dir):
+  destination = os.path.join(out_dir, f"{job['num']}_{os.path.basename(job.get('cam', job.get('src')))}")
+  if os.path.exists(destination) and os.path.getsize(destination) > 0:
+    return destination
+
+  print(f"Downloading segment {job['num']}")
+  if job["type"] == "ssh":
+    subprocess.check_call(["scp", f"{job['host']}:{job['src']}", destination])
+  else:
+    with requests.get(job["src"], stream=True) as r:
+      r.raise_for_status()
+      with open(destination, 'wb') as f:
+        shutil.copyfileobj(r.raw, f)
+  return destination
+
+
+def mux(files, output_file, codec):
+  list_filename = f"{output_file}.list.txt"
+  with open(list_filename, 'w') as f:
+    f.write('\n'.join([f"file '{os.path.abspath(name)}'" for name in files]))
+
+  try:
+    cmd = [
+      "ffmpeg", "-y", "-probesize", "100M", "-analyzeduration", "100M", "-f", "concat",
+      "-safe", "0", "-r", "20", "-i", list_filename, "-c", "copy", "-tag:v", codec, output_file
+    ]
+    subprocess.check_call(cmd)
+    print(f"Saved: {output_file} ({os.path.getsize(output_file) / 1048576:.2f} MB)")
+    if sys.platform == "darwin":
+      subprocess.run(["open", "-R", output_file])
+  finally:
+    if os.path.exists(list_filename):
+      os.remove(list_filename)
+
+
+def main():
+  parser = argparse.ArgumentParser()
+  parser.add_argument("source")
+  parser.add_argument("route_id", nargs='?')
+  parser.add_argument("--output", "-o", default="output.mp4")
+  parser.add_argument("--camera", "-c", default="fcamera.hevc")
+  parser.add_argument("--keep-segments", action="store_true")
+  args = parser.parse_args()
+
+  try:
+    route_id_str = args.route_id or args.source
+    segment_range = None
+    if "/" in route_id_str:
+      route_id_str, range_str = route_id_str.rsplit("/", 1)
+      if ":" in range_str or range_str.isdigit():
+        segment_range = range_str
+
+    is_ssh = "@" in args.source or "comma-" in args.source or "sunny-" in args.source
+    if not is_ssh and len(route_id_str.split("--")) > 2:
+      route_id_str = "--".join(route_id_str.split("--")[:2])
+
+    segments = get_segments(args.source, route_id_str, args.camera, segment_range)
+    if segment_range:
+      if ":" in segment_range:
+        parts = segment_range.split(":")
+        start_idx = int(parts[0]) if parts[0] else None
+        end_idx = int(parts[1]) if parts[1] else None
+      else:
+        start_idx = int(segment_range)
+        end_idx = start_idx + 1
+
+      segments = [
+        segment for segment in segments
+        if (start_idx is None or segment['num'] >= start_idx) and (end_idx is None or segment['num'] < end_idx)
+      ]
+
+    download_dir = f"{route_id_str}_segments"
+    os.makedirs(download_dir, exist_ok=True)
+
+    downloaded_files = sorted(
+      [download(segment, download_dir) for segment in segments],
+      key=lambda x: int(os.path.basename(x).split("_")[0])
+    )
+
+    camera_name = segments[0].get('cam', args.camera)
+    codec = "hvc1" if camera_name.endswith("hevc") else "avc1"
+    mux(downloaded_files, f"{route_id_str}--{args.output}", codec)
+
+    if not args.keep_segments:
+      shutil.rmtree(download_dir)
+
+  except Exception as e:
+    print(f"Error: {e}")
+    sys.exit(1)
+
+
+if __name__ == "__main__":
+  main()

From d204d626bd7ac79c060242614a02639cf10383dd Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 14 Apr 2026 14:53:49 -0700
Subject: [PATCH 0894/1434] jp: skip unparsable messages (#37816)

---
 tools/jotpluggler/app.h            |   2 +-
 tools/jotpluggler/runtime.cc       |   4 +-
 tools/jotpluggler/sketch_layout.cc | 130 +++++++++++++++++------------
 3 files changed, 79 insertions(+), 57 deletions(-)

diff --git a/tools/jotpluggler/app.h b/tools/jotpluggler/app.h
index 71f71f2d9f375b..55f6d3ef9f6513 100644
--- a/tools/jotpluggler/app.h
+++ b/tools/jotpluggler/app.h
@@ -378,7 +378,7 @@ class StreamAccumulator {
   StreamAccumulator &operator=(const StreamAccumulator &) = delete;
 
   void setDbcName(const std::string &dbc_name);
-  void appendEvent(cereal::Event::Which which, kj::ArrayPtr<const capnp::word> data);
+  void appendEvent(kj::ArrayPtr<const capnp::word> data);
   void appendCanFrames(CanServiceKind service, const std::vector<LiveCanFrame> &frames);
   StreamExtractBatch takeBatch();
   const std::string &carFingerprint() const;
diff --git a/tools/jotpluggler/runtime.cc b/tools/jotpluggler/runtime.cc
index 47344c5519a857..6eb2be80e8ec90 100644
--- a/tools/jotpluggler/runtime.cc
+++ b/tools/jotpluggler/runtime.cc
@@ -598,9 +598,7 @@ struct StreamPoller::Impl {
           }
           kj::ArrayPtr<const capnp::word> data(reinterpret_cast<const capnp::word *>(msg->getData()),
                                                size / sizeof(capnp::word));
-          capnp::FlatArrayMessageReader event_reader(data);
-          const cereal::Event::Reader event = event_reader.getRoot<cereal::Event>();
-          accumulator->appendEvent(event.which(), data);
+          accumulator->appendEvent(data);
           received_messages.fetch_add(1);
         }
       }
diff --git a/tools/jotpluggler/sketch_layout.cc b/tools/jotpluggler/sketch_layout.cc
index bc110b534f4758..fd15e3d91642cf 100644
--- a/tools/jotpluggler/sketch_layout.cc
+++ b/tools/jotpluggler/sketch_layout.cc
@@ -3,6 +3,7 @@
 #include "tools/jotpluggler/common.h"
 
 #include <capnp/dynamic.h>
+#include <kj/exception.h>
 
 #include <chrono>
 #include <cmath>
@@ -205,6 +206,18 @@ struct LoadStats {
   mutable std::mutex progress_mutex;
 };
 
+// Skip individual messages that our local Cap'n Proto schema can't project,
+// such as logs recorded by a newer build.
+template <typename Fn>
+void with_parseable_event(kj::ArrayPtr<const capnp::word> data, Fn &&fn) {
+  try {
+    capnp::FlatArrayMessageReader event_reader(data);
+    fn(event_reader.getRoot<cereal::Event>());
+  } catch (const kj::Exception &) {
+    return;
+  }
+}
+
 std::string curve_label(std::string_view series_name) {
   return std::string(series_name.empty() ? std::string_view{"plot"} : series_name);
 }
@@ -666,11 +679,11 @@ std::vector<TimelineEntry> extract_segment_timeline(const std::vector<Event> &ev
     if (event_record.which != cereal::Event::Which::SELFDRIVE_STATE) {
       continue;
     }
-    capnp::FlatArrayMessageReader event_reader(event_record.data);
-    const cereal::Event::Reader event = event_reader.getRoot<cereal::Event>();
-    const auto sd = event.getSelfdriveState();
-    const double mono_time = static_cast<double>(event.getLogMonoTime()) / 1.0e9;
-    append_timeline_entry(&timeline, mono_time, alert_status_to_timeline_type(sd.getAlertStatus(), sd.getEnabled()));
+    with_parseable_event(event_record.data, [&](const cereal::Event::Reader &event) {
+      const auto sd = event.getSelfdriveState();
+      const double mono_time = static_cast<double>(event.getLogMonoTime()) / 1.0e9;
+      append_timeline_entry(&timeline, mono_time, alert_status_to_timeline_type(sd.getAlertStatus(), sd.getEnabled()));
+    });
   }
 
   return timeline;
@@ -682,9 +695,9 @@ std::vector<LogEntry> extract_segment_logs(const std::vector<Event> &events) {
   std::string last_alert_key;
 
   for (const Event &event_record : events) {
-    capnp::FlatArrayMessageReader event_reader(event_record.data);
-    const cereal::Event::Reader event = event_reader.getRoot<cereal::Event>();
-    append_log_event(event_record.which, event, 0.0, &logs, &last_alert_key);
+    with_parseable_event(event_record.data, [&](const cereal::Event::Reader &event) {
+      append_log_event(event_record.which, event, 0.0, &logs, &last_alert_key);
+    });
   }
 
   return logs;
@@ -694,9 +707,9 @@ RouteMetadata extract_segment_metadata(const std::vector<Event> &events) {
   RouteMetadata metadata;
   for (const Event &event_record : events) {
     if (event_record.which != cereal::Event::Which::CAR_PARAMS) continue;
-    capnp::FlatArrayMessageReader event_reader(event_record.data);
-    const cereal::Event::Reader event = event_reader.getRoot<cereal::Event>();
-    metadata.car_fingerprint = event.getCarParams().getCarFingerprint().cStr();
+    with_parseable_event(event_record.data, [&](const cereal::Event::Reader &event) {
+      metadata.car_fingerprint = event.getCarParams().getCarFingerprint().cStr();
+    });
     if (!metadata.car_fingerprint.empty()) break;
   }
   return metadata;
@@ -1263,24 +1276,20 @@ void append_fast_node(const ResolvedNode &node,
   }
 }
 
-void append_event_fast(cereal::Event::Which which,
-                       int32_t eidx_segnum,
-                       kj::ArrayPtr<const capnp::word> data,
-                       const SchemaIndex &schema,
-                       const dbc::Database *can_dbc,
-                       bool skip_raw_can,
-                       double time_offset,
-                       SeriesAccumulator *series) {
-  if (eidx_segnum != -1) {
-    return;
-  }
+void append_event_fast_reader(cereal::Event::Which which,
+                              const cereal::Event::Reader &event,
+                              const SchemaIndex &schema,
+                              const dbc::Database *can_dbc,
+                              bool skip_raw_can,
+                              double time_offset,
+                              SeriesAccumulator *series) {
   const uint16_t which_index = static_cast<uint16_t>(which);
   if (which_index >= schema.by_which.size() || !schema.by_which[which_index].has_value()) {
     return;
   }
   const ResolvedService &service = *schema.by_which[which_index];
-  capnp::FlatArrayMessageReader event_reader(data);
-  const cereal::Event::Reader event = event_reader.getRoot<cereal::Event>();
+  const capnp::DynamicStruct::Reader dynamic_event(event);
+  const capnp::DynamicValue::Reader payload = dynamic_event.get(service.union_field);
   const double tm = static_cast<double>(event.getLogMonoTime()) / 1.0e9 - time_offset;
   append_fixed_scalar_point(&series->fixed_series[static_cast<size_t>(service.valid_slot)],
                             tm,
@@ -1329,8 +1338,23 @@ void append_event_fast(cereal::Event::Which which,
     }
   }
 
-  const capnp::DynamicStruct::Reader dynamic_event(event);
-  append_fast_node(service.payload, dynamic_event.get(service.union_field), tm, series);
+  append_fast_node(service.payload, payload, tm, series);
+}
+
+void append_event_fast(cereal::Event::Which which,
+                       int32_t eidx_segnum,
+                       kj::ArrayPtr<const capnp::word> data,
+                       const SchemaIndex &schema,
+                       const dbc::Database *can_dbc,
+                       bool skip_raw_can,
+                       double time_offset,
+                       SeriesAccumulator *series) {
+  if (eidx_segnum != -1) {
+    return;
+  }
+  with_parseable_event(data, [&](const cereal::Event::Reader &event) {
+    append_event_fast_reader(which, event, schema, can_dbc, skip_raw_can, time_offset, series);
+  });
 }
 
 void append_events_fast_range(const std::vector<Event> &events,
@@ -2008,35 +2032,35 @@ void StreamAccumulator::setDbcName(const std::string &dbc_name) {
   impl_->refresh_dbc();
 }
 
-void StreamAccumulator::appendEvent(cereal::Event::Which which, kj::ArrayPtr<const capnp::word> data) {
-  capnp::FlatArrayMessageReader event_reader(data);
-  const cereal::Event::Reader event = event_reader.getRoot<cereal::Event>();
-  const double boot_time = static_cast<double>(event.getLogMonoTime()) / 1.0e9;
-  if (!impl_->time_offset.has_value()) {
-    impl_->time_offset = boot_time;
-  }
-  if (which == cereal::Event::Which::CAR_PARAMS) {
-    const std::string fingerprint = event.getCarParams().getCarFingerprint().cStr();
-    if (!fingerprint.empty() && fingerprint != impl_->car_fingerprint) {
-      impl_->car_fingerprint = fingerprint;
-      impl_->refresh_dbc();
+void StreamAccumulator::appendEvent(kj::ArrayPtr<const capnp::word> data) {
+  with_parseable_event(data, [&](const cereal::Event::Reader &event) {
+    const cereal::Event::Which which = event.which();
+    const double boot_time = static_cast<double>(event.getLogMonoTime()) / 1.0e9;
+    if (!impl_->time_offset.has_value()) {
+      impl_->time_offset = boot_time;
+    }
+    if (which == cereal::Event::Which::CAR_PARAMS) {
+      const std::string fingerprint = event.getCarParams().getCarFingerprint().cStr();
+      if (!fingerprint.empty() && fingerprint != impl_->car_fingerprint) {
+        impl_->car_fingerprint = fingerprint;
+        impl_->refresh_dbc();
+      }
     }
-  }
 
-  append_event_fast(which,
-                    -1,
-                    data,
-                    impl_->schema,
-                    impl_->can_dbc ? &*impl_->can_dbc : nullptr,
-                    true,
-                    *impl_->time_offset,
-                    &impl_->series);
-  append_log_event(which, event, *impl_->time_offset, &impl_->logs, &impl_->last_alert_key);
-  if (which == cereal::Event::Which::SELFDRIVE_STATE) {
-    const auto sd = event.getSelfdriveState();
-    append_timeline_entry(&impl_->timeline, boot_time - *impl_->time_offset,
-                          alert_status_to_timeline_type(sd.getAlertStatus(), sd.getEnabled()));
-  }
+    append_event_fast_reader(which,
+                             event,
+                             impl_->schema,
+                             impl_->can_dbc ? &*impl_->can_dbc : nullptr,
+                             true,
+                             *impl_->time_offset,
+                             &impl_->series);
+    append_log_event(which, event, *impl_->time_offset, &impl_->logs, &impl_->last_alert_key);
+    if (which == cereal::Event::Which::SELFDRIVE_STATE) {
+      const auto sd = event.getSelfdriveState();
+      append_timeline_entry(&impl_->timeline, boot_time - *impl_->time_offset,
+                            alert_status_to_timeline_type(sd.getAlertStatus(), sd.getEnabled()));
+    }
+  });
 }
 
 void StreamAccumulator::appendCanFrames(CanServiceKind service, const std::vector<LiveCanFrame> &frames) {

From f70a156c7e608e57024b37eb6c639a1f2328a570 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 14 Apr 2026 16:35:34 -0700
Subject: [PATCH 0895/1434] docs: fix invalid img tags in car docs (#37828)

---
 docs/CARS.md                       | 134 ++++++++++++++---------------
 selfdrive/car/CARS_template.md     |   2 +-
 selfdrive/debug/print_docs_diff.py |   2 +-
 3 files changed, 69 insertions(+), 69 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index cceff62cd92b2e..f50ed2a7ef511c 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -22,7 +22,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
 |Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
 |Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
@@ -32,34 +32,34 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2021-23">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
-|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |CUPRA[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
-|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
 |Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
 |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2022">Buy Here</a></sub></details>|||
 |Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2023-24">Buy Here</a></sub></details>|||
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2022">Buy Here</a></sub></details>|||
 |Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
-|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2018">Buy Here</a></sub></details>|||
 |Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2019-21">Buy Here</a></sub></details>|||
 |Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2022-23">Buy Here</a></sub></details>|||
@@ -74,18 +74,18 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV70 Electrified (Australia Only) 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>|||
 |Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
 |Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
@@ -117,9 +117,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Custin 2023">Buy Here</a></sub></details>|||
 |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2017-18">Buy Here</a></sub></details>|||
 |Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2019">Buy Here</a></sub></details>|||
-|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
-|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
@@ -135,17 +135,17 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
-|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
 |Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
-|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2018-19">Buy Here</a></sub></details>|||
-|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Hyundai|Staria 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Staria 2023">Buy Here</a></sub></details>|||
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2021">Buy Here</a></sub></details>|||
@@ -155,8 +155,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Tucson Hybrid 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
@@ -169,10 +169,10 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Kia|K7 2017|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K7 2017">Buy Here</a></sub></details>|||
 |Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
-|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Niro EV (with HDA II) 2024-25|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2024-25">Buy Here</a></sub></details>|||
 |Kia|Niro EV (without HDA II) 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (without HDA II) 2023-25">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2018|Smart Cruise Control (SCC)|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2018">Buy Here</a></sub></details>|||
@@ -187,21 +187,21 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2019-20">Buy Here</a></sub></details>|||
 |Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos 2021">Buy Here</a></sub></details>|||
-|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Sorento 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2021-23">Buy Here</a></sub></details>|||
 |Kia|Sorento Hybrid 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Hybrid 2021-23">Buy Here</a></sub></details>|||
 |Kia|Sorento Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
 |Kia|Sportage 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
 |Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
-|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
 |Lexus|ES Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus GS F 2016">Buy Here</a></sub></details>|||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2017-19">Buy Here</a></sub></details>|||
 |Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2022-24">Buy Here</a></sub></details>|||
@@ -222,30 +222,30 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
-|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
 |Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
-|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
 |SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
 |SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
 |Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Å koda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
 |Å koda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
@@ -272,50 +272,50 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>|||
 |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>|||
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Highlander 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Highlander 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2020-23">Buy Here</a></sub></details>|||
 |Toyota|Highlander Hybrid 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
 |Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Mirai 2021">Buy Here</a></sub></details>|||
-|Toyota|Prius 2016|Toyota Safety Sense P|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius Prime 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius 2016|Toyota Safety Sense P|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Prius 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Prius Prime 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Prius v 2017|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius v 2017">Buy Here</a></sub></details>|||
 |Toyota|RAV4 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2016">Buy Here</a></sub></details>|||
 |Toyota|RAV4 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2017-18">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2022">Buy Here</a></sub></details>|||
 |Toyota|RAV4 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2023-25">Buy Here</a></sub></details>|||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|RAV4 Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|RAV4 Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2019-21">Buy Here</a></sub></details>|||
-|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
@@ -324,7 +324,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
 |Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index cd352b2edeb15e..bc335b6bd3312b 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -1,6 +1,6 @@
 {% set footnote_tag = '[<sup>{}</sup>](#footnotes)' %}
 {% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' %}
-{% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>' %}
+{% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>' %}
 {# Force hardware column wider by using a blank image with max width. #}
 {% set width_tag = '<a href="##"><img width=2000></a>%s<br>&nbsp;' %}
 {% set hardware_col_name = 'Hardware Needed' %}
diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py
index 388acf3af58020..c7850939f073a2 100755
--- a/selfdrive/debug/print_docs_diff.py
+++ b/selfdrive/debug/print_docs_diff.py
@@ -11,7 +11,7 @@
 STAR_ICON = '<a href="##"><img valign="top" ' + \
             'src="https://media.githubusercontent.com/media/commaai/openpilot/master/docs/assets/icon-star-{}.svg" width="22" /></a>'
 VIDEO_ICON = '<a href="{}" target="_blank">' + \
-             '<img height="18px" src="https://media.githubusercontent.com/media/commaai/openpilot/master/docs/assets/icon-youtube.svg"></img></a>'
+             '<img height="18px" src="https://media.githubusercontent.com/media/commaai/openpilot/master/docs/assets/icon-youtube.svg" /></a>'
 COLUMNS = "|" + "|".join([column.value for column in Column]) + "|"
 COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3)))
 ARROW_SYMBOL = "➡�"

From 613d13bbfbc539b70ea442020ca2ce614a37e105 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Tue, 14 Apr 2026 17:07:15 -0700
Subject: [PATCH 0896/1434] tools: profile memory usage (#1622)

* tools: profile memory usage

* final

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/tools/__init__.py                  |   0
 sunnypilot/tools/memory_profiler/__init__.py  |   0
 sunnypilot/tools/memory_profiler/mem_usage.py | 164 ++++++++++++++++++
 3 files changed, 164 insertions(+)
 create mode 100644 sunnypilot/tools/__init__.py
 create mode 100644 sunnypilot/tools/memory_profiler/__init__.py
 create mode 100644 sunnypilot/tools/memory_profiler/mem_usage.py

diff --git a/sunnypilot/tools/__init__.py b/sunnypilot/tools/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/tools/memory_profiler/__init__.py b/sunnypilot/tools/memory_profiler/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/sunnypilot/tools/memory_profiler/mem_usage.py b/sunnypilot/tools/memory_profiler/mem_usage.py
new file mode 100644
index 00000000000000..20b4bb2d0f77a9
--- /dev/null
+++ b/sunnypilot/tools/memory_profiler/mem_usage.py
@@ -0,0 +1,164 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import matplotlib.pyplot as plt
+import os
+import sys
+import argparse
+import numpy as np
+import base64
+import io
+
+from openpilot.tools.lib.logreader import LogReader, ReadMode
+
+
+def extract_mem_cpu_data(lr):
+  times, mems, cpus = [], [], []
+  start_time = None
+
+  for msg in lr:
+    if msg.which() == 'procLog':
+      if start_time is None:
+        start_time = msg.logMonoTime
+      mem = msg.procLog.mem
+      mem_usage = (mem.total - mem.available) / mem.total * 100
+      cpu_usages = [(total - cpu.idle) / total * 100 for cpu in msg.procLog.cpuTimes
+                    if (total := cpu.idle + cpu.user + cpu.system + cpu.nice + cpu.iowait + cpu.irq + cpu.softirq) > 0]
+      avg_cpu = sum(cpu_usages) / len(cpu_usages) if cpu_usages else 0
+      times.append((msg.logMonoTime - start_time) / 1e9)
+      mems.append(mem_usage)
+      cpus.append(avg_cpu)
+  return times, mems, cpus
+
+
+def process_segment(lr):
+  return [extract_mem_cpu_data(lr)]
+
+
+def calculate_r_squared(y_true, y_pred):
+  ss_res = np.sum((y_true - y_pred) ** 2)
+  ss_tot = np.sum((y_true - np.mean(y_true)) ** 2)
+  return 1 - (ss_res / ss_tot) if ss_tot != 0 else 0
+
+
+def plot_results(segments, segment_data, route_name):
+  valid_data = [d for d in segment_data if d and d[0]]
+  if not valid_data:
+    print("No valid data to plot")
+    return
+
+  avg_mems = [np.mean(d[1]) for d in valid_data]
+  avg_cpus = [np.mean(d[2]) for d in valid_data]
+  valid_segments = [segments[i] for i, d in enumerate(segment_data) if d and d[0]]
+
+  height = max(10, 5 + len(valid_segments) * 0.4)
+  fig1, ax1 = plt.subplots(1, 1, figsize=(12, height), dpi=150)
+
+  y_pos = range(len(valid_segments))
+  ax1.barh([y - 0.2 for y in y_pos], avg_mems, height=0.4, color="dodgerblue", alpha=0.8, label="Avg Mem %")
+  ax1.barh([y + 0.2 for y in y_pos], avg_cpus, height=0.4, color="green", alpha=0.8, label="Avg CPU %")
+
+  for i, (mem, cpu) in enumerate(zip(avg_mems, avg_cpus, strict=True)):
+    ax1.text(mem, i - 0.2, f"{mem:.1f}%", va="center", fontsize=8, color="#005a9e", fontweight="bold")
+    ax1.text(cpu, i + 0.2, f"{cpu:.1f}%", va="center", fontsize=8, color="#005a9e", fontweight="bold")
+
+  ax1.set_yticks(y_pos)
+  ax1.set_yticklabels([f"Seg {s}" for s in valid_segments])
+  ax1.set_xlabel("Usage (%)")
+  ax1.set_title("Average Memory and CPU Usage by Segment")
+  ax1.legend()
+  ax1.grid(axis="x", linestyle="--", alpha=0.5)
+  ax1.invert_yaxis()
+
+  fig2, ax2 = plt.subplots(1, 1, figsize=(12, 8), dpi=150)
+  combined_times, combined_mems, combined_cpus = [], [], []
+  time_offset = 0.0
+  for times, mems, cpus in valid_data:
+    if times:
+      combined_times.extend([t + time_offset for t in times])
+      combined_mems.extend(mems)
+      combined_cpus.extend(cpus)
+      time_offset += max(times)
+
+  ax2.plot(combined_times, combined_mems, color="red", label="Memory Usage", alpha=0.6)
+  ax2.plot(combined_times, combined_cpus, color="blue", label="CPU Usage", alpha=0.6)
+
+  warmup_sec = 60
+  if len(combined_times) > 1 and combined_times[-1] > warmup_sec:
+    mask = np.array(combined_times) > warmup_sec
+    x_reg = np.array(combined_times)[mask]
+
+    y_mem_reg = np.array(combined_mems)[mask]
+    slope_mem, intercept_mem = np.polyfit(x_reg, y_mem_reg, 1)
+    trend_mem = slope_mem * x_reg + intercept_mem
+    r2_mem = calculate_r_squared(y_mem_reg, trend_mem)
+    ax2.plot(x_reg, trend_mem, color="darkred", linestyle="--", linewidth=2.5,
+             label=f"Mem Trend (Slope: {slope_mem:.4f} %/s, R²: {r2_mem:.2f})")
+
+    y_cpu_reg = np.array(combined_cpus)[mask]
+    slope_cpu, intercept_cpu = np.polyfit(x_reg, y_cpu_reg, 1)
+    trend_cpu = slope_cpu * x_reg + intercept_cpu
+    r2_cpu = calculate_r_squared(y_cpu_reg, trend_cpu)
+    ax2.plot(x_reg, trend_cpu, color="navy", linestyle="--", linewidth=2.5,
+             label=f"CPU Trend (Slope: {slope_cpu:.4f} %/s, R²: {r2_cpu:.2f})")
+
+  ax2.set_xlabel("Time (s)")
+  ax2.set_ylabel("Usage (%)")
+  ax2.set_title("Memory and CPU Usage Over Time")
+  ax2.legend(loc='lower left', fontsize='small', framealpha=0.9)
+  ax2.grid(True, linestyle="--", alpha=0.5)
+
+  buffer1 = io.BytesIO()
+  fig1.savefig(buffer1, format='webp', bbox_inches='tight', pad_inches=1.0)
+  buffer1.seek(0)
+  img1 = base64.b64encode(buffer1.getvalue()).decode()
+
+  buffer2 = io.BytesIO()
+  fig2.savefig(buffer2, format='webp', bbox_inches='tight', pad_inches=1.0)
+  buffer2.seek(0)
+  img2 = base64.b64encode(buffer2.getvalue()).decode()
+
+  filename = f"memory_usage_{route_name}.html"
+  save_path = os.path.join(os.path.dirname(__file__), "plots", filename)
+  os.makedirs(os.path.dirname(save_path), exist_ok=True)
+
+  html_template = (
+    "<style>body{font-family:Arial,sans-serif;margin:20px}" +
+    "h1,h2,h3{text-align:center;margin:5px 0}h2{margin-bottom:10px}" +
+    "img{width:100%;max-width:800px;height:auto;display:block;margin:0 auto}</style>" +
+    f"<h1>Memory Profile Report</h1><h3>Route: {route_name.replace('_', '/')}</h3>" +
+    f"<img src='data:image/webp;base64,{img1}'>" +
+    f"<img src='data:image/webp;base64,{img2}'>"
+  )
+
+  plt.close(fig1)
+  plt.close(fig2)
+
+  with open(save_path, "w") as f:
+    f.write(html_template)
+
+  print(f"Report saved to {save_path}")
+
+
+def main():
+  parser = argparse.ArgumentParser(description='Extract memory usage from route logs.')
+  parser.add_argument('route_or_segment_name', help='Route or segment name from comma connect')
+  args = parser.parse_args()
+
+  try:
+    print(f"Fetching logs for {args.route_or_segment_name}")
+    lr = LogReader(args.route_or_segment_name, default_mode=ReadMode.QLOG)
+    segment_data = lr.run_across_segments(24, process_segment)
+    segments = list(range(len(segment_data)))
+    route_name = args.route_or_segment_name.replace('/', '_')
+    plot_results(segments, segment_data, route_name)
+  except Exception as e:
+    print(f"Error: {e}")
+    sys.exit(1)
+
+
+if __name__ == "__main__":
+  main()

From 3509fccec7c050c1f4758574ec5a5cdf93774e98 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 14 Apr 2026 21:44:39 -0400
Subject: [PATCH 0897/1434] [TIZI/TICI] ui: remove per-frame param sync (#1802)

* [TIZI/TICI] ui: remove per-frame param sync

* fix: prevent params.put skip in OptionControlSP by deferring mutation to set_value

The idempotent guard added in the previous commit was being bypassed because
_handle_mouse_release mutated self.current_value before calling set_value(),
making the check always return early. Now we calculate the new value and pass
it to set_value, allowing the guard to work correctly and params to persist.
---
 .../ui/sunnypilot/layouts/settings/display.py | 17 ++-------
 .../ui/sunnypilot/widgets/option_control.py   | 36 ++++++++++---------
 2 files changed, 21 insertions(+), 32 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/display.py b/selfdrive/ui/sunnypilot/layouts/settings/display.py
index acd7b52dcc0a32..8ba56636621009 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/display.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/display.py
@@ -6,12 +6,10 @@
 """
 from enum import IntEnum
 
-from openpilot.common.params import Params
-from openpilot.system.ui.sunnypilot.widgets.option_control import OptionControlSP
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp, ToggleActionSP
+from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp
 from openpilot.sunnypilot.system.params_migration import ONROAD_BRIGHTNESS_TIMER_VALUES
 
 
@@ -25,7 +23,6 @@ class DisplayLayout(Widget):
   def __init__(self):
     super().__init__()
 
-    self._params = Params()
     items = self._initialize_items()
     self._scroller = Scroller(items, line_separator=True, spacing=0)
 
@@ -87,17 +84,7 @@ def update_onroad_brightness(val):
   def _update_state(self):
     super()._update_state()
 
-    for _item in self._scroller._items:
-      if isinstance(_item.action_item, ToggleActionSP) and _item.action_item.toggle.param_key is not None:
-        _item.action_item.set_state(self._params.get_bool(_item.action_item.toggle.param_key))
-      elif isinstance(_item.action_item, OptionControlSP) and _item.action_item.param_key is not None:
-        raw_value = self._params.get(_item.action_item.param_key, return_default=True)
-        if _item.action_item.value_map:
-          reverse_map = {v: k for k, v in _item.action_item.value_map.items()}
-          raw_value = reverse_map.get(raw_value, _item.action_item.current_value)
-        _item.action_item.set_value(raw_value)
-
-    brightness_val = self._params.get("OnroadScreenOffBrightness", return_default=True)
+    brightness_val = self._onroad_brightness.action_item.current_value
     self._onroad_brightness_timer.action_item.set_enabled(brightness_val not in (OnroadBrightness.AUTO, OnroadBrightness.AUTO_DARK))
 
   def _render(self, rect):
diff --git a/system/ui/sunnypilot/widgets/option_control.py b/system/ui/sunnypilot/widgets/option_control.py
index 291d8f6ff07d2a..82126417d53f72 100644
--- a/system/ui/sunnypilot/widgets/option_control.py
+++ b/system/ui/sunnypilot/widgets/option_control.py
@@ -60,17 +60,19 @@ def get_value(self) -> int:
 
   def set_value(self, value: int):
     """Set the control to a specific value"""
-    if self.min_value <= value <= self.max_value:
-      self.current_value = value
-      if self.value_map:
-        self.params.put(self.param_key, self.value_map[value])
-      else:
-        if self.use_float_scaling:
-          self.params.put(self.param_key, value / 100.0)
-        else:
-          self.params.put(self.param_key, value)
-      if self.on_value_changed:
-        self.on_value_changed(value)
+    if not (self.min_value <= value <= self.max_value):
+      return
+    if value == self.current_value:
+      return
+    self.current_value = value
+    if self.value_map:
+      self.params.put(self.param_key, self.value_map[value])
+    elif self.use_float_scaling:
+      self.params.put(self.param_key, value / 100.0)
+    else:
+      self.params.put(self.param_key, value)
+    if self.on_value_changed:
+      self.on_value_changed(value)
 
   def get_displayed_value(self) -> str:
     """Get the displayed value, handling value mapping if present"""
@@ -157,10 +159,10 @@ def _render_value_label(self):
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     if self._minus_enabled and rl.check_collision_point_rec(mouse_pos, self.minus_btn_rect):
-      self.current_value -= self.value_change_step
-      self.current_value = max(self.min_value, self.current_value)
+      new_value = self.current_value - self.value_change_step
+      new_value = max(self.min_value, new_value)
+      self.set_value(new_value)
     elif self._plus_enabled and rl.check_collision_point_rec(mouse_pos, self.plus_btn_rect):
-      self.current_value += self.value_change_step
-      self.current_value = min(self.max_value, self.current_value)
-
-    self.set_value(self.current_value)
+      new_value = self.current_value + self.value_change_step
+      new_value = min(self.max_value, new_value)
+      self.set_value(new_value)

From e16d422cf4499c57efdb546eeda33dbd3d60304f Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Tue, 14 Apr 2026 19:13:57 -0700
Subject: [PATCH 0898/1434] body quality of life (#37803)

* turn off ir leds on notCar

* reduce startup time on notCar

* fix: check notCar once after onroad is true

* save a disk read by using existing is_onroad
---
 selfdrive/pandad/pandad.cc         | 25 +++++++++++++++++++++----
 selfdrive/selfdrived/selfdrived.py |  2 +-
 2 files changed, 22 insertions(+), 5 deletions(-)

diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index 28d459f458aed3..f0f13d32e74a5e 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -285,7 +285,7 @@ void process_panda_state(Panda *panda, PubMaster *pm, bool engaged, bool is_onro
   panda->send_heartbeat(engaged);
 }
 
-void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control) {
+void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control, bool is_onroad) {
   static Params params;
   static SubMaster sm({"deviceState", "driverCameraState"});
 
@@ -295,6 +295,8 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
   static int prev_ir_pwr = 999;
   static uint32_t prev_frame_id = UINT32_MAX;
   static bool driver_view = false;
+  static bool not_car = false;
+  static bool not_car_checked = false;
 
   // TODO: can we merge these?
   static FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
@@ -340,10 +342,25 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
       ir_pwr = 0;
     }
 
+    // turn off IR leds if body
+    if (!not_car_checked && is_onroad) {
+      std::string cp_bytes = params.get("CarParams");
+      if (cp_bytes.size() > 0) {
+        AlignedBuffer aligned_buf;
+        capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+        cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+        not_car = CP.getNotCar();
+        not_car_checked = true;
+      }
+    }
+    if (not_car) {
+      ir_pwr = 0;
+    }
+
     if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0) {
-      int16_t ir_panda = util::map_val(ir_pwr, 0, 100, 0, MAX_IR_PANDA_VAL); 
+      int16_t ir_panda = util::map_val(ir_pwr, 0, 100, 0, MAX_IR_PANDA_VAL);
       panda->set_ir_pwr(ir_panda);
-      Hardware::set_ir_power(ir_pwr); 
+      Hardware::set_ir_power(ir_pwr);
       prev_ir_pwr = ir_pwr;
     }
   }
@@ -371,7 +388,7 @@ void pandad_run(Panda *panda) {
 
     // Process peripheral state at 20 Hz
     if (rk.frame() % 5 == 0) {
-      process_peripheral_state(panda, &pm, no_fan_control);
+      process_peripheral_state(panda, &pm, no_fan_control, is_onroad);
     }
 
     // Process panda state at 10 Hz
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 6a294ca8d82786..dbc3174af74e6e 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -192,7 +192,7 @@ def update_events(self, CS):
 
       if self.CP.notCar:
         # wait for everything to init first
-        if self.sm.frame > int(5. / DT_CTRL) and self.initialized:
+        if self.sm.frame > int(2. / DT_CTRL) and self.initialized:
           # body always wants to enable
           self.events.add(EventName.pcmEnable)
 

From d5f1d8c33ad085414d3ea70914ec195ae0184da2 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Tue, 14 Apr 2026 20:18:31 -0700
Subject: [PATCH 0899/1434] fix compare_logs crash on list field size changes
 (#37829)

fix crash on list-length changes
---
 selfdrive/test/process_replay/compare_logs.py | 2 +-
 selfdrive/test/process_replay/diff_report.py  | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py
index e2d912a83394e5..4c522c9150d98f 100755
--- a/selfdrive/test/process_replay/compare_logs.py
+++ b/selfdrive/test/process_replay/compare_logs.py
@@ -76,7 +76,7 @@ def _diff_capnp_values(v1, v2, path, tolerance):
     for i in range(n):
       yield from _diff_capnp_values(v1[i], v2[i], path + (str(i),), tolerance)
     if n2 > n:
-      yield 'add', dot, list(enumerate(v2[n:], n))
+      yield 'add', dot, [(i, v2[i]) for i in range(n, n2)]
     if n1 > n:
       yield 'remove', dot, list(reversed([(i, v1[i]) for i in range(n, n1)]))
 
diff --git a/selfdrive/test/process_replay/diff_report.py b/selfdrive/test/process_replay/diff_report.py
index 32f058f8ee9c17..5da78657f48876 100644
--- a/selfdrive/test/process_replay/diff_report.py
+++ b/selfdrive/test/process_replay/diff_report.py
@@ -49,6 +49,8 @@ def diff_format(diffs, ref, new, field) -> list[str]:
   msg_type = field.split(".")[0]
   ref_ts = [(m.logMonoTime, MsgWrap(m)) for m in ref.get(msg_type, [])]
   new_wrapped = [MsgWrap(m) for m in new.get(msg_type, [])]
+  if not ref_ts or not new_wrapped:
+    return format_numeric_diffs(diffs)
   return format_diff(diffs, ref_ts, new_wrapped, field)
 
 

From 61915eb9144d8f921177341dfcd353119000e435 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Tue, 14 Apr 2026 23:36:06 -0400
Subject: [PATCH 0900/1434] [MICI] ui: always offroad (#1695)

* always offroad ui

* remove

* lint

* better

* fix sync issues

* fix sync issues

* update for upstream sync

* move it all to top settings panel

* not red

* no home screen, just buttons

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/mici/layouts/main.py             |  1 -
 .../ui/sunnypilot/mici/layouts/settings.py    | 59 ++++++++++++++++++-
 selfdrive/ui/sunnypilot/ui_state.py           |  1 +
 .../assets/icons_mici/always_offroad.png      |  3 +
 .../assets/icons_mici/disable_offroad.png     |  3 +
 5 files changed, 65 insertions(+), 2 deletions(-)
 create mode 100644 sunnypilot/selfdrive/assets/icons_mici/always_offroad.png
 create mode 100644 sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png

diff --git a/selfdrive/ui/mici/layouts/main.py b/selfdrive/ui/mici/layouts/main.py
index 2f41e1f1726b58..e7dfd34101f3e1 100644
--- a/selfdrive/ui/mici/layouts/main.py
+++ b/selfdrive/ui/mici/layouts/main.py
@@ -13,7 +13,6 @@
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
 
-
 ONROAD_DELAY = 2.5  # seconds
 
 
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/settings.py b/selfdrive/ui/sunnypilot/mici/layouts/settings.py
index 9e160521c7a529..85a782ecb70247 100644
--- a/selfdrive/ui/sunnypilot/mici/layouts/settings.py
+++ b/selfdrive/ui/sunnypilot/mici/layouts/settings.py
@@ -5,18 +5,32 @@
 See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.selfdrive.ui.mici.layouts.settings import settings as OP
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigCircleButton
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
+from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr
 
 ICON_SIZE = 70
+BIG_ICON_SIZE = 110
 
 
 class SettingsLayoutSP(OP.SettingsLayout):
   def __init__(self):
     OP.SettingsLayout.__init__(self)
 
+    device_panel = DeviceLayoutMici()
+    self._scroller._items[2].set_click_callback(lambda: gui_app.push_widget(device_panel))
+
+    self.icon_offroad_enable = gui_app.texture("../../sunnypilot/selfdrive/assets/icons_mici/always_offroad.png", BIG_ICON_SIZE,
+                                               BIG_ICON_SIZE)
+    self.icon_offroad_disable = gui_app.texture("../../sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png", BIG_ICON_SIZE,
+                                                BIG_ICON_SIZE)
+    self.icon_offroad_slider = gui_app.texture("icons_mici/settings/device/lkas.png", BIG_ICON_SIZE, BIG_ICON_SIZE)
+
     sunnylink_panel = SunnylinkLayoutMici(back_callback=gui_app.pop_widget)
     sunnylink_btn = BigButton("sunnylink", "", gui_app.texture("icons_mici/settings/developer/ssh.png", ICON_SIZE, ICON_SIZE))
     sunnylink_btn.set_click_callback(lambda: gui_app.push_widget(sunnylink_panel))
@@ -25,10 +39,53 @@ def __init__(self):
     models_btn = BigButton("models", "", gui_app.texture("../../sunnypilot/selfdrive/assets/offroad/icon_models.png", ICON_SIZE, ICON_SIZE))
     models_btn.set_click_callback(lambda: gui_app.push_widget(models_panel))
 
+    # onroad: enable button sits at the front (left of toggles)
+    self._enable_offroad_btn_onroad = BigCircleButton(self.icon_offroad_enable, red=True)
+    self._enable_offroad_btn_onroad.set_click_callback(lambda: self._handle_always_offroad(True))
+    self._enable_offroad_btn_onroad.set_visible(lambda: ui_state.started and not ui_state.always_offroad)
+
+    # offroad: enable button sits at the end (right of developer)
+    self._enable_offroad_btn_offroad = BigCircleButton(self.icon_offroad_enable, red=True)
+    self._enable_offroad_btn_offroad.set_click_callback(lambda: self._handle_always_offroad(True))
+    self._enable_offroad_btn_offroad.set_visible(lambda: not ui_state.started and not ui_state.always_offroad)
+
+    self._disable_offroad_btn = BigCircleButton(self.icon_offroad_disable, red=False)
+    self._disable_offroad_btn.set_click_callback(lambda: self._handle_always_offroad(False))
+    self._disable_offroad_btn.set_visible(lambda: ui_state.always_offroad)
+
     items = self._scroller._items.copy()
 
     items.insert(1, sunnylink_btn)
     items.insert(2, models_btn)
+
+    # front slots (only one ever visible at a time): exit-always-offroad, then enable-onroad
+    items.insert(0, self._enable_offroad_btn_onroad)
+    items.insert(0, self._disable_offroad_btn)
+    # end slot: enable-offroad (right of developer)
+    items.append(self._enable_offroad_btn_offroad)
+
     self._scroller._items.clear()
     for item in items:
       self._scroller.add_widget(item)
+
+  def _update_state(self):
+    super()._update_state()
+
+  def _handle_always_offroad(self, enable: bool):
+
+    def _set_offroad_status(status: bool):
+      if not ui_state.engaged:
+        ui_state.params.put_bool("OffroadMode", status)
+        ui_state.always_offroad = status
+
+    if not enable:
+      dlg = BigConfirmationDialog(tr("slide to exit always offroad"), self.icon_offroad_slider, red=False,
+                                  confirm_callback=lambda: _set_offroad_status(False))
+    else:
+      if ui_state.engaged:
+        gui_app.push_widget(BigDialog(tr("disengage to enable always offroad"), "", ))
+        return
+
+      dlg = BigConfirmationDialog(tr("slide to force offroad"), self.icon_offroad_slider, red=True,
+                                  confirm_callback=lambda: _set_offroad_status(True))
+    gui_app.push_widget(dlg)
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index 7766c353ad81ac..2a48e9eeef3493 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -146,6 +146,7 @@ def update_params(self) -> None:
     self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI")
     self.turn_signals = self.params.get_bool("ShowTurnSignals")
     self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
+    self.always_offroad = self.params.get_bool("OffroadMode")
 
 
 class DeviceSP:
diff --git a/sunnypilot/selfdrive/assets/icons_mici/always_offroad.png b/sunnypilot/selfdrive/assets/icons_mici/always_offroad.png
new file mode 100644
index 00000000000000..56f35669c6c2df
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/icons_mici/always_offroad.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e459241d896824f5e8207d568847acab3dedd41caae7af59d4c17e043663b0c9
+size 4035
diff --git a/sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png b/sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png
new file mode 100644
index 00000000000000..146734aafa12f1
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27a0fca872d4586f578d246890b83674cdb7ecb03f58b2b0379b4b64a5816053
+size 3908

From e78e6261ca986d3be4845de772e4105393b06f44 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Tue, 14 Apr 2026 23:19:40 -0700
Subject: [PATCH 0901/1434] Add touch zone for alerts (#37819)

* add touch zone for alerts

* adjust touch zone

* 200 px zones

* 50/30 split

* adjust zones
---
 selfdrive/ui/mici/layouts/home.py | 18 +++++++++++++++---
 selfdrive/ui/mici/layouts/main.py |  1 +
 2 files changed, 16 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index 16a40b6d4ca69e..19cca5f3589926 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -14,6 +14,8 @@
 
 HEAD_BUTTON_FONT_SIZE = 40
 HOME_PADDING = 8
+SETTINGS_ZONE_WIDTH = 280
+ALERTS_ZONE_WIDTH = 180
 
 NetworkType = log.DeviceState.NetworkType
 
@@ -112,6 +114,7 @@ class MiciHomeLayout(Widget):
   def __init__(self):
     super().__init__()
     self._on_settings_click: Callable | None = None
+    self._on_alerts_click: Callable | None = None
     self._alert_count_callback: Callable[[], int] | None = None
 
     self._last_refresh = 0
@@ -172,14 +175,23 @@ def _update_state(self):
       self._last_refresh = rl.get_time()
       self._update_params()
 
-  def set_callbacks(self, on_settings: Callable | None = None, alert_count_callback: Callable[[], int] | None = None):
+  def set_callbacks(self, on_settings: Callable | None = None, on_alerts: Callable | None = None,
+                    alert_count_callback: Callable[[], int] | None = None):
     self._on_settings_click = on_settings
+    self._on_alerts_click = on_alerts
+    self._alert_count_callback = alert_count_callback
     self._alerts_pill.set_alert_count_callback(alert_count_callback)
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     if not self._did_long_press:
-      if self._on_settings_click:
-        self._on_settings_click()
+      relative_x = mouse_pos.x - self.rect.x
+      has_alerts = self._alert_count_callback and self._alert_count_callback() > 0
+      if relative_x < SETTINGS_ZONE_WIDTH:
+        if self._on_settings_click:
+          self._on_settings_click()
+      elif has_alerts and relative_x > self.rect.width - ALERTS_ZONE_WIDTH:
+        if self._on_alerts_click:
+          self._on_alerts_click()
     self._did_long_press = False
 
   def _get_version_text(self) -> tuple[str, str, str, str] | None:
diff --git a/selfdrive/ui/mici/layouts/main.py b/selfdrive/ui/mici/layouts/main.py
index b25c4af7b2b504..0d0f6308f2304e 100644
--- a/selfdrive/ui/mici/layouts/main.py
+++ b/selfdrive/ui/mici/layouts/main.py
@@ -60,6 +60,7 @@ def __init__(self):
   def _setup_callbacks(self):
     self._home_layout.set_callbacks(
       on_settings=lambda: gui_app.push_widget(self._settings_layout),
+      on_alerts=lambda: self._scroll_to(self._alerts_layout),
       alert_count_callback=self._alerts_layout.active_alerts,
     )
     self._onroad_layout.set_click_callback(lambda: self._scroll_to(self._home_layout))

From 8b2eac4d1fd6db36aa1fe32edc6c500d9f0d64bf Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Wed, 15 Apr 2026 00:09:59 -0700
Subject: [PATCH 0902/1434] use warning as alert icon (#37832)

replace bell with warning icon
---
 selfdrive/ui/mici/layouts/home.py | 17 ++++++++++-------
 1 file changed, 10 insertions(+), 7 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index 19cca5f3589926..4bdff388b0d89b 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -8,7 +8,7 @@
 from openpilot.system.ui.widgets.layouts import HBoxLayout
 from openpilot.system.ui.widgets.icon_widget import IconWidget
 from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
-from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, DEFAULT_TEXT_COLOR
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.version import RELEASE_BRANCHES
 
@@ -31,12 +31,15 @@
 
 
 class AlertsPill(Widget):
+  ICON_OFFSET = 12
+  COUNT_OFFSET = 40
+
   def __init__(self):
     super().__init__()
     self.set_rect(rl.Rectangle(0, 0, 104, 52))
 
     self._pill_bg_txt = gui_app.texture("icons_mici/alerts_pill.png", 104, 52)
-    self._bell_txt = gui_app.texture("icons_mici/alerts_bell.png", 28, 30)
+    self._warning_txt = gui_app.texture("icons_mici/offroad_alerts/red_warning.png", 36, 36)
     self._alert_count_callback: Callable[[], int] | None = None
 
   def set_alert_count_callback(self, callback: Callable[[], int] | None):
@@ -48,13 +51,13 @@ def _render(self, _):
       pill_w, pill_h = self._pill_bg_txt.width, self._pill_bg_txt.height
       rl.draw_texture_ex(self._pill_bg_txt, rl.Vector2(self.rect.x, self.rect.y), 0.0, 1.0, rl.WHITE)
 
-      bell_x = self.rect.x + 20
-      bell_y = self.rect.y + (pill_h - self._bell_txt.height) / 2
-      rl.draw_texture_ex(self._bell_txt, rl.Vector2(bell_x, bell_y), 0.0, 1.0, DEFAULT_TEXT_COLOR)
+      warn_x = self.rect.x + self.ICON_OFFSET
+      warn_y = self.rect.y + (pill_h - self._warning_txt.height) / 2
+      rl.draw_texture_ex(self._warning_txt, rl.Vector2(warn_x, warn_y), 0.0, 1.0, rl.WHITE)
 
-      count_rect = rl.Rectangle(self.rect.x, self.rect.y, pill_w - 20, pill_h)
+      count_rect = rl.Rectangle(self.rect.x + self.COUNT_OFFSET, self.rect.y, pill_w - self.COUNT_OFFSET, pill_h)
       gui_label(count_rect, str(alert_count), font_size=36,
-                alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
+                alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
                 alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
 
 

From 1276452cfc76fb1a14b94993680db68ffd02a866 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Wed, 15 Apr 2026 00:15:57 -0700
Subject: [PATCH 0903/1434] add blocked-startup offroad label (#37833)

add blocked-startup offroad label
---
 selfdrive/ui/mici/onroad/augmented_road_view.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index 09d5d57fbbae3f..63e976caee7ac1 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -174,6 +174,8 @@ def _update_state(self):
     # update offroad label
     if ui_state.panda_type == log.PandaState.PandaType.unknown:
       self._offroad_label.set_text("system booting")
+    elif ui_state.ignition and not ui_state.started:
+      self._offroad_label.set_text("openpilot can't start\ncheck alerts")
     else:
       self._offroad_label.set_text("start the car to\nuse openpilot")
 

From 00b7c8e8ad5502fe76a24d649203ab2bed0a1813 Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Wed, 15 Apr 2026 09:44:28 -0700
Subject: [PATCH 0904/1434] esim: implement ES9P HTTP and notification
 processing (#37807)

---
 pyproject.toml                          |   2 +-
 system/hardware/base.py                 |   3 +
 system/hardware/tici/gsma_ci_bundle.pem | 133 ++++++++++++++++++++++++
 system/hardware/tici/lpa.py             |  95 +++++++++++++++++
 4 files changed, 232 insertions(+), 1 deletion(-)
 create mode 100644 system/hardware/tici/gsma_ci_bundle.pem

diff --git a/pyproject.toml b/pyproject.toml
index a1123234001436..e595106b5c1cba 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -149,7 +149,7 @@ quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
 ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite,ser"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
+skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, *.pem, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
 
 # https://docs.astral.sh/ruff/configuration/#using-pyprojecttoml
 [tool.ruff]
diff --git a/system/hardware/base.py b/system/hardware/base.py
index 1a19f908c62971..ef2b1460434144 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -91,6 +91,9 @@ def nickname_profile(self, iccid: str, nickname: str) -> None:
   def switch_profile(self, iccid: str) -> None:
     pass
 
+  def process_notifications(self) -> None:
+    pass
+
   def is_comma_profile(self, iccid: str) -> bool:
     return any(iccid.startswith(prefix) for prefix in ('8985235',))
 
diff --git a/system/hardware/tici/gsma_ci_bundle.pem b/system/hardware/tici/gsma_ci_bundle.pem
new file mode 100644
index 00000000000000..3ee7fd12521b12
--- /dev/null
+++ b/system/hardware/tici/gsma_ci_bundle.pem
@@ -0,0 +1,133 @@
+# GSMA Certificate Issuer (CI) bundle for eSIM RSP
+# Source: https://euicc-manual.osmocom.org/docs/pki/ci/bundle.pem
+
+issuer=
+    countryName = CH
+    organizationName = OISTE Foundation
+    commonName = OISTE GSMA CI G1
+notBefore=2024-01-16 23:17:39Z
+notAfter=2059-01-07 23:17:38Z
+-----BEGIN CERTIFICATE-----
+MIIB9zCCAZ2gAwIBAgIUSpBSCCDYPOEG/IFHUCKpZ2pIAQMwCgYIKoZIzj0EAwIw
+QzELMAkGA1UEBhMCQ0gxGTAXBgNVBAoMEE9JU1RFIEZvdW5kYXRpb24xGTAXBgNV
+BAMMEE9JU1RFIEdTTUEgQ0kgRzEwIBcNMjQwMTE2MjMxNzM5WhgPMjA1OTAxMDcy
+MzE3MzhaMEMxCzAJBgNVBAYTAkNIMRkwFwYDVQQKDBBPSVNURSBGb3VuZGF0aW9u
+MRkwFwYDVQQDDBBPSVNURSBHU01BIENJIEcxMFkwEwYHKoZIzj0CAQYIKoZIzj0D
+AQcDQgAEvZ3s3PFC4NgrCcCMmHJ6DJ66uzAHuLcvjJnOn+TtBNThS7YHLDyHCa2v
+7D+zTP+XTtgqgcLoB56Gha9EQQQ4xKNtMGswDwYDVR0TAQH/BAUwAwEB/zAQBgNV
+HREECTAHiAVghXQFDjAXBgNVHSABAf8EDTALMAkGB2eBEgECAQAwHQYDVR0OBBYE
+FEwnlnrSDBSzkelgHkHmBK1XwCIvMA4GA1UdDwEB/wQEAwIBBjAKBggqhkjOPQQD
+AgNIADBFAiBVcywTj017jKpAQ+gwy4MqK2hQvzve6lkvQkgSP6ykHwIhAI0KFwCD
+jnPbmcJsG41hUrWNlf+IcrMvFuYii0DasBNi
+-----END CERTIFICATE-----
+issuer=
+    organizationName = GSM Association
+    commonName = GSM Association - RSP2 Root CI1
+notBefore=2017-02-22 00:00:00Z
+notAfter=2052-02-21 23:59:59Z
+-----BEGIN CERTIFICATE-----
+MIICSTCCAe+gAwIBAgIQbmhWeneg7nyF7hg5Y9+qejAKBggqhkjOPQQDAjBEMRgw
+FgYDVQQKEw9HU00gQXNzb2NpYXRpb24xKDAmBgNVBAMTH0dTTSBBc3NvY2lhdGlv
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+EwEB/wQFMAMBAf8wEwYDVR0RBAwwCogIKwYBBAGC6WAwFwYDVR0gAQH/BA0wCzAJ
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+WziPK7l8nh5mu0qiRiVf25oa9ullG/OIASwCIQDqCmDrYf+GziHXBOiwJwnBaeBO
+aFsiLzIEOaUuZwdNUw==
+-----END CERTIFICATE-----
+issuer=
+    countryName = US
+    organizationName = Entrust, Inc.
+    organizationalUnitName = See www.entrust.net/legal-terms
+    organizationalUnitName = (c) 2016 Entrust, Inc. - for authorized use only
+    commonName = Entrust eSIM Certification Authority
+notBefore=2016-11-16 16:04:02Z
+notAfter=2051-10-16 16:34:02Z
+-----BEGIN CERTIFICATE-----
+MIIC6DCCAo2gAwIBAgIRAIy4GT7M5nHsAAAAAFgsinowCgYIKoZIzj0EAwIwgbkx
+CzAJBgNVBAYTAlVTMRYwFAYDVQQKEw1FbnRydXN0LCBJbmMuMSgwJgYDVQQLEx9T
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+ATL7/tDBOhANy3cK8PS/1NIlu9vqMLCZsZvJ0Q==
+-----END CERTIFICATE-----
+issuer=
+    countryName = FR
+    organizationName = OBERTHUR TECHNOLOGIES
+    organizationalUnitName = TELECOM
+    commonName = MC4 OT ROOT CI v1
+notBefore=2016-11-15 00:00:01Z
+notAfter=2046-11-08 23:59:59Z
+-----BEGIN CERTIFICATE-----
+MIICOjCCAeGgAwIBAgIBATAKBggqhkjOPQQDAjBbMQswCQYDVQQGEwJGUjEeMBwG
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+-----END CERTIFICATE-----
+issuer=
+    commonName =  SubMan V4.2 CI Google Pixel
+    organizationName = Giesecke and Devrient GmbH
+    organizationalUnitName = Mobile Security
+    countryName = DE
+notBefore=2017-05-10 00:00:00Z
+notAfter=2027-05-10 00:00:00Z
+-----BEGIN CERTIFICATE-----
+MIICaTCCAg6gAwIBAgICASwwCgYIKoZIzj0EAwIwczElMCMGA1UEAxMcIFN1Yk1h
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+REUwHhcNMTcwNTEwMDAwMDAwWhcNMjcwNTEwMDAwMDAwWjBzMSUwIwYDVQQDExwg
+U3ViTWFuIFY0LjIgQ0kgR29vZ2xlIFBpeGVsMSMwIQYDVQQKExpHaWVzZWNrZSBh
+bmQgRGV2cmllbnQgR21iSDEYMBYGA1UECxMPTW9iaWxlIFNlY3VyaXR5MQswCQYD
+VQQGEwJERTBZMBMGByqGSM49AgEGCCqGSM49AwEHA0IABHNorfaJsGzqWNawyAhl
+IAv9QL2/+b9RsUoso06t/dKX1MRr5CUJ51acvv5TAFhQKIml+dwLbFnV5aO+8W6Z
+wxajgZEwgY4wHwYDVR0jBBgwFoAUtg8LiX/WMLiM/tYWH46oCMU4KsMwHQYDVR0O
+BBYEFLYPC4l/1jC4jP7WFh+OqAjFOCrDMA4GA1UdDwEB/wQEAwIBBjAXBgNVHSAB
+Af8EDTALMAkGB2eBEgECAQAwDwYDVR0TAQH/BAUwAwEB/zASBgNVHREECzAJiAcr
+BgEEAdwPMAoGCCqGSM49BAMCA0kAMEYCIQDpoZcuAQrjATW8U+AWqMUJ0dY6nWW1
+R1QmFzVZ1yMXSwIhALCvRqkCtgiavdeFeSgsSNbY5Fhd+QoCltuSh1U4TE7A
+-----END CERTIFICATE-----
+issuer=
+    countryName = DE
+    commonName = SubMan V4.2 CI
+    organizationName = Giesecke and Devrient
+    organizationalUnitName = Mobile Security
+notBefore=2016-08-12 13:51:48Z
+notAfter=2026-08-12 13:51:48Z
+-----BEGIN CERTIFICATE-----
+MIICUjCCAfigAwIBAgIDQgAAMAoGCCqGSM49BAMCMGAxCzAJBgNVBAYTAkRFMRcw
+FQYDVQQDEw5TdWJNYW4gVjQuMiBDSTEeMBwGA1UEChMVR2llc2Vja2UgYW5kIERl
+dnJpZW50MRgwFgYDVQQLEw9Nb2JpbGUgU2VjdXJpdHkwHhcNMTYwODEyMTM1MTQ4
+WhcNMjYwODEyMTM1MTQ4WjBgMQswCQYDVQQGEwJERTEXMBUGA1UEAxMOU3ViTWFu
+IFY0LjIgQ0kxHjAcBgNVBAoTFUdpZXNlY2tlIGFuZCBEZXZyaWVudDEYMBYGA1UE
+CxMPTW9iaWxlIFNlY3VyaXR5MFkwEwYHKoZIzj0CAQYIKoZIzj0DAQcDQgAEYIgl
+VQr9wbXOlwPp8qMg5Df08Cli9Mc+lpr3Lwa9PlVA3QWlLeX4GfD4H3phLBqVIa17
+yHttmtheTxi0KoEqhKOBoDCBnTAdBgNVHQ4EFgQU6lOt7zMpuVCa/XVf1Ei4LcG8
+7P8wDgYDVR0PAQH/BAQDAgEGMBcGA1UdIAEB/wQNMAswCQYHZ4ESAQIBADAPBgNV
+HRMBAf8EBTADAQH/MBIGA1UdEQQLMAmIBysGAQQB3A8wLgYDVR0fBCcwJTAjoCGg
+H4YdaHR0cDovL2dpLWRlLmNvbS90ZXN0LmNybC5wZW0wCgYIKoZIzj0EAwIDSAAw
+RQIhAMMx2L/VHDiOW+Fl/OuFmhCdizYM17Yn9zAVieKO2T0iAiANWtCMmY+DzkqK
+yHxBFX0U2tBd682zP4DpgRt8j3Ylew==
+-----END CERTIFICATE-----
diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py
index ceb901e2f72758..04cac1392726e2 100644
--- a/system/hardware/tici/lpa.py
+++ b/system/hardware/tici/lpa.py
@@ -5,6 +5,7 @@
 import fcntl
 import math
 import os
+import requests
 import serial
 import subprocess
 import sys
@@ -15,8 +16,12 @@
 from contextlib import contextmanager
 from typing import Any
 
+from pathlib import Path
+
+from openpilot.common.time_helpers import system_time_valid
 from openpilot.system.hardware.base import LPABase, LPAError, Profile
 
+GSMA_CI_BUNDLE = str(Path(__file__).parent / "gsma_ci_bundle.pem")
 
 DEFAULT_DEVICE = "/dev/modem_at0"
 DEFAULT_BAUD = 9600
@@ -26,6 +31,7 @@
 MM = "org.freedesktop.ModemManager1"
 MM_MODEM = MM + ".Modem"
 ES10X_MSS = 120
+HTTP_TIMEOUT = 30
 OPEN_ISDR_RETRIES = 10
 OPEN_ISDR_RETRY_DELAY_S = 0.25
 OPEN_ISDR_RESET_ATTEMPT = 5
@@ -41,6 +47,11 @@
 TAG_SET_NICKNAME = 0xBF29
 TAG_ENABLE_PROFILE = 0xBF31
 TAG_DELETE_PROFILE = 0xBF33
+TAG_LIST_NOTIFICATION = 0xBF28
+TAG_RETRIEVE_NOTIFICATION = 0xBF2B
+TAG_NOTIFICATION_METADATA = 0xBF2F
+TAG_NOTIFICATION_SENT = 0xBF30
+TAG_PROFILE_INSTALL_RESULT = 0xBF37
 TAG_OK = 0xA0
 
 PROFILE_OK = 0x00
@@ -53,6 +64,19 @@
   PROFILE_CAT_BUSY: "catBusy", 0x06: "undefinedError",
 }
 
+# SGP.22 §5.2.6 — SM-DP+ reason/subject codes mapped to user-friendly messages
+ES9P_ERROR_MESSAGES: dict[tuple[str, str], str] = {
+  ('3.8', '8.2.6'): "This eSIM profile is already installed on another device. Please use a new QR code.",
+  ('3.8', '8.2.1'): "This eSIM profile has expired. Please request a new QR code.",
+  ('3.8', '8.1'): "The SM-DP+ server refused this request.",
+  ('3.1', '8.2.6'): "This eSIM profile has been revoked by the carrier.",
+  ('3.9', '8.2.6'): "This eSIM profile download has already been completed.",
+  ('2.1', '8.8'): "The device is not compatible with this eSIM profile.",
+  ('1.2', '8.1'): "The SM-DP+ server is temporarily unavailable. Try again later.",
+}
+
+NOTIFICATION_OPERATIONS = {0x80: "install", 0x40: "enable", 0x20: "disable", 0x10: "delete"}
+
 STATE_LABELS = {0: "disabled", 1: "enabled", 255: "unknown"}
 ICON_LABELS = {0: "jpeg", 1: "png", 255: "unknown"}
 CLASS_LABELS = {0: "test", 1: "provisioning", 2: "operational", 255: "unknown"}
@@ -345,6 +369,15 @@ def es10x_command(client: AtClient, data: bytes) -> bytes:
 
 # --- Profile operations ---
 
+NOTIFICATION: FieldMap = {
+  TAG_STATUS: ("seqNumber", lambda v: int.from_bytes(v, "big")),
+  0x81: ("profileManagementOperation",
+         lambda v: NOTIFICATION_OPERATIONS.get(next((m for m in NOTIFICATION_OPERATIONS if len(v) >= 2 and v[1] & m), 0), "unknown")),
+  0x0C: ("notificationAddress", lambda v: v.decode("utf-8", errors="ignore")),
+  TAG_ICCID: ("iccid", tbcd_to_string),
+}
+
+
 def decode_profiles(blob: bytes) -> list[dict]:
   root = require_tag(blob, TAG_PROFILE_INFO_LIST, "ProfileInfoList")
   list_ok = find_tag(root, TAG_OK)
@@ -370,6 +403,62 @@ def set_profile_nickname(client: AtClient, iccid: str, nickname: str) -> None:
     raise RuntimeError(f"SetNickname failed with status 0x{code:02X}")
 
 
+# --- ES9P HTTP ---
+
+def es9p_request(smdp_address: str, endpoint: str, payload: dict, error_prefix: str = "Request", session: requests.Session | None = None) -> dict:
+  url = f"https://{smdp_address}/gsma/rsp2/es9plus/{endpoint}"
+  headers = {"User-Agent": "gsma-rsp-lpad", "X-Admin-Protocol": "gsma/rsp/v2.3.0", "Content-Type": "application/json"}
+  http = session or requests
+  resp = http.post(url, json=payload, headers=headers, timeout=HTTP_TIMEOUT, verify=GSMA_CI_BUNDLE)
+  resp.raise_for_status()
+  if not resp.content:
+    return {}
+  data = resp.json()
+  if "header" in data and "functionExecutionStatus" in data["header"]:
+    status = data["header"]["functionExecutionStatus"]
+    if status.get("status") == "Failed":
+      sd = status.get("statusCodeData", {})
+      reason = sd.get("reasonCode", "unknown")
+      subject = sd.get("subjectCode", "unknown")
+      msg = ES9P_ERROR_MESSAGES.get((reason, subject),
+            f"{error_prefix} failed: {reason}/{subject} - {sd.get('message', 'unknown')}")
+      raise RuntimeError(msg)
+  return data
+
+
+# --- Notifications ---
+
+def list_notifications(client: AtClient) -> list[dict]:
+  response = es10x_command(client, encode_tlv(TAG_LIST_NOTIFICATION, b""))
+  root = require_tag(response, TAG_LIST_NOTIFICATION, "ListNotificationResponse")
+  metadata_list = find_tag(root, TAG_OK)
+  if metadata_list is None:
+    return []
+  return [decode_struct(value, NOTIFICATION) for tag, value in iter_tlv(metadata_list) if tag == TAG_NOTIFICATION_METADATA]
+
+
+def process_notifications(client: AtClient) -> None:
+  for notification in list_notifications(client):
+    seq_number, smdp_address = notification["seqNumber"], notification["notificationAddress"]
+    try:
+      request = encode_tlv(TAG_RETRIEVE_NOTIFICATION, encode_tlv(TAG_OK, encode_tlv(TAG_STATUS, int_bytes(seq_number))))
+      response = es10x_command(client, request)
+      content = require_tag(require_tag(response, TAG_RETRIEVE_NOTIFICATION, "RetrieveNotificationsListResponse"),
+                            TAG_OK, "RetrieveNotificationsListResponse")
+      pending_notif = next((v for t, v in iter_tlv(content) if t in (TAG_PROFILE_INSTALL_RESULT, 0x30)), None)
+      if pending_notif is None:
+        raise RuntimeError("Missing PendingNotification")
+
+      es9p_request(smdp_address, "handleNotification", {"pendingNotification": b64e(pending_notif)}, "HandleNotification")
+
+      response = es10x_command(client, encode_tlv(TAG_NOTIFICATION_SENT, encode_tlv(TAG_STATUS, int_bytes(seq_number))))
+      root = require_tag(response, TAG_NOTIFICATION_SENT, "NotificationSentResponse")
+      if int.from_bytes(require_tag(root, TAG_STATUS, "RemoveNotificationFromList status"), "big") != 0:
+        raise RuntimeError("RemoveNotificationFromList failed")
+    except Exception as e:
+      print(f"notification {seq_number} failed: {e}", file=sys.stderr)
+
+
 class TiciLPA(LPABase):
   def __init__(self):
     if hasattr(self, '_client'):
@@ -409,6 +498,12 @@ def list_profiles(self) -> list[Profile]:
   def get_active_profile(self) -> Profile | None:
     return None
 
+  def process_notifications(self) -> None:
+    if not system_time_valid():
+      raise RuntimeError("System time is not set; TLS certificate validation requires a valid clock")
+    with self._acquire_channel():
+      process_notifications(self._client)
+
   def delete_profile(self, iccid: str) -> None:
     if self.is_comma_profile(iccid):
       raise LPAError("refusing to delete a comma profile")

From 97f1bac71d491b571e4588dfa481d5cb03e54355 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Wed, 15 Apr 2026 09:54:46 -0700
Subject: [PATCH 0905/1434] [bot] Update Python packages (#37815)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 opendbc_repo  |   2 +-
 panda         |   2 +-
 tinygrad_repo |   2 +-
 uv.lock       | 122 +++++++++++++++++++++++++-------------------------
 4 files changed, 64 insertions(+), 64 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 37c8ae0c2d6830..6123dde9f67259 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 37c8ae0c2d6830b70d11e1a4e849721cedfe3f03
+Subproject commit 6123dde9f67259aa3c8b1fa962f242f522bdd5a4
diff --git a/panda b/panda
index 18f37937cc0edb..ac89f0c92d0240 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 18f37937cc0edb0151d17ee7d15a142e88ec3a5b
+Subproject commit ac89f0c92d02405c66498b8e3086a310c547e7ea
diff --git a/tinygrad_repo b/tinygrad_repo
index 4cf2759fc8a375..7cbfa1896aebd6 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 4cf2759fc8a3759abea89fa2805cce1f788d4367
+Subproject commit 7cbfa1896aebd6e1210d626db239fa54ba6d802c
diff --git a/uv.lock b/uv.lock
index 7ecb51f5d12b9c..cde094a85c9762 100644
--- a/uv.lock
+++ b/uv.lock
@@ -116,12 +116,12 @@ wheels = [
 [[package]]
 name = "bzip2"
 version = "1.0.8"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#1ddfd3eb7b9e30a957c263930e1b0660e5dce6d1" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#13755b73dbcda1b186641fcccce90d55f815d6bc" }
 
 [[package]]
 name = "capnproto"
 version = "1.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#6e99db11a1dc5dfa74be40d1e0666ebe10c8e0d7" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#eba2fe8b8208b5408fbda1bc0104a91e4375aee3" }
 
 [[package]]
 name = "casadi"
@@ -371,7 +371,7 @@ wheels = [
 [[package]]
 name = "eigen"
 version = "3.4.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=release-eigen#891c42d8029b2a633f3aca7f60cc7aa4b5305405" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=release-eigen#9157467a9e343d876e85f6187eae8c974fe3d83f" }
 
 [[package]]
 name = "execnet"
@@ -385,7 +385,7 @@ wheels = [
 [[package]]
 name = "ffmpeg"
 version = "7.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=release-ffmpeg#8261317427e81a0fa1f53a7ef77f15004ec78889" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=release-ffmpeg#4be3ad687902199df76b78cc8cf07f61e69ec266" }
 
 [[package]]
 name = "fonttools"
@@ -432,7 +432,7 @@ wheels = [
 [[package]]
 name = "gcc-arm-none-eabi"
 version = "13.2.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi#fd995de677db114e2862cf4ed245ca9a17536668" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi#0e1ae2548977f6cd78c51d4d0c16ebd1863241b8" }
 
 [[package]]
 name = "ghp-import"
@@ -449,7 +449,7 @@ wheels = [
 [[package]]
 name = "git-lfs"
 version = "3.6.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=release-git-lfs#9fdbe7eb0257d7a13851ed4baa52fbccbe7e2e9d" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=release-git-lfs#ab3064b6e7df110e32aa7748689cb43b26f07b54" }
 
 [[package]]
 name = "google-crc32c"
@@ -498,7 +498,7 @@ wheels = [
 [[package]]
 name = "imgui"
 version = "1.92.7"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=imgui&rev=release-imgui#f3d874be2f3aa44869ffd4775e0957e986a30a68" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=imgui&rev=release-imgui#58d66087adacabb2bb4e56e74ebdea7d55c78e34" }
 
 [[package]]
 name = "iniconfig"
@@ -578,12 +578,12 @@ wheels = [
 [[package]]
 name = "libjpeg"
 version = "3.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg#d90bc630661092de49428bfc3a82a371ee35a889" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg#71f7a3f2aaccdc0612d93fac858b78f35bc2a565" }
 
 [[package]]
 name = "libusb"
 version = "1.0.29"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb#6562b0138726a380368d68a6ac5f6e36d6aea2da" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb#222120c19c857d6d0a681aff2e335c829ffcf89c" }
 
 [[package]]
 name = "libusb1"
@@ -599,7 +599,7 @@ wheels = [
 [[package]]
 name = "libyuv"
 version = "1922.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv#22b976c39a3f2607ef5458056b1a10558da0e85f" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv#febc42742ebf25429575caf784adecc6e516b892" }
 
 [[package]]
 name = "markdown"
@@ -751,7 +751,7 @@ wheels = [
 [[package]]
 name = "ncurses"
 version = "6.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ncurses&rev=release-ncurses#b733e08a93873e8d8ac47caabc2eb64a425f7146" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ncurses&rev=release-ncurses#e78a693655261b101325aaa5b3cd9f1eb35f496b" }
 
 [[package]]
 name = "numpy"
@@ -940,11 +940,11 @@ provides-extras = ["docs", "testing", "dev", "tools"]
 
 [[package]]
 name = "packaging"
-version = "26.0"
+version = "26.1"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/65/ee/299d360cdc32edc7d2cf530f3accf79c4fca01e96ffc950d8a52213bd8e4/packaging-26.0.tar.gz", hash = "sha256:00243ae351a257117b6a241061796684b084ed1c516a08c48a3f7e147a9d80b4", size = 143416, upload-time = "2026-01-21T20:50:39.064Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/df/de/0d2b39fb4af88a0258f3bac87dfcbb48e73fbdea4a2ed0e2213f9a4c2f9a/packaging-26.1.tar.gz", hash = "sha256:f042152b681c4bfac5cae2742a55e103d27ab2ec0f3d88037136b6bfe7c9c5de", size = 215519, upload-time = "2026-04-14T21:12:49.362Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/b7/b9/c538f279a4e237a006a2c98387d081e9eb060d203d8ed34467cc0f0b9b53/packaging-26.0-py3-none-any.whl", hash = "sha256:b36f1fef9334a5588b4166f8bcd26a14e521f2b55e6b9de3aaa80d3ff7a37529", size = 74366, upload-time = "2026-01-21T20:50:37.788Z" },
+    { url = "https://files.pythonhosted.org/packages/7a/c2/920ef838e2f0028c8262f16101ec09ebd5969864e5a64c4c05fad0617c56/packaging-26.1-py3-none-any.whl", hash = "sha256:5d9c0669c6285e491e0ced2eee587eaf67b670d94a19e94e3984a481aba6802f", size = 95831, upload-time = "2026-04-14T21:12:47.56Z" },
 ]
 
 [[package]]
@@ -1016,11 +1016,11 @@ wheels = [
 
 [[package]]
 name = "platformdirs"
-version = "4.9.4"
+version = "4.9.6"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/19/56/8d4c30c8a1d07013911a8fdbd8f89440ef9f08d07a1b50ab8ca8be5a20f9/platformdirs-4.9.4.tar.gz", hash = "sha256:1ec356301b7dc906d83f371c8f487070e99d3ccf9e501686456394622a01a934", size = 28737, upload-time = "2026-03-05T18:34:13.271Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/9f/4a/0883b8e3802965322523f0b200ecf33d31f10991d0401162f4b23c698b42/platformdirs-4.9.6.tar.gz", hash = "sha256:3bfa75b0ad0db84096ae777218481852c0ebc6c727b3168c1b9e0118e458cf0a", size = 29400, upload-time = "2026-04-09T00:04:10.812Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/63/d7/97f7e3a6abb67d8080dd406fd4df842c2be0efaf712d1c899c32a075027c/platformdirs-4.9.4-py3-none-any.whl", hash = "sha256:68a9a4619a666ea6439f2ff250c12a853cd1cbd5158d258bd824a7df6be2f868", size = 21216, upload-time = "2026-03-05T18:34:12.172Z" },
+    { url = "https://files.pythonhosted.org/packages/75/a6/a0a304dc33b49145b21f4808d763822111e67d1c3a32b524a1baf947b6e1/platformdirs-4.9.6-py3-none-any.whl", hash = "sha256:e61adb1d5e5cb3441b4b7710bea7e4c12250ca49439228cc1021c00dcfac0917", size = 21348, upload-time = "2026-04-09T00:04:09.463Z" },
 ]
 
 [[package]]
@@ -1411,27 +1411,27 @@ wheels = [
 
 [[package]]
 name = "ruff"
-version = "0.15.9"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/e6/97/e9f1ca355108ef7194e38c812ef40ba98c7208f47b13ad78d023caa583da/ruff-0.15.9.tar.gz", hash = "sha256:29cbb1255a9797903f6dde5ba0188c707907ff44a9006eb273b5a17bfa0739a2", size = 4617361, upload-time = "2026-04-02T18:17:20.829Z" }
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 ]
 
 [[package]]
@@ -1672,7 +1672,7 @@ wheels = [
 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#250faf500a3d101b91f4c85a4618fe1882c9cf61" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#173fe8e9a0b8cf666bac5363c3376e866a386568" }
 
 [[package]]
 name = "zstandard"
@@ -1702,4 +1702,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#6896f3e5ea22d632c5ea3bc6e5f3b773c144f43b" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#c4b1fdec74010075965d68e2c743055c6ef18d48" }

From 63ab2fb1b369a01776f051c98decbc87c6723dd6 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 15 Apr 2026 10:15:32 -0700
Subject: [PATCH 0906/1434] four: calibrate DM orientation (#37149)

* calib face

* clean up

* fix double neg

* cmt

* local changes

* keep for dm preview for now

* comments

* comments

* Update selfdrive/ui/mici/onroad/driver_state.py

* Update selfdrive/ui/mici/onroad/driver_state.py
---
 .../onroad/driver_monitoring/dm_center.png    |  3 --
 selfdrive/ui/mici/onroad/driver_state.py      | 33 +++++++++----------
 2 files changed, 16 insertions(+), 20 deletions(-)
 delete mode 100644 selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_center.png

diff --git a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_center.png b/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_center.png
deleted file mode 100644
index a8a68b372c26a9..00000000000000
--- a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_center.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b5aee9f6cec03f1967014cd2ea2a23982b262e7d86dadca602ecfa8875b38101
-size 5875
diff --git a/selfdrive/ui/mici/onroad/driver_state.py b/selfdrive/ui/mici/onroad/driver_state.py
index 92ff07c1e9b5bb..b2be5a8e3403b0 100644
--- a/selfdrive/ui/mici/onroad/driver_state.py
+++ b/selfdrive/ui/mici/onroad/driver_state.py
@@ -6,11 +6,13 @@
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.monitoring.helpers import face_orientation_from_net
 
 AlertSize = log.SelfdriveState.AlertSize
 
 DEBUG = False
 
+# TODO: Only left for DM preview, remove
 LOOKING_CENTER_THRESHOLD_UPPER = math.radians(6)
 LOOKING_CENTER_THRESHOLD_LOWER = math.radians(3)
 
@@ -59,8 +61,6 @@ def load_icons(self):
 
     self._dm_person = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_person.png", cone_and_person_size, cone_and_person_size)
     self._dm_cone = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_cone.png", cone_and_person_size, cone_and_person_size)
-    center_size = round(36 / self.BASE_SIZE * self._rect.width)
-    self._dm_center = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_center.png", center_size, center_size)
     self._dm_background = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_background.png", int(self._rect.width), int(self._rect.height))
 
   def set_should_draw(self, should_draw: bool):
@@ -113,16 +113,7 @@ def _render(self, _):
           dest_rect,
           rl.Vector2(dest_rect.width / 2, dest_rect.height / 2),
           self._rotation_filter.x - 90,
-          rl.Color(255, 255, 255, int(255 * self._fade_filter.x * (1 - self._looking_center_filter.x))),
-        )
-
-        rl.draw_texture_ex(
-          self._dm_center,
-          (int(self._rect.x + (self._rect.width - self._dm_center.width) / 2),
-           int(self._rect.y + (self._rect.height - self._dm_center.height) / 2)),
-          0,
-          1.0,
-          rl.Color(255, 255, 255, int(255 * self._fade_filter.x * self._looking_center_filter.x)),
+          rl.Color(255, 255, 255, int(255 * self._fade_filter.x)),
         )
 
       else:
@@ -174,11 +165,22 @@ def _update_state(self):
     # Get monitoring state
     driver_data = self.get_driver_data()
     driver_orient = driver_data.faceOrientation
+    driver_position = driver_data.facePosition
 
     if len(driver_orient) != 3:
       return
 
-    pitch, yaw, roll = driver_orient
+    # Calibrate orientation so looking straight ahead at road (instead of at device) is (0, 0, 0)
+    sm = ui_state.sm
+    if sm.valid['liveCalibration'] and len(sm['liveCalibration'].rpyCalib) == 3:
+      cal_rpy = sm['liveCalibration'].rpyCalib
+    else:
+      cal_rpy = [0.0, 0.0, 0.0]
+
+    _, pitch, yaw = face_orientation_from_net(driver_orient, driver_position, cal_rpy)
+    pitch += math.radians(6)  # calib or DM pose is not accurate, add a fake upward pitch to bias forward
+    yaw = -yaw  # undo sign flip in face_orientation_from_net to match UI convention
+
     pitch = self._pitch_filter.update(pitch)
     yaw = self._yaw_filter.update(yaw)
 
@@ -192,7 +194,6 @@ def _update_state(self):
     if DEBUG:
       pitchd = math.degrees(pitch)
       yawd = math.degrees(yaw)
-      rolld = math.degrees(roll)
 
       rl.draw_line_ex((0, 100), (200, 100), 3, rl.RED)
       rl.draw_line_ex((0, 120), (200, 120), 3, rl.RED)
@@ -200,13 +201,11 @@ def _update_state(self):
 
       pitch_x = 100 + pitchd
       yaw_x = 100 + yawd
-      roll_x = 100 + rolld
       rl.draw_circle(int(pitch_x), 100, 5, rl.GREEN)
       rl.draw_circle(int(yaw_x), 120, 5, rl.GREEN)
-      rl.draw_circle(int(roll_x), 140, 5, rl.GREEN)
 
     # filter head rotation, handling wrap-around
-    rotation = math.degrees(math.atan2(pitch, yaw))
+    rotation = math.degrees(math.atan2(pitch * 2, yaw))  # reduce yaw sensitivity
     angle_diff = rotation - self._rotation_filter.x
     angle_diff = ((angle_diff + 180) % 360) - 180
     self._rotation_filter.update(self._rotation_filter.x + angle_diff)

From 75e352e5d03519d159d0c61945d143804996726f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 15 Apr 2026 10:24:37 -0700
Subject: [PATCH 0907/1434] jotpluggler: CAN parsing is best effort (#37835)

---
 tools/jotpluggler/sketch_layout.cc | 13 ++++---------
 1 file changed, 4 insertions(+), 9 deletions(-)

diff --git a/tools/jotpluggler/sketch_layout.cc b/tools/jotpluggler/sketch_layout.cc
index fd15e3d91642cf..d9622dde6d37c4 100644
--- a/tools/jotpluggler/sketch_layout.cc
+++ b/tools/jotpluggler/sketch_layout.cc
@@ -2011,10 +2011,7 @@ struct StreamAccumulator::Impl {
       return;
     }
     detected_dbc_name = next_dbc;
-    can_dbc.reset();
-    if (!detected_dbc_name.empty()) {
-      can_dbc.emplace(resolve_dbc_path(detected_dbc_name));
-    }
+    can_dbc = load_dbc_by_name(detected_dbc_name);
   }
 };
 
@@ -2051,7 +2048,7 @@ void StreamAccumulator::appendEvent(kj::ArrayPtr<const capnp::word> data) {
                              event,
                              impl_->schema,
                              impl_->can_dbc ? &*impl_->can_dbc : nullptr,
-                             true,
+                             impl_->can_dbc.has_value(),
                              *impl_->time_offset,
                              &impl_->series);
     append_log_event(which, event, *impl_->time_offset, &impl_->logs, &impl_->last_alert_key);
@@ -2150,13 +2147,11 @@ RouteData load_route_data(const std::string &route_name,
 
   const RouteMetadata metadata = detect_route_metadata(segments, route.selector);
   const std::string resolved_dbc = !dbc_name.empty() ? dbc_name : detect_dbc_for_fingerprint(metadata.car_fingerprint);
-  const std::optional<dbc::Database> can_dbc = resolved_dbc.empty()
-    ? std::nullopt
-    : std::optional<dbc::Database>(std::in_place, resolve_dbc_path(resolved_dbc));
+  const std::optional<dbc::Database> can_dbc = load_dbc_by_name(resolved_dbc);
 
   const SchemaIndex &schema = SchemaIndex::instance();
   LoadedRouteArtifacts artifacts = load_route_series_parallel(segments, schema, can_dbc ? &*can_dbc : nullptr,
-                                                             route.selector, !resolved_dbc.empty(), &stats);
+                                                             route.selector, can_dbc.has_value(), &stats);
   RouteData route_data = build_route_data(std::move(artifacts.series),
                                           std::move(artifacts.can_messages),
                                           std::move(artifacts.logs),

From fa18e6395c7296a10f3e0fc85fa143c2208b616b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 15 Apr 2026 10:26:12 -0700
Subject: [PATCH 0908/1434] tools: remove sentry logging (#37836)

---
 tools/op.sh    | 16 ----------------
 tools/setup.sh | 46 +---------------------------------------------
 2 files changed, 1 insertion(+), 61 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index 3b02602619c660..dccf080829f308 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -26,15 +26,6 @@ function op_install() {
   echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it."
 }
 
-function loge() {
-  if [[ -f "$LOG_FILE" ]]; then
-    # error type
-    echo "$1" >> $LOG_FILE
-    # error log
-    echo "$2" >> $LOG_FILE
-  fi
-}
-
 function retry() {
   local attempts=$1
   shift
@@ -148,13 +139,11 @@ function op_check_os() {
           ;;
         * )
           echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!"
-          loge "ERROR_INCOMPATIBLE_UBUNTU" "$VERSION_CODENAME"
           return 1
           ;;
       esac
     else
       echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!"
-      loge "ERROR_UNKNOWN_UBUNTU"
       return 1
     fi
 
@@ -162,7 +151,6 @@ function op_check_os() {
     echo -e " ↳ [${GREEN}✔${NC}] macOS detected."
   else
     echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
-    loge "ERROR_UNKNOWN_OS" "$OSTYPE"
     return 1
   fi
 }
@@ -210,7 +198,6 @@ function op_setup() {
   SETUP_SCRIPT="tools/setup_dependencies.sh"
   if ! $OPENPILOT_ROOT/$SETUP_SCRIPT; then
     echo -e " ↳ [${RED}✗${NC}] Dependencies installation failed!"
-    loge "ERROR_DEPENDENCIES_INSTALLATION"
     return 1
   fi
   et="$(date +%s)"
@@ -222,7 +209,6 @@ function op_setup() {
   st="$(date +%s)"
   if ! retry 3 git submodule update --jobs 4 --init --recursive; then
     echo -e " ↳ [${RED}✗${NC}] Getting git submodules failed!"
-    loge "ERROR_GIT_SUBMODULES"
     return 1
   fi
   et="$(date +%s)"
@@ -232,7 +218,6 @@ function op_setup() {
   st="$(date +%s)"
   if ! retry 3 git lfs pull; then
     echo -e " ↳ [${RED}✗${NC}] Pulling git lfs files failed!"
-    loge "ERROR_GIT_LFS"
     return 1
   fi
   et="$(date +%s)"
@@ -468,7 +453,6 @@ function _op() {
     -d | --dir )       shift 1; OPENPILOT_ROOT="$1"; shift 1 ;;
     --dry )            shift 1; DRY="1" ;;
     -n | --no-verify ) shift 1; NO_VERIFY="1" ;;
-    -l | --log )       shift 1; LOG_FILE="$1" ; shift 1 ;;
   esac
 
   # parse Commands
diff --git a/tools/setup.sh b/tools/setup.sh
index fd7efcee90e161..dafd466ef92bd1 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -33,39 +33,6 @@ cat << 'EOF'
 EOF
 }
 
-function sentry_send_event() {
-  SENTRY_KEY=dd0cba62ba0ac07ff9f388f8f1e6a7f4
-  SENTRY_URL=https://sentry.io/api/4507726145781760/store/
-
-  EVENT=$1
-  EVENT_TYPE=${2:-$EVENT}
-  EVENT_LOG=${3:-"NA"}
-
-  PLATFORM=$(uname -s)
-  ARCH=$(uname -m)
-  SYSTEM=$(uname -a)
-  if [[ $PLATFORM == "Darwin" ]]; then
-    OS="macos"
-  elif [[ $PLATFORM == "Linux" ]]; then
-    OS="linux"
-  fi
-
-  if [[ $ARCH == armv8* ]] || [[ $ARCH == arm64* ]] || [[ $ARCH == aarch64* ]]; then
-    ARCH="aarch64"
-  elif [[ $ARCH == "x86_64" ]] || [[ $ARCH == i686* ]]; then
-    ARCH="x86"
-  fi
-
-  PYTHON_VERSION=$(echo $(python3 --version 2> /dev/null || echo "NA"))
-  BRANCH=$(echo $(git -C $OPENPILOT_ROOT rev-parse --abbrev-ref HEAD 2> /dev/null || echo "NA"))
-  COMMIT=$(echo $(git -C $OPENPILOT_ROOT rev-parse HEAD 2> /dev/null || echo "NA"))
-
-  curl -s -o /dev/null -X POST -g --data "{ \"exception\": { \"values\": [{ \"type\": \"$EVENT\" }] }, \"tags\" : { \"event_type\" : \"$EVENT_TYPE\", \"event_log\" : \"$EVENT_LOG\", \"os\" : \"$OS\", \"arch\" : \"$ARCH\", \"python_version\" : \"$PYTHON_VERSION\" , \"git_branch\" : \"$BRANCH\", \"git_commit\" : \"$COMMIT\", \"system\" : \"$SYSTEM\" }  }" \
-    -H 'Content-Type: application/json' \
-    -H "X-Sentry-Auth: Sentry sentry_version=7, sentry_key=$SENTRY_KEY, sentry_client=op_setup/0.1" \
-    $SENTRY_URL 2> /dev/null
-}
-
 function check_stdin() {
   if [ -t 0 ]; then
     INTERACTIVE=1
@@ -131,7 +98,6 @@ function check_git() {
   echo "Checking for git..."
   if ! command -v "git" > /dev/null 2>&1; then
     echo -e " ↳ [${RED}✗${NC}] git not found on your system, can't continue!"
-    sentry_send_event "SETUP_FAILURE" "ERROR_GIT_NOT_FOUND"
     return 1
   else
     echo -e " ↳ [${GREEN}✔${NC}] git found.\n"
@@ -150,7 +116,6 @@ function git_clone() {
   fi
 
   echo -e " ↳ [${RED}✗${NC}] failed to clone openpilot!"
-  sentry_send_event "SETUP_FAILURE" "ERROR_GIT_CLONE"
   return 1
 }
 
@@ -159,18 +124,9 @@ function install_with_op() {
   $OPENPILOT_ROOT/tools/op.sh install
   $OPENPILOT_ROOT/tools/op.sh post-commit
 
-  LOG_FILE=$(mktemp)
-
-  if ! $OPENPILOT_ROOT/tools/op.sh --log $LOG_FILE setup; then
+  if ! $OPENPILOT_ROOT/tools/op.sh setup; then
     echo -e "\n[${RED}✗${NC}] failed to install openpilot!"
-
-    ERROR_TYPE="$(cat "$LOG_FILE" | sed '1p;d')"
-    ERROR_LOG="$(cat "$LOG_FILE" | sed '2p;d')"
-    sentry_send_event "SETUP_FAILURE" "$ERROR_TYPE" "$ERROR_LOG" || true
-
     return 1
-  else
-    sentry_send_event "SETUP_SUCCESS" || true
   fi
 
   echo -e "\n----------------------------------------------------------------------"

From 117d5cee4ff336874f529838cbb747debcbd023a Mon Sep 17 00:00:00 2001
From: Ethan Reish <Ereish02@gmail.com>
Date: Wed, 15 Apr 2026 12:46:15 -0500
Subject: [PATCH 0909/1434] updated: complete branch migration dict for mici
 and tizi (#37830)

---
 system/updated/tests/test_updated.py | 38 ++++++++++++++++++++++++++++
 system/updated/updated.py            |  3 +++
 2 files changed, 41 insertions(+)
 create mode 100644 system/updated/tests/test_updated.py

diff --git a/system/updated/tests/test_updated.py b/system/updated/tests/test_updated.py
new file mode 100644
index 00000000000000..d36d4dd4e1324a
--- /dev/null
+++ b/system/updated/tests/test_updated.py
@@ -0,0 +1,38 @@
+import pytest
+
+from openpilot.common.params import Params
+from openpilot.system.updated.updated import Updater
+
+
+@pytest.mark.parametrize(("device_type", "branch", "expected"), [
+  ("tizi", "release3", "release-tizi"),
+  ("tizi", "release3-staging", "release-tizi-staging"),
+  ("mici", "release3", "release-mici"),
+  ("mici", "release3-staging", "release-mici-staging"),
+])
+def test_target_branch_migration_from_current_branch(mocker, device_type, branch, expected):
+  params = Params()
+  params.remove("UpdaterTargetBranch")
+
+  mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
+  mocker.patch.object(Updater, "get_branch", return_value=branch)
+
+  assert Updater().target_branch == expected
+
+
+@pytest.mark.parametrize(("device_type", "branch", "expected"), [
+  ("tizi", "release3", "release-tizi"),
+  ("tizi", "release3-staging", "release-tizi-staging"),
+  ("mici", "release3", "release-mici"),
+  ("mici", "release3-staging", "release-mici-staging"),
+])
+def test_target_branch_migration_from_param(mocker, device_type, branch, expected):
+  params = Params()
+  params.put("UpdaterTargetBranch", branch)
+
+  mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
+
+  try:
+    assert Updater().target_branch == expected
+  finally:
+    params.remove("UpdaterTargetBranch")
diff --git a/system/updated/updated.py b/system/updated/updated.py
index ffd10e038db79d..693a31c9f497c2 100755
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -244,6 +244,9 @@ def target_branch(self) -> str:
       b = self.get_branch(BASEDIR)
     b = {
       ("tizi", "release3"): "release-tizi",
+      ("tizi", "release3-staging"): "release-tizi-staging",
+      ("mici", "release3"): "release-mici",
+      ("mici", "release3-staging"): "release-mici-staging",
     }.get((HARDWARE.get_device_type(), b), b)
     return b
 

From 31403f4a5c103a8f78ee1893404abbcf7e6d8cde Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 15 Apr 2026 10:50:24 -0700
Subject: [PATCH 0910/1434] jotplugger: render segment range slices properly
 (#37837)

---
 tools/jotpluggler/app.h      | 5 ++++-
 tools/jotpluggler/session.cc | 2 +-
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/tools/jotpluggler/app.h b/tools/jotpluggler/app.h
index 55f6d3ef9f6513..872a6973d786c8 100644
--- a/tools/jotpluggler/app.h
+++ b/tools/jotpluggler/app.h
@@ -276,7 +276,10 @@ struct RouteIdentifier {
   std::string display_slice() const {
     const int begin = slice_explicit ? slice_begin : available_begin;
     const int end = slice_explicit ? slice_end : available_end;
-    if (end < 0 || end == begin) {
+    if (end < 0) {
+      return std::to_string(begin) + ":";
+    }
+    if (end == begin) {
       return std::to_string(begin);
     }
     return std::to_string(begin) + ":" + std::to_string(end);
diff --git a/tools/jotpluggler/session.cc b/tools/jotpluggler/session.cc
index 22dd7dd463873a..173df7bc04c9ec 100644
--- a/tools/jotpluggler/session.cc
+++ b/tools/jotpluggler/session.cc
@@ -355,7 +355,7 @@ bool apply_route_slice_change(AppSession *session, UiState *state, std::string_v
   int begin = 0;
   int end = 0;
   if (!parse_slice_spec(slice_text, &begin, &end)) {
-    state->error_text = "Slice must be N or N:M.";
+    state->error_text = "Slice must be N, N:, or N:M.";
     state->open_error_popup = true;
     return false;
   }

From 83e6e7da93ab5e04dc7b131a82eeba7c4cbeed5a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 15 Apr 2026 15:46:43 -0700
Subject: [PATCH 0911/1434] docs: setup zensical (#37838)

---
 .github/workflows/docs.yaml |   6 +-
 .gitignore                  |   1 +
 docs/DEVELOPMENT.md         |  24 ++++
 docs/README.md              |  26 -----
 docs/assets/comma-logo.png  |   1 +
 docs/concepts/glossary.md   |   8 +-
 docs/css/tooltip.css        |  44 --------
 docs/ext/glossary.py        | 215 ++++++++++++++++++++++++++++++++++++
 docs/ext/glossary.toml      |   8 ++
 docs/glossary.toml          |   0
 docs/hooks/glossary.py      |  68 ------------
 docs/index.md               |   1 -
 docs/stylesheets/extra.css  |  42 +++++++
 mkdocs.yml                  |  44 --------
 pyproject.toml              |   2 +-
 scripts/docs.py             |  63 +++++++++++
 uv.lock                     | 164 +++++++++------------------
 zensical.toml               |  67 +++++++++++
 18 files changed, 478 insertions(+), 306 deletions(-)
 create mode 100644 docs/DEVELOPMENT.md
 delete mode 100644 docs/README.md
 create mode 120000 docs/assets/comma-logo.png
 delete mode 100644 docs/css/tooltip.css
 create mode 100644 docs/ext/glossary.py
 create mode 100644 docs/ext/glossary.toml
 delete mode 100644 docs/glossary.toml
 delete mode 100644 docs/hooks/glossary.py
 delete mode 120000 docs/index.md
 create mode 100644 docs/stylesheets/extra.css
 delete mode 100644 mkdocs.yml
 create mode 100644 scripts/docs.py
 create mode 100644 zensical.toml

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index 23a89de1c11085..f618c1bdf8936e 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -29,9 +29,9 @@ jobs:
     # Build
     - name: Build docs
       run: |
-        # TODO: can we install just the "docs" dependency group without the normal deps?
-        pip install mkdocs
-        mkdocs build
+        git lfs pull
+        pip install zensical
+        python scripts/docs.py build
 
     # Push to docs.comma.ai
     - uses: actions/checkout@v6
diff --git a/.gitignore b/.gitignore
index c4022a86535f9e..689d1d6c29c7ee 100644
--- a/.gitignore
+++ b/.gitignore
@@ -47,6 +47,7 @@ compare_runtime*.html
 selfdrive/modeld/models/tg_compiled_flags.json
 
 # build artifacts
+docs_site/
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
diff --git a/docs/DEVELOPMENT.md b/docs/DEVELOPMENT.md
new file mode 100644
index 00000000000000..e803a3fb8a36d6
--- /dev/null
+++ b/docs/DEVELOPMENT.md
@@ -0,0 +1,24 @@
+# Docs development
+
+The `docs/` tree is the source for [docs.comma.ai](https://docs.comma.ai).
+The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
+
+Those commands must be run in the root directory of openpilot, **not /docs**
+
+**1. Install the docs dependencies**
+``` bash
+uv pip install .[docs]
+```
+
+**2. Build the new site**
+``` bash
+docs build
+```
+
+**3. Run the new site locally**
+``` bash
+docs serve
+```
+
+References:
+* https://zensical.org/docs/
diff --git a/docs/README.md b/docs/README.md
deleted file mode 100644
index 12d0b6f5dd8250..00000000000000
--- a/docs/README.md
+++ /dev/null
@@ -1,26 +0,0 @@
-# openpilot docs
-
-This is the source for [docs.comma.ai](https://docs.comma.ai).
-The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
-
-## Development
-NOTE: Those commands must be run in the root directory of openpilot, **not /docs**
-
-**1. Install the docs dependencies**
-``` bash
-uv pip install .[docs]
-```
-
-**2. Build the new site**
-``` bash
-mkdocs build
-```
-
-**3. Run the new site locally**
-``` bash
-mkdocs serve
-```
-
-References:
-* https://www.mkdocs.org/getting-started/
-* https://github.com/ntno/mkdocs-terminal
diff --git a/docs/assets/comma-logo.png b/docs/assets/comma-logo.png
new file mode 120000
index 00000000000000..2838d92bfb1975
--- /dev/null
+++ b/docs/assets/comma-logo.png
@@ -0,0 +1 @@
+../../selfdrive/assets/icons_mici/settings/comma_icon.png
\ No newline at end of file
diff --git a/docs/concepts/glossary.md b/docs/concepts/glossary.md
index 3bfe71bcb4abf6..4f4dd54756c527 100644
--- a/docs/concepts/glossary.md
+++ b/docs/concepts/glossary.md
@@ -1,9 +1,3 @@
 # openpilot glossary
 
-* **onroad**: openpilot's system state while ignition is on
-* **offroad**: openpilot's system state while ignition is off
-* **route**: a route is a recording of an onroad session
-* **segment**: routes are split into one minute chunks called segments.
-* **comma connect**: the web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai).
-* **panda**: this is the secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda).
-* **comma four**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four).
+{{GLOSSARY_DEFINITIONS}}
diff --git a/docs/css/tooltip.css b/docs/css/tooltip.css
deleted file mode 100644
index b9a54f793f9fe5..00000000000000
--- a/docs/css/tooltip.css
+++ /dev/null
@@ -1,44 +0,0 @@
-[data-tooltip] {
-  position: relative;
-  display: inline-block;
-  border-bottom: 1px dotted black;
-}
-
-[data-tooltip] .tooltip-content {
-  width: max-content;
-  max-width: 25em;
-  position: absolute;
-  top: 100%;
-  left: 50%;
-  transform: translateX(-50%);
-  background-color: white;
-  color: #404040;
-  box-shadow: 0 4px 14px 0 rgba(0,0,0,.2), 0 0 0 1px rgba(0,0,0,.05);
-  padding: 10px;
-  font: 14px/1.5 Lato, proxima-nova, Helvetica Neue, Arial, sans-serif;
-  text-decoration: none;
-  opacity: 0;
-  visibility: hidden;
-  transition: opacity 0.1s, visibility 0s;
-  z-index: 1000;
-  pointer-events: none; /* Prevent accidental interaction */
-}
-
-[data-tooltip]:hover .tooltip-content {
-  opacity: 1;
-  visibility: visible;
-  pointer-events: auto; /* Allow interaction when visible */
-}
-
-.tooltip-content .tooltip-glossary-link {
-  display: inline-block;
-  margin-top: 8px;
-  font-size: 12px;
-  color: #007bff;
-  text-decoration: none;
-}
-
-.tooltip-content .tooltip-glossary-link:hover {
-  color: #0056b3;
-  text-decoration: underline;
-}
diff --git a/docs/ext/glossary.py b/docs/ext/glossary.py
new file mode 100644
index 00000000000000..d4c3ebd8fd20e8
--- /dev/null
+++ b/docs/ext/glossary.py
@@ -0,0 +1,215 @@
+import posixpath
+import re
+import tomllib
+import xml.etree.ElementTree as ET
+from pathlib import Path
+
+from markdown.extensions import Extension
+from markdown.preprocessors import Preprocessor
+from markdown.treeprocessors import Treeprocessor
+
+from zensical.extensions.links import LinksProcessor
+
+GlossaryTerm = tuple[str, re.Pattern[str], str]
+
+GLOSSARY_FILE = Path(__file__).with_name("glossary.toml")
+GLOSSARY_PAGE = "concepts/glossary.md"
+GLOSSARY_PLACEHOLDER = "{{GLOSSARY_DEFINITIONS}}"
+
+SKIP_TAGS = {
+  "a",
+  "code",
+  "h1",
+  "h2",
+  "h3",
+  "h4",
+  "h5",
+  "h6",
+  "kbd",
+  "pre",
+  "script",
+  "style",
+}
+
+def clean_tooltip(description: str) -> str:
+  text = re.sub(r"\[([^\]]+)]\([^)]+\)", r"\1", description)
+  text = re.sub(r"`([^`]+)`", r"\1", text)
+  text = re.sub(r"[*_~]", "", text)
+  return re.sub(r"\s+", " ", text).strip()
+
+
+def load_glossary() -> tuple[list[GlossaryTerm], str]:
+  with GLOSSARY_FILE.open("rb") as f:
+    glossary_data = tomllib.load(f).get("glossary", {})
+
+  glossary: list[GlossaryTerm] = []
+  rendered = []
+  for key, value in glossary_data.items():
+    label = str(key).strip().replace("_", " ")
+    description = str(value).strip()
+    if not description:
+      continue
+
+    slug = label.replace(" ", "-").replace("_", "-").lower()
+    glossary.append((slug, re.compile(rf"(?<!\w){re.escape(label)}(?!\w)", re.IGNORECASE), clean_tooltip(description)))
+    rendered.append(f'* <span id="{slug}"></span>**{label}**: {description}')
+
+  return glossary, "\n".join(rendered)
+
+
+class GlossaryPreprocessor(Preprocessor):
+  def __init__(self, md, glossary: str):
+    super().__init__(md)
+    self.glossary = glossary
+
+  def run(self, lines: list[str]) -> list[str]:
+    markdown = "\n".join(lines)
+    if GLOSSARY_PLACEHOLDER not in markdown:
+      return lines
+    return markdown.replace(GLOSSARY_PLACEHOLDER, self.glossary).splitlines()
+
+
+class GlossaryTreeprocessor(Treeprocessor):
+  def __init__(self, md, glossary: list[GlossaryTerm]):
+    super().__init__(md)
+    self.glossary = glossary
+    self.seen: set[str] = set()
+
+  def run(self, root: ET.Element) -> None:
+    at = self.md.treeprocessors.get_index_for_name("zrelpath")
+    processor = self.md.treeprocessors[at]
+    if not isinstance(processor, LinksProcessor):
+      raise TypeError("Links processor not registered")
+    if processor.path == GLOSSARY_PAGE:
+      return
+
+    self.seen.clear()
+    glossary_href = f"{posixpath.relpath(GLOSSARY_PAGE, posixpath.dirname(processor.path) or '.')}#"
+    self._walk(root, glossary_href)
+
+  def _walk(self, element: ET.Element, glossary_href: str) -> None:
+    if element.tag in SKIP_TAGS or element.attrib.get("data-glossary-skip") is not None:
+      return
+
+    self._replace(element, glossary_href)
+
+    idx = 0
+    while idx < len(element):
+      child = element[idx]
+      self._walk(child, glossary_href)
+      idx = self._replace(element, glossary_href, idx) + 1
+
+  def _replace(self, parent: ET.Element, glossary_href: str, index: int | None = None) -> int:
+    child = None if index is None else parent[index]
+    text = parent.text if child is None else child.tail
+    pieces = self._pieces(text or "", glossary_href)
+    if not pieces:
+      return -1 if index is None else index
+
+    if child is None:
+      parent.text = pieces[0] if isinstance(pieces[0], str) else ""
+      insert_at = 0 if isinstance(pieces[0], str) else -1
+    else:
+      assert index is not None
+      child.tail = pieces[0] if isinstance(pieces[0], str) else ""
+      insert_at = index
+
+    start = 1 if isinstance(pieces[0], str) else 0
+    previous = child
+
+    for piece in pieces[start:]:
+      if isinstance(piece, str):
+        previous.tail = (previous.tail or "") + piece
+        continue
+
+      insert_at += 1
+      parent.insert(insert_at, piece)
+      previous = piece
+
+    return insert_at
+
+  def _pieces(self, text: str, glossary_href: str) -> list[str | ET.Element]:
+    if not text.strip():
+      return []
+
+    pieces: list[str | ET.Element] = []
+    cursor = 0
+
+    while True:
+      best = None
+      for slug, pattern, tooltip in self.glossary:
+        if slug in self.seen:
+          continue
+
+        found = pattern.search(text, cursor)
+        if found is None:
+          continue
+
+        candidate = (slug, tooltip, found.start(), found.end())
+        if best is None:
+          best = candidate
+          continue
+
+        _, best_start, best_end = best
+        _, current_start, current_end = candidate
+        if current_start < best_start:
+          best = candidate
+          continue
+
+        if current_start == best_start and current_end - current_start > best_end - best_start:
+          best = candidate
+
+      if best is None:
+        break
+
+      slug, tooltip, start, end = best
+      if start > cursor:
+        pieces.append(text[cursor:start])
+
+      link = ET.Element(
+        "a",
+        {
+          "class": "glossary-term",
+          "data-glossary-term": "",
+          "href": f"{glossary_href}{slug}",
+        },
+      )
+      ET.SubElement(link, "span", {"class": "glossary-term__label"}).text = text[start:end]
+      ET.SubElement(
+        link,
+        "span",
+        {
+          "class": "glossary-term__tooltip",
+          "data-search-exclude": "",
+        },
+      ).text = tooltip
+      pieces.append(link)
+      self.seen.add(slug)
+      cursor = end
+
+    if not pieces:
+      return []
+    if cursor < len(text):
+      pieces.append(text[cursor:])
+    return pieces
+
+
+class GlossaryExtension(Extension):
+  def extendMarkdown(self, md) -> None:
+    md.registerExtension(self)
+    glossary, rendered = load_glossary()
+
+    md.preprocessors.register(
+      GlossaryPreprocessor(md, rendered),
+      "docs-ext-glossary-preprocessor",
+      27,
+    )
+    md.treeprocessors.register(
+      GlossaryTreeprocessor(md, glossary),
+      "docs-ext-glossary-treeprocessor",
+      0,
+    )
+
+
+def makeExtension(**kwargs) -> GlossaryExtension:
+  return GlossaryExtension(**kwargs)
diff --git a/docs/ext/glossary.toml b/docs/ext/glossary.toml
new file mode 100644
index 00000000000000..62408d9dddf4bf
--- /dev/null
+++ b/docs/ext/glossary.toml
@@ -0,0 +1,8 @@
+[glossary]
+onroad = "openpilot's system state while ignition is on."
+offroad = "openpilot's system state while ignition is off."
+route = "A route is a recording of an onroad session."
+segment = "Routes are split into one minute chunks called segments."
+"comma connect" = "The web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai)."
+panda = "The secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda)."
+"comma four" = "The latest hardware by comma.ai for running openpilot. More info at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four)."
diff --git a/docs/glossary.toml b/docs/glossary.toml
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/docs/hooks/glossary.py b/docs/hooks/glossary.py
deleted file mode 100644
index e2fa3d51e04cb9..00000000000000
--- a/docs/hooks/glossary.py
+++ /dev/null
@@ -1,68 +0,0 @@
-import re
-import tomllib
-
-def load_glossary(file_path="docs/glossary.toml"):
-  with open(file_path, "rb") as f:
-    glossary_data = tomllib.load(f)
-  return glossary_data.get("glossary", {})
-
-def generate_anchor_id(name):
-  return name.replace(" ", "-").replace("_", "-").lower()
-
-def format_markdown_term(name, definition):
-  anchor_id = generate_anchor_id(name)
-  markdown = f"* [**{name.replace('_', ' ').title()}**](#{anchor_id})"
-  if definition.get("abbreviation"):
-    markdown += f" *({definition['abbreviation']})*"
-  if definition.get("description"):
-    markdown += f": {definition['description']}\n"
-  return markdown
-
-def glossary_markdown(vocabulary):
-  markdown = ""
-  for category, terms in vocabulary.items():
-    markdown += f"## {category.replace('_', ' ').title()}\n\n"
-    for name, definition in terms.items():
-      markdown += format_markdown_term(name, definition)
-  return markdown
-
-def format_tooltip_html(term_key, definition, html):
-  display_term = term_key.replace("_", " ").title()
-  clean_description = re.sub(r"\[(.+)]\(.+\)", r"\1", definition["description"])
-  glossary_link = (
-    f"<a href='/concepts/glossary#{term_key}' class='tooltip-glossary-link' title='View in glossary'>Glossary🔗</a>"
-  )
-  return re.sub(
-    re.escape(display_term),
-    lambda
-    match: f"<span data-tooltip>{match.group(0)}<span class='tooltip-content'>{clean_description} {glossary_link}</span></span>",
-    html,
-    flags=re.IGNORECASE,
-  )
-
-def apply_tooltip(_term_key, _definition, pattern, html):
-  return re.sub(
-    pattern,
-    lambda match: format_tooltip_html(_term_key, _definition, match.group(0)),
-    html,
-    flags=re.IGNORECASE,
-  )
-
-def tooltip_html(vocabulary, html):
-  for _category, terms in vocabulary.items():
-    for term_key, definition in terms.items():
-      if definition.get("description"):
-        pattern = rf"(?<!\w){re.escape(term_key.replace('_', ' ').title())}(?![^<]*<\/a>)(?!\([^)]*\))"
-        html = apply_tooltip(term_key, definition, pattern, html)
-  return html
-
-# Page Hooks
-def on_page_markdown(markdown, **kwargs):
-  glossary = load_glossary()
-  return markdown.replace("{{GLOSSARY_DEFINITIONS}}", glossary_markdown(glossary))
-
-def on_page_content(html, **kwargs):
-  if kwargs.get("page").title == "Glossary":
-    return html
-  glossary = load_glossary()
-  return tooltip_html(glossary, html)
diff --git a/docs/index.md b/docs/index.md
deleted file mode 120000
index 74ea27aeeb6b72..00000000000000
--- a/docs/index.md
+++ /dev/null
@@ -1 +0,0 @@
-getting-started/what-is-openpilot.md
\ No newline at end of file
diff --git a/docs/stylesheets/extra.css b/docs/stylesheets/extra.css
new file mode 100644
index 00000000000000..36ce354af10af3
--- /dev/null
+++ b/docs/stylesheets/extra.css
@@ -0,0 +1,42 @@
+.md-logo img {
+  filter: invert(1);
+}
+
+.glossary-term {
+  position: relative;
+  color: inherit;
+  text-decoration: none;
+}
+
+.glossary-term__label {
+  border-bottom: 1px dotted currentColor;
+}
+
+.glossary-term__tooltip {
+  position: absolute;
+  top: calc(100% + 0.4rem);
+  left: 50%;
+  width: max-content;
+  max-width: min(30rem, 80vw);
+  padding: 0.65rem 0.8rem;
+  border-radius: 0.6rem;
+  background: rgb(26 26 26 / 96%);
+  color: white;
+  box-shadow: 0 0.6rem 1.8rem rgb(0 0 0 / 22%);
+  font-size: 0.85rem;
+  line-height: 1.45;
+  opacity: 0;
+  pointer-events: none;
+  transform: translateX(-50%) translateY(-0.15rem);
+  transition: opacity 120ms ease, transform 120ms ease;
+  visibility: hidden;
+  z-index: 20;
+}
+
+.glossary-term:hover .glossary-term__tooltip,
+.glossary-term:focus-visible .glossary-term__tooltip,
+.glossary-term:focus-within .glossary-term__tooltip {
+  opacity: 1;
+  transform: translateX(-50%) translateY(0);
+  visibility: visible;
+}
diff --git a/mkdocs.yml b/mkdocs.yml
deleted file mode 100644
index 550f807aca02f3..00000000000000
--- a/mkdocs.yml
+++ /dev/null
@@ -1,44 +0,0 @@
-site_name: openpilot docs
-repo_url: https://github.com/commaai/openpilot/
-site_url: https://docs.comma.ai
-
-exclude_docs: README.md
-
-strict: true
-docs_dir: docs
-site_dir: docs_site/
-
-hooks:
-  - docs/hooks/glossary.py
-extra_css:
-  - css/tooltip.css
-theme:
-  name: readthedocs
-  navigation_depth: 3
-
-nav:
-  - Getting Started:
-    - What is openpilot?: getting-started/what-is-openpilot.md
-  - How-to:
-    - Turn the speed blue: how-to/turn-the-speed-blue.md
-    - Connect to a comma 3X: how-to/connect-to-comma.md
-    # - Make your first pull request: how-to/make-first-pr.md
-    #- Replay a drive: how-to/replay-a-drive.md
-  - Concepts:
-    - Logs: concepts/logs.md
-    - Safety: concepts/safety.md
-    - Glossary: concepts/glossary.md
-  - Car Porting:
-    - What is a car port?: car-porting/what-is-a-car-port.md
-    - Porting a car brand: car-porting/brand-port.md
-    - Porting a car model: car-porting/model-port.md
-  - Contributing:
-    - Roadmap: contributing/roadmap.md
-    #- Architecture: contributing/architecture.md
-    - Contributing Guide →: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md
-  - Links:
-    - Blog →: https://blog.comma.ai
-    - Bounties →: https://comma.ai/bounties
-    - GitHub →: https://github.com/commaai
-    - Discord →: https://discord.comma.ai
-    - X →: https://x.com/comma_ai
diff --git a/pyproject.toml b/pyproject.toml
index e595106b5c1cba..d7af83d40751a9 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -82,7 +82,7 @@ dependencies = [
 [project.optional-dependencies]
 docs = [
   "Jinja2",
-  "mkdocs",
+  "zensical",
 ]
 
 testing = [
diff --git a/scripts/docs.py b/scripts/docs.py
new file mode 100644
index 00000000000000..d60bfb791f65f3
--- /dev/null
+++ b/scripts/docs.py
@@ -0,0 +1,63 @@
+"""
+  wrapper that materializes symlinks in docs/ before build
+
+  we can delete this once zensical supports symlinks:
+  https://github.com/zensical/backlog/issues/55
+"""
+import os
+import shutil
+import signal
+import sys
+from pathlib import Path
+
+REPO_ROOT = Path(__file__).resolve().parent.parent
+DOCS_DIR = REPO_ROOT / "docs"
+SITE_DIR = REPO_ROOT / "docs_site"
+sys.path.insert(0, str(REPO_ROOT))
+# Local docs build helpers live under docs/ so they stay near the content
+# source. The wrapper prunes them from docs_site/ after build.
+sys.path.insert(0, str(DOCS_DIR))
+
+
+def _materialize(docs: Path) -> dict[Path, str]:
+  originals: dict[Path, str] = {}
+  for link in docs.rglob("*"):
+    if not link.is_symlink():
+      continue
+    target = link.resolve()
+    if not target.is_file():
+      continue
+    originals[link] = os.readlink(link)
+    link.unlink()
+    shutil.copy2(target, link)
+  return originals
+
+
+def _restore(originals: dict[Path, str]) -> None:
+  for link, target in originals.items():
+    link.unlink(missing_ok=True)
+    os.symlink(target, link)
+
+
+def _raise_interrupt(*_):
+  raise KeyboardInterrupt
+
+
+def _prune_site_output() -> None:
+  shutil.rmtree(SITE_DIR / "ext", ignore_errors=True)
+
+
+def main() -> None:
+  signal.signal(signal.SIGTERM, _raise_interrupt)
+  originals = _materialize(DOCS_DIR)
+  try:
+    from zensical.main import cli
+    cli(standalone_mode=False)
+    if len(sys.argv) > 1 and sys.argv[1] == "build":
+      _prune_site_output()
+  finally:
+    _restore(originals)
+
+
+if __name__ == "__main__":
+  main()
diff --git a/uv.lock b/uv.lock
index cde094a85c9762..f8278c13681bcf 100644
--- a/uv.lock
+++ b/uv.lock
@@ -359,6 +359,15 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/ff/fa/d3c15189f7c52aaefbaea76fb012119b04b9013f4bf446cb4eb4c26c4e6b/cython-3.2.4-py3-none-any.whl", hash = "sha256:732fc93bc33ae4b14f6afaca663b916c2fdd5dcbfad7114e17fb2434eeaea45c", size = 1257078, upload-time = "2026-01-04T14:14:12.373Z" },
 ]
 
+[[package]]
+name = "deepmerge"
+version = "2.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/a8/3a/b0ba594708f1ad0bc735884b3ad854d3ca3bdc1d741e56e40bbda6263499/deepmerge-2.0.tar.gz", hash = "sha256:5c3d86081fbebd04dd5de03626a0607b809a98fb6ccba5770b62466fe940ff20", size = 19890, upload-time = "2024-08-30T05:31:50.308Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/2d/82/e5d2c1c67d19841e9edc74954c827444ae826978499bde3dfc1d007c8c11/deepmerge-2.0-py3-none-any.whl", hash = "sha256:6de9ce507115cff0bed95ff0ce9ecc31088ef50cbdf09bc90a09349a318b3d00", size = 13475, upload-time = "2024-08-30T05:31:48.659Z" },
+]
+
 [[package]]
 name = "dnspython"
 version = "2.8.0"
@@ -434,18 +443,6 @@ name = "gcc-arm-none-eabi"
 version = "13.2.1"
 source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi#0e1ae2548977f6cd78c51d4d0c16ebd1863241b8" }
 
-[[package]]
-name = "ghp-import"
-version = "2.1.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "python-dateutil" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/d9/29/d40217cbe2f6b1359e00c6c307bb3fc876ba74068cbab3dde77f03ca0dc4/ghp-import-2.1.0.tar.gz", hash = "sha256:9c535c4c61193c2df8871222567d7fd7e5014d835f97dc7b7439069e2413d343", size = 10943, upload-time = "2022-05-02T15:47:16.11Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/f7/ec/67fbef5d497f86283db54c22eec6f6140243aae73265799baaaa19cd17fb/ghp_import-2.1.0-py3-none-any.whl", hash = "sha256:8337dd7b50877f163d4c0289bc1f1c7f127550241988d568c1db512c4324a619", size = 11034, upload-time = "2022-05-02T15:47:14.552Z" },
-]
-
 [[package]]
 name = "git-lfs"
 version = "3.6.1"
@@ -655,15 +652,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/f1/76/934db220026b5fef85f45d51a738b91dea7d70207581063cd9bd8fafcf74/matplotlib-3.10.8-cp312-cp312-win_arm64.whl", hash = "sha256:3c624e43ed56313651bc18a47f838b60d7b8032ed348911c54906b130b20071b", size = 8012751, upload-time = "2025-12-10T22:55:42.684Z" },
 ]
 
-[[package]]
-name = "mergedeep"
-version = "1.3.4"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/3a/41/580bb4006e3ed0361b8151a01d324fb03f420815446c7def45d02f74c270/mergedeep-1.3.4.tar.gz", hash = "sha256:0096d52e9dad9939c3d975a774666af186eda617e6ca84df4c94dec30004f2a8", size = 4661, upload-time = "2021-02-05T18:55:30.623Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/2c/19/04f9b178c2d8a15b076c8b5140708fa6ffc5601fb6f1e975537072df5b2a/mergedeep-1.3.4-py3-none-any.whl", hash = "sha256:70775750742b25c0d8f36c55aed03d24c3384d17c951b3175d898bd778ef0307", size = 6354, upload-time = "2021-02-05T18:55:29.583Z" },
-]
-
 [[package]]
 name = "metadrive-simulator"
 version = "0.4.2.3"
@@ -674,44 +662,6 @@ dependencies = [
     { name = "panda3d-gltf" },
 ]
 
-[[package]]
-name = "mkdocs"
-version = "1.6.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "click" },
-    { name = "colorama", marker = "sys_platform == 'win32'" },
-    { name = "ghp-import" },
-    { name = "jinja2" },
-    { name = "markdown" },
-    { name = "markupsafe" },
-    { name = "mergedeep" },
-    { name = "mkdocs-get-deps" },
-    { name = "packaging" },
-    { name = "pathspec" },
-    { name = "pyyaml" },
-    { name = "pyyaml-env-tag" },
-    { name = "watchdog" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/bc/c6/bbd4f061bd16b378247f12953ffcb04786a618ce5e904b8c5a01a0309061/mkdocs-1.6.1.tar.gz", hash = "sha256:7b432f01d928c084353ab39c57282f29f92136665bdd6abf7c1ec8d822ef86f2", size = 3889159, upload-time = "2024-08-30T12:24:06.899Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/22/5b/dbc6a8cddc9cfa9c4971d59fb12bb8d42e161b7e7f8cc89e49137c5b279c/mkdocs-1.6.1-py3-none-any.whl", hash = "sha256:db91759624d1647f3f34aa0c3f327dd2601beae39a366d6e064c03468d35c20e", size = 3864451, upload-time = "2024-08-30T12:24:05.054Z" },
-]
-
-[[package]]
-name = "mkdocs-get-deps"
-version = "0.2.2"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "mergedeep" },
-    { name = "platformdirs" },
-    { name = "pyyaml" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/ce/25/b3cccb187655b9393572bde9b09261d267c3bf2f2cdabe347673be5976a6/mkdocs_get_deps-0.2.2.tar.gz", hash = "sha256:8ee8d5f316cdbbb2834bc1df6e69c08fe769a83e040060de26d3c19fad3599a1", size = 11047, upload-time = "2026-03-10T02:46:33.632Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/88/29/744136411e785c4b0b744d5413e56555265939ab3a104c6a4b719dad33fd/mkdocs_get_deps-0.2.2-py3-none-any.whl", hash = "sha256:e7878cbeac04860b8b5e0ca31d3abad3df9411a75a32cde82f8e44b6c16ff650", size = 9555, upload-time = "2026-03-10T02:46:32.256Z" },
-]
-
 [[package]]
 name = "mpmath"
 version = "1.3.0"
@@ -849,7 +799,7 @@ dev = [
 ]
 docs = [
     { name = "jinja2" },
-    { name = "mkdocs" },
+    { name = "zensical" },
 ]
 testing = [
     { name = "codespell" },
@@ -899,7 +849,6 @@ requires-dist = [
     { name = "libyuv", git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv" },
     { name = "matplotlib", marker = "extra == 'dev'" },
     { name = "metadrive-simulator", marker = "platform_machine != 'aarch64' and extra == 'tools'", git = "https://github.com/commaai/metadrive.git?rev=minimal" },
-    { name = "mkdocs", marker = "extra == 'docs'" },
     { name = "ncurses", git = "https://github.com/commaai/dependencies.git?subdirectory=ncurses&rev=release-ncurses" },
     { name = "numpy", specifier = ">=2.0" },
     { name = "opencv-python-headless", marker = "extra == 'dev'" },
@@ -932,6 +881,7 @@ requires-dist = [
     { name = "ty", marker = "extra == 'testing'" },
     { name = "websocket-client" },
     { name = "xattr" },
+    { name = "zensical", marker = "extra == 'docs'" },
     { name = "zeromq", git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq" },
     { name = "zstandard" },
     { name = "zstd", git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd" },
@@ -986,15 +936,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/11/5d/3744c6550dddf933785a37cdd4a9921fe13284e6d115b5a2637fe390f158/panda3d_simplepbr-0.13.1-py3-none-any.whl", hash = "sha256:cda41cb57cff035b851646956cfbdcc408bee42511dabd4f2d7bd4fbf48c57a9", size = 2457097, upload-time = "2025-03-30T16:57:39.729Z" },
 ]
 
-[[package]]
-name = "pathspec"
-version = "1.0.4"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/fa/36/e27608899f9b8d4dff0617b2d9ab17ca5608956ca44461ac14ac48b44015/pathspec-1.0.4.tar.gz", hash = "sha256:0210e2ae8a21a9137c0d470578cb0e595af87edaa6ebf12ff176f14a02e0e645", size = 131200, upload-time = "2026-01-27T03:59:46.938Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ef/3c/2c197d226f9ea224a9ab8d197933f9da0ae0aac5b6e0f884e2b8d9c8e9f7/pathspec-1.0.4-py3-none-any.whl", hash = "sha256:fb6ae2fd4e7c921a165808a552060e722767cfa526f99ca5156ed2ce45a5c723", size = 55206, upload-time = "2026-01-27T03:59:45.137Z" },
-]
-
 [[package]]
 name = "pillow"
 version = "12.2.0"
@@ -1014,15 +955,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/10/e1/542a474affab20fd4a0f1836cb234e8493519da6b76899e30bcc5d990b8b/pillow-12.2.0-cp312-cp312-win_arm64.whl", hash = "sha256:af73337013e0b3b46f175e79492d96845b16126ddf79c438d7ea7ff27783a414", size = 2463612, upload-time = "2026-04-01T14:43:39.421Z" },
 ]
 
-[[package]]
-name = "platformdirs"
-version = "4.9.6"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/9f/4a/0883b8e3802965322523f0b200ecf33d31f10991d0401162f4b23c698b42/platformdirs-4.9.6.tar.gz", hash = "sha256:3bfa75b0ad0db84096ae777218481852c0ebc6c727b3168c1b9e0118e458cf0a", size = 29400, upload-time = "2026-04-09T00:04:10.812Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/75/a6/a0a304dc33b49145b21f4808d763822111e67d1c3a32b524a1baf947b6e1/platformdirs-4.9.6-py3-none-any.whl", hash = "sha256:e61adb1d5e5cb3441b4b7710bea7e4c12250ca49439228cc1021c00dcfac0917", size = 21348, upload-time = "2026-04-09T00:04:09.463Z" },
-]
-
 [[package]]
 name = "pluggy"
 version = "1.6.0"
@@ -1186,6 +1118,19 @@ wheels = [
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+source = { registry = "https://pypi.org/simple" }
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+    { name = "deepmerge" },
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+]
+
 [[package]]
 name = "zeromq"
 version = "4.3.5"
diff --git a/zensical.toml b/zensical.toml
new file mode 100644
index 00000000000000..f08ee05c63265f
--- /dev/null
+++ b/zensical.toml
@@ -0,0 +1,67 @@
+[project]
+site_name = "openpilot docs"
+site_url = "https://docs.comma.ai"
+repo_url = "https://github.com/commaai/openpilot/"
+
+docs_dir = "docs"
+site_dir = "docs_site/"
+
+extra_css = ["stylesheets/extra.css"]
+
+nav = [
+  { "Home" = "index.md" },
+  { "Getting Started" = [
+    { "What is openpilot?" = "getting-started/what-is-openpilot.md" },
+  ] },
+  { "How-to" = [
+    { "Turn the speed blue" = "how-to/turn-the-speed-blue.md" },
+    { "Connect to a comma 3X" = "how-to/connect-to-comma.md" },
+  ] },
+  { "Concepts" = [
+    { "Logs" = "concepts/logs.md" },
+    { "Safety" = "concepts/safety.md" },
+    { "Glossary" = "concepts/glossary.md" },
+  ] },
+  { "Car Porting" = [
+    { "What is a car port?" = "car-porting/what-is-a-car-port.md" },
+    { "Porting a car brand" = "car-porting/brand-port.md" },
+    { "Porting a car model" = "car-porting/model-port.md" },
+  ] },
+  { "Contributing" = [
+    { "Roadmap" = "contributing/roadmap.md" },
+    { "Contributing Guide →" = "https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md" },
+  ] },
+  { "Links" = [
+    { "Blog →" = "https://blog.comma.ai" },
+    { "Bounties →" = "https://comma.ai/bounties" },
+    { "GitHub →" = "https://github.com/commaai" },
+    { "Discord →" = "https://discord.comma.ai" },
+    { "X →" = "https://x.com/comma_ai" },
+  ] },
+]
+
+[project.theme]
+logo = "assets/comma-logo.png"
+features = [
+  "navigation.expand",
+  "navigation.sections",
+  "navigation.instant",
+  "navigation.instant.prefetch",
+  "content.code.copy",
+  "content.action.edit",
+  "content.action.view",
+]
+
+[[project.extra.social]]
+icon = "fontawesome/brands/github"
+link = "https://github.com/commaai"
+
+[[project.extra.social]]
+icon = "fontawesome/brands/discord"
+link = "https://discord.comma.ai"
+
+[[project.extra.social]]
+icon = "fontawesome/brands/x-twitter"
+link = "https://x.com/comma_ai"
+
+[project.markdown_extensions."ext.glossary"]

From 9042cfa1ad8879518bf2936aac695ee591e96089 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 15 Apr 2026 15:55:37 -0700
Subject: [PATCH 0912/1434] rm home

---
 docs/ext/glossary.py | 4 ++--
 zensical.toml        | 1 -
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/docs/ext/glossary.py b/docs/ext/glossary.py
index d4c3ebd8fd20e8..668d777de6ece4 100644
--- a/docs/ext/glossary.py
+++ b/docs/ext/glossary.py
@@ -150,8 +150,8 @@ def _pieces(self, text: str, glossary_href: str) -> list[str | ET.Element]:
           best = candidate
           continue
 
-        _, best_start, best_end = best
-        _, current_start, current_end = candidate
+        _, _, best_start, best_end = best
+        _, _, current_start, current_end = candidate
         if current_start < best_start:
           best = candidate
           continue
diff --git a/zensical.toml b/zensical.toml
index f08ee05c63265f..0c897f9a2e1312 100644
--- a/zensical.toml
+++ b/zensical.toml
@@ -9,7 +9,6 @@ site_dir = "docs_site/"
 extra_css = ["stylesheets/extra.css"]
 
 nav = [
-  { "Home" = "index.md" },
   { "Getting Started" = [
     { "What is openpilot?" = "getting-started/what-is-openpilot.md" },
   ] },

From 84c276bb6c145a151920943398e2a3ca0de618b2 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 15 Apr 2026 18:37:23 -0700
Subject: [PATCH 0913/1434] misc docs updates (#37839)

* that's home

* more extensions

* lil fixups

* lil more

* collapse car ports

* fix links
---
 docs/car-porting/brand-port.md                |  5 --
 docs/car-porting/car-state-signals.md         | 65 --------------
 docs/car-porting/model-port.md                |  5 --
 docs/car-porting/reverse-engineering.md       | 85 -------------------
 docs/concepts/logs.md                         | 10 +--
 docs/contributing/roadmap.md                  | 14 ---
 docs/ext/glossary.py                          |  3 +-
 .../car-port.md}                              | 20 ++++-
 docs/how-to/connect-to-comma.md               | 19 +++--
 .../what-is-openpilot.md => index.md}         |  0
 zensical.toml                                 | 32 +++++--
 11 files changed, 55 insertions(+), 203 deletions(-)
 delete mode 100644 docs/car-porting/brand-port.md
 delete mode 100644 docs/car-porting/car-state-signals.md
 delete mode 100644 docs/car-porting/model-port.md
 delete mode 100644 docs/car-porting/reverse-engineering.md
 rename docs/{car-porting/what-is-a-car-port.md => how-to/car-port.md} (65%)
 rename docs/{getting-started/what-is-openpilot.md => index.md} (100%)

diff --git a/docs/car-porting/brand-port.md b/docs/car-porting/brand-port.md
deleted file mode 100644
index a3daa7a84850f3..00000000000000
--- a/docs/car-porting/brand-port.md
+++ /dev/null
@@ -1,5 +0,0 @@
-# Developing a car brand port
-
-A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
-
-Here's an example of one: https://github.com/commaai/openpilot/pull/23331.
diff --git a/docs/car-porting/car-state-signals.md b/docs/car-porting/car-state-signals.md
deleted file mode 100644
index 669bd0ee2372b4..00000000000000
--- a/docs/car-porting/car-state-signals.md
+++ /dev/null
@@ -1,65 +0,0 @@
-# CarState signals
-
-## Required for basic lateral control
-
-* `brakePressed`
-* `cruiseState`
-* `doorOpen`
-* `espDisabled`
-* `gasPressed`
-* `gearShifter`
-* `leftBlinker` / `rightBlinker`
-* `seatbeltUnlatched`
-* `standstill`
-* `steeringAngleDeg`
-* `steeringPressed`
-* `steeringTorque`
-* `steerFaultPermanent`
-* `steerFaultTemporary`
-* `vCruise`
-* `wheelSpeeds.[fl|fr|rl|rr]`: Speed of each of the car's four wheels, in m/s. The car's CAN bus often broadcasts the
-speed in kph, so the helper function `parse_wheel_speeds` performs this conversion by default.
-
-## Recommended / Required for openpilot longitudinal control
-
-* `accFaulted`
-* `espActive`
-* `parkingBrake`
-
-## Application Dependent
-
-* `blockPcmEnable`
-* `buttonEnable`
-* `brakeHoldActive`
-* `carFaultedNonCritical`
-* `invalidLkasSetting`
-* `lowSpeedAlert`
-* `regenBraking`
-* `steeringAngleOffsetDeg`
-* `steeringDisengage`
-* `steeringTorqueEps`
-* `stockLkas`
-* `vCruiseCluster`
-* `vEgoCluster`
-* `vehicleSensorsInvalid`
-
-## Automatically populated
-
-* `buttonEvents`
-
-These values are populated automatically by `parse_wheel_speeds`:
-
-* `aEgo`: Acceleration of the ego vehicle, Kalman filtered derivative of `vEgo`.
-* `vEgo`: Speed of the ego vehicle, Kalman filtered from `vEgoRaw`.
-* `vEgoRaw`: Speed of the ego vehicle, based on the average of all four wheel speeds, unfiltered.
-
-## Optional
-
-* `brake`
-* `charging`
-* `fuelGauge`
-* `leftBlindspot` / `rightBlindspot`
-* `steeringRateDeg`
-* `stockAeb`
-* `stockFcw`
-* `yawRate`
diff --git a/docs/car-porting/model-port.md b/docs/car-porting/model-port.md
deleted file mode 100644
index e148a40ecb131b..00000000000000
--- a/docs/car-porting/model-port.md
+++ /dev/null
@@ -1,5 +0,0 @@
-# Developing a car model port
-
-A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
-
-Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.
diff --git a/docs/car-porting/reverse-engineering.md b/docs/car-porting/reverse-engineering.md
deleted file mode 100644
index 128ec8e7769968..00000000000000
--- a/docs/car-porting/reverse-engineering.md
+++ /dev/null
@@ -1,85 +0,0 @@
-# Stimulus-Response Tests
-
-These are example test drives that can help identify the CAN bus messaging necessary for ADAS control. Each scripted
-test should be done in a separate route (ignition cycle). These tests are a guide, not necessarily exhaustive.
-
-While testing, constant power to the comma device is highly recommended, using [comma power](https://comma.ai/shop/comma-power) if
-necessary to make sure all test activity is fully captured and for ease of uploading. If constant power isn't
-available, keep the ignition on for at least one minute after your test to make sure power loss doesn't result
-in loss of the last minute of testing data.
-
-## Stationary ignition-only tests, part 1
-
-1. Ignition on, but don't start engine, remain in Park
-2. Open and close each door in a defined order: driver, passenger, rear left, rear right
-3. Re-enter the vehicle, close the driver's door, and fasten the driver's seatbelt
-4. Slowly press and release the accelerator pedal 3 times
-5. Slowly press and release the brake pedal 3 times
-6. Hold the brake and move the gearshift to reverse, then neutral, then drive, then sport/eco/etc if applicable
-7. Return to Park, ignition off
-
-Brake-pressed information may show up in several messages and signals, both as on/off states and as a percentage or
-pressure. It may reflect a switch on the driver's brake pedal, or a pressure-threshold state, or signals to turn on
-the rear brake lights. Start by identifying all the potential signals, and confirm while driving with ACC later.
-
-Locate signals for all four door states if possible, but some cars only expose the driver's door state on the ADAS bus.
-Driver/passenger door signals may or may not change positions for LHD vs RHD cars. For cars where only the driver's
-door signal is available, the same signal may follow the driver.
-
-## Stationary ignition-only tests, part 2
-
-1. Ignition on, but don't start engine, remain in Park
-2. Press each ACC button in a defined order: main switch on/off, set, resume, cancel, accel, decel, gap adjust
-3. Set the left turn signal for about five seconds
-4. Operate the left turn signal one time in its touch-to-pass mode
-5. Set the right turn signal for about five seconds
-6. Operate the right turn signal one time in its touch-to-pass mode
-7. Set the hazard / emergency indicator switch for about five seconds
-8. Ignition off
-
-Your vehicle may have a momentary-press main ACC switch or a physical toggle that remains set. Actual ACC engagement
-isn't necessary for purposes of detecting the ACC button presses.
-
-## Steering angle and steering torque tests
-
-Power steering should be available. On ICE cars, engine RPM may be present.
-
-1. Ignition on, start engine if applicable, remain in Park
-2. Rotate the steering wheel as follows, with a few seconds pause between each step
-   * Start as close to exact center as possible
-   * Turn to 45 degrees right and hold
-   * Turn to 90 degrees right and hold
-   * Turn to 180 degrees right and hold
-   * Turn to full lock right and hold, with firm pressure against lock
-   * Release the wheel and allow it to bounce back slightly from lock
-   * Turn to 180 degrees left and hold
-   * Return to center and release
-3. Ignition off
-
-Performing the full test to the right, followed by an abbreviated test to the left, helps give additional confirmation
-of signal scale, and sign/direction for both the steering wheel angle and driver input torque signals.
-
-## Low speed / parking lot driving tests
-
-Before this test, drive to a place like an empty parking lot where you are free to drive in a series of curves.
-
-1. Ignition on, start engine if applicable, prepare to drive
-2. Slowly (10-20mph at most) drive a figure-8 if possible, or at least one sharp left and one sharp right.
-3. Come to a complete stop
-4. When and where safe, drive in reverse for a short distance (10-15 feet)
-5. Park the car in a safe place, ignition off
-
-## High speed / highway driving tests
-
-Select a place and time where you can safely set cruise control at normal travel speeds with little interference from
-traffic ahead, and safely test the response of your factory lane guidance system.
-
-1. Ignition on, start engine if applicable, prepare to drive
-2. When safely able, engage adaptive cruise control below 50 mph
-3. When safely able, use the ACC buttons to accelerate to 50mph, then 55mph, then 60mph
-4. Disengage adaptive cruise
-5. When safely able, allow your factory lane guidance to prevent lane departures, 2-3 times on both the left and right
-
-The series of setpoints can be adjusted to local traffic regulations, and of course metric units. The specific cruise
-setpoints are useful for locating the ACC HUD signals later, and confirming their precise scaling. When the car reaches
-and holds the setpoint, that can also provide additional confirmation of wheel speed scaling.
diff --git a/docs/concepts/logs.md b/docs/concepts/logs.md
index 46ab2897df9eec..e533d3629725de 100644
--- a/docs/concepts/logs.md
+++ b/docs/concepts/logs.md
@@ -6,9 +6,9 @@ Check out our [Python library](https://github.com/commaai/openpilot/blob/master/
 
 For each segment, openpilot records the following log types:
 
-## rlog.bz2
+## rlog.zst
 
-rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for a list of all the logged services. They're a bzip2 archive of the serialized capnproto messages.
+rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/openpilot/blob/master/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
 
 ## {f,e,d}camera.hevc
 
@@ -18,12 +18,10 @@ Each camera stream is H.265 encoded and written to its respective file.
 * `ecamera.hevc` is the wide road camera
 * `dcamera.hevc` is the driver camera
 
-## qlog.bz2 & qcamera.ts
+## qlog.zst & qcamera.ts
 
 qlogs are a decimated subset of the rlogs. Check out [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for the decimation.
 
-
 qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in [comma connect](https://connect.comma.ai/) is from the qcameras.
 
-
-qlogs and qcameras are designed to be small enough to upload instantly on slow internet and store forever, yet useful enough for most analysis and debugging.
+qlogs and qcameras are designed to be small enough to upload instantly on slow internet, yet useful enough for most analysis and debugging.
diff --git a/docs/contributing/roadmap.md b/docs/contributing/roadmap.md
index 1262017a0b817c..ae27a5461cacdf 100644
--- a/docs/contributing/roadmap.md
+++ b/docs/contributing/roadmap.md
@@ -7,25 +7,11 @@ This is the roadmap for the next major openpilot releases. Also check out
 * [Bounties](https://comma.ai/bounties) for paid individual issues
 * [#current-projects](https://discord.com/channels/469524606043160576/1249579909739708446) in Discord for discussion on work-in-progress projects
 
-## openpilot 0.10
-
-openpilot 0.10 will be the first release with a driving policy trained in
-a [learned simulator](https://youtu.be/EqQNZXqzFSI).
-
-* Driving model trained in a learned simulator
-* Always-on driver monitoring (behind a toggle)
-* GPS removed from the driving stack
-* 100KB qlogs
-* `nightly` pushed after 1000 hours of hardware-in-the-loop testing
-* Car interface code moved into [opendbc](https://github.com/commaai/opendbc)
-* openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon)
-
 ## openpilot 1.0
 
 openpilot 1.0 will feature a fully end-to-end driving policy.
 
 * End-to-end longitudinal control in Chill mode
-* Automatic Emergency Braking (AEB)
 * Driver monitoring with sleep detection
 * Rolling updates/releases pushed out by CI
 * [panda safety 1.0](https://github.com/orgs/commaai/projects/27)
diff --git a/docs/ext/glossary.py b/docs/ext/glossary.py
index 668d777de6ece4..35c92add10bad7 100644
--- a/docs/ext/glossary.py
+++ b/docs/ext/glossary.py
@@ -108,7 +108,8 @@ def _replace(self, parent: ET.Element, glossary_href: str, index: int | None = N
 
     if child is None:
       parent.text = pieces[0] if isinstance(pieces[0], str) else ""
-      insert_at = 0 if isinstance(pieces[0], str) else -1
+      # Insert replacements for parent.text before the first existing child.
+      insert_at = -1
     else:
       assert index is not None
       child.tail = pieces[0] if isinstance(pieces[0], str) else ""
diff --git a/docs/car-porting/what-is-a-car-port.md b/docs/how-to/car-port.md
similarity index 65%
rename from docs/car-porting/what-is-a-car-port.md
rename to docs/how-to/car-port.md
index 3480e4e5d5cf75..ca565e53f6dd3f 100644
--- a/docs/car-porting/what-is-a-car-port.md
+++ b/docs/how-to/car-port.md
@@ -8,7 +8,7 @@ A car port enables openpilot support on a particular car. Each car model openpil
 
 # Structure of a car port
 
-Virtually all car-specific code is contained in two other repositories: [opendbc](https://github.com/commaai/opendbc) and [panda](https://github.com/commaai/panda).
+All car-specific code is contained in the [opendbc](https://github.com/commaai/opendbc) project.
 
 ## opendbc
 
@@ -23,8 +23,8 @@ Each car brand is supported by a standard interface structure in `opendbc/car/[b
 
 ## safety
 
-* `opendbc_repo/opendbc/safety/modes/[brand].h`: Brand-specific safety logic
-* `opendbc_repo/opendbc/safety/tests/test_[brand].py`: Brand-specific safety CI tests
+* `opendbc/safety/modes/[brand].h`: Brand-specific safety logic
+* `opendbc/safety/tests/test_[brand].py`: Brand-specific safety CI tests
 
 ## openpilot
 
@@ -32,8 +32,20 @@ For historical reasons, openpilot still contains a small amount of car-specific
 
 * `selfdrive/car/car_specific.py`: Brand-specific event logic
 
-# Overview
+# How do I port car?
 
 [Jason Young](https://github.com/jyoung8607) gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube:
 
 https://www.youtube.com/watch?v=XxPS5TpTUnI
+
+## Brand Port
+
+A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
+
+Here's an example of one: https://github.com/commaai/openpilot/pull/23331.
+
+## Model Port
+
+A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
+
+Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.
diff --git a/docs/how-to/connect-to-comma.md b/docs/how-to/connect-to-comma.md
index 58d4f91bb2b2aa..e4e322f111b5ef 100644
--- a/docs/how-to/connect-to-comma.md
+++ b/docs/how-to/connect-to-comma.md
@@ -1,15 +1,15 @@
-# connect to a comma four
+# connect to a comma 3X or comma four
 
-A comma four is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+A comma device is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
 
 ## Serial Console
 
-On both the comma three and comma four, the serial console is accessible from the main OBD-C port.
-Connect the comma four to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
+On the comma 3X, the serial console is accessible from the main OBD-C port, forwarded through the panda.
+Access it using `panda/scripts/som_debug.sh`.
 
-On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
+comma four also exposes a serial console, albeit through an internal debug connector. Dedicated debug hardware coming soon to the comma shop.
 
-On the comma four, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
+Login to the default user with:
 
   * Username: `comma`
   * Password: `comma`
@@ -25,7 +25,7 @@ In order to SSH into your device, you'll need a GitHub account with SSH keys. Se
     * Port: `22`
 
 Here's an example command for connecting to your device using its tethered connection:<br />
-`ssh comma@192.168.43.1`
+`ssh comma@192.168.43.1 -i ~/.ssh/my_github_key`
 
 For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).
 
@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
     * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
 
 > [!NOTE]
-> The default port for ADB is 5555 on the comma four.
+> The default port for ADB is 5555.
 
 For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
 
@@ -55,7 +55,7 @@ The public keys are only fetched from your GitHub account once. In order to upda
 
 The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed.
 
-#### ssh.comma.ai proxy
+## ssh.comma.ai proxy
 
 With a [comma prime subscription](https://comma.ai/connect), you can SSH into your comma device from anywhere.
 
@@ -79,6 +79,7 @@ Host ssh.comma.ai
 ```
 ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff
 ```
+
 (Replace `ffffffffffffffff` with your dongle_id)
 
 ### ssh.comma.ai host key fingerprint
diff --git a/docs/getting-started/what-is-openpilot.md b/docs/index.md
similarity index 100%
rename from docs/getting-started/what-is-openpilot.md
rename to docs/index.md
diff --git a/zensical.toml b/zensical.toml
index 0c897f9a2e1312..7e30c547a06fb9 100644
--- a/zensical.toml
+++ b/zensical.toml
@@ -9,23 +9,17 @@ site_dir = "docs_site/"
 extra_css = ["stylesheets/extra.css"]
 
 nav = [
-  { "Getting Started" = [
-    { "What is openpilot?" = "getting-started/what-is-openpilot.md" },
-  ] },
+  { "What is openpilot?" = "index.md" },
   { "How-to" = [
     { "Turn the speed blue" = "how-to/turn-the-speed-blue.md" },
-    { "Connect to a comma 3X" = "how-to/connect-to-comma.md" },
+    { "Connect to a comma 3X or four" = "how-to/connect-to-comma.md" },
+    { "Add support for a car" = "how-to/car-port.md" },
   ] },
   { "Concepts" = [
     { "Logs" = "concepts/logs.md" },
     { "Safety" = "concepts/safety.md" },
     { "Glossary" = "concepts/glossary.md" },
   ] },
-  { "Car Porting" = [
-    { "What is a car port?" = "car-porting/what-is-a-car-port.md" },
-    { "Porting a car brand" = "car-porting/brand-port.md" },
-    { "Porting a car model" = "car-porting/model-port.md" },
-  ] },
   { "Contributing" = [
     { "Roadmap" = "contributing/roadmap.md" },
     { "Contributing Guide →" = "https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md" },
@@ -63,4 +57,24 @@ link = "https://discord.comma.ai"
 icon = "fontawesome/brands/x-twitter"
 link = "https://x.com/comma_ai"
 
+[project.markdown_extensions.attr_list]
+
+[project.markdown_extensions.admonition]
+
+[project.markdown_extensions.md_in_html]
+
+[project.markdown_extensions.pymdownx.highlight]
+anchor_linenums = true
+line_spans = "__span"
+pygments_lang_class = true
+
+[project.markdown_extensions.pymdownx.inlinehilite]
+
+[project.markdown_extensions.pymdownx.magiclink]
+
+[project.markdown_extensions.pymdownx.superfences]
+custom_fences = [{ name = "mermaid", class = "mermaid" }]
+
+[project.markdown_extensions.pymdownx.details]
+
 [project.markdown_extensions."ext.glossary"]

From 752fe031182f5707c2bb7b10676f9b52987e9de0 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 15 Apr 2026 19:13:30 -0700
Subject: [PATCH 0914/1434] docs: add feedback guide (#37842)

* docs: add feedback guide

* lil more feedback

* the
---
 docs/contributing/feedback.md | 36 +++++++++++++++++++++++++++++++++++
 zensical.toml                 |  1 +
 2 files changed, 37 insertions(+)
 create mode 100644 docs/contributing/feedback.md

diff --git a/docs/contributing/feedback.md b/docs/contributing/feedback.md
new file mode 100644
index 00000000000000..335d24e13a8a73
--- /dev/null
+++ b/docs/contributing/feedback.md
@@ -0,0 +1,36 @@
+# How to Give Feedback
+
+Feedback is one of the highest leverage ways to contribute to openpilot as a user.
+
+## Driving
+
+Got feedback about how your car drives?
+Join the community Discord, then use the form in `#submit-feedback`.
+
+Before posting feedback, please ensure:
+
+- **openpilot is up to date** you should be on the latest openpilot release or nightly
+- **both road-facing cameras have a clear view** your windshield is clean, lenses are clean, etc.
+- **your device is mounted properly** your device must be mounted horizontally center and relatively high on the windshield
+
+## Driver Monitoring
+
+If you find DM annoying while being perfectly attentive, these are likely false positives and we want to fix them!
+In general, driver monitoring feedback is very actionable, and we can fix your complaint within a release cycle.
+
+To post your feedback:
+
+1. Join the [community Discord](https://discord.comma.ai).
+2. If driver camera recording is toggled off, temporarily enable driver camera recording in the settings until you reproduce the issue.
+3. Using comma connect, identify the relevant segment and upload the segment's logs and driver camera.
+4. Post the segment in the `#openpilot-experience` channel on Discord with a good description.
+
+Before posting feedback, please ensure:
+
+- **openpilot is up to date** you should be on the latest openpilot release or nightly
+- **the driver camera has a clear view of the driver** ensure nothing blocks view of the driver (e.g. a cable), the lens is clean, etc.
+- **your device is mounted properly** your device must be mounted horizontally center and relatively high on the windshield
+
+## Other bugs
+
+Got an issue with something else? Open an issue on our [GitHub issue tracker](https://github.com/commaai/openpilot/issues/new/choose).
diff --git a/zensical.toml b/zensical.toml
index 7e30c547a06fb9..7e5ca2c5db45b9 100644
--- a/zensical.toml
+++ b/zensical.toml
@@ -21,6 +21,7 @@ nav = [
     { "Glossary" = "concepts/glossary.md" },
   ] },
   { "Contributing" = [
+    { "Feedback" = "contributing/feedback.md" },
     { "Roadmap" = "contributing/roadmap.md" },
     { "Contributing Guide →" = "https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md" },
   ] },

From c001f3c9b490a80e69539f0af6022f6e07ceb721 Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Wed, 15 Apr 2026 22:06:54 -0700
Subject: [PATCH 0915/1434] esim: implement download profile (#37806)

---
 system/hardware/tici/lpa.py | 262 +++++++++++++++++++++++++++++++++++-
 1 file changed, 257 insertions(+), 5 deletions(-)

diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py
index 04cac1392726e2..e46ac005b800b3 100644
--- a/system/hardware/tici/lpa.py
+++ b/system/hardware/tici/lpa.py
@@ -3,6 +3,7 @@
 import atexit
 import base64
 import fcntl
+import hashlib
 import math
 import os
 import requests
@@ -43,15 +44,24 @@
 # TLV Tags
 TAG_ICCID = 0x5A
 TAG_STATUS = 0x80
-TAG_PROFILE_INFO_LIST = 0xBF2D
-TAG_SET_NICKNAME = 0xBF29
-TAG_ENABLE_PROFILE = 0xBF31
-TAG_DELETE_PROFILE = 0xBF33
+TAG_EUICC_INFO = 0xBF20
+TAG_PREPARE_DOWNLOAD = 0xBF21
+TAG_BPP_COMMAND = 0xBF23
+TAG_PROFILE_METADATA = 0xBF25
+TAG_INSTALL_RESULT_DATA = 0xBF27
 TAG_LIST_NOTIFICATION = 0xBF28
+TAG_SET_NICKNAME = 0xBF29
 TAG_RETRIEVE_NOTIFICATION = 0xBF2B
+TAG_PROFILE_INFO_LIST = 0xBF2D
+TAG_EUICC_CHALLENGE = 0xBF2E
 TAG_NOTIFICATION_METADATA = 0xBF2F
 TAG_NOTIFICATION_SENT = 0xBF30
+TAG_ENABLE_PROFILE = 0xBF31
+TAG_DELETE_PROFILE = 0xBF33
+TAG_BPP = 0xBF36
 TAG_PROFILE_INSTALL_RESULT = 0xBF37
+TAG_AUTH_SERVER = 0xBF38
+TAG_CANCEL_SESSION = 0xBF41
 TAG_OK = 0xA0
 
 PROFILE_OK = 0x00
@@ -63,6 +73,29 @@
   0x03: "disallowedByPolicy", 0x04: "wrongProfileReenabling",
   PROFILE_CAT_BUSY: "catBusy", 0x06: "undefinedError",
 }
+AUTH_SERVER_ERROR_CODES = {
+  0x01: "eUICCVerificationFailed", 0x02: "eUICCCertificateExpired",
+  0x03: "eUICCCertificateRevoked", 0x05: "invalidServerSignature",
+  0x06: "euiccCiPKUnknown", 0x0A: "matchingIdRefused",
+  0x10: "insufficientMemory",
+}
+BPP_COMMAND_NAMES = {
+  0: "initialiseSecureChannel", 1: "configureISDP", 2: "storeMetadata",
+  3: "storeMetadata2", 4: "replaceSessionKeys", 5: "loadProfileElements",
+}
+BPP_ERROR_REASONS = {
+  1: "incorrectInputValues", 2: "invalidSignature", 3: "invalidTransactionId",
+  4: "unsupportedCrtValues", 5: "unsupportedRemoteOperationType",
+  6: "unsupportedProfileClass", 7: "scp03tStructureError", 8: "scp03tSecurityError",
+  9: "iccidAlreadyExistsOnEuicc", 10: "insufficientMemoryForProfile",
+  11: "installInterrupted", 12: "peProcessingError", 13: "dataMismatch",
+  14: "invalidNAA",
+}
+BPP_ERROR_MESSAGES = {
+  9: "This eSIM profile is already installed on this device.",
+  10: "Not enough memory on the eUICC to install this profile.",
+  12: "Profile installation failed. The QR code may have already been used.",
+}
 
 # SGP.22 §5.2.6 — SM-DP+ reason/subject codes mapped to user-friendly messages
 ES9P_ERROR_MESSAGES: dict[tuple[str, str], str] = {
@@ -459,6 +492,222 @@ def process_notifications(client: AtClient) -> None:
       print(f"notification {seq_number} failed: {e}", file=sys.stderr)
 
 
+# --- Authentication & Download ---
+
+def get_challenge_and_info(client: AtClient) -> tuple[bytes, bytes]:
+  challenge_resp = es10x_command(client, encode_tlv(TAG_EUICC_CHALLENGE, b""))
+  challenge = require_tag(require_tag(challenge_resp, TAG_EUICC_CHALLENGE, "GetEuiccDataResponse"),
+                          TAG_STATUS, "challenge in response")
+  info_resp = es10x_command(client, encode_tlv(TAG_EUICC_INFO, b""))
+  require_tag(info_resp, TAG_EUICC_INFO, "GetEuiccInfo1Response")
+  return challenge, info_resp
+
+
+def authenticate_server(client: AtClient, b64_signed1: str, b64_sig1: str, b64_pk_id: str, b64_cert: str, matching_id: str) -> str:
+  tac = bytes([0x35, 0x29, 0x06, 0x11])
+  device_info = encode_tlv(TAG_STATUS, tac) + encode_tlv(0xA1, b"")
+  ctx_inner = encode_tlv(TAG_STATUS, matching_id.encode("utf-8")) + encode_tlv(0xA1, device_info)
+  content = b64d(b64_signed1) + b64d(b64_sig1) + b64d(b64_pk_id) + b64d(b64_cert) + encode_tlv(0xA0, ctx_inner)
+  response = es10x_command(client, encode_tlv(TAG_AUTH_SERVER, content))
+  root = require_tag(response, TAG_AUTH_SERVER, "AuthenticateServerResponse")
+  error_tag = find_tag(root, 0xA1)
+  if error_tag is not None:
+    code = int.from_bytes(error_tag, "big") if error_tag else 0
+    raise RuntimeError(f"AuthenticateServer rejected by eUICC: {AUTH_SERVER_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
+  return b64e(response)
+
+
+def prepare_download(client: AtClient, b64_signed2: str, b64_sig2: str, b64_cert: str, cc: str | None = None) -> str:
+  smdp_signed2 = b64d(b64_signed2)
+  smdp_signature2 = b64d(b64_sig2)
+  smdp_certificate = b64d(b64_cert)
+  smdp_signed2_root = find_tag(smdp_signed2, 0x30)
+  if smdp_signed2_root is None:
+    raise RuntimeError("Invalid smdpSigned2")
+  transaction_id = find_tag(smdp_signed2_root, TAG_STATUS)
+  cc_required_flag = find_tag(smdp_signed2_root, 0x01)
+  if transaction_id is None or cc_required_flag is None:
+    raise RuntimeError("Invalid smdpSigned2")
+  content = smdp_signed2 + smdp_signature2
+  if int.from_bytes(cc_required_flag, "big") != 0:
+    if not cc:
+      raise RuntimeError("Confirmation code required but not provided")
+    content += encode_tlv(0x04, hashlib.sha256(hashlib.sha256(cc.encode("utf-8")).digest() + transaction_id).digest())
+  content += smdp_certificate
+  response = es10x_command(client, encode_tlv(TAG_PREPARE_DOWNLOAD, content))
+  require_tag(response, TAG_PREPARE_DOWNLOAD, "PrepareDownloadResponse")
+  return b64e(response)
+
+
+def _parse_tlv_header_len(data: bytes) -> int:
+  tag_len = 2 if data[0] & 0x1F == 0x1F else 1
+  length_byte = data[tag_len]
+  return tag_len + (1 + (length_byte & 0x7F) if length_byte & 0x80 else 1)
+
+
+def _split_bpp(bpp: bytes) -> list[bytes]:
+  """Split a BoundProfilePackage into APDU chunks per SGP.22 §5.7.6."""
+  root_value = None
+  for tag, value, start, end in iter_tlv(bpp, with_positions=True):
+    if tag == TAG_BPP:
+      root_value = value
+      val_start = start + _parse_tlv_header_len(bpp[start:end])
+      break
+  if root_value is None:
+    raise RuntimeError("Invalid BoundProfilePackage")
+
+  chunks: list[bytes] = []
+  for tag, value, start, end in iter_tlv(root_value, with_positions=True):
+    if tag == TAG_BPP_COMMAND:
+      chunks.append(bpp[0 : val_start + end])
+    elif tag in (0xA0, 0xA2):
+      chunks.append(bpp[val_start + start : val_start + end])
+    elif tag in (0xA1, 0xA3):
+      hdr_len = _parse_tlv_header_len(root_value[start:end])
+      chunks.append(bpp[val_start + start : val_start + start + hdr_len])
+      for _, _, cs, ce in iter_tlv(value, with_positions=True):
+        chunks.append(value[cs:ce])
+  return chunks
+
+
+def _parse_install_result(response: bytes) -> dict[str, Any] | None:
+  """Parse a ProfileInstallResult from an APDU response, or None if not present."""
+  root = find_tag(response, TAG_PROFILE_INSTALL_RESULT)
+  if not root:
+    return None
+  result_data = find_tag(root, TAG_INSTALL_RESULT_DATA)
+  if not result_data:
+    return None
+  result: dict[str, Any] = {"seqNumber": 0, "success": False, "bppCommandId": None, "errorReason": None}
+  notif_meta = find_tag(result_data, TAG_NOTIFICATION_METADATA)
+  if notif_meta:
+    seq_num = find_tag(notif_meta, TAG_STATUS)
+    if seq_num:
+      result["seqNumber"] = int.from_bytes(seq_num, "big")
+  final_result = find_tag(result_data, 0xA2)
+  if final_result:
+    for tag, value in iter_tlv(final_result):
+      if tag == 0xA0:
+        result["success"] = True
+      elif tag == 0xA1:
+        bpp_cmd = find_tag(value, TAG_STATUS)
+        if bpp_cmd:
+          result["bppCommandId"] = int.from_bytes(bpp_cmd, "big")
+        err = find_tag(value, 0x81)
+        if err:
+          result["errorReason"] = int.from_bytes(err, "big")
+  return result
+
+
+def load_bpp(client: AtClient, b64_bpp: str) -> dict:
+  bpp = b64d(b64_bpp)
+  result = None
+  for chunk in _split_bpp(bpp):
+    response = es10x_command(client, chunk)
+    if response:
+      result = _parse_install_result(response) or result
+
+  if result is None:
+    raise RuntimeError("Profile installation failed: no result from eUICC")
+  if not result["success"] and result["errorReason"] is not None:
+    msg = BPP_ERROR_MESSAGES.get(result["errorReason"])
+    if not msg:
+      cmd_name = BPP_COMMAND_NAMES.get(result["bppCommandId"], f"unknown({result['bppCommandId']})")
+      err_name = BPP_ERROR_REASONS.get(result["errorReason"], f"unknown({result['errorReason']})")
+      msg = f"Profile installation failed at {cmd_name}: {err_name}"
+    raise RuntimeError(msg)
+  if not result["success"]:
+    raise RuntimeError("Profile installation failed: no result from eUICC")
+  return result
+
+
+def parse_metadata(b64_metadata: str) -> dict:
+  root = find_tag(b64d(b64_metadata), TAG_PROFILE_METADATA)
+  if root is None:
+    raise RuntimeError("Invalid profileMetadata")
+  return decode_struct(root, PROFILE)
+
+
+def cancel_session(client: AtClient, transaction_id: bytes, reason: int = 127) -> str:
+  content = encode_tlv(0x80, transaction_id) + encode_tlv(0x81, bytes([reason]))
+  response = es10x_command(client, encode_tlv(TAG_CANCEL_SESSION, content))
+  return b64e(response)
+
+
+def parse_lpa_activation_code(activation_code: str) -> tuple[str, str]:
+  """Parse 'LPA:1$smdp.example.com$MATCHING-ID' into (smdp_address, matching_id)."""
+  if not activation_code.startswith("LPA:"):
+    raise ValueError("Invalid activation code format")
+  parts = activation_code[4:].split("$")
+  if len(parts) != 3:
+    raise ValueError("Invalid activation code format")
+  return parts[1], parts[2]
+
+
+def _b64_field(data: dict, key: str) -> str:
+  return base64_trim(data[key])
+
+
+def _cancel_session_safe(client: AtClient, smdp: str, tx_id: str, session: requests.Session) -> None:
+  b64_cancel = ""
+  try:
+    b64_cancel = cancel_session(client, b64d(tx_id))
+  except Exception:
+    pass
+  try:
+    es9p_request(smdp, "cancelSession", {"transactionId": tx_id, "cancelSessionResponse": b64_cancel}, "CancelSession", session=session)
+  except Exception:
+    pass
+
+
+def download_profile(client: AtClient, activation_code: str) -> str:
+  """Download and install an eSIM profile. Returns the ICCID of the installed profile."""
+  if not system_time_valid():
+    raise RuntimeError("System time is not set; TLS certificate validation requires a valid clock")
+  smdp, matching_id = parse_lpa_activation_code(activation_code)
+  challenge, euicc_info = get_challenge_and_info(client)
+  session = requests.Session()
+  tx_id = None
+
+  try:
+    # step 1: initiate authentication
+    auth = es9p_request(smdp, "initiateAuthentication", {
+      "smdpAddress": smdp, "euiccChallenge": b64e(challenge),
+      "euiccInfo1": b64e(euicc_info), "matchingId": matching_id,
+    }, "Authentication", session=session)
+    tx_id = _b64_field(auth, "transactionId")
+
+    # step 2: authenticate server
+    b64_auth = authenticate_server(client,
+      _b64_field(auth, "serverSigned1"), _b64_field(auth, "serverSignature1"),
+      _b64_field(auth, "euiccCiPKIdToBeUsed"), _b64_field(auth, "serverCertificate"),
+      matching_id)
+
+    # step 3: authenticate client + get metadata
+    cli = es9p_request(smdp, "authenticateClient", {
+      "transactionId": tx_id, "authenticateServerResponse": b64_auth,
+    }, "Authentication", session=session)
+    iccid = parse_metadata(_b64_field(cli, "profileMetadata"))["iccid"]
+
+    # step 4: prepare download
+    b64_prep = prepare_download(client,
+      _b64_field(cli, "smdpSigned2"), _b64_field(cli, "smdpSignature2"),
+      _b64_field(cli, "smdpCertificate"))
+
+    # step 5: get and install bound profile package
+    bpp = es9p_request(smdp, "getBoundProfilePackage", {
+      "transactionId": tx_id, "prepareDownloadResponse": b64_prep,
+    }, "GetBoundProfilePackage", session=session)
+    load_bpp(client, _b64_field(bpp, "boundProfilePackage"))
+    return iccid
+  except Exception:
+    if tx_id:
+      _cancel_session_safe(client, smdp, tx_id, session)
+    raise
+  finally:
+    session.close()
+
+
 class TiciLPA(LPABase):
   def __init__(self):
     if hasattr(self, '_client'):
@@ -515,7 +764,10 @@ def delete_profile(self, iccid: str) -> None:
       raise LPAError(f"DeleteProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
 
   def download_profile(self, qr: str, nickname: str | None = None) -> None:
-    return None
+    with self._acquire_channel():
+      iccid = download_profile(self._client, qr)
+      if nickname and iccid:
+        set_profile_nickname(self._client, iccid, nickname)
 
   def nickname_profile(self, iccid: str, nickname: str) -> None:
     with self._acquire_channel():

From 35aeeee657ddb8561c05cf08a51a6b2190d203e5 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Fri, 17 Apr 2026 03:07:56 -0400
Subject: [PATCH 0916/1434] [bot] Update Python packages (#1799)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 opendbc_repo | 2 +-
 panda        | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index ded068839b7b84..df807f8be39423 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit ded068839b7b84708f35b07ad207601f36652f4e
+Subproject commit df807f8be394231b2366a1ecd9c9265ab51d2400
diff --git a/panda b/panda
index c0cc96fbad1d11..5a90799dac68a8 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit c0cc96fbad1d11445c34141d7626703fc13a9938
+Subproject commit 5a90799dac68a8549981cc18efe3a60ebbded053

From d1d6fae61340d75d0384dc6e39a529e6e5b5054b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 17 Apr 2026 03:28:58 -0400
Subject: [PATCH 0917/1434] controls: always default Torque Lateral Control to
 v0 Tune (#1804)

* controls: always default Torque Lateral Control to v0 Tune

* add fixme
---
 sunnypilot/selfdrive/controls/controlsd_ext.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
index 4b6c92ae2c1da4..3d9bbe2175d1b0 100644
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -38,7 +38,7 @@ def initialize_lateral_control(self, lac, CI, dt):
     enforce_torque_control = self.params.get_bool("EnforceTorqueControl")
     torque_versions = self.params.get("TorqueControlTune")
     if not enforce_torque_control:
-      return lac
+      return LatControlTorqueV0(self.CP, self.CP_SP, CI, dt)  # FIXME-SP: revert when upstream fixes tuning issues with v1
 
     if torque_versions == 0.0:  # v0
       return LatControlTorqueV0(self.CP, self.CP_SP, CI, dt)

From d81d66193fc9d46291f03fb16557bb32166e4091 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Fri, 17 Apr 2026 12:37:56 -0700
Subject: [PATCH 0918/1434] modeld: single jit (#37758)

* compile_modeld.py

* update estimates

* missing image=2?

* Revert "missing image=2?"

This reverts commit 2f5952eb63ba1e3f24cbf5769e6b5e9170d7f0a6.

* Revert "update estimates"

This reverts commit 1f72feef2ffdec6126e3c941e899b46ace7b4b65.

* Revert "compile_modeld.py"

This reverts commit f10541502efca02725f368deda2a21d1f786f57d.

* load warp in ModelState init

* dead code

* prep

* compile modeld

* update SConscript

* tmp save plot locally

* Revert "tmp save plot locally"

This reverts commit ec22f15161ad3b0241a097546b35860f989219f5.

* openpilot hacks?

* no float16

* tmp more chunks

* Revert "tmp more chunks"

This reverts commit 9e1d9b4d0dc36ff530d2a70b565fbfabd7afb00d.

* Revert "no float16"

This reverts commit 6204956e98e3c0818ed1985ede8eeccb810f63e3.

* realize boundaries

* Revert "realize boundaries"

This reverts commit ffaa19259eba70944e7793e8f51a0f87089531b3.

* prune=False?

* Reapply "tmp more chunks"

This reverts commit 2599c41cea93b4a6b4e946cdffc6a617663a7d23.

* tg bug?

* load first?

* Revert "load first?"

This reverts commit f643d082d76a424b23295e254179eb111e936e61.

* revert

* Reapply "tmp save plot locally"

This reverts commit 1b95b82ee58654bd908b1cb04ab0ddbcd1a5955d.

* 0 tol pc

* warp -> modeld

* rename

* bypass chunking?

* dont chunk

* Revert "dont chunk"

This reverts commit cc97fc67b3203456e123f02babe5c83b87c7e264.

* dont chunk

* debug

* Revert "debug"

This reverts commit b3c2f2e7a095fd32f8d8562a68fd1cca42357eac.

* Revert "dont chunk"

This reverts commit 42bd9b6f6ad0722c50348ba11ba7e2a64fdf997d.

* Revert "bypass chunking?"

This reverts commit ad5422a93483ffd8a59ba62e5fb72ced3b5d04d0.

* corrupt model outputs

* Revert "corrupt model outputs"

This reverts commit 245feb94480e02f83a20b65a9488652bcbfc88b0.

* image=0 for warp, match master

* dedupe enqueue

* pass traffic convention

* tg buffer for desire

* dedupe buffer creation

* compile_modeld: nuke stale cached pkl before compiling

The UNSAFE CI checkout keeps gitignored files (.pkl, .sconsign.dblite),
so stale pkl files from previous commits can persist and be reused
instead of being recompiled. Delete them explicitly before compiling.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

* test vs compile

* all outputs need to be different on different inputs

* randomize numpy inputs

* randomize on every step

* SConscript: nuke stale pkl+chunks before compile_modeld

Move the stale artifact cleanup from compile_modeld.py into the
SConscript build command. This ensures stale gitignored pkl and chunk
files are deleted even if scons decides to skip the compile step
(due to a stale .sconsign.dblite from UNSAFE CI checkout).

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

* compile_modeld: restore Context(IMAGE=0) for warp

The warp operations must run under IMAGE=0 to avoid QCOM image texture
optimizations that corrupt the output buffer after ~33 frames.
This was accidentally commented out in a855173.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

* modeld: create SubMaster before model loading

Move PubMaster/SubMaster creation before the model loading step.
During model loading (3.5s+), process_replay may send liveCalibration.
If SubMaster doesn't exist yet, the message is dropped and the warp
transform stays as zeros, producing garbage warped images.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

* Revert "modeld: create SubMaster before model loading"

This reverts commit 968c987c2fbb3fce141c4e345d10ddea559b6c50.

* stale metadata?

* claude debug

* Revert "claude debug"

This reverts commit 49e754c6affa45a8ea8834588a00227b8090b17a.

* Revert "stale metadata?"

This reverts commit 870388513c0d4a67dcf970cd277b6db56cb2b478.

* modeld: realize jit outputs before parsing

* Update modeld.py

* modeld: fix NameError by removing redundant MODELS_DIR definition

* test buffers in test vs. compile

* 2x inputs before running

* fixup 2x inputs test

* realize onnx weights?

* Revert "realize onnx weights?"

This reverts commit 49c8b9a505db38ff22f342db011a3a6b6526d398.

* move openpilot_hacks flag to sconscript

* stricter test vs compile

* correct timings

* more run more fail?

* Revert "more run more fail?"

This reverts commit 9e94bb63940751ec29e81b634c42449113e1f2e5.

* numpy shenanigans

* correct shapes

* dont assert timings for now

* Revert "correct shapes"

This reverts commit 5b9ff6c84c0022327d21801d179e9e51c39e8f78.

* Revert "numpy shenanigans"

This reverts commit b4f6fb3078d7e9b09698895b88728fd8eea8c8a8.

* no need to nuke

* comment unused

* don't use NPY device

* copy instead of from_blob

* to device before jit

* Revert "to device before jit"

This reverts commit 7a59ed9b1ac88657b5a3917986b6ff92e59a2ee3.

* Revert "copy instead of from_blob"

This reverts commit 196c4892a06ffba89ef631876372cecf137cc1b4.

* Revert "don't use NPY device"

This reverts commit 18abf43bbac46ad47a60c03dd8d1ef40b3f59227.

* 3 runs is enough

* no_memory_planner=1

* lint

* restore model_replay.py

* on policy -> policy

* unused

* prepare only enqueues full images

* warp with image=2?

* unused args

* test vs compile, check different inputs different outputs

* avoid uop cache collision

* dont need realize here

* misc

* input queues diverged

* strict zip

* monkey patch for now

* memory planner

* prev desire correct order

* dedupe pkl paths / compile targets

* don't change behavior, warp and enqueue frames when skipping model eval

* actually prepare only

* warm up warp jit

* correct path

* oops

* explicit warmup

* need continuous + can't have dupplicate jit inputs

* whitespace

* bufs -> input_queues

* master tg

* /N_RUNS

* bump tg, remove uop cache patch

* more readable

* Revert "bump tg, remove uop cache patch"

This reverts commit 499acca2591becd389de4025943f9e776a5b337c.

* missing dep

---------

Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
Co-authored-by: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
---
 selfdrive/modeld/SConscript          |  34 ++--
 selfdrive/modeld/compile_modeld.py   | 289 +++++++++++++++++++++++++++
 selfdrive/modeld/compile_warp.py     | 198 ------------------
 selfdrive/modeld/modeld.py           | 150 +++-----------
 selfdrive/modeld/tinygrad_helpers.py |   2 +-
 5 files changed, 343 insertions(+), 330 deletions(-)
 create mode 100755 selfdrive/modeld/compile_modeld.py
 delete mode 100755 selfdrive/modeld/compile_warp.py

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 86b62d2c1707b0..053eb157b6d8e8 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -16,7 +16,6 @@ tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "
 def estimate_pickle_max_size(onnx_size):
   return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty
 
-# THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
 # get fastest TG config
 available = set(Device.get_available_devices())
 if 'CUDA' in available:
@@ -24,9 +23,10 @@ if 'CUDA' in available:
   tg_flags = f'DEV={tg_backend}'
 elif 'QCOM' in available:
   tg_backend = 'QCOM'
-  tg_flags = f'DEV={tg_backend} FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0'
+  tg_flags = f'DEV={tg_backend} FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
 else:
   tg_backend = 'CPU' if arch == 'Darwin' else 'CPU:LLVM'
+  # THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
   tg_flags = f'DEV={tg_backend} THREADS=0'
 
 def write_tg_compiled_flags(target, source, env):
@@ -53,14 +53,23 @@ for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
 image_flag = {
      'larch64': 'IMAGE=2',
 }.get(arch, 'IMAGE=0')
-script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
-compile_warp_cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
-from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
-warp_targets = []
-for cam in [_ar_ox_fisheye, _os_fisheye]:
-  w, h = cam.width, cam.height
-  warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath]
-lenv.Command(warp_targets, tinygrad_files + script_files + [compiled_flags_node], compile_warp_cmd)
+script_files = [File(Dir("#selfdrive/modeld").File("compile_modeld.py").abspath)]
+compile_modeld_cmd = f'{tg_flags} {mac_brew_string} {image_flag} python3 {Dir("#selfdrive/modeld").abspath}/compile_modeld.py '
+driving_onnx_deps = [File(f"models/{m}.onnx").abspath for m in ['driving_vision', 'driving_policy']]
+driving_metadata_deps = [File(f"models/{m}_metadata.pkl").abspath for m in ['driving_vision', 'driving_policy']]
+
+from openpilot.selfdrive.modeld.compile_modeld import MODELD_CONFIGS, DM_WARP_CONFIGS
+policy_pkls = [File(cfg.pkl_path).abspath for cfg in MODELD_CONFIGS]
+modeld_targets = policy_pkls + [File(cfg.pkl_path).abspath for cfg in DM_WARP_CONFIGS]
+compile_node = lenv.Command(modeld_targets, tinygrad_files + script_files + driving_onnx_deps + driving_metadata_deps + [chunker_file, compiled_flags_node], compile_modeld_cmd)
+
+# chunk the combined policy pkls
+for policy_pkl in policy_pkls:
+  onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
+  chunk_targets = get_chunk_paths(policy_pkl, estimate_pickle_max_size(onnx_sizes_sum))
+  def do_chunk(target, source, env, pkl=policy_pkl, chunks=chunk_targets):
+    chunk_file(pkl, chunks)
+  lenv.Command(chunk_targets, compile_node, do_chunk)
 
 def tg_compile(flags, model_name):
   pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
@@ -81,7 +90,4 @@ def tg_compile(flags, model_name):
     do_chunk,
   )
 
-# Compile small models
-for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
-  tg_compile(tg_flags, model_name)
-
+tg_compile(tg_flags, 'dmonitoring_model')
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
new file mode 100755
index 00000000000000..469110a857c68b
--- /dev/null
+++ b/selfdrive/modeld/compile_modeld.py
@@ -0,0 +1,289 @@
+#!/usr/bin/env python3
+import time
+import pickle
+from dataclasses import dataclass
+from itertools import product
+from functools import partial
+
+import numpy as np
+from tinygrad.tensor import Tensor
+from tinygrad.helpers import Context
+from tinygrad.device import Device
+from tinygrad.engine.jit import TinyJit
+
+from openpilot.selfdrive.modeld.tinygrad_helpers import MODELS_DIR
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+
+# https://github.com/tinygrad/tinygrad/issues/15682
+from tinygrad.uop.ops import UOp, Ops
+_orig = UOp.__reduce__
+UOp.__reduce__ = lambda self: (UOp.unique, ()) if self.op is Ops.UNIQUE else _orig(self)
+
+
+@dataclass
+class CompileConfig:
+  cam_w: int
+  cam_h: int
+  prepare_only: bool
+  prefix: str
+
+  @property
+  def pkl_path(self):
+    return str(MODELS_DIR / f'{self.prefix}{"warp_" if self.prepare_only else ""}{self.cam_w}x{self.cam_h}_tinygrad.pkl')
+
+CAMERA_CONFIGS = [
+  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
+  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
+]
+MODELD_CONFIGS = [CompileConfig(cam_w, cam_h, prepare_only, 'driving_') for (cam_w, cam_h), prepare_only in product(CAMERA_CONFIGS, [True, False])]
+DM_WARP_CONFIGS = [CompileConfig(cam_w, cam_h, True, 'dm_') for cam_w, cam_h in CAMERA_CONFIGS]
+
+
+UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
+UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
+
+
+def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad):
+  w_dst, h_dst = dst_shape
+  h_src, w_src = src_shape
+
+  x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
+  y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
+
+  # inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather)
+  src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2]
+  src_y = M_inv[1, 0] * x + M_inv[1, 1] * y + M_inv[1, 2]
+  src_w = M_inv[2, 0] * x + M_inv[2, 1] * y + M_inv[2, 2]
+
+  src_x = src_x / src_w
+  src_y = src_y / src_w
+
+  x_nn_clipped = Tensor.round(src_x).clip(0, w_src - 1).cast('int')
+  y_nn_clipped = Tensor.round(src_y).clip(0, h_src - 1).cast('int')
+  idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped
+
+  return src_flat[idx]
+
+
+def frames_to_tensor(frames):
+  H = (frames.shape[0] * 2) // 3
+  W = frames.shape[1]
+  in_img1 = Tensor.cat(frames[0:H:2, 0::2],
+                       frames[1:H:2, 0::2],
+                       frames[0:H:2, 1::2],
+                       frames[1:H:2, 1::2],
+                       frames[H:H+H//4].reshape((H//2, W//2)),
+                       frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2))
+  return in_img1
+
+
+def make_frame_prepare(cam_w, cam_h, model_w, model_h):
+  stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
+  uv_offset = stride * y_height
+  stride_pad = stride - cam_w
+
+  def frame_prepare_tinygrad(input_frame, M_inv):
+    # UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
+    M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]])
+    # deinterleave NV12 UV plane (UVUV... -> separate U, V)
+    uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
+    with Context(SPLIT_REDUCEOP=0):
+      y = warp_perspective_tinygrad(input_frame[:cam_h*stride],
+                                    M_inv, (model_w, model_h),
+                                    (cam_h, cam_w), stride_pad).realize()
+      u = warp_perspective_tinygrad(uv[:cam_h//2, :cam_w:2].flatten(),
+                                    M_inv_uv, (model_w//2, model_h//2),
+                                    (cam_h//2, cam_w//2), 0).realize()
+      v = warp_perspective_tinygrad(uv[:cam_h//2, 1:cam_w:2].flatten(),
+                                    M_inv_uv, (model_w//2, model_h//2),
+                                    (cam_h//2, cam_w//2), 0).realize()
+    yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w))
+    tensor = frames_to_tensor(yuv)
+    return tensor
+  return frame_prepare_tinygrad
+
+
+def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip):
+  img = vision_input_shapes['img']  # (1, 12, 128, 256)
+  n_frames = img[1] // 6
+  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
+
+  fb = policy_input_shapes['features_buffer']  # (1, 25, 512)
+  dp = policy_input_shapes['desire_pulse']  # (1, 25, 8)
+  tc = policy_input_shapes['traffic_convention']  # (1, 2)
+
+  npy = {
+    'desire': np.zeros(dp[2], dtype=np.float32),
+    'traffic_convention': np.zeros(tc, dtype=np.float32),
+    'tfm': np.zeros((3, 3), dtype=np.float32),
+    'big_tfm': np.zeros((3, 3), dtype=np.float32),
+  }
+  input_queues = {
+    'img_q': Tensor.zeros(img_buf_shape, dtype='uint8').contiguous().realize(),
+    'big_img_q': Tensor.zeros(img_buf_shape, dtype='uint8').contiguous().realize(),
+    'feat_q': Tensor.zeros(frame_skip * (fb[1] - 1) + 1, fb[0], fb[2]).contiguous().realize(),
+    'desire_q': Tensor.zeros(frame_skip * dp[1], dp[0], dp[2]).contiguous().realize(),
+    **{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
+  }
+  return input_queues, npy
+
+
+def shift_and_sample(buf, new_val, sample_fn):
+  buf.assign(buf[1:].cat(new_val, dim=0).contiguous())
+  return sample_fn(buf)
+
+
+def sample_skip(buf, frame_skip):
+  return buf[::frame_skip].contiguous().flatten(0, 1).unsqueeze(0)
+
+
+def sample_desire(buf, frame_skip):
+  return buf.reshape(-1, frame_skip, *buf.shape[1:]).max(1).flatten(0, 1).unsqueeze(0)
+
+
+def make_warp_dm(cam_w, cam_h, dm_w, dm_h):
+  stride, y_height, _, _ = get_nv12_info(cam_w, cam_h)
+  stride_pad = stride - cam_w
+
+  def warp_dm(input_frame, M_inv):
+    M_inv = M_inv.to(Device.DEFAULT)
+    result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w)
+    return result
+  return warp_dm
+
+
+def make_run_policy(vision_runner, policy_runner, cam_w, cam_h,
+                    vision_features_slice, frame_skip, prepare_only=False):
+  model_w, model_h = MEDMODEL_INPUT_SIZE
+  frame_prepare = make_frame_prepare(cam_w, cam_h, model_w, model_h)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+
+  def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, tfm, big_tfm, frame, big_frame):
+    img = shift_and_sample(img_q, frame_prepare(frame, tfm.to(Device.DEFAULT)).unsqueeze(0), sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm.to(Device.DEFAULT)).unsqueeze(0), sample_skip_fn)
+
+    if prepare_only:
+      return img, big_img
+
+    vision_out = next(iter(vision_runner({'img': img, 'big_img': big_img}).values())).cast('float32')
+
+    new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
+    feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
+    desire_buf = shift_and_sample(desire_q, desire.to(Device.DEFAULT).reshape(1, 1, -1), sample_desire_fn)
+
+    inputs = {'features_buffer': feat_buf, 'desire_pulse': desire_buf, 'traffic_convention': traffic_convention.to(Device.DEFAULT)}
+    policy_out = next(iter(policy_runner(inputs).values())).cast('float32')
+
+    return vision_out, policy_out
+  return run_policy
+
+
+def compile_modeld(cam_w, cam_h, prepare_only, pkl_path):
+  from tinygrad.nn.onnx import OnnxRunner
+  from openpilot.selfdrive.modeld.constants import ModelConstants
+
+  _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
+  print(f"Compiling combined policy JIT for {cam_w}x{cam_h}...")
+
+  vision_runner = OnnxRunner(MODELS_DIR / 'driving_vision.onnx')
+  policy_runner = OnnxRunner(MODELS_DIR / 'driving_policy.onnx')
+
+  with open(MODELS_DIR / 'driving_vision_metadata.pkl', 'rb') as f:
+    vision_metadata = pickle.load(f)
+    vision_features_slice = vision_metadata['output_slices']['hidden_state']
+    vision_input_shapes = vision_metadata['input_shapes']
+  with open(MODELS_DIR / 'driving_policy_metadata.pkl', 'rb') as f:
+    policy_input_shapes = pickle.load(f)['input_shapes']
+
+  frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
+
+  _run = make_run_policy(vision_runner, policy_runner,
+                         cam_w, cam_h, vision_features_slice, frame_skip, prepare_only)
+  run_policy_jit = TinyJit(_run, prune=True)
+
+  N_RUNS = 3
+  SEED = 42
+
+  def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
+    input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip)
+    np.random.seed(seed)
+
+    for i in range(N_RUNS):
+      frame = Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize()
+      big_frame = Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize()
+      for v in npy.values():
+        v[:] = np.random.randn(*v.shape).astype(v.dtype)
+      Device.default.synchronize()
+      st = time.perf_counter()
+      outs = fn(**input_queues, frame=frame, big_frame=big_frame)
+      mt = time.perf_counter()
+      for o in outs:
+        # .realize() not needed once jitted, but needed for unjitted fn
+        o.realize()
+      Device.default.synchronize()
+      et = time.perf_counter()
+      print(f"  [{i+1}/{N_RUNS}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+
+    val = [np.copy(v.numpy()) for v in outs]
+    buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
+
+    if test_val is not None:
+      match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
+      assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})"
+    if test_buffers is not None:
+      match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
+      assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
+    return fn, val, buffers
+
+  print('run unjitted')
+  _, test_val, test_buffers = random_inputs_run_fn(_run, seed=SEED)
+  print('capture + replay')
+  run_policy_jit, _, _ = random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers)
+
+  print('pickle round trip')
+  with open(pkl_path, "wb") as f:
+    pickle.dump(run_policy_jit, f)
+    print(f"  Saved to {pkl_path}")
+  with open(pkl_path, "rb") as f:
+    run_policy_jit = pickle.load(f)
+  random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers, expect_match=True)
+  random_inputs_run_fn(run_policy_jit, SEED+1, test_val, test_buffers, expect_match=False)
+
+
+def compile_dm_warp(cam_w, cam_h, pkl_path):
+  dm_w, dm_h = DM_INPUT_SIZE
+  _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
+
+  print(f"Compiling DM warp for {cam_w}x{cam_h}...")
+
+  warp_dm = make_warp_dm(cam_w, cam_h, dm_w, dm_h)
+  warp_dm_jit = TinyJit(warp_dm, prune=True)
+
+  for i in range(10):
+    inputs = [Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize(),
+              Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
+    Device.default.synchronize()
+    st = time.perf_counter()
+    warp_dm_jit(*inputs)
+    mt = time.perf_counter()
+    Device.default.synchronize()
+    et = time.perf_counter()
+    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+
+  with open(pkl_path, "wb") as f:
+    pickle.dump(warp_dm_jit, f)
+  print(f"  Saved to {pkl_path}")
+
+
+def run_and_save_pickle():
+  for cfg in MODELD_CONFIGS:
+    compile_modeld(cfg.cam_w, cfg.cam_h, cfg.prepare_only, cfg.pkl_path)
+  for cfg in DM_WARP_CONFIGS:
+    compile_dm_warp(cfg.cam_w, cfg.cam_h, cfg.pkl_path)
+
+
+if __name__ == "__main__":
+  run_and_save_pickle()
diff --git a/selfdrive/modeld/compile_warp.py b/selfdrive/modeld/compile_warp.py
deleted file mode 100755
index 47511f2a2b6b23..00000000000000
--- a/selfdrive/modeld/compile_warp.py
+++ /dev/null
@@ -1,198 +0,0 @@
-#!/usr/bin/env python3
-import time
-import pickle
-import numpy as np
-from pathlib import Path
-from tinygrad.tensor import Tensor
-from tinygrad.helpers import Context
-from tinygrad.device import Device
-from tinygrad.engine.jit import TinyJit
-
-from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
-from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
-
-MODELS_DIR = Path(__file__).parent / 'models'
-
-CAMERA_CONFIGS = [
-  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
-  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
-]
-
-UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
-UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
-
-IMG_BUFFER_SHAPE = (30, MEDMODEL_INPUT_SIZE[1] // 2, MEDMODEL_INPUT_SIZE[0] // 2)
-
-
-def warp_pkl_path(w, h):
-  return MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
-
-
-def dm_warp_pkl_path(w, h):
-  return MODELS_DIR / f'dm_warp_{w}x{h}_tinygrad.pkl'
-
-
-def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad):
-  w_dst, h_dst = dst_shape
-  h_src, w_src = src_shape
-
-  x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
-  y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
-
-  # inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather)
-  src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2]
-  src_y = M_inv[1, 0] * x + M_inv[1, 1] * y + M_inv[1, 2]
-  src_w = M_inv[2, 0] * x + M_inv[2, 1] * y + M_inv[2, 2]
-
-  src_x = src_x / src_w
-  src_y = src_y / src_w
-
-  x_nn_clipped = Tensor.round(src_x).clip(0, w_src - 1).cast('int')
-  y_nn_clipped = Tensor.round(src_y).clip(0, h_src - 1).cast('int')
-  idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped
-
-  return src_flat[idx]
-
-
-def frames_to_tensor(frames, model_w, model_h):
-  H = (frames.shape[0] * 2) // 3
-  W = frames.shape[1]
-  in_img1 = Tensor.cat(frames[0:H:2, 0::2],
-                       frames[1:H:2, 0::2],
-                       frames[0:H:2, 1::2],
-                       frames[1:H:2, 1::2],
-                       frames[H:H+H//4].reshape((H//2, W//2)),
-                       frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2))
-  return in_img1
-
-
-def make_frame_prepare(cam_w, cam_h, model_w, model_h):
-  stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
-  uv_offset = stride * y_height
-  stride_pad = stride - cam_w
-
-  def frame_prepare_tinygrad(input_frame, M_inv):
-    # UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
-    M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]])
-    # deinterleave NV12 UV plane (UVUV... -> separate U, V)
-    uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
-    with Context(SPLIT_REDUCEOP=0):
-      y = warp_perspective_tinygrad(input_frame[:cam_h*stride],
-                                    M_inv, (model_w, model_h),
-                                    (cam_h, cam_w), stride_pad).realize()
-      u = warp_perspective_tinygrad(uv[:cam_h//2, :cam_w:2].flatten(),
-                                    M_inv_uv, (model_w//2, model_h//2),
-                                    (cam_h//2, cam_w//2), 0).realize()
-      v = warp_perspective_tinygrad(uv[:cam_h//2, 1:cam_w:2].flatten(),
-                                    M_inv_uv, (model_w//2, model_h//2),
-                                    (cam_h//2, cam_w//2), 0).realize()
-    yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w))
-    tensor = frames_to_tensor(yuv, model_w, model_h)
-    return tensor
-  return frame_prepare_tinygrad
-
-
-def make_update_img_input(frame_prepare, model_w, model_h):
-  def update_img_input_tinygrad(frame_buffer, frame, M_inv):
-    M_inv = M_inv.to(Device.DEFAULT)
-    new_img = frame_prepare(frame, M_inv)
-    frame_buffer.assign(frame_buffer[6:].cat(new_img, dim=0).contiguous())
-    return Tensor.cat(frame_buffer[:6], frame_buffer[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
-  return update_img_input_tinygrad
-
-
-def make_update_both_imgs(frame_prepare, model_w, model_h):
-  update_img = make_update_img_input(frame_prepare, model_w, model_h)
-
-  def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
-                                calib_big_img_buffer, new_big_img, M_inv_big):
-    calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
-    calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
-    return calib_img_pair, calib_big_img_pair
-  return update_both_imgs_tinygrad
-
-
-def make_warp_dm(cam_w, cam_h, dm_w, dm_h):
-  stride, y_height, _, _ = get_nv12_info(cam_w, cam_h)
-  stride_pad = stride - cam_w
-
-  def warp_dm(input_frame, M_inv):
-    M_inv = M_inv.to(Device.DEFAULT)
-    result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w)
-    return result
-  return warp_dm
-
-
-def compile_modeld_warp(cam_w, cam_h):
-  model_w, model_h = MEDMODEL_INPUT_SIZE
-  _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
-
-  print(f"Compiling modeld warp for {cam_w}x{cam_h}...")
-
-  frame_prepare = make_frame_prepare(cam_w, cam_h, model_w, model_h)
-  update_both_imgs = make_update_both_imgs(frame_prepare, model_w, model_h)
-  update_img_jit = TinyJit(update_both_imgs, prune=True)
-
-  full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
-  big_full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
-  for i in range(10):
-    img_inputs = [full_buffer,
-                  Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize(),
-                  Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
-    big_img_inputs = [big_full_buffer,
-                      Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize(),
-                      Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
-    inputs = img_inputs + big_img_inputs
-    Device.default.synchronize()
-
-    st = time.perf_counter()
-    _ = update_img_jit(*inputs)
-    mt = time.perf_counter()
-    Device.default.synchronize()
-    et = time.perf_counter()
-    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
-
-  pkl_path = warp_pkl_path(cam_w, cam_h)
-  with open(pkl_path, "wb") as f:
-    pickle.dump(update_img_jit, f)
-  print(f"  Saved to {pkl_path}")
-
-  jit = pickle.load(open(pkl_path, "rb"))
-  jit(*inputs)
-
-
-def compile_dm_warp(cam_w, cam_h):
-  dm_w, dm_h = DM_INPUT_SIZE
-  _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
-
-  print(f"Compiling DM warp for {cam_w}x{cam_h}...")
-
-  warp_dm = make_warp_dm(cam_w, cam_h, dm_w, dm_h)
-  warp_dm_jit = TinyJit(warp_dm, prune=True)
-
-  for i in range(10):
-    inputs = [Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize(),
-              Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
-    Device.default.synchronize()
-    st = time.perf_counter()
-    warp_dm_jit(*inputs)
-    mt = time.perf_counter()
-    Device.default.synchronize()
-    et = time.perf_counter()
-    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
-
-  pkl_path = dm_warp_pkl_path(cam_w, cam_h)
-  with open(pkl_path, "wb") as f:
-    pickle.dump(warp_dm_jit, f)
-  print(f"  Saved to {pkl_path}")
-
-
-def run_and_save_pickle():
-  for cam_w, cam_h in CAMERA_CONFIGS:
-    compile_modeld_warp(cam_w, cam_h)
-    compile_dm_warp(cam_w, cam_h)
-
-
-if __name__ == "__main__":
-  run_and_save_pickle()
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 0c50d8beb51970..7a8a442981a1f1 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -26,6 +26,7 @@
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
+from openpilot.selfdrive.modeld.compile_modeld import CompileConfig, make_input_queues
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.common.file_chunker import read_file_chunked
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
@@ -34,17 +35,13 @@
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
-VISION_PKL_PATH = MODELS_DIR / 'driving_vision_tinygrad.pkl'
 VISION_METADATA_PATH = MODELS_DIR / 'driving_vision_metadata.pkl'
-POLICY_PKL_PATH = MODELS_DIR / 'driving_policy_tinygrad.pkl'
 POLICY_METADATA_PATH = MODELS_DIR / 'driving_policy_metadata.pkl'
 
 LAT_SMOOTH_SECONDS = 0.0
 LONG_SMOOTH_SECONDS = 0.3
 MIN_LAT_CONTROL_SPEED = 0.3
 
-IMG_QUEUE_SHAPE = (6*(ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ + 1), 128, 256)
-assert IMG_QUEUE_SHAPE[0] == 30
 
 
 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
@@ -79,106 +76,36 @@ def __init__(self, vipc=None):
     if vipc is not None:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
-class InputQueues:
-  def __init__ (self, model_fps, env_fps, n_frames_input):
-    assert env_fps % model_fps == 0
-    assert env_fps >= model_fps
-    self.model_fps = model_fps
-    self.env_fps = env_fps
-    self.n_frames_input = n_frames_input
-
-    self.dtypes = {}
-    self.shapes = {}
-    self.q = {}
-
-  def update_dtypes_and_shapes(self, input_dtypes, input_shapes) -> None:
-    self.dtypes.update(input_dtypes)
-    if self.env_fps == self.model_fps:
-      self.shapes.update(input_shapes)
-    else:
-      for k in input_shapes:
-        shape = list(input_shapes[k])
-        if 'img' in k:
-          n_channels = shape[1] // self.n_frames_input
-          shape[1] = (self.env_fps // self.model_fps + (self.n_frames_input - 1)) * n_channels
-        else:
-          shape[1] = (self.env_fps // self.model_fps) * shape[1]
-        self.shapes[k] = tuple(shape)
-
-  def reset(self) -> None:
-    self.q = {k: np.zeros(self.shapes[k], dtype=self.dtypes[k]) for k in self.dtypes.keys()}
-
-  def enqueue(self, inputs:dict[str, np.ndarray]) -> None:
-    for k in inputs.keys():
-      if inputs[k].dtype != self.dtypes[k]:
-        raise ValueError(f'supplied input <{k}({inputs[k].dtype})> has wrong dtype, expected {self.dtypes[k]}')
-      input_shape = list(self.shapes[k])
-      input_shape[1] = -1
-      single_input = inputs[k].reshape(tuple(input_shape))
-      sz = single_input.shape[1]
-      self.q[k][:,:-sz] = self.q[k][:,sz:]
-      self.q[k][:,-sz:] = single_input
-
-  def get(self, *names) -> dict[str, np.ndarray]:
-    if self.env_fps == self.model_fps:
-      return {k: self.q[k] for k in names}
-    else:
-      out = {}
-      for k in names:
-        shape = self.shapes[k]
-        if 'img' in k:
-          n_channels = shape[1] // (self.env_fps // self.model_fps + (self.n_frames_input - 1))
-          out[k] = np.concatenate([self.q[k][:, s:s+n_channels] for s in np.linspace(0, shape[1] - n_channels, self.n_frames_input, dtype=int)], axis=1)
-        elif 'pulse' in k:
-          # any pulse within interval counts
-          out[k] = self.q[k].reshape((shape[0], shape[1] * self.model_fps // self.env_fps, self.env_fps // self.model_fps, -1)).max(axis=2)
-        else:
-          idxs = np.arange(-1, -shape[1], -self.env_fps // self.model_fps)[::-1]
-          out[k] = self.q[k][:, idxs]
-      return out
 
 class ModelState:
-  inputs: dict[str, np.ndarray]
-  output: np.ndarray
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
-  def __init__(self):
+  def __init__(self, cam_w: int, cam_h: int):
     with open(VISION_METADATA_PATH, 'rb') as f:
       vision_metadata = pickle.load(f)
       self.vision_input_shapes =  vision_metadata['input_shapes']
       self.vision_input_names = list(self.vision_input_shapes.keys())
       self.vision_output_slices = vision_metadata['output_slices']
-      vision_output_size = vision_metadata['output_shapes']['outputs'][1]
 
     with open(POLICY_METADATA_PATH, 'rb') as f:
       policy_metadata = pickle.load(f)
       self.policy_input_shapes =  policy_metadata['input_shapes']
       self.policy_output_slices = policy_metadata['output_slices']
-      policy_output_size = policy_metadata['output_shapes']['outputs'][1]
 
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
 
-    # policy inputs
-    self.numpy_inputs = {k: np.zeros(self.policy_input_shapes[k], dtype=np.float32) for k in self.policy_input_shapes}
-    self.full_input_queues = InputQueues(ModelConstants.MODEL_CONTEXT_FREQ, ModelConstants.MODEL_RUN_FREQ, ModelConstants.N_FRAMES)
-    for k in ['desire_pulse', 'features_buffer']:
-      self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape})
-    self.full_input_queues.reset()
-
-    self.img_queues = {'img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(),
-                       'big_img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize()}
+    self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
+    self.input_queues, self.npy = make_input_queues(self.vision_input_shapes, self.policy_input_shapes, self.frame_skip)
     self.full_frames : dict[str, Tensor] = {}
     self._blob_cache : dict[int, Tensor] = {}
-    self.transforms_np = {k: np.zeros((3,3), dtype=np.float32) for k in self.img_queues}
-    self.transforms = {k: Tensor(v, device='NPY').realize() for k, v in self.transforms_np.items()}
-    self.vision_output = np.zeros(vision_output_size, dtype=np.float32)
-    self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
-    self.policy_output = np.zeros(policy_output_size, dtype=np.float32)
     self.parser = Parser()
-    self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {}
-    self.update_imgs = None
-    self.vision_run = pickle.loads(read_file_chunked(str(VISION_PKL_PATH)))
-    self.policy_run = pickle.loads(read_file_chunked(str(POLICY_PKL_PATH)))
+    self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
+    self.run_policy = pickle.loads(read_file_chunked(CompileConfig(cam_w, cam_h, prefix='driving_', prepare_only=False).pkl_path))
+    self.warp_enqueue = pickle.loads(read_file_chunked(CompileConfig(cam_w, cam_h, prefix='driving_', prepare_only=True).pkl_path))
+    self.warp_enqueue(
+      **self.input_queues,
+      frame=Tensor.zeros(self.frame_buf_params['img'][3], dtype='uint8').contiguous().realize(),
+      big_frame=Tensor.zeros(self.frame_buf_params['big_img'][3], dtype='uint8').contiguous().realize())
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
@@ -186,18 +113,6 @@ def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slic
 
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
-    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire_pulse'][0] = 0
-    new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
-    self.prev_desire[:] = inputs['desire_pulse']
-    if self.update_imgs is None:
-      for key in bufs.keys():
-        w, h = bufs[key].width, bufs[key].height
-        self.frame_buf_params[key] = get_nv12_info(w, h)
-      warp_path = MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
-      with open(warp_path, "rb") as f:
-        self.update_imgs = pickle.load(f)
-
     for key in bufs.keys():
       ptr = bufs[key].data.ctypes.data
       yuv_size = self.frame_buf_params[key][3]
@@ -206,30 +121,31 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
       if cache_key not in self._blob_cache:
         self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8')
       self.full_frames[key] = self._blob_cache[cache_key]
-    for key in bufs.keys():
-      self.transforms_np[key][:,:] = transforms[key][:,:]
 
-    out = self.update_imgs(self.img_queues['img'], self.full_frames['img'], self.transforms['img'],
-                           self.img_queues['big_img'], self.full_frames['big_img'], self.transforms['big_img'])
-    vision_inputs = {'img': out[0], 'big_img': out[1]}
+    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
+    inputs['desire_pulse'][0] = 0
+    self.npy['desire'][:] = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
+    self.prev_desire[:] = inputs['desire_pulse']
+    self.npy['traffic_convention'][:] = inputs['traffic_convention']
+    self.npy['tfm'][:,:] = transforms['img'][:,:]
+    self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
 
     if prepare_only:
+      self.warp_enqueue(**self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
       return None
 
-    self.vision_output = self.vision_run(**vision_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
-    vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))
+    vision_output, policy_output = self.run_policy(
+      **self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img']
+    )
 
-    self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire})
-    for k in ['desire_pulse', 'features_buffer']:
-      self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k]
-    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
-
-    self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
-    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
+    vision_output = vision_output.numpy().flatten()
+    policy_output = policy_output.numpy().flatten()
+    vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(vision_output, self.vision_output_slices))
+    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(policy_output, self.policy_output_slices))
     combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
-    if SEND_RAW_PRED:
-      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
 
+    if SEND_RAW_PRED:
+      combined_outputs_dict['raw_pred'] = np.concatenate([vision_output.copy(), policy_output.copy()])
     return combined_outputs_dict
 
 
@@ -241,11 +157,6 @@ def main(demo=False):
     # also need to move the aux USB interrupts for good timings
     config_realtime_process(7, 54)
 
-  st = time.monotonic()
-  cloudlog.warning("loading model")
-  model = ModelState()
-  cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
-
   # visionipc clients
   while True:
     available_streams = VisionIpcClient.available_streams("camerad", block=False)
@@ -269,6 +180,11 @@ def main(demo=False):
   if use_extra_client:
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
+  st = time.monotonic()
+  cloudlog.warning("loading model")
+  model = ModelState(vipc_client_main.width, vipc_client_main.height)
+  cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
+
   # messaging
   pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
diff --git a/selfdrive/modeld/tinygrad_helpers.py b/selfdrive/modeld/tinygrad_helpers.py
index 49a6ed6161855c..9c1a0d4689f5dd 100644
--- a/selfdrive/modeld/tinygrad_helpers.py
+++ b/selfdrive/modeld/tinygrad_helpers.py
@@ -2,7 +2,7 @@
 import os
 from pathlib import Path
 
-MODELS_DIR = Path(__file__).parent / 'models'
+MODELS_DIR = Path(__file__).resolve().parent / 'models'
 COMPILED_FLAGS_PATH = MODELS_DIR / 'tg_compiled_flags.json'
 
 

From 5624a4ccd682fdd56d9ab2420f9341e65010621a Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Fri, 17 Apr 2026 15:41:47 -0700
Subject: [PATCH 0919/1434] bump teleoprtc_repo (#37848)

---
 teleoprtc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/teleoprtc_repo b/teleoprtc_repo
index 389815b8ca5302..22df577821862e 160000
--- a/teleoprtc_repo
+++ b/teleoprtc_repo
@@ -1 +1 @@
-Subproject commit 389815b8ca5302ce7c1504b7841d4eb61a8cd51b
+Subproject commit 22df577821862e32a011fb0cf42577599f3a79c4

From 5f6e05410d19798075466f2723401b3ea3845612 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 18 Apr 2026 00:48:28 -0400
Subject: [PATCH 0920/1434] Revert "controls: always default Torque Lateral
 Control to v0 Tune" (#1806)

Revert "controls: always default Torque Lateral Control to v0 Tune (#1804)"

This reverts commit d1d6fae61340d75d0384dc6e39a529e6e5b5054b.
---
 sunnypilot/selfdrive/controls/controlsd_ext.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
index 3d9bbe2175d1b0..4b6c92ae2c1da4 100644
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -38,7 +38,7 @@ def initialize_lateral_control(self, lac, CI, dt):
     enforce_torque_control = self.params.get_bool("EnforceTorqueControl")
     torque_versions = self.params.get("TorqueControlTune")
     if not enforce_torque_control:
-      return LatControlTorqueV0(self.CP, self.CP_SP, CI, dt)  # FIXME-SP: revert when upstream fixes tuning issues with v1
+      return lac
 
     if torque_versions == 0.0:  # v0
       return LatControlTorqueV0(self.CP, self.CP_SP, CI, dt)

From 389b639ef27a1fd5278d5ae97b9618fd562b00c2 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Fri, 17 Apr 2026 21:58:05 -0700
Subject: [PATCH 0921/1434] DriverMonitoringState v2 (#37799)

* draft ds

* better names

* what is this

* build new

* better names2

* more

* bit more cleanup

* rm those

* .

* .2

* selfdrived

* depre

* hk

* fix test

* fix rest

* 1

* fix enum

* update cereal

* fix rest

* more

* add step

* fix all

* imports

* cant?

* .

* simplify

* bool

* fix some migrate

* cleanup

* fix fix

* Update cereal/log.capnp

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* touchup

* what

---------

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 cereal/log.capnp                              |  74 ++++-
 selfdrive/controls/controlsd.py               |   2 +-
 selfdrive/monitoring/dmonitoringd.py          |   2 +-
 selfdrive/monitoring/helpers.py               | 286 ++++++++----------
 selfdrive/monitoring/test_monitoring.py       | 150 +++++----
 selfdrive/selfdrived/selfdrived.py            |  25 +-
 selfdrive/test/process_replay/migration.py    |  47 ++-
 selfdrive/ui/mici/layouts/onboarding.py       |   2 +-
 .../ui/mici/onroad/driver_camera_dialog.py    |  36 +--
 selfdrive/ui/mici/onroad/driver_state.py      |   4 +-
 selfdrive/ui/onroad/driver_state.py           |   2 +-
 tools/sim/lib/simulated_sensors.py            |  11 +-
 12 files changed, 365 insertions(+), 276 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 0f8b5470a44d1a..2dea21ff05326f 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2076,7 +2076,7 @@ struct DriverStateV2 {
   }
 }
 
-struct DriverMonitoringState @0xb83cda094a1da284 {
+struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {
   events @18 :List(OnroadEvent);
   faceDetected @1 :Bool;
   isDistracted @2 :Bool;
@@ -2104,6 +2104,75 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
   }
 }
 
+struct DriverMonitoringState {
+  lockout @0 :Bool;
+  alertCountLockoutPercent @1 :Int8;
+  alertTimeLockoutPercent @2 :Int8;
+
+  alwaysOn @3 :Bool;
+  alwaysOnLockout @4 :Bool;
+
+  alertLevel @5 :AlertLevel;
+  activePolicy @6 :MonitoringPolicy;
+  isRHD @7 :Bool;
+  rhdCalibration @8 :CalibrationState;
+
+  visionPolicyState @9 :VisionPolicyState;
+  wheeltouchPolicyState @10 :WheeltouchPolicyState;
+
+  enum AlertLevel {
+    # ordinal must match the name to prevent bugs
+    # comparing against the raw ordinal value
+    none @0;
+    one @1;
+    two @2;
+    three @3;
+  }
+
+  enum MonitoringPolicy {
+    wheeltouch @0;
+    vision @1;
+  }
+
+  struct VisionPolicyState {
+    awarenessPercent @0 :Int8;
+    awarenessStep @1 :Float32;
+    isDistracted @2 :Bool;
+    distractedTypes @3 :DistractedTypes;
+
+    faceDetected @4 :Bool;
+    pose @5 :Pose;
+    wheeltouchFallbackPercent @6 :Int8;
+    uncertainOffroadAlertPercent @7 :Int8;
+
+    struct DistractedTypes {
+      pose @0: Bool;
+      eye @1: Bool;
+      phone @2: Bool;
+    }
+
+    struct Pose {
+      pitch @0 :Float32;
+      yaw @1 :Float32;
+      pitchCalib @2 :CalibrationState;
+      yawCalib @3 :CalibrationState;
+      calibrated @4 :Bool;
+      uncertainty @5 :Float32;
+    }
+  }
+
+  struct WheeltouchPolicyState {
+    awarenessPercent @0 :Int8;
+    awarenessStep @1 :Float32;
+    driverInteracting @2 :Bool;
+  }
+
+  struct CalibrationState {
+    calibratedPercent @0 :Int8;
+    offset @1 :Float32;
+  }
+}
+
 struct Boot {
   wallTimeNanos @0 :UInt64;
   pstore @4 :Map(Text, Data);
@@ -2410,7 +2479,7 @@ struct Event {
     thumbnail @66: Thumbnail;
     onroadEvents @134: List(OnroadEvent);
     carParams @69: Car.CarParams;
-    driverMonitoringState @71: DriverMonitoringState;
+    driverMonitoringState @151 :DriverMonitoringState;
     livePose @129 :LivePose;
     modelV2 @75 :ModelDataV2;
     drivingModelData @128 :DrivingModelData;
@@ -2553,5 +2622,6 @@ struct Event {
     gyroscope2DEPRECATED @100 :SensorEventData;
     accelerometer2DEPRECATED @101 :SensorEventData;
     temperatureSensor2DEPRECATED @123 :SensorEventData;
+    driverMonitoringStateDEPRECATED @71 :DriverMonitoringStateDEPRECATED;
   }
 }
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index b49e46604a4893..e1d9650d7243eb 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -193,7 +193,7 @@ def publish(self, CC, lac_log):
     cs.upAccelCmd = float(self.LoC.pid.p)
     cs.uiAccelCmd = float(self.LoC.pid.i)
     cs.ufAccelCmd = float(self.LoC.pid.f)
-    cs.forceDecel = bool((self.sm['driverMonitoringState'].awarenessStatus < 0.) or
+    cs.forceDecel = bool((self.sm['driverMonitoringState'].alertLevel == log.DriverMonitoringState.AlertLevel.three) or
                          (self.sm['selfdriveState'].state == State.softDisabling))
 
     lat_tuning = self.CP.lateralTuning.which()
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index 1ac2c2dcbab497..2a48f744949429 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -24,7 +24,7 @@ def dmonitoringd_thread():
 
     valid = sm.all_checks()
     if demo_mode and sm.valid['driverStateV2']:
-      DM.run_step(sm, demo=demo_mode)
+      DM.run_step(sm, demo=True)
     elif valid:
       DM.run_step(sm, demo=demo_mode)
 
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index a9d8f5b11aec2d..37caa757c52b95 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -1,18 +1,20 @@
+from collections import defaultdict
 from math import atan2, radians
 import numpy as np
 
 from cereal import car, log
 import cereal.messaging as messaging
-from openpilot.selfdrive.selfdrived.events import Events
-from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.common.realtime import DT_DMON
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.stat_live import RunningStatFilter
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.system.hardware import HARDWARE
 
-EventName = log.OnroadEvent.EventName
+AlertLevel = log.DriverMonitoringState.AlertLevel
+MonitoringPolicy = log.DriverMonitoringState.MonitoringPolicy
+
+def to_perc(v):
+  return int(min(max(v * 100., 0.), 100.))
 
 # ******************************************************************************************
 #  NOTE: To fork maintainers.
@@ -21,21 +23,26 @@
 # ******************************************************************************************
 
 class DRIVER_MONITOR_SETTINGS:
-  def __init__(self, device_type):
-    self._DT_DMON = DT_DMON
-    # ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
-    self._AWARENESS_TIME = 30. # passive wheeltouch total timeout
-    self._AWARENESS_PRE_TIME_TILL_TERMINAL = 15.
-    self._AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6.
-    self._DISTRACTED_TIME = 11. # active monitoring total timeout
-    self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
-    self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
+  def __init__(self):
+    # https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
+    self._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT = 15.
+    self._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT = 24.
+    self._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT = 30.
+    # https://cdn.euroncap.com/cars/assets/euro_ncap_protocol_safe_driving_driver_engagement_v11_a30e874152.pdf
+    self._VISION_POLICY_ALERT_1_TIMEOUT = 3.
+    self._VISION_POLICY_ALERT_2_TIMEOUT = 5.
+    self._VISION_POLICY_ALERT_3_TIMEOUT = 11.
+
+    self._TIMEOUT_RECOVERY_FACTOR_MAX = 5.
+    self._TIMEOUT_RECOVERY_FACTOR_MIN = 1.25
+
+    self._MAX_TERMINAL_ALERTS = 3  # not allowed to engage after 3 terminal alerts
+    self._MAX_TERMINAL_DURATION = int(30 / DT_DMON)  # not allowed to engage after 30s of terminal alerts
 
     self._FACE_THRESHOLD = 0.7
     self._EYE_THRESHOLD = 0.5
     self._BLINK_THRESHOLD = 0.5
     self._PHONE_THRESH = 0.5
-
     self._POSE_PITCH_THRESHOLD = 0.3133
     self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
     self._POSE_PITCH_THRESHOLD_STRICT = self._POSE_PITCH_THRESHOLD
@@ -56,36 +63,22 @@ def __init__(self, device_type):
     self._YAW_MIN_OFFSET = -0.0246
 
     self._DCAM_UNCERTAIN_ALERT_THRESHOLD = 0.1
-    self._DCAM_UNCERTAIN_ALERT_COUNT = int(60  / self._DT_DMON)
-    self._DCAM_UNCERTAIN_RESET_COUNT = int(20  / self._DT_DMON)
-    self._POSESTD_THRESHOLD = 0.3
-    self._HI_STD_FALLBACK_TIME = int(10  / self._DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
+    self._DCAM_UNCERTAIN_ALERT_COUNT = int(60  / DT_DMON)
+    self._DCAM_UNCERTAIN_RESET_COUNT = int(20  / DT_DMON)
+    self._HI_STD_THRESHOLD = 0.3
+    self._HI_STD_FALLBACK_TIME = int(10  / DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
     self._DISTRACTED_FILTER_TS = 0.25  # 0.6Hz
 
     self._POSE_CALIB_MIN_SPEED = 13  # 30 mph
-    self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON)  # valid data counts before calibration completes, 1min cumulative
-    self._POSE_OFFSET_MAX_COUNT = int(360 / self._DT_DMON)  # stop deweighting new data after 6 min, aka "short term memory"
-
+    self._POSE_OFFSET_MIN_COUNT = int(60 / DT_DMON)  # valid data counts before calibration completes, 1min cumulative
+    self._POSE_OFFSET_MAX_COUNT = int(360 / DT_DMON)  # stop deweighting new data after 6 min, aka "short term memory"
     self._WHEELPOS_CALIB_MIN_SPEED = 11
     self._WHEELPOS_THRESHOLD = 0.5
-    self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side
+    self._WHEELPOS_FILTER_MIN_COUNT = int(15 / DT_DMON) # allow 15 seconds to converge wheel side
     self._WHEELPOS_DATA_AVG = 0.03
     self._WHEELPOS_DATA_VAR = 3*5.5e-5
     self._WHEELPOS_MAX_COUNT = -1
 
-    self._RECOVERY_FACTOR_MAX = 5.  # relative to minus step change
-    self._RECOVERY_FACTOR_MIN = 1.25  # relative to minus step change
-
-    self._MAX_TERMINAL_ALERTS = 3  # not allowed to engage after 3 terminal alerts
-    self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON)  # not allowed to engage after 30s of terminal alerts
-
-class DistractedType:
-
-  NOT_DISTRACTED = 0
-  DISTRACTED_POSE = 1 << 0
-  DISTRACTED_BLINK = 1 << 1
-  DISTRACTED_PHONE = 1 << 2
-
 class DriverPose:
   def __init__(self, settings):
     pitch_filter_raw_priors = (settings._PITCH_NATURAL_OFFSET, settings._PITCH_NATURAL_VAR, 2)
@@ -117,7 +110,7 @@ def __init__(self, raw_priors, max_trackable):
 W, H = (cam.dcam.width, cam.dcam.height)  # corrected image has same size as raw
 
 def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
-  # the output of these angles are in device frame
+  # the output of these angles are in driver camera frame
   # so from driver's perspective, pitch is up and yaw is right
 
   pitch_net, yaw_net, roll_net = angles_desc
@@ -138,7 +131,7 @@ def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
 class DriverMonitoring:
   def __init__(self, rhd_saved=False, settings=None, always_on=False):
     # init policy settings
-    self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
+    self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS()
 
     # init driver status
     wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
@@ -147,10 +140,11 @@ def __init__(self, rhd_saved=False, settings=None, always_on=False):
     self.blink_prob = 0.
     self.phone_prob = 0.
 
+    self.alert_level = AlertLevel.none
     self.always_on = always_on
-    self.distracted_types = []
+    self.distracted_types = defaultdict(bool)
     self.driver_distracted = False
-    self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
+    self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, DT_DMON)
     self.wheel_on_right = False
     self.wheel_on_right_last = None
     self.wheel_on_right_default = rhd_saved
@@ -159,33 +153,29 @@ def __init__(self, rhd_saved=False, settings=None, always_on=False):
     self.terminal_time = 0
     self.step_change = 0.
     self.active_monitoring_mode = True
+    self.driver_interacting = False
     self.is_model_uncertain = False
     self.hi_stds = 0
-    self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
-    self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
+    self.model_std_max = 0.
+    self.threshold_alert_1 = 0.
+    self.threshold_alert_2 = 0.
+    self.dcam_uncertain = False
     self.dcam_uncertain_cnt = 0
-    self.dcam_uncertain_alerted = False # once per drive
     self.dcam_reset_cnt = 0
-
-    self.params = Params()
-    self.too_distracted = self.params.get_bool("DriverTooDistracted")
+    self.too_distracted = Params().get_bool("DriverTooDistracted")
 
     self._reset_awareness()
     self._set_timers(active_monitoring=True)
-    self._reset_events()
 
   def _reset_awareness(self):
     self.awareness = 1.
-    self.awareness_active = 1.
-    self.awareness_passive = 1.
-
-  def _reset_events(self):
-    self.current_events = Events()
+    self.last_vision_awareness = 1.
+    self.last_wheeltouch_awareness = 1.
 
   def _set_timers(self, active_monitoring):
-    if self.active_monitoring_mode and self.awareness <= self.threshold_prompt:
+    if self.active_monitoring_mode and self.awareness <= self.threshold_alert_2:
       if active_monitoring:
-        self.step_change = self.settings._DT_DMON / self.settings._DISTRACTED_TIME
+        self.step_change = DT_DMON / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
       else:
         self.step_change = 0.
       return  # no exploit after orange alert
@@ -195,24 +185,24 @@ def _set_timers(self, active_monitoring):
     if active_monitoring:
       # when falling back from passive mode to active mode, reset awareness to avoid false alert
       if not self.active_monitoring_mode:
-        self.awareness_passive = self.awareness
-        self.awareness = self.awareness_active
+        self.last_wheeltouch_awareness = self.awareness
+        self.awareness = self.last_vision_awareness
 
-      self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
-      self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
-      self.step_change = self.settings._DT_DMON / self.settings._DISTRACTED_TIME
+      self.threshold_alert_1 = 1. - self.settings._VISION_POLICY_ALERT_1_TIMEOUT / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
+      self.threshold_alert_2 = 1. - self.settings._VISION_POLICY_ALERT_2_TIMEOUT / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
+      self.step_change = DT_DMON / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
       self.active_monitoring_mode = True
     else:
       if self.active_monitoring_mode:
-        self.awareness_active = self.awareness
-        self.awareness = self.awareness_passive
+        self.last_vision_awareness = self.awareness
+        self.awareness = self.last_wheeltouch_awareness
 
-      self.threshold_pre = self.settings._AWARENESS_PRE_TIME_TILL_TERMINAL / self.settings._AWARENESS_TIME
-      self.threshold_prompt = self.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL / self.settings._AWARENESS_TIME
-      self.step_change = self.settings._DT_DMON / self.settings._AWARENESS_TIME
+      self.threshold_alert_1 = 1. - self.settings._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
+      self.threshold_alert_2 = 1. - self.settings._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
+      self.step_change = DT_DMON / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
       self.active_monitoring_mode = False
 
-  def _set_policy(self, brake_disengage_prob, car_speed):
+  def _set_pose_strictness(self, brake_disengage_prob, car_speed):
     bp = brake_disengage_prob
     k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2)
     bp_normal = max(min(bp / k1, 0.5),0)
@@ -224,7 +214,7 @@ def _set_policy(self, brake_disengage_prob, car_speed):
                                             self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
 
   def _get_distracted_types(self):
-    distracted_types = []
+    self.distracted_types = defaultdict(bool)
 
     if not self.pose.calibrated:
       pitch_error = self.pose.pitch - self.settings._PITCH_NATURAL_OFFSET
@@ -244,16 +234,9 @@ def _get_distracted_types(self):
     pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
     yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
 
-    if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
-      distracted_types.append(DistractedType.DISTRACTED_POSE)
-
-    if self.blink_prob > self.settings._BLINK_THRESHOLD:
-      distracted_types.append(DistractedType.DISTRACTED_BLINK)
-
-    if self.phone_prob > self.settings._PHONE_THRESH:
-      distracted_types.append(DistractedType.DISTRACTED_PHONE)
-
-    return distracted_types
+    self.distracted_types['pose'] = bool((pitch_error > pitch_threshold) or (yaw_error > yaw_threshold))
+    self.distracted_types['eye'] = bool(self.blink_prob > self.settings._BLINK_THRESHOLD)
+    self.distracted_types['phone'] = bool(self.phone_prob > self.settings._PHONE_THRESH)
 
   def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False, steering_angle_deg=0.):
     rhd_pred = driver_state.wheelOnRightProb
@@ -262,7 +245,7 @@ def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstil
                                           driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
       self.wheelpos.prob_offseter.push_and_update(rhd_pred)
 
-    self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT
+    self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n >= self.settings._WHEELPOS_FILTER_MIN_COUNT
 
     if self.wheelpos.prob_calibrated or demo_mode:
       self.wheel_on_right = self.wheelpos.prob_offseter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
@@ -286,16 +269,13 @@ def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstil
     self.wheel_on_right_last = self.wheel_on_right
     self.pose.pitch_std = driver_data.faceOrientationStd[0]
     self.pose.yaw_std = driver_data.faceOrientationStd[1]
-    model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
-    self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
+    self.model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
+    self.pose.low_std = self.model_std_max < self.settings._HI_STD_THRESHOLD
     self.blink_prob = driver_data.eyesClosedProb * (driver_data.eyesVisibleProb > self.settings._EYE_THRESHOLD)
     self.phone_prob = driver_data.phoneProb
 
-    self.distracted_types = self._get_distracted_types()
-    self.driver_distracted = (DistractedType.DISTRACTED_PHONE in self.distracted_types
-                              or DistractedType.DISTRACTED_POSE in self.distracted_types
-                              or DistractedType.DISTRACTED_BLINK in self.distracted_types) \
-                              and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
+    self._get_distracted_types()
+    self.driver_distracted = any(self.distracted_types.values()) and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
     self.driver_distraction_filter.update(self.driver_distracted)
 
     # update offseter
@@ -304,20 +284,20 @@ def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstil
       self.pose.pitch_offseter.push_and_update(self.pose.pitch)
       self.pose.yaw_offseter.push_and_update(self.pose.yaw)
 
-    self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \
-                           self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
+    self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n >= self.settings._POSE_OFFSET_MIN_COUNT and \
+                           self.pose.yaw_offseter.filtered_stat.n >= self.settings._POSE_OFFSET_MIN_COUNT
 
     if self.face_detected and not self.driver_distracted:
-      if model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD:
-        if not standstill:
-          self.dcam_uncertain_cnt += 1
-          self.dcam_reset_cnt = 0
+      self.dcam_uncertain = self.model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD
+      if self.dcam_uncertain and not standstill:
+        self.dcam_uncertain_cnt += 1
+        self.dcam_reset_cnt = 0
       else:
         self.dcam_reset_cnt += 1
         if self.dcam_reset_cnt > self.settings._DCAM_UNCERTAIN_RESET_COUNT:
           self.dcam_uncertain_cnt = 0
 
-    self.is_model_uncertain = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME
+    self.is_model_uncertain = self.hi_stds >= self.settings._HI_STD_FALLBACK_TIME
     self._set_timers(self.face_detected and not self.is_model_uncertain)
     if self.face_detected and not self.pose.low_std and not self.driver_distracted:
       self.hi_stds += 1
@@ -325,20 +305,15 @@ def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstil
       self.hi_stds = 0
 
   def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear, car_speed):
-    self._reset_events()
-    # Block engaging until ignition cycle after max number or time of distractions
+    self.alert_level = AlertLevel.none
+    self.driver_interacting = driver_engaged
+
     if self.terminal_alert_cnt >= self.settings._MAX_TERMINAL_ALERTS or \
        self.terminal_time >= self.settings._MAX_TERMINAL_DURATION:
-      if not self.too_distracted:
-        self.params.put_bool_nonblocking("DriverTooDistracted", True)
       self.too_distracted = True
 
-    # Always-on distraction lockout is temporary
-    if self.too_distracted or (self.always_on and self.awareness <= self.threshold_prompt):
-      self.current_events.add(EventName.tooDistracted)
-
     always_on_valid = self.always_on and not wrong_gear
-    if (driver_engaged and self.awareness > 0 and not self.active_monitoring_mode) or \
+    if (self.driver_interacting and self.awareness > 0 and not self.active_monitoring_mode) or \
        (not always_on_valid and not op_engaged) or \
        (always_on_valid and not op_engaged and self.awareness <= 0):
       # always reset on disengage with normal mode; disengage resets only on red if always on
@@ -346,83 +321,87 @@ def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear, car
       return
 
     awareness_prev = self.awareness
-    _reaching_pre = self.awareness - self.step_change <= self.threshold_pre
-    _reaching_terminal = self.awareness - self.step_change <= 0
-    standstill_orange_exemption = standstill and _reaching_pre
-    always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
+    _reaching_alert_1 = self.awareness - self.step_change <= self.threshold_alert_1
+    _reaching_alert_3 = self.awareness - self.step_change <= 0
+    standstill_exemption = standstill and _reaching_alert_1
+    always_on_exemption = always_on_valid and not op_engaged and _reaching_alert_3
 
     if self.awareness > 0 and \
-       ((self.driver_distraction_filter.x < 0.37 and self.face_detected and self.pose.low_std) or standstill_orange_exemption):
-      if driver_engaged:
+       ((self.driver_distraction_filter.x < 0.37 and self.face_detected and self.pose.low_std) or standstill_exemption):
+      if self.driver_interacting:
         self._reset_awareness()
         return
       # only restore awareness when paying attention and alert is not red
-      self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)*
-                                             (1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.)
+      self.awareness = min(self.awareness + ((self.settings._TIMEOUT_RECOVERY_FACTOR_MAX-self.settings._TIMEOUT_RECOVERY_FACTOR_MIN)*
+                                             (1.-self.awareness)+self.settings._TIMEOUT_RECOVERY_FACTOR_MIN)*self.step_change, 1.)
       if self.awareness == 1.:
-        self.awareness_passive = min(self.awareness_passive + self.step_change, 1.)
+        self.last_wheeltouch_awareness = min(self.last_wheeltouch_awareness + self.step_change, 1.)
       # don't display alert banner when awareness is recovering and has cleared orange
-      if self.awareness > self.threshold_prompt:
+      if self.awareness > self.threshold_alert_2:
         return
 
     certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
-    maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected
+    maybe_distracted = self.is_model_uncertain or not self.face_detected
 
     if certainly_distracted or maybe_distracted:
       # should always be counting if distracted unless at standstill and reaching green
       # also will not be reaching 0 if DM is active when not engaged
-      if not (standstill_orange_exemption or always_on_red_exemption):
+      if not (standstill_exemption or always_on_exemption):
         self.awareness = max(self.awareness - self.step_change, -0.1)
 
-    alert = None
     if self.awareness <= 0.:
-      # terminal red alert: disengagement required
-      alert = EventName.driverDistracted3 if self.active_monitoring_mode else EventName.driverUnresponsive3
+      # terminal alert: disengagement required
+      self.alert_level = AlertLevel.three
       self.terminal_time += 1
       if awareness_prev > 0.:
         self.terminal_alert_cnt += 1
-    elif self.awareness <= self.threshold_prompt:
-      # prompt orange alert
-      alert = EventName.driverDistracted2 if self.active_monitoring_mode else EventName.driverUnresponsive2
-    elif self.awareness <= self.threshold_pre:
-      # pre green alert
-      alert = EventName.driverDistracted1 if self.active_monitoring_mode else EventName.driverUnresponsive1
-
-    if alert is not None:
-      self.current_events.add(alert)
-
-    if self.dcam_uncertain_cnt > self.settings._DCAM_UNCERTAIN_ALERT_COUNT and not self.dcam_uncertain_alerted:
-      set_offroad_alert("Offroad_DriverMonitoringUncertain", True)
-      self.dcam_uncertain_alerted = True
-
+    elif self.awareness <= self.threshold_alert_2:
+      self.alert_level = AlertLevel.two
+    elif self.awareness <= self.threshold_alert_1:
+      self.alert_level = AlertLevel.one
 
   def get_state_packet(self, valid=True):
     # build driverMonitoringState packet
     dat = messaging.new_message('driverMonitoringState', valid=valid)
-    dat.driverMonitoringState = {
-      "events": self.current_events.to_msg(),
-      "faceDetected": self.face_detected,
-      "isDistracted": self.driver_distracted,
-      "distractedType": sum(self.distracted_types),
-      "awarenessStatus": self.awareness,
-      "posePitchOffset": self.pose.pitch_offseter.filtered_stat.mean(),
-      "posePitchValidCount": self.pose.pitch_offseter.filtered_stat.n,
-      "poseYawOffset": self.pose.yaw_offseter.filtered_stat.mean(),
-      "poseYawValidCount": self.pose.yaw_offseter.filtered_stat.n,
-      "stepChange": self.step_change,
-      "awarenessActive": self.awareness_active,
-      "awarenessPassive": self.awareness_passive,
-      "isLowStd": self.pose.low_std,
-      "hiStdCount": self.hi_stds,
-      "isActiveMode": self.active_monitoring_mode,
-      "isRHD": self.wheel_on_right,
-      "uncertainCount": self.dcam_uncertain_cnt,
-    }
+    dm = dat.driverMonitoringState
+
+    dm.lockout = self.too_distracted
+    dm.alertCountLockoutPercent = to_perc(self.terminal_alert_cnt / self.settings._MAX_TERMINAL_ALERTS)
+    dm.alertTimeLockoutPercent = to_perc(self.terminal_time / self.settings._MAX_TERMINAL_DURATION)
+    dm.alwaysOn = self.always_on
+    dm.alwaysOnLockout = self.always_on and self.awareness <= self.threshold_alert_2
+    dm.alertLevel = self.alert_level
+    dm.activePolicy = MonitoringPolicy.vision if self.active_monitoring_mode else MonitoringPolicy.wheeltouch
+    dm.isRHD = self.wheel_on_right
+    dm.rhdCalibration.calibratedPercent = to_perc(self.wheelpos.prob_offseter.filtered_stat.n / self.settings._WHEELPOS_FILTER_MIN_COUNT)
+    dm.rhdCalibration.offset = self.wheelpos.prob_offseter.filtered_stat.M
+
+    dm.visionPolicyState.awarenessPercent = to_perc(self.last_vision_awareness if not self.active_monitoring_mode else self.awareness)
+    dm.visionPolicyState.awarenessStep = self.step_change if self.active_monitoring_mode else 0.
+    dm.visionPolicyState.isDistracted = self.driver_distracted
+    dm.visionPolicyState.distractedTypes.pose = self.distracted_types['pose']
+    dm.visionPolicyState.distractedTypes.eye = self.distracted_types['eye']
+    dm.visionPolicyState.distractedTypes.phone = self.distracted_types['phone']
+    dm.visionPolicyState.faceDetected = self.face_detected
+    dm.visionPolicyState.pose.pitch = self.pose.pitch
+    dm.visionPolicyState.pose.yaw = self.pose.yaw
+    dm.visionPolicyState.pose.calibrated = self.pose.calibrated
+    dm.visionPolicyState.pose.pitchCalib.calibratedPercent = to_perc(self.pose.pitch_offseter.filtered_stat.n / self.settings._POSE_OFFSET_MIN_COUNT)
+    dm.visionPolicyState.pose.pitchCalib.offset = self.pose.pitch_offseter.filtered_stat.M
+    dm.visionPolicyState.pose.yawCalib.calibratedPercent = to_perc(self.pose.yaw_offseter.filtered_stat.n / self.settings._POSE_OFFSET_MIN_COUNT)
+    dm.visionPolicyState.pose.yawCalib.offset = self.pose.yaw_offseter.filtered_stat.M
+    dm.visionPolicyState.pose.uncertainty = self.model_std_max
+    dm.visionPolicyState.wheeltouchFallbackPercent = to_perc(self.hi_stds / self.settings._HI_STD_FALLBACK_TIME)
+    dm.visionPolicyState.uncertainOffroadAlertPercent = to_perc(self.dcam_uncertain_cnt / self.settings._DCAM_UNCERTAIN_ALERT_COUNT)
+
+    dm.wheeltouchPolicyState.awarenessPercent = to_perc(self.last_wheeltouch_awareness if self.active_monitoring_mode else self.awareness)
+    dm.wheeltouchPolicyState.awarenessStep = 0. if self.active_monitoring_mode else self.step_change
+    dm.wheeltouchPolicyState.driverInteracting = self.driver_interacting
     return dat
 
   def run_step(self, sm, demo=False):
     if demo:
-      highway_speed = 30
+      car_speed = 30
       enabled = True
       wrong_gear = False
       standstill = False
@@ -430,23 +409,24 @@ def run_step(self, sm, demo=False):
       brake_disengage_prob = 1.0
       rpyCalib = [0., 0., 0.]
     else:
-      highway_speed = sm['carState'].vEgo
+      car_speed = sm['carState'].vEgo
       enabled = sm['selfdriveState'].enabled
       wrong_gear = sm['carState'].gearShifter not in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low)
       standstill = sm['carState'].standstill
       driver_engaged = sm['carState'].steeringPressed or sm['carState'].gasPressed
       brake_disengage_prob = sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
       rpyCalib = sm['liveCalibration'].rpyCalib
-    self._set_policy(
+
+    self._set_pose_strictness(
       brake_disengage_prob=brake_disengage_prob,
-      car_speed=highway_speed,
+      car_speed=car_speed,
     )
 
     # Parse data from dmonitoringmodeld
     self._update_states(
       driver_state=sm['driverStateV2'],
       cal_rpy=rpyCalib,
-      car_speed=highway_speed,
+      car_speed=car_speed,
       op_engaged=enabled,
       standstill=standstill,
       demo_mode=demo,
@@ -459,5 +439,5 @@ def run_step(self, sm, demo=False):
       op_engaged=enabled,
       standstill=standstill,
       wrong_gear=wrong_gear,
-      car_speed=highway_speed
+      car_speed=car_speed
     )
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index d391d3f755e94d..ef21b3688b1f6c 100644
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -3,16 +3,15 @@
 from cereal import log
 from openpilot.common.realtime import DT_DMON
 from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS
-from openpilot.system.hardware import HARDWARE
 
 EventName = log.OnroadEvent.EventName
-dm_settings = DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
+dm_settings = DRIVER_MONITOR_SETTINGS()
 
 TEST_TIMESPAN = 120  # seconds
-DISTRACTED_SECONDS_TO_ORANGE = dm_settings._DISTRACTED_TIME - dm_settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + 1
-DISTRACTED_SECONDS_TO_RED = dm_settings._DISTRACTED_TIME + 1
-INVISIBLE_SECONDS_TO_ORANGE = dm_settings._AWARENESS_TIME - dm_settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + 1
-INVISIBLE_SECONDS_TO_RED = dm_settings._AWARENESS_TIME + 1
+DISTRACTED_SECONDS_TO_ORANGE = dm_settings._VISION_POLICY_ALERT_2_TIMEOUT + 1
+DISTRACTED_SECONDS_TO_RED = dm_settings._VISION_POLICY_ALERT_3_TIMEOUT + 1
+INVISIBLE_SECONDS_TO_ORANGE = dm_settings._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT + 1
+INVISIBLE_SECONDS_TO_RED = dm_settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT + 1
 
 def make_msg(face_detected, distracted=False, model_uncertain=False):
   ds = log.DriverStateV2.new_message()
@@ -34,7 +33,7 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
 msg_DISTRACTED = make_msg(True, distracted=True)
 msg_ATTENTIVE_UNCERTAIN = make_msg(True, model_uncertain=True)
 msg_DISTRACTED_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=True)
-msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=dm_settings._POSESTD_THRESHOLD*1.5)
+msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=dm_settings._HI_STD_THRESHOLD*1.5)
 
 # driver interaction with car
 car_interaction_DETECTED = True
@@ -50,49 +49,47 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
 class TestMonitoring:
   def _run_seq(self, msgs, interaction, engaged, standstill):
     DM = DriverMonitoring()
-    events = []
+    alert_lvls = []
     for idx in range(len(msgs)):
       DM._update_states(msgs[idx], [0, 0, 0], 0, engaged[idx], standstill[idx])
       # cal_rpy and car_speed don't matter here
 
       # evaluate events at 10Hz for tests
       DM._update_events(interaction[idx], engaged[idx], standstill[idx], 0, 0)
-      events.append(DM.current_events)
-    assert len(events) == len(msgs), f"got {len(events)} for {len(msgs)} driverState input msgs"
-    return events, DM
+      alert_lvls.append(DM.alert_level)
+    assert len(alert_lvls) == len(msgs), f"got {len(alert_lvls)} for {len(msgs)} driverState input msgs"
+    return alert_lvls, DM
 
-  def _assert_no_events(self, events):
-    assert all(not len(e) for e in events)
 
   # engaged, driver is attentive all the time
   def test_fully_aware_driver(self):
-    events, _ = self._run_seq(always_attentive, always_false, always_true, always_false)
-    self._assert_no_events(events)
+    alert_lvls, _ = self._run_seq(always_attentive, always_false, always_true, always_false)
+    assert all(a == 0 for a in alert_lvls)
 
   # engaged, driver is distracted and does nothing
   def test_fully_distracted_driver(self):
-    events, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
-    assert len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
-    assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL + \
-                    ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
-                    EventName.driverDistracted1
-    assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + \
-                    ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.driverDistracted2
-    assert events[int((d_status.settings._DISTRACTED_TIME + \
-                    ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted3
+    alert_lvls, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
+    s = d_status.settings
+    assert alert_lvls[int(s._VISION_POLICY_ALERT_1_TIMEOUT / 2 / DT_DMON)] == 0
+    assert alert_lvls[int((s._VISION_POLICY_ALERT_1_TIMEOUT + \
+                    (s._VISION_POLICY_ALERT_2_TIMEOUT - s._VISION_POLICY_ALERT_1_TIMEOUT) / 2) / DT_DMON)] == 1
+    assert alert_lvls[int((s._VISION_POLICY_ALERT_2_TIMEOUT + \
+                    (s._VISION_POLICY_ALERT_3_TIMEOUT - s._VISION_POLICY_ALERT_2_TIMEOUT) / 2) / DT_DMON)] == 2
+    assert alert_lvls[int((s._VISION_POLICY_ALERT_3_TIMEOUT + \
+                    (TEST_TIMESPAN - 10 - s._VISION_POLICY_ALERT_3_TIMEOUT) / 2) / DT_DMON)] == 3
     assert isinstance(d_status.awareness, float)
 
   # engaged, no face detected the whole time, no action
   def test_fully_invisible_driver(self):
-    events, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
-    assert len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
-    assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL + \
-                      ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
-                      EventName.driverUnresponsive1
-    assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + \
-                      ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive2
-    assert events[int((d_status.settings._AWARENESS_TIME + \
-                      ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive3
+    alert_lvls, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
+    s = d_status.settings
+    assert alert_lvls[int(s._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT / 2 / DT_DMON)] == 0
+    assert alert_lvls[int((s._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT + \
+                    (s._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT - s._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT) / 2) / DT_DMON)] == 1
+    assert alert_lvls[int((s._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT + \
+                    (s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT - s._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT) / 2) / DT_DMON)] == 2
+    assert alert_lvls[int((s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT + \
+                    (TEST_TIMESPAN - 10 - s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT) / 2) / DT_DMON)] == 3
 
   # engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel
   #  - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention
@@ -103,13 +100,13 @@ def test_normal_driver(self):
                 [msg_ATTENTIVE] * (int(TEST_TIMESPAN/DT_DMON)-int((DISTRACTED_SECONDS_TO_ORANGE*3+2)/DT_DMON))
     interaction_vector = [car_interaction_NOT_DETECTED] * int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON) + \
                          [car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON))
-    events, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
-    assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
-    assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]) == 0
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
-    assert len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]) == 0
+    alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
+    assert alert_lvls[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)] == 0
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)] == 2
+    assert alert_lvls[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)] == 0
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)] == 0
 
   # engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \
   #                          driver dodges, and then touches wheel to no avail, disengages and reengages
@@ -127,11 +124,11 @@ def test_biggest_comma_fan(self):
                                                         = [True] * int(1/DT_DMON)
     op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \
                                                         = [False] * int(0.5/DT_DMON)
-    events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted2
-    assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted3
-    assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted3
-    assert len(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0
+    alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)] == 2
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)] == 3
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] == 3
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)] == 0
 
   # engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
   #  - both actions should clear the alert, but momentary appearance should not
@@ -142,16 +139,16 @@ def test_sometimes_transparent_commuter(self):
     ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = \
                                                                                              [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
     interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
-    events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
-    assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
-    assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0
+    alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
+    assert alert_lvls[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)] == 0
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)] == 0
     if _visible_time == 0.5:
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive1
+      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)] == 2
+      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)] == 1
     elif _visible_time == 10:
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
-      assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0
+      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)] == 2
+      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)] == 0
 
   # engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages
   #  - only disengage will clear the alert
@@ -163,19 +160,19 @@ def test_last_second_responder(self):
     ds_vector[int(INVISIBLE_SECONDS_TO_RED/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
     interaction_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON)] = [True] * int(1/DT_DMON)
     op_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON)
-    events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
-    assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
-    assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive3
-    assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive3
-    assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive3
-    assert len(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0
+    alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
+    assert alert_lvls[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)] == 0
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)] == 3
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)] == 3
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] == 3
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)] == 0
 
   # disengaged, always distracted driver
   #  - dm should stay quiet when not engaged
   def test_pure_dashcam_user(self):
-    events, _ = self._run_seq(always_distracted, always_false, always_false, always_false)
-    assert sum(len(event) for event in events) == 0
+    alert_lvls, _ = self._run_seq(always_distracted, always_false, always_false, always_false)
+    assert all(a == 0 for a in alert_lvls)
 
   # engaged, car stops at traffic light, down to orange, no action, then car starts moving
   #  - should only reach green when stopped, but continues counting down on launch
@@ -183,11 +180,12 @@ def test_long_traffic_light_victim(self):
     _redlight_time = 60  # seconds
     standstill_vector = always_true[:]
     standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON)
-    events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
-    assert len(events[int((_redlight_time-0.1)/DT_DMON)]) == 0
-    _pre_to_prompt = d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL - d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL
-    assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.driverDistracted1
-    assert events[int((_redlight_time+_pre_to_prompt+0.5)/DT_DMON)].names[0] == EventName.driverDistracted2
+    alert_lvls, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
+    s = d_status.settings
+    assert alert_lvls[int((_redlight_time-0.1)/DT_DMON)] == 0
+    _alert_1_to_2 = s._VISION_POLICY_ALERT_2_TIMEOUT - s._VISION_POLICY_ALERT_1_TIMEOUT
+    assert alert_lvls[int((_redlight_time+0.5)/DT_DMON)] == 1
+    assert alert_lvls[int((_redlight_time+_alert_1_to_2+0.5)/DT_DMON)] == 2
 
   # engaged, distracted while moving, then car stops after reaching orange
   #  - should reset timer to pre green at standstill
@@ -195,20 +193,18 @@ def test_distracted_then_stops(self):
     _stop_time = DISTRACTED_SECONDS_TO_ORANGE + 1  # stop 1 second after reaching orange
     standstill_vector = always_false[:]
     standstill_vector[int(_stop_time/DT_DMON):] = [True] * int((TEST_TIMESPAN-_stop_time)/DT_DMON)
-    events, _ = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
+    alert_lvls, _ = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
     # just before and briefly after stopping: orange alert; goes away quickly after stopped
-    assert events[int((_stop_time+0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
-    assert len(events[int((_stop_time+0.5)/DT_DMON)]) == 0
+    assert alert_lvls[int((_stop_time+0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((_stop_time+0.5)/DT_DMON)] == 0
 
   # engaged, model is somehow uncertain and driver is distracted
   #  - should fall back to wheel touch after uncertain alert
   def test_somehow_indecisive_model(self):
     ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON)
     interaction_vector = always_false[:]
-    events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
-    assert EventName.driverUnresponsive1 in \
-                              events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names
-    assert EventName.driverUnresponsive2 in \
-                              events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
-    assert EventName.driverUnresponsive3 in \
-                              events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
+    alert_lvls, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
+    s = d_status.settings
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*s._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)] == 1
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*s._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*s._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)] == 3
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index dbc3174af74e6e..110b0b722ec542 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -38,6 +38,8 @@
 EventName = log.OnroadEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
+AlertLevel = log.DriverMonitoringState.AlertLevel
+MonitoringPolicy = log.DriverMonitoringState.MonitoringPolicy
 
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 
@@ -120,6 +122,8 @@ def __init__(self, CP=None):
     self.experimental_mode = False
     self.personality = self.params.get("LongitudinalPersonality", return_default=True)
     self.recalibrating_seen = False
+    self.dm_lockout_set = False
+    self.dm_uncertain_alerted = False
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
@@ -182,8 +186,27 @@ def update_events(self, CS):
     if not self.CP.pcmCruise and CS.vCruise > 250 and resume_pressed:
       self.events.add(EventName.resumeBlocked)
 
+    # Handle DM
     if not self.CP.notCar:
-      self.events.add_from_msg(self.sm['driverMonitoringState'].events)
+      # Block engaging until ignition cycle after max number or time of distractions
+      if self.sm['driverMonitoringState'].lockout and not self.dm_lockout_set:
+        self.params.put_bool_nonblocking("DriverTooDistracted", True)
+        self.dm_lockout_set = True
+      # No entry conditions
+      if self.sm['driverMonitoringState'].lockout or self.sm['driverMonitoringState'].alwaysOnLockout:
+        self.events.add(EventName.tooDistracted)
+      # Alerts
+      vision_dm = self.sm['driverMonitoringState'].activePolicy == MonitoringPolicy.vision
+      if self.sm['driverMonitoringState'].alertLevel == AlertLevel.one:
+        self.events.add(EventName.driverDistracted1 if vision_dm else EventName.driverUnresponsive1)
+      elif self.sm['driverMonitoringState'].alertLevel == AlertLevel.two:
+        self.events.add(EventName.driverDistracted2 if vision_dm else EventName.driverUnresponsive2)
+      elif self.sm['driverMonitoringState'].alertLevel == AlertLevel.three:
+        self.events.add(EventName.driverDistracted3 if vision_dm else EventName.driverUnresponsive3)
+      # Warn consistent DM uncertainty
+      if self.sm['driverMonitoringState'].visionPolicyState.uncertainOffroadAlertPercent >= 100 and not self.dm_uncertain_alerted:
+        set_offroad_alert("Offroad_DriverMonitoringUncertain", True)
+        self.dm_uncertain_alerted = True
 
     # Add car events, ignore if CAN isn't valid
     if CS.canValid:
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 03e59e53675d07..b6134913471b10 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -482,22 +482,41 @@ def migrate_onroadEvents(msgs):
   return ops, [], []
 
 
-@migration(inputs=["driverMonitoringState"])
+@migration(inputs=["driverMonitoringStateDEPRECATED"])
 def migrate_driverMonitoringState(msgs):
   ops = []
   for index, msg in msgs:
-    msg = msg.as_builder()
-    events = []
-    for event in msg.driverMonitoringState.deprecated.events:
-      try:
-        if not str(event.name).endswith('DEPRECATED'):
-          migrated_event = migrate_onroad_event(event)
-          if migrated_event is not None:
-            events.append(migrated_event)
-      except RuntimeError:  # Member was null
-        traceback.print_exc()
-
-    msg.driverMonitoringState.events = events
-    ops.append((index, msg.as_reader()))
+    old = msg.driverMonitoringStateDEPRECATED
+    new_msg = messaging.new_message('driverMonitoringState', valid=msg.valid, logMonoTime=msg.logMonoTime)
+    dm = new_msg.driverMonitoringState
+    dm.isRHD = old.isRHD
+    dm.activePolicy = log.DriverMonitoringState.MonitoringPolicy.vision if old.isActiveMode else \
+                          log.DriverMonitoringState.MonitoringPolicy.wheeltouch
+
+    AlertLevel = log.DriverMonitoringState.AlertLevel
+    event_to_alert_level = {
+      'driverDistracted1': AlertLevel.one, 'driverUnresponsive1': AlertLevel.one,
+      'driverDistracted2': AlertLevel.two, 'driverUnresponsive2': AlertLevel.two,
+      'driverDistracted3': AlertLevel.three, 'driverUnresponsive3': AlertLevel.three,
+      'tooDistracted': AlertLevel.three,
+    }
+    for event in old.events:
+      level = event_to_alert_level.get(str(event.name))
+      if level is not None:
+        dm.alertLevel = level
+        break
+
+    dm.visionPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessStatus if old.isActiveMode else old.awarenessActive) * 100)))
+    dm.visionPolicyState.awarenessStep = old.stepChange if old.isActiveMode else 0.
+    dm.visionPolicyState.isDistracted = old.isDistracted
+    dm.visionPolicyState.faceDetected = old.faceDetected
+    dm.visionPolicyState.pose.pitchCalib.offset = old.posePitchOffset
+    dm.visionPolicyState.pose.pitchCalib.calibratedPercent = int(min(100, old.posePitchValidCount / 600 * 100))
+    dm.visionPolicyState.pose.yawCalib.offset = old.poseYawOffset
+    dm.visionPolicyState.pose.yawCalib.calibratedPercent = int(min(100, old.poseYawValidCount / 600 * 100))
+    dm.visionPolicyState.pose.calibrated = old.posePitchValidCount >= 600 and old.poseYawValidCount >= 600
+    dm.wheeltouchPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessPassive if old.isActiveMode else old.awarenessStatus) * 100)))
+    dm.wheeltouchPolicyState.awarenessStep = 0. if old.isActiveMode else old.stepChange
+    ops.append((index, new_msg.as_reader()))
 
   return ops, [], []
diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py
index b918bf6ef600f2..054d719bd6c614 100644
--- a/selfdrive/ui/mici/layouts/onboarding.py
+++ b/selfdrive/ui/mici/layouts/onboarding.py
@@ -138,7 +138,7 @@ def _update_state(self):
 
     # stay at 100% once reached
     in_bad_face = gui_app.get_active_widget() == self._bad_face_page
-    if ((dm_state.faceDetected and looking_center) or self._progress.x > 0.99) and not in_bad_face:
+    if ((dm_state.visionPolicyState.faceDetected and looking_center) or self._progress.x > 0.99) and not in_bad_face:
       slow = self._progress.x < 0.25
       duration = self.PROGRESS_DURATION * 2 if slow else self.PROGRESS_DURATION
       self._progress.x += 1.0 / (duration * gui_app.target_fps)
diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
index e8b8abb7f5cfd0..6fa3d891835d95 100644
--- a/selfdrive/ui/mici/onroad/driver_camera_dialog.py
+++ b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
@@ -1,20 +1,15 @@
 import pyray as rl
-from cereal import log, messaging
+from cereal import car, log, messaging
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.ui_state import ui_state, device
-from openpilot.selfdrive.selfdrived.events import EVENTS, ET
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.nav_widget import NavWidget
 from openpilot.system.ui.widgets.label import gui_label
 
-EventName = log.OnroadEvent.EventName
-
-EVENT_TO_INT = EventName.schema.enumerants
-
 
 class DriverCameraView(CameraView):
   def _calc_frame_matrix(self, rect: rl.Rectangle):
@@ -107,11 +102,14 @@ def _publish_alert_sound(self, dm_state):
     if self._pm is None:
       return
 
+    AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+    ALERT_SOUNDS = {
+      log.DriverMonitoringState.AlertLevel.two: AudibleAlert.promptDistracted,
+      log.DriverMonitoringState.AlertLevel.three: AudibleAlert.warningImmediate,
+    }
     msg = messaging.new_message('selfdriveState')
-    if dm_state is not None and len(dm_state.events):
-      event_name = EVENT_TO_INT[dm_state.events[0].name]
-      if event_name is not None and event_name in EVENTS and ET.PERMANENT in EVENTS[event_name]:
-        msg.selfdriveState.alertSound = EVENTS[event_name][ET.PERMANENT].audible_alert
+    if dm_state is not None:
+      msg.selfdriveState.alertSound = ALERT_SOUNDS.get(dm_state.alertLevel, AudibleAlert.none)
     self._pm.send('selfdriveState', msg)
 
   def _render_dm_alerts(self, rect: rl.Rectangle):
@@ -119,29 +117,31 @@ def _render_dm_alerts(self, rect: rl.Rectangle):
     dm_state = ui_state.sm["driverMonitoringState"]
     self._publish_alert_sound(dm_state)
 
+    is_vision = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
+    awareness_pct = dm_state.visionPolicyState.awarenessPercent if is_vision else dm_state.wheeltouchPolicyState.awarenessPercent
     gui_label(rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height),
-              f"Awareness: {dm_state.awarenessStatus * 100:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
+              f"Awareness: {awareness_pct:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
               alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
               color=rl.Color(0, 0, 0, 180))
-    gui_label(rect, f"Awareness: {dm_state.awarenessStatus * 100:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
+    gui_label(rect, f"Awareness: {awareness_pct:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
               alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
               color=rl.Color(255, 255, 255, int(255 * 0.9)))
 
-    if not dm_state.events:
+    if dm_state.alertLevel == log.DriverMonitoringState.AlertLevel.none:
       return
 
-    # Show first event (only one should be active at a time)
-    event_name_str = str(dm_state.events[0].name).split('.')[-1]
+    # Show alert level
+    alert_level_str = dm_state.alertLevel
     alignment = rl.GuiTextAlignment.TEXT_ALIGN_RIGHT if self.driver_state_renderer.is_rhd else rl.GuiTextAlignment.TEXT_ALIGN_LEFT
 
     shadow_rect = rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height)
-    gui_label(shadow_rect, event_name_str, font_size=40, font_weight=FontWeight.BOLD,
+    gui_label(shadow_rect, alert_level_str, font_size=40, font_weight=FontWeight.BOLD,
               alignment=alignment,
               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
               color=rl.Color(0, 0, 0, 180))
-    gui_label(rect, event_name_str, font_size=40, font_weight=FontWeight.BOLD,
+    gui_label(rect, alert_level_str, font_size=40, font_weight=FontWeight.BOLD,
               alignment=alignment,
               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
               color=rl.Color(255, 255, 255, int(255 * 0.9)))
@@ -156,7 +156,7 @@ def _load_eye_textures(self):
   def _draw_face_detection(self, rect: rl.Rectangle):
     dm_state = ui_state.sm["driverMonitoringState"]
     driver_data = self.driver_state_renderer.get_driver_data()
-    if not dm_state.faceDetected:
+    if not dm_state.visionPolicyState.faceDetected:
       return
 
     # Get face position and orientation
diff --git a/selfdrive/ui/mici/onroad/driver_state.py b/selfdrive/ui/mici/onroad/driver_state.py
index b2be5a8e3403b0..c51e7eca6eeb96 100644
--- a/selfdrive/ui/mici/onroad/driver_state.py
+++ b/selfdrive/ui/mici/onroad/driver_state.py
@@ -153,9 +153,9 @@ def get_driver_data(self):
     sm = ui_state.sm
 
     dm_state = sm["driverMonitoringState"]
-    self._is_active = dm_state.isActiveMode
+    self._is_active = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
     self._is_rhd = dm_state.isRHD
-    self._face_detected = dm_state.faceDetected
+    self._face_detected = dm_state.visionPolicyState.faceDetected
 
     driverstate = sm["driverStateV2"]
     driver_data = driverstate.rightDriverData if self._is_rhd else driverstate.leftDriverData
diff --git a/selfdrive/ui/onroad/driver_state.py b/selfdrive/ui/onroad/driver_state.py
index 7b3181d1ac50cb..5b09e471b52125 100644
--- a/selfdrive/ui/onroad/driver_state.py
+++ b/selfdrive/ui/onroad/driver_state.py
@@ -114,7 +114,7 @@ def _update_state(self):
 
     # Get monitoring state
     dm_state = sm["driverMonitoringState"]
-    self.is_active = dm_state.isActiveMode
+    self.is_active = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
     self.is_rhd = dm_state.isRHD
 
     # Update fade state (smoother transition between active/inactive)
diff --git a/tools/sim/lib/simulated_sensors.py b/tools/sim/lib/simulated_sensors.py
index a8374a00cdb785..6ac7c4fa59a1d5 100644
--- a/tools/sim/lib/simulated_sensors.py
+++ b/tools/sim/lib/simulated_sensors.py
@@ -92,11 +92,12 @@ def send_fake_driver_monitoring(self):
 
     # dmonitoringd output
     dat = messaging.new_message('driverMonitoringState', valid=True)
-    dat.driverMonitoringState = {
-      "faceDetected": True,
-      "isDistracted": False,
-      "awarenessStatus": 1.,
-    }
+    dm = dat.driverMonitoringState
+    dm.alertLevel = log.DriverMonitoringState.AlertLevel.none
+    dm.activePolicy = log.DriverMonitoringState.MonitoringPolicy.vision
+    dm.visionPolicyState.faceDetected = True
+    dm.visionPolicyState.isDistracted = False
+    dm.visionPolicyState.awarenessPercent = 100
     self.pm.send('driverMonitoringState', dat)
 
   def send_camera_images(self, world: 'World'):

From f93481d0d41d8fcf129b36d020141dbd26a21a85 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 18 Apr 2026 03:10:40 -0400
Subject: [PATCH 0922/1434] Reapply "controls: always default Torque Lateral
 Control to v0 Tune" (#1806) (#1807)

* Reapply "controls: always default Torque Lateral Control to v0 Tune" (#1806)

This reverts commit 5f6e05410d19798075466f2723401b3ea3845612.

* this is better
---
 sunnypilot/selfdrive/controls/controlsd_ext.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
index 4b6c92ae2c1da4..dfda5549f23e3d 100644
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -38,6 +38,8 @@ def initialize_lateral_control(self, lac, CI, dt):
     enforce_torque_control = self.params.get_bool("EnforceTorqueControl")
     torque_versions = self.params.get("TorqueControlTune")
     if not enforce_torque_control:
+      if self.CP.lateralTuning.which() == 'torque':
+        return LatControlTorqueV0(self.CP, self.CP_SP, CI, dt)  # FIXME-SP: revert when upstream fixes tuning issues with v1
       return lac
 
     if torque_versions == 0.0:  # v0

From 2c0903e45e0fbee36aa182e7d27761fff55a383d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 18 Apr 2026 15:21:47 -0400
Subject: [PATCH 0923/1434] tools: add retry mechanism for API requests
 (#36617)

---
 tools/lib/api.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/tools/lib/api.py b/tools/lib/api.py
index c6e2d989141367..f84fe758695fc3 100644
--- a/tools/lib/api.py
+++ b/tools/lib/api.py
@@ -1,5 +1,6 @@
 import os
 import requests
+from requests.adapters import HTTPAdapter, Retry
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 
 # TODO: this should be merged into common.api
@@ -11,6 +12,9 @@ def __init__(self, token=None):
     if token:
       self.session.headers['Authorization'] = 'JWT ' + token
 
+    retries = Retry(total=5, backoff_factor=1, status_forcelist=[500, 502, 503, 504])
+    self.session.mount('https://', HTTPAdapter(max_retries=retries))
+
   def request(self, method, endpoint, **kwargs):
     with self.session.request(method, API_HOST + '/' + endpoint, **kwargs) as resp:
       resp_json = resp.json()

From b9986cae06059ef725b5ab77756bd19bb6ac9354 Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Sat, 18 Apr 2026 12:38:21 -0700
Subject: [PATCH 0924/1434] lpa: add is_euicc() (#37847)

---
 system/hardware/base.py     |  4 ++++
 system/hardware/tici/lpa.py | 41 +++++++++++++++++++++++++++++--------
 2 files changed, 37 insertions(+), 8 deletions(-)

diff --git a/system/hardware/base.py b/system/hardware/base.py
index ef2b1460434144..29c739654e0658 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -94,6 +94,10 @@ def switch_profile(self, iccid: str) -> None:
   def process_notifications(self) -> None:
     pass
 
+  @abstractmethod
+  def is_euicc(self) -> bool:
+    pass
+
   def is_comma_profile(self, iccid: str) -> bool:
     return any(iccid.startswith(prefix) for prefix in ('8985235',))
 
diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py
index e46ac005b800b3..63fe9ae7d53ec2 100644
--- a/system/hardware/tici/lpa.py
+++ b/system/hardware/tici/lpa.py
@@ -716,22 +716,29 @@ def __init__(self):
     atexit.register(self._client.close)
 
   @contextmanager
-  def _acquire_channel(self):
+  def _acquire_lock(self):
     fd = os.open(LOCK_FILE, os.O_CREAT | os.O_RDWR)
     try:
       fcntl.flock(fd, fcntl.LOCK_EX)
-      self._client.open_isdr()
       yield
     finally:
-      if self._client.channel:
-        try:
-          self._client.query(f"AT+CCHC={self._client.channel}")
-        except (RuntimeError, TimeoutError):
-          pass
-        self._client.channel = None
       fcntl.flock(fd, fcntl.LOCK_UN)
       os.close(fd)
 
+  @contextmanager
+  def _acquire_channel(self):
+    with self._acquire_lock():
+      try:
+        self._client.open_isdr()
+        yield
+      finally:
+        if self._client.channel:
+          try:
+            self._client.query(f"AT+CCHC={self._client.channel}")
+          except (RuntimeError, TimeoutError):
+            pass
+          self._client.channel = None
+
   def list_profiles(self) -> list[Profile]:
     with self._acquire_channel():
       return [
@@ -792,3 +799,21 @@ def switch_profile(self, iccid: str) -> None:
     if HARDWARE.get_device_type() == "mici":
       self._client.send_raw(b'AT+CFUN=0\rAT+CFUN=1\r')  # mici has no SIM presence pin; raw because CFUN=0 drops serial
       self._client._ensure_serial(reconnect=True)
+
+  def is_euicc(self) -> bool:
+    # +CCHO:<n> -> eUICC; bare ERROR -> applet absent, non-eUICC; +CME ERROR -> applet
+    # exists but bus busy or modem in transient state, still eUICC.
+    with self._acquire_lock():
+      try:
+        lines = self._client.query(f'AT+CCHO="{ISDR_AID}"')
+      except RuntimeError as e:
+        return "+CME ERROR" in str(e)
+      for line in lines:
+        if line.startswith("+CCHO:") and (ch := line.split(":", 1)[1].strip()):
+          try:
+            self._client.query(f"AT+CCHC={ch}")
+          except (RuntimeError, TimeoutError):
+            pass
+          self._client.channel = None
+          return True
+      return False

From 5d7155fdda5739e7c4d2a7edd897b12daee033ed Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Sat, 18 Apr 2026 13:00:05 -0700
Subject: [PATCH 0925/1434] body ui c3 & c4 (#37794)

* c4 body ui

* clean up diff

* clean up

* default bodyview debug with True

* remove battery indicator and fix close settings bug

* organize debug file

* clean

* clean up frame index

* remove unneccessary is body check

* update bodyview

* remove joystick_debug_mode based events

* remove debug script

* apply suggestions

* clean diff

* clean diff

* move ignition message

* save a line

* remove visibility set and fix tici body face when sidebar open

* remove explicit textColor offroad message

* remove unused imports

* revert pairing dialog

* apply suggestions

* add body specific icon

* add body icon for homescreen

* set mode for state on tici after on body changed

* tiny

* tweak

* v

* tweaks

* icon ratio was wrong!

* same order

* rm

* apply suggestions

* remove commented lines in animation

* onroad click callback was on home bug and fix setup widget settings call back hack

* fix body changed

* one liner

* clean up

* formatting

* if false

* revert to master + reimplement

* close sidebar on body home tici

* make ignition message bigger on c3

* flip eye direction when turning

---------

Co-authored-by: Nick <nickorie@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/assets/icons_mici/body.png  |   3 +
 selfdrive/ui/body/__init__.py         |   0
 selfdrive/ui/body/animations.py       | 278 ++++++++++++++++++++++++++
 selfdrive/ui/body/layouts/__init__.py |   0
 selfdrive/ui/body/layouts/onroad.py   |  93 +++++++++
 selfdrive/ui/layouts/main.py          |  25 ++-
 selfdrive/ui/mici/layouts/home.py     |   3 +
 selfdrive/ui/mici/layouts/main.py     |  26 ++-
 selfdrive/ui/ui_state.py              |  19 +-
 9 files changed, 434 insertions(+), 13 deletions(-)
 create mode 100644 selfdrive/assets/icons_mici/body.png
 create mode 100644 selfdrive/ui/body/__init__.py
 create mode 100644 selfdrive/ui/body/animations.py
 create mode 100644 selfdrive/ui/body/layouts/__init__.py
 create mode 100644 selfdrive/ui/body/layouts/onroad.py

diff --git a/selfdrive/assets/icons_mici/body.png b/selfdrive/assets/icons_mici/body.png
new file mode 100644
index 00000000000000..2f7bb779d18e07
--- /dev/null
+++ b/selfdrive/assets/icons_mici/body.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b45f88128430fb50ef51c8e08b8e2a1c8fbe0b5c3a08de9f5d9d59bc1edc82e
+size 4545
diff --git a/selfdrive/ui/body/__init__.py b/selfdrive/ui/body/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/selfdrive/ui/body/animations.py b/selfdrive/ui/body/animations.py
new file mode 100644
index 00000000000000..c40f7ecdefe6f1
--- /dev/null
+++ b/selfdrive/ui/body/animations.py
@@ -0,0 +1,278 @@
+from dataclasses import dataclass
+from enum import Enum
+import time
+
+
+class AnimationMode(Enum):
+  ONCE_FORWARD = 1
+  ONCE_FORWARD_BACKWARD = 2
+  REPEAT_FORWARD = 3
+  REPEAT_FORWARD_BACKWARD = 4
+
+
+@dataclass
+class Animation:
+  frames: list[list[tuple[int, int]]]
+  starting_frames: list[list[tuple[int, int]]] | None = None  # played once before the main loop
+  frame_duration: float = 0.15       # seconds each frame is shown
+  mode: AnimationMode = AnimationMode.REPEAT_FORWARD_BACKWARD
+  repeat_interval: float = 5.0      # seconds between animation restarts (only for REPEAT modes)
+  hold_end: float = 0.0             # seconds to hold the last frame before playing backward (only for *_BACKWARD modes)
+  left_turn_remove: list[tuple[int, int]] | None = None   # dots to remove from frame when turning left
+  right_turn_remove: list[tuple[int, int]] | None = None   # dots to remove from frame when turning right
+
+
+# --- Animation Helper Functions ---
+
+def _mirror(dots: list[tuple[int, int]]) -> list[tuple[int, int]]:
+  """Mirror a component from the left side of the face to the right"""
+  return [(r, 15 - c) for r, c in dots]
+
+
+def _mirror_no_flip(dots: list[tuple[int, int]]) -> list[tuple[int, int]]:
+  """Move a component to the mirrored position on the right half without flipping its shape."""
+  min_c = min(c for _, c in dots)
+  max_c = max(c for _, c in dots)
+  return [(r, 15 - max_c - min_c + c) for r, c in dots]
+
+
+def _shift(dots: list[tuple[int, int]], rc: tuple[int, int]) -> list[tuple[int, int]]:
+  dr, dc = rc
+  return [(r + dr, c + dc) for r, c in dots]
+
+
+def _make_frame(left_eye: list[tuple[int, int]], right_eye: list[tuple[int, int]],
+                left_brow: list[tuple[int, int]], right_brow: list[tuple[int, int]],
+                mouth: list[tuple[int, int]]) -> list[tuple[int, int]]:
+  return left_eye + left_brow + right_eye + right_brow + mouth
+
+
+# --- Animation Helper Components ---
+
+# Eyes (left side)
+EYE_OPEN = [
+        (2, 2), (2, 3),
+(3, 1), (3, 2), (3, 3), (3, 4),
+(4, 1), (4, 2), (4, 3), (4, 4),
+        (5, 2), (5, 3)
+]
+EYE_HALF = [
+(4, 1), (4, 2), (4, 3), (4, 4),
+        (5, 2), (5, 3)
+]
+EYE_CLOSED = [
+(4, 1),                 (4, 4),
+        (5, 2), (5, 3),
+]
+EYE_LEFT_LOOK = [
+        (2, 2), (2, 3),
+(3, 1), (3, 2),
+(4, 1), (4, 2),
+        (5, 2), (5, 3),
+]
+EYE_RIGHT_LOOK = [
+        (2, 2), (2, 3),
+                (3, 3), (3, 4),
+                (4, 3), (4, 4),
+        (5, 2), (5, 3),
+]
+
+# Eyebrows (left side)
+BROW_HIGH = [
+        (0, 1), (0, 2),
+(1, 0),
+]
+BROW_LOWERED = [
+        (1, 1), (1, 2),
+(2, 0)
+]
+BROW_STRAIGHT = [(1, 0), (1, 1), (1, 2)]
+BROW_DOWN = [
+(0, 1), (0, 2),
+                (1, 3)
+]
+
+# Mouths (centered, not mirrored)
+MOUTH_SMILE = [
+(6, 6),                 (6, 9),
+        (7, 7), (7, 8),
+]
+MOUTH_NORMAL = [(7, 7), (7, 8)]
+MOUTH_SAD = [
+        (6, 7), (6, 8),
+(7, 6),                 (7, 9)
+]
+
+# --- Animations ---
+
+NORMAL = Animation(
+  frames=[
+    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_HALF, _mirror(EYE_HALF), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), BROW_LOWERED, _mirror(BROW_LOWERED), MOUTH_SMILE),
+  ],
+  left_turn_remove=[
+    (3, 3), (3, 4),
+    (4, 3), (4, 4),
+  ] + _mirror_no_flip([
+    (3, 1), (3, 2),
+    (4, 1), (4, 2),
+  ]),
+  right_turn_remove=[
+    (3, 1), (3, 2),
+    (4, 1), (4, 2),
+  ] + _mirror_no_flip([
+    (3, 3), (3, 4),
+    (4, 3), (4, 4),
+  ])
+)
+
+ASLEEP = Animation(
+  frames=[
+    _make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), [], [], MOUTH_NORMAL),
+  ],
+)
+
+SLEEPY = Animation(
+  frames=[
+    _make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), _shift(BROW_STRAIGHT, (1, 0)), [], MOUTH_NORMAL),
+    _make_frame(EYE_HALF, _mirror(EYE_CLOSED), BROW_LOWERED, [], MOUTH_NORMAL),
+    _make_frame(EYE_OPEN, _mirror(EYE_CLOSED), BROW_HIGH, [], MOUTH_NORMAL)
+  ],
+  frame_duration=0.25,
+  mode=AnimationMode.ONCE_FORWARD_BACKWARD,
+  repeat_interval=10,
+  hold_end=1.5,
+)
+
+INQUISITIVE = Animation(
+  frames=[
+    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+
+    _make_frame(EYE_LEFT_LOOK, _mirror(EYE_RIGHT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_LEFT_LOOK, (0, -1)), _shift(_mirror(EYE_RIGHT_LOOK), (0, -1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_LEFT_LOOK, (0, -1)), _shift(_mirror(EYE_RIGHT_LOOK), (0, -1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_LEFT_LOOK, (0, -1)), _shift(_mirror(EYE_RIGHT_LOOK), (0, -1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_LEFT_LOOK, _mirror(EYE_RIGHT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+
+    _make_frame(EYE_RIGHT_LOOK, _mirror(EYE_LEFT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_RIGHT_LOOK, (0, 1)), _shift(_mirror(EYE_LEFT_LOOK), (0, 1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_RIGHT_LOOK, (0, 1)), _shift(_mirror(EYE_LEFT_LOOK), (0, 1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_RIGHT_LOOK, (0, 1)), _shift(_mirror(EYE_LEFT_LOOK), (0, 1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_RIGHT_LOOK, _mirror(EYE_LEFT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+
+    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+  ],
+  mode=AnimationMode.REPEAT_FORWARD,
+  frame_duration=0.15,
+  repeat_interval=10
+)
+
+WINK = Animation(
+  frames=[
+    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_OPEN, _mirror(EYE_CLOSED), BROW_HIGH, _mirror(_shift(BROW_DOWN, (0, 2))), MOUTH_SMILE),
+  ],
+  mode=AnimationMode.ONCE_FORWARD_BACKWARD,
+  frame_duration=0.75,
+)
+
+
+# --- Face Animator Class ---
+
+class FaceAnimator:
+  def __init__(self, animation: Animation):
+    self._animation = animation
+    self._next: Animation | None = None
+    self._start_time = time.monotonic()
+    self._rewinding = False
+    self._rewind_start: float = 0.0
+    self._rewind_from: int = 0
+    self._seen_nonzero = False
+
+  def set_animation(self, animation: Animation):
+    if animation is not self._animation:
+      self._next = animation
+
+  def get_dots(self) -> list[tuple[int, int]]:
+    now = time.monotonic()
+    elapsed = now - self._start_time
+
+    # Handle rewind for forward-only animations
+    if self._rewinding:
+      rewind_elapsed = now - self._rewind_start
+      frames_back = round(rewind_elapsed / self._animation.frame_duration)
+      frame_index = self._rewind_from - frames_back
+      if frame_index <= 0:
+        return self._switch_to_next(now)
+      return self._animation.frames[frame_index]
+
+    # Play starting frames first (once)
+    starting = self._animation.starting_frames or []
+    starting_duration = len(starting) * self._animation.frame_duration
+    if starting and elapsed < starting_duration:
+      frame_index = min(int(elapsed / self._animation.frame_duration), len(starting) - 1)
+      return starting[frame_index]
+
+    # Main loop
+    loop_elapsed = elapsed - starting_duration if starting else elapsed
+    frame_index = _get_frame_index(self._animation, loop_elapsed, gap_first=bool(starting))
+
+    if frame_index != 0:
+      self._seen_nonzero = True
+
+    if self._next is not None:
+      if frame_index == 0 and (len(self._animation.frames) == 1 or self._seen_nonzero):
+        return self._switch_to_next(now)
+      # No natural return to frame 0 — start rewinding
+      if self._animation.mode in (AnimationMode.ONCE_FORWARD, AnimationMode.REPEAT_FORWARD):
+        self._rewinding = True
+        self._rewind_start = now
+        self._rewind_from = frame_index
+
+    return self._animation.frames[frame_index]
+
+  def _switch_to_next(self, now: float) -> list[tuple[int, int]]:
+    self._animation = self._next
+    self._next = None
+    self._rewinding = False
+    self._seen_nonzero = False
+    self._start_time = now
+    return self._animation.frames[0]
+
+
+def _get_frame_index(animation: Animation, elapsed: float, gap_first: bool = False) -> int:
+  """Get the current frame index given elapsed time and animation mode."""
+  num_frames = len(animation.frames)
+  if num_frames == 1:
+    return 0
+
+  fd = animation.frame_duration
+  has_backward = animation.mode in (AnimationMode.ONCE_FORWARD_BACKWARD, AnimationMode.REPEAT_FORWARD_BACKWARD)
+  repeats = animation.mode in (AnimationMode.REPEAT_FORWARD, AnimationMode.REPEAT_FORWARD_BACKWARD)
+
+  forward_duration = num_frames * fd
+  backward_frames = max(num_frames - 2, 0) if has_backward else 0
+  hold = animation.hold_end if has_backward else 0.0
+  cycle_duration = forward_duration + hold + backward_frames * fd
+
+  if not repeats:
+    t = min(elapsed, cycle_duration)
+  else:
+    t = (elapsed + cycle_duration if gap_first else elapsed) % animation.repeat_interval
+
+  # Forward phase
+  if t < forward_duration:
+    return min(int(t / fd), num_frames - 1)
+  t -= forward_duration
+
+  # Hold at last frame
+  if t < hold:
+    return num_frames - 1
+  t -= hold
+
+  # Backward phase
+  if backward_frames and t < backward_frames * fd:
+    return num_frames - 2 - min(int(t / fd), backward_frames - 1)
+
+  return 0 if has_backward else num_frames - 1
diff --git a/selfdrive/ui/body/layouts/__init__.py b/selfdrive/ui/body/layouts/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/selfdrive/ui/body/layouts/onroad.py b/selfdrive/ui/body/layouts/onroad.py
new file mode 100644
index 00000000000000..d7e9f419cca6e3
--- /dev/null
+++ b/selfdrive/ui/body/layouts/onroad.py
@@ -0,0 +1,93 @@
+import time
+import pyray as rl
+
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.body.animations import FaceAnimator, ASLEEP, INQUISITIVE, NORMAL, SLEEPY
+
+GRID_COLS = 16
+GRID_ROWS = 8
+DOT_RADIUS = 50 if gui_app.big_ui() else 10
+
+IDLE_TIMEOUT = 30.0        # seconds of no joystick input before playing INQUISITIVE
+IDLE_STEER_THRESH = 0.5    # degrees — below this counts as no input
+IDLE_SPEED_THRESH = 0.01   # m/s — below this counts as no input
+
+
+# This class is used both in BIG (tizi) and small (mici) UIs
+class BodyLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self._animator = FaceAnimator(ASLEEP)
+    self._turning_left = False
+    self._turning_right = False
+    self._last_input_time = time.monotonic()
+    self._was_active = False
+    self._offroad_label = UnifiedLabel("turn on ignition to use", 95 if gui_app.big_ui() else 45, FontWeight.DISPLAY,
+                                       alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                                       alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+  def draw_dot_grid(self, rect: rl.Rectangle, dots: list[tuple[int, int]], color: rl.Color):
+    spacing = min(rect.height / GRID_ROWS, rect.width / GRID_COLS)
+
+    grid_w = (GRID_COLS - 1) * spacing
+    grid_h = (GRID_ROWS - 1) * spacing
+
+    offset_x = rect.x + (rect.width - grid_w) / 2
+    offset_y = rect.y + (rect.height - grid_h) / 2
+
+    for row, col in dots:
+      x = int(offset_x + col * spacing)
+      y = int(offset_y + row * spacing)
+      rl.draw_circle(x, y, DOT_RADIUS, color)
+
+  def _update_state(self):
+    super()._update_state()
+
+    sm = ui_state.sm
+
+    if ui_state.is_onroad():
+      if not self._was_active:
+        self._last_input_time = time.monotonic()
+        self._was_active = True
+
+      cs = sm['carState']
+      has_input = abs(cs.steeringAngleDeg) > IDLE_STEER_THRESH or abs(cs.vEgo) > IDLE_SPEED_THRESH
+      if has_input:
+        self._last_input_time = time.monotonic()
+
+      if time.monotonic() - self._last_input_time > IDLE_TIMEOUT:
+        self._animator.set_animation(INQUISITIVE)
+      else:
+        self._animator.set_animation(NORMAL)
+    else:
+      self._was_active = False
+      self._animator.set_animation(ASLEEP)
+
+    steer = sm['testJoystick'].axes[1] if len(sm['testJoystick'].axes) > 1 else 0
+    self._turning_left = steer <= -0.05
+    self._turning_right = steer >= 0.05
+
+  # play animation on screen tap
+  def _handle_mouse_release(self, mouse_pos):
+    super()._handle_mouse_release(mouse_pos)
+    if not self._was_active:
+      self._animator.set_animation(SLEEPY)
+
+  def _render(self, rect: rl.Rectangle):
+    dots = self._animator.get_dots()
+    animation = self._animator._animation
+    if self._turning_left and animation.left_turn_remove:
+      remove_set = set(animation.left_turn_remove)
+      dots = [d for d in dots if d not in remove_set]
+    elif self._turning_right and animation.right_turn_remove:
+      remove_set = set(animation.right_turn_remove)
+      dots = [d for d in dots if d not in remove_set]
+    self.draw_dot_grid(rect, dots, rl.WHITE)
+
+    if ui_state.is_offroad():
+      rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
+      upper_half = rl.Rectangle(rect.x, rect.y, rect.width, rect.height / 2)
+      self._offroad_label.render(upper_half)
diff --git a/selfdrive/ui/layouts/main.py b/selfdrive/ui/layouts/main.py
index 15d44e24da5b37..672f5463d978e6 100644
--- a/selfdrive/ui/layouts/main.py
+++ b/selfdrive/ui/layouts/main.py
@@ -2,13 +2,14 @@
 from enum import IntEnum
 import cereal.messaging as messaging
 from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH
 from openpilot.selfdrive.ui.layouts.home import HomeLayout
 from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout, PanelType
 from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
 from openpilot.selfdrive.ui.ui_state import device, ui_state
-from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow
+from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
 
 
 class MainState(IntEnum):
@@ -28,7 +29,9 @@ def __init__(self):
     self._prev_onroad = False
 
     # Initialize layouts
-    self._layouts = {MainState.HOME: HomeLayout(), MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
+    self._home_layout = HomeLayout()
+    self._home_body_layout = BodyLayout()
+    self._layouts = {MainState.HOME: self._home_layout, MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
 
     self._sidebar_rect = rl.Rectangle(0, 0, 0, 0)
     self._content_rect = rl.Rectangle(0, 0, 0, 0)
@@ -54,14 +57,18 @@ def _setup_callbacks(self):
     self._layouts[MainState.HOME]._setup_widget.set_open_settings_callback(lambda: self.open_settings(PanelType.FIREHOSE))
     self._layouts[MainState.HOME].set_settings_callback(lambda: self.open_settings(PanelType.TOGGLES))
     self._layouts[MainState.SETTINGS].set_callbacks(on_close=self._set_mode_for_state)
-    self._layouts[MainState.ONROAD].set_click_callback(self._on_onroad_clicked)
+
+    for layout in (self._layouts[MainState.ONROAD], self._home_body_layout):
+      layout.set_click_callback(self._on_onroad_clicked)
+
     device.add_interactive_timeout_callback(self._set_mode_for_state)
+    ui_state.add_on_body_changed_callbacks(self._on_body_changed)
 
   def _update_layout_rects(self):
     self._sidebar_rect = rl.Rectangle(self._rect.x, self._rect.y, SIDEBAR_WIDTH, self._rect.height)
 
     x_offset = SIDEBAR_WIDTH if self._sidebar.is_visible else 0
-    self._content_rect = rl.Rectangle(self._rect.y + x_offset, self._rect.y, self._rect.width - x_offset, self._rect.height)
+    self._content_rect = rl.Rectangle(self._rect.x + x_offset, self._rect.y, self._rect.width - x_offset, self._rect.height)
 
   def _handle_onroad_transition(self):
     if ui_state.started != self._prev_onroad:
@@ -70,6 +77,12 @@ def _handle_onroad_transition(self):
       self._set_mode_for_state()
 
   def _set_mode_for_state(self):
+    # Don't go onroad if body, home is onroad
+    if ui_state.is_body:
+      self._set_current_layout(MainState.HOME)
+      self._sidebar.set_visible(not ui_state.ignition)
+      return
+
     if ui_state.started:
       # Don't hide sidebar from interactive timeout
       if self._current_mode != MainState.ONROAD:
@@ -101,6 +114,10 @@ def _on_bookmark_clicked(self):
   def _on_onroad_clicked(self):
     self._sidebar.set_visible(not self._sidebar.is_visible)
 
+  def _on_body_changed(self):
+    self._layouts[MainState.HOME] = self._home_body_layout if ui_state.is_body else self._home_layout
+    self._set_mode_for_state()
+
   def _render_main_content(self):
     # Render sidebar
     if self._sidebar.is_visible:
diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index 4bdff388b0d89b..cbe7ec29f0724c 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -130,6 +130,7 @@ def __init__(self):
 
     self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48))
     self._mic_icon = IconWidget("icons_mici/microphone.png", (32, 46))
+    self._body_icon = IconWidget("icons_mici/body.png", (54, 37))
 
     self._alerts_pill = AlertsPill()
 
@@ -137,6 +138,7 @@ def __init__(self):
       IconWidget("icons_mici/settings.png", (48, 48), opacity=0.9),
       NetworkIcon(),
       self._experimental_icon,
+      self._body_icon,
       self._mic_icon,
     ], spacing=18)
 
@@ -247,6 +249,7 @@ def _render(self, _):
     # ***** Center-aligned bottom section icons *****
     self._experimental_icon.set_visible(self._experimental_mode)
     self._mic_icon.set_visible(ui_state.recording_audio)
+    self._body_icon.set_visible(ui_state.is_body)
 
     footer_rect = rl.Rectangle(self.rect.x + HOME_PADDING, self.rect.y + self.rect.height - 48, self.rect.width - HOME_PADDING, 48)
     self._status_bar_layout.render(footer_rect)
diff --git a/selfdrive/ui/mici/layouts/main.py b/selfdrive/ui/mici/layouts/main.py
index 0d0f6308f2304e..badfbe315e0231 100644
--- a/selfdrive/ui/mici/layouts/main.py
+++ b/selfdrive/ui/mici/layouts/main.py
@@ -6,6 +6,7 @@
 from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.selfdrive.ui.mici.layouts.onboarding import OnboardingWindow
+from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.lib.application import gui_app
@@ -29,22 +30,25 @@ def __init__(self):
     self._home_layout = MiciHomeLayout()
     self._alerts_layout = MiciOffroadAlerts()
     self._settings_layout = SettingsLayout()
-    self._onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked)
+    self._car_onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked)
+    self._body_onroad_layout = BodyLayout()
 
     # Initialize widget rects
-    for widget in (self._home_layout, self._settings_layout, self._alerts_layout, self._onroad_layout):
+    for widget in (self._home_layout, self._alerts_layout, self._settings_layout,
+                   self._car_onroad_layout, self._body_onroad_layout):
       # TODO: set parent rect and use it if never passed rect from render (like in Scroller)
       widget.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
 
     self._scroller.add_widgets([
       self._alerts_layout,
       self._home_layout,
-      self._onroad_layout,
+      self._car_onroad_layout,
+      self._body_onroad_layout,
     ])
     self._scroller.set_reset_scroll_at_show(False)
 
     # Disable scrolling when onroad is interacting with bookmark
-    self._scroller.set_scrolling_enabled(lambda: not self._onroad_layout.is_swiping_left())
+    self._scroller.set_scrolling_enabled(lambda: not self._car_onroad_layout.is_swiping_left())
 
     # Set callbacks
     self._setup_callbacks()
@@ -57,14 +61,22 @@ def __init__(self):
     if not self._onboarding_window.completed:
       gui_app.push_widget(self._onboarding_window)
 
+  @property
+  def _onroad_layout(self) -> Widget:
+    # For scroll_to
+    return self._body_onroad_layout if ui_state.is_body else self._car_onroad_layout
+
   def _setup_callbacks(self):
     self._home_layout.set_callbacks(
       on_settings=lambda: gui_app.push_widget(self._settings_layout),
       on_alerts=lambda: self._scroll_to(self._alerts_layout),
       alert_count_callback=self._alerts_layout.active_alerts,
     )
-    self._onroad_layout.set_click_callback(lambda: self._scroll_to(self._home_layout))
+    for layout in (self._car_onroad_layout, self._body_onroad_layout):
+      layout.set_click_callback(lambda: self._scroll_to(self._home_layout))
+
     device.add_interactive_timeout_callback(self._on_interactive_timeout)
+    ui_state.add_on_body_changed_callbacks(self._on_body_changed)
 
   def _scroll_to(self, layout: Widget):
     layout_x = int(layout.rect.x)
@@ -130,3 +142,7 @@ def _on_bookmark_clicked(self):
     user_bookmark = messaging.new_message('bookmarkButton')
     user_bookmark.valid = True
     self._pm.send('bookmarkButton', user_bookmark)
+
+  def _on_body_changed(self):
+    self._car_onroad_layout.set_visible(not ui_state.is_body)
+    self._body_onroad_layout.set_visible(ui_state.is_body)
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index 30a656509551e0..52426f510b5889 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -13,6 +13,7 @@
 from openpilot.system.hardware import HARDWARE, PC
 
 BACKLIGHT_OFFROAD = 65 if HARDWARE.get_device_type() == "mici" else 50
+PARAM_UPDATE_TIME = 5.0
 
 
 class UIStatus(Enum):
@@ -54,6 +55,7 @@ def _initialize(self):
         "carOutput",
         "carControl",
         "liveParameters",
+        "testJoystick",
         "rawAudioData",
       ]
     )
@@ -77,15 +79,15 @@ def _initialize(self):
     self.panda_type: log.PandaState.PandaType = log.PandaState.PandaType.unknown
     self.personality: log.LongitudinalPersonality = log.LongitudinalPersonality.standard
     self.has_longitudinal_control: bool = False
+    self.is_body: bool | None = None
     self.CP: car.CarParams | None = None
     self.light_sensor: float = -1.0
-    self._param_update_time: float = 0.0
+    self._param_update_time: float = -PARAM_UPDATE_TIME
 
     # Callbacks
     self._offroad_transition_callbacks: list[Callable[[], None]] = []
     self._engaged_transition_callbacks: list[Callable[[], None]] = []
-
-    self.update_params()
+    self._on_body_changed_callbacks: list[Callable[[], None]] = []
 
   def add_offroad_transition_callback(self, callback: Callable[[], None]):
     self._offroad_transition_callbacks.append(callback)
@@ -93,6 +95,9 @@ def add_offroad_transition_callback(self, callback: Callable[[], None]):
   def add_engaged_transition_callback(self, callback: Callable[[], None]):
     self._engaged_transition_callbacks.append(callback)
 
+  def add_on_body_changed_callbacks(self, callback: Callable[[], None]):
+    self._on_body_changed_callbacks.append(callback)
+
   @property
   def engaged(self) -> bool:
     return self.started and self.sm["selfdriveState"].enabled
@@ -108,7 +113,7 @@ def update(self) -> None:
     self.sm.update(0)
     self._update_state()
     self._update_status()
-    if time.monotonic() - self._param_update_time > 5.0:
+    if time.monotonic() - self._param_update_time >= PARAM_UPDATE_TIME:
       self.update_params()
     device.update()
 
@@ -180,6 +185,12 @@ def update_params(self) -> None:
         self.has_longitudinal_control = self.params.get_bool("AlphaLongitudinalEnabled")
       else:
         self.has_longitudinal_control = self.CP.openpilotLongitudinalControl
+
+      if self.is_body != self.CP.notCar:
+        self.is_body = self.CP.notCar
+        for callback in self._on_body_changed_callbacks:
+          callback()
+
     self._param_update_time = time.monotonic()
 
 

From fdd43f49e0893b41f36077b998a547b3c16ef66f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 18 Apr 2026 16:06:15 -0400
Subject: [PATCH 0926/1434] ci: validate upstream compat by schema diff typeId
 (#1809)

---
 .github/workflows/cereal_validation.yaml      |  10 +-
 .../tests/validate_sp_cereal_upstream.py      | 447 ++++++++++--------
 2 files changed, 243 insertions(+), 214 deletions(-)

diff --git a/.github/workflows/cereal_validation.yaml b/.github/workflows/cereal_validation.yaml
index 3a864ebefbb97b..e9c0e5d03e02ad 100644
--- a/.github/workflows/cereal_validation.yaml
+++ b/.github/workflows/cereal_validation.yaml
@@ -33,15 +33,15 @@ jobs:
       - run: ./tools/op.sh setup
       - name: Build openpilot
         run: scons -j$(nproc) cereal
-      - name: Generate the log file
+      - name: Dump sunnypilot schema
         run: |
           export PYTHONPATH=${{ github.workspace }}
-          python3 cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin
+          python3 cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema.json
       - name: 'Prepare artifact'
         run: |
           mkdir -p "cereal/messaging/tests/cereal_validations"
           cp cereal/messaging/tests/validate_sp_cereal_upstream.py "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py"
-          cp schema_instances.bin "cereal/messaging/tests/cereal_validations/schema_instances.bin"
+          cp schema.json "cereal/messaging/tests/cereal_validations/schema.json"
       - name: 'Upload Artifact'
         uses: actions/upload-artifact@v4
         with:
@@ -71,8 +71,8 @@ jobs:
         with:
           name: cereal_validations
           path: openpilot/cereal/messaging/tests/cereal_validations
-      - name: 'Run the validation'
+      - name: 'Validate sunnypilot schema against upstream'
         run: |
           export PYTHONPATH=${{ github.workspace }}/openpilot
           chmod +x openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
-          python3 openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f openpilot/cereal/messaging/tests/cereal_validations/schema_instances.bin
+          python3 openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f openpilot/cereal/messaging/tests/cereal_validations/schema.json
diff --git a/cereal/messaging/tests/validate_sp_cereal_upstream.py b/cereal/messaging/tests/validate_sp_cereal_upstream.py
index 9ccd6533ce84b6..d673f7db0b8728 100755
--- a/cereal/messaging/tests/validate_sp_cereal_upstream.py
+++ b/cereal/messaging/tests/validate_sp_cereal_upstream.py
@@ -1,222 +1,251 @@
 #!/usr/bin/env python3
-import argparse
-import sys
-from typing import Any, List, Tuple
-
-DEBUG = False
-
-
-def print_debug(string: str) -> None:
-  if DEBUG:
-    print(string)
-
-
-def create_schema_instance(struct: Any, prop: Tuple[str, Any]) -> Any:
-  """
-  Create a new instance of a schema type, handling different field types.
-
-  Args:
-      struct: The Cap'n Proto schema structure
-      prop: A tuple containing the field name and field metadata
-
-  Returns:
-      A new initialized schema instance
-  """
-  struct_instance = struct.new_message()
-  field_name, field_metadata = prop
-
-  try:
-    field_type = field_metadata.proto.slot.type.which()
-
-    # Initialize different types of fields
-    if field_type in ('list', 'text', 'data'):
-      struct_instance.init(field_name, 1)
-      print_debug(f"Initialized list/text/data field: {field_name}")
-    elif field_type in ('struct', 'object'):
-      struct_instance.init(field_name)
-      print_debug(f"Initialized struct/object field: {field_name}")
-
-    return struct_instance
-
-  except Exception as e:
-    print(f"Error creating instance for {field_name}: {e}")
-    return None
-
-
-def get_schema_fields(schema_struct: Any) -> List[Tuple[str, Any]]:
-  """
-  Retrieve all fields from a given schema structure.
-
-  Args:
-      schema_struct: The Cap'n Proto schema structure
-
-  Returns:
-      A list of field names and their metadata
-  """
-  try:
-    # Get all fields from the schema
-    schema_fields = list(schema_struct.schema.fields.items())
-
-    print_debug("Discovered schema fields:")
-    for field_name, field_metadata in schema_fields:
-      print_debug(f"- {field_name}")
-
-    return schema_fields
-
-  except Exception as e:
-    print(f"Error retrieving schema fields: {e}")
-    return []
-
-
-def generate_schema_instances(schema_struct: Any) -> List[Any]:
-  """
-  Generate instances for all fields in a given schema.
-
-  Args:
-      schema_struct: The Cap'n Proto schema structure
-
-  Returns:
-      A list of schema instances
-  """
-  schema_fields = get_schema_fields(schema_struct)
-  instances = []
+"""Schema-level cereal compat check between sunnypilot and upstream openpilot.
 
-  for field_prop in schema_fields:
-    try:
-      instance = create_schema_instance(schema_struct, field_prop)
-      if instance is not None:
-        instances.append(instance)
-    except Exception as e:
-      print(f"Skipping field due to error: {e}")
+Rules (per struct matched across sides by typeId):
+  R1  shared ordinal must reference the same type.
+  R2  sunnypilot-only ordinal in a union -> FAIL (unknown discriminant upstream).
+  R3  sunnypilot-only ordinal on a regular field -> OK (additive struct evolution).
+  R4  upstream-only ordinal -> OK.
+  R5  sunnypilot-only struct referenced via an upstream-shared field -> FAIL.
+"""
 
-  print(f"Generated {len(instances)} schema instances")
-  return instances
+from __future__ import annotations
 
-
-def persist_instances(instances: List[Any], filename: str) -> None:
-  """
-  Write schema instances to a binary file.
-
-  Args:
-      instances: List of schema instances
-      filename: Output file path
-  """
-  try:
-    with open(filename, 'wb') as f:
-      for instance in instances:
-        f.write(instance.to_bytes())
-
-    print(f"Successfully wrote {len(instances)} instances to {filename}")
-
-  except Exception as e:
-    print(f"Error persisting instances: {e}")
-    sys.exit(1)
-
-
-def read_instances(filename: str, schema_type: Any) -> List[Any]:
-  """
-  Read schema instances from a binary file.
-
-  Args:
-      filename: Input file path
-      schema_type: The schema type to use for reading
-
-  Returns:
-      A list of read schema instances
-  """
-  try:
-    with open(filename, 'rb') as f:
-      data = f.read()
-
-    instances = list(schema_type.read_multiple_bytes(data))
-
-    print(f"Read {len(instances)} instances from {filename}")
-    return instances
-
-  except Exception as e:
-    print(f"Error reading instances: {e}")
-    sys.exit(1)
-
-
-def compare_schemas(original_instances: List[Any], read_instances: List[Any]) -> bool:
-  """
-  Compare original and read-back instances to detect potential breaking changes.
-
-  Args:
-      original_instances: List of originally generated instances
-      read_instances: List of instances read back from file
-
-  Returns:
-      Boolean indicating whether schemas appear compatible
-  """
-  if len(original_instances) != len(read_instances):
-    print("� Schema Compatibility Warning: Instance count mismatch")
+import argparse
+import json
+import sys
+from typing import Any
+
+NO_DISCRIMINANT = 0xFFFF
+
+
+def hex_id(value: int) -> str:
+  return f"0x{value:016x}"
+
+
+def encode_type(type_node: Any) -> dict:
+  which = type_node.which()
+  if which == "struct":
+    return {"kind": "struct", "typeId": hex_id(type_node.struct.typeId)}
+  if which == "enum":
+    return {"kind": "enum", "typeId": hex_id(type_node.enum.typeId)}
+  if which == "interface":
+    return {"kind": "interface", "typeId": hex_id(type_node.interface.typeId)}
+  if which == "list":
+    return {"kind": "list", "element": encode_type(type_node.list.elementType)}
+  if which == "anyPointer":
+    return {"kind": "anyPointer"}
+  return {"kind": which}
+
+
+def encode_field(name: str, field: Any) -> dict:
+  proto = field.proto
+  ordinal = proto.ordinal.explicit if proto.ordinal.which() == "explicit" else None
+  discriminant = proto.discriminantValue if proto.discriminantValue != NO_DISCRIMINANT else None
+
+  if proto.which() == "group":
+    type_desc = {"kind": "group", "typeId": hex_id(proto.group.typeId)}
+  else:
+    type_desc = encode_type(proto.slot.type)
+
+  return {
+    "name": name,
+    "ordinal": ordinal,
+    "discriminant": discriminant,
+    "type": type_desc,
+  }
+
+
+def encode_struct(schema: Any) -> dict:
+  node = schema.node
+  return {
+    "typeId": hex_id(node.id),
+    "displayName": node.displayName,
+    "hasUnion": node.struct.discriminantCount > 0,
+    "fields": [encode_field(name, field) for name, field in schema.fields.items()],
+  }
+
+
+def _child_struct_schema(field: Any) -> Any:
+  proto = field.proto
+  if proto.which() == "group":
+    return field.schema
+  type_node = proto.slot.type
+  which = type_node.which()
+  if which == "struct":
+    return field.schema
+  if which == "list":
+    container = field.schema
+    element_type = type_node.list.elementType
+    while element_type.which() == "list":
+      container = container.elementType
+      element_type = element_type.list.elementType
+    if element_type.which() == "struct":
+      return container.elementType
+  return None
+
+
+def collect_schema(root: Any) -> dict[str, dict]:
+  structs: dict[str, dict] = {}
+  stack = [root]
+  while stack:
+    schema = stack.pop()
+    type_id = hex_id(schema.node.id)
+    if type_id in structs:
+      continue
+    structs[type_id] = encode_struct(schema)
+    for _name, field in schema.fields.items():
+      try:
+        child = _child_struct_schema(field)
+      except Exception:
+        child = None
+      if child is not None:
+        stack.append(child)
+  return structs
+
+
+def dump_schema(path: str) -> None:
+  from cereal import log
+  payload = {
+    "root": hex_id(log.Event.schema.node.id),
+    "structs": collect_schema(log.Event.schema),
+  }
+  with open(path, "w", encoding="utf-8") as handle:
+    json.dump(payload, handle, indent=2, sort_keys=True)
+  print(f"wrote schema dump with {len(payload['structs'])} structs to {path}")
+
+
+def types_equal(a: dict, b: dict) -> bool:
+  if a.get("kind") != b.get("kind"):
     return False
-
-  compatible = True
-  for struct in read_instances:
-    try:
-      getattr(struct, struct.which())  # Attempting to access the field to validate readability
-    except Exception as e:
-      print(f"� Structural change detected: {struct.which()} is not readable.\nFull error: {e}")
-      compatible = False
-
-  return compatible
-
-
-def main():
-  """
-  CLI entry point for schema compatibility testing.
-  """
-  # Setup argument parser
+  kind = a["kind"]
+  if kind in ("struct", "enum", "interface", "group"):
+    return a.get("typeId") == b.get("typeId")
+  if kind == "list":
+    return types_equal(a["element"], b["element"])
+  return True
+
+
+def type_repr(t: dict) -> str:
+  kind = t.get("kind", "?")
+  if kind in ("struct", "enum", "interface", "group"):
+    return f"{kind}({t.get('typeId')})"
+  if kind == "list":
+    return f"list<{type_repr(t['element'])}>"
+  return kind
+
+
+def field_is_union_variant(field: dict) -> bool:
+  return field.get("discriminant") is not None
+
+
+def index_fields_by_ordinal(struct: dict) -> dict[int, dict]:
+  indexed: dict[int, dict] = {}
+  for field in struct["fields"]:
+    ordinal = field.get("ordinal")
+    if ordinal is None:
+      continue
+    indexed[ordinal] = field
+  return indexed
+
+
+def compare(sunnypilot_dump: dict, upstream_dump: dict) -> list[str]:
+  violations: list[str] = []
+  sunnypilot_structs: dict[str, dict] = sunnypilot_dump["structs"]
+  upstream_structs: dict[str, dict] = upstream_dump["structs"]
+
+  sunnypilot_struct_referenced_from_shared: set[str] = set()
+
+  for type_id, sunnypilot_struct in sunnypilot_structs.items():
+    upstream_struct = upstream_structs.get(type_id)
+    if upstream_struct is None:
+      continue
+
+    sunnypilot_fields = index_fields_by_ordinal(sunnypilot_struct)
+    upstream_fields = index_fields_by_ordinal(upstream_struct)
+    display = sunnypilot_struct["displayName"]
+
+    for ordinal, sunnypilot_field in sunnypilot_fields.items():
+      upstream_field = upstream_fields.get(ordinal)
+      if upstream_field is None:
+        if field_is_union_variant(sunnypilot_field):
+          violations.append(
+            f"[R2] {display} @{ordinal} ('{sunnypilot_field['name']}', {type_repr(sunnypilot_field['type'])}): "
+            f"union variant not present upstream. upstream cannot parse this discriminant."
+          )
+        continue
+
+      if not types_equal(sunnypilot_field["type"], upstream_field["type"]):
+        violations.append(
+          f"[R1] {display} @{ordinal}: type mismatch. "
+          f"sunnypilot='{sunnypilot_field['name']}' {type_repr(sunnypilot_field['type'])} vs "
+          f"upstream='{upstream_field['name']}' {type_repr(upstream_field['type'])}."
+        )
+        continue
+
+      cursor = sunnypilot_field["type"]
+      while cursor.get("kind") == "list":
+        cursor = cursor["element"]
+      if cursor.get("kind") in ("struct", "group", "interface") and cursor.get("typeId"):
+        sunnypilot_struct_referenced_from_shared.add(cursor["typeId"])
+
+  for type_id, sunnypilot_struct in sunnypilot_structs.items():
+    if type_id in upstream_structs:
+      continue
+    if type_id in sunnypilot_struct_referenced_from_shared:
+      violations.append(
+        f"[R5] struct {sunnypilot_struct['displayName']} ({type_id}) exists only on sunnypilot "
+        f"but is referenced from an upstream-shared field. upstream cannot resolve this type."
+      )
+
+  return violations
+
+
+def load_peer(path: str) -> dict:
+  with open(path, "r", encoding="utf-8") as handle:
+    return json.load(handle)
+
+
+def run_read(peer_path: str) -> int:
+  from cereal import log
+  peer_dump = load_peer(peer_path)
+  local_dump = {
+    "root": hex_id(log.Event.schema.node.id),
+    "structs": collect_schema(log.Event.schema),
+  }
+  violations = compare(sunnypilot_dump=peer_dump, upstream_dump=local_dump)
+
+  if not violations:
+    print("cereal compat OK: upstream openpilot can parse sunnypilot routes "
+          "(no leaked structs, no ordinal collisions).")
+    return 0
+
+  print(f"cereal compat FAIL: upstream openpilot would misparse sunnypilot routes "
+        f"({len(violations)} violation(s)):")
+  for v in violations:
+    print(f"  {v}")
+  return 1
+
+
+def main() -> int:
   parser = argparse.ArgumentParser(
-    description='Cap\'n Proto Schema Compatibility Testing Tool',
-    epilog='Test schema compatibility by generating and reading back instances.'
+    description="sunnypilot <-> upstream cereal compatibility validator (schema-level)."
   )
-
-  # Add mutually exclusive group for generation or reading mode
-  mode_group = parser.add_mutually_exclusive_group(required=True)
-  mode_group.add_argument('-g', '--generate', action='store_true',
-                          help='Generate schema instances')
-  mode_group.add_argument('-r', '--read', action='store_true',
-                          help='Read and validate schema instances')
-
-  # Common arguments
-  parser.add_argument('-f', '--file',
-                      default='schema_instances.bin',
-                      help='Output/input binary file (default: schema_instances.bin)')
-
-  # Parse arguments
+  mode = parser.add_mutually_exclusive_group(required=True)
+  mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
+  mode.add_argument("-r", "--read", action="store_true", help="load peer JSON and diff against local")
+  parser.add_argument("-f", "--file", default="schema.json", help="JSON file path (default: schema.json)")
   args = parser.parse_args()
 
-  # Import the schema dynamically 
   try:
-    from cereal import log
-    schema_type = log.Event
-  except ImportError:
-    print("Error: Unable to import schema. Ensure 'cereal' is installed.")
-    sys.exit(1)
-
-  # Execute based on mode
-  if args.generate:
-    print("🔧 Generating Schema Instances")
-    instances = generate_schema_instances(schema_type)
-    persist_instances(instances, args.file)
-    print("✅ Instance generation complete")
-
-  elif args.read:
-    print("� Reading and Validating Schema Instances")
-    generated_instances = generate_schema_instances(schema_type)
-    read_back_instances = read_instances(args.file, schema_type)
-
-    # Compare schemas
-    if compare_schemas(generated_instances, read_back_instances):
-      print("✅ Schema Compatibility: No breaking changes detected")
-      sys.exit(0)
-    else:
-      print("� Potential Schema Breaking Changes Detected")
-      sys.exit(1)
+    if args.generate:
+      dump_schema(args.file)
+      return 0
+    return run_read(args.file)
+  except ImportError as exc:
+    print(f"error: cannot import cereal ({exc}). did scons build cereal?")
+    return 2
 
 
 if __name__ == "__main__":
-  main()
+  sys.exit(main())

From b6432e705df0cf13719c895611179d7ff43c4385 Mon Sep 17 00:00:00 2001
From: probablyanasian <43358667+probablyanasian@users.noreply.github.com>
Date: Sat, 18 Apr 2026 20:27:58 -0700
Subject: [PATCH 0927/1434] Fix LSM6DS3 sensors test (#37855)

* fix temperature test + add std dev test for temp

* loosen gyro limit, no axis on temp mean

* whitespace fix

* add std_max to all sensors/tests
---
 system/sensord/tests/test_sensord.py | 24 +++++++++++++++---------
 1 file changed, 15 insertions(+), 9 deletions(-)

diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py
index 20214e12ffadbf..9a66678ecf17a3 100644
--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@@ -30,16 +30,16 @@
 }.get(HARDWARE.get_device_type(), [])
 
 Sensor = log.SensorEventData.SensorSource
-SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max'])
+SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max', 'std_max'])
 ALL_SENSORS = {
   Sensor.lsm6ds3trc: {
-    SensorConfig("acceleration", 5, 15),
-    SensorConfig("gyroUncalibrated", 0, .2),
-    SensorConfig("temperature", 10, 40),  # set for max range of our office
+    SensorConfig("acceleration", 5, 15, 5),
+    SensorConfig("gyroUncalibrated", 0, .15, 0.5),
+    SensorConfig("temperature", 10, 40, 0.5),  # set for max range of our office
   },
 
   Sensor.mmc5603nj: {
-    SensorConfig("magneticUncalibrated", 0, 300),
+    SensorConfig("magneticUncalibrated", 0, 300, 10),
   }
 }
 ALL_SENSORS[Sensor.lsm6ds3] = ALL_SENSORS[Sensor.lsm6ds3trc]
@@ -198,9 +198,16 @@ def test_sensor_values(self):
           continue
 
         key = (sensor, s.type)
-        mean_norm = np.mean(np.linalg.norm(sensor_values[key], axis=1))
-        err_msg = f"Sensor '{sensor} {s.type}' failed sanity checks {mean_norm} is not between {s.sanity_min} and {s.sanity_max}"
-        assert s.sanity_min <= mean_norm <= s.sanity_max, err_msg
+        if s.type == 'temperature':
+          measurement_stat = np.mean(sensor_values[key])
+        else:
+          measurement_stat = np.mean(np.linalg.norm(sensor_values[key], axis=1))
+        err_msg = f"Sensor '{sensor} {s.type}' failed sanity checks {measurement_stat} is not between {s.sanity_min} and {s.sanity_max}"
+        assert s.sanity_min <= measurement_stat <= s.sanity_max, err_msg
+
+        std_dev = np.std(sensor_values[key], axis=0)
+        err_msg = f"Sensor '{sensor} {s.type}' failed std dev test {std_dev} is not under {s.std_max}"
+        assert np.all(std_dev <= s.std_max), err_msg
 
   def test_sensor_verify_no_interrupts_after_stop(self):
     managed_processes["sensord"].start()
@@ -222,4 +229,3 @@ def test_sensor_verify_no_interrupts_after_stop(self):
     time.sleep(1)
     state_two = get_irq_count(self.sensord_irq)
     assert state_one == state_two, "Interrupts received after sensord stop!"
-

From 18406e77ee519f40cf12d7f260876ef007dd4b4f Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sun, 19 Apr 2026 11:55:00 -0400
Subject: [PATCH 0928/1434] [MICI] ui: add sunnylink info & connectivity check
 (#1798)

* add info & connectivity check

* meh, no icon

* lint

* fix state

* good bot

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .../ui/sunnypilot/mici/layouts/sunnylink.py   | 57 ++++++++++++++++++-
 1 file changed, 54 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py b/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
index 43ea07643e7fd6..85ebf55f46dbd5 100644
--- a/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
+++ b/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
@@ -4,6 +4,8 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+import pyray as rl
+
 from collections.abc import Callable
 
 from cereal import custom
@@ -13,11 +15,43 @@
 from openpilot.selfdrive.ui.sunnypilot.mici.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
-from openpilot.system.ui.lib.application import gui_app, MousePos
+from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
 from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import NavScroller
 from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
 
+class SunnylinkInfo(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self.set_rect(rl.Rectangle(0, 0, 360, 180))
+
+    header_color = rl.Color(255, 255, 255, int(255 * 0.9))
+    subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
+    max_width = int(self._rect.width - 20)
+    self.device_id_header = UnifiedLabel(tr("device id"), 48, max_width=max_width, text_color=header_color,
+                                         font_weight=FontWeight.DISPLAY, shimmer=True)
+    self.device_id_text = UnifiedLabel(UNREGISTERED_SUNNYLINK_DONGLE_ID, 32, max_width=max_width, text_color=subheader_color,
+                                       font_weight=FontWeight.ROMAN, scroll=True)
+
+    self.sponsor_header = UnifiedLabel(tr("sponsor tier"), 48, max_width=max_width, text_color=header_color,
+                                       font_weight=FontWeight.DISPLAY, shimmer=True)
+    self.sponsor_text = UnifiedLabel("N/A", 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN)
+
+  def _render(self, _):
+    self.device_id_header.set_position(self._rect.x + 20, self._rect.y - 10)
+    self.device_id_header.render()
+
+    self.device_id_text.set_position(self._rect.x + 20, self._rect.y + 68 - 25)
+    self.device_id_text.render()
+
+    self.sponsor_header.set_position(self._rect.x + 20, self._rect.y + 114 - 30)
+    self.sponsor_header.render()
+
+    self.sponsor_text.set_position(self._rect.x + 20, self._rect.y + 161 - 25)
+    self.sponsor_text.render()
 
 class SunnylinkLayoutMici(NavScroller):
   def __init__(self, back_callback: Callable):
@@ -27,6 +61,8 @@ def __init__(self, back_callback: Callable):
     self._backup_in_progress = False
     self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled")
 
+    self._sunnylink_info = SunnylinkInfo()
+
     self._sunnylink_toggle = BigToggle(text=tr("enable sunnylink"),
                                        initial_state=self._sunnylink_enabled,
                                        toggle_callback=self._sunnylink_toggle_callback)
@@ -40,6 +76,7 @@ def __init__(self, back_callback: Callable):
                                                 toggle_callback=self._sunnylink_uploader_callback)
 
     self._scroller.add_widgets([
+      self._sunnylink_info,
       self._sunnylink_toggle,
       self._sunnylink_sponsor_button,
       self._sunnylink_pair_button,
@@ -59,6 +96,10 @@ def _update_state(self):
     self._sunnylink_uploader_toggle.set_visible(self._sunnylink_enabled)
     self.handle_backup_restore_progress()
 
+    self._sunnylink_info.device_id_text.set_text(ui_state.params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID)
+    self._sunnylink_info.sponsor_text.set_text(ui_state.sunnylink_state.get_sponsor_tier().name.lower() or "N/A")
+    self._sunnylink_info.set_visible(self._sunnylink_enabled)
+
     if ui_state.sunnylink_state.is_sponsor():
       self._sunnylink_sponsor_button.set_text(tr("thanks"))
       self._sunnylink_sponsor_button.set_value(ui_state.sunnylink_state.get_sponsor_tier().name.lower())
@@ -75,6 +116,11 @@ def _update_state(self):
   def show_event(self):
     super().show_event()
     ui_state.update_params()
+    ui_state.sunnylink_state.set_settings_open(True)
+
+  def hide_event(self):
+    super().hide_event()
+    ui_state.sunnylink_state.set_settings_open(False)
 
   @staticmethod
   def _sunnylink_toggle_callback(state: bool):
@@ -194,9 +240,14 @@ def _update_state(self):
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
 
+    network_type = ui_state.sm["deviceState"].networkType
+
     dlg: BigDialog | SunnylinkPairingDialog | None = None
-    if UNREGISTERED_SUNNYLINK_DONGLE_ID == (ui_state.params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID):
-      dlg = BigDialog(tr("sunnylink Dongle ID not found. Please reboot & try again."), "")
+
+    if network_type == 0:
+      dlg = BigDialog(tr("no internet"), tr("please connect to WiFi & try again"))
+    elif UNREGISTERED_SUNNYLINK_DONGLE_ID == (ui_state.params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID):
+      dlg = BigDialog(tr("sunnylink dongle id not found"), tr("please reboot & try again"))
     elif self.sponsor_pairing:
       dlg = SunnylinkPairingDialog(sponsor_pairing=True)
     elif not self.sponsor_pairing:

From 6996e87f8d896e68fb22b97a8bcf4daee08e95f2 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 20 Apr 2026 19:20:48 -0700
Subject: [PATCH 0929/1434] dm: helpers.py -> policy.py (#37864)

---
 selfdrive/monitoring/dmonitoringd.py           | 2 +-
 selfdrive/monitoring/{helpers.py => policy.py} | 0
 selfdrive/monitoring/test_monitoring.py        | 2 +-
 selfdrive/ui/mici/onroad/driver_state.py       | 2 +-
 4 files changed, 3 insertions(+), 3 deletions(-)
 rename selfdrive/monitoring/{helpers.py => policy.py} (100%)

diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index 2a48f744949429..f3a8ef34915f1a 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -2,7 +2,7 @@
 import cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
-from openpilot.selfdrive.monitoring.helpers import DriverMonitoring
+from openpilot.selfdrive.monitoring.policy import DriverMonitoring
 
 
 def dmonitoringd_thread():
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/policy.py
similarity index 100%
rename from selfdrive/monitoring/helpers.py
rename to selfdrive/monitoring/policy.py
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index ef21b3688b1f6c..8b5e9bc6d46406 100644
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -2,7 +2,7 @@
 
 from cereal import log
 from openpilot.common.realtime import DT_DMON
-from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS
+from openpilot.selfdrive.monitoring.policy import DriverMonitoring, DRIVER_MONITOR_SETTINGS
 
 EventName = log.OnroadEvent.EventName
 dm_settings = DRIVER_MONITOR_SETTINGS()
diff --git a/selfdrive/ui/mici/onroad/driver_state.py b/selfdrive/ui/mici/onroad/driver_state.py
index c51e7eca6eeb96..f71854d099bae0 100644
--- a/selfdrive/ui/mici/onroad/driver_state.py
+++ b/selfdrive/ui/mici/onroad/driver_state.py
@@ -6,7 +6,7 @@
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.monitoring.helpers import face_orientation_from_net
+from openpilot.selfdrive.monitoring.policy import face_orientation_from_net
 
 AlertSize = log.SelfdriveState.AlertSize
 

From 04b23ff8493c6672df33f54961ea1b4b1d133922 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 20 Apr 2026 21:13:07 -0700
Subject: [PATCH 0930/1434] model replay: relax driverState timing (#37868)

---
 selfdrive/test/process_replay/model_replay.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index eb7cdbe34acfdd..880dc2138c2aa5 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -35,7 +35,7 @@
 EXEC_TIMINGS = [
   # model, instant max, average max
   ("modelV2", 0.05, 0.028),
-  ("driverStateV2", 0.05, 0.016),
+  ("driverStateV2", 0.05, 0.018),
 ]
 
 def get_log_fn(test_route, ref="master"):

From 341786acb5920fbdcf416c15f7cbfa75c7796052 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 21 Apr 2026 09:53:17 -0700
Subject: [PATCH 0931/1434] jp: fix hidden plots unhiding on interaction
 (#37870)

---
 tools/jotpluggler/plot.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/jotpluggler/plot.cc b/tools/jotpluggler/plot.cc
index 5d9d644808c308..b1324713a74cf4 100644
--- a/tools/jotpluggler/plot.cc
+++ b/tools/jotpluggler/plot.cc
@@ -848,7 +848,7 @@ void draw_plot(const AppSession &session, Pane *pane, UiState *state) {
     } else {
       for (size_t i = 0; i < prepared_curves.size(); ++i) {
         const PreparedCurve &curve = prepared_curves[i];
-        std::string series_id = curve_legend_label(curve, has_cursor_time, max_legend_label_width) + "##curve" + std::to_string(i);
+        std::string series_id = curve_legend_label(curve, has_cursor_time, max_legend_label_width) + "###curve" + std::to_string(curve.pane_curve_index);
         ImPlotSpec spec;
         spec.LineColor = color_rgb(curve.color);
         spec.LineWeight = curve.line_weight;

From 4286a64083d9bc0fbb79e45a9d2141048ba357ff Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 21 Apr 2026 10:11:10 -0700
Subject: [PATCH 0932/1434] jp: reduce y padding

---
 tools/jotpluggler/app.cc     | 2 +-
 tools/jotpluggler/internal.h | 1 +
 tools/jotpluggler/plot.cc    | 4 +---
 3 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/tools/jotpluggler/app.cc b/tools/jotpluggler/app.cc
index 4b56299ead39e5..f25656c7bf3f23 100644
--- a/tools/jotpluggler/app.cc
+++ b/tools/jotpluggler/app.cc
@@ -324,7 +324,7 @@ void configure_style() {
   plot_style.LegendInnerPadding = ImVec2(6.0f, 3.0f);
   plot_style.LegendSpacing = ImVec2(7.0f, 2.0f);
   plot_style.PlotPadding = ImVec2(4.0f, 8.0f);
-  plot_style.FitPadding = ImVec2(0.02f, 0.4f);
+  plot_style.FitPadding = ImVec2(0.02f, static_cast<float>(PLOT_Y_PADDING_FRACTION));
 
   ImPlot::MapInputDefault();
   ImPlotInputMap &input_map = ImPlot::GetInputMap();
diff --git a/tools/jotpluggler/internal.h b/tools/jotpluggler/internal.h
index 22a5c1dd959450..b70aec1a5350a8 100644
--- a/tools/jotpluggler/internal.h
+++ b/tools/jotpluggler/internal.h
@@ -58,6 +58,7 @@ inline constexpr float SIDEBAR_MAX_WIDTH = 520.0f;
 inline constexpr float TIMELINE_BAR_HEIGHT = 14.0f;
 inline constexpr float STATUS_BAR_HEIGHT = 52.0f;
 inline constexpr double MIN_HORIZONTAL_ZOOM_SECONDS = 2.0;
+inline constexpr double PLOT_Y_PADDING_FRACTION = 0.05;
 
 struct UiMetrics {
   float width = 0.0f;
diff --git a/tools/jotpluggler/plot.cc b/tools/jotpluggler/plot.cc
index b1324713a74cf4..270dc905551e73 100644
--- a/tools/jotpluggler/plot.cc
+++ b/tools/jotpluggler/plot.cc
@@ -7,8 +7,6 @@
 #include <cstdio>
 #include <limits>
 
-constexpr double PLOT_Y_PAD_FRACTION = 0.4;
-
 struct PlotBounds {
   double x_min = 0.0;
   double x_max = 1.0;
@@ -484,7 +482,7 @@ PlotBounds compute_plot_bounds(const Pane &pane,
     min_value = std::min(min_value, 0.0);
     max_value = std::max(max_value, 1.0);
   }
-  ensure_non_degenerate_range(&min_value, &max_value, PLOT_Y_PAD_FRACTION, 0.1);
+  ensure_non_degenerate_range(&min_value, &max_value, PLOT_Y_PADDING_FRACTION, 0.1);
   if (pane.range.has_y_limit_min) {
     min_value = pane.range.y_limit_min;
   }

From e202bbe4aa164b22a5ec60de15cf444157119b67 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 21 Apr 2026 11:04:46 -0700
Subject: [PATCH 0933/1434] monitoring: remove redundant README

---
 selfdrive/monitoring/README.md | 15 ---------------
 1 file changed, 15 deletions(-)
 delete mode 100644 selfdrive/monitoring/README.md

diff --git a/selfdrive/monitoring/README.md b/selfdrive/monitoring/README.md
deleted file mode 100644
index 2a29ea06b5a306..00000000000000
--- a/selfdrive/monitoring/README.md
+++ /dev/null
@@ -1,15 +0,0 @@
-# driver monitoring (DM)
-
-Uploading driver-facing camera footage is opt-in, but it is encouraged to opt-in to improve the DM model. You can always change your preference using the "Record and Upload Driver Camera" toggle.
-
-## Troubleshooting
-
-Before creating a bug report, go through these troubleshooting steps.
-
-* Ensure the driver-facing camera has a good view of the driver in normal driving positions.
- * This can be checked in Settings -> Device -> Preview Driver Camera (when car is off).
-* If the camera can't see the driver, the device should be re-mounted.
-
-## Bug report
-
-In order for us to look into DM bug reports, we'll need the driver-facing camera footage. If you don't normally have this enabled, simply enable the toggle for a single drive. Also ensure the "Upload Raw Logs" toggle is enabled before going for a drive.

From 4988a62b310b536fb5336c35151eb2df56e37d97 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Tue, 21 Apr 2026 11:20:33 -0700
Subject: [PATCH 0934/1434] Revert "POP model (#37727)" (#37871)

This reverts commit 12f1be19ccff662ebaba6b0337e9cf43d34d54db.
---
 selfdrive/modeld/models/driving_policy.onnx | 4 ++--
 selfdrive/modeld/models/driving_vision.onnx | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx
index 7c71bc94714310..611ae9fe85f837 100644
--- a/selfdrive/modeld/models/driving_policy.onnx
+++ b/selfdrive/modeld/models/driving_policy.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:853c6634746ff439a848349d00e4d5581cd941f13f7c1862c31b72a31cc24858
-size 14061595
+oid sha256:78477124cbf3ffe30fa951ebada8410b43c4242c6054584d656f1d329b067e15
+size 14060847
diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx
index afd617667c6094..6c9fc4c84d3632 100644
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ b/selfdrive/modeld/models/driving_vision.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:940e9006a25f27f0b6e85da798e6a8fd1f6dd492dd7d0b9ff1a9436460f46129
-size 46887794
+oid sha256:ee29ee5bce84d1ce23e9ff381280de9b4e4d96d2934cd751740354884e112c66
+size 46877473

From 859bd215bf9c2bda408124be960d226d71eff68a Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Tue, 21 Apr 2026 13:50:20 -0700
Subject: [PATCH 0935/1434] modeld: group npy -> qcom copies to avoid graph
 breaks (#37866)

* modeld: group npy -> qcom copies to avoid graph breaks

* batch realize

* dm as well
---
 selfdrive/modeld/compile_modeld.py | 23 +++++++++++++++--------
 1 file changed, 15 insertions(+), 8 deletions(-)

diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index 469110a857c68b..c11f899b7f1427 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -148,7 +148,7 @@ def make_warp_dm(cam_w, cam_h, dm_w, dm_h):
   stride_pad = stride - cam_w
 
   def warp_dm(input_frame, M_inv):
-    M_inv = M_inv.to(Device.DEFAULT)
+    M_inv = M_inv.to(Device.DEFAULT).realize()
     result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w)
     return result
   return warp_dm
@@ -162,8 +162,14 @@ def make_run_policy(vision_runner, policy_runner, cam_w, cam_h,
   sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
 
   def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, tfm, big_tfm, frame, big_frame):
-    img = shift_and_sample(img_q, frame_prepare(frame, tfm.to(Device.DEFAULT)).unsqueeze(0), sample_skip_fn)
-    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm.to(Device.DEFAULT)).unsqueeze(0), sample_skip_fn)
+    tfm = tfm.to(Device.DEFAULT)
+    big_tfm = big_tfm.to(Device.DEFAULT)
+    desire = desire.to(Device.DEFAULT)
+    traffic_convention = traffic_convention.to(Device.DEFAULT)
+    Tensor.realize(tfm, big_tfm, desire, traffic_convention)
+
+    img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
 
     if prepare_only:
       return img, big_img
@@ -172,9 +178,9 @@ def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, t
 
     new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
     feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
-    desire_buf = shift_and_sample(desire_q, desire.to(Device.DEFAULT).reshape(1, 1, -1), sample_desire_fn)
+    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
 
-    inputs = {'features_buffer': feat_buf, 'desire_pulse': desire_buf, 'traffic_convention': traffic_convention.to(Device.DEFAULT)}
+    inputs = {'features_buffer': feat_buf, 'desire_pulse': desire_buf, 'traffic_convention': traffic_convention}
     policy_out = next(iter(policy_runner(inputs).values())).cast('float32')
 
     return vision_out, policy_out
@@ -210,10 +216,11 @@ def compile_modeld(cam_w, cam_h, prepare_only, pkl_path):
   def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
     input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip)
     np.random.seed(seed)
+    Tensor.manual_seed(seed)
 
     for i in range(N_RUNS):
-      frame = Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize()
-      big_frame = Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize()
+      frame = Tensor.randint(yuv_size, low=0, high=256, dtype='uint8').realize()
+      big_frame = Tensor.randint(yuv_size, low=0, high=256, dtype='uint8').realize()
       for v in npy.values():
         v[:] = np.random.randn(*v.shape).astype(v.dtype)
       Device.default.synchronize()
@@ -263,7 +270,7 @@ def compile_dm_warp(cam_w, cam_h, pkl_path):
   warp_dm_jit = TinyJit(warp_dm, prune=True)
 
   for i in range(10):
-    inputs = [Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize(),
+    inputs = [Tensor.randint(yuv_size, low=0, high=256, dtype='uint8').realize(),
               Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
     Device.default.synchronize()
     st = time.perf_counter()

From b29d0a17af5cccf760bd70f624bdb4664e8c1303 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 21 Apr 2026 15:43:13 -0700
Subject: [PATCH 0936/1434] DM: readability, part 1 (#37872)

* spellings

* unused

* no roll

* lil more

* lil more

* one more

* policy enum

* better trans

* set_timer -> set_policy

* set_timer -> set_policy

* no yaonet

* del redundant code

---------

Co-authored-by: ZwX1616 <zwx1616@gmail.com>
---
 selfdrive/monitoring/dmonitoringd.py     |   4 +-
 selfdrive/monitoring/policy.py           | 141 ++++++++++-------------
 selfdrive/monitoring/test_monitoring.py  |   6 +-
 selfdrive/ui/mici/onroad/driver_state.py |  29 ++---
 4 files changed, 76 insertions(+), 104 deletions(-)

diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index f3a8ef34915f1a..415853513ed6c4 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -39,8 +39,8 @@ def dmonitoringd_thread():
 
     # save rhd virtual toggle every 5 mins
     if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
-     DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
-     DM.wheel_on_right == (DM.wheelpos.prob_offseter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
+     DM.wheelpos_offsetter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
+     DM.wheel_on_right == (DM.wheelpos_offsetter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
       params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
 
 def main():
diff --git a/selfdrive/monitoring/policy.py b/selfdrive/monitoring/policy.py
index 37caa757c52b95..acfbca258f30f0 100644
--- a/selfdrive/monitoring/policy.py
+++ b/selfdrive/monitoring/policy.py
@@ -13,7 +13,7 @@
 AlertLevel = log.DriverMonitoringState.AlertLevel
 MonitoringPolicy = log.DriverMonitoringState.MonitoringPolicy
 
-def to_perc(v):
+def to_percent(v):
   return int(min(max(v * 100., 0.), 100.))
 
 # ******************************************************************************************
@@ -85,47 +85,33 @@ def __init__(self, settings):
     yaw_filter_raw_priors = (settings._YAW_NATURAL_OFFSET, settings._YAW_NATURAL_VAR, 2)
     self.yaw = 0.
     self.pitch = 0.
-    self.roll = 0.
-    self.yaw_std = 0.
-    self.pitch_std = 0.
-    self.roll_std = 0.
-    self.pitch_offseter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
-    self.yaw_offseter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
+    self.pitch_offsetter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
+    self.yaw_offsetter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
     self.calibrated = False
     self.low_std = True
     self.cfactor_pitch = 1.
     self.cfactor_yaw = 1.
     self.steer_yaw_offset = 0.
 
-class DriverProb:
-  def __init__(self, raw_priors, max_trackable):
-    self.prob = 0.
-    self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
-    self.prob_calibrated = False
-
-
 # model output refers to center of undistorted+leveled image
-EFL = 598.0 # focal length in K
-cam = DEVICE_CAMERAS[("tici", "ar0231")] # corrected image has same size as raw
-W, H = (cam.dcam.width, cam.dcam.height)  # corrected image has same size as raw
-
-def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
-  # the output of these angles are in driver camera frame
-  # so from driver's perspective, pitch is up and yaw is right
+ref_undistorted_cam = DEVICE_CAMERAS[("tici", "ar0231")].dcam
+dcam_undistorted_FL = 598.0
+dcam_undistorted_W, dcam_undistorted_H = (ref_undistorted_cam.width, ref_undistorted_cam.height)
 
-  pitch_net, yaw_net, roll_net = angles_desc
+def face_orientation_from_model(orient_model, pos_model, rpy_calib):
+  pitch_model = orient_model[0]
+  yaw_model = orient_model[1]
 
-  face_pixel_position = ((pos_desc[0]+0.5)*W, (pos_desc[1]+0.5)*H)
-  yaw_focal_angle = atan2(face_pixel_position[0] - W//2, EFL)
-  pitch_focal_angle = atan2(face_pixel_position[1] - H//2, EFL)
+  face_pixel_position = ((pos_model[0]+0.5)*dcam_undistorted_W, (pos_model[1]+0.5)*dcam_undistorted_H)
+  yaw_focal_angle = atan2(face_pixel_position[0] - dcam_undistorted_W//2, dcam_undistorted_FL)
+  pitch_focal_angle = atan2(face_pixel_position[1] - dcam_undistorted_H//2, dcam_undistorted_FL)
 
-  pitch = pitch_net + pitch_focal_angle
-  yaw = -yaw_net + yaw_focal_angle
+  pitch = pitch_model + pitch_focal_angle
+  yaw = -yaw_model + yaw_focal_angle
 
-  # no calib for roll
   pitch -= rpy_calib[1]
   yaw -= rpy_calib[2]
-  return roll_net, pitch, yaw
+  return pitch, yaw
 
 
 class DriverMonitoring:
@@ -135,7 +121,7 @@ def __init__(self, rhd_saved=False, settings=None, always_on=False):
 
     # init driver status
     wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
-    self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
+    self.wheelpos_offsetter = RunningStatFilter(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
     self.pose = DriverPose(settings=self.settings)
     self.blink_prob = 0.
     self.phone_prob = 0.
@@ -152,29 +138,28 @@ def __init__(self, rhd_saved=False, settings=None, always_on=False):
     self.terminal_alert_cnt = 0
     self.terminal_time = 0
     self.step_change = 0.
-    self.active_monitoring_mode = True
+    self.active_policy = MonitoringPolicy.vision
     self.driver_interacting = False
     self.is_model_uncertain = False
     self.hi_stds = 0
     self.model_std_max = 0.
     self.threshold_alert_1 = 0.
     self.threshold_alert_2 = 0.
-    self.dcam_uncertain = False
     self.dcam_uncertain_cnt = 0
     self.dcam_reset_cnt = 0
     self.too_distracted = Params().get_bool("DriverTooDistracted")
 
     self._reset_awareness()
-    self._set_timers(active_monitoring=True)
+    self._set_policy(MonitoringPolicy.vision)
 
   def _reset_awareness(self):
     self.awareness = 1.
     self.last_vision_awareness = 1.
     self.last_wheeltouch_awareness = 1.
 
-  def _set_timers(self, active_monitoring):
-    if self.active_monitoring_mode and self.awareness <= self.threshold_alert_2:
-      if active_monitoring:
+  def _set_policy(self, target_policy):
+    if self.active_policy == MonitoringPolicy.vision and self.awareness <= self.threshold_alert_2:
+      if target_policy == MonitoringPolicy.vision:
         self.step_change = DT_DMON / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
       else:
         self.step_change = 0.
@@ -182,25 +167,25 @@ def _set_timers(self, active_monitoring):
     elif self.awareness <= 0.:
       return
 
-    if active_monitoring:
+    if target_policy == MonitoringPolicy.vision:
       # when falling back from passive mode to active mode, reset awareness to avoid false alert
-      if not self.active_monitoring_mode:
+      if self.active_policy != MonitoringPolicy.vision:
         self.last_wheeltouch_awareness = self.awareness
         self.awareness = self.last_vision_awareness
 
       self.threshold_alert_1 = 1. - self.settings._VISION_POLICY_ALERT_1_TIMEOUT / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
       self.threshold_alert_2 = 1. - self.settings._VISION_POLICY_ALERT_2_TIMEOUT / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
       self.step_change = DT_DMON / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
-      self.active_monitoring_mode = True
+      self.active_policy = MonitoringPolicy.vision
     else:
-      if self.active_monitoring_mode:
+      if self.active_policy == MonitoringPolicy.vision:
         self.last_vision_awareness = self.awareness
         self.awareness = self.last_wheeltouch_awareness
 
       self.threshold_alert_1 = 1. - self.settings._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
       self.threshold_alert_2 = 1. - self.settings._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
       self.step_change = DT_DMON / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
-      self.active_monitoring_mode = False
+      self.active_policy = MonitoringPolicy.wheeltouch
 
   def _set_pose_strictness(self, brake_disengage_prob, car_speed):
     bp = brake_disengage_prob
@@ -220,9 +205,9 @@ def _get_distracted_types(self):
       pitch_error = self.pose.pitch - self.settings._PITCH_NATURAL_OFFSET
       yaw_error = self.pose.yaw - self.settings._YAW_NATURAL_OFFSET
     else:
-      pitch_error = self.pose.pitch - min(max(self.pose.pitch_offseter.filtered_stat.mean(),
+      pitch_error = self.pose.pitch - min(max(self.pose.pitch_offsetter.filtered_stat.mean(),
                                                        self.settings._PITCH_MIN_OFFSET), self.settings._PITCH_MAX_OFFSET)
-      yaw_error = self.pose.yaw - min(max(self.pose.yaw_offseter.filtered_stat.mean(),
+      yaw_error = self.pose.yaw - min(max(self.pose.yaw_offsetter.filtered_stat.mean(),
                                                     self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
     pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
 
@@ -243,12 +228,12 @@ def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstil
     # calibrates only when there's movement and either face detected
     if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
                                           driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
-      self.wheelpos.prob_offseter.push_and_update(rhd_pred)
+      self.wheelpos_offsetter.push_and_update(rhd_pred)
 
-    self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n >= self.settings._WHEELPOS_FILTER_MIN_COUNT
+    wheelpos_calibrated = self.wheelpos_offsetter.filtered_stat.n >= self.settings._WHEELPOS_FILTER_MIN_COUNT
 
-    if self.wheelpos.prob_calibrated or demo_mode:
-      self.wheel_on_right = self.wheelpos.prob_offseter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
+    if wheelpos_calibrated or demo_mode:
+      self.wheel_on_right = self.wheelpos_offsetter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
     else:
       self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
     # make sure no switching when engaged
@@ -260,16 +245,14 @@ def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstil
       return
 
     self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD
-    self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
+    self.pose.pitch, self.pose.yaw = face_orientation_from_model(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
     steer_d = max(abs(steering_angle_deg) - self.settings._POSE_YAW_MIN_STEER_DEG, 0.)
     self.pose.steer_yaw_offset = radians(steer_d) * -np.sign(steering_angle_deg) * self.settings._POSE_YAW_STEER_FACTOR
     if self.wheel_on_right:
       self.pose.yaw *= -1
       self.pose.steer_yaw_offset *= -1
     self.wheel_on_right_last = self.wheel_on_right
-    self.pose.pitch_std = driver_data.faceOrientationStd[0]
-    self.pose.yaw_std = driver_data.faceOrientationStd[1]
-    self.model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
+    self.model_std_max = max(driver_data.faceOrientationStd[0], driver_data.faceOrientationStd[1])
     self.pose.low_std = self.model_std_max < self.settings._HI_STD_THRESHOLD
     self.blink_prob = driver_data.eyesClosedProb * (driver_data.eyesVisibleProb > self.settings._EYE_THRESHOLD)
     self.phone_prob = driver_data.phoneProb
@@ -278,18 +261,17 @@ def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstil
     self.driver_distracted = any(self.distracted_types.values()) and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
     self.driver_distraction_filter.update(self.driver_distracted)
 
-    # update offseter
-    # only update when driver is actively driving the car above a certain speed
+    # only update offsetter when driver is actively driving the car above a certain speed
     if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted):
-      self.pose.pitch_offseter.push_and_update(self.pose.pitch)
-      self.pose.yaw_offseter.push_and_update(self.pose.yaw)
+      self.pose.pitch_offsetter.push_and_update(self.pose.pitch)
+      self.pose.yaw_offsetter.push_and_update(self.pose.yaw)
 
-    self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n >= self.settings._POSE_OFFSET_MIN_COUNT and \
-                           self.pose.yaw_offseter.filtered_stat.n >= self.settings._POSE_OFFSET_MIN_COUNT
+    self.pose.calibrated = self.pose.pitch_offsetter.filtered_stat.n >= self.settings._POSE_OFFSET_MIN_COUNT and \
+                           self.pose.yaw_offsetter.filtered_stat.n >= self.settings._POSE_OFFSET_MIN_COUNT
 
     if self.face_detected and not self.driver_distracted:
-      self.dcam_uncertain = self.model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD
-      if self.dcam_uncertain and not standstill:
+      dcam_uncertain = self.model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD
+      if dcam_uncertain and not standstill:
         self.dcam_uncertain_cnt += 1
         self.dcam_reset_cnt = 0
       else:
@@ -298,13 +280,13 @@ def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstil
           self.dcam_uncertain_cnt = 0
 
     self.is_model_uncertain = self.hi_stds >= self.settings._HI_STD_FALLBACK_TIME
-    self._set_timers(self.face_detected and not self.is_model_uncertain)
+    self._set_policy(MonitoringPolicy.vision if self.face_detected and not self.is_model_uncertain else MonitoringPolicy.wheeltouch)
     if self.face_detected and not self.pose.low_std and not self.driver_distracted:
       self.hi_stds += 1
     elif self.face_detected and self.pose.low_std:
       self.hi_stds = 0
 
-  def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear, car_speed):
+  def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear):
     self.alert_level = AlertLevel.none
     self.driver_interacting = driver_engaged
 
@@ -313,7 +295,7 @@ def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear, car
       self.too_distracted = True
 
     always_on_valid = self.always_on and not wrong_gear
-    if (self.driver_interacting and self.awareness > 0 and not self.active_monitoring_mode) or \
+    if (self.driver_interacting and self.awareness > 0 and self.active_policy == MonitoringPolicy.wheeltouch) or \
        (not always_on_valid and not op_engaged) or \
        (always_on_valid and not op_engaged and self.awareness <= 0):
       # always reset on disengage with normal mode; disengage resets only on red if always on
@@ -366,18 +348,18 @@ def get_state_packet(self, valid=True):
     dm = dat.driverMonitoringState
 
     dm.lockout = self.too_distracted
-    dm.alertCountLockoutPercent = to_perc(self.terminal_alert_cnt / self.settings._MAX_TERMINAL_ALERTS)
-    dm.alertTimeLockoutPercent = to_perc(self.terminal_time / self.settings._MAX_TERMINAL_DURATION)
+    dm.alertCountLockoutPercent = to_percent(self.terminal_alert_cnt / self.settings._MAX_TERMINAL_ALERTS)
+    dm.alertTimeLockoutPercent = to_percent(self.terminal_time / self.settings._MAX_TERMINAL_DURATION)
     dm.alwaysOn = self.always_on
     dm.alwaysOnLockout = self.always_on and self.awareness <= self.threshold_alert_2
     dm.alertLevel = self.alert_level
-    dm.activePolicy = MonitoringPolicy.vision if self.active_monitoring_mode else MonitoringPolicy.wheeltouch
+    dm.activePolicy = self.active_policy
     dm.isRHD = self.wheel_on_right
-    dm.rhdCalibration.calibratedPercent = to_perc(self.wheelpos.prob_offseter.filtered_stat.n / self.settings._WHEELPOS_FILTER_MIN_COUNT)
-    dm.rhdCalibration.offset = self.wheelpos.prob_offseter.filtered_stat.M
+    dm.rhdCalibration.calibratedPercent = to_percent(self.wheelpos_offsetter.filtered_stat.n / self.settings._WHEELPOS_FILTER_MIN_COUNT)
+    dm.rhdCalibration.offset = self.wheelpos_offsetter.filtered_stat.M
 
-    dm.visionPolicyState.awarenessPercent = to_perc(self.last_vision_awareness if not self.active_monitoring_mode else self.awareness)
-    dm.visionPolicyState.awarenessStep = self.step_change if self.active_monitoring_mode else 0.
+    dm.visionPolicyState.awarenessPercent = to_percent(self.last_vision_awareness if self.active_policy != MonitoringPolicy.vision else self.awareness)
+    dm.visionPolicyState.awarenessStep = self.step_change if self.active_policy == MonitoringPolicy.vision else 0.
     dm.visionPolicyState.isDistracted = self.driver_distracted
     dm.visionPolicyState.distractedTypes.pose = self.distracted_types['pose']
     dm.visionPolicyState.distractedTypes.eye = self.distracted_types['eye']
@@ -386,16 +368,16 @@ def get_state_packet(self, valid=True):
     dm.visionPolicyState.pose.pitch = self.pose.pitch
     dm.visionPolicyState.pose.yaw = self.pose.yaw
     dm.visionPolicyState.pose.calibrated = self.pose.calibrated
-    dm.visionPolicyState.pose.pitchCalib.calibratedPercent = to_perc(self.pose.pitch_offseter.filtered_stat.n / self.settings._POSE_OFFSET_MIN_COUNT)
-    dm.visionPolicyState.pose.pitchCalib.offset = self.pose.pitch_offseter.filtered_stat.M
-    dm.visionPolicyState.pose.yawCalib.calibratedPercent = to_perc(self.pose.yaw_offseter.filtered_stat.n / self.settings._POSE_OFFSET_MIN_COUNT)
-    dm.visionPolicyState.pose.yawCalib.offset = self.pose.yaw_offseter.filtered_stat.M
+    dm.visionPolicyState.pose.pitchCalib.calibratedPercent = to_percent(self.pose.pitch_offsetter.filtered_stat.n / self.settings._POSE_OFFSET_MIN_COUNT)
+    dm.visionPolicyState.pose.pitchCalib.offset = self.pose.pitch_offsetter.filtered_stat.M
+    dm.visionPolicyState.pose.yawCalib.calibratedPercent = to_percent(self.pose.yaw_offsetter.filtered_stat.n / self.settings._POSE_OFFSET_MIN_COUNT)
+    dm.visionPolicyState.pose.yawCalib.offset = self.pose.yaw_offsetter.filtered_stat.M
     dm.visionPolicyState.pose.uncertainty = self.model_std_max
-    dm.visionPolicyState.wheeltouchFallbackPercent = to_perc(self.hi_stds / self.settings._HI_STD_FALLBACK_TIME)
-    dm.visionPolicyState.uncertainOffroadAlertPercent = to_perc(self.dcam_uncertain_cnt / self.settings._DCAM_UNCERTAIN_ALERT_COUNT)
+    dm.visionPolicyState.wheeltouchFallbackPercent = to_percent(self.hi_stds / self.settings._HI_STD_FALLBACK_TIME)
+    dm.visionPolicyState.uncertainOffroadAlertPercent = to_percent(self.dcam_uncertain_cnt / self.settings._DCAM_UNCERTAIN_ALERT_COUNT)
 
-    dm.wheeltouchPolicyState.awarenessPercent = to_perc(self.last_wheeltouch_awareness if self.active_monitoring_mode else self.awareness)
-    dm.wheeltouchPolicyState.awarenessStep = 0. if self.active_monitoring_mode else self.step_change
+    dm.wheeltouchPolicyState.awarenessPercent = to_percent(self.last_wheeltouch_awareness if self.active_policy == MonitoringPolicy.vision else self.awareness)
+    dm.wheeltouchPolicyState.awarenessStep = 0. if self.active_policy == MonitoringPolicy.vision else self.step_change
     dm.wheeltouchPolicyState.driverInteracting = self.driver_interacting
     return dat
 
@@ -407,6 +389,7 @@ def run_step(self, sm, demo=False):
       standstill = False
       driver_engaged = False
       brake_disengage_prob = 1.0
+      steering_angle_deg = 0.0
       rpyCalib = [0., 0., 0.]
     else:
       car_speed = sm['carState'].vEgo
@@ -415,6 +398,7 @@ def run_step(self, sm, demo=False):
       standstill = sm['carState'].standstill
       driver_engaged = sm['carState'].steeringPressed or sm['carState'].gasPressed
       brake_disengage_prob = sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
+      steering_angle_deg = sm['carState'].steeringAngleDeg
       rpyCalib = sm['liveCalibration'].rpyCalib
 
     self._set_pose_strictness(
@@ -430,7 +414,7 @@ def run_step(self, sm, demo=False):
       op_engaged=enabled,
       standstill=standstill,
       demo_mode=demo,
-      steering_angle_deg=sm['carState'].steeringAngleDeg,
+      steering_angle_deg=steering_angle_deg,
     )
 
     # Update distraction events
@@ -439,5 +423,4 @@ def run_step(self, sm, demo=False):
       op_engaged=enabled,
       standstill=standstill,
       wrong_gear=wrong_gear,
-      car_speed=car_speed
     )
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index 8b5e9bc6d46406..948931cb2909a4 100644
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -55,7 +55,7 @@ def _run_seq(self, msgs, interaction, engaged, standstill):
       # cal_rpy and car_speed don't matter here
 
       # evaluate events at 10Hz for tests
-      DM._update_events(interaction[idx], engaged[idx], standstill[idx], 0, 0)
+      DM._update_events(interaction[idx], engaged[idx], standstill[idx], 0)
       alert_lvls.append(DM.alert_level)
     assert len(alert_lvls) == len(msgs), f"got {len(alert_lvls)} for {len(msgs)} driverState input msgs"
     return alert_lvls, DM
@@ -63,8 +63,9 @@ def _run_seq(self, msgs, interaction, engaged, standstill):
 
   # engaged, driver is attentive all the time
   def test_fully_aware_driver(self):
-    alert_lvls, _ = self._run_seq(always_attentive, always_false, always_true, always_false)
+    alert_lvls, d_status = self._run_seq(always_attentive, always_false, always_true, always_false)
     assert all(a == 0 for a in alert_lvls)
+    assert d_status.active_policy == log.DriverMonitoringState.MonitoringPolicy.vision
 
   # engaged, driver is distracted and does nothing
   def test_fully_distracted_driver(self):
@@ -90,6 +91,7 @@ def test_fully_invisible_driver(self):
                     (s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT - s._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT) / 2) / DT_DMON)] == 2
     assert alert_lvls[int((s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT + \
                     (TEST_TIMESPAN - 10 - s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT) / 2) / DT_DMON)] == 3
+    assert d_status.active_policy == log.DriverMonitoringState.MonitoringPolicy.wheeltouch
 
   # engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel
   #  - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention
diff --git a/selfdrive/ui/mici/onroad/driver_state.py b/selfdrive/ui/mici/onroad/driver_state.py
index f71854d099bae0..69ada3dae99f6c 100644
--- a/selfdrive/ui/mici/onroad/driver_state.py
+++ b/selfdrive/ui/mici/onroad/driver_state.py
@@ -6,7 +6,7 @@
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.monitoring.policy import face_orientation_from_net
+
 
 AlertSize = log.SelfdriveState.AlertSize
 
@@ -35,6 +35,8 @@ def __init__(self, lines: bool = False, inset: bool = False):
     self._is_active = False
     self._is_rhd = False
     self._face_detected = False
+    self._face_pitch = 0.
+    self._face_yaw = 0.
     self._should_draw = False
     self._force_active = False
     self._looking_center = False
@@ -156,6 +158,8 @@ def get_driver_data(self):
     self._is_active = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
     self._is_rhd = dm_state.isRHD
     self._face_detected = dm_state.visionPolicyState.faceDetected
+    self._face_pitch = dm_state.visionPolicyState.pose.pitch + math.radians(6) # calib or DM pose is not accurate, add a fake upward pitch to bias forward
+    self._face_yaw = -dm_state.visionPolicyState.pose.yaw # undo sign flip in face_orientation_from_model to match UI convention
 
     driverstate = sm["driverStateV2"]
     driver_data = driverstate.rightDriverData if self._is_rhd else driverstate.leftDriverData
@@ -163,26 +167,9 @@ def get_driver_data(self):
 
   def _update_state(self):
     # Get monitoring state
-    driver_data = self.get_driver_data()
-    driver_orient = driver_data.faceOrientation
-    driver_position = driver_data.facePosition
-
-    if len(driver_orient) != 3:
-      return
-
-    # Calibrate orientation so looking straight ahead at road (instead of at device) is (0, 0, 0)
-    sm = ui_state.sm
-    if sm.valid['liveCalibration'] and len(sm['liveCalibration'].rpyCalib) == 3:
-      cal_rpy = sm['liveCalibration'].rpyCalib
-    else:
-      cal_rpy = [0.0, 0.0, 0.0]
-
-    _, pitch, yaw = face_orientation_from_net(driver_orient, driver_position, cal_rpy)
-    pitch += math.radians(6)  # calib or DM pose is not accurate, add a fake upward pitch to bias forward
-    yaw = -yaw  # undo sign flip in face_orientation_from_net to match UI convention
-
-    pitch = self._pitch_filter.update(pitch)
-    yaw = self._yaw_filter.update(yaw)
+    _ = self.get_driver_data()
+    pitch = self._pitch_filter.update(self._face_pitch)
+    yaw = self._yaw_filter.update(self._face_yaw)
 
     # hysteresis on looking center
     if abs(pitch) < LOOKING_CENTER_THRESHOLD_LOWER and abs(yaw) < LOOKING_CENTER_THRESHOLD_LOWER:

From 571a547671d3878f807ea8967f84ab3e79d2302e Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Tue, 21 Apr 2026 16:19:20 -0700
Subject: [PATCH 0937/1434] Fix driver preview alert text and sound (#37875)

* fix type and add text

* short

* fix sound too

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 selfdrive/ui/mici/onroad/driver_camera_dialog.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
index 6fa3d891835d95..58b209bdf622fc 100644
--- a/selfdrive/ui/mici/onroad/driver_camera_dialog.py
+++ b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
@@ -104,12 +104,12 @@ def _publish_alert_sound(self, dm_state):
 
     AudibleAlert = car.CarControl.HUDControl.AudibleAlert
     ALERT_SOUNDS = {
-      log.DriverMonitoringState.AlertLevel.two: AudibleAlert.promptDistracted,
-      log.DriverMonitoringState.AlertLevel.three: AudibleAlert.warningImmediate,
+      'two': AudibleAlert.promptDistracted,
+      'three': AudibleAlert.warningImmediate,
     }
     msg = messaging.new_message('selfdriveState')
     if dm_state is not None:
-      msg.selfdriveState.alertSound = ALERT_SOUNDS.get(dm_state.alertLevel, AudibleAlert.none)
+      msg.selfdriveState.alertSound = ALERT_SOUNDS.get(str(dm_state.alertLevel), AudibleAlert.none)
     self._pm.send('selfdriveState', msg)
 
   def _render_dm_alerts(self, rect: rl.Rectangle):
@@ -133,7 +133,7 @@ def _render_dm_alerts(self, rect: rl.Rectangle):
       return
 
     # Show alert level
-    alert_level_str = dm_state.alertLevel
+    alert_level_str = f"{'Pay Attention' if is_vision else 'Touch Wheel'} - level {dm_state.alertLevel}"
     alignment = rl.GuiTextAlignment.TEXT_ALIGN_RIGHT if self.driver_state_renderer.is_rhd else rl.GuiTextAlignment.TEXT_ALIGN_LEFT
 
     shadow_rect = rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height)

From ca04b70d0a7b1db2313106c0067b28ea8b7536e6 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Tue, 21 Apr 2026 21:04:06 -0700
Subject: [PATCH 0938/1434] camerad: driver camera BPS magic (#37873)

* update blob

* fixed

* didnt catch this

* add back

* needs BLC built in

* for real

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/bps_blobs.h | 12 +++---
 system/camerad/cameras/cdm.cc      |  4 +-
 system/camerad/cameras/cdm.h       | 10 ++---
 system/camerad/cameras/spectra.cc  | 62 +++++++++++++++++++++++-------
 system/camerad/cameras/spectra.h   |  1 +
 5 files changed, 63 insertions(+), 26 deletions(-)

diff --git a/system/camerad/cameras/bps_blobs.h b/system/camerad/cameras/bps_blobs.h
index 54941b8d76a6ec..4a0de6659d606b 100644
--- a/system/camerad/cameras/bps_blobs.h
+++ b/system/camerad/cameras/bps_blobs.h
@@ -16,15 +16,15 @@ unsigned char bps_cfg[4][768] = {
 
 unsigned char bps_striping_output[4][0x9a0] = {
 { /* placeholder */ },
-  {0x5, 0x0, 0x6, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0xFF, 0xFF, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0x5B, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0x5B, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x4, 0x5C, 0x2, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x5, 0x0, 0x0, 0x0, 0x70, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 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 unsigned char bps_settings[4][684] = {
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+  {0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0},
 };
 
diff --git a/system/camerad/cameras/cdm.cc b/system/camerad/cameras/cdm.cc
index d4ef20c48cd2e1..8a070fa3aad82c 100644
--- a/system/camerad/cameras/cdm.cc
+++ b/system/camerad/cameras/cdm.cc
@@ -1,9 +1,9 @@
 #include "cdm.h"
 #include "stddef.h"
 
-int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel) {
+int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel, uint8_t opcode) {
   struct cdm_dmi_cmd *cmd = (struct cdm_dmi_cmd*)dst;
-  cmd->cmd = CAM_CDM_CMD_DMI_32;
+  cmd->cmd = opcode;
   cmd->length = length - 1;
   cmd->reserved = 0;
   cmd->addr = 0; // gets patched in
diff --git a/system/camerad/cameras/cdm.h b/system/camerad/cameras/cdm.h
index adda6004006ad4..d9640cee3e5327 100644
--- a/system/camerad/cameras/cdm.h
+++ b/system/camerad/cameras/cdm.h
@@ -6,11 +6,6 @@
 #include <vector>
 #include <memory>
 
-// our helpers
-int write_random(uint8_t *dst, const std::vector<uint32_t> &vals);
-int write_cont(uint8_t *dst, uint32_t reg, const std::vector<uint32_t> &vals);
-int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel);
-
 // from drivers/media/platform/msm/camera/cam_cdm/cam_cdm_util.{c,h}
 
 enum cam_cdm_command {
@@ -32,6 +27,11 @@ enum cam_cdm_command {
   CAM_CDM_CMD_PRIVATE_BASE_MAX = 0x7F
 };
 
+// our helpers
+int write_random(uint8_t *dst, const std::vector<uint32_t> &vals);
+int write_cont(uint8_t *dst, uint32_t reg, const std::vector<uint32_t> &vals);
+int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel, uint8_t opcode = CAM_CDM_CMD_DMI_32);
+
 /**
  * struct cdm_regrandom_cmd - Definition for CDM random register command.
  * @count: Number of register writes
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index ab9d8e069afe7c..23c58c1ec90ebd 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -467,7 +467,7 @@ void SpectraCamera::config_bps(int idx, int request_id) {
   */
 
   int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2 + sizeof(struct cam_buf_io_cfg)*2;
-  size += sizeof(struct cam_patch_desc)*9;
+  size += sizeof(struct cam_patch_desc)*12;
 
   uint32_t cam_packet_handle = 0;
   auto pkt = m->mem_mgr.alloc<struct cam_packet>(size, &cam_packet_handle);
@@ -545,8 +545,15 @@ void SpectraCamera::config_bps(int idx, int request_id) {
     int cdm_len = 0;
 
     if (bps_lin_reg.size() == 0) {
+      // set first knee pt to do BLC
+      uint32_t new_knee[8];
+      new_knee[0] = sensor->black_level << (14 - sensor->bits_per_pixel);
+      for (int i = 0; i < 7; i++) {
+        uint32_t pts = sensor->linearization_pts[i / 2];
+        new_knee[i + 1] = (i % 2 == 0) ? (pts >> 16) : (pts & 0xffff);
+      }
       for (int i = 0; i < 4; i++) {
-        bps_lin_reg.push_back(((sensor->linearization_pts[i] & 0xffff) << 0x10) | (sensor->linearization_pts[i] >> 0x10));
+        bps_lin_reg.push_back((new_knee[2*i + 1] << 16) | new_knee[2*i]);
       }
     }
 
@@ -569,20 +576,24 @@ void SpectraCamera::config_bps(int idx, int request_id) {
       0x00000080,
       0x00800066,
     });
-    // linearization, EN=0
+    // linearization
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1868, bps_lin_reg);
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1878, bps_lin_reg);
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1888, bps_lin_reg);
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1898, bps_lin_reg);
-    /*
-    uint8_t *start = (unsigned char *)bps_cdm_program_array.ptr + cdm_len;
     uint64_t addr;
-    cdm_len += write_dmi((unsigned char *)bps_cdm_program_array.ptr + cdm_len, &addr, sensor->linearization_lut.size()*sizeof(uint32_t), 0x1808, 1);
-    patches.push_back(addr - (uint64_t)start);
-    */
+    cdm_len += write_dmi((unsigned char *)bps_cdm_program_array.ptr + cdm_len, &addr, sensor->linearization_lut.size()*sizeof(uint32_t), 0x1808, 1, CAM_CDM_CMD_DMI);
+    patches.push_back(addr - (uint64_t)bps_cdm_program_array.ptr);
+
     // color correction
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x2e68, bps_ccm_reg);
 
+    // gamma
+    for (uint8_t ch = 1; ch <= 3; ch++) {
+      cdm_len += write_dmi((unsigned char *)bps_cdm_program_array.ptr + cdm_len, &addr, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x3208, ch, CAM_CDM_CMD_DMI);
+      patches.push_back(addr - (uint64_t)bps_cdm_program_array.ptr);
+    }
+
     cdm_len += build_common_ife_bps((unsigned char *)bps_cdm_program_array.ptr + cdm_len, cc, sensor.get(), patches, false);
 
     pa->length = cdm_len - 1;
@@ -664,11 +675,16 @@ void SpectraCamera::config_bps(int idx, int request_id) {
 
   // *** patches ***
   {
-    assert(patches.size() == 0 | patches.size() == 1);
+    assert(patches.size() == 0 || patches.size() == 4);
     pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs;
 
     if (patches.size() > 0) {
-      add_patch(pkt.get(), bps_cmd.handle, patches[0], bps_linearization_lut.handle, 0);
+      // linearization LUT
+      add_patch(pkt.get(), bps_cdm_program_array.handle, patches[0], bps_linearization_lut.handle, 0);
+      // gamma LUTs
+      for (int i = 0; i < 3; i++) {
+        add_patch(pkt.get(), bps_cdm_program_array.handle, patches[i+1], bps_gamma_lut.handle, 0);
+      }
     }
 
     // input frame
@@ -1170,10 +1186,30 @@ void SpectraCamera::configICP() {
   bps_cdm_striping_bl.init(m, 0xa100, 0x20, true, m->icp_device_iommu);
 
   // LUTs
-  /*
+  assert(sensor->linearization_lut.size() == 36);
   bps_linearization_lut.init(m, sensor->linearization_lut.size()*sizeof(uint32_t), 0x20, true, m->icp_device_iommu);
-  memcpy(bps_linearization_lut.ptr, sensor->linearization_lut.data(), bps_linearization_lut.size);
-  */
+
+  // bit shift linearization_lut to bps specs, also compensate for black level here
+  uint32_t bl = sensor->black_level << (14 - sensor->bits_per_pixel);
+  uint32_t* bps_lut = (uint32_t*)bps_linearization_lut.ptr;
+  for (size_t i = 0; i < sensor->linearization_lut.size(); i++) {
+    size_t seg = i / 4;
+    size_t ch = i % 4;
+    if (seg == 0) {
+      bps_lut[i] = 0;
+      continue;
+    }
+    uint32_t e = sensor->linearization_lut[(seg - 1) * 4 + ch];
+    uint32_t base = e & 0x3fff;
+    uint32_t slope_q11 = (e >> 14) & 0x3fff;
+    uint32_t slope_q12 = std::min<uint32_t>(slope_q11 << 1, 0x3fff);
+    base = (base > bl) ? (base - bl) : 0;
+    bps_lut[i] = base | (slope_q12 << 14);
+  }
+
+  assert(sensor->gamma_lut_rgb.size() == 64);
+  bps_gamma_lut.init(m, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x20, true, m->icp_device_iommu);
+  memcpy(bps_gamma_lut.ptr, sensor->gamma_lut_rgb.data(), bps_gamma_lut.size);
 }
 
 void SpectraCamera::configCSIPHY() {
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index 7dd113525409cf..741e8ad276effc 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -173,6 +173,7 @@ class SpectraCamera {
   SpectraBuf bps_iq;
   SpectraBuf bps_striping;
   SpectraBuf bps_linearization_lut;
+  SpectraBuf bps_gamma_lut;
   std::vector<uint32_t> bps_lin_reg;
   std::vector<uint32_t> bps_ccm_reg;
 

From f8c45d307c3da61e49d6f57e26ecccbde1bc0d13 Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Wed, 22 Apr 2026 08:48:02 -0700
Subject: [PATCH 0939/1434] esim: skip listing profiles on mutation ops
 (#37878)

---
 system/hardware/esim.py | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/system/hardware/esim.py b/system/hardware/esim.py
index 40600d26b565f5..54407693b319be 100755
--- a/system/hardware/esim.py
+++ b/system/hardware/esim.py
@@ -28,8 +28,7 @@
     lpa.nickname_profile(args.nickname[0], args.nickname[1])
   else:
     parser.print_help()
-
-  profiles = lpa.list_profiles()
-  print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:')
-  for p in profiles:
-    print(f'- {p.iccid} (nickname: {p.nickname or "<none provided>"}) (provider: {p.provider}) - {"enabled" if p.enabled else "disabled"}')
+    profiles = lpa.list_profiles()
+    print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:')
+    for p in profiles:
+      print(f'- {p.iccid} (nickname: {p.nickname or "<none provided>"}) (provider: {p.provider}) - {"enabled" if p.enabled else "disabled"}')

From f8372ccc4df0b5b0e49572f8817ce7d5b14c6db9 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 22 Apr 2026 12:53:07 -0700
Subject: [PATCH 0940/1434] sensord: remove mmc5603nj support (#37881)

* sensord: remove mmc5603nj support

* lil more

* lil more
---
 cereal/services.py                       |   2 -
 system/sensord/sensord.py                |   6 -
 system/sensord/sensors/mmc5603nj_magn.py |  76 ------------
 system/sensord/tests/test_sensord.py     | 146 ++++++++---------------
 4 files changed, 51 insertions(+), 179 deletions(-)
 delete mode 100644 system/sensord/sensors/mmc5603nj_magn.py

diff --git a/cereal/services.py b/cereal/services.py
index c8525c0dd3034e..c43d3cb9b6c6d2 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -24,8 +24,6 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   # note: the "EncodeIdx" packets will still be in the log
   "gyroscope": (True, 104., 104),
   "accelerometer": (True, 104., 104),
-  "magnetometer": (True, 25.),
-  "lightSensor": (True, 100., 100),
   "temperatureSensor": (True, 2., 200),
   "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
diff --git a/system/sensord/sensord.py b/system/sensord/sensord.py
index 62908c6f1853b5..d17d296958bf6e 100755
--- a/system/sensord/sensord.py
+++ b/system/sensord/sensord.py
@@ -11,13 +11,11 @@
 from openpilot.common.realtime import config_realtime_process, Ratekeeper
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.gpio import gpiochip_get_ro_value_fd, gpioevent_data
-from openpilot.system.hardware import HARDWARE
 
 from openpilot.system.sensord.sensors.i2c_sensor import Sensor
 from openpilot.system.sensord.sensors.lsm6ds3_accel import LSM6DS3_Accel
 from openpilot.system.sensord.sensors.lsm6ds3_gyro import LSM6DS3_Gyro
 from openpilot.system.sensord.sensors.lsm6ds3_temp import LSM6DS3_Temp
-from openpilot.system.sensord.sensors.mmc5603nj_magn import MMC5603NJ_Magn
 
 I2C_BUS_IMU = 1
 
@@ -97,10 +95,6 @@ def main() -> None:
     (LSM6DS3_Gyro(I2C_BUS_IMU), "gyroscope", True),
     (LSM6DS3_Temp(I2C_BUS_IMU), "temperatureSensor", False),
   ]
-  if HARDWARE.get_device_type() == "tizi":
-    sensors_cfg.append(
-      (MMC5603NJ_Magn(I2C_BUS_IMU), "magnetometer", False),
-    )
 
   # Reset sensors
   for sensor, _, _ in sensors_cfg:
diff --git a/system/sensord/sensors/mmc5603nj_magn.py b/system/sensord/sensors/mmc5603nj_magn.py
deleted file mode 100644
index 255e99eb3e322f..00000000000000
--- a/system/sensord/sensors/mmc5603nj_magn.py
+++ /dev/null
@@ -1,76 +0,0 @@
-import time
-
-from cereal import log
-from openpilot.system.sensord.sensors.i2c_sensor import Sensor
-
-# https://www.mouser.com/datasheet/2/821/Memsic_09102019_Datasheet_Rev.B-1635324.pdf
-
-# Register addresses
-REG_ODR = 0x1A
-REG_INTERNAL_0 = 0x1B
-REG_INTERNAL_1 = 0x1C
-
-# Control register settings
-CMM_FREQ_EN = (1 << 7)
-AUTO_SR_EN  = (1 << 5)
-SET         = (1 << 3)
-RESET       = (1 << 4)
-
-class MMC5603NJ_Magn(Sensor):
-  @property
-  def device_address(self) -> int:
-    return 0x30
-
-  def init(self):
-    self.verify_chip_id(0x39, [0x10, ])
-    self.writes((
-      (REG_ODR, 0),
-
-      # Set BW to 0b01 for 1-150 Hz operation
-      (REG_INTERNAL_1, 0b01),
-    ))
-
-  def _read_data(self, cycle) -> list[float]:
-    # start measurement
-    self.write(REG_INTERNAL_0, cycle)
-    self.wait()
-
-    # read out XYZ
-    scale = 1.0 / 16384.0
-    b = self.read(0x00, 9)
-    return [
-      (self.parse_20bit(b[6], b[1], b[0]) * scale) - 32.0,
-      (self.parse_20bit(b[7], b[3], b[2]) * scale) - 32.0,
-      (self.parse_20bit(b[8], b[5], b[4]) * scale) - 32.0,
-    ]
-
-  def get_event(self, ts: int | None = None) -> log.SensorEventData:
-    ts = time.monotonic_ns()
-
-    # SET - RESET cycle
-    xyz = self._read_data(SET)
-    reset_xyz = self._read_data(RESET)
-    vals = [*xyz, *reset_xyz]
-
-    event = log.SensorEventData.new_message()
-    event.timestamp = ts
-    event.version = 1
-    event.sensor = 3 # SENSOR_MAGNETOMETER_UNCALIBRATED
-    event.type = 14  # SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED
-    event.source = log.SensorEventData.SensorSource.mmc5603nj
-
-    m = event.init('magneticUncalibrated')
-    m.v = vals
-    m.status = int(all(int(v) != -32 for v in vals))
-
-    return event
-
-  def shutdown(self) -> None:
-    v = self.read(REG_INTERNAL_0, 1)[0]
-    self.writes((
-      # disable auto-reset of measurements
-      (REG_INTERNAL_0, (v & (~(CMM_FREQ_EN | AUTO_SR_EN)))),
-
-      # disable continuous mode
-      (REG_ODR, 0),
-    ))
diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py
index 9a66678ecf17a3..c82e59560349bf 100644
--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@@ -5,44 +5,19 @@
 from collections import namedtuple, defaultdict
 
 import cereal.messaging as messaging
-from cereal import log
 from cereal.services import SERVICE_LIST
 from openpilot.common.gpio import get_irqs_for_action
 from openpilot.common.timeout import Timeout
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.manager.process_config import managed_processes
 
-LSM = {
-  ('lsm6ds3', 'acceleration'),
-  ('lsm6ds3', 'gyroUncalibrated'),
-  ('lsm6ds3', 'temperature'),
-}
-LSM_C = {(x[0]+'trc', x[1]) for x in LSM}
-
-MMC = {
-  ('mmc5603nj', 'magneticUncalibrated'),
-}
-
-SENSOR_CONFIGURATIONS: list[set] = {
-  "mici": [LSM, LSM_C],
-  "tizi": [MMC | LSM, MMC | LSM_C],
-  "tici": [LSM, LSM_C, MMC | LSM, MMC | LSM_C],
-}.get(HARDWARE.get_device_type(), [])
-
-Sensor = log.SensorEventData.SensorSource
-SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max', 'std_max'])
-ALL_SENSORS = {
-  Sensor.lsm6ds3trc: {
-    SensorConfig("acceleration", 5, 15, 5),
-    SensorConfig("gyroUncalibrated", 0, .15, 0.5),
-    SensorConfig("temperature", 10, 40, 0.5),  # set for max range of our office
-  },
-
-  Sensor.mmc5603nj: {
-    SensorConfig("magneticUncalibrated", 0, 300, 10),
-  }
-}
-ALL_SENSORS[Sensor.lsm6ds3] = ALL_SENSORS[Sensor.lsm6ds3trc]
+SensorConfig = namedtuple('SensorConfig', ['service', 'measurement', 'sanity_min', 'sanity_max', 'std_max'])
+
+SENSOR_CONFIGS = (
+  SensorConfig("accelerometer", "acceleration", 5, 15, 5),
+  SensorConfig("gyroscope", "gyroUncalibrated", 0, .15, 0.5),
+  SensorConfig("temperatureSensor", "temperature", 10, 40, 0.5),  # set for max range of our office
+)
+SENSOR_CONFIGS_BY_MEASUREMENT = {config.measurement: config for config in SENSOR_CONFIGS}
 
 def get_irq_count(irq: int):
   with open(f"/sys/kernel/irq/{irq}/per_cpu_count") as f:
@@ -50,12 +25,11 @@ def get_irq_count(irq: int):
     return sum(per_cpu)
 
 def read_sensor_events(duration_sec):
-  sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'temperatureSensor',]
   socks = {}
   poller = messaging.Poller()
   events = defaultdict(list)
-  for stype in sensor_types:
-    socks[stype] = messaging.sub_sock(stype, poller=poller, timeout=100)
+  for config in SENSOR_CONFIGS:
+    socks[config.service] = messaging.sub_sock(config.service, poller=poller, timeout=100)
 
   # wait for sensors to come up
   with Timeout(int(os.environ.get("SENSOR_WAIT", "5")), "sensors didn't come up"):
@@ -70,11 +44,15 @@ def read_sensor_events(duration_sec):
     for s in socks:
       events[s] += messaging.drain_sock(socks[s])
     time.sleep(0.1)
-
   assert sum(map(len, events.values())) != 0, "No sensor events collected!"
 
   return {k: v for k, v in events.items() if len(v) > 0}
 
+def iter_measurements(events):
+  for msgs in events.values():
+    for measurement in msgs:
+      yield measurement, getattr(measurement, measurement.which())
+
 @pytest.mark.tici
 class TestSensord:
   @classmethod
@@ -102,15 +80,9 @@ def teardown_class(cls):
   def teardown_method(self):
     managed_processes["sensord"].stop()
 
-  def test_sensors_present(self):
-    # verify correct sensors configuration
-    seen = set()
-    for etype in self.events:
-      for measurement in self.events[etype]:
-        m = getattr(measurement, measurement.which())
-        seen.add((str(m.source), m.which()))
-
-    assert seen in SENSOR_CONFIGURATIONS
+  def test_all_sensors_present(self):
+    missing = [config.service for config in SENSOR_CONFIGS if config.service not in self.events]
+    assert len(missing) == 0, f"missing sensors: {missing}"
 
   def test_lsm6ds3_timing(self, subtests):
     # verify measurements are sampled and published at 104Hz
@@ -120,13 +92,10 @@ def test_lsm6ds3_timing(self, subtests):
       5: [], # gyro
     }
 
-    for measurement in self.events['accelerometer']:
-      m = getattr(measurement, measurement.which())
-      sensor_t[m.sensor].append(m.timestamp)
-
-    for measurement in self.events['gyroscope']:
-      m = getattr(measurement, measurement.which())
-      sensor_t[m.sensor].append(m.timestamp)
+    for service in ('accelerometer', 'gyroscope'):
+      for measurement in self.events.get(service, []):
+        m = getattr(measurement, measurement.which())
+        sensor_t[m.sensor].append(m.timestamp)
 
     for s, vals in sensor_t.items():
       with subtests.test(sensor=s):
@@ -153,19 +122,16 @@ def test_sensor_frequency(self, subtests):
   def test_logmonottime_timestamp_diff(self):
     # ensure diff between the message logMonotime and sample timestamp is small
 
-    tdiffs = list()
-    for etype in self.events:
-      for measurement in self.events[etype]:
-        m = getattr(measurement, measurement.which())
-
-        # check if gyro and accel timestamps are before logMonoTime
-        if str(m.source).startswith("lsm6ds3") and m.which() != 'temperature':
-          err_msg = f"Timestamp after logMonoTime: {m.timestamp} > {measurement.logMonoTime}"
-          assert m.timestamp < measurement.logMonoTime, err_msg
+    tdiffs = []
+    for measurement, m in iter_measurements(self.events):
+      # check if gyro and accel timestamps are before logMonoTime
+      if str(m.source).startswith("lsm6ds3") and m.which() != 'temperature':
+        err_msg = f"Timestamp after logMonoTime: {m.timestamp} > {measurement.logMonoTime}"
+        assert m.timestamp < measurement.logMonoTime, err_msg
 
-        # negative values might occur, as non interrupt packages created
-        # before the sensor is read
-        tdiffs.append(abs(measurement.logMonoTime - m.timestamp) / 1e6)
+      # negative values might occur, as non interrupt packages created
+      # before the sensor is read
+      tdiffs.append(abs(measurement.logMonoTime - m.timestamp) / 1e6)
 
     # some sensors have a read procedure that will introduce an expected diff on the order of 20ms
     high_delay_diffs = set(filter(lambda d: d >= 25., tdiffs))
@@ -175,39 +141,29 @@ def test_logmonottime_timestamp_diff(self):
     assert avg_diff < 4, f"Avg packet diff: {avg_diff:.1f}ms"
 
   def test_sensor_values(self):
-    sensor_values = dict()
-    for etype in self.events:
-      for measurement in self.events[etype]:
-        m = getattr(measurement, measurement.which())
-        key = (m.source.raw, m.which())
-        values = getattr(m, m.which())
-
-        if hasattr(values, 'v'):
-          values = values.v
-        values = np.atleast_1d(values)
+    sensor_values = defaultdict(list)
+    for _, m in iter_measurements(self.events):
+      key = (m.source.raw, m.which())
+      values = getattr(m, m.which())
 
-        if key in sensor_values:
-          sensor_values[key].append(values)
-        else:
-          sensor_values[key] = [values]
+      if hasattr(values, 'v'):
+        values = values.v
+      sensor_values[key].append(np.atleast_1d(values))
 
     # Sanity check sensor values
-    for sensor, stype in sensor_values:
-      for s in ALL_SENSORS[sensor]:
-        if s.type != stype:
-          continue
-
-        key = (sensor, s.type)
-        if s.type == 'temperature':
-          measurement_stat = np.mean(sensor_values[key])
-        else:
-          measurement_stat = np.mean(np.linalg.norm(sensor_values[key], axis=1))
-        err_msg = f"Sensor '{sensor} {s.type}' failed sanity checks {measurement_stat} is not between {s.sanity_min} and {s.sanity_max}"
-        assert s.sanity_min <= measurement_stat <= s.sanity_max, err_msg
-
-        std_dev = np.std(sensor_values[key], axis=0)
-        err_msg = f"Sensor '{sensor} {s.type}' failed std dev test {std_dev} is not under {s.std_max}"
-        assert np.all(std_dev <= s.std_max), err_msg
+    for (sensor, stype), values in sensor_values.items():
+      config = SENSOR_CONFIGS_BY_MEASUREMENT[stype]
+
+      if config.measurement == 'temperature':
+        measurement_stat = np.mean(values)
+      else:
+        measurement_stat = np.mean(np.linalg.norm(values, axis=1))
+      err_msg = f"Sensor '{sensor} {config.measurement}' failed sanity checks {measurement_stat} is not between {config.sanity_min} and {config.sanity_max}"
+      assert config.sanity_min <= measurement_stat <= config.sanity_max, err_msg
+
+      std_dev = np.std(values, axis=0)
+      err_msg = f"Sensor '{sensor} {config.measurement}' failed std dev test {std_dev} is not under {config.std_max}"
+      assert np.all(std_dev <= config.std_max), err_msg
 
   def test_sensor_verify_no_interrupts_after_stop(self):
     managed_processes["sensord"].start()

From 2266a9dd9cc1327736ed3b93528c8caae92f965c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 22 Apr 2026 13:13:39 -0700
Subject: [PATCH 0941/1434] sensord: clean up SensorEventData struct (#37883)

---
 cereal/log.capnp                           | 13 ++++++++-----
 selfdrive/test/process_replay/migration.py |  3 ---
 system/sensord/sensors/lsm6ds3_accel.py    |  4 ----
 system/sensord/sensors/lsm6ds3_gyro.py     |  4 ----
 system/sensord/sensors/lsm6ds3_temp.py     |  1 -
 system/sensord/tests/test_sensord.py       |  9 +++------
 tools/sim/lib/simulated_sensors.py         |  5 -----
 7 files changed, 11 insertions(+), 28 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 2dea21ff05326f..618aad1831b10e 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -273,11 +273,7 @@ struct GPSNMEAData {
   nmea @2 :Text;
 }
 
-# android sensor_event_t
 struct SensorEventData {
-  version @0 :Int32;
-  sensor @1 :Int32;
-  type @2 :Int32;
   timestamp @3 :Int64;
 
   union {
@@ -296,7 +292,10 @@ struct SensorEventData {
 
   struct SensorVec {
     v @0 :List(Float32);
-    status @1 :Int8;
+
+    deprecated :group {
+      status @1 :Int8;
+    }
   }
 
   enum SensorSource {
@@ -314,7 +313,11 @@ struct SensorEventData {
     mmc5603nj @11;
   }
 
+  # formerly based on android sensor_event_t
   deprecated :group {
+    version @0 :Int32;
+    sensor @1 :Int32;
+    type @2 :Int32;
     uncalibrated @10 :Bool;
   }
 }
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index b6134913471b10..12a9664a54eefb 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -447,9 +447,6 @@ def migrate_sensorEvents(msgs):
       m.logMonoTime = msg.logMonoTime
 
       m_dat = getattr(m, sensor_service)
-      m_dat.version = evt.version
-      m_dat.sensor = evt.sensor
-      m_dat.type = evt.type
       m_dat.source = evt.source
       m_dat.timestamp = evt.timestamp
       setattr(m_dat, evt.which(), getattr(evt, evt.which()))
diff --git a/system/sensord/sensors/lsm6ds3_accel.py b/system/sensord/sensors/lsm6ds3_accel.py
index 43863daa93640a..761ae828bbdee3 100644
--- a/system/sensord/sensors/lsm6ds3_accel.py
+++ b/system/sensord/sensors/lsm6ds3_accel.py
@@ -77,13 +77,9 @@ def get_event(self, ts: int | None = None) -> log.SensorEventData:
 
     event = log.SensorEventData.new_message()
     event.timestamp = ts
-    event.version = 1
-    event.sensor = 1  # SENSOR_ACCELEROMETER
-    event.type = 1    # SENSOR_TYPE_ACCELEROMETER
     event.source = self.source
     a = event.init('acceleration')
     a.v = [y, -x, z]
-    a.status = 1
     return event
 
   def shutdown(self) -> None:
diff --git a/system/sensord/sensors/lsm6ds3_gyro.py b/system/sensord/sensors/lsm6ds3_gyro.py
index 60de2bbe02ec1b..654cff9da8d0e1 100644
--- a/system/sensord/sensors/lsm6ds3_gyro.py
+++ b/system/sensord/sensors/lsm6ds3_gyro.py
@@ -73,13 +73,9 @@ def get_event(self, ts: int | None = None) -> log.SensorEventData:
 
     event = log.SensorEventData.new_message()
     event.timestamp = ts
-    event.version = 2
-    event.sensor = 5  # SENSOR_GYRO_UNCALIBRATED
-    event.type = 16   # SENSOR_TYPE_GYROSCOPE_UNCALIBRATED
     event.source = self.source
     g = event.init('gyroUncalibrated')
     g.v = xyz
-    g.status = 1
     return event
 
   def shutdown(self) -> None:
diff --git a/system/sensord/sensors/lsm6ds3_temp.py b/system/sensord/sensors/lsm6ds3_temp.py
index b9bb9fe3da5fea..ffe970c22cbbbf 100644
--- a/system/sensord/sensors/lsm6ds3_temp.py
+++ b/system/sensord/sensors/lsm6ds3_temp.py
@@ -23,7 +23,6 @@ def init(self):
 
   def get_event(self, ts: int | None = None) -> log.SensorEventData:
     event = log.SensorEventData.new_message()
-    event.version = 1
     event.timestamp = int(time.monotonic() * 1e9)
     event.source = self.source
     event.temperature = self._read_temperature()
diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py
index c82e59560349bf..3d7d26f9faf4bc 100644
--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@@ -87,15 +87,12 @@ def test_all_sensors_present(self):
   def test_lsm6ds3_timing(self, subtests):
     # verify measurements are sampled and published at 104Hz
 
-    sensor_t = {
-      1: [], # accel
-      5: [], # gyro
-    }
+    sensor_t = {service: [] for service in ('accelerometer', 'gyroscope')}
 
-    for service in ('accelerometer', 'gyroscope'):
+    for service in sensor_t:
       for measurement in self.events.get(service, []):
         m = getattr(measurement, measurement.which())
-        sensor_t[m.sensor].append(m.timestamp)
+        sensor_t[service].append(m.timestamp)
 
     for s, vals in sensor_t.items():
       with subtests.test(sensor=s):
diff --git a/tools/sim/lib/simulated_sensors.py b/tools/sim/lib/simulated_sensors.py
index 6ac7c4fa59a1d5..d6d822c582bbe1 100644
--- a/tools/sim/lib/simulated_sensors.py
+++ b/tools/sim/lib/simulated_sensors.py
@@ -23,17 +23,12 @@ def __init__(self, dual_camera=False):
   def send_imu_message(self, simulator_state: 'SimulatorState'):
     for _ in range(5):
       dat = messaging.new_message('accelerometer', valid=True)
-      dat.accelerometer.sensor = 4
-      dat.accelerometer.type = 0x10
       dat.accelerometer.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
       dat.accelerometer.init('acceleration')
       dat.accelerometer.acceleration.v = [simulator_state.imu.accelerometer.x, simulator_state.imu.accelerometer.y, simulator_state.imu.accelerometer.z]
       self.pm.send('accelerometer', dat)
 
-      # copied these numbers from locationd
       dat = messaging.new_message('gyroscope', valid=True)
-      dat.gyroscope.sensor = 5
-      dat.gyroscope.type = 0x10
       dat.gyroscope.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
       dat.gyroscope.init('gyroUncalibrated')
       dat.gyroscope.gyroUncalibrated.v = [simulator_state.imu.gyroscope.x, simulator_state.imu.gyroscope.y, simulator_state.imu.gyroscope.z]

From 39d1eec575336a63219c06bc1300773d469b7e97 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 22 Apr 2026 15:05:07 -0700
Subject: [PATCH 0942/1434] Fix Tesla route spam (#37884)

bump
---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index ac89f0c92d0240..b19b66a6f0a246 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit ac89f0c92d02405c66498b8e3086a310c547e7ea
+Subproject commit b19b66a6f0a246729953cb19390dbee1e93610b2

From df6d34e52bc8490914a4fe177bd63001761c7b2b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 22 Apr 2026 15:09:56 -0700
Subject: [PATCH 0943/1434] remove enhancement issue template

---
 .github/ISSUE_TEMPLATE/enhancement.md | 8 --------
 1 file changed, 8 deletions(-)
 delete mode 100644 .github/ISSUE_TEMPLATE/enhancement.md

diff --git a/.github/ISSUE_TEMPLATE/enhancement.md b/.github/ISSUE_TEMPLATE/enhancement.md
deleted file mode 100644
index 330b9b110154fe..00000000000000
--- a/.github/ISSUE_TEMPLATE/enhancement.md
+++ /dev/null
@@ -1,8 +0,0 @@
----
-name: Enhancement
-about: For openpilot enhancement suggestions
-title: ''
-labels: 'enhancement'
-assignees: ''
----
-

From 736cf6d9dffd0db6c6a5a2fb532bea018a3e3ead Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 22 Apr 2026 16:01:35 -0700
Subject: [PATCH 0944/1434] clean up deprecated services (#37885)

* clean up deprecated services

* lil more
---
 cereal/log.capnp                       | 16 +++++++---------
 cereal/services.py                     |  9 ---------
 system/qcomgpsd/tests/test_qcomgpsd.py |  2 +-
 tools/jotpluggler/runtime.cc           |  1 -
 4 files changed, 8 insertions(+), 20 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 618aad1831b10e..c0ee33743af169 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2449,7 +2449,6 @@ struct Event {
     boot @60 :Boot;
 
     # ********** openpilot daemon msgs **********
-    gpsNMEA @3 :GPSNMEAData;
     can @5 :List(CanData);
     controlsState @7 :ControlsState;
     selfdriveState @130 :SelfdriveState;
@@ -2474,7 +2473,6 @@ struct Event {
     qcomGnss @31 :QcomGnss;
     gpsLocationExternal @48 :GpsLocationData;
     gpsLocation @21 :GpsLocationData;
-    gnssMeasurements @91 :GnssMeasurements;
     liveParameters @61 :LiveParametersData;
     liveTorqueParameters @94 :LiveTorqueParametersData;
     liveDelay @146 : LiveDelayData;
@@ -2508,7 +2506,6 @@ struct Event {
     # systems stuff
     androidLog @20 :AndroidLogEntry;
     managerState @78 :ManagerState;
-    uploaderState @79 :UploaderState;
     procLog @33 :ProcLog;
     clocks @35 :Clocks;
     deviceState @6 :DeviceState;
@@ -2518,12 +2515,6 @@ struct Event {
     # touch frame
     touch @135 :List(Touch);
 
-    # navigation
-    navInstruction @82 :NavInstruction;
-    navRoute @83 :NavRoute;
-    navThumbnail @84: Thumbnail;
-    mapRenderState @105: MapRenderState;
-
     # UI services
     uiDebug @102 :UIDebug;
 
@@ -2626,5 +2617,12 @@ struct Event {
     accelerometer2DEPRECATED @101 :SensorEventData;
     temperatureSensor2DEPRECATED @123 :SensorEventData;
     driverMonitoringStateDEPRECATED @71 :DriverMonitoringStateDEPRECATED;
+    gpsNMEADEPRECATED @3 :GPSNMEAData;
+    uploaderStateDEPRECATED @79 :UploaderState;
+    navInstructionDEPRECATED @82 :NavInstruction;
+    navRouteDEPRECATED @83 :NavRoute;
+    navThumbnailDEPRECATED @84 :Thumbnail;
+    gnssMeasurementsDEPRECATED @91 :GnssMeasurements;
+    mapRenderStateDEPRECATED @105: MapRenderState;
   }
 }
diff --git a/cereal/services.py b/cereal/services.py
index c43d3cb9b6c6d2..8343874dedf442 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -25,7 +25,6 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "gyroscope": (True, 104., 104),
   "accelerometer": (True, 104., 104),
   "temperatureSensor": (True, 2., 200),
-  "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
   "touch": (True, 20., 1),
   "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
@@ -54,7 +53,6 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "gpsLocation": (True, 1., 1),
   "ubloxGnss": (True, 10.),
   "qcomGnss": (True, 2.),
-  "gnssMeasurements": (True, 10., 10),
   "clocks": (True, 0.1, 1),
   "ubloxRaw": (True, 20.),
   "livePose": (True, 20., 4),
@@ -73,10 +71,6 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "drivingModelData": (True, 20., 10),
   "modelV2": (True, 20., None, QueueSize.BIG),
   "managerState": (True, 2., 1),
-  "uploaderState": (True, 0., 1),
-  "navInstruction": (True, 1., 10),
-  "navRoute": (True, 0.),
-  "navThumbnail": (True, 0.),
   "qRoadEncodeIdx": (False, 20.),
   "userBookmark": (True, 0., 1),
   "soundPressure": (True, 10., 10),
@@ -98,9 +92,6 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "customReservedRawData0": (True, 0.),
-  "customReservedRawData1": (True, 0.),
-  "customReservedRawData2": (True, 0.),
 }
 SERVICE_LIST = {name: Service(*vals) for
                 idx, (name, vals) in enumerate(_services.items())}
diff --git a/system/qcomgpsd/tests/test_qcomgpsd.py b/system/qcomgpsd/tests/test_qcomgpsd.py
index 75e87075910c53..9b0644734e7e65 100644
--- a/system/qcomgpsd/tests/test_qcomgpsd.py
+++ b/system/qcomgpsd/tests/test_qcomgpsd.py
@@ -26,7 +26,7 @@ def teardown_class(cls):
     os.system("sudo systemctl restart ModemManager lte")
 
   def setup_method(self):
-    self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements'])
+    self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation'])
 
   def teardown_method(self):
     managed_processes['qcomgpsd'].stop()
diff --git a/tools/jotpluggler/runtime.cc b/tools/jotpluggler/runtime.cc
index 6eb2be80e8ec90..3247a5d01da8b4 100644
--- a/tools/jotpluggler/runtime.cc
+++ b/tools/jotpluggler/runtime.cc
@@ -71,7 +71,6 @@ bool should_subscribe_stream_service(const std::string &name) {
     "livestreamRoadEncodeIdx",
     "livestreamDriverEncodeIdx",
     "thumbnail",
-    "navThumbnail",
   }};
   if (name == "rawAudioData") return false;
   for (std::string_view skipped : kSkippedServices) {

From 0be0d7fa9443c32aa261612bda222ebef7d7b2c5 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 22 Apr 2026 16:40:42 -0700
Subject: [PATCH 0945/1434] add that back, it's used in a test

---
 cereal/services.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/cereal/services.py b/cereal/services.py
index 8343874dedf442..c2d38d852db133 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -92,6 +92,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "customReservedRawData0": (True, 0.),
 }
 SERVICE_LIST = {name: Service(*vals) for
                 idx, (name, vals) in enumerate(_services.items())}

From 0eacf34e15cd65146e1122006bd77b7f669ef9d1 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 22 Apr 2026 16:49:29 -0700
Subject: [PATCH 0946/1434] sensord: add note about shared IRQ

---
 system/sensord/sensord.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/system/sensord/sensord.py b/system/sensord/sensord.py
index d17d296958bf6e..ce6fb9ccb24340 100755
--- a/system/sensord/sensord.py
+++ b/system/sensord/sensord.py
@@ -22,6 +22,10 @@
 def interrupt_loop(sensors: list[tuple[Sensor, str, bool]], event) -> None:
   pm = messaging.PubMaster([service for sensor, service, interrupt in sensors if interrupt])
 
+  # NOTE: the gyro and accelerometer share an IRQ due to the comma three
+  # routing only one GPIO from the LSM to the SOC, but comma 3X and four
+  # have two. if we want better timestamps in the future, we can use both.
+
   # Requesting both edges as the data ready pulse from the lsm6ds sensor is
   # very short (75us) and is mostly detected as falling edge instead of rising.
   # So if it is detected as rising the following falling edge is skipped.

From 49685fc2bcb4c57ed1c81c532a921542e5b089c4 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Wed, 22 Apr 2026 17:59:34 -0700
Subject: [PATCH 0947/1434] ui: fix long maneuver toggle (#37622)

---
 selfdrive/ui/layouts/settings/developer.py      | 6 ------
 selfdrive/ui/mici/layouts/settings/developer.py | 6 ------
 2 files changed, 12 deletions(-)

diff --git a/selfdrive/ui/layouts/settings/developer.py b/selfdrive/ui/layouts/settings/developer.py
index c61a40685863f1..2a823b57d71f64 100644
--- a/selfdrive/ui/layouts/settings/developer.py
+++ b/selfdrive/ui/layouts/settings/developer.py
@@ -131,12 +131,6 @@ def _update_toggles(self):
 
       long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
       self._long_maneuver_toggle.action_item.set_enabled(long_man_enabled)
-      if not long_man_enabled:
-        self._long_maneuver_toggle.action_item.set_state(False)
-        self._params.put_bool("LongitudinalManeuverMode", False)
-
-      lat_man_enabled = ui_state.is_offroad()
-      self._lat_maneuver_toggle.action_item.set_enabled(lat_man_enabled)
     else:
       self._long_maneuver_toggle.action_item.set_enabled(False)
       self._lat_maneuver_toggle.action_item.set_enabled(False)
diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/selfdrive/ui/mici/layouts/settings/developer.py
index f47614c073eca6..3a587f12421e72 100644
--- a/selfdrive/ui/mici/layouts/settings/developer.py
+++ b/selfdrive/ui/mici/layouts/settings/developer.py
@@ -131,12 +131,6 @@ def _update_toggles(self):
 
       long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
       self._long_maneuver_toggle.set_enabled(long_man_enabled)
-      if not long_man_enabled:
-        self._long_maneuver_toggle.set_checked(False)
-        ui_state.params.put_bool("LongitudinalManeuverMode", False)
-
-      lat_man_enabled = ui_state.is_offroad()
-      self._lat_maneuver_toggle.set_enabled(lat_man_enabled)
     else:
       self._long_maneuver_toggle.set_enabled(False)
       self._lat_maneuver_toggle.set_enabled(False)

From 7d71354fd02ad6a3eea941ad10f73e666a9ac3b2 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 22 Apr 2026 19:57:59 -0700
Subject: [PATCH 0948/1434] ui: remove firehose count (#37886)

---
 selfdrive/ui/layouts/settings/firehose.py | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/selfdrive/ui/layouts/settings/firehose.py b/selfdrive/ui/layouts/settings/firehose.py
index ea83e962e61878..f28f4e3386b74a 100644
--- a/selfdrive/ui/layouts/settings/firehose.py
+++ b/selfdrive/ui/layouts/settings/firehose.py
@@ -1,7 +1,7 @@
 import pyray as rl
 
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
-from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
+from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wrap_text import wrap_text
@@ -65,12 +65,13 @@ def _render_content(self, rect: rl.Rectangle, scroll_offset: float) -> int:
     y = self._draw_wrapped_text(x, y, w, status_text, gui_app.font(FontWeight.BOLD), 60, status_color)
     y += 20 + 20
 
+    # TODO: add back once reliable
     # Contribution count (if available)
-    if self._segment_count > 0:
-      contrib_text = trn("{} segment of your driving is in the training dataset so far.",
-                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
-      y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
-      y += 20 + 20
+    #if self._segment_count > 0:
+    #  contrib_text = trn("{} segment of your driving is in the training dataset so far.",
+    #                     "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
+    #  y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
+    #  y += 20 + 20
 
     # Separator
     rl.draw_rectangle(x, y, w, 2, self.GRAY)

From bb4b96e05de9d7fe52d00221ea58f4a91d8d33f4 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 23 Apr 2026 10:20:09 -0700
Subject: [PATCH 0949/1434] qcomgpsd: rm XTRA assistance (#37893)

* qcomgpsd: rm XTRA assistance

* lil more

* lil more
---
 system/qcomgpsd/qcomgpsd.py            | 82 +-------------------------
 system/qcomgpsd/tests/test_qcomgpsd.py | 74 +----------------------
 2 files changed, 5 insertions(+), 151 deletions(-)

diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py
index 47d64ff4e9fba8..e7a8d55d6c5ea1 100755
--- a/system/qcomgpsd/qcomgpsd.py
+++ b/system/qcomgpsd/qcomgpsd.py
@@ -5,11 +5,8 @@
 import itertools
 import math
 import time
-import requests
-import shutil
 from serial import Serial
 import datetime
-from multiprocessing import Process, Event
 from typing import NoReturn
 from struct import unpack_from, calcsize, pack
 
@@ -30,9 +27,6 @@
                                               LOG_GNSS_OEMDRE_SVPOLY_REPORT)
 
 DEBUG = int(os.getenv("DEBUG", "0"))==1
-ASSIST_DATA_FILE = '/tmp/xtra3grc.bin'
-ASSIST_DATA_FILE_DOWNLOAD = ASSIST_DATA_FILE + '.download'
-ASSISTANCE_URL = 'http://xtrapath3.izatcloud.net/xtra3grc.bin'
 
 LOG_TYPES = [
   LOG_GNSS_GPS_MEASUREMENT_REPORT,
@@ -112,49 +106,8 @@ def at_cmd(cmd: str) -> str:
 def gps_enabled() -> bool:
   return "QGPS: 1" in at_cmd("AT+QGPS?")
 
-def download_assistance():
-  try:
-    response = requests.get(ASSISTANCE_URL, timeout=5, stream=True)
-
-    with open(ASSIST_DATA_FILE_DOWNLOAD, 'wb') as fp:
-      for chunk in response.iter_content(chunk_size=8192):
-        fp.write(chunk)
-        if fp.tell() > 1e5:
-          cloudlog.error("Qcom assistance data larger than expected")
-          return
-
-    os.rename(ASSIST_DATA_FILE_DOWNLOAD, ASSIST_DATA_FILE)
-
-  except requests.exceptions.RequestException:
-    cloudlog.exception("Failed to download assistance file")
-    return
-
-def downloader_loop(event):
-  if os.path.exists(ASSIST_DATA_FILE):
-    os.remove(ASSIST_DATA_FILE)
-
-  alt_path = os.getenv("QCOM_ALT_ASSISTANCE_PATH", None)
-  if alt_path is not None and os.path.exists(alt_path):
-    shutil.copyfile(alt_path, ASSIST_DATA_FILE)
-
-  try:
-    while not os.path.exists(ASSIST_DATA_FILE) and not event.is_set():
-      download_assistance()
-      event.wait(timeout=10)
-  except KeyboardInterrupt:
-    pass
-
-@retry(attempts=5, delay=0.2, ignore_failure=True)
-def inject_assistance():
-  import subprocess
-  cmd = f"mmcli -m any --timeout 30 --location-inject-assistance-data={ASSIST_DATA_FILE}"
-  subprocess.check_output(cmd, stderr=subprocess.PIPE, shell=True)
-  cloudlog.info("successfully loaded assistance data")
-
 @retry(attempts=5, delay=1.0)
-def setup_quectel(diag: ModemDiag) -> bool:
-  ret = False
-
+def setup_quectel(diag: ModemDiag):
   # enable OEMDRE in the NV
   # TODO: it has to reboot for this to take effect
   DIAG_NV_READ_F = 38
@@ -168,26 +121,11 @@ def setup_quectel(diag: ModemDiag) -> bool:
   if gps_enabled():
     at_cmd("AT+QGPSEND")
 
-  if "GPS_COLD_START" in os.environ:
-    # deletes all assistance
-    at_cmd("AT+QGPSDEL=0")
-  else:
-    # allow module to perform hot start
-    at_cmd("AT+QGPSDEL=1")
-
   # disable DPO power savings for more accuracy
   at_cmd("AT+QGPSCFG=\"dpoenable\",0")
   # don't automatically turn on GNSS on powerup
   at_cmd("AT+QGPSCFG=\"autogps\",0")
 
-  # Do internet assistance
-  at_cmd("AT+QGPSXTRA=1")
-  at_cmd("AT+QGPSSUPLURL=\"NULL\"")
-  if os.path.exists(ASSIST_DATA_FILE):
-    ret = True
-    inject_assistance()
-    os.remove(ASSIST_DATA_FILE)
-  #at_cmd("AT+QGPSXTRADATA?")
   if system_time_valid():
     time_str = datetime.datetime.now(datetime.UTC).replace(tzinfo=None).strftime("%Y/%m/%d,%H:%M:%S")
     at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000")
@@ -214,7 +152,6 @@ def setup_quectel(diag: ModemDiag) -> bool:
     0,0
   ))
 
-  return ret
 
 def teardown_quectel(diag):
   at_cmd("AT+QGPSCFG=\"outport\",\"none\"")
@@ -255,9 +192,6 @@ def main() -> NoReturn:
 
   wait_for_modem()
 
-  stop_download_event = Event()
-  assist_fetch_proc = Process(target=downloader_loop, args=(stop_download_event,))
-  assist_fetch_proc.start()
   def cleanup(sig, frame):
     cloudlog.warning("caught sig disabling quectel gps")
 
@@ -268,18 +202,13 @@ def cleanup(sig, frame):
     except NameError:
       cloudlog.warning('quectel not yet setup')
 
-    stop_download_event.set()
-    assist_fetch_proc.kill()
-    assist_fetch_proc.join()
-
     sys.exit(0)
   signal.signal(signal.SIGINT, cleanup)
   signal.signal(signal.SIGTERM, cleanup)
 
   # connect to modem
   diag = ModemDiag()
-  r = setup_quectel(diag)
-  want_assistance = not r
+  setup_quectel(diag)
   cloudlog.warning("quectel setup done")
   gpio_init(GPIO.GNSS_PWR_EN, True)
   gpio_set(GPIO.GNSS_PWR_EN, True)
@@ -287,10 +216,6 @@ def cleanup(sig, frame):
   pm = messaging.PubMaster(['qcomGnss', 'gpsLocation'])
 
   while 1:
-    if os.path.exists(ASSIST_DATA_FILE) and want_assistance:
-      setup_quectel(diag)
-      want_assistance = False
-
     opcode, payload = diag.recv()
     if opcode != DIAG_LOG_F:
       cloudlog.error(f"Unhandled opcode: {opcode}")
@@ -383,9 +308,6 @@ def cleanup(sig, frame):
       gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma]))
       # quectel gps verticalAccuracy is clipped to 500, set invalid if so
       gps.hasFix = gps.verticalAccuracy != 500
-      if gps.hasFix:
-        want_assistance = False
-        stop_download_event.set()
       pm.send('gpsLocation', msg)
 
     elif log_type == LOG_GNSS_OEMDRE_SVPOLY_REPORT:
diff --git a/system/qcomgpsd/tests/test_qcomgpsd.py b/system/qcomgpsd/tests/test_qcomgpsd.py
index 9b0644734e7e65..f697811ae9b84d 100644
--- a/system/qcomgpsd/tests/test_qcomgpsd.py
+++ b/system/qcomgpsd/tests/test_qcomgpsd.py
@@ -1,28 +1,22 @@
 import os
 import pytest
 import time
-import datetime
 
 import cereal.messaging as messaging
 from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem
 from openpilot.system.manager.process_config import managed_processes
 
-GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
-
 
 @pytest.mark.tici
-class TestRawgpsd:
+class TestQcomgpsd:
   @classmethod
   def setup_class(cls):
-    os.environ['GPS_COLD_START'] = '1'
-    os.system("sudo systemctl start systemd-resolved")
     os.system("sudo systemctl restart ModemManager lte")
     wait_for_modem()
 
   @classmethod
   def teardown_class(cls):
     managed_processes['qcomgpsd'].stop()
-    os.system("sudo systemctl restart systemd-resolved")
     os.system("sudo systemctl restart ModemManager lte")
 
   def setup_method(self):
@@ -30,7 +24,6 @@ def setup_method(self):
 
   def teardown_method(self):
     managed_processes['qcomgpsd'].stop()
-    os.system("sudo systemctl restart systemd-resolved")
 
   def _wait_for_output(self, t):
     dt = 0.1
@@ -41,24 +34,10 @@ def _wait_for_output(self, t):
       time.sleep(dt)
     return self.sm.updated['qcomGnss']
 
-  def test_no_crash_double_command(self):
-    wait_for_modem()
-    at_cmd("AT+QGPSDEL=0")
-    at_cmd("AT+QGPSDEL=0")
-
-  def test_wait_for_modem(self):
-    os.system("sudo systemctl stop ModemManager")
+  def test_startup_time(self):
     managed_processes['qcomgpsd'].start()
     assert self._wait_for_output(30)
-
-  def test_startup_time(self, subtests):
-    for internet in (True, False):
-      if not internet:
-        os.system("sudo systemctl stop systemd-resolved")
-      with subtests.test(internet=internet):
-        managed_processes['qcomgpsd'].start()
-        assert self._wait_for_output(30)
-        managed_processes['qcomgpsd'].stop()
+    managed_processes['qcomgpsd'].stop()
 
   def test_turns_off_gnss(self, subtests):
     for s in (0.1, 1, 5):
@@ -70,50 +49,3 @@ def test_turns_off_gnss(self, subtests):
         wait_for_modem()
         resp = at_cmd("AT+QGPS?")
         assert "+QGPS: 0" in resp
-
-
-  def check_assistance(self, should_be_loaded):
-    # after QGPSDEL: '+QGPSXTRADATA: 0,"1980/01/05,19:00:00"'
-    # after loading: '+QGPSXTRADATA: 10080,"2023/06/24,19:00:00"'
-    wait_for_modem()
-    out = at_cmd("AT+QGPSXTRADATA?")
-    out = out.split("+QGPSXTRADATA:")[1].split("'")[0].strip()
-    valid_duration, injected_time_str = out.split(",", 1)
-    if should_be_loaded:
-      assert valid_duration == "10080"  # should be max time
-      injected_time = datetime.datetime.strptime(injected_time_str.replace("\"", ""), "%Y/%m/%d,%H:%M:%S")
-      assert abs((datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - injected_time).total_seconds()) < 60*60*12
-    else:
-      valid_duration, injected_time_str = out.split(",", 1)
-      injected_time_str = injected_time_str.replace('\"', '').replace('\'', '')
-      assert injected_time_str[:] == '1980/01/05,19:00:00'[:]
-      assert valid_duration == '0'
-
-  @pytest.mark.skip(reason="XTRA injection via QMI needs debugging on AGNOS 17")
-  def test_assistance_loading(self):
-    managed_processes['qcomgpsd'].start()
-    assert self._wait_for_output(30)
-    managed_processes['qcomgpsd'].stop()
-    self.check_assistance(True)
-
-  @pytest.mark.skip(reason="XTRA injection via QMI needs debugging on AGNOS 17")
-  def test_no_assistance_loading(self):
-    os.system("sudo systemctl stop systemd-resolved")
-
-    managed_processes['qcomgpsd'].start()
-    assert self._wait_for_output(30)
-    managed_processes['qcomgpsd'].stop()
-    self.check_assistance(False)
-
-  @pytest.mark.skip(reason="XTRA injection via QMI needs debugging on AGNOS 17")
-  def test_late_assistance_loading(self):
-    os.system("sudo systemctl stop systemd-resolved")
-
-    managed_processes['qcomgpsd'].start()
-    self._wait_for_output(17)
-    assert self.sm.updated['qcomGnss']
-
-    os.system("sudo systemctl restart systemd-resolved")
-    time.sleep(15)
-    managed_processes['qcomgpsd'].stop()
-    self.check_assistance(True)

From ad04c6a038dd407f36b133158315077f549a4055 Mon Sep 17 00:00:00 2001
From: Andi Radulescu <andi.radulescu@gmail.com>
Date: Thu, 23 Apr 2026 21:52:12 +0300
Subject: [PATCH 0950/1434] cruise: fix test_cruise_speed assertion (#37802)

---
 selfdrive/car/tests/test_cruise_speed.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/tests/test_cruise_speed.py b/selfdrive/car/tests/test_cruise_speed.py
index 05fef93b4efe40..bfb060874d17d5 100644
--- a/selfdrive/car/tests/test_cruise_speed.py
+++ b/selfdrive/car/tests/test_cruise_speed.py
@@ -93,7 +93,7 @@ def test_rising_edge_enable(self):
         self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
 
       # Expected diff on enabling. Speed should not change on falling edge of pressed
-      assert not pressed == self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last
+      assert (not pressed) == (self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
 
   def test_resume_in_standstill(self):
     """

From 551e2f77bfd616e55511b3ad283b5859cdddf7e4 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Thu, 23 Apr 2026 11:55:07 -0700
Subject: [PATCH 0951/1434] modeld: standalone compile script (#37851)

* modeld: standalone compile script

* cleanup

* frame skip

* rm last op import

* dm warp

* no graph break

* +x compile_dm_warp.py

* don't import tg before setting device

* compile_modeld exports metadata

* update help

* namedtuple

* lint

* Revert "compile_modeld exports metadata"

This reverts commit 93c3c223567b4d4a074c9071d7f734c56f5aedcc.

* import
---
 selfdrive/modeld/SConscript            |  49 +++++++---
 selfdrive/modeld/compile_dm_warp.py    |  54 +++++++++++
 selfdrive/modeld/compile_modeld.py     | 129 +++++++++----------------
 selfdrive/modeld/dmonitoringmodeld.py  |   2 +-
 selfdrive/modeld/get_model_metadata.py |   6 +-
 selfdrive/modeld/helpers.py            |  31 ++++++
 selfdrive/modeld/modeld.py             |   4 +-
 selfdrive/modeld/tinygrad_helpers.py   |  12 ---
 8 files changed, 173 insertions(+), 114 deletions(-)
 create mode 100755 selfdrive/modeld/compile_dm_warp.py
 create mode 100644 selfdrive/modeld/helpers.py
 delete mode 100644 selfdrive/modeld/tinygrad_helpers.py

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 053eb157b6d8e8..76fef75bae078b 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -1,10 +1,23 @@
 import glob
 import json
 import os
+from itertools import product
 from SCons.Script import Value
 from openpilot.common.file_chunker import chunk_file, get_chunk_paths
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
+from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.selfdrive.modeld.helpers import CompileConfig
 from tinygrad import Device
 
+CAMERA_CONFIGS = [
+  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
+  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
+]
+MODELD_CONFIGS = [CompileConfig(cam_w, cam_h, prepare_only, 'driving_')
+                  for (cam_w, cam_h), prepare_only in product(CAMERA_CONFIGS, [True, False])]
+DM_WARP_CONFIGS = [CompileConfig(cam_w, cam_h, True, 'dm_') for cam_w, cam_h in CAMERA_CONFIGS]
+
 Import('env', 'arch')
 chunker_file = File("#common/file_chunker.py")
 lenv = env.Clone()
@@ -53,23 +66,35 @@ for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
 image_flag = {
      'larch64': 'IMAGE=2',
 }.get(arch, 'IMAGE=0')
-script_files = [File(Dir("#selfdrive/modeld").File("compile_modeld.py").abspath)]
-compile_modeld_cmd = f'{tg_flags} {mac_brew_string} {image_flag} python3 {Dir("#selfdrive/modeld").abspath}/compile_modeld.py '
+modeld_dir = Dir("#selfdrive/modeld").abspath
+compile_modeld_script = [File(f"{modeld_dir}/compile_modeld.py")]
+compile_dm_warp_script = [File(f"{modeld_dir}/compile_dm_warp.py")]
 driving_onnx_deps = [File(f"models/{m}.onnx").abspath for m in ['driving_vision', 'driving_policy']]
 driving_metadata_deps = [File(f"models/{m}_metadata.pkl").abspath for m in ['driving_vision', 'driving_policy']]
 
-from openpilot.selfdrive.modeld.compile_modeld import MODELD_CONFIGS, DM_WARP_CONFIGS
-policy_pkls = [File(cfg.pkl_path).abspath for cfg in MODELD_CONFIGS]
-modeld_targets = policy_pkls + [File(cfg.pkl_path).abspath for cfg in DM_WARP_CONFIGS]
-compile_node = lenv.Command(modeld_targets, tinygrad_files + script_files + driving_onnx_deps + driving_metadata_deps + [chunker_file, compiled_flags_node], compile_modeld_cmd)
-
-# chunk the combined policy pkls
-for policy_pkl in policy_pkls:
+model_w, model_h = MEDMODEL_INPUT_SIZE
+frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
+for cfg in MODELD_CONFIGS:
+  cmd = (f'{tg_flags} {mac_brew_string} {image_flag} python3 {modeld_dir}/compile_modeld.py '
+         f'--model-size {model_w}x{model_h} '
+         f'--nv12 {",".join(str(x) for x in cfg.nv12)} '
+         f'--vision-onnx {File("models/driving_vision.onnx").abspath} '
+         f'--policy-onnx {File("models/driving_policy.onnx").abspath} '
+         f'--output {cfg.pkl_path} --frame-skip {frame_skip}'
+         + (' --prepare-only' if cfg.prepare_only else ''))
+  node = lenv.Command(cfg.pkl_path, tinygrad_files + compile_modeld_script + driving_onnx_deps + driving_metadata_deps + [chunker_file, compiled_flags_node], cmd)
   onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
-  chunk_targets = get_chunk_paths(policy_pkl, estimate_pickle_max_size(onnx_sizes_sum))
-  def do_chunk(target, source, env, pkl=policy_pkl, chunks=chunk_targets):
+  chunk_targets = get_chunk_paths(cfg.pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
+  def do_chunk(target, source, env, pkl=cfg.pkl_path, chunks=chunk_targets):
     chunk_file(pkl, chunks)
-  lenv.Command(chunk_targets, compile_node, do_chunk)
+  lenv.Command(chunk_targets, node, do_chunk)
+
+dm_w, dm_h = DM_INPUT_SIZE
+for cfg in DM_WARP_CONFIGS:
+  cmd = (f'{tg_flags} {mac_brew_string} {image_flag} python3 {modeld_dir}/compile_dm_warp.py '
+         f'--nv12 {",".join(str(x) for x in cfg.nv12)} --warp-to {dm_w}x{dm_h} '
+         f'--output {cfg.pkl_path}')
+  lenv.Command(cfg.pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [compiled_flags_node], cmd)
 
 def tg_compile(flags, model_name):
   pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
diff --git a/selfdrive/modeld/compile_dm_warp.py b/selfdrive/modeld/compile_dm_warp.py
new file mode 100755
index 00000000000000..2713cccf413a09
--- /dev/null
+++ b/selfdrive/modeld/compile_dm_warp.py
@@ -0,0 +1,54 @@
+#!/usr/bin/env python3
+import argparse
+import pickle
+import time
+
+from tinygrad.tensor import Tensor
+from tinygrad.device import Device
+from tinygrad.engine.jit import TinyJit
+
+from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, warp_perspective_tinygrad, _parse_size, _parse_nv12
+
+
+def make_warp_dm(nv12: NV12Frame, dm_w, dm_h):
+  cam_w, cam_h, stride, _, _, _ = nv12
+  stride_pad = stride - cam_w
+
+  def warp_dm(input_frame, M_inv):
+    M_inv = M_inv.to(Device.DEFAULT).realize()
+    return warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv,
+                                     (dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w)
+  return warp_dm
+
+
+def compile_dm_warp(nv12: NV12Frame, dm_w, dm_h, pkl_path):
+  print(f"Compiling DM warp for {nv12.width}x{nv12.height} -> {dm_w}x{dm_h}...")
+
+  warp_dm_jit = TinyJit(make_warp_dm(nv12, dm_w, dm_h), prune=True)
+
+  for i in range(10):
+    frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+    M_inv = Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')
+    Device.default.synchronize()
+    st = time.perf_counter()
+    warp_dm_jit(frame, M_inv).realize()
+    mt = time.perf_counter()
+    Device.default.synchronize()
+    et = time.perf_counter()
+    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+
+  with open(pkl_path, "wb") as f:
+    pickle.dump(warp_dm_jit, f)
+  print(f"  Saved to {pkl_path}")
+
+
+if __name__ == "__main__":
+  p = argparse.ArgumentParser()
+  p.add_argument('--nv12', type=_parse_nv12, required=True,
+                 help=f'NV12 frame layout: {",".join(NV12Frame._fields)}')
+  p.add_argument('--warp-to', type=_parse_size, required=True, help='DM input WxH')
+  p.add_argument('--output', required=True)
+  args = p.parse_args()
+
+  dm_w, dm_h = args.warp_to
+  compile_dm_warp(args.nv12, dm_w, dm_h, args.output)
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index c11f899b7f1427..1e05ae30a48de3 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -1,20 +1,16 @@
 #!/usr/bin/env python3
-import time
+import argparse
 import pickle
-from dataclasses import dataclass
-from itertools import product
+import time
 from functools import partial
+from collections import namedtuple
 
 import numpy as np
 from tinygrad.tensor import Tensor
 from tinygrad.helpers import Context
 from tinygrad.device import Device
 from tinygrad.engine.jit import TinyJit
-
-from openpilot.selfdrive.modeld.tinygrad_helpers import MODELS_DIR
-from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
-from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+from tinygrad.nn.onnx import OnnxRunner
 
 # https://github.com/tinygrad/tinygrad/issues/15682
 from tinygrad.uop.ops import UOp, Ops
@@ -22,24 +18,7 @@
 UOp.__reduce__ = lambda self: (UOp.unique, ()) if self.op is Ops.UNIQUE else _orig(self)
 
 
-@dataclass
-class CompileConfig:
-  cam_w: int
-  cam_h: int
-  prepare_only: bool
-  prefix: str
-
-  @property
-  def pkl_path(self):
-    return str(MODELS_DIR / f'{self.prefix}{"warp_" if self.prepare_only else ""}{self.cam_w}x{self.cam_h}_tinygrad.pkl')
-
-CAMERA_CONFIGS = [
-  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
-  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
-]
-MODELD_CONFIGS = [CompileConfig(cam_w, cam_h, prepare_only, 'driving_') for (cam_w, cam_h), prepare_only in product(CAMERA_CONFIGS, [True, False])]
-DM_WARP_CONFIGS = [CompileConfig(cam_w, cam_h, True, 'dm_') for cam_w, cam_h in CAMERA_CONFIGS]
-
+NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
 
 UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
 UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
@@ -79,8 +58,8 @@ def frames_to_tensor(frames):
   return in_img1
 
 
-def make_frame_prepare(cam_w, cam_h, model_w, model_h):
-  stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
+def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
+  cam_w, cam_h, stride, y_height, uv_height, _ = nv12
   uv_offset = stride * y_height
   stride_pad = stride - cam_w
 
@@ -143,21 +122,9 @@ def sample_desire(buf, frame_skip):
   return buf.reshape(-1, frame_skip, *buf.shape[1:]).max(1).flatten(0, 1).unsqueeze(0)
 
 
-def make_warp_dm(cam_w, cam_h, dm_w, dm_h):
-  stride, y_height, _, _ = get_nv12_info(cam_w, cam_h)
-  stride_pad = stride - cam_w
-
-  def warp_dm(input_frame, M_inv):
-    M_inv = M_inv.to(Device.DEFAULT).realize()
-    result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w)
-    return result
-  return warp_dm
-
-
-def make_run_policy(vision_runner, policy_runner, cam_w, cam_h,
+def make_run_policy(vision_runner, policy_runner, nv12: NV12Frame, model_w, model_h,
                     vision_features_slice, frame_skip, prepare_only=False):
-  model_w, model_h = MEDMODEL_INPUT_SIZE
-  frame_prepare = make_frame_prepare(cam_w, cam_h, model_w, model_h)
+  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
   sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
 
@@ -187,27 +154,24 @@ def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, t
   return run_policy
 
 
-def compile_modeld(cam_w, cam_h, prepare_only, pkl_path):
-  from tinygrad.nn.onnx import OnnxRunner
-  from openpilot.selfdrive.modeld.constants import ModelConstants
+def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
+                   vision_onnx, policy_onnx, pkl_path):
+  from get_model_metadata import metadata_path_for
 
-  _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
-  print(f"Compiling combined policy JIT for {cam_w}x{cam_h}...")
+  print(f"Compiling combined policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
 
-  vision_runner = OnnxRunner(MODELS_DIR / 'driving_vision.onnx')
-  policy_runner = OnnxRunner(MODELS_DIR / 'driving_policy.onnx')
+  vision_runner = OnnxRunner(vision_onnx)
+  policy_runner = OnnxRunner(policy_onnx)
 
-  with open(MODELS_DIR / 'driving_vision_metadata.pkl', 'rb') as f:
+  with open(metadata_path_for(vision_onnx), 'rb') as f:
     vision_metadata = pickle.load(f)
     vision_features_slice = vision_metadata['output_slices']['hidden_state']
     vision_input_shapes = vision_metadata['input_shapes']
-  with open(MODELS_DIR / 'driving_policy_metadata.pkl', 'rb') as f:
+  with open(metadata_path_for(policy_onnx), 'rb') as f:
     policy_input_shapes = pickle.load(f)['input_shapes']
 
-  frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
-
-  _run = make_run_policy(vision_runner, policy_runner,
-                         cam_w, cam_h, vision_features_slice, frame_skip, prepare_only)
+  _run = make_run_policy(vision_runner, policy_runner, nv12, model_w, model_h,
+                         vision_features_slice, frame_skip, prepare_only)
   run_policy_jit = TinyJit(_run, prune=True)
 
   N_RUNS = 3
@@ -219,8 +183,8 @@ def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_matc
     Tensor.manual_seed(seed)
 
     for i in range(N_RUNS):
-      frame = Tensor.randint(yuv_size, low=0, high=256, dtype='uint8').realize()
-      big_frame = Tensor.randint(yuv_size, low=0, high=256, dtype='uint8').realize()
+      frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+      big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
       for v in npy.values():
         v[:] = np.random.randn(*v.shape).astype(v.dtype)
       Device.default.synchronize()
@@ -260,37 +224,30 @@ def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_matc
   random_inputs_run_fn(run_policy_jit, SEED+1, test_val, test_buffers, expect_match=False)
 
 
-def compile_dm_warp(cam_w, cam_h, pkl_path):
-  dm_w, dm_h = DM_INPUT_SIZE
-  _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
-
-  print(f"Compiling DM warp for {cam_w}x{cam_h}...")
-
-  warp_dm = make_warp_dm(cam_w, cam_h, dm_w, dm_h)
-  warp_dm_jit = TinyJit(warp_dm, prune=True)
-
-  for i in range(10):
-    inputs = [Tensor.randint(yuv_size, low=0, high=256, dtype='uint8').realize(),
-              Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
-    Device.default.synchronize()
-    st = time.perf_counter()
-    warp_dm_jit(*inputs)
-    mt = time.perf_counter()
-    Device.default.synchronize()
-    et = time.perf_counter()
-    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
-
-  with open(pkl_path, "wb") as f:
-    pickle.dump(warp_dm_jit, f)
-  print(f"  Saved to {pkl_path}")
+def _parse_size(s):
+  w, h = s.lower().split('x')
+  return int(w), int(h)
 
 
-def run_and_save_pickle():
-  for cfg in MODELD_CONFIGS:
-    compile_modeld(cfg.cam_w, cfg.cam_h, cfg.prepare_only, cfg.pkl_path)
-  for cfg in DM_WARP_CONFIGS:
-    compile_dm_warp(cfg.cam_w, cfg.cam_h, cfg.pkl_path)
+def _parse_nv12(s):
+  parts = s.split(',')
+  assert len(parts) == len(NV12Frame._fields), \
+    f"--nv12 expects {','.join(NV12Frame._fields)} (got {s!r})"
+  return NV12Frame(*(int(x) for x in parts))
 
 
 if __name__ == "__main__":
-  run_and_save_pickle()
+  p = argparse.ArgumentParser()
+  p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
+  p.add_argument('--nv12', type=_parse_nv12, required=True,
+                 help=f'NV12 frame layout: {",".join(NV12Frame._fields)}')
+  p.add_argument('--vision-onnx', required=True)
+  p.add_argument('--policy-onnx', required=True)
+  p.add_argument('--output', required=True)
+  p.add_argument('--prepare-only', action='store_true')
+  p.add_argument('--frame-skip', type=int, required=True)
+  args = p.parse_args()
+
+  model_w, model_h = args.model_size
+  compile_modeld(args.nv12, model_w, model_h, args.prepare_only, args.frame_skip,
+                 args.vision_onnx, args.policy_onnx, args.output)
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index d5901e89439481..9aaf6aa9e08f17 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.tinygrad_helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
 set_tinygrad_backend_from_compiled_flags()
 
 from tinygrad.tensor import Tensor
diff --git a/selfdrive/modeld/get_model_metadata.py b/selfdrive/modeld/get_model_metadata.py
index 838b1e9f404e86..ee08e9fb14522f 100755
--- a/selfdrive/modeld/get_model_metadata.py
+++ b/selfdrive/modeld/get_model_metadata.py
@@ -7,6 +7,10 @@
 
 from tinygrad.nn.onnx import OnnxPBParser
 
+def metadata_path_for(onnx_path) -> pathlib.Path:
+  p = pathlib.Path(onnx_path)
+  return p.parent / (p.stem + '_metadata.pkl')
+
 
 class MetadataOnnxPBParser(OnnxPBParser):
   def _parse_ModelProto(self) -> dict:
@@ -48,7 +52,7 @@ def get_metadata_value_by_name(model: dict[str, Any], name: str) -> str | Any:
     'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
   }
 
-  metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
+  metadata_path = metadata_path_for(model_path)
   with open(metadata_path, 'wb') as f:
     pickle.dump(metadata, f)
 
diff --git a/selfdrive/modeld/helpers.py b/selfdrive/modeld/helpers.py
new file mode 100644
index 00000000000000..e5d731f34ba9cb
--- /dev/null
+++ b/selfdrive/modeld/helpers.py
@@ -0,0 +1,31 @@
+import json
+import os
+from dataclasses import dataclass
+from pathlib import Path
+
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+
+MODELS_DIR = Path(__file__).resolve().parent / 'models'
+COMPILED_FLAGS_PATH = MODELS_DIR / 'tg_compiled_flags.json'
+
+
+def set_tinygrad_backend_from_compiled_flags() -> None:
+  if os.path.isfile(COMPILED_FLAGS_PATH):
+    with open(COMPILED_FLAGS_PATH) as f:
+      os.environ['DEV'] = str(json.load(f)['DEV'])
+
+
+@dataclass
+class CompileConfig:
+  cam_w: int
+  cam_h: int
+  prepare_only: bool
+  prefix: str
+
+  @property
+  def pkl_path(self):
+    return str(MODELS_DIR / f'{self.prefix}{"warp_" if self.prepare_only else ""}{self.cam_w}x{self.cam_h}_tinygrad.pkl')
+
+  @property
+  def nv12(self):
+    return (self.cam_w, self.cam_h, *get_nv12_info(self.cam_w, self.cam_h))
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 7a8a442981a1f1..73ed19ec943790 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.tinygrad_helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, CompileConfig, set_tinygrad_backend_from_compiled_flags
 set_tinygrad_backend_from_compiled_flags()
 
 USBGPU = "USBGPU" in os.environ
@@ -26,7 +26,7 @@
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
-from openpilot.selfdrive.modeld.compile_modeld import CompileConfig, make_input_queues
+from openpilot.selfdrive.modeld.compile_modeld import make_input_queues
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.common.file_chunker import read_file_chunked
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
diff --git a/selfdrive/modeld/tinygrad_helpers.py b/selfdrive/modeld/tinygrad_helpers.py
deleted file mode 100644
index 9c1a0d4689f5dd..00000000000000
--- a/selfdrive/modeld/tinygrad_helpers.py
+++ /dev/null
@@ -1,12 +0,0 @@
-import json
-import os
-from pathlib import Path
-
-MODELS_DIR = Path(__file__).resolve().parent / 'models'
-COMPILED_FLAGS_PATH = MODELS_DIR / 'tg_compiled_flags.json'
-
-
-def set_tinygrad_backend_from_compiled_flags() -> None:
-  if os.path.isfile(COMPILED_FLAGS_PATH):
-    with open(COMPILED_FLAGS_PATH) as f:
-      os.environ['DEV'] = str(json.load(f)['DEV'])

From 1c69770c5376bb72966f19e89e680f1916503ec8 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 23 Apr 2026 13:15:08 -0700
Subject: [PATCH 0952/1434] tools/setup: support all common Linux distros
 (#37765)

* shorter ubuntu

* tools/setup: support all common Linux distros
---
 tools/setup_dependencies.sh | 92 ++++++++++++++++---------------------
 1 file changed, 40 insertions(+), 52 deletions(-)

diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
index 8132cd16dc182f..73cee5569b77a5 100755
--- a/tools/setup_dependencies.sh
+++ b/tools/setup_dependencies.sh
@@ -19,7 +19,7 @@ function retry() {
   return 1
 }
 
-function install_ubuntu_deps() {
+function install_linux_deps() {
   SUDO=""
 
   if [[ ! $(id -u) -eq 0 ]]; then
@@ -30,61 +30,49 @@ function install_ubuntu_deps() {
     SUDO="sudo"
   fi
 
-  # Detect OS using /etc/os-release file
-  if [ -f "/etc/os-release" ]; then
-    source /etc/os-release
-    case "$VERSION_CODENAME" in
-      "jammy" | "kinetic" | "noble")
-        ;;
-      *)
-        echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 24.04."
-        read -p "Would you like to attempt installation anyway? " -n 1 -r
-        echo ""
-        if [[ ! $REPLY =~ ^[Yy]$ ]]; then
-          exit 1
-        fi
-        ;;
-    esac
+  # normal stuff, this mostly for bare docker images
+  if command -v apt-get > /dev/null 2>&1; then
+    $SUDO apt-get update
+    $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git xvfb
+  elif command -v dnf > /dev/null 2>&1; then
+    $SUDO dnf install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git xorg-x11-server-Xvfb
+  elif command -v yum > /dev/null 2>&1; then
+    $SUDO yum install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git xorg-x11-server-Xvfb
+  elif command -v pacman > /dev/null 2>&1; then
+    $SUDO pacman -Syu --noconfirm --needed base-devel ca-certificates curl git xorg-server-xvfb
+  elif command -v zypper > /dev/null 2>&1; then
+    $SUDO zypper --non-interactive refresh
+    $SUDO zypper --non-interactive install ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-locale git xorg-x11-server
+  elif command -v apk > /dev/null 2>&1; then
+    $SUDO apk add --no-cache ca-certificates build-base curl curl-dev musl-locales git xvfb
+  elif command -v xbps-install > /dev/null 2>&1; then
+    $SUDO xbps-install -Syu base-devel ca-certificates curl git libcurl-devel glibc-locales xorg-server-xvfb
   else
-    echo "No /etc/os-release in the system. Make sure you're running on Ubuntu, or similar."
+    echo "Unsupported Linux distribution. Supported package managers: apt-get, dnf, yum, pacman, zypper, apk, xbps-install."
     exit 1
   fi
 
-  $SUDO apt-get update
-
-  # normal stuff, mostly for the bare docker image
-  $SUDO apt-get install -y --no-install-recommends \
-    ca-certificates \
-    build-essential \
-    curl \
-    libcurl4-openssl-dev \
-    locales \
-    git \
-    xvfb
-
   if [[ -d "/etc/udev/rules.d/" ]]; then
-    # Setup jungle udev rules
-    $SUDO tee /etc/udev/rules.d/12-panda_jungle.rules > /dev/null <<EOF
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcf", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddef", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcf", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddef", MODE="0666"
-
-EOF
-
-    # Setup panda udev rules
-    $SUDO tee /etc/udev/rules.d/11-panda.rules > /dev/null <<EOF
-SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcc", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddee", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
-EOF
-
-    # Setup adb udev rules
-    $SUDO tee /etc/udev/rules.d/50-comma-adb.rules > /dev/null <<EOF
-SUBSYSTEM=="usb", ATTR{idVendor}=="04d8", ATTR{idProduct}=="1234", ENV{adb_user}="yes"
-EOF
+    $SUDO tee /etc/udev/rules.d/11-openpilot.rules > /dev/null <<-EOF
+	# Panda Jungle devices
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcf", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddef", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcf", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddef", MODE="0666"
+
+	# Panda devices
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcc", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddee", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
+
+	# comma devices over ADB
+	SUBSYSTEM=="usb", ATTR{idVendor}=="04d8", ATTR{idProduct}=="1234", ENV{adb_user}="yes"
+	EOF
+
+    # delete the old ones
+    $SUDO rm -f /etc/udev/rules.d/11-panda.rules /etc/udev/rules.d/12-panda_jungle.rules /etc/udev/rules.d/50-comma-adb.rules
 
     $SUDO udevadm control --reload-rules && $SUDO udevadm trigger || true
   fi
@@ -116,7 +104,7 @@ function install_python_deps() {
 # --- Main ---
 
 if [[ "$OSTYPE" == "linux-gnu"* ]]; then
-  install_ubuntu_deps
+  install_linux_deps
   echo "[ ] installed system dependencies t=$SECONDS"
 elif [[ "$OSTYPE" == "darwin"* ]]; then
   if [[ $SHELL == "/bin/zsh" ]]; then

From c3b0f0d11a68836ad59b4a47df8145520ae96d50 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Thu, 23 Apr 2026 15:23:31 -0700
Subject: [PATCH 0953/1434] dmonitoringmodeld: get frame size from vipc
 (#37897)

---
 selfdrive/modeld/dmonitoringmodeld.py | 20 ++++++++------------
 1 file changed, 8 insertions(+), 12 deletions(-)

diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 9aaf6aa9e08f17..18a79136ae6ae0 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, CompileConfig, set_tinygrad_backend_from_compiled_flags
 set_tinygrad_backend_from_compiled_flags()
 
 from tinygrad.tensor import Tensor
@@ -28,7 +28,7 @@ class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
 
-  def __init__(self):
+  def __init__(self, cam_w: int, cam_h: int):
     with open(METADATA_PATH, 'rb') as f:
       model_metadata = pickle.load(f)
       self.input_shapes = model_metadata['input_shapes']
@@ -40,22 +40,18 @@ def __init__(self):
 
     self.warp_inputs_np = {'transform': np.zeros((3,3), dtype=np.float32)}
     self.warp_inputs = {k: Tensor(v, device='NPY') for k,v in self.warp_inputs_np.items()}
-    self.frame_buf_params = None
+    self.frame_buf_params = get_nv12_info(cam_w, cam_h)
     self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
     self._blob_cache : dict[int, Tensor] = {}
-    self.image_warp = None
     self.model_run = pickle.loads(read_file_chunked(str(MODEL_PKL_PATH)))
+    with open(CompileConfig(cam_w, cam_h, prefix='dm_', prepare_only=True).pkl_path, "rb") as f:
+      self.image_warp = pickle.load(f)
 
   def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
     self.numpy_inputs['calib'][0,:] = calib
 
     t1 = time.perf_counter()
 
-    if self.image_warp is None:
-      self.frame_buf_params = get_nv12_info(buf.width, buf.height)
-      warp_path = MODELS_DIR / f'dm_warp_{buf.width}x{buf.height}_tinygrad.pkl'
-      with open(warp_path, "rb") as f:
-        self.image_warp = pickle.load(f)
     ptr = buf.data.ctypes.data
     # There is a ringbuffer of imgs, just cache tensors pointing to all of them
     if ptr not in self._blob_cache:
@@ -109,9 +105,6 @@ def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_t
 def main():
   config_realtime_process(7, 5)
 
-  model = ModelState()
-  cloudlog.warning("models loaded, dmonitoringmodeld starting")
-
   cloudlog.warning("connecting to driver stream")
   vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True)
   while not vipc_client.connect(False):
@@ -119,6 +112,9 @@ def main():
   assert vipc_client.is_connected()
   cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")
 
+  model = ModelState(vipc_client.width, vipc_client.height)
+  cloudlog.warning("models loaded, dmonitoringmodeld starting")
+
   sm = SubMaster(["liveCalibration"])
   pm = PubMaster(["driverStateV2"])
 

From 275206c14d80225fed79a289171c98827c901e97 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Thu, 23 Apr 2026 15:44:09 -0700
Subject: [PATCH 0954/1434] increase MAX_ROLL threshold for lateral_maneuvers
 (#37898)

increase MAX_ROLL for starting lateral maneuvers due to device mounting variance
---
 tools/lateral_maneuvers/lateral_maneuversd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/lateral_maneuvers/lateral_maneuversd.py b/tools/lateral_maneuvers/lateral_maneuversd.py
index d8a7185410ba0b..4f68d9be085194 100755
--- a/tools/lateral_maneuvers/lateral_maneuversd.py
+++ b/tools/lateral_maneuvers/lateral_maneuversd.py
@@ -13,7 +13,7 @@
 # thresholds for starting maneuvers
 MAX_SPEED_DEV = 0.7 # deviation in m/s
 MAX_CURV = 0.002 # 500 m radius
-MAX_ROLL = 0.08 # 4.56°
+MAX_ROLL = 0.12 # 6.8°
 TIMER = 2.0 # sec stable conditions before starting maneuver
 
 @dataclass

From 63068481d7d52571b440b159157d427ac5833ed6 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Thu, 23 Apr 2026 16:19:30 -0700
Subject: [PATCH 0955/1434] fix build docs CI (#37899)

docs: fix build
---
 docs/ext/glossary.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/ext/glossary.py b/docs/ext/glossary.py
index 35c92add10bad7..9bbf3c78d71c10 100644
--- a/docs/ext/glossary.py
+++ b/docs/ext/glossary.py
@@ -8,7 +8,7 @@
 from markdown.preprocessors import Preprocessor
 from markdown.treeprocessors import Treeprocessor
 
-from zensical.extensions.links import LinksProcessor
+from zensical.extensions.links import LinksTreeprocessor
 
 GlossaryTerm = tuple[str, re.Pattern[str], str]
 
@@ -78,7 +78,7 @@ def __init__(self, md, glossary: list[GlossaryTerm]):
   def run(self, root: ET.Element) -> None:
     at = self.md.treeprocessors.get_index_for_name("zrelpath")
     processor = self.md.treeprocessors[at]
-    if not isinstance(processor, LinksProcessor):
+    if not isinstance(processor, LinksTreeprocessor):
       raise TypeError("Links processor not registered")
     if processor.path == GLOSSARY_PAGE:
       return

From ad875632ac3e5e528db330c2ec249b8bec57df23 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Thu, 23 Apr 2026 16:55:37 -0700
Subject: [PATCH 0956/1434] camerad: switch on-sensor binning to BPS
 downscaling (#37876)

* update blob

* fixed

* didnt catch this

* add back

* needs BLC built in

* for real

* attempt2

* clean up override

* this should keep ox as was

* disable for OX

* update descs

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/bps_blobs.h         | 18 +++---
 system/camerad/cameras/spectra.cc          | 66 ++++++++++++++++++----
 system/camerad/cameras/spectra.h           |  1 +
 system/camerad/sensors/os04c10.cc          | 23 ++------
 system/camerad/sensors/os04c10_registers.h | 54 ++++++------------
 system/camerad/sensors/sensor.h            |  1 -
 6 files changed, 87 insertions(+), 76 deletions(-)

diff --git a/system/camerad/cameras/bps_blobs.h b/system/camerad/cameras/bps_blobs.h
index 4a0de6659d606b..ee31698e7f0a89 100644
--- a/system/camerad/cameras/bps_blobs.h
+++ b/system/camerad/cameras/bps_blobs.h
@@ -8,23 +8,23 @@
 
 
 unsigned char bps_cfg[4][768] = {
+{ /* placeholder */ },
 { /* placeholder */ },
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 };
 
-unsigned char bps_striping_output[4][0x9a0] = {
+unsigned char bps_striping_output[4][0xc58] = {
 { /* placeholder */ },
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 };
 
 unsigned char bps_settings[4][684] = {
 { /* placeholder */ },
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+  {0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0},
 };
 
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 23c58c1ec90ebd..1ebb36a4d9c076 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -466,8 +466,11 @@ void SpectraCamera::config_bps(int idx, int request_id) {
     * BPS = Bayer Processing Segment
   */
 
-  int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2 + sizeof(struct cam_buf_io_cfg)*2;
-  size += sizeof(struct cam_patch_desc)*12;
+  bool needs_downscale = sensor->out_scale > 1;
+  int num_io_cfgs = needs_downscale ? 3 : 2;
+  int num_patches = needs_downscale ? 14 : 12;
+  int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2 + sizeof(struct cam_buf_io_cfg)*num_io_cfgs;
+  size += sizeof(struct cam_patch_desc)*num_patches;
 
   uint32_t cam_packet_handle = 0;
   auto pkt = m->mem_mgr.alloc<struct cam_packet>(size, &cam_packet_handle);
@@ -607,7 +610,7 @@ void SpectraCamera::config_bps(int idx, int request_id) {
     tmp.header = CAM_ICP_CMD_GENERIC_BLOB_CLK;
     tmp.header |= (sizeof(cam_icp_clk_bw_request)) << 8;
     tmp.clk.budget_ns = 0x1fca058;
-    tmp.clk.frame_cycles = 2329024; // comes from the striping lib
+    tmp.clk.frame_cycles = sensor->frame_width * sensor->frame_height; // matches striping lib pixelCount
     tmp.clk.rt_flag = 0x0;
     tmp.clk.uncompressed_bw = 0x38512180;
     tmp.clk.compressed_bw = 0x38512180;
@@ -622,7 +625,7 @@ void SpectraCamera::config_bps(int idx, int request_id) {
   }
 
   // *** io config ***
-  pkt->num_io_configs = 2;
+  pkt->num_io_configs = num_io_cfgs;
   pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf;
   struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset);
   {
@@ -666,11 +669,39 @@ void SpectraCamera::config_bps(int idx, int request_id) {
 
     io_cfg[1].format = CAM_FORMAT_NV12;  // TODO: why is this 21 in the dump? should be 12
     io_cfg[1].color_space = CAM_COLOR_SPACE_BT601_FULL;
-    io_cfg[1].resource_type = CAM_ICP_BPS_OUTPUT_IMAGE_FULL;
+    io_cfg[1].resource_type = needs_downscale ? CAM_ICP_BPS_OUTPUT_IMAGE_REG1 : CAM_ICP_BPS_OUTPUT_IMAGE_FULL;
     io_cfg[1].fence = sync_objs_bps[idx];
     io_cfg[1].direction = CAM_BUF_OUTPUT;
     io_cfg[1].subsample_pattern = 0x1;
     io_cfg[1].framedrop_pattern = 0x1;
+
+    if (needs_downscale) {
+      // downscaling needs a full res placeholder
+      uint32_t full_stride, full_y_h, full_uv_h, full_yuv_size;
+      std::tie(full_stride, full_y_h, full_uv_h, full_yuv_size) = get_nv12_info(sensor->frame_width, sensor->frame_height);
+      io_cfg[2].mem_handle[0] = bps_fullres_dummy.handle;
+      io_cfg[2].mem_handle[1] = bps_fullres_dummy.handle;
+      io_cfg[2].planes[0] = (struct cam_plane_cfg){
+        .width = sensor->frame_width,
+        .height = sensor->frame_height,
+        .plane_stride = full_stride,
+        .slice_height = full_y_h,
+      };
+      io_cfg[2].planes[1] = (struct cam_plane_cfg){
+        .width = sensor->frame_width,
+        .height = sensor->frame_height / 2,
+        .plane_stride = full_stride,
+        .slice_height = full_uv_h,
+      };
+      io_cfg[2].offsets[1] = ALIGNED_SIZE(full_stride * full_y_h, 0x1000);
+      io_cfg[2].format = CAM_FORMAT_NV12;
+      io_cfg[2].color_space = CAM_COLOR_SPACE_BT601_FULL;
+      io_cfg[2].resource_type = CAM_ICP_BPS_OUTPUT_IMAGE_FULL;
+      io_cfg[2].fence = sync_objs_bps[idx];
+      io_cfg[2].direction = CAM_BUF_OUTPUT;
+      io_cfg[2].subsample_pattern = 0x1;
+      io_cfg[2].framedrop_pattern = 0x1;
+    }
   }
 
   // *** patches ***
@@ -690,9 +721,17 @@ void SpectraCamera::config_bps(int idx, int request_id) {
     // input frame
     add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[0].ptr[0]), buf_handle_raw[idx], 0);
 
-    // output frame
-    add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[0]), buf_handle_yuv[idx], 0);
-    add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[1]), buf_handle_yuv[idx], io_cfg[1].offsets[1]);
+    if (needs_downscale) {
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[0]), bps_fullres_dummy.handle, 0);
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[1]), bps_fullres_dummy.handle, io_cfg[2].offsets[1]);
+      // output frame at REG1
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[7].ptr[0]), buf_handle_yuv[idx], 0);
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[7].ptr[1]), buf_handle_yuv[idx], io_cfg[1].offsets[1]);
+    } else {
+      // output frame at FULL
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[0]), buf_handle_yuv[idx], 0);
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[1]), buf_handle_yuv[idx], io_cfg[1].offsets[1]);
+    }
 
     // rest of buffers
     add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, settings_addr), bps_iq.handle, 0);
@@ -1003,9 +1042,6 @@ bool SpectraCamera::openSensor() {
   LOGD("-- Probing sensor %d", cc.camera_num);
 
   auto init_sensor_lambda = [this](SensorInfo *s) {
-    if (s->image_sensor == cereal::FrameData::ImageSensor::OS04C10 && cc.output_type == ISP_IFE_PROCESSED) {
-      ((OS04C10*)s)->ife_downscale_configure();
-    }
     sensor.reset(s);
     return (sensors_init() == 0);
   };
@@ -1183,7 +1219,13 @@ void SpectraCamera::configICP() {
 
   // used internally by the BPS, we just allocate it.
   // size comes from the BPSStripingLib
-  bps_cdm_striping_bl.init(m, 0xa100, 0x20, true, m->icp_device_iommu);
+  bps_cdm_striping_bl.init(m, 0xcfe0, 0x20, true, m->icp_device_iommu);
+
+  if (sensor->out_scale > 1) {
+    uint32_t full_stride, full_y_h, full_uv_h, full_yuv_size;
+    std::tie(full_stride, full_y_h, full_uv_h, full_yuv_size) = get_nv12_info(sensor->frame_width, sensor->frame_height);
+    bps_fullres_dummy.init(m, full_yuv_size, 0x1000, true, m->icp_device_iommu);
+  }
 
   // LUTs
   assert(sensor->linearization_lut.size() == 36);
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index 741e8ad276effc..b8964aed6cc400 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -174,6 +174,7 @@ class SpectraCamera {
   SpectraBuf bps_striping;
   SpectraBuf bps_linearization_lut;
   SpectraBuf bps_gamma_lut;
+  SpectraBuf bps_fullres_dummy;
   std::vector<uint32_t> bps_lin_reg;
   std::vector<uint32_t> bps_ccm_reg;
 
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 62c26ca80973e0..7e837f819ccbff 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -21,27 +21,16 @@ const uint32_t os04c10_analog_gains_reg[] = {
 
 }  // namespace
 
-void OS04C10::ife_downscale_configure() {
-  out_scale = 2;
-
-  pixel_size_mm = 0.002;
-  frame_width = 2688;
-  frame_height = 1520;
-  exposure_time_max = 2352;
-
-  init_reg_array.insert(init_reg_array.end(), std::begin(ife_downscale_override_array_os04c10), std::end(ife_downscale_override_array_os04c10));
-}
-
 OS04C10::OS04C10() {
   image_sensor = cereal::FrameData::ImageSensor::OS04C10;
   bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG;
-  pixel_size_mm = 0.004;
+  pixel_size_mm = 0.002;
   data_word = false;
 
-  // hdr_offset = 64 * 2 + 8; // stagger
-  frame_width = 1344;
-  frame_height = 760; //760 * 2 + hdr_offset;
-  frame_stride = (frame_width * 12 / 8); // no alignment
+  out_scale = 2;
+  frame_width = 2688;
+  frame_height = 1520;
+  frame_stride = frame_width * 12 / 8;
 
   extra_height = 0;
   frame_offset = 0;
@@ -65,7 +54,7 @@ OS04C10::OS04C10() {
   dc_gain_on_grey = 0.9;
   dc_gain_off_grey = 1.0;
   exposure_time_min = 2;
-  exposure_time_max = 1684;
+  exposure_time_max = 2352;
   analog_gain_min_idx = 0x0;
   analog_gain_rec_idx = 0x0;  // 1x
   analog_gain_max_idx = 0x28;
diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h
index 28d6b3310c59d6..45512851bcf921 100644
--- a/system/camerad/sensors/os04c10_registers.h
+++ b/system/camerad/sensors/os04c10_registers.h
@@ -4,7 +4,7 @@ const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}};
 const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}};
 
 const struct i2c_random_wr_payload init_array_os04c10[] = {
-  // baseed on DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE
+  // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
   {0x0103, 0x01}, // software reset
 
   // PLL + clocks
@@ -93,7 +93,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x388b, 0x00},
   {0x3c80, 0x10},
   {0x3c86, 0x00},
-  {0x3c8c, 0x20},
+  {0x3c8c, 0x40},
   {0x3c9f, 0x01},
   {0x3d85, 0x1b},
   {0x3d8c, 0x71},
@@ -197,7 +197,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x370b, 0x48},
   {0x370c, 0x01},
   {0x370f, 0x00},
-  {0x3714, 0x28},
+  {0x3714, 0x24},
   {0x3716, 0x04},
   {0x3719, 0x11},
   {0x371a, 0x1e},
@@ -229,7 +229,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37bd, 0x01},
   {0x37bf, 0x26},
   {0x37c0, 0x11},
-  {0x37c2, 0x14},
+  {0x37c2, 0x04},
   {0x37cd, 0x19},
   {0x37e0, 0x08},
   {0x37e6, 0x04},
@@ -239,14 +239,14 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37d8, 0x02},
   {0x37e2, 0x10},
   {0x3739, 0x10},
-  {0x3662, 0x08},
+  {0x3662, 0x10},
   {0x37e4, 0x20},
   {0x37e3, 0x08},
-  {0x37d9, 0x04},
+  {0x37d9, 0x08},
   {0x4040, 0x00},
-  {0x4041, 0x03},
-  {0x4008, 0x01},
-  {0x4009, 0x06},
+  {0x4041, 0x07},
+  {0x4008, 0x02},
+  {0x4009, 0x0d},
 
   // FSIN - frame sync
   {0x3002, 0x22},
@@ -267,20 +267,20 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3802, 0x00}, {0x3803, 0x00},
   {0x3804, 0x0a}, {0x3805, 0x8f},
   {0x3806, 0x05}, {0x3807, 0xff},
-  {0x3808, 0x05}, {0x3809, 0x40},
-  {0x380a, 0x02}, {0x380b, 0xf8},
+  {0x3808, 0x0a}, {0x3809, 0x80},
+  {0x380a, 0x05}, {0x380b, 0xf0},
   {0x3811, 0x08},
   {0x3813, 0x08},
-  {0x3814, 0x03},
+  {0x3814, 0x01},
   {0x3815, 0x01},
-  {0x3816, 0x03},
+  {0x3816, 0x01},
   {0x3817, 0x01},
 
-  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS (line length)
-  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS (frame length)
+  {0x380c, 0x08}, {0x380d, 0x5c}, // HTS (line length)
+  {0x380e, 0x09}, {0x380f, 0x38}, // VTS (frame length)
 
-  {0x3820, 0xb3},
-  {0x3821, 0x01},
+  {0x3820, 0xb0},
+  {0x3821, 0x00},
   {0x3880, 0x00},
   {0x3882, 0x20},
   {0x3c91, 0x0b},
@@ -330,23 +330,3 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x5104, 0x08}, {0x5105, 0xd6},
   {0x5144, 0x08}, {0x5145, 0xd6},
 };
-
-const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = {
-  // based on OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
-  {0x3c8c, 0x40},
-  {0x3714, 0x24},
-  {0x37c2, 0x04},
-  {0x3662, 0x10},
-  {0x37d9, 0x08},
-  {0x4041, 0x07},
-  {0x4008, 0x02},
-  {0x4009, 0x0d},
-  {0x3808, 0x0a}, {0x3809, 0x80},
-  {0x380a, 0x05}, {0x380b, 0xf0},
-  {0x3814, 0x01},
-  {0x3816, 0x01},
-  {0x380c, 0x08}, {0x380d, 0x5c}, // HTS
-  {0x380e, 0x09}, {0x380f, 0x38}, // VTS
-  {0x3820, 0xb0},
-  {0x3821, 0x00},
-};
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index 96aa8b604f323e..1a647d1528af10 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -98,7 +98,6 @@ class OX03C10 : public SensorInfo {
 class OS04C10 : public SensorInfo {
 public:
   OS04C10();
-  void ife_downscale_configure();
   std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
   float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
   int getSlaveAddress(int port) const override;

From 494eba59618634e00583aaab24c631ab14cfdc09 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Fri, 24 Apr 2026 13:22:43 -0700
Subject: [PATCH 0957/1434] Raise mici thermal limits (#37891)

* adjust thermal bands

* raise OFFROAD_DANGER_TEMP

* rename thermal bands

* rm warm
---
 cereal/log.capnp                   |  8 ++++----
 selfdrive/selfdrived/selfdrived.py |  2 +-
 selfdrive/ui/layouts/sidebar.py    |  4 +---
 system/hardware/hardwared.py       | 28 +++++++++++++++++-----------
 4 files changed, 23 insertions(+), 19 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index c0ee33743af169..71e9deb5b2b9f6 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -460,10 +460,10 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   }
 
   enum ThermalStatus {
-    green @0;
-    yellow @1;
-    red @2;
-    danger @3;
+    ok @0;
+    warmDEPRECATED @1;
+    overheated @2;
+    critical @3;
   }
 
   enum NetworkType {
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 110b0b722ec542..52ddb8397c2fd4 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -226,7 +226,7 @@ def update_events(self, CS):
         self.events.add(EventName.pedalPressed)
 
     # Create events for temperature, disk space, and memory
-    if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
+    if self.sm['deviceState'].thermalStatus >= ThermalStatus.overheated:
       self.events.add(EventName.overheat)
     if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION:
       self.events.add(EventName.outOfSpace)
diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py
index a7f3a46279bca5..3b45c994c0cca0 100644
--- a/selfdrive/ui/layouts/sidebar.py
+++ b/selfdrive/ui/layouts/sidebar.py
@@ -121,10 +121,8 @@ def _update_network_status(self, device_state):
   def _update_temperature_status(self, device_state):
     thermal_status = device_state.thermalStatus
 
-    if thermal_status == ThermalStatus.green:
+    if thermal_status == ThermalStatus.ok:
       self._temp_status.update(tr_noop("TEMP"), tr_noop("GOOD"), Colors.GOOD)
-    elif thermal_status == ThermalStatus.yellow:
-      self._temp_status.update(tr_noop("TEMP"), tr_noop("OK"), Colors.WARNING)
     else:
       self._temp_status.update(tr_noop("TEMP"), tr_noop("HIGH"), Colors.DANGER)
 
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 4324e90c75faf0..97b84c0e4b560d 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -41,15 +41,21 @@
 
 # List of thermal bands. We will stay within this region as long as we are within the bounds.
 # When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict.
-THERMAL_BANDS = OrderedDict({
-  ThermalStatus.green: ThermalBand(None, 80.0),
-  ThermalStatus.yellow: ThermalBand(75.0, 96.0),
-  ThermalStatus.red: ThermalBand(88.0, 107.),
-  ThermalStatus.danger: ThermalBand(94.0, None),
-})
+if HARDWARE.get_device_type() == "mici":
+  THERMAL_BANDS = OrderedDict({
+    ThermalStatus.ok: ThermalBand(None, 100.0),
+    ThermalStatus.overheated: ThermalBand(92.0, 107.),
+    ThermalStatus.critical: ThermalBand(98.0, None),
+  })
+else:
+  THERMAL_BANDS = OrderedDict({
+    ThermalStatus.ok: ThermalBand(None, 96.0),
+    ThermalStatus.overheated: ThermalBand(88.0, 107.),
+    ThermalStatus.critical: ThermalBand(94.0, None),
+  })
 
 # Override to highest thermal band when offroad and above this temp
-OFFROAD_DANGER_TEMP = 75
+OFFROAD_DANGER_TEMP = 85 if HARDWARE.get_device_type() == "mici" else 75
 
 prev_offroad_states: dict[str, tuple[bool, str | None]] = {}
 
@@ -181,7 +187,7 @@ def hardware_thread(end_event, hw_queue) -> None:
   started_ts: float | None = None
   started_seen = False
   startup_blocked_ts: float | None = None
-  thermal_status = ThermalStatus.yellow
+  thermal_status = ThermalStatus.ok
 
   last_hw_state = HardwareState(
     network_type=NetworkType.none,
@@ -289,7 +295,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP:
       # if device is offroad and already hot without the extra onroad load,
       # we want to cool down first before increasing load
-      thermal_status = ThermalStatus.danger
+      thermal_status = ThermalStatus.critical
     else:
       current_band = THERMAL_BANDS[thermal_status]
       band_idx = list(THERMAL_BANDS.keys()).index(thermal_status)
@@ -312,13 +318,13 @@ def hardware_thread(end_event, hw_queue) -> None:
     startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot")
 
     # must be at an engageable thermal band to go onroad
-    startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.red
+    startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.overheated
 
     # ensure device is fully booted
     startup_conditions["device_booted"] = startup_conditions.get("device_booted", False) or HARDWARE.booted()
 
     # if the temperature enters the danger zone, go offroad to cool down
-    onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
+    onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.critical
     extra_text = f"{offroad_comp_temp:.1f}C"
     show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"]
     set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)

From 8c533b14c0a3346d76397491d143b6ef13ea94e8 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Fri, 24 Apr 2026 13:24:29 -0700
Subject: [PATCH 0958/1434] AGNOS 18.1 (#37895)

* test agnos18.1 in staging

* loggerd: link va/va-drm/drm on larch64

* agnos 18.1 production
---
 launch_env.sh                            |  2 +-
 system/hardware/tici/agnos.json          | 20 ++++++-------
 system/hardware/tici/all-partitions.json | 36 ++++++++++++------------
 system/loggerd/SConscript                |  5 ++--
 4 files changed, 32 insertions(+), 31 deletions(-)

diff --git a/launch_env.sh b/launch_env.sh
index e409a80dd40b80..275f5e42f4ff28 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="17.2"
+  export AGNOS_VERSION="18.1"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 295b0279d95bde..e6dfb6b91a8d96 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -56,28 +56,28 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51.img.xz",
-    "hash": "d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51",
-    "hash_raw": "d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04.img.xz",
+    "hash": "3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04",
+    "hash_raw": "3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04",
     "size": 17500160,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "2454108de1161289bc4a75449ad6421f1772b13b3e5cba68a84fca7530557699"
+    "ondevice_hash": "4e12accbcbb03fd9eebc5c1231a7b79dc1d9e15341cce56dc88930832ee86207"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5.img.xz",
-    "hash": "5f319030ad05942267b77f1a4686c4ca24cc09b2c2a4688e57342ffc9720fd49",
-    "hash_raw": "dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2.img.xz",
+    "hash": "bb4ccf77037120ace841cbcd94387c0650b317595cd0eab555b3ba0beb74e840",
+    "hash_raw": "82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "c12f1b7d790a418aea17424accf4cd59c575e5745cad82bdc9452f384483648c",
+    "ondevice_hash": "f1505151cde236f0d3ccdb764e3c604761ad2c1beb40f2c340ea9470d0cecc0e",
     "alt": {
-      "hash": "dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5.img",
+      "hash": "82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2.img",
       "size": 4718592000
     }
   }
diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json
index 0801907a2d963b..1d826a5dc92159 100644
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@@ -339,51 +339,51 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51.img.xz",
-    "hash": "d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51",
-    "hash_raw": "d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04.img.xz",
+    "hash": "3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04",
+    "hash_raw": "3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04",
     "size": 17500160,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "2454108de1161289bc4a75449ad6421f1772b13b3e5cba68a84fca7530557699"
+    "ondevice_hash": "4e12accbcbb03fd9eebc5c1231a7b79dc1d9e15341cce56dc88930832ee86207"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5.img.xz",
-    "hash": "5f319030ad05942267b77f1a4686c4ca24cc09b2c2a4688e57342ffc9720fd49",
-    "hash_raw": "dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2.img.xz",
+    "hash": "bb4ccf77037120ace841cbcd94387c0650b317595cd0eab555b3ba0beb74e840",
+    "hash_raw": "82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "c12f1b7d790a418aea17424accf4cd59c575e5745cad82bdc9452f384483648c",
+    "ondevice_hash": "f1505151cde236f0d3ccdb764e3c604761ad2c1beb40f2c340ea9470d0cecc0e",
     "alt": {
-      "hash": "dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5.img",
+      "hash": "82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2.img",
       "size": 4718592000
     }
   },
   {
     "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-a7b25ea29255f4fd3a2da99e037f40b4ca10bd4afd57dd96563353b8dfb0f634.img.xz",
-    "hash": "7ea9d7d4685ec36bbfdf06afe0b51650d567416c3092fef96bd97158ed322742",
-    "hash_raw": "a7b25ea29255f4fd3a2da99e037f40b4ca10bd4afd57dd96563353b8dfb0f634",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-6bf2fb546944f6fc0cdf865f92ade316430a75a7b1680d3fe891b34921c29b64.img.xz",
+    "hash": "f3badccff4330301cdae10e072a460a331421715f71253ea3bdcbf708f61d012",
+    "hash_raw": "6bf2fb546944f6fc0cdf865f92ade316430a75a7b1680d3fe891b34921c29b64",
     "size": 96636764160,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "79ed653c1679d84b13ee23083a511b0e668454e4af9b0db99a3279072ed041c1"
+    "ondevice_hash": "82e907612afc989363656c821b9cf2107cddcbdc5030cc9b5608a38855dd1c60"
   },
   {
     "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-8e428632c967aa609cac184bff938a90240e53ffd3b4fca40bc94c33c81202ba.img.xz",
-    "hash": "7104cdb0384e4ecb1ebfa6136a2330251bc8aa829b9ec48c4b740f656252d382",
-    "hash_raw": "8e428632c967aa609cac184bff938a90240e53ffd3b4fca40bc94c33c81202ba",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-575b01a0e84bff31180a1589b9d62810e2198e4012250e01fd80c2d5cd9ba9e1.img.xz",
+    "hash": "ebeebbe3b8e111fe807b88b993b2fa50c0ea15e838c531a3885dd3037338b1a4",
+    "hash_raw": "575b01a0e84bff31180a1589b9d62810e2198e4012250e01fd80c2d5cd9ba9e1",
     "size": 95563022336,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "fbede3b0831dbc4a4edd336e5f547f4978902b9421fb1484e86c416192c59165"
+    "ondevice_hash": "2a9d00ad72978d94640e7fb6c4b20b398e1a1bbc7a0c32f7d02fa988f755bd12"
   }
 ]
\ No newline at end of file
diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript
index 45e8b25d208e04..37812639ff14bf 100644
--- a/system/loggerd/SConscript
+++ b/system/loggerd/SConscript
@@ -11,8 +11,9 @@ if arch != "larch64":
   libs += ['yuv']
   if arch == "Darwin":
     frameworks += ['VideoToolbox', 'CoreMedia', 'CoreFoundation', 'CoreVideo']
-  else:
-    libs += ['va', 'va-drm', 'drm']
+
+if arch != "Darwin":
+  libs += ['va', 'va-drm', 'drm']
 
 if arch == "Darwin":
   # exclude v4l

From 79cd8420eb62605e58f829041df41d91ebe98164 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 24 Apr 2026 15:02:37 -0700
Subject: [PATCH 0959/1434] jp: 2x faster parsing (#37904)

* jp: 2x faster parsing

* rm dynamic path

* cleanup

* lil more

* livin in the future

* clean that up

* one more
---
 tools/jotpluggler/.gitignore                  |   1 +
 tools/jotpluggler/SConscript                  |  18 +
 .../jotpluggler/generate_event_extractors.py  | 327 +++++++++++++++
 tools/jotpluggler/sketch_layout.cc            | 390 ++----------------
 4 files changed, 380 insertions(+), 356 deletions(-)
 create mode 100644 tools/jotpluggler/generate_event_extractors.py

diff --git a/tools/jotpluggler/.gitignore b/tools/jotpluggler/.gitignore
index 7cb98300fef21e..5f5f9dbdecfcf8 100644
--- a/tools/jotpluggler/.gitignore
+++ b/tools/jotpluggler/.gitignore
@@ -3,6 +3,7 @@ jot_*.o
 *.o
 jotpluggler
 car_fingerprint_to_dbc.h
+generated_event_extractors.h
 generated_dbcs/.stamp
 generated_dbcs/*.dbc
 layouts/.jotpluggler_autosave/
diff --git a/tools/jotpluggler/SConscript b/tools/jotpluggler/SConscript
index 122d502341c542..082d052445991c 100644
--- a/tools/jotpluggler/SConscript
+++ b/tools/jotpluggler/SConscript
@@ -1,4 +1,5 @@
 import os
+import subprocess
 import imgui
 import libusb
 from opendbc import get_generated_dbcs
@@ -77,8 +78,24 @@ def write_car_fingerprint_to_dbc_header(target, source, env):
 
   return None
 
+def generate_event_extractors(target, source, env):
+  subprocess.check_call([
+    "python3",
+    "tools/jotpluggler/generate_event_extractors.py",
+    os.path.realpath(BASEDIR),
+    str(target[0]),
+  ])
+  return None
+
 generated_dbc_stamp = jot_env.Command(f"generated_dbcs/.stamp", [], materialize_generated_dbcs)
 car_fingerprint_to_dbc = jot_env.Command("car_fingerprint_to_dbc.h", [], write_car_fingerprint_to_dbc_header)
+event_extractors = jot_env.Command("generated_event_extractors.h", [
+    "generate_event_extractors.py",
+    jot_env.Glob("#cereal/*.capnp"),
+    jot_env.Glob("#cereal/include/*.capnp"),
+  ],
+  generate_event_extractors,
+)
 
 libs = [replay_lib, common, messaging, visionipc, cereal, File(f"{imgui.LIB_DIR}/libimgui.a"), File(f"{imgui.LIB_DIR}/libglfw3.a"),
         "avformat", "avcodec", "avutil", "x264", "yuv", "z", "bz2", "zstd", "m", "pthread", "usb-1.0"]
@@ -90,3 +107,4 @@ else:
 program = jot_env.Program("jotpluggler", jot_env.Glob("*.cc"), LIBS=libs)
 jot_env.Depends(program, generated_dbc_stamp)
 jot_env.Depends(program, car_fingerprint_to_dbc)
+jot_env.Depends(program, event_extractors)
diff --git a/tools/jotpluggler/generate_event_extractors.py b/tools/jotpluggler/generate_event_extractors.py
new file mode 100644
index 00000000000000..1aba9578cd1a66
--- /dev/null
+++ b/tools/jotpluggler/generate_event_extractors.py
@@ -0,0 +1,327 @@
+import sys
+import capnp
+from pathlib import Path
+
+NO_DISCRIMINANT = 65535
+SCALAR_KINDS = {
+  "bool": "Bool",
+  "int8": "Int",
+  "int16": "Int",
+  "int32": "Int",
+  "int64": "Int",
+  "uint8": "UInt",
+  "uint16": "UInt",
+  "uint32": "UInt",
+  "uint64": "UInt",
+  "float32": "Float",
+  "float64": "Float",
+  "enum": "Enum",
+}
+NESTED_TYPE_KINDS = {"struct", "list"}
+IGNORED_TYPE_KINDS = {"void", "text", "data", "interface", "anyPointer"}
+
+
+def cxx_string(value):
+  return '"' + value.replace("\\", "\\\\").replace('"', '\\"') + '"'
+
+
+def accessor(prefix, name):
+  return prefix + name[:1].upper() + name[1:]
+
+
+def field_type(field):
+  if field.proto.which() == "group":
+    return "struct"
+  return field.proto.slot.type.which()
+
+
+def field_type_proto(field):
+  return field.proto.slot.type if field.proto.which() == "slot" else None
+
+
+def scalar_kind(type_proto):
+  if type_proto is None:
+    return None
+  return SCALAR_KINDS.get(type_proto.which())
+
+
+def enum_names(schema):
+  if schema is None:
+    return []
+  names_by_ordinal = schema.enumerants
+  if not names_by_ordinal:
+    return []
+  max_ordinal = max(names_by_ordinal.values())
+  out = [""] * (max_ordinal + 1)
+  for name, ordinal in names_by_ordinal.items():
+    out[ordinal] = name
+  return out
+
+
+class Generator:
+  def __init__(self, event_schema):
+    self.event_schema = event_schema
+    self.fixed_paths = []
+    self.tmp_index = 0
+    self.lines = []
+    self.emits_memo = {}
+
+  def tmp(self, prefix):
+    self.tmp_index += 1
+    return f"{prefix}_{self.tmp_index}"
+
+  def add_fixed_path(self, path):
+    slot = len(self.fixed_paths)
+    self.fixed_paths.append(path)
+    return slot
+
+  def emit(self, indent, text=""):
+    self.lines.append(" " * indent + text)
+
+  def scalar_double_expr(self, value_expr, kind):
+    if kind == "Bool":
+      return f"({value_expr} ? 1.0 : 0.0)"
+    if kind == "Enum":
+      return f"static_cast<double>(static_cast<uint16_t>({value_expr}))"
+    return f"static_cast<double>({value_expr})"
+
+  def emit_enum_capture(self, indent, path_expr, names):
+    if not names:
+      return
+    names_expr = "{" + ", ".join(cxx_string(name) for name in names) + "}"
+    self.emit(indent, f"capture_static_enum_info({path_expr}, {names_expr}, series);")
+
+  def emit_node(self, indent, type_kind, type_proto, schema, expr, path, path_expr, dynamic_path):
+    if not self.node_emits(type_kind, type_proto, schema):
+      return
+    kind = scalar_kind(type_proto)
+    if kind is not None:
+      double_expr = self.scalar_double_expr(expr, kind)
+      if dynamic_path:
+        if kind == "Enum":
+          self.emit_enum_capture(indent, path_expr, enum_names(schema))
+        self.emit(indent, f"append_dynamic_scalar_point({path_expr}, tm, {double_expr}, series);")
+      else:
+        slot = self.add_fixed_path(path)
+        if kind == "Enum":
+          self.emit_enum_capture(indent, cxx_string(path), enum_names(schema))
+        self.emit(indent, f"append_fixed_scalar_point(&series->fixed_series[{slot}], tm, {double_expr});")
+      return
+
+    if type_kind == "struct":
+      self.emit_struct(indent, schema, expr, path, path_expr, dynamic_path)
+      return
+
+    if type_kind == "list":
+      self.emit_list(indent, type_proto, schema, expr, path, path_expr, dynamic_path)
+
+  def emit_field(self, indent, struct_schema, reader_expr, field_name, base_path, base_path_expr, dynamic_path):
+    field = struct_schema.fields[field_name]
+    proto = field.proto
+    type_kind = field_type(field)
+    type_proto = field_type_proto(field)
+    kind = scalar_kind(type_proto)
+    value_schema = field.schema if kind == "Enum" or type_kind in NESTED_TYPE_KINDS else None
+    if not self.node_emits(type_kind, type_proto, value_schema):
+      return
+
+    field_path = f"{base_path}/{field_name}"
+    field_path_expr = None
+    if dynamic_path:
+      field_path_var = self.tmp("path")
+      self.emit(indent, f"const std::string {field_path_var} = {base_path_expr} + {cxx_string('/' + field_name)};")
+      field_path_expr = field_path_var
+
+    get_call = f"{reader_expr}.{accessor('get', field_name)}()"
+    has_call = f"{reader_expr}.{accessor('has', field_name)}()"
+    conditions = []
+    if proto.discriminantValue != NO_DISCRIMINANT:
+      conditions.append(f"{reader_expr}.which() == static_cast<decltype({reader_expr}.which())>({proto.discriminantValue})")
+    if proto.which() == "slot" and type_kind in NESTED_TYPE_KINDS:
+      conditions.append(has_call)
+
+    if conditions:
+      self.emit(indent, f"if ({' && '.join(conditions)}) {{")
+      indent += 2
+
+    value_var = self.tmp("value")
+    self.emit(indent, f"const auto {value_var} = {get_call};")
+    self.emit_node(indent, type_kind, type_proto, value_schema, value_var, field_path, field_path_expr, dynamic_path)
+
+    if conditions:
+      indent -= 2
+      self.emit(indent, "}")
+
+  def emit_struct(self, indent, schema, reader_expr, path, path_expr, dynamic_path):
+    if schema is None:
+      return
+    for field_name in schema.fieldnames:
+      self.emit_field(indent, schema, reader_expr, field_name, path, path_expr, dynamic_path)
+
+  def emit_list(self, indent, type_proto, schema, list_expr, path, path_expr, dynamic_path):
+    elem_type = type_proto.list.elementType
+    elem_kind = elem_type.which()
+    if elem_kind in IGNORED_TYPE_KINDS:
+      return
+
+    base_path_var = path_expr
+    if base_path_var is None:
+      base_path_var = self.tmp("base_path")
+      self.emit(indent, f"const std::string {base_path_var} = {cxx_string(path)};")
+
+    elem_scalar = scalar_kind(elem_type)
+    if elem_scalar is not None:
+      self.emit(indent, f"if ({list_expr}.size() <= 16) {{")
+      index_var = self.tmp("i")
+      self.emit(indent + 2, f"for (uint {index_var} = 0; {index_var} < {list_expr}.size(); ++{index_var}) {{")
+      item_series = self.tmp("item_series")
+      self.emit(indent + 4, f"RouteSeries *{item_series} = ensure_list_scalar_series({base_path_var}, {index_var}, series);")
+      if elem_scalar == "Enum":
+        self.emit_enum_capture(indent + 4, f"{item_series}->path", enum_names(schema.elementType))
+      self.emit(indent + 4, f"append_fixed_scalar_point({item_series}, tm, {self.scalar_double_expr(f'{list_expr}[{index_var}]', elem_scalar)});")
+      self.emit(indent + 2, "}")
+      self.emit(indent, "}")
+      return
+
+    if elem_kind in {"struct", "list"}:
+      index_var = self.tmp("i")
+      self.emit(indent, f"for (uint {index_var} = 0; {index_var} < {list_expr}.size(); ++{index_var}) {{")
+      item_path = self.tmp("item_path")
+      self.emit(indent + 2, f"const std::string {item_path} = {base_path_var} + \"/\" + std::to_string({index_var});")
+      item = self.tmp("item")
+      self.emit(indent + 2, f"const auto {item} = {list_expr}[{index_var}];")
+      if elem_kind == "struct":
+        self.emit_struct(indent + 2, schema.elementType, item, path, item_path, True)
+      else:
+        self.emit_list(indent + 2, elem_type, schema.elementType, item, path, item_path, True)
+      self.emit(indent, "}")
+
+  def node_emits(self, type_kind, type_proto, schema, seen=frozenset()):
+    if scalar_kind(type_proto) is not None:
+      return True
+    if type_kind == "struct":
+      if schema is None:
+        return False
+      schema_id = int(schema.node.id)
+      if schema_id in seen:
+        return False
+      if schema_id in self.emits_memo:
+        return self.emits_memo[schema_id]
+      next_seen = seen | {schema_id}
+      for field_name in schema.fieldnames:
+        field = schema.fields[field_name]
+        ft = field_type(field)
+        ftp = field_type_proto(field)
+        fkind = scalar_kind(ftp)
+        if ft in IGNORED_TYPE_KINDS:
+          continue
+        fschema = field.schema if fkind == "Enum" or ft in NESTED_TYPE_KINDS else None
+        if self.node_emits(ft, ftp, fschema, next_seen):
+          self.emits_memo[schema_id] = True
+          return True
+      self.emits_memo[schema_id] = False
+      return False
+    if type_kind == "list":
+      if type_proto is None or schema is None:
+        return False
+      elem_type = type_proto.list.elementType
+      elem_kind = elem_type.which()
+      if elem_kind in IGNORED_TYPE_KINDS:
+        return False
+      if scalar_kind(elem_type) is not None:
+        return True
+      if elem_kind == "struct":
+        return self.node_emits("struct", None, schema.elementType, seen)
+      if elem_kind == "list":
+        return self.node_emits("list", elem_type, schema.elementType, seen)
+    return False
+
+  def emit_can_special(self, indent, service_name):
+    service_kind = "CanServiceKind::Can" if service_name == "can" else "CanServiceKind::Sendcan"
+    self.emit(indent, f"const CanServiceKind can_service = {service_kind};")
+    self.emit(indent, f"for (const auto &msg : event.{accessor('get', service_name)}()) {{")
+    self.emit(indent + 2, "append_can_frame(can_service, static_cast<uint8_t>(msg.getSrc()), msg.getAddress(), msg.getDeprecated().getBusTime(), msg.getDat(), tm, series);")  # noqa: E501
+    self.emit(indent + 2, "if (skip_raw_can) {")
+    self.emit(indent + 4, "const auto dat = msg.getDat();")
+    self.emit(indent + 4, f"decode_can_frame(can_dbc, {cxx_string(service_name)}, static_cast<uint8_t>(msg.getSrc()), msg.getAddress(), dat.begin(), dat.size(), tm, series);")  # noqa: E501
+    self.emit(indent + 2, "}")
+    self.emit(indent, "}")
+    self.emit(indent, "if (skip_raw_can) {")
+    self.emit(indent + 2, "return true;")
+    self.emit(indent, "}")
+
+  def emit_event_case(self, field_name):
+    field = self.event_schema.fields[field_name]
+    proto = field.proto
+    type_kind = field_type(field)
+    type_proto = field_type_proto(field)
+    kind = scalar_kind(type_proto)
+    schema = field.schema if kind == "Enum" or type_kind in NESTED_TYPE_KINDS else None
+    self.emit(4, f"case static_cast<cereal::Event::Which>({proto.discriminantValue}): {{")
+    valid_slot = self.add_fixed_path(f"/{field_name}/valid")
+    mono_slot = self.add_fixed_path(f"/{field_name}/logMonoTime")
+    seconds_slot = self.add_fixed_path(f"/{field_name}/t")
+    self.emit(6, f"append_fixed_scalar_point(&series->fixed_series[{valid_slot}], tm, event.getValid() ? 1.0 : 0.0);")
+    self.emit(6, f"append_fixed_scalar_point(&series->fixed_series[{mono_slot}], tm, static_cast<double>(event.getLogMonoTime()));")
+    self.emit(6, f"append_fixed_scalar_point(&series->fixed_series[{seconds_slot}], tm, tm);")
+    if field_name in {"can", "sendcan"}:
+      self.emit_can_special(6, field_name)
+    if self.node_emits(type_kind, type_proto, schema):
+      payload = self.tmp("payload")
+      self.emit(6, f"const auto {payload} = event.{accessor('get', field_name)}();")
+      self.emit_node(6, type_kind, type_proto, schema, payload, f"/{field_name}", None, False)
+    self.emit(6, "return true;")
+    self.emit(4, "}")
+
+  def generate(self):
+    self.lines = []
+    self.emit(0, "// Generated by tools/jotpluggler/generate_event_extractors.py; do not edit.")
+    self.emit(0, "")
+    self.emit(0, "const std::vector<std::string> &static_event_fixed_paths() {")
+    self.emit(2, "static const std::vector<std::string> paths = {")
+    path_insert_at = len(self.lines)
+    self.emit(2, "};")
+    self.emit(2, "return paths;")
+    self.emit(0, "}")
+    self.emit(0, "")
+    self.emit(0, "void capture_static_enum_info(const std::string &path, std::initializer_list<std::string_view> names, SeriesAccumulator *series) {")
+    self.emit(2, "if (series->enum_info.find(path) != series->enum_info.end()) {")
+    self.emit(4, "return;")
+    self.emit(2, "}")
+    self.emit(2, "EnumInfo info;")
+    self.emit(2, "info.names.reserve(names.size());")
+    self.emit(2, "for (std::string_view name : names) {")
+    self.emit(4, "info.names.emplace_back(name);")
+    self.emit(2, "}")
+    self.emit(2, "if (!info.names.empty()) {")
+    self.emit(4, "series->enum_info.emplace(path, std::move(info));")
+    self.emit(2, "}")
+    self.emit(0, "}")
+    self.emit(0, "")
+    self.emit(0, "bool append_event_static_reader(cereal::Event::Which which, const cereal::Event::Reader &event, const dbc::Database *can_dbc, bool skip_raw_can, double time_offset, SeriesAccumulator *series) {")  # noqa: E501
+    self.emit(2, "const double tm = static_cast<double>(event.getLogMonoTime()) / 1.0e9 - time_offset;")
+    self.emit(2, "switch (which) {")
+    for field_name in self.event_schema.union_fields:
+      self.emit_event_case(field_name)
+    self.emit(4, "default:")
+    self.emit(6, "return false;")
+    self.emit(2, "}")
+    self.emit(0, "}")
+
+    path_lines = ["    " + cxx_string(path) + "," for path in self.fixed_paths]
+    self.lines[path_insert_at:path_insert_at] = path_lines
+    return "\n".join(self.lines) + "\n"
+
+
+if __name__ == "__main__":
+  if len(sys.argv) != 3:
+    print(f"usage: {sys.argv[0]} <repo-root> <output>", file=sys.stderr)
+    sys.exit(2)
+
+  repo_root = Path(sys.argv[1]).resolve()
+  output = Path(sys.argv[2])
+  capnp.remove_import_hook()
+  log = capnp.load(str(repo_root / "cereal" / "log.capnp"))
+  generated = Generator(log.Event.schema).generate()
+  output.parent.mkdir(parents=True, exist_ok=True)
+  output.write_text(generated)
diff --git a/tools/jotpluggler/sketch_layout.cc b/tools/jotpluggler/sketch_layout.cc
index d9622dde6d37c4..c44a4e93cdce65 100644
--- a/tools/jotpluggler/sketch_layout.cc
+++ b/tools/jotpluggler/sketch_layout.cc
@@ -2,7 +2,6 @@
 #include "tools/jotpluggler/car_fingerprint_to_dbc.h"
 #include "tools/jotpluggler/common.h"
 
-#include <capnp/dynamic.h>
 #include <kj/exception.h>
 
 #include <chrono>
@@ -10,6 +9,7 @@
 #include <cstdlib>
 #include <cstring>
 #include <iostream>
+#include <initializer_list>
 #include <map>
 #include <mutex>
 #include <limits>
@@ -51,47 +51,7 @@ struct SegmentLogs {
   std::string qcamera;
 };
 
-enum class ScalarKind {
-  None,
-  Bool,
-  Int,
-  UInt,
-  Float,
-  Enum,
-};
-
-enum class ResolvedNodeKind {
-  Ignore,
-  Scalar,
-  Struct,
-  List,
-};
-
-struct ResolvedNode {
-  ResolvedNodeKind kind = ResolvedNodeKind::Ignore;
-  ScalarKind scalar_kind = ScalarKind::None;
-  int fixed_slot = -1;
-  bool has_field = false;
-  capnp::StructSchema::Field field;
-  std::string segment;
-  std::string path;
-  bool skip_large_scalar_list = false;
-  std::vector<ResolvedNode> children;
-  std::unique_ptr<ResolvedNode> element;
-};
-
-struct ResolvedService {
-  uint16_t event_which = 0;
-  capnp::StructSchema::Field union_field;
-  std::string service_name;
-  int valid_slot = -1;
-  int log_mono_time_slot = -1;
-  int seconds_slot = -1;
-  ResolvedNode payload;
-};
-
 struct SchemaIndex {
-  std::vector<std::optional<ResolvedService>> by_which;
   size_t fixed_series_count = 0;
   std::vector<std::string> fixed_paths;
 
@@ -112,6 +72,27 @@ struct SeriesAccumulator {
   std::unordered_map<std::string, EnumInfo> enum_info;
 };
 
+void append_fixed_scalar_point(RouteSeries *series, double tm, double value);
+void append_dynamic_scalar_point(const std::string &path, double tm, double value, SeriesAccumulator *series);
+RouteSeries *ensure_list_scalar_series(const std::string &base_path, size_t index, SeriesAccumulator *series);
+void append_can_frame(CanServiceKind service,
+                      uint8_t bus,
+                      uint32_t address,
+                      uint16_t bus_time,
+                      capnp::Data::Reader dat,
+                      double tm,
+                      SeriesAccumulator *series);
+void decode_can_frame(const dbc::Database *can_dbc,
+                      const std::string &service_name,
+                      uint8_t bus,
+                      uint32_t address,
+                      const uint8_t *raw,
+                      size_t data_size,
+                      double tm,
+                      SeriesAccumulator *series);
+
+#include "tools/jotpluggler/generated_event_extractors.h"
+
 struct LoadedRouteArtifacts {
   std::vector<RouteSeries> series;
   std::vector<CanMessageData> can_messages;
@@ -898,125 +879,11 @@ SketchLayout parse_layout(const fs::path &layout_path) {
   return layout;
 }
 
-ScalarKind scalar_kind_for_type(const capnp::Type &type) {
-  if (type.isBool()) return ScalarKind::Bool;
-  if (type.isInt8() || type.isInt16() || type.isInt32() || type.isInt64()) {
-    return ScalarKind::Int;
-  }
-  if (type.isUInt8() || type.isUInt16() || type.isUInt32() || type.isUInt64()) {
-    return ScalarKind::UInt;
-  }
-  if (type.isFloat32() || type.isFloat64()) {
-    return ScalarKind::Float;
-  }
-  if (type.isEnum()) return ScalarKind::Enum;
-  return ScalarKind::None;
-}
-
-ResolvedNode build_resolved_type(const capnp::Type &type,
-                                 bool has_field,
-                                 capnp::StructSchema::Field field,
-                                 std::string segment,
-                                 std::string path,
-                                 size_t *next_fixed_slot,
-                                 std::vector<std::string> *fixed_paths,
-                                 bool dynamic_path = false) {
-  ResolvedNode node;
-  node.has_field = has_field;
-  node.field = field;
-  node.segment = std::move(segment);
-  node.path = std::move(path);
-  node.scalar_kind = scalar_kind_for_type(type);
-  if (node.scalar_kind != ScalarKind::None) {
-    node.kind = ResolvedNodeKind::Scalar;
-    if (!dynamic_path) {
-      node.fixed_slot = static_cast<int>((*next_fixed_slot)++);
-      fixed_paths->push_back(node.path);
-    }
-    return node;
-  }
-
-  if (type.isStruct()) {
-    node.kind = ResolvedNodeKind::Struct;
-    for (auto child : type.asStruct().getFields()) {
-      const std::string child_segment = child.getProto().getName().cStr();
-      node.children.push_back(build_resolved_type(
-        child.getType(),
-        true,
-        child,
-        child_segment,
-        node.path + "/" + child_segment,
-        next_fixed_slot,
-        fixed_paths,
-        dynamic_path));
-    }
-    return node;
-  }
-
-  if (type.isList()) {
-    const capnp::Type element_type = type.asList().getElementType();
-    if (element_type.isText() || element_type.isData() || element_type.isInterface() || element_type.isAnyPointer()) {
-      node.kind = ResolvedNodeKind::Ignore;
-      return node;
-    }
-    node.kind = ResolvedNodeKind::List;
-    node.skip_large_scalar_list = scalar_kind_for_type(element_type) != ScalarKind::None;
-    node.element = std::make_unique<ResolvedNode>(
-      build_resolved_type(element_type,
-                          false,
-                          capnp::StructSchema::Field(),
-                          "",
-                          node.path,
-                          next_fixed_slot,
-                          fixed_paths,
-                          true));
-    return node;
-  }
-
-  node.kind = ResolvedNodeKind::Ignore;
-  return node;
-}
-
-int register_fixed_series_path(const std::string &path,
-                               size_t *next_fixed_slot,
-                               std::vector<std::string> *fixed_paths) {
-  const int slot = static_cast<int>((*next_fixed_slot)++);
-  fixed_paths->push_back(path);
-  return slot;
-}
-
 const SchemaIndex &SchemaIndex::instance() {
   static const SchemaIndex index = [] {
     SchemaIndex out;
-    const auto event_schema = capnp::Schema::from<cereal::Event>().asStruct();
-    uint16_t max_discriminant = 0;
-    for (auto union_field : event_schema.getUnionFields()) {
-      max_discriminant = std::max<uint16_t>(max_discriminant, union_field.getProto().getDiscriminantValue());
-    }
-    out.by_which.resize(static_cast<size_t>(max_discriminant) + 1);
-    size_t next_fixed_slot = 0;
-    for (auto union_field : event_schema.getUnionFields()) {
-      ResolvedService service;
-      service.event_which = union_field.getProto().getDiscriminantValue();
-      service.union_field = union_field;
-      service.service_name = union_field.getProto().getName().cStr();
-      service.valid_slot = register_fixed_series_path(
-        "/" + service.service_name + "/valid", &next_fixed_slot, &out.fixed_paths);
-      service.log_mono_time_slot = register_fixed_series_path(
-        "/" + service.service_name + "/logMonoTime", &next_fixed_slot, &out.fixed_paths);
-      service.seconds_slot = register_fixed_series_path(
-        "/" + service.service_name + "/t", &next_fixed_slot, &out.fixed_paths);
-      service.payload = build_resolved_type(
-        union_field.getType(),
-        false,
-        capnp::StructSchema::Field(),
-        service.service_name,
-        "/" + service.service_name,
-        &next_fixed_slot,
-        &out.fixed_paths);
-      out.by_which[service.event_which] = std::move(service);
-    }
-    out.fixed_series_count = next_fixed_slot;
+    out.fixed_paths = static_event_fixed_paths();
+    out.fixed_series_count = out.fixed_paths.size();
     return out;
   }();
   return index;
@@ -1026,45 +893,6 @@ bool is_absolute_curve(const std::string &name) {
   return !name.empty() && name.front() == '/';
 }
 
-std::optional<double> scalar_value_to_double(const capnp::DynamicValue::Reader &value, ScalarKind kind) {
-  switch (kind) {
-    case ScalarKind::Bool:
-      return value.as<bool>() ? 1.0 : 0.0;
-    case ScalarKind::Int:
-      return static_cast<double>(value.as<int64_t>());
-    case ScalarKind::UInt:
-      return static_cast<double>(value.as<uint64_t>());
-    case ScalarKind::Float:
-      return value.as<double>();
-    case ScalarKind::Enum:
-      return static_cast<double>(value.as<capnp::DynamicEnum>().getRaw());
-    case ScalarKind::None:
-      return std::nullopt;
-  }
-  return std::nullopt;
-}
-
-void capture_enum_info(const std::string &path,
-                       const capnp::DynamicValue::Reader &value,
-                       SeriesAccumulator *series) {
-  if (series->enum_info.find(path) != series->enum_info.end()) {
-    return;
-  }
-
-  const auto dynamic_enum = value.as<capnp::DynamicEnum>();
-  EnumInfo info;
-  for (auto enumerant : dynamic_enum.getSchema().getEnumerants()) {
-    const uint16_t ordinal = enumerant.getOrdinal();
-    if (ordinal >= info.names.size()) {
-      info.names.resize(static_cast<size_t>(ordinal) + 1);
-    }
-    info.names[ordinal] = enumerant.getProto().getName().cStr();
-  }
-  if (!info.names.empty()) {
-    series->enum_info.emplace(path, std::move(info));
-  }
-}
-
 void append_scalar_point(RouteSeries *series,
                          const std::string &path,
                          double tm,
@@ -1195,156 +1023,9 @@ void append_dynamic_scalar_point(const std::string &path, double tm, double valu
   append_scalar_point(ensure_dynamic_series(path, series), path, tm, value);
 }
 
-void append_scalar_value(const ResolvedNode &node,
-                         const std::string *path_override,
-                         const capnp::DynamicValue::Reader &raw_value,
-                         double tm,
-                         double value,
-                         SeriesAccumulator *series) {
-  if (path_override == nullptr && node.fixed_slot >= 0) {
-    if (node.scalar_kind == ScalarKind::Enum) {
-      capture_enum_info(node.path, raw_value, series);
-    }
-    append_fixed_scalar_point(&series->fixed_series[static_cast<size_t>(node.fixed_slot)], tm, value);
-    return;
-  }
-
-  const std::string &path = path_override != nullptr ? *path_override : node.path;
-  if (node.scalar_kind == ScalarKind::Enum) {
-    capture_enum_info(path, raw_value, series);
-  }
-  append_dynamic_scalar_point(path, tm, value, series);
-}
-
-void append_fast_node(const ResolvedNode &node,
-                      const capnp::DynamicValue::Reader &value,
-                      double tm,
-                      SeriesAccumulator *series,
-                      const std::string *path_override = nullptr) {
-  switch (node.kind) {
-    case ResolvedNodeKind::Scalar: {
-      if (std::optional<double> scalar = scalar_value_to_double(value, node.scalar_kind); scalar.has_value()) {
-        append_scalar_value(node, path_override, value, tm, *scalar, series);
-      }
-      return;
-    }
-    case ResolvedNodeKind::Struct: {
-      const capnp::DynamicStruct::Reader reader = value.as<capnp::DynamicStruct>();
-      for (const ResolvedNode &child : node.children) {
-        if (!child.has_field || !reader.has(child.field)) continue;
-        if (path_override == nullptr) {
-          append_fast_node(child, reader.get(child.field), tm, series, nullptr);
-        } else {
-          const std::string child_path = child.segment.empty() ? *path_override : (*path_override + "/" + child.segment);
-          append_fast_node(child, reader.get(child.field), tm, series, &child_path);
-        }
-      }
-      return;
-    }
-    case ResolvedNodeKind::List: {
-      if (!node.element) {
-        return;
-      }
-      const capnp::DynamicList::Reader list = value.as<capnp::DynamicList>();
-      if (list.size() == 0) {
-        return;
-      }
-      if (node.skip_large_scalar_list && list.size() > 16) {
-        return;
-      }
-      const std::string &base_path = path_override != nullptr ? *path_override : node.path;
-      if (node.element->kind == ResolvedNodeKind::Scalar) {
-        for (uint i = 0; i < list.size(); ++i) {
-          if (std::optional<double> scalar = scalar_value_to_double(list[i], node.element->scalar_kind); scalar.has_value()) {
-            RouteSeries *item_series = ensure_list_scalar_series(base_path, i, series);
-            if (node.element->scalar_kind == ScalarKind::Enum && !item_series->path.empty()) {
-              capture_enum_info(item_series->path, list[i], series);
-            }
-            append_fixed_scalar_point(item_series, tm, *scalar);
-          }
-        }
-        return;
-      }
-      for (uint i = 0; i < list.size(); ++i) {
-        const std::string item_path = base_path + "/" + std::to_string(i);
-        append_fast_node(*node.element, list[i], tm, series, &item_path);
-      }
-      return;
-    }
-    case ResolvedNodeKind::Ignore:
-      return;
-  }
-}
-
-void append_event_fast_reader(cereal::Event::Which which,
-                              const cereal::Event::Reader &event,
-                              const SchemaIndex &schema,
-                              const dbc::Database *can_dbc,
-                              bool skip_raw_can,
-                              double time_offset,
-                              SeriesAccumulator *series) {
-  const uint16_t which_index = static_cast<uint16_t>(which);
-  if (which_index >= schema.by_which.size() || !schema.by_which[which_index].has_value()) {
-    return;
-  }
-  const ResolvedService &service = *schema.by_which[which_index];
-  const capnp::DynamicStruct::Reader dynamic_event(event);
-  const capnp::DynamicValue::Reader payload = dynamic_event.get(service.union_field);
-  const double tm = static_cast<double>(event.getLogMonoTime()) / 1.0e9 - time_offset;
-  append_fixed_scalar_point(&series->fixed_series[static_cast<size_t>(service.valid_slot)],
-                            tm,
-                            event.getValid() ? 1.0 : 0.0);
-  append_fixed_scalar_point(&series->fixed_series[static_cast<size_t>(service.log_mono_time_slot)],
-                            tm,
-                            static_cast<double>(event.getLogMonoTime()));
-  append_fixed_scalar_point(&series->fixed_series[static_cast<size_t>(service.seconds_slot)],
-                            tm,
-                            tm);
-  if (service.service_name == "can" || service.service_name == "sendcan") {
-    const CanServiceKind can_service = service.service_name == "can"
-      ? CanServiceKind::Can
-      : CanServiceKind::Sendcan;
-    auto decode_message = [&](uint8_t bus, uint32_t address, const auto &dat_reader) {
-      const auto bytes = dat_reader.begin();
-      decode_can_frame(can_dbc, service.service_name, bus, address, bytes, dat_reader.size(), tm, series);
-    };
-    if (service.service_name == "can") {
-      for (const auto &msg : event.getCan()) {
-        append_can_frame(can_service,
-                         static_cast<uint8_t>(msg.getSrc()),
-                         msg.getAddress(),
-                         msg.getDeprecated().getBusTime(),
-                         msg.getDat(),
-                         tm,
-                         series);
-        if (!skip_raw_can) continue;
-        decode_message(static_cast<uint8_t>(msg.getSrc()), msg.getAddress(), msg.getDat());
-      }
-    } else {
-      for (const auto &msg : event.getSendcan()) {
-        append_can_frame(can_service,
-                         static_cast<uint8_t>(msg.getSrc()),
-                         msg.getAddress(),
-                         msg.getDeprecated().getBusTime(),
-                         msg.getDat(),
-                         tm,
-                         series);
-        if (!skip_raw_can) continue;
-        decode_message(static_cast<uint8_t>(msg.getSrc()), msg.getAddress(), msg.getDat());
-      }
-    }
-    if (skip_raw_can) {
-      return;
-    }
-  }
-
-  append_fast_node(service.payload, payload, tm, series);
-}
-
 void append_event_fast(cereal::Event::Which which,
                        int32_t eidx_segnum,
                        kj::ArrayPtr<const capnp::word> data,
-                       const SchemaIndex &schema,
                        const dbc::Database *can_dbc,
                        bool skip_raw_can,
                        double time_offset,
@@ -1353,14 +1034,13 @@ void append_event_fast(cereal::Event::Which which,
     return;
   }
   with_parseable_event(data, [&](const cereal::Event::Reader &event) {
-    append_event_fast_reader(which, event, schema, can_dbc, skip_raw_can, time_offset, series);
+    append_event_static_reader(which, event, can_dbc, skip_raw_can, time_offset, series);
   });
 }
 
 void append_events_fast_range(const std::vector<Event> &events,
                               size_t begin,
                               size_t end,
-                              const SchemaIndex &schema,
                               const dbc::Database *can_dbc,
                               bool skip_raw_can,
                               SeriesAccumulator *series) {
@@ -1369,7 +1049,6 @@ void append_events_fast_range(const std::vector<Event> &events,
     append_event_fast(event_record.which,
                       event_record.eidx_segnum,
                       event_record.data,
-                      schema,
                       can_dbc,
                       skip_raw_can,
                       0.0,
@@ -1802,7 +1481,7 @@ SeriesAccumulator extract_segment_series(const std::vector<Event> &events,
   const size_t chunk_count = extract_chunk_count(events.size(), worker_budget, segment_workers);
   if (chunk_count <= 1 || events.empty()) {
     SeriesAccumulator series = make_series_accumulator(schema);
-    append_events_fast_range(events, 0, events.size(), schema, can_dbc, skip_raw_can, &series);
+    append_events_fast_range(events, 0, events.size(), can_dbc, skip_raw_can, &series);
     return series;
   }
 
@@ -1819,10 +1498,10 @@ SeriesAccumulator extract_segment_series(const std::vector<Event> &events,
     workers.emplace_back([&, chunk]() {
       const size_t begin = chunk * events_per_chunk;
       const size_t end = std::min(events.size(), begin + events_per_chunk);
-      append_events_fast_range(events, begin, end, schema, can_dbc, skip_raw_can, &chunk_results[chunk]);
+      append_events_fast_range(events, begin, end, can_dbc, skip_raw_can, &chunk_results[chunk]);
     });
   }
-  append_events_fast_range(events, 0, std::min(events.size(), events_per_chunk), schema, can_dbc, skip_raw_can, &chunk_results[0]);
+  append_events_fast_range(events, 0, std::min(events.size(), events_per_chunk), can_dbc, skip_raw_can, &chunk_results[0]);
   for (std::thread &worker : workers) {
     worker.join();
   }
@@ -2044,13 +1723,12 @@ void StreamAccumulator::appendEvent(kj::ArrayPtr<const capnp::word> data) {
       }
     }
 
-    append_event_fast_reader(which,
-                             event,
-                             impl_->schema,
-                             impl_->can_dbc ? &*impl_->can_dbc : nullptr,
-                             impl_->can_dbc.has_value(),
-                             *impl_->time_offset,
-                             &impl_->series);
+    append_event_static_reader(which,
+                               event,
+                               impl_->can_dbc ? &*impl_->can_dbc : nullptr,
+                               impl_->can_dbc.has_value(),
+                               *impl_->time_offset,
+                               &impl_->series);
     append_log_event(which, event, *impl_->time_offset, &impl_->logs, &impl_->last_alert_key);
     if (which == cereal::Event::Which::SELFDRIVE_STATE) {
       const auto sd = event.getSelfdriveState();

From ee54e8209052b5726918c15ac2d54d64a56fa896 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Apr 2026 17:56:31 -0700
Subject: [PATCH 0960/1434] bump opendbc (#37907)

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 6123dde9f67259..f15cc7673a4f1b 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 6123dde9f67259aa3c8b1fa962f242f522bdd5a4
+Subproject commit f15cc7673a4f1bd87436eb4ce1e6bad3bdb8272d

From 8714203d2cf258ab0641fd2dde81e36ccb09c849 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 25 Apr 2026 17:21:55 +0200
Subject: [PATCH 0961/1434] sunnylink: Remove unused API endpoint (#1814)

remove ws_queue thread and associated api endpoint
- Simplified thread management by removing unused `ws_queue`.
- Eliminated `resume_queued` API call for better maintainability.
---
 sunnypilot/sunnylink/api.py               |  4 ---
 sunnypilot/sunnylink/athena/sunnylinkd.py | 32 -----------------------
 2 files changed, 36 deletions(-)

diff --git a/sunnypilot/sunnylink/api.py b/sunnypilot/sunnylink/api.py
index bda97262cb8d06..5260f6bd9d90af 100644
--- a/sunnypilot/sunnylink/api.py
+++ b/sunnypilot/sunnylink/api.py
@@ -30,10 +30,6 @@ def api_get(self, endpoint, method='GET', timeout=10, access_token=None, session
 
     return super().api_get(endpoint, method, timeout, access_token, session, json, **kwargs)
 
-  def resume_queued(self, timeout=10, **kwargs):
-    sunnylinkId, commaId = self._resolve_dongle_ids()
-    return self.api_get(f"ws/{sunnylinkId}/resume_queued", "POST", timeout, access_token=self.get_token(), **kwargs)
-
   def get_token(self, payload_extra=None, expiry_hours=1):
     # Add your additional data here
     additional_data = {}
diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index 39fe5679ce1de1..2e262c33b3cfb9 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -64,7 +64,6 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
               threading.Thread(target=ws_recv, args=(ws, end_event), name='ws_recv'),
               threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
               threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'),
-              threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
               threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
               threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
               threading.Thread(target=stat_handler, args=(end_event, Paths.stats_sp_root(), True), name='stat_handler'),
@@ -147,37 +146,6 @@ def ws_ping(ws: WebSocket, end_event: threading.Event) -> None:
   cloudlog.debug("sunnylinkd.ws_ping.end_event is set, exiting ws_ping thread")
 
 
-def ws_queue(end_event: threading.Event) -> None:
-  sunnylink_dongle_id = params.get("SunnylinkDongleId")
-  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
-  resume_requested = False
-  tries = 0
-
-  while not end_event.is_set() and not resume_requested:
-    try:
-      if not resume_requested:
-        cloudlog.debug("sunnylinkd.ws_queue.resume_queued")
-        sunnylink_api.resume_queued(timeout=29)
-        resume_requested = True
-        tries = 0
-    except Exception as e:
-      if isinstance(e, (ConnectionError, TimeoutError)):
-        cloudlog.warning(f"sunnylinkd.ws_queue.resume_queued.{type(e).__name__}")
-      else:
-        cloudlog.exception("sunnylinkd.ws_queue.resume_queued.exception")
-
-      resume_requested = False
-      tries += 1
-      time.sleep(backoff(tries))
-
-  if end_event.is_set():
-    cloudlog.debug("end_event is set, exiting ws_queue thread")
-  elif resume_requested:
-    cloudlog.debug(f"Resume requested to server after {tries} tries")
-  else:
-    cloudlog.error(f"Reached end of ws_queue while end_event is not set and resume_requested is {resume_requested}")
-
-
 def sunny_log_handler(end_event: threading.Event, comma_prime_cellular_end_event: threading.Event) -> None:
   while not end_event.wait(0.1):
     if not comma_prime_cellular_end_event.is_set():

From d1e069210fc38a2c0752f04bed05074eaf3704ff Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 25 Apr 2026 13:56:25 -0700
Subject: [PATCH 0962/1434] use catch2 dependency package (#37910)

---
 SConstruct                                    |   3 +-
 pyproject.toml                                |   1 +
 third_party/catch2/include/catch2/catch.hpp   |   3 -
 .../catch2/catch_reporter_automake.hpp        |  62 -----
 .../catch2/catch_reporter_sonarqube.hpp       | 181 -------------
 .../include/catch2/catch_reporter_tap.hpp     | 254 ------------------
 .../catch2/catch_reporter_teamcity.hpp        | 219 ---------------
 uv.lock                                       |   7 +
 8 files changed, 9 insertions(+), 721 deletions(-)
 delete mode 100644 third_party/catch2/include/catch2/catch.hpp
 delete mode 100644 third_party/catch2/include/catch2/catch_reporter_automake.hpp
 delete mode 100644 third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
 delete mode 100644 third_party/catch2/include/catch2/catch_reporter_tap.hpp
 delete mode 100644 third_party/catch2/include/catch2/catch_reporter_teamcity.hpp

diff --git a/SConstruct b/SConstruct
index 119209dcdbb316..c03d6582aa5828 100644
--- a/SConstruct
+++ b/SConstruct
@@ -37,7 +37,7 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 
 
@@ -111,7 +111,6 @@ env = Environment(
     "#third_party/acados/include",
     "#third_party/acados/include/blasfeo/include",
     "#third_party/acados/include/hpipm/include",
-    "#third_party/catch2/include",
     [x.INCLUDE_DIR for x in pkgs],
   ],
   LIBPATH=[
diff --git a/pyproject.toml b/pyproject.toml
index d7af83d40751a9..a53265c4492e06 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -28,6 +28,7 @@ dependencies = [
   # vendored native dependencies
   "bzip2 @ git+https://github.com/commaai/dependencies.git@release-bzip2#subdirectory=bzip2",
   "capnproto @ git+https://github.com/commaai/dependencies.git@release-capnproto#subdirectory=capnproto",
+  "catch2 @ git+https://github.com/commaai/dependencies.git@release-catch2#subdirectory=catch2",
   "eigen @ git+https://github.com/commaai/dependencies.git@release-eigen#subdirectory=eigen",
   "ffmpeg @ git+https://github.com/commaai/dependencies.git@release-ffmpeg#subdirectory=ffmpeg",
   "libjpeg @ git+https://github.com/commaai/dependencies.git@release-libjpeg#subdirectory=libjpeg",
diff --git a/third_party/catch2/include/catch2/catch.hpp b/third_party/catch2/include/catch2/catch.hpp
deleted file mode 100644
index 6a31e5b0ca8cd4..00000000000000
--- a/third_party/catch2/include/catch2/catch.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:27da57c7a06d09be8dd81fab7246b79e7892b6ae7e4e49ba8631f1d5a955e3fc
-size 657276
diff --git a/third_party/catch2/include/catch2/catch_reporter_automake.hpp b/third_party/catch2/include/catch2/catch_reporter_automake.hpp
deleted file mode 100644
index dbebe975163c98..00000000000000
--- a/third_party/catch2/include/catch2/catch_reporter_automake.hpp
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
- *  Created by Justin R. Wilson on 2/19/2017.
- *  Copyright 2017 Justin R. Wilson. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-namespace Catch {
-
-    struct AutomakeReporter : StreamingReporterBase<AutomakeReporter> {
-        AutomakeReporter( ReporterConfig const& _config )
-          :   StreamingReporterBase( _config )
-        {}
-
-        ~AutomakeReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in the format of Automake .trs files";
-        }
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& /*_assertionStats*/ ) override { return true; }
-
-        void testCaseEnded( TestCaseStats const& _testCaseStats ) override {
-            // Possible values to emit are PASS, XFAIL, SKIP, FAIL, XPASS and ERROR.
-            stream << ":test-result: ";
-            if (_testCaseStats.totals.assertions.allPassed()) {
-                stream << "PASS";
-            } else if (_testCaseStats.totals.assertions.allOk()) {
-                stream << "XFAIL";
-            } else {
-                stream << "FAIL";
-            }
-            stream << ' ' << _testCaseStats.testInfo.name << '\n';
-            StreamingReporterBase::testCaseEnded( _testCaseStats );
-        }
-
-        void skipTest( TestCaseInfo const& testInfo ) override {
-            stream << ":test-result: SKIP " << testInfo.name << '\n';
-        }
-
-    };
-
-#ifdef CATCH_IMPL
-    AutomakeReporter::~AutomakeReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "automake", AutomakeReporter)
-
-} // end namespace Catch
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
diff --git a/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp b/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
deleted file mode 100644
index bf7d9299a50ab6..00000000000000
--- a/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
+++ /dev/null
@@ -1,181 +0,0 @@
-/*
- *  Created by Daniel Garcia on 2018-12-04.
- *  Copyright Social Point SL. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
-#define CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
-
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <map>
-
-namespace Catch {
-
-    struct SonarQubeReporter : CumulativeReporterBase<SonarQubeReporter> {
-
-        SonarQubeReporter(ReporterConfig const& config)
-        : CumulativeReporterBase(config)
-        , xml(config.stream()) {
-            m_reporterPrefs.shouldRedirectStdOut = true;
-            m_reporterPrefs.shouldReportAllAssertions = true;
-        }
-
-        ~SonarQubeReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in the Generic Test Data SonarQube XML format";
-        }
-
-        static std::set<Verbosity> getSupportedVerbosities() {
-            return { Verbosity::Normal };
-        }
-
-        void noMatchingTestCases(std::string const& /*spec*/) override {}
-
-        void testRunStarting(TestRunInfo const& testRunInfo) override {
-            CumulativeReporterBase::testRunStarting(testRunInfo);
-            xml.startElement("testExecutions");
-            xml.writeAttribute("version", "1");
-        }
-
-        void testGroupEnded(TestGroupStats const& testGroupStats) override {
-            CumulativeReporterBase::testGroupEnded(testGroupStats);
-            writeGroup(*m_testGroups.back());
-        }
-
-        void testRunEndedCumulative() override {
-            xml.endElement();
-        }
-
-        void writeGroup(TestGroupNode const& groupNode) {
-            std::map<std::string, TestGroupNode::ChildNodes> testsPerFile;
-            for(auto const& child : groupNode.children)
-                testsPerFile[child->value.testInfo.lineInfo.file].push_back(child);
-
-            for(auto const& kv : testsPerFile)
-                writeTestFile(kv.first.c_str(), kv.second);
-        }
-
-        void writeTestFile(const char* filename, TestGroupNode::ChildNodes const& testCaseNodes) {
-            XmlWriter::ScopedElement e = xml.scopedElement("file");
-            xml.writeAttribute("path", filename);
-
-            for(auto const& child : testCaseNodes)
-                writeTestCase(*child);
-        }
-
-        void writeTestCase(TestCaseNode const& testCaseNode) {
-            // All test cases have exactly one section - which represents the
-            // test case itself. That section may have 0-n nested sections
-            assert(testCaseNode.children.size() == 1);
-            SectionNode const& rootSection = *testCaseNode.children.front();
-            writeSection("", rootSection, testCaseNode.value.testInfo.okToFail());
-        }
-
-        void writeSection(std::string const& rootName, SectionNode const& sectionNode, bool okToFail) {
-            std::string name = trim(sectionNode.stats.sectionInfo.name);
-            if(!rootName.empty())
-                name = rootName + '/' + name;
-
-            if(!sectionNode.assertions.empty() || !sectionNode.stdOut.empty() || !sectionNode.stdErr.empty()) {
-                XmlWriter::ScopedElement e = xml.scopedElement("testCase");
-                xml.writeAttribute("name", name);
-                xml.writeAttribute("duration", static_cast<long>(sectionNode.stats.durationInSeconds * 1000));
-
-                writeAssertions(sectionNode, okToFail);
-            }
-
-            for(auto const& childNode : sectionNode.childSections)
-                writeSection(name, *childNode, okToFail);
-        }
-
-        void writeAssertions(SectionNode const& sectionNode, bool okToFail) {
-            for(auto const& assertion : sectionNode.assertions)
-                writeAssertion( assertion, okToFail);
-        }
-
-        void writeAssertion(AssertionStats const& stats, bool okToFail) {
-            AssertionResult const& result = stats.assertionResult;
-            if(!result.isOk()) {
-                std::string elementName;
-                if(okToFail) {
-                    elementName = "skipped";
-                }
-                else {
-                    switch(result.getResultType()) {
-                        case ResultWas::ThrewException:
-                        case ResultWas::FatalErrorCondition:
-                            elementName = "error";
-                            break;
-                        case ResultWas::ExplicitFailure:
-                            elementName = "failure";
-                            break;
-                        case ResultWas::ExpressionFailed:
-                            elementName = "failure";
-                            break;
-                        case ResultWas::DidntThrowException:
-                            elementName = "failure";
-                            break;
-
-                            // We should never see these here:
-                        case ResultWas::Info:
-                        case ResultWas::Warning:
-                        case ResultWas::Ok:
-                        case ResultWas::Unknown:
-                        case ResultWas::FailureBit:
-                        case ResultWas::Exception:
-                            elementName = "internalError";
-                            break;
-                    }
-                }
-
-                XmlWriter::ScopedElement e = xml.scopedElement(elementName);
-
-                ReusableStringStream messageRss;
-                messageRss << result.getTestMacroName() << "(" << result.getExpression() << ")";
-                xml.writeAttribute("message", messageRss.str());
-
-                ReusableStringStream textRss;
-                if (stats.totals.assertions.total() > 0) {
-                    textRss << "FAILED:\n";
-                    if (result.hasExpression()) {
-                        textRss << "\t" << result.getExpressionInMacro() << "\n";
-                    }
-                    if (result.hasExpandedExpression()) {
-                        textRss << "with expansion:\n\t" << result.getExpandedExpression() << "\n";
-                    }
-                }
-
-                if(!result.getMessage().empty())
-                    textRss << result.getMessage() << "\n";
-
-                for(auto const& msg : stats.infoMessages)
-                    if(msg.type == ResultWas::Info)
-                        textRss << msg.message << "\n";
-
-                textRss << "at " << result.getSourceInfo();
-                xml.writeText(textRss.str(), XmlFormatting::Newline);
-            }
-        }
-
-    private:
-        XmlWriter xml;
-    };
-
-#ifdef CATCH_IMPL
-    SonarQubeReporter::~SonarQubeReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "sonarqube", SonarQubeReporter )
-
-} // end namespace Catch
-
-#endif // CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
\ No newline at end of file
diff --git a/third_party/catch2/include/catch2/catch_reporter_tap.hpp b/third_party/catch2/include/catch2/catch_reporter_tap.hpp
deleted file mode 100644
index 5ac8524ce7abeb..00000000000000
--- a/third_party/catch2/include/catch2/catch_reporter_tap.hpp
+++ /dev/null
@@ -1,254 +0,0 @@
-/*
- *  Created by Colton Wolkins on 2015-08-15.
- *  Copyright 2015 Martin Moene. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
-
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <algorithm>
-
-namespace Catch {
-
-    struct TAPReporter : StreamingReporterBase<TAPReporter> {
-
-        using StreamingReporterBase::StreamingReporterBase;
-
-        TAPReporter( ReporterConfig const& config ):
-            StreamingReporterBase( config ) {
-            m_reporterPrefs.shouldReportAllAssertions = true;
-        }
-
-        ~TAPReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in TAP format, suitable for test harnesses";
-        }
-
-        void noMatchingTestCases( std::string const& spec ) override {
-            stream << "# No test cases matched '" << spec << "'" << std::endl;
-        }
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& _assertionStats ) override {
-            ++counter;
-
-            stream << "# " << currentTestCaseInfo->name << std::endl;
-            AssertionPrinter printer( stream, _assertionStats, counter );
-            printer.print();
-
-            stream << std::endl;
-            return true;
-        }
-
-        void testRunEnded( TestRunStats const& _testRunStats ) override {
-            printTotals( _testRunStats.totals );
-            stream << "\n" << std::endl;
-            StreamingReporterBase::testRunEnded( _testRunStats );
-        }
-
-    private:
-        std::size_t counter = 0;
-        class AssertionPrinter {
-        public:
-            AssertionPrinter& operator= ( AssertionPrinter const& ) = delete;
-            AssertionPrinter( AssertionPrinter const& ) = delete;
-            AssertionPrinter( std::ostream& _stream, AssertionStats const& _stats, std::size_t _counter )
-            : stream( _stream )
-            , result( _stats.assertionResult )
-            , messages( _stats.infoMessages )
-            , itMessage( _stats.infoMessages.begin() )
-            , printInfoMessages( true )
-            , counter(_counter)
-            {}
-
-            void print() {
-                itMessage = messages.begin();
-
-                switch( result.getResultType() ) {
-                    case ResultWas::Ok:
-                        printResultType( passedString() );
-                        printOriginalExpression();
-                        printReconstructedExpression();
-                        if ( ! result.hasExpression() )
-                            printRemainingMessages( Colour::None );
-                        else
-                            printRemainingMessages();
-                        break;
-                    case ResultWas::ExpressionFailed:
-                        if (result.isOk()) {
-                            printResultType(passedString());
-                        } else {
-                            printResultType(failedString());
-                        }
-                        printOriginalExpression();
-                        printReconstructedExpression();
-                        if (result.isOk()) {
-                            printIssue(" # TODO");
-                        }
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::ThrewException:
-                        printResultType( failedString() );
-                        printIssue( "unexpected exception with message:" );
-                        printMessage();
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::FatalErrorCondition:
-                        printResultType( failedString() );
-                        printIssue( "fatal error condition with message:" );
-                        printMessage();
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::DidntThrowException:
-                        printResultType( failedString() );
-                        printIssue( "expected exception, got none" );
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::Info:
-                        printResultType( "info" );
-                        printMessage();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::Warning:
-                        printResultType( "warning" );
-                        printMessage();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::ExplicitFailure:
-                        printResultType( failedString() );
-                        printIssue( "explicitly" );
-                        printRemainingMessages( Colour::None );
-                        break;
-                    // These cases are here to prevent compiler warnings
-                    case ResultWas::Unknown:
-                    case ResultWas::FailureBit:
-                    case ResultWas::Exception:
-                        printResultType( "** internal error **" );
-                        break;
-                }
-            }
-
-        private:
-            static Colour::Code dimColour() { return Colour::FileName; }
-
-            static const char* failedString() { return "not ok"; }
-            static const char* passedString() { return "ok"; }
-
-            void printSourceInfo() const {
-                Colour colourGuard( dimColour() );
-                stream << result.getSourceInfo() << ":";
-            }
-
-            void printResultType( std::string const& passOrFail ) const {
-                if( !passOrFail.empty() ) {
-                    stream << passOrFail << ' ' << counter << " -";
-                }
-            }
-
-            void printIssue( std::string const& issue ) const {
-                stream << " " << issue;
-            }
-
-            void printExpressionWas() {
-                if( result.hasExpression() ) {
-                    stream << ";";
-                    {
-                        Colour colour( dimColour() );
-                        stream << " expression was:";
-                    }
-                    printOriginalExpression();
-                }
-            }
-
-            void printOriginalExpression() const {
-                if( result.hasExpression() ) {
-                    stream << " " << result.getExpression();
-                }
-            }
-
-            void printReconstructedExpression() const {
-                if( result.hasExpandedExpression() ) {
-                    {
-                        Colour colour( dimColour() );
-                        stream << " for: ";
-                    }
-                    std::string expr = result.getExpandedExpression();
-                    std::replace( expr.begin(), expr.end(), '\n', ' ');
-                    stream << expr;
-                }
-            }
-
-            void printMessage() {
-                if ( itMessage != messages.end() ) {
-                    stream << " '" << itMessage->message << "'";
-                    ++itMessage;
-                }
-            }
-
-            void printRemainingMessages( Colour::Code colour = dimColour() ) {
-                if (itMessage == messages.end()) {
-                    return;
-                }
-
-                const auto itEnd = messages.cend();
-                const auto N = static_cast<std::size_t>( std::distance( itMessage, itEnd ) );
-
-                {
-                    Colour colourGuard( colour );
-                    stream << " with " << pluralise( N, "message" ) << ":";
-                }
-
-                while( itMessage != itEnd ) {
-                    // If this assertion is a warning ignore any INFO messages
-                    if( printInfoMessages || itMessage->type != ResultWas::Info ) {
-                        stream << " '" << itMessage->message << "'";
-                        if ( ++itMessage != itEnd ) {
-                            Colour colourGuard( dimColour() );
-                            stream << " and";
-                        }
-                        continue;
-                    }
-                    ++itMessage;
-                }
-            }
-
-        private:
-            std::ostream& stream;
-            AssertionResult const& result;
-            std::vector<MessageInfo> messages;
-            std::vector<MessageInfo>::const_iterator itMessage;
-            bool printInfoMessages;
-            std::size_t counter;
-        };
-
-        void printTotals( const Totals& totals ) const {
-            stream << "1.." << totals.assertions.total();
-            if( totals.testCases.total() == 0 ) {
-                stream << " # Skipped: No tests ran.";
-            }
-        }
-    };
-
-#ifdef CATCH_IMPL
-    TAPReporter::~TAPReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "tap", TAPReporter )
-
-} // end namespace Catch
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
diff --git a/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp b/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp
deleted file mode 100644
index 47b7e4aac30f94..00000000000000
--- a/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp
+++ /dev/null
@@ -1,219 +0,0 @@
-/*
- *  Created by Phil Nash on 19th December 2014
- *  Copyright 2014 Two Blue Cubes Ltd. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <cstring>
-
-#ifdef __clang__
-#   pragma clang diagnostic push
-#   pragma clang diagnostic ignored "-Wpadded"
-#endif
-
-namespace Catch {
-
-    struct TeamCityReporter : StreamingReporterBase<TeamCityReporter> {
-        TeamCityReporter( ReporterConfig const& _config )
-        :   StreamingReporterBase( _config )
-        {
-            m_reporterPrefs.shouldRedirectStdOut = true;
-        }
-
-        static std::string escape( std::string const& str ) {
-            std::string escaped = str;
-            replaceInPlace( escaped, "|", "||" );
-            replaceInPlace( escaped, "'", "|'" );
-            replaceInPlace( escaped, "\n", "|n" );
-            replaceInPlace( escaped, "\r", "|r" );
-            replaceInPlace( escaped, "[", "|[" );
-            replaceInPlace( escaped, "]", "|]" );
-            return escaped;
-        }
-        ~TeamCityReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results as TeamCity service messages";
-        }
-
-        void skipTest( TestCaseInfo const& /* testInfo */ ) override {
-        }
-
-        void noMatchingTestCases( std::string const& /* spec */ ) override {}
-
-        void testGroupStarting( GroupInfo const& groupInfo ) override {
-            StreamingReporterBase::testGroupStarting( groupInfo );
-            stream << "##teamcity[testSuiteStarted name='"
-                << escape( groupInfo.name ) << "']\n";
-        }
-        void testGroupEnded( TestGroupStats const& testGroupStats ) override {
-            StreamingReporterBase::testGroupEnded( testGroupStats );
-            stream << "##teamcity[testSuiteFinished name='"
-                << escape( testGroupStats.groupInfo.name ) << "']\n";
-        }
-
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& assertionStats ) override {
-            AssertionResult const& result = assertionStats.assertionResult;
-            if( !result.isOk() ) {
-
-                ReusableStringStream msg;
-                if( !m_headerPrintedForThisSection )
-                    printSectionHeader( msg.get() );
-                m_headerPrintedForThisSection = true;
-
-                msg << result.getSourceInfo() << "\n";
-
-                switch( result.getResultType() ) {
-                    case ResultWas::ExpressionFailed:
-                        msg << "expression failed";
-                        break;
-                    case ResultWas::ThrewException:
-                        msg << "unexpected exception";
-                        break;
-                    case ResultWas::FatalErrorCondition:
-                        msg << "fatal error condition";
-                        break;
-                    case ResultWas::DidntThrowException:
-                        msg << "no exception was thrown where one was expected";
-                        break;
-                    case ResultWas::ExplicitFailure:
-                        msg << "explicit failure";
-                        break;
-
-                    // We shouldn't get here because of the isOk() test
-                    case ResultWas::Ok:
-                    case ResultWas::Info:
-                    case ResultWas::Warning:
-                        CATCH_ERROR( "Internal error in TeamCity reporter" );
-                    // These cases are here to prevent compiler warnings
-                    case ResultWas::Unknown:
-                    case ResultWas::FailureBit:
-                    case ResultWas::Exception:
-                        CATCH_ERROR( "Not implemented" );
-                }
-                if( assertionStats.infoMessages.size() == 1 )
-                    msg << " with message:";
-                if( assertionStats.infoMessages.size() > 1 )
-                    msg << " with messages:";
-                for( auto const& messageInfo : assertionStats.infoMessages )
-                    msg << "\n  \"" << messageInfo.message << "\"";
-
-
-                if( result.hasExpression() ) {
-                    msg <<
-                        "\n  " << result.getExpressionInMacro() << "\n"
-                        "with expansion:\n" <<
-                        "  " << result.getExpandedExpression() << "\n";
-                }
-
-                if( currentTestCaseInfo->okToFail() ) {
-                    msg << "- failure ignore as test marked as 'ok to fail'\n";
-                    stream << "##teamcity[testIgnored"
-                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
-                           << " message='" << escape( msg.str() ) << "'"
-                           << "]\n";
-                }
-                else {
-                    stream << "##teamcity[testFailed"
-                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
-                           << " message='" << escape( msg.str() ) << "'"
-                           << "]\n";
-                }
-            }
-            stream.flush();
-            return true;
-        }
-
-        void sectionStarting( SectionInfo const& sectionInfo ) override {
-            m_headerPrintedForThisSection = false;
-            StreamingReporterBase::sectionStarting( sectionInfo );
-        }
-
-        void testCaseStarting( TestCaseInfo const& testInfo ) override {
-            m_testTimer.start();
-            StreamingReporterBase::testCaseStarting( testInfo );
-            stream << "##teamcity[testStarted name='"
-                << escape( testInfo.name ) << "']\n";
-            stream.flush();
-        }
-
-        void testCaseEnded( TestCaseStats const& testCaseStats ) override {
-            StreamingReporterBase::testCaseEnded( testCaseStats );
-            if( !testCaseStats.stdOut.empty() )
-                stream << "##teamcity[testStdOut name='"
-                    << escape( testCaseStats.testInfo.name )
-                    << "' out='" << escape( testCaseStats.stdOut ) << "']\n";
-            if( !testCaseStats.stdErr.empty() )
-                stream << "##teamcity[testStdErr name='"
-                    << escape( testCaseStats.testInfo.name )
-                    << "' out='" << escape( testCaseStats.stdErr ) << "']\n";
-            stream << "##teamcity[testFinished name='"
-                    << escape( testCaseStats.testInfo.name ) << "' duration='"
-                    << m_testTimer.getElapsedMilliseconds() << "']\n";
-            stream.flush();
-        }
-
-    private:
-        void printSectionHeader( std::ostream& os ) {
-            assert( !m_sectionStack.empty() );
-
-            if( m_sectionStack.size() > 1 ) {
-                os << getLineOfChars<'-'>() << "\n";
-
-                std::vector<SectionInfo>::const_iterator
-                it = m_sectionStack.begin()+1, // Skip first section (test case)
-                itEnd = m_sectionStack.end();
-                for( ; it != itEnd; ++it )
-                    printHeaderString( os, it->name );
-                os << getLineOfChars<'-'>() << "\n";
-            }
-
-            SourceLineInfo lineInfo = m_sectionStack.front().lineInfo;
-
-            os << lineInfo << "\n";
-            os << getLineOfChars<'.'>() << "\n\n";
-        }
-
-        // if string has a : in first line will set indent to follow it on
-        // subsequent lines
-        static void printHeaderString( std::ostream& os, std::string const& _string, std::size_t indent = 0 ) {
-            std::size_t i = _string.find( ": " );
-            if( i != std::string::npos )
-                i+=2;
-            else
-                i = 0;
-            os << Column( _string )
-                           .indent( indent+i)
-                           .initialIndent( indent ) << "\n";
-        }
-    private:
-        bool m_headerPrintedForThisSection = false;
-        Timer m_testTimer;
-    };
-
-#ifdef CATCH_IMPL
-    TeamCityReporter::~TeamCityReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "teamcity", TeamCityReporter )
-
-} // end namespace Catch
-
-#ifdef __clang__
-#   pragma clang diagnostic pop
-#endif
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
diff --git a/uv.lock b/uv.lock
index f8278c13681bcf..483cd4475e1e69 100644
--- a/uv.lock
+++ b/uv.lock
@@ -140,6 +140,11 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/3e/b9/5b984124f539656efdf079f3d8f09d73667808ec8d0546e6bce6dc60ade6/casadi-3.7.2-cp312-none-win_amd64.whl", hash = "sha256:81d677d2b020c1307c1eb25eae15686e5de199bb066828c3eaabdfaaaf457ffd", size = 50991347, upload-time = "2025-09-10T08:10:46.629Z" },
 ]
 
+[[package]]
+name = "catch2"
+version = "2.13.10"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2#419106e82a8dfb86b3252935c94cefb4570cd395" }
+
 [[package]]
 name = "certifi"
 version = "2026.2.25"
@@ -751,6 +756,7 @@ dependencies = [
     { name = "bzip2" },
     { name = "capnproto" },
     { name = "casadi" },
+    { name = "catch2" },
     { name = "cffi" },
     { name = "crcmod-plus" },
     { name = "cython" },
@@ -828,6 +834,7 @@ requires-dist = [
     { name = "bzip2", git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2" },
     { name = "capnproto", git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto" },
     { name = "casadi", specifier = ">=3.6.6" },
+    { name = "catch2", git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2" },
     { name = "cffi" },
     { name = "codespell", marker = "extra == 'testing'" },
     { name = "coverage", marker = "extra == 'testing'" },

From 10a33a4bf182a7dcd96789232ccd96c51af267e7 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 26 Apr 2026 01:32:55 -0400
Subject: [PATCH 0963/1434] tg: reapply changes (#1817)

* Reapply "bump tg (#37700)"

This reverts commit 9022b4d3224a05a3509c943e50aee5a03efa8c72.

* fixup! Reapply "bump tg (#37700)"

* Revert "Revert "autodetect tg backend (#37778)""

This reverts commit b782958a

* Reapply "autodetect tg backend: use CPU:LLVM on Linux (#37785)"

This reverts commit 3fa6726f88b9afe45fd0393b81fe040a3fb4d553.

* Reapply "Modeld: support uncompiled"

This reverts commit 8c240cc1a4b07a2f94ccbd4dbcb9a812d7c0293a.

* fixup! Reapply "bump tg (#37700)"

* fixup! Reapply "autodetect tg backend: use CPU:LLVM on Linux (#37785)"

* fixup! Revert "Revert "autodetect tg backend (#37778)""

* fixup! Reapply "autodetect tg backend: use CPU:LLVM on Linux (#37785)"

* fixup! Reapply "autodetect tg backend: use CPU:LLVM on Linux (#37785)"

* fixup! Revert "Revert "autodetect tg backend (#37778)""

* fixup! Reapply "bump tg (#37700)"

* fixup! Reapply "bump tg (#37700)"
---
 .gitignore                            |  1 +
 selfdrive/modeld/SConscript           | 46 ++++++++++++++++++++-------
 selfdrive/modeld/compile_warp.py      | 28 ++++++----------
 selfdrive/modeld/dmonitoringmodeld.py | 11 ++++---
 selfdrive/modeld/modeld.py            | 10 +++---
 selfdrive/modeld/tinygrad_helpers.py  | 12 +++++++
 sunnypilot/modeld_v2/warp.py          | 19 +++--------
 7 files changed, 76 insertions(+), 51 deletions(-)
 create mode 100644 selfdrive/modeld/tinygrad_helpers.py

diff --git a/.gitignore b/.gitignore
index 3434c7254a6921..ed49682f45a65e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -44,6 +44,7 @@ bin/
 config.json
 compile_commands.json
 compare_runtime*.html
+selfdrive/modeld/models/tg_compiled_flags.json
 
 # build artifacts
 docs_site/
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index f02e667228943d..544fcafc770e13 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -1,6 +1,9 @@
-import os
 import glob
+import json
+import os
+from SCons.Script import Value
 from openpilot.common.file_chunker import chunk_file, get_chunk_paths
+from tinygrad import Device
 
 Import('env', 'arch')
 chunker_file = File("#common/file_chunker.py")
@@ -13,31 +16,52 @@ tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "
 def estimate_pickle_max_size(onnx_size):
   return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty
 
-# compile warp
 # THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
-tg_flags = {
-    'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
-    'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
-}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0')
+# get fastest TG config
+available = set(Device.get_available_devices())
+# FIXME-SP: reset when we bump tg
+if False:  # 'CUDA' in available:
+  tg_backend = 'CUDA'
+  tg_flags = f'DEV={tg_backend}'
+elif 'QCOM' in available:
+  tg_backend = 'QCOM'
+  tg_flags = f'DEV={tg_backend} FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0'
+else:
+  tg_backend = 'CPU' if arch == 'Darwin' else 'CPU CPU_LLVM=1'  # FIXME-SP: reset when we bump tg
+  tg_flags = f'DEV={tg_backend} THREADS=0'
+
+def write_tg_compiled_flags(target, source, env):
+  with open(str(target[0]), "w") as f:
+    json.dump({"DEV": tg_backend}, f)
+    f.write("\n")
+
+compiled_flags_node = lenv.Command(
+  File("models/tg_compiled_flags.json").abspath,
+  tinygrad_files + [Value(tg_backend)],
+  write_tg_compiled_flags,
+)
+
+# tinygrad calls brew which needs a $HOME in the env
+mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
 
 # Get model metadata
 for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
   fn = File(f"models/{model_name}").abspath
   script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
-  cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
-  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
+  cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
+  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [compiled_flags_node], cmd)
 
 image_flag = {
      'larch64': 'IMAGE=2',
 }.get(arch, 'IMAGE=0')
 script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
-compile_warp_cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
+compile_warp_cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 warp_targets = []
 for cam in [_ar_ox_fisheye, _os_fisheye]:
   w, h = cam.width, cam.height
   warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath]
-lenv.Command(warp_targets, tinygrad_files + script_files, compile_warp_cmd)
+lenv.Command(warp_targets, tinygrad_files + script_files + [compiled_flags_node], compile_warp_cmd)
 
 def tg_compile(flags, model_name):
   pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
@@ -47,7 +71,7 @@ def tg_compile(flags, model_name):
   chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
   compile_node = lenv.Command(
     pkl,
-    [onnx_path] + tinygrad_files + [chunker_file],
+    [onnx_path] + tinygrad_files + [chunker_file, compiled_flags_node],
     f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
   )
   def do_chunk(target, source, env):
diff --git a/selfdrive/modeld/compile_warp.py b/selfdrive/modeld/compile_warp.py
index 75cc65f84cb7f5..1144fc69c33aa7 100755
--- a/selfdrive/modeld/compile_warp.py
+++ b/selfdrive/modeld/compile_warp.py
@@ -97,8 +97,8 @@ def make_update_img_input(frame_prepare, model_w, model_h):
   def update_img_input_tinygrad(tensor, frame, M_inv):
     M_inv = M_inv.to(Device.DEFAULT)
     new_img = frame_prepare(frame, M_inv)
-    full_buffer = tensor[6:].cat(new_img, dim=0).contiguous()
-    return full_buffer, Tensor.cat(full_buffer[:6], full_buffer[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
+    tensor.assign(tensor[6:].cat(new_img, dim=0).contiguous())
+    return Tensor.cat(tensor[:6], tensor[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
   return update_img_input_tinygrad
 
 
@@ -107,9 +107,9 @@ def make_update_both_imgs(frame_prepare, model_w, model_h):
 
   def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
                                 calib_big_img_buffer, new_big_img, M_inv_big):
-    calib_img_buffer, calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
-    calib_big_img_buffer, calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
-    return calib_img_buffer, calib_img_pair, calib_big_img_buffer, calib_big_img_pair
+    calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
+    calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
+    return calib_img_pair, calib_big_img_pair
   return update_both_imgs_tinygrad
 
 
@@ -136,29 +136,20 @@ def compile_modeld_warp(cam_w, cam_h):
 
   full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
   big_full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
-  full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8)
-  big_full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8)
-
+  new_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
+  new_big_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
   for i in range(10):
-    new_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
     img_inputs = [full_buffer,
                   Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
                   Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
-    new_big_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
     big_img_inputs = [big_full_buffer,
                       Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
                       Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
     inputs = img_inputs + big_img_inputs
     Device.default.synchronize()
 
-    inputs_np = [x.numpy() for x in inputs]
-    inputs_np[0] = full_buffer_np
-    inputs_np[3] = big_full_buffer_np
-
     st = time.perf_counter()
-    out = update_img_jit(*inputs)
-    full_buffer = out[0].contiguous().realize().clone()
-    big_full_buffer = out[2].contiguous().realize().clone()
+    _ = update_img_jit(*inputs)
     mt = time.perf_counter()
     Device.default.synchronize()
     et = time.perf_counter()
@@ -182,8 +173,9 @@ def compile_dm_warp(cam_w, cam_h):
   warp_dm = make_warp_dm(cam_w, cam_h, dm_w, dm_h)
   warp_dm_jit = TinyJit(warp_dm, prune=True)
 
+  new_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
   for i in range(10):
-    inputs = [Tensor.from_blob((32 * Tensor.randn(yuv_size,) + 128).cast(dtype='uint8').realize().numpy().ctypes.data, (yuv_size,), dtype='uint8'),
+    inputs = [Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
               Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
     Device.default.synchronize()
     st = time.perf_counter()
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index efd8214b9faa0c..78749b773afc77 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,12 +1,16 @@
 #!/usr/bin/env python3
 import os
+from openpilot.selfdrive.modeld.tinygrad_helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
+set_tinygrad_backend_from_compiled_flags()
+
+# FIXME-SP: remove once we bump tg
 from openpilot.system.hardware import TICI
 os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
+
 from tinygrad.tensor import Tensor
 import time
 import pickle
 import numpy as np
-from pathlib import Path
 
 from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
@@ -21,9 +25,8 @@
 
 PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
-METADATA_PATH = Path(__file__).parent / 'models/dmonitoring_model_metadata.pkl'
-MODELS_DIR = Path(__file__).parent / 'models'
+MODEL_PKL_PATH = MODELS_DIR / 'dmonitoring_model_tinygrad.pkl'
+METADATA_PATH = MODELS_DIR / 'dmonitoring_model_metadata.pkl'
 
 class ModelState:
   inputs: dict[str, np.ndarray]
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index d774e475d74546..4f89058d70354b 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,7 +1,12 @@
 #!/usr/bin/env python3
 import os
+from openpilot.selfdrive.modeld.tinygrad_helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
+set_tinygrad_backend_from_compiled_flags()
+
+# FIXME-SP: remove once we bump tg
 from openpilot.system.hardware import TICI
 os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
+
 USBGPU = "USBGPU" in os.environ
 if USBGPU:
   os.environ['DEV'] = 'AMD'
@@ -12,7 +17,6 @@
 import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
-from pathlib import Path
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
@@ -37,7 +41,6 @@
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
-MODELS_DIR = Path(__file__).parent / 'models'
 VISION_PKL_PATH = MODELS_DIR / 'driving_vision_tinygrad.pkl'
 VISION_METADATA_PATH = MODELS_DIR / 'driving_vision_metadata.pkl'
 POLICY_PKL_PATH = MODELS_DIR / 'driving_policy_tinygrad.pkl'
@@ -217,8 +220,7 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
 
     out = self.update_imgs(self.img_queues['img'], self.full_frames['img'], self.transforms['img'],
                            self.img_queues['big_img'], self.full_frames['big_img'], self.transforms['big_img'])
-    self.img_queues['img'], self.img_queues['big_img'] = out[0].realize(), out[2].realize()
-    vision_inputs = {'img': out[1], 'big_img': out[3]}
+    vision_inputs = {'img': out[0], 'big_img': out[1]}
 
     if prepare_only:
       return None
diff --git a/selfdrive/modeld/tinygrad_helpers.py b/selfdrive/modeld/tinygrad_helpers.py
new file mode 100644
index 00000000000000..49a6ed6161855c
--- /dev/null
+++ b/selfdrive/modeld/tinygrad_helpers.py
@@ -0,0 +1,12 @@
+import json
+import os
+from pathlib import Path
+
+MODELS_DIR = Path(__file__).parent / 'models'
+COMPILED_FLAGS_PATH = MODELS_DIR / 'tg_compiled_flags.json'
+
+
+def set_tinygrad_backend_from_compiled_flags() -> None:
+  if os.path.isfile(COMPILED_FLAGS_PATH):
+    with open(COMPILED_FLAGS_PATH) as f:
+      os.environ['DEV'] = str(json.load(f)['DEV'])
diff --git a/sunnypilot/modeld_v2/warp.py b/sunnypilot/modeld_v2/warp.py
index 829cbcca4998cc..fd8be46837d342 100644
--- a/sunnypilot/modeld_v2/warp.py
+++ b/sunnypilot/modeld_v2/warp.py
@@ -33,29 +33,20 @@ def compile_v2_warp(cam_w, cam_h, buffer_length):
 
   full_buffer = Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize()
   big_full_buffer = Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize()
-  full_buffer_np = np.zeros(img_buffer_shape, dtype=np.uint8)
-  big_full_buffer_np = np.zeros(img_buffer_shape, dtype=np.uint8)
-
+  new_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
+  new_big_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
   for i in range(10):
-    new_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
     img_inputs = [full_buffer,
                   Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
                   Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
-    new_big_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
     big_img_inputs = [big_full_buffer,
                       Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
                       Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
     inputs = img_inputs + big_img_inputs
     Device.default.synchronize()
 
-    inputs_np = [x.numpy() for x in inputs]
-    inputs_np[0] = full_buffer_np
-    inputs_np[3] = big_full_buffer_np
-
     st = time.perf_counter()
-    out = update_img_jit(*inputs)
-    full_buffer = out[0].contiguous().realize().clone()
-    big_full_buffer = out[2].contiguous().realize().clone()
+    _ = update_img_jit(*inputs)
     mt = time.perf_counter()
     Device.default.synchronize()
     et = time.perf_counter()
@@ -125,8 +116,8 @@ def process(self, bufs, transforms):
       self.full_buffers['img'], road_blob, self.transforms['img'],
       self.full_buffers['big_img'], wide_blob, self.transforms['big_img'],
     )
-    self.full_buffers['img'], out_road = res[0].realize(), res[1].realize()
-    self.full_buffers['big_img'], out_wide = res[2].realize(), res[3].realize()
+    out_road = res[0].realize()
+    out_wide = res[1].realize()
 
     return {road: out_road, wide: out_wide}
 

From 7002d2421399de7bdf3e99d2840491d0d1dbb535 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 26 Apr 2026 09:05:34 -0700
Subject: [PATCH 0964/1434] Revert "use catch2 dependency package (#37910)"

This reverts commit d1e069210fc38a2c0752f04bed05074eaf3704ff.
---
 SConstruct                                    |   3 +-
 pyproject.toml                                |   1 -
 third_party/catch2/include/catch2/catch.hpp   |   3 +
 .../catch2/catch_reporter_automake.hpp        |  62 +++++
 .../catch2/catch_reporter_sonarqube.hpp       | 181 +++++++++++++
 .../include/catch2/catch_reporter_tap.hpp     | 254 ++++++++++++++++++
 .../catch2/catch_reporter_teamcity.hpp        | 219 +++++++++++++++
 uv.lock                                       |   7 -
 8 files changed, 721 insertions(+), 9 deletions(-)
 create mode 100644 third_party/catch2/include/catch2/catch.hpp
 create mode 100644 third_party/catch2/include/catch2/catch_reporter_automake.hpp
 create mode 100644 third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
 create mode 100644 third_party/catch2/include/catch2/catch_reporter_tap.hpp
 create mode 100644 third_party/catch2/include/catch2/catch_reporter_teamcity.hpp

diff --git a/SConstruct b/SConstruct
index c03d6582aa5828..119209dcdbb316 100644
--- a/SConstruct
+++ b/SConstruct
@@ -37,7 +37,7 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 
 
@@ -111,6 +111,7 @@ env = Environment(
     "#third_party/acados/include",
     "#third_party/acados/include/blasfeo/include",
     "#third_party/acados/include/hpipm/include",
+    "#third_party/catch2/include",
     [x.INCLUDE_DIR for x in pkgs],
   ],
   LIBPATH=[
diff --git a/pyproject.toml b/pyproject.toml
index a53265c4492e06..d7af83d40751a9 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -28,7 +28,6 @@ dependencies = [
   # vendored native dependencies
   "bzip2 @ git+https://github.com/commaai/dependencies.git@release-bzip2#subdirectory=bzip2",
   "capnproto @ git+https://github.com/commaai/dependencies.git@release-capnproto#subdirectory=capnproto",
-  "catch2 @ git+https://github.com/commaai/dependencies.git@release-catch2#subdirectory=catch2",
   "eigen @ git+https://github.com/commaai/dependencies.git@release-eigen#subdirectory=eigen",
   "ffmpeg @ git+https://github.com/commaai/dependencies.git@release-ffmpeg#subdirectory=ffmpeg",
   "libjpeg @ git+https://github.com/commaai/dependencies.git@release-libjpeg#subdirectory=libjpeg",
diff --git a/third_party/catch2/include/catch2/catch.hpp b/third_party/catch2/include/catch2/catch.hpp
new file mode 100644
index 00000000000000..6a31e5b0ca8cd4
--- /dev/null
+++ b/third_party/catch2/include/catch2/catch.hpp
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27da57c7a06d09be8dd81fab7246b79e7892b6ae7e4e49ba8631f1d5a955e3fc
+size 657276
diff --git a/third_party/catch2/include/catch2/catch_reporter_automake.hpp b/third_party/catch2/include/catch2/catch_reporter_automake.hpp
new file mode 100644
index 00000000000000..dbebe975163c98
--- /dev/null
+++ b/third_party/catch2/include/catch2/catch_reporter_automake.hpp
@@ -0,0 +1,62 @@
+/*
+ *  Created by Justin R. Wilson on 2/19/2017.
+ *  Copyright 2017 Justin R. Wilson. All rights reserved.
+ *
+ *  Distributed under the Boost Software License, Version 1.0. (See accompanying
+ *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+#ifndef TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
+#define TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
+
+// Don't #include any Catch headers here - we can assume they are already
+// included before this header.
+// This is not good practice in general but is necessary in this case so this
+// file can be distributed as a single header that works with the main
+// Catch single header.
+
+namespace Catch {
+
+    struct AutomakeReporter : StreamingReporterBase<AutomakeReporter> {
+        AutomakeReporter( ReporterConfig const& _config )
+          :   StreamingReporterBase( _config )
+        {}
+
+        ~AutomakeReporter() override;
+
+        static std::string getDescription() {
+            return "Reports test results in the format of Automake .trs files";
+        }
+
+        void assertionStarting( AssertionInfo const& ) override {}
+
+        bool assertionEnded( AssertionStats const& /*_assertionStats*/ ) override { return true; }
+
+        void testCaseEnded( TestCaseStats const& _testCaseStats ) override {
+            // Possible values to emit are PASS, XFAIL, SKIP, FAIL, XPASS and ERROR.
+            stream << ":test-result: ";
+            if (_testCaseStats.totals.assertions.allPassed()) {
+                stream << "PASS";
+            } else if (_testCaseStats.totals.assertions.allOk()) {
+                stream << "XFAIL";
+            } else {
+                stream << "FAIL";
+            }
+            stream << ' ' << _testCaseStats.testInfo.name << '\n';
+            StreamingReporterBase::testCaseEnded( _testCaseStats );
+        }
+
+        void skipTest( TestCaseInfo const& testInfo ) override {
+            stream << ":test-result: SKIP " << testInfo.name << '\n';
+        }
+
+    };
+
+#ifdef CATCH_IMPL
+    AutomakeReporter::~AutomakeReporter() {}
+#endif
+
+    CATCH_REGISTER_REPORTER( "automake", AutomakeReporter)
+
+} // end namespace Catch
+
+#endif // TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
diff --git a/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp b/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
new file mode 100644
index 00000000000000..bf7d9299a50ab6
--- /dev/null
+++ b/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
@@ -0,0 +1,181 @@
+/*
+ *  Created by Daniel Garcia on 2018-12-04.
+ *  Copyright Social Point SL. All rights reserved.
+ *
+ *  Distributed under the Boost Software License, Version 1.0. (See accompanying
+ *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+#ifndef CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
+#define CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
+
+
+// Don't #include any Catch headers here - we can assume they are already
+// included before this header.
+// This is not good practice in general but is necessary in this case so this
+// file can be distributed as a single header that works with the main
+// Catch single header.
+
+#include <map>
+
+namespace Catch {
+
+    struct SonarQubeReporter : CumulativeReporterBase<SonarQubeReporter> {
+
+        SonarQubeReporter(ReporterConfig const& config)
+        : CumulativeReporterBase(config)
+        , xml(config.stream()) {
+            m_reporterPrefs.shouldRedirectStdOut = true;
+            m_reporterPrefs.shouldReportAllAssertions = true;
+        }
+
+        ~SonarQubeReporter() override;
+
+        static std::string getDescription() {
+            return "Reports test results in the Generic Test Data SonarQube XML format";
+        }
+
+        static std::set<Verbosity> getSupportedVerbosities() {
+            return { Verbosity::Normal };
+        }
+
+        void noMatchingTestCases(std::string const& /*spec*/) override {}
+
+        void testRunStarting(TestRunInfo const& testRunInfo) override {
+            CumulativeReporterBase::testRunStarting(testRunInfo);
+            xml.startElement("testExecutions");
+            xml.writeAttribute("version", "1");
+        }
+
+        void testGroupEnded(TestGroupStats const& testGroupStats) override {
+            CumulativeReporterBase::testGroupEnded(testGroupStats);
+            writeGroup(*m_testGroups.back());
+        }
+
+        void testRunEndedCumulative() override {
+            xml.endElement();
+        }
+
+        void writeGroup(TestGroupNode const& groupNode) {
+            std::map<std::string, TestGroupNode::ChildNodes> testsPerFile;
+            for(auto const& child : groupNode.children)
+                testsPerFile[child->value.testInfo.lineInfo.file].push_back(child);
+
+            for(auto const& kv : testsPerFile)
+                writeTestFile(kv.first.c_str(), kv.second);
+        }
+
+        void writeTestFile(const char* filename, TestGroupNode::ChildNodes const& testCaseNodes) {
+            XmlWriter::ScopedElement e = xml.scopedElement("file");
+            xml.writeAttribute("path", filename);
+
+            for(auto const& child : testCaseNodes)
+                writeTestCase(*child);
+        }
+
+        void writeTestCase(TestCaseNode const& testCaseNode) {
+            // All test cases have exactly one section - which represents the
+            // test case itself. That section may have 0-n nested sections
+            assert(testCaseNode.children.size() == 1);
+            SectionNode const& rootSection = *testCaseNode.children.front();
+            writeSection("", rootSection, testCaseNode.value.testInfo.okToFail());
+        }
+
+        void writeSection(std::string const& rootName, SectionNode const& sectionNode, bool okToFail) {
+            std::string name = trim(sectionNode.stats.sectionInfo.name);
+            if(!rootName.empty())
+                name = rootName + '/' + name;
+
+            if(!sectionNode.assertions.empty() || !sectionNode.stdOut.empty() || !sectionNode.stdErr.empty()) {
+                XmlWriter::ScopedElement e = xml.scopedElement("testCase");
+                xml.writeAttribute("name", name);
+                xml.writeAttribute("duration", static_cast<long>(sectionNode.stats.durationInSeconds * 1000));
+
+                writeAssertions(sectionNode, okToFail);
+            }
+
+            for(auto const& childNode : sectionNode.childSections)
+                writeSection(name, *childNode, okToFail);
+        }
+
+        void writeAssertions(SectionNode const& sectionNode, bool okToFail) {
+            for(auto const& assertion : sectionNode.assertions)
+                writeAssertion( assertion, okToFail);
+        }
+
+        void writeAssertion(AssertionStats const& stats, bool okToFail) {
+            AssertionResult const& result = stats.assertionResult;
+            if(!result.isOk()) {
+                std::string elementName;
+                if(okToFail) {
+                    elementName = "skipped";
+                }
+                else {
+                    switch(result.getResultType()) {
+                        case ResultWas::ThrewException:
+                        case ResultWas::FatalErrorCondition:
+                            elementName = "error";
+                            break;
+                        case ResultWas::ExplicitFailure:
+                            elementName = "failure";
+                            break;
+                        case ResultWas::ExpressionFailed:
+                            elementName = "failure";
+                            break;
+                        case ResultWas::DidntThrowException:
+                            elementName = "failure";
+                            break;
+
+                            // We should never see these here:
+                        case ResultWas::Info:
+                        case ResultWas::Warning:
+                        case ResultWas::Ok:
+                        case ResultWas::Unknown:
+                        case ResultWas::FailureBit:
+                        case ResultWas::Exception:
+                            elementName = "internalError";
+                            break;
+                    }
+                }
+
+                XmlWriter::ScopedElement e = xml.scopedElement(elementName);
+
+                ReusableStringStream messageRss;
+                messageRss << result.getTestMacroName() << "(" << result.getExpression() << ")";
+                xml.writeAttribute("message", messageRss.str());
+
+                ReusableStringStream textRss;
+                if (stats.totals.assertions.total() > 0) {
+                    textRss << "FAILED:\n";
+                    if (result.hasExpression()) {
+                        textRss << "\t" << result.getExpressionInMacro() << "\n";
+                    }
+                    if (result.hasExpandedExpression()) {
+                        textRss << "with expansion:\n\t" << result.getExpandedExpression() << "\n";
+                    }
+                }
+
+                if(!result.getMessage().empty())
+                    textRss << result.getMessage() << "\n";
+
+                for(auto const& msg : stats.infoMessages)
+                    if(msg.type == ResultWas::Info)
+                        textRss << msg.message << "\n";
+
+                textRss << "at " << result.getSourceInfo();
+                xml.writeText(textRss.str(), XmlFormatting::Newline);
+            }
+        }
+
+    private:
+        XmlWriter xml;
+    };
+
+#ifdef CATCH_IMPL
+    SonarQubeReporter::~SonarQubeReporter() {}
+#endif
+
+    CATCH_REGISTER_REPORTER( "sonarqube", SonarQubeReporter )
+
+} // end namespace Catch
+
+#endif // CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
\ No newline at end of file
diff --git a/third_party/catch2/include/catch2/catch_reporter_tap.hpp b/third_party/catch2/include/catch2/catch_reporter_tap.hpp
new file mode 100644
index 00000000000000..5ac8524ce7abeb
--- /dev/null
+++ b/third_party/catch2/include/catch2/catch_reporter_tap.hpp
@@ -0,0 +1,254 @@
+/*
+ *  Created by Colton Wolkins on 2015-08-15.
+ *  Copyright 2015 Martin Moene. All rights reserved.
+ *
+ *  Distributed under the Boost Software License, Version 1.0. (See accompanying
+ *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+#ifndef TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
+#define TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
+
+
+// Don't #include any Catch headers here - we can assume they are already
+// included before this header.
+// This is not good practice in general but is necessary in this case so this
+// file can be distributed as a single header that works with the main
+// Catch single header.
+
+#include <algorithm>
+
+namespace Catch {
+
+    struct TAPReporter : StreamingReporterBase<TAPReporter> {
+
+        using StreamingReporterBase::StreamingReporterBase;
+
+        TAPReporter( ReporterConfig const& config ):
+            StreamingReporterBase( config ) {
+            m_reporterPrefs.shouldReportAllAssertions = true;
+        }
+
+        ~TAPReporter() override;
+
+        static std::string getDescription() {
+            return "Reports test results in TAP format, suitable for test harnesses";
+        }
+
+        void noMatchingTestCases( std::string const& spec ) override {
+            stream << "# No test cases matched '" << spec << "'" << std::endl;
+        }
+
+        void assertionStarting( AssertionInfo const& ) override {}
+
+        bool assertionEnded( AssertionStats const& _assertionStats ) override {
+            ++counter;
+
+            stream << "# " << currentTestCaseInfo->name << std::endl;
+            AssertionPrinter printer( stream, _assertionStats, counter );
+            printer.print();
+
+            stream << std::endl;
+            return true;
+        }
+
+        void testRunEnded( TestRunStats const& _testRunStats ) override {
+            printTotals( _testRunStats.totals );
+            stream << "\n" << std::endl;
+            StreamingReporterBase::testRunEnded( _testRunStats );
+        }
+
+    private:
+        std::size_t counter = 0;
+        class AssertionPrinter {
+        public:
+            AssertionPrinter& operator= ( AssertionPrinter const& ) = delete;
+            AssertionPrinter( AssertionPrinter const& ) = delete;
+            AssertionPrinter( std::ostream& _stream, AssertionStats const& _stats, std::size_t _counter )
+            : stream( _stream )
+            , result( _stats.assertionResult )
+            , messages( _stats.infoMessages )
+            , itMessage( _stats.infoMessages.begin() )
+            , printInfoMessages( true )
+            , counter(_counter)
+            {}
+
+            void print() {
+                itMessage = messages.begin();
+
+                switch( result.getResultType() ) {
+                    case ResultWas::Ok:
+                        printResultType( passedString() );
+                        printOriginalExpression();
+                        printReconstructedExpression();
+                        if ( ! result.hasExpression() )
+                            printRemainingMessages( Colour::None );
+                        else
+                            printRemainingMessages();
+                        break;
+                    case ResultWas::ExpressionFailed:
+                        if (result.isOk()) {
+                            printResultType(passedString());
+                        } else {
+                            printResultType(failedString());
+                        }
+                        printOriginalExpression();
+                        printReconstructedExpression();
+                        if (result.isOk()) {
+                            printIssue(" # TODO");
+                        }
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::ThrewException:
+                        printResultType( failedString() );
+                        printIssue( "unexpected exception with message:" );
+                        printMessage();
+                        printExpressionWas();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::FatalErrorCondition:
+                        printResultType( failedString() );
+                        printIssue( "fatal error condition with message:" );
+                        printMessage();
+                        printExpressionWas();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::DidntThrowException:
+                        printResultType( failedString() );
+                        printIssue( "expected exception, got none" );
+                        printExpressionWas();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::Info:
+                        printResultType( "info" );
+                        printMessage();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::Warning:
+                        printResultType( "warning" );
+                        printMessage();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::ExplicitFailure:
+                        printResultType( failedString() );
+                        printIssue( "explicitly" );
+                        printRemainingMessages( Colour::None );
+                        break;
+                    // These cases are here to prevent compiler warnings
+                    case ResultWas::Unknown:
+                    case ResultWas::FailureBit:
+                    case ResultWas::Exception:
+                        printResultType( "** internal error **" );
+                        break;
+                }
+            }
+
+        private:
+            static Colour::Code dimColour() { return Colour::FileName; }
+
+            static const char* failedString() { return "not ok"; }
+            static const char* passedString() { return "ok"; }
+
+            void printSourceInfo() const {
+                Colour colourGuard( dimColour() );
+                stream << result.getSourceInfo() << ":";
+            }
+
+            void printResultType( std::string const& passOrFail ) const {
+                if( !passOrFail.empty() ) {
+                    stream << passOrFail << ' ' << counter << " -";
+                }
+            }
+
+            void printIssue( std::string const& issue ) const {
+                stream << " " << issue;
+            }
+
+            void printExpressionWas() {
+                if( result.hasExpression() ) {
+                    stream << ";";
+                    {
+                        Colour colour( dimColour() );
+                        stream << " expression was:";
+                    }
+                    printOriginalExpression();
+                }
+            }
+
+            void printOriginalExpression() const {
+                if( result.hasExpression() ) {
+                    stream << " " << result.getExpression();
+                }
+            }
+
+            void printReconstructedExpression() const {
+                if( result.hasExpandedExpression() ) {
+                    {
+                        Colour colour( dimColour() );
+                        stream << " for: ";
+                    }
+                    std::string expr = result.getExpandedExpression();
+                    std::replace( expr.begin(), expr.end(), '\n', ' ');
+                    stream << expr;
+                }
+            }
+
+            void printMessage() {
+                if ( itMessage != messages.end() ) {
+                    stream << " '" << itMessage->message << "'";
+                    ++itMessage;
+                }
+            }
+
+            void printRemainingMessages( Colour::Code colour = dimColour() ) {
+                if (itMessage == messages.end()) {
+                    return;
+                }
+
+                const auto itEnd = messages.cend();
+                const auto N = static_cast<std::size_t>( std::distance( itMessage, itEnd ) );
+
+                {
+                    Colour colourGuard( colour );
+                    stream << " with " << pluralise( N, "message" ) << ":";
+                }
+
+                while( itMessage != itEnd ) {
+                    // If this assertion is a warning ignore any INFO messages
+                    if( printInfoMessages || itMessage->type != ResultWas::Info ) {
+                        stream << " '" << itMessage->message << "'";
+                        if ( ++itMessage != itEnd ) {
+                            Colour colourGuard( dimColour() );
+                            stream << " and";
+                        }
+                        continue;
+                    }
+                    ++itMessage;
+                }
+            }
+
+        private:
+            std::ostream& stream;
+            AssertionResult const& result;
+            std::vector<MessageInfo> messages;
+            std::vector<MessageInfo>::const_iterator itMessage;
+            bool printInfoMessages;
+            std::size_t counter;
+        };
+
+        void printTotals( const Totals& totals ) const {
+            stream << "1.." << totals.assertions.total();
+            if( totals.testCases.total() == 0 ) {
+                stream << " # Skipped: No tests ran.";
+            }
+        }
+    };
+
+#ifdef CATCH_IMPL
+    TAPReporter::~TAPReporter() {}
+#endif
+
+    CATCH_REGISTER_REPORTER( "tap", TAPReporter )
+
+} // end namespace Catch
+
+#endif // TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
diff --git a/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp b/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp
new file mode 100644
index 00000000000000..47b7e4aac30f94
--- /dev/null
+++ b/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp
@@ -0,0 +1,219 @@
+/*
+ *  Created by Phil Nash on 19th December 2014
+ *  Copyright 2014 Two Blue Cubes Ltd. All rights reserved.
+ *
+ *  Distributed under the Boost Software License, Version 1.0. (See accompanying
+ *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+#ifndef TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
+#define TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
+
+// Don't #include any Catch headers here - we can assume they are already
+// included before this header.
+// This is not good practice in general but is necessary in this case so this
+// file can be distributed as a single header that works with the main
+// Catch single header.
+
+#include <cstring>
+
+#ifdef __clang__
+#   pragma clang diagnostic push
+#   pragma clang diagnostic ignored "-Wpadded"
+#endif
+
+namespace Catch {
+
+    struct TeamCityReporter : StreamingReporterBase<TeamCityReporter> {
+        TeamCityReporter( ReporterConfig const& _config )
+        :   StreamingReporterBase( _config )
+        {
+            m_reporterPrefs.shouldRedirectStdOut = true;
+        }
+
+        static std::string escape( std::string const& str ) {
+            std::string escaped = str;
+            replaceInPlace( escaped, "|", "||" );
+            replaceInPlace( escaped, "'", "|'" );
+            replaceInPlace( escaped, "\n", "|n" );
+            replaceInPlace( escaped, "\r", "|r" );
+            replaceInPlace( escaped, "[", "|[" );
+            replaceInPlace( escaped, "]", "|]" );
+            return escaped;
+        }
+        ~TeamCityReporter() override;
+
+        static std::string getDescription() {
+            return "Reports test results as TeamCity service messages";
+        }
+
+        void skipTest( TestCaseInfo const& /* testInfo */ ) override {
+        }
+
+        void noMatchingTestCases( std::string const& /* spec */ ) override {}
+
+        void testGroupStarting( GroupInfo const& groupInfo ) override {
+            StreamingReporterBase::testGroupStarting( groupInfo );
+            stream << "##teamcity[testSuiteStarted name='"
+                << escape( groupInfo.name ) << "']\n";
+        }
+        void testGroupEnded( TestGroupStats const& testGroupStats ) override {
+            StreamingReporterBase::testGroupEnded( testGroupStats );
+            stream << "##teamcity[testSuiteFinished name='"
+                << escape( testGroupStats.groupInfo.name ) << "']\n";
+        }
+
+
+        void assertionStarting( AssertionInfo const& ) override {}
+
+        bool assertionEnded( AssertionStats const& assertionStats ) override {
+            AssertionResult const& result = assertionStats.assertionResult;
+            if( !result.isOk() ) {
+
+                ReusableStringStream msg;
+                if( !m_headerPrintedForThisSection )
+                    printSectionHeader( msg.get() );
+                m_headerPrintedForThisSection = true;
+
+                msg << result.getSourceInfo() << "\n";
+
+                switch( result.getResultType() ) {
+                    case ResultWas::ExpressionFailed:
+                        msg << "expression failed";
+                        break;
+                    case ResultWas::ThrewException:
+                        msg << "unexpected exception";
+                        break;
+                    case ResultWas::FatalErrorCondition:
+                        msg << "fatal error condition";
+                        break;
+                    case ResultWas::DidntThrowException:
+                        msg << "no exception was thrown where one was expected";
+                        break;
+                    case ResultWas::ExplicitFailure:
+                        msg << "explicit failure";
+                        break;
+
+                    // We shouldn't get here because of the isOk() test
+                    case ResultWas::Ok:
+                    case ResultWas::Info:
+                    case ResultWas::Warning:
+                        CATCH_ERROR( "Internal error in TeamCity reporter" );
+                    // These cases are here to prevent compiler warnings
+                    case ResultWas::Unknown:
+                    case ResultWas::FailureBit:
+                    case ResultWas::Exception:
+                        CATCH_ERROR( "Not implemented" );
+                }
+                if( assertionStats.infoMessages.size() == 1 )
+                    msg << " with message:";
+                if( assertionStats.infoMessages.size() > 1 )
+                    msg << " with messages:";
+                for( auto const& messageInfo : assertionStats.infoMessages )
+                    msg << "\n  \"" << messageInfo.message << "\"";
+
+
+                if( result.hasExpression() ) {
+                    msg <<
+                        "\n  " << result.getExpressionInMacro() << "\n"
+                        "with expansion:\n" <<
+                        "  " << result.getExpandedExpression() << "\n";
+                }
+
+                if( currentTestCaseInfo->okToFail() ) {
+                    msg << "- failure ignore as test marked as 'ok to fail'\n";
+                    stream << "##teamcity[testIgnored"
+                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
+                           << " message='" << escape( msg.str() ) << "'"
+                           << "]\n";
+                }
+                else {
+                    stream << "##teamcity[testFailed"
+                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
+                           << " message='" << escape( msg.str() ) << "'"
+                           << "]\n";
+                }
+            }
+            stream.flush();
+            return true;
+        }
+
+        void sectionStarting( SectionInfo const& sectionInfo ) override {
+            m_headerPrintedForThisSection = false;
+            StreamingReporterBase::sectionStarting( sectionInfo );
+        }
+
+        void testCaseStarting( TestCaseInfo const& testInfo ) override {
+            m_testTimer.start();
+            StreamingReporterBase::testCaseStarting( testInfo );
+            stream << "##teamcity[testStarted name='"
+                << escape( testInfo.name ) << "']\n";
+            stream.flush();
+        }
+
+        void testCaseEnded( TestCaseStats const& testCaseStats ) override {
+            StreamingReporterBase::testCaseEnded( testCaseStats );
+            if( !testCaseStats.stdOut.empty() )
+                stream << "##teamcity[testStdOut name='"
+                    << escape( testCaseStats.testInfo.name )
+                    << "' out='" << escape( testCaseStats.stdOut ) << "']\n";
+            if( !testCaseStats.stdErr.empty() )
+                stream << "##teamcity[testStdErr name='"
+                    << escape( testCaseStats.testInfo.name )
+                    << "' out='" << escape( testCaseStats.stdErr ) << "']\n";
+            stream << "##teamcity[testFinished name='"
+                    << escape( testCaseStats.testInfo.name ) << "' duration='"
+                    << m_testTimer.getElapsedMilliseconds() << "']\n";
+            stream.flush();
+        }
+
+    private:
+        void printSectionHeader( std::ostream& os ) {
+            assert( !m_sectionStack.empty() );
+
+            if( m_sectionStack.size() > 1 ) {
+                os << getLineOfChars<'-'>() << "\n";
+
+                std::vector<SectionInfo>::const_iterator
+                it = m_sectionStack.begin()+1, // Skip first section (test case)
+                itEnd = m_sectionStack.end();
+                for( ; it != itEnd; ++it )
+                    printHeaderString( os, it->name );
+                os << getLineOfChars<'-'>() << "\n";
+            }
+
+            SourceLineInfo lineInfo = m_sectionStack.front().lineInfo;
+
+            os << lineInfo << "\n";
+            os << getLineOfChars<'.'>() << "\n\n";
+        }
+
+        // if string has a : in first line will set indent to follow it on
+        // subsequent lines
+        static void printHeaderString( std::ostream& os, std::string const& _string, std::size_t indent = 0 ) {
+            std::size_t i = _string.find( ": " );
+            if( i != std::string::npos )
+                i+=2;
+            else
+                i = 0;
+            os << Column( _string )
+                           .indent( indent+i)
+                           .initialIndent( indent ) << "\n";
+        }
+    private:
+        bool m_headerPrintedForThisSection = false;
+        Timer m_testTimer;
+    };
+
+#ifdef CATCH_IMPL
+    TeamCityReporter::~TeamCityReporter() {}
+#endif
+
+    CATCH_REGISTER_REPORTER( "teamcity", TeamCityReporter )
+
+} // end namespace Catch
+
+#ifdef __clang__
+#   pragma clang diagnostic pop
+#endif
+
+#endif // TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
diff --git a/uv.lock b/uv.lock
index 483cd4475e1e69..f8278c13681bcf 100644
--- a/uv.lock
+++ b/uv.lock
@@ -140,11 +140,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/3e/b9/5b984124f539656efdf079f3d8f09d73667808ec8d0546e6bce6dc60ade6/casadi-3.7.2-cp312-none-win_amd64.whl", hash = "sha256:81d677d2b020c1307c1eb25eae15686e5de199bb066828c3eaabdfaaaf457ffd", size = 50991347, upload-time = "2025-09-10T08:10:46.629Z" },
 ]
 
-[[package]]
-name = "catch2"
-version = "2.13.10"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2#419106e82a8dfb86b3252935c94cefb4570cd395" }
-
 [[package]]
 name = "certifi"
 version = "2026.2.25"
@@ -756,7 +751,6 @@ dependencies = [
     { name = "bzip2" },
     { name = "capnproto" },
     { name = "casadi" },
-    { name = "catch2" },
     { name = "cffi" },
     { name = "crcmod-plus" },
     { name = "cython" },
@@ -834,7 +828,6 @@ requires-dist = [
     { name = "bzip2", git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2" },
     { name = "capnproto", git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto" },
     { name = "casadi", specifier = ">=3.6.6" },
-    { name = "catch2", git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2" },
     { name = "cffi" },
     { name = "codespell", marker = "extra == 'testing'" },
     { name = "coverage", marker = "extra == 'testing'" },

From e86d4e86a6a3d5e29555f9fe0f71a514c1a4a0e3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 26 Apr 2026 09:40:49 -0700
Subject: [PATCH 0965/1434] pj: shill for jp

---
 tools/plotjuggler/juggle.py | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)

diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index c86945ef6bbf51..a31c62c940edcf 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -29,6 +29,18 @@
 MAX_STREAMING_BUFFER_SIZE = 1000
 
 
+def print_jotpluggler_banner():
+  purple = "\033[95m" if sys.stdout.isatty() else ""
+  reset = "\033[0m" if purple else ""
+  print(f"{purple}+-------------------------------------------------------------+{reset}")
+  print(f"{purple}|{reset} JotPluggler is the future! Try it like this:                {purple}|{reset}")
+  print(f"{purple}|{reset}   ./tools/jotpluggler/jotpluggler --demo --layout tuning    {purple}|{reset}")
+  print(f"{purple}|{reset}                                                             {purple}|{reset}")
+  print(f"{purple}|{reset} PlotJuggler will be deleted soon.                           {purple}|{reset}")
+  print(f"{purple}|{reset} Missing a feature? Open an issue or post in #dev-openpilot. {purple}|{reset}")
+  print(f"{purple}+-------------------------------------------------------------+{reset}")
+
+
 def install():
   m = f"{platform.system()}-{platform.machine()}"
   supported = ("Linux-x86_64", "Linux-aarch64", "Darwin-arm64")
@@ -118,10 +130,15 @@ def juggle_route(route_or_segment_name, can, layout, dbc, should_migrate):
   parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot (cabana share URL accepted)")
 
   if len(sys.argv) == 1:
+    print_jotpluggler_banner()
+    print()
     parser.print_help()
     sys.exit()
   args = parser.parse_args()
 
+  print_jotpluggler_banner()
+  print()
+
   if args.install:
     install()
     sys.exit()

From 545ad018e0df030d508f5b5634ff64d3eb61d91c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Sun, 26 Apr 2026 09:48:25 -0700
Subject: [PATCH 0966/1434] Safer get accel (#37918)

* more robust accel fun

* dead
---
 selfdrive/controls/lib/drive_helpers.py | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 1e2fb27b51d55b..4cfb19bc906b62 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -12,6 +12,7 @@
 # EU guidelines
 MAX_LATERAL_JERK = 5.0  # m/s^3
 MAX_LATERAL_ACCEL_NO_ROLL = 3.0  # m/s^2
+MIN_STABLE_DELAY = 0.3
 
 
 def clamp(val, min_val, max_val):
@@ -43,7 +44,10 @@ def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.
   if len(speeds) == len(t_idxs):
     v_now = speeds[0]
     a_now = accels[0]
-    v_target = np.interp(action_t, t_idxs, speeds)
+    if action_t < MIN_STABLE_DELAY:
+      v_target = v_now + (action_t / MIN_STABLE_DELAY) * (np.interp(MIN_STABLE_DELAY, t_idxs, speeds) - v_now)
+    else:
+      v_target = np.interp(action_t, t_idxs, speeds)
     a_target = 2 * (v_target - v_now) / (action_t) - a_now
   else:
     v_now = 0.0
@@ -58,6 +62,9 @@ def curv_from_psis(psi_target, psi_rate, vego, action_t):
   return 2*curv_from_psi - psi_rate / vego
 
 def get_curvature_from_plan(yaws, yaw_rates, t_idxs, vego, action_t):
-  psi_target = np.interp(action_t, t_idxs, yaws)
+  if action_t < MIN_STABLE_DELAY:
+    psi_target = (action_t / MIN_STABLE_DELAY) * np.interp(MIN_STABLE_DELAY, t_idxs, yaws)
+  else:
+    psi_target = np.interp(action_t, t_idxs, yaws)
   psi_rate = yaw_rates[0]
   return curv_from_psis(psi_target, psi_rate, vego, action_t)

From 3af3c7e74873c1b0aeb8973bf580ed24a430bd84 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 26 Apr 2026 10:15:12 -0700
Subject: [PATCH 0967/1434] Revert "Safer get accel (#37918)"

This reverts commit 545ad018e0df030d508f5b5634ff64d3eb61d91c.
---
 selfdrive/controls/lib/drive_helpers.py | 11 ++---------
 1 file changed, 2 insertions(+), 9 deletions(-)

diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 4cfb19bc906b62..1e2fb27b51d55b 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -12,7 +12,6 @@
 # EU guidelines
 MAX_LATERAL_JERK = 5.0  # m/s^3
 MAX_LATERAL_ACCEL_NO_ROLL = 3.0  # m/s^2
-MIN_STABLE_DELAY = 0.3
 
 
 def clamp(val, min_val, max_val):
@@ -44,10 +43,7 @@ def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.
   if len(speeds) == len(t_idxs):
     v_now = speeds[0]
     a_now = accels[0]
-    if action_t < MIN_STABLE_DELAY:
-      v_target = v_now + (action_t / MIN_STABLE_DELAY) * (np.interp(MIN_STABLE_DELAY, t_idxs, speeds) - v_now)
-    else:
-      v_target = np.interp(action_t, t_idxs, speeds)
+    v_target = np.interp(action_t, t_idxs, speeds)
     a_target = 2 * (v_target - v_now) / (action_t) - a_now
   else:
     v_now = 0.0
@@ -62,9 +58,6 @@ def curv_from_psis(psi_target, psi_rate, vego, action_t):
   return 2*curv_from_psi - psi_rate / vego
 
 def get_curvature_from_plan(yaws, yaw_rates, t_idxs, vego, action_t):
-  if action_t < MIN_STABLE_DELAY:
-    psi_target = (action_t / MIN_STABLE_DELAY) * np.interp(MIN_STABLE_DELAY, t_idxs, yaws)
-  else:
-    psi_target = np.interp(action_t, t_idxs, yaws)
+  psi_target = np.interp(action_t, t_idxs, yaws)
   psi_rate = yaw_rates[0]
   return curv_from_psis(psi_target, psi_rate, vego, action_t)

From 85f00ff80ac3fa2c5a17149c5d8738183cee5a09 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 26 Apr 2026 10:42:48 -0700
Subject: [PATCH 0968/1434] jp: misc polish (#37919)

* remove useless zoom out buttons

* rm flip

* rm those too

* no dragging
---
 tools/jotpluggler/app.cc           | 14 --------------
 tools/jotpluggler/common.cc        |  8 ++++++++
 tools/jotpluggler/common.h         |  4 ++++
 tools/jotpluggler/custom_series.cc |  2 +-
 tools/jotpluggler/internal.h       |  2 --
 tools/jotpluggler/layout.cc        | 18 +++++++++---------
 tools/jotpluggler/plot.cc          | 13 -------------
 tools/jotpluggler/session.cc       |  5 ++---
 8 files changed, 24 insertions(+), 42 deletions(-)

diff --git a/tools/jotpluggler/app.cc b/tools/jotpluggler/app.cc
index f25656c7bf3f23..efc848494ce1f7 100644
--- a/tools/jotpluggler/app.cc
+++ b/tools/jotpluggler/app.cc
@@ -1334,20 +1334,6 @@ bool apply_pane_menu_action(AppSession *session, UiState *state, int pane_index,
       layout_changed = true;
       success_status = "Plot view reset";
       break;
-    case PaneMenuActionKind::ResetHorizontal:
-      reset_shared_range(state, *session);
-      state->follow_latest = session->data_mode == SessionDataMode::Stream;
-      state->suppress_range_side_effects = true;
-      clamp_shared_range(state, *session);
-      persist_shared_range_to_tab(tab, *state);
-      layout_changed = true;
-      success_status = "Horizontal zoom reset";
-      break;
-    case PaneMenuActionKind::ResetVertical:
-      clear_pane_vertical_limits(&tab->panes[static_cast<size_t>(pane_index)]);
-      layout_changed = true;
-      success_status = "Vertical zoom reset";
-      break;
     case PaneMenuActionKind::Clear:
       clear_pane(tab, pane_index);
       tab_state->active_pane_index = pane_index;
diff --git a/tools/jotpluggler/common.cc b/tools/jotpluggler/common.cc
index 9bd6c18ceaaef5..8f696657bd5490 100644
--- a/tools/jotpluggler/common.cc
+++ b/tools/jotpluggler/common.cc
@@ -139,6 +139,14 @@ bool env_flag_enabled(const char *name, bool default_value) {
   return !(value == "0" || value == "false" || value == "no" || value == "off");
 }
 
+bool app_begin_popup(const char *str_id, ImGuiWindowFlags flags) {
+  return ImGui::BeginPopup(str_id, flags | ImGuiWindowFlags_NoMove);
+}
+
+bool app_begin_popup_modal(const char *name, bool *p_open, ImGuiWindowFlags flags) {
+  return ImGui::BeginPopupModal(name, p_open, flags | ImGuiWindowFlags_NoMove);
+}
+
 void open_external_url(std::string_view url) {
 #ifdef __APPLE__
   const std::string command = "open " + shell_quote(url) + " &";
diff --git a/tools/jotpluggler/common.h b/tools/jotpluggler/common.h
index 25b1f91e8950d2..14db83fd337eb8 100644
--- a/tools/jotpluggler/common.h
+++ b/tools/jotpluggler/common.h
@@ -57,6 +57,10 @@ const char *stream_source_kind_label(StreamSourceKind kind);
 std::string stream_source_target_label(const StreamSourceConfig &source);
 
 bool env_flag_enabled(const char *name, bool default_value = false);
+bool app_begin_popup(const char *str_id, ImGuiWindowFlags flags = 0);
+bool app_begin_popup_modal(const char *name,
+                           bool *p_open = nullptr,
+                           ImGuiWindowFlags flags = ImGuiWindowFlags_AlwaysAutoResize);
 void open_external_url(std::string_view url);
 std::string route_useradmin_url(const RouteIdentifier &route_id);
 std::string route_connect_url(const RouteIdentifier &route_id);
diff --git a/tools/jotpluggler/custom_series.cc b/tools/jotpluggler/custom_series.cc
index bd2a3f36d191d0..568f7e97c310c5 100644
--- a/tools/jotpluggler/custom_series.cc
+++ b/tools/jotpluggler/custom_series.cc
@@ -292,7 +292,7 @@ void draw_custom_series_help_popup(CustomSeriesEditorState *editor) {
     ImGui::OpenPopup("Custom Series Help");
     editor->open_help = false;
   }
-  if (!ImGui::BeginPopupModal("Custom Series Help", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Custom Series Help")) {
     return;
   }
   ImGui::TextUnformatted("Available variables");
diff --git a/tools/jotpluggler/internal.h b/tools/jotpluggler/internal.h
index b70aec1a5350a8..7b898f04618a07 100644
--- a/tools/jotpluggler/internal.h
+++ b/tools/jotpluggler/internal.h
@@ -26,8 +26,6 @@ enum class PaneMenuActionKind {
   SplitTop,
   SplitBottom,
   ResetView,
-  ResetHorizontal,
-  ResetVertical,
   Clear,
   Close,
 };
diff --git a/tools/jotpluggler/layout.cc b/tools/jotpluggler/layout.cc
index 8a58ef7cd6b5d1..0d3b82c25461fb 100644
--- a/tools/jotpluggler/layout.cc
+++ b/tools/jotpluggler/layout.cc
@@ -92,7 +92,7 @@ bool open_find_signal_result(UiState *state, const std::string &path) {
 }
 
 void draw_open_route_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("Open Route", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Open Route")) {
     return;
   }
   ImGui::TextUnformatted("Load a route into the current layout.");
@@ -116,7 +116,7 @@ void draw_open_route_popup(AppSession *session, UiState *state) {
 }
 
 void draw_stream_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("Live Stream", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Live Stream")) {
     return;
   }
 
@@ -153,7 +153,7 @@ void draw_stream_popup(AppSession *session, UiState *state) {
 }
 
 void draw_load_layout_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("Load Layout", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Load Layout")) {
     return;
   }
   ImGui::TextUnformatted("Load a JotPlugger JSON layout.");
@@ -177,7 +177,7 @@ void draw_load_layout_popup(AppSession *session, UiState *state) {
 }
 
 void draw_save_layout_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("Save Layout", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Save Layout")) {
     return;
   }
   ImGui::TextUnformatted("Save the current workspace as a JotPlugger JSON layout.");
@@ -201,7 +201,7 @@ void draw_save_layout_popup(AppSession *session, UiState *state) {
 }
 
 void draw_preferences_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("Preferences", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Preferences")) {
     return;
   }
   if (session->map_data) {
@@ -234,7 +234,7 @@ void draw_preferences_popup(AppSession *session, UiState *state) {
 }
 
 void draw_find_signal_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("Find Signal", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Find Signal")) {
     return;
   }
   ImGui::TextUnformatted("Search decoded signals across the loaded route.");
@@ -353,7 +353,7 @@ bool save_dbc_editor_contents(AppSession *session, UiState *state) {
 }
 
 void draw_dbc_editor_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("DBC Editor", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("DBC Editor")) {
     return;
   }
   DbcEditorState &editor = state->dbc_editor;
@@ -392,7 +392,7 @@ void draw_dbc_editor_popup(AppSession *session, UiState *state) {
 }
 
 void draw_axis_limits_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("Edit Axis Limits", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Edit Axis Limits")) {
     return;
   }
   const WorkspaceTab *tab = app_active_tab(session->layout, *state);
@@ -452,7 +452,7 @@ void draw_error_popup(UiState *state) {
     ImGui::OpenPopup("Error");
     state->open_error_popup = false;
   }
-  if (!ImGui::BeginPopupModal("Error", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Error")) {
     return;
   }
   ImGui::TextWrapped("%s", state->error_text.c_str());
diff --git a/tools/jotpluggler/plot.cc b/tools/jotpluggler/plot.cc
index 270dc905551e73..019eff70702c0b 100644
--- a/tools/jotpluggler/plot.cc
+++ b/tools/jotpluggler/plot.cc
@@ -921,28 +921,15 @@ std::optional<PaneMenuAction> draw_pane_context_menu(const WorkspaceTab &tab, in
   ImGui::Separator();
   if (icon_menu_item(icon::ZOOM_OUT, "Zoom Out", nullptr, false, is_plot)) {
     action.kind = PaneMenuActionKind::ResetView;
-  } else if (icon_menu_item(icon::ARROW_LEFT_RIGHT, "Zoom Out Horizontally", nullptr, false, is_plot)) {
-    action.kind = PaneMenuActionKind::ResetHorizontal;
-  } else if (icon_menu_item(icon::ARROW_DOWN_UP, "Zoom Out Vertically", nullptr, false, is_plot)) {
-    action.kind = PaneMenuActionKind::ResetVertical;
   }
   ImGui::Separator();
   if (icon_menu_item(icon::TRASH, "Remove ALL curves", nullptr, false, is_plot)) {
     action.kind = PaneMenuActionKind::Clear;
   }
   ImGui::Separator();
-  icon_menu_item(icon::ARROW_LEFT_RIGHT, "Flip Horizontal Axis", nullptr, false, false);
-  icon_menu_item(icon::ARROW_DOWN_UP, "Flip Vertical Axis", nullptr, false, false);
-  ImGui::Separator();
-  icon_menu_item(icon::FILES, "Copy", nullptr, false, false);
-  icon_menu_item(icon::CLIPBOARD2, "Paste", nullptr, false, false);
   icon_menu_item(icon::FILE_EARMARK_IMAGE, "Copy image to clipboard", nullptr, false, false);
   icon_menu_item(icon::SAVE, "Save plot to file", nullptr, false, false);
   icon_menu_item(icon::BAR_CHART, "Show data statistics", nullptr, false, false);
-  ImGui::Separator();
-  if (icon_menu_item(icon::X_SQUARE, "Close Pane")) {
-    action.kind = PaneMenuActionKind::Close;
-  }
   ImGui::EndPopup();
   if (action.kind == PaneMenuActionKind::None) return std::nullopt;
   return action;
diff --git a/tools/jotpluggler/session.cc b/tools/jotpluggler/session.cc
index 173df7bc04c9ec..beb0a292beb0bf 100644
--- a/tools/jotpluggler/session.cc
+++ b/tools/jotpluggler/session.cc
@@ -444,8 +444,7 @@ void draw_route_info_popup(AppSession *session, UiState *state, ImVec2 anchor) {
   }
   ImGui::SetNextWindowPos(anchor, ImGuiCond_Appearing);
   ImGui::SetNextWindowSizeConstraints(ImVec2(300.0f, 0.0f), ImVec2(420.0f, FLT_MAX));
-  if (!ImGui::BeginPopup("##route_info_popup",
-                         ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings)) {
+  if (!app_begin_popup("##route_info_popup", ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings)) {
     return;
   }
 
@@ -643,7 +642,7 @@ void draw_route_id_chip(AppSession *session, UiState *state) {
   }
 
   ImGui::SetNextWindowPos(ImVec2(chip_max.x - 60.0f, chip_max.y + 4.0f), ImGuiCond_Appearing);
-  if (ImGui::BeginPopup("##route_selector_popup")) {
+  if (app_begin_popup("##route_selector_popup")) {
     for (LogSelector selector : {LogSelector::Auto, LogSelector::RLog, LogSelector::QLog}) {
       const bool selected = route_id.selector == selector;
       const std::string label = std::string(log_selector_name(selector)) + "  " + log_selector_description(selector);

From dc6e64435974192572fd8a51381ddd1673aacd8c Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Sun, 26 Apr 2026 17:49:21 -0700
Subject: [PATCH 0969/1434] ui: DM icon turns orange briefly after awareness
 drops (#37826)

* change icon after 1s

* match

* timinng

* speed up

* tint

* cleanup
---
 .../onroad/driver_monitoring/dm_cone.png          |  4 ++--
 selfdrive/ui/mici/onroad/driver_state.py          | 15 ++++++++++++++-
 2 files changed, 16 insertions(+), 3 deletions(-)

diff --git a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png b/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png
index ec2f9489981635..6974b6d8e237e8 100644
--- a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png
+++ b/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:26b3660dbd1e60b0ba98914afa7cb3a67151bb6990d218f55c901f243e38ff3e
-size 3631
+oid sha256:5f5d4b7bd406114945e53f4d56089102ee83ba7d0a4590a371f7acab90c7ad53
+size 1862
diff --git a/selfdrive/ui/mici/onroad/driver_state.py b/selfdrive/ui/mici/onroad/driver_state.py
index 69ada3dae99f6c..37306ce0d7bdb8 100644
--- a/selfdrive/ui/mici/onroad/driver_state.py
+++ b/selfdrive/ui/mici/onroad/driver_state.py
@@ -16,11 +16,15 @@
 LOOKING_CENTER_THRESHOLD_UPPER = math.radians(6)
 LOOKING_CENTER_THRESHOLD_LOWER = math.radians(3)
 
+CONE_COLOR_GREEN = (0, 255, 64)
+CONE_COLOR_ORANGE = (255, 115, 0)
+
 
 class DriverStateRenderer(Widget):
   BASE_SIZE = 60
   LINES_ANGLE_INCREMENT = 5
   LINES_STALE_ANGLES = 3.0  # seconds
+  AWARENESS_UNFULL_PERCENT = 95  # ~0.5s
 
   def __init__(self, lines: bool = False, inset: bool = False):
     super().__init__()
@@ -40,8 +44,10 @@ def __init__(self, lines: bool = False, inset: bool = False):
     self._should_draw = False
     self._force_active = False
     self._looking_center = False
+    self._awareness_unfull = False
 
     self._fade_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps)
+    self._color_fade_filter = FirstOrderFilter(1.0, 0.05, 1 / gui_app.target_fps) # 1.0 = full green, 0.0 = full orange
     self._pitch_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps, initialized=False)
     self._yaw_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps, initialized=False)
     self._rotation_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps, initialized=False)
@@ -100,6 +106,12 @@ def _render(self, _):
                        rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x)))
 
     if self.effective_active:
+      self._color_fade_filter.update(0.0 if self._awareness_unfull else 1.0)
+      t = self._color_fade_filter.x
+      r = int(round(CONE_COLOR_GREEN[0] * t + CONE_COLOR_ORANGE[0] * (1 - t)))
+      g = int(round(CONE_COLOR_GREEN[1] * t + CONE_COLOR_ORANGE[1] * (1 - t)))
+      b = int(round(CONE_COLOR_GREEN[2] * t + CONE_COLOR_ORANGE[2] * (1 - t)))
+
       source_rect = rl.Rectangle(0, 0, self._dm_cone.width, self._dm_cone.height)
       dest_rect = rl.Rectangle(
         self._rect.x + self._rect.width / 2,
@@ -115,7 +127,7 @@ def _render(self, _):
           dest_rect,
           rl.Vector2(dest_rect.width / 2, dest_rect.height / 2),
           self._rotation_filter.x - 90,
-          rl.Color(255, 255, 255, int(255 * self._fade_filter.x)),
+          rl.Color(r, g, b, int(255 * self._fade_filter.x)),
         )
 
       else:
@@ -158,6 +170,7 @@ def get_driver_data(self):
     self._is_active = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
     self._is_rhd = dm_state.isRHD
     self._face_detected = dm_state.visionPolicyState.faceDetected
+    self._awareness_unfull = self._is_active and dm_state.visionPolicyState.awarenessPercent < self.AWARENESS_UNFULL_PERCENT
     self._face_pitch = dm_state.visionPolicyState.pose.pitch + math.radians(6) # calib or DM pose is not accurate, add a fake upward pitch to bias forward
     self._face_yaw = -dm_state.visionPolicyState.pose.yaw # undo sign flip in face_orientation_from_model to match UI convention
 

From 13ea74bcb4663a0ccf6d7aec9a923662e3c87a4c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 27 Apr 2026 00:13:30 -0700
Subject: [PATCH 0970/1434] ui: fix DM orange transitions (#37922)

* fix transitions and use eff active

* huh

* wtf

* clean up

* strict

* strict

* back

* back
---
 selfdrive/ui/mici/onroad/driver_state.py | 12 +++++-------
 1 file changed, 5 insertions(+), 7 deletions(-)

diff --git a/selfdrive/ui/mici/onroad/driver_state.py b/selfdrive/ui/mici/onroad/driver_state.py
index 37306ce0d7bdb8..1855d77b77b784 100644
--- a/selfdrive/ui/mici/onroad/driver_state.py
+++ b/selfdrive/ui/mici/onroad/driver_state.py
@@ -105,13 +105,8 @@ def _render(self, _):
                                   self._rect.y + (self._rect.height - self._dm_person.height) / 2), 0.0, 1.0,
                        rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x)))
 
+    green_amount = self._color_fade_filter.update(0.0 if self._awareness_unfull else 1.0)
     if self.effective_active:
-      self._color_fade_filter.update(0.0 if self._awareness_unfull else 1.0)
-      t = self._color_fade_filter.x
-      r = int(round(CONE_COLOR_GREEN[0] * t + CONE_COLOR_ORANGE[0] * (1 - t)))
-      g = int(round(CONE_COLOR_GREEN[1] * t + CONE_COLOR_ORANGE[1] * (1 - t)))
-      b = int(round(CONE_COLOR_GREEN[2] * t + CONE_COLOR_ORANGE[2] * (1 - t)))
-
       source_rect = rl.Rectangle(0, 0, self._dm_cone.width, self._dm_cone.height)
       dest_rect = rl.Rectangle(
         self._rect.x + self._rect.width / 2,
@@ -121,6 +116,9 @@ def _render(self, _):
       )
 
       if not self._lines:
+        r = int(round(CONE_COLOR_GREEN[0] * green_amount + CONE_COLOR_ORANGE[0] * (1 - green_amount)))
+        g = int(round(CONE_COLOR_GREEN[1] * green_amount + CONE_COLOR_ORANGE[1] * (1 - green_amount)))
+        b = int(round(CONE_COLOR_GREEN[2] * green_amount + CONE_COLOR_ORANGE[2] * (1 - green_amount)))
         rl.draw_texture_pro(
           self._dm_cone,
           source_rect,
@@ -170,7 +168,7 @@ def get_driver_data(self):
     self._is_active = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
     self._is_rhd = dm_state.isRHD
     self._face_detected = dm_state.visionPolicyState.faceDetected
-    self._awareness_unfull = self._is_active and dm_state.visionPolicyState.awarenessPercent < self.AWARENESS_UNFULL_PERCENT
+    self._awareness_unfull = self.effective_active and dm_state.visionPolicyState.awarenessPercent < self.AWARENESS_UNFULL_PERCENT
     self._face_pitch = dm_state.visionPolicyState.pose.pitch + math.radians(6) # calib or DM pose is not accurate, add a fake upward pitch to bias forward
     self._face_yaw = -dm_state.visionPolicyState.pose.yaw # undo sign flip in face_orientation_from_model to match UI convention
 

From f7644c913ef1d6a7932b5c1021cf3fb36759f8b9 Mon Sep 17 00:00:00 2001
From: Ethan Reish <Ereish02@gmail.com>
Date: Mon, 27 Apr 2026 10:38:55 -0500
Subject: [PATCH 0971/1434] Do not build extras when running --minimal SCons
 (#37892)

---
 SConstruct | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/SConstruct b/SConstruct
index 119209dcdbb316..dcc567c74a1220 100644
--- a/SConstruct
+++ b/SConstruct
@@ -254,8 +254,8 @@ SConscript([
   'selfdrive/ui/SConscript',
 ])
 
-# Build tools
-if arch != "larch64":
+# Build desktop-only tools
+if GetOption('extras') and arch != "larch64":
   SConscript([
     'tools/replay/SConscript',
     'tools/cabana/SConscript',

From dd3feac854a5d3a89d94b8214fb13faaf46add1f Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Mon, 27 Apr 2026 23:20:24 -0400
Subject: [PATCH 0972/1434] [bot] Update Python packages (#1812)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 opendbc_repo |   2 +-
 panda        |   2 +-
 uv.lock      | 261 +++++++++++++++++++++++++++------------------------
 3 files changed, 142 insertions(+), 123 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index df807f8be39423..81b7b3a2d2bf99 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit df807f8be394231b2366a1ecd9c9265ab51d2400
+Subproject commit 81b7b3a2d2bf99e1ae84950313763e87498c5853
diff --git a/panda b/panda
index 5a90799dac68a8..0a9ef7ab54224e 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 5a90799dac68a8549981cc18efe3a60ebbded053
+Subproject commit 0a9ef7ab54224e0df79a77448eda67023b285406
diff --git a/uv.lock b/uv.lock
index f8278c13681bcf..327bda1f43428d 100644
--- a/uv.lock
+++ b/uv.lock
@@ -116,12 +116,12 @@ wheels = [
 [[package]]
 name = "bzip2"
 version = "1.0.8"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#13755b73dbcda1b186641fcccce90d55f815d6bc" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#2083ff9525ebb12135fab36711f2d959ad75a848" }
 
 [[package]]
 name = "capnproto"
 version = "1.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#eba2fe8b8208b5408fbda1bc0104a91e4375aee3" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#437b0c5b5d967e06da8f76ee755d60768bfda34d" }
 
 [[package]]
 name = "casadi"
@@ -142,11 +142,11 @@ wheels = [
 
 [[package]]
 name = "certifi"
-version = "2026.2.25"
+version = "2026.4.22"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/af/2d/7bf41579a8986e348fa033a31cdd0e4121114f6bce2457e8876010b092dd/certifi-2026.2.25.tar.gz", hash = "sha256:e887ab5cee78ea814d3472169153c2d12cd43b14bd03329a39a9c6e2e80bfba7", size = 155029, upload-time = "2026-02-25T02:54:17.342Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/25/ee/6caf7a40c36a1220410afe15a1cc64993a1f864871f698c0f93acb72842a/certifi-2026.4.22.tar.gz", hash = "sha256:8d455352a37b71bf76a79caa83a3d6c25afee4a385d632127b6afb3963f1c580", size = 137077, upload-time = "2026-04-22T11:26:11.191Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/9a/3c/c17fb3ca2d9c3acff52e30b309f538586f9f5b9c9cf454f3845fc9af4881/certifi-2026.2.25-py3-none-any.whl", hash = "sha256:027692e4402ad994f1c42e52a4997a9763c646b73e4096e4d5d6db8af1d6f0fa", size = 153684, upload-time = "2026-02-25T02:54:15.766Z" },
+    { url = "https://files.pythonhosted.org/packages/22/30/7cd8fdcdfbc5b869528b079bfb76dcdf6056b1a2097a662e5e8c04f42965/certifi-2026.4.22-py3-none-any.whl", hash = "sha256:3cb2210c8f88ba2318d29b0388d1023c8492ff72ecdde4ebdaddbb13a31b1c4a", size = 135707, upload-time = "2026-04-22T11:26:09.372Z" },
 ]
 
 [[package]]
@@ -199,14 +199,14 @@ wheels = [
 
 [[package]]
 name = "click"
-version = "8.3.2"
+version = "8.3.3"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "colorama", marker = "sys_platform == 'win32'" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/57/75/31212c6bf2503fdf920d87fee5d7a86a2e3bcf444984126f13d8e4016804/click-8.3.2.tar.gz", hash = "sha256:14162b8b3b3550a7d479eafa77dfd3c38d9dc8951f6f69c78913a8f9a7540fd5", size = 302856, upload-time = "2026-04-03T19:14:45.118Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/bb/63/f9e1ea081ce35720d8b92acde70daaedace594dc93b693c869e0d5910718/click-8.3.3.tar.gz", hash = "sha256:398329ad4837b2ff7cbe1dd166a4c0f8900c3ca3a218de04466f38f6497f18a2", size = 328061, upload-time = "2026-04-22T15:11:27.506Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/e4/20/71885d8b97d4f3dde17b1fdb92dbd4908b00541c5a3379787137285f602e/click-8.3.2-py3-none-any.whl", hash = "sha256:1924d2c27c5653561cd2cae4548d1406039cb79b858b747cfea24924bbc1616d", size = 108379, upload-time = "2026-04-03T19:14:43.505Z" },
+    { url = "https://files.pythonhosted.org/packages/ae/44/c1221527f6a71a01ec6fbad7fa78f1d50dfa02217385cf0fa3eec7087d59/click-8.3.3-py3-none-any.whl", hash = "sha256:a2bf429bb3033c89fa4936ffb35d5cb471e3719e1f3c8a7c3fff0b8314305613", size = 110502, upload-time = "2026-04-22T15:11:25.044Z" },
 ]
 
 [[package]]
@@ -291,41 +291,41 @@ wheels = [
 
 [[package]]
 name = "cryptography"
-version = "46.0.7"
+version = "47.0.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "cffi", marker = "platform_python_implementation != 'PyPy'" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/47/93/ac8f3d5ff04d54bc814e961a43ae5b0b146154c89c61b47bb07557679b18/cryptography-46.0.7.tar.gz", hash = "sha256:e4cfd68c5f3e0bfdad0d38e023239b96a2fe84146481852dffbcca442c245aa5", size = 750652, upload-time = "2026-04-08T01:57:54.692Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/0b/5d/4a8f770695d73be252331e60e526291e3df0c9b27556a90a6b47bccca4c2/cryptography-46.0.7-cp311-abi3-macosx_10_9_universal2.whl", hash = "sha256:ea42cbe97209df307fdc3b155f1b6fa2577c0defa8f1f7d3be7d31d189108ad4", size = 7179869, upload-time = "2026-04-08T01:56:17.157Z" },
-    { url = "https://files.pythonhosted.org/packages/5f/45/6d80dc379b0bbc1f9d1e429f42e4cb9e1d319c7a8201beffd967c516ea01/cryptography-46.0.7-cp311-abi3-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:b36a4695e29fe69215d75960b22577197aca3f7a25b9cf9d165dcfe9d80bc325", size = 4275492, upload-time = "2026-04-08T01:56:19.36Z" },
-    { url = "https://files.pythonhosted.org/packages/4a/9a/1765afe9f572e239c3469f2cb429f3ba7b31878c893b246b4b2994ffe2fe/cryptography-46.0.7-cp311-abi3-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:5ad9ef796328c5e3c4ceed237a183f5d41d21150f972455a9d926593a1dcb308", size = 4426670, upload-time = "2026-04-08T01:56:21.415Z" },
-    { url = "https://files.pythonhosted.org/packages/8f/3e/af9246aaf23cd4ee060699adab1e47ced3f5f7e7a8ffdd339f817b446462/cryptography-46.0.7-cp311-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:73510b83623e080a2c35c62c15298096e2a5dc8d51c3b4e1740211839d0dea77", size = 4280275, upload-time = "2026-04-08T01:56:23.539Z" },
-    { url = "https://files.pythonhosted.org/packages/0f/54/6bbbfc5efe86f9d71041827b793c24811a017c6ac0fd12883e4caa86b8ed/cryptography-46.0.7-cp311-abi3-manylinux_2_28_ppc64le.whl", hash = "sha256:cbd5fb06b62bd0721e1170273d3f4d5a277044c47ca27ee257025146c34cbdd1", size = 4928402, upload-time = "2026-04-08T01:56:25.624Z" },
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+    { url = "https://files.pythonhosted.org/packages/ed/9f/30daa249ab326d059311c51e802957a1e0bdd0505ae7d8d30c19fb00672c/zensical-0.0.37-cp310-abi3-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:48c3e7e33b15d2602de4670171ab119e2e7500b34aa7a1eb1d8abb26a3725240", size = 12726437, upload-time = "2026-04-27T07:58:50.028Z" },
+    { url = "https://files.pythonhosted.org/packages/4e/3c/9c1a1de28fa807b81746f58eef5f29cf353873fb7fcc2b6af51645fd4569/zensical-0.0.37-cp310-abi3-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:649c39cec8b3805b0e4abb8484f1ef85582792cea2f7376b33aa1263fe87ad95", size = 13073605, upload-time = "2026-04-27T07:58:52.882Z" },
+    { url = "https://files.pythonhosted.org/packages/06/31/de06d2481581891839f9e2a1395fe32bfb9c9eb98cd1d635c560fb759ac6/zensical-0.0.37-cp310-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e4e23ef4245b07bde6d6d8dd2ab902f34f6d3cd459fd136f6d0345cb87ccbd6c", size = 12804476, upload-time = "2026-04-27T07:58:55.478Z" },
+    { url = "https://files.pythonhosted.org/packages/54/d0/5bbc27820d6cd622ddd2de5df3743a619003dcec01d51365e06ad623d984/zensical-0.0.37-cp310-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:21c6b629bc46062f8cb53e5ad575720df384e4b7db34770f3aeb3f097c3eb4cc", size = 12954884, upload-time = "2026-04-27T07:58:58.108Z" },
+    { url = "https://files.pythonhosted.org/packages/df/9f/e5c7624ccfe792254f22f8dbc7e2e4c30bf3ed14ad830e838b0009b42a58/zensical-0.0.37-cp310-abi3-musllinux_1_2_armv7l.whl", hash = "sha256:a5f95ebe531264b36cacabf208f3ea7cb7e9d874de857bb6bd3328cdabcf9257", size = 12997404, upload-time = "2026-04-27T07:59:00.488Z" },
+    { url = "https://files.pythonhosted.org/packages/d1/7a/70fe375ce974cdfd4eb42df53340c5b2e790f6a1d20a224f6ab5283c0a32/zensical-0.0.37-cp310-abi3-musllinux_1_2_i686.whl", hash = "sha256:96375cd6338c2db731ce671e41afc108194552f5ceb75edd14a54eea48adfb89", size = 13139582, upload-time = "2026-04-27T07:59:03.452Z" },
+    { url = "https://files.pythonhosted.org/packages/07/49/0a7b27c89d52d0116ac466845f88495acb0b925405527df0079b2ad56508/zensical-0.0.37-cp310-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:7be0976869317a2e1672f426853183c32a8193f211347d560d6037358a52fe7b", size = 13082714, upload-time = "2026-04-27T07:59:06.375Z" },
+    { url = "https://files.pythonhosted.org/packages/ea/25/81c3f1de09abf571a7d6fdab3c836e37cc5a093596939d8d3af745251ae7/zensical-0.0.37-cp310-abi3-win32.whl", hash = "sha256:e1295f63230621ccb01ac7cd6be24f0ff079a12e95d9bdde631a13331c7ba67f", size = 12093854, upload-time = "2026-04-27T07:59:09.244Z" },
+    { url = "https://files.pythonhosted.org/packages/a0/77/419377bee6b91746c5c3de19712eeba6c367c0b14b77c6b9c94e6bf2c3a2/zensical-0.0.37-cp310-abi3-win_amd64.whl", hash = "sha256:c015451bd9af60ee0fb01b95d0b17b751a0790fec58c3e0efd11ee4286ad2724", size = 12317524, upload-time = "2026-04-27T07:59:11.929Z" },
 ]
 
 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#173fe8e9a0b8cf666bac5363c3376e866a386568" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#d5a1fb0fd7b9e56940c804513ec7d36975246d97" }
 
 [[package]]
 name = "zstandard"
@@ -1642,4 +1661,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#c4b1fdec74010075965d68e2c743055c6ef18d48" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#7d375bb6315585cbb81754056b7f65c476cb1ee8" }

From 0b7df7df10b4e1110dab763d68af3b4feaf13234 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 28 Apr 2026 01:29:54 -0400
Subject: [PATCH 0973/1434] DM: wheel touch enforcement in MADS (#1820)

---
 selfdrive/monitoring/helpers.py         |  2 +-
 selfdrive/monitoring/test_monitoring.py | 82 ++++++++++---------------
 2 files changed, 34 insertions(+), 50 deletions(-)

diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 6c81fac7f05757..aea81d336f9a89 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -434,7 +434,7 @@ def run_step(self, sm, demo=False):
       enabled = sm['selfdriveState'].enabled or sm['carControl'].latActive
       wrong_gear = sm['carState'].gearShifter not in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low)
       standstill = sm['carState'].standstill
-      driver_engaged = sm['carState'].steeringPressed or sm['carState'].gasPressed
+      driver_engaged = sm['carState'].steeringPressed or (sm['selfdriveState'].enabled and sm['carState'].gasPressed)
       brake_disengage_prob = sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
       rpyCalib = sm['liveCalibration'].rpyCalib
     self._set_policy(
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index ee6028d609cac8..30e81d2dbf7da9 100644
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -215,64 +215,48 @@ def test_somehow_indecisive_model(self):
                               events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
 
 
-@pytest.mark.parametrize("enabled_state, lat_active_state, expected", [
-  (False, False, False), # Both Disabled
-  (True, False, True),   # OP Enabled, Lat Inactive
-  (False, True, True),   # OP Disabled, Lat Active (e.g. MADS)
-  (True, True, True)     # Both Active
-])
-def test_enabled_states(enabled_state, lat_active_state, expected):
-  """
-  Test DriverMonitoring.run_step with all 4 combinations of:
-  - selfdriveState.enabled (True/False)
-  - carControl.latActive (True/False)
-  """
+def _build_sm(selfdrive_enabled, lat_active, steering_pressed, gas_pressed):
   cs = car.CarState.new_message()
   cs.vEgo = 30.0
   cs.gearShifter = car.CarState.GearShifter.drive
-  cs.standstill = False
-  cs.steeringPressed = False
-  cs.gasPressed = False
-
+  cs.steeringPressed = steering_pressed
+  cs.gasPressed = gas_pressed
   ss = log.SelfdriveState.new_message()
-  ss.enabled = enabled_state
-
+  ss.enabled = selfdrive_enabled
   cc = car.CarControl.new_message()
-  cc.latActive = lat_active_state
-
+  cc.latActive = lat_active
   mv2 = log.ModelDataV2.new_message()
   mv2.meta.disengagePredictions.brakeDisengageProbs = [0.0]
-
   lc = log.LiveCalibrationData.new_message()
   lc.rpyCalib = [0.0, 0.0, 0.0]
-
-  ds = make_msg(False)
-
-  sm = {
-      'carState': cs,
-      'selfdriveState': ss,
-      'carControl': cc,
-      'modelV2': mv2,
-      'liveCalibration': lc,
-      'driverStateV2': ds
+  return {
+    'carState': cs, 'selfdriveState': ss, 'carControl': cc,
+    'modelV2': mv2, 'liveCalibration': lc, 'driverStateV2': make_msg(False),
   }
 
-  driver_monitoring = DriverMonitoring()
 
-  # run_test doesn't assign enabled to a variable, so we need to spy on _update_events to see its value
-  captured_args = []
-  original_update_events = driver_monitoring._update_events
-
-  def spy_update_events(driver_engaged, op_engaged, standstill, wrong_gear, car_speed):
-      captured_args.append(op_engaged)
-      return original_update_events(driver_engaged, op_engaged, standstill, wrong_gear, car_speed)
-
-  driver_monitoring._update_events = spy_update_events
-
-  driver_monitoring.run_step(sm, demo=False)
-
-  # Assertion
-  assert len(captured_args) == 1, "Expected _update_events to be called exactly once"
-  actual_enabled = captured_args[0]
-
-  assert actual_enabled == expected, f"Expected op_engaged={expected}, but got {actual_enabled}"
+@pytest.mark.parametrize("selfdrive_enabled, lat_active, steering, gas, expected_op_engaged, expected_driver_engaged", [
+  (False, False, False, False, False, False),  # disabled
+  (True,  False, False, False, True,  False),  # OP enabled
+  (False, True,  False, False, True,  False),  # MADS lat-only
+  (True,  True,  False, False, True,  False),  # both active
+  (False, True,  False, True,  True,  False),  # MADS lat-only + gas
+  (True,  True,  False, True,  True,  True),   # full op + gas: override
+  (False, True,  True,  False, True,  True),   # MADS lat-only + wheel touch: override
+])
+def test_run_step_engagement(selfdrive_enabled, lat_active, steering, gas,
+                             expected_op_engaged, expected_driver_engaged):
+  sm = _build_sm(selfdrive_enabled, lat_active, steering, gas)
+  dm = DriverMonitoring()
+  captured = {}
+  orig = dm._update_events
+
+  def spy(driver_engaged, op_engaged, standstill, wrong_gear, car_speed):
+    captured['driver_engaged'] = driver_engaged
+    captured['op_engaged'] = op_engaged
+    return orig(driver_engaged, op_engaged, standstill, wrong_gear, car_speed)
+
+  dm._update_events = spy
+  dm.run_step(sm, demo=False)
+  assert captured['op_engaged'] == expected_op_engaged
+  assert captured['driver_engaged'] == expected_driver_engaged

From ddb90394935653ac5be2e0b75c248d5f8c3a6e57 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 28 Apr 2026 07:26:05 -0400
Subject: [PATCH 0974/1434] torque: show static override values in Dev UI &
 gate `useParams` on custom torque tune (#1821)

torque: show static override values in Dev UI
---
 .../onroad/developer_ui/__init__.py           |  3 ++-
 .../onroad/developer_ui/elements.py           | 23 +++++++++----------
 selfdrive/ui/sunnypilot/ui_state.py           |  5 ++++
 sunnypilot/selfdrive/locationd/torqued_ext.py |  6 ++---
 4 files changed, 21 insertions(+), 16 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py b/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
index 8204253d32a5a1..889e1737eef577 100644
--- a/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
+++ b/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
@@ -141,7 +141,8 @@ def _draw_bottom_dev_ui(self, rect: rl.Rectangle) -> None:
 
     # Add torque-specific elements if using torque control
     if sm['controlsState'].lateralControlState.which() == 'torqueState':
-      if sm.valid['liveTorqueParameters']:
+      override_active = ui_state.enforce_torque_control and ui_state.custom_torque_params and ui_state.torque_override_enabled
+      if sm.valid['liveTorqueParameters'] or override_active:
         elements.extend([
           self.friction_elem.update(sm, ui_state.is_metric),
           self.lat_accel_factor_elem.update(sm, ui_state.is_metric),
diff --git a/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py b/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
index 94e3af42eb6a0a..389692d30bf728 100644
--- a/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
+++ b/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
@@ -8,8 +8,7 @@
 from dataclasses import dataclass
 
 from openpilot.common.constants import CV
-
-
+from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 
 
@@ -248,12 +247,12 @@ def __init__(self):
     self.unit = ""
 
   def update(self, sm, is_metric: bool) -> UiElement:
-    ltp = sm['liveTorqueParameters']
-    friction_coef = ltp.frictionCoefficientFiltered
-    live_valid = ltp.liveValid
+    if ui_state.enforce_torque_control and ui_state.custom_torque_params and ui_state.torque_override_enabled:
+      return UiElement(f"{ui_state.torque_override_friction:.3f}", "FRIC.", self.unit, rl.WHITE)
 
-    value = f"{friction_coef:.3f}"
-    color = rl.Color(0, 255, 0, 255) if live_valid else rl.WHITE
+    ltp = sm['liveTorqueParameters']
+    value = f"{ltp.frictionCoefficientFiltered:.3f}"
+    color = rl.Color(0, 255, 0, 255) if ltp.liveValid else rl.WHITE
     return UiElement(value, "FRIC.", self.unit, color)
 
 
@@ -262,12 +261,12 @@ def __init__(self):
     self.unit = ""
 
   def update(self, sm, is_metric: bool) -> UiElement:
-    ltp = sm['liveTorqueParameters']
-    lat_accel_factor = ltp.latAccelFactorFiltered
-    live_valid = ltp.liveValid
+    if ui_state.enforce_torque_control and ui_state.custom_torque_params and ui_state.torque_override_enabled:
+      return UiElement(f"{ui_state.torque_override_lat_accel_factor:.3f}", "L.A.F.", self.unit, rl.WHITE)
 
-    value = f"{lat_accel_factor:.3f}"
-    color = rl.Color(0, 255, 0, 255) if live_valid else rl.WHITE
+    ltp = sm['liveTorqueParameters']
+    value = f"{ltp.latAccelFactorFiltered:.3f}"
+    color = rl.Color(0, 255, 0, 255) if ltp.liveValid else rl.WHITE
     return UiElement(value, "L.A.F.", self.unit, color)
 
 
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index 2a48e9eeef3493..f4f87b6030906c 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -143,6 +143,11 @@ def update_params(self) -> None:
     self.standstill_timer = self.params.get_bool("StandstillTimer")
     self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled")
     self.torque_bar = self.params.get_bool("TorqueBar")
+    self.enforce_torque_control = self.params.get_bool("EnforceTorqueControl")
+    self.custom_torque_params = self.params.get_bool("CustomTorqueParams")
+    self.torque_override_enabled = self.params.get_bool("TorqueParamsOverrideEnabled")
+    self.torque_override_lat_accel_factor = float(self.params.get("TorqueParamsOverrideLatAccelFactor", return_default=True))
+    self.torque_override_friction = float(self.params.get("TorqueParamsOverrideFriction", return_default=True))
     self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI")
     self.turn_signals = self.params.get_bool("ShowTurnSignals")
     self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
diff --git a/sunnypilot/selfdrive/locationd/torqued_ext.py b/sunnypilot/selfdrive/locationd/torqued_ext.py
index 58a23da00ea5c7..1e62b7666a4413 100644
--- a/sunnypilot/selfdrive/locationd/torqued_ext.py
+++ b/sunnypilot/selfdrive/locationd/torqued_ext.py
@@ -4,7 +4,6 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-
 import numpy as np
 
 from cereal import car
@@ -18,7 +17,6 @@
 ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda']
 
 
-
 class TorqueEstimatorExt:
   def __init__(self, CP: car.CarParams):
     self.CP = CP
@@ -28,6 +26,7 @@ def __init__(self, CP: car.CarParams):
     self.enforce_torque_control_toggle = self._params.get_bool("EnforceTorqueControl")  # only during init
     self.use_params = self.CP.brand in ALLOWED_CARS and self.CP.lateralTuning.which() == 'torque'
     self.use_live_torque_params = self._params.get_bool("LiveTorqueParamsToggle")
+    self.custom_torque_params = self._params.get_bool("CustomTorqueParams")
     self.torque_override_enabled = self._params.get_bool("TorqueParamsOverrideEnabled")
     self.min_bucket_points = RELAXED_MIN_BUCKET_POINTS
     self.factor_sanity = 0.0
@@ -51,13 +50,14 @@ def initialize_custom_params(self, decimated=False):
   def _update_params(self):
     if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
       self.use_live_torque_params = self._params.get_bool("LiveTorqueParamsToggle")
+      self.custom_torque_params = self._params.get_bool("CustomTorqueParams")
       self.torque_override_enabled = self._params.get_bool("TorqueParamsOverrideEnabled")
 
   def update_use_params(self):
     self._update_params()
 
     if self.enforce_torque_control_toggle:
-      if self.torque_override_enabled:
+      if self.custom_torque_params and self.torque_override_enabled:
         self.use_params = False
       else:
         self.use_params = self.use_live_torque_params

From 813d794f05cadfb4c95b07befb6712b15ca31170 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 28 Apr 2026 13:36:33 -0700
Subject: [PATCH 0975/1434] fan spin better

---
 RELEASES.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/RELEASES.md b/RELEASES.md
index 55141710d07edf..1fbf556fc63cd5 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -2,6 +2,7 @@ Version 0.11.1 (2026-04-22)
 ========================
 * New driver monitoring model
 * Improved image processing pipeline for driver camera
+* Improved thermal policy for comma four
 * Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
 
 Version 0.11.0 (2026-03-17)

From 360fd1555fd2196c2a3c5c884877056bbf25f35b Mon Sep 17 00:00:00 2001
From: Andi Radulescu <andi.radulescu@gmail.com>
Date: Wed, 29 Apr 2026 23:45:56 +0300
Subject: [PATCH 0976/1434] wifi: extract _GsmManager into its own module
 (#37911)

* wifi: extract _GsmManager into its own module

* gsm_manager: preserve comments/breadcrumbs from extracted code and move imports to module top
---
 system/ui/lib/gsm_manager.py  | 145 ++++++++++++++++++++++++++++++++++
 system/ui/lib/wifi_manager.py |  86 ++------------------
 2 files changed, 152 insertions(+), 79 deletions(-)
 create mode 100644 system/ui/lib/gsm_manager.py

diff --git a/system/ui/lib/gsm_manager.py b/system/ui/lib/gsm_manager.py
new file mode 100644
index 00000000000000..e167456f43fe51
--- /dev/null
+++ b/system/ui/lib/gsm_manager.py
@@ -0,0 +1,145 @@
+"""GSM/cellular settings manager via NetworkManager DBus."""
+from jeepney import DBusAddress, new_method_call
+from jeepney.io.threading import DBusRouter, open_dbus_connection
+from jeepney.low_level import MessageType
+from jeepney.wrappers import Properties
+
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.ui.lib.networkmanager import (NM, NM_PATH, NM_SETTINGS_PATH, NM_SETTINGS_IFACE,
+                                                    NM_CONNECTION_IFACE, NM_DEVICE_IFACE, NM_DEVICE_TYPE_MODEM)
+
+
+# NM NMMetered values
+# https://networkmanager.dev/docs/api/latest/nm-dbus-types.html#NMMetered
+NM_METERED_UNKNOWN = 0
+NM_METERED_NO = 2
+
+
+class _GsmManager:
+  """Manages cellular/GSM via NetworkManager DBus."""
+
+  def __init__(self):
+    self._router: DBusRouter | None = None
+    self._nm = DBusAddress(NM_PATH, bus_name=NM, interface=NM)
+
+  def _ensure_router(self) -> bool:
+    if self._router is not None:
+      return True
+    try:
+      self._router = DBusRouter(open_dbus_connection(bus="SYSTEM"))
+      return True
+    except Exception:
+      cloudlog.exception("Failed to connect to system D-Bus for GSM")
+      return False
+
+  def update_gsm_settings(self, roaming: bool, apn: str, metered: bool):
+    """Update GSM settings for cellular connection"""
+    if not self._ensure_router():
+      return
+    try:
+      lte_connection_path = self._get_lte_connection_path()
+      if not lte_connection_path:
+        cloudlog.warning("No LTE connection found")
+        return
+
+      settings = self._get_connection_settings(lte_connection_path)
+
+      if len(settings) == 0:
+        cloudlog.warning(f"Failed to get connection settings for {lte_connection_path}")
+        return
+
+      # Ensure dicts exist
+      if 'gsm' not in settings:
+        settings['gsm'] = {}
+      if 'connection' not in settings:
+        settings['connection'] = {}
+
+      changes = False
+      auto_config = apn == ""
+
+      if settings['gsm'].get('auto-config', ('b', False))[1] != auto_config:
+        cloudlog.warning(f'Changing gsm.auto-config to {auto_config}')
+        settings['gsm']['auto-config'] = ('b', auto_config)
+        changes = True
+
+      if settings['gsm'].get('apn', ('s', ''))[1] != apn:
+        cloudlog.warning(f'Changing gsm.apn to {apn}')
+        settings['gsm']['apn'] = ('s', apn)
+        changes = True
+
+      if settings['gsm'].get('home-only', ('b', False))[1] == roaming:
+        cloudlog.warning(f'Changing gsm.home-only to {not roaming}')
+        settings['gsm']['home-only'] = ('b', not roaming)
+        changes = True
+
+      # Unknown means NetworkManager decides
+      metered_int = NM_METERED_UNKNOWN if metered else NM_METERED_NO
+      if settings['connection'].get('metered', ('i', 0))[1] != metered_int:
+        cloudlog.warning(f'Changing connection.metered to {metered_int}')
+        settings['connection']['metered'] = ('i', metered_int)
+        changes = True
+
+      if changes:
+        # Update the connection settings (temporary update)
+        conn_addr = DBusAddress(lte_connection_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
+        reply = self._router.send_and_get_reply(new_method_call(conn_addr, 'UpdateUnsaved', 'a{sa{sv}}', (settings,)))
+
+        if reply.header.message_type == MessageType.error:
+          cloudlog.warning(f"Failed to update GSM settings: {reply}")
+          return
+
+        self._activate_modem_connection(lte_connection_path)
+    except Exception as e:
+      cloudlog.exception(f"Error updating GSM settings: {e}")
+
+  def _get_lte_connection_path(self) -> str | None:
+    try:
+      settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE)
+      known_connections = self._router.send_and_get_reply(new_method_call(settings_addr, 'ListConnections')).body[0]
+
+      for conn_path in known_connections:
+        settings = self._get_connection_settings(conn_path)
+        if settings and settings.get('connection', {}).get('id', ('s', ''))[1] == 'lte':
+          return str(conn_path)
+    except Exception as e:
+      cloudlog.exception(f"Error finding LTE connection: {e}")
+    return None
+
+  def _activate_modem_connection(self, connection_path: str):
+    try:
+      modem_device = self._get_adapter(NM_DEVICE_TYPE_MODEM)
+      if modem_device and connection_path:
+        self._router.send_and_get_reply(new_method_call(self._nm, 'ActivateConnection', 'ooo',
+                                                        (connection_path, modem_device, "/")))
+    except Exception as e:
+      cloudlog.exception(f"Error activating modem connection: {e}")
+
+  def _get_connection_settings(self, conn_path: str) -> dict:
+    conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
+    reply = self._router.send_and_get_reply(new_method_call(conn_addr, 'GetSettings'))
+    if reply.header.message_type == MessageType.error:
+      cloudlog.warning(f'Failed to get connection settings: {reply}')
+      return {}
+    return dict(reply.body[0])
+
+  def _get_adapter(self, adapter_type: int) -> str | None:
+    # Return the first NetworkManager device path matching adapter_type
+    try:
+      device_paths = self._router.send_and_get_reply(new_method_call(self._nm, 'GetDevices')).body[0]
+      for device_path in device_paths:
+        dev_addr = DBusAddress(device_path, bus_name=NM, interface=NM_DEVICE_IFACE)
+        dev_type = self._router.send_and_get_reply(Properties(dev_addr).get('DeviceType')).body[0][1]
+        if dev_type == adapter_type:
+          return str(device_path)
+    except Exception as e:
+      cloudlog.exception(f"Error getting adapter type {adapter_type}: {e}")
+    return None
+
+  def close(self):
+    if self._router is not None:
+      try:
+        self._router.close()
+        self._router.conn.close()
+      except Exception:
+        pass
+      self._router = None
diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py
index d3c855d9bcade2..22163d5f68d921 100644
--- a/system/ui/lib/wifi_manager.py
+++ b/system/ui/lib/wifi_manager.py
@@ -23,8 +23,9 @@
                                                     NM_802_11_AP_FLAGS_PRIVACY, NM_802_11_AP_FLAGS_WPS,
                                                     NM_PATH, NM_IFACE, NM_ACCESS_POINT_IFACE, NM_SETTINGS_PATH,
                                                     NM_SETTINGS_IFACE, NM_CONNECTION_IFACE, NM_DEVICE_IFACE,
-                                                    NM_DEVICE_TYPE_WIFI, NM_DEVICE_TYPE_MODEM, NM_ACTIVE_CONNECTION_IFACE,
+                                                    NM_DEVICE_TYPE_WIFI, NM_ACTIVE_CONNECTION_IFACE,
                                                     NM_IP4_CONFIG_IFACE, NM_PROPERTIES_IFACE, NMDeviceState, NMDeviceStateReason)
+from openpilot.system.ui.lib.gsm_manager import _GsmManager
 
 try:
   from openpilot.common.params import Params
@@ -184,6 +185,8 @@ def __init__(self):
     self._last_network_scan: float = 0.0
     self._callback_queue: list[Callable] = []
 
+    self._gsm = _GsmManager()
+
     self._tethering_ssid = "weedle"
     if Params is not None:
       dongle_id = Params().get("DongleId")
@@ -932,87 +935,10 @@ def __del__(self):
 
   def update_gsm_settings(self, roaming: bool, apn: str, metered: bool):
     """Update GSM settings for cellular connection"""
-
     def worker():
-      try:
-        lte_connection_path = self._get_lte_connection_path()
-        if not lte_connection_path:
-          cloudlog.warning("No LTE connection found")
-          return
-
-        settings = self._get_connection_settings(lte_connection_path)
-
-        if len(settings) == 0:
-          cloudlog.warning(f"Failed to get connection settings for {lte_connection_path}")
-          return
-
-        # Ensure dicts exist
-        if 'gsm' not in settings:
-          settings['gsm'] = {}
-        if 'connection' not in settings:
-          settings['connection'] = {}
-
-        changes = False
-        auto_config = apn == ""
-
-        if settings['gsm'].get('auto-config', ('b', False))[1] != auto_config:
-          cloudlog.warning(f'Changing gsm.auto-config to {auto_config}')
-          settings['gsm']['auto-config'] = ('b', auto_config)
-          changes = True
-
-        if settings['gsm'].get('apn', ('s', ''))[1] != apn:
-          cloudlog.warning(f'Changing gsm.apn to {apn}')
-          settings['gsm']['apn'] = ('s', apn)
-          changes = True
-
-        if settings['gsm'].get('home-only', ('b', False))[1] == roaming:
-          cloudlog.warning(f'Changing gsm.home-only to {not roaming}')
-          settings['gsm']['home-only'] = ('b', not roaming)
-          changes = True
-
-        # Unknown means NetworkManager decides
-        metered_int = int(MeteredType.UNKNOWN if metered else MeteredType.NO)
-        if settings['connection'].get('metered', ('i', 0))[1] != metered_int:
-          cloudlog.warning(f'Changing connection.metered to {metered_int}')
-          settings['connection']['metered'] = ('i', metered_int)
-          changes = True
-
-        if changes:
-          # Update the connection settings (temporary update)
-          conn_addr = DBusAddress(lte_connection_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
-          reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, 'UpdateUnsaved', 'a{sa{sv}}', (settings,)))
-
-          if reply.header.message_type == MessageType.error:
-            cloudlog.warning(f"Failed to update GSM settings: {reply}")
-            return
-
-          self._activate_modem_connection(lte_connection_path)
-      except Exception as e:
-        cloudlog.exception(f"Error updating GSM settings: {e}")
-
+      self._gsm.update_gsm_settings(roaming, apn, metered)
     threading.Thread(target=worker, daemon=True).start()
 
-  def _get_lte_connection_path(self) -> str | None:
-    try:
-      settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE)
-      known_connections = self._router_main.send_and_get_reply(new_method_call(settings_addr, 'ListConnections')).body[0]
-
-      for conn_path in known_connections:
-        settings = self._get_connection_settings(conn_path)
-        if settings and settings.get('connection', {}).get('id', ('s', ''))[1] == 'lte':
-          return str(conn_path)
-    except Exception as e:
-      cloudlog.exception(f"Error finding LTE connection: {e}")
-    return None
-
-  def _activate_modem_connection(self, connection_path: str):
-    try:
-      modem_device = self._get_adapter(NM_DEVICE_TYPE_MODEM)
-      if modem_device and connection_path:
-        self._router_main.send_and_get_reply(new_method_call(self._nm, 'ActivateConnection', 'ooo', (connection_path, modem_device, "/")))
-    except Exception as e:
-      cloudlog.exception(f"Error activating modem connection: {e}")
-
   def stop(self):
     if not self._exit:
       self._exit = True
@@ -1026,3 +952,5 @@ def stop(self):
         self._router_main.conn.close()
       if self._conn_monitor is not None:
         self._conn_monitor.close()
+
+      self._gsm.close()

From dab51a864f896a2afa10af68637eb7464f0fa94f Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Wed, 29 Apr 2026 15:26:55 -0700
Subject: [PATCH 0977/1434] show alert severity (#37931)

* alert icons, sort by severity

* rename
---
 selfdrive/ui/mici/layouts/home.py           | 26 ++++++++++++++++-----
 selfdrive/ui/mici/layouts/main.py           |  1 +
 selfdrive/ui/mici/layouts/offroad_alerts.py | 10 ++++++++
 3 files changed, 31 insertions(+), 6 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index cbe7ec29f0724c..8a71e2efebdb9b 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -39,11 +39,16 @@ def __init__(self):
     self.set_rect(rl.Rectangle(0, 0, 104, 52))
 
     self._pill_bg_txt = gui_app.texture("icons_mici/alerts_pill.png", 104, 52)
-    self._warning_txt = gui_app.texture("icons_mici/offroad_alerts/red_warning.png", 36, 36)
+    self._icon_red = gui_app.texture("icons_mici/offroad_alerts/red_warning.png", 36, 36)
+    self._icon_orange = gui_app.texture("icons_mici/offroad_alerts/orange_warning.png", 36, 36)
+    self._icon_green = gui_app.texture("icons_mici/offroad_alerts/green_wheel.png", 36, 36)
     self._alert_count_callback: Callable[[], int] | None = None
+    self._max_severity_callback: Callable[[], int | None] | None = None
 
-  def set_alert_count_callback(self, callback: Callable[[], int] | None):
+  def set_alert_count_callback(self, callback: Callable[[], int] | None,
+                               severity_callback: Callable[[], int | None] | None = None):
     self._alert_count_callback = callback
+    self._max_severity_callback = severity_callback
 
   def _render(self, _):
     alert_count = self._alert_count_callback() if self._alert_count_callback else 0
@@ -51,9 +56,17 @@ def _render(self, _):
       pill_w, pill_h = self._pill_bg_txt.width, self._pill_bg_txt.height
       rl.draw_texture_ex(self._pill_bg_txt, rl.Vector2(self.rect.x, self.rect.y), 0.0, 1.0, rl.WHITE)
 
+      severity = self._max_severity_callback() if self._max_severity_callback else None
+      if severity == -1:
+        warning_txt = self._icon_green
+      elif severity is not None and severity > 0:
+        warning_txt = self._icon_red
+      else:
+        warning_txt = self._icon_orange
+
       warn_x = self.rect.x + self.ICON_OFFSET
-      warn_y = self.rect.y + (pill_h - self._warning_txt.height) / 2
-      rl.draw_texture_ex(self._warning_txt, rl.Vector2(warn_x, warn_y), 0.0, 1.0, rl.WHITE)
+      warn_y = self.rect.y + (pill_h - warning_txt.height) / 2
+      rl.draw_texture_ex(warning_txt, rl.Vector2(warn_x, warn_y), 0.0, 1.0, rl.WHITE)
 
       count_rect = rl.Rectangle(self.rect.x + self.COUNT_OFFSET, self.rect.y, pill_w - self.COUNT_OFFSET, pill_h)
       gui_label(count_rect, str(alert_count), font_size=36,
@@ -181,11 +194,12 @@ def _update_state(self):
       self._update_params()
 
   def set_callbacks(self, on_settings: Callable | None = None, on_alerts: Callable | None = None,
-                    alert_count_callback: Callable[[], int] | None = None):
+                    alert_count_callback: Callable[[], int] | None = None,
+                    max_severity_callback: Callable[[], int | None] | None = None):
     self._on_settings_click = on_settings
     self._on_alerts_click = on_alerts
     self._alert_count_callback = alert_count_callback
-    self._alerts_pill.set_alert_count_callback(alert_count_callback)
+    self._alerts_pill.set_alert_count_callback(alert_count_callback, max_severity_callback)
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     if not self._did_long_press:
diff --git a/selfdrive/ui/mici/layouts/main.py b/selfdrive/ui/mici/layouts/main.py
index badfbe315e0231..9b4bcb5cc4326c 100644
--- a/selfdrive/ui/mici/layouts/main.py
+++ b/selfdrive/ui/mici/layouts/main.py
@@ -71,6 +71,7 @@ def _setup_callbacks(self):
       on_settings=lambda: gui_app.push_widget(self._settings_layout),
       on_alerts=lambda: self._scroll_to(self._alerts_layout),
       alert_count_callback=self._alerts_layout.active_alerts,
+      max_severity_callback=self._alerts_layout.max_severity,
     )
     for layout in (self._car_onroad_layout, self._body_onroad_layout):
       layout.set_click_callback(lambda: self._scroll_to(self._home_layout))
diff --git a/selfdrive/ui/mici/layouts/offroad_alerts.py b/selfdrive/ui/mici/layouts/offroad_alerts.py
index 0dae5d207595ef..a46002c289dfe3 100644
--- a/selfdrive/ui/mici/layouts/offroad_alerts.py
+++ b/selfdrive/ui/mici/layouts/offroad_alerts.py
@@ -208,6 +208,9 @@ def __init__(self):
   def active_alerts(self) -> int:
     return sum(alert.visible for alert in self.sorted_alerts)
 
+  def max_severity(self) -> int | None:
+    return max((alert.severity for alert in self.sorted_alerts if alert.visible), default=None)
+
   def scrolling(self):
     return self._scroller.scroll_panel.is_touch_valid()
 
@@ -273,6 +276,11 @@ def refresh(self) -> int:
       if alert_json:
         text = alert_json.get("text", "").replace("%1", alert_json.get("extra", ""))
 
+      if text and not alert_data.visible:
+        # Bump newly visible alerts to the top, severity sort keeps it at the top of its category
+        widget = next(w for w in self._scroller.items if w.alert_data is alert_data)
+        self._scroller.items.remove(widget)
+        self._scroller.items.insert(0, widget)
       alert_data.text = text
       alert_data.visible = bool(text)
 
@@ -283,6 +291,8 @@ def refresh(self) -> int:
     for alert_item in self.alert_items:
       alert_item.update_alert_data(alert_item.alert_data)
 
+    self._scroller.items.sort(key=lambda w: -w.alert_data.severity)
+
     return active_count
 
   def show_event(self):

From f00ff77c55b4a1675b3b31cf048319e67bd773ff Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Wed, 29 Apr 2026 18:31:03 -0700
Subject: [PATCH 0978/1434] modeld: faster compile (#37929)

---
 selfdrive/modeld/compile_modeld.py | 20 +++++++++-----------
 1 file changed, 9 insertions(+), 11 deletions(-)

diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index 1e05ae30a48de3..9b2394e5032136 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -174,7 +174,6 @@ def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
                          vision_features_slice, frame_skip, prepare_only)
   run_policy_jit = TinyJit(_run, prune=True)
 
-  N_RUNS = 3
   SEED = 42
 
   def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
@@ -182,7 +181,10 @@ def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_matc
     np.random.seed(seed)
     Tensor.manual_seed(seed)
 
-    for i in range(N_RUNS):
+    testing = test_val is not None or test_buffers is not None
+    n_runs = 1 if testing else 3
+
+    for i in range(n_runs):
       frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
       big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
       for v in npy.values():
@@ -191,15 +193,13 @@ def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_matc
       st = time.perf_counter()
       outs = fn(**input_queues, frame=frame, big_frame=big_frame)
       mt = time.perf_counter()
-      for o in outs:
-        # .realize() not needed once jitted, but needed for unjitted fn
-        o.realize()
       Device.default.synchronize()
       et = time.perf_counter()
-      print(f"  [{i+1}/{N_RUNS}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+      print(f"  [{i+1}/{n_runs}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
 
-    val = [np.copy(v.numpy()) for v in outs]
-    buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
+      if i == 0:
+        val = [np.copy(v.numpy()) for v in outs]
+        buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
 
     if test_val is not None:
       match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
@@ -209,10 +209,8 @@ def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_matc
       assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
     return fn, val, buffers
 
-  print('run unjitted')
-  _, test_val, test_buffers = random_inputs_run_fn(_run, seed=SEED)
   print('capture + replay')
-  run_policy_jit, _, _ = random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers)
+  run_policy_jit, test_val, test_buffers = random_inputs_run_fn(run_policy_jit, SEED)
 
   print('pickle round trip')
   with open(pkl_path, "wb") as f:

From ae0962cd0c1d984b4311536220ba1db87257bc7d Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Wed, 29 Apr 2026 18:57:32 -0700
Subject: [PATCH 0979/1434] dmonitoringmodeld: misc synthax (#37901)

* dmonitoringmodeld: misc synthax

* trigger ci
---
 selfdrive/modeld/dmonitoringmodeld.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 18a79136ae6ae0..86b0edf7ce6f30 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -58,9 +58,9 @@ def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple
       self._blob_cache[ptr] = Tensor.from_blob(ptr, (self.frame_buf_params[3],), dtype='uint8')
 
     self.warp_inputs_np['transform'][:] = transform[:]
-    self.tensor_inputs['input_img'] = self.image_warp(self._blob_cache[ptr], self.warp_inputs['transform']).realize()
+    self.tensor_inputs['input_img'] = self.image_warp(self._blob_cache[ptr], self.warp_inputs['transform'])
 
-    output = self.model_run(**self.tensor_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
+    output = self.model_run(**self.tensor_inputs).numpy().flatten()
 
     t2 = time.perf_counter()
     return output, t2 - t1

From b3f369612db98cd93d9363106ef829ccf12504b7 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Wed, 29 Apr 2026 21:28:59 -0700
Subject: [PATCH 0980/1434] modeld: cleanup tg flags (#37903)

* modeld: remove deprecated tg flags

* trigger ci

* JIT_BATCH_SIZE still a thing
---
 selfdrive/modeld/SConscript | 14 +++++---------
 1 file changed, 5 insertions(+), 9 deletions(-)

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 76fef75bae078b..40b30b8c1bc4d0 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -36,11 +36,10 @@ if 'CUDA' in available:
   tg_flags = f'DEV={tg_backend}'
 elif 'QCOM' in available:
   tg_backend = 'QCOM'
-  tg_flags = f'DEV={tg_backend} FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
+  tg_flags = f'DEV={tg_backend} IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
 else:
   tg_backend = 'CPU' if arch == 'Darwin' else 'CPU:LLVM'
-  # THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
-  tg_flags = f'DEV={tg_backend} THREADS=0'
+  tg_flags = f'DEV={tg_backend}'
 
 def write_tg_compiled_flags(target, source, env):
   with open(str(target[0]), "w") as f:
@@ -63,9 +62,6 @@ for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
   cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
   lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [compiled_flags_node], cmd)
 
-image_flag = {
-     'larch64': 'IMAGE=2',
-}.get(arch, 'IMAGE=0')
 modeld_dir = Dir("#selfdrive/modeld").abspath
 compile_modeld_script = [File(f"{modeld_dir}/compile_modeld.py")]
 compile_dm_warp_script = [File(f"{modeld_dir}/compile_dm_warp.py")]
@@ -75,7 +71,7 @@ driving_metadata_deps = [File(f"models/{m}_metadata.pkl").abspath for m in ['dri
 model_w, model_h = MEDMODEL_INPUT_SIZE
 frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
 for cfg in MODELD_CONFIGS:
-  cmd = (f'{tg_flags} {mac_brew_string} {image_flag} python3 {modeld_dir}/compile_modeld.py '
+  cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
          f'--model-size {model_w}x{model_h} '
          f'--nv12 {",".join(str(x) for x in cfg.nv12)} '
          f'--vision-onnx {File("models/driving_vision.onnx").abspath} '
@@ -91,7 +87,7 @@ for cfg in MODELD_CONFIGS:
 
 dm_w, dm_h = DM_INPUT_SIZE
 for cfg in DM_WARP_CONFIGS:
-  cmd = (f'{tg_flags} {mac_brew_string} {image_flag} python3 {modeld_dir}/compile_dm_warp.py '
+  cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_dm_warp.py '
          f'--nv12 {",".join(str(x) for x in cfg.nv12)} --warp-to {dm_w}x{dm_h} '
          f'--output {cfg.pkl_path}')
   lenv.Command(cfg.pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [compiled_flags_node], cmd)
@@ -105,7 +101,7 @@ def tg_compile(flags, model_name):
   compile_node = lenv.Command(
     pkl,
     [onnx_path] + tinygrad_files + [chunker_file, compiled_flags_node],
-    f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
+    f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
   )
   def do_chunk(target, source, env):
     chunk_file(pkl, chunk_targets)

From 82a959ef8e480ac5d172d8e8ba33e08a70a7f891 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 30 Apr 2026 16:25:34 -0700
Subject: [PATCH 0981/1434] add vendored acados package (#37933)

---
 pyproject.toml |  1 +
 uv.lock        | 10 ++++++++++
 2 files changed, 11 insertions(+)

diff --git a/pyproject.toml b/pyproject.toml
index d7af83d40751a9..5b5b1aa577805a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -28,6 +28,7 @@ dependencies = [
   # vendored native dependencies
   "bzip2 @ git+https://github.com/commaai/dependencies.git@release-bzip2#subdirectory=bzip2",
   "capnproto @ git+https://github.com/commaai/dependencies.git@release-capnproto#subdirectory=capnproto",
+  "acados @ git+https://github.com/commaai/dependencies.git@release-acados#subdirectory=acados",
   "eigen @ git+https://github.com/commaai/dependencies.git@release-eigen#subdirectory=eigen",
   "ffmpeg @ git+https://github.com/commaai/dependencies.git@release-ffmpeg#subdirectory=ffmpeg",
   "libjpeg @ git+https://github.com/commaai/dependencies.git@release-libjpeg#subdirectory=libjpeg",
diff --git a/uv.lock b/uv.lock
index f8278c13681bcf..d76b1bb39332df 100644
--- a/uv.lock
+++ b/uv.lock
@@ -2,6 +2,14 @@ version = 1
 revision = 3
 requires-python = ">=3.12.3, <3.13"
 
+[[package]]
+name = "acados"
+version = "0.2.2"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=acados&rev=release-acados#2dc0ff804cab5f495641e5e45c6061296445d6cb" }
+dependencies = [
+    { name = "numpy" },
+]
+
 [[package]]
 name = "aiohappyeyeballs"
 version = "2.6.1"
@@ -745,6 +753,7 @@ name = "openpilot"
 version = "0.1.0"
 source = { editable = "." }
 dependencies = [
+    { name = "acados" },
     { name = "aiohttp" },
     { name = "aiortc" },
     { name = "av" },
@@ -822,6 +831,7 @@ tools = [
 
 [package.metadata]
 requires-dist = [
+    { name = "acados", git = "https://github.com/commaai/dependencies.git?subdirectory=acados&rev=release-acados" },
     { name = "aiohttp" },
     { name = "aiortc" },
     { name = "av" },

From 61f7c7ea03b706e9e1e6e5e0be1f7b2bb08ef49b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 30 Apr 2026 18:12:04 -0700
Subject: [PATCH 0982/1434] use vendored xvfb (#37934)

---
 pyproject.toml               |  1 +
 selfdrive/test/setup_xvfb.sh |  4 ++--
 tools/setup_dependencies.sh  | 14 +++++++-------
 uv.lock                      |  7 +++++++
 4 files changed, 17 insertions(+), 9 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 5b5b1aa577805a..ab2a6d327a49ec 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -39,6 +39,7 @@ dependencies = [
   "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
   "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
   "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
+  "xvfb @ git+https://github.com/commaai/dependencies.git@release-xvfb#subdirectory=xvfb",
 
   # body / webrtcd
   "av",
diff --git a/selfdrive/test/setup_xvfb.sh b/selfdrive/test/setup_xvfb.sh
index c1b74a850ee4d7..269ecfb6895c2a 100755
--- a/selfdrive/test/setup_xvfb.sh
+++ b/selfdrive/test/setup_xvfb.sh
@@ -9,7 +9,7 @@ else
 fi
 export DISPLAY=:$DISP_ID
 
-sudo Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null &
+Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null &
 
 # check for x11 socket for the specified display ID
 while [ ! -S /tmp/.X11-unix/X$DISP_ID ]
@@ -19,4 +19,4 @@ do
 done
 
 touch ~/.Xauthority
-export XDG_SESSION_TYPE="x11"
\ No newline at end of file
+export XDG_SESSION_TYPE="x11"
diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
index 73cee5569b77a5..3fb7165a5097f3 100755
--- a/tools/setup_dependencies.sh
+++ b/tools/setup_dependencies.sh
@@ -33,20 +33,20 @@ function install_linux_deps() {
   # normal stuff, this mostly for bare docker images
   if command -v apt-get > /dev/null 2>&1; then
     $SUDO apt-get update
-    $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git xvfb
+    $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git
   elif command -v dnf > /dev/null 2>&1; then
-    $SUDO dnf install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git xorg-x11-server-Xvfb
+    $SUDO dnf install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git
   elif command -v yum > /dev/null 2>&1; then
-    $SUDO yum install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git xorg-x11-server-Xvfb
+    $SUDO yum install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git
   elif command -v pacman > /dev/null 2>&1; then
-    $SUDO pacman -Syu --noconfirm --needed base-devel ca-certificates curl git xorg-server-xvfb
+    $SUDO pacman -Syu --noconfirm --needed base-devel ca-certificates curl git
   elif command -v zypper > /dev/null 2>&1; then
     $SUDO zypper --non-interactive refresh
-    $SUDO zypper --non-interactive install ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-locale git xorg-x11-server
+    $SUDO zypper --non-interactive install ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-locale git
   elif command -v apk > /dev/null 2>&1; then
-    $SUDO apk add --no-cache ca-certificates build-base curl curl-dev musl-locales git xvfb
+    $SUDO apk add --no-cache ca-certificates build-base curl curl-dev musl-locales git
   elif command -v xbps-install > /dev/null 2>&1; then
-    $SUDO xbps-install -Syu base-devel ca-certificates curl git libcurl-devel glibc-locales xorg-server-xvfb
+    $SUDO xbps-install -Syu base-devel ca-certificates curl git libcurl-devel glibc-locales
   else
     echo "Unsupported Linux distribution. Supported package managers: apt-get, dnf, yum, pacman, zypper, apk, xbps-install."
     exit 1
diff --git a/uv.lock b/uv.lock
index d76b1bb39332df..9e1e887dcad9be 100644
--- a/uv.lock
+++ b/uv.lock
@@ -796,6 +796,7 @@ dependencies = [
     { name = "tqdm" },
     { name = "websocket-client" },
     { name = "xattr" },
+    { name = "xvfb" },
     { name = "zeromq" },
     { name = "zstandard" },
     { name = "zstd" },
@@ -891,6 +892,7 @@ requires-dist = [
     { name = "ty", marker = "extra == 'testing'" },
     { name = "websocket-client" },
     { name = "xattr" },
+    { name = "xvfb", git = "https://github.com/commaai/dependencies.git?subdirectory=xvfb&rev=release-xvfb" },
     { name = "zensical", marker = "extra == 'docs'" },
     { name = "zeromq", git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq" },
     { name = "zstandard" },
@@ -1559,6 +1561,11 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/38/63/188f7cb41ab35d795558325d5cc8ab552171d5498cfb178fd14409651e18/xattr-1.3.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:2aaa5d66af6523332189108f34e966ca120ff816dfa077ca34b31e6263f8a236", size = 37754, upload-time = "2025-10-13T22:16:15.306Z" },
 ]
 
+[[package]]
+name = "xvfb"
+version = "1.20.11"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=xvfb&rev=release-xvfb#e98ecfa02a49f59cbb5194ed122e14b50f458873" }
+
 [[package]]
 name = "yarl"
 version = "1.23.0"

From a4e016c1429dae2ea56c03297a2baa0d5b69b0dd Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 30 Apr 2026 18:29:30 -0700
Subject: [PATCH 0983/1434] Revert "use vendored xvfb (#37934)"

This reverts commit 61f7c7ea03b706e9e1e6e5e0be1f7b2bb08ef49b.
---
 pyproject.toml               |  1 -
 selfdrive/test/setup_xvfb.sh |  4 ++--
 tools/setup_dependencies.sh  | 14 +++++++-------
 uv.lock                      |  7 -------
 4 files changed, 9 insertions(+), 17 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index ab2a6d327a49ec..5b5b1aa577805a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -39,7 +39,6 @@ dependencies = [
   "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
   "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
   "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
-  "xvfb @ git+https://github.com/commaai/dependencies.git@release-xvfb#subdirectory=xvfb",
 
   # body / webrtcd
   "av",
diff --git a/selfdrive/test/setup_xvfb.sh b/selfdrive/test/setup_xvfb.sh
index 269ecfb6895c2a..c1b74a850ee4d7 100755
--- a/selfdrive/test/setup_xvfb.sh
+++ b/selfdrive/test/setup_xvfb.sh
@@ -9,7 +9,7 @@ else
 fi
 export DISPLAY=:$DISP_ID
 
-Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null &
+sudo Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null &
 
 # check for x11 socket for the specified display ID
 while [ ! -S /tmp/.X11-unix/X$DISP_ID ]
@@ -19,4 +19,4 @@ do
 done
 
 touch ~/.Xauthority
-export XDG_SESSION_TYPE="x11"
+export XDG_SESSION_TYPE="x11"
\ No newline at end of file
diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
index 3fb7165a5097f3..73cee5569b77a5 100755
--- a/tools/setup_dependencies.sh
+++ b/tools/setup_dependencies.sh
@@ -33,20 +33,20 @@ function install_linux_deps() {
   # normal stuff, this mostly for bare docker images
   if command -v apt-get > /dev/null 2>&1; then
     $SUDO apt-get update
-    $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git
+    $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git xvfb
   elif command -v dnf > /dev/null 2>&1; then
-    $SUDO dnf install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git
+    $SUDO dnf install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git xorg-x11-server-Xvfb
   elif command -v yum > /dev/null 2>&1; then
-    $SUDO yum install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git
+    $SUDO yum install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git xorg-x11-server-Xvfb
   elif command -v pacman > /dev/null 2>&1; then
-    $SUDO pacman -Syu --noconfirm --needed base-devel ca-certificates curl git
+    $SUDO pacman -Syu --noconfirm --needed base-devel ca-certificates curl git xorg-server-xvfb
   elif command -v zypper > /dev/null 2>&1; then
     $SUDO zypper --non-interactive refresh
-    $SUDO zypper --non-interactive install ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-locale git
+    $SUDO zypper --non-interactive install ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-locale git xorg-x11-server
   elif command -v apk > /dev/null 2>&1; then
-    $SUDO apk add --no-cache ca-certificates build-base curl curl-dev musl-locales git
+    $SUDO apk add --no-cache ca-certificates build-base curl curl-dev musl-locales git xvfb
   elif command -v xbps-install > /dev/null 2>&1; then
-    $SUDO xbps-install -Syu base-devel ca-certificates curl git libcurl-devel glibc-locales
+    $SUDO xbps-install -Syu base-devel ca-certificates curl git libcurl-devel glibc-locales xorg-server-xvfb
   else
     echo "Unsupported Linux distribution. Supported package managers: apt-get, dnf, yum, pacman, zypper, apk, xbps-install."
     exit 1
diff --git a/uv.lock b/uv.lock
index 9e1e887dcad9be..d76b1bb39332df 100644
--- a/uv.lock
+++ b/uv.lock
@@ -796,7 +796,6 @@ dependencies = [
     { name = "tqdm" },
     { name = "websocket-client" },
     { name = "xattr" },
-    { name = "xvfb" },
     { name = "zeromq" },
     { name = "zstandard" },
     { name = "zstd" },
@@ -892,7 +891,6 @@ requires-dist = [
     { name = "ty", marker = "extra == 'testing'" },
     { name = "websocket-client" },
     { name = "xattr" },
-    { name = "xvfb", git = "https://github.com/commaai/dependencies.git?subdirectory=xvfb&rev=release-xvfb" },
     { name = "zensical", marker = "extra == 'docs'" },
     { name = "zeromq", git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq" },
     { name = "zstandard" },
@@ -1561,11 +1559,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/38/63/188f7cb41ab35d795558325d5cc8ab552171d5498cfb178fd14409651e18/xattr-1.3.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:2aaa5d66af6523332189108f34e966ca120ff816dfa077ca34b31e6263f8a236", size = 37754, upload-time = "2025-10-13T22:16:15.306Z" },
 ]
 
-[[package]]
-name = "xvfb"
-version = "1.20.11"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=xvfb&rev=release-xvfb#e98ecfa02a49f59cbb5194ed122e14b50f458873" }
-
 [[package]]
 name = "yarl"
 version = "1.23.0"

From 4db23ed4c697475ff1ec967cd53d9447fb6be53c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 30 Apr 2026 19:35:35 -0700
Subject: [PATCH 0984/1434] use vendored xvfb (#37935)

Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
---
 pyproject.toml               |  1 +
 selfdrive/test/setup_xvfb.sh |  2 +-
 tools/setup_dependencies.sh  | 14 +++++++-------
 uv.lock                      |  7 +++++++
 4 files changed, 16 insertions(+), 8 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 5b5b1aa577805a..ab2a6d327a49ec 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -39,6 +39,7 @@ dependencies = [
   "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
   "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
   "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
+  "xvfb @ git+https://github.com/commaai/dependencies.git@release-xvfb#subdirectory=xvfb",
 
   # body / webrtcd
   "av",
diff --git a/selfdrive/test/setup_xvfb.sh b/selfdrive/test/setup_xvfb.sh
index c1b74a850ee4d7..50b313658dc908 100755
--- a/selfdrive/test/setup_xvfb.sh
+++ b/selfdrive/test/setup_xvfb.sh
@@ -9,7 +9,7 @@ else
 fi
 export DISPLAY=:$DISP_ID
 
-sudo Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null &
+Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null &
 
 # check for x11 socket for the specified display ID
 while [ ! -S /tmp/.X11-unix/X$DISP_ID ]
diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
index 73cee5569b77a5..3fb7165a5097f3 100755
--- a/tools/setup_dependencies.sh
+++ b/tools/setup_dependencies.sh
@@ -33,20 +33,20 @@ function install_linux_deps() {
   # normal stuff, this mostly for bare docker images
   if command -v apt-get > /dev/null 2>&1; then
     $SUDO apt-get update
-    $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git xvfb
+    $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git
   elif command -v dnf > /dev/null 2>&1; then
-    $SUDO dnf install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git xorg-x11-server-Xvfb
+    $SUDO dnf install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git
   elif command -v yum > /dev/null 2>&1; then
-    $SUDO yum install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git xorg-x11-server-Xvfb
+    $SUDO yum install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git
   elif command -v pacman > /dev/null 2>&1; then
-    $SUDO pacman -Syu --noconfirm --needed base-devel ca-certificates curl git xorg-server-xvfb
+    $SUDO pacman -Syu --noconfirm --needed base-devel ca-certificates curl git
   elif command -v zypper > /dev/null 2>&1; then
     $SUDO zypper --non-interactive refresh
-    $SUDO zypper --non-interactive install ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-locale git xorg-x11-server
+    $SUDO zypper --non-interactive install ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-locale git
   elif command -v apk > /dev/null 2>&1; then
-    $SUDO apk add --no-cache ca-certificates build-base curl curl-dev musl-locales git xvfb
+    $SUDO apk add --no-cache ca-certificates build-base curl curl-dev musl-locales git
   elif command -v xbps-install > /dev/null 2>&1; then
-    $SUDO xbps-install -Syu base-devel ca-certificates curl git libcurl-devel glibc-locales xorg-server-xvfb
+    $SUDO xbps-install -Syu base-devel ca-certificates curl git libcurl-devel glibc-locales
   else
     echo "Unsupported Linux distribution. Supported package managers: apt-get, dnf, yum, pacman, zypper, apk, xbps-install."
     exit 1
diff --git a/uv.lock b/uv.lock
index d76b1bb39332df..78829688f0164e 100644
--- a/uv.lock
+++ b/uv.lock
@@ -796,6 +796,7 @@ dependencies = [
     { name = "tqdm" },
     { name = "websocket-client" },
     { name = "xattr" },
+    { name = "xvfb" },
     { name = "zeromq" },
     { name = "zstandard" },
     { name = "zstd" },
@@ -891,6 +892,7 @@ requires-dist = [
     { name = "ty", marker = "extra == 'testing'" },
     { name = "websocket-client" },
     { name = "xattr" },
+    { name = "xvfb", git = "https://github.com/commaai/dependencies.git?subdirectory=xvfb&rev=release-xvfb" },
     { name = "zensical", marker = "extra == 'docs'" },
     { name = "zeromq", git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq" },
     { name = "zstandard" },
@@ -1559,6 +1561,11 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/38/63/188f7cb41ab35d795558325d5cc8ab552171d5498cfb178fd14409651e18/xattr-1.3.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:2aaa5d66af6523332189108f34e966ca120ff816dfa077ca34b31e6263f8a236", size = 37754, upload-time = "2025-10-13T22:16:15.306Z" },
 ]
 
+[[package]]
+name = "xvfb"
+version = "1.20.11.post1"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=xvfb&rev=release-xvfb#8dbb2f0e4a8b22402e8f7029dc7fd06c8e4fd865" }
+
 [[package]]
 name = "yarl"
 version = "1.23.0"

From 39849def72f9db8545905422c5932fa0580a090e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 30 Apr 2026 19:37:51 -0700
Subject: [PATCH 0985/1434] add vendored catch2 package

---
 pyproject.toml | 1 +
 uv.lock        | 7 +++++++
 2 files changed, 8 insertions(+)

diff --git a/pyproject.toml b/pyproject.toml
index ab2a6d327a49ec..f1cbccb3fca7e3 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -28,6 +28,7 @@ dependencies = [
   # vendored native dependencies
   "bzip2 @ git+https://github.com/commaai/dependencies.git@release-bzip2#subdirectory=bzip2",
   "capnproto @ git+https://github.com/commaai/dependencies.git@release-capnproto#subdirectory=capnproto",
+  "catch2 @ git+https://github.com/commaai/dependencies.git@release-catch2#subdirectory=catch2",
   "acados @ git+https://github.com/commaai/dependencies.git@release-acados#subdirectory=acados",
   "eigen @ git+https://github.com/commaai/dependencies.git@release-eigen#subdirectory=eigen",
   "ffmpeg @ git+https://github.com/commaai/dependencies.git@release-ffmpeg#subdirectory=ffmpeg",
diff --git a/uv.lock b/uv.lock
index 78829688f0164e..8b5de1ba38893e 100644
--- a/uv.lock
+++ b/uv.lock
@@ -148,6 +148,11 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/3e/b9/5b984124f539656efdf079f3d8f09d73667808ec8d0546e6bce6dc60ade6/casadi-3.7.2-cp312-none-win_amd64.whl", hash = "sha256:81d677d2b020c1307c1eb25eae15686e5de199bb066828c3eaabdfaaaf457ffd", size = 50991347, upload-time = "2025-09-10T08:10:46.629Z" },
 ]
 
+[[package]]
+name = "catch2"
+version = "2.13.10"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2#7a05367ad5e3705a23f00ebc41b629960b8996b0" }
+
 [[package]]
 name = "certifi"
 version = "2026.2.25"
@@ -760,6 +765,7 @@ dependencies = [
     { name = "bzip2" },
     { name = "capnproto" },
     { name = "casadi" },
+    { name = "catch2" },
     { name = "cffi" },
     { name = "crcmod-plus" },
     { name = "cython" },
@@ -839,6 +845,7 @@ requires-dist = [
     { name = "bzip2", git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2" },
     { name = "capnproto", git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto" },
     { name = "casadi", specifier = ">=3.6.6" },
+    { name = "catch2", git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2" },
     { name = "cffi" },
     { name = "codespell", marker = "extra == 'testing'" },
     { name = "coverage", marker = "extra == 'testing'" },

From dd7da3153a0361ff0dae2c46824c206c705f6e9a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 1 May 2026 01:45:49 -0700
Subject: [PATCH 0986/1434] mici ui: don't show stale frame on startup (#37936)

* fix frame under text

* claude always taking the hard path

* cmt

* it still shows on start

* revert

* fix

* wait to show

* already a bug, don't fix here

* cmt

* cmt
---
 selfdrive/ui/mici/onroad/augmented_road_view.py | 17 ++++++++---------
 selfdrive/ui/mici/onroad/cameraview.py          | 14 +++++---------
 2 files changed, 13 insertions(+), 18 deletions(-)

diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index 63e976caee7ac1..7c0d8ac34829d9 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -185,6 +185,12 @@ def _handle_mouse_release(self, mouse_pos: MousePos):
       super()._handle_mouse_release(mouse_pos)
 
   def _render(self, _):
+    # Draw text if not onroad
+    if not ui_state.started:
+      rl.draw_rectangle_rec(self.rect, rl.BLACK)
+      self._offroad_label.render(self._rect)
+      return
+
     start_draw = time.monotonic()
     self._switch_stream_if_needed(ui_state.sm)
 
@@ -220,7 +226,7 @@ def _render(self, _):
     alert_to_render, not_animating_out = self._alert_renderer.will_render()
 
     # Hide DMoji when disengaged unless AlwaysOnDM is enabled
-    should_draw_dmoji = (not self._hud_renderer.drawing_top_icons() and ui_state.is_onroad() and
+    should_draw_dmoji = (not self._hud_renderer.drawing_top_icons() and
                          (ui_state.status != UIStatus.DISENGAGED or ui_state.always_on_dm))
     self._driver_state_renderer.set_should_draw(should_draw_dmoji)
     self._driver_state_renderer.set_position(self._rect.x + 16, self._rect.y + 10)
@@ -229,9 +235,7 @@ def _render(self, _):
     self._hud_renderer.set_can_draw_top_icons(alert_to_render is None)
     self._hud_renderer.set_wheel_critical_icon(alert_to_render is not None and not not_animating_out and
                                                alert_to_render.visual_alert == car.CarControl.HUDControl.VisualAlert.steerRequired)
-    # TODO: have alert renderer draw offroad mici label below
-    if ui_state.started:
-      self._alert_renderer.render(self._content_rect)
+    self._alert_renderer.render(self._content_rect)
     self._hud_renderer.render(self._content_rect)
 
     # Draw fake rounded border
@@ -246,11 +250,6 @@ def _render(self, _):
 
     self._bookmark_icon.render(self.rect)
 
-    # Draw darkened background and text if not onroad
-    if not ui_state.started:
-      rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
-      self._offroad_label.render(self._rect)
-
     # publish uiDebug
     msg = messaging.new_message('uiDebug')
     msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
diff --git a/selfdrive/ui/mici/onroad/cameraview.py b/selfdrive/ui/mici/onroad/cameraview.py
index 62fcfd0654e3f9..57a8a2d5cea363 100644
--- a/selfdrive/ui/mici/onroad/cameraview.py
+++ b/selfdrive/ui/mici/onroad/cameraview.py
@@ -150,15 +150,11 @@ def __init__(self, name: str, stream_type: VisionStreamType):
     ui_state.add_offroad_transition_callback(self._offroad_transition)
 
   def _offroad_transition(self):
-    # Reconnect if not first time going onroad
-    if ui_state.is_onroad() and self.frame is not None:
-      # Prevent old frames from showing when going onroad. Qt has a separate thread
-      # which drains the VisionIpcClient SubSocket for us. Re-connecting is not enough
-      # and only clears internal buffers, not the message queue.
-      self.available_streams.clear()
-      if self.client:
-        del self.client
-      self.client = VisionIpcClient(self._name, self._stream_type, conflate=True)
+    # Drain queued SubSocket messages to prevent old frames from showing when going
+    # onroad. Qt had a separate thread which drains the VisionIpcClient SubSocket for us.
+    if self.client and self.client.is_connected():
+      while self.client.recv(timeout_ms=0) is not None:
+        pass
     self.frame = None
 
   def _set_placeholder_color(self, color: rl.Color):

From 7b79305d994fc85947af3b50eafe3bc0c0f01878 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 1 May 2026 01:50:08 -0700
Subject: [PATCH 0987/1434] WifiManager: capture NewConnection signal from
 adding tethering connection (#37938)

* launch threads before creating hotspot

* Update system/ui/lib/wifi_manager.py

* todo
---
 system/ui/lib/wifi_manager.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py
index 22163d5f68d921..a030f7668aea01 100644
--- a/system/ui/lib/wifi_manager.py
+++ b/system/ui/lib/wifi_manager.py
@@ -210,15 +210,16 @@ def _initialize(self):
     def worker():
       self._wait_for_wifi_device()
 
+      # TODO: wait for state thread to start before adding tethering connection, tiny race currently
+      self._scan_thread.start()
+      self._state_thread.start()
+
       self._init_connections()
       if Params is not None and self._tethering_ssid not in self._connections:
         self._add_tethering_connection()
 
       self._init_wifi_state()
 
-      self._scan_thread.start()
-      self._state_thread.start()
-
       self._tethering_password = self._get_tethering_password()
       cloudlog.debug("WifiManager initialized")
 

From d20794f90011d5b72432dca8a6070687498ce906 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 1 May 2026 02:01:23 -0700
Subject: [PATCH 0988/1434] mici home: alerts pill touch zone only when alerts
 (#37940)

* fix

* clean up
---
 selfdrive/ui/mici/layouts/home.py | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index 8a71e2efebdb9b..f9a85a8fba936c 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -14,7 +14,6 @@
 
 HEAD_BUTTON_FONT_SIZE = 40
 HOME_PADDING = 8
-SETTINGS_ZONE_WIDTH = 280
 ALERTS_ZONE_WIDTH = 180
 
 NetworkType = log.DeviceState.NetworkType
@@ -205,12 +204,11 @@ def _handle_mouse_release(self, mouse_pos: MousePos):
     if not self._did_long_press:
       relative_x = mouse_pos.x - self.rect.x
       has_alerts = self._alert_count_callback and self._alert_count_callback() > 0
-      if relative_x < SETTINGS_ZONE_WIDTH:
-        if self._on_settings_click:
-          self._on_settings_click()
-      elif has_alerts and relative_x > self.rect.width - ALERTS_ZONE_WIDTH:
+      if has_alerts and relative_x > self.rect.width - ALERTS_ZONE_WIDTH:
         if self._on_alerts_click:
           self._on_alerts_click()
+      elif self._on_settings_click:
+        self._on_settings_click()
     self._did_long_press = False
 
   def _get_version_text(self) -> tuple[str, str, str, str] | None:

From 168b9831b26c777085d4558138810d46f56e43ea Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Fri, 1 May 2026 09:12:25 -0700
Subject: [PATCH 0989/1434] lpa: stop loading BPP once eUICC returns
 ProfileInstallResult (#37890)

---
 system/hardware/tici/lpa.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py
index 63fe9ae7d53ec2..4cb23c5fafefe7 100644
--- a/system/hardware/tici/lpa.py
+++ b/system/hardware/tici/lpa.py
@@ -604,8 +604,9 @@ def load_bpp(client: AtClient, b64_bpp: str) -> dict:
   result = None
   for chunk in _split_bpp(bpp):
     response = es10x_command(client, chunk)
-    if response:
-      result = _parse_install_result(response) or result
+    if response and (parsed := _parse_install_result(response)):
+      result = parsed
+      break
 
   if result is None:
     raise RuntimeError("Profile installation failed: no result from eUICC")

From 56b3b4d2456f8e8ba4e979fd36dac9752f571629 Mon Sep 17 00:00:00 2001
From: iliya <68940374+12ya@users.noreply.github.com>
Date: Sat, 2 May 2026 01:36:04 +0900
Subject: [PATCH 0990/1434] docs: improve README wording and consistency
 (#37941)

---
 README.md | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/README.md b/README.md
index a1f494c33cf1e0..5d903cd686d409 100644
--- a/README.md
+++ b/README.md
@@ -44,7 +44,7 @@ Using openpilot in a car
 To use openpilot in a car, you need four things:
 1. **Supported Device:** a comma four, available at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four).
 2. **Software:** The setup procedure for the comma four allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
-3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
+3. **Supported Car:** Ensure that you have one of [the 300+ supported cars](docs/CARS.md).
 4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma four to your car.
 
 We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
@@ -90,7 +90,7 @@ Safety and Testing
 
 openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
 
-Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
+Any user of this software shall indemnify and hold harmless comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
 
 **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
@@ -100,9 +100,9 @@ NO WARRANTY EXPRESSED OR IMPLIED.**
 <details>
 <summary>User Data and comma Account</summary>
 
-By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
+By default, openpilot uploads driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
 
-openpilot is open source software: the user is free to disable data collection if they wish to do so.
+openpilot is open source software, and users can disable data collection if they wish.
 
 openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
 The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.

From 635a3bc7ab4f0add95c014c517ef3648e5abe6b2 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 1 May 2026 09:57:07 -0700
Subject: [PATCH 0991/1434] it's capital sometimes

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 5d903cd686d409..480b14003672e9 100644
--- a/README.md
+++ b/README.md
@@ -90,7 +90,7 @@ Safety and Testing
 
 openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
 
-Any user of this software shall indemnify and hold harmless comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
+Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
 
 **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.

From f364110a36b020a996f98d2f527439c9d25330d5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Fri, 1 May 2026 10:38:42 -0700
Subject: [PATCH 0992/1434] Reapply "Safer get accel (#37918)" (#37943)

* Reapply "Safer get accel (#37918)"

This reverts commit 3af3c7e74873c1b0aeb8973bf580ed24a430bd84.

* Fix test

* This was a fake test without should stop
---
 selfdrive/controls/lib/drive_helpers.py               | 11 +++++++++--
 selfdrive/test/longitudinal_maneuvers/plant.py        |  2 ++
 .../test/longitudinal_maneuvers/test_longitudinal.py  |  2 +-
 3 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 1e2fb27b51d55b..5392ff88751b38 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -8,6 +8,7 @@
 # This is a turn radius smaller than most cars can achieve
 MAX_CURVATURE = 0.2
 MAX_VEL_ERR = 5.0  # m/s
+MIN_STABLE_DELAY = 0.3
 
 # EU guidelines
 MAX_LATERAL_JERK = 5.0  # m/s^3
@@ -43,7 +44,10 @@ def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.
   if len(speeds) == len(t_idxs):
     v_now = speeds[0]
     a_now = accels[0]
-    v_target = np.interp(action_t, t_idxs, speeds)
+    if action_t < MIN_STABLE_DELAY:
+      v_target = v_now + (action_t / MIN_STABLE_DELAY) * (np.interp(MIN_STABLE_DELAY, t_idxs, speeds) - v_now)
+    else:
+      v_target = np.interp(action_t, t_idxs, speeds)
     a_target = 2 * (v_target - v_now) / (action_t) - a_now
   else:
     v_now = 0.0
@@ -58,6 +62,9 @@ def curv_from_psis(psi_target, psi_rate, vego, action_t):
   return 2*curv_from_psi - psi_rate / vego
 
 def get_curvature_from_plan(yaws, yaw_rates, t_idxs, vego, action_t):
-  psi_target = np.interp(action_t, t_idxs, yaws)
+  if action_t < MIN_STABLE_DELAY:
+    psi_target = (action_t / MIN_STABLE_DELAY) * np.interp(MIN_STABLE_DELAY, t_idxs, yaws)
+  else:
+    psi_target = np.interp(action_t, t_idxs, yaws)
   psi_rate = yaw_rates[0]
   return curv_from_psis(psi_target, psi_rate, vego, action_t)
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index b8c6adb4368028..5f768a1fb93554 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -136,6 +136,8 @@ def step(self, v_lead=0.0, prob_lead=1.0, v_cruise=50., pitch=0.0, prob_throttle
           'modelV2': model.modelV2}
     self.planner.update(sm)
     self.acceleration = self.planner.output_a_target
+    if self.planner.output_should_stop:
+      self.acceleration = min(-0.5, self.acceleration)
     self.speed = self.speed + self.acceleration * self.ts
     self.should_stop = self.planner.output_should_stop
     fcw = self.planner.fcw
diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
index 90bc46b187dd33..b8f97c5041f35b 100644
--- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
+++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
@@ -170,7 +170,7 @@ def create_maneuvers(kwargs):
       initial_speed=0.,
       lead_relevancy=True,
       initial_distance_lead=STOP_DISTANCE,
-      speed_lead_values=[0., 0., 2.],
+      speed_lead_values=[0., 0., 7.],
       breakpoints=[1., 10., 15.],
       ensure_start=True,
       **kwargs,

From 0f542bef388f3ece05e3642169d5fe09c8c787b2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Fri, 1 May 2026 13:18:43 -0700
Subject: [PATCH 0993/1434] fix casadi pins (#37944)

---
 pyproject.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pyproject.toml b/pyproject.toml
index f1cbccb3fca7e3..6823b9833aa826 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -62,7 +62,7 @@ dependencies = [
   "websocket_client",
 
   # acados deps
-  "casadi >=3.6.6",  # 3.12 fixed in 3.6.6
+  "casadi ==3.6.7",  # pinned to match libcasadi bundled in commaai/dependencies@release-acados
 
   # joystickd
   "inputs",

From b279aa601525bcb2a9695fb88b9c7b9e0b6821d6 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 1 May 2026 20:12:42 -0700
Subject: [PATCH 0994/1434] rm casadi (#37945)

---
 pyproject.toml |  3 ---
 uv.lock        | 19 -------------------
 2 files changed, 22 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 6823b9833aa826..fe6e9beb3c8732 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -61,9 +61,6 @@ dependencies = [
   "json-rpc",
   "websocket_client",
 
-  # acados deps
-  "casadi ==3.6.7",  # pinned to match libcasadi bundled in commaai/dependencies@release-acados
-
   # joystickd
   "inputs",
 
diff --git a/uv.lock b/uv.lock
index 8b5de1ba38893e..e3c967cfc16c66 100644
--- a/uv.lock
+++ b/uv.lock
@@ -131,23 +131,6 @@ name = "capnproto"
 version = "1.0.1"
 source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#eba2fe8b8208b5408fbda1bc0104a91e4375aee3" }
 
-[[package]]
-name = "casadi"
-version = "3.7.2"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "numpy" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/92/62/1e98662024915ecb09c6894c26a3f497f4afa66570af3f53db4651fc45f1/casadi-3.7.2.tar.gz", hash = "sha256:b4d7bd8acdc4180306903ae1c9eddaf41be2a3ae2fa7154c57174ae64acdc60d", size = 6053600, upload-time = "2025-09-10T10:05:49.521Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/65/c8/689d085447b1966f42bdb8aa4fbebef49a09697dbee32ab02a865c17ac1b/casadi-3.7.2-cp312-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:309ea41a69c9230390d349b0dd899c6a19504d1904c0756bef463e47fb5c8f9a", size = 47116756, upload-time = "2025-09-10T07:53:00.931Z" },
-    { url = "https://files.pythonhosted.org/packages/1e/c0/3c4704394a6fd4dfb2123a4fd71ba64a001f340670a3eba45be7a19ac736/casadi-3.7.2-cp312-none-macosx_11_0_arm64.whl", hash = "sha256:6033381234db810b2247d16c6352e679a009ec4365d04008fc768866e011ed58", size = 42293718, upload-time = "2025-09-10T08:07:16.415Z" },
-    { url = "https://files.pythonhosted.org/packages/f3/24/4cf05469ddf8544da5e92f359f96d716a97e7482999f085a632bc4ef344a/casadi-3.7.2-cp312-none-manylinux2014_aarch64.whl", hash = "sha256:732f2804d0766454bb75596339e4f2da6662ffb669621da0f630ed4af9e83d6a", size = 47276175, upload-time = "2025-09-10T08:08:09.29Z" },
-    { url = "https://files.pythonhosted.org/packages/82/08/b5f57fea03128efd5c860673b6ac44776352e6c1af862b8177f4c503fffe/casadi-3.7.2-cp312-none-manylinux2014_i686.whl", hash = "sha256:cf17298ff0c162735bdf9bf72b765c636ae732130604017a3b52e26e35402857", size = 72430454, upload-time = "2025-09-10T08:09:10.781Z" },
-    { url = "https://files.pythonhosted.org/packages/24/ab/d7233c915b12c005655437c6c4cf0ae46cbbb2b20d743cb5e4881ad3104a/casadi-3.7.2-cp312-none-manylinux2014_x86_64.whl", hash = "sha256:cde616930fa1440ad66f1850670399423edd37354eed9b12e74b3817b98d1187", size = 75568903, upload-time = "2025-09-10T08:10:07.108Z" },
-    { url = "https://files.pythonhosted.org/packages/3e/b9/5b984124f539656efdf079f3d8f09d73667808ec8d0546e6bce6dc60ade6/casadi-3.7.2-cp312-none-win_amd64.whl", hash = "sha256:81d677d2b020c1307c1eb25eae15686e5de199bb066828c3eaabdfaaaf457ffd", size = 50991347, upload-time = "2025-09-10T08:10:46.629Z" },
-]
-
 [[package]]
 name = "catch2"
 version = "2.13.10"
@@ -764,7 +747,6 @@ dependencies = [
     { name = "av" },
     { name = "bzip2" },
     { name = "capnproto" },
-    { name = "casadi" },
     { name = "catch2" },
     { name = "cffi" },
     { name = "crcmod-plus" },
@@ -844,7 +826,6 @@ requires-dist = [
     { name = "av" },
     { name = "bzip2", git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2" },
     { name = "capnproto", git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto" },
-    { name = "casadi", specifier = ">=3.6.6" },
     { name = "catch2", git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2" },
     { name = "cffi" },
     { name = "codespell", marker = "extra == 'testing'" },

From 605dfaa1a952ea14010d53bbec5229901f270e4c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 2 May 2026 00:00:01 -0700
Subject: [PATCH 0995/1434] ui: fix torque bar points caching while scrolling
 (#37946)

* ui: keep arc_bar_pts cache hot when bar is translated

The LRU cache key included (cx, cy), which change every frame when
the parent widget's rect translates (e.g. during a scroll animation
in MainLayout). That made every cache lookup miss, recomputing the
arc geometry twice per frame and dropping fps.

Compute the shape at origin (so the cache key only depends on the
geometry: radius, thickness, angles), then translate to (cx, cy)
after. Cache stays hot under translation.

Measured on comma four (engaged, scrolling): ~5fps recovered while
moving between layouts.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* fully clean up

* fully clean up

---------

Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
---
 selfdrive/ui/mici/onroad/torque_bar.py | 26 +++++++++++++-------------
 1 file changed, 13 insertions(+), 13 deletions(-)

diff --git a/selfdrive/ui/mici/onroad/torque_bar.py b/selfdrive/ui/mici/onroad/torque_bar.py
index 1338c8dfb357d6..406e6ff712fcfb 100644
--- a/selfdrive/ui/mici/onroad/torque_bar.py
+++ b/selfdrive/ui/mici/onroad/torque_bar.py
@@ -23,9 +23,9 @@ def quantized_lru_cache(maxsize=128):
   def decorator(func):
     cache = OrderedDict()
     @wraps(func)
-    def wrapper(cx, cy, r_mid, thickness, a0_deg, a1_deg, **kwargs):
+    def wrapper(r_mid, thickness, a0_deg, a1_deg, **kwargs):
       # Quantize inputs: balanced for smoothness vs cache effectiveness
-      key = (round(cx), round(cy), round(r_mid),
+      key = (round(r_mid),
              round(thickness),           # 1px precision for smoother height transitions
              round(a0_deg * 10) / 10,    # 0.1° precision for smoother angle transitions
              round(a1_deg * 10) / 10,
@@ -37,7 +37,7 @@ def wrapper(cx, cy, r_mid, thickness, a0_deg, a1_deg, **kwargs):
         if len(cache) >= maxsize:
           cache.popitem(last=False)
 
-        result = func(cx, cy, r_mid, thickness, a0_deg, a1_deg, **kwargs)
+        result = func(r_mid, thickness, a0_deg, a1_deg, **kwargs)
         cache[key] = result
       return cache[key]
     return wrapper
@@ -45,12 +45,11 @@ def wrapper(cx, cy, r_mid, thickness, a0_deg, a1_deg, **kwargs):
 
 
 @quantized_lru_cache(maxsize=256)
-def arc_bar_pts(cx: float, cy: float,
-                r_mid: float, thickness: float,
+def arc_bar_pts(r_mid: float, thickness: float,
                 a0_deg: float, a1_deg: float,
                 *, max_points: int = 100, cap_segs: int = 10,
                 cap_radius: float = 7, px_per_seg: float = 2.0) -> np.ndarray:
-  """Return Nx2 np.float32 points for a single closed polygon (rounded thick arc)."""
+  """Return Nx2 np.float32 points for a single closed polygon (rounded thick arc), centered at origin."""
 
   def get_cap(left: bool, a_deg: float):
     # end cap at a1: center (a1), sweep a1→a1+180 (skip endpoints to avoid dupes)
@@ -59,7 +58,7 @@ def get_cap(left: bool, a_deg: float):
     nx, ny = math.cos(math.radians(a_deg)), math.sin(math.radians(a_deg))  # outward normal
     tx, ty = -ny, nx  # tangent (CCW)
 
-    mx, my = cx + nx * r_mid, cy + ny * r_mid  # mid-point at a1
+    mx, my = nx * r_mid, ny * r_mid  # mid-point at a1
     if DEBUG:
       rl.draw_circle(int(mx), int(my), 4, rl.PURPLE)
 
@@ -114,16 +113,16 @@ def get_cap(left: bool, a_deg: float):
 
   # outer arc a0→a1
   ang_o = np.deg2rad(np.linspace(a0_deg, a1_deg, arc_segs + 1))
-  outer = np.c_[cx + np.cos(ang_o) * (r_mid + half),
-                cy + np.sin(ang_o) * (r_mid + half)]
+  outer = np.c_[np.cos(ang_o) * (r_mid + half),
+                np.sin(ang_o) * (r_mid + half)]
 
   # end cap at a1
   cap_end = get_cap(False, a1_deg)
 
   # inner arc a1→a0
   ang_i = np.deg2rad(np.linspace(a1_deg, a0_deg, arc_segs + 1))
-  inner = np.c_[cx + np.cos(ang_i) * (r_mid - half),
-                cy + np.sin(ang_i) * (r_mid - half)]
+  inner = np.c_[np.cos(ang_i) * (r_mid - half),
+                np.sin(ang_i) * (r_mid - half)]
 
   # start cap at a0
   cap_start = get_cap(True, a0_deg)
@@ -215,15 +214,16 @@ def _render(self, rect: rl.Rectangle) -> None:
 
     cx = rect.x + rect.width / 2 + 8  # offset 8px to right of camera feed
     cy = rect.y + rect.height + torque_line_radius - torque_line_offset
+    offset = np.array([cx, cy], dtype=np.float32)
 
     # draw bg torque indicator line
-    bg_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, torque_start_angle, torque_end_angle)
+    bg_pts = arc_bar_pts(mid_r, torque_line_height, torque_start_angle, torque_end_angle) + offset
     draw_polygon(rect, bg_pts, color=torque_line_bg_color)
 
     # draw torque indicator line
     a0s = top_angle
     a1s = a0s + torque_bg_angle_span / 2 * self._torque_filter.x
-    sl_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, a0s, a1s)
+    sl_pts = arc_bar_pts(mid_r, torque_line_height, a0s, a1s) + offset
 
     # draw beautiful gradient from center to 65% of the bg torque bar width
     start_grad_pt = cx / rect.width

From ab43fd1369995784ab5545b02f293a83fe9d8001 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 2 May 2026 01:22:02 -0700
Subject: [PATCH 0996/1434] ui: re-apply mici/AugmentedRoadView
 _calc_frame_matrix caching (#37948)

* ui: speed up `mici/AugmentedRoadView` by optimizing _calc_frame_matrix caching (#36669)

speed up AugmentedRoadView by optimizing _calc_frame_matrix caching

* ui: apply rect.x/y as a 2D screen offset post-projection

Removes the parent rect's screen position from the cached
video_transform passed to ModelRenderer. Instead, ModelRenderer
applies (rect.x, rect.y) as a 2D offset to projected_points at draw
time.

Why this works: the rect.x/y term in video_transform gets multiplied
by P_calib[2] before the perspective divide, then divided by the same
value, which cancels out to a simple additive shift on the final
screen coordinate. So adding x to video_transform[0,2] is equivalent
to adding x to screen_x post-projection.

Net effect: the cache key in _calc_frame_matrix no longer needs to
include rect.x/y. Cache stays hot under translation (e.g. swiping
between layouts), and the model overlay tracks the camera at 60Hz
because the offset is updated cheaply each frame.

This addresses the original revert reason for #36669 (model overlay
visually desyncs from camera during a home<->onroad swipe).

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* ui: update model screen offset every frame, not just on cache miss

set_screen_offset() was called inside the cache-miss path of
_calc_frame_matrix, so the offset only updated at ~20Hz (calib publish
rate). The model overlay visibly lagged the camera during a swipe.

Move it out of the cached path so it updates each frame.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* fully clean up

* shorter cmts

* make non

* clean up

* fix ty

---------

Co-authored-by: Dean Lee <deanlee3@gmail.com>
Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
---
 .../ui/mici/onroad/augmented_road_view.py     | 28 +++++++++++--------
 selfdrive/ui/mici/onroad/model_renderer.py    | 28 +++++++++++--------
 2 files changed, 32 insertions(+), 24 deletions(-)

diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index 7c0d8ac34829d9..703dcf78b1e302 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -139,9 +139,7 @@ def __init__(self, bookmark_callback=None, stream_type: VisionStreamType = Visio
     self.view_from_calib = view_frame_from_device_frame.copy()
     self.view_from_wide_calib = view_frame_from_device_frame.copy()
 
-    self._last_calib_time: float = 0
-    self._last_rect_dims = (0.0, 0.0)
-    self._last_stream_type = stream_type
+    self._matrix_cache_key: tuple | None = None
     self._cached_matrix: np.ndarray | None = None
     self._content_rect = rl.Rectangle()
     self._last_click_time = 0.0
@@ -295,10 +293,18 @@ def _update_calibration(self):
       self.view_from_wide_calib = view_frame_from_device_frame @ wide_from_device @ device_from_calib
 
   def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
+    cache_key = (
+      ui_state.sm.recv_frame['liveCalibration'],
+      int(self._content_rect.width),
+      int(self._content_rect.height),
+      self.stream_type,
+      round(ui_state.sm['carState'].vEgo, 1),
+    )
+
+    if cache_key == self._matrix_cache_key and self._cached_matrix is not None:
+      return self._cached_matrix
+
     # Get camera configuration
-    # TODO: cache with vEgo?
-    calib_time = ui_state.sm.recv_frame['liveCalibration']
-    current_dims = (self._content_rect.width, self._content_rect.height)
     device_camera = self.device_camera or DEFAULT_DEVICE_CAMERA
     is_wide_camera = self.stream_type == WIDE_CAM
     intrinsic = device_camera.ecam.intrinsics if is_wide_camera else device_camera.fcam.intrinsics
@@ -314,7 +320,6 @@ def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
     kep = calib_transform @ inf_point
 
     # Calculate center points and dimensions
-    x, y = self._content_rect.x, self._content_rect.y
     w, h = self._content_rect.width, self._content_rect.height
     cx, cy = intrinsic[0, 2], intrinsic[1, 2]
 
@@ -334,18 +339,17 @@ def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
       x_offset, y_offset = 0, 0
 
     # Cache the computed transformation matrix to avoid recalculations
-    self._last_calib_time = calib_time
-    self._last_rect_dims = current_dims
-    self._last_stream_type = self.stream_type
+    self._matrix_cache_key = cache_key
     self._cached_matrix = np.array([
       [zoom * 2 * cx / w, 0, -x_offset / w * 2],
       [0, zoom * 2 * cy / h, -y_offset / h * 2],
       [0, 0, 1.0]
     ])
 
+    # built without rect.x/y so cache stays hot during scroll. ModelRenderer adds offset at draw time
     video_transform = np.array([
-      [zoom, 0.0, (w / 2 + x - x_offset) - (cx * zoom)],
-      [0.0, zoom, (h / 2 + y - y_offset) - (cy * zoom)],
+      [zoom, 0.0, (w / 2 - x_offset) - (cx * zoom)],
+      [0.0, zoom, (h / 2 - y_offset) - (cy * zoom)],
       [0.0, 0.0, 1.0]
     ])
     self._model_renderer.set_transform(video_transform @ calib_transform)
diff --git a/selfdrive/ui/mici/onroad/model_renderer.py b/selfdrive/ui/mici/onroad/model_renderer.py
index 3f1badfe84411f..12500bdcd4184c 100644
--- a/selfdrive/ui/mici/onroad/model_renderer.py
+++ b/selfdrive/ui/mici/onroad/model_renderer.py
@@ -72,7 +72,7 @@ def __init__(self):
     self._torque_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
     self._ll_color_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
 
-    # Transform matrix (3x3 for car space to screen space)
+    # 3x3 car space -> rect-origin space (draw methods add rect.x/y)
     self._car_space_transform = np.zeros((3, 3), dtype=np.float32)
     self._transform_dirty = True
     self._clip_region = None
@@ -221,7 +221,8 @@ def _update_experimental_gradient(self):
     if not self._experimental_mode:
       return
 
-    max_len = min(len(self._path.projected_points) // 2, len(self._acceleration_x))
+    path_pts = self._path.projected_points + np.array([self._rect.x, self._rect.y], dtype=np.float32)
+    max_len = min(len(path_pts) // 2, len(self._acceleration_x))
 
     segment_colors = []
     gradient_stops = []
@@ -229,7 +230,7 @@ def _update_experimental_gradient(self):
     i = 0
     while i < max_len:
       # Some points (screen space) are out of frame (rect space)
-      track_y = self._path.projected_points[i][1]
+      track_y = path_pts[i][1]
       if track_y < self._rect.y or track_y > (self._rect.y + self._rect.height):
         i += 1
         continue
@@ -305,14 +306,15 @@ def _get_ll_color(self, prob: float, adjacent: bool, left: bool):
     return color
 
   def _draw_lane_lines(self):
-    """Draw lane lines and road edges"""
-    """Two closest lines should be green (lane line or road edges)"""
+    """Draw lane lines and road edges. Two closest lines should be green (lane line or road edges)."""
+    offset = np.array([self._rect.x, self._rect.y], dtype=np.float32)
+
     for i, lane_line in enumerate(self._lane_lines):
       if lane_line.projected_points.size == 0:
         continue
 
       color = self._get_ll_color(float(self._lane_line_probs[i]), i in (1, 2), i in (0, 1))
-      draw_polygon(self._rect, lane_line.projected_points, color)
+      draw_polygon(self._rect, lane_line.projected_points + offset, color)
 
     for i, road_edge in enumerate(self._road_edges):
       if road_edge.projected_points.size == 0:
@@ -320,7 +322,7 @@ def _draw_lane_lines(self):
 
       # if closest lane lines are not confident, make road edges green
       color = self._get_ll_color(float(1.0 - self._road_edge_stds[i]), float(self._lane_line_probs[i + 1]) < 0.25, i == 0)
-      draw_polygon(self._rect, road_edge.projected_points, color)
+      draw_polygon(self._rect, road_edge.projected_points + offset, color)
 
   def _draw_path(self, sm):
     """Draw path with dynamic coloring based on mode and throttle state."""
@@ -330,14 +332,16 @@ def _draw_path(self, sm):
     allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control
     self._blend_filter.update(int(allow_throttle))
 
+    path_pts = self._path.projected_points + np.array([self._rect.x, self._rect.y], dtype=np.float32)
+
     if self._experimental_mode:
       # Draw with acceleration coloring
       if ui_state.status == UIStatus.DISENGAGED:
-        draw_polygon(self._rect, self._path.projected_points, rl.Color(0, 0, 0, 90))
+        draw_polygon(self._rect, path_pts, rl.Color(0, 0, 0, 90))
       elif len(self._exp_gradient.colors) > 1:
-        draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient)
+        draw_polygon(self._rect, path_pts, gradient=self._exp_gradient)
       else:
-        draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30))
+        draw_polygon(self._rect, path_pts, rl.Color(255, 255, 255, 30))
     else:
       # Blend throttle/no throttle colors based on transition
       blend_factor = round(self._blend_filter.x * 100) / 100
@@ -350,9 +354,9 @@ def _draw_path(self, sm):
       )
 
       if ui_state.status == UIStatus.DISENGAGED:
-        draw_polygon(self._rect, self._path.projected_points, rl.Color(0, 0, 0, 90))
+        draw_polygon(self._rect, path_pts, rl.Color(0, 0, 0, 90))
       else:
-        draw_polygon(self._rect, self._path.projected_points, gradient=gradient)
+        draw_polygon(self._rect, path_pts, gradient=gradient)
 
   def _draw_lead_indicator(self):
     # Draw lead vehicles if available

From 1a93104bfd6ad59914df0e4756c1c2d8cdd24b73 Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Sat, 2 May 2026 10:04:53 -0700
Subject: [PATCH 0997/1434] modem.py (#37811)

---
 .../settings/network/network_layout.py        |  17 +-
 system/hardware/base.py                       |   6 -
 system/hardware/hardwared.py                  |  20 -
 system/hardware/tici/esim.nmconnection        |  30 -
 system/hardware/tici/hardware.py              | 246 ++------
 system/hardware/tici/lpa.py                   |  37 +-
 system/hardware/tici/modem.py                 | 536 ++++++++++++++++++
 system/hardware/tici/restart_modem.sh         |  18 -
 system/manager/process_config.py              |   1 +
 system/ui/lib/gsm_manager.py                  | 145 -----
 system/ui/lib/wifi_manager.py                 |  11 -
 system/ui/widgets/network.py                  |  14 +-
 12 files changed, 589 insertions(+), 492 deletions(-)
 delete mode 100644 system/hardware/tici/esim.nmconnection
 create mode 100755 system/hardware/tici/modem.py
 delete mode 100755 system/hardware/tici/restart_modem.sh
 delete mode 100644 system/ui/lib/gsm_manager.py

diff --git a/selfdrive/ui/mici/layouts/settings/network/network_layout.py b/selfdrive/ui/mici/layouts/settings/network/network_layout.py
index 9f6fae4b5f8958..58b3d0c77dceeb 100644
--- a/selfdrive/ui/mici/layouts/settings/network/network_layout.py
+++ b/selfdrive/ui/mici/layouts/settings/network/network_layout.py
@@ -66,14 +66,14 @@ def network_metered_callback(value: str):
 
     # ******** Advanced settings ********
     # ******** Roaming toggle ********
-    self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming", toggle_callback=self._toggle_roaming)
+    self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming")
 
     # ******** APN settings ********
     self._apn_btn = BigButton("apn settings", "edit")
     self._apn_btn.set_click_callback(self._edit_apn)
 
     # ******** Cellular metered toggle ********
-    self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered", toggle_callback=self._toggle_cellular_metered)
+    self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered")
 
     # Main scroller ----------------------------------
     self._scroller.add_widgets([
@@ -88,11 +88,6 @@ def network_metered_callback(value: str):
       # */
     ])
 
-    # Set initial config
-    roaming_enabled = ui_state.params.get_bool("GsmRoaming")
-    metered = ui_state.params.get_bool("GsmMetered")
-    self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered)
-
   def _update_state(self):
     super()._update_state()
 
@@ -116,9 +111,6 @@ def hide_event(self):
 
     gui_app.remove_nav_stack_tick(self._wifi_manager.process_callbacks)
 
-  def _toggle_roaming(self, checked: bool):
-    self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered"))
-
   def _edit_apn(self):
     def update_apn(apn: str):
       apn = apn.strip()
@@ -127,15 +119,10 @@ def update_apn(apn: str):
       else:
         ui_state.params.put("GsmApn", apn)
 
-      self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered"))
-
     current_apn = ui_state.params.get("GsmApn") or ""
     dlg = BigInputDialog("enter APN...", current_apn, minimum_length=0, confirm_callback=update_apn)
     gui_app.push_widget(dlg)
 
-  def _toggle_cellular_metered(self, checked: bool):
-    self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked)
-
   def _on_network_updated(self, networks: list[Network]):
     # Update tethering state
     tethering_active = self._wifi_manager.is_tethering_active()
diff --git a/system/hardware/base.py b/system/hardware/base.py
index 29c739654e0658..0f578dffa46436 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -198,12 +198,6 @@ def get_modem_temperatures(self):
   def initialize_hardware(self):
     pass
 
-  def configure_modem(self):
-    pass
-
-  def reboot_modem(self):
-    pass
-
   def get_networks(self):
     return None
 
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 97b84c0e4b560d..bcf9f2ec0b9bf9 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -108,9 +108,6 @@ def hw_state_thread(end_event, hw_queue):
   prev_hw_state = None
 
   modem_version = None
-  modem_configured = False
-  modem_missing_count = 0
-  modem_restart_count = 0
 
   while not end_event.is_set():
     # these are expensive calls. update every 10s
@@ -128,18 +125,6 @@ def hw_state_thread(end_event, hw_queue):
           if modem_version is not None:
             cloudlog.event("modem version", version=modem_version)
 
-        if AGNOS and modem_restart_count < 3 and HARDWARE.get_modem_version() is None:
-          # TODO: we may be able to remove this with a MM update
-          # ModemManager's probing on startup can fail
-          # rarely, restart the service to probe again.
-          # Also, AT commands sometimes timeout resulting in ModemManager not
-          # trying to use this modem anymore.
-          modem_missing_count += 1
-          if (modem_missing_count % 4) == 0:
-            modem_restart_count += 1
-            cloudlog.event("restarting ModemManager")
-            os.system("sudo systemctl restart --no-block ModemManager")
-
         tx, rx = HARDWARE.get_modem_data_usage()
 
         hw_state = HardwareState(
@@ -156,11 +141,6 @@ def hw_state_thread(end_event, hw_queue):
         except queue.Full:
           pass
 
-        if not modem_configured and HARDWARE.get_modem_version() is not None:
-          cloudlog.warning("configuring modem")
-          HARDWARE.configure_modem()
-          modem_configured = True
-
         prev_hw_state = hw_state
       except Exception:
         cloudlog.exception("Error getting hardware state")
diff --git a/system/hardware/tici/esim.nmconnection b/system/hardware/tici/esim.nmconnection
deleted file mode 100644
index 74f6f8e82c74dd..00000000000000
--- a/system/hardware/tici/esim.nmconnection
+++ /dev/null
@@ -1,30 +0,0 @@
-[connection]
-id=esim
-uuid=fff6553c-3284-4707-a6b1-acc021caaafb
-type=gsm
-permissions=
-autoconnect=true
-autoconnect-retries=100
-autoconnect-priority=2
-metered=1
-
-[gsm]
-apn=
-home-only=false
-auto-config=true
-sim-id=
-
-[ipv4]
-route-metric=1000
-dns-priority=1000
-dns-search=
-method=auto
-
-[ipv6]
-ddr-gen-mode=stable-privacy
-dns-search=
-route-metric=1000
-dns-priority=1000
-method=auto
-
-[proxy]
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 15c6e416955efb..dcdeb8ac47b831 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -1,8 +1,7 @@
-import math
+import json
 import os
 import subprocess
 import time
-import tempfile
 from enum import IntEnum
 from functools import cached_property, lru_cache
 from pathlib import Path
@@ -20,30 +19,9 @@
 NM_CON_ACT = NM + '.Connection.Active'
 NM_DEV = NM + '.Device'
 NM_DEV_WL = NM + '.Device.Wireless'
-NM_DEV_STATS = NM + '.Device.Statistics'
 NM_AP = NM + '.AccessPoint'
 DBUS_PROPS = 'org.freedesktop.DBus.Properties'
 
-MM = 'org.freedesktop.ModemManager1'
-MM_MODEM = MM + ".Modem"
-MM_MODEM_SIMPLE = MM + ".Modem.Simple"
-MM_SIM = MM + ".Sim"
-
-class MM_MODEM_STATE(IntEnum):
-  FAILED        = -1
-  UNKNOWN       = 0
-  INITIALIZING  = 1
-  LOCKED        = 2
-  DISABLED      = 3
-  DISABLING     = 4
-  ENABLING      = 5
-  ENABLED       = 6
-  SEARCHING     = 7
-  REGISTERED    = 8
-  DISCONNECTING = 9
-  CONNECTING    = 10
-  CONNECTED     = 11
-
 class NMMetered(IntEnum):
   NM_METERED_UNKNOWN = 0
   NM_METERED_YES = 1
@@ -51,16 +29,12 @@ class NMMetered(IntEnum):
   NM_METERED_GUESS_YES = 3
   NM_METERED_GUESS_NO = 4
 
+MODEM_STATE_PATH = "/dev/shm/modem"
 TIMEOUT = 0.1
-REFRESH_RATE_MS = 1000
 
 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength
 
-# https://developer.gnome.org/ModemManager/unstable/ModemManager-Flags-and-Enumerations.html#MMModemAccessTechnology
-MM_MODEM_ACCESS_TECHNOLOGY_UMTS = 1 << 5
-MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14
-
 
 def affine_irq(val, action):
   irqs = get_irqs_for_action(action)
@@ -88,16 +62,17 @@ def bus(self):
   def nm(self):
     return self.bus.get_object(NM, '/org/freedesktop/NetworkManager')
 
-  @property # this should not be cached, in case the modemmanager restarts
-  def mm(self):
-    return self.bus.get_object(MM, '/org/freedesktop/ModemManager1')
-
   @cached_property
   def amplifier(self):
     if self.get_device_type() == "mici":
       return None
     return Amplifier()
 
+  def get_modem_state(self) -> dict:
+    """Read modem.py state file. Raises if modem.py hasn't published state yet."""
+    with open(MODEM_STATE_PATH) as f:
+      return json.load(f)
+
   def get_os_version(self):
     with open("/VERSION") as f:
       return f.read().strip()
@@ -137,68 +112,44 @@ def set_ir_power(self, percent: int):
       f.write(f"{value}\n")
 
   def get_network_type(self):
+    ms = self.get_modem_state()
     try:
       primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
       primary_connection = self.bus.get_object(NM, primary_connection)
       primary_type = primary_connection.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-
       if primary_type == '802-3-ethernet':
         return NetworkType.ethernet
       elif primary_type == '802-11-wireless':
         return NetworkType.wifi
-      else:
-        active_connections = self.nm.Get(NM, 'ActiveConnections', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-        for conn in active_connections:
-          c = self.bus.get_object(NM, conn)
-          tp = c.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-          if tp == 'gsm':
-            modem = self.get_modem()
-            access_t = modem.Get(MM_MODEM, 'AccessTechnologies', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-            if access_t >= MM_MODEM_ACCESS_TECHNOLOGY_LTE:
-              return NetworkType.cell4G
-            elif access_t >= MM_MODEM_ACCESS_TECHNOLOGY_UMTS:
-              return NetworkType.cell3G
-            else:
-              return NetworkType.cell2G
     except Exception:
       pass
 
+    if ms.get('connected'):
+      nt = ms.get('network_type', '')
+      if nt == 'nr':
+        return NetworkType.cell5G
+      elif nt == 'lte':
+        return NetworkType.cell4G
+      elif nt in ('utran', 'umts'):
+        return NetworkType.cell3G
+      elif nt == 'gsm':
+        return NetworkType.cell2G
     return NetworkType.none
 
-  def get_modem(self):
-    objects = self.mm.GetManagedObjects(dbus_interface="org.freedesktop.DBus.ObjectManager", timeout=TIMEOUT)
-    modem_path = list(objects.keys())[0]
-    return self.bus.get_object(MM, modem_path)
-
   def get_wlan(self):
     wlan_path = self.nm.GetDeviceByIpIface('wlan0', dbus_interface=NM, timeout=TIMEOUT)
     return self.bus.get_object(NM, wlan_path)
 
-  def get_wwan(self):
-    wwan_path = self.nm.GetDeviceByIpIface('wwan0', dbus_interface=NM, timeout=TIMEOUT)
-    return self.bus.get_object(NM, wwan_path)
-
   def get_sim_info(self):
-    modem = self.get_modem()
-    sim_path = modem.Get(MM_MODEM, 'Sim', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-
-    if sim_path == "/":
-      return {
-        'sim_id': '',
-        'mcc_mnc': None,
-        'network_type': ["Unknown"],
-        'sim_state': ["ABSENT"],
-        'data_connected': False
-      }
-    else:
-      sim = self.bus.get_object(MM, sim_path)
-      return {
-        'sim_id': str(sim.Get(MM_SIM, 'SimIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)),
-        'mcc_mnc': str(sim.Get(MM_SIM, 'OperatorIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)),
-        'network_type': ["Unknown"],
-        'sim_state': ["READY"],
-        'data_connected': modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) == MM_MODEM_STATE.CONNECTED,
-      }
+    ms = self.get_modem_state()
+    sim_id = ms.get('iccid', '')
+    return {
+      'sim_id': sim_id,
+      'mcc_mnc': ms.get('mcc_mnc') or None,
+      'network_type': ["Unknown"],
+      'sim_state': ["ABSENT"] if not sim_id else ["READY"],
+      'data_connected': ms.get('connected', False),
+    }
 
   def get_sim_lpa(self) -> LPABase:
     return TiciLPA()
@@ -206,40 +157,21 @@ def get_sim_lpa(self) -> LPABase:
   def get_imei(self, slot):
     if slot != 0:
       return ""
-
-    return str(self.get_modem().Get(MM_MODEM, 'EquipmentIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
+    return self.get_modem_state().get('imei', '')
 
   def get_network_info(self):
     if self.get_device_type() == "mici":
       return None
-    try:
-      modem = self.get_modem()
-      info = modem.Command("AT+QNWINFO", math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
-      extra = modem.Command('AT+QENG="servingcell"', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
-      state = modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-    except Exception:
-      return None
-
-    if info and info.startswith('+QNWINFO: '):
-      info = info.replace('+QNWINFO: ', '').replace('"', '').split(',')
-      extra = "" if extra is None else extra.replace('+QENG: "servingcell",', '').replace('"', '')
-      state = "" if state is None else MM_MODEM_STATE(state).name
 
-      if len(info) != 4:
-        return None
-
-      technology, operator, band, channel = info
-
-      return({
-        'technology': technology,
-        'operator': operator,
-        'band': band,
-        'channel': int(channel),
-        'extra': extra,
-        'state': state,
-      })
-    else:
-      return None
+    ms = self.get_modem_state()
+    return {
+      'technology': ms.get('network_type', '').upper() if ms.get('network_type') else '',
+      'operator': ms.get('operator', ''),
+      'band': ms.get('band', ''),
+      'channel': ms.get('channel', 0),
+      'extra': ms.get('extra', ''),
+      'state': ms.get('state', 'UNKNOWN'),
+    }
 
   def parse_strength(self, percentage):
     if percentage < 25:
@@ -265,15 +197,16 @@ def get_network_strength(self, network_type):
           strength = int(active_ap.Get(NM_AP, 'Strength', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
           network_strength = self.parse_strength(strength)
       else:  # Cellular
-        modem = self.get_modem()
-        strength = int(modem.Get(MM_MODEM, 'SignalQuality', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)[0])
-        network_strength = self.parse_strength(strength)
+        network_strength = self.parse_strength(self.get_modem_state().get('signal_quality', 0))
     except Exception:
       pass
 
     return network_strength
 
   def get_network_metered(self, network_type) -> bool:
+    if network_type in (NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G):
+      from openpilot.common.params import Params
+      return Params().get_bool("GsmMetered")
     try:
       primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
       primary_connection = self.bus.get_object(NM, primary_connection)
@@ -286,30 +219,16 @@ def get_network_metered(self, network_type) -> bool:
         if network_type == NetworkType.wifi:
           if metered_prop in [NMMetered.NM_METERED_YES, NMMetered.NM_METERED_GUESS_YES]:
             return True
-        elif network_type in [NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G]:
-          if metered_prop == NMMetered.NM_METERED_NO:
-            return False
     except Exception:
       pass
 
     return super().get_network_metered(network_type)
 
   def get_modem_version(self):
-    try:
-      modem = self.get_modem()
-      return modem.Get(MM_MODEM, 'Revision', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-    except Exception:
-      return None
+    return self.get_modem_state().get('modem_version') or None
 
   def get_modem_temperatures(self):
-    timeout = 0.2  # Default timeout is too short
-    try:
-      modem = self.get_modem()
-      temps = modem.Command("AT+QTEMP", math.ceil(timeout), dbus_interface=MM_MODEM, timeout=timeout)
-      return list(filter(lambda t: t != 255, map(int, temps.split(' ')[1].split(','))))
-    except Exception:
-      return []
-
+    return self.get_modem_state().get('temperatures', [])
 
   def get_current_power_draw(self):
     return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6)
@@ -455,68 +374,6 @@ def initialize_hardware(self):
     except subprocess.CalledProcessException as e:
       print(str(e))
 
-  def configure_modem(self):
-    sim_id = self.get_sim_info().get('sim_id', '')
-
-    cmds = []
-    modem = self.get_modem()
-
-    # Quectel EG25
-    if self.get_device_type() in ("tizi", ):
-      # clear out old blue prime initial APN
-      os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="')
-
-      cmds += [
-        # SIM hot swap
-        'AT+QSIMDET=1,0',
-        'AT+QSIMSTAT=1',
-
-        # configure modem as data-centric
-        'AT+QNVW=5280,0,"0102000000000000"',
-        'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
-        'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
-      ]
-
-    # Quectel EG916
-    else:
-      # this modem gets upset with too many AT commands
-      if sim_id is None or len(sim_id) == 0:
-        cmds += [
-          # SIM sleep disable
-          'AT$QCSIMSLEEP=0',
-          'AT$QCSIMCFG=SimPowerSave,0',
-
-          # ethernet config
-          'AT$QCPCFG=usbNet,1',
-        ]
-
-    for cmd in cmds:
-      try:
-        modem.Command(cmd, math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
-      except Exception:
-        pass
-
-    # eSIM prime
-    dest = "/etc/NetworkManager/system-connections/esim.nmconnection"
-    if self.get_sim_lpa().is_comma_profile(sim_id) and not os.path.exists(dest):
-      with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf:
-        dat = f.read()
-        dat = dat.replace("sim-id=", f"sim-id={sim_id}")
-        tf.write(dat)
-        tf.flush()
-
-        # needs to be root
-        os.system(f"sudo cp {tf.name} {dest}")
-      os.system(f"sudo nmcli con load {dest}")
-
-  def reboot_modem(self):
-    modem = self.get_modem()
-    for state in (0, 1):
-      try:
-        modem.Command(f'AT+CFUN={state}', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
-      except Exception:
-        pass
-
   def get_networks(self):
     r = {}
 
@@ -545,20 +402,8 @@ def get_networks(self):
     return r
 
   def get_modem_data_usage(self):
-    try:
-      wwan = self.get_wwan()
-
-      # Ensure refresh rate is set so values don't go stale
-      refresh_rate = wwan.Get(NM_DEV_STATS, 'RefreshRateMs', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      if refresh_rate != REFRESH_RATE_MS:
-        u = type(refresh_rate)
-        wwan.Set(NM_DEV_STATS, 'RefreshRateMs', u(REFRESH_RATE_MS), dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-
-      tx = wwan.Get(NM_DEV_STATS, 'TxBytes', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      rx = wwan.Get(NM_DEV_STATS, 'RxBytes', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      return int(tx), int(rx)
-    except Exception:
-      return -1, -1
+    ms = self.get_modem_state()
+    return ms.get('tx_bytes', -1), ms.get('rx_bytes', -1)
 
   def has_internal_panda(self):
     return True
@@ -592,7 +437,6 @@ def booted(self):
 
 if __name__ == "__main__":
   t = Tici()
-  t.configure_modem()
   t.initialize_hardware()
   t.set_power_save(False)
   print(t.get_sim_info())
diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py
index 4cb23c5fafefe7..1a529153252e3a 100644
--- a/system/hardware/tici/lpa.py
+++ b/system/hardware/tici/lpa.py
@@ -4,7 +4,6 @@
 import base64
 import fcntl
 import hashlib
-import math
 import os
 import requests
 import serial
@@ -29,15 +28,13 @@
 DEFAULT_TIMEOUT = 5.0
 # https://euicc-manual.osmocom.org/docs/lpa/applet-id/
 ISDR_AID = "A0000005591010FFFFFFFF8900000100"
-MM = "org.freedesktop.ModemManager1"
-MM_MODEM = MM + ".Modem"
 ES10X_MSS = 120
 HTTP_TIMEOUT = 30
 OPEN_ISDR_RETRIES = 10
 OPEN_ISDR_RETRY_DELAY_S = 0.25
 OPEN_ISDR_RESET_ATTEMPT = 5
 SEND_APDU_RETRIES = 3
-LOCK_FILE = '/dev/shm/modem_lpa.lock'
+LOCK_FILE = '/dev/shm/modem.lock'
 DEBUG = os.environ.get("DEBUG") == "1"
 
 
@@ -97,7 +94,7 @@
   12: "Profile installation failed. The QR code may have already been used.",
 }
 
-# SGP.22 §5.2.6 — SM-DP+ reason/subject codes mapped to user-friendly messages
+# SGP.22 §5.2.6 SM-DP+ reason/subject codes mapped to user-friendly messages
 ES9P_ERROR_MESSAGES: dict[tuple[str, str], str] = {
   ('3.8', '8.2.6'): "This eSIM profile is already installed on another device. Please use a new QR code.",
   ('3.8', '8.2.1'): "This eSIM profile has expired. Please request a new QR code.",
@@ -137,7 +134,6 @@ def __init__(self, device: str, baud: int, timeout: float) -> None:
     self._baud = baud
     self._timeout = timeout
     self._serial: serial.Serial | None = None
-    self._use_dbus = not os.path.exists(device)
 
   def send_raw(self, data: bytes) -> None:
     self._ensure_serial()
@@ -191,30 +187,7 @@ def _ensure_serial(self, reconnect: bool = False) -> None:
     if self._serial is None:
       self._serial = serial.Serial(self._device, baudrate=self._baud, timeout=self._timeout)
 
-  def _get_modem(self):
-    import dbus
-    bus = dbus.SystemBus()
-    mm = bus.get_object(MM, '/org/freedesktop/ModemManager1')
-    objects = mm.GetManagedObjects(dbus_interface="org.freedesktop.DBus.ObjectManager", timeout=self._timeout)
-    modem_path = list(objects.keys())[0]
-    return bus.get_object(MM, modem_path)
-
-  def _dbus_query(self, cmd: str) -> list[str]:
-    if DEBUG:
-      print(f"DBUS >> {cmd}", file=sys.stderr)
-    try:
-      result = str(self._get_modem().Command(cmd, math.ceil(self._timeout), dbus_interface=MM_MODEM, timeout=self._timeout))
-    except Exception as e:
-      raise RuntimeError(f"AT command failed: {e}") from e
-    lines = [line.strip() for line in result.splitlines() if line.strip()]
-    if DEBUG:
-      for line in lines:
-        print(f"DBUS << {line}", file=sys.stderr)
-    return lines
-
   def query(self, cmd: str) -> list[str]:
-    if self._use_dbus:
-      return self._dbus_query(cmd)
     self._ensure_serial()
     try:
       self._send(cmd)
@@ -232,7 +205,7 @@ def _open_isdr_once(self) -> None:
         pass
       self.channel = None
     # drain any unsolicited responses before opening
-    if self._serial and not self._use_dbus:
+    if self._serial:
       try:
         self._serial.reset_input_buffer()
       except (OSError, serial.SerialException, termios.error):
@@ -796,10 +769,6 @@ def switch_profile(self, iccid: str) -> None:
         code = self._enable_profile(iccid)
       if code not in (PROFILE_OK, PROFILE_NOT_IN_DISABLED_STATE):
         raise LPAError(f"EnableProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
-    from openpilot.system.hardware import HARDWARE
-    if HARDWARE.get_device_type() == "mici":
-      self._client.send_raw(b'AT+CFUN=0\rAT+CFUN=1\r')  # mici has no SIM presence pin; raw because CFUN=0 drops serial
-      self._client._ensure_serial(reconnect=True)
 
   def is_euicc(self) -> bool:
     # +CCHO:<n> -> eUICC; bare ERROR -> applet absent, non-eUICC; +CME ERROR -> applet
diff --git a/system/hardware/tici/modem.py b/system/hardware/tici/modem.py
new file mode 100755
index 00000000000000..cb6a6a8235cdb8
--- /dev/null
+++ b/system/hardware/tici/modem.py
@@ -0,0 +1,536 @@
+#!/usr/bin/env python3
+import fcntl
+import json
+import logging
+import os
+import serial
+import signal
+import subprocess
+import tempfile
+import time
+
+from ipaddress import IPv4Address, AddressValueError
+
+from enum import Enum
+
+logging.basicConfig(
+  level=logging.INFO,
+  format="%(asctime)s.%(msecs)03d %(levelname)-7s modem: %(message)s",
+  datefmt="%H:%M:%S",
+)
+
+AT_PORT = "/dev/modem_at0"
+PPP_PORT = "/dev/modem_at1"
+STATE_PATH = "/dev/shm/modem"
+AT_LOCK = "/dev/shm/modem.lock"  # shared with LPA
+AT_INIT = [
+  "ATE0",       # disable command echo
+  "ATV1",       # verbose result codes (CONNECT/BUSY/NO CARRIER, not numeric)
+  "AT+CMEE=1",  # numeric +CME ERROR codes on failures (per 3GPP 27.007)
+  "ATX4",       # extended result codes: busy + dial tone detection, line speed in CONNECT
+  "AT&C1",      # DCD pin follows carrier state (V.250 default)
+]
+CREG = {0: "not_registered", 1: "home", 2: "searching", 3: "denied", 4: "unknown", 5: "roaming"}
+# 3GPP TS 27.007 +COPS <AcT> -> network type
+NETWORK_TYPE = {0: "gsm", 1: "gsm", 3: "gsm", 8: "gsm",
+                2: "utran", 4: "utran", 5: "utran", 6: "utran",
+                7: "lte", 9: "lte", 10: "lte",
+                11: "nr", 12: "nr", 13: "nr"}
+
+DIAL_CID = 1
+
+PPPD_CMD = [
+  "sudo", "pppd", PPP_PORT, "460800", "noauth", "nodetach", "noipdefault", "usepeerdns",
+  "nodefaultroute", "connect",
+  "/usr/sbin/chat -v ABORT 'NO CARRIER' ABORT 'NO DIALTONE' ABORT 'BUSY' " +
+  f"ABORT 'NO ANSWER' ABORT 'ERROR' TIMEOUT 5 '' AT OK ATD*99***{DIAL_CID}# CONNECT ''",
+  "lcp-echo-interval", "30", "lcp-echo-failure", "4", "mtu", "1500", "mru", "1500",
+  "novj", "novjccomp", "ipcp-accept-local", "ipcp-accept-remote", "nomagic",
+  "user", '""', "password", '""',
+]
+INITIAL_STATE = {
+  "state": "INITIALIZING",
+  "connected": False, "ip_address": "",
+  "iccid": "", "mcc_mnc": "", "imei": "", "modem_version": "",
+  "signal_strength": 0, "signal_quality": 0,
+  "network_type": "unknown", "operator": "", "band": "", "channel": 0,
+  "registration": "unknown", "temperatures": [], "extra": "",
+  "tx_bytes": 0, "rx_bytes": 0,
+}
+
+
+class State(Enum):
+  INITIALIZING = "INITIALIZING"
+  SEARCHING = "SEARCHING"
+  CONNECTING = "CONNECTING"
+  CONNECTED = "CONNECTED"
+  DISCONNECTING = "DISCONNECTING"
+
+
+STATE_WAIT = 1.0  # seconds to wait after each state handler returns
+
+
+class PPPSession:
+  """Owns pppd lifecycle, fail tracking, and PPP routing."""
+  MAX_FAILS = 3
+
+  def __init__(self):
+    self._proc: subprocess.Popen | None = None
+    self._fails = 0
+    self._peer = ""
+
+  def start(self):
+    self._proc = subprocess.Popen(PPPD_CMD, stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
+    self._peer = ""
+    logging.info(f"PPP dialing CID {DIAL_CID}")
+
+  def kill(self):
+    subprocess.run(["sudo", "killall", "-9", "pppd"], capture_output=True)
+    self._peer = ""
+
+  @staticmethod
+  def reset_data_port():
+    """Drop DTR on PPP_PORT so the modem terminates any stuck PPP session."""
+    try:
+      with serial.Serial(PPP_PORT, 460800, timeout=1) as s:
+        s.dtr = False
+        time.sleep(0.2)
+        s.dtr = True
+    except Exception as e:
+      logging.warning(f"data port reset failed: {e}")
+
+  def has_exited(self) -> bool:
+    return self._proc is not None and self._proc.poll() is not None
+
+  def reset_fail_counter(self):
+    self._fails = 0
+
+  def record_fail(self) -> bool:
+    """Bump fail counter; return True if at the give-up limit."""
+    self._fails += 1
+    return self._fails >= self.MAX_FAILS
+
+  @property
+  def fails(self) -> int:
+    return self._fails
+
+  def maybe_install_routes(self, ip: str, peer: str):
+    """Install routes if peer changed; kill the session on failure so the state machine reconnects."""
+    if not peer or peer == self._peer:
+      return
+    try:
+      IPv4Address(ip)
+      IPv4Address(peer)
+    except AddressValueError:
+      logging.warning(f"refusing route install with non-IPv4 ip={ip!r} peer={peer!r}")
+      self.kill()
+      return
+    self.cleanup_routes()
+    cmds = [
+      ["sudo", "ip", "route", "add", "default", "via", peer, "dev", "ppp0", "metric", "1000"],
+      ["sudo", "ip", "route", "add", "default", "via", peer, "dev", "ppp0", "table", "1000"],
+      ["sudo", "ip", "rule", "add", "from", ip, "table", "1000"],
+    ]
+    for cmd in cmds:
+      r = subprocess.run(cmd, capture_output=True, text=True)
+      if r.returncode != 0:
+        logging.warning(f"route install failed ({' '.join(cmd[1:])}): {r.stderr.strip()}")
+        self.cleanup_routes()
+        self.kill()
+        return
+    logging.info(f"route set up for {ip} via {peer}")
+    self._peer = peer
+
+  @staticmethod
+  def cleanup_routes():
+    subprocess.run(["sudo", "ip", "route", "del", "default", "dev", "ppp0"], capture_output=True)
+    subprocess.run(["sudo", "ip", "route", "flush", "table", "1000"], capture_output=True)
+    # rules don't have a flush; delete until none remain
+    while subprocess.run(["sudo", "ip", "rule", "del", "table", "1000"], capture_output=True).returncode == 0:
+      pass
+
+
+class Modem:
+  def __init__(self):
+    self._ppp = PPPSession()
+    self._sim_change = False
+    self._apn = ""  # blank = network-provided via PCO
+    self._roaming_allowed = True
+    self.running = True
+    self.S = INITIAL_STATE.copy()
+
+  @staticmethod
+  def _read_param(key):
+    try:
+      with open(f"/data/params/d/{key}") as f:
+        return f.read().strip()
+    except FileNotFoundError:
+      return ""
+
+  @staticmethod
+  def _parse_reg(v: str) -> str:
+    try:
+      return CREG.get(int(v.split(",")[1].strip('"')), "unknown")
+    except (ValueError, IndexError):
+      return "unknown"
+
+  @staticmethod
+  def _has_modem_manager() -> bool:
+    return os.path.isfile("/lib/systemd/system/ModemManager.service")
+
+  def _is_roaming_allowed(self) -> bool:
+    return self._read_param("GsmRoaming") == "1"
+
+  def _publish_state(self, **kwargs):
+    self.S.update(kwargs)
+    with tempfile.NamedTemporaryFile(mode="w", dir="/dev/shm", delete=False) as f:
+      json.dump(self.S, f)
+    os.chmod(f.name, 0o644)
+    os.replace(f.name, STATE_PATH)
+
+  def _at(self, cmd):
+    """Send AT command, return response lines. [] on error or if LPA holds port."""
+    fd = os.open(AT_LOCK, os.O_CREAT | os.O_RDWR, 0o666)
+    try:
+      fcntl.flock(fd, fcntl.LOCK_EX | fcntl.LOCK_NB)
+    except OSError:
+      os.close(fd)
+      return []
+    try:
+      with serial.Serial(AT_PORT, 9600, timeout=5) as ser:
+        ser.reset_input_buffer()
+        ser.write((cmd + "\r").encode())
+        lines = []
+        while True:
+          raw = ser.readline()
+          if not raw:
+            raise TimeoutError("AT timeout")
+          line = raw.decode(errors="ignore").strip()
+          if not line:
+            continue
+          if line == "OK":
+            break
+          if line == "ERROR" or line.startswith("+CME ERROR"):
+            raise RuntimeError(line)
+          lines.append(line)
+        return lines
+    except (RuntimeError, TimeoutError, OSError) as e:
+      logging.info(f"AT {cmd} failed: {e}")
+      return []
+    finally:
+      fcntl.flock(fd, fcntl.LOCK_UN)
+      os.close(fd)
+
+  def _atv(self, cmd, pfx):
+    for line in self._at(cmd):
+      if pfx in line and ":" in line:
+        return line.split(":", 1)[1].strip()
+    return None
+
+  def _configure_modem(self, modem_version: str):
+    if not modem_version.startswith("EG25"):
+      return
+    cmds = [
+      # clear initial EPS bearer APN (some carriers reject the default)
+      'AT+CGDCONT=0,"IP",""',
+
+      # SIM hot swap
+      'AT+QSIMDET=1,0',
+      'AT+QSIMSTAT=1',
+
+      # configure modem as data-centric
+      'AT+QNVW=5280,0,"0102000000000000"',
+      'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
+      'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
+    ]
+    for c in cmds:
+      self._at(c)
+
+  def _do_initializing(self):
+    if not os.path.exists(AT_PORT):
+      return State.INITIALIZING
+    logging.info("port found, initializing")
+    self._ppp.kill()
+    self._ppp.cleanup_routes()
+
+    for c in AT_INIT + ["AT+CREG=2", "AT+CGREG=2"]:
+      self._at(c)
+
+    identity = self._read_identity()
+    self._configure_modem(identity["modem_version"])
+
+    self._apn = self._read_param("GsmApn")
+    self._roaming_allowed = self._is_roaming_allowed()
+    # blank APN lets the carrier supply one via PCO
+    self._at(f'AT+CGDCONT={DIAL_CID},"IP","{self._apn}"')
+    logging.info(f"APN '{self._apn or '(network-provided)'}' written to CID {DIAL_CID}, roaming={'on' if self._roaming_allowed else 'off'}")
+
+    self._sim_change = False  # clear since we just re-read identity with the new SIM
+    self._publish_state(**identity)
+    return State.SEARCHING
+
+  def _read_identity(self):
+    # after a SIM hot-swap, identity reads can come back empty for a few seconds; retry on IMEI
+    imei, iccid, mcc_mnc, modem_version = "", "", "", ""
+    for _ in range(10):
+      r = self._at("AT+CGSN")
+      if r and r[0].strip():
+        imei = r[0].strip()
+        break
+      time.sleep(0.5)
+    v = self._atv("AT+QCCID", "+QCCID:")
+    if v:
+      iccid = v
+    r = self._at("AT+CIMI")
+    if r:
+      imsi = r[0].strip()
+      if len(imsi) >= 6 and imsi.isdigit():
+        mcc_mnc = imsi[:6]
+    r = self._at("AT+GMR")
+    if r:
+      modem_version = r[0].strip()
+    logging.info(f"imei={imei} iccid={iccid} mcc_mnc={mcc_mnc} ver={modem_version}")
+    return {"imei": imei, "iccid": iccid, "mcc_mnc": mcc_mnc, "modem_version": modem_version}
+
+  def _do_searching(self):
+    new_roaming = self._is_roaming_allowed()
+    if new_roaming != self._roaming_allowed:
+      logging.info(f"roaming changed: {self._roaming_allowed} -> {new_roaming}")
+      self._roaming_allowed = new_roaming
+
+    v = self._atv("AT+CREG?", "+CREG:")
+    if not v:
+      return self._searching_idle()
+
+    reg = self._parse_reg(v)
+    greg = self._parse_reg(self._atv("AT+CGREG?", "+CGREG:") or "")
+    logging.debug(f"creg={reg} cgreg={greg} roaming_allowed={self._roaming_allowed}")
+
+    if reg == "roaming" and not self._roaming_allowed:
+      self._publish_state(registration=reg)
+      return State.SEARCHING
+
+    if reg in ("home", "roaming") and greg in ("home", "roaming"):
+      self._publish_state(registration=reg)
+      return State.CONNECTING
+
+    if reg != self.S.get("registration"):
+      self._publish_state(registration=reg)
+    return self._searching_idle()
+
+  def _searching_idle(self):
+    if self._sim_change or not os.path.exists(AT_PORT):
+      logging.info(f"-> reconnecting (sim_change={self._sim_change} port={os.path.exists(AT_PORT)})")
+      return State.DISCONNECTING
+    return State.SEARCHING
+
+  def _do_connecting(self):
+    logging.info("starting pppd")
+    self._ppp.reset_fail_counter()
+    self._sim_change = False
+    self._ppp.start()
+    return State.CONNECTED
+
+  def _handle_pppd_exit(self):
+    if self._sim_change or not os.path.exists(AT_PORT):
+      return State.DISCONNECTING
+    give_up = self._ppp.record_fail()
+    if give_up:
+      logging.warning(f"PPP fail {self._ppp.fails}/{self._ppp.MAX_FAILS}, reconnecting")
+      return State.DISCONNECTING
+    logging.warning(f"PPP fail {self._ppp.fails}/{self._ppp.MAX_FAILS}, retrying")
+    self._ppp.reset_data_port()
+    if not os.path.exists(AT_PORT):
+      return State.DISCONNECTING
+    self._ppp.start()
+    return State.CONNECTED
+
+  def _params_changed(self) -> bool:
+    new_apn = self._read_param("GsmApn")
+    if new_apn != self._apn:
+      logging.info(f"GsmApn changed: '{self._apn}' -> '{new_apn}'")
+      return True
+    new_roaming = self._is_roaming_allowed()
+    if new_roaming != self._roaming_allowed:
+      logging.info(f"roaming changed: {self._roaming_allowed} -> {new_roaming}")
+      return True
+    return False
+
+  def _check_iccid(self, state):
+    if state in (State.INITIALIZING, State.DISCONNECTING) or not self.S["iccid"]:
+      return
+    iccid = self._atv("AT+QCCID", "+QCCID:")
+    if iccid and iccid != self.S["iccid"]:
+      logging.warning(f"iccid changed: {self.S['iccid']} -> {iccid}")
+      self._sim_change = True
+
+  def _do_connected(self):
+    if self._ppp.has_exited():
+      return self._handle_pppd_exit()
+
+    if self._sim_change or not os.path.exists(AT_PORT) or self._params_changed():
+      return State.DISCONNECTING
+
+    self._poll()
+    return State.CONNECTED
+
+  def _do_disconnecting(self):
+    logging.warning("reconnecting")
+    self._publish_state(**INITIAL_STATE)
+    self._ppp.kill()
+    self._ppp.cleanup_routes()
+    self._ppp.reset_data_port()
+    self._sim_change = False
+    return State.INITIALIZING
+
+  def _poll_signal(self) -> dict:
+    v = self._atv("AT+CSQ", "+CSQ:")
+    if not v:
+      return {}
+    try:
+      rssi = int(v.split(",")[0])
+      if rssi == 99:
+        return {}
+      return {"signal_strength": rssi, "signal_quality": min(100, int(rssi / 31 * 100))}
+    except (ValueError, IndexError):
+      return {}
+
+  def _poll_operator(self) -> dict:
+    v = self._atv("AT+COPS?", "+COPS:")
+    if not v:
+      return {}
+    p = v.split(",")
+    out: dict = {}
+    try:
+      if len(p) >= 3:
+        out["operator"] = p[2].strip('"')
+      if len(p) >= 4:
+        out["network_type"] = NETWORK_TYPE.get(int(p[3]), "unknown")
+    except (ValueError, IndexError):
+      pass
+    return out
+
+  def _poll_band(self) -> dict:
+    v = self._atv("AT+QNWINFO", "+QNWINFO:")
+    if not v:
+      return {}
+    info = v.replace('"', '').split(",")
+    try:
+      if len(info) >= 4:
+        return {"band": info[2], "channel": int(info[3])}
+    except ValueError:
+      pass
+    return {}
+
+  def _poll_extra(self) -> dict:
+    v = self._atv('AT+QENG="servingcell"', "+QENG:")
+    return {"extra": v.replace('"', '')} if v else {}
+
+  def _poll_temps(self) -> dict:
+    v = self._atv("AT+QTEMP", "+QTEMP:")
+    if not v:
+      return {}
+    try:
+      return {"temperatures": [t for t in (int(x) for x in v.split(",") if x.strip()) if t != 255]}
+    except (ValueError, IndexError):
+      return {}
+
+  def _poll_iface(self) -> dict:
+    try:
+      r = subprocess.run(["ip", "-4", "addr", "show", "ppp0"], capture_output=True, text=True, timeout=2)
+      ip, peer = "", ""
+      for line in r.stdout.splitlines():
+        # `inet 10.x.x.x peer 10.64.64.64/32 ...`
+        parts = line.strip().split()
+        if "inet" in parts:
+          i = parts.index("inet")
+          ip = parts[i + 1].split("/")[0]
+          if "peer" in parts:
+            peer = parts[parts.index("peer") + 1].split("/")[0]
+          break
+      if ip:
+        self._ppp.maybe_install_routes(ip, peer)
+        return {"ip_address": ip, "connected": True}
+      if self.S["connected"]:
+        return {"connected": False, "ip_address": ""}
+    except Exception:
+      pass
+    return {}
+
+  def _poll_byte_counters(self) -> dict:
+    try:
+      with open("/sys/class/net/ppp0/statistics/tx_bytes") as f:
+        tx = int(f.read().strip())
+      with open("/sys/class/net/ppp0/statistics/rx_bytes") as f:
+        rx = int(f.read().strip())
+    except Exception:
+      return {}
+    return {"tx_bytes": tx, "rx_bytes": rx}
+
+  def _poll(self):
+    s: dict = {}
+    for fn in (self._poll_signal, self._poll_operator, self._poll_band,
+               self._poll_extra, self._poll_temps, self._poll_iface,
+               self._poll_byte_counters):
+      s.update(fn())
+    if s:
+      self._publish_state(**s)
+
+  def run(self):
+    logging.info("starting")
+    self._publish_state(state=State.INITIALIZING.value)
+    if self._has_modem_manager():
+      subprocess.run(["sudo", "systemctl", "mask", "--runtime", "ModemManager"], capture_output=True)
+      subprocess.run(["sudo", "systemctl", "stop", "ModemManager"], capture_output=True)
+    self._ppp.kill()
+
+    state = State.INITIALIZING
+
+    handlers = {
+      State.INITIALIZING: self._do_initializing,
+      State.SEARCHING: self._do_searching,
+      State.CONNECTING: self._do_connecting,
+      State.CONNECTED: self._do_connected,
+      State.DISCONNECTING: self._do_disconnecting,
+    }
+
+    while self.running:
+      try:
+        self._check_iccid(state)
+        prev = state
+        state = handlers[state]()
+        if state != prev:
+          self._publish_state(state=state.value)
+          logging.info(f"{prev.value} -> {state.value}")
+      except Exception:
+        logging.exception(f"error in {state.value}")
+        state = State.DISCONNECTING
+      time.sleep(STATE_WAIT)
+
+  def stop(self):
+    self.running = False
+    self._ppp.kill()
+    self._ppp.cleanup_routes()
+    try:
+      os.remove(STATE_PATH)
+    except FileNotFoundError:
+      pass
+    if self._has_modem_manager():
+      subprocess.run(["sudo", "systemctl", "unmask", "--runtime", "ModemManager"], capture_output=True)
+      subprocess.run(["sudo", "systemctl", "start", "ModemManager"], capture_output=True)
+
+
+def main():
+  m = Modem()
+
+  def _sig(*_):
+    m.running = False
+
+  signal.signal(signal.SIGINT, _sig)
+  signal.signal(signal.SIGTERM, _sig)
+  m.run()
+  m.stop()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/system/hardware/tici/restart_modem.sh b/system/hardware/tici/restart_modem.sh
deleted file mode 100755
index 741dc72050fe32..00000000000000
--- a/system/hardware/tici/restart_modem.sh
+++ /dev/null
@@ -1,18 +0,0 @@
-#!/usr/bin/env bash
-
-#nmcli connection modify --temporary lte gsm.home-only yes
-#nmcli connection modify --temporary lte gsm.auto-config yes
-#nmcli connection modify --temporary lte connection.autoconnect-retries 20
-sudo nmcli connection reload
-
-sudo systemctl stop ModemManager
-nmcli con down lte
-nmcli con down blue-prime
-
-# power cycle modem
-/usr/comma/lte/lte.sh stop_blocking
-/usr/comma/lte/lte.sh start
-
-sudo systemctl restart NetworkManager
-#sudo systemctl restart ModemManager
-sudo ModemManager --debug
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 7e96b7776a4f5f..f5a6c510720958 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -106,6 +106,7 @@ def and_(*fns):
   PythonProcess("lateral_maneuversd", "tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
   PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
   PythonProcess("hardwared", "system.hardware.hardwared", always_run),
+  PythonProcess("modem", "system.hardware.tici.modem", always_run, enabled=TICI),
   PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
   PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
   PythonProcess("uploader", "system.loggerd.uploader", always_run),
diff --git a/system/ui/lib/gsm_manager.py b/system/ui/lib/gsm_manager.py
deleted file mode 100644
index e167456f43fe51..00000000000000
--- a/system/ui/lib/gsm_manager.py
+++ /dev/null
@@ -1,145 +0,0 @@
-"""GSM/cellular settings manager via NetworkManager DBus."""
-from jeepney import DBusAddress, new_method_call
-from jeepney.io.threading import DBusRouter, open_dbus_connection
-from jeepney.low_level import MessageType
-from jeepney.wrappers import Properties
-
-from openpilot.common.swaglog import cloudlog
-from openpilot.system.ui.lib.networkmanager import (NM, NM_PATH, NM_SETTINGS_PATH, NM_SETTINGS_IFACE,
-                                                    NM_CONNECTION_IFACE, NM_DEVICE_IFACE, NM_DEVICE_TYPE_MODEM)
-
-
-# NM NMMetered values
-# https://networkmanager.dev/docs/api/latest/nm-dbus-types.html#NMMetered
-NM_METERED_UNKNOWN = 0
-NM_METERED_NO = 2
-
-
-class _GsmManager:
-  """Manages cellular/GSM via NetworkManager DBus."""
-
-  def __init__(self):
-    self._router: DBusRouter | None = None
-    self._nm = DBusAddress(NM_PATH, bus_name=NM, interface=NM)
-
-  def _ensure_router(self) -> bool:
-    if self._router is not None:
-      return True
-    try:
-      self._router = DBusRouter(open_dbus_connection(bus="SYSTEM"))
-      return True
-    except Exception:
-      cloudlog.exception("Failed to connect to system D-Bus for GSM")
-      return False
-
-  def update_gsm_settings(self, roaming: bool, apn: str, metered: bool):
-    """Update GSM settings for cellular connection"""
-    if not self._ensure_router():
-      return
-    try:
-      lte_connection_path = self._get_lte_connection_path()
-      if not lte_connection_path:
-        cloudlog.warning("No LTE connection found")
-        return
-
-      settings = self._get_connection_settings(lte_connection_path)
-
-      if len(settings) == 0:
-        cloudlog.warning(f"Failed to get connection settings for {lte_connection_path}")
-        return
-
-      # Ensure dicts exist
-      if 'gsm' not in settings:
-        settings['gsm'] = {}
-      if 'connection' not in settings:
-        settings['connection'] = {}
-
-      changes = False
-      auto_config = apn == ""
-
-      if settings['gsm'].get('auto-config', ('b', False))[1] != auto_config:
-        cloudlog.warning(f'Changing gsm.auto-config to {auto_config}')
-        settings['gsm']['auto-config'] = ('b', auto_config)
-        changes = True
-
-      if settings['gsm'].get('apn', ('s', ''))[1] != apn:
-        cloudlog.warning(f'Changing gsm.apn to {apn}')
-        settings['gsm']['apn'] = ('s', apn)
-        changes = True
-
-      if settings['gsm'].get('home-only', ('b', False))[1] == roaming:
-        cloudlog.warning(f'Changing gsm.home-only to {not roaming}')
-        settings['gsm']['home-only'] = ('b', not roaming)
-        changes = True
-
-      # Unknown means NetworkManager decides
-      metered_int = NM_METERED_UNKNOWN if metered else NM_METERED_NO
-      if settings['connection'].get('metered', ('i', 0))[1] != metered_int:
-        cloudlog.warning(f'Changing connection.metered to {metered_int}')
-        settings['connection']['metered'] = ('i', metered_int)
-        changes = True
-
-      if changes:
-        # Update the connection settings (temporary update)
-        conn_addr = DBusAddress(lte_connection_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
-        reply = self._router.send_and_get_reply(new_method_call(conn_addr, 'UpdateUnsaved', 'a{sa{sv}}', (settings,)))
-
-        if reply.header.message_type == MessageType.error:
-          cloudlog.warning(f"Failed to update GSM settings: {reply}")
-          return
-
-        self._activate_modem_connection(lte_connection_path)
-    except Exception as e:
-      cloudlog.exception(f"Error updating GSM settings: {e}")
-
-  def _get_lte_connection_path(self) -> str | None:
-    try:
-      settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE)
-      known_connections = self._router.send_and_get_reply(new_method_call(settings_addr, 'ListConnections')).body[0]
-
-      for conn_path in known_connections:
-        settings = self._get_connection_settings(conn_path)
-        if settings and settings.get('connection', {}).get('id', ('s', ''))[1] == 'lte':
-          return str(conn_path)
-    except Exception as e:
-      cloudlog.exception(f"Error finding LTE connection: {e}")
-    return None
-
-  def _activate_modem_connection(self, connection_path: str):
-    try:
-      modem_device = self._get_adapter(NM_DEVICE_TYPE_MODEM)
-      if modem_device and connection_path:
-        self._router.send_and_get_reply(new_method_call(self._nm, 'ActivateConnection', 'ooo',
-                                                        (connection_path, modem_device, "/")))
-    except Exception as e:
-      cloudlog.exception(f"Error activating modem connection: {e}")
-
-  def _get_connection_settings(self, conn_path: str) -> dict:
-    conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
-    reply = self._router.send_and_get_reply(new_method_call(conn_addr, 'GetSettings'))
-    if reply.header.message_type == MessageType.error:
-      cloudlog.warning(f'Failed to get connection settings: {reply}')
-      return {}
-    return dict(reply.body[0])
-
-  def _get_adapter(self, adapter_type: int) -> str | None:
-    # Return the first NetworkManager device path matching adapter_type
-    try:
-      device_paths = self._router.send_and_get_reply(new_method_call(self._nm, 'GetDevices')).body[0]
-      for device_path in device_paths:
-        dev_addr = DBusAddress(device_path, bus_name=NM, interface=NM_DEVICE_IFACE)
-        dev_type = self._router.send_and_get_reply(Properties(dev_addr).get('DeviceType')).body[0][1]
-        if dev_type == adapter_type:
-          return str(device_path)
-    except Exception as e:
-      cloudlog.exception(f"Error getting adapter type {adapter_type}: {e}")
-    return None
-
-  def close(self):
-    if self._router is not None:
-      try:
-        self._router.close()
-        self._router.conn.close()
-      except Exception:
-        pass
-      self._router = None
diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py
index a030f7668aea01..147666bf85ccc6 100644
--- a/system/ui/lib/wifi_manager.py
+++ b/system/ui/lib/wifi_manager.py
@@ -25,7 +25,6 @@
                                                     NM_SETTINGS_IFACE, NM_CONNECTION_IFACE, NM_DEVICE_IFACE,
                                                     NM_DEVICE_TYPE_WIFI, NM_ACTIVE_CONNECTION_IFACE,
                                                     NM_IP4_CONFIG_IFACE, NM_PROPERTIES_IFACE, NMDeviceState, NMDeviceStateReason)
-from openpilot.system.ui.lib.gsm_manager import _GsmManager
 
 try:
   from openpilot.common.params import Params
@@ -185,8 +184,6 @@ def __init__(self):
     self._last_network_scan: float = 0.0
     self._callback_queue: list[Callable] = []
 
-    self._gsm = _GsmManager()
-
     self._tethering_ssid = "weedle"
     if Params is not None:
       dongle_id = Params().get("DongleId")
@@ -934,12 +931,6 @@ def _update_active_connection_info(self):
   def __del__(self):
     self.stop()
 
-  def update_gsm_settings(self, roaming: bool, apn: str, metered: bool):
-    """Update GSM settings for cellular connection"""
-    def worker():
-      self._gsm.update_gsm_settings(roaming, apn, metered)
-    threading.Thread(target=worker, daemon=True).start()
-
   def stop(self):
     if not self._exit:
       self._exit = True
@@ -953,5 +944,3 @@ def stop(self):
         self._router_main.conn.close()
       if self._conn_monitor is not None:
         self._conn_monitor.close()
-
-      self._gsm.close()
diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py
index e739eef63d7854..f7bc553dcabe5f 100644
--- a/system/ui/widgets/network.py
+++ b/system/ui/widgets/network.py
@@ -154,10 +154,6 @@ def __init__(self, wifi_manager: WifiManager):
 
     self._scroller = Scroller(items, line_separator=True, spacing=0)
 
-    # Set initial config
-    metered = self._params.get_bool("GsmMetered")
-    self._wifi_manager.update_gsm_settings(roaming_enabled, self._params.get("GsmApn") or "", metered)
-
   def _on_network_updated(self, networks: list[Network]):
     self._tethering_action.set_enabled(True)
     self._tethering_action.set_state(self._wifi_manager.is_tethering_active())
@@ -179,9 +175,7 @@ def _toggle_tethering(self):
     self._wifi_manager.set_tethering_active(checked)
 
   def _toggle_roaming(self):
-    roaming_state = self._roaming_action.get_state()
-    self._params.put_bool("GsmRoaming", roaming_state)
-    self._wifi_manager.update_gsm_settings(roaming_state, self._params.get("GsmApn") or "", self._params.get_bool("GsmMetered"))
+    self._params.put_bool("GsmRoaming", self._roaming_action.get_state())
 
   def _edit_apn(self):
     def update_apn(result: DialogResult):
@@ -194,8 +188,6 @@ def update_apn(result: DialogResult):
       else:
         self._params.put("GsmApn", apn)
 
-      self._wifi_manager.update_gsm_settings(self._params.get_bool("GsmRoaming"), apn, self._params.get_bool("GsmMetered"))
-
     current_apn = self._params.get("GsmApn") or ""
     self._keyboard.reset(min_text_size=0)
     self._keyboard.set_title(tr("Enter APN"), tr("leave blank for automatic configuration"))
@@ -204,9 +196,7 @@ def update_apn(result: DialogResult):
     gui_app.push_widget(self._keyboard)
 
   def _toggle_cellular_metered(self):
-    metered = self._cellular_metered_action.get_state()
-    self._params.put_bool("GsmMetered", metered)
-    self._wifi_manager.update_gsm_settings(self._params.get_bool("GsmRoaming"), self._params.get("GsmApn") or "", metered)
+    self._params.put_bool("GsmMetered", self._cellular_metered_action.get_state())
 
   def _toggle_wifi_metered(self, metered):
     metered_type = {0: MeteredType.UNKNOWN, 1: MeteredType.YES, 2: MeteredType.NO}.get(metered, MeteredType.UNKNOWN)

From b8bcf324571d31c59ddf6f15970b6690dd47885a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 2 May 2026 10:40:46 -0700
Subject: [PATCH 0998/1434] add modem.py expected cpu usage (#37951)

* add modem.py expected cpu usage

* lower
---
 selfdrive/test/test_onroad.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 1129a1a2ff13ec..c2dacb63a78f4f 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -68,6 +68,7 @@
   "system.loggerd.deleter": 1.0,
   "./pandad": 19.0,
   "system.qcomgpsd.qcomgpsd": 1.0,
+  "system.hardware.tici.modem": 2.0,
 }
 
 TIMINGS = {

From 8560f2732ab34c021070068659a358bdc2764a48 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 2 May 2026 11:19:13 -0700
Subject: [PATCH 0999/1434] jp: fix search behavior

---
 tools/jotpluggler/browser.cc | 13 +++----------
 1 file changed, 3 insertions(+), 10 deletions(-)

diff --git a/tools/jotpluggler/browser.cc b/tools/jotpluggler/browser.cc
index 27378b4b6bf2f0..91e4a707da7942 100644
--- a/tools/jotpluggler/browser.cc
+++ b/tools/jotpluggler/browser.cc
@@ -377,20 +377,16 @@ void draw_browser_node(AppSession *session,
   }
 
   if (node.children.empty()) {
-    const bool selected = browser_selection_contains(*state, node.full_path);
     const std::string value_text = browser_series_value_text(*session, *state, node.full_path);
     const ImGuiStyle &style = ImGui::GetStyle();
     const ImVec2 row_size(std::max(1.0f, ImGui::GetContentRegionAvail().x), ImGui::GetFrameHeight());
     ImGui::PushID(node.full_path.c_str());
     const bool clicked = ImGui::InvisibleButton("##browser_leaf", row_size);
     const bool hovered = ImGui::IsItemHovered();
-    const bool held = ImGui::IsItemActive();
     const ImRect rect(ImGui::GetItemRectMin(), ImGui::GetItemRectMax());
     ImDrawList *draw_list = ImGui::GetWindowDrawList();
-    if (selected || hovered) {
-      const ImU32 bg = ImGui::GetColorU32(selected
-        ? (held ? ImGuiCol_HeaderActive : ImGuiCol_Header)
-        : ImGuiCol_HeaderHovered);
+    if (hovered) {
+      const ImU32 bg = ImGui::GetColorU32(ImGuiCol_HeaderHovered);
       draw_list->AddRectFilled(rect.Min, rect.Max, bg, 0.0f);
     }
 
@@ -409,7 +405,7 @@ void draw_browser_node(AppSession *session,
                               nullptr);
     if (!value_text.empty()) {
       app_push_mono_font();
-      ImGui::PushStyleColor(ImGuiCol_Text, selected ? color_rgb(70, 77, 86) : color_rgb(116, 124, 133));
+      ImGui::PushStyleColor(ImGuiCol_Text, color_rgb(116, 124, 133));
       ImGui::RenderTextClipped(ImVec2(value_left, rect.Min.y + style.FramePadding.y),
                                ImVec2(value_right, rect.Max.y),
                                value_text.c_str(),
@@ -452,9 +448,6 @@ void draw_browser_node(AppSession *session,
   }
 
   ImGuiTreeNodeFlags flags = ImGuiTreeNodeFlags_SpanAvailWidth;
-  if (!filter.empty()) {
-    flags |= ImGuiTreeNodeFlags_DefaultOpen;
-  }
   const bool open = ImGui::TreeNodeEx(node.label.c_str(), flags);
   if (open) {
     for (const BrowserNode &child : node.children) {

From 5752095bc21f9a3b87ac559cee30f7d267ed2600 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 2 May 2026 17:18:21 -0700
Subject: [PATCH 1000/1434] bump raylib commit

---
 third_party/raylib/build.sh | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/third_party/raylib/build.sh b/third_party/raylib/build.sh
index d20f9d33af14e5..869e9e447c336a 100755
--- a/third_party/raylib/build.sh
+++ b/third_party/raylib/build.sh
@@ -51,7 +51,7 @@ fi
 
 cd raylib_repo
 
-COMMIT=${1:-3425bd9d1fb292ede4d80f97a1f4f258f614cffc}
+COMMIT=${1:-faf6e4392780de7471504e43e70975efaba07e95}
 git fetch origin $COMMIT
 git reset --hard $COMMIT
 git clean -xdff .
@@ -68,7 +68,6 @@ RAYGUI_COMMIT="76b36b597edb70ffaf96f046076adc20d67e7827"
 curl -fsSLo $INSTALL_H_DIR/raygui.h https://raw.githubusercontent.com/raysan5/raygui/$RAYGUI_COMMIT/src/raygui.h
 
 if [ -f /TICI ]; then
-
   # Building the python bindings
   cd $DIR
 
@@ -89,5 +88,4 @@ if [ -f /TICI ]; then
   rm -rf wheel
   mkdir wheel
   cp raylib_python_repo/dist/*.whl wheel/
-
 fi

From 96d55a32834de22acce2c2e1a5d1a02e608cd36d Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Sat, 2 May 2026 19:52:11 -0700
Subject: [PATCH 1001/1434] modem: robust identity read on SIM hot-swap
 (#37954)

modem.py: retry identity read until valid; stay in INIT on partial reads

Under rapid SIM hot-swap stress, AT identity reads (CGSN/QCCID/CIMI/GMR) can return
empty values or echo the command itself. Validate each field before accepting it,
retry the whole sequence in a loop, and stay in INITIALIZING (rather than progressing
to SEARCHING) until imei and iccid are populated. Prevents stale/empty identity from
being published to /dev/shm/modem after a glitchy reinit.
---
 system/hardware/tici/modem.py | 54 +++++++++++++++++++++--------------
 1 file changed, 33 insertions(+), 21 deletions(-)

diff --git a/system/hardware/tici/modem.py b/system/hardware/tici/modem.py
index cb6a6a8235cdb8..f01aa7987154c3 100755
--- a/system/hardware/tici/modem.py
+++ b/system/hardware/tici/modem.py
@@ -29,6 +29,8 @@
   "AT+CMEE=1",  # numeric +CME ERROR codes on failures (per 3GPP 27.007)
   "ATX4",       # extended result codes: busy + dial tone detection, line speed in CONNECT
   "AT&C1",      # DCD pin follows carrier state (V.250 default)
+  "AT+CREG=2",  # registration URCs include location info
+  "AT+CGREG=2", # GPRS registration URCs include location info
 ]
 CREG = {0: "not_registered", 1: "home", 2: "searching", 3: "denied", 4: "unknown", 5: "roaming"}
 # 3GPP TS 27.007 +COPS <AcT> -> network type
@@ -227,6 +229,13 @@ def _atv(self, cmd, pfx):
         return line.split(":", 1)[1].strip()
     return None
 
+  def _init_at_channel(self) -> bool:
+    """Run AT_INIT and confirm ATE0 took effect. Returns False if echo is still on."""
+    for c in AT_INIT:
+      self._at(c)
+    r = self._at("AT+CGMI")
+    return bool(r) and not r[0].startswith("AT")
+
   def _configure_modem(self, modem_version: str):
     if not modem_version.startswith("EG25"):
       return
@@ -253,10 +262,15 @@ def _do_initializing(self):
     self._ppp.kill()
     self._ppp.cleanup_routes()
 
-    for c in AT_INIT + ["AT+CREG=2", "AT+CGREG=2"]:
-      self._at(c)
+    if not self._init_at_channel():
+      logging.warning("AT echo still on, retrying")
+      return State.INITIALIZING
 
     identity = self._read_identity()
+    if not identity["iccid"] or not identity["imei"]:
+      logging.warning(f"identity read incomplete: {identity}, retrying")
+      return State.INITIALIZING
+
     self._configure_modem(identity["modem_version"])
 
     self._apn = self._read_param("GsmApn")
@@ -270,25 +284,23 @@ def _do_initializing(self):
     return State.SEARCHING
 
   def _read_identity(self):
-    # after a SIM hot-swap, identity reads can come back empty for a few seconds; retry on IMEI
-    imei, iccid, mcc_mnc, modem_version = "", "", "", ""
-    for _ in range(10):
-      r = self._at("AT+CGSN")
-      if r and r[0].strip():
-        imei = r[0].strip()
-        break
-      time.sleep(0.5)
-    v = self._atv("AT+QCCID", "+QCCID:")
-    if v:
-      iccid = v
-    r = self._at("AT+CIMI")
-    if r:
-      imsi = r[0].strip()
-      if len(imsi) >= 6 and imsi.isdigit():
-        mcc_mnc = imsi[:6]
-    r = self._at("AT+GMR")
-    if r:
-      modem_version = r[0].strip()
+    def first_line(cmd):
+      r = self._at(cmd)
+      return r[0].strip() if r else ""
+
+    imei = first_line("AT+CGSN")
+    if not (imei.isdigit() and 14 <= len(imei) <= 17):  # 3GPP TS 23.003
+      imei = ""
+
+    iccid = self._atv("AT+QCCID", "+QCCID:") or ""
+    if not iccid.isdigit():
+      iccid = ""
+
+    imsi = first_line("AT+CIMI")
+    mcc_mnc = imsi[:6] if imsi.isdigit() and len(imsi) >= 6 else ""
+
+    modem_version = first_line("AT+GMR")
+
     logging.info(f"imei={imei} iccid={iccid} mcc_mnc={mcc_mnc} ver={modem_version}")
     return {"imei": imei, "iccid": iccid, "mcc_mnc": mcc_mnc, "modem_version": modem_version}
 

From 1eeba86ec1826add74837dcf40beaf8ce81fb865 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 2 May 2026 20:40:41 -0700
Subject: [PATCH 1002/1434] disable modem.py for now

---
 system/manager/process_config.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index f5a6c510720958..f39af059c0c369 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -106,7 +106,7 @@ def and_(*fns):
   PythonProcess("lateral_maneuversd", "tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
   PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
   PythonProcess("hardwared", "system.hardware.hardwared", always_run),
-  PythonProcess("modem", "system.hardware.tici.modem", always_run, enabled=TICI),
+  PythonProcess("modem", "system.hardware.tici.modem", always_run, enabled=False),
   PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
   PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
   PythonProcess("uploader", "system.loggerd.uploader", always_run),

From d238a1ccc4d72a9165d9483ea8bd84d218ad8f00 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 2 May 2026 20:49:00 -0700
Subject: [PATCH 1003/1434] modem.py is disabled

---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index c2dacb63a78f4f..0ef558c0333284 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -68,7 +68,7 @@
   "system.loggerd.deleter": 1.0,
   "./pandad": 19.0,
   "system.qcomgpsd.qcomgpsd": 1.0,
-  "system.hardware.tici.modem": 2.0,
+  #"system.hardware.tici.modem": 2.0,
 }
 
 TIMINGS = {

From 6a363365abf4cd1e8c24509ea3a39bfdec3e7ee3 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Sun, 3 May 2026 01:00:33 -0400
Subject: [PATCH 1004/1434] [bot] Update Python packages (#1822)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 opendbc_repo |  2 +-
 uv.lock      | 90 ++++++++++++++++++++++++++--------------------------
 2 files changed, 46 insertions(+), 46 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 81b7b3a2d2bf99..57b531acd30a9d 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 81b7b3a2d2bf99e1ae84950313763e87498c5853
+Subproject commit 57b531acd30a9d7dec1397d337759259d8c45322
diff --git a/uv.lock b/uv.lock
index 327bda1f43428d..a3f5d4f9282adc 100644
--- a/uv.lock
+++ b/uv.lock
@@ -116,12 +116,12 @@ wheels = [
 [[package]]
 name = "bzip2"
 version = "1.0.8"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#2083ff9525ebb12135fab36711f2d959ad75a848" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#7876f40b7a3e9f0d634a60586043395169ef1a82" }
 
 [[package]]
 name = "capnproto"
 version = "1.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#437b0c5b5d967e06da8f76ee755d60768bfda34d" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#bcd0c43cb9dbd3b48aad36812bae9498fb5c7be1" }
 
 [[package]]
 name = "casadi"
@@ -380,7 +380,7 @@ wheels = [
 [[package]]
 name = "eigen"
 version = "3.4.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=release-eigen#a8d3ceab76b9c8c2c6f1540af8ccd3ad863c01e4" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=release-eigen#2549bb084fb942f7861bfd8e0e1f16e619a544cf" }
 
 [[package]]
 name = "execnet"
@@ -394,7 +394,7 @@ wheels = [
 [[package]]
 name = "ffmpeg"
 version = "7.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=release-ffmpeg#9621ada7dfedb624c2abafbfa6d8e2473af43a96" }
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 ]
 
 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#d5a1fb0fd7b9e56940c804513ec7d36975246d97" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#39acf5d6cbd996fe61e8e8727e1b403e79bc2b7b" }
 
 [[package]]
 name = "zstandard"
@@ -1661,4 +1661,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#7d375bb6315585cbb81754056b7f65c476cb1ee8" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#59e9ca4ecfda299d4861ea53a5fcc1eacadc5524" }

From 855d5022ad9e49d835e20d3b3ee034da0e58b2f9 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 3 May 2026 02:30:19 -0400
Subject: [PATCH 1005/1434] MADS: suppress espActive event when long is not
 engaged (#1823)

---
 sunnypilot/mads/mads.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 0c87da4a2a5c48..bd9c8d78ff8b7f 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -147,6 +147,7 @@ def update_events(self, CS: structs.CarState):
       self.events.remove(EventName.speedTooLow)
       self.events.remove(EventName.cruiseDisabled)
       self.events.remove(EventName.manualRestart)
+      self.events.remove(EventName.espActive)
 
     selfdrive_enable_events = self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable)
     set_speed_btns_enable = any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents)

From 2d35bd895f44f601ecfc37f94890a128f429f307 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 3 May 2026 13:18:15 -0400
Subject: [PATCH 1006/1434] sunnylink: SDUI (#1780)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* 1

* fix

* uh

* more

* for now

* v2

* update

* more subs

* readme

* vehicle

* cycle init

* options

* new

* combine

* new

* dynamic unit

* default

* move it

* syncing more

* more

* boom shakalaka

* rearrange

* partial availability

* move

* more

* more

* hide

* move

* revert

* more

* new

* set

* sync

* dynamic

* slightly more

* update

* update

* less

* in another pr

* more

* move and fix

* device type

* order

* order

* order

* fixes

* ew

* Revert "fixes"

This reverts commit 53a2adb45ad249fe63c0946a2befcc451949cdea.

* sunnylink: bundle-first capabilities + protocol_version

Bundle-first brand resolution, fix steer_control_type to use
CP.steerControlType (physical) not lateralTuning.which() (tuning class),
add Subaru/Hyundai opaque per-platform flags from CarPlatformBundle, and
embed PROTOCOL_VERSION in the capabilities payload.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* sunnylink: tighten settings_ui gates against Raylib parity

Brand gates on MadsMainCruiseAllowed/MadsUnifiedEngagementMode (rivian +
tesla-no-bus); convert enablement->visibility on items Raylib hides
(DisableUpdates, EnableGithubRunner, EnableCopyparty, QuickBootToggle,
HyundaiLongitudinalTuning, LaneTurnValue, LagdToggleDelay); drop spurious
offroad_only on DynamicExperimentalControl + DisengageOnAccelerator and
SpeedLimit policy/offset over-gates; replace offroad_only with not_engaged
on AlphaLongitudinalEnabled/Toyota long toggles; extend release-branch
NOTs with is_sp_release; add Test Maneuvers section with attestation,
move LongitudinalManeuverMode in alongside new LateralManeuverMode.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* sunnylink: extend settings_ui validator for new fields

Add SchemaItem fields title_param_suffix (object form), needs_onroad_cycle,
blocked, requires_attestation; add option-level enablement to SchemaOption;
add visibility/enablement/attestation_required to PanelSection; add
not_engaged Rule type; replace vehicle_settings inline shape with
VehicleBrandSettings def (title/description/items).

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* sunnylink: inject torque tune options from versions JSON

Read latcontrol_torque_versions.json at schema generation time and
override TorqueControlTune options so adding a version to the JSON
flows to the dashboard without editing settings_ui.json by hand.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* sunnylink: per-bug regression tests for settings_ui parity

Cover the audit findings end-to-end: MADS brand gates, Test Maneuvers
section + attestation, validator accepts the JSON, dynamic torque
options match the versions JSON, SP dev items gate on is_sp_release as
well as is_release, spurious offroad_only dropped from
DisengageOnAccelerator and DynamicExperimentalControl, and offroad_only
replaced with not_engaged on AlphaLongitudinalEnabled and the Toyota
long toggles. Validator test skips when jsonschema is unavailable.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* sunnylink: protocol_version sentinel + opaque-flag tests

Pin PROTOCOL_VERSION to KNOWN_PROTOCOL_VERSIONS so a bump shows up in
review, and assert subaru_has_sng / hyundai_alpha_long_available are
declared with safe False defaults.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* schema: convert ShowAdvancedControls visibility to enablement

Items previously hidden when ShowAdvancedControls is off now render
as disabled with an ADVANCED tooltip. Same treatment for dependency-
based hides (LagdToggleDelay, LaneTurnValue) so users see what's
available and why it's locked. CameraOffset gets the Advanced gate it
was missing.

Affected: DisableUpdates, EnableGithubRunner, EnableCopyparty,
QuickBootToggle, LaneTurnValue, LagdToggleDelay, CameraOffset, and the
test_maneuvers section.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* sunnylink: route resume_queued to athena direct

Backend is retiring the CloudFront proxy on stg.api.sunnypilot.ai that
currently forwards ws|settings|navigation to athena.sunnylink.ai. Once
retired, /ws/{id}/resume_queued only resolves via athena.sunnylink.ai.

SunnylinkApi.resume_queued now temporarily swaps self.api_host to
ATHENA_HOST while re-entering api_get (preserves the SunnylinkEnabled
gate and existing JWT/UA header handling). Other device calls
(device/{id}/roles, device/{id}/users, v2/pilotauth/, backups) continue
to hit the sunnylink main API host unchanged.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* legacy code

* no

* new

* tests

* lint

* fix

* too verbose

* sunnylink: per-page YAML authoring for settings_ui + named rule macros

Replace hand-edited 2200-line settings_ui.json with a per-page YAML source
tree under settings_ui_src/, plus named rule fragments (`$ref` macros) so
the same condition isn't repeated verbatim across items.

Authoring surface (settings_ui_src/):
  pages/<page>.yaml   one file per panel; sections/items/sub_panels inline
  pages/vehicle.yaml  per-brand settings (kind: vehicle -> vehicle_settings)
  _macros.yaml        named rule fragments referenced via {$ref: "#/macros/<name>"}
  _schemas/*.json     JSON Schemas for IDE autocomplete + CI validation

Pages today: steering, cruise, display, visuals, toggles, device, software,
developer, models, vehicle (10).

Tools:
  compile_settings_ui.py  read src tree, resolve $refs, emit settings_ui.json
                          (--check mode for CI to fail on hand-edits)
  extract_settings_ui.py  one-shot: settings_ui.json -> per-page YAML
  apply_macros.py         one-shot: substitute matching rule blocks with $ref

Rule-block dedup wins (top duplicates collapsed to single macros):
  offroad (9x), longitudinal (4x), longitudinal_and_icbm (5x),
  hide_on_mici (4x), advanced_only (3x), mads_full_platforms (4x ~30-line
  nested any/all/not -> 1 macro + 4x one-line $ref).

Validator drift fixes:
  - Accept not_engaged rule type (already in schema.json + used by
    AlphaLongitudinalEnabled, ToyotaEnforceStockLongitudinal,
    ToyotaStopAndGoHack, LateralManeuverMode, LongitudinalManeuverMode).
  - Enforce {title, description, items} shape on every vehicle brand
    instead of allowing bare-list variants.

Wire format unchanged: compiled settings_ui.json structurally identical to
the prior hand-edited file, so the device generator (generate_settings_schema.py),
SettingsCapabilities, and frontend renderer all keep working without changes.

Tests: 16 new compiler tests (roundtrip, $ref semantics, depth/cycle limits,
page-tree integrity, vehicle kind routing). Existing 42 regression tests in
test_settings_changes.py and test_settings_schema.py remain green.

README rewritten for the new flow:
  - Decision table for offroad_only / not_engaged / param / capability
  - Multi-condition composition examples (AND/OR/mixed/3-way/negation)
  - Full feature walkthrough (multi-toggle + sub_panel + new macro)
  - Workflows for changing rules, widget type, deprecating an item
  - All How-To examples migrated from JSON to YAML

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* sunnylink: add `details` field for popover/modal help text

Adds an optional `details` field on settings items, distinct from the inline
`description`. When present, the frontend renders an info ("i") button on the
row that opens a modal with this content. Either field may be present alone,
or both together; an item with only `details` and no `description` shows just
the title + info button (no inline body).

Migrates `AutoLaneChangeTimer` as the first user: the safety caveat
("Please use caution when using this feature. Only use the blinker when
traffic and road conditions permit.") moves out of the inline description
into `details`, leaving the description focused on what the timer actually
does.

Schema changes:
- settings_ui.schema.json: SchemaItem.details (string, optional)
- settings_ui_src/_schemas/page.schema.json: Item.details (mirror)
- compile_settings_ui.py / extract_settings_ui.py: ordered after description

Frontend support lands in sunnylink-frontend on the design-overhaul branch.
Old frontends ignore the unknown key.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* ui: refactor UIStateSP init to eliminate getattr and double update_params

- Remove update_params() and reset_onroad_sleep_timer() from UIStateSP.__init__;
  __init__ is now pure attr initialization with no I/O or side effects
- Add _sp_initialized flag to UIStateSP.update_params() to fire
  reset_onroad_sleep_timer() exactly once after first real param load,
  keeping the call in SP territory and out of stock _initialize()
- Replace getattr(self, 'has_longitudinal_control') / getattr(self, 'CP')
  in _enforce_constraints with direct attr access; safe because
  _enforce_constraints is only called from update_params(), which only
  runs after UIState._initialize() has set both attrs
- Rename _enforce_sp_constraints → _enforce_constraints

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

* fix

* exec

* more exec

* humanize

* sync

---------

Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
---
 common/params_keys.h                          |    1 +
 .../sunnypilot/layouts/settings/steering.py   |   10 +-
 selfdrive/ui/sunnypilot/ui_state.py           |   63 +-
 sunnypilot/sunnylink/athena/sunnylinkd.py     |   65 +-
 sunnypilot/sunnylink/capabilities.py          |  168 ++
 sunnypilot/sunnylink/docs/README.md           |  588 +++++
 sunnypilot/sunnylink/params_metadata.json     |    4 +
 sunnypilot/sunnylink/settings_ui.json         | 2263 +++++++++++++++++
 sunnypilot/sunnylink/settings_ui.schema.json  |  516 ++++
 .../sunnylink/settings_ui_src/_macros.yaml    |   70 +
 .../_schemas/macros.schema.json               |   23 +
 .../settings_ui_src/_schemas/page.schema.json |  113 +
 .../settings_ui_src/_schemas/rule.schema.json |  101 +
 .../settings_ui_src/pages/cruise.yaml         |  276 ++
 .../settings_ui_src/pages/developer.yaml      |  147 ++
 .../settings_ui_src/pages/device.yaml         |   67 +
 .../settings_ui_src/pages/display.yaml        |  130 +
 .../settings_ui_src/pages/models.yaml         |   89 +
 .../settings_ui_src/pages/software.yaml       |   20 +
 .../settings_ui_src/pages/steering.yaml       |  257 ++
 .../settings_ui_src/pages/toggles.yaml        |   49 +
 .../settings_ui_src/pages/vehicle.yaml        |   81 +
 .../settings_ui_src/pages/visuals.yaml        |  111 +
 .../sunnylink/tests/test_capabilities.py      |   92 +
 .../tests/test_compile_settings_ui.py         |  175 ++
 .../sunnylink/tests/test_settings_changes.py  |  222 ++
 .../sunnylink/tests/test_settings_schema.py   |  353 +++
 sunnypilot/sunnylink/tools/apply_macros.py    |  211 ++
 .../sunnylink/tools/compile_settings_ui.py    |  300 +++
 .../sunnylink/tools/extract_settings_ui.py    |  214 ++
 .../tools/generate_settings_schema.py         |  194 ++
 .../sunnylink/tools/validate_settings_ui.py   |  526 ++++
 32 files changed, 7453 insertions(+), 46 deletions(-)
 create mode 100644 sunnypilot/sunnylink/capabilities.py
 create mode 100644 sunnypilot/sunnylink/docs/README.md
 create mode 100644 sunnypilot/sunnylink/settings_ui.json
 create mode 100644 sunnypilot/sunnylink/settings_ui.schema.json
 create mode 100644 sunnypilot/sunnylink/settings_ui_src/_macros.yaml
 create mode 100644 sunnypilot/sunnylink/settings_ui_src/_schemas/macros.schema.json
 create mode 100644 sunnypilot/sunnylink/settings_ui_src/_schemas/page.schema.json
 create mode 100644 sunnypilot/sunnylink/settings_ui_src/_schemas/rule.schema.json
 create mode 100644 sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml
 create mode 100644 sunnypilot/sunnylink/settings_ui_src/pages/developer.yaml
 create mode 100644 sunnypilot/sunnylink/settings_ui_src/pages/device.yaml
 create mode 100644 sunnypilot/sunnylink/settings_ui_src/pages/display.yaml
 create mode 100644 sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
 create mode 100644 sunnypilot/sunnylink/settings_ui_src/pages/software.yaml
 create mode 100644 sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
 create mode 100644 sunnypilot/sunnylink/settings_ui_src/pages/toggles.yaml
 create mode 100644 sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
 create mode 100644 sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml
 create mode 100644 sunnypilot/sunnylink/tests/test_capabilities.py
 create mode 100644 sunnypilot/sunnylink/tests/test_compile_settings_ui.py
 create mode 100644 sunnypilot/sunnylink/tests/test_settings_changes.py
 create mode 100644 sunnypilot/sunnylink/tests/test_settings_schema.py
 create mode 100755 sunnypilot/sunnylink/tools/apply_macros.py
 create mode 100755 sunnypilot/sunnylink/tools/compile_settings_ui.py
 create mode 100755 sunnypilot/sunnylink/tools/extract_settings_ui.py
 create mode 100755 sunnypilot/sunnylink/tools/generate_settings_schema.py
 create mode 100755 sunnypilot/sunnylink/tools/validate_settings_ui.py

diff --git a/common/params_keys.h b/common/params_keys.h
index 35a7bc3bc4d527..c92a6ed89cc45f 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -204,6 +204,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     // sunnylink params
     {"EnableSunnylinkUploader", {PERSISTENT | BACKUP, BOOL}},
     {"LastSunnylinkPingTime", {CLEAR_ON_MANAGER_START, INT}},
+    {"ParamsVersion", {PERSISTENT, INT}},
     {"SunnylinkCache_Roles", {PERSISTENT, STRING}},
     {"SunnylinkCache_Users", {PERSISTENT, STRING}},
     {"SunnylinkDongleId", {PERSISTENT, STRING}},
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering.py b/selfdrive/ui/sunnypilot/layouts/settings/steering.py
index 14d840138ee3dd..e31ee1891c9503 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/steering.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/steering.py
@@ -120,20 +120,12 @@ def _set_current_panel(self, panel: PanelType):
   def _update_state(self):
     super()._update_state()
 
-    torque_allowed = True
+    torque_allowed = ui_state.CP is not None and ui_state.CP.steerControlType != car.CarParams.SteerControlType.angle
     if ui_state.CP is not None:
       mads_main_desc = self._mads_limited_desc if self._mads_settings_layout._mads_limited_settings() else self._mads_full_desc
       self._mads_toggle.set_description(f"<b>{mads_main_desc}</b><br><br>{self._mads_base_desc}")
-
-      if ui_state.CP.steerControlType == car.CarParams.SteerControlType.angle:
-        ui_state.params.remove("EnforceTorqueControl")
-        ui_state.params.remove("NeuralNetworkLateralControl")
-        torque_allowed = False
     else:
       self._mads_toggle.set_description(f"<b>{self._mads_check_compat_desc}</b><br><br>{self._mads_base_desc}")
-      ui_state.params.remove("EnforceTorqueControl")
-      ui_state.params.remove("NeuralNetworkLateralControl")
-      torque_allowed = False
 
     self._mads_toggle.action_item.set_enabled(ui_state.is_offroad())
     self._mads_settings_button.action_item.set_enabled(ui_state.is_offroad() and self._mads_toggle.action_item.get_state())
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index f4f87b6030906c..c80281987b6bed 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -6,7 +6,7 @@
 """
 from enum import Enum
 
-from cereal import messaging, log, custom
+from cereal import messaging, log, car, custom
 from openpilot.common.params import Params
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import OnroadBrightness
 from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState
@@ -26,22 +26,20 @@ class OnroadTimerStatus(Enum):
 
 class UIStateSP:
   def __init__(self):
-    self.CP_SP: custom.CarParamsSP | None = None
     self.params = Params()
+    self.CP_SP: custom.CarParamsSP | None = None
+    self.has_icbm: bool = False
+    self.is_sp_release: bool = self.params.get_bool("IsReleaseSpBranch")
     self.sm_services_ext = [
       "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
       "gpsLocation", "liveTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "liveDelay"
     ]
 
     self.sunnylink_state = SunnylinkState()
-    self.update_params()
 
     self.onroad_brightness_timer: int = 0
-    self.custom_interactive_timeout: int = self.params.get("InteractivityTimeout", return_default=True)
-    self.reset_onroad_sleep_timer()
-    self.CP_SP: custom.CarParamsSP | None = None
-    self.has_icbm: bool = False
-    self.is_sp_release: bool = self.params.get_bool("IsReleaseSpBranch")
+    self.custom_interactive_timeout: int = 0
+    self._sp_initialized: bool = False
 
   def update(self) -> None:
     if self.sunnylink_enabled:
@@ -128,6 +126,8 @@ def update_params(self) -> None:
     if CP_SP_bytes is not None:
       self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
       self.has_icbm = self.CP_SP.intelligentCruiseButtonManagementAvailable and self.params.get_bool("IntelligentCruiseButtonManagement")
+
+    self._enforce_constraints()
     self.active_bundle = self.params.get("ModelManager_ActiveBundle")
     self.blindspot = self.params.get_bool("BlindSpot")
     self.chevron_metrics = self.params.get("ChevronInfo")
@@ -153,6 +153,52 @@ def update_params(self) -> None:
     self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
     self.always_offroad = self.params.get_bool("OffroadMode")
 
+    if not self._sp_initialized:
+      self._sp_initialized = True
+      self.reset_onroad_sleep_timer()
+
+  def _enforce_constraints(self) -> None:
+    has_long = self.has_longitudinal_control
+    has_icbm = self.has_icbm
+    CP = self.CP
+
+    if CP is not None:
+      # Angle steering: no torque-based lateral controls
+      if CP.steerControlType == car.CarParams.SteerControlType.angle:
+        self.params.remove("EnforceTorqueControl")
+        self.params.remove("NeuralNetworkLateralControl")
+
+      # Alpha longitudinal: clear if not available or on release branch
+      if not CP.alphaLongitudinalAvailable or self.params.get_bool("IsReleaseBranch"):
+        self.params.remove("AlphaLongitudinalEnabled")
+
+      # BSM not available: clear BSM-dependent settings
+      if not CP.enableBsm:
+        self.params.remove("AutoLaneChangeBsmDelay")
+    else:
+      # No CarParams: clear all car-dependent params as safety default
+      self.params.remove("EnforceTorqueControl")
+      self.params.remove("NeuralNetworkLateralControl")
+      self.params.remove("AlphaLongitudinalEnabled")
+
+    # No longitudinal control: no experimental mode
+    if not has_long:
+      self.params.remove("ExperimentalMode")
+
+    # ICBM: clear if not available or if full longitudinal control is active
+    if self.CP_SP is not None:
+      if not self.CP_SP.intelligentCruiseButtonManagementAvailable or has_long:
+        self.params.remove("IntelligentCruiseButtonManagement")
+    else:
+      self.params.remove("IntelligentCruiseButtonManagement")
+
+    # Cruise features requiring longitudinal or ICBM
+    if not (has_long or has_icbm):
+      self.params.remove("CustomAccIncrementsEnabled")
+      self.params.remove("DynamicExperimentalControl")
+      self.params.remove("SmartCruiseControlVision")
+      self.params.remove("SmartCruiseControlMap")
+
 
 class DeviceSP:
   @staticmethod
@@ -168,7 +214,6 @@ def set_onroad_brightness(_ui_state, awake: bool, cur_brightness: float) -> floa
     if _ui_state.onroad_brightness_timer != 0:
       if _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
         return max(30.0, cur_brightness)
-      # For AUTO (Default) and Manual modes (while timer running), use standard brightness
       return cur_brightness
 
     # 0: Auto (Default), 1: Auto (Dark), 2: Screen Off
diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index 2e262c33b3cfb9..eb0e691beddda0 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -18,7 +18,7 @@
 
 from jsonrpc import dispatcher
 from functools import partial
-from openpilot.common.params import Params
+from openpilot.common.params import Params, ParamKeyType
 from openpilot.common.realtime import set_core_affinity
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.hw import Paths
@@ -31,6 +31,8 @@
 from openpilot.sunnypilot.selfdrive.car.sync_car_list_param import update_car_list_param
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
 from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
+from openpilot.sunnypilot.sunnylink.capabilities import generate_capabilities, CAPABILITY_LABELS
+from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import generate_schema
 
 SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://ws.stg.api.sunnypilot.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
@@ -44,12 +46,15 @@
 
 # Parameters that should never be remotely modified
 BLOCKED_PARAMS = {
+  "AdbEnabled",
   "CompletedSunnylinkConsentVersion",
   "CompletedTrainingVersion",
   "GithubUsername",  # Could grant SSH access
   "GithubSshKeys",   # Direct SSH key injection
   "HasAcceptedTerms",
   "HasAcceptedTermsSP",
+  "OnroadCycleRequested",      # Prevent remote cycle trigger
+  "ParamsVersion",         # Device-managed version counter
 }
 
 
@@ -199,34 +204,18 @@ def getParamsAllKeysV1() -> dict[str, str]:
 
 @dispatcher.add_method
 def getParamsMetadata() -> str:
-  """Compressed equivalent of getParamsAllKeysV1 — same struct, gzipped + base64."""
-  try:
-    with open(METADATA_PATH) as f:
-      metadata = json.load(f)
-  except Exception:
-    cloudlog.exception("sunnylinkd.getParamsMetadata.exception")
-    metadata = {}
+  """Return settings_ui.json + live capabilities as gzip-compressed, base64-encoded string.
 
+  Reads settings_ui.json, injects live capabilities from CarParams, compresses,
+  and returns. Single RPC for the frontend to get the complete settings UI and
+  runtime capabilities.
+  """
   try:
-    available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
-
-    params_list: list[dict] = []
-    for key in available_keys:
-      value = get_param_as_byte(key, get_default=True)
-
-      param_entry: dict = {
-        "key": key,
-        "type": int(params.get_type(key).value),
-        "default_value": base64.b64encode(value).decode('utf-8') if value else None,
-      }
-
-      if key in metadata:
-        param_entry["_extra"] = metadata[key]
-
-      params_list.append(param_entry)
-
-    raw = json.dumps(params_list, separators=(',', ':')).encode('utf-8')
-    return base64.b64encode(gzip.compress(raw)).decode('utf-8')
+    schema = generate_schema()
+    schema["capabilities"] = generate_capabilities()
+    schema["capability_labels"] = CAPABILITY_LABELS
+    raw = json.dumps(schema, separators=(",", ":")).encode("utf-8")
+    return base64.b64encode(gzip.compress(raw)).decode("utf-8")
   except Exception:
     cloudlog.exception("sunnylinkd.getParamsMetadata.exception")
     raise
@@ -238,12 +227,25 @@ def getParams(params_keys: list[str], compression: bool = False) -> str | dict[s
   available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
 
   try:
+    zero_values: dict[int, bytes] = {
+      ParamKeyType.STRING.value: b"",
+      ParamKeyType.BOOL.value: b"0",
+      ParamKeyType.INT.value: b"0",
+      ParamKeyType.FLOAT.value: b"0.0",
+      ParamKeyType.TIME.value: b"",
+      ParamKeyType.JSON.value: b"{}",
+      ParamKeyType.BYTES.value: b"",
+    }
+
     param_keys_validated = [key for key in params_keys if key in available_keys]
     params_dict: dict[str, list[dict[str, str | bool | int]]] = {"params": []}
     for key in param_keys_validated:
       value = get_param_as_byte(key)
       if value is None:
-        continue
+        value = get_param_as_byte(key, get_default=True)
+      if value is None:
+        param_type = params.get_type(key)
+        value = zero_values.get(param_type.value, b"")
 
       params_dict["params"].append({
         "key": key,
@@ -274,6 +276,13 @@ def saveParams(params_to_update: dict[str, str], compression: bool = False) -> N
     except Exception as e:
       cloudlog.error(f"sunnylinkd.saveParams.exception {e}")
 
+  # Increment version counter for frontend change detection
+  try:
+    current = int(params.get("ParamsVersion") or "0")
+    params.put("ParamsVersion", str(current + 1))
+  except Exception:
+    pass
+
 
 def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
   sunnylink_dongle_id = params.get("SunnylinkDongleId")
diff --git a/sunnypilot/sunnylink/capabilities.py b/sunnypilot/sunnylink/capabilities.py
new file mode 100644
index 00000000000000..9f22c47adeb68c
--- /dev/null
+++ b/sunnypilot/sunnylink/capabilities.py
@@ -0,0 +1,168 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import json
+
+from cereal import car, custom, messaging
+from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR, UNSUPPORTED_LONGITUDINAL_CAR
+from opendbc.car.subaru.values import CAR as SUBARU_CAR, SubaruFlags
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware import HARDWARE
+
+
+# Wire-protocol version for the capabilities payload. Bump on breaking changes
+# only; additive fields are backward-compatible and do not require a bump.
+PROTOCOL_VERSION = 1
+
+# All capability fields that rules may reference.
+# Non-boolean fields must have defaults in CAPABILITY_DEFAULTS.
+CAPABILITY_FIELDS = (
+  "protocol_version",
+  "has_longitudinal_control",
+  "has_icbm",
+  "icbm_available",
+  "torque_allowed",
+  "brand",
+  "pcm_cruise",
+  "alpha_long_available",
+  "steer_control_type",
+  "enable_bsm",
+  "is_release",
+  "is_sp_release",
+  "is_development",
+  "tesla_has_vehicle_bus",
+  "has_stop_and_go",
+  "stock_longitudinal",
+  "device_type",
+  "subaru_has_sng",
+  "hyundai_alpha_long_available",
+)
+
+CAPABILITY_LABELS: dict[str, str] = {
+  "protocol_version": "Capabilities protocol version",
+  "has_longitudinal_control": "sunnypilot longitudinal control",
+  "has_icbm": "ICBM enabled",
+  "icbm_available": "ICBM available",
+  "torque_allowed": "torque steering (not available for angle steering vehicles)",
+  "brand": "Vehicle brand",
+  "pcm_cruise": "PCM cruise",
+  "alpha_long_available": "Alpha Longitudinal available",
+  "steer_control_type": "Steer control type",
+  "enable_bsm": "BSM available",
+  "is_release": "Release branch",
+  "is_sp_release": "SP release branch",
+  "is_development": "Development branch",
+  "tesla_has_vehicle_bus": "Tesla vehicle bus",
+  "has_stop_and_go": "Stop and Go",
+  "stock_longitudinal": "stock longitudinal",
+  "device_type": "Device type",
+  "subaru_has_sng": "Subaru Stop-and-Go available",
+  "hyundai_alpha_long_available": "Hyundai Alpha Longitudinal available",
+}
+
+# Explicit defaults for non-boolean capability fields
+CAPABILITY_DEFAULTS: dict[str, bool | str | int] = {
+  "brand": "",
+  "steer_control_type": "",
+  "device_type": "",
+  "protocol_version": PROTOCOL_VERSION,
+}
+
+
+def _bundle_field(bundle: dict | None, key: str) -> str:
+  return bundle.get(key, "") if isinstance(bundle, dict) else ""
+
+
+def generate_capabilities(params: Params | None = None) -> dict:
+  """Generate a SettingsCapabilities dict from CarParams + boolean params.
+
+  When CarPlatformBundle is present, brand and platform come from the bundle
+  (mirrors Raylib). CarParams* deserialization is the fallback before the bundle
+  is written (early after first pairing).
+  """
+  params = params or Params()
+
+  caps: dict = {field: CAPABILITY_DEFAULTS.get(field, False) for field in CAPABILITY_FIELDS}
+
+  # Wire-protocol version is always set explicitly.
+  caps["protocol_version"] = PROTOCOL_VERSION
+
+  # Hardware + boolean params (no CarParams dependency)
+  caps["device_type"] = HARDWARE.get_device_type()
+  caps["is_release"] = params.get_bool("IsReleaseBranch")
+  caps["is_sp_release"] = params.get_bool("IsReleaseSpBranch")
+  caps["is_development"] = params.get_bool("IsDevelopmentBranch")
+  caps["stock_longitudinal"] = params.get_bool("ToyotaEnforceStockLongitudinal")
+
+  bundle = params.get("CarPlatformBundle")
+  bundle_brand = _bundle_field(bundle, "brand")
+  bundle_platform = _bundle_field(bundle, "platform")
+
+  # Bundle-first brand resolution; CP is fallback only.
+  if bundle_brand:
+    caps["brand"] = bundle_brand
+
+  # CarParams-derived capabilities
+  CP_bytes = params.get("CarParamsPersistent")
+  if CP_bytes is not None:
+    try:
+      CP = messaging.log_from_bytes(CP_bytes, car.CarParams)
+      caps["alpha_long_available"] = bool(CP.alphaLongitudinalAvailable)
+      if CP.alphaLongitudinalAvailable:
+        caps["has_longitudinal_control"] = params.get_bool("AlphaLongitudinalEnabled")
+      else:
+        caps["has_longitudinal_control"] = bool(CP.openpilotLongitudinalControl)
+      # CP.steerControlType is the physical control mode (angle / torque).
+      # CP.lateralTuning.which() returns the tuning class (pid / torque / indi)
+      # which is a separate concept and is not interchangeable.
+      caps["steer_control_type"] = str(CP.steerControlType)
+      caps["torque_allowed"] = CP.steerControlType != car.CarParams.SteerControlType.angle
+      if not caps["brand"] and CP.brand:
+        caps["brand"] = str(CP.brand)
+      caps["pcm_cruise"] = bool(CP.pcmCruise)
+      caps["enable_bsm"] = bool(CP.enableBsm)
+      # Generic SnG fallback. Brand-specific opaque flags below override.
+      caps["has_stop_and_go"] = bool(CP.openpilotLongitudinalControl)
+    except Exception:
+      cloudlog.exception("capabilities: failed to deserialize CarParamsPersistent")
+
+  # CarParamsSP-derived capabilities
+  CP_SP_bytes = params.get("CarParamsSPPersistent")
+  if CP_SP_bytes is not None:
+    try:
+      CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
+      caps["icbm_available"] = bool(CP_SP.intelligentCruiseButtonManagementAvailable)
+      caps["has_icbm"] = bool(CP_SP.intelligentCruiseButtonManagementAvailable) and params.get_bool("IntelligentCruiseButtonManagement")
+      caps["tesla_has_vehicle_bus"] = bool(CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
+    except Exception:
+      cloudlog.exception("capabilities: failed to deserialize CarParamsSPPersistent")
+
+  # Brand-specific opaque flags. Mirror Raylib brand-settings logic so the
+  # device and the dashboard agree on per-platform availability without
+  # leaking the platform identifier over the wire.
+  if caps["brand"] == "subaru" and bundle_platform:
+    try:
+      flags = SUBARU_CAR[bundle_platform].config.flags
+      caps["subaru_has_sng"] = not bool(flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
+      caps["has_stop_and_go"] = caps["subaru_has_sng"]
+    except KeyError:
+      cloudlog.exception(f"capabilities: unknown subaru platform {bundle_platform!r}")
+
+  if caps["brand"] == "hyundai" and bundle_platform:
+    try:
+      unsupported = set().union(*UNSUPPORTED_LONGITUDINAL_CAR.values())
+      caps["hyundai_alpha_long_available"] = HYUNDAI_CAR[bundle_platform] not in unsupported
+    except KeyError:
+      cloudlog.exception(f"capabilities: unknown hyundai platform {bundle_platform!r}")
+
+  return caps
+
+
+def generate_capabilities_json(params: Params | None = None) -> str:
+  """Generate SettingsCapabilities as a JSON string."""
+  return json.dumps(generate_capabilities(params), separators=(",", ":"))
diff --git a/sunnypilot/sunnylink/docs/README.md b/sunnypilot/sunnylink/docs/README.md
new file mode 100644
index 00000000000000..40efa59dd5ce0f
--- /dev/null
+++ b/sunnypilot/sunnylink/docs/README.md
@@ -0,0 +1,588 @@
+# sunnylink Settings UI Guide
+
+> One YAML file per page. Edit, run the compiler, commit. The sunnylink frontend updates automatically.
+
+For detailed architecture, capability fields, parity analysis, and dialog mappings, see [REFERENCE.md](REFERENCE.md).
+
+## What you edit (and what's generated)
+
+| File | What | When to edit |
+|------|------|-------------|
+| `settings_ui_src/pages/<page>.yaml` | One YAML per page (panel). Contains panel metadata + sections + items + sub_panels inline. | Adding/changing/removing a setting. |
+| `settings_ui_src/pages/vehicle.yaml` | Per-brand settings page (`kind: vehicle`). Each brand is a section. | Adding/changing a vehicle-specific setting. |
+| `settings_ui_src/_macros.yaml` | Named rule fragments referenced via `{$ref: "#/macros/<name>"}`. | Adding a reusable rule (e.g. a new platform gate). |
+| **`settings_ui.json`** | **Generated from src tree by `compile_settings_ui.py`. Do not edit by hand.** | Never. Compiler emits it; frontend reads it. |
+
+Pages today: `steering, cruise, display, visuals, toggles, device, software, developer, models, vehicle` (10).
+
+Run `python sunnypilot/sunnylink/tools/compile_settings_ui.py` after edits. Add `--check` in CI to fail on out-of-sync `settings_ui.json`.
+
+Display metadata (titles, descriptions, options, min/max/step/unit) is inline on each item. There is no separate metadata file.
+
+## Page file shape
+
+A page YAML contains the whole panel: metadata at the top, then `sections`. Each section has its own `items` and (optionally) `sub_panels`. Sub-panels are nested inside the section they belong to. Items appear in the order written in the file.
+
+```yaml
+# yaml-language-server: $schema=../_schemas/page.schema.json
+id: steering
+label: Steering
+icon: steering_wheel
+order: 1
+remote_configurable: true
+description: Lateral control, lane changes, and steering behavior
+
+sections:
+  - id: mads
+    title: Modular Assistive Driving System (MADS)
+    items:
+      - key: Mads
+        widget: toggle
+        title: Enable Modular Assistive Driving System (MADS)
+        description: |
+          Enable the beloved MADS feature. Disable toggle to revert back
+          to stock sunnypilot engagement/disengagement.
+        enablement:
+          - {$ref: "#/macros/offroad"}
+
+    sub_panels:
+      - id: mads_settings
+        label: MADS Settings
+        trigger_key: Mads
+        trigger_condition: {type: param, key: Mads, equals: true}
+        items:
+          - key: MadsMainCruiseAllowed
+            widget: toggle
+            title: Toggle with Main Cruise
+            description: |
+              Note: For vehicles without LFA/LKAS button, disabling this will
+              prevent lateral control engagement.
+            enablement:
+              - {$ref: "#/macros/offroad"}
+              - {$ref: "#/macros/mads_full_platforms"}
+```
+
+The vehicle page has the same shape but declares `kind: vehicle`; each section's `id` becomes a brand key under `vehicle_settings` in the compiled JSON.
+
+## Macros (named rule fragments)
+
+`_macros.yaml` declares reusable rule lists. Reference them from any rules array via `{$ref: "#/macros/<name>"}`.
+
+```yaml
+macros:
+  offroad: [{type: offroad_only}]
+  longitudinal: [{type: capability, field: has_longitudinal_control, equals: true}]
+  mads_full_platforms:
+    - type: not
+      condition:
+        type: any
+        conditions:
+          - {type: capability, field: brand, equals: rivian}
+          - type: all
+            conditions:
+              - {type: capability, field: brand, equals: tesla}
+              - type: not
+                condition: {type: capability, field: tesla_has_vehicle_bus, equals: true}
+```
+
+In an item:
+
+```yaml
+enablement:
+  - {$ref: "#/macros/offroad"}
+  - {$ref: "#/macros/mads_full_platforms"}
+```
+
+The compiler splices a list-context `$ref` into its parent list. Macros may reference other macros up to depth 3; cycles are an error.
+
+## Compiler workflow
+
+```
+1. common/params_keys.h               — add/remove the C++ param key
+2. params_metadata.json               — automated via update_params_metadata.py
+3. settings_ui_src/pages/<page>.yaml  — add/edit/remove the item in the right section
+4. python sunnypilot/sunnylink/tools/compile_settings_ui.py
+5. python sunnypilot/sunnylink/tools/validate_settings_ui.py  (or: --check on the compiler)
+6. uv run python -m pytest sunnypilot/sunnylink/tests/   # run regression + compiler tests
+7. commit
+```
+
+CI runs `compile_settings_ui.py --check` to fail on hand-edited `settings_ui.json`.
+
+## Compiled output reference (schema contract)
+
+The tables below describe the **compiled** `settings_ui.json` schema — what the frontend consumes at runtime. JSON snippets show the wire shape; in the src tree you author YAML that compiles to the same shape. Use these as a contract reference for valid fields, their meanings, and rule types.
+
+## Quick reference: widget types
+
+| Widget | Use for | Fields needed |
+|--------|---------|---------------|
+| `toggle` | On/off boolean | `title` |
+| `multiple_button` | 2-4 discrete options | `title` + `options` array |
+| `option` | Numeric range or dropdown | `title` + `min/max/step` or `options` |
+| `info` | Read-only display | `title` |
+
+## Quick reference: item fields
+
+| Field | Required | Description |
+|-------|----------|-------------|
+| `key` | Yes | Param key name (must exist in `params_keys.h`) |
+| `widget` | Yes | `toggle`, `option`, `multiple_button`, `button`, `info` |
+| `title` | Yes | Display name shown to the user |
+| `description` | No | Inline explanatory text below the title. May be empty when only `details` is used. |
+| `details` | No | Extended help text shown in a modal when the user taps an "i" button on the row. Independent of `description`: either, both, or neither may be present. |
+| `options` | For selectors | Array of `{"value": 0, "label": "Off"}` objects (see per-option enablement below) |
+| `min`, `max`, `step` | For sliders | Numeric range constraints |
+| `unit` | No | Unit label. Static: `"seconds"`. Dynamic: `{"metric": "km/h", "imperial": "mph"}` (resolved by IsMetric) |
+| `visibility` | No | Rules for show/hide. Settings are never hidden, always dimmed with UNAVAILABLE badge when rules fail |
+| `enablement` | No | Rules for enabled/disabled (all must pass). Dimmed with badge when rules fail |
+| `blocked` | No | `true` for device-only settings that cannot be modified remotely. Frontend shows as read-only |
+| `title_param_suffix` | No | Dynamic title suffix. Example: `{"param": "IsMetric", "values": {"0": "mph", "1": "km/h"}}` |
+| `sub_items` | No | Nested child items |
+| `needs_onroad_cycle` | No | `true` if changing this param triggers a system restart. Frontend shows a "Restart" badge. See [REFERENCE.md - Remote Onroad Cycle](REFERENCE.md#remote-onroad-cycle) |
+
+## Quick reference: rule types
+
+| Rule | Example | Use for |
+|------|---------|---------|
+| `offroad_only` | `{"type": "offroad_only"}` | Grey out while driving |
+| `not_engaged` | `{"type": "not_engaged"}` | Grey out only while engaged (started + selfdrive/MADS active) |
+| `capability` | `{"type": "capability", "field": "has_longitudinal_control", "equals": true}` | Car-dependent visibility |
+| `param` | `{"type": "param", "key": "Mads", "equals": true}` | Show/enable based on another setting |
+| `param_compare` | `{"type": "param_compare", "key": "SpeedLimitMode", "op": ">", "value": 0}` | Numeric comparison |
+| `not` | `{"type": "not", "condition": {...}}` | Negate a rule |
+| `any` | `{"type": "any", "conditions": [...]}` | OR logic |
+| `all` | `{"type": "all", "conditions": [...]}` | AND logic (for nesting inside `any`/`not`) |
+| `$ref` | `{"$ref": "#/macros/offroad"}` | Reference a named rule fragment in `_macros.yaml` |
+
+**Visibility design**: Settings are always visible. When visibility rules fail, the setting is dimmed with an UNAVAILABLE badge, so users know it exists but is not applicable.
+
+**Enablement rules**: Grayed out (disabled) when rules fail. Frontend shows a contextual badge explaining why.
+
+**Capability fields** (referenced in rules): `has_longitudinal_control`, `has_icbm`, `icbm_available`, `torque_allowed`, `brand`, `pcm_cruise`, `alpha_long_available`, `steer_control_type`, `enable_bsm`, `is_release`, `is_sp_release`, `is_development`, `tesla_has_vehicle_bus`, `has_stop_and_go`, `stock_longitudinal`
+
+---
+
+## How to
+
+### Pick a writability rule (offroad / not_engaged / param-based)
+
+| Use this | When | Why |
+|---|---|---|
+| `offroad_only` | Param can only be safely changed when the car is parked. Most user-facing toggles. | Strictest. Frontend shows "device is driving" badge and disables the row. |
+| `not_engaged` | Param can be changed while the car is started but only when sunnypilot/MADS is **not** actively driving. | Less strict than offroad. Matches Raylib `engaged = started AND (selfdriveState.enabled OR mads.enabled)`. Use for items the device must apply mid-drive (e.g. test maneuvers, longitudinal stock-vs-OP toggle). |
+| `param`-based | Behavior depends on another setting's value (parent toggle, mode selector, etc.). | Composes with `not`/`any`/`all` for arbitrary logic. |
+| `capability`-based | Behavior depends on the connected car or device (brand, longitudinal, hardware). | Resolved on the device from `CarParams` / hardware. See [`capabilities.py`](../capabilities.py) for the full field list. |
+| (no rule) | Param is always writable, no gating. | Rare. Prefer at least `offroad_only` unless the param is genuinely safe to flip mid-drive. |
+
+Default for new toggles: `enablement: [{$ref: "#/macros/offroad"}]`. Drop down to `not_engaged` only if you've confirmed mid-drive write is safe in the controls/UI code path.
+
+### Use `details` for safety notes / extended help
+
+Inline `description` shows under the title. For longer caveats, safety notes, or "learn more" content, use `details` — the frontend renders an info button that opens a modal. Either field may be present alone or both together.
+
+```yaml
+- key: AutoLaneChangeTimer
+  widget: option
+  title: Auto Lane Change by Blinker
+  description: |-
+    Set a timer to delay the auto lane change operation when the blinker is used.
+    No nudge on the steering wheel is required to auto lane change if a timer is set.
+    Default is Nudge.
+  details: |-
+    Please use caution when using this feature. Only use the blinker when traffic
+    and road conditions permit.
+  options: [...]
+```
+
+For an item that is intentionally minimal inline (no inline body, only the modal):
+
+```yaml
+- key: SomeAdvancedToggle
+  widget: toggle
+  title: Some Advanced Feature
+  details: |-
+    Long-form rationale, caveats, links, etc. — kept entirely behind the info button.
+```
+
+### Add a toggle
+
+1. Register in `common/params_keys.h`:
+   ```cpp
+   {"MyToggle", {PERSISTENT | BACKUP, BOOL}},
+   ```
+
+2. Open `settings_ui_src/pages/<page>.yaml`. Add the item to the right section:
+   ```yaml
+   - key: MyToggle
+     widget: toggle
+     title: My Feature
+     description: What this feature does.
+     enablement:
+       - {$ref: "#/macros/offroad"}
+   ```
+
+   If changing the param requires an onroad cycle to take effect, add `needs_onroad_cycle: true`.
+
+3. Compile + validate + test:
+   ```
+   python sunnypilot/sunnylink/tools/compile_settings_ui.py
+   python sunnypilot/sunnylink/tools/validate_settings_ui.py
+   uv run python -m pytest sunnypilot/sunnylink/tests/
+   ```
+
+### Add a multi-button option
+
+```yaml
+- key: MySelector
+  widget: multiple_button
+  title: Mode
+  options:
+    - {value: 0, label: Off}
+    - {value: 1, label: On}
+    - {value: 2, label: Auto}
+```
+
+### Add a slider or range
+
+```yaml
+- key: MyRange
+  widget: option
+  title: Follow Distance
+  description: Time gap to lead vehicle.
+  min: 0.5
+  max: 3.0
+  step: 0.1
+  unit: seconds
+```
+
+### Add a slider with metric/imperial units
+
+```yaml
+- key: MinSpeed
+  widget: option
+  title: Minimum Speed
+  min: 0
+  max: 100
+  step: 5
+  unit: {metric: km/h, imperial: mph}
+```
+
+Frontend resolves the unit string based on the device's `IsMetric` param. Static units (e.g. `seconds`, `m/s²`) stay plain strings.
+
+### Add a dynamic title suffix
+
+```yaml
+- key: FollowDistance
+  widget: option
+  title: Follow Distance
+  title_param_suffix:
+    param: IsMetric
+    values: {'0': mph, '1': km/h}
+  min: 0.5
+  max: 3.0
+  step: 0.1
+```
+
+Renders as "Follow Distance: mph" / "Follow Distance: km/h".
+
+### Add a device-only read-only setting
+
+```yaml
+- key: OnroadCyclePendingRemote
+  widget: info
+  title: Pending Remote Cycle
+  blocked: true
+```
+
+Frontend treats `blocked: true` items as read-only.
+
+### Add a dropdown option
+
+```yaml
+- key: MyDropdown
+  widget: option
+  title: Recording Quality
+  options:
+    - {value: 0, label: Low (720p)}
+    - {value: 1, label: Medium (1080p)}
+    - {value: 2, label: High (4K)}
+```
+
+### Per-option enablement rules
+
+```yaml
+- key: MadsSteeringMode
+  widget: multiple_button
+  title: Steering Mode on Brake Pedal
+  options:
+    - value: 0
+      label: Remain Active
+      enablement:
+        - {$ref: "#/macros/mads_full_platforms"}
+    - value: 1
+      label: Pause
+      enablement:
+        - {$ref: "#/macros/mads_full_platforms"}
+    - value: 2
+      label: Disengage
+  enablement:
+    - {$ref: "#/macros/offroad"}
+```
+
+When an option's enablement fails, that option is grayed out but still visible.
+
+### Show only when another setting is on
+
+```yaml
+- key: ChildSetting
+  widget: toggle
+  title: Child Feature
+  visibility:
+    - {type: param, key: ParentToggle, equals: true}
+```
+
+(With the "dim instead of hide" design, this setting is dimmed, not hidden, when the rule fails.)
+
+### Show only for specific brands
+
+```yaml
+- key: LongFeature
+  widget: toggle
+  title: Longitudinal Feature
+  visibility:
+    - {$ref: "#/macros/longitudinal"}
+```
+
+### Combine multiple conditions
+
+The `enablement` array is implicit-AND: every entry must pass. Use `any` for OR, `all` for nested AND, `not` for negation. Wrap repeated combinations in a macro so future you doesn't re-derive the logic.
+
+**AND across two params** (writable only when both Mads is on AND ICBM is enabled):
+```yaml
+enablement:
+  - {type: param, key: Mads, equals: true}
+  - {type: param, key: IntelligentCruiseButtonManagement, equals: true}
+```
+
+**OR across two params** (writable when either is on):
+```yaml
+enablement:
+  - type: any
+    conditions:
+      - {type: param, key: ExperimentalMode, equals: true}
+      - {type: param, key: DynamicExperimentalControl, equals: true}
+```
+
+**Mixed: capability AND param** (only on longitudinal cars when ShowAdvancedControls is on):
+```yaml
+enablement:
+  - {$ref: "#/macros/longitudinal"}
+  - {$ref: "#/macros/advanced_only"}
+```
+
+**Three-way: offroad AND torque-allowed AND not-NNLC** (real example: `EnforceTorqueControl`):
+```yaml
+enablement:
+  - {$ref: "#/macros/offroad"}
+  - {type: capability, field: torque_allowed, equals: true}
+  - {type: param, key: NeuralNetworkLateralControl, equals: false}
+```
+
+**Negation across multiple platforms** (everything except Rivian + Tesla-no-bus):
+```yaml
+enablement:
+  - {$ref: "#/macros/offroad"}
+  - {$ref: "#/macros/mads_full_platforms"}   # macro encapsulates the not(any(rivian, all(tesla, not(bus)))) logic
+```
+
+If the same multi-condition block appears in 2+ items, **promote it to a macro** in `_macros.yaml`. Re-run `python sunnypilot/sunnylink/tools/apply_macros.py` to substitute existing inlined matches automatically.
+
+### Mutual exclusion
+
+```yaml
+- key: FeatureAlpha
+  widget: toggle
+  title: Feature Alpha
+  enablement:
+    - {type: param, key: FeatureBeta, equals: false}
+
+- key: FeatureBeta
+  widget: toggle
+  title: Feature Beta
+  enablement:
+    - {type: param, key: FeatureAlpha, equals: false}
+```
+
+### Add a section
+
+In the page YAML, add an entry to the `sections` list:
+```yaml
+sections:
+  - id: my_section
+    title: My Section
+    description: Optional subtitle
+    enablement:
+      - {$ref: "#/macros/longitudinal"}
+    items:
+      - {key: ..., widget: toggle, title: ...}
+```
+
+Sections support `visibility`, `enablement`, and `attestation_required`. When section-level rules fail, all items within are dimmed.
+
+### Add a sub-panel
+
+Sub-panels nest inside the section they belong to:
+```yaml
+sections:
+  - id: parent_section
+    title: Parent
+    items: [...]
+    sub_panels:
+      - id: my_sub
+        label: Advanced Settings
+        trigger_key: ParentParam
+        trigger_condition: {type: param, key: ParentParam, equals: true}
+        items:
+          - {key: ..., widget: toggle, title: ...}
+```
+
+### Add vehicle-brand settings
+
+Edit `pages/vehicle.yaml`. Each section is a brand:
+```yaml
+id: vehicle
+kind: vehicle
+sections:
+  - id: rivian
+    title: Rivian Settings
+    description: ''
+    items:
+      - key: RivianFeature
+        widget: toggle
+        title: Rivian One Pedal
+        enablement:
+          - {$ref: "#/macros/offroad"}
+```
+
+`kind: vehicle` tells the compiler to emit this page as `vehicle_settings.<brand>` in the wire JSON.
+
+### Add a feature with toggles, sub-panel, and macro
+
+Example: "Smart Wipers" with a master toggle, intensity selector, and sub-panel for advanced tuning, gated to torque-steering Hyundais on offroad.
+
+1. **Param keys** — register all 4 in `common/params_keys.h`.
+
+2. **Decide on a macro** — if "torque Hyundai" gating is reused, add to `_macros.yaml`:
+   ```yaml
+   torque_hyundai:
+     - {$ref: "#/macros/offroad"}
+     - {type: capability, field: brand, equals: hyundai}
+     - {type: capability, field: torque_allowed, equals: true}
+   ```
+
+3. **Edit the relevant page** — `pages/visuals.yaml` (or wherever the feature lives). Add a new section + sub_panel:
+   ```yaml
+   sections:
+     - id: smart_wipers
+       title: Smart Wipers
+       description: Camera-driven wiper control (Hyundai/Kia, torque only)
+       items:
+         - key: SmartWipersEnabled
+           widget: toggle
+           title: Enable Smart Wipers
+           enablement:
+             - {$ref: "#/macros/torque_hyundai"}
+         - key: SmartWipersIntensity
+           widget: multiple_button
+           title: Sensitivity
+           options:
+             - {value: 0, label: Low}
+             - {value: 1, label: Medium}
+             - {value: 2, label: High}
+           visibility:
+             - {type: param, key: SmartWipersEnabled, equals: true}
+           enablement:
+             - {$ref: "#/macros/torque_hyundai"}
+       sub_panels:
+         - id: smart_wipers_tuning
+           label: Smart Wipers Tuning
+           trigger_key: SmartWipersEnabled
+           trigger_condition: {type: param, key: SmartWipersEnabled, equals: true}
+           items:
+             - key: SmartWipersHysteresis
+               widget: option
+               title: Hysteresis (frames)
+               min: 1
+               max: 30
+               step: 1
+               enablement:
+                 - {$ref: "#/macros/offroad"}
+                 - {$ref: "#/macros/advanced_only"}
+   ```
+
+4. **Compile / validate / test**:
+   ```
+   python sunnypilot/sunnylink/tools/compile_settings_ui.py
+   python sunnypilot/sunnylink/tools/validate_settings_ui.py
+   uv run python -m pytest sunnypilot/sunnylink/tests/
+   ```
+
+   `apply_macros.py` is automatic for newly-added items only if you wrote the rule list inline; for greenfield items, you'd write `$ref` directly.
+
+### Change a toggle's behavior
+
+1. Find the item in `pages/<page>.yaml`.
+2. Edit `visibility`/`enablement`/`options[].enablement` directly. Use macros where possible.
+3. **Add a regression test** in `sunnypilot/sunnylink/tests/test_settings_changes.py` that asserts the new gate exists. Use existing tests (e.g. `TestMadsBrandGates`, `TestNotEngagedReplacement`) as templates: lookup item by key, assert `_references_capability_field(rules, "...")` or `_flatten_rule_types(rules)` contains/excludes a type. This freezes the new behavior so a future edit won't silently revert it.
+4. Compile + run the full suite. Per-bug test should pass; structural tests should remain green.
+
+### Change a widget type or options
+
+Editing `widget:` from `toggle` to `multiple_button` is a frontend behavior change. Whenever you change widget shape:
+- The param's underlying type (bool / int / string) must match what the new widget writes. `toggle` writes bool; `multiple_button`/`option` write int/string. Update `params_keys.h` if the type changes.
+- Add an `options:` list when switching to `multiple_button` or `option`.
+- Old values stored on devices may not be valid for the new widget. Consider a migration in `sunnypilot/system/updated/` if users have stale values.
+
+### Deprecate or remove a setting
+
+1. Remove the item from `pages/<page>.yaml`.
+2. Remove the param key from `common/params_keys.h` **only after** confirming nothing in `selfdrive/`, `sunnypilot/`, or any controls code reads it.
+3. If the param has been on user devices, drop it via a migration (see `sunnypilot/system/updated/`) so stale values don't linger.
+4. Compile + validate + test. The validator's "no duplicate keys" + structural checks will fail if anything still references the removed key.
+
+### Move a setting to another page
+
+Cut the item block from one page YAML, paste into the target page's section. Compile + validate. The "no duplicate keys" check catches forgotten copies.
+
+### Change display text
+
+Edit `title:` or `description:` in the page YAML and recompile to regenerate `settings_ui.json`.
+
+### Reorder sections, sub-panels, and items
+
+Reorder them within their parent list in the YAML. The compiler preserves authored order — no `order:` field required at the section/sub_panel/item level (panel-level `order:` controls which page comes first in the side nav).
+
+---
+
+### Capability labels and tooltips
+
+The schema response includes `capability_labels`, which map capability field names to descriptions. The frontend uses these to show contextual tooltips when a capability rule prevents a setting from being used.
+
+The device defines these labels in `capabilities.py:CAPABILITY_LABELS`. Examples:
+
+- `has_longitudinal_control` → "sunnypilot longitudinal control"
+- `torque_allowed` → "torque steering (not available for angle steering vehicles)"
+- `brand` → "Vehicle brand"
+
+### Centralized param enforcement
+
+The device-side UI enforces capability constraints in `selfdrive/ui/sunnypilot/ui_state.py:_enforce_constraints()`, which removes incompatible params based on car capabilities. This is the single source of truth for such constraints.
+
+Settings layouts should not duplicate these params.remove() calls. Instead, rely on schema rules and centralized enforcement to prevent duplicate logic and ensure consistency.
+
+Example constraints in `_enforce_constraints()`:
+- Angle steering cars: remove `EnforceTorqueControl` and `NeuralNetworkLateralControl`
+- No CarParams: remove all car-dependent params
+- No longitudinal: remove `ExperimentalMode`
+- No ICBM: remove `IntelligentCruiseButtonManagement`
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index 41725883a8449e..83a0cec94ad7ba 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -1071,6 +1071,10 @@
     "title": "Panda Som Reset Triggered",
     "description": ""
   },
+  "ParamsVersion": {
+    "title": "Params Version",
+    "description": ""
+  },
   "PlanplusControl": {
     "title": "Plan Plus Controls",
     "description": "Adjust planplus model recentering strength. The higher this number the more aggressively the model will recover to lanecenter, too high and it will ping-pong",
diff --git a/sunnypilot/sunnylink/settings_ui.json b/sunnypilot/sunnylink/settings_ui.json
new file mode 100644
index 00000000000000..bfb2062385ba47
--- /dev/null
+++ b/sunnypilot/sunnylink/settings_ui.json
@@ -0,0 +1,2263 @@
+{
+  "$schema": "./settings_ui.schema.json",
+  "schema_version": "1.0",
+  "panels": [
+    {
+      "id": "steering",
+      "label": "Steering",
+      "icon": "steering_wheel",
+      "order": 1,
+      "remote_configurable": true,
+      "description": "Lateral control, lane changes, and steering behavior",
+      "sections": [
+        {
+          "id": "mads",
+          "title": "Modular Assistive Driving System (MADS)",
+          "description": "",
+          "items": [
+            {
+              "key": "Mads",
+              "widget": "toggle",
+              "title": "Enable Modular Assistive Driving System (MADS)",
+              "description": "Enable MADS. Disable toggle to revert back to stock sunnypilot engagement/disengagement.",
+              "enablement": [
+                {
+                  "type": "offroad_only"
+                }
+              ]
+            }
+          ],
+          "sub_panels": [
+            {
+              "id": "mads_settings",
+              "label": "MADS Settings",
+              "trigger_key": "Mads",
+              "trigger_condition": {
+                "type": "param",
+                "key": "Mads",
+                "equals": true
+              },
+              "items": [
+                {
+                  "key": "MadsMainCruiseAllowed",
+                  "widget": "toggle",
+                  "title": "Toggle with Main Cruise",
+                  "description": "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.",
+                  "enablement": [
+                    {
+                      "type": "offroad_only"
+                    },
+                    {
+                      "type": "not",
+                      "condition": {
+                        "type": "any",
+                        "conditions": [
+                          {
+                            "type": "capability",
+                            "field": "brand",
+                            "equals": "rivian"
+                          },
+                          {
+                            "type": "all",
+                            "conditions": [
+                              {
+                                "type": "capability",
+                                "field": "brand",
+                                "equals": "tesla"
+                              },
+                              {
+                                "type": "not",
+                                "condition": {
+                                  "type": "capability",
+                                  "field": "tesla_has_vehicle_bus",
+                                  "equals": true
+                                }
+                              }
+                            ]
+                          }
+                        ]
+                      }
+                    }
+                  ]
+                },
+                {
+                  "key": "MadsUnifiedEngagementMode",
+                  "widget": "toggle",
+                  "title": "Unified Engagement Mode (UEM)",
+                  "description": "Engage lateral and longitudinal control with cruise control engagement. Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.",
+                  "enablement": [
+                    {
+                      "type": "offroad_only"
+                    },
+                    {
+                      "type": "not",
+                      "condition": {
+                        "type": "any",
+                        "conditions": [
+                          {
+                            "type": "capability",
+                            "field": "brand",
+                            "equals": "rivian"
+                          },
+                          {
+                            "type": "all",
+                            "conditions": [
+                              {
+                                "type": "capability",
+                                "field": "brand",
+                                "equals": "tesla"
+                              },
+                              {
+                                "type": "not",
+                                "condition": {
+                                  "type": "capability",
+                                  "field": "tesla_has_vehicle_bus",
+                                  "equals": true
+                                }
+                              }
+                            ]
+                          }
+                        ]
+                      }
+                    }
+                  ]
+                },
+                {
+                  "key": "MadsSteeringMode",
+                  "widget": "multiple_button",
+                  "title": "Steering Mode on Brake Pedal",
+                  "description": "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.",
+                  "options": [
+                    {
+                      "value": 0,
+                      "label": "Remain Active",
+                      "enablement": [
+                        {
+                          "type": "not",
+                          "condition": {
+                            "type": "any",
+                            "conditions": [
+                              {
+                                "type": "capability",
+                                "field": "brand",
+                                "equals": "rivian"
+                              },
+                              {
+                                "type": "all",
+                                "conditions": [
+                                  {
+                                    "type": "capability",
+                                    "field": "brand",
+                                    "equals": "tesla"
+                                  },
+                                  {
+                                    "type": "not",
+                                    "condition": {
+                                      "type": "capability",
+                                      "field": "tesla_has_vehicle_bus",
+                                      "equals": true
+                                    }
+                                  }
+                                ]
+                              }
+                            ]
+                          }
+                        }
+                      ]
+                    },
+                    {
+                      "value": 1,
+                      "label": "Pause",
+                      "enablement": [
+                        {
+                          "type": "not",
+                          "condition": {
+                            "type": "any",
+                            "conditions": [
+                              {
+                                "type": "capability",
+                                "field": "brand",
+                                "equals": "rivian"
+                              },
+                              {
+                                "type": "all",
+                                "conditions": [
+                                  {
+                                    "type": "capability",
+                                    "field": "brand",
+                                    "equals": "tesla"
+                                  },
+                                  {
+                                    "type": "not",
+                                    "condition": {
+                                      "type": "capability",
+                                      "field": "tesla_has_vehicle_bus",
+                                      "equals": true
+                                    }
+                                  }
+                                ]
+                              }
+                            ]
+                          }
+                        }
+                      ]
+                    },
+                    {
+                      "value": 2,
+                      "label": "Disengage"
+                    }
+                  ],
+                  "enablement": [
+                    {
+                      "type": "offroad_only"
+                    }
+                  ]
+                }
+              ]
+            }
+          ]
+        },
+        {
+          "id": "blinker",
+          "title": "Blinker Control",
+          "description": "Lateral pause behavior during turn signals",
+          "items": [
+            {
+              "key": "BlinkerPauseLateralControl",
+              "widget": "toggle",
+              "title": "Pause Lateral Control with Blinker",
+              "description": "Pause lateral control with blinker when traveling below the desired speed selected.",
+              "sub_items": [
+                {
+                  "key": "BlinkerMinLateralControlSpeed",
+                  "widget": "option",
+                  "title": "Minimum Speed to Pause Lateral Control",
+                  "min": 0,
+                  "max": 255,
+                  "step": 5,
+                  "unit": {
+                    "metric": "km/h",
+                    "imperial": "mph"
+                  },
+                  "enablement": [
+                    {
+                      "type": "param",
+                      "key": "BlinkerPauseLateralControl",
+                      "equals": true
+                    }
+                  ]
+                },
+                {
+                  "key": "BlinkerLateralReengageDelay",
+                  "widget": "option",
+                  "title": "Post-Blinker Delay",
+                  "description": "Delay before lateral control resumes after the turn signal ends.",
+                  "min": 0,
+                  "max": 10,
+                  "step": 1,
+                  "unit": "second",
+                  "enablement": [
+                    {
+                      "type": "param",
+                      "key": "BlinkerPauseLateralControl",
+                      "equals": true
+                    }
+                  ]
+                }
+              ]
+            }
+          ]
+        },
+        {
+          "id": "torque",
+          "title": "Torque Control",
+          "description": "Steering torque tuning and lateral control method",
+          "enablement": [
+            {
+              "type": "capability",
+              "field": "torque_allowed",
+              "equals": true
+            }
+          ],
+          "items": [
+            {
+              "key": "EnforceTorqueControl",
+              "widget": "toggle",
+              "title": "Enforce Torque Lateral Control",
+              "description": "Enable this to enforce sunnypilot to steer with Torque lateral control.",
+              "visibility": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "capability",
+                    "field": "steer_control_type",
+                    "equals": "angle"
+                  }
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "offroad_only"
+                },
+                {
+                  "type": "capability",
+                  "field": "torque_allowed",
+                  "equals": true
+                },
+                {
+                  "type": "param",
+                  "key": "NeuralNetworkLateralControl",
+                  "equals": false
+                }
+              ]
+            }
+          ],
+          "sub_panels": [
+            {
+              "id": "torque_settings",
+              "label": "Torque Settings",
+              "trigger_key": "EnforceTorqueControl",
+              "trigger_condition": {
+                "type": "param",
+                "key": "EnforceTorqueControl",
+                "equals": true
+              },
+              "items": [
+                {
+                  "key": "LiveTorqueParamsToggle",
+                  "widget": "toggle",
+                  "title": "Self-Tune",
+                  "description": "Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.",
+                  "enablement": [
+                    {
+                      "type": "offroad_only"
+                    }
+                  ]
+                },
+                {
+                  "key": "LiveTorqueParamsRelaxedToggle",
+                  "widget": "toggle",
+                  "title": "Less Restrict Settings for Self-Tune (Beta)",
+                  "description": "Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.",
+                  "enablement": [
+                    {
+                      "type": "offroad_only"
+                    },
+                    {
+                      "type": "param",
+                      "key": "LiveTorqueParamsToggle",
+                      "equals": true
+                    }
+                  ]
+                },
+                {
+                  "key": "CustomTorqueParams",
+                  "widget": "toggle",
+                  "title": "Enable Custom Tuning",
+                  "description": "Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within \"opendbc/car/torque_data\". The values will also be used live when \"Manual Real-Time Tuning\" toggle is enabled.",
+                  "enablement": [
+                    {
+                      "type": "offroad_only"
+                    }
+                  ]
+                },
+                {
+                  "key": "TorqueParamsOverrideEnabled",
+                  "widget": "toggle",
+                  "title": "Manual Real-Time Tuning",
+                  "description": "Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.",
+                  "enablement": [
+                    {
+                      "type": "offroad_only"
+                    },
+                    {
+                      "type": "param",
+                      "key": "CustomTorqueParams",
+                      "equals": true
+                    }
+                  ]
+                },
+                {
+                  "key": "TorqueParamsOverrideLatAccelFactor",
+                  "widget": "option",
+                  "title": "Lateral Acceleration Factor",
+                  "title_param_suffix": {
+                    "param": "TorqueParamsOverrideEnabled",
+                    "values": {
+                      "true": "(Real-Time & Offline)",
+                      "false": "(Offline Only)"
+                    }
+                  },
+                  "min": 0.1,
+                  "max": 5.0,
+                  "step": 0.1,
+                  "unit": "m/s\u00b2",
+                  "enablement": [
+                    {
+                      "type": "param",
+                      "key": "CustomTorqueParams",
+                      "equals": true
+                    },
+                    {
+                      "type": "any",
+                      "conditions": [
+                        {
+                          "type": "param",
+                          "key": "TorqueParamsOverrideEnabled",
+                          "equals": true
+                        },
+                        {
+                          "type": "offroad_only"
+                        }
+                      ]
+                    }
+                  ]
+                },
+                {
+                  "key": "TorqueParamsOverrideFriction",
+                  "widget": "option",
+                  "title": "Friction",
+                  "title_param_suffix": {
+                    "param": "TorqueParamsOverrideEnabled",
+                    "values": {
+                      "true": "(Real-Time & Offline)",
+                      "false": "(Offline Only)"
+                    }
+                  },
+                  "min": 0.0,
+                  "max": 1.0,
+                  "step": 0.01,
+                  "enablement": [
+                    {
+                      "type": "param",
+                      "key": "CustomTorqueParams",
+                      "equals": true
+                    },
+                    {
+                      "type": "any",
+                      "conditions": [
+                        {
+                          "type": "param",
+                          "key": "TorqueParamsOverrideEnabled",
+                          "equals": true
+                        },
+                        {
+                          "type": "offroad_only"
+                        }
+                      ]
+                    }
+                  ]
+                },
+                {
+                  "key": "TorqueControlTune",
+                  "widget": "multiple_button",
+                  "title": "Torque Control Tune Version",
+                  "description": "Select the version of Torque Control Tune to use.",
+                  "options": [
+                    {
+                      "value": "",
+                      "label": "Default"
+                    },
+                    {
+                      "value": 1.0,
+                      "label": "v1.0"
+                    },
+                    {
+                      "value": 0.0,
+                      "label": "v0.0"
+                    }
+                  ],
+                  "enablement": [
+                    {
+                      "type": "offroad_only"
+                    }
+                  ]
+                }
+              ]
+            }
+          ]
+        },
+        {
+          "id": "lane_change",
+          "title": "Lane Change",
+          "description": "Automatic lane change timing and behavior",
+          "items": [
+            {
+              "key": "AutoLaneChangeTimer",
+              "widget": "option",
+              "title": "Auto Lane Change by Blinker",
+              "description": "Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.",
+              "details": "Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.",
+              "options": [
+                {
+                  "value": -1,
+                  "label": "Off"
+                },
+                {
+                  "value": 0,
+                  "label": "Nudge"
+                },
+                {
+                  "value": 1,
+                  "label": "Nudgeless"
+                },
+                {
+                  "value": 2,
+                  "label": "0.5 second"
+                },
+                {
+                  "value": 3,
+                  "label": "1 second"
+                },
+                {
+                  "value": 4,
+                  "label": "2 seconds"
+                },
+                {
+                  "value": 5,
+                  "label": "3 seconds"
+                }
+              ]
+            },
+            {
+              "key": "AutoLaneChangeBsmDelay",
+              "widget": "toggle",
+              "title": "Auto Lane Change: Delay with Blind Spot",
+              "description": "Toggle to enable a delay timer for lane changes when blind spot monitoring (BSM) detects a vehicle in your blind spot.",
+              "enablement": [
+                {
+                  "type": "capability",
+                  "field": "enable_bsm",
+                  "equals": true
+                },
+                {
+                  "type": "param_compare",
+                  "key": "AutoLaneChangeTimer",
+                  "op": ">",
+                  "value": 0
+                }
+              ]
+            }
+          ]
+        }
+      ]
+    },
+    {
+      "id": "cruise",
+      "label": "Cruise",
+      "icon": "cruise_control",
+      "order": 2,
+      "remote_configurable": true,
+      "description": "Longitudinal control, speed limits, and cruise behavior",
+      "sections": [
+        {
+          "id": "core_cruise_features",
+          "title": "",
+          "description": "",
+          "items": [
+            {
+              "key": "ExperimentalMode",
+              "widget": "toggle",
+              "title": "Experimental Mode",
+              "enablement": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                }
+              ]
+            },
+            {
+              "key": "DynamicExperimentalControl",
+              "widget": "toggle",
+              "title": "Dynamic Experimental Control",
+              "description": "Let the model decide when to use sunnypilot ACC or sunnypilot End to End Longitudinal.",
+              "visibility": [
+                {
+                  "type": "any",
+                  "conditions": [
+                    {
+                      "type": "capability",
+                      "field": "has_longitudinal_control",
+                      "equals": true
+                    },
+                    {
+                      "type": "capability",
+                      "field": "has_icbm",
+                      "equals": true
+                    }
+                  ]
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                }
+              ]
+            },
+            {
+              "key": "DisengageOnAccelerator",
+              "widget": "toggle",
+              "title": "Disengage Cruise on Accelerator Pedal",
+              "description": "When enabled, pressing the accelerator pedal will disengage longitudinal control."
+            },
+            {
+              "key": "LongitudinalPersonality",
+              "widget": "multiple_button",
+              "title": "Driving Personality",
+              "description": "Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.",
+              "options": [
+                {
+                  "value": 0,
+                  "label": "Aggressive"
+                },
+                {
+                  "value": 1,
+                  "label": "Standard"
+                },
+                {
+                  "value": 2,
+                  "label": "Relaxed"
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                }
+              ]
+            },
+            {
+              "key": "IntelligentCruiseButtonManagement",
+              "widget": "toggle",
+              "title": "Intelligent Cruise Button Management (ICBM) (Alpha)",
+              "visibility": [
+                {
+                  "type": "capability",
+                  "field": "icbm_available",
+                  "equals": true
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "offroad_only"
+                },
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "capability",
+                    "field": "has_longitudinal_control",
+                    "equals": true
+                  }
+                }
+              ]
+            }
+          ]
+        },
+        {
+          "id": "custom_acc_increments",
+          "title": "Custom ACC Speed Intervals",
+          "description": "",
+          "enablement": [
+            {
+              "type": "offroad_only"
+            },
+            {
+              "type": "any",
+              "conditions": [
+                {
+                  "type": "all",
+                  "conditions": [
+                    {
+                      "type": "capability",
+                      "field": "has_longitudinal_control",
+                      "equals": true
+                    },
+                    {
+                      "type": "not",
+                      "condition": {
+                        "type": "capability",
+                        "field": "pcm_cruise",
+                        "equals": true
+                      }
+                    }
+                  ]
+                },
+                {
+                  "type": "capability",
+                  "field": "has_icbm",
+                  "equals": true
+                }
+              ]
+            }
+          ],
+          "items": [
+            {
+              "key": "CustomAccIncrementsEnabled",
+              "widget": "toggle",
+              "title": "Enable Custom ACC Speed Intervals",
+              "enablement": [
+                {
+                  "type": "offroad_only"
+                },
+                {
+                  "type": "any",
+                  "conditions": [
+                    {
+                      "type": "all",
+                      "conditions": [
+                        {
+                          "type": "capability",
+                          "field": "has_longitudinal_control",
+                          "equals": true
+                        },
+                        {
+                          "type": "not",
+                          "condition": {
+                            "type": "capability",
+                            "field": "pcm_cruise",
+                            "equals": true
+                          }
+                        }
+                      ]
+                    },
+                    {
+                      "type": "capability",
+                      "field": "has_icbm",
+                      "equals": true
+                    }
+                  ]
+                }
+              ]
+            }
+          ],
+          "sub_panels": [
+            {
+              "id": "custom_acc_intervals",
+              "label": "Custom ACC Speed Intervals Settings",
+              "trigger_key": "CustomAccIncrementsEnabled",
+              "trigger_condition": {
+                "type": "param",
+                "key": "CustomAccIncrementsEnabled",
+                "equals": true
+              },
+              "items": [
+                {
+                  "key": "CustomAccShortPressIncrement",
+                  "widget": "option",
+                  "title": "Short Press Increment",
+                  "min": 1,
+                  "max": 10,
+                  "step": 1,
+                  "enablement": [
+                    {
+                      "type": "param",
+                      "key": "CustomAccIncrementsEnabled",
+                      "equals": true
+                    }
+                  ]
+                },
+                {
+                  "key": "CustomAccLongPressIncrement",
+                  "widget": "option",
+                  "title": "Long Press Increment",
+                  "min": 1,
+                  "max": 10,
+                  "step": 1,
+                  "enablement": [
+                    {
+                      "type": "param",
+                      "key": "CustomAccIncrementsEnabled",
+                      "equals": true
+                    }
+                  ]
+                }
+              ]
+            }
+          ]
+        },
+        {
+          "id": "speed_limits",
+          "title": "Speed Limits",
+          "description": "Speed limit detection and offset behavior",
+          "items": [],
+          "sub_panels": [
+            {
+              "id": "speed_limit_settings",
+              "label": "Speed Limit Settings",
+              "trigger_key": "SpeedLimitMode",
+              "items": [
+                {
+                  "key": "SpeedLimitMode",
+                  "widget": "multiple_button",
+                  "title": "Speed Limit Assist Mode",
+                  "options": [
+                    {
+                      "value": 0,
+                      "label": "Off"
+                    },
+                    {
+                      "value": 1,
+                      "label": "Information"
+                    },
+                    {
+                      "value": 2,
+                      "label": "Warning"
+                    },
+                    {
+                      "value": 3,
+                      "label": "Assist",
+                      "enablement": [
+                        {
+                          "type": "any",
+                          "conditions": [
+                            {
+                              "type": "capability",
+                              "field": "has_longitudinal_control",
+                              "equals": true
+                            },
+                            {
+                              "type": "capability",
+                              "field": "has_icbm",
+                              "equals": true
+                            }
+                          ]
+                        },
+                        {
+                          "type": "not",
+                          "condition": {
+                            "type": "capability",
+                            "field": "brand",
+                            "equals": "rivian"
+                          }
+                        },
+                        {
+                          "type": "not",
+                          "condition": {
+                            "type": "all",
+                            "conditions": [
+                              {
+                                "type": "capability",
+                                "field": "brand",
+                                "equals": "tesla"
+                              },
+                              {
+                                "type": "capability",
+                                "field": "is_sp_release",
+                                "equals": true
+                              }
+                            ]
+                          }
+                        }
+                      ]
+                    }
+                  ]
+                },
+                {
+                  "key": "SpeedLimitPolicy",
+                  "widget": "multiple_button",
+                  "title": "Speed Limit Source",
+                  "options": [
+                    {
+                      "value": 0,
+                      "label": "Car State Only"
+                    },
+                    {
+                      "value": 1,
+                      "label": "Map Data Only"
+                    },
+                    {
+                      "value": 2,
+                      "label": "Car State Priority"
+                    },
+                    {
+                      "value": 3,
+                      "label": "Map Data Priority"
+                    },
+                    {
+                      "value": 4,
+                      "label": "Combined"
+                    }
+                  ]
+                },
+                {
+                  "key": "SpeedLimitOffsetType",
+                  "widget": "multiple_button",
+                  "title": "Speed Limit Offset Type",
+                  "options": [
+                    {
+                      "value": 0,
+                      "label": "Off"
+                    },
+                    {
+                      "value": 1,
+                      "label": "Fixed"
+                    },
+                    {
+                      "value": 2,
+                      "label": "Percentage"
+                    }
+                  ]
+                },
+                {
+                  "key": "SpeedLimitValueOffset",
+                  "widget": "option",
+                  "title": "Speed Limit Offset Value",
+                  "min": -30,
+                  "max": 30,
+                  "step": 1,
+                  "unit": {
+                    "metric": "km/h",
+                    "imperial": "mph"
+                  },
+                  "visibility": [
+                    {
+                      "type": "param_compare",
+                      "key": "SpeedLimitOffsetType",
+                      "op": ">",
+                      "value": 0
+                    }
+                  ]
+                }
+              ]
+            }
+          ]
+        },
+        {
+          "id": "smart_cruise",
+          "title": "Smart Cruise Control",
+          "description": "",
+          "enablement": [
+            {
+              "type": "any",
+              "conditions": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                },
+                {
+                  "type": "capability",
+                  "field": "has_icbm",
+                  "equals": true
+                }
+              ]
+            }
+          ],
+          "items": [
+            {
+              "key": "SmartCruiseControlVision",
+              "widget": "toggle",
+              "title": "Vision",
+              "description": "Use vision path predictions to estimate the appropriate speed to drive through turns ahead.",
+              "visibility": [
+                {
+                  "type": "any",
+                  "conditions": [
+                    {
+                      "type": "capability",
+                      "field": "has_longitudinal_control",
+                      "equals": true
+                    },
+                    {
+                      "type": "capability",
+                      "field": "has_icbm",
+                      "equals": true
+                    }
+                  ]
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "any",
+                  "conditions": [
+                    {
+                      "type": "capability",
+                      "field": "has_longitudinal_control",
+                      "equals": true
+                    },
+                    {
+                      "type": "capability",
+                      "field": "has_icbm",
+                      "equals": true
+                    }
+                  ]
+                }
+              ]
+            },
+            {
+              "key": "SmartCruiseControlMap",
+              "widget": "toggle",
+              "title": "Map",
+              "description": "Use map data to estimate the appropriate speed to drive through turns ahead.",
+              "visibility": [
+                {
+                  "type": "any",
+                  "conditions": [
+                    {
+                      "type": "capability",
+                      "field": "has_longitudinal_control",
+                      "equals": true
+                    },
+                    {
+                      "type": "capability",
+                      "field": "has_icbm",
+                      "equals": true
+                    }
+                  ]
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "any",
+                  "conditions": [
+                    {
+                      "type": "capability",
+                      "field": "has_longitudinal_control",
+                      "equals": true
+                    },
+                    {
+                      "type": "capability",
+                      "field": "has_icbm",
+                      "equals": true
+                    }
+                  ]
+                }
+              ]
+            }
+          ]
+        }
+      ]
+    },
+    {
+      "id": "display",
+      "label": "Display",
+      "icon": "display",
+      "order": 3,
+      "remote_configurable": true,
+      "description": "Screen brightness, timeout, and interactivity settings",
+      "sections": [
+        {
+          "id": "brightness_timeout",
+          "title": "Brightness & Timeout",
+          "description": "Screen dimming and sleep behavior while driving",
+          "items": [
+            {
+              "key": "OnroadScreenOffBrightness",
+              "widget": "multiple_button",
+              "title": "Onroad Brightness",
+              "options": [
+                {
+                  "value": 0,
+                  "label": "Auto (Default)"
+                },
+                {
+                  "value": 1,
+                  "label": "Auto (Dark)"
+                },
+                {
+                  "value": 2,
+                  "label": "Screen Off"
+                },
+                {
+                  "value": 3,
+                  "label": "5 %"
+                },
+                {
+                  "value": 4,
+                  "label": "10 %"
+                },
+                {
+                  "value": 5,
+                  "label": "15 %"
+                },
+                {
+                  "value": 6,
+                  "label": "20 %"
+                },
+                {
+                  "value": 7,
+                  "label": "25 %"
+                },
+                {
+                  "value": 8,
+                  "label": "30 %"
+                },
+                {
+                  "value": 9,
+                  "label": "35 %"
+                },
+                {
+                  "value": 10,
+                  "label": "40 %"
+                },
+                {
+                  "value": 11,
+                  "label": "45 %"
+                },
+                {
+                  "value": 12,
+                  "label": "50 %"
+                },
+                {
+                  "value": 13,
+                  "label": "55 %"
+                },
+                {
+                  "value": 14,
+                  "label": "60 %"
+                },
+                {
+                  "value": 15,
+                  "label": "65 %"
+                },
+                {
+                  "value": 16,
+                  "label": "70 %"
+                },
+                {
+                  "value": 17,
+                  "label": "75 %"
+                },
+                {
+                  "value": 18,
+                  "label": "80 %"
+                },
+                {
+                  "value": 19,
+                  "label": "85 %"
+                },
+                {
+                  "value": 20,
+                  "label": "90 %"
+                },
+                {
+                  "value": 21,
+                  "label": "95 %"
+                },
+                {
+                  "value": 22,
+                  "label": "100 %"
+                }
+              ]
+            },
+            {
+              "key": "OnroadScreenOffTimer",
+              "widget": "multiple_button",
+              "title": "Onroad Brightness Delay",
+              "options": [
+                {
+                  "value": 0,
+                  "label": "Always On"
+                },
+                {
+                  "value": 3,
+                  "label": "3s"
+                },
+                {
+                  "value": 5,
+                  "label": "5s"
+                },
+                {
+                  "value": 10,
+                  "label": "10s"
+                },
+                {
+                  "value": 15,
+                  "label": "15s"
+                },
+                {
+                  "value": 30,
+                  "label": "30s"
+                },
+                {
+                  "value": 60,
+                  "label": "1m"
+                },
+                {
+                  "value": 180,
+                  "label": "3m"
+                },
+                {
+                  "value": 300,
+                  "label": "5m"
+                },
+                {
+                  "value": 600,
+                  "label": "10m"
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "any",
+                    "conditions": [
+                      {
+                        "type": "param",
+                        "key": "OnroadScreenOffBrightness",
+                        "equals": 0
+                      },
+                      {
+                        "type": "param",
+                        "key": "OnroadScreenOffBrightness",
+                        "equals": 1
+                      }
+                    ]
+                  }
+                }
+              ]
+            },
+            {
+              "key": "InteractivityTimeout",
+              "widget": "multiple_button",
+              "title": "Interactivity Timeout",
+              "description": "Apply a custom timeout for settings UI. This is the time after which settings UI closes automatically if user is not interacting with the screen.",
+              "options": [
+                {
+                  "value": 0,
+                  "label": "Default"
+                },
+                {
+                  "value": 10,
+                  "label": "10 s"
+                },
+                {
+                  "value": 20,
+                  "label": "20 s"
+                },
+                {
+                  "value": 30,
+                  "label": "30 s"
+                },
+                {
+                  "value": 40,
+                  "label": "40 s"
+                },
+                {
+                  "value": 50,
+                  "label": "50 s"
+                },
+                {
+                  "value": 60,
+                  "label": "1 m"
+                },
+                {
+                  "value": 70,
+                  "label": "1 m"
+                },
+                {
+                  "value": 80,
+                  "label": "1 m"
+                },
+                {
+                  "value": 90,
+                  "label": "1 m"
+                },
+                {
+                  "value": 100,
+                  "label": "1 m"
+                },
+                {
+                  "value": 110,
+                  "label": "1 m"
+                },
+                {
+                  "value": 120,
+                  "label": "2 m"
+                }
+              ]
+            }
+          ]
+        }
+      ]
+    },
+    {
+      "id": "visuals",
+      "label": "Visuals",
+      "icon": "visuals",
+      "order": 4,
+      "remote_configurable": true,
+      "description": "HUD overlays, alerts, and on-screen display elements",
+      "sections": [
+        {
+          "id": "hud_elements",
+          "title": "HUD Elements",
+          "description": "Overlays shown on the driving screen",
+          "items": [
+            {
+              "key": "BlindSpot",
+              "widget": "toggle",
+              "title": "Show Blind Spot Warnings",
+              "description": "Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported."
+            },
+            {
+              "key": "TorqueBar",
+              "widget": "toggle",
+              "title": "Steering Arc",
+              "description": "Display steering arc on the driving screen when lateral control is enabled."
+            },
+            {
+              "key": "ShowTurnSignals",
+              "widget": "toggle",
+              "title": "Display Turn Signals",
+              "description": "When enabled, visual turn indicators are drawn on the HUD."
+            },
+            {
+              "key": "RoadNameToggle",
+              "widget": "toggle",
+              "title": "Display Road Name",
+              "description": "Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded to fetch the road name.",
+              "visibility": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "capability",
+                    "field": "device_type",
+                    "equals": "mici"
+                  }
+                }
+              ]
+            },
+            {
+              "key": "StandstillTimer",
+              "widget": "toggle",
+              "title": "Standstill Timer",
+              "description": "Show a timer on the HUD when the car is at a standstill.",
+              "visibility": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "capability",
+                    "field": "device_type",
+                    "equals": "mici"
+                  }
+                }
+              ]
+            },
+            {
+              "key": "RocketFuel",
+              "widget": "toggle",
+              "title": "Real-time Acceleration Bar",
+              "description": "Show an indicator on the left side of the screen to display real-time vehicle acceleration and deceleration. This displays what the car is currently doing, not what the planner is requesting.",
+              "visibility": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "capability",
+                    "field": "device_type",
+                    "equals": "mici"
+                  }
+                }
+              ]
+            },
+            {
+              "key": "ChevronInfo",
+              "widget": "option",
+              "title": "Display Metrics Below Chevron",
+              "options": [
+                {
+                  "value": 0,
+                  "label": "Off"
+                },
+                {
+                  "value": 1,
+                  "label": "Distance"
+                },
+                {
+                  "value": 2,
+                  "label": "Speed"
+                },
+                {
+                  "value": 3,
+                  "label": "Time"
+                },
+                {
+                  "value": 4,
+                  "label": "All"
+                }
+              ],
+              "visibility": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "capability",
+                    "field": "device_type",
+                    "equals": "mici"
+                  }
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                }
+              ]
+            }
+          ]
+        },
+        {
+          "id": "developer_ui",
+          "title": "Developer UI Info",
+          "description": "Speedometer and debug display options",
+          "visibility": [
+            {
+              "type": "not",
+              "condition": {
+                "type": "capability",
+                "field": "device_type",
+                "equals": "mici"
+              }
+            }
+          ],
+          "items": [
+            {
+              "key": "DevUIInfo",
+              "widget": "option",
+              "title": "Developer UI",
+              "description": "Display real-time parameters and metrics from various sources.",
+              "options": [
+                {
+                  "value": 0,
+                  "label": "Off"
+                },
+                {
+                  "value": 1,
+                  "label": "Bottom"
+                },
+                {
+                  "value": 2,
+                  "label": "Right"
+                },
+                {
+                  "value": 3,
+                  "label": "Right & Bottom"
+                }
+              ]
+            },
+            {
+              "key": "TrueVEgoUI",
+              "widget": "toggle",
+              "title": "Speedometer: Always Display True Speed",
+              "description": "For applicable vehicles, always display the true vehicle current speed from wheel speed sensors."
+            },
+            {
+              "key": "HideVEgoUI",
+              "widget": "toggle",
+              "title": "Speedometer: Hide from Onroad Screen",
+              "description": "When enabled, the speedometer on the onroad screen is not displayed."
+            }
+          ]
+        },
+        {
+          "id": "alerts_extras",
+          "title": "Alerts & Extras",
+          "description": "Traffic light alerts and visual flair",
+          "items": [
+            {
+              "key": "GreenLightAlert",
+              "widget": "toggle",
+              "title": "Green Traffic Light Alert (Beta)",
+              "description": "A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you. On-screen visual alert is only available on comma 3X. Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly."
+            },
+            {
+              "key": "LeadDepartAlert",
+              "widget": "toggle",
+              "title": "Lead Departure Alert (Beta)",
+              "description": "A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving. On-screen visual alert is only available on comma 3X. Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly."
+            },
+            {
+              "key": "RainbowMode",
+              "widget": "toggle",
+              "title": "Tesla Rainbow Mode",
+              "description": "Display a rainbow effect on the path the model wants to take. It does not affect driving in any way."
+            }
+          ]
+        }
+      ]
+    },
+    {
+      "id": "toggles",
+      "label": "Toggles",
+      "icon": "toggles",
+      "order": 5,
+      "remote_configurable": true,
+      "description": "Core openpilot feature toggles",
+      "sections": [
+        {
+          "id": "core_toggles",
+          "title": "",
+          "description": "",
+          "items": [
+            {
+              "key": "OpenpilotEnabledToggle",
+              "widget": "toggle",
+              "needs_onroad_cycle": true,
+              "title": "Enable sunnypilot",
+              "description": "Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.",
+              "enablement": [
+                {
+                  "type": "offroad_only"
+                }
+              ]
+            },
+            {
+              "key": "IsLdwEnabled",
+              "widget": "toggle",
+              "title": "Enable Lane Departure Warnings",
+              "description": "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."
+            },
+            {
+              "key": "AlwaysOnDM",
+              "widget": "toggle",
+              "title": "Always-On Driver Monitoring",
+              "description": "Enable driver monitoring even when sunnypilot is not engaged."
+            },
+            {
+              "key": "IsMetric",
+              "widget": "toggle",
+              "title": "Use Metric System",
+              "description": "Display speed in km/h instead of mph."
+            }
+          ]
+        },
+        {
+          "id": "recording",
+          "title": "Recording",
+          "description": "Camera and audio recording during drives",
+          "items": [
+            {
+              "key": "RecordFront",
+              "widget": "toggle",
+              "needs_onroad_cycle": true,
+              "title": "Record and Upload Driver Camera",
+              "description": "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+            },
+            {
+              "key": "RecordAudio",
+              "widget": "toggle",
+              "needs_onroad_cycle": true,
+              "title": "Record and Upload Microphone Audio",
+              "description": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+            }
+          ]
+        }
+      ]
+    },
+    {
+      "id": "device",
+      "label": "Device",
+      "icon": "device",
+      "order": 6,
+      "remote_configurable": true,
+      "description": "Device behavior, units, and recording settings",
+      "sections": [
+        {
+          "id": "general",
+          "title": "General",
+          "description": "Power, boot, and unit preferences",
+          "items": [
+            {
+              "key": "OffroadMode",
+              "widget": "toggle",
+              "title": "Force Offroad Mode"
+            },
+            {
+              "key": "DeviceBootMode",
+              "widget": "option",
+              "title": "Wake Up Behavior",
+              "description": "Controls state of the device after boot/sleep. Default: Device will boot/wake-up normally and will be ready to engage. Offroad: Device will be in Always Offroad mode after boot/wake-up.",
+              "options": [
+                {
+                  "value": 0,
+                  "label": "Standard"
+                },
+                {
+                  "value": 1,
+                  "label": "Always Offroad"
+                }
+              ]
+            },
+            {
+              "key": "QuietMode",
+              "widget": "toggle",
+              "title": "Quiet Mode"
+            },
+            {
+              "key": "OnroadUploads",
+              "widget": "toggle",
+              "title": "Onroad Uploads"
+            },
+            {
+              "key": "MaxTimeOffroad",
+              "widget": "option",
+              "title": "Max Time Offroad",
+              "description": "Device will automatically shutdown after set time once the engine is turned off. 30h is the default.",
+              "options": [
+                {
+                  "value": 0,
+                  "label": "Always On"
+                },
+                {
+                  "value": 1,
+                  "label": "5m"
+                },
+                {
+                  "value": 2,
+                  "label": "10m"
+                },
+                {
+                  "value": 3,
+                  "label": "15m"
+                },
+                {
+                  "value": 4,
+                  "label": "30m"
+                },
+                {
+                  "value": 5,
+                  "label": "1h"
+                },
+                {
+                  "value": 6,
+                  "label": "2h"
+                },
+                {
+                  "value": 7,
+                  "label": "3h"
+                },
+                {
+                  "value": 8,
+                  "label": "5h"
+                },
+                {
+                  "value": 9,
+                  "label": "10h"
+                },
+                {
+                  "value": 10,
+                  "label": "24h"
+                },
+                {
+                  "value": 11,
+                  "label": "30h (Default)"
+                }
+              ]
+            }
+          ]
+        },
+        {
+          "id": "language",
+          "title": "Language",
+          "items": [
+            {
+              "key": "LanguageSetting",
+              "widget": "info",
+              "title": "Language"
+            }
+          ]
+        }
+      ]
+    },
+    {
+      "id": "software",
+      "label": "Software",
+      "icon": "software",
+      "order": 7,
+      "remote_configurable": true,
+      "description": "Software update preferences",
+      "sections": [
+        {
+          "id": "updates",
+          "title": "Updates",
+          "description": "Control automatic software updates",
+          "items": [
+            {
+              "key": "DisableUpdates",
+              "widget": "toggle",
+              "title": "Disable Updates",
+              "description": "When enabled, automatic software updates will be off. This requires a reboot to take effect.",
+              "enablement": [
+                {
+                  "type": "offroad_only"
+                },
+                {
+                  "type": "param",
+                  "key": "ShowAdvancedControls",
+                  "equals": true
+                }
+              ]
+            }
+          ]
+        }
+      ]
+    },
+    {
+      "id": "developer",
+      "label": "Developer",
+      "icon": "developer",
+      "order": 9,
+      "remote_configurable": true,
+      "description": "Debug tools, remote access, and advanced services",
+      "sections": [
+        {
+          "id": "connectivity",
+          "title": "Connectivity",
+          "description": "Remote access and debugging interfaces",
+          "items": [
+            {
+              "key": "AdbEnabled",
+              "widget": "toggle",
+              "blocked": true,
+              "title": "Enable ADB",
+              "description": "ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.",
+              "enablement": [
+                {
+                  "type": "offroad_only"
+                }
+              ]
+            },
+            {
+              "key": "SshEnabled",
+              "widget": "toggle",
+              "blocked": true,
+              "title": "Enable SSH"
+            },
+            {
+              "key": "JoystickDebugMode",
+              "widget": "toggle",
+              "title": "Joystick Debug Mode",
+              "visibility": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "any",
+                    "conditions": [
+                      {
+                        "type": "capability",
+                        "field": "is_release",
+                        "equals": true
+                      },
+                      {
+                        "type": "capability",
+                        "field": "is_sp_release",
+                        "equals": true
+                      }
+                    ]
+                  }
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "offroad_only"
+                }
+              ]
+            },
+            {
+              "key": "AlphaLongitudinalEnabled",
+              "widget": "toggle",
+              "needs_onroad_cycle": true,
+              "title": "sunnypilot Longitudinal Control (Alpha)",
+              "description": "WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha. Changing this setting will restart sunnypilot if the car is powered on.",
+              "visibility": [
+                {
+                  "type": "all",
+                  "conditions": [
+                    {
+                      "type": "capability",
+                      "field": "alpha_long_available",
+                      "equals": true
+                    },
+                    {
+                      "type": "not",
+                      "condition": {
+                        "type": "any",
+                        "conditions": [
+                          {
+                            "type": "capability",
+                            "field": "is_release",
+                            "equals": true
+                          },
+                          {
+                            "type": "capability",
+                            "field": "is_sp_release",
+                            "equals": true
+                          }
+                        ]
+                      }
+                    }
+                  ]
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "not_engaged"
+                }
+              ]
+            },
+            {
+              "key": "ShowDebugInfo",
+              "widget": "toggle",
+              "title": "UI Debug Mode"
+            }
+          ]
+        },
+        {
+          "id": "test_maneuvers",
+          "title": "Test Maneuvers",
+          "description": "DANGER: enabling these maneuvers replaces normal driving behavior with deterministic test sequences. Each toggle requires explicit confirmation per write. Use only in a closed environment.",
+          "visibility": [
+            {
+              "type": "any",
+              "conditions": [
+                {
+                  "type": "capability",
+                  "field": "is_development",
+                  "equals": true
+                },
+                {
+                  "type": "capability",
+                  "field": "is_sp_release",
+                  "equals": true
+                }
+              ]
+            }
+          ],
+          "enablement": [
+            {
+              "type": "any",
+              "conditions": [
+                {
+                  "type": "capability",
+                  "field": "is_development",
+                  "equals": true
+                },
+                {
+                  "type": "param",
+                  "key": "ShowAdvancedControls",
+                  "equals": true
+                }
+              ]
+            }
+          ],
+          "attestation_required": true,
+          "items": [
+            {
+              "key": "LateralManeuverMode",
+              "widget": "toggle",
+              "title": "[TEST] Lateral Maneuver Mode",
+              "description": "Replaces normal lateral control with a deterministic test sequence. NOT for road use.",
+              "enablement": [
+                {
+                  "type": "not_engaged"
+                },
+                {
+                  "type": "capability",
+                  "field": "torque_allowed",
+                  "equals": true
+                }
+              ]
+            },
+            {
+              "key": "LongitudinalManeuverMode",
+              "widget": "toggle",
+              "title": "[TEST] Longitudinal Maneuver Mode",
+              "description": "Replaces normal longitudinal control with a deterministic test sequence. NOT for road use.",
+              "enablement": [
+                {
+                  "type": "not_engaged"
+                },
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                }
+              ]
+            }
+          ]
+        },
+        {
+          "id": "advanced_services",
+          "title": "Advanced Settings",
+          "description": "",
+          "items": [
+            {
+              "key": "ShowAdvancedControls",
+              "widget": "toggle",
+              "title": "Show Advanced Controls",
+              "description": "Toggle visibility of advanced sunnypilot controls. This only changes the visibility of the toggles; it does not change the actual enabled/disabled state."
+            },
+            {
+              "key": "EnableGithubRunner",
+              "widget": "toggle",
+              "title": "GitHub Runner Service",
+              "description": "Enables or disables the GitHub runner service.",
+              "visibility": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "any",
+                    "conditions": [
+                      {
+                        "type": "capability",
+                        "field": "is_release",
+                        "equals": true
+                      },
+                      {
+                        "type": "capability",
+                        "field": "is_sp_release",
+                        "equals": true
+                      }
+                    ]
+                  }
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "param",
+                  "key": "ShowAdvancedControls",
+                  "equals": true
+                }
+              ]
+            },
+            {
+              "key": "EnableCopyparty",
+              "widget": "toggle",
+              "title": "copyparty Service",
+              "description": "copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via its IP address.",
+              "enablement": [
+                {
+                  "type": "param",
+                  "key": "ShowAdvancedControls",
+                  "equals": true
+                }
+              ]
+            },
+            {
+              "key": "QuickBootToggle",
+              "widget": "toggle",
+              "title": "Quickboot Mode",
+              "visibility": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "any",
+                    "conditions": [
+                      {
+                        "type": "capability",
+                        "field": "is_release",
+                        "equals": true
+                      },
+                      {
+                        "type": "capability",
+                        "field": "is_sp_release",
+                        "equals": true
+                      },
+                      {
+                        "type": "capability",
+                        "field": "is_development",
+                        "equals": true
+                      }
+                    ]
+                  }
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "param",
+                  "key": "DisableUpdates",
+                  "equals": true
+                },
+                {
+                  "type": "param",
+                  "key": "ShowAdvancedControls",
+                  "equals": true
+                }
+              ]
+            }
+          ]
+        }
+      ]
+    },
+    {
+      "id": "models",
+      "label": "Models",
+      "icon": "models",
+      "order": 10,
+      "remote_configurable": false,
+      "description": "Driving model behavior and camera calibration",
+      "sections": [
+        {
+          "id": "model_behavior",
+          "title": "Model Behavior",
+          "description": "Lane desire and lead-vehicle awareness tuning",
+          "items": [
+            {
+              "key": "LaneTurnDesire",
+              "widget": "toggle",
+              "title": "Use Lane Turn Desires",
+              "description": "If you are driving at 20 mph (32 km/h) or below and have your blinker on, the car will plan a turn in that direction at the nearest drivable path. This prevents situations (like at red lights) where the car might plan the wrong turn direction."
+            },
+            {
+              "key": "LaneTurnValue",
+              "widget": "option",
+              "title": "Adjust Lane Turn Speed",
+              "description": "Set the maximum speed for lane turn desires.",
+              "min": 0,
+              "max": 20,
+              "step": 1,
+              "unit": {
+                "metric": "km/h",
+                "imperial": "mph"
+              },
+              "enablement": [
+                {
+                  "type": "param",
+                  "key": "LaneTurnDesire",
+                  "equals": true
+                },
+                {
+                  "type": "param",
+                  "key": "ShowAdvancedControls",
+                  "equals": true
+                }
+              ]
+            },
+            {
+              "key": "LagdToggle",
+              "widget": "toggle",
+              "title": "Live Learning Steer Delay",
+              "description": "Allow device to learn and adapt car's steering response time"
+            },
+            {
+              "key": "LagdToggleDelay",
+              "widget": "option",
+              "title": "Adjust Software Delay",
+              "description": "Adjust the software delay when Live Learning Steer Delay is toggled off. The default software delay value is 0.2",
+              "min": 0.05,
+              "max": 0.5,
+              "step": 0.01,
+              "enablement": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "param",
+                    "key": "LagdToggle",
+                    "equals": true
+                  }
+                },
+                {
+                  "type": "param",
+                  "key": "ShowAdvancedControls",
+                  "equals": true
+                }
+              ]
+            }
+          ]
+        },
+        {
+          "id": "lateral_control",
+          "title": "Lateral Control",
+          "description": "Neural network lateral control for supported models",
+          "items": [
+            {
+              "key": "NeuralNetworkLateralControl",
+              "widget": "toggle",
+              "title": "Neural Network Lateral Control (NNLC)",
+              "description": "Use a neural network for lateral control instead of the default torque controller.",
+              "visibility": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "capability",
+                    "field": "steer_control_type",
+                    "equals": "angle"
+                  }
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "offroad_only"
+                },
+                {
+                  "type": "capability",
+                  "field": "torque_allowed",
+                  "equals": true
+                },
+                {
+                  "type": "param",
+                  "key": "EnforceTorqueControl",
+                  "equals": false
+                }
+              ]
+            }
+          ]
+        },
+        {
+          "id": "camera",
+          "title": "Camera",
+          "description": "Camera position and calibration",
+          "items": [
+            {
+              "key": "CameraOffset",
+              "widget": "option",
+              "title": "Adjust Camera Offset",
+              "description": "Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)",
+              "min": -0.35,
+              "max": 0.35,
+              "step": 0.01,
+              "unit": "meters",
+              "enablement": [
+                {
+                  "type": "param",
+                  "key": "ShowAdvancedControls",
+                  "equals": true
+                }
+              ]
+            }
+          ]
+        }
+      ]
+    }
+  ],
+  "vehicle_settings": {
+    "hyundai": {
+      "title": "Hyundai / Kia / Genesis Settings",
+      "description": "",
+      "items": [
+        {
+          "key": "HyundaiLongitudinalTuning",
+          "widget": "multiple_button",
+          "title": "Custom Longitudinal Tuning",
+          "options": [
+            {
+              "value": 0,
+              "label": "Off"
+            },
+            {
+              "value": 1,
+              "label": "Dynamic"
+            },
+            {
+              "value": 2,
+              "label": "Predictive"
+            }
+          ],
+          "visibility": [
+            {
+              "type": "capability",
+              "field": "hyundai_alpha_long_available",
+              "equals": true
+            }
+          ],
+          "enablement": [
+            {
+              "type": "offroad_only"
+            },
+            {
+              "type": "capability",
+              "field": "has_longitudinal_control",
+              "equals": true
+            }
+          ]
+        }
+      ]
+    },
+    "subaru": {
+      "title": "Subaru Settings",
+      "description": "",
+      "items": [
+        {
+          "key": "SubaruStopAndGo",
+          "widget": "toggle",
+          "title": "Stop and Go (Beta)",
+          "enablement": [
+            {
+              "type": "offroad_only"
+            },
+            {
+              "type": "capability",
+              "field": "has_stop_and_go",
+              "equals": true
+            }
+          ]
+        },
+        {
+          "key": "SubaruStopAndGoManualParkingBrake",
+          "widget": "toggle",
+          "title": "Stop and Go for Manual Parking Brake (Beta)",
+          "enablement": [
+            {
+              "type": "offroad_only"
+            },
+            {
+              "type": "capability",
+              "field": "has_stop_and_go",
+              "equals": true
+            }
+          ]
+        }
+      ]
+    },
+    "tesla": {
+      "title": "Tesla Settings",
+      "description": "",
+      "items": [
+        {
+          "key": "TeslaCoopSteering",
+          "widget": "toggle",
+          "title": "Cooperative Steering (Beta)",
+          "enablement": [
+            {
+              "type": "offroad_only"
+            }
+          ]
+        }
+      ]
+    },
+    "toyota": {
+      "title": "Toyota / Lexus Settings",
+      "description": "",
+      "items": [
+        {
+          "key": "ToyotaEnforceStockLongitudinal",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "Enforce Factory Longitudinal Control",
+          "description": "sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used.",
+          "enablement": [
+            {
+              "type": "not_engaged"
+            }
+          ]
+        },
+        {
+          "key": "ToyotaStopAndGoHack",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "Stop and Go Hack (Alpha)",
+          "description": "sunnypilot will allow some Toyota/Lexus cars to auto resume during stop and go traffic. This feature is only applicable to certain models that are able to use longitudinal control. This is an alpha feature. Use at your own risk.",
+          "enablement": [
+            {
+              "type": "not_engaged"
+            },
+            {
+              "type": "capability",
+              "field": "has_longitudinal_control",
+              "equals": true
+            },
+            {
+              "type": "param",
+              "key": "ToyotaEnforceStockLongitudinal",
+              "equals": false
+            }
+          ]
+        }
+      ]
+    }
+  }
+}
diff --git a/sunnypilot/sunnylink/settings_ui.schema.json b/sunnypilot/sunnylink/settings_ui.schema.json
new file mode 100644
index 00000000000000..38c7d1b5abc9ad
--- /dev/null
+++ b/sunnypilot/sunnylink/settings_ui.schema.json
@@ -0,0 +1,516 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "$id": "https://sunnypilot.com/schemas/settings_ui.schema.json",
+  "title": "sunnypilot Settings UI Schema",
+  "description": "Defines the structure of the sunnypilot settings UI panels, items, rules, and vehicle-specific settings.",
+  "type": "object",
+  "required": ["schema_version", "panels", "vehicle_settings"],
+  "additionalProperties": false,
+  "properties": {
+    "$schema": {
+      "type": "string",
+      "description": "JSON Schema reference for editor support."
+    },
+    "schema_version": {
+      "type": "string",
+      "description": "Version of the settings UI schema format.",
+      "examples": ["1.0"]
+    },
+    "panels": {
+      "type": "array",
+      "description": "Top-level settings panels displayed in the UI.",
+      "items": {
+        "$ref": "#/$defs/Panel"
+      }
+    },
+    "vehicle_settings": {
+      "type": "object",
+      "description": "Brand-keyed vehicle-specific settings. Each key is a car brand (e.g. 'hyundai', 'toyota').",
+      "additionalProperties": {
+        "$ref": "#/$defs/VehicleBrandSettings"
+      }
+    }
+  },
+  "$defs": {
+    "Panel": {
+      "type": "object",
+      "description": "A top-level settings panel (tab) in the UI.",
+      "required": ["id", "label", "icon", "order"],
+      "additionalProperties": false,
+      "properties": {
+        "id": {
+          "type": "string",
+          "description": "Unique identifier for this panel."
+        },
+        "label": {
+          "type": "string",
+          "description": "Display label shown in the UI."
+        },
+        "icon": {
+          "type": "string",
+          "description": "Icon identifier for this panel."
+        },
+        "order": {
+          "type": "integer",
+          "description": "Sort order for panel display.",
+          "minimum": 0
+        },
+        "description": {
+          "type": "string",
+          "description": "Optional description shown below the panel label."
+        },
+        "remote_configurable": {
+          "type": "boolean",
+          "description": "Whether this panel's settings can be changed remotely via sunnylink.",
+          "default": false
+        },
+        "sections": {
+          "type": "array",
+          "description": "Grouped sections within this panel.",
+          "items": {
+            "$ref": "#/$defs/PanelSection"
+          }
+        },
+        "items": {
+          "type": "array",
+          "description": "Settings items directly in this panel (no section grouping).",
+          "items": {
+            "$ref": "#/$defs/SchemaItem"
+          }
+        },
+        "sub_panels": {
+          "type": "array",
+          "description": "Nested sub-panels triggered by a setting.",
+          "items": {
+            "$ref": "#/$defs/SubPanel"
+          }
+        }
+      }
+    },
+    "PanelSection": {
+      "type": "object",
+      "description": "A grouped section within a panel.",
+      "required": ["id", "title"],
+      "additionalProperties": false,
+      "properties": {
+        "id": {
+          "type": "string",
+          "description": "Unique identifier for this section."
+        },
+        "title": {
+          "type": "string",
+          "description": "Display title for this section."
+        },
+        "description": {
+          "type": "string",
+          "description": "Optional description shown below the section title."
+        },
+        "order": {
+          "type": "integer",
+          "description": "Sort order within the parent panel.",
+          "minimum": 0
+        },
+        "visibility": {
+          "type": "array",
+          "description": "Rules that determine whether this section is visible. All rules must pass.",
+          "items": {
+            "$ref": "#/$defs/Rule"
+          }
+        },
+        "enablement": {
+          "type": "array",
+          "description": "Rules that determine whether items in this section are enabled. All rules must pass.",
+          "items": {
+            "$ref": "#/$defs/Rule"
+          }
+        },
+        "attestation_required": {
+          "type": "boolean",
+          "description": "When true, the UI must show an attestation modal before any write to items in this section.",
+          "default": false
+        },
+        "items": {
+          "type": "array",
+          "description": "Settings items within this section.",
+          "items": {
+            "$ref": "#/$defs/SchemaItem"
+          }
+        },
+        "sub_panels": {
+          "type": "array",
+          "description": "Nested sub-panels within this section.",
+          "items": {
+            "$ref": "#/$defs/SubPanel"
+          }
+        }
+      }
+    },
+    "VehicleBrandSettings": {
+      "type": "object",
+      "description": "Brand-specific settings group inside vehicle_settings.",
+      "required": ["items"],
+      "additionalProperties": false,
+      "properties": {
+        "title": {
+          "type": "string",
+          "description": "Display title for this brand's settings group."
+        },
+        "description": {
+          "type": "string",
+          "description": "Optional description shown below the brand title."
+        },
+        "items": {
+          "type": "array",
+          "description": "Settings items for this brand.",
+          "items": {
+            "$ref": "#/$defs/SchemaItem"
+          }
+        }
+      }
+    },
+    "SchemaItem": {
+      "type": "object",
+      "description": "A single settings item (toggle, option selector, button group, etc.).",
+      "required": ["key", "widget"],
+      "additionalProperties": false,
+      "properties": {
+        "key": {
+          "type": "string",
+          "description": "The param key this item reads/writes."
+        },
+        "widget": {
+          "type": "string",
+          "description": "The UI widget type to render.",
+          "enum": ["toggle", "option", "multiple_button", "button", "info"]
+        },
+        "title": {
+          "type": "string",
+          "description": "Override display title (defaults to metadata lookup by key)."
+        },
+        "description": {
+          "type": "string",
+          "description": "Override description text. Rendered inline below the title. May be empty when only `details` is used."
+        },
+        "details": {
+          "type": "string",
+          "description": "Extended help text shown in a popover/modal when the user taps an info ('i') button on the row. Independent of `description`: either, both, or neither may be present."
+        },
+        "options": {
+          "type": "array",
+          "description": "Available options for 'option' or 'multiple_button' widgets.",
+          "items": {
+            "$ref": "#/$defs/SchemaOption"
+          }
+        },
+        "min": {
+          "type": "number",
+          "description": "Minimum value for numeric option widgets."
+        },
+        "max": {
+          "type": "number",
+          "description": "Maximum value for numeric option widgets."
+        },
+        "step": {
+          "type": "number",
+          "description": "Step increment for numeric option widgets."
+        },
+        "unit": {
+          "oneOf": [
+            {
+              "type": "string",
+              "description": "Static unit label (e.g. 'seconds', 'm/s²')."
+            },
+            {
+              "type": "object",
+              "description": "Dynamic unit that changes based on IsMetric param.",
+              "required": ["metric", "imperial"],
+              "additionalProperties": false,
+              "properties": {
+                "metric": {
+                  "type": "string",
+                  "description": "Unit label when IsMetric is true (e.g. 'km/h')."
+                },
+                "imperial": {
+                  "type": "string",
+                  "description": "Unit label when IsMetric is false (e.g. 'mph')."
+                }
+              }
+            }
+          ],
+          "description": "Unit label for numeric values. Use a string for static units or an object with metric/imperial variants for units that depend on the IsMetric param."
+        },
+        "value_map": {
+          "type": "object",
+          "description": "Maps stored values to display labels.",
+          "additionalProperties": {
+            "type": "string"
+          }
+        },
+        "visibility": {
+          "type": "array",
+          "description": "Rules that determine whether this item is visible. All rules must pass.",
+          "items": {
+            "$ref": "#/$defs/Rule"
+          }
+        },
+        "enablement": {
+          "type": "array",
+          "description": "Rules that determine whether this item is enabled/interactive. All rules must pass.",
+          "items": {
+            "$ref": "#/$defs/Rule"
+          }
+        },
+        "sub_items": {
+          "type": "array",
+          "description": "Child items nested under this item (e.g. options revealed by a toggle).",
+          "items": {
+            "$ref": "#/$defs/SchemaItem"
+          }
+        },
+        "action": {
+          "type": "string",
+          "description": "Action identifier for button widgets."
+        },
+        "title_param_suffix": {
+          "type": "object",
+          "description": "Renders an extra suffix in the item title chosen by the value of another param.",
+          "required": ["param", "values"],
+          "additionalProperties": false,
+          "properties": {
+            "param": {
+              "type": "string",
+              "description": "Param key whose value selects the suffix label."
+            },
+            "values": {
+              "type": "object",
+              "description": "Map from stringified param value to suffix label.",
+              "additionalProperties": {
+                "type": "string"
+              }
+            }
+          }
+        },
+        "needs_onroad_cycle": {
+          "type": "boolean",
+          "description": "When true, the device must cycle onroad/offroad for the new value to take effect.",
+          "default": false
+        },
+        "blocked": {
+          "type": "boolean",
+          "description": "When true, this item is treated as DEVICE_ONLY and the dashboard must not write it remotely.",
+          "default": false
+        },
+        "requires_attestation": {
+          "type": "boolean",
+          "description": "When true, writes to this item require an explicit per-write confirmation modal.",
+          "default": false
+        }
+      }
+    },
+    "SubPanel": {
+      "type": "object",
+      "description": "A nested panel that opens when triggered by a parent item.",
+      "required": ["id", "label", "trigger_key"],
+      "additionalProperties": false,
+      "properties": {
+        "id": {
+          "type": "string",
+          "description": "Unique identifier for this sub-panel."
+        },
+        "label": {
+          "type": "string",
+          "description": "Display label for the sub-panel header."
+        },
+        "trigger_key": {
+          "type": "string",
+          "description": "The param key that triggers opening this sub-panel."
+        },
+        "trigger_condition": {
+          "$ref": "#/$defs/Rule",
+          "description": "Optional rule that must evaluate to true for the sub-panel trigger to be active."
+        },
+        "items": {
+          "type": "array",
+          "description": "Settings items within this sub-panel.",
+          "items": {
+            "$ref": "#/$defs/SchemaItem"
+          }
+        }
+      }
+    },
+    "SchemaOption": {
+      "type": "object",
+      "description": "A selectable option for option/multiple_button widgets.",
+      "required": ["value", "label"],
+      "additionalProperties": false,
+      "properties": {
+        "value": {
+          "oneOf": [
+            { "type": "number" },
+            { "type": "string" }
+          ],
+          "description": "The stored value when this option is selected."
+        },
+        "label": {
+          "type": "string",
+          "description": "The display label for this option."
+        },
+        "enablement": {
+          "type": "array",
+          "description": "Rules that determine whether this option is selectable. All rules must pass.",
+          "items": {
+            "$ref": "#/$defs/Rule"
+          }
+        }
+      }
+    },
+    "Rule": {
+      "description": "A visibility or enablement rule. Discriminated union on the 'type' field.",
+      "oneOf": [
+        { "$ref": "#/$defs/RuleOffroadOnly" },
+        { "$ref": "#/$defs/RuleNotEngaged" },
+        { "$ref": "#/$defs/RuleCapability" },
+        { "$ref": "#/$defs/RuleParam" },
+        { "$ref": "#/$defs/RuleParamCompare" },
+        { "$ref": "#/$defs/RuleNot" },
+        { "$ref": "#/$defs/RuleAny" },
+        { "$ref": "#/$defs/RuleAll" }
+      ]
+    },
+    "RuleOffroadOnly": {
+      "type": "object",
+      "description": "Rule that passes only when the device is offroad.",
+      "required": ["type"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {
+          "const": "offroad_only"
+        }
+      }
+    },
+    "RuleNotEngaged": {
+      "type": "object",
+      "description": "Rule that passes when the vehicle is not engaged (matches Raylib `engaged = started AND (selfdriveState.enabled OR selfdriveStateSP.mads.enabled)`).",
+      "required": ["type"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {
+          "const": "not_engaged"
+        }
+      }
+    },
+    "RuleCapability": {
+      "type": "object",
+      "description": "Rule that checks a vehicle capability field against an expected value.",
+      "required": ["type", "field", "equals"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {
+          "const": "capability"
+        },
+        "field": {
+          "type": "string",
+          "description": "The capability field name to check."
+        },
+        "equals": {
+          "description": "The expected value to match against."
+        }
+      }
+    },
+    "RuleParam": {
+      "type": "object",
+      "description": "Rule that checks a param value against an expected value.",
+      "required": ["type", "key", "equals"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {
+          "const": "param"
+        },
+        "key": {
+          "type": "string",
+          "description": "The param key to read."
+        },
+        "equals": {
+          "description": "The expected value to match against."
+        }
+      }
+    },
+    "RuleParamCompare": {
+      "type": "object",
+      "description": "Rule that compares a numeric param value using a comparison operator.",
+      "required": ["type", "key", "op", "value"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {
+          "const": "param_compare"
+        },
+        "key": {
+          "type": "string",
+          "description": "The param key to read."
+        },
+        "op": {
+          "type": "string",
+          "description": "Comparison operator.",
+          "enum": [">", "<", ">=", "<="]
+        },
+        "value": {
+          "type": "number",
+          "description": "The numeric value to compare against."
+        }
+      }
+    },
+    "RuleNot": {
+      "type": "object",
+      "description": "Rule that negates a single child condition.",
+      "required": ["type", "condition"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {
+          "const": "not"
+        },
+        "condition": {
+          "$ref": "#/$defs/Rule",
+          "description": "The rule to negate."
+        }
+      }
+    },
+    "RuleAny": {
+      "type": "object",
+      "description": "Rule that passes if ANY of the child conditions pass (logical OR).",
+      "required": ["type", "conditions"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {
+          "const": "any"
+        },
+        "conditions": {
+          "type": "array",
+          "description": "Child rules; at least one must pass.",
+          "items": {
+            "$ref": "#/$defs/Rule"
+          },
+          "minItems": 1
+        }
+      }
+    },
+    "RuleAll": {
+      "type": "object",
+      "description": "Rule that passes only if ALL child conditions pass (logical AND).",
+      "required": ["type", "conditions"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {
+          "const": "all"
+        },
+        "conditions": {
+          "type": "array",
+          "description": "Child rules; all must pass.",
+          "items": {
+            "$ref": "#/$defs/Rule"
+          },
+          "minItems": 1
+        }
+      }
+    }
+  }
+}
diff --git a/sunnypilot/sunnylink/settings_ui_src/_macros.yaml b/sunnypilot/sunnylink/settings_ui_src/_macros.yaml
new file mode 100644
index 00000000000000..3b755db9282174
--- /dev/null
+++ b/sunnypilot/sunnylink/settings_ui_src/_macros.yaml
@@ -0,0 +1,70 @@
+# Named rule fragments. Reference from items/sections via {$ref: "#/macros/<name>"}.
+# Macros may $ref other macros (max depth 3 — see compile_settings_ui.py). No template logic.
+#
+# Adding a macro: define here once, then reference everywhere. The compiler
+# resolves $refs into the canonical settings_ui.json output the frontend reads.
+
+macros:
+  # Most-used: only writable when the device is offroad.
+  offroad:
+    - {type: offroad_only}
+
+  # Writable while not engaged (started, but selfdrive/MADS not active).
+  not_engaged:
+    - {type: not_engaged}
+
+  # sunnypilot longitudinal control is active.
+  longitudinal:
+    - {type: capability, field: has_longitudinal_control, equals: true}
+
+  # Longitudinal + ICBM both available.
+  longitudinal_and_icbm:
+    - {type: capability, field: has_longitudinal_control, equals: true}
+    - {type: capability, field: has_icbm, equals: true}
+
+  # Item only meaningful when "Show Advanced Controls" is enabled by the user.
+  advanced_only:
+    - {type: param, key: ShowAdvancedControls, equals: true}
+
+  # Hide on MICI hardware (no analog HUD support yet).
+  hide_on_mici:
+    - type: not
+      condition: {type: capability, field: device_type, equals: mici}
+
+  # Mirrors selfdrive/ui/sunnypilot/layouts/.../mads_settings.py:_mads_limited_settings()
+  # Rivian + Tesla-without-vehicle-bus get the limited MADS UI (3-toggle subset).
+  # On those platforms these toggles are disabled — full MADS settings are
+  # only writable on platforms NOT in the limited-set.
+  mads_full_platforms:
+    - type: not
+      condition:
+        type: any
+        conditions:
+          - {type: capability, field: brand, equals: rivian}
+          - type: all
+            conditions:
+              - {type: capability, field: brand, equals: tesla}
+              - type: not
+                condition: {type: capability, field: tesla_has_vehicle_bus, equals: true}
+
+  # Inverse of mads_full_platforms: present only on the limited platforms.
+  # Useful for "show this only on rivian/tesla-no-bus" toggles.
+  mads_limited_platforms:
+    - type: any
+      conditions:
+        - {type: capability, field: brand, equals: rivian}
+        - type: all
+          conditions:
+            - {type: capability, field: brand, equals: tesla}
+            - type: not
+              condition: {type: capability, field: tesla_has_vehicle_bus, equals: true}
+
+  # Hide everything but a clearly-marked release branch (matches Raylib
+  # _is_release_branch = is_release OR is_sp_release).
+  release_branches_hide:
+    - type: not
+      condition:
+        type: any
+        conditions:
+          - {type: capability, field: is_release, equals: true}
+          - {type: capability, field: is_sp_release, equals: true}
diff --git a/sunnypilot/sunnylink/settings_ui_src/_schemas/macros.schema.json b/sunnypilot/sunnylink/settings_ui_src/_schemas/macros.schema.json
new file mode 100644
index 00000000000000..57629acecb55c3
--- /dev/null
+++ b/sunnypilot/sunnylink/settings_ui_src/_schemas/macros.schema.json
@@ -0,0 +1,23 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "$id": "https://sunnypilot.com/schemas/sdui/macros.schema.json",
+  "title": "Settings UI macros (named rule fragments)",
+  "type": "object",
+  "additionalProperties": false,
+  "required": ["macros"],
+  "properties": {
+    "macros": {
+      "type": "object",
+      "description": "Named rule fragments. Each value is either a list of rules (typical) or a single rule object. Reference from items/layout via {$ref: '#/macros/<name>'}.",
+      "patternProperties": {
+        "^[A-Za-z_][A-Za-z0-9_]*$": {
+          "oneOf": [
+            {"type": "array", "items": {"$ref": "rule.schema.json"}},
+            {"$ref": "rule.schema.json"}
+          ]
+        }
+      },
+      "additionalProperties": false
+    }
+  }
+}
diff --git a/sunnypilot/sunnylink/settings_ui_src/_schemas/page.schema.json b/sunnypilot/sunnylink/settings_ui_src/_schemas/page.schema.json
new file mode 100644
index 00000000000000..0e312dc745d531
--- /dev/null
+++ b/sunnypilot/sunnylink/settings_ui_src/_schemas/page.schema.json
@@ -0,0 +1,113 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "$id": "https://sunnypilot.com/schemas/sdui/page.schema.json",
+  "title": "Settings UI page (panel) YAML",
+  "description": "Validates pages/<id>.yaml. Each page describes one settings panel (or the vehicle namespace via kind: vehicle).",
+  "type": "object",
+  "required": ["id"],
+  "additionalProperties": false,
+  "properties": {
+    "id": {"type": "string"},
+    "label": {"type": "string"},
+    "icon": {"type": "string"},
+    "order": {"type": "integer"},
+    "remote_configurable": {"type": "boolean"},
+    "description": {"type": "string"},
+    "kind": {
+      "type": "string",
+      "enum": ["panel", "vehicle"],
+      "description": "panel (default) or vehicle (compiles to settings_ui.json#vehicle_settings)."
+    },
+    "sections": {
+      "type": "array",
+      "items": {"$ref": "#/$defs/Section"}
+    },
+    "items": {
+      "type": "array",
+      "items": {"$ref": "#/$defs/Item"}
+    },
+    "sub_panels": {
+      "type": "array",
+      "items": {"$ref": "#/$defs/SubPanel"}
+    }
+  },
+  "$defs": {
+    "Section": {
+      "type": "object",
+      "required": ["id", "title"],
+      "additionalProperties": false,
+      "properties": {
+        "id": {"type": "string"},
+        "title": {"type": "string"},
+        "description": {"type": "string"},
+        "order": {"type": "integer"},
+        "attestation_required": {"type": "boolean"},
+        "visibility": {"type": "array", "items": {"$ref": "rule.schema.json"}},
+        "enablement": {"type": "array", "items": {"$ref": "rule.schema.json"}},
+        "items": {"type": "array", "items": {"$ref": "#/$defs/Item"}},
+        "sub_panels": {"type": "array", "items": {"$ref": "#/$defs/SubPanel"}}
+      }
+    },
+    "SubPanel": {
+      "type": "object",
+      "required": ["id", "label"],
+      "additionalProperties": false,
+      "properties": {
+        "id": {"type": "string"},
+        "label": {"type": "string"},
+        "trigger_key": {"type": ["string", "null"]},
+        "trigger_condition": {"$ref": "rule.schema.json"},
+        "items": {"type": "array", "items": {"$ref": "#/$defs/Item"}}
+      }
+    },
+    "Item": {
+      "type": "object",
+      "required": ["key", "widget"],
+      "additionalProperties": false,
+      "properties": {
+        "key": {"type": "string", "pattern": "^[A-Za-z][A-Za-z0-9_]*$"},
+        "widget": {"type": "string", "enum": ["toggle", "option", "multiple_button", "button", "info"]},
+        "title": {"type": "string"},
+        "description": {"type": "string", "description": "Inline body text under the title. May be omitted when only details is used."},
+        "details": {"type": "string", "description": "Extended help shown in a modal when the user taps the info (i) button. Independent of description; either, both, or neither may be present."},
+        "title_param_suffix": {"type": "object"},
+        "min": {"type": "number"},
+        "max": {"type": "number"},
+        "step": {"type": "number"},
+        "unit": {
+          "oneOf": [
+            {"type": "string"},
+            {
+              "type": "object",
+              "additionalProperties": false,
+              "required": ["metric", "imperial"],
+              "properties": {
+                "metric": {"type": "string"},
+                "imperial": {"type": "string"}
+              }
+            }
+          ]
+        },
+        "needs_onroad_cycle": {"type": "boolean"},
+        "requires_attestation": {"type": "boolean"},
+        "blocked": {"type": "boolean"},
+        "options": {
+          "type": "array",
+          "items": {
+            "type": "object",
+            "required": ["value", "label"],
+            "additionalProperties": false,
+            "properties": {
+              "value": {},
+              "label": {"type": "string"},
+              "enablement": {"type": "array", "items": {"$ref": "rule.schema.json"}}
+            }
+          }
+        },
+        "visibility": {"type": "array", "items": {"$ref": "rule.schema.json"}},
+        "enablement": {"type": "array", "items": {"$ref": "rule.schema.json"}},
+        "sub_items": {"type": "array", "items": {"$ref": "#/$defs/Item"}}
+      }
+    }
+  }
+}
diff --git a/sunnypilot/sunnylink/settings_ui_src/_schemas/rule.schema.json b/sunnypilot/sunnylink/settings_ui_src/_schemas/rule.schema.json
new file mode 100644
index 00000000000000..92a7dd307c7303
--- /dev/null
+++ b/sunnypilot/sunnylink/settings_ui_src/_schemas/rule.schema.json
@@ -0,0 +1,101 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "$id": "https://sunnypilot.com/schemas/sdui/rule.schema.json",
+  "title": "Rule",
+  "description": "Visibility/enablement rule. Discriminated union on 'type'. Macro reference is also accepted via {$ref: '#/macros/<name>'}.",
+  "oneOf": [
+    {"$ref": "#/$defs/MacroRef"},
+    {"$ref": "#/$defs/RuleOffroadOnly"},
+    {"$ref": "#/$defs/RuleNotEngaged"},
+    {"$ref": "#/$defs/RuleCapability"},
+    {"$ref": "#/$defs/RuleParam"},
+    {"$ref": "#/$defs/RuleParamCompare"},
+    {"$ref": "#/$defs/RuleNot"},
+    {"$ref": "#/$defs/RuleAny"},
+    {"$ref": "#/$defs/RuleAll"}
+  ],
+  "$defs": {
+    "MacroRef": {
+      "type": "object",
+      "required": ["$ref"],
+      "additionalProperties": false,
+      "properties": {
+        "$ref": {
+          "type": "string",
+          "pattern": "^#/macros/[A-Za-z_][A-Za-z0-9_]*$",
+          "description": "Reference to a macro defined in _macros.yaml under #/macros/<name>."
+        }
+      }
+    },
+    "RuleOffroadOnly": {
+      "type": "object",
+      "required": ["type"],
+      "additionalProperties": false,
+      "properties": {"type": {"const": "offroad_only"}}
+    },
+    "RuleNotEngaged": {
+      "type": "object",
+      "required": ["type"],
+      "additionalProperties": false,
+      "properties": {"type": {"const": "not_engaged"}}
+    },
+    "RuleCapability": {
+      "type": "object",
+      "required": ["type", "field", "equals"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {"const": "capability"},
+        "field": {"type": "string"},
+        "equals": {}
+      }
+    },
+    "RuleParam": {
+      "type": "object",
+      "required": ["type", "key", "equals"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {"const": "param"},
+        "key": {"type": "string"},
+        "equals": {}
+      }
+    },
+    "RuleParamCompare": {
+      "type": "object",
+      "required": ["type", "key", "op", "value"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {"const": "param_compare"},
+        "key": {"type": "string"},
+        "op": {"type": "string", "enum": [">", "<", ">=", "<="]},
+        "value": {"type": "number"}
+      }
+    },
+    "RuleNot": {
+      "type": "object",
+      "required": ["type", "condition"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {"const": "not"},
+        "condition": {"$ref": "#"}
+      }
+    },
+    "RuleAny": {
+      "type": "object",
+      "required": ["type", "conditions"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {"const": "any"},
+        "conditions": {"type": "array", "items": {"$ref": "#"}, "minItems": 1}
+      }
+    },
+    "RuleAll": {
+      "type": "object",
+      "required": ["type", "conditions"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {"const": "all"},
+        "conditions": {"type": "array", "items": {"$ref": "#"}, "minItems": 1}
+      }
+    }
+  }
+}
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml b/sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml
new file mode 100644
index 00000000000000..795b5a0174fa6e
--- /dev/null
+++ b/sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml
@@ -0,0 +1,276 @@
+# Page: cruise
+# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
+id: cruise
+label: Cruise
+icon: cruise_control
+order: 2
+remote_configurable: true
+description: Longitudinal control, speed limits, and cruise behavior
+sections:
+- id: core_cruise_features
+  title: ''
+  description: ''
+  items:
+  - key: ExperimentalMode
+    widget: toggle
+    title: Experimental Mode
+    enablement:
+    - $ref: '#/macros/longitudinal'
+  - key: DynamicExperimentalControl
+    widget: toggle
+    title: Dynamic Experimental Control
+    description: Let the model decide when to use sunnypilot ACC or sunnypilot End to End Longitudinal.
+    visibility:
+    - type: any
+      conditions:
+      - type: capability
+        field: has_longitudinal_control
+        equals: true
+      - type: capability
+        field: has_icbm
+        equals: true
+    enablement:
+    - $ref: '#/macros/longitudinal'
+  - key: DisengageOnAccelerator
+    widget: toggle
+    title: Disengage Cruise on Accelerator Pedal
+    description: When enabled, pressing the accelerator pedal will disengage longitudinal control.
+  - key: LongitudinalPersonality
+    widget: multiple_button
+    title: Driving Personality
+    description: Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive
+      with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can
+      cycle through these personalities with your steering wheel distance button.
+    options:
+    - value: 0
+      label: Aggressive
+    - value: 1
+      label: Standard
+    - value: 2
+      label: Relaxed
+    enablement:
+    - $ref: '#/macros/longitudinal'
+  - key: IntelligentCruiseButtonManagement
+    widget: toggle
+    title: Intelligent Cruise Button Management (ICBM) (Alpha)
+    visibility:
+    - type: capability
+      field: icbm_available
+      equals: true
+    enablement:
+    - $ref: '#/macros/offroad'
+    - type: not
+      condition:
+        type: capability
+        field: has_longitudinal_control
+        equals: true
+- id: custom_acc_increments
+  title: Custom ACC Speed Intervals
+  description: ''
+  enablement:
+  - $ref: '#/macros/offroad'
+  - type: any
+    conditions:
+    - type: all
+      conditions:
+      - type: capability
+        field: has_longitudinal_control
+        equals: true
+      - type: not
+        condition:
+          type: capability
+          field: pcm_cruise
+          equals: true
+    - type: capability
+      field: has_icbm
+      equals: true
+  items:
+  - key: CustomAccIncrementsEnabled
+    widget: toggle
+    title: Enable Custom ACC Speed Intervals
+    enablement:
+    - $ref: '#/macros/offroad'
+    - type: any
+      conditions:
+      - type: all
+        conditions:
+        - type: capability
+          field: has_longitudinal_control
+          equals: true
+        - type: not
+          condition:
+            type: capability
+            field: pcm_cruise
+            equals: true
+      - type: capability
+        field: has_icbm
+        equals: true
+  sub_panels:
+  - id: custom_acc_intervals
+    label: Custom ACC Speed Intervals Settings
+    trigger_key: CustomAccIncrementsEnabled
+    trigger_condition:
+      type: param
+      key: CustomAccIncrementsEnabled
+      equals: true
+    items:
+    - key: CustomAccShortPressIncrement
+      widget: option
+      title: Short Press Increment
+      min: 1
+      max: 10
+      step: 1
+      enablement:
+      - type: param
+        key: CustomAccIncrementsEnabled
+        equals: true
+    - key: CustomAccLongPressIncrement
+      widget: option
+      title: Long Press Increment
+      min: 1
+      max: 10
+      step: 1
+      enablement:
+      - type: param
+        key: CustomAccIncrementsEnabled
+        equals: true
+- id: speed_limits
+  title: Speed Limits
+  description: Speed limit detection and offset behavior
+  items: []
+  sub_panels:
+  - id: speed_limit_settings
+    label: Speed Limit Settings
+    trigger_key: SpeedLimitMode
+    items:
+    - key: SpeedLimitMode
+      widget: multiple_button
+      title: Speed Limit Assist Mode
+      options:
+      - value: 0
+        label: 'Off'
+      - value: 1
+        label: Information
+      - value: 2
+        label: Warning
+      - value: 3
+        label: Assist
+        enablement:
+        - type: any
+          conditions:
+          - type: capability
+            field: has_longitudinal_control
+            equals: true
+          - type: capability
+            field: has_icbm
+            equals: true
+        - type: not
+          condition:
+            type: capability
+            field: brand
+            equals: rivian
+        - type: not
+          condition:
+            type: all
+            conditions:
+            - type: capability
+              field: brand
+              equals: tesla
+            - type: capability
+              field: is_sp_release
+              equals: true
+    - key: SpeedLimitPolicy
+      widget: multiple_button
+      title: Speed Limit Source
+      options:
+      - value: 0
+        label: Car State Only
+      - value: 1
+        label: Map Data Only
+      - value: 2
+        label: Car State Priority
+      - value: 3
+        label: Map Data Priority
+      - value: 4
+        label: Combined
+    - key: SpeedLimitOffsetType
+      widget: multiple_button
+      title: Speed Limit Offset Type
+      options:
+      - value: 0
+        label: 'Off'
+      - value: 1
+        label: Fixed
+      - value: 2
+        label: Percentage
+    - key: SpeedLimitValueOffset
+      widget: option
+      title: Speed Limit Offset Value
+      min: -30
+      max: 30
+      step: 1
+      unit:
+        metric: km/h
+        imperial: mph
+      visibility:
+      - type: param_compare
+        key: SpeedLimitOffsetType
+        op: '>'
+        value: 0
+- id: smart_cruise
+  title: Smart Cruise Control
+  description: ''
+  enablement:
+  - type: any
+    conditions:
+    - type: capability
+      field: has_longitudinal_control
+      equals: true
+    - type: capability
+      field: has_icbm
+      equals: true
+  items:
+  - key: SmartCruiseControlVision
+    widget: toggle
+    title: Vision
+    description: Use vision path predictions to estimate the appropriate speed to drive through turns ahead.
+    visibility:
+    - type: any
+      conditions:
+      - type: capability
+        field: has_longitudinal_control
+        equals: true
+      - type: capability
+        field: has_icbm
+        equals: true
+    enablement:
+    - type: any
+      conditions:
+      - type: capability
+        field: has_longitudinal_control
+        equals: true
+      - type: capability
+        field: has_icbm
+        equals: true
+  - key: SmartCruiseControlMap
+    widget: toggle
+    title: Map
+    description: Use map data to estimate the appropriate speed to drive through turns ahead.
+    visibility:
+    - type: any
+      conditions:
+      - type: capability
+        field: has_longitudinal_control
+        equals: true
+      - type: capability
+        field: has_icbm
+        equals: true
+    enablement:
+    - type: any
+      conditions:
+      - type: capability
+        field: has_longitudinal_control
+        equals: true
+      - type: capability
+        field: has_icbm
+        equals: true
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/developer.yaml b/sunnypilot/sunnylink/settings_ui_src/pages/developer.yaml
new file mode 100644
index 00000000000000..87d9d558b3cf87
--- /dev/null
+++ b/sunnypilot/sunnylink/settings_ui_src/pages/developer.yaml
@@ -0,0 +1,147 @@
+# Page: developer
+# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
+id: developer
+label: Developer
+icon: developer
+order: 9
+remote_configurable: true
+description: Debug tools, remote access, and advanced services
+sections:
+- id: connectivity
+  title: Connectivity
+  description: Remote access and debugging interfaces
+  items:
+  - key: AdbEnabled
+    widget: toggle
+    blocked: true
+    title: Enable ADB
+    description: ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma
+      for more info.
+    enablement:
+    - $ref: '#/macros/offroad'
+  - key: SshEnabled
+    widget: toggle
+    blocked: true
+    title: Enable SSH
+  - key: JoystickDebugMode
+    widget: toggle
+    title: Joystick Debug Mode
+    visibility:
+    - $ref: '#/macros/release_branches_hide'
+    enablement:
+    - $ref: '#/macros/offroad'
+  - key: AlphaLongitudinalEnabled
+    widget: toggle
+    needs_onroad_cycle: true
+    title: sunnypilot Longitudinal Control (Alpha)
+    description: 'WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking
+      (AEB). On this car, sunnypilot defaults to the car''s built-in ACC instead of sunnypilot''s longitudinal control. Enable
+      this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot
+      longitudinal control alpha. Changing this setting will restart sunnypilot if the car is powered on.'
+    visibility:
+    - type: all
+      conditions:
+      - type: capability
+        field: alpha_long_available
+        equals: true
+      - type: not
+        condition:
+          type: any
+          conditions:
+          - type: capability
+            field: is_release
+            equals: true
+          - type: capability
+            field: is_sp_release
+            equals: true
+    enablement:
+    - $ref: '#/macros/not_engaged'
+  - key: ShowDebugInfo
+    widget: toggle
+    title: UI Debug Mode
+- id: test_maneuvers
+  title: Test Maneuvers
+  description: 'DANGER: enabling these maneuvers replaces normal driving behavior with deterministic test sequences. Each
+    toggle requires explicit confirmation per write. Use only in a closed environment.'
+  visibility:
+  - type: any
+    conditions:
+    - type: capability
+      field: is_development
+      equals: true
+    - type: capability
+      field: is_sp_release
+      equals: true
+  enablement:
+  - type: any
+    conditions:
+    - type: capability
+      field: is_development
+      equals: true
+    - type: param
+      key: ShowAdvancedControls
+      equals: true
+  attestation_required: true
+  items:
+  - key: LateralManeuverMode
+    widget: toggle
+    title: '[TEST] Lateral Maneuver Mode'
+    description: Replaces normal lateral control with a deterministic test sequence. NOT for road use.
+    enablement:
+    - $ref: '#/macros/not_engaged'
+    - type: capability
+      field: torque_allowed
+      equals: true
+  - key: LongitudinalManeuverMode
+    widget: toggle
+    title: '[TEST] Longitudinal Maneuver Mode'
+    description: Replaces normal longitudinal control with a deterministic test sequence. NOT for road use.
+    enablement:
+    - $ref: '#/macros/not_engaged'
+    - $ref: '#/macros/longitudinal'
+- id: advanced_services
+  title: Advanced Settings
+  description: ''
+  items:
+  - key: ShowAdvancedControls
+    widget: toggle
+    title: Show Advanced Controls
+    description: Toggle visibility of advanced sunnypilot controls. This only changes the visibility of the toggles; it does
+      not change the actual enabled/disabled state.
+  - key: EnableGithubRunner
+    widget: toggle
+    title: GitHub Runner Service
+    description: Enables or disables the GitHub runner service.
+    visibility:
+    - $ref: '#/macros/release_branches_hide'
+    enablement:
+    - $ref: '#/macros/advanced_only'
+  - key: EnableCopyparty
+    widget: toggle
+    title: copyparty Service
+    description: copyparty is a very capable file server, you can use it to download your routes, view your logs and even
+      make some edits on some files from your browser. Requires you to connect to your comma locally via its IP address.
+    enablement:
+    - $ref: '#/macros/advanced_only'
+  - key: QuickBootToggle
+    widget: toggle
+    title: Quickboot Mode
+    visibility:
+    - type: not
+      condition:
+        type: any
+        conditions:
+        - type: capability
+          field: is_release
+          equals: true
+        - type: capability
+          field: is_sp_release
+          equals: true
+        - type: capability
+          field: is_development
+          equals: true
+    enablement:
+    - type: param
+      key: DisableUpdates
+      equals: true
+    - $ref: '#/macros/advanced_only'
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/device.yaml b/sunnypilot/sunnylink/settings_ui_src/pages/device.yaml
new file mode 100644
index 00000000000000..e475c2c1ff411d
--- /dev/null
+++ b/sunnypilot/sunnylink/settings_ui_src/pages/device.yaml
@@ -0,0 +1,67 @@
+# Page: device
+# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
+id: device
+label: Device
+icon: device
+order: 6
+remote_configurable: true
+description: Device behavior, units, and recording settings
+sections:
+- id: general
+  title: General
+  description: Power, boot, and unit preferences
+  items:
+  - key: OffroadMode
+    widget: toggle
+    title: Force Offroad Mode
+  - key: DeviceBootMode
+    widget: option
+    title: Wake Up Behavior
+    description: 'Controls state of the device after boot/sleep. Default: Device will boot/wake-up normally and will be ready
+      to engage. Offroad: Device will be in Always Offroad mode after boot/wake-up.'
+    options:
+    - value: 0
+      label: Standard
+    - value: 1
+      label: Always Offroad
+  - key: QuietMode
+    widget: toggle
+    title: Quiet Mode
+  - key: OnroadUploads
+    widget: toggle
+    title: Onroad Uploads
+  - key: MaxTimeOffroad
+    widget: option
+    title: Max Time Offroad
+    description: Device will automatically shutdown after set time once the engine is turned off. 30h is the default.
+    options:
+    - value: 0
+      label: Always On
+    - value: 1
+      label: 5m
+    - value: 2
+      label: 10m
+    - value: 3
+      label: 15m
+    - value: 4
+      label: 30m
+    - value: 5
+      label: 1h
+    - value: 6
+      label: 2h
+    - value: 7
+      label: 3h
+    - value: 8
+      label: 5h
+    - value: 9
+      label: 10h
+    - value: 10
+      label: 24h
+    - value: 11
+      label: 30h (Default)
+- id: language
+  title: Language
+  items:
+  - key: LanguageSetting
+    widget: info
+    title: Language
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/display.yaml b/sunnypilot/sunnylink/settings_ui_src/pages/display.yaml
new file mode 100644
index 00000000000000..39a8cbaf80483e
--- /dev/null
+++ b/sunnypilot/sunnylink/settings_ui_src/pages/display.yaml
@@ -0,0 +1,130 @@
+# Page: display
+# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
+id: display
+label: Display
+icon: display
+order: 3
+remote_configurable: true
+description: Screen brightness, timeout, and interactivity settings
+sections:
+- id: brightness_timeout
+  title: Brightness & Timeout
+  description: Screen dimming and sleep behavior while driving
+  items:
+  - key: OnroadScreenOffBrightness
+    widget: multiple_button
+    title: Onroad Brightness
+    options:
+    - value: 0
+      label: Auto (Default)
+    - value: 1
+      label: Auto (Dark)
+    - value: 2
+      label: Screen Off
+    - value: 3
+      label: 5 %
+    - value: 4
+      label: 10 %
+    - value: 5
+      label: 15 %
+    - value: 6
+      label: 20 %
+    - value: 7
+      label: 25 %
+    - value: 8
+      label: 30 %
+    - value: 9
+      label: 35 %
+    - value: 10
+      label: 40 %
+    - value: 11
+      label: 45 %
+    - value: 12
+      label: 50 %
+    - value: 13
+      label: 55 %
+    - value: 14
+      label: 60 %
+    - value: 15
+      label: 65 %
+    - value: 16
+      label: 70 %
+    - value: 17
+      label: 75 %
+    - value: 18
+      label: 80 %
+    - value: 19
+      label: 85 %
+    - value: 20
+      label: 90 %
+    - value: 21
+      label: 95 %
+    - value: 22
+      label: 100 %
+  - key: OnroadScreenOffTimer
+    widget: multiple_button
+    title: Onroad Brightness Delay
+    options:
+    - value: 0
+      label: Always On
+    - value: 3
+      label: 3s
+    - value: 5
+      label: 5s
+    - value: 10
+      label: 10s
+    - value: 15
+      label: 15s
+    - value: 30
+      label: 30s
+    - value: 60
+      label: 1m
+    - value: 180
+      label: 3m
+    - value: 300
+      label: 5m
+    - value: 600
+      label: 10m
+    enablement:
+    - type: not
+      condition:
+        type: any
+        conditions:
+        - type: param
+          key: OnroadScreenOffBrightness
+          equals: 0
+        - type: param
+          key: OnroadScreenOffBrightness
+          equals: 1
+  - key: InteractivityTimeout
+    widget: multiple_button
+    title: Interactivity Timeout
+    description: Apply a custom timeout for settings UI. This is the time after which settings UI closes automatically if
+      user is not interacting with the screen.
+    options:
+    - value: 0
+      label: Default
+    - value: 10
+      label: 10 s
+    - value: 20
+      label: 20 s
+    - value: 30
+      label: 30 s
+    - value: 40
+      label: 40 s
+    - value: 50
+      label: 50 s
+    - value: 60
+      label: 1 m
+    - value: 70
+      label: 1 m
+    - value: 80
+      label: 1 m
+    - value: 90
+      label: 1 m
+    - value: 100
+      label: 1 m
+    - value: 110
+      label: 1 m
+    - value: 120
+      label: 2 m
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml b/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
new file mode 100644
index 00000000000000..4ae1fca88b9109
--- /dev/null
+++ b/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
@@ -0,0 +1,89 @@
+# Page: models
+# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
+id: models
+label: Models
+icon: models
+order: 10
+remote_configurable: false
+description: Driving model behavior and camera calibration
+sections:
+- id: model_behavior
+  title: Model Behavior
+  description: Lane desire and lead-vehicle awareness tuning
+  items:
+  - key: LaneTurnDesire
+    widget: toggle
+    title: Use Lane Turn Desires
+    description: If you are driving at 20 mph (32 km/h) or below and have your blinker on, the car will plan a turn in that
+      direction at the nearest drivable path. This prevents situations (like at red lights) where the car might plan the wrong
+      turn direction.
+  - key: LaneTurnValue
+    widget: option
+    title: Adjust Lane Turn Speed
+    description: Set the maximum speed for lane turn desires.
+    min: 0
+    max: 20
+    step: 1
+    unit:
+      metric: km/h
+      imperial: mph
+    enablement:
+    - type: param
+      key: LaneTurnDesire
+      equals: true
+    - $ref: '#/macros/advanced_only'
+  - key: LagdToggle
+    widget: toggle
+    title: Live Learning Steer Delay
+    description: Allow device to learn and adapt car's steering response time
+  - key: LagdToggleDelay
+    widget: option
+    title: Adjust Software Delay
+    description: Adjust the software delay when Live Learning Steer Delay is toggled off. The default software delay value
+      is 0.2
+    min: 0.05
+    max: 0.5
+    step: 0.01
+    enablement:
+    - type: not
+      condition:
+        type: param
+        key: LagdToggle
+        equals: true
+    - $ref: '#/macros/advanced_only'
+- id: lateral_control
+  title: Lateral Control
+  description: Neural network lateral control for supported models
+  items:
+  - key: NeuralNetworkLateralControl
+    widget: toggle
+    title: Neural Network Lateral Control (NNLC)
+    description: Use a neural network for lateral control instead of the default torque controller.
+    visibility:
+    - type: not
+      condition:
+        type: capability
+        field: steer_control_type
+        equals: angle
+    enablement:
+    - $ref: '#/macros/offroad'
+    - type: capability
+      field: torque_allowed
+      equals: true
+    - type: param
+      key: EnforceTorqueControl
+      equals: false
+- id: camera
+  title: Camera
+  description: Camera position and calibration
+  items:
+  - key: CameraOffset
+    widget: option
+    title: Adjust Camera Offset
+    description: Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)
+    min: -0.35
+    max: 0.35
+    step: 0.01
+    unit: meters
+    enablement:
+    - $ref: '#/macros/advanced_only'
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/software.yaml b/sunnypilot/sunnylink/settings_ui_src/pages/software.yaml
new file mode 100644
index 00000000000000..8eb6049d61475b
--- /dev/null
+++ b/sunnypilot/sunnylink/settings_ui_src/pages/software.yaml
@@ -0,0 +1,20 @@
+# Page: software
+# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
+id: software
+label: Software
+icon: software
+order: 7
+remote_configurable: true
+description: Software update preferences
+sections:
+- id: updates
+  title: Updates
+  description: Control automatic software updates
+  items:
+  - key: DisableUpdates
+    widget: toggle
+    title: Disable Updates
+    description: When enabled, automatic software updates will be off. This requires a reboot to take effect.
+    enablement:
+    - $ref: '#/macros/offroad'
+    - $ref: '#/macros/advanced_only'
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml b/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
new file mode 100644
index 00000000000000..697c5f4f2177d2
--- /dev/null
+++ b/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
@@ -0,0 +1,257 @@
+# Page: steering
+# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
+id: steering
+label: Steering
+icon: steering_wheel
+order: 1
+remote_configurable: true
+description: Lateral control, lane changes, and steering behavior
+sections:
+- id: mads
+  title: Modular Assistive Driving System (MADS)
+  description: ''
+  items:
+  - key: Mads
+    widget: toggle
+    title: Enable Modular Assistive Driving System (MADS)
+    description: Enable MADS. Disable toggle to revert back to stock sunnypilot engagement/disengagement.
+    enablement:
+    - $ref: '#/macros/offroad'
+  sub_panels:
+  - id: mads_settings
+    label: MADS Settings
+    trigger_key: Mads
+    trigger_condition:
+      type: param
+      key: Mads
+      equals: true
+    items:
+    - key: MadsMainCruiseAllowed
+      widget: toggle
+      title: Toggle with Main Cruise
+      description: 'Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.'
+      enablement:
+      - $ref: '#/macros/offroad'
+      - $ref: '#/macros/mads_full_platforms'
+    - key: MadsUnifiedEngagementMode
+      widget: toggle
+      title: Unified Engagement Mode (UEM)
+      description: 'Engage lateral and longitudinal control with cruise control engagement. Note: Once lateral control is
+        engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.'
+      enablement:
+      - $ref: '#/macros/offroad'
+      - $ref: '#/macros/mads_full_platforms'
+    - key: MadsSteeringMode
+      widget: multiple_button
+      title: Steering Mode on Brake Pedal
+      description: Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
+      options:
+      - value: 0
+        label: Remain Active
+        enablement:
+        - $ref: '#/macros/mads_full_platforms'
+      - value: 1
+        label: Pause
+        enablement:
+        - $ref: '#/macros/mads_full_platforms'
+      - value: 2
+        label: Disengage
+      enablement:
+      - $ref: '#/macros/offroad'
+- id: blinker
+  title: Blinker Control
+  description: Lateral pause behavior during turn signals
+  items:
+  - key: BlinkerPauseLateralControl
+    widget: toggle
+    title: Pause Lateral Control with Blinker
+    description: Pause lateral control with blinker when traveling below the desired speed selected.
+    sub_items:
+    - key: BlinkerMinLateralControlSpeed
+      widget: option
+      title: Minimum Speed to Pause Lateral Control
+      min: 0
+      max: 255
+      step: 5
+      unit:
+        metric: km/h
+        imperial: mph
+      enablement:
+      - type: param
+        key: BlinkerPauseLateralControl
+        equals: true
+    - key: BlinkerLateralReengageDelay
+      widget: option
+      title: Post-Blinker Delay
+      description: Delay before lateral control resumes after the turn signal ends.
+      min: 0
+      max: 10
+      step: 1
+      unit: second
+      enablement:
+      - type: param
+        key: BlinkerPauseLateralControl
+        equals: true
+- id: torque
+  title: Torque Control
+  description: Steering torque tuning and lateral control method
+  enablement:
+  - type: capability
+    field: torque_allowed
+    equals: true
+  items:
+  - key: EnforceTorqueControl
+    widget: toggle
+    title: Enforce Torque Lateral Control
+    description: Enable this to enforce sunnypilot to steer with Torque lateral control.
+    visibility:
+    - type: not
+      condition:
+        type: capability
+        field: steer_control_type
+        equals: angle
+    enablement:
+    - $ref: '#/macros/offroad'
+    - type: capability
+      field: torque_allowed
+      equals: true
+    - type: param
+      key: NeuralNetworkLateralControl
+      equals: false
+  sub_panels:
+  - id: torque_settings
+    label: Torque Settings
+    trigger_key: EnforceTorqueControl
+    trigger_condition:
+      type: param
+      key: EnforceTorqueControl
+      equals: true
+    items:
+    - key: LiveTorqueParamsToggle
+      widget: toggle
+      title: Self-Tune
+      description: Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.
+      enablement:
+      - $ref: '#/macros/offroad'
+    - key: LiveTorqueParamsRelaxedToggle
+      widget: toggle
+      title: Less Restrict Settings for Self-Tune (Beta)
+      description: Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.
+      enablement:
+      - $ref: '#/macros/offroad'
+      - type: param
+        key: LiveTorqueParamsToggle
+        equals: true
+    - key: CustomTorqueParams
+      widget: toggle
+      title: Enable Custom Tuning
+      description: Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below
+        will override the offline values indicated in the YAML files within "opendbc/car/torque_data". The values will also
+        be used live when "Manual Real-Time Tuning" toggle is enabled.
+      enablement:
+      - $ref: '#/macros/offroad'
+    - key: TorqueParamsOverrideEnabled
+      widget: toggle
+      title: Manual Real-Time Tuning
+      description: Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune.
+        Enabling this toggle overrides Self-Tune values.
+      enablement:
+      - $ref: '#/macros/offroad'
+      - type: param
+        key: CustomTorqueParams
+        equals: true
+    - key: TorqueParamsOverrideLatAccelFactor
+      widget: option
+      title: Lateral Acceleration Factor
+      title_param_suffix:
+        param: TorqueParamsOverrideEnabled
+        values:
+          'true': (Real-Time & Offline)
+          'false': (Offline Only)
+      min: 0.1
+      max: 5.0
+      step: 0.1
+      unit: m/s²
+      enablement:
+      - type: param
+        key: CustomTorqueParams
+        equals: true
+      - type: any
+        conditions:
+        - type: param
+          key: TorqueParamsOverrideEnabled
+          equals: true
+        - type: offroad_only
+    - key: TorqueParamsOverrideFriction
+      widget: option
+      title: Friction
+      title_param_suffix:
+        param: TorqueParamsOverrideEnabled
+        values:
+          'true': (Real-Time & Offline)
+          'false': (Offline Only)
+      min: 0.0
+      max: 1.0
+      step: 0.01
+      enablement:
+      - type: param
+        key: CustomTorqueParams
+        equals: true
+      - type: any
+        conditions:
+        - type: param
+          key: TorqueParamsOverrideEnabled
+          equals: true
+        - type: offroad_only
+    - key: TorqueControlTune
+      widget: multiple_button
+      title: Torque Control Tune Version
+      description: Select the version of Torque Control Tune to use.
+      options:
+      - value: ''
+        label: Default
+      - value: 1.0
+        label: v1.0
+      - value: 0.0
+        label: v0.0
+      enablement:
+      - $ref: '#/macros/offroad'
+- id: lane_change
+  title: Lane Change
+  description: Automatic lane change timing and behavior
+  items:
+  - key: AutoLaneChangeTimer
+    widget: option
+    title: Auto Lane Change by Blinker
+    description: |-
+      Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+    details: |-
+      Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.
+    options:
+    - value: -1
+      label: 'Off'
+    - value: 0
+      label: Nudge
+    - value: 1
+      label: Nudgeless
+    - value: 2
+      label: 0.5 second
+    - value: 3
+      label: 1 second
+    - value: 4
+      label: 2 seconds
+    - value: 5
+      label: 3 seconds
+  - key: AutoLaneChangeBsmDelay
+    widget: toggle
+    title: 'Auto Lane Change: Delay with Blind Spot'
+    description: Toggle to enable a delay timer for lane changes when blind spot monitoring (BSM) detects a vehicle in your blind
+      spot.
+    enablement:
+    - type: capability
+      field: enable_bsm
+      equals: true
+    - type: param_compare
+      key: AutoLaneChangeTimer
+      op: '>'
+      value: 0
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/toggles.yaml b/sunnypilot/sunnylink/settings_ui_src/pages/toggles.yaml
new file mode 100644
index 00000000000000..1a4186cf30c162
--- /dev/null
+++ b/sunnypilot/sunnylink/settings_ui_src/pages/toggles.yaml
@@ -0,0 +1,49 @@
+# Page: toggles
+# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
+id: toggles
+label: Toggles
+icon: toggles
+order: 5
+remote_configurable: true
+description: Core openpilot feature toggles
+sections:
+- id: core_toggles
+  title: ''
+  description: ''
+  items:
+  - key: OpenpilotEnabledToggle
+    widget: toggle
+    needs_onroad_cycle: true
+    title: Enable sunnypilot
+    description: Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is
+      required at all times to use this feature.
+    enablement:
+    - $ref: '#/macros/offroad'
+  - key: IsLdwEnabled
+    widget: toggle
+    title: Enable Lane Departure Warnings
+    description: Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn
+      signal activated while driving over 31 mph (50 km/h).
+  - key: AlwaysOnDM
+    widget: toggle
+    title: Always-On Driver Monitoring
+    description: Enable driver monitoring even when sunnypilot is not engaged.
+  - key: IsMetric
+    widget: toggle
+    title: Use Metric System
+    description: Display speed in km/h instead of mph.
+- id: recording
+  title: Recording
+  description: Camera and audio recording during drives
+  items:
+  - key: RecordFront
+    widget: toggle
+    needs_onroad_cycle: true
+    title: Record and Upload Driver Camera
+    description: Upload data from the driver facing camera and help improve the driver monitoring algorithm.
+  - key: RecordAudio
+    widget: toggle
+    needs_onroad_cycle: true
+    title: Record and Upload Microphone Audio
+    description: Record and store microphone audio while driving. The audio will be included in the dashcam video in comma
+      connect.
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml b/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
new file mode 100644
index 00000000000000..2f6f20730e1813
--- /dev/null
+++ b/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
@@ -0,0 +1,81 @@
+# Page: vehicle (per-brand settings)
+# Compiles to settings_ui.json#vehicle_settings (brand = section id).
+id: vehicle
+label: Vehicle
+icon: vehicle
+order: 99
+kind: vehicle
+sections:
+- id: hyundai
+  title: Hyundai / Kia / Genesis Settings
+  description: ''
+  items:
+  - key: HyundaiLongitudinalTuning
+    widget: multiple_button
+    title: Custom Longitudinal Tuning
+    options:
+    - value: 0
+      label: 'Off'
+    - value: 1
+      label: Dynamic
+    - value: 2
+      label: Predictive
+    visibility:
+    - type: capability
+      field: hyundai_alpha_long_available
+      equals: true
+    enablement:
+    - $ref: '#/macros/offroad'
+    - $ref: '#/macros/longitudinal'
+- id: subaru
+  title: Subaru Settings
+  description: ''
+  items:
+  - key: SubaruStopAndGo
+    widget: toggle
+    title: Stop and Go (Beta)
+    enablement:
+    - $ref: '#/macros/offroad'
+    - type: capability
+      field: has_stop_and_go
+      equals: true
+  - key: SubaruStopAndGoManualParkingBrake
+    widget: toggle
+    title: Stop and Go for Manual Parking Brake (Beta)
+    enablement:
+    - $ref: '#/macros/offroad'
+    - type: capability
+      field: has_stop_and_go
+      equals: true
+- id: tesla
+  title: Tesla Settings
+  description: ''
+  items:
+  - key: TeslaCoopSteering
+    widget: toggle
+    title: Cooperative Steering (Beta)
+    enablement:
+    - $ref: '#/macros/offroad'
+- id: toyota
+  title: Toyota / Lexus Settings
+  description: ''
+  items:
+  - key: ToyotaEnforceStockLongitudinal
+    widget: toggle
+    needs_onroad_cycle: true
+    title: Enforce Factory Longitudinal Control
+    description: sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used.
+    enablement:
+    - $ref: '#/macros/not_engaged'
+  - key: ToyotaStopAndGoHack
+    widget: toggle
+    needs_onroad_cycle: true
+    title: Stop and Go Hack (Alpha)
+    description: sunnypilot will allow some Toyota/Lexus cars to auto resume during stop and go traffic. This feature is only
+      applicable to certain models that are able to use longitudinal control. This is an alpha feature. Use at your own risk.
+    enablement:
+    - $ref: '#/macros/not_engaged'
+    - $ref: '#/macros/longitudinal'
+    - type: param
+      key: ToyotaEnforceStockLongitudinal
+      equals: false
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml b/sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml
new file mode 100644
index 00000000000000..3170991157ae19
--- /dev/null
+++ b/sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml
@@ -0,0 +1,111 @@
+# Page: visuals
+# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
+id: visuals
+label: Visuals
+icon: visuals
+order: 4
+remote_configurable: true
+description: HUD overlays, alerts, and on-screen display elements
+sections:
+- id: hud_elements
+  title: HUD Elements
+  description: Overlays shown on the driving screen
+  items:
+  - key: BlindSpot
+    widget: toggle
+    title: Show Blind Spot Warnings
+    description: Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has
+      BSM supported.
+  - key: TorqueBar
+    widget: toggle
+    title: Steering Arc
+    description: Display steering arc on the driving screen when lateral control is enabled.
+  - key: ShowTurnSignals
+    widget: toggle
+    title: Display Turn Signals
+    description: When enabled, visual turn indicators are drawn on the HUD.
+  - key: RoadNameToggle
+    widget: toggle
+    title: Display Road Name
+    description: Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be
+      downloaded to fetch the road name.
+    visibility:
+    - $ref: '#/macros/hide_on_mici'
+  - key: StandstillTimer
+    widget: toggle
+    title: Standstill Timer
+    description: Show a timer on the HUD when the car is at a standstill.
+    visibility:
+    - $ref: '#/macros/hide_on_mici'
+  - key: RocketFuel
+    widget: toggle
+    title: Real-time Acceleration Bar
+    description: Show an indicator on the left side of the screen to display real-time vehicle acceleration and deceleration.
+      This displays what the car is currently doing, not what the planner is requesting.
+    visibility:
+    - $ref: '#/macros/hide_on_mici'
+  - key: ChevronInfo
+    widget: option
+    title: Display Metrics Below Chevron
+    options:
+    - value: 0
+      label: 'Off'
+    - value: 1
+      label: Distance
+    - value: 2
+      label: Speed
+    - value: 3
+      label: Time
+    - value: 4
+      label: All
+    visibility:
+    - $ref: '#/macros/hide_on_mici'
+    enablement:
+    - $ref: '#/macros/longitudinal'
+- id: developer_ui
+  title: Developer UI Info
+  description: Speedometer and debug display options
+  visibility:
+  - $ref: '#/macros/hide_on_mici'
+  items:
+  - key: DevUIInfo
+    widget: option
+    title: Developer UI
+    description: Display real-time parameters and metrics from various sources.
+    options:
+    - value: 0
+      label: 'Off'
+    - value: 1
+      label: Bottom
+    - value: 2
+      label: Right
+    - value: 3
+      label: Right & Bottom
+  - key: TrueVEgoUI
+    widget: toggle
+    title: 'Speedometer: Always Display True Speed'
+    description: For applicable vehicles, always display the true vehicle current speed from wheel speed sensors.
+  - key: HideVEgoUI
+    widget: toggle
+    title: 'Speedometer: Hide from Onroad Screen'
+    description: When enabled, the speedometer on the onroad screen is not displayed.
+- id: alerts_extras
+  title: Alerts & Extras
+  description: Traffic light alerts and visual flair
+  items:
+  - key: GreenLightAlert
+    widget: toggle
+    title: Green Traffic Light Alert (Beta)
+    description: 'A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have
+      no vehicle in front of you. On-screen visual alert is only available on comma 3X. Note: This chime is only designed
+      as a notification. It is the driver''s responsibility to observe their environment and make decisions accordingly.'
+  - key: LeadDepartAlert
+    widget: toggle
+    title: Lead Departure Alert (Beta)
+    description: 'A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.
+      On-screen visual alert is only available on comma 3X. Note: This chime is only designed as a notification. It is the
+      driver''s responsibility to observe their environment and make decisions accordingly.'
+  - key: RainbowMode
+    widget: toggle
+    title: Tesla Rainbow Mode
+    description: Display a rainbow effect on the path the model wants to take. It does not affect driving in any way.
diff --git a/sunnypilot/sunnylink/tests/test_capabilities.py b/sunnypilot/sunnylink/tests/test_capabilities.py
new file mode 100644
index 00000000000000..4af14624792bf0
--- /dev/null
+++ b/sunnypilot/sunnylink/tests/test_capabilities.py
@@ -0,0 +1,92 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+
+Sentinel tests for the capabilities payload contract. PROTOCOL_VERSION is the
+wire-protocol version observable by the dashboard; bumping it is a breaking
+change and must be intentional. KNOWN_PROTOCOL_VERSIONS pins the set we
+explicitly support — when the constant is bumped, this list must be edited in
+the same commit so the bump shows up in code review.
+"""
+from __future__ import annotations
+
+import pytest
+
+from openpilot.sunnypilot.sunnylink.capabilities import (
+  CAPABILITY_DEFAULTS,
+  CAPABILITY_FIELDS,
+  CAPABILITY_LABELS,
+  PROTOCOL_VERSION,
+  generate_capabilities,
+)
+
+
+KNOWN_PROTOCOL_VERSIONS = (1,)
+LATEST_KNOWN = max(KNOWN_PROTOCOL_VERSIONS)
+
+
+@pytest.fixture(scope="module")
+def caps():
+  return generate_capabilities()
+
+
+class TestProtocolVersion:
+  def test_protocol_version_in_capability_fields(self):
+    assert "protocol_version" in CAPABILITY_FIELDS
+
+  def test_protocol_version_has_label(self):
+    assert "protocol_version" in CAPABILITY_LABELS
+
+  def test_protocol_version_default_is_set(self):
+    assert CAPABILITY_DEFAULTS.get("protocol_version") == PROTOCOL_VERSION
+
+  def test_protocol_version_emitted(self, caps):
+    assert "protocol_version" in caps
+    assert isinstance(caps["protocol_version"], int)
+    assert caps["protocol_version"] >= 1
+
+  def test_protocol_version_matches_constant(self, caps):
+    assert caps["protocol_version"] == PROTOCOL_VERSION
+
+  def test_protocol_version_is_known(self):
+    """Sentinel against accidental bumps. Edit KNOWN_PROTOCOL_VERSIONS if intentional."""
+    assert PROTOCOL_VERSION in KNOWN_PROTOCOL_VERSIONS, (
+      f"PROTOCOL_VERSION={PROTOCOL_VERSION} is not in KNOWN_PROTOCOL_VERSIONS={KNOWN_PROTOCOL_VERSIONS}. " +
+      "If this bump is intentional, add it to KNOWN_PROTOCOL_VERSIONS."
+    )
+
+  def test_protocol_version_matches_latest_known(self):
+    assert PROTOCOL_VERSION == LATEST_KNOWN, (
+      "Test invariant: PROTOCOL_VERSION must equal max(KNOWN_PROTOCOL_VERSIONS)."
+    )
+
+
+class TestOpaquePerBrandFlags:
+  def test_subaru_has_sng_field_present(self):
+    assert "subaru_has_sng" in CAPABILITY_FIELDS
+
+  def test_hyundai_alpha_long_available_field_present(self):
+    assert "hyundai_alpha_long_available" in CAPABILITY_FIELDS
+
+  def test_subaru_has_sng_default_false(self, caps):
+    assert caps["subaru_has_sng"] is False
+
+  def test_hyundai_alpha_long_available_default_false(self, caps):
+    assert caps["hyundai_alpha_long_available"] is False
+
+
+class TestCapabilitiesShape:
+  def test_all_fields_present(self, caps):
+    for field in CAPABILITY_FIELDS:
+      assert field in caps, f"capabilities missing {field}"
+
+  def test_all_fields_have_labels(self):
+    for field in CAPABILITY_FIELDS:
+      assert field in CAPABILITY_LABELS, f"CAPABILITY_LABELS missing {field}"
+
+  def test_string_defaults_are_strings(self, caps):
+    assert isinstance(caps["brand"], str)
+    assert isinstance(caps["steer_control_type"], str)
+    assert isinstance(caps["device_type"], str)
diff --git a/sunnypilot/sunnylink/tests/test_compile_settings_ui.py b/sunnypilot/sunnylink/tests/test_compile_settings_ui.py
new file mode 100644
index 00000000000000..6f30ef583bdc84
--- /dev/null
+++ b/sunnypilot/sunnylink/tests/test_compile_settings_ui.py
@@ -0,0 +1,175 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+
+Tests for the settings_ui_src/ -> settings_ui.json compiler. Covers:
+  - Roundtrip: compiled output matches the checked-in settings_ui.json
+  - $ref macro resolution semantics (list-splice, scalar-substitute, depth, cycles)
+  - Per-page tree integrity (every page has id; vehicle page emits to vehicle_settings)
+
+Does not cover device-side generator (test_settings_schema.py) or per-bug
+regression (test_settings_changes.py); those continue to validate the
+compiled output once the compiler has produced it.
+"""
+from __future__ import annotations
+
+import json
+import os
+
+import pytest
+import yaml
+
+from openpilot.sunnypilot.sunnylink.tools.compile_settings_ui import (
+  CompileError,
+  DEFAULT_OUT,
+  DEFAULT_SRC,
+  _resolve_refs,
+  compile_schema,
+)
+
+
+@pytest.fixture(scope="module")
+def compiled() -> dict:
+  return compile_schema(DEFAULT_SRC)
+
+
+@pytest.fixture(scope="module")
+def committed() -> dict:
+  with open(DEFAULT_OUT) as f:
+    return json.load(f)
+
+
+class TestRoundtrip:
+  def test_compiled_matches_committed(self, compiled, committed):
+    """Compiled output must match the checked-in JSON."""
+    assert compiled == committed
+
+  def test_committed_file_is_canonical(self):
+    """Compiled output must byte-match the checked-in file (including trailing newline).
+    Drift means someone edited settings_ui.json by hand instead of editing settings_ui_src/."""
+    schema = compile_schema(DEFAULT_SRC)
+    rendered = json.dumps(schema, indent=2) + "\n"
+    with open(DEFAULT_OUT) as f:
+      current = f.read()
+    assert current == rendered, "settings_ui.json out of sync — run compile_settings_ui.py"
+
+
+class TestRefResolution:
+  def test_list_context_splices(self):
+    macros = {"a": [{"type": "offroad_only"}], "b": [{"type": "not_engaged"}]}
+    out = _resolve_refs([{"$ref": "#/macros/a"}, {"$ref": "#/macros/b"}], macros)
+    assert out == [{"type": "offroad_only"}, {"type": "not_engaged"}]
+
+  def test_scalar_context_substitutes(self):
+    macros = {"x": {"type": "capability", "field": "brand", "equals": "tesla"}}
+    out = _resolve_refs({"condition": {"$ref": "#/macros/x"}}, macros)
+    assert out == {"condition": {"type": "capability", "field": "brand", "equals": "tesla"}}
+
+  def test_chained_ref_resolves(self):
+    macros = {
+      "leaf": [{"type": "offroad_only"}],
+      "middle": [{"$ref": "#/macros/leaf"}],
+    }
+    out = _resolve_refs([{"$ref": "#/macros/middle"}], macros)
+    assert out == [{"type": "offroad_only"}]
+
+  def test_unknown_macro_raises(self):
+    with pytest.raises(CompileError, match="unknown macro"):
+      _resolve_refs([{"$ref": "#/macros/missing"}], {})
+
+  def test_cycle_raises(self):
+    macros = {"a": [{"$ref": "#/macros/b"}], "b": [{"$ref": "#/macros/a"}]}
+    with pytest.raises(CompileError, match="cycle"):
+      _resolve_refs([{"$ref": "#/macros/a"}], macros)
+
+  def test_depth_limit(self):
+    # Depth 4 chain should fail (limit is 3).
+    macros = {
+      "l1": [{"$ref": "#/macros/l2"}],
+      "l2": [{"$ref": "#/macros/l3"}],
+      "l3": [{"$ref": "#/macros/l4"}],
+      "l4": [{"type": "offroad_only"}],
+    }
+    with pytest.raises(CompileError, match="depth"):
+      _resolve_refs([{"$ref": "#/macros/l1"}], macros)
+
+  def test_invalid_ref_scheme(self):
+    with pytest.raises(CompileError, match="unsupported"):
+      _resolve_refs([{"$ref": "https://example.com/x"}], {})
+
+  def test_scalar_macro_in_list_context_raises(self):
+    macros = {"x": {"type": "offroad_only"}}  # macro is a single rule (dict), not a list
+    with pytest.raises(CompileError, match="must resolve to a list"):
+      _resolve_refs([{"$ref": "#/macros/x"}], macros)
+
+
+class TestCompiledShape:
+  def test_panels_present(self, compiled):
+    assert isinstance(compiled["panels"], list)
+    assert len(compiled["panels"]) == 9
+    panel_ids = {p["id"] for p in compiled["panels"]}
+    assert {"steering", "cruise", "display", "visuals", "toggles",
+            "device", "software", "developer", "models"} <= panel_ids
+
+  def test_vehicle_settings_consistent_shape(self, compiled):
+    """Each brand in vehicle_settings must have {title, description, items}."""
+    for brand, data in compiled["vehicle_settings"].items():
+      assert isinstance(data, dict), f"{brand}: expected object, got {type(data).__name__}"
+      assert "title" in data, f"{brand}: missing title"
+      assert "description" in data, f"{brand}: missing description"
+      assert "items" in data, f"{brand}: missing items"
+
+  def test_no_dangling_refs_after_compile(self, compiled):
+    """All $ref objects must be resolved during compilation."""
+    def walk(node):
+      if isinstance(node, dict):
+        if "$ref" in node:
+          pytest.fail(f"unresolved $ref: {node}")
+        for v in node.values():
+          walk(v)
+      elif isinstance(node, list):
+        for x in node:
+          walk(x)
+    walk(compiled)
+
+
+class TestSourceTreeIntegrity:
+  def test_macros_yaml_well_formed(self):
+    with open(os.path.join(DEFAULT_SRC, "_macros.yaml")) as f:
+      doc = yaml.safe_load(f)
+    assert "macros" in doc
+    for name, body in doc["macros"].items():
+      assert name.replace("_", "").isalnum(), f"macro name '{name}' must be alphanumeric_"
+      assert body, f"macro '{name}' empty"
+
+  def test_pages_dir_well_formed(self):
+    pages_dir = os.path.join(DEFAULT_SRC, "pages")
+    assert os.path.isdir(pages_dir), "pages/ directory missing"
+    page_files = sorted(fn for fn in os.listdir(pages_dir) if fn.endswith(".yaml"))
+    # 9 panels + 1 vehicle = 10
+    assert len(page_files) == 10, f"expected 10 pages, found {len(page_files)}: {page_files}"
+
+  def test_every_page_has_id(self):
+    pages_dir = os.path.join(DEFAULT_SRC, "pages")
+    for fn in sorted(os.listdir(pages_dir)):
+      if not fn.endswith(".yaml"):
+        continue
+      path = os.path.join(pages_dir, fn)
+      with open(path) as f:
+        doc = yaml.safe_load(f)
+      assert isinstance(doc, dict), f"{path}: top-level must be a mapping"
+      assert "id" in doc, f"{path}: page missing 'id'"
+      # File basename should match page id (modulo .yaml extension).
+      expected_id = os.path.splitext(fn)[0]
+      assert doc["id"] == expected_id, (
+        f"{path}: page id '{doc['id']}' must match filename '{expected_id}'"
+      )
+
+  def test_vehicle_page_kind(self):
+    """vehicle.yaml must declare kind: vehicle so it routes to vehicle_settings."""
+    path = os.path.join(DEFAULT_SRC, "pages", "vehicle.yaml")
+    with open(path) as f:
+      doc = yaml.safe_load(f)
+    assert doc.get("kind") == "vehicle", "vehicle.yaml must declare kind: vehicle"
diff --git a/sunnypilot/sunnylink/tests/test_settings_changes.py b/sunnypilot/sunnylink/tests/test_settings_changes.py
new file mode 100644
index 00000000000000..3d53ee1e7757ac
--- /dev/null
+++ b/sunnypilot/sunnylink/tests/test_settings_changes.py
@@ -0,0 +1,222 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+
+Per-bug regression tests for the Raylib-vs-schema parity audit. Each test
+isolates one of the gating bugs that the design-overhaul branch fixes so a
+future regression is loud and obvious. These tests are intentionally narrow
+and additive — they do not replace the broader test_settings_schema.py.
+"""
+from __future__ import annotations
+
+import json
+import os
+from typing import Any
+
+import pytest
+
+from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import (
+  DEFINITION_PATH,
+  TORQUE_VERSIONS_PATH,
+  _build_torque_options,
+  _load_torque_versions,
+  generate_schema,
+)
+
+
+SCHEMA_VALIDATOR_PATH = os.path.join(os.path.dirname(DEFINITION_PATH), "settings_ui.schema.json")
+
+
+def _walk_items(schema: dict[str, Any]):
+  """Yield every item dict from the schema."""
+  def _yield(item: dict[str, Any]):
+    yield item
+    for sub in item.get("sub_items", []):
+      yield from _yield(sub)
+
+  for panel in schema.get("panels", []):
+    for section in panel.get("sections", []):
+      for item in section.get("items", []):
+        yield from _yield(item)
+      for sp in section.get("sub_panels", []):
+        for item in sp.get("items", []):
+          yield from _yield(item)
+    for item in panel.get("items", []):
+      yield from _yield(item)
+    for sp in panel.get("sub_panels", []):
+      for item in sp.get("items", []):
+        yield from _yield(item)
+  for brand in schema.get("vehicle_settings", {}).values():
+    items = brand.get("items", []) if isinstance(brand, dict) else brand
+    for item in items:
+      yield from _yield(item)
+
+
+def _find_item(schema: dict[str, Any], key: str) -> dict[str, Any] | None:
+  for item in _walk_items(schema):
+    if item.get("key") == key:
+      return item
+  return None
+
+
+def _find_section(schema: dict[str, Any], panel_id: str, section_id: str) -> dict[str, Any] | None:
+  for panel in schema.get("panels", []):
+    if panel.get("id") != panel_id:
+      continue
+    for section in panel.get("sections", []):
+      if section.get("id") == section_id:
+        return section
+  return None
+
+
+def _flatten_rule_types(rules: list[dict[str, Any]] | None) -> set[str]:
+  out: set[str] = set()
+
+  def _walk(rule: dict[str, Any]) -> None:
+    out.add(rule.get("type", ""))
+    if rule.get("type") == "not" and "condition" in rule:
+      _walk(rule["condition"])
+    elif rule.get("type") in ("any", "all"):
+      for c in rule.get("conditions", []):
+        _walk(c)
+
+  for rule in rules or []:
+    _walk(rule)
+  return out
+
+
+def _references_capability_field(rules: list[dict[str, Any]] | None, field: str) -> bool:
+  found = False
+
+  def _walk(rule: dict[str, Any]) -> None:
+    nonlocal found
+    if rule.get("type") == "capability" and rule.get("field") == field:
+      found = True
+    elif rule.get("type") == "not" and "condition" in rule:
+      _walk(rule["condition"])
+    elif rule.get("type") in ("any", "all"):
+      for c in rule.get("conditions", []):
+        _walk(c)
+
+  for rule in rules or []:
+    _walk(rule)
+  return found
+
+
+@pytest.fixture(scope="module")
+def schema():
+  return generate_schema()
+
+
+class TestMadsBrandGates:
+  def test_mads_main_cruise_has_brand_gate(self, schema):
+    """MadsMainCruiseAllowed must gate on brand and tesla_has_vehicle_bus."""
+    item = _find_item(schema, "MadsMainCruiseAllowed")
+    assert item is not None
+    assert _references_capability_field(item.get("enablement"), "brand")
+    assert _references_capability_field(item.get("enablement"), "tesla_has_vehicle_bus")
+
+  def test_mads_unified_engagement_has_brand_gate(self, schema):
+    """MadsUnifiedEngagementMode must mirror MadsMainCruiseAllowed brand-gate."""
+    item = _find_item(schema, "MadsUnifiedEngagementMode")
+    assert item is not None
+    assert _references_capability_field(item.get("enablement"), "brand")
+    assert _references_capability_field(item.get("enablement"), "tesla_has_vehicle_bus")
+
+
+class TestTestManeuversSection:
+  def test_lateral_maneuver_mode_in_test_maneuvers(self, schema):
+    section = _find_section(schema, "developer", "test_maneuvers")
+    assert section is not None, "developer.test_maneuvers section missing"
+    keys = {item["key"] for item in section.get("items", [])}
+    assert "LateralManeuverMode" in keys
+    assert "LongitudinalManeuverMode" in keys
+
+  def test_test_maneuvers_section_requires_attestation(self, schema):
+    section = _find_section(schema, "developer", "test_maneuvers")
+    assert section is not None
+    assert section.get("attestation_required") is True
+
+  def test_test_maneuvers_section_visibility_gate(self, schema):
+    section = _find_section(schema, "developer", "test_maneuvers")
+    assert section is not None
+    visibility = section.get("visibility")
+    assert visibility, "test_maneuvers must have visibility gate"
+    vis_refs = json.dumps(visibility)
+    assert "is_development" in vis_refs
+    assert "is_sp_release" in vis_refs
+    enablement = section.get("enablement") or []
+    enable_refs = json.dumps(enablement)
+    assert "ShowAdvancedControls" in enable_refs, \
+      "test_maneuvers must gate ShowAdvancedControls via enablement"
+
+
+class TestValidator:
+  def test_validator_accepts_real_json(self):
+    """settings_ui.json validates against settings_ui.schema.json."""
+    jsonschema = pytest.importorskip("jsonschema")
+    with open(DEFINITION_PATH) as f:
+      data = json.load(f)
+    with open(SCHEMA_VALIDATOR_PATH) as f:
+      validator = json.load(f)
+    jsonschema.validate(instance=data, schema=validator)
+
+
+class TestTorqueOptionGeneration:
+  def test_torque_versions_match_generated_options(self, schema):
+    versions = _load_torque_versions()
+    assert versions, "latcontrol_torque_versions.json must have at least one version"
+    expected = _build_torque_options(versions)
+    item = _find_item(schema, "TorqueControlTune")
+    assert item is not None, "TorqueControlTune item must be present"
+    assert item.get("options") == expected
+
+  def test_torque_versions_path_resolves(self):
+    assert os.path.exists(TORQUE_VERSIONS_PATH), (
+      f"latcontrol_torque_versions.json not found at {TORQUE_VERSIONS_PATH}"
+    )
+
+
+class TestReleaseBranchGates:
+  @pytest.mark.parametrize("key", [
+    "JoystickDebugMode",
+    "AlphaLongitudinalEnabled",
+    "EnableGithubRunner",
+    "QuickBootToggle",
+  ])
+  def test_sp_dev_items_gate_on_is_sp_release(self, schema, key):
+    """SP dev items must hide on either release branch (is_release OR is_sp_release)."""
+    item = _find_item(schema, key)
+    assert item is not None, f"{key} not found in schema"
+    rules = (item.get("visibility") or []) + (item.get("enablement") or [])
+    assert _references_capability_field(rules, "is_release"), f"{key} missing is_release gate"
+    assert _references_capability_field(rules, "is_sp_release"), f"{key} missing is_sp_release gate"
+
+
+class TestSpuriousOffroadGatesDropped:
+  def test_disengage_on_accelerator_has_no_offroad_only(self, schema):
+    item = _find_item(schema, "DisengageOnAccelerator")
+    assert item is not None
+    assert "offroad_only" not in _flatten_rule_types(item.get("enablement"))
+
+  def test_dynamic_experimental_has_no_offroad_only(self, schema):
+    item = _find_item(schema, "DynamicExperimentalControl")
+    assert item is not None
+    assert "offroad_only" not in _flatten_rule_types(item.get("enablement"))
+
+
+class TestNotEngagedReplacement:
+  @pytest.mark.parametrize("key", [
+    "AlphaLongitudinalEnabled",
+    "ToyotaEnforceStockLongitudinal",
+    "ToyotaStopAndGoHack",
+  ])
+  def test_offroad_only_replaced_with_not_engaged(self, schema, key):
+    """These items should use not_engaged, not offroad_only."""
+    item = _find_item(schema, key)
+    assert item is not None, f"{key} not found"
+    rule_types = _flatten_rule_types(item.get("enablement"))
+    assert "offroad_only" not in rule_types, f"{key} still uses offroad_only"
+    assert "not_engaged" in rule_types, f"{key} missing not_engaged"
diff --git a/sunnypilot/sunnylink/tests/test_settings_schema.py b/sunnypilot/sunnylink/tests/test_settings_schema.py
new file mode 100644
index 00000000000000..61cc0131cfe9cc
--- /dev/null
+++ b/sunnypilot/sunnylink/tests/test_settings_schema.py
@@ -0,0 +1,353 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import json
+import pytest
+
+from openpilot.common.params import Params
+from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import (
+  SCHEMA_VERSION,
+  generate_schema,
+  generate_schema_json,
+  collect_all_keys,
+  collect_capability_refs,
+)
+from openpilot.sunnypilot.sunnylink.capabilities import CAPABILITY_FIELDS
+
+
+VALID_WIDGET_TYPES = {"toggle", "option", "multiple_button", "button", "info"}
+VALID_RULE_TYPES = {"offroad_only", "not_engaged", "capability", "param", "param_compare", "not", "any", "all"}
+VALID_COMPARE_OPS = {">", "<", ">=", "<="}
+MAX_ALLOWED_MISSING_TITLES = 0  # All items must have titles (metadata is inline in settings_ui.json)
+
+
+def _iter_panel_items(panel: dict):
+  """Yield top-level items from a panel (non-recursive)."""
+  for item in panel.get("items", []):
+    yield item
+  for sp in panel.get("sub_panels", []):
+    for item in sp.get("items", []):
+      yield item
+  for section in panel.get("sections", []):
+    for item in section.get("items", []):
+      yield item
+    for sp in section.get("sub_panels", []):
+      for item in sp.get("items", []):
+        yield item
+
+
+def _iter_all_sub_panels(panel: dict):
+  """Yield all sub_panels from a panel and its sections."""
+  yield from panel.get("sub_panels", [])
+  for section in panel.get("sections", []):
+    yield from section.get("sub_panels", [])
+
+
+def _brand_items(brand_data) -> list[dict]:
+  """Extract items from vehicle_settings[brand] (handles dict or list)."""
+  if isinstance(brand_data, dict):
+    return brand_data.get("items", [])
+  if isinstance(brand_data, list):
+    return brand_data
+  return []
+
+
+@pytest.fixture(scope="module")
+def schema():
+  return generate_schema()
+
+
+@pytest.fixture(scope="module")
+def all_param_keys():
+  """All keys registered in the device param store."""
+  return {k.decode("utf-8") for k in Params().all_keys()}
+
+
+class TestSchemaStructure:
+  def test_schema_is_valid_json(self):
+    """Schema serializes to valid JSON."""
+    raw = generate_schema_json()
+    parsed = json.loads(raw)
+    assert isinstance(parsed, dict)
+
+  def test_has_required_top_level_fields(self, schema):
+    assert "schema_version" in schema
+    assert schema["schema_version"] == SCHEMA_VERSION
+    assert "generated_at" in schema
+    assert "panels" in schema
+    assert "vehicle_settings" in schema
+    assert "capability_fields" in schema
+
+  def test_panels_are_list(self, schema):
+    assert isinstance(schema["panels"], list)
+    assert len(schema["panels"]) > 0
+
+  def test_all_panels_have_required_fields(self, schema):
+    for panel in schema["panels"]:
+      assert "id" in panel, f"Panel missing 'id': {panel}"
+      assert "label" in panel, f"Panel {panel.get('id')} missing 'label'"
+      assert "order" in panel, f"Panel {panel.get('id')} missing 'order'"
+      has_sections = "sections" in panel
+      has_items = "items" in panel
+      assert has_sections or has_items, \
+        f"Panel {panel['id']} must have 'sections' or 'items'"
+      if has_sections:
+        assert isinstance(panel["sections"], list)
+        for sec in panel["sections"]:
+          assert "id" in sec, f"Section in panel {panel['id']} missing 'id'"
+          assert "items" in sec, f"Section {panel['id']}.{sec.get('id')} missing 'items'"
+          assert isinstance(sec["items"], list)
+      if has_items:
+        assert isinstance(panel["items"], list)
+
+  def test_all_items_have_key_and_widget(self, schema):
+    for panel in schema["panels"]:
+      for item in _iter_panel_items(panel):
+        assert "key" in item, f"Item in panel {panel['id']} missing 'key'"
+        assert "widget" in item, f"Item {item.get('key')} missing 'widget'"
+        assert item["widget"] in VALID_WIDGET_TYPES, \
+          f"Item {item['key']} has invalid widget type: {item['widget']}"
+
+  def test_sub_panel_items_have_key_and_widget(self, schema):
+    for panel in schema["panels"]:
+      for sp in _iter_all_sub_panels(panel):
+        assert "id" in sp
+        assert "items" in sp
+        for item in sp["items"]:
+          assert "key" in item
+          assert "widget" in item
+          assert item["widget"] in VALID_WIDGET_TYPES
+
+  def test_vehicle_settings_structure(self, schema):
+    vs = schema["vehicle_settings"]
+    assert isinstance(vs, dict)
+    for brand, data in vs.items():
+      assert isinstance(brand, str)
+      assert isinstance(data, dict), \
+        f"vehicle_settings[{brand}] must be a dict {{title, items, ...}}"
+      assert "items" in data, f"vehicle_settings[{brand}] missing 'items'"
+      assert isinstance(data["items"], list)
+      for item in data["items"]:
+        assert "key" in item, f"Vehicle item for {brand} missing 'key'"
+        assert "widget" in item, f"Vehicle item {item.get('key')} missing 'widget'"
+
+  def test_no_duplicate_keys_across_panels(self, schema):
+    """Param keys should appear in at most one panel."""
+    seen: dict[str, str] = {}  # key -> panel_id
+    for panel in schema["panels"]:
+      for item in _iter_panel_items(panel):
+        key = item["key"]
+        if key in seen:
+          pytest.fail(f"Key '{key}' appears in both panel '{seen[key]}' and '{panel['id']}'")
+        seen[key] = panel["id"]
+        for sub in item.get("sub_items", []):
+          sub_key = sub["key"]
+          if sub_key in seen:
+            pytest.fail(f"Sub-item key '{sub_key}' appears in both '{seen[sub_key]}' and '{panel['id']}'")
+          seen[sub_key] = panel["id"]
+
+
+class TestSchemaCoverage:
+  def test_all_schema_keys_exist_in_params(self, schema, all_param_keys):
+    """Schema keys must exist in Params().all_keys()."""
+    schema_keys = collect_all_keys(schema)
+    missing = schema_keys - all_param_keys
+    assert not missing, f"Schema references keys not in Params: {missing}"
+
+  def test_all_capability_fields_are_declared(self, schema):
+    """Capability fields used in rules must be declared."""
+    declared = set(schema["capability_fields"])
+    referenced = collect_capability_refs(schema)
+    undeclared = referenced - declared
+    assert not undeclared, f"Rules reference undeclared capability fields: {undeclared}"
+
+  def test_capability_fields_match_constant(self, schema):
+    """Schema capability_fields must match CAPABILITY_FIELDS constant."""
+    assert set(schema["capability_fields"]) == set(CAPABILITY_FIELDS)
+
+
+class TestRuleWellFormedness:
+  def _validate_rule(self, rule: dict, context: str = ""):
+    """Recursively validate a single rule dict."""
+    assert "type" in rule, f"Rule missing 'type' in {context}"
+    rtype = rule["type"]
+    assert rtype in VALID_RULE_TYPES, f"Invalid rule type '{rtype}' in {context}"
+
+    if rtype == "capability":
+      assert "field" in rule, f"Capability rule missing 'field' in {context}"
+      assert "equals" in rule, f"Capability rule missing 'equals' in {context}"
+    elif rtype == "param":
+      assert "key" in rule, f"Param rule missing 'key' in {context}"
+      assert "equals" in rule, f"Param rule missing 'equals' in {context}"
+    elif rtype == "param_compare":
+      assert "key" in rule, f"Param compare rule missing 'key' in {context}"
+      assert "op" in rule, f"Param compare rule missing 'op' in {context}"
+      assert rule["op"] in VALID_COMPARE_OPS, f"Invalid op '{rule['op']}' in {context}"
+      assert "value" in rule, f"Param compare rule missing 'value' in {context}"
+    elif rtype == "not":
+      assert "condition" in rule, f"Not rule missing 'condition' in {context}"
+      self._validate_rule(rule["condition"], context=f"{context} > not")
+    elif rtype in ("any", "all"):
+      assert "conditions" in rule, f"{rtype} rule missing 'conditions' in {context}"
+      assert isinstance(rule["conditions"], list)
+      for c in rule["conditions"]:
+        self._validate_rule(c, context=f"{context} > {rtype}")
+
+  def _validate_items(self, items: list[dict], context: str):
+    for item in items:
+      key = item.get("key", "unknown")
+      for rules_field in ("visibility", "enablement"):
+        rules = item.get(rules_field)
+        if rules:
+          assert isinstance(rules, list), f"{key}.{rules_field} must be a list"
+          for rule in rules:
+            self._validate_rule(rule, context=f"{context}.{key}.{rules_field}")
+      for sub in item.get("sub_items", []):
+        self._validate_items([sub], context=f"{context}.{key}")
+
+  def _validate_section_rules(self, section: dict, context: str):
+    for rules_field in ("visibility", "enablement"):
+      rules = section.get(rules_field) or []
+      for rule in rules:
+        self._validate_rule(rule, context=f"{context}.{rules_field}")
+
+  def test_all_panel_rules_well_formed(self, schema):
+    for panel in schema["panels"]:
+      self._validate_items(list(_iter_panel_items(panel)), context=f"panel:{panel['id']}")
+      for sp in _iter_all_sub_panels(panel):
+        self._validate_items(sp["items"], context=f"subpanel:{sp['id']}")
+      for section in panel.get("sections", []):
+        self._validate_section_rules(section, context=f"section:{panel['id']}.{section['id']}")
+
+  def test_all_vehicle_rules_well_formed(self, schema):
+    for brand, data in schema["vehicle_settings"].items():
+      self._validate_items(_brand_items(data), context=f"vehicle:{brand}")
+
+  def test_no_self_referencing_visibility(self, schema):
+    """An item's visibility/enablement rules should not depend on its own key."""
+    def _check_self_ref(item: dict, rules_field: str):
+      key = item.get("key")
+      for rule in item.get(rules_field, []):
+        if rule.get("type") == "param" and rule.get("key") == key:
+          pytest.fail(f"Item {key} has self-referencing {rules_field} rule")
+
+    for panel in schema["panels"]:
+      for item in _iter_panel_items(panel):
+        _check_self_ref(item, "visibility")
+        _check_self_ref(item, "enablement")
+
+    for brand_data in schema.get("vehicle_settings", {}).values():
+      for item in _brand_items(brand_data):
+        _check_self_ref(item, "visibility")
+        _check_self_ref(item, "enablement")
+
+
+class TestKnownPanels:
+  def test_expected_panels_exist(self, schema):
+    panel_ids = {p["id"] for p in schema["panels"]}
+    expected = {"steering", "cruise", "display", "visuals", "device", "software", "developer"}
+    assert expected.issubset(panel_ids), f"Missing panels: {expected - panel_ids}"
+
+  def test_mads_sub_panel_exists(self, schema):
+    steering = next(p for p in schema["panels"] if p["id"] == "steering")
+    sub_ids = {sp["id"] for sp in _iter_all_sub_panels(steering)}
+    assert "mads_settings" in sub_ids
+
+  def test_mutual_exclusion_torque_nnlc(self, schema):
+    """EnforceTorqueControl and NNLC must reference each other in enablement."""
+    torque = nnlc = None
+    for panel in schema["panels"]:
+      for item in _iter_panel_items(panel):
+        if item["key"] == "EnforceTorqueControl":
+          torque = item
+        elif item["key"] == "NeuralNetworkLateralControl":
+          nnlc = item
+    assert torque is not None, "EnforceTorqueControl item missing"
+    assert nnlc is not None, "NeuralNetworkLateralControl item missing"
+    torque_enable_keys = {r.get("key") for r in torque.get("enablement", []) if r.get("type") == "param"}
+    assert "NeuralNetworkLateralControl" in torque_enable_keys
+    nnlc_enable_keys = {r.get("key") for r in nnlc.get("enablement", []) if r.get("type") == "param"}
+    assert "EnforceTorqueControl" in nnlc_enable_keys
+
+
+class TestKnownVehicleSettings:
+  def test_hyundai_has_longitudinal_tuning(self, schema):
+    keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("hyundai"))}
+    assert "HyundaiLongitudinalTuning" in keys
+
+  def test_toyota_has_enforce_stock_and_stop_go(self, schema):
+    keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("toyota"))}
+    assert "ToyotaEnforceStockLongitudinal" in keys
+    assert "ToyotaStopAndGoHack" in keys
+
+  def test_tesla_has_coop_steering(self, schema):
+    keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("tesla"))}
+    assert "TeslaCoopSteering" in keys
+
+  def test_subaru_has_stop_and_go(self, schema):
+    keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("subaru"))}
+    assert "SubaruStopAndGo" in keys
+    assert "SubaruStopAndGoManualParkingBrake" in keys
+
+
+class TestItemCompleteness:
+  def _collect_all_items(self, schema):
+    """Collect all items and sub_items from panels and vehicle_settings."""
+    items = []
+    for panel in schema["panels"]:
+      for item in _iter_panel_items(panel):
+        items.append(item)
+        for sub in item.get("sub_items", []):
+          items.append(sub)
+    for brand_data in schema.get("vehicle_settings", {}).values():
+      for item in _brand_items(brand_data):
+        items.append(item)
+        for sub in item.get("sub_items", []):
+          items.append(sub)
+    return items
+
+  def test_all_items_have_titles(self, schema):
+    """All items must have titles."""
+    missing = [i["key"] for i in self._collect_all_items(schema) if "title" not in i]
+    if len(missing) > MAX_ALLOWED_MISSING_TITLES:
+      pytest.fail(f"Items without titles ({len(missing)}): {missing[:10]}")
+
+  def test_no_default_titles(self, schema):
+    """Item titles must differ from keys."""
+    defaults = [i["key"] for i in self._collect_all_items(schema) if i.get("title") == i["key"]]
+    assert not defaults, f"Items with default titles (title == key): {defaults}"
+
+  def test_options_structure(self, schema):
+    """Options must be a list of {value, label} dicts."""
+    for item in self._collect_all_items(schema):
+      opts = item.get("options")
+      if opts is None:
+        continue
+      assert isinstance(opts, list), f"{item['key']}: options must be a list"
+      for opt in opts:
+        assert isinstance(opt, dict), f"{item['key']}: each option must be a dict"
+        assert "value" in opt, f"{item['key']}: option missing 'value': {opt}"
+        assert "label" in opt, f"{item['key']}: option missing 'label': {opt}"
+
+  def test_numeric_constraints(self, schema):
+    """If any of min/max/step is present, all three must be, and min < max."""
+    for item in self._collect_all_items(schema):
+      has_min = "min" in item
+      has_max = "max" in item
+      has_step = "step" in item
+      if has_min or has_max or has_step:
+        assert has_min and has_max and has_step, \
+          f"{item['key']}: must have all of min/max/step or none"
+        assert item["min"] < item["max"], \
+          f"{item['key']}: min ({item['min']}) must be < max ({item['max']})"
+
+  def test_known_param_has_options(self, schema):
+    """LongitudinalPersonality should have 3 options."""
+    cruise = next(p for p in schema["panels"] if p["id"] == "cruise")
+    lp = next((i for i in _iter_panel_items(cruise) if i["key"] == "LongitudinalPersonality"), None)
+    assert lp is not None
+    assert "options" in lp
+    assert len(lp["options"]) == 3
diff --git a/sunnypilot/sunnylink/tools/apply_macros.py b/sunnypilot/sunnylink/tools/apply_macros.py
new file mode 100755
index 00000000000000..a6b56122adc402
--- /dev/null
+++ b/sunnypilot/sunnylink/tools/apply_macros.py
@@ -0,0 +1,211 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+
+Scans all per-page YAML files in settings_ui_src/pages/ and replaces inlined
+rule blocks that exactly match a macro definition in _macros.yaml with $ref
+references.
+
+Match policy:
+  - Whole-list match (exact): replace the entire list with [{$ref}].
+  - Single-rule match: any individual rule whose canonical form equals macro[0]
+    (when macro is exactly one rule) is replaced with {$ref}.
+
+Re-run is idempotent (already-substituted $refs are skipped).
+
+Usage:
+  python apply_macros.py [--src DIR] [--dry-run]
+"""
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import sys
+
+import yaml
+
+DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+DEFAULT_SRC = os.path.join(DIR, "settings_ui_src")
+
+
+class _BlockDumper(yaml.SafeDumper):
+  pass
+
+
+def _represent_dict(dumper, data):
+  return dumper.represent_mapping("tag:yaml.org,2002:map", data.items(), flow_style=False)
+
+
+def _represent_list(dumper, data):
+  flow = all(not isinstance(x, (dict, list)) for x in data) and len(data) <= 8
+  return dumper.represent_sequence("tag:yaml.org,2002:seq", data, flow_style=flow)
+
+
+_BlockDumper.add_representer(dict, _represent_dict)
+_BlockDumper.add_representer(list, _represent_list)
+
+
+def _dump_yaml(data) -> str:
+  return yaml.dump(data, Dumper=_BlockDumper, sort_keys=False, allow_unicode=True, width=120)
+
+
+def _canon(node) -> str:
+  return json.dumps(node, sort_keys=True, separators=(",", ":"))
+
+
+def _is_ref(node) -> bool:
+  return isinstance(node, dict) and len(node) == 1 and "$ref" in node
+
+
+def _make_ref(name: str) -> dict:
+  return {"$ref": f"#/macros/{name}"}
+
+
+def _substitute_rules(rules: list, whole_list: dict, single_rule: dict) -> list:
+  if not isinstance(rules, list) or not rules:
+    return rules
+  full_canon = _canon(rules)
+  if full_canon in whole_list:
+    return [_make_ref(whole_list[full_canon])]
+  out = []
+  for r in rules:
+    if _is_ref(r):
+      out.append(r)
+      continue
+    rc = _canon(r)
+    if rc in single_rule:
+      out.append(_make_ref(single_rule[rc]))
+    else:
+      out.append(r)
+  return out
+
+
+def _walk_item(item: dict, whole_list: dict, single_rule: dict) -> bool:
+  changed = False
+  for ctx in ("visibility", "enablement"):
+    if ctx in item:
+      new = _substitute_rules(item[ctx], whole_list, single_rule)
+      if new != item[ctx]:
+        item[ctx] = new
+        changed = True
+  if "options" in item:
+    for opt in item["options"]:
+      if not isinstance(opt, dict):
+        continue
+      for ctx in ("visibility", "enablement"):
+        if ctx in opt:
+          new = _substitute_rules(opt[ctx], whole_list, single_rule)
+          if new != opt[ctx]:
+            opt[ctx] = new
+            changed = True
+  if "sub_items" in item:
+    for sub in item["sub_items"]:
+      if _walk_item(sub, whole_list, single_rule):
+        changed = True
+  return changed
+
+
+def _walk_page(page: dict, whole_list: dict, single_rule: dict) -> bool:
+  changed = False
+  for sec in page.get("sections", []) or []:
+    for ctx in ("visibility", "enablement"):
+      if ctx in sec:
+        new = _substitute_rules(sec[ctx], whole_list, single_rule)
+        if new != sec[ctx]:
+          sec[ctx] = new
+          changed = True
+    for it in sec.get("items", []) or []:
+      if _walk_item(it, whole_list, single_rule):
+        changed = True
+    for sp in sec.get("sub_panels", []) or []:
+      for it in sp.get("items", []) or []:
+        if _walk_item(it, whole_list, single_rule):
+          changed = True
+  for it in page.get("items", []) or []:
+    if _walk_item(it, whole_list, single_rule):
+      changed = True
+  for sp in page.get("sub_panels", []) or []:
+    for it in sp.get("items", []) or []:
+      if _walk_item(it, whole_list, single_rule):
+        changed = True
+  return changed
+
+
+def _build_macro_indices(macros: dict) -> tuple[dict, dict]:
+  whole_list = {}
+  single_rule = {}
+  for name, body in macros.items():
+    if isinstance(body, list):
+      whole_list[_canon(body)] = name
+      if len(body) == 1 and isinstance(body[0], dict):
+        single_rule[_canon(body[0])] = name
+    elif isinstance(body, dict):
+      single_rule[_canon(body)] = name
+  return whole_list, single_rule
+
+
+def _read_yaml_with_header(path: str) -> tuple[list[str], dict]:
+  with open(path) as f:
+    text = f.read()
+  header_lines = []
+  for line in text.splitlines(keepends=True):
+    if line.startswith("#"):
+      header_lines.append(line)
+    elif line.strip() == "":
+      header_lines.append(line)
+    else:
+      break
+  doc = yaml.safe_load(text) or {}
+  return header_lines, doc
+
+
+def _write_yaml_with_header(path: str, header: list[str], doc: dict) -> None:
+  with open(path, "w") as f:
+    if header:
+      # Keep at most one trailing blank line in header
+      while len(header) > 1 and header[-1].strip() == "" and header[-2].strip() == "":
+        header.pop()
+      for line in header:
+        f.write(line)
+    f.write(_dump_yaml(doc))
+
+
+def apply(src_dir: str, dry_run: bool) -> int:
+  with open(os.path.join(src_dir, "_macros.yaml")) as f:
+    macros_doc = yaml.safe_load(f) or {}
+  macros = (macros_doc.get("macros") or {}) if isinstance(macros_doc, dict) else {}
+  whole_list, single_rule = _build_macro_indices(macros)
+
+  changed_files = 0
+  pages_dir = os.path.join(src_dir, "pages")
+  if os.path.isdir(pages_dir):
+    for fn in sorted(os.listdir(pages_dir)):
+      if not fn.endswith((".yaml", ".yml")) or fn.startswith("_"):
+        continue
+      path = os.path.join(pages_dir, fn)
+      header, doc = _read_yaml_with_header(path)
+      if _walk_page(doc, whole_list, single_rule):
+        changed_files += 1
+        if not dry_run:
+          _write_yaml_with_header(path, header, doc)
+        else:
+          print(f"would-rewrite: {path}")
+
+  print(f"{'Would rewrite' if dry_run else 'Rewrote'} {changed_files} files")
+  return 0
+
+
+def _main() -> int:
+  parser = argparse.ArgumentParser(description="Substitute inlined rule blocks with $ref macros across pages/.")
+  parser.add_argument("--src", default=DEFAULT_SRC)
+  parser.add_argument("--dry-run", action="store_true")
+  args = parser.parse_args()
+  return apply(args.src, args.dry_run)
+
+
+if __name__ == "__main__":
+  sys.exit(_main())
diff --git a/sunnypilot/sunnylink/tools/compile_settings_ui.py b/sunnypilot/sunnylink/tools/compile_settings_ui.py
new file mode 100755
index 00000000000000..c13ecd63a0909a
--- /dev/null
+++ b/sunnypilot/sunnylink/tools/compile_settings_ui.py
@@ -0,0 +1,300 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+
+Reads settings_ui_src/ (the dev-friendly authoring tree) and emits the
+canonical settings_ui.json that the device generator + frontend consume.
+
+Source layout:
+  _macros.yaml                                # named rule fragments
+  pages/<page_id>.yaml                        # one file per panel/page
+  pages/vehicle.yaml                          # special: emits vehicle_settings
+
+Each page.yaml contains the full panel: metadata + sections + items + sub_panels
+inline. Sub-panels are nested inside the section they belong to. Items appear
+in the order written in the file.
+
+Macro references use JSON-Schema-style $ref pointers:
+  enablement:
+    - {$ref: "#/macros/offroad"}
+    - {$ref: "#/macros/mads_full_platforms"}
+
+Macros may reference other macros (max depth 3). Cycles raise an error.
+
+Usage:
+  python compile_settings_ui.py [--src DIR] [--out PATH] [--check]
+"""
+from __future__ import annotations
+
+import argparse
+import copy
+import json
+import os
+import sys
+
+import yaml
+
+DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+DEFAULT_SRC = os.path.join(DIR, "settings_ui_src")
+DEFAULT_OUT = os.path.join(DIR, "settings_ui.json")
+
+SCHEMA_VERSION = "1.0"
+MAX_MACRO_DEPTH = 3
+
+
+class CompileError(Exception):
+  pass
+
+
+def _load_yaml(path: str):
+  with open(path) as f:
+    return yaml.safe_load(f) or {}
+
+
+def _is_ref(node) -> bool:
+  return isinstance(node, dict) and len(node) == 1 and "$ref" in node
+
+
+def _ref_name(node: dict) -> str:
+  ref = node["$ref"]
+  if not isinstance(ref, str) or not ref.startswith("#/macros/"):
+    raise CompileError(f"unsupported $ref: {ref!r} (must start with '#/macros/')")
+  return ref[len("#/macros/"):]
+
+
+def _resolve_refs(node, macros: dict, visiting: tuple[str, ...] = ()):
+  """Resolve $ref nodes against macros. Recursive; depth-limited; cycle-safe.
+
+  - $ref in list-context: macro's list spliced into parent list.
+  - $ref in scalar-context (object value): macro's value substitutes.
+  - Non-list macro values may not be referenced from list contexts.
+  """
+  if _is_ref(node):
+    name = _ref_name(node)
+    if name in visiting:
+      raise CompileError(f"$ref cycle: {' -> '.join(visiting + (name,))}")
+    if len(visiting) >= MAX_MACRO_DEPTH:
+      raise CompileError(f"$ref nesting exceeds depth {MAX_MACRO_DEPTH}: {' -> '.join(visiting + (name,))}")
+    if name not in macros:
+      raise CompileError(f"unknown macro: {name}")
+    return _resolve_refs(copy.deepcopy(macros[name]), macros, visiting + (name,))
+
+  if isinstance(node, dict):
+    return {k: _resolve_refs(v, macros, visiting) for k, v in node.items()}
+
+  if isinstance(node, list):
+    out = []
+    for item in node:
+      if _is_ref(item):
+        resolved = _resolve_refs(item, macros, visiting)
+        if not isinstance(resolved, list):
+          raise CompileError(
+            f"macro '{_ref_name(item)}' must resolve to a list when used in a list context"
+          )
+        out.extend(resolved)
+      else:
+        out.append(_resolve_refs(item, macros, visiting))
+    return out
+
+  return node
+
+
+# Output JSON key order. Mirrors the conventions in the original hand-written
+# settings_ui.json so structural diffs after extraction are minimal.
+_ITEM_KEY_ORDER = [
+  "key",
+  "widget",
+  "needs_onroad_cycle",
+  "requires_attestation",
+  "blocked",
+  "title",
+  "description",
+  "details",
+  "title_param_suffix",
+  "min",
+  "max",
+  "step",
+  "unit",
+  "options",
+  "visibility",
+  "enablement",
+  "sub_items",
+]
+
+
+def _canon_item(item: dict, macros: dict) -> dict:
+  resolved = dict(item)
+  for ctx in ("visibility", "enablement"):
+    if ctx in resolved:
+      resolved[ctx] = _resolve_refs(resolved[ctx], macros)
+  if "options" in resolved:
+    new_opts = []
+    for opt in resolved["options"]:
+      if isinstance(opt, dict):
+        opt = dict(opt)
+        for ctx in ("visibility", "enablement"):
+          if ctx in opt:
+            opt[ctx] = _resolve_refs(opt[ctx], macros)
+      new_opts.append(opt)
+    resolved["options"] = new_opts
+  if "sub_items" in resolved:
+    resolved["sub_items"] = [_canon_item(s, macros) for s in resolved["sub_items"]]
+
+  out: dict = {}
+  for k in _ITEM_KEY_ORDER:
+    if k in resolved:
+      out[k] = resolved[k]
+  for k, v in resolved.items():
+    if k not in out:
+      out[k] = v
+  return out
+
+
+def _canon_section(section: dict, macros: dict) -> dict:
+  out: dict = {"id": section["id"], "title": section["title"]}
+  if "description" in section:
+    out["description"] = section["description"]
+  for k in ("visibility", "enablement"):
+    if k in section:
+      out[k] = _resolve_refs(section[k], macros)
+  if "attestation_required" in section:
+    out["attestation_required"] = section["attestation_required"]
+  out["items"] = [_canon_item(i, macros) for i in section.get("items", [])]
+  if "sub_panels" in section and section["sub_panels"]:
+    out["sub_panels"] = [_canon_sub_panel(sp, macros) for sp in section["sub_panels"]]
+  for k, v in section.items():
+    if k not in out and k != "order":
+      out[k] = v
+  return out
+
+
+def _canon_sub_panel(sp: dict, macros: dict) -> dict:
+  out: dict = {"id": sp["id"], "label": sp["label"], "trigger_key": sp["trigger_key"]}
+  if "trigger_condition" in sp:
+    out["trigger_condition"] = _resolve_refs(sp["trigger_condition"], macros)
+  out["items"] = [_canon_item(i, macros) for i in sp.get("items", [])]
+  for k, v in sp.items():
+    if k not in out:
+      out[k] = v
+  return out
+
+
+def _canon_panel(page: dict, macros: dict) -> dict:
+  out: dict = {
+    "id": page["id"],
+    "label": page["label"],
+    "icon": page["icon"],
+    "order": page["order"],
+  }
+  if "remote_configurable" in page:
+    out["remote_configurable"] = page["remote_configurable"]
+  if "description" in page:
+    out["description"] = page["description"]
+  if "sections" in page and page["sections"]:
+    out["sections"] = [_canon_section(s, macros) for s in page["sections"]]
+  if "items" in page and page["items"]:
+    out["items"] = [_canon_item(i, macros) for i in page["items"]]
+  if "sub_panels" in page and page["sub_panels"]:
+    out["sub_panels"] = [_canon_sub_panel(sp, macros) for sp in page["sub_panels"]]
+  return out
+
+
+def _canon_vehicle(page: dict, macros: dict) -> dict:
+  """Convert page-shape vehicle.yaml to wire-format vehicle_settings dict."""
+  out: dict = {}
+  for sec in page.get("sections", []):
+    brand = sec["id"]
+    brand_out: dict = {"title": sec.get("title", "")}
+    if "description" in sec:
+      brand_out["description"] = sec["description"]
+    brand_out["items"] = [_canon_item(i, macros) for i in sec.get("items", [])]
+    out[brand] = brand_out
+  return out
+
+
+def _load_pages(src: str) -> list[dict]:
+  pages_dir = os.path.join(src, "pages")
+  if not os.path.isdir(pages_dir):
+    return []
+  pages = []
+  for fn in sorted(os.listdir(pages_dir)):
+    if not fn.endswith((".yaml", ".yml")):
+      continue
+    if fn.startswith("_"):
+      continue
+    path = os.path.join(pages_dir, fn)
+    page = _load_yaml(path)
+    if not isinstance(page, dict):
+      raise CompileError(f"{path}: page YAML must be an object")
+    if "id" not in page:
+      raise CompileError(f"{path}: page missing 'id'")
+    page["__source"] = path
+    pages.append(page)
+  return pages
+
+
+def compile_schema(src: str) -> dict:
+  macros_doc = _load_yaml(os.path.join(src, "_macros.yaml"))
+  macros = (macros_doc.get("macros") or {}) if isinstance(macros_doc, dict) else {}
+
+  pages = _load_pages(src)
+
+  panels_out = []
+  vehicle_out: dict = {}
+
+  # Order panels by `order` field (falling back to file position).
+  panel_pages = [p for p in pages if p.get("kind") != "vehicle"]
+  panel_pages.sort(key=lambda p: (p.get("order", 999), p["id"]))
+
+  for page in panel_pages:
+    panels_out.append(_canon_panel(page, macros))
+
+  for page in pages:
+    if page.get("kind") == "vehicle":
+      vehicle_out = _canon_vehicle(page, macros)
+
+  return {
+    "$schema": "./settings_ui.schema.json",
+    "schema_version": SCHEMA_VERSION,
+    "panels": panels_out,
+    "vehicle_settings": vehicle_out,
+  }
+
+
+def _main() -> int:
+  parser = argparse.ArgumentParser(description="Compile settings_ui_src/ -> settings_ui.json")
+  parser.add_argument("--src", default=DEFAULT_SRC)
+  parser.add_argument("--out", default=DEFAULT_OUT)
+  parser.add_argument("--check", action="store_true",
+                      help="Compile and diff against existing settings_ui.json; exit non-zero on diff.")
+  args = parser.parse_args()
+
+  schema = compile_schema(args.src)
+  rendered = json.dumps(schema, indent=2) + "\n"
+
+  if args.check:
+    if not os.path.exists(args.out):
+      print(f"--check: {args.out} does not exist", file=sys.stderr)
+      return 1
+    with open(args.out) as f:
+      current = f.read()
+    if current.strip() == rendered.strip():
+      print(f"--check: {args.out} matches compiled output")
+      return 0
+    print(f"--check: {args.out} differs from compiled output", file=sys.stderr)
+    cur_obj = json.loads(current)
+    if cur_obj == schema:
+      print("(structurally equal; only formatting differs)", file=sys.stderr)
+    return 1
+
+  with open(args.out, "w") as f:
+    f.write(rendered)
+  print(f"Wrote {args.out}")
+  return 0
+
+
+if __name__ == "__main__":
+  sys.exit(_main())
diff --git a/sunnypilot/sunnylink/tools/extract_settings_ui.py b/sunnypilot/sunnylink/tools/extract_settings_ui.py
new file mode 100755
index 00000000000000..4b3283f770d0c9
--- /dev/null
+++ b/sunnypilot/sunnylink/tools/extract_settings_ui.py
@@ -0,0 +1,214 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+
+One-shot extractor: settings_ui.json -> settings_ui_src/pages/*.yaml.
+
+Reads the existing monolithic settings_ui.json and produces one YAML file per
+page (panel) plus pages/vehicle.yaml for the per-brand settings. Macros remain
+unwritten by extract; populate _macros.yaml separately.
+
+Usage:
+  python extract_settings_ui.py [--src DIR] [--definition PATH]
+"""
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import shutil
+import sys
+
+import yaml
+
+DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+DEFAULT_DEFINITION = os.path.join(DIR, "settings_ui.json")
+DEFAULT_SRC = os.path.join(DIR, "settings_ui_src")
+
+
+class _BlockDumper(yaml.SafeDumper):
+  pass
+
+
+def _represent_dict(dumper, data):
+  return dumper.represent_mapping("tag:yaml.org,2002:map", data.items(), flow_style=False)
+
+
+def _represent_list(dumper, data):
+  flow = all(not isinstance(x, (dict, list)) for x in data) and len(data) <= 8
+  return dumper.represent_sequence("tag:yaml.org,2002:seq", data, flow_style=flow)
+
+
+_BlockDumper.add_representer(dict, _represent_dict)
+_BlockDumper.add_representer(list, _represent_list)
+
+
+def _dump_yaml(data) -> str:
+  return yaml.dump(data, Dumper=_BlockDumper, sort_keys=False, allow_unicode=True, width=120)
+
+
+# Item field order in per-page YAML (mirrors settings_ui.json conventions).
+_ITEM_ORDER = [
+  "key",
+  "widget",
+  "needs_onroad_cycle",
+  "requires_attestation",
+  "blocked",
+  "title",
+  "description",
+  "details",
+  "title_param_suffix",
+  "min",
+  "max",
+  "step",
+  "unit",
+  "options",
+  "visibility",
+  "enablement",
+  "sub_items",
+]
+
+
+def _ordered_item(item: dict) -> dict:
+  out: dict = {}
+  for k in _ITEM_ORDER:
+    if k in item:
+      v = item[k]
+      if k == "sub_items":
+        v = [_ordered_item(s) for s in v]
+      out[k] = v
+  for k, v in item.items():
+    if k not in out:
+      out[k] = v
+  return out
+
+
+def _ordered_section(section: dict) -> dict:
+  out: dict = {"id": section["id"], "title": section["title"]}
+  for f in ("description", "order", "visibility", "enablement", "attestation_required"):
+    if f in section:
+      out[f] = section[f]
+  if "items" in section:
+    out["items"] = [_ordered_item(i) for i in section["items"]]
+  if "sub_panels" in section and section["sub_panels"]:
+    out["sub_panels"] = [_ordered_sub_panel(sp) for sp in section["sub_panels"]]
+  for k, v in section.items():
+    if k not in out:
+      out[k] = v
+  return out
+
+
+def _ordered_sub_panel(sp: dict) -> dict:
+  out: dict = {"id": sp["id"], "label": sp["label"], "trigger_key": sp["trigger_key"]}
+  if "trigger_condition" in sp:
+    out["trigger_condition"] = sp["trigger_condition"]
+  if "items" in sp:
+    out["items"] = [_ordered_item(i) for i in sp["items"]]
+  for k, v in sp.items():
+    if k not in out:
+      out[k] = v
+  return out
+
+
+def _ordered_page(panel: dict) -> dict:
+  out: dict = {
+    "id": panel["id"],
+    "label": panel["label"],
+    "icon": panel["icon"],
+    "order": panel["order"],
+  }
+  for f in ("remote_configurable", "description"):
+    if f in panel:
+      out[f] = panel[f]
+  if "sections" in panel and panel["sections"]:
+    out["sections"] = [_ordered_section(s) for s in panel["sections"]]
+  if "items" in panel and panel["items"]:
+    out["items"] = [_ordered_item(i) for i in panel["items"]]
+  if "sub_panels" in panel and panel["sub_panels"]:
+    out["sub_panels"] = [_ordered_sub_panel(sp) for sp in panel["sub_panels"]]
+  for k, v in panel.items():
+    if k not in out:
+      out[k] = v
+  return out
+
+
+def _ordered_vehicle_page(vehicle_settings: dict) -> dict:
+  """Convert wire-format vehicle_settings dict into a page-shape YAML.
+
+  Brand becomes a section id. Each brand's items become section items.
+  """
+  sections = []
+  for brand in sorted(vehicle_settings.keys()):
+    bd = vehicle_settings[brand]
+    items = bd.get("items", []) if isinstance(bd, dict) else bd
+    sec: dict = {
+      "id": brand,
+      "title": bd.get("title", "") if isinstance(bd, dict) else "",
+    }
+    if isinstance(bd, dict) and "description" in bd:
+      sec["description"] = bd["description"]
+    sec["items"] = [_ordered_item(i) for i in items]
+    sections.append(sec)
+  return {
+    "id": "vehicle",
+    "label": "Vehicle",
+    "icon": "vehicle",
+    "order": 99,
+    "kind": "vehicle",  # signals to compiler: emit as vehicle_settings, not panels
+    "sections": sections,
+  }
+
+
+def extract(definition_path: str, src_dir: str) -> None:
+  with open(definition_path) as f:
+    data = json.load(f)
+
+  pages_dir = os.path.join(src_dir, "pages")
+  if os.path.isdir(pages_dir):
+    shutil.rmtree(pages_dir)
+  os.makedirs(pages_dir)
+
+  count = 0
+  for panel in data.get("panels", []):
+    page = _ordered_page(panel)
+    path = os.path.join(pages_dir, f"{panel['id']}.yaml")
+    with open(path, "w") as f:
+      f.write(f"# Page: {panel['id']}\n")
+      f.write("# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.\n")
+      f.write(_dump_yaml(page))
+    count += 1
+
+  vehicle_settings = data.get("vehicle_settings", {})
+  if vehicle_settings:
+    vehicle_page = _ordered_vehicle_page(vehicle_settings)
+    path = os.path.join(pages_dir, "vehicle.yaml")
+    with open(path, "w") as f:
+      f.write("# Page: vehicle (per-brand settings)\n")
+      f.write("# Compiles to settings_ui.json#vehicle_settings (brand = section id).\n")
+      f.write(_dump_yaml(vehicle_page))
+    count += 1
+
+  # Ensure _macros.yaml exists
+  macros_path = os.path.join(src_dir, "_macros.yaml")
+  if not os.path.exists(macros_path):
+    with open(macros_path, "w") as f:
+      f.write("# Named rule fragments. Reference from pages via {$ref: \"#/macros/<name>\"}.\n")
+      f.write(_dump_yaml({"macros": {}}))
+
+  print(f"Extracted: {count} pages -> {pages_dir}")
+
+
+def _main() -> int:
+  parser = argparse.ArgumentParser(description="Extract settings_ui.json into per-page YAML files.")
+  parser.add_argument("--definition", default=DEFAULT_DEFINITION, help="path to settings_ui.json")
+  parser.add_argument("--src", default=DEFAULT_SRC, help="path to settings_ui_src/ output dir")
+  args = parser.parse_args()
+  extract(args.definition, args.src)
+  return 0
+
+
+if __name__ == "__main__":
+  sys.exit(_main())
diff --git a/sunnypilot/sunnylink/tools/generate_settings_schema.py b/sunnypilot/sunnylink/tools/generate_settings_schema.py
new file mode 100755
index 00000000000000..5ace2a8087c389
--- /dev/null
+++ b/sunnypilot/sunnylink/tools/generate_settings_schema.py
@@ -0,0 +1,194 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from __future__ import annotations
+
+import base64
+import datetime
+import gzip
+import json
+import os
+from collections.abc import Callable
+
+from openpilot.sunnypilot.sunnylink.capabilities import CAPABILITY_FIELDS, CAPABILITY_LABELS
+
+SCHEMA_VERSION = "1.0"
+_DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+DEFINITION_PATH = os.path.join(_DIR, "settings_ui.json")
+TORQUE_VERSIONS_PATH = os.path.normpath(
+  os.path.join(_DIR, "..", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
+)
+
+
+def _load_torque_versions() -> dict:
+  """Load latcontrol_torque_versions.json so TorqueControlTune options stay in sync."""
+  try:
+    with open(TORQUE_VERSIONS_PATH) as f:
+      return json.load(f)
+  except (FileNotFoundError, json.JSONDecodeError):
+    return {}
+
+
+def _build_torque_options(versions: dict) -> list[dict]:
+  options: list[dict] = [{"value": "", "label": "Default"}]
+  parsed: list[tuple[float, str]] = []
+  for label, info in versions.items():
+    try:
+      parsed.append((float(info["version"]), label))
+    except (KeyError, TypeError, ValueError):
+      continue
+  for version, label in sorted(parsed, key=lambda kv: kv[0], reverse=True):
+    options.append({"value": version, "label": label})
+  return options
+
+
+def _inject_dynamic_options(schema: dict) -> None:
+  versions = _load_torque_versions()
+  if not versions:
+    return
+  options = _build_torque_options(versions)
+
+  def visitor(item: dict) -> None:
+    if item.get("key") == "TorqueControlTune":
+      item["options"] = options
+
+  _walk_all_items(schema, visitor)
+
+
+def _load_definition() -> dict:
+  """Load settings_ui.json and inject dynamic options sourced from runtime data files."""
+  with open(DEFINITION_PATH) as f:
+    schema = json.load(f)
+  _inject_dynamic_options(schema)
+  return schema
+
+
+# Public API
+def generate_schema() -> dict:
+  """Return the settings_ui.json content augmented with runtime metadata.
+
+  Adds three top-level fields the frontend consumes:
+    - generated_at: ISO timestamp (drives schema-cache freshness checks)
+    - capability_fields: declared CAPABILITY_FIELDS, used for rule validation
+    - capability_labels: human-readable labels for capability_fields
+  """
+  schema = _load_definition()
+  schema["generated_at"] = datetime.datetime.now(datetime.UTC).isoformat()
+  schema["capability_fields"] = list(CAPABILITY_FIELDS)
+  schema["capability_labels"] = dict(CAPABILITY_LABELS)
+  return schema
+
+
+def generate_schema_json() -> str:
+  """Generate SettingsSchema as a compact JSON string."""
+  return json.dumps(generate_schema(), separators=(",", ":"))
+
+
+def generate_schema_compressed() -> str:
+  """Generate SettingsSchema as gzip-compressed, base64-encoded string.
+
+  Compression pipeline:
+    1. JSON serialize (compact, no whitespace)
+    2. UTF-8 encode
+    3. gzip compress
+    4. base64 encode
+  """
+  raw = json.dumps(generate_schema(), separators=(",", ":")).encode("utf-8")
+  return base64.b64encode(gzip.compress(raw)).decode("utf-8")
+
+
+# Schema introspection utilities
+def _walk_rules(rules: list[dict] | None, visitor: Callable[[dict], None]) -> None:
+  """Recursively walk all rules, calling visitor on each leaf rule."""
+  if not rules:
+    return
+  for rule in rules:
+    visitor(rule)
+    if rule.get("type") == "not" and "condition" in rule:
+      _walk_rules([rule["condition"]], visitor)
+    elif rule.get("type") in ("any", "all") and "conditions" in rule:
+      _walk_rules(rule["conditions"], visitor)
+
+
+def _walk_all_items(schema: dict, visitor: Callable[[dict], None]) -> None:
+  """Walk every item in the schema (panels, sections, sub_panels, sub_items, vehicle_settings)."""
+  def _visit_item(item: dict) -> None:
+    visitor(item)
+    for sub in item.get("sub_items", []):
+      _visit_item(sub)
+
+  for panel in schema.get("panels", []):
+    # Walk section items (V2)
+    for section in panel.get("sections", []):
+      for item in section.get("items", []):
+        _visit_item(item)
+      for sp in section.get("sub_panels", []):
+        for item in sp.get("items", []):
+          _visit_item(item)
+
+    # Walk flat items (V1)
+    for item in panel.get("items", []):
+      _visit_item(item)
+    for sp in panel.get("sub_panels", []):
+      for item in sp.get("items", []):
+        _visit_item(item)
+
+  for brand_data in schema.get("vehicle_settings", {}).values():
+    items = brand_data.get("items", []) if isinstance(brand_data, dict) else brand_data
+    for item in items:
+      _visit_item(item)
+
+
+def collect_all_keys(schema: dict) -> set[str]:
+  """Collect all param keys referenced in the schema (items + rules)."""
+  keys: set[str] = set()
+
+  def _visit_rule(rule: dict) -> None:
+    if rule.get("type") in ("param", "param_compare") and "key" in rule:
+      keys.add(rule["key"])
+
+  def _visit_item(item: dict) -> None:
+    if "key" in item:
+      keys.add(item["key"])
+    _walk_rules(item.get("visibility"), _visit_rule)
+    _walk_rules(item.get("enablement"), _visit_rule)
+
+  _walk_all_items(schema, _visit_item)
+  return keys
+
+
+def collect_capability_refs(schema: dict) -> set[str]:
+  """Collect all capability field names referenced in rules."""
+  refs: set[str] = set()
+
+  def _visit_rule(rule: dict) -> None:
+    if rule.get("type") == "capability" and "field" in rule:
+      refs.add(rule["field"])
+
+  def _visit_item(item: dict) -> None:
+    _walk_rules(item.get("visibility"), _visit_rule)
+    _walk_rules(item.get("enablement"), _visit_rule)
+
+  _walk_all_items(schema, _visit_item)
+  return refs
+
+
+if __name__ == "__main__":
+  # CLI: print schema for inspection
+  schema = generate_schema()
+  print(json.dumps(schema, indent=2))
+  print(f"\nTotal panels: {len(schema.get('panels', []))}")
+  print(f"Total vehicle brands: {len(schema.get('vehicle_settings', {}))}")
+  keys = collect_all_keys(schema)
+  print(f"Total unique param keys: {len(keys)}")
+
+  # Show compression stats
+  raw_json = json.dumps(schema, separators=(",", ":")).encode("utf-8")
+  compressed = gzip.compress(raw_json)
+  print(f"\nRaw JSON size: {len(raw_json):,} bytes")
+  print(f"Compressed size: {len(compressed):,} bytes")
+  print(f"Compression ratio: {len(compressed)/len(raw_json):.1%}")
diff --git a/sunnypilot/sunnylink/tools/validate_settings_ui.py b/sunnypilot/sunnylink/tools/validate_settings_ui.py
new file mode 100755
index 00000000000000..f1e094a7424471
--- /dev/null
+++ b/sunnypilot/sunnylink/tools/validate_settings_ui.py
@@ -0,0 +1,526 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+
+Validates settings_ui.json against structural, semantic, and referential integrity constraints.
+
+Usage:
+  python validate_settings_ui.py
+  python validate_settings_ui.py /path/to/settings_ui.json
+"""
+from __future__ import annotations
+
+import json
+import os
+import sys
+
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..', '..', '..'))
+
+from openpilot.sunnypilot.sunnylink.capabilities import CAPABILITY_FIELDS
+
+VALID_WIDGETS = {"toggle", "option", "multiple_button", "button", "info"}
+VALID_COMPARE_OPS = {">", "<", ">=", "<="}
+
+DEFAULT_PATH = os.path.join(
+  os.path.dirname(os.path.dirname(os.path.abspath(__file__))),
+  "settings_ui.json",
+)
+
+
+class ValidationResult:
+  """Tracks pass/fail for each named check."""
+
+  def __init__(self) -> None:
+    self.passed: list[str] = []
+    self.failed: list[tuple[str, str]] = []
+    self.warnings: list[str] = []
+
+  def ok(self, name: str) -> None:
+    self.passed.append(name)
+    print(f"OK: {name}")
+
+  def error(self, name: str, details: str) -> None:
+    self.failed.append((name, details))
+    print(f"ERROR: {name}: {details}")
+
+  def warn(self, msg: str) -> None:
+    self.warnings.append(msg)
+    print(f"WARNING: {msg}")
+
+  @property
+  def success(self) -> bool:
+    return len(self.failed) == 0
+
+  def summary(self) -> None:
+    total_passed = len(self.passed)
+    total_failed = len(self.failed)
+    print(f"\n{'='*60}")
+    print(f"Summary: {total_passed} checks passed, {total_failed} checks failed")
+    if self.warnings:
+      print(f"         {len(self.warnings)} warnings")
+    if self.success:
+      print("Result: PASS")
+    else:
+      print("Result: FAIL")
+
+
+def validate_rule(rule: dict, path: str, result: ValidationResult,
+                  capability_fields: tuple[str, ...]) -> bool:
+  """Validate a single rule dict. Returns True if valid."""
+  if not isinstance(rule, dict):
+    result.error("rule well-formedness", f"{path}: rule is not a dict: {rule!r}")
+    return False
+
+  rule_type = rule.get("type")
+  if rule_type is None:
+    result.error("rule well-formedness", f"{path}: rule missing 'type' field")
+    return False
+
+  if rule_type in ("offroad_only", "not_engaged"):
+    # Only type required
+    return True
+
+  if rule_type == "capability":
+    valid = True
+    if "field" not in rule or not isinstance(rule["field"], str):
+      result.error("rule well-formedness", f"{path}: capability rule missing/invalid 'field'")
+      valid = False
+    if "equals" not in rule:
+      result.error("rule well-formedness", f"{path}: capability rule missing 'equals'")
+      valid = False
+    return valid
+
+  if rule_type == "param":
+    valid = True
+    if "key" not in rule or not isinstance(rule["key"], str):
+      result.error("rule well-formedness", f"{path}: param rule missing/invalid 'key'")
+      valid = False
+    if "equals" not in rule:
+      result.error("rule well-formedness", f"{path}: param rule missing 'equals'")
+      valid = False
+    return valid
+
+  if rule_type == "param_compare":
+    valid = True
+    if "key" not in rule or not isinstance(rule["key"], str):
+      result.error("rule well-formedness", f"{path}: param_compare rule missing/invalid 'key'")
+      valid = False
+    if "op" not in rule or rule["op"] not in VALID_COMPARE_OPS:
+      result.error("rule well-formedness",
+                    f"{path}: param_compare rule missing/invalid 'op' (must be one of {VALID_COMPARE_OPS})")
+      valid = False
+    if "value" not in rule or not isinstance(rule["value"], (int, float)):
+      result.error("rule well-formedness", f"{path}: param_compare rule missing/invalid 'value' (must be number)")
+      valid = False
+    return valid
+
+  if rule_type == "not":
+    if "condition" not in rule or not isinstance(rule["condition"], dict):
+      result.error("rule well-formedness", f"{path}: 'not' rule missing/invalid 'condition'")
+      return False
+    return validate_rule(rule["condition"], f"{path}.not", result, capability_fields)
+
+  if rule_type in ("any", "all"):
+    if "conditions" not in rule or not isinstance(rule["conditions"], list):
+      result.error("rule well-formedness", f"{path}: '{rule_type}' rule missing/invalid 'conditions' array")
+      return False
+    valid = True
+    for i, cond in enumerate(rule["conditions"]):
+      if not validate_rule(cond, f"{path}.{rule_type}[{i}]", result, capability_fields):
+        valid = False
+    return valid
+
+  result.error("rule well-formedness", f"{path}: unknown rule type '{rule_type}'")
+  return False
+
+
+def collect_rules_from_item(item: dict) -> list[tuple[str, list[dict]]]:
+  """Return list of (context, rules_list) for an item's visibility + enablement."""
+  result = []
+  key = item.get("key", "?")
+  if "visibility" in item:
+    result.append((f"item '{key}' visibility", item["visibility"]))
+  if "enablement" in item:
+    result.append((f"item '{key}' enablement", item["enablement"]))
+  return result
+
+
+def walk_rules_flat(rules: list[dict]) -> list[dict]:
+  """Flatten all rules recursively into a single list."""
+  flat: list[dict] = []
+  for rule in rules:
+    flat.append(rule)
+    if rule.get("type") == "not" and "condition" in rule:
+      flat.extend(walk_rules_flat([rule["condition"]]))
+    elif rule.get("type") in ("any", "all") and "conditions" in rule:
+      flat.extend(walk_rules_flat(rule["conditions"]))
+  return flat
+
+
+def collect_all_items(data: dict) -> list[tuple[str, dict]]:
+  """Collect all items with their location path from the schema.
+
+  Returns (path, item_dict) tuples. Traverses sections, sub_panels, sub_items,
+  and vehicle_settings.
+  """
+  items: list[tuple[str, dict]] = []
+
+  for panel in data.get("panels", []):
+    pid = panel.get("id", "?")
+
+    # Flat items on panel
+    for item in panel.get("items", []):
+      _collect_item(f"panel '{pid}'", item, items)
+
+    # Sections
+    for section in panel.get("sections", []):
+      sid = section.get("id", "?")
+      for item in section.get("items", []):
+        _collect_item(f"panel '{pid}' > section '{sid}'", item, items)
+      for sp in section.get("sub_panels", []):
+        spid = sp.get("id", "?")
+        for item in sp.get("items", []):
+          _collect_item(f"panel '{pid}' > section '{sid}' > sub_panel '{spid}'", item, items)
+
+    # Top-level sub_panels on panel (no section)
+    for sp in panel.get("sub_panels", []):
+      spid = sp.get("id", "?")
+      for item in sp.get("items", []):
+        _collect_item(f"panel '{pid}' > sub_panel '{spid}'", item, items)
+
+  # Vehicle settings (supports both flat list and { title, items } structure)
+  for brand, brand_data in data.get("vehicle_settings", {}).items():
+    brand_items = brand_data.get("items", []) if isinstance(brand_data, dict) else brand_data
+    for item in brand_items:
+      _collect_item(f"vehicle_settings '{brand}'", item, items)
+
+  return items
+
+
+def _collect_item(path: str, item: dict, items: list[tuple[str, dict]]) -> None:
+  """Recursively collect an item and its sub_items."""
+  items.append((path, item))
+  for sub in item.get("sub_items", []):
+    _collect_item(f"{path} > sub_item", sub, items)
+
+
+def collect_panel_keys(panel: dict) -> set[str]:
+  """Collect all item keys within a single panel (sections, sub_panels, sub_items)."""
+  keys: set[str] = set()
+
+  def _add(item: dict) -> None:
+    if "key" in item:
+      keys.add(item["key"])
+    for sub in item.get("sub_items", []):
+      _add(sub)
+
+  for item in panel.get("items", []):
+    _add(item)
+  for section in panel.get("sections", []):
+    for item in section.get("items", []):
+      _add(item)
+    for sp in section.get("sub_panels", []):
+      for item in sp.get("items", []):
+        _add(item)
+  for sp in panel.get("sub_panels", []):
+    for item in sp.get("items", []):
+      _add(item)
+
+  return keys
+
+
+def check_json_parseable(path: str, result: ValidationResult) -> dict | None:
+  """Check 1: JSON parseable."""
+  try:
+    with open(path) as f:
+      data = json.load(f)
+    result.ok("JSON parseable")
+    return data
+  except json.JSONDecodeError as e:
+    result.error("JSON parseable", str(e))
+    return None
+  except FileNotFoundError:
+    result.error("JSON parseable", f"file not found: {path}")
+    return None
+
+
+def check_structural(data: dict, result: ValidationResult) -> None:
+  """Check 2: Required fields on panels, sections, items, sub_panels."""
+  errors: list[str] = []
+
+  for i, panel in enumerate(data.get("panels", [])):
+    for field in ("id", "label", "icon", "order"):
+      if field not in panel:
+        errors.append(f"panels[{i}]: missing required field '{field}'")
+
+    for j, section in enumerate(panel.get("sections", [])):
+      for field in ("id", "title"):
+        if field not in section:
+          errors.append(f"panels[{i}].sections[{j}]: missing required field '{field}'")
+
+      for k, sp in enumerate(section.get("sub_panels", [])):
+        for field in ("id", "label", "trigger_key"):
+          if field not in sp:
+            errors.append(f"panels[{i}].sections[{j}].sub_panels[{k}]: missing required field '{field}'")
+
+    for k, sp in enumerate(panel.get("sub_panels", [])):
+      for field in ("id", "label", "trigger_key"):
+        if field not in sp:
+          errors.append(f"panels[{i}].sub_panels[{k}]: missing required field '{field}'")
+
+  # Validate items
+  all_items = collect_all_items(data)
+  for path, item in all_items:
+    if "key" not in item:
+      errors.append(f"{path}: item missing required field 'key'")
+    if "widget" not in item:
+      errors.append(f"{path}: item missing required field 'widget'")
+    elif item["widget"] not in VALID_WIDGETS:
+      errors.append(
+        f"{path}: item '{item.get('key', '?')}' has invalid widget '{item['widget']}'"
+        + f" (must be one of {VALID_WIDGETS})"
+      )
+
+  if errors:
+    result.error("structural", "; ".join(errors))
+  else:
+    result.ok("structural")
+
+
+def check_item_completeness(data: dict, result: ValidationResult) -> None:
+  """Check 3: All items have required metadata (title, options for dropdowns)."""
+  all_items = collect_all_items(data)
+  issues: list[str] = []
+
+  for _path, item in all_items:
+    key = item.get("key", "unknown")
+    if "title" not in item:
+      issues.append(f"{key}: missing 'title'")
+    elif item["title"] == key:
+      issues.append(f"{key}: title must not equal key (use a human-readable title)")
+    widget = item.get("widget")
+    if widget in ("multiple_button", "option") and "options" in item:
+      opts = item["options"]
+      if not isinstance(opts, list):
+        issues.append(f"{key}: options must be a list")
+      else:
+        for opt in opts:
+          if not isinstance(opt, dict) or "value" not in opt or "label" not in opt:
+            issues.append(f"{key}: each option must have 'value' and 'label'")
+            break
+
+  if issues:
+    for issue in issues:
+      result.error("item completeness", issue)
+  else:
+    result.ok("item completeness")
+
+
+def check_no_duplicate_keys(data: dict, result: ValidationResult) -> None:
+  """Check 4: No param key appears in more than one panel."""
+  panel_keys: dict[str, list[str]] = {}  # key -> list of panel ids
+
+  for panel in data.get("panels", []):
+    pid = panel.get("id", "?")
+    keys = collect_panel_keys(panel)
+    for key in keys:
+      panel_keys.setdefault(key, []).append(pid)
+
+  # Also check vehicle_settings keys don't collide with panel keys
+  for brand, brand_data in data.get("vehicle_settings", {}).items():
+    brand_items = brand_data.get("items", []) if isinstance(brand_data, dict) else brand_data
+    for item in brand_items:
+      key = item.get("key")
+      if key:
+        panel_keys.setdefault(key, []).append(f"vehicle_settings.{brand}")
+
+  duplicates = {k: v for k, v in panel_keys.items() if len(v) > 1}
+  if duplicates:
+    details = "; ".join(f"'{k}' in [{', '.join(v)}]" for k, v in duplicates.items())
+    result.error("no duplicate keys", details)
+  else:
+    result.ok("no duplicate keys")
+
+
+def check_rule_wellformedness(data: dict, result: ValidationResult) -> None:
+  """Check 5: All rules have valid structure."""
+  all_items = collect_all_items(data)
+
+  # Save current error count to detect new errors
+  error_count_before = len(result.failed)
+
+  for path, item in all_items:
+    for ctx, rules in collect_rules_from_item(item):
+      for i, rule in enumerate(rules):
+        validate_rule(rule, f"{path} > {ctx}[{i}]", result, CAPABILITY_FIELDS)
+
+  # Also validate trigger_condition rules on sub_panels
+  for panel in data.get("panels", []):
+    pid = panel.get("id", "?")
+    for section in panel.get("sections", []):
+      for sp in section.get("sub_panels", []):
+        if "trigger_condition" in sp:
+          validate_rule(sp["trigger_condition"], f"panel '{pid}' > sub_panel '{sp.get('id', '?')}' trigger_condition",
+                        result, CAPABILITY_FIELDS)
+
+  if len(result.failed) == error_count_before:
+    result.ok("rule well-formedness")
+
+
+def check_capability_refs(data: dict, result: ValidationResult) -> None:
+  """Check 6: All capability rule field values are in CAPABILITY_FIELDS."""
+  all_items = collect_all_items(data)
+  invalid_refs: list[str] = []
+  cap_set = set(CAPABILITY_FIELDS)
+
+  for _path, item in all_items:
+    for _ctx, rules in collect_rules_from_item(item):
+      for rule in walk_rules_flat(rules):
+        if rule.get("type") == "capability":
+          field = rule.get("field")
+          if field and field not in cap_set:
+            invalid_refs.append(f"'{field}' in item '{item.get('key', '?')}'")
+
+  # Also check trigger_conditions
+  for panel in data.get("panels", []):
+    for section in panel.get("sections", []):
+      for sp in section.get("sub_panels", []):
+        if "trigger_condition" in sp:
+          for rule in walk_rules_flat([sp["trigger_condition"]]):
+            if rule.get("type") == "capability":
+              field = rule.get("field")
+              if field and field not in cap_set:
+                invalid_refs.append(f"'{field}' in sub_panel '{sp.get('id', '?')}' trigger_condition")
+
+  if invalid_refs:
+    result.error("capability refs", f"unknown capability fields: {', '.join(invalid_refs)}")
+  else:
+    result.ok("capability refs")
+
+
+def check_no_self_reference(data: dict, result: ValidationResult) -> None:
+  """Check 7: Item's rules must not reference the item's own key."""
+  all_items = collect_all_items(data)
+  self_refs: list[str] = []
+
+  for path, item in all_items:
+    key = item.get("key")
+    if not key:
+      continue
+    for _ctx, rules in collect_rules_from_item(item):
+      for rule in walk_rules_flat(rules):
+        if rule.get("type") in ("param", "param_compare") and rule.get("key") == key:
+          self_refs.append(f"'{key}' at {path}")
+
+  if self_refs:
+    result.error("no self-reference", f"items reference their own key: {', '.join(self_refs)}")
+  else:
+    result.ok("no self-reference")
+
+
+def check_sub_panel_triggers(data: dict, result: ValidationResult) -> None:
+  """Check 8: Sub-panel trigger_key must reference a key in the same panel."""
+  errors: list[str] = []
+
+  for panel in data.get("panels", []):
+    pid = panel.get("id", "?")
+    panel_keys = collect_panel_keys(panel)
+
+    # Check sub_panels at section level
+    for section in panel.get("sections", []):
+      for sp in section.get("sub_panels", []):
+        trigger = sp.get("trigger_key")
+        if trigger and trigger not in panel_keys:
+          errors.append(
+            f"sub_panel '{sp.get('id', '?')}' trigger_key '{trigger}'"
+            + f" not found in panel '{pid}'"
+          )
+
+    # Check top-level sub_panels
+    for sp in panel.get("sub_panels", []):
+      trigger = sp.get("trigger_key")
+      if trigger and trigger not in panel_keys:
+        errors.append(
+          f"sub_panel '{sp.get('id', '?')}' trigger_key '{trigger}'"
+          + f" not found in panel '{pid}'"
+        )
+
+  if errors:
+    result.error("sub-panel triggers", "; ".join(errors))
+  else:
+    result.ok("sub-panel triggers")
+
+
+def check_ordering(data: dict, result: ValidationResult) -> None:
+  """Check 9: Panel order values must be unique."""
+  orders: dict[int, list[str]] = {}
+  for panel in data.get("panels", []):
+    order = panel.get("order")
+    if order is not None:
+      orders.setdefault(order, []).append(panel.get("id", "?"))
+
+  duplicates = {o: ids for o, ids in orders.items() if len(ids) > 1}
+  if duplicates:
+    details = "; ".join(f"order {o}: [{', '.join(ids)}]" for o, ids in duplicates.items())
+    result.error("ordering", f"duplicate order values: {details}")
+  else:
+    result.ok("ordering")
+
+
+def check_vehicle_brands(data: dict, result: ValidationResult) -> None:
+  """Check 10: Vehicle settings keys lowercase + each brand has consistent {title, description, items} shape."""
+  vehicle = data.get("vehicle_settings", {})
+  errors: list[str] = []
+
+  for brand, brand_data in vehicle.items():
+    if not isinstance(brand, str) or brand != brand.lower():
+      errors.append(f"non-lowercase brand key: '{brand}'")
+    if not isinstance(brand_data, dict):
+      errors.append(f"brand '{brand}': expected object with {{title, description, items}}, got bare list")
+      continue
+    if "items" not in brand_data:
+      errors.append(f"brand '{brand}': missing 'items'")
+    if "title" not in brand_data:
+      errors.append(f"brand '{brand}': missing 'title' (use empty string for none)")
+
+  if errors:
+    result.error("vehicle brands", "; ".join(errors))
+  else:
+    result.ok("vehicle brands")
+
+
+def validate(path: str) -> bool:
+  """Run all validation checks on the given settings_ui.json file.
+
+  Returns True if all checks pass.
+  """
+  result = ValidationResult()
+
+  # Check 1: JSON parseable
+  data = check_json_parseable(path, result)
+  if data is None:
+    result.summary()
+    return False
+
+  # Checks 2-10
+  check_structural(data, result)
+  check_item_completeness(data, result)
+  check_no_duplicate_keys(data, result)
+  check_rule_wellformedness(data, result)
+  check_capability_refs(data, result)
+  check_no_self_reference(data, result)
+  check_sub_panel_triggers(data, result)
+  check_ordering(data, result)
+  check_vehicle_brands(data, result)
+
+  result.summary()
+  return result.success
+
+
+if __name__ == "__main__":
+  target = sys.argv[1] if len(sys.argv) > 1 else DEFAULT_PATH
+  success = validate(target)
+  sys.exit(0 if success else 1)

From 3e44c90c681dc79a336db2ba9c4be16397142b10 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sun, 3 May 2026 15:29:19 -0400
Subject: [PATCH 1007/1434] [MICI] ui: align upstream changes with sunnypilot
 settings buttons (#1782)

* align with upstream

* lint

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/mici/layouts/settings.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/mici/layouts/settings.py b/selfdrive/ui/sunnypilot/mici/layouts/settings.py
index 85a782ecb70247..96a4c789c18395 100644
--- a/selfdrive/ui/sunnypilot/mici/layouts/settings.py
+++ b/selfdrive/ui/sunnypilot/mici/layouts/settings.py
@@ -5,8 +5,9 @@
 See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.selfdrive.ui.mici.layouts.settings import settings as OP
+from openpilot.selfdrive.ui.mici.layouts.settings.settings import SettingsBigButton
 from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigCircleButton
+from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
@@ -32,11 +33,11 @@ def __init__(self):
     self.icon_offroad_slider = gui_app.texture("icons_mici/settings/device/lkas.png", BIG_ICON_SIZE, BIG_ICON_SIZE)
 
     sunnylink_panel = SunnylinkLayoutMici(back_callback=gui_app.pop_widget)
-    sunnylink_btn = BigButton("sunnylink", "", gui_app.texture("icons_mici/settings/developer/ssh.png", ICON_SIZE, ICON_SIZE))
+    sunnylink_btn = SettingsBigButton(tr("sunnylink"), "", gui_app.texture("icons_mici/settings/developer/ssh.png", 55, 55))
     sunnylink_btn.set_click_callback(lambda: gui_app.push_widget(sunnylink_panel))
 
     models_panel = ModelsLayoutMici(back_callback=gui_app.pop_widget)
-    models_btn = BigButton("models", "", gui_app.texture("../../sunnypilot/selfdrive/assets/offroad/icon_models.png", ICON_SIZE, ICON_SIZE))
+    models_btn = SettingsBigButton(tr("models"), "", gui_app.texture("../../sunnypilot/selfdrive/assets/offroad/icon_models.png", ICON_SIZE, ICON_SIZE))
     models_btn.set_click_callback(lambda: gui_app.push_widget(models_panel))
 
     # onroad: enable button sits at the front (left of toggles)

From 2182be05eaa7b14a27d779395fd3fcc742156447 Mon Sep 17 00:00:00 2001
From: Amy Jeanes <amyjeanes23@gmail.com>
Date: Sun, 3 May 2026 21:52:35 +0200
Subject: [PATCH 1008/1434] ui: fix cellular toggles (#1810)

UI: Fix ToggleSP._render() missing return value breaking toggle callbacks

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 system/ui/sunnypilot/widgets/list_view.py | 2 +-
 system/ui/sunnypilot/widgets/toggle.py    | 4 ++++
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py
index 1dd69c24cb4a5e..89342572d192f3 100644
--- a/system/ui/sunnypilot/widgets/list_view.py
+++ b/system/ui/sunnypilot/widgets/list_view.py
@@ -363,7 +363,7 @@ def simple_button_item_sp(button_text: str | Callable[[], str], callback: Callab
 def toggle_item_sp(title: str | Callable[[], str], description: str | Callable[[], str] | None = None, initial_state: bool = False,
                    callback: Callable | None = None, icon: str = "", enabled: bool | Callable[[], bool] = True, param: str | None = None) -> ListItemSP:
   action = ToggleActionSP(initial_state=initial_state, enabled=enabled, callback=callback, param=param)
-  return ListItemSP(title=title, description=description, action_item=action, icon=icon, callback=callback)
+  return ListItemSP(title=title, description=description, action_item=action, icon=icon)
 
 
 def multiple_button_item_sp(title: str | Callable[[], str], description: str | Callable[[], str], buttons: list[str | Callable[[], str]],
diff --git a/system/ui/sunnypilot/widgets/toggle.py b/system/ui/sunnypilot/widgets/toggle.py
index 2924aec2b430c0..fbb2ba40acb1d8 100644
--- a/system/ui/sunnypilot/widgets/toggle.py
+++ b/system/ui/sunnypilot/widgets/toggle.py
@@ -57,3 +57,7 @@ def _render(self, rect: rl.Rectangle):
     knob_y = self._rect.y + style.TOGGLE_BG_HEIGHT / 2
 
     rl.draw_circle(int(knob_x), int(knob_y), KNOB_RADIUS, knob_color)
+
+    clicked = self._clicked
+    self._clicked = False
+    return clicked

From 55f033ced0a9381723d7654af0686b18990b31b4 Mon Sep 17 00:00:00 2001
From: Christopher Milan <chris.m.milan@gmail.com>
Date: Mon, 4 May 2026 10:43:43 -0700
Subject: [PATCH 1009/1434] bump tinygrad (#37926)

---
 tinygrad_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tinygrad_repo b/tinygrad_repo
index 7cbfa1896aebd6..5eb1fd5d3cb3f1 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 7cbfa1896aebd6e1210d626db239fa54ba6d802c
+Subproject commit 5eb1fd5d3cb3f158d698d088f9b0702a40137ffe

From 4a1b7216368c41d923a02cd0b21019006773b98a Mon Sep 17 00:00:00 2001
From: Christopher Milan <chrismilan@ucla.edu>
Date: Mon, 4 May 2026 14:33:42 -0700
Subject: [PATCH 1010/1434] bump tinygrad (#37958)

---
 tinygrad_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tinygrad_repo b/tinygrad_repo
index 5eb1fd5d3cb3f1..5b4f62519d628d 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 5eb1fd5d3cb3f158d698d088f9b0702a40137ffe
+Subproject commit 5b4f62519d628d1f238a5025b153aaedeee141cc

From 94cf600bfe35430d908c164fde0620d0a15c11c9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 4 May 2026 16:36:03 -0700
Subject: [PATCH 1011/1434] comma four: warning for enabling alpha long
 (#37959)

* warning for alpha long on mici

* copy

* don't show green until done

* lambda

* helper

* fix
---
 .../ui/mici/layouts/settings/developer.py     | 40 ++++++++++++++++---
 1 file changed, 34 insertions(+), 6 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/selfdrive/ui/mici/layouts/settings/developer.py
index 3a587f12421e72..da300cf474b93d 100644
--- a/selfdrive/ui/mici/layouts/settings/developer.py
+++ b/selfdrive/ui/mici/layouts/settings/developer.py
@@ -1,13 +1,34 @@
+from collections.abc import Callable
 from openpilot.common.time_helpers import system_time_valid
 from openpilot.system.ui.widgets.scroller import NavScroller
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle, BigParamControl, BigCircleParamControl
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigInputDialog
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle, BigParamControl, BigCircleParamControl, GreyBigButton
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigInputDialog, BigConfirmationCircleButton
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.widgets.ssh_key import SshKeyFetcher
 
 
+class AlphaLongConfirmPage(NavScroller):
+  def __init__(self, on_confirm: Callable[[], None]):
+    super().__init__()
+
+    accept = BigConfirmationCircleButton("enable alpha\nlongitudinal",
+                                         gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64),
+                                         lambda: self.dismiss(on_confirm))
+
+    self._scroller.add_widgets([
+      GreyBigButton("enabling alpha longitudinal", "scroll to continue",
+                    gui_app.texture("icons_mici/setup/warning.png", 64, 64)),
+      GreyBigButton("", "WARNING: alpha longitudinal control will disable Automatic Emergency Braking (AEB)"),
+      GreyBigButton("", "On this car, openpilot defaults to the stock system's built-in ACC."),
+      GreyBigButton("", "Enabling this will switch to openpilot longitudinal control."),
+      GreyBigButton("", "Using Experimental mode is recommended with openpilot longitudinal control alpha."),
+      GreyBigButton("", "Changing this setting will restart openpilot if the car is powered on."),
+      accept,
+    ])
+
+
 class DeveloperLayoutMici(NavScroller):
   def __init__(self):
     super().__init__()
@@ -165,7 +186,14 @@ def _on_lat_maneuver_mode(self, state: bool):
     restart_needed_callback(state)
 
   def _on_alpha_long_enabled(self, state: bool):
-    # TODO: show confirmation dialog before enabling
-    ui_state.params.put_bool("AlphaLongitudinalEnabled", state)
-    restart_needed_callback(state)
-    self._update_toggles()
+    def do_toggle(_state: bool):
+      ui_state.params.put_bool("AlphaLongitudinalEnabled", _state)
+      restart_needed_callback(True)
+      self._update_toggles()
+
+    if state:
+      # Don't show enabled state until confirm
+      self._alpha_long_toggle.set_checked(False)
+      gui_app.push_widget(AlphaLongConfirmPage(lambda: do_toggle(True)))
+    else:
+      do_toggle(False)

From 1caae26cfcdce8318134a7a2c4718f342fd1e3ea Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 4 May 2026 16:37:15 -0700
Subject: [PATCH 1012/1434] restart_needed_callback takes no args

---
 selfdrive/ui/layouts/settings/common.py         | 2 +-
 selfdrive/ui/mici/layouts/settings/developer.py | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/layouts/settings/common.py b/selfdrive/ui/layouts/settings/common.py
index 5e87a6447ae3c0..bba8606e6442cc 100644
--- a/selfdrive/ui/layouts/settings/common.py
+++ b/selfdrive/ui/layouts/settings/common.py
@@ -1,5 +1,5 @@
 from openpilot.selfdrive.ui.ui_state import ui_state
 
 
-def restart_needed_callback(_):
+def restart_needed_callback(_=None):
   ui_state.params.put_bool("OnroadCycleRequested", True)
diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/selfdrive/ui/mici/layouts/settings/developer.py
index da300cf474b93d..90499c83617372 100644
--- a/selfdrive/ui/mici/layouts/settings/developer.py
+++ b/selfdrive/ui/mici/layouts/settings/developer.py
@@ -174,7 +174,7 @@ def _on_long_maneuver_mode(self, state: bool):
     self._joystick_toggle.set_checked(False)
     ui_state.params.put_bool("LateralManeuverMode", False)
     self._lat_maneuver_toggle.set_checked(False)
-    restart_needed_callback(state)
+    restart_needed_callback()
 
   def _on_lat_maneuver_mode(self, state: bool):
     ui_state.params.put_bool("LateralManeuverMode", state)
@@ -183,12 +183,12 @@ def _on_lat_maneuver_mode(self, state: bool):
     self._joystick_toggle.set_checked(False)
     ui_state.params.put_bool("LongitudinalManeuverMode", False)
     self._long_maneuver_toggle.set_checked(False)
-    restart_needed_callback(state)
+    restart_needed_callback()
 
   def _on_alpha_long_enabled(self, state: bool):
     def do_toggle(_state: bool):
       ui_state.params.put_bool("AlphaLongitudinalEnabled", _state)
-      restart_needed_callback(True)
+      restart_needed_callback()
       self._update_toggles()
 
     if state:

From 65b2bfe5d82b34dc1d92be8e8f3eac33e95d809e Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Mon, 4 May 2026 16:49:34 -0700
Subject: [PATCH 1013/1434] modeld: remove uop tinygrad patch (#37960)

tg: remove uop patch
---
 selfdrive/modeld/compile_modeld.py | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index 9b2394e5032136..61de986d564f41 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -12,11 +12,6 @@
 from tinygrad.engine.jit import TinyJit
 from tinygrad.nn.onnx import OnnxRunner
 
-# https://github.com/tinygrad/tinygrad/issues/15682
-from tinygrad.uop.ops import UOp, Ops
-_orig = UOp.__reduce__
-UOp.__reduce__ = lambda self: (UOp.unique, ()) if self.op is Ops.UNIQUE else _orig(self)
-
 
 NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
 

From f64f3944a6e716ba3cdc8fe55aea7a7052d092be Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 4 May 2026 16:50:54 -0700
Subject: [PATCH 1014/1434] will -> may

---
 selfdrive/ui/layouts/settings/developer.py      | 2 +-
 selfdrive/ui/mici/layouts/settings/developer.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/layouts/settings/developer.py b/selfdrive/ui/layouts/settings/developer.py
index 2a823b57d71f64..782f7c2117f2c3 100644
--- a/selfdrive/ui/layouts/settings/developer.py
+++ b/selfdrive/ui/layouts/settings/developer.py
@@ -20,7 +20,7 @@
     "other than your own. A comma employee will NEVER ask you to add their GitHub username."
   ),
   'alpha_longitudinal': tr_noop(
-    "<b>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</b><br><br>" +
+    "<b>WARNING: openpilot longitudinal control is in alpha for this car and may disable Automatic Emergency Braking (AEB).</b><br><br>" +
     "On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. " +
     "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. " +
     "Changing this setting will restart openpilot if the car is powered on."
diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/selfdrive/ui/mici/layouts/settings/developer.py
index 90499c83617372..6e74473a48554b 100644
--- a/selfdrive/ui/mici/layouts/settings/developer.py
+++ b/selfdrive/ui/mici/layouts/settings/developer.py
@@ -20,7 +20,7 @@ def __init__(self, on_confirm: Callable[[], None]):
     self._scroller.add_widgets([
       GreyBigButton("enabling alpha longitudinal", "scroll to continue",
                     gui_app.texture("icons_mici/setup/warning.png", 64, 64)),
-      GreyBigButton("", "WARNING: alpha longitudinal control will disable Automatic Emergency Braking (AEB)"),
+      GreyBigButton("", "WARNING: alpha longitudinal control may disable Automatic Emergency Braking (AEB)"),
       GreyBigButton("", "On this car, openpilot defaults to the stock system's built-in ACC."),
       GreyBigButton("", "Enabling this will switch to openpilot longitudinal control."),
       GreyBigButton("", "Using Experimental mode is recommended with openpilot longitudinal control alpha."),

From 57d0a58855bcebf29caeb915489dcf83bbebc993 Mon Sep 17 00:00:00 2001
From: Mitchell Goff <mitchellgoffpc@gmail.com>
Date: Mon, 4 May 2026 20:11:03 -0700
Subject: [PATCH 1015/1434] Round trip through bytes to save 30x on migration
 memory usage (#37963)

---
 selfdrive/test/process_replay/migration.py | 44 ++++++++++++----------
 1 file changed, 24 insertions(+), 20 deletions(-)

diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 12a9664a54eefb..578dd44628d9a6 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -87,6 +87,10 @@ def migrate(lr: LogIterable, migration_funcs: list[MigrationFunc]):
   return lr
 
 
+def as_reader(builder) -> capnp.lib.capnp._DynamicStructReader:
+  return log.Event.from_bytes(builder.to_bytes()).__enter__()  # round-trip through bytes, 2x faster and 30x less memory than builder.as_reader()
+
+
 def migration(inputs: list[str], product: str|None=None):
   def decorator(func):
     @functools.wraps(func)
@@ -124,7 +128,7 @@ def migrate_longitudinalPlan(msgs):
     new_msg = msg.as_builder()
     a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, CONTROL_N_T_IDX)
     new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = float(a_target), bool(should_stop)
-    ops.append((index, new_msg.as_reader()))
+    ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -133,7 +137,7 @@ def migrate_driverAssistance(msgs):
   add_ops = []
   for _, msg in msgs:
     new_msg = messaging.new_message('driverAssistance', valid=True, logMonoTime=msg.logMonoTime)
-    add_ops.append(new_msg.as_reader())
+    add_ops.append(as_reader(new_msg))
   return [], add_ops, []
 
 
@@ -150,7 +154,7 @@ def migrate_drivingModelData(msgs):
       fill_lane_line_meta(dmd.drivingModelData.laneLineMeta, msg.modelV2.laneLines, msg.modelV2.laneLineProbs)
     if all(len(a) for a in [msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z]):
       fill_xyz_poly(dmd.drivingModelData.path, ModelConstants.POLY_PATH_DEGREE, msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z)
-    add_ops.append( dmd.as_reader())
+    add_ops.append(as_reader(dmd))
   return [], add_ops, []
 
 
@@ -175,7 +179,7 @@ def migrate_liveTracks(msgs):
       pts.append(pt)
 
     new_msg.liveTracks.points = pts
-    ops.append((index, new_msg.as_reader()))
+    ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -195,7 +199,7 @@ def migrate_liveLocationKalman(msgs):
       lp_field.valid = llk_field.valid
     for flag in ["inputsOK", "posenetOK", "sensorsOK"]:
       setattr(m.livePose, flag, getattr(msg.liveLocationKalmanDEPRECATED, flag))
-    ops.append((index, m.as_reader()))
+    ops.append((index, as_reader(m)))
   return ops, [], []
 
 
@@ -210,7 +214,7 @@ def migrate_livePose(msgs):
     if msg.which() == "livePose":
       new_msg = msg.as_builder()
       new_msg.livePose.timestamp = msg.logMonoTime
-      ops.append((index, new_msg.as_reader()))
+      ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -226,7 +230,7 @@ def migrate_controlsState(msgs):
                   "alertStatus", "alertSize", "alertType", "experimentalMode",
                   "personality"):
       setattr(ss, field, getattr(msg.controlsState.deprecated, field))
-    add_ops.append(m.as_reader())
+    add_ops.append(as_reader(m))
   return [], add_ops, []
 
 
@@ -242,7 +246,7 @@ def migrate_carState(msgs):
         msg = msg.as_builder()
         msg.carState.vCruise = last_cs.controlsState.deprecated.vCruise
         msg.carState.vCruiseCluster = last_cs.controlsState.deprecated.vCruiseCluster
-        ops.append((index, msg.as_reader()))
+        ops.append((index, as_reader(msg)))
   return ops, [], []
 
 
@@ -252,7 +256,7 @@ def migrate_managerState(msgs):
   for index, msg in msgs:
     new_msg = msg.as_builder()
     new_msg.managerState.processes = [{'name': name, 'running': True} for name in managed_processes]
-    ops.append((index, new_msg.as_reader()))
+    ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -265,7 +269,7 @@ def migrate_gpsLocation(msgs):
     # hasFix is a newer field
     if not g.hasFix and g.flags == 1:
       g.hasFix = True
-    ops.append((index, new_msg.as_reader()))
+    ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -281,7 +285,7 @@ def migrate_deviceState(msgs):
     if msg.which() == 'deviceState':
       n = msg.as_builder()
       n.deviceState.deviceType = init_data.deviceType
-      ops.append((i, n.as_reader()))
+      ops.append((i, as_reader(n)))
   return ops, [], []
 
 
@@ -293,7 +297,7 @@ def migrate_carOutput(msgs):
     co.valid = msg.valid
     co.logMonoTime = msg.logMonoTime
     co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED
-    add_ops.append(co.as_reader())
+    add_ops.append(as_reader(co))
   return [], add_ops, []
 
 
@@ -331,13 +335,13 @@ def migrate_pandaStates(msgs):
       new_msg.logMonoTime = msg.logMonoTime
       new_msg.pandaStates[0] = msg.pandaStateDEPRECATED
       new_msg.pandaStates[0].safetyParam = safety_param
-      ops.append((index, new_msg.as_reader()))
+      ops.append((index, as_reader(new_msg)))
     elif msg.which() == 'pandaStates':
       new_msg = msg.as_builder()
       new_msg.pandaStates[-1].safetyParam = safety_param
       # Clear DISABLE_DISENGAGE_ON_GAS bit to fix controls mismatch
       new_msg.pandaStates[-1].alternativeExperience &= ~1
-      ops.append((index, new_msg.as_reader()))
+      ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -352,7 +356,7 @@ def migrate_peripheralState(msgs):
     new_msg = messaging.new_message("peripheralState")
     new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
-    add_ops.append(new_msg.as_reader())
+    add_ops.append(as_reader(new_msg))
   return [], add_ops, []
 
 
@@ -407,7 +411,7 @@ def migrate_cameraStates(msgs):
     new_msg.valid = msg.valid
 
     del_ops.append(index)
-    add_ops.append(new_msg.as_reader())
+    add_ops.append(as_reader(new_msg))
   return [], add_ops, del_ops
 
 
@@ -419,7 +423,7 @@ def migrate_carParams(msgs):
     CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
     for car_fw in CP.carParams.carFw:
       car_fw.brand = CP.carParams.brand
-    ops.append((index, CP.as_reader()))
+    ops.append((index, as_reader(CP)))
   return ops, [], []
 
 
@@ -451,7 +455,7 @@ def migrate_sensorEvents(msgs):
       m_dat.timestamp = evt.timestamp
       setattr(m_dat, evt.which(), getattr(evt, evt.which()))
 
-      add_ops.append(m.as_reader())
+      add_ops.append(as_reader(m))
     del_ops.append(index)
   return [], add_ops, del_ops
 
@@ -474,7 +478,7 @@ def migrate_onroadEvents(msgs):
     new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
     new_msg.onroadEvents = onroadEvents
-    ops.append((index, new_msg.as_reader()))
+    ops.append((index, as_reader(new_msg)))
 
   return ops, [], []
 
@@ -514,6 +518,6 @@ def migrate_driverMonitoringState(msgs):
     dm.visionPolicyState.pose.calibrated = old.posePitchValidCount >= 600 and old.poseYawValidCount >= 600
     dm.wheeltouchPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessPassive if old.isActiveMode else old.awarenessStatus) * 100)))
     dm.wheeltouchPolicyState.awarenessStep = 0. if old.isActiveMode else old.stepChange
-    ops.append((index, new_msg.as_reader()))
+    ops.append((index, as_reader(new_msg)))
 
   return ops, [], []

From dd0690da6f3ecf989cbbdda3eeb96318bff1b198 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Tue, 5 May 2026 01:31:06 -0700
Subject: [PATCH 1016/1434] ui: log fps (#37927)

* log raylib fps

* log fps from frame time

* whitespace

* or just log frame time?

* init pubmaster in init window

* yield timings

* bump ordinal

* dont log on screen off

* UInt

* lint

* /0

* oops

* oops2

* more precise raylib frame time, can get fps with 1/ft

* don't crash on screen off

* NL

* no _

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 cereal/log.capnp                                |  3 ++-
 selfdrive/test/test_onroad.py                   |  2 +-
 selfdrive/ui/mici/onroad/augmented_road_view.py | 12 +-----------
 selfdrive/ui/onroad/augmented_road_view.py      | 12 +-----------
 selfdrive/ui/ui.py                              | 10 +++++++++-
 system/ui/lib/application.py                    |  8 ++++++--
 tools/clip/run.py                               |  2 +-
 7 files changed, 21 insertions(+), 28 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 71e9deb5b2b9f6..677cc46926e755 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2301,7 +2301,8 @@ struct Sentinel {
 }
 
 struct UIDebug {
-  drawTimeMillis @0 :Float32;
+  cpuTimeMillis @0 :Float32;
+  frameTimeMillis @1 :Float32;
 }
 
 struct ManagerState {
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 0ef558c0333284..63456a9e156986 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -210,7 +210,7 @@ def test_ui_timings(self):
 
     # other processes preempt ui while starting up
     offset = int(20 * LOG_OFFSET)
-    ts = self.ts['uiDebug']['drawTimeMillis'][offset:]
+    ts = self.ts['uiDebug']['cpuTimeMillis'][offset:]
     result += f"min  {min(ts):.2f}ms\n"
     result += f"max  {max(ts):.2f}ms\n"
     result += f"std  {np.std(ts):.2f}ms\n"
diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index 703dcf78b1e302..0246a0e5973b9d 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -1,7 +1,6 @@
-import time
 import numpy as np
 import pyray as rl
-from cereal import messaging, car, log
+from cereal import car, log
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
@@ -159,9 +158,6 @@ def __init__(self, bookmark_callback=None, stream_type: VisionStreamType = Visio
 
     self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
 
-    # debug
-    self._pm = messaging.PubMaster(['uiDebug'])
-
   def is_swiping_left(self) -> bool:
     """Check if currently swiping left (for scroller to disable)."""
     return self._bookmark_icon.is_swiping_left()
@@ -189,7 +185,6 @@ def _render(self, _):
       self._offroad_label.render(self._rect)
       return
 
-    start_draw = time.monotonic()
     self._switch_stream_if_needed(ui_state.sm)
 
     # Update calibration before rendering
@@ -248,11 +243,6 @@ def _render(self, _):
 
     self._bookmark_icon.render(self.rect)
 
-    # publish uiDebug
-    msg = messaging.new_message('uiDebug')
-    msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
-    self._pm.send('uiDebug', msg)
-
   def _switch_stream_if_needed(self, sm):
     if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams:
       v_ego = sm['carState'].vEgo
diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py
index 17d89fbd509d87..1a2181628ee21f 100644
--- a/selfdrive/ui/onroad/augmented_road_view.py
+++ b/selfdrive/ui/onroad/augmented_road_view.py
@@ -1,7 +1,6 @@
-import time
 import numpy as np
 import pyray as rl
-from cereal import log, messaging
+from cereal import log
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui import UI_BORDER_SIZE
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
@@ -49,12 +48,8 @@ def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREA
     self.alert_renderer = AlertRenderer()
     self.driver_state_renderer = DriverStateRenderer()
 
-    # debug
-    self._pm = messaging.PubMaster(['uiDebug'])
-
   def _render(self, rect):
     # Only render when system is started to avoid invalid data access
-    start_draw = time.monotonic()
     if not ui_state.started:
       return
 
@@ -98,11 +93,6 @@ def _render(self, rect):
     # Draw colored border based on driving state
     self._draw_border(rect)
 
-    # publish uiDebug
-    msg = messaging.new_message('uiDebug')
-    msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
-    self._pm.send('uiDebug', msg)
-
   def _handle_mouse_press(self, _):
     if not self._hud_renderer.user_interacting() and self._click_callback is not None:
       self._click_callback()
diff --git a/selfdrive/ui/ui.py b/selfdrive/ui/ui.py
index e3cac2618e84e1..c571177855ee21 100755
--- a/selfdrive/ui/ui.py
+++ b/selfdrive/ui/ui.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import os
 
+from cereal import messaging
 from openpilot.system.hardware import TICI
 from openpilot.common.realtime import config_realtime_process, set_core_affinity
 from openpilot.system.ui.lib.application import gui_app
@@ -21,9 +22,16 @@ def main():
   else:
     MiciMainLayout()
 
-  for should_render in gui_app.render():
+  pm = messaging.PubMaster(['uiDebug'])
+  for should_render, frame_time, cpu_time in gui_app.render():
     ui_state.update()
+
     if should_render:
+      msg = messaging.new_message('uiDebug')
+      msg.uiDebug.cpuTimeMillis = cpu_time * 1000
+      msg.uiDebug.frameTimeMillis = frame_time * 1000
+      pm.send('uiDebug', msg)
+
       # reaffine after power save offlines our core
       if TICI and os.sched_getaffinity(0) != cores:
         try:
diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index 980410b022a625..d2ef9973f1edd4 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -585,6 +585,8 @@ def render(self):
         self._render_profiler.enable()
 
       while not (self._window_close_requested or rl.window_should_close()):
+        frame_start = time.monotonic()
+
         if PC:
           # Thread is not used on PC, need to manually add mouse events
           self._mouse._handle_mouse_event()
@@ -599,7 +601,7 @@ def render(self):
           if PC:
             rl.poll_input_events()
           time.sleep(1 / self._target_fps)
-          yield False
+          yield False, 0.0, 0.0
           continue
 
         if self._render_texture:
@@ -621,7 +623,9 @@ def render(self):
         for widget in self._nav_stack[-self._nav_stack_widgets_to_render:]:
           widget.render(rl.Rectangle(0, 0, self.width, self.height))
 
-        yield True
+        frame_time = rl.get_frame_time()
+        cpu_time = time.monotonic() - frame_start
+        yield True, frame_time, cpu_time
 
         if self._scale != 1.0:
           rl.rl_pop_matrix()
diff --git a/tools/clip/run.py b/tools/clip/run.py
index ed2a5075b4b2e6..172410dc1ad475 100755
--- a/tools/clip/run.py
+++ b/tools/clip/run.py
@@ -326,7 +326,7 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True,
 
     frame_idx = 0
     with tqdm.tqdm(total=len(message_chunks), desc="Rendering", unit="frame") as pbar:
-      for should_render in gui_app.render():
+      for should_render, _, _ in gui_app.render():
         if frame_idx >= len(message_chunks):
           break
         _, frame_bytes = frame_queue.get()

From 53e5ae0578ab1dbbeafee927f25441ca9f88f13d Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Tue, 5 May 2026 10:31:07 +0200
Subject: [PATCH 1017/1434] sunnylink: switch athena domain (#1826)

use new domain
---
 sunnypilot/sunnylink/athena/sunnylinkd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index eb0e691beddda0..b896d26ab43eb0 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -34,7 +34,7 @@
 from openpilot.sunnypilot.sunnylink.capabilities import generate_capabilities, CAPABILITY_LABELS
 from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import generate_schema
 
-SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://ws.stg.api.sunnypilot.ai')
+SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://athena.sunnylink.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
 LOCAL_PORT_WHITELIST = {8022}
 SUNNYLINK_LOG_ATTR_NAME = "user.sunny.upload"

From 0e58ac33ad8f2cc000ea63c743bb4e67851073ed Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Tue, 5 May 2026 11:50:52 -0700
Subject: [PATCH 1018/1434] lpa: move comma-profile check to Profile.is_comma
 (#37965)

---
 system/hardware/base.py     | 7 ++++---
 system/hardware/tici/lpa.py | 7 +++++--
 2 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/system/hardware/base.py b/system/hardware/base.py
index 0f578dffa46436..5bcf886ae83789 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -20,6 +20,10 @@ class Profile:
   enabled: bool
   provider: str
 
+  @property
+  def is_comma(self) -> bool:
+    return self.provider == 'Webbing' and self.iccid.startswith('8985235')
+
 @dataclass
 class ThermalZone:
   # a zone from /sys/class/thermal/thermal_zone*
@@ -98,9 +102,6 @@ def process_notifications(self) -> None:
   def is_euicc(self) -> bool:
     pass
 
-  def is_comma_profile(self, iccid: str) -> bool:
-    return any(iccid.startswith(prefix) for prefix in ('8985235',))
-
 class HardwareBase(ABC):
   @staticmethod
   def get_cmdline() -> dict[str, str]:
diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py
index 1a529153252e3a..3b8a6c6a84e951 100644
--- a/system/hardware/tici/lpa.py
+++ b/system/hardware/tici/lpa.py
@@ -19,7 +19,7 @@
 from pathlib import Path
 
 from openpilot.common.time_helpers import system_time_valid
-from openpilot.system.hardware.base import LPABase, LPAError, Profile
+from openpilot.system.hardware.base import LPABase, LPAError, LPAProfileNotFoundError, Profile
 
 GSMA_CI_BUNDLE = str(Path(__file__).parent / "gsma_ci_bundle.pem")
 
@@ -735,7 +735,10 @@ def process_notifications(self) -> None:
       process_notifications(self._client)
 
   def delete_profile(self, iccid: str) -> None:
-    if self.is_comma_profile(iccid):
+    profile = next((p for p in self.list_profiles() if p.iccid == iccid), None)
+    if profile is None:
+      raise LPAProfileNotFoundError(f"profile not found: {iccid}")
+    if profile.is_comma:
       raise LPAError("refusing to delete a comma profile")
     with self._acquire_channel():
       request = encode_tlv(TAG_DELETE_PROFILE, encode_tlv(TAG_ICCID, string_to_tbcd(iccid)))

From 540f4f593382b521dcc0dcf6dc1a9afb2328d866 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 5 May 2026 20:27:11 -0400
Subject: [PATCH 1019/1434] Platform List: dynamically migrate
 CarPlatformBundle (#1828)

---
 sunnypilot/system/params_migration.py | 35 +++++++++++++++++++++++++++
 1 file changed, 35 insertions(+)

diff --git a/sunnypilot/system/params_migration.py b/sunnypilot/system/params_migration.py
index 5e524de06ec010..5d5c75ffeb2eca 100644
--- a/sunnypilot/system/params_migration.py
+++ b/sunnypilot/system/params_migration.py
@@ -4,7 +4,10 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+import json
+
 from openpilot.common.swaglog import cloudlog
+from openpilot.sunnypilot.selfdrive.car.sync_car_list_param import CAR_LIST_JSON_OUT
 
 ONROAD_BRIGHTNESS_MIGRATION_VERSION: str = "1.0"
 ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION: str = "1.0"
@@ -14,6 +17,36 @@
 VALID_TIMER_VALUES = set(ONROAD_BRIGHTNESS_TIMER_VALUES.values())
 
 
+def _migrate_car_platform_bundle(_params):
+  bundle = _params.get("CarPlatformBundle")
+  if bundle is None:
+    return
+
+  old_platform = bundle.get("platform")
+  if not old_platform:
+    return
+
+  from opendbc.car.fingerprints import MIGRATION  # lazy: avoids heavy import at module level
+  if old_platform not in MIGRATION:
+    return
+
+  new_platform = str(MIGRATION[old_platform])
+
+  with open(CAR_LIST_JSON_OUT) as f:
+    car_list = json.load(f)
+
+  candidates = [(k, v) for k, v in car_list.items() if v.get("platform") == new_platform]
+  if candidates:
+    old_model = bundle.get("model")
+    key, data = next(((k, v) for k, v in candidates if v.get("model") == old_model), candidates[0])
+    bundle = {**data, "name": key}
+  else:
+    bundle["platform"] = new_platform
+
+  _params.put("CarPlatformBundle", bundle)
+  cloudlog.info(f"params_migration: CarPlatformBundle migrated {old_platform!r} -> {new_platform!r}")
+
+
 def run_migration(_params):
   # migrate OnroadScreenOffBrightness
   if _params.get("OnroadScreenOffBrightnessMigrated") != ONROAD_BRIGHTNESS_MIGRATION_VERSION:
@@ -45,3 +78,5 @@ def run_migration(_params):
       cloudlog.info(log_str + f" Setting OnroadScreenOffTimerMigrated to {ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION}")
     except Exception as e:
       cloudlog.exception(f"Error migrating OnroadScreenOffTimer: {e}")
+
+  _migrate_car_platform_bundle(_params)

From 41a8bc3fc48cc432169f4c240b8468d4c7831327 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 5 May 2026 20:54:43 -0400
Subject: [PATCH 1020/1434] Update CHANGELOG.md

---
 CHANGELOG.md | 73 +++++++++++++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 72 insertions(+), 1 deletion(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8ad026b12b96b5..400f458ecfaea3 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,4 +1,4 @@
-sunnypilot Version 2026.001.000 (2026-03-xx)
+sunnypilot Version 2026.001.000 (2026-05-06)
 ========================
 * What's Changed (sunnypilot/sunnypilot)
   * Complete rewrite of the user interface from Qt C++ to Raylib Python
@@ -66,6 +66,64 @@ sunnypilot Version 2026.001.000 (2026-03-xx)
   * Pause Lateral Control with Blinker: Post-Blinker Delay by @CHaucke89
   * SCC-V: Use p97 for predicted lateral accel by @yasu-oh
   * Controls: Support for Torque Lateral Control v0 Tune by @sunnyhaibin
+  * [TIZI/TICI] ui: ensure null checks for `CarParams` and `CarParamsSP` by @sunnyhaibin
+  * [TIZI/TICI] ui: use `vCruiseCluster` and `vEgoCluster` for SLA `preActive` by @sunnyhaibin
+  * Fix display of values when using use_float_scaling by @CHaucke89
+  * models: fix default & index "0" by @nayan8teen
+  * [TIZI/TICI] visuals: Improved speed limit by @angaz
+  * ICBM: ensure button timers update on disable to clear stale presses by @jamesmikesell
+  * [TIZI/TICI] ui: simplify Smart Cruise Control text rendering by @sunnyhaibin
+  * controlsd: fix steer_limited_by_safety not updating under MADS by @zephleggett
+  * soundd: trigger timeout warning during MADS lateral-only by @zephleggett
+  * pandad: flasher for Rivian long upgrade module by @lukasloetkolben
+  * modeld_v2: tinygrad transformation warp by @Discountchubbs
+  * tools: block `manage_sunnylinkd` in sim startup script by @sunnyhaibin
+  * [MICI] ui: need superclass `_render` in `HudRendererSP` by @sunnyhaibin
+  * [TIZI/TICI] ui: Speed Limit Assist active status by @sunnyhaibin
+  * ui: reimplement "Screen Off" option to Onroad Brightness by @sunnyhaibin
+  * ui: dont hide steering wheel when blindspot disabled by @royjr
+  * ui: Speed Limit Assist `preActive` improvements  by @sunnyhaibin
+  * ui: consolidate Speed Limit Assist `preActive` status rendering by @sunnyhaibin
+  * [MICI] ui: Speed Limit Assist `preActive` status by @sunnyhaibin
+  * sunnypilot modeld: remove thneed modeld by @Discountchubbs
+  * modeld_v2: decouple planplus scaling from accel by @Discountchubbs
+  * sunnylink: Handle exceptions in `getParamsAllKeysV1` to log crashes by @devtekve
+  * [TIZI/TICI] ui: Developer UI cleanup by @sunnyhaibin
+  * [TIZI/TICI] ui: dynamic alert size by @nayan8teen
+  * i18n(fr): Add French translations by @didlawowo
+  * Toyota: Stop and Go Hack (Alpha) by @sunnyhaibin
+  * ui: `AlertFadeAnimator` for longitudinal-related statuses by @sunnyhaibin
+  * pandad: gate unsupported pandas before flashing by @sunnyhaibin
+  * Rivian: Flash xnor's Longitudinal Upgrade Kit prior supported panda check by @lukasloetkolben
+  * [TIZI/TICI] ui: add back gate steering arc behind toggle by @sunnyhaibin
+  * ui: gate Onroad Brightness Delay on readiness by @sunnyhaibin
+  * ui: add new timer options for Onroad Brightness Delay by @sunnyhaibin
+  * [TIZI/TICI] ui: branch switcher is always available by @sunnyhaibin
+  * pandad: always prioritize internal panda by @sunnyhaibin
+  * sunnylinkd: fetch compressed params schema by @sunnyhaibin
+  * sunnypilot locationd: remove unused car_ekf filter by @sunnyhaibin
+  * modeld_v2: update deprecated temporalPose ref by @sunnyhaibin
+  * NNLC: restore pre-v1 PID gains in torque extension by @mmmorks
+  * MADS safety: enable heartbeat and lateral controls mismatch checks by @sunnyhaibin
+  * [MICI] ui: models panel enhancements by @nayan8teen
+  * [TIZI/TICI] ui: fix unintended selection while scrolling in TreeOptionDialog by @TheSecurityDev
+  * tools: script for video concatenation by @Discountchubbs
+  * tools: profile memory usage by @Discountchubbs
+  * [TIZI/TICI] ui: remove per-frame param sync by @sunnyhaibin
+  * [MICI] ui: always offroad by @nayan8teen
+  * controls: always default Torque Lateral Control to v0 Tune by @sunnyhaibin
+  * Revert "controls: always default Torque Lateral Control to v0 Tune" by @sunnyhaibin
+  * Reapply "controls: always default Torque Lateral Control to v0 Tune" (#1806) by @sunnyhaibin
+  * [MICI] ui: add sunnylink info & connectivity check by @nayan8teen
+  * sunnylink: Remove unused API endpoint by @devtekve
+  * DM: wheel touch enforcement in MADS by @sunnyhaibin
+  * torque: show static override values in Dev UI & gate `useParams` on custom torque tune by @sunnyhaibin
+  * MADS: suppress espActive event when long is not engaged by @sunnyhaibin
+  * sunnylink: SDUI by @sunnyhaibin
+  * [MICI] ui: align upstream changes with sunnypilot settings buttons by @nayan8teen
+  * ui: fix cellular toggles by @AmyJeanes
+  * sunnylink: switch athena domain by @devtekve
+  * Platform List: dynamically migrate CarPlatformBundle by @sunnyhaibin
 * What's Changed (sunnypilot/opendbc)
   * Honda: DBC for Accord 9th Generation by @mvl-boston
   * FCA: update tire stiffness values for `RAM_HD` by @dparring
@@ -84,12 +142,25 @@ sunnypilot Version 2026.001.000 (2026-03-xx)
   * Honda: add missing `GasInterceptor` messages to Taiwan Odyssey DBC by @mvl-boston
   * GM: remove `CHEVROLET_EQUINOX_NON_ACC_3RD_GEN` from `dashcamOnly` by @sunnyhaibin
   * GM: remove `CHEVROLET_BOLT_NON_ACC_2ND_GEN` from `dashcamOnly` by @sunnyhaibin
+  * Hyundai Longitudinal: deprecate ramp update for dynamic tune by @Discountchubbs
+  * Rivian: long upgrade messages on bus 1 by @lukasloetkolben
+  * Toyota: Stop and Go Hack (Alpha) by @sunnyhaibin
+  * Toyota: gate Smart DSU behind Alpha Longitudinal by @sunnyhaibin
+  * Toyota: Gas Interceptor always set `standstill_req` by @sunnyhaibin
+  * MADS safety: dedicated `controls_allowed_lateral` by @sunnyhaibin
+  * Platform List: include community supported platforms by @sunnyhaibin
 * New Contributors (sunnypilot/sunnypilot)
   * @TheSecurityDev made their first contribution in "ui: fix sidebar scroll in UI screenshots"
   * @zikeji made their first contribution in "sunnylink: block remote modification of SSH key parameters"
   * @Candy0707 made their first contribution in "[TIZI/TICI] ui: Fix misaligned turn signals and blindspot indicators with sidebar"
   * @CHaucke89 made their first contribution in "Pause Lateral Control with Blinker: Post-Blinker Delay"
   * @yasu-oh made their first contribution in "SCC-V: Use p97 for predicted lateral accel"
+  * @angaz made their first contribution in "[TIZI/TICI] visuals: Improved speed limit"
+  * @jamesmikesell made their first contribution in "ICBM: ensure button timers update on disable to clear stale presses"
+  * @zephleggett made their first contribution in "controlsd: fix steer_limited_by_safety not updating under MADS"
+  * @lukasloetkolben made their first contribution in "pandad: flasher for Rivian long upgrade module"
+  * @didlawowo made their first contribution in "i18n(fr): Add French translations"
+  * @mmmorks made their first contribution in "NNLC: restore pre-v1 PID gains in torque extension"
 * New Contributors (sunnypilot/opendbc)
   * @AmyJeanes made their first contribution in "Tesla: Fix stock LKAS being blocked when MADS is enabled"
   * @mvl-boston made their first contribution in "Honda: Update Clarity brake to renamed DBC message name"

From 6b1b6aca05c4b374759d50a5eb99b240b72103ad Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 5 May 2026 21:14:19 -0400
Subject: [PATCH 1021/1434] Update CHANGELOG.md

---
 CHANGELOG.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 400f458ecfaea3..d6502cd44bab1d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -81,7 +81,7 @@ sunnypilot Version 2026.001.000 (2026-05-06)
   * [MICI] ui: need superclass `_render` in `HudRendererSP` by @sunnyhaibin
   * [TIZI/TICI] ui: Speed Limit Assist active status by @sunnyhaibin
   * ui: reimplement "Screen Off" option to Onroad Brightness by @sunnyhaibin
-  * ui: dont hide steering wheel when blindspot disabled by @royjr
+  * ui: don't hide steering wheel when blindspot disabled by @royjr
   * ui: Speed Limit Assist `preActive` improvements  by @sunnyhaibin
   * ui: consolidate Speed Limit Assist `preActive` status rendering by @sunnyhaibin
   * [MICI] ui: Speed Limit Assist `preActive` status by @sunnyhaibin

From b9aa1962ca739c4f119ffb5160faae1d281ce858 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 5 May 2026 22:59:44 -0400
Subject: [PATCH 1022/1434] Update CHANGELOG.md

---
 CHANGELOG.md | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index d6502cd44bab1d..74d79aeacd0057 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -170,6 +170,20 @@ sunnypilot Version 2026.001.000 (2026-05-06)
   * @royjr made their first contribution in "HKG: add KIA_FORTE_2019_NON_SCC fingerprint"
   * @ssysm made their first contribution in "Tesla: remove `TESLA_MODEL_X` from `dashcamOnly`"
 * Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2025.002.000...v2026.001.000
+************************
+* Synced with commaai's openpilot (v0.11.1)
+  * master commit c001f3c9b490a80e69539f0af6022f6e07ceb721 (April 16, 2026)
+* New driver monitoring model
+* Improved image processing pipeline for driver camera
+* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
+* New driving model #36798
+  * Fully trained using a learned simulator
+  * Improved longitudinal performance in Experimental mode
+* Reduce comma four standby power usage by 77% to 52 mW
+* Kia K7 2017 support thanks to royjr!
+* Lexus LS 2018 support thanks to Hacheoy!
+* Improved inter-process communication memory efficiency
+* comma four support
 
 sunnypilot Version 2025.002.000 (2025-11-06)
 ========================

From 5adcff12215e294bdeb53d9fca234c5fea521cf3 Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Wed, 6 May 2026 08:31:12 -0700
Subject: [PATCH 1023/1434] modem: register cellular DNS with systemd-resolved
 (#37955)

---
 selfdrive/test/test_onroad.py    |  2 +-
 system/hardware/tici/modem.py    | 43 ++++++++++++++++++++++++++++----
 system/manager/process_config.py |  2 +-
 3 files changed, 40 insertions(+), 7 deletions(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 63456a9e156986..2dd4aa072ef5be 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -68,7 +68,7 @@
   "system.loggerd.deleter": 1.0,
   "./pandad": 19.0,
   "system.qcomgpsd.qcomgpsd": 1.0,
-  #"system.hardware.tici.modem": 2.0,
+  "system.hardware.tici.modem": 2.0,
 }
 
 TIMINGS = {
diff --git a/system/hardware/tici/modem.py b/system/hardware/tici/modem.py
index f01aa7987154c3..2f994eca5d86d7 100755
--- a/system/hardware/tici/modem.py
+++ b/system/hardware/tici/modem.py
@@ -116,17 +116,17 @@ def record_fail(self) -> bool:
   def fails(self) -> int:
     return self._fails
 
-  def maybe_install_routes(self, ip: str, peer: str):
+  def maybe_install_routes(self, ip: str, peer: str) -> bool:
     """Install routes if peer changed; kill the session on failure so the state machine reconnects."""
     if not peer or peer == self._peer:
-      return
+      return False
     try:
       IPv4Address(ip)
       IPv4Address(peer)
     except AddressValueError:
       logging.warning(f"refusing route install with non-IPv4 ip={ip!r} peer={peer!r}")
       self.kill()
-      return
+      return False
     self.cleanup_routes()
     cmds = [
       ["sudo", "ip", "route", "add", "default", "via", peer, "dev", "ppp0", "metric", "1000"],
@@ -139,9 +139,24 @@ def maybe_install_routes(self, ip: str, peer: str):
         logging.warning(f"route install failed ({' '.join(cmd[1:])}): {r.stderr.strip()}")
         self.cleanup_routes()
         self.kill()
-        return
+        return False
     logging.info(f"route set up for {ip} via {peer}")
     self._peer = peer
+    return True
+
+  def maybe_install_dns(self, dns_servers: list[str]) -> bool:
+    """Register DNS servers with systemd-resolved; kill the session on failure to force a retry."""
+    if not dns_servers:
+      return False
+    for cmd in (["sudo", "resolvectl", "dns", "ppp0", *dns_servers],
+                ["sudo", "resolvectl", "default-route", "ppp0", "yes"]):
+      r = subprocess.run(cmd, capture_output=True, text=True)
+      if r.returncode != 0:
+        logging.warning(f"resolvectl failed ({' '.join(cmd[1:])}): {r.stderr.strip()}")
+        self.kill()
+        return False
+    logging.info(f"resolvectl: ppp0 DNS = {dns_servers}")
+    return True
 
   @staticmethod
   def cleanup_routes():
@@ -150,6 +165,7 @@ def cleanup_routes():
     # rules don't have a flush; delete until none remain
     while subprocess.run(["sudo", "ip", "rule", "del", "table", "1000"], capture_output=True).returncode == 0:
       pass
+    subprocess.run(["sudo", "resolvectl", "revert", "ppp0"], capture_output=True)
 
 
 class Modem:
@@ -461,7 +477,8 @@ def _poll_iface(self) -> dict:
             peer = parts[parts.index("peer") + 1].split("/")[0]
           break
       if ip:
-        self._ppp.maybe_install_routes(ip, peer)
+        if self._ppp.maybe_install_routes(ip, peer):
+          self._ppp.maybe_install_dns(self._read_cellular_dns())
         return {"ip_address": ip, "connected": True}
       if self.S["connected"]:
         return {"connected": False, "ip_address": ""}
@@ -469,6 +486,22 @@ def _poll_iface(self) -> dict:
       pass
     return {}
 
+  def _read_cellular_dns(self) -> list[str]:
+    v = self._atv(f"AT+CGCONTRDP={DIAL_CID}", "+CGCONTRDP:")
+    if not v:
+      return []
+    # +CGCONTRDP: <cid>,<bearer_id>,<apn>,<local_addr>,<gw_addr>,<dns_prim>,<dns_sec>,...
+    fields = [f.strip().strip('"') for f in v.split(",")]
+    dns_servers = []
+    for d in fields[5:7]:
+      try:
+        dns_servers.append(str(IPv4Address(d)))
+      except (AddressValueError, ValueError):
+        pass
+    if not dns_servers:
+      logging.warning(f"no cellular DNS servers reported by modem: {v!r}")
+    return dns_servers
+
   def _poll_byte_counters(self) -> dict:
     try:
       with open("/sys/class/net/ppp0/statistics/tx_bytes") as f:
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index f39af059c0c369..f5a6c510720958 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -106,7 +106,7 @@ def and_(*fns):
   PythonProcess("lateral_maneuversd", "tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
   PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
   PythonProcess("hardwared", "system.hardware.hardwared", always_run),
-  PythonProcess("modem", "system.hardware.tici.modem", always_run, enabled=False),
+  PythonProcess("modem", "system.hardware.tici.modem", always_run, enabled=TICI),
   PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
   PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
   PythonProcess("uploader", "system.loggerd.uploader", always_run),

From 521fa09b0dd669f785a97bddfffef2693025e678 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 6 May 2026 12:14:47 -0400
Subject: [PATCH 1024/1434] sunnylink SDUI: update stale reference in docs

---
 sunnypilot/sunnylink/docs/README.md | 2 --
 1 file changed, 2 deletions(-)

diff --git a/sunnypilot/sunnylink/docs/README.md b/sunnypilot/sunnylink/docs/README.md
index 40efa59dd5ce0f..7327564ace9741 100644
--- a/sunnypilot/sunnylink/docs/README.md
+++ b/sunnypilot/sunnylink/docs/README.md
@@ -2,8 +2,6 @@
 
 > One YAML file per page. Edit, run the compiler, commit. The sunnylink frontend updates automatically.
 
-For detailed architecture, capability fields, parity analysis, and dialog mappings, see [REFERENCE.md](REFERENCE.md).
-
 ## What you edit (and what's generated)
 
 | File | What | When to edit |

From 7e2b8430c55efb1b0d560f84f45e213db36ea676 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 6 May 2026 21:27:43 -0400
Subject: [PATCH 1025/1434] ui: update gates for certain toggles (#1830)

* don't use upstream's

* clean

* update schema

* fix

* mismatch test and fix
---
 selfdrive/ui/layouts/settings/developer.py    |  2 +-
 selfdrive/ui/layouts/settings/toggles.py      |  2 +-
 selfdrive/ui/sunnypilot/ui_state.py           | 13 ++--
 selfdrive/ui/ui_state.py                      |  2 +-
 sunnypilot/sunnylink/capabilities.py          |  2 +-
 sunnypilot/sunnylink/settings_ui.json         | 73 +++----------------
 .../sunnylink/settings_ui_src/_macros.yaml    |  9 +--
 .../settings_ui_src/pages/cruise.yaml         |  9 +--
 .../settings_ui_src/pages/developer.yaml      | 16 +---
 .../tests/test_compile_settings_ui.py         | 23 +++++-
 .../sunnylink/tests/test_settings_changes.py  |  5 +-
 11 files changed, 48 insertions(+), 108 deletions(-)

diff --git a/selfdrive/ui/layouts/settings/developer.py b/selfdrive/ui/layouts/settings/developer.py
index b632e4e0d245e8..964d28bf9c823e 100644
--- a/selfdrive/ui/layouts/settings/developer.py
+++ b/selfdrive/ui/layouts/settings/developer.py
@@ -36,7 +36,7 @@ class DeveloperLayout(Widget):
   def __init__(self):
     super().__init__()
     self._params = Params()
-    self._is_release = self._params.get_bool("IsReleaseBranch")
+    self._is_release = False  # self._params.get_bool("IsReleaseBranch")
 
     # Build items and keep references for callbacks/state updates
     self._adb_toggle = toggle_item(
diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py
index 9923f3a356e29e..dfd0c73f615481 100644
--- a/selfdrive/ui/layouts/settings/toggles.py
+++ b/selfdrive/ui/layouts/settings/toggles.py
@@ -42,7 +42,7 @@ class TogglesLayout(Widget):
   def __init__(self):
     super().__init__()
     self._params = Params()
-    self._is_release = self._params.get_bool("IsReleaseBranch")
+    self._is_release = False  # self._params.get_bool("IsReleaseBranch")
 
     # param, title, desc, icon, needs_restart
     self._toggle_defs = {
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index c80281987b6bed..2cfd5bd4f2ae12 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -159,7 +159,6 @@ def update_params(self) -> None:
 
   def _enforce_constraints(self) -> None:
     has_long = self.has_longitudinal_control
-    has_icbm = self.has_icbm
     CP = self.CP
 
     if CP is not None:
@@ -168,8 +167,8 @@ def _enforce_constraints(self) -> None:
         self.params.remove("EnforceTorqueControl")
         self.params.remove("NeuralNetworkLateralControl")
 
-      # Alpha longitudinal: clear if not available or on release branch
-      if not CP.alphaLongitudinalAvailable or self.params.get_bool("IsReleaseBranch"):
+      # Alpha longitudinal: clear if not available
+      if not CP.alphaLongitudinalAvailable:
         self.params.remove("AlphaLongitudinalEnabled")
 
       # BSM not available: clear BSM-dependent settings
@@ -181,21 +180,23 @@ def _enforce_constraints(self) -> None:
       self.params.remove("NeuralNetworkLateralControl")
       self.params.remove("AlphaLongitudinalEnabled")
 
-    # No longitudinal control: no experimental mode
+    # No longitudinal control: no experimental mode or DEC
     if not has_long:
       self.params.remove("ExperimentalMode")
+      self.params.remove("DynamicExperimentalControl")
 
     # ICBM: clear if not available or if full longitudinal control is active
     if self.CP_SP is not None:
       if not self.CP_SP.intelligentCruiseButtonManagementAvailable or has_long:
         self.params.remove("IntelligentCruiseButtonManagement")
+        self.has_icbm = False
     else:
       self.params.remove("IntelligentCruiseButtonManagement")
+      self.has_icbm = False
 
     # Cruise features requiring longitudinal or ICBM
-    if not (has_long or has_icbm):
+    if not (has_long or self.has_icbm):
       self.params.remove("CustomAccIncrementsEnabled")
-      self.params.remove("DynamicExperimentalControl")
       self.params.remove("SmartCruiseControlVision")
       self.params.remove("SmartCruiseControlMap")
 
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index f7a5d44d9a24d7..64c0b88d1f78f0 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -74,7 +74,7 @@ def _initialize(self):
 
     # Core state variables
     self.is_metric: bool = self.params.get_bool("IsMetric")
-    self.is_release = self.params.get_bool("IsReleaseBranch")
+    self.is_release = False  # self.params.get_bool("IsReleaseBranch")
     self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
     self.started: bool = False
     self.ignition: bool = False
diff --git a/sunnypilot/sunnylink/capabilities.py b/sunnypilot/sunnylink/capabilities.py
index 9f22c47adeb68c..933368713e3883 100644
--- a/sunnypilot/sunnylink/capabilities.py
+++ b/sunnypilot/sunnylink/capabilities.py
@@ -94,7 +94,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
 
   # Hardware + boolean params (no CarParams dependency)
   caps["device_type"] = HARDWARE.get_device_type()
-  caps["is_release"] = params.get_bool("IsReleaseBranch")
+  caps["is_release"] = False  # params.get_bool("IsReleaseBranch")
   caps["is_sp_release"] = params.get_bool("IsReleaseSpBranch")
   caps["is_development"] = params.get_bool("IsDevelopmentBranch")
   caps["stock_longitudinal"] = params.get_bool("ToyotaEnforceStockLongitudinal")
diff --git a/sunnypilot/sunnylink/settings_ui.json b/sunnypilot/sunnylink/settings_ui.json
index bfb2062385ba47..b762ccb6a12d9f 100644
--- a/sunnypilot/sunnylink/settings_ui.json
+++ b/sunnypilot/sunnylink/settings_ui.json
@@ -574,19 +574,9 @@
               "description": "Let the model decide when to use sunnypilot ACC or sunnypilot End to End Longitudinal.",
               "visibility": [
                 {
-                  "type": "any",
-                  "conditions": [
-                    {
-                      "type": "capability",
-                      "field": "has_longitudinal_control",
-                      "equals": true
-                    },
-                    {
-                      "type": "capability",
-                      "field": "has_icbm",
-                      "equals": true
-                    }
-                  ]
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
                 }
               ],
               "enablement": [
@@ -1731,26 +1721,6 @@
               "key": "JoystickDebugMode",
               "widget": "toggle",
               "title": "Joystick Debug Mode",
-              "visibility": [
-                {
-                  "type": "not",
-                  "condition": {
-                    "type": "any",
-                    "conditions": [
-                      {
-                        "type": "capability",
-                        "field": "is_release",
-                        "equals": true
-                      },
-                      {
-                        "type": "capability",
-                        "field": "is_sp_release",
-                        "equals": true
-                      }
-                    ]
-                  }
-                }
-              ],
               "enablement": [
                 {
                   "type": "offroad_only"
@@ -1775,19 +1745,9 @@
                     {
                       "type": "not",
                       "condition": {
-                        "type": "any",
-                        "conditions": [
-                          {
-                            "type": "capability",
-                            "field": "is_release",
-                            "equals": true
-                          },
-                          {
-                            "type": "capability",
-                            "field": "is_sp_release",
-                            "equals": true
-                          }
-                        ]
+                        "type": "capability",
+                        "field": "has_icbm",
+                        "equals": true
                       }
                     }
                   ]
@@ -1900,19 +1860,9 @@
                 {
                   "type": "not",
                   "condition": {
-                    "type": "any",
-                    "conditions": [
-                      {
-                        "type": "capability",
-                        "field": "is_release",
-                        "equals": true
-                      },
-                      {
-                        "type": "capability",
-                        "field": "is_sp_release",
-                        "equals": true
-                      }
-                    ]
+                    "type": "capability",
+                    "field": "is_sp_release",
+                    "equals": true
                   }
                 }
               ],
@@ -1947,11 +1897,6 @@
                   "condition": {
                     "type": "any",
                     "conditions": [
-                      {
-                        "type": "capability",
-                        "field": "is_release",
-                        "equals": true
-                      },
                       {
                         "type": "capability",
                         "field": "is_sp_release",
diff --git a/sunnypilot/sunnylink/settings_ui_src/_macros.yaml b/sunnypilot/sunnylink/settings_ui_src/_macros.yaml
index 3b755db9282174..a771720831411e 100644
--- a/sunnypilot/sunnylink/settings_ui_src/_macros.yaml
+++ b/sunnypilot/sunnylink/settings_ui_src/_macros.yaml
@@ -59,12 +59,7 @@ macros:
             - type: not
               condition: {type: capability, field: tesla_has_vehicle_bus, equals: true}
 
-  # Hide everything but a clearly-marked release branch (matches Raylib
-  # _is_release_branch = is_release OR is_sp_release).
+  # Hide on sunnypilot release branches (is_release is hardcoded False everywhere; is_sp_release is the active gate).
   release_branches_hide:
     - type: not
-      condition:
-        type: any
-        conditions:
-          - {type: capability, field: is_release, equals: true}
-          - {type: capability, field: is_sp_release, equals: true}
+      condition: {type: capability, field: is_sp_release, equals: true}
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml b/sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml
index 795b5a0174fa6e..3ef73e0fb0e25e 100644
--- a/sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml
+++ b/sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml
@@ -21,14 +21,7 @@ sections:
     title: Dynamic Experimental Control
     description: Let the model decide when to use sunnypilot ACC or sunnypilot End to End Longitudinal.
     visibility:
-    - type: any
-      conditions:
-      - type: capability
-        field: has_longitudinal_control
-        equals: true
-      - type: capability
-        field: has_icbm
-        equals: true
+    - $ref: '#/macros/longitudinal'
     enablement:
     - $ref: '#/macros/longitudinal'
   - key: DisengageOnAccelerator
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/developer.yaml b/sunnypilot/sunnylink/settings_ui_src/pages/developer.yaml
index 87d9d558b3cf87..b42720b43636dc 100644
--- a/sunnypilot/sunnylink/settings_ui_src/pages/developer.yaml
+++ b/sunnypilot/sunnylink/settings_ui_src/pages/developer.yaml
@@ -26,8 +26,6 @@ sections:
   - key: JoystickDebugMode
     widget: toggle
     title: Joystick Debug Mode
-    visibility:
-    - $ref: '#/macros/release_branches_hide'
     enablement:
     - $ref: '#/macros/offroad'
   - key: AlphaLongitudinalEnabled
@@ -46,14 +44,9 @@ sections:
         equals: true
       - type: not
         condition:
-          type: any
-          conditions:
-          - type: capability
-            field: is_release
-            equals: true
-          - type: capability
-            field: is_sp_release
-            equals: true
+          type: capability
+          field: has_icbm
+          equals: true
     enablement:
     - $ref: '#/macros/not_engaged'
   - key: ShowDebugInfo
@@ -131,9 +124,6 @@ sections:
       condition:
         type: any
         conditions:
-        - type: capability
-          field: is_release
-          equals: true
         - type: capability
           field: is_sp_release
           equals: true
diff --git a/sunnypilot/sunnylink/tests/test_compile_settings_ui.py b/sunnypilot/sunnylink/tests/test_compile_settings_ui.py
index 6f30ef583bdc84..2fcd889ec3f066 100644
--- a/sunnypilot/sunnylink/tests/test_compile_settings_ui.py
+++ b/sunnypilot/sunnylink/tests/test_compile_settings_ui.py
@@ -15,6 +15,7 @@
 """
 from __future__ import annotations
 
+import difflib
 import json
 import os
 
@@ -44,7 +45,16 @@ def committed() -> dict:
 class TestRoundtrip:
   def test_compiled_matches_committed(self, compiled, committed):
     """Compiled output must match the checked-in JSON."""
-    assert compiled == committed
+    if compiled == committed:
+      return
+    diff = "\n".join(difflib.unified_diff(
+      json.dumps(committed, indent=2).splitlines(),
+      json.dumps(compiled, indent=2).splitlines(),
+      fromfile="settings_ui.json (committed)",
+      tofile="settings_ui.json (freshly compiled)",
+      lineterm="",
+    ))
+    pytest.fail(f"settings_ui.json schema mismatch — run compile_settings_ui.py\n\n{diff}")
 
   def test_committed_file_is_canonical(self):
     """Compiled output must byte-match the checked-in file (including trailing newline).
@@ -53,7 +63,16 @@ def test_committed_file_is_canonical(self):
     rendered = json.dumps(schema, indent=2) + "\n"
     with open(DEFAULT_OUT) as f:
       current = f.read()
-    assert current == rendered, "settings_ui.json out of sync — run compile_settings_ui.py"
+    if current == rendered:
+      return
+    diff = "\n".join(difflib.unified_diff(
+      current.splitlines(),
+      rendered.splitlines(),
+      fromfile="settings_ui.json (on disk)",
+      tofile="settings_ui.json (freshly compiled)",
+      lineterm="",
+    ))
+    pytest.fail(f"settings_ui.json out of sync — run compile_settings_ui.py\n\n{diff}")
 
 
 class TestRefResolution:
diff --git a/sunnypilot/sunnylink/tests/test_settings_changes.py b/sunnypilot/sunnylink/tests/test_settings_changes.py
index 3d53ee1e7757ac..07b05d4ac45219 100644
--- a/sunnypilot/sunnylink/tests/test_settings_changes.py
+++ b/sunnypilot/sunnylink/tests/test_settings_changes.py
@@ -181,17 +181,14 @@ def test_torque_versions_path_resolves(self):
 
 class TestReleaseBranchGates:
   @pytest.mark.parametrize("key", [
-    "JoystickDebugMode",
-    "AlphaLongitudinalEnabled",
     "EnableGithubRunner",
     "QuickBootToggle",
   ])
   def test_sp_dev_items_gate_on_is_sp_release(self, schema, key):
-    """SP dev items must hide on either release branch (is_release OR is_sp_release)."""
+    """sunnypilot dev items must hide on sunnypilot release branches (is_sp_release gate)."""
     item = _find_item(schema, key)
     assert item is not None, f"{key} not found in schema"
     rules = (item.get("visibility") or []) + (item.get("enablement") or [])
-    assert _references_capability_field(rules, "is_release"), f"{key} missing is_release gate"
     assert _references_capability_field(rules, "is_sp_release"), f"{key} missing is_sp_release gate"
 
 

From 7a6dc191042d460d7eedb45a1fa6f098c28c46df Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 6 May 2026 18:52:00 -0700
Subject: [PATCH 1026/1434] Scroller: only horizontal snapping (#37974)

* kinda works

* can dedup this

* more dedup

* snap only for horizontal

* snap only for horizontal

* clean up

* clean up
---
 system/ui/widgets/scroller.py | 19 ++++++-------------
 1 file changed, 6 insertions(+), 13 deletions(-)

diff --git a/system/ui/widgets/scroller.py b/system/ui/widgets/scroller.py
index a3a0d2b38f41ff..faf9dd2987a938 100644
--- a/system/ui/widgets/scroller.py
+++ b/system/ui/widgets/scroller.py
@@ -75,6 +75,7 @@ def __init__(self, items: list[Widget], horizontal: bool = True, snap_items: boo
     self._items: list[Widget] = []
     self._horizontal = horizontal
     self._snap_items = snap_items
+    assert not self._snap_items or self._horizontal, "Snapping is only supported for horizontal scrolling"
     self._spacing = spacing
     self._pad = pad
 
@@ -193,14 +194,11 @@ def _get_scroll(self, visible_items: list[Widget], content_size: float) -> float
       return self.scroll_panel.get_offset()
 
     # Snap closest item to center
-    center_pos = self._rect.x + self._rect.width / 2 if self._horizontal else self._rect.y + self._rect.height / 2
+    center_pos = self._rect.x + self._rect.width / 2
     closest_delta_pos = float('inf')
     scroll_snap_idx: int | None = None
     for idx, item in enumerate(visible_items):
-      if self._horizontal:
-        delta_pos = (item.rect.x + item.rect.width / 2) - center_pos
-      else:
-        delta_pos = (item.rect.y + item.rect.height / 2) - center_pos
+      delta_pos = (item.rect.x + item.rect.width / 2) - center_pos
       if abs(delta_pos) < abs(closest_delta_pos):
         closest_delta_pos = delta_pos
         scroll_snap_idx = idx
@@ -212,14 +210,9 @@ def _get_scroll(self, visible_items: list[Widget], content_size: float) -> float
         self._scroll_snap_filter.x = 0
       else:
         # TODO: this doesn't handle two small buttons at the edges well
-        if self._horizontal:
-          snap_delta_pos = (center_pos - (snap_item.rect.x + snap_item.rect.width / 2)) / 10
-          snap_delta_pos = min(snap_delta_pos, -self.scroll_panel.get_offset() / 10)
-          snap_delta_pos = max(snap_delta_pos, (self._rect.width - self.scroll_panel.get_offset() - content_size) / 10)
-        else:
-          snap_delta_pos = (center_pos - (snap_item.rect.y + snap_item.rect.height / 2)) / 10
-          snap_delta_pos = min(snap_delta_pos, -self.scroll_panel.get_offset() / 10)
-          snap_delta_pos = max(snap_delta_pos, (self._rect.height - self.scroll_panel.get_offset() - content_size) / 10)
+        snap_delta_pos = (center_pos - (snap_item.rect.x + snap_item.rect.width / 2)) / 10
+        snap_delta_pos = min(snap_delta_pos, -self.scroll_panel.get_offset() / 10)
+        snap_delta_pos = max(snap_delta_pos, (self._rect.width - self.scroll_panel.get_offset() - content_size) / 10)
         self._scroll_snap_filter.update(snap_delta_pos)
 
       self.scroll_panel.set_offset(self.scroll_panel.get_offset() + self._scroll_snap_filter.x)

From 2596de85439dd281f59ee71a3b1148ab81bef164 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Wed, 6 May 2026 19:25:34 -0700
Subject: [PATCH 1027/1434] Revert "DM: Lancia Delta HF Integrale model
 (#37696)" (#37971)

This reverts commit d8569b07ebeed5fcb2b466fcd3824b968b4a8271.
---
 cereal/log.capnp                              | 12 +++++-----
 .../assets/icons_mici/onroad/glasses.png      |  3 +++
 selfdrive/modeld/dmonitoringmodeld.py         |  9 +++++---
 .../modeld/models/dmonitoring_model.onnx      |  4 ++--
 selfdrive/monitoring/policy.py                | 19 +++++++++++-----
 selfdrive/monitoring/test_monitoring.py       |  6 +++--
 selfdrive/test/process_replay/model_replay.py |  2 +-
 .../ui/mici/onroad/driver_camera_dialog.py    | 22 +++++++++++++++----
 8 files changed, 53 insertions(+), 24 deletions(-)
 create mode 100644 selfdrive/assets/icons_mici/onroad/glasses.png

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 677cc46926e755..73a34a2ea8c6f1 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2057,16 +2057,14 @@ struct DriverStateV2 {
     facePosition @2 :List(Float32);
     facePositionStd @3 :List(Float32);
     faceProb @4 :Float32;
-    eyesVisibleProb @14 :Float32;
-    eyesClosedProb @15 :Float32;
+    leftEyeProb @5 :Float32;
+    rightEyeProb @6 :Float32;
+    leftBlinkProb @7 :Float32;
+    rightBlinkProb @8 :Float32;
+    sunglassesProb @9 :Float32;
     phoneProb @13 :Float32;
 
     deprecated :group {
-      leftEyeProb @5 :Float32;
-      rightEyeProb @6 :Float32;
-      leftBlinkProb @7 :Float32;
-      rightBlinkProb @8 :Float32;
-      sunglassesProb @9 :Float32;
       notReadyProb @12 :List(Float32);
       occludedProb @10 :Float32;
       readyProb @11 :List(Float32);
diff --git a/selfdrive/assets/icons_mici/onroad/glasses.png b/selfdrive/assets/icons_mici/onroad/glasses.png
new file mode 100644
index 00000000000000..006972fd397c41
--- /dev/null
+++ b/selfdrive/assets/icons_mici/onroad/glasses.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56de402482b5987ed9a0ff3f793a1c89f857304b34fbb8a3deb5b5d4a332be1c
+size 3688
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 86b0edf7ce6f30..7b073a5f507acd 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -75,7 +75,7 @@ def parse_model_output(model_output):
     face_descs = model_output[f'face_descs_{ds_suffix}']
     parsed[f'face_descs_{ds_suffix}'] = face_descs[:, :-6]
     parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:])
-    for key in ['face_prob', 'eyes_visible_prob', 'eyes_closed_prob', 'using_phone_prob']:
+    for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
       parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
   return parsed
 
@@ -85,8 +85,11 @@ def fill_driver_data(msg, model_output, ds_suffix):
   msg.facePosition = model_output[f'face_descs_{ds_suffix}'][0, 3:5].tolist()
   msg.facePositionStd = model_output[f'face_descs_{ds_suffix}_std'][0, 3:5].tolist()
   msg.faceProb = model_output[f'face_prob_{ds_suffix}'][0, 0].item()
-  msg.eyesVisibleProb = model_output[f'eyes_visible_prob_{ds_suffix}'][0, 0].item()
-  msg.eyesClosedProb = model_output[f'eyes_closed_prob_{ds_suffix}'][0, 0].item()
+  msg.leftEyeProb = model_output[f'left_eye_prob_{ds_suffix}'][0, 0].item()
+  msg.rightEyeProb = model_output[f'right_eye_prob_{ds_suffix}'][0, 0].item()
+  msg.leftBlinkProb = model_output[f'left_blink_prob_{ds_suffix}'][0, 0].item()
+  msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item()
+  msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item()
   msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()
 
 def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float):
diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx
index 628f385796991f..dc621bed03a45f 100644
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/selfdrive/modeld/models/dmonitoring_model.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2fd471febb6e973313ac0d0c6755f6410c1937ba92230b58a433761e8c883072
-size 7364290
+oid sha256:7aff7ff1dc08bbaf562a8f77380ab5e5914f8557dba2f760d87e4d953f5604b0
+size 7307246
diff --git a/selfdrive/monitoring/policy.py b/selfdrive/monitoring/policy.py
index acfbca258f30f0..2315fc04d37870 100644
--- a/selfdrive/monitoring/policy.py
+++ b/selfdrive/monitoring/policy.py
@@ -40,8 +40,9 @@ def __init__(self):
     self._MAX_TERMINAL_DURATION = int(30 / DT_DMON)  # not allowed to engage after 30s of terminal alerts
 
     self._FACE_THRESHOLD = 0.7
-    self._EYE_THRESHOLD = 0.5
-    self._BLINK_THRESHOLD = 0.5
+    self._EYE_THRESHOLD = 0.65
+    self._SG_THRESHOLD = 0.9
+    self._BLINK_THRESHOLD = 0.865
     self._PHONE_THRESH = 0.5
     self._POSE_PITCH_THRESHOLD = 0.3133
     self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
@@ -93,6 +94,11 @@ def __init__(self, settings):
     self.cfactor_yaw = 1.
     self.steer_yaw_offset = 0.
 
+class DriverBlink:
+  def __init__(self):
+    self.left = 0.
+    self.right = 0.
+
 # model output refers to center of undistorted+leveled image
 ref_undistorted_cam = DEVICE_CAMERAS[("tici", "ar0231")].dcam
 dcam_undistorted_FL = 598.0
@@ -123,7 +129,7 @@ def __init__(self, rhd_saved=False, settings=None, always_on=False):
     wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
     self.wheelpos_offsetter = RunningStatFilter(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
     self.pose = DriverPose(settings=self.settings)
-    self.blink_prob = 0.
+    self.blink = DriverBlink()
     self.phone_prob = 0.
 
     self.alert_level = AlertLevel.none
@@ -220,7 +226,7 @@ def _get_distracted_types(self):
     yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
 
     self.distracted_types['pose'] = bool((pitch_error > pitch_threshold) or (yaw_error > yaw_threshold))
-    self.distracted_types['eye'] = bool(self.blink_prob > self.settings._BLINK_THRESHOLD)
+    self.distracted_types['eye'] = bool((self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD)
     self.distracted_types['phone'] = bool(self.phone_prob > self.settings._PHONE_THRESH)
 
   def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False, steering_angle_deg=0.):
@@ -254,7 +260,10 @@ def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstil
     self.wheel_on_right_last = self.wheel_on_right
     self.model_std_max = max(driver_data.faceOrientationStd[0], driver_data.faceOrientationStd[1])
     self.pose.low_std = self.model_std_max < self.settings._HI_STD_THRESHOLD
-    self.blink_prob = driver_data.eyesClosedProb * (driver_data.eyesVisibleProb > self.settings._EYE_THRESHOLD)
+    self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
+                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
+    self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
+                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
     self.phone_prob = driver_data.phoneProb
 
     self._get_distracted_types()
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index 948931cb2909a4..05ab4bfd91b261 100644
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -18,8 +18,10 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
   ds.leftDriverData.faceOrientation = [0., 0., 0.]
   ds.leftDriverData.facePosition = [0., 0.]
   ds.leftDriverData.faceProb = 1. * face_detected
-  ds.leftDriverData.eyesVisibleProb = 1.
-  ds.leftDriverData.eyesClosedProb = 1. * distracted
+  ds.leftDriverData.leftEyeProb = 1.
+  ds.leftDriverData.rightEyeProb = 1.
+  ds.leftDriverData.leftBlinkProb = 1. * distracted
+  ds.leftDriverData.rightBlinkProb = 1. * distracted
   ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
   ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
   # TODO: test both separately when e2e is used
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 880dc2138c2aa5..266f66aaf24856 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -76,7 +76,7 @@ def generate_report(proposed, master, tmp, commit):
                      (lambda x: get_idx_if_non_empty(x.wheelOnRightProb), "wheelOnRightProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.faceProb), "leftDriverData.faceProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.faceOrientation, 0), "leftDriverData.faceOrientation0"),
-                     (lambda x: get_idx_if_non_empty(x.leftDriverData.eyesClosedProb), "leftDriverData.eyesClosedProb"),
+                     (lambda x: get_idx_if_non_empty(x.leftDriverData.leftBlinkProb), "leftDriverData.leftBlinkProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.phoneProb), "leftDriverData.phoneProb"),
                      (lambda x: get_idx_if_non_empty(x.rightDriverData.faceProb), "rightDriverData.faceProb"),
                     ], "driverStateV2")
diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
index 58b209bdf622fc..df5afe2e7c4a7f 100644
--- a/selfdrive/ui/mici/onroad/driver_camera_dialog.py
+++ b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
@@ -34,6 +34,8 @@ def __init__(self):
     self._eye_fill_texture = None
     self._eye_orange_texture = None
     self._eye_size = 74
+    self._glasses_texture = None
+    self._glasses_size = 171
 
     self._load_eye_textures()
 
@@ -152,6 +154,8 @@ def _load_eye_textures(self):
       self._eye_fill_texture = gui_app.texture("icons_mici/onroad/eye_fill.png", self._eye_size, self._eye_size)
     if self._eye_orange_texture is None:
       self._eye_orange_texture = gui_app.texture("icons_mici/onroad/eye_orange.png", self._eye_size, self._eye_size)
+    if self._glasses_texture is None:
+      self._glasses_texture = gui_app.texture("icons_mici/onroad/glasses.png", self._glasses_size, self._glasses_size)
 
   def _draw_face_detection(self, rect: rl.Rectangle):
     dm_state = ui_state.sm["driverMonitoringState"]
@@ -198,21 +202,31 @@ def _draw_eyes(self, rect: rl.Rectangle, driver_data):
     eye_offset_x = 10
     eye_offset_y = 10
     eye_spacing = self._eye_size + 15
-    eyes_prob = driver_data.eyesVisibleProb
 
     left_eye_x = rect.x + eye_offset_x
     left_eye_y = rect.y + eye_offset_y
+    left_eye_prob = driver_data.leftEyeProb
 
     right_eye_x = rect.x + eye_offset_x + eye_spacing
     right_eye_y = rect.y + eye_offset_y
+    right_eye_prob = driver_data.rightEyeProb
 
     # Draw eyes with opacity based on probability
-    fill_opacity = eyes_prob
-    orange_opacity = 1.0 - eyes_prob
-    for eye_x, eye_y in [(left_eye_x, left_eye_y), (right_eye_x, right_eye_y)]:
+    for eye_x, eye_y, eye_prob in [(left_eye_x, left_eye_y, left_eye_prob), (right_eye_x, right_eye_y, right_eye_prob)]:
+      fill_opacity = eye_prob
+      orange_opacity = 1.0 - eye_prob
+
       rl.draw_texture_v(self._eye_orange_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * orange_opacity)))
       rl.draw_texture_v(self._eye_fill_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * fill_opacity)))
 
+    # Draw sunglasses indicator based on sunglasses probability
+    # Position glasses centered between the two eyes at top left
+    glasses_x = rect.x + eye_offset_x - 4
+    glasses_y = rect.y
+    glasses_pos = rl.Vector2(glasses_x, glasses_y)
+    glasses_prob = driver_data.sunglassesProb
+    rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))
+
 
 class DriverCameraDialog(NavWidget, BaseDriverCameraDialog):
   def __init__(self):

From 695a2d783f4f1517cacfca78698fd51f50d74ba3 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 6 May 2026 21:13:44 -0700
Subject: [PATCH 1028/1434] Scroller: snap logic in scroll panel (#37975)

* snap logic in scroll panel

* match previous snap speed

* velocity lookahead makes scrolling on main layout super easy

* turn off

* remove velocity lookahead

* cmts

* remove handle out of bounds

* cmts

* old style

* back

* clean up

* re-use

* revert

* finish snap when settings is clicked while moving

* rm cmt
---
 system/ui/lib/scroll_panel2.py | 30 +++++++++++++++++-------
 system/ui/widgets/scroller.py  | 42 ++++++++--------------------------
 2 files changed, 32 insertions(+), 40 deletions(-)

diff --git a/system/ui/lib/scroll_panel2.py b/system/ui/lib/scroll_panel2.py
index 18fd8a9a6718ed..7fae60119c0d11 100644
--- a/system/ui/lib/scroll_panel2.py
+++ b/system/ui/lib/scroll_panel2.py
@@ -14,6 +14,7 @@
 AUTO_SCROLL_TC_SNAP = 0.025
 AUTO_SCROLL_TC = 0.18
 BOUNCE_RETURN_RATE = 10.0
+SNAP_RATE = 6.3  # matches previous Scroller snapping. exp rate of approach to snap target, 1/s
 REJECT_DECELERATION_FACTOR = 3
 MAX_SPEED = 10000.0  # px/s
 
@@ -44,10 +45,8 @@ class ScrollState(Enum):
 
 
 class GuiScrollPanel2:
-  def __init__(self, horizontal: bool = True, handle_out_of_bounds: bool = True) -> None:
+  def __init__(self, horizontal: bool = True) -> None:
     self._horizontal = horizontal
-    self._handle_out_of_bounds = handle_out_of_bounds
-    self._AUTO_SCROLL_TC = AUTO_SCROLL_TC_SNAP if not self._handle_out_of_bounds else AUTO_SCROLL_TC
     self._state = ScrollState.STEADY
     self._offset: rl.Vector2 = rl.Vector2(0, 0)
     self._initial_click_event: MouseEvent | None = None
@@ -63,7 +62,7 @@ def set_enabled(self, enabled: bool | Callable[[], bool]) -> None:
   def enabled(self) -> bool:
     return self._enabled() if callable(self._enabled) else self._enabled
 
-  def update(self, bounds: rl.Rectangle, content_size: float) -> float:
+  def update(self, bounds: rl.Rectangle, content_size: float, snap_target: float | None = None) -> float:
     if DEBUG:
       print('Old state:', self._state)
 
@@ -73,7 +72,7 @@ def update(self, bounds: rl.Rectangle, content_size: float) -> float:
       self._handle_mouse_event(mouse_event, bounds, bounds_size, content_size)
       self._previous_mouse_event = mouse_event
 
-    self._update_state(bounds_size, content_size)
+    self._update_state(bounds_size, content_size, snap_target)
 
     if DEBUG:
       print('Velocity:', self._velocity)
@@ -86,7 +85,7 @@ def _get_offset_bounds(self, bounds_size: float, content_size: float) -> tuple[f
     """Returns (max_offset, min_offset) for the given bounds and content size."""
     return 0.0, min(0.0, bounds_size - content_size)
 
-  def _update_state(self, bounds_size: float, content_size: float) -> None:
+  def _update_state(self, bounds_size: float, content_size: float, snap_target: float | None) -> None:
     """Runs per render frame, independent of mouse events. Updates auto-scrolling state and velocity."""
     max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
 
@@ -97,8 +96,9 @@ def _update_state(self, bounds_size: float, content_size: float) -> None:
 
     elif self._state == ScrollState.AUTO_SCROLL:
       # simple exponential return if out of bounds
+      # out of bounds is handled by snapping, so skip if set
       out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset
-      if out_of_bounds and self._handle_out_of_bounds:
+      if out_of_bounds and snap_target is None:
         target = max_offset if self.get_offset() > max_offset else min_offset
 
         dt = rl.get_frame_time() or 1e-6
@@ -121,9 +121,23 @@ def _update_state(self, bounds_size: float, content_size: float) -> None:
       # Update the offset based on the current velocity
       dt = rl.get_frame_time()
       self.set_offset(self.get_offset() + self._velocity * dt)  # Adjust the offset based on velocity
-      alpha = 1 - (dt / (self._AUTO_SCROLL_TC + dt))
+      # fast decay in snap mode so velocity yields to the snap pull instead of fighting it
+      auto_scroll_tc = AUTO_SCROLL_TC_SNAP if snap_target is not None else AUTO_SCROLL_TC
+      alpha = 1 - (dt / (auto_scroll_tc + dt))
       self._velocity *= alpha
 
+    # Ease toward snap target when not in user control. Composes with velocity coast above:
+    # high velocity dominates initially, snap dominates as velocity decays.
+    if snap_target is not None and self._state not in (ScrollState.PRESSED, ScrollState.MANUAL_SCROLL):
+      snap_target = max(min_offset, min(max_offset, snap_target))
+      dist = snap_target - self.get_offset()
+      if abs(dist) < 1:  # finished snap
+        self.set_offset(snap_target)
+      else:
+        dt = rl.get_frame_time() or 1e-6
+        factor = 1.0 - math.exp(-SNAP_RATE * dt)
+        self.set_offset(self.get_offset() + dist * factor)
+
   def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
                           content_size: float) -> None:
     max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
diff --git a/system/ui/widgets/scroller.py b/system/ui/widgets/scroller.py
index faf9dd2987a938..13445655dd54d6 100644
--- a/system/ui/widgets/scroller.py
+++ b/system/ui/widgets/scroller.py
@@ -93,10 +93,7 @@ def __init__(self, items: list[Widget], horizontal: bool = True, snap_items: boo
 
     self._item_pos_filter = BounceFilter(0.0, 0.05, 1 / gui_app.target_fps)
 
-    # when not pressed, snap to closest item to be center
-    self._scroll_snap_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps)
-
-    self.scroll_panel = GuiScrollPanel2(self._horizontal, handle_out_of_bounds=not self._snap_items)
+    self.scroll_panel = GuiScrollPanel2(self._horizontal)
     self._scroll_enabled: bool | Callable[[], bool] = True
 
     self._show_scroll_indicator = scroll_indicator and self._horizontal
@@ -182,42 +179,23 @@ def _update_state(self):
       self._scrolling_to_filter.update(self._scrolling_to[0])
       self.scroll_panel.set_offset(self._scrolling_to_filter.x)
 
-      if abs(self._scrolling_to_filter.x - self._scrolling_to[0]) < 1:
+      if abs(self._scrolling_to_filter.x - self._scrolling_to[0]) < 1:  # finished scroll
         self.scroll_panel.set_offset(self._scrolling_to[0])
         self._scrolling_to = None, False
 
   def _get_scroll(self, visible_items: list[Widget], content_size: float) -> float:
     scroll_enabled = self._scroll_enabled() if callable(self._scroll_enabled) else self._scroll_enabled
     self.scroll_panel.set_enabled(scroll_enabled and self.enabled and not self._scrolling_to[1])
-    self.scroll_panel.update(self._rect, content_size)
-    if not self._snap_items:
-      return self.scroll_panel.get_offset()
-
-    # Snap closest item to center
-    center_pos = self._rect.x + self._rect.width / 2
-    closest_delta_pos = float('inf')
-    scroll_snap_idx: int | None = None
-    for idx, item in enumerate(visible_items):
-      delta_pos = (item.rect.x + item.rect.width / 2) - center_pos
-      if abs(delta_pos) < abs(closest_delta_pos):
-        closest_delta_pos = delta_pos
-        scroll_snap_idx = idx
-
-    if scroll_snap_idx is not None:
-      snap_item = visible_items[scroll_snap_idx]
-      if self.is_pressed:
-        # no snapping until released
-        self._scroll_snap_filter.x = 0
-      else:
-        # TODO: this doesn't handle two small buttons at the edges well
-        snap_delta_pos = (center_pos - (snap_item.rect.x + snap_item.rect.width / 2)) / 10
-        snap_delta_pos = min(snap_delta_pos, -self.scroll_panel.get_offset() / 10)
-        snap_delta_pos = max(snap_delta_pos, (self._rect.width - self.scroll_panel.get_offset() - content_size) / 10)
-        self._scroll_snap_filter.update(snap_delta_pos)
 
-      self.scroll_panel.set_offset(self.scroll_panel.get_offset() + self._scroll_snap_filter.x)
+    # Snap closest item to center. Skipped while scroll_to() is animating
+    snap_target: float | None = None
+    if self._snap_items and visible_items and self._scrolling_to[0] is None:
+      # TODO: this doesn't handle two small buttons at the edges well
+      center_pos = self._rect.x + self._rect.width / 2
+      closest_delta_pos = min((((item.rect.x + item.rect.width / 2) - center_pos) for item in visible_items), key=abs)
+      snap_target = self.scroll_panel.get_offset() - closest_delta_pos
 
-    return self.scroll_panel.get_offset()
+    return self.scroll_panel.update(self._rect, content_size, snap_target=snap_target)
 
   @property
   def moving_items(self) -> bool:

From 6420e8d92aefa1a437d826a4ad4d4646f55dd480 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 6 May 2026 23:19:45 -0700
Subject: [PATCH 1029/1434] Scroller: restore tapping home to open settings
 while it's auto scrolling (#37978)

* restore tapping home to open settings while it's auto scrolling

* rename

* oneline
---
 .../ui/mici/layouts/settings/network/wifi_ui.py  |  2 +-
 system/ui/mici_setup.py                          |  4 ++--
 system/ui/widgets/scroller.py                    | 16 ++++++++--------
 3 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
index 006027e258d02d..8404faf9f7e6cc 100644
--- a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
+++ b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
@@ -383,7 +383,7 @@ def _move_network_to_front(self, ssid: str | None, scroll: bool = False):
 
       if scroll:
         # Scroll to the new position of the network
-        self._scroller.scroll_to(self._scroller.scroll_panel.get_offset(), smooth=True)
+        self._scroller.scroll_to(self._scroller.scroll_panel.get_offset(), smooth=True, block_widget_interaction=True)
 
   def _update_state(self):
     super()._update_state()
diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py
index d55fc5e1eb361b..2a23e4c4fd6a0b 100755
--- a/system/ui/mici_setup.py
+++ b/system/ui/mici_setup.py
@@ -316,7 +316,7 @@ def __init__(self, network_monitor: NetworkConnectivityMonitor, continue_callbac
 
     def on_waiting_click():
       offset = (self._wifi_button.rect.x + self._wifi_button.rect.width / 2) - (self._rect.x + self._rect.width / 2)
-      self._scroller.scroll_to(offset, smooth=True, block_interaction=True)
+      self._scroller.scroll_to(offset, smooth=True, block_interrupt=True, block_widget_interaction=True)
       # trigger grow when wifi button in view
       self._pending_wifi_grow_animation = True
 
@@ -399,7 +399,7 @@ def _scroll_to_end_and_grow(self):
     self._scroller._layout()
     end_offset = -(self._scroller.content_size - self._rect.width)
     remaining = self._scroller.scroll_panel.get_offset() - end_offset
-    self._scroller.scroll_to(remaining, smooth=True, block_interaction=True)
+    self._scroller.scroll_to(remaining, smooth=True, block_interrupt=True, block_widget_interaction=True)
     self._pending_continue_grow_animation = True
 
   def set_custom_software(self, custom_software: bool):
diff --git a/system/ui/widgets/scroller.py b/system/ui/widgets/scroller.py
index 13445655dd54d6..b7b6bf59320b6c 100644
--- a/system/ui/widgets/scroller.py
+++ b/system/ui/widgets/scroller.py
@@ -81,7 +81,7 @@ def __init__(self, items: list[Widget], horizontal: bool = True, snap_items: boo
 
     self._reset_scroll_at_show = True
 
-    self._scrolling_to: tuple[float | None, bool] = (None, False)  # target offset, block_interaction
+    self._scrolling_to: tuple[float | None, bool, bool] = (None, False, False)  # target offset, block_interrupt, block_widget_interaction
     self._scrolling_to_filter = FirstOrderFilter(0.0, SCROLL_RC, 1 / gui_app.target_fps)
     self._zoom_filter = FirstOrderFilter(1.0, 0.2, 1 / gui_app.target_fps)
     self._zoom_out_t: float = 0.0
@@ -114,8 +114,8 @@ def __init__(self, items: list[Widget], horizontal: bool = True, snap_items: boo
   def set_reset_scroll_at_show(self, scroll: bool):
     self._reset_scroll_at_show = scroll
 
-  def scroll_to(self, pos: float, smooth: bool = False, block_interaction: bool = False):
-    assert not block_interaction or smooth, "Instant scroll cannot block user interaction"
+  def scroll_to(self, pos: float, smooth: bool = False, block_interrupt: bool = False, block_widget_interaction: bool = False):
+    assert smooth or (not block_interrupt and not block_widget_interaction), "Instant scroll cannot block interaction"
 
     # already there
     if abs(pos) < 1:
@@ -125,7 +125,7 @@ def scroll_to(self, pos: float, smooth: bool = False, block_interaction: bool =
     scroll_offset = self.scroll_panel.get_offset() - pos
     if smooth:
       self._scrolling_to_filter.x = self.scroll_panel.get_offset()
-      self._scrolling_to = scroll_offset, block_interaction
+      self._scrolling_to = scroll_offset, block_interrupt, block_widget_interaction
     else:
       self.scroll_panel.set_offset(scroll_offset)
 
@@ -146,7 +146,7 @@ def add_widget(self, item: Widget) -> None:
 
     # preserve original touch valid callback
     original_touch_valid_callback = item._touch_valid_callback
-    item.set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid() and self.enabled and self._scrolling_to[0] is None
+    item.set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid() and self.enabled and not self._scrolling_to[2]
                                           and not self.moving_items and (original_touch_valid_callback() if
                                                                          original_touch_valid_callback else True))
 
@@ -173,7 +173,7 @@ def _update_state(self):
     # Cancel auto-scroll if user starts manually scrolling (unless block_interaction)
     if (self.scroll_panel.state in (ScrollState.PRESSED, ScrollState.MANUAL_SCROLL) and
         self._scrolling_to[0] is not None and not self._scrolling_to[1]):
-      self._scrolling_to = None, False
+      self._scrolling_to = None, False, False
 
     if self._scrolling_to[0] is not None and len(self._pending_lift) == 0:
       self._scrolling_to_filter.update(self._scrolling_to[0])
@@ -181,7 +181,7 @@ def _update_state(self):
 
       if abs(self._scrolling_to_filter.x - self._scrolling_to[0]) < 1:  # finished scroll
         self.scroll_panel.set_offset(self._scrolling_to[0])
-        self._scrolling_to = None, False
+        self._scrolling_to = None, False, False
 
   def _get_scroll(self, visible_items: list[Widget], content_size: float) -> float:
     scroll_enabled = self._scroll_enabled() if callable(self._scroll_enabled) else self._scroll_enabled
@@ -380,7 +380,7 @@ def show_event(self):
     self._move_lift.clear()
     self._pending_lift.clear()
     self._pending_move.clear()
-    self._scrolling_to = None, False
+    self._scrolling_to = None, False, False
     self._scrolling_to_filter.x = 0.0
 
   def hide_event(self):

From 7ed960f71392f65351866c22ef12dc741d10e7ac Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 7 May 2026 10:53:21 -0400
Subject: [PATCH 1030/1434] release: ignore upstream IsReleaseBranch (#1831)

---
 selfdrive/car/card.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index ca6ca89d7f8fc6..c4c81d26e37069 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -86,7 +86,7 @@ def __init__(self, CI=None, RI=None) -> None:
 
     self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])
 
-    is_release = self.params.get_bool("IsReleaseBranch")
+    is_release = False  # self.params.get_bool("IsReleaseBranch")
     is_release_sp = self.params.get_bool("IsReleaseSpBranch")
 
     if CI is None:

From b7725c5cbb4232959bebef4c43be213cb69e4c7e Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Thu, 7 May 2026 14:31:58 -0700
Subject: [PATCH 1031/1434] lpa: treat any AT+CCHO error as non-eUICC in
 is_euicc (#37979)

---
 system/hardware/tici/lpa.py | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py
index 3b8a6c6a84e951..618d11e5d15e0f 100644
--- a/system/hardware/tici/lpa.py
+++ b/system/hardware/tici/lpa.py
@@ -774,13 +774,12 @@ def switch_profile(self, iccid: str) -> None:
         raise LPAError(f"EnableProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
 
   def is_euicc(self) -> bool:
-    # +CCHO:<n> -> eUICC; bare ERROR -> applet absent, non-eUICC; +CME ERROR -> applet
-    # exists but bus busy or modem in transient state, still eUICC.
+    # +CCHO:<n> -> ISD-R applet present, eUICC. Any error -> non-eUICC.
     with self._acquire_lock():
       try:
         lines = self._client.query(f'AT+CCHO="{ISDR_AID}"')
-      except RuntimeError as e:
-        return "+CME ERROR" in str(e)
+      except RuntimeError:
+        return False
       for line in lines:
         if line.startswith("+CCHO:") and (ch := line.split(":", 1)[1].strip()):
           try:

From a544cd7d39c8056bc8b998f81262168504efb2ea Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 7 May 2026 15:36:42 -0700
Subject: [PATCH 1032/1434] don't need nproc, scons is smart!

---
 tools/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/README.md b/tools/README.md
index 90696ab4e6b53e..1ea42bbe1d129f 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -29,7 +29,7 @@ source .venv/bin/activate
 
 **4. Build openpilot**
 ``` bash
-scons -u -j$(nproc)
+scons -u
 ```
 
 ## WSL on Windows

From c28eb958740187620f2282023b8f1997cf90f583 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 7 May 2026 18:42:06 -0400
Subject: [PATCH 1033/1434] manager: disable DEVELOPMENT_ONLY reset (#1833)

---
 system/manager/manager.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/system/manager/manager.py b/system/manager/manager.py
index 3ec554f904886e..15a09d0a378f8f 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -35,8 +35,8 @@ def manager_init() -> None:
   params.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION)
   params.clear_all(ParamKeyFlag.CLEAR_ON_OFFROAD_TRANSITION)
   params.clear_all(ParamKeyFlag.CLEAR_ON_IGNITION_ON)
-  if build_metadata.release_channel:
-    params.clear_all(ParamKeyFlag.DEVELOPMENT_ONLY)
+  # if build_metadata.release_channel:
+  #   params.clear_all(ParamKeyFlag.DEVELOPMENT_ONLY)
 
   # device boot mode
   if params.get("DeviceBootMode") == 1:  # start in Always Offroad mode

From bd1c7f39eceb0f957ee8cb909ae0c4561ccd8c34 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 7 May 2026 18:50:52 -0700
Subject: [PATCH 1034/1434] scons build cleanups (#37981)

* simpler progress

* lil less

* cleanup

* handle cache in scons

* no j

* lil more

* rm atexit

* fix?

* cleanup
---
 .github/workflows/tests.yaml       |  8 ++---
 SConstruct                         | 56 ++++++++++++++++++++++++------
 docs/how-to/turn-the-speed-blue.md |  2 +-
 release/build_release.sh           |  6 ++--
 selfdrive/test/scons_build_test.sh |  2 +-
 selfdrive/test/test_updated.py     |  2 +-
 system/camerad/test/debug.sh       |  2 +-
 system/manager/build.py            | 50 ++++++--------------------
 tools/cabana/cabana                |  2 +-
 9 files changed, 67 insertions(+), 63 deletions(-)

diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index 91a8e5c32443e1..e0dcac53a07381 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -107,7 +107,7 @@ jobs:
         submodules: true
     - run: ./tools/op.sh setup
     - name: Build openpilot
-      run: scons -j$(nproc)
+      run: scons
     - name: Run unit tests
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
       run: |
@@ -130,7 +130,7 @@ jobs:
         submodules: true
     - run: ./tools/op.sh setup
     - name: Build openpilot
-      run: scons -j$(nproc)
+      run: scons
     - name: Run replay
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
       continue-on-error: ${{ github.ref == 'refs/heads/master' }}
@@ -197,7 +197,7 @@ jobs:
         submodules: true
     - run: ./tools/op.sh setup
     - name: Build openpilot
-      run: scons -j$(nproc)
+      run: scons
     - name: Driving test
       timeout-minutes: 2
       run: |
@@ -218,7 +218,7 @@ jobs:
           submodules: true
       - run: ./tools/op.sh setup
       - name: Build openpilot
-        run: scons -j$(nproc)
+        run: scons
       - name: Create UI Report
         run: |
           source selfdrive/test/setup_xvfb.sh
diff --git a/SConstruct b/SConstruct
index dcc567c74a1220..782b84dc26a397 100644
--- a/SConstruct
+++ b/SConstruct
@@ -14,7 +14,7 @@ SCons.Warnings.warningAsException(True)
 
 Decider('MD5-timestamp')
 
-SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
+SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2))))
 
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
 AddOption('--verbose', action='store_true', default=False, help='show full build commands')
@@ -174,16 +174,6 @@ if not GetOption('verbose'):
   ):
     env[f"{action}COMSTR"] = f"  [{short}] $TARGET"
 
-# progress output
-node_interval = 5
-node_count = 0
-def progress_function(node):
-  global node_count
-  node_count += node_interval
-  sys.stderr.write("progress: %d\n" % node_count)
-if os.environ.get('SCONS_PROGRESS'):
-  Progress(progress_function, interval=node_interval)
-
 # ********** Cython build environment **********
 envCython = env.Clone()
 envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
@@ -203,9 +193,19 @@ Export('env', 'arch')
 
 # Setup cache dir
 cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
+cache_size_limit = 4e9 if "CI" in os.environ else 2e9
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
 
+def prune_cache_dir(target=None, source=None, env=None):
+  cache_files = sorted((os.path.join(root, f) for root, _, files in os.walk(cache_dir) for f in files), key=os.path.getmtime)
+  cache_size = sum(os.path.getsize(f) for f in cache_files)
+  for f in cache_files:
+    if cache_size < cache_size_limit:
+      break
+    cache_size -= os.path.getsize(f)
+    os.unlink(f)
+
 # ********** start building stuff **********
 
 # Build common module
@@ -264,3 +264,37 @@ if GetOption('extras') and arch != "larch64":
 
 
 env.CompilationDatabase('compile_commands.json')
+
+# progress output
+def count_scons_nodes(nodes):
+  seen = set()
+  stack = list(nodes)
+
+  while stack:
+    node = stack.pop().disambiguate()
+    if node in seen:
+      continue
+    seen.add(node)
+    executor = node.get_executor()
+    if executor is not None:
+      stack += executor.get_all_prerequisites() + executor.get_all_children()
+
+  return len(seen)
+
+progress_interval = 5
+progress_count = 0
+progress_total = max(1, count_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)))
+
+def progress_function(node):
+  global progress_count
+  if progress_count >= progress_total:
+    return
+  progress_count = min(progress_count + progress_interval, progress_total)
+  progress = round(100. * progress_count / progress_total, 1)
+  sys.stderr.write("\rBuilding: %5.1f%%" % progress if sys.stderr.isatty() else "progress: %.1f\n" % progress)
+  if progress == 100. and sys.stderr.isatty():
+    sys.stderr.write("\n")
+  sys.stderr.flush()
+
+Progress(progress_function, interval=progress_interval)
+AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md
index bc1d634012917c..b5692daff752c6 100644
--- a/docs/how-to/turn-the-speed-blue.md
+++ b/docs/how-to/turn-the-speed-blue.md
@@ -20,7 +20,7 @@ source .venv/bin/activate
 
 Then, compile openpilot:
 ```bash
-scons -j$(nproc)
+scons
 ```
 
 ## 2. Run replay
diff --git a/release/build_release.sh b/release/build_release.sh
index 7bc6732c6851ba..e9ca24e3d1242d 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -46,14 +46,14 @@ git commit -a -m "openpilot v$VERSION release"
 
 # Build
 export PYTHONPATH="$BUILD_DIR"
-scons -j$(nproc) --minimal
+op build
 
 if [ -z "$PANDA_DEBUG_BUILD" ]; then
   # release panda fw
-  CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
+  CERT=/data/pandaextra/certs/release RELEASE=1 scons panda/
 else
   # build with ALLOW_DEBUG=1 to enable features like experimental longitudinal
-  scons -j$(nproc) panda/
+  scons panda/
 fi
 
 # Ensure no submodules in release
diff --git a/selfdrive/test/scons_build_test.sh b/selfdrive/test/scons_build_test.sh
index 5ffdb4379e004c..d4a0733569cc7a 100755
--- a/selfdrive/test/scons_build_test.sh
+++ b/selfdrive/test/scons_build_test.sh
@@ -13,7 +13,7 @@ cd $BASEDIR
 
 cd $BASEDIR/opendbc_repo/
 scons --clean
-scons --no-cache --random -j$(nproc)
+scons --no-cache --random
 if ! scons -q; then
   echo "FAILED: all build products not up to date after first pass."
   exit 1
diff --git a/selfdrive/test/test_updated.py b/selfdrive/test/test_updated.py
index 95365640f5a612..22fee9bab285b7 100644
--- a/selfdrive/test/test_updated.py
+++ b/selfdrive/test/test_updated.py
@@ -50,7 +50,7 @@ def setup_method(self):
       f"git clone {BASEDIR} {self.git_remote_dir}",
       f"git clone {self.git_remote_dir} {self.basedir}",
       f"cd {self.basedir} && git submodule init && git submodule update",
-      f"cd {self.basedir} && scons -j{os.cpu_count()} cereal/ common/"
+      f"cd {self.basedir} && scons cereal/ common/"
     ])
 
     self.params = Params(os.path.join(self.basedir, "persist/params"))
diff --git a/system/camerad/test/debug.sh b/system/camerad/test/debug.sh
index a031be69236709..eba167ce6a1934 100755
--- a/system/camerad/test/debug.sh
+++ b/system/camerad/test/debug.sh
@@ -8,7 +8,7 @@ echo 0xfffdbfff | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
 #echo 0 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
 
 sudo dmesg -C
-scons -u -j8 --minimal .
+scons -u --minimal .
 export DEBUG_FRAMES=1
 export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
 #export DISABLE_DRIVER=1
diff --git a/system/manager/build.py b/system/manager/build.py
index d79e7fd2ad906e..af66782273ee54 100755
--- a/system/manager/build.py
+++ b/system/manager/build.py
@@ -1,41 +1,27 @@
 #!/usr/bin/env python3
 import os
 import subprocess
-from pathlib import Path
 
 # NOTE: Do NOT import anything here that needs be built (e.g. params)
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.spinner import Spinner
 from openpilot.common.text_window import TextWindow
-from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.hardware import HARDWARE, AGNOS
-from openpilot.system.version import get_build_metadata
 
-MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
-CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
-
-TOTAL_SCONS_NODES = 2705
-MAX_BUILD_PROGRESS = 100
-
-def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
+def build() -> None:
+  spinner = Spinner()
+  spinner.update_progress(0, 100)
   env = os.environ.copy()
-  env['SCONS_PROGRESS'] = "1"
-  nproc = os.cpu_count()
-  if nproc is None:
-    nproc = 2
-
-  extra_args = ["--minimal"] if minimal else []
 
+  HARDWARE.set_power_save(False)
   if AGNOS:
-    HARDWARE.set_power_save(False)
     os.sched_setaffinity(0, range(8))  # ensure we can use the isolcpus cores
 
-  # building with all cores can result in using too
-  # much memory, so retry with less parallelism
+  # building with all cores can result in using too much memory, so retry serially
   compile_output: list[bytes] = []
-  for n in (nproc, nproc/2, 1):
+  for parallelism in ([], ["-j4"], ["-j1"]):
     compile_output.clear()
-    scons: subprocess.Popen = subprocess.Popen(["scons", f"-j{int(n)}", "--cache-populate", *extra_args], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
+    scons: subprocess.Popen = subprocess.Popen(["scons", *parallelism], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
     assert scons.stderr is not None
 
     # Read progress from stderr and update spinner
@@ -48,8 +34,8 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
 
         prefix = b'progress: '
         if line.startswith(prefix):
-          i = int(line[len(prefix):])
-          spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.)
+          progress = float(line[len(prefix):])
+          spinner.update_progress(100 * min(1., progress / 100.), 100.)
         elif len(line):
           compile_output.append(line)
           print(line.decode('utf8', 'replace'))
@@ -66,8 +52,6 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
 
     # Build failed log errors
     error_s = b"\n".join(compile_output).decode('utf8', 'replace')
-    add_file_handler(cloudlog)
-    cloudlog.error("scons build failed\n" + error_s)
 
     # Show TextWindow
     spinner.close()
@@ -76,19 +60,5 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
         t.wait_for_exit()
     exit(1)
 
-  # enforce max cache size
-  cache_files = [f for f in CACHE_DIR.rglob('*') if f.is_file()]
-  cache_files.sort(key=lambda f: f.stat().st_mtime)
-  cache_size = sum(f.stat().st_size for f in cache_files)
-  for f in cache_files:
-    if cache_size < MAX_CACHE_SIZE:
-      break
-    cache_size -= f.stat().st_size
-    f.unlink()
-
-
 if __name__ == "__main__":
-  spinner = Spinner()
-  spinner.update_progress(0, 100)
-  build_metadata = get_build_metadata()
-  build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS)
+  build()
diff --git a/tools/cabana/cabana b/tools/cabana/cabana
index cd9bf1dd7970ad..5eb15eabf08148 100755
--- a/tools/cabana/cabana
+++ b/tools/cabana/cabana
@@ -33,6 +33,6 @@ fi
 
 # Build _cabana
 cd "$ROOT"
-scons -j4 tools/cabana/_cabana cereal/messaging/bridge
+scons tools/cabana/_cabana cereal/messaging/bridge
 
 exec "$DIR/_cabana" "$@"

From 01e7606b709c4e915bf6376f8f6dce380e1bdbbd Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Thu, 7 May 2026 19:03:08 -0700
Subject: [PATCH 1035/1434] esim.py: subcommand CLI with indexed profile
 selection (#37968)

Lets you `esim.py switch 2` instead of typing the full iccid. Profiles
are stable-sorted by iccid so indices are deterministic.
---
 system/hardware/esim.py | 72 ++++++++++++++++++++++++++++++-----------
 1 file changed, 54 insertions(+), 18 deletions(-)

diff --git a/system/hardware/esim.py b/system/hardware/esim.py
index 54407693b319be..18d84de9835f65 100755
--- a/system/hardware/esim.py
+++ b/system/hardware/esim.py
@@ -2,33 +2,69 @@
 
 import argparse
 from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware.base import LPABase, Profile
+
+
+def sorted_profiles(lpa: LPABase) -> list[Profile]:
+  return sorted(lpa.list_profiles(), key=lambda p: p.iccid)
+
+
+def resolve_iccid(lpa: LPABase, ref: str) -> str:
+  # ref is either a 1-based index into the sorted list, or a literal iccid
+  if ref.isdigit():
+    profiles = sorted_profiles(lpa)
+    idx = int(ref) - 1
+    if not 0 <= idx < len(profiles):
+      raise SystemExit(f'no profile at index {ref} (have {len(profiles)})')
+    return profiles[idx].iccid
+  return ref
+
+
+def print_profiles(lpa: LPABase) -> None:
+  profiles = sorted_profiles(lpa)
+  print(f'\n{len(profiles)} profile{"s" if len(profiles) != 1 else ""}:')
+  for i, p in enumerate(profiles, start=1):
+    print(f'{i}. {p.iccid} (nickname: {p.nickname or "<none provided>"}) (provider: {p.provider}) - {"enabled" if p.enabled else "disabled"}')
 
 
 if __name__ == '__main__':
   parser = argparse.ArgumentParser(prog='esim.py', description='manage eSIM profiles on your comma device', epilog='comma.ai')
-  parser.add_argument('--switch', metavar='iccid', help='switch to profile')
-  parser.add_argument('--delete', metavar='iccid', help='delete profile (warning: this cannot be undone)')
-  parser.add_argument('--download', nargs=2, metavar=('qr', 'name'), help='download a profile using QR code (format: LPA:1$rsp.truphone.com$QRF-SPEEDTEST)')
-  parser.add_argument('--nickname', nargs=2, metavar=('iccid', 'name'), help='update the nickname for a profile')
+  sub = parser.add_subparsers(dest='cmd')
+
+  sub.add_parser('list', help='list profiles')
+
+  p_switch = sub.add_parser('switch', help='switch to profile')
+  p_switch.add_argument('profile', help='iccid or 1-based index from `list`')
+
+  p_delete = sub.add_parser('delete', help='delete profile (warning: this cannot be undone)')
+  p_delete.add_argument('profile', help='iccid or 1-based index from `list`')
+
+  p_download = sub.add_parser('download', help='download a profile using QR code (format: LPA:1$rsp.truphone.com$QRF-SPEEDTEST)')
+  p_download.add_argument('qr')
+  p_download.add_argument('name')
+
+  p_nickname = sub.add_parser('nickname', help='update the nickname for a profile')
+  p_nickname.add_argument('profile', help='iccid or 1-based index from `list`')
+  p_nickname.add_argument('name')
+
   args = parser.parse_args()
 
   lpa = HARDWARE.get_sim_lpa()
-  if args.switch:
-    lpa.switch_profile(args.switch)
-  elif args.delete:
-    confirm = input('are you sure you want to delete this profile? (y/N) ')
+  if args.cmd == 'switch':
+    lpa.switch_profile(resolve_iccid(lpa, args.profile))
+  elif args.cmd == 'delete':
+    iccid = resolve_iccid(lpa, args.profile)
+    confirm = input(f'are you sure you want to delete profile {iccid}? (y/N) ')
     if confirm == 'y':
-      lpa.delete_profile(args.delete)
+      lpa.delete_profile(iccid)
     else:
       print('cancelled')
       exit(0)
-  elif args.download:
-    lpa.download_profile(args.download[0], args.download[1])
-  elif args.nickname:
-    lpa.nickname_profile(args.nickname[0], args.nickname[1])
+  elif args.cmd == 'download':
+    lpa.download_profile(args.qr, args.name)
+  elif args.cmd == 'nickname':
+    lpa.nickname_profile(resolve_iccid(lpa, args.profile), args.name)
   else:
-    parser.print_help()
-    profiles = lpa.list_profiles()
-    print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:')
-    for p in profiles:
-      print(f'- {p.iccid} (nickname: {p.nickname or "<none provided>"}) (provider: {p.provider}) - {"enabled" if p.enabled else "disabled"}')
+    if args.cmd is None:
+      parser.print_help()
+    print_profiles(lpa)

From 32671d1c3f274223ecc02a1d15e5c0af533641c1 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 7 May 2026 23:34:53 -0700
Subject: [PATCH 1036/1434] ui: nonblocking Params writes (#37982)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

ui: nonblocking writes for ExperimentalMode + DriverView toggles + cycle-restart

All four put calls fire from the main render thread on user interaction
and block on disk fsync, causing visible UI frame spikes.

Each consumer is safe under nonblocking:
- onboarding inactivity_callback: write-and-forget (~25 ms saved)
- home long-press exp toggle: ui_state.experimental_mode owns visual state (~10 ms)
- onroad exp_button: $held_mode + selfdriveState owns visual state
- restart_needed_callback (OnroadCycleRequested): cross-process signal,
  consumer is selfdrived which polls the param

BigParamControl-driven toggles in settings (developer.py, toggles.py)
are intentionally left blocking — those widgets refresh visual state
from disk every frame to mirror external changes, which would race a
nonblocking write.
---
 selfdrive/ui/layouts/settings/common.py          | 2 +-
 selfdrive/ui/mici/layouts/onboarding.py          | 2 +-
 selfdrive/ui/mici/onroad/driver_camera_dialog.py | 4 ++--
 selfdrive/ui/onroad/exp_button.py                | 2 +-
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/layouts/settings/common.py b/selfdrive/ui/layouts/settings/common.py
index bba8606e6442cc..13d1c743dffe49 100644
--- a/selfdrive/ui/layouts/settings/common.py
+++ b/selfdrive/ui/layouts/settings/common.py
@@ -2,4 +2,4 @@
 
 
 def restart_needed_callback(_=None):
-  ui_state.params.put_bool("OnroadCycleRequested", True)
+  ui_state.params.put_bool_nonblocking("OnroadCycleRequested", True)
diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py
index 054d719bd6c614..85731564ea5454 100644
--- a/selfdrive/ui/mici/layouts/onboarding.py
+++ b/selfdrive/ui/mici/layouts/onboarding.py
@@ -109,7 +109,7 @@ def __init__(self, continue_callback: Callable[[], None]):
 
     # Disable driver monitoring model when device times out for inactivity
     def inactivity_callback():
-      ui_state.params.put_bool("IsDriverViewEnabled", False)
+      ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False)
 
     device.add_interactive_timeout_callback(inactivity_callback)
 
diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
index df5afe2e7c4a7f..ddc084c1482887 100644
--- a/selfdrive/ui/mici/onroad/driver_camera_dialog.py
+++ b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
@@ -41,7 +41,7 @@ def __init__(self):
 
   def show_event(self):
     super().show_event()
-    ui_state.params.put_bool("IsDriverViewEnabled", True)
+    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True)
     self._publish_alert_sound(None)
     device.set_override_interactive_timeout(300)
     ui_state.params.remove("DriverTooDistracted")
@@ -49,7 +49,7 @@ def show_event(self):
 
   def hide_event(self):
     super().hide_event()
-    ui_state.params.put_bool("IsDriverViewEnabled", False)
+    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False)
     device.set_override_interactive_timeout(None)
 
   def _handle_mouse_release(self, _):
diff --git a/selfdrive/ui/onroad/exp_button.py b/selfdrive/ui/onroad/exp_button.py
index 9a92ebc3c358a1..ff0bad7479ffc1 100644
--- a/selfdrive/ui/onroad/exp_button.py
+++ b/selfdrive/ui/onroad/exp_button.py
@@ -36,7 +36,7 @@ def _handle_mouse_release(self, _):
     super()._handle_mouse_release(_)
     if self._is_toggle_allowed():
       new_mode = not self._experimental_mode
-      self._params.put_bool("ExperimentalMode", new_mode)
+      self._params.put_bool_nonblocking("ExperimentalMode", new_mode)
 
       # Hold new state temporarily
       self._held_mode = new_mode

From ab1a962803d151cb2f7690c1b06e4ef9fe506f21 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 8 May 2026 00:48:43 -0700
Subject: [PATCH 1037/1434] ui: measure ui state time in CPU time (#37983)

* all

* rename
---
 selfdrive/ui/ui.py | 13 ++++++++-----
 1 file changed, 8 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/ui.py b/selfdrive/ui/ui.py
index c571177855ee21..3d3536855bac69 100755
--- a/selfdrive/ui/ui.py
+++ b/selfdrive/ui/ui.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import os
+import time
 
 from cereal import messaging
 from openpilot.system.hardware import TICI
@@ -24,14 +25,10 @@ def main():
 
   pm = messaging.PubMaster(['uiDebug'])
   for should_render, frame_time, cpu_time in gui_app.render():
+    extra_start = time.monotonic()
     ui_state.update()
 
     if should_render:
-      msg = messaging.new_message('uiDebug')
-      msg.uiDebug.cpuTimeMillis = cpu_time * 1000
-      msg.uiDebug.frameTimeMillis = frame_time * 1000
-      pm.send('uiDebug', msg)
-
       # reaffine after power save offlines our core
       if TICI and os.sched_getaffinity(0) != cores:
         try:
@@ -39,6 +36,12 @@ def main():
         except OSError:
           pass
 
+      extra_cpu = time.monotonic() - extra_start
+      msg = messaging.new_message('uiDebug')
+      msg.uiDebug.cpuTimeMillis = (cpu_time + extra_cpu) * 1000
+      msg.uiDebug.frameTimeMillis = frame_time * 1000
+      pm.send('uiDebug', msg)
+
 
 if __name__ == "__main__":
   main()

From fd37cd1d030faf18c838b8e2565f0e702a7ff99e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 8 May 2026 01:23:21 -0700
Subject: [PATCH 1038/1434] ui: prevent raylib sleep drifting from vblank
 (#37970)

* fix?

* fix planner contention

* Update system/ui/lib/application.py

* back

* cmt

* back

---------

Co-authored-by: Shane Smiskol <shane@Shanes-MacBook-Air.local>
---
 system/ui/lib/application.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index d2ef9973f1edd4..2513086edddf79 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -316,8 +316,9 @@ def _close(sig, frame):
         self._ffmpeg_thread = threading.Thread(target=self._ffmpeg_writer_thread, daemon=True)
         self._ffmpeg_thread.start()
 
-      # OFFSCREEN disables FPS limiting for fast offline rendering (e.g. clips)
-      rl.set_target_fps(0 if OFFSCREEN else fps)
+      # four display runs slightly faster than 60 FPS, let it dictate rate so we don't drift and drop frames
+      vblank_control = HARDWARE.get_device_type() == 'mici'
+      rl.set_target_fps(0 if OFFSCREEN or vblank_control else fps)
 
       self._target_fps = fps
       self._set_styles()

From 5745909e9b438eba09a32d149f6e9aa458424bea Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 8 May 2026 02:13:00 -0700
Subject: [PATCH 1039/1434] ui: bump priority above plannerd and radard
 (#37984)

* bump ui prio

* use prio
---
 selfdrive/ui/ui.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/ui.py b/selfdrive/ui/ui.py
index 3d3536855bac69..e01ddb25132713 100755
--- a/selfdrive/ui/ui.py
+++ b/selfdrive/ui/ui.py
@@ -4,7 +4,7 @@
 
 from cereal import messaging
 from openpilot.system.hardware import TICI
-from openpilot.common.realtime import config_realtime_process, set_core_affinity
+from openpilot.common.realtime import Priority, config_realtime_process, set_core_affinity
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.layouts.main import MainLayout
 from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
@@ -15,7 +15,8 @@
 
 def main():
   cores = {5, }
-  config_realtime_process(0, 51)
+  # above plannerd and radard
+  config_realtime_process(0, Priority.CTRL_HIGH)
 
   gui_app.init_window("UI")
   if BIG_UI:

From a3d3d0fea6ed727c7d0f755fe4768ec7a6b6a320 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 9 May 2026 01:27:47 -0700
Subject: [PATCH 1040/1434] Firehose and PrimeState: put_nonblocking

---
 selfdrive/ui/lib/prime_state.py                | 2 +-
 selfdrive/ui/mici/layouts/settings/firehose.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py
index 1aed949bee922b..4292962b3930b1 100644
--- a/selfdrive/ui/lib/prime_state.py
+++ b/selfdrive/ui/lib/prime_state.py
@@ -65,7 +65,7 @@ def set_type(self, prime_type: PrimeType) -> None:
     with self._lock:
       if prime_type != self.prime_type:
         self.prime_type = prime_type
-        self._params.put("PrimeType", int(prime_type))
+        self._params.put_nonblocking("PrimeType", int(prime_type))
         cloudlog.info(f"Prime type updated to {prime_type}")
 
   def _worker_thread(self) -> None:
diff --git a/selfdrive/ui/mici/layouts/settings/firehose.py b/selfdrive/ui/mici/layouts/settings/firehose.py
index 4c27a909f96ee7..64cd3a29c93a3e 100644
--- a/selfdrive/ui/mici/layouts/settings/firehose.py
+++ b/selfdrive/ui/mici/layouts/settings/firehose.py
@@ -207,7 +207,7 @@ def _fetch_firehose_stats(self):
       if response.status_code == 200:
         data = response.json()
         self._segment_count = data.get("firehose", 0)
-        self._params.put(self.PARAM_KEY, data)
+        self._params.put_nonblocking(self.PARAM_KEY, data)
     except Exception as e:
       cloudlog.error(f"Failed to fetch firehose stats: {e}")
 

From f18aa113a53aa7857e2dbace29b62ebe88fefc7f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 9 May 2026 17:27:54 -0700
Subject: [PATCH 1041/1434] bump up modem.py expected cpu

---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 2dd4aa072ef5be..abb6e96069702e 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -68,7 +68,7 @@
   "system.loggerd.deleter": 1.0,
   "./pandad": 19.0,
   "system.qcomgpsd.qcomgpsd": 1.0,
-  "system.hardware.tici.modem": 2.0,
+  "system.hardware.tici.modem": 10.0,
 }
 
 TIMINGS = {

From 9fdcbae8de2b00d289ac27dcb21d95dcd08fba88 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 9 May 2026 19:08:09 -0700
Subject: [PATCH 1042/1434] agnos 18.1.1 (#37989)

---
 launch_env.sh                            |  2 +-
 system/hardware/tici/agnos.json          | 62 +++++++++----------
 system/hardware/tici/all-partitions.json | 78 ++++++++++++------------
 3 files changed, 71 insertions(+), 71 deletions(-)

diff --git a/launch_env.sh b/launch_env.sh
index 275f5e42f4ff28..1f096bca16323a 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="18.1"
+  export AGNOS_VERSION="18.1.1"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index e6dfb6b91a8d96..bde39e35b44881 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,83 +1,83 @@
 [
   {
     "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6.img.xz",
-    "hash": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
-    "hash_raw": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb.img.xz",
+    "hash": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
+    "hash_raw": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
     "size": 3282256,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "d47a08914d2376557b03f1231b7233508222c04b57d781f9daf77c63eab92c2e"
+    "ondevice_hash": "bea7f1a24428c3ededf672fa4fc78baf180cfbd8aafb77c974655b38517283e3"
   },
   {
     "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9.img.xz",
-    "hash": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
-    "hash_raw": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85.img.xz",
+    "hash": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
+    "hash_raw": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
     "size": 98124,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "e7d04d9f040c9c040cdf013335d0b6d6e9346311458baeb2461b193e954f5f1c"
+    "ondevice_hash": "fb18cde08a98a168961ecd357e92474823046752b94e112f59fe51a6acd7197d"
   },
   {
     "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee.img.xz",
-    "hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
-    "hash_raw": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c.img.xz",
+    "hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
+    "hash_raw": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
     "size": 274432,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee"
+    "ondevice_hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c"
   },
   {
     "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788.img.xz",
-    "hash": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
-    "hash_raw": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1.img.xz",
+    "hash": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
+    "hash_raw": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
     "size": 184364,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "3aa0a79149ec57f4bc8c38f7bbdf4f6630dd659e49a111ce6258d2d06a07c8e5"
+    "ondevice_hash": "6c9135446bd3fc075fcee59b887a12e49029ab1f98ed8d6d1e32c73569d47de3"
   },
   {
     "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585.img.xz",
-    "hash": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
-    "hash_raw": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc.img.xz",
+    "hash": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
+    "hash_raw": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
     "size": 40336,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "3d7bb33588491a2a40091a7e1cf6cb65e6dd503f69b640aba484d723f1ad47e8"
+    "ondevice_hash": "2a67971602012c1b43544964709da13c322786b456a8e78568b117e8b1540ce3"
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04.img.xz",
-    "hash": "3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04",
-    "hash_raw": "3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04",
-    "size": 17500160,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73.img.xz",
+    "hash": "ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73",
+    "hash_raw": "ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73",
+    "size": 17487872,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "4e12accbcbb03fd9eebc5c1231a7b79dc1d9e15341cce56dc88930832ee86207"
+    "ondevice_hash": "51f13aaf26d3716ab6032badeb04d28552c77247912554bd6f1c566fe9150094"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2.img.xz",
-    "hash": "bb4ccf77037120ace841cbcd94387c0650b317595cd0eab555b3ba0beb74e840",
-    "hash_raw": "82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8.img.xz",
+    "hash": "a414abb7c37de6d6dd563ccd1436098f41d4a09b19969554be6da44eacf80a46",
+    "hash_raw": "a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "f1505151cde236f0d3ccdb764e3c604761ad2c1beb40f2c340ea9470d0cecc0e",
+    "ondevice_hash": "cb40885b4e2678d80d28d11816e93cb3bd6dd684305525371ba1f837e0f5466b",
     "alt": {
-      "hash": "82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2.img",
+      "hash": "a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8.img",
       "size": 4718592000
     }
   }
diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json
index 1d826a5dc92159..534aa48723ce70 100644
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@@ -130,47 +130,47 @@
   },
   {
     "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6.img.xz",
-    "hash": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
-    "hash_raw": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb.img.xz",
+    "hash": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
+    "hash_raw": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
     "size": 3282256,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "d47a08914d2376557b03f1231b7233508222c04b57d781f9daf77c63eab92c2e"
+    "ondevice_hash": "bea7f1a24428c3ededf672fa4fc78baf180cfbd8aafb77c974655b38517283e3"
   },
   {
     "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9.img.xz",
-    "hash": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
-    "hash_raw": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85.img.xz",
+    "hash": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
+    "hash_raw": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
     "size": 98124,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "e7d04d9f040c9c040cdf013335d0b6d6e9346311458baeb2461b193e954f5f1c"
+    "ondevice_hash": "fb18cde08a98a168961ecd357e92474823046752b94e112f59fe51a6acd7197d"
   },
   {
     "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee.img.xz",
-    "hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
-    "hash_raw": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c.img.xz",
+    "hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
+    "hash_raw": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
     "size": 274432,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee"
+    "ondevice_hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c"
   },
   {
     "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788.img.xz",
-    "hash": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
-    "hash_raw": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1.img.xz",
+    "hash": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
+    "hash_raw": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
     "size": 184364,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "3aa0a79149ec57f4bc8c38f7bbdf4f6630dd659e49a111ce6258d2d06a07c8e5"
+    "ondevice_hash": "6c9135446bd3fc075fcee59b887a12e49029ab1f98ed8d6d1e32c73569d47de3"
   },
   {
     "name": "bluetooth",
@@ -207,14 +207,14 @@
   },
   {
     "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585.img.xz",
-    "hash": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
-    "hash_raw": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc.img.xz",
+    "hash": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
+    "hash_raw": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
     "size": 40336,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "3d7bb33588491a2a40091a7e1cf6cb65e6dd503f69b640aba484d723f1ad47e8"
+    "ondevice_hash": "2a67971602012c1b43544964709da13c322786b456a8e78568b117e8b1540ce3"
   },
   {
     "name": "devinfo",
@@ -339,51 +339,51 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04.img.xz",
-    "hash": "3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04",
-    "hash_raw": "3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04",
-    "size": 17500160,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73.img.xz",
+    "hash": "ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73",
+    "hash_raw": "ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73",
+    "size": 17487872,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "4e12accbcbb03fd9eebc5c1231a7b79dc1d9e15341cce56dc88930832ee86207"
+    "ondevice_hash": "51f13aaf26d3716ab6032badeb04d28552c77247912554bd6f1c566fe9150094"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2.img.xz",
-    "hash": "bb4ccf77037120ace841cbcd94387c0650b317595cd0eab555b3ba0beb74e840",
-    "hash_raw": "82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8.img.xz",
+    "hash": "a414abb7c37de6d6dd563ccd1436098f41d4a09b19969554be6da44eacf80a46",
+    "hash_raw": "a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "f1505151cde236f0d3ccdb764e3c604761ad2c1beb40f2c340ea9470d0cecc0e",
+    "ondevice_hash": "cb40885b4e2678d80d28d11816e93cb3bd6dd684305525371ba1f837e0f5466b",
     "alt": {
-      "hash": "82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2.img",
+      "hash": "a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8.img",
       "size": 4718592000
     }
   },
   {
     "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-6bf2fb546944f6fc0cdf865f92ade316430a75a7b1680d3fe891b34921c29b64.img.xz",
-    "hash": "f3badccff4330301cdae10e072a460a331421715f71253ea3bdcbf708f61d012",
-    "hash_raw": "6bf2fb546944f6fc0cdf865f92ade316430a75a7b1680d3fe891b34921c29b64",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-bef05b88eef9e34a2f21c7efa558d5f508c1942bffef326c518c05da98ef30da.img.xz",
+    "hash": "8ea6d720aaf0d549b9ff1420a8b8ab109928da2b3549e5d0998532fab6daeb4b",
+    "hash_raw": "bef05b88eef9e34a2f21c7efa558d5f508c1942bffef326c518c05da98ef30da",
     "size": 96636764160,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "82e907612afc989363656c821b9cf2107cddcbdc5030cc9b5608a38855dd1c60"
+    "ondevice_hash": "ee80da4150cd885a17d9411865941050221ba4d408b52accae9b7678557a9b1f"
   },
   {
     "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-575b01a0e84bff31180a1589b9d62810e2198e4012250e01fd80c2d5cd9ba9e1.img.xz",
-    "hash": "ebeebbe3b8e111fe807b88b993b2fa50c0ea15e838c531a3885dd3037338b1a4",
-    "hash_raw": "575b01a0e84bff31180a1589b9d62810e2198e4012250e01fd80c2d5cd9ba9e1",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-32a53ea75d4c8d91e4fb272f3e8178bc91b7a6cda60318dab4cbd5f855381251.img.xz",
+    "hash": "e997e7d143e35b4033533727e3414c1cdb3e46a3ac16cb3d5e1e32ca07be1054",
+    "hash_raw": "32a53ea75d4c8d91e4fb272f3e8178bc91b7a6cda60318dab4cbd5f855381251",
     "size": 95563022336,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "2a9d00ad72978d94640e7fb6c4b20b398e1a1bbc7a0c32f7d02fa988f755bd12"
+    "ondevice_hash": "513279caaf06937932961577d94b21e5207dba5cbcf27613c2116da98093d342"
   }
 ]
\ No newline at end of file

From 76f1f189db6b72de2c28a23e4e09ae436fe2b57e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 9 May 2026 19:10:04 -0700
Subject: [PATCH 1043/1434] back to scons

---
 release/build_release.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/release/build_release.sh b/release/build_release.sh
index e9ca24e3d1242d..1f7c8390561c42 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -46,7 +46,7 @@ git commit -a -m "openpilot v$VERSION release"
 
 # Build
 export PYTHONPATH="$BUILD_DIR"
-op build
+scons
 
 if [ -z "$PANDA_DEBUG_BUILD" ]; then
   # release panda fw

From 1268227ce5f4afbe8c440b5cab02166bc50be7ed Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 9 May 2026 19:14:37 -0700
Subject: [PATCH 1044/1434] Reapply "use catch2 dependency package (#37910)"
 (#37991)

This reverts commit 7002d2421399de7bdf3e99d2840491d0d1dbb535.
---
 SConstruct                                    |   3 +-
 third_party/catch2/include/catch2/catch.hpp   |   3 -
 .../catch2/catch_reporter_automake.hpp        |  62 -----
 .../catch2/catch_reporter_sonarqube.hpp       | 181 -------------
 .../include/catch2/catch_reporter_tap.hpp     | 254 ------------------
 .../catch2/catch_reporter_teamcity.hpp        | 219 ---------------
 6 files changed, 1 insertion(+), 721 deletions(-)
 delete mode 100644 third_party/catch2/include/catch2/catch.hpp
 delete mode 100644 third_party/catch2/include/catch2/catch_reporter_automake.hpp
 delete mode 100644 third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
 delete mode 100644 third_party/catch2/include/catch2/catch_reporter_tap.hpp
 delete mode 100644 third_party/catch2/include/catch2/catch_reporter_teamcity.hpp

diff --git a/SConstruct b/SConstruct
index 782b84dc26a397..21419611000c80 100644
--- a/SConstruct
+++ b/SConstruct
@@ -37,7 +37,7 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 
 
@@ -111,7 +111,6 @@ env = Environment(
     "#third_party/acados/include",
     "#third_party/acados/include/blasfeo/include",
     "#third_party/acados/include/hpipm/include",
-    "#third_party/catch2/include",
     [x.INCLUDE_DIR for x in pkgs],
   ],
   LIBPATH=[
diff --git a/third_party/catch2/include/catch2/catch.hpp b/third_party/catch2/include/catch2/catch.hpp
deleted file mode 100644
index 6a31e5b0ca8cd4..00000000000000
--- a/third_party/catch2/include/catch2/catch.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:27da57c7a06d09be8dd81fab7246b79e7892b6ae7e4e49ba8631f1d5a955e3fc
-size 657276
diff --git a/third_party/catch2/include/catch2/catch_reporter_automake.hpp b/third_party/catch2/include/catch2/catch_reporter_automake.hpp
deleted file mode 100644
index dbebe975163c98..00000000000000
--- a/third_party/catch2/include/catch2/catch_reporter_automake.hpp
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
- *  Created by Justin R. Wilson on 2/19/2017.
- *  Copyright 2017 Justin R. Wilson. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-namespace Catch {
-
-    struct AutomakeReporter : StreamingReporterBase<AutomakeReporter> {
-        AutomakeReporter( ReporterConfig const& _config )
-          :   StreamingReporterBase( _config )
-        {}
-
-        ~AutomakeReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in the format of Automake .trs files";
-        }
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& /*_assertionStats*/ ) override { return true; }
-
-        void testCaseEnded( TestCaseStats const& _testCaseStats ) override {
-            // Possible values to emit are PASS, XFAIL, SKIP, FAIL, XPASS and ERROR.
-            stream << ":test-result: ";
-            if (_testCaseStats.totals.assertions.allPassed()) {
-                stream << "PASS";
-            } else if (_testCaseStats.totals.assertions.allOk()) {
-                stream << "XFAIL";
-            } else {
-                stream << "FAIL";
-            }
-            stream << ' ' << _testCaseStats.testInfo.name << '\n';
-            StreamingReporterBase::testCaseEnded( _testCaseStats );
-        }
-
-        void skipTest( TestCaseInfo const& testInfo ) override {
-            stream << ":test-result: SKIP " << testInfo.name << '\n';
-        }
-
-    };
-
-#ifdef CATCH_IMPL
-    AutomakeReporter::~AutomakeReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "automake", AutomakeReporter)
-
-} // end namespace Catch
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
diff --git a/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp b/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
deleted file mode 100644
index bf7d9299a50ab6..00000000000000
--- a/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
+++ /dev/null
@@ -1,181 +0,0 @@
-/*
- *  Created by Daniel Garcia on 2018-12-04.
- *  Copyright Social Point SL. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
-#define CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
-
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <map>
-
-namespace Catch {
-
-    struct SonarQubeReporter : CumulativeReporterBase<SonarQubeReporter> {
-
-        SonarQubeReporter(ReporterConfig const& config)
-        : CumulativeReporterBase(config)
-        , xml(config.stream()) {
-            m_reporterPrefs.shouldRedirectStdOut = true;
-            m_reporterPrefs.shouldReportAllAssertions = true;
-        }
-
-        ~SonarQubeReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in the Generic Test Data SonarQube XML format";
-        }
-
-        static std::set<Verbosity> getSupportedVerbosities() {
-            return { Verbosity::Normal };
-        }
-
-        void noMatchingTestCases(std::string const& /*spec*/) override {}
-
-        void testRunStarting(TestRunInfo const& testRunInfo) override {
-            CumulativeReporterBase::testRunStarting(testRunInfo);
-            xml.startElement("testExecutions");
-            xml.writeAttribute("version", "1");
-        }
-
-        void testGroupEnded(TestGroupStats const& testGroupStats) override {
-            CumulativeReporterBase::testGroupEnded(testGroupStats);
-            writeGroup(*m_testGroups.back());
-        }
-
-        void testRunEndedCumulative() override {
-            xml.endElement();
-        }
-
-        void writeGroup(TestGroupNode const& groupNode) {
-            std::map<std::string, TestGroupNode::ChildNodes> testsPerFile;
-            for(auto const& child : groupNode.children)
-                testsPerFile[child->value.testInfo.lineInfo.file].push_back(child);
-
-            for(auto const& kv : testsPerFile)
-                writeTestFile(kv.first.c_str(), kv.second);
-        }
-
-        void writeTestFile(const char* filename, TestGroupNode::ChildNodes const& testCaseNodes) {
-            XmlWriter::ScopedElement e = xml.scopedElement("file");
-            xml.writeAttribute("path", filename);
-
-            for(auto const& child : testCaseNodes)
-                writeTestCase(*child);
-        }
-
-        void writeTestCase(TestCaseNode const& testCaseNode) {
-            // All test cases have exactly one section - which represents the
-            // test case itself. That section may have 0-n nested sections
-            assert(testCaseNode.children.size() == 1);
-            SectionNode const& rootSection = *testCaseNode.children.front();
-            writeSection("", rootSection, testCaseNode.value.testInfo.okToFail());
-        }
-
-        void writeSection(std::string const& rootName, SectionNode const& sectionNode, bool okToFail) {
-            std::string name = trim(sectionNode.stats.sectionInfo.name);
-            if(!rootName.empty())
-                name = rootName + '/' + name;
-
-            if(!sectionNode.assertions.empty() || !sectionNode.stdOut.empty() || !sectionNode.stdErr.empty()) {
-                XmlWriter::ScopedElement e = xml.scopedElement("testCase");
-                xml.writeAttribute("name", name);
-                xml.writeAttribute("duration", static_cast<long>(sectionNode.stats.durationInSeconds * 1000));
-
-                writeAssertions(sectionNode, okToFail);
-            }
-
-            for(auto const& childNode : sectionNode.childSections)
-                writeSection(name, *childNode, okToFail);
-        }
-
-        void writeAssertions(SectionNode const& sectionNode, bool okToFail) {
-            for(auto const& assertion : sectionNode.assertions)
-                writeAssertion( assertion, okToFail);
-        }
-
-        void writeAssertion(AssertionStats const& stats, bool okToFail) {
-            AssertionResult const& result = stats.assertionResult;
-            if(!result.isOk()) {
-                std::string elementName;
-                if(okToFail) {
-                    elementName = "skipped";
-                }
-                else {
-                    switch(result.getResultType()) {
-                        case ResultWas::ThrewException:
-                        case ResultWas::FatalErrorCondition:
-                            elementName = "error";
-                            break;
-                        case ResultWas::ExplicitFailure:
-                            elementName = "failure";
-                            break;
-                        case ResultWas::ExpressionFailed:
-                            elementName = "failure";
-                            break;
-                        case ResultWas::DidntThrowException:
-                            elementName = "failure";
-                            break;
-
-                            // We should never see these here:
-                        case ResultWas::Info:
-                        case ResultWas::Warning:
-                        case ResultWas::Ok:
-                        case ResultWas::Unknown:
-                        case ResultWas::FailureBit:
-                        case ResultWas::Exception:
-                            elementName = "internalError";
-                            break;
-                    }
-                }
-
-                XmlWriter::ScopedElement e = xml.scopedElement(elementName);
-
-                ReusableStringStream messageRss;
-                messageRss << result.getTestMacroName() << "(" << result.getExpression() << ")";
-                xml.writeAttribute("message", messageRss.str());
-
-                ReusableStringStream textRss;
-                if (stats.totals.assertions.total() > 0) {
-                    textRss << "FAILED:\n";
-                    if (result.hasExpression()) {
-                        textRss << "\t" << result.getExpressionInMacro() << "\n";
-                    }
-                    if (result.hasExpandedExpression()) {
-                        textRss << "with expansion:\n\t" << result.getExpandedExpression() << "\n";
-                    }
-                }
-
-                if(!result.getMessage().empty())
-                    textRss << result.getMessage() << "\n";
-
-                for(auto const& msg : stats.infoMessages)
-                    if(msg.type == ResultWas::Info)
-                        textRss << msg.message << "\n";
-
-                textRss << "at " << result.getSourceInfo();
-                xml.writeText(textRss.str(), XmlFormatting::Newline);
-            }
-        }
-
-    private:
-        XmlWriter xml;
-    };
-
-#ifdef CATCH_IMPL
-    SonarQubeReporter::~SonarQubeReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "sonarqube", SonarQubeReporter )
-
-} // end namespace Catch
-
-#endif // CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
\ No newline at end of file
diff --git a/third_party/catch2/include/catch2/catch_reporter_tap.hpp b/third_party/catch2/include/catch2/catch_reporter_tap.hpp
deleted file mode 100644
index 5ac8524ce7abeb..00000000000000
--- a/third_party/catch2/include/catch2/catch_reporter_tap.hpp
+++ /dev/null
@@ -1,254 +0,0 @@
-/*
- *  Created by Colton Wolkins on 2015-08-15.
- *  Copyright 2015 Martin Moene. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
-
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <algorithm>
-
-namespace Catch {
-
-    struct TAPReporter : StreamingReporterBase<TAPReporter> {
-
-        using StreamingReporterBase::StreamingReporterBase;
-
-        TAPReporter( ReporterConfig const& config ):
-            StreamingReporterBase( config ) {
-            m_reporterPrefs.shouldReportAllAssertions = true;
-        }
-
-        ~TAPReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in TAP format, suitable for test harnesses";
-        }
-
-        void noMatchingTestCases( std::string const& spec ) override {
-            stream << "# No test cases matched '" << spec << "'" << std::endl;
-        }
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& _assertionStats ) override {
-            ++counter;
-
-            stream << "# " << currentTestCaseInfo->name << std::endl;
-            AssertionPrinter printer( stream, _assertionStats, counter );
-            printer.print();
-
-            stream << std::endl;
-            return true;
-        }
-
-        void testRunEnded( TestRunStats const& _testRunStats ) override {
-            printTotals( _testRunStats.totals );
-            stream << "\n" << std::endl;
-            StreamingReporterBase::testRunEnded( _testRunStats );
-        }
-
-    private:
-        std::size_t counter = 0;
-        class AssertionPrinter {
-        public:
-            AssertionPrinter& operator= ( AssertionPrinter const& ) = delete;
-            AssertionPrinter( AssertionPrinter const& ) = delete;
-            AssertionPrinter( std::ostream& _stream, AssertionStats const& _stats, std::size_t _counter )
-            : stream( _stream )
-            , result( _stats.assertionResult )
-            , messages( _stats.infoMessages )
-            , itMessage( _stats.infoMessages.begin() )
-            , printInfoMessages( true )
-            , counter(_counter)
-            {}
-
-            void print() {
-                itMessage = messages.begin();
-
-                switch( result.getResultType() ) {
-                    case ResultWas::Ok:
-                        printResultType( passedString() );
-                        printOriginalExpression();
-                        printReconstructedExpression();
-                        if ( ! result.hasExpression() )
-                            printRemainingMessages( Colour::None );
-                        else
-                            printRemainingMessages();
-                        break;
-                    case ResultWas::ExpressionFailed:
-                        if (result.isOk()) {
-                            printResultType(passedString());
-                        } else {
-                            printResultType(failedString());
-                        }
-                        printOriginalExpression();
-                        printReconstructedExpression();
-                        if (result.isOk()) {
-                            printIssue(" # TODO");
-                        }
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::ThrewException:
-                        printResultType( failedString() );
-                        printIssue( "unexpected exception with message:" );
-                        printMessage();
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::FatalErrorCondition:
-                        printResultType( failedString() );
-                        printIssue( "fatal error condition with message:" );
-                        printMessage();
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::DidntThrowException:
-                        printResultType( failedString() );
-                        printIssue( "expected exception, got none" );
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::Info:
-                        printResultType( "info" );
-                        printMessage();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::Warning:
-                        printResultType( "warning" );
-                        printMessage();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::ExplicitFailure:
-                        printResultType( failedString() );
-                        printIssue( "explicitly" );
-                        printRemainingMessages( Colour::None );
-                        break;
-                    // These cases are here to prevent compiler warnings
-                    case ResultWas::Unknown:
-                    case ResultWas::FailureBit:
-                    case ResultWas::Exception:
-                        printResultType( "** internal error **" );
-                        break;
-                }
-            }
-
-        private:
-            static Colour::Code dimColour() { return Colour::FileName; }
-
-            static const char* failedString() { return "not ok"; }
-            static const char* passedString() { return "ok"; }
-
-            void printSourceInfo() const {
-                Colour colourGuard( dimColour() );
-                stream << result.getSourceInfo() << ":";
-            }
-
-            void printResultType( std::string const& passOrFail ) const {
-                if( !passOrFail.empty() ) {
-                    stream << passOrFail << ' ' << counter << " -";
-                }
-            }
-
-            void printIssue( std::string const& issue ) const {
-                stream << " " << issue;
-            }
-
-            void printExpressionWas() {
-                if( result.hasExpression() ) {
-                    stream << ";";
-                    {
-                        Colour colour( dimColour() );
-                        stream << " expression was:";
-                    }
-                    printOriginalExpression();
-                }
-            }
-
-            void printOriginalExpression() const {
-                if( result.hasExpression() ) {
-                    stream << " " << result.getExpression();
-                }
-            }
-
-            void printReconstructedExpression() const {
-                if( result.hasExpandedExpression() ) {
-                    {
-                        Colour colour( dimColour() );
-                        stream << " for: ";
-                    }
-                    std::string expr = result.getExpandedExpression();
-                    std::replace( expr.begin(), expr.end(), '\n', ' ');
-                    stream << expr;
-                }
-            }
-
-            void printMessage() {
-                if ( itMessage != messages.end() ) {
-                    stream << " '" << itMessage->message << "'";
-                    ++itMessage;
-                }
-            }
-
-            void printRemainingMessages( Colour::Code colour = dimColour() ) {
-                if (itMessage == messages.end()) {
-                    return;
-                }
-
-                const auto itEnd = messages.cend();
-                const auto N = static_cast<std::size_t>( std::distance( itMessage, itEnd ) );
-
-                {
-                    Colour colourGuard( colour );
-                    stream << " with " << pluralise( N, "message" ) << ":";
-                }
-
-                while( itMessage != itEnd ) {
-                    // If this assertion is a warning ignore any INFO messages
-                    if( printInfoMessages || itMessage->type != ResultWas::Info ) {
-                        stream << " '" << itMessage->message << "'";
-                        if ( ++itMessage != itEnd ) {
-                            Colour colourGuard( dimColour() );
-                            stream << " and";
-                        }
-                        continue;
-                    }
-                    ++itMessage;
-                }
-            }
-
-        private:
-            std::ostream& stream;
-            AssertionResult const& result;
-            std::vector<MessageInfo> messages;
-            std::vector<MessageInfo>::const_iterator itMessage;
-            bool printInfoMessages;
-            std::size_t counter;
-        };
-
-        void printTotals( const Totals& totals ) const {
-            stream << "1.." << totals.assertions.total();
-            if( totals.testCases.total() == 0 ) {
-                stream << " # Skipped: No tests ran.";
-            }
-        }
-    };
-
-#ifdef CATCH_IMPL
-    TAPReporter::~TAPReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "tap", TAPReporter )
-
-} // end namespace Catch
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
diff --git a/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp b/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp
deleted file mode 100644
index 47b7e4aac30f94..00000000000000
--- a/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp
+++ /dev/null
@@ -1,219 +0,0 @@
-/*
- *  Created by Phil Nash on 19th December 2014
- *  Copyright 2014 Two Blue Cubes Ltd. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <cstring>
-
-#ifdef __clang__
-#   pragma clang diagnostic push
-#   pragma clang diagnostic ignored "-Wpadded"
-#endif
-
-namespace Catch {
-
-    struct TeamCityReporter : StreamingReporterBase<TeamCityReporter> {
-        TeamCityReporter( ReporterConfig const& _config )
-        :   StreamingReporterBase( _config )
-        {
-            m_reporterPrefs.shouldRedirectStdOut = true;
-        }
-
-        static std::string escape( std::string const& str ) {
-            std::string escaped = str;
-            replaceInPlace( escaped, "|", "||" );
-            replaceInPlace( escaped, "'", "|'" );
-            replaceInPlace( escaped, "\n", "|n" );
-            replaceInPlace( escaped, "\r", "|r" );
-            replaceInPlace( escaped, "[", "|[" );
-            replaceInPlace( escaped, "]", "|]" );
-            return escaped;
-        }
-        ~TeamCityReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results as TeamCity service messages";
-        }
-
-        void skipTest( TestCaseInfo const& /* testInfo */ ) override {
-        }
-
-        void noMatchingTestCases( std::string const& /* spec */ ) override {}
-
-        void testGroupStarting( GroupInfo const& groupInfo ) override {
-            StreamingReporterBase::testGroupStarting( groupInfo );
-            stream << "##teamcity[testSuiteStarted name='"
-                << escape( groupInfo.name ) << "']\n";
-        }
-        void testGroupEnded( TestGroupStats const& testGroupStats ) override {
-            StreamingReporterBase::testGroupEnded( testGroupStats );
-            stream << "##teamcity[testSuiteFinished name='"
-                << escape( testGroupStats.groupInfo.name ) << "']\n";
-        }
-
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& assertionStats ) override {
-            AssertionResult const& result = assertionStats.assertionResult;
-            if( !result.isOk() ) {
-
-                ReusableStringStream msg;
-                if( !m_headerPrintedForThisSection )
-                    printSectionHeader( msg.get() );
-                m_headerPrintedForThisSection = true;
-
-                msg << result.getSourceInfo() << "\n";
-
-                switch( result.getResultType() ) {
-                    case ResultWas::ExpressionFailed:
-                        msg << "expression failed";
-                        break;
-                    case ResultWas::ThrewException:
-                        msg << "unexpected exception";
-                        break;
-                    case ResultWas::FatalErrorCondition:
-                        msg << "fatal error condition";
-                        break;
-                    case ResultWas::DidntThrowException:
-                        msg << "no exception was thrown where one was expected";
-                        break;
-                    case ResultWas::ExplicitFailure:
-                        msg << "explicit failure";
-                        break;
-
-                    // We shouldn't get here because of the isOk() test
-                    case ResultWas::Ok:
-                    case ResultWas::Info:
-                    case ResultWas::Warning:
-                        CATCH_ERROR( "Internal error in TeamCity reporter" );
-                    // These cases are here to prevent compiler warnings
-                    case ResultWas::Unknown:
-                    case ResultWas::FailureBit:
-                    case ResultWas::Exception:
-                        CATCH_ERROR( "Not implemented" );
-                }
-                if( assertionStats.infoMessages.size() == 1 )
-                    msg << " with message:";
-                if( assertionStats.infoMessages.size() > 1 )
-                    msg << " with messages:";
-                for( auto const& messageInfo : assertionStats.infoMessages )
-                    msg << "\n  \"" << messageInfo.message << "\"";
-
-
-                if( result.hasExpression() ) {
-                    msg <<
-                        "\n  " << result.getExpressionInMacro() << "\n"
-                        "with expansion:\n" <<
-                        "  " << result.getExpandedExpression() << "\n";
-                }
-
-                if( currentTestCaseInfo->okToFail() ) {
-                    msg << "- failure ignore as test marked as 'ok to fail'\n";
-                    stream << "##teamcity[testIgnored"
-                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
-                           << " message='" << escape( msg.str() ) << "'"
-                           << "]\n";
-                }
-                else {
-                    stream << "##teamcity[testFailed"
-                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
-                           << " message='" << escape( msg.str() ) << "'"
-                           << "]\n";
-                }
-            }
-            stream.flush();
-            return true;
-        }
-
-        void sectionStarting( SectionInfo const& sectionInfo ) override {
-            m_headerPrintedForThisSection = false;
-            StreamingReporterBase::sectionStarting( sectionInfo );
-        }
-
-        void testCaseStarting( TestCaseInfo const& testInfo ) override {
-            m_testTimer.start();
-            StreamingReporterBase::testCaseStarting( testInfo );
-            stream << "##teamcity[testStarted name='"
-                << escape( testInfo.name ) << "']\n";
-            stream.flush();
-        }
-
-        void testCaseEnded( TestCaseStats const& testCaseStats ) override {
-            StreamingReporterBase::testCaseEnded( testCaseStats );
-            if( !testCaseStats.stdOut.empty() )
-                stream << "##teamcity[testStdOut name='"
-                    << escape( testCaseStats.testInfo.name )
-                    << "' out='" << escape( testCaseStats.stdOut ) << "']\n";
-            if( !testCaseStats.stdErr.empty() )
-                stream << "##teamcity[testStdErr name='"
-                    << escape( testCaseStats.testInfo.name )
-                    << "' out='" << escape( testCaseStats.stdErr ) << "']\n";
-            stream << "##teamcity[testFinished name='"
-                    << escape( testCaseStats.testInfo.name ) << "' duration='"
-                    << m_testTimer.getElapsedMilliseconds() << "']\n";
-            stream.flush();
-        }
-
-    private:
-        void printSectionHeader( std::ostream& os ) {
-            assert( !m_sectionStack.empty() );
-
-            if( m_sectionStack.size() > 1 ) {
-                os << getLineOfChars<'-'>() << "\n";
-
-                std::vector<SectionInfo>::const_iterator
-                it = m_sectionStack.begin()+1, // Skip first section (test case)
-                itEnd = m_sectionStack.end();
-                for( ; it != itEnd; ++it )
-                    printHeaderString( os, it->name );
-                os << getLineOfChars<'-'>() << "\n";
-            }
-
-            SourceLineInfo lineInfo = m_sectionStack.front().lineInfo;
-
-            os << lineInfo << "\n";
-            os << getLineOfChars<'.'>() << "\n\n";
-        }
-
-        // if string has a : in first line will set indent to follow it on
-        // subsequent lines
-        static void printHeaderString( std::ostream& os, std::string const& _string, std::size_t indent = 0 ) {
-            std::size_t i = _string.find( ": " );
-            if( i != std::string::npos )
-                i+=2;
-            else
-                i = 0;
-            os << Column( _string )
-                           .indent( indent+i)
-                           .initialIndent( indent ) << "\n";
-        }
-    private:
-        bool m_headerPrintedForThisSection = false;
-        Timer m_testTimer;
-    };
-
-#ifdef CATCH_IMPL
-    TeamCityReporter::~TeamCityReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "teamcity", TeamCityReporter )
-
-} // end namespace Catch
-
-#ifdef __clang__
-#   pragma clang diagnostic pop
-#endif
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED

From f87bc52405e35a0b467d9cc460915fde63d6ba08 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 9 May 2026 19:32:54 -0700
Subject: [PATCH 1045/1434] use vendored acados (#37992)

* use vendored acados

* fix

* cleanup
---
 SConstruct                                    |   23 +-
 .../controls/lib/lateral_mpc_lib/SConscript   |   16 +-
 .../controls/lib/lateral_mpc_lib/lat_mpc.py   |    2 +-
 .../lib/longitudinal_mpc_lib/SConscript       |   16 +-
 .../lib/longitudinal_mpc_lib/long_mpc.py      |    2 +-
 third_party/acados/.gitignore                 |    9 -
 third_party/acados/Darwin/lib/libacados.dylib |    3 -
 .../acados/Darwin/lib/libblasfeo.dylib        |    3 -
 third_party/acados/Darwin/lib/libhpipm.dylib  |    3 -
 .../acados/Darwin/lib/libqpOASES_e.3.1.dylib  |    3 -
 .../acados/Darwin/lib/libqpOASES_e.dylib      |    1 -
 third_party/acados/Darwin/t_renderer          |    3 -
 third_party/acados/aarch64                    |    1 -
 third_party/acados/acados_template/.gitignore |    6 -
 .../acados/acados_template/__init__.py        |   40 -
 .../acados/acados_template/acados_layout.json |  834 -----
 .../acados/acados_template/acados_model.py    |  154 -
 .../acados/acados_template/acados_ocp.py      | 3166 -----------------
 .../acados_template/acados_ocp_solver.py      | 1990 -----------
 .../acados_template/acados_ocp_solver_pyx.pyx |  794 -----
 .../acados/acados_template/acados_sim.py      |  366 --
 .../acados_template/acados_sim_layout.json    |   53 -
 .../acados_template/acados_sim_solver.py      |  558 ---
 .../acados_sim_solver_common.pxd              |   63 -
 .../acados_template/acados_sim_solver_pyx.pyx |  255 --
 .../acados_template/acados_solver_common.pxd  |   99 -
 .../acados/acados_template/builders.py        |  130 -
 .../c_templates_tera/CMakeLists.in.txt        |  397 ---
 .../c_templates_tera/Makefile.in              |  468 ---
 .../c_templates_tera/acados_sim_solver.in.c   |  526 ---
 .../c_templates_tera/acados_sim_solver.in.h   |  101 -
 .../c_templates_tera/acados_sim_solver.in.pxd |   51 -
 .../c_templates_tera/acados_solver.in.c       | 2741 --------------
 .../c_templates_tera/acados_solver.in.h       |  241 --
 .../c_templates_tera/acados_solver.in.pxd     |   62 -
 .../c_templates_tera/constraints.in.h         |  110 -
 .../c_templates_tera/cost.in.h                |  238 --
 .../c_templates_tera/main.in.c                |  226 --
 .../c_templates_tera/main_sim.in.c            |  132 -
 .../matlab_templates/acados_mex_create.in.c   |  384 --
 .../matlab_templates/acados_mex_free.in.c     |   67 -
 .../matlab_templates/acados_mex_set.in.c      |  632 ----
 .../matlab_templates/acados_mex_solve.in.c    |   56 -
 .../acados_sim_solver_sfun.in.c               |  230 --
 .../matlab_templates/acados_solver_sfun.in.c  |  853 -----
 .../matlab_templates/main_mex.in.c            |  181 -
 .../matlab_templates/make_main_mex.in.m       |  103 -
 .../matlab_templates/make_mex.in.m            |  127 -
 .../matlab_templates/make_sfun.in.m           |  432 ---
 .../matlab_templates/make_sfun_sim.in.m       |  137 -
 .../matlab_templates/mex_solver.in.m          |  270 --
 .../c_templates_tera/model.in.h               |  218 --
 .../casadi_function_generation.py             |  708 ----
 .../custom_update_function_zoro_template.in.c |  819 -----
 .../custom_update_function_zoro_template.in.h |   44 -
 .../acados/acados_template/gnsf/__init__.py   |    1 -
 .../gnsf/check_reformulation.py               |  216 --
 ...detect_affine_terms_reduce_nonlinearity.py |  278 --
 .../gnsf/detect_gnsf_structure.py             |  240 --
 .../determine_input_nonlinearity_function.py  |  110 -
 .../determine_trivial_gnsf_transcription.py   |  155 -
 .../acados_template/gnsf/matlab to python.md  |   43 -
 .../gnsf/reformulate_with_LOS.py              |  394 --
 .../gnsf/reformulate_with_invertible_E_mat.py |  167 -
 .../gnsf/structure_detection_print_summary.py |  174 -
 .../simulink_default_opts.json                |   44 -
 third_party/acados/acados_template/utils.py   |  434 ---
 .../acados_template/zoro_description.py       |   78 -
 third_party/acados/build.sh                   |   64 -
 .../include/acados/dense_qp/dense_qp_common.h |  147 -
 .../include/acados/dense_qp/dense_qp_daqp.h   |  110 -
 .../include/acados/dense_qp/dense_qp_hpipm.h  |   91 -
 .../include/acados/dense_qp/dense_qp_ooqp.h   |  125 -
 .../include/acados/dense_qp/dense_qp_qore.h   |  124 -
 .../acados/dense_qp/dense_qp_qpoases.h        |  126 -
 .../include/acados/ocp_nlp/ocp_nlp_common.h   |  446 ---
 .../acados/ocp_nlp/ocp_nlp_constraints_bgh.h  |  238 --
 .../acados/ocp_nlp/ocp_nlp_constraints_bgp.h  |  218 --
 .../ocp_nlp/ocp_nlp_constraints_common.h      |  108 -
 .../acados/ocp_nlp/ocp_nlp_cost_common.h      |  107 -
 .../acados/ocp_nlp/ocp_nlp_cost_conl.h        |  207 --
 .../acados/ocp_nlp/ocp_nlp_cost_external.h    |  187 -
 .../include/acados/ocp_nlp/ocp_nlp_cost_ls.h  |  243 --
 .../include/acados/ocp_nlp/ocp_nlp_cost_nls.h |  211 --
 .../acados/ocp_nlp/ocp_nlp_dynamics_common.h  |  119 -
 .../acados/ocp_nlp/ocp_nlp_dynamics_cont.h    |  209 --
 .../acados/ocp_nlp/ocp_nlp_dynamics_disc.h    |  192 -
 .../acados/ocp_nlp/ocp_nlp_reg_common.h       |  122 -
 .../acados/ocp_nlp/ocp_nlp_reg_convexify.h    |  146 -
 .../acados/ocp_nlp/ocp_nlp_reg_mirror.h       |  121 -
 .../acados/ocp_nlp/ocp_nlp_reg_noreg.h        |  106 -
 .../acados/ocp_nlp/ocp_nlp_reg_project.h      |  121 -
 .../ocp_nlp/ocp_nlp_reg_project_reduc_hess.h  |  132 -
 .../include/acados/ocp_nlp/ocp_nlp_sqp.h      |  170 -
 .../include/acados/ocp_nlp/ocp_nlp_sqp_rti.h  |  163 -
 .../include/acados/ocp_qp/ocp_qp_common.h     |  180 -
 .../acados/ocp_qp/ocp_qp_common_frontend.h    |  118 -
 .../acados/ocp_qp/ocp_qp_full_condensing.h    |  114 -
 .../include/acados/ocp_qp/ocp_qp_hpipm.h      |  100 -
 .../include/acados/ocp_qp/ocp_qp_hpmpc.h      |  127 -
 .../include/acados/ocp_qp/ocp_qp_ooqp.h       |  144 -
 .../include/acados/ocp_qp/ocp_qp_osqp.h       |  103 -
 .../acados/ocp_qp/ocp_qp_partial_condensing.h |  120 -
 .../include/acados/ocp_qp/ocp_qp_qpdunes.h    |  119 -
 .../acados/ocp_qp/ocp_qp_xcond_solver.h       |  150 -
 .../acados/sim/sim_collocation_utils.h        |   97 -
 .../acados/include/acados/sim/sim_common.h    |  221 --
 .../include/acados/sim/sim_erk_integrator.h   |  140 -
 .../acados/include/acados/sim/sim_gnsf.h      |  364 --
 .../include/acados/sim/sim_irk_integrator.h   |  183 -
 .../acados/sim/sim_lifted_irk_integrator.h    |  157 -
 .../acados/utils/external_function_generic.h  |  242 --
 .../acados/include/acados/utils/math.h        |  103 -
 third_party/acados/include/acados/utils/mem.h |  110 -
 .../acados/include/acados/utils/print.h       |  110 -
 .../acados/include/acados/utils/strsep.h      |   69 -
 .../acados/include/acados/utils/timing.h      |  122 -
 .../acados/include/acados/utils/types.h       |   91 -
 .../include/acados_c/condensing_interface.h   |   81 -
 .../include/acados_c/dense_qp_interface.h     |   91 -
 .../acados_c/external_function_interface.h    |   89 -
 .../include/acados_c/ocp_nlp_interface.h      |  428 ---
 .../include/acados_c/ocp_qp_interface.h       |  263 --
 .../acados/include/acados_c/sim_interface.h   |  137 -
 .../acados/include/blasfeo/include/blasfeo.h  |   52 -
 .../blasfeo/include/blasfeo_block_size.h      |  447 ---
 .../include/blasfeo/include/blasfeo_common.h  |  274 --
 .../include/blasfeo/include/blasfeo_d_aux.h   |  255 --
 .../blasfeo/include/blasfeo_d_aux_ext_dep.h   |  145 -
 .../include/blasfeo_d_aux_ext_dep_ref.h       |   84 -
 .../blasfeo/include/blasfeo_d_aux_old.h       |   75 -
 .../blasfeo/include/blasfeo_d_aux_ref.h       |  208 --
 .../blasfeo/include/blasfeo_d_aux_test.h      |  226 --
 .../include/blasfeo/include/blasfeo_d_blas.h  |   46 -
 .../blasfeo/include/blasfeo_d_blas_api.h      |  281 --
 .../blasfeo/include/blasfeo_d_blasfeo_api.h   |  364 --
 .../include/blasfeo_d_blasfeo_api_ref.h       |  147 -
 .../include/blasfeo_d_blasfeo_hp_api.h        |   84 -
 .../include/blasfeo_d_blasfeo_ref_api.h       |  283 --
 .../blasfeo/include/blasfeo_d_kernel.h        | 1321 -------
 .../blasfeo/include/blasfeo_i_aux_ext_dep.h   |   69 -
 .../include/blasfeo/include/blasfeo_m_aux.h   |   57 -
 .../include/blasfeo/include/blasfeo_memory.h  |   62 -
 .../include/blasfeo/include/blasfeo_naming.h  |   77 -
 .../include/blasfeo_processor_features.h      |   88 -
 .../include/blasfeo/include/blasfeo_s_aux.h   |  168 -
 .../blasfeo/include/blasfeo_s_aux_ext_dep.h   |  141 -
 .../include/blasfeo_s_aux_ext_dep_ref.h       |   82 -
 .../blasfeo/include/blasfeo_s_aux_old.h       |   64 -
 .../blasfeo/include/blasfeo_s_aux_ref.h       |  147 -
 .../blasfeo/include/blasfeo_s_aux_test.h      |  177 -
 .../include/blasfeo/include/blasfeo_s_blas.h  |   46 -
 .../blasfeo/include/blasfeo_s_blas_api.h      |  182 -
 .../blasfeo/include/blasfeo_s_blasfeo_api.h   |  284 --
 .../include/blasfeo_s_blasfeo_api_ref.h       |  135 -
 .../include/blasfeo_s_blasfeo_ref_api.h       |  252 --
 .../blasfeo/include/blasfeo_s_kernel.h        |  692 ----
 .../include/blasfeo/include/blasfeo_stdlib.h  |   62 -
 .../include/blasfeo/include/blasfeo_target.h  |   73 -
 .../include/blasfeo/include/blasfeo_timing.h  |  114 -
 .../blasfeo/include/blasfeo_v_aux_ext_dep.h   |   83 -
 .../acados/include/blasfeo/include/d_blas.h   |   78 -
 .../include/blasfeo/include/d_blas_64.h       |   73 -
 .../acados/include/blasfeo/include/s_blas.h   |   78 -
 .../include/blasfeo/include/s_blas_64.h       |   73 -
 .../include/hpipm/include/hpipm_aux_mem.h     |   52 -
 .../include/hpipm/include/hpipm_aux_string.h  |   50 -
 .../include/hpipm/include/hpipm_common.h      |   76 -
 .../include/hpipm/include/hpipm_d_cast_qcqp.h |   71 -
 .../include/hpipm/include/hpipm_d_cond.h      |  135 -
 .../include/hpipm/include/hpipm_d_cond_aux.h  |   92 -
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 delete mode 100644 third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h
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 delete mode 100644 third_party/acados/include/qpOASES_e/ConstraintProduct.h
 delete mode 100644 third_party/acados/include/qpOASES_e/Constraints.h
 delete mode 100644 third_party/acados/include/qpOASES_e/Flipper.h
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 delete mode 100644 third_party/acados/include/qpOASES_e/Utils.h
 delete mode 100644 third_party/acados/include/qpOASES_e/extras/OQPinterface.h
 delete mode 100644 third_party/acados/larch64/lib/libacados.so
 delete mode 100644 third_party/acados/larch64/lib/libblasfeo.so
 delete mode 100644 third_party/acados/larch64/lib/libhpipm.so
 delete mode 120000 third_party/acados/larch64/lib/libqpOASES_e.so
 delete mode 100644 third_party/acados/larch64/lib/libqpOASES_e.so.3.1
 delete mode 100755 third_party/acados/larch64/t_renderer
 delete mode 100644 third_party/acados/x86_64/lib/libacados.so
 delete mode 100644 third_party/acados/x86_64/lib/libblasfeo.so
 delete mode 100644 third_party/acados/x86_64/lib/libhpipm.so
 delete mode 120000 third_party/acados/x86_64/lib/libqpOASES_e.so
 delete mode 100644 third_party/acados/x86_64/lib/libqpOASES_e.so.3.1
 delete mode 100755 third_party/acados/x86_64/t_renderer

diff --git a/SConstruct b/SConstruct
index 21419611000c80..277ea1a317db4c 100644
--- a/SConstruct
+++ b/SConstruct
@@ -37,8 +37,14 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
+acados = pkgs[pkg_names.index('acados')]
+acados_include_dirs = [
+  acados.INCLUDE_DIR,
+  os.path.join(acados.INCLUDE_DIR, "blasfeo", "include"),
+  os.path.join(acados.INCLUDE_DIR, "hpipm", "include"),
+]
 
 
 # ***** enforce a whitelist of system libraries *****
@@ -82,10 +88,10 @@ def _libflags(target, source, env, for_signature):
 env = Environment(
   ENV={
     "PATH": os.environ['PATH'],
-    "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
-    "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
-    "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
-    "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
+    "PYTHONPATH": Dir("#").abspath,
+    "ACADOS_SOURCE_DIR": acados.DIR,
+    "ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
+    "TERA_PATH": acados.TERA_PATH
   },
   CCFLAGS=[
     "-g",
@@ -108,9 +114,7 @@ env = Environment(
     "#third_party",
     "#third_party/json11",
     "#third_party/linux/include",
-    "#third_party/acados/include",
-    "#third_party/acados/include/blasfeo/include",
-    "#third_party/acados/include/hpipm/include",
+    acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
   ],
   LIBPATH=[
@@ -119,7 +123,6 @@ env = Environment(
     "#third_party",
     "#selfdrive/pandad",
     "#rednose/helpers",
-    f"#third_party/acados/{arch}/lib",
     [x.LIB_DIR for x in pkgs],
   ],
   RPATH=[],
@@ -188,7 +191,7 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch')
+Export('env', 'arch', 'acados')
 
 # Setup cache dir
 cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index c9ebf892079976..80649444aee951 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version', 'acados')
 
 gen = "c_generated_code"
 
@@ -45,17 +45,17 @@ generated_files = [
   f'{gen}/lat_cost/lat_cost.h',
 ] + build_files
 
-acados_dir = '#third_party/acados'
-acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera'
+acados_include_dir = Dir(acados.INCLUDE_DIR)
+acados_template_dir = Dir(acados.TEMPLATE_DIR)
 
 source_list = ['lat_mpc.py',
   '#selfdrive/modeld/constants.py',
-  f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
-  f'{acados_templates_dir}/acados_solver.in.c',
+  acados_include_dir.File('acados_c/ocp_nlp_interface.h'),
+  acados_template_dir.File('c_templates_tera/acados_solver.in.c'),
 ]
 
 lenv = env.Clone()
-acados_rel_path = Dir(gen).rel_path(Dir(f"#third_party/acados/{arch}/lib"))
+acados_rel_path = Dir(gen).rel_path(Dir(acados.LIB_DIR))
 lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
 lenv.Clean(generated_files, Dir(gen))
 
@@ -77,8 +77,8 @@ lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_lat",
                                 LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
 
 # generate cython stuff
-acados_ocp_solver_pyx = File("#third_party/acados/acados_template/acados_ocp_solver_pyx.pyx")
-acados_ocp_solver_common = File("#third_party/acados/acados_template/acados_solver_common.pxd")
+acados_ocp_solver_pyx = acados_template_dir.File('acados_ocp_solver_pyx.pyx')
+acados_ocp_solver_common = acados_template_dir.File('acados_solver_common.pxd')
 libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
 libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
 
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
index ad60861088bec4..3b597b2e428995 100755
--- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
+++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
@@ -8,7 +8,7 @@
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
 if __name__ == '__main__':  # generating code
-  from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
+  from acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
   from openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
 
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 7a6c02a538d728..39466245215b33 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version', 'acados')
 
 gen = "c_generated_code"
 
@@ -51,17 +51,17 @@ generated_files = [
   f'{gen}/long_cost/long_cost.h',
 ] + build_files
 
-acados_dir = '#third_party/acados'
-acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera'
+acados_include_dir = Dir(acados.INCLUDE_DIR)
+acados_template_dir = Dir(acados.TEMPLATE_DIR)
 
 source_list = ['long_mpc.py',
   '#selfdrive/modeld/constants.py',
-  f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
-  f'{acados_templates_dir}/acados_solver.in.c',
+  acados_include_dir.File('acados_c/ocp_nlp_interface.h'),
+  acados_template_dir.File('c_templates_tera/acados_solver.in.c'),
 ]
 
 lenv = env.Clone()
-acados_rel_path = Dir(gen).rel_path(Dir(f"#third_party/acados/{arch}/lib"))
+acados_rel_path = Dir(gen).rel_path(Dir(acados.LIB_DIR))
 lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
 lenv.Clean(generated_files, Dir(gen))
 generated_long = lenv.Command(generated_files,
@@ -82,8 +82,8 @@ lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long",
                                 LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
 
 # generate cython stuff
-acados_ocp_solver_pyx = File("#third_party/acados/acados_template/acados_ocp_solver_pyx.pyx")
-acados_ocp_solver_common = File("#third_party/acados/acados_template/acados_solver_common.pxd")
+acados_ocp_solver_pyx = acados_template_dir.File('acados_ocp_solver_pyx.pyx')
+acados_ocp_solver_common = acados_template_dir.File('acados_solver_common.pxd')
 libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
 libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
 
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index efdef9dd71bb71..deae4164894003 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -11,7 +11,7 @@
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
 
 if __name__ == '__main__':  # generating code
-  from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
+  from acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
   from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
 
diff --git a/third_party/acados/.gitignore b/third_party/acados/.gitignore
deleted file mode 100644
index 0ae664dff6a68e..00000000000000
--- a/third_party/acados/.gitignore
+++ /dev/null
@@ -1,9 +0,0 @@
-acados_repo/
-/lib
-!x86_64/
-!larch64/
-!aarch64/
-!Darwin/
-!*.so
-!*.so.*
-!*.dylib
diff --git a/third_party/acados/Darwin/lib/libacados.dylib b/third_party/acados/Darwin/lib/libacados.dylib
deleted file mode 100755
index 8cd5a41f14410b..00000000000000
--- a/third_party/acados/Darwin/lib/libacados.dylib
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:620195ff61aaccf9adf00a66b8acf4e9915a0895d0a86f9f51ec952e44fad70a
-size 853776
diff --git a/third_party/acados/Darwin/lib/libblasfeo.dylib b/third_party/acados/Darwin/lib/libblasfeo.dylib
deleted file mode 100755
index 442a6c736d9ec0..00000000000000
--- a/third_party/acados/Darwin/lib/libblasfeo.dylib
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1d9dbeb68b2ac13c884f606a1f6032f399640e0928cecad4c22b700a8d8ae970
-size 2010877
diff --git a/third_party/acados/Darwin/lib/libhpipm.dylib b/third_party/acados/Darwin/lib/libhpipm.dylib
deleted file mode 100755
index 019ec8019ed70a..00000000000000
--- a/third_party/acados/Darwin/lib/libhpipm.dylib
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:35783dba64c2d5bbe7e4c98ad01accac56b478b1bf874969ab5c31d7495499a2
-size 2290624
diff --git a/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib b/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib
deleted file mode 100755
index caaa8ec7756d90..00000000000000
--- a/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f57eea51f4b91deff47fbf599eedc3eafedd395f23465b5fb24b2148fdaa2859
-size 496707
diff --git a/third_party/acados/Darwin/lib/libqpOASES_e.dylib b/third_party/acados/Darwin/lib/libqpOASES_e.dylib
deleted file mode 120000
index e3d94c4bc2d648..00000000000000
--- a/third_party/acados/Darwin/lib/libqpOASES_e.dylib
+++ /dev/null
@@ -1 +0,0 @@
-libqpOASES_e.3.1.dylib
\ No newline at end of file
diff --git a/third_party/acados/Darwin/t_renderer b/third_party/acados/Darwin/t_renderer
deleted file mode 100755
index 83a74ea5a30417..00000000000000
--- a/third_party/acados/Darwin/t_renderer
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c6c78791cfdd841da14266c62a6099d0af53cec348051118f1a70518729aa5ba
-size 8483768
diff --git a/third_party/acados/aarch64 b/third_party/acados/aarch64
deleted file mode 120000
index 062c65e8d99c64..00000000000000
--- a/third_party/acados/aarch64
+++ /dev/null
@@ -1 +0,0 @@
-larch64/
\ No newline at end of file
diff --git a/third_party/acados/acados_template/.gitignore b/third_party/acados/acados_template/.gitignore
deleted file mode 100644
index 63b741bb9dce90..00000000000000
--- a/third_party/acados/acados_template/.gitignore
+++ /dev/null
@@ -1,6 +0,0 @@
-__pycache__/
-
-# Cython intermediates
-*_pyx.c
-*_pyx.o
-*_pyx.so
diff --git a/third_party/acados/acados_template/__init__.py b/third_party/acados/acados_template/__init__.py
deleted file mode 100644
index bfbe907990b8be..00000000000000
--- a/third_party/acados/acados_template/__init__.py
+++ /dev/null
@@ -1,40 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-from .acados_model import AcadosModel
-from .acados_ocp import AcadosOcp, AcadosOcpConstraints, AcadosOcpCost, AcadosOcpDims, AcadosOcpOptions
-from .acados_sim import AcadosSim, AcadosSimDims, AcadosSimOpts
-from .acados_ocp_solver import AcadosOcpSolver, get_simulink_default_opts, ocp_get_default_cmake_builder
-from .acados_sim_solver import AcadosSimSolver, sim_get_default_cmake_builder
-from .utils import print_casadi_expression, get_acados_path, get_python_interface_path, \
-    get_tera_exec_path, get_tera, check_casadi_version, acados_dae_model_json_dump, \
-    casadi_length, make_object_json_dumpable, J_to_idx, get_default_simulink_opts
-
-from .zoro_description import ZoroDescription, process_zoro_description
diff --git a/third_party/acados/acados_template/acados_layout.json b/third_party/acados/acados_template/acados_layout.json
deleted file mode 100644
index a1cc5bbdf30fd3..00000000000000
--- a/third_party/acados/acados_template/acados_layout.json
+++ /dev/null
@@ -1,834 +0,0 @@
-{
-    "code_export_directory": [
-        "str"
-    ],
-    "acados_include_path": [
-        "str"
-    ],
-    "cython_include_dirs": [
-        "list"
-    ],
-    "json_file": [
-        "str"
-    ],
-    "shared_lib_ext": [
-        "str"
-    ],
-    "model": {
-         "name" : [
-            "str"
-        ],
-        "dyn_ext_fun_type" : [
-            "str"
-        ],
-        "dyn_generic_source" : [
-            "str"
-        ],
-        "dyn_impl_dae_fun" : [
-            "str"
-        ],
-        "dyn_impl_dae_fun_jac" : [
-            "str"
-        ],
-        "dyn_impl_dae_jac" : [
-            "str"
-        ],
-        "dyn_disc_fun_jac_hess" : [
-            "str"
-        ],
-        "dyn_disc_fun_jac" : [
-            "str"
-        ],
-        "dyn_disc_fun" : [
-            "str"
-        ],
-        "gnsf" : {
-            "nontrivial_f_LO": [
-                "int"
-            ],
-            "purely_linear": [
-                "int"
-            ]
-        }
-    },
-    "parameter_values": [
-        "ndarray",
-        [
-            "np"
-        ]
-    ],
-    "acados_lib_path": [
-        "str"
-    ],
-    "problem_class": [
-        "str"
-    ],
-    "constraints": {
-        "constr_type": [
-            "str"
-        ],
-        "constr_type_e": [
-            "str"
-        ],
-        "lbx": [
-            "ndarray",
-                [
-                    "nbx"
-                ]
-        ],
-        "lbu": [
-            "ndarray",
-            [
-                "nbu"
-            ]
-        ],
-        "ubx": [
-            "ndarray",
-                [
-                    "nbx"
-                ]
-        ],
-        "ubu": [
-            "ndarray",
-            [
-                "nbu"
-            ]
-        ],
-        "idxbx": [
-            "ndarray",
-                [
-                    "nbx"
-                ]
-        ],
-        "idxbu": [
-            "ndarray",
-            [
-                "nbu"
-            ]
-        ],
-        "lbx_e": [
-            "ndarray",
-            [
-                "nbx_e"
-            ]
-        ],
-        "ubx_e": [
-            "ndarray",
-            [
-                "nbx_e"
-            ]
-        ],
-        "idxbx_e": [
-            "ndarray",
-            [
-                "nbx_e"
-            ]
-        ],
-        "lbx_0": [
-            "ndarray",
-            [
-                "nbx_0"
-            ]
-        ],
-        "ubx_0": [
-            "ndarray",
-            [
-                "nbx_0"
-            ]
-        ],
-        "idxbx_0": [
-            "ndarray",
-            [
-                "nbx_0"
-            ]
-        ],
-        "idxbxe_0": [
-            "ndarray",
-            [
-                "nbxe_0"
-            ]
-        ],
-        "lg": [
-            "ndarray",
-            [
-                "ng"
-            ]
-        ],
-        "ug": [
-            "ndarray",
-            [
-                "ng"
-            ]
-        ],
-        "D": [
-            "ndarray",
-                [
-                    "ng",
-                    "nu"
-                ]
-        ],
-        "C": [
-            "ndarray",
-            [
-                "ng",
-                "nx"
-            ]
-        ],
-        "C_e": [
-            "ndarray",
-            [
-                "ng_e",
-                "nx"
-            ]
-        ],
-        "lg_e": [
-            "ndarray",
-            [
-                "ng_e"
-            ]
-        ],
-        "ug_e": [
-            "ndarray",
-            [
-                "ng_e"
-            ]
-        ],
-        "lh": [
-            "ndarray",
-            [
-                "nh"
-            ]
-        ],
-        "uh": [
-            "ndarray",
-            [
-                "nh"
-            ]
-        ],
-        "lh_e": [
-            "ndarray",
-            [
-                "nh_e"
-            ]
-        ],
-        "uh_e": [
-            "ndarray",
-            [
-                "nh_e"
-            ]
-        ],
-        "lphi": [
-            "ndarray",
-            [
-                "nphi"
-            ]
-        ],
-        "uphi": [
-            "ndarray",
-            [
-                "nphi"
-            ]
-        ],
-        "lphi_e": [
-            "ndarray",
-            [
-                "nphi_e"
-            ]
-        ],
-        "uphi_e": [
-            "ndarray",
-            [
-                "nphi_e"
-            ]
-        ],
-        "lsbx": [
-            "ndarray",
-                [
-                    "nsbx"
-                ]
-        ],
-        "usbx": [
-            "ndarray",
-                [
-                    "nsbx"
-                ]
-        ],
-        "lsbu": [
-            "ndarray",
-            [
-                "nsbu"
-            ]
-        ],
-        "usbu": [
-            "ndarray",
-            [
-                "nsbu"
-            ]
-        ],
-        "idxsbx": [
-            "ndarray",
-                [
-                    "nsbx"
-                ]
-        ],
-        "idxsbu": [
-            "ndarray",
-            [
-                "nsbu"
-            ]
-        ],
-        "lsbx_e": [
-            "ndarray",
-                [
-                    "nsbx_e"
-                ]
-        ],
-        "usbx_e": [
-            "ndarray",
-                [
-                    "nsbx_e"
-                ]
-        ],
-        "idxsbx_e": [
-            "ndarray",
-                [
-                    "nsbx_e"
-                ]
-        ],
-        "lsg": [
-            "ndarray",
-            [
-                "nsg"
-            ]
-        ],
-        "usg": [
-            "ndarray",
-            [
-                "nsg"
-            ]
-        ],
-        "idxsg": [
-            "ndarray",
-            [
-                "nsg"
-            ]
-        ],
-        "lsg_e": [
-            "ndarray",
-            [
-                "nsg_e"
-            ]
-        ],
-        "usg_e": [
-            "ndarray",
-            [
-                "nsg_e"
-            ]
-        ],
-        "idxsg_e": [
-            "ndarray",
-            [
-                "nsg_e"
-            ]
-        ],
-        "lsh": [
-            "ndarray",
-            [
-                "nsh"
-            ]
-        ],
-        "ush": [
-            "ndarray",
-            [
-                "nsh"
-            ]
-        ],
-        "idxsh": [
-            "ndarray",
-            [
-                "nsh"
-            ]
-        ],
-        "lsh_e": [
-            "ndarray",
-            [
-                "nsh_e"
-            ]
-        ],
-        "ush_e": [
-            "ndarray",
-            [
-                "nsh_e"
-            ]
-        ],
-        "idxsh_e": [
-            "ndarray",
-            [
-                "nsh_e"
-            ]
-        ],
-        "lsphi": [
-            "ndarray",
-            [
-                "nsphi"
-            ]
-        ],
-        "usphi": [
-            "ndarray",
-            [
-                "nsphi"
-            ]
-        ],
-        "idxsphi": [
-            "ndarray",
-            [
-                "nsphi"
-            ]
-        ],
-        "lsphi_e": [
-            "ndarray",
-            [
-                "nsphi_e"
-            ]
-        ],
-        "usphi_e": [
-            "ndarray",
-            [
-                "nsphi_e"
-            ]
-        ],
-        "idxsphi_e": [
-            "ndarray",
-            [
-                "nsphi_e"
-            ]
-        ]
-    },
-    "cost": {
-        "cost_type_0": [
-            "str"
-        ],
-        "cost_type": [
-            "str"
-        ],
-        "cost_type_e": [
-            "str"
-        ],
-        "cost_ext_fun_type_0": [
-            "str"
-        ],
-        "cost_ext_fun_type": [
-            "str"
-        ],
-        "cost_ext_fun_type_e": [
-            "str"
-        ],
-        "Vu_0": [
-            "ndarray",
-            [
-                "ny_0",
-                "nu"
-            ]
-        ],
-        "Vu": [
-            "ndarray",
-            [
-                "ny",
-                "nu"
-            ]
-        ],
-        "Vx_0": [
-            "ndarray",
-            [
-                "ny_0",
-                "nx"
-            ]
-        ],
-        "Vx": [
-            "ndarray",
-            [
-                "ny",
-                "nx"
-            ]
-        ],
-        "Vx_e": [
-            "ndarray",
-            [
-                "ny_e",
-                "nx"
-            ]
-        ],
-        "Vz_0": [
-            "ndarray",
-            [
-                "ny_0",
-                "nz"
-            ]
-        ],
-        "Vz": [
-            "ndarray",
-            [
-                "ny",
-                "nz"
-            ]
-        ],
-        "W_0": [
-            "ndarray",
-            [
-                "ny_0",
-                "ny_0"
-            ]
-        ],
-        "W": [
-            "ndarray",
-            [
-                "ny",
-                "ny"
-            ]
-        ],
-        "Zl": [
-            "ndarray",
-            [
-                "ns"
-            ]
-        ],
-        "Zu": [
-            "ndarray",
-            [
-                "ns"
-            ]
-        ],
-        "zl": [
-            "ndarray",
-            [
-                "ns"
-            ]
-        ],
-        "zu": [
-            "ndarray",
-            [
-                "ns"
-            ]
-        ],
-        "W_e": [
-            "ndarray",
-            [
-                "ny_e",
-                "ny_e"
-            ]
-        ],
-        "yref_0": [
-            "ndarray",
-            [
-                "ny_0"
-            ]
-        ],
-        "yref": [
-            "ndarray",
-            [
-                "ny"
-            ]
-        ],
-        "yref_e": [
-            "ndarray",
-            [
-                "ny_e"
-            ]
-        ],
-        "Zl_e": [
-            "ndarray",
-            [
-                "ns_e"
-            ]
-        ],
-        "Zu_e": [
-            "ndarray",
-            [
-                "ns_e"
-            ]
-        ],
-        "zl_e": [
-            "ndarray",
-            [
-                "ns_e"
-            ]
-        ],
-        "zu_e": [
-            "ndarray",
-            [
-                "ns_e"
-            ]
-        ]
-    },
-    "dims": {
-        "N": [
-            "int"
-        ],
-        "nbu": [
-            "int"
-        ],
-        "nbx": [
-            "int"
-        ],
-        "nsbu": [
-            "int"
-        ],
-        "nsbx": [
-            "int"
-        ],
-        "nsbx_e": [
-            "int"
-        ],
-        "nbx_0": [
-            "int"
-        ],
-        "nbx_e": [
-            "int"
-        ],
-        "nbxe_0": [
-            "int"
-        ],
-        "nsg": [
-            "int"
-        ],
-        "nsg_e": [
-            "int"
-        ],
-        "nsh": [
-            "int"
-        ],
-        "nsh_e": [
-            "int"
-        ],
-        "nsphi": [
-            "int"
-        ],
-        "nsphi_e": [
-            "int"
-        ],
-        "ns": [
-            "int"
-        ],
-        "ns_e": [
-            "int"
-        ],
-        "ng": [
-            "int"
-        ],
-        "ng_e": [
-            "int"
-        ],
-        "np": [
-            "int"
-        ],
-        "nr": [
-            "int"
-        ],
-        "nr_e": [
-            "int"
-        ],
-        "nh": [
-            "int"
-        ],
-        "nh_e": [
-            "int"
-        ],
-        "nphi": [
-            "int"
-        ],
-        "nphi_e": [
-            "int"
-        ],
-        "nu": [
-            "int"
-        ],
-        "nx": [
-            "int"
-        ],
-        "ny": [
-            "int"
-        ],
-        "ny_0": [
-            "int"
-        ],
-        "ny_e": [
-            "int"
-        ],
-        "nz": [
-            "int"
-        ],
-        "gnsf_nx1": [
-            "int"
-        ],
-        "gnsf_nz1": [
-            "int"
-        ],
-        "gnsf_nuhat": [
-            "int"
-        ],
-        "gnsf_ny": [
-            "int"
-        ],
-        "gnsf_nout": [
-            "int"
-        ]
-    },
-    "solver_options": {
-        "time_steps": [
-            "ndarray",
-            [
-                "N"
-            ]
-        ],
-        "hessian_approx": [
-            "str"
-        ],
-        "hpipm_mode": [
-            "str"
-        ],
-        "regularize_method": [
-            "str"
-        ],
-        "integrator_type": [
-            "str"
-        ],
-        "nlp_solver_type": [
-            "str"
-        ],
-        "collocation_type": [
-            "str"
-        ],
-        "globalization": [
-            "str"
-        ],
-        "nlp_solver_step_length": [
-            "float"
-        ],
-        "levenberg_marquardt": [
-            "float"
-        ],
-        "qp_solver": [
-            "str"
-        ],
-        "tf": [
-            "float"
-        ],
-        "Tsim": [
-            "float"
-        ],
-        "alpha_min": [
-            "float"
-        ],
-        "alpha_reduction": [
-            "float"
-        ],
-        "line_search_use_sufficient_descent": [
-            "int"
-        ],
-        "globalization_use_SOC": [
-            "int"
-        ],
-        "full_step_dual": [
-            "int"
-        ],
-        "eps_sufficient_descent": [
-            "float"
-        ],
-        "sim_method_num_stages": [
-            "ndarray",
-            [
-                "N"
-            ]
-        ],
-        "sim_method_num_steps": [
-            "ndarray",
-            [
-                "N"
-            ]
-        ],
-        "sim_method_newton_iter": [
-            "int"
-        ],
-        "sim_method_newton_tol": [
-            "float"
-        ],
-        "sim_method_jac_reuse": [
-            "ndarray",
-            [
-                "N"
-            ]
-        ],
-        "qp_solver_cond_N": [
-            "int"
-        ],
-        "qp_solver_warm_start": [
-            "int"
-        ],
-        "qp_solver_tol_stat": [
-            "float"
-        ],
-        "qp_solver_tol_eq": [
-            "float"
-        ],
-        "qp_solver_tol_ineq": [
-            "float"
-        ],
-        "qp_solver_tol_comp": [
-            "float"
-        ],
-        "qp_solver_iter_max": [
-            "int"
-        ],
-        "qp_solver_cond_ric_alg": [
-            "int"
-        ],
-        "qp_solver_ric_alg": [
-            "int"
-        ],
-        "nlp_solver_tol_stat": [
-            "float"
-        ],
-        "nlp_solver_tol_eq": [
-            "float"
-        ],
-        "nlp_solver_tol_ineq": [
-            "float"
-        ],
-        "nlp_solver_tol_comp": [
-            "float"
-        ],
-        "nlp_solver_max_iter": [
-            "int"
-        ],
-        "nlp_solver_ext_qp_res": [
-            "int"
-        ],
-        "print_level": [
-            "int"
-        ],
-        "initialize_t_slacks": [
-            "int"
-        ],
-        "exact_hess_cost": [
-            "int"
-        ],
-        "exact_hess_constr": [
-            "int"
-        ],
-        "exact_hess_dyn": [
-            "int"
-        ],
-        "ext_cost_num_hess": [
-            "int"
-        ],
-        "ext_fun_compile_flags": [
-            "str"
-        ],
-        "model_external_shared_lib_dir": [
-            "str"
-        ],
-        "model_external_shared_lib_name": [
-            "str"
-        ]
-    }
-}
diff --git a/third_party/acados/acados_template/acados_model.py b/third_party/acados/acados_template/acados_model.py
deleted file mode 100644
index b7c6945442c422..00000000000000
--- a/third_party/acados/acados_template/acados_model.py
+++ /dev/null
@@ -1,154 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-
-class AcadosModel():
-    """
-    Class containing all the information to code generate the external CasADi functions
-    that are needed when creating an acados ocp solver or acados integrator.
-    Thus, this class contains:
-
-    a) the :py:attr:`name` of the model,
-    b) all CasADi variables/expressions needed in the CasADi function generation process.
-    """
-    def __init__(self):
-        ## common for OCP and Integrator
-        self.name = None
-        """
-        The model name is used for code generation. Type: string. Default: :code:`None`
-        """
-        self.x = None           #: CasADi variable describing the state of the system; Default: :code:`None`
-        self.xdot = None        #: CasADi variable describing the derivative of the state wrt time; Default: :code:`None`
-        self.u = None           #: CasADi variable describing the input of the system; Default: :code:`None`
-        self.z = []             #: CasADi variable describing the algebraic variables of the DAE; Default: :code:`empty`
-        self.p = []             #: CasADi variable describing parameters of the DAE; Default: :code:`empty`
-        # dynamics
-        self.f_impl_expr = None
-        """
-        CasADi expression for the implicit dynamics :math:`f_\\text{impl}(\dot{x}, x, u, z, p) = 0`.
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'IRK'.
-        Default: :code:`None`
-        """
-        self.f_expl_expr = None
-        """
-        CasADi expression for the explicit dynamics :math:`\dot{x} = f_\\text{expl}(x, u, p)`.
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'ERK'.
-        Default: :code:`None`
-        """
-        self.disc_dyn_expr = None
-        """
-        CasADi expression for the discrete dynamics :math:`x_{+} = f_\\text{disc}(x, u, p)`.
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'DISCRETE'.
-        Default: :code:`None`
-        """
-
-        self.dyn_ext_fun_type = 'casadi'  #: type of external functions for dynamics module; 'casadi' or 'generic'; Default: 'casadi'
-        self.dyn_generic_source = None  #: name of source file for discrete dyanamics; Default: :code:`None`
-        self.dyn_disc_fun_jac_hess = None  #: name of function discrete dyanamics + jacobian and hessian; Default: :code:`None`
-        self.dyn_disc_fun_jac = None  #: name of function discrete dyanamics + jacobian; Default: :code:`None`
-        self.dyn_disc_fun = None  #: name of function discrete dyanamics; Default: :code:`None`
-
-        # for GNSF models
-        self.gnsf = {'nontrivial_f_LO': 1, 'purely_linear': 0}
-        """
-        dictionary containing information on GNSF structure needed when rendering templates.
-        Contains integers `nontrivial_f_LO`, `purely_linear`.
-        """
-
-        ## for OCP
-        # constraints
-        # BGH(default): lh <= h(x, u) <= uh
-        self.con_h_expr = None  #: CasADi expression for the constraint :math:`h`; Default: :code:`None`
-        # BGP(convex over nonlinear): lphi <= phi(r(x, u)) <= uphi
-        self.con_phi_expr = None  #: CasADi expression for the constraint phi; Default: :code:`None`
-        self.con_r_expr = None  #: CasADi expression for the constraint phi(r); Default: :code:`None`
-        self.con_r_in_phi = None
-        # terminal
-        self.con_h_expr_e = None  #: CasADi expression for the terminal constraint :math:`h^e`; Default: :code:`None`
-        self.con_r_expr_e = None  #: CasADi expression for the terminal constraint; Default: :code:`None`
-        self.con_phi_expr_e = None  #: CasADi expression for the terminal constraint; Default: :code:`None`
-        self.con_r_in_phi_e = None
-        # cost
-        self.cost_y_expr = None  #: CasADi expression for nonlinear least squares; Default: :code:`None`
-        self.cost_y_expr_e = None  #: CasADi expression for nonlinear least squares, terminal; Default: :code:`None`
-        self.cost_y_expr_0 = None  #: CasADi expression for nonlinear least squares, initial; Default: :code:`None`
-        self.cost_expr_ext_cost = None  #: CasADi expression for external cost; Default: :code:`None`
-        self.cost_expr_ext_cost_e = None  #: CasADi expression for external cost, terminal; Default: :code:`None`
-        self.cost_expr_ext_cost_0 = None  #: CasADi expression for external cost, initial; Default: :code:`None`
-        self.cost_expr_ext_cost_custom_hess = None  #: CasADi expression for custom hessian (only for external cost); Default: :code:`None`
-        self.cost_expr_ext_cost_custom_hess_e = None  #: CasADi expression for custom hessian (only for external cost), terminal; Default: :code:`None`
-        self.cost_expr_ext_cost_custom_hess_0 = None  #: CasADi expression for custom hessian (only for external cost), initial; Default: :code:`None`
-
-        ## CONVEX_OVER_NONLINEAR convex-over-nonlinear cost: psi(y(x, u, p) - y_ref; p)
-        self.cost_psi_expr_0 = None
-        """
-        CasADi expression for the outer loss function :math:`\psi(r, p)`, initial; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_psi_expr = None
-        """
-        CasADi expression for the outer loss function :math:`\psi(r, p)`; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_psi_expr_e = None
-        """
-        CasADi expression for the outer loss function :math:`\psi(r, p)`, terminal; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_r_in_psi_expr_0 = None
-        """
-        CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`, initial; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_r_in_psi_expr = None
-        """
-        CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_r_in_psi_expr_e = None
-        """
-        CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`, terminal; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_conl_custom_outer_hess_0 = None
-        """
-        CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost), initial; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_conl_custom_outer_hess = None
-        """
-        CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost); Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_conl_custom_outer_hess_e = None
-        """
-        CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost), terminal; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'.
-        """
diff --git a/third_party/acados/acados_template/acados_ocp.py b/third_party/acados/acados_template/acados_ocp.py
deleted file mode 100644
index d6236e1f6e9077..00000000000000
--- a/third_party/acados/acados_template/acados_ocp.py
+++ /dev/null
@@ -1,3166 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import numpy as np
-import os
-from .acados_model import AcadosModel
-from .utils import get_acados_path, J_to_idx, J_to_idx_slack, get_lib_ext
-
-class AcadosOcpDims:
-    """
-    Class containing the dimensions of the optimal control problem.
-    """
-    def __init__(self):
-        self.__nx      = None
-        self.__nu      = None
-        self.__nz      = 0
-        self.__np      = 0
-        self.__ny      = 0
-        self.__ny_e    = 0
-        self.__ny_0    = 0
-        self.__nr      = 0
-        self.__nr_e    = 0
-        self.__nh      = 0
-        self.__nh_e    = 0
-        self.__nphi    = 0
-        self.__nphi_e  = 0
-        self.__nbx     = 0
-        self.__nbx_0   = 0
-        self.__nbx_e   = 0
-        self.__nbu     = 0
-        self.__nsbx    = 0
-        self.__nsbx_e  = 0
-        self.__nsbu    = 0
-        self.__nsh     = 0
-        self.__nsh_e   = 0
-        self.__nsphi   = 0
-        self.__nsphi_e = 0
-        self.__ns      = 0
-        self.__ns_e    = 0
-        self.__ng      = 0
-        self.__ng_e    = 0
-        self.__nsg     = 0
-        self.__nsg_e   = 0
-        self.__nbxe_0  = None
-        self.__N       = None
-
-
-    @property
-    def nx(self):
-        """:math:`n_x` - number of states.
-        Type: int; default: None"""
-        return self.__nx
-
-    @property
-    def nz(self):
-        """:math:`n_z` - number of algebraic variables.
-        Type: int; default: 0"""
-        return self.__nz
-
-    @property
-    def nu(self):
-        """:math:`n_u` - number of inputs.
-        Type: int; default: None"""
-        return self.__nu
-
-    @property
-    def np(self):
-        """:math:`n_p` - number of parameters.
-        Type: int; default: 0"""
-        return self.__np
-
-    @property
-    def ny(self):
-        """:math:`n_y` - number of residuals in Lagrange term.
-        Type: int; default: 0"""
-        return self.__ny
-
-    @property
-    def ny_0(self):
-        """:math:`n_{y}^0` - number of residuals in Mayer term.
-        Type: int; default: 0"""
-        return self.__ny_0
-
-    @property
-    def ny_e(self):
-        """:math:`n_{y}^e` - number of residuals in Mayer term.
-        Type: int; default: 0"""
-        return self.__ny_e
-
-    @property
-    def nr(self):
-        """:math:`n_{\pi}` - dimension of the image of the inner nonlinear function in positive definite constraints.
-        Type: int; default: 0"""
-        return self.__nr
-
-    @property
-    def nr_e(self):
-        """:math:`n_{\pi}^e` - dimension of the image of the inner nonlinear function in positive definite constraints.
-        Type: int; default: 0"""
-        return self.__nr_e
-
-    @property
-    def nh(self):
-        """:math:`n_h` - number of nonlinear constraints.
-        Type: int; default: 0"""
-        return self.__nh
-
-    @property
-    def nh_e(self):
-        """:math:`n_{h}^e` - number of nonlinear constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nh_e
-
-    @property
-    def nphi(self):
-        """:math:`n_{\phi}` - number of convex-over-nonlinear constraints.
-        Type: int; default: 0"""
-        return self.__nphi
-
-    @property
-    def nphi_e(self):
-        """:math:`n_{\phi}^e` - number of convex-over-nonlinear constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nphi_e
-
-    @property
-    def nbx(self):
-        """:math:`n_{b_x}` - number of state bounds.
-        Type: int; default: 0"""
-        return self.__nbx
-
-    @property
-    def nbxe_0(self):
-        """:math:`n_{be_{x0}}` - number of state bounds at initial shooting node that are equalities.
-        Type: int; default: None"""
-        return self.__nbxe_0
-
-    @property
-    def nbx_0(self):
-        """:math:`n_{b_{x0}}` - number of state bounds for initial state.
-        Type: int; default: 0"""
-        return self.__nbx_0
-
-    @property
-    def nbx_e(self):
-        """:math:`n_{b_x}` - number of state bounds at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nbx_e
-
-    @property
-    def nbu(self):
-        """:math:`n_{b_u}` - number of input bounds.
-        Type: int; default: 0"""
-        return self.__nbu
-
-    @property
-    def nsbx(self):
-        """:math:`n_{{sb}_x}` - number of soft state bounds.
-        Type: int; default: 0"""
-        return self.__nsbx
-
-    @property
-    def nsbx_e(self):
-        """:math:`n_{{sb}^e_{x}}` - number of soft state bounds at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nsbx_e
-
-    @property
-    def nsbu(self):
-        """:math:`n_{{sb}_u}` - number of soft input bounds.
-        Type: int; default: 0"""
-        return self.__nsbu
-
-    @property
-    def nsg(self):
-        """:math:`n_{{sg}}` - number of soft general linear constraints.
-        Type: int; default: 0"""
-        return self.__nsg
-
-    @property
-    def nsg_e(self):
-        """:math:`n_{{sg}^e}` - number of soft general linear constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nsg_e
-
-    @property
-    def nsh(self):
-        """:math:`n_{{sh}}` - number of soft nonlinear constraints.
-        Type: int; default: 0"""
-        return self.__nsh
-
-    @property
-    def nsh_e(self):
-        """:math:`n_{{sh}}^e` - number of soft nonlinear constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nsh_e
-
-    @property
-    def nsphi(self):
-        """:math:`n_{{s\phi}}` - number of soft convex-over-nonlinear constraints.
-        Type: int; default: 0"""
-        return self.__nsphi
-
-    @property
-    def nsphi_e(self):
-        """:math:`n_{{s\phi}^e}` - number of soft convex-over-nonlinear constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nsphi_e
-
-    @property
-    def ns(self):
-        """:math:`n_{s}` - total number of slacks.
-        Type: int; default: 0"""
-        return self.__ns
-
-    @property
-    def ns_e(self):
-        """:math:`n_{s}^e` - total number of slacks at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__ns_e
-
-    @property
-    def ng(self):
-        """:math:`n_{g}` - number of general polytopic constraints.
-        Type: int; default: 0"""
-        return self.__ng
-
-    @property
-    def ng_e(self):
-        """:math:`n_{g}^e` - number of general polytopic constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__ng_e
-
-    @property
-    def N(self):
-        """:math:`N` - prediction horizon.
-        Type: int; default: None"""
-        return self.__N
-
-    @nx.setter
-    def nx(self, nx):
-        if isinstance(nx, int) and nx > 0:
-            self.__nx = nx
-        else:
-            raise Exception('Invalid nx value, expected positive integer.')
-
-    @nz.setter
-    def nz(self, nz):
-        if isinstance(nz, int) and nz > -1:
-            self.__nz = nz
-        else:
-            raise Exception('Invalid nz value, expected nonnegative integer.')
-
-    @nu.setter
-    def nu(self, nu):
-        if isinstance(nu, int) and nu > -1:
-            self.__nu = nu
-        else:
-            raise Exception('Invalid nu value, expected nonnegative integer.')
-
-    @np.setter
-    def np(self, np):
-        if isinstance(np, int) and np > -1:
-            self.__np = np
-        else:
-            raise Exception('Invalid np value, expected nonnegative integer.')
-
-    @ny_0.setter
-    def ny_0(self, ny_0):
-        if isinstance(ny_0, int) and ny_0 > -1:
-            self.__ny_0 = ny_0
-        else:
-            raise Exception('Invalid ny_0 value, expected nonnegative integer.')
-
-    @ny.setter
-    def ny(self, ny):
-        if isinstance(ny, int) and ny > -1:
-            self.__ny = ny
-        else:
-            raise Exception('Invalid ny value, expected nonnegative integer.')
-
-    @ny_e.setter
-    def ny_e(self, ny_e):
-        if isinstance(ny_e, int) and ny_e > -1:
-            self.__ny_e = ny_e
-        else:
-            raise Exception('Invalid ny_e value, expected nonnegative integer.')
-
-    @nr.setter
-    def nr(self, nr):
-        if isinstance(nr, int) and nr > -1:
-            self.__nr = nr
-        else:
-            raise Exception('Invalid nr value, expected nonnegative integer.')
-
-    @nr_e.setter
-    def nr_e(self, nr_e):
-        if isinstance(nr_e, int) and nr_e > -1:
-            self.__nr_e = nr_e
-        else:
-            raise Exception('Invalid nr_e value, expected nonnegative integer.')
-
-    @nh.setter
-    def nh(self, nh):
-        if isinstance(nh, int) and nh > -1:
-            self.__nh = nh
-        else:
-            raise Exception('Invalid nh value, expected nonnegative integer.')
-
-    @nh_e.setter
-    def nh_e(self, nh_e):
-        if isinstance(nh_e, int) and nh_e > -1:
-            self.__nh_e = nh_e
-        else:
-            raise Exception('Invalid nh_e value, expected nonnegative integer.')
-
-    @nphi.setter
-    def nphi(self, nphi):
-        if isinstance(nphi, int) and nphi > -1:
-            self.__nphi = nphi
-        else:
-            raise Exception('Invalid nphi value, expected nonnegative integer.')
-
-    @nphi_e.setter
-    def nphi_e(self, nphi_e):
-        if isinstance(nphi_e, int) and nphi_e > -1:
-            self.__nphi_e = nphi_e
-        else:
-            raise Exception('Invalid nphi_e value, expected nonnegative integer.')
-
-    @nbx.setter
-    def nbx(self, nbx):
-        if isinstance(nbx, int) and nbx > -1:
-            self.__nbx = nbx
-        else:
-            raise Exception('Invalid nbx value, expected nonnegative integer.')
-
-    @nbxe_0.setter
-    def nbxe_0(self, nbxe_0):
-        if isinstance(nbxe_0, int) and nbxe_0 > -1:
-            self.__nbxe_0 = nbxe_0
-        else:
-            raise Exception('Invalid nbxe_0 value, expected nonnegative integer.')
-
-    @nbx_0.setter
-    def nbx_0(self, nbx_0):
-        if isinstance(nbx_0, int) and nbx_0 > -1:
-            self.__nbx_0 = nbx_0
-        else:
-            raise Exception('Invalid nbx_0 value, expected nonnegative integer.')
-
-    @nbx_e.setter
-    def nbx_e(self, nbx_e):
-        if isinstance(nbx_e, int) and nbx_e > -1:
-            self.__nbx_e = nbx_e
-        else:
-            raise Exception('Invalid nbx_e value, expected nonnegative integer.')
-
-    @nbu.setter
-    def nbu(self, nbu):
-        if isinstance(nbu, int) and nbu > -1:
-            self.__nbu = nbu
-        else:
-            raise Exception('Invalid nbu value, expected nonnegative integer.')
-
-    @nsbx.setter
-    def nsbx(self, nsbx):
-        if isinstance(nsbx, int) and nsbx > -1:
-            self.__nsbx = nsbx
-        else:
-            raise Exception('Invalid nsbx value, expected nonnegative integer.')
-
-    @nsbx_e.setter
-    def nsbx_e(self, nsbx_e):
-        if isinstance(nsbx_e, int) and nsbx_e > -1:
-            self.__nsbx_e = nsbx_e
-        else:
-            raise Exception('Invalid nsbx_e value, expected nonnegative integer.')
-
-    @nsbu.setter
-    def nsbu(self, nsbu):
-        if isinstance(nsbu, int) and nsbu > -1:
-            self.__nsbu = nsbu
-        else:
-            raise Exception('Invalid nsbu value, expected nonnegative integer.')
-
-    @nsg.setter
-    def nsg(self, nsg):
-        if isinstance(nsg, int) and nsg > -1:
-            self.__nsg = nsg
-        else:
-            raise Exception('Invalid nsg value, expected nonnegative integer.')
-
-    @nsg_e.setter
-    def nsg_e(self, nsg_e):
-        if isinstance(nsg_e, int) and nsg_e > -1:
-            self.__nsg_e = nsg_e
-        else:
-            raise Exception('Invalid nsg_e value, expected nonnegative integer.')
-
-    @nsh.setter
-    def nsh(self, nsh):
-        if isinstance(nsh, int) and nsh > -1:
-            self.__nsh = nsh
-        else:
-            raise Exception('Invalid nsh value, expected nonnegative integer.')
-
-    @nsh_e.setter
-    def nsh_e(self, nsh_e):
-        if isinstance(nsh_e, int) and nsh_e > -1:
-            self.__nsh_e = nsh_e
-        else:
-            raise Exception('Invalid nsh_e value, expected nonnegative integer.')
-
-    @nsphi.setter
-    def nsphi(self, nsphi):
-        if isinstance(nsphi, int) and nsphi > -1:
-            self.__nsphi = nsphi
-        else:
-            raise Exception('Invalid nsphi value, expected nonnegative integer.')
-
-    @nsphi_e.setter
-    def nsphi_e(self, nsphi_e):
-        if isinstance(nsphi_e, int) and nsphi_e > -1:
-            self.__nsphi_e = nsphi_e
-        else:
-            raise Exception('Invalid nsphi_e value, expected nonnegative integer.')
-
-    @ns.setter
-    def ns(self, ns):
-        if isinstance(ns, int) and ns > -1:
-            self.__ns = ns
-        else:
-            raise Exception('Invalid ns value, expected nonnegative integer.')
-
-    @ns_e.setter
-    def ns_e(self, ns_e):
-        if isinstance(ns_e, int) and ns_e > -1:
-            self.__ns_e = ns_e
-        else:
-            raise Exception('Invalid ns_e value, expected nonnegative integer.')
-
-    @ng.setter
-    def ng(self, ng):
-        if isinstance(ng, int) and ng > -1:
-            self.__ng = ng
-        else:
-            raise Exception('Invalid ng value, expected nonnegative integer.')
-
-    @ng_e.setter
-    def ng_e(self, ng_e):
-        if isinstance(ng_e, int) and ng_e > -1:
-            self.__ng_e = ng_e
-        else:
-            raise Exception('Invalid ng_e value, expected nonnegative integer.')
-
-    @N.setter
-    def N(self, N):
-        if isinstance(N, int) and N > 0:
-            self.__N = N
-        else:
-            raise Exception('Invalid N value, expected positive integer.')
-
-    def set(self, attr, value):
-        setattr(self, attr, value)
-
-
-class AcadosOcpCost:
-    """
-    Class containing the numerical data of the cost:
-
-    NOTE: all cost terms, except for the terminal one are weighted with the corresponding time step.
-    This means given the time steps are :math:`\Delta t_0,..., \Delta t_N`, the total cost is given by:
-    :math:`c_\\text{total} = \Delta t_0 \cdot c_0(x_0, u_0, p_0, z_0) + ... + \Delta t_{N-1} \cdot c_{N-1}(x_0, u_0, p_0, z_0) + c_N(x_N, p_N)`.
-
-    This means the Lagrange cost term is given in continuous time, this makes up for a seeminglessly OCP discretization with a nonuniform time grid.
-
-    In case of LINEAR_LS:
-    stage cost is
-    :math:`l(x,u,z) = || V_x \, x + V_u \, u + V_z \, z - y_\\text{ref}||^2_W`,
-    terminal cost is
-    :math:`m(x) = || V^e_x \, x - y_\\text{ref}^e||^2_{W^e}`
-
-    In case of NONLINEAR_LS:
-    stage cost is
-    :math:`l(x,u,z,p) = || y(x,u,z,p) - y_\\text{ref}||^2_W`,
-    terminal cost is
-    :math:`m(x,p) = || y^e(x,p) - y_\\text{ref}^e||^2_{W^e}`
-
-    In case of CONVEX_OVER_NONLINEAR:
-    stage cost is
-    :math:`l(x,u,p) = \psi(y(x,u,p) - y_\\text{ref}, p)`,
-    terminal cost is
-    :math:`m(x, p) = \psi^e (y^e(x,p) - y_\\text{ref}^e, p)`
-    """
-    def __init__(self):
-        # initial stage
-        self.__cost_type_0 = None
-        self.__W_0 = None
-        self.__Vx_0 = None
-        self.__Vu_0 = None
-        self.__Vz_0 = None
-        self.__yref_0 = None
-        self.__cost_ext_fun_type_0 = 'casadi'
-        # Lagrange term
-        self.__cost_type   = 'LINEAR_LS'  # cost type
-        self.__W           = np.zeros((0,0))
-        self.__Vx          = np.zeros((0,0))
-        self.__Vu          = np.zeros((0,0))
-        self.__Vz          = np.zeros((0,0))
-        self.__yref        = np.array([])
-        self.__Zl          = np.array([])
-        self.__Zu          = np.array([])
-        self.__zl          = np.array([])
-        self.__zu          = np.array([])
-        self.__cost_ext_fun_type = 'casadi'
-        # Mayer term
-        self.__cost_type_e = 'LINEAR_LS'
-        self.__W_e         = np.zeros((0,0))
-        self.__Vx_e        = np.zeros((0,0))
-        self.__yref_e      = np.array([])
-        self.__Zl_e        = np.array([])
-        self.__Zu_e        = np.array([])
-        self.__zl_e        = np.array([])
-        self.__zu_e        = np.array([])
-        self.__cost_ext_fun_type_e = 'casadi'
-
-    # initial stage
-    @property
-    def cost_type_0(self):
-        """Cost type at initial shooting node (0)
-        -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS, CONVEX_OVER_NONLINEAR} or :code:`None`.
-        Default: :code:`None`.
-
-            .. note:: Cost at initial stage is the same as for intermediate shooting nodes if not set differently explicitly.
-
-            .. note:: If :py:attr:`cost_type_0` is set to :code:`None` values in :py:attr:`W_0`, :py:attr:`Vx_0`, :py:attr:`Vu_0`, :py:attr:`Vz_0` and :py:attr:`yref_0` are ignored (set to :code:`None`).
-        """
-        return self.__cost_type_0
-
-    @property
-    def W_0(self):
-        """:math:`W_0` - weight matrix at initial shooting node (0).
-        Default: :code:`None`.
-        """
-        return self.__W_0
-
-    @property
-    def Vx_0(self):
-        """:math:`V_x^0` - x matrix coefficient at initial shooting node (0).
-        Default: :code:`None`.
-        """
-        return self.__Vx_0
-
-    @property
-    def Vu_0(self):
-        """:math:`V_u^0` - u matrix coefficient at initial shooting node (0).
-        Default: :code:`None`.
-        """
-        return self.__Vu_0
-
-    @property
-    def Vz_0(self):
-        """:math:`V_z^0` - z matrix coefficient at initial shooting node (0).
-        Default: :code:`None`.
-        """
-        return self.__Vz_0
-
-    @property
-    def yref_0(self):
-        """:math:`y_\\text{ref}^0` - reference at initial shooting node (0).
-        Default: :code:`None`.
-        """
-        return self.__yref_0
-
-    @property
-    def cost_ext_fun_type_0(self):
-        """Type of external function for cost at initial shooting node (0)
-        -- string in {casadi, generic} or :code:`None`
-        Default: :code:'casadi'.
-
-            .. note:: Cost at initial stage is the same as for intermediate shooting nodes if not set differently explicitly.
-        """
-        return self.__cost_ext_fun_type_0
-
-    @yref_0.setter
-    def yref_0(self, yref_0):
-        if isinstance(yref_0, np.ndarray) and len(yref_0.shape) == 1:
-            self.__yref_0 = yref_0
-        else:
-            raise Exception('Invalid yref_0 value, expected 1-dimensional numpy array.')
-
-    @W_0.setter
-    def W_0(self, W_0):
-        if isinstance(W_0, np.ndarray) and len(W_0.shape) == 2:
-            self.__W_0 = W_0
-        else:
-            raise Exception('Invalid cost W_0 value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vx_0.setter
-    def Vx_0(self, Vx_0):
-        if isinstance(Vx_0, np.ndarray) and len(Vx_0.shape) == 2:
-            self.__Vx_0 = Vx_0
-        else:
-            raise Exception('Invalid cost Vx_0 value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vu_0.setter
-    def Vu_0(self, Vu_0):
-        if isinstance(Vu_0, np.ndarray) and len(Vu_0.shape) == 2:
-            self.__Vu_0 = Vu_0
-        else:
-            raise Exception('Invalid cost Vu_0 value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vz_0.setter
-    def Vz_0(self, Vz_0):
-        if isinstance(Vz_0, np.ndarray) and len(Vz_0.shape) == 2:
-            self.__Vz_0 = Vz_0
-        else:
-            raise Exception('Invalid cost Vz_0 value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @cost_ext_fun_type_0.setter
-    def cost_ext_fun_type_0(self, cost_ext_fun_type_0):
-        if cost_ext_fun_type_0 in ['casadi', 'generic']:
-            self.__cost_ext_fun_type_0 = cost_ext_fun_type_0
-        else:
-            raise Exception('Invalid cost_ext_fun_type_0 value, expected numpy array.')
-
-    # Lagrange term
-    @property
-    def cost_type(self):
-        """
-        Cost type at intermediate shooting nodes (1 to N-1)
-        -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS, CONVEX_OVER_NONLINEAR}.
-        Default: 'LINEAR_LS'.
-        """
-        return self.__cost_type
-
-    @property
-    def W(self):
-        """:math:`W` - weight matrix at intermediate shooting nodes (1 to N-1).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__W
-
-    @property
-    def Vx(self):
-        """:math:`V_x` - x matrix coefficient at intermediate shooting nodes (1 to N-1).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__Vx
-
-    @property
-    def Vu(self):
-        """:math:`V_u` - u matrix coefficient at intermediate shooting nodes (1 to N-1).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__Vu
-
-    @property
-    def Vz(self):
-        """:math:`V_z` - z matrix coefficient at intermediate shooting nodes (1 to N-1).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__Vz
-
-    @property
-    def yref(self):
-        """:math:`y_\\text{ref}` - reference at intermediate shooting nodes (1 to N-1).
-        Default: :code:`np.array([])`.
-        """
-        return self.__yref
-
-    @property
-    def Zl(self):
-        """:math:`Z_l` - diagonal of Hessian wrt lower slack at intermediate shooting nodes (0 to N-1).
-        Default: :code:`np.array([])`.
-        """
-        return self.__Zl
-
-    @property
-    def Zu(self):
-        """:math:`Z_u` - diagonal of Hessian wrt upper slack at intermediate shooting nodes (0 to N-1).
-        Default: :code:`np.array([])`.
-        """
-        return self.__Zu
-
-    @property
-    def zl(self):
-        """:math:`z_l` - gradient wrt lower slack at intermediate shooting nodes (0 to N-1).
-        Default: :code:`np.array([])`.
-        """
-        return self.__zl
-
-    @property
-    def zu(self):
-        """:math:`z_u` - gradient wrt upper slack at intermediate shooting nodes (0 to N-1).
-        Default: :code:`np.array([])`.
-        """
-        return self.__zu
-
-    @property
-    def cost_ext_fun_type(self):
-        """Type of external function for cost at intermediate shooting nodes (1 to N-1).
-        -- string in {casadi, generic}
-        Default: :code:'casadi'.
-        """
-        return self.__cost_ext_fun_type
-
-    @cost_type.setter
-    def cost_type(self, cost_type):
-        cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL', 'CONVEX_OVER_NONLINEAR')
-        if cost_type in cost_types:
-            self.__cost_type = cost_type
-        else:
-            raise Exception('Invalid cost_type value.')
-
-    @cost_type_0.setter
-    def cost_type_0(self, cost_type_0):
-        cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL', 'CONVEX_OVER_NONLINEAR')
-        if cost_type_0 in cost_types:
-            self.__cost_type_0 = cost_type_0
-        else:
-            raise Exception('Invalid cost_type_0 value.')
-
-    @W.setter
-    def W(self, W):
-        if isinstance(W, np.ndarray) and len(W.shape) == 2:
-            self.__W = W
-        else:
-            raise Exception('Invalid cost W value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-
-    @Vx.setter
-    def Vx(self, Vx):
-        if isinstance(Vx, np.ndarray) and len(Vx.shape) == 2:
-            self.__Vx = Vx
-        else:
-            raise Exception('Invalid cost Vx value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vu.setter
-    def Vu(self, Vu):
-        if isinstance(Vu, np.ndarray) and len(Vu.shape) == 2:
-            self.__Vu = Vu
-        else:
-            raise Exception('Invalid cost Vu value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vz.setter
-    def Vz(self, Vz):
-        if isinstance(Vz, np.ndarray) and len(Vz.shape) == 2:
-            self.__Vz = Vz
-        else:
-            raise Exception('Invalid cost Vz value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @yref.setter
-    def yref(self, yref):
-        if isinstance(yref, np.ndarray) and len(yref.shape) == 1:
-            self.__yref = yref
-        else:
-            raise Exception('Invalid yref value, expected 1-dimensional numpy array.')
-
-    @Zl.setter
-    def Zl(self, Zl):
-        if isinstance(Zl, np.ndarray):
-            self.__Zl = Zl
-        else:
-            raise Exception('Invalid Zl value, expected numpy array.')
-
-    @Zu.setter
-    def Zu(self, Zu):
-        if isinstance(Zu, np.ndarray):
-            self.__Zu = Zu
-        else:
-            raise Exception('Invalid Zu value, expected numpy array.')
-
-    @zl.setter
-    def zl(self, zl):
-        if isinstance(zl, np.ndarray):
-            self.__zl = zl
-        else:
-            raise Exception('Invalid zl value, expected numpy array.')
-
-    @zu.setter
-    def zu(self, zu):
-        if isinstance(zu, np.ndarray):
-            self.__zu = zu
-        else:
-            raise Exception('Invalid zu value, expected numpy array.')
-
-    @cost_ext_fun_type.setter
-    def cost_ext_fun_type(self, cost_ext_fun_type):
-        if cost_ext_fun_type in ['casadi', 'generic']:
-            self.__cost_ext_fun_type = cost_ext_fun_type
-        else:
-            raise Exception("Invalid cost_ext_fun_type value, expected one in ['casadi', 'generic'].")
-
-    # Mayer term
-    @property
-    def cost_type_e(self):
-        """
-        Cost type at terminal shooting node (N)
-        -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS, CONVEX_OVER_NONLINEAR}.
-        Default: 'LINEAR_LS'.
-        """
-        return self.__cost_type_e
-
-    @property
-    def W_e(self):
-        """:math:`W_e` - weight matrix at terminal shooting node (N).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__W_e
-
-    @property
-    def Vx_e(self):
-        """:math:`V_x^e` - x matrix coefficient for cost at terminal shooting node (N).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__Vx_e
-
-    @property
-    def yref_e(self):
-        """:math:`y_\\text{ref}^e` - cost reference at terminal shooting node (N).
-        Default: :code:`np.array([])`.
-        """
-        return self.__yref_e
-
-    @property
-    def Zl_e(self):
-        """:math:`Z_l^e` - diagonal of Hessian wrt lower slack at terminal shooting node (N).
-        Default: :code:`np.array([])`.
-        """
-        return self.__Zl_e
-
-    @property
-    def Zu_e(self):
-        """:math:`Z_u^e` - diagonal of Hessian wrt upper slack at terminal shooting node (N).
-        Default: :code:`np.array([])`.
-        """
-        return self.__Zu_e
-
-    @property
-    def zl_e(self):
-        """:math:`z_l^e` - gradient wrt lower slack at terminal shooting node (N).
-        Default: :code:`np.array([])`.
-        """
-        return self.__zl_e
-
-    @property
-    def zu_e(self):
-        """:math:`z_u^e` - gradient wrt upper slack at terminal shooting node (N).
-        Default: :code:`np.array([])`.
-        """
-        return self.__zu_e
-
-    @property
-    def cost_ext_fun_type_e(self):
-        """Type of external function for cost at terminal shooting node (N).
-        -- string in {casadi, generic}
-        Default: :code:'casadi'.
-        """
-        return self.__cost_ext_fun_type_e
-
-    @cost_type_e.setter
-    def cost_type_e(self, cost_type_e):
-        cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL', 'CONVEX_OVER_NONLINEAR')
-
-        if cost_type_e in cost_types:
-            self.__cost_type_e = cost_type_e
-        else:
-            raise Exception('Invalid cost_type_e value.')
-
-    @W_e.setter
-    def W_e(self, W_e):
-        if isinstance(W_e, np.ndarray) and len(W_e.shape) == 2:
-            self.__W_e = W_e
-        else:
-            raise Exception('Invalid cost W_e value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vx_e.setter
-    def Vx_e(self, Vx_e):
-        if isinstance(Vx_e, np.ndarray) and len(Vx_e.shape) == 2:
-            self.__Vx_e = Vx_e
-        else:
-            raise Exception('Invalid cost Vx_e value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @yref_e.setter
-    def yref_e(self, yref_e):
-        if isinstance(yref_e, np.ndarray) and len(yref_e.shape) == 1:
-            self.__yref_e = yref_e
-        else:
-            raise Exception('Invalid yref_e value, expected 1-dimensional numpy array.')
-
-    @Zl_e.setter
-    def Zl_e(self, Zl_e):
-        if isinstance(Zl_e, np.ndarray):
-            self.__Zl_e = Zl_e
-        else:
-            raise Exception('Invalid Zl_e value, expected numpy array.')
-
-    @Zu_e.setter
-    def Zu_e(self, Zu_e):
-        if isinstance(Zu_e, np.ndarray):
-            self.__Zu_e = Zu_e
-        else:
-            raise Exception('Invalid Zu_e value, expected numpy array.')
-
-    @zl_e.setter
-    def zl_e(self, zl_e):
-        if isinstance(zl_e, np.ndarray):
-            self.__zl_e = zl_e
-        else:
-            raise Exception('Invalid zl_e value, expected numpy array.')
-
-    @zu_e.setter
-    def zu_e(self, zu_e):
-        if isinstance(zu_e, np.ndarray):
-            self.__zu_e = zu_e
-        else:
-            raise Exception('Invalid zu_e value, expected numpy array.')
-
-    @cost_ext_fun_type_e.setter
-    def cost_ext_fun_type_e(self, cost_ext_fun_type_e):
-        if cost_ext_fun_type_e in ['casadi', 'generic']:
-            self.__cost_ext_fun_type_e = cost_ext_fun_type_e
-        else:
-            raise Exception("Invalid cost_ext_fun_type_e value, expected one in ['casadi', 'generic'].")
-
-    def set(self, attr, value):
-        setattr(self, attr, value)
-
-
-def print_J_to_idx_note():
-    print("NOTE: J* matrix is converted to zero based vector idx* vector, which is returned here.")
-
-
-class AcadosOcpConstraints:
-    """
-    class containing the description of the constraints
-    """
-    def __init__(self):
-        self.__constr_type   = 'BGH'
-        self.__constr_type_e = 'BGH'
-        # initial x
-        self.__lbx_0   = np.array([])
-        self.__ubx_0   = np.array([])
-        self.__idxbx_0 = np.array([])
-        self.__idxbxe_0 = np.array([])
-        # state bounds
-        self.__lbx     = np.array([])
-        self.__ubx     = np.array([])
-        self.__idxbx   = np.array([])
-        # bounds on x at shooting node N
-        self.__lbx_e   = np.array([])
-        self.__ubx_e   = np.array([])
-        self.__idxbx_e = np.array([])
-        # bounds on u
-        self.__lbu     = np.array([])
-        self.__ubu     = np.array([])
-        self.__idxbu   = np.array([])
-        # polytopic constraints
-        self.__lg      = np.array([])
-        self.__ug      = np.array([])
-        self.__D       = np.zeros((0,0))
-        self.__C       = np.zeros((0,0))
-        # polytopic constraints at shooting node N
-        self.__C_e     = np.zeros((0,0))
-        self.__lg_e    = np.array([])
-        self.__ug_e    = np.array([])
-        # nonlinear constraints
-        self.__lh      = np.array([])
-        self.__uh      = np.array([])
-        # nonlinear constraints at shooting node N
-        self.__uh_e    = np.array([])
-        self.__lh_e    = np.array([])
-        # convex-over-nonlinear constraints
-        self.__lphi    = np.array([])
-        self.__uphi    = np.array([])
-        # nonlinear constraints at shooting node N
-        self.__uphi_e = np.array([])
-        self.__lphi_e = np.array([])
-        # SLACK BOUNDS
-        # soft bounds on x
-        self.__lsbx   = np.array([])
-        self.__usbx   = np.array([])
-        self.__idxsbx = np.array([])
-        # soft bounds on u
-        self.__lsbu   = np.array([])
-        self.__usbu   = np.array([])
-        self.__idxsbu = np.array([])
-        # soft bounds on x at shooting node N
-        self.__lsbx_e  = np.array([])
-        self.__usbx_e  = np.array([])
-        self.__idxsbx_e= np.array([])
-        # soft bounds on general linear constraints
-        self.__lsg    = np.array([])
-        self.__usg    = np.array([])
-        self.__idxsg  = np.array([])
-        # soft bounds on nonlinear constraints
-        self.__lsh    = np.array([])
-        self.__ush    = np.array([])
-        self.__idxsh  = np.array([])
-        # soft bounds on nonlinear constraints
-        self.__lsphi  = np.array([])
-        self.__usphi  = np.array([])
-        self.__idxsphi  = np.array([])
-        # soft bounds on general linear constraints at shooting node N
-        self.__lsg_e    = np.array([])
-        self.__usg_e    = np.array([])
-        self.__idxsg_e  = np.array([])
-        # soft bounds on nonlinear constraints at shooting node N
-        self.__lsh_e    = np.array([])
-        self.__ush_e    = np.array([])
-        self.__idxsh_e  = np.array([])
-        # soft bounds on nonlinear constraints at shooting node N
-        self.__lsphi_e    = np.array([])
-        self.__usphi_e    = np.array([])
-        self.__idxsphi_e  = np.array([])
-
-
-    # types
-    @property
-    def constr_type(self):
-        """Constraints type for shooting nodes (0 to N-1). string in {BGH, BGP}.
-        Default: BGH; BGP is for convex over nonlinear."""
-        return self.__constr_type
-
-    @property
-    def constr_type_e(self):
-        """Constraints type for terminal shooting node N. string in {BGH, BGP}.
-        Default: BGH; BGP is for convex over nonlinear."""
-        return self.__constr_type_e
-
-    # initial bounds on x
-    @property
-    def lbx_0(self):
-        """:math:`\\underline{x_0}` - lower bounds on x at initial stage 0.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`."""
-        return self.__lbx_0
-
-    @property
-    def ubx_0(self):
-        """:math:`\\bar{x_0}` - upper bounds on x at initial stage 0.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__ubx_0
-
-    @property
-    def Jbx_0(self):
-        """:math:`J_{bx,0}` - matrix coefficient for bounds on x at initial stage 0.
-        Translated internally to :py:attr:`idxbx_0`"""
-        print_J_to_idx_note()
-        return self.__idxbx_0
-
-    @property
-    def idxbx_0(self):
-        """Indices of bounds on x at initial stage 0
-        -- can be set automatically via x0.
-        Can be set by using :py:attr:`Jbx_0`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxbx_0
-
-    @property
-    def idxbxe_0(self):
-        """Indices of bounds on x0 that are equalities -- can be set automatically via :py:attr:`x0`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxbxe_0
-
-    # bounds on x
-    @property
-    def lbx(self):
-        """:math:`\\underline{x}` - lower bounds on x at intermediate shooting nodes (1 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__lbx
-
-    @property
-    def ubx(self):
-        """:math:`\\bar{x}` - upper bounds on x at intermediate shooting nodes (1 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__ubx
-
-    @property
-    def idxbx(self):
-        """indices of bounds on x (defines :math:`J_{bx}`) at intermediate shooting nodes (1 to N-1).
-        Can be set by using :py:attr:`Jbx`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxbx
-
-    @property
-    def Jbx(self):
-        """:math:`J_{bx}` - matrix coefficient for bounds on x
-        at intermediate shooting nodes (1 to N-1).
-        Translated internally into :py:attr:`idxbx`."""
-        print_J_to_idx_note()
-        return self.__idxbx
-
-    # bounds on x at shooting node N
-    @property
-    def lbx_e(self):
-        """:math:`\\underline{x}^e` - lower bounds on x at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__lbx_e
-
-    @property
-    def ubx_e(self):
-        """:math:`\\bar{x}^e` - upper bounds on x at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__ubx_e
-
-    @property
-    def idxbx_e(self):
-        """Indices for bounds on x at terminal shooting node N (defines :math:`J_{bx}^e`).
-        Can be set by using :py:attr:`Jbx_e`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxbx_e
-
-    @property
-    def Jbx_e(self):
-        """:math:`J_{bx}^e` matrix coefficient for bounds on x at terminal shooting node N.
-        Translated internally into :py:attr:`idxbx_e`."""
-        print_J_to_idx_note()
-        return self.__idxbx_e
-
-    # bounds on u
-    @property
-    def lbu(self):
-        """:math:`\\underline{u}` - lower bounds on u at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`
-        """
-        return self.__lbu
-
-    @property
-    def ubu(self):
-        """:math:`\\bar{u}` - upper bounds on u at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`
-        """
-        return self.__ubu
-
-    @property
-    def idxbu(self):
-        """Indices of bounds on u (defines :math:`J_{bu}`) at shooting nodes (0 to N-1).
-        Can be set by using :py:attr:`Jbu`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`
-        """
-        return self.__idxbu
-
-    @property
-    def Jbu(self):
-        """:math:`J_{bu}` - matrix coefficient for bounds on u at shooting nodes (0 to N-1).
-        Translated internally to :py:attr:`idxbu`.
-        """
-        print_J_to_idx_note()
-        return self.__idxbu
-
-    # polytopic constraints
-    @property
-    def C(self):
-        """:math:`C` - C matrix in :math:`\\underline{g} \\leq D \, u + C \, x \\leq \\bar{g}`
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array((0,0))`.
-        """
-        return self.__C
-
-    @property
-    def D(self):
-        """:math:`D` - D matrix in :math:`\\underline{g} \\leq D \, u + C \, x \\leq \\bar{g}`
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array((0,0))`
-        """
-        return self.__D
-
-    @property
-    def lg(self):
-        """:math:`\\underline{g}` - lower bound for general polytopic inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`
-        """
-        return self.__lg
-
-    @property
-    def ug(self):
-        """:math:`\\bar{g}` - upper bound for general polytopic inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__ug
-
-    # polytopic constraints at shooting node N
-    @property
-    def C_e(self):
-        """:math:`C^e` - C matrix at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array((0,0))`.
-        """
-        return self.__C_e
-
-    @property
-    def lg_e(self):
-        """:math:`\\underline{g}^e` - lower bound on general polytopic inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__lg_e
-
-    @property
-    def ug_e(self):
-        """:math:`\\bar{g}^e` - upper bound on general polytopic inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__ug_e
-
-
-    # nonlinear constraints
-    @property
-    def lh(self):
-        """:math:`\\underline{h}` - lower bound for nonlinear inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__lh
-
-    @property
-    def uh(self):
-        """:math:`\\bar{h}` - upper bound for nonlinear inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__uh
-
-    # nonlinear constraints at shooting node N
-    @property
-    def lh_e(self):
-        """:math:`\\underline{h}^e` - lower bound on nonlinear inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__lh_e
-
-    @property
-    def uh_e(self):
-        """:math:`\\bar{h}^e` - upper bound on nonlinear inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__uh_e
-
-    # convex-over-nonlinear constraints
-    @property
-    def lphi(self):
-        """:math:`\\underline{\phi}` - lower bound for convex-over-nonlinear inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__lphi
-
-    @property
-    def uphi(self):
-        """:math:`\\bar{\phi}` - upper bound for convex-over-nonlinear inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__uphi
-
-    # convex-over-nonlinear constraints at shooting node N
-    @property
-    def lphi_e(self):
-        """:math:`\\underline{\phi}^e` - lower bound on convex-over-nonlinear inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__lphi_e
-
-    @property
-    def uphi_e(self):
-        """:math:`\\bar{\phi}^e` - upper bound on convex-over-nonlinear inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__uphi_e
-
-
-    # SLACK bounds
-    # soft bounds on x
-    @property
-    def lsbx(self):
-        """Lower bounds on slacks corresponding to soft lower bounds on x
-        at stages (1 to N-1);
-        not required - zeros by default"""
-        return self.__lsbx
-
-    @property
-    def usbx(self):
-        """Lower bounds on slacks corresponding to soft upper bounds on x
-        at stages (1 to N-1);
-        not required - zeros by default"""
-        return self.__usbx
-
-    @property
-    def idxsbx(self):
-        """Indices of soft bounds on x within the indices of bounds on x
-        at stages (1 to N-1).
-        Can be set by using :py:attr:`Jsbx`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsbx
-
-    @property
-    def Jsbx(self):
-        """:math:`J_{sbx}` - matrix coefficient for soft bounds on x
-        at stages (1 to N-1);
-        Translated internally into :py:attr:`idxsbx`."""
-        print_J_to_idx_note()
-        return self.__idxsbx
-
-    # soft bounds on u
-    @property
-    def lsbu(self):
-        """Lower bounds on slacks corresponding to soft lower bounds on u
-        at stages (0 to N-1).
-        Not required - zeros by default."""
-        return self.__lsbu
-
-    @property
-    def usbu(self):
-        """Lower bounds on slacks corresponding to soft upper bounds on u
-        at stages (0 to N-1);
-        not required - zeros by default"""
-        return self.__usbu
-
-    @property
-    def idxsbu(self):
-        """Indices of soft bounds on u within the indices of bounds on u
-        at stages (0 to N-1).
-        Can be set by using :py:attr:`Jsbu`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsbu
-
-    @property
-    def Jsbu(self):
-        """:math:`J_{sbu}` - matrix coefficient for soft bounds on u
-        at stages (0 to N-1);
-        internally translated into :py:attr:`idxsbu`"""
-        print_J_to_idx_note()
-        return self.__idxsbu
-
-    # soft bounds on x at shooting node N
-    @property
-    def lsbx_e(self):
-        """Lower bounds on slacks corresponding to soft lower bounds on x at shooting node N.
-        Not required - zeros by default"""
-        return self.__lsbx_e
-
-    @property
-    def usbx_e(self):
-        """Lower bounds on slacks corresponding to soft upper bounds on x at shooting node N.
-        Not required - zeros by default"""
-        return self.__usbx_e
-
-    @property
-    def idxsbx_e(self):
-        """Indices of soft bounds on x at shooting node N, within the indices of bounds on x at terminal shooting node N.
-        Can be set by using :py:attr:`Jsbx_e`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsbx_e
-
-    @property
-    def Jsbx_e(self):
-        """:math:`J_{sbx}^e` - matrix coefficient for soft bounds on x at terminal shooting node N.
-        Translated internally to :py:attr:`idxsbx_e`"""
-        print_J_to_idx_note()
-        return self.__idxsbx_e
-
-    # soft general linear constraints
-    @property
-    def lsg(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for general linear constraints
-        at stages (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`
-        """
-        return self.__lsg
-
-    @property
-    def usg(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for general linear constraints.
-        Not required - zeros by default"""
-        return self.__usg
-
-    @property
-    def idxsg(self):
-        """Indices of soft general linear constraints within the indices of general linear constraints.
-        Can be set by using :py:attr:`Jsg`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsg
-
-    @property
-    def Jsg(self):
-        """:math:`J_{sg}` - matrix coefficient for soft bounds on general linear constraints.
-        Translated internally to :py:attr:`idxsg`"""
-        print_J_to_idx_note()
-        return self.__idxsg
-
-    # soft nonlinear constraints
-    @property
-    def lsh(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for nonlinear constraints.
-        Not required - zeros by default"""
-        return self.__lsh
-
-    @property
-    def ush(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for nonlinear constraints.
-        Not required - zeros by default"""
-        return self.__ush
-
-    @property
-    def idxsh(self):
-        """Indices of soft nonlinear constraints within the indices of nonlinear constraints.
-        Can be set by using :py:attr:`Jbx`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsh
-
-    @property
-    def Jsh(self):
-        """:math:`J_{sh}` - matrix coefficient for soft bounds on nonlinear constraints.
-        Translated internally to :py:attr:`idxsh`"""
-        print_J_to_idx_note()
-        return self.__idxsh
-
-    # soft bounds on convex-over-nonlinear constraints
-    @property
-    def lsphi(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for convex-over-nonlinear constraints.
-        Not required - zeros by default"""
-        return self.__lsphi
-
-    @property
-    def usphi(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for convex-over-nonlinear constraints.
-        Not required - zeros by default"""
-        return self.__usphi
-
-    @property
-    def idxsphi(self):
-        """Indices of soft convex-over-nonlinear constraints within the indices of nonlinear constraints.
-        Can be set by using :py:attr:`Jsphi`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsphi
-
-    @property
-    def Jsphi(self):
-        """:math:`J_{s, \phi}` - matrix coefficient for soft bounds on convex-over-nonlinear constraints.
-        Translated internally into :py:attr:`idxsphi`."""
-        print_J_to_idx_note()
-        return self.__idxsphi
-
-
-    # soft bounds on general linear constraints at shooting node N
-    @property
-    def lsg_e(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for general linear constraints at shooting node N.
-        Not required - zeros by default"""
-        return self.__lsg_e
-
-    @property
-    def usg_e(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for general linear constraints at shooting node N.
-        Not required - zeros by default"""
-        return self.__usg_e
-
-    @property
-    def idxsg_e(self):
-        """Indices of soft general linear constraints at shooting node N within the indices of general linear constraints at shooting node N.
-        Can be set by using :py:attr:`Jsg_e`."""
-        return self.__idxsg_e
-
-    @property
-    def Jsg_e(self):
-        """:math:`J_{s,h}^e` - matrix coefficient for soft bounds on general linear constraints at terminal shooting node N.
-        Translated internally to :py:attr:`idxsg_e`"""
-        print_J_to_idx_note()
-        return self.__idxsg_e
-
-
-    # soft bounds on nonlinear constraints at shooting node N
-    @property
-    def lsh_e(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for nonlinear constraints at terminal shooting node N.
-        Not required - zeros by default"""
-        return self.__lsh_e
-
-    @property
-    def ush_e(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for nonlinear constraints at terminal shooting node N.
-        Not required - zeros by default"""
-        return self.__ush_e
-
-    @property
-    def idxsh_e(self):
-        """Indices of soft nonlinear constraints at shooting node N within the indices of nonlinear constraints at terminal shooting node N.
-        Can be set by using :py:attr:`Jsh_e`."""
-        return self.__idxsh_e
-
-    @property
-    def Jsh_e(self):
-        """:math:`J_{s,h}^e` - matrix coefficient for soft bounds on nonlinear constraints at terminal shooting node N; fills :py:attr:`idxsh_e`"""
-        print_J_to_idx_note()
-        return self.__idxsh_e
-
-    # soft bounds on convex-over-nonlinear constraints at shooting node N
-    @property
-    def lsphi_e(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for convex-over-nonlinear constraints at terminal shooting node N.
-        Not required - zeros by default"""
-        return self.__lsphi_e
-
-    @property
-    def usphi_e(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for convex-over-nonlinear constraints at terminal shooting node N.
-        Not required - zeros by default"""
-        return self.__usphi_e
-
-    @property
-    def idxsphi_e(self):
-        """Indices of soft nonlinear constraints at shooting node N within the indices of nonlinear constraints at terminal shooting node N.
-        Can be set by using :py:attr:`Jsphi_e`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsphi_e
-
-    @property
-    def Jsphi_e(self):
-        """:math:`J_{sh}^e` - matrix coefficient for soft bounds on convex-over-nonlinear constraints at shooting node N.
-        Translated internally to :py:attr:`idxsphi_e`"""
-        print_J_to_idx_note()
-        return self.__idxsphi_e
-
-    @property
-    def x0(self):
-        """:math:`x_0 \\in \mathbb{R}^{n_x}` - initial state --
-        Translated internally to :py:attr:`idxbx_0`, :py:attr:`lbx_0`, :py:attr:`ubx_0`, :py:attr:`idxbxe_0` """
-        print("x0 is converted to lbx_0, ubx_0, idxbx_0")
-        print("idxbx_0: ", self.__idxbx_0)
-        print("lbx_0: ", self.__lbx_0)
-        print("ubx_0: ", self.__ubx_0)
-        print("idxbxe_0: ", self.__idxbxe_0)
-        return None
-
-    # SETTERS
-    @constr_type.setter
-    def constr_type(self, constr_type):
-        constr_types = ('BGH', 'BGP')
-        if constr_type in constr_types:
-            self.__constr_type = constr_type
-        else:
-            raise Exception('Invalid constr_type value. Possible values are:\n\n' \
-                    + ',\n'.join(constr_types) + '.\n\nYou have: ' + constr_type + '.\n\n')
-
-    @constr_type_e.setter
-    def constr_type_e(self, constr_type_e):
-        constr_types = ('BGH', 'BGP')
-        if constr_type_e in constr_types:
-            self.__constr_type_e = constr_type_e
-        else:
-            raise Exception('Invalid constr_type_e value. Possible values are:\n\n' \
-                    + ',\n'.join(constr_types) + '.\n\nYou have: ' + constr_type_e + '.\n\n')
-
-    # initial x
-    @lbx_0.setter
-    def lbx_0(self, lbx_0):
-        if isinstance(lbx_0, np.ndarray):
-            self.__lbx_0 = lbx_0
-        else:
-            raise Exception('Invalid lbx_0 value.')
-
-    @ubx_0.setter
-    def ubx_0(self, ubx_0):
-        if isinstance(ubx_0, np.ndarray):
-            self.__ubx_0 = ubx_0
-        else:
-            raise Exception('Invalid ubx_0 value.')
-
-    @idxbx_0.setter
-    def idxbx_0(self, idxbx_0):
-        if isinstance(idxbx_0, np.ndarray):
-            self.__idxbx_0 = idxbx_0
-        else:
-            raise Exception('Invalid idxbx_0 value.')
-
-    @Jbx_0.setter
-    def Jbx_0(self, Jbx_0):
-        if isinstance(Jbx_0, np.ndarray):
-            self.__idxbx_0 = J_to_idx(Jbx_0)
-        else:
-            raise Exception('Invalid Jbx_0 value.')
-
-    @idxbxe_0.setter
-    def idxbxe_0(self, idxbxe_0):
-        if isinstance(idxbxe_0, np.ndarray):
-            self.__idxbxe_0 = idxbxe_0
-        else:
-            raise Exception('Invalid idxbxe_0 value.')
-
-
-    @x0.setter
-    def x0(self, x0):
-        if isinstance(x0, np.ndarray):
-            self.__lbx_0 = x0
-            self.__ubx_0 = x0
-            self.__idxbx_0 = np.arange(x0.size)
-            self.__idxbxe_0 = np.arange(x0.size)
-        else:
-            raise Exception('Invalid x0 value.')
-
-    # bounds on x
-    @lbx.setter
-    def lbx(self, lbx):
-        if isinstance(lbx, np.ndarray):
-            self.__lbx = lbx
-        else:
-            raise Exception('Invalid lbx value.')
-
-    @ubx.setter
-    def ubx(self, ubx):
-        if isinstance(ubx, np.ndarray):
-            self.__ubx = ubx
-        else:
-            raise Exception('Invalid ubx value.')
-
-    @idxbx.setter
-    def idxbx(self, idxbx):
-        if isinstance(idxbx, np.ndarray):
-            self.__idxbx = idxbx
-        else:
-            raise Exception('Invalid idxbx value.')
-
-    @Jbx.setter
-    def Jbx(self, Jbx):
-        if isinstance(Jbx, np.ndarray):
-            self.__idxbx = J_to_idx(Jbx)
-        else:
-            raise Exception('Invalid Jbx value.')
-
-    # bounds on u
-    @lbu.setter
-    def lbu(self, lbu):
-        if isinstance(lbu, np.ndarray):
-            self.__lbu = lbu
-        else:
-            raise Exception('Invalid lbu value.')
-
-    @ubu.setter
-    def ubu(self, ubu):
-        if isinstance(ubu, np.ndarray):
-            self.__ubu = ubu
-        else:
-            raise Exception('Invalid ubu value.')
-
-    @idxbu.setter
-    def idxbu(self, idxbu):
-        if isinstance(idxbu, np.ndarray):
-            self.__idxbu = idxbu
-        else:
-            raise Exception('Invalid idxbu value.')
-
-    @Jbu.setter
-    def Jbu(self, Jbu):
-        if isinstance(Jbu, np.ndarray):
-            self.__idxbu = J_to_idx(Jbu)
-        else:
-            raise Exception('Invalid Jbu value.')
-
-    # bounds on x at shooting node N
-    @lbx_e.setter
-    def lbx_e(self, lbx_e):
-        if isinstance(lbx_e, np.ndarray):
-            self.__lbx_e = lbx_e
-        else:
-            raise Exception('Invalid lbx_e value.')
-
-    @ubx_e.setter
-    def ubx_e(self, ubx_e):
-        if isinstance(ubx_e, np.ndarray):
-            self.__ubx_e = ubx_e
-        else:
-            raise Exception('Invalid ubx_e value.')
-
-    @idxbx_e.setter
-    def idxbx_e(self, idxbx_e):
-        if isinstance(idxbx_e, np.ndarray):
-            self.__idxbx_e = idxbx_e
-        else:
-            raise Exception('Invalid idxbx_e value.')
-
-    @Jbx_e.setter
-    def Jbx_e(self, Jbx_e):
-        if isinstance(Jbx_e, np.ndarray):
-            self.__idxbx_e = J_to_idx(Jbx_e)
-        else:
-            raise Exception('Invalid Jbx_e value.')
-
-    # polytopic constraints
-    @D.setter
-    def D(self, D):
-        if isinstance(D, np.ndarray) and len(D.shape) == 2:
-            self.__D = D
-        else:
-            raise Exception('Invalid constraint D value.' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @C.setter
-    def C(self, C):
-        if isinstance(C, np.ndarray) and len(C.shape) == 2:
-            self.__C = C
-        else:
-            raise Exception('Invalid constraint C value.' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @lg.setter
-    def lg(self, lg):
-        if isinstance(lg, np.ndarray):
-            self.__lg = lg
-        else:
-            raise Exception('Invalid lg value.')
-
-    @ug.setter
-    def ug(self, ug):
-        if isinstance(ug, np.ndarray):
-            self.__ug = ug
-        else:
-            raise Exception('Invalid ug value.')
-
-    # polytopic constraints at shooting node N
-    @C_e.setter
-    def C_e(self, C_e):
-        if isinstance(C_e, np.ndarray) and len(C_e.shape) == 2:
-            self.__C_e = C_e
-        else:
-            raise Exception('Invalid constraint C_e value.' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @lg_e.setter
-    def lg_e(self, lg_e):
-        if isinstance(lg_e, np.ndarray):
-            self.__lg_e = lg_e
-        else:
-            raise Exception('Invalid lg_e value.')
-
-    @ug_e.setter
-    def ug_e(self, ug_e):
-        if isinstance(ug_e, np.ndarray):
-            self.__ug_e = ug_e
-        else:
-            raise Exception('Invalid ug_e value.')
-
-    # nonlinear constraints
-    @lh.setter
-    def lh(self, lh):
-        if isinstance(lh, np.ndarray):
-            self.__lh = lh
-        else:
-            raise Exception('Invalid lh value.')
-
-    @uh.setter
-    def uh(self, uh):
-        if isinstance(uh, np.ndarray):
-            self.__uh = uh
-        else:
-            raise Exception('Invalid uh value.')
-
-    # convex-over-nonlinear constraints
-    @lphi.setter
-    def lphi(self, lphi):
-        if isinstance(lphi, np.ndarray):
-            self.__lphi = lphi
-        else:
-            raise Exception('Invalid lphi value.')
-
-    @uphi.setter
-    def uphi(self, uphi):
-        if isinstance(uphi, np.ndarray):
-            self.__uphi = uphi
-        else:
-            raise Exception('Invalid uphi value.')
-
-    # nonlinear constraints at shooting node N
-    @lh_e.setter
-    def lh_e(self, lh_e):
-        if isinstance(lh_e, np.ndarray):
-            self.__lh_e = lh_e
-        else:
-            raise Exception('Invalid lh_e value.')
-
-    @uh_e.setter
-    def uh_e(self, uh_e):
-        if isinstance(uh_e, np.ndarray):
-            self.__uh_e = uh_e
-        else:
-            raise Exception('Invalid uh_e value.')
-
-    # convex-over-nonlinear constraints at shooting node N
-    @lphi_e.setter
-    def lphi_e(self, lphi_e):
-        if isinstance(lphi_e, np.ndarray):
-            self.__lphi_e = lphi_e
-        else:
-            raise Exception('Invalid lphi_e value.')
-
-    @uphi_e.setter
-    def uphi_e(self, uphi_e):
-        if isinstance(uphi_e, np.ndarray):
-            self.__uphi_e = uphi_e
-        else:
-            raise Exception('Invalid uphi_e value.')
-
-    # SLACK bounds
-    # soft bounds on x
-    @lsbx.setter
-    def lsbx(self, lsbx):
-        if isinstance(lsbx, np.ndarray):
-            self.__lsbx = lsbx
-        else:
-            raise Exception('Invalid lsbx value.')
-
-    @usbx.setter
-    def usbx(self, usbx):
-        if isinstance(usbx, np.ndarray):
-            self.__usbx = usbx
-        else:
-            raise Exception('Invalid usbx value.')
-
-    @idxsbx.setter
-    def idxsbx(self, idxsbx):
-        if isinstance(idxsbx, np.ndarray):
-            self.__idxsbx = idxsbx
-        else:
-            raise Exception('Invalid idxsbx value.')
-
-    @Jsbx.setter
-    def Jsbx(self, Jsbx):
-        if isinstance(Jsbx, np.ndarray):
-            self.__idxsbx = J_to_idx_slack(Jsbx)
-        else:
-            raise Exception('Invalid Jsbx value, expected numpy array.')
-
-    # soft bounds on u
-    @lsbu.setter
-    def lsbu(self, lsbu):
-        if isinstance(lsbu, np.ndarray):
-            self.__lsbu = lsbu
-        else:
-            raise Exception('Invalid lsbu value.')
-
-    @usbu.setter
-    def usbu(self, usbu):
-        if isinstance(usbu, np.ndarray):
-            self.__usbu = usbu
-        else:
-            raise Exception('Invalid usbu value.')
-
-    @idxsbu.setter
-    def idxsbu(self, idxsbu):
-        if isinstance(idxsbu, np.ndarray):
-            self.__idxsbu = idxsbu
-        else:
-            raise Exception('Invalid idxsbu value.')
-
-    @Jsbu.setter
-    def Jsbu(self, Jsbu):
-        if isinstance(Jsbu, np.ndarray):
-            self.__idxsbu = J_to_idx_slack(Jsbu)
-        else:
-            raise Exception('Invalid Jsbu value.')
-
-    # soft bounds on x at shooting node N
-    @lsbx_e.setter
-    def lsbx_e(self, lsbx_e):
-        if isinstance(lsbx_e, np.ndarray):
-            self.__lsbx_e = lsbx_e
-        else:
-            raise Exception('Invalid lsbx_e value.')
-
-    @usbx_e.setter
-    def usbx_e(self, usbx_e):
-        if isinstance(usbx_e, np.ndarray):
-            self.__usbx_e = usbx_e
-        else:
-            raise Exception('Invalid usbx_e value.')
-
-    @idxsbx_e.setter
-    def idxsbx_e(self, idxsbx_e):
-        if isinstance(idxsbx_e, np.ndarray):
-            self.__idxsbx_e = idxsbx_e
-        else:
-            raise Exception('Invalid idxsbx_e value.')
-
-    @Jsbx_e.setter
-    def Jsbx_e(self, Jsbx_e):
-        if isinstance(Jsbx_e, np.ndarray):
-            self.__idxsbx_e = J_to_idx_slack(Jsbx_e)
-        else:
-            raise Exception('Invalid Jsbx_e value.')
-
-
-    # soft bounds on general linear constraints
-    @lsg.setter
-    def lsg(self, lsg):
-        if isinstance(lsg, np.ndarray):
-            self.__lsg = lsg
-        else:
-            raise Exception('Invalid lsg value.')
-
-    @usg.setter
-    def usg(self, usg):
-        if isinstance(usg, np.ndarray):
-            self.__usg = usg
-        else:
-            raise Exception('Invalid usg value.')
-
-    @idxsg.setter
-    def idxsg(self, idxsg):
-        if isinstance(idxsg, np.ndarray):
-            self.__idxsg = idxsg
-        else:
-            raise Exception('Invalid idxsg value.')
-
-    @Jsg.setter
-    def Jsg(self, Jsg):
-        if isinstance(Jsg, np.ndarray):
-            self.__idxsg = J_to_idx_slack(Jsg)
-        else:
-            raise Exception('Invalid Jsg value, expected numpy array.')
-
-
-    # soft bounds on nonlinear constraints
-    @lsh.setter
-    def lsh(self, lsh):
-        if isinstance(lsh, np.ndarray):
-            self.__lsh = lsh
-        else:
-            raise Exception('Invalid lsh value.')
-
-    @ush.setter
-    def ush(self, ush):
-        if isinstance(ush, np.ndarray):
-            self.__ush = ush
-        else:
-            raise Exception('Invalid ush value.')
-
-    @idxsh.setter
-    def idxsh(self, idxsh):
-        if isinstance(idxsh, np.ndarray):
-            self.__idxsh = idxsh
-        else:
-            raise Exception('Invalid idxsh value.')
-
-
-    @Jsh.setter
-    def Jsh(self, Jsh):
-        if isinstance(Jsh, np.ndarray):
-            self.__idxsh = J_to_idx_slack(Jsh)
-        else:
-            raise Exception('Invalid Jsh value, expected numpy array.')
-
-    # soft bounds on convex-over-nonlinear constraints
-    @lsphi.setter
-    def lsphi(self, lsphi):
-        if isinstance(lsphi, np.ndarray):
-            self.__lsphi = lsphi
-        else:
-            raise Exception('Invalid lsphi value.')
-
-    @usphi.setter
-    def usphi(self, usphi):
-        if isinstance(usphi, np.ndarray):
-            self.__usphi = usphi
-        else:
-            raise Exception('Invalid usphi value.')
-
-    @idxsphi.setter
-    def idxsphi(self, idxsphi):
-        if isinstance(idxsphi, np.ndarray):
-            self.__idxsphi = idxsphi
-        else:
-            raise Exception('Invalid idxsphi value.')
-
-    @Jsphi.setter
-    def Jsphi(self, Jsphi):
-        if isinstance(Jsphi, np.ndarray):
-            self.__idxsphi = J_to_idx_slack(Jsphi)
-        else:
-            raise Exception('Invalid Jsphi value, expected numpy array.')
-
-    # soft bounds on general linear constraints at shooting node N
-    @lsg_e.setter
-    def lsg_e(self, lsg_e):
-        if isinstance(lsg_e, np.ndarray):
-            self.__lsg_e = lsg_e
-        else:
-            raise Exception('Invalid lsg_e value.')
-
-    @usg_e.setter
-    def usg_e(self, usg_e):
-        if isinstance(usg_e, np.ndarray):
-            self.__usg_e = usg_e
-        else:
-            raise Exception('Invalid usg_e value.')
-
-    @idxsg_e.setter
-    def idxsg_e(self, idxsg_e):
-        if isinstance(idxsg_e, np.ndarray):
-            self.__idxsg_e = idxsg_e
-        else:
-            raise Exception('Invalid idxsg_e value.')
-
-    @Jsg_e.setter
-    def Jsg_e(self, Jsg_e):
-        if isinstance(Jsg_e, np.ndarray):
-            self.__idxsg_e = J_to_idx_slack(Jsg_e)
-        else:
-            raise Exception('Invalid Jsg_e value, expected numpy array.')
-
-    # soft bounds on nonlinear constraints at shooting node N
-    @lsh_e.setter
-    def lsh_e(self, lsh_e):
-        if isinstance(lsh_e, np.ndarray):
-            self.__lsh_e = lsh_e
-        else:
-            raise Exception('Invalid lsh_e value.')
-
-    @ush_e.setter
-    def ush_e(self, ush_e):
-        if isinstance(ush_e, np.ndarray):
-            self.__ush_e = ush_e
-        else:
-            raise Exception('Invalid ush_e value.')
-
-    @idxsh_e.setter
-    def idxsh_e(self, idxsh_e):
-        if isinstance(idxsh_e, np.ndarray):
-            self.__idxsh_e = idxsh_e
-        else:
-            raise Exception('Invalid idxsh_e value.')
-
-    @Jsh_e.setter
-    def Jsh_e(self, Jsh_e):
-        if isinstance(Jsh_e, np.ndarray):
-            self.__idxsh_e = J_to_idx_slack(Jsh_e)
-        else:
-            raise Exception('Invalid Jsh_e value, expected numpy array.')
-
-
-    # soft bounds on convex-over-nonlinear constraints at shooting node N
-    @lsphi_e.setter
-    def lsphi_e(self, lsphi_e):
-        if isinstance(lsphi_e, np.ndarray):
-            self.__lsphi_e = lsphi_e
-        else:
-            raise Exception('Invalid lsphi_e value.')
-
-    @usphi_e.setter
-    def usphi_e(self, usphi_e):
-        if isinstance(usphi_e, np.ndarray):
-            self.__usphi_e = usphi_e
-        else:
-            raise Exception('Invalid usphi_e value.')
-
-    @idxsphi_e.setter
-    def idxsphi_e(self, idxsphi_e):
-        if isinstance(idxsphi_e, np.ndarray):
-            self.__idxsphi_e = idxsphi_e
-        else:
-            raise Exception('Invalid idxsphi_e value.')
-
-    @Jsphi_e.setter
-    def Jsphi_e(self, Jsphi_e):
-        if isinstance(Jsphi_e, np.ndarray):
-            self.__idxsphi_e = J_to_idx_slack(Jsphi_e)
-        else:
-            raise Exception('Invalid Jsphi_e value.')
-
-    def set(self, attr, value):
-        setattr(self, attr, value)
-
-
-class AcadosOcpOptions:
-    """
-    class containing the description of the solver options
-    """
-    def __init__(self):
-        self.__qp_solver        = 'PARTIAL_CONDENSING_HPIPM'  # qp solver to be used in the NLP solver
-        self.__hessian_approx   = 'GAUSS_NEWTON'              # hessian approximation
-        self.__integrator_type  = 'ERK'                       # integrator type
-        self.__tf               = None                        # prediction horizon
-        self.__nlp_solver_type  = 'SQP_RTI'                   # NLP solver
-        self.__globalization = 'FIXED_STEP'
-        self.__nlp_solver_step_length = 1.0                   # fixed Newton step length
-        self.__levenberg_marquardt = 0.0
-        self.__collocation_type = 'GAUSS_LEGENDRE'
-        self.__sim_method_num_stages  = 4                     # number of stages in the integrator
-        self.__sim_method_num_steps   = 1                     # number of steps in the integrator
-        self.__sim_method_newton_iter = 3                     # number of Newton iterations in simulation method
-        self.__sim_method_newton_tol = 0.0
-        self.__sim_method_jac_reuse = 0
-        self.__qp_solver_tol_stat = None                      # QP solver stationarity tolerance
-        self.__qp_solver_tol_eq   = None                      # QP solver equality tolerance
-        self.__qp_solver_tol_ineq = None                      # QP solver inequality
-        self.__qp_solver_tol_comp = None                      # QP solver complementarity
-        self.__qp_solver_iter_max = 50                        # QP solver max iter
-        self.__qp_solver_cond_N = None                        # QP solver: new horizon after partial condensing
-        self.__qp_solver_warm_start = 0
-        self.__qp_solver_cond_ric_alg = 1
-        self.__qp_solver_ric_alg = 1
-        self.__nlp_solver_tol_stat = 1e-6                     # NLP solver stationarity tolerance
-        self.__nlp_solver_tol_eq   = 1e-6                     # NLP solver equality tolerance
-        self.__nlp_solver_tol_ineq = 1e-6                     # NLP solver inequality
-        self.__nlp_solver_tol_comp = 1e-6                     # NLP solver complementarity
-        self.__nlp_solver_max_iter = 100                      # NLP solver maximum number of iterations
-        self.__nlp_solver_ext_qp_res = 0
-        self.__Tsim = None                                    # automatically calculated as tf/N
-        self.__print_level = 0                                # print level
-        self.__initialize_t_slacks = 0                        # possible values: 0, 1
-        self.__regularize_method = None
-        self.__time_steps = None
-        self.__shooting_nodes = None
-        self.__exact_hess_cost = 1
-        self.__exact_hess_dyn = 1
-        self.__exact_hess_constr = 1
-        self.__ext_cost_num_hess = 0
-        self.__alpha_min = 0.05
-        self.__alpha_reduction = 0.7
-        self.__line_search_use_sufficient_descent = 0
-        self.__globalization_use_SOC = 0
-        self.__full_step_dual = 0
-        self.__eps_sufficient_descent = 1e-4
-        self.__hpipm_mode = 'BALANCE'
-        # TODO: move those out? they are more about generation than about the acados OCP solver.
-        self.__ext_fun_compile_flags = '-O2'
-        self.__model_external_shared_lib_dir   = None         # path to the the .so lib
-        self.__model_external_shared_lib_name  = None         # name of the the .so lib
-        self.__custom_update_filename = ''
-        self.__custom_update_header_filename = ''
-        self.__custom_templates = []
-        self.__custom_update_copy = True
-
-    @property
-    def qp_solver(self):
-        """QP solver to be used in the NLP solver.
-        String in ('PARTIAL_CONDENSING_HPIPM', 'FULL_CONDENSING_QPOASES', 'FULL_CONDENSING_HPIPM', 'PARTIAL_CONDENSING_QPDUNES', 'PARTIAL_CONDENSING_OSQP', 'FULL_CONDENSING_DAQP').
-        Default: 'PARTIAL_CONDENSING_HPIPM'.
-        """
-        return self.__qp_solver
-
-    @property
-    def ext_fun_compile_flags(self):
-        """
-        String with compiler flags for external function compilation.
-        Default: '-O2'.
-        """
-        return self.__ext_fun_compile_flags
-
-
-    @property
-    def custom_update_filename(self):
-        """
-        Filename of the custom C function to update solver data and parameters in between solver calls
-
-        This file has to implement the functions
-        int custom_update_init_function([model.name]_solver_capsule* capsule);
-        int custom_update_function([model.name]_solver_capsule* capsule);
-        int custom_update_terminate_function([model.name]_solver_capsule* capsule);
-
-
-        Default: ''.
-        """
-        return self.__custom_update_filename
-
-
-    @property
-    def custom_templates(self):
-        """
-        List of tuples of the form:
-        (input_filename, output_filename)
-
-        Custom templates are render in OCP solver generation.
-
-        Default: [].
-        """
-        return self.__custom_templates
-
-
-    @property
-    def custom_update_header_filename(self):
-        """
-        Header filename of the custom C function to update solver data and parameters in between solver calls
-
-        This file has to declare the custom_update functions and look as follows:
-
-        ```
-        // Called at the end of solver creation.
-        // This is allowed to allocate memory and store the pointer to it into capsule->custom_update_memory.
-        int custom_update_init_function([model.name]_solver_capsule* capsule);
-
-        // Custom update function that can be called between solver calls
-        int custom_update_function([model.name]_solver_capsule* capsule, double* data, int data_len);
-
-        // Called just before destroying the solver.
-        // Responsible to free allocated memory, stored at capsule->custom_update_memory.
-        int custom_update_terminate_function([model.name]_solver_capsule* capsule);
-
-        Default: ''.
-        """
-        return self.__custom_update_header_filename
-
-    @property
-    def custom_update_copy(self):
-        """
-        Boolean;
-        If True, the custom update function files are copied into the `code_export_directory`.
-        """
-        return self.__custom_update_copy
-
-
-    @property
-    def hpipm_mode(self):
-        """
-        Mode of HPIPM to be used,
-
-        String in ('BALANCE', 'SPEED_ABS', 'SPEED', 'ROBUST').
-
-        Default: 'BALANCE'.
-
-        see https://cdn.syscop.de/publications/Frison2020a.pdf
-        and the HPIPM code:
-        https://github.com/giaf/hpipm/blob/master/ocp_qp/x_ocp_qp_ipm.c#L69
-        """
-        return self.__hpipm_mode
-
-    @property
-    def hessian_approx(self):
-        """Hessian approximation.
-        String in ('GAUSS_NEWTON', 'EXACT').
-        Default: 'GAUSS_NEWTON'.
-        """
-        return self.__hessian_approx
-
-    @property
-    def integrator_type(self):
-        """
-        Integrator type.
-        String in ('ERK', 'IRK', 'GNSF', 'DISCRETE', 'LIFTED_IRK').
-        Default: 'ERK'.
-        """
-        return self.__integrator_type
-
-    @property
-    def nlp_solver_type(self):
-        """NLP solver.
-        String in ('SQP', 'SQP_RTI').
-        Default: 'SQP_RTI'.
-        """
-        return self.__nlp_solver_type
-
-    @property
-    def globalization(self):
-        """Globalization type.
-        String in ('FIXED_STEP', 'MERIT_BACKTRACKING').
-        Default: 'FIXED_STEP'.
-
-        .. note:: preliminary implementation.
-        """
-        return self.__globalization
-
-    @property
-    def collocation_type(self):
-        """Collocation type: relevant for implicit integrators
-        -- string in {GAUSS_RADAU_IIA, GAUSS_LEGENDRE}.
-
-        Default: GAUSS_LEGENDRE
-        """
-        return self.__collocation_type
-
-    @property
-    def regularize_method(self):
-        """Regularization method for the Hessian.
-        String in ('NO_REGULARIZE', 'MIRROR', 'PROJECT', 'PROJECT_REDUC_HESS', 'CONVEXIFY') or :code:`None`.
-
-        - MIRROR: performs eigenvalue decomposition H = V^T D V and sets D_ii = max(eps, abs(D_ii))
-        - PROJECT: performs eigenvalue decomposition H = V^T D V and sets D_ii = max(eps, D_ii)
-        - CONVEXIFY: Algorithm 6 from Verschueren2017, https://cdn.syscop.de/publications/Verschueren2017.pdf
-        - PROJECT_REDUC_HESS: experimental
-
-        Note: default eps = 1e-4
-
-        Default: :code:`None`.
-        """
-        return self.__regularize_method
-
-    @property
-    def nlp_solver_step_length(self):
-        """
-        Fixed Newton step length.
-        Type: float > 0.
-        Default: 1.0.
-        """
-        return self.__nlp_solver_step_length
-
-    @property
-    def levenberg_marquardt(self):
-        """
-        Factor for LM regularization.
-        Type: float >= 0
-        Default: 0.0.
-        """
-        return self.__levenberg_marquardt
-
-    @property
-    def sim_method_num_stages(self):
-        """
-        Number of stages in the integrator.
-        Type: int > 0 or ndarray of ints > 0 of shape (N,).
-        Default: 4
-        """
-        return self.__sim_method_num_stages
-
-    @property
-    def sim_method_num_steps(self):
-        """
-        Number of steps in the integrator.
-        Type: int > 0 or ndarray of ints > 0 of shape (N,).
-        Default: 1
-        """
-        return self.__sim_method_num_steps
-
-    @property
-    def sim_method_newton_iter(self):
-        """
-        Number of Newton iterations in simulation method.
-        Type: int > 0
-        Default: 3
-        """
-        return self.__sim_method_newton_iter
-
-    @property
-    def sim_method_newton_tol(self):
-        """
-        Tolerance of Newton system in simulation method.
-        Type: float: 0.0 means not used
-        Default: 0.0
-        """
-        return self.__sim_method_newton_tol
-
-    @property
-    def sim_method_jac_reuse(self):
-        """
-        Integer determining if jacobians are reused within integrator or ndarray of ints > 0 of shape (N,).
-        0: False (no reuse); 1: True (reuse)
-        Default: 0
-        """
-        return self.__sim_method_jac_reuse
-
-    @property
-    def qp_solver_tol_stat(self):
-        """
-        QP solver stationarity tolerance.
-        Default: :code:`None`
-        """
-        return self.__qp_solver_tol_stat
-
-    @property
-    def qp_solver_tol_eq(self):
-        """
-        QP solver equality tolerance.
-        Default: :code:`None`
-        """
-        return self.__qp_solver_tol_eq
-
-    @property
-    def qp_solver_tol_ineq(self):
-        """
-        QP solver inequality.
-        Default: :code:`None`
-        """
-        return self.__qp_solver_tol_ineq
-
-    @property
-    def qp_solver_tol_comp(self):
-        """
-        QP solver complementarity.
-        Default: :code:`None`
-        """
-        return self.__qp_solver_tol_comp
-
-    @property
-    def qp_solver_cond_N(self):
-        """QP solver: New horizon after partial condensing.
-        Set to N by default -> no condensing."""
-        return self.__qp_solver_cond_N
-
-    @property
-    def qp_solver_warm_start(self):
-        """
-        QP solver: Warm starting.
-        0: no warm start; 1: warm start; 2: hot start.
-        Default: 0
-        """
-        return self.__qp_solver_warm_start
-
-    @property
-    def qp_solver_cond_ric_alg(self):
-        """
-        QP solver: Determines which algorithm is used in HPIPM condensing.
-        0: dont factorize hessian in the condensing; 1: factorize.
-        Default: 1
-        """
-        return self.__qp_solver_cond_ric_alg
-
-    @property
-    def qp_solver_ric_alg(self):
-        """
-        QP solver: Determines which algorithm is used in HPIPM OCP QP solver.
-        0 classical Riccati, 1 square-root Riccati.
-
-        Note: taken from [HPIPM paper]:
-
-        (a) the classical implementation requires the reduced Hessian with respect to the dynamics
-            equality constraints to be positive definite, but allows the full-space Hessian to be indefinite)
-        (b) the square-root implementation, which in order to reduce the flop count employs the Cholesky
-            factorization of the Riccati recursion matrix, and therefore requires the full-space Hessian to be positive definite
-
-        [HPIPM paper]: HPIPM: a high-performance quadratic programming framework for model predictive control, Frison and Diehl, 2020
-        https://cdn.syscop.de/publications/Frison2020a.pdf
-
-        Default: 1
-        """
-        return self.__qp_solver_ric_alg
-
-    @property
-    def qp_solver_iter_max(self):
-        """
-        QP solver: maximum number of iterations.
-        Type: int > 0
-        Default: 50
-        """
-        return self.__qp_solver_iter_max
-
-    @property
-    def tol(self):
-        """
-        NLP solver tolerance. Sets or gets the max of :py:attr:`nlp_solver_tol_eq`,
-        :py:attr:`nlp_solver_tol_ineq`, :py:attr:`nlp_solver_tol_comp`
-        and :py:attr:`nlp_solver_tol_stat`.
-        """
-        return max([self.__nlp_solver_tol_eq, self.__nlp_solver_tol_ineq,\
-                    self.__nlp_solver_tol_comp, self.__nlp_solver_tol_stat])
-
-    @property
-    def qp_tol(self):
-        """
-        QP solver tolerance.
-        Sets all of the following at once or gets the max of
-        :py:attr:`qp_solver_tol_eq`, :py:attr:`qp_solver_tol_ineq`,
-        :py:attr:`qp_solver_tol_comp` and
-        :py:attr:`qp_solver_tol_stat`.
-        """
-        return max([self.__qp_solver_tol_eq, self.__qp_solver_tol_ineq,\
-                    self.__qp_solver_tol_comp, self.__qp_solver_tol_stat])
-
-    @property
-    def nlp_solver_tol_stat(self):
-        """
-        NLP solver stationarity tolerance.
-        Type: float > 0
-        Default: 1e-6
-        """
-        return self.__nlp_solver_tol_stat
-
-    @property
-    def nlp_solver_tol_eq(self):
-        """NLP solver equality tolerance"""
-        return self.__nlp_solver_tol_eq
-
-    @property
-    def alpha_min(self):
-        """Minimal step size for globalization MERIT_BACKTRACKING, default: 0.05."""
-        return self.__alpha_min
-
-    @property
-    def alpha_reduction(self):
-        """Step size reduction factor for globalization MERIT_BACKTRACKING, default: 0.7."""
-        return self.__alpha_reduction
-
-    @property
-    def line_search_use_sufficient_descent(self):
-        """
-        Determines if sufficient descent (Armijo) condition is used in line search.
-        Type: int; 0 or 1;
-        default: 0.
-        """
-        return self.__line_search_use_sufficient_descent
-
-    @property
-    def eps_sufficient_descent(self):
-        """
-        Factor for sufficient descent (Armijo) conditon, see line_search_use_sufficient_descent.
-        Type: float,
-        default: 1e-4.
-        """
-        return self.__eps_sufficient_descent
-
-    @property
-    def globalization_use_SOC(self):
-        """
-        Determines if second order correction (SOC) is done when using MERIT_BACKTRACKING.
-        SOC is done if preliminary line search does not return full step.
-        Type: int; 0 or 1;
-        default: 0.
-        """
-        return self.__globalization_use_SOC
-
-    @property
-    def full_step_dual(self):
-        """
-        Determines if dual variables are updated with full steps (alpha=1.0) when primal variables are updated with smaller step.
-        Type: int; 0 or 1;
-        default: 0.
-        """
-        return self.__full_step_dual
-
-    @property
-    def nlp_solver_tol_ineq(self):
-        """NLP solver inequality tolerance"""
-        return self.__nlp_solver_tol_ineq
-
-    @property
-    def nlp_solver_ext_qp_res(self):
-        """Determines if residuals of QP are computed externally within NLP solver (for debugging)
-
-        Type: int; 0 or 1;
-        Default: 0.
-        """
-        return self.__nlp_solver_ext_qp_res
-
-    @property
-    def nlp_solver_tol_comp(self):
-        """NLP solver complementarity tolerance"""
-        return self.__nlp_solver_tol_comp
-
-    @property
-    def nlp_solver_max_iter(self):
-        """
-        NLP solver maximum number of iterations.
-        Type: int > 0
-        Default: 100
-        """
-        return self.__nlp_solver_max_iter
-
-    @property
-    def time_steps(self):
-        """
-        Vector with time steps between the shooting nodes. Set automatically to uniform discretization if :py:attr:`N` and :py:attr:`tf` are provided.
-        Default: :code:`None`
-        """
-        return self.__time_steps
-
-    @property
-    def shooting_nodes(self):
-        """
-        Vector with the shooting nodes, time_steps will be computed from it automatically.
-        Default: :code:`None`
-        """
-        return self.__shooting_nodes
-
-    @property
-    def tf(self):
-        """
-        Prediction horizon
-        Type: float > 0
-        Default: :code:`None`
-        """
-        return self.__tf
-
-    @property
-    def Tsim(self):
-        """
-        Time horizon for one integrator step. Automatically calculated as :py:attr:`tf`/:py:attr:`N`.
-        Default: :code:`None`
-        """
-        return self.__Tsim
-
-    @property
-    def print_level(self):
-        """
-        Verbosity of printing.
-        Type: int >= 0
-        Default: 0
-        """
-        return self.__print_level
-
-    @property
-    def model_external_shared_lib_dir(self):
-        """Path to the .so lib"""
-        return self.__model_external_shared_lib_dir
-
-    @property
-    def model_external_shared_lib_name(self):
-        """Name of the .so lib"""
-        return self.__model_external_shared_lib_name
-
-    @property
-    def exact_hess_constr(self):
-        """
-        Used in case of hessian_approx == 'EXACT'.\n
-        Can be used to turn off exact hessian contributions from the constraints module.
-        """
-        return self.__exact_hess_constr
-
-    @property
-    def exact_hess_cost(self):
-        """
-        Used in case of hessian_approx == 'EXACT'.\n
-        Can be used to turn off exact hessian contributions from the cost module.
-        """
-        return self.__exact_hess_cost
-
-    @property
-    def exact_hess_dyn(self):
-        """
-        Used in case of hessian_approx == 'EXACT'.\n
-        Can be used to turn off exact hessian contributions from the dynamics module.
-        """
-        return self.__exact_hess_dyn
-
-    @property
-    def ext_cost_num_hess(self):
-        """
-        Determines if custom hessian approximation for cost contribution is used (> 0).\n
-        Or if hessian contribution is evaluated exactly using CasADi external function (=0 - default).
-        """
-        return self.__ext_cost_num_hess
-
-    @qp_solver.setter
-    def qp_solver(self, qp_solver):
-        qp_solvers = ('PARTIAL_CONDENSING_HPIPM', \
-                'FULL_CONDENSING_QPOASES', 'FULL_CONDENSING_HPIPM', \
-                'PARTIAL_CONDENSING_QPDUNES', 'PARTIAL_CONDENSING_OSQP', \
-                'FULL_CONDENSING_DAQP')
-        if qp_solver in qp_solvers:
-            self.__qp_solver = qp_solver
-        else:
-            raise Exception('Invalid qp_solver value. Possible values are:\n\n' \
-                    + ',\n'.join(qp_solvers) + '.\n\nYou have: ' + qp_solver + '.\n\n')
-
-    @regularize_method.setter
-    def regularize_method(self, regularize_method):
-        regularize_methods = ('NO_REGULARIZE', 'MIRROR', 'PROJECT', \
-                                'PROJECT_REDUC_HESS', 'CONVEXIFY')
-        if regularize_method in regularize_methods:
-            self.__regularize_method = regularize_method
-        else:
-            raise Exception('Invalid regularize_method value. Possible values are:\n\n' \
-                    + ',\n'.join(regularize_methods) + '.\n\nYou have: ' + regularize_method + '.\n\n')
-
-    @collocation_type.setter
-    def collocation_type(self, collocation_type):
-        collocation_types = ('GAUSS_RADAU_IIA', 'GAUSS_LEGENDRE')
-        if collocation_type in collocation_types:
-            self.__collocation_type = collocation_type
-        else:
-            raise Exception('Invalid collocation_type value. Possible values are:\n\n' \
-                    + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\n')
-
-    @hpipm_mode.setter
-    def hpipm_mode(self, hpipm_mode):
-        hpipm_modes = ('BALANCE', 'SPEED_ABS', 'SPEED', 'ROBUST')
-        if hpipm_mode in hpipm_modes:
-            self.__hpipm_mode = hpipm_mode
-        else:
-            raise Exception('Invalid hpipm_mode value. Possible values are:\n\n' \
-                    + ',\n'.join(hpipm_modes) + '.\n\nYou have: ' + hpipm_mode + '.\n\n')
-
-    @ext_fun_compile_flags.setter
-    def ext_fun_compile_flags(self, ext_fun_compile_flags):
-        if isinstance(ext_fun_compile_flags, str):
-            self.__ext_fun_compile_flags = ext_fun_compile_flags
-        else:
-            raise Exception('Invalid ext_fun_compile_flags, expected a string.\n')
-
-
-    @custom_update_filename.setter
-    def custom_update_filename(self, custom_update_filename):
-        if isinstance(custom_update_filename, str):
-            self.__custom_update_filename = custom_update_filename
-        else:
-            raise Exception('Invalid custom_update_filename, expected a string.\n')
-
-    @custom_templates.setter
-    def custom_templates(self, custom_templates):
-        if not isinstance(custom_templates, list):
-            raise Exception('Invalid custom_templates, expected a list.\n')
-        for tup in custom_templates:
-            if not isinstance(tup, tuple):
-                raise Exception('Invalid custom_templates, shoubld be list of tuples.\n')
-            for s in tup:
-                if not isinstance(s, str):
-                    raise Exception('Invalid custom_templates, shoubld be list of tuples of strings.\n')
-        self.__custom_templates = custom_templates
-
-    @custom_update_header_filename.setter
-    def custom_update_header_filename(self, custom_update_header_filename):
-        if isinstance(custom_update_header_filename, str):
-            self.__custom_update_header_filename = custom_update_header_filename
-        else:
-            raise Exception('Invalid custom_update_header_filename, expected a string.\n')
-
-    @custom_update_copy.setter
-    def custom_update_copy(self, custom_update_copy):
-        if isinstance(custom_update_copy, bool):
-            self.__custom_update_copy = custom_update_copy
-        else:
-            raise Exception('Invalid custom_update_copy, expected a bool.\n')
-
-    @hessian_approx.setter
-    def hessian_approx(self, hessian_approx):
-        hessian_approxs = ('GAUSS_NEWTON', 'EXACT')
-        if hessian_approx in hessian_approxs:
-            self.__hessian_approx = hessian_approx
-        else:
-            raise Exception('Invalid hessian_approx value. Possible values are:\n\n' \
-                    + ',\n'.join(hessian_approxs) + '.\n\nYou have: ' + hessian_approx + '.\n\n')
-
-    @integrator_type.setter
-    def integrator_type(self, integrator_type):
-        integrator_types = ('ERK', 'IRK', 'GNSF', 'DISCRETE', 'LIFTED_IRK')
-        if integrator_type in integrator_types:
-            self.__integrator_type = integrator_type
-        else:
-            raise Exception('Invalid integrator_type value. Possible values are:\n\n' \
-                    + ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\n')
-
-    @tf.setter
-    def tf(self, tf):
-        self.__tf = tf
-
-    @time_steps.setter
-    def time_steps(self, time_steps):
-        if isinstance(time_steps, np.ndarray):
-            if len(time_steps.shape) == 1:
-                    self.__time_steps = time_steps
-            else:
-                raise Exception('Invalid time_steps, expected np.ndarray of shape (N,).')
-        else:
-            raise Exception('Invalid time_steps, expected np.ndarray.')
-
-    @shooting_nodes.setter
-    def shooting_nodes(self, shooting_nodes):
-        if isinstance(shooting_nodes, np.ndarray):
-            if len(shooting_nodes.shape) == 1:
-                self.__shooting_nodes = shooting_nodes
-            else:
-                raise Exception('Invalid shooting_nodes, expected np.ndarray of shape (N+1,).')
-        else:
-            raise Exception('Invalid shooting_nodes, expected np.ndarray.')
-
-    @Tsim.setter
-    def Tsim(self, Tsim):
-        self.__Tsim = Tsim
-
-    @globalization.setter
-    def globalization(self, globalization):
-        globalization_types = ('MERIT_BACKTRACKING', 'FIXED_STEP')
-        if globalization in globalization_types:
-            self.__globalization = globalization
-        else:
-            raise Exception('Invalid globalization value. Possible values are:\n\n' \
-                    + ',\n'.join(globalization_types) + '.\n\nYou have: ' + globalization + '.\n\n')
-
-    @alpha_min.setter
-    def alpha_min(self, alpha_min):
-        self.__alpha_min = alpha_min
-
-    @alpha_reduction.setter
-    def alpha_reduction(self, alpha_reduction):
-        self.__alpha_reduction = alpha_reduction
-
-    @line_search_use_sufficient_descent.setter
-    def line_search_use_sufficient_descent(self, line_search_use_sufficient_descent):
-        if line_search_use_sufficient_descent in [0, 1]:
-            self.__line_search_use_sufficient_descent = line_search_use_sufficient_descent
-        else:
-            raise Exception(f'Invalid value for line_search_use_sufficient_descent. Possible values are 0, 1, got {line_search_use_sufficient_descent}')
-
-    @globalization_use_SOC.setter
-    def globalization_use_SOC(self, globalization_use_SOC):
-        if globalization_use_SOC in [0, 1]:
-            self.__globalization_use_SOC = globalization_use_SOC
-        else:
-            raise Exception(f'Invalid value for globalization_use_SOC. Possible values are 0, 1, got {globalization_use_SOC}')
-
-    @full_step_dual.setter
-    def full_step_dual(self, full_step_dual):
-        if full_step_dual in [0, 1]:
-            self.__full_step_dual = full_step_dual
-        else:
-            raise Exception(f'Invalid value for full_step_dual. Possible values are 0, 1, got {full_step_dual}')
-
-    @eps_sufficient_descent.setter
-    def eps_sufficient_descent(self, eps_sufficient_descent):
-        if isinstance(eps_sufficient_descent, float) and eps_sufficient_descent > 0:
-            self.__eps_sufficient_descent = eps_sufficient_descent
-        else:
-            raise Exception('Invalid eps_sufficient_descent value. eps_sufficient_descent must be a positive float.')
-
-    @sim_method_num_stages.setter
-    def sim_method_num_stages(self, sim_method_num_stages):
-
-        # if isinstance(sim_method_num_stages, int):
-        #     self.__sim_method_num_stages = sim_method_num_stages
-        # else:
-        #     raise Exception('Invalid sim_method_num_stages value. sim_method_num_stages must be an integer.')
-
-        self.__sim_method_num_stages = sim_method_num_stages
-
-    @sim_method_num_steps.setter
-    def sim_method_num_steps(self, sim_method_num_steps):
-
-        # if isinstance(sim_method_num_steps, int):
-        #     self.__sim_method_num_steps = sim_method_num_steps
-        # else:
-        #     raise Exception('Invalid sim_method_num_steps value. sim_method_num_steps must be an integer.')
-        self.__sim_method_num_steps = sim_method_num_steps
-
-
-    @sim_method_newton_iter.setter
-    def sim_method_newton_iter(self, sim_method_newton_iter):
-
-        if isinstance(sim_method_newton_iter, int):
-            self.__sim_method_newton_iter = sim_method_newton_iter
-        else:
-            raise Exception('Invalid sim_method_newton_iter value. sim_method_newton_iter must be an integer.')
-
-    @sim_method_jac_reuse.setter
-    def sim_method_jac_reuse(self, sim_method_jac_reuse):
-        # if sim_method_jac_reuse in (True, False):
-        self.__sim_method_jac_reuse = sim_method_jac_reuse
-        # else:
-            # raise Exception('Invalid sim_method_jac_reuse value. sim_method_jac_reuse must be a Boolean.')
-
-    @nlp_solver_type.setter
-    def nlp_solver_type(self, nlp_solver_type):
-        nlp_solver_types = ('SQP', 'SQP_RTI')
-        if nlp_solver_type in nlp_solver_types:
-            self.__nlp_solver_type = nlp_solver_type
-        else:
-            raise Exception('Invalid nlp_solver_type value. Possible values are:\n\n' \
-                    + ',\n'.join(nlp_solver_types) + '.\n\nYou have: ' + nlp_solver_type + '.\n\n')
-
-    @nlp_solver_step_length.setter
-    def nlp_solver_step_length(self, nlp_solver_step_length):
-        if isinstance(nlp_solver_step_length, float) and nlp_solver_step_length > 0:
-            self.__nlp_solver_step_length = nlp_solver_step_length
-        else:
-            raise Exception('Invalid nlp_solver_step_length value. nlp_solver_step_length must be a positive float.')
-
-    @levenberg_marquardt.setter
-    def levenberg_marquardt(self, levenberg_marquardt):
-        if isinstance(levenberg_marquardt, float) and levenberg_marquardt >= 0:
-            self.__levenberg_marquardt = levenberg_marquardt
-        else:
-            raise Exception('Invalid levenberg_marquardt value. levenberg_marquardt must be a positive float.')
-
-    @qp_solver_iter_max.setter
-    def qp_solver_iter_max(self, qp_solver_iter_max):
-        if isinstance(qp_solver_iter_max, int) and qp_solver_iter_max > 0:
-            self.__qp_solver_iter_max = qp_solver_iter_max
-        else:
-            raise Exception('Invalid qp_solver_iter_max value. qp_solver_iter_max must be a positive int.')
-
-    @qp_solver_ric_alg.setter
-    def qp_solver_ric_alg(self, qp_solver_ric_alg):
-        if qp_solver_ric_alg in [0, 1]:
-            self.__qp_solver_ric_alg = qp_solver_ric_alg
-        else:
-            raise Exception(f'Invalid qp_solver_ric_alg value. qp_solver_ric_alg must be in [0, 1], got {qp_solver_ric_alg}.')
-
-    @qp_solver_cond_ric_alg.setter
-    def qp_solver_cond_ric_alg(self, qp_solver_cond_ric_alg):
-        if qp_solver_cond_ric_alg in [0, 1]:
-            self.__qp_solver_cond_ric_alg = qp_solver_cond_ric_alg
-        else:
-            raise Exception(f'Invalid qp_solver_cond_ric_alg value. qp_solver_cond_ric_alg must be in [0, 1], got {qp_solver_cond_ric_alg}.')
-
-
-    @qp_solver_cond_N.setter
-    def qp_solver_cond_N(self, qp_solver_cond_N):
-        if isinstance(qp_solver_cond_N, int) and qp_solver_cond_N >= 0:
-            self.__qp_solver_cond_N = qp_solver_cond_N
-        else:
-            raise Exception('Invalid qp_solver_cond_N value. qp_solver_cond_N must be a positive int.')
-
-    @qp_solver_warm_start.setter
-    def qp_solver_warm_start(self, qp_solver_warm_start):
-        if qp_solver_warm_start in [0, 1, 2]:
-            self.__qp_solver_warm_start = qp_solver_warm_start
-        else:
-            raise Exception('Invalid qp_solver_warm_start value. qp_solver_warm_start must be 0 or 1 or 2.')
-
-    @qp_tol.setter
-    def qp_tol(self, qp_tol):
-        if isinstance(qp_tol, float) and qp_tol > 0:
-            self.__qp_solver_tol_eq = qp_tol
-            self.__qp_solver_tol_ineq = qp_tol
-            self.__qp_solver_tol_stat = qp_tol
-            self.__qp_solver_tol_comp = qp_tol
-        else:
-            raise Exception('Invalid qp_tol value. qp_tol must be a positive float.')
-
-    @qp_solver_tol_stat.setter
-    def qp_solver_tol_stat(self, qp_solver_tol_stat):
-        if isinstance(qp_solver_tol_stat, float) and qp_solver_tol_stat > 0:
-            self.__qp_solver_tol_stat = qp_solver_tol_stat
-        else:
-            raise Exception('Invalid qp_solver_tol_stat value. qp_solver_tol_stat must be a positive float.')
-
-    @qp_solver_tol_eq.setter
-    def qp_solver_tol_eq(self, qp_solver_tol_eq):
-        if isinstance(qp_solver_tol_eq, float) and qp_solver_tol_eq > 0:
-            self.__qp_solver_tol_eq = qp_solver_tol_eq
-        else:
-            raise Exception('Invalid qp_solver_tol_eq value. qp_solver_tol_eq must be a positive float.')
-
-    @qp_solver_tol_ineq.setter
-    def qp_solver_tol_ineq(self, qp_solver_tol_ineq):
-        if isinstance(qp_solver_tol_ineq, float) and qp_solver_tol_ineq > 0:
-            self.__qp_solver_tol_ineq = qp_solver_tol_ineq
-        else:
-            raise Exception('Invalid qp_solver_tol_ineq value. qp_solver_tol_ineq must be a positive float.')
-
-    @qp_solver_tol_comp.setter
-    def qp_solver_tol_comp(self, qp_solver_tol_comp):
-        if isinstance(qp_solver_tol_comp, float) and qp_solver_tol_comp > 0:
-            self.__qp_solver_tol_comp = qp_solver_tol_comp
-        else:
-            raise Exception('Invalid qp_solver_tol_comp value. qp_solver_tol_comp must be a positive float.')
-
-    @tol.setter
-    def tol(self, tol):
-        if isinstance(tol, float) and tol > 0:
-            self.__nlp_solver_tol_eq = tol
-            self.__nlp_solver_tol_ineq = tol
-            self.__nlp_solver_tol_stat = tol
-            self.__nlp_solver_tol_comp = tol
-        else:
-            raise Exception('Invalid tol value. tol must be a positive float.')
-
-    @nlp_solver_tol_stat.setter
-    def nlp_solver_tol_stat(self, nlp_solver_tol_stat):
-        if isinstance(nlp_solver_tol_stat, float) and nlp_solver_tol_stat > 0:
-            self.__nlp_solver_tol_stat = nlp_solver_tol_stat
-        else:
-            raise Exception('Invalid nlp_solver_tol_stat value. nlp_solver_tol_stat must be a positive float.')
-
-    @nlp_solver_tol_eq.setter
-    def nlp_solver_tol_eq(self, nlp_solver_tol_eq):
-        if isinstance(nlp_solver_tol_eq, float) and nlp_solver_tol_eq > 0:
-            self.__nlp_solver_tol_eq = nlp_solver_tol_eq
-        else:
-            raise Exception('Invalid nlp_solver_tol_eq value. nlp_solver_tol_eq must be a positive float.')
-
-    @nlp_solver_tol_ineq.setter
-    def nlp_solver_tol_ineq(self, nlp_solver_tol_ineq):
-        if isinstance(nlp_solver_tol_ineq, float) and nlp_solver_tol_ineq > 0:
-            self.__nlp_solver_tol_ineq = nlp_solver_tol_ineq
-        else:
-            raise Exception('Invalid nlp_solver_tol_ineq value. nlp_solver_tol_ineq must be a positive float.')
-
-    @nlp_solver_ext_qp_res.setter
-    def nlp_solver_ext_qp_res(self, nlp_solver_ext_qp_res):
-        if nlp_solver_ext_qp_res in [0, 1]:
-            self.__nlp_solver_ext_qp_res = nlp_solver_ext_qp_res
-        else:
-            raise Exception('Invalid nlp_solver_ext_qp_res value. nlp_solver_ext_qp_res must be in [0, 1].')
-
-    @nlp_solver_tol_comp.setter
-    def nlp_solver_tol_comp(self, nlp_solver_tol_comp):
-        if isinstance(nlp_solver_tol_comp, float) and nlp_solver_tol_comp > 0:
-            self.__nlp_solver_tol_comp = nlp_solver_tol_comp
-        else:
-            raise Exception('Invalid nlp_solver_tol_comp value. nlp_solver_tol_comp must be a positive float.')
-
-    @nlp_solver_max_iter.setter
-    def nlp_solver_max_iter(self, nlp_solver_max_iter):
-
-        if isinstance(nlp_solver_max_iter, int) and nlp_solver_max_iter > 0:
-            self.__nlp_solver_max_iter = nlp_solver_max_iter
-        else:
-            raise Exception('Invalid nlp_solver_max_iter value. nlp_solver_max_iter must be a positive int.')
-
-    @print_level.setter
-    def print_level(self, print_level):
-        if isinstance(print_level, int) and print_level >= 0:
-            self.__print_level = print_level
-        else:
-            raise Exception('Invalid print_level value. print_level takes one of the values >=0.')
-
-    @model_external_shared_lib_dir.setter
-    def model_external_shared_lib_dir(self, model_external_shared_lib_dir):
-        if isinstance(model_external_shared_lib_dir, str) :
-            self.__model_external_shared_lib_dir = model_external_shared_lib_dir
-        else:
-            raise Exception('Invalid model_external_shared_lib_dir value. Str expected.' \
-            + '.\n\nYou have: ' + type(model_external_shared_lib_dir) + '.\n\n')
-
-    @model_external_shared_lib_name.setter
-    def model_external_shared_lib_name(self, model_external_shared_lib_name):
-        if isinstance(model_external_shared_lib_name, str) :
-            if model_external_shared_lib_name[-3:] == '.so' : 
-                raise Exception('Invalid model_external_shared_lib_name value. Remove the .so extension.' \
-            + '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\n')
-            else :
-                self.__model_external_shared_lib_name = model_external_shared_lib_name
-        else:
-            raise Exception('Invalid model_external_shared_lib_name value. Str expected.' \
-            + '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\n')
-
-    @exact_hess_constr.setter
-    def exact_hess_constr(self, exact_hess_constr):
-        if exact_hess_constr in [0, 1]:
-            self.__exact_hess_constr = exact_hess_constr
-        else:
-            raise Exception('Invalid exact_hess_constr value. exact_hess_constr takes one of the values 0, 1.')
-
-    @exact_hess_cost.setter
-    def exact_hess_cost(self, exact_hess_cost):
-        if exact_hess_cost in [0, 1]:
-            self.__exact_hess_cost = exact_hess_cost
-        else:
-            raise Exception('Invalid exact_hess_cost value. exact_hess_cost takes one of the values 0, 1.')
-
-    @exact_hess_dyn.setter
-    def exact_hess_dyn(self, exact_hess_dyn):
-        if exact_hess_dyn in [0, 1]:
-            self.__exact_hess_dyn = exact_hess_dyn
-        else:
-            raise Exception('Invalid exact_hess_dyn value. exact_hess_dyn takes one of the values 0, 1.')
-
-    @ext_cost_num_hess.setter
-    def ext_cost_num_hess(self, ext_cost_num_hess):
-        if ext_cost_num_hess in [0, 1]:
-            self.__ext_cost_num_hess = ext_cost_num_hess
-        else:
-            raise Exception('Invalid ext_cost_num_hess value. ext_cost_num_hess takes one of the values 0, 1.')
-
-    def set(self, attr, value):
-        setattr(self, attr, value)
-
-
-class AcadosOcp:
-    """
-    Class containing the full description of the optimal control problem.
-    This object can be used to create an :py:class:`acados_template.acados_ocp_solver.AcadosOcpSolver`.
-
-    The class has the following properties that can be modified to formulate a specific OCP, see below:
-
-        - :py:attr:`dims` of type :py:class:`acados_template.acados_ocp.AcadosOcpDims`
-        - :py:attr:`model` of type :py:class:`acados_template.acados_model.AcadosModel`
-        - :py:attr:`cost` of type :py:class:`acados_template.acados_ocp.AcadosOcpCost`
-        - :py:attr:`constraints` of type :py:class:`acados_template.acados_ocp.AcadosOcpConstraints`
-        - :py:attr:`solver_options` of type :py:class:`acados_template.acados_ocp.AcadosOcpOptions`
-
-        - :py:attr:`acados_include_path` (set automatically)
-        - :py:attr:`shared_lib_ext` (set automatically)
-        - :py:attr:`acados_lib_path` (set automatically)
-        - :py:attr:`parameter_values` - used to initialize the parameters (can be changed)
-    """
-    def __init__(self, acados_path=''):
-        """
-        Keyword arguments:
-        acados_path -- path of your acados installation
-        """
-        if acados_path == '':
-            acados_path = get_acados_path()
-
-        self.dims = AcadosOcpDims()
-        """Dimension definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpDims`"""
-        self.model = AcadosModel()
-        """Model definitions, type :py:class:`acados_template.acados_model.AcadosModel`"""
-        self.cost = AcadosOcpCost()
-        """Cost definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpCost`"""
-        self.constraints = AcadosOcpConstraints()
-        """Constraints definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpConstraints`"""
-        self.solver_options = AcadosOcpOptions()
-        """Solver Options, type :py:class:`acados_template.acados_ocp.AcadosOcpOptions`"""
-
-        self.acados_include_path = os.path.join(acados_path, 'include').replace(os.sep, '/') # the replace part is important on Windows for CMake
-        """Path to acados include directory (set automatically), type: `string`"""
-        self.acados_lib_path = os.path.join(acados_path, 'lib').replace(os.sep, '/') # the replace part is important on Windows for CMake
-        """Path to where acados library is located, type: `string`"""
-        self.shared_lib_ext = get_lib_ext()
-
-        # get cython paths
-        from sysconfig import get_paths
-        self.cython_include_dirs = [np.get_include(), get_paths()['include']]
-
-        self.__parameter_values = np.array([])
-        self.__problem_class = 'OCP'
-
-        self.code_export_directory = 'c_generated_code'
-        """Path to where code will be exported. Default: `c_generated_code`."""
-
-    @property
-    def parameter_values(self):
-        """:math:`p` - initial values for parameter - can be updated stagewise"""
-        return self.__parameter_values
-
-    @parameter_values.setter
-    def parameter_values(self, parameter_values):
-        if isinstance(parameter_values, np.ndarray):
-            self.__parameter_values = parameter_values
-        else:
-            raise Exception('Invalid parameter_values value. ' +
-                            f'Expected numpy array, got {type(parameter_values)}.')
-
-    def set(self, attr, value):
-        # tokenize string
-        tokens = attr.split('_', 1)
-        if len(tokens) > 1:
-            setter_to_call = getattr(getattr(self, tokens[0]), 'set')
-        else:
-            setter_to_call = getattr(self, 'set')
-
-        setter_to_call(tokens[1], value)
-
-        return
diff --git a/third_party/acados/acados_template/acados_ocp_solver.py b/third_party/acados/acados_template/acados_ocp_solver.py
deleted file mode 100644
index 229bdf60398e58..00000000000000
--- a/third_party/acados/acados_template/acados_ocp_solver.py
+++ /dev/null
@@ -1,1990 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import sys
-import os
-import json
-import numpy as np
-from datetime import datetime
-import importlib
-import shutil
-
-from subprocess import DEVNULL, call, STDOUT
-
-from ctypes import POINTER, cast, CDLL, c_void_p, c_char_p, c_double, c_int, c_int64, byref
-
-from copy import deepcopy
-from pathlib import Path
-
-from .casadi_function_generation import generate_c_code_explicit_ode, \
-    generate_c_code_implicit_ode, generate_c_code_gnsf, generate_c_code_discrete_dynamics, \
-    generate_c_code_constraint, generate_c_code_nls_cost, generate_c_code_conl_cost, \
-    generate_c_code_external_cost
-from .gnsf.detect_gnsf_structure import detect_gnsf_structure
-from .acados_ocp import AcadosOcp
-from .acados_model import AcadosModel
-from .utils import is_column, is_empty, casadi_length, render_template,\
-     format_class_dict, make_object_json_dumpable, make_model_consistent,\
-     set_up_imported_gnsf_model, get_ocp_nlp_layout, get_python_interface_path, get_lib_ext, check_casadi_version
-from .builders import CMakeBuilder
-
-
-def make_ocp_dims_consistent(acados_ocp: AcadosOcp):
-    dims = acados_ocp.dims
-    cost = acados_ocp.cost
-    constraints = acados_ocp.constraints
-    model = acados_ocp.model
-    opts = acados_ocp.solver_options
-
-    # nx
-    if is_column(model.x):
-        dims.nx = casadi_length(model.x)
-    else:
-        raise Exception('model.x should be column vector!')
-
-    # nu
-    if is_empty(model.u):
-        dims.nu = 0
-    else:
-        dims.nu = casadi_length(model.u)
-
-    # nz
-    if is_empty(model.z):
-        dims.nz = 0
-    else:
-        dims.nz = casadi_length(model.z)
-
-    # np
-    if is_empty(model.p):
-        dims.np = 0
-    else:
-        dims.np = casadi_length(model.p)
-    if acados_ocp.parameter_values.shape[0] != dims.np:
-        raise Exception('inconsistent dimension np, regarding model.p and parameter_values.' + \
-            f'\nGot np = {dims.np}, acados_ocp.parameter_values.shape = {acados_ocp.parameter_values.shape[0]}\n')
-
-    ## cost
-    # initial stage - if not set, copy fields from path constraints
-    if cost.cost_type_0 is None:
-        cost.cost_type_0 = cost.cost_type
-        cost.W_0 = cost.W
-        cost.Vx_0 = cost.Vx
-        cost.Vu_0 = cost.Vu
-        cost.Vz_0 = cost.Vz
-        cost.yref_0 = cost.yref
-        cost.cost_ext_fun_type_0 = cost.cost_ext_fun_type
-        model.cost_y_expr_0 = model.cost_y_expr
-        model.cost_expr_ext_cost_0 = model.cost_expr_ext_cost
-        model.cost_expr_ext_cost_custom_hess_0 = model.cost_expr_ext_cost_custom_hess
-
-        model.cost_psi_expr_0 = model.cost_psi_expr
-        model.cost_r_in_psi_expr_0 = model.cost_r_in_psi_expr
-
-    if cost.cost_type_0 == 'LINEAR_LS':
-        ny_0 = cost.W_0.shape[0]
-        if cost.Vx_0.shape[0] != ny_0 or cost.Vu_0.shape[0] != ny_0:
-            raise Exception('inconsistent dimension ny_0, regarding W_0, Vx_0, Vu_0.' + \
-                            f'\nGot W_0[{cost.W_0.shape}], Vx_0[{cost.Vx_0.shape}], Vu_0[{cost.Vu_0.shape}]\n')
-        if dims.nz != 0 and cost.Vz_0.shape[0] != ny_0:
-            raise Exception('inconsistent dimension ny_0, regarding W_0, Vx_0, Vu_0, Vz_0.' + \
-                            f'\nGot W_0[{cost.W_0.shape}], Vx_0[{cost.Vx_0.shape}], Vu_0[{cost.Vu_0.shape}], Vz_0[{cost.Vz_0.shape}]\n')
-        if cost.Vx_0.shape[1] != dims.nx and ny_0 != 0:
-            raise Exception('inconsistent dimension: Vx_0 should have nx columns.')
-        if cost.Vu_0.shape[1] != dims.nu and ny_0 != 0:
-            raise Exception('inconsistent dimension: Vu_0 should have nu columns.')
-        if cost.yref_0.shape[0] != ny_0:
-            raise Exception('inconsistent dimension: regarding W_0, yref_0.' + \
-                            f'\nGot W_0[{cost.W_0.shape}], yref_0[{cost.yref_0.shape}]\n')
-        dims.ny_0 = ny_0
-
-    elif cost.cost_type_0 == 'NONLINEAR_LS':
-        ny_0 = cost.W_0.shape[0]
-        if is_empty(model.cost_y_expr_0) and ny_0 != 0:
-            raise Exception('inconsistent dimension ny_0: regarding W_0, cost_y_expr.')
-        elif casadi_length(model.cost_y_expr_0) != ny_0:
-            raise Exception('inconsistent dimension ny_0: regarding W_0, cost_y_expr.')
-        if cost.yref_0.shape[0] != ny_0:
-            raise Exception('inconsistent dimension: regarding W_0, yref_0.' + \
-                            f'\nGot W_0[{cost.W.shape}], yref_0[{cost.yref_0.shape}]\n')
-        dims.ny_0 = ny_0
-
-    elif cost.cost_type_0 == 'CONVEX_OVER_NONLINEAR':
-        if is_empty(model.cost_y_expr_0):
-            raise Exception('cost_y_expr_0 and/or cost_y_expr not provided.')
-        ny_0 = casadi_length(model.cost_y_expr_0)
-        if is_empty(model.cost_r_in_psi_expr_0) or casadi_length(model.cost_r_in_psi_expr_0) != ny_0:
-            raise Exception('inconsistent dimension ny_0: regarding cost_y_expr_0 and cost_r_in_psi_0.')
-        if is_empty(model.cost_psi_expr_0) or casadi_length(model.cost_psi_expr_0) != 1:
-            raise Exception('cost_psi_expr_0 not provided or not scalar-valued.')
-        if cost.yref_0.shape[0] != ny_0:
-            raise Exception('inconsistent dimension: regarding yref_0 and cost_y_expr_0, cost_r_in_psi_0.')
-        dims.ny_0 = ny_0
-
-        if not (opts.hessian_approx=='EXACT' and opts.exact_hess_cost==False) and opts.hessian_approx != 'GAUSS_NEWTON':
-            raise Exception("\nWith CONVEX_OVER_NONLINEAR cost type, possible Hessian approximations are:\n"
-            "GAUSS_NEWTON or EXACT with 'exact_hess_cost' == False.\n")
-
-    elif cost.cost_type_0 == 'EXTERNAL':
-        if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess_0 is None:
-            print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n"
-            "got cost_type_0: EXTERNAL, hessian_approx: 'GAUSS_NEWTON.'\n"
-            "GAUSS_NEWTON hessian is only supported for cost_types [NON]LINEAR_LS.\n"
-            "If you continue, acados will proceed computing the exact hessian for the cost term.\n"
-            "Note: There is also the option to use the external cost module with a numerical hessian approximation (see `ext_cost_num_hess`).\n"
-            "OR the option to provide a symbolic custom hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n")
-
-    # path
-    if cost.cost_type == 'LINEAR_LS':
-        ny = cost.W.shape[0]
-        if cost.Vx.shape[0] != ny or cost.Vu.shape[0] != ny:
-            raise Exception('inconsistent dimension ny, regarding W, Vx, Vu.' + \
-                            f'\nGot W[{cost.W.shape}], Vx[{cost.Vx.shape}], Vu[{cost.Vu.shape}]\n')
-        if dims.nz != 0 and cost.Vz.shape[0] != ny:
-            raise Exception('inconsistent dimension ny, regarding W, Vx, Vu, Vz.' + \
-                            f'\nGot W[{cost.W.shape}], Vx[{cost.Vx.shape}], Vu[{cost.Vu.shape}], Vz[{cost.Vz.shape}]\n')
-        if cost.Vx.shape[1] != dims.nx and ny != 0:
-            raise Exception('inconsistent dimension: Vx should have nx columns.')
-        if cost.Vu.shape[1] != dims.nu and ny != 0:
-            raise Exception('inconsistent dimension: Vu should have nu columns.')
-        if cost.yref.shape[0] != ny:
-            raise Exception('inconsistent dimension: regarding W, yref.' + \
-                            f'\nGot W[{cost.W.shape}], yref[{cost.yref.shape}]\n')
-        dims.ny = ny
-
-    elif cost.cost_type == 'NONLINEAR_LS':
-        ny = cost.W.shape[0]
-        if is_empty(model.cost_y_expr) and ny != 0:
-            raise Exception('inconsistent dimension ny: regarding W, cost_y_expr.')
-        elif casadi_length(model.cost_y_expr) != ny:
-            raise Exception('inconsistent dimension ny: regarding W, cost_y_expr.')
-        if cost.yref.shape[0] != ny:
-            raise Exception('inconsistent dimension: regarding W, yref.' + \
-                            f'\nGot W[{cost.W.shape}], yref[{cost.yref.shape}]\n')
-        dims.ny = ny
-
-    elif cost.cost_type == 'CONVEX_OVER_NONLINEAR':
-        if is_empty(model.cost_y_expr):
-            raise Exception('cost_y_expr and/or cost_y_expr not provided.')
-        ny = casadi_length(model.cost_y_expr)
-        if is_empty(model.cost_r_in_psi_expr) or casadi_length(model.cost_r_in_psi_expr) != ny:
-            raise Exception('inconsistent dimension ny: regarding cost_y_expr and cost_r_in_psi.')
-        if is_empty(model.cost_psi_expr) or casadi_length(model.cost_psi_expr) != 1:
-            raise Exception('cost_psi_expr not provided or not scalar-valued.')
-        if cost.yref.shape[0] != ny:
-            raise Exception('inconsistent dimension: regarding yref and cost_y_expr, cost_r_in_psi.')
-        dims.ny = ny
-
-        if not (opts.hessian_approx=='EXACT' and opts.exact_hess_cost==False) and opts.hessian_approx != 'GAUSS_NEWTON':
-            raise Exception("\nWith CONVEX_OVER_NONLINEAR cost type, possible Hessian approximations are:\n"
-            "GAUSS_NEWTON or EXACT with 'exact_hess_cost' == False.\n")
-
-
-    elif cost.cost_type == 'EXTERNAL':
-        if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess is None:
-            print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n"
-            "got cost_type: EXTERNAL, hessian_approx: 'GAUSS_NEWTON.'\n"
-            "GAUSS_NEWTON hessian is only supported for cost_types [NON]LINEAR_LS.\n"
-            "If you continue, acados will proceed computing the exact hessian for the cost term.\n"
-            "Note: There is also the option to use the external cost module with a numerical hessian approximation (see `ext_cost_num_hess`).\n"
-            "OR the option to provide a symbolic custom hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n")
-
-    # terminal
-    if cost.cost_type_e == 'LINEAR_LS':
-        ny_e = cost.W_e.shape[0]
-        if cost.Vx_e.shape[0] != ny_e:
-            raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.' + \
-                f'\nGot W_e[{cost.W_e.shape}], Vx_e[{cost.Vx_e.shape}]')
-        if cost.Vx_e.shape[1] != dims.nx and ny_e != 0:
-            raise Exception('inconsistent dimension: Vx_e should have nx columns.')
-        if cost.yref_e.shape[0] != ny_e:
-            raise Exception('inconsistent dimension: regarding W_e, yref_e.')
-        dims.ny_e = ny_e
-
-    elif cost.cost_type_e == 'NONLINEAR_LS':
-        ny_e = cost.W_e.shape[0]
-        if is_empty(model.cost_y_expr_e) and ny_e != 0:
-            raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.')
-        elif casadi_length(model.cost_y_expr_e) != ny_e:
-            raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.')
-        if cost.yref_e.shape[0] != ny_e:
-            raise Exception('inconsistent dimension: regarding W_e, yref_e.')
-        dims.ny_e = ny_e
-
-    elif cost.cost_type_e == 'CONVEX_OVER_NONLINEAR':
-        if is_empty(model.cost_y_expr_e):
-            raise Exception('cost_y_expr_e not provided.')
-        ny_e = casadi_length(model.cost_y_expr_e)
-        if is_empty(model.cost_r_in_psi_expr_e) or casadi_length(model.cost_r_in_psi_expr_e) != ny_e:
-            raise Exception('inconsistent dimension ny_e: regarding cost_y_expr_e and cost_r_in_psi_e.')
-        if is_empty(model.cost_psi_expr_e) or casadi_length(model.cost_psi_expr_e) != 1:
-            raise Exception('cost_psi_expr_e not provided or not scalar-valued.')
-        if cost.yref_e.shape[0] != ny_e:
-            raise Exception('inconsistent dimension: regarding yref_e and cost_y_expr_e, cost_r_in_psi_e.')
-        dims.ny_e = ny_e
-
-        if not (opts.hessian_approx=='EXACT' and opts.exact_hess_cost==False) and opts.hessian_approx != 'GAUSS_NEWTON':
-            raise Exception("\nWith CONVEX_OVER_NONLINEAR cost type, possible Hessian approximations are:\n"
-            "GAUSS_NEWTON or EXACT with 'exact_hess_cost' == False.\n")
-
-
-
-    elif cost.cost_type_e == 'EXTERNAL':
-        if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess_e is None:
-            print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n"
-            "got cost_type_e: EXTERNAL, hessian_approx: 'GAUSS_NEWTON.'\n"
-            "GAUSS_NEWTON hessian is only supported for cost_types [NON]LINEAR_LS.\n"
-            "If you continue, acados will proceed computing the exact hessian for the cost term.\n"
-            "Note: There is also the option to use the external cost module with a numerical hessian approximation (see `ext_cost_num_hess`).\n"
-            "OR the option to provide a symbolic custom hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n")
-
-    ## constraints
-    # initial
-    this_shape = constraints.lbx_0.shape
-    other_shape = constraints.ubx_0.shape
-    if not this_shape == other_shape:
-        raise Exception('lbx_0, ubx_0 have different shapes!')
-    if not is_column(constraints.lbx_0):
-        raise Exception('lbx_0, ubx_0 must be column vectors!')
-    dims.nbx_0 = constraints.lbx_0.size
-
-    if all(constraints.lbx_0 == constraints.ubx_0) and dims.nbx_0 == dims.nx \
-        and dims.nbxe_0 is None \
-        and (constraints.idxbxe_0.shape == constraints.idxbx_0.shape)\
-            and all(constraints.idxbxe_0 == constraints.idxbx_0):
-        # case: x0 was set: nbx0 are all equlities.
-        dims.nbxe_0 = dims.nbx_0
-    elif constraints.idxbxe_0 is not None:
-        dims.nbxe_0 = constraints.idxbxe_0.shape[0]
-    elif dims.nbxe_0 is None:
-        # case: x0 and idxbxe_0 were not set -> dont assume nbx0 to be equality constraints.
-        dims.nbxe_0 = 0
-
-    # path
-    nbx = constraints.idxbx.shape[0]
-    if constraints.ubx.shape[0] != nbx or constraints.lbx.shape[0] != nbx:
-        raise Exception('inconsistent dimension nbx, regarding idxbx, ubx, lbx.')
-    else:
-        dims.nbx = nbx
-
-    nbu = constraints.idxbu.shape[0]
-    if constraints.ubu.shape[0] != nbu or constraints.lbu.shape[0] != nbu:
-        raise Exception('inconsistent dimension nbu, regarding idxbu, ubu, lbu.')
-    else:
-        dims.nbu = nbu
-
-    ng = constraints.lg.shape[0]
-    if constraints.ug.shape[0] != ng or constraints.C.shape[0] != ng \
-       or constraints.D.shape[0] != ng:
-        raise Exception('inconsistent dimension ng, regarding lg, ug, C, D.')
-    else:
-        dims.ng = ng
-
-    if not is_empty(model.con_h_expr):
-        nh = casadi_length(model.con_h_expr)
-    else:
-        nh = 0
-
-    if constraints.uh.shape[0] != nh or constraints.lh.shape[0] != nh:
-        raise Exception('inconsistent dimension nh, regarding lh, uh, con_h_expr.')
-    else:
-        dims.nh = nh
-
-    if is_empty(model.con_phi_expr):
-        dims.nphi = 0
-        dims.nr = 0
-    else:
-        dims.nphi = casadi_length(model.con_phi_expr)
-        if is_empty(model.con_r_expr):
-            raise Exception('convex over nonlinear constraints: con_r_expr but con_phi_expr is nonempty')
-        else:
-            dims.nr = casadi_length(model.con_r_expr)
-
-    # terminal
-    nbx_e = constraints.idxbx_e.shape[0]
-    if constraints.ubx_e.shape[0] != nbx_e or constraints.lbx_e.shape[0] != nbx_e:
-        raise Exception('inconsistent dimension nbx_e, regarding idxbx_e, ubx_e, lbx_e.')
-    else:
-        dims.nbx_e = nbx_e
-
-    ng_e = constraints.lg_e.shape[0]
-    if constraints.ug_e.shape[0] != ng_e or constraints.C_e.shape[0] != ng_e:
-        raise Exception('inconsistent dimension ng_e, regarding_e lg_e, ug_e, C_e.')
-    else:
-        dims.ng_e = ng_e
-
-    if not is_empty(model.con_h_expr_e):
-        nh_e = casadi_length(model.con_h_expr_e)
-    else:
-        nh_e = 0
-
-    if constraints.uh_e.shape[0] != nh_e or constraints.lh_e.shape[0] != nh_e:
-        raise Exception('inconsistent dimension nh_e, regarding lh_e, uh_e, con_h_expr_e.')
-    else:
-        dims.nh_e = nh_e
-
-    if is_empty(model.con_phi_expr_e):
-        dims.nphi_e = 0
-        dims.nr_e = 0
-    else:
-        dims.nphi_e = casadi_length(model.con_phi_expr_e)
-        if is_empty(model.con_r_expr_e):
-            raise Exception('convex over nonlinear constraints: con_r_expr_e but con_phi_expr_e is nonempty')
-        else:
-            dims.nr_e = casadi_length(model.con_r_expr_e)
-
-    # Slack dimensions
-    nsbx = constraints.idxsbx.shape[0]
-    if nsbx > nbx:
-        raise Exception(f'inconsistent dimension nsbx = {nsbx}. Is greater than nbx = {nbx}.')
-    if is_empty(constraints.lsbx):
-        constraints.lsbx = np.zeros((nsbx,))
-    elif constraints.lsbx.shape[0] != nsbx:
-        raise Exception('inconsistent dimension nsbx, regarding idxsbx, lsbx.')
-    if is_empty(constraints.usbx):
-        constraints.usbx = np.zeros((nsbx,))
-    elif constraints.usbx.shape[0] != nsbx:
-        raise Exception('inconsistent dimension nsbx, regarding idxsbx, usbx.')
-    dims.nsbx = nsbx
-
-    nsbu = constraints.idxsbu.shape[0]
-    if nsbu > nbu:
-        raise Exception(f'inconsistent dimension nsbu = {nsbu}. Is greater than nbu = {nbu}.')
-    if is_empty(constraints.lsbu):
-        constraints.lsbu = np.zeros((nsbu,))
-    elif constraints.lsbu.shape[0] != nsbu:
-        raise Exception('inconsistent dimension nsbu, regarding idxsbu, lsbu.')
-    if is_empty(constraints.usbu):
-        constraints.usbu = np.zeros((nsbu,))
-    elif constraints.usbu.shape[0] != nsbu:
-        raise Exception('inconsistent dimension nsbu, regarding idxsbu, usbu.')
-    dims.nsbu = nsbu
-
-    nsh = constraints.idxsh.shape[0]
-    if nsh > nh:
-        raise Exception(f'inconsistent dimension nsh = {nsh}. Is greater than nh = {nh}.')
-    if is_empty(constraints.lsh):
-        constraints.lsh = np.zeros((nsh,))
-    elif constraints.lsh.shape[0] != nsh:
-        raise Exception('inconsistent dimension nsh, regarding idxsh, lsh.')
-    if is_empty(constraints.ush):
-        constraints.ush = np.zeros((nsh,))
-    elif constraints.ush.shape[0] != nsh:
-        raise Exception('inconsistent dimension nsh, regarding idxsh, ush.')
-    dims.nsh = nsh
-
-    nsphi = constraints.idxsphi.shape[0]
-    if nsphi > dims.nphi:
-        raise Exception(f'inconsistent dimension nsphi = {nsphi}. Is greater than nphi = {dims.nphi}.')
-    if is_empty(constraints.lsphi):
-        constraints.lsphi = np.zeros((nsphi,))
-    elif constraints.lsphi.shape[0] != nsphi:
-        raise Exception('inconsistent dimension nsphi, regarding idxsphi, lsphi.')
-    if is_empty(constraints.usphi):
-        constraints.usphi = np.zeros((nsphi,))
-    elif constraints.usphi.shape[0] != nsphi:
-        raise Exception('inconsistent dimension nsphi, regarding idxsphi, usphi.')
-    dims.nsphi = nsphi
-
-    nsg = constraints.idxsg.shape[0]
-    if nsg > ng:
-        raise Exception(f'inconsistent dimension nsg = {nsg}. Is greater than ng = {ng}.')
-    if is_empty(constraints.lsg):
-        constraints.lsg = np.zeros((nsg,))
-    elif constraints.lsg.shape[0] != nsg:
-        raise Exception('inconsistent dimension nsg, regarding idxsg, lsg.')
-    if is_empty(constraints.usg):
-        constraints.usg = np.zeros((nsg,))
-    elif constraints.usg.shape[0] != nsg:
-        raise Exception('inconsistent dimension nsg, regarding idxsg, usg.')
-    dims.nsg = nsg
-
-    ns = nsbx + nsbu + nsh + nsg + nsphi
-    wrong_field = ""
-    if cost.Zl.shape[0] != ns:
-        wrong_field = "Zl"
-        dim = cost.Zl.shape[0]
-    elif cost.Zu.shape[0] != ns:
-        wrong_field = "Zu"
-        dim = cost.Zu.shape[0]
-    elif cost.zl.shape[0] != ns:
-        wrong_field = "zl"
-        dim = cost.zl.shape[0]
-    elif cost.zu.shape[0] != ns:
-        wrong_field = "zu"
-        dim = cost.zu.shape[0]
-
-    if wrong_field != "":
-        raise Exception(f'Inconsistent size for field {wrong_field}, with dimension {dim}, \n\t'\
-            + f'Detected ns = {ns} = nsbx + nsbu + nsg + nsh + nsphi.\n\t'\
-            + f'With nsbx = {nsbx}, nsbu = {nsbu}, nsg = {nsg}, nsh = {nsh}, nsphi = {nsphi}')
-
-    dims.ns = ns
-
-    nsbx_e = constraints.idxsbx_e.shape[0]
-    if nsbx_e > nbx_e:
-        raise Exception(f'inconsistent dimension nsbx_e = {nsbx_e}. Is greater than nbx_e = {nbx_e}.')
-    if is_empty(constraints.lsbx_e):
-        constraints.lsbx_e = np.zeros((nsbx_e,))
-    elif constraints.lsbx_e.shape[0] != nsbx_e:
-        raise Exception('inconsistent dimension nsbx_e, regarding idxsbx_e, lsbx_e.')
-    if is_empty(constraints.usbx_e):
-        constraints.usbx_e = np.zeros((nsbx_e,))
-    elif constraints.usbx_e.shape[0] != nsbx_e:
-        raise Exception('inconsistent dimension nsbx_e, regarding idxsbx_e, usbx_e.')
-    dims.nsbx_e = nsbx_e
-
-    nsh_e = constraints.idxsh_e.shape[0]
-    if nsh_e > nh_e:
-        raise Exception(f'inconsistent dimension nsh_e = {nsh_e}. Is greater than nh_e = {nh_e}.')
-    if is_empty(constraints.lsh_e):
-        constraints.lsh_e = np.zeros((nsh_e,))
-    elif constraints.lsh_e.shape[0] != nsh_e:
-        raise Exception('inconsistent dimension nsh_e, regarding idxsh_e, lsh_e.')
-    if is_empty(constraints.ush_e):
-        constraints.ush_e = np.zeros((nsh_e,))
-    elif constraints.ush_e.shape[0] != nsh_e:
-        raise Exception('inconsistent dimension nsh_e, regarding idxsh_e, ush_e.')
-    dims.nsh_e = nsh_e
-
-    nsg_e = constraints.idxsg_e.shape[0]
-    if nsg_e > ng_e:
-        raise Exception(f'inconsistent dimension nsg_e = {nsg_e}. Is greater than ng_e = {ng_e}.')
-    if is_empty(constraints.lsg_e):
-        constraints.lsg_e = np.zeros((nsg_e,))
-    elif constraints.lsg_e.shape[0] != nsg_e:
-        raise Exception('inconsistent dimension nsg_e, regarding idxsg_e, lsg_e.')
-    if is_empty(constraints.usg_e):
-        constraints.usg_e = np.zeros((nsg_e,))
-    elif constraints.usg_e.shape[0] != nsg_e:
-        raise Exception('inconsistent dimension nsg_e, regarding idxsg_e, usg_e.')
-    dims.nsg_e = nsg_e
-
-    nsphi_e = constraints.idxsphi_e.shape[0]
-    if nsphi_e > dims.nphi_e:
-        raise Exception(f'inconsistent dimension nsphi_e = {nsphi_e}. Is greater than nphi_e = {dims.nphi_e}.')
-    if is_empty(constraints.lsphi_e):
-        constraints.lsphi_e = np.zeros((nsphi_e,))
-    elif constraints.lsphi_e.shape[0] != nsphi_e:
-        raise Exception('inconsistent dimension nsphi_e, regarding idxsphi_e, lsphi_e.')
-    if is_empty(constraints.usphi_e):
-        constraints.usphi_e = np.zeros((nsphi_e,))
-    elif constraints.usphi_e.shape[0] != nsphi_e:
-        raise Exception('inconsistent dimension nsphi_e, regarding idxsphi_e, usphi_e.')
-    dims.nsphi_e = nsphi_e
-
-    # terminal
-    ns_e = nsbx_e + nsh_e + nsg_e + nsphi_e
-    wrong_field = ""
-    if cost.Zl_e.shape[0] != ns_e:
-        wrong_field = "Zl_e"
-        dim = cost.Zl_e.shape[0]
-    elif cost.Zu_e.shape[0] != ns_e:
-        wrong_field = "Zu_e"
-        dim = cost.Zu_e.shape[0]
-    elif cost.zl_e.shape[0] != ns_e:
-        wrong_field = "zl_e"
-        dim = cost.zl_e.shape[0]
-    elif cost.zu_e.shape[0] != ns_e:
-        wrong_field = "zu_e"
-        dim = cost.zu_e.shape[0]
-
-    if wrong_field != "":
-        raise Exception(f'Inconsistent size for field {wrong_field}, with dimension {dim}, \n\t'\
-            + f'Detected ns_e = {ns_e} = nsbx_e + nsg_e + nsh_e + nsphi_e.\n\t'\
-            + f'With nsbx_e = {nsbx_e}, nsg_e = {nsg_e}, nsh_e = {nsh_e}, nsphi_e = {nsphi_e}')
-
-    dims.ns_e = ns_e
-
-    # discretization
-    if is_empty(opts.time_steps) and is_empty(opts.shooting_nodes):
-        # uniform discretization
-        opts.time_steps = opts.tf / dims.N * np.ones((dims.N,))
-
-    elif not is_empty(opts.shooting_nodes):
-        if np.shape(opts.shooting_nodes)[0] != dims.N+1:
-            raise Exception('inconsistent dimension N, regarding shooting_nodes.')
-
-        time_steps = opts.shooting_nodes[1:] - opts.shooting_nodes[0:-1]
-        # identify constant time_steps: due to numerical reasons the content of time_steps might vary a bit
-        avg_time_steps = np.average(time_steps)
-        # criterion for constant time step detection: the min/max difference in values normalized by the average
-        check_const_time_step = (np.max(time_steps)-np.min(time_steps)) / avg_time_steps
-        # if the criterion is small, we have a constant time_step
-        if check_const_time_step < 1e-9:
-            time_steps[:] = avg_time_steps  # if we have a constant time_step: apply the average time_step
-
-        opts.time_steps = time_steps
-
-    elif (not is_empty(opts.time_steps)) and (not is_empty(opts.shooting_nodes)):
-        Exception('Please provide either time_steps or shooting_nodes for nonuniform discretization')
-
-    tf = np.sum(opts.time_steps)
-    if (tf - opts.tf) / tf > 1e-15:
-        raise Exception(f'Inconsistent discretization: {opts.tf}'\
-            f' = tf != sum(opts.time_steps) = {tf}.')
-
-    # num_steps
-    if isinstance(opts.sim_method_num_steps, np.ndarray) and opts.sim_method_num_steps.size == 1:
-        opts.sim_method_num_steps = opts.sim_method_num_steps.item()
-
-    if isinstance(opts.sim_method_num_steps, (int, float)) and opts.sim_method_num_steps % 1 == 0:
-        opts.sim_method_num_steps = opts.sim_method_num_steps * np.ones((dims.N,), dtype=np.int64)
-    elif isinstance(opts.sim_method_num_steps, np.ndarray) and opts.sim_method_num_steps.size == dims.N \
-           and np.all(np.equal(np.mod(opts.sim_method_num_steps, 1), 0)):
-        opts.sim_method_num_steps = np.reshape(opts.sim_method_num_steps, (dims.N,)).astype(np.int64)
-    else:
-        raise Exception("Wrong value for sim_method_num_steps. Should be either int or array of ints of shape (N,).")
-
-    # num_stages
-    if isinstance(opts.sim_method_num_stages, np.ndarray) and opts.sim_method_num_stages.size == 1:
-        opts.sim_method_num_stages = opts.sim_method_num_stages.item()
-
-    if isinstance(opts.sim_method_num_stages, (int, float)) and opts.sim_method_num_stages % 1 == 0:
-        opts.sim_method_num_stages = opts.sim_method_num_stages * np.ones((dims.N,), dtype=np.int64)
-    elif isinstance(opts.sim_method_num_stages, np.ndarray) and opts.sim_method_num_stages.size == dims.N \
-           and np.all(np.equal(np.mod(opts.sim_method_num_stages, 1), 0)):
-        opts.sim_method_num_stages = np.reshape(opts.sim_method_num_stages, (dims.N,)).astype(np.int64)
-    else:
-        raise Exception("Wrong value for sim_method_num_stages. Should be either int or array of ints of shape (N,).")
-
-    # jac_reuse
-    if isinstance(opts.sim_method_jac_reuse, np.ndarray) and opts.sim_method_jac_reuse.size == 1:
-        opts.sim_method_jac_reuse = opts.sim_method_jac_reuse.item()
-
-    if isinstance(opts.sim_method_jac_reuse, (int, float)) and opts.sim_method_jac_reuse % 1 == 0:
-        opts.sim_method_jac_reuse = opts.sim_method_jac_reuse * np.ones((dims.N,), dtype=np.int64)
-    elif isinstance(opts.sim_method_jac_reuse, np.ndarray) and opts.sim_method_jac_reuse.size == dims.N \
-           and np.all(np.equal(np.mod(opts.sim_method_jac_reuse, 1), 0)):
-        opts.sim_method_jac_reuse = np.reshape(opts.sim_method_jac_reuse, (dims.N,)).astype(np.int64)
-    else:
-        raise Exception("Wrong value for sim_method_jac_reuse. Should be either int or array of ints of shape (N,).")
-
-
-def get_simulink_default_opts():
-    python_interface_path = get_python_interface_path()
-    abs_path = os.path.join(python_interface_path, 'simulink_default_opts.json')
-    with open(abs_path , 'r') as f:
-        simulink_default_opts = json.load(f)
-    return simulink_default_opts
-
-
-def ocp_formulation_json_dump(acados_ocp, simulink_opts=None, json_file='acados_ocp_nlp.json'):
-    # Load acados_ocp_nlp structure description
-    ocp_layout = get_ocp_nlp_layout()
-
-    # Copy input ocp object dictionary
-    ocp_nlp_dict = dict(deepcopy(acados_ocp).__dict__)
-    # TODO: maybe make one function with formatting
-
-    for acados_struct, v in ocp_layout.items():
-        # skip non dict attributes
-        if not isinstance(v, dict):
-            continue
-        #  setattr(ocp_nlp, acados_struct, dict(getattr(acados_ocp, acados_struct).__dict__))
-        # Copy ocp object attributes dictionaries
-        ocp_nlp_dict[acados_struct]=dict(getattr(acados_ocp, acados_struct).__dict__)
-
-    ocp_nlp_dict = format_class_dict(ocp_nlp_dict)
-
-    if simulink_opts is not None:
-        ocp_nlp_dict['simulink_opts'] = simulink_opts
-
-    with open(json_file, 'w') as f:
-        json.dump(ocp_nlp_dict, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
-
-
-
-def ocp_formulation_json_load(json_file='acados_ocp_nlp.json'):
-    # Load acados_ocp_nlp structure description
-    ocp_layout = get_ocp_nlp_layout()
-
-    with open(json_file, 'r') as f:
-        ocp_nlp_json = json.load(f)
-
-    ocp_nlp_dict = json2dict(ocp_nlp_json, ocp_nlp_json['dims'])
-
-    # Instantiate AcadosOcp object
-    acados_ocp = AcadosOcp()
-
-    # load class dict
-    acados_ocp.__dict__ = ocp_nlp_dict
-
-    # load class attributes dict, dims, constraints, etc
-    for acados_struct, v in ocp_layout.items():
-        # skip non dict attributes
-        if not isinstance(v, dict):
-            continue
-        acados_attribute = getattr(acados_ocp, acados_struct)
-        acados_attribute.__dict__ = ocp_nlp_dict[acados_struct]
-        setattr(acados_ocp, acados_struct, acados_attribute)
-
-    return acados_ocp
-
-
-def ocp_generate_external_functions(acados_ocp: AcadosOcp, model: AcadosModel):
-
-    model = make_model_consistent(model)
-
-    if acados_ocp.solver_options.hessian_approx == 'EXACT':
-        opts = dict(generate_hess=1)
-    else:
-        opts = dict(generate_hess=0)
-
-    # create code_export_dir, model_dir
-    code_export_dir = acados_ocp.code_export_directory
-    opts['code_export_directory'] = code_export_dir
-    model_dir = os.path.join(code_export_dir, model.name + '_model')
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-
-    check_casadi_version()
-    # TODO: remove dir gen from all the generate_c_* functions
-    if acados_ocp.model.dyn_ext_fun_type == 'casadi':
-        if acados_ocp.solver_options.integrator_type == 'ERK':
-            generate_c_code_explicit_ode(model, opts)
-        elif acados_ocp.solver_options.integrator_type == 'IRK':
-            generate_c_code_implicit_ode(model, opts)
-        elif acados_ocp.solver_options.integrator_type == 'LIFTED_IRK':
-            generate_c_code_implicit_ode(model, opts)
-        elif acados_ocp.solver_options.integrator_type == 'GNSF':
-            generate_c_code_gnsf(model, opts)
-        elif acados_ocp.solver_options.integrator_type == 'DISCRETE':
-            generate_c_code_discrete_dynamics(model, opts)
-        else:
-            raise Exception("ocp_generate_external_functions: unknown integrator type.")
-    else:
-        target_location = os.path.join(code_export_dir, model_dir, model.dyn_generic_source)
-        shutil.copyfile(model.dyn_generic_source, target_location)
-
-    if acados_ocp.dims.nphi > 0 or acados_ocp.dims.nh > 0:
-        generate_c_code_constraint(model, model.name, False, opts)
-
-    if acados_ocp.dims.nphi_e > 0 or acados_ocp.dims.nh_e > 0:
-        generate_c_code_constraint(model, model.name, True, opts)
-
-    if acados_ocp.cost.cost_type_0 == 'NONLINEAR_LS':
-        generate_c_code_nls_cost(model, model.name, 'initial', opts)
-    elif acados_ocp.cost.cost_type_0 == 'CONVEX_OVER_NONLINEAR':
-        generate_c_code_conl_cost(model, model.name, 'initial', opts)
-    elif acados_ocp.cost.cost_type_0 == 'EXTERNAL':
-        generate_c_code_external_cost(model, 'initial', opts)
-
-    if acados_ocp.cost.cost_type == 'NONLINEAR_LS':
-        generate_c_code_nls_cost(model, model.name, 'path', opts)
-    elif acados_ocp.cost.cost_type == 'CONVEX_OVER_NONLINEAR':
-        generate_c_code_conl_cost(model, model.name, 'path', opts)
-    elif acados_ocp.cost.cost_type == 'EXTERNAL':
-        generate_c_code_external_cost(model, 'path', opts)
-
-    if acados_ocp.cost.cost_type_e == 'NONLINEAR_LS':
-        generate_c_code_nls_cost(model, model.name, 'terminal', opts)
-    elif acados_ocp.cost.cost_type_e == 'CONVEX_OVER_NONLINEAR':
-        generate_c_code_conl_cost(model, model.name, 'terminal', opts)
-    elif acados_ocp.cost.cost_type_e == 'EXTERNAL':
-        generate_c_code_external_cost(model, 'terminal', opts)
-
-
-def ocp_get_default_cmake_builder() -> CMakeBuilder:
-    """
-    If :py:class:`~acados_template.acados_ocp_solver.AcadosOcpSolver` is used with `CMake` this function returns a good first setting.
-    :return: default :py:class:`~acados_template.builders.CMakeBuilder`
-    """
-    cmake_builder = CMakeBuilder()
-    cmake_builder.options_on = ['BUILD_ACADOS_OCP_SOLVER_LIB']
-    return cmake_builder
-
-
-
-def ocp_render_templates(acados_ocp: AcadosOcp, json_file, cmake_builder=None, simulink_opts=None):
-
-    # setting up loader and environment
-    json_path = os.path.abspath(json_file)
-
-    if not os.path.exists(json_path):
-        raise Exception(f'Path "{json_path}" not found!')
-
-    # Render templates
-    template_list = __ocp_get_template_list(acados_ocp, cmake_builder=cmake_builder, simulink_opts=simulink_opts)
-    for tup in template_list:
-        if len(tup) > 2:
-            output_dir = tup[2]
-        else:
-            output_dir = acados_ocp.code_export_directory
-        render_template(tup[0], tup[1], output_dir, json_path)
-
-    # Custom templates
-    acados_template_path = os.path.dirname(os.path.abspath(__file__))
-    custom_template_glob = os.path.join(acados_template_path, 'custom_update_templates', '*')
-    for tup in acados_ocp.solver_options.custom_templates:
-        render_template(tup[0], tup[1], acados_ocp.code_export_directory, json_path, template_glob=custom_template_glob)
-
-    return
-
-
-
-def __ocp_get_template_list(acados_ocp: AcadosOcp, cmake_builder=None, simulink_opts=None) -> list:
-    """
-    returns a list of tuples in the form:
-    (input_filename, output_filname)
-    or
-    (input_filename, output_filname, output_directory)
-    """
-    name = acados_ocp.model.name
-    code_export_directory = acados_ocp.code_export_directory
-    template_list = []
-
-    template_list.append(('main.in.c', f'main_{name}.c'))
-    template_list.append(('acados_solver.in.c', f'acados_solver_{name}.c'))
-    template_list.append(('acados_solver.in.h', f'acados_solver_{name}.h'))
-    template_list.append(('acados_solver.in.pxd', f'acados_solver.pxd'))
-    if cmake_builder is not None:
-        template_list.append(('CMakeLists.in.txt', 'CMakeLists.txt'))
-    else:
-        template_list.append(('Makefile.in', 'Makefile'))
-
-
-    # sim
-    template_list.append(('acados_sim_solver.in.c', f'acados_sim_solver_{name}.c'))
-    template_list.append(('acados_sim_solver.in.h', f'acados_sim_solver_{name}.h'))
-    template_list.append(('main_sim.in.c', f'main_sim_{name}.c'))
-
-    # model
-    model_dir = os.path.join(code_export_directory, f'{name}_model')
-    template_list.append(('model.in.h', f'{name}_model.h', model_dir))
-    # constraints
-    constraints_dir = os.path.join(code_export_directory, f'{name}_constraints')
-    template_list.append(('constraints.in.h', f'{name}_constraints.h', constraints_dir))
-    # cost
-    cost_dir = os.path.join(code_export_directory, f'{name}_cost')
-    template_list.append(('cost.in.h', f'{name}_cost.h', cost_dir))
-
-    # Simulink
-    if simulink_opts is not None:
-        template_file = os.path.join('matlab_templates', 'acados_solver_sfun.in.c')
-        template_list.append((template_file, f'acados_solver_sfunction_{name}.c'))
-        template_file = os.path.join('matlab_templates', 'acados_solver_sfun.in.c')
-        template_list.append((template_file, f'make_sfun_{name}.m'))
-
-    return template_list
-
-
-def remove_x0_elimination(acados_ocp):
-    acados_ocp.constraints.idxbxe_0 = np.zeros((0,))
-    acados_ocp.dims.nbxe_0 = 0
-
-
-class AcadosOcpSolver:
-    """
-    Class to interact with the acados ocp solver C object.
-
-        :param acados_ocp: type :py:class:`~acados_template.acados_ocp.AcadosOcp` - description of the OCP for acados
-        :param json_file: name for the json file used to render the templated code - default: acados_ocp_nlp.json
-        :param simulink_opts: Options to configure Simulink S-function blocks, mainly to activate possible Inputs and Outputs
-    """
-    if sys.platform=="win32":
-        from ctypes import wintypes
-        from ctypes import WinDLL
-        dlclose = WinDLL('kernel32', use_last_error=True).FreeLibrary
-        dlclose.argtypes = [wintypes.HMODULE]
-    else:
-        dlclose = CDLL(None).dlclose
-        dlclose.argtypes = [c_void_p]
-
-    @classmethod
-    def generate(cls, acados_ocp: AcadosOcp, json_file='acados_ocp_nlp.json', simulink_opts=None, cmake_builder: CMakeBuilder = None):
-        """
-        Generates the code for an acados OCP solver, given the description in acados_ocp.
-            :param acados_ocp: type AcadosOcp - description of the OCP for acados
-            :param json_file: name for the json file used to render the templated code - default: `acados_ocp_nlp.json`
-            :param simulink_opts: Options to configure Simulink S-function blocks, mainly to activate possible inputs and
-                   outputs; default: `None`
-            :param cmake_builder: type :py:class:`~acados_template.builders.CMakeBuilder` generate a `CMakeLists.txt` and use
-                   the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with
-                   `MS Visual Studio`); default: `None`
-        """
-        model = acados_ocp.model
-        acados_ocp.code_export_directory = os.path.abspath(acados_ocp.code_export_directory)
-
-        # make dims consistent
-        make_ocp_dims_consistent(acados_ocp)
-
-        # module dependent post processing
-        if acados_ocp.solver_options.integrator_type == 'GNSF':
-            if 'gnsf_model' in acados_ocp.__dict__:
-                set_up_imported_gnsf_model(acados_ocp)
-            else:
-                detect_gnsf_structure(acados_ocp)
-
-        if acados_ocp.solver_options.qp_solver == 'PARTIAL_CONDENSING_QPDUNES':
-            remove_x0_elimination(acados_ocp)
-
-        # set integrator time automatically
-        acados_ocp.solver_options.Tsim = acados_ocp.solver_options.time_steps[0]
-
-        # generate external functions
-        ocp_generate_external_functions(acados_ocp, model)
-
-        # dump to json
-        acados_ocp.json_file = json_file
-        ocp_formulation_json_dump(acados_ocp, simulink_opts=simulink_opts, json_file=json_file)
-
-        # render templates
-        ocp_render_templates(acados_ocp, json_file, cmake_builder=cmake_builder, simulink_opts=simulink_opts)
-
-        # copy custom update function
-        if acados_ocp.solver_options.custom_update_filename != "" and acados_ocp.solver_options.custom_update_copy:
-            target_location = os.path.join(acados_ocp.code_export_directory, acados_ocp.solver_options.custom_update_filename)
-            shutil.copyfile(acados_ocp.solver_options.custom_update_filename, target_location)
-        if acados_ocp.solver_options.custom_update_header_filename != "" and acados_ocp.solver_options.custom_update_copy:
-            target_location = os.path.join(acados_ocp.code_export_directory, acados_ocp.solver_options.custom_update_header_filename)
-            shutil.copyfile(acados_ocp.solver_options.custom_update_header_filename, target_location)
-
-
-    @classmethod
-    def build(cls, code_export_dir, with_cython=False, cmake_builder: CMakeBuilder = None, verbose: bool = True):
-        """
-        Builds the code for an acados OCP solver, that has been generated in code_export_dir
-            :param code_export_dir: directory in which acados OCP solver has been generated, see generate()
-            :param with_cython: option indicating if the cython interface is build, default: False.
-            :param cmake_builder: type :py:class:`~acados_template.builders.CMakeBuilder` generate a `CMakeLists.txt` and use
-                   the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with
-                   `MS Visual Studio`); default: `None`
-            :param verbose: indicating if build command is printed
-        """
-        code_export_dir = os.path.abspath(code_export_dir)
-        cwd = os.getcwd()
-        os.chdir(code_export_dir)
-        if with_cython:
-            call(
-                ['make', 'clean_all'],
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-            call(
-                ['make', 'ocp_cython'],
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-        else:
-            if cmake_builder is not None:
-                cmake_builder.exec(code_export_dir)
-            else:
-                call(
-                    ['make', 'clean_ocp_shared_lib'],
-                    stdout=None if verbose else DEVNULL,
-                    stderr=None if verbose else STDOUT
-                )
-                call(
-                    ['make', 'ocp_shared_lib'],
-                    stdout=None if verbose else DEVNULL,
-                    stderr=None if verbose else STDOUT
-                )
-        os.chdir(cwd)
-
-
-    @classmethod
-    def create_cython_solver(cls, json_file):
-        """
-        Returns an `AcadosOcpSolverCython` object.
-
-        This is an alternative Cython based Python wrapper to the acados OCP solver in C.
-        This offers faster interaction with the solver, because getter and setter calls, which include shape checking are done in compiled C code.
-
-        The default wrapper `AcadosOcpSolver` is based on ctypes.
-        """
-        with open(json_file, 'r') as f:
-            acados_ocp_json = json.load(f)
-        code_export_directory = acados_ocp_json['code_export_directory']
-
-        importlib.invalidate_caches()
-        rel_code_export_directory = os.path.relpath(code_export_directory)
-        acados_ocp_solver_pyx = importlib.import_module(f'{rel_code_export_directory}.acados_ocp_solver_pyx')
-
-        AcadosOcpSolverCython = getattr(acados_ocp_solver_pyx, 'AcadosOcpSolverCython')
-        return AcadosOcpSolverCython(acados_ocp_json['model']['name'],
-                    acados_ocp_json['solver_options']['nlp_solver_type'],
-                    acados_ocp_json['dims']['N'])
-
-
-    def __init__(self, acados_ocp: AcadosOcp, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True, generate=True, cmake_builder: CMakeBuilder = None, verbose=True):
-
-        self.solver_created = False
-        if generate:
-            self.generate(acados_ocp, json_file=json_file, simulink_opts=simulink_opts, cmake_builder=cmake_builder)
-
-        # load json, store options in object
-        with open(json_file, 'r') as f:
-            acados_ocp_json = json.load(f)
-        self.N = acados_ocp_json['dims']['N']
-        self.model_name = acados_ocp_json['model']['name']
-        self.solver_options = acados_ocp_json['solver_options']
-
-        acados_lib_path = acados_ocp_json['acados_lib_path']
-        code_export_directory = acados_ocp_json['code_export_directory']
-
-        if build:
-            self.build(code_export_directory, with_cython=False, cmake_builder=cmake_builder, verbose=verbose)
-
-        # prepare library loading
-        lib_prefix = 'lib'
-        lib_ext = get_lib_ext()
-        if os.name == 'nt':
-            lib_prefix = ''
-
-        # Load acados library to avoid unloading the library.
-        # This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed.
-        # Unloading a library which uses OpenMP results in a segfault (on any platform?).
-        # see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp]
-        # or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html]
-        libacados_name = f'{lib_prefix}acados{lib_ext}'
-        libacados_filepath = os.path.join(acados_lib_path, libacados_name)
-        self.__acados_lib = CDLL(libacados_filepath)
-        # find out if acados was compiled with OpenMP
-        try:
-            self.__acados_lib_uses_omp = getattr(self.__acados_lib, 'omp_get_thread_num') is not None
-        except AttributeError as e:
-            self.__acados_lib_uses_omp = False
-        if self.__acados_lib_uses_omp:
-            print('acados was compiled with OpenMP.')
-        else:
-            print('acados was compiled without OpenMP.')
-        libacados_ocp_solver_name = f'{lib_prefix}acados_ocp_solver_{self.model_name}{lib_ext}'
-        self.shared_lib_name = os.path.join(code_export_directory, libacados_ocp_solver_name)
-
-        # get shared_lib
-        self.shared_lib = CDLL(self.shared_lib_name)
-
-        # create capsule
-        getattr(self.shared_lib, f"{self.model_name}_acados_create_capsule").restype = c_void_p
-        self.capsule = getattr(self.shared_lib, f"{self.model_name}_acados_create_capsule")()
-
-        # create solver
-        getattr(self.shared_lib, f"{self.model_name}_acados_create").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_create").restype = c_int
-        assert getattr(self.shared_lib, f"{self.model_name}_acados_create")(self.capsule)==0
-        self.solver_created = True
-
-        self.acados_ocp = acados_ocp
-
-        # get pointers solver
-        self.__get_pointers_solver()
-
-        self.status = 0
-
-        # gettable fields
-        self.__qp_dynamics_fields = ['A', 'B', 'b']
-        self.__qp_cost_fields = ['Q', 'R', 'S', 'q', 'r']
-        self.__qp_constraint_fields = ['C', 'D', 'lg', 'ug', 'lbx', 'ubx', 'lbu', 'ubu']
-
-
-    def __get_pointers_solver(self):
-        # """
-        # Private function to get the pointers for solver
-        # """
-        # get pointers solver
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts").restype = c_void_p
-        self.nlp_opts = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims").restype = c_void_p
-        self.nlp_dims = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config").restype = c_void_p
-        self.nlp_config = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out").restype = c_void_p
-        self.nlp_out = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out").restype = c_void_p
-        self.sens_out = getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in").restype = c_void_p
-        self.nlp_in = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver").restype = c_void_p
-        self.nlp_solver = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver")(self.capsule)
-
-
-
-    def solve_for_x0(self, x0_bar):
-        """
-        Wrapper around `solve()` which sets initial state constraint, solves the OCP, and returns u0.
-        """
-        self.set(0, "lbx", x0_bar)
-        self.set(0, "ubx", x0_bar)
-
-        status = self.solve()
-
-        if status == 2:
-            print("Warning: acados_ocp_solver reached maximum iterations.")
-        elif status != 0:
-            raise Exception(f'acados acados_ocp_solver returned status {status}')
-
-        u0 = self.get(0, "u")
-        return u0
-
-
-    def solve(self):
-        """
-        Solve the ocp with current input.
-        """
-        getattr(self.shared_lib, f"{self.model_name}_acados_solve").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_solve").restype = c_int
-        self.status = getattr(self.shared_lib, f"{self.model_name}_acados_solve")(self.capsule)
-
-        return self.status
-
-
-    def custom_update(self, data_: np.ndarray):
-        """
-        A custom function that can be implemented by a user to be called between solver calls.
-        By default this does nothing.
-        The idea is to have a convenient wrapper to do complex updates of parameters and numerical data efficiently in C,
-        in a function that is compiled into the solver library and can be conveniently used in the Python environment.
-        """
-        data = np.ascontiguousarray(data_, dtype=np.float64)
-        c_data = cast(data.ctypes.data, POINTER(c_double))
-        data_len = len(data)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_custom_update").argtypes = [c_void_p, POINTER(c_double), c_int]
-        getattr(self.shared_lib, f"{self.model_name}_acados_custom_update").restype = c_int
-        status = getattr(self.shared_lib, f"{self.model_name}_acados_custom_update")(self.capsule, c_data, data_len)
-
-        return status
-
-
-    def reset(self, reset_qp_solver_mem=1):
-        """
-        Sets current iterate to all zeros.
-        """
-        getattr(self.shared_lib, f"{self.model_name}_acados_reset").argtypes = [c_void_p, c_int]
-        getattr(self.shared_lib, f"{self.model_name}_acados_reset").restype = c_int
-        getattr(self.shared_lib, f"{self.model_name}_acados_reset")(self.capsule, reset_qp_solver_mem)
-
-        return
-
-
-    def set_new_time_steps(self, new_time_steps):
-        """
-        Set new time steps.
-        Recreates the solver if N changes.
-
-            :param new_time_steps: 1 dimensional np array of new time steps for the solver
-
-            .. note:: This allows for different use-cases: either set a new size of time_steps or a new distribution of
-                      the shooting nodes without changing the number, e.g., to reach a different final time. Both cases
-                      do not require a new code export and compilation.
-        """
-
-        # unlikely but still possible
-        if not self.solver_created:
-            raise Exception('Solver was not yet created!')
-
-        # check if time steps really changed in value
-        if np.array_equal(self.solver_options['time_steps'], new_time_steps):
-            return
-
-        N = new_time_steps.size
-        new_time_steps_data = cast(new_time_steps.ctypes.data, POINTER(c_double))
-
-        # check if recreation of acados is necessary (no need to recreate acados if sizes are identical)
-        if len(self.solver_options['time_steps']) == N:
-            getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps").argtypes = [c_void_p, c_int, c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps").restype = c_int
-            assert getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps")(self.capsule, N, new_time_steps_data) == 0
-        else:  # recreate the solver with the new time steps
-            self.solver_created = False
-
-            # delete old memory (analog to __del__)
-            getattr(self.shared_lib, f"{self.model_name}_acados_free").argtypes = [c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_free").restype = c_int
-            getattr(self.shared_lib, f"{self.model_name}_acados_free")(self.capsule)
-
-            # create solver with new time steps
-            getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization").argtypes = [c_void_p, c_int, c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization").restype = c_int
-            assert getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization")(self.capsule, N, new_time_steps_data) == 0
-
-            self.solver_created = True
-
-            # get pointers solver
-            self.__get_pointers_solver()
-
-        # store time_steps, N
-        self.solver_options['time_steps'] = new_time_steps
-        self.N = N
-        self.solver_options['Tsim'] = self.solver_options['time_steps'][0]
-
-
-    def update_qp_solver_cond_N(self, qp_solver_cond_N: int):
-        """
-        Recreate solver with new value `qp_solver_cond_N` with a partial condensing QP solver.
-        This function is relevant for code reuse, i.e., if either `set_new_time_steps(...)` is used or
-        the influence of a different `qp_solver_cond_N` is studied without code export and compilation.
-            :param qp_solver_cond_N: new number of condensing stages for the solver
-
-            .. note:: This function can only be used in combination with a partial condensing QP solver.
-
-            .. note:: After `set_new_time_steps(...)` is used and depending on the new number of time steps it might be
-                      necessary to change `qp_solver_cond_N` as well (using this function), i.e., typically
-                      `qp_solver_cond_N < N`.
-        """
-        # unlikely but still possible
-        if not self.solver_created:
-            raise Exception('Solver was not yet created!')
-        if self.N < qp_solver_cond_N:
-            raise Exception('Setting qp_solver_cond_N to be larger than N does not work!')
-        if self.solver_options['qp_solver_cond_N'] != qp_solver_cond_N:
-            self.solver_created = False
-
-            # recreate the solver
-            fun_name = f'{self.model_name}_acados_update_qp_solver_cond_N'
-            getattr(self.shared_lib, fun_name).argtypes = [c_void_p, c_int]
-            getattr(self.shared_lib, fun_name).restype = c_int
-            assert getattr(self.shared_lib, fun_name)(self.capsule, qp_solver_cond_N) == 0
-
-            # store the new value
-            self.solver_options['qp_solver_cond_N'] = qp_solver_cond_N
-            self.solver_created = True
-
-            # get pointers solver
-            self.__get_pointers_solver()
-
-
-    def eval_param_sens(self, index, stage=0, field="ex"):
-        """
-        Calculate the sensitivity of the curent solution with respect to the initial state component of index
-
-            :param index: integer corresponding to initial state index in range(nx)
-        """
-
-        field_ = field
-        field = field_.encode('utf-8')
-
-        # checks
-        if not isinstance(index, int):
-            raise Exception('AcadosOcpSolver.eval_param_sens(): index must be Integer.')
-
-        self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
-        self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
-        nx = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, 0, "x".encode('utf-8'))
-
-        if index < 0 or index > nx:
-            raise Exception(f'AcadosOcpSolver.eval_param_sens(): index must be in [0, nx-1], got: {index}.')
-
-        # actual eval_param
-        self.shared_lib.ocp_nlp_eval_param_sens.argtypes = [c_void_p, c_char_p, c_int, c_int, c_void_p]
-        self.shared_lib.ocp_nlp_eval_param_sens.restype = None
-        self.shared_lib.ocp_nlp_eval_param_sens(self.nlp_solver, field, stage, index, self.sens_out)
-
-        return
-
-
-    def get(self, stage_, field_):
-        """
-        Get the last solution of the solver:
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',]
-
-            .. note:: regarding lam, t: \n
-                    the inequalities are internally organized in the following order: \n
-                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
-                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
-
-            .. note:: pi: multipliers for dynamics equality constraints \n
-                      lam: multipliers for inequalities \n
-                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
-                      sl: slack variables of soft lower inequality constraints \n
-                      su: slack variables of soft upper inequality constraints \n
-        """
-
-        out_fields = ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su']
-        # mem_fields = ['sl', 'su']
-        sens_fields = ['sens_u', "sens_x"]
-        all_fields = out_fields + sens_fields
-
-        field = field_
-
-        if (field_ not in all_fields):
-            raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): \'{field_}\' is an invalid argument.\
-                    \n Possible values are {all_fields}.')
-
-        if not isinstance(stage_, int):
-            raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): stage index must be an integer, got type {type(stage_)}.')
-
-        if stage_ < 0 or stage_ > self.N:
-            raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): stage index must be in [0, {self.N}], got: {stage_}.')
-
-        if stage_ == self.N and field_ == 'pi':
-            raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): field \'{field_}\' does not exist at final stage {stage_}.')
-
-        if field_ in sens_fields:
-            field = field_.replace('sens_', '')
-
-        field = field.encode('utf-8')
-
-        self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
-        self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
-
-        dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage_, field)
-
-        out = np.ascontiguousarray(np.zeros((dims,)), dtype=np.float64)
-        out_data = cast(out.ctypes.data, POINTER(c_double))
-
-        if (field_ in out_fields):
-            self.shared_lib.ocp_nlp_out_get.argtypes = \
-                [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_out_get(self.nlp_config, \
-                self.nlp_dims, self.nlp_out, stage_, field, out_data)
-        # elif field_ in mem_fields:
-        #     self.shared_lib.ocp_nlp_get_at_stage.argtypes = \
-        #         [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-        #     self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \
-        #         self.nlp_dims, self.nlp_solver, stage_, field, out_data)
-        elif field_ in sens_fields:
-            self.shared_lib.ocp_nlp_out_get.argtypes = \
-                [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_out_get(self.nlp_config, \
-                self.nlp_dims, self.sens_out, stage_, field, out_data)
-
-        return out
-
-
-    def print_statistics(self):
-        """
-        prints statistics of previous solver run as a table:
-            - iter: iteration number
-            - res_stat: stationarity residual
-            - res_eq: residual wrt equality constraints (dynamics)
-            - res_ineq: residual wrt inequality constraints (constraints)
-            - res_comp: residual wrt complementarity conditions
-            - qp_stat: status of QP solver
-            - qp_iter: number of QP iterations
-            - alpha: SQP step size
-            - qp_res_stat: stationarity residual of the last QP solution
-            - qp_res_eq: residual wrt equality constraints (dynamics) of the last QP solution
-            - qp_res_ineq: residual wrt inequality constraints (constraints)  of the last QP solution
-            - qp_res_comp: residual wrt complementarity conditions of the last QP solution
-        """
-        stat = self.get_stats("statistics")
-
-        if self.solver_options['nlp_solver_type'] == 'SQP':
-            print('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha')
-            if stat.shape[0]>8:
-                print('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp')
-            for jj in range(stat.shape[1]):
-                print(f'{int(stat[0][jj]):d}\t{stat[1][jj]:e}\t{stat[2][jj]:e}\t{stat[3][jj]:e}\t' +
-                      f'{stat[4][jj]:e}\t{int(stat[5][jj]):d}\t{int(stat[6][jj]):d}\t{stat[7][jj]:e}\t')
-                if stat.shape[0]>8:
-                    print('\t{:e}\t{:e}\t{:e}\t{:e}'.format( \
-                        stat[8][jj], stat[9][jj], stat[10][jj], stat[11][jj]))
-            print('\n')
-        elif self.solver_options['nlp_solver_type'] == 'SQP_RTI':
-            print('\niter\tqp_stat\tqp_iter')
-            if stat.shape[0]>3:
-                print('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp')
-            for jj in range(stat.shape[1]):
-                print('{:d}\t{:d}\t{:d}'.format( int(stat[0][jj]), int(stat[1][jj]), int(stat[2][jj])))
-                if stat.shape[0]>3:
-                    print('\t{:e}\t{:e}\t{:e}\t{:e}'.format( \
-                         stat[3][jj], stat[4][jj], stat[5][jj], stat[6][jj]))
-            print('\n')
-
-        return
-
-
-    def store_iterate(self, filename: str = '', overwrite=False):
-        """
-        Stores the current iterate of the ocp solver in a json file.
-
-            :param filename: if not set, use f'{self.model_name}_iterate.json'
-            :param overwrite: if false and filename exists add timestamp to filename
-        """
-        if filename == '':
-            filename = f'{self.model_name}_iterate.json'
-
-        if not overwrite:
-            # append timestamp
-            if os.path.isfile(filename):
-                filename = filename[:-5]
-                filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json'
-
-        # get iterate:
-        solution = dict()
-
-        lN = len(str(self.N+1))
-        for i in range(self.N+1):
-            i_string = f'{i:0{lN}d}'
-            solution['x_'+i_string] = self.get(i,'x')
-            solution['u_'+i_string] = self.get(i,'u')
-            solution['z_'+i_string] = self.get(i,'z')
-            solution['lam_'+i_string] = self.get(i,'lam')
-            solution['t_'+i_string] = self.get(i, 't')
-            solution['sl_'+i_string] = self.get(i, 'sl')
-            solution['su_'+i_string] = self.get(i, 'su')
-            if i < self.N:
-                solution['pi_'+i_string] = self.get(i,'pi')
-
-        for k in list(solution.keys()):
-            if len(solution[k]) == 0:
-                del solution[k]
-
-        # save
-        with open(filename, 'w') as f:
-            json.dump(solution, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
-        print("stored current iterate in ", os.path.join(os.getcwd(), filename))
-
-
-
-    def dump_last_qp_to_json(self, filename: str = '', overwrite=False):
-        """
-        Dumps the latest QP data into a json file
-
-            :param filename: if not set, use model_name + timestamp + '.json'
-            :param overwrite: if false and filename exists add timestamp to filename
-        """
-        if filename == '':
-            filename = f'{self.model_name}_QP.json'
-
-        if not overwrite:
-            # append timestamp
-            if os.path.isfile(filename):
-                filename = filename[:-5]
-                filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json'
-
-        # get QP data:
-        qp_data = dict()
-
-        lN = len(str(self.N+1))
-        for field in self.__qp_dynamics_fields:
-            for i in range(self.N):
-                qp_data[f'{field}_{i:0{lN}d}'] = self.get_from_qp_in(i,field)
-
-        for field in self.__qp_constraint_fields + self.__qp_cost_fields:
-            for i in range(self.N+1):
-                qp_data[f'{field}_{i:0{lN}d}'] = self.get_from_qp_in(i,field)
-
-        # remove empty fields
-        for k in list(qp_data.keys()):
-            if len(qp_data[k]) == 0:
-                del qp_data[k]
-
-        # save
-        with open(filename, 'w') as f:
-            json.dump(qp_data, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
-        print("stored qp from solver memory in ", os.path.join(os.getcwd(), filename))
-
-
-
-    def load_iterate(self, filename):
-        """
-        Loads the iterate stored in json file with filename into the ocp solver.
-        """
-        if not os.path.isfile(filename):
-            raise Exception('load_iterate: failed, file does not exist: ' + os.path.join(os.getcwd(), filename))
-
-        with open(filename, 'r') as f:
-            solution = json.load(f)
-
-        print(f"loading iterate {filename}")
-        for key in solution.keys():
-            (field, stage) = key.split('_')
-            self.set(int(stage), field, np.array(solution[key]))
-
-
-    def get_stats(self, field_):
-        """
-        Get the information of the last solver call.
-
-            :param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter', 'residuals', 'qp_iter', 'alpha']
-
-        Available fileds:
-            - time_tot: total CPU time previous call
-            - time_lin: CPU time for linearization
-            - time_sim: CPU time for integrator
-            - time_sim_ad: CPU time for integrator contribution of external function calls
-            - time_sim_la: CPU time for integrator contribution of linear algebra
-            - time_qp: CPU time qp solution
-            - time_qp_solver_call: CPU time inside qp solver (without converting the QP)
-            - time_qp_xcond: time_glob: CPU time globalization
-            - time_solution_sensitivities: CPU time for previous call to eval_param_sens
-            - time_reg: CPU time regularization
-            - sqp_iter: number of SQP iterations
-            - qp_iter: vector of QP iterations for last SQP call
-            - statistics: table with info about last iteration
-            - stat_m: number of rows in statistics matrix
-            - stat_n: number of columns in statistics matrix
-            - residuals: residuals of last iterate
-            - alpha: step sizes of SQP iterations
-        """
-
-        double_fields = ['time_tot',
-                  'time_lin',
-                  'time_sim',
-                  'time_sim_ad',
-                  'time_sim_la',
-                  'time_qp',
-                  'time_qp_solver_call',
-                  'time_qp_xcond',
-                  'time_glob',
-                  'time_solution_sensitivities',
-                  'time_reg'
-        ]
-        fields = double_fields + [
-                  'sqp_iter',
-                  'qp_iter',
-                  'statistics',
-                  'stat_m',
-                  'stat_n',
-                  'residuals',
-                  'alpha',
-                ]
-        field = field_.encode('utf-8')
-
-
-        if field_ in ['sqp_iter', 'stat_m', 'stat_n']:
-            out = np.ascontiguousarray(np.zeros((1,)), dtype=np.int64)
-            out_data = cast(out.ctypes.data, POINTER(c_int64))
-            self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-            return out
-
-        # TODO: just return double instead of np.
-        elif field_ in double_fields:
-            out = np.zeros((1,))
-            out_data = cast(out.ctypes.data, POINTER(c_double))
-            self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-            return out
-
-        elif field_ == 'statistics':
-            sqp_iter = self.get_stats("sqp_iter")
-            stat_m = self.get_stats("stat_m")
-            stat_n = self.get_stats("stat_n")
-            min_size = min([stat_m, sqp_iter+1])
-            out = np.ascontiguousarray(
-                        np.zeros((stat_n[0]+1, min_size[0])), dtype=np.float64)
-            out_data = cast(out.ctypes.data, POINTER(c_double))
-            self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-            return out
-
-        elif field_ == 'qp_iter':
-            full_stats = self.get_stats('statistics')
-            if self.solver_options['nlp_solver_type'] == 'SQP':
-                return full_stats[6, :]
-            elif self.solver_options['nlp_solver_type'] == 'SQP_RTI':
-                return full_stats[2, :]
-
-        elif field_ == 'alpha':
-            full_stats = self.get_stats('statistics')
-            if self.solver_options['nlp_solver_type'] == 'SQP':
-                return full_stats[7, :]
-            else: # self.solver_options['nlp_solver_type'] == 'SQP_RTI':
-                raise Exception("alpha values are not available for SQP_RTI")
-
-        elif field_ == 'residuals':
-            return self.get_residuals()
-
-        else:
-            raise Exception(f'AcadosOcpSolver.get_stats(): \'{field}\' is not a valid argument.'
-                    + f'\n Possible values are {fields}.')
-
-
-    def get_cost(self):
-        """
-        Returns the cost value of the current solution.
-        """
-        # compute cost internally
-        self.shared_lib.ocp_nlp_eval_cost.argtypes = [c_void_p, c_void_p, c_void_p]
-        self.shared_lib.ocp_nlp_eval_cost(self.nlp_solver, self.nlp_in, self.nlp_out)
-
-        # create output array
-        out = np.ascontiguousarray(np.zeros((1,)), dtype=np.float64)
-        out_data = cast(out.ctypes.data, POINTER(c_double))
-
-        # call getter
-        self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
-
-        field = "cost_value".encode('utf-8')
-        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-
-        return out[0]
-
-
-    def get_residuals(self, recompute=False):
-        """
-        Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
-        This residual has to be computed for SQP_RTI solver, since it is not available by default.
-
-        - res_stat: stationarity residual
-        - res_eq: residual wrt equality constraints (dynamics)
-        - res_ineq: residual wrt inequality constraints (constraints)
-        - res_comp: residual wrt complementarity conditions
-        """
-        # compute residuals if RTI
-        if self.solver_options['nlp_solver_type'] == 'SQP_RTI' or recompute:
-            self.shared_lib.ocp_nlp_eval_residuals.argtypes = [c_void_p, c_void_p, c_void_p]
-            self.shared_lib.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out)
-
-        # create output array
-        out = np.ascontiguousarray(np.zeros((4, 1)), dtype=np.float64)
-        out_data = cast(out.ctypes.data, POINTER(c_double))
-
-        # call getters
-        self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
-
-        field = "res_stat".encode('utf-8')
-        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-
-        out_data = cast(out[1].ctypes.data, POINTER(c_double))
-        field = "res_eq".encode('utf-8')
-        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-
-        out_data = cast(out[2].ctypes.data, POINTER(c_double))
-        field = "res_ineq".encode('utf-8')
-        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-
-        out_data = cast(out[3].ctypes.data, POINTER(c_double))
-        field = "res_comp".encode('utf-8')
-        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-        return out.flatten()
-
-
-    # Note: this function should not be used anymore, better use cost_set, constraints_set
-    def set(self, stage_, field_, value_):
-        """
-        Set numerical data inside the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['x', 'u', 'pi', 'lam', 't', 'p', 'xdot_guess', 'z_guess']
-
-            .. note:: regarding lam, t: \n
-                    the inequalities are internally organized in the following order: \n
-                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
-                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
-
-            .. note:: pi: multipliers for dynamics equality constraints \n
-                      lam: multipliers for inequalities \n
-                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
-                      sl: slack variables of soft lower inequality constraints \n
-                      su: slack variables of soft upper inequality constraints \n
-        """
-        cost_fields = ['y_ref', 'yref']
-        constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
-        out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su']
-        mem_fields = ['xdot_guess', 'z_guess']
-
-        # cast value_ to avoid conversion issues
-        if isinstance(value_, (float, int)):
-            value_ = np.array([value_])
-        value_ = value_.astype(float)
-
-        field = field_.encode('utf-8')
-
-        stage = c_int(stage_)
-
-        # treat parameters separately
-        if field_ == 'p':
-            getattr(self.shared_lib, f"{self.model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double), c_int]
-            getattr(self.shared_lib, f"{self.model_name}_acados_update_params").restype = c_int
-
-            value_data = cast(value_.ctypes.data, POINTER(c_double))
-
-            assert getattr(self.shared_lib, f"{self.model_name}_acados_update_params")(self.capsule, stage, value_data, value_.shape[0])==0
-        else:
-            if field_ not in constraints_fields + cost_fields + out_fields + mem_fields:
-                raise Exception(f"AcadosOcpSolver.set(): '{field}' is not a valid argument.\n"
-                    f" Possible values are {constraints_fields + cost_fields + out_fields + mem_fields + ['p']}.")
-
-            self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
-                [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
-            self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
-
-            dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
-                self.nlp_dims, self.nlp_out, stage_, field)
-
-            if value_.shape[0] != dims:
-                msg = f'AcadosOcpSolver.set(): mismatching dimension for field "{field_}" '
-                msg += f'with dimension {dims} (you have {value_.shape[0]})'
-                raise Exception(msg)
-
-            value_data = cast(value_.ctypes.data, POINTER(c_double))
-            value_data_p = cast((value_data), c_void_p)
-
-            if field_ in constraints_fields:
-                self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
-                    [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-                self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \
-                    self.nlp_dims, self.nlp_in, stage, field, value_data_p)
-            elif field_ in cost_fields:
-                self.shared_lib.ocp_nlp_cost_model_set.argtypes = \
-                    [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-                self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \
-                    self.nlp_dims, self.nlp_in, stage, field, value_data_p)
-            elif field_ in out_fields:
-                self.shared_lib.ocp_nlp_out_set.argtypes = \
-                    [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-                self.shared_lib.ocp_nlp_out_set(self.nlp_config, \
-                    self.nlp_dims, self.nlp_out, stage, field, value_data_p)
-            elif field_ in mem_fields:
-                self.shared_lib.ocp_nlp_set.argtypes = \
-                    [c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-                self.shared_lib.ocp_nlp_set(self.nlp_config, \
-                    self.nlp_solver, stage, field, value_data_p)
-            # also set z_guess, when setting z.
-            if field_ == 'z':
-                field = 'z_guess'.encode('utf-8')
-                self.shared_lib.ocp_nlp_set.argtypes = \
-                    [c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-                self.shared_lib.ocp_nlp_set(self.nlp_config, \
-                    self.nlp_solver, stage, field, value_data_p)
-        return
-
-
-    def cost_set(self, stage_, field_, value_, api='warn'):
-        """
-        Set numerical data in the cost module of the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess', 'zl', 'zu', 'Zl', 'Zu'
-            :param value: of appropriate size
-        """
-        # cast value_ to avoid conversion issues
-        if isinstance(value_, (float, int)):
-            value_ = np.array([value_])
-        value_ = value_.astype(float)
-
-        field = field_
-        field = field.encode('utf-8')
-
-        stage = c_int(stage_)
-        self.shared_lib.ocp_nlp_cost_dims_get_from_attr.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
-        self.shared_lib.ocp_nlp_cost_dims_get_from_attr.restype = c_int
-
-        dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-        dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-        self.shared_lib.ocp_nlp_cost_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage_, field, dims_data)
-
-        value_shape = value_.shape
-        if len(value_shape) == 1:
-            value_shape = (value_shape[0], 0)
-
-        elif len(value_shape) == 2:
-            if api=='old':
-                pass
-            elif api=='warn':
-                if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')):
-                    raise Exception("Ambiguity in API detected.\n"
-                                    "Are you making an acados model from scrach? Add api='new' to cost_set and carry on.\n"
-                                    "Are you seeing this error suddenly in previously running code? Read on.\n"
-                                    f"  You are relying on a now-fixed bug in cost_set for field '{field_}'.\n" +
-                                    "  acados_template now correctly passes on any matrices to acados in column major format.\n" +
-                                    "  Two options to fix this error: \n" +
-                                    "   * Add api='old' to cost_set to restore old incorrect behaviour\n" +
-                                    "   * Add api='new' to cost_set and remove any unnatural manipulation of the value argument " +
-                                    "such as non-mathematical transposes, reshaping, casting to fortran order, etc... " +
-                                    "If there is no such manipulation, then you have probably been getting an incorrect solution before.")
-                # Get elements in column major order
-                value_ = np.ravel(value_, order='F')
-            elif api=='new':
-                # Get elements in column major order
-                value_ = np.ravel(value_, order='F')
-            else:
-                raise Exception("Unknown api: '{}'".format(api))
-
-        if value_shape != tuple(dims):
-            raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension' +
-                f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
-
-        value_data = cast(value_.ctypes.data, POINTER(c_double))
-        value_data_p = cast((value_data), c_void_p)
-
-        self.shared_lib.ocp_nlp_cost_model_set.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-        self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \
-            self.nlp_dims, self.nlp_in, stage, field, value_data_p)
-
-        return
-
-
-    def constraints_set(self, stage_, field_, value_, api='warn'):
-        """
-        Set numerical data in the constraint module of the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi', 'C', 'D']
-            :param value: of appropriate size
-        """
-        # cast value_ to avoid conversion issues
-        if isinstance(value_, (float, int)):
-            value_ = np.array([value_])
-        value_ = value_.astype(float)
-
-        field = field_
-        field = field.encode('utf-8')
-
-        stage = c_int(stage_)
-        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
-        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.restype = c_int
-
-        dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-        dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage_, field, dims_data)
-
-        value_shape = value_.shape
-        if len(value_shape) == 1:
-            value_shape = (value_shape[0], 0)
-        elif len(value_shape) == 2:
-            if api=='old':
-                pass
-            elif api=='warn':
-                if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')):
-                    raise Exception("Ambiguity in API detected.\n"
-                                    "Are you making an acados model from scrach? Add api='new' to constraints_set and carry on.\n"
-                                    "Are you seeing this error suddenly in previously running code? Read on.\n"
-                                    f"  You are relying on a now-fixed bug in constraints_set for field '{field}'.\n" +
-                                    "  acados_template now correctly passes on any matrices to acados in column major format.\n" +
-                                    "  Two options to fix this error: \n" +
-                                    "   * Add api='old' to constraints_set to restore old incorrect behaviour\n" +
-                                    "   * Add api='new' to constraints_set and remove any unnatural manipulation of the value argument " +
-                                    "such as non-mathematical transposes, reshaping, casting to fortran order, etc... " +
-                                    "If there is no such manipulation, then you have probably been getting an incorrect solution before.")
-                # Get elements in column major order
-                value_ = np.ravel(value_, order='F')
-            elif api=='new':
-                # Get elements in column major order
-                value_ = np.ravel(value_, order='F')
-            else:
-                raise Exception(f"Unknown api: '{api}'")
-
-        if value_shape != tuple(dims):
-            raise Exception(f'AcadosOcpSolver.constraints_set(): mismatching dimension' +
-                f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
-
-        value_data = cast(value_.ctypes.data, POINTER(c_double))
-        value_data_p = cast((value_data), c_void_p)
-
-        self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-        self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \
-            self.nlp_dims, self.nlp_in, stage, field, value_data_p)
-
-        return
-
-
-    def get_from_qp_in(self, stage_: int, field_: str):
-        """
-        Get numerical data from the current QP.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['A', 'B', 'b', 'Q', 'R', 'S', 'q', 'r', 'C', 'D', 'lg', 'ug', 'lbx', 'ubx', 'lbu', 'ubu']
-        """
-        # idx* should be added too..
-        if not isinstance(stage_, int):
-            raise TypeError("stage should be int")
-        if stage_ > self.N:
-            raise Exception("stage should be <= self.N")
-        if field_ in self.__qp_dynamics_fields and stage_ >= self.N:
-            raise ValueError(f"dynamics field {field_} not available at terminal stage")
-        if field_ not in self.__qp_dynamics_fields + self.__qp_cost_fields + self.__qp_constraint_fields:
-            raise Exception(f"field {field_} not supported.")
-
-        field = field_.encode('utf-8')
-        stage = c_int(stage_)
-
-        # get dims
-        self.shared_lib.ocp_nlp_qp_dims_get_from_attr.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
-        self.shared_lib.ocp_nlp_qp_dims_get_from_attr.restype = c_int
-
-        dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-        dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-        self.shared_lib.ocp_nlp_qp_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage_, field, dims_data)
-
-        # create output data
-        out = np.ascontiguousarray(np.zeros((np.prod(dims),)), dtype=np.float64)
-        out = out.reshape(dims[0], dims[1], order='F')
-
-        out_data = cast(out.ctypes.data, POINTER(c_double))
-        out_data_p = cast((out_data), c_void_p)
-
-        # call getter
-        self.shared_lib.ocp_nlp_get_at_stage.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-        self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \
-            self.nlp_dims, self.nlp_solver, stage, field, out_data_p)
-
-        return out
-
-
-    def options_set(self, field_, value_):
-        """
-        Set options of the solver.
-
-            :param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0'
-
-            :param value: of type int, float, string
-
-            - qp_tol_stat: QP solver tolerance stationarity
-            - qp_tol_eq: QP solver tolerance equalities
-            - qp_tol_ineq: QP solver tolerance inequalities
-            - qp_tol_comp: QP solver tolerance complementarity
-            - qp_tau_min: for HPIPM QP solvers: minimum value of barrier parameter in HPIPM
-            - qp_mu0: for HPIPM QP solvers: initial value for complementarity slackness
-            - warm_start_first_qp: indicates if first QP in SQP is warm_started
-        """
-        int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start',
-                      'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'warm_start_first_qp']
-        double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction',
-                         'eps_sufficient_descent', 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0']
-        string_fields = ['globalization']
-
-        # check field availability and type
-        if field_ in int_fields:
-            if not isinstance(value_, int):
-                raise Exception(f'solver option \'{field_}\' must be of type int. You have {type(value_)}.')
-            else:
-                value_ctypes = c_int(value_)
-
-        elif field_ in double_fields:
-            if not isinstance(value_, float):
-                raise Exception(f'solver option \'{field_}\' must be of type float. You have {type(value_)}.')
-            else:
-                value_ctypes = c_double(value_)
-
-        elif field_ in string_fields:
-            if not isinstance(value_, str):
-                raise Exception(f'solver option \'{field_}\' must be of type str. You have {type(value_)}.')
-            else:
-                value_ctypes = value_.encode('utf-8')
-        else:
-            fields = ', '.join(int_fields + double_fields + string_fields)
-            raise Exception(f'AcadosOcpSolver.options_set() does not support field \'{field_}\'.\n'\
-                f' Possible values are {fields}.')
-
-
-        if field_ == 'rti_phase':
-            if value_ < 0 or value_ > 2:
-                raise Exception('AcadosOcpSolver.options_set(): argument \'rti_phase\' can '
-                    'take only values 0, 1, 2 for SQP-RTI-type solvers')
-            if self.solver_options['nlp_solver_type'] != 'SQP_RTI' and value_ > 0:
-                raise Exception('AcadosOcpSolver.options_set(): argument \'rti_phase\' can '
-                    'take only value 0 for SQP-type solvers')
-
-        # encode
-        field = field_
-        field = field.encode('utf-8')
-
-        # call C interface
-        if field_ in string_fields:
-            self.shared_lib.ocp_nlp_solver_opts_set.argtypes = \
-                [c_void_p, c_void_p, c_char_p, c_char_p]
-            self.shared_lib.ocp_nlp_solver_opts_set(self.nlp_config, \
-                self.nlp_opts, field, value_ctypes)
-        else:
-            self.shared_lib.ocp_nlp_solver_opts_set.argtypes = \
-                [c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_solver_opts_set(self.nlp_config, \
-                self.nlp_opts, field, byref(value_ctypes))
-        return
-
-
-    def set_params_sparse(self, stage_, idx_values_, param_values_):
-        """
-        set parameters of the solvers external function partially:
-        Pseudo: solver.param[idx_values_] = param_values_;
-        Parameters:
-            :param stage_: integer corresponding to shooting node
-            :param idx_values_: 0 based np array (or iterable) of integers: indices of parameter to be set
-            :param param_values_: new parameter values as numpy array
-        """
-
-        # if not isinstance(idx_values_, np.ndarray) or not issubclass(type(idx_values_[0]), np.integer):
-        #     raise Exception('idx_values_ must be np.array of integers.')
-
-        if not isinstance(param_values_, np.ndarray):
-            raise Exception('param_values_ must be np.array.')
-        elif np.float64 != param_values_.dtype:
-            raise TypeError('param_values_ must be np.array of float64.')
-
-        if param_values_.shape[0] != len(idx_values_):
-            raise Exception(f'param_values_ and idx_values_ must be of the same size.' +
-                 f' Got sizes idx {param_values_.shape[0]}, param_values {len(idx_values_)}.')
-
-        if any(idx_values_ >= self.acados_ocp.dims.np):
-            raise Exception(f'idx_values_ contains value >= np = {self.acados_ocp.dims.np}')
-
-        stage = c_int(stage_)
-        n_update = c_int(len(param_values_))
-
-        param_data = cast(param_values_.ctypes.data, POINTER(c_double))
-        c_idx_values = np.ascontiguousarray(idx_values_, dtype=np.intc)
-        idx_data = cast(c_idx_values.ctypes.data, POINTER(c_int))
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").argtypes = \
-                        [c_void_p, c_int, POINTER(c_int), POINTER(c_double), c_int]
-        getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").restype = c_int
-        getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse") \
-                                    (self.capsule, stage, idx_data, param_data, n_update)
-
-    def __del__(self):
-        if self.solver_created:
-            getattr(self.shared_lib, f"{self.model_name}_acados_free").argtypes = [c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_free").restype = c_int
-            getattr(self.shared_lib, f"{self.model_name}_acados_free")(self.capsule)
-
-            getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule").argtypes = [c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule").restype = c_int
-            getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule")(self.capsule)
-
-            try:
-                self.dlclose(self.shared_lib._handle)
-            except:
-                print(f"WARNING: acados Python interface could not close shared_lib handle of AcadosOcpSolver {self.model_name}.\n",
-                     "Attempting to create a new one with the same name will likely result in the old one being used!")
-                pass
diff --git a/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx b/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx
deleted file mode 100644
index bc03ba086fed1a..00000000000000
--- a/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx
+++ /dev/null
@@ -1,794 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-# cython: language_level=3
-# cython: profile=False
-# distutils: language=c
-
-cimport cython
-from libc cimport string
-
-cimport acados_solver_common
-# TODO: make this import more clear? it is not a general solver, but problem specific.
-cimport acados_solver
-
-cimport numpy as cnp
-
-import os
-from datetime import datetime
-import numpy as np
-
-
-cdef class AcadosOcpSolverCython:
-    """
-    Class to interact with the acados ocp solver C object.
-    """
-
-    cdef acados_solver.nlp_solver_capsule *capsule
-    cdef void *nlp_opts
-    cdef acados_solver_common.ocp_nlp_dims *nlp_dims
-    cdef acados_solver_common.ocp_nlp_config *nlp_config
-    cdef acados_solver_common.ocp_nlp_out *nlp_out
-    cdef acados_solver_common.ocp_nlp_out *sens_out
-    cdef acados_solver_common.ocp_nlp_in *nlp_in
-    cdef acados_solver_common.ocp_nlp_solver *nlp_solver
-
-    cdef bint solver_created
-
-    cdef str model_name
-    cdef int N
-
-    cdef str nlp_solver_type
-
-    def __cinit__(self, model_name, nlp_solver_type, N):
-
-        self.solver_created = False
-
-        self.N = N
-        self.model_name = model_name
-        self.nlp_solver_type = nlp_solver_type
-
-        # create capsule
-        self.capsule = acados_solver.acados_create_capsule()
-
-        # create solver
-        assert acados_solver.acados_create(self.capsule) == 0
-        self.solver_created = True
-
-        # get pointers solver
-        self.__get_pointers_solver()
-
-
-    def __get_pointers_solver(self):
-        """
-        Private function to get the pointers for solver
-        """
-        # get pointers solver
-        self.nlp_opts = acados_solver.acados_get_nlp_opts(self.capsule)
-        self.nlp_dims = acados_solver.acados_get_nlp_dims(self.capsule)
-        self.nlp_config = acados_solver.acados_get_nlp_config(self.capsule)
-        self.nlp_out = acados_solver.acados_get_nlp_out(self.capsule)
-        self.sens_out = acados_solver.acados_get_sens_out(self.capsule)
-        self.nlp_in = acados_solver.acados_get_nlp_in(self.capsule)
-        self.nlp_solver = acados_solver.acados_get_nlp_solver(self.capsule)
-
-
-    def solve_for_x0(self, x0_bar):
-        """
-        Wrapper around `solve()` which sets initial state constraint, solves the OCP, and returns u0.
-        """
-        self.set(0, "lbx", x0_bar)
-        self.set(0, "ubx", x0_bar)
-
-        status = self.solve()
-
-        if status == 2:
-            print("Warning: acados_ocp_solver reached maximum iterations.")
-        elif status != 0:
-            raise Exception(f'acados acados_ocp_solver returned status {status}')
-
-        u0 = self.get(0, "u")
-        return u0
-
-
-    def solve(self):
-        """
-        Solve the ocp with current input.
-        """
-        return acados_solver.acados_solve(self.capsule)
-
-
-    def reset(self, reset_qp_solver_mem=1):
-        """
-        Sets current iterate to all zeros.
-        """
-        return acados_solver.acados_reset(self.capsule, reset_qp_solver_mem)
-
-
-    def custom_update(self, data_):
-        """
-        A custom function that can be implemented by a user to be called between solver calls.
-        By default this does nothing.
-        The idea is to have a convenient wrapper to do complex updates of parameters and numerical data efficiently in C,
-        in a function that is compiled into the solver library and can be conveniently used in the Python environment.
-        """
-        data_len = len(data_)
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] data = np.ascontiguousarray(data_, dtype=np.float64)
-
-        return acados_solver.acados_custom_update(self.capsule, <double *> data.data, data_len)
-
-
-    def set_new_time_steps(self, new_time_steps):
-        """
-        Set new time steps.
-        Recreates the solver if N changes.
-
-            :param new_time_steps: 1 dimensional np array of new time steps for the solver
-
-            .. note:: This allows for different use-cases: either set a new size of time-steps or a new distribution of
-                      the shooting nodes without changing the number, e.g., to reach a different final time. Both cases
-                      do not require a new code export and compilation.
-        """
-
-        raise NotImplementedError("AcadosOcpSolverCython: does not support set_new_time_steps() since it is only a prototyping feature")
-        # # unlikely but still possible
-        # if not self.solver_created:
-        #     raise Exception('Solver was not yet created!')
-
-        # ## check if time steps really changed in value
-        # # get time steps
-        # cdef cnp.ndarray[cnp.float64_t, ndim=1] old_time_steps = np.ascontiguousarray(np.zeros((self.N,)), dtype=np.float64)
-        # assert acados_solver.acados_get_time_steps(self.capsule, self.N, <double *> old_time_steps.data)
-
-        # if np.array_equal(old_time_steps, new_time_steps):
-        #     return
-
-        # N = new_time_steps.size
-        # cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(new_time_steps, dtype=np.float64)
-
-        # # check if recreation of acados is necessary (no need to recreate acados if sizes are identical)
-        # if len(old_time_steps) == N:
-        #     assert acados_solver.acados_update_time_steps(self.capsule, N, <double *> value.data) == 0
-
-        # else:  # recreate the solver with the new time steps
-        #     self.solver_created = False
-
-        #     # delete old memory (analog to __del__)
-        #     acados_solver.acados_free(self.capsule)
-
-        #     # create solver with new time steps
-        #     assert acados_solver.acados_create_with_discretization(self.capsule, N, <double *> value.data) == 0
-
-        #     self.solver_created = True
-
-        #     # get pointers solver
-        #     self.__get_pointers_solver()
-
-        # # store time_steps, N
-        # self.time_steps = new_time_steps
-        # self.N = N
-
-
-    def update_qp_solver_cond_N(self, qp_solver_cond_N: int):
-        """
-        Recreate solver with new value `qp_solver_cond_N` with a partial condensing QP solver.
-        This function is relevant for code reuse, i.e., if either `set_new_time_steps(...)` is used or
-        the influence of a different `qp_solver_cond_N` is studied without code export and compilation.
-            :param qp_solver_cond_N: new number of condensing stages for the solver
-
-            .. note:: This function can only be used in combination with a partial condensing QP solver.
-
-            .. note:: After `set_new_time_steps(...)` is used and depending on the new number of time steps it might be
-                      necessary to change `qp_solver_cond_N` as well (using this function), i.e., typically
-                      `qp_solver_cond_N < N`.
-        """
-        raise NotImplementedError("AcadosOcpSolverCython: does not support update_qp_solver_cond_N() since it is only a prototyping feature")
-
-        # # unlikely but still possible
-        # if not self.solver_created:
-        #     raise Exception('Solver was not yet created!')
-        # if self.N < qp_solver_cond_N:
-        #     raise Exception('Setting qp_solver_cond_N to be larger than N does not work!')
-        # if self.qp_solver_cond_N != qp_solver_cond_N:
-        #     self.solver_created = False
-
-        #     # recreate the solver
-        #     acados_solver.acados_update_qp_solver_cond_N(self.capsule, qp_solver_cond_N)
-
-        #     # store the new value
-        #     self.qp_solver_cond_N = qp_solver_cond_N
-        #     self.solver_created = True
-
-        #     # get pointers solver
-        #     self.__get_pointers_solver()
-
-
-    def eval_param_sens(self, index, stage=0, field="ex"):
-        """
-        Calculate the sensitivity of the curent solution with respect to the initial state component of index
-
-            :param index: integer corresponding to initial state index in range(nx)
-        """
-
-        field_ = field
-        field = field_.encode('utf-8')
-
-        # checks
-        if not isinstance(index, int):
-            raise Exception('AcadosOcpSolverCython.eval_param_sens(): index must be Integer.')
-
-        cdef int nx = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, 0, "x".encode('utf-8'))
-
-        if index < 0 or index > nx:
-            raise Exception(f'AcadosOcpSolverCython.eval_param_sens(): index must be in [0, nx-1], got: {index}.')
-
-        # actual eval_param
-        acados_solver_common.ocp_nlp_eval_param_sens(self.nlp_solver, field, stage, index, self.sens_out)
-
-        return
-
-
-    def get(self, int stage, str field_):
-        """
-        Get the last solution of the solver:
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',]
-
-            .. note:: regarding lam, t: \n
-                    the inequalities are internally organized in the following order: \n
-                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
-                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
-
-            .. note:: pi: multipliers for dynamics equality constraints \n
-                      lam: multipliers for inequalities \n
-                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
-                      sl: slack variables of soft lower inequality constraints \n
-                      su: slack variables of soft upper inequality constraints \n
-        """
-
-        out_fields = ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su']
-        field = field_.encode('utf-8')
-
-        if field_ not in out_fields:
-            raise Exception('AcadosOcpSolverCython.get(): {} is an invalid argument.\
-                    \n Possible values are {}.'.format(field_, out_fields))
-
-        if stage < 0 or stage > self.N:
-            raise Exception('AcadosOcpSolverCython.get(): stage index must be in [0, N], got: {}.'.format(self.N))
-
-        if stage == self.N and field_ == 'pi':
-            raise Exception('AcadosOcpSolverCython.get(): field {} does not exist at final stage {}.'\
-                .format(field_, stage))
-
-        cdef int dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config,
-            self.nlp_dims, self.nlp_out, stage, field)
-
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((dims,))
-        acados_solver_common.ocp_nlp_out_get(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage, field, <void *> out.data)
-
-        return out
-
-
-    def print_statistics(self):
-        """
-        prints statistics of previous solver run as a table:
-            - iter: iteration number
-            - res_stat: stationarity residual
-            - res_eq: residual wrt equality constraints (dynamics)
-            - res_ineq: residual wrt inequality constraints (constraints)
-            - res_comp: residual wrt complementarity conditions
-            - qp_stat: status of QP solver
-            - qp_iter: number of QP iterations
-            - qp_res_stat: stationarity residual of the last QP solution
-            - qp_res_eq: residual wrt equality constraints (dynamics) of the last QP solution
-            - qp_res_ineq: residual wrt inequality constraints (constraints)  of the last QP solution
-            - qp_res_comp: residual wrt complementarity conditions of the last QP solution
-        """
-        acados_solver.acados_print_stats(self.capsule)
-
-
-    def store_iterate(self, filename='', overwrite=False):
-        """
-        Stores the current iterate of the ocp solver in a json file.
-
-            :param filename: if not set, use model_name + timestamp + '.json'
-            :param overwrite: if false and filename exists add timestamp to filename
-        """
-        import json
-        if filename == '':
-            filename += self.model_name + '_' + 'iterate' + '.json'
-
-        if not overwrite:
-            # append timestamp
-            if os.path.isfile(filename):
-                filename = filename[:-5]
-                filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json'
-
-        # get iterate:
-        solution = dict()
-
-        lN = len(str(self.N+1))
-        for i in range(self.N+1):
-            i_string = f'{i:0{lN}d}'
-            solution['x_'+i_string] = self.get(i,'x')
-            solution['u_'+i_string] = self.get(i,'u')
-            solution['z_'+i_string] = self.get(i,'z')
-            solution['lam_'+i_string] = self.get(i,'lam')
-            solution['t_'+i_string] = self.get(i, 't')
-            solution['sl_'+i_string] = self.get(i, 'sl')
-            solution['su_'+i_string] = self.get(i, 'su')
-            if i < self.N:
-                solution['pi_'+i_string] = self.get(i,'pi')
-
-        for k in list(solution.keys()):
-            if len(solution[k]) == 0:
-                del solution[k]
-
-        # save
-        with open(filename, 'w') as f:
-            json.dump(solution, f, default=lambda x: x.tolist(), indent=4, sort_keys=True)
-        print("stored current iterate in ", os.path.join(os.getcwd(), filename))
-
-
-    def load_iterate(self, filename):
-        """
-        Loads the iterate stored in json file with filename into the ocp solver.
-        """
-        import json
-        if not os.path.isfile(filename):
-            raise Exception('load_iterate: failed, file does not exist: ' + os.path.join(os.getcwd(), filename))
-
-        with open(filename, 'r') as f:
-            solution = json.load(f)
-
-        for key in solution.keys():
-            (field, stage) = key.split('_')
-            self.set(int(stage), field, np.array(solution[key]))
-
-
-    def get_stats(self, field_):
-        """
-        Get the information of the last solver call.
-
-            :param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter']
-        Available fileds:
-            - time_tot: total CPU time previous call
-            - time_lin: CPU time for linearization
-            - time_sim: CPU time for integrator
-            - time_sim_ad: CPU time for integrator contribution of external function calls
-            - time_sim_la: CPU time for integrator contribution of linear algebra
-            - time_qp: CPU time qp solution
-            - time_qp_solver_call: CPU time inside qp solver (without converting the QP)
-            - time_qp_xcond: time_glob: CPU time globalization
-            - time_solution_sensitivities: CPU time for previous call to eval_param_sens
-            - time_reg: CPU time regularization
-            - sqp_iter: number of SQP iterations
-            - qp_iter: vector of QP iterations for last SQP call
-            - statistics: table with info about last iteration
-            - stat_m: number of rows in statistics matrix
-            - stat_n: number of columns in statistics matrix
-            - residuals: residuals of last iterate
-            - alpha: step sizes of SQP iterations
-        """
-
-        double_fields = ['time_tot',
-                  'time_lin',
-                  'time_sim',
-                  'time_sim_ad',
-                  'time_sim_la',
-                  'time_qp',
-                  'time_qp_solver_call',
-                  'time_qp_xcond',
-                  'time_glob',
-                  'time_solution_sensitivities',
-                  'time_reg'
-        ]
-        fields = double_fields + [
-                  'sqp_iter',
-                  'qp_iter',
-                  'statistics',
-                  'stat_m',
-                  'stat_n',
-                  'residuals',
-                  'alpha',
-                ]
-        field = field_.encode('utf-8')
-
-        if field_ in ['sqp_iter', 'stat_m', 'stat_n']:
-            return self.__get_stat_int(field)
-
-        elif field_ in double_fields:
-            return self.__get_stat_double(field)
-
-        elif field_ == 'statistics':
-            sqp_iter = self.get_stats("sqp_iter")
-            stat_m = self.get_stats("stat_m")
-            stat_n = self.get_stats("stat_n")
-            min_size = min([stat_m, sqp_iter+1])
-            return self.__get_stat_matrix(field, stat_n+1, min_size)
-
-        elif field_ == 'qp_iter':
-            full_stats = self.get_stats('statistics')
-            if self.nlp_solver_type == 'SQP':
-                return full_stats[6, :]
-            elif self.nlp_solver_type == 'SQP_RTI':
-                return full_stats[2, :]
-
-        elif field_ == 'alpha':
-            full_stats = self.get_stats('statistics')
-            if self.nlp_solver_type == 'SQP':
-                return full_stats[7, :]
-            else: # self.nlp_solver_type == 'SQP_RTI':
-                raise Exception("alpha values are not available for SQP_RTI")
-
-        elif field_ == 'residuals':
-            return self.get_residuals()
-
-        else:
-            raise NotImplementedError("TODO!")
-
-
-    def __get_stat_int(self, field):
-        cdef int out
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &out)
-        return out
-
-    def __get_stat_double(self, field):
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((1,))
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> out.data)
-        return out
-
-    def __get_stat_matrix(self, field, n, m):
-        cdef cnp.ndarray[cnp.float64_t, ndim=2] out_mat = np.ascontiguousarray(np.zeros((n, m)), dtype=np.float64)
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> out_mat.data)
-        return out_mat
-
-
-    def get_cost(self):
-        """
-        Returns the cost value of the current solution.
-        """
-        # compute cost internally
-        acados_solver_common.ocp_nlp_eval_cost(self.nlp_solver, self.nlp_in, self.nlp_out)
-
-        # create output
-        cdef double out
-
-        # call getter
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, "cost_value", <void *> &out)
-
-        return out
-
-
-    def get_residuals(self, recompute=False):
-        """
-        Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
-        """
-        # compute residuals if RTI
-        if self.nlp_solver_type == 'SQP_RTI' or recompute:
-            acados_solver_common.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out)
-
-        # create output array
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.ascontiguousarray(np.zeros((4,), dtype=np.float64))
-        cdef double double_value
-
-        field = "res_stat".encode('utf-8')
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
-        out[0] = double_value
-
-        field = "res_eq".encode('utf-8')
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
-        out[1] = double_value
-
-        field = "res_ineq".encode('utf-8')
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
-        out[2] = double_value
-
-        field = "res_comp".encode('utf-8')
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
-        out[3] = double_value
-
-        return out
-
-
-    # Note: this function should not be used anymore, better use cost_set, constraints_set
-    def set(self, int stage, str field_, value_):
-
-        """
-        Set numerical data inside the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['x', 'u', 'pi', 'lam', 't', 'p']
-
-            .. note:: regarding lam, t: \n
-                    the inequalities are internally organized in the following order: \n
-                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
-                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
-
-            .. note:: pi: multipliers for dynamics equality constraints \n
-                      lam: multipliers for inequalities \n
-                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
-                      sl: slack variables of soft lower inequality constraints \n
-                      su: slack variables of soft upper inequality constraints \n
-        """
-        if not isinstance(value_, np.ndarray):
-            raise Exception(f"set: value must be numpy array, got {type(value_)}.")
-        cost_fields = ['y_ref', 'yref']
-        constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
-        out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su']
-        mem_fields = ['xdot_guess', 'z_guess']
-
-        field = field_.encode('utf-8')
-
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(value_, dtype=np.float64)
-
-        # treat parameters separately
-        if field_ == 'p':
-            assert acados_solver.acados_update_params(self.capsule, stage, <double *> value.data, value.shape[0]) == 0
-        else:
-            if field_ not in constraints_fields + cost_fields + out_fields:
-                raise Exception("AcadosOcpSolverCython.set(): {} is not a valid argument.\
-                    \nPossible values are {}.".format(field, \
-                    constraints_fields + cost_fields + out_fields + ['p']))
-
-            dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config,
-                self.nlp_dims, self.nlp_out, stage, field)
-
-            if value_.shape[0] != dims:
-                msg = 'AcadosOcpSolverCython.set(): mismatching dimension for field "{}" '.format(field_)
-                msg += 'with dimension {} (you have {})'.format(dims, value_.shape[0])
-                raise Exception(msg)
-
-            if field_ in constraints_fields:
-                acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config,
-                    self.nlp_dims, self.nlp_in, stage, field, <void *> value.data)
-            elif field_ in cost_fields:
-                acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config,
-                    self.nlp_dims, self.nlp_in, stage, field, <void *> value.data)
-            elif field_ in out_fields:
-                acados_solver_common.ocp_nlp_out_set(self.nlp_config,
-                    self.nlp_dims, self.nlp_out, stage, field, <void *> value.data)
-            elif field_ in mem_fields:
-                acados_solver_common.ocp_nlp_set(self.nlp_config, \
-                    self.nlp_solver, stage, field, <void *> value.data)
-
-            if field_ == 'z':
-                field = 'z_guess'.encode('utf-8')
-                acados_solver_common.ocp_nlp_set(self.nlp_config, \
-                    self.nlp_solver, stage, field, <void *> value.data)
-        return
-
-    def cost_set(self, int stage, str field_, value_):
-        """
-        Set numerical data in the cost module of the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess'
-            :param value: of appropriate size
-        """
-        if not isinstance(value_, np.ndarray):
-            raise Exception(f"cost_set: value must be numpy array, got {type(value_)}.")
-        field = field_.encode('utf-8')
-
-        cdef int dims[2]
-        acados_solver_common.ocp_nlp_cost_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage, field, &dims[0])
-
-        cdef double[::1,:] value
-
-        value_shape = value_.shape
-        if len(value_shape) == 1:
-            value_shape = (value_shape[0], 0)
-            value = np.asfortranarray(value_[None,:])
-
-        elif len(value_shape) == 2:
-            # Get elements in column major order
-            value = np.asfortranarray(value_)
-
-        if value_shape[0] != dims[0] or value_shape[1] != dims[1]:
-            raise Exception('AcadosOcpSolverCython.cost_set(): mismatching dimension' +
-                f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
-
-        acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config, \
-            self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0][0])
-
-
-    def constraints_set(self, int stage, str field_, value_):
-        """
-        Set numerical data in the constraint module of the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi', 'C', 'D']
-            :param value: of appropriate size
-        """
-        if not isinstance(value_, np.ndarray):
-            raise Exception(f"constraints_set: value must be numpy array, got {type(value_)}.")
-
-        field = field_.encode('utf-8')
-
-        cdef int dims[2]
-        acados_solver_common.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage, field, &dims[0])
-
-        cdef double[::1,:] value
-
-        value_shape = value_.shape
-        if len(value_shape) == 1:
-            value_shape = (value_shape[0], 0)
-            value = np.asfortranarray(value_[None,:])
-
-        elif len(value_shape) == 2:
-            # Get elements in column major order
-            value = np.asfortranarray(value_)
-
-        if value_shape != tuple(dims):
-            raise Exception(f'AcadosOcpSolverCython.constraints_set(): mismatching dimension' +
-                f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
-
-        acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config, \
-            self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0][0])
-
-        return
-
-
-    def get_from_qp_in(self, int stage, str field_):
-        """
-        Get numerical data from the dynamics module of the solver:
-
-            :param stage: integer corresponding to shooting node
-            :param field: string, e.g. 'A'
-        """
-        field = field_.encode('utf-8')
-
-        # get dims
-        cdef int[2] dims
-        acados_solver_common.ocp_nlp_qp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, stage, field, &dims[0])
-
-        # create output data
-        cdef cnp.ndarray[cnp.float64_t, ndim=2] out = np.zeros((dims[0], dims[1]), order='F')
-
-        # call getter
-        acados_solver_common.ocp_nlp_get_at_stage(self.nlp_config, self.nlp_dims, self.nlp_solver, stage, field, <void *> out.data)
-
-        return out
-
-
-    def options_set(self, str field_, value_):
-        """
-        Set options of the solver.
-
-            :param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0'
-
-            :param value: of type int, float, string
-
-            - qp_tol_stat: QP solver tolerance stationarity
-            - qp_tol_eq: QP solver tolerance equalities
-            - qp_tol_ineq: QP solver tolerance inequalities
-            - qp_tol_comp: QP solver tolerance complementarity
-            - qp_tau_min: for HPIPM QP solvers: minimum value of barrier parameter in HPIPM
-            - qp_mu0: for HPIPM QP solvers: initial value for complementarity slackness
-            - warm_start_first_qp: indicates if first QP in SQP is warm_started
-        """
-        int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'warm_start_first_qp']
-        double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction', 'eps_sufficient_descent',
-        'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0']
-        string_fields = ['globalization']
-
-        # encode
-        field = field_.encode('utf-8')
-
-        cdef int int_value
-        cdef double double_value
-        cdef unsigned char[::1] string_value
-
-        # check field availability and type
-        if field_ in int_fields:
-            if not isinstance(value_, int):
-                raise Exception('solver option {} must be of type int. You have {}.'.format(field_, type(value_)))
-
-            if field_ == 'rti_phase':
-                if value_ < 0 or value_ > 2:
-                    raise Exception('AcadosOcpSolverCython.solve(): argument \'rti_phase\' can '
-                        'take only values 0, 1, 2 for SQP-RTI-type solvers')
-                if self.nlp_solver_type != 'SQP_RTI' and value_ > 0:
-                    raise Exception('AcadosOcpSolverCython.solve(): argument \'rti_phase\' can '
-                        'take only value 0 for SQP-type solvers')
-
-            int_value = value_
-            acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &int_value)
-
-        elif field_ in double_fields:
-            if not isinstance(value_, float):
-                raise Exception('solver option {} must be of type float. You have {}.'.format(field_, type(value_)))
-
-            double_value = value_
-            acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &double_value)
-
-        elif field_ in string_fields:
-            if not isinstance(value_, bytes):
-                raise Exception('solver option {} must be of type str. You have {}.'.format(field_, type(value_)))
-
-            string_value = value_.encode('utf-8')
-            acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &string_value[0])
-
-        else:
-            raise Exception('AcadosOcpSolverCython.options_set() does not support field {}.'\
-                '\n Possible values are {}.'.format(field_, ', '.join(int_fields + double_fields + string_fields)))
-
-
-    def set_params_sparse(self, int stage, idx_values_, param_values_):
-        """
-        set parameters of the solvers external function partially:
-        Pseudo: solver.param[idx_values_] = param_values_;
-        Parameters:
-            :param stage_: integer corresponding to shooting node
-            :param idx_values_: 0 based integer array corresponding to parameter indices to be set
-            :param param_values_: new parameter values as numpy array
-        """
-
-        if not isinstance(param_values_, np.ndarray):
-            raise Exception('param_values_ must be np.array.')
-
-        if param_values_.shape[0] != len(idx_values_):
-            raise Exception(f'param_values_ and idx_values_ must be of the same size.' +
-                 f' Got sizes idx {param_values_.shape[0]}, param_values {len(idx_values_)}.')
-
-        # n_update = c_int(len(param_values_))
-
-        # param_data = cast(param_values_.ctypes.data, POINTER(c_double))
-        # c_idx_values = np.ascontiguousarray(idx_values_, dtype=np.intc)
-        # idx_data = cast(c_idx_values.ctypes.data, POINTER(c_int))
-
-        # getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").argtypes = \
-        #                 [c_void_p, c_int, POINTER(c_int), POINTER(c_double), c_int]
-        # getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").restype = c_int
-        # getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse") \
-        #                             (self.capsule, stage, idx_data, param_data, n_update)
-
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(param_values_, dtype=np.float64)
-        # cdef cnp.ndarray[cnp.intc, ndim=1] idx = np.ascontiguousarray(idx_values_, dtype=np.intc)
-
-        # NOTE: this does throw an error somehow:
-        # ValueError: Buffer dtype mismatch, expected 'int object' but got 'int'
-        # cdef cnp.ndarray[cnp.int, ndim=1] idx = np.ascontiguousarray(idx_values_, dtype=np.intc)
-
-        cdef cnp.ndarray[cnp.int32_t, ndim=1] idx = np.ascontiguousarray(idx_values_, dtype=np.int32)
-        cdef int n_update = value.shape[0]
-        # print(f"in set_params_sparse Cython n_update {n_update}")
-
-        assert acados_solver.acados_update_params_sparse(self.capsule, stage, <int *> idx.data, <double *> value.data, n_update) == 0
-        return
-
-
-    def __del__(self):
-        if self.solver_created:
-            acados_solver.acados_free(self.capsule)
-            acados_solver.acados_free_capsule(self.capsule)
diff --git a/third_party/acados/acados_template/acados_sim.py b/third_party/acados/acados_template/acados_sim.py
deleted file mode 100644
index 7faa49fb125447..00000000000000
--- a/third_party/acados/acados_template/acados_sim.py
+++ /dev/null
@@ -1,366 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import numpy as np
-import os
-from .acados_model import AcadosModel
-from .utils import get_acados_path, get_lib_ext
-
-class AcadosSimDims:
-    """
-    Class containing the dimensions of the model to be simulated.
-    """
-    def __init__(self):
-        self.__nx = None
-        self.__nu = None
-        self.__nz = 0
-        self.__np = 0
-
-    @property
-    def nx(self):
-        """:math:`n_x` - number of states. Type: int > 0"""
-        return self.__nx
-
-    @property
-    def nz(self):
-        """:math:`n_z` - number of algebraic variables. Type: int >= 0"""
-        return self.__nz
-
-    @property
-    def nu(self):
-        """:math:`n_u` - number of inputs. Type: int >= 0"""
-        return self.__nu
-
-    @property
-    def np(self):
-        """:math:`n_p` - number of parameters. Type: int >= 0"""
-        return self.__np
-
-    @nx.setter
-    def nx(self, nx):
-        if isinstance(nx, int) and nx > 0:
-            self.__nx = nx
-        else:
-            raise Exception('Invalid nx value, expected positive integer.')
-
-    @nz.setter
-    def nz(self, nz):
-        if isinstance(nz, int) and nz > -1:
-            self.__nz = nz
-        else:
-            raise Exception('Invalid nz value, expected nonnegative integer.')
-
-    @nu.setter
-    def nu(self, nu):
-        if isinstance(nu, int) and nu > -1:
-            self.__nu = nu
-        else:
-            raise Exception('Invalid nu value, expected nonnegative integer.')
-
-    @np.setter
-    def np(self, np):
-        if isinstance(np, int) and np > -1:
-            self.__np = np
-        else:
-            raise Exception('Invalid np value, expected nonnegative integer.')
-
-    def set(self, attr, value):
-        setattr(self, attr, value)
-
-
-class AcadosSimOpts:
-    """
-    class containing the solver options
-    """
-    def __init__(self):
-        self.__integrator_type = 'ERK'
-        self.__collocation_type = 'GAUSS_LEGENDRE'
-        self.__Tsim = None
-        # ints
-        self.__sim_method_num_stages = 1
-        self.__sim_method_num_steps = 1
-        self.__sim_method_newton_iter = 3
-        # doubles
-        self.__sim_method_newton_tol = 0.0
-        # bools
-        self.__sens_forw = True
-        self.__sens_adj = False
-        self.__sens_algebraic = False
-        self.__sens_hess = False
-        self.__output_z = True
-        self.__sim_method_jac_reuse = 0
-        self.__ext_fun_compile_flags = '-O2'
-
-    @property
-    def integrator_type(self):
-        """Integrator type. Default: 'ERK'."""
-        return self.__integrator_type
-
-    @property
-    def num_stages(self):
-        """Number of stages in the integrator. Default: 1"""
-        return self.__sim_method_num_stages
-
-    @property
-    def num_steps(self):
-        """Number of steps in the integrator. Default: 1"""
-        return self.__sim_method_num_steps
-
-    @property
-    def newton_iter(self):
-        """Number of Newton iterations in simulation method. Default: 3"""
-        return self.__sim_method_newton_iter
-
-    @property
-    def newton_tol(self):
-        """
-        Tolerance for Newton system solved in implicit integrator (IRK, GNSF).
-        0.0 means this is not used and exactly newton_iter iterations are carried out.
-        Default: 0.0
-        """
-        return self.__sim_method_newton_tol
-
-    @property
-    def sens_forw(self):
-        """Boolean determining if forward sensitivities are computed. Default: True"""
-        return self.__sens_forw
-
-    @property
-    def sens_adj(self):
-        """Boolean determining if adjoint sensitivities are computed. Default: False"""
-        return self.__sens_adj
-
-    @property
-    def sens_algebraic(self):
-        """Boolean determining if sensitivities wrt algebraic variables are computed. Default: False"""
-        return self.__sens_algebraic
-
-    @property
-    def sens_hess(self):
-        """Boolean determining if hessians are computed. Default: False"""
-        return self.__sens_hess
-
-    @property
-    def output_z(self):
-        """Boolean determining if values for algebraic variables (corresponding to start of simulation interval) are computed. Default: True"""
-        return self.__output_z
-
-    @property
-    def sim_method_jac_reuse(self):
-        """Integer determining if jacobians are reused (0 or 1). Default: 0"""
-        return self.__sim_method_jac_reuse
-
-    @property
-    def T(self):
-        """Time horizon"""
-        return self.__Tsim
-
-    @property
-    def collocation_type(self):
-        """Collocation type: relevant for implicit integrators
-        -- string in {GAUSS_RADAU_IIA, GAUSS_LEGENDRE}
-
-        Default: GAUSS_LEGENDRE
-        """
-        return self.__collocation_type
-
-    @property
-    def ext_fun_compile_flags(self):
-        """
-        String with compiler flags for external function compilation.
-        Default: '-O2'.
-        """
-        return self.__ext_fun_compile_flags
-
-    @ext_fun_compile_flags.setter
-    def ext_fun_compile_flags(self, ext_fun_compile_flags):
-        if isinstance(ext_fun_compile_flags, str):
-            self.__ext_fun_compile_flags = ext_fun_compile_flags
-        else:
-            raise Exception('Invalid ext_fun_compile_flags, expected a string.\n')
-
-    @integrator_type.setter
-    def integrator_type(self, integrator_type):
-        integrator_types = ('ERK', 'IRK', 'GNSF')
-        if integrator_type in integrator_types:
-            self.__integrator_type = integrator_type
-        else:
-            raise Exception('Invalid integrator_type value. Possible values are:\n\n' \
-                    + ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\n')
-
-    @collocation_type.setter
-    def collocation_type(self, collocation_type):
-        collocation_types = ('GAUSS_RADAU_IIA', 'GAUSS_LEGENDRE')
-        if collocation_type in collocation_types:
-            self.__collocation_type = collocation_type
-        else:
-            raise Exception('Invalid collocation_type value. Possible values are:\n\n' \
-                    + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\n')
-
-    @T.setter
-    def T(self, T):
-        self.__Tsim = T
-
-    @num_stages.setter
-    def num_stages(self, num_stages):
-        if isinstance(num_stages, int):
-            self.__sim_method_num_stages = num_stages
-        else:
-            raise Exception('Invalid num_stages value. num_stages must be an integer.')
-
-    @num_steps.setter
-    def num_steps(self, num_steps):
-        if isinstance(num_steps, int):
-            self.__sim_method_num_steps = num_steps
-        else:
-            raise Exception('Invalid num_steps value. num_steps must be an integer.')
-
-    @newton_iter.setter
-    def newton_iter(self, newton_iter):
-        if isinstance(newton_iter, int):
-            self.__sim_method_newton_iter = newton_iter
-        else:
-            raise Exception('Invalid newton_iter value. newton_iter must be an integer.')
-
-    @newton_tol.setter
-    def newton_tol(self, newton_tol):
-        if isinstance(newton_tol, float):
-            self.__sim_method_newton_tol = newton_tol
-        else:
-            raise Exception('Invalid newton_tol value. newton_tol must be an float.')
-
-    @sens_forw.setter
-    def sens_forw(self, sens_forw):
-        if sens_forw in (True, False):
-            self.__sens_forw = sens_forw
-        else:
-            raise Exception('Invalid sens_forw value. sens_forw must be a Boolean.')
-
-    @sens_adj.setter
-    def sens_adj(self, sens_adj):
-        if sens_adj in (True, False):
-            self.__sens_adj = sens_adj
-        else:
-            raise Exception('Invalid sens_adj value. sens_adj must be a Boolean.')
-
-    @sens_hess.setter
-    def sens_hess(self, sens_hess):
-        if sens_hess in (True, False):
-            self.__sens_hess = sens_hess
-        else:
-            raise Exception('Invalid sens_hess value. sens_hess must be a Boolean.')
-
-    @sens_algebraic.setter
-    def sens_algebraic(self, sens_algebraic):
-        if sens_algebraic in (True, False):
-            self.__sens_algebraic = sens_algebraic
-        else:
-            raise Exception('Invalid sens_algebraic value. sens_algebraic must be a Boolean.')
-
-    @output_z.setter
-    def output_z(self, output_z):
-        if output_z in (True, False):
-            self.__output_z = output_z
-        else:
-            raise Exception('Invalid output_z value. output_z must be a Boolean.')
-
-    @sim_method_jac_reuse.setter
-    def sim_method_jac_reuse(self, sim_method_jac_reuse):
-        if sim_method_jac_reuse in (0, 1):
-            self.__sim_method_jac_reuse = sim_method_jac_reuse
-        else:
-            raise Exception('Invalid sim_method_jac_reuse value. sim_method_jac_reuse must be 0 or 1.')
-
-class AcadosSim:
-    """
-    The class has the following properties that can be modified to formulate a specific simulation problem, see below:
-
-    :param acados_path: string with the path to acados. It is used to generate the include and lib paths.
-
-    - :py:attr:`dims` of type :py:class:`acados_template.acados_ocp.AcadosSimDims` - are automatically detected from model
-    - :py:attr:`model` of type :py:class:`acados_template.acados_model.AcadosModel`
-    - :py:attr:`solver_options` of type :py:class:`acados_template.acados_sim.AcadosSimOpts`
-
-    - :py:attr:`acados_include_path` (set automatically)
-    - :py:attr:`shared_lib_ext` (set automatically)
-    - :py:attr:`acados_lib_path` (set automatically)
-    - :py:attr:`parameter_values` - used to initialize the parameters (can be changed)
-
-    """
-    def __init__(self, acados_path=''):
-        if acados_path == '':
-            acados_path = get_acados_path()
-        self.dims = AcadosSimDims()
-        """Dimension definitions, automatically detected from :py:attr:`model`. Type :py:class:`acados_template.acados_sim.AcadosSimDims`"""
-        self.model = AcadosModel()
-        """Model definitions, type :py:class:`acados_template.acados_model.AcadosModel`"""
-        self.solver_options = AcadosSimOpts()
-        """Solver Options, type :py:class:`acados_template.acados_sim.AcadosSimOpts`"""
-
-        self.acados_include_path = os.path.join(acados_path, 'include').replace(os.sep, '/') # the replace part is important on Windows for CMake
-        """Path to acados include directory (set automatically), type: `string`"""
-        self.acados_lib_path = os.path.join(acados_path, 'lib').replace(os.sep, '/') # the replace part is important on Windows for CMake
-        """Path to where acados library is located (set automatically), type: `string`"""
-
-        self.code_export_directory = 'c_generated_code'
-        """Path to where code will be exported. Default: `c_generated_code`."""
-        self.shared_lib_ext = get_lib_ext()
-
-        # get cython paths
-        from sysconfig import get_paths
-        self.cython_include_dirs = [np.get_include(), get_paths()['include']]
-
-        self.__parameter_values = np.array([])
-        self.__problem_class = 'SIM'
-
-    @property
-    def parameter_values(self):
-        """:math:`p` - initial values for parameter - can be updated"""
-        return self.__parameter_values
-
-    @parameter_values.setter
-    def parameter_values(self, parameter_values):
-        if isinstance(parameter_values, np.ndarray):
-            self.__parameter_values = parameter_values
-        else:
-            raise Exception('Invalid parameter_values value. ' +
-                            f'Expected numpy array, got {type(parameter_values)}.')
-
-    def set(self, attr, value):
-        # tokenize string
-        tokens = attr.split('_', 1)
-        if len(tokens) > 1:
-            setter_to_call = getattr(getattr(self, tokens[0]), 'set')
-        else:
-            setter_to_call = getattr(self, 'set')
-
-        setter_to_call(tokens[1], value)
-
-        return
diff --git a/third_party/acados/acados_template/acados_sim_layout.json b/third_party/acados/acados_template/acados_sim_layout.json
deleted file mode 100644
index e3ca4b575b43d2..00000000000000
--- a/third_party/acados/acados_template/acados_sim_layout.json
+++ /dev/null
@@ -1,53 +0,0 @@
-{
-    "acados_include_path": [
-        "str"
-    ],
-     "model": {
-         "name" : [
-            "str"
-        ]
-    },
-    "acados_lib_path": [
-        "str"
-    ],
-    "dims": {
-        "np": [
-            "int"
-        ],
-        "nu": [
-            "int"
-        ],
-        "nx": [
-            "int" 
-        ],
-        "nz": [
-            "int"
-        ]
-    },
-    "solver_options": {
-        "integrator_type": [
-            "str"
-        ],
-        "collocation_type": [
-            "str"
-        ],
-        "Tsim": [
-            "float"
-        ],
-        "sim_method_num_stages": [
-            "int"
-        ],
-        "sim_method_num_steps": [
-            "int"
-        ],
-        "sim_method_newton_iter": [
-            "int"
-        ],
-        "sim_method_newton_tol": [
-            "float"
-        ],
-        "ext_fun_compile_flags": [
-            "str"
-        ]
-    }
-}
diff --git a/third_party/acados/acados_template/acados_sim_solver.py b/third_party/acados/acados_template/acados_sim_solver.py
deleted file mode 100644
index de5ee1070944f3..00000000000000
--- a/third_party/acados/acados_template/acados_sim_solver.py
+++ /dev/null
@@ -1,558 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import sys
-import os
-import json
-import importlib
-
-import numpy as np
-
-from subprocess import DEVNULL, call, STDOUT
-
-from ctypes import POINTER, cast, CDLL, c_void_p, c_char_p, c_double, c_int, c_bool, byref
-from copy import deepcopy
-
-from .casadi_function_generation import generate_c_code_implicit_ode, generate_c_code_gnsf, generate_c_code_explicit_ode
-from .acados_sim import AcadosSim
-from .acados_ocp import AcadosOcp
-from .utils import is_column, render_template, format_class_dict, make_object_json_dumpable,\
-     make_model_consistent, set_up_imported_gnsf_model, get_python_interface_path, get_lib_ext,\
-     casadi_length, is_empty, check_casadi_version
-from .builders import CMakeBuilder
-from .gnsf.detect_gnsf_structure import detect_gnsf_structure
-
-
-
-def make_sim_dims_consistent(acados_sim: AcadosSim):
-    dims = acados_sim.dims
-    model = acados_sim.model
-    # nx
-    if is_column(model.x):
-        dims.nx = casadi_length(model.x)
-    else:
-        raise Exception('model.x should be column vector!')
-
-    # nu
-    if is_empty(model.u):
-        dims.nu = 0
-    else:
-        dims.nu = casadi_length(model.u)
-
-    # nz
-    if is_empty(model.z):
-        dims.nz = 0
-    else:
-        dims.nz = casadi_length(model.z)
-
-    # np
-    if is_empty(model.p):
-        dims.np = 0
-    else:
-        dims.np = casadi_length(model.p)
-    if acados_sim.parameter_values.shape[0] != dims.np:
-        raise Exception('inconsistent dimension np, regarding model.p and parameter_values.' + \
-            f'\nGot np = {dims.np}, acados_sim.parameter_values.shape = {acados_sim.parameter_values.shape[0]}\n')
-
-
-def get_sim_layout():
-    python_interface_path = get_python_interface_path()
-    abs_path = os.path.join(python_interface_path, 'acados_sim_layout.json')
-    with open(abs_path, 'r') as f:
-        sim_layout = json.load(f)
-    return sim_layout
-
-
-def sim_formulation_json_dump(acados_sim: AcadosSim, json_file='acados_sim.json'):
-    # Load acados_sim structure description
-    sim_layout = get_sim_layout()
-
-    # Copy input sim object dictionary
-    sim_dict = dict(deepcopy(acados_sim).__dict__)
-
-    for key, v in sim_layout.items():
-        # skip non dict attributes
-        if not isinstance(v, dict): continue
-        # Copy sim object attributes dictionaries
-        sim_dict[key]=dict(getattr(acados_sim, key).__dict__)
-
-    sim_json = format_class_dict(sim_dict)
-
-    with open(json_file, 'w') as f:
-        json.dump(sim_json, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
-
-
-def sim_get_default_cmake_builder() -> CMakeBuilder:
-    """
-    If :py:class:`~acados_template.acados_sim_solver.AcadosSimSolver` is used with `CMake` this function returns a good first setting.
-    :return: default :py:class:`~acados_template.builders.CMakeBuilder`
-    """
-    cmake_builder = CMakeBuilder()
-    cmake_builder.options_on = ['BUILD_ACADOS_SIM_SOLVER_LIB']
-    return cmake_builder
-
-
-def sim_render_templates(json_file, model_name: str, code_export_dir, cmake_options: CMakeBuilder = None):
-    # setting up loader and environment
-    json_path = os.path.join(os.getcwd(), json_file)
-
-    if not os.path.exists(json_path):
-        raise Exception(f"{json_path} not found!")
-
-    # Render templates
-    in_file = 'acados_sim_solver.in.c'
-    out_file = f'acados_sim_solver_{model_name}.c'
-    render_template(in_file, out_file, code_export_dir, json_path)
-
-    in_file = 'acados_sim_solver.in.h'
-    out_file = f'acados_sim_solver_{model_name}.h'
-    render_template(in_file, out_file, code_export_dir, json_path)
-
-    in_file = 'acados_sim_solver.in.pxd'
-    out_file = f'acados_sim_solver.pxd'
-    render_template(in_file, out_file, code_export_dir, json_path)
-
-    # Builder
-    if cmake_options is not None:
-        in_file = 'CMakeLists.in.txt'
-        out_file = 'CMakeLists.txt'
-        render_template(in_file, out_file, code_export_dir, json_path)
-    else:
-        in_file = 'Makefile.in'
-        out_file = 'Makefile'
-        render_template(in_file, out_file, code_export_dir, json_path)
-
-    in_file = 'main_sim.in.c'
-    out_file = f'main_sim_{model_name}.c'
-    render_template(in_file, out_file, code_export_dir, json_path)
-
-    # folder model
-    model_dir = os.path.join(code_export_dir, model_name + '_model')
-
-    in_file = 'model.in.h'
-    out_file = f'{model_name}_model.h'
-    render_template(in_file, out_file, model_dir, json_path)
-
-
-def sim_generate_external_functions(acados_sim: AcadosSim):
-    model = acados_sim.model
-    model = make_model_consistent(model)
-
-    integrator_type = acados_sim.solver_options.integrator_type
-
-    opts = dict(generate_hess = acados_sim.solver_options.sens_hess,
-                code_export_directory = acados_sim.code_export_directory)
-
-    # create code_export_dir, model_dir
-    code_export_dir = acados_sim.code_export_directory
-    opts['code_export_directory'] = code_export_dir
-    model_dir = os.path.join(code_export_dir, model.name + '_model')
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-
-    # generate external functions
-    check_casadi_version()
-    if integrator_type == 'ERK':
-        generate_c_code_explicit_ode(model, opts)
-    elif integrator_type == 'IRK':
-        generate_c_code_implicit_ode(model, opts)
-    elif integrator_type == 'GNSF':
-        generate_c_code_gnsf(model, opts)
-
-
-class AcadosSimSolver:
-    """
-    Class to interact with the acados integrator C object.
-
-        :param acados_sim: type :py:class:`~acados_template.acados_ocp.AcadosOcp` (takes values to generate an instance :py:class:`~acados_template.acados_sim.AcadosSim`) or :py:class:`~acados_template.acados_sim.AcadosSim`
-        :param json_file: Default: 'acados_sim.json'
-        :param build: Default: True
-        :param cmake_builder: type :py:class:`~acados_template.utils.CMakeBuilder` generate a `CMakeLists.txt` and use
-            the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with
-            `MS Visual Studio`); default: `None`
-    """
-    if sys.platform=="win32":
-        from ctypes import wintypes
-        from ctypes import WinDLL
-        dlclose = WinDLL('kernel32', use_last_error=True).FreeLibrary
-        dlclose.argtypes = [wintypes.HMODULE]
-    else:
-        dlclose = CDLL(None).dlclose
-        dlclose.argtypes = [c_void_p]
-
-
-    @classmethod
-    def generate(cls, acados_sim: AcadosSim, json_file='acados_sim.json', cmake_builder: CMakeBuilder = None):
-        """
-        Generates the code for an acados sim solver, given the description in acados_sim
-        """
-
-        acados_sim.code_export_directory = os.path.abspath(acados_sim.code_export_directory)
-
-        # make dims consistent
-        make_sim_dims_consistent(acados_sim)
-
-        # module dependent post processing
-        if acados_sim.solver_options.integrator_type == 'GNSF':
-            if acados_sim.solver_options.sens_hess == True:
-                raise Exception("AcadosSimSolver: GNSF does not support sens_hess = True.")
-            if 'gnsf_model' in acados_sim.__dict__:
-                set_up_imported_gnsf_model(acados_sim)
-            else:
-                detect_gnsf_structure(acados_sim)
-
-        # generate external functions
-        sim_generate_external_functions(acados_sim)
-
-        # dump to json
-        sim_formulation_json_dump(acados_sim, json_file)
-
-        # render templates
-        sim_render_templates(json_file, acados_sim.model.name, acados_sim.code_export_directory, cmake_builder)
-
-
-    @classmethod
-    def build(cls, code_export_dir, with_cython=False, cmake_builder: CMakeBuilder = None, verbose: bool = True):
-        # Compile solver
-        cwd = os.getcwd()
-        os.chdir(code_export_dir)
-        if with_cython:
-            call(
-                ['make', 'clean_sim_cython'],
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-            call(
-                ['make', 'sim_cython'],
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-        else:
-            if cmake_builder is not None:
-                cmake_builder.exec(code_export_dir, verbose=verbose)
-            else:
-                call(
-                    ['make', 'sim_shared_lib'],
-                    stdout=None if verbose else DEVNULL,
-                    stderr=None if verbose else STDOUT
-                )
-        os.chdir(cwd)
-
-
-    @classmethod
-    def create_cython_solver(cls, json_file):
-        """
-        """
-        with open(json_file, 'r') as f:
-            acados_sim_json = json.load(f)
-        code_export_directory = acados_sim_json['code_export_directory']
-
-        importlib.invalidate_caches()
-        rel_code_export_directory = os.path.relpath(code_export_directory)
-        acados_sim_solver_pyx = importlib.import_module(f'{rel_code_export_directory}.acados_sim_solver_pyx')
-
-        AcadosSimSolverCython = getattr(acados_sim_solver_pyx, 'AcadosSimSolverCython')
-        return AcadosSimSolverCython(acados_sim_json['model']['name'])
-
-    def __init__(self, acados_sim, json_file='acados_sim.json', generate=True, build=True, cmake_builder: CMakeBuilder = None, verbose: bool = True):
-
-        self.solver_created = False
-        self.acados_sim = acados_sim
-        model_name = acados_sim.model.name
-        self.model_name = model_name
-
-        code_export_dir = os.path.abspath(acados_sim.code_export_directory)
-
-        # reuse existing json and casadi functions, when creating integrator from ocp
-        if generate and not isinstance(acados_sim, AcadosOcp):
-            self.generate(acados_sim, json_file=json_file, cmake_builder=cmake_builder)
-
-        if build:
-            self.build(code_export_dir, cmake_builder=cmake_builder, verbose=True)
-
-        # prepare library loading
-        lib_prefix = 'lib'
-        lib_ext = get_lib_ext()
-        if os.name == 'nt':
-            lib_prefix = ''
-
-        # Load acados library to avoid unloading the library.
-        # This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed.
-        # Unloading a library which uses OpenMP results in a segfault (on any platform?).
-        # see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp]
-        # or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html]
-        libacados_name = f'{lib_prefix}acados{lib_ext}'
-        libacados_filepath = os.path.join(acados_sim.acados_lib_path, libacados_name)
-        self.__acados_lib = CDLL(libacados_filepath)
-        # find out if acados was compiled with OpenMP
-        try:
-            self.__acados_lib_uses_omp = getattr(self.__acados_lib, 'omp_get_thread_num') is not None
-        except AttributeError as e:
-            self.__acados_lib_uses_omp = False
-        if self.__acados_lib_uses_omp:
-            print('acados was compiled with OpenMP.')
-        else:
-            print('acados was compiled without OpenMP.')
-        libacados_sim_solver_name = f'{lib_prefix}acados_sim_solver_{self.model_name}{lib_ext}'
-        self.shared_lib_name = os.path.join(code_export_dir, libacados_sim_solver_name)
-
-        # get shared_lib
-        self.shared_lib = CDLL(self.shared_lib_name)
-
-        # create capsule
-        getattr(self.shared_lib, f"{model_name}_acados_sim_solver_create_capsule").restype = c_void_p
-        self.capsule = getattr(self.shared_lib, f"{model_name}_acados_sim_solver_create_capsule")()
-
-        # create solver
-        getattr(self.shared_lib, f"{model_name}_acados_sim_create").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_sim_create").restype = c_int
-        assert getattr(self.shared_lib, f"{model_name}_acados_sim_create")(self.capsule)==0
-        self.solver_created = True
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts").restype = c_void_p
-        self.sim_opts = getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims").restype = c_void_p
-        self.sim_dims = getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_config").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_config").restype = c_void_p
-        self.sim_config = getattr(self.shared_lib, f"{model_name}_acados_get_sim_config")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_out").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_out").restype = c_void_p
-        self.sim_out = getattr(self.shared_lib, f"{model_name}_acados_get_sim_out")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_in").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_in").restype = c_void_p
-        self.sim_in = getattr(self.shared_lib, f"{model_name}_acados_get_sim_in")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver").restype = c_void_p
-        self.sim_solver = getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver")(self.capsule)
-
-        self.gettable_vectors = ['x', 'u', 'z', 'S_adj']
-        self.gettable_matrices = ['S_forw', 'Sx', 'Su', 'S_hess', 'S_algebraic']
-        self.gettable_scalars = ['CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la']
-
-
-    def simulate(self, x=None, u=None, z=None, p=None):
-        """
-        Simulate the system forward for the given x, u, z, p and return x_next.
-        Wrapper around `solve()` taking care of setting/getting inputs/outputs.
-        """
-        if x is not None:
-            self.set('x', x)
-        if u is not None:
-            self.set('u', u)
-        if z is not None:
-            self.set('z', z)
-        if p is not None:
-            self.set('p', p)
-
-        status = self.solve()
-
-        if status == 2:
-            print("Warning: acados_sim_solver reached maximum iterations.")
-        elif status != 0:
-            raise Exception(f'acados_sim_solver for model {self.model_name} returned status {status}.')
-
-        x_next = self.get('x')
-        return x_next
-
-
-    def solve(self):
-        """
-        Solve the simulation problem with current input.
-        """
-        getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve").restype = c_int
-
-        status = getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve")(self.capsule)
-        return status
-
-
-    def get(self, field_):
-        """
-        Get the last solution of the solver.
-
-            :param str field: string in ['x', 'u', 'z', 'S_forw', 'Sx', 'Su', 'S_adj', 'S_hess', 'S_algebraic', 'CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la']
-        """
-        field = field_.encode('utf-8')
-
-        if field_ in self.gettable_vectors:
-            # get dims
-            dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-            dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-            self.shared_lib.sim_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_int)]
-            self.shared_lib.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, dims_data)
-
-            # allocate array
-            out = np.ascontiguousarray(np.zeros((dims[0],)), dtype=np.float64)
-            out_data = cast(out.ctypes.data, POINTER(c_double))
-
-            self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, out_data)
-
-        elif field_ in self.gettable_matrices:
-            # get dims
-            dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-            dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-            self.shared_lib.sim_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_int)]
-            self.shared_lib.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, dims_data)
-
-            out = np.zeros((dims[0], dims[1]), order='F')
-            out_data = cast(out.ctypes.data, POINTER(c_double))
-
-            self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, out_data)
-
-        elif field_ in self.gettable_scalars:
-            scalar = c_double()
-            scalar_data = byref(scalar)
-            self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, scalar_data)
-
-            out = scalar.value
-        else:
-            raise Exception(f'AcadosSimSolver.get(): Unknown field {field_},' \
-                f' available fields are {", ".join(self.gettable_vectors+self.gettable_matrices)}, {", ".join(self.gettable_scalars)}')
-
-        return out
-
-
-
-    def set(self, field_: str, value_):
-        """
-        Set numerical data inside the solver.
-
-            :param field: string in ['x', 'u', 'p', 'xdot', 'z', 'seed_adj', 'T']
-            :param value: the value with appropriate size.
-        """
-        settable = ['x', 'u', 'p', 'xdot', 'z', 'seed_adj', 'T'] # S_forw
-
-        # TODO: check and throw error here. then remove checks in Cython for speed
-        # cast value_ to avoid conversion issues
-        if isinstance(value_, (float, int)):
-            value_ = np.array([value_])
-
-        value_ = value_.astype(float)
-        value_data = cast(value_.ctypes.data, POINTER(c_double))
-        value_data_p = cast((value_data), c_void_p)
-
-        field = field_.encode('utf-8')
-
-        # treat parameters separately
-        if field_ == 'p':
-            model_name = self.acados_sim.model.name
-            getattr(self.shared_lib, f"{model_name}_acados_sim_update_params").argtypes = [c_void_p, POINTER(c_double), c_int]
-            value_data = cast(value_.ctypes.data, POINTER(c_double))
-            getattr(self.shared_lib, f"{model_name}_acados_sim_update_params")(self.capsule, value_data, value_.shape[0])
-            return
-        else:
-            # dimension check
-            dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-            dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-            self.shared_lib.sim_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_int)]
-            self.shared_lib.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, dims_data)
-
-            value_ = np.ravel(value_, order='F')
-
-            value_shape = value_.shape
-            if len(value_shape) == 1:
-                value_shape = (value_shape[0], 0)
-
-            if value_shape != tuple(dims):
-                raise Exception(f'AcadosSimSolver.set(): mismatching dimension' \
-                    f' for field "{field_}" with dimension {tuple(dims)} (you have {value_shape}).')
-
-        # set
-        if field_ in ['xdot', 'z']:
-            self.shared_lib.sim_solver_set.argtypes = [c_void_p, c_char_p, c_void_p]
-            self.shared_lib.sim_solver_set(self.sim_solver, field, value_data_p)
-        elif field_ in settable:
-            self.shared_lib.sim_in_set.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.sim_in_set(self.sim_config, self.sim_dims, self.sim_in, field, value_data_p)
-        else:
-            raise Exception(f'AcadosSimSolver.set(): Unknown field {field_},' \
-                f' available fields are {", ".join(settable)}')
-
-        return
-
-
-    def options_set(self, field_: str, value_: bool):
-        """
-        Set solver options
-
-            :param field: string in ['sens_forw', 'sens_adj', 'sens_hess']
-            :param value: Boolean
-        """
-        fields = ['sens_forw', 'sens_adj', 'sens_hess']
-        if field_ not in fields:
-            raise Exception(f"field {field_} not supported. Supported values are {', '.join(fields)}.\n")
-
-        field = field_.encode('utf-8')
-        value_ctypes = c_bool(value_)
-
-        if not isinstance(value_, bool):
-            raise TypeError("options_set: expected boolean for value")
-
-        # only allow setting
-        if getattr(self.acados_sim.solver_options, field_) or value_ == False:
-            self.shared_lib.sim_opts_set.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_bool)]
-            self.shared_lib.sim_opts_set(self.sim_config, self.sim_opts, field, value_ctypes)
-        else:
-            raise RuntimeError(f"Cannot set option {field_} to True, because it was False in original solver options.\n")
-
-        return
-
-
-    def __del__(self):
-
-        if self.solver_created:
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_free").argtypes = [c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_free").restype = c_int
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_free")(self.capsule)
-
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule").argtypes = [c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule").restype = c_int
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule")(self.capsule)
-
-            try:
-                self.dlclose(self.shared_lib._handle)
-            except:
-                print(f"WARNING: acados Python interface could not close shared_lib handle of AcadosSimSolver {self.model_name}.\n",
-                     "Attempting to create a new one with the same name will likely result in the old one being used!")
-                pass
diff --git a/third_party/acados/acados_template/acados_sim_solver_common.pxd b/third_party/acados/acados_template/acados_sim_solver_common.pxd
deleted file mode 100644
index 7c20a6d24de137..00000000000000
--- a/third_party/acados/acados_template/acados_sim_solver_common.pxd
+++ /dev/null
@@ -1,63 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-
-cdef extern from "acados/sim/sim_common.h":
-    ctypedef struct sim_config:
-        pass
-
-    ctypedef struct sim_opts:
-        pass
-
-    ctypedef struct sim_in:
-        pass
-
-    ctypedef struct sim_out:
-        pass
-
-
-cdef extern from "acados_c/sim_interface.h":
-
-    ctypedef struct sim_plan:
-        pass
-
-    ctypedef struct sim_solver:
-        pass
-
-    # out
-    void sim_out_get(sim_config *config, void *dims, sim_out *out, const char *field, void *value)
-    int sim_dims_get_from_attr(sim_config *config, void *dims, const char *field, void *dims_data)
-
-    # opts
-    void sim_opts_set(sim_config *config, void *opts_, const char *field, void *value)
-
-    # get/set
-    void sim_in_set(sim_config *config, void *dims, sim_in *sim_in, const char *field, void *value)
-    void sim_solver_set(sim_solver *solver, const char *field, void *value)
\ No newline at end of file
diff --git a/third_party/acados/acados_template/acados_sim_solver_pyx.pyx b/third_party/acados/acados_template/acados_sim_solver_pyx.pyx
deleted file mode 100644
index 01964fd7a0b9e3..00000000000000
--- a/third_party/acados/acados_template/acados_sim_solver_pyx.pyx
+++ /dev/null
@@ -1,255 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-# cython: language_level=3
-# cython: profile=False
-# distutils: language=c
-
-cimport cython
-from libc cimport string
-# from libc cimport bool as bool_t
-
-cimport acados_sim_solver_common
-cimport acados_sim_solver
-
-cimport numpy as cnp
-
-import os
-from datetime import datetime
-import numpy as np
-
-
-cdef class AcadosSimSolverCython:
-    """
-    Class to interact with the acados sim solver C object.
-    """
-
-    cdef acados_sim_solver.sim_solver_capsule *capsule
-    cdef void *sim_dims
-    cdef acados_sim_solver_common.sim_opts *sim_opts
-    cdef acados_sim_solver_common.sim_config *sim_config
-    cdef acados_sim_solver_common.sim_out *sim_out
-    cdef acados_sim_solver_common.sim_in *sim_in
-    cdef acados_sim_solver_common.sim_solver *sim_solver
-
-    cdef bint solver_created
-
-    cdef str model_name
-
-    cdef str sim_solver_type
-
-    cdef list gettable_vectors
-    cdef list gettable_matrices
-    cdef list gettable_scalars
-
-    def __cinit__(self, model_name):
-
-        self.solver_created = False
-
-        self.model_name = model_name
-
-        # create capsule
-        self.capsule = acados_sim_solver.acados_sim_solver_create_capsule()
-
-        # create solver
-        assert acados_sim_solver.acados_sim_create(self.capsule) == 0
-        self.solver_created = True
-
-        # get pointers solver
-        self.__get_pointers_solver()
-
-        self.gettable_vectors = ['x', 'u', 'z', 'S_adj']
-        self.gettable_matrices = ['S_forw', 'Sx', 'Su', 'S_hess', 'S_algebraic']
-        self.gettable_scalars = ['CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la']
-
-    def __get_pointers_solver(self):
-        """
-        Private function to get the pointers for solver
-        """
-        # get pointers solver
-        self.sim_opts = acados_sim_solver.acados_get_sim_opts(self.capsule)
-        self.sim_dims = acados_sim_solver.acados_get_sim_dims(self.capsule)
-        self.sim_config = acados_sim_solver.acados_get_sim_config(self.capsule)
-        self.sim_out = acados_sim_solver.acados_get_sim_out(self.capsule)
-        self.sim_in = acados_sim_solver.acados_get_sim_in(self.capsule)
-        self.sim_solver = acados_sim_solver.acados_get_sim_solver(self.capsule)
-
-
-    def simulate(self, x=None, u=None, z=None, p=None):
-        """
-        Simulate the system forward for the given x, u, z, p and return x_next.
-        Wrapper around `solve()` taking care of setting/getting inputs/outputs.
-        """
-        if x is not None:
-            self.set('x', x)
-        if u is not None:
-            self.set('u', u)
-        if z is not None:
-            self.set('z', z)
-        if p is not None:
-            self.set('p', p)
-
-        status = self.solve()
-
-        if status == 2:
-            print("Warning: acados_sim_solver reached maximum iterations.")
-        elif status != 0:
-            raise Exception(f'acados_sim_solver for model {self.model_name} returned status {status}.')
-
-        x_next = self.get('x')
-        return x_next
-
-
-    def solve(self):
-        """
-        Solve the sim with current input.
-        """
-        return acados_sim_solver.acados_sim_solve(self.capsule)
-
-
-    def get(self, field_):
-        """
-        Get the last solution of the solver.
-
-            :param str field: string in ['x', 'u', 'z', 'S_forw', 'Sx', 'Su', 'S_adj', 'S_hess', 'S_algebraic', 'CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la']
-        """
-        field = field_.encode('utf-8')
-
-        if field_ in self.gettable_vectors:
-            return self.__get_vector(field)
-        elif field_ in self.gettable_matrices:
-            return self.__get_matrix(field)
-        elif field_ in self.gettable_scalars:
-            return self.__get_scalar(field)
-        else:
-            raise Exception(f'AcadosSimSolver.get(): Unknown field {field_},' \
-                f' available fields are {", ".join(self.gettable.keys())}')
-
-
-    def __get_scalar(self, field):
-        cdef double scalar
-        acados_sim_solver_common.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, <void *> &scalar)
-        return scalar
-
-
-    def __get_vector(self, field):
-        cdef int[2] dims
-        acados_sim_solver_common.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, &dims[0])
-        # cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.ascontiguousarray(np.zeros((dims[0],), dtype=np.float64))
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((dims[0]),)
-        acados_sim_solver_common.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, <void *> out.data)
-        return out
-
-
-    def __get_matrix(self, field):
-        cdef int[2] dims
-        acados_sim_solver_common.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, &dims[0])
-        cdef cnp.ndarray[cnp.float64_t, ndim=2] out = np.zeros((dims[0], dims[1]), order='F', dtype=np.float64)
-        acados_sim_solver_common.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, <void *> out.data)
-        return out
-
-
-    def set(self, field_: str, value_):
-        """
-        Set numerical data inside the solver.
-
-            :param field: string in ['p', 'seed_adj', 'T', 'x', 'u', 'xdot', 'z']
-            :param value: the value with appropriate size.
-        """
-        settable = ['seed_adj', 'T', 'x', 'u', 'xdot', 'z', 'p'] # S_forw
-
-        # cast value_ to avoid conversion issues
-        if isinstance(value_, (float, int)):
-            value_ = np.array([value_])
-        # if len(value_.shape) > 1:
-            # raise RuntimeError('AcadosSimSolverCython.set(): value_ should be 1 dimensional')
-
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(value_, dtype=np.float64).flatten()
-
-        field = field_.encode('utf-8')
-        cdef int[2] dims
-
-        # treat parameters separately
-        if field_ == 'p':
-            assert acados_sim_solver.acados_sim_update_params(self.capsule, <double *> value.data, value.shape[0]) == 0
-            return
-        else:
-            acados_sim_solver_common.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, &dims[0])
-
-            value_ = np.ravel(value_, order='F')
-
-            value_shape = value_.shape
-            if len(value_shape) == 1:
-                value_shape = (value_shape[0], 0)
-
-            if value_shape != tuple(dims):
-                raise Exception(f'AcadosSimSolverCython.set(): mismatching dimension' \
-                    f' for field "{field_}" with dimension {tuple(dims)} (you have {value_shape}).')
-
-        # set
-        if field_ in ['xdot', 'z']:
-            acados_sim_solver_common.sim_solver_set(self.sim_solver, field, <void *> value.data)
-        elif field_ in settable:
-            acados_sim_solver_common.sim_in_set(self.sim_config, self.sim_dims, self.sim_in, field, <void *> value.data)
-        else:
-            raise Exception(f'AcadosSimSolverCython.set(): Unknown field {field_},' \
-                f' available fields are {", ".join(settable)}')
-
-
-    def options_set(self, field_: str, value_: bool):
-        """
-        Set solver options
-
-            :param field: string in ['sens_forw', 'sens_adj', 'sens_hess']
-            :param value: Boolean
-        """
-        fields = ['sens_forw', 'sens_adj', 'sens_hess']
-        if field_ not in fields:
-            raise Exception(f"field {field_} not supported. Supported values are {', '.join(fields)}.\n")
-
-        field = field_.encode('utf-8')
-
-        if not isinstance(value_, bool):
-            raise TypeError("options_set: expected boolean for value")
-
-        cdef bint bool_value = value_
-        acados_sim_solver_common.sim_opts_set(self.sim_config, self.sim_opts, field, <void *> &bool_value)
-        # TODO: only allow setting
-        # if getattr(self.acados_sim.solver_options, field_) or value_ == False:
-        #     acados_sim_solver_common.sim_opts_set(self.sim_config, self.sim_opts, field, <void *> &bool_value)
-        # else:
-        #     raise RuntimeError(f"Cannot set option {field_} to True, because it was False in original solver options.\n")
-
-        return
-
-
-    def __del__(self):
-        if self.solver_created:
-            acados_sim_solver.acados_sim_free(self.capsule)
-            acados_sim_solver.acados_sim_solver_free_capsule(self.capsule)
diff --git a/third_party/acados/acados_template/acados_solver_common.pxd b/third_party/acados/acados_template/acados_solver_common.pxd
deleted file mode 100644
index 75d021626f32b0..00000000000000
--- a/third_party/acados/acados_template/acados_solver_common.pxd
+++ /dev/null
@@ -1,99 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-
-cdef extern from "acados/ocp_nlp/ocp_nlp_common.h":
-    ctypedef struct ocp_nlp_config:
-        pass
-
-    ctypedef struct ocp_nlp_dims:
-        pass
-
-    ctypedef struct ocp_nlp_in:
-        pass
-
-    ctypedef struct ocp_nlp_out:
-        pass
-
-
-cdef extern from "acados_c/ocp_nlp_interface.h":
-    ctypedef enum ocp_nlp_solver_t:
-        pass
-
-    ctypedef enum ocp_nlp_cost_t:
-        pass
-
-    ctypedef enum ocp_nlp_dynamics_t:
-        pass
-
-    ctypedef enum ocp_nlp_constraints_t:
-        pass
-
-    ctypedef enum ocp_nlp_reg_t:
-        pass
-
-    ctypedef struct ocp_nlp_plan:
-        pass
-
-    ctypedef struct ocp_nlp_solver:
-        pass
-
-    int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in_,
-        int start_stage, const char *field, void *value)
-    int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims,
-        ocp_nlp_in *in_, int stage, const char *field, void *value)
-
-    # out
-    void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, void *value)
-    void ocp_nlp_out_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, void *value)
-    void ocp_nlp_get_at_stage(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_solver *solver,
-        int stage, const char *field, void *value)
-    int ocp_nlp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field)
-    void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out)
-    void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out)
-    void ocp_nlp_qp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out)
-
-    # opts
-    void ocp_nlp_solver_opts_set(ocp_nlp_config *config, void *opts_, const char *field, void* value)
-
-    # solver
-    void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out)
-    void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out)
-    void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in_, ocp_nlp_out *nlp_out)
-
-    # get/set
-    void ocp_nlp_get(ocp_nlp_config *config, ocp_nlp_solver *solver, const char *field, void *return_value_)
-    void ocp_nlp_set(ocp_nlp_config *config, ocp_nlp_solver *solver, int stage, const char *field, void *value)
diff --git a/third_party/acados/acados_template/builders.py b/third_party/acados/acados_template/builders.py
deleted file mode 100644
index 8acc05b5287b19..00000000000000
--- a/third_party/acados/acados_template/builders.py
+++ /dev/null
@@ -1,130 +0,0 @@
-#
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import os
-import sys
-from subprocess import DEVNULL, call, STDOUT
-
-
-class CMakeBuilder:
-    """
-    Class to work with the `CMake` build system.
-    """
-    def __init__(self):
-        self._source_dir = None  # private source directory, this is set to code_export_dir
-        self.build_dir = 'build'
-        self._build_dir = None  # private build directory, usually rendered to abspath(build_dir)
-        self.generator = None
-        """Defines the generator, options can be found via `cmake --help` under 'Generator'. Type: string. Linux default 'Unix Makefiles', Windows 'Visual Studio 15 2017 Win64'; default value: `None`."""
-        # set something for Windows
-        if os.name == 'nt':
-            self.generator = 'Visual Studio 15 2017 Win64'
-        self.build_targets = None
-        """A comma-separated list of the build targets, if `None` then all targets will be build; type: List of strings; default: `None`."""
-        self.options_on = None
-        """List of strings as CMake options which are translated to '-D Opt[0]=ON -D Opt[1]=ON ...'; default: `None`."""
-
-    # Generate the command string for handling the cmake command.
-    def get_cmd1_cmake(self):
-        defines_str = ''
-        if self.options_on is not None:
-            defines_arr = [f' -D{opt}=ON' for opt in self.options_on]
-            defines_str = ' '.join(defines_arr)
-        generator_str = ''
-        if self.generator is not None:
-            generator_str = f' -G"{self.generator}"'
-        return f'cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX="{self._source_dir}"{defines_str}{generator_str} -Wdev -S"{self._source_dir}" -B"{self._build_dir}"'
-
-    # Generate the command string for handling the build.
-    def get_cmd2_build(self):
-        import multiprocessing
-        cmd = f'cmake --build "{self._build_dir}" --config Release -j{multiprocessing.cpu_count()}'
-        if self.build_targets is not None:
-            cmd += f' -t {self.build_targets}'
-        return cmd
-
-    # Generate the command string for handling the install command.
-    def get_cmd3_install(self):
-        return f'cmake --install "{self._build_dir}"'
-
-    def exec(self, code_export_directory, verbose=True):
-        """
-        Execute the compilation using `CMake` with the given settings.
-        :param code_export_directory: must be the absolute path to the directory where the code was exported to
-        """
-        if(os.path.isabs(code_export_directory) is False):
-            print(f'(W) the code export directory "{code_export_directory}" is not an absolute path!')
-        self._source_dir = code_export_directory
-        self._build_dir = os.path.abspath(self.build_dir)
-        try:
-            os.mkdir(self._build_dir)
-        except FileExistsError as e:
-            pass
-
-        try:
-            os.chdir(self._build_dir)
-            cmd_str = self.get_cmd1_cmake()
-            print(f'call("{cmd_str})"')
-            retcode = call(
-                cmd_str,
-                shell=True,
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-            if retcode != 0:
-                raise RuntimeError(f'CMake command "{cmd_str}" was terminated by signal {retcode}')
-            cmd_str = self.get_cmd2_build()
-            print(f'call("{cmd_str}")')
-            retcode = call(
-                cmd_str,
-                shell=True,
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-            if retcode != 0:
-                raise RuntimeError(f'Build command "{cmd_str}" was terminated by signal {retcode}')
-            cmd_str = self.get_cmd3_install()
-            print(f'call("{cmd_str}")')
-            retcode = call(
-                cmd_str,
-                shell=True,
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-            if retcode != 0:
-                raise RuntimeError(f'Install command "{cmd_str}" was terminated by signal {retcode}')
-        except OSError as e:
-            print("Execution failed:", e, file=sys.stderr)
-        except Exception as e:
-            print("Execution failed:", e, file=sys.stderr)
-            exit(1)
diff --git a/third_party/acados/acados_template/c_templates_tera/CMakeLists.in.txt b/third_party/acados/acados_template/c_templates_tera/CMakeLists.in.txt
deleted file mode 100644
index 99bc26f750c0b7..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/CMakeLists.in.txt
+++ /dev/null
@@ -1,397 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-{%- if solver_options.qp_solver %}
-	{%- set qp_solver = solver_options.qp_solver %}
-{%- else %}
-	{%- set qp_solver = "FULL_CONDENSING_HPIPM" %}
-{%- endif %}
-
-{%- if solver_options.hessian_approx %}
-	{%- set hessian_approx = solver_options.hessian_approx %}
-{%- elif solver_options.sens_hess %}
-	{%- set hessian_approx = "EXACT" %}
-{%- else %}
-	{%- set hessian_approx = "GAUSS_NEWTON" %}
-{%- endif %}
-
-{%- if constraints.constr_type %}
-	{%- set constr_type = constraints.constr_type %}
-{%- else %}
-	{%- set constr_type = "NONE" %}
-{%- endif %}
-
-{%- if constraints.constr_type_e %}
-	{%- set constr_type_e = constraints.constr_type_e %}
-{%- else %}
-	{%- set constr_type_e = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type %}
-	{%- set cost_type = cost.cost_type %}
-{%- else %}
-	{%- set cost_type = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type_e %}
-	{%- set cost_type_e = cost.cost_type_e %}
-{%- else %}
-	{%- set cost_type_e = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type_0 %}
-	{%- set cost_type_0 = cost.cost_type_0 %}
-{%- else %}
-	{%- set cost_type_0 = "NONE" %}
-{%- endif %}
-
-{%- if dims.nh %}
-	{%- set dims_nh = dims.nh %}
-{%- else %}
-	{%- set dims_nh = 0 %}
-{%- endif %}
-
-{%- if dims.nphi %}
-	{%- set dims_nphi = dims.nphi %}
-{%- else %}
-	{%- set dims_nphi = 0 %}
-{%- endif %}
-
-{%- if dims.nh_e %}
-	{%- set dims_nh_e = dims.nh_e %}
-{%- else %}
-	{%- set dims_nh_e = 0 %}
-{%- endif %}
-
-{%- if dims.nphi_e %}
-	{%- set dims_nphi_e = dims.nphi_e %}
-{%- else %}
-	{%- set dims_nphi_e = 0 %}
-{%- endif %}
-
-{%- if solver_options.model_external_shared_lib_dir %}
-	{%- set model_external_shared_lib_dir = solver_options.model_external_shared_lib_dir %}
-{%- endif %}
-
-{%- if solver_options.model_external_shared_lib_name %}
-	{%- set model_external_shared_lib_name = solver_options.model_external_shared_lib_name %}
-{%- endif %}
-
-{#- control operator #}
-{%- if os and os == "pc" %}
-	{%- set control = "&" %}
-{%- else %}
-	{%- set control = ";" %}
-{%- endif %}
-
-{%- if acados_link_libs and os and os == "pc" %}{# acados linking libraries and flags #}
-	{%- set link_libs = acados_link_libs.qpoases ~ " " ~ acados_link_libs.hpmpc ~ " " ~ acados_link_libs.osqp -%}
-	{%- set openmp_flag = acados_link_libs.openmp %}
-{%- else %}
-	{%- set openmp_flag = " " %}
-	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-		{%- set link_libs = "-lqpOASES_e" %}
-	{%- elif qp_solver == "FULL_CONDENSING_DAQP" %}
-		{%- set link_libs = "-ldaqp" %}
-	{%- else %}
-		{%- set link_libs = "" %}
-	{%- endif %}
-{%- endif %}
-
-cmake_minimum_required(VERSION 3.13)
-
-project({{ model.name }})
-
-# build options.
-option(BUILD_ACADOS_SOLVER_LIB "Should the solver library acados_solver_{{ model.name }} be build?" OFF)
-option(BUILD_ACADOS_OCP_SOLVER_LIB "Should the OCP solver library acados_ocp_solver_{{ model.name }} be build?" OFF)
-option(BUILD_EXAMPLE "Should the example main_{{ model.name }} be build?" OFF)
-{%- if solver_options.integrator_type != "DISCRETE" %}
-option(BUILD_SIM_EXAMPLE "Should the simulation example main_sim_{{ model.name }} be build?" OFF)
-option(BUILD_ACADOS_SIM_SOLVER_LIB "Should the simulation solver library acados_sim_solver_{{ model.name }} be build?" OFF)
-{%- endif %}
-
-
-if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" AND CMAKE_SYSTEM_NAME MATCHES "Windows")
-    # MinGW, change to .lib such that mex recognizes it
-    set(CMAKE_SHARED_LIBRARY_SUFFIX ".lib")
-    set(CMAKE_SHARED_LIBRARY_PREFIX "")
-endif()
-
-
-# object target names
-set(MODEL_OBJ model_{{ model.name }})
-set(OCP_OBJ ocp_{{ model.name }})
-set(SIM_OBJ sim_{{ model.name }})
-
-# model
-set(MODEL_SRC
-	{%- if model.dyn_ext_fun_type == "casadi" %}
-{%- if  solver_options.integrator_type == "ERK" %}
-    {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c
-    {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c
-    {{ model.name }}_model/{{ model.name }}_expl_vde_adj.c
-	{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c
-	{%- endif %}
-{%- elif solver_options.integrator_type == "IRK" %}
-    {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
-    {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
-    {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c
-	{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
-	{%- endif %}
-{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
-    {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
-    {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.c
-	{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
-	{%- endif %}
-{%- elif solver_options.integrator_type == "GNSF" %}
-	{% if model.gnsf.purely_linear != 1 %}
-    {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c
-    {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c
-    {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c
-		{% if model.gnsf.nontrivial_f_LO == 1 %}
-    {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c
-		{%- endif %}
-	{%- endif %}
-    {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c
-{%- elif solver_options.integrator_type == "DISCRETE" %}
-    {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c
-    {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c
-		{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c
-		{%- endif %}
-{%- endif -%}
-	{%- else %}
-    {{ model.name }}_model/{{ model.dyn_generic_source }}
-	{%- endif %}
-)
-add_library(${MODEL_OBJ} OBJECT ${MODEL_SRC} )
-
-# optimal control problem - mostly CasADi exports
-if(${BUILD_ACADOS_SOLVER_LIB} OR ${BUILD_ACADOS_OCP_SOLVER_LIB} OR ${BUILD_EXAMPLE})
-    set(OCP_SRC
-{%- if constr_type == "BGP" and dims_nphi > 0 %}
-        {{ model.name }}_constraints/{{ model.name }}_phi_constraint.c
-{%- endif %}
-{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
-        {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c
-{%- endif %}
-
-{%- if constr_type == "BGH" and dims_nh > 0 %}
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c
-    {%- if hessian_approx == "EXACT" %}
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c
-    {%- endif %}
-{%- endif %}
-
-{%- if constr_type_e == "BGH" and dims_nh_e > 0 %}
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c
-    {%- if hessian_approx == "EXACT" %}
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c
-    {%- endif %}
-{%- endif %}
-
-{%- if cost_type_0 == "NONLINEAR_LS" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c
-{%- elif cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun.c
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun_jac_hess.c
-{%- elif cost_type_0 == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type_0 == "casadi" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c
-    {%- else %}
-        {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }}
-    {%- endif %}
-{%- endif %}
-{%- if cost_type == "NONLINEAR_LS" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c
-{%- elif cost_type == "CONVEX_OVER_NONLINEAR" %}
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_fun.c
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_fun_jac_hess.c
-{%- elif cost_type == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type == "casadi" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c
-    {%- elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %}
-        {{ model.name }}_cost/{{ cost.cost_source_ext_cost }}
-    {%- endif %}
-{%- endif %}
-{%- if cost_type_e == "NONLINEAR_LS" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c
-{%- elif cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun.c
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun_jac_hess.c
-{%- elif cost_type_e == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type_e == "casadi" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c
-    {%- elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %}
-        {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }}
-    {%- endif %}
-{%- endif %}
-        acados_solver_{{ model.name }}.c)
-    add_library(${OCP_OBJ} OBJECT ${OCP_SRC})
-endif()
-
-{%- if solver_options.integrator_type != "DISCRETE" %}
-# for sim solver
-if(${BUILD_ACADOS_SOLVER_LIB} OR ${BUILD_EXAMPLE}
-    {%- if solver_options.integrator_type != "DISCRETE" %}
-    OR ${BUILD_SIM_EXAMPLE} OR ${BUILD_ACADOS_SIM_SOLVER_LIB}
-    {%- endif -%}
-    )
-    set(SIM_SRC acados_sim_solver_{{ model.name }}.c)
-    add_library(${SIM_OBJ} OBJECT ${SIM_SRC})
-endif()
-{%- endif %}
-
-# for target example
-set(EX_SRC main_{{ model.name }}.c)
-set(EX_EXE main_{{ model.name }})
-
-{%- if model_external_shared_lib_dir and model_external_shared_lib_name %}
-set(EXTERNAL_DIR {{ model_external_shared_lib_dir | replace(from="\", to="/")  }})
-set(EXTERNAL_LIB {{ model_external_shared_lib_name }})
-{%- else %}
-set(EXTERNAL_DIR)
-set(EXTERNAL_LIB)
-{%- endif %}
-
-# set some search paths for preprocessor and linker
-set(ACADOS_INCLUDE_PATH {{ acados_include_path | replace(from="\", to="/")  }} CACHE PATH "Define the path which contains the include directory for acados.")
-set(ACADOS_LIB_PATH {{ acados_lib_path | replace(from="\", to="/") }} CACHE PATH "Define the path which contains the lib directory for acados.")
-
-# c-compiler flags for debugging
-set(CMAKE_C_FLAGS_DEBUG "-O0 -ggdb")
-
-set(CMAKE_C_FLAGS "-fPIC -std=c99 {{ openmp_flag }}
-{%- if qp_solver == "FULL_CONDENSING_QPOASES" -%}
-    -DACADOS_WITH_QPOASES
-{%- endif -%}
-{%- if qp_solver == "FULL_CONDENSING_DAQP" -%}
-    -DACADOS_WITH_DAQP
-{%- endif -%}
-{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" -%}
-    -DACADOS_WITH_OSQP
-{%- endif -%}
-{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" -%}
-    -DACADOS_WITH_QPDUNES
-{%- endif -%}
-")
-#-fno-diagnostics-show-line-numbers -g
-
-include_directories(
-   ${ACADOS_INCLUDE_PATH}
-   ${ACADOS_INCLUDE_PATH}/acados
-   ${ACADOS_INCLUDE_PATH}/blasfeo/include
-   ${ACADOS_INCLUDE_PATH}/hpipm/include
-{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-   ${ACADOS_INCLUDE_PATH}/qpOASES_e/
-{%- endif %}
-{%- if qp_solver == "FULL_CONDENSING_DAQP" %}
-   ${ACADOS_INCLUDE_PATH}/daqp/include
-{%- endif %}
-)
-
-# linker flags
-link_directories(${ACADOS_LIB_PATH})
-
-# link to libraries
-if(UNIX)
-    link_libraries(acados hpipm blasfeo m {{ link_libs }})
-else()
-    link_libraries(acados hpipm blasfeo {{ link_libs }})
-endif()
-
-# the targets
-
-# bundled_shared_lib
-if(${BUILD_ACADOS_SOLVER_LIB})
-    set(LIB_ACADOS_SOLVER acados_solver_{{ model.name }})
-    add_library(${LIB_ACADOS_SOLVER} SHARED $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${OCP_OBJ}>
-    {%- if solver_options.integrator_type != "DISCRETE" %}
-        $<TARGET_OBJECTS:${SIM_OBJ}>
-    {%- endif -%}
-    )
-    install(TARGETS ${LIB_ACADOS_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX})
-endif(${BUILD_ACADOS_SOLVER_LIB})
-
-# ocp_shared_lib
-if(${BUILD_ACADOS_OCP_SOLVER_LIB})
-    set(LIB_ACADOS_OCP_SOLVER acados_ocp_solver_{{ model.name }})
-    add_library(${LIB_ACADOS_OCP_SOLVER} SHARED $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${OCP_OBJ}>)
-    # Specify libraries or flags to use when linking a given target and/or its dependents.
-    target_link_libraries(${LIB_ACADOS_OCP_SOLVER} PRIVATE ${EXTERNAL_LIB})
-    target_link_directories(${LIB_ACADOS_OCP_SOLVER} PRIVATE ${EXTERNAL_DIR})
-    install(TARGETS ${LIB_ACADOS_OCP_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX})
-endif(${BUILD_ACADOS_OCP_SOLVER_LIB})
-
-# example
-if(${BUILD_EXAMPLE})
-    add_executable(${EX_EXE} ${EX_SRC} $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${OCP_OBJ}>
-    {%- if solver_options.integrator_type != "DISCRETE" %}
-        $<TARGET_OBJECTS:${SIM_OBJ}>
-    {%- endif -%}
-    )
-    install(TARGETS ${EX_EXE} DESTINATION ${CMAKE_INSTALL_PREFIX})
-endif(${BUILD_EXAMPLE})
-
-{% if solver_options.integrator_type != "DISCRETE" -%}
-# example_sim
-if(${BUILD_SIM_EXAMPLE})
-    set(EX_SIM_SRC main_sim_{{ model.name }}.c)
-    set(EX_SIM_EXE main_sim_{{ model.name }})
-    add_executable(${EX_SIM_EXE} ${EX_SIM_SRC} $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${SIM_OBJ}>)
-    install(TARGETS ${EX_SIM_EXE} DESTINATION ${CMAKE_INSTALL_PREFIX})
-endif(${BUILD_SIM_EXAMPLE})
-
-# sim_shared_lib
-if(${BUILD_ACADOS_SIM_SOLVER_LIB})
-    set(LIB_ACADOS_SIM_SOLVER acados_sim_solver_{{ model.name }})
-    add_library(${LIB_ACADOS_SIM_SOLVER} SHARED $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${SIM_OBJ}>)
-    install(TARGETS ${LIB_ACADOS_SIM_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX})
-endif(${BUILD_ACADOS_SIM_SOLVER_LIB})
-{%- endif %}
-
diff --git a/third_party/acados/acados_template/c_templates_tera/Makefile.in b/third_party/acados/acados_template/c_templates_tera/Makefile.in
deleted file mode 100644
index fbefc08e380d9c..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/Makefile.in
+++ /dev/null
@@ -1,468 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-{%- if solver_options.qp_solver %}
-	{%- set qp_solver = solver_options.qp_solver %}
-{%- else %}
-	{%- set qp_solver = "FULL_CONDENSING_HPIPM" %}
-{%- endif %}
-
-{%- if solver_options.hessian_approx %}
-	{%- set hessian_approx = solver_options.hessian_approx %}
-{%- elif solver_options.sens_hess %}
-	{%- set hessian_approx = "EXACT" %}
-{%- else %}
-	{%- set hessian_approx = "GAUSS_NEWTON" %}
-{%- endif %}
-
-{%- if constraints.constr_type %}
-	{%- set constr_type = constraints.constr_type %}
-{%- else %}
-	{%- set constr_type = "NONE" %}
-{%- endif %}
-
-{%- if constraints.constr_type_e %}
-	{%- set constr_type_e = constraints.constr_type_e %}
-{%- else %}
-	{%- set constr_type_e = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type %}
-	{%- set cost_type = cost.cost_type %}
-{%- else %}
-	{%- set cost_type = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type_e %}
-	{%- set cost_type_e = cost.cost_type_e %}
-{%- else %}
-	{%- set cost_type_e = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type_0 %}
-	{%- set cost_type_0 = cost.cost_type_0 %}
-{%- else %}
-	{%- set cost_type_0 = "NONE" %}
-{%- endif %}
-
-{%- if dims.nh %}
-	{%- set dims_nh = dims.nh %}
-{%- else %}
-	{%- set dims_nh = 0 %}
-{%- endif %}
-
-{%- if dims.nphi %}
-	{%- set dims_nphi = dims.nphi %}
-{%- else %}
-	{%- set dims_nphi = 0 %}
-{%- endif %}
-
-{%- if dims.nh_e %}
-	{%- set dims_nh_e = dims.nh_e %}
-{%- else %}
-	{%- set dims_nh_e = 0 %}
-{%- endif %}
-
-{%- if dims.nphi_e %}
-	{%- set dims_nphi_e = dims.nphi_e %}
-{%- else %}
-	{%- set dims_nphi_e = 0 %}
-{%- endif %}
-{%- if solver_options.model_external_shared_lib_dir %}
-	{%- set model_external_shared_lib_dir = solver_options.model_external_shared_lib_dir %}
-{%- endif %}
-{%- if solver_options.model_external_shared_lib_name %}
-	{%- set model_external_shared_lib_name = solver_options.model_external_shared_lib_name %}
-{%- endif %}
-
-{# control operator #}
-{%- if os and os == "pc" %}
-	{%- set control = "&" %}
-{%- else %}
-	{%- set control = ";" %}
-{%- endif %}
-
-{# acados linking libraries and flags #}
-{%- if acados_link_libs and os and os == "pc" %}
-	{%- set link_libs = acados_link_libs.qpoases ~ " " ~ acados_link_libs.hpmpc ~ " " ~ acados_link_libs.osqp -%}
-	{%- set openmp_flag = acados_link_libs.openmp %}
-{%- else %}
-	{%- set openmp_flag = " " %}
-	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-		{%- set link_libs = "-lqpOASES_e" %}
-	{%- elif qp_solver == "FULL_CONDENSING_DAQP" %}
-		{%- set link_libs = "-ldaqp" %}
-	{%- else %}
-		{%- set link_libs = "" %}
-	{%- endif %}
-{%- endif %}
-
-# define sources and use make's implicit rules to generate object files (*.o)
-
-# model
-MODEL_SRC=
-	{%- if model.dyn_ext_fun_type == "casadi" %}
-{%- if solver_options.integrator_type == "ERK" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_adj.c
-	{%- if hessian_approx == "EXACT" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c
-	{%- endif %}
-{%- elif solver_options.integrator_type == "IRK" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c
-		{%- if hessian_approx == "EXACT" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
-		{%- endif %}
-{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.c
-	{%- if hessian_approx == "EXACT" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
-	{%- endif %}
-{%- elif solver_options.integrator_type == "GNSF" %}
-	{% if model.gnsf.purely_linear != 1 %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c
-		{% if model.gnsf.nontrivial_f_LO == 1 %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c
-		{%- endif %}
-	{%- endif %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c
-{%- elif solver_options.integrator_type == "DISCRETE" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c
-		{%- if hessian_approx == "EXACT" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c
-		{%- endif %}
-{%- endif %}
-	{%- else %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.dyn_generic_source }}
-	{%- endif %}
-MODEL_OBJ := $(MODEL_SRC:.c=.o)
-
-# optimal control problem - mostly CasADi exports
-OCP_SRC=
-{%- if constr_type == "BGP" and dims_nphi > 0 %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_constraint.c
-{%- endif %}
-{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c
-{%- endif %}
-
-{%- if constr_type == "BGH" and dims_nh > 0 %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c
-	{%- if hessian_approx == "EXACT" %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c
-	{%- endif %}
-{%- endif %}
-
-{%- if constr_type_e == "BGH" and dims_nh_e > 0 %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c
-	{%- if hessian_approx == "EXACT" %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c
-	{%- endif %}
-{%- endif %}
-
-{%- if cost_type_0 == "NONLINEAR_LS" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c
-{%- elif cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun_jac_hess.c
-{%- elif cost_type_0 == "EXTERNAL" %}
-	{%- if cost.cost_ext_fun_type_0 == "casadi" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c
-	{%- else %}
-OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }}
-	{%- endif %}
-{%- endif %}
-{%- if cost_type == "NONLINEAR_LS" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c
-{%- elif cost_type == "CONVEX_OVER_NONLINEAR" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_fun_jac_hess.c
-{%- elif cost_type == "EXTERNAL" %}
-	{%- if cost.cost_ext_fun_type == "casadi" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c
-	{%- elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %}
-OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost }}
-	{%- endif %}
-{%- endif %}
-{%- if cost_type_e == "NONLINEAR_LS" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c
-{%- elif cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun_jac_hess.c
-{%- elif cost_type_e == "EXTERNAL" %}
-	{%- if cost.cost_ext_fun_type_e == "casadi" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c
-	{%- elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %}
-OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }}
-	{%- endif %}
-{%- endif %}
-{%- if solver_options.custom_update_filename %}
-	{%- if solver_options.custom_update_filename != "" %}
-OCP_SRC+= {{ solver_options.custom_update_filename }}
-	{%- endif %}
-{%- endif %}
-
-OCP_SRC+= acados_solver_{{ model.name }}.c
-OCP_OBJ := $(OCP_SRC:.c=.o)
-
-# for sim solver
-SIM_SRC= acados_sim_solver_{{ model.name }}.c
-SIM_OBJ := $(SIM_SRC:.c=.o)
-
-# for target example
-EX_SRC= main_{{ model.name }}.c
-EX_OBJ := $(EX_SRC:.c=.o)
-EX_EXE := $(EX_SRC:.c=)
-
-# for target example_sim
-EX_SIM_SRC= main_sim_{{ model.name }}.c
-EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o)
-EX_SIM_EXE := $(EX_SIM_SRC:.c=)
-
-# combine model, sim and ocp object files
-OBJ=
-OBJ+= $(MODEL_OBJ)
-{%- if solver_options.integrator_type != "DISCRETE" %}
-OBJ+= $(SIM_OBJ)
-{%- endif %}
-OBJ+= $(OCP_OBJ)
-
-EXTERNAL_DIR=
-EXTERNAL_LIB=
-
-{%- if model_external_shared_lib_dir and model_external_shared_lib_name %}
-EXTERNAL_DIR+= {{ model_external_shared_lib_dir  }}
-EXTERNAL_LIB+= {{ model_external_shared_lib_name }}
-{%- endif %}
-
-INCLUDE_PATH = {{ acados_include_path }}
-LIB_PATH = {{ acados_lib_path }}
-
-# preprocessor flags for make's implicit rules
-{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-CPPFLAGS += -DACADOS_WITH_QPOASES
-{%- endif %}
-{%- if qp_solver == "FULL_CONDENSING_DAQP" %}
-CPPFLAGS += -DACADOS_WITH_DAQP
-{%- endif %}
-{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" %}
-CPPFLAGS += -DACADOS_WITH_OSQP
-{%- endif %}
-{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" %}
-CPPFLAGS += -DACADOS_WITH_QPDUNES
-{%- endif %}
-CPPFLAGS+= -I$(INCLUDE_PATH)
-CPPFLAGS+= -I$(INCLUDE_PATH)/acados
-CPPFLAGS+= -I$(INCLUDE_PATH)/blasfeo/include
-CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include
- {%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-CPPFLAGS+= -I $(INCLUDE_PATH)/qpOASES_e/
- {%- endif %}
- {%- if qp_solver == "FULL_CONDENSING_DAQP" %}
-CPPFLAGS+= -I $(INCLUDE_PATH)/daqp/include
- {%- endif %}
-
-{# c-compiler flags #}
-# define the c-compiler flags for make's implicit rules
-CFLAGS = -fPIC -std=c99 {{ openmp_flag }} {{ solver_options.ext_fun_compile_flags }}#-fno-diagnostics-show-line-numbers -g
-# # Debugging
-# CFLAGS += -g3
-
-# linker flags
-LDFLAGS+= -L$(LIB_PATH)
-
-# link to libraries
-LDLIBS+= -lacados
-LDLIBS+= -lhpipm
-LDLIBS+= -lblasfeo
-LDLIBS+= -lm
-LDLIBS+= {{ link_libs }}
-
-# libraries
-LIBACADOS_SOLVER=libacados_solver_{{ model.name }}{{ shared_lib_ext }}
-LIBACADOS_OCP_SOLVER=libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }}
-LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c={{ shared_lib_ext }})
-
-# virtual targets
-.PHONY : all clean
-
-#all: clean example_sim example shared_lib
-{% if solver_options.integrator_type == "DISCRETE" -%}
-all: clean example
-shared_lib: ocp_shared_lib
-{%- else %}
-all: clean example_sim example
-shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib
-{%- endif %}
-
-# some linker targets
-example: $(EX_OBJ) $(OBJ)
-	$(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS)
-
-example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ)
-	$(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS)
-
-{% if solver_options.integrator_type != "DISCRETE" -%}
-bundled_shared_lib: $(OBJ)
-	$(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS)
-{%- endif %}
-
-ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ)
-	$(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \
-	-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB)
-
-sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ)
-	$(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS)
-
-
-# Cython targets
-ocp_cython_c: ocp_shared_lib
-	cython \
-	-o acados_ocp_solver_pyx.c \
-	-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
-	$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \
-	-I {{ code_export_directory }} \
-
-ocp_cython_o: ocp_cython_c
-	$(CC) $(ACADOS_FLAGS) -c -O2 \
-	-fPIC \
-	-o acados_ocp_solver_pyx.o \
-	-I $(INCLUDE_PATH)/blasfeo/include/ \
-	-I $(INCLUDE_PATH)/hpipm/include/ \
-	-I $(INCLUDE_PATH) \
-	{%- for path in cython_include_dirs %}
-	-I {{ path }} \
-	{%- endfor %}
-	acados_ocp_solver_pyx.c \
-
-ocp_cython: ocp_cython_o
-	$(CC) $(ACADOS_FLAGS) -shared \
-	-o acados_ocp_solver_pyx{{ shared_lib_ext }} \
-	-Wl,-rpath=$(LIB_PATH) \
-	acados_ocp_solver_pyx.o \
-	$(abspath .)/libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} \
-	$(LDFLAGS) $(LDLIBS)
-
-# Sim Cython targets
-sim_cython_c: sim_shared_lib
-	cython \
-	-o acados_sim_solver_pyx.c \
-	-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
-	$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_sim_solver_pyx.pyx \
-	-I {{ code_export_directory }} \
-
-sim_cython_o: sim_cython_c
-	$(CC) $(ACADOS_FLAGS) -c -O2 \
-	-fPIC \
-	-o acados_sim_solver_pyx.o \
-	-I $(INCLUDE_PATH)/blasfeo/include/ \
-	-I $(INCLUDE_PATH)/hpipm/include/ \
-	-I $(INCLUDE_PATH) \
-	{%- for path in cython_include_dirs %}
-	-I {{ path }} \
-	{%- endfor %}
-	acados_sim_solver_pyx.c \
-
-sim_cython: sim_cython_o
-	$(CC) $(ACADOS_FLAGS) -shared \
-	-o acados_sim_solver_pyx{{ shared_lib_ext }} \
-	-Wl,-rpath=$(LIB_PATH) \
-	acados_sim_solver_pyx.o \
-	$(abspath .)/libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }} \
-	$(LDFLAGS) $(LDLIBS)
-
-{%- if os and os == "pc" %}
-
-clean:
-	del \Q *.o 2>nul
-	del \Q *{{ shared_lib_ext }} 2>nul
-	del \Q main_{{ model.name }} 2>nul
-
-clean_ocp_shared_lib:
-	del \Q libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul
-	del \Q acados_solver_{{ model.name }}.o 2>nul
-
-clean_ocp_cython:
-	del \Q libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul
-	del \Q acados_solver_{{ model.name }}.o 2>nul
-	del \Q acados_ocp_solver_pyx{{ shared_lib_ext }} 2>nul
-	del \Q acados_ocp_solver_pyx.o 2>nul
-
-clean_sim_cython:
-	del \Q libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul
-	del \Q acados_sim_solver_{{ model.name }}.o 2>nul
-	del \Q acados_sim_solver_pyx{{ shared_lib_ext }} 2>nul
-	del \Q acados_sim_solver_pyx.o 2>nul
-
-{%- else %}
-
-clean:
-	$(RM) $(OBJ) $(EX_OBJ) $(EX_SIM_OBJ)
-	$(RM) $(LIBACADOS_SOLVER) $(LIBACADOS_OCP_SOLVER) $(LIBACADOS_SIM_SOLVER)
-	$(RM) $(EX_EXE) $(EX_SIM_EXE)
-
-clean_ocp_shared_lib:
-	$(RM) $(LIBACADOS_OCP_SOLVER)
-	$(RM) $(OCP_OBJ)
-
-clean_ocp_cython:
-	$(RM) libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }}
-	$(RM) acados_solver_{{ model.name }}.o
-	$(RM) acados_ocp_solver_pyx{{ shared_lib_ext }}
-	$(RM) acados_ocp_solver_pyx.o
-
-clean_sim_cython:
-	$(RM) libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }}
-	$(RM) acados_sim_solver_{{ model.name }}.o
-	$(RM) acados_sim_solver_pyx{{ shared_lib_ext }}
-	$(RM) acados_sim_solver_pyx.o
-
-{%- endif %}
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c
deleted file mode 100644
index 0cd098273c6e65..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c
+++ /dev/null
@@ -1,526 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-{%- if solver_options.hessian_approx %}
-	{%- set hessian_approx = solver_options.hessian_approx %}
-{%- elif solver_options.sens_hess %}
-	{%- set hessian_approx = "EXACT" %}
-{%- else %}
-	{%- set hessian_approx = "GAUSS_NEWTON" %}
-{%- endif %}
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-
-// acados
-#include "acados_c/external_function_interface.h"
-#include "acados_c/sim_interface.h"
-#include "acados_c/external_function_interface.h"
-
-#include "acados/sim/sim_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/print.h"
-
-
-// example specific
-#include "{{ model.name }}_model/{{ model.name }}_model.h"
-#include "acados_sim_solver_{{ model.name }}.h"
-
-
-// ** solver data **
-
-sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule()
-{
-    void* capsule_mem = malloc(sizeof(sim_solver_capsule));
-    sim_solver_capsule *capsule = (sim_solver_capsule *) capsule_mem;
-
-    return capsule;
-}
-
-
-int {{ model.name }}_acados_sim_solver_free_capsule(sim_solver_capsule * capsule)
-{
-    free(capsule);
-    return 0;
-}
-
-
-int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
-{
-    // initialize
-    const int nx = {{ model.name | upper }}_NX;
-    const int nu = {{ model.name | upper }}_NU;
-    const int nz = {{ model.name | upper }}_NZ;
-    const int np = {{ model.name | upper }}_NP;
-    bool tmp_bool;
-
-    {#// double Tsim = {{ solver_options.tf / dims.N }};#}
-    double Tsim = {{ solver_options.Tsim }};
-
-    {% if solver_options.integrator_type == "IRK" %}
-    capsule->sim_impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_impl_dae_fun_jac_x_xdot_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_impl_dae_jac_x_xdot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-
-  {%- if model.dyn_ext_fun_type == "casadi" %}
-    // external functions (implicit model)
-    capsule->sim_impl_dae_fun->casadi_fun = &{{ model.name }}_impl_dae_fun;
-    capsule->sim_impl_dae_fun->casadi_work = &{{ model.name }}_impl_dae_fun_work;
-    capsule->sim_impl_dae_fun->casadi_sparsity_in = &{{ model.name }}_impl_dae_fun_sparsity_in;
-    capsule->sim_impl_dae_fun->casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_sparsity_out;
-    capsule->sim_impl_dae_fun->casadi_n_in = &{{ model.name }}_impl_dae_fun_n_in;
-    capsule->sim_impl_dae_fun->casadi_n_out = &{{ model.name }}_impl_dae_fun_n_out;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_fun, np);
-
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_fun = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z;
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_work = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_work;
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_sparsity_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in;
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out;
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_n_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in;
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_n_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_fun_jac_x_xdot_z, np);
-
-    // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_fun = &{{ model.name }}_impl_dae_jac_x_xdot_u_z;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_work = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_work;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_sparsity_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_sparsity_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_n_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_n_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_jac_x_xdot_u_z, np);
-  {%- else %}
-    capsule->sim_impl_dae_fun->fun = &{{ model.dyn_impl_dae_fun }};
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->fun = &{{ model.dyn_impl_dae_fun_jac }};
-    capsule->sim_impl_dae_jac_x_xdot_u_z->fun = &{{ model.dyn_impl_dae_jac }};
-  {%- endif %}
-
-{%- if hessian_approx == "EXACT" %}
-    capsule->sim_impl_dae_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z;
-    capsule->sim_impl_dae_hess->casadi_fun = &{{ model.name }}_impl_dae_hess;
-    capsule->sim_impl_dae_hess->casadi_work = &{{ model.name }}_impl_dae_hess_work;
-    capsule->sim_impl_dae_hess->casadi_sparsity_in = &{{ model.name }}_impl_dae_hess_sparsity_in;
-    capsule->sim_impl_dae_hess->casadi_sparsity_out = &{{ model.name }}_impl_dae_hess_sparsity_out;
-    capsule->sim_impl_dae_hess->casadi_n_in = &{{ model.name }}_impl_dae_hess_n_in;
-    capsule->sim_impl_dae_hess->casadi_n_out = &{{ model.name }}_impl_dae_hess_n_out;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_hess, np);
-{%- endif %}
-
-    {% elif solver_options.integrator_type == "ERK" %}
-    // explicit ode
-    capsule->sim_forw_vde_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_vde_adj_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_expl_ode_fun_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-
-    capsule->sim_forw_vde_casadi->casadi_fun = &{{ model.name }}_expl_vde_forw;
-    capsule->sim_forw_vde_casadi->casadi_n_in = &{{ model.name }}_expl_vde_forw_n_in;
-    capsule->sim_forw_vde_casadi->casadi_n_out = &{{ model.name }}_expl_vde_forw_n_out;
-    capsule->sim_forw_vde_casadi->casadi_sparsity_in = &{{ model.name }}_expl_vde_forw_sparsity_in;
-    capsule->sim_forw_vde_casadi->casadi_sparsity_out = &{{ model.name }}_expl_vde_forw_sparsity_out;
-    capsule->sim_forw_vde_casadi->casadi_work = &{{ model.name }}_expl_vde_forw_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_forw_vde_casadi, np);
-
-    capsule->sim_vde_adj_casadi->casadi_fun = &{{ model.name }}_expl_vde_adj;
-    capsule->sim_vde_adj_casadi->casadi_n_in = &{{ model.name }}_expl_vde_adj_n_in;
-    capsule->sim_vde_adj_casadi->casadi_n_out = &{{ model.name }}_expl_vde_adj_n_out;
-    capsule->sim_vde_adj_casadi->casadi_sparsity_in = &{{ model.name }}_expl_vde_adj_sparsity_in;
-    capsule->sim_vde_adj_casadi->casadi_sparsity_out = &{{ model.name }}_expl_vde_adj_sparsity_out;
-    capsule->sim_vde_adj_casadi->casadi_work = &{{ model.name }}_expl_vde_adj_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_vde_adj_casadi, np);
-
-    capsule->sim_expl_ode_fun_casadi->casadi_fun = &{{ model.name }}_expl_ode_fun;
-    capsule->sim_expl_ode_fun_casadi->casadi_n_in = &{{ model.name }}_expl_ode_fun_n_in;
-    capsule->sim_expl_ode_fun_casadi->casadi_n_out = &{{ model.name }}_expl_ode_fun_n_out;
-    capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &{{ model.name }}_expl_ode_fun_sparsity_in;
-    capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &{{ model.name }}_expl_ode_fun_sparsity_out;
-    capsule->sim_expl_ode_fun_casadi->casadi_work = &{{ model.name }}_expl_ode_fun_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_expl_ode_fun_casadi, np);
-
-{%- if hessian_approx == "EXACT" %}
-    capsule->sim_expl_ode_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z;
-    capsule->sim_expl_ode_hess->casadi_fun = &{{ model.name }}_expl_ode_hess;
-    capsule->sim_expl_ode_hess->casadi_work = &{{ model.name }}_expl_ode_hess_work;
-    capsule->sim_expl_ode_hess->casadi_sparsity_in = &{{ model.name }}_expl_ode_hess_sparsity_in;
-    capsule->sim_expl_ode_hess->casadi_sparsity_out = &{{ model.name }}_expl_ode_hess_sparsity_out;
-    capsule->sim_expl_ode_hess->casadi_n_in = &{{ model.name }}_expl_ode_hess_n_in;
-    capsule->sim_expl_ode_hess->casadi_n_out = &{{ model.name }}_expl_ode_hess_n_out;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_expl_ode_hess, np);
-{%- endif %}
-
-    {% elif solver_options.integrator_type == "GNSF" -%}
-  {% if model.gnsf.purely_linear != 1 %}
-    capsule->sim_gnsf_phi_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_gnsf_phi_fun_jac_y = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_gnsf_phi_jac_y_uhat = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-  {%- endif %}
-  {%- endif %}
-    capsule->sim_gnsf_get_matrices_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-
-  {% if model.gnsf.purely_linear != 1 %}
-    capsule->sim_gnsf_phi_fun->casadi_fun = &{{ model.name }}_gnsf_phi_fun;
-    capsule->sim_gnsf_phi_fun->casadi_n_in = &{{ model.name }}_gnsf_phi_fun_n_in;
-    capsule->sim_gnsf_phi_fun->casadi_n_out = &{{ model.name }}_gnsf_phi_fun_n_out;
-    capsule->sim_gnsf_phi_fun->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_sparsity_in;
-    capsule->sim_gnsf_phi_fun->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_sparsity_out;
-    capsule->sim_gnsf_phi_fun->casadi_work = &{{ model.name }}_gnsf_phi_fun_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_fun, np);
-
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_fun = &{{ model.name }}_gnsf_phi_fun_jac_y;
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_n_in = &{{ model.name }}_gnsf_phi_fun_jac_y_n_in;
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_n_out = &{{ model.name }}_gnsf_phi_fun_jac_y_n_out;
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in;
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out;
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_work = &{{ model.name }}_gnsf_phi_fun_jac_y_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_fun_jac_y, np);
-
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_fun = &{{ model.name }}_gnsf_phi_jac_y_uhat;
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_n_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_n_in;
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_n_out = &{{ model.name }}_gnsf_phi_jac_y_uhat_n_out;
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in;
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out;
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_work = &{{ model.name }}_gnsf_phi_jac_y_uhat_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_jac_y_uhat, np);
-
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_fun = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz;
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in;
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out;
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in;
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out;
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_work = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, np);
-  {%- endif %}
-  {%- endif %}
-
-    capsule->sim_gnsf_get_matrices_fun->casadi_fun = &{{ model.name }}_gnsf_get_matrices_fun;
-    capsule->sim_gnsf_get_matrices_fun->casadi_n_in = &{{ model.name }}_gnsf_get_matrices_fun_n_in;
-    capsule->sim_gnsf_get_matrices_fun->casadi_n_out = &{{ model.name }}_gnsf_get_matrices_fun_n_out;
-    capsule->sim_gnsf_get_matrices_fun->casadi_sparsity_in = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_in;
-    capsule->sim_gnsf_get_matrices_fun->casadi_sparsity_out = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_out;
-    capsule->sim_gnsf_get_matrices_fun->casadi_work = &{{ model.name }}_gnsf_get_matrices_fun_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_get_matrices_fun, np);
-    {% endif %}
-
-    // sim plan & config
-    sim_solver_plan_t plan;
-    plan.sim_solver = {{ solver_options.integrator_type }};
-
-    // create correct config based on plan
-    sim_config * {{ model.name }}_sim_config = sim_config_create(plan);
-    capsule->acados_sim_config = {{ model.name }}_sim_config;
-
-    // sim dims
-    void *{{ model.name }}_sim_dims = sim_dims_create({{ model.name }}_sim_config);
-    capsule->acados_sim_dims = {{ model.name }}_sim_dims;
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nx", &nx);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nu", &nu);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nz", &nz);
-{% if solver_options.integrator_type == "GNSF" %}
-    int gnsf_nx1 = {{ dims.gnsf_nx1 }};
-    int gnsf_nz1 = {{ dims.gnsf_nz1 }};
-    int gnsf_nout = {{ dims.gnsf_nout }};
-    int gnsf_ny = {{ dims.gnsf_ny }};
-    int gnsf_nuhat = {{ dims.gnsf_nuhat }};
-
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nx1", &gnsf_nx1);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nz1", &gnsf_nz1);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nout", &gnsf_nout);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "ny", &gnsf_ny);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nuhat", &gnsf_nuhat);
-{% endif %}
-
-    // sim opts
-    sim_opts *{{ model.name }}_sim_opts = sim_opts_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims);
-    capsule->acados_sim_opts = {{ model.name }}_sim_opts;
-    int tmp_int = {{ solver_options.sim_method_newton_iter }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "newton_iter", &tmp_int);
-    double tmp_double = {{ solver_options.sim_method_newton_tol }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "newton_tol", &tmp_double);
-    sim_collocation_type collocation_type = {{ solver_options.collocation_type }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "collocation_type", &collocation_type);
-
-{% if problem_class == "SIM" %}
-    tmp_int = {{ solver_options.sim_method_num_stages }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_stages", &tmp_int);
-    tmp_int = {{ solver_options.sim_method_num_steps }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_steps", &tmp_int);
-
-    // options that are not available to AcadosOcpSolver
-    //  (in OCP they will be determined by other options, like exact_hessian)
-    tmp_bool = {{ solver_options.sens_forw }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_forw", &tmp_bool);
-    tmp_bool = {{ solver_options.sens_adj }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_adj", &tmp_bool);
-    tmp_bool = {{ solver_options.sens_algebraic }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_algebraic", &tmp_bool);
-    tmp_bool = {{ solver_options.sens_hess }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_hess", &tmp_bool);
-    tmp_bool = {{ solver_options.output_z }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "output_z", &tmp_bool);
-
-{% else %} {# num_stages and num_steps of first shooting interval are used #}
-    tmp_int = {{ solver_options.sim_method_num_stages[0] }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_stages", &tmp_int);
-    tmp_int = {{ solver_options.sim_method_num_steps[0] }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_steps", &tmp_int);
-    tmp_bool = {{ solver_options.sim_method_jac_reuse[0] }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "jac_reuse", &tmp_bool);
-{% endif %}
-
-    // sim in / out
-    sim_in *{{ model.name }}_sim_in = sim_in_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims);
-    capsule->acados_sim_in = {{ model.name }}_sim_in;
-    sim_out *{{ model.name }}_sim_out = sim_out_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims);
-    capsule->acados_sim_out = {{ model.name }}_sim_out;
-
-    sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims,
-               {{ model.name }}_sim_in, "T", &Tsim);
-
-    // model functions
-{%- if solver_options.integrator_type == "IRK" %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "impl_ode_fun", capsule->sim_impl_dae_fun);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "impl_ode_fun_jac_x_xdot", capsule->sim_impl_dae_fun_jac_x_xdot_z);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "impl_ode_jac_x_xdot_u", capsule->sim_impl_dae_jac_x_xdot_u_z);
-{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                "impl_dae_hess", capsule->sim_impl_dae_hess);
-{%- endif %}
-
-{%- elif solver_options.integrator_type == "ERK" %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "expl_vde_forw", capsule->sim_forw_vde_casadi);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "expl_vde_adj", capsule->sim_vde_adj_casadi);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "expl_ode_fun", capsule->sim_expl_ode_fun_casadi);
-{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                "expl_ode_hess", capsule->sim_expl_ode_hess);
-{%- endif %}
-{%- elif solver_options.integrator_type == "GNSF" %}
-  {% if model.gnsf.purely_linear != 1 %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "phi_fun", capsule->sim_gnsf_phi_fun);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "phi_fun_jac_y", capsule->sim_gnsf_phi_fun_jac_y);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "phi_jac_y_uhat", capsule->sim_gnsf_phi_jac_y_uhat);
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "f_lo_jac_x1_x1dot_u_z", capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z);
-  {%- endif %}
-  {%- endif %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "gnsf_get_matrices_fun", capsule->sim_gnsf_get_matrices_fun);
-{%- endif %}
-
-    // sim solver
-    sim_solver *{{ model.name }}_sim_solver = sim_solver_create({{ model.name }}_sim_config,
-                                               {{ model.name }}_sim_dims, {{ model.name }}_sim_opts);
-    capsule->acados_sim_solver = {{ model.name }}_sim_solver;
-
-{% if dims.np > 0 %}
-    /* initialize parameter values */
-    double* p = calloc(np, sizeof(double));
-    {% for item in parameter_values %}
-        {%- if item != 0 %}
-    p[{{ loop.index0 }}] = {{ item }};
-        {%- endif %}
-    {%- endfor %}
-
-    {{ model.name }}_acados_sim_update_params(capsule, p, np);
-    free(p);
-{% endif %}{# if dims.np #}
-
-    /* initialize input */
-    // x
-    double x0[{{ dims.nx }}];
-    for (int ii = 0; ii < {{ dims.nx }}; ii++)
-        x0[ii] = 0.0;
-
-    sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims,
-               {{ model.name }}_sim_in, "x", x0);
-
-
-    // u
-    double u0[{{ dims.nu }}];
-    for (int ii = 0; ii < {{ dims.nu }}; ii++)
-        u0[ii] = 0.0;
-
-    sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims,
-               {{ model.name }}_sim_in, "u", u0);
-
-    // S_forw
-    double S_forw[{{ dims.nx * (dims.nx + dims.nu) }}];
-    for (int ii = 0; ii < {{ dims.nx * (dims.nx + dims.nu) }}; ii++)
-        S_forw[ii] = 0.0;
-    for (int ii = 0; ii < {{ dims.nx }}; ii++)
-        S_forw[ii + ii * {{ dims.nx }} ] = 1.0;
-
-
-    sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims,
-               {{ model.name }}_sim_in, "S_forw", S_forw);
-
-    int status = sim_precompute({{ model.name }}_sim_solver, {{ model.name }}_sim_in, {{ model.name }}_sim_out);
-
-    return status;
-}
-
-
-int {{ model.name }}_acados_sim_solve(sim_solver_capsule *capsule)
-{
-    // integrate dynamics using acados sim_solver
-    int status = sim_solve(capsule->acados_sim_solver,
-                           capsule->acados_sim_in, capsule->acados_sim_out);
-    if (status != 0)
-        printf("error in {{ model.name }}_acados_sim_solve()! Exiting.\n");
-
-    return status;
-}
-
-
-int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule)
-{
-    // free memory
-    sim_solver_destroy(capsule->acados_sim_solver);
-    sim_in_destroy(capsule->acados_sim_in);
-    sim_out_destroy(capsule->acados_sim_out);
-    sim_opts_destroy(capsule->acados_sim_opts);
-    sim_dims_destroy(capsule->acados_sim_dims);
-    sim_config_destroy(capsule->acados_sim_config);
-
-    // free external function
-{%- if solver_options.integrator_type == "IRK" %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_fun);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_fun_jac_x_xdot_z);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_jac_x_xdot_u_z);
-{%- if hessian_approx == "EXACT" %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_hess);
-{%- endif %}
-{%- elif solver_options.integrator_type == "ERK" %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_forw_vde_casadi);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_vde_adj_casadi);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_expl_ode_fun_casadi);
-{%- if hessian_approx == "EXACT" %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_expl_ode_hess);
-{%- endif %}
-{%- elif solver_options.integrator_type == "GNSF" %}
-  {% if model.gnsf.purely_linear != 1 %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_fun);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_fun_jac_y);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_jac_y_uhat);
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z);
-  {%- endif %}
-  {%- endif %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_get_matrices_fun);
-{% endif %}
-
-    return 0;
-}
-
-
-int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, double *p, int np)
-{
-    int status = 0;
-    int casadi_np = {{ model.name | upper }}_NP;
-
-    if (casadi_np != np) {
-        printf("{{ model.name }}_acados_sim_update_params: trying to set %i parameters for external functions."
-            " External function has %i parameters. Exiting.\n", np, casadi_np);
-        exit(1);
-    }
-
-{%- if solver_options.integrator_type == "ERK" %}
-    capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p);
-    capsule->sim_vde_adj_casadi[0].set_param(capsule->sim_vde_adj_casadi, p);
-    capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p);
-{%- if hessian_approx == "EXACT" %}
-    capsule->sim_expl_ode_hess[0].set_param(capsule->sim_expl_ode_hess, p);
-{%- endif %}
-{%- elif solver_options.integrator_type == "IRK" %}
-    capsule->sim_impl_dae_fun[0].set_param(capsule->sim_impl_dae_fun, p);
-    capsule->sim_impl_dae_fun_jac_x_xdot_z[0].set_param(capsule->sim_impl_dae_fun_jac_x_xdot_z, p);
-    capsule->sim_impl_dae_jac_x_xdot_u_z[0].set_param(capsule->sim_impl_dae_jac_x_xdot_u_z, p);
-{%- if hessian_approx == "EXACT" %}
-    capsule->sim_impl_dae_hess[0].set_param(capsule->sim_impl_dae_hess, p);
-{%- endif %}
-{%- elif solver_options.integrator_type == "GNSF" %}
-  {% if model.gnsf.purely_linear != 1 %}
-    capsule->sim_gnsf_phi_fun[0].set_param(capsule->sim_gnsf_phi_fun, p);
-    capsule->sim_gnsf_phi_fun_jac_y[0].set_param(capsule->sim_gnsf_phi_fun_jac_y, p);
-    capsule->sim_gnsf_phi_jac_y_uhat[0].set_param(capsule->sim_gnsf_phi_jac_y_uhat, p);
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z[0].set_param(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, p);
-  {%- endif %}
-  {%- endif %}
-    capsule->sim_gnsf_get_matrices_fun[0].set_param(capsule->sim_gnsf_get_matrices_fun, p);
-{% endif %}
-
-    return status;
-}
-
-/* getters pointers to C objects*/
-sim_config * {{ model.name }}_acados_get_sim_config(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_config;
-};
-
-sim_in * {{ model.name }}_acados_get_sim_in(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_in;
-};
-
-sim_out * {{ model.name }}_acados_get_sim_out(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_out;
-};
-
-void * {{ model.name }}_acados_get_sim_dims(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_dims;
-};
-
-sim_opts * {{ model.name }}_acados_get_sim_opts(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_opts;
-};
-
-sim_solver  * {{ model.name }}_acados_get_sim_solver(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_solver;
-};
-
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h
deleted file mode 100644
index 59aee62f49fd3f..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#ifndef ACADOS_SIM_{{ model.name }}_H_
-#define ACADOS_SIM_{{ model.name }}_H_
-
-#include "acados_c/sim_interface.h"
-#include "acados_c/external_function_interface.h"
-
-#define {{ model.name | upper }}_NX     {{ dims.nx }}
-#define {{ model.name | upper }}_NZ     {{ dims.nz }}
-#define {{ model.name | upper }}_NU     {{ dims.nu }}
-#define {{ model.name | upper }}_NP     {{ dims.np }}
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// ** capsule for solver data **
-typedef struct sim_solver_capsule
-{
-    // acados objects
-    sim_in *acados_sim_in;
-    sim_out *acados_sim_out;
-    sim_solver *acados_sim_solver;
-    sim_opts *acados_sim_opts;
-    sim_config *acados_sim_config;
-    void *acados_sim_dims;
-
-    /* external functions */
-    // ERK
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_forw_vde_casadi;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_vde_adj_casadi;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_expl_ode_fun_casadi;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_expl_ode_hess;
-
-    // IRK
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_fun;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_fun_jac_x_xdot_z;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_jac_x_xdot_u_z;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_hess;
-
-    // GNSF
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_fun;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_fun_jac_y;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_jac_y_uhat;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_f_lo_jac_x1_x1dot_u_z;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_get_matrices_fun;
-
-} sim_solver_capsule;
-
-
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_create(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_solve(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np);
-
-ACADOS_SYMBOL_EXPORT sim_config * {{ model.name }}_acados_get_sim_config(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT sim_in * {{ model.name }}_acados_get_sim_in(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT sim_out * {{ model.name }}_acados_get_sim_out(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT void * {{ model.name }}_acados_get_sim_dims(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT sim_opts * {{ model.name }}_acados_get_sim_opts(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT sim_solver * {{ model.name }}_acados_get_sim_solver(sim_solver_capsule *capsule);
-
-
-ACADOS_SYMBOL_EXPORT sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule(void);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_solver_free_capsule(sim_solver_capsule *capsule);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_SIM_{{ model.name }}_H_
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.pxd b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.pxd
deleted file mode 100644
index 153f98d13a62e1..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.pxd
+++ /dev/null
@@ -1,51 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-cimport acados_sim_solver_common
-
-cdef extern from "acados_sim_solver_{{ model.name }}.h":
-    ctypedef struct sim_solver_capsule "sim_solver_capsule":
-        pass
-
-    sim_solver_capsule * acados_sim_solver_create_capsule "{{ model.name }}_acados_sim_solver_create_capsule"()
-    int acados_sim_solver_free_capsule "{{ model.name }}_acados_sim_solver_free_capsule"(sim_solver_capsule *capsule)
-
-    int acados_sim_create "{{ model.name }}_acados_sim_create"(sim_solver_capsule * capsule)
-    int acados_sim_solve "{{ model.name }}_acados_sim_solve"(sim_solver_capsule * capsule)
-    int acados_sim_free "{{ model.name }}_acados_sim_free"(sim_solver_capsule * capsule)
-    int acados_sim_update_params "{{ model.name }}_acados_sim_update_params"(sim_solver_capsule * capsule, double *value, int np_)
-    # int acados_sim_update_params_sparse "{{ model.name }}_acados_sim_update_params_sparse"(sim_solver_capsule * capsule, int stage, int *idx, double *p, int n_update)
-
-    acados_sim_solver_common.sim_in *acados_get_sim_in "{{ model.name }}_acados_get_sim_in"(sim_solver_capsule * capsule)
-    acados_sim_solver_common.sim_out *acados_get_sim_out "{{ model.name }}_acados_get_sim_out"(sim_solver_capsule * capsule)
-    acados_sim_solver_common.sim_solver *acados_get_sim_solver "{{ model.name }}_acados_get_sim_solver"(sim_solver_capsule * capsule)
-    acados_sim_solver_common.sim_config *acados_get_sim_config "{{ model.name }}_acados_get_sim_config"(sim_solver_capsule * capsule)
-    acados_sim_solver_common.sim_opts *acados_get_sim_opts "{{ model.name }}_acados_get_sim_opts"(sim_solver_capsule * capsule)
-    void *acados_get_sim_dims "{{ model.name }}_acados_get_sim_dims"(sim_solver_capsule * capsule)
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c
deleted file mode 100644
index 5e36a53d1001d3..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c
+++ /dev/null
@@ -1,2741 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-#include <assert.h>
-// acados
-// #include "acados/utils/print.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_c/external_function_interface.h"
-
-// example specific
-#include "{{ model.name }}_model/{{ model.name }}_model.h"
-#include "{{ model.name }}_constraints/{{ model.name }}_constraints.h"
-
-{%- if cost.cost_type != "LINEAR_LS" or cost.cost_type_e != "LINEAR_LS" or cost.cost_type_0 != "LINEAR_LS" %}
-#include "{{ model.name }}_cost/{{ model.name }}_cost.h"
-{%- endif %}
-
-{%- if not solver_options.custom_update_filename %}
-    {%- set custom_update_filename = "" %}
-{% else %}
-    {%- set custom_update_filename = solver_options.custom_update_filename %}
-{%- endif %}
-{%- if not solver_options.custom_update_header_filename %}
-    {%- set custom_update_header_filename = "" %}
-{% else %}
-    {%- set custom_update_header_filename = solver_options.custom_update_header_filename %}
-{%- endif %}
-{%- if custom_update_header_filename != "" %}
-#include "{{ custom_update_header_filename }}"
-{%- endif %}
-
-
-#include "acados_solver_{{ model.name }}.h"
-
-#define NX     {{ model.name | upper }}_NX
-#define NZ     {{ model.name | upper }}_NZ
-#define NU     {{ model.name | upper }}_NU
-#define NP     {{ model.name | upper }}_NP
-#define NBX    {{ model.name | upper }}_NBX
-#define NBX0   {{ model.name | upper }}_NBX0
-#define NBU    {{ model.name | upper }}_NBU
-#define NSBX   {{ model.name | upper }}_NSBX
-#define NSBU   {{ model.name | upper }}_NSBU
-#define NSH    {{ model.name | upper }}_NSH
-#define NSG    {{ model.name | upper }}_NSG
-#define NSPHI  {{ model.name | upper }}_NSPHI
-#define NSHN   {{ model.name | upper }}_NSHN
-#define NSGN   {{ model.name | upper }}_NSGN
-#define NSPHIN {{ model.name | upper }}_NSPHIN
-#define NSBXN  {{ model.name | upper }}_NSBXN
-#define NS     {{ model.name | upper }}_NS
-#define NSN    {{ model.name | upper }}_NSN
-#define NG     {{ model.name | upper }}_NG
-#define NBXN   {{ model.name | upper }}_NBXN
-#define NGN    {{ model.name | upper }}_NGN
-#define NY0    {{ model.name | upper }}_NY0
-#define NY     {{ model.name | upper }}_NY
-#define NYN    {{ model.name | upper }}_NYN
-// #define N      {{ model.name | upper }}_N
-#define NH     {{ model.name | upper }}_NH
-#define NPHI   {{ model.name | upper }}_NPHI
-#define NHN    {{ model.name | upper }}_NHN
-#define NPHIN  {{ model.name | upper }}_NPHIN
-#define NR     {{ model.name | upper }}_NR
-
-
-// ** solver data **
-
-{{ model.name }}_solver_capsule * {{ model.name }}_acados_create_capsule(void)
-{
-    void* capsule_mem = malloc(sizeof({{ model.name }}_solver_capsule));
-    {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) capsule_mem;
-
-    return capsule;
-}
-
-
-int {{ model.name }}_acados_free_capsule({{ model.name }}_solver_capsule *capsule)
-{
-    free(capsule);
-    return 0;
-}
-
-
-int {{ model.name }}_acados_create({{ model.name }}_solver_capsule* capsule)
-{
-    int N_shooting_intervals = {{ model.name | upper }}_N;
-    double* new_time_steps = NULL; // NULL -> don't alter the code generated time-steps
-    return {{ model.name }}_acados_create_with_discretization(capsule, N_shooting_intervals, new_time_steps);
-}
-
-
-int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule* capsule, int N, double* new_time_steps)
-{
-    if (N != capsule->nlp_solver_plan->N) {
-        fprintf(stderr, "{{ model.name }}_acados_update_time_steps: given number of time steps (= %d) " \
-            "differs from the currently allocated number of " \
-            "time steps (= %d)!\n" \
-            "Please recreate with new discretization and provide a new vector of time_stamps!\n",
-            N, capsule->nlp_solver_plan->N);
-        return 1;
-    }
-
-    ocp_nlp_config * nlp_config = capsule->nlp_config;
-    ocp_nlp_dims * nlp_dims = capsule->nlp_dims;
-    ocp_nlp_in * nlp_in = capsule->nlp_in;
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &new_time_steps[i]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &new_time_steps[i]);
-    }
-    return 0;
-}
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 1
- */
-void {{ model.name }}_acados_create_1_set_plan(ocp_nlp_plan_t* nlp_solver_plan, const int N)
-{
-    assert(N == nlp_solver_plan->N);
-
-    /************************************************
-    *  plan
-    ************************************************/
-
-    {%- if solver_options.nlp_solver_type == "SQP" %}
-    nlp_solver_plan->nlp_solver = SQP;
-    {%- else %}
-    nlp_solver_plan->nlp_solver = SQP_RTI;
-    {%- endif %}
-
-    nlp_solver_plan->ocp_qp_solver_plan.qp_solver = {{ solver_options.qp_solver }};
-
-    nlp_solver_plan->nlp_cost[0] = {{ cost.cost_type_0 }};
-    for (int i = 1; i < N; i++)
-        nlp_solver_plan->nlp_cost[i] = {{ cost.cost_type }};
-
-    nlp_solver_plan->nlp_cost[N] = {{ cost.cost_type_e }};
-
-    for (int i = 0; i < N; i++)
-    {
-        {%- if solver_options.integrator_type == "DISCRETE" %}
-        nlp_solver_plan->nlp_dynamics[i] = DISCRETE_MODEL;
-        // discrete dynamics does not need sim solver option, this field is ignored
-        nlp_solver_plan->sim_solver_plan[i].sim_solver = INVALID_SIM_SOLVER;
-        {%- else %}
-        nlp_solver_plan->nlp_dynamics[i] = CONTINUOUS_MODEL;
-        nlp_solver_plan->sim_solver_plan[i].sim_solver = {{ solver_options.integrator_type }};
-        {%- endif %}
-    }
-
-    for (int i = 0; i < N; i++)
-    {
-        {%- if constraints.constr_type == "BGP" %}
-        nlp_solver_plan->nlp_constraints[i] = BGP;
-        {%- else -%}
-        nlp_solver_plan->nlp_constraints[i] = BGH;
-        {%- endif %}
-    }
-
-    {%- if constraints.constr_type_e == "BGP" %}
-    nlp_solver_plan->nlp_constraints[N] = BGP;
-    {%- else %}
-    nlp_solver_plan->nlp_constraints[N] = BGH;
-    {%- endif %}
-
-    {%- if solver_options.regularize_method == "NO_REGULARIZE" %}
-    nlp_solver_plan->regularization = NO_REGULARIZE;
-    {%- elif solver_options.regularize_method == "MIRROR" %}
-    nlp_solver_plan->regularization = MIRROR;
-    {%- elif solver_options.regularize_method == "PROJECT" %}
-    nlp_solver_plan->regularization = PROJECT;
-    {%- elif solver_options.regularize_method == "PROJECT_REDUC_HESS" %}
-    nlp_solver_plan->regularization = PROJECT_REDUC_HESS;
-    {%- elif solver_options.regularize_method == "CONVEXIFY" %}
-    nlp_solver_plan->regularization = CONVEXIFY;
-    {%- endif %}
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 2
- */
-ocp_nlp_dims* {{ model.name }}_acados_create_2_create_and_set_dimensions({{ model.name }}_solver_capsule* capsule)
-{
-    ocp_nlp_plan_t* nlp_solver_plan = capsule->nlp_solver_plan;
-    const int N = nlp_solver_plan->N;
-    ocp_nlp_config* nlp_config = capsule->nlp_config;
-
-    /************************************************
-    *  dimensions
-    ************************************************/
-    #define NINTNP1MEMS 17
-    int* intNp1mem = (int*)malloc( (N+1)*sizeof(int)*NINTNP1MEMS );
-
-    int* nx    = intNp1mem + (N+1)*0;
-    int* nu    = intNp1mem + (N+1)*1;
-    int* nbx   = intNp1mem + (N+1)*2;
-    int* nbu   = intNp1mem + (N+1)*3;
-    int* nsbx  = intNp1mem + (N+1)*4;
-    int* nsbu  = intNp1mem + (N+1)*5;
-    int* nsg   = intNp1mem + (N+1)*6;
-    int* nsh   = intNp1mem + (N+1)*7;
-    int* nsphi = intNp1mem + (N+1)*8;
-    int* ns    = intNp1mem + (N+1)*9;
-    int* ng    = intNp1mem + (N+1)*10;
-    int* nh    = intNp1mem + (N+1)*11;
-    int* nphi  = intNp1mem + (N+1)*12;
-    int* nz    = intNp1mem + (N+1)*13;
-    int* ny    = intNp1mem + (N+1)*14;
-    int* nr    = intNp1mem + (N+1)*15;
-    int* nbxe  = intNp1mem + (N+1)*16;
-
-    for (int i = 0; i < N+1; i++)
-    {
-        // common
-        nx[i]     = NX;
-        nu[i]     = NU;
-        nz[i]     = NZ;
-        ns[i]     = NS;
-        // cost
-        ny[i]     = NY;
-        // constraints
-        nbx[i]    = NBX;
-        nbu[i]    = NBU;
-        nsbx[i]   = NSBX;
-        nsbu[i]   = NSBU;
-        nsg[i]    = NSG;
-        nsh[i]    = NSH;
-        nsphi[i]  = NSPHI;
-        ng[i]     = NG;
-        nh[i]     = NH;
-        nphi[i]   = NPHI;
-        nr[i]     = NR;
-        nbxe[i]   = 0;
-    }
-
-    // for initial state
-    nbx[0]  = NBX0;
-    nsbx[0] = 0;
-    ns[0] = NS - NSBX;
-    nbxe[0] = {{ dims.nbxe_0 }};
-    ny[0] = NY0;
-
-    // terminal - common
-    nu[N]   = 0;
-    nz[N]   = 0;
-    ns[N]   = NSN;
-    // cost
-    ny[N]   = NYN;
-    // constraint
-    nbx[N]   = NBXN;
-    nbu[N]   = 0;
-    ng[N]    = NGN;
-    nh[N]    = NHN;
-    nphi[N]  = NPHIN;
-    nr[N]    = {{ dims.nr_e }};
-
-    nsbx[N]  = NSBXN;
-    nsbu[N]  = 0;
-    nsg[N]   = NSGN;
-    nsh[N]   = NSHN;
-    nsphi[N] = NSPHIN;
-
-    /* create and set ocp_nlp_dims */
-    ocp_nlp_dims * nlp_dims = ocp_nlp_dims_create(nlp_config);
-
-    ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nx", nx);
-    ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nu", nu);
-    ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nz", nz);
-    ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "ns", ns);
-
-    for (int i = 0; i <= N; i++)
-    {
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbx", &nbx[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbu", &nbu[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbx", &nsbx[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbu", &nsbu[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "ng", &ng[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsg", &nsg[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbxe", &nbxe[i]);
-    }
-
-{%- if cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" or cost.cost_type_0 == "CONVEX_OVER_NONLINEAR"%}
-    ocp_nlp_dims_set_cost(nlp_config, nlp_dims, 0, "ny", &ny[0]);
-{%- endif %}
-
-{%- if cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" or cost.cost_type == "CONVEX_OVER_NONLINEAR"%}
-    for (int i = 1; i < N; i++)
-        ocp_nlp_dims_set_cost(nlp_config, nlp_dims, i, "ny", &ny[i]);
-{%- endif %}
-
-    for (int i = 0; i < N; i++)
-    {
-        {%- if constraints.constr_type == "BGH" and dims.nh > 0 %}
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nh", &nh[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsh", &nsh[i]);
-        {%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %}
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nr", &nr[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nphi", &nphi[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsphi", &nsphi[i]);
-        {%- endif %}
-    }
-
-{%- if constraints.constr_type_e == "BGH" %}
-    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nh", &nh[N]);
-    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsh", &nsh[N]);
-{%- elif constraints.constr_type_e == "BGP" %}
-    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nr", &nr[N]);
-    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nphi", &nphi[N]);
-    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsphi", &nsphi[N]);
-{%- endif %}
-{%- if cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" or cost.cost_type_e == "CONVEX_OVER_NONLINEAR"%}
-    ocp_nlp_dims_set_cost(nlp_config, nlp_dims, N, "ny", &ny[N]);
-{%- endif %}
-    free(intNp1mem);
-
-{%- if solver_options.integrator_type == "GNSF" -%}
-    // GNSF specific dimensions
-    int gnsf_nx1 = {{ dims.gnsf_nx1 }};
-    int gnsf_nz1 = {{ dims.gnsf_nz1 }};
-    int gnsf_nout = {{ dims.gnsf_nout }};
-    int gnsf_ny = {{ dims.gnsf_ny }};
-    int gnsf_nuhat = {{ dims.gnsf_nuhat }};
-
-    for (int i = 0; i < N; i++)
-    {
-        if (nlp_solver_plan->sim_solver_plan[i].sim_solver == GNSF)
-        {
-            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nx1", &gnsf_nx1);
-            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nz1", &gnsf_nz1);
-            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nout", &gnsf_nout);
-            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_ny", &gnsf_ny);
-            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nuhat", &gnsf_nuhat);
-        }
-    }
-{%- endif %}
-return nlp_dims;
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 3
- */
-void {{ model.name }}_acados_create_3_create_and_set_functions({{ model.name }}_solver_capsule* capsule)
-{
-    const int N = capsule->nlp_solver_plan->N;
-
-    /************************************************
-    *  external functions
-    ************************************************/
-
-#define MAP_CASADI_FNC(__CAPSULE_FNC__, __MODEL_BASE_FNC__) do{ \
-        capsule->__CAPSULE_FNC__.casadi_fun = & __MODEL_BASE_FNC__ ;\
-        capsule->__CAPSULE_FNC__.casadi_n_in = & __MODEL_BASE_FNC__ ## _n_in; \
-        capsule->__CAPSULE_FNC__.casadi_n_out = & __MODEL_BASE_FNC__ ## _n_out; \
-        capsule->__CAPSULE_FNC__.casadi_sparsity_in = & __MODEL_BASE_FNC__ ## _sparsity_in; \
-        capsule->__CAPSULE_FNC__.casadi_sparsity_out = & __MODEL_BASE_FNC__ ## _sparsity_out; \
-        capsule->__CAPSULE_FNC__.casadi_work = & __MODEL_BASE_FNC__ ## _work; \
-        external_function_param_casadi_create(&capsule->__CAPSULE_FNC__ , {{ dims.np }}); \
-    }while(false)
-
-{% if constraints.constr_type == "BGP" %}
-    // constraints.constr_type == "BGP"
-    capsule->phi_constraint = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++)
-    {
-        // nonlinear part of convex-composite constraint
-        MAP_CASADI_FNC(phi_constraint[i], {{ model.name }}_phi_constraint);
-    }
-{%- endif %}
-
-{%- if constraints.constr_type_e == "BGP" %}
-    // constraints.constr_type_e == "BGP"
-    // nonlinear part of convex-composite constraint
-    MAP_CASADI_FNC(phi_e_constraint, {{ model.name }}_phi_e_constraint);
-{%- endif %}
-
-{%- if constraints.constr_type == "BGH" and dims.nh > 0  %}
-    // constraints.constr_type == "BGH" and dims.nh > 0
-    capsule->nl_constr_h_fun_jac = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(nl_constr_h_fun_jac[i], {{ model.name }}_constr_h_fun_jac_uxt_zt);
-    }
-    capsule->nl_constr_h_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(nl_constr_h_fun[i], {{ model.name }}_constr_h_fun);
-    }
-    {% if solver_options.hessian_approx == "EXACT" %}
-    capsule->nl_constr_h_fun_jac_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(nl_constr_h_fun_jac_hess[i], {{ model.name }}_constr_h_fun_jac_uxt_zt_hess);
-    }
-    {% endif %}
-{% endif %}
-
-{%- if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-    MAP_CASADI_FNC(nl_constr_h_e_fun_jac, {{ model.name }}_constr_h_e_fun_jac_uxt_zt);
-    MAP_CASADI_FNC(nl_constr_h_e_fun, {{ model.name }}_constr_h_e_fun);
-
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    MAP_CASADI_FNC(nl_constr_h_e_fun_jac_hess, {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess);
-    {% endif %}
-{%- endif %}
-
-{% if solver_options.integrator_type == "ERK" %}
-    // explicit ode
-    capsule->forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(forw_vde_casadi[i], {{ model.name }}_expl_vde_forw);
-    }
-
-    capsule->expl_ode_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(expl_ode_fun[i], {{ model.name }}_expl_ode_fun);
-    }
-
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    capsule->hess_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(hess_vde_casadi[i], {{ model.name }}_expl_ode_hess);
-    }
-    {%- endif %}
-
-{% elif solver_options.integrator_type == "IRK" %}
-    // implicit dae
-    capsule->impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-    {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(impl_dae_fun[i], {{ model.name }}_impl_dae_fun);
-    {%- else %}
-        capsule->impl_dae_fun[i].fun = &{{ model.dyn_impl_dae_fun }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_fun[i], {{ dims.np }});
-    {%- endif %}
-    }
-
-    capsule->impl_dae_fun_jac_x_xdot_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-    {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(impl_dae_fun_jac_x_xdot_z[i], {{ model.name }}_impl_dae_fun_jac_x_xdot_z);
-    {%- else %}
-        capsule->impl_dae_fun_jac_x_xdot_z[i].fun = &{{ model.dyn_impl_dae_fun_jac }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_fun_jac_x_xdot_z[i], {{ dims.np }});
-    {%- endif %}
-    }
-
-    capsule->impl_dae_jac_x_xdot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-    {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(impl_dae_jac_x_xdot_u_z[i], {{ model.name }}_impl_dae_jac_x_xdot_u_z);
-    {%- else %}
-        capsule->impl_dae_jac_x_xdot_u_z[i].fun = &{{ model.dyn_impl_dae_jac }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_jac_x_xdot_u_z[i], {{ dims.np }});
-    {%- endif %}
-    }
-
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    capsule->impl_dae_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(impl_dae_hess[i], {{ model.name }}_impl_dae_hess);
-    }
-    {%- endif %}
-{% elif solver_options.integrator_type == "LIFTED_IRK" %}
-    // external functions (implicit model)
-    capsule->impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(impl_dae_fun[i], {{ model.name }}_impl_dae_fun);
-    }
-
-    capsule->impl_dae_fun_jac_x_xdot_u = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(impl_dae_fun_jac_x_xdot_u[i], {{ model.name }}_impl_dae_fun_jac_x_xdot_u);
-    }
-
-{% elif solver_options.integrator_type == "GNSF" %}
-    {% if model.gnsf.purely_linear != 1 %}
-    capsule->gnsf_phi_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(gnsf_phi_fun[i], {{ model.name }}_gnsf_phi_fun);
-    }
-
-    capsule->gnsf_phi_fun_jac_y = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(gnsf_phi_fun_jac_y[i], {{ model.name }}_gnsf_phi_fun_jac_y);
-    }
-
-    capsule->gnsf_phi_jac_y_uhat = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(gnsf_phi_jac_y_uhat[i], {{ model.name }}_gnsf_phi_jac_y_uhat);
-    }
-
-    {% if model.gnsf.nontrivial_f_LO == 1 %}
-    capsule->gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(gnsf_f_lo_jac_x1_x1dot_u_z[i], {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz);
-    }
-    {%- endif %}
-    {%- endif %}
-    capsule->gnsf_get_matrices_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(gnsf_get_matrices_fun[i], {{ model.name }}_gnsf_get_matrices_fun);
-    }
-{% elif solver_options.integrator_type == "DISCRETE" %}
-    // discrete dynamics
-    capsule->discr_dyn_phi_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++)
-    {
-        {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(discr_dyn_phi_fun[i], {{ model.name }}_dyn_disc_phi_fun);
-        {%- else %}
-        capsule->discr_dyn_phi_fun[i].fun = &{{ model.dyn_disc_fun }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun[i], {{ dims.np }});
-        {%- endif %}
-    }
-
-    capsule->discr_dyn_phi_fun_jac_ut_xt = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++)
-    {
-        {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(discr_dyn_phi_fun_jac_ut_xt[i], {{ model.name }}_dyn_disc_phi_fun_jac);
-        {%- else %}
-        capsule->discr_dyn_phi_fun_jac_ut_xt[i].fun = &{{ model.dyn_disc_fun_jac }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun_jac_ut_xt[i], {{ dims.np }});
-        {%- endif %}
-    }
-
-  {%- if solver_options.hessian_approx == "EXACT" %}
-    capsule->discr_dyn_phi_fun_jac_ut_xt_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++)
-    {
-        {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(discr_dyn_phi_fun_jac_ut_xt_hess[i], {{ model.name }}_dyn_disc_phi_fun_jac_hess);
-        {%- else %}
-        capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i].fun = &{{ model.dyn_disc_fun_jac_hess }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i], {{ dims.np }});
-        {%- endif %}
-    }
-  {%- endif %}
-{%- endif %}
-
-
-{%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-    // nonlinear least squares function
-    MAP_CASADI_FNC(cost_y_0_fun, {{ model.name }}_cost_y_0_fun);
-    MAP_CASADI_FNC(cost_y_0_fun_jac_ut_xt, {{ model.name }}_cost_y_0_fun_jac_ut_xt);
-    MAP_CASADI_FNC(cost_y_0_hess, {{ model.name }}_cost_y_0_hess);
-
-{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    // convex-over-nonlinear cost
-    MAP_CASADI_FNC(conl_cost_0_fun, {{ model.name }}_conl_cost_0_fun);
-    MAP_CASADI_FNC(conl_cost_0_fun_jac_hess, {{ model.name }}_conl_cost_0_fun_jac_hess);
-
-{%- elif cost.cost_type_0 == "EXTERNAL" %}
-    // external cost
-    {%- if cost.cost_ext_fun_type_0 == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_0_fun, {{ model.name }}_cost_ext_cost_0_fun);
-    {%- else %}
-    capsule->ext_cost_0_fun.fun = &{{ cost.cost_function_ext_cost_0 }};
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun, {{ dims.np }});
-    {%- endif %}
-
-    // external cost
-    {%- if cost.cost_ext_fun_type_0 == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_0_fun_jac, {{ model.name }}_cost_ext_cost_0_fun_jac);
-    {%- else %}
-    capsule->ext_cost_0_fun_jac.fun = &{{ cost.cost_function_ext_cost_0 }};
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun_jac, {{ dims.np }});
-    {%- endif %}
-
-    // external cost
-    {%- if cost.cost_ext_fun_type_0 == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_0_fun_jac_hess, {{ model.name }}_cost_ext_cost_0_fun_jac_hess);
-    {%- else %}
-    capsule->ext_cost_0_fun_jac_hess.fun = &{{ cost.cost_function_ext_cost_0 }};
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun_jac_hess, {{ dims.np }});
-    {%- endif %}
-{%- endif %}
-
-{%- if cost.cost_type == "NONLINEAR_LS" %}
-    // nonlinear least squares cost
-    capsule->cost_y_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        MAP_CASADI_FNC(cost_y_fun[i], {{ model.name }}_cost_y_fun);
-    }
-
-    capsule->cost_y_fun_jac_ut_xt = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        MAP_CASADI_FNC(cost_y_fun_jac_ut_xt[i], {{ model.name }}_cost_y_fun_jac_ut_xt);
-    }
-
-    capsule->cost_y_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        MAP_CASADI_FNC(cost_y_hess[i], {{ model.name }}_cost_y_hess);
-    }
-
-{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    // convex-over-nonlinear cost
-    capsule->conl_cost_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        MAP_CASADI_FNC(conl_cost_fun[i], {{ model.name }}_conl_cost_fun);
-    }
-    capsule->conl_cost_fun_jac_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        MAP_CASADI_FNC(conl_cost_fun_jac_hess[i], {{ model.name }}_conl_cost_fun_jac_hess);
-    }
-
-{%- elif cost.cost_type == "EXTERNAL" %}
-    // external cost
-    capsule->ext_cost_fun = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        {%- if cost.cost_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(ext_cost_fun[i], {{ model.name }}_cost_ext_cost_fun);
-        {%- else %}
-        capsule->ext_cost_fun[i].fun = &{{ cost.cost_function_ext_cost }};
-        external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun[i], {{ dims.np }});
-        {%- endif %}
-    }
-
-    capsule->ext_cost_fun_jac = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        {%- if cost.cost_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(ext_cost_fun_jac[i], {{ model.name }}_cost_ext_cost_fun_jac);
-        {%- else %}
-        capsule->ext_cost_fun_jac[i].fun = &{{ cost.cost_function_ext_cost }};
-        external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun_jac[i], {{ dims.np }});
-        {%- endif %}
-    }
-
-    capsule->ext_cost_fun_jac_hess = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        {%- if cost.cost_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(ext_cost_fun_jac_hess[i], {{ model.name }}_cost_ext_cost_fun_jac_hess);
-        {%- else %}
-        capsule->ext_cost_fun_jac_hess[i].fun = &{{ cost.cost_function_ext_cost }};
-        external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun_jac_hess[i], {{ dims.np }});
-        {%- endif %}
-    }
-{%- endif %}
-
-{%- if cost.cost_type_e == "NONLINEAR_LS" %}
-    // nonlinear least square function
-    MAP_CASADI_FNC(cost_y_e_fun, {{ model.name }}_cost_y_e_fun);
-    MAP_CASADI_FNC(cost_y_e_fun_jac_ut_xt, {{ model.name }}_cost_y_e_fun_jac_ut_xt);
-    MAP_CASADI_FNC(cost_y_e_hess, {{ model.name }}_cost_y_e_hess);
-
-{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-    // convex-over-nonlinear cost
-    MAP_CASADI_FNC(conl_cost_e_fun, {{ model.name }}_conl_cost_e_fun);
-    MAP_CASADI_FNC(conl_cost_e_fun_jac_hess, {{ model.name }}_conl_cost_e_fun_jac_hess);
-
-{%- elif cost.cost_type_e == "EXTERNAL" %}
-    // external cost - function
-    {%- if cost.cost_ext_fun_type_e == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_e_fun, {{ model.name }}_cost_ext_cost_e_fun);
-    {% else %}
-    capsule->ext_cost_e_fun.fun = &{{ cost.cost_function_ext_cost_e }};
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun, {{ dims.np }});
-    {%- endif %}
-
-    // external cost - jacobian
-    {%- if cost.cost_ext_fun_type_e == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_e_fun_jac, {{ model.name }}_cost_ext_cost_e_fun_jac);
-    {%- else %}
-    capsule->ext_cost_e_fun_jac.fun = &{{ cost.cost_function_ext_cost_e }};
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun_jac, {{ dims.np }});
-    {%- endif %}
-
-    // external cost - hessian
-    {%- if cost.cost_ext_fun_type_e == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_e_fun_jac_hess, {{ model.name }}_cost_ext_cost_e_fun_jac_hess);
-    {%- else %}
-    capsule->ext_cost_e_fun_jac_hess.fun = &{{ cost.cost_function_ext_cost_e }};
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun_jac_hess, {{ dims.np }});
-    {%- endif %}
-{%- endif %}
-
-#undef MAP_CASADI_FNC
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 4
- */
-void {{ model.name }}_acados_create_4_set_default_parameters({{ model.name }}_solver_capsule* capsule) {
-{%- if dims.np > 0 %}
-    const int N = capsule->nlp_solver_plan->N;
-    // initialize parameters to nominal value
-    double* p = calloc(NP, sizeof(double));
-    {%- for item in parameter_values %}
-        {%- if item != 0 %}
-    p[{{ loop.index0 }}] = {{ item }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i <= N; i++) {
-        {{ model.name }}_acados_update_params(capsule, i, p, NP);
-    }
-    free(p);
-{%- else %}
-    // no parameters defined
-{%- endif %}{# if dims.np #}
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 5
- */
-void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule* capsule, const int N, double* new_time_steps)
-{
-    assert(N == capsule->nlp_solver_plan->N);
-    ocp_nlp_config* nlp_config = capsule->nlp_config;
-    ocp_nlp_dims* nlp_dims = capsule->nlp_dims;
-
-    /************************************************
-    *  nlp_in
-    ************************************************/
-//    ocp_nlp_in * nlp_in = ocp_nlp_in_create(nlp_config, nlp_dims);
-//    capsule->nlp_in = nlp_in;
-    ocp_nlp_in * nlp_in = capsule->nlp_in;
-
-    // set up time_steps
-    {% set all_equal = true -%}
-    {%- set val = solver_options.time_steps[0] %}
-    {%- for j in range(start=1, end=dims.N) %}
-        {%- if val != solver_options.time_steps[j] %}
-            {%- set_global all_equal = false %}
-            {%- break %}
-        {%- endif %}
-    {%- endfor %}
-
-    if (new_time_steps) {
-        {{ model.name }}_acados_update_time_steps(capsule, N, new_time_steps);
-    } else {
-    {%- if all_equal == true -%}
-        // all time_steps are identical
-        double time_step = {{ solver_options.time_steps[0] }};
-        for (int i = 0; i < N; i++)
-        {
-            ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &time_step);
-            ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &time_step);
-        }
-    {%- else -%}
-        // time_steps are different
-        double* time_steps = malloc(N*sizeof(double));
-        {%- for j in range(end=dims.N) %}
-        time_steps[{{ j }}] = {{ solver_options.time_steps[j] }};
-        {%- endfor %}
-        {{ model.name }}_acados_update_time_steps(capsule, N, time_steps);
-        free(time_steps);
-    {%- endif %}
-    }
-
-    /**** Dynamics ****/
-    for (int i = 0; i < N; i++)
-    {
-    {%- if solver_options.integrator_type == "ERK" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_vde_forw", &capsule->forw_vde_casadi[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_fun", &capsule->expl_ode_fun[i]);
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_hess", &capsule->hess_vde_casadi[i]);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "IRK" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_fun", &capsule->impl_dae_fun[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i,
-                                   "impl_dae_fun_jac_x_xdot_z", &capsule->impl_dae_fun_jac_x_xdot_z[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i,
-                                   "impl_dae_jac_x_xdot_u", &capsule->impl_dae_jac_x_xdot_u_z[i]);
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_hess", &capsule->impl_dae_hess[i]);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "LIFTED_IRK" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_fun", &capsule->impl_dae_fun[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i,
-                                   "impl_dae_fun_jac_x_xdot_u", &capsule->impl_dae_fun_jac_x_xdot_u[i]);
-    {% elif solver_options.integrator_type == "GNSF" %}
-        {% if model.gnsf.purely_linear != 1 %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_fun", &capsule->gnsf_phi_fun[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_fun_jac_y", &capsule->gnsf_phi_fun_jac_y[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_jac_y_uhat", &capsule->gnsf_phi_jac_y_uhat[i]);
-            {% if model.gnsf.nontrivial_f_LO == 1 %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "f_lo_jac_x1_x1dot_u_z",
-                                   &capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i]);
-            {%- endif %}
-        {%- endif %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "gnsf_get_matrices_fun",
-                                   &capsule->gnsf_get_matrices_fun[i]);
-    {% elif solver_options.integrator_type == "DISCRETE" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun", &capsule->discr_dyn_phi_fun[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun_jac",
-                                   &capsule->discr_dyn_phi_fun_jac_ut_xt[i]);
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun_jac_hess",
-                                   &capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i]);
-        {%- endif %}
-    {%- endif %}
-    }
-
-    /**** Cost ****/
-
-{%- if dims.ny_0 == 0 %}
-{%- elif cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" or cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    double* yref_0 = calloc(NY0, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_0) %}
-        {%- if cost.yref_0[j] != 0 %}
-    yref_0[{{ j }}] = {{ cost.yref_0[j] }};
-        {%- endif %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", yref_0);
-    free(yref_0);
-{%- endif %}
-
-
-{%- if dims.ny == 0 %}
-{%- elif cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" or cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-    double* yref = calloc(NY, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny) %}
-        {%- if cost.yref[j] != 0 %}
-    yref[{{ j }}] = {{ cost.yref[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "yref", yref);
-    }
-    free(yref);
-{%- endif %}
-
-
-{%- if dims.ny_e == 0 %}
-{%- elif cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" or cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-    double* yref_e = calloc(NYN, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_e) %}
-        {%- if cost.yref_e[j] != 0 %}
-    yref_e[{{ j }}] = {{ cost.yref_e[j] }};
-        {%- endif %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", yref_e);
-    free(yref_e);
-{%- endif %}
-
-{%- if dims.ny_0 == 0 %}
-{%- elif cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" %}
-   double* W_0 = calloc(NY0*NY0, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_0) %}
-        {%- for k in range(end=dims.ny_0) %}
-            {%- if cost.W_0[j][k] != 0 %}
-    W_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.W_0[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", W_0);
-    free(W_0);
-{%- endif %}
-
-{%- if dims.ny == 0 %}
-{%- elif cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" %}
-    double* W = calloc(NY*NY, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny) %}
-        {%- for k in range(end=dims.ny) %}
-            {%- if cost.W[j][k] != 0 %}
-    W[{{ j }}+(NY) * {{ k }}] = {{ cost.W[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "W", W);
-    }
-    free(W);
-{%- endif %}
-
-{%- if dims.ny_e == 0 %}
-{%- elif cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" %}
-    double* W_e = calloc(NYN*NYN, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_e) %}
-        {%- for k in range(end=dims.ny_e) %}
-            {%- if cost.W_e[j][k] != 0 %}
-    W_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.W_e[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", W_e);
-    free(W_e);
-{%- endif %}
-
-{%- if dims.ny_0 == 0 %}
-{%- elif cost.cost_type_0 == "LINEAR_LS" %}
-    double* Vx_0 = calloc(NY0*NX, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_0) %}
-        {%- for k in range(end=dims.nx) %}
-            {%- if cost.Vx_0[j][k] != 0 %}
-    Vx_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vx_0[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vx", Vx_0);
-    free(Vx_0);
-
-    {%- if dims.nu > 0 %}
-    double* Vu_0 = calloc(NY0*NU, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_0) %}
-        {%- for k in range(end=dims.nu) %}
-            {%- if cost.Vu_0[j][k] != 0 %}
-    Vu_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vu_0[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vu", Vu_0);
-    free(Vu_0);
-    {%- endif %}
-
-    {%- if dims.nz > 0 %}
-    double* Vz_0 = calloc(NY0*NZ, sizeof(double));
-    // change only the non-zero elements:
-    {% for j in range(end=dims.ny_0) %}
-        {%- for k in range(end=dims.nz) %}
-            {%- if cost.Vz_0[j][k] != 0 %}
-    Vz_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vz_0[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vz", Vz_0);
-    free(Vz_0);
-    {%- endif %}
-{%- endif %}
-
-{%- if dims.ny == 0 %}
-{%- elif cost.cost_type == "LINEAR_LS" %}
-    double* Vx = calloc(NY*NX, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny) %}
-        {%- for k in range(end=dims.nx) %}
-            {%- if cost.Vx[j][k] != 0 %}
-    Vx[{{ j }}+(NY) * {{ k }}] = {{ cost.Vx[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vx", Vx);
-    }
-    free(Vx);
-
-    {% if dims.nu > 0 %}
-    double* Vu = calloc(NY*NU, sizeof(double));
-    // change only the non-zero elements:
-    {% for j in range(end=dims.ny) %}
-        {%- for k in range(end=dims.nu) %}
-            {%- if cost.Vu[j][k] != 0 %}
-    Vu[{{ j }}+(NY) * {{ k }}] = {{ cost.Vu[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vu", Vu);
-    }
-    free(Vu);
-    {%- endif %}
-
-    {%- if dims.nz > 0 %}
-    double* Vz = calloc(NY*NZ, sizeof(double));
-    // change only the non-zero elements:
-    {% for j in range(end=dims.ny) %}
-        {%- for k in range(end=dims.nz) %}
-            {%- if cost.Vz[j][k] != 0 %}
-    Vz[{{ j }}+(NY) * {{ k }}] = {{ cost.Vz[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vz", Vz);
-    }
-    free(Vz);
-    {%- endif %}
-{%- endif %}{# LINEAR LS #}
-
-{%- if dims.ny_e == 0 %}
-{%- elif cost.cost_type_e == "LINEAR_LS" %}
-    double* Vx_e = calloc(NYN*NX, sizeof(double));
-    // change only the non-zero elements:
-    {% for j in range(end=dims.ny_e) %}
-        {%- for k in range(end=dims.nx) %}
-            {%- if cost.Vx_e[j][k] != 0 %}
-    Vx_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.Vx_e[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Vx", Vx_e);
-    free(Vx_e);
-{%- endif %}
-
-{%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun", &capsule->cost_y_0_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun_jac", &capsule->cost_y_0_fun_jac_ut_xt);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_hess", &capsule->cost_y_0_hess);
-{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "conl_cost_fun", &capsule->conl_cost_0_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "conl_cost_fun_jac_hess", &capsule->conl_cost_0_fun_jac_hess);
-{%- elif cost.cost_type_0 == "EXTERNAL" %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun", &capsule->ext_cost_0_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun_jac", &capsule->ext_cost_0_fun_jac);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun_jac_hess", &capsule->ext_cost_0_fun_jac_hess);
-{%- endif %}
-
-{%- if cost.cost_type == "NONLINEAR_LS" %}
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun", &capsule->cost_y_fun[i-1]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun_jac", &capsule->cost_y_fun_jac_ut_xt[i-1]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_hess", &capsule->cost_y_hess[i-1]);
-    }
-{%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "conl_cost_fun", &capsule->conl_cost_fun[i-1]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "conl_cost_fun_jac_hess", &capsule->conl_cost_fun_jac_hess[i-1]);
-    }
-{%- elif cost.cost_type == "EXTERNAL" %}
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun", &capsule->ext_cost_fun[i-1]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun_jac", &capsule->ext_cost_fun_jac[i-1]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun_jac_hess", &capsule->ext_cost_fun_jac_hess[i-1]);
-    }
-{%- endif %}
-
-{%- if cost.cost_type_e == "NONLINEAR_LS" %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun", &capsule->cost_y_e_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun_jac", &capsule->cost_y_e_fun_jac_ut_xt);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_hess", &capsule->cost_y_e_hess);
-
-{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "conl_cost_fun", &capsule->conl_cost_e_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "conl_cost_fun_jac_hess", &capsule->conl_cost_e_fun_jac_hess);
-
-{%- elif cost.cost_type_e == "EXTERNAL" %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun", &capsule->ext_cost_e_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac", &capsule->ext_cost_e_fun_jac);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac_hess", &capsule->ext_cost_e_fun_jac_hess);
-{%- endif %}
-
-
-{%- if dims.ns > 0 %}
-    // slacks
-    double* zlumem = calloc(4*NS, sizeof(double));
-    double* Zl = zlumem+NS*0;
-    double* Zu = zlumem+NS*1;
-    double* zl = zlumem+NS*2;
-    double* zu = zlumem+NS*3;
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ns) %}
-        {%- if cost.Zl[j] != 0 %}
-    Zl[{{ j }}] = {{ cost.Zl[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {%- for j in range(end=dims.ns) %}
-        {%- if cost.Zu[j] != 0 %}
-    Zu[{{ j }}] = {{ cost.Zu[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {%- for j in range(end=dims.ns) %}
-        {%- if cost.zl[j] != 0 %}
-    zl[{{ j }}] = {{ cost.zl[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {%- for j in range(end=dims.ns) %}
-        {%- if cost.zu[j] != 0 %}
-    zu[{{ j }}] = {{ cost.zu[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zl", Zl);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zu", Zu);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zl", zl);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zu", zu);
-    }
-    free(zlumem);
-{%- endif %}
-
-{% if dims.ns_e > 0 %}
-    // slacks terminal
-    double* zluemem = calloc(4*NSN, sizeof(double));
-    double* Zl_e = zluemem+NSN*0;
-    double* Zu_e = zluemem+NSN*1;
-    double* zl_e = zluemem+NSN*2;
-    double* zu_e = zluemem+NSN*3;
-
-    // change only the non-zero elements:
-    {% for j in range(end=dims.ns_e) %}
-        {%- if cost.Zl_e[j] != 0 %}
-    Zl_e[{{ j }}] = {{ cost.Zl_e[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for j in range(end=dims.ns_e) %}
-        {%- if cost.Zu_e[j] != 0 %}
-    Zu_e[{{ j }}] = {{ cost.Zu_e[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for j in range(end=dims.ns_e) %}
-        {%- if cost.zl_e[j] != 0 %}
-    zl_e[{{ j }}] = {{ cost.zl_e[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for j in range(end=dims.ns_e) %}
-        {%- if cost.zu_e[j] != 0 %}
-    zu_e[{{ j }}] = {{ cost.zu_e[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Zl", Zl_e);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Zu", Zu_e);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "zl", zl_e);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "zu", zu_e);
-    free(zluemem);
-{%- endif %}
-
-    /**** Constraints ****/
-
-    // bounds for initial stage
-{%- if dims.nbx_0 > 0 %}
-    // x0
-    int* idxbx0 = malloc(NBX0 * sizeof(int));
-    {%- for i in range(end=dims.nbx_0) %}
-    idxbx0[{{ i }}] = {{ constraints.idxbx_0[i] }};
-    {%- endfor %}
-
-    double* lubx0 = calloc(2*NBX0, sizeof(double));
-    double* lbx0 = lubx0;
-    double* ubx0 = lubx0 + NBX0;
-    // change only the non-zero elements:
-    {%- for i in range(end=dims.nbx_0) %}
-        {%- if constraints.lbx_0[i] != 0 %}
-    lbx0[{{ i }}] = {{ constraints.lbx_0[i] }};
-        {%- endif %}
-        {%- if constraints.ubx_0[i] != 0 %}
-    ubx0[{{ i }}] = {{ constraints.ubx_0[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0);
-    free(idxbx0);
-    free(lubx0);
-{%- endif %}
-
-{%- if dims.nbxe_0 > 0 %}
-    // idxbxe_0
-    int* idxbxe_0 = malloc({{ dims.nbxe_0 }} * sizeof(int));
-    {% for i in range(end=dims.nbxe_0) %}
-    idxbxe_0[{{ i }}] = {{ constraints.idxbxe_0[i] }};
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbxe", idxbxe_0);
-    free(idxbxe_0);
-{%- endif %}
-
-    /* constraints that are the same for initial and intermediate */
-{%- if dims.nsbx > 0 %}
-{# TODO: introduce nsbx0 & move this block down!! #}
-    // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxsbx", idxsbx);
-    // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lsbx", lsbx);
-    // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "usbx", usbx);
-
-    // soft bounds on x
-    int* idxsbx = malloc(NSBX * sizeof(int));
-    {%- for i in range(end=dims.nsbx) %}
-    idxsbx[{{ i }}] = {{ constraints.idxsbx[i] }};
-    {%- endfor %}
-
-    double* lusbx = calloc(2*NSBX, sizeof(double));
-    double* lsbx = lusbx;
-    double* usbx = lusbx + NSBX;
-    {%- for i in range(end=dims.nsbx) %}
-        {%- if constraints.lsbx[i] != 0 %}
-    lsbx[{{ i }}] = {{ constraints.lsbx[i] }};
-        {%- endif %}
-        {%- if constraints.usbx[i] != 0 %}
-    usbx[{{ i }}] = {{ constraints.usbx[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsbx", idxsbx);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsbx", lsbx);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usbx", usbx);
-    }
-    free(idxsbx);
-    free(lusbx);
-{%- endif %}
-
-
-{%- if dims.nbu > 0 %}
-    // u
-    int* idxbu = malloc(NBU * sizeof(int));
-    {% for i in range(end=dims.nbu) %}
-    idxbu[{{ i }}] = {{ constraints.idxbu[i] }};
-    {%- endfor %}
-    double* lubu = calloc(2*NBU, sizeof(double));
-    double* lbu = lubu;
-    double* ubu = lubu + NBU;
-    {% for i in range(end=dims.nbu) %}
-        {%- if constraints.lbu[i] != 0 %}
-    lbu[{{ i }}] = {{ constraints.lbu[i] }};
-        {%- endif %}
-        {%- if constraints.ubu[i] != 0 %}
-    ubu[{{ i }}] = {{ constraints.ubu[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbu", idxbu);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbu", lbu);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubu", ubu);
-    }
-    free(idxbu);
-    free(lubu);
-{%- endif %}
-
-{%- if dims.nsbu > 0 %}
-    // set up soft bounds for u
-    int* idxsbu = malloc(NSBU * sizeof(int));
-    {% for i in range(end=dims.nsbu) %}
-    idxsbu[{{ i }}] = {{ constraints.idxsbu[i] }};
-    {%- endfor %}
-    double* lusbu = calloc(2*NSBU, sizeof(double));
-    double* lsbu = lusbu;
-    double* usbu = lusbu + NSBU;
-    {% for i in range(end=dims.nsbu) %}
-        {%- if constraints.lsbu[i] != 0 %}
-    lsbu[{{ i }}] = {{ constraints.lsbu[i] }};
-        {%- endif %}
-        {%- if constraints.usbu[i] != 0 %}
-    usbu[{{ i }}] = {{ constraints.usbu[i] }};
-        {%- endif %}
-    {%- endfor %}
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsbu", idxsbu);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsbu", lsbu);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usbu", usbu);
-    }
-    free(idxsbu);
-    free(lusbu);
-{%- endif %}
-
-{% if dims.nsg > 0 %}
-    // set up soft bounds for general linear constraints
-    int* idxsg = malloc(NSG * sizeof(int));
-    {% for i in range(end=dims.nsg) %}
-    idxsg[{{ i }}] = {{ constraints.idxsg[i] }};
-    {%- endfor %}
-    double* lusg = calloc(2*NSG, sizeof(double));
-    double* lsg = lusg;
-    double* usg = lusg + NSG;
-    {% for i in range(end=dims.nsg) %}
-        {%- if constraints.lsg[i] != 0 %}
-    lsg[{{ i }}] = {{ constraints.lsg[i] }};
-        {%- endif %}
-        {%- if constraints.usg[i] != 0 %}
-    usg[{{ i }}] = {{ constraints.usg[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsg", idxsg);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsg", lsg);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usg", usg);
-    }
-    free(idxsg);
-    free(lusg);
-{%- endif %}
-
-{% if dims.nsh > 0 %}
-    // set up soft bounds for nonlinear constraints
-    int* idxsh = malloc(NSH * sizeof(int));
-    {% for i in range(end=dims.nsh) %}
-    idxsh[{{ i }}] = {{ constraints.idxsh[i] }};
-    {%- endfor %}
-    double* lush = calloc(2*NSH, sizeof(double));
-    double* lsh = lush;
-    double* ush = lush + NSH;
-    {% for i in range(end=dims.nsh) %}
-        {%- if constraints.lsh[i] != 0 %}
-    lsh[{{ i }}] = {{ constraints.lsh[i] }};
-        {%- endif %}
-        {%- if constraints.ush[i] != 0 %}
-    ush[{{ i }}] = {{ constraints.ush[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsh", idxsh);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsh", lsh);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ush", ush);
-    }
-    free(idxsh);
-    free(lush);
-{%- endif %}
-
-{% if dims.nsphi > 0 %}
-    // set up soft bounds for convex-over-nonlinear constraints
-    int* idxsphi = malloc(NSPHI * sizeof(int));
-    {% for i in range(end=dims.nsphi) %}
-    idxsphi[{{ i }}] = {{ constraints.idxsphi[i] }};
-    {%- endfor %}
-    double* lusphi = calloc(2*NSPHI, sizeof(double));
-    double* lsphi = lusphi;
-    double* usphi = lusphi + NSPHI;
-    {% for i in range(end=dims.nsphi) %}
-        {%- if constraints.lsphi[i] != 0 %}
-    lsphi[{{ i }}] = {{ constraints.lsphi[i] }};
-        {%- endif %}
-        {%- if constraints.usphi[i] != 0 %}
-    usphi[{{ i }}] = {{ constraints.usphi[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsphi", idxsphi);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsphi", lsphi);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usphi", usphi);
-    }
-    free(idxsphi);
-    free(lusphi);
-{%- endif %}
-
-{% if dims.nbx > 0 %}
-    // x
-    int* idxbx = malloc(NBX * sizeof(int));
-    {% for i in range(end=dims.nbx) %}
-    idxbx[{{ i }}] = {{ constraints.idxbx[i] }};
-    {%- endfor %}
-    double* lubx = calloc(2*NBX, sizeof(double));
-    double* lbx = lubx;
-    double* ubx = lubx + NBX;
-    {% for i in range(end=dims.nbx) %}
-        {%- if constraints.lbx[i] != 0 %}
-    lbx[{{ i }}] = {{ constraints.lbx[i] }};
-        {%- endif %}
-        {%- if constraints.ubx[i] != 0 %}
-    ubx[{{ i }}] = {{ constraints.ubx[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbx", idxbx);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbx", lbx);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubx", ubx);
-    }
-    free(idxbx);
-    free(lubx);
-{%- endif %}
-
-{% if dims.ng > 0 %}
-    // set up general constraints for stage 0 to N-1
-    double* D = calloc(NG*NU, sizeof(double));
-    double* C = calloc(NG*NX, sizeof(double));
-    double* lug = calloc(2*NG, sizeof(double));
-    double* lg = lug;
-    double* ug = lug + NG;
-
-    {% for j in range(end=dims.ng) -%}
-        {% for k in range(end=dims.nu) %}
-            {%- if constraints.D[j][k] != 0 %}
-    D[{{ j }}+NG * {{ k }}] = {{ constraints.D[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    {% for j in range(end=dims.ng) -%}
-        {% for k in range(end=dims.nx) %}
-            {%- if constraints.C[j][k] != 0 %}
-    C[{{ j }}+NG * {{ k }}] = {{ constraints.C[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.ng) %}
-        {%- if constraints.lg[i] != 0 %}
-    lg[{{ i }}] = {{ constraints.lg[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.ng) %}
-        {%- if constraints.ug[i] != 0 %}
-    ug[{{ i }}] = {{ constraints.ug[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "D", D);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "C", C);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lg", lg);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ug", ug);
-    }
-    free(D);
-    free(C);
-    free(lug);
-{%- endif %}
-
-{% if dims.nh > 0 %}
-    // set up nonlinear constraints for stage 0 to N-1
-    double* luh = calloc(2*NH, sizeof(double));
-    double* lh = luh;
-    double* uh = luh + NH;
-
-    {% for i in range(end=dims.nh) %}
-        {%- if constraints.lh[i] != 0 %}
-    lh[{{ i }}] = {{ constraints.lh[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.nh) %}
-        {%- if constraints.uh[i] != 0 %}
-    uh[{{ i }}] = {{ constraints.uh[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        // nonlinear constraints for stages 0 to N-1
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun_jac",
-                                      &capsule->nl_constr_h_fun_jac[i]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun",
-                                      &capsule->nl_constr_h_fun[i]);
-        {% if solver_options.hessian_approx == "EXACT" %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i,
-                                      "nl_constr_h_fun_jac_hess", &capsule->nl_constr_h_fun_jac_hess[i]);
-        {% endif %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lh", lh);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "uh", uh);
-    }
-    free(luh);
-{%- endif %}
-
-{% if dims.nphi > 0 and constraints.constr_type == "BGP" %}
-    // set up convex-over-nonlinear constraints for stage 0 to N-1
-    double* luphi = calloc(2*NPHI, sizeof(double));
-    double* lphi = luphi;
-    double* uphi = luphi + NPHI;
-    {% for i in range(end=dims.nphi) %}
-        {%- if constraints.lphi[i] != 0 %}
-    lphi[{{ i }}] = {{ constraints.lphi[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.nphi) %}
-        {%- if constraints.uphi[i] != 0 %}
-    uphi[{{ i }}] = {{ constraints.uphi[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i,
-                                      "nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux", &capsule->phi_constraint[i]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lphi", lphi);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "uphi", uphi);
-    }
-    free(luphi);
-{%- endif %}
-
-    /* terminal constraints */
-{% if dims.nbx_e > 0 %}
-    // set up bounds for last stage
-    // x
-    int* idxbx_e = malloc(NBXN * sizeof(int));
-    {% for i in range(end=dims.nbx_e) %}
-    idxbx_e[{{ i }}] = {{ constraints.idxbx_e[i] }};
-    {%- endfor %}
-    double* lubx_e = calloc(2*NBXN, sizeof(double));
-    double* lbx_e = lubx_e;
-    double* ubx_e = lubx_e + NBXN;
-    {% for i in range(end=dims.nbx_e) %}
-        {%- if constraints.lbx_e[i] != 0 %}
-    lbx_e[{{ i }}] = {{ constraints.lbx_e[i] }};
-        {%- endif %}
-        {%- if constraints.ubx_e[i] != 0 %}
-    ubx_e[{{ i }}] = {{ constraints.ubx_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxbx", idxbx_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", lbx_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", ubx_e);
-    free(idxbx_e);
-    free(lubx_e);
-{%- endif %}
-
-{% if dims.nsg_e > 0 %}
-    // set up soft bounds for general linear constraints
-    int* idxsg_e = calloc(NSGN, sizeof(int));
-    {% for i in range(end=dims.nsg_e) %}
-    idxsg_e[{{ i }}] = {{ constraints.idxsg_e[i] }};
-    {%- endfor %}
-    double* lusg_e = calloc(2*NSGN, sizeof(double));
-    double* lsg_e = lusg_e;
-    double* usg_e = lusg_e + NSGN;
-    {% for i in range(end=dims.nsg_e) %}
-        {%- if constraints.lsg_e[i] != 0 %}
-    lsg_e[{{ i }}] = {{ constraints.lsg_e[i] }};
-        {%- endif %}
-        {%- if constraints.usg_e[i] != 0 %}
-    usg_e[{{ i }}] = {{ constraints.usg_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsg", idxsg_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsg", lsg_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usg", usg_e);
-    free(idxsg_e);
-    free(lusg_e);
-{%- endif %}
-
-{% if dims.nsh_e > 0 %}
-    // set up soft bounds for nonlinear constraints
-    int* idxsh_e = malloc(NSHN * sizeof(int));
-    {% for i in range(end=dims.nsh_e) %}
-    idxsh_e[{{ i }}] = {{ constraints.idxsh_e[i] }};
-    {%- endfor %}
-    double* lush_e = calloc(2*NSHN, sizeof(double));
-    double* lsh_e = lush_e;
-    double* ush_e = lush_e + NSHN;
-    {% for i in range(end=dims.nsh_e) %}
-        {%- if constraints.lsh_e[i] != 0 %}
-    lsh_e[{{ i }}] = {{ constraints.lsh_e[i] }};
-        {%- endif %}
-        {%- if constraints.ush_e[i] != 0 %}
-    ush_e[{{ i }}] = {{ constraints.ush_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsh", idxsh_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsh", lsh_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ush", ush_e);
-    free(idxsh_e);
-    free(lush_e);
-{%- endif %}
-
-{% if dims.nsphi_e > 0 %}
-    // set up soft bounds for convex-over-nonlinear constraints
-    int* idxsphi_e = malloc(NSPHIN * sizeof(int));
-    {% for i in range(end=dims.nsphi_e) %}
-    idxsphi_e[{{ i }}] = {{ constraints.idxsphi_e[i] }};
-    {%- endfor %}
-    double* lusphi_e = calloc(2*NSPHIN, sizeof(double));
-    double* lsphi_e = lusphi_e;
-    double* usphi_e = lusphi_e + NSPHIN;
-    {% for i in range(end=dims.nsphi_e) %}
-        {%- if constraints.lsphi_e[i] != 0 %}
-    lsphi_e[{{ i }}] = {{ constraints.lsphi_e[i] }};
-        {%- endif %}
-        {%- if constraints.usphi_e[i] != 0 %}
-    usphi_e[{{ i }}] = {{ constraints.usphi_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsphi", idxsphi_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsphi", lsphi_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usphi", usphi_e);
-    free(idxsphi_e);
-    free(lusphi_e);
-{%- endif %}
-
-{% if dims.nsbx_e > 0 %}
-    // soft bounds on x
-    int* idxsbx_e = malloc(NSBXN * sizeof(int));
-    {% for i in range(end=dims.nsbx_e) %}
-    idxsbx_e[{{ i }}] = {{ constraints.idxsbx_e[i] }};
-    {%- endfor %}
-    double* lusbx_e = calloc(2*NSBXN, sizeof(double));
-    double* lsbx_e = lusbx_e;
-    double* usbx_e = lusbx_e + NSBXN;
-    {% for i in range(end=dims.nsbx_e) %}
-        {%- if constraints.lsbx_e[i] != 0 %}
-    lsbx_e[{{ i }}] = {{ constraints.lsbx_e[i] }};
-        {%- endif %}
-        {%- if constraints.usbx_e[i] != 0 %}
-    usbx_e[{{ i }}] = {{ constraints.usbx_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsbx", idxsbx_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsbx", lsbx_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usbx", usbx_e);
-    free(idxsbx_e);
-    free(lusbx_e);
-{% endif %}
-
-{% if dims.ng_e > 0 %}
-    // set up general constraints for last stage
-    double* C_e = calloc(NGN*NX, sizeof(double));
-    double* lug_e = calloc(2*NGN, sizeof(double));
-    double* lg_e = lug_e;
-    double* ug_e = lug_e + NGN;
-
-    {% for j in range(end=dims.ng_e) %}
-        {%- for k in range(end=dims.nx) %}
-            {%- if constraints.C_e[j][k] != 0 %}
-    C_e[{{ j }}+NGN * {{ k }}] = {{ constraints.C_e[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.ng_e) %}
-        {%- if constraints.lg_e[i] != 0 %}
-    lg_e[{{ i }}] = {{ constraints.lg_e[i] }};
-        {%- endif %}
-        {%- if constraints.ug_e[i] != 0 %}
-    ug_e[{{ i }}] = {{ constraints.ug_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "C", C_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lg", lg_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ug", ug_e);
-    free(C_e);
-    free(lug_e);
-{%- endif %}
-
-{% if dims.nh_e > 0 %}
-    // set up nonlinear constraints for last stage
-    double* luh_e = calloc(2*NHN, sizeof(double));
-    double* lh_e = luh_e;
-    double* uh_e = luh_e + NHN;
-    {% for i in range(end=dims.nh_e) %}
-        {%- if constraints.lh_e[i] != 0 %}
-    lh_e[{{ i }}] = {{ constraints.lh_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.nh_e) %}
-        {%- if constraints.uh_e[i] != 0 %}
-    uh_e[{{ i }}] = {{ constraints.uh_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun_jac", &capsule->nl_constr_h_e_fun_jac);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun", &capsule->nl_constr_h_e_fun);
-    {% if solver_options.hessian_approx == "EXACT" %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun_jac_hess",
-                                  &capsule->nl_constr_h_e_fun_jac_hess);
-    {% endif %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", lh_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", uh_e);
-    free(luh_e);
-{%- endif %}
-
-{% if dims.nphi_e > 0 and constraints.constr_type_e == "BGP" %}
-    // set up convex-over-nonlinear constraints for last stage
-    double* luphi_e = calloc(2*NPHIN, sizeof(double));
-    double* lphi_e = luphi_e;
-    double* uphi_e = luphi_e + NPHIN;
-    {% for i in range(end=dims.nphi_e) %}
-        {%- if constraints.lphi_e[i] != 0 %}
-    lphi_e[{{ i }}] = {{ constraints.lphi_e[i] }};
-        {%- endif %}
-        {%- if constraints.uphi_e[i] != 0 %}
-    uphi_e[{{ i }}] = {{ constraints.uphi_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lphi", lphi_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uphi", uphi_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N,
-                                  "nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux", &capsule->phi_e_constraint);
-    free(luphi_e);
-{% endif %}
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 6
- */
-void {{ model.name }}_acados_create_6_set_opts({{ model.name }}_solver_capsule* capsule)
-{
-    const int N = capsule->nlp_solver_plan->N;
-    ocp_nlp_config* nlp_config = capsule->nlp_config;
-    void *nlp_opts = capsule->nlp_opts;
-
-    /************************************************
-    *  opts
-    ************************************************/
-
-{% if solver_options.hessian_approx == "EXACT" %}
-    int nlp_solver_exact_hessian = 1;
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess", &nlp_solver_exact_hessian);
-
-    int exact_hess_dyn = {{ solver_options.exact_hess_dyn }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_dyn", &exact_hess_dyn);
-
-    int exact_hess_cost = {{ solver_options.exact_hess_cost }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_cost", &exact_hess_cost);
-
-    int exact_hess_constr = {{ solver_options.exact_hess_constr }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_constr", &exact_hess_constr);
-{%- endif -%}
-
-{%- if solver_options.globalization == "FIXED_STEP" %}
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "fixed_step");
-{%- elif solver_options.globalization == "MERIT_BACKTRACKING" %}
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "merit_backtracking");
-
-    double alpha_min = {{ solver_options.alpha_min }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "alpha_min", &alpha_min);
-
-    double alpha_reduction = {{ solver_options.alpha_reduction }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "alpha_reduction", &alpha_reduction);
-
-    int line_search_use_sufficient_descent = {{ solver_options.line_search_use_sufficient_descent }};
-    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "line_search_use_sufficient_descent", &line_search_use_sufficient_descent);
-
-    int globalization_use_SOC = {{ solver_options.globalization_use_SOC }};
-    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "globalization_use_SOC", &globalization_use_SOC);
-
-    double eps_sufficient_descent = {{ solver_options.eps_sufficient_descent }};
-    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "eps_sufficient_descent", &eps_sufficient_descent);
-{%- endif -%}
-    int full_step_dual = {{ solver_options.full_step_dual }};
-    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "full_step_dual", &full_step_dual);
-
-{%- if dims.nz > 0 %}
-    // TODO: these options are lower level -> should be encapsulated! maybe through hessian approx option.
-    bool output_z_val = true;
-    bool sens_algebraic_val = true;
-
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_output_z", &output_z_val);
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_sens_algebraic", &sens_algebraic_val);
-{%- endif %}
-
-{%- if solver_options.integrator_type != "DISCRETE" %}
-
-    // set collocation type (relevant for implicit integrators)
-    sim_collocation_type collocation_type = {{ solver_options.collocation_type }};
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_collocation_type", &collocation_type);
-
-    // set up sim_method_num_steps
-    {%- set all_equal = true %}
-    {%- set val = solver_options.sim_method_num_steps[0] %}
-    {%- for j in range(start=1, end=dims.N) %}
-        {%- if val != solver_options.sim_method_num_steps[j] %}
-            {%- set_global all_equal = false %}
-            {%- break %}
-        {%- endif %}
-    {%- endfor %}
-
-    {%- if all_equal == true %}
-    // all sim_method_num_steps are identical
-    int sim_method_num_steps = {{ solver_options.sim_method_num_steps[0] }};
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps);
-    {%- else %}
-    // sim_method_num_steps are different
-    int* sim_method_num_steps = malloc(N*sizeof(int));
-    {%- for j in range(end=dims.N) %}
-    sim_method_num_steps[{{ j }}] = {{ solver_options.sim_method_num_steps[j] }};
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps[i]);
-    free(sim_method_num_steps);
-    {%- endif %}
-
-    // set up sim_method_num_stages
-    {%- set all_equal = true %}
-    {%- set val = solver_options.sim_method_num_stages[0] %}
-    {%- for j in range(start=1, end=dims.N) %}
-        {%- if val != solver_options.sim_method_num_stages[j] %}
-            {%- set_global all_equal = false %}
-            {%- break %}
-        {%- endif %}
-    {%- endfor %}
-
-  {%- if all_equal == true %}
-    // all sim_method_num_stages are identical
-    int sim_method_num_stages = {{ solver_options.sim_method_num_stages[0] }};
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages);
-  {%- else %}
-    int* sim_method_num_stages = malloc(N*sizeof(int));
-    {%- for j in range(end=dims.N) %}
-    sim_method_num_stages[{{ j }}] = {{ solver_options.sim_method_num_stages[j] }};
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages[i]);
-    free(sim_method_num_stages);
-  {%- endif %}
-
-    int newton_iter_val = {{ solver_options.sim_method_newton_iter }};
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_newton_iter", &newton_iter_val);
-
-
-    // set up sim_method_jac_reuse
-    {%- set all_equal = true %}
-    {%- set val = solver_options.sim_method_jac_reuse[0] %}
-    {%- for j in range(start=1, end=dims.N) %}
-        {%- if val != solver_options.sim_method_jac_reuse[j] %}
-            {%- set_global all_equal = false %}
-            {%- break %}
-        {%- endif %}
-    {%- endfor %}
-  {%- if all_equal == true %}
-    bool tmp_bool = (bool) {{ solver_options.sim_method_jac_reuse[0] }};
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &tmp_bool);
-  {%- else %}
-    bool* sim_method_jac_reuse = malloc(N*sizeof(bool));
-    {%- for j in range(end=dims.N) %}
-    sim_method_jac_reuse[{{ j }}] = (bool){{ solver_options.sim_method_jac_reuse[j] }};
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &sim_method_jac_reuse[i]);
-    free(sim_method_jac_reuse);
-  {%- endif %}
-
-{%- endif %}
-
-    double nlp_solver_step_length = {{ solver_options.nlp_solver_step_length }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "step_length", &nlp_solver_step_length);
-
-    {%- if solver_options.nlp_solver_warm_start_first_qp %}
-    int nlp_solver_warm_start_first_qp = {{ solver_options.nlp_solver_warm_start_first_qp }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "warm_start_first_qp", &nlp_solver_warm_start_first_qp);
-    {%- endif %}
-
-    double levenberg_marquardt = {{ solver_options.levenberg_marquardt }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "levenberg_marquardt", &levenberg_marquardt);
-
-    /* options QP solver */
-{%- if solver_options.qp_solver is starting_with("PARTIAL_CONDENSING") %}
-    int qp_solver_cond_N;
-
-    {% if solver_options.qp_solver_cond_N -%}
-    const int qp_solver_cond_N_ori = {{ solver_options.qp_solver_cond_N }};
-    qp_solver_cond_N = N < qp_solver_cond_N_ori ? N : qp_solver_cond_N_ori; // use the minimum value here
-    {%- else %}
-    // NOTE: there is no condensing happening here!
-    qp_solver_cond_N = N;
-    {%- endif %}
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_N", &qp_solver_cond_N);
-{%- endif %}
-
-    int nlp_solver_ext_qp_res = {{ solver_options.nlp_solver_ext_qp_res }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "ext_qp_res", &nlp_solver_ext_qp_res);
-
-{%- if solver_options.qp_solver is containing("HPIPM") %}
-    // set HPIPM mode: should be done before setting other QP solver options
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_hpipm_mode", "{{ solver_options.hpipm_mode }}");
-{%- endif %}
-
-{% if solver_options.nlp_solver_type == "SQP" %}
-    // set SQP specific options
-    double nlp_solver_tol_stat = {{ solver_options.nlp_solver_tol_stat }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_stat", &nlp_solver_tol_stat);
-
-    double nlp_solver_tol_eq = {{ solver_options.nlp_solver_tol_eq }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_eq", &nlp_solver_tol_eq);
-
-    double nlp_solver_tol_ineq = {{ solver_options.nlp_solver_tol_ineq }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_ineq", &nlp_solver_tol_ineq);
-
-    double nlp_solver_tol_comp = {{ solver_options.nlp_solver_tol_comp }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_comp", &nlp_solver_tol_comp);
-
-    int nlp_solver_max_iter = {{ solver_options.nlp_solver_max_iter }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "max_iter", &nlp_solver_max_iter);
-
-    int initialize_t_slacks = {{ solver_options.initialize_t_slacks }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "initialize_t_slacks", &initialize_t_slacks);
-{%- endif %}
-
-    int qp_solver_iter_max = {{ solver_options.qp_solver_iter_max }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_iter_max", &qp_solver_iter_max);
-
-{# NOTE: qp_solver tolerances must be set after NLP ones, since the setter for NLP tolerances sets the QP tolerances to the sam values. #}
-    {%- if solver_options.qp_solver_tol_stat %}
-    double qp_solver_tol_stat = {{ solver_options.qp_solver_tol_stat }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_stat", &qp_solver_tol_stat);
-    {%- endif -%}
-
-    {%- if solver_options.qp_solver_tol_eq %}
-    double qp_solver_tol_eq = {{ solver_options.qp_solver_tol_eq }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_eq", &qp_solver_tol_eq);
-    {%- endif -%}
-
-    {%- if solver_options.qp_solver_tol_ineq %}
-    double qp_solver_tol_ineq = {{ solver_options.qp_solver_tol_ineq }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_ineq", &qp_solver_tol_ineq);
-    {%- endif -%}
-
-    {%- if solver_options.qp_solver_tol_comp %}
-    double qp_solver_tol_comp = {{ solver_options.qp_solver_tol_comp }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_comp", &qp_solver_tol_comp);
-    {%- endif -%}
-
-    {%- if solver_options.qp_solver_warm_start %}
-    int qp_solver_warm_start = {{ solver_options.qp_solver_warm_start }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_warm_start", &qp_solver_warm_start);
-    {%- endif -%}
-
-    int print_level = {{ solver_options.print_level }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "print_level", &print_level);
-
-{%- if solver_options.qp_solver is containing('PARTIAL_CONDENSING') %}
-    int qp_solver_cond_ric_alg = {{ solver_options.qp_solver_cond_ric_alg }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_ric_alg", &qp_solver_cond_ric_alg);
-{% endif %}
-
-{%- if solver_options.qp_solver  == 'PARTIAL_CONDENSING_HPIPM' %}
-    int qp_solver_ric_alg = {{ solver_options.qp_solver_ric_alg }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_ric_alg", &qp_solver_ric_alg);
-{% endif %}
-
-    int ext_cost_num_hess = {{ solver_options.ext_cost_num_hess }};
-{%- if cost.cost_type == "EXTERNAL" %}
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "cost_numerical_hessian", &ext_cost_num_hess);
-    }
-{%- endif %}
-{%- if cost.cost_type_e == "EXTERNAL" %}
-    ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, N, "cost_numerical_hessian", &ext_cost_num_hess);
-{%- endif %}
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 7
- */
-void {{ model.name }}_acados_create_7_set_nlp_out({{ model.name }}_solver_capsule* capsule)
-{
-    const int N = capsule->nlp_solver_plan->N;
-    ocp_nlp_config* nlp_config = capsule->nlp_config;
-    ocp_nlp_dims* nlp_dims = capsule->nlp_dims;
-    ocp_nlp_out* nlp_out = capsule->nlp_out;
-
-    // initialize primal solution
-    double* xu0 = calloc(NX+NU, sizeof(double));
-    double* x0 = xu0;
-{% if dims.nbx_0 == dims.nx %}
-    // initialize with x0
-    {% for item in constraints.lbx_0 %}
-        {%- if item != 0 %}
-    x0[{{ loop.index0 }}] = {{ item }};
-        {%- endif %}
-    {%- endfor %}
-{% else %}
-    // initialize with zeros
-{%- endif %}
-
-    double* u0 = xu0 + NX;
-
-    for (int i = 0; i < N; i++)
-    {
-        // x0
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x0);
-        // u0
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0);
-    }
-    ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x0);
-    free(xu0);
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 8
- */
-//void {{ model.name }}_acados_create_8_create_solver({{ model.name }}_solver_capsule* capsule)
-//{
-//    capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts);
-//}
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 9
- */
-int {{ model.name }}_acados_create_9_precompute({{ model.name }}_solver_capsule* capsule) {
-    int status = ocp_nlp_precompute(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out);
-
-    if (status != ACADOS_SUCCESS) {
-        printf("\nocp_nlp_precompute failed!\n\n");
-        exit(1);
-    }
-
-    return status;
-}
-
-
-int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_capsule* capsule, int N, double* new_time_steps)
-{
-    // If N does not match the number of shooting intervals used for code generation, new_time_steps must be given.
-    if (N != {{ model.name | upper }}_N && !new_time_steps) {
-        fprintf(stderr, "{{ model.name }}_acados_create_with_discretization: new_time_steps is NULL " \
-            "but the number of shooting intervals (= %d) differs from the number of " \
-            "shooting intervals (= %d) during code generation! Please provide a new vector of time_stamps!\n", \
-             N, {{ model.name | upper }}_N);
-        return 1;
-    }
-
-    // number of expected runtime parameters
-    capsule->nlp_np = NP;
-
-    // 1) create and set nlp_solver_plan; create nlp_config
-    capsule->nlp_solver_plan = ocp_nlp_plan_create(N);
-    {{ model.name }}_acados_create_1_set_plan(capsule->nlp_solver_plan, N);
-    capsule->nlp_config = ocp_nlp_config_create(*capsule->nlp_solver_plan);
-
-    // 3) create and set dimensions
-    capsule->nlp_dims = {{ model.name }}_acados_create_2_create_and_set_dimensions(capsule);
-    {{ model.name }}_acados_create_3_create_and_set_functions(capsule);
-
-    // 4) set default parameters in functions
-    {{ model.name }}_acados_create_4_set_default_parameters(capsule);
-
-    // 5) create and set nlp_in
-    capsule->nlp_in = ocp_nlp_in_create(capsule->nlp_config, capsule->nlp_dims);
-    {{ model.name }}_acados_create_5_set_nlp_in(capsule, N, new_time_steps);
-
-    // 6) create and set nlp_opts
-    capsule->nlp_opts = ocp_nlp_solver_opts_create(capsule->nlp_config, capsule->nlp_dims);
-    {{ model.name }}_acados_create_6_set_opts(capsule);
-
-    // 7) create and set nlp_out
-    // 7.1) nlp_out
-    capsule->nlp_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims);
-    // 7.2) sens_out
-    capsule->sens_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims);
-    {{ model.name }}_acados_create_7_set_nlp_out(capsule);
-
-    // 8) create solver
-    capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts);
-    //{{ model.name }}_acados_create_8_create_solver(capsule);
-
-    // 9) do precomputations
-    int status = {{ model.name }}_acados_create_9_precompute(capsule);
-
-    {%- if custom_update_filename != "" %}
-    // Initialize custom update function
-    custom_update_init_function(capsule);
-    {%- endif %}
-
-    return status;
-}
-
-/**
- * This function is for updating an already initialized solver with a different number of qp_cond_N. It is useful for code reuse after code export.
- */
-int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_capsule* capsule, int qp_solver_cond_N)
-{
-{%- if solver_options.qp_solver is starting_with("PARTIAL_CONDENSING") %}
-    // 1) destroy solver
-    ocp_nlp_solver_destroy(capsule->nlp_solver);
-
-    // 2) set new value for "qp_cond_N"
-    const int N = capsule->nlp_solver_plan->N;
-    if(qp_solver_cond_N > N)
-        printf("Warning: qp_solver_cond_N = %d > N = %d\n", qp_solver_cond_N, N);
-    ocp_nlp_solver_opts_set(capsule->nlp_config, capsule->nlp_opts, "qp_cond_N", &qp_solver_cond_N);
-
-    // 3) continue with the remaining steps from {{ model.name }}_acados_create_with_discretization(...):
-    // -> 8) create solver
-    capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts);
-
-    // -> 9) do precomputations
-    int status = {{ model.name }}_acados_create_9_precompute(capsule);
-    return status;
-{%- else %}
-    printf("\nacados_update_qp_solver_cond_N() failed, since no partial condensing solver is used!\n\n");
-    // Todo: what is an adequate behavior here?
-    exit(1);
-    return -1;
-{%- endif %}
-}
-
-
-int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule, int reset_qp_solver_mem)
-{
-
-    // set initialization to all zeros
-{# TODO: use guess values / initial state value from json instead?! #}
-    const int N = capsule->nlp_solver_plan->N;
-    ocp_nlp_config* nlp_config = capsule->nlp_config;
-    ocp_nlp_dims* nlp_dims = capsule->nlp_dims;
-    ocp_nlp_out* nlp_out = capsule->nlp_out;
-    ocp_nlp_in* nlp_in = capsule->nlp_in;
-    ocp_nlp_solver* nlp_solver = capsule->nlp_solver;
-
-    double* buffer = calloc(NX+NU+NZ+2*NS+2*NSN+NBX+NBU+NG+NH+NPHI+NBX0+NBXN+NHN+NPHIN+NGN, sizeof(double));
-
-    for(int i=0; i<N+1; i++)
-    {
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "sl", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "su", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "lam", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "t", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "z", buffer);
-        if (i<N)
-        {
-            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "pi", buffer);
-        {%- if solver_options.integrator_type == "IRK" %}
-            ocp_nlp_set(nlp_config, nlp_solver, i, "xdot_guess", buffer);
-            ocp_nlp_set(nlp_config, nlp_solver, i, "z_guess", buffer);
-        {% elif solver_options.integrator_type == "LIFTED_IRK" %}
-            ocp_nlp_set(nlp_config, nlp_solver, i, "xdot_guess", buffer);
-        {% elif solver_options.integrator_type == "GNSF" %}
-            ocp_nlp_set(nlp_config, nlp_solver, i, "gnsf_phi_guess", buffer);
-        {%- endif %}
-        }
-    }
-
-{%- if solver_options.qp_solver == 'PARTIAL_CONDENSING_HPIPM' %}
-    // get qp_status: if NaN -> reset memory
-    int qp_status;
-    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "qp_status", &qp_status);
-    if (reset_qp_solver_mem || (qp_status == 3))
-    {
-        // printf("\nin reset qp_status %d -> resetting QP memory\n", qp_status);
-        ocp_nlp_solver_reset_qp_memory(nlp_solver, nlp_in, nlp_out);
-    }
-{%- endif %}
-
-    free(buffer);
-    return 0;
-}
-
-
-
-
-int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule* capsule, int stage, double *p, int np)
-{
-    int solver_status = 0;
-
-    int casadi_np = {{ dims.np }};
-    if (casadi_np != np) {
-        printf("acados_update_params: trying to set %i parameters for external functions."
-            " External function has %i parameters. Exiting.\n", np, casadi_np);
-        exit(1);
-    }
-
-    const int N = capsule->nlp_solver_plan->N;
-    if (stage < N && stage >= 0)
-    {
-    {%- if solver_options.integrator_type == "IRK" %}
-        capsule->impl_dae_fun[stage].set_param(capsule->impl_dae_fun+stage, p);
-        capsule->impl_dae_fun_jac_x_xdot_z[stage].set_param(capsule->impl_dae_fun_jac_x_xdot_z+stage, p);
-        capsule->impl_dae_jac_x_xdot_u_z[stage].set_param(capsule->impl_dae_jac_x_xdot_u_z+stage, p);
-
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->impl_dae_hess[stage].set_param(capsule->impl_dae_hess+stage, p);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "LIFTED_IRK" %}
-        capsule->impl_dae_fun[stage].set_param(capsule->impl_dae_fun+stage, p);
-        capsule->impl_dae_fun_jac_x_xdot_u[stage].set_param(capsule->impl_dae_fun_jac_x_xdot_u+stage, p);
-    {% elif solver_options.integrator_type == "ERK" %}
-        capsule->forw_vde_casadi[stage].set_param(capsule->forw_vde_casadi+stage, p);
-        capsule->expl_ode_fun[stage].set_param(capsule->expl_ode_fun+stage, p);
-
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->hess_vde_casadi[stage].set_param(capsule->hess_vde_casadi+stage, p);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "GNSF" %}
-    {% if model.gnsf.purely_linear != 1 %}
-        capsule->gnsf_phi_fun[stage].set_param(capsule->gnsf_phi_fun+stage, p);
-        capsule->gnsf_phi_fun_jac_y[stage].set_param(capsule->gnsf_phi_fun_jac_y+stage, p);
-        capsule->gnsf_phi_jac_y_uhat[stage].set_param(capsule->gnsf_phi_jac_y_uhat+stage, p);
-        {% if model.gnsf.nontrivial_f_LO == 1 %}
-            capsule->gnsf_f_lo_jac_x1_x1dot_u_z[stage].set_param(capsule->gnsf_f_lo_jac_x1_x1dot_u_z+stage, p);
-        {%- endif %}
-    {%- endif %}
-    {% elif solver_options.integrator_type == "DISCRETE" %}
-        capsule->discr_dyn_phi_fun[stage].set_param(capsule->discr_dyn_phi_fun+stage, p);
-        capsule->discr_dyn_phi_fun_jac_ut_xt[stage].set_param(capsule->discr_dyn_phi_fun_jac_ut_xt+stage, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->discr_dyn_phi_fun_jac_ut_xt_hess[stage].set_param(capsule->discr_dyn_phi_fun_jac_ut_xt_hess+stage, p);
-    {% endif %}
-    {%- endif %}{# integrator_type #}
-
-        // constraints
-    {% if constraints.constr_type == "BGP" %}
-        capsule->phi_constraint[stage].set_param(capsule->phi_constraint+stage, p);
-    {% elif constraints.constr_type == "BGH" and dims.nh > 0 %}
-        capsule->nl_constr_h_fun_jac[stage].set_param(capsule->nl_constr_h_fun_jac+stage, p);
-        capsule->nl_constr_h_fun[stage].set_param(capsule->nl_constr_h_fun+stage, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->nl_constr_h_fun_jac_hess[stage].set_param(capsule->nl_constr_h_fun_jac_hess+stage, p);
-    {%- endif %}
-    {%- endif %}
-
-        // cost
-        if (stage == 0)
-        {
-        {%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-            capsule->cost_y_0_fun.set_param(&capsule->cost_y_0_fun, p);
-            capsule->cost_y_0_fun_jac_ut_xt.set_param(&capsule->cost_y_0_fun_jac_ut_xt, p);
-            capsule->cost_y_0_hess.set_param(&capsule->cost_y_0_hess, p);
-        {%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-            capsule->conl_cost_0_fun.set_param(&capsule->conl_cost_0_fun, p);
-            capsule->conl_cost_0_fun_jac_hess.set_param(&capsule->conl_cost_0_fun_jac_hess, p);
-        {%- elif cost.cost_type_0 == "EXTERNAL" %}
-            capsule->ext_cost_0_fun.set_param(&capsule->ext_cost_0_fun, p);
-            capsule->ext_cost_0_fun_jac.set_param(&capsule->ext_cost_0_fun_jac, p);
-            capsule->ext_cost_0_fun_jac_hess.set_param(&capsule->ext_cost_0_fun_jac_hess, p);
-        {% endif %}
-        }
-        else // 0 < stage < N
-        {
-        {%- if cost.cost_type == "NONLINEAR_LS" %}
-            capsule->cost_y_fun[stage-1].set_param(capsule->cost_y_fun+stage-1, p);
-            capsule->cost_y_fun_jac_ut_xt[stage-1].set_param(capsule->cost_y_fun_jac_ut_xt+stage-1, p);
-            capsule->cost_y_hess[stage-1].set_param(capsule->cost_y_hess+stage-1, p);
-        {%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-            capsule->conl_cost_fun[stage-1].set_param(capsule->conl_cost_fun+stage-1, p);
-            capsule->conl_cost_fun_jac_hess[stage-1].set_param(capsule->conl_cost_fun_jac_hess+stage-1, p);
-        {%- elif cost.cost_type == "EXTERNAL" %}
-            capsule->ext_cost_fun[stage-1].set_param(capsule->ext_cost_fun+stage-1, p);
-            capsule->ext_cost_fun_jac[stage-1].set_param(capsule->ext_cost_fun_jac+stage-1, p);
-            capsule->ext_cost_fun_jac_hess[stage-1].set_param(capsule->ext_cost_fun_jac_hess+stage-1, p);
-        {%- endif %}
-        }
-    }
-
-    else // stage == N
-    {
-        // terminal shooting node has no dynamics
-        // cost
-    {%- if cost.cost_type_e == "NONLINEAR_LS" %}
-        capsule->cost_y_e_fun.set_param(&capsule->cost_y_e_fun, p);
-        capsule->cost_y_e_fun_jac_ut_xt.set_param(&capsule->cost_y_e_fun_jac_ut_xt, p);
-        capsule->cost_y_e_hess.set_param(&capsule->cost_y_e_hess, p);
-    {%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-        capsule->conl_cost_e_fun.set_param(&capsule->conl_cost_e_fun, p);
-        capsule->conl_cost_e_fun_jac_hess.set_param(&capsule->conl_cost_e_fun_jac_hess, p);
-    {%- elif cost.cost_type_e == "EXTERNAL" %}
-        capsule->ext_cost_e_fun.set_param(&capsule->ext_cost_e_fun, p);
-        capsule->ext_cost_e_fun_jac.set_param(&capsule->ext_cost_e_fun_jac, p);
-        capsule->ext_cost_e_fun_jac_hess.set_param(&capsule->ext_cost_e_fun_jac_hess, p);
-    {% endif %}
-        // constraints
-    {% if constraints.constr_type_e == "BGP" %}
-        capsule->phi_e_constraint.set_param(&capsule->phi_e_constraint, p);
-    {% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-        capsule->nl_constr_h_e_fun_jac.set_param(&capsule->nl_constr_h_e_fun_jac, p);
-        capsule->nl_constr_h_e_fun.set_param(&capsule->nl_constr_h_e_fun, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->nl_constr_h_e_fun_jac_hess.set_param(&capsule->nl_constr_h_e_fun_jac_hess, p);
-    {%- endif %}
-    {% endif %}
-    }
-
-    return solver_status;
-}
-
-
-int {{ model.name }}_acados_update_params_sparse({{ model.name }}_solver_capsule * capsule, int stage, int *idx, double *p, int n_update)
-{
-    int solver_status = 0;
-
-    int casadi_np = {{ dims.np }};
-    if (casadi_np < n_update) {
-        printf("{{ model.name }}_acados_update_params_sparse: trying to set %d parameters for external functions."
-            " External function has %d parameters. Exiting.\n", n_update, casadi_np);
-        exit(1);
-    }
-    // for (int i = 0; i < n_update; i++)
-    // {
-    //     if (idx[i] > casadi_np) {
-    //         printf("{{ model.name }}_acados_update_params_sparse: attempt to set parameters with index %d, while"
-    //             " external functions only has %d parameters. Exiting.\n", idx[i], casadi_np);
-    //         exit(1);
-    //     }
-    //     printf("param %d value %e\n", idx[i], p[i]);
-    // }
-
-{%- if dims.np > 0 %}
-    const int N = capsule->nlp_solver_plan->N;
-    if (stage < N && stage >= 0)
-    {
-    {%- if solver_options.integrator_type == "IRK" %}
-        capsule->impl_dae_fun[stage].set_param_sparse(capsule->impl_dae_fun+stage, n_update, idx, p);
-        capsule->impl_dae_fun_jac_x_xdot_z[stage].set_param_sparse(capsule->impl_dae_fun_jac_x_xdot_z+stage, n_update, idx, p);
-        capsule->impl_dae_jac_x_xdot_u_z[stage].set_param_sparse(capsule->impl_dae_jac_x_xdot_u_z+stage, n_update, idx, p);
-
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->impl_dae_hess[stage].set_param_sparse(capsule->impl_dae_hess+stage, n_update, idx, p);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "LIFTED_IRK" %}
-        capsule->impl_dae_fun[stage].set_param_sparse(capsule->impl_dae_fun+stage, n_update, idx, p);
-        capsule->impl_dae_fun_jac_x_xdot_u[stage].set_param_sparse(capsule->impl_dae_fun_jac_x_xdot_u+stage, n_update, idx, p);
-    {% elif solver_options.integrator_type == "ERK" %}
-        capsule->forw_vde_casadi[stage].set_param_sparse(capsule->forw_vde_casadi+stage, n_update, idx, p);
-        capsule->expl_ode_fun[stage].set_param_sparse(capsule->expl_ode_fun+stage, n_update, idx, p);
-
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->hess_vde_casadi[stage].set_param_sparse(capsule->hess_vde_casadi+stage, n_update, idx, p);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "GNSF" %}
-    {% if model.gnsf.purely_linear != 1 %}
-        capsule->gnsf_phi_fun[stage].set_param_sparse(capsule->gnsf_phi_fun+stage, n_update, idx, p);
-        capsule->gnsf_phi_fun_jac_y[stage].set_param_sparse(capsule->gnsf_phi_fun_jac_y+stage, n_update, idx, p);
-        capsule->gnsf_phi_jac_y_uhat[stage].set_param_sparse(capsule->gnsf_phi_jac_y_uhat+stage, n_update, idx, p);
-        {% if model.gnsf.nontrivial_f_LO == 1 %}
-            capsule->gnsf_f_lo_jac_x1_x1dot_u_z[stage].set_param_sparse(capsule->gnsf_f_lo_jac_x1_x1dot_u_z+stage, n_update, idx, p);
-        {%- endif %}
-    {%- endif %}
-    {% elif solver_options.integrator_type == "DISCRETE" %}
-        capsule->discr_dyn_phi_fun[stage].set_param_sparse(capsule->discr_dyn_phi_fun+stage, n_update, idx, p);
-        capsule->discr_dyn_phi_fun_jac_ut_xt[stage].set_param_sparse(capsule->discr_dyn_phi_fun_jac_ut_xt+stage, n_update, idx, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->discr_dyn_phi_fun_jac_ut_xt_hess[stage].set_param_sparse(capsule->discr_dyn_phi_fun_jac_ut_xt_hess+stage, n_update, idx, p);
-    {% endif %}
-    {%- endif %}{# integrator_type #}
-
-        // constraints
-    {% if constraints.constr_type == "BGP" %}
-        capsule->phi_constraint[stage].set_param_sparse(capsule->phi_constraint+stage, n_update, idx, p);
-    {% elif constraints.constr_type == "BGH" and dims.nh > 0 %}
-        capsule->nl_constr_h_fun_jac[stage].set_param_sparse(capsule->nl_constr_h_fun_jac+stage, n_update, idx, p);
-        capsule->nl_constr_h_fun[stage].set_param_sparse(capsule->nl_constr_h_fun+stage, n_update, idx, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->nl_constr_h_fun_jac_hess[stage].set_param_sparse(capsule->nl_constr_h_fun_jac_hess+stage, n_update, idx, p);
-    {%- endif %}
-    {%- endif %}
-
-        // cost
-        if (stage == 0)
-        {
-        {%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-            capsule->cost_y_0_fun.set_param_sparse(&capsule->cost_y_0_fun, n_update, idx, p);
-            capsule->cost_y_0_fun_jac_ut_xt.set_param_sparse(&capsule->cost_y_0_fun_jac_ut_xt, n_update, idx, p);
-            capsule->cost_y_0_hess.set_param_sparse(&capsule->cost_y_0_hess, n_update, idx, p);
-        {%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-            capsule->conl_cost_0_fun.set_param_sparse(&capsule->conl_cost_0_fun, n_update, idx, p);
-            capsule->conl_cost_0_fun_jac_hess.set_param_sparse(&capsule->conl_cost_0_fun_jac_hess, n_update, idx, p);
-        {%- elif cost.cost_type_0 == "EXTERNAL" %}
-            capsule->ext_cost_0_fun.set_param_sparse(&capsule->ext_cost_0_fun, n_update, idx, p);
-            capsule->ext_cost_0_fun_jac.set_param_sparse(&capsule->ext_cost_0_fun_jac, n_update, idx, p);
-            capsule->ext_cost_0_fun_jac_hess.set_param_sparse(&capsule->ext_cost_0_fun_jac_hess, n_update, idx, p);
-        {% endif %}
-        }
-        else // 0 < stage < N
-        {
-        {%- if cost.cost_type == "NONLINEAR_LS" %}
-            capsule->cost_y_fun[stage-1].set_param_sparse(capsule->cost_y_fun+stage-1, n_update, idx, p);
-            capsule->cost_y_fun_jac_ut_xt[stage-1].set_param_sparse(capsule->cost_y_fun_jac_ut_xt+stage-1, n_update, idx, p);
-            capsule->cost_y_hess[stage-1].set_param_sparse(capsule->cost_y_hess+stage-1, n_update, idx, p);
-        {%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-            capsule->conl_cost_fun[stage-1].set_param_sparse(capsule->conl_cost_fun+stage-1, n_update, idx, p);
-            capsule->conl_cost_fun_jac_hess[stage-1].set_param_sparse(capsule->conl_cost_fun_jac_hess+stage-1, n_update, idx, p);
-        {%- elif cost.cost_type == "EXTERNAL" %}
-            capsule->ext_cost_fun[stage-1].set_param_sparse(capsule->ext_cost_fun+stage-1, n_update, idx, p);
-            capsule->ext_cost_fun_jac[stage-1].set_param_sparse(capsule->ext_cost_fun_jac+stage-1, n_update, idx, p);
-            capsule->ext_cost_fun_jac_hess[stage-1].set_param_sparse(capsule->ext_cost_fun_jac_hess+stage-1, n_update, idx, p);
-        {%- endif %}
-        }
-    }
-
-    else // stage == N
-    {
-        // terminal shooting node has no dynamics
-        // cost
-    {%- if cost.cost_type_e == "NONLINEAR_LS" %}
-        capsule->cost_y_e_fun.set_param_sparse(&capsule->cost_y_e_fun, n_update, idx, p);
-        capsule->cost_y_e_fun_jac_ut_xt.set_param_sparse(&capsule->cost_y_e_fun_jac_ut_xt, n_update, idx, p);
-        capsule->cost_y_e_hess.set_param_sparse(&capsule->cost_y_e_hess, n_update, idx, p);
-    {%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-        capsule->conl_cost_e_fun.set_param_sparse(&capsule->conl_cost_e_fun, n_update, idx, p);
-        capsule->conl_cost_e_fun_jac_hess.set_param_sparse(&capsule->conl_cost_e_fun_jac_hess, n_update, idx, p);
-    {%- elif cost.cost_type_e == "EXTERNAL" %}
-        capsule->ext_cost_e_fun.set_param_sparse(&capsule->ext_cost_e_fun, n_update, idx, p);
-        capsule->ext_cost_e_fun_jac.set_param_sparse(&capsule->ext_cost_e_fun_jac, n_update, idx, p);
-        capsule->ext_cost_e_fun_jac_hess.set_param_sparse(&capsule->ext_cost_e_fun_jac_hess, n_update, idx, p);
-    {% endif %}
-        // constraints
-    {% if constraints.constr_type_e == "BGP" %}
-        capsule->phi_e_constraint.set_param_sparse(&capsule->phi_e_constraint, n_update, idx, p);
-    {% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-        capsule->nl_constr_h_e_fun_jac.set_param_sparse(&capsule->nl_constr_h_e_fun_jac, n_update, idx, p);
-        capsule->nl_constr_h_e_fun.set_param_sparse(&capsule->nl_constr_h_e_fun, n_update, idx, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->nl_constr_h_e_fun_jac_hess.set_param_sparse(&capsule->nl_constr_h_e_fun_jac_hess, n_update, idx, p);
-    {%- endif %}
-    {% endif %}
-    }
-{% endif %}{# if dims.np #}
-
-    return solver_status;
-}
-
-int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule* capsule)
-{
-    // solve NLP
-    int solver_status = ocp_nlp_solve(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out);
-
-    return solver_status;
-}
-
-
-int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule)
-{
-    // before destroying, keep some info
-    const int N = capsule->nlp_solver_plan->N;
-    {%- if custom_update_filename != "" %}
-    custom_update_terminate_function(capsule);
-    {%- endif %}
-    // free memory
-    ocp_nlp_solver_opts_destroy(capsule->nlp_opts);
-    ocp_nlp_in_destroy(capsule->nlp_in);
-    ocp_nlp_out_destroy(capsule->nlp_out);
-    ocp_nlp_out_destroy(capsule->sens_out);
-    ocp_nlp_solver_destroy(capsule->nlp_solver);
-    ocp_nlp_dims_destroy(capsule->nlp_dims);
-    ocp_nlp_config_destroy(capsule->nlp_config);
-    ocp_nlp_plan_destroy(capsule->nlp_solver_plan);
-
-    /* free external function */
-    // dynamics
-{%- if solver_options.integrator_type == "IRK" %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun[i]);
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun_jac_x_xdot_z[i]);
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_jac_x_xdot_u_z[i]);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_hess[i]);
-    {%- endif %}
-    }
-    free(capsule->impl_dae_fun);
-    free(capsule->impl_dae_fun_jac_x_xdot_z);
-    free(capsule->impl_dae_jac_x_xdot_u_z);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    free(capsule->impl_dae_hess);
-    {%- endif %}
-
-{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun[i]);
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun_jac_x_xdot_u[i]);
-    }
-    free(capsule->impl_dae_fun);
-    free(capsule->impl_dae_fun_jac_x_xdot_u);
-
-{%- elif solver_options.integrator_type == "ERK" %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_casadi_free(&capsule->forw_vde_casadi[i]);
-        external_function_param_casadi_free(&capsule->expl_ode_fun[i]);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        external_function_param_casadi_free(&capsule->hess_vde_casadi[i]);
-    {%- endif %}
-    }
-    free(capsule->forw_vde_casadi);
-    free(capsule->expl_ode_fun);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    free(capsule->hess_vde_casadi);
-    {%- endif %}
-
-{%- elif solver_options.integrator_type == "GNSF" %}
-    for (int i = 0; i < N; i++)
-    {
-        {% if model.gnsf.purely_linear != 1 %}
-        external_function_param_casadi_free(&capsule->gnsf_phi_fun[i]);
-        external_function_param_casadi_free(&capsule->gnsf_phi_fun_jac_y[i]);
-        external_function_param_casadi_free(&capsule->gnsf_phi_jac_y_uhat[i]);
-        {% if model.gnsf.nontrivial_f_LO == 1 %}
-        external_function_param_casadi_free(&capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i]);
-        {%- endif %}
-        {%- endif %}
-        external_function_param_casadi_free(&capsule->gnsf_get_matrices_fun[i]);
-    }
-  {% if model.gnsf.purely_linear != 1 %}
-    free(capsule->gnsf_phi_fun);
-    free(capsule->gnsf_phi_fun_jac_y);
-    free(capsule->gnsf_phi_jac_y_uhat);
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    free(capsule->gnsf_f_lo_jac_x1_x1dot_u_z);
-  {%- endif %}
-  {%- endif %}
-    free(capsule->gnsf_get_matrices_fun);
-{%- elif solver_options.integrator_type == "DISCRETE" %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun[i]);
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun_jac_ut_xt[i]);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i]);
-    {%- endif %}
-    }
-    free(capsule->discr_dyn_phi_fun);
-    free(capsule->discr_dyn_phi_fun_jac_ut_xt);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    free(capsule->discr_dyn_phi_fun_jac_ut_xt_hess);
-    {%- endif %}
-
-{%- endif %}
-
-    // cost
-{%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-    external_function_param_casadi_free(&capsule->cost_y_0_fun);
-    external_function_param_casadi_free(&capsule->cost_y_0_fun_jac_ut_xt);
-    external_function_param_casadi_free(&capsule->cost_y_0_hess);
-{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    external_function_param_casadi_free(&capsule->conl_cost_0_fun);
-    external_function_param_casadi_free(&capsule->conl_cost_0_fun_jac_hess);
-{%- elif cost.cost_type_0 == "EXTERNAL" %}
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun);
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun_jac);
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun_jac_hess);
-{%- endif %}
-{%- if cost.cost_type == "NONLINEAR_LS" %}
-    for (int i = 0; i < N - 1; i++)
-    {
-        external_function_param_casadi_free(&capsule->cost_y_fun[i]);
-        external_function_param_casadi_free(&capsule->cost_y_fun_jac_ut_xt[i]);
-        external_function_param_casadi_free(&capsule->cost_y_hess[i]);
-    }
-    free(capsule->cost_y_fun);
-    free(capsule->cost_y_fun_jac_ut_xt);
-    free(capsule->cost_y_hess);
-{%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-    for (int i = 0; i < N - 1; i++)
-    {
-        external_function_param_casadi_free(&capsule->conl_cost_fun[i]);
-        external_function_param_casadi_free(&capsule->conl_cost_fun_jac_hess[i]);
-    }
-    free(capsule->conl_cost_fun);
-    free(capsule->conl_cost_fun_jac_hess);
-{%- elif cost.cost_type == "EXTERNAL" %}
-    for (int i = 0; i < N - 1; i++)
-    {
-        external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun[i]);
-        external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun_jac[i]);
-        external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun_jac_hess[i]);
-    }
-    free(capsule->ext_cost_fun);
-    free(capsule->ext_cost_fun_jac);
-    free(capsule->ext_cost_fun_jac_hess);
-{%- endif %}
-{%- if cost.cost_type_e == "NONLINEAR_LS" %}
-    external_function_param_casadi_free(&capsule->cost_y_e_fun);
-    external_function_param_casadi_free(&capsule->cost_y_e_fun_jac_ut_xt);
-    external_function_param_casadi_free(&capsule->cost_y_e_hess);
-{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-    external_function_param_casadi_free(&capsule->conl_cost_e_fun);
-    external_function_param_casadi_free(&capsule->conl_cost_e_fun_jac_hess);
-{%- elif cost.cost_type_e == "EXTERNAL" %}
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun);
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun_jac);
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun_jac_hess);
-{%- endif %}
-
-    // constraints
-{%- if constraints.constr_type == "BGH" and dims.nh > 0 %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_casadi_free(&capsule->nl_constr_h_fun_jac[i]);
-        external_function_param_casadi_free(&capsule->nl_constr_h_fun[i]);
-    }
-  {%- if solver_options.hessian_approx == "EXACT" %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_casadi_free(&capsule->nl_constr_h_fun_jac_hess[i]);
-    }
-  {%- endif %}
-    free(capsule->nl_constr_h_fun_jac);
-    free(capsule->nl_constr_h_fun);
-  {%- if solver_options.hessian_approx == "EXACT" %}
-    free(capsule->nl_constr_h_fun_jac_hess);
-  {%- endif %}
-
-{%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_casadi_free(&capsule->phi_constraint[i]);
-    }
-    free(capsule->phi_constraint);
-{%- endif %}
-
-{%- if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-    external_function_param_casadi_free(&capsule->nl_constr_h_e_fun_jac);
-    external_function_param_casadi_free(&capsule->nl_constr_h_e_fun);
-{%- if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_casadi_free(&capsule->nl_constr_h_e_fun_jac_hess);
-{%- endif %}
-{%- elif constraints.constr_type_e == "BGP" and dims.nphi_e > 0 %}
-    external_function_param_casadi_free(&capsule->phi_e_constraint);
-{%- endif %}
-
-    return 0;
-}
-
-
-void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule* capsule)
-{
-    int sqp_iter, stat_m, stat_n, tmp_int;
-    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "sqp_iter", &sqp_iter);
-    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_n", &stat_n);
-    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_m", &stat_m);
-
-    {% set stat_n_max = 12 %}
-    double stat[{{ solver_options.nlp_solver_max_iter * stat_n_max }}];
-    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "statistics", stat);
-
-    int nrow = sqp_iter+1 < stat_m ? sqp_iter+1 : stat_m;
-
-    printf("iter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha");
-    if (stat_n > 8)
-        printf("\t\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp");
-    printf("\n");
-
-{%- if solver_options.nlp_solver_type == "SQP" %}
-
-    for (int i = 0; i < nrow; i++)
-    {
-        for (int j = 0; j < stat_n + 1; j++)
-        {
-            if (j == 0 || j == 5 || j == 6)
-            {
-                tmp_int = (int) stat[i + j * nrow];
-                printf("%d\t", tmp_int);
-            }
-            else
-            {
-                printf("%e\t", stat[i + j * nrow]);
-            }
-        }
-        printf("\n");
-    }
-{% else %}
-    printf("iter\tqp_stat\tqp_iter\n");
-    for (int i = 0; i < nrow; i++)
-    {
-        for (int j = 0; j < stat_n + 1; j++)
-        {
-            tmp_int = (int) stat[i + j * nrow];
-            printf("%d\t", tmp_int);
-        }
-        printf("\n");
-    }
-{%- endif %}
-}
-
-int {{ model.name }}_acados_custom_update({{ model.name }}_solver_capsule* capsule, double* data, int data_len)
-{
-{%- if custom_update_filename == "" %}
-    (void)capsule;
-    (void)data;
-    (void)data_len;
-    printf("\ndummy function that can be called in between solver calls to update parameters or numerical data efficiently in C.\n");
-    printf("nothing set yet..\n");
-    return 1;
-{% else %}
-    custom_update_function(capsule, data, data_len);
-{%- endif %}
-}
-
-
-
-ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_in; }
-ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_out; }
-ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule* capsule) { return capsule->sens_out; }
-ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_solver; }
-ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_config; }
-void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_opts; }
-ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_dims; }
-ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_solver_plan; }
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h
deleted file mode 100644
index 5cf38aa8c8ff3b..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h
+++ /dev/null
@@ -1,241 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#ifndef ACADOS_SOLVER_{{ model.name }}_H_
-#define ACADOS_SOLVER_{{ model.name }}_H_
-
-#include "acados/utils/types.h"
-
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_c/external_function_interface.h"
-
-#define {{ model.name | upper }}_NX     {{ dims.nx }}
-#define {{ model.name | upper }}_NZ     {{ dims.nz }}
-#define {{ model.name | upper }}_NU     {{ dims.nu }}
-#define {{ model.name | upper }}_NP     {{ dims.np }}
-#define {{ model.name | upper }}_NBX    {{ dims.nbx }}
-#define {{ model.name | upper }}_NBX0   {{ dims.nbx_0 }}
-#define {{ model.name | upper }}_NBU    {{ dims.nbu }}
-#define {{ model.name | upper }}_NSBX   {{ dims.nsbx }}
-#define {{ model.name | upper }}_NSBU   {{ dims.nsbu }}
-#define {{ model.name | upper }}_NSH    {{ dims.nsh }}
-#define {{ model.name | upper }}_NSG    {{ dims.nsg }}
-#define {{ model.name | upper }}_NSPHI  {{ dims.nsphi }}
-#define {{ model.name | upper }}_NSHN   {{ dims.nsh_e }}
-#define {{ model.name | upper }}_NSGN   {{ dims.nsg_e }}
-#define {{ model.name | upper }}_NSPHIN {{ dims.nsphi_e }}
-#define {{ model.name | upper }}_NSBXN  {{ dims.nsbx_e }}
-#define {{ model.name | upper }}_NS     {{ dims.ns }}
-#define {{ model.name | upper }}_NSN    {{ dims.ns_e }}
-#define {{ model.name | upper }}_NG     {{ dims.ng }}
-#define {{ model.name | upper }}_NBXN   {{ dims.nbx_e }}
-#define {{ model.name | upper }}_NGN    {{ dims.ng_e }}
-#define {{ model.name | upper }}_NY0    {{ dims.ny_0 }}
-#define {{ model.name | upper }}_NY     {{ dims.ny }}
-#define {{ model.name | upper }}_NYN    {{ dims.ny_e }}
-#define {{ model.name | upper }}_N      {{ dims.N }}
-#define {{ model.name | upper }}_NH     {{ dims.nh }}
-#define {{ model.name | upper }}_NPHI   {{ dims.nphi }}
-#define {{ model.name | upper }}_NHN    {{ dims.nh_e }}
-#define {{ model.name | upper }}_NPHIN  {{ dims.nphi_e }}
-#define {{ model.name | upper }}_NR     {{ dims.nr }}
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-{%- if not solver_options.custom_update_filename %}
-    {%- set custom_update_filename = "" %}
-{% else %}
-    {%- set custom_update_filename = solver_options.custom_update_filename %}
-{%- endif %}
-
-// ** capsule for solver data **
-typedef struct {{ model.name }}_solver_capsule
-{
-    // acados objects
-    ocp_nlp_in *nlp_in;
-    ocp_nlp_out *nlp_out;
-    ocp_nlp_out *sens_out;
-    ocp_nlp_solver *nlp_solver;
-    void *nlp_opts;
-    ocp_nlp_plan_t *nlp_solver_plan;
-    ocp_nlp_config *nlp_config;
-    ocp_nlp_dims *nlp_dims;
-
-    // number of expected runtime parameters
-    unsigned int nlp_np;
-
-    /* external functions */
-    // dynamics
-{% if solver_options.integrator_type == "ERK" %}
-    external_function_param_casadi *forw_vde_casadi;
-    external_function_param_casadi *expl_ode_fun;
-{% if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_casadi *hess_vde_casadi;
-{%- endif %}
-{% elif solver_options.integrator_type == "IRK" %}
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun;
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun_jac_x_xdot_z;
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_jac_x_xdot_u_z;
-{% if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_hess;
-{%- endif %}
-{% elif solver_options.integrator_type == "LIFTED_IRK" %}
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun;
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun_jac_x_xdot_u;
-{% elif solver_options.integrator_type == "GNSF" %}
-    external_function_param_casadi *gnsf_phi_fun;
-    external_function_param_casadi *gnsf_phi_fun_jac_y;
-    external_function_param_casadi *gnsf_phi_jac_y_uhat;
-    external_function_param_casadi *gnsf_f_lo_jac_x1_x1dot_u_z;
-    external_function_param_casadi *gnsf_get_matrices_fun;
-{% elif solver_options.integrator_type == "DISCRETE" %}
-    external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun;
-    external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun_jac_ut_xt;
-{%- if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun_jac_ut_xt_hess;
-{%- endif %}
-{%- endif %}
-
-
-    // cost
-{% if cost.cost_type == "NONLINEAR_LS" %}
-    external_function_param_casadi *cost_y_fun;
-    external_function_param_casadi *cost_y_fun_jac_ut_xt;
-    external_function_param_casadi *cost_y_hess;
-{% elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-    external_function_param_casadi *conl_cost_fun;
-    external_function_param_casadi *conl_cost_fun_jac_hess;
-{%- elif cost.cost_type == "EXTERNAL" %}
-    external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun;
-    external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun_jac;
-    external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun_jac_hess;
-{% endif %}
-
-{% if cost.cost_type_0 == "NONLINEAR_LS" %}
-    external_function_param_casadi cost_y_0_fun;
-    external_function_param_casadi cost_y_0_fun_jac_ut_xt;
-    external_function_param_casadi cost_y_0_hess;
-{% elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    external_function_param_casadi conl_cost_0_fun;
-    external_function_param_casadi conl_cost_0_fun_jac_hess;
-{% elif cost.cost_type_0 == "EXTERNAL" %}
-    external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun;
-    external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun_jac;
-    external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun_jac_hess;
-{%- endif %}
-
-{% if cost.cost_type_e == "NONLINEAR_LS" %}
-    external_function_param_casadi cost_y_e_fun;
-    external_function_param_casadi cost_y_e_fun_jac_ut_xt;
-    external_function_param_casadi cost_y_e_hess;
-{% elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-    external_function_param_casadi conl_cost_e_fun;
-    external_function_param_casadi conl_cost_e_fun_jac_hess;
-{% elif cost.cost_type_e == "EXTERNAL" %}
-    external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun;
-    external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun_jac;
-    external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun_jac_hess;
-{%- endif %}
-
-    // constraints
-{%- if constraints.constr_type == "BGP" %}
-    external_function_param_casadi *phi_constraint;
-{% elif constraints.constr_type == "BGH" and dims.nh > 0 %}
-    external_function_param_casadi *nl_constr_h_fun_jac;
-    external_function_param_casadi *nl_constr_h_fun;
-{%- if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_casadi *nl_constr_h_fun_jac_hess;
-{%- endif %}
-{%- endif %}
-
-
-{% if constraints.constr_type_e == "BGP" %}
-    external_function_param_casadi phi_e_constraint;
-{% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-    external_function_param_casadi nl_constr_h_e_fun_jac;
-    external_function_param_casadi nl_constr_h_e_fun;
-{%- if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_casadi nl_constr_h_e_fun_jac_hess;
-{%- endif %}
-{%- endif %}
-
-{%- if custom_update_filename != "" %}
-    void * custom_update_memory;
-{%- endif %}
-
-} {{ model.name }}_solver_capsule;
-
-ACADOS_SYMBOL_EXPORT {{ model.name }}_solver_capsule * {{ model.name }}_acados_create_capsule(void);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_free_capsule({{ model.name }}_solver_capsule *capsule);
-
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_create({{ model.name }}_solver_capsule * capsule);
-
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule, int reset_qp_solver_mem);
-
-/**
- * Generic version of {{ model.name }}_acados_create which allows to use a different number of shooting intervals than
- * the number used for code generation. If new_time_steps=NULL and n_time_steps matches the number used for code
- * generation, the time-steps from code generation is used.
- */
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_capsule * capsule, int n_time_steps, double* new_time_steps);
-/**
- * Update the time step vector. Number N must be identical to the currently set number of shooting nodes in the
- * nlp_solver_plan. Returns 0 if no error occurred and a otherwise a value other than 0.
- */
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule * capsule, int N, double* new_time_steps);
-/**
- * This function is used for updating an already initialized solver with a different number of qp_cond_N.
- */
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_capsule * capsule, int qp_solver_cond_N);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule * capsule, int stage, double *value, int np);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_params_sparse({{ model.name }}_solver_capsule * capsule, int stage, int *idx, double *p, int n_update);
-
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_free({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_custom_update({{ model.name }}_solver_capsule* capsule, double* data, int data_len);
-
-
-ACADOS_SYMBOL_EXPORT ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule * capsule);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SOLVER_{{ model.name }}_H_
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.pxd b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.pxd
deleted file mode 100644
index 233e3f79da5198..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.pxd
+++ /dev/null
@@ -1,62 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-cimport acados_solver_common
-
-cdef extern from "acados_solver_{{ model.name }}.h":
-    ctypedef struct nlp_solver_capsule "{{ model.name }}_solver_capsule":
-        pass
-
-    nlp_solver_capsule * acados_create_capsule "{{ model.name }}_acados_create_capsule"()
-    int acados_free_capsule "{{ model.name }}_acados_free_capsule"(nlp_solver_capsule *capsule)
-
-    int acados_create "{{ model.name }}_acados_create"(nlp_solver_capsule * capsule)
-
-    int acados_create_with_discretization "{{ model.name }}_acados_create_with_discretization"(nlp_solver_capsule * capsule, int n_time_steps, double* new_time_steps)
-    int acados_update_time_steps "{{ model.name }}_acados_update_time_steps"(nlp_solver_capsule * capsule, int N, double* new_time_steps)
-    int acados_update_qp_solver_cond_N "{{ model.name }}_acados_update_qp_solver_cond_N"(nlp_solver_capsule * capsule, int qp_solver_cond_N)
-
-    int acados_update_params "{{ model.name }}_acados_update_params"(nlp_solver_capsule * capsule, int stage, double *value, int np_)
-    int acados_update_params_sparse "{{ model.name }}_acados_update_params_sparse"(nlp_solver_capsule * capsule, int stage, int *idx, double *p, int n_update)
-    int acados_solve "{{ model.name }}_acados_solve"(nlp_solver_capsule * capsule)
-    int acados_reset "{{ model.name }}_acados_reset"(nlp_solver_capsule * capsule, int reset_qp_solver_mem)
-    int acados_free "{{ model.name }}_acados_free"(nlp_solver_capsule * capsule)
-    void acados_print_stats "{{ model.name }}_acados_print_stats"(nlp_solver_capsule * capsule)
-
-    int acados_custom_update "{{ model.name }}_acados_custom_update"(nlp_solver_capsule* capsule, double * data, int data_len)
-
-    acados_solver_common.ocp_nlp_in *acados_get_nlp_in "{{ model.name }}_acados_get_nlp_in"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_out *acados_get_nlp_out "{{ model.name }}_acados_get_nlp_out"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_out *acados_get_sens_out "{{ model.name }}_acados_get_sens_out"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_solver *acados_get_nlp_solver "{{ model.name }}_acados_get_nlp_solver"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_config *acados_get_nlp_config "{{ model.name }}_acados_get_nlp_config"(nlp_solver_capsule * capsule)
-    void *acados_get_nlp_opts "{{ model.name }}_acados_get_nlp_opts"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_dims *acados_get_nlp_dims "{{ model.name }}_acados_get_nlp_dims"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_plan *acados_get_nlp_plan "{{ model.name }}_acados_get_nlp_plan"(nlp_solver_capsule * capsule)
diff --git a/third_party/acados/acados_template/c_templates_tera/constraints.in.h b/third_party/acados/acados_template/c_templates_tera/constraints.in.h
deleted file mode 100644
index d71ce5cc221f1b..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/constraints.in.h
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#ifndef {{ model.name }}_CONSTRAINTS
-#define {{ model.name }}_CONSTRAINTS
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-{% if dims.nphi > 0 %}
-int {{ model.name }}_phi_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_phi_constraint_work(int *, int *, int *, int *);
-const int *{{ model.name }}_phi_constraint_sparsity_in(int);
-const int *{{ model.name }}_phi_constraint_sparsity_out(int);
-int {{ model.name }}_phi_constraint_n_in(void);
-int {{ model.name }}_phi_constraint_n_out(void);
-{% endif %}
-
-{% if dims.nphi_e > 0 %}
-int {{ model.name }}_phi_e_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_phi_e_constraint_work(int *, int *, int *, int *);
-const int *{{ model.name }}_phi_e_constraint_sparsity_in(int);
-const int *{{ model.name }}_phi_e_constraint_sparsity_out(int);
-int {{ model.name }}_phi_e_constraint_n_in(void);
-int {{ model.name }}_phi_e_constraint_n_out(void);
-{% endif %}
-
-{% if dims.nh > 0 %}
-int {{ model.name }}_constr_h_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_in(int);
-const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_out(int);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_in(void);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_out(void);
-
-int {{ model.name }}_constr_h_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_fun_sparsity_in(int);
-const int *{{ model.name }}_constr_h_fun_sparsity_out(int);
-int {{ model.name }}_constr_h_fun_n_in(void);
-int {{ model.name }}_constr_h_fun_n_out(void);
-
-{% if solver_options.hessian_approx == "EXACT" -%}
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_in(int);
-const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_out(int);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_in(void);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_out(void);
-{% endif %}
-{% endif %}
-
-{% if dims.nh_e > 0 %}
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_in(int);
-const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_out(int);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_in(void);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_out(void);
-
-int {{ model.name }}_constr_h_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_e_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_e_fun_sparsity_in(int);
-const int *{{ model.name }}_constr_h_e_fun_sparsity_out(int);
-int {{ model.name }}_constr_h_e_fun_n_in(void);
-int {{ model.name }}_constr_h_e_fun_n_out(void);
-
-{% if solver_options.hessian_approx == "EXACT" -%}
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_in(int);
-const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_out(int);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_in(void);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_out(void);
-{% endif %}
-{% endif %}
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // {{ model.name }}_CONSTRAINTS
diff --git a/third_party/acados/acados_template/c_templates_tera/cost.in.h b/third_party/acados/acados_template/c_templates_tera/cost.in.h
deleted file mode 100644
index 45eb09c12e2b3b..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/cost.in.h
+++ /dev/null
@@ -1,238 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef {{ model.name }}_COST
-#define {{ model.name }}_COST
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// Cost at initial shooting node
-{% if cost.cost_type_0 == "NONLINEAR_LS" %}
-int {{ model.name }}_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_0_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_0_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_y_0_fun_sparsity_out(int);
-int {{ model.name }}_cost_y_0_fun_n_in(void);
-int {{ model.name }}_cost_y_0_fun_n_out(void);
-
-int {{ model.name }}_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_in(int);
-const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_out(int);
-int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_in(void);
-int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_out(void);
-
-int {{ model.name }}_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_0_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_0_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_y_0_hess_sparsity_out(int);
-int {{ model.name }}_cost_y_0_hess_n_in(void);
-int {{ model.name }}_cost_y_0_hess_n_out(void);
-{% elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-
-int {{ model.name }}_conl_cost_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_0_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_0_fun_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_0_fun_sparsity_out(int);
-int {{ model.name }}_conl_cost_0_fun_n_in(void);
-int {{ model.name }}_conl_cost_0_fun_n_out(void);
-
-int {{ model.name }}_conl_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_0_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_0_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_0_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_conl_cost_0_fun_jac_hess_n_in(void);
-int {{ model.name }}_conl_cost_0_fun_jac_hess_n_out(void);
-
-{% elif cost.cost_type_0 == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type_0 == "casadi" %}
-int {{ model.name }}_cost_ext_cost_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_0_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_0_fun_n_in(void);
-int {{ model.name }}_cost_ext_cost_0_fun_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_in(void);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_0_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_n_in(void);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_n_out(void);
-    {%- else %}
-int {{ cost.cost_function_ext_cost_0 }}(void **, void **, void *);
-    {%- endif %}
-{% endif %}
-
-
-// Cost at path shooting node
-{% if cost.cost_type == "NONLINEAR_LS" %}
-int {{ model.name }}_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_y_fun_sparsity_out(int);
-int {{ model.name }}_cost_y_fun_n_in(void);
-int {{ model.name }}_cost_y_fun_n_out(void);
-
-int {{ model.name }}_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_in(int);
-const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_out(int);
-int {{ model.name }}_cost_y_fun_jac_ut_xt_n_in(void);
-int {{ model.name }}_cost_y_fun_jac_ut_xt_n_out(void);
-
-int {{ model.name }}_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_y_hess_sparsity_out(int);
-int {{ model.name }}_cost_y_hess_n_in(void);
-int {{ model.name }}_cost_y_hess_n_out(void);
-
-{% elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-int {{ model.name }}_conl_cost_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_fun_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_fun_sparsity_out(int);
-int {{ model.name }}_conl_cost_fun_n_in(void);
-int {{ model.name }}_conl_cost_fun_n_out(void);
-
-int {{ model.name }}_conl_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_conl_cost_fun_jac_hess_n_in(void);
-int {{ model.name }}_conl_cost_fun_jac_hess_n_out(void);
-{% elif cost.cost_type == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type == "casadi" %}
-int {{ model.name }}_cost_ext_cost_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_fun_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_fun_n_in(void);
-int {{ model.name }}_cost_ext_cost_fun_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_in(void);
-int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_fun_jac_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_fun_jac_n_in(void);
-int {{ model.name }}_cost_ext_cost_fun_jac_n_out(void);
-    {%- else %}
-int {{ cost.cost_function_ext_cost }}(void **, void **, void *);
-    {%- endif %}
-{% endif %}
-
-// Cost at terminal shooting node
-{% if cost.cost_type_e == "NONLINEAR_LS" %}
-int {{ model.name }}_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_e_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_e_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_y_e_fun_sparsity_out(int);
-int {{ model.name }}_cost_y_e_fun_n_in(void);
-int {{ model.name }}_cost_y_e_fun_n_out(void);
-
-int {{ model.name }}_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_in(int);
-const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_out(int);
-int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_in(void);
-int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_out(void);
-
-int {{ model.name }}_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_e_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_e_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_y_e_hess_sparsity_out(int);
-int {{ model.name }}_cost_y_e_hess_n_in(void);
-int {{ model.name }}_cost_y_e_hess_n_out(void);
-{% elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-int {{ model.name }}_conl_cost_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_e_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_e_fun_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_e_fun_sparsity_out(int);
-int {{ model.name }}_conl_cost_e_fun_n_in(void);
-int {{ model.name }}_conl_cost_e_fun_n_out(void);
-
-int {{ model.name }}_conl_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_e_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_e_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_e_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_conl_cost_e_fun_jac_hess_n_in(void);
-int {{ model.name }}_conl_cost_e_fun_jac_hess_n_out(void);
-{% elif cost.cost_type_e == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type_e == "casadi" %}
-int {{ model.name }}_cost_ext_cost_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_e_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_e_fun_n_in(void);
-int {{ model.name }}_cost_ext_cost_e_fun_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_in(void);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_e_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_n_in(void);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_n_out(void);
-    {%- else %}
-int {{ cost.cost_function_ext_cost_e }}(void **, void **, void *);
-    {%- endif %}
-{% endif %}
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // {{ model.name }}_COST
diff --git a/third_party/acados/acados_template/c_templates_tera/main.in.c b/third_party/acados/acados_template/c_templates_tera/main.in.c
deleted file mode 100644
index 92a8b33eac2d61..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/main.in.c
+++ /dev/null
@@ -1,226 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-{%- if not solver_options.custom_update_filename %}
-    {%- set custom_update_filename = "" %}
-{% else %}
-    {%- set custom_update_filename = solver_options.custom_update_filename %}
-{%- endif %}
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-// acados
-#include "acados/utils/print.h"
-#include "acados/utils/math.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_c/external_function_interface.h"
-#include "acados_solver_{{ model.name }}.h"
-
-// blasfeo
-#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
-
-#define NX     {{ model.name | upper }}_NX
-#define NZ     {{ model.name | upper }}_NZ
-#define NU     {{ model.name | upper }}_NU
-#define NP     {{ model.name | upper }}_NP
-#define NBX    {{ model.name | upper }}_NBX
-#define NBX0   {{ model.name | upper }}_NBX0
-#define NBU    {{ model.name | upper }}_NBU
-#define NSBX   {{ model.name | upper }}_NSBX
-#define NSBU   {{ model.name | upper }}_NSBU
-#define NSH    {{ model.name | upper }}_NSH
-#define NSG    {{ model.name | upper }}_NSG
-#define NSPHI  {{ model.name | upper }}_NSPHI
-#define NSHN   {{ model.name | upper }}_NSHN
-#define NSGN   {{ model.name | upper }}_NSGN
-#define NSPHIN {{ model.name | upper }}_NSPHIN
-#define NSBXN  {{ model.name | upper }}_NSBXN
-#define NS     {{ model.name | upper }}_NS
-#define NSN    {{ model.name | upper }}_NSN
-#define NG     {{ model.name | upper }}_NG
-#define NBXN   {{ model.name | upper }}_NBXN
-#define NGN    {{ model.name | upper }}_NGN
-#define NY0    {{ model.name | upper }}_NY0
-#define NY     {{ model.name | upper }}_NY
-#define NYN    {{ model.name | upper }}_NYN
-#define NH     {{ model.name | upper }}_NH
-#define NPHI   {{ model.name | upper }}_NPHI
-#define NHN    {{ model.name | upper }}_NHN
-#define NPHIN  {{ model.name | upper }}_NPHIN
-#define NR     {{ model.name | upper }}_NR
-
-
-int main()
-{
-
-    {{ model.name }}_solver_capsule *acados_ocp_capsule = {{ model.name }}_acados_create_capsule();
-    // there is an opportunity to change the number of shooting intervals in C without new code generation
-    int N = {{ model.name | upper }}_N;
-    // allocate the array and fill it accordingly
-    double* new_time_steps = NULL;
-    int status = {{ model.name }}_acados_create_with_discretization(acados_ocp_capsule, N, new_time_steps);
-
-    if (status)
-    {
-        printf("{{ model.name }}_acados_create() returned status %d. Exiting.\n", status);
-        exit(1);
-    }
-
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(acados_ocp_capsule);
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(acados_ocp_capsule);
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(acados_ocp_capsule);
-    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(acados_ocp_capsule);
-    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(acados_ocp_capsule);
-    void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(acados_ocp_capsule);
-
-    // initial condition
-    int idxbx0[NBX0];
-    {%- for i in range(end=dims.nbx_0) %}
-    idxbx0[{{ i }}] = {{ constraints.idxbx_0[i] }};
-    {%- endfor %}
-
-    double lbx0[NBX0];
-    double ubx0[NBX0];
-    {%- for i in range(end=dims.nbx_0) %}
-    lbx0[{{ i }}] = {{ constraints.lbx_0[i] }};
-    ubx0[{{ i }}] = {{ constraints.ubx_0[i] }};
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0);
-
-    // initialization for state values
-    double x_init[NX];
-    {%- for i in range(end=dims.nx) %}
-    x_init[{{ i }}] = 0.0;
-    {%- endfor %}
-
-    // initial value for control input
-    double u0[NU];
-    {%- for i in range(end=dims.nu) %}
-    u0[{{ i }}] = 0.0;
-    {%- endfor %}
-
-
-  {%- if dims.np > 0 %}
-    // set parameters
-    double p[NP];
-    {%- for item in parameter_values %}
-    p[{{ loop.index0 }}] = {{ item }};
-    {%- endfor %}
-
-    for (int ii = 0; ii <= N; ii++)
-    {
-        {{ model.name }}_acados_update_params(acados_ocp_capsule, ii, p, NP);
-    }
-  {% endif %}{# if np > 0 #}
-
-    // prepare evaluation
-    int NTIMINGS = 1;
-    double min_time = 1e12;
-    double kkt_norm_inf;
-    double elapsed_time;
-    int sqp_iter;
-
-    double xtraj[NX * (N+1)];
-    double utraj[NU * N];
-
-
-    // solve ocp in loop
-    int rti_phase = 0;
-
-    for (int ii = 0; ii < NTIMINGS; ii++)
-    {
-        // initialize solution
-        for (int i = 0; i < N; i++)
-        {
-            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init);
-            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0);
-        }
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x_init);
-        ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase);
-        status = {{ model.name }}_acados_solve(acados_ocp_capsule);
-        ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time);
-        min_time = MIN(elapsed_time, min_time);
-    }
-
-    /* print solution and statistics */
-    for (int ii = 0; ii <= nlp_dims->N; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*NX]);
-    for (int ii = 0; ii < nlp_dims->N; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*NU]);
-
-    printf("\n--- xtraj ---\n");
-    d_print_exp_tran_mat( NX, N+1, xtraj, NX);
-    printf("\n--- utraj ---\n");
-    d_print_exp_tran_mat( NU, N, utraj, NU );
-    // ocp_nlp_out_print(nlp_solver->dims, nlp_out);
-
-    printf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS);
-
-    if (status == ACADOS_SUCCESS)
-    {
-        printf("{{ model.name }}_acados_solve(): SUCCESS!\n");
-    }
-    else
-    {
-        printf("{{ model.name }}_acados_solve() failed with status %d.\n", status);
-    }
-
-
-{%- if custom_update_filename != "" %}
-    {{ model.name }}_acados_custom_update(acados_ocp_capsule, xtraj, NX*(N+1));
-{%- endif %}
-
-    // get solution
-    ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf);
-    ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter);
-
-    {{ model.name }}_acados_print_stats(acados_ocp_capsule);
-
-    printf("\nSolver info:\n");
-    printf(" SQP iterations %2d\n minimum time for %d solve %f [ms]\n KKT %e\n",
-           sqp_iter, NTIMINGS, min_time*1000, kkt_norm_inf);
-
-    // free solver
-    status = {{ model.name }}_acados_free(acados_ocp_capsule);
-    if (status) {
-        printf("{{ model.name }}_acados_free() returned status %d. \n", status);
-    }
-    // free solver capsule
-    status = {{ model.name }}_acados_free_capsule(acados_ocp_capsule);
-    if (status) {
-        printf("{{ model.name }}_acados_free_capsule() returned status %d. \n", status);
-    }
-
-    return status;
-}
diff --git a/third_party/acados/acados_template/c_templates_tera/main_sim.in.c b/third_party/acados/acados_template/c_templates_tera/main_sim.in.c
deleted file mode 100644
index 8960aa00354bde..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/main_sim.in.c
+++ /dev/null
@@ -1,132 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-// acados
-#include "acados/utils/print.h"
-#include "acados/utils/math.h"
-#include "acados_c/sim_interface.h"
-#include "acados_sim_solver_{{ model.name }}.h"
-
-#define NX     {{ model.name | upper }}_NX
-#define NZ     {{ model.name | upper }}_NZ
-#define NU     {{ model.name | upper }}_NU
-#define NP     {{ model.name | upper }}_NP
-
-
-int main()
-{
-    int status = 0;
-    sim_solver_capsule *capsule = {{ model.name }}_acados_sim_solver_create_capsule();
-    status = {{ model.name }}_acados_sim_create(capsule);
-
-    if (status)
-    {
-        printf("acados_create() returned status %d. Exiting.\n", status);
-        exit(1);
-    }
-
-    sim_config *acados_sim_config = {{ model.name }}_acados_get_sim_config(capsule);
-    sim_in *acados_sim_in = {{ model.name }}_acados_get_sim_in(capsule);
-    sim_out *acados_sim_out = {{ model.name }}_acados_get_sim_out(capsule);
-    void *acados_sim_dims = {{ model.name }}_acados_get_sim_dims(capsule);
-
-    // initial condition
-    double x_current[NX];
-    {%- for i in range(end=dims.nx) %}
-    x_current[{{ i }}] = 0.0;
-    {%- endfor %}
-
-  {% if constraints.lbx_0 %}
-    {%- for i in range(end=dims.nbx_0) %}
-    x_current[{{ constraints.idxbx_0[i] }}] = {{ constraints.lbx_0[i] }};
-    {%- endfor %}
-    {% if dims.nbx_0 != dims.nx %}
-    printf("main_sim: NOTE: initial state not fully defined via lbx_0, using 0.0 for indices that are not in idxbx_0.");
-    {%- endif %}
-  {% else %}
-    printf("main_sim: initial state not defined, should be in lbx_0, using zero vector.");
-  {%- endif %}
-
-
-    // initial value for control input
-    double u0[NU];
-    {%- for i in range(end=dims.nu) %}
-    u0[{{ i }}] = 0.0;
-    {%- endfor %}
-
-  {%- if dims.np > 0 %}
-    // set parameters
-    double p[NP];
-    {%- for item in parameter_values %}
-    p[{{ loop.index0 }}] = {{ item }};
-    {%- endfor %}
-
-    {{ model.name }}_acados_sim_update_params(capsule, p, NP);
-  {% endif %}{# if np > 0 #}
-
-    int n_sim_steps = 3;
-    // solve ocp in loop
-    for (int ii = 0; ii < n_sim_steps; ii++)
-    {
-        sim_in_set(acados_sim_config, acados_sim_dims,
-            acados_sim_in, "x", x_current);
-        status = {{ model.name }}_acados_sim_solve(capsule);
-
-        if (status != ACADOS_SUCCESS)
-        {
-            printf("acados_solve() failed with status %d.\n", status);
-        }
-
-        sim_out_get(acados_sim_config, acados_sim_dims,
-               acados_sim_out, "x", x_current);
-        
-        printf("\nx_current, %d\n", ii);
-        for (int jj = 0; jj < NX; jj++)
-        {
-            printf("%e\n", x_current[jj]);
-        }
-    }
-
-    printf("\nPerformed %d simulation steps with acados integrator successfully.\n\n", n_sim_steps);
-
-    // free solver
-    status = {{ model.name }}_acados_sim_free(capsule);
-    if (status) {
-        printf("{{ model.name }}_acados_sim_free() returned status %d. \n", status);
-    }
-
-    {{ model.name }}_acados_sim_solver_free_capsule(capsule);
-
-    return status;
-}
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c
deleted file mode 100644
index 24ae94ac2cc96d..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c
+++ /dev/null
@@ -1,384 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-// acados
-#include "acados/utils/print.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_solver_{{ model.name }}.h"
-
-// mex
-#include "mex.h"
-
-
-void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
-{
-    long long *l_ptr;
-    int status = 0;
-
-    // create solver
-    {{ model.name }}_solver_capsule *acados_ocp_capsule = {{ model.name }}_acados_create_capsule();
-
-    status = {{ model.name }}_acados_create(acados_ocp_capsule);
-
-    if (status)
-    {
-        mexPrintf("{{ model.name }}_acados_create() returned status %d.\n", status);
-    }
-    mexPrintf("{{ model.name }}_acados_create() -> success!\n");
-
-    // get pointers to nlp solver related objects
-    ocp_nlp_plan_t *nlp_plan = {{ model.name }}_acados_get_nlp_plan(acados_ocp_capsule);
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(acados_ocp_capsule);
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(acados_ocp_capsule);
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(acados_ocp_capsule);
-    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(acados_ocp_capsule);
-    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(acados_ocp_capsule);
-    void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(acados_ocp_capsule);
-
-    // mexPrintf("acados: got pointer to objectes!\n");
-
-    // field names of output struct
-    #define FIELDS_OCP 9
-    #define FIELDS_EXT_FUN 25
-    #define MAX_FIELDS 25
-    char *fieldnames[MAX_FIELDS];
-
-    for (int i = 0; i < MAX_FIELDS; i++)
-    {
-        fieldnames[i] = (char*) mxMalloc(50);
-    }
-
-    memcpy(fieldnames[0],"config",sizeof("config"));
-    memcpy(fieldnames[1],"dims",sizeof("dims"));
-    memcpy(fieldnames[2],"opts",sizeof("opts"));
-    memcpy(fieldnames[3],"in",sizeof("in"));
-    memcpy(fieldnames[4],"out",sizeof("out"));
-    memcpy(fieldnames[5],"solver",sizeof("solver"));
-    memcpy(fieldnames[6],"sens_out",sizeof("sens_out"));
-    memcpy(fieldnames[7],"plan",sizeof("plan"));
-    memcpy(fieldnames[8],"capsule",sizeof("capsule"));
-
-    // create output struct - C_ocp
-    plhs[0] = mxCreateStructMatrix(1, 1, 9, (const char **) fieldnames);
-
-    // MEX: config, dims, opts, in, out, solver, sens_out, plan
-    // plan
-    mxArray *plan_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(plan_mat);
-    l_ptr[0] = (long long) nlp_plan;
-    mxSetField(plhs[0], 0, "plan", plan_mat);
-
-    // config
-    mxArray *config_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(config_mat);
-    l_ptr[0] = (long long) nlp_config;
-    mxSetField(plhs[0], 0, "config", config_mat);
-
-    // dims
-    mxArray *dims_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(dims_mat);
-    l_ptr[0] = (long long) nlp_dims;
-    mxSetField(plhs[0], 0, "dims", dims_mat);
-
-    // opts
-    mxArray *opts_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(opts_mat);
-    l_ptr[0] = (long long) nlp_opts;
-    mxSetField(plhs[0], 0, "opts", opts_mat);
-
-    // in
-    mxArray *in_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(in_mat);
-    l_ptr[0] = (long long) nlp_in;
-    mxSetField(plhs[0], 0, "in", in_mat);
-
-    // out
-    mxArray *out_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(out_mat);
-    l_ptr[0] = (long long) nlp_out;
-    mxSetField(plhs[0], 0, "out", out_mat);
-
-    // solver
-    mxArray *solver_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(solver_mat);
-    l_ptr[0] = (long long) nlp_solver;
-    mxSetField(plhs[0], 0, "solver", solver_mat);
-
-    // TODO: sens_out not actually implemented in templates..
-    // sens_out
-    mxArray *sens_out_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(sens_out_mat);
-    l_ptr[0] = (long long) 1;
-    mxSetField(plhs[0], 0, "sens_out", sens_out_mat);
-
-    // capsule
-    mxArray *capsule_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(capsule_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule;
-    mxSetField(plhs[0], 0, "capsule", capsule_mat);
-
-    /* store external function pointers */
-    // dyn
-    memcpy(fieldnames[0],"expl_ode_fun",sizeof("expl_ode_fun"));
-    memcpy(fieldnames[1],"forw_vde",sizeof("forw_vde"));
-    memcpy(fieldnames[2],"hess_vde",sizeof("hess_vde"));
-    memcpy(fieldnames[3],"impl_dae_fun",sizeof("impl_dae_fun"));
-    memcpy(fieldnames[4],"impl_dae_fun_jac_x_xdot_z",sizeof("impl_dae_fun_jac_x_xdot_z"));
-    memcpy(fieldnames[5],"impl_dae_jac_x_xdot_u_z",sizeof("impl_dae_jac_x_xdot_u_z"));
-    memcpy(fieldnames[6],"impl_dae_hess",sizeof("impl_dae_hess"));
-
-    memcpy(fieldnames[7],"gnsf_phi_fun",sizeof("gnsf_phi_fun"));
-    memcpy(fieldnames[8],"gnsf_phi_fun_jac_y",sizeof("gnsf_phi_fun_jac_y"));
-    memcpy(fieldnames[9],"gnsf_phi_jac_y_uhat",sizeof("gnsf_phi_jac_y_uhat"));
-    memcpy(fieldnames[10],"gnsf_f_lo_jac_x1_x1dot_u_z",sizeof("gnsf_f_lo_jac_x1_x1dot_u_z"));
-    memcpy(fieldnames[11],"gnsf_get_matrices_fun",sizeof("gnsf_get_matrices_fun"));
-
-    memcpy(fieldnames[12],"disc_phi_fun",sizeof("disc_phi_fun"));
-    memcpy(fieldnames[13],"disc_phi_fun_jac",sizeof("disc_phi_fun_jac"));
-    memcpy(fieldnames[14],"disc_phi_fun_jac_hess",sizeof("disc_phi_fun_jac_hess"));
-    
-    // cost
-    memcpy(fieldnames[15],"cost_y_fun",sizeof("cost_y_fun"));
-    memcpy(fieldnames[16],"cost_y_fun_jac_ut_xt",sizeof("cost_y_fun_jac_ut_xt"));
-    memcpy(fieldnames[17],"cost_y_hess",sizeof("cost_y_hess"));
-    memcpy(fieldnames[18],"ext_cost_fun",sizeof("ext_cost_fun"));
-    memcpy(fieldnames[19],"ext_cost_fun_jac",sizeof("ext_cost_fun_jac"));
-    memcpy(fieldnames[20],"ext_cost_fun_jac_hess",sizeof("ext_cost_fun_jac_hess"));
-
-    // constraints
-    memcpy(fieldnames[21],"phi_constraint",sizeof("phi_constraint"));
-    memcpy(fieldnames[22],"nl_constr_h_fun_jac",sizeof("nl_constr_h_fun_jac"));
-    memcpy(fieldnames[23],"nl_constr_h_fun",sizeof("nl_constr_h_fun"));
-    memcpy(fieldnames[24],"nl_constr_h_fun_jac_hess",sizeof("nl_constr_h_fun_jac_hess"));
-
-
-    // create output struct - C_ocp_ext_fun
-    plhs[1] = mxCreateStructMatrix(1, 1, FIELDS_EXT_FUN, (const char **) fieldnames);
-
-
-    for (int i = 0; i < FIELDS_EXT_FUN; i++)
-    {
-        mxFree( fieldnames[i] );
-    }
-
-/* dynamics */
-    mxArray *expl_ode_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *forw_vde_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *hess_vde_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *impl_dae_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *impl_dae_fun_jac_x_xdot_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *impl_dae_jac_x_xdot_u_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *impl_dae_hess_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-
-    mxArray *gnsf_phi_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *gnsf_phi_fun_jac_y_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *gnsf_phi_jac_y_uhat_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *gnsf_f_lo_jac_x1_x1dot_u_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *gnsf_get_matrices_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-
-    mxArray *disc_phi_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *disc_phi_fun_jac_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *disc_phi_fun_jac_hess_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-
-{% if solver_options.integrator_type == "ERK" %}
-    {# TODO: remove _casadi from these names.. #}
-    l_ptr = mxGetData(forw_vde_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->forw_vde_casadi;
-    l_ptr = mxGetData(expl_ode_fun_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->expl_ode_fun;
-{% if solver_options.hessian_approx == "EXACT" %}
-    l_ptr = mxGetData(hess_vde_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->hess_vde_casadi;
-{%- endif %}
-{% elif solver_options.integrator_type == "IRK" %}
-    l_ptr = mxGetData(impl_dae_fun_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_fun;
-    l_ptr = mxGetData(impl_dae_fun_jac_x_xdot_z_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_fun_jac_x_xdot_z;
-    l_ptr = mxGetData(impl_dae_jac_x_xdot_u_z_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_jac_x_xdot_u_z;
-{% if solver_options.hessian_approx == "EXACT" %}
-    l_ptr = mxGetData(impl_dae_hess_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_hess;
-{%- endif %}
-{% elif solver_options.integrator_type == "GNSF" %}
-    {% if model.gnsf.purely_linear != 1 %}
-    l_ptr = mxGetData(gnsf_phi_fun_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_fun;
-    l_ptr = mxGetData(gnsf_phi_fun_jac_y_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_fun_jac_y;
-    l_ptr = mxGetData(gnsf_phi_jac_y_uhat_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_jac_y_uhat;
-    {% if model.gnsf.nontrivial_f_LO == 1 %}
-    l_ptr = mxGetData(gnsf_f_lo_jac_x1_x1dot_u_z_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_f_lo_jac_x1_x1dot_u_z;
-    {%- endif %}
-    {%- endif %}
-    l_ptr = mxGetData(gnsf_get_matrices_fun_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_get_matrices_fun;
-{% elif solver_options.integrator_type == "DISCRETE" %}
-    l_ptr = mxGetData(disc_phi_fun_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun;
-    l_ptr = mxGetData(disc_phi_fun_jac_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun_jac_ut_xt;
-{% if solver_options.hessian_approx == "EXACT" %}
-    l_ptr = mxGetData(disc_phi_fun_jac_hess_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun_jac_ut_xt_hess;
-{%- endif %}
-{%- endif %}
-    mxSetField(plhs[1], 0, "expl_ode_fun", expl_ode_fun_mat);
-    mxSetField(plhs[1], 0, "forw_vde", forw_vde_mat);
-    mxSetField(plhs[1], 0, "hess_vde", hess_vde_mat);
-
-    mxSetField(plhs[1], 0, "gnsf_phi_fun", gnsf_phi_fun_mat);
-    mxSetField(plhs[1], 0, "gnsf_phi_fun_jac_y", gnsf_phi_fun_jac_y_mat);
-    mxSetField(plhs[1], 0, "gnsf_phi_jac_y_uhat", gnsf_phi_jac_y_uhat_mat);
-    mxSetField(plhs[1], 0, "gnsf_f_lo_jac_x1_x1dot_u_z", gnsf_f_lo_jac_x1_x1dot_u_z_mat);
-    mxSetField(plhs[1], 0, "gnsf_get_matrices_fun", gnsf_get_matrices_fun_mat);
-
-    mxSetField(plhs[1], 0, "impl_dae_fun", impl_dae_fun_mat);
-    mxSetField(plhs[1], 0, "impl_dae_fun_jac_x_xdot_z", impl_dae_fun_jac_x_xdot_z_mat);
-    mxSetField(plhs[1], 0, "impl_dae_jac_x_xdot_u_z", impl_dae_jac_x_xdot_u_z_mat);
-    mxSetField(plhs[1], 0, "impl_dae_hess", impl_dae_hess_mat);
-
-    mxSetField(plhs[1], 0, "disc_phi_fun", disc_phi_fun_mat);
-    mxSetField(plhs[1], 0, "disc_phi_fun_jac", disc_phi_fun_jac_mat);
-    mxSetField(plhs[1], 0, "disc_phi_fun_jac_hess", disc_phi_fun_jac_hess_mat);
-/* constaints */
-    mxArray *phi_constraint_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(phi_constraint_mat);
-{%- if constraints.constr_type == "BGP" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->phi_constraint;
-{% endif %}
-{% if constraints.constr_type_e == "BGP" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->phi_e_constraint;
-{% endif %}
-    mxSetField(plhs[1], 0, "phi_constraint", phi_constraint_mat);
-
-    mxArray *nl_constr_h_fun_jac_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(nl_constr_h_fun_jac_mat);
-{% if constraints.constr_type == "BGH" and dims.nh > 0 %}
-    l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun_jac;
-{% endif %}
-{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun_jac;
-{%- endif %}
-    mxSetField(plhs[1], 0, "nl_constr_h_fun_jac", nl_constr_h_fun_jac_mat);
-
-    mxArray *nl_constr_h_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(nl_constr_h_fun_mat);
-{% if constraints.constr_type == "BGH" and dims.nh > 0 %}
-    l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun;
-{% endif %}
-{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun;
-{%- endif %}
-    mxSetField(plhs[1], 0, "nl_constr_h_fun", nl_constr_h_fun_mat);
-
-    mxArray *nl_constr_h_fun_jac_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(nl_constr_h_fun_jac_hess_mat);
-{% if constraints.constr_type == "BGH" and dims.nh > 0 and solver_options.hessian_approx == "EXACT" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun_jac_hess;
-{% endif %}
-{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 and solver_options.hessian_approx == "EXACT" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun_jac_hess;
-{%- endif %}
-    mxSetField(plhs[1], 0, "nl_constr_h_fun_jac_hess", nl_constr_h_fun_jac_hess_mat);
-
-/* cost */
-    mxArray *cost_y_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(cost_y_fun_mat);
-{% if cost.cost_type == "NONLINEAR_LS" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->cost_y_fun;
-{% endif %}
-{% if cost.cost_type_e == "NONLINEAR_LS" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_fun;
-{%- endif %}
-    mxSetField(plhs[1], 0, "cost_y_fun", cost_y_fun_mat);
-
-    mxArray *cost_y_fun_jac_ut_xt_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(cost_y_fun_jac_ut_xt_mat);
-{% if cost.cost_type == "NONLINEAR_LS" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->cost_y_fun_jac_ut_xt;
-{% endif %}
-{% if cost.cost_type_e == "NONLINEAR_LS" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_fun_jac_ut_xt;
-{%- endif %}
-    mxSetField(plhs[1], 0, "cost_y_fun_jac_ut_xt", cost_y_fun_jac_ut_xt_mat);
-
-    mxArray *cost_y_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(cost_y_hess_mat);
-{% if cost.cost_type == "NONLINEAR_LS" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->cost_y_hess;
-{% endif %}
-{% if cost.cost_type_e == "NONLINEAR_LS" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_hess;
-{%- endif %}
-    mxSetField(plhs[1], 0, "cost_y_hess", cost_y_hess_mat);
-
-    mxArray *ext_cost_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(ext_cost_fun_mat);
-{% if cost.cost_type == "EXTERNAL" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun;
-{% endif -%}
-{% if cost.cost_type_e == "EXTERNAL" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun;
-{%- endif %}
-    mxSetField(plhs[1], 0, "ext_cost_fun", ext_cost_fun_mat);
-
-    mxArray *ext_cost_fun_jac_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(ext_cost_fun_jac_mat);
-{% if cost.cost_type == "EXTERNAL" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun_jac;
-{% endif -%}
-{% if cost.cost_type_e == "EXTERNAL" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun_jac;
-{%- endif %}
-    mxSetField(plhs[1], 0, "ext_cost_fun_jac", ext_cost_fun_jac_mat);
-
-    mxArray *ext_cost_fun_jac_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(ext_cost_fun_jac_hess_mat);
-{% if cost.cost_type == "EXTERNAL" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun_jac_hess;
-{% endif -%}
-{% if cost.cost_type_e == "EXTERNAL" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun_jac_hess;
-{%- endif %}
-    mxSetField(plhs[1], 0, "ext_cost_fun_jac_hess", ext_cost_fun_jac_hess_mat);
-
-
-    return;
-}
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c
deleted file mode 100644
index bd457969b27408..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c
+++ /dev/null
@@ -1,67 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-// system
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-// acados
-#include "acados_solver_{{ model.name }}.h"
-
-// mex
-#include "mex.h"
-
-
-void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
-{
-    int status = 0;
-    long long *ptr;
-
-    // mexPrintf("\nin mex_acados_free\n");
-    const mxArray *C_ocp = prhs[0];
-    // capsule
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) );
-    {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
-
-    status = {{ model.name }}_acados_free(capsule);
-    if (status)
-    {
-        mexPrintf("{{ model.name }}_acados_free() returned status %d.\n", status);
-    }
-
-    status = {{ model.name }}_acados_free_capsule(capsule);
-    if (status)
-    {
-        mexPrintf("{{ model.name }}_acados_free_capsule() returned status %d.\n", status);
-    }
-
-    return;
-}
-
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c
deleted file mode 100644
index 78a308df495b36..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c
+++ /dev/null
@@ -1,632 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-// acados
-#include "acados/utils/print.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_solver_{{ model.name }}.h"
-
-// mex
-#include "mex.h"
-#include "mex_macros.h"
-
-
-void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
-{
-
-    long long *ptr;
-    int acados_size;
-    mxArray *mex_field;
-    char fun_name[20] = "ocp_set";
-    char buffer [500]; // for error messages
-
-    /* RHS */
-    int min_nrhs = 6;
-
-    // C ocp
-    const mxArray *C_ocp = prhs[2];
-    // capsule
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) );
-    {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
-    // plan
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "plan" ) );
-    ocp_nlp_plan_t *plan = (ocp_nlp_plan_t *) ptr[0];
-    // config
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "config" ) );
-    ocp_nlp_config *config = (ocp_nlp_config *) ptr[0];
-    // dims
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "dims" ) );
-    ocp_nlp_dims *dims = (ocp_nlp_dims *) ptr[0];
-    // opts
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "opts" ) );
-    void *opts = (void *) ptr[0];
-    // in
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "in" ) );
-    ocp_nlp_in *in = (ocp_nlp_in *) ptr[0];
-    // out
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "out" ) );
-    ocp_nlp_out *out = (ocp_nlp_out *) ptr[0];
-    // solver
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "solver" ) );
-    ocp_nlp_solver *solver = (ocp_nlp_solver *) ptr[0];
-
-    const mxArray *C_ext_fun_pointers = prhs[3];
-    // field
-    char *field = mxArrayToString( prhs[4] );
-    // value
-    double *value = mxGetPr( prhs[5] );
-
-    // for checks
-    int matlab_size = (int) mxGetNumberOfElements( prhs[5] );
-    int nrow = (int) mxGetM( prhs[5] );
-    int ncol = (int) mxGetN( prhs[5] );
-
-    int N = dims->N;
-    int nu = dims->nu[0];
-    int nx = dims->nx[0];
-
-    // stage
-    int s0, se;
-    if (nrhs==min_nrhs)
-    {
-        s0 = 0;
-        se = N;
-    }
-    else if (nrhs==min_nrhs+1)
-    {
-        s0 = mxGetScalar( prhs[6] );
-        if (s0 > N)
-        {
-            sprintf(buffer, "ocp_set: N < specified stage = %d\n", s0);
-            mexErrMsgTxt(buffer);            
-        }
-        se = s0 + 1;
-    }
-    else
-    {
-        sprintf(buffer, "ocp_set: wrong nrhs: %d\n", nrhs);
-        mexErrMsgTxt(buffer);
-    }
-
-    /* Set value */
-    // constraints
-    if (!strcmp(field, "constr_x0"))
-    {
-        acados_size = nx;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        ocp_nlp_constraints_model_set(config, dims, in, 0, "lbx", value);
-        ocp_nlp_constraints_model_set(config, dims, in, 0, "ubx", value);
-    }
-    else if (!strcmp(field, "constr_C"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            int ng = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ug");
-            MEX_DIM_CHECK_MAT(fun_name, "constr_C", nrow, ncol, ng, nx);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "C", value);
-        }
-    }
-    else if (!strcmp(field, "constr_lbx"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "lbx");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "lbx", value);
-        }
-    }
-    else if (!strcmp(field, "constr_ubx"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ubx");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "ubx", value);
-        }
-    }
-    else if (!strcmp(field, "constr_lbu"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "lbu");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "lbu", value);
-        }
-    }
-    else if (!strcmp(field, "constr_ubu"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ubu");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "ubu", value);
-        }
-    }
-    else if (!strcmp(field, "constr_D"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            int ng = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ug");
-            MEX_DIM_CHECK_MAT(fun_name, "constr_D", nrow, ncol, ng, nu);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "D", value);
-        }
-    }
-    else if (!strcmp(field, "constr_lg"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "lg");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "lg", value);
-        }
-    }
-    else if (!strcmp(field, "constr_ug"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ug");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "ug", value);
-        }
-    }
-    else if (!strcmp(field, "constr_lh"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "lh");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "lh", value);
-        }
-    }
-    else if (!strcmp(field, "constr_uh"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "uh");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "uh", value);
-        }
-    }
-    // cost:
-    else if (!strcmp(field, "cost_y_ref"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            if ((plan->nlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS))
-            {
-                acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref");
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_cost_model_set(config, dims, in, ii, "y_ref", value);
-            }
-            else
-            {
-                MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii);
-            }
-        }
-    }
-    else if (!strcmp(field, "cost_y_ref_e"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, N, "y_ref");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        ocp_nlp_cost_model_set(config, dims, in, N, "y_ref", value);
-    }
-    else if (!strcmp(field, "cost_Vu"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            if ((plan->nlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS))
-            {
-                int ny = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref");
-                int nu = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "u");
-                acados_size = ny * nu;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_cost_model_set(config, dims, in, ii, "Vu", value);
-            }
-            else
-            {
-                MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii);
-            }
-        }
-    }
-    else if (!strcmp(field, "cost_Vx"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            if ((plan->nlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS))
-            {
-                int ny = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref");
-                int nx = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "x");
-                acados_size = ny * nx;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_cost_model_set(config, dims, in, ii, "Vx", value);
-            }
-            else
-            {
-                MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii);
-            }
-        }
-    }
-    else if (!strcmp(field, "cost_W"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            if ((plan->nlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS))
-            {
-                int ny = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "y_ref");
-                acados_size = ny * ny;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_cost_model_set(config, dims, in, ii, "W", value);
-            }
-            else
-            {
-                MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii);
-            }
-        }
-    }
-    else if (!strcmp(field, "cost_Z"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "cost_Z");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "Z", value);
-        }
-    }
-    else if (!strcmp(field, "cost_Zl"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "Zl");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "Zl", value);
-        }
-    }
-    else if (!strcmp(field, "cost_Zu"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "Zu");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "Zu", value);
-        }
-    }
-    else if (!strcmp(field, "cost_z"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "cost_z");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "z", value);
-        }
-    }
-    else if (!strcmp(field, "cost_zl"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "zl");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "zl", value);
-        }
-    }
-    else if (!strcmp(field, "cost_zu"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "zu");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "zu", value);
-        }
-    }
-    // constraints TODO
-    // // NOTE(oj): how is it with Jbx, Jbu, idxb can they be changed?!
-    // else if (!strcmp(field, "constr_lbx"))
-    // {
-    //     // bounds at 0 are a special case.
-    //     if (s0==0)
-    //     {
-    //         sprintf(buffer, "%s cannot set %s for stage 0", fun_name, field);
-    //         mexErrMsgTxt(buffer);
-    //     }
-    // }
-    // initializations
-    else if (!strcmp(field, "init_x") || !strcmp(field, "x"))
-    {
-        if (nrhs == min_nrhs)
-        {
-            acados_size = (N+1) * nx;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            for (int ii=0; ii<=N; ii++)
-            {
-                ocp_nlp_out_set(config, dims, out, ii, "x", value+ii*nx);
-            }
-        }
-        else // (nrhs == min_nrhs + 1)
-        {
-            acados_size = nx;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, "x", value);
-        }
-    }
-    else if (!strcmp(field, "init_u") || !strcmp(field, "u"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            acados_size = N*nu;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            for (int ii=0; ii<N; ii++)
-            {
-                ocp_nlp_out_set(config, dims, out, ii, "u", value+ii*nu);
-            }
-        }
-        else // (nrhs == min_nrhs + 1)
-        {
-            acados_size = nu;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, "u", value);
-        }
-    }
-    else if (!strcmp(field, "init_z")||!strcmp(field, "z"))
-    {
-        sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
-        sim_solver_t type = sim_plan.sim_solver;
-        if (type == IRK)
-        {
-            int nz = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "z");
-            if (nrhs==min_nrhs)
-            {
-                acados_size = N*nz;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                for (int ii=0; ii<N; ii++)
-                {
-                    ocp_nlp_set(config, solver, ii, "z_guess", value+ii*nz);
-                }
-            }
-            else // (nrhs==min_nrhs+1)
-            {
-                acados_size = nz;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_set(config, solver, s0, "z_guess", value);
-            }
-        }
-        else
-        {
-            MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, "init_z", "irk")
-        }
-    }
-    else if (!strcmp(field, "init_xdot")||!strcmp(field, "xdot"))
-    {
-        sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
-        sim_solver_t type = sim_plan.sim_solver;
-        if (type == IRK)
-        {
-            int nx = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "x");
-            if (nrhs==min_nrhs)
-            {
-                acados_size = N*nx;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                for (int ii=0; ii<N; ii++)
-                {
-                    ocp_nlp_set(config, solver, ii, "xdot_guess", value+ii*nx);
-                }
-            }
-            else // nrhs==min_nrhs+1)
-            {
-                acados_size = nx;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_set(config, solver, s0, "xdot_guess", value);
-            }
-        }
-        else
-        {
-            MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, "init_z", "irk")
-        }
-    }
-    else if (!strcmp(field, "init_gnsf_phi")||!strcmp(field, "gnsf_phi"))
-    {
-        sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
-        sim_solver_t type = sim_plan.sim_solver;
-        if (type == GNSF)
-        {
-            int nout = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "init_gnsf_phi");
-
-            if (nrhs==min_nrhs)
-            {
-                acados_size = N*nout;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                for (int ii=0; ii<N; ii++)
-                {
-                    ocp_nlp_set(config, solver, ii, "gnsf_phi_guess", value+ii*nx);
-                }
-            }
-            else // (nrhs==min_nrhs+1)
-            {
-                acados_size = nout;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_set(config, solver, s0, "gnsf_phi_guess", value);
-            }
-        }
-        else
-        {
-            MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, "init_gnsf_phi", "irk_gnsf")
-        }
-    }
-    else if (!strcmp(field, "init_pi")||!strcmp(field, "pi"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            acados_size = N*nx;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            for (int ii=0; ii<N; ii++)
-            {
-                ocp_nlp_out_set(config, dims, out, ii, "pi", value+ii*nx);
-            }
-        }
-        else // (nrhs==min_nrhs+1)
-        {
-            acados_size = nx;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, "pi", value);
-        }
-    }
-    else if (!strcmp(field, "init_lam")||!strcmp(field, "lam"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            MEX_SETTER_NO_ALL_STAGES_SUPPORT(fun_name, field)
-        }
-        else //(nrhs==min_nrhs+1)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "lam");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, "lam", value);
-        }
-    }
-    else if (!strcmp(field, "init_t")||!strcmp(field, "t"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            MEX_SETTER_NO_ALL_STAGES_SUPPORT(fun_name, field)
-        }
-        else //(nrhs==min_nrhs+1)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "t");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, "t", value);
-        }
-    }
-    else if (!strcmp(field, "init_sl")||!strcmp(field, "sl"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            MEX_SETTER_NO_ALL_STAGES_SUPPORT(fun_name, field)
-        }
-        else //(nrhs==min_nrhs+1)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "sl");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, field, value);
-        }
-    }
-    else if (!strcmp(field, "init_su")||!strcmp(field, "su"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            MEX_SETTER_NO_ALL_STAGES_SUPPORT(fun_name, field)
-        }
-        else //(nrhs==min_nrhs+1)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "su");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, field, value);
-        }
-    }
-    else if (!strcmp(field, "p"))
-    {
-        if (nrhs==min_nrhs) // all stages
-        {
-            for (int ii=0; ii<=N; ii++)
-            {
-                {{ model.name }}_acados_update_params(capsule, ii, value, matlab_size);
-            }
-        }
-        else if (nrhs==min_nrhs+1) // one stage
-        {
-            int stage = mxGetScalar( prhs[6] );
-            {{ model.name }}_acados_update_params(capsule, stage, value, matlab_size);
-        }
-    }
-    else if (!strcmp(field, "nlp_solver_max_iter"))
-    {
-        acados_size = 1;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        int nlp_solver_max_iter = (int) value[0];
-        ocp_nlp_solver_opts_set(config, opts, "max_iter", &nlp_solver_max_iter);
-    }
-    else if (!strcmp(field, "rti_phase"))
-    {
-        acados_size = 1;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        int rti_phase = (int) value[0];
-        if (plan->nlp_solver == SQP && rti_phase != 0)
-        {
-            MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, field, "sqp_rti")
-        }
-        ocp_nlp_solver_opts_set(config, opts, "rti_phase", &rti_phase);
-    }
-    else if (!strcmp(field, "qp_warm_start"))
-    {
-        acados_size = 1;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        int qp_warm_start = (int) value[0];
-        ocp_nlp_solver_opts_set(config, opts, "qp_warm_start", &qp_warm_start);
-    }
-    else if (!strcmp(field, "warm_start_first_qp"))
-    {
-        acados_size = 1;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        int warm_start_first_qp = (int) value[0];
-        ocp_nlp_solver_opts_set(config, opts, "warm_start_first_qp", &warm_start_first_qp);
-    }
-    else if (!strcmp(field, "print_level"))
-    {
-        acados_size = 1;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        int print_level = (int) value[0];
-        ocp_nlp_solver_opts_set(config, opts, "print_level", &print_level);
-    }
-    else
-    {
-        MEX_FIELD_NOT_SUPPORTED_SUGGEST(fun_name, field, "p, constr_x0,\
- constr_lbx, constr_ubx, constr_C, constr_D, constr_lg, constr_ug, constr_lh, constr_uh,\
- constr_lbu, constr_ubu, cost_y_ref[_e], sl, su, x, xdot, u, pi, lam, z, \
- cost_Vu, cost_Vx, cost_Vz, cost_W, cost_Z, cost_Zl, cost_Zu, cost_z,\
- cost_zl, cost_zu, init_x, init_u, init_z, init_xdot, init_gnsf_phi,\
- init_pi, nlp_solver_max_iter, qp_warm_start, warm_start_first_qp, print_level");
-    }
-
-    return;
-}
-
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_solve.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_solve.in.c
deleted file mode 100644
index 300a440cc928ca..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_solve.in.c
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-// system
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-// acados
-#include "acados_solver_{{ model.name }}.h"
-
-// mex
-#include "mex.h"
-
-
-
-void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
-{
-    // C_ocp
-    long long *ptr;
-    const mxArray *C_ocp = prhs[0];
-
-    // capsule
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) );
-    {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
-
-    // solve
-    {{ model.name }}_acados_solve(capsule);
-
-}
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_sim_solver_sfun.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_sim_solver_sfun.in.c
deleted file mode 100644
index bd73ff69a45e99..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_sim_solver_sfun.in.c
+++ /dev/null
@@ -1,230 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#define S_FUNCTION_NAME   acados_sim_solver_sfunction_{{ model.name }}
-#define S_FUNCTION_LEVEL  2
-
-#define MDL_START
-
-// acados
-// #include "acados/utils/print.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_c/external_function_interface.h"
-
-// example specific
-#include "{{ model.name }}_model/{{ model.name }}_model.h"
-#include "acados_sim_solver_{{ model.name }}.h"
-
-#include "simstruc.h"
-
-#define SAMPLINGTIME {{ solver_options.Tsim }}
-
-
-static void mdlInitializeSizes (SimStruct *S)
-{
-    // specify the number of continuous and discrete states
-    ssSetNumContStates(S, 0);
-    ssSetNumDiscStates(S, 0);
-
-    {# compute number of input ports #}
-    {%- set n_inputs = 1 %}  {# x0 #}
-    {%- if dims.nu > 0 %}  {# u0 -#}
-        {%- set n_inputs = n_inputs + 1 -%}
-    {%- endif %}
-    {%- if dims.np > 0 %}  {# parameters #}
-        {%- set n_inputs = n_inputs + 1 -%}
-    {%- endif %}
-
-    // specify the number of input ports
-    if ( !ssSetNumInputPorts(S, {{ n_inputs }}) )
-        return;
-
-    // specify the number of output ports
-    if ( !ssSetNumOutputPorts(S, 1) )
-        return;
-
-    // specify dimension information for the input ports
-    {%- set i_input = 0 %}
-    // x0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nx }});
-
-    {%- if dims.nu > 0 %}
-    {%- set i_input = i_input + 1 %}
-    // u0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nu }});
-    {%- endif %}
-
-    {%- if dims.np > 0 %}
-    {%- set i_input = i_input + 1 %}
-    // parameters
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.np }});
-    {%- endif %}
-
-    // specify dimension information for the output ports
-    ssSetOutputPortVectorDimension(S, 0, {{ dims.nx }} ); // xnext
-
-    // specify the direct feedthrough status
-    // should be set to 1 for all inputs used in mdlOutputs
-    {%- for i in range(end=n_inputs) %}
-    ssSetInputPortDirectFeedThrough(S, {{ i }}, 1);
-    {%- endfor %}
-
-    // one sample time
-    ssSetNumSampleTimes(S, 1);
-}
-
-
-#if defined(MATLAB_MEX_FILE)
-
-#define MDL_SET_INPUT_PORT_DIMENSION_INFO
-#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO
-
-static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
-{
-    if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) )
-         return;
-}
-
-static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
-{
-    if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) )
-         return;
-}
-
-#endif /* MATLAB_MEX_FILE */
-
-
-static void mdlInitializeSampleTimes(SimStruct *S)
-{
-    ssSetSampleTime(S, 0, SAMPLINGTIME);
-    ssSetOffsetTime(S, 0, 0.0);
-}
-
-
-static void mdlStart(SimStruct *S)
-{
-    sim_solver_capsule *capsule = {{ model.name }}_acados_sim_solver_create_capsule();
-    {{ model.name }}_acados_sim_create(capsule);
-
-    ssSetUserData(S, (void*)capsule);
-}
-
-static void mdlOutputs(SimStruct *S, int_T tid)
-{
-    sim_solver_capsule *capsule = ssGetUserData(S);
-
-    sim_config *acados_sim_config = {{ model.name }}_acados_get_sim_config(capsule);
-    sim_in *acados_sim_in = {{ model.name }}_acados_get_sim_in(capsule);
-    sim_out *acados_sim_out = {{ model.name }}_acados_get_sim_out(capsule);
-    void *acados_sim_dims = {{ model.name }}_acados_get_sim_dims(capsule);
-    // sim_opts * {{ model.name }}_acados_get_sim_opts(capsule);
-    // sim_solver * {{ model.name }}_acados_get_sim_solver(capsule);
-
-    InputRealPtrsType in_sign;
-    {% set input_sizes = [dims.nx, dims.nu, dims.np] %}
-
-    // local buffer
-    {%- set buffer_size =  input_sizes | sort | last %}
-    real_t buffer[{{ buffer_size }}];
-
-
-    /* go through inputs */
-    {%- set i_input = 0 %}
-    // initial condition
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.nx }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    sim_in_set(acados_sim_config, acados_sim_dims,
-               acados_sim_in, "x", buffer);
-
-
-    // ssPrintf("\nin acados sim:\n");
-    // for (int i = 0; i < {{ dims.nx }}; i++) ssPrintf("x0[%d] = %f\n", i, buffer[i]);
-    //     ssPrintf("\n");
-
-{% if dims.nu > 0 %}
-    // control input - u
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.nu }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    sim_in_set(acados_sim_config, acados_sim_dims,
-               acados_sim_in, "u", buffer);
-{%- endif %}
-
-
-{% if dims.np > 0 %}
-    // parameters
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.np }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    // update value of parameters
-    {{ model.name }}_acados_sim_update_params(capsule, buffer, {{ dims.np }});
-{%- endif %}
-
-
-    /* call solver */
-    int acados_status = {{ model.name }}_acados_sim_solve(capsule);
-
-
-    /* set outputs */
-    real_t *out_x = ssGetOutputPortRealSignal(S, 0);
-
-    // get simulated state
-    sim_out_get(acados_sim_config, acados_sim_dims, acados_sim_out,
-                "xn", (void *) out_x);
-
-    // ssPrintf("\nacados sim solve: returned %d\n", acados_status);
-    // for (int i = 0; i < {{ dims.nx }}; i++) ssPrintf("x_sim[%d] = %f\n", i, out_x[i]);
-    //     ssPrintf("\n");
-
-}
-
-
-static void mdlTerminate(SimStruct *S)
-{
-    sim_solver_capsule *capsule = ssGetUserData(S);
-
-    {{ model.name }}_acados_sim_free(capsule);
-    {{ model.name }}_acados_sim_solver_free_capsule(capsule);
-}
-
-
-#ifdef  MATLAB_MEX_FILE
-#include "simulink.c"
-#else
-#include "cg_sfun.h"
-#endif
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c
deleted file mode 100644
index 3dd248037aeedd..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c
+++ /dev/null
@@ -1,853 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#define S_FUNCTION_NAME acados_solver_sfunction_{{ model.name }}
-#define S_FUNCTION_LEVEL 2
-
-#define MDL_START
-
-// acados
-// #include "acados/utils/print.h"
-#include "acados_c/sim_interface.h"
-#include "acados_c/external_function_interface.h"
-
-// example specific
-#include "{{ model.name }}_model/{{ model.name }}_model.h"
-#include "acados_solver_{{ model.name }}.h"
-
-#include "simstruc.h"
-
-{% if simulink_opts.samplingtime == "t0" -%}
-#define SAMPLINGTIME {{ solver_options.time_steps[0] }}
-{%- elif simulink_opts.samplingtime == "-1" -%}
-#define SAMPLINGTIME -1
-{%- else -%}
-  {{ throw(message = "simulink_opts.samplingtime must be '-1' or 't0', got val") }}
-{%- endif %}
-
-static void mdlInitializeSizes (SimStruct *S)
-{
-    // specify the number of continuous and discrete states
-    ssSetNumContStates(S, 0);
-    ssSetNumDiscStates(S, 0);
-
-    int N = {{ model.name | upper }}_N;
-
-  {%- for key, val in simulink_opts.inputs -%}
-    {%- if val != 0 and val != 1 -%}
-      {{ throw(message = "simulink_opts.inputs must be 0 or 1, got val") }}
-    {%- endif -%}
-  {%- endfor -%}
-
-  {#- compute number of input ports #}
-  {%- set n_inputs = 0 -%}
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%}  {#- lbx_0 #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%}  {#- ubx_0 #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 -%}  {#- y_ref_0 -#}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref -%}  {#- y_ref -#}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e -%}  {#- y_ref_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%}  {#- lbx #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%}  {#- ubx #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%}  {#- lbx_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%}  {#- ubx_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%}  {#- lbu #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%}  {#- ubu #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.ng > 0 and simulink_opts.inputs.lg -%}  {#- lg #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%}  {#- lh_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%}  {#- uh_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-
-  {%- for key, val in simulink_opts.inputs -%}
-    {%- if val != 0 and val != 1 -%}
-      {{ throw(message = "simulink_opts.inputs must be 0 or 1, got val") }}
-    {%- endif -%}
-  {%- endfor -%}
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
-    {%- set n_inputs = n_inputs + 1 %}
-  {%- endif -%}
-  {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
-    {%- set n_inputs = n_inputs + 1 %}
-  {%- endif -%}
-  {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-
-  {%- if simulink_opts.inputs.reset_solver -%}  {#- reset_solver #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-
-  {%- if simulink_opts.inputs.x_init -%}  {#- x_init #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-
-  {%- if simulink_opts.inputs.u_init -%}  {#- u_init #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-
-    // specify the number of input ports
-    if ( !ssSetNumInputPorts(S, {{ n_inputs }}) )
-        return;
-
-    // specify the number of output ports
-    {%- set_global n_outputs = 0 %}
-    {%- for key, val in simulink_opts.outputs %}
-      {%- if val == 1 %}
-        {%- set_global n_outputs = n_outputs + val %}
-      {%- elif val != 0 %}
-        {{ throw(message = "simulink_opts.outputs must be 0 or 1, got val") }}
-      {%- endif %}
-    {%- endfor %}
-    if ( !ssSetNumOutputPorts(S, {{ n_outputs }}) )
-        return;
-
-    // specify dimension information for the input ports
-    {%- set i_input = -1 %}{# note here i_input is 0-based #}
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%}  {#- lbx_0 #}
-    {%- set i_input = i_input + 1 %}
-    // lbx_0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_0 }});
-  {%- endif %}
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%}  {#- ubx_0 #}
-    {%- set i_input = i_input + 1 %}
-    // ubx_0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_0 }});
-  {%- endif %}
-
-  {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
-    {%- set i_input = i_input + 1 %}
-    // parameters
-    ssSetInputPortVectorDimension(S, {{ i_input }}, (N+1) * {{ dims.np }});
-  {%- endif %}
-
-  {%- if dims.ny > 0 and simulink_opts.inputs.y_ref_0 %}
-    {%- set i_input = i_input + 1 %}
-    // y_ref_0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_0 }});
-  {%- endif %}
-
-  {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %}
-    {%- set i_input = i_input + 1 %}
-    // y_ref
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.ny }});
-  {%- endif %}
-
-  {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %}
-    {%- set i_input = i_input + 1 %}
-    // y_ref_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_e }});
-  {%- endif %}
-
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%}  {#- lbx #}
-    {%- set i_input = i_input + 1 %}
-    // lbx
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.nbx }});
-  {%- endif %}
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%}  {#- ubx #}
-    {%- set i_input = i_input + 1 %}
-    // ubx
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.nbx }});
-  {%- endif %}
-
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%}  {#- lbx_e #}
-    {%- set i_input = i_input + 1 %}
-    // lbx_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_e }});
-  {%- endif %}
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%}  {#- ubx_e #}
-    {%- set i_input = i_input + 1 %}
-    // ubx_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_e }});
-  {%- endif %}
-
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%}  {#- lbu #}
-    {%- set i_input = i_input + 1 %}
-    // lbu
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nbu }});
-  {%- endif -%}
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%}  {#- ubu #}
-    {%- set i_input = i_input + 1 %}
-    // ubu
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nbu }});
-  {%- endif -%}
-
-
-  {%- if dims.ng > 0 and simulink_opts.inputs.lg -%}  {#- lg #}
-    {%- set i_input = i_input + 1 %}
-    // lg
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.ng }});
-  {%- endif -%}
-  {%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
-    {%- set i_input = i_input + 1 %}
-    // ug
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.ng }});
-  {%- endif -%}
-
-  {%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
-    {%- set i_input = i_input + 1 %}
-    // lh
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nh }});
-  {%- endif -%}
-  {%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
-    {%- set i_input = i_input + 1 %}
-    // uh
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nh }});
-  {%- endif -%}
-
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%}  {#- lh_e #}
-    {%- set i_input = i_input + 1 %}
-    // lh_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh_e }});
-  {%- endif -%}
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%}  {#- uh_e #}
-    {%- set i_input = i_input + 1 %}
-    // uh_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh_e }});
-  {%- endif -%}
-
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
-    {%- set i_input = i_input + 1 %}
-    // cost_W_0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_0 * dims.ny_0 }});
-  {%- endif %}
-
-  {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
-    {%- set i_input = i_input + 1 %}
-    // cost_W
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny * dims.ny }});
-  {%- endif %}
-
-  {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
-    {%- set i_input = i_input + 1 %}
-    // cost_W_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_e * dims.ny_e }});
-  {%- endif %}
-
-  {%- if simulink_opts.inputs.reset_solver -%}  {#- reset_solver #}
-    {%- set i_input = i_input + 1 %}
-    // reset_solver
-    ssSetInputPortVectorDimension(S, {{ i_input }}, 1);
-  {%- endif -%}
-
-  {%- if simulink_opts.inputs.x_init -%}  {#- x_init #}
-    {%- set i_input = i_input + 1 %}
-    // x_init
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nx * (dims.N+1) }});
-  {%- endif -%}
-
-  {%- if simulink_opts.inputs.u_init -%}  {#- u_init #}
-    {%- set i_input = i_input + 1 %}
-    // u_init
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nu * (dims.N) }});
-  {%- endif -%}
-
-    /* specify dimension information for the OUTPUT ports */
-    {%- set i_output = -1 %}{# note here i_output is 0-based #}
-  {%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nu }} );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.utraj == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nu * dims.N }} );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.xtraj == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nx * (dims.N+1) }} );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.solver_status == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.cost_value == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.KKT_residual == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.KKT_residuals == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 4 );
-  {%- endif %}
-
-  {%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nx }} ); // state at shooting node 1
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.CPU_time == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.CPU_time_sim == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.CPU_time_qp == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.CPU_time_lin == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.sqp_iter == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
-  {%- endif %}
-
-    // specify the direct feedthrough status
-    // should be set to 1 for all inputs used in mdlOutputs
-    {%- for i in range(end=n_inputs) %}
-    ssSetInputPortDirectFeedThrough(S, {{ i }}, 1);
-    {%- endfor %}
-
-    // one sample time
-    ssSetNumSampleTimes(S, 1);
-}
-
-
-#if defined(MATLAB_MEX_FILE)
-
-#define MDL_SET_INPUT_PORT_DIMENSION_INFO
-#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO
-
-static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
-{
-    if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) )
-         return;
-}
-
-static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
-{
-    if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) )
-         return;
-}
-
-#endif /* MATLAB_MEX_FILE */
-
-
-static void mdlInitializeSampleTimes(SimStruct *S)
-{
-    ssSetSampleTime(S, 0, SAMPLINGTIME);
-    ssSetOffsetTime(S, 0, 0.0);
-}
-
-
-static void mdlStart(SimStruct *S)
-{
-    {{ model.name }}_solver_capsule *capsule = {{ model.name }}_acados_create_capsule();
-    {{ model.name }}_acados_create(capsule);
-
-    ssSetUserData(S, (void*)capsule);
-}
-
-
-static void mdlOutputs(SimStruct *S, int_T tid)
-{
-    {{ model.name }}_solver_capsule *capsule = ssGetUserData(S);
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule);
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule);
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule);
-    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(capsule);
-
-    InputRealPtrsType in_sign;
-
-    int N = {{ model.name | upper }}_N;
-
-    {%- set buffer_sizes = [dims.nbx_0, dims.np, dims.nbx, dims.nbx_e, dims.nbu, dims.ng, dims.nh, dims.ng_e, dims.nh_e] -%}
-
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %}  {# y_ref_0 #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_0)) %}
-  {%- endif %}
-  {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %}  {# y_ref #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny)) %}
-  {%- endif %}
-  {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %}  {# y_ref_e #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_e)) %}
-  {%- endif %}
-
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_0 * dims.ny_0)) %}
-  {%- endif %}
-  {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny * dims.ny)) %}
-  {%- endif %}
-  {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_e * dims.ny_e)) %}
-  {%- endif %}
-
-    // local buffer
-    {%- set buffer_size = buffer_sizes | sort | last %}
-    real_t buffer[{{ buffer_size }}];
-
-    /* go through inputs */
-    {%- set i_input = -1 %}
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%}  {#- lbx_0 #}
-    // lbx_0
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.nbx_0 }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", buffer);
-  {%- endif %}
-
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%}  {#- ubx_0 #}
-    // ubx_0
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.nbx_0 }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", buffer);
-  {%- endif %}
-
-  {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
-    // parameters - stage-variant !!!
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    // update value of parameters
-    for (int ii = 0; ii <= N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.np }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{dims.np}}+jj]);
-        {{ model.name }}_acados_update_params(capsule, ii, buffer, {{ dims.np }});
-    }
-  {%- endif %}
-
-  {% if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %}
-    // y_ref_0
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.ny_0 }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", (void *) buffer);
-  {%- endif %}
-
-  {% if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %}
-    // y_ref - for stages 1 to N-1
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int ii = 1; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.ny }}; jj++)
-            buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.ny }}+jj]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "yref", (void *) buffer);
-    }
-  {%- endif %}
-
-  {% if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %}
-    // y_ref_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.ny_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", (void *) buffer);
-  {%- endif %}
-
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%}  {#- lbx #}
-    // lbx
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 1; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nbx }}; jj++)
-            buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.nbx }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lbx", (void *) buffer);
-    }
-  {%- endif %}
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%}  {#- ubx #}
-    // ubx
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 1; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nbx }}; jj++)
-            buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.nbx }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ubx", (void *) buffer);
-    }
-  {%- endif %}
-
-
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%}  {#- lbx_e #}
-    // lbx_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.nbx_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", buffer);
-  {%- endif %}
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%}  {#- ubx_e #}
-    // ubx_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.nbx_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", buffer);
-  {%- endif %}
-
-
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%}  {#- lbu #}
-    // lbu
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nbu }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.nbu }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lbu", (void *) buffer);
-    }
-  {%- endif -%}
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%}  {#- ubu #}
-    // ubu
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nbu }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.nbu }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ubu", (void *) buffer);
-    }
-  {%- endif -%}
-
-  {%- if dims.ng > 0 and simulink_opts.inputs.lg -%}  {#- lg #}
-    // lg
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.ng }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.ng }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lg", (void *) buffer);
-    }
-  {%- endif -%}
-  {%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
-    // ug
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.ng }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.ng }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ug", (void *) buffer);
-    }
-  {%- endif -%}
-
-  {%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
-    // lh
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nh }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.nh }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lh", (void *) buffer);
-    }
-  {%- endif -%}
-  {%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
-    // uh
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nh }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.nh }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "uh", (void *) buffer);
-    }
-  {%- endif -%}
-
-
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%}  {#- lh_e #}
-    // lh_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.nh_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", buffer);
-  {%- endif -%}
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%}  {#- uh_e #}
-    // uh_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.nh_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", buffer);
-  {%- endif -%}
-
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
-    // cost_W_0
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.ny_0 * dims.ny_0 }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", buffer);
-  {%- endif %}
-
-  {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
-    // cost_W
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.ny * dims.ny }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    for (int ii = 1; ii < N; ii++)
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "W", buffer);
-  {%- endif %}
-
-  {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
-    // cost_W_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.ny_e * dims.ny_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", buffer);
-  {%- endif %}
-
-  {%- if simulink_opts.inputs.reset_solver %}  {#- reset_solver #}
-    // reset_solver
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    double reset = (double)(*in_sign[0]);
-    if (reset)
-    {
-        {{ model.name }}_acados_reset(capsule, 1);
-    }
-  {%- endif %}
-
-  {%- if simulink_opts.inputs.x_init %}  {#- x_init #}
-    // x_init
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 0; ii < {{ dims.N + 1 }}; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nx }}; jj++)
-            buffer[jj] = (double)(*in_sign[(ii)*{{ dims.nx }}+jj]);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, ii, "x", (void *) buffer);
-    }
-  {%- endif %}
-
-  {%- if simulink_opts.inputs.u_init %}  {#- u_init #}
-    // u_init
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nu }}; jj++)
-            buffer[jj] = (double)(*in_sign[(ii)*{{ dims.nu }}+jj]);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, ii, "u", (void *) buffer);
-    }
-  {%- endif %}
-
-    /* call solver */
-    int rti_phase = 0;
-    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "rti_phase", &rti_phase);
-    int acados_status = {{ model.name }}_acados_solve(capsule);
-
-
-    /* set outputs */
-    // assign pointers to output signals
-    real_t *out_u0, *out_utraj, *out_xtraj, *out_status, *out_sqp_iter, *out_KKT_res, *out_KKT_residuals, *out_x1, *out_cpu_time, *out_cpu_time_sim, *out_cpu_time_qp, *out_cpu_time_lin, *out_cost_value;
-    int tmp_int;
-
-    {%- set i_output = -1 -%}{# note here i_output is 0-based #}
-  {%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_u0 = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "u", (void *) out_u0);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.utraj == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_utraj = ssGetOutputPortRealSignal(S, {{ i_output }});
-    for (int ii = 0; ii < N; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii,
-                        "u", (void *) (out_utraj + ii * {{ dims.nu }}));
-  {%- endif %}
-
-  {% if simulink_opts.outputs.xtraj == 1 %}
-    {%- set i_output = i_output + 1 %}
-
-    out_xtraj = ssGetOutputPortRealSignal(S, {{ i_output }});
-    for (int ii = 0; ii < {{ dims.N + 1 }}; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii,
-                        "x", (void *) (out_xtraj + ii * {{ dims.nx }}));
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.solver_status == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_status = ssGetOutputPortRealSignal(S, {{ i_output }});
-    *out_status = (real_t) acados_status;
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.cost_value == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_cost_value = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_eval_cost(capsule->nlp_solver, nlp_in, nlp_out);
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "cost_value", (void *) out_cost_value);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.KKT_residual == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_KKT_res = ssGetOutputPortRealSignal(S, {{ i_output }});
-    *out_KKT_res = (real_t) nlp_out->inf_norm_res;
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.KKT_residuals == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_KKT_residuals = ssGetOutputPortRealSignal(S, {{ i_output }});
-
-    {%- if solver_options.nlp_solver_type == "SQP_RTI" %}
-    ocp_nlp_eval_residuals(capsule->nlp_solver, nlp_in, nlp_out);
-    {%- endif %}
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_stat", (void *) &out_KKT_residuals[0]);
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_eq", (void *) &out_KKT_residuals[1]);
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_ineq", (void *) &out_KKT_residuals[2]);
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_comp", (void *) &out_KKT_residuals[3]);
-  {%- endif %}
-
-  {%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_x1 = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 1, "x", (void *) out_x1);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.CPU_time == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_cpu_time = ssGetOutputPortRealSignal(S, {{ i_output }});
-    // get solution time
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_tot", (void *) out_cpu_time);
-  {%- endif -%}
-
-  {%- if simulink_opts.outputs.CPU_time_sim == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_cpu_time_sim = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_sim", (void *) out_cpu_time_sim);
-  {%- endif -%}
-
-  {%- if simulink_opts.outputs.CPU_time_qp == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_cpu_time_qp = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_qp", (void *) out_cpu_time_qp);
-  {%- endif -%}
-
-  {%- if simulink_opts.outputs.CPU_time_lin == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_cpu_time_lin = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_lin", (void *) out_cpu_time_lin);
-  {%- endif -%}
-
-  {%- if simulink_opts.outputs.sqp_iter == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_sqp_iter = ssGetOutputPortRealSignal(S, {{ i_output }});
-    // get sqp iter
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "sqp_iter", (void *) &tmp_int);
-    *out_sqp_iter = (real_t) tmp_int;
-  {%- endif %}
-
-}
-
-static void mdlTerminate(SimStruct *S)
-{
-    {{ model.name }}_solver_capsule *capsule = ssGetUserData(S);
-
-    {{ model.name }}_acados_free(capsule);
-    {{ model.name }}_acados_free_capsule(capsule);
-}
-
-
-#ifdef  MATLAB_MEX_FILE
-#include "simulink.c"
-#else
-#include "cg_sfun.h"
-#endif
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c
deleted file mode 100644
index 851a3cc04f6fd3..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c
+++ /dev/null
@@ -1,181 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-// acados
-#include "acados/utils/print.h"
-#include "acados/utils/math.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_solver_{{ model.name }}.h"
-// mex
-#include "mex.h"
-
-/* auxilary mex */
-// prints a matrix in column-major format (exponential notation)
-void MEX_print_exp_mat(int m, int n, double *A, int lda)
-{
-	for (int i=0; i<m; i++)
-    {
-		for (int j=0; j<n; j++)
-        {
-			mexPrintf("%e\t", A[i+lda*j]);
-        }
-		mexPrintf("\n");
-    }
-	mexPrintf("\n");
-}
-
-// prints the transposed of a matrix in column-major format (exponential notation)
-void MEX_print_exp_tran_mat(int row, int col, double *A, int lda)
-{
-	for (int j=0; j<col; j++)
-    {
-		for (int i=0; i<row; i++)
-        {
-			mexPrintf("%e\t", A[i+lda*j]);
-        }
-		mexPrintf("\n");
-    }
-	mexPrintf("\n");
-}
-
-
-void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
-{
-
-    int status = 0;
-    status = {{ model.name }}_acados_create();
-
-    if (status)
-    {
-        mexPrintf("{{ model.name }}_acados_create() returned status %d. Exiting.\n", status);
-        exit(1);
-    }
-
-
-    // get pointers to nlp solver related objects
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config();
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims();
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in();
-    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out();
-    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver();
-    void *nlp_opts = {{ model.name }}_acados_get_nlp_opts();
-
-    // initial condition
-    int idxbx0[{{ dims.nbx_0 }}];
-    {% for i in range(end=dims.nbx_0) %}
-    idxbx0[{{ i }}] = {{ constraints.idxbx_0[i] }};
-    {%- endfor %}
-
-    double lbx0[{{ dims.nbx_0 }}];
-    double ubx0[{{ dims.nbx_0 }}];
-    {% for i in range(end=dims.nbx_0) %}
-    lbx0[{{ i }}] = {{ constraints.lbx_0[i] }};
-    ubx0[{{ i }}] = {{ constraints.ubx_0[i] }};
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0);
-
-    // initialization for state values
-    double x_init[{{ dims.nx }}];
-    {%- for i in range(end=dims.nx) %}
-    x_init[{{ i }}] = 0.0;
-    {%- endfor %}
-
-    // initial value for control input
-    double u0[{{ dims.nu }}];
-    {%- for i in range(end=dims.nu) %}
-    u0[{{ i }}] = 0.0;
-    {%- endfor %}
-
-    // prepare evaluation
-    int NTIMINGS = 10;
-    double min_time = 1e12;
-    double kkt_norm_inf;
-    double elapsed_time;
-    int sqp_iter;
-
-    double xtraj[{{ dims.nx }} * ({{ dims.N }}+1)];
-    double utraj[{{ dims.nu }} * ({{ dims.N }})];
-
-    // solve ocp in loop
-    for (int ii = 0; ii < NTIMINGS; ii++)
-    {
-        // initialize primal solution
-        for (int i = 0; i <= nlp_dims->N; i++)
-        {
-            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init);
-            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0);
-        }
-        status = {{ model.name }}_acados_solve();
-        ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time);
-        min_time = MIN(elapsed_time, min_time);
-    }
-
-    /* print solution and statistics */
-    for (int ii = 0; ii <= nlp_dims->N; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*{{ dims.nx }}]);
-    for (int ii = 0; ii < nlp_dims->N; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*{{ dims.nu }}]);
-
-    mexPrintf("\n--- xtraj ---\n");
-    MEX_print_exp_tran_mat( {{ dims.nx }}, {{ dims.N }}+1, xtraj, {{ dims.nx }} );
-    mexPrintf("\n--- utraj ---\n");
-    MEX_print_exp_tran_mat( {{ dims.nu }}, {{ dims.N }}, utraj, {{ dims.nu }} );
-
-    mexPrintf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS);
-
-    if (status == ACADOS_SUCCESS)
-        mexPrintf("{{ model.name }}_acados_solve(): SUCCESS!\n");
-    else
-        mexPrintf("{{ model.name }}_acados_solve() failed with status %d.\n", status);
-
-    // get solution
-    ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf);
-    ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter);
-
-    mexPrintf("\nSolver info:\n");
-    mexPrintf(" SQP iterations %2d\n minimum time for 1 solve %f [ms]\n KKT %e\n",
-           sqp_iter, min_time*1000, kkt_norm_inf);
-
-    // free solver
-    status = {{ model.name }}_acados_free();
-    if (status)
-    {
-        mexPrintf("{{ model.name }}_acados_free() returned status %d.\n", status);
-    }
-
-    return;
-}
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m
deleted file mode 100644
index d217948456b898..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m
+++ /dev/null
@@ -1,103 +0,0 @@
-%
-% Copyright (c) The acados authors.
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-
-%
-
-function make_main_mex_{{ model.name }}()
-
-    opts.output_dir = pwd;
-
-    % get acados folder
-    acados_folder = getenv('ACADOS_INSTALL_DIR');
-
-    % set paths
-    acados_include = ['-I' fullfile(acados_folder, 'include')];
-    template_lib_include = ['-l' 'acados_solver_{{ model.name }}'];
-    template_lib_path = ['-L' fullfile(pwd)];
-
-    acados_lib_path = ['-L' fullfile(acados_folder, 'lib')];
-    external_include = ['-I', fullfile(acados_folder, 'external')];
-    blasfeo_include = ['-I', fullfile(acados_folder, 'external', 'blasfeo', 'include')];
-    hpipm_include = ['-I', fullfile(acados_folder, 'external', 'hpipm', 'include')];
-
-    mex_names = { ...
-        'main_mex_{{ model.name }}' ...
-    };
-
-    mex_files = cell(length(mex_names), 1);
-    for k=1:length(mex_names)
-        mex_files{k} = fullfile([mex_names{k}, '.c']);
-    end
-
-    %% octave C flags
-    if is_octave()
-        if ~exist(fullfile(opts.output_dir, 'cflags_octave.txt'), 'file')
-            diary(fullfile(opts.output_dir, 'cflags_octave.txt'));
-            diary on
-            mkoctfile -p CFLAGS
-            diary off
-            input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r');
-            cflags_tmp = fscanf(input_file, '%[^\n]s');
-            fclose(input_file);
-            if ~ismac()
-                cflags_tmp = [cflags_tmp, ' -std=c99 -fopenmp'];
-            else
-                cflags_tmp = [cflags_tmp, ' -std=c99'];
-            end
-            input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'w');
-            fprintf(input_file, '%s', cflags_tmp);
-            fclose(input_file);
-        end
-        % read cflags from file
-        input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r');
-        cflags_tmp = fscanf(input_file, '%[^\n]s');
-        fclose(input_file);
-        setenv('CFLAGS', cflags_tmp);
-    end
-
-    %% compile mex
-    for ii=1:length(mex_files)
-        disp(['compiling ', mex_files{ii}])
-        if is_octave()
-    %        mkoctfile -p CFLAGS
-            mex(acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
-            acados_lib_path, template_lib_path, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii})
-        else
-            if ismac()
-                FLAGS = 'CFLAGS=$CFLAGS -std=c99';
-            else
-                FLAGS = 'CFLAGS=$CFLAGS -std=c99 -fopenmp';
-            end
-            mex(FLAGS, acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
-                acados_lib_path, template_lib_path, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii})
-        end
-    end
-
-
-end
\ No newline at end of file
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m
deleted file mode 100644
index 5e358271374ea2..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m
+++ /dev/null
@@ -1,127 +0,0 @@
-%
-% Copyright (c) The acados authors.
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-
-%
-
-function make_mex_{{ model.name }}()
-
-    opts.output_dir = pwd;
-
-    % get acados folder
-    acados_folder = getenv('ACADOS_INSTALL_DIR');
-
-    % set paths
-    acados_include = ['-I' fullfile(acados_folder, 'include')];
-    template_lib_include = ['-l' 'acados_ocp_solver_{{ model.name }}'];
-    template_lib_path = ['-L' fullfile(pwd)];
-
-    acados_lib_path = ['-L' fullfile(acados_folder, 'lib')];
-    external_include = ['-I', fullfile(acados_folder, 'external')];
-    blasfeo_include = ['-I', fullfile(acados_folder, 'external', 'blasfeo', 'include')];
-    hpipm_include = ['-I', fullfile(acados_folder, 'external', 'hpipm', 'include')];
-
-    % load linking information of compiled acados
-    link_libs_core_filename = fullfile(acados_folder, 'lib', 'link_libs.json');
-    addpath(fullfile(acados_folder, 'external', 'jsonlab'));
-    link_libs = loadjson(link_libs_core_filename);
-
-    % add necessary link instructs
-    acados_lib_extra = {};
-    lib_names = fieldnames(link_libs);
-    for idx = 1 : numel(lib_names)
-        lib_name = lib_names{idx};
-        link_arg = link_libs.(lib_name);
-        if ~isempty(link_arg)
-            acados_lib_extra = [acados_lib_extra, link_arg];
-        end
-    end
-
-
-    mex_include = ['-I', fullfile(acados_folder, 'interfaces', 'acados_matlab_octave')];
-
-    mex_names = { ...
-        'acados_mex_create_{{ model.name }}' ...
-        'acados_mex_free_{{ model.name }}' ...
-        'acados_mex_solve_{{ model.name }}' ...
-        'acados_mex_set_{{ model.name }}' ...
-    };
-
-    mex_files = cell(length(mex_names), 1);
-    for k=1:length(mex_names)
-        mex_files{k} = fullfile([mex_names{k}, '.c']);
-    end
-
-    %% octave C flags
-    if is_octave()
-        if ~exist(fullfile(opts.output_dir, 'cflags_octave.txt'), 'file')
-            diary(fullfile(opts.output_dir, 'cflags_octave.txt'));
-            diary on
-            mkoctfile -p CFLAGS
-            diary off
-            input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r');
-            cflags_tmp = fscanf(input_file, '%[^\n]s');
-            fclose(input_file);
-            if ~ismac()
-                cflags_tmp = [cflags_tmp, ' -std=c99 -fopenmp'];
-            else
-                cflags_tmp = [cflags_tmp, ' -std=c99'];
-            end
-            input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'w');
-            fprintf(input_file, '%s', cflags_tmp);
-            fclose(input_file);
-        end
-        % read cflags from file
-        input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r');
-        cflags_tmp = fscanf(input_file, '%[^\n]s');
-        fclose(input_file);
-        setenv('CFLAGS', cflags_tmp);
-    end
-
-    %% compile mex
-    for ii=1:length(mex_files)
-        disp(['compiling ', mex_files{ii}])
-        if is_octave()
-    %        mkoctfile -p CFLAGS
-            mex(acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
-                template_lib_path, mex_include, acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo',...
-                acados_lib_extra{:}, mex_files{ii})
-        else
-            if ismac()
-                FLAGS = 'CFLAGS=$CFLAGS -std=c99';
-            else
-                FLAGS = 'CFLAGS=$CFLAGS -std=c99 -fopenmp';
-            end
-            mex(FLAGS, acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
-                template_lib_path, mex_include, acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo',...
-                acados_lib_extra{:}, mex_files{ii})
-        end
-    end
-
-
-end
\ No newline at end of file
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m
deleted file mode 100644
index 5d74c523f88bd0..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m
+++ /dev/null
@@ -1,432 +0,0 @@
-%
-% Copyright (c) The acados authors.
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-
-%
-
-SOURCES = { ...
-        {%- if solver_options.integrator_type == 'ERK' %}
-            '{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c', ...
-            '{{ model.name }}_model/{{ model.name }}_expl_vde_forw.c',...
-            {%- if solver_options.hessian_approx == 'EXACT' %}
-            '{{ model.name }}_model/{{ model.name }}_expl_ode_hess.c',...
-            {%- endif %}
-        {%- elif solver_options.integrator_type == "IRK" %}
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c', ...
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c', ...
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c', ...
-            {%- if solver_options.hessian_approx == 'EXACT' %}
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c',...
-            {%- endif %}
-        {%- elif solver_options.integrator_type == "GNSF" %}
-            {% if model.gnsf.purely_linear != 1 %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c',...
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c',...
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c',...
-            {% if model.gnsf.nontrivial_f_LO == 1 %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c',...
-            {%- endif %}
-            {%- endif %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c',...
-        {%- elif solver_options.integrator_type == "DISCRETE" %}
-            '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c',...
-            '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c',...
-        {%- if solver_options.hessian_approx == "EXACT" %}
-            '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c',...
-        {%- endif %}
-        {%- endif %}
-        {%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c',...
-        {%- elif cost.cost_type_0 == "EXTERNAL" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c',...
-        {%- endif %}
-
-        {%- if cost.cost_type == "NONLINEAR_LS" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_hess.c',...
-        {%- elif cost.cost_type == "EXTERNAL" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c',...
-        {%- endif %}
-        {%- if cost.cost_type_e == "NONLINEAR_LS" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c',...
-        {%- elif cost.cost_type_e == "EXTERNAL" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c',...
-        {%- endif %}
-        {%- if constraints.constr_type == "BGH"  and dims.nh > 0 %}
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c', ...
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c', ...
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c', ...
-        {%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %}
-            '{{ model.name }}_constraints/{{ model.name }}_phi_constraint.c', ...
-        {%- endif %}
-        {%- if constraints.constr_type_e == "BGH"  and dims.nh_e > 0 %}
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c', ...
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c', ...
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c', ...
-        {%- elif constraints.constr_type_e == "BGP" and dims.nphi_e > 0 %}
-            '{{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c', ...
-        {%- endif %}
-            'acados_solver_sfunction_{{ model.name }}.c', ...
-            'acados_solver_{{ model.name }}.c'
-          };
-
-INC_PATH = '{{ acados_include_path }}';
-
-INCS = {['-I', fullfile(INC_PATH, 'blasfeo', 'include')], ...
-        ['-I', fullfile(INC_PATH, 'hpipm', 'include')], ...
-        ['-I', fullfile(INC_PATH, 'acados')], ...
-        ['-I', fullfile(INC_PATH)]};
-
-{% if solver_options.qp_solver is containing("QPOASES") %}
-INCS{end+1} = ['-I', fullfile(INC_PATH, 'qpOASES_e')];
-{% endif %}
-
-CFLAGS = 'CFLAGS=$CFLAGS';
-LDFLAGS = 'LDFLAGS=$LDFLAGS';
-COMPFLAGS = 'COMPFLAGS=$COMPFLAGS';
-COMPDEFINES = 'COMPDEFINES=$COMPDEFINES';
-
-{% if solver_options.qp_solver is containing("QPOASES") %}
-CFLAGS = [ CFLAGS, ' -DACADOS_WITH_QPOASES ' ];
-COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_QPOASES ' ];
-{%- elif solver_options.qp_solver is containing("OSQP") %}
-CFLAGS = [ CFLAGS, ' -DACADOS_WITH_OSQP ' ];
-COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_OSQP ' ];
-{%- elif solver_options.qp_solver is containing("QPDUNES") %}
-CFLAGS = [ CFLAGS, ' -DACADOS_WITH_QPDUNES ' ];
-COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_QPDUNES ' ];
-{%- elif solver_options.qp_solver is containing("DAQP") %}
-CFLAGS = [ CFLAGS, ' -DACADOS_WITH_DAQP' ];
-COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_DAQP' ];
-{%- elif solver_options.qp_solver is containing("HPMPC") %}
-CFLAGS = [ CFLAGS, ' -DACADOS_WITH_HPMPC ' ];
-COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_HPMPC ' ];
-{% endif %}
-
-LIB_PATH = ['-L', fullfile('{{ acados_lib_path }}')];
-
-LIBS = {'-lacados', '-lhpipm', '-lblasfeo'};
-
-% acados linking libraries and flags
-{%- if acados_link_libs and os and os == "pc" %}
-LDFLAGS = [LDFLAGS ' {{ acados_link_libs.openmp }}'];
-COMPFLAGS = [COMPFLAGS ' {{ acados_link_libs.openmp }}'];
-LIBS{end+1} = '{{ acados_link_libs.qpoases }}';
-LIBS{end+1} = '{{ acados_link_libs.hpmpc }}';
-LIBS{end+1} = '{{ acados_link_libs.osqp }}';
-{%- else %}
-    {% if solver_options.qp_solver is containing("QPOASES") %}
-LIBS{end+1} = '-lqpOASES_e';
-    {% endif %}
-    {% if solver_options.qp_solver is containing("DAQP") %}
-LIBS{end+1} = '-ldaqp';
-    {% endif %}
-{%- endif %}
-
-
-try
-    %     mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ...
-    mex('-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ...
-            LIB_PATH, LIBS{:}, SOURCES{:}, ...
-            '-output', 'acados_solver_sfunction_{{ model.name }}' );
-catch exception
-    disp('make_sfun failed with the following exception:')
-    disp(exception);
-    disp('Try adding -v to the mex command above to get more information.')
-    keyboard
-end
-
-fprintf( [ '\n\nSuccessfully created sfunction:\nacados_solver_sfunction_{{ model.name }}', '.', ...
-    eval('mexext')] );
-
-
-%% print note on usage of s-function, and create I/O port names vectors
-fprintf('\n\nNote: Usage of Sfunction is as follows:\n')
-input_note = 'Inputs are:\n';
-i_in = 1;
-
-global sfun_input_names
-sfun_input_names = {};
-
-{%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%}  {#- lbx_0 #}
-input_note = strcat(input_note, num2str(i_in), ') lbx_0 - lower bound on x for stage 0,',...
-                    ' size [{{ dims.nbx_0 }}]\n ');
-sfun_input_names = [sfun_input_names; 'lbx_0 [{{ dims.nbx_0 }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%}  {#- ubx_0 #}
-input_note = strcat(input_note, num2str(i_in), ') ubx_0 - upper bound on x for stage 0,',...
-                    ' size [{{ dims.nbx_0 }}]\n ');
-sfun_input_names = [sfun_input_names; 'ubx_0 [{{ dims.nbx_0 }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
-input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N,',...
-                    ' size [{{ (dims.N+1)*dims.np }}]\n ');
-sfun_input_names = [sfun_input_names; 'parameter_traj [{{ (dims.N+1)*dims.np }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %}
-input_note = strcat(input_note, num2str(i_in), ') y_ref_0, size [{{ dims.ny_0 }}]\n ');
-sfun_input_names = [sfun_input_names; 'y_ref_0 [{{ dims.ny_0 }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %}
-input_note = strcat(input_note, num2str(i_in), ') y_ref - concatenated for shooting nodes 1 to N-1,',...
-                    ' size [{{ (dims.N-1) * dims.ny }}]\n ');
-sfun_input_names = [sfun_input_names; 'y_ref [{{ (dims.N-1) * dims.ny }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %}
-input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [{{ dims.ny_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'y_ref_e [{{ dims.ny_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%}  {#- lbx #}
-input_note = strcat(input_note, num2str(i_in), ') lbx for shooting nodes 1 to N-1, size [{{ (dims.N-1) * dims.nbx }}]\n ');
-sfun_input_names = [sfun_input_names; 'lbx [{{ (dims.N-1) * dims.nbx }}]'];
-i_in = i_in + 1;
-{%- endif %}
-{%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%}  {#- ubx #}
-input_note = strcat(input_note, num2str(i_in), ') ubx for shooting nodes 1 to N-1, size [{{ (dims.N-1) * dims.nbx }}]\n ');
-sfun_input_names = [sfun_input_names; 'ubx [{{ (dims.N-1) * dims.nbx }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-
-{%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%}  {#- lbx_e #}
-input_note = strcat(input_note, num2str(i_in), ') lbx_e (lbx at shooting node N), size [{{ dims.nbx_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'lbx_e [{{ dims.nbx_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-{%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%}  {#- ubx_e #}
-input_note = strcat(input_note, num2str(i_in), ') ubx_e (ubx at shooting node N), size [{{ dims.nbx_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'ubx_e [{{ dims.nbx_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%}  {#- lbu #}
-input_note = strcat(input_note, num2str(i_in), ') lbu for shooting nodes 0 to N-1, size [{{ dims.N*dims.nbu }}]\n ');
-sfun_input_names = [sfun_input_names; 'lbu [{{ dims.N*dims.nbu }}]'];
-i_in = i_in + 1;
-{%- endif -%}
-{%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%}  {#- ubu #}
-input_note = strcat(input_note, num2str(i_in), ') ubu for shooting nodes 0 to N-1, size [{{ dims.N*dims.nbu }}]\n ');
-sfun_input_names = [sfun_input_names; 'ubu [{{ dims.N*dims.nbu }}]'];
-i_in = i_in + 1;
-{%- endif -%}
-
-{%- if dims.ng > 0 and simulink_opts.inputs.lg -%}  {#- lg #}
-input_note = strcat(input_note, num2str(i_in), ') lg for shooting nodes 0 to N-1, size [{{ dims.N*dims.ng }}]\n ');
-sfun_input_names = [sfun_input_names; 'lg [{{ dims.N*dims.ng }}]'];
-i_in = i_in + 1;
-{%- endif %}
-{%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
-input_note = strcat(input_note, num2str(i_in), ') ug for shooting nodes 0 to N-1, size [{{ dims.N*dims.ng }}]\n ');
-sfun_input_names = [sfun_input_names; 'ug [{{ dims.N*dims.ng }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
-input_note = strcat(input_note, num2str(i_in), ') lh for shooting nodes 0 to N-1, size [{{ dims.N*dims.nh }}]\n ');
-sfun_input_names = [sfun_input_names; 'lh [{{ dims.N*dims.nh }}]'];
-i_in = i_in + 1;
-{%- endif %}
-{%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
-input_note = strcat(input_note, num2str(i_in), ') uh for shooting nodes 0 to N-1, size [{{ dims.N*dims.nh }}]\n ');
-sfun_input_names = [sfun_input_names; 'uh [{{ dims.N*dims.nh }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%}  {#- lh_e #}
-input_note = strcat(input_note, num2str(i_in), ') lh_e, size [{{ dims.nh_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'lh_e [{{ dims.nh_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-{%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%}  {#- uh_e #}
-input_note = strcat(input_note, num2str(i_in), ') uh_e, size [{{ dims.nh_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'uh_e [{{ dims.nh_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
-input_note = strcat(input_note, num2str(i_in), ') cost_W_0 in column-major format, size [{{ dims.ny_0 * dims.ny_0 }}]\n ');
-sfun_input_names = [sfun_input_names; 'cost_W_0 [{{ dims.ny_0 * dims.ny_0 }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
-input_note = strcat(input_note, num2str(i_in), ') cost_W in column-major format, that is set for all intermediate shooting nodes: 1 to N-1, size [{{ dims.ny * dims.ny }}]\n ');
-sfun_input_names = [sfun_input_names; 'cost_W [{{ dims.ny * dims.ny }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
-input_note = strcat(input_note, num2str(i_in), ') cost_W_e in column-major format, size [{{ dims.ny_e * dims.ny_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'cost_W_e [{{ dims.ny_e * dims.ny_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if simulink_opts.inputs.reset_solver %}  {#- reset_solver #}
-input_note = strcat(input_note, num2str(i_in), ') reset_solver determines if iterate is set to all zeros before other initializations (x_init, u_init) are set and before solver is called, size [1]\n ');
-sfun_input_names = [sfun_input_names; 'reset_solver [1]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if simulink_opts.inputs.x_init %}  {#- x_init #}
-input_note = strcat(input_note, num2str(i_in), ') initialization of x for all shooting nodes, size [{{ dims.nx * (dims.N+1) }}]\n ');
-sfun_input_names = [sfun_input_names; 'x_init [{{ dims.nx * (dims.N+1) }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if simulink_opts.inputs.u_init %}  {#- u_init #}
-input_note = strcat(input_note, num2str(i_in), ') initialization of u for shooting nodes 0 to N-1, size [{{ dims.nu * (dims.N) }}]\n ');
-sfun_input_names = [sfun_input_names; 'u_init [{{ dims.nu * (dims.N) }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-fprintf(input_note)
-
-disp(' ')
-
-output_note = 'Outputs are:\n';
-i_out = 0;
-
-global sfun_output_names
-sfun_output_names = {};
-
-{%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') u0, control input at node 0, size [{{ dims.nu }}]\n ');
-sfun_output_names = [sfun_output_names; 'u0 [{{ dims.nu }}]'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.utraj == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') utraj, control input concatenated for nodes 0 to N-1, size [{{ dims.nu * dims.N }}]\n ');
-sfun_output_names = [sfun_output_names; 'utraj [{{ dims.nu * dims.N }}]'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.xtraj == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') xtraj, state concatenated for nodes 0 to N, size [{{ dims.nx * (dims.N + 1) }}]\n ');
-sfun_output_names = [sfun_output_names; 'xtraj [{{ dims.nx * (dims.N + 1) }}]'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.solver_status == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') acados solver status (0 = SUCCESS)\n ');
-sfun_output_names = [sfun_output_names; 'solver_status'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.cost_value == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') cost function value\n ');
-sfun_output_names = [sfun_output_names; 'cost_value'];
-{%- endif %}
-
-
-{%- if simulink_opts.outputs.KKT_residual == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') KKT residual\n ');
-sfun_output_names = [sfun_output_names; 'KKT_residual'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.KKT_residuals == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') KKT residuals, size [4] (stat, eq, ineq, comp)\n ');
-sfun_output_names = [sfun_output_names; 'KKT_residuals [4]'];
-{%- endif %}
-
-{%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') x1, state at node 1\n ');
-sfun_output_names = [sfun_output_names; 'x1'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.CPU_time == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') CPU time\n ');
-sfun_output_names = [sfun_output_names; 'CPU_time'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.CPU_time_sim == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') CPU time integrator\n ');
-sfun_output_names = [sfun_output_names; 'CPU_time_sim'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.CPU_time_qp == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') CPU time QP solution\n ');
-sfun_output_names = [sfun_output_names; 'CPU_time_qp'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.CPU_time_lin == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') CPU time linearization (including integrator)\n ');
-sfun_output_names = [sfun_output_names; 'CPU_time_lin'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.sqp_iter == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n ');
-sfun_output_names = [sfun_output_names; 'sqp_iter'];
-{%- endif %}
-
-fprintf(output_note)
-
-% The mask drawing command is:
-% ---
-% global sfun_input_names sfun_output_names
-% for i = 1:length(sfun_input_names)
-% 	port_label('input', i, sfun_input_names{i})
-% end
-% for i = 1:length(sfun_output_names)
-% 	port_label('output', i, sfun_output_names{i})
-% end
-% ---
-% It can be used by copying it in sfunction/Mask/Edit mask/Icon drawing commands
-%   (you can access it wirth ctrl+M on the s-function)
\ No newline at end of file
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m
deleted file mode 100644
index e4c32a8c19a9d2..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m
+++ /dev/null
@@ -1,137 +0,0 @@
-%
-% Copyright (c) The acados authors.
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-
-%
-
-SOURCES = [ 'acados_sim_solver_sfunction_{{ model.name }}.c ', ...
-            'acados_sim_solver_{{ model.name }}.c ', ...
-            {%- if  solver_options.integrator_type == 'ERK' %}
-            '{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c ',...
-            '{{ model.name }}_model/{{ model.name }}_expl_vde_forw.c ',...
-            '{{ model.name }}_model/{{ model.name }}_expl_vde_adj.c ',...
-                {%- if solver_options.hessian_approx == 'EXACT' %}
-            '{{ model.name }}_model/{{ model.name }}_expl_ode_hess.c ',...
-                {%- endif %}
-            {%- elif solver_options.integrator_type == "IRK" %}
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c ', ...
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c ', ...
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c ', ...
-                {%- if solver_options.hessian_approx == 'EXACT' %}
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c ',...
-                {%- endif %}
-            {%- elif solver_options.integrator_type == "GNSF" %}
-                {%- if model.gnsf.purely_linear != 1 %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c ',...
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c ',...
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c ',...
-                {%- if model.gnsf.nontrivial_f_LO == 1 %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c ',...
-                {%- endif %}
-                {%- endif %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c ',...
-            {%- endif %}
-          ];
-
-INC_PATH = '{{ acados_include_path }}';
-
-INCS = [ ' -I', fullfile(INC_PATH, 'blasfeo', 'include'), ...
-         ' -I', fullfile(INC_PATH, 'hpipm', 'include'), ...
-        ' -I', INC_PATH, ' -I', fullfile(INC_PATH, 'acados'), ' '];
-
-CFLAGS  = ' -O';
-
-LIB_PATH = '{{ acados_lib_path }}';
-
-LIBS = '-lacados -lblasfeo -lhpipm';
-
-try
-    % eval( [ 'mex -v -output  acados_sim_solver_sfunction_{{ model.name }} ', ...
-    eval( [ 'mex -output  acados_sim_solver_sfunction_{{ model.name }} ', ...
-        CFLAGS, INCS, ' ', SOURCES, ' -L', LIB_PATH, ' ', LIBS ]);
-
-catch exception
-    disp('make_sfun failed with the following exception:')
-    disp(exception);
-    disp('Try adding -v to the mex command above to get more information.')
-    keyboard
-end
-
-
-fprintf( [ '\n\nSuccessfully created sfunction:\nacados_sim_solver_sfunction_{{ model.name }}', '.', ...
-    eval('mexext')] );
-
-
-global sfun_sim_input_names
-sfun_sim_input_names = {};
-
-%% print note on usage of s-function
-fprintf('\n\nNote: Usage of Sfunction is as follows:\n')
-input_note = 'Inputs are:\n1) x0, initial state, size [{{ dims.nx }}]\n ';
-i_in = 2;
-sfun_sim_input_names = [sfun_sim_input_names; 'x0 [{{ dims.nx }}]'];
-
-{%- if dims.nu > 0 %}
-input_note = strcat(input_note, num2str(i_in), ') u, size [{{ dims.nu }}]\n ');
-i_in = i_in + 1;
-sfun_sim_input_names = [sfun_sim_input_names; 'u [{{ dims.nu }}]'];
-{%- endif %}
-
-{%- if dims.np > 0 %}
-input_note = strcat(input_note, num2str(i_in), ') parameters, size [{{ dims.np }}]\n ');
-i_in = i_in + 1;
-sfun_sim_input_names = [sfun_sim_input_names; 'p [{{ dims.np }}]'];
-{%- endif %}
-
-
-fprintf(input_note)
-
-disp(' ')
-
-global sfun_sim_output_names
-sfun_sim_output_names = {};
-
-output_note = strcat('Outputs are:\n', ...
-                '1) x1 - simulated state, size [{{ dims.nx }}]\n');
-sfun_sim_output_names = [sfun_sim_output_names; 'x1 [{{ dims.nx }}]'];
-
-fprintf(output_note)
-
-
-% The mask drawing command is:
-% ---
-% global sfun_sim_input_names sfun_sim_output_names
-% for i = 1:length(sfun_sim_input_names)
-% 	port_label('input', i, sfun_sim_input_names{i})
-% end
-% for i = 1:length(sfun_sim_output_names)
-% 	port_label('output', i, sfun_sim_output_names{i})
-% end
-% ---
-% It can be used by copying it in sfunction/Mask/Edit mask/Icon drawing commands
-%   (you can access it wirth ctrl+M on the s-function)
\ No newline at end of file
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m
deleted file mode 100644
index 374321283099bd..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m
+++ /dev/null
@@ -1,270 +0,0 @@
-%
-% Copyright (c) The acados authors.
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-
-%
-
-classdef {{ model.name }}_mex_solver < handle
-
-    properties
-        C_ocp
-        C_ocp_ext_fun
-        cost_ext_fun_type
-        cost_ext_fun_type_e
-        N
-        name
-        code_gen_dir
-    end % properties
-
-
-
-    methods
-
-        % constructor
-        function obj = {{ model.name }}_mex_solver()
-            make_mex_{{ model.name }}();
-            [obj.C_ocp, obj.C_ocp_ext_fun] = acados_mex_create_{{ model.name }}();
-            % to have path to destructor when changing directory
-            addpath('.')
-            obj.cost_ext_fun_type = '{{ cost.cost_ext_fun_type }}';
-            obj.cost_ext_fun_type_e = '{{ cost.cost_ext_fun_type_e }}';
-            obj.N = {{ dims.N }};
-            obj.name = '{{ model.name }}';
-            obj.code_gen_dir = pwd();
-        end
-
-        % destructor
-        function delete(obj)
-            disp("delete template...");
-            return_dir = pwd();
-            cd(obj.code_gen_dir);
-            if ~isempty(obj.C_ocp)
-                acados_mex_free_{{ model.name }}(obj.C_ocp);
-            end
-            cd(return_dir);
-            disp("done.");
-        end
-
-        % solve
-        function solve(obj)
-            acados_mex_solve_{{ model.name }}(obj.C_ocp);
-        end
-
-        % set -- borrowed from MEX interface
-        function set(varargin)
-            obj = varargin{1};
-            field = varargin{2};
-            value = varargin{3};
-            if ~isa(field, 'char')
-                error('field must be a char vector, use '' ''');
-            end
-            if nargin==3
-                acados_mex_set_{{ model.name }}(obj.cost_ext_fun_type, obj.cost_ext_fun_type_e, obj.C_ocp, obj.C_ocp_ext_fun, field, value);
-            elseif nargin==4
-                stage = varargin{4};
-                acados_mex_set_{{ model.name }}(obj.cost_ext_fun_type, obj.cost_ext_fun_type_e, obj.C_ocp, obj.C_ocp_ext_fun, field, value, stage);
-            else
-                disp('acados_ocp.set: wrong number of input arguments (2 or 3 allowed)');
-            end
-        end
-
-        function value = get_cost(obj)
-            value = ocp_get_cost(obj.C_ocp);
-        end
-
-        % get -- borrowed from MEX interface
-        function value = get(varargin)
-            % usage:
-            % obj.get(field, value, [stage])
-            obj = varargin{1};
-            field = varargin{2};
-            if any(strfind('sens', field))
-                error('field sens* (sensitivities of optimal solution) not yet supported for templated MEX.')
-            end
-            if ~isa(field, 'char')
-                error('field must be a char vector, use '' ''');
-            end
-
-            if nargin==2
-                value = ocp_get(obj.C_ocp, field);
-            elseif nargin==3
-                stage = varargin{3};
-                value = ocp_get(obj.C_ocp, field, stage);
-            else
-                disp('acados_ocp.get: wrong number of input arguments (1 or 2 allowed)');
-            end
-        end
-
-
-        function [] = store_iterate(varargin)
-            %%%  Stores the current iterate of the ocp solver in a json file.
-            %%% param1: filename: if not set, use model_name + timestamp + '.json'
-            %%% param2: overwrite: if false and filename exists add timestamp to filename
-
-            obj = varargin{1};
-            filename = '';
-            overwrite = false;
-
-            if nargin>=2
-                filename = varargin{2};
-                if ~isa(filename, 'char')
-                    error('filename must be a char vector, use '' ''');
-                end
-            end
-
-            if nargin==3
-                overwrite = varargin{3};
-            end
-
-            if nargin > 3
-                disp('acados_ocp.get: wrong number of input arguments (1 or 2 allowed)');
-            end
-
-            if strcmp(filename,'')
-                filename = [obj.name '_iterate.json'];
-            end
-            if ~overwrite
-                % append timestamp
-                if exist(filename, 'file')
-                    filename = filename(1:end-5);
-                    filename = [filename '_' datestr(now,'yyyy-mm-dd-HH:MM:SS') '.json'];
-                end
-            end
-            filename = fullfile(pwd, filename);
-
-            % get iterate:
-            solution = struct();
-            for i=0:obj.N
-                solution.(['x_' num2str(i)]) = obj.get('x', i);
-                solution.(['lam_' num2str(i)]) = obj.get('lam', i);
-                solution.(['t_' num2str(i)]) = obj.get('t', i);
-                solution.(['sl_' num2str(i)]) = obj.get('sl', i);
-                solution.(['su_' num2str(i)]) = obj.get('su', i);
-            end
-            for i=0:obj.N-1
-                solution.(['z_' num2str(i)]) = obj.get('z', i);
-                solution.(['u_' num2str(i)]) = obj.get('u', i);
-                solution.(['pi_' num2str(i)]) = obj.get('pi', i);
-            end
-
-            acados_folder = getenv('ACADOS_INSTALL_DIR');
-            addpath(fullfile(acados_folder, 'external', 'jsonlab'));
-            savejson('', solution, filename);
-
-            json_string = savejson('', solution, 'ForceRootName', 0);
-
-            fid = fopen(filename, 'w');
-            if fid == -1, error('store_iterate: Cannot create JSON file'); end
-            fwrite(fid, json_string, 'char');
-            fclose(fid);
-
-            disp(['stored current iterate in ' filename]);
-        end
-
-
-        function [] = load_iterate(obj, filename)
-            %%%  Loads the iterate stored in json file with filename into the ocp solver.
-            acados_folder = getenv('ACADOS_INSTALL_DIR');
-            addpath(fullfile(acados_folder, 'external', 'jsonlab'));
-            filename = fullfile(pwd, filename);
-
-            if ~exist(filename, 'file')
-                error(['load_iterate: failed, file does not exist: ' filename])
-            end
-
-            solution = loadjson(filename);
-            keys = fieldnames(solution);
-
-            for k = 1:numel(keys)
-                key = keys{k};
-                key_parts = strsplit(key, '_');
-                field = key_parts{1};
-                stage = key_parts{2};
-
-                val = solution.(key);
-
-                % check if array is empty (can happen for z)
-                if numel(val) > 0
-                    obj.set(field, val, str2num(stage))
-                end
-            end
-        end
-
-
-        % print
-        function print(varargin)
-            if nargin < 2
-                field = 'stat';
-            else
-                field = varargin{2};
-            end
-
-            obj = varargin{1};
-
-            if strcmp(field, 'stat')
-                stat = obj.get('stat');
-                {%- if solver_options.nlp_solver_type == "SQP" %}
-                fprintf('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha');
-                if size(stat,2)>8
-                    fprintf('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp');
-                end
-                fprintf('\n');
-                for jj=1:size(stat,1)
-                    fprintf('%d\t%e\t%e\t%e\t%e\t%d\t%d\t%e', stat(jj,1), stat(jj,2), stat(jj,3), stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7), stat(jj, 8));
-                    if size(stat,2)>8
-                        fprintf('\t%e\t%e\t%e\t%e', stat(jj,9), stat(jj,10), stat(jj,11), stat(jj,12));
-                    end
-                    fprintf('\n');
-                end
-                fprintf('\n');
-                {%- else %}
-                fprintf('\niter\tqp_status\tqp_iter');
-                if size(stat,2)>3
-                    fprintf('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp');
-                end
-                fprintf('\n');
-                for jj=1:size(stat,1)
-                    fprintf('%d\t%d\t\t%d', stat(jj,1), stat(jj,2), stat(jj,3));
-                    if size(stat,2)>3
-                        fprintf('\t%e\t%e\t%e\t%e', stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7));
-                    end
-                    fprintf('\n');
-                end
-                {% endif %}
-
-            else
-                fprintf('unsupported field in function print of acados_ocp.print, got %s', field);
-                keyboard
-            end
-
-        end
-
-    end % methods
-
-end % class
-
diff --git a/third_party/acados/acados_template/c_templates_tera/model.in.h b/third_party/acados/acados_template/c_templates_tera/model.in.h
deleted file mode 100644
index e5059df9ffa90b..00000000000000
--- a/third_party/acados/acados_template/c_templates_tera/model.in.h
+++ /dev/null
@@ -1,218 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#ifndef {{ model.name }}_MODEL
-#define {{ model.name }}_MODEL
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-{%- if solver_options.hessian_approx %}
-	{%- set hessian_approx = solver_options.hessian_approx %}
-{%- elif solver_options.sens_hess %}
-	{%- set hessian_approx = "EXACT" %}
-{%- else %}
-	{%- set hessian_approx = "GAUSS_NEWTON" %}
-{%- endif %}
-
-{% if solver_options.integrator_type == "IRK" or solver_options.integrator_type == "LIFTED_IRK" %}
-  {% if model.dyn_ext_fun_type == "casadi" %}
-// implicit ODE: function
-int {{ model.name }}_impl_dae_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_impl_dae_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_impl_dae_fun_sparsity_in(int);
-const int *{{ model.name }}_impl_dae_fun_sparsity_out(int);
-int {{ model.name }}_impl_dae_fun_n_in(void);
-int {{ model.name }}_impl_dae_fun_n_out(void);
-
-// implicit ODE: function + jacobians
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_work(int *, int *, int *, int *);
-const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in(int);
-const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out(int);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in(void);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out(void);
-
-// implicit ODE: jacobians only
-int {{ model.name }}_impl_dae_jac_x_xdot_u_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_impl_dae_jac_x_xdot_u_z_work(int *, int *, int *, int *);
-const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in(int);
-const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out(int);
-int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in(void);
-int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out(void);
-
-// implicit ODE - for lifted_irk
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_u(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_work(int *, int *, int *, int *);
-const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_in(int);
-const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_out(int);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_in(void);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_out(void);
-
-	{%- if hessian_approx == "EXACT" %}
-// implicit ODE - hessian
-int {{ model.name }}_impl_dae_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_impl_dae_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_impl_dae_hess_sparsity_in(int);
-const int *{{ model.name }}_impl_dae_hess_sparsity_out(int);
-int {{ model.name }}_impl_dae_hess_n_in(void);
-int {{ model.name }}_impl_dae_hess_n_out(void);
-	{% endif %}
-  {% else %}{# ext_fun_type #}
-    {%- if hessian_approx == "EXACT" %}
-int {{ model.dyn_impl_dae_hess }}(void **, void **, void *);
-    {% endif %}
-int {{ model.dyn_impl_dae_fun_jac }}(void **, void **, void *);
-int {{ model.dyn_impl_dae_jac }}(void **, void **, void *);
-int {{ model.dyn_impl_dae_fun }}(void **, void **, void *);
-  {% endif %}{# ext_fun_type #}
-
-{% elif solver_options.integrator_type == "GNSF" %}
-/* GNSF Functions */
-	{% if model.gnsf.purely_linear != 1 %}
-// phi_fun
-int        {{ model.name }}_gnsf_phi_fun(const double** arg, double** res, int* iw, double* w, void *mem);
-int        {{ model.name }}_gnsf_phi_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_gnsf_phi_fun_sparsity_in(int);
-const int *{{ model.name }}_gnsf_phi_fun_sparsity_out(int);
-int        {{ model.name }}_gnsf_phi_fun_n_in(void);
-int        {{ model.name }}_gnsf_phi_fun_n_out(void);
-
-// phi_fun_jac_y
-int        {{ model.name }}_gnsf_phi_fun_jac_y(const double** arg, double** res, int* iw, double* w, void *mem);
-int        {{ model.name }}_gnsf_phi_fun_jac_y_work(int *, int *, int *, int *);
-const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in(int);
-const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out(int);
-int        {{ model.name }}_gnsf_phi_fun_jac_y_n_in(void);
-int        {{ model.name }}_gnsf_phi_fun_jac_y_n_out(void);
-
-// phi_jac_y_uhat
-int        {{ model.name }}_gnsf_phi_jac_y_uhat(const double** arg, double** res, int* iw, double* w, void *mem);
-int        {{ model.name }}_gnsf_phi_jac_y_uhat_work(int *, int *, int *, int *);
-const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in(int);
-const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out(int);
-int        {{ model.name }}_gnsf_phi_jac_y_uhat_n_in(void);
-int        {{ model.name }}_gnsf_phi_jac_y_uhat_n_out(void);
-	{% if model.gnsf.nontrivial_f_LO == 1 %}
-// f_lo_fun_jac_x1k1uz
-int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz(const double** arg, double** res, int* iw, double* w, void *mem);
-int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work(int *, int *, int *, int *);
-const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in(int);
-const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out(int);
-int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in(void);
-int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out(void);
-	{%- endif %}
-	{%- endif %}
-// used to import model matrices
-int        {{ model.name }}_gnsf_get_matrices_fun(const double** arg, double** res, int* iw, double* w, void *mem);
-int        {{ model.name }}_gnsf_get_matrices_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_in(int);
-const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_out(int);
-int        {{ model.name }}_gnsf_get_matrices_fun_n_in(void);
-int        {{ model.name }}_gnsf_get_matrices_fun_n_out(void);
-
-{% elif solver_options.integrator_type == "ERK" %}
-/* explicit ODE */
-
-// explicit ODE
-int {{ model.name }}_expl_ode_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_expl_ode_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_expl_ode_fun_sparsity_in(int);
-const int *{{ model.name }}_expl_ode_fun_sparsity_out(int);
-int {{ model.name }}_expl_ode_fun_n_in(void);
-int {{ model.name }}_expl_ode_fun_n_out(void);
-
-// explicit forward VDE
-int {{ model.name }}_expl_vde_forw(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_expl_vde_forw_work(int *, int *, int *, int *);
-const int *{{ model.name }}_expl_vde_forw_sparsity_in(int);
-const int *{{ model.name }}_expl_vde_forw_sparsity_out(int);
-int {{ model.name }}_expl_vde_forw_n_in(void);
-int {{ model.name }}_expl_vde_forw_n_out(void);
-
-// explicit adjoint VDE
-int {{ model.name }}_expl_vde_adj(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_expl_vde_adj_work(int *, int *, int *, int *);
-const int *{{ model.name }}_expl_vde_adj_sparsity_in(int);
-const int *{{ model.name }}_expl_vde_adj_sparsity_out(int);
-int {{ model.name }}_expl_vde_adj_n_in(void);
-int {{ model.name }}_expl_vde_adj_n_out(void);
-
-{%- if hessian_approx == "EXACT" %}
-int {{ model.name }}_expl_ode_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_expl_ode_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_expl_ode_hess_sparsity_in(int);
-const int *{{ model.name }}_expl_ode_hess_sparsity_out(int);
-int {{ model.name }}_expl_ode_hess_n_in(void);
-int {{ model.name }}_expl_ode_hess_n_out(void);
-{%- endif %}
-
-{% elif solver_options.integrator_type == "DISCRETE" %}
-
-{% if model.dyn_ext_fun_type == "casadi" %}
-int {{ model.name }}_dyn_disc_phi_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_dyn_disc_phi_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_in(int);
-const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_out(int);
-int {{ model.name }}_dyn_disc_phi_fun_n_in(void);
-int {{ model.name }}_dyn_disc_phi_fun_n_out(void);
-
-int {{ model.name }}_dyn_disc_phi_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_dyn_disc_phi_fun_jac_work(int *, int *, int *, int *);
-const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_in(int);
-const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_out(int);
-int {{ model.name }}_dyn_disc_phi_fun_jac_n_in(void);
-int {{ model.name }}_dyn_disc_phi_fun_jac_n_out(void);
-
-{%- if hessian_approx == "EXACT" %}
-int {{ model.name }}_dyn_disc_phi_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_dyn_disc_phi_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_in(void);
-int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_out(void);
-{%- endif %}
-{% else %}
-  {%- if hessian_approx == "EXACT" %}
-int {{ model.dyn_disc_fun_jac_hess }}(void **, void **, void *);
-  {% endif %}
-int {{ model.dyn_disc_fun_jac }}(void **, void **, void *);
-int {{ model.dyn_disc_fun }}(void **, void **, void *);
-{% endif %}
-
-
-{% endif %}
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // {{ model.name }}_MODEL
diff --git a/third_party/acados/acados_template/casadi_function_generation.py b/third_party/acados/acados_template/casadi_function_generation.py
deleted file mode 100644
index 6373a2809dbc6b..00000000000000
--- a/third_party/acados/acados_template/casadi_function_generation.py
+++ /dev/null
@@ -1,708 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import os
-import casadi as ca
-from .utils import is_empty, casadi_length
-
-
-def get_casadi_symbol(x):
-    if isinstance(x, ca.MX):
-        return ca.MX.sym
-    elif isinstance(x, ca.SX):
-        return ca.SX.sym
-    else:
-        raise TypeError("Expected casadi SX or MX.")
-
-################
-# Dynamics
-################
-
-
-def generate_c_code_discrete_dynamics( model, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    # load model
-    x = model.x
-    u = model.u
-    p = model.p
-    phi = model.disc_dyn_expr
-    model_name = model.name
-    nx = casadi_length(x)
-
-    symbol = get_casadi_symbol(x)
-    # assume nx1 = nx !!!
-    lam = symbol('lam', nx, 1)
-
-    # generate jacobians
-    ux = ca.vertcat(u,x)
-    jac_ux = ca.jacobian(phi, ux)
-    # generate adjoint
-    adj_ux = ca.jtimes(phi, ux, lam, True)
-    # generate hessian
-    hess_ux = ca.jacobian(adj_ux, ux)
-
-    # change directory
-    cwd = os.getcwd()
-    model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model'))
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-    os.chdir(model_dir)
-
-    # set up & generate ca.Functions
-    fun_name = model_name + '_dyn_disc_phi_fun'
-    phi_fun = ca.Function(fun_name, [x, u, p], [phi])
-    phi_fun.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_dyn_disc_phi_fun_jac'
-    phi_fun_jac_ut_xt = ca.Function(fun_name, [x, u, p], [phi, jac_ux.T])
-    phi_fun_jac_ut_xt.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_dyn_disc_phi_fun_jac_hess'
-    phi_fun_jac_ut_xt_hess = ca.Function(fun_name, [x, u, lam, p], [phi, jac_ux.T, hess_ux])
-    phi_fun_jac_ut_xt_hess.generate(fun_name, casadi_codegen_opts)
-
-    os.chdir(cwd)
-    return
-
-
-
-def generate_c_code_explicit_ode( model, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    generate_hess = opts["generate_hess"]
-
-    # load model
-    x = model.x
-    u = model.u
-    p = model.p
-    f_expl = model.f_expl_expr
-    model_name = model.name
-
-    ## get model dimensions
-    nx = x.size()[0]
-    nu = u.size()[0]
-
-    symbol = get_casadi_symbol(x)
-
-    ## set up functions to be exported
-    Sx = symbol('Sx', nx, nx)
-    Sp = symbol('Sp', nx, nu)
-    lambdaX = symbol('lambdaX', nx, 1)
-
-    fun_name = model_name + '_expl_ode_fun'
-
-    ## Set up functions
-    expl_ode_fun = ca.Function(fun_name, [x, u, p], [f_expl])
-
-    vdeX = ca.jtimes(f_expl,x,Sx)
-    vdeP = ca.jacobian(f_expl,u) + ca.jtimes(f_expl,x,Sp)
-
-    fun_name = model_name + '_expl_vde_forw'
-
-    expl_vde_forw = ca.Function(fun_name, [x, Sx, Sp, u, p], [f_expl, vdeX, vdeP])
-
-    adj = ca.jtimes(f_expl, ca.vertcat(x, u), lambdaX, True)
-
-    fun_name = model_name + '_expl_vde_adj'
-    expl_vde_adj = ca.Function(fun_name, [x, lambdaX, u, p], [adj])
-
-    if generate_hess:
-        S_forw = ca.vertcat(ca.horzcat(Sx, Sp), ca.horzcat(ca.DM.zeros(nu,nx), ca.DM.eye(nu)))
-        hess = ca.mtimes(ca.transpose(S_forw),ca.jtimes(adj, ca.vertcat(x,u), S_forw))
-        hess2 = []
-        for j in range(nx+nu):
-            for i in range(j,nx+nu):
-                hess2 = ca.vertcat(hess2, hess[i,j])
-
-        fun_name = model_name + '_expl_ode_hess'
-        expl_ode_hess = ca.Function(fun_name, [x, Sx, Sp, lambdaX, u, p], [adj, hess2])
-
-    # change directory
-    cwd = os.getcwd()
-    model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model'))
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-    os.chdir(model_dir)
-
-    # generate C code
-    fun_name = model_name + '_expl_ode_fun'
-    expl_ode_fun.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_expl_vde_forw'
-    expl_vde_forw.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_expl_vde_adj'
-    expl_vde_adj.generate(fun_name, casadi_codegen_opts)
-
-    if generate_hess:
-        fun_name = model_name + '_expl_ode_hess'
-        expl_ode_hess.generate(fun_name, casadi_codegen_opts)
-    os.chdir(cwd)
-
-    return
-
-
-def generate_c_code_implicit_ode( model, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    # load model
-    x = model.x
-    xdot = model.xdot
-    u = model.u
-    z = model.z
-    p = model.p
-    f_impl = model.f_impl_expr
-    model_name = model.name
-
-    # get model dimensions
-    nx = casadi_length(x)
-    nz = casadi_length(z)
-
-    # generate jacobians
-    jac_x       = ca.jacobian(f_impl, x)
-    jac_xdot    = ca.jacobian(f_impl, xdot)
-    jac_u       = ca.jacobian(f_impl, u)
-    jac_z       = ca.jacobian(f_impl, z)
-
-    # Set up functions
-    p = model.p
-    fun_name = model_name + '_impl_dae_fun'
-    impl_dae_fun = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl])
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z'
-    impl_dae_fun_jac_x_xdot_z = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_z])
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z'
-    impl_dae_fun_jac_x_xdot_u_z = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u, jac_z])
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u'
-    impl_dae_fun_jac_x_xdot_u = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u])
-
-    fun_name = model_name + '_impl_dae_jac_x_xdot_u_z'
-    impl_dae_jac_x_xdot_u_z = ca.Function(fun_name, [x, xdot, u, z, p], [jac_x, jac_xdot, jac_u, jac_z])
-
-    if opts["generate_hess"]:
-        x_xdot_z_u = ca.vertcat(x, xdot, z, u)
-        symbol = get_casadi_symbol(x)
-        multiplier = symbol('multiplier', nx + nz)
-        ADJ = ca.jtimes(f_impl, x_xdot_z_u, multiplier, True)
-        HESS = ca.jacobian(ADJ, x_xdot_z_u)
-        fun_name = model_name + '_impl_dae_hess'
-        impl_dae_hess = ca.Function(fun_name, [x, xdot, u, z, multiplier, p], [HESS])
-
-    # change directory
-    cwd = os.getcwd()
-    model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model'))
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-    os.chdir(model_dir)
-
-    # generate C code
-    fun_name = model_name + '_impl_dae_fun'
-    impl_dae_fun.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z'
-    impl_dae_fun_jac_x_xdot_z.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_impl_dae_jac_x_xdot_u_z'
-    impl_dae_jac_x_xdot_u_z.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z'
-    impl_dae_fun_jac_x_xdot_u_z.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u'
-    impl_dae_fun_jac_x_xdot_u.generate(fun_name, casadi_codegen_opts)
-
-    if opts["generate_hess"]:
-        fun_name = model_name + '_impl_dae_hess'
-        impl_dae_hess.generate(fun_name, casadi_codegen_opts)
-
-    os.chdir(cwd)
-    return
-
-
-def generate_c_code_gnsf( model, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    model_name = model.name
-
-    # set up directory
-    cwd = os.getcwd()
-    model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model'))
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-    os.chdir(model_dir)
-
-    # obtain gnsf dimensions
-    get_matrices_fun = model.get_matrices_fun
-    phi_fun = model.phi_fun
-
-    size_gnsf_A = get_matrices_fun.size_out(0)
-    gnsf_nx1 = size_gnsf_A[1]
-    gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1]
-    gnsf_nuhat = max(phi_fun.size_in(1))
-    gnsf_ny = max(phi_fun.size_in(0))
-    gnsf_nout = max(phi_fun.size_out(0))
-
-    # set up expressions
-    # if the model uses ca.MX because of cost/constraints
-    # the DAE can be exported as ca.SX -> detect GNSF in Matlab
-    # -> evaluated ca.SX GNSF functions with ca.MX.
-    u = model.u
-    symbol = get_casadi_symbol(u)
-
-    y = symbol("y", gnsf_ny, 1)
-    uhat = symbol("uhat", gnsf_nuhat, 1)
-    p = model.p
-    x1 = symbol("gnsf_x1", gnsf_nx1, 1)
-    x1dot = symbol("gnsf_x1dot", gnsf_nx1, 1)
-    z1 = symbol("gnsf_z1", gnsf_nz1, 1)
-    dummy = symbol("gnsf_dummy", 1, 1)
-    empty_var = symbol("gnsf_empty_var", 0, 0)
-
-    ## generate C code
-    fun_name = model_name + '_gnsf_phi_fun'
-    phi_fun_ = ca.Function(fun_name, [y, uhat, p], [phi_fun(y, uhat, p)])
-    phi_fun_.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_gnsf_phi_fun_jac_y'
-    phi_fun_jac_y = model.phi_fun_jac_y
-    phi_fun_jac_y_ = ca.Function(fun_name, [y, uhat, p], phi_fun_jac_y(y, uhat, p))
-    phi_fun_jac_y_.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_gnsf_phi_jac_y_uhat'
-    phi_jac_y_uhat = model.phi_jac_y_uhat
-    phi_jac_y_uhat_ = ca.Function(fun_name, [y, uhat, p], phi_jac_y_uhat(y, uhat, p))
-    phi_jac_y_uhat_.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_gnsf_f_lo_fun_jac_x1k1uz'
-    f_lo_fun_jac_x1k1uz = model.f_lo_fun_jac_x1k1uz
-    f_lo_fun_jac_x1k1uz_eval = f_lo_fun_jac_x1k1uz(x1, x1dot, z1, u, p)
-
-    # avoid codegeneration issue
-    if not isinstance(f_lo_fun_jac_x1k1uz_eval, tuple) and is_empty(f_lo_fun_jac_x1k1uz_eval):
-        f_lo_fun_jac_x1k1uz_eval = [empty_var]
-
-    f_lo_fun_jac_x1k1uz_ = ca.Function(fun_name, [x1, x1dot, z1, u, p],
-                 f_lo_fun_jac_x1k1uz_eval)
-    f_lo_fun_jac_x1k1uz_.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_gnsf_get_matrices_fun'
-    get_matrices_fun_ = ca.Function(fun_name, [dummy], get_matrices_fun(1))
-    get_matrices_fun_.generate(fun_name, casadi_codegen_opts)
-
-    # remove fields for json dump
-    del model.phi_fun
-    del model.phi_fun_jac_y
-    del model.phi_jac_y_uhat
-    del model.f_lo_fun_jac_x1k1uz
-    del model.get_matrices_fun
-
-    os.chdir(cwd)
-
-    return
-
-
-################
-# Cost
-################
-
-def generate_c_code_external_cost(model, stage_type, opts):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    x = model.x
-    p = model.p
-    u = model.u
-    z = model.z
-    symbol = get_casadi_symbol(x)
-
-    if stage_type == 'terminal':
-        suffix_name = "_cost_ext_cost_e_fun"
-        suffix_name_hess = "_cost_ext_cost_e_fun_jac_hess"
-        suffix_name_jac = "_cost_ext_cost_e_fun_jac"
-        ext_cost = model.cost_expr_ext_cost_e
-        custom_hess = model.cost_expr_ext_cost_custom_hess_e
-        # Last stage cannot depend on u and z
-        u = symbol("u", 0, 0)
-        z = symbol("z", 0, 0)
-
-    elif stage_type == 'path':
-        suffix_name = "_cost_ext_cost_fun"
-        suffix_name_hess = "_cost_ext_cost_fun_jac_hess"
-        suffix_name_jac = "_cost_ext_cost_fun_jac"
-        ext_cost = model.cost_expr_ext_cost
-        custom_hess = model.cost_expr_ext_cost_custom_hess
-
-    elif stage_type == 'initial':
-        suffix_name = "_cost_ext_cost_0_fun"
-        suffix_name_hess = "_cost_ext_cost_0_fun_jac_hess"
-        suffix_name_jac = "_cost_ext_cost_0_fun_jac"
-        ext_cost = model.cost_expr_ext_cost_0
-        custom_hess = model.cost_expr_ext_cost_custom_hess_0
-
-    nunx = x.shape[0] + u.shape[0]
-
-    # set up functions to be exported
-    fun_name = model.name + suffix_name
-    fun_name_hess = model.name + suffix_name_hess
-    fun_name_jac = model.name + suffix_name_jac
-
-    # generate expression for full gradient and Hessian
-    hess_uxz, grad_uxz = ca.hessian(ext_cost, ca.vertcat(u, x, z))
-
-    hess_ux = hess_uxz[:nunx, :nunx]
-    hess_z = hess_uxz[nunx:, nunx:]
-    hess_z_ux = hess_uxz[nunx:, :nunx]
-
-    if custom_hess is not None:
-        hess_ux = custom_hess
-
-    ext_cost_fun = ca.Function(fun_name, [x, u, z, p], [ext_cost])
-
-    ext_cost_fun_jac_hess = ca.Function(
-        fun_name_hess, [x, u, z, p], [ext_cost, grad_uxz, hess_ux, hess_z, hess_z_ux]
-    )
-    ext_cost_fun_jac = ca.Function(
-        fun_name_jac, [x, u, z, p], [ext_cost, grad_uxz]
-    )
-
-    # change directory
-    cwd = os.getcwd()
-    cost_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_cost'))
-    if not os.path.exists(cost_dir):
-        os.makedirs(cost_dir)
-    os.chdir(cost_dir)
-
-    ext_cost_fun.generate(fun_name, casadi_codegen_opts)
-    ext_cost_fun_jac_hess.generate(fun_name_hess, casadi_codegen_opts)
-    ext_cost_fun_jac.generate(fun_name_jac, casadi_codegen_opts)
-
-    os.chdir(cwd)
-    return
-
-
-def generate_c_code_nls_cost( model, cost_name, stage_type, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    x = model.x
-    z = model.z
-    p = model.p
-    u = model.u
-
-    symbol = get_casadi_symbol(x)
-
-    if stage_type == 'terminal':
-        middle_name = '_cost_y_e'
-        u = symbol('u', 0, 0)
-        y_expr = model.cost_y_expr_e
-
-    elif stage_type == 'initial':
-        middle_name = '_cost_y_0'
-        y_expr = model.cost_y_expr_0
-
-    elif stage_type == 'path':
-        middle_name = '_cost_y'
-        y_expr = model.cost_y_expr
-
-    # change directory
-    cwd = os.getcwd()
-    cost_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_cost'))
-    if not os.path.exists(cost_dir):
-        os.makedirs(cost_dir)
-    os.chdir(cost_dir)
-
-    # set up expressions
-    cost_jac_expr = ca.transpose(ca.jacobian(y_expr, ca.vertcat(u, x)))
-    dy_dz = ca.jacobian(y_expr, z)
-    ny = casadi_length(y_expr)
-
-    y = symbol('y', ny, 1)
-
-    y_adj = ca.jtimes(y_expr, ca.vertcat(u, x), y, True)
-    y_hess = ca.jacobian(y_adj, ca.vertcat(u, x))
-
-    ## generate C code
-    suffix_name = '_fun'
-    fun_name = cost_name + middle_name + suffix_name
-    y_fun = ca.Function( fun_name, [x, u, z, p], [ y_expr ])
-    y_fun.generate( fun_name, casadi_codegen_opts )
-
-    suffix_name = '_fun_jac_ut_xt'
-    fun_name = cost_name + middle_name + suffix_name
-    y_fun_jac_ut_xt = ca.Function(fun_name, [x, u, z, p], [ y_expr, cost_jac_expr, dy_dz ])
-    y_fun_jac_ut_xt.generate( fun_name, casadi_codegen_opts )
-
-    suffix_name = '_hess'
-    fun_name = cost_name + middle_name + suffix_name
-    y_hess = ca.Function(fun_name, [x, u, z, y, p], [ y_hess ])
-    y_hess.generate( fun_name, casadi_codegen_opts )
-
-    os.chdir(cwd)
-
-    return
-
-
-
-def generate_c_code_conl_cost(model, cost_name, stage_type, opts):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    x = model.x
-    z = model.z
-    p = model.p
-
-    symbol = get_casadi_symbol(x)
-
-    if stage_type == 'terminal':
-        u = symbol('u', 0, 0)
-
-        yref = model.cost_r_in_psi_expr_e
-        inner_expr = model.cost_y_expr_e - yref
-        outer_expr = model.cost_psi_expr_e
-        res_expr = model.cost_r_in_psi_expr_e
-
-        suffix_name_fun = '_conl_cost_e_fun'
-        suffix_name_fun_jac_hess = '_conl_cost_e_fun_jac_hess'
-
-        custom_hess = model.cost_conl_custom_outer_hess_e
-
-    elif stage_type == 'initial':
-        u = model.u
-
-        yref = model.cost_r_in_psi_expr_0
-        inner_expr = model.cost_y_expr_0 - yref
-        outer_expr = model.cost_psi_expr_0
-        res_expr = model.cost_r_in_psi_expr_0
-
-        suffix_name_fun = '_conl_cost_0_fun'
-        suffix_name_fun_jac_hess = '_conl_cost_0_fun_jac_hess'
-
-        custom_hess = model.cost_conl_custom_outer_hess_0
-
-    elif stage_type == 'path':
-        u = model.u
-
-        yref = model.cost_r_in_psi_expr
-        inner_expr = model.cost_y_expr - yref
-        outer_expr = model.cost_psi_expr
-        res_expr = model.cost_r_in_psi_expr
-
-        suffix_name_fun = '_conl_cost_fun'
-        suffix_name_fun_jac_hess = '_conl_cost_fun_jac_hess'
-
-        custom_hess = model.cost_conl_custom_outer_hess
-
-    # set up function names
-    fun_name_cost_fun = model.name + suffix_name_fun
-    fun_name_cost_fun_jac_hess = model.name + suffix_name_fun_jac_hess
-
-    # set up functions to be exported
-    outer_loss_fun = ca.Function('psi', [res_expr, p], [outer_expr])
-    cost_expr = outer_loss_fun(inner_expr, p)
-
-    outer_loss_grad_fun = ca.Function('outer_loss_grad', [res_expr, p], [ca.jacobian(outer_expr, res_expr).T])
-
-    if custom_hess is None:
-        outer_hess_fun = ca.Function('inner_hess', [res_expr, p], [ca.hessian(outer_loss_fun(res_expr, p), res_expr)[0]])
-    else:
-        outer_hess_fun = ca.Function('inner_hess', [res_expr, p], [custom_hess])
-
-    Jt_ux_expr = ca.jacobian(inner_expr, ca.vertcat(u, x)).T
-    Jt_z_expr = ca.jacobian(inner_expr, z).T
-
-    cost_fun = ca.Function(
-        fun_name_cost_fun,
-        [x, u, z, yref, p],
-        [cost_expr])
-
-    cost_fun_jac_hess = ca.Function(
-        fun_name_cost_fun_jac_hess,
-        [x, u, z, yref, p],
-        [cost_expr, outer_loss_grad_fun(inner_expr, p), Jt_ux_expr, Jt_z_expr, outer_hess_fun(inner_expr, p)]
-    )
-    # change directory
-    cwd = os.getcwd()
-    cost_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_cost'))
-    if not os.path.exists(cost_dir):
-        os.makedirs(cost_dir)
-    os.chdir(cost_dir)
-
-    # generate C code
-    cost_fun.generate(fun_name_cost_fun, casadi_codegen_opts)
-    cost_fun_jac_hess.generate(fun_name_cost_fun_jac_hess, casadi_codegen_opts)
-
-    os.chdir(cwd)
-
-    return
-
-
-################
-# Constraints
-################
-def generate_c_code_constraint( model, con_name, is_terminal, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    # load constraint variables and expression
-    x = model.x
-    p = model.p
-
-    symbol = get_casadi_symbol(x)
-
-    if is_terminal:
-        con_h_expr = model.con_h_expr_e
-        con_phi_expr = model.con_phi_expr_e
-        # create dummy u, z
-        u = symbol('u', 0, 0)
-        z = symbol('z', 0, 0)
-    else:
-        con_h_expr = model.con_h_expr
-        con_phi_expr = model.con_phi_expr
-        u = model.u
-        z = model.z
-
-    if (not is_empty(con_h_expr)) and (not is_empty(con_phi_expr)):
-        raise Exception("acados: you can either have constraint_h, or constraint_phi, not both.")
-
-    if (is_empty(con_h_expr) and is_empty(con_phi_expr)):
-        # both empty -> nothing to generate
-        return
-
-    if is_empty(con_h_expr):
-        constr_type = 'BGP'
-    else:
-        constr_type = 'BGH'
-
-    if is_empty(p):
-        p = symbol('p', 0, 0)
-
-    if is_empty(z):
-        z = symbol('z', 0, 0)
-
-    if not (is_empty(con_h_expr)) and opts['generate_hess']:
-        # multipliers for hessian
-        nh = casadi_length(con_h_expr)
-        lam_h = symbol('lam_h', nh, 1)
-
-    # set up & change directory
-    cwd = os.getcwd()
-    constraints_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_constraints'))
-    if not os.path.exists(constraints_dir):
-        os.makedirs(constraints_dir)
-    os.chdir(constraints_dir)
-
-    # export casadi functions
-    if constr_type == 'BGH':
-        if is_terminal:
-            fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt'
-        else:
-            fun_name = con_name + '_constr_h_fun_jac_uxt_zt'
-
-        jac_ux_t = ca.transpose(ca.jacobian(con_h_expr, ca.vertcat(u,x)))
-        jac_z_t = ca.jacobian(con_h_expr, z)
-        constraint_fun_jac_tran = ca.Function(fun_name, [x, u, z, p], \
-                [con_h_expr, jac_ux_t, jac_z_t])
-
-        constraint_fun_jac_tran.generate(fun_name, casadi_codegen_opts)
-        if opts['generate_hess']:
-
-            if is_terminal:
-                fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt_hess'
-            else:
-                fun_name = con_name + '_constr_h_fun_jac_uxt_zt_hess'
-
-            # adjoint
-            adj_ux = ca.jtimes(con_h_expr, ca.vertcat(u, x), lam_h, True)
-            # hessian
-            hess_ux = ca.jacobian(adj_ux, ca.vertcat(u, x))
-
-            adj_z = ca.jtimes(con_h_expr, z, lam_h, True)
-            hess_z = ca.jacobian(adj_z, z)
-
-            # set up functions
-            constraint_fun_jac_tran_hess = \
-                ca.Function(fun_name, [x, u, lam_h, z, p], \
-                    [con_h_expr, jac_ux_t, hess_ux, jac_z_t, hess_z])
-
-            # generate C code
-            constraint_fun_jac_tran_hess.generate(fun_name, casadi_codegen_opts)
-
-        if is_terminal:
-            fun_name = con_name + '_constr_h_e_fun'
-        else:
-            fun_name = con_name + '_constr_h_fun'
-        h_fun = ca.Function(fun_name, [x, u, z, p], [con_h_expr])
-        h_fun.generate(fun_name, casadi_codegen_opts)
-
-    else: # BGP constraint
-        if is_terminal:
-            fun_name = con_name + '_phi_e_constraint'
-            r = model.con_r_in_phi_e
-            con_r_expr = model.con_r_expr_e
-        else:
-            fun_name = con_name + '_phi_constraint'
-            r = model.con_r_in_phi
-            con_r_expr = model.con_r_expr
-
-        nphi = casadi_length(con_phi_expr)
-        con_phi_expr_x_u_z = ca.substitute(con_phi_expr, r, con_r_expr)
-        phi_jac_u = ca.jacobian(con_phi_expr_x_u_z, u)
-        phi_jac_x = ca.jacobian(con_phi_expr_x_u_z, x)
-        phi_jac_z = ca.jacobian(con_phi_expr_x_u_z, z)
-
-        hess = ca.hessian(con_phi_expr[0], r)[0]
-        for i in range(1, nphi):
-            hess = ca.vertcat(hess, ca.hessian(con_phi_expr[i], r)[0])
-
-        r_jac_u = ca.jacobian(con_r_expr, u)
-        r_jac_x = ca.jacobian(con_r_expr, x)
-
-        constraint_phi = \
-            ca.Function(fun_name, [x, u, z, p], \
-                [con_phi_expr_x_u_z, \
-                ca.vertcat(ca.transpose(phi_jac_u), ca.transpose(phi_jac_x)), \
-                ca.transpose(phi_jac_z), \
-                hess,
-                ca.vertcat(ca.transpose(r_jac_u), ca.transpose(r_jac_x))])
-
-        constraint_phi.generate(fun_name, casadi_codegen_opts)
-
-    # change directory back
-    os.chdir(cwd)
-
-    return
-
diff --git a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c b/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c
deleted file mode 100644
index b39ff2e23baf15..00000000000000
--- a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c
+++ /dev/null
@@ -1,819 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-// This is a template based custom_update function
-#include <stdlib.h>
-#include <stdio.h>
-#include <assert.h>
-#include <math.h>
-
-#include "custom_update_function.h"
-#include "acados_solver_{{ model.name }}.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados/utils/mem.h"
-
-#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
-#include "blasfeo/include/blasfeo_d_blasfeo_api.h"
-
-
-typedef struct custom_memory
-{
-    // covariance matrics
-    struct blasfeo_dmat *uncertainty_matrix_buffer;      // shape = (N+1, nx, nx)
-    // covariance matrix of the additive disturbance
-    struct blasfeo_dmat W_mat;                           // shape = (nw, nw)
-    struct blasfeo_dmat unc_jac_G_mat;                   // shape = (nx, nw)
-    struct blasfeo_dmat temp_GW_mat;                     // shape = (nx, nw)
-    struct blasfeo_dmat GWG_mat;                         // shape = (nx, nx)
-    // sensitivity matrices
-    struct blasfeo_dmat A_mat;                           // shape = (nx, nx)
-    struct blasfeo_dmat B_mat;                           // shape = (nx, nu)
-    // matrix in linear constraints
-    struct blasfeo_dmat Cg_mat;                          // shape = (ng, nx)
-    struct blasfeo_dmat Dg_mat;                          // shape = (ng, nu)
-    struct blasfeo_dmat Cg_e_mat;                        // shape = (ng_e, nx)
-    struct blasfeo_dmat dummy_Dgh_e_mat;                 // shape = (ngh_e_max, nu)
-    // matrix in nonlinear constraints
-    struct blasfeo_dmat Ch_mat;                          // shape = (nh, nx)
-    struct blasfeo_dmat Dh_mat;                          // shape = (nh, nu)
-    struct blasfeo_dmat Ch_e_mat;                        // shape = (nh_e, nx)
-    // feedback gain matrix
-    struct blasfeo_dmat K_mat;                           // shape = (nu, nx)
-    // AK = A - B@K
-    struct blasfeo_dmat AK_mat;                          // shape = (nx, nx)
-    // A@P_k
-    struct blasfeo_dmat temp_AP_mat;                     // shape = (nx, nx)
-    // K@P_k, K@P_k@K^T
-    struct blasfeo_dmat temp_KP_mat;                     // shape = (nu, nx)
-    struct blasfeo_dmat temp_KPK_mat;                    // shape = (nu, nu)
-    // C + D @ K, (C + D @ K) @ P_k
-    struct blasfeo_dmat temp_CaDK_mat;                   // shape = (ngh_me_max, nx)
-    struct blasfeo_dmat temp_CaDKmP_mat;                 // shape = (ngh_me_max, nx)
-    struct blasfeo_dmat temp_beta_mat;                   // shape = (ngh_me_max, ngh_me_max)
-
-    double *d_A_mat;                                     // shape = (nx, nx)
-    double *d_B_mat;                                     // shape = (nx, nu)
-    double *d_Cg_mat;                                    // shape = (ng, nx)
-    double *d_Dg_mat;                                    // shape = (ng, nu)
-    double *d_Cg_e_mat;                                  // shape = (ng_e, nx)
-    double *d_Cgh_mat;                                   // shape = (ng+nh, nx)
-    double *d_Dgh_mat;                                   // shape = (ng+nh, nu)
-    double *d_Cgh_e_mat;                                 // shape = (ng_e+nh_e, nx)
-    double *d_state_vec;
-    // upper and lower bounds on state variables
-    double *d_lbx;                                       // shape = (nbx,)
-    double *d_ubx;                                       // shape = (nbx,)
-    double *d_lbx_e;                                     // shape = (nbx_e,)
-    double *d_ubx_e;                                     // shape = (nbx_e,)
-    // tightened upper and lower bounds on state variables
-    double *d_lbx_tightened;                             // shape = (nbx,)
-    double *d_ubx_tightened;                             // shape = (nbx,)
-    double *d_lbx_e_tightened;                           // shape = (nbx_e,)
-    double *d_ubx_e_tightened;                           // shape = (nbx_e,)
-    // upper and lower bounds on control inputs
-    double *d_lbu;                                       // shape = (nbu,)
-    double *d_ubu;                                       // shape = (nbu,)
-    // tightened upper and lower bounds on control inputs
-    double *d_lbu_tightened;                             // shape = (nbu,)
-    double *d_ubu_tightened;                             // shape = (nbu,)
-    // upper and lower bounds on polytopic constraints
-    double *d_lg;                                        // shape = (ng,)
-    double *d_ug;                                        // shape = (ng,)
-    double *d_lg_e;                                      // shape = (ng_e,)
-    double *d_ug_e;                                      // shape = (ng_e,)
-    // tightened lower bounds on polytopic constraints
-    double *d_lg_tightened;                              // shape = (ng,)
-    double *d_ug_tightened;                              // shape = (ng,)
-    double *d_lg_e_tightened;                            // shape = (ng_e,)
-    double *d_ug_e_tightened;                            // shape = (ng_e,)
-    // upper and lower bounds on nonlinear constraints
-    double *d_lh;                                        // shape = (nh,)
-    double *d_uh;                                        // shape = (nh,)
-    double *d_lh_e;                                      // shape = (nh_e,)
-    double *d_uh_e;                                      // shape = (nh_e,)
-    // tightened upper and lower bounds on nonlinear constraints
-    double *d_lh_tightened;                              // shape = (nh,)
-    double *d_uh_tightened;                              // shape = (nh,)
-    double *d_lh_e_tightened;                            // shape = (nh_e,)
-    double *d_uh_e_tightened;                            // shape = (nh_e,)
-
-    int *idxbx;                                          // shape = (nbx,)
-    int *idxbu;                                          // shape = (nbu,)
-    int *idxbx_e;                                        // shape = (nbx_e,)
-
-    void *raw_memory; // Pointer to allocated memory, to be used for freeing
-} custom_memory;
-
-static int int_max(int num1, int num2)
-{
-    return (num1 > num2 ) ? num1 : num2;
-}
-
-
-static int custom_memory_calculate_size(ocp_nlp_config *nlp_config, ocp_nlp_dims *nlp_dims)
-{
-    int N = nlp_dims->N;
-    int nx = {{ dims.nx }};
-    int nu = {{ dims.nu }};
-    int nw = {{ zoro_description.nw }};
-
-    int ng = {{ dims.ng }};
-    int nh = {{ dims.nh }};
-    int nbx = {{ dims.nbx }};
-    int nbu = {{ dims.nbu }};
-
-    int ng_e = {{ dims.ng_e }};
-    int nh_e = {{ dims.nh_e }};
-    int ngh_e_max = int_max(ng_e, nh_e);
-    int ngh_me_max = int_max(ngh_e_max, int_max(ng, nh));
-    int nbx_e = {{ dims.nbx_e }};
-
-    assert({{zoro_description.nlbx_t}} <= nbx);
-    assert({{zoro_description.nubx_t}} <= nbx);
-    assert({{zoro_description.nlbu_t}} <= nbu);
-    assert({{zoro_description.nubu_t}} <= nbu);
-    assert({{zoro_description.nlg_t}} <= ng);
-    assert({{zoro_description.nug_t}} <= ng);
-    assert({{zoro_description.nlh_t}} <= nh);
-    assert({{zoro_description.nuh_t}} <= nh);
-    assert({{zoro_description.nlbx_e_t}} <= nbx_e);
-    assert({{zoro_description.nubx_e_t}} <= nbx_e);
-    assert({{zoro_description.nlg_e_t}} <= ng_e);
-    assert({{zoro_description.nug_e_t}} <= ng_e);
-    assert({{zoro_description.nlh_e_t}} <= nh_e);
-    assert({{zoro_description.nuh_e_t}} <= nh_e);
-
-    acados_size_t size = sizeof(custom_memory);
-    size += nbx * sizeof(int);
-    /* blasfeo structs */
-    size += (N + 1) * sizeof(struct blasfeo_dmat);
-    /* blasfeo mem: mat */
-    size += (N + 1) * blasfeo_memsize_dmat(nx, nx); // uncertainty_matrix_buffer
-    size += blasfeo_memsize_dmat(nw, nw);           // W_mat
-    size += 2 * blasfeo_memsize_dmat(nx, nw);       // unc_jac_G_mat, temp_GW_mat
-    size += 4 * blasfeo_memsize_dmat(nx, nx);       // GWG_mat, A_mat, AK_mat, temp_AP_mat
-    size += blasfeo_memsize_dmat(nx, nu);           // B_mat
-    size += 2 * blasfeo_memsize_dmat(nu, nx);       // K_mat, temp_KP_mat
-    size += blasfeo_memsize_dmat(nu, nu);           // temp_KPK_mat
-    size += blasfeo_memsize_dmat(ng, nx);           // Cg_mat
-    size += blasfeo_memsize_dmat(ng, nu);           // Dg_mat
-    size += blasfeo_memsize_dmat(ng_e, nx);         // Cg_e_mat
-    size += blasfeo_memsize_dmat(ngh_e_max, nu);    // dummy_Dgh_e_mat
-    size += blasfeo_memsize_dmat(nh, nx);           // Ch_mat
-    size += blasfeo_memsize_dmat(nh, nu);           // Dh_mat
-    size += blasfeo_memsize_dmat(nh_e, nx);         // Ch_e_mat
-    size += 2 * blasfeo_memsize_dmat(ngh_me_max, nx);           // temp_CaDK_mat, temp_CaDKmP_mat
-    size += blasfeo_memsize_dmat(ngh_me_max, ngh_me_max);       // temp_beta_mat
-    /* blasfeo mem: vec */
-    /* Arrays */
-    size += nx*nx *sizeof(double);                  // d_A_mat
-    size += nx*nu *sizeof(double);                  // d_B_mat
-    size += (ng + ng_e) * nx * sizeof(double);      // d_Cg_mat, d_Cg_e_mat
-    size += (ng) * nu * sizeof(double);             // d_Dg_mat
-    size += (nh + nh_e + ng + ng_e) * nx * sizeof(double);      // d_Cgh_mat, d_Cgh_e_mat
-    size += (nh + ng) * nu * sizeof(double);        // d_Dgh_mat
-    // d_state_vec
-    size += nx *sizeof(double);
-    // constraints and tightened constraints
-    size += 4 * (nbx + nbu + ng + nh)*sizeof(double);
-    size += 4 * (nbx_e + ng_e + nh_e)*sizeof(double);
-    size += (nbx + nbu + nbx_e)*sizeof(int);        // idxbx, idxbu, idxbx_e
-
-    size += 1 * 8; // initial alignment
-    make_int_multiple_of(64, &size);
-    size += 1 * 64;
-
-    return size;
-}
-
-
-static custom_memory *custom_memory_assign(ocp_nlp_config *nlp_config, ocp_nlp_dims *nlp_dims, void *raw_memory)
-{
-    int N = nlp_dims->N;
-    int nx = {{ dims.nx }};
-    int nu = {{ dims.nu }};
-    int nw = {{ zoro_description.nw }};
-
-    int ng = {{ dims.ng }};
-    int nh = {{ dims.nh }};
-    int nbx = {{ dims.nbx }};
-    int nbu = {{ dims.nbu }};
-
-    int ng_e = {{ dims.ng_e }};
-    int nh_e = {{ dims.nh_e }};
-    int ngh_e_max = int_max(ng_e, nh_e);
-    int ngh_me_max = int_max(ngh_e_max, int_max(ng, nh));
-    int nbx_e = {{ dims.nbx_e }};
-
-    char *c_ptr = (char *) raw_memory;
-    custom_memory *mem = (custom_memory *) c_ptr;
-    c_ptr += sizeof(custom_memory);
-
-    align_char_to(8, &c_ptr);
-    assign_and_advance_blasfeo_dmat_structs(N+1, &mem->uncertainty_matrix_buffer, &c_ptr);
-
-    align_char_to(64, &c_ptr);
-
-    for (int ii = 0; ii <= N; ii++)
-    {
-        assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->uncertainty_matrix_buffer[ii], &c_ptr);
-    }
-    // Disturbance Dynamics
-    assign_and_advance_blasfeo_dmat_mem(nw, nw, &mem->W_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nw, &mem->unc_jac_G_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nw, &mem->temp_GW_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->GWG_mat, &c_ptr);
-    // System Dynamics
-    assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->A_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nu, &mem->B_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ng, nx, &mem->Cg_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ng, nu, &mem->Dg_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ng_e, nx, &mem->Cg_e_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ngh_e_max, nu, &mem->dummy_Dgh_e_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nh, nx, &mem->Ch_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nh, nu, &mem->Dh_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nh_e, nx, &mem->Ch_e_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nu, nx, &mem->K_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->AK_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->temp_AP_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nu, nx, &mem->temp_KP_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nu, nu, &mem->temp_KPK_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ngh_me_max, nx, &mem->temp_CaDK_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ngh_me_max, nx, &mem->temp_CaDKmP_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ngh_me_max, ngh_me_max, &mem->temp_beta_mat, &c_ptr);
-
-    assign_and_advance_double(nx*nx, &mem->d_A_mat, &c_ptr);
-    assign_and_advance_double(nx*nu, &mem->d_B_mat, &c_ptr);
-    assign_and_advance_double(ng*nx, &mem->d_Cg_mat, &c_ptr);
-    assign_and_advance_double(ng*nu, &mem->d_Dg_mat, &c_ptr);
-    assign_and_advance_double(ng_e*nx, &mem->d_Cg_e_mat, &c_ptr);
-    assign_and_advance_double((ng + nh)*nx, &mem->d_Cgh_mat, &c_ptr);
-    assign_and_advance_double((ng + nh)*nu, &mem->d_Dgh_mat, &c_ptr);
-    assign_and_advance_double((ng_e + nh_e)*nx, &mem->d_Cgh_e_mat, &c_ptr);
-    assign_and_advance_double(nx, &mem->d_state_vec, &c_ptr);
-    assign_and_advance_double(nbx, &mem->d_lbx, &c_ptr);
-    assign_and_advance_double(nbx, &mem->d_ubx, &c_ptr);
-    assign_and_advance_double(nbx_e, &mem->d_lbx_e, &c_ptr);
-    assign_and_advance_double(nbx_e, &mem->d_ubx_e, &c_ptr);
-    assign_and_advance_double(nbx, &mem->d_lbx_tightened, &c_ptr);
-    assign_and_advance_double(nbx, &mem->d_ubx_tightened, &c_ptr);
-    assign_and_advance_double(nbx_e, &mem->d_lbx_e_tightened, &c_ptr);
-    assign_and_advance_double(nbx_e, &mem->d_ubx_e_tightened, &c_ptr);
-    assign_and_advance_double(nbu, &mem->d_lbu, &c_ptr);
-    assign_and_advance_double(nbu, &mem->d_ubu, &c_ptr);
-    assign_and_advance_double(nbu, &mem->d_lbu_tightened, &c_ptr);
-    assign_and_advance_double(nbu, &mem->d_ubu_tightened, &c_ptr);
-    assign_and_advance_double(ng, &mem->d_lg, &c_ptr);
-    assign_and_advance_double(ng, &mem->d_ug, &c_ptr);
-    assign_and_advance_double(ng_e, &mem->d_lg_e, &c_ptr);
-    assign_and_advance_double(ng_e, &mem->d_ug_e, &c_ptr);
-    assign_and_advance_double(ng, &mem->d_lg_tightened, &c_ptr);
-    assign_and_advance_double(ng, &mem->d_ug_tightened, &c_ptr);
-    assign_and_advance_double(ng_e, &mem->d_lg_e_tightened, &c_ptr);
-    assign_and_advance_double(ng_e, &mem->d_ug_e_tightened, &c_ptr);
-    assign_and_advance_double(nh, &mem->d_lh, &c_ptr);
-    assign_and_advance_double(nh, &mem->d_uh, &c_ptr);
-    assign_and_advance_double(nh_e, &mem->d_lh_e, &c_ptr);
-    assign_and_advance_double(nh_e, &mem->d_uh_e, &c_ptr);
-    assign_and_advance_double(nh, &mem->d_lh_tightened, &c_ptr);
-    assign_and_advance_double(nh, &mem->d_uh_tightened, &c_ptr);
-    assign_and_advance_double(nh_e, &mem->d_lh_e_tightened, &c_ptr);
-    assign_and_advance_double(nh_e, &mem->d_uh_e_tightened, &c_ptr);
-
-    assign_and_advance_int(nbx, &mem->idxbx, &c_ptr);
-    assign_and_advance_int(nbu, &mem->idxbu, &c_ptr);
-    assign_and_advance_int(nbx_e, &mem->idxbx_e, &c_ptr);
-
-    assert((char *) raw_memory + custom_memory_calculate_size(nlp_config, nlp_dims) >= c_ptr);
-    mem->raw_memory = raw_memory;
-
-    return mem;
-}
-
-
-
-static void *custom_memory_create({{ model.name }}_solver_capsule* capsule)
-{
-    printf("\nin custom_memory_create_function\n");
-
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule);
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule);
-    acados_size_t bytes = custom_memory_calculate_size(nlp_config, nlp_dims);
-
-    void *ptr = acados_calloc(1, bytes);
-
-    custom_memory *custom_mem = custom_memory_assign(nlp_config, nlp_dims, ptr);
-    custom_mem->raw_memory = ptr;
-
-    return custom_mem;
-}
-
-
-static void custom_val_init_function(ocp_nlp_dims *nlp_dims, ocp_nlp_in *nlp_in, ocp_nlp_solver *nlp_solver, custom_memory *custom_mem)
-{
-    int N = nlp_dims->N;
-    int nx = {{ dims.nx }};
-    int nu = {{ dims.nu }};
-    int nw = {{ zoro_description.nw }};
-
-    int ng = {{ dims.ng }};
-    int nh = {{ dims.nh }};
-    int nbx = {{ dims.nbx }};
-    int nbu = {{ dims.nbu }};
-
-    int ng_e = {{ dims.ng_e }};
-    int nh_e = {{ dims.nh_e }};
-    int ngh_e_max = int_max(ng_e, nh_e);
-    int nbx_e = {{ dims.nbx_e }};
-
-    /* Get the state constraint bounds */
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "idxbx", custom_mem->idxbx);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "idxbx", custom_mem->idxbx_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbx", custom_mem->d_lbx);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubx", custom_mem->d_ubx);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "idxbu", custom_mem->idxbu);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbu", custom_mem->d_lbu);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubu", custom_mem->d_ubu);
-    // Get the Jacobians and the bounds of the linear constraints
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lg", custom_mem->d_lg);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ug", custom_mem->d_ug);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "C", custom_mem->d_Cg_mat);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "D", custom_mem->d_Dg_mat);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "C", custom_mem->d_Cg_e_mat);
-    blasfeo_pack_dmat(ng, nx, custom_mem->d_Cg_mat, ng, &custom_mem->Cg_mat, 0, 0);
-    blasfeo_pack_dmat(ng, nu, custom_mem->d_Dg_mat, ng, &custom_mem->Dg_mat, 0, 0);
-    blasfeo_pack_dmat(ng_e, nx, custom_mem->d_Cg_e_mat, ng_e, &custom_mem->Cg_e_mat, 0, 0);
-    blasfeo_dgese(ngh_e_max, nu, 0., &custom_mem->dummy_Dgh_e_mat, 0, 0); //fill with zeros
-    // NOTE: fixed lower and upper bounds of nonlinear constraints
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lh", custom_mem->d_lh);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "uh", custom_mem->d_uh);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e);
-
-    /* Initilize tightened constraints*/
-    // NOTE: tightened constraints are only initialized once
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbx", custom_mem->d_lbx_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubx", custom_mem->d_ubx_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbu", custom_mem->d_lbu_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubu", custom_mem->d_ubu_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lg", custom_mem->d_lg_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ug", custom_mem->d_ug_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lh", custom_mem->d_lh_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "uh", custom_mem->d_uh_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e_tightened);
-
-    /* Initialize the W matrix */
-    // blasfeo_dgese(nw, nw, 0., &custom_mem->W_mat, 0, 0);
-{%- for ir in range(end=zoro_description.nw) %}
-    {%- for ic in range(end=zoro_description.nw) %}
-    blasfeo_dgein1({{zoro_description.W_mat[ir][ic]}}, &custom_mem->W_mat, {{ir}}, {{ic}});
-    {%- endfor %}
-{%- endfor %}
-
-{%- for ir in range(end=dims.nx) %}
-    {%- for ic in range(end=zoro_description.nw) %}
-    blasfeo_dgein1({{zoro_description.unc_jac_G_mat[ir][ic]}}, &custom_mem->unc_jac_G_mat, {{ir}}, {{ic}});
-    {%- endfor %}
-{%- endfor %}
-
-    // NOTE: if G is changing this is not in init!
-    // temp_GW_mat = unc_jac_G_mat * W_mat
-    blasfeo_dgemm_nn(nx, nw, nw, 1.0, &custom_mem->unc_jac_G_mat, 0, 0,
-                        &custom_mem->W_mat, 0, 0, 0.0,
-                        &custom_mem->temp_GW_mat, 0, 0, &custom_mem->temp_GW_mat, 0, 0);
-    // GWG_mat = temp_GW_mat * unc_jac_G_mat^T
-    blasfeo_dgemm_nt(nx, nx, nw, 1.0, &custom_mem->temp_GW_mat, 0, 0,
-                        &custom_mem->unc_jac_G_mat, 0, 0, 0.0,
-                        &custom_mem->GWG_mat, 0, 0, &custom_mem->GWG_mat, 0, 0);
-
-    /* Initialize the uncertainty_matrix_buffer[0] */
-{%- for ir in range(end=dims.nx) %}
-    {%- for ic in range(end=dims.nx) %}
-    blasfeo_dgein1({{zoro_description.P0_mat[ir][ic]}}, &custom_mem->uncertainty_matrix_buffer[0], {{ir}}, {{ic}});
-    {%- endfor %}
-{%- endfor %}
-
-    /* Initialize the feedback gain matrix */
-{%- for ir in range(end=dims.nu) %}
-    {%- for ic in range(end=dims.nx) %}
-    blasfeo_dgein1({{zoro_description.fdbk_K_mat[ir][ic]}}, &custom_mem->K_mat, {{ir}}, {{ic}});
-    {%- endfor %}
-{%- endfor %}
-}
-
-
-int custom_update_init_function({{ model.name }}_solver_capsule* capsule)
-{
-    capsule->custom_update_memory = custom_memory_create(capsule);
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule);
-
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule);
-    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(capsule);
-    custom_val_init_function(nlp_dims, nlp_in, nlp_solver, capsule->custom_update_memory);
-    return 1;
-}
-
-static void compute_gh_beta(struct blasfeo_dmat* K_mat, struct blasfeo_dmat* C_mat,
-                         struct blasfeo_dmat* D_mat, struct blasfeo_dmat* CaDK_mat,
-                         struct blasfeo_dmat* CaDKmP_mat, struct blasfeo_dmat* beta_mat,
-                         struct blasfeo_dmat* P_mat,
-                         int n_cstr, int nx, int nu)
-{
-    // (C+DK)@P@(C^T+K^TD^T)
-    // CaDK_mat = C_mat + D_mat @ K_mat
-    blasfeo_dgemm_nn(n_cstr, nx, nu, 1.0, D_mat, 0, 0,
-                        K_mat, 0, 0, 1.0,
-                        C_mat, 0, 0, CaDK_mat, 0, 0);
-    // CaDKmP_mat = CaDK_mat @ P_mat
-    blasfeo_dgemm_nn(n_cstr, nx, nx, 1.0, CaDK_mat, 0, 0,
-                        P_mat, 0, 0, 0.0,
-                        CaDKmP_mat, 0, 0, CaDKmP_mat, 0, 0);
-    // beta_mat = CaDKmP_mat @ CaDK_mat^T
-    blasfeo_dgemm_nt(n_cstr, n_cstr, nx, 1.0, CaDKmP_mat, 0, 0,
-                        CaDK_mat, 0, 0, 0.0,
-                        beta_mat, 0, 0, beta_mat, 0, 0);
-}
-
-static void compute_KPK(struct blasfeo_dmat* K_mat, struct blasfeo_dmat* temp_KP_mat,
-                        struct blasfeo_dmat* temp_KPK_mat, struct blasfeo_dmat* P_mat,
-                        int nx, int nu)
-{
-    // K @ P_k @ K^T
-    // temp_KP_mat = K_mat @ P_mat
-    blasfeo_dgemm_nn(nu, nx, nx, 1.0, K_mat, 0, 0,
-                     P_mat, 0, 0, 0.0,
-                     temp_KP_mat, 0, 0, temp_KP_mat, 0, 0);
-    // temp_KPK_mat = temp_KP_mat @ K_mat^T
-    blasfeo_dgemm_nt(nu, nu, nx, 1.0, temp_KP_mat, 0, 0,
-                     K_mat, 0, 0, 0.0,
-                     temp_KPK_mat, 0, 0, temp_KPK_mat, 0, 0);
-}
-
-static void compute_next_P_matrix(struct blasfeo_dmat* P_mat, struct blasfeo_dmat* P_next_mat,
-                                  struct blasfeo_dmat* A_mat, struct blasfeo_dmat* B_mat,
-                                  struct blasfeo_dmat* K_mat, struct blasfeo_dmat* W_mat,
-                                  struct blasfeo_dmat* AK_mat, struct blasfeo_dmat* temp_AP_mat, int nx, int nu)
-{
-    // AK_mat = -B@K + A
-    blasfeo_dgemm_nn(nx, nx, nu, -1.0, B_mat, 0, 0, K_mat, 0, 0,
-                        1.0, A_mat, 0, 0, AK_mat, 0, 0);
-    // temp_AP_mat = AK_mat @ P_k
-    blasfeo_dgemm_nn(nx, nx, nx, 1.0, AK_mat, 0, 0,
-                        P_mat, 0, 0, 0.0,
-                        temp_AP_mat, 0, 0, temp_AP_mat, 0, 0);
-    // P_{k+1} = temp_AP_mat @ AK_mat^T + GWG_mat
-    blasfeo_dgemm_nt(nx, nx, nx, 1.0, temp_AP_mat, 0, 0,
-                        AK_mat, 0, 0, 1.0,
-                        W_mat, 0, 0, P_next_mat, 0, 0);
-}
-
-static void reset_P0_matrix(ocp_nlp_dims *nlp_dims, struct blasfeo_dmat* P_mat, double* data)
-{
-    int nx = nlp_dims->nx[0];
-    blasfeo_pack_dmat(nx, nx, data, nx, P_mat, 0, 0);
-}
-
-static void uncertainty_propagate_and_update(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out, custom_memory *custom_mem)
-{
-    ocp_nlp_config *nlp_config = solver->config;
-    ocp_nlp_dims *nlp_dims = solver->dims;
-
-    int N = nlp_dims->N;
-    int nx = nlp_dims->nx[0];
-    int nu = nlp_dims->nu[0];
-    int nx_sqr = nx*nx;
-    int nbx = {{ dims.nbx }};
-    int nbu = {{ dims.nbu }};
-    int ng = {{ dims.ng }};
-    int nh = {{ dims.nh }};
-    int ng_e = {{ dims.ng_e }};
-    int nh_e = {{ dims.nh_e }};
-    int nbx_e = {{ dims.nbx_e }};
-    double backoff_scaling_gamma = {{ zoro_description.backoff_scaling_gamma }};
-
-    // First Stage
-    // NOTE: lbx_0 and ubx_0 should not be tightened.
-    // NOTE: lg_0 and ug_0 are not tightened.
-    // NOTE: lh_0 and uh_0 are not tightened.
-{%- if zoro_description.nlbu_t + zoro_description.nubu_t > 0 %}
-    compute_KPK(&custom_mem->K_mat, &custom_mem->temp_KP_mat,
-                &custom_mem->temp_KPK_mat, &(custom_mem->uncertainty_matrix_buffer[0]), nx, nu);
-
-{%- if zoro_description.nlbu_t > 0 %}
-    // backoff lbu
-    {%- for it in zoro_description.idx_lbu_t %}
-    custom_mem->d_lbu_tightened[{{it}}]
-        = custom_mem->d_lbu[{{it}}]
-            + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat,
-                custom_mem->idxbu[{{it}}],custom_mem->idxbu[{{it}}]));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbu", custom_mem->d_lbu_tightened);
-{%- endif %}
-{%- if zoro_description.nubu_t > 0 %}
-    // backoff ubu
-    {%- for it in zoro_description.idx_ubu_t %}
-    custom_mem->d_ubu_tightened[{{it}}]
-        = custom_mem->d_ubu[{{it}}]
-            - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat,
-                custom_mem->idxbu[{{it}}],custom_mem->idxbu[{{it}}]));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubu", custom_mem->d_ubu_tightened);
-{%- endif %}
-{%- endif %}
-    // Middle Stages
-    // constraint tightening: for next stage based on dynamics of ii stage
-    // P[ii+1] = (A-B@K) @ P[ii] @ (A-B@K).T + G@W@G.T
-    for (int ii = 0; ii < N-1; ii++)
-    {
-        // get and pack: A, B
-        ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, ii, "A", custom_mem->d_A_mat);
-        blasfeo_pack_dmat(nx, nx, custom_mem->d_A_mat, nx, &custom_mem->A_mat, 0, 0);
-        ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, ii, "B", custom_mem->d_B_mat);
-        blasfeo_pack_dmat(nx, nu, custom_mem->d_B_mat, nx, &custom_mem->B_mat, 0, 0);
-
-        compute_next_P_matrix(&(custom_mem->uncertainty_matrix_buffer[ii]),
-                              &(custom_mem->uncertainty_matrix_buffer[ii+1]),
-                              &custom_mem->A_mat, &custom_mem->B_mat,
-                              &custom_mem->K_mat, &custom_mem->GWG_mat,
-                              &custom_mem->AK_mat, &custom_mem->temp_AP_mat, nx, nu);
-
-        // state constraints
-{%- if zoro_description.nlbx_t + zoro_description.nubx_t> 0 %}
-    {%- if zoro_description.nlbx_t > 0 %}
-        // lbx
-        {%- for it in zoro_description.idx_lbx_t %}
-        custom_mem->d_lbx_tightened[{{it}}]
-            = custom_mem->d_lbx[{{it}}]
-                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[ii+1],
-                    custom_mem->idxbx[{{it}}],custom_mem->idxbx[{{it}}]));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lbx", custom_mem->d_lbx_tightened);
-    {%- endif %}
-    {% if zoro_description.nubx_t > 0 %}
-        // ubx
-        {%- for it in zoro_description.idx_ubx_t %}
-        custom_mem->d_ubx_tightened[{{it}}] = custom_mem->d_ubx[{{it}}]
-                - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[ii+1],
-                    custom_mem->idxbx[{{it}}],custom_mem->idxbx[{{it}}]));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ubx", custom_mem->d_ubx_tightened);
-    {%- endif %}
-{%- endif %}
-
-{%- if zoro_description.nlbu_t + zoro_description.nubu_t > 0 %}
-        // input constraints
-        compute_KPK(&custom_mem->K_mat, &custom_mem->temp_KP_mat,
-            &custom_mem->temp_KPK_mat, &(custom_mem->uncertainty_matrix_buffer[ii+1]), nx, nu);
-
-    {%- if zoro_description.nlbu_t > 0 %}
-        {%- for it in zoro_description.idx_lbu_t %}
-        custom_mem->d_lbu_tightened[{{it}}] = custom_mem->d_lbu[{{it}}]
-                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat,
-                    custom_mem->idxbu[{{it}}], custom_mem->idxbu[{{it}}]));
-        {%- endfor %}
-
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lbu", custom_mem->d_lbu_tightened);
-    {%- endif %}
-    {%- if zoro_description.nubu_t > 0 %}
-        {%- for it in zoro_description.idx_ubu_t %}
-        custom_mem->d_ubu_tightened[{{it}}] = custom_mem->d_ubu[{{it}}]
-                - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat,
-                    custom_mem->idxbu[{{it}}], custom_mem->idxbu[{{it}}]));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ubu", custom_mem->d_ubu_tightened);
-    {%- endif %}
-{%- endif %}
-
-{%- if zoro_description.nlg_t + zoro_description.nug_t > 0 %}
-        // Linear constraints: g
-        compute_gh_beta(&custom_mem->K_mat, &custom_mem->Cg_mat,
-                     &custom_mem->Dg_mat, &custom_mem->temp_CaDK_mat,
-                     &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat,
-                     &custom_mem->uncertainty_matrix_buffer[ii+1], ng, nx, nu);
-
-    {%- if zoro_description.nlg_t > 0 %}
-        {%- for it in zoro_description.idx_lg_t %}
-        custom_mem->d_lg_tightened[{{it}}]
-            = custom_mem->d_lg[{{it}}]
-                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lg", custom_mem->d_lg_tightened);
-    {%- endif %}
-    {%- if zoro_description.nug_t > 0 %}
-        {%- for it in zoro_description.idx_ug_t %}
-        custom_mem->d_ug_tightened[{{it}}]
-            = custom_mem->d_ug[{{it}}]
-                - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ug", custom_mem->d_ug_tightened);
-    {%- endif %}
-{%- endif %}
-
-
-{%- if zoro_description.nlh_t + zoro_description.nuh_t > 0 %}
-        // nonlinear constraints: h
-        // Get C_{k+1} and D_{k+1}
-        ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, ii+1, "C", custom_mem->d_Cgh_mat);
-        ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, ii+1, "D", custom_mem->d_Dgh_mat);
-        // NOTE: the d_Cgh_mat is column-major, the first ng rows are the Jacobians of the linear constraints
-        blasfeo_pack_dmat(nh, nx, custom_mem->d_Cgh_mat+ng, ng+nh, &custom_mem->Ch_mat, 0, 0);
-        blasfeo_pack_dmat(nh, nu, custom_mem->d_Dgh_mat+ng, ng+nh, &custom_mem->Dh_mat, 0, 0);
-
-        compute_gh_beta(&custom_mem->K_mat, &custom_mem->Ch_mat,
-                     &custom_mem->Dh_mat, &custom_mem->temp_CaDK_mat,
-                     &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat,
-                     &custom_mem->uncertainty_matrix_buffer[ii+1], nh, nx, nu);
-
-    {%- if zoro_description.nlh_t > 0 %}
-        {%- for it in zoro_description.idx_lh_t %}
-        custom_mem->d_lh_tightened[{{it}}]
-            = custom_mem->d_lh[{{it}}]
-                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lh", custom_mem->d_lh_tightened);
-    {%- endif %}
-    {%- if zoro_description.nuh_t > 0 %}
-        {%- for it in zoro_description.idx_uh_t %}
-        custom_mem->d_uh_tightened[{{it}}] = custom_mem->d_uh[{{it}}]
-                        - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "uh", custom_mem->d_uh_tightened);
-    {%- endif %}
-{%- endif %}
-    }
-
-    // Last stage
-    // get and pack: A, B
-    ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, N-1, "A", custom_mem->d_A_mat);
-    blasfeo_pack_dmat(nx, nx, custom_mem->d_A_mat, nx, &custom_mem->A_mat, 0, 0);
-    ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, N-1, "B", custom_mem->d_B_mat);
-    blasfeo_pack_dmat(nx, nu, custom_mem->d_B_mat, nx, &custom_mem->B_mat, 0, 0);
-    // AK_mat = -B*K + A
-    compute_next_P_matrix(&(custom_mem->uncertainty_matrix_buffer[N-1]),
-                        &(custom_mem->uncertainty_matrix_buffer[N]),
-                        &custom_mem->A_mat, &custom_mem->B_mat,
-                        &custom_mem->K_mat, &custom_mem->GWG_mat,
-                        &custom_mem->AK_mat, &custom_mem->temp_AP_mat, nx, nu);
-
-    // state constraints nlbx_e_t
-{%- if zoro_description.nlbx_e_t + zoro_description.nubx_e_t> 0 %}
-{%- if zoro_description.nlbx_e_t > 0 %}
-    // lbx_e
-    {%- for it in zoro_description.idx_lbx_e_t %}
-    custom_mem->d_lbx_e_tightened[{{it}}]
-        = custom_mem->d_lbx_e[{{it}}]
-            + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[N],
-                custom_mem->idxbx_e[{{it}}],custom_mem->idxbx_e[{{it}}]));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e_tightened);
-{%- endif %}
-{% if zoro_description.nubx_e_t > 0 %}
-    // ubx_e
-    {%- for it in zoro_description.idx_ubx_e_t %}
-    custom_mem->d_ubx_e_tightened[{{it}}] = custom_mem->d_ubx_e[{{it}}]
-            - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[N],
-                custom_mem->idxbx_e[{{it}}],custom_mem->idxbx_e[{{it}}]));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e_tightened);
-{%- endif %}
-{%- endif %}
-
-{%- if zoro_description.nlg_e_t + zoro_description.nug_e_t > 0 %}
-    // Linear constraints: g
-    compute_gh_beta(&custom_mem->K_mat, &custom_mem->Cg_mat,
-                    &custom_mem->dummy_Dgh_e_mat, &custom_mem->temp_CaDK_mat,
-                    &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat,
-                    &custom_mem->uncertainty_matrix_buffer[N], ng, nx, nu);
-
-{%- if zoro_description.nlg_e_t > 0 %}
-    {%- for it in zoro_description.idx_lg_e_t %}
-    custom_mem->d_lg_e_tightened[{{it}}]
-        = custom_mem->d_lg_e[{{it}}]
-            + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e_tightened);
-{%- endif %}
-{%- if zoro_description.nug_e_t > 0 %}
-    {%- for it in zoro_description.idx_ug_e_t %}
-    custom_mem->d_ug_e_tightened[{{it}}]
-        = custom_mem->d_ug_e[{{it}}]
-            - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e_tightened);
-{%- endif %}
-{%- endif %}
-
-
-{%- if zoro_description.nlh_e_t + zoro_description.nuh_e_t > 0 %}
-    // nonlinear constraints: h
-    // Get C_{k+1} and D_{k+1}
-    ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, N, "C", custom_mem->d_Cgh_mat);
-    // NOTE: the d_Cgh_mat is column-major, the first ng rows are the Jacobians of the linear constraints
-    blasfeo_pack_dmat(nh, nx, custom_mem->d_Cgh_mat+ng, ng+nh, &custom_mem->Ch_mat, 0, 0);
-
-    compute_gh_beta(&custom_mem->K_mat, &custom_mem->Ch_mat,
-                    &custom_mem->dummy_Dgh_e_mat, &custom_mem->temp_CaDK_mat,
-                    &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat,
-                    &custom_mem->uncertainty_matrix_buffer[N], nh, nx, nu);
-
-    {%- if zoro_description.nlh_e_t > 0 %}
-        {%- for it in zoro_description.idx_lh_e_t %}
-        custom_mem->d_lh_e_tightened[{{it}}]
-            = custom_mem->d_lh_e[{{it}}]
-                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e_tightened);
-    {%- endif %}
-    {%- if zoro_description.nuh_e_t > 0 %}
-        {%- for it in zoro_description.idx_uh_e_t %}
-        custom_mem->d_uh_e_tightened[{{it}}] = custom_mem->d_uh_e[{{it}}]
-                        - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e_tightened);
-    {%- endif %}
-{%- endif %}
-
-}
-
-
-int custom_update_function({{ model.name }}_solver_capsule* capsule, double* data, int data_len)
-{
-    custom_memory *custom_mem = (custom_memory *) capsule->custom_update_memory;
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule);
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule);
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule);
-    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(capsule);
-    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(capsule);
-    void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(capsule);
-
-    if (data_len > 0)
-    {
-        reset_P0_matrix(nlp_dims, &custom_mem->uncertainty_matrix_buffer[0], data);
-    }
-    uncertainty_propagate_and_update(nlp_solver, nlp_in, nlp_out, custom_mem);
-
-    return 1;
-}
-
-
-int custom_update_terminate_function({{ model.name }}_solver_capsule* capsule)
-{
-    custom_memory *mem = capsule->custom_update_memory;
-
-    free(mem->raw_memory);
-    return 1;
-}
-
-// useful prints for debugging
-
-/*
-printf("A_mat:\n");
-blasfeo_print_exp_dmat(nx, nx, &custom_mem->A_mat, 0, 0);
-printf("B_mat:\n");
-blasfeo_print_exp_dmat(nx, nu, &custom_mem->B_mat, 0, 0);
-printf("K_mat:\n");
-blasfeo_print_exp_dmat(nu, nx, &custom_mem->K_mat, 0, 0);
-printf("AK_mat:\n");
-blasfeo_print_exp_dmat(nx, nx, &custom_mem->AK_mat, 0, 0);
-printf("temp_AP_mat:\n");
-blasfeo_print_exp_dmat(nx, nx, &custom_mem->temp_AP_mat, 0, 0);
-printf("W_mat:\n");
-blasfeo_print_exp_dmat(nx, nx, &custom_mem->W_mat, 0, 0);
-printf("P_k+1:\n");
-blasfeo_print_exp_dmat(nx, nx, &(custom_mem->uncertainty_matrix_buffer[ii+1]), 0, 0);*/
\ No newline at end of file
diff --git a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h b/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h
deleted file mode 100644
index 9611ea210c9578..00000000000000
--- a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h
+++ /dev/null
@@ -1,44 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#include "acados_solver_{{ model.name }}.h"
-
-// Called at the end of solver creation.
-// This is allowed to allocate memory and store the pointer to it into capsule->custom_update_memory.
-int custom_update_init_function({{ model.name }}_solver_capsule* capsule);
-
-
-// Custom update function that can be called between solver calls
-int custom_update_function({{ model.name }}_solver_capsule* capsule, double* data, int data_len);
-
-
-// Called just before destroying the solver.
-// Responsible to free allocated memory, stored at capsule->custom_update_memory.
-int custom_update_terminate_function({{ model.name }}_solver_capsule* capsule);
diff --git a/third_party/acados/acados_template/gnsf/__init__.py b/third_party/acados/acados_template/gnsf/__init__.py
deleted file mode 100644
index 8b137891791fe9..00000000000000
--- a/third_party/acados/acados_template/gnsf/__init__.py
+++ /dev/null
@@ -1 +0,0 @@
-
diff --git a/third_party/acados/acados_template/gnsf/check_reformulation.py b/third_party/acados/acados_template/gnsf/check_reformulation.py
deleted file mode 100644
index 2bdfbbc3363a61..00000000000000
--- a/third_party/acados/acados_template/gnsf/check_reformulation.py
+++ /dev/null
@@ -1,216 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-from acados_template.utils import casadi_length
-from casadi import *
-import numpy as np
-
-
-def check_reformulation(model, gnsf, print_info):
-
-    ## Description:
-    # this function takes the implicit ODE/ index-1 DAE and a gnsf structure
-    # to evaluate both models at num_eval random points x0, x0dot, z0, u0
-    # if for all points the relative error is <= TOL, the function will return::
-    # 1, otherwise it will give an error.
-
-    TOL = 1e-14
-    num_eval = 10
-
-    # get dimensions
-    nx = gnsf["nx"]
-    nu = gnsf["nu"]
-    nz = gnsf["nz"]
-    nx1 = gnsf["nx1"]
-    nx2 = gnsf["nx2"]
-    nz1 = gnsf["nz1"]
-    nz2 = gnsf["nz2"]
-    n_out = gnsf["n_out"]
-
-    # get model matrices
-    A = gnsf["A"]
-    B = gnsf["B"]
-    C = gnsf["C"]
-    E = gnsf["E"]
-    c = gnsf["c"]
-
-    L_x = gnsf["L_x"]
-    L_xdot = gnsf["L_xdot"]
-    L_z = gnsf["L_z"]
-    L_u = gnsf["L_u"]
-
-    A_LO = gnsf["A_LO"]
-    E_LO = gnsf["E_LO"]
-    B_LO = gnsf["B_LO"]
-    c_LO = gnsf["c_LO"]
-
-    I_x1 = range(nx1)
-    I_x2 = range(nx1, nx)
-
-    I_z1 = range(nz1)
-    I_z2 = range(nz1, nz)
-
-    idx_perm_f = gnsf["idx_perm_f"]
-
-    # get casadi variables
-    x = gnsf["x"]
-    xdot = gnsf["xdot"]
-    z = gnsf["z"]
-    u = gnsf["u"]
-    y = gnsf["y"]
-    uhat = gnsf["uhat"]
-    p = gnsf["p"]
-
-    # create functions
-    impl_dae_fun = Function("impl_dae_fun", [x, xdot, u, z, p], [model.f_impl_expr])
-    phi_fun = Function("phi_fun", [y, uhat, p], [gnsf["phi_expr"]])
-    f_lo_fun = Function(
-        "f_lo_fun", [x[range(nx1)], xdot[range(nx1)], z, u, p], [gnsf["f_lo_expr"]]
-    )
-
-    # print(gnsf)
-    # print(gnsf["n_out"])
-
-    for i_check in range(num_eval):
-        # generate random values
-        x0 = np.random.rand(nx, 1)
-        x0dot = np.random.rand(nx, 1)
-        z0 = np.random.rand(nz, 1)
-        u0 = np.random.rand(nu, 1)
-
-        if gnsf["ny"] > 0:
-            y0 = L_x @ x0[I_x1] + L_xdot @ x0dot[I_x1] + L_z @ z0[I_z1]
-        else:
-            y0 = []
-        if gnsf["nuhat"] > 0:
-            uhat0 = L_u @ u0
-        else:
-            uhat0 = []
-
-        # eval functions
-        p0 = np.random.rand(gnsf["np"], 1)
-        f_impl_val = impl_dae_fun(x0, x0dot, u0, z0, p0).full()
-        phi_val = phi_fun(y0, uhat0, p0)
-        f_lo_val = f_lo_fun(x0[I_x1], x0dot[I_x1], z0[I_z1], u0, p0)
-
-        f_impl_val = f_impl_val[idx_perm_f]
-        # eval gnsf
-        if n_out > 0:
-            C_phi = C @ phi_val
-        else:
-            C_phi = np.zeros((nx1 + nz1, 1))
-        try:
-            gnsf_val1 = (
-                A @ x0[I_x1] + B @ u0 + C_phi + c - E @ vertcat(x0dot[I_x1], z0[I_z1])
-            )
-            # gnsf_1 = (A @ x[I_x1] + B @ u + C_phi + c - E @ vertcat(xdot[I_x1], z[I_z1]))
-        except:
-            import pdb
-
-            pdb.set_trace()
-
-        if nx2 > 0:  # eval LOS:
-            gnsf_val2 = (
-                A_LO @ x0[I_x2]
-                + B_LO @ u0
-                + c_LO
-                + f_lo_val
-                - E_LO @ vertcat(x0dot[I_x2], z0[I_z2])
-            )
-            gnsf_val = vertcat(gnsf_val1, gnsf_val2).full()
-        else:
-            gnsf_val = gnsf_val1.full()
-        # compute error and check
-        rel_error = np.linalg.norm(f_impl_val - gnsf_val) / np.linalg.norm(f_impl_val)
-
-        if rel_error > TOL:
-            print("transcription failed rel_error > TOL")
-            print("you are in debug mode now: import pdb; pdb.set_trace()")
-            abs_error = gnsf_val - f_impl_val
-            # T = table(f_impl_val, gnsf_val, abs_error)
-            # print(T)
-            print("abs_error:", abs_error)
-            #         error('transcription failed rel_error > TOL')
-            #         check = 0
-            import pdb
-
-            pdb.set_trace()
-    if print_info:
-        print(" ")
-        print("model reformulation checked: relative error <= TOL = ", str(TOL))
-        print(" ")
-        check = 1
-    ## helpful for debugging:
-    # # use in calling function and compare
-    # # compare f_impl(i) with gnsf_val1(i)
-    #
-
-    #     nx  = gnsf['nx']
-    #     nu  = gnsf['nu']
-    #     nz  = gnsf['nz']
-    #     nx1 = gnsf['nx1']
-    #     nx2 = gnsf['nx2']
-    #
-    #         A  = gnsf['A']
-    #     B  = gnsf['B']
-    #     C  = gnsf['C']
-    #     E  = gnsf['E']
-    #     c  = gnsf['c']
-    #
-    #     L_x    = gnsf['L_x']
-    #     L_z    = gnsf['L_z']
-    #     L_xdot = gnsf['L_xdot']
-    #     L_u    = gnsf['L_u']
-    #
-    #     A_LO = gnsf['A_LO']
-    #
-    #     x0 = rand(nx, 1)
-    #     x0dot = rand(nx, 1)
-    #     z0 = rand(nz, 1)
-    #     u0 = rand(nu, 1)
-    #     I_x1 = range(nx1)
-    #     I_x2 = nx1+range(nx)
-    #
-    #     y0 = L_x @ x0[I_x1] + L_xdot @ x0dot[I_x1] + L_z @ z0
-    #     uhat0 = L_u @ u0
-    #
-    #     gnsf_val1 = (A @ x[I_x1] + B @ u + #         C @ phi_current + c) - E @ [xdot[I_x1] z]
-    #     gnsf_val1 = gnsf_val1.simplify()
-    #
-    # #     gnsf_val2 = A_LO @ x[I_x2] + gnsf['f_lo_fun'](x[I_x1], xdot[I_x1], z, u) - xdot[I_x2]
-    #     gnsf_val2 =  A_LO @ x[I_x2] + gnsf['f_lo_fun'](x[I_x1], xdot[I_x1], z, u) - xdot[I_x2]
-    #
-    #
-    #     gnsf_val = [gnsf_val1 gnsf_val2]
-    #     gnsf_val = gnsf_val.simplify()
-    #     dyn_expr_f = dyn_expr_f.simplify()
-    # import pdb; pdb.set_trace()
-
-    return check
diff --git a/third_party/acados/acados_template/gnsf/detect_affine_terms_reduce_nonlinearity.py b/third_party/acados/acados_template/gnsf/detect_affine_terms_reduce_nonlinearity.py
deleted file mode 100644
index ebf1f373a44665..00000000000000
--- a/third_party/acados/acados_template/gnsf/detect_affine_terms_reduce_nonlinearity.py
+++ /dev/null
@@ -1,278 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-from casadi import *
-from .check_reformulation import check_reformulation
-from .determine_input_nonlinearity_function import determine_input_nonlinearity_function
-from ..utils import casadi_length, print_casadi_expression
-
-
-def detect_affine_terms_reduce_nonlinearity(gnsf, acados_ocp, print_info):
-
-    ## Description
-    # this function takes a gnsf structure with trivial model matrices (A, B,
-    # E, c are zeros, and C is eye).
-    # It detects all affine linear terms and sets up an equivalent model in the
-    # GNSF structure, where all affine linear terms are modeled through the
-    # matrices A, B, E, c and the linear output system (LOS) is empty.
-    # NOTE: model is just taken as an argument to check equivalence of the
-    # models within the function.
-
-    model = acados_ocp.model
-    if print_info:
-        print(" ")
-        print("====================================================================")
-        print(" ")
-        print("============  Detect affine-linear dependencies   ==================")
-        print(" ")
-        print("====================================================================")
-        print(" ")
-    # symbolics
-    x = gnsf["x"]
-    xdot = gnsf["xdot"]
-    u = gnsf["u"]
-    z = gnsf["z"]
-
-    # dimensions
-    nx = gnsf["nx"]
-    nu = gnsf["nu"]
-    nz = gnsf["nz"]
-
-    ny_old = gnsf["ny"]
-    nuhat_old = gnsf["nuhat"]
-
-    ## Represent all affine dependencies through the model matrices A, B, E, c
-    ## determine A
-    n_nodes_current = n_nodes(gnsf["phi_expr"])
-
-    for ii in range(casadi_length(gnsf["phi_expr"])):
-        fii = gnsf["phi_expr"][ii]
-        for ix in range(nx):
-            var = x[ix]
-            varname = var.name
-            # symbolic jacobian of fii w.r.t. xi
-            jac_fii_xi = jacobian(fii, var)
-            if jac_fii_xi.is_constant():
-                # jacobian value
-                jac_fii_xi_fun = Function("jac_fii_xi_fun", [x[1]], [jac_fii_xi])
-                # x[1] as input just to have a scalar input and call the function as follows:
-                gnsf["A"][ii, ix] = jac_fii_xi_fun(0).full()
-            else:
-                gnsf["A"][ii, ix] = 0
-                if print_info:
-                    print(
-                        "phi(",
-                        str(ii),
-                        ") is nonlinear in x(",
-                        str(ix),
-                        ") = ",
-                        varname,
-                    )
-                    print(fii)
-                    print("-----------------------------------------------------")
-    f_next = gnsf["phi_expr"] - gnsf["A"] @ x
-    f_next = simplify(f_next)
-    n_nodes_next = n_nodes(f_next)
-
-    if print_info:
-        print("\n")
-        print(f"determined matrix A:")
-        print(gnsf["A"])
-        print(f"reduced nonlinearity from  {n_nodes_current} to {n_nodes_next} nodes")
-    # assert(n_nodes_current >= n_nodes_next,'n_nodes_current >= n_nodes_next FAILED')
-    gnsf["phi_expr"] = f_next
-
-    check_reformulation(model, gnsf, print_info)
-
-    ## determine B
-    n_nodes_current = n_nodes(gnsf["phi_expr"])
-
-    for ii in range(casadi_length(gnsf["phi_expr"])):
-        fii = gnsf["phi_expr"][ii]
-        for iu in range(nu):
-            var = u[iu]
-            varname = var.name
-            # symbolic jacobian of fii w.r.t. ui
-            jac_fii_ui = jacobian(fii, var)
-            if jac_fii_ui.is_constant():  # i.e. hessian is structural zero:
-                # jacobian value
-                jac_fii_ui_fun = Function("jac_fii_ui_fun", [x[1]], [jac_fii_ui])
-                gnsf["B"][ii, iu] = jac_fii_ui_fun(0).full()
-            else:
-                gnsf["B"][ii, iu] = 0
-                if print_info:
-                    print(f"phi({ii}) is nonlinear in u(", str(iu), ") = ", varname)
-                    print(fii)
-                    print("-----------------------------------------------------")
-    f_next = gnsf["phi_expr"] - gnsf["B"] @ u
-    f_next = simplify(f_next)
-    n_nodes_next = n_nodes(f_next)
-
-    if print_info:
-        print("\n")
-        print(f"determined matrix B:")
-        print(gnsf["B"])
-        print(f"reduced nonlinearity from  {n_nodes_current} to {n_nodes_next} nodes")
-
-    gnsf["phi_expr"] = f_next
-
-    check_reformulation(model, gnsf, print_info)
-
-    ## determine E
-    n_nodes_current = n_nodes(gnsf["phi_expr"])
-    k = vertcat(xdot, z)
-
-    for ii in range(casadi_length(gnsf["phi_expr"])):
-        fii = gnsf["phi_expr"][ii]
-        for ik in range(casadi_length(k)):
-            # symbolic jacobian of fii w.r.t. ui
-            var = k[ik]
-            varname = var.name
-            jac_fii_ki = jacobian(fii, var)
-            if jac_fii_ki.is_constant():
-                # jacobian value
-                jac_fii_ki_fun = Function("jac_fii_ki_fun", [x[1]], [jac_fii_ki])
-                gnsf["E"][ii, ik] = -jac_fii_ki_fun(0).full()
-            else:
-                gnsf["E"][ii, ik] = 0
-                if print_info:
-                    print(f"phi( {ii}) is nonlinear in xdot_z({ik}) = ", varname)
-                    print(fii)
-                    print("-----------------------------------------------------")
-    f_next = gnsf["phi_expr"] + gnsf["E"] @ k
-    f_next = simplify(f_next)
-    n_nodes_next = n_nodes(f_next)
-
-    if print_info:
-        print("\n")
-        print(f"determined matrix E:")
-        print(gnsf["E"])
-        print(f"reduced nonlinearity from {n_nodes_current} to {n_nodes_next} nodes")
-
-    gnsf["phi_expr"] = f_next
-    check_reformulation(model, gnsf, print_info)
-
-    ## determine constant term c
-
-    n_nodes_current = n_nodes(gnsf["phi_expr"])
-    for ii in range(casadi_length(gnsf["phi_expr"])):
-        fii = gnsf["phi_expr"][ii]
-        if fii.is_constant():
-            # function value goes into c
-            fii_fun = Function("fii_fun", [x[1]], [fii])
-            gnsf["c"][ii] = fii_fun(0).full()
-        else:
-            gnsf["c"][ii] = 0
-            if print_info:
-                print(f"phi(", str(ii), ") is NOT constant")
-                print(fii)
-                print("-----------------------------------------------------")
-    gnsf["phi_expr"] = gnsf["phi_expr"] - gnsf["c"]
-    gnsf["phi_expr"] = simplify(gnsf["phi_expr"])
-    n_nodes_next = n_nodes(gnsf["phi_expr"])
-
-    if print_info:
-        print("\n")
-        print(f"determined vector c:")
-        print(gnsf["c"])
-        print(f"reduced nonlinearity from {n_nodes_current} to {n_nodes_next} nodes")
-
-    check_reformulation(model, gnsf, print_info)
-
-    ## determine nonlinearity & corresponding matrix C
-    ## Reduce dimension of phi
-    n_nodes_current = n_nodes(gnsf["phi_expr"])
-    ind_non_zero = []
-    for ii in range(casadi_length(gnsf["phi_expr"])):
-        fii = gnsf["phi_expr"][ii]
-        fii = simplify(fii)
-        if not fii.is_zero():
-            ind_non_zero = list(set.union(set(ind_non_zero), set([ii])))
-    gnsf["phi_expr"] = gnsf["phi_expr"][ind_non_zero]
-
-    # C
-    gnsf["C"] = np.zeros((nx + nz, len(ind_non_zero)))
-    for ii in range(len(ind_non_zero)):
-        gnsf["C"][ind_non_zero[ii], ii] = 1
-    gnsf = determine_input_nonlinearity_function(gnsf)
-    n_nodes_next = n_nodes(gnsf["phi_expr"])
-
-    if print_info:
-        print(" ")
-        print("determined matrix C:")
-        print(gnsf["C"])
-        print(
-            "---------------------------------------------------------------------------------"
-        )
-        print(
-            "------------- Success: Affine linear terms detected -----------------------------"
-        )
-        print(
-            "---------------------------------------------------------------------------------"
-        )
-        print(
-            f'reduced nonlinearity dimension n_out from  {nx+nz}  to  {gnsf["n_out"]}'
-        )
-        print(f"reduced nonlinearity from  {n_nodes_current} to {n_nodes_next} nodes")
-        print(" ")
-        print("phi now reads as:")
-        print_casadi_expression(gnsf["phi_expr"])
-
-    ## determine input of nonlinearity function
-    check_reformulation(model, gnsf, print_info)
-
-    gnsf["ny"] = casadi_length(gnsf["y"])
-    gnsf["nuhat"] = casadi_length(gnsf["uhat"])
-
-    if print_info:
-        print(
-            "-----------------------------------------------------------------------------------"
-        )
-        print(" ")
-        print(
-            f"reduced input ny    of phi from  ",
-            str(ny_old),
-            "   to  ",
-            str(gnsf["ny"]),
-        )
-        print(
-            f"reduced input nuhat of phi from  ",
-            str(nuhat_old),
-            "   to  ",
-            str(gnsf["nuhat"]),
-        )
-        print(
-            "-----------------------------------------------------------------------------------"
-        )
-
-    # if print_info:
-    #     print(f"gnsf: {gnsf}")
-
-    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/detect_gnsf_structure.py b/third_party/acados/acados_template/gnsf/detect_gnsf_structure.py
deleted file mode 100644
index 24ffe643b8ac2a..00000000000000
--- a/third_party/acados/acados_template/gnsf/detect_gnsf_structure.py
+++ /dev/null
@@ -1,240 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
-
-from casadi import Function, jacobian, SX, vertcat, horzcat
-
-from .determine_trivial_gnsf_transcription import determine_trivial_gnsf_transcription
-from .detect_affine_terms_reduce_nonlinearity import (
-    detect_affine_terms_reduce_nonlinearity,
-)
-from .reformulate_with_LOS import reformulate_with_LOS
-from .reformulate_with_invertible_E_mat import reformulate_with_invertible_E_mat
-from .structure_detection_print_summary import structure_detection_print_summary
-from .check_reformulation import check_reformulation
-
-
-def detect_gnsf_structure(acados_ocp, transcribe_opts=None):
-
-    ## Description
-    # This function takes a CasADi implicit ODE or index-1 DAE model "model"
-    # consisting of a CasADi expression f_impl in the symbolic CasADi
-    # variables x, xdot, u, z, (and possibly parameters p), which are also part
-    # of the model, as well as a model name.
-    # It will create a struct "gnsf" containing all information needed to use
-    # it with the gnsf integrator in acados.
-    # Additionally it will create the struct "reordered_model" which contains
-    # the permuted state vector and permuted f_impl, in which additionally some
-    # functions, which were made part of the linear output system of the gnsf,
-    # have changed signs.
-
-    # Options: transcribe_opts is a Matlab struct consisting of booleans:
-    #   print_info: if extensive information on how the model is processed
-    #       is printed to the console.
-    #   generate_gnsf_model: if the neccessary C functions to simulate the gnsf
-    #       model with the acados implementation of the GNSF exploiting
-    #       integrator should be generated.
-    #   generate_gnsf_model: if the neccessary C functions to simulate the
-    #       reordered model with the acados implementation of the IRK
-    #       integrator should be generated.
-    #   check_E_invertibility: if the transcription method should check if the
-    #       assumption that the main blocks of the matrix gnsf.E are invertible
-    #       holds. If not, the method will try to reformulate the gnsf model
-    #       with a different model, such that the assumption holds.
-
-    # acados_root_dir = getenv('ACADOS_INSTALL_DIR')
-
-    ## load transcribe_opts
-    if transcribe_opts is None:
-        print("WARNING: GNSF structure detection called without transcribe_opts")
-        print(" using default settings")
-        print("")
-        transcribe_opts = dict()
-
-    if "print_info" in transcribe_opts:
-        print_info = transcribe_opts["print_info"]
-    else:
-        print_info = 1
-        print("print_info option was not set - default is true")
-
-    if "detect_LOS" in transcribe_opts:
-        detect_LOS = transcribe_opts["detect_LOS"]
-    else:
-        detect_LOS = 1
-        if print_info:
-            print("detect_LOS option was not set - default is true")
-
-    if "check_E_invertibility" in transcribe_opts:
-        check_E_invertibility = transcribe_opts["check_E_invertibility"]
-    else:
-        check_E_invertibility = 1
-        if print_info:
-            print("check_E_invertibility option was not set - default is true")
-
-    ## Reformulate implicit index-1 DAE into GNSF form
-    # (Generalized nonlinear static feedback)
-    gnsf = determine_trivial_gnsf_transcription(acados_ocp, print_info)
-    gnsf = detect_affine_terms_reduce_nonlinearity(gnsf, acados_ocp, print_info)
-
-    if detect_LOS:
-        gnsf = reformulate_with_LOS(acados_ocp, gnsf, print_info)
-
-    if check_E_invertibility:
-        gnsf = reformulate_with_invertible_E_mat(gnsf, acados_ocp, print_info)
-
-    # detect purely linear model
-    if gnsf["nx1"] == 0 and gnsf["nz1"] == 0 and gnsf["nontrivial_f_LO"] == 0:
-        gnsf["purely_linear"] = 1
-    else:
-        gnsf["purely_linear"] = 0
-
-    structure_detection_print_summary(gnsf, acados_ocp)
-    check_reformulation(acados_ocp.model, gnsf, print_info)
-
-    ## copy relevant fields from gnsf to model
-    acados_ocp.model.get_matrices_fun = Function()
-    dummy = acados_ocp.model.x[0]
-    model_name = acados_ocp.model.name
-
-    get_matrices_fun = Function(
-        f"{model_name}_gnsf_get_matrices_fun",
-        [dummy],
-        [
-            gnsf["A"],
-            gnsf["B"],
-            gnsf["C"],
-            gnsf["E"],
-            gnsf["L_x"],
-            gnsf["L_xdot"],
-            gnsf["L_z"],
-            gnsf["L_u"],
-            gnsf["A_LO"],
-            gnsf["c"],
-            gnsf["E_LO"],
-            gnsf["B_LO"],
-            gnsf["nontrivial_f_LO"],
-            gnsf["purely_linear"],
-            gnsf["ipiv_x"] + 1,
-            gnsf["ipiv_z"] + 1,
-            gnsf["c_LO"],
-        ],
-    )
-
-    phi = gnsf["phi_expr"]
-    y = gnsf["y"]
-    uhat = gnsf["uhat"]
-    p = gnsf["p"]
-
-    jac_phi_y = jacobian(phi, y)
-    jac_phi_uhat = jacobian(phi, uhat)
-
-    phi_fun = Function(f"{model_name}_gnsf_phi_fun", [y, uhat, p], [phi])
-    acados_ocp.model.phi_fun = phi_fun
-    acados_ocp.model.phi_fun_jac_y = Function(
-        f"{model_name}_gnsf_phi_fun_jac_y", [y, uhat, p], [phi, jac_phi_y]
-    )
-    acados_ocp.model.phi_jac_y_uhat = Function(
-        f"{model_name}_gnsf_phi_jac_y_uhat", [y, uhat, p], [jac_phi_y, jac_phi_uhat]
-    )
-
-    x1 = acados_ocp.model.x[gnsf["idx_perm_x"][: gnsf["nx1"]]]
-    x1dot = acados_ocp.model.xdot[gnsf["idx_perm_x"][: gnsf["nx1"]]]
-    if gnsf["nz1"] > 0:
-        z1 = acados_ocp.model.z[gnsf["idx_perm_z"][: gnsf["nz1"]]]
-    else:
-        z1 = SX.sym("z1", 0, 0)
-    f_lo = gnsf["f_lo_expr"]
-    u = acados_ocp.model.u
-    acados_ocp.model.f_lo_fun_jac_x1k1uz = Function(
-        f"{model_name}_gnsf_f_lo_fun_jac_x1k1uz",
-        [x1, x1dot, z1, u, p],
-        [
-            f_lo,
-            horzcat(
-                jacobian(f_lo, x1),
-                jacobian(f_lo, x1dot),
-                jacobian(f_lo, u),
-                jacobian(f_lo, z1),
-            ),
-        ],
-    )
-
-    acados_ocp.model.get_matrices_fun = get_matrices_fun
-
-    size_gnsf_A = gnsf["A"].shape
-    acados_ocp.dims.gnsf_nx1 = size_gnsf_A[1]
-    acados_ocp.dims.gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1]
-    acados_ocp.dims.gnsf_nuhat = max(phi_fun.size_in(1))
-    acados_ocp.dims.gnsf_ny = max(phi_fun.size_in(0))
-    acados_ocp.dims.gnsf_nout = max(phi_fun.size_out(0))
-
-    # # dim
-    # model['dim_gnsf_nx1'] = gnsf['nx1']
-    # model['dim_gnsf_nx2'] = gnsf['nx2']
-    # model['dim_gnsf_nz1'] = gnsf['nz1']
-    # model['dim_gnsf_nz2'] = gnsf['nz2']
-    # model['dim_gnsf_nuhat'] = gnsf['nuhat']
-    # model['dim_gnsf_ny'] = gnsf['ny']
-    # model['dim_gnsf_nout'] = gnsf['n_out']
-
-    # # sym
-    # model['sym_gnsf_y'] = gnsf['y']
-    # model['sym_gnsf_uhat'] = gnsf['uhat']
-
-    # # data
-    # model['dyn_gnsf_A'] = gnsf['A']
-    # model['dyn_gnsf_A_LO'] = gnsf['A_LO']
-    # model['dyn_gnsf_B'] = gnsf['B']
-    # model['dyn_gnsf_B_LO'] = gnsf['B_LO']
-    # model['dyn_gnsf_E'] = gnsf['E']
-    # model['dyn_gnsf_E_LO'] = gnsf['E_LO']
-    # model['dyn_gnsf_C'] = gnsf['C']
-    # model['dyn_gnsf_c'] = gnsf['c']
-    # model['dyn_gnsf_c_LO'] = gnsf['c_LO']
-    # model['dyn_gnsf_L_x'] = gnsf['L_x']
-    # model['dyn_gnsf_L_xdot'] = gnsf['L_xdot']
-    # model['dyn_gnsf_L_z'] = gnsf['L_z']
-    # model['dyn_gnsf_L_u'] = gnsf['L_u']
-    # model['dyn_gnsf_idx_perm_x'] = gnsf['idx_perm_x']
-    # model['dyn_gnsf_ipiv_x'] = gnsf['ipiv_x']
-    # model['dyn_gnsf_idx_perm_z'] = gnsf['idx_perm_z']
-    # model['dyn_gnsf_ipiv_z'] = gnsf['ipiv_z']
-    # model['dyn_gnsf_idx_perm_f'] = gnsf['idx_perm_f']
-    # model['dyn_gnsf_ipiv_f'] = gnsf['ipiv_f']
-
-    # # flags
-    # model['dyn_gnsf_nontrivial_f_LO'] = gnsf['nontrivial_f_LO']
-    # model['dyn_gnsf_purely_linear'] = gnsf['purely_linear']
-
-    # # casadi expr
-    # model['dyn_gnsf_expr_phi'] = gnsf['phi_expr']
-    # model['dyn_gnsf_expr_f_lo'] = gnsf['f_lo_expr']
-
-    return acados_ocp
diff --git a/third_party/acados/acados_template/gnsf/determine_input_nonlinearity_function.py b/third_party/acados/acados_template/gnsf/determine_input_nonlinearity_function.py
deleted file mode 100644
index 94aa001c79528d..00000000000000
--- a/third_party/acados/acados_template/gnsf/determine_input_nonlinearity_function.py
+++ /dev/null
@@ -1,110 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
-
-from casadi import *
-from ..utils import casadi_length, is_empty
-
-
-def determine_input_nonlinearity_function(gnsf):
-
-    ## Description
-    # this function takes a structure gnsf and updates the matrices L_x,
-    # L_xdot, L_z, L_u and CasADi vectors y, uhat of this structure as follows:
-
-    # given a CasADi expression phi_expr, which may depend on the variables
-    # (x1, x1dot, z, u), this function determines a vector y (uhat) consisting
-    # of all components of (x1, x1dot, z) (respectively u) that enter phi_expr.
-    # Additionally matrices L_x, L_xdot, L_z, L_u are determined such that
-    #           y    = L_x * x + L_xdot * xdot + L_z * z
-    #           uhat = L_u * u
-    # Furthermore the dimensions ny, nuhat, n_out are updated
-
-    ## y
-    y = SX.sym('y', 0, 0)
-    # components of x1
-    for ii in range(gnsf["nx1"]):
-        if which_depends(gnsf["phi_expr"], gnsf["x"][ii])[0]:
-            y = vertcat(y, gnsf["x"][ii])
-        # else:
-        # x[ii] is not part of y
-    # components of x1dot
-    for ii in range(gnsf["nx1"]):
-        if which_depends(gnsf["phi_expr"], gnsf["xdot"][ii])[0]:
-            print(gnsf["phi_expr"], "depends on", gnsf["xdot"][ii])
-            y = vertcat(y, gnsf["xdot"][ii])
-        # else:
-        # xdot[ii] is not part of y
-    # components of z
-    for ii in range(gnsf["nz1"]):
-        if which_depends(gnsf["phi_expr"], gnsf["z"][ii])[0]:
-            y = vertcat(y, gnsf["z"][ii])
-        # else:
-        # z[ii] is not part of y
-    ## uhat
-    uhat = SX.sym('uhat', 0, 0)
-    # components of u
-    for ii in range(gnsf["nu"]):
-        if which_depends(gnsf["phi_expr"], gnsf["u"][ii])[0]:
-            uhat = vertcat(uhat, gnsf["u"][ii])
-        # else:
-        # u[ii] is not part of uhat
-    ## generate gnsf['phi_expr_fun']
-    # linear input matrices
-    if is_empty(y):
-        gnsf["L_x"] = []
-        gnsf["L_xdot"] = []
-        gnsf["L_u"] = []
-        gnsf["L_z"] = []
-    else:
-        dummy = SX.sym("dummy_input", 0)
-        L_x_fun = Function(
-            "L_x_fun", [dummy], [jacobian(y, gnsf["x"][range(gnsf["nx1"])])]
-        )
-        L_xdot_fun = Function(
-            "L_xdot_fun", [dummy], [jacobian(y, gnsf["xdot"][range(gnsf["nx1"])])]
-        )
-        L_z_fun = Function(
-            "L_z_fun", [dummy], [jacobian(y, gnsf["z"][range(gnsf["nz1"])])]
-        )
-        L_u_fun = Function("L_u_fun", [dummy], [jacobian(uhat, gnsf["u"])])
-
-        gnsf["L_x"] = L_x_fun(0).full()
-        gnsf["L_xdot"] = L_xdot_fun(0).full()
-        gnsf["L_u"] = L_u_fun(0).full()
-        gnsf["L_z"] = L_z_fun(0).full()
-    gnsf["y"] = y
-    gnsf["uhat"] = uhat
-
-    gnsf["ny"] = casadi_length(y)
-    gnsf["nuhat"] = casadi_length(uhat)
-    gnsf["n_out"] = casadi_length(gnsf["phi_expr"])
-
-    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/determine_trivial_gnsf_transcription.py b/third_party/acados/acados_template/gnsf/determine_trivial_gnsf_transcription.py
deleted file mode 100644
index 23c2440537cdba..00000000000000
--- a/third_party/acados/acados_template/gnsf/determine_trivial_gnsf_transcription.py
+++ /dev/null
@@ -1,155 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-from casadi import *
-import numpy as np
-from ..utils import casadi_length, idx_perm_to_ipiv
-from .determine_input_nonlinearity_function import determine_input_nonlinearity_function
-from .check_reformulation import check_reformulation
-
-
-def determine_trivial_gnsf_transcription(acados_ocp, print_info):
-    ## Description
-    # this function takes a model of an implicit ODE/ index-1 DAE and sets up
-    # an equivalent model in the GNSF structure, with empty linear output
-    # system and trivial model matrices, i.e. A, B, E, c are zeros, and C is
-    # eye. - no structure is exploited
-
-    model = acados_ocp.model
-    # initial print
-    print("*****************************************************************")
-    print(" ")
-    print(f"******      Restructuring {model.name} model    ***********")
-    print(" ")
-    print("*****************************************************************")
-
-    # load model
-    f_impl_expr = model.f_impl_expr
-
-    model_name_prefix = model.name
-
-    # x
-    x = model.x
-    nx = acados_ocp.dims.nx
-    # check type
-    if isinstance(x[0], SX):
-        isSX = True
-    else:
-        print("GNSF detection only works for SX CasADi type!!!")
-        import pdb
-
-        pdb.set_trace()
-    # xdot
-    xdot = model.xdot
-    # u
-    nu = acados_ocp.dims.nu
-    if nu == 0:
-        u = SX.sym("u", 0, 0)
-    else:
-        u = model.u
-
-    nz = acados_ocp.dims.nz
-    if nz == 0:
-        z = SX.sym("z", 0, 0)
-    else:
-        z = model.z
-
-    p = model.p
-    nparam = acados_ocp.dims.np
-
-    # avoid SX of size 0x1
-    if casadi_length(u) == 0:
-        u = SX.sym("u", 0, 0)
-        nu = 0
-    ## initialize gnsf struct
-    # dimensions
-    gnsf = {"nx": nx, "nu": nu, "nz": nz, "np": nparam}
-    gnsf["nx1"] = nx
-    gnsf["nx2"] = 0
-    gnsf["nz1"] = nz
-    gnsf["nz2"] = 0
-    gnsf["nuhat"] = nu
-    gnsf["ny"] = 2 * nx + nz
-
-    gnsf["phi_expr"] = f_impl_expr
-    gnsf["A"] = np.zeros((nx + nz, nx))
-    gnsf["B"] = np.zeros((nx + nz, nu))
-    gnsf["E"] = np.zeros((nx + nz, nx + nz))
-    gnsf["c"] = np.zeros((nx + nz, 1))
-    gnsf["C"] = np.eye(nx + nz)
-    gnsf["name"] = model_name_prefix
-
-    gnsf["x"] = x
-    gnsf["xdot"] = xdot
-    gnsf["z"] = z
-    gnsf["u"] = u
-    gnsf["p"] = p
-
-    gnsf = determine_input_nonlinearity_function(gnsf)
-
-    gnsf["A_LO"] = []
-    gnsf["E_LO"] = []
-    gnsf["B_LO"] = []
-    gnsf["c_LO"] = []
-    gnsf["f_lo_expr"] = []
-
-    # permutation
-    gnsf["idx_perm_x"] = range(nx)  # matlab-style)
-    gnsf["ipiv_x"] = idx_perm_to_ipiv(gnsf["idx_perm_x"])  # blasfeo-style
-    gnsf["idx_perm_z"] = range(nz)
-    gnsf["ipiv_z"] = idx_perm_to_ipiv(gnsf["idx_perm_z"])
-    gnsf["idx_perm_f"] = range((nx + nz))
-    gnsf["ipiv_f"] = idx_perm_to_ipiv(gnsf["idx_perm_f"])
-
-    gnsf["nontrivial_f_LO"] = 0
-
-    check_reformulation(model, gnsf, print_info)
-    if print_info:
-        print(f"Success: Set up equivalent GNSF model with trivial matrices")
-        print(" ")
-    if print_info:
-        print(
-            "-----------------------------------------------------------------------------------"
-        )
-        print(" ")
-        print(
-            "reduced input ny    of phi from  ",
-            str(2 * nx + nz),
-            "   to  ",
-            str(gnsf["ny"]),
-        )
-        print(
-            "reduced input nuhat of phi from  ", str(nu), "   to  ", str(gnsf["nuhat"])
-        )
-        print(" ")
-        print(
-            "-----------------------------------------------------------------------------------"
-        )
-    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/matlab to python.md b/third_party/acados/acados_template/gnsf/matlab to python.md
deleted file mode 100644
index 53a0ed971e5b65..00000000000000
--- a/third_party/acados/acados_template/gnsf/matlab to python.md	
+++ /dev/null
@@ -1,43 +0,0 @@
-# matlab to python
-
-% -> #
-
-; -> 
-
-from casadi import *
-->
-from casadi import *
-
-
-print\('(.*)'\)
-print('$1')
-
-print\(\['(.*)'\]\)
-print(f'$1')
-
-keyboard
-import pdb; pdb.set_trace()
-
-
-range((([^))]*))
-range($1)
-
-\s*end
-->
-nothing
-
-
-if (.*)
-if $1:
-
-else
-else:
-
-num2str
-str
-
-for ([a-z_]*) =
-for $1 in
-
-length\(
-len(
\ No newline at end of file
diff --git a/third_party/acados/acados_template/gnsf/reformulate_with_LOS.py b/third_party/acados/acados_template/gnsf/reformulate_with_LOS.py
deleted file mode 100644
index 297a56556c477b..00000000000000
--- a/third_party/acados/acados_template/gnsf/reformulate_with_LOS.py
+++ /dev/null
@@ -1,394 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
-
-from .determine_input_nonlinearity_function import determine_input_nonlinearity_function
-from .check_reformulation import check_reformulation
-from casadi import *
-from ..utils import casadi_length, idx_perm_to_ipiv, is_empty
-
-
-def reformulate_with_LOS(acados_ocp, gnsf, print_info):
-
-    ## Description:
-    # This function takes an intitial transcription of the implicit ODE model
-    # "model" into "gnsf" and reformulates "gnsf" with a linear output system
-    # (LOS), containing as many states of the model as possible.
-    # Therefore it might be that the state vector and the implicit function
-    # vector have to be reordered. This reordered model is part of the output,
-    # namely reordered_model.
-
-    ## import CasADi and load models
-    model = acados_ocp.model
-
-    # symbolics
-    x = gnsf["x"]
-    xdot = gnsf["xdot"]
-    u = gnsf["u"]
-    z = gnsf["z"]
-
-    # dimensions
-    nx = gnsf["nx"]
-    nz = gnsf["nz"]
-
-    # get model matrices
-    A = gnsf["A"]
-    B = gnsf["B"]
-    C = gnsf["C"]
-    E = gnsf["E"]
-    c = gnsf["c"]
-
-    A_LO = gnsf["A_LO"]
-
-    y = gnsf["y"]
-
-    phi_old = gnsf["phi_expr"]
-
-    if print_info:
-        print(" ")
-        print("=================================================================")
-        print(" ")
-        print("================    Detect Linear Output System   ===============")
-        print(" ")
-        print("=================================================================")
-        print(" ")
-    ## build initial I_x1 and I_x2_candidates
-    # I_xrange( all components of x for which either xii or xdot_ii enters y):
-    # I_LOS_candidates: the remaining components
-
-    I_nsf_components = set()
-    I_LOS_candidates = set()
-
-    if gnsf["ny"] > 0:
-        for ii in range(nx):
-            if which_depends(y, x[ii])[0] or which_depends(y, xdot[ii])[0]:
-                # i.e. xii or xiidot are part of y, and enter phi_expr
-                if print_info:
-                    print(f"x_{ii} is part of x1")
-                I_nsf_components = set.union(I_nsf_components, set([ii]))
-            else:
-                # i.e. neither xii nor xiidot are part of y, i.e. enter phi_expr
-                I_LOS_candidates = set.union(I_LOS_candidates, set([ii]))
-                if print_info:
-                    print(" ")
-        for ii in range(nz):
-            if which_depends(y, z[ii])[0]:
-                # i.e. xii or xiidot are part of y, and enter phi_expr
-                if print_info:
-                    print(f"z_{ii} is part of x1")
-                I_nsf_components = set.union(I_nsf_components, set([ii + nx]))
-            else:
-                # i.e. neither xii nor xiidot are part of y, i.e. enter phi_expr
-                I_LOS_candidates = set.union(I_LOS_candidates, set([ii + nx]))
-    else:
-        I_LOS_candidates = set(range((nx + nz)))
-    if print_info:
-        print(" ")
-        print(f"I_LOS_candidates {I_LOS_candidates}")
-    new_nsf_components = I_nsf_components
-    I_nsf_eq = set([])
-    unsorted_dyn = set(range(nx + nz))
-    xdot_z = vertcat(xdot, z)
-
-    ## determine components of Linear Output System
-    # determine maximal index set I_x2
-    # such that the components x(I_x2) can be written as a LOS
-    Eq_map = []
-    while True:
-        ## find equations corresponding to new_nsf_components
-        for ii in new_nsf_components:
-            current_var = xdot_z[ii]
-            var_name = current_var.name
-
-            # print( unsorted_dyn)
-            # print("np.nonzero(E[:,ii])[0]",np.nonzero(E[:,ii])[0])
-            I_eq = set.intersection(set(np.nonzero(E[:, ii])[0]), unsorted_dyn)
-            if len(I_eq) == 1:
-                i_eq = I_eq.pop()
-                if print_info:
-                    print(f"component {i_eq} is associated with state {ii}")
-            elif len(I_eq) > 1:  # x_ii_dot occurs in more than 1 eq linearly
-                # find the equation with least linear dependencies on
-                # I_LOS_cancidates
-                number_of_eq = 0
-                candidate_dependencies = np.zeros(len(I_eq), 1)
-                I_x2_candidates = set.intersection(I_LOS_candidates, set(range(nx)))
-                for eq in I_eq:
-                    depending_candidates = set.union(
-                        np.nonzero(E[eq, I_LOS_candidates])[0],
-                        np.nonzero(A[eq, I_x2_candidates])[0],
-                    )
-                    candidate_dependencies[number_of_eq] = +len(depending_candidates)
-                    number_of_eq += 1
-                    number_of_eq = np.argmin(candidate_dependencies)
-                i_eq = I_eq[number_of_eq]
-            else:  ## x_ii_dot does not occur linearly in any of the unsorted dynamics
-                for j in unsorted_dyn:
-                    phi_eq_j = gnsf["phi_expr"][np.nonzero(C[j, :])[0]]
-                    if which_depends(phi_eq_j, xdot_z(ii))[0]:
-                        I_eq = set.union(I_eq, j)
-                if is_empty(I_eq):
-                    I_eq = unsorted_dyn
-                # find the equation with least linear dependencies on I_LOS_cancidates
-                number_of_eq = 0
-                candidate_dependencies = np.zeros(len(I_eq), 1)
-                I_x2_candidates = set.intersection(I_LOS_candidates, set(range(nx)))
-                for eq in I_eq:
-                    depending_candidates = set.union(
-                        np.nonzero(E[eq, I_LOS_candidates])[0],
-                        np.nonzero(A[eq, I_x2_candidates])[0],
-                    )
-                    candidate_dependencies[number_of_eq] = +len(depending_candidates)
-                    number_of_eq += 1
-                    number_of_eq = np.argmin(candidate_dependencies)
-                i_eq = I_eq[number_of_eq]
-                ## add 1 * [xdot,z](ii) to both sides of i_eq
-                if print_info:
-                    print(
-                        "adding 1 * ",
-                        var_name,
-                        " to both sides of equation ",
-                        i_eq,
-                        ".",
-                    )
-                gnsf["E"][i_eq, ii] = 1
-                i_phi = np.nonzero(gnsf["C"][i_eq, :])
-                if is_empty(i_phi):
-                    i_phi = len(gnsf["phi_expr"]) + 1
-                    gnsf["C"][i_eq, i_phi] = 1  # add column to C with 1 entry
-                    gnsf["phi_expr"] = vertcat(gnsf["phi_expr"], 0)
-                    gnsf["phi_expr"][i_phi] = (
-                        gnsf["phi_expr"](i_phi)
-                        + gnsf["E"][i_eq, ii] / gnsf["C"][i_eq, i_phi] * xdot_z[ii]
-                    )
-                if print_info:
-                    print(
-                        "detected equation ",
-                        i_eq,
-                        " to correspond to variable ",
-                        var_name,
-                    )
-            I_nsf_eq = set.union(I_nsf_eq, {i_eq})
-            # remove i_eq from unsorted_dyn
-            unsorted_dyn.remove(i_eq)
-            Eq_map.append([ii, i_eq])
-
-        ## add components to I_x1
-        for eq in I_nsf_eq:
-            I_linear_dependence = set.union(
-                set(np.nonzero(A[eq, :])[0]), set(np.nonzero(E[eq, :])[0])
-            )
-            I_nsf_components = set.union(I_linear_dependence, I_nsf_components)
-            # I_nsf_components = I_nsf_components[:]
-
-        new_nsf_components = set.intersection(I_LOS_candidates, I_nsf_components)
-        if is_empty(new_nsf_components):
-            if print_info:
-                print("new_nsf_components is empty")
-            break
-        # remove new_nsf_components from candidates
-        I_LOS_candidates = set.difference(I_LOS_candidates, new_nsf_components)
-    if not is_empty(Eq_map):
-        # [~, new_eq_order] = sort(Eq_map(1,:))
-        # I_nsf_eq = Eq_map(2, new_eq_order )
-        for count, m in enumerate(Eq_map):
-            m.append(count)
-        sorted(Eq_map, key=lambda x: x[1])
-        new_eq_order = [m[2] for m in Eq_map]
-        Eq_map = [Eq_map[i] for i in new_eq_order]
-        I_nsf_eq = [m[1] for m in Eq_map]
-
-    else:
-        I_nsf_eq = []
-
-    I_LOS_components = I_LOS_candidates
-    I_LOS_eq = sorted(set.difference(set(range(nx + nz)), I_nsf_eq))
-    I_nsf_eq = sorted(I_nsf_eq)
-
-    I_x1 = set.intersection(I_nsf_components, set(range(nx)))
-    I_z1 = set.intersection(I_nsf_components, set(range(nx, nx + nz)))
-    I_z1 = set([i - nx for i in I_z1])
-
-    I_x2 = set.intersection(I_LOS_components, set(range(nx)))
-    I_z2 = set.intersection(I_LOS_components, set(range(nx, nx + nz)))
-    I_z2 = set([i - nx for i in I_z2])
-
-    if print_info:
-        print(f"I_x1 {I_x1}, I_x2 {I_x2}")
-
-    ## permute x, xdot
-    if is_empty(I_x1):
-        x1 = []
-        x1dot = []
-    else:
-        x1 = x[list(I_x1)]
-        x1dot = xdot[list(I_x1)]
-    if is_empty(I_x2):
-        x2 = []
-        x2dot = []
-    else:
-        x2 = x[list(I_x2)]
-        x2dot = xdot[list(I_x2)]
-    if is_empty(I_z1):
-        z1 = []
-    else:
-        z1 = z(I_z1)
-    if is_empty(I_z2):
-        z2 = []
-    else:
-        z2 = z[list(I_z2)]
-
-    I_x1 = sorted(I_x1)
-    I_x2 = sorted(I_x2)
-    I_z1 = sorted(I_z1)
-    I_z2 = sorted(I_z2)
-    gnsf["xdot"] = vertcat(x1dot, x2dot)
-    gnsf["x"] = vertcat(x1, x2)
-    gnsf["z"] = vertcat(z1, z2)
-    gnsf["nx1"] = len(I_x1)
-    gnsf["nx2"] = len(I_x2)
-    gnsf["nz1"] = len(I_z1)
-    gnsf["nz2"] = len(I_z2)
-
-    # store permutations
-    gnsf["idx_perm_x"] = I_x1 + I_x2
-    gnsf["ipiv_x"] = idx_perm_to_ipiv(gnsf["idx_perm_x"])
-    gnsf["idx_perm_z"] = I_z1 + I_z2
-    gnsf["ipiv_z"] = idx_perm_to_ipiv(gnsf["idx_perm_z"])
-    gnsf["idx_perm_f"] = I_nsf_eq + I_LOS_eq
-    gnsf["ipiv_f"] = idx_perm_to_ipiv(gnsf["idx_perm_f"])
-
-    f_LO = SX.sym("f_LO", 0, 0)
-
-    ## rewrite I_LOS_eq as LOS
-    if gnsf["n_out"] == 0:
-        C_phi = np.zeros(gnsf["nx"] + gnsf["nz"], 1)
-    else:
-        C_phi = C @ phi_old
-    if gnsf["nx1"] == 0:
-        Ax1 = np.zeros(gnsf["nx"] + gnsf["nz"], 1)
-    else:
-        Ax1 = A[:, sorted(I_x1)] @ x1
-    if gnsf["nx1"] + gnsf["nz1"] == 0:
-        lhs_nsf = np.zeros(gnsf["nx"] + gnsf["nz"], 1)
-    else:
-        lhs_nsf = E[:, sorted(I_nsf_components)] @ vertcat(x1, z1)
-    n_LO = len(I_LOS_eq)
-    B_LO = np.zeros((n_LO, gnsf["nu"]))
-    A_LO = np.zeros((gnsf["nx2"] + gnsf["nz2"], gnsf["nx2"]))
-    E_LO = np.zeros((n_LO, n_LO))
-    c_LO = np.zeros((n_LO, 1))
-
-    I_LOS_eq = list(I_LOS_eq)
-    for eq in I_LOS_eq:
-        i_LO = I_LOS_eq.index(eq)
-        f_LO = vertcat(f_LO, Ax1[eq] + C_phi[eq] - lhs_nsf[eq])
-        print(f"eq {eq} I_LOS_components {I_LOS_components}, i_LO {i_LO}, f_LO {f_LO}")
-        E_LO[i_LO, :] = E[eq, sorted(I_LOS_components)]
-        A_LO[i_LO, :] = A[eq, I_x2]
-        c_LO[i_LO, :] = c[eq]
-        B_LO[i_LO, :] = B[eq, :]
-    if casadi_length(f_LO) == 0:
-        f_LO = SX.zeros((gnsf["nx2"] + gnsf["nz2"], 1))
-    f_LO = simplify(f_LO)
-    gnsf["A_LO"] = A_LO
-    gnsf["E_LO"] = E_LO
-    gnsf["B_LO"] = B_LO
-    gnsf["c_LO"] = c_LO
-    gnsf["f_lo_expr"] = f_LO
-
-    ## remove I_LOS_eq from NSF type system
-    gnsf["A"] = gnsf["A"][np.ix_(sorted(I_nsf_eq), sorted(I_x1))]
-    gnsf["B"] = gnsf["B"][sorted(I_nsf_eq), :]
-    gnsf["C"] = gnsf["C"][sorted(I_nsf_eq), :]
-    gnsf["E"] = gnsf["E"][np.ix_(sorted(I_nsf_eq), sorted(I_nsf_components))]
-    gnsf["c"] = gnsf["c"][sorted(I_nsf_eq), :]
-
-    ## reduce phi, C
-    I_nonzero = []
-    for ii in range(gnsf["C"].shape[1]):  # n_colums of C:
-        print(f"ii {ii}")
-        if not all(gnsf["C"][:, ii] == 0):  # if column ~= 0
-            I_nonzero.append(ii)
-    gnsf["C"] = gnsf["C"][:, I_nonzero]
-    gnsf["phi_expr"] = gnsf["phi_expr"][I_nonzero]
-
-    gnsf = determine_input_nonlinearity_function(gnsf)
-
-    check_reformulation(model, gnsf, print_info)
-
-    gnsf["nontrivial_f_LO"] = 0
-    if not is_empty(gnsf["f_lo_expr"]):
-        for ii in range(casadi_length(gnsf["f_lo_expr"])):
-            fii = gnsf["f_lo_expr"][ii]
-            if not fii.is_zero():
-                gnsf["nontrivial_f_LO"] = 1
-            if not gnsf["nontrivial_f_LO"] and print_info:
-                print("f_LO is fully trivial (== 0)")
-    check_reformulation(model, gnsf, print_info)
-
-    if print_info:
-        print("")
-        print(
-            "---------------------------------------------------------------------------------"
-        )
-        print(
-            "------------- Success: Linear Output System (LOS) detected ----------------------"
-        )
-        print(
-            "---------------------------------------------------------------------------------"
-        )
-        print("")
-        print(
-            "==>>  moved  ",
-            gnsf["nx2"],
-            "differential states and ",
-            gnsf["nz2"],
-            " algebraic variables to the Linear Output System",
-        )
-        print(
-            "==>>  recuced output dimension of phi from  ",
-            casadi_length(phi_old),
-            " to ",
-            casadi_length(gnsf["phi_expr"]),
-        )
-        print(" ")
-        print("Matrices defining the LOS read as")
-        print(" ")
-        print("E_LO =")
-        print(gnsf["E_LO"])
-        print("A_LO =")
-        print(gnsf["A_LO"])
-        print("B_LO =")
-        print(gnsf["B_LO"])
-        print("c_LO =")
-        print(gnsf["c_LO"])
-
-    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/reformulate_with_invertible_E_mat.py b/third_party/acados/acados_template/gnsf/reformulate_with_invertible_E_mat.py
deleted file mode 100644
index 21ab8ebfd53b78..00000000000000
--- a/third_party/acados/acados_template/gnsf/reformulate_with_invertible_E_mat.py
+++ /dev/null
@@ -1,167 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
-
-from casadi import *
-from .determine_input_nonlinearity_function import determine_input_nonlinearity_function
-from .check_reformulation import check_reformulation
-
-
-def reformulate_with_invertible_E_mat(gnsf, model, print_info):
-    ## Description
-    # this function checks that the necessary condition to apply the gnsf
-    # structure exploiting integrator to a model, namely that the matrices E11,
-    # E22 are invertible holds.
-    # if this is not the case, it will make these matrices invertible and add:
-    # corresponding terms, to the term C * phi, such that the obtained model is
-    # still equivalent
-
-    # check invertibility of E11, E22 and reformulate if needed:
-    ind_11 = range(gnsf["nx1"])
-    ind_22 = range(gnsf["nx1"], gnsf["nx1"] + gnsf["nz1"])
-
-    if print_info:
-        print(" ")
-        print("----------------------------------------------------")
-        print("checking rank of E11 and E22")
-        print("----------------------------------------------------")
-    ## check if E11, E22 are invertible:
-    z_check = False
-    if gnsf["nz1"] > 0:
-        z_check = (
-            np.linalg.matrix_rank(gnsf["E"][np.ix_(ind_22, ind_22)]) != gnsf["nz1"]
-        )
-
-    if (
-        np.linalg.matrix_rank(gnsf["E"][np.ix_(ind_11, ind_11)]) != gnsf["nx1"]
-        or z_check
-    ):
-        # print warning (always)
-        print(f"the rank of E11 or E22 is not full after the reformulation")
-        print("")
-        print(
-            f"the script will try to reformulate the model with an invertible matrix instead"
-        )
-        print(
-            f"NOTE: this feature is based on a heuristic, it should be used with care!!!"
-        )
-
-        ## load models
-        xdot = gnsf["xdot"]
-        z = gnsf["z"]
-
-        # # GNSF
-        # get dimensions
-        nx1 = gnsf["nx1"]
-        x1dot = xdot[range(nx1)]
-
-        k = vertcat(x1dot, z)
-        for i in [1, 2]:
-            if i == 1:
-                ind = range(gnsf["nx1"])
-            else:
-                ind = range(gnsf["nx1"], gnsf["nx1"] + gnsf["nz1"])
-            mat = gnsf["E"][np.ix_(ind, ind)]
-            import pdb
-
-            pdb.set_trace()
-            while np.linalg.matrix_rank(mat) < len(ind):
-                # import pdb; pdb.set_trace()
-                if print_info:
-                    print(" ")
-                    print(f"the rank of E", str(i), str(i), " is not full")
-                    print(
-                        f"the algorithm will try to reformulate the model with an invertible matrix instead"
-                    )
-                    print(
-                        f"NOTE: this feature is not super stable and might need more testing!!!!!!"
-                    )
-                for sub_max in ind:
-                    sub_ind = range(min(ind), sub_max)
-                    # regard the submatrix mat(sub_ind, sub_ind)
-                    sub_mat = gnsf["E"][sub_ind, sub_ind]
-                    if np.linalg.matrix_rank(sub_mat) < len(sub_ind):
-                        # reformulate the model by adding a 1 to last diagonal
-                        # element and changing rhs respectively.
-                        gnsf["E"][sub_max, sub_max] = gnsf["E"][sub_max, sub_max] + 1
-                        # this means adding the term 1 * k(sub_max) to the sub_max
-                        # row of the l.h.s
-                        if len(np.nonzero(gnsf["C"][sub_max, :])[0]) == 0:
-                            # if isempty(find(gnsf['C'](sub_max,:), 1)):
-                            # add new nonlinearity entry
-                            gnsf["C"][sub_max, gnsf["n_out"] + 1] = 1
-                            gnsf["phi_expr"] = vertcat(gnsf["phi_expr"], k[sub_max])
-                        else:
-                            ind_f = np.nonzero(gnsf["C"][sub_max, :])[0]
-                            if len(ind_f) != 1:
-                                raise Exception("C is assumed to be a selection matrix")
-                            else:
-                                ind_f = ind_f[0]
-                            # add term to corresponding nonlinearity entry
-                            # note: herbey we assume that C is a selection matrix,
-                            # i.e. gnsf['phi_expr'](ind_f) is only entering one equation
-
-                            gnsf["phi_expr"][ind_f] = (
-                                gnsf["phi_expr"][ind_f]
-                                + k[sub_max] / gnsf["C"][sub_max, ind_f]
-                            )
-                            gnsf = determine_input_nonlinearity_function(gnsf)
-                            check_reformulation(model, gnsf, print_info)
-        print("successfully reformulated the model with invertible matrices E11, E22")
-    else:
-        if print_info:
-            print(" ")
-            print(
-                "the rank of both E11 and E22 is naturally full after the reformulation "
-            )
-            print("==>  model reformulation finished")
-            print(" ")
-    if (gnsf['nx2'] > 0 or gnsf['nz2'] > 0) and det(gnsf["E_LO"]) == 0:
-        print(
-            "_______________________________________________________________________________________________________"
-        )
-        print(" ")
-        print("TAKE CARE ")
-        print("E_LO matrix is NOT regular after automatic transcription!")
-        print("->> this means the model CANNOT be used with the gnsf integrator")
-        print(
-            "->> it probably means that one entry (of xdot or z) that was moved to the linear output type system"
-        )
-        print("    does not appear in the model at all (zero column in E_LO)")
-        print(" OR: the columns of E_LO are linearly dependent ")
-        print(" ")
-        print(
-            " SOLUTIONs: a) go through your model & check equations the method wanted to move to LOS"
-        )
-        print("            b) deactivate the detect_LOS option")
-        print(
-            "_______________________________________________________________________________________________________"
-        )
-    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/structure_detection_print_summary.py b/third_party/acados/acados_template/gnsf/structure_detection_print_summary.py
deleted file mode 100644
index db2d18758e99db..00000000000000
--- a/third_party/acados/acados_template/gnsf/structure_detection_print_summary.py
+++ /dev/null
@@ -1,174 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
-
-from casadi import n_nodes
-import numpy as np
-
-
-def structure_detection_print_summary(gnsf, acados_ocp):
-
-    ## Description
-    # this function prints the most important info after determining a GNSF
-    # reformulation of the implicit model "initial_model" into "gnsf", which is
-    # equivalent to the "reordered_model".
-    model = acados_ocp.model
-    # # GNSF
-    # get dimensions
-    nx = gnsf["nx"]
-    nu = gnsf["nu"]
-    nz = gnsf["nz"]
-
-    nx1 = gnsf["nx1"]
-    nx2 = gnsf["nx2"]
-
-    nz1 = gnsf["nz1"]
-    nz2 = gnsf["nz2"]
-
-    # np = gnsf['np']
-    n_out = gnsf["n_out"]
-    ny = gnsf["ny"]
-    nuhat = gnsf["nuhat"]
-
-    #
-    f_impl_expr = model.f_impl_expr
-    n_nodes_initial = n_nodes(model.f_impl_expr)
-    # x_old = model.x
-    # f_impl_old = model.f_impl_expr
-
-    x = gnsf["x"]
-    z = gnsf["z"]
-
-    phi_current = gnsf["phi_expr"]
-
-    ## PRINT SUMMARY -- STRUCHTRE DETECTION
-    print(" ")
-    print(
-        "*********************************************************************************************"
-    )
-    print(" ")
-    print(
-        "******************        SUCCESS: GNSF STRUCTURE DETECTION COMPLETE !!!      ***************"
-    )
-    print(" ")
-    print(
-        "*********************************************************************************************"
-    )
-    print(" ")
-    print(
-        f"========================= STRUCTURE DETECTION SUMMARY ===================================="
-    )
-    print(" ")
-    print("-------- Nonlinear Static Feedback type system --------")
-    print(" ")
-    print(" successfully transcribed dynamic system model into GNSF structure ")
-    print(" ")
-    print(
-        "reduced dimension of nonlinearity phi from        ",
-        str(nx + nz),
-        " to ",
-        str(gnsf["n_out"]),
-    )
-    print(" ")
-    print(
-        "reduced input dimension of nonlinearity phi from  ",
-        2 * nx + nz + nu,
-        " to ",
-        gnsf["ny"] + gnsf["nuhat"],
-    )
-    print(" ")
-    print(f"reduced number of nodes in CasADi expression of nonlinearity phi from  {n_nodes_initial}  to  {n_nodes(phi_current)}\n")
-    print("----------- Linear Output System (LOS) ---------------")
-    if nx2 + nz2 > 0:
-        print(" ")
-        print(f"introduced Linear Output System of size           ", str(nx2 + nz2))
-        print(" ")
-        if nx2 > 0:
-            print("consisting of the states:")
-            print(" ")
-            print(x[range(nx1, nx)])
-            print(" ")
-        if nz2 > 0:
-            print("and algebraic variables:")
-            print(" ")
-            print(z[range(nz1, nz)])
-            print(" ")
-        if gnsf["purely_linear"] == 1:
-            print(" ")
-            print("Model is fully linear!")
-            print(" ")
-    if not all(gnsf["idx_perm_x"] == np.array(range(nx))):
-        print(" ")
-        print(
-            "--------------------------------------------------------------------------------------------------"
-        )
-        print(
-            "NOTE: permuted differential state vector x, such that x_gnsf = x(idx_perm_x) with idx_perm_x ="
-        )
-        print(" ")
-        print(gnsf["idx_perm_x"])
-    if nz != 0 and not all(gnsf["idx_perm_z"] == np.array(range(nz))):
-        print(" ")
-        print(
-            "--------------------------------------------------------------------------------------------------"
-        )
-        print(
-            "NOTE: permuted algebraic state vector z, such that z_gnsf = z(idx_perm_z) with idx_perm_z ="
-        )
-        print(" ")
-        print(gnsf["idx_perm_z"])
-    if not all(gnsf["idx_perm_f"] == np.array(range(nx + nz))):
-        print(" ")
-        print(
-            "--------------------------------------------------------------------------------------------------"
-        )
-        print(
-            "NOTE: permuted rhs expression vector f, such that f_gnsf = f(idx_perm_f) with idx_perm_f ="
-        )
-        print(" ")
-        print(gnsf["idx_perm_f"])
-    ## print GNSF dimensions
-    print(
-        "--------------------------------------------------------------------------------------------------------"
-    )
-    print(" ")
-    print("The dimensions of the GNSF reformulated model read as:")
-    print(" ")
-    # T_dim = table(nx, nu, nz, np, nx1, nz1, n_out, ny, nuhat)
-    # print( T_dim )
-    print(f"nx    ", {nx})
-    print(f"nu    ", {nu})
-    print(f"nz    ", {nz})
-    # print(f"np    ", {np})
-    print(f"nx1   ", {nx1})
-    print(f"nz1   ", {nz1})
-    print(f"n_out ", {n_out})
-    print(f"ny    ", {ny})
-    print(f"nuhat ", {nuhat})
diff --git a/third_party/acados/acados_template/simulink_default_opts.json b/third_party/acados/acados_template/simulink_default_opts.json
deleted file mode 100644
index 5d178fef85309c..00000000000000
--- a/third_party/acados/acados_template/simulink_default_opts.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
-    "outputs": {
-        "u0": 1,
-        "utraj": 0,
-        "xtraj": 0,
-        "solver_status": 1,
-        "cost_value": 0,
-        "KKT_residual": 1,
-        "KKT_residuals": 0,
-        "x1": 1,
-        "CPU_time": 1,
-        "CPU_time_sim": 0,
-        "CPU_time_qp": 0,
-        "CPU_time_lin": 0,
-        "sqp_iter": 1
-    },
-    "inputs": {
-        "lbx_0": 1,
-        "ubx_0": 1,
-        "parameter_traj": 1,
-        "y_ref_0": 1,
-        "y_ref": 1,
-        "y_ref_e": 1,
-        "lbx": 1,
-        "ubx": 1,
-        "lbx_e": 1,
-        "ubx_e": 1,
-        "lbu": 1,
-        "ubu": 1,
-        "lg": 1,
-        "ug": 1,
-        "lh": 1,
-        "uh": 1,
-        "lh_e": 1,
-        "uh_e": 1,
-        "cost_W_0": 0,
-        "cost_W": 0,
-        "cost_W_e": 0,
-        "reset_solver": 0,
-        "x_init": 0,
-        "u_init": 0
-    },
-    "samplingtime": "t0"
-}
diff --git a/third_party/acados/acados_template/utils.py b/third_party/acados/acados_template/utils.py
deleted file mode 100644
index f27617fa309867..00000000000000
--- a/third_party/acados/acados_template/utils.py
+++ /dev/null
@@ -1,434 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import os, sys, json
-import urllib.request
-import shutil
-import numpy as np
-from casadi import SX, MX, DM, Function, CasadiMeta
-
-ALLOWED_CASADI_VERSIONS = ('3.5.6', '3.5.5', '3.5.4', '3.5.3', '3.5.2', '3.5.1', '3.4.5', '3.4.0')
-
-TERA_VERSION = "0.0.34"
-
-PLATFORM2TERA = {
-    "linux": "linux",
-    "darwin": "osx",
-    "win32": "windows"
-}
-
-
-def get_acados_path():
-    ACADOS_PATH = os.environ.get('ACADOS_SOURCE_DIR')
-    if not ACADOS_PATH:
-        acados_template_path = os.path.dirname(os.path.abspath(__file__))
-        acados_path = os.path.join(acados_template_path, '..','..','..')
-        ACADOS_PATH = os.path.realpath(acados_path)
-        msg = 'Warning: Did not find environment variable ACADOS_SOURCE_DIR, '
-        msg += 'guessed ACADOS_PATH to be {}.\n'.format(ACADOS_PATH)
-        msg += 'Please export ACADOS_SOURCE_DIR to avoid this warning.'
-        print(msg)
-    return ACADOS_PATH
-
-
-def get_python_interface_path():
-    ACADOS_PYTHON_INTERFACE_PATH = os.environ.get('ACADOS_PYTHON_INTERFACE_PATH')
-    if not ACADOS_PYTHON_INTERFACE_PATH:
-        acados_path = get_acados_path()
-        ACADOS_PYTHON_INTERFACE_PATH = os.path.join(acados_path, 'interfaces', 'acados_template', 'acados_template')
-    return ACADOS_PYTHON_INTERFACE_PATH
-
-
-def get_tera_exec_path():
-    TERA_PATH = os.environ.get('TERA_PATH')
-    if not TERA_PATH:
-        TERA_PATH = os.path.join(get_acados_path(), 'bin', 't_renderer')
-        if os.name == 'nt':
-            TERA_PATH += '.exe'
-    return TERA_PATH
-
-
-def check_casadi_version():
-    casadi_version = CasadiMeta.version()
-    if casadi_version in ALLOWED_CASADI_VERSIONS:
-        return
-    else:
-        msg =  'Warning: Please note that the following versions of CasADi  are '
-        msg += 'officially supported: {}.\n '.format(" or ".join(ALLOWED_CASADI_VERSIONS))
-        msg += 'If there is an incompatibility with the CasADi generated code, '
-        msg += 'please consider changing your CasADi version.\n'
-        msg += 'Version {} currently in use.'.format(casadi_version)
-        print(msg)
-
-
-def is_column(x):
-    if isinstance(x, np.ndarray):
-        if x.ndim == 1:
-            return True
-        elif x.ndim == 2 and x.shape[1] == 1:
-            return True
-        else:
-            return False
-    elif isinstance(x, (MX, SX, DM)):
-        if x.shape[1] == 1:
-            return True
-        elif x.shape[0] == 0 and x.shape[1] == 0:
-            return True
-        else:
-            return False
-    elif x == None or x == []:
-        return False
-    else:
-        raise Exception("is_column expects one of the following types: np.ndarray, casadi.MX, casadi.SX."
-                        + " Got: " + str(type(x)))
-
-
-def is_empty(x):
-    if isinstance(x, (MX, SX, DM)):
-        return x.is_empty()
-    elif isinstance(x, np.ndarray):
-        if np.prod(x.shape) == 0:
-            return True
-        else:
-            return False
-    elif x == None:
-        return True
-    elif isinstance(x, (set, list)):
-        if len(x)==0:
-            return True
-        else:
-            return False
-    else:
-        raise Exception("is_empty expects one of the following types: casadi.MX, casadi.SX, "
-                        + "None, numpy array empty list, set. Got: " + str(type(x)))
-
-
-def casadi_length(x):
-    if isinstance(x, (MX, SX, DM)):
-        return int(np.prod(x.shape))
-    else:
-        raise Exception("casadi_length expects one of the following types: casadi.MX, casadi.SX."
-                        + " Got: " + str(type(x)))
-
-
-def make_model_consistent(model):
-    x = model.x
-    xdot = model.xdot
-    u = model.u
-    z = model.z
-    p = model.p
-
-    if isinstance(x, MX):
-        symbol = MX.sym
-    elif isinstance(x, SX):
-        symbol = SX.sym
-    else:
-        raise Exception("model.x must be casadi.SX or casadi.MX, got {}".format(type(x)))
-
-    if is_empty(p):
-        model.p = symbol('p', 0, 0)
-
-    if is_empty(z):
-        model.z = symbol('z', 0, 0)
-
-    return model
-
-def get_lib_ext():
-    lib_ext = '.so'
-    if sys.platform == 'darwin':
-        lib_ext = '.dylib'
-    elif os.name == 'nt':
-        lib_ext = ''
-
-    return lib_ext
-
-def get_tera():
-    tera_path = get_tera_exec_path()
-    acados_path = get_acados_path()
-
-    if os.path.exists(tera_path) and os.access(tera_path, os.X_OK):
-        return tera_path
-
-    repo_url = "https://github.com/acados/tera_renderer/releases"
-    url = "{}/download/v{}/t_renderer-v{}-{}".format(
-        repo_url, TERA_VERSION, TERA_VERSION, PLATFORM2TERA[sys.platform])
-
-    manual_install = 'For manual installation follow these instructions:\n'
-    manual_install += '1 Download binaries from {}\n'.format(url)
-    manual_install += '2 Copy them in {}/bin\n'.format(acados_path)
-    manual_install += '3 Strip the version and platform from the binaries: '
-    manual_install += 'as t_renderer-v0.0.34-X -> t_renderer)\n'
-    manual_install += '4 Enable execution privilege on the file "t_renderer" with:\n'
-    manual_install += '"chmod +x {}"\n\n'.format(tera_path)
-
-    msg = "\n"
-    msg += 'Tera template render executable not found, '
-    msg += 'while looking in path:\n{}\n'.format(tera_path)
-    msg += 'In order to be able to render the templates, '
-    msg += 'you need to download the tera renderer binaries from:\n'
-    msg += '{}\n\n'.format(repo_url)
-    msg += 'Do you wish to set up Tera renderer automatically?\n'
-    msg += 'y/N? (press y to download tera or any key for manual installation)\n'
-
-    if input(msg) == 'y':
-        print("Dowloading {}".format(url))
-        with urllib.request.urlopen(url) as response, open(tera_path, 'wb') as out_file:
-            shutil.copyfileobj(response, out_file)
-        print("Successfully downloaded t_renderer.")
-        os.chmod(tera_path, 0o755)
-        return tera_path
-
-    msg_cancel = "\nYou cancelled automatic download.\n\n"
-    msg_cancel += manual_install
-    msg_cancel += "Once installed re-run your script.\n\n"
-    print(msg_cancel)
-
-    sys.exit(1)
-
-
-def render_template(in_file, out_file, output_dir, json_path, template_glob=None):
-
-    acados_path = os.path.dirname(os.path.abspath(__file__))
-    if template_glob is None:
-        template_glob = os.path.join(acados_path, 'c_templates_tera', '**', '*')
-    cwd = os.getcwd()
-
-    if not os.path.exists(output_dir):
-        os.makedirs(output_dir)
-    os.chdir(output_dir)
-
-    tera_path = get_tera()
-
-    # call tera as system cmd
-    os_cmd = f"{tera_path} '{template_glob}' '{in_file}' '{json_path}' '{out_file}'"
-    # Windows cmd.exe can not cope with '...', so use "..." instead:
-    if os.name == 'nt':
-        os_cmd = os_cmd.replace('\'', '\"')
-
-    status = os.system(os_cmd)
-    if (status != 0):
-        raise Exception(f'Rendering of {in_file} failed!\n\nAttempted to execute OS command:\n{os_cmd}\n\n')
-
-    os.chdir(cwd)
-
-
-## Conversion functions
-def make_object_json_dumpable(input):
-    if isinstance(input, (np.ndarray)):
-        return input.tolist()
-    elif isinstance(input, (SX)):
-        return input.serialize()
-    elif isinstance(input, (MX)):
-        # NOTE: MX expressions can not be serialized, only Functions.
-        return input.__str__()
-    elif isinstance(input, (DM)):
-        return input.full()
-    else:
-        raise TypeError(f"Cannot make input of type {type(input)} dumpable.")
-
-
-def format_class_dict(d):
-    """
-    removes the __ artifact from class to dict conversion
-    """
-    out = {}
-    for k, v in d.items():
-        if isinstance(v, dict):
-            v = format_class_dict(v)
-
-        out_key = k.split('__', 1)[-1]
-        out[k.replace(k, out_key)] = v
-    return out
-
-
-def get_ocp_nlp_layout() -> dict:
-    python_interface_path = get_python_interface_path()
-    abs_path = os.path.join(python_interface_path, 'acados_layout.json')
-    with open(abs_path, 'r') as f:
-        ocp_nlp_layout = json.load(f)
-    return ocp_nlp_layout
-
-
-def get_default_simulink_opts() -> dict:
-    python_interface_path = get_python_interface_path()
-    abs_path = os.path.join(python_interface_path, 'simulink_default_opts.json')
-    with open(abs_path, 'r') as f:
-        simulink_opts = json.load(f)
-    return simulink_opts
-
-
-def J_to_idx(J):
-    nrows = J.shape[0]
-    idx = np.zeros((nrows, ))
-    for i in range(nrows):
-        this_idx = np.nonzero(J[i,:])[0]
-        if len(this_idx) != 1:
-            raise Exception('Invalid J matrix structure detected, ' \
-                'must contain one nonzero element per row.')
-        if this_idx.size > 0 and J[i,this_idx[0]] != 1:
-            raise Exception('J matrices can only contain 1s.')
-        idx[i] = this_idx[0]
-    return idx
-
-
-def J_to_idx_slack(J):
-    nrows = J.shape[0]
-    ncol = J.shape[1]
-    idx = np.zeros((ncol, ))
-    i_idx = 0
-    for i in range(nrows):
-        this_idx = np.nonzero(J[i,:])[0]
-        if len(this_idx) == 1:
-            idx[i_idx] = i
-            i_idx = i_idx + 1
-        elif len(this_idx) > 1:
-            raise Exception('J_to_idx_slack: Invalid J matrix. ' \
-                'Found more than one nonzero in row ' + str(i))
-        if this_idx.size > 0 and J[i,this_idx[0]] != 1:
-            raise Exception('J_to_idx_slack: J matrices can only contain 1s, ' \
-                 'got J(' + str(i) + ', ' + str(this_idx[0]) + ') = ' + str(J[i,this_idx[0]]) )
-    if not i_idx == ncol:
-            raise Exception('J_to_idx_slack: J must contain a 1 in every column!')
-    return idx
-
-
-def acados_dae_model_json_dump(model):
-
-    # load model
-    x = model.x
-    xdot = model.xdot
-    u = model.u
-    z = model.z
-    p = model.p
-
-    f_impl = model.f_impl_expr
-    model_name = model.name
-
-    # create struct with impl_dae_fun, casadi_version
-    fun_name = model_name + '_impl_dae_fun'
-    impl_dae_fun = Function(fun_name, [x, xdot, u, z, p], [f_impl])
-
-    casadi_version = CasadiMeta.version()
-    str_impl_dae_fun = impl_dae_fun.serialize()
-
-    dae_dict = {"str_impl_dae_fun": str_impl_dae_fun, "casadi_version": casadi_version}
-
-    # dump
-    json_file = model_name + '_acados_dae.json'
-    with open(json_file, 'w') as f:
-        json.dump(dae_dict, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
-    print("dumped ", model_name, " dae to file:", json_file, "\n")
-
-
-def set_up_imported_gnsf_model(acados_ocp):
-
-    gnsf = acados_ocp.gnsf_model
-
-    # check CasADi version
-    # dump_casadi_version = gnsf['casadi_version']
-    # casadi_version = CasadiMeta.version()
-
-    # if not casadi_version == dump_casadi_version:
-    #     print("WARNING: GNSF model was dumped with another CasADi version.\n"
-    #             + "This might yield errors. Please use the same version for compatibility, serialize version: "
-    #             + dump_casadi_version + " current Python CasADi verison: " + casadi_version)
-    #     input("Press any key to attempt to continue...")
-
-    # load model
-    phi_fun = Function.deserialize(gnsf['phi_fun'])
-    phi_fun_jac_y = Function.deserialize(gnsf['phi_fun_jac_y'])
-    phi_jac_y_uhat = Function.deserialize(gnsf['phi_jac_y_uhat'])
-    get_matrices_fun = Function.deserialize(gnsf['get_matrices_fun'])
-
-    # obtain gnsf dimensions
-    size_gnsf_A = get_matrices_fun.size_out(0)
-    acados_ocp.dims.gnsf_nx1 = size_gnsf_A[1]
-    acados_ocp.dims.gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1]
-    acados_ocp.dims.gnsf_nuhat = max(phi_fun.size_in(1))
-    acados_ocp.dims.gnsf_ny = max(phi_fun.size_in(0))
-    acados_ocp.dims.gnsf_nout = max(phi_fun.size_out(0))
-
-    # save gnsf functions in model
-    acados_ocp.model.phi_fun = phi_fun
-    acados_ocp.model.phi_fun_jac_y = phi_fun_jac_y
-    acados_ocp.model.phi_jac_y_uhat = phi_jac_y_uhat
-    acados_ocp.model.get_matrices_fun = get_matrices_fun
-
-    # get_matrices_fun = Function([model_name,'_gnsf_get_matrices_fun'], {dummy},...
-    #  {A, B, C, E, L_x, L_xdot, L_z, L_u, A_LO, c, E_LO, B_LO,...
-    #   nontrivial_f_LO, purely_linear, ipiv_x, ipiv_z, c_LO});
-    get_matrices_out = get_matrices_fun(0)
-    acados_ocp.model.gnsf['nontrivial_f_LO'] = int(get_matrices_out[12])
-    acados_ocp.model.gnsf['purely_linear'] = int(get_matrices_out[13])
-
-    if "f_lo_fun_jac_x1k1uz" in gnsf:
-        f_lo_fun_jac_x1k1uz = Function.deserialize(gnsf['f_lo_fun_jac_x1k1uz'])
-        acados_ocp.model.f_lo_fun_jac_x1k1uz = f_lo_fun_jac_x1k1uz
-    else:
-        dummy_var_x1 = SX.sym('dummy_var_x1', acados_ocp.dims.gnsf_nx1)
-        dummy_var_x1dot = SX.sym('dummy_var_x1dot', acados_ocp.dims.gnsf_nx1)
-        dummy_var_z1 = SX.sym('dummy_var_z1', acados_ocp.dims.gnsf_nz1)
-        dummy_var_u = SX.sym('dummy_var_z1', acados_ocp.dims.nu)
-        dummy_var_p = SX.sym('dummy_var_z1', acados_ocp.dims.np)
-        empty_var = SX.sym('empty_var', 0, 0)
-
-        empty_fun = Function('empty_fun', \
-            [dummy_var_x1, dummy_var_x1dot, dummy_var_z1, dummy_var_u, dummy_var_p],
-                [empty_var])
-        acados_ocp.model.f_lo_fun_jac_x1k1uz = empty_fun
-
-    del acados_ocp.gnsf_model
-
-
-def idx_perm_to_ipiv(idx_perm):
-    n = len(idx_perm)
-    vec = list(range(n))
-    ipiv = np.zeros(n)
-
-    print(n, idx_perm)
-    # import pdb; pdb.set_trace()
-    for ii in range(n):
-        idx0 = idx_perm[ii]
-        for jj in range(ii,n):
-            if vec[jj]==idx0:
-                idx1 = jj
-                break
-        tmp = vec[ii]
-        vec[ii] = vec[idx1]
-        vec[idx1] = tmp
-        ipiv[ii] = idx1
-
-    ipiv = ipiv-1 # C 0-based indexing
-    return ipiv
-
-
-def print_casadi_expression(f):
-    for ii in range(casadi_length(f)):
-        print(f[ii,:])
diff --git a/third_party/acados/acados_template/zoro_description.py b/third_party/acados/acados_template/zoro_description.py
deleted file mode 100644
index 4d795c1502e1a5..00000000000000
--- a/third_party/acados/acados_template/zoro_description.py
+++ /dev/null
@@ -1,78 +0,0 @@
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-
-from dataclasses import dataclass, field
-import numpy as np
-
-
-@dataclass
-class ZoroDescription:
-    """
-    Zero-Order Robust Optimization scheme.
-
-    For advanced users.
-    """
-    backoff_scaling_gamma: float = 1.0
-    fdbk_K_mat: np.ndarray = None
-    unc_jac_G_mat: np.ndarray = None    # default: an identity matrix
-    P0_mat: np.ndarray = None
-    W_mat: np.ndarray = None
-    idx_lbx_t: list = field(default_factory=list)
-    idx_ubx_t: list = field(default_factory=list)
-    idx_lbx_e_t: list = field(default_factory=list)
-    idx_ubx_e_t: list = field(default_factory=list)
-    idx_lbu_t: list = field(default_factory=list)
-    idx_ubu_t: list = field(default_factory=list)
-    idx_lg_t: list = field(default_factory=list)
-    idx_ug_t: list = field(default_factory=list)
-    idx_lg_e_t: list = field(default_factory=list)
-    idx_ug_e_t: list = field(default_factory=list)
-    idx_lh_t: list = field(default_factory=list)
-    idx_uh_t: list = field(default_factory=list)
-    idx_lh_e_t: list = field(default_factory=list)
-    idx_uh_e_t: list = field(default_factory=list)
-
-def process_zoro_description(zoro_description: ZoroDescription):
-    zoro_description.nw, _ = zoro_description.W_mat.shape
-    if zoro_description.unc_jac_G_mat is None:
-        zoro_description.unc_jac_G_mat = np.eye(zoro_description.nw)
-    zoro_description.nlbx_t = len(zoro_description.idx_lbx_t)
-    zoro_description.nubx_t = len(zoro_description.idx_ubx_t)
-    zoro_description.nlbx_e_t = len(zoro_description.idx_lbx_e_t)
-    zoro_description.nubx_e_t = len(zoro_description.idx_ubx_e_t)
-    zoro_description.nlbu_t = len(zoro_description.idx_lbu_t)
-    zoro_description.nubu_t = len(zoro_description.idx_ubu_t)
-    zoro_description.nlg_t = len(zoro_description.idx_lg_t)
-    zoro_description.nug_t = len(zoro_description.idx_ug_t)
-    zoro_description.nlg_e_t = len(zoro_description.idx_lg_e_t)
-    zoro_description.nug_e_t = len(zoro_description.idx_ug_e_t)
-    zoro_description.nlh_t = len(zoro_description.idx_lh_t)
-    zoro_description.nuh_t = len(zoro_description.idx_uh_t)
-    zoro_description.nlh_e_t = len(zoro_description.idx_lh_e_t)
-    zoro_description.nuh_e_t = len(zoro_description.idx_uh_e_t)
-    return zoro_description.__dict__
diff --git a/third_party/acados/build.sh b/third_party/acados/build.sh
deleted file mode 100755
index 95b3913c4a8f4f..00000000000000
--- a/third_party/acados/build.sh
+++ /dev/null
@@ -1,64 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-export SOURCE_DATE_EPOCH=0
-export ZERO_AR_DATE=1
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-
-ARCHNAME="x86_64"
-BLAS_TARGET="X64_AUTOMATIC"
-if [ -f /TICI ]; then
-  ARCHNAME="larch64"
-  BLAS_TARGET="ARMV8A_ARM_CORTEX_A57"
-fi
-
-ACADOS_FLAGS="-DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET"
-
-if [[ "$OSTYPE" == "darwin"* ]]; then
-  ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_MACOSX_RPATH=1"
-  ARCHNAME="Darwin"
-fi
-
-if [ ! -d acados_repo/ ]; then
-  git clone https://github.com/acados/acados.git $DIR/acados_repo
-  # git clone https://github.com/commaai/acados.git $DIR/acados_repo
-fi
-cd acados_repo
-git fetch --all
-git checkout 8af9b0ad180940ef611884574a0b27a43504311d # v0.2.2
-git submodule update --depth=1 --recursive --init
-
-# build
-mkdir -p build
-cd build
-cmake $ACADOS_FLAGS ..
-make -j20 install
-
-INSTALL_DIR="$DIR/$ARCHNAME"
-rm -rf $INSTALL_DIR
-mkdir -p $INSTALL_DIR
-
-rm $DIR/acados_repo/lib/*.json
-
-rm -rf $DIR/include $DIR/acados_template
-cp -r $DIR/acados_repo/include $DIR
-cp -r $DIR/acados_repo/lib $INSTALL_DIR
-cp -r $DIR/acados_repo/interfaces/acados_template/acados_template $DIR/
-#pip3 install -e $DIR/acados/interfaces/acados_template
-
-# skip macOS - sed is different :/
-if [[ "$OSTYPE" != "darwin"* ]]; then
-  # strip future_fstrings to avoid having to install the compatibility package
-  find $DIR/acados_template/ -type f -exec sed -i '/future.fstrings/d' {} +
-fi
-
-# build tera
-cd $DIR/acados_repo/interfaces/acados_template/tera_renderer/
-if [[ "$OSTYPE" == "darwin"* ]]; then
-  cargo build --verbose --release --target aarch64-apple-darwin
-  cp target/aarch64-apple-darwin/release/t_renderer target/release/t_renderer
-else
-  cargo build --verbose --release
-fi
-cp target/release/t_renderer $INSTALL_DIR/
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_common.h b/third_party/acados/include/acados/dense_qp/dense_qp_common.h
deleted file mode 100644
index 2a9a974f99b0d2..00000000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_common.h
+++ /dev/null
@@ -1,147 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_COMMON_H_
-#define ACADOS_DENSE_QP_DENSE_QP_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_dense_qp.h"
-#include "hpipm/include/hpipm_d_dense_qp_res.h"
-#include "hpipm/include/hpipm_d_dense_qp_sol.h"
-// acados
-#include "acados/utils/types.h"
-
-typedef struct d_dense_qp_dim dense_qp_dims;
-typedef struct d_dense_qp dense_qp_in;
-typedef struct d_dense_qp_sol dense_qp_out;
-typedef struct d_dense_qp_res dense_qp_res;
-typedef struct d_dense_qp_res_ws dense_qp_res_ws;
-
-
-
-#ifndef QP_SOLVER_CONFIG_
-#define QP_SOLVER_CONFIG_
-typedef struct
-{
-    void (*dims_set)(void *config_, void *dims_, const char *field, const int* value);
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *args);
-    void (*opts_update)(void *config, void *dims, void *args);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *args);
-    void *(*memory_assign)(void *config, void *dims, void *args, void *raw_memory);
-    void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *args);
-    int (*evaluate)(void *config, void *qp_in, void *qp_out, void *args, void *mem, void *work);
-    void (*eval_sens)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-} qp_solver_config;
-#endif
-
-
-
-#ifndef QP_INFO_
-#define QP_INFO_
-typedef struct
-{
-    double solve_QP_time;
-    double condensing_time;
-    double interface_time;
-    double total_time;
-    int num_iter;
-    int t_computed;
-} qp_info;
-#endif
-
-
-
-/* config */
-//
-acados_size_t dense_qp_solver_config_calculate_size();
-//
-qp_solver_config *dense_qp_solver_config_assign(void *raw_memory);
-
-/* dims */
-//
-acados_size_t dense_qp_dims_calculate_size();
-//
-dense_qp_dims *dense_qp_dims_assign(void *raw_memory);
-//
-void dense_qp_dims_set(void *config_, void *dims_, const char *field, const int* value);
-//
-
-/* in */
-//
-acados_size_t dense_qp_in_calculate_size(dense_qp_dims *dims);
-//
-dense_qp_in *dense_qp_in_assign(dense_qp_dims *dims, void *raw_memory);
-
-/* out */
-//
-acados_size_t dense_qp_out_calculate_size(dense_qp_dims *dims);
-//
-dense_qp_out *dense_qp_out_assign(dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_out_get(dense_qp_out *out, const char *field, void *value);
-
-/* res */
-//
-acados_size_t dense_qp_res_calculate_size(dense_qp_dims *dims);
-//
-dense_qp_res *dense_qp_res_assign(dense_qp_dims *dims, void *raw_memory);
-//
-acados_size_t dense_qp_res_workspace_calculate_size(dense_qp_dims *dims);
-//
-dense_qp_res_ws *dense_qp_res_workspace_assign(dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_compute_t(dense_qp_in *qp_in, dense_qp_out *qp_out);
-//
-void dense_qp_res_compute(dense_qp_in *qp_in, dense_qp_out *qp_out, dense_qp_res *qp_res, dense_qp_res_ws *res_ws);
-//
-void dense_qp_res_compute_nrm_inf(dense_qp_res *qp_res, double res[4]);
-
-/* misc */
-//
-void dense_qp_stack_slacks_dims(dense_qp_dims *in, dense_qp_dims *out);
-//
-void dense_qp_stack_slacks(dense_qp_in *in, dense_qp_in *out);
-//
-void dense_qp_unstack_slacks(dense_qp_out *in, dense_qp_in *qp_out, dense_qp_out *out);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_COMMON_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h b/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h
deleted file mode 100644
index b262089b4ffe0e..00000000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_DAQP_H_
-#define ACADOS_DENSE_QP_DENSE_QP_DAQP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// daqp
-#include "daqp/include/types.h"
-
-// acados
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/utils/types.h"
-
-
-typedef struct dense_qp_daqp_opts_
-{
-    DAQPSettings* daqp_opts;
-    int warm_start;
-} dense_qp_daqp_opts;
-
-
-typedef struct dense_qp_daqp_memory_
-{
-    double* lb_tmp;
-    double* ub_tmp;
-    int* idxb;
-    int* idxv_to_idxb;
-    int* idxs;
-    int* idxdaqp_to_idxs;
-
-    double* Zl;
-    double* Zu;
-    double* zl;
-    double* zu;
-    double* d_ls;
-    double* d_us;
-
-    double time_qp_solver_call;
-    int iter;
-    DAQPWorkspace * daqp_work;
-
-} dense_qp_daqp_memory;
-
-// opts
-acados_size_t dense_qp_daqp_opts_calculate_size(void *config, dense_qp_dims *dims);
-//
-void *dense_qp_daqp_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_daqp_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_);
-//
-void dense_qp_daqp_opts_update(void *config, dense_qp_dims *dims, void *opts_);
-//
-// memory 
-acados_size_t dense_qp_daqp_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-void *dense_qp_daqp_workspace_assign(void *config, dense_qp_dims *dims, void *raw_memory);
-//
-acados_size_t dense_qp_daqp_memory_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-void *dense_qp_daqp_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory);
-//
-// functions
-int dense_qp_daqp(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_);
-//
-void dense_qp_daqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_daqp_memory_reset(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_daqp_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_DAQP_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h b/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h
deleted file mode 100644
index 136279d666144f..00000000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_
-#define ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_dense_qp.h"
-#include "hpipm/include/hpipm_d_dense_qp_ipm.h"
-#include "hpipm/include/hpipm_d_dense_qp_sol.h"
-// acados
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/utils/types.h"
-
-
-
-typedef struct dense_qp_hpipm_opts_
-{
-    struct d_dense_qp_ipm_arg *hpipm_opts;
-} dense_qp_hpipm_opts;
-
-
-
-typedef struct dense_qp_hpipm_memory_
-{
-    struct d_dense_qp_ipm_ws *hpipm_workspace;
-    double time_qp_solver_call;
-    int iter;
-
-} dense_qp_hpipm_memory;
-
-
-
-//
-acados_size_t dense_qp_hpipm_opts_calculate_size(void *config, void *dims);
-//
-void *dense_qp_hpipm_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void dense_qp_hpipm_opts_initialize_default(void *config, void *dims, void *opts_);
-//
-void dense_qp_hpipm_opts_update(void *config, void *dims, void *opts_);
-//
-acados_size_t dense_qp_hpipm_calculate_memory_size(void *dims, void *opts_);
-//
-void *dense_qp_hpipm_assign_memory(void *dims, void *opts_, void *raw_memory);
-//
-acados_size_t dense_qp_hpipm_calculate_workspace_size(void *dims, void *opts_);
-//
-int dense_qp_hpipm(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_hpipm_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_hpipm_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h b/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h
deleted file mode 100644
index d051cb15f70281..00000000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h
+++ /dev/null
@@ -1,125 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_OOQP_H_
-#define ACADOS_DENSE_QP_DENSE_QP_OOQP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/utils/types.h"
-
-enum dense_qp_ooqp_termination_code
-{
-  DENSE_SUCCESSFUL_TERMINATION = 0,
-  DENSE_NOT_FINISHED,
-  DENSE_MAX_ITS_EXCEEDED,
-  DENSE_INFEASIBLE,
-  DENSE_UNKNOWN
-};
-
-typedef struct dense_qp_ooqp_opts_
-{
-    int printLevel;
-    int useDiagonalWeights;  // TODO(dimitris): implement option
-    int fixHessian;
-    int fixDynamics;
-    int fixInequalities;
-} dense_qp_ooqp_opts;
-
-typedef struct dense_qp_ooqp_workspace_
-{
-    double *x;
-    double *gamma;
-    double *phi;
-    double *y;
-    double *z;
-    double *lambda;
-    double *pi;
-    double objectiveValue;
-} dense_qp_ooqp_workspace;
-
-typedef struct dense_qp_ooqp_memory_
-{
-    int firstRun;
-    int nx;
-    int my;
-    int mz;
-    double *c;
-    double *dQ;
-    double *xlow;
-    char *ixlow;
-    double *xupp;
-    char *ixupp;
-    double *dA;
-    double *bA;
-    double *dC;
-    double *clow;
-    char *iclow;
-    double *cupp;
-    char *icupp;
-    double time_qp_solver_call;
-    int iter;
-
-} dense_qp_ooqp_memory;
-
-//
-acados_size_t dense_qp_ooqp_opts_calculate_size(void *config_, dense_qp_dims *dims);
-//
-void *dense_qp_ooqp_opts_assign(void *config_, dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_ooqp_opts_initialize_default(void *config_, dense_qp_dims *dims, void *opts_);
-//
-void dense_qp_ooqp_opts_update(void *config_, dense_qp_dims *dims, void *opts_);
-//
-acados_size_t dense_qp_ooqp_memory_calculate_size(void *config_, dense_qp_dims *dims, void *opts_);
-//
-void *dense_qp_ooqp_memory_assign(void *config_, dense_qp_dims *dims, void *opts_,
-                                  void *raw_memory);
-//
-acados_size_t dense_qp_ooqp_workspace_calculate_size(void *config_, dense_qp_dims *dims, void *opts_);
-//
-int dense_qp_ooqp(void *config_, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_,
-                  void *memory_, void *work_);
-//
-void dense_qp_ooqp_destroy(void *mem_, void *work);
-//
-void dense_qp_ooqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_ooqp_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_OOQP_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_qore.h b/third_party/acados/include/acados/dense_qp/dense_qp_qore.h
deleted file mode 100644
index 392e472918d613..00000000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_qore.h
+++ /dev/null
@@ -1,124 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_QORE_H_
-#define ACADOS_DENSE_QP_DENSE_QP_QORE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// qore
-#include "qore/QPSOLVER_DENSE/include/qpsolver_dense.h"
-// acados
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/utils/types.h"
-
-typedef struct dense_qp_qore_opts_
-{
-    int nsmax;       // maximum size of Schur complement
-    int print_freq;  // print frequency,
-                     // prtfreq  < 0: disable printing;
-                     // prtfreq == 0: print on each call and include working set changes;
-                     // prtfreq  > 0: print on every prtfreq seconds, but do not include working set
-                     // changes;
-    int warm_start;  // warm start with updated matrices H and C
-    int warm_strategy;  // 0: ramp-up from zero homotopy; 1: setup homotopy from the previous
-                        // solution
-    int hot_start;      // hot start with unchanged matrices H and C
-    int max_iter;       // maximum number of iterations
-    int compute_t;      // compute t in qp_out (to have correct residuals in NLP)
-} dense_qp_qore_opts;
-
-typedef struct dense_qp_qore_memory_
-{
-    double *H;
-    double *HH;
-    double *g;
-    double *gg;
-    double *Zl;
-    double *Zu;
-    double *zl;
-    double *zu;
-    double *A;
-    double *b;
-    double *C;
-    double *CC;
-    double *Ct;
-    double *CCt;
-    double *d_lb0;
-    double *d_ub0;
-    double *d_lb;
-    double *d_ub;
-    double *d_lg;
-    double *d_ug;
-    double *d_ls;
-    double *d_us;
-    double *lb;
-    double *ub;
-    int *idxb;
-    int *idxb_stacked;
-    int *idxs;
-    double *prim_sol;
-    double *dual_sol;
-    QoreProblemDense *QP;
-    int num_iter;
-    dense_qp_in *qp_stacked;
-    double time_qp_solver_call;
-    int iter;
-
-} dense_qp_qore_memory;
-
-acados_size_t dense_qp_qore_opts_calculate_size(void *config, dense_qp_dims *dims);
-//
-void *dense_qp_qore_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_qore_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_);
-//
-void dense_qp_qore_opts_update(void *config, dense_qp_dims *dims, void *opts_);
-//
-acados_size_t dense_qp_qore_memory_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-void *dense_qp_qore_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory);
-//
-acados_size_t dense_qp_qore_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-int dense_qp_qore(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_);
-//
-void dense_qp_qore_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_qore_config_initialize_default(void *config);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_QORE_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h b/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h
deleted file mode 100644
index 0e13d3ef64ef6e..00000000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h
+++ /dev/null
@@ -1,126 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_
-#define ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/utils/types.h"
-
-typedef struct dense_qp_qpoases_opts_
-{
-    double max_cputime;  // maximum cpu time in seconds
-    int max_nwsr;        // maximum number of working set recalculations
-    int warm_start;      // warm start with dual_sol in memory
-    int use_precomputed_cholesky;
-    int hotstart;  // this option requires constant data matrices! (eg linear MPC, inexact schemes
-                   // with frozen sensitivities)
-    int set_acado_opts;  // use same options as in acado code generation
-    int compute_t;       // compute t in qp_out (to have correct residuals in NLP)
-    double tolerance;  // terminationTolerance
-} dense_qp_qpoases_opts;
-
-typedef struct dense_qp_qpoases_memory_
-{
-    double *H;
-    double *HH;
-    double *R;
-    double *g;
-    double *gg;
-    double *Zl;
-    double *Zu;
-    double *zl;
-    double *zu;
-    double *A;
-    double *b;
-    double *d_lb0;
-    double *d_ub0;
-    double *d_lb;
-    double *d_ub;
-    double *C;
-    double *CC;
-    double *d_lg0;
-    double *d_ug0;
-    double *d_lg;
-    double *d_ug;
-    double *d_ls;
-    double *d_us;
-    int *idxb;
-    int *idxb_stacked;
-    int *idxs;
-    double *prim_sol;
-    double *dual_sol;
-    void *QPB;       // NOTE(giaf): cast to QProblemB to use
-    void *QP;        // NOTE(giaf): cast to QProblem to use
-    double cputime;  // cputime of qpoases
-    int nwsr;        // performed number of working set recalculations
-    int first_it;    // to be used with hotstart
-    dense_qp_in *qp_stacked;
-    double time_qp_solver_call; // equal to cputime
-    int iter;
-
-} dense_qp_qpoases_memory;
-
-acados_size_t dense_qp_qpoases_opts_calculate_size(void *config, dense_qp_dims *dims);
-//
-void *dense_qp_qpoases_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_qpoases_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_);
-//
-void dense_qp_qpoases_opts_update(void *config, dense_qp_dims *dims, void *opts_);
-//
-acados_size_t dense_qp_qpoases__memorycalculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-void *dense_qp_qpoases_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory);
-//
-acados_size_t dense_qp_qpoases_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-int dense_qp_qpoases(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_);
-//
-void dense_qp_qpoases_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_qpoases_memory_reset(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_qpoases_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h
deleted file mode 100644
index ba97db97684245..00000000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h
+++ /dev/null
@@ -1,446 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-
-/// \defgroup ocp_nlp ocp_nlp
-/// @{
-/// @}
-
-/// \defgroup ocp_nlp_solver ocp_nlp_solver
-/// @{
-/// @}
-
-/// \ingroup ocp_nlp
-/// @{
-
-/// \ingroup ocp_nlp_solver
-/// @{
-
-/// \defgroup ocp_nlp_common ocp_nlp_common
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_nlp/ocp_nlp_constraints_common.h"
-#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
-#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h"
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/ocp_qp/ocp_qp_xcond_solver.h"
-#include "acados/sim/sim_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * config
- ************************************************/
-
-typedef struct ocp_nlp_config
-{
-    int N;  // number of stages
-
-    // solver-specific implementations of memory management functions
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *opts_);
-    void (*opts_update)(void *config, void *dims, void *opts_);
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts_);
-    void *(*memory_assign)(void *config, void *dims, void *opts_, void *raw_memory);
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts_);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
-    void (*opts_set_at_stage)(void *config_, void *opts_, size_t stage, const char *field, void* value);
-    // evaluate solver // TODO rename into solve
-    int (*evaluate)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work);
-    void (*eval_param_sens)(void *config, void *dims, void *opts_, void *mem, void *work,
-                            char *field, int stage, int index, void *sens_nlp_out);
-    // prepare memory
-    int (*precompute)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work);
-    void (*memory_reset_qp_solver)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work);
-    // initalize this struct with default values
-    void (*config_initialize_default)(void *config);
-    // general getter
-    void (*get)(void *config_, void *dims, void *mem_, const char *field, void *return_value_);
-    void (*opts_get)(void *config_, void *dims, void *opts_, const char *field, void *return_value_);
-    void (*work_get)(void *config_, void *dims, void *work_, const char *field, void *return_value_);
-    // config structs of submodules
-    ocp_qp_xcond_solver_config *qp_solver; // TODO rename xcond_solver
-    ocp_nlp_dynamics_config **dynamics;
-    ocp_nlp_cost_config **cost;
-    ocp_nlp_constraints_config **constraints;
-    ocp_nlp_reg_config *regularize;
-
-} ocp_nlp_config;
-
-//
-acados_size_t ocp_nlp_config_calculate_size(int N);
-//
-ocp_nlp_config *ocp_nlp_config_assign(int N, void *raw_memory);
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-/// Structure to store dimensions/number of variables.
-typedef struct ocp_nlp_dims
-{
-    void **cost;
-    void **dynamics;
-    void **constraints;
-    ocp_qp_xcond_solver_dims *qp_solver;  // xcond solver instead ??
-    ocp_nlp_reg_dims *regularize;
-
-    int *nv;  // number of primal variables (states+controls+slacks)
-    int *nx;  // number of differential states
-    int *nu;  // number of inputs
-    int *ni;  // number of two-sided inequality constraints: nb+ng+nh+ns
-    int *nz;  // number of algebraic variables
-    int *ns;  // number of slack variables
-    int N;    // number of shooting nodes
-
-    void *raw_memory; // Pointer to allocated memory, to be used for freeing
-} ocp_nlp_dims;
-
-//
-acados_size_t ocp_nlp_dims_calculate_size(void *config);
-//
-ocp_nlp_dims *ocp_nlp_dims_assign(void *config, void *raw_memory);
-
-/// Sets the dimension of optimization variables
-/// (states, constrols, algebraic variables, slack variables).
-///
-/// \param config_ The configuration struct.
-/// \param dims_ The dimension struct.
-/// \param field The type of optimization variables, either nx, nu, nz, or ns.
-/// \param value_array Number of variables for each stage.
-void ocp_nlp_dims_set_opt_vars(void *config_, void *dims_,
-                               const char *field, const void* value_array);
-
-/// Sets the dimensions of constraints functions for a stage
-/// (bounds on states, bounds on controls, equality constraints,
-/// inequality constraints).
-///
-/// \param config_ The configuration struct.
-/// \param dims_ The dimension struct.
-/// \param stage Stage number.
-/// \param field The type of constraint/bound, either nbx, nbu, ng, or nh.
-/// \param value_field Number of constraints/bounds for the given stage.
-void ocp_nlp_dims_set_constraints(void *config_, void *dims_, int stage,
-                                  const char *field, const void* value_field);
-
-/// Sets the dimensions of the cost terms for a stage.
-///
-/// \param config_ The configuration struct.
-/// \param dims_ The dimension struct.
-/// \param stage Stage number.
-/// \param field Type of cost term, can be eiter ny.
-/// \param value_field Number of cost terms/residuals for the given stage.
-void ocp_nlp_dims_set_cost(void *config_, void *dims_, int stage, const char *field,
-                           const void* value_field);
-
-/// Sets the dimensions of the dynamics for a stage.
-///
-/// \param config_ The configuration struct.
-/// \param dims_ The dimension struct.
-/// \param stage Stage number.
-/// \param field TBD
-/// \param value TBD
-void ocp_nlp_dims_set_dynamics(void *config_, void *dims_, int stage, const char *field,
-                               const void* value);
-
-/************************************************
- * Inputs
- ************************************************/
-
-/// Struct for storing the inputs of an OCP NLP solver
-typedef struct ocp_nlp_in
-{
-    /// Length of sampling intervals/timesteps.
-    double *Ts;
-
-    /// Pointers to cost functions (TBC).
-    void **cost;
-
-    /// Pointers to dynamics functions (TBC).
-    void **dynamics;
-
-    /// Pointers to constraints functions (TBC).
-    void **constraints;
-
-    /// Pointer to allocated memory, to be used for freeing.
-    void *raw_memory;
-
-} ocp_nlp_in;
-
-//
-acados_size_t ocp_nlp_in_calculate_size_self(int N);
-//
-acados_size_t ocp_nlp_in_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims);
-//
-ocp_nlp_in *ocp_nlp_in_assign_self(int N, void *raw_memory);
-//
-ocp_nlp_in *ocp_nlp_in_assign(ocp_nlp_config *config, ocp_nlp_dims *dims, void *raw_memory);
-
-
-/************************************************
- * out
- ************************************************/
-
-typedef struct ocp_nlp_out
-{
-    struct blasfeo_dvec *ux;  // NOTE: this contains [u; x; s_l; s_u]! - rename to uxs?
-    struct blasfeo_dvec *z;  // algebraic vairables
-    struct blasfeo_dvec *pi;  // multipliers for dynamics
-    struct blasfeo_dvec *lam;  // inequality mulitpliers
-    struct blasfeo_dvec *t;  // slack variables corresponding to evaluation of all inequalities (at the solution)
-
-    // NOTE: the inequalities are internally organized in the following order:
-    // [ lbu lbx lg lh lphi ubu ubx ug uh uphi; lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
-    double inf_norm_res;
-
-    void *raw_memory; // Pointer to allocated memory, to be used for freeing
-
-} ocp_nlp_out;
-
-//
-acados_size_t ocp_nlp_out_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims);
-//
-ocp_nlp_out *ocp_nlp_out_assign(ocp_nlp_config *config, ocp_nlp_dims *dims,
-                                void *raw_memory);
-
-
-
-/************************************************
- * options
- ************************************************/
-
-/// Globalization types
-typedef enum
-{
-    FIXED_STEP,
-    MERIT_BACKTRACKING,
-} ocp_nlp_globalization_t;
-
-typedef struct ocp_nlp_opts
-{
-    ocp_qp_xcond_solver_opts *qp_solver_opts; // xcond solver opts instead ???
-    void *regularize;
-    void **dynamics;     // dynamics_opts
-    void **cost;         // cost_opts
-    void **constraints;  // constraints_opts
-    double step_length;  // step length in case of FIXED_STEP
-    double levenberg_marquardt;  // LM factor to be added to the hessian before regularization
-    int reuse_workspace;
-    int num_threads;
-    int print_level;
-
-    // TODO: move to separate struct?
-    ocp_nlp_globalization_t globalization;
-    int full_step_dual;
-    int line_search_use_sufficient_descent;
-    int globalization_use_SOC;
-    double alpha_min;
-    double alpha_reduction;
-    double eps_sufficient_descent;
-} ocp_nlp_opts;
-
-//
-acados_size_t ocp_nlp_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_opts_set(void *config_, void *opts_, const char *field, void* value);
-//
-void ocp_nlp_opts_set_at_stage(void *config, void *opts, int stage, const char *field, void *value);
-
-
-/************************************************
- * residuals
- ************************************************/
-
-typedef struct ocp_nlp_res
-{
-    struct blasfeo_dvec *res_stat;  // stationarity
-    struct blasfeo_dvec *res_eq;  // dynamics
-    struct blasfeo_dvec *res_ineq;  // inequality constraints
-    struct blasfeo_dvec *res_comp;  // complementarity
-    struct blasfeo_dvec tmp;  // tmp
-    double inf_norm_res_stat;
-    double inf_norm_res_eq;
-    double inf_norm_res_ineq;
-    double inf_norm_res_comp;
-    acados_size_t memsize;
-} ocp_nlp_res;
-
-//
-acados_size_t ocp_nlp_res_calculate_size(ocp_nlp_dims *dims);
-//
-ocp_nlp_res *ocp_nlp_res_assign(ocp_nlp_dims *dims, void *raw_memory);
-//
-void ocp_nlp_res_get_inf_norm(ocp_nlp_res *res, double *out);
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct ocp_nlp_memory
-{
-//    void *qp_solver_mem; // xcond solver mem instead ???
-    ocp_qp_xcond_solver_memory *qp_solver_mem; // xcond solver mem instead ???
-    void *regularize_mem;
-    void **dynamics;     // dynamics memory
-    void **cost;         // cost memory
-    void **constraints;  // constraints memory
-
-    // residuals
-    ocp_nlp_res *nlp_res;
-
-    // qp in & out
-    ocp_qp_in *qp_in;
-    ocp_qp_out *qp_out;
-    // QP stuff not entering the qp_in struct
-    struct blasfeo_dmat *dzduxt; // dzdux transposed
-    struct blasfeo_dvec *z_alg; // z_alg, output algebraic variables
-
-    struct blasfeo_dvec *cost_grad;
-    struct blasfeo_dvec *ineq_fun;
-    struct blasfeo_dvec *ineq_adj;
-    struct blasfeo_dvec *dyn_fun;
-    struct blasfeo_dvec *dyn_adj;
-
-    double cost_value;
-
-    bool *set_sim_guess; // indicate if there is new explicitly provided guess for integration variables
-    struct blasfeo_dvec *sim_guess;
-
-    int *sqp_iter; // pointer to iteration number
-
-} ocp_nlp_memory;
-
-//
-acados_size_t ocp_nlp_memory_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_opts *opts);
-//
-ocp_nlp_memory *ocp_nlp_memory_assign(ocp_nlp_config *config, ocp_nlp_dims *dims,
-                                      ocp_nlp_opts *opts, void *raw_memory);
-
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct ocp_nlp_workspace
-{
-
-    void *qp_work;
-    void **dynamics;     // dynamics_workspace
-    void **cost;         // cost_workspace
-    void **constraints;  // constraints_workspace
-
-    // for globalization: -> move to module?!
-    ocp_nlp_out *tmp_nlp_out;
-    ocp_nlp_out *weight_merit_fun;
-    struct blasfeo_dvec tmp_nxu;
-    struct blasfeo_dvec tmp_ni;
-    struct blasfeo_dvec dxnext_dy;
-
-} ocp_nlp_workspace;
-
-//
-acados_size_t ocp_nlp_workspace_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_opts *opts);
-//
-ocp_nlp_workspace *ocp_nlp_workspace_assign(ocp_nlp_config *config, ocp_nlp_dims *dims,
-                                ocp_nlp_opts *opts, ocp_nlp_memory *mem, void *raw_memory);
-
-
-
-/************************************************
- * function
- ************************************************/
-
-void ocp_nlp_alias_memory_to_submodules(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_initialize_submodules(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_approximate_qp_matrices(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-             ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_approximate_qp_vectors_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-                 ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_embed_initial_value(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-                 ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_update_variables_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-           ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work, double alpha);
-//
-int ocp_nlp_precompute_common(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-double ocp_nlp_line_search(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work,
-            int check_early_termination);
-//
-double ocp_nlp_evaluate_merit_fun(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-          ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_initialize_t_slacks(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_res_compute(ocp_nlp_dims *dims, ocp_nlp_in *in, ocp_nlp_out *out,
-                         ocp_nlp_res *res, ocp_nlp_memory *mem);
-//
-void ocp_nlp_cost_compute(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h
deleted file mode 100644
index 9dbf16f6dc2df3..00000000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h
+++ /dev/null
@@ -1,238 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_constraints
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
-#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/ocp_nlp/ocp_nlp_constraints_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    int nx;
-    int nu;
-    int nz;
-    int nb;  // nbx + nbu
-    int nbu; // number of input box constraints
-    int nbx; // number of state box constraints
-    int ng;  // number of general linear constraints
-    int nh;  // number of nonlinear path constraints
-    int ns;  // nsbu + nsbx + nsg + nsh
-    int nsbu;  // number of softened input bounds
-    int nsbx;  // number of softened state bounds
-    int nsg;  // number of softened general linear constraints
-    int nsh;  // number of softened nonlinear constraints
-    int nbue; // number of input box constraints which are equality
-    int nbxe; // number of state box constraints which are equality
-    int nge;  // number of general linear constraints which are equality
-    int nhe;  // number of nonlinear path constraints which are equality
-} ocp_nlp_constraints_bgh_dims;
-
-//
-acados_size_t ocp_nlp_constraints_bgh_dims_calculate_size(void *config);
-//
-void *ocp_nlp_constraints_bgh_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_constraints_bgh_dims_get(void *config_, void *dims_, const char *field, int* value);
-//
-void ocp_nlp_constraints_bgh_dims_set(void *config_, void *dims_,
-                                      const char *field, const int* value);
-
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    int *idxb;
-    int *idxs;
-    int *idxe;
-    struct blasfeo_dvec d;  // gathers bounds
-    struct blasfeo_dmat DCt;  // general linear constraint matrix
-            // lg <= [D, C] * [u; x] <= ug
-    external_function_generic *nl_constr_h_fun;  // nonlinear: lh <= h(x,u) <= uh
-    external_function_generic *nl_constr_h_fun_jac;  // nonlinear: lh <= h(x,u) <= uh
-    external_function_generic *nl_constr_h_fun_jac_hess;  // nonlinear: lh <= h(x,u) <= uh
-} ocp_nlp_constraints_bgh_model;
-
-//
-acados_size_t ocp_nlp_constraints_bgh_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_constraints_bgh_model_assign(void *config, void *dims, void *raw_memory);
-//
-int ocp_nlp_constraints_bgh_model_set(void *config_, void *dims_,
-                         void *model_, const char *field, void *value);
-
-//
-void ocp_nlp_constraints_bgh_model_get(void *config_, void *dims_,
-                         void *model_, const char *field, void *value);
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    int compute_adj;
-    int compute_hess;
-} ocp_nlp_constraints_bgh_opts;
-
-//
-acados_size_t ocp_nlp_constraints_bgh_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_constraints_bgh_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_constraints_bgh_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_constraints_bgh_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_constraints_bgh_opts_set(void *config, void *opts, char *field, void *value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dvec fun;
-    struct blasfeo_dvec adj;
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out
-    struct blasfeo_dvec *lam;    // pointer to lam in nlp_out
-    struct blasfeo_dvec *tmp_lam;// pointer to lam in tmp_nlp_out
-    struct blasfeo_dvec *z_alg;  // pointer to z_alg in ocp_nlp memory
-    struct blasfeo_dmat *DCt;    // pointer to DCt in qp_in
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dmat *dzduxt; // pointer to dzduxt in ocp_nlp memory
-    int *idxb;                   // pointer to idxb[ii] in qp_in
-    int *idxs_rev;               // pointer to idxs_rev[ii] in qp_in
-    int *idxe;                   // pointer to idxe[ii] in qp_in
-} ocp_nlp_constraints_bgh_memory;
-
-//
-acados_size_t ocp_nlp_constraints_bgh_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_constraints_bgh_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-struct blasfeo_dvec *ocp_nlp_constraints_bgh_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_constraints_bgh_memory_get_adj_ptr(void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_lam_ptr(struct blasfeo_dvec *lam, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_tmp_lam_ptr(struct blasfeo_dvec *tmp_lam, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_DCt_ptr(struct blasfeo_dmat *DCt, void *memory);
-//
-void ocp_nlp_constraints_bgh_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_dzduxt_ptr(struct blasfeo_dmat *dzduxt, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_idxb_ptr(int *idxb, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_idxs_rev_ptr(int *idxs_rev, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_idxe_ptr(int *idxe, void *memory_);
-
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat tmp_nv_nv;
-    struct blasfeo_dmat tmp_nz_nh;
-    struct blasfeo_dmat tmp_nv_nh;
-    struct blasfeo_dmat tmp_nz_nv;
-    struct blasfeo_dmat hess_z;
-    struct blasfeo_dvec tmp_ni;
-    struct blasfeo_dvec tmp_nh;
-} ocp_nlp_constraints_bgh_workspace;
-
-//
-acados_size_t ocp_nlp_constraints_bgh_workspace_calculate_size(void *config, void *dims, void *opts);
-
-/* functions */
-
-//
-void ocp_nlp_constraints_bgh_config_initialize_default(void *config);
-//
-void ocp_nlp_constraints_bgh_initialize(void *config, void *dims, void *model, void *opts,
-                                    void *mem, void *work);
-//
-void ocp_nlp_constraints_bgh_update_qp_matrices(void *config_, void *dims, void *model_,
-                                            void *opts_, void *memory_, void *work_);
-
-//
-void ocp_nlp_constraints_bgh_compute_fun(void *config_, void *dims, void *model_,
-                                            void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_constraints_bgh_bounds_update(void *config_, void *dims, void *model_,
-                                            void *opts_, void *memory_, void *work_);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h
deleted file mode 100644
index eb05edf7a6bf2d..00000000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h
+++ /dev/null
@@ -1,218 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_constraints
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_
-#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/ocp_nlp/ocp_nlp_constraints_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/* dims */
-
-typedef struct
-{
-    int nx;
-    int nu;
-    int nz;
-    int nb;   // nbx + nbu
-    int nbu;
-    int nbx;
-    int ng;   // number of general linear constraints
-    int nphi; // dimension of convex outer part
-    int ns;   // nsbu + nsbx + nsg + nsphi
-    int nsbu; // number of softened input bounds
-    int nsbx; // number of softened state bounds
-    int nsg;  // number of softened general linear constraints
-    int nsphi;  // number of softened nonlinear constraints
-    int nr;   // dimension of nonlinear function in convex_over_nonlinear constraint
-    int nbue; // number of input box constraints which are equality
-    int nbxe; // number of state box constraints which are equality
-    int nge;  // number of general linear constraints which are equality
-    int nphie;  // number of nonlinear path constraints which are equality
-} ocp_nlp_constraints_bgp_dims;
-
-//
-acados_size_t ocp_nlp_constraints_bgp_dims_calculate_size(void *config);
-//
-void *ocp_nlp_constraints_bgp_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_constraints_bgp_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-
-/* model */
-
-typedef struct
-{
-    //  ocp_nlp_constraints_bgp_dims *dims;
-    int *idxb;
-    int *idxs;
-    int *idxe;
-    struct blasfeo_dvec d;
-    struct blasfeo_dmat DCt;
-    external_function_generic *nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux;
-    external_function_generic *nl_constr_phi_o_r_fun;
-    external_function_generic *nl_constr_r_fun_jac;
-} ocp_nlp_constraints_bgp_model;
-
-//
-acados_size_t ocp_nlp_constraints_bgp_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_constraints_bgp_assign(void *config, void *dims, void *raw_memory);
-//
-int ocp_nlp_constraints_bgp_model_set(void *config_, void *dims_,
-                         void *model_, const char *field, void *value);
-//
-void ocp_nlp_constraints_bgp_model_get(void *config_, void *dims_,
-                         void *model_, const char *field, void *value);
-
-/* options */
-
-typedef struct
-{
-    int compute_adj;
-    int compute_hess;
-} ocp_nlp_constraints_bgp_opts;
-
-//
-acados_size_t ocp_nlp_constraints_bgp_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_constraints_bgp_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_constraints_bgp_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_constraints_bgp_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_constraints_bgp_opts_set(void *config, void *opts, char *field, void *value);
-
-/* memory */
-
-typedef struct
-{
-    struct blasfeo_dvec fun;
-    struct blasfeo_dvec adj;
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out
-    struct blasfeo_dvec *lam;    // pointer to lam in nlp_out
-    struct blasfeo_dvec *tmp_lam;// pointer to lam in tmp_nlp_out
-    struct blasfeo_dvec *z_alg;  // pointer to z_alg in ocp_nlp memory
-    struct blasfeo_dmat *DCt;    // pointer to DCt in qp_in
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dmat *dzduxt; // pointer to dzduxt in ocp_nlp memory
-    int *idxb;                   // pointer to idxb[ii] in qp_in
-    int *idxs_rev;                   // pointer to idxs_rev[ii] in qp_in
-    int *idxe;                   // pointer to idxe[ii] in qp_in
-} ocp_nlp_constraints_bgp_memory;
-
-//
-acados_size_t ocp_nlp_constraints_bgp_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_constraints_bgp_memory_assign(void *config, void *dims, void *opts,
-    void *raw_memory);
-//
-struct blasfeo_dvec *ocp_nlp_constraints_bgp_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_constraints_bgp_memory_get_adj_ptr(void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_lam_ptr(struct blasfeo_dvec *lam, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_tmp_lam_ptr(struct blasfeo_dvec *tmp_lam, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_DCt_ptr(struct blasfeo_dmat *DCt, void *memory);
-//
-void ocp_nlp_constraints_bgp_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_dzduxt_ptr(struct blasfeo_dmat *dzduxt, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_idxb_ptr(int *idxb, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_idxs_rev_ptr(int *idxs_rev, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_idxe_ptr(int *idxe, void *memory_);
-
-/* workspace */
-
-typedef struct
-{
-    struct blasfeo_dvec tmp_ni;
-    struct blasfeo_dmat jac_r_ux_tran;
-    struct blasfeo_dmat tmp_nr_nphi_nr;
-    struct blasfeo_dmat tmp_nv_nr;
-    struct blasfeo_dmat tmp_nv_nphi;
-    struct blasfeo_dmat tmp_nz_nphi;
-} ocp_nlp_constraints_bgp_workspace;
-
-//
-acados_size_t ocp_nlp_constraints_bgp_workspace_calculate_size(void *config, void *dims, void *opts);
-
-/* functions */
-
-//
-void ocp_nlp_constraints_bgp_config_initialize_default(void *config);
-//
-void ocp_nlp_constraints_bgp_initialize(void *config, void *dims, void *model,
-        void *opts, void *mem, void *work);
-//
-void ocp_nlp_constraints_bgp_update_qp_matrices(void *config_, void *dims,
-        void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_constraints_bgp_compute_fun(void *config_, void *dims,
-        void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_constraints_bgp_bounds_update(void *config_, void *dims, void *model_,
-        void *opts_, void *memory_, void *work_);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h
deleted file mode 100644
index bb73c468deb377..00000000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h
+++ /dev/null
@@ -1,108 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \ingroup ocp_nlp
-/// @{
-
-/// \defgroup ocp_nlp_constraints ocp_nlp_constraints
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
-#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * config
- ************************************************/
-
-typedef struct
-{
-    acados_size_t (*dims_calculate_size)(void *config);
-    void *(*dims_assign)(void *config, void *raw_memory);
-    acados_size_t (*model_calculate_size)(void *config, void *dims);
-    void *(*model_assign)(void *config, void *dims, void *raw_memory);
-    int (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value);
-    void (*model_get)(void *config_, void *dims_, void *model_, const char *field, void *value);
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *opts);
-    void (*opts_update)(void *config, void *dims, void *opts);
-    void (*opts_set)(void *config, void *opts, char *field, void *value);
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
-    struct blasfeo_dvec *(*memory_get_fun_ptr)(void *memory);
-    struct blasfeo_dvec *(*memory_get_adj_ptr)(void *memory);
-    void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory);
-    void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory);
-    void (*memory_set_lam_ptr)(struct blasfeo_dvec *lam, void *memory);
-    void (*memory_set_tmp_lam_ptr)(struct blasfeo_dvec *tmp_lam, void *memory);
-    void (*memory_set_DCt_ptr)(struct blasfeo_dmat *DCt, void *memory);
-    void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory);
-    void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *z_alg, void *memory);
-    void (*memory_set_dzdux_tran_ptr)(struct blasfeo_dmat *dzduxt, void *memory);
-    void (*memory_set_idxb_ptr)(int *idxb, void *memory);
-    void (*memory_set_idxs_rev_ptr)(int *idxs_rev, void *memory);
-    void (*memory_set_idxe_ptr)(int *idxe, void *memory);
-    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
-    void (*initialize)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
-    void (*update_qp_matrices)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
-    void (*compute_fun)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
-    void (*bounds_update)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
-    void (*config_initialize_default)(void *config);
-    // dimension setters
-    void (*dims_set)(void *config_, void *dims_, const char *field, const int *value);
-    void (*dims_get)(void *config_, void *dims_, const char *field, int* value);
-} ocp_nlp_constraints_config;
-
-//
-acados_size_t ocp_nlp_constraints_config_calculate_size();
-//
-ocp_nlp_constraints_config *ocp_nlp_constraints_config_assign(void *raw_memory);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h
deleted file mode 100644
index eb4056403648c6..00000000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-///
-/// \defgroup ocp_nlp_cost ocp_nlp_cost
-///
-
-/// \addtogroup ocp_nlp_cost ocp_nlp_cost
-/// @{
-/// \addtogroup ocp_nlp_cost_common ocp_nlp_cost_common
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * config
- ************************************************/
-
-typedef struct
-{
-    acados_size_t (*dims_calculate_size)(void *config);
-    void *(*dims_assign)(void *config, void *raw_memory);
-    void (*dims_set)(void *config_, void *dims_, const char *field, int *value);
-    void (*dims_get)(void *config_, void *dims_, const char *field, int *value);
-    acados_size_t (*model_calculate_size)(void *config, void *dims);
-    void *(*model_assign)(void *config, void *dims, void *raw_memory);
-    int (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value_);
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *opts);
-    void (*opts_update)(void *config, void *dims, void *opts);
-    void (*opts_set)(void *config, void *opts, const char *field, void *value);
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
-	double *(*memory_get_fun_ptr)(void *memory);
-    struct blasfeo_dvec *(*memory_get_grad_ptr)(void *memory);
-    void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory);
-    void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory);
-    void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *z_alg, void *memory);
-    void (*memory_set_dzdux_tran_ptr)(struct blasfeo_dmat *dzdux, void *memory);
-    void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory);
-    void (*memory_set_Z_ptr)(struct blasfeo_dvec *Z, void *memory);
-    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
-    void (*initialize)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-
-    // computes the function value, gradient and hessian (approximation) of the cost function
-    void (*update_qp_matrices)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-    // computes the cost function value (intended for globalization)
-    void (*compute_fun)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-    void (*config_initialize_default)(void *config);
-    void (*precompute)(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
-
-} ocp_nlp_cost_config;
-
-//
-acados_size_t ocp_nlp_cost_config_calculate_size();
-//
-ocp_nlp_cost_config *ocp_nlp_cost_config_assign(void *raw_memory);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h
deleted file mode 100644
index 2eb3f5d127a7a9..00000000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h
+++ /dev/null
@@ -1,207 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_cost ocp_nlp_cost
-/// @{
-/// \addtogroup ocp_nlp_cost_conl ocp_nlp_cost_conl
-/// \brief This module implements convex-over-nonlinear costs of the form
-/// \f$\min_{x,u,z} \psi(y(x,u,z,p) - y_{\text{ref}}, p)\f$,
-
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    int nx;  // number of states
-    int nz;  // number of algebraic variables
-    int nu;  // number of inputs
-    int ny;  // number of outputs
-    int ns;  // number of slacks
-} ocp_nlp_cost_conl_dims;
-
-//
-acados_size_t ocp_nlp_cost_conl_dims_calculate_size(void *config);
-//
-void *ocp_nlp_cost_conl_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_cost_conl_dims_initialize(void *config, void *dims, int nx, int nu, int ny, int ns, int nz);
-//
-void ocp_nlp_cost_conl_dims_set(void *config_, void *dims_, const char *field, int* value);
-//
-void ocp_nlp_cost_conl_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    // slack penalty has the form z^T * s + .5 * s^T * Z * s
-    external_function_generic *conl_cost_fun;
-    external_function_generic *conl_cost_fun_jac_hess;
-    struct blasfeo_dvec y_ref;
-    struct blasfeo_dvec Z;              // diagonal Hessian of slacks as vector
-    struct blasfeo_dvec z;              // gradient of slacks as vector
-    double scaling;
-} ocp_nlp_cost_conl_model;
-
-//
-acados_size_t ocp_nlp_cost_conl_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_conl_model_assign(void *config, void *dims, void *raw_memory);
-//
-int ocp_nlp_cost_conl_model_set(void *config_, void *dims_, void *model_, const char *field, void *value_);
-
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    bool gauss_newton_hess;  // dummy options, we always use a gauss-newton hessian
-} ocp_nlp_cost_conl_opts;
-
-//
-acados_size_t ocp_nlp_cost_conl_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_conl_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_cost_conl_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_conl_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_conl_opts_set(void *config, void *opts, const char *field, void *value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-typedef struct
-{
-    struct blasfeo_dvec grad;    // gradient of cost function
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
-    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
-    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
-    double fun;                         ///< value of the cost function
-} ocp_nlp_cost_conl_memory;
-
-//
-acados_size_t ocp_nlp_cost_conl_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_cost_conl_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-double *ocp_nlp_cost_conl_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_cost_conl_memory_get_grad_ptr(void *memory_);
-//
-void ocp_nlp_cost_conl_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
-//
-void ocp_nlp_cost_conl_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
-//
-void ocp_nlp_cost_conl_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_cost_conl_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_cost_conl_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_cost_conl_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat W;             // hessian of outer loss function
-    struct blasfeo_dmat W_chol;        // cholesky factor of hessian of outer loss function
-    struct blasfeo_dmat Jt_ux;         // jacobian of inner residual function
-    struct blasfeo_dmat Jt_ux_tilde;   // jacobian of inner residual function plus gradient contribution of algebraic variables
-    struct blasfeo_dmat Jt_z;          // jacobian of inner residual function wrt algebraic variables
-    struct blasfeo_dmat tmp_nv_ny;
-    struct blasfeo_dvec tmp_ny;
-    struct blasfeo_dvec tmp_2ns;
-} ocp_nlp_cost_conl_workspace;
-
-//
-acados_size_t ocp_nlp_cost_conl_workspace_calculate_size(void *config, void *dims, void *opts);
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_cost_conl_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_conl_config_initialize_default(void *config);
-//
-void ocp_nlp_cost_conl_initialize(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-//
-void ocp_nlp_cost_conl_update_qp_matrices(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_conl_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h
deleted file mode 100644
index 78958270ded651..00000000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h
+++ /dev/null
@@ -1,187 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    int nx;  // number of states
-    int nz;  // number of algebraic variables
-    int nu;  // number of inputs
-    int ns;  // number of slacks
-} ocp_nlp_cost_external_dims;
-
-//
-acados_size_t ocp_nlp_cost_external_dims_calculate_size(void *config);
-//
-void *ocp_nlp_cost_external_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_cost_external_dims_set(void *config_, void *dims_, const char *field, int* value);
-//
-void ocp_nlp_cost_external_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    external_function_generic *ext_cost_fun;  // function
-    external_function_generic *ext_cost_fun_jac_hess;  // function, gradient and hessian
-    external_function_generic *ext_cost_fun_jac;  // function, gradient
-    struct blasfeo_dvec Z;
-    struct blasfeo_dvec z;
-    struct blasfeo_dmat numerical_hessian;  // custom hessian approximation
-    double scaling;
-} ocp_nlp_cost_external_model;
-
-//
-acados_size_t ocp_nlp_cost_external_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_external_model_assign(void *config, void *dims, void *raw_memory);
-
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    int use_numerical_hessian;  // > 0 indicating custom hessian is used instead of CasADi evaluation
-} ocp_nlp_cost_external_opts;
-
-//
-acados_size_t ocp_nlp_cost_external_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_external_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_cost_external_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_external_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_external_opts_set(void *config, void *opts, const char *field, void *value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dvec grad;    // gradient of cost function
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux; // pointer to tmp_ux in nlp_out
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
-    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
-    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
-	double fun;                         ///< value of the cost function
-} ocp_nlp_cost_external_memory;
-
-//
-acados_size_t ocp_nlp_cost_external_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_cost_external_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-double *ocp_nlp_cost_external_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_cost_external_memory_get_grad_ptr(void *memory_);
-//
-void ocp_nlp_cost_external_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
-//
-void ocp_nlp_cost_ls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
-//
-void ocp_nlp_cost_external_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_cost_external_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_cost_external_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_cost_external_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat tmp_nunx_nunx;
-    struct blasfeo_dmat tmp_nz_nz;
-    struct blasfeo_dmat tmp_nz_nunx;
-    struct blasfeo_dvec tmp_nunxnz;
-    struct blasfeo_dvec tmp_2ns;  // temporary vector of dimension 2*ns
-} ocp_nlp_cost_external_workspace;
-
-//
-acados_size_t ocp_nlp_cost_external_workspace_calculate_size(void *config, void *dims, void *opts);
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_cost_external_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_external_config_initialize_default(void *config);
-//
-void ocp_nlp_cost_external_initialize(void *config_, void *dims, void *model_,
-                                      void *opts_, void *mem_, void *work_);
-//
-void ocp_nlp_cost_external_update_qp_matrices(void *config_, void *dims, void *model_,
-                                               void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_external_compute_fun(void *config_, void *dims, void *model_,
-                                       void *opts_, void *memory_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h
deleted file mode 100644
index 801e9a5b87b2d6..00000000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h
+++ /dev/null
@@ -1,243 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_cost ocp_nlp_cost
-/// @{
-/// \addtogroup ocp_nlp_cost_ls ocp_nlp_cost_ls
-/// \brief This module implements linear-least squares costs of the form
-/// \f$\min_{x,u,z} \| V_x x + V_u u + V_z z - y_{\text{ref}}\|_W^2\f$.
-/// @{
-
-
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                     dims                                   //
-////////////////////////////////////////////////////////////////////////////////
-
-typedef struct
-{
-    int nx;  // number of states
-    int nz;  // number of algebraic variables
-    int nu;  // number of inputs
-    int ny;  // number of outputs
-    int ns;  // number of slacks
-} ocp_nlp_cost_ls_dims;
-
-
-///  Calculate the size of the ocp_nlp_cost_ls_dims struct
-///
-///  \param[in] config_ structure containing configuration of ocp_nlp_cost
-///  module
-///  \param[out] []
-///  \return \c size of ocp_nlp_dims struct
-acados_size_t ocp_nlp_cost_ls_dims_calculate_size(void *config);
-
-
-///  Assign memory pointed to by raw_memory to ocp_nlp-cost_ls dims struct
-///
-///  \param[in] config structure containing configuration of ocp_nlp_cost
-///  module
-///  \param[in] raw_memory pointer to memory location
-///  \param[out] []
-///  \return dims
-void *ocp_nlp_cost_ls_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_cost_ls_dims_set(void *config_, void *dims_, const char *field, int* value);
-//
-void ocp_nlp_cost_ls_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                     model                                  //
-////////////////////////////////////////////////////////////////////////////////
-
-
-/// structure containing the data describing the linear least-square cost
-typedef struct
-{
-    // slack penalty has the form z^T * s + .5 * s^T * Z * s
-    struct blasfeo_dmat Cyt;            ///< output matrix: Cy * [u,x] = y; in transposed form
-    struct blasfeo_dmat Vz;             ///< Vz in ls cost Vx*x + Vu*u + Vz*z
-    struct blasfeo_dmat W;              ///< ls norm corresponding to this matrix
-    struct blasfeo_dvec y_ref;          ///< yref
-    struct blasfeo_dvec Z;              ///< diagonal Hessian of slacks as vector (lower and upper)
-    struct blasfeo_dvec z;              ///< gradient of slacks as vector (lower and upper)
-    double scaling;
-    int W_changed;                      ///< flag indicating whether W has changed and needs to be refactorized
-    int Cyt_or_scaling_changed;         ///< flag indicating whether Cyt or scaling has changed and Hessian needs to be recomputed
-} ocp_nlp_cost_ls_model;
-
-//
-acados_size_t ocp_nlp_cost_ls_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_ls_model_assign(void *config, void *dims, void *raw_memory);
-//
-int ocp_nlp_cost_ls_model_set(void *config_, void *dims_, void *model_,
-                              const char *field, void *value_);
-
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                   options                                  //
-////////////////////////////////////////////////////////////////////////////////
-
-
-
-typedef struct
-{
-    int dummy; // struct can't be void
-} ocp_nlp_cost_ls_opts;
-
-//
-acados_size_t ocp_nlp_cost_ls_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_ls_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_cost_ls_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_ls_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_ls_opts_set(void *config, void *opts, const char *field, void *value);
-
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                     memory                                 //
-////////////////////////////////////////////////////////////////////////////////
-
-
-
-/// structure containing the memory associated with cost_ls component
-/// of the ocp_nlp module
-typedef struct
-{
-    struct blasfeo_dmat hess;           ///< hessian of cost function
-    struct blasfeo_dmat W_chol;         ///< cholesky factor of weight matrix
-    struct blasfeo_dvec res;            ///< ls residual r(x)
-    struct blasfeo_dvec grad;           ///< gradient of cost function
-    struct blasfeo_dvec *ux;            ///< pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux;        ///< pointer to ux in tmp_nlp_out
-    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
-    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
-    struct blasfeo_dmat *RSQrq;         ///< pointer to RSQrq in qp_in
-    struct blasfeo_dvec *Z;             ///< pointer to Z in qp_in
-	double fun;                         ///< value of the cost function
-} ocp_nlp_cost_ls_memory;
-
-//
-acados_size_t ocp_nlp_cost_ls_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_cost_ls_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-double *ocp_nlp_cost_ls_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_cost_ls_memory_get_grad_ptr(void *memory_);
-//
-void ocp_nlp_cost_ls_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
-//
-void ocp_nlp_cost_ls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
-//
-void ocp_nlp_cost_ls_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_cost_ls_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_cost_ls_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_cost_ls_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
-
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                 workspace                                  //
-////////////////////////////////////////////////////////////////////////////////
-
-
-
-typedef struct
-{
-    struct blasfeo_dmat tmp_nv_ny;   // temporary matrix of dimensions nv, ny
-    struct blasfeo_dmat Cyt_tilde;   // updated Cyt (after z elimination)
-    struct blasfeo_dmat dzdux_tran;  // derivatives of z wrt u and x (tran)
-    struct blasfeo_dvec tmp_ny;      // temporary vector of dimension ny
-    struct blasfeo_dvec tmp_2ns;     // temporary vector of dimension ny
-    struct blasfeo_dvec tmp_nz;      // temporary vector of dimension nz
-    struct blasfeo_dvec y_ref_tilde; // updated y_ref (after z elimination)
-} ocp_nlp_cost_ls_workspace;
-
-//
-acados_size_t ocp_nlp_cost_ls_workspace_calculate_size(void *config, void *dims, void *opts);
-
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                 functions                                  //
-////////////////////////////////////////////////////////////////////////////////
-
-
-// computations that are done once when solver is created
-void ocp_nlp_cost_ls_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_ls_config_initialize_default(void *config);
-//
-void ocp_nlp_cost_ls_initialize(void *config_, void *dims, void *model_, void *opts_,
-                                void *mem_, void *work_);
-//
-void ocp_nlp_cost_ls_update_qp_matrices(void *config_, void *dims, void *model_,
-                                        void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_ls_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h
deleted file mode 100644
index 5ec68cf580a3e8..00000000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h
+++ /dev/null
@@ -1,211 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_cost ocp_nlp_cost
-/// @{
-/// \addtogroup ocp_nlp_cost_nls ocp_nlp_cost_nls
-/// \brief This module implements nonlinear-least squares costs of the form
-/// \f$\min_{x,u,z} \| y(x,u,z,p) - y_{\text{ref}} \|_W^2\f$,
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    int nx;  // number of states
-    int nz;  // number of algebraic variables
-    int nu;  // number of inputs
-    int ny;  // number of outputs
-    int ns;  // number of slacks
-} ocp_nlp_cost_nls_dims;
-
-//
-acados_size_t ocp_nlp_cost_nls_dims_calculate_size(void *config);
-//
-void *ocp_nlp_cost_nls_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_cost_nls_dims_set(void *config_, void *dims_, const char *field, int* value);
-//
-void ocp_nlp_cost_nls_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    // nonliner function nls_y(x,u) replaces Cy * [x,u] in ls_cost
-    // slack penalty has the form z^T * s + .5 * s^T * Z * s
-    external_function_generic *nls_y_fun;  // evaluation of nls function
-    external_function_generic *nls_y_fun_jac;  // evaluation nls function and jacobian
-    external_function_generic *nls_y_hess;  // hessian*seeds of nls residuals
-    struct blasfeo_dmat W;                //
-    struct blasfeo_dvec y_ref;
-    struct blasfeo_dvec Z;              // diagonal Hessian of slacks as vector
-    struct blasfeo_dvec z;              // gradient of slacks as vector
-    double scaling;
-    int W_changed;                      ///< flag indicating whether W has changed and needs to be refactorized
-} ocp_nlp_cost_nls_model;
-
-//
-acados_size_t ocp_nlp_cost_nls_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_nls_model_assign(void *config, void *dims, void *raw_memory);
-//
-int ocp_nlp_cost_nls_model_set(void *config_, void *dims_, void *model_, const char *field, void *value_);
-
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    bool gauss_newton_hess;  // gauss-newton hessian approximation
-} ocp_nlp_cost_nls_opts;
-
-//
-acados_size_t ocp_nlp_cost_nls_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_nls_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_cost_nls_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_nls_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_nls_opts_set(void *config, void *opts, const char *field, void *value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat W_chol;  // cholesky factor of weight matrix
-    struct blasfeo_dmat Jt;      // jacobian of nls fun
-    struct blasfeo_dvec res;     // nls residual r(x)
-    struct blasfeo_dvec grad;    // gradient of cost function
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux;     // pointer to ux in tmp_nlp_out
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
-    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
-    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
-    double fun;                         ///< value of the cost function
-} ocp_nlp_cost_nls_memory;
-
-//
-acados_size_t ocp_nlp_cost_nls_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_cost_nls_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-double *ocp_nlp_cost_nls_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_cost_nls_memory_get_grad_ptr(void *memory_);
-//
-void ocp_nlp_cost_nls_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
-//
-void ocp_nlp_cost_nls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
-//
-void ocp_nlp_cost_nls_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_cost_nls_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_cost_nls_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_cost_nls_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat tmp_nv_ny;
-    struct blasfeo_dmat tmp_nv_nv;
-    struct blasfeo_dmat Vz;
-    struct blasfeo_dmat Cyt_tilde;
-    struct blasfeo_dvec tmp_ny;
-    struct blasfeo_dvec tmp_2ns;
-    struct blasfeo_dvec tmp_nz;
-} ocp_nlp_cost_nls_workspace;
-
-//
-acados_size_t ocp_nlp_cost_nls_workspace_calculate_size(void *config, void *dims, void *opts);
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_cost_nls_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_nls_config_initialize_default(void *config);
-//
-void ocp_nlp_cost_nls_initialize(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-//
-void ocp_nlp_cost_nls_update_qp_matrices(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_nls_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h
deleted file mode 100644
index 43fe71b12fcfbc..00000000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h
+++ /dev/null
@@ -1,119 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \ingroup ocp_nlp
-/// @{
-
-/// \defgroup ocp_nlp_dynamics ocp_nlp_dynamics
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_
-#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/sim/sim_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * config
- ************************************************/
-
-typedef struct
-{
-    void (*config_initialize_default)(void *config);
-    sim_config *sim_solver;
-    /* dims */
-    acados_size_t (*dims_calculate_size)(void *config);
-    void *(*dims_assign)(void *config, void *raw_memory);
-    void (*dims_set)(void *config_, void *dims_, const char *field, int *value);
-    void (*dims_get)(void *config_, void *dims_, const char *field, int* value);
-    /* model */
-    acados_size_t (*model_calculate_size)(void *config, void *dims);
-    void *(*model_assign)(void *config, void *dims, void *raw_memory);
-    void (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value_);
-    /* opts */
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *opts);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void *value);
-    void (*opts_update)(void *config, void *dims, void *opts);
-    /* memory */
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
-    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
-    // get shooting node gap x_next(x_n, u_n) - x_{n+1}
-    struct blasfeo_dvec *(*memory_get_fun_ptr)(void *memory_);
-    struct blasfeo_dvec *(*memory_get_adj_ptr)(void *memory_);
-    void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory_);
-    void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory_);
-    void (*memory_set_ux1_ptr)(struct blasfeo_dvec *ux1, void *memory_);
-    void (*memory_set_tmp_ux1_ptr)(struct blasfeo_dvec *tmp_ux1, void *memory_);
-    void (*memory_set_pi_ptr)(struct blasfeo_dvec *pi, void *memory_);
-    void (*memory_set_tmp_pi_ptr)(struct blasfeo_dvec *tmp_pi, void *memory_);
-    void (*memory_set_BAbt_ptr)(struct blasfeo_dmat *BAbt, void *memory_);
-    void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory_);
-    void (*memory_set_dzduxt_ptr)(struct blasfeo_dmat *mat, void *memory_);
-    void (*memory_set_sim_guess_ptr)(struct blasfeo_dvec *vec, bool *bool_ptr, void *memory_);
-    void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *vec, void *memory_);
-    void (*memory_get)(void *config, void *dims, void *mem, const char *field, void* value);
-    /* workspace */
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
-    void (*initialize)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-    void (*update_qp_matrices)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-    void (*compute_fun)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-    int (*precompute)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-} ocp_nlp_dynamics_config;
-
-//
-acados_size_t ocp_nlp_dynamics_config_calculate_size();
-//
-ocp_nlp_dynamics_config *ocp_nlp_dynamics_config_assign(void *raw_memory);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h
deleted file mode 100644
index 3afdc9f4ed83f2..00000000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h
+++ /dev/null
@@ -1,209 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_dynamics
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_
-#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-#include "acados_c/sim_interface.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    void *sim;
-    int nx;   // number of states at the current stage
-    int nz;   // number of algebraic states at the current stage
-    int nu;   // number of inputs at the current stage
-    int nx1;  // number of states at the next stage
-    int nu1;  // number of inputes at the next stage
-} ocp_nlp_dynamics_cont_dims;
-
-//
-acados_size_t ocp_nlp_dynamics_cont_dims_calculate_size(void *config);
-//
-void *ocp_nlp_dynamics_cont_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_dynamics_cont_dims_set(void *config_, void *dims_, const char *field, int* value);
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    void *sim_solver;
-    int compute_adj;
-    int compute_hess;
-} ocp_nlp_dynamics_cont_opts;
-
-//
-acados_size_t ocp_nlp_dynamics_cont_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_dynamics_cont_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_dynamics_cont_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_dynamics_cont_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_dynamics_cont_opts_set(void *config, void *opts, const char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dvec fun;
-    struct blasfeo_dvec adj;
-    struct blasfeo_dvec *ux;            // pointer to ux in nlp_out at current stage
-    struct blasfeo_dvec *tmp_ux;        // pointer to ux in tmp_nlp_out at current stage
-    struct blasfeo_dvec *ux1;           // pointer to ux in nlp_out at next stage
-    struct blasfeo_dvec *tmp_ux1;       // pointer to ux in tmp_nlp_out at next stage
-    struct blasfeo_dvec *pi;            // pointer to pi in nlp_out at current stage
-    struct blasfeo_dvec *tmp_pi;        // pointer to pi in tmp_nlp_out at current stage
-    struct blasfeo_dmat *BAbt;          // pointer to BAbt in qp_in
-    struct blasfeo_dmat *RSQrq;         // pointer to RSQrq in qp_in
-    struct blasfeo_dvec *z_alg;         // pointer to output z at t = 0
-    bool *set_sim_guess;                 // indicate if initialization for integrator is set from outside
-    struct blasfeo_dvec *sim_guess;     // initializations for integrator
-    // struct blasfeo_dvec *z;             // pointer to (input) z in nlp_out at current stage
-    struct blasfeo_dmat *dzduxt;        // pointer to dzdux transposed
-    void *sim_solver;                   // sim solver memory
-} ocp_nlp_dynamics_cont_memory;
-
-//
-acados_size_t ocp_nlp_dynamics_cont_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_dynamics_cont_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-struct blasfeo_dvec *ocp_nlp_dynamics_cont_memory_get_fun_ptr(void *memory);
-//
-struct blasfeo_dvec *ocp_nlp_dynamics_cont_memory_get_adj_ptr(void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_ux1_ptr(struct blasfeo_dvec *ux1, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_tmp_ux1_ptr(struct blasfeo_dvec *tmp_ux1, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_pi_ptr(struct blasfeo_dvec *pi, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_tmp_pi_ptr(struct blasfeo_dvec *tmp_pi, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_BAbt_ptr(struct blasfeo_dmat *BAbt, void *memory);
-
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat hess;
-    sim_in *sim_in;
-    sim_out *sim_out;
-    void *sim_solver;  // sim solver workspace
-} ocp_nlp_dynamics_cont_workspace;
-
-acados_size_t ocp_nlp_dynamics_cont_workspace_calculate_size(void *config, void *dims, void *opts);
-
-
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    void *sim_model;
-    // double *state_transition; // TODO
-    double T;  // simulation time
-} ocp_nlp_dynamics_cont_model;
-
-//
-acados_size_t ocp_nlp_dynamics_cont_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_dynamics_cont_model_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_dynamics_cont_model_set(void *config_, void *dims_, void *model_, const char *field, void *value);
-
-
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_dynamics_cont_config_initialize_default(void *config);
-//
-void ocp_nlp_dynamics_cont_initialize(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-//
-void ocp_nlp_dynamics_cont_update_qp_matrices(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-//
-void ocp_nlp_dynamics_cont_compute_fun(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-//
-int ocp_nlp_dynamics_cont_precompute(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h
deleted file mode 100644
index 6ea26a70106fc6..00000000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h
+++ /dev/null
@@ -1,192 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_dynamics
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_
-#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    int nx;   // number of states at the current stage
-    int nu;   // number of inputs at the current stage
-    int nx1;  // number of states at the next stage
-    int nu1;  // number of inputes at the next stage
-} ocp_nlp_dynamics_disc_dims;
-
-//
-acados_size_t ocp_nlp_dynamics_disc_dims_calculate_size(void *config);
-//
-void *ocp_nlp_dynamics_disc_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_dynamics_disc_dims_set(void *config_, void *dims_, const char *dim, int* value);
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    int compute_adj;
-    int compute_hess;
-} ocp_nlp_dynamics_disc_opts;
-
-//
-acados_size_t ocp_nlp_dynamics_disc_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_dynamics_disc_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_dynamics_disc_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_dynamics_disc_opts_update(void *config, void *dims, void *opts);
-//
-int ocp_nlp_dynamics_disc_precompute(void *config_, void *dims, void *model_, void *opts_,
-                                        void *mem_, void *work_);
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dvec fun;
-    struct blasfeo_dvec adj;
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out at current stage
-    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out at current stage
-    struct blasfeo_dvec *ux1;    // pointer to ux in nlp_out at next stage
-    struct blasfeo_dvec *tmp_ux1;// pointer to ux in tmp_nlp_out at next stage
-    struct blasfeo_dvec *pi;     // pointer to pi in nlp_out at current stage
-    struct blasfeo_dvec *tmp_pi; // pointer to pi in tmp_nlp_out at current stage
-    struct blasfeo_dmat *BAbt;   // pointer to BAbt in qp_in
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-} ocp_nlp_dynamics_disc_memory;
-
-//
-acados_size_t ocp_nlp_dynamics_disc_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_dynamics_disc_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-struct blasfeo_dvec *ocp_nlp_dynamics_disc_memory_get_fun_ptr(void *memory);
-//
-struct blasfeo_dvec *ocp_nlp_dynamics_disc_memory_get_adj_ptr(void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_ux1_ptr(struct blasfeo_dvec *ux1, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_tmp_ux1_ptr(struct blasfeo_dvec *tmp_ux1, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_pi_ptr(struct blasfeo_dvec *pi, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_tmp_pi_ptr(struct blasfeo_dvec *tmp_pi, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_BAbt_ptr(struct blasfeo_dmat *BAbt, void *memory);
-
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat tmp_nv_nv;
-} ocp_nlp_dynamics_disc_workspace;
-
-acados_size_t ocp_nlp_dynamics_disc_workspace_calculate_size(void *config, void *dims, void *opts);
-
-
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    external_function_generic *disc_dyn_fun;
-    external_function_generic *disc_dyn_fun_jac;
-    external_function_generic *disc_dyn_fun_jac_hess;
-} ocp_nlp_dynamics_disc_model;
-
-//
-acados_size_t ocp_nlp_dynamics_disc_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_dynamics_disc_model_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_dynamics_disc_model_set(void *config_, void *dims_, void *model_, const char *field, void *value);
-
-
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_dynamics_disc_config_initialize_default(void *config);
-//
-void ocp_nlp_dynamics_disc_initialize(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-//
-void ocp_nlp_dynamics_disc_update_qp_matrices(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-//
-void ocp_nlp_dynamics_disc_compute_fun(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h
deleted file mode 100644
index 9388f3fd24651a..00000000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \ingroup ocp_nlp
-/// @{
-
-/// \defgroup ocp_nlp_reg ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-
-
-
-/* dims */
-
-//typedef ocp_qp_dims ocp_nlp_reg_dims;
-typedef struct
-{
-    int *nx;
-    int *nu;
-    int *nbu;
-    int *nbx;
-    int *ng;
-    int N;
-} ocp_nlp_reg_dims;
-
-//
-acados_size_t ocp_nlp_reg_dims_calculate_size(int N);
-//
-ocp_nlp_reg_dims *ocp_nlp_reg_dims_assign(int N, void *raw_memory);
-//
-void ocp_nlp_reg_dims_set(void *config_, ocp_nlp_reg_dims *dims, int stage, char *field, int* value);
-
-
-
-/* config */
-
-typedef struct
-{
-    /* dims */
-    acados_size_t (*dims_calculate_size)(int N);
-    ocp_nlp_reg_dims *(*dims_assign)(int N, void *raw_memory);
-    void (*dims_set)(void *config, ocp_nlp_reg_dims *dims, int stage, char *field, int *value);
-    /* opts */
-    acados_size_t (*opts_calculate_size)(void);
-    void *(*opts_assign)(void *raw_memory);
-    void (*opts_initialize_default)(void *config, ocp_nlp_reg_dims *dims, void *opts);
-    void (*opts_set)(void *config, ocp_nlp_reg_dims *dims, void *opts, char *field, void* value);
-    /* memory */
-    acados_size_t (*memory_calculate_size)(void *config, ocp_nlp_reg_dims *dims, void *opts);
-    void *(*memory_assign)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-    void (*memory_set)(void *config, ocp_nlp_reg_dims *dims, void *memory, char *field, void* value);
-    void (*memory_set_RSQrq_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
-    void (*memory_set_rq_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
-    void (*memory_set_BAbt_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
-    void (*memory_set_b_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
-    void (*memory_set_idxb_ptr)(ocp_nlp_reg_dims *dims, int **idxb, void *memory);
-    void (*memory_set_DCt_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
-    void (*memory_set_ux_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
-    void (*memory_set_pi_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
-    void (*memory_set_lam_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
-    /* functions */
-    void (*regularize_hessian)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *memory);
-    void (*correct_dual_sol)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *memory);
-} ocp_nlp_reg_config;
-
-//
-acados_size_t ocp_nlp_reg_config_calculate_size(void);
-//
-void *ocp_nlp_reg_config_assign(void *raw_memory);
-
-
-
-/* regularization help functions */
-void acados_reconstruct_A(int dim, double *A, double *V, double *d);
-void acados_mirror(int dim, double *A, double *V, double *d, double *e, double epsilon);
-void acados_project(int dim, double *A, double *V, double *d, double *e, double epsilon);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h
deleted file mode 100644
index cb523525e188bd..00000000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h
+++ /dev/null
@@ -1,146 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-// use the functions in ocp_nlp_reg_common
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    double delta;
-    double epsilon;
-//    double gamma; // 0.0
-} ocp_nlp_reg_convexify_opts;
-
-//
-acados_size_t ocp_nlp_reg_convexify_opts_calculate_size(void);
-//
-void *ocp_nlp_reg_convexify_opts_assign(void *raw_memory);
-//
-void ocp_nlp_reg_convexify_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
-//
-void ocp_nlp_reg_convexify_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct {
-    double *R;
-    double *V; // TODO move to workspace
-    double *d; // TODO move to workspace
-    double *e; // TODO move to workspace
-    double *reg_hess; // TODO move to workspace
-
-    struct blasfeo_dmat Q_tilde;
-    struct blasfeo_dmat Q_bar;
-    struct blasfeo_dmat BAQ;
-    struct blasfeo_dmat L;
-    struct blasfeo_dmat delta_eye;
-    struct blasfeo_dmat St_copy;
-
-    struct blasfeo_dmat *original_RSQrq;
-    struct blasfeo_dmat tmp_RSQ;
-
-	struct blasfeo_dvec tmp_nuxM;
-	struct blasfeo_dvec tmp_nbgM;
-
-//    struct blasfeo_dvec grad;
-//    struct blasfeo_dvec b2;
-
-    // giaf's
-    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dvec **rq;  // pointer to rq in qp_in
-    struct blasfeo_dmat **BAbt;  // pointer to BAbt in qp_in
-    struct blasfeo_dvec **b;  // pointer to b in qp_in
-    struct blasfeo_dmat **DCt;  // pointer to DCt in qp_in
-    struct blasfeo_dvec **ux;  // pointer to ux in qp_out
-    struct blasfeo_dvec **pi;  // pointer to pi in qp_out
-    struct blasfeo_dvec **lam;  // pointer to lam in qp_out
-	int **idxb; // pointer to idxb in qp_in
-
-} ocp_nlp_reg_convexify_memory;
-
-//
-acados_size_t ocp_nlp_reg_convexify_calculate_memory_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
-//
-void *ocp_nlp_reg_convexify_assign_memory(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-
-/************************************************
- * workspace
- ************************************************/
-
- // TODO
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_reg_convexify_config_initialize_default(ocp_nlp_reg_config *config);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h
deleted file mode 100644
index 84a023cb69f077..00000000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h
+++ /dev/null
@@ -1,121 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-// use the functions in ocp_nlp_reg_common
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    double epsilon;
-} ocp_nlp_reg_mirror_opts;
-
-//
-acados_size_t ocp_nlp_reg_mirror_opts_calculate_size(void);
-//
-void *ocp_nlp_reg_mirror_opts_assign(void *raw_memory);
-//
-void ocp_nlp_reg_mirror_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
-//
-void ocp_nlp_reg_mirror_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    double *reg_hess; // TODO move to workspace
-    double *V; // TODO move to workspace
-    double *d; // TODO move to workspace
-    double *e; // TODO move to workspace
-
-    // giaf's
-    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
-} ocp_nlp_reg_mirror_memory;
-
-//
-acados_size_t ocp_nlp_reg_mirror_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
-//
-void *ocp_nlp_reg_mirror_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-
-/************************************************
- * workspace
- ************************************************/
-
- // TODO
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_reg_mirror_config_initialize_default(ocp_nlp_reg_config *config);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h
deleted file mode 100644
index b571f3bac1508d..00000000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h
+++ /dev/null
@@ -1,106 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-// use the functions in ocp_nlp_reg_common
-
-
-/************************************************
- * options
- ************************************************/
-
-//
-acados_size_t ocp_nlp_reg_noreg_opts_calculate_size(void);
-//
-void *ocp_nlp_reg_noreg_opts_assign(void *raw_memory);
-//
-void ocp_nlp_reg_noreg_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
-//
-void ocp_nlp_reg_noreg_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-//
-acados_size_t ocp_nlp_reg_noreg_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
-//
-void *ocp_nlp_reg_noreg_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-
-/************************************************
- * workspace
- ************************************************/
-
-// not needed
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_reg_noreg_config_initialize_default(ocp_nlp_reg_config *config);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_
-
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h
deleted file mode 100644
index 682ea206dc50ae..00000000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h
+++ /dev/null
@@ -1,121 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-// use the functions in ocp_nlp_reg_common
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    double epsilon;
-} ocp_nlp_reg_project_opts;
-
-//
-acados_size_t ocp_nlp_reg_project_opts_calculate_size(void);
-//
-void *ocp_nlp_reg_project_opts_assign(void *raw_memory);
-//
-void ocp_nlp_reg_project_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
-//
-void ocp_nlp_reg_project_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    double *reg_hess; // TODO move to workspace
-    double *V; // TODO move to workspace
-    double *d; // TODO move to workspace
-    double *e; // TODO move to workspace
-
-    // giaf's
-    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
-} ocp_nlp_reg_project_memory;
-
-//
-acados_size_t ocp_nlp_reg_project_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
-//
-void *ocp_nlp_reg_project_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-
-/************************************************
- * workspace
- ************************************************/
-
- // TODO
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_reg_project_config_initialize_default(ocp_nlp_reg_config *config);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h
deleted file mode 100644
index 7e12952c15265a..00000000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h
+++ /dev/null
@@ -1,132 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-// use the functions in ocp_nlp_reg_common
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    double thr_eig;
-    double min_eig;
-    double min_pivot;
-	int pivoting;
-} ocp_nlp_reg_project_reduc_hess_opts;
-
-//
-acados_size_t ocp_nlp_reg_project_reduc_hess_opts_calculate_size(void);
-//
-void *ocp_nlp_reg_project_reduc_hess_opts_assign(void *raw_memory);
-//
-void ocp_nlp_reg_project_reduc_hess_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
-//
-void ocp_nlp_reg_project_reduc_hess_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    double *reg_hess; // TODO move to workspace
-    double *V; // TODO move to workspace
-    double *d; // TODO move to workspace
-    double *e; // TODO move to workspace
-
-    // giaf's
-    struct blasfeo_dmat L; // TODO move to workspace
-    struct blasfeo_dmat L2; // TODO move to workspace
-    struct blasfeo_dmat L3; // TODO move to workspace
-    struct blasfeo_dmat Ls; // TODO move to workspace
-    struct blasfeo_dmat P; // TODO move to workspace
-    struct blasfeo_dmat AL; // TODO move to workspace
-
-    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dmat **BAbt;  // pointer to RSQrq in qp_in
-} ocp_nlp_reg_project_reduc_hess_memory;
-
-//
-acados_size_t ocp_nlp_reg_project_reduc_hess_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
-//
-void *ocp_nlp_reg_project_reduc_hess_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-
-/************************************************
- * workspace
- ************************************************/
-
- // TODO
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_reg_project_reduc_hess_config_initialize_default(ocp_nlp_reg_config *config);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h
deleted file mode 100644
index fdb96417f94d71..00000000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h
+++ /dev/null
@@ -1,170 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_solver
-/// @{
-/// \addtogroup ocp_nlp_sqp ocp_nlp_sqp
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_SQP_H_
-#define ACADOS_OCP_NLP_OCP_NLP_SQP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_common.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    ocp_nlp_opts *nlp_opts;
-    double tol_stat;     // exit tolerance on stationarity condition
-    double tol_eq;       // exit tolerance on equality constraints
-    double tol_ineq;     // exit tolerance on inequality constraints
-    double tol_comp;     // exit tolerance on complementarity condition
-    int max_iter;
-    int ext_qp_res;      // compute external QP residuals (i.e. at SQP level) at each SQP iteration (for debugging)
-    int qp_warm_start;   // qp_warm_start in all but the first sqp iterations
-    bool warm_start_first_qp; // to set qp_warm_start in first iteration
-    int rti_phase;       // only phase 0 at the moment 
-    int initialize_t_slacks;  // 0-false or 1-true
-
-} ocp_nlp_sqp_opts;
-
-//
-acados_size_t ocp_nlp_sqp_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_sqp_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_sqp_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_sqp_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_sqp_opts_set(void *config_, void *opts_, const char *field, void* value);
-//
-void ocp_nlp_sqp_opts_set_at_stage(void *config_, void *opts_, size_t stage, const char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    // nlp memory
-    ocp_nlp_memory *nlp_mem;
-
-    double time_qp_sol;
-    double time_qp_solver_call;
-    double time_qp_xcond;
-    double time_lin;
-    double time_reg;
-    double time_tot;
-    double time_glob;
-    double time_sim;
-    double time_sim_la;
-    double time_sim_ad;
-    double time_solution_sensitivities;
-
-    // statistics
-    double *stat;
-    int stat_m;
-    int stat_n;
-
-    int status;
-    int sqp_iter;
-
-} ocp_nlp_sqp_memory;
-
-//
-acados_size_t ocp_nlp_sqp_memory_calculate_size(void *config, void *dims, void *opts_);
-//
-void *ocp_nlp_sqp_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-//
-void ocp_nlp_sqp_memory_reset_qp_solver(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
-    void *opts_, void *mem_, void *work_);
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    ocp_nlp_workspace *nlp_work;
-
-    // temp QP in & out (to be used as workspace in param sens)
-    ocp_qp_in *tmp_qp_in;
-    ocp_qp_out *tmp_qp_out;
-
-    // qp residuals
-    ocp_qp_res *qp_res;
-    ocp_qp_res_ws *qp_res_ws;
-
-} ocp_nlp_sqp_workspace;
-
-//
-acados_size_t ocp_nlp_sqp_workspace_calculate_size(void *config, void *dims, void *opts_);
-
-
-
-/************************************************
- * functions
- ************************************************/
-
-//
-int ocp_nlp_sqp(void *config, void *dims, void *nlp_in, void *nlp_out,
-                void *args, void *mem, void *work_);
-//
-void ocp_nlp_sqp_config_initialize_default(void *config_);
-//
-int ocp_nlp_sqp_precompute(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
-                void *opts_, void *mem_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_SQP_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h
deleted file mode 100644
index 364d0f47178835..00000000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h
+++ /dev/null
@@ -1,163 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_solver
-/// @{
-/// \addtogroup ocp_nlp_sqp_rti ocp_nlp_sqp_rti
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
-#define ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_common.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    ocp_nlp_opts *nlp_opts;
-    int compute_dual_sol;
-    int ext_qp_res;           // compute external QP residuals (i.e. at SQP level) at each SQP iteration (for debugging)
-    int qp_warm_start;        // NOTE: this is not actually setting the warm_start! Just for compatibility with sqp.
-    bool warm_start_first_qp; // to set qp_warm_start in first iteration
-    int rti_phase;            // phase of RTI. Possible values 1 (preparation), 2 (feedback) 0 (both)
-
-} ocp_nlp_sqp_rti_opts;
-
-//
-acados_size_t ocp_nlp_sqp_rti_opts_calculate_size(void *config_, void *dims_);
-//
-void *ocp_nlp_sqp_rti_opts_assign(void *config_, void *dims_, void *raw_memory);
-//
-void ocp_nlp_sqp_rti_opts_initialize_default(void *config_, void *dims_, void *opts_);
-//
-void ocp_nlp_sqp_rti_opts_update(void *config_, void *dims_, void *opts_);
-//
-void ocp_nlp_sqp_rti_opts_set(void *config_, void *opts_, const char *field, void* value);
-//
-void ocp_nlp_sqp_rti_opts_set_at_stage(void *config_, void *opts_, size_t stage,
-    const char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    // nlp memory
-    ocp_nlp_memory *nlp_mem;
-
-    double time_qp_sol;
-    double time_qp_solver_call;
-    double time_qp_xcond;
-    double time_lin;
-    double time_reg;
-    double time_tot;
-    double time_glob;
-    double time_solution_sensitivities;
-
-    // statistics
-    double *stat;
-    int stat_m;
-    int stat_n;
-
-    int status;
-
-} ocp_nlp_sqp_rti_memory;
-
-//
-acados_size_t ocp_nlp_sqp_rti_memory_calculate_size(void *config_, void *dims_, void *opts_);
-//
-void *ocp_nlp_sqp_rti_memory_assign(void *config_, void *dims_, void *opts_,
-    void *raw_memory);
-
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    ocp_nlp_workspace *nlp_work;
-
-    // temp QP in & out (to be used as workspace in param sens)
-    ocp_qp_in *tmp_qp_in;
-    ocp_qp_out *tmp_qp_out;
-
-    // qp residuals
-    ocp_qp_res *qp_res;
-    ocp_qp_res_ws *qp_res_ws;
-
-
-} ocp_nlp_sqp_rti_workspace;
-
-//
-acados_size_t ocp_nlp_sqp_rti_workspace_calculate_size(void *config_, void *dims_, void *opts_);
-
-
-
-/************************************************
- * functions
- ************************************************/
-//
-int ocp_nlp_sqp_rti(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
-    void *opts_, void *mem_, void *work_);
-//
-void ocp_nlp_sqp_rti_config_initialize_default(void *config_);
-//
-int ocp_nlp_sqp_rti_precompute(void *config_, void *dims_,
-    void *nlp_in_, void *nlp_out_, void *opts_, void *mem_, void *work_);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h
deleted file mode 100644
index d1a45635e40547..00000000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h
+++ /dev/null
@@ -1,180 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_COMMON_H_
-#define ACADOS_OCP_QP_OCP_QP_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_ocp_qp.h"
-#include "hpipm/include/hpipm_d_ocp_qp_dim.h"
-#include "hpipm/include/hpipm_d_ocp_qp_res.h"
-#include "hpipm/include/hpipm_d_ocp_qp_sol.h"
-// acados
-#include "acados/utils/types.h"
-
-
-
-typedef struct d_ocp_qp_dim ocp_qp_dims;
-typedef struct d_ocp_qp ocp_qp_in;
-typedef struct d_ocp_qp_sol ocp_qp_out;
-typedef struct d_ocp_qp_res ocp_qp_res;
-typedef struct d_ocp_qp_res_ws ocp_qp_res_ws;
-
-
-
-#ifndef QP_SOLVER_CONFIG_
-#define QP_SOLVER_CONFIG_
-typedef struct
-{
-    void (*dims_set)(void *config_, void *dims_, int stage, const char *field, int* value);
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *opts);
-    void (*opts_update)(void *config, void *dims, void *opts);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
-    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
-    void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
-    int (*evaluate)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-    void (*memory_reset)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-    void (*eval_sens)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-} qp_solver_config;
-#endif
-
-
-
-typedef struct
-{
-    acados_size_t (*dims_calculate_size)(void *config, int N);
-    void *(*dims_assign)(void *config, int N, void *raw_memory);
-    void (*dims_set)(void *config, void *dims_, int stage, const char *field, int* value);
-    void (*dims_get)(void *config, void *dims, const char *field, void* value);
-    // TODO add config everywhere !!!!!
-    acados_size_t (*opts_calculate_size)(void *dims);
-    void *(*opts_assign)(void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *dims, void *opts);
-    void (*opts_update)(void *dims, void *opts);
-    void (*opts_set)(void *opts_, const char *field, void* value);
-    acados_size_t (*memory_calculate_size)(void *dims, void *opts);
-    void *(*memory_assign)(void *dims, void *opts, void *raw_memory);
-    void (*memory_get)(void *config, void *mem, const char *field, void* value);
-    acados_size_t (*workspace_calculate_size)(void *dims, void *opts);
-    int (*condensing)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-    int (*condensing_rhs)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-    int (*expansion)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-} ocp_qp_xcond_config;
-
-
-
-/// Struct containing metrics of the qp solver.
-#ifndef QP_INFO_
-#define QP_INFO_
-typedef struct
-{
-    double solve_QP_time;
-    double condensing_time;
-    double interface_time;
-    double total_time;
-    int num_iter;
-    int t_computed;
-} qp_info;
-#endif
-
-
-
-/* config */
-//
-acados_size_t ocp_qp_solver_config_calculate_size();
-//
-qp_solver_config *ocp_qp_solver_config_assign(void *raw_memory);
-//
-acados_size_t ocp_qp_condensing_config_calculate_size();
-//
-ocp_qp_xcond_config *ocp_qp_condensing_config_assign(void *raw_memory);
-
-
-/* dims */
-//
-acados_size_t ocp_qp_dims_calculate_size(int N);
-//
-ocp_qp_dims *ocp_qp_dims_assign(int N, void *raw_memory);
-//
-void ocp_qp_dims_set(void *config_, void *dims, int stage, const char *field, int* value);
-//
-void ocp_qp_dims_get(void *config_, void *dims, int stage, const char *field, int* value);
-
-
-/* in */
-//
-acados_size_t ocp_qp_in_calculate_size(ocp_qp_dims *dims);
-//
-ocp_qp_in *ocp_qp_in_assign(ocp_qp_dims *dims, void *raw_memory);
-
-
-/* out */
-//
-acados_size_t ocp_qp_out_calculate_size(ocp_qp_dims *dims);
-//
-ocp_qp_out *ocp_qp_out_assign(ocp_qp_dims *dims, void *raw_memory);
-
-/* res */
-//
-acados_size_t ocp_qp_res_calculate_size(ocp_qp_dims *dims);
-//
-ocp_qp_res *ocp_qp_res_assign(ocp_qp_dims *dims, void *raw_memory);
-//
-acados_size_t ocp_qp_res_workspace_calculate_size(ocp_qp_dims *dims);
-//
-ocp_qp_res_ws *ocp_qp_res_workspace_assign(ocp_qp_dims *dims, void *raw_memory);
-//
-void ocp_qp_res_compute(ocp_qp_in *qp_in, ocp_qp_out *qp_out, ocp_qp_res *qp_res, ocp_qp_res_ws *res_ws);
-//
-void ocp_qp_res_compute_nrm_inf(ocp_qp_res *qp_res, double res[4]);
-
-
-/* misc */
-//
-void ocp_qp_stack_slacks_dims(ocp_qp_dims *in, ocp_qp_dims *out);
-//
-void ocp_qp_stack_slacks(ocp_qp_in *in, ocp_qp_in *out);
-//
-void ocp_qp_compute_t(ocp_qp_in *qp_in, ocp_qp_out *qp_out);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_COMMON_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h
deleted file mode 100644
index f65f602c15c304..00000000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_
-#define ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-
-typedef struct
-{
-    int N;
-    int *nx;
-    int *nu;
-    int *nb;
-    int *nc;
-    double **A;
-    double **B;
-    double **b;
-    double **Q;
-    double **S;
-    double **R;
-    double **q;
-    double **r;
-    int **idxb;
-    double **lb;
-    double **ub;
-    double **Cx;
-    double **Cu;
-    double **lc;
-    double **uc;
-} colmaj_ocp_qp_in;
-
-typedef struct
-{
-    double **x;
-    double **u;
-    double **pi;
-    double **lam;
-} colmaj_ocp_qp_out;
-
-typedef struct
-{
-    double **res_r;
-    double **res_q;
-    double **res_ls;
-    double **res_us;
-    double **res_b;
-    double **res_d_lb;
-    double **res_d_ub;
-    double **res_d_lg;
-    double **res_d_ug;
-    double **res_d_ls;
-    double **res_d_us;
-    double **res_m_lb;
-    double **res_m_ub;
-    double **res_m_lg;
-    double **res_m_ug;
-    double **res_m_ls;
-    double **res_m_us;
-    double res_nrm_inf[4];
-} colmaj_ocp_qp_res;
-
-//
-acados_size_t colmaj_ocp_qp_in_calculate_size(ocp_qp_dims *dims);
-//
-char *assign_colmaj_ocp_qp_in(ocp_qp_dims *dims, colmaj_ocp_qp_in **qp_in, void *ptr);
-//
-acados_size_t colmaj_ocp_qp_out_calculate_size(ocp_qp_dims *dims);
-//
-char *assign_colmaj_ocp_qp_out(ocp_qp_dims *dims, colmaj_ocp_qp_out **qp_out, void *ptr);
-//
-acados_size_t colmaj_ocp_qp_res_calculate_size(ocp_qp_dims *dims);
-//
-char *assign_colmaj_ocp_qp_res(ocp_qp_dims *dims, colmaj_ocp_qp_res **qp_res, void *ptr);
-//
-void convert_colmaj_to_ocp_qp_in(colmaj_ocp_qp_in *cm_qp_in, ocp_qp_in *qp_in);
-//
-void convert_ocp_qp_out_to_colmaj(ocp_qp_out *qp_out, colmaj_ocp_qp_out *cm_qp_out);
-//
-void convert_ocp_qp_res_to_colmaj(ocp_qp_res *qp_res, colmaj_ocp_qp_res *cm_qp_res);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h
deleted file mode 100644
index d23e658b4806c4..00000000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h
+++ /dev/null
@@ -1,114 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_
-#define ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_ocp_qp_red.h"
-// acados
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-
-
-typedef struct
-{
-    ocp_qp_dims *orig_dims;
-    ocp_qp_dims *red_dims; // dims of reduced qp
-    dense_qp_dims *fcond_dims;
-} ocp_qp_full_condensing_dims;
-
-
-
-typedef struct ocp_qp_full_condensing_opts_
-{
-    struct d_cond_qp_arg *hpipm_cond_opts;
-    struct d_ocp_qp_reduce_eq_dof_arg *hpipm_red_opts;
-//    dense_qp_dims *fcond_dims;  // TODO(all): move to dims
-    int cond_hess; // 0 cond only rhs, 1 cond hess + rhs
-    int expand_dual_sol; // 0 primal sol only, 1 primal + dual sol
-    int ric_alg;
-    int mem_qp_in; // allocate qp_in in memory
-} ocp_qp_full_condensing_opts;
-
-
-
-typedef struct ocp_qp_full_condensing_memory_
-{
-    struct d_cond_qp_ws *hpipm_cond_work;
-    struct d_ocp_qp_reduce_eq_dof_ws *hpipm_red_work;
-    // in memory
-    dense_qp_in *fcond_qp_in;
-    dense_qp_out *fcond_qp_out;
-    ocp_qp_in *red_qp; // reduced qp
-    ocp_qp_out *red_sol; // reduced qp sol
-    // only pointer
-    ocp_qp_in *ptr_qp_in;
-    qp_info *qp_out_info; // info in fcond_qp_in
-    double time_qp_xcond;
-} ocp_qp_full_condensing_memory;
-
-
-
-//
-acados_size_t ocp_qp_full_condensing_opts_calculate_size(void *dims);
-//
-void *ocp_qp_full_condensing_opts_assign(void *dims, void *raw_memory);
-//
-void ocp_qp_full_condensing_opts_initialize_default(void *dims, void *opts_);
-//
-void ocp_qp_full_condensing_opts_update(void *dims, void *opts_);
-//
-void ocp_qp_full_condensing_opts_set(void *opts_, const char *field, void* value);
-//
-acados_size_t ocp_qp_full_condensing_memory_calculate_size(void *dims, void *opts_);
-//
-void *ocp_qp_full_condensing_memory_assign(void *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_full_condensing_workspace_calculate_size(void *dims, void *opts_);
-//
-int ocp_qp_full_condensing(void *in, void *out, void *opts, void *mem, void *work);
-//
-int ocp_qp_full_expansion(void *in, void *out, void *opts, void *mem, void *work);
-//
-void ocp_qp_full_condensing_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h
deleted file mode 100644
index 261606b8423a6a..00000000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h
+++ /dev/null
@@ -1,100 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_HPIPM_H_
-#define ACADOS_OCP_QP_OCP_QP_HPIPM_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_ocp_qp_ipm.h"
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-
-
-// struct of arguments to the solver
-// TODO(roversch): why not make this a typedef of the underlying struct?
-typedef struct ocp_qp_hpipm_opts_
-{
-    struct d_ocp_qp_ipm_arg *hpipm_opts;
-} ocp_qp_hpipm_opts;
-
-
-
-// TODO(roversch): why not make this a typedef of the underlying struct?
-// struct of the solver memory
-typedef struct ocp_qp_hpipm_memory_
-{
-    struct d_ocp_qp_ipm_ws *hpipm_workspace;
-    double time_qp_solver_call;
-    int iter;
-    int status;
-
-} ocp_qp_hpipm_memory;
-
-
-
-//
-acados_size_t ocp_qp_hpipm_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_qp_hpipm_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_qp_hpipm_opts_initialize_default(void *config, void *dims, void *opts_);
-//
-void ocp_qp_hpipm_opts_update(void *config, void *dims, void *opts_);
-//
-void ocp_qp_hpipm_opts_set(void *config_, void *opts_, const char *field, void *value);
-//
-acados_size_t ocp_qp_hpipm_memory_calculate_size(void *config, void *dims, void *opts_);
-//
-void *ocp_qp_hpipm_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_hpipm_workspace_calculate_size(void *config, void *dims, void *opts_);
-//
-int ocp_qp_hpipm(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_hpipm_memory_reset(void *config_, void *qp_in_, void *qp_out_, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_hpipm_eval_sens(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_hpipm_config_initialize_default(void *config);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_HPIPM_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h
deleted file mode 100644
index 8db53a279dbca6..00000000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h
+++ /dev/null
@@ -1,127 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_HPMPC_H_
-#define ACADOS_OCP_QP_OCP_QP_HPMPC_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-typedef enum hpmpc_options_t_ { HPMPC_DEFAULT_ARGUMENTS } hpmpc_options_t;
-
-typedef struct ocp_qp_hpmpc_opts_
-{
-    double tol;
-    int max_iter;
-    double mu0;
-    double alpha_min;
-    int warm_start;
-    int N2;  // horizion length of the partially condensed problem
-
-    // partial tightening
-    double sigma_mu;
-    int N;
-    int M;
-} ocp_qp_hpmpc_opts;
-
-// struct of the solver memory
-typedef struct ocp_qp_hpmpc_memory_
-{
-    struct blasfeo_dvec *hpi;
-    double *stats;
-
-    // workspace
-    void *hpmpc_work;  // raw workspace
-
-    // partial tightening-specific (init of extra variables)
-    struct blasfeo_dvec *lam0;
-    struct blasfeo_dvec *ux0;
-    struct blasfeo_dvec *pi0;
-    struct blasfeo_dvec *t0;
-
-    // 2. workspace
-    struct blasfeo_dmat *hsL;
-    struct blasfeo_dmat *hsric_work_mat;
-    struct blasfeo_dmat sLxM;
-    struct blasfeo_dmat sPpM;
-
-    struct blasfeo_dvec *hsQx;
-    struct blasfeo_dvec *hsqx;
-    struct blasfeo_dvec *hstinv;
-    struct blasfeo_dvec *hsrq;
-    struct blasfeo_dvec *hsdux;
-
-    struct blasfeo_dvec *hsdlam;
-    struct blasfeo_dvec *hsdt;
-    struct blasfeo_dvec *hsdpi;
-    struct blasfeo_dvec *hslamt;
-
-    struct blasfeo_dvec *hsPb;
-
-    void *work_ric;
-
-    int out_iter;
-
-    double time_qp_solver_call;
-    int iter;
-    int status;
-
-} ocp_qp_hpmpc_memory;
-
-acados_size_t ocp_qp_hpmpc_opts_calculate_size(void *config_, ocp_qp_dims *dims);
-//
-void *ocp_qp_hpmpc_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
-//
-void ocp_qp_hpmpc_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void ocp_qp_hpmpc_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-acados_size_t ocp_qp_hpmpc_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void *ocp_qp_hpmpc_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_hpmpc_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-int ocp_qp_hpmpc(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_hpmpc_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_hpmpc_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_HPMPC_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h
deleted file mode 100644
index a535503f215118..00000000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h
+++ /dev/null
@@ -1,144 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_OOQP_H_
-#define ACADOS_OCP_QP_OCP_QP_OOQP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-enum ocp_qp_ooqp_termination_code
-{
-  SPARSE_SUCCESSFUL_TERMINATION = 0,
-  SPARSE_NOT_FINISHED,
-  SPARSE_MAX_ITS_EXCEEDED,
-  SPARSE_INFEASIBLE,
-  SPARSE_UNKNOWN
-};
-
-typedef struct ocp_qp_ooqp_opts_
-{
-    int printLevel;
-    int useDiagonalWeights;  // TODO(dimitris): implement option
-    int fixHessian;
-    int fixHessianSparsity;
-    int fixDynamics;
-    int fixDynamicsSparsity;
-    int fixInequalities;
-    int fixInequalitiesSparsity;
-} ocp_qp_ooqp_opts;
-
-typedef struct ocp_qp_ooqp_workspace_
-{
-    double *x;
-    double *gamma;
-    double *phi;
-    double *y;
-    double *z;
-    double *lambda;
-    double *pi;
-    double objectiveValue;
-    int *tmpInt;    // temporary vector to sort indicies sparse matrices
-    double *tmpReal;  // temporary vector to sort data of sparse matrices
-    // int ierr;
-} ocp_qp_ooqp_workspace;
-
-typedef struct ocp_qp_ooqp_memory_
-{
-    int firstRun;
-    double *c;
-    int nx;
-    int *irowQ;
-    int nnzQ;
-    int *jcolQ;
-    int *orderQ;
-    double *dQ;
-    double *xlow;
-    char *ixlow;
-    double *xupp;
-    char *ixupp;
-    int *irowA;
-    int nnzA;
-    int *jcolA;
-    int *orderA;
-    double *dA;
-    double *bA;
-    int my;
-    int *irowC;
-    int nnzC;
-    int *jcolC;
-    int *orderC;
-    double *dC;
-    double *clow;
-    int mz;
-    char *iclow;
-    double *cupp;
-    char *icupp;
-    int nnz;  // max(nnzQ, nnzA, nnzC)
-    double time_qp_solver_call;
-    int iter;
-    int status;
-
-} ocp_qp_ooqp_memory;
-
-//
-acados_size_t ocp_qp_ooqp_opts_calculate_size(void *config_, ocp_qp_dims *dims);
-//
-void *ocp_qp_ooqp_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
-//
-void ocp_qp_ooqp_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void ocp_qp_ooqp_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-acados_size_t ocp_qp_ooqp_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void *ocp_qp_ooqp_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_ooqp_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-int ocp_qp_ooqp(void *config_, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *memory_,
-                void *work_);
-//
-void ocp_qp_ooqp_destroy(void *mem_, void *work);
-//
-void ocp_qp_ooqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_ooqp_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_OOQP_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h
deleted file mode 100644
index 51df1b1cd68067..00000000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_OSQP_H_
-#define ACADOS_OCP_QP_OCP_QP_OSQP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// osqp
-#include "osqp/include/types.h"
-
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-typedef struct ocp_qp_osqp_opts_
-{
-    OSQPSettings *osqp_opts;
-} ocp_qp_osqp_opts;
-
-
-typedef struct ocp_qp_osqp_memory_
-{
-    c_int first_run;
-
-    c_float *q;
-    c_float *l;
-    c_float *u;
-
-    c_int P_nnzmax;
-    c_int *P_i;
-    c_int *P_p;
-    c_float *P_x;
-
-    c_int A_nnzmax;
-    c_int *A_i;
-    c_int *A_p;
-    c_float *A_x;
-
-    OSQPData *osqp_data;
-    OSQPWorkspace *osqp_work;
-
-    double time_qp_solver_call;
-    int iter;
-    int status;
-
-} ocp_qp_osqp_memory;
-
-acados_size_t ocp_qp_osqp_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_qp_osqp_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_qp_osqp_opts_initialize_default(void *config, void *dims, void *opts_);
-//
-void ocp_qp_osqp_opts_update(void *config, void *dims, void *opts_);
-//
-acados_size_t ocp_qp_osqp_memory_calculate_size(void *config, void *dims, void *opts_);
-//
-void *ocp_qp_osqp_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_osqp_workspace_calculate_size(void *config, void *dims, void *opts_);
-//
-int ocp_qp_osqp(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_osqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_osqp_config_initialize_default(void *config);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_OSQP_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h
deleted file mode 100644
index 844f6048fe6220..00000000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h
+++ /dev/null
@@ -1,120 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_
-#define ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_ocp_qp_red.h"
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-
-
-
-typedef struct
-{
-    ocp_qp_dims *orig_dims;
-    ocp_qp_dims *red_dims; // dims of reduced qp
-    ocp_qp_dims *pcond_dims;
-    int *block_size;
-    int N2;
-    int N2_bkp;
-} ocp_qp_partial_condensing_dims;
-
-
-
-typedef struct ocp_qp_partial_condensing_opts_
-{
-    struct d_part_cond_qp_arg *hpipm_pcond_opts;
-    struct d_ocp_qp_reduce_eq_dof_arg *hpipm_red_opts;
-//    ocp_qp_dims *pcond_dims;  // TODO(all): move to dims
-//    int *block_size;
-    int N2;
-    int N2_bkp;
-//    int expand_dual_sol; // 0 primal sol only, 1 primal + dual sol
-    int ric_alg;
-    int mem_qp_in; // allocate qp_in in memory
-} ocp_qp_partial_condensing_opts;
-
-
-
-typedef struct ocp_qp_partial_condensing_memory_
-{
-    struct d_part_cond_qp_ws *hpipm_pcond_work;
-    struct d_ocp_qp_reduce_eq_dof_ws *hpipm_red_work;
-    // in memory
-    ocp_qp_in *pcond_qp_in;
-    ocp_qp_out *pcond_qp_out;
-    ocp_qp_in *red_qp; // reduced qp
-    ocp_qp_out *red_sol; // reduced qp sol
-    // only pointer
-    ocp_qp_in *ptr_qp_in;
-    ocp_qp_in *ptr_pcond_qp_in;
-    qp_info *qp_out_info; // info in pcond_qp_in
-    double time_qp_xcond;
-} ocp_qp_partial_condensing_memory;
-
-
-
-//
-acados_size_t ocp_qp_partial_condensing_opts_calculate_size(void *dims);
-//
-void *ocp_qp_partial_condensing_opts_assign(void *dims, void *raw_memory);
-//
-void ocp_qp_partial_condensing_opts_initialize_default(void *dims, void *opts_);
-//
-void ocp_qp_partial_condensing_opts_update(void *dims, void *opts_);
-//
-void ocp_qp_partial_condensing_opts_set(void *opts_, const char *field, void* value);
-//
-acados_size_t ocp_qp_partial_condensing_memory_calculate_size(void *dims, void *opts_);
-//
-void *ocp_qp_partial_condensing_memory_assign(void *dims, void *opts, void *raw_memory);
-//
-acados_size_t ocp_qp_partial_condensing_workspace_calculate_size(void *dims, void *opts_);
-//
-int ocp_qp_partial_condensing(void *in, void *out, void *opts, void *mem, void *work);
-//
-int ocp_qp_partial_expansion(void *in, void *out, void *opts, void *mem, void *work);
-//
-void ocp_qp_partial_condensing_config_initialize_default(void *config_);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h
deleted file mode 100644
index 3b875caeb50419..00000000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h
+++ /dev/null
@@ -1,119 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_QPDUNES_H_
-#define ACADOS_OCP_QP_OCP_QP_QPDUNES_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "qpDUNES.h"
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-typedef enum qpdunes_options_t_ {
-    QPDUNES_DEFAULT_ARGUMENTS,
-    QPDUNES_LINEAR_MPC,     // TODO(dimitris): partly implemented
-    QPDUNES_NONLINEAR_MPC,  // TODO(dimitris): not implemented yet
-    QPDUNES_ACADO_SETTINGS
-} qpdunes_options_t;
-
-typedef enum { QPDUNES_WITH_QPOASES, QPDUNES_WITH_CLIPPING } qpdunes_stage_qp_solver_t;
-
-typedef struct ocp_qp_qpdunes_opts_
-{
-    qpOptions_t options;
-    qpdunes_stage_qp_solver_t stageQpSolver;
-    int warmstart;  // warmstart = 0: all multipliers set to zero, warmstart = 1: use previous mult.
-    bool isLinearMPC;
-} ocp_qp_qpdunes_opts;
-
-typedef struct ocp_qp_qpdunes_memory_
-{
-    int firstRun;
-    int nx;
-    int nu;
-    int nz;
-    int nDmax;  // max(dims->ng)
-    qpData_t qpData;
-    double time_qp_solver_call;
-    int iter;
-    int status;
-
-} ocp_qp_qpdunes_memory;
-
-typedef struct ocp_qp_qpdunes_workspace_
-{
-    double *H;
-    double *Q;
-    double *R;
-    double *S;
-    double *g;
-    double *ABt;
-    double *b;
-    double *Ct;
-    double *lc;
-    double *uc;
-    double *zLow;
-    double *zUpp;
-} ocp_qp_qpdunes_workspace;
-
-//
-acados_size_t ocp_qp_qpdunes_opts_calculate_size(void *config_, ocp_qp_dims *dims);
-//
-void *ocp_qp_qpdunes_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
-//
-void ocp_qp_qpdunes_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void ocp_qp_qpdunes_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-acados_size_t ocp_qp_qpdunes_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void *ocp_qp_qpdunes_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_qpdunes_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-int ocp_qp_qpdunes(void *config_, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *memory_,
-                   void *work_);
-//
-void ocp_qp_qpdunes_free_memory(void *mem_);
-//
-void ocp_qp_qpdunes_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_qpdunes_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_QPDUNES_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h
deleted file mode 100644
index a78bc65bb9c621..00000000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h
+++ /dev/null
@@ -1,150 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_
-#define ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-
-
-typedef struct
-{
-    ocp_qp_dims *orig_dims;
-    void *xcond_dims;
-} ocp_qp_xcond_solver_dims;
-
-
-
-typedef struct ocp_qp_xcond_solver_opts_
-{
-    void *xcond_opts;
-    void *qp_solver_opts;
-} ocp_qp_xcond_solver_opts;
-
-
-
-typedef struct ocp_qp_xcond_solver_memory_
-{
-    void *xcond_memory;
-    void *solver_memory;
-    void *xcond_qp_in;
-    void *xcond_qp_out;
-} ocp_qp_xcond_solver_memory;
-
-
-
-typedef struct ocp_qp_xcond_solver_workspace_
-{
-    void *xcond_work;
-    void *qp_solver_work;
-} ocp_qp_xcond_solver_workspace;
-
-
-
-typedef struct
-{
-    acados_size_t (*dims_calculate_size)(void *config, int N);
-    ocp_qp_xcond_solver_dims *(*dims_assign)(void *config, int N, void *raw_memory);
-    void (*dims_set)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
-    void (*dims_get)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
-    acados_size_t (*opts_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims);
-    void *(*opts_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
-    void (*opts_update)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
-    acados_size_t (*memory_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
-    void *(*memory_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts, void *raw_memory);
-    void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
-    void (*memory_reset)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts, void *mem, void *work);
-    acados_size_t (*workspace_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
-    int (*evaluate)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts, void *mem, void *work);
-    void (*eval_sens)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *param_qp_in, ocp_qp_out *sens_qp_out, void *opts, void *mem, void *work);
-    qp_solver_config *qp_solver;  // either ocp_qp_solver or dense_solver
-    ocp_qp_xcond_config *xcond;
-} ocp_qp_xcond_solver_config;  // pcond - partial condensing or fcond - full condensing
-
-
-
-/* config */
-//
-acados_size_t ocp_qp_xcond_solver_config_calculate_size();
-//
-ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_assign(void *raw_memory);
-
-/* dims */
-//
-acados_size_t ocp_qp_xcond_solver_dims_calculate_size(void *config, int N);
-//
-ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_assign(void *config, int N, void *raw_memory);
-//
-void ocp_qp_xcond_solver_dims_set_(void *config, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
-
-/* opts */
-//
-acados_size_t ocp_qp_xcond_solver_opts_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims);
-//
-void *ocp_qp_xcond_solver_opts_assign(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory);
-//
-void ocp_qp_xcond_solver_opts_initialize_default(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
-//
-void ocp_qp_xcond_solver_opts_update(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
-//
-void ocp_qp_xcond_solver_opts_set_(void *config_, void *opts_, const char *field, void* value);
-
-/* memory */
-//
-acados_size_t ocp_qp_xcond_solver_memory_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
-//
-void *ocp_qp_xcond_solver_memory_assign(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_, void *raw_memory);
-
-/* workspace */
-//
-acados_size_t ocp_qp_xcond_solver_workspace_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
-
-/* config */
-//
-int ocp_qp_xcond_solver(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *mem_, void *work_);
-
-//
-void ocp_qp_xcond_solver_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_
diff --git a/third_party/acados/include/acados/sim/sim_collocation_utils.h b/third_party/acados/include/acados/sim/sim_collocation_utils.h
deleted file mode 100644
index 045d165cbccee2..00000000000000
--- a/third_party/acados/include/acados/sim/sim_collocation_utils.h
+++ /dev/null
@@ -1,97 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_COLLOCATION_UTILS_H_
-#define ACADOS_SIM_SIM_COLLOCATION_UTILS_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/utils/types.h"
-
-
-
-// enum Newton_type_collocation
-// {
-//     exact = 0,
-//     simplified_in,
-//     simplified_inis
-// };
-
-
-
-// typedef struct
-// {
-//     enum Newton_type_collocation type;
-//     double *eig;
-//     double *low_tria;
-//     bool single;
-//     bool freeze;
-
-//     double *transf1;
-//     double *transf2;
-
-//     double *transf1_T;
-//     double *transf2_T;
-// } Newton_scheme;
-
-
-typedef enum
-{
-    GAUSS_LEGENDRE,
-    GAUSS_RADAU_IIA,
-} sim_collocation_type;
-
-
-//
-// acados_size_t gauss_legendre_nodes_work_calculate_size(int ns);
-//
-// void gauss_legendre_nodes(int ns, double *nodes, void *raw_memory);
-//
-// acados_size_t gauss_simplified_work_calculate_size(int ns);
-// //
-// void gauss_simplified(int ns, Newton_scheme *scheme, void *work);
-//
-acados_size_t butcher_tableau_work_calculate_size(int ns);
-//
-// void calculate_butcher_tableau_from_nodes(int ns, double *nodes, double *b, double *A, void *work);
-//
-void calculate_butcher_tableau(int ns, sim_collocation_type collocation_type, double *c_vec,
-                               double *b_vec, double *A_mat, void *work);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SIM_SIM_COLLOCATION_UTILS_H_
diff --git a/third_party/acados/include/acados/sim/sim_common.h b/third_party/acados/include/acados/sim/sim_common.h
deleted file mode 100644
index c4bbd6ed2b8de1..00000000000000
--- a/third_party/acados/include/acados/sim/sim_common.h
+++ /dev/null
@@ -1,221 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_COMMON_H_
-#define ACADOS_SIM_SIM_COMMON_H_
-
-#include <stdbool.h>
-
-#include "acados/sim/sim_collocation_utils.h"
-#include "acados/utils/timing.h"
-#include "acados/utils/types.h"
-
-#include "acados/utils/external_function_generic.h"
-
-// maximum number of integration stages
-#define NS_MAX 15
-
-
-
-typedef enum
-{
-    // ERK and LIFTED_ERK
-    EXPL_ODE_FUN,
-    EXPL_ODE_HES,  // wrt x and u ???
-    EXPL_VDE_FOR,
-    EXPL_VDE_ADJ,
-    // IRK
-    IMPL_ODE_FUN,
-    IMPL_ODE_FUN_JAC_X_XDOT,
-    IMPL_ODE_JAC_X_XDOT_U,
-    IMPL_ODE_FUN_JAC_X_XDOT_U,
-    IMPL_ODE_HESS,
-    // gnsf
-    PHI_FUN,
-    PHI_FUN_JAC_Y,
-    PHI_JAC_Y_UHAT,
-    LO_FUN,
-    GET_GNSF_MATRICES
-} sim_function_t;
-
-
-
-typedef struct
-{
-    void *dims;
-
-    double *x;  // x[NX] - initial state value for simulation
-    double *u;  // u[NU] - control - constant over simulation time
-
-    double *S_forw;  // forward seed [Sx, Su]
-    double *S_adj;   // backward seed
-
-    bool identity_seed; // indicating if S_forw = [eye(nx), zeros(nx x nu)]
-
-    void *model;
-
-    double T;  // simulation time
-
-} sim_in;
-
-
-
-typedef struct
-{
-    double CPUtime;  // in seconds
-    double LAtime;   // in seconds
-    double ADtime;   // in seconds
-
-} sim_info;
-
-
-
-typedef struct
-{
-    double *xn;      // xn[NX]
-    double *S_forw;  // S_forw[NX*(NX+NU)]
-    double *S_adj;   //
-    double *S_hess;  //
-
-    double *zn;           // z - algebraic variables - reported at start of simulation interval
-    double *S_algebraic;  // sensitivities of reported value of algebraic variables w.r.t.
-                          // initial stat & control (x_n,u)
-
-    double *grad;  // gradient correction
-
-    sim_info *info;
-
-} sim_out;
-
-
-
-typedef struct
-{
-    int ns;  // number of integration stages
-
-    int num_steps;
-    int num_forw_sens;
-
-    int tableau_size;  // check that is consistent with ns
-            // only update when butcher tableau is changed
-            // kind of private -> no setter!
-    double *A_mat;
-    double *c_vec;
-    double *b_vec;
-
-    bool sens_forw;
-    bool sens_adj;
-    bool sens_hess;
-
-    bool output_z;        // 1 -- if zn should be computed
-    bool sens_algebraic;  // 1 -- if S_algebraic should be computed
-    bool exact_z_output;  // 1 -- if z, S_algebraic should be computed exactly, extra Newton iterations
-    sim_collocation_type collocation_type;
-
-    // for explicit integrators: newton_iter == 0 && scheme == NULL
-    // && jac_reuse=false
-    int newton_iter;
-    bool jac_reuse;
-    // Newton_scheme *scheme;
-
-    double newton_tol; // optinally used in implicit integrators
-
-    // workspace
-    void *work;
-
-} sim_opts;
-
-
-
-typedef struct
-{
-    int (*evaluate)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work);
-    int (*precompute)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work);
-    // opts
-    acados_size_t (*opts_calculate_size)(void *config_, void *dims);
-    void *(*opts_assign)(void *config_, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config_, void *dims, void *opts);
-    void (*opts_update)(void *config_, void *dims, void *opts);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void *value);
-    void (*opts_get)(void *config_, void *opts_, const char *field, void *value);
-    // mem
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
-    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
-    int (*memory_set)(void *config, void *dims, void *mem, const char *field, void *value);
-    int (*memory_set_to_zero)(void *config, void *dims, void *opts, void *mem, const char *field);
-    void (*memory_get)(void *config, void *dims, void *mem, const char *field, void *value);
-    // work
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
-    // model
-    acados_size_t (*model_calculate_size)(void *config, void *dims);
-    void *(*model_assign)(void *config, void *dims, void *raw_memory);
-    int (*model_set)(void *model, const char *field, void *value);
-    // config
-    void (*config_initialize_default)(void *config);
-    // dims
-    acados_size_t (*dims_calculate_size)();
-    void *(*dims_assign)(void *config, void *raw_memory);
-    void (*dims_set)(void *config, void *dims, const char *field, const int *value);
-    void (*dims_get)(void *config, void *dims, const char *field, int *value);
-
-} sim_config;
-
-
-
-/* config */
-//
-acados_size_t sim_config_calculate_size();
-//
-sim_config *sim_config_assign(void *raw_memory);
-
-/* in */
-//
-acados_size_t sim_in_calculate_size(void *config, void *dims);
-//
-sim_in *sim_in_assign(void *config, void *dims, void *raw_memory);
-//
-int sim_in_set_(void *config_, void *dims_, sim_in *in, const char *field, void *value);
-
-/* out */
-//
-acados_size_t sim_out_calculate_size(void *config, void *dims);
-//
-sim_out *sim_out_assign(void *config, void *dims, void *raw_memory);
-//
-int sim_out_get_(void *config, void *dims, sim_out *out, const char *field, void *value);
-
-/* opts */
-//
-void sim_opts_set_(sim_opts *opts, const char *field, void *value);
-//
-void sim_opts_get_(sim_config *config, sim_opts *opts, const char *field, void *value);
-
-#endif  // ACADOS_SIM_SIM_COMMON_H_
diff --git a/third_party/acados/include/acados/sim/sim_erk_integrator.h b/third_party/acados/include/acados/sim/sim_erk_integrator.h
deleted file mode 100644
index fd46cb4d99c035..00000000000000
--- a/third_party/acados/include/acados/sim/sim_erk_integrator.h
+++ /dev/null
@@ -1,140 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_ERK_INTEGRATOR_H_
-#define ACADOS_SIM_SIM_ERK_INTEGRATOR_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/sim/sim_common.h"
-#include "acados/utils/types.h"
-
-
-
-typedef struct
-{
-    int nx;
-    int nu;
-    int nz;
-} sim_erk_dims;
-
-
-
-typedef struct
-{
-    /* external functions */
-    // explicit ode
-    external_function_generic *expl_ode_fun;
-    // hessian explicit ode
-    external_function_generic *expl_ode_hes;
-    // forward explicit vde
-    external_function_generic *expl_vde_for;
-    // adjoint explicit vde
-    external_function_generic *expl_vde_adj;
-
-} erk_model;
-
-
-
-typedef struct
-{
-	// memory
-	double time_sim;
-	double time_ad;
-	double time_la;
-
-	// workspace structs
-} sim_erk_memory;
-
-
-
-typedef struct
-{
-	// workspace mem
-    double *rhs_forw_in;  // x + S + p
-
-    double *K_traj;         // (stages*nX) or (steps*stages*nX) for adj
-    double *out_forw_traj;  // S or (steps+1)*nX for adj
-
-    double *rhs_adj_in;
-    double *out_adj_tmp;
-    double *adj_traj;
-
-} sim_erk_workspace;
-
-
-
-// dims
-acados_size_t sim_erk_dims_calculate_size();
-void *sim_erk_dims_assign(void *config_, void *raw_memory);
-void sim_erk_dims_set(void *config_, void *dims_, const char *field, const int* value);
-void sim_erk_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-// model
-acados_size_t sim_erk_model_calculate_size(void *config, void *dims);
-void *sim_erk_model_assign(void *config, void *dims, void *raw_memory);
-int sim_erk_model_set(void *model, const char *field, void *value);
-
-// opts
-acados_size_t sim_erk_opts_calculate_size(void *config, void *dims);
-//
-void sim_erk_opts_update(void *config_, void *dims, void *opts_);
-//
-void *sim_erk_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void sim_erk_opts_initialize_default(void *config, void *dims, void *opts_);
-//
-void sim_erk_opts_set(void *config_, void *opts_, const char *field, void *value);
-
-
-// memory
-acados_size_t sim_erk_memory_calculate_size(void *config, void *dims, void *opts_);
-//
-void *sim_erk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-//
-int sim_erk_memory_set(void *config_, void *dims_, void *mem_, const char *field, void *value);
-
-
-// workspace
-acados_size_t sim_erk_workspace_calculate_size(void *config, void *dims, void *opts_);
-
-//
-int sim_erk(void *config, sim_in *in, sim_out *out, void *opts_, void *mem_, void *work_);
-//
-void sim_erk_config_initialize_default(void *config);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SIM_SIM_ERK_INTEGRATOR_H_
diff --git a/third_party/acados/include/acados/sim/sim_gnsf.h b/third_party/acados/include/acados/sim/sim_gnsf.h
deleted file mode 100644
index 404532a7327622..00000000000000
--- a/third_party/acados/include/acados/sim/sim_gnsf.h
+++ /dev/null
@@ -1,364 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_GNSF_H_
-#define ACADOS_SIM_SIM_GNSF_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdbool.h>
-
-#include "acados/utils/timing.h"
-#include "acados/utils/types.h"
-#include "acados/sim/sim_common.h"
-
-#include "blasfeo/include/blasfeo_common.h"
-// #include "blasfeo/include/blasfeo_d_aux.h"
-// #include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
-// #include "blasfeo/include/blasfeo_d_blas.h"
-// #include "blasfeo/include/blasfeo_d_kernel.h"
-// #include "blasfeo/include/blasfeo_i_aux_ext_dep.h"
-// #include "blasfeo/include/blasfeo_target.h"
-
-/* 
-GNSF - Generalized Nonlinear Static Feedback Model
-has the following form
-https://github.com/acados/acados/files/3359595/gnsf_structure_blo.pdf
-
-Details on the algorithm can be found in master thesis of Jonathan Frey,
-which presents a slightly different format without the terms B_LO, c_LO.
-https://github.com/acados/acados/files/2318322/gnsf_structure.pdf
-https://cdn.syscop.de/publications/Frey2018.pdf
-https://cdn.syscop.de/publications/Frey2019.pdf
-*/
-
-typedef struct
-{
-    int nx; // total number of differential states
-    int nu; // total number of inputs
-    int nz; // total number of algebraic states
-    int nx1; // number of differential states in NSF part
-    int nz1; // number of algebraic states in NSF part
-    int n_out; // output dimension of phi
-    int ny; // dimension of first input of phi
-    int nuhat; // dimension of second input of phi
-
-} sim_gnsf_dims;
-
-
-
-typedef struct
-{
-    /* external functions */
-    // phi: nonlinearity function
-    external_function_generic *phi_fun;
-    external_function_generic *phi_fun_jac_y;
-    external_function_generic *phi_jac_y_uhat;
-
-    // f_lo: linear output function
-    external_function_generic *f_lo_fun_jac_x1_x1dot_u_z;
-
-    // to import model matrices
-    external_function_generic *get_gnsf_matrices;
-
-    // flag indicating, if model defining matrices are imported via external (casadi) function,
-    //    [default]: true -> auto;
-    bool auto_import_gnsf;
-
-    // booleans from structure detection
-    bool nontrivial_f_LO; // indicates if f_LO is constant zero function
-    bool fully_linear; // indicates if model is fully linear LOS
-
-    /* model defining matrices */
-    // TODO: add setters to set manually
-    double *A;
-    double *B;
-    double *C;
-    double *E;
-
-    double *L_x;
-    double *L_xdot;
-    double *L_z;
-    double *L_u;
-
-    double *A_LO;
-    double *B_LO;
-    double *E_LO;
-
-    /* constant vector */
-    double *c;
-    double *c_LO;
-
-    // permutation vector - to have GNSF order of x, z within sim_gnsf only
-    int *ipiv_x;
-    int *ipiv_z;
-
-    double *ipiv_x_double;
-    double *ipiv_z_double;
-
-} gnsf_model;
-
-
-
-// pre_workspace - workspace used in the precomputation phase
-typedef struct
-{
-    struct blasfeo_dmat E11;
-    struct blasfeo_dmat E12;
-    struct blasfeo_dmat E21;
-    struct blasfeo_dmat E22;
-
-    struct blasfeo_dmat A1;
-    struct blasfeo_dmat A2;
-    struct blasfeo_dmat B1;
-    struct blasfeo_dmat B2;
-    struct blasfeo_dmat C1;
-    struct blasfeo_dmat C2;
-
-    struct blasfeo_dmat AA1;
-    struct blasfeo_dmat AA2;
-    struct blasfeo_dmat BB1;
-    struct blasfeo_dmat BB2;
-    struct blasfeo_dmat CC1;
-    struct blasfeo_dmat CC2;
-    struct blasfeo_dmat DD1;
-    struct blasfeo_dmat DD2;
-    struct blasfeo_dmat EE1;
-    struct blasfeo_dmat EE2;
-
-    struct blasfeo_dmat QQ1;
-
-    struct blasfeo_dmat LLZ;
-    struct blasfeo_dmat LLx;
-    struct blasfeo_dmat LLK;
-
-    int *ipivEE1;  // index of pivot vector
-    int *ipivEE2;
-    int *ipivQQ1;
-
-    // for algebraic sensitivity propagation
-    struct blasfeo_dmat Q1;
-
-    // for constant term in NSF
-    struct blasfeo_dvec cc1;
-    struct blasfeo_dvec cc2;
-
-} gnsf_pre_workspace;
-
-
-
-// workspace
-typedef struct
-{
-    double *Z_work;  // used to perform computations to get out->zn
-
-    int *ipiv;  // index of pivot vector
-
-    struct blasfeo_dvec *vv_traj;
-    struct blasfeo_dvec *yy_traj;
-    struct blasfeo_dmat *f_LO_jac_traj;
-
-    struct blasfeo_dvec K2_val;
-    struct blasfeo_dvec x0_traj;
-    struct blasfeo_dvec res_val;
-    struct blasfeo_dvec u0;
-    struct blasfeo_dvec lambda;
-    struct blasfeo_dvec lambda_old;
-
-    struct blasfeo_dvec yyu;
-    struct blasfeo_dvec yyss;
-
-    struct blasfeo_dvec K1_val;
-    struct blasfeo_dvec f_LO_val;
-    struct blasfeo_dvec x1_stage_val;
-    struct blasfeo_dvec Z1_val;
-
-    struct blasfeo_dvec K1u;
-    struct blasfeo_dvec Zu;
-    struct blasfeo_dvec ALOtimesx02;
-    struct blasfeo_dvec BLOtimesu0;
-
-    struct blasfeo_dvec uhat;
-
-    struct blasfeo_dmat J_r_vv;
-    struct blasfeo_dmat J_r_x1u;
-
-    struct blasfeo_dmat dK1_dx1;
-    struct blasfeo_dmat dK1_du;
-    struct blasfeo_dmat dZ_dx1;
-    struct blasfeo_dmat dZ_du;
-    struct blasfeo_dmat J_G2_K1;
-
-    struct blasfeo_dmat dK2_dx1;
-    struct blasfeo_dmat dK2_dvv;
-    struct blasfeo_dmat dxf_dwn;
-    struct blasfeo_dmat S_forw_new;
-    struct blasfeo_dmat S_algebraic_aux;
-
-    struct blasfeo_dmat dPsi_dvv;
-    struct blasfeo_dmat dPsi_dx;
-    struct blasfeo_dmat dPsi_du;
-
-    struct blasfeo_dmat dPHI_dyuhat;
-    struct blasfeo_dvec z0;
-
-    // memory only available if (opts->sens_algebraic)
-    // struct blasfeo_dvec y_one_stage;
-    // struct blasfeo_dvec x0dot_1;
-    // struct blasfeo_dmat dz10_dx1u;  // (nz1) * (nx1+nu);
-    // struct blasfeo_dmat dr0_dvv0;  // (n_out * n_out)
-    // struct blasfeo_dmat f_LO_jac0; // (nx2+nz2) * (2*nx1 + nz1 + nu)
-    // struct blasfeo_dmat sens_z2_rhs; // (nx2 + nz2) * (nx1 + nu)
-    // int *ipiv_vv0;
-
-} gnsf_workspace;
-
-
-
-// memory
-typedef struct
-{
-    bool first_call;
-
-    // simulation time for one step
-    double dt;
-
-    // (scaled) butcher table
-    double *A_dt;
-    double *b_dt;
-    double *c_butcher;
-
-    // value used to initialize integration variables - corresponding to value of phi
-    double *phi_guess;  //  n_out
-
-    struct blasfeo_dmat S_forw;
-    struct blasfeo_dmat S_algebraic;
-
-    // precomputed matrices
-    struct blasfeo_dmat KKv;
-    struct blasfeo_dmat KKx;
-    struct blasfeo_dmat KKu;
-
-    struct blasfeo_dmat YYv;
-    struct blasfeo_dmat YYx;
-    struct blasfeo_dmat YYu;
-
-    struct blasfeo_dmat ZZv;
-    struct blasfeo_dmat ZZx;
-    struct blasfeo_dmat ZZu;
-
-    struct blasfeo_dmat ALO;
-    struct blasfeo_dmat BLO;
-    struct blasfeo_dmat M2_LU;
-    int *ipivM2;
-
-    struct blasfeo_dmat dK2_dx2;
-    struct blasfeo_dmat dK2_du;
-    struct blasfeo_dmat dx2f_dx2u;
-
-    struct blasfeo_dmat Lu;
-
-    // precomputed vectors for constant term in NSF
-    struct blasfeo_dvec KK0;
-    struct blasfeo_dvec YY0;
-    struct blasfeo_dvec ZZ0;
-
-    // for algebraic sensitivities only;
-    // struct blasfeo_dmat *Z0x;
-    // struct blasfeo_dmat *Z0u;
-    // struct blasfeo_dmat *Z0v;
-
-    // struct blasfeo_dmat *Y0x;
-    // struct blasfeo_dmat *Y0u;
-    // struct blasfeo_dmat *Y0v;
-
-    // struct blasfeo_dmat *K0x;
-    // struct blasfeo_dmat *K0u;
-    // struct blasfeo_dmat *K0v;
-
-    // struct blasfeo_dmat *ELO_LU;
-    // int *ipiv_ELO;
-    // struct blasfeo_dmat *ELO_inv_ALO;
-
-    // struct blasfeo_dmat *Lx;
-    // struct blasfeo_dmat *Lxdot;
-    // struct blasfeo_dmat *Lz;
-
-	double time_sim;
-	double time_ad;
-	double time_la;
-
-} sim_gnsf_memory;
-
-
-
-// gnsf dims
-acados_size_t sim_gnsf_dims_calculate_size();
-void *sim_gnsf_dims_assign(void *config_, void *raw_memory);
-
-// get & set functions
-void sim_gnsf_dims_set(void *config_, void *dims_, const char *field, const int *value);
-void sim_gnsf_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-// opts
-acados_size_t sim_gnsf_opts_calculate_size(void *config, void *dims);
-void *sim_gnsf_opts_assign(void *config, void *dims, void *raw_memory);
-void sim_gnsf_opts_initialize_default(void *config, void *dims, void *opts_);
-void sim_gnsf_opts_update(void *config_, void *dims, void *opts_);
-void sim_gnsf_opts_set(void *config_, void *opts_, const char *field, void *value);
-
-// model
-acados_size_t sim_gnsf_model_calculate_size(void *config, void *dims_);
-void *sim_gnsf_model_assign(void *config, void *dims_, void *raw_memory);
-int sim_gnsf_model_set(void *model_, const char *field, void *value);
-
-// precomputation
-int sim_gnsf_precompute(void *config_, sim_in *in, sim_out *out, void *opts_, void *mem_,
-                       void *work_);
-
-// workspace & memory
-acados_size_t sim_gnsf_workspace_calculate_size(void *config, void *dims_, void *args);
-acados_size_t sim_gnsf_memory_calculate_size(void *config, void *dims_, void *opts_);
-void *sim_gnsf_memory_assign(void *config, void *dims_, void *opts_, void *raw_memory);
-
-// interface
-void sim_gnsf_config_initialize_default(void *config_);
-
-// integrator
-int sim_gnsf(void *config, sim_in *in, sim_out *out, void *opts, void *mem_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SIM_SIM_GNSF_H_
diff --git a/third_party/acados/include/acados/sim/sim_irk_integrator.h b/third_party/acados/include/acados/sim/sim_irk_integrator.h
deleted file mode 100644
index 5090aa0bb52604..00000000000000
--- a/third_party/acados/include/acados/sim/sim_irk_integrator.h
+++ /dev/null
@@ -1,183 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_IRK_INTEGRATOR_H_
-#define ACADOS_SIM_SIM_IRK_INTEGRATOR_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/sim/sim_common.h"
-#include "acados/utils/types.h"
-
-#include "blasfeo/include/blasfeo_common.h"
-
-typedef struct
-{
-    int nx;
-    int nu;
-    int nz;
-
-} sim_irk_dims;
-
-
-
-typedef struct
-{
-    /* external functions */
-    // implicit fun - can either be fully implicit ode or dae
-    //          - i.e. dae has z as additional last argument & nz > 0
-    external_function_generic *impl_ode_fun;
-    // implicit ode & jac_x & jax_xdot & jac_z
-    external_function_generic *impl_ode_fun_jac_x_xdot_z;
-    // jax_x & jac_xdot & jac_u & jac_z of implicit ode
-    external_function_generic *impl_ode_jac_x_xdot_u_z;
-    // hessian of implicit ode:
-    external_function_generic *impl_ode_hess;
-} irk_model;
-
-
-
-typedef struct
-{
-    struct blasfeo_dvec *rG;        // residuals of G (nx*ns)
-    struct blasfeo_dvec *K;         // internal K variables ((nx+nz)*ns)
-    struct blasfeo_dvec *xt;        // temporary x
-    struct blasfeo_dvec *xn;        // x at each integration step
-    struct blasfeo_dvec xtdot;      // temporary xdot
-
-    struct blasfeo_dvec *lambda;    // adjoint sensitivities (nx + nu)
-    struct blasfeo_dvec *lambdaK;   // auxiliary variable ((nx+nz)*ns) for adjoint propagation
-
-    struct blasfeo_dmat df_dx;     // temporary Jacobian of ode w.r.t x (nx+nz, nx)
-    struct blasfeo_dmat df_dxdot;  // temporary Jacobian of ode w.r.t xdot (nx+nz, nx)
-    struct blasfeo_dmat df_du;     // temporary Jacobian of ode w.r.t u (nx+nz, nu)
-    struct blasfeo_dmat df_dz;     // temporary Jacobian of ode w.r.t z (nx+nz, nu)
-
-    /* NOTE: the memory allocation corresponding to the following fields is CONDITIONAL */
-
-    // only allocated if (opts->sens_algebraic || opts->output_z)
-    int *ipiv_one_stage;  // index of pivot vector (nx + nz)
-    double *Z_work;  // used to perform computations to get out->zn (ns)
-
-    // df_dxdotz, dk0_dxu, only allocated if (opts->sens_algebraic && opts->exact_z_output)
-    //      used for algebraic sensitivity generation
-    struct blasfeo_dmat df_dxdotz;  // temporary Jacobian of ode w.r.t. xdot,z (nx+nz, nx+nz);
-    struct blasfeo_dmat dk0_dxu;    // intermediate result, (nx+nz, nx+nu)
-
-    // dK_dxu: if (!opts->sens_hess) - single blasfeo_dmat that is reused
-    //         if ( opts->sens_hess) - array of (num_steps) blasfeo_dmat
-    //                                  to store intermediate results
-    struct blasfeo_dmat *dK_dxu;  // jacobian of (K,Z) over x and u ((nx+nz)*ns, nx+nu);
-
-    // S_forw: if (!opts->sens_hess) - single blasfeo_dmat that is reused
-    //         if ( opts->sens_hess) - array of (num_steps + 1) blasfeo_dmat
-    //                                  to store intermediate results
-    struct blasfeo_dmat *S_forw;  // forward sensitivities (nx, nx+nu)
-
-    // dG_dxu: if (!opts->sens_hess) - single blasfeo_dmat that is reused
-    //         if ( opts->sens_hess) - array of blasfeo_dmat to store intermediate results
-    struct blasfeo_dmat *dG_dxu;  // jacobian of G over x and u ((nx+nz)*ns, nx+nu)
-
-    // dG_dK:  if (!opts->sens_hess) - single blasfeo_dmat that is reused
-    //         if ( opts->sens_hess) - array of blasfeo_dmat to store intermediate results
-    struct blasfeo_dmat *dG_dK;   // jacobian of G over K ((nx+nz)*ns, (nx+nz)*ns)
-
-    // ipiv: index of pivot vector
-    //         if (!opts->sens_hess) - array (ns * (nx + nz)) that is reused
-    //         if ( opts->sens_hess) - array (ns * (nx + nz)) * num_steps, to store all
-    //              pivot vectors for dG_dxu
-    int *ipiv;  // index of pivot vector
-
-    // xn_traj, K_traj only available if( opts->sens_adj || opts->sens_hess )
-    struct blasfeo_dvec *xn_traj;  // xn trajectory
-    struct blasfeo_dvec *K_traj;   // K trajectory
-
-    /* the following variables are only available if (opts->sens_hess) */
-    // For Hessian propagation
-    struct blasfeo_dmat Hess;   // temporary Hessian (nx + nu, nx + nu)
-    // output of impl_ode_hess
-    struct blasfeo_dmat f_hess;  // size: (nx + nu, nx + nu)
-    struct blasfeo_dmat dxkzu_dw0;  // size (2*nx + nu + nz) x (nx + nu)
-    struct blasfeo_dmat tmp_dxkzu_dw0;  // size (2*nx + nu + nz) x (nx + nu)
-
-} sim_irk_workspace;
-
-
-typedef struct
-{
-    double *xdot;  // xdot[NX] - initialization for state derivatives k within the integrator
-    double *z;     // z[NZ] - initialization for algebraic variables z
-
-	double time_sim;
-	double time_ad;
-	double time_la;
-} sim_irk_memory;
-
-
-// get & set functions
-void sim_irk_dims_set(void *config_, void *dims_, const char *field, const int *value);
-void sim_irk_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-// dims
-acados_size_t sim_irk_dims_calculate_size();
-void *sim_irk_dims_assign(void *config_, void *raw_memory);
-
-// model
-acados_size_t sim_irk_model_calculate_size(void *config, void *dims);
-void *sim_irk_model_assign(void *config, void *dims, void *raw_memory);
-int sim_irk_model_set(void *model, const char *field, void *value);
-
-// opts
-acados_size_t sim_irk_opts_calculate_size(void *config, void *dims);
-void *sim_irk_opts_assign(void *config, void *dims, void *raw_memory);
-void sim_irk_opts_initialize_default(void *config, void *dims, void *opts_);
-void sim_irk_opts_update(void *config_, void *dims, void *opts_);
-void sim_irk_opts_set(void *config_, void *opts_, const char *field, void *value);
-
-// memory
-acados_size_t sim_irk_memory_calculate_size(void *config, void *dims, void *opts_);
-void *sim_irk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-int sim_irk_memory_set(void *config_, void *dims_, void *mem_, const char *field, void *value);
-
-// workspace
-acados_size_t sim_irk_workspace_calculate_size(void *config, void *dims, void *opts_);
-void sim_irk_config_initialize_default(void *config);
-
-// main
-int sim_irk(void *config, sim_in *in, sim_out *out, void *opts_, void *mem_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SIM_SIM_IRK_INTEGRATOR_H_
diff --git a/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h b/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h
deleted file mode 100644
index e60bb80ebf8b2f..00000000000000
--- a/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h
+++ /dev/null
@@ -1,157 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_
-#define ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/sim/sim_common.h"
-#include "acados/utils/types.h"
-
-typedef struct
-{
-    int nx;
-    int nu;
-    int nz;
-} sim_lifted_irk_dims;
-
-
-
-typedef struct
-{
-    /* external functions */
-    // implicit ode
-    external_function_generic *impl_ode_fun;
-    // implicit ode & jax_x & jac_xdot & jac_u implicit ode
-    external_function_generic *impl_ode_fun_jac_x_xdot_u;
-
-} lifted_irk_model;
-
-
-
-typedef struct
-{
-
-    struct blasfeo_dmat *J_temp_x;     // temporary Jacobian of ode w.r.t x (nx, nx)
-    struct blasfeo_dmat *J_temp_xdot;  // temporary Jacobian of ode w.r.t xdot (nx, nx)
-    struct blasfeo_dmat *J_temp_u;     // temporary Jacobian of ode w.r.t u (nx, nu)
-
-    struct blasfeo_dvec *rG;      // residuals of G (nx*ns)
-    struct blasfeo_dvec *xt;      // temporary x
-    struct blasfeo_dvec *xn;      // x at each integration step (for evaluations)
-    struct blasfeo_dvec *xn_out;  // x at each integration step (output)
-    struct blasfeo_dvec *dxn;     // dx at each integration step
-    struct blasfeo_dvec *w;       // stacked x and u
-
-    int *ipiv;  // index of pivot vector
-
-} sim_lifted_irk_workspace;
-
-
-
-typedef struct
-{
-    // memory for lifted integrators
-    struct blasfeo_dmat *S_forw;    // forward sensitivities
-    struct blasfeo_dmat *JGK;       // jacobian of G over K (nx*ns, nx*ns)
-    struct blasfeo_dmat *JGf;       // jacobian of G over x and u (nx*ns, nx+nu);
-    struct blasfeo_dmat *JKf;       // jacobian of K over x and u (nx*ns, nx+nu);
-
-    struct blasfeo_dvec *K;         // internal variables (nx*ns)
-    struct blasfeo_dvec *x;         // states (nx) -- for expansion step
-    struct blasfeo_dvec *u;         // controls (nu) -- for expansion step
-
-    int update_sens;
-    // int init_K;
-
-	double time_sim;
-	double time_ad;
-	double time_la;
-
-} sim_lifted_irk_memory;
-
-
-
-/* dims */
-void sim_lifted_irk_dims_set(void *config_, void *dims_, const char *field, const int *value);
-void sim_lifted_irk_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-acados_size_t sim_lifted_irk_dims_calculate_size();
-//
-void *sim_lifted_irk_dims_assign(void* config_, void *raw_memory);
-
-/* model */
-//
-acados_size_t sim_lifted_irk_model_calculate_size(void *config, void *dims);
-//
-void *sim_lifted_irk_model_assign(void *config, void *dims, void *raw_memory);
-//
-int sim_lifted_irk_model_set(void *model_, const char *field, void *value);
-
-/* opts */
-//
-acados_size_t sim_lifted_irk_opts_calculate_size(void *config, void *dims);
-//
-void *sim_lifted_irk_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void sim_lifted_irk_opts_initialize_default(void *config, void *dims, void *opts_);
-//
-void sim_lifted_irk_opts_update(void *config_, void *dims, void *opts_);
-//
-void sim_lifted_irk_opts_set(void *config_, void *opts_, const char *field, void *value);
-
-/* memory */
-//
-acados_size_t sim_lifted_irk_memory_calculate_size(void *config, void *dims, void *opts_);
-//
-void *sim_lifted_irk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-
-/* workspace */
-//
-acados_size_t sim_lifted_irk_workspace_calculate_size(void *config, void *dims, void *opts_);
-//
-void sim_lifted_irk_config_initialize_default(void *config);
-
-/* solver */
-//
-int sim_lifted_irk(void *config, sim_in *in, sim_out *out, void *opts_,
-        void *mem_, void *work_);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_
diff --git a/third_party/acados/include/acados/utils/external_function_generic.h b/third_party/acados/include/acados/utils/external_function_generic.h
deleted file mode 100644
index 1e68dc155db82d..00000000000000
--- a/third_party/acados/include/acados/utils/external_function_generic.h
+++ /dev/null
@@ -1,242 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_
-#define ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/utils/types.h"
-
-/************************************************
- * generic external function
- ************************************************/
-
-// type of arguments
-typedef enum {
-    COLMAJ,
-    BLASFEO_DMAT,
-    BLASFEO_DVEC,
-    COLMAJ_ARGS,
-    BLASFEO_DMAT_ARGS,
-    BLASFEO_DVEC_ARGS,
-    IGNORE_ARGUMENT
-} ext_fun_arg_t;
-
-struct colmaj_args
-{
-    double *A;
-    int lda;
-};
-
-struct blasfeo_dmat_args
-{
-    struct blasfeo_dmat *A;
-    int ai;
-    int aj;
-};
-
-struct blasfeo_dvec_args
-{
-    struct blasfeo_dvec *x;
-    int xi;
-};
-
-// prototype of an external function
-typedef struct
-{
-    // public members (have to be before private ones)
-    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
-    // private members
-    // .....
-} external_function_generic;
-
-
-
-/************************************************
- * generic external parametric function
- ************************************************/
-
-// prototype of a parametric external function
-typedef struct
-{
-    // public members for core (have to be before private ones)
-    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
-	// public members for interfaces
-    void (*get_nparam)(void *, int *);
-    void (*set_param)(void *, double *);
-    void (*set_param_sparse)(void *, int n_update, int *idx, double *);
-    // private members
-    void *ptr_ext_mem;  // pointer to external memory
-    int (*fun)(void **, void **, void *);
-    double *p;  // parameters
-    int np;     // number of parameters
-    // .....
-} external_function_param_generic;
-
-//
-acados_size_t external_function_param_generic_struct_size();
-//
-void external_function_param_generic_set_fun(external_function_param_generic *fun, void *value);
-//
-acados_size_t external_function_param_generic_calculate_size(external_function_param_generic *fun, int np);
-//
-void external_function_param_generic_assign(external_function_param_generic *fun, void *mem);
-//
-void external_function_param_generic_wrapper(void *self, ext_fun_arg_t *type_in, void **in, ext_fun_arg_t *type_out, void **out);
-//
-void external_function_param_generic_get_nparam(void *self, int *np);
-//
-void external_function_param_generic_set_param(void *self, double *p);
-
-
-/************************************************
- * casadi external function
- ************************************************/
-
-typedef struct
-{
-    // public members (have to be the same as in the prototype, and before the private ones)
-    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
-    // private members
-    void *ptr_ext_mem;  // pointer to external memory
-    int (*casadi_fun)(const double **, double **, int *, double *, void *);
-    int (*casadi_work)(int *, int *, int *, int *);
-    const int *(*casadi_sparsity_in)(int);
-    const int *(*casadi_sparsity_out)(int);
-    int (*casadi_n_in)(void);
-    int (*casadi_n_out)(void);
-    double **args;
-    double **res;
-    double *w;
-    int *iw;
-    int *args_size;     // size of args[i]
-    int *res_size;      // size of res[i]
-    int args_num;       // number of args arrays
-    int args_size_tot;  // total size of args arrays
-    int res_num;        // number of res arrays
-    int res_size_tot;   // total size of res arrays
-    int in_num;         // number of input arrays
-    int out_num;        // number of output arrays
-    int iw_size;        // number of ints for worksapce
-    int w_size;         // number of doubles for workspace
-} external_function_casadi;
-
-//
-acados_size_t external_function_casadi_struct_size();
-//
-void external_function_casadi_set_fun(external_function_casadi *fun, void *value);
-//
-void external_function_casadi_set_work(external_function_casadi *fun, void *value);
-//
-void external_function_casadi_set_sparsity_in(external_function_casadi *fun, void *value);
-//
-void external_function_casadi_set_sparsity_out(external_function_casadi *fun, void *value);
-//
-void external_function_casadi_set_n_in(external_function_casadi *fun, void *value);
-//
-void external_function_casadi_set_n_out(external_function_casadi *fun, void *value);
-//
-acados_size_t external_function_casadi_calculate_size(external_function_casadi *fun);
-//
-void external_function_casadi_assign(external_function_casadi *fun, void *mem);
-//
-void external_function_casadi_wrapper(void *self, ext_fun_arg_t *type_in, void **in,
-                                      ext_fun_arg_t *type_out, void **out);
-
-/************************************************
- * casadi external parametric function
- ************************************************/
-
-typedef struct
-{
-    // public members for core (have to be the same as in the prototype, and before the private ones)
-    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
-	// public members for interfaces
-    void (*get_nparam)(void *, int *);
-    void (*set_param)(void *, double *);
-    void (*set_param_sparse)(void *, int n_update, int *idx, double *);
-    // private members
-    void *ptr_ext_mem;  // pointer to external memory
-    int (*casadi_fun)(const double **, double **, int *, double *, void *);
-    int (*casadi_work)(int *, int *, int *, int *);
-    const int *(*casadi_sparsity_in)(int);
-    const int *(*casadi_sparsity_out)(int);
-    int (*casadi_n_in)(void);
-    int (*casadi_n_out)(void);
-    double **args;
-    double **res;
-    double *w;
-    int *iw;
-    int *args_size;     // size of args[i]
-    int *res_size;      // size of res[i]
-    int args_num;       // number of args arrays
-    int args_size_tot;  // total size of args arrays
-    int res_num;        // number of res arrays
-    int res_size_tot;   // total size of res arrays
-    int in_num;         // number of input arrays
-    int out_num;        // number of output arrays
-    int iw_size;        // number of ints for worksapce
-    int w_size;         // number of doubles for workspace
-    int np;             // number of parameters
-} external_function_param_casadi;
-
-//
-acados_size_t external_function_param_casadi_struct_size();
-//
-void external_function_param_casadi_set_fun(external_function_param_casadi *fun, void *value);
-//
-void external_function_param_casadi_set_work(external_function_param_casadi *fun, void *value);
-//
-void external_function_param_casadi_set_sparsity_in(external_function_param_casadi *fun, void *value);
-//
-void external_function_param_casadi_set_sparsity_out(external_function_param_casadi *fun, void *value);
-//
-void external_function_param_casadi_set_n_in(external_function_param_casadi *fun, void *value);
-//
-void external_function_param_casadi_set_n_out(external_function_param_casadi *fun, void *value);
-//
-acados_size_t external_function_param_casadi_calculate_size(external_function_param_casadi *fun, int np);
-//
-void external_function_param_casadi_assign(external_function_param_casadi *fun, void *mem);
-//
-void external_function_param_casadi_wrapper(void *self, ext_fun_arg_t *type_in, void **in,
-                                            ext_fun_arg_t *type_out, void **out);
-//
-void external_function_param_casadi_get_nparam(void *self, int *np);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_
diff --git a/third_party/acados/include/acados/utils/math.h b/third_party/acados/include/acados/utils/math.h
deleted file mode 100644
index 7156a82084267f..00000000000000
--- a/third_party/acados/include/acados/utils/math.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#ifndef ACADOS_UTILS_MATH_H_
-#define ACADOS_UTILS_MATH_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/utils/types.h"
-
-#if defined(__MABX2__)
-double fmax(double a, double b);
-int isnan(double x);
-#endif
-
-#define MIN(a,b) (((a)<(b))?(a):(b))
-#define MAX(a,b) (((a)>(b))?(a):(b))
-
-void dgemm_nn_3l(int m, int n, int k, double *A, int lda, double *B, int ldb, double *C, int ldc);
-// void dgemv_n_3l(int m, int n, double *A, int lda, double *x, double *y);
-// void dgemv_t_3l(int m, int n, double *A, int lda, double *x, double *y);
-// void dcopy_3l(int n, double *x, int incx, double *y, int incy);
-void daxpy_3l(int n, double da, double *dx, double *dy);
-void dscal_3l(int n, double da, double *dx);
-double twonormv(int n, double *ptrv);
-
-/* copies a matrix into another matrix */
-void dmcopy(int row, int col, double *ptrA, int lda, double *ptrB, int ldb);
-
-/* solution of a system of linear equations */
-void dgesv_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb, int *info);
-
-/* matrix exponential */
-void expm(int row, double *A);
-
-int idamax_3l(int n, double *x);
-
-void dswap_3l(int n, double *x, int incx, double *y, int incy);
-
-void dger_3l(int m, int n, double alpha, double *x, int incx, double *y, int incy, double *A,
-             int lda);
-
-void dgetf2_3l(int m, int n, double *A, int lda, int *ipiv, int *info);
-
-void dlaswp_3l(int n, double *A, int lda, int k1, int k2, int *ipiv);
-
-void dtrsm_l_l_n_u_3l(int m, int n, double *A, int lda, double *B, int ldb);
-
-void dgetrs_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb);
-
-void dgesv_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb, int *info);
-
-double onenorm(int row, int col, double *ptrA);
-
-// double twonormv(int n, double *ptrv);
-
-void padeapprox(int m, int row, double *A);
-
-void expm(int row, double *A);
-
-// void d_compute_qp_size_ocp2dense_rev(int N, int *nx, int *nu, int *nb, int **hidxb, int *ng,
-//                                      int *nvd, int *ned, int *nbd, int *ngd);
-
-void acados_eigen_decomposition(int dim, double *A, double *V, double *d, double *e);
-
-double minimum_of_doubles(double *x, int n);
-
-void neville_algorithm(double xx, int n, double *x, double *Q, double *out);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_MATH_H_
diff --git a/third_party/acados/include/acados/utils/mem.h b/third_party/acados/include/acados/utils/mem.h
deleted file mode 100644
index 681a371e360f64..00000000000000
--- a/third_party/acados/include/acados/utils/mem.h
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_MEM_H_
-#define ACADOS_UTILS_MEM_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdio.h>
-#include <stdbool.h>
-
-#include "types.h"
-
-// blasfeo
-#include "blasfeo/include/blasfeo_d_aux.h"
-#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
-
-// TODO(dimitris): probably does not belong here
-typedef struct
-{
-    int (*fun)(void *);
-    acados_size_t (*calculate_args_size)(void *);
-    void *(*assign_args)(void *);
-    void (*initialize_default_args)(void *);
-    acados_size_t (*calculate_memory_size)(void *);
-    void *(*assign_memory)(void *);
-    acados_size_t (*calculate_workspace_size)(void *);
-} module_solver;
-
-// make int counter of memory multiple of a number (typically 8 or 64)
-void make_int_multiple_of(acados_size_t num, acados_size_t *size);
-
-// align char pointer to number (typically 8 for pointers and doubles,
-// 64 for blasfeo structs) and return offset
-int align_char_to(int num, char **c_ptr);
-
-// switch between malloc and calloc (for valgrinding)
-void *acados_malloc(size_t nitems, acados_size_t size);
-
-// uses always calloc
-void *acados_calloc(size_t nitems, acados_size_t size);
-
-// allocate vector of pointers to vectors of doubles and advance pointer
-void assign_and_advance_double_ptrs(int n, double ***v, char **ptr);
-
-// allocate vector of pointers to vectors of ints and advance pointer
-void assign_and_advance_int_ptrs(int n, int ***v, char **ptr);
-
-// allocate vector of pointers to strvecs and advance pointer
-void assign_and_advance_blasfeo_dvec_structs(int n, struct blasfeo_dvec **sv, char **ptr);
-
-// allocate vector of pointers to strmats and advance pointer
-void assign_and_advance_blasfeo_dmat_structs(int n, struct blasfeo_dmat **sm, char **ptr);
-
-// allocate vector of pointers to vector of pointers to strmats and advance pointer
-void assign_and_advance_blasfeo_dmat_ptrs(int n, struct blasfeo_dmat ***sm, char **ptr);
-
-// allocate vector of chars and advance pointer
-void assign_and_advance_char(int n, char **v, char **ptr);
-
-// allocate vector of ints and advance pointer
-void assign_and_advance_int(int n, int **v, char **ptr);
-
-// allocate vector of bools and advance pointer
-void assign_and_advance_bool(int n, bool **v, char **ptr);
-
-// allocate vector of doubles and advance pointer
-void assign_and_advance_double(int n, double **v, char **ptr);
-
-// allocate strvec and advance pointer
-void assign_and_advance_blasfeo_dvec_mem(int n, struct blasfeo_dvec *sv, char **ptr);
-
-// allocate strmat and advance pointer
-void assign_and_advance_blasfeo_dmat_mem(int m, int n, struct blasfeo_dmat *sA, char **ptr);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_MEM_H_
diff --git a/third_party/acados/include/acados/utils/print.h b/third_party/acados/include/acados/utils/print.h
deleted file mode 100644
index 824d3cee224a99..00000000000000
--- a/third_party/acados/include/acados/utils/print.h
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_PRINT_H_
-#define ACADOS_UTILS_PRINT_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/ocp_nlp/ocp_nlp_common.h"
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/ocp_qp/ocp_qp_common_frontend.h"
-#include "acados/utils/types.h"
-
-// void print_matrix(char *file_name, const real_t *matrix, const int_t nrows, const int_t ncols);
-
-// void print_matrix_name(char *file_name, char *name, const real_t *matrix, const int_t nrows,
-//                        const int_t ncols);
-
-// void print_int_matrix(char *file_name, const int_t *matrix, const int_t nrows, const int_t ncols);
-
-// void print_array(char *file_name, real_t *array, int_t size);
-
-// void print_int_array(char *file_name, const int_t *array, int_t size);
-
-void read_matrix(const char *file_name, real_t *array, const int_t nrows, const int_t ncols);
-
-void write_double_vector_to_txt(real_t *vec, int_t n, const char *fname);
-
-// ocp nlp
-// TODO(andrea): inconsistent naming
-void ocp_nlp_dims_print(ocp_nlp_dims *dims);
-// TODO(andrea): inconsistent naming
-void ocp_nlp_out_print(ocp_nlp_dims *dims, ocp_nlp_out *nlp_out);
-// TODO(andrea): inconsistent naming
-void ocp_nlp_res_print(ocp_nlp_dims *dims, ocp_nlp_res *nlp_res);
-
-// ocp qp
-// TODO: move printing routines below that print qp structures to HPIPM!
-void print_ocp_qp_dims(ocp_qp_dims *dims);
-
-// void print_dense_qp_dims(dense_qp_dims *dims);
-
-void print_ocp_qp_in(ocp_qp_in *qp_in);
-
-void print_ocp_qp_in_to_file(FILE *file, ocp_qp_in *qp_in);
-
-void print_ocp_qp_out(ocp_qp_out *qp_out);
-
-void print_ocp_qp_out_to_file(FILE *file, ocp_qp_out *qp_out);
-
-void print_ocp_qp_res(ocp_qp_res *qp_res);
-
-void print_dense_qp_in(dense_qp_in *qp_in);
-// void print_ocp_qp_in_to_string(char string_out[], ocp_qp_in *qp_in);
-
-// void print_ocp_qp_out_to_string(char string_out[], ocp_qp_out *qp_out);
-
-// void print_colmaj_ocp_qp_in(colmaj_ocp_qp_in *qp);
-
-// void print_colmaj_ocp_qp_in_to_file(colmaj_ocp_qp_in *qp);
-
-// void print_colmaj_ocp_qp_out(char *filename, colmaj_ocp_qp_in *qp, colmaj_ocp_qp_out *out);
-
-void print_qp_info(qp_info *info);
-
-// void acados_warning(char warning_string[]);
-
-// void acados_error(char error_string[]);
-
-// void acados_not_implemented(char feature_string[]);
-
-// blasfeo
-// void print_blasfeo_target();
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_PRINT_H_
diff --git a/third_party/acados/include/acados/utils/strsep.h b/third_party/acados/include/acados/utils/strsep.h
deleted file mode 100644
index 62bdfb48913266..00000000000000
--- a/third_party/acados/include/acados/utils/strsep.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_STRSEP_H_
-#define ACADOS_UTILS_STRSEP_H_
-
-#ifdef __cplusplus
-#include <string>
-#define STD(x) std::x
-namespace std
-{
-#else
-#include <string.h>
-#define STD(x) x
-#endif
-
-char* strsep_acados(char** stringp, const char* delim)
-{
-    char* result;
-
-    if ((stringp == NULL) || (*stringp == NULL)) return NULL;
-
-    result = *stringp;
-
-    while (**stringp && !STD(strchr)(delim, **stringp)) ++*stringp;
-
-    if (**stringp)
-        *(*stringp)++ = '\0';
-    else
-        *stringp = NULL;
-
-    return result;
-}
-
-#ifdef __cplusplus
-}  // namespace std
-#endif
-
-#undef STD
-
-#endif  // ACADOS_UTILS_STRSEP_H_
diff --git a/third_party/acados/include/acados/utils/timing.h b/third_party/acados/include/acados/utils/timing.h
deleted file mode 100644
index b0955932da3a2f..00000000000000
--- a/third_party/acados/include/acados/utils/timing.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_TIMING_H_
-#define ACADOS_UTILS_TIMING_H_
-
-#include "acados/utils/types.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifdef MEASURE_TIMINGS
-#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__)
-
-/* Use Windows QueryPerformanceCounter for timing. */
-#include <Windows.h>
-
-/** A structure for keeping internal timer data. */
-typedef struct acados_timer_
-{
-    LARGE_INTEGER tic;
-    LARGE_INTEGER toc;
-    LARGE_INTEGER freq;
-} acados_timer;
-
-#elif defined(__APPLE__)
-
-#include <mach/mach_time.h>
-
-/** A structure for keeping internal timer data. */
-typedef struct acados_timer_
-{
-    uint64_t tic;
-    uint64_t toc;
-    mach_timebase_info_data_t tinfo;
-} acados_timer;
-
-#elif defined(__MABX2__)
-
-#include <brtenv.h>
-
-typedef struct acados_timer_
-{
-    double time;
-} acados_timer;
-
-#else
-
-/* Use POSIX clock_gettime() for timing on non-Windows machines. */
-#include <time.h>
-
-#if (__STDC_VERSION__ >= 199901L) && !(defined __MINGW32__ || defined __MINGW64__)  // C99 Mode
-
-#include <sys/stat.h>
-#include <sys/time.h>
-
-typedef struct acados_timer_
-{
-    struct timeval tic;
-    struct timeval toc;
-} acados_timer;
-
-#else  // ANSI C Mode
-
-/** A structure for keeping internal timer data. */
-typedef struct acados_timer_
-{
-    struct timespec tic;
-    struct timespec toc;
-} acados_timer;
-
-#endif  // __STDC_VERSION__ >= 199901L
-
-#endif  // (defined _WIN32 || defined _WIN64)
-
-#else
-
-// Dummy type when timings are off
-typedef real_t acados_timer;
-
-#endif  // MEASURE_TIMINGS
-
-/** A function for measurement of the current time. */
-void acados_tic(acados_timer* t);
-
-/** A function which returns the elapsed time. */
-real_t acados_toc(acados_timer* t);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_TIMING_H_
diff --git a/third_party/acados/include/acados/utils/types.h b/third_party/acados/include/acados/utils/types.h
deleted file mode 100644
index a27ef9e552ce62..00000000000000
--- a/third_party/acados/include/acados/utils/types.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_TYPES_H_
-#define ACADOS_UTILS_TYPES_H_
-
-/* Symbol visibility in DLLs */
-#ifndef ACADOS_SYMBOL_EXPORT
-  #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
-    #if defined(STATIC_LINKED)
-      #define ACADOS_SYMBOL_EXPORT
-    #else
-      #define ACADOS_SYMBOL_EXPORT __declspec(dllexport)
-    #endif
-  #elif defined(__GNUC__) && ((__GNUC__ >= 4) || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4))
-    #define ACADOS_SYMBOL_EXPORT __attribute__ ((visibility ("default")))
-  #else
-    #define ACADOS_SYMBOL_EXPORT
-  #endif
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-
-#define MAX_STR_LEN 256
-#define ACADOS_EPS 1e-12
-#define ACADOS_NEG_INFTY -1.0e9
-#define ACADOS_POS_INFTY +1.0e9
-#define UNUSED(x) ((void)(x))
-
-
-
-typedef double real_t;
-typedef int int_t;
-typedef size_t acados_size_t;
-
-
-typedef int (*casadi_function_t)(const double** arg, double** res, int* iw, double* w, void* mem);
-
-
-
-// enum of return values
-enum return_values
-{
-    ACADOS_SUCCESS,
-    ACADOS_NAN_DETECTED,
-    ACADOS_MAXITER,
-    ACADOS_MINSTEP,
-    ACADOS_QP_FAILURE,
-    ACADOS_READY,
-};
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_TYPES_H_
diff --git a/third_party/acados/include/acados_c/condensing_interface.h b/third_party/acados/include/acados_c/condensing_interface.h
deleted file mode 100644
index b4302078d63516..00000000000000
--- a/third_party/acados/include/acados_c/condensing_interface.h
+++ /dev/null
@@ -1,81 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
-#define INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_full_condensing.h"
-#include "acados/ocp_qp/ocp_qp_partial_condensing.h"
-
-typedef enum {
-    PARTIAL_CONDENSING,
-    FULL_CONDENSING,
-} condensing_t;
-
-typedef struct
-{
-    condensing_t condensing_type;
-} condensing_plan;
-
-typedef struct
-{
-    ocp_qp_xcond_config *config;
-    void *dims;
-    void *opts;
-    void *mem;
-    void *work;
-} condensing_module;
-
-ocp_qp_xcond_config *ocp_qp_condensing_config_create(condensing_plan *plan);
-//
-void *ocp_qp_condensing_opts_create(ocp_qp_xcond_config *config, void *dims_);
-//
-acados_size_t ocp_qp_condensing_calculate_size(ocp_qp_xcond_config *config, void *dims_, void *opts_);
-//
-condensing_module *ocp_qp_condensing_assign(ocp_qp_xcond_config *config, void *dims_,
-                                            void *opts_, void *raw_memory);
-//
-condensing_module *ocp_qp_condensing_create(ocp_qp_xcond_config *config, void *dims_,
-                                            void *opts_);
-//
-int ocp_qp_condense(condensing_module *module, void *qp_in, void *qp_out);
-//
-int ocp_qp_expand(condensing_module *module, void *qp_in, void *qp_out);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/dense_qp_interface.h b/third_party/acados/include/acados_c/dense_qp_interface.h
deleted file mode 100644
index b3af4bf68250a2..00000000000000
--- a/third_party/acados/include/acados_c/dense_qp_interface.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
-#define INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/dense_qp/dense_qp_common.h"
-
-typedef enum { DENSE_QP_HPIPM, DENSE_QP_QORE, DENSE_QP_QPOASES, DENSE_QP_OOQP, DENSE_QP_DAQP } dense_qp_solver_t;
-
-typedef struct
-{
-    dense_qp_solver_t qp_solver;
-} dense_qp_solver_plan;
-
-typedef struct
-{
-    qp_solver_config *config;
-    void *dims;
-    void *opts;
-    void *mem;
-    void *work;
-} dense_qp_solver;
-
-qp_solver_config *dense_qp_config_create(dense_qp_solver_plan *plan);
-//
-dense_qp_dims *dense_qp_dims_create();
-//
-dense_qp_in *dense_qp_in_create(qp_solver_config *config, dense_qp_dims *dims);
-//
-dense_qp_out *dense_qp_out_create(qp_solver_config *config, dense_qp_dims *dims);
-//
-void *dense_qp_opts_create(qp_solver_config *config, dense_qp_dims *dims);
-//
-acados_size_t dense_qp_calculate_size(qp_solver_config *config, dense_qp_dims *dims, void *opts_);
-//
-dense_qp_solver *dense_qp_assign(qp_solver_config *config, dense_qp_dims *dims, void *opts_,
-                                 void *raw_memory);
-//
-dense_qp_solver *dense_qp_create(qp_solver_config *config, dense_qp_dims *dims, void *opts_);
-//
-int dense_qp_solve(dense_qp_solver *solver, dense_qp_in *qp_in, dense_qp_out *qp_out);
-//
-void dense_qp_inf_norm_residuals(dense_qp_dims *dims, dense_qp_in *qp_in, dense_qp_out *qp_out,
-                                 double *res);
-//
-bool dense_qp_set_field_double_array(const char *field, double *arr, dense_qp_in *qp_in);
-//
-bool dense_qp_set_field_int_array(const char *field, int *arr, dense_qp_in *qp_in);
-//
-bool dense_qp_get_field_double_array(const char *field, dense_qp_in *qp_in, double *arr);
-//
-bool dense_qp_get_field_int_array(const char *field, dense_qp_in *qp_in, int *arr);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/external_function_interface.h b/third_party/acados/include/acados_c/external_function_interface.h
deleted file mode 100644
index d4f52db8505981..00000000000000
--- a/third_party/acados/include/acados_c/external_function_interface.h
+++ /dev/null
@@ -1,89 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_
-#define INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/utils/external_function_generic.h"
-
-
-
-/************************************************
- * generic external parametric function
- ************************************************/
-
-//
-void external_function_param_generic_create(external_function_param_generic *fun, int np);
-//
-void external_function_param_generic_free(external_function_param_generic *fun);
-
-
-
-/************************************************
- * casadi external function
- ************************************************/
-
-//
-void external_function_casadi_create(external_function_casadi *fun);
-//
-void external_function_casadi_free(external_function_casadi *fun);
-//
-void external_function_casadi_create_array(int size, external_function_casadi *funs);
-//
-void external_function_casadi_free_array(int size, external_function_casadi *funs);
-
-
-
-/************************************************
- * casadi external parametric function
- ************************************************/
-
-//
-void external_function_param_casadi_create(external_function_param_casadi *fun, int np);
-//
-void external_function_param_casadi_free(external_function_param_casadi *fun);
-//
-void external_function_param_casadi_create_array(int size, external_function_param_casadi *funs,
-                                                 int np);
-//
-void external_function_param_casadi_free_array(int size, external_function_param_casadi *funs);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/ocp_nlp_interface.h b/third_party/acados/include/acados_c/ocp_nlp_interface.h
deleted file mode 100644
index dd3e596f8be763..00000000000000
--- a/third_party/acados/include/acados_c/ocp_nlp_interface.h
+++ /dev/null
@@ -1,428 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
-#define INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_common.h"
-#include "acados/ocp_nlp/ocp_nlp_constraints_bgh.h"
-#include "acados/sim/sim_erk_integrator.h"
-#include "acados/sim/sim_irk_integrator.h"
-#include "acados/sim/sim_lifted_irk_integrator.h"
-#include "acados/sim/sim_gnsf.h"
-#include "acados/utils/types.h"
-// acados_c
-#include "acados_c/ocp_qp_interface.h"
-#include "acados_c/sim_interface.h"
-
-
-/// Solution methods for optimal control problems.
-typedef enum
-{
-    SQP,
-    SQP_RTI,
-    INVALID_NLP_SOLVER,
-} ocp_nlp_solver_t;
-
-
-/// Types of the cost function.
-typedef enum
-{
-    LINEAR_LS,
-    NONLINEAR_LS,
-    CONVEX_OVER_NONLINEAR,
-    EXTERNAL,
-    INVALID_COST,
-} ocp_nlp_cost_t;
-
-
-/// Types of the system dynamics, discrete or continuous time.
-typedef enum
-{
-    CONTINUOUS_MODEL,
-    DISCRETE_MODEL,
-    INVALID_DYNAMICS,
-} ocp_nlp_dynamics_t;
-
-
-/// Constraint types
-typedef enum
-{
-    /// Comprises simple bounds, polytopic constraints,
-    /// general non-linear constraints.
-    BGH,
-
-    /// Comprises simple bounds, polytopic constraints,
-    /// general non-linear constraints, and positive definite constraints.
-    BGP,
-
-    INVALID_CONSTRAINT,
-} ocp_nlp_constraints_t;
-
-
-/// Regularization types
-typedef enum
-{
-    NO_REGULARIZE,
-    MIRROR,
-    PROJECT,
-    PROJECT_REDUC_HESS,
-    CONVEXIFY,
-    INVALID_REGULARIZE,
-} ocp_nlp_reg_t;
-
-
-/// Structure to store the configuration of a non-linear program
-typedef struct ocp_nlp_plan_t
-{
-    /// QP solver configuration.
-    ocp_qp_solver_plan_t ocp_qp_solver_plan;
-
-    /// Simulation solver configuration for each stage.
-    sim_solver_plan_t *sim_solver_plan;
-
-    /// Nlp solver type.
-    ocp_nlp_solver_t nlp_solver;
-
-    /// Regularization type, defaults to no regularization.
-    ocp_nlp_reg_t regularization;
-
-    /// Cost type for each stage.
-    ocp_nlp_cost_t *nlp_cost;
-
-    /// Dynamics type for each stage.
-    ocp_nlp_dynamics_t *nlp_dynamics;
-
-    /// Constraints type for each stage.
-    ocp_nlp_constraints_t *nlp_constraints;
-
-    /// Horizon length.
-    int N;
-
-} ocp_nlp_plan_t;
-
-
-/// Structure to store the state/configuration for the non-linear programming solver
-typedef struct ocp_nlp_solver
-{
-    ocp_nlp_config *config;
-    void *dims;
-    void *opts;
-    void *mem;
-    void *work;
-} ocp_nlp_solver;
-
-
-/// Constructs an empty plan struct (user nlp configuration), all fields are set to a
-/// default/invalid state.
-///
-/// \param N Horizon length
-ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *ocp_nlp_plan_create(int N);
-
-/// Destructor for plan struct, frees memory.
-///
-/// \param plan_ The plan struct to destroy.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_plan_destroy(void* plan_);
-
-
-/// Constructs an nlp configuration struct from a plan.
-///
-/// \param plan The plan (user nlp configuration).
-ACADOS_SYMBOL_EXPORT ocp_nlp_config *ocp_nlp_config_create(ocp_nlp_plan_t plan);
-
-/// Desctructor of the nlp configuration.
-///
-/// \param config_ The configuration struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_config_destroy(void *config_);
-
-
-/// Constructs an struct that contains the dimensions of the variables.
-///
-/// \param config_ The configuration struct.
-ACADOS_SYMBOL_EXPORT ocp_nlp_dims *ocp_nlp_dims_create(void *config_);
-
-/// Destructor of The dimension struct.
-///
-/// \param dims_ The dimension struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_dims_destroy(void *dims_);
-
-
-/// Constructs an input struct for a non-linear programs.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-ACADOS_SYMBOL_EXPORT ocp_nlp_in *ocp_nlp_in_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
-
-/// Destructor of the inputs struct.
-///
-/// \param in The inputs struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_in_destroy(void *in);
-
-
-/// Sets the sampling times for the given stage.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param in The inputs struct.
-/// \param stage Stage number.
-/// \param field Has to be "Ts" (TBC other options).
-/// \param value The sampling times (floating point).
-ACADOS_SYMBOL_EXPORT void ocp_nlp_in_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage,
-        const char *field, void *value);
-
-///
-// void ocp_nlp_in_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage,
-//         const char *field, void *value);
-
-/// Sets the function pointers to the dynamics functions for the given stage.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param in The inputs struct.
-/// \param stage Stage number.
-/// \param fun_type The name of the function type, either impl_ode_fun,
-///     impl_ode_fun_jac_x_xdot, impl_ode_jac_x_xdot_u (TBC)
-/// \param fun_ptr Function pointer to the dynamics function.
-ACADOS_SYMBOL_EXPORT int ocp_nlp_dynamics_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-        int stage, const char *fun_type, void *fun_ptr);
-
-
-/// Sets the function pointers to the cost functions for the given stage.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param in The inputs struct.
-/// \param stage Stage number.
-/// \param field The name of the field, either nls_res_jac,
-///     y_ref, W (others TBC)
-/// \param value Cost values.
-ACADOS_SYMBOL_EXPORT int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-        int stage, const char *field, void *value);
-
-
-/// Sets the function pointers to the constraints functions for the given stage.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param in The inputs struct.
-/// \param stage Stage number.
-/// \param field The name of the field, either lb, ub (others TBC)
-/// \param value Constraints function or values.
-ACADOS_SYMBOL_EXPORT int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims,
-        ocp_nlp_in *in, int stage, const char *field, void *value);
-
-///
-ACADOS_SYMBOL_EXPORT void ocp_nlp_constraints_model_get(ocp_nlp_config *config, ocp_nlp_dims *dims,
-        ocp_nlp_in *in, int stage, const char *field, void *value);
-
-/* out */
-
-/// Constructs an output struct for the non-linear program.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-ACADOS_SYMBOL_EXPORT ocp_nlp_out *ocp_nlp_out_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
-
-/// Destructor of the output struct.
-///
-/// \param out The output struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_out_destroy(void *out);
-
-
-/// Sets fields in the output struct of an nlp solver, used to initialize the solver.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param out The output struct.
-/// \param stage Stage number.
-/// \param field The name of the field, either x, u, pi.
-/// \param value Initialization values.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, void *value);
-
-
-/// Gets values of fields in the output struct of an nlp solver.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param out The output struct.
-/// \param stage Stage number.
-/// \param field The name of the field, either x, u, z, pi.
-/// \param value Pointer to the output memory.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_out_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, void *value);
-
-//
-ACADOS_SYMBOL_EXPORT void ocp_nlp_get_at_stage(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_solver *solver,
-        int stage, const char *field, void *value);
-
-// TODO(andrea): remove this once/if the MATLAB interface uses the new setters below?
-ACADOS_SYMBOL_EXPORT int ocp_nlp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field);
-
-ACADOS_SYMBOL_EXPORT void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out);
-
-ACADOS_SYMBOL_EXPORT void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out);
-
-ACADOS_SYMBOL_EXPORT void ocp_nlp_qp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out);
-
-/* opts */
-
-/// Creates an options struct for the non-linear program.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-ACADOS_SYMBOL_EXPORT void *ocp_nlp_solver_opts_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
-
-/// Destructor of the options.
-///
-/// \param opts The options struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_destroy(void *opts);
-
-/// Sets an option.
-///
-/// \param config The configuration struct.
-/// \param opts_ The options struct.
-/// \param field Name of the option.
-/// \param value Value of the option.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_set(ocp_nlp_config *config, void *opts_, const char *field, void* value);
-
-
-// ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_get(ocp_nlp_config *config, void *opts_, const char *field, void* value);
-
-
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_set_at_stage(ocp_nlp_config *config, void *opts_, int stage, const char *field, void* value);
-
-
-/// TBC
-/// Updates the options.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param opts_ The options struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_update(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_);
-
-
-/* solver */
-
-/// Creates an ocp solver.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param opts_ The options struct.
-/// \return The solver.
-ACADOS_SYMBOL_EXPORT ocp_nlp_solver *ocp_nlp_solver_create(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_);
-
-/// Destructor of the solver.
-///
-/// \param solver The solver struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_destroy(void *solver);
-
-/// Solves the optimal control problem. Call ocp_nlp_precompute before
-/// calling this functions (TBC).
-///
-/// \param solver The solver struct.
-/// \param nlp_in The inputs struct.
-/// \param nlp_out The output struct.
-ACADOS_SYMBOL_EXPORT int ocp_nlp_solve(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
-
-
-
-/// Resets the memory of the QP solver
-///
-/// \param solver The solver struct.
-/// \param nlp_in The inputs struct.
-/// \param nlp_out The output struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_reset_qp_memory(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
-
-
-/// Performs precomputations for the solver. Needs to be called before
-/// ocl_nlp_solve (TBC).
-///
-/// \param solver The solver struct.
-/// \param nlp_in The inputs struct.
-/// \param nlp_out The output struct.
-ACADOS_SYMBOL_EXPORT int ocp_nlp_precompute(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
-
-
-/// Computes cost function value.
-///
-/// \param solver The solver struct.
-/// \param nlp_in The inputs struct.
-/// \param nlp_out The output struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
-
-
-/// Computes the residuals.
-///
-/// \param solver The solver struct.
-/// \param nlp_in The inputs struct.
-/// \param nlp_out The output struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
-
-
-//
-ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out);
-
-/* get */
-/// \param config The configuration struct.
-/// \param solver The solver struct.
-/// \param field Supports "sqp_iter", "status", "nlp_res", "time_tot", ...
-/// \param return_value_ Pointer to the output memory.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_get(ocp_nlp_config *config, ocp_nlp_solver *solver,
-        const char *field, void *return_value_);
-
-/* set */
-/// Sets the initial guesses for the integrator for the given stage.
-///
-/// \param config The configuration struct.
-/// \param solver The ocp_nlp_solver struct.
-/// \param stage Stage number.
-/// \param field Supports "z_guess", "xdot_guess" (IRK), "phi_guess" (GNSF-IRK)
-/// \param value The initial guess for the algebraic variables in the integrator (if continuous model is used).
-ACADOS_SYMBOL_EXPORT void ocp_nlp_set(ocp_nlp_config *config, ocp_nlp_solver *solver,
-        int stage, const char *field, void *value);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/ocp_qp_interface.h b/third_party/acados/include/acados_c/ocp_qp_interface.h
deleted file mode 100644
index 3dc3f1a532e50c..00000000000000
--- a/third_party/acados/include/acados_c/ocp_qp_interface.h
+++ /dev/null
@@ -1,263 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
-#define INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/ocp_qp/ocp_qp_xcond_solver.h"
-
-
-/// QP solver types (Enumeration).
-///
-/// Full list of fields:
-///   PARTIAL_CONDENSING_HPIPM
-///   PARTIAL_CONDENSING_HPMPC
-///   PARTIAL_CONDENSING_OOQP
-///   PARTIAL_CONDENSING_OSQP
-///   PARTIAL_CONDENSING_QPDUNES
-///   FULL_CONDENSING_HPIPM
-///   FULL_CONDENSING_QPOASES
-///   FULL_CONDENSING_QORE
-///   FULL_CONDENSING_OOQP
-///   INVALID_QP_SOLVER
-///
-/// Note: In this enumeration the partial condensing solvers have to be
-///       specified before the full condensing solvers.
-typedef enum {
-    PARTIAL_CONDENSING_HPIPM,
-#ifdef ACADOS_WITH_HPMPC
-    PARTIAL_CONDENSING_HPMPC,
-#else
-    PARTIAL_CONDENSING_HPMPC_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_OOQP
-    PARTIAL_CONDENSING_OOQP,
-#else
-    PARTIAL_CONDENSING_OOQP_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_OSQP
-    PARTIAL_CONDENSING_OSQP,
-#else
-    PARTIAL_CONDENSING_OSQP_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_QPDUNES
-    PARTIAL_CONDENSING_QPDUNES,
-#else
-    PARTIAL_CONDENSING_QPDUNES_NOT_AVAILABLE,
-#endif
-    FULL_CONDENSING_HPIPM,
-#ifdef ACADOS_WITH_QPOASES
-    FULL_CONDENSING_QPOASES,
-#else
-    FULL_CONDENSING_QPOASES_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_DAQP
-    FULL_CONDENSING_DAQP,
-#else
-    FULL_CONDENSING_DAQP_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_QORE
-    FULL_CONDENSING_QORE,
-#else
-    FULL_CONDENSING_QORE_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_OOQP
-    FULL_CONDENSING_OOQP,
-#else
-    FULL_CONDENSING_OOQP_NOT_AVAILABLE,
-#endif
-    INVALID_QP_SOLVER,
-} ocp_qp_solver_t;
-
-
-/// Struct containing qp solver
-typedef struct
-{
-    ocp_qp_solver_t qp_solver;
-} ocp_qp_solver_plan_t;
-
-
-/// Linear ocp configuration.
-typedef struct
-{
-    ocp_qp_xcond_solver_config *config;
-    ocp_qp_xcond_solver_dims *dims;
-    void *opts;
-    void *mem;
-    void *work;
-} ocp_qp_solver;
-
-
-/// Initializes the qp solver configuration.
-/// TBC should this be private/static - no, used in ocp_nlp
-void ocp_qp_xcond_solver_config_initialize_from_plan(
-    ocp_qp_solver_t solver_name, ocp_qp_xcond_solver_config *solver_config);
-
-/// Constructs a qp solver config and Initializes with default values.
-///
-/// \param plan The qp solver plan struct.
-ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_create(ocp_qp_solver_plan_t plan);
-
-/// Destructor for config struct, frees memory.
-///
-/// \param config The config object to destroy.
-void ocp_qp_xcond_solver_config_free(ocp_qp_xcond_solver_config *config);
-
-
-/// Constructs a struct that contains the dimensions for the variables of the qp.
-///
-/// \param N The number of variables.
-ocp_qp_dims *ocp_qp_dims_create(int N);
-
-/// Destructor of The dimension struct.
-///
-/// \param dims The dimension struct.
-void ocp_qp_dims_free(void *dims);
-
-//
-ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create(ocp_qp_xcond_solver_config *config, int N);
-//
-ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create_from_ocp_qp_dims(
-    ocp_qp_xcond_solver_config *config, ocp_qp_dims *dims);
-//
-void ocp_qp_xcond_solver_dims_free(ocp_qp_xcond_solver_dims *dims_);
-
-void ocp_qp_xcond_solver_dims_set(void *config_, ocp_qp_xcond_solver_dims *dims,
-                                  int stage, const char *field, int* value);
-
-
-/// Constructs an input object for the qp.
-///
-/// \param dims The dimension struct.
-ocp_qp_in *ocp_qp_in_create(ocp_qp_dims *dims);
-
-
-void ocp_qp_in_set(ocp_qp_xcond_solver_config *config, ocp_qp_in *in,
-                   int stage, char *field, void *value);
-
-/// Destructor of the inputs struct.
-///
-/// \param in_ The inputs struct.
-void ocp_qp_in_free(void *in_);
-
-
-/// Constructs an outputs object for the qp.
-///
-/// \param dims The dimension struct.
-ocp_qp_out *ocp_qp_out_create(ocp_qp_dims *dims);
-
-/// Destructor of the output struct.
-///
-/// \param out_ The output struct.
-void ocp_qp_out_free(void *out_);
-
-
-/// Getter of output struct
-void ocp_qp_out_get(ocp_qp_out *out, const char *field, void *value);
-
-
-/// Constructs an options object for the qp.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-void *ocp_qp_xcond_solver_opts_create(ocp_qp_xcond_solver_config *config,
-                                      ocp_qp_xcond_solver_dims *dims);
-
-/// Destructor of the options struct.
-///
-/// \param opts The options struct to destroy.
-void ocp_qp_xcond_solver_opts_free(ocp_qp_xcond_solver_opts *opts);
-
-
-/// Setter of the options struct.
-///
-/// \param opts The options struct.
-void ocp_qp_xcond_solver_opts_set(ocp_qp_xcond_solver_config *config,
-           ocp_qp_xcond_solver_opts *opts, const char *field, void* value);
-
-/// TBC Should be private/static?
-acados_size_t ocp_qp_calculate_size(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
-
-
-/// TBC Reserves memory? TBC Should this be private?
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param opts_ The options struct.
-/// \param raw_memory Pointer to raw memory to assign to qp solver.
-ocp_qp_solver *ocp_qp_assign(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims,
-                             void *opts_, void *raw_memory);
-
-/// Creates a qp solver. Reserves memory.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param opts_ The options struct.
-ocp_qp_solver *ocp_qp_create(ocp_qp_xcond_solver_config *config,
-                             ocp_qp_xcond_solver_dims *dims, void *opts_);
-
-
-/// Destroys a qp solver. Frees memory.
-///
-/// \param solver The qp solver
-void ocp_qp_solver_destroy(ocp_qp_solver *solver);
-
-void ocp_qp_x_cond_solver_free(ocp_qp_xcond_solver_config *config,
-                             ocp_qp_xcond_solver_dims *dims, void *opts_);
-
-
-/// Solves the qp.
-///
-/// \param solver The solver.
-/// \param qp_in The inputs struct.
-/// \param qp_out The output struct.
-int ocp_qp_solve(ocp_qp_solver *solver, ocp_qp_in *qp_in, ocp_qp_out *qp_out);
-
-
-/// Calculates the infinity norm of the residuals.
-///
-/// \param dims The dimension struct.
-/// \param qp_in The inputs struct.
-/// \param qp_out The output struct.
-/// \param res Output array for the residuals.
-void ocp_qp_inf_norm_residuals(ocp_qp_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out,
-                               double *res);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/sim_interface.h b/third_party/acados/include/acados_c/sim_interface.h
deleted file mode 100644
index 09a05d6995cf3d..00000000000000
--- a/third_party/acados/include/acados_c/sim_interface.h
+++ /dev/null
@@ -1,137 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_SIM_INTERFACE_H_
-#define INTERFACES_ACADOS_C_SIM_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/sim/sim_common.h"
-
-
-
-typedef enum
-{
-    ERK,
-    IRK,
-    GNSF,
-    LIFTED_IRK,
-    INVALID_SIM_SOLVER,
-} sim_solver_t;
-
-
-
-typedef struct
-{
-    sim_solver_t sim_solver;
-} sim_solver_plan_t;
-
-
-
-typedef struct
-{
-    sim_config *config;
-    void *dims;
-    void *opts;
-    void *mem;
-    void *work;
-} sim_solver;
-
-
-
-/* config */
-//
-ACADOS_SYMBOL_EXPORT sim_config *sim_config_create(sim_solver_plan_t plan);
-//
-ACADOS_SYMBOL_EXPORT void sim_config_destroy(void *config);
-
-/* dims */
-//
-ACADOS_SYMBOL_EXPORT void *sim_dims_create(void *config_);
-//
-ACADOS_SYMBOL_EXPORT void sim_dims_destroy(void *dims);
-//
-ACADOS_SYMBOL_EXPORT void sim_dims_set(sim_config *config, void *dims, const char *field, const int* value);
-//
-ACADOS_SYMBOL_EXPORT void sim_dims_get(sim_config *config, void *dims, const char *field, int* value);
-//
-ACADOS_SYMBOL_EXPORT void sim_dims_get_from_attr(sim_config *config, void *dims, const char *field, int *dims_out);
-
-/* in */
-//
-ACADOS_SYMBOL_EXPORT sim_in *sim_in_create(sim_config *config, void *dims);
-//
-ACADOS_SYMBOL_EXPORT void sim_in_destroy(void *out);
-//
-ACADOS_SYMBOL_EXPORT int sim_in_set(void *config_, void *dims_, sim_in *in, const char *field, void *value);
-
-
-/* out */
-//
-ACADOS_SYMBOL_EXPORT sim_out *sim_out_create(sim_config *config, void *dims);
-//
-ACADOS_SYMBOL_EXPORT void sim_out_destroy(void *out);
-//
-ACADOS_SYMBOL_EXPORT int sim_out_get(void *config, void *dims, sim_out *out, const char *field, void *value);
-
-/* opts */
-//
-ACADOS_SYMBOL_EXPORT void *sim_opts_create(sim_config *config, void *dims);
-//
-ACADOS_SYMBOL_EXPORT void sim_opts_destroy(void *opts);
-//
-ACADOS_SYMBOL_EXPORT void sim_opts_set(sim_config *config, void *opts, const char *field, void *value);
-//
-ACADOS_SYMBOL_EXPORT void sim_opts_get(sim_config *config, void *opts, const char *field, void *value);
-
-/* solver */
-//
-ACADOS_SYMBOL_EXPORT acados_size_t sim_calculate_size(sim_config *config, void *dims, void *opts_);
-//
-ACADOS_SYMBOL_EXPORT sim_solver *sim_assign(sim_config *config, void *dims, void *opts_, void *raw_memory);
-//
-ACADOS_SYMBOL_EXPORT sim_solver *sim_solver_create(sim_config *config, void *dims, void *opts_);
-//
-ACADOS_SYMBOL_EXPORT void sim_solver_destroy(void *solver);
-//
-ACADOS_SYMBOL_EXPORT int sim_solve(sim_solver *solver, sim_in *in, sim_out *out);
-//
-ACADOS_SYMBOL_EXPORT int sim_precompute(sim_solver *solver, sim_in *in, sim_out *out);
-//
-ACADOS_SYMBOL_EXPORT int sim_solver_set(sim_solver *solver, const char *field, void *value);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_SIM_INTERFACE_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo.h b/third_party/acados/include/blasfeo/include/blasfeo.h
deleted file mode 100644
index c8549181937dee..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#include "blasfeo_processor_features.h"
-#include "blasfeo_target.h"
-#include "blasfeo_block_size.h"
-#include "blasfeo_stdlib.h"
-#include "blasfeo_common.h"
-#include "blasfeo_d_aux.h"
-#include "blasfeo_d_aux_ext_dep.h"
-#include "blasfeo_d_kernel.h"
-#include "blasfeo_d_blas.h"
-#include "blasfeo_s_aux.h"
-#include "blasfeo_s_aux_ext_dep.h"
-#include "blasfeo_s_kernel.h"
-#include "blasfeo_s_blas.h"
-#include "blasfeo_i_aux_ext_dep.h"
-#include "blasfeo_v_aux_ext_dep.h"
-#include "blasfeo_timing.h"
-#include "blasfeo_memory.h"
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_block_size.h b/third_party/acados/include/blasfeo/include/blasfeo_block_size.h
deleted file mode 100644
index 5d0907a61cfea2..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_block_size.h
+++ /dev/null
@@ -1,447 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_BLOCK_SIZE_H_
-#define BLASFEO_BLOCK_SIZE_H_
-
-
-
-#define D_EL_SIZE 8 // double precision
-#define S_EL_SIZE 4 // single precision
-
-
-
-#if defined( TARGET_X64_INTEL_SKYLAKE_X )
-// common
-#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
-#define L2_CACHE_SIZE (256*1024) //(1024*1024) // L2 data cache size: 1 MB ; DTLB1 64*4 kB = 256 kB
-#define LLC_CACHE_SIZE (6*1024*1024) //(8*1024*1024) // LLC cache size: 8 MB ; TLB 1536*4 kB = 6 MB
-// double
-#define D_PS 8 // panel size
-#define D_PLD 8 // 4 // GCD of panel length
-#define D_M_KERNEL 24 // max kernel size
-#define D_N_KERNEL 8 // max kernel size
-#define D_KC 128 //256 // 192
-#define D_NC 144 //72 //96 //72 // 120 // 512
-#define D_MC 2400 // 6000
-// single
-#define S_PS 16 // panel size
-#define S_PLD 4 // GCD of panel length TODO probably 16 when writing assebly
-#define S_M_KERNEL 32 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 128 //256
-#define S_NC 128 //144
-#define S_MC 3000
-
-#elif defined( TARGET_X64_INTEL_HASWELL )
-// common
-#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
-#define L2_CACHE_SIZE (256*1024) // L2 data cache size: 256 kB ; DTLB1 64*4 kB = 256 kB
-#define LLC_CACHE_SIZE (6*1024*1024) // LLC cache size: 6 MB ; TLB 1024*4 kB = 4 MB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 12 // max kernel size
-#define D_N_KERNEL 8 // max kernel size
-#define D_KC 256 // 192
-#define D_NC 64 //96 //72 // 120 // 512
-#define D_MC 1500
-// single
-#define S_PS 8 // panel size
-#define S_PLD 4 // 2 // GCD of panel length
-#define S_M_KERNEL 24 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 144
-#define S_MC 3000
-
-#elif defined( TARGET_X64_INTEL_SANDY_BRIDGE )
-// common
-#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
-#define L2_CACHE_SIZE (256*1024) // L2 data cache size: 256 kB ; DTLB1 64*4 kB = 256 kB
-#define LLC_CACHE_SIZE (4*1024*1024) // LLC cache size: 4 MB ; TLB 1024*4 kB = 4 MB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 8 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256 //320 //256 //320
-#define D_NC 72 //64 //72 //60 // 120
-#define D_MC 1000 // 800
-// single
-#define S_PS 8 // panel size
-#define S_PLD 4 // 2 // GCD of panel length
-#define S_M_KERNEL 16 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 144
-#define S_MC 2000
-
-#elif defined( TARGET_X64_INTEL_CORE )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-#elif defined( TARGET_X64_AMD_BULLDOZER )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_X86_AMD_JAGUAR )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_X86_AMD_BARCELONA )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined(TARGET_ARMV8A_APPLE_M1)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (128*1024) // L1 data cache size (big cores): 64 kB, ?-way ; DTLB1 ?
-#define LLC_CACHE_SIZE (12*1024*1024) // LLC (L2) cache size (big cores): 12 MB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 8 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 512 //256
-#define D_NC 128 //256
-#define D_MC 6000
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 512
-#define S_NC 256
-#define S_MC 6000
-
-
-#elif defined(TARGET_ARMV8A_ARM_CORTEX_A76)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (64*1024) // L1 data cache size: 64 kB, 4-way ; DTLB1 48*4 kB = 192 kB
-#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 8 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 512 //256
-#define D_NC 128 //256
-#define D_MC 6000
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 512
-#define S_NC 256
-#define S_MC 6000
-
-
-#elif defined(TARGET_ARMV8A_ARM_CORTEX_A73)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 (64?) kB, 4-way, seen as 8-(16-)way ; DTLB1 48*4 kB = 192 kB
-#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 8 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 320
-#define D_NC 256
-#define D_MC 6000
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined(TARGET_ARMV8A_ARM_CORTEX_A57)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 2-way ; DTLB1 32*4 kB = 128 kB
-#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB // 2 MB ???
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 8 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 128 //224 //256 //192
-#define D_NC 72 //40 //36 //48
-#define D_MC (4*192) //512 //488 //600
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined(TARGET_ARMV8A_ARM_CORTEX_A55)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 4-way ; DTLB1 16*4 kB = 64 kB
-#define LLC_CACHE_SIZE (512*1024) // LLC cache size: 512 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 12 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 224
-#define D_NC 160
-#define D_MC 6000
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined(TARGET_ARMV8A_ARM_CORTEX_A53)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 4-way ??? ; DTLB1 10*4 kB = 40 kB
-#define LLC_CACHE_SIZE (256*1024) // LLC cache size: 256 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 12 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 160
-#define D_NC 128
-#define D_MC 6000
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_ARMV7A_ARM_CORTEX_A15 )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_ARMV7A_ARM_CORTEX_A7 )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_ARMV7A_ARM_CORTEX_A9 )
-// common
-#define CACHE_LINE_SIZE 32
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_GENERIC )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#else
-#error "Unknown architecture"
-#endif
-
-
-
-#define D_CACHE_LINE_EL (CACHE_LINE_SIZE/D_EL_SIZE)
-#define D_L1_CACHE_EL (L1_CACHE_SIZE/D_EL_SIZE)
-#define D_L2_CACHE_EL (L2_CACHE_SIZE/D_EL_SIZE)
-#define D_LLC_CACHE_EL (LLC_CACHE_SIZE/D_EL_SIZE)
-
-#define S_CACHE_LINE_EL (CACHE_LINE_SIZE/S_EL_SIZE)
-#define S_L1_CACHE_EL (L1_CACHE_SIZE/S_EL_SIZE)
-#define S_L2_CACHE_EL (L2_CACHE_SIZE/S_EL_SIZE)
-#define S_LLC_CACHE_EL (LLC_CACHE_SIZE/S_EL_SIZE)
-
-
-
-#endif  // BLASFEO_BLOCK_SIZE_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_common.h b/third_party/acados/include/blasfeo/include/blasfeo_common.h
deleted file mode 100644
index 03b6c36d84b9bd..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_common.h
+++ /dev/null
@@ -1,274 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_COMMON_H_
-#define BLASFEO_COMMON_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#if defined(__GNUC__) || defined(__clang__) || defined(__INTEL_COMPILER) || defined(__ICL) || defined(__ICC) || defined(__INTEL_LLVM_COMPILER)
-#define ALIGNED(VEC, BYTES) VEC __attribute__ ((aligned ( BYTES )))
-#elif defined (_MSC_VER)
-#define ALIGNED(VEC, BYTES) __declspec(align( BYTES )) VEC
-#else
-#define ALIGNED(VEC, BYTES) VEC
-#endif
-
-
-
-
-#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_PANELMAJ) ) | ( defined(LA_REFERENCE) & defined(MF_PANELMAJ) )
-
-#include "blasfeo_block_size.h"
-
-// matrix structure
-struct blasfeo_dmat
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pA; // pointer to a pm*pn array of doubles, the first is aligned to cache line size
-	double *dA; // pointer to a min(m,n) (or max???) array of doubles
-	int m; // rows
-	int n; // cols
-	int pm; // packed number or rows
-	int cn; // packed number or cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_smat
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pA; // pointer to a pm*pn array of floats, the first is aligned to cache line size
-	float *dA; // pointer to a min(m,n) (or max???) array of floats
-	int m; // rows
-	int n; // cols
-	int pm; // packed number or rows
-	int cn; // packed number or cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-// vector structure
-struct blasfeo_dvec
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pa; // pointer to a pm array of doubles, the first is aligned to cache line size
-	int m; // size
-	int pm; // packed size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_svec
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pa; // pointer to a pm array of floats, the first is aligned to cache line size
-	int m; // size
-	int pm; // packed size
-	int memsize; // size of needed memory
-	};
-
-#define BLASFEO_DMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(D_PS-1)))*(sA)->cn+(aj)*D_PS+((ai)&(D_PS-1))])
-#define BLASFEO_SMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(S_PS-1)))*(sA)->cn+(aj)*S_PS+((ai)&(S_PS-1))])
-#define BLASFEO_DVECEL(sa,ai) ((sa)->pa[ai])
-#define BLASFEO_SVECEL(sa,ai) ((sa)->pa[ai])
-
-#elif ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) ) | ( defined(LA_REFERENCE) & defined(MF_COLMAJ) ) | defined(LA_EXTERNAL_BLAS_WRAPPER)
-
-// matrix structure
-struct blasfeo_dmat
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pA; // pointer to a m*n array of doubles
-	double *dA; // pointer to a min(m,n) (or max???) array of doubles
-	int m; // rows
-	int n; // cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_smat
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pA; // pointer to a m*n array of floats
-	float *dA; // pointer to a min(m,n) (or max???) array of floats
-	int m; // rows
-	int n; // cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-// vector structure
-struct blasfeo_dvec
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pa; // pointer to a m array of doubles, the first is aligned to cache line size
-	int m; // size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_svec
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pa; // pointer to a m array of floats, the first is aligned to cache line size
-	int m; // size
-	int memsize; // size of needed memory
-	};
-
-#define BLASFEO_DMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
-#define BLASFEO_SMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
-#define BLASFEO_DVECEL(sa,ai) ((sa)->pa[ai])
-#define BLASFEO_SVECEL(sa,ai) ((sa)->pa[ai])
-
-#else
-
-#error : wrong LA or MF choice
-
-#endif
-
-
-
-// Explicitly panel-major matrix structure
-struct blasfeo_pm_dmat
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pA; // pointer to a pm*pn array of doubles, the first is aligned to cache line size
-	double *dA; // pointer to a min(m,n) (or max???) array of doubles
-	int m; // rows
-	int n; // cols
-	int pm; // packed number or rows
-	int cn; // packed number or cols
-	int use_dA; // flag to tell if dA can be used
-	int ps; // panel size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_pm_smat
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pA; // pointer to a pm*pn array of floats, the first is aligned to cache line size
-	float *dA; // pointer to a min(m,n) (or max???) array of floats
-	int m; // rows
-	int n; // cols
-	int pm; // packed number or rows
-	int cn; // packed number or cols
-	int use_dA; // flag to tell if dA can be used
-	int ps; // panel size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_pm_dvec
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pa; // pointer to a pm array of doubles, the first is aligned to cache line size
-	int m; // size
-	int pm; // packed size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_pm_svec
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pa; // pointer to a pm array of floats, the first is aligned to cache line size
-	int m; // size
-	int pm; // packed size
-	int memsize; // size of needed memory
-	};
-
-// Explicitly column-major matrix structure
-struct blasfeo_cm_dmat
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pA; // pointer to a m*n array of doubles
-	double *dA; // pointer to a min(m,n) (or max???) array of doubles
-	int m; // rows
-	int n; // cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_cm_smat
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pA; // pointer to a m*n array of floats
-	float *dA; // pointer to a min(m,n) (or max???) array of floats
-	int m; // rows
-	int n; // cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_cm_dvec
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pa; // pointer to a m array of doubles, the first is aligned to cache line size
-	int m; // size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_cm_svec
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pa; // pointer to a m array of floats, the first is aligned to cache line size
-	int m; // size
-	int memsize; // size of needed memory
-	};
-
-
-#define BLASFEO_PM_DMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&((sA)->ps-1)))*(sA)->cn+(aj)*((sA)->ps)+((ai)&((sA)->ps-1))])
-#define BLASFEO_PM_SMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&((sA)->ps-1)))*(sA)->cn+(aj)*((sA)->ps)+((ai)&((sA)->ps-1))])
-#define BLASFEO_PM_DVECEL(sa,ai) ((sa)->pa[ai])
-#define BLASFEO_PM_SVECEL(sa,ai) ((sa)->pa[ai])
-#define BLASFEO_CM_DMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
-#define BLASFEO_CM_SMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
-#define BLASFEO_CM_DVECEL(sa,ai) ((sa)->pa[ai])
-#define BLASFEO_CM_SVECEL(sa,ai) ((sa)->pa[ai])
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_COMMON_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h
deleted file mode 100644
index a6d6119c6c1446..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h
+++ /dev/null
@@ -1,255 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-/*
- * auxiliary algebra operations header
- *
- * include/blasfeo_aux_lib*.h
- *
- */
-
-#ifndef BLASFEO_D_AUX_H_
-#define BLASFEO_D_AUX_H_
-
-
-
-#include <stdlib.h>
-
-#include "blasfeo_common.h"
-#include "blasfeo_d_aux_old.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// --- memory size calculations
-//
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_memsize_dmat(int m, int n);
-// returns the memory size (in bytes) needed for the diagonal of a dmat
-size_t blasfeo_memsize_diag_dmat(int m, int n);
-// returns the memory size (in bytes) needed for a dvec
-size_t blasfeo_memsize_dvec(int m);
-
-// --- creation
-//
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
-// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
-void blasfeo_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
-
-// --- packing
-// pack the column-major matrix A into the matrix struct B
-void blasfeo_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the lower-triangular column-major matrix A into the matrix struct B
-void blasfeo_pack_l_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the upper-triangular column-major matrix A into the matrix struct B
-void blasfeo_pack_u_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// transpose and pack the column-major matrix A into the matrix struct B
-void blasfeo_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the vector x into the vector structure y
-void blasfeo_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sy, int yi);
-// unpack the matrix structure A into the column-major matrix B
-void blasfeo_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
-// transpose and unpack the matrix structure A into the column-major matrix B
-void blasfeo_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
-// pack the vector structure x into the vector y
-void blasfeo_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y,  int yi);
-
-// --- cast
-//
-//void d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO
-//void d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO
-//void d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO
-
-
-// ge
-// --- insert/extract
-//
-// sA[ai, aj] <= a
-void blasfeo_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
-// <= sA[ai, aj]
-double blasfeo_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- set
-// A <= alpha
-void blasfeo_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- copy / scale
-// B <= A
-void blasfeo_dgecp(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// A <= alpha*A
-void blasfeo_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// B <= alpha*A
-void blasfeo_dgecpsc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A, A lower triangular
-void blasfeo_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-void blasfeo_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-void blasfeo_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- sum
-// B <= B + alpha*A
-void blasfeo_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// y <= y + alpha*x
-void blasfeo_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-
-// --- traspositions
-// B <= A'
-void blasfeo_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A', A lower triangular
-void blasfeo_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A', A upper triangular
-void blasfeo_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-
-// dia
-// diag(A) += alpha
-void blasfeo_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A) <= alpha*x
-void blasfeo_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A)[idx] <= alpha*x
-void blasfeo_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// x <= diag(A)
-void blasfeo_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-// x <= diag(A)[idx]
-void blasfeo_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
-// diag(A) += alpha*x
-void blasfeo_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A)[idx] += alpha*x
-void blasfeo_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// diag(A)[idx] = y + alpha*x
-void blasfeo_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-
-// row
-void blasfeo_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-void blasfeo_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-void blasfeo_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-void blasfeo_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-
-// col
-void blasfeo_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-void blasfeo_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-void blasfeo_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-void blasfeo_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-
-// vec
-// a <= alpha
-void blasfeo_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
-// sx[xi] <= a
-void blasfeo_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
-// <= sx[xi]
-double blasfeo_dvecex1(struct blasfeo_dvec *sx, int xi);
-// y <= x
-void blasfeo_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-// x <= alpha*x
-void blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi);
-// y <= alpha*x
-void blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-// z[idx] += alpha * x
-void blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-// z[idx] <= alpha * x
-void blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-// z <= alpha * x[idx]
-void blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z += alpha * x[idx]
-void blasfeo_dvecexad_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-
-void blasfeo_dveccl(int m,
-	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
-	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
-
-void blasfeo_dveccl_mask(int m,
-	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
-	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi,
-	struct blasfeo_dvec *sm, int mi);
-
-void blasfeo_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
-void blasfeo_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
-void blasfeo_dvecnrm_2(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
-void blasfeo_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-void blasfeo_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-
-
-
-
-
-/*
-* Explicitly panel-major matrix format
-*/
-
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_pm_memsize_dmat(int ps, int m, int n);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_pm_create_dmat(int ps, int m, int n, struct blasfeo_pm_dmat *sA, void *memory);
-// print
-void blasfeo_pm_print_dmat(int m, int n, struct blasfeo_pm_dmat *sA, int ai, int aj);
-
-
-
-/*
-* Explicitly panel-major matrix format
-*/
-
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_cm_memsize_dmat(int m, int n);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_cm_create_dmat(int m, int n, struct blasfeo_pm_dmat *sA, void *memory);
-
-
-
-//
-// BLAS API helper functions
-//
-
-#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
-// aux
-void blasfeo_cm_dgetr(int m, int n, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj);
-#endif
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_AUX_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h
deleted file mode 100644
index bee9e986f15d8f..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h
+++ /dev/null
@@ -1,145 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-/*
- * auxiliary algebra operation external dependancies header
- *
- * include/blasfeo_d_aux_ext_dep.h
- *
- * - dynamic memory allocation
- * - print
- *
- */
-
-#ifndef BLASFEO_D_AUX_EXT_DEP_H_
-#define BLASFEO_D_AUX_EXT_DEP_H_
-
-
-
-#include <stdio.h>
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#ifdef EXT_DEP
-
-/* column-major matrices */
-
-// dynamically allocate row*col doubles of memory and set accordingly a pointer to double; set allocated memory to zero
-void d_zeros(double **pA, int row, int col);
-// dynamically allocate row*col doubles of memory aligned to 64-byte boundaries and set accordingly a pointer to double; set allocated memory to zero
-void d_zeros_align(double **pA, int row, int col);
-// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to double; set allocated memory to zero
-void d_zeros_align_bytes(double **pA, int size);
-// free the memory allocated by d_zeros
-void d_free(double *pA);
-// free the memory allocated by d_zeros_align or d_zeros_align_bytes
-void d_free_align(double *pA);
-// print a column-major matrix
-void d_print_mat(int m, int n, double *A, int lda);
-// print the transposed of a column-major matrix
-void d_print_tran_mat(int row, int col, double *A, int lda);
-// print to file a column-major matrix
-void d_print_to_file_mat(FILE *file, int row, int col, double *A, int lda);
-// print to file a column-major matrix in exponential format
-void d_print_to_file_exp_mat(FILE *file, int row, int col, double *A, int lda);
-// print to string a column-major matrix
-void d_print_to_string_mat(char **buf_out, int row, int col, double *A, int lda);
-// print to file the transposed of a column-major matrix
-void d_print_tran_to_file_mat(FILE *file, int row, int col, double *A, int lda);
-// print to file the transposed of a column-major matrix in exponential format
-void d_print_tran_to_file_exp_mat(FILE *file, int row, int col, double *A, int lda);
-// print in exponential notation a column-major matrix
-void d_print_exp_mat(int m, int n, double *A, int lda);
-// print in exponential notation the transposed of a column-major matrix
-void d_print_exp_tran_mat(int row, int col, double *A, int lda);
-
-/* strmat and strvec */
-
-// create a strmat for a matrix of size m*n by dynamically allocating memory
-void blasfeo_allocate_dmat(int m, int n, struct blasfeo_dmat *sA);
-// create a strvec for a vector of size m by dynamically allocating memory
-void blasfeo_allocate_dvec(int m, struct blasfeo_dvec *sa);
-// free the memory allocated by blasfeo_allocate_dmat
-void blasfeo_free_dmat(struct blasfeo_dmat *sA);
-// free the memory allocated by blasfeo_allocate_dvec
-void blasfeo_free_dvec(struct blasfeo_dvec *sa);
-// print a strmat
-void blasfeo_print_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print in exponential notation a strmat
-void blasfeo_print_exp_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print to file a strmat
-void blasfeo_print_to_file_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print to file a strmat in exponential format
-void blasfeo_print_to_file_exp_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print to string a strmat
-void blasfeo_print_to_string_dmat(char **buf_out, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print the transposed of a strmat
-void blasfeo_print_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print a strvec
-void blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
-// print in exponential notation a strvec
-void blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
-// print to file a strvec
-void blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-// print to string a strvec
-void blasfeo_print_to_string_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
-// print the transposed of a strvec
-void blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-// print in exponential notation the transposed of a strvec
-void blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-// print to file the transposed of a strvec
-void blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-// print to string the transposed of a strvec
-void blasfeo_print_to_string_tran_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
-
-#endif // EXT_DEP
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h
deleted file mode 100644
index 81b811f0325039..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-/*
- * auxiliary algebra operation external dependancies header
- *
- * include/blasfeo_d_aux_ext_dep.h
- *
- * - dynamic memory allocation
- * - print
- *
- */
-
-#ifndef BLASFEO_D_AUX_EXT_DEP_REF_H_
-#define BLASFEO_D_AUX_EXT_DEP_REF_H_
-
-
-#include <stdio.h>
-
-#include "blasfeo_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// expose reference BLASFEO for testing
-// see blasfeo_d_aux_exp_dep.h for help
-
-void blasfeo_print_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_allocate_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA);
-void blasfeo_allocate_dvec_ref(int m, struct blasfeo_dvec_ref *sa);
-void blasfeo_free_dmat_ref(struct blasfeo_dmat_ref *sA);
-void blasfeo_free_dvec_ref(struct blasfeo_dvec_ref *sa);
-void blasfeo_print_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_print_exp_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_print_to_file_dmat_ref(FILE *file, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_print_to_file_exp_dmat_ref(FILE *file, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_print_to_string_dmat_ref(char **buf_out, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_to_string_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_to_string_tran_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_AUX_EXT_DEP_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h
deleted file mode 100644
index 3a1847a6a0191d..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h
+++ /dev/null
@@ -1,75 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-/*
- * ----------- TOMOVE
- *
- * expecting column major matrices
- *
- */
-
-#include "blasfeo_common.h"
-
-
-void dtrcp_l_lib(int m, double alpha, int offsetA, double *A, int sda, int offsetB, double *B, int sdb);
-void dgead_lib(int m, int n, double alpha, int offsetA, double *A, int sda, int offsetB, double *B, int sdb);
-// TODO remove ???
-void ddiain_sqrt_lib(int kmax, double *x, int offset, double *pD, int sdd);
-// TODO ddiaad1
-void ddiareg_lib(int kmax, double reg, int offset, double *pD, int sdd);
-
-
-void dgetr_lib(int m, int n, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-void dtrtr_l_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-void dtrtr_u_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-void ddiaex_lib(int kmax, double alpha, int offset, double *pD, int sdd, double *x);
-void ddiaad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
-void ddiain_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
-void ddiaex_libsp(int kmax, int *idx, double alpha, double *pD, int sdd, double *x);
-void ddiaad_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
-void ddiaadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD, int sdd);
-void drowin_lib(int kmax, double alpha, double *x, double *pD);
-void drowex_lib(int kmax, double alpha, double *pD, double *x);
-void drowad_lib(int kmax, double alpha, double *x, double *pD);
-void drowin_libsp(int kmax, double alpha, int *idx, double *x, double *pD);
-void drowad_libsp(int kmax, int *idx, double alpha, double *x, double *pD);
-void drowadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD);
-void dcolin_lib(int kmax, double *x, int offset, double *pD, int sdd);
-void dcolad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
-void dcolin_libsp(int kmax, int *idx, double *x, double *pD, int sdd);
-void dcolad_libsp(int kmax, double alpha, int *idx, double *x, double *pD, int sdd);
-void dcolsw_lib(int kmax, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-void dvecin_libsp(int kmax, int *idx, double *x, double *y);
-void dvecad_libsp(int kmax, int *idx, double alpha, double *x, double *y);
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h
deleted file mode 100644
index 1e007fa89e4bd6..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h
+++ /dev/null
@@ -1,208 +0,0 @@
-
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_AUX_REF_H_
-#define BLASFEO_D_AUX_REF_H_
-
-
-
-#include <stdlib.h>
-
-#include "blasfeo_common.h"
-#include "blasfeo_d_aux_old.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// --- memory calculations
-//
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_ref_memsize_dmat(int m, int n);
-// returns the memory size (in bytes) needed for the diagonal of a dmat
-size_t blasfeo_ref_memsize_diag_dmat(int m, int n);
-// returns the memory size (in bytes) needed for a dvec
-size_t blasfeo_ref_memsize_dvec(int m);
-
-// --- creation
-//
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_ref_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
-// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
-void blasfeo_ref_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
-
-// --- packing
-// pack the column-major matrix A into the matrix struct B
-void blasfeo_ref_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the lower-triangular column-major matrix A into the matrix struct B
-void blasfeo_ref_pack_l_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the upper-triangular column-major matrix A into the matrix struct B
-void blasfeo_ref_pack_u_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// transpose and pack the column-major matrix A into the matrix struct B
-void blasfeo_ref_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the vector x into the vector structure y
-void blasfeo_ref_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sy, int yi);
-// unpack the matrix structure A into the column-major matrix B
-void blasfeo_ref_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
-// transpose and unpack the matrix structure A into the column-major matrix B
-void blasfeo_ref_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
-// pack the vector structure x into the vector y
-void blasfeo_ref_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y,  int yi);
-
-// --- cast
-//
-void ref_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO
-void ref_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO
-void ref_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO
-
-
-// ge
-// --- insert/extract
-//
-// sA[ai, aj] <= a
-void blasfeo_ref_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
-// <= sA[ai, aj]
-double blasfeo_ref_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- set
-// A <= alpha
-void blasfeo_ref_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- copy / scale
-// B <= A
-void blasfeo_ref_dgecp(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// A <= alpha*A
-void blasfeo_ref_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// B <= alpha*A
-void blasfeo_ref_dgecpsc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A, A lower triangular
-void blasfeo_ref_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-void blasfeo_ref_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-void blasfeo_ref_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- sum
-// B <= B + alpha*A
-void blasfeo_ref_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int yi, int cj);
-// y <= y + alpha*x
-void blasfeo_ref_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-
-// --- traspositions
-// B <= A'
-void blasfeo_ref_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A', A lower triangular
-void blasfeo_ref_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A', A upper triangular
-void blasfeo_ref_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-
-// dia
-// diag(A) += alpha
-void blasfeo_ref_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A) <= alpha*x
-void blasfeo_ref_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A)[idx] <= alpha*x
-void blasfeo_ref_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// x <= diag(A)
-void blasfeo_ref_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-// x <= diag(A)[idx]
-void blasfeo_ref_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
-// diag(A) += alpha*x
-void blasfeo_ref_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A)[idx] += alpha*x
-void blasfeo_ref_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// diag(A)[idx] = y + alpha*x
-void blasfeo_ref_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-
-// row
-void blasfeo_ref_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_ref_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-void blasfeo_ref_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_ref_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_ref_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-void blasfeo_ref_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-void blasfeo_ref_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-
-// col
-void blasfeo_ref_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-void blasfeo_ref_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_ref_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_ref_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_ref_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-void blasfeo_ref_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-void blasfeo_ref_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-
-// vec
-// a <= alpha
-void blasfeo_ref_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
-// sx[xi] <= a
-void blasfeo_ref_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
-// <= sx[xi]
-double blasfeo_ref_dvecex1(struct blasfeo_dvec *sx, int xi);
-// y <= x
-void blasfeo_ref_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-// x <= alpha*x
-void blasfeo_ref_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi);
-// y <= alpha*x
-void blasfeo_ref_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-void blasfeo_ref_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-void blasfeo_ref_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-void blasfeo_ref_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
-// z += alpha * x[idx]
-void blasfeo_ref_dvecexad_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-
-void blasfeo_ref_dveccl(int m,
-	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
-	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
-
-void blasfeo_ref_dveccl_mask(int m,
-	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
-	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi,
-	struct blasfeo_dvec *sm, int mi);
-
-void blasfeo_ref_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
-void blasfeo_ref_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
-void blasfeo_ref_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-void blasfeo_ref_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_AUX_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h
deleted file mode 100644
index 1c61635f3ffbfa..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h
+++ /dev/null
@@ -1,226 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-/*
- * auxiliary algebra operations header
- *
- * include/blasfeo_aux_lib*.h
- *
- */
-
-#ifndef BLASFEO_D_AUX_TEST_H_
-#define BLASFEO_D_AUX_TEST_H_
-
-#include "blasfeo_common.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// --- memory calculations
-int test_blasfeo_memsize_dmat(int m, int n);
-int test_blasfeo_memsize_diag_dmat(int m, int n);
-int test_blasfeo_memsize_dvec(int m);
-
-// --- creation
-void test_blasfeo_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
-void test_blasfeo_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
-
-// --- conversion
-void test_blasfeo_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sA, int ai, int aj);
-void test_blasfeo_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sa, int ai);
-void test_blasfeo_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sA, int ai, int aj);
-void test_blasfeo_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *A, int lda);
-void test_blasfeo_unpack_dvec(int m, struct blasfeo_dvec *sa, int ai, double *x, int xi);
-void test_blasfeo_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *A, int lda);
-
-// --- cast
-void test_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA);
-void test_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA);
-void test_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sa);
-
-// ------ copy / scale
-
-// B <= A
-void test_blasfeo_dgecp(int m, int n,
-					struct blasfeo_dmat *sA, int ai, int aj,
-					struct blasfeo_dmat *sB, int bi, int bj);
-
-// A <= alpha*A
-void test_blasfeo_dgesc(int m, int n,
-					double alpha,
-					struct blasfeo_dmat *sA, int ai, int aj);
-
-// B <= alpha*A
-void test_blasfeo_dgecpsc(int m, int n,
-					double alpha,
-					struct blasfeo_dmat *sA, int ai, int aj,
-					struct blasfeo_dmat *sB, int bi, int bj);
-
-// // --- insert/extract
-// //
-// // <= sA[ai, aj]
-// void test_blasfeo_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
-// // <= sA[ai, aj]
-// double blasfeo_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
-// // sx[xi] <= a
-// void test_blasfeo_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
-// // <= sx[xi]
-// double blasfeo_dvecex1(struct blasfeo_dvec *sx, int xi);
-// // A <= alpha
-
-// // --- set
-// void test_blasfeo_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// // a <= alpha
-// void test_blasfeo_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
-// // B <= A
-
-
-// // --- vector
-// // y <= x
-// void test_blasfeo_dveccp(int m, struct blasfeo_dvec *sa, int ai, struct blasfeo_dvec *sc, int ci);
-// // x <= alpha*x
-// void test_blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sa, int ai);
-// // TODO
-// // x <= alpha*x
-// void test_blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sa, int ai, struct blasfeo_dvec *sc, int ci);
-
-
-// // B <= A, A lower triangular
-// void test_blasfeo_dtrcp_l(int m,
-//                     struct blasfeo_dmat *sA, int ai, int aj,
-//                     struct blasfeo_dmat *sB, int bi, int bj);
-
-// void test_blasfeo_dtrcpsc_l(int m, double alpha,
-//                     struct blasfeo_dmat *sA, int ai, int aj,
-//                     struct blasfeo_dmat *sB, int bi, int bj);
-
-// void test_blasfeo_dtrsc_l(int m, double alpha,
-//                     struct blasfeo_dmat *sA, int ai, int aj);
-
-
-// // B <= B + alpha*A
-// void test_blasfeo_dgead(int m, int n, double alpha,
-//                     struct blasfeo_dmat *sA, int ai, int aj,
-//                     struct blasfeo_dmat *sC, int ci, int cj);
-
-// // y <= y + alpha*x
-// void test_blasfeo_dvecad(int m, double alpha,
-//                     struct blasfeo_dvec *sa, int ai,
-//                     struct blasfeo_dvec *sc, int ci);
-
-// // --- traspositions
-// void test_dgetr_lib(int m, int n, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-// void test_blasfeo_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-// void test_dtrtr_l_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-// void test_blasfeo_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-// void test_dtrtr_u_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-// void test_blasfeo_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-// void test_blasfeo_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_blasfeo_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_ddiaex_lib(int kmax, double alpha, int offset, double *pD, int sdd, double *x);
-// void test_ddiaad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
-// void test_ddiain_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
-// void test_blasfeo_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// void test_ddiaex_libsp(int kmax, int *idx, double alpha, double *pD, int sdd, double *x);
-// void test_blasfeo_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-// void test_blasfeo_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
-// void test_blasfeo_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_ddiaad_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
-// void test_blasfeo_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// void test_ddiaadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD, int sdd);
-// void test_blasfeo_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// void test_drowin_lib(int kmax, double alpha, double *x, double *pD);
-// void test_blasfeo_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_drowex_lib(int kmax, double alpha, double *pD, double *x);
-// void test_blasfeo_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-// void test_drowad_lib(int kmax, double alpha, double *x, double *pD);
-// void test_blasfeo_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_drowin_libsp(int kmax, double alpha, int *idx, double *x, double *pD);
-// void test_drowad_libsp(int kmax, int *idx, double alpha, double *x, double *pD);
-// void test_blasfeo_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// void test_drowadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD);
-// void test_drowsw_lib(int kmax, double *pA, double *pC);
-// void test_blasfeo_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-// void test_blasfeo_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-// void test_blasfeo_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-// void test_dcolin_lib(int kmax, double *x, int offset, double *pD, int sdd);
-// void test_blasfeo_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_dcolad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
-// void test_dcolin_libsp(int kmax, int *idx, double *x, double *pD, int sdd);
-// void test_dcolad_libsp(int kmax, double alpha, int *idx, double *x, double *pD, int sdd);
-// void test_dcolsw_lib(int kmax, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-// void test_blasfeo_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-// void test_blasfeo_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-// void test_dvecin_libsp(int kmax, int *idx, double *x, double *y);
-// void test_dvecad_libsp(int kmax, int *idx, double alpha, double *x, double *y);
-// void test_blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-// void test_blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-// void test_blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
-// void test_blasfeo_dveccl(int m, struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
-// void test_blasfeo_dveccl_mask(int m, struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi, struct blasfeo_dvec *sm, int mi);
-// void test_blasfeo_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
-// void test_blasfeo_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
-// void test_blasfeo_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-// void test_blasfeo_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-
-// ext_dep
-
-void test_blasfeo_allocate_dmat(int m, int n, struct blasfeo_dmat *sA);
-void test_blasfeo_allocate_dvec(int m, struct blasfeo_dvec *sa);
-
-void test_blasfeo_free_dmat(struct blasfeo_dmat *sA);
-void test_blasfeo_free_dvec(struct blasfeo_dvec *sa);
-
-void test_blasfeo_print_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-void test_blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void test_blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-
-void test_blasfeo_print_to_file_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-void test_blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-void test_blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-
-void test_blasfeo_print_exp_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-void test_blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void test_blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_AUX_TEST_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h
deleted file mode 100644
index ea8d00673128bd..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h
+++ /dev/null
@@ -1,46 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_BLAS_H_
-#define BLASFEO_D_BLAS_H_
-
-
-
-#include "blasfeo_d_blasfeo_api.h"
-#include "blasfeo_d_blas_api.h"
-
-
-
-#endif  // BLASFEO_D_BLAS_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h
deleted file mode 100644
index 2eab1e40949c22..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h
+++ /dev/null
@@ -1,281 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef BLASFEO_D_BLAS_API_H_
-#define BLASFEO_D_BLAS_API_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef BLAS_API
-#ifdef CBLAS_API
-#ifndef BLASFEO_CBLAS_ENUM
-#define BLASFEO_CBLAS_ENUM
-#ifdef FORTRAN_BLAS_API
-#ifndef CBLAS_H
-enum CBLAS_LAYOUT {CblasRowMajor=101, CblasColMajor=102};
-enum CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113};
-enum CBLAS_UPLO {CblasUpper=121, CblasLower=122};
-enum CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132};
-enum CBLAS_SIDE {CblasLeft=141, CblasRight=142};
-#define CBLAS_ORDER CBLAS_LAYOUT /* this for backward compatibility with CBLAS_ORDER */
-#endif // CBLAS_H
-#else // FORTRAN_BLAS_API
-enum BLASFEO_CBLAS_LAYOUT {BlasfeoCblasRowMajor=101, BlasfeoCblasColMajor=102};
-enum BLASFEO_CBLAS_TRANSPOSE {BlasfeoCblasNoTrans=111, BlasfeoCblasTrans=112, BlasfeoCblasConjTrans=113};
-enum BLASFEO_CBLAS_UPLO {BlasfeoCblasUpper=121, BlasfeoCblasLower=122};
-enum BLASFEO_CBLAS_DIAG {BlasfeoCblasNonUnit=131, BlasfeoCblasUnit=132};
-enum BLASFEO_CBLAS_SIDE {BlasfeoCblasLeft=141, BlasfeoCblasRight=142};
-#define BLASFEO_CBLAS_ORDER BLASFEO_CBLAS_LAYOUT /* this for backward compatibility with BLASFEO_CBLAS_ORDER */
-#endif // FORTRAN_BLAS_API
-#endif // BLASFEO_CBLAS_ENUM
-#endif // CBLAS_API
-#endif // BLAS_API
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#ifdef BLAS_API
-
-
-
-#ifdef FORTRAN_BLAS_API
-
-
-
-// BLAS 1
-//
-void daxpy_(int *n, double *alpha, double *x, int *incx, double *y, int *incy);
-//
-void dcopy_(int *n, double *x, int *incx, double *y, int *incy);
-//
-double ddot_(int *n, double *x, int *incx, double *y, int *incy);
-
-// BLAS 2
-//
-void dgemv_(char *tran, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-//
-void dsymv_(char *uplo, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-//
-void dger_(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda);
-
-// BLAS 3
-//
-void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-//
-void dsyrk_(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
-//
-void dtrmm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-//
-void dtrsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-//
-void dsyr2k_(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-
-
-
-// LAPACK
-//
-void dgesv_(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
-//
-void dgetrf_(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
-//
-void dgetrf_np_(int *m, int *n, double *A, int *lda, int *info);
-//
-void dgetrs_(char *trans, int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
-//
-void dlaswp_(int *n, double *A, int *lda, int *k1, int *k2, int *ipiv, int *incx);
-//
-void dposv_(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-//
-void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
-//
-void dpotrs_(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-//
-void dtrtrs_(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-
-
-
-// aux
-void dgetr_(int *m, int *n, double *A, int *lda, double *B, int *ldb);
-
-
-
-#ifdef CBLAS_API
-
-
-
-// CBLAS 1
-//
-void cblas_daxpy(const int N, const double alpha, const double *X, const int incX, double *Y, const int incY);
-//
-void cblas_dswap(const int N, double *X, const int incX, double *Y, const int incY);
-//
-void cblas_dcopy(const int N, const double *X, const int incX, double *Y, const int incY);
-
-// CBLAS 2
-//
-void cblas_dgemv(const enum CBLAS_LAYOUT layout, const enum CBLAS_TRANSPOSE TransA, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *X, const int incX, const double beta, double *Y, const int incY);
-
-// CBLAS 3
-//
-void cblas_dgemm(const enum CBLAS_LAYOUT layout, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc);
-//
-void cblas_dsyrk(const enum CBLAS_LAYOUT layout, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc);
-//
-void cblas_dtrmm(const enum CBLAS_LAYOUT layout, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
-//
-void cblas_dtrsm(const enum CBLAS_LAYOUT layout, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
-
-
-
-#endif // CBLAS_API
-
-
-
-#else // BLASFEO_API
-
-
-
-// BLAS 1
-//
-void blasfeo_blas_daxpy(int *n, double *alpha, double *x, int *incx, double *y, int *incy);
-//
-double blasfeo_blas_ddot(int *n, double *x, int *incx, double *y, int *incy);
-//
-void blasfeo_blas_dcopy(int *n, double *x, int *incx, double *y, int *incy);
-
-// BLAS 2
-//
-void blasfeo_blas_dgemv(char *trans, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-//
-void blasfeo_blas_dsymv(char *uplo, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-//
-void blasfeo_blas_dger(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda);
-
-// BLAS 3
-//
-void blasfeo_blas_dgemm(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-//
-void blasfeo_blas_dsyrk(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
-//
-void blasfeo_blas_dtrmm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-//
-void blasfeo_blas_dtrsm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-//
-void blasfeo_blas_dsyr2k(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-
-
-
-// LAPACK
-//
-void blasfeo_lapack_dgesv(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
-//
-void blasfeo_lapack_dgetrf(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
-//
-void blasfeo_lapack_dgetrf_np(int *m, int *n, double *A, int *lda, int *info);
-//
-void blasfeo_lapack_dgetrs(char *trans, int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
-//
-void blasfeo_lapack_dlaswp(int *n, double *A, int *lda, int *k1, int *k2, int *ipiv, int *incx);
-//
-void blasfeo_lapack_dposv(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-//
-void blasfeo_lapack_dpotrf(char *uplo, int *m, double *A, int *lda, int *info);
-//
-void blasfeo_lapack_dpotrs(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-//
-void blasfeo_lapack_dtrtrs(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-
-
-
-// aux
-void blasfeo_blas_dgetr(int *m, int *n, double *A, int *lda, double *B, int *ldb);
-
-
-
-#ifdef CBLAS_API
-
-
-
-// CBLAS 1
-//
-void blasfeo_cblas_daxpy(const int N, const double alpha, const double *X, const int incX, double *Y, const int incY);
-//
-void blasfeo_cblas_dswap(const int N, double *X, const int incX, double *Y, const int incY);
-//
-void blasfeo_cblas_dcopy(const int N, const double *X, const int incX, double *Y, const int incY);
-
-// CBLAS 2
-//
-void blasfeo_cblas_dgemv(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const int M, const int N, const double alpha, const double *A, const int lda, const double *X, const int incX, const double beta, double *Y, const int incY);
-
-// CBLAS 3
-//
-void blasfeo_cblas_dgemm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc);
-//
-void blasfeo_cblas_dsyrk(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc);
-//
-void blasfeo_cblas_dtrmm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
-//
-void blasfeo_cblas_dtrsm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
-
-
-
-#endif // CBLAS_API
-
-
-
-#endif // BLASFEO_API
-
-
-
-#endif // BLAS_API
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_BLAS_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h
deleted file mode 100644
index 88bb3fce226248..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h
+++ /dev/null
@@ -1,364 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_BLASFEO_API_H_
-#define BLASFEO_D_BLASFEO_API_H_
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-// level 1 BLAS
-//
-
-// z = y + alpha*x
-// z[zi:zi+n] = alpha*x[xi:xi+n] + y[yi:yi+n]
-// NB: Different arguments semantic compare to equivalent standard BLAS routine
-void blasfeo_daxpy(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = beta*y + alpha*x
-void blasfeo_daxpby(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = x .* y
-void blasfeo_dvecmul(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z += x .* y
-void blasfeo_dvecmulacc(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = x .* y, return sum(z) = x^T * y
-double blasfeo_dvecmuldot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// return x^T * y
-double blasfeo_ddot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-// construct givens plane rotation
-void blasfeo_drotg(double a, double b, double *c, double *s);
-// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
-void blasfeo_dcolrot(int m, struct blasfeo_dmat *sA, int ai, int aj0, int aj1, double c, double s);
-// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
-void blasfeo_drowrot(int m, struct blasfeo_dmat *sA, int ai0, int ai1, int aj, double c, double s);
-
-
-
-//
-// level 2 BLAS
-//
-
-// dense
-
-// z <= beta * y + alpha * A * x
-void blasfeo_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A^T * x
-void blasfeo_dgemv_t(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(n)
-void blasfeo_dtrsv_lnn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A^T ) * x, A (m)x(n)
-void blasfeo_dtrsv_ltn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
-void blasfeo_dtrsv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
-void blasfeo_dtrsv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A^T ) * x, A (m)x(m) lower, transposed, not_unit
-void blasfeo_dtrsv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A^T ) * x, A (m)x(m) lower, transposed, unit
-void blasfeo_dtrsv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A^T ) * x, A (m)x(m) upper, not_transposed, not_unit
-void blasfeo_dtrsv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A^T ) * x, A (m)x(m) upper, transposed, not_unit
-void blasfeo_dtrsv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A * x ; A lower triangular
-void blasfeo_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A * x ; A lower triangular, unit diagonal
-void blasfeo_dtrmv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A^T * x ; A lower triangular
-void blasfeo_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A^T * x ; A lower triangular, unit diagonal
-void blasfeo_dtrmv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A * x ; A upper triangular
-void blasfeo_dtrmv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A^T * x ; A upper triangular
-void blasfeo_dtrmv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z_n <= beta_n * y_n + alpha_n * A  * x_n
-// z_t <= beta_t * y_t + alpha_t * A^T * x_t
-void blasfeo_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx_n, int xi_n, struct blasfeo_dvec *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec *sy_n, int yi_n, struct blasfeo_dvec *sy_t, int yi_t, struct blasfeo_dvec *sz_n, int zi_n, struct blasfeo_dvec *sz_t, int zi_t);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
-void blasfeo_dsymv_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-void blasfeo_dsymv_l_mn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
-void blasfeo_dsymv_u(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// D = C + alpha * x * y^T
-void blasfeo_dger(int m, int n, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-// diagonal
-
-// z <= beta * y + alpha * A * x, A diagonal
-void blasfeo_dgemv_d(int m, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-
-
-
-//
-// level 3 BLAS
-//
-
-// dense
-
-// D <= beta * C + alpha * A * B
-void blasfeo_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T
-void blasfeo_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B^T
-void blasfeo_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D lower triangular
-void blasfeo_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_dsyrk_ln_mn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
-void blasfeo_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#endif
-// D <= beta * C + alpha * A^T * B ; C, D lower triangular
-void blasfeo_dsyrk_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
-void blasfeo_dsyrk3_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#endif
-// D <= beta * C + alpha * A * B^T ; C, D upper triangular
-void blasfeo_dsyrk_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
-void blasfeo_dsyrk3_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#endif
-// D <= beta * C + alpha * A^T * B ; C, D upper triangular
-void blasfeo_dsyrk_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
-void blasfeo_dsyrk3_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#endif
-// D <= alpha * A * B ; A lower triangular
-void blasfeo_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A lower triangular
-void blasfeo_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A lower triangular
-void blasfeo_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A lower triangular
-void blasfeo_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A upper triangular
-void blasfeo_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A upper triangular
-void blasfeo_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A upper triangular
-void blasfeo_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A upper triangular
-void blasfeo_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A lower triangular
-void blasfeo_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A lower triangular
-void blasfeo_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A upper triangular
-void blasfeo_dtrmm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A upper triangular
-void blasfeo_dtrmm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A upper triangular
-void blasfeo_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A upper triangular
-void blasfeo_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
-// D <= alpha * A^{-1} * B , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
-void blasfeo_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
-void blasfeo_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular with unit diagonal
-void blasfeo_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular with unit diagonal
-void blasfeo_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
-void blasfeo_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
-void blasfeo_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
-void blasfeo_dtrsm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
-void blasfeo_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D lower triangular
-void blasfeo_dsyr2k_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D lower triangular
-void blasfeo_dsyr2k_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D upper triangular
-void blasfeo_dsyr2k_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D upper triangular
-void blasfeo_dsyr2k_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-// diagonal
-
-// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
-void dgemm_diag_left_lib(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
-void blasfeo_dgemm_dn(int m, int n, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
-void blasfeo_dgemm_nd(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sB, int bi, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-
-
-//
-// LAPACK
-//
-
-// D <= chol( C ) ; C, D lower triangular
-void blasfeo_dpotrf_l(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_dpotrf_l_mn(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= chol( C ) ; C, D upper triangular
-void blasfeo_dpotrf_u(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= chol( C + A * B' ) ; C, D lower triangular
-// D <= chol( C + A * B^T ) ; C, D lower triangular
-void blasfeo_dsyrk_dpotrf_ln(int m, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_dsyrk_dpotrf_ln_mn(int m, int n, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= lu( C ) ; no pivoting
-void blasfeo_dgetrf_np(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= lu( C ) ; row pivoting
-void blasfeo_dgetrf_rp(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, int *ipiv);
-// D <= qr( C )
-int blasfeo_dgeqrf_worksize(int m, int n); // in bytes
-void blasfeo_dgeqrf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// D <= Q factor, where C is the output of the LQ factorization
-int blasfeo_dorglq_worksize(int m, int n, int k); // in bytes
-void blasfeo_dorglq(int m, int n, int k, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// D <= lq( C )
-void blasfeo_dgelqf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-int blasfeo_dgelqf_worksize(int m, int n); // in bytes
-// D <= lq( C ), positive diagonal elements
-void blasfeo_dgelqf_pd(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_dgelqf_pd_la(int m, int n1, struct blasfeo_dmat *sL, int li, int lj, struct blasfeo_dmat *sA, int ai, int aj, void *work);
-// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_dgelqf_pd_lla(int m, int n1, struct blasfeo_dmat *sL0, int l0i, int l0j, struct blasfeo_dmat *sL1, int l1i, int l1j, struct blasfeo_dmat *sA, int ai, int aj, void *work);
-
-
-
-//
-// BLAS API helper functions
-//
-
-#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
-// BLAS 3
-void blasfeo_cm_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk3_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk3_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk3_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_runn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_runu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_runn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_runu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyr2k_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyr2k_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyr2k_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyr2k_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-// BLAS 2
-void blasfeo_cm_dgemv_n(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
-void blasfeo_cm_dgemv_t(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
-void blasfeo_cm_dsymv_l(int m, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
-void blasfeo_cm_dsymv_u(int m, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
-void blasfeo_cm_dger(int m, int n, double alpha, struct blasfeo_cm_dvec *sx, int xi, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-// LAPACK
-void blasfeo_cm_dpotrf_l(int m, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dpotrf_u(int m, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dgetrf_rp(int m, int n, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj, int *ipiv);
-#endif
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_BLASFEO_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h
deleted file mode 100644
index 141a1f0f06082c..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h
+++ /dev/null
@@ -1,147 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_BLASFEO_API_REF_H_
-#define BLASFEO_D_BLASFEO_API_REF_H_
-
-#include "blasfeo_common.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// expose reference BLASFEO for testing
-
-// --- level 1
-
-void blasfeo_daxpy_ref(int kmax, double alpha, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_daxpby_ref(int kmax, double alpha, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dvecmul_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dvecmulacc_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-double blasfeo_dvecmuldot_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-double blasfeo_ddot_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi);
-void blasfeo_drotg_ref(double a, double b, double *c, double *s);
-void blasfeo_dcolrot_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj0, int aj1, double c, double s);
-void blasfeo_drowrot_ref(int m, struct blasfeo_dmat_ref *sA, int ai0, int ai1, int aj, double c, double s);
-
-
-// --- level 2
-
-// dense
-void blasfeo_dgemv_n_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dgemv_t_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_lnn_mn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_ltn_mn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_lnn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_lnu_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_ltn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_ltu_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_unn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_utn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_unn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_utn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_lnn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_ltn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_lnu_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_ltu_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dgemv_nt_ref(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx_n, int xi_n, struct blasfeo_dvec_ref *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec_ref *sy_n, int yi_n, struct blasfeo_dvec_ref *sy_t, int yi_t, struct blasfeo_dvec_ref *sz_n, int zi_n, struct blasfeo_dvec_ref *sz_t, int zi_t);
-void blasfeo_dsymv_l_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-
-// diagonal
-void blasfeo_dgemv_d_ref(int m, double alpha, struct blasfeo_dvec_ref *sA, int ai, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-
-
-// --- level 3
-
-// dense
-void blasfeo_dgemm_nn_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgemm_nt_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgemm_tn_ref(int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgemm_tt_ref(int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-
-void blasfeo_dsyrk_ln_mn_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_ln_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_lt_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_un_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_ut_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-
-void blasfeo_dtrmm_rutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrmm_rlnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-
-void blasfeo_dtrsm_lunu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_lunn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_lutu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_lutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_llnu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_llnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_lltu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_lltn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_runu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_runn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rutu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rlnu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rlnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rltu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rltn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-
-// diagonal
-void dgemm_diag_left_lib_ref(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
-void blasfeo_dgemm_dn_ref(int m, int n, double alpha, struct blasfeo_dvec_ref *sA, int ai, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgemm_nd_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sB, int bi, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-
-// --- lapack
-
-void blasfeo_dgetrf_nopivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgetrf_rowpivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, int *ipiv);
-void blasfeo_dpotrf_l_ref(int m, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dpotrf_l_mn_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_dpotrf_ln_ref(int m, int k, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_dpotrf_ln_mn_ref(int m, int n, int k, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgetrf_nopivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgetrf_rowpivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, int *ipiv);
-void blasfeo_dgeqrf_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
-void blasfeo_dgelqf_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
-void blasfeo_dgelqf_pd_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
-void blasfeo_dgelqf_pd_la_ref(int m, int n1, struct blasfeo_dmat_ref *sL, int li, int lj, struct blasfeo_dmat_ref *sA, int ai, int aj, void *work);
-void blasfeo_dgelqf_pd_lla_ref(int m, int n1, struct blasfeo_dmat_ref *sL0, int l0i, int l0j, struct blasfeo_dmat_ref *sL1, int l1i, int l1j, struct blasfeo_dmat_ref *sA, int ai, int aj, void *work);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_BLASFEO_API_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_hp_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_hp_api.h
deleted file mode 100644
index 405733f13e89b3..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_hp_api.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_BLASFEO_HP_API_H_
-#define BLASFEO_D_BLASFEO_HP_API_H_
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-// level 3 BLAS
-//
-
-// dense
-
-
-// D <= beta * C + alpha * A^T * B
-void blasfeo_hp_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T; C, D lower triangular
-void blasfeo_hp_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * A^T ; C, D lower triangular
-void blasfeo_hp_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular
-void blasfeo_hp_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-
-
-//
-// level 2 BLAS
-//
-
-// dense
-
-// z <= beta * y + alpha * A * x
-void blasfeo_hp_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_BLASFEO_HP_API_H_
-
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h
deleted file mode 100644
index 1a8b22c67efc68..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h
+++ /dev/null
@@ -1,283 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_BLASFEO_REF_API_H_
-#define BLASFEO_D_BLASFEO_REF_API_H_
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-// level 1 BLAS
-//
-
-// z = y + alpha*x
-// z[zi:zi+n] = alpha*x[xi:xi+n] + y[yi:yi+n]
-// NB: Different arguments semantic compare to equivalent standard BLAS routine
-void blasfeo_ref_daxpy(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = beta*y + alpha*x
-void blasfeo_ref_daxpby(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = x .* y
-void blasfeo_ref_dvecmul(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z += x .* y
-void blasfeo_ref_dvecmulacc(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = x .* y, return sum(z) = x^T * y
-double blasfeo_ref_dvecmuldot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// return x^T * y
-double blasfeo_ref_ddot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-// construct givens plane rotation
-void blasfeo_ref_drotg(double a, double b, double *c, double *s);
-// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
-void blasfeo_ref_dcolrot(int m, struct blasfeo_dmat *sA, int ai, int aj0, int aj1, double c, double s);
-// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
-void blasfeo_ref_drowrot(int m, struct blasfeo_dmat *sA, int ai0, int ai1, int aj, double c, double s);
-
-
-
-//
-// level 2 BLAS
-//
-
-// dense
-
-// z <= beta * y + alpha * A * x
-void blasfeo_ref_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A' * x
-void blasfeo_ref_dgemv_t(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(n)
-void blasfeo_ref_dtrsv_lnn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(n)
-void blasfeo_ref_dtrsv_ltn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
-void blasfeo_ref_dtrsv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
-void blasfeo_ref_dtrsv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
-void blasfeo_ref_dtrsv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
-void blasfeo_ref_dtrsv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
-void blasfeo_ref_dtrsv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
-void blasfeo_ref_dtrsv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A * x ; A lower triangular
-void blasfeo_ref_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A * x ; A lower triangular, unit diagonal
-void blasfeo_ref_dtrmv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A' * x ; A lower triangular
-void blasfeo_ref_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A' * x ; A lower triangular, unit diagonal
-void blasfeo_ref_dtrmv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A * x ; A upper triangular
-void blasfeo_ref_dtrmv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A' * x ; A upper triangular
-void blasfeo_ref_dtrmv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z_n <= beta_n * y_n + alpha_n * A  * x_n
-// z_t <= beta_t * y_t + alpha_t * A' * x_t
-void blasfeo_ref_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx_n, int xi_n, struct blasfeo_dvec *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec *sy_n, int yi_n, struct blasfeo_dvec *sy_t, int yi_t, struct blasfeo_dvec *sz_n, int zi_n, struct blasfeo_dvec *sz_t, int zi_t);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
-void blasfeo_ref_dsymv_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-void blasfeo_ref_dsymv_l_mn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
-void blasfeo_ref_dsymv_u(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// D = C + alpha * x * y^T
-void blasfeo_ref_dger(int m, int n, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-// diagonal
-
-// z <= beta * y + alpha * A * x, A diagonal
-void blasfeo_ref_dgemv_d(int m, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-
-
-
-//
-// level 3 BLAS
-//
-
-// dense
-
-// D <= beta * C + alpha * A * B
-void blasfeo_ref_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T
-void blasfeo_ref_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_ref_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B^T
-void blasfeo_ref_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D lower triangular
-void blasfeo_ref_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_ref_dsyrk_ln_mn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D lower triangular
-void blasfeo_ref_dsyrk_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D upper triangular
-void blasfeo_ref_dsyrk_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D upper triangular
-void blasfeo_ref_dsyrk_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A lower triangular
-void blasfeo_ref_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A lower triangular
-void blasfeo_ref_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A lower triangular
-void blasfeo_ref_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A lower triangular
-void blasfeo_ref_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A upper triangular
-void blasfeo_ref_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A upper triangular
-void blasfeo_ref_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A upper triangular
-void blasfeo_ref_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A upper triangular
-void blasfeo_ref_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_ref_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_ref_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A lower triangular
-void blasfeo_ref_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A lower triangular
-void blasfeo_ref_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A upper triangular
-void blasfeo_ref_dtrmm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A upper triangular
-void blasfeo_ref_dtrmm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A upper triangular
-void blasfeo_ref_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A upper triangular
-void blasfeo_ref_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_ref_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
-void blasfeo_ref_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_ref_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
-void blasfeo_ref_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
-void blasfeo_ref_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
-void blasfeo_ref_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
-void blasfeo_ref_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
-void blasfeo_ref_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
-void blasfeo_ref_dtrsm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
-void blasfeo_ref_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D lower triangular
-void blasfeo_ref_dsyr2k_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D lower triangular
-void blasfeo_ref_dsyr2k_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D upper triangular
-void blasfeo_ref_dsyr2k_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D upper triangular
-void blasfeo_ref_dsyr2k_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-// diagonal
-
-// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
-void dgemm_diag_left_lib(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
-void blasfeo_ref_dgemm_dn(int m, int n, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
-void blasfeo_ref_dgemm_nd(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sB, int bi, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-
-
-//
-// LAPACK
-//
-
-// D <= chol( C ) ; C, D lower triangular
-void blasfeo_ref_dpotrf_l(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_ref_dpotrf_l_mn(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= chol( C ) ; C, D upper triangular
-void blasfeo_ref_dpotrf_u(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= chol( C + A * B' ) ; C, D lower triangular
-void blasfeo_ref_dsyrk_dpotrf_ln(int m, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_ref_dsyrk_dpotrf_ln_mn(int m, int n, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= lu( C ) ; no pivoting
-void blasfeo_ref_dgetrf_np(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= lu( C ) ; row pivoting
-void blasfeo_ref_dgetrf_rp(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, int *ipiv);
-// D <= qr( C )
-int blasfeo_ref_dgeqrf_worksize(int m, int n); // in bytes
-void blasfeo_ref_dgeqrf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// D <= Q factor, where C is the output of the LQ factorization
-int blasfeo_ref_dorglq_worksize(int m, int n, int k); // in bytes
-void blasfeo_ref_dorglq(int m, int n, int k, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// D <= lq( C )
-void blasfeo_ref_dgelqf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-int blasfeo_ref_dgelqf_worksize(int m, int n); // in bytes
-// D <= lq( C ), positive diagonal elements
-void blasfeo_ref_dgelqf_pd(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_ref_dgelqf_pd_la(int m, int n1, struct blasfeo_dmat *sL, int li, int lj, struct blasfeo_dmat *sA, int ai, int aj, void *work);
-// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_ref_dgelqf_pd_lla(int m, int n1, struct blasfeo_dmat *sL0, int l0i, int l0j, struct blasfeo_dmat *sL1, int l1i, int l1j, struct blasfeo_dmat *sA, int ai, int aj, void *work);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_BLASFEO_REF_API_H_
-
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h b/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h
deleted file mode 100644
index d20ac38bbd043c..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h
+++ /dev/null
@@ -1,1321 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_KERNEL_H_
-#define BLASFEO_D_KERNEL_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// utils
-void blasfeo_align_2MB(void *ptr, void **ptr_align);
-void blasfeo_align_4096_byte(void *ptr, void **ptr_align);
-void blasfeo_align_64_byte(void *ptr, void **ptr_align);
-
-
-//
-// lib8
-//
-
-// 24x8
-void kernel_dgemm_nt_24x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nt_24x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dtrsm_nt_rl_inv_24x8_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); //
-void kernel_dpotrf_nt_l_24x8_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dpotrf_nt_l_24x8_vs_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_24x8_vs_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1); //
-void kernel_dgemm_dtrsm_nt_rl_inv_24x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_24x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1);
-void kernel_dsyrk_dpotrf_nt_l_24x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_24x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
-void kernel_dlarfb8_rn_24_lib8(int kmax, double *pV, double *pT, double *pD, int sdd);
-// 16x8
-void kernel_dgemm_nt_16x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nt_16x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nt_16x8_gen_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_nn_16x8_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_16x8_vs_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_16x8_gen_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dsyrk_nt_l_16x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nt_l_16x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nt_l_16x8_gen_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dtrmm_nn_rl_16x8_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd);
-void kernel_dtrmm_nn_rl_16x8_vs_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int m1, int n1);
-void kernel_dtrmm_nn_rl_16x8_gen_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, int offD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dtrsm_nt_rl_inv_16x8_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); //
-void kernel_dtrsm_nt_rl_inv_16x8_vs_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1); //
-void kernel_dpotrf_nt_l_16x8_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dpotrf_nt_l_16x8_vs_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
-void kernel_dgemm_dtrsm_nt_rl_inv_16x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_16x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1);
-void kernel_dsyrk_dpotrf_nt_l_16x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_16x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
-void kernel_dlarfb8_rn_16_lib8(int kmax, double *pV, double *pT, double *pD, int sdd);
-void kernel_dlarfb8_rn_la_16_lib8(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda);
-void kernel_dlarfb8_rn_lla_16_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda);
-// 8x16
-void kernel_dgemm_tt_8x16_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_tt_8x16_vs_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_8x16_gen_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_nt_8x16_lib8(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nt_8x16_vs_lib8(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-// 8x8
-void kernel_dgemm_nt_8x8_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dgemm_nt_8x8_vs_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_nt_8x8_gen_lib8(int k, double *alpha, double *A, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_nn_8x8_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_8x8_vs_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_nn_8x8_gen_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_tt_8x8_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, double *C, double *D); //
-void kernel_dgemm_tt_8x8_vs_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_8x8_gen_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, int offc, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dsyrk_nt_l_8x8_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_l_8x8_vs_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dsyrk_nt_l_8x8_gen_lib8(int k, double *alpha, double *A, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dtrmm_nn_rl_8x8_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D);
-void kernel_dtrmm_nn_rl_8x8_vs_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1);
-void kernel_dtrmm_nn_rl_8x8_gen_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, int offD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dtrsm_nt_rl_inv_8x8_lib8(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_8x8_vs_lib8(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int m1, int n1);
-void kernel_dpotrf_nt_l_8x8_lib8(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
-void kernel_dpotrf_nt_l_8x8_vs_lib8(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int m1, int n1);
-void kernel_dgemm_dtrsm_nt_rl_inv_8x8_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_8x8_vs_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int m1, int n1);
-void kernel_dsyrk_dpotrf_nt_l_8x8_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_8x8_vs_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int m1, int n1);
-void kernel_dgelqf_vs_lib8(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
-void kernel_dgelqf_pd_vs_lib8(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
-void kernel_dgelqf_8_lib8(int kmax, double *pD, double *dD);
-void kernel_dgelqf_pd_8_lib8(int kmax, double *pD, double *dD);
-void kernel_dlarft_8_lib8(int kmax, double *pD, double *dD, double *pT);
-void kernel_dlarfb8_rn_8_lib8(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb8_rn_8_vs_lib8(int kmax, double *pV, double *pT, double *pD, int m1);
-void kernel_dlarfb8_rn_1_lib8(int kmax, double *pV, double *pT, double *pD);
-void kernel_dgelqf_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pT);
-void kernel_dgelqf_pd_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pT);
-void kernel_dgelqf_pd_la_vs_lib8(int m, int n1, int k, int offD, double *pD, int sdd, double *dD, int offA, double *pA, int sda);
-void kernel_dgelqf_pd_la_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pA, double *pT);
-void kernel_dlarft_la_8_lib8(int n1, double *dD, double *pA, double *pT);
-void kernel_dlarfb8_rn_la_8_lib8(int n1, double *pVA, double *pT, double *pD, double *pA);
-void kernel_dlarfb8_rn_la_8_vs_lib8(int n1, double *pVA, double *pT, double *pD, double *pA, int m1);
-void kernel_dlarfb8_rn_la_1_lib8(int n1, double *pVA, double *pT, double *pD, double *pA);
-void kernel_dgelqf_pd_lla_vs_lib8(int m, int n0, int n1, int k, int offD, double *pD, int sdd, double *dD, int offL, double *pL, int sdl, int offA, double *pA, int sda);
-void kernel_dgelqf_pd_lla_dlarft8_8_lib8(int n0, int n1, double *pD, double *dD, double *pL, double *pA, double *pT);
-void kernel_dlarft_lla_8_lib8(int n0, int n1, double *dD, double *pL, double *pA, double *pT);
-void kernel_dlarfb8_rn_lla_8_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
-void kernel_dlarfb8_rn_lla_8_vs_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA, int m1);
-void kernel_dlarfb8_rn_lla_1_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
-
-// panel copy / pack
-// 24
-void kernel_dpack_nn_24_lib8(int kmax, double *A, int lda, double *C, int sdc);
-void kernel_dpack_nn_24_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1);
-// 16
-void kernel_dpacp_nn_16_lib8(int kmax, int offsetA, double *A, int sda, double *B, int sdb);
-void kernel_dpacp_nn_16_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1);
-void kernel_dpack_nn_16_lib8(int kmax, double *A, int lda, double *C, int sdc);
-void kernel_dpack_nn_16_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1);
-// 8
-void kernel_dpacp_nn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_nn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
-void kernel_dpacp_tn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_tn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
-void kernel_dpacp_l_nn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_l_nn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
-void kernel_dpacp_l_tn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_l_tn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
-void kernel_dpaad_nn_8_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *B);
-void kernel_dpaad_nn_8_vs_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *B, int m1);
-void kernel_dpack_nn_8_lib8(int kmax, double *A, int lda, double *C);
-void kernel_dpack_nn_8_vs_lib8(int kmax, double *A, int lda, double *C, int m1);
-void kernel_dpack_tn_8_lib8(int kmax, double *A, int lda, double *C);
-void kernel_dpack_tn_8_vs_lib8(int kmax, double *A, int lda, double *C, int m1);
-// 4
-void kernel_dpack_tt_4_lib8(int kmax, double *A, int lda, double *C, int sdc); // TODO offsetC 
-void kernel_dpack_tt_4_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1); // TODO offsetC 
-
-// level 2 BLAS
-// 16
-void kernel_dgemv_n_16_lib8(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z);
-// 8
-void kernel_dgemv_n_8_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_n_8_vs_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int m1);
-//void kernel_dgemv_n_8_gen_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int m0, int m1);
-void kernel_dgemv_n_8_gen_lib8(int k, double *alpha, int offsetA, double *A, double *x, double *beta, double *y, double *z, int m1);
-void kernel_dgemv_t_8_lib8(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_t_8_vs_lib8(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z, int n1);
-void kernel_dgemv_nt_8_lib8(int kmax, double *alpha_n, double *alpha_t, int offsetA, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t);
-void kernel_dgemv_nt_8_vs_lib8(int kmax, double *alpha_n, double *alpha_t, int offsetA, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t, int n1);
-void kernel_dsymv_l_8_lib8(int kmax, double *alpha, double *A, int sda, double *x, double *z);
-void kernel_dsymv_l_8_vs_lib8(int kmax, double *alpha, double *A, int sda, double *x, double *z, int n1);
-void kernel_dsymv_l_8_gen_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *x, double *z, int n1);
-void kernel_dtrmv_n_ln_8_lib8(int k, double *A, double *x, double *z);
-void kernel_dtrmv_n_ln_8_vs_lib8(int k, double *A, double *x, double *z, int m1);
-void kernel_dtrmv_n_ln_8_gen_lib8(int k, int offsetA, double *A, double *x, double *z, int m1);
-void kernel_dtrmv_t_ln_8_lib8(int k, double *A, int sda, double *x, double *z);
-void kernel_dtrmv_t_ln_8_vs_lib8(int k, double *A, int sda, double *x, double *z, int n1);
-void kernel_dtrmv_t_ln_8_gen_lib8(int k, int offsetA, double *A, int sda, double *x, double *z, int n1);
-void kernel_dtrsv_n_l_inv_8_lib8(int k, double *A, double *inv_diag_A, double *x, double *z);
-void kernel_dtrsv_n_l_inv_8_vs_lib8(int k, double *A, double *inv_diag_A, double *x, double *z, int m1, int n1);
-void kernel_dtrsv_t_l_inv_8_lib8(int k, double *A, int sda, double *inv_diag_A, double *x, double *z);
-void kernel_dtrsv_t_l_inv_8_vs_lib8(int k, double *A, int sda, double *inv_diag_A, double *x, double *z, int m1, int n1);
-
-
-
-//
-// lib4
-//
-
-// level 2 BLAS
-// 12
-void kernel_dgemv_n_12_lib4(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_t_12_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
-// 8
-void kernel_dgemv_n_8_lib4(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_t_8_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
-void kernel_dtrmv_un_8_lib4(int k, double *A, int sda, double *x, double *z);
-// 4
-void kernel_dgemv_n_4_lib4(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_n_4_vs_lib4(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int k1);
-void kernel_dgemv_n_4_gen_lib4(int kmax, double *alpha, double *A, double *x, double *beta, double *y, double *z, int k0, int k1);
-void kernel_dgemv_t_4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_t_4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z, int k1);
-void kernel_dtrsv_ln_inv_4_lib4(int k, double *A, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_ln_inv_4_vs_lib4(int k, double *A, double *inv_diag_A, double *x, double *y, double *z, int km, int kn);
-void kernel_dtrsv_lt_inv_4_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_lt_inv_3_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_lt_inv_2_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_lt_inv_1_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_lt_one_4_lib4(int k, double *A, int sda, double *x, double *y, double *z);
-void kernel_dtrsv_lt_one_3_lib4(int k, double *A, int sda, double *x, double *y, double *z);
-void kernel_dtrsv_lt_one_2_lib4(int k, double *A, int sda, double *x, double *y, double *z);
-void kernel_dtrsv_lt_one_1_lib4(int k, double *A, int sda, double *x, double *y, double *z);
-void kernel_dtrsv_ln_one_4_vs_lib4(int kmax, double *A, double *x, double *y, double *z, int km, int kn);
-void kernel_dtrsv_ln_one_4_lib4(int kmax, double *A, double *x, double *y, double *z);
-void kernel_dtrsv_un_inv_4_lib4(int kmax, double *A, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_ut_inv_4_lib4(int kmax, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_ut_inv_4_vs_lib4(int kmax, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z, int m1, int n1);
-void kernel_dtrmv_un_4_lib4(int k, double *A, double *x, double *z);
-void kernel_dtrmv_ut_4_lib4(int k, double *A, int sda, double *x, double *z);
-void kernel_dtrmv_ut_4_vs_lib4(int k, double *A, int sda, double *x, double *z, int km);
-void kernel_dgemv_nt_6_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t);
-void kernel_dgemv_nt_4_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t);
-void kernel_dgemv_nt_4_vs_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t, int km);
-void kernel_dsymv_l_4_lib4(int kmax, double *alpha, double *A, int sda, double *x, double *z);
-void kernel_dsymv_l_4_gen_lib4(int kmax, double *alpha, int offA, double *A, int sda, double *x, double *z, int km);
-
-
-
-// level 3 BLAS
-// 12x4
-void kernel_dgemm_nt_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nt_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
-void kernel_dgemm_nt_12x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1);
-void kernel_dgemm_nn_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
-void kernel_dgemm_nn_12x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_tt_12x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_tt_12x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nn_u_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nn_u_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nt_l_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nt_l_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
-void kernel_dtrmm_nt_ru_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd); //
-void kernel_dtrmm_nt_ru_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd, int km, int kn); //
-void kernel_dtrmm_nn_rl_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd);
-void kernel_dtrmm_nn_rl_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_one_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
-void kernel_dtrsm_nt_rl_one_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
-void kernel_dtrsm_nt_ru_inv_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_ru_one_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
-void kernel_dtrsm_nt_ru_one_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
-void kernel_dtrsm_nn_ru_inv_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_inv_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde);
-void kernel_dtrsm_nn_ll_one_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, int km, int kn);
-void kernel_dtrsm_nn_lu_inv_12x4_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_lu_inv_12x4_vs_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-// 4x12
-void kernel_dgemm_nt_4x12_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nt_4x12_vs_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dgemm_nn_4x12_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_4x12_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_4x12_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_tt_4x12_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_4x12_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dtrsm_nt_rl_inv_4x12_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_4x12_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E, int km, int kn);
-// 8x8
-void kernel_dgemm_nt_8x8l_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [A00 *; A10 A11]
-void kernel_dgemm_nt_8x8u_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [A00 *; A10 A11]
-void kernel_dgemm_nt_8x8l_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [A00 *; A10 A11]
-void kernel_dgemm_nt_8x8u_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [A00 *; A10 A11]
-void kernel_dsyrk_nn_u_8x8_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nn_u_8x8_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nt_l_8x8_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [L00 *; A10 L11]
-void kernel_dsyrk_nt_l_8x8_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [L00 *; A10 L11]
-void kernel_dtrsm_nt_rl_inv_8x8l_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_8x8l_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_8x8u_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_8x8u_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E, int km, int kn);
-// 8x4
-void kernel_dgemm_nt_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nt_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
-void kernel_dgemm_nt_8x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1);
-void kernel_dgemm_nn_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_8x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_tt_8x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_tt_8x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nn_u_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nn_u_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nt_l_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nt_l_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
-void kernel_dsyrk_nt_l_8x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1);
-void kernel_dtrmm_nt_ru_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd); //
-void kernel_dtrmm_nt_ru_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd, int km, int kn); //
-void kernel_dtrmm_nn_rl_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd);
-void kernel_dtrmm_nn_rl_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int km, int kn);
-void kernel_dtrmm_nn_rl_8x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_one_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
-void kernel_dtrsm_nt_rl_one_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
-void kernel_dtrsm_nt_ru_inv_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_ru_one_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
-void kernel_dtrsm_nt_ru_one_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
-void kernel_dtrsm_nn_ru_inv_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_inv_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde);
-void kernel_dtrsm_nn_ll_one_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, int km, int kn);
-void kernel_dtrsm_nn_lu_inv_8x4_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_lu_inv_8x4_vs_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-// 4x8
-void kernel_dgemm_nt_4x8_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nt_4x8_vs_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dgemm_nn_4x8_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_4x8_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_4x8_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_tt_4x8_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_4x8_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dtrsm_nt_rl_inv_4x8_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_4x8_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E, int km, int kn);
-// 8x2
-void kernel_dgemm_nn_8x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_8x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-// 2x8
-void kernel_dgemm_nn_2x8_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_2x8_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-// 10xX
-void kernel_dgemm_nn_10x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_10x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_10x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_10x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-// 6xX
-void kernel_dgemm_nn_8x6_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_8x6_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_6x8_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_6x8_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_6x6_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_6x6_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_6x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_6x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_6x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_6x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-// 4x4
-void kernel_dgemm_nt_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dgemm_nt_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dgemm_nt_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dgemm_nn_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_nn_4x4_gen_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_tt_4x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, double *D); //
-void kernel_dgemm_tt_4x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_4x4_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dsyrk_nn_u_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dsyrk_nn_u_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dsyrk_nt_l_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_l_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dsyrk_nt_l_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dsyrk_nt_u_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_u_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dsyrk_nt_u_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dtrmm_nt_ru_4x4_lib4(int k, double *alpha, double *A, double *B, double *D); //
-void kernel_dtrmm_nt_ru_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *D, int km, int kn); //
-void kernel_dtrmm_nn_rl_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D);
-void kernel_dtrmm_nn_rl_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1);
-void kernel_dtrmm_nn_rl_4x4_gen_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dtrsm_nt_rl_inv_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_one_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E);
-void kernel_dtrsm_nt_rl_one_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, int km, int kn);
-void kernel_dtrsm_nt_ru_inv_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_ru_one_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E);
-void kernel_dtrsm_nt_ru_one_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, int km, int kn);
-void kernel_dtrsm_nn_ru_inv_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_inv_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E);
-void kernel_dtrsm_nn_ll_one_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, int km, int kn);
-void kernel_dtrsm_nn_lu_inv_4x4_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_lu_inv_4x4_vs_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_lu_one_4x4_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E);
-void kernel_dtrsm_nn_lu_one_4x4_vs_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, int km, int kn);
-// 4x2
-void kernel_dgemm_nn_4x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_4x2_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_nt_4x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D);
-void kernel_dgemm_nt_4x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1);
-void kernel_dsyrk_nt_l_4x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_l_4x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dtrmm_nn_rl_4x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D);
-void kernel_dtrmm_nn_rl_4x2_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_4x2_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_4x2_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-// 2x4
-void kernel_dgemm_nn_2x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_2x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-// 2x2
-void kernel_dgemm_nn_2x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_l_2x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_l_2x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-// diag
-void kernel_dgemm_diag_right_4_a0_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *D, int sdd);
-void kernel_dgemm_diag_right_4_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
-void kernel_dgemm_diag_right_3_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
-void kernel_dgemm_diag_right_2_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
-void kernel_dgemm_diag_right_1_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
-void kernel_dgemm_diag_left_4_a0_lib4(int kmax, double *alpha, double *A, double *B, double *D);
-void kernel_dgemm_diag_left_4_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
-void kernel_dgemm_diag_left_3_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
-void kernel_dgemm_diag_left_2_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
-void kernel_dgemm_diag_left_1_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
-// low rank update
-void kernel_dger4_sub_12r_lib4(int k, double *A, int sda, double *B, double *C, int sdc);
-void kernel_dger4_sub_12r_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, int km);
-void kernel_dger4_sub_8r_lib4(int k, double *A, int sda, double *B, double *C, int sdc);
-void kernel_dger4_sub_8r_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, int km);
-void kernel_dger4_sub_4r_lib4(int n, double *A, double *B, double *C);
-void kernel_dger4_sub_4r_vs_lib4(int n, double *A, double *B, double *C, int km);
-
-
-
-// LAPACK
-// 12x4
-void kernel_dpotrf_nt_l_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dpotrf_nt_l_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nn_l_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nn_l_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nn_m_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nn_m_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nn_r_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nn_r_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_l_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nt_l_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_m_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nt_m_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_r_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nt_r_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-// 8x8
-void kernel_dpotrf_nt_l_8x8_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dpotrf_nt_l_8x8_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-// 8x4
-void kernel_dpotrf_nt_l_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dpotrf_nt_l_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nn_l_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nn_l_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nn_r_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nn_r_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_l_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nt_l_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_r_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nt_r_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-// 4x4
-void kernel_dpotrf_nt_l_4x4_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
-void kernel_dpotrf_nt_l_4x4_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
-#if defined(TARGET_X64_INTEL_SANDY_BRIDGE)
-void kernel_dlauum_nt_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dlauum_nt_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-#endif
-void kernel_dgetrf_nn_4x4_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *inv_diag_D);
-void kernel_dgetrf_nn_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_4x4_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
-void kernel_dgetrf_nt_4x4_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
-void kernel_dgeqrf_4_lib4(int m, double *pD, int sdd, double *dD);
-void kernel_dgeqrf_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
-void kernel_dlarf_4_lib4(int m, int n, double *pV, int sdv, double *tau, double *pC, int sdc); // rank-4 reflector
-void kernel_dlarf_t_4_lib4(int m, int n, double *pD, int sdd, double *pVt, double *dD, double *pC0, int sdc, double *pW);
-void kernel_dgelqf_4_lib4(int n, double *pD, double *dD);
-void kernel_dgelqf_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
-void kernel_dlarft_4_lib4(int kmax, double *pD, double *dD, double *pT);
-void kernel_dlarft_3_lib4(int kmax, double *pD, double *dD, double *pT);
-void kernel_dlarft_2_lib4(int kmax, double *pD, double *dD, double *pT);
-void kernel_dlarft_1_lib4(int kmax, double *pD, double *dD, double *pT);
-void kernel_dgelqf_dlarft12_12_lib4(int n, double *pD, int sdd, double *dD, double *pT);
-void kernel_dgelqf_dlarft4_12_lib4(int n, double *pD, int sdd, double *dD, double *pT);
-void kernel_dgelqf_dlarft4_8_lib4(int n, double *pD, int sdd, double *dD, double *pT);
-void kernel_dgelqf_dlarft4_4_lib4(int n, double *pD, double *dD, double *pT);
-void kernel_dlarfb12_rn_12_lib4(int kmax, double *pV, int sdd, double *pT, double *pD, double *pK);
-void kernel_dlarfb12_rn_4_lib4(int kmax, double *pV, int sdd, double *pT, double *pD, double *pK, int km);
-void kernel_dlarfb4_rn_12_lib4(int kmax, double *pV, double *pT, double *pD, int sdd);
-void kernel_dlarfb4_rn_8_lib4(int kmax, double *pV, double *pT, double *pD, int sdd);
-void kernel_dlarfb4_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb3_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb2_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb1_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb4_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb3_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb2_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb1_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb4_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb3_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb2_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb1_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb4_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb3_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb2_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb1_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dgelqf_pd_dlarft12_12_lib4(int n, double *pD, int sdd, double *dD, double *pT);
-void kernel_dgelqf_pd_dlarft4_8_lib4(int n, double *pD, int sdd, double *dD, double *pT);
-void kernel_dgelqf_pd_dlarft4_4_lib4(int n, double *pD, double *dD, double *pT);
-void kernel_dgelqf_pd_4_lib4(int n, double *pD, double *dD);
-void kernel_dgelqf_pd_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
-void kernel_dgelqf_pd_la_vs_lib4(int m, int n1, int k, int offD, double *pD, int sdd, double *dD, int offA, double *pA, int sda);
-void kernel_dlarft_4_la_lib4(int n1, double *dD, double *pA, double *pT);
-void kernel_dlarfb4_rn_12_la_lib4(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda);
-void kernel_dlarfb4_rn_8_la_lib4(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda);
-void kernel_dlarfb4_rn_4_la_lib4(int n1, double *pVA, double *pT, double *pD, double *pA);
-void kernel_dlarfb4_rn_1_la_lib4(int n1, double *pVA, double *pT, double *pD, double *pA);
-void kernel_dgelqf_pd_lla_vs_lib4(int m, int n0, int n1, int k, int offD, double *pD, int sdd, double *dD, int offL, double *pL, int sdl, int offA, double *pA, int sda);
-void kernel_dlarft_4_lla_lib4(int n0, int n1, double *dD, double *pL, double *pA, double *pT);
-void kernel_dlarfb4_rn_12_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda);
-void kernel_dlarfb4_rn_8_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda);
-void kernel_dlarfb4_rn_4_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
-void kernel_dlarfb4_rn_1_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
-// 4x2
-void kernel_dpotrf_nt_l_4x2_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
-void kernel_dpotrf_nt_l_4x2_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
-// 2x2
-void kernel_dpotrf_nt_l_2x2_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
-void kernel_dpotrf_nt_l_2x2_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
-// 12
-void kernel_dgetrf_pivot_12_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_12_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n);
-// 8
-void kernel_dgetrf_pivot_8_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_8_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n);
-// 4
-void kernel_dgetrf_pivot_4_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_4_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n1);
-// vector
-void kernel_drowsw_lib4(int kmax, double *pA, double *pC);
-
-
-
-// merged routines
-// 12x4
-void kernel_dgemm_dtrsm_nt_rl_inv_12x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_12x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dsyrk_dpotrf_nt_l_12x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_12x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-// 4x12
-void kernel_dgemm_dtrsm_nt_rl_inv_4x12_vs_lib4(int kp, double *Ap, double *Bp, int sdbp, int km_, double *Am, double *Bm, int sdbm, double *C, double *D, double *E, int sde, double *inv_diag_E, int km, int kn);
-// 8x8
-void kernel_dsyrk_dpotrf_nt_l_8x8_lib4(int kp, double *Ap, int sdap, double *Bp, int sdbp, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_8x8_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdbp, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgemm_dtrsm_nt_rl_inv_8x8l_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdb, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dgemm_dtrsm_nt_rl_inv_8x8u_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdb, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-// 8x4
-void kernel_dgemm_dtrsm_nt_rl_inv_8x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_8x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dsyrk_dpotrf_nt_l_8x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_8x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-// 4x8
-void kernel_dgemm_dtrsm_nt_rl_inv_4x8_vs_lib4(int kp, double *Ap, double *Bp, int sdbp, int km_, double *Am, double *Bm, int sdbm, double *C, double *D, double *E, int sde, double *inv_diag_E, int km, int kn);
-// 4x4
-void kernel_dgemm_dtrsm_nt_rl_inv_4x4_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_4x4_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dsyrk_dpotrf_nt_l_4x4_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_4x4_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
-// 4x2
-void kernel_dgemm_dtrsm_nt_rl_inv_4x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_4x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dsyrk_dpotrf_nt_l_4x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_4x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
-// 2x2
-void kernel_dsyrk_dpotrf_nt_l_2x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_2x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
-
-/*
- *
- * Auxiliary routines
- *
- * cpsc copy and scale, scale
- * cp copy
- * add
- * set and scale
- * transpose and scale
- * set and scale
- *
- */
-
-// copy and scale
-void kernel_dgecpsc_8_0_lib4(int tri, int kmax, double alpha, double *A0, int sda,  double *B, int sdb);
-void kernel_dgecpsc_8_1_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-void kernel_dgecpsc_8_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-void kernel_dgecpsc_8_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-
-void kernel_dgecpsc_4_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
-void kernel_dgecpsc_4_1_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgecpsc_4_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgecpsc_4_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-
-void kernel_dgecpsc_3_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
-void kernel_dgecpsc_3_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgecpsc_3_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-
-void kernel_dgecpsc_2_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
-void kernel_dgecpsc_2_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-
-void kernel_dgecpsc_1_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
-
-// copy only
-void kernel_dgecp_8_0_lib4(int tri, int kmax, double *A, int sda, double *B, int sdb);
-
-void kernel_dgecp_4_0_lib4(int tri, int kmax, double *A, double *B);
-
-// add
-void kernel_dgead_8_0_lib4(int kmax, double alpha, double *A0, int sda,  double *B, int sdb);
-void kernel_dgead_8_1_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-void kernel_dgead_8_2_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-void kernel_dgead_8_3_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-void kernel_dgead_4_0_lib4(int kmax, double alpha, double *A, double *B);
-void kernel_dgead_4_1_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_4_2_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_4_3_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_3_0_lib4(int kmax, double alpha, double *A, double *B);
-void kernel_dgead_3_2_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_3_3_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_2_0_lib4(int kmax, double alpha, double *A, double *B);
-void kernel_dgead_2_3_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_1_0_lib4(int kmax, double alpha, double *A, double *B);
-
-// set
-void kernel_dgeset_4_lib4(int kmax, double alpha, double *A);
-void kernel_dtrset_4_lib4(int kmax, double alpha, double *A);
-
-// traspose
-void kernel_dgetr_8_lib4(int tri, int kmax, int kna, double alpha, double *A, int sda, double *C, int sdc);
-void kernel_dgetr_4_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
-void kernel_dgetr_3_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
-void kernel_dgetr_2_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
-void kernel_dgetr_1_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
-void kernel_dgetr_4_0_lib4(int m, double *A, int sda, double *B);
-
-
-
-// pack
-// 12
-void kernel_dpack_nn_12_lib4(int kmax, double *A, int lda, double *B, int sdb);
-void kernel_dpack_nn_12_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1);
-void kernel_dpack_tt_12_lib4(int kmax, double *A, int lda, double *B, int sdb);
-// 8
-void kernel_dpack_nn_8_lib4(int kmax, double *A, int lda, double *B, int sdb);
-void kernel_dpack_nn_8_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1);
-void kernel_dpack_tt_8_lib4(int kmax, double *A, int lda, double *B, int sdb);
-// 4
-void kernel_dpack_nn_4_lib4(int kmax, double *A, int lda, double *B);
-void kernel_dpack_nn_4_vs_lib4(int kmax, double *A, int lda, double *B, int m1);
-void kernel_dpack_tn_4_p0_lib4(int kmax, double *A, int lda, double *B);
-void kernel_dpack_tn_4_lib4(int kmax, double *A, int lda, double *B);
-void kernel_dpack_tn_4_vs_lib4(int kmax, double *A, int lda, double *B, int m1);
-void kernel_dpack_tt_4_lib4(int kmax, double *A, int lda, double *B, int sdb);
-void kernel_dpack_tt_4_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1);
-// unpack
-// 12
-void kernel_dunpack_nn_12_lib4(int kmax, double *A, int sda, double *B, int ldb);
-void kernel_dunpack_nn_12_vs_lib4(int kmax, double *A, int sda, double *B, int ldb, int m1);
-void kernel_dunpack_tt_12_lib4(int kmax, double *A, int sda, double *B, int ldb);
-// 8
-void kernel_dunpack_nn_8_lib4(int kmax, double *A, int sda, double *B, int ldb);
-void kernel_dunpack_nn_8_vs_lib4(int kmax, double *A, int sda, double *B, int ldb, int m1);
-void kernel_dunpack_tt_8_lib4(int kmax, double *A, int sda, double *B, int ldb);
-// 4
-void kernel_dunpack_nn_4_lib4(int kmax, double *A, double *B, int ldb);
-void kernel_dunpack_nn_4_vs_lib4(int kmax, double *A, double *B, int ldb, int m1);
-void kernel_dunpack_nt_4_lib4(int kmax, double *A, double *B, int ldb);
-void kernel_dunpack_nt_4_vs_lib4(int kmax, double *A, double *B, int ldb, int m1);
-void kernel_dunpack_tt_4_lib4(int kmax, double *A, int sda, double *B, int ldb);
-
-// panel copy
-// 12
-void kernel_dpacp_nn_12_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb);
-void kernel_dpacp_nn_12_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1);
-// 8
-void kernel_dpacp_nn_8_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb);
-void kernel_dpacp_nn_8_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1);
-// 4
-void kernel_dpacp_nt_4_lib4(int kmax, double *A, int offsetB, double *B, int sdb);
-void kernel_dpacp_tn_4_lib4(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_nn_4_lib4(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_nn_4_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int m1);
-
-
-
-/************************************************
-* BLAS API kernels
-************************************************/
-
-//#if defined(BLAS_API)
-
-// A, B panel-major bs=4; C, D column-major
-// 12x4
-void kernel_dgemm_nt_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_12x4_p0_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-void kernel_dsyrk_nt_l_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_u_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_u_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_12x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_12x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyr2k_nt_l_12x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyr2k_nt_l_12x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_12x4_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_12x4_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nt_ll_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nt_ll_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_rl_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_12x4_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_12x4_vs_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_rl_one_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_ru_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_ru_one_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dpotrf_nt_l_12x4_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD);
-void kernel_dpotrf_nt_l_12x4_vs_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
-// 4x12
-void kernel_dgemm_nt_4x12_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x12_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x12_p0_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1, double *A_p, double *B_p);
-void kernel_dtrmm_nt_rl_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_dsyrk_nt_l_8x8_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_8x8_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_u_8x8_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_u_8x8_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_8x8_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_8x8_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyr2k_nt_l_8x8_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyr2k_nt_l_8x8_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dpotrf_nt_l_8x8_lib44cc(int kmax, double *A, int sda, double *B, int sdb, double *C, int ldc, double *D, int ldd, double *dD);
-void kernel_dpotrf_nt_l_8x8_vs_lib44cc(int kmax, double *A, int sda, double *B, int sdb, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
-// 8x4
-void kernel_dgemm_nt_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_8x4_p0_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-void kernel_dgemm_nt_8x4_p_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p);
-void kernel_dsyrk_nt_l_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_u_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_u_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_8x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_8x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyr2k_nt_l_8x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyr2k_nt_l_8x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_8x4_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_8x4_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nt_ll_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nt_ll_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_rl_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_8x4_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_8x4_vs_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_rl_one_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_ru_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_ru_one_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dpotrf_nt_l_8x4_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD);
-void kernel_dpotrf_nt_l_8x4_vs_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
-// 4x8
-void kernel_dgemm_nt_4x8_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x8_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_dgemm_nt_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_l_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_u_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_u_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_4x4_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_4x4_vs_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyr2k_nt_l_4x4_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyr2k_nt_l_4x4_vs_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x4_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x4_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nt_ll_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_ll_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_rl_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_4x4_lib44ccc(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_4x4_vs_lib44ccc(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_rl_one_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_ru_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_ru_one_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dpotrf_nt_l_4x4_lib44cc(int kmax, double *A, double *B, double *C, int ldc, double *D, int ldd, double *dD);
-void kernel_dpotrf_nt_l_4x4_vs_lib44cc(int kmax, double *A, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
-// 4x2
-void kernel_dgemm_nt_4x2_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-
-// A panel-major bs=4; B, C, D column-major
-// 12x4
-void kernel_dgemm_nn_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_l_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_12x4_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_12x4_vs_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nn_ll_inv_12x4_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_12x4_vs_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ll_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_rl_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dgetrf_nn_l_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_l_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-void kernel_dgetrf_nn_m_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_m_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-void kernel_dgetrf_nn_r_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_r_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-// 4x12
-void kernel_dgemm_nn_4x12_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x12_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x12_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x12_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-// 8x4
-void kernel_dgemm_nn_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_l_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_8x4_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_8x4_vs_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nn_ll_inv_8x4_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_8x4_vs_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ll_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_rl_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dgetrf_nn_l_8x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_l_8x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-void kernel_dgetrf_nn_r_8x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_r_8x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-// 4x8
-void kernel_dgemm_nn_4x8_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x8_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x8_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x8_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_dgemm_nn_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_l_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_4x4_lib4ccc(int kmax, double *alpha, double *A0, double *B0, int ldb0, double *A1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_4x4_vs_lib4ccc(int kmax, double *alpha, double *A0, double *B0, int ldb0, double *A1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nn_rl_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nn_ru_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nn_ll_inv_4x4_lib4ccc4(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_4x4_vs_lib4ccc4(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ll_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_rl_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dgetrf_nn_4x4_lib4ccc(int kmax, double *A, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_4x4_vs_lib4ccc(int kmax, double *A, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-
-// B panel-major bs=4; A, C, D column-major
-// 12x4
-void kernel_dgemm_nt_12x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_12x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_12x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_12x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x12
-void kernel_dgemm_nt_4x12_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x12_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x12_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x12_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x4
-void kernel_dgemm_nt_8x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_8x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_8x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x8
-void kernel_dgemm_nt_4x8_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x8_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x8_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x8_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_dgemm_nt_4x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-
-// A, C, D panel-major; B, E column-major
-// TODO merge with above
-// 12x4
-void kernel_dtrsm_nn_rl_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-// 8x4
-void kernel_dtrsm_nn_rl_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-// 4x4
-void kernel_dtrsm_nn_rl_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
-
-// A, B, C, D column-major
-// 12x4
-void kernel_dgemm_nn_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x12
-void kernel_dgemm_nn_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x4
-void kernel_dgemm_nn_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x8
-void kernel_dgemm_nn_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_dgemm_nn_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-
-// A column-major
-// 12
-void kernel_dgetrf_pivot_12_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_12_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n);
-// 8
-void kernel_dgetrf_pivot_8_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_8_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n);
-// 4
-void kernel_dgetrf_pivot_4_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_4_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n);
-
-// vector
-void kernel_ddot_11_lib(int n, double *x, double *y, double *res);
-void kernel_daxpy_11_lib(int n, double *alpha, double *x, double *y);
-void kernel_drowsw_lib(int kmax, double *pA, int lda, double *pC, int ldc);
-
-//#endif // BLAS_API
-
-
-
-// larger kernels
-// 12
-void kernel_dgemm_nt_12xn_p0_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-void kernel_dgemm_nt_12xn_pl_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-void kernel_dgemm_nt_mx12_p0_lib44cc(int m, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-// 8
-void kernel_dgemm_nt_8xn_p0_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-
-
-
-// A, B panel-major bs=8; C, D column-major
-// 24x8
-void kernel_dgemm_nt_24x8_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_24x8_vs_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 16x8
-void kernel_dgemm_nt_16x8_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_16x8_vs_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_dgemm_nt_8x8_lib88cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x8_vs_lib88cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-
-// A, panel-major bs=8; B, C, D column-major
-// 24x8
-void kernel_dgemm_nt_24x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_24x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nn_24x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_24x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 16x8
-void kernel_dgemm_nt_16x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_16x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nn_16x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_16x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_dgemm_nt_8x8_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x8_vs_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nn_8x8_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_8x8_vs_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-
-// B, panel-major bs=8; A, C, D column-major
-// 8x24
-void kernel_dgemm_nt_8x24_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x24_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_8x24_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_8x24_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x16
-void kernel_dgemm_nt_8x16_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x16_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_8x16_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_8x16_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_dgemm_nt_8x8_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x8_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_8x8_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_8x8_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-
-
-// level 2 BLAS
-void kernel_dgemv_n_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z);
-void kernel_dgemv_n_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z, int km);
-void kernel_dgemv_t_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_t_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *beta, double *y, double *z, int km);
-void kernel_dsymv_l_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z);
-void kernel_dsymv_l_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z, int km);
-void kernel_dsymv_u_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z);
-void kernel_dsymv_u_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z, int km);
-void kernel_dger_4_libc(int kmax, double *alpha, double *x, double *y, double *C, int ldc, double *D, int ldd);
-void kernel_dger_4_vs_libc(int kmax, double *alpha, double *x, double *y, double *C, int ldc, double *D, int ldd, int km);
-
-
-
-// aux
-void kernel_dvecld_inc1(int kmax, double *x);
-void kernel_dveccp_inc1(int kmax, double *x, double *y);
-
-//void kernel_dgetr_nt_8_p0_lib(int kmax, double *A, int lda, double *C, int ldc, double *Ap, double *Bp);
-//void kernel_dgetr_nt_8_lib(int kmax, double *A, int lda, double *C, int ldc);
-//void kernel_dgetr_nt_4_lib(int kmax, double *A, int lda, double *C, int ldc);
-void kernel_dgetr_tn_8_p0_lib(int kmax, double *A, int lda, double *C, int ldc, double *Ap, double *Bp);
-void kernel_dgetr_tn_8_lib(int kmax, double *A, int lda, double *C, int ldc);
-void kernel_dgetr_tn_4_lib(int kmax, double *A, int lda, double *C, int ldc);
-void kernel_dgetr_tn_4_vs_lib(int kmax, double *A, int lda, double *C, int ldc, int m1);
-
-
-// building blocks for blocked algorithms
-//
-void blasfeo_hp_dgemm_nt_m2(int m, int n, int k, double alpha, double *pA, int sda, double *pB, int sdb, double beta, double *C, int ldc, double *D, int ldd);
-void blasfeo_hp_dgemm_nt_n2(int m, int n, int k, double alpha, double *pA, int sda, double *pB, int sdb, double beta, double *C, int ldc, double *D, int ldd);
-//
-void kernel_dpack_buffer_fn(int m, int n, double *A, int lda, double *pA, int sda);
-void kernel_dpack_buffer_ft(int m, int n, double *A, int lda, double *pA, int sda);
-void kernel_dpack_buffer_ln(int m, double *A, int lda, double *pA, int sda);
-void kernel_dpack_buffer_lt(int m, double *A, int lda, double *pA, int sda);
-void kernel_dpack_buffer_ut(int m, double *A, int lda, double *pA, int sda);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_KERNEL_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h
deleted file mode 100644
index 74c3fb5c0a22ff..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_I_AUX_EXT_DEP_H_
-#define BLASFEO_I_AUX_EXT_DEP_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#ifdef EXT_DEP
-
-// i_aux_extern_depend_lib
-void int_zeros(int **pA, int row, int col);
-void int_zeros_align(int **pA, int row, int col);
-void int_free(int *pA);
-void int_free_align(int *pA);
-void int_print_mat(int row, int col, int *A, int lda);
-int int_print_to_string_mat(char **buf_out, int row, int col, int *A, int lda);
-
-#endif // EXT_DEP
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_I_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h
deleted file mode 100644
index 6248853e292fd2..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h
+++ /dev/null
@@ -1,57 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_M_AUX_H_
-#define BLASFEO_M_AUX_H_
-
-#include "blasfeo_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-void blasfeo_cvt_d2s_vec(int m, struct blasfeo_dvec *vd, int vdi, struct blasfeo_svec *vs, int vsi);
-void blasfeo_cvt_s2d_vec(int m, struct blasfeo_svec *vs, int vsi, struct blasfeo_dvec *vd, int vdi);
-void blasfeo_cvt_d2s_mat(int m, int n, struct blasfeo_dmat *Md, int mid, int nid, struct blasfeo_smat *Ms, int mis, int nis);
-void blasfeo_cvt_s2d_mat(int m, int n, struct blasfeo_smat *Ms, int mis, int nis, struct blasfeo_dmat *Md, int mid, int nid);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_M_AUX_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_memory.h b/third_party/acados/include/blasfeo/include/blasfeo_memory.h
deleted file mode 100644
index da4e7fa090078a..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_memory.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2020 by Gianluca Frison.                                                          *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-#ifndef BLASFEO_MEMORY_H_
-#define BLASFEO_MEMORY_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-int blasfeo_is_init();
-//
-void blasfeo_init();
-//
-void blasfeo_quit();
-//
-void *blasfeo_get_buffer();
-
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // BLASFEO_MEMORY_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_naming.h b/third_party/acados/include/blasfeo/include/blasfeo_naming.h
deleted file mode 100644
index c289443b176793..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_naming.h
+++ /dev/null
@@ -1,77 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-/*
- * ----------- Naming conventions
- *
- *  (precision)(data)
- *
- * 1) d(double)
- *    s(single)
- *
- * 2) ge(general)
- *    tr(triangular)
- *    vec(vector)
- *    row(row)
- *    col(column)
- *    dia(diagonal)
- *
- * 3) se(set)
- *    cp(copy)
- *    sc(scale)
- *    ad(add)
- *    tr(transpose)
- *    in(insert)
- *    ex(extract)
- *    pe(premute)
- *    sw(swap)
- *
- *    f(factorization)
- *
- *    lqf(LQ factorization)
- *    qrf (factorization)
- *    trf (LU factorization using partial pivoting with row interchanges.)
- *
- * 4) _l(lower) / _u(upper)
- *    _lib8 (hp implementation, 8 rows kernel)
- *    _lib4 (hp implementation, 4 rows kernel)
- *    _lib0 (hp interface with reference implentation)
- *    _lib (reference implementation)
- *    _libref (reference implementation with dedicated namespace)
- *
- * 5) _sp(sparse)
- *    _exp(exponential format)
- */
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h b/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h
deleted file mode 100644
index 67a0a4da049bfb..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h
+++ /dev/null
@@ -1,88 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Ian McInerney                                                                           *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_PROCESSOR_FEATURES_H_
-#define BLASFEO_PROCESSOR_FEATURES_H_
-
-/**
- * Flags to indicate the different processor features
- */
-//enum
-//{
-//    // x86-64 CPU features
-//    BLASFEO_PROCESSOR_FEATURE_AVX  = 0x0001,    /// AVX instruction set
-//    BLASFEO_PROCESSOR_FEATURE_AVX2 = 0x0002,    /// AVX2 instruction set
-//    BLASFEO_PROCESSOR_FEATURE_FMA  = 0x0004,    /// FMA instruction set
-//    BLASFEO_PROCESSOR_FEATURE_SSE3 = 0x0008,    /// SSE3 instruction set
-//
-//    // ARM CPU features
-//    BLASFEO_PROCESSOR_FEATURE_VFPv3  = 0x0100,  /// VFPv3 instruction set
-//    BLASFEO_PROCESSOR_FEATURE_NEON   = 0x0100,  /// NEON instruction set
-//    BLASFEO_PROCESSOR_FEATURE_VFPv4  = 0x0100,  /// VFPv4 instruction set
-//    BLASFEO_PROCESSOR_FEATURE_NEONv2 = 0x0100,  /// NEONv2 instruction set
-//} BLASFEO_PROCESSOR_FEATURES;
-
-/**
- * Test the features that this processor provides against what the library was compiled with.
- *
- * @param features - Pointer to an integer to store the supported feature set (using the flags in the BLASFEO_PROCESSOR_FEATURES enum)
- * @return 0 if current processor doesn't support all features required for this library, 1 otherwise
- */
-int blasfeo_processor_cpu_features( int* features );
-
-/**
- * Test the features that this processor provides against what the library was compiled with.
- *
- * @param features - Pointer to an integer to store the supported feature set (using the flags in the BLASFEO_PROCESSOR_FEATURES enum)
- * @return 0 if current processor doesn't support all features required for this library, 1 otherwise
- */
-void blasfeo_processor_library_features( int* features );
-
-/**
- * Create a string listing the features the current processor supports.
- *
- * @param features - Flags from the BLASFEO_PROCESSOR_FEATURES enum indicating the features supported
- * @param featureString - Character array to store the feature string in
- */
-void blasfeo_processor_feature_string( int features, char* featureString );
-
-/**
- * Get a string listing the processor features that this library version needs to run.
- *
- * @param featureString - Character array to store the feature string in
- */
-void blasfeo_processor_library_string( char* featureString );
-
-#endif  // BLASFEO_PROCESSOR_FEATURES_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h
deleted file mode 100644
index f43f5e83ce9b31..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h
+++ /dev/null
@@ -1,168 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_AUX_H_
-#define BLASFEO_S_AUX_H_
-
-
-
-#include <stdlib.h>
-
-#include "blasfeo_s_aux_old.h"
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/************************************************
-* d_aux_lib.c
-************************************************/
-
-// returns the memory size (in bytes) needed for a smat
-size_t blasfeo_memsize_smat(int m, int n);
-size_t blasfeo_memsize_smat_ps(int ps, int m, int n);
-// returns the memory size (in bytes) needed for the diagonal of a smat
-size_t blasfeo_memsize_diag_smat(int m, int n);
-// returns the memory size (in bytes) needed for a svec
-size_t blasfeo_memsize_svec(int m);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
-void blasfeo_create_smat_ps(int ps, int m, int n, struct blasfeo_smat *sA, void *memory);
-// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
-void blasfeo_create_svec(int m, struct blasfeo_svec *sA, void *memory);
-void blasfeo_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_pack_u_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
-void blasfeo_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-void blasfeo_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-void blasfeo_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
-//void s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
-//void s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
-//void s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
-
-// ge
-void blasfeo_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
-float blasfeo_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// tr
-void blasfeo_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// dia
-void blasfeo_sdiare(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
-void blasfeo_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// row
-void blasfeo_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-void blasfeo_srowpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// col
-void blasfeo_scolex(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_scolad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_scolsc(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-void blasfeo_scolpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// vec
-void blasfeo_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
-void blasfeo_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
-void blasfeo_sveccpsc(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_svecin1(float a, struct blasfeo_svec *sx, int xi);
-float blasfeo_svecex1(struct blasfeo_svec *sx, int xi);
-void blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-void blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-void blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
-// z += alpha * x[idx]
-void blasfeo_svecexad_sp(int m, double alpha, int *idx, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-void blasfeo_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
-void blasfeo_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
-void blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
-void blasfeo_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
-void blasfeo_svecnrm_2(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
-void blasfeo_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
-void blasfeo_svecpei(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
-
-
-
-/*
-* Explicitly panel-major matrix format
-*/
-
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_pm_memsize_smat(int ps, int m, int n);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_pm_create_smat(int ps, int m, int n, struct blasfeo_pm_smat *sA, void *memory);
-
-
-
-/*
-* Explicitly column-major matrix format
-*/
-
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_cm_memsize_smat(int m, int n);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_cm_create_smat(int m, int n, struct blasfeo_pm_smat *sA, void *memory);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_AUX_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h
deleted file mode 100644
index 5209d20d377c21..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h
+++ /dev/null
@@ -1,141 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_AUX_EXT_DEP_H_
-#define BLASFEO_S_AUX_EXT_DEP_H_
-
-
-
-#include <stdio.h>
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#ifdef EXT_DEP
-
-/************************************************
-* s_aux_extern_depend_lib.c
-************************************************/
-
-/* column-major matrices */
-
-// dynamically allocate row*col floats of memory and set accordingly a pointer to float; set allocated memory to zero
-void s_zeros(float **pA, int row, int col);
-// dynamically allocate row*col floats of memory aligned to 64-byte boundaries and set accordingly a pointer to float; set allocated memory to zero
-void s_zeros_align(float **pA, int row, int col);
-// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to float; set allocated memory to zero
-void s_zeros_align_bytes(float **pA, int size);
-// free the memory allocated by d_zeros
-void s_free(float *pA);
-// free the memory allocated by d_zeros_align or d_zeros_align_bytes
-void s_free_align(float *pA);
-// print a column-major matrix
-void s_print_mat(int m, int n, float *A, int lda);
-// print the transposed of a column-major matrix
-void s_print_tran_mat(int row, int col, float *A, int lda);
-// print to file a column-major matrix
-void s_print_to_file_mat(FILE *file, int row, int col, float *A, int lda);
-// print to file a column-major matrix in exponential format
-void s_print_to_file_exp_mat(FILE *file, int row, int col, float *A, int lda);
-// print to string a column-major matrix
-void s_print_to_string_mat(char **buf_out, int row, int col, float *A, int lda);
-// print to file the transposed of a column-major matrix
-void s_print_tran_to_file_mat(FILE *file, int row, int col, float *A, int lda);
-// print to file the transposed of a column-major matrix in exponential format
-void s_print_tran_to_file_exp_mat(FILE *file, int row, int col, float *A, int lda);
-// print in exponential notation a column-major matrix
-void s_print_exp_mat(int m, int n, float *A, int lda);
-// print in exponential notation the transposed of a column-major matrix
-void s_print_exp_tran_mat(int row, int col, float *A, int lda);
-
-/* strmat and strvec */
-
-// create a strmat for a matrix of size m*n by dynamically allocating memory
-void blasfeo_allocate_smat(int m, int n, struct blasfeo_smat *sA);
-// create a strvec for a vector of size m by dynamically allocating memory
-void blasfeo_allocate_svec(int m, struct blasfeo_svec *sa);
-// free the memory allocated by blasfeo_allocate_dmat
-void blasfeo_free_smat(struct blasfeo_smat *sA);
-// free the memory allocated by blasfeo_allocate_dvec
-void blasfeo_free_svec(struct blasfeo_svec *sa);
-// print a strmat
-void blasfeo_print_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print in exponential notation a strmat
-void blasfeo_print_exp_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print to file a strmat
-void blasfeo_print_to_file_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print to file a strmat in exponential format
-void blasfeo_print_to_file_exp_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print to string a strmat
-void blasfeo_print_to_string_smat(char **buf_out, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print the transpose of a strmat
-void blasfeo_print_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print a strvec
-void blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
-// print in exponential notation a strvec
-void blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
-// print to file a strvec
-void blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-// print to string a strvec
-void blasfeo_print_to_string_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
-// print the transposed of a strvec
-void blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-// print in exponential notation the transposed of a strvec
-void blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-// print to file the transposed of a strvec
-void blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-// print to string the transposed of a strvec
-void blasfeo_print_to_string_tran_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
-
-#endif // EXT_DEP
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-
-
-#endif  // BLASFEO_S_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h
deleted file mode 100644
index 6640e20a406c85..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_AUX_EXT_DEP_REF_H_
-#define BLASFEO_S_AUX_EXT_DEP_REF_H_
-
-#if defined(EXT_DEP)
-
-
-
-#include <stdio.h>
-
-#include "blasfeo_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// expose reference BLASFEO for testing
-// see blasfeo_s_aux_exp_dep.h for help
-
-void blasfeo_print_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_allocate_smat_ref(int m, int n, struct blasfeo_smat_ref *sA);
-void blasfeo_allocate_svec_ref(int m, struct blasfeo_svec_ref *sa);
-void blasfeo_free_smat_ref(struct blasfeo_smat_ref *sA);
-void blasfeo_free_svec_ref(struct blasfeo_svec_ref *sa);
-void blasfeo_print_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_print_exp_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_print_to_file_smat_ref(FILE *file, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_print_to_file_exp_smat_ref(FILE *file, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_print_to_string_smat_ref(char **buf_out, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_to_string_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_to_string_tran_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-
-
-#endif  // EXT_DEP
-
-#endif  // BLASFEO_S_AUX_EXT_DEP_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h
deleted file mode 100644
index 5c6db37bab1b1d..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-// TODO remove
-//
-void strcp_l_lib(int m, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
-void sgead_lib(int m, int n, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
-void sgetr_lib(int m, int n, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-void strtr_l_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-void strtr_u_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-void sdiareg_lib(int kmax, float reg, int offset, float *pD, int sdd);
-void sdiain_sqrt_lib(int kmax, float *x, int offset, float *pD, int sdd);
-void sdiaex_lib(int kmax, float alpha, int offset, float *pD, int sdd, float *x);
-void sdiaad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
-void sdiain_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
-void sdiaex_libsp(int kmax, int *idx, float alpha, float *pD, int sdd, float *x);
-void sdiaad_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
-void sdiaadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD, int sdd);
-void srowin_lib(int kmax, float alpha, float *x, float *pD);
-void srowex_lib(int kmax, float alpha, float *pD, float *x);
-void srowad_lib(int kmax, float alpha, float *x, float *pD);
-void srowin_libsp(int kmax, float alpha, int *idx, float *x, float *pD);
-void srowad_libsp(int kmax, int *idx, float alpha, float *x, float *pD);
-void srowadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD);
-void srowsw_lib(int kmax, float *pA, float *pC);
-void scolin_lib(int kmax, float *x, int offset, float *pD, int sdd);
-void scolad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
-void scolin_libsp(int kmax, int *idx, float *x, float *pD, int sdd);
-void scolad_libsp(int kmax, float alpha, int *idx, float *x, float *pD, int sdd);
-void scolsw_lib(int kmax, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-void svecin_libsp(int kmax, int *idx, float *x, float *y);
-void svecad_libsp(int kmax, int *idx, float alpha, float *x, float *y);
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h
deleted file mode 100644
index 998e1d89997175..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h
+++ /dev/null
@@ -1,147 +0,0 @@
-
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_AUX_REF_H_
-#define BLASFEO_S_AUX_REF_H_
-
-
-
-#include <stdlib.h>
-
-#include "blasfeo_s_aux_old.h"
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/************************************************
-* d_aux_lib.c
-************************************************/
-
-// returns the memory size (in bytes) needed for a smat
-size_t blasfeo_ref_memsize_smat(int m, int n);
-size_t blasfeo_ref_memsize_smat_ps(int ps, int m, int n);
-// returns the memory size (in bytes) needed for the diagonal of a smat
-size_t blasfeo_ref_memsize_diag_smat(int m, int n);
-// returns the memory size (in bytes) needed for a svec
-size_t blasfeo_ref_memsize_svec(int m);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_ref_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
-void blasfeo_ref_create_smat_ps(int ps, int m, int n, struct blasfeo_smat *sA, void *memory);
-// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
-void blasfeo_ref_create_svec(int m, struct blasfeo_svec *sA, void *memory);
-void blasfeo_ref_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sB, int bi, int bj);
-void blasfeo_ref_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sB, int bi, int bj);
-void blasfeo_ref_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
-void blasfeo_ref_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-void blasfeo_ref_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-void blasfeo_ref_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
-void ref_s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
-void ref_s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
-void ref_s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
-
-// ge
-void blasfeo_ref_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
-float blasfeo_ref_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// tr
-void blasfeo_ref_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// dia
-void blasfeo_ref_sdiare(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// row
-void blasfeo_ref_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-void blasfeo_ref_srowpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// col
-void blasfeo_ref_scolex(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_scolad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_scolsc(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-void blasfeo_ref_scolpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// vec
-void blasfeo_ref_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_ref_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
-void blasfeo_ref_sveccpsc(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_ref_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_ref_svecin1(float a, struct blasfeo_svec *sx, int xi);
-float blasfeo_ref_svecex1(struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-void blasfeo_ref_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-void blasfeo_ref_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
-// z += alpha * x[idx]
-void blasfeo_ref_svecexad_sp(int m, double alpha, int *idx, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-void blasfeo_ref_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
-void blasfeo_ref_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
-void blasfeo_ref_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
-void blasfeo_ref_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
-void blasfeo_ref_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_svecpei(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_AUX_REF_H_
-
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h
deleted file mode 100644
index 08d9a14a6a7de4..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h
+++ /dev/null
@@ -1,177 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_AUX_TEST_H_
-#define BLASFEO_S_AUX_TEST_H_
-
-#include <stdio.h>
-
-#include "blasfeo_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-/************************************************
-* d_aux_lib.c
-************************************************/
-
-int test_blasfeo_memsize_smat(int m, int n);
-int test_blasfeo_memsize_diag_smat(int m, int n);
-int test_blasfeo_memsize_svec(int m);
-
-void test_blasfeo_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
-void test_blasfeo_create_svec(int m, struct blasfeo_svec *sA, void *memory);
-
-void test_blasfeo_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void test_blasfeo_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
-void test_blasfeo_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void test_blasfeo_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-void test_blasfeo_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
-void test_blasfeo_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-
-void test_s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
-void test_s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
-void test_s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
-// copy and scale
-void test_blasfeo_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void test_blasfeo_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void test_blasfeo_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-
-// void test_blasfeo_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
-// float test_blasfeo_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
-// void test_blasfeo_svecin1(float a, struct blasfeo_svec *sx, int xi);
-// float test_blasfeo_svecex1(struct blasfeo_svec *sx, int xi);
-
-// // A <= alpha
-// void test_blasfeo_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-// // a <= alpha
-// void test_blasfeo_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
-
-
-// void test_blasfeo_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-// void test_blasfeo_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
-
-// void test_strcp_l_lib(int m, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
-// void test_blasfeo_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-
-// void test_sgead_lib(int m, int n, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
-// void test_blasfeo_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// void test_blasfeo_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-
-// void test_sgetr_lib(int m, int n, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-// void test_blasfeo_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-
-// void test_strtr_l_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-// void test_blasfeo_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// void test_strtr_u_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-// void test_blasfeo_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-
-// void test_sdiareg_lib(int kmax, float reg, int offset, float *pD, int sdd);
-// void test_blasfeo_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-// void test_blasfeo_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-// void test_sdiain_sqrt_lib(int kmax, float *x, int offset, float *pD, int sdd);
-// void test_sdiaex_lib(int kmax, float alpha, int offset, float *pD, int sdd, float *x);
-// void test_sdiaad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
-// void test_sdiain_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
-// void test_blasfeo_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// void test_sdiaex_libsp(int kmax, int *idx, float alpha, float *pD, int sdd, float *x);
-// void test_blasfeo_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
-// void test_blasfeo_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-// void test_sdiaad_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
-// void test_blasfeo_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// void test_sdiaadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD, int sdd);
-// void test_blasfeo_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// void test_srowin_lib(int kmax, float alpha, float *x, float *pD);
-// void test_blasfeo_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-// void test_srowex_lib(int kmax, float alpha, float *pD, float *x);
-// void test_blasfeo_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-// void test_srowad_lib(int kmax, float alpha, float *x, float *pD);
-// void test_blasfeo_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-// void test_srowin_libsp(int kmax, float alpha, int *idx, float *x, float *pD);
-// void test_srowad_libsp(int kmax, int *idx, float alpha, float *x, float *pD);
-// void test_blasfeo_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// void test_srowadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD);
-// void test_srowsw_lib(int kmax, float *pA, float *pC);
-// void test_blasfeo_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// void test_blasfeo_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// void test_scolin_lib(int kmax, float *x, int offset, float *pD, int sdd);
-// void test_blasfeo_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-// void test_scolad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
-// void test_scolin_libsp(int kmax, int *idx, float *x, float *pD, int sdd);
-// void test_scolad_libsp(int kmax, float alpha, int *idx, float *x, float *pD, int sdd);
-// void test_scolsw_lib(int kmax, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-// void test_blasfeo_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// void test_blasfeo_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// void test_svecin_libsp(int kmax, int *idx, float *x, float *y);
-// void test_svecad_libsp(int kmax, int *idx, float alpha, float *x, float *y);
-// void test_blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-// void test_blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-// void test_blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
-// void test_blasfeo_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
-// void test_blasfeo_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
-// void test_blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
-// void test_blasfeo_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
-// void test_blasfeo_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
-
-
-// ext_dep
-
-void test_blasfeo_allocate_smat(int m, int n, struct blasfeo_smat *sA);
-void test_blasfeo_allocate_svec(int m, struct blasfeo_svec *sa);
-
-void test_blasfeo_free_smat(struct blasfeo_smat *sA);
-void test_blasfeo_free_svec(struct blasfeo_svec *sa);
-
-void test_blasfeo_print_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-void test_blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
-void test_blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-
-void test_blasfeo_print_to_file_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-void test_blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-void test_blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-
-void test_blasfeo_print_exp_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-void test_blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
-void test_blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_AUX_TEST_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h
deleted file mode 100644
index 200f1f51b1daac..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h
+++ /dev/null
@@ -1,46 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_BLAS_H_
-#define BLASFEO_S_BLAS_H_
-
-
-
-#include "blasfeo_s_blasfeo_api.h"
-#include "blasfeo_s_blas_api.h"
-
-
-
-#endif  // BLASFEO_S_BLAS_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h
deleted file mode 100644
index cf2b3e0a2d1d36..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h
+++ /dev/null
@@ -1,182 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef BLASFEO_S_BLAS_API_H_
-#define BLASFEO_S_BLAS_API_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef BLAS_API
-#ifdef CBLAS_API
-#ifndef BLASFEO_CBLAS_ENUM
-#define BLASFEO_CBLAS_ENUM
-#ifdef FORTRAN_BLAS_API
-#ifndef CBLAS_H
-enum CBLAS_ORDER {CblasRowMajor=101, CblasColMajor=102};
-enum CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113};
-enum CBLAS_UPLO {CblasUpper=121, CblasLower=122};
-enum CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132};
-enum CBLAS_SIDE {CblasLeft=141, CblasRight=142};
-#endif // CBLAS_H
-#else // FORTRAN_BLAS_API
-enum BLASFEO_CBLAS_ORDER {CblasRowMajor=101, CblasColMajor=102};
-enum BLASFEO_CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113};
-enum BLASFEO_CBLAS_UPLO {CblasUpper=121, CblasLower=122};
-enum BLASFEO_CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132};
-enum BLASFEO_CBLAS_SIDE {CblasLeft=141, CblasRight=142};
-#endif // FORTRAN_BLAS_API
-#endif // BLASFEO_CBLAS_ENUM
-#endif // CBLAS_API
-#endif // BLAS_API
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#ifdef BLAS_API
-
-
-
-#ifdef FORTRAN_BLAS_API
-
-
-
-// BLAS 1
-//
-void saxpy_(int *n, float *alpha, float *x, int *incx, float *y, int *incy);
-//
-float sdot_(int *n, float *x, int *incx, float *y, int *incy);
-
-// BLAS 3
-//
-void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
-//
-void strsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
-
-
-
-// LAPACK
-//
-void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
-
-
-
-#ifdef CBLAS_API
-
-
-
-// CBLAS 1
-//
-void cblas_saxpy(const int N, const float alpha, const float *X, const int incX, float *Y, const int incY);
-
-// CBLAS 3
-//
-void cblas_sgemm(const enum CBLAS_ORDER Order, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const float alpha, const float *A, const int lda, const float *B, const int ldb, const float beta, float *C, const int ldc);
-//
-void cblas_strsm(const enum CBLAS_ORDER Order, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const float alpha, const float *A, const int lda, float *B, const int ldb);
-
-
-
-#endif // CBLAS_API
-
-
-
-#else // BLASFEO_API
-
-
-
-// BLAS 1
-//
-void blasfeo_blas_saxpy(int *n, float *alpha, float *x, int *incx, float *y, int *incy);
-//
-float blasfeo_blas_sdot(int *n, float *x, int *incx, float *y, int *incy);
-
-// BLAS 3
-//
-void blasfeo_blas_sgemm(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
-//
-void blasfeo_blas_strsm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
-
-
-
-// LAPACK
-//
-void blasfeo_lapack_spotrf(char *uplo, int *m, float *A, int *lda, int *info);
-
-
-
-#ifdef CBLAS_API
-
-
-
-// CBLAS 1
-//
-void blasfeo_cblas_saxpy(const int N, const float alpha, const float *X, const int incX, float *Y, const int incY);
-
-// CBLAS 3
-//
-void blasfeo_cblas_sgemm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const float alpha, const float *A, const int lda, const float *B, const int ldb, const float beta, float *C, const int ldc);
-//
-void blasfeo_cblas_strsm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const float alpha, const float *A, const int lda, float *B, const int ldb);
-
-
-
-#endif // CBLAS_API
-
-
-
-#endif // BLASFEO_API
-
-
-
-#endif // BLAS_API
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_BLAS_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h
deleted file mode 100644
index 8b98104735fc6f..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h
+++ /dev/null
@@ -1,284 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_BLASFEO_API_H_
-#define BLASFEO_S_BLASFEO_API_H_
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-// level 1 BLAS
-//
-
-// z = y + alpha*x
-void blasfeo_saxpy(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = beta*y + alpha*x
-void blasfeo_saxpby(int kmax, float alpha, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = x .* y
-void blasfeo_svecmul(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z += x .* y
-void blasfeo_svecmulacc(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = x .* y, return sum(z) = x^T * y
-float blasfeo_svecmuldot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// return x^T * y
-float blasfeo_sdot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi);
-// construct givens plane rotation
-void blasfeo_srotg(float a, float b, float *c, float *s);
-// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
-void blasfeo_scolrot(int m, struct blasfeo_smat *sA, int ai, int aj0, int aj1, float c, float s);
-// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
-void blasfeo_srowrot(int m, struct blasfeo_smat *sA, int ai0, int ai1, int aj, float c, float s);
-
-
-
-//
-// level 2 BLAS
-//
-
-// dense
-
-// z <= beta * y + alpha * A * x
-void blasfeo_sgemv_n(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A' * x
-void blasfeo_sgemv_t(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(n)
-void blasfeo_strsv_lnn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(n)
-void blasfeo_strsv_ltn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
-void blasfeo_strsv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
-void blasfeo_strsv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
-void blasfeo_strsv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
-void blasfeo_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
-void blasfeo_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
-void blasfeo_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A * x ; A lower triangular
-void blasfeo_strmv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A * x ; A lower triangular, unit diagonal
-void blasfeo_strmv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A lower triangular
-void blasfeo_strmv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A lower triangular, unit diagonal
-void blasfeo_strmv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A * x ; A upper triangular
-void blasfeo_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A upper triangular
-void blasfeo_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z_n <= beta_n * y_n + alpha_n * A  * x_n
-// z_t <= beta_t * y_t + alpha_t * A' * x_t
-void blasfeo_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
-void blasfeo_ssymv_l(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-void blasfeo_ssymv_l_mn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
-void blasfeo_ssymv_u(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// D = C + alpha * x * y^T
-void blasfeo_sger(int m, int n, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-// diagonal
-
-// z <= beta * y + alpha * A * x, A diagonal
-void blasfeo_sgemv_d(int m, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-
-
-
-//
-// level 3 BLAS
-//
-
-// dense
-
-// D <= beta * C + alpha * A * B
-void blasfeo_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T
-void blasfeo_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D lower triangular
-void blasfeo_ssyrk_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ssyrk_ln_mn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D lower triangular
-void blasfeo_ssyrk_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D upper triangular
-void blasfeo_ssyrk_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D upper triangular
-void blasfeo_ssyrk_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^T ; B upper triangular
-void blasfeo_strmm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_strmm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_strsm_llnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
-void blasfeo_strsm_llnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_strsm_lltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
-void blasfeo_strsm_lltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_strsm_lunn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
-void blasfeo_strsm_lunu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_strsm_lutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
-void blasfeo_strsm_lutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_strsm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
-void blasfeo_strsm_rlnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_strsm_rltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
-void blasfeo_strsm_rltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_strsm_runn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
-void blasfeo_strsm_runu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_strsm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
-void blasfeo_strsm_rutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D lower triangular
-void blasfeo_ssyr2k_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D lower triangular
-void blasfeo_ssyr2k_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D upper triangular
-void blasfeo_ssyr2k_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D upper triangular
-void blasfeo_ssyr2k_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-// diagonal
-
-// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
-void sgemm_diag_left_ib(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
-void blasfeo_sgemm_dn(int m, int n, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
-void blasfeo_sgemm_nd(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sB, int bi, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-
-
-//
-// LAPACK
-//
-
-// D <= chol( C ) ; C, D lower triangular
-void blasfeo_spotrf_l(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_spotrf_l_mn(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= chol( C ) ; C, D upper triangular
-void blasfeo_spotrf_u(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= chol( C + A * B' ) ; C, D lower triangular
-void blasfeo_ssyrk_spotrf_ln(int m, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ssyrk_spotrf_ln_mn(int m, int n, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= lu( C ) ; no pivoting
-void blasfeo_sgetrf_np(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= lu( C ) ; row pivoting
-void blasfeo_sgetrf_rp(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, int *ipiv);
-// D <= qr( C )
-void blasfeo_sgeqrf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-int blasfeo_sgeqrf_worksize(int m, int n); // in bytes
-// D <= Q factor, where C is the output of the LQ factorization
-int blasfeo_sorglq_worksize(int m, int n, int k); // in bytes
-void blasfeo_sorglq(int m, int n, int k, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-// D <= lq( C )
-void blasfeo_sgelqf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-int blasfeo_sgelqf_worksize(int m, int n); // in bytes
-// D <= lq( C ), positive diagonal elements
-void blasfeo_sgelqf_pd(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_sgelqf_pd_la(int m, int n1, struct blasfeo_smat *sL, int li, int lj, struct blasfeo_smat *sA, int ai, int aj, void *work);
-// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_sgelqf_pd_lla(int m, int n1, struct blasfeo_smat *sL0, int l0i, int l0j, struct blasfeo_smat *sL1, int l1i, int l1j, struct blasfeo_smat *sA, int ai, int aj, void *work);
-
-
-
-
-//
-// BLAS API helper functions
-//
-
-#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
-// BLAS 3
-void blasfeo_cm_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_llnn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_llnu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lltn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lltu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lunn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lunu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lutn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lutu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rlnn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rlnu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rltn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rltu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_runn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_runu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rutn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rutu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-// LAPACK
-void blasfeo_cm_spotrf_l(int m, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_spotrf_u(int m, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-#endif
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_BLASFEO_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h
deleted file mode 100644
index f429a79dc3f45d..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h
+++ /dev/null
@@ -1,135 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_BLASFEO_API_REF_H_
-#define BLASFEO_S_BLASFEO_API_REF_H_
-
-#include "blasfeo_common.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// expose reference BLASFEO for testing
-
-// --- level 1
-
-void blasfeo_saxpy_ref(int kmax, float alpha, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_saxpby_ref(int kmax, float alpha, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_svecmul_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_svecmulacc_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-float blasfeo_svecmuldot_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-float blasfeo_sdot_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi);
-void blasfeo_srotg_ref(float a, float b, float *c, float *s);
-void blasfeo_scolrot_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj0, int aj1, float c, float s);
-void blasfeo_srowrot_ref(int m, struct blasfeo_smat_ref *sA, int ai0, int ai1, int aj, float c, float s);
-
-
-// --- level 2
-
-// dense
-void blasfeo_sgemv_n_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_sgemv_t_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_lnn_mn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_ltn_mn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_lnn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_lnu_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_ltn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_ltu_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_unn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_utn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_unn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_utn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_lnn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_ltn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_lnu_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_ltu_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_sgemv_nt_ref(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx_n, int xi_n, struct blasfeo_svec_ref *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec_ref *sy_n, int yi_n, struct blasfeo_svec_ref *sy_t, int yi_t, struct blasfeo_svec_ref *sz_n, int zi_n, struct blasfeo_svec_ref *sz_t, int zi_t);
-void blasfeo_ssymv_l_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-
-// diagonal
-void blasfeo_sgemv_d_ref(int m, float alpha, struct blasfeo_svec_ref *sA, int ai, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-
-
-// --- level 3
-
-// dense
-void blasfeo_sgemm_nn_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgemm_nt_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgemm_tn_ref(int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgemm_tt_ref(int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-
-void blasfeo_ssyrk_ln_mn_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_ln_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_lt_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_un_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_ut_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-
-void blasfeo_strmm_rutn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strmm_rlnn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strsm_rltn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strsm_rltu_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strsm_rutn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strsm_llnu_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strsm_lunn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-
-// diagonal
-void dgemm_diag_left_lib_ref(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
-void blasfeo_sgemm_dn_ref(int m, int n, float alpha, struct blasfeo_svec_ref *sA, int ai, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgemm_nd_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sB, int bi, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-
-// --- lapack
-
-void blasfeo_sgetrf_nopivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgetrf_rowpivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, int *ipiv);
-void blasfeo_spotrf_l_ref(int m, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_spotrf_l_mn_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_dpotrf_ln_ref(int m, int k, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_dpotrf_ln_mn_ref(int m, int n, int k, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgetrf_nopivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgetrf_rowpivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, int *ipiv);
-void blasfeo_sgeqrf_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
-void blasfeo_sgelqf_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
-void blasfeo_sgelqf_pd_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
-void blasfeo_sgelqf_pd_la_ref(int m, int n1, struct blasfeo_smat_ref *sL, int li, int lj, struct blasfeo_smat_ref *sA, int ai, int aj, void *work);
-void blasfeo_sgelqf_pd_lla_ref(int m, int n1, struct blasfeo_smat_ref *sL0, int l0i, int l0j, struct blasfeo_smat_ref *sL1, int l1i, int l1j, struct blasfeo_smat_ref *sA, int ai, int aj, void *work);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_BLASFEO_API_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h
deleted file mode 100644
index 17cb17969577ef..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h
+++ /dev/null
@@ -1,252 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_BLASFEO_REF_API_H_
-#define BLASFEO_S_BLASFEO_REF_API_H_
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-// level 1 BLAS
-//
-
-// z = y + alpha*x
-void blasfeo_ref_saxpy(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = beta*y + alpha*x
-void blasfeo_ref_saxpby(int kmax, float alpha, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = x .* y
-void blasfeo_ref_svecmul(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z += x .* y
-void blasfeo_ref_svecmulacc(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = x .* y, return sum(z) = x^T * y
-float blasfeo_ref_svecmuldot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// return x^T * y
-float blasfeo_ref_sdot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi);
-// construct givens plane rotation
-void blasfeo_ref_srotg(float a, float b, float *c, float *s);
-// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
-void blasfeo_ref_scolrot(int m, struct blasfeo_smat *sA, int ai, int aj0, int aj1, float c, float s);
-// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
-void blasfeo_ref_srowrot(int m, struct blasfeo_smat *sA, int ai0, int ai1, int aj, float c, float s);
-
-
-
-//
-// level 2 BLAS
-//
-
-// dense
-
-// z <= beta * y + alpha * A * x
-void blasfeo_ref_sgemv_n(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A' * x
-void blasfeo_ref_sgemv_t(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(n)
-void blasfeo_ref_strsv_lnn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(n)
-void blasfeo_ref_strsv_ltn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
-void blasfeo_ref_strsv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
-void blasfeo_ref_strsv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
-void blasfeo_ref_strsv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
-void blasfeo_ref_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
-void blasfeo_ref_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
-void blasfeo_ref_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A * x ; A lower triangular
-void blasfeo_ref_strmv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A * x ; A lower triangular, unit diagonal
-void blasfeo_ref_strmv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A lower triangular
-void blasfeo_ref_strmv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A lower triangular, unit diagonal
-void blasfeo_ref_strmv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A * x ; A upper triangular
-void blasfeo_ref_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A upper triangular
-void blasfeo_ref_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z_n <= beta_n * y_n + alpha_n * A  * x_n
-// z_t <= beta_t * y_t + alpha_t * A' * x_t
-void blasfeo_ref_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
-void blasfeo_ref_ssymv_l(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-void blasfeo_ref_ssymv_l_mn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
-void blasfeo_ref_ssymv_u(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// D = C + alpha * x * y^T
-void blasfeo_ref_sger(int m, int n, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-// diagonal
-
-// z <= beta * y + alpha * A * x, A diagonal
-void blasfeo_ref_sgemv_d(int m, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-
-
-
-//
-// level 3 BLAS
-//
-
-// dense
-
-// D <= beta * C + alpha * A * B
-void blasfeo_ref_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T
-void blasfeo_ref_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_ref_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_ref_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D lower triangular
-void blasfeo_ref_ssyrk_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_ssyrk_ln_mn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D lower triangular
-void blasfeo_ref_ssyrk_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D upper triangular
-void blasfeo_ref_ssyrk_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D upper triangular
-void blasfeo_ref_ssyrk_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^T ; B upper triangular
-void blasfeo_ref_strmm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_ref_strmm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_ref_strsm_llnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
-void blasfeo_ref_strsm_llnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_ref_strsm_lltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
-void blasfeo_ref_strsm_lltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_lunn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
-void blasfeo_ref_strsm_lunu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_lutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
-void blasfeo_ref_strsm_lutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
-void blasfeo_ref_strsm_rlnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_rltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
-void blasfeo_ref_strsm_rltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_runn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
-void blasfeo_ref_strsm_runu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
-void blasfeo_ref_strsm_rutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D lower triangular
-void blasfeo_ref_ssyr2k_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D lower triangular
-void blasfeo_ref_ssyr2k_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D upper triangular
-void blasfeo_ref_ssyr2k_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D upper triangular
-void blasfeo_ref_ssyr2k_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-// diagonal
-
-// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
-void sgemm_diag_left_ib(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
-void blasfeo_ref_sgemm_dn(int m, int n, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
-void blasfeo_ref_sgemm_nd(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sB, int bi, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-
-
-//
-// LAPACK
-//
-
-// D <= chol( C ) ; C, D lower triangular
-void blasfeo_ref_spotrf_l(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_spotrf_l_mn(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= chol( C ) ; C, D upper triangular
-void blasfeo_ref_spotrf_u(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= chol( C + A * B' ) ; C, D lower triangular
-void blasfeo_ref_ssyrk_spotrf_ln(int m, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_ssyrk_spotrf_ln_mn(int m, int n, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= lu( C ) ; no pivoting
-void blasfeo_ref_sgetrf_np(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= lu( C ) ; row pivoting
-void blasfeo_ref_sgetrf_rp(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, int *ipiv);
-// D <= qr( C )
-void blasfeo_ref_sgeqrf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-int blasfeo_ref_sgeqrf_worksize(int m, int n); // in bytes
-// D <= Q factor, where C is the output of the LQ factorization
-int blasfeo_ref_sorglq_worksize(int m, int n, int k); // in bytes
-void blasfeo_ref_sorglq(int m, int n, int k, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-// D <= lq( C )
-void blasfeo_ref_sgelqf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-int blasfeo_ref_sgelqf_worksize(int m, int n); // in bytes
-// D <= lq( C ), positive diagonal elements
-void blasfeo_ref_sgelqf_pd(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_ref_sgelqf_pd_la(int m, int n1, struct blasfeo_smat *sL, int li, int lj, struct blasfeo_smat *sA, int ai, int aj, void *work);
-// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_ref_sgelqf_pd_lla(int m, int n1, struct blasfeo_smat *sL0, int l0i, int l0j, struct blasfeo_smat *sL1, int l1i, int l1j, struct blasfeo_smat *sA, int ai, int aj, void *work);
-
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_BLASFEO_REF_API_H_
-
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h b/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h
deleted file mode 100644
index 99d2b28c823d57..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h
+++ /dev/null
@@ -1,692 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_KERNEL_H_
-#define BLASFEO_S_KERNEL_H_
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// utils
-void blasfeo_align_2MB(void *ptr, void **ptr_align);
-void blasfeo_align_4096_byte(void *ptr, void **ptr_align);
-void blasfeo_align_64_byte(void *ptr, void **ptr_align);
-
-
-
-//
-// lib8
-//
-
-// 24x4
-void kernel_sgemm_nt_24x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_nt_24x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_sgemm_nt_24x4_gen_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_sgemm_nn_24x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_nn_24x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_sgemm_nn_24x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_ssyrk_nt_l_24x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_ssyrk_nt_l_24x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_ssyrk_nt_l_20x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_ssyrk_nt_l_20x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_spotrf_nt_l_24x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_24x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_spotrf_nt_l_20x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_20x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_strsm_nt_rl_inv_24x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_24x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
-void kernel_sgemm_strsm_nt_rl_inv_24x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_sgemm_strsm_nt_rl_inv_24x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_20x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_20x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_ssyrk_spotrf_nt_l_24x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_24x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_strmm_nn_rl_24x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd);
-void kernel_strmm_nn_rl_24x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd, int km, int kn);
-
-// 16x8
-void kernel_sgemm_nt_16x8_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *spil);
-
-// 16x4
-void kernel_sgemm_nt_16x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_nt_16x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_sgemm_nt_16x4_gen_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_sgemm_nn_16x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_nn_16x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_sgemm_nn_16x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_ssyrk_nt_l_16x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_ssyrk_nt_l_16x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_ssyrk_nt_l_12x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_ssyrk_nt_l_12x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_spotrf_nt_l_16x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_16x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_spotrf_nt_l_12x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_12x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_strsm_nt_rl_inv_16x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_16x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
-void kernel_sgemm_strsm_nt_rl_inv_16x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_sgemm_strsm_nt_rl_inv_16x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_12x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_12x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_ssyrk_spotrf_nt_l_16x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_16x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_strmm_nn_rl_16x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd);
-void kernel_strmm_nn_rl_16x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd, int km, int kn);
-void kernel_strmm_nn_rl_16x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-
-// 8x8
-void kernel_sgemm_nt_8x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_nt_8x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
-void kernel_sgemm_nt_8x8_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_sgemm_nn_8x8_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D);
-void kernel_sgemm_nn_8x8_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn);
-void kernel_sgemm_nn_8x8_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_ssyrk_nt_l_8x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_ssyrk_nt_l_8x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
-void kernel_spotrf_nt_l_8x8_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
-void kernel_spotrf_nt_l_8x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_strsm_nt_rl_inv_8x8_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_8x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_sgemm_strsm_nt_rl_inv_8x8_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_sgemm_strsm_nt_rl_inv_8x8_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_8x8_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_8x8_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
-
-// 8x4
-void kernel_sgemm_nt_8x4_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_nt_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
-void kernel_sgemm_nt_8x4_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_sgemm_nn_8x4_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D);
-void kernel_sgemm_nn_8x4_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn);
-void kernel_sgemm_nn_8x4_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-//void kernel_ssyrk_nt_l_8x4_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_ssyrk_nt_l_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
-void kernel_spotrf_nt_l_8x4_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
-void kernel_spotrf_nt_l_8x4_vs_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_strsm_nt_rl_inv_8x4_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_8x4_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_sgemm_strsm_nt_rl_inv_8x4_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_sgemm_strsm_nt_rl_inv_8x4_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_8x4_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_8x4_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
-void kernel_strmm_nn_rl_8x4_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D);
-void kernel_strmm_nn_rl_8x4_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D, int km, int kn);
-void kernel_strmm_nn_rl_8x4_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_strmm_nt_ru_8x4_lib8(int k, float *alpha, float *A, float *B, float *D);
-void kernel_strmm_nt_ru_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *D, int km, int kn);
-
-// 4x8
-void kernel_sgemm_nt_4x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_nt_4x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
-void kernel_sgemm_nt_4x8_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_strsm_nt_rl_inv_4x8_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_4x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-
-// 8
-void kernel_sgemv_n_8_lib8(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z);
-void kernel_sgemv_n_8_vs_lib8(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k1);
-void kernel_sgemv_n_8_gen_lib8(int kmax, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k0, int k1);
-void kernel_sgemv_t_8_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
-void kernel_sgemv_t_8_vs_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
-void kernel_sgemv_t_4_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
-void kernel_sgemv_t_4_vs_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
-void kernel_strsv_ln_inv_8_lib8(int k, float *A, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_ln_inv_8_vs_lib8(int k, float *A, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
-void kernel_strsv_lt_inv_8_lib8(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_lt_inv_8_vs_lib8(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
-void kernel_sgemv_nt_4_lib8(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
-void kernel_sgemv_nt_4_vs_lib8(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t, int km);
-void kernel_ssymv_l_4l_lib8(int kmax, float *alpha, float *A, int sda, float *x, float *z);
-void kernel_ssymv_l_4r_lib8(int kmax, float *alpha, float *A, int sda, float *x, float *z);
-void kernel_ssymv_l_4l_gen_lib8(int kmax, float *alpha, int offA, float *A, int sda, float *x, float *z, int km);
-void kernel_ssymv_l_4r_gen_lib8(int kmax, float *alpha, int offA, float *A, int sda, float *x, float *z, int km);
-
-// -------- aux
-
-// ---- copy
-
-// lib4
-//
-void kernel_sgecpsc_4_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgecp_4_0_lib4(int kmax, float *A, float *B);
-
-void kernel_sgecpsc_4_1_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_4_1_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_sgecpsc_4_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_4_2_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_sgecpsc_4_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_4_3_lib4(int kmax, float *A0, int sda, float *B);
-
-void kernel_sgecpsc_3_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgecp_3_0_lib4(int kmax, float *A, float *B);
-void kernel_sgecpsc_3_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_3_2_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_sgecpsc_3_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_3_3_lib4(int kmax, float *A0, int sda, float *B);
-
-void kernel_sgecpsc_2_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgecp_2_0_lib4(int kmax, float *A, float *B);
-void kernel_sgecpsc_2_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_2_3_lib4(int kmax, float *A0, int sda, float *B);
-
-void kernel_sgecpsc_1_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgecp_1_0_lib4(int kmax, float *A, float *B);
-
-// lib8
-//
-void kernel_sgecp_8_0_lib8(int m, float *A, float *B);
-void kernel_sgecp_8_0_gen_lib8(int m, float *A, float *B, int m1);
-void kernel_sgecp_8_0_gen_u_lib8(int m, float *A, float *B, int m1);
-
-void kernel_sgesc_8_0_lib8(int m, float *alpha, float *A);
-void kernel_sgesc_8_0_gen_lib8(int m, float *alpha, float *A, int m1);
-void kernel_sgesc_8_0_gen_u_lib8(int m, float *alpha, float *A, int m1);
-
-void kernel_sgecpsc_8_0_lib8(int m, float *alpha, float *A, float *B);
-void kernel_sgecpsc_8_0_gen_lib8(int m, float *alpha, float *A, float *B, int m1);
-void kernel_sgecpsc_8_0_gen_u_lib8(int m, float *alpha, float *A, float *B, int m1);
-
-void kernel_sgecp_8_1_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_1_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_1_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_1_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_2_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_2_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_2_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_2_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_3_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_3_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_3_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_3_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_4_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_4_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_4_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_4_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_5_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_5_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_5_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_5_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_6_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_6_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_6_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_6_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_7_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_7_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_7_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_7_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-// transpose
-//
-void kernel_sgetr_8_0_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_0_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_1_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_1_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_2_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_2_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_3_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_3_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_4_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_4_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_5_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_5_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_6_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_6_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_7_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_7_gen_lib8(int m, float *A, int sda, float *B, int m1);
-
-// add
-//
-void kernel_sgead_8_0_lib8(int m, float *alpha, float *A, float *B);
-void kernel_sgead_8_0_gen_lib8(int m, float *alpha, float *A, float *B, int m1);
-void kernel_sgead_8_1_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_1_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_2_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_2_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_3_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_3_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_4_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_4_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_5_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_5_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_6_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_6_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_7_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_7_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-
-//
-// lib4
-//
-
-
-
-// level 2 BLAS
-// 4
-void kernel_sgemv_n_4_lib4(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z);
-void kernel_sgemv_n_4_vs_lib4(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k1);
-void kernel_sgemv_n_4_gen_lib4(int kmax, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k0, int k1);
-void kernel_sgemv_t_4_lib4(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
-void kernel_sgemv_t_4_vs_lib4(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
-void kernel_strsv_ln_inv_4_lib4(int k, float *A, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_ln_inv_4_vs_lib4(int k, float *A, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
-void kernel_strsv_lt_inv_4_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_lt_inv_3_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_lt_inv_2_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_lt_inv_1_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strmv_un_4_lib4(int k, float *A, float *x, float *z);
-void kernel_strmv_ut_4_lib4(int k, float *A, int sda, float *x, float *z);
-void kernel_strmv_ut_4_vs_lib4(int k, float *A, int sda, float *x, float *z, int km);
-void kernel_sgemv_nt_6_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
-void kernel_sgemv_nt_4_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
-void kernel_sgemv_nt_4_vs_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t, int km);
-void kernel_ssymv_l_4_lib4(int kmax, float *alpha, float *A, int sda, float *x_n, float *z_n);
-void kernel_ssymv_l_4_gen_lib4(int kmax, float *alpha, int offA, float *A, int sda, float *x_n, float *z_n, int km);
-
-
-
-// level 3 BLAS
-// 12x4
-void kernel_sgemm_nt_16x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nt_16x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-void kernel_strsm_nt_rl_inv_16x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_16x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
-// 12x4
-void kernel_sgemm_nt_12x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nt_12x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-void kernel_strsm_nt_rl_inv_12x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_12x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
-// 8x8
-void kernel_sgemm_nt_8x8_lib4(int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nt_8x8_vs_lib4(int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-void kernel_sgemm_nn_8x8_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nn_8x8_vs_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-// 8x4
-void kernel_sgemm_nt_8x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nt_8x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-void kernel_sgemm_nn_8x4_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nn_8x4_vs_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-void kernel_ssyrk_nt_l_8x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_ssyrk_nt_l_8x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); //
-void kernel_strsm_nt_rl_inv_8x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_8x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
-// 4x4
-void kernel_sgemm_nt_4x4_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); //
-void kernel_sgemm_nt_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); //
-void kernel_sgemm_nt_4x4_gen_lib4(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int k0, int k1);
-void kernel_sgemm_nn_4x4_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D); //
-void kernel_sgemm_nn_4x4_vs_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn); //
-void kernel_sgemm_nn_4x4_gen_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_ssyrk_nt_l_4x4_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); //
-void kernel_ssyrk_nt_l_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); //
-void kernel_ssyrk_nt_l_4x4_gen_lib4(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_strmm_nt_ru_4x4_lib4(int k, float *alpha, float *A, float *B, float *D); //
-void kernel_strmm_nt_ru_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *D, int km, int kn); //
-void kernel_strmm_nn_rl_4x4_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D);
-void kernel_strmm_nn_rl_4x4_gen_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_strsm_nt_rl_inv_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_strsm_nt_rl_one_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E);
-void kernel_strsm_nt_rl_one_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, int km, int kn);
-void kernel_strsm_nt_ru_inv_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nt_ru_inv_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_strsm_nt_ru_one_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E);
-void kernel_strsm_nt_ru_one_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, int km, int kn);
-void kernel_strsm_nn_ru_inv_4x4_lib4(int k, float *A, float *B, int sdb, float *beta, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nn_ru_inv_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_strsm_nn_ll_one_4x4_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *E);
-void kernel_strsm_nn_ll_one_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *E, int km, int kn);
-void kernel_strsm_nn_lu_inv_4x4_lib4(int kmax, float *A, float *B, int sdb, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nn_lu_inv_4x4_vs_lib4(int kmax, float *A, float *B, int sdb, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-// diag
-void kernel_sgemm_diag_right_4_a0_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *D, int sdd);
-void kernel_sgemm_diag_right_4_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_diag_right_3_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_diag_right_2_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_diag_right_1_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_diag_left_4_a0_lib4(int kmax, float *alpha, float *A, float *B, float *D);
-void kernel_sgemm_diag_left_4_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_diag_left_3_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_diag_left_2_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_diag_left_1_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-
-
-
-// LAPACK
-// 16x4
-void kernel_spotrf_nt_l_16x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_16x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
-// 12x4
-void kernel_spotrf_nt_l_12x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_12x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
-// 8x4
-void kernel_spotrf_nt_l_8x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_8x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
-// 4x4
-void kernel_spotrf_nt_l_4x4_lib4(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
-void kernel_spotrf_nt_l_4x4_vs_lib4(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_sgetrf_nn_4x4_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *inv_diag_D);
-void kernel_sgetrf_nn_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_sgetrf_pivot_4_lib4(int m, float *pA, int sda, float *inv_diag_A, int* ipiv);
-void kernel_sgetrf_pivot_4_vs_lib4(int m, int n, float *pA, int sda, float *inv_diag_A, int* ipiv);
-
-
-
-// merged routines
-// 4x4
-void kernel_sgemm_strsm_nt_rl_inv_4x4_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_sgemm_strsm_nt_rl_inv_4x4_vs_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_4x4_vs_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_4x4_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
-
-
-
-// auxiliary routines
-void kernel_strcp_l_4_0_lib4(int kmax, float *A, float *B);
-void kernel_strcp_l_4_1_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_4_2_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_4_3_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_3_0_lib4(int kmax, float *A, float *B);
-void kernel_strcp_l_3_2_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_3_3_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_2_0_lib4(int kmax, float *A, float *B);
-void kernel_strcp_l_2_3_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_1_0_lib4(int kmax, float *A, float *B);
-void kernel_sgead_4_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgead_4_1_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_4_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_4_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_3_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgead_3_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_3_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_2_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgead_2_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_1_0_lib4(int kmax, float *alpha, float *A, float *B);
-// TODO
-void kernel_sgeset_4_lib4(int kmax, float alpha, float *A);
-void kernel_strset_4_lib4(int kmax, float alpha, float *A);
-void kernel_sgetr_4_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
-void kernel_sgetr_3_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
-void kernel_sgetr_2_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
-void kernel_sgetr_1_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
-
-
-
-// pack
-// 24 lib 8
-void kernel_spack_nn_24_lib8(int kmax, float *A, int lda, float *B, int sdb);
-void kernel_spack_nn_24_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
-// 16 lib 8
-void kernel_spack_nn_16_lib8(int kmax, float *A, int lda, float *B, int sdb);
-void kernel_spack_nn_16_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
-// 8 lib 8
-void kernel_spack_nn_8_lib8(int kmax, float *A, int lda, float *B);
-void kernel_spack_nn_8_vs_lib8(int kmax, float *A, int lda, float *B, int m1);
-void kernel_spack_tn_8_lib8(int kmax, float *A, int lda, float *B);
-void kernel_spack_tn_8_vs_lib8(int kmax, float *A, int lda, float *B, int m1);
-void kernel_spack_tt_8_lib8(int kmax, float *A, int lda, float *B, int sdb);
-void kernel_spack_tt_8_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
-// 8 lib 4
-void kernel_spack_nn_8_lib4(int kmax, float *A, int lda, float *B, int sdb);
-void kernel_spack_nn_8_vs_lib4(int kmax, float *A, int lda, float *B, int sdb, int m1);
-//void kernel_spack_tt_8_lib4(int kmax, float *A, int lda, float *B, int sdb);
-// 4
-void kernel_spack_nn_4_lib4(int kmax, float *A, int lda, float *B);
-void kernel_spack_nn_4_vs_lib4(int kmax, float *A, int lda, float *B, int m1);
-void kernel_spack_tn_4_lib4(int kmax, float *A, int lda, float *B);
-void kernel_spack_tn_4_vs_lib4(int kmax, float *A, int lda, float *B, int m1);
-void kernel_spack_tt_4_lib4(int kmax, float *A, int lda, float *B, int sdb);
-void kernel_spack_tt_4_vs_lib4(int kmax, float *A, int lda, float *B, int sdb, int m1);
-// unpack
-// 8
-void kernel_sunpack_nn_8_lib4(int kmax, float *A, int sda, float *B, int ldb);
-void kernel_sunpack_nn_8_vs_lib4(int kmax, float *A, int sda, float *B, int ldb, int m1);
-//void kernel_sunpack_tt_8_lib4(int kmax, float *A, int sda, float *B, int ldb);
-// 4
-void kernel_sunpack_nn_4_lib4(int kmax, float *A, float *B, int ldb);
-void kernel_sunpack_nn_4_vs_lib4(int kmax, float *A, float *B, int ldb, int m1);
-void kernel_sunpack_nt_4_lib4(int kmax, float *A, float *B, int ldb);
-void kernel_sunpack_nt_4_vs_lib4(int kmax, float *A, float *B, int ldb, int m1);
-void kernel_sunpack_tt_4_lib4(int kmax, float *A, int sda, float *B, int ldb);
-
-// panel copy
-// 4
-void kernel_spacp_nt_4_lib4(int kmax, float *A, int offsetB, float *B, int sdb);
-void kernel_spacp_tn_4_lib4(int kmax, int offsetA, float *A, int sda, float *B);
-void kernel_spacp_nn_4_lib4(int kmax, int offsetA, float *A, int sda, float *B);
-void kernel_spacp_nn_4_vs_lib4(int kmax, int offsetA, float *A, int sda, float *B, int m1);
-
-
-
-/************************************************
-* BLAS API kernels
-************************************************/
-
-//#if defined(BLAS_API)
-
-// A, B panel-major bs=8; C, D column-major
-// 24x4
-void kernel_sgemm_nt_24x4_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_24x4_vs_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 16x4
-void kernel_sgemm_nt_16x4_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_16x4_vs_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_sgemm_nt_8x8_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x8_vs_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_spotrf_nt_l_8x8_lib88cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD);
-void kernel_spotrf_nt_l_8x8_vs_lib88cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD, int m1, int n1);
-void kernel_strsm_nt_rl_inv_8x8_lib88ccc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nt_rl_inv_8x8_vs_lib88ccc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-// 8x4
-void kernel_sgemm_nt_8x4_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x4_vs_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-
-// A, B panel-major bs=4; C, D column-major
-// 8x8
-void kernel_sgemm_nt_8x8_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-// 8x4
-void kernel_sgemm_nt_8x4_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x4_vs_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_spotrf_nt_l_8x4_lib44cc(int kmax, float *A, int sda, float *B, float *C, int ldc, float *D, int ldd, float *dD);
-void kernel_strsm_nt_rl_inv_8x4_lib44ccc(int kmax, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nt_rl_inv_8x4_vs_lib44ccc(int kmax, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-// 4x4
-void kernel_sgemm_nt_4x4_lib44cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x4_vs_lib44cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_strsm_nt_rl_inv_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE);
-void kernel_strsm_nt_rl_inv_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE, int m1, int n1);
-void kernel_strsm_nt_rl_inv_4x4_lib44ccc(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nt_rl_inv_4x4_vs_lib44ccc(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nt_rl_one_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E);
-void kernel_strsm_nt_rl_one_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int m1, int n1);
-void kernel_strsm_nt_ru_inv_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE);
-void kernel_strsm_nt_ru_inv_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE, int m1, int n1);
-void kernel_strsm_nt_ru_one_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E);
-void kernel_strsm_nt_ru_one_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int m1, int n1);
-void kernel_spotrf_nt_l_4x4_lib44cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD);
-void kernel_spotrf_nt_l_4x4_vs_lib44cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD, int m1, int n1);
-
-// B panel-major bs=8; A, C, D column-major
-// 4x24
-void kernel_sgemm_nt_4x24_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x24_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x24_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x24_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 4x16
-void kernel_sgemm_nt_4x16_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x16_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x16_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x16_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_sgemm_nt_8x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_8x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_8x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 4x8
-void kernel_sgemm_nt_4x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-
-// B panel-major bs=4; A, C, D column-major
-// 8x8
-void kernel_sgemm_nt_8x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_8x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_8x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 4x8
-void kernel_sgemm_nt_4x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_sgemm_nt_4x4_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x4_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x4_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x4_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-
-// A panel-major bs=8; B, C, D column-major
-// 24x4
-void kernel_sgemm_nn_24x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_24x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_24x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_24x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 16x4
-void kernel_sgemm_nn_16x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_16x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_16x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_16x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_sgemm_nn_8x8_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_8x8_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_8x8_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x8_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 8x4
-void kernel_sgemm_nn_8x4_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_8x4_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_8x4_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x4_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-
-// A panel-major bs=4; B, C, D column-major
-// 8x8
-void kernel_sgemm_nn_8x8_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x8_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-// 8x4
-void kernel_sgemm_nn_8x4_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_8x4_vs_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_8x4_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x4_vs_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_sgemm_nn_4x4_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_4x4_vs_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_4x4_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x4_vs_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_strsm_nn_rl_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nn_rl_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nn_rl_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
-void kernel_strsm_nn_rl_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
-void kernel_strsm_nt_rl_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nt_rl_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nt_rl_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
-void kernel_strsm_nt_rl_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
-void kernel_strsm_nn_ru_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nn_ru_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nn_ru_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
-void kernel_strsm_nn_ru_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
-void kernel_strsm_nt_ru_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nt_ru_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nt_ru_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
-void kernel_strsm_nt_ru_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
-
-// A, C, D panel-major; B, E column-major
-// TODO merge with above
-// 4x4
-void kernel_strsm_nn_rl_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
-void kernel_strsm_nn_rl_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nn_rl_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
-void kernel_strsm_nn_rl_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
-void kernel_strsm_nn_ru_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
-void kernel_strsm_nn_ru_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nn_ru_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
-void kernel_strsm_nn_ru_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
-void kernel_strsm_nt_rl_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
-void kernel_strsm_nt_rl_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nt_rl_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
-void kernel_strsm_nt_rl_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
-void kernel_strsm_nt_ru_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
-void kernel_strsm_nt_ru_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nt_ru_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
-void kernel_strsm_nt_ru_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
-
-// A, B, C, D column-major
-void kernel_sgemm_nn_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-
-// vector
-void kernel_sdot_11_lib(int n, float *x, float *y, float *res);
-void kernel_saxpy_11_lib(int n, float *alpha, float *x, float *y);
-
-
-//#endif // BLAS_API
-
-
-
-// larger kernels
-// 24
-void kernel_sgemm_nt_24xn_p0_lib88cc(int n, int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, float *A_p, float *B_p);
-
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_KERNEL_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h b/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h
deleted file mode 100644
index 9bd248b1d4f702..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_STDLIB_H_
-#define BLASFEO_STDLIB_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#include <stdlib.h>
-
-//
-void blasfeo_malloc(void **ptr, size_t size);
-//
-void blasfeo_malloc_align(void **ptr, size_t size);
-//
-void blasfeo_free(void *ptr);
-//
-void blasfeo_free_align(void *ptr);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // BLASFEO_STDLIB_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_target.h b/third_party/acados/include/blasfeo/include/blasfeo_target.h
deleted file mode 100644
index 51f617a6499273..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_target.h
+++ /dev/null
@@ -1,73 +0,0 @@
-#ifndef TARGET_X64_INTEL_HASWELL
-#define TARGET_X64_INTEL_HASWELL
-#endif
-
-#ifndef TARGET_NEED_FEATURE_AVX2
-#define TARGET_NEED_FEATURE_AVX2 1
-#endif
-
-#ifndef TARGET_NEED_FEATURE_FMA
-#define TARGET_NEED_FEATURE_FMA 1
-#endif
-
-#ifndef TARGET_NEED_FEATURE_SSE3
-/* #undef TARGET_NEED_FEATURE_SSE3 */
-#endif
-
-#ifndef TARGET_NEED_FEATURE_AVX
-/* #undef TARGET_NEED_FEATURE_AVX */
-#endif
-
-#ifndef TARGET_NEED_FEATURE_VFPv3
-/* #undef TARGET_NEED_FEATURE_VFPv3 */
-#endif
-
-#ifndef TARGET_NEED_FEATURE_NEON
-/* #undef TARGET_NEED_FEATURE_NEON */
-#endif
-
-#ifndef TARGET_NEED_FEATURE_VFPv4
-/* #undef TARGET_NEED_FEATURE_VFPv4 */
-#endif
-
-#ifndef TARGET_NEED_FEATURE_NEONv2
-/* #undef TARGET_NEED_FEATURE_NEONv2 */
-#endif
-
-#ifndef LA_HIGH_PERFORMANCE
-#define LA_HIGH_PERFORMANCE
-#endif
-
-#ifndef MF_PANELMAJ
-#define MF_PANELMAJ
-#endif
-
-#ifndef EXT_DEP
-#define ON 1
-#define OFF 0
-#if ON==ON
-#define EXT_DEP
-#endif
-#undef ON
-#undef OFF
-#endif
-
-#ifndef BLAS_API
-#define ON 1
-#define OFF 0
-#if OFF==ON
-#define BLAS_API
-#endif
-#undef ON
-#undef OFF
-#endif
-
-#ifndef FORTRAN_BLAS_API
-#define ON 1
-#define OFF 0
-#if OFF==ON
-#define FORTRAN_BLAS_API
-#endif
-#undef ON
-#undef OFF
-#endif
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_timing.h b/third_party/acados/include/blasfeo/include/blasfeo_timing.h
deleted file mode 100644
index 5671b888feec39..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_timing.h
+++ /dev/null
@@ -1,114 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_TIMING_H_
-#define BLASFEO_TIMING_H_
-
-//#include <stdbool.h>
-
-#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__)
-
-	/* Use Windows QueryPerformanceCounter for timing. */
-	#include <Windows.h>
-
-	/** A structure for keeping internal timer data. */
-	typedef struct blasfeo_timer_ {
-		LARGE_INTEGER tic;
-		LARGE_INTEGER toc;
-		LARGE_INTEGER freq;
-	} blasfeo_timer;
-
-#elif(defined __APPLE__)
-
-	#include <mach/mach_time.h>
-
-	/** A structure for keeping internal timer data. */
-	typedef struct blasfeo_timer_ {
-		uint64_t tic;
-		uint64_t toc;
-		mach_timebase_info_data_t tinfo;
-	} blasfeo_timer;
-
-#elif(defined __DSPACE__)
-
-	#include <brtenv.h>
-
-	typedef struct blasfeo_timer_ {
-		double time;
-	} blasfeo_timer;
-
-#elif(defined __XILINX_NONE_ELF__ || defined __XILINX_ULTRASCALE_NONE_ELF_JAILHOUSE__)
-
-	#include "xtime_l.h"
-
-	typedef struct blasfeo_timer_ {
-		uint64_t tic;
-		uint64_t toc;
-	} blasfeo_timer;
-
-#else
-
-	/* Use POSIX clock_gettime() for timing on non-Windows machines. */
-	#include <time.h>
-
-	#if __STDC_VERSION__ >= 199901L  // C99 Mode
-
-		#include <sys/stat.h>
-		#include <sys/time.h>
-
-		typedef struct blasfeo_timer_ {
-			struct timeval tic;
-			struct timeval toc;
-		} blasfeo_timer;
-
-	#else  // ANSI C Mode
-
-		/** A structure for keeping internal timer data. */
-		typedef struct blasfeo_timer_ {
-			struct timespec tic;
-			struct timespec toc;
-		} blasfeo_timer;
-
-	#endif  // __STDC_VERSION__ >= 199901L
-
-#endif  // (defined _WIN32 || defined _WIN64)
-
-/** A function for measurement of the current time. */
-void blasfeo_tic(blasfeo_timer* t);
-
-/** A function which returns the elapsed time. */
-double blasfeo_toc(blasfeo_timer* t);
-
-#endif  // BLASFEO_TIMING_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h
deleted file mode 100644
index 1598551185cc68..00000000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_V_AUX_EXT_DEP_H_
-#define BLASFEO_V_AUX_EXT_DEP_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-/************************************************
-* d_aux_extern_depend_lib.c
-************************************************/
-
-#ifdef EXT_DEP
-
-void v_zeros(void **ptrA, int size);
-// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to void; set allocated memory to zero
-void v_zeros_align(void **ptrA, int size);
-// free the memory allocated by v_zeros
-void v_free(void *ptrA);
-// free the memory allocated by v_zeros_aligned
-void v_free_align(void *ptrA);
-// dynamically allocate size bytes of memory and set accordingly a pointer to char; set allocated memory to zero
-void c_zeros(char **ptrA, int size);
-// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to char; set allocated memory to zero
-void c_zeros_align(char **ptrA, int size);
-// free the memory allocated by c_zeros
-void c_free(char *ptrA);
-// free the memory allocated by c_zeros_aligned
-void c_free_align(char *ptrA);
-
-#endif // EXT_DEP
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-
-
-#endif  // BLASFEO_V_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/d_blas.h b/third_party/acados/include/blasfeo/include/d_blas.h
deleted file mode 100644
index ffd2578da3c54d..00000000000000
--- a/third_party/acados/include/blasfeo/include/d_blas.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
-
-// level 1
-double ddot_(int *m, double *x, int *incx, double *y, int *incy);
-void dcopy_(int *m, double *x, int *incx, double *y, int *incy);
-void daxpy_(int *m, double *alpha, double *x, int *incx, double *y, int *incy);
-void dscal_(int *m, double *alpha, double *x, int *incx);
-void drot_(int *m, double *x, int *incx, double *y, int *incy, double *c, double *s);
-void drotg_(double *a, double *b, double *c, double *s);
-
-// level 2
-void dgemv_(char *ta, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-void dsymv_(char *uplo, int *m, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-void dtrmv_(char *uplo, char *trans, char *diag, int *n, double *A, int *lda, double *x, int *incx);
-void dtrsv_(char *uplo, char *trans, char *diag, int *n, double *A, int *lda, double *x, int *incx);
-void dger_(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda);
-
-// level 3
-void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-void dsyrk_(char *uplo, char *trans, int *n, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
-void dtrmm_(char *side, char *uplo, char *trans, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-void dtrsm_(char *side, char *uplo, char *trans, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-void dsyr2k_(char *uplo, char *trans, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-
-// lapack
-void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
-void dgetrf_(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
-void dgeqrf_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *lwork, int *info);
-void dgeqr2_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *info);
-void dgelqf_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *lwork, int *info);
-void dorglq_(int *m, int *n, int *k, double *A, int *lda, double *tau, double *work, int *lwork, int *info);
-
-
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/third_party/acados/include/blasfeo/include/d_blas_64.h b/third_party/acados/include/blasfeo/include/d_blas_64.h
deleted file mode 100644
index 4f40d00dfb3fe8..00000000000000
--- a/third_party/acados/include/blasfeo/include/d_blas_64.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
-
-// level 1
-double ddot_(long long *m, double *x, long long *incx, double *y, long long *incy);
-void dcopy_(long long *m, double *x, long long *incx, double *y, long long *incy);
-void daxpy_(long long *m, double *alpha, double *x, long long *incx, double *y, long long *incy);
-void dscal_(long long *m, double *alpha, double *x, long long *incx);
-
-// level 2
-void dgemv_(char *ta, long long *m, long long *n, double *alpha, double *A, long long *lda, double *x, long long *incx, double *beta, double *y, long long *incy);
-void dsymv_(char *uplo, long long *m, double *alpha, double *A, long long *lda, double *x, long long *incx, double *beta, double *y, long long *incy);
-void dtrmv_(char *uplo, char *trans, char *diag, long long *n, double *A, long long *lda, double *x, long long *incx);
-void dtrsv_(char *uplo, char *trans, char *diag, long long *n, double *A, long long *lda, double *x, long long *incx);
-void dger_(long long *m, long long *n, double *alpha, double *x, long long *incx, double *y, long long *incy, double *A, long long *lda);
-
-// level 3
-void dgemm_(char *ta, char *tb, long long *m, long long *n, long long *k, double *alpha, double *A, long long *lda, double *B, long long *ldb, double *beta, double *C, long long *ldc);
-void dsyrk_(char *uplo, char *trans, long long *n, long long *k, double *alpha, double *A, long long *lda, double *beta, double *C, long long *ldc);
-void dtrmm_(char *side, char *uplo, char *trans, char *diag, long long *m, long long *n, double *alpha, double *A, long long *lda, double *B, long long *ldb);
-void dtrsm_(char *side, char *uplo, char *trans, char *diag, long long *m, long long *n, double *alpha, double *A, long long *lda, double *B, long long *ldb);
-
-// lapack
-void dpotrf_(char *uplo, long long *m, double *A, long long *lda, long long *info);
-void dgetrf_(long long *m, long long *n, double *A, long long *lda, long long *ipiv, long long *info);
-void dgeqrf_(long long *m, long long *n, double *A, long long *lda, double *tau, double *work, long long *lwork, long long *info);
-void dgeqr2_(long long *m, long long *n, double *A, long long *lda, double *tau, double *work, long long *info);
-
-
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/third_party/acados/include/blasfeo/include/s_blas.h b/third_party/acados/include/blasfeo/include/s_blas.h
deleted file mode 100644
index 3b299ce64cdef6..00000000000000
--- a/third_party/acados/include/blasfeo/include/s_blas.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
-
-// level 1
-float sdot_(int *m, float *x, int *incx, float *y, int *incy);
-void scopy_(int *m, float *x, int *incx, float *y, int *incy);
-void saxpy_(int *m, float *alpha, float *x, int *incx, float *y, int *incy);
-void sscal_(int *m, float *alpha, float *x, int *incx);
-void srot_(int *m, float *x, int *incx, float *y, int *incy, float *c, float *s);
-void srotg_(float *a, float *b, float *c, float *s);
-
-// level 2
-void sgemv_(char *ta, int *m, int *n, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
-void ssymv_(char *uplo, int *m, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
-void strmv_(char *uplo, char *trans, char *diag, int *n, float *A, int *lda, float *x, int *incx);
-void strsv_(char *uplo, char *trans, char *diag, int *n, float *A, int *lda, float *x, int *incx);
-void sger_(int *m, int *n, float *alpha, float *x, int *incx, float *y, int *incy, float *A, int *lda);
-
-// level 3
-void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
-void ssyrk_(char *uplo, char *trans, int *n, int *k, float *alpha, float *A, int *lda, float *beta, float *C, int *ldc);
-void strmm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
-void strsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
-void ssyr2k_(char *uplo, char *trans, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
-
-// lapack
-void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
-void sgetrf_(int *m, int *n, float *A, int *lda, int *ipiv, int *info);
-void sgeqrf_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
-void sgeqr2_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *info);
-void sgelqf_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
-void sorglq_(int *m, int *n, int *k, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
-
-
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/third_party/acados/include/blasfeo/include/s_blas_64.h b/third_party/acados/include/blasfeo/include/s_blas_64.h
deleted file mode 100644
index b9efab6c236ed1..00000000000000
--- a/third_party/acados/include/blasfeo/include/s_blas_64.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
-
-// level 1
-float sdot_(long long *m, float *x, long long *incx, float *y, long long *incy);
-void scopy_(long long *m, float *x, long long *incx, float *y, long long *incy);
-void saxpy_(long long *m, float *alpha, float *x, long long *incx, float *y, long long *incy);
-void sscal_(long long *m, float *alpha, float *x, long long *incx);
-
-// level 2
-void sgemv_(char *ta, long long *m, long long *n, float *alpha, float *A, long long *lda, float *x, long long *incx, float *beta, float *y, long long *incy);
-void ssymv_(char *uplo, long long *m, float *alpha, float *A, long long *lda, float *x, long long *incx, float *beta, float *y, long long *incy);
-void strmv_(char *uplo, char *trans, char *diag, long long *n, float *A, long long *lda, float *x, long long *incx);
-void strsv_(char *uplo, char *trans, char *diag, long long *n, float *A, long long *lda, float *x, long long *incx);
-void sger_(long long *m, long long *n, float *alpha, float *x, long long *incx, float *y, long long *incy, float *A, long long *lda);
-
-// level 3
-void sgemm_(char *ta, char *tb, long long *m, long long *n, long long *k, float *alpha, float *A, long long *lda, float *B, long long *ldb, float *beta, float *C, long long *ldc);
-void ssyrk_(char *uplo, char *trans, long long *n, long long *k, float *alpha, float *A, long long *lda, float *beta, float *C, long long *ldc);
-void strmm_(char *side, char *uplo, char *transa, char *diag, long long *m, long long *n, float *alpha, float *A, long long *lda, float *B, long long *ldb);
-void strsm_(char *side, char *uplo, char *transa, char *diag, long long *m, long long *n, float *alpha, float *A, long long *lda, float *B, long long *ldb);
-
-// lapack
-void spotrf_(char *uplo, long long *m, float *A, long long *lda, long long *info);
-void sgetrf_(long long *m, long long *n, float *A, long long *lda, long long *ipiv, long long *info);
-void sgeqrf_(long long *m, long long *n, float *A, long long *lda, float *tau, float *work, long long *lwork, long long *info);
-void sgeqr2_(long long *m, long long *n, float *A, long long *lda, float *tau, float *work, long long *info);
-
-
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_aux_mem.h b/third_party/acados/include/hpipm/include/hpipm_aux_mem.h
deleted file mode 100644
index 7bd3d7e8bc53e9..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_aux_mem.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_AUX_MEM_H_
-#define HPIPM_AUX_MEM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void hpipm_zero_memset(hpipm_size_t memsize, void *mem);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_AUX_MEM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_aux_string.h b/third_party/acados/include/hpipm/include/hpipm_aux_string.h
deleted file mode 100644
index 804cba5dc1a88d..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_aux_string.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_AUX_STRING_H_
-#define HPIPM_AUX_STRING_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#define MAX_STR_LEN 5
-int hpipm_strcmp(char *str1, char *str2);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_AUX_STRING_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_common.h b/third_party/acados/include/hpipm/include/hpipm_common.h
deleted file mode 100644
index 0cc96a7b506568..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_common.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_COMMON_H_
-#define HPIPM_COMMON_H_
-
-#include <stddef.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef size_t hpipm_size_t;
-
-enum hpipm_mode
-	{
-	SPEED_ABS, // focus on speed, absolute IPM formulation
-	SPEED, // focus on speed, relative IPM formulation
-	BALANCE, // balanced mode, relative IPM formulation
-	ROBUST, // focus on robustness, relative IPM formulation
-	};
-
-enum hpipm_status
-	{
-	SUCCESS, // found solution satisfying accuracy tolerance
-	MAX_ITER, // maximum iteration number reached
-	MIN_STEP, // minimum step length reached
-	NAN_SOL, // NaN in solution detected
-	INCONS_EQ, // unconsistent equality constraints
-	};
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_COMMON_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h
deleted file mode 100644
index 0e4c41f22159ac..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_CAST_QCQP_H_
-#define HPIPM_D_CAST_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qcqp.h"
-#include "hpipm_d_dense_qcqp_sol.h"
-#include "hpipm_d_ocp_qcqp.h"
-#include "hpipm_d_ocp_qcqp_dim.h"
-#include "hpipm_d_ocp_qcqp_sol.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_cast_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, struct d_dense_qcqp_dim *dense_dim);
-//
-void d_cast_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_CAST_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond.h b/third_party/acados/include/hpipm/include/hpipm_d_cond.h
deleted file mode 100644
index 5900a2ab10201e..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_cond.h
+++ /dev/null
@@ -1,135 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_COND_H_
-#define HPIPM_D_COND_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp.h"
-#include "hpipm_d_dense_qp_sol.h"
-#include "hpipm_d_ocp_qp.h"
-#include "hpipm_d_ocp_qp_dim.h"
-#include "hpipm_d_ocp_qp_sol.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_cond_qp_arg
-	{
-	int cond_last_stage; // condense last stage
-	int cond_alg; // condensing algorithm: 0 N2-nx3, 1 N3-nx2
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
-	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_cond_qp_ws
-	{
-	struct blasfeo_dmat *Gamma;
-	struct blasfeo_dmat *GammaQ;
-	struct blasfeo_dmat *L;
-	struct blasfeo_dmat *Lx;
-	struct blasfeo_dmat *AL;
-	struct blasfeo_dvec *Gammab;
-	struct blasfeo_dvec *l;
-	struct blasfeo_dvec *tmp_nbgM;
-	struct blasfeo_dvec *tmp_nuxM;
-	int bs; // block size
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_cond_qp_arg_memsize();
-//
-void d_cond_qp_arg_create(struct d_cond_qp_arg *cond_arg, void *mem);
-//
-void d_cond_qp_arg_set_default(struct d_cond_qp_arg *cond_arg);
-// condensing algorithm: 0 N2-nx3, 1 N3-nx2
-void d_cond_qp_arg_set_cond_alg(int cond_alg, struct d_cond_qp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 square-root
-void d_cond_qp_arg_set_ric_alg(int ric_alg, struct d_cond_qp_arg *cond_arg);
-// condense last stage: 0 last stage disregarded, 1 last stage condensed too
-void d_cond_qp_arg_set_cond_last_stage(int cond_last_stage, struct d_cond_qp_arg *cond_arg);
-//
-void d_cond_qp_arg_set_comp_prim_sol(int value, struct d_cond_qp_arg *cond_arg);
-//
-void d_cond_qp_arg_set_comp_dual_sol_eq(int value, struct d_cond_qp_arg *cond_arg);
-//
-void d_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct d_cond_qp_arg *cond_arg);
-
-//
-void d_cond_qp_compute_dim(struct d_ocp_qp_dim *ocp_dim, struct d_dense_qp_dim *dense_dim);
-//
-hpipm_size_t d_cond_qp_ws_memsize(struct d_ocp_qp_dim *ocp_dim, struct d_cond_qp_arg *cond_arg);
-//
-void d_cond_qp_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws, void *mem);
-//
-void d_cond_qp_cond(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_qp_cond_lhs(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_qp_cond_rhs(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_qp_expand_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-// TODO remove
-void d_cond_qp_expand_primal_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-
-//
-void d_cond_qp_update(int *idxc, struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h b/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h
deleted file mode 100644
index 73afba3c7e75e2..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h
+++ /dev/null
@@ -1,92 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_COND_AUX_H_
-#define HPIPM_D_COND_AUX_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_cond_BAbt(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_BAt(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_b(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_RSQrq(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_RSQ(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_rq(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_DCtd(struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, struct blasfeo_dvec *d2, struct blasfeo_dvec *d_mask2, int *idxs_rev2, struct blasfeo_dvec *Z2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_DCt(struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, int *idxs_rev2, struct blasfeo_dvec *Z2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_d(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *d2, struct blasfeo_dvec *d_mask2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_expand_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_so, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_expand_primal_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_so, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-
-//
-void d_update_cond_BAbt(int *idxc, struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_update_cond_RSQrq_N2nx3(int *idxc, struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_update_cond_DCtd(int *idxc, struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, struct blasfeo_dvec *d2, int *idxs2, struct blasfeo_dvec *Z2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_COND_AUX_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h
deleted file mode 100644
index 266567bb8dfeaf..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h
+++ /dev/null
@@ -1,129 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_COND_QCQP_H_
-#define HPIPM_D_COND_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qcqp.h"
-#include "hpipm_d_dense_qcqp_sol.h"
-#include "hpipm_d_ocp_qcqp.h"
-#include "hpipm_d_ocp_qcqp_dim.h"
-#include "hpipm_d_ocp_qcqp_sol.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_cond_qcqp_arg
-	{
-	struct d_cond_qp_arg *qp_arg;
-	int cond_last_stage; // condense last stage
-//	int cond_variant; // TODO
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution equality constr (lam t)
-	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_cond_qcqp_ws
-	{
-	struct d_cond_qp_ws *qp_ws;
-	struct blasfeo_dmat *hess_array; // TODO remove
-	struct blasfeo_dmat *zero_hess; // TODO remove
-	struct blasfeo_dvec *grad_array; // TODO remove
-	struct blasfeo_dvec *zero_grad; // TODO remove
-	struct blasfeo_dvec *tmp_nvc;
-	struct blasfeo_dvec *tmp_nuxM;
-	struct blasfeo_dmat *GammaQ;
-	struct blasfeo_dmat *tmp_DCt;
-	struct blasfeo_dmat *tmp_nuM_nxM;
-//	struct blasfeo_dvec *d_qp;
-//	struct blasfeo_dvec *d_mask_qp;
-	hpipm_size_t memsize;
-	};
-
-
-//
-hpipm_size_t d_cond_qcqp_arg_memsize();
-//
-void d_cond_qcqp_arg_create(struct d_cond_qcqp_arg *cond_arg, void *mem);
-//
-void d_cond_qcqp_arg_set_default(struct d_cond_qcqp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 square-root
-void d_cond_qcqp_arg_set_ric_alg(int ric_alg, struct d_cond_qcqp_arg *cond_arg);
-// condense last stage: 0 last stage disregarded, 1 last stage condensed too
-void d_cond_qcqp_arg_set_cond_last_stage(int cond_last_stage, struct d_cond_qcqp_arg *cond_arg);
-
-//
-void d_cond_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, struct d_dense_qcqp_dim *dense_dim);
-//
-hpipm_size_t d_cond_qcqp_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, struct d_cond_qcqp_arg *cond_arg);
-//
-void d_cond_qcqp_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws, void *mem);
-//
-void d_cond_qcqp_qc(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dmat *Hq2, int *Hq_nzero2, struct blasfeo_dmat *Ct2, struct blasfeo_dvec *d2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_qc_lhs(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dmat *Hq2, int *Hq_nzero2, struct blasfeo_dmat *Ct2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_qc_rhs(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dvec *d2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_cond_rhs(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_cond_lhs(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_expand_sol(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp_sol *dense_qp_sol, struct d_ocp_qcqp_sol *ocp_qp_sol, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_COND_QCQP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h
deleted file mode 100644
index f39d9a9b507a92..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_CORE_QP_IPM_
-#define HPIPM_D_CORE_QP_IPM_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct d_core_qp_ipm_workspace
-	{
-	double *v; // primal variables
-	double *pi; // equality constraints multipliers
-	double *lam; // inequality constraints multipliers
-	double *t; // inequality constraints slacks
-	double *t_inv; // inverse of t
-	double *v_bkp; // backup of primal variables
-	double *pi_bkp; // backup of equality constraints multipliers
-	double *lam_bkp; // backup of inequality constraints multipliers
-	double *t_bkp; // backup of inequality constraints slacks
-	double *dv; // step in v
-	double *dpi; // step in pi
-	double *dlam; // step in lam
-	double *dt; // step in t
-	double *res_g; // q-residuals
-	double *res_b; // b-residuals
-	double *res_d; // d-residuals
-	double *res_m; // m-residuals
-	double *res_m_bkp; // m-residuals
-	double *Gamma; // Hessian update
-	double *gamma; // gradient update
-	double alpha; // step length
-	double alpha_prim; // step length
-	double alpha_dual; // step length
-	double sigma; // centering XXX
-	double mu; // duality measuere
-	double mu_aff; // affine duality measuere
-	double nc_inv; // 1.0/nc, where nc is the total number of inequality constraints
-	double nc_mask_inv; // 1.0/nc_mask
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	double t_min_inv; // inverse of min value in t vector
-	double tau_min; // min value of barrier parameter
-	int nv; // number of primal variables
-	int ne; // number of equality constraints
-	int nc; // (twice the) number of (two-sided) inequality constraints
-	int nc_mask; // total number of ineq constr after masking
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam also in solution, or only in Gamma computation
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t d_memsize_core_qp_ipm(int nv, int ne, int nc);
-//
-void d_create_core_qp_ipm(int nv, int ne, int nc, struct d_core_qp_ipm_workspace *workspace, void *mem);
-//
-void d_core_qp_ipm(struct d_core_qp_ipm_workspace *workspace);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_D_CORE_QP_IPM_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h b/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h
deleted file mode 100644
index 30cc824badba3a..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_CORE_QP_IPM_AUX_
-#define HPIPM_S_CORE_QP_IPM_AUX_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-void d_compute_Gamma_gamma_qp(double *res_d, double *res_m, struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_gamma_qp(double *res_d, double *res_m, struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_lam_t_qp(double *res_d, double *res_m, double *dlam, double *dt, struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_alpha_qp(struct d_core_qp_ipm_workspace *rws);
-//
-void d_update_var_qp(struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_mu_aff_qp(struct d_core_qp_ipm_workspace *rws);
-//
-void d_backup_res_m(struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_centering_correction_qp(struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_centering_qp(struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_tau_min_qp(struct d_core_qp_ipm_workspace *rws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_S_CORE_QP_IPM_AUX_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h
deleted file mode 100644
index 3da57164937a91..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h
+++ /dev/null
@@ -1,199 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QCQP_H_
-#define HPIPM_D_DENSE_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qcqp
-	{
-	struct d_dense_qcqp_dim *dim;
-	struct blasfeo_dmat *Hv; // hessian of cost & vector work space
-	struct blasfeo_dmat *A; // equality constraint matrix
-	struct blasfeo_dmat *Ct; // inequality constraints matrix
-	struct blasfeo_dmat *Hq; // hessians of quadratic constraints
-	struct blasfeo_dvec *gz; // gradient of cost & gradient of slacks
-	struct blasfeo_dvec *b; // equality constraint vector
-	struct blasfeo_dvec *d; // inequality constraints vector
-	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
-	struct blasfeo_dvec *m; // rhs of complementarity condition
-	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
-	int *idxb; // indices of box constrained variables within [u; x]
-	int *idxs_rev; // index of soft constraints (reverse storage)
-	int *Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_dense_qcqp_memsize(struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp *qp, void *memory);
-
-//
-void d_dense_qcqp_set(char *field, void *value, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_H(double *H, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_g(double *g, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_A(double *A, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_b(double *b, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_idxb(int *idxb, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_lb(double *lb, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_lb_mask(double *lb, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ub(double *ub, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ub_mask(double *ub, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_C(double *C, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_lg(double *lg, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_lg_mask(double *lg, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ug(double *ug, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ug_mask(double *ug, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_Hq(double *Hq, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_gq(double *gq, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_uq(double *uq, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_uq_mask(double *uq, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_idxs(int *idxs, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_idxs_rev(int *idxs_rev, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_Zl(double *Zl, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_Zu(double *Zu, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_zl(double *zl, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_zu(double *zu, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ls(double *ls, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ls_mask(double *ls, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_us(double *us, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_us_mask(double *us, struct d_dense_qcqp *qp);
-
-// getters (COLMAJ)
-
-void d_dense_qcqp_get_H(struct d_dense_qcqp *qp, double *H);
-//
-void d_dense_qcqp_get_g(struct d_dense_qcqp *qp, double *g);
-//
-void d_dense_qcqp_get_A(struct d_dense_qcqp *qp, double *A);
-//
-void d_dense_qcqp_get_b(struct d_dense_qcqp *qp, double *b);
-//
-void d_dense_qcqp_get_idxb(struct d_dense_qcqp *qp, int *idxb);
-//
-void d_dense_qcqp_get_lb(struct d_dense_qcqp *qp, double *lb);
-//
-void d_dense_qcqp_get_lb_mask(struct d_dense_qcqp *qp, double *lb);
-//
-void d_dense_qcqp_get_ub(struct d_dense_qcqp *qp, double *ub);
-//
-void d_dense_qcqp_get_ub_mask(struct d_dense_qcqp *qp, double *ub);
-//
-void d_dense_qcqp_get_C(struct d_dense_qcqp *qp, double *C);
-//
-void d_dense_qcqp_get_lg(struct d_dense_qcqp *qp, double *lg);
-//
-void d_dense_qcqp_get_lg_mask(struct d_dense_qcqp *qp, double *lg);
-//
-void d_dense_qcqp_get_ug(struct d_dense_qcqp *qp, double *ug);
-//
-void d_dense_qcqp_get_ug_mask(struct d_dense_qcqp *qp, double *ug);
-//
-void d_dense_qcqp_get_idxs(struct d_dense_qcqp *qp, int *idxs);
-//
-void d_dense_qcqp_get_idxs_rev(struct d_dense_qcqp *qp, int *idxs_rev);
-//
-void d_dense_qcqp_get_Zl(struct d_dense_qcqp *qp, double *Zl);
-//
-void d_dense_qcqp_get_Zu(struct d_dense_qcqp *qp, double *Zu);
-//
-void d_dense_qcqp_get_zl(struct d_dense_qcqp *qp, double *zl);
-//
-void d_dense_qcqp_get_zu(struct d_dense_qcqp *qp, double *zu);
-//
-void d_dense_qcqp_get_ls(struct d_dense_qcqp *qp, double *ls);
-//
-void d_dense_qcqp_get_ls_mask(struct d_dense_qcqp *qp, double *ls);
-//
-void d_dense_qcqp_get_us(struct d_dense_qcqp *qp, double *us);
-//
-void d_dense_qcqp_get_us_mask(struct d_dense_qcqp *qp, double *us);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h
deleted file mode 100644
index fa8c574a1ef0e2..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h
+++ /dev/null
@@ -1,98 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QCQP_DIM_H_
-#define HPIPM_D_DENSE_QCQP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qcqp_dim
-	{
-	struct d_dense_qp_dim *qp_dim; // dim of qp approximation
-	int nv;  // number of variables
-	int ne;  // number of equality constraints
-	int nb;  // number of box constraints
-	int ng;  // number of general constraints
-	int nq;  // number of quadratic constraints
-	int nsb; // number of softened box constraints
-	int nsg; // number of softened general constraints
-	int nsq; // number of softened quadratic constraints
-	int ns;  // number of softened constraints (nsb+nsg+nsq) TODO number of slacks
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qcqp_dim_memsize();
-//
-void d_dense_qcqp_dim_create(struct d_dense_qcqp_dim *dim, void *memory);
-//
-void d_dense_qcqp_dim_set(char *field_name, int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nv(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_ne(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nb(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_ng(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nq(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nsb(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nsg(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nsq(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_ns(int value, struct d_dense_qcqp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QCQP_DIM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h
deleted file mode 100644
index fa3f98fa79a6ca..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h
+++ /dev/null
@@ -1,193 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QCQP_IPM_H_
-#define HPIPM_D_DENSE_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_dense_qcqp_dim.h>
-#include <hpipm_d_dense_qcqp.h>
-#include <hpipm_d_dense_qcqp_res.h>
-#include <hpipm_d_dense_qcqp_sol.h>
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qcqp_ipm_arg
-	{
-	struct d_dense_qp_ipm_arg *qp_arg;
-	double mu0; // initial value for duality measure
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double reg_dual; // reg of dual hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int scale; // scale hessian
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_dense_qcqp_ipm_ws
-	{
-	struct d_dense_qp_ipm_ws *qp_ws;
-	struct d_dense_qp *qp;
-	struct d_dense_qp_sol *qp_sol;
-	struct d_dense_qcqp_res_ws *qcqp_res_ws;
-	struct d_dense_qcqp_res *qcqp_res;
-	struct blasfeo_dvec *tmp_nv;
-	int iter; // iteration number
-	int status;
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t d_dense_qcqp_ipm_arg_memsize(struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_ipm_arg_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_ipm_arg *arg, void *mem);
-//
-void d_dense_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set(char *field, void *value, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_iter_max(int *iter_max, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_alpha_min(double *alpha_min, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_mu0(double *mu0, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_tol_stat(double *tol_stat, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_tol_eq(double *tol_eq, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_tol_comp(double *tol_comp, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_reg_prim(double *reg, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_reg_dual(double *reg, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_warm_start(int *warm_start, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_pred_corr(int *pred_corr, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_lam_min(double *value, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_t_min(double *value, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_split_step(int *value, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_dense_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t d_dense_qcqp_ipm_ws_memsize(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_ws_create(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws, void *mem);
-//
-void d_dense_qcqp_ipm_get(char *field, struct d_dense_qcqp_ipm_ws *ws, void *value);
-//
-void d_dense_qcqp_ipm_get_status(struct d_dense_qcqp_ipm_ws *ws, int *status);
-//
-void d_dense_qcqp_ipm_get_iter(struct d_dense_qcqp_ipm_ws *ws, int *iter);
-//
-void d_dense_qcqp_ipm_get_max_res_stat(struct d_dense_qcqp_ipm_ws *ws, double *res_stat);
-//
-void d_dense_qcqp_ipm_get_max_res_eq(struct d_dense_qcqp_ipm_ws *ws, double *res_eq);
-//
-void d_dense_qcqp_ipm_get_max_res_ineq(struct d_dense_qcqp_ipm_ws *ws, double *res_ineq);
-//
-void d_dense_qcqp_ipm_get_max_res_comp(struct d_dense_qcqp_ipm_ws *ws, double *res_comp);
-//
-void d_dense_qcqp_ipm_get_stat(struct d_dense_qcqp_ipm_ws *ws, double **stat);
-//
-void d_dense_qcqp_ipm_get_stat_m(struct d_dense_qcqp_ipm_ws *ws, int *stat_m);
-//
-void d_dense_qcqp_init_var(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
-//
-void d_dense_qcqp_ipm_solve(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
-#if 0
-//
-void d_dense_qcqp_ipm_predict(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
-//
-void d_dense_qcqp_ipm_sens(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
-#endif
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QCQP_IPM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h
deleted file mode 100644
index a76f16215e3e45..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QCQP_RES_H_
-#define HPIPM_D_DENSE_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_d_dense_qcqp_dim.h>
-#include <hpipm_d_dense_qcqp.h>
-#include <hpipm_d_dense_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qcqp_res
-	{
-	struct d_dense_qcqp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // infinity norm of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_dense_qcqp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nv; // work space of size nv
-	struct blasfeo_dvec *tmp_nbgq; // work space of size nbM+ngM+nqM
-	struct blasfeo_dvec *tmp_ns; // work space of size nsM
-	struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qcqp_res_memsize(struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_res_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_res *res, void *mem);
-//
-hpipm_size_t d_dense_qcqp_res_ws_memsize(struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_res_ws_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_res_ws *workspace, void *mem);
-//
-void d_dense_qcqp_res_compute(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_res *res, struct d_dense_qcqp_res_ws *ws);
-//
-void d_dense_qcqp_res_compute_inf_norm(struct d_dense_qcqp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_DENSE_QCQP_RES_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h
deleted file mode 100644
index 6c697a8e693b20..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h
+++ /dev/null
@@ -1,85 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QCQP_SOL_H_
-#define HPIPM_D_DENSE_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qcqp_sol
-	{
-	struct d_dense_qcqp_dim *dim;
-	struct blasfeo_dvec *v;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	void *misc;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qcqp_sol_memsize(struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_sol_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_sol *qp_sol, void *memory);
-//
-void d_dense_qcqp_sol_get_v(struct d_dense_qcqp_sol *qp_sol, double *v);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QCQP_SOL_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h
deleted file mode 100644
index a34218bae4831a..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QCQP_UTILS_H_
-#define HPIPM_D_DENSE_QCQP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qcqp_dim.h"
-#include "hpipm_d_dense_qcqp.h"
-#include "hpipm_d_dense_qcqp_sol.h"
-//#include "hpipm_d_dense_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_dense_qcqp_dim_print(struct d_dense_qcqp_dim *qp_dim);
-//
-//void d_dense_qcqp_dim_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim);
-//
-void d_dense_qcqp_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp *qp);
-//
-//void d_dense_qcqp_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_sol_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_sol *dense_qcqp_sol);
-//
-//void d_dense_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_res_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_res *dense_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QCQP_UTILS_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h
deleted file mode 100644
index 02fba5a9229a21..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h
+++ /dev/null
@@ -1,207 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QP_H_
-#define HPIPM_D_DENSE_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qp
-	{
-	struct d_dense_qp_dim *dim;
-	struct blasfeo_dmat *Hv; // hessian of cost & vector work space
-	struct blasfeo_dmat *A; // equality constraint matrix
-	struct blasfeo_dmat *Ct; // inequality constraints matrix
-	struct blasfeo_dvec *gz; // gradient of cost & gradient of slacks
-	struct blasfeo_dvec *b; // equality constraint vector
-	struct blasfeo_dvec *d; // inequality constraints vector
-	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
-	struct blasfeo_dvec *m; // rhs of complementarity condition
-	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
-	int *idxb; // indices of box constrained variables within [u; x]
-	int *idxs_rev; // index of soft constraints (reverse storage)
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_dense_qp_memsize(struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_create(struct d_dense_qp_dim *dim, struct d_dense_qp *qp, void *memory);
-
-// setters - colmaj
-//
-void d_dense_qp_set_all(double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us, struct d_dense_qp *qp);
-//
-void d_dense_qp_get_all(struct d_dense_qp *qp, double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us);
-//
-void d_dense_qp_set(char *field, void *value, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_H(double *H, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_g(double *g, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_A(double *A, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_b(double *b, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_idxb(int *idxb, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_Jb(double *Jb, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_lb(double *lb, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_lb_mask(double *lb, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ub(double *ub, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ub_mask(double *ub, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_C(double *C, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_lg(double *lg, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_lg_mask(double *lg, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ug(double *ug, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ug_mask(double *ug, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_idxs(int *idxs, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_idxs_rev(int *idxs_rev, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_Jsb(double *Jsb, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_Jsg(double *Jsg, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_Zl(double *Zl, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_Zu(double *Zu, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_zl(double *zl, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_zu(double *zu, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ls(double *ls, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ls_mask(double *ls, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_us(double *us, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_us_mask(double *us, struct d_dense_qp *qp);
-
-// getters - colmaj
-//
-void d_dense_qp_get_H(struct d_dense_qp *qp, double *H);
-//
-void d_dense_qp_get_g(struct d_dense_qp *qp, double *g);
-//
-void d_dense_qp_get_A(struct d_dense_qp *qp, double *A);
-//
-void d_dense_qp_get_b(struct d_dense_qp *qp, double *b);
-//
-void d_dense_qp_get_idxb(struct d_dense_qp *qp, int *idxb);
-//
-void d_dense_qp_get_lb(struct d_dense_qp *qp, double *lb);
-//
-void d_dense_qp_get_lb_mask(struct d_dense_qp *qp, double *lb);
-//
-void d_dense_qp_get_ub(struct d_dense_qp *qp, double *ub);
-//
-void d_dense_qp_get_ub_mask(struct d_dense_qp *qp, double *ub);
-//
-void d_dense_qp_get_C(struct d_dense_qp *qp, double *C);
-//
-void d_dense_qp_get_lg(struct d_dense_qp *qp, double *lg);
-//
-void d_dense_qp_get_lg_mask(struct d_dense_qp *qp, double *lg);
-//
-void d_dense_qp_get_ug(struct d_dense_qp *qp, double *ug);
-//
-void d_dense_qp_get_ug_mask(struct d_dense_qp *qp, double *ug);
-//
-void d_dense_qp_get_idxs(struct d_dense_qp *qp, int *idxs);
-//
-void d_dense_qp_get_idxs_rev(struct d_dense_qp *qp, int *idxs_rev);
-//
-void d_dense_qp_get_Zl(struct d_dense_qp *qp, double *Zl);
-//
-void d_dense_qp_get_Zu(struct d_dense_qp *qp, double *Zu);
-//
-void d_dense_qp_get_zl(struct d_dense_qp *qp, double *zl);
-//
-void d_dense_qp_get_zu(struct d_dense_qp *qp, double *zu);
-//
-void d_dense_qp_get_ls(struct d_dense_qp *qp, double *ls);
-//
-void d_dense_qp_get_ls_mask(struct d_dense_qp *qp, double *ls);
-//
-void d_dense_qp_get_us(struct d_dense_qp *qp, double *us);
-//
-void d_dense_qp_get_us_mask(struct d_dense_qp *qp, double *us);
-
-// setters - rowmaj
-//
-void d_dense_qp_set_all_rowmaj(double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us, struct d_dense_qp *qp);
-
-// getters - rowmaj
-//
-void d_dense_qp_get_all_rowmaj(struct d_dense_qp *qp, double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h
deleted file mode 100644
index 98a551f31258bf..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h
+++ /dev/null
@@ -1,92 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QP_DIM_H_
-#define HPIPM_D_DENSE_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qp_dim
-	{
-	int nv;  // number of variables
-	int ne;  // number of equality constraints
-	int nb;  // number of box constraints
-	int ng;  // number of general constraints
-	int nsb; // number of softened box constraints
-	int nsg; // number of softened general constraints
-	int ns;  // number of softened constraints (nsb+nsg)
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qp_dim_memsize();
-//
-void d_dense_qp_dim_create(struct d_dense_qp_dim *qp_dim, void *memory);
-//
-void d_dense_qp_dim_set_all(int nv, int ne, int nb, int ng, int nsb, int nsg, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set(char *field_name, int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_nv(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_ne(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_nb(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_ng(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_nsb(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_nsg(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_ns(int value, struct d_dense_qp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h
deleted file mode 100644
index e6e5d5d9b5b89a..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h
+++ /dev/null
@@ -1,260 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QP_IPM_H_
-#define HPIPM_D_DENSE_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_dense_qp_dim.h>
-#include <hpipm_d_dense_qp.h>
-#include <hpipm_d_dense_qp_res.h>
-#include <hpipm_d_dense_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qp_ipm_arg
-	{
-	double mu0; // initial value for duality measure
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double reg_dual; // reg of dual hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	double tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int scale; // scale hessian
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
-	int comp_res_pred; // compute residuals of prediction
-	int kkt_fact_alg; // 0 null-space, 1 schur-complement
-	int remove_lin_dep_eq; // 0 do not, 1 do check and remove linearly dependent equality constraints
-	int compute_obj; // compute obj on exit
-	int split_step; // use different steps for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_dense_qp_ipm_ws
-	{
-	struct d_core_qp_ipm_workspace *core_workspace;
-	struct d_dense_qp_res_ws *res_ws;
-	struct d_dense_qp_sol *sol_step;
-	struct d_dense_qp_sol *sol_itref;
-	struct d_dense_qp *qp_step;
-	struct d_dense_qp *qp_itref;
-	struct d_dense_qp_res *res;
-	struct d_dense_qp_res *res_itref;
-	struct d_dense_qp_res *res_step;
-	struct blasfeo_dvec *Gamma; //
-	struct blasfeo_dvec *gamma; //
-	struct blasfeo_dvec *Zs_inv; //
-	struct blasfeo_dmat *Lv; //
-	struct blasfeo_dmat *AL; //
-	struct blasfeo_dmat *Le; //
-	struct blasfeo_dmat *Ctx; //
-	struct blasfeo_dvec *lv; //
-	struct blasfeo_dvec *sv; // scale for Lv
-	struct blasfeo_dvec *se; // scale for Le
-	struct blasfeo_dvec *tmp_nbg; // work space of size nb+ng
-	struct blasfeo_dvec *tmp_ns; // work space of size ns
-	struct blasfeo_dmat *lq0;
-	struct blasfeo_dmat *lq1;
-	struct blasfeo_dvec *tmp_m;
-	struct blasfeo_dmat *A_LQ;
-	struct blasfeo_dmat *A_Q;
-	struct blasfeo_dmat *Zt;
-	struct blasfeo_dmat *ZtH;
-	struct blasfeo_dmat *ZtHZ;
-	struct blasfeo_dvec *xy;
-	struct blasfeo_dvec *Yxy;
-	struct blasfeo_dvec *xz;
-	struct blasfeo_dvec *tmp_nv;
-	struct blasfeo_dvec *tmp_2ns;
-	struct blasfeo_dvec *tmp_nv2ns;
-	struct blasfeo_dmat *A_li; // A of linearly independent equality constraints
-	struct blasfeo_dvec *b_li; // b of linearly independent equality constraints
-	struct blasfeo_dmat *A_bkp; // pointer to backup A
-	struct blasfeo_dvec *b_bkp; // pointer to backup b
-	struct blasfeo_dmat *Ab_LU;
-	double *stat; // convergence statistics
-	int *ipiv_v;
-	int *ipiv_e;
-	int *ipiv_e1;
-	void *lq_work0;
-	void *lq_work1;
-	void *lq_work_null;
-	void *orglq_work_null;
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // numer of recorded stat per ipm iter
-	int scale;
-	int use_hess_fact;
-	int use_A_fact;
-	int status;
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	int ne_li; // number of linearly independent equality constraints
-	int ne_bkp; // ne backup
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t d_dense_qp_ipm_arg_memsize(struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_ipm_arg_create(struct d_dense_qp_dim *dim, struct d_dense_qp_ipm_arg *arg, void *mem);
-//
-void d_dense_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set(char *field, void *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_iter_max(int *iter_max, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_mu0(double *mu0, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_reg_prim(double *reg, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_reg_dual(double *reg, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_warm_start(int *warm_start, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_lam_min(double *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_t_min(double *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_tau_min(double *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_kkt_fact_alg(int *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_remove_lin_dep_eq(int *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_compute_obj(int *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_t_lam_min(int *value, struct d_dense_qp_ipm_arg *arg);
-
-//
-void d_dense_qp_ipm_arg_set_split_step(int *value, struct d_dense_qp_ipm_arg *arg);
-
-//
-hpipm_size_t d_dense_qp_ipm_ws_memsize(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_ws_create(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws, void *mem);
-//
-void d_dense_qp_ipm_get(char *field, struct d_dense_qp_ipm_ws *ws, void *value);
-//
-void d_dense_qp_ipm_get_status(struct d_dense_qp_ipm_ws *ws, int *status);
-//
-void d_dense_qp_ipm_get_iter(struct d_dense_qp_ipm_ws *ws, int *iter);
-//
-void d_dense_qp_ipm_get_max_res_stat(struct d_dense_qp_ipm_ws *ws, double *res_stat);
-//
-void d_dense_qp_ipm_get_max_res_eq(struct d_dense_qp_ipm_ws *ws, double *res_eq);
-//
-void d_dense_qp_ipm_get_max_res_ineq(struct d_dense_qp_ipm_ws *ws, double *res_ineq);
-//
-void d_dense_qp_ipm_get_max_res_comp(struct d_dense_qp_ipm_ws *ws, double *res_comp);
-//
-void d_dense_qp_ipm_get_stat(struct d_dense_qp_ipm_ws *ws, double **stat);
-//
-void d_dense_qp_ipm_get_stat_m(struct d_dense_qp_ipm_ws *ws, int *stat_m);
-//
-void d_dense_qp_init_var(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_ipm_abs_step(int kk, struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_ipm_delta_step(int kk, struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_ipm_solve(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_ipm_predict(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_ipm_sens(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_compute_step_length(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h
deleted file mode 100644
index 6d05779f4bab57..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h
+++ /dev/null
@@ -1,72 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QP_KKT_H_
-#define HPIPM_D_DENSE_QP_KKT_H_
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_fact_solve_kkt_unconstr_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_fact_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_fact_lq_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_remove_lin_dep_eq(struct d_dense_qp *qp, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_restore_lin_dep_eq(struct d_dense_qp *qp, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_compute_obj(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h
deleted file mode 100644
index 7c2023257a3c18..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h
+++ /dev/null
@@ -1,105 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QP_RES_H_
-#define HPIPM_D_DENSE_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_d_dense_qp_dim.h>
-#include <hpipm_d_dense_qp.h>
-#include <hpipm_d_dense_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qp_res
-	{
-	struct d_dense_qp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // max of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_dense_qp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nbg; // work space of size nbM+ngM
-	struct blasfeo_dvec *tmp_ns; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qp_res_memsize(struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_res_create(struct d_dense_qp_dim *dim, struct d_dense_qp_res *res, void *mem);
-//
-hpipm_size_t d_dense_qp_res_ws_memsize(struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_res_ws_create(struct d_dense_qp_dim *dim, struct d_dense_qp_res_ws *workspace, void *mem);
-//
-void d_dense_qp_res_compute(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_res *res, struct d_dense_qp_res_ws *ws);
-//
-void d_dense_qp_res_compute_lin(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_sol *qp_step, struct d_dense_qp_res *res, struct d_dense_qp_res_ws *ws);
-//
-void d_dense_qp_res_compute_inf_norm(struct d_dense_qp_res *res);
-//
-void d_dense_qp_res_get_all(struct d_dense_qp_res *res, double *res_g, double *res_ls, double *res_us, double *res_b, double *res_d_lb, double *res_d_ub, double *res_d_lg, double *res_d_ug, double *res_d_ls, double *res_d_us, double *res_m_lb, double *res_m_ub, double *res_m_lg, double *res_m_ug, double *res_m_ls, double *res_m_us);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_DENSE_QP_RES_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h
deleted file mode 100644
index aaa3fdb0e4904a..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h
+++ /dev/null
@@ -1,94 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QP_SOL_H_
-#define HPIPM_D_DENSE_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qp_sol
-	{
-	struct d_dense_qp_dim *dim;
-	struct blasfeo_dvec *v;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	void *misc;
-	double obj;
-	int valid_obj;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qp_sol_memsize(struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_sol_create(struct d_dense_qp_dim *dim, struct d_dense_qp_sol *qp_sol, void *memory);
-//
-void d_dense_qp_sol_get_all(struct d_dense_qp_sol *qp_sol, double *v, double *ls, double *us, double *pi, double *lam_lb, double *lam_ub, double *lam_lg, double *lam_ug, double *lam_ls, double *lam_us);
-//
-void d_dense_qp_sol_get(char *field, struct d_dense_qp_sol *sol, void *value);
-//
-void d_dense_qp_sol_get_v(struct d_dense_qp_sol *sol, double *v);
-//
-void d_dense_qp_sol_get_valid_obj(struct d_dense_qp_sol *sol, int *valid_obj);
-//
-void d_dense_qp_sol_get_obj(struct d_dense_qp_sol *sol, double *obj);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h
deleted file mode 100644
index ccb77aaca3cee7..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QP_UTILS_H_
-#define HPIPM_D_DENSE_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp_dim.h"
-#include "hpipm_d_dense_qp.h"
-#include "hpipm_d_dense_qp_sol.h"
-#include "hpipm_d_dense_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_dense_qp_dim_print(struct d_dense_qp_dim *qp_dim);
-//
-//void d_dense_qp_dim_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim);
-//
-void d_dense_qp_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp *qp);
-//
-//void d_dense_qp_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim, struct d_dense_qp *qp);
-//
-void d_dense_qp_sol_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_sol *dense_qp_sol);
-//
-//void d_dense_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_res_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_res *dense_qp_res);
-//
-void d_dense_qp_arg_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *qp_ipm_arg);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_UTILS_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h
deleted file mode 100644
index 240c9b04be7578..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h
+++ /dev/null
@@ -1,303 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_H_
-#define HPIPM_D_OCP_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qcqp
-	{
-	struct d_ocp_qcqp_dim *dim;
-	struct blasfeo_dmat *BAbt; // dynamics matrix & vector work space
-	struct blasfeo_dmat *RSQrq; // hessian of cost & vector work space
-	struct blasfeo_dmat *DCt; // inequality constraints matrix
-	struct blasfeo_dmat **Hq; // hessians of quadratic constraints
-	struct blasfeo_dvec *b; // dynamics vector
-	struct blasfeo_dvec *rqz; // gradient of cost & gradient of slacks
-	struct blasfeo_dvec *d; // inequality constraints vector
-	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
-	struct blasfeo_dvec *m; // rhs of complementarity condition
-	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
-	int **idxb; // indices of box constrained variables within [u; x]
-	int **idxs_rev; // index of soft constraints (reverse storage)
-	int **Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qcqp_strsize();
-//
-hpipm_size_t d_ocp_qcqp_memsize(struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_create(struct d_ocp_qcqp_dim *dim, struct d_ocp_qcqp *qp, void *memory);
-//
-void d_ocp_qcqp_copy_all(struct d_ocp_qcqp *qp_orig, struct d_ocp_qcqp *qp_dest);
-
-// setters
-//
-void d_ocp_qcqp_set_all_zero(struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_rhs_zero(struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set(char *field_name, int stage, void *value, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_el(char *field_name, int stage, int index, void *value, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_A(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_B(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_b(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Q(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_S(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_R(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_q(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_r(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lb(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lb_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ub(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ub_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lbx(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lbx_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_el_lbx(int stage, int index, double *elem, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ubx(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ubx_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_el_ubx(int stage, int index, double *elem, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lbu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lbu_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ubu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ubu_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_idxb(int stage, int *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_idxbx(int stage, int *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jbx(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_idxbu(int stage, int *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jbu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_C(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_D(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lg(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lg_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ug(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ug_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Qq(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Sq(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Rq(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_qq(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_rq(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_uq(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_uq_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Zl(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Zu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_zl(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_zu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lls(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lls_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lus(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lus_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_idxs(int stage, int *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_idxs_rev(int stage, int *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jsbu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jsbx(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jsg(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jsq(int stage, double *vec, struct d_ocp_qcqp *qp);
-
-// getters
-//
-void d_ocp_qcqp_get(char *field, int stage, struct d_ocp_qcqp *qp, void *value);
-//
-void d_ocp_qcqp_get_A(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_B(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_b(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_Q(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_S(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_R(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_q(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_r(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ub(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ub_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lb(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lb_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lbx(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lbx_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ubx(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ubx_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lbu(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lbu_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ubu(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ubu_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_idxb(int stage, struct d_ocp_qcqp *qp, int *vec);
-//
-//void d_ocp_qcqp_get_idxbx(int stage, struct d_ocp_qcqp *qp, int *vec);
-//
-//void d_ocp_qcqp_get_Jbx(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-//void d_ocp_qcqp_get_idxbu(int stage, struct d_ocp_qcqp *qp, int *vec);
-//
-//void d_ocp_qcqp_get_Jbu(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_C(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_D(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_lg(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lg_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ug(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ug_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_Zl(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_Zu(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_zl(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_zu(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lls(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lls_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lus(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lus_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-// XXX only valid if there is one slack per softed constraint !!!
-void d_ocp_qcqp_get_idxs(int stage, struct d_ocp_qcqp *qp, int *vec);
-//
-void d_ocp_qcqp_get_idxs_rev(int stage, struct d_ocp_qcqp *qp, int *vec);
-//
-//void d_ocp_qcqp_get_Jsbu(int stage, struct d_ocp_qcqp *qp, float *vec);
-//
-//void d_ocp_qcqp_get_Jsbx(int stage, struct d_ocp_qcqp *qp, float *vec);
-//
-//void d_ocp_qcqp_get_Jsg(int stage, struct d_ocp_qcqp *qp, float *vec);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h
deleted file mode 100644
index 268628a2b2bfc5..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_DIM_H_
-#define HPIPM_D_OCP_QCQP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qcqp_dim
-	{
-	struct d_ocp_qp_dim *qp_dim; // dim of qp approximation
-	int *nx; // number of states
-	int *nu; // number of inputs
-	int *nb; // number of box constraints
-	int *nbx; // number of (two-sided) state box constraints
-	int *nbu; // number of (two-sided) input box constraints
-	int *ng; // number of (two-sided) general constraints
-	int *nq; // number of (upper) quadratic constraints
-	int *ns; // number of soft constraints
-	int *nsbx; // number of (two-sided) soft state box constraints
-	int *nsbu; // number of (two-sided) soft input box constraints
-	int *nsg; // number of (two-sided) soft general constraints
-	int *nsq; // number of (upper) soft quadratic constraints
-	int N; // horizon length
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qcqp_dim_strsize();
-//
-hpipm_size_t d_ocp_qcqp_dim_memsize(int N);
-//
-void d_ocp_qcqp_dim_create(int N, struct d_ocp_qcqp_dim *qp_dim, void *memory);
-//
-void d_ocp_qcqp_dim_copy_all(struct d_ocp_qcqp_dim *dim_orig, struct d_ocp_qcqp_dim *dim_dest);
-//
-void d_ocp_qcqp_dim_set(char *field, int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nx(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nu(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nbx(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nbu(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_ng(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nq(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_ns(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nsbx(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nsbu(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nsg(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nsq(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_get(struct d_ocp_qcqp_dim *dim, char *field, int stage, int *value);
-//
-void d_ocp_qcqp_dim_get_N(struct d_ocp_qcqp_dim *dim, int *value);
-//
-void d_ocp_qcqp_dim_get_nx(struct d_ocp_qcqp_dim *dim, int stage, int *value);
-//
-void d_ocp_qcqp_dim_get_nu(struct d_ocp_qcqp_dim *dim, int stage, int *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QCQP_DIM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h
deleted file mode 100644
index 99f2329dcc3f16..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h
+++ /dev/null
@@ -1,190 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_IPM_H_
-#define HPIPM_D_OCP_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_ocp_qcqp_dim.h>
-#include <hpipm_d_ocp_qp.h>
-#include <hpipm_d_ocp_qcqp_res.h>
-#include <hpipm_d_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qcqp_ipm_arg
-	{
-	struct d_ocp_qp_ipm_arg *qp_arg;
-	double mu0; // initial value for complementarity slackness
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constrains (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_ocp_qcqp_ipm_ws
-	{
-	struct d_ocp_qp_ipm_ws *qp_ws;
-	struct d_ocp_qp *qp;
-	struct d_ocp_qp_sol *qp_sol;
-	struct d_ocp_qcqp_res_ws *qcqp_res_ws;
-	struct d_ocp_qcqp_res *qcqp_res;
-	struct blasfeo_dvec *tmp_nuxM;
-	int iter; // iteration number
-	int status;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qcqp_ipm_arg_strsize();
-//
-hpipm_size_t d_ocp_qcqp_ipm_arg_memsize(struct d_ocp_qcqp_dim *ocp_dim);
-//
-void d_ocp_qcqp_ipm_arg_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg, void *mem);
-//
-void d_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_ocp_qcqp_ipm_arg *arg);
-//
-void d_ocp_qcqp_ipm_arg_set(char *field, void *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set maximum number of iterations
-void d_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set minimum step lenght
-void d_ocp_qcqp_ipm_arg_set_alpha_min(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set initial value of barrier parameter
-void d_ocp_qcqp_ipm_arg_set_mu0(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void d_ocp_qcqp_ipm_arg_set_tol_stat(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void d_ocp_qcqp_ipm_arg_set_tol_eq(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void d_ocp_qcqp_ipm_arg_set_tol_ineq(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void d_ocp_qcqp_ipm_arg_set_tol_comp(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set regularization of primal variables
-void d_ocp_qcqp_ipm_arg_set_reg_prim(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void d_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void d_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void d_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-void d_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// compute residuals after solution
-void d_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// compute residuals of prediction
-void d_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// min value of lam in the solution
-void d_ocp_qcqp_ipm_arg_set_lam_min(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// min value of t in the solution
-void d_ocp_qcqp_ipm_arg_set_t_min(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// use different step for primal and dual variables
-void d_ocp_qcqp_ipm_arg_set_split_step(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void d_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t d_ocp_qcqp_ipm_ws_strsize();
-//
-hpipm_size_t d_ocp_qcqp_ipm_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg);
-//
-void d_ocp_qcqp_ipm_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws, void *mem);
-//
-void d_ocp_qcqp_ipm_get(char *field, struct d_ocp_qcqp_ipm_ws *ws, void *value);
-//
-void d_ocp_qcqp_ipm_get_status(struct d_ocp_qcqp_ipm_ws *ws, int *status);
-//
-void d_ocp_qcqp_ipm_get_iter(struct d_ocp_qcqp_ipm_ws *ws, int *iter);
-//
-void d_ocp_qcqp_ipm_get_max_res_stat(struct d_ocp_qcqp_ipm_ws *ws, double *res_stat);
-//
-void d_ocp_qcqp_ipm_get_max_res_eq(struct d_ocp_qcqp_ipm_ws *ws, double *res_eq);
-//
-void d_ocp_qcqp_ipm_get_max_res_ineq(struct d_ocp_qcqp_ipm_ws *ws, double *res_ineq);
-//
-void d_ocp_qcqp_ipm_get_max_res_comp(struct d_ocp_qcqp_ipm_ws *ws, double *res_comp);
-//
-void d_ocp_qcqp_ipm_get_stat(struct d_ocp_qcqp_ipm_ws *ws, double **stat);
-//
-void d_ocp_qcqp_ipm_get_stat_m(struct d_ocp_qcqp_ipm_ws *ws, int *stat_m);
-//
-void d_ocp_qcqp_init_var(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws);
-//
-void d_ocp_qcqp_ipm_solve(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_OCP_QCQP_IPM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h
deleted file mode 100644
index 077f134677a2cc..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h
+++ /dev/null
@@ -1,114 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_RES_H_
-#define HPIPM_D_OCP_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_ocp_qcqp_dim.h>
-#include <hpipm_d_ocp_qcqp.h>
-#include <hpipm_d_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qcqp_res
-	{
-	struct d_ocp_qcqp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // max of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_ocp_qcqp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nuxM; // work space of size nuM+nxM
-	struct blasfeo_dvec *tmp_nbgqM; // work space of size nbM+ngM+nqM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qcqp_res_memsize(struct d_ocp_qcqp_dim *ocp_dim);
-//
-void d_ocp_qcqp_res_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_res *res, void *mem);
-//
-hpipm_size_t d_ocp_qcqp_res_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim);
-//
-void d_ocp_qcqp_res_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_res_ws *workspace, void *mem);
-//
-void d_ocp_qcqp_res_compute(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_res *res, struct d_ocp_qcqp_res_ws *ws);
-//
-void d_ocp_qcqp_res_compute_inf_norm(struct d_ocp_qcqp_res *res);
-//
-void d_ocp_qcqp_res_get_max_res_stat(struct d_ocp_qcqp_res *res, double *value);
-//
-void d_ocp_qcqp_res_get_max_res_eq(struct d_ocp_qcqp_res *res, double *value);
-//
-void d_ocp_qcqp_res_get_max_res_ineq(struct d_ocp_qcqp_res *res, double *value);
-//
-void d_ocp_qcqp_res_get_max_res_comp(struct d_ocp_qcqp_res *res, double *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_OCP_QCQP_RES_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h
deleted file mode 100644
index 68adbfce2d0296..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h
+++ /dev/null
@@ -1,114 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_SOL_H_
-#define HPIPM_D_OCP_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qcqp_sol
-	{
-	struct d_ocp_qcqp_dim *dim;
-	struct blasfeo_dvec *ux;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qcqp_sol_strsize();
-//
-hpipm_size_t d_ocp_qcqp_sol_memsize(struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_sol_create(struct d_ocp_qcqp_dim *dim, struct d_ocp_qcqp_sol *qp_sol, void *memory);
-//
-void d_ocp_qcqp_sol_copy_all(struct d_ocp_qcqp_sol *qp_sol_orig, struct d_ocp_qcqp_sol *qp_sol_dest);
-//
-void d_ocp_qcqp_sol_get(char *field, int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_u(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_x(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_sl(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_su(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_pi(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_lam_lb(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_lam_ub(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_lam_lg(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_lam_ug(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_set(char *field, int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
-//
-void d_ocp_qcqp_sol_set_u(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
-//
-void d_ocp_qcqp_sol_set_x(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
-//
-void d_ocp_qcqp_sol_set_sl(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
-//
-void d_ocp_qcqp_sol_set_su(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QCQP_SOL_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h
deleted file mode 100644
index 00248f1dbe65e3..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h
+++ /dev/null
@@ -1,81 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_UTILS_H_
-#define HPIPM_D_OCP_QCQP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qcqp_dim.h"
-#include "hpipm_d_ocp_qp.h"
-#include "hpipm_d_ocp_qcqp_sol.h"
-#include "hpipm_d_ocp_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_ocp_qcqp_dim_print(struct d_ocp_qcqp_dim *qcqp_dim);
-//
-void d_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim);
-//
-void d_ocp_qcqp_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_sol_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_sol *ocp_qcqp_sol);
-//
-void d_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_ipm_arg *arg);
-//
-void d_ocp_qcqp_res_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_res *ocp_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QCQP_UTILS_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h
deleted file mode 100644
index ca26cdba3406a1..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h
+++ /dev/null
@@ -1,306 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_H_
-#define HPIPM_D_OCP_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp
-	{
-	struct d_ocp_qp_dim *dim;
-	struct blasfeo_dmat *BAbt; // dynamics matrix & vector work space
-	struct blasfeo_dmat *RSQrq; // hessian of cost & vector work space
-	struct blasfeo_dmat *DCt; // inequality constraints matrix
-	struct blasfeo_dvec *b; // dynamics vector
-	struct blasfeo_dvec *rqz; // gradient of cost & gradient of slacks
-	struct blasfeo_dvec *d; // inequality constraints vector
-	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
-	struct blasfeo_dvec *m; // rhs of complementarity condition
-	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
-	int **idxb; // indices of box constrained variables within [u; x]
-	int **idxs_rev; // index of soft constraints (reverse storage)
-	int **idxe; // indices of constraints within [bu, bx, g] that are equalities, subset of [0, ..., nbu+nbx+ng-1]
-	int *diag_H_flag; // flag the fact that Hessian is diagonal
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qp_strsize();
-//
-hpipm_size_t d_ocp_qp_memsize(struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp *qp, void *memory);
-//
-void d_ocp_qp_copy_all(struct d_ocp_qp *qp_orig, struct d_ocp_qp *qp_dest);
-
-// setters
-//
-void d_ocp_qp_set_all_zero(struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_rhs_zero(struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxbx, double **lbx, double **ubx, int **idxbu, double **lbu, double **ubu, double **C, double **D, double **lg, double **ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **ls, double **us, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_all_rowmaj(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxbx, double **lbx, double **ubx, int **idxbu, double **lbu, double **ubu, double **C, double **D, double **lg, double **ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **ls, double **us, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set(char *field_name, int stage, void *value, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_el(char *field_name, int stage, int index, void *value, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_A(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_B(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_b(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Q(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_S(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_R(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_q(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_r(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lb(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lb_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ub(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ub_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lbx(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lbx_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_el_lbx(int stage, int index, double *elem, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ubx(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ubx_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_el_ubx(int stage, int index, double *elem, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lbu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lbu_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ubu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ubu_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxb(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxbx(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jbx(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxbu(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jbu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_C(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_D(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lg(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lg_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ug(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ug_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Zl(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Zu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_zl(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_zu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lls(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lls_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lus(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lus_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxs(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxs_rev(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jsbu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jsbx(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jsg(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxe(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxbxe(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxbue(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxge(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jbxe(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jbue(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jge(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_diag_H_flag(int stage, int *value, struct d_ocp_qp *qp);
-
-// getters
-//
-void d_ocp_qp_get(char *field, int stage, struct d_ocp_qp *qp, void *value);
-//
-void d_ocp_qp_get_A(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_B(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_b(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_Q(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_S(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_R(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_q(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_r(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ub(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ub_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lb(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lb_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lbx(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lbx_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ubx(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ubx_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lbu(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lbu_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ubu(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ubu_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_idxb(int stage, struct d_ocp_qp *qp, int *vec);
-//
-//void d_ocp_qp_get_idxbx(int stage, struct d_ocp_qp *qp, int *vec);
-//
-//void d_ocp_qp_get_Jbx(int stage, struct d_ocp_qp *qp, double *vec);
-//
-//void d_ocp_qp_get_idxbu(int stage, struct d_ocp_qp *qp, int *vec);
-//
-//void d_ocp_qp_get_Jbu(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_C(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_D(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_lg(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lg_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ug(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ug_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_Zl(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_Zu(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_zl(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_zu(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lls(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lls_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lus(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lus_mask(int stage, struct d_ocp_qp *qp, double *vec);
-// XXX only valid if there is one slack per softed constraint !!!
-void d_ocp_qp_get_idxs(int stage, struct d_ocp_qp *qp, int *vec);
-//
-void d_ocp_qp_get_idxs_rev(int stage, struct d_ocp_qp *qp, int *vec);
-//
-//void d_ocp_qp_get_Jsbu(int stage, struct d_ocp_qp *qp, float *vec);
-//
-//void d_ocp_qp_get_Jsbx(int stage, struct d_ocp_qp *qp, float *vec);
-//
-//void d_ocp_qp_get_Jsg(int stage, struct d_ocp_qp *qp, float *vec);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h
deleted file mode 100644
index dcfb801d31fdde..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h
+++ /dev/null
@@ -1,142 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_DIM_H_
-#define HPIPM_D_OCP_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp_dim
-	{
-	int *nx; // number of states
-	int *nu; // number of inputs
-	int *nb; // number of box constraints
-	int *nbx; // number of state box constraints
-	int *nbu; // number of input box constraints
-	int *ng; // number of general constraints
-	int *ns; // number of soft constraints
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int *nbxe; // number of state box constraints which are equality
-	int *nbue; // number of input box constraints which are equality
-	int *nge; // number of general constraints which are equality
-	int N; // horizon length
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qp_dim_strsize();
-//
-hpipm_size_t d_ocp_qp_dim_memsize(int N);
-//
-void d_ocp_qp_dim_create(int N, struct d_ocp_qp_dim *qp_dim, void *memory);
-//
-void d_ocp_qp_dim_copy_all(struct d_ocp_qp_dim *dim_orig, struct d_ocp_qp_dim *dim_dest);
-//
-void d_ocp_qp_dim_set_all(int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set(char *field, int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nx(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nu(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nbx(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nbu(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_ng(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_ns(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nsbx(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nsbu(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nsg(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nbxe(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nbue(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nge(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_get(struct d_ocp_qp_dim *dim, char *field, int stage, int *value);
-//
-void d_ocp_qp_dim_get_N(struct d_ocp_qp_dim *dim, int *value);
-//
-void d_ocp_qp_dim_get_nx(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nu(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nbx(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nbu(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_ng(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_ns(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nsbx(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nsbu(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nsg(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nbxe(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nbue(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nge(struct d_ocp_qp_dim *dim, int stage, int *value);
-
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h
deleted file mode 100644
index d2a2833f224df8..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h
+++ /dev/null
@@ -1,250 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_IPM_H_
-#define HPIPM_D_OCP_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_ocp_qp_dim.h>
-#include <hpipm_d_ocp_qp.h>
-#include <hpipm_d_ocp_qp_res.h>
-#include <hpipm_d_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp_ipm_arg
-	{
-	double mu0; // initial value for complementarity slackness
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	double tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different steps for primal and dual variables
-	int var_init_scheme; // variables initialization scheme
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_ocp_qp_ipm_ws
-	{
-	double qp_res[4]; // infinity norm of residuals
-	struct d_core_qp_ipm_workspace *core_workspace;
-	struct d_ocp_qp_dim *dim; // cache dim
-	struct d_ocp_qp_res_ws *res_workspace;
-	struct d_ocp_qp_sol *sol_step;
-	struct d_ocp_qp_sol *sol_itref;
-	struct d_ocp_qp *qp_step;
-	struct d_ocp_qp *qp_itref;
-	struct d_ocp_qp_res *res_itref;
-	struct d_ocp_qp_res *res;
-	struct blasfeo_dvec *Gamma; // hessian update
-	struct blasfeo_dvec *gamma; // hessian update
-	struct blasfeo_dvec *tmp_nuxM; // work space of size nxM
-	struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	struct blasfeo_dvec *Pb; // Pb
-	struct blasfeo_dvec *Zs_inv;
-	struct blasfeo_dvec *tmp_m;
-	struct blasfeo_dvec *l; // cache linear part for _get_ric_xxx
-	struct blasfeo_dmat *L;
-	struct blasfeo_dmat *Ls;
-	struct blasfeo_dmat *P;
-	struct blasfeo_dmat *Lh;
-	struct blasfeo_dmat *AL;
-	struct blasfeo_dmat *lq0;
-	struct blasfeo_dmat *tmp_nxM_nxM;
-	double *stat; // convergence statistics
-	int *use_hess_fact;
-	void *lq_work0;
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // number of recorded stat per IPM iter
-	int use_Pb;
-	int status; // solver status
-	int square_root_alg; // cache from arg
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	int valid_ric_vec; // meaningful riccati vectors
-	int valid_ric_p; // form of riccati p: 0 p*inv(L), 1 p
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qp_ipm_arg_strsize();
-//
-hpipm_size_t d_ocp_qp_ipm_arg_memsize(struct d_ocp_qp_dim *ocp_dim);
-//
-void d_ocp_qp_ipm_arg_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg, void *mem);
-//
-void d_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_ocp_qp_ipm_arg *arg);
-//
-void d_ocp_qp_ipm_arg_set(char *field, void *value, struct d_ocp_qp_ipm_arg *arg);
-// set maximum number of iterations
-void d_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct d_ocp_qp_ipm_arg *arg);
-// set minimum step lenght
-void d_ocp_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_ocp_qp_ipm_arg *arg);
-// set initial value of barrier parameter
-void d_ocp_qp_ipm_arg_set_mu0(double *mu0, struct d_ocp_qp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void d_ocp_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_ocp_qp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void d_ocp_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_ocp_qp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void d_ocp_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_ocp_qp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void d_ocp_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_ocp_qp_ipm_arg *arg);
-// set regularization of primal variables
-void d_ocp_qp_ipm_arg_set_reg_prim(double *tol_comp, struct d_ocp_qp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void d_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct d_ocp_qp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void d_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_ocp_qp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void d_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct d_ocp_qp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-void d_ocp_qp_ipm_arg_set_ric_alg(int *value, struct d_ocp_qp_ipm_arg *arg);
-// dual solution of equality constraints (only for abs_form==1)
-void d_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct d_ocp_qp_ipm_arg *arg);
-// compute residuals after solution
-void d_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct d_ocp_qp_ipm_arg *arg);
-// compute residuals of prediction
-void d_ocp_qp_ipm_arg_set_comp_res_pred(int *value, struct d_ocp_qp_ipm_arg *arg);
-// min value of lam in the solution
-void d_ocp_qp_ipm_arg_set_lam_min(double *value, struct d_ocp_qp_ipm_arg *arg);
-// min value of t in the solution
-void d_ocp_qp_ipm_arg_set_t_min(double *value, struct d_ocp_qp_ipm_arg *arg);
-// min value of tau in the solution
-void d_ocp_qp_ipm_arg_set_tau_min(double *value, struct d_ocp_qp_ipm_arg *arg);
-// set split step: 0 same step, 1 different step for primal and dual variables
-void d_ocp_qp_ipm_arg_set_split_step(int *value, struct d_ocp_qp_ipm_arg *arg);
-// variables initialization scheme
-void d_ocp_qp_ipm_arg_set_var_init_scheme(int *value, struct d_ocp_qp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void d_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct d_ocp_qp_ipm_arg *arg);
-
-//
-hpipm_size_t d_ocp_qp_ipm_ws_strsize();
-//
-hpipm_size_t d_ocp_qp_ipm_ws_memsize(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg);
-//
-void d_ocp_qp_ipm_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, void *mem);
-//
-void d_ocp_qp_ipm_get(char *field, struct d_ocp_qp_ipm_ws *ws, void *value);
-//
-void d_ocp_qp_ipm_get_status(struct d_ocp_qp_ipm_ws *ws, int *status);
-//
-void d_ocp_qp_ipm_get_iter(struct d_ocp_qp_ipm_ws *ws, int *iter);
-//
-void d_ocp_qp_ipm_get_max_res_stat(struct d_ocp_qp_ipm_ws *ws, double *res_stat);
-//
-void d_ocp_qp_ipm_get_max_res_eq(struct d_ocp_qp_ipm_ws *ws, double *res_eq);
-//
-void d_ocp_qp_ipm_get_max_res_ineq(struct d_ocp_qp_ipm_ws *ws, double *res_ineq);
-//
-void d_ocp_qp_ipm_get_max_res_comp(struct d_ocp_qp_ipm_ws *ws, double *res_comp);
-//
-void d_ocp_qp_ipm_get_stat(struct d_ocp_qp_ipm_ws *ws, double **stat);
-//
-void d_ocp_qp_ipm_get_stat_m(struct d_ocp_qp_ipm_ws *ws, int *stat_m);
-//
-void d_ocp_qp_ipm_get_ric_Lr(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *Lr);
-//
-void d_ocp_qp_ipm_get_ric_Ls(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *Ls);
-//
-void d_ocp_qp_ipm_get_ric_P(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *P);
-//
-void d_ocp_qp_ipm_get_ric_lr(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *lr);
-//
-void d_ocp_qp_ipm_get_ric_p(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *p);
-// feedback control gain in the form u = K x + k
-void d_ocp_qp_ipm_get_ric_K(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *K);
-// feedback control gain in the form u = K x + k
-void d_ocp_qp_ipm_get_ric_k(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *k);
-//
-void d_ocp_qp_init_var(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_ipm_abs_step(int kk, struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_ipm_delta_step(int kk, struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_ipm_solve(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_ipm_predict(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_ipm_sens(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h
deleted file mode 100644
index 19dcec32caa974..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_KKT_H_
-#define HPIPM_D_OCP_QP_KKT_H_
-
-#include <hpipm_common.h>
-#include <hpipm_d_ocp_qp.h>
-#include <hpipm_d_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-//
-void d_ocp_qp_fact_solve_kkt_unconstr(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_fact_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_fact_lq_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-#endif // HPIPM_D_OCP_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h
deleted file mode 100644
index f0482b04441eb9..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h
+++ /dev/null
@@ -1,117 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_RED_H_
-#define HPIPM_D_OCP_QP_RED_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_d_ocp_qp_dim.h>
-#include <hpipm_d_ocp_qp.h>
-#include <hpipm_d_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp_reduce_eq_dof_arg
-	{
-	double lam_min;
-	double t_min;
-	int alias_unchanged; // do not keep copy unchanged stage
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-struct d_ocp_qp_reduce_eq_dof_ws
-	{
-	struct blasfeo_dvec *tmp_nuxM;
-	struct blasfeo_dvec *tmp_nbgM;
-	int *e_imask_ux;
-	int *e_imask_d;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-void d_ocp_qp_dim_reduce_eq_dof(struct d_ocp_qp_dim *dim, struct d_ocp_qp_dim *dim_red);
-//
-hpipm_size_t d_ocp_qp_reduce_eq_dof_arg_memsize();
-//
-void d_ocp_qp_reduce_eq_dof_arg_create(struct d_ocp_qp_reduce_eq_dof_arg *arg, void *mem);
-//
-void d_ocp_qp_reduce_eq_dof_arg_set_default(struct d_ocp_qp_reduce_eq_dof_arg *arg);
-//
-void d_ocp_qp_reduce_eq_dof_arg_set_alias_unchanged(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void d_ocp_qp_reduce_eq_dof_arg_set_comp_prim_sol(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void d_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_eq(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void d_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_ineq(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-hpipm_size_t d_ocp_qp_reduce_eq_dof_ws_memsize(struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_reduce_eq_dof_ws_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp_reduce_eq_dof_ws *work, void *mem);
-//
-void d_ocp_qp_reduce_eq_dof(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
-//
-void d_ocp_qp_reduce_eq_dof_lhs(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
-//
-void d_ocp_qp_reduce_eq_dof_rhs(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
-//
-void d_ocp_qp_restore_eq_dof(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol_red, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_RED_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h
deleted file mode 100644
index 061c5729cd6e76..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h
+++ /dev/null
@@ -1,112 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_RES_H_
-#define HPIPM_D_OCP_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_ocp_qp_dim.h>
-#include <hpipm_d_ocp_qp.h>
-#include <hpipm_d_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp_res
-	{
-	struct d_ocp_qp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // max of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_ocp_qp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qp_res_memsize(struct d_ocp_qp_dim *ocp_dim);
-//
-void d_ocp_qp_res_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_res *res, void *mem);
-//
-hpipm_size_t d_ocp_qp_res_ws_memsize(struct d_ocp_qp_dim *ocp_dim);
-//
-void d_ocp_qp_res_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_res_ws *workspace, void *mem);
-//
-void d_ocp_qp_res_compute(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_res *res, struct d_ocp_qp_res_ws *ws);
-//
-void d_ocp_qp_res_compute_lin(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_sol *qp_step, struct d_ocp_qp_res *res, struct d_ocp_qp_res_ws *ws);
-//
-void d_ocp_qp_res_compute_inf_norm(struct d_ocp_qp_res *res);
-//
-void d_ocp_qp_res_get_all(struct d_ocp_qp_res *res, double **res_r, double **res_q, double **res_ls, double **res_us, double **res_b, double **res_d_lb, double **res_d_ub, double **res_d_lg, double **res_d_ug, double **res_d_ls, double **res_d_us, double **res_m_lb, double **res_m_ub, double **res_m_lg, double **res_m_ug, double **res_m_ls, double **res_m_us);
-//
-void d_ocp_qp_res_get_max_res_stat(struct d_ocp_qp_res *res, double *value);
-//
-void d_ocp_qp_res_get_max_res_eq(struct d_ocp_qp_res *res, double *value);
-//
-void d_ocp_qp_res_get_max_res_ineq(struct d_ocp_qp_res *res, double *value);
-//
-void d_ocp_qp_res_get_max_res_comp(struct d_ocp_qp_res *res, double *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_OCP_QP_RES_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h
deleted file mode 100644
index eb91f3a7b1451f..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_SOL_H_
-#define HPIPM_D_OCP_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp_sol
-	{
-	struct d_ocp_qp_dim *dim;
-	struct blasfeo_dvec *ux;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qp_sol_strsize();
-//
-hpipm_size_t d_ocp_qp_sol_memsize(struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_sol_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp_sol *qp_sol, void *memory);
-//
-void d_ocp_qp_sol_copy_all(struct d_ocp_qp_sol *qp_sol_orig, struct d_ocp_qp_sol *qp_sol_dest);
-//
-void d_ocp_qp_sol_get_all(struct d_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us);
-//
-void d_ocp_qp_sol_get_all_rowmaj(struct d_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us);
-//
-void d_ocp_qp_sol_set_all(double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us, struct d_ocp_qp_sol *qp_sol);
-//
-void d_ocp_qp_sol_get(char *field, int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_u(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_x(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_sl(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_su(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_pi(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_lb(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_lbu(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_lbx(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_ub(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_ubu(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_ubx(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_lg(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_ug(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_set(char *field, int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
-//
-void d_ocp_qp_sol_set_u(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
-//
-void d_ocp_qp_sol_set_x(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
-//
-void d_ocp_qp_sol_set_sl(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
-//
-void d_ocp_qp_sol_set_su(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h
deleted file mode 100644
index 217e9d94ae7116..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_UTILS_H_
-#define HPIPM_D_OCP_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qp_dim.h"
-#include "hpipm_d_ocp_qp.h"
-#include "hpipm_d_ocp_qp_sol.h"
-#include "hpipm_d_ocp_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_ocp_qp_dim_print(struct d_ocp_qp_dim *qp_dim);
-//
-void d_ocp_qp_dim_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim);
-//
-void d_ocp_qp_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_sol_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_sol *ocp_qp_sol);
-//
-void d_ocp_qp_ipm_arg_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_ipm_arg *arg);
-//
-void d_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_ipm_arg *arg);
-//
-void d_ocp_qp_res_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_res *ocp_qp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_UTILS_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h b/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h
deleted file mode 100644
index 1c5f7850356a67..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_PART_COND_H_
-#define HPIPM_D_PART_COND_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_common.h"
-#include "hpipm_d_cond.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_part_cond_qp_arg
-	{
-	struct d_cond_qp_arg *cond_arg;
-	int N2;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_part_cond_qp_ws
-	{
-	struct d_cond_qp_ws *cond_workspace;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_part_cond_qp_arg_memsize(int N2);
-//
-void d_part_cond_qp_arg_create(int N2, struct d_part_cond_qp_arg *cond_arg, void *mem);
-//
-void d_part_cond_qp_arg_set_default(struct d_part_cond_qp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 squre-root
-void d_part_cond_qp_arg_set_ric_alg(int ric_alg, struct d_part_cond_qp_arg *cond_arg);
-//
-void d_part_cond_qp_arg_set_comp_prim_sol(int value, struct d_part_cond_qp_arg *cond_arg);
-//
-void d_part_cond_qp_arg_set_comp_dual_sol_eq(int value, struct d_part_cond_qp_arg *cond_arg);
-//
-void d_part_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct d_part_cond_qp_arg *cond_arg);
-
-//
-void d_part_cond_qp_compute_block_size(int N, int N2, int *block_size);
-//
-void d_part_cond_qp_compute_dim(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim);
-//
-hpipm_size_t d_part_cond_qp_ws_memsize(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim, struct d_part_cond_qp_arg *cond_arg);
-//
-void d_part_cond_qp_ws_create(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws, void *mem);
-//
-void d_part_cond_qp_cond(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
-//
-void d_part_cond_qp_cond_lhs(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
-//
-void d_part_cond_qp_cond_rhs(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
-//
-void d_part_cond_qp_expand_sol(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_ocp_qp_sol *part_dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
-
-//
-void d_part_cond_qp_update(int *idxc, struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_PART_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h
deleted file mode 100644
index 2d6624e5bbd0e6..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h
+++ /dev/null
@@ -1,106 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_PART_COND_QCQP_H_
-#define HPIPM_D_PART_COND_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_cond_qcqp.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_part_cond_qcqp_arg
-	{
-	struct d_cond_qcqp_arg *cond_arg;
-	int N2;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_part_cond_qcqp_ws
-	{
-	struct d_cond_qcqp_ws *cond_ws;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_part_cond_qcqp_arg_memsize(int N2);
-//
-void d_part_cond_qcqp_arg_create(int N2, struct d_part_cond_qcqp_arg *cond_arg, void *mem);
-//
-void d_part_cond_qcqp_arg_set_default(struct d_part_cond_qcqp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 squre-root
-void d_part_cond_qcqp_arg_set_ric_alg(int ric_alg, struct d_part_cond_qcqp_arg *cond_arg);
-
-//
-void d_part_cond_qcqp_compute_block_size(int N, int N2, int *block_size);
-//
-void d_part_cond_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim);
-//
-hpipm_size_t d_part_cond_qcqp_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim, struct d_part_cond_qcqp_arg *cond_arg);
-//
-void d_part_cond_qcqp_ws_create(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws, void *mem);
-//
-void d_part_cond_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
-//
-void d_part_cond_qcqp_cond_lhs(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
-//
-void d_part_cond_qcqp_cond_rhs(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
-//
-void d_part_cond_qcqp_expand_sol(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_ocp_qcqp_sol *part_dense_qp_sol, struct d_ocp_qcqp_sol *ocp_qp_sol, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_PART_COND_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h b/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h
deleted file mode 100644
index 320b66bb28c201..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_SIM_ERK_H_
-#define HPIPM_D_SIM_ERK_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct d_sim_erk_arg
-	{
-	struct d_sim_rk_data *rk_data; // integrator data
-	double h; // step size
-	int steps; // number of steps
-//	int for_sens; // compute adjoint sensitivities
-//	int adj_sens; // compute adjoint sensitivities
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_sim_erk_ws
-	{
-	void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot); // function pointer to ode
-	void (*vde_for)(int t, double *x, double *p, void *ode_args, double *xdot); // function pointer to forward vde
-	void (*vde_adj)(int t, double *adj_in, void *ode_args, double *adj_out); // function pointer to adjoint vde
-	void *ode_args; // pointer to ode args
-	struct d_sim_erk_arg *erk_arg; // erk arg
-	double *K; // internal variables
-	double *x_for; // states and forward sensitivities
-	double *x_traj; // states at all steps
-	double *l; // adjoint sensitivities
-	double *p; // parameter
-	double *x_tmp; // temporary states and forward sensitivities
-	double *adj_in;
-	double *adj_tmp;
-	int nx; // number of states
-	int np; // number of parameters
-	int nf; // number of forward sensitivities
-	int na; // number of adjoint sensitivities
-	int nf_max; // max number of forward sensitivities
-	int na_max; // max number of adjoint sensitivities
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_sim_erk_arg_memsize();
-//
-void d_sim_erk_arg_create(struct d_sim_erk_arg *erk_arg, void *mem);
-//
-void d_sim_erk_arg_set_all(struct d_sim_rk_data *rk_data, double h, int steps, struct d_sim_erk_arg *erk_arg);
-
-//
-hpipm_size_t d_sim_erk_ws_memsize(struct d_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max);
-//
-void d_sim_erk_ws_create(struct d_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max, struct d_sim_erk_ws *work, void *memory);
-//
-void d_sim_erk_ws_set_all(int nf, int na, double *x, double *fs, double *bs, double *p, void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), void (*vde_for)(int t, double *x, double *p, void *ode_args, double *xdot), void (*vde_adj)(int t, double *adj_in, void *ode_args, double *adj_out), void *ode_args, struct d_sim_erk_ws *work);
-// number of directions for forward sensitivities
-void d_sim_erk_ws_set_nf(int *nf, struct d_sim_erk_ws *work);
-// parameters (e.g. inputs)
-void d_sim_erk_ws_set_p(double *p, struct d_sim_erk_ws *work);
-// state
-void d_sim_erk_ws_set_x(double *x, struct d_sim_erk_ws *work);
-// forward sensitivities
-void d_sim_erk_ws_set_fs(double *fs, struct d_sim_erk_ws *work);
-// ode funtion
-void d_sim_erk_ws_set_ode(void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), struct d_sim_erk_ws *work);
-// forward vde function
-void d_sim_erk_ws_set_vde_for(void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), struct d_sim_erk_ws *work);
-// ode_args, passed straight to the ode/vde_for/vde_adj functions
-void d_sim_erk_ws_set_ode_args(void *ode_args, struct d_sim_erk_ws *work);
-// state
-void d_sim_erk_ws_get_x(struct d_sim_erk_ws *work, double *x);
-// forward sensitivities
-void d_sim_erk_ws_get_fs(struct d_sim_erk_ws *work, double *fs);
-//
-void d_sim_erk_solve(struct d_sim_erk_arg *arg, struct d_sim_erk_ws *work);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_D_SIM_ERK_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h b/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h
deleted file mode 100644
index a50dcbb491ceea..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_SIM_RK_H_
-#define HPIPM_D_SIM_RK_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct d_sim_rk_data
-	{
-	double *A_rk; // A in butcher tableau
-	double *B_rk; // b in butcher tableau
-	double *C_rk; // c in butcher tableau
-	int expl; // erk vs irk
-	int ns; // number of stages
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_sim_rk_data_memsize(int ns);
-//
-void d_sim_rk_data_create(int ns, struct d_sim_rk_data *rk_data, void *memory);
-//
-void d_sim_rk_data_init_default(char *field, struct d_sim_rk_data *rk_data);
-//
-void d_sim_rk_data_set_all(int expl, double *A_rk, double *B_rk, double *C_rk, struct d_sim_rk_data *rk_data);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_D_SIM_RK_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h
deleted file mode 100644
index f36b51a06433f1..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h
+++ /dev/null
@@ -1,213 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QCQP_H_
-#define HPIPM_D_TREE_OCP_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_common.h"
-#include "hpipm_d_tree_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qcqp
-	{
-	struct d_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_dmat *BAbt; // Nn-1
-	struct blasfeo_dmat *RSQrq; // Nn
-	struct blasfeo_dmat *DCt; // Nn
-	struct blasfeo_dmat **Hq; // Nn
-	struct blasfeo_dvec *b; // Nn-1
-	struct blasfeo_dvec *rqz; // Nn
-	struct blasfeo_dvec *d; // Nn
-	struct blasfeo_dvec *d_mask; // Nn
-	struct blasfeo_dvec *m; // Nn
-	struct blasfeo_dvec *Z; // Nn
-	int **idxb; // indices of box constrained variables within [u; x] // Nn
-	int **idxs_rev; // index of soft constraints
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qcqp_memsize(struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_create(struct d_tree_ocp_qcqp_dim *dim, struct d_tree_ocp_qcqp *qp, void *memory);
-//
-void d_tree_ocp_qcqp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxb, double **d_lb, double **d_ub, double **C, double **D, double **d_lg, double **d_ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **d_ls, double **d_us, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set(char *field_name, int node_edge, void *value, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_A(int edge, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_B(int edge, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_b(int edge, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Q(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_S(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_R(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_q(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_r(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lb(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lb_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ub(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ub_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lbx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lbx_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ubx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ubx_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lbu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lbu_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ubu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ubu_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_idxb(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_idxbx(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jbx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_idxbu(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jbu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_C(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_D(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lg(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lg_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ug(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ug_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Qq(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Sq(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Rq(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_qq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_rq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_uq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_uq_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Zl(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Zu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_zl(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_zu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lls(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lls_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lus(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lus_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_idxs(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_idxs_rev(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jsbu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jsbx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jsg(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jsq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_idxe(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_idxbxe(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_idxbue(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_idxge(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_Jbxe(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_Jbue(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_Jge(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_diag_H_flag(int node, int *value, struct d_tree_ocp_qcqp *qp);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h
deleted file mode 100644
index 257b82b2522bfe..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h
+++ /dev/null
@@ -1,117 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QCQP_DIM_H_
-#define HPIPM_D_TREE_OCP_QCQP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qcqp_dim
-	{
-	struct d_tree_ocp_qp_dim *qp_dim; // dim of qp approximation
-	struct tree *ttree; // tree describing node conndection
-	int *nx; // number of states // Nn
-	int *nu; // number of inputs // Nn
-	int *nb; // number of box constraints // Nn
-	int *nbx; // number of state box constraints // Nn
-	int *nbu; // number of input box constraints // Nn
-	int *ng; // number of general constraints // Nn
-	int *nq; // number of (upper) quadratic constraints
-	int *ns; // number of soft constraints // Nn
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int *nsq; // number of (upper) soft quadratic constraints
-	int Nn; // number of nodes
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qcqp_dim_strsize();
-//
-hpipm_size_t d_tree_ocp_qcqp_dim_memsize(int Nn);
-//
-void d_tree_ocp_qcqp_dim_create(int Nn, struct d_tree_ocp_qcqp_dim *qp_dim, void *memory);
-//
-void d_tree_ocp_qcqp_dim_set_tree(struct tree *ttree, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set(char *field, int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nbx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nbu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_ng(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nq(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_ns(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nsbx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nsbu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nsg(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nsq(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-//void d_tree_ocp_qcqp_dim_set_nbxe(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-//void d_tree_ocp_qcqp_dim_set_nbue(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-//void d_tree_ocp_qcqp_dim_set_nge(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QCQP_DIM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h
deleted file mode 100644
index 4a0fed1067aac8..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h
+++ /dev/null
@@ -1,191 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QCQP_IPM_H_
-#define HPIPM_D_TREE_OCP_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_tree_ocp_qcqp_dim.h>
-#include <hpipm_d_tree_ocp_qp.h>
-#include <hpipm_d_tree_ocp_qcqp_res.h>
-#include <hpipm_d_tree_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qcqp_ipm_arg
-	{
-	struct d_tree_ocp_qp_ipm_arg *qp_arg;
-	double mu0; // initial value for complementarity slackness
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-//	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constrains (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-//	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_tree_ocp_qcqp_ipm_ws
-	{
-	struct d_tree_ocp_qp_ipm_ws *qp_ws;
-	struct d_tree_ocp_qp *qp;
-	struct d_tree_ocp_qp_sol *qp_sol;
-	struct d_tree_ocp_qcqp_res_ws *qcqp_res_ws;
-	struct d_tree_ocp_qcqp_res *qcqp_res;
-	struct blasfeo_dvec *tmp_nuxM;
-	int iter; // iteration number
-	int status;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qcqp_ipm_arg_strsize();
-//
-hpipm_size_t d_tree_ocp_qcqp_ipm_arg_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim);
-//
-void d_tree_ocp_qcqp_ipm_arg_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg, void *mem);
-//
-void d_tree_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_tree_ocp_qcqp_ipm_arg *arg);
-//
-void d_tree_ocp_qcqp_ipm_arg_set(char *field, void *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set maximum number of iterations
-void d_tree_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set minimum step lenght
-void d_tree_ocp_qcqp_ipm_arg_set_alpha_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set initial value of barrier parameter
-void d_tree_ocp_qcqp_ipm_arg_set_mu0(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void d_tree_ocp_qcqp_ipm_arg_set_tol_stat(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void d_tree_ocp_qcqp_ipm_arg_set_tol_eq(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void d_tree_ocp_qcqp_ipm_arg_set_tol_ineq(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void d_tree_ocp_qcqp_ipm_arg_set_tol_comp(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set regularization of primal variables
-void d_tree_ocp_qcqp_ipm_arg_set_reg_prim(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void d_tree_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void d_tree_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void d_tree_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-//void d_tree_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// compute residuals after solution
-void d_tree_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// compute residuals of prediction
-//void d_tree_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// min value of lam in the solution
-void d_tree_ocp_qcqp_ipm_arg_set_lam_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// min value of t in the solution
-void d_tree_ocp_qcqp_ipm_arg_set_t_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// use different step for primal and dual variables
-void d_tree_ocp_qcqp_ipm_arg_set_split_step(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void d_tree_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t d_tree_ocp_qcqp_ipm_ws_strsize();
-//
-hpipm_size_t d_tree_ocp_qcqp_ipm_ws_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
-//
-void d_tree_ocp_qcqp_ipm_ws_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws, void *mem);
-//
-void d_tree_ocp_qcqp_ipm_get(char *field, struct d_tree_ocp_qcqp_ipm_ws *ws, void *value);
-//
-void d_tree_ocp_qcqp_ipm_get_status(struct d_tree_ocp_qcqp_ipm_ws *ws, int *status);
-//
-void d_tree_ocp_qcqp_ipm_get_iter(struct d_tree_ocp_qcqp_ipm_ws *ws, int *iter);
-//
-void d_tree_ocp_qcqp_ipm_get_max_res_stat(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_stat);
-//
-void d_tree_ocp_qcqp_ipm_get_max_res_eq(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_eq);
-//
-void d_tree_ocp_qcqp_ipm_get_max_res_ineq(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_ineq);
-//
-void d_tree_ocp_qcqp_ipm_get_max_res_comp(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_comp);
-//
-void d_tree_ocp_qcqp_ipm_get_stat(struct d_tree_ocp_qcqp_ipm_ws *ws, double **stat);
-//
-void d_tree_ocp_qcqp_ipm_get_stat_m(struct d_tree_ocp_qcqp_ipm_ws *ws, int *stat_m);
-//
-void d_tree_ocp_qcqp_init_var(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws);
-//
-void d_tree_ocp_qcqp_ipm_solve(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_TREE_OCP_QCQP_IPM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h
deleted file mode 100644
index 69eebb1ba4d674..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h
+++ /dev/null
@@ -1,108 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QCQP_RES_H_
-#define HPIPM_D_TREE_OCP_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_tree_ocp_qcqp_dim.h>
-#include <hpipm_d_tree_ocp_qcqp.h>
-#include <hpipm_d_tree_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qcqp_res
-	{
-	struct d_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // max of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_tree_ocp_qcqp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nuxM; // work space of size nuM+nxM
-	struct blasfeo_dvec *tmp_nbgqM; // work space of size nbM+ngM+nqM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qcqp_res_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim);
-//
-void d_tree_ocp_qcqp_res_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_res *res, void *mem);
-//
-hpipm_size_t d_tree_ocp_qcqp_res_ws_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim);
-//
-void d_tree_ocp_qcqp_res_ws_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_res_ws *ws, void *mem);
-//
-void d_tree_ocp_qcqp_res_compute(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_res *res, struct d_tree_ocp_qcqp_res_ws *ws);
-//
-void d_tree_ocp_qcqp_res_compute_inf_norm(struct d_tree_ocp_qcqp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_TREE_OCP_QCQP_RES_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h
deleted file mode 100644
index cde8de5c51b769..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h
+++ /dev/null
@@ -1,99 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QCQP_SOL_H_
-#define HPIPM_D_TREE_OCP_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_tree_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct d_tree_ocp_qcqp_sol
-	{
-	struct d_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_dvec *ux;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qcqp_sol_memsize(struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_sol_create(struct d_tree_ocp_qcqp_dim *dim, struct d_tree_ocp_qcqp_sol *qp_sol, void *memory);
-//
-void d_tree_ocp_qcqp_sol_get(char *field, int node_edge, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_u(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_x(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_sl(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_su(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_pi(int edge, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_lam_lb(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_lam_ub(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_lam_lg(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_lam_ug(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QCQP_SOL_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h
deleted file mode 100644
index 5ef04fcf66fc56..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_UTILS_H_
-#define HPIPM_D_TREE_OCP_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_tree_ocp_qcqp_dim.h"
-#include "hpipm_d_tree_ocp_qcqp.h"
-#include "hpipm_d_tree_ocp_qcqp_sol.h"
-#include "hpipm_d_tree_ocp_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_tree_ocp_qcqp_dim_print(struct d_tree_ocp_qcqp_dim *qp_dim);
-//
-//void d_tree_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim);
-//
-void d_tree_ocp_qcqp_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_sol_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_sol *ocp_qcqp_sol);
-//
-void d_tree_ocp_qcqp_ipm_arg_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
-//
-//void d_tree_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
-//
-void d_tree_ocp_qcqp_res_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_res *ocp_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_UTILS_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h
deleted file mode 100644
index 1666ad7c71bc3a..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h
+++ /dev/null
@@ -1,195 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_H_
-#define HPIPM_D_TREE_OCP_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_tree_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qp
-	{
-	struct d_tree_ocp_qp_dim *dim;
-	struct blasfeo_dmat *BAbt; // Nn-1
-	struct blasfeo_dmat *RSQrq; // Nn
-	struct blasfeo_dmat *DCt; // Nn
-	struct blasfeo_dvec *b; // Nn-1
-	struct blasfeo_dvec *rqz; // Nn
-	struct blasfeo_dvec *d; // Nn
-	struct blasfeo_dvec *d_mask; // Nn
-	struct blasfeo_dvec *m; // Nn
-	struct blasfeo_dvec *Z; // Nn
-	int **idxb; // indices of box constrained variables within [u; x] // Nn
-//	int **idxs; // index of soft constraints
-	int **idxs_rev; // index of soft constraints
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qp_memsize(struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp *qp, void *memory);
-//
-void d_tree_ocp_qp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxb, double **d_lb, double **d_ub, double **C, double **D, double **d_lg, double **d_ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **d_ls, double **d_us, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set(char *field_name, int node_edge, void *value, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_A(int edge, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_B(int edge, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_b(int edge, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Q(int node, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_S(int node, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_R(int node, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_q(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_r(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lb(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lb_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ub(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ub_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lbx(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lbx_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ubx(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ubx_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lbu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lbu_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ubu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ubu_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_idxb(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_idxbx(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Jbx(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_idxbu(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Jbu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_C(int node, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_D(int node, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lg(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lg_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ug(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ug_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Zl(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Zu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_zl(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_zu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lls(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lls_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lus(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lus_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_idxs(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_idxs_rev(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Jsbu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Jsbx(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Jsg(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_idxe(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_idxbxe(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_idxbue(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_idxge(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_Jbxe(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_Jbue(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_Jge(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_diag_H_flag(int node, int *value, struct d_tree_ocp_qp *qp);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h
deleted file mode 100644
index 659b664594263e..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h
+++ /dev/null
@@ -1,111 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_DIM_H_
-#define HPIPM_D_TREE_OCP_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qp_dim
-	{
-	struct tree *ttree; // tree describing node conndection
-	int *nx; // number of states // Nn
-	int *nu; // number of inputs // Nn
-	int *nb; // number of box constraints // Nn
-	int *nbx; // number of state box constraints // Nn
-	int *nbu; // number of input box constraints // Nn
-	int *ng; // number of general constraints // Nn
-	int *ns; // number of soft constraints // Nn
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int Nn; // number of nodes
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qp_dim_strsize();
-//
-hpipm_size_t d_tree_ocp_qp_dim_memsize(int Nn);
-//
-void d_tree_ocp_qp_dim_create(int Nn, struct d_tree_ocp_qp_dim *qp_dim, void *memory);
-//
-void d_tree_ocp_qp_dim_set_all(struct tree *ttree, int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_tree(struct tree *ttree, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set(char *field, int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nx(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nu(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nbx(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nbu(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_ng(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_ns(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nsbx(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nsbu(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nsg(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nbxe(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nbue(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nge(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h
deleted file mode 100644
index fb634208ce8845..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h
+++ /dev/null
@@ -1,209 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_TREE_OCP_QP_IPM_H_
-#define HPIPM_D_TREE_OCP_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_tree_ocp_qp_dim.h>
-#include <hpipm_d_tree_ocp_qp.h>
-#include <hpipm_d_tree_ocp_qp_res.h>
-#include <hpipm_d_tree_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qp_ipm_arg
-	{
-	double mu0; // initial value for duality measure
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	double tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol==1)
-	int split_step; // use different steps for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_tree_ocp_qp_ipm_ws
-	{
-	struct d_core_qp_ipm_workspace *core_workspace;
-	struct d_tree_ocp_qp_res_ws *res_workspace;
-	struct d_tree_ocp_qp_sol *sol_step;
-	struct d_tree_ocp_qp_sol *sol_itref;
-	struct d_tree_ocp_qp *qp_step;
-	struct d_tree_ocp_qp *qp_itref;
-	struct d_tree_ocp_qp_res *res_itref;
-	struct d_tree_ocp_qp_res *res;
-	struct blasfeo_dvec *Gamma; // hessian update
-	struct blasfeo_dvec *gamma; // hessian update
-	struct blasfeo_dvec *tmp_nxM; // work space of size nxM
-	struct blasfeo_dvec *tmp_nbgM; // work space of size nbgM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	struct blasfeo_dvec *Pb; // Pb
-	struct blasfeo_dvec *Zs_inv;
-	struct blasfeo_dmat *L;
-	struct blasfeo_dmat *Lh;
-	struct blasfeo_dmat *AL;
-	struct blasfeo_dmat *lq0;
-	struct blasfeo_dvec *tmp_m;
-	double *stat; // convergence statistics
-	int *use_hess_fact;
-	void *lq_work0;
-	double qp_res[4]; // infinity norm of residuals
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // number of recorded stat per IPM iter
-	int use_Pb;
-	int status; // solver status
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qp_ipm_arg_memsize(struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_ipm_arg_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg, void *mem);
-//
-void d_tree_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_mu0(double *mu0, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_reg_prim(double *reg, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_lam_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_t_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_tau_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_split_step(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
-
-//
-hpipm_size_t d_tree_ocp_qp_ipm_ws_memsize(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_ws_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws, void *mem);
-//
-void d_tree_ocp_qp_ipm_get_status(struct d_tree_ocp_qp_ipm_ws *ws, int *status);
-//
-void d_tree_ocp_qp_ipm_get_iter(struct d_tree_ocp_qp_ipm_ws *ws, int *iter);
-//
-void d_tree_ocp_qp_ipm_get_max_res_stat(struct d_tree_ocp_qp_ipm_ws *ws, double *res_stat);
-//
-void d_tree_ocp_qp_ipm_get_max_res_eq(struct d_tree_ocp_qp_ipm_ws *ws, double *res_eq);
-//
-void d_tree_ocp_qp_ipm_get_max_res_ineq(struct d_tree_ocp_qp_ipm_ws *ws, double *res_ineq);
-//
-void d_tree_ocp_qp_ipm_get_max_res_comp(struct d_tree_ocp_qp_ipm_ws *ws, double *res_comp);
-//
-void d_tree_ocp_qp_ipm_get_stat(struct d_tree_ocp_qp_ipm_ws *ws, double **stat);
-//
-void d_tree_ocp_qp_ipm_get_stat_m(struct d_tree_ocp_qp_ipm_ws *ws, int *stat_m);
-//
-void d_tree_ocp_qp_init_var(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_ipm_abs_step(int kk, struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_ipm_delta_step(int kk, struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_ipm_solve(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h
deleted file mode 100644
index 4afd52fe4bf1cc..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-//
-void d_tree_ocp_qp_fact_solve_kkt_unconstr(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_fact_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_fact_lq_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h
deleted file mode 100644
index fe499080ea89a3..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h
+++ /dev/null
@@ -1,106 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_RES_H_
-#define HPIPM_D_TREE_OCP_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_tree_ocp_qp_dim.h>
-#include <hpipm_d_tree_ocp_qp.h>
-#include <hpipm_d_tree_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qp_res
-	{
-	struct d_tree_ocp_qp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // max of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_tree_ocp_qp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qp_res_memsize(struct d_tree_ocp_qp_dim *ocp_dim);
-//
-void d_tree_ocp_qp_res_create(struct d_tree_ocp_qp_dim *ocp_dim, struct d_tree_ocp_qp_res *res, void *mem);
-//
-hpipm_size_t d_tree_ocp_qp_res_ws_memsize(struct d_tree_ocp_qp_dim *ocp_dim);
-//
-void d_tree_ocp_qp_res_ws_create(struct d_tree_ocp_qp_dim *ocp_dim, struct d_tree_ocp_qp_res_ws *ws, void *mem);
-//
-void d_tree_ocp_qp_res_get_all(struct d_tree_ocp_qp_res *res, double **res_r, double **res_q, double **res_ls, double **res_us, double **res_b, double **res_d_lb, double **res_d_ub, double **res_d_lg, double **res_d_ug, double **res_d_ls, double **res_d_us, double **res_m_lb, double **res_m_ub, double **res_m_lg, double **res_m_ug, double **res_m_ls, double **res_m_us);
-//
-void d_tree_ocp_qp_res_compute(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_res *res, struct d_tree_ocp_qp_res_ws *ws);
-//
-void d_tree_ocp_qp_res_compute_lin(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_sol *qp_step, struct d_tree_ocp_qp_res *res, struct d_tree_ocp_qp_res_ws *ws);
-//
-void d_tree_ocp_qp_res_compute_inf_norm(struct d_tree_ocp_qp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_TREE_OCP_QP_RES_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h
deleted file mode 100644
index 343d5e8ca6a171..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h
+++ /dev/null
@@ -1,100 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_SOL_H_
-#define HPIPM_D_TREE_OCP_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_tree_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct d_tree_ocp_qp_sol
-	{
-	struct d_tree_ocp_qp_dim *dim;
-	struct blasfeo_dvec *ux;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qp_sol_memsize(struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_sol_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_sol *qp_sol, void *memory);
-//
-void d_tree_ocp_qp_sol_get_all(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us);
-//
-void d_tree_ocp_qp_sol_get(char *field, int node_edge, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_u(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_x(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_sl(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_su(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_pi(int edge, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_lam_lb(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_lam_ub(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_lam_lg(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_lam_ug(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h
deleted file mode 100644
index b689fdc0fa2d59..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_UTILS_H_
-#define HPIPM_D_TREE_OCP_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_tree_ocp_qp_dim.h"
-#include "hpipm_d_tree_ocp_qp.h"
-#include "hpipm_d_tree_ocp_qp_sol.h"
-#include "hpipm_d_tree_ocp_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_tree_ocp_qp_dim_print(struct d_tree_ocp_qp_dim *qp_dim);
-//
-//void d_tree_ocp_qp_dim_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim);
-//
-void d_tree_ocp_qp_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_sol_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_sol *ocp_qp_sol);
-//
-void d_tree_ocp_qp_ipm_arg_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-//void d_tree_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_res_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_res *ocp_qp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_UTILS_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h
deleted file mode 100644
index 8bc101003e208a..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-
-#ifndef HPIPM_M_DENSE_QP_H_
-#define HPIPM_M_DENSE_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp.h"
-#include "hpipm_s_dense_qp.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-void cvt_d2s_dense_qp(struct d_dense_qp *qpd, struct s_dense_qp *qps);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_M_DENSE_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h
deleted file mode 100644
index 4610321b970c9e..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-
-#ifndef HPIPM_M_DENSE_QP_DIM_H_
-#define HPIPM_M_DENSE_QP_DIM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp_dim.h"
-#include "hpipm_s_dense_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-void cvt_d2s_dense_qp_dim(struct d_dense_qp_dim *qpd, struct s_dense_qp_dim *qps);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_M_DENSE_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h
deleted file mode 100644
index 95c3dad1aa02be..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h
+++ /dev/null
@@ -1,49 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void m_cvt_d_ocp_qp_to_s_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h
deleted file mode 100644
index 1c44acee2e8497..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-struct m_ipm_hard_ocp_qp_workspace
-	{
-	struct d_ipm_hard_core_qp_workspace *core_workspace;
-	struct blasfeo_dvec *dux;
-	struct blasfeo_dvec *dpi;
-	struct blasfeo_dvec *dt_lb;
-	struct blasfeo_dvec *dt_lg;
-	struct blasfeo_svec *sdux; // XXX
-	struct blasfeo_svec *sdpi; // XXX
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals XXX remove ???
-	struct blasfeo_dvec *res_d_lb; // d-residuals
-	struct blasfeo_dvec *res_d_ub; // d-residuals
-	struct blasfeo_dvec *res_d_lg; // d-residuals
-	struct blasfeo_dvec *res_d_ug; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	struct blasfeo_dvec *res_m_lb; // m-residuals
-	struct blasfeo_dvec *res_m_ub; // m-residuals
-	struct blasfeo_dvec *res_m_lg; // m-residuals
-	struct blasfeo_dvec *res_m_ug; // m-residuals
-	struct blasfeo_svec *sres_g; // q-residuals // XXX
-	struct blasfeo_svec *sres_b; // b-residuals // XXX
-	struct blasfeo_dvec *Qx_lb; // hessian update
-	struct blasfeo_dvec *Qx_lg; // hessian update
-	struct blasfeo_dvec *qx_lb; // gradient update
-	struct blasfeo_dvec *qx_lg; // gradient update
-	struct blasfeo_svec *sQx_lb; // hessian update // XXX
-	struct blasfeo_svec *sQx_lg; // hessian update // XXX
-	struct blasfeo_svec *sqx_lb; // gradient update // XXX
-	struct blasfeo_svec *sqx_lg; // gradient update // XXX
-	struct blasfeo_dvec *tmp_nbM; // work space of size nbM
-	struct blasfeo_svec *tmp_nxM; // work space of size nxM // XXX
-	struct blasfeo_dvec *tmp_ngM; // work space of size ngM
-	struct blasfeo_svec *Pb; // Pb // XXX
-	struct blasfeo_smat *L; // XXX
-	struct blasfeo_smat *AL; // XXX
-	struct blasfeo_svec *sSx; // scaling
-	struct blasfeo_svec *sSi; // scaling inverted
-	double *stat; // convergence statistics
-	double res_mu; // mu-residual
-	int iter; // iteration number
-	int compute_Pb;
-	int scale;
-	};
-
-
-
-struct m_ipm_hard_ocp_qp_arg
-	{
-	double alpha_min; // exit cond on step length
-	double mu_max; // exit cond on duality measure
-	double mu0; // initial value for duality measure
-	int iter_max; // exit cond in iter number
-	};
-
-
-
-//
-hpipm_size_t m_memsize_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_arg *arg);
-//
-void m_create_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_arg *arg, struct m_ipm_hard_ocp_qp_workspace *ws, void *mem);
-//
-void m_solve_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct d_ocp_qp_sol *qp_sol, struct m_ipm_hard_ocp_qp_workspace *ws);
-//
-void m_solve_ipm2_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct d_ocp_qp_sol *qp_sol, struct m_ipm_hard_ocp_qp_workspace *ws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h
deleted file mode 100644
index 032fe95b1f9897..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h
+++ /dev/null
@@ -1,45 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void m_fact_solve_kkt_step_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_workspace *ws);
-void m_solve_kkt_step_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_workspace *ws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h
deleted file mode 100644
index ba01ecb3bd437e..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h
+++ /dev/null
@@ -1,72 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_CAST_QCQP_H_
-#define HPIPM_S_CAST_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qcqp.h"
-#include "hpipm_s_dense_qcqp_sol.h"
-#include "hpipm_s_ocp_qcqp.h"
-#include "hpipm_s_ocp_qcqp_dim.h"
-#include "hpipm_s_ocp_qcqp_sol.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_cast_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, struct s_dense_qcqp_dim *dense_dim);
-//
-void s_cast_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_CAST_QCQP_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond.h b/third_party/acados/include/hpipm/include/hpipm_s_cond.h
deleted file mode 100644
index 30116798b77599..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_cond.h
+++ /dev/null
@@ -1,137 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_COND_H_
-#define HPIPM_S_COND_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qp.h"
-#include "hpipm_s_dense_qp_sol.h"
-#include "hpipm_s_ocp_qp.h"
-#include "hpipm_s_ocp_qp_dim.h"
-#include "hpipm_s_ocp_qp_sol.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_cond_qp_arg
-	{
-	int cond_last_stage; // condense last stage
-	int cond_alg; // condensing algorithm: 0 N2-nx3, 1 N3-nx2
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
-	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_cond_qp_ws
-	{
-	struct blasfeo_smat *Gamma;
-	struct blasfeo_smat *GammaQ;
-	struct blasfeo_smat *L;
-	struct blasfeo_smat *Lx;
-	struct blasfeo_smat *AL;
-	struct blasfeo_svec *Gammab;
-	struct blasfeo_svec *l;
-	struct blasfeo_svec *tmp_nbgM;
-	struct blasfeo_svec *tmp_nuxM;
-	int bs; // block size
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_cond_qp_arg_memsize();
-//
-void s_cond_qp_arg_create(struct s_cond_qp_arg *cond_arg, void *mem);
-//
-void s_cond_qp_arg_set_default(struct s_cond_qp_arg *cond_arg);
-// condensing algorithm: 0 N2-nx3, 1 N3-nx2
-void s_cond_qp_arg_set_cond_alg(int cond_alg, struct s_cond_qp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 square-root
-void s_cond_qp_arg_set_ric_alg(int ric_alg, struct s_cond_qp_arg *cond_arg);
-// condense last stage: 0 last stage disregarded, 1 last stage condensed too
-void s_cond_qp_arg_set_cond_last_stage(int cond_last_stage, struct s_cond_qp_arg *cond_arg);
-//
-void s_cond_qp_arg_set_comp_prim_sol(int value, struct s_cond_qp_arg *cond_arg);
-//
-void s_cond_qp_arg_set_comp_dual_sol_eq(int value, struct s_cond_qp_arg *cond_arg);
-//
-void s_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct s_cond_qp_arg *cond_arg);
-
-//
-void s_cond_qp_compute_dim(struct s_ocp_qp_dim *ocp_dim, struct s_dense_qp_dim *dense_dim);
-//
-hpipm_size_t s_cond_qp_ws_memsize(struct s_ocp_qp_dim *ocp_dim, struct s_cond_qp_arg *cond_arg);
-//
-void s_cond_qp_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws, void *mem);
-//
-void s_cond_qp_cond(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_qp_cond_lhs(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_qp_cond_rhs(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_qp_expand_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-// TODO remove
-void s_cond_qp_expand_primal_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-
-//
-void s_cond_qp_update(int *idxc, struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h b/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h
deleted file mode 100644
index 003472ab9f3069..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h
+++ /dev/null
@@ -1,92 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_COND_AUX_H_
-#define HPIPM_S_COND_AUX_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_cond_BAbt(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_BAt(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_b(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_RSQrq(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_RSQ(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_rq(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_DCtd(struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, struct blasfeo_svec *d2, struct blasfeo_svec *d_mask2, int *idxs_rev2, struct blasfeo_svec *Z2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_DCt(struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, int *idxs_rev2, struct blasfeo_svec *Z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_d(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *d2, struct blasfeo_svec *d_mask2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_expand_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_expand_primal_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-
-//
-void s_update_cond_BAbt(int *idxc, struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_update_cond_RSQrq_N2nx3(int *idxc, struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_update_cond_DCtd(int *idxc, struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, struct blasfeo_svec *d2, int *idxs2, struct blasfeo_svec *Z2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_COND_AUX_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h
deleted file mode 100644
index c36678abd55953..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h
+++ /dev/null
@@ -1,130 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_COND_QCQP_H_
-#define HPIPM_S_COND_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qcqp.h"
-#include "hpipm_s_dense_qcqp_sol.h"
-#include "hpipm_s_ocp_qcqp.h"
-#include "hpipm_s_ocp_qcqp_dim.h"
-#include "hpipm_s_ocp_qcqp_sol.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_cond_qcqp_arg
-	{
-	struct s_cond_qp_arg *qp_arg;
-	int cond_last_stage; // condense last stage
-//	int cond_variant; // TODO
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution equality constr (lam t)
-	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_cond_qcqp_ws
-	{
-	struct s_cond_qp_ws *qp_ws;
-	struct blasfeo_smat *hess_array; // TODO remove
-	struct blasfeo_smat *zero_hess; // TODO remove
-	struct blasfeo_svec *zero_grad; // TODO remove
-	struct blasfeo_svec *grad_array; // TODO remove
-	struct blasfeo_svec *tmp_nvc;
-	struct blasfeo_svec *tmp_nuxM;
-	struct blasfeo_smat *GammaQ;
-	struct blasfeo_smat *tmp_DCt;
-	struct blasfeo_smat *tmp_nuM_nxM;
-//	struct blasfeo_svec *d_qp;
-//	struct blasfeo_svec *d_mask_qp;
-	hpipm_size_t memsize;
-	};
-
-
-//
-hpipm_size_t s_cond_qcqp_arg_memsize();
-//
-void s_cond_qcqp_arg_create(struct s_cond_qcqp_arg *cond_arg, void *mem);
-//
-void s_cond_qcqp_arg_set_default(struct s_cond_qcqp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 square-root
-void s_cond_qcqp_arg_set_ric_alg(int ric_alg, struct s_cond_qcqp_arg *cond_arg);
-// condense last stage: 0 last stage disregarded, 1 last stage condensed too
-void s_cond_qcqp_arg_set_cond_last_stage(int cond_last_stage, struct s_cond_qcqp_arg *cond_arg);
-
-//
-void s_cond_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, struct s_dense_qcqp_dim *dense_dim);
-//
-hpipm_size_t s_cond_qcqp_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, struct s_cond_qcqp_arg *cond_arg);
-//
-void s_cond_qcqp_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws, void *mem);
-//
-void s_cond_qcqp_qc(struct s_ocp_qcqp *ocp_qp, struct blasfeo_smat *Hq2, int *Hq_nzero2, struct blasfeo_smat *Ct2, struct blasfeo_svec *d2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_qc_lhs(struct s_ocp_qcqp *ocp_qp, struct blasfeo_smat *Hq2, int *Hq_nzero2, struct blasfeo_smat *Ct2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_qc_rhs(struct s_ocp_qcqp *ocp_qp, struct blasfeo_svec *d2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_cond_rhs(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_cond_lhs(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_expand_sol(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp_sol *dense_qp_sol, struct s_ocp_qcqp_sol *ocp_qp_sol, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_COND_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h
deleted file mode 100644
index 480392c7d91f11..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_CORE_QP_IPM_
-#define HPIPM_S_CORE_QP_IPM_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct s_core_qp_ipm_workspace
-	{
-	float *v; // primal variables
-	float *pi; // equality constraints multipliers
-	float *lam; // inequality constraints multipliers
-	float *t; // inequality constraints slacks
-	float *t_inv; // inverse of t
-	float *v_bkp; // backup of primal variables
-	float *pi_bkp; // backup of equality constraints multipliers
-	float *lam_bkp; // backup of inequality constraints multipliers
-	float *t_bkp; // backup of inequality constraints slacks
-	float *dv; // step in v
-	float *dpi; // step in pi
-	float *dlam; // step in lam
-	float *dt; // step in t
-	float *res_g; // q-residuals
-	float *res_b; // b-residuals
-	float *res_d; // d-residuals
-	float *res_m; // m-residuals
-	float *res_m_bkp; // m-residuals
-	float *Gamma; // Hessian update
-	float *gamma; // gradient update
-	float alpha_prim; // step length
-	float alpha_dual; // step length
-	float alpha; // step length
-	float sigma; // centering XXX
-	float mu; // duality measuere
-	float mu_aff; // affine duality measuere
-	float nc_inv; // 1.0/nc, where nc is the total number of constraints
-	float nc_mask_inv; // 1.0/nc_mask
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	float t_min_inv; // inverse of min value in t vector
-	float tau_min; // min value of barrier parameter
-	int nv; // number of primal variables
-	int ne; // number of equality constraints
-	int nc; // (twice the) number of (two-sided) inequality constraints
-	int nc_mask; // total number of ineq constr after masking
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam also in solution, or only in Gamma computation
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t s_memsize_core_qp_ipm(int nv, int ne, int nc);
-//
-void s_create_core_qp_ipm(int nv, int ne, int nc, struct s_core_qp_ipm_workspace *workspace, void *mem);
-//
-void s_core_qp_ipm(struct s_core_qp_ipm_workspace *workspace);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_S_CORE_QP_IPM_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h b/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h
deleted file mode 100644
index 1ac3d7ede9bba8..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_CORE_QP_IPM_AUX_
-#define HPIPM_S_CORE_QP_IPM_AUX_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-void s_compute_Gamma_gamma_qp(float *res_d, float *res_m, struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_gamma_qp(float *res_d, float *res_m, struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_lam_t_qp(float *res_d, float *res_m, float *dlam, float *dt, struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_alpha_qp(struct s_core_qp_ipm_workspace *rws);
-//
-void s_update_var_qp(struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_mu_aff_qp(struct s_core_qp_ipm_workspace *rws);
-//
-void s_backup_res_m(struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_centering_correction_qp(struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_centering_qp(struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_tau_min_qp(struct s_core_qp_ipm_workspace *rws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_S_CORE_QP_IPM_AUX_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h
deleted file mode 100644
index d03c065375f323..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h
+++ /dev/null
@@ -1,200 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QCQP_H_
-#define HPIPM_S_DENSE_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qcqp
-	{
-	struct s_dense_qcqp_dim *dim;
-	struct blasfeo_smat *Hv; // hessian of cost & vector work space
-	struct blasfeo_smat *A; // equality constraint matrix
-	struct blasfeo_smat *Ct; // inequality constraints matrix
-	struct blasfeo_smat *Hq; // hessians of quadratic constraints
-	struct blasfeo_svec *gz; // gradient of cost & gradient of slacks
-	struct blasfeo_svec *b; // equality constraint vector
-	struct blasfeo_svec *d; // inequality constraints vector
-	struct blasfeo_svec *d_mask; // inequality constraints mask vector
-	struct blasfeo_svec *m; // rhs of complementarity condition
-	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
-	int *idxb; // indices of box constrained variables within [u; x]
-	int *idxs_rev; // index of soft constraints (reverse storage)
-	int *Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_dense_qcqp_memsize(struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp *qp, void *memory);
-
-//
-void s_dense_qcqp_set(char *field, void *value, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_H(float *H, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_g(float *g, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_A(float *A, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_b(float *b, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_idxb(int *idxb, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_lb(float *lb, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_lb_mask(float *lb, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ub(float *ub, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ub_mask(float *ub, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_C(float *C, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_lg(float *lg, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_lg_mask(float *lg, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ug(float *ug, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ug_mask(float *ug, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_Hq(float *Hq, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_gq(float *gq, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_uq(float *uq, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_uq_mask(float *uq, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_idxs(int *idxs, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_idxs_rev(int *idxs_rev, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_Zl(float *Zl, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_Zu(float *Zu, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_zl(float *zl, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_zu(float *zu, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ls(float *ls, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ls_mask(float *ls, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_us(float *us, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_us_mask(float *us, struct s_dense_qcqp *qp);
-
-// getters (COLMAJ)
-
-void s_dense_qcqp_get_H(struct s_dense_qcqp *qp, float *H);
-//
-void s_dense_qcqp_get_g(struct s_dense_qcqp *qp, float *g);
-//
-void s_dense_qcqp_get_A(struct s_dense_qcqp *qp, float *A);
-//
-void s_dense_qcqp_get_b(struct s_dense_qcqp *qp, float *b);
-//
-void s_dense_qcqp_get_idxb(struct s_dense_qcqp *qp, int *idxb);
-//
-void s_dense_qcqp_get_lb(struct s_dense_qcqp *qp, float *lb);
-//
-void s_dense_qcqp_get_lb_mask(struct s_dense_qcqp *qp, float *lb);
-//
-void s_dense_qcqp_get_ub(struct s_dense_qcqp *qp, float *ub);
-//
-void s_dense_qcqp_get_ub_mask(struct s_dense_qcqp *qp, float *ub);
-//
-void s_dense_qcqp_get_C(struct s_dense_qcqp *qp, float *C);
-//
-void s_dense_qcqp_get_lg(struct s_dense_qcqp *qp, float *lg);
-//
-void s_dense_qcqp_get_lg_mask(struct s_dense_qcqp *qp, float *lg);
-//
-void s_dense_qcqp_get_ug(struct s_dense_qcqp *qp, float *ug);
-//
-void s_dense_qcqp_get_ug_mask(struct s_dense_qcqp *qp, float *ug);
-//
-void s_dense_qcqp_get_idxs(struct s_dense_qcqp *qp, int *idxs);
-//
-void s_dense_qcqp_get_idxs_rev(struct s_dense_qcqp *qp, int *idxs_rev);
-//
-void s_dense_qcqp_get_Zl(struct s_dense_qcqp *qp, float *Zl);
-//
-void s_dense_qcqp_get_Zu(struct s_dense_qcqp *qp, float *Zu);
-//
-void s_dense_qcqp_get_zl(struct s_dense_qcqp *qp, float *zl);
-//
-void s_dense_qcqp_get_zu(struct s_dense_qcqp *qp, float *zu);
-//
-void s_dense_qcqp_get_ls(struct s_dense_qcqp *qp, float *ls);
-//
-void s_dense_qcqp_get_ls_mask(struct s_dense_qcqp *qp, float *ls);
-//
-void s_dense_qcqp_get_us(struct s_dense_qcqp *qp, float *us);
-//
-void s_dense_qcqp_get_us_mask(struct s_dense_qcqp *qp, float *us);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QCQP_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h
deleted file mode 100644
index 04908c2c3ad97f..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h
+++ /dev/null
@@ -1,99 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QCQP_DIM_H_
-#define HPIPM_S_DENSE_QCQP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qcqp_dim
-	{
-	struct s_dense_qp_dim *qp_dim; // dim of qp approximation
-	int nv;  // number of variables
-	int ne;  // number of equality constraints
-	int nb;  // number of box constraints
-	int ng;  // number of general constraints
-	int nq;  // number of quadratic constraints
-	int nsb; // number of softened box constraints
-	int nsg; // number of softened general constraints
-	int nsq; // number of softened quadratic constraints
-	int ns;  // number of softened constraints (nsb+nsg+nsq) TODO number of slacks
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qcqp_dim_memsize();
-//
-void s_dense_qcqp_dim_create(struct s_dense_qcqp_dim *dim, void *memory);
-//
-void s_dense_qcqp_dim_set(char *fiels_name, int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nv(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_ne(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nb(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_ng(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nq(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nsb(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nsg(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nsq(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_ns(int value, struct s_dense_qcqp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QCQP_DIM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h
deleted file mode 100644
index 8f85768ee3d777..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h
+++ /dev/null
@@ -1,204 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QCQP_IPM_H_
-#define HPIPM_S_DENSE_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_dense_qcqp_dim.h>
-#include <hpipm_s_dense_qcqp.h>
-#include <hpipm_s_dense_qcqp_res.h>
-#include <hpipm_s_dense_qcqp_sol.h>
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qcqp_ipm_arg
-	{
-	struct s_dense_qp_ipm_arg *qp_arg;
-	float mu0; // initial value for duality measure
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float reg_dual; // reg of dual hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int scale; // scale hessian
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_dense_qcqp_ipm_ws
-	{
-//	float qp_res[4]; // infinity norm of residuals
-	struct s_dense_qp_ipm_ws *qp_ws;
-	struct s_dense_qp *qp;
-	struct s_dense_qp_sol *qp_sol;
-	struct s_dense_qcqp_res_ws *qcqp_res_ws;
-	struct s_dense_qcqp_res *qcqp_res;
-	struct blasfeo_svec *tmp_nv;
-//	float *stat; // convergence statistics
-//	void *lq_work0;
-//	void *lq_work1;
-	int iter; // iteration number
-//	int stat_max; // iterations saved in stat
-//	int stat_m; // numer of recorded stat per ipm iter
-//	int scale;
-//	int use_hess_fact;
-	int status;
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t s_dense_qcqp_ipm_arg_memsize(struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_ipm_arg_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_ipm_arg *arg, void *mem);
-//
-void s_dense_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set(char *field, void *value, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_iter_max(int *iter_max, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_alpha_min(float *alpha_min, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_mu0(float *mu0, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_tol_stat(float *tol_stat, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_tol_eq(float *tol_eq, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_tol_comp(float *tol_comp, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_reg_prim(float *reg, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_reg_dual(float *reg, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_warm_start(int *warm_start, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_pred_corr(int *pred_corr, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_lam_min(float *value, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_t_min(float *value, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_split_step(int *value, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_dense_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t s_dense_qcqp_ipm_ws_memsize(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_ws_create(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws, void *mem);
-//
-void s_dense_qcqp_ipm_get(char *field, struct s_dense_qcqp_ipm_ws *ws, void *value);
-//
-void s_dense_qcqp_ipm_get_status(struct s_dense_qcqp_ipm_ws *ws, int *status);
-//
-void s_dense_qcqp_ipm_get_iter(struct s_dense_qcqp_ipm_ws *ws, int *iter);
-//
-void s_dense_qcqp_ipm_get_max_res_stat(struct s_dense_qcqp_ipm_ws *ws, float *res_stat);
-//
-void s_dense_qcqp_ipm_get_max_res_eq(struct s_dense_qcqp_ipm_ws *ws, float *res_eq);
-//
-void s_dense_qcqp_ipm_get_max_res_ineq(struct s_dense_qcqp_ipm_ws *ws, float *res_ineq);
-//
-void s_dense_qcqp_ipm_get_max_res_comp(struct s_dense_qcqp_ipm_ws *ws, float *res_comp);
-//
-void s_dense_qcqp_ipm_get_stat(struct s_dense_qcqp_ipm_ws *ws, float **stat);
-//
-void s_dense_qcqp_ipm_get_stat_m(struct s_dense_qcqp_ipm_ws *ws, int *stat_m);
-#if 0
-//
-void s_dense_qcqp_init_var(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
-#endif
-//
-void s_dense_qcqp_ipm_solve(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
-#if 0
-//
-void s_dense_qcqp_ipm_predict(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
-//
-void s_dense_qcqp_ipm_sens(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
-#endif
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QCQP_IPM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h
deleted file mode 100644
index 779658cc8f8b0a..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h
+++ /dev/null
@@ -1,108 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QCQP_RES_H_
-#define HPIPM_S_DENSE_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_s_dense_qcqp_dim.h>
-#include <hpipm_s_dense_qcqp.h>
-#include <hpipm_s_dense_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qcqp_res
-	{
-	struct s_dense_qcqp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // infinity norm of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_dense_qcqp_res_ws
-	{
-	struct blasfeo_svec *tmp_nv; // work space of size nv
-	struct blasfeo_svec *tmp_nbgq; // work space of size nbM+ngM+nqM
-	struct blasfeo_svec *tmp_ns; // work space of size nsM
-	struct blasfeo_svec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_svec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qcqp_res_memsize(struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_res_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_res *res, void *mem);
-//
-hpipm_size_t s_dense_qcqp_res_ws_memsize(struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_res_ws_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_res_ws *workspace, void *mem);
-//
-void s_dense_qcqp_res_compute(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_res *res, struct s_dense_qcqp_res_ws *ws);
-//
-void s_dense_qcqp_res_compute_inf_norm(struct s_dense_qcqp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_DENSE_QCQP_RES_H_
-
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h
deleted file mode 100644
index 197a690e520ffa..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h
+++ /dev/null
@@ -1,86 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QCQP_SOL_H_
-#define HPIPM_S_DENSE_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qcqp_sol
-	{
-	struct s_dense_qcqp_dim *dim;
-	struct blasfeo_svec *v;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	void *misc;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qcqp_sol_memsize(struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_sol_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_sol *qp_sol, void *memory);
-//
-void s_dense_qcqp_sol_get_v(struct s_dense_qcqp_sol *qp_sol, float *v);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QCQP_SOL_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h
deleted file mode 100644
index 4f5aae26eb1aba..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QCQP_UTILS_H_
-#define HPIPM_S_DENSE_QCQP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qcqp_dim.h"
-#include "hpipm_s_dense_qcqp.h"
-#include "hpipm_s_dense_qcqp_sol.h"
-//#include "hpipm_s_dense_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_dense_qcqp_dim_print(struct s_dense_qcqp_dim *qp_dim);
-//
-//void s_dense_qcqp_dim_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim);
-//
-void s_dense_qcqp_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp *qp);
-//
-//void s_dense_qcqp_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_sol_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_sol *dense_qcqp_sol);
-//
-//void s_dense_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_res_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_res *dense_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QCQP_UTILS_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h
deleted file mode 100644
index 3c2517fe1b76fc..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h
+++ /dev/null
@@ -1,207 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QP_H_
-#define HPIPM_S_DENSE_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qp
-	{
-	struct s_dense_qp_dim *dim;
-	struct blasfeo_smat *Hv; // hessian & gradient
-	struct blasfeo_smat *A; // dynamics matrix
-	struct blasfeo_smat *Ct; // constraints matrix
-	struct blasfeo_svec *gz; // gradient & gradient of slacks
-	struct blasfeo_svec *b; // dynamics vector
-	struct blasfeo_svec *d; // constraints vector
-	struct blasfeo_svec *d_mask; // inequality constraints mask vector
-	struct blasfeo_svec *m; // rhs of complementarity condition
-	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
-	int *idxb; // indices of box constrained variables within [u; x]
-	int *idxs_rev; // index of soft constraints (reverse storage)
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_dense_qp_memsize(struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_create(struct s_dense_qp_dim *dim, struct s_dense_qp *qp, void *memory);
-
-// setters - colmaj
-//
-void s_dense_qp_set_all(float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us, struct s_dense_qp *qp);
-//
-void s_dense_qp_get_all(struct s_dense_qp *qp, float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us);
-//
-void s_dense_qp_set(char *field, void *value, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_H(float *H, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_g(float *g, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_A(float *A, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_b(float *b, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_idxb(int *idxb, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_Jb(float *Jb, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_lb(float *lb, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_lb_mask(float *lb, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ub(float *ub, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ub_mask(float *ub, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_C(float *C, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_lg(float *lg, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_lg_mask(float *lg, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ug(float *ug, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ug_mask(float *ug, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_idxs(int *idxs, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_idxs_rev(int *idxs_rev, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_Jsb(float *Jsb, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_Jsg(float *Jsg, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_Zl(float *Zl, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_Zu(float *Zu, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_zl(float *zl, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_zu(float *zu, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ls(float *ls, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ls_mask(float *ls, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_us(float *us, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_us_mask(float *us, struct s_dense_qp *qp);
-
-// getters - colmaj
-//
-void s_dense_qp_get_H(struct s_dense_qp *qp, float *H);
-//
-void s_dense_qp_get_g(struct s_dense_qp *qp, float *g);
-//
-void s_dense_qp_get_A(struct s_dense_qp *qp, float *A);
-//
-void s_dense_qp_get_b(struct s_dense_qp *qp, float *b);
-//
-void s_dense_qp_get_idxb(struct s_dense_qp *qp, int *idxb);
-//
-void s_dense_qp_get_lb(struct s_dense_qp *qp, float *lb);
-//
-void s_dense_qp_get_lb_mask(struct s_dense_qp *qp, float *lb);
-//
-void s_dense_qp_get_ub(struct s_dense_qp *qp, float *ub);
-//
-void s_dense_qp_get_ub_mask(struct s_dense_qp *qp, float *ub);
-//
-void s_dense_qp_get_C(struct s_dense_qp *qp, float *C);
-//
-void s_dense_qp_get_lg(struct s_dense_qp *qp, float *lg);
-//
-void s_dense_qp_get_lg_mask(struct s_dense_qp *qp, float *lg);
-//
-void s_dense_qp_get_ug(struct s_dense_qp *qp, float *ug);
-//
-void s_dense_qp_get_ug_mask(struct s_dense_qp *qp, float *ug);
-//
-void s_dense_qp_get_idxs(struct s_dense_qp *qp, int *idxs);
-//
-void s_dense_qp_get_idxs_rev(struct s_dense_qp *qp, int *idxs_rev);
-//
-void s_dense_qp_get_Zl(struct s_dense_qp *qp, float *Zl);
-//
-void s_dense_qp_get_Zu(struct s_dense_qp *qp, float *Zu);
-//
-void s_dense_qp_get_zl(struct s_dense_qp *qp, float *zl);
-//
-void s_dense_qp_get_zu(struct s_dense_qp *qp, float *zu);
-//
-void s_dense_qp_get_ls(struct s_dense_qp *qp, float *ls);
-//
-void s_dense_qp_get_ls_mask(struct s_dense_qp *qp, float *ls);
-//
-void s_dense_qp_get_us(struct s_dense_qp *qp, float *us);
-//
-void s_dense_qp_get_us_mask(struct s_dense_qp *qp, float *us);
-
-// setters - rowmaj
-//
-void s_dense_qp_set_all_rowmaj(float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us, struct s_dense_qp *qp);
-
-// getters - rowmaj
-//
-void s_dense_qp_get_all_rowmaj(struct s_dense_qp *qp, float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h
deleted file mode 100644
index b979d24432a9ee..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h
+++ /dev/null
@@ -1,94 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QP_DIM_H_
-#define HPIPM_S_DENSE_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qp_dim
-	{
-	int nv;  // number of variables
-	int ne;  // number of equality constraints
-	int nb;  // number of box constraints
-	int ng;  // number of general constraints
-	int nsb; // number of softened box constraints
-	int nsg; // number of softened general constraints
-	int ns;  // number of softened constraints (nsb+nsg)
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qp_dim_memsize();
-//
-void s_dense_qp_dim_create(struct s_dense_qp_dim *qp_dim, void *memory);
-//
-void s_dense_qp_dim_set_all(int nv, int ne, int nb, int ng, int nsb, int nsg, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set(char *fiels_name, int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_nv(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_ne(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_nb(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_ng(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_nsb(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_nsg(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_ns(int value, struct s_dense_qp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_DIM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h
deleted file mode 100644
index f2d56d45299574..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h
+++ /dev/null
@@ -1,260 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QP_IPM_H_
-#define HPIPM_S_DENSE_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_dense_qp_dim.h>
-#include <hpipm_s_dense_qp.h>
-#include <hpipm_s_dense_qp_res.h>
-#include <hpipm_s_dense_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qp_ipm_arg
-	{
-	float mu0; // initial value for duality measure
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float reg_dual; // reg of dual hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	float tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int scale; // scale hessian
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
-	int comp_res_pred; // compute residuals of prediction
-	int kkt_fact_alg; // 0 null-space, 1 schur-complement
-	int remove_lin_dep_eq; // 0 do not, 1 do check and remove linearly dependent equality constraints
-	int compute_obj; // compute obj on exit
-	int split_step; // use different steps for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_dense_qp_ipm_ws
-	{
-	struct s_core_qp_ipm_workspace *core_workspace;
-	struct s_dense_qp_res_ws *res_ws;
-	struct s_dense_qp_sol *sol_step;
-	struct s_dense_qp_sol *sol_itref;
-	struct s_dense_qp *qp_step;
-	struct s_dense_qp *qp_itref;
-	struct s_dense_qp_res *res;
-	struct s_dense_qp_res *res_itref;
-	struct s_dense_qp_res *res_step;
-	struct blasfeo_svec *Gamma; //
-	struct blasfeo_svec *gamma; //
-	struct blasfeo_svec *Zs_inv; //
-	struct blasfeo_smat *Lv; //
-	struct blasfeo_smat *AL; //
-	struct blasfeo_smat *Le; //
-	struct blasfeo_smat *Ctx; //
-	struct blasfeo_svec *lv; //
-	struct blasfeo_svec *sv; // scale for Lv
-	struct blasfeo_svec *se; // scale for Le
-	struct blasfeo_svec *tmp_nbg; // work space of size nb+ng
-	struct blasfeo_svec *tmp_ns; // work space of size ns
-	struct blasfeo_smat *lq0;
-	struct blasfeo_smat *lq1;
-	struct blasfeo_svec *tmp_m;
-	struct blasfeo_smat *A_LQ;
-	struct blasfeo_smat *A_Q;
-	struct blasfeo_smat *Zt;
-	struct blasfeo_smat *ZtH;
-	struct blasfeo_smat *ZtHZ;
-	struct blasfeo_svec *xy;
-	struct blasfeo_svec *Yxy;
-	struct blasfeo_svec *xz;
-	struct blasfeo_svec *tmp_nv;
-	struct blasfeo_svec *tmp_2ns;
-	struct blasfeo_svec *tmp_nv2ns;
-	struct blasfeo_smat *A_li; // A of linearly independent equality constraints
-	struct blasfeo_svec *b_li; // b of linearly independent equality constraints
-	struct blasfeo_smat *A_bkp; // pointer to backup A
-	struct blasfeo_svec *b_bkp; // pointer to backup b
-	struct blasfeo_smat *Ab_LU;
-	float *stat; // convergence statistics
-	int *ipiv_v;
-	int *ipiv_e;
-	int *ipiv_e1;
-	void *lq_work0;
-	void *lq_work1;
-	void *lq_work_null;
-	void *orglq_work_null;
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // numer of recorded stat per ipm iter
-	int scale;
-	int use_hess_fact;
-	int use_A_fact;
-	int status;
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	int ne_li; // number of linearly independent equality constraints
-	int ne_bkp; // ne backup
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t s_dense_qp_ipm_arg_memsize(struct s_dense_qp_dim *qp_dim);
-//
-void s_dense_qp_ipm_arg_create(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg, void *mem);
-//
-void s_dense_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set(char *field, void *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_iter_max(int *iter_max, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_mu0(float *mu0, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_reg_prim(float *reg, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_reg_dual(float *reg, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_warm_start(int *warm_start, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_lam_min(float *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_t_min(float *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_tau_min(float *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_kkt_fact_alg(int *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_remove_lin_dep_eq(int *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_compute_obj(int *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_split_step(int *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_t_lam_min(int *value, struct s_dense_qp_ipm_arg *arg);
-
-//
-hpipm_size_t s_dense_qp_ipm_ws_memsize(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_ws_create(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws, void *mem);
-//
-void s_dense_qp_ipm_get(char *field, struct s_dense_qp_ipm_ws *ws, void *value);
-//
-void s_dense_qp_ipm_get_status(struct s_dense_qp_ipm_ws *ws, int *status);
-//
-void s_dense_qp_ipm_get_iter(struct s_dense_qp_ipm_ws *ws, int *iter);
-//
-void s_dense_qp_ipm_get_max_res_stat(struct s_dense_qp_ipm_ws *ws, float *res_stat);
-//
-void s_dense_qp_ipm_get_max_res_eq(struct s_dense_qp_ipm_ws *ws, float *res_eq);
-//
-void s_dense_qp_ipm_get_max_res_ineq(struct s_dense_qp_ipm_ws *ws, float *res_ineq);
-//
-void s_dense_qp_ipm_get_max_res_comp(struct s_dense_qp_ipm_ws *ws, float *res_comp);
-//
-void s_dense_qp_ipm_get_stat(struct s_dense_qp_ipm_ws *ws, float **stat);
-//
-void s_dense_qp_ipm_get_stat_m(struct s_dense_qp_ipm_ws *ws, int *stat_m);
-//
-void s_dense_qp_init_var(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_ipm_abs_step(int kk, struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_ipm_delta_step(int kk, struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_ipm_solve(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_ipm_predict(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_ipm_sens(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_compute_step_length(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h
deleted file mode 100644
index 260dc0ab21d5ef..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h
+++ /dev/null
@@ -1,72 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QP_KKT_H_
-#define HPIPM_S_DENSE_QP_KKT_H_
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_fact_solve_kkt_unconstr_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_fact_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_fact_lq_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_remove_lin_dep_eq(struct s_dense_qp *qp, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_restore_lin_dep_eq(struct s_dense_qp *qp, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_compute_obj(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h
deleted file mode 100644
index 06b609c537cb1e..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h
+++ /dev/null
@@ -1,106 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QP_RES_H_
-#define HPIPM_S_DENSE_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_s_dense_qp_dim.h>
-#include <hpipm_s_dense_qp.h>
-#include <hpipm_s_dense_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qp_res
-	{
-	struct s_dense_qp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // max of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_dense_qp_res_ws
-	{
-	struct blasfeo_svec *tmp_nbg; // work space of size nbM+ngM
-	struct blasfeo_svec *tmp_ns; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qp_res_memsize(struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_res_create(struct s_dense_qp_dim *dim, struct s_dense_qp_res *res, void *mem);
-//
-hpipm_size_t s_dense_qp_res_ws_memsize(struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_res_ws_create(struct s_dense_qp_dim *dim, struct s_dense_qp_res_ws *workspace, void *mem);
-//
-void s_dense_qp_res_compute(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_res *res, struct s_dense_qp_res_ws *ws);
-//
-void s_dense_qp_res_compute_lin(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_sol *qp_step, struct s_dense_qp_res *res, struct s_dense_qp_res_ws *ws);
-//
-void s_dense_qp_res_compute_inf_norm(struct s_dense_qp_res *res);
-//
-void s_dense_qp_res_get_all(struct s_dense_qp_res *res, float *res_g, float *res_ls, float *res_us, float *res_b, float *res_d_lb, float *res_d_ub, float *res_d_lg, float *res_d_ug, float *res_d_ls, float *res_d_us, float *res_m_lb, float *res_m_ub, float *res_m_lg, float *res_m_ug, float *res_m_ls, float *res_m_us);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_DENSE_QP_RES_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h
deleted file mode 100644
index 1f40076378d833..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h
+++ /dev/null
@@ -1,94 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QP_SOL_H_
-#define HPIPM_S_DENSE_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qp_sol
-	{
-	struct s_dense_qp_dim *dim;
-	struct blasfeo_svec *v;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	void *misc;
-	float obj;
-	int valid_obj;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qp_sol_memsize(struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_sol_create(struct s_dense_qp_dim *dim, struct s_dense_qp_sol *qp_sol, void *memory);
-//
-void s_dense_qp_sol_get_all(struct s_dense_qp_sol *qp_sol, float *v, float *ls, float *us, float *pi, float *lam_lb, float *lam_ub, float *lam_lg, float *lam_ug, float *lam_ls, float *lam_us);
-//
-void s_dense_qp_sol_get(char *field, struct s_dense_qp_sol *sol, void *value);
-//
-void s_dense_qp_sol_get_v(struct s_dense_qp_sol *sol, float *v);
-//
-void s_dense_qp_sol_get_valid_obj(struct s_dense_qp_sol *sol, int *valid_obj);
-//
-void s_dense_qp_sol_get_obj(struct s_dense_qp_sol *sol, float *obj);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h
deleted file mode 100644
index 3dd93259a55a58..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QP_UTILS_H_
-#define HPIPM_S_DENSE_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qp_dim.h"
-#include "hpipm_s_dense_qp.h"
-#include "hpipm_s_dense_qp_sol.h"
-#include "hpipm_s_dense_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_dense_qp_dim_print(struct s_dense_qp_dim *qp_dim);
-//
-//void s_dense_qp_dim_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim);
-//
-void s_dense_qp_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp *qp);
-//
-//void s_dense_qp_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim, struct s_dense_qp *qp);
-//
-void s_dense_qp_sol_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_sol *dense_qp_sol);
-//
-//void s_dense_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_res_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_res *dense_qp_res);
-//
-void s_dense_qp_arg_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *qp_ipm_arg);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_UTILS_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h
deleted file mode 100644
index b90b2ac6337580..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h
+++ /dev/null
@@ -1,303 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_H_
-#define HPIPM_S_OCP_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qcqp
-	{
-	struct s_ocp_qcqp_dim *dim;
-	struct blasfeo_smat *BAbt; // dynamics matrix & vector work space
-	struct blasfeo_smat *RSQrq; // hessian of cost & vector work space
-	struct blasfeo_smat *DCt; // inequality constraints matrix
-	struct blasfeo_smat **Hq; // hessians of quadratic constraints
-	struct blasfeo_svec *b; // dynamics vector
-	struct blasfeo_svec *rqz; // gradient of cost & gradient of slacks
-	struct blasfeo_svec *d; // inequality constraints vector
-	struct blasfeo_svec *d_mask; // inequality constraints mask vector
-	struct blasfeo_svec *m; // rhs of complementarity condition
-	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
-	int **idxb; // indices of box constrained variables within [u; x]
-	int **idxs_rev; // index of soft constraints (reverse storage)
-	int **Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qcqp_strsize();
-//
-hpipm_size_t s_ocp_qcqp_memsize(struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_create(struct s_ocp_qcqp_dim *dim, struct s_ocp_qcqp *qp, void *memory);
-//
-void s_ocp_qcqp_copy_all(struct s_ocp_qcqp *qp_orig, struct s_ocp_qcqp *qp_dest);
-
-// setters
-//
-void s_ocp_qcqp_set_all_zero(struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_rhs_zero(struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set(char *fiels_name, int stage, void *value, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_el(char *fiels_name, int stage, int index, void *value, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_A(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_B(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_b(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Q(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_S(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_R(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_q(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_r(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lb(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lb_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ub(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ub_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lbx(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lbx_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_el_lbx(int stage, int index, float *elem, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ubx(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ubx_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_el_ubx(int stage, int index, float *elem, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lbu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lbu_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ubu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ubu_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_idxb(int stage, int *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_idxbx(int stage, int *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jbx(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_idxbu(int stage, int *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jbu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_C(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_D(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lg(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lg_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ug(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ug_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Qq(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Sq(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Rq(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_qq(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_rq(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_uq(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_uq_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Zl(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Zu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_zl(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_zu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lls(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lls_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lus(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lus_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_idxs(int stage, int *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_idxs_rev(int stage, int *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jsbu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jsbx(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jsg(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jsq(int stage, float *vec, struct s_ocp_qcqp *qp);
-
-// getters
-//
-void s_ocp_qcqp_get(char *field, int stage, struct s_ocp_qcqp *qp, void *value);
-//
-void s_ocp_qcqp_get_A(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_B(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_b(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_Q(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_S(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_R(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_q(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_r(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ub(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ub_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lb(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lb_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lbx(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lbx_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ubx(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ubx_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lbu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lbu_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ubu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ubu_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_idxb(int stage, struct s_ocp_qcqp *qp, int *vec);
-//
-//void s_ocp_qcqp_get_idxbx(int stage, struct s_ocp_qcqp *qp, int *vec);
-//
-//void s_ocp_qcqp_get_Jbx(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-//void s_ocp_qcqp_get_idxbu(int stage, struct s_ocp_qcqp *qp, int *vec);
-//
-//void s_ocp_qcqp_get_Jbu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_C(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_D(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_lg(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lg_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ug(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ug_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_Zl(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_Zu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_zl(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_zu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lls(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lls_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lus(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lus_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-// XXX only valid if there is one slack per softed constraint !!!
-void s_ocp_qcqp_get_idxs(int stage, struct s_ocp_qcqp *qp, int *vec);
-//
-void s_ocp_qcqp_get_idxs_rev(int stage, struct s_ocp_qcqp *qp, int *vec);
-//
-//void s_ocp_qcqp_get_Jsbu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-//void s_ocp_qcqp_get_Jsbx(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-//void s_ocp_qcqp_get_Jsg(int stage, struct s_ocp_qcqp *qp, float *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h
deleted file mode 100644
index c09903f07448ea..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h
+++ /dev/null
@@ -1,119 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_DIM_H_
-#define HPIPM_S_OCP_QCQP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qcqp_dim
-	{
-	struct s_ocp_qp_dim *qp_dim; // dim of qp approximation
-	int *nx; // number of states
-	int *nu; // number of inputs
-	int *nb; // number of box constraints
-	int *nbx; // number of (two-sided) state box constraints
-	int *nbu; // number of (two-sided) input box constraints
-	int *ng; // number of (two-sided) general constraints
-	int *nq; // number of (upper) quadratic constraints
-	int *ns; // number of soft constraints
-	int *nsbx; // number of (two-sided) soft state box constraints
-	int *nsbu; // number of (two-sided) soft input box constraints
-	int *nsg; // number of (two-sided) soft general constraints
-	int *nsq; // number of (upper) soft quadratic constraints
-	int N; // horizon length
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qcqp_dim_strsize();
-//
-hpipm_size_t s_ocp_qcqp_dim_memsize(int N);
-//
-void s_ocp_qcqp_dim_create(int N, struct s_ocp_qcqp_dim *qp_dim, void *memory);
-//
-void s_ocp_qcqp_dim_copy_all(struct s_ocp_qcqp_dim *dim_orig, struct s_ocp_qcqp_dim *dim_dest);
-//
-void s_ocp_qcqp_dim_set(char *field, int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nx(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nu(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nbx(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nbu(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_ng(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nq(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_ns(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nsbx(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nsbu(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nsg(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nsq(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_get(struct s_ocp_qcqp_dim *dim, char *field, int stage, int *value);
-//
-void s_ocp_qcqp_dim_get_N(struct s_ocp_qcqp_dim *dim, int *value);
-//
-void s_ocp_qcqp_dim_get_nx(struct s_ocp_qcqp_dim *dim, int stage, int *value);
-//
-void s_ocp_qcqp_dim_get_nu(struct s_ocp_qcqp_dim *dim, int stage, int *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QCQP_DIM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h
deleted file mode 100644
index c14fc1c9fd27a9..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h
+++ /dev/null
@@ -1,191 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_IPM_H_
-#define HPIPM_S_OCP_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_ocp_qcqp_dim.h>
-#include <hpipm_s_ocp_qp.h>
-#include <hpipm_s_ocp_qcqp_res.h>
-#include <hpipm_s_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qcqp_ipm_arg
-	{
-	struct s_ocp_qp_ipm_arg *qp_arg;
-	float mu0; // initial value for complementarity slackness
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_ocp_qcqp_ipm_ws
-	{
-	struct s_ocp_qp_ipm_ws *qp_ws;
-	struct s_ocp_qp *qp;
-	struct s_ocp_qp_sol *qp_sol;
-	struct s_ocp_qcqp_res_ws *qcqp_res_ws;
-	struct s_ocp_qcqp_res *qcqp_res;
-	struct blasfeo_svec *tmp_nuxM;
-	int iter; // iteration number
-	int status;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qcqp_ipm_arg_strsize();
-//
-hpipm_size_t s_ocp_qcqp_ipm_arg_memsize(struct s_ocp_qcqp_dim *ocp_dim);
-//
-void s_ocp_qcqp_ipm_arg_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg, void *mem);
-//
-void s_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_ocp_qcqp_ipm_arg *arg);
-//
-void s_ocp_qcqp_ipm_arg_set(char *field, void *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set maximum number of iterations
-void s_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set minimum step lenght
-void s_ocp_qcqp_ipm_arg_set_alpha_min(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set initial value of barrier parameter
-void s_ocp_qcqp_ipm_arg_set_mu0(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void s_ocp_qcqp_ipm_arg_set_tol_stat(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void s_ocp_qcqp_ipm_arg_set_tol_eq(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void s_ocp_qcqp_ipm_arg_set_tol_ineq(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void s_ocp_qcqp_ipm_arg_set_tol_comp(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set regularization of primal variables
-void s_ocp_qcqp_ipm_arg_set_reg_prim(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void s_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void s_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void s_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-void s_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// compute residuals after solution
-void s_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// compute residuals of prediction
-void s_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// min value of lam in the solution
-void s_ocp_qcqp_ipm_arg_set_lam_min(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// min value of t in the solution
-void s_ocp_qcqp_ipm_arg_set_t_min(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// use different step for primal and dual variables
-void s_ocp_qcqp_ipm_arg_set_split_step(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void s_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t s_ocp_qcqp_ipm_ws_strsize();
-//
-hpipm_size_t s_ocp_qcqp_ipm_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg);
-//
-void s_ocp_qcqp_ipm_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws, void *mem);
-//
-void s_ocp_qcqp_ipm_get(char *field, struct s_ocp_qcqp_ipm_ws *ws, void *value);
-//
-void s_ocp_qcqp_ipm_get_status(struct s_ocp_qcqp_ipm_ws *ws, int *status);
-//
-void s_ocp_qcqp_ipm_get_iter(struct s_ocp_qcqp_ipm_ws *ws, int *iter);
-//
-void s_ocp_qcqp_ipm_get_max_res_stat(struct s_ocp_qcqp_ipm_ws *ws, float *res_stat);
-//
-void s_ocp_qcqp_ipm_get_max_res_eq(struct s_ocp_qcqp_ipm_ws *ws, float *res_eq);
-//
-void s_ocp_qcqp_ipm_get_max_res_ineq(struct s_ocp_qcqp_ipm_ws *ws, float *res_ineq);
-//
-void s_ocp_qcqp_ipm_get_max_res_comp(struct s_ocp_qcqp_ipm_ws *ws, float *res_comp);
-//
-void s_ocp_qcqp_ipm_get_stat(struct s_ocp_qcqp_ipm_ws *ws, float **stat);
-//
-void s_ocp_qcqp_ipm_get_stat_m(struct s_ocp_qcqp_ipm_ws *ws, int *stat_m);
-//
-void s_ocp_qcqp_init_var(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws);
-//
-void s_ocp_qcqp_ipm_solve(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_OCP_QCQP_IPM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h
deleted file mode 100644
index 1ceeec93b7ec5c..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_RES_H_
-#define HPIPM_S_OCP_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_ocp_qcqp_dim.h>
-#include <hpipm_s_ocp_qcqp.h>
-#include <hpipm_s_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qcqp_res
-	{
-	struct s_ocp_qcqp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // max of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_ocp_qcqp_res_ws
-	{
-	struct blasfeo_svec *tmp_nuxM; // work space of size nuM+nxM
-	struct blasfeo_svec *tmp_nbgqM; // work space of size nbM+ngM+nqM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	struct blasfeo_svec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_svec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qcqp_res_memsize(struct s_ocp_qcqp_dim *ocp_dim);
-//
-void s_ocp_qcqp_res_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_res *res, void *mem);
-//
-hpipm_size_t s_ocp_qcqp_res_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim);
-//
-void s_ocp_qcqp_res_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_res_ws *workspace, void *mem);
-//
-void s_ocp_qcqp_res_compute(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_res *res, struct s_ocp_qcqp_res_ws *ws);
-//
-void s_ocp_qcqp_res_compute_inf_norm(struct s_ocp_qcqp_res *res);
-//
-void s_ocp_qcqp_res_get_max_res_stat(struct s_ocp_qcqp_res *res, float *value);
-//
-void s_ocp_qcqp_res_get_max_res_eq(struct s_ocp_qcqp_res *res, float *value);
-//
-void s_ocp_qcqp_res_get_max_res_ineq(struct s_ocp_qcqp_res *res, float *value);
-//
-void s_ocp_qcqp_res_get_max_res_comp(struct s_ocp_qcqp_res *res, float *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_OCP_QCQP_RES_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h
deleted file mode 100644
index 3d58022cc9c8ff..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_SOL_H_
-#define HPIPM_S_OCP_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qcqp_sol
-	{
-	struct s_ocp_qcqp_dim *dim;
-	struct blasfeo_svec *ux;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qcqp_sol_strsize();
-//
-hpipm_size_t s_ocp_qcqp_sol_memsize(struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_sol_create(struct s_ocp_qcqp_dim *dim, struct s_ocp_qcqp_sol *qp_sol, void *memory);
-//
-void s_ocp_qcqp_sol_copy_all(struct s_ocp_qcqp_sol *qp_sol_orig, struct s_ocp_qcqp_sol *qp_sol_dest);
-//
-void s_ocp_qcqp_sol_get(char *field, int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_u(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_x(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_sl(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_su(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_pi(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_lam_lb(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_lam_ub(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_lam_lg(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_lam_ug(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_set(char *field, int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
-//
-void s_ocp_qcqp_sol_set_u(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
-//
-void s_ocp_qcqp_sol_set_x(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
-//
-void s_ocp_qcqp_sol_set_sl(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
-//
-void s_ocp_qcqp_sol_set_su(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QCQP_SOL_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h
deleted file mode 100644
index d64e3aabe73742..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_UTILS_H_
-#define HPIPM_S_OCP_QCQP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qcqp_dim.h"
-#include "hpipm_s_ocp_qp.h"
-#include "hpipm_s_ocp_qcqp_sol.h"
-#include "hpipm_s_ocp_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_ocp_qcqp_dim_print(struct s_ocp_qcqp_dim *qcqp_dim);
-//
-void s_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim);
-//
-void s_ocp_qcqp_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_sol_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_sol *ocp_qcqp_sol);
-//
-void s_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_ipm_arg *arg);
-//
-void s_ocp_qcqp_res_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_res *ocp_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QCQP_UTILS_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h
deleted file mode 100644
index b49191f192d83c..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h
+++ /dev/null
@@ -1,306 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_H_
-#define HPIPM_S_OCP_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp
-	{
-	struct s_ocp_qp_dim *dim;
-	struct blasfeo_smat *BAbt; // dynamics matrix & vector work space
-	struct blasfeo_smat *RSQrq; // hessian of cost & vector work space
-	struct blasfeo_smat *DCt; // inequality constraints matrix
-	struct blasfeo_svec *b; // dynamics vector
-	struct blasfeo_svec *rqz; // gradient of cost & gradient of slacks
-	struct blasfeo_svec *d; // inequality constraints vector
-	struct blasfeo_svec *d_mask; // inequality constraints mask vector
-	struct blasfeo_svec *m; // rhs of complementarity condition
-	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
-	int **idxb; // indices of box constrained variables within [u; x]
-	int **idxs_rev; // index of soft constraints (reverse storage)
-	int **idxe; // indices of constraints within [bu, bx, g] that are equalities, subset of [0, ..., nbu+nbx+ng-1]
-	int *diag_H_flag; // flag the fact that Hessian is diagonal
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qp_strsize();
-//
-hpipm_size_t s_ocp_qp_memsize(struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp *qp, void *memory);
-//
-void s_ocp_qp_copy_all(struct s_ocp_qp *qp_orig, struct s_ocp_qp *qp_dest);
-
-// setters
-//
-void s_ocp_qp_set_all_zero(struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_rhs_zero(struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxbx, float **lbx, float **ubx, int **idxbu, float **lbu, float **ubu, float **C, float **D, float **lg, float **ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **ls, float **us, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_all_rowmaj(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxbx, float **lbx, float **ubx, int **idxbu, float **lbu, float **ubu, float **C, float **D, float **lg, float **ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **ls, float **us, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set(char *fiels_name, int stage, void *value, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_el(char *fiels_name, int stage, int index, void *value, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_A(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_B(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_b(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Q(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_S(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_R(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_q(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_r(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lb(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lb_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ub(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ub_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lbx(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lbx_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_el_lbx(int stage, int index, float *elem, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ubx(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ubx_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_el_ubx(int stage, int index, float *elem, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lbu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lbu_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ubu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ubu_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxb(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxbx(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jbx(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxbu(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jbu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_C(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_D(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lg(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lg_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ug(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ug_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Zl(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Zu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_zl(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_zu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lls(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lls_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lus(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lus_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxs(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxs_rev(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jsbu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jsbx(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jsg(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxe(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxbxe(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxbue(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxge(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jbxe(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jbue(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jge(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_diag_H_flag(int stage, int *value, struct s_ocp_qp *qp);
-
-// getters
-//
-void s_ocp_qp_get(char *field, int stage, struct s_ocp_qp *qp, void *value);
-//
-void s_ocp_qp_get_A(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_B(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_b(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_Q(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_S(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_R(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_q(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_r(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ub(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ub_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lb(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lb_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lbx(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lbx_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ubx(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ubx_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lbu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lbu_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ubu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ubu_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_idxb(int stage, struct s_ocp_qp *qp, int *vec);
-//
-//void s_ocp_qp_get_idxbx(int stage, struct s_ocp_qp *qp, int *vec);
-//
-//void s_ocp_qp_get_Jbx(int stage, struct s_ocp_qp *qp, float *vec);
-//
-//void s_ocp_qp_get_idxbu(int stage, struct s_ocp_qp *qp, int *vec);
-//
-//void s_ocp_qp_get_Jbu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_C(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_D(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_lg(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lg_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ug(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ug_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_Zl(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_Zu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_zl(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_zu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lls(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lls_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lus(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lus_mask(int stage, struct s_ocp_qp *qp, float *vec);
-// XXX only valid if there is one slack per softed constraint !!!
-void s_ocp_qp_get_idxs(int stage, struct s_ocp_qp *qp, int *vec);
-//
-void s_ocp_qp_get_idxs_rev(int stage, struct s_ocp_qp *qp, int *vec);
-//
-//void s_ocp_qp_get_Jsbu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-//void s_ocp_qp_get_Jsbx(int stage, struct s_ocp_qp *qp, float *vec);
-//
-//void s_ocp_qp_get_Jsg(int stage, struct s_ocp_qp *qp, float *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h
deleted file mode 100644
index bce80243b3eb2e..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h
+++ /dev/null
@@ -1,141 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_DIM_H_
-#define HPIPM_S_OCP_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp_dim
-	{
-	int *nx; // number of states
-	int *nu; // number of inputs
-	int *nb; // number of box constraints
-	int *nbx; // number of state box constraints
-	int *nbu; // number of input box constraints
-	int *ng; // number of general constraints
-	int *ns; // number of soft constraints
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int *nbxe; // number of state box constraints which are equality
-	int *nbue; // number of input box constraints which are equality
-	int *nge; // number of general constraints which are equality
-	int N; // horizon length
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qp_dim_strsize();
-//
-hpipm_size_t s_ocp_qp_dim_memsize(int N);
-//
-void s_ocp_qp_dim_create(int N, struct s_ocp_qp_dim *qp_dim, void *memory);
-//
-void s_ocp_qp_dim_copy_all(struct s_ocp_qp_dim *dim_orig, struct s_ocp_qp_dim *dim_dest);
-//
-void s_ocp_qp_dim_set_all(int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set(char *field, int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nx(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nu(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nbx(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nbu(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_ng(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_ns(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nsbx(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nsbu(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nsg(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nbxe(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nbue(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nge(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_get(struct s_ocp_qp_dim *dim, char *field, int stage, int *value);
-//
-void s_ocp_qp_dim_get_N(struct s_ocp_qp_dim *dim, int *value);
-//
-void s_ocp_qp_dim_get_nx(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nu(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nbx(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nbu(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_ng(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_ns(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nsbx(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nsbu(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nsg(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nbxe(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nbue(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nge(struct s_ocp_qp_dim *dim, int stage, int *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h
deleted file mode 100644
index 11f3c47be6ecd2..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h
+++ /dev/null
@@ -1,250 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_IPM_H_
-#define HPIPM_S_OCP_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_ocp_qp_dim.h>
-#include <hpipm_s_ocp_qp.h>
-#include <hpipm_s_ocp_qp_res.h>
-#include <hpipm_s_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp_ipm_arg
-	{
-	float mu0; // initial value for complementarity slackness
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	float tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different steps for primal and dual variables
-	int var_init_scheme; // variables initialization scheme
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_ocp_qp_ipm_ws
-	{
-	struct s_core_qp_ipm_workspace *core_workspace;
-	struct s_ocp_qp_res_ws *res_workspace;
-	struct s_ocp_qp_dim *dim; // cache dim
-	struct s_ocp_qp_sol *sol_step;
-	struct s_ocp_qp_sol *sol_itref;
-	struct s_ocp_qp *qp_step;
-	struct s_ocp_qp *qp_itref;
-	struct s_ocp_qp_res *res;
-	struct s_ocp_qp_res *res_itref;
-	struct blasfeo_svec *Gamma; // hessian update
-	struct blasfeo_svec *gamma; // hessian update
-	struct blasfeo_svec *tmp_nuxM; // work space of size nxM
-	struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	struct blasfeo_svec *Pb; // Pb
-	struct blasfeo_svec *Zs_inv;
-	struct blasfeo_svec *tmp_m;
-	struct blasfeo_svec *l; // cache linear part for _get_ric_xxx
-	struct blasfeo_smat *L;
-	struct blasfeo_smat *Ls;
-	struct blasfeo_smat *P;
-	struct blasfeo_smat *Lh;
-	struct blasfeo_smat *AL;
-	struct blasfeo_smat *lq0;
-	struct blasfeo_smat *tmp_nxM_nxM;
-	float *stat; // convergence statistics
-	int *use_hess_fact;
-	void *lq_work0;
-	float qp_res[4]; // infinity norm of residuals
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // number of recorded stat per IPM iter
-	int use_Pb;
-	int status; // solver status
-	int square_root_alg; // cache from arg
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	int valid_ric_vec; // meaningful riccati vectors
-	int valid_ric_p; // form of riccati p: 0 p*inv(L), 1 p
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qp_ipm_arg_strsize();
-//
-hpipm_size_t s_ocp_qp_ipm_arg_memsize(struct s_ocp_qp_dim *ocp_dim);
-//
-void s_ocp_qp_ipm_arg_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg, void *mem);
-//
-void s_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_ocp_qp_ipm_arg *arg);
-//
-void s_ocp_qp_ipm_arg_set(char *field, void *value, struct s_ocp_qp_ipm_arg *arg);
-// set maximum number of iterations
-void s_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct s_ocp_qp_ipm_arg *arg);
-// set minimum step lenght
-void s_ocp_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_ocp_qp_ipm_arg *arg);
-// set initial value of barrier parameter
-void s_ocp_qp_ipm_arg_set_mu0(float *mu0, struct s_ocp_qp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void s_ocp_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_ocp_qp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void s_ocp_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_ocp_qp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void s_ocp_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_ocp_qp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void s_ocp_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_ocp_qp_ipm_arg *arg);
-// set regularization of primal variables
-void s_ocp_qp_ipm_arg_set_reg_prim(float *tol_comp, struct s_ocp_qp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void s_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct s_ocp_qp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void s_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_ocp_qp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void s_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct s_ocp_qp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-void s_ocp_qp_ipm_arg_set_ric_alg(int *alg, struct s_ocp_qp_ipm_arg *arg);
-// dual solution of equality constraints (only for abs_form==1)
-void s_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct s_ocp_qp_ipm_arg *arg);
-// compute residuals after solution
-void s_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct s_ocp_qp_ipm_arg *arg);
-// compute residuals of prediction
-void s_ocp_qp_ipm_arg_set_comp_res_pred(int *alg, struct s_ocp_qp_ipm_arg *arg);
-// min value of lam in the solution
-void s_ocp_qp_ipm_arg_set_lam_min(float *value, struct s_ocp_qp_ipm_arg *arg);
-// min value of t in the solution
-void s_ocp_qp_ipm_arg_set_t_min(float *value, struct s_ocp_qp_ipm_arg *arg);
-// min value of tau in the solution
-void s_ocp_qp_ipm_arg_set_tau_min(float *value, struct s_ocp_qp_ipm_arg *arg);
-// set split step: 0 same step, 1 different step for primal and dual variables
-void s_ocp_qp_ipm_arg_set_split_step(int *value, struct s_ocp_qp_ipm_arg *arg);
-// variables initialization scheme
-void s_ocp_qp_ipm_arg_set_var_init_scheme(int *value, struct s_ocp_qp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void s_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct s_ocp_qp_ipm_arg *arg);
-
-//
-hpipm_size_t s_ocp_qp_ipm_ws_strsize();
-//
-hpipm_size_t s_ocp_qp_ipm_ws_memsize(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg);
-//
-void s_ocp_qp_ipm_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, void *mem);
-//
-void s_ocp_qp_ipm_get(char *field, struct s_ocp_qp_ipm_ws *ws, void *value);
-//
-void s_ocp_qp_ipm_get_status(struct s_ocp_qp_ipm_ws *ws, int *status);
-//
-void s_ocp_qp_ipm_get_iter(struct s_ocp_qp_ipm_ws *ws, int *iter);
-//
-void s_ocp_qp_ipm_get_max_res_stat(struct s_ocp_qp_ipm_ws *ws, float *res_stat);
-//
-void s_ocp_qp_ipm_get_max_res_eq(struct s_ocp_qp_ipm_ws *ws, float *res_eq);
-//
-void s_ocp_qp_ipm_get_max_res_ineq(struct s_ocp_qp_ipm_ws *ws, float *res_ineq);
-//
-void s_ocp_qp_ipm_get_max_res_comp(struct s_ocp_qp_ipm_ws *ws, float *res_comp);
-//
-void s_ocp_qp_ipm_get_stat(struct s_ocp_qp_ipm_ws *ws, float **stat);
-//
-void s_ocp_qp_ipm_get_stat_m(struct s_ocp_qp_ipm_ws *ws, int *stat_m);
-//
-void s_ocp_qp_ipm_get_ric_Lr(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *Lr);
-//
-void s_ocp_qp_ipm_get_ric_Ls(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *Ls);
-//
-void s_ocp_qp_ipm_get_ric_P(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *P);
-//
-void s_ocp_qp_ipm_get_ric_lr(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *lr);
-//
-void s_ocp_qp_ipm_get_ric_p(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *p);
-// feedback control gain in the form u = K x + k
-void s_ocp_qp_ipm_get_ric_K(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *K);
-// feedback control gain in the form u = K x + k
-void s_ocp_qp_ipm_get_ric_k(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *k);
-//
-void s_ocp_qp_init_var(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_ipm_abs_step(int kk, struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_ipm_delta_step(int kk, struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_ipm_solve(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_ipm_predict(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_ipm_sens(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h
deleted file mode 100644
index 3eb1f4aae878d0..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-#ifndef HPIPM_S_OCP_QP_KKT_H_
-#define HPIPM_S_OCP_QP_KKT_H_
-
-#include <hpipm_common.h>
-#include <hpipm_s_ocp_qp.h>
-#include <hpipm_s_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-void s_ocp_qp_fact_solve_kkt_unconstr(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_fact_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_fact_lq_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-#endif // HPIPM_S_OCP_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h
deleted file mode 100644
index 5a7b3b070302b0..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_RED_H_
-#define HPIPM_S_OCP_QP_RED_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_s_ocp_qp_dim.h>
-#include <hpipm_s_ocp_qp.h>
-#include <hpipm_s_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp_reduce_eq_dof_arg
-	{
-	float lam_min;
-	float t_min;
-	int alias_unchanged; // do not keep copy unchanged stage
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-struct s_ocp_qp_reduce_eq_dof_ws
-	{
-	struct blasfeo_svec *tmp_nuxM;
-	struct blasfeo_svec *tmp_nbgM;
-	int *e_imask_ux;
-	int *e_imask_d;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-void s_ocp_qp_dim_reduce_eq_dof(struct s_ocp_qp_dim *dim, struct s_ocp_qp_dim *dim_red);
-//
-hpipm_size_t s_ocp_qp_reduce_eq_dof_arg_memsize();
-//
-void s_ocp_qp_reduce_eq_dof_arg_create(struct s_ocp_qp_reduce_eq_dof_arg *arg, void *mem);
-//
-void s_ocp_qp_reduce_eq_dof_arg_set_default(struct s_ocp_qp_reduce_eq_dof_arg *arg);
-//
-void s_ocp_qp_reduce_eq_dof_arg_set_alias_unchanged(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void s_ocp_qp_reduce_eq_dof_arg_set_comp_prim_sol(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void s_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_eq(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void s_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_ineq(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-hpipm_size_t s_ocp_qp_reduce_eq_dof_ws_memsize(struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_reduce_eq_dof_ws_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp_reduce_eq_dof_ws *work, void *mem);
-//
-void s_ocp_qp_reduce_eq_dof(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
-//
-void s_ocp_qp_reduce_eq_dof_lhs(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
-//
-void s_ocp_qp_reduce_eq_dof_rhs(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
-//
-void s_ocp_qp_restore_eq_dof(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol_red, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QP_RED_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h
deleted file mode 100644
index 821585da6583dd..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h
+++ /dev/null
@@ -1,114 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_RES_H_
-#define HPIPM_S_OCP_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_ocp_qp_dim.h>
-#include <hpipm_s_ocp_qp.h>
-#include <hpipm_s_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp_res
-	{
-	struct s_ocp_qp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // max of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_ocp_qp_res_ws
-	{
-	struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qp_res_memsize(struct s_ocp_qp_dim *ocp_dim);
-//
-void s_ocp_qp_res_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_res *res, void *mem);
-//
-hpipm_size_t s_ocp_qp_res_ws_memsize(struct s_ocp_qp_dim *ocp_dim);
-//
-void s_ocp_qp_res_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_res_ws *workspace, void *mem);
-//
-void s_ocp_qp_res_compute(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_res *res, struct s_ocp_qp_res_ws *ws);
-//
-void s_ocp_qp_res_compute_lin(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_sol *qp_step, struct s_ocp_qp_res *res, struct s_ocp_qp_res_ws *ws);
-//
-void s_ocp_qp_res_compute_inf_norm(struct s_ocp_qp_res *res);
-//
-void s_ocp_qp_res_get_all(struct s_ocp_qp_res *res, float **res_r, float **res_q, float **res_ls, float **res_us, float **res_b, float **res_d_lb, float **res_d_ub, float **res_d_lg, float **res_d_ug, float **res_d_ls, float **res_d_us, float **res_m_lb, float **res_m_ub, float **res_m_lg, float **res_m_ug, float **res_m_ls, float **res_m_us);
-//
-void s_ocp_qp_res_get_max_res_stat(struct s_ocp_qp_res *res, float *value);
-//
-void s_ocp_qp_res_get_max_res_eq(struct s_ocp_qp_res *res, float *value);
-//
-void s_ocp_qp_res_get_max_res_ineq(struct s_ocp_qp_res *res, float *value);
-//
-void s_ocp_qp_res_get_max_res_comp(struct s_ocp_qp_res *res, float *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_OCP_QP_RES_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h
deleted file mode 100644
index 94dfa0d003b5d2..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_SOL_H_
-#define HPIPM_S_OCP_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp_sol
-	{
-	struct s_ocp_qp_dim *dim;
-	struct blasfeo_svec *ux;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qp_sol_strsize();
-//
-hpipm_size_t s_ocp_qp_sol_memsize(struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_sol_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp_sol *qp_sol, void *memory);
-//
-void s_ocp_qp_sol_copy_all(struct s_ocp_qp_sol *qp_sol_orig, struct s_ocp_qp_sol *qp_sol_dest);
-//
-void s_qp_sol_get_all(struct s_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us);
-//
-void s_qp_sol_get_all_rowmaj(struct s_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us);
-//
-void s_ocp_qp_sol_set_all(float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us, struct s_ocp_qp_sol *qp_sol);
-//
-void s_ocp_qp_sol_get(char *field, int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_u(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_x(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_sl(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_su(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_pi(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_lb(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_lbu(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_lbx(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_ub(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_ubu(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_ubx(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_lg(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_ug(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_set(char *field, int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
-//
-void s_ocp_qp_sol_set_u(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
-//
-void s_ocp_qp_sol_set_x(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
-//
-void s_ocp_qp_sol_set_sl(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
-//
-void s_ocp_qp_sol_set_su(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h
deleted file mode 100644
index a4f832a5eac05b..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_UTILS_H_
-#define HPIPM_S_OCP_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qp_dim.h"
-#include "hpipm_s_ocp_qp.h"
-#include "hpipm_s_ocp_qp_sol.h"
-#include "hpipm_s_ocp_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_ocp_qp_dim_print(struct s_ocp_qp_dim *qp_dim);
-//
-void s_ocp_qp_dim_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim);
-//
-void s_ocp_qp_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_sol_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_sol *ocp_qp_sol);
-//
-void s_ocp_qp_ipm_arg_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_ipm_arg *arg);
-//
-void s_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_ipm_arg *arg);
-//
-void s_ocp_qp_res_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_res *ocp_qp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_UTILS_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h b/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h
deleted file mode 100644
index e40511e69f0c12..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_PART_COND_H_
-#define HPIPM_S_PART_COND_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_cond.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_part_cond_qp_arg
-	{
-	struct s_cond_qp_arg *cond_arg;
-	int N2;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_part_cond_qp_ws
-	{
-	struct s_cond_qp_ws *cond_workspace;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_part_cond_qp_arg_memsize(int N2);
-//
-void s_part_cond_qp_arg_create(int N2, struct s_part_cond_qp_arg *cond_arg, void *mem);
-//
-void s_part_cond_qp_arg_set_default(struct s_part_cond_qp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 squre-root
-void s_part_cond_qp_arg_set_ric_alg(int ric_alg, struct s_part_cond_qp_arg *cond_arg);
-//
-void s_part_cond_qp_arg_set_comp_prim_sol(int value, struct s_part_cond_qp_arg *cond_arg);
-//
-void s_part_cond_qp_arg_set_comp_dual_sol_eq(int value, struct s_part_cond_qp_arg *cond_arg);
-//
-void s_part_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct s_part_cond_qp_arg *cond_arg);
-
-//
-void s_part_cond_qp_compute_block_size(int N, int N2, int *block_size);
-//
-void s_part_cond_qp_compute_dim(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim);
-//
-hpipm_size_t s_part_cond_qp_ws_memsize(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim, struct s_part_cond_qp_arg *cond_arg);
-//
-void s_part_cond_qp_ws_create(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws, void *mem);
-//
-void s_part_cond_qp_cond(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
-//
-void s_part_cond_qp_cond_lhs(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
-//
-void s_part_cond_qp_cond_rhs(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
-//
-void s_part_cond_qp_expand_sol(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_ocp_qp_sol *part_dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
-
-//
-void s_part_cond_qp_update(int *idxc, struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_PART_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h
deleted file mode 100644
index 311f7000bf28ac..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_PART_COND_QCQP_H_
-#define HPIPM_S_PART_COND_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_cond_qcqp.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_part_cond_qcqp_arg
-	{
-	struct s_cond_qcqp_arg *cond_arg;
-	int N2;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_part_cond_qcqp_ws
-	{
-	struct s_cond_qcqp_ws *cond_ws;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_part_cond_qcqp_arg_memsize(int N2);
-//
-void s_part_cond_qcqp_arg_create(int N2, struct s_part_cond_qcqp_arg *cond_arg, void *mem);
-//
-void s_part_cond_qcqp_arg_set_default(struct s_part_cond_qcqp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 squre-root
-void s_part_cond_qcqp_arg_set_ric_alg(int ric_alg, struct s_part_cond_qcqp_arg *cond_arg);
-
-//
-void s_part_cond_qcqp_compute_block_size(int N, int N2, int *block_size);
-//
-void s_part_cond_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim);
-//
-hpipm_size_t s_part_cond_qcqp_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim, struct s_part_cond_qcqp_arg *cond_arg);
-//
-void s_part_cond_qcqp_ws_create(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws, void *mem);
-//
-void s_part_cond_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
-//
-void s_part_cond_qcqp_cond_lhs(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
-//
-void s_part_cond_qcqp_cond_rhs(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
-//
-void s_part_cond_qcqp_expand_sol(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_ocp_qcqp_sol *part_dense_qp_sol, struct s_ocp_qcqp_sol *ocp_qp_sol, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_PART_COND_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h b/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h
deleted file mode 100644
index 1a05ad1a283f85..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h
+++ /dev/null
@@ -1,121 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_SIM_ERK_H_
-#define HPIPM_S_SIM_ERK_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct s_sim_erk_arg
-	{
-	struct s_sim_rk_data *rk_data; // integrator data
-	float h; // step size
-	int steps; // number of steps
-//	int for_sens; // compute adjoint sensitivities
-//	int adj_sens; // compute adjoint sensitivities
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_sim_erk_ws
-	{
-	void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot); // function pointer to ode
-	void (*vde_for)(int t, float *x, float *p, void *ode_args, float *xdot); // function pointer to forward vde
-	void (*vde_adj)(int t, float *adj_in, void *ode_args, float *adj_out); // function pointer to adjoint vde
-	void *ode_args; // pointer to ode args
-	struct s_sim_erk_arg *erk_arg; // erk arg
-	float *K; // internal variables
-	float *x_for; // states and forward sensitivities
-	float *x_traj; // states at all steps
-	float *l; // adjoint sensitivities
-	float *p; // parameter
-	float *x_tmp; // temporary states and forward sensitivities
-	float *adj_in;
-	float *adj_tmp;
-	int nx; // number of states
-	int np; // number of parameters
-	int nf; // number of forward sensitivities
-	int na; // number of adjoint sensitivities
-	int nf_max; // max number of forward sensitivities
-	int na_max; // max number of adjoint sensitivities
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_sim_erk_arg_memsize();
-//
-void s_sim_erk_arg_create(struct s_sim_erk_arg *erk_arg, void *mem);
-//
-void s_sim_erk_arg_set_all(struct s_sim_rk_data *rk_data, float h, int steps, struct s_sim_erk_arg *erk_arg);
-
-//
-hpipm_size_t s_sim_erk_ws_memsize(struct s_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max);
-//
-void s_sim_erk_ws_create(struct s_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max, struct s_sim_erk_ws *work, void *memory);
-//
-void s_sim_erk_ws_set_all(int nf, int na, float *x, float *fs, float *bs, float *p, void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), void (*vde_for)(int t, float *x, float *p, void *ode_args, float *xdot), void (*vde_adj)(int t, float *adj_in, void *ode_args, float *adj_out), void *ode_args, struct s_sim_erk_ws *work);
-// number of directions for forward sensitivities
-void s_sim_erk_ws_set_nf(int *nf, struct s_sim_erk_ws *work);
-// parameters (e.g. inputs)
-void s_sim_erk_ws_set_p(float *p, struct s_sim_erk_ws *work);
-// state
-void s_sim_erk_ws_set_x(float *x, struct s_sim_erk_ws *work);
-// forward sensitivities
-void s_sim_erk_ws_set_fs(float *fs, struct s_sim_erk_ws *work);
-// ode funtion
-void s_sim_erk_ws_set_ode(void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), struct s_sim_erk_ws *work);
-// forward vde function
-void s_sim_erk_ws_set_vde_for(void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), struct s_sim_erk_ws *work);
-// ode_args, passed straight to the ode/vde_for/vde_adj functions
-void s_sim_erk_ws_set_ode_args(void *ode_args, struct s_sim_erk_ws *work);
-// state
-void s_sim_erk_ws_get_x(struct s_sim_erk_ws *work, float *x);
-// forward sensitivities
-void s_sim_erk_ws_get_fs(struct s_sim_erk_ws *work, float *fs);
-//
-void s_sim_erk_solve(struct s_sim_erk_arg *arg, struct s_sim_erk_ws *work);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_D_SIM_ERK_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h b/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h
deleted file mode 100644
index 53acd71498f033..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h
+++ /dev/null
@@ -1,72 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_SIM_RK_H_
-#define HPIPM_S_SIM_RK_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct s_sim_rk_data
-	{
-	float *A_rk; // A in butcher tableau
-	float *B_rk; // b in butcher tableau
-	float *C_rk; // c in butcher tableau
-	int expl; // erk vs irk
-	int ns; // number of stages
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_sim_rk_data_memsize(int ns);
-//
-void s_sim_rk_data_create(int ns, struct s_sim_rk_data *rk_data, void *memory);
-//
-void s_sim_rk_data_init_default(char *field, struct s_sim_rk_data *rk_data);
-//
-void s_sim_rk_data_set_all(int expl, float *A_rk, float *B_rk, float *C_rk, struct s_sim_rk_data *rk_data);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_S_SIM_RK_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h
deleted file mode 100644
index 450e992624b22b..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h
+++ /dev/null
@@ -1,213 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_H_
-#define HPIPM_S_TREE_OCP_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qcqp
-	{
-	struct s_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_smat *BAbt; // Nn-1
-	struct blasfeo_smat *RSQrq; // Nn
-	struct blasfeo_smat *DCt; // Nn
-	struct blasfeo_smat **Hq; // Nn
-	struct blasfeo_svec *b; // Nn-1
-	struct blasfeo_svec *rqz; // Nn
-	struct blasfeo_svec *d; // Nn
-	struct blasfeo_svec *d_mask; // Nn
-	struct blasfeo_svec *m; // Nn
-	struct blasfeo_svec *Z; // Nn
-	int **idxb; // indices of box constrained variables within [u; x] // Nn
-	int **idxs_rev; // index of soft constraints
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qcqp_memsize(struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_create(struct s_tree_ocp_qcqp_dim *dim, struct s_tree_ocp_qcqp *qp, void *memory);
-//
-void s_tree_ocp_qcqp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxb, float **d_lb, float **d_ub, float **C, float **D, float **d_lg, float **d_ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **d_ls, float **d_us, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set(char *field_name, int node_edge, void *value, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_A(int edge, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_B(int edge, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_b(int edge, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Q(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_S(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_R(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_q(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_r(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lb(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lb_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ub(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ub_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lbx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lbx_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ubx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ubx_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lbu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lbu_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ubu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ubu_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_idxb(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_idxbx(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jbx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_idxbu(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jbu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_C(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_D(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lg(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lg_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ug(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ug_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Qq(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Sq(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Rq(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_qq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_rq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_uq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_uq_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Zl(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Zu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_zl(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_zu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lls(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lls_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lus(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lus_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_idxs(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_idxs_rev(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jsbu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jsbx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jsg(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jsq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_idxe(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_idxbxe(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_idxbue(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_idxge(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_Jbxe(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_Jbue(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_Jge(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_diag_H_flag(int node, int *value, struct s_tree_ocp_qcqp *qp);
-
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h
deleted file mode 100644
index 7a49d519959afb..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_DIM_H_
-#define HPIPM_S_TREE_OCP_QCQP_DIM_H_
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qcqp_dim
-	{
-	struct s_tree_ocp_qp_dim *qp_dim; // dim of qp approximation
-	struct tree *ttree; // tree describing node conndection
-	int *nx; // number of states // Nn
-	int *nu; // number of inputs // Nn
-	int *nb; // number of box constraints // Nn
-	int *nbx; // number of state box constraints // Nn
-	int *nbu; // number of input box constraints // Nn
-	int *ng; // number of general constraints // Nn
-	int *nq; // number of (upper) quadratic constraints
-	int *ns; // number of soft constraints // Nn
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int *nsq; // number of (upper) soft quadratic constraints
-	int Nn; // number of nodes
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qcqp_dim_strsize();
-//
-hpipm_size_t s_tree_ocp_qcqp_dim_memsize(int Nn);
-//
-void s_tree_ocp_qcqp_dim_create(int Nn, struct s_tree_ocp_qcqp_dim *qp_dim, void *memory);
-//
-void s_tree_ocp_qcqp_dim_set_tree(struct tree *ttree, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set(char *field, int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nbx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nbu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_ng(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nq(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_ns(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nsbx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nsbu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nsg(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nsq(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-//void s_tree_ocp_qcqp_dim_set_nbxe(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-//void s_tree_ocp_qcqp_dim_set_nbue(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-//void s_tree_ocp_qcqp_dim_set_nge(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_DIM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h
deleted file mode 100644
index 69d65914c527c4..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h
+++ /dev/null
@@ -1,192 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_IPM_H_
-#define HPIPM_S_TREE_OCP_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_tree_ocp_qcqp_dim.h>
-#include <hpipm_s_tree_ocp_qp.h>
-#include <hpipm_s_tree_ocp_qcqp_res.h>
-#include <hpipm_s_tree_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qcqp_ipm_arg
-	{
-	struct s_tree_ocp_qp_ipm_arg *qp_arg;
-	float mu0; // initial value for complementarity slackness
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-//	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-//	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_tree_ocp_qcqp_ipm_ws
-	{
-	struct s_tree_ocp_qp_ipm_ws *qp_ws;
-	struct s_tree_ocp_qp *qp;
-	struct s_tree_ocp_qp_sol *qp_sol;
-	struct s_tree_ocp_qcqp_res_ws *qcqp_res_ws;
-	struct s_tree_ocp_qcqp_res *qcqp_res;
-	struct blasfeo_svec *tmp_nuxM;
-	int iter; // iteration number
-	int status;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qcqp_ipm_arg_strsize();
-//
-hpipm_size_t s_tree_ocp_qcqp_ipm_arg_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim);
-//
-void s_tree_ocp_qcqp_ipm_arg_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg, void *mem);
-//
-void s_tree_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_tree_ocp_qcqp_ipm_arg *arg);
-//
-void s_tree_ocp_qcqp_ipm_arg_set(char *field, void *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set maximum number of iterations
-void s_tree_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set minimum step lenght
-void s_tree_ocp_qcqp_ipm_arg_set_alpha_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set initial value of barrier parameter
-void s_tree_ocp_qcqp_ipm_arg_set_mu0(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void s_tree_ocp_qcqp_ipm_arg_set_tol_stat(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void s_tree_ocp_qcqp_ipm_arg_set_tol_eq(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void s_tree_ocp_qcqp_ipm_arg_set_tol_ineq(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void s_tree_ocp_qcqp_ipm_arg_set_tol_comp(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set regularization of primal variables
-void s_tree_ocp_qcqp_ipm_arg_set_reg_prim(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void s_tree_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void s_tree_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void s_tree_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-//void s_tree_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// compute residuals after solution
-void s_tree_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// compute residuals of prediction
-//void s_tree_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// min value of lam in the solution
-void s_tree_ocp_qcqp_ipm_arg_set_lam_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// min value of t in the solution
-void s_tree_ocp_qcqp_ipm_arg_set_t_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// use different step for primal and dual variables
-void s_tree_ocp_qcqp_ipm_arg_set_split_step(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void s_tree_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t s_tree_ocp_qcqp_ipm_ws_strsize();
-//
-hpipm_size_t s_tree_ocp_qcqp_ipm_ws_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg);
-//
-void s_tree_ocp_qcqp_ipm_ws_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws, void *mem);
-//
-void s_tree_ocp_qcqp_ipm_get(char *field, struct s_tree_ocp_qcqp_ipm_ws *ws, void *value);
-//
-void s_tree_ocp_qcqp_ipm_get_status(struct s_tree_ocp_qcqp_ipm_ws *ws, int *status);
-//
-void s_tree_ocp_qcqp_ipm_get_iter(struct s_tree_ocp_qcqp_ipm_ws *ws, int *iter);
-//
-void s_tree_ocp_qcqp_ipm_get_max_res_stat(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_stat);
-//
-void s_tree_ocp_qcqp_ipm_get_max_res_eq(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_eq);
-//
-void s_tree_ocp_qcqp_ipm_get_max_res_ineq(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_ineq);
-//
-void s_tree_ocp_qcqp_ipm_get_max_res_comp(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_comp);
-//
-void s_tree_ocp_qcqp_ipm_get_stat(struct s_tree_ocp_qcqp_ipm_ws *ws, float **stat);
-//
-void s_tree_ocp_qcqp_ipm_get_stat_m(struct s_tree_ocp_qcqp_ipm_ws *ws, int *stat_m);
-//
-void s_tree_ocp_qcqp_init_var(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws);
-//
-void s_tree_ocp_qcqp_ipm_solve(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_IPM_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h
deleted file mode 100644
index d0d84a6f23952f..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h
+++ /dev/null
@@ -1,109 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_RES_H_
-#define HPIPM_S_TREE_OCP_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_tree_ocp_qcqp_dim.h>
-#include <hpipm_s_tree_ocp_qcqp.h>
-#include <hpipm_s_tree_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qcqp_res
-	{
-	struct s_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // max of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_tree_ocp_qcqp_res_ws
-	{
-	struct blasfeo_svec *tmp_nuxM; // work space of size nuM+nxM
-	struct blasfeo_svec *tmp_nbgqM; // work space of size nbM+ngM+nqM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	struct blasfeo_svec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_svec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qcqp_res_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim);
-//
-void s_tree_ocp_qcqp_res_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_res *res, void *mem);
-//
-hpipm_size_t s_tree_ocp_qcqp_res_ws_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim);
-//
-void s_tree_ocp_qcqp_res_ws_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_res_ws *ws, void *mem);
-//
-void s_tree_ocp_qcqp_res_compute(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_res *res, struct s_tree_ocp_qcqp_res_ws *ws);
-//
-void s_tree_ocp_qcqp_res_compute_inf_norm(struct s_tree_ocp_qcqp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_RES_H_
-
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h
deleted file mode 100644
index 47f038c6b3dfe5..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h
+++ /dev/null
@@ -1,97 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_SOL_H_
-#define HPIPM_S_TREE_OCP_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct s_tree_ocp_qcqp_sol
-	{
-	struct s_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_svec *ux;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qcqp_sol_memsize(struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_sol_create(struct s_tree_ocp_qcqp_dim *dim, struct s_tree_ocp_qcqp_sol *qp_sol, void *memory);
-//
-void s_tree_ocp_qcqp_sol_get_u(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_x(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_sl(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_su(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_pi(int edge, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_lam_lb(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_lam_ub(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_lam_lg(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_lam_ug(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_SOL_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h
deleted file mode 100644
index 79528de1ce74fa..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h
+++ /dev/null
@@ -1,85 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_UTILS_H_
-#define HPIPM_S_TREE_OCP_QCQP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qcqp_dim.h"
-#include "hpipm_s_tree_ocp_qcqp.h"
-#include "hpipm_s_tree_ocp_qcqp_sol.h"
-#include "hpipm_s_tree_ocp_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_tree_ocp_qcqp_dim_print(struct s_tree_ocp_qcqp_dim *qp_dim);
-//
-//void s_tree_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim);
-//
-void s_tree_ocp_qcqp_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_sol_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_sol *ocp_qcqp_sol);
-//
-void s_tree_ocp_qcqp_ipm_arg_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg);
-//
-//void s_tree_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg);
-//
-void s_tree_ocp_qcqp_res_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_res *ocp_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_UTILS_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h
deleted file mode 100644
index 722b930b9a45c8..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h
+++ /dev/null
@@ -1,196 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QP_H_
-#define HPIPM_S_TREE_OCP_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qp
-	{
-	struct s_tree_ocp_qp_dim *dim;
-	struct blasfeo_smat *BAbt; // Nn-1
-	struct blasfeo_smat *RSQrq; // Nn
-	struct blasfeo_smat *DCt; // Nn
-	struct blasfeo_svec *b; // Nn-1
-	struct blasfeo_svec *rqz; // Nn
-	struct blasfeo_svec *d; // Nn
-	struct blasfeo_svec *d_mask; // Nn
-	struct blasfeo_svec *m; // Nn
-	struct blasfeo_svec *Z; // Nn
-	int **idxb; // indices of box constrained variables within [u; x] // Nn
-//	int **idxs; // index of soft constraints
-	int **idxs_rev; // index of soft constraints
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qp_memsize(struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp *qp, void *memory);
-//
-void s_tree_ocp_qp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxb, float **d_lb, float **d_ub, float **C, float **D, float **d_lg, float **d_ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **d_ls, float **d_us, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set(char *field_name, int node_edge, void *value, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_A(int edge, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_B(int edge, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_b(int edge, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Q(int node, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_S(int node, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_R(int node, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_q(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_r(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lb(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lb_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ub(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ub_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lbx(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lbx_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ubx(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ubx_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lbu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lbu_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ubu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ubu_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_idxb(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_idxbx(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Jbx(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_idxbu(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Jbu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_C(int node, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_D(int node, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lg(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lg_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ug(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ug_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Zl(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Zu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_zl(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_zu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lls(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lls_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lus(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lus_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_idxs(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_idxs_rev(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Jsbu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Jsbx(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Jsg(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_idxe(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_idxbxe(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_idxbue(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_idxge(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_Jbxe(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_Jbue(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_Jge(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_diag_H_flag(int node, int *value, struct s_tree_ocp_qp *qp);
-
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h
deleted file mode 100644
index 90df57182b7993..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h
+++ /dev/null
@@ -1,111 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QP_DIM_H_
-#define HPIPM_S_TREE_OCP_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qp_dim
-	{
-	struct tree *ttree; // tree describing node conndection
-	int *nx; // number of states // Nn
-	int *nu; // number of inputs // Nn
-	int *nb; // number of box constraints // Nn
-	int *nbx; // number of state box constraints // Nn
-	int *nbu; // number of input box constraints // Nn
-	int *ng; // number of general constraints // Nn
-	int *ns; // number of soft constraints // Nn
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int Nn; // number of nodes
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qp_dim_strsize();
-//
-hpipm_size_t s_tree_ocp_qp_dim_memsize(int Nn);
-//
-void s_tree_ocp_qp_dim_create(int Nn, struct s_tree_ocp_qp_dim *qp_dim, void *memory);
-//
-void s_tree_ocp_qp_dim_set_all(struct tree *ttree, int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_tree(struct tree *ttree, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set(char *field, int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nx(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nu(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nbx(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nbu(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_ng(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_ns(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nsbx(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nsbu(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nsg(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nbxe(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nbue(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nge(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h
deleted file mode 100644
index f8c26d31737f0d..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h
+++ /dev/null
@@ -1,208 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_TREE_OCP_QP_IPM_H_
-#define HPIPM_S_TREE_OCP_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_tree_ocp_qp_dim.h>
-#include <hpipm_s_tree_ocp_qp.h>
-#include <hpipm_s_tree_ocp_qp_res.h>
-#include <hpipm_s_tree_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qp_ipm_arg
-	{
-	float mu0; // initial value for duality measure
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	float tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int stat_m; // number of recorded stat per IPM iter
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol==1)
-	int split_step; // use different steps for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_tree_ocp_qp_ipm_ws
-	{
-	struct s_core_qp_ipm_workspace *core_workspace;
-	struct s_tree_ocp_qp_res_ws *res_workspace;
-	struct s_tree_ocp_qp_sol *sol_step;
-	struct s_tree_ocp_qp_sol *sol_itref;
-	struct s_tree_ocp_qp *qp_step;
-	struct s_tree_ocp_qp *qp_itref;
-	struct s_tree_ocp_qp_res *res_itref;
-	struct s_tree_ocp_qp_res *res;
-	struct blasfeo_svec *Gamma; // hessian update
-	struct blasfeo_svec *gamma; // hessian update
-	struct blasfeo_svec *tmp_nxM; // work space of size nxM
-	struct blasfeo_svec *tmp_nbgM; // work space of size nbgM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	struct blasfeo_svec *Pb; // Pb
-	struct blasfeo_svec *Zs_inv;
-	struct blasfeo_smat *L;
-	struct blasfeo_smat *Lh;
-	struct blasfeo_smat *AL;
-	struct blasfeo_smat *lq0;
-	struct blasfeo_svec *tmp_m;
-	float *stat; // convergence statistics
-	int *use_hess_fact;
-	void *lq_work0;
-	float qp_res[4]; // infinity norm of residuals
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // number of recorded stat per IPM iter
-	int use_Pb;
-	int status; // solver status
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qp_ipm_arg_memsize(struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_ipm_arg_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg, void *mem);
-//
-void s_tree_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_mu0(float *mu0, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_reg_prim(float *reg, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_lam_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_t_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_tau_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_split_step(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
-
-//
-hpipm_size_t s_tree_ocp_qp_ipm_ws_memsize(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_ws_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws, void *mem);
-//
-void s_tree_ocp_qp_ipm_get_status(struct s_tree_ocp_qp_ipm_ws *ws, int *status);
-//
-void s_tree_ocp_qp_ipm_get_iter(struct s_tree_ocp_qp_ipm_ws *ws, int *iter);
-//
-void s_tree_ocp_qp_ipm_get_max_res_stat(struct s_tree_ocp_qp_ipm_ws *ws, float *res_stat);
-//
-void s_tree_ocp_qp_ipm_get_max_res_eq(struct s_tree_ocp_qp_ipm_ws *ws, float *res_eq);
-//
-void s_tree_ocp_qp_ipm_get_max_res_ineq(struct s_tree_ocp_qp_ipm_ws *ws, float *res_ineq);
-//
-void s_tree_ocp_qp_ipm_get_max_res_comp(struct s_tree_ocp_qp_ipm_ws *ws, float *res_comp);
-//
-void s_tree_ocp_qp_ipm_get_stat(struct s_tree_ocp_qp_ipm_ws *ws, float **stat);
-//
-void s_tree_ocp_qp_ipm_get_stat_m(struct s_tree_ocp_qp_ipm_ws *ws, int *stat_m);
-//
-void s_tree_ocp_qp_init_var(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_ipm_abs_step(int kk, struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_ipm_delta_step(int kk, struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_ipm_solve(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h
deleted file mode 100644
index bcf7354783d2c3..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h
+++ /dev/null
@@ -1,54 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-void s_tree_ocp_qp_fact_solve_kkt_unconstr(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_fact_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_fact_lq_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h
deleted file mode 100644
index 5c6797204f847a..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QP_RES_H_
-#define HPIPM_S_TREE_OCP_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_tree_ocp_qp_dim.h>
-#include <hpipm_s_tree_ocp_qp.h>
-#include <hpipm_s_tree_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qp_res
-	{
-	struct s_tree_ocp_qp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // max of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_tree_ocp_qp_res_ws
-	{
-	struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qp_res_memsize(struct s_tree_ocp_qp_dim *ocp_dim);
-//
-void s_tree_ocp_qp_res_create(struct s_tree_ocp_qp_dim *ocp_dim, struct s_tree_ocp_qp_res *res, void *mem);
-//
-hpipm_size_t s_tree_ocp_qp_res_ws_memsize(struct s_tree_ocp_qp_dim *ocp_dim);
-//
-void s_tree_ocp_qp_res_ws_create(struct s_tree_ocp_qp_dim *ocp_dim, struct s_tree_ocp_qp_res_ws *ws, void *mem);
-//
-void s_tree_ocp_qp_res_get_all(struct s_tree_ocp_qp_res *res, float **res_r, float **res_q, float **res_ls, float **res_us, float **res_b, float **res_d_lb, float **res_d_ub, float **res_d_lg, float **res_d_ug, float **res_d_ls, float **res_d_us, float **res_m_lb, float **res_m_ub, float **res_m_lg, float **res_m_ug, float **res_m_ls, float **res_m_us);
-//
-void s_tree_ocp_qp_res_compute(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_res *res, struct s_tree_ocp_qp_res_ws *ws);
-//
-void s_tree_ocp_qp_res_compute_lin(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_sol *qp_step, struct s_tree_ocp_qp_res *res, struct s_tree_ocp_qp_res_ws *ws);
-//
-void s_tree_ocp_qp_res_compute_inf_norm(struct s_tree_ocp_qp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_TREE_OCP_QP_RES_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h
deleted file mode 100644
index 71e887675bc3d0..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h
+++ /dev/null
@@ -1,98 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QP_SOL_H_
-#define HPIPM_S_TREE_OCP_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct s_tree_ocp_qp_sol
-	{
-	struct s_tree_ocp_qp_dim *dim;
-	struct blasfeo_svec *ux;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qp_sol_memsize(struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_sol_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_sol *qp_sol, void *memory);
-//
-void s_tree_ocp_qp_sol_get_all(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us);
-//
-void s_tree_ocp_qp_sol_get_u(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_x(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_sl(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_su(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_pi(int edge, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_lam_lb(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_lam_ub(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_lam_lg(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_lam_ug(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h
deleted file mode 100644
index ec1747568f08a8..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QP_UTILS_H_
-#define HPIPM_S_TREE_OCP_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qp_dim.h"
-#include "hpipm_s_tree_ocp_qp.h"
-#include "hpipm_s_tree_ocp_qp_sol.h"
-#include "hpipm_s_tree_ocp_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_tree_ocp_qp_dim_print(struct s_tree_ocp_qp_dim *qp_dim);
-//
-//void s_tree_ocp_qp_dim_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim);
-//
-void s_tree_ocp_qp_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_sol_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_sol *ocp_qp_sol);
-//
-void s_tree_ocp_qp_ipm_arg_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-//void s_tree_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_res_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_res *ocp_qp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QP_UTILS_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h b/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h
deleted file mode 100644
index a3c77a670a1d02..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h
+++ /dev/null
@@ -1,70 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_SCENARIO_TREE_H_
-#define HPIPM_SCENARIO_TREE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct sctree
-	{
-	struct node *root; // pointer to root
-	int *kids; // pointer to array of kids
-	int Nn; // numer of nodes
-	int md; // number of realizations
-	int Nr; // robust horizion
-	int Nh; // control horizion
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t sctree_memsize(int md, int Nr, int Nh);
-//
-void sctree_create(int md, int Nr, int Nh, struct sctree *st, void *memory);
-//
-void sctree_cast_to_tree(struct sctree *st, struct tree *tt);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_SCENARIO_TREE_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_timing.h b/third_party/acados/include/hpipm/include/hpipm_timing.h
deleted file mode 100644
index bd0f2dbcb34c5f..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_timing.h
+++ /dev/null
@@ -1,67 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_TIMING_H_
-#define HPIPM_TIMING_H_
-
-
-
-#include <blasfeo_timing.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-typedef blasfeo_timer hpipm_timer;
-
-
-
-//
-void hpipm_tic(hpipm_timer *t);
-//
-double hpipm_toc(hpipm_timer *t);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_TIMING_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_tree.h b/third_party/acados/include/hpipm/include/hpipm_tree.h
deleted file mode 100644
index f9d69ecdddda74..00000000000000
--- a/third_party/acados/include/hpipm/include/hpipm_tree.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-#ifndef HPIPM_TREE_H_
-#define HPIPM_TREE_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct node
-	{
-	int *kids;  // 64 bits
-	int idx;    // 32 bits
-	int dad;    // 32 bits
-	int nkids;  // 32 bits
-	int stage;  // 32 bits
-	int real;   // 32 bits
-	int idxkid; // 32 bits // XXX needed ???
-	// total     256 bits
-	};
-
-
-
-struct tree
-	{
-	struct node *root; // pointer to root
-	int *kids; // pointer to array of kids
-	int Nn; // numer of nodes
-	hpipm_size_t memsize;
-	};
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_TREE_H_
diff --git a/third_party/acados/include/qpOASES_e/Bounds.h b/third_party/acados/include/qpOASES_e/Bounds.h
deleted file mode 100644
index 4e41c1d163b63d..00000000000000
--- a/third_party/acados/include/qpOASES_e/Bounds.h
+++ /dev/null
@@ -1,543 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Bounds.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Bounds class designed to manage working sets of
- *	bounds within a QProblem.
- */
-
-
-#ifndef QPOASES_BOUNDS_H
-#define QPOASES_BOUNDS_H
-
-
-#include <qpOASES_e/Indexlist.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Manages working sets of bounds (= box constraints).
- *
- *	This class manages working sets of bounds (= box constraints)
- *	by storing index sets and other status information.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	Indexlist *freee;					/**< Index list of free variables. */
-	Indexlist *fixed;					/**< Index list of fixed variables. */
-
-	Indexlist *shiftedFreee;			/**< Memory for shifting free variables. */
-	Indexlist *shiftedFixed;			/**< Memory for shifting fixed variables. */
-
-	Indexlist *rotatedFreee;			/**< Memory for rotating free variables. */
-	Indexlist *rotatedFixed;			/**< Memory for rotating fixed variables. */
-
-	SubjectToType   *type; 				/**< Type of bounds. */
-	SubjectToStatus *status;			/**< Status of bounds. */
-
-	SubjectToType   *typeTmp;			/**< Temp memory for type of bounds. */
-	SubjectToStatus *statusTmp;			/**< Temp memory for status of bounds. */
-
-	BooleanType noLower;	 			/**< This flag indicates if there is no lower bound on any variable. */
-	BooleanType noUpper;	 			/**< This flag indicates if there is no upper bound on any variable. */
-
-	int n;								/**< Total number of bounds. */
-} Bounds;
-
-int Bounds_calculateMemorySize( int n);
-
-char *Bounds_assignMemory(int n, Bounds **mem, void *raw_memory);
-
-Bounds *Bounds_createMemory( int n );
-
-/** Constructor which takes the number of bounds. */
-void BoundsCON(	Bounds* _THIS,
-				int _n									/**< Number of bounds. */
-				);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void BoundsCPY(	Bounds* FROM,
-				Bounds* TO
-				);
-
-
-/** Initialises object with given number of bounds.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INVALID_ARGUMENTS */
-returnValue Bounds_init(	Bounds* _THIS,
-							int _n					/**< Number of bounds. */
-							);
-
-
-/** Initially adds number of a new (i.e. not yet in the list) bound to
- *  given index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_BOUND_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS \n
-			RET_INVALID_ARGUMENTS */
-returnValue Bounds_setupBound(	Bounds* _THIS,
-								int number,				/**< Number of new bound. */
-								SubjectToStatus _status	/**< Status of new bound. */
-								);
-
-/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
- *  to the index set of free bounds; the order depends on the SujectToType
- *  of each index.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_BOUND_FAILED */
-returnValue Bounds_setupAllFree(	Bounds* _THIS
-									);
-
-/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
- *  to the index set of fixed bounds (on their lower bounds);
- *  the order depends on the SujectToType of each index.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_BOUND_FAILED */
-returnValue Bounds_setupAllLower(	Bounds* _THIS
-									);
-
-/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
- *  to the index set of fixed bounds (on their upper bounds);
- *  the order depends on the SujectToType of each index.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_BOUND_FAILED */
-returnValue Bounds_setupAllUpper(	Bounds* _THIS
-									);
-
-
-/** Moves index of a bound from index list of fixed to that of free bounds.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_BOUND_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS */
-returnValue Bounds_moveFixedToFree(	Bounds* _THIS,
-									int number				/**< Number of bound to be freed. */
-									);
-
-/** Moves index of a bound from index list of free to that of fixed bounds.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_BOUND_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS */
-returnValue Bounds_moveFreeToFixed(	Bounds* _THIS,
-									int number,				/**< Number of bound to be fixed. */
-									SubjectToStatus _status	/**< Status of bound to be fixed. */
-									);
-
-/** Flip fixed bound.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_BOUND_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS */
-returnValue Bounds_flipFixed(	Bounds* _THIS,
-								int number
-								);
-
-/** Swaps the indices of two free bounds within the index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SWAPINDEX_FAILED */
-returnValue Bounds_swapFree(	Bounds* _THIS,
-								int number1,					/**< Number of first bound. */
-								int number2						/**< Number of second bound. */
-								);
-
-
-/** Returns number of variables.
- *	\return Number of variables. */
-static inline int Bounds_getNV(	Bounds* _THIS
-							);
-
-/** Returns number of implicitly fixed variables.
- *	\return Number of implicitly fixed variables. */
-static inline int Bounds_getNFV(	Bounds* _THIS
-									);
-
-/** Returns number of bounded (but possibly free) variables.
- *	\return Number of bounded (but possibly free) variables. */
-static inline int Bounds_getNBV(	Bounds* _THIS
-									);
-
-/** Returns number of unbounded variables.
- *	\return Number of unbounded variables. */
-static inline int Bounds_getNUV(	Bounds* _THIS
-									);
-
-/** Returns number of free variables.
- *	\return Number of free variables. */
-static inline int Bounds_getNFR(	Bounds* _THIS
-									);
-
-/** Returns number of fixed variables.
- *	\return Number of fixed variables. */
-static inline int Bounds_getNFX(	Bounds* _THIS
-									);
-
-
-/** Returns a pointer to free variables index list.
- *	\return Pointer to free variables index list. */
-static inline Indexlist* Bounds_getFree(	Bounds* _THIS
-											);
-
-/** Returns a pointer to fixed variables index list.
- *	\return Pointer to fixed variables index list. */
-static inline Indexlist* Bounds_getFixed(	Bounds* _THIS
-											);
-
-
-/** Returns number of bounds with given SubjectTo type.
- *	\return Number of bounds with given type. */
-static inline int Bounds_getNumberOfType(	Bounds* _THIS,
-											SubjectToType _type	/**< Type of bound. */
-											);
-
-
-/** Returns type of bound.
- *	\return Type of bound \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline SubjectToType Bounds_getType(	Bounds* _THIS,
-											int i			/**< Number of bound. */
-											);
-
-/** Returns status of bound.
- *	\return Status of bound \n
- 			ST_UNDEFINED */
-static inline SubjectToStatus Bounds_getStatus(	Bounds* _THIS,
-												int i		/**< Number of bound. */
-												);
-
-
-/** Sets type of bound.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue Bounds_setType(	Bounds* _THIS,
-											int i,				/**< Number of bound. */
-											SubjectToType value	/**< Type of bound. */
-											);
-
-/** Sets status of bound.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue Bounds_setStatus(	Bounds* _THIS,
-											int i,					/**< Number of bound. */
-											SubjectToStatus value	/**< Status of bound. */
-											);
-
-
-/** Sets status of lower bounds. */
-static inline void Bounds_setNoLower(	Bounds* _THIS,
-										BooleanType _status		/**< Status of lower bounds. */
-										);
-
-/** Sets status of upper bounds. */
-static inline void Bounds_setNoUpper(	Bounds* _THIS,
-										BooleanType _status		/**< Status of upper bounds. */
-										);
-
-
-/** Returns status of lower bounds.
- *	\return BT_TRUE if there is no lower bound on any variable. */
-static inline BooleanType Bounds_hasNoLower(	Bounds* _THIS
-												);
-
-/** Returns status of upper bounds.
- *	\return BT_TRUE if there is no upper bound on any variable. */
-static inline BooleanType Bounds_hasNoUpper(	Bounds* _THIS
-												);
-
-
-/** Shifts forward type and status of all bounds by a given
- *  offset. This offset has to lie within the range [0,n/2] and has to
- *  be an integer divisor of the total number of bounds n.
- *  Type and status of the first \<offset\> bounds is thrown away,
- *  type and status of the last \<offset\> bounds is doubled,
- *  e.g. for offset = 2: \n
- *  shift( {b1,b2,b3,b4,b5,b6} ) = {b3,b4,b5,b6,b5,b6}
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS \n
- 			RET_INVALID_ARGUMENTS \n
- 			RET_SHIFTING_FAILED */
-returnValue Bounds_shift(	Bounds* _THIS,
-							int offset		/**< Shift offset within the range [0,n/2] and integer divisor of n. */
-							);
-
-/** Rotates forward type and status of all bounds by a given
- *  offset. This offset has to lie within the range [0,n].
- *  Example for offset = 2: \n
- *  rotate( {b1,b2,b3,b4,b5,b6} ) = {b3,b4,b5,b6,b1,b2}
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS \n
- 			RET_ROTATING_FAILED */
-returnValue Bounds_rotate(	Bounds* _THIS,
-							int offset		/**< Rotation offset within the range [0,n]. */
-							);
-
-
-/** Prints information on bounds object
- *  (in particular, lists of free and fixed bounds.
- * \return SUCCESSFUL_RETURN \n
-		   RET_INDEXLIST_CORRUPTED */
-returnValue Bounds_print(	Bounds* _THIS
-							);
-
-
-/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
- *  to the index set corresponding to the desired status;
- *  the order depends on the SujectToType of each index.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_BOUND_FAILED */
-returnValue Bounds_setupAll(	Bounds* _THIS,
-								SubjectToStatus _status	/**< Desired initial status for all bounds. */
-								);
-
-
-/** Adds the index of a new bound to index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_ADDINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Bounds_addIndex(	Bounds* _THIS,
-								Indexlist* const indexlist,	/**< Index list to which the new index shall be added. */
-								int newnumber,				/**< Number of new bound. */
-								SubjectToStatus newstatus	/**< Status of new bound. */
-								);
-
-/** Removes the index of a bound from index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_REMOVEINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Bounds_removeIndex(	Bounds* _THIS,
-								Indexlist* const indexlist,	/**< Index list from which the new index shall be removed. */
-								int removenumber			/**< Number of bound to be removed. */
-								);
-
-/** Swaps the indices of two constraints or bounds within the index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SWAPINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Bounds_swapIndex(	Bounds* _THIS,
-								Indexlist* const indexlist,	/**< Index list in which the indices shold be swapped. */
-								int number1,				/**< Number of first bound. */
-								int number2					/**< Number of second bound. */
-								);
-
-
-
-/*
- *	g e t N u m b e r O f T y p e
- */
-static inline int Bounds_getNumberOfType( Bounds* _THIS, SubjectToType _type )
-{
-	int i;
-	int numberOfType = 0;
-
-	if ( _THIS->type != 0 )
-	{
-		for( i=0; i<_THIS->n; ++i )
-			if ( _THIS->type[i] == _type )
-				++numberOfType;
-	}
-
-	return numberOfType;
-}
-
-
-/*
- *	g e t T y p e
- */
-static inline SubjectToType Bounds_getType( Bounds* _THIS, int i )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-		return _THIS->type[i];
-
-	return ST_UNKNOWN;
-}
-
-
-/*
- *	g e t S t a t u s
- */
-static inline SubjectToStatus Bounds_getStatus( Bounds* _THIS, int i )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-		return _THIS->status[i];
-
-	return ST_UNDEFINED;
-}
-
-
-/*
- *	s e t T y p e
- */
-static inline returnValue Bounds_setType( Bounds* _THIS, int i, SubjectToType value )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-	{
-		_THIS->type[i] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t S t a t u s
- */
-static inline returnValue Bounds_setStatus( Bounds* _THIS, int i, SubjectToStatus value )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-	{
-		_THIS->status[i] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t N o L o w e r
- */
-static inline void Bounds_setNoLower( Bounds* _THIS, BooleanType _status )
-{
-	_THIS->noLower = _status;
-}
-
-
-/*
- *	s e t N o U p p e r
- */
-static inline void Bounds_setNoUpper( Bounds* _THIS, BooleanType _status )
-{
-	_THIS->noUpper = _status;
-}
-
-
-/*
- *	h a s N o L o w e r
- */
-static inline BooleanType Bounds_hasNoLower( Bounds* _THIS )
-{
-	return _THIS->noLower;
-}
-
-
-/*
- *	h a s N o U p p p e r
- */
-static inline BooleanType Bounds_hasNoUpper( Bounds* _THIS )
-{
-	return _THIS->noUpper;
-}
-
-
-
-/*
- *	g e t N V
- */
-static inline int Bounds_getNV( Bounds* _THIS )
-{
- 	return _THIS->n;
-}
-
-
-/*
- *	g e t N F V
- */
-static inline int Bounds_getNFV( Bounds* _THIS )
-{
- 	return Bounds_getNumberOfType( _THIS,ST_EQUALITY );
-}
-
-
-/*
- *	g e t N B V
- */
-static inline int Bounds_getNBV( Bounds* _THIS )
-{
- 	return Bounds_getNumberOfType( _THIS,ST_BOUNDED );
-}
-
-
-/*
- *	g e t N U V
- */
-static inline int Bounds_getNUV( Bounds* _THIS )
-{
-	return Bounds_getNumberOfType( _THIS,ST_UNBOUNDED );
-}
-
-
-/*
- *	g e t N F R
- */
-static inline int Bounds_getNFR( Bounds* _THIS )
-{
- 	return Indexlist_getLength( _THIS->freee );
-}
-
-
-/*
- *	g e t N F X
- */
-static inline int Bounds_getNFX( Bounds* _THIS )
-{
-	return Indexlist_getLength( _THIS->fixed );
-}
-
-
-/*
- *	g e t F r e e
- */
-static inline Indexlist* Bounds_getFree( Bounds* _THIS )
-{
-	return _THIS->freee;
-}
-
-
-/*
- *	g e t F i x e d
- */
-static inline Indexlist* Bounds_getFixed( Bounds* _THIS )
-{
-	return _THIS->fixed;
-}
-
-
-END_NAMESPACE_QPOASES
-
-#endif	/* QPOASES_BOUNDS_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Constants.h b/third_party/acados/include/qpOASES_e/Constants.h
deleted file mode 100644
index 13c777d75b83a3..00000000000000
--- a/third_party/acados/include/qpOASES_e/Constants.h
+++ /dev/null
@@ -1,134 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Constants.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Definition of all global constants.
- */
-
-
-#ifndef QPOASES_CONSTANTS_H
-#define QPOASES_CONSTANTS_H
-
-
-#include <qpOASES_e/Types.h>
-
-#ifdef __CODE_GENERATION__
-
-  #define CONVERTTOSTRINGAUX(x) #x
-  #define CONVERTTOSTRING(x) CONVERTTOSTRINGAUX(x)
-
-  #ifndef QPOASES_CUSTOM_INTERFACE
-  #include "acado_qpoases3_interface.h"
-  #else
-  #include CONVERTTOSTRING(QPOASES_CUSTOM_INTERFACE)
-  #endif
-
-#endif
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-#ifndef __EXTERNAL_DIMENSIONS__
-
-  /*#define QPOASES_NVMAX  50
-  #define QPOASES_NCMAX  100*/
-  #define QPOASES_NVMAX  287
-  #define QPOASES_NCMAX  709
-
-#endif /* __EXTERNAL_DIMENSIONS__ */
-
-
-/** Maximum number of variables within a QP formulation.
- *	Note: this value has to be positive! */
-#define NVMAX  QPOASES_NVMAX
-
-/** Maximum number of constraints within a QP formulation.
- *	Note: this value has to be positive! */
-#define NCMAX  QPOASES_NCMAX
-
-#if ( QPOASES_NVMAX > QPOASES_NCMAX )
-#define NVCMAX QPOASES_NVMAX
-#else
-#define NVCMAX QPOASES_NCMAX
-#endif
-
-#if ( QPOASES_NVMAX > QPOASES_NCMAX )
-#define NVCMIN QPOASES_NCMAX
-#else
-#define NVCMIN QPOASES_NVMAX
-#endif
-
-
-/** Maximum number of QPs in a sequence solved by means of the OQP interface.
- *	Note: this value has to be positive! */
-#define NQPMAX 1000
-
-
-/** Numerical value of machine precision (min eps, s.t. 1+eps > 1).
- *	Note: this value has to be positive! */
-#ifndef __CODE_GENERATION__
-
-  #ifdef __USE_SINGLE_PRECISION__
-  static const real_t QPOASES_EPS = 1.193e-07;
-  #else
-  static const real_t QPOASES_EPS = 2.221e-16;
-  #endif /* __USE_SINGLE_PRECISION__ */
-
-#endif /* __CODE_GENERATION__ */
-
-
-/** Numerical value of zero (for situations in which it would be
- *	unreasonable to compare with 0.0).
- *  Note: this value has to be positive! */
-static const real_t QPOASES_ZERO = 1.0e-25;
-
-/** Numerical value of infinity (e.g. for non-existing bounds).
- *	Note: this value has to be positive! */
-static const real_t QPOASES_INFTY = 1.0e20;
-
-/** Tolerance to used for isEqual, isZero etc.
- *	Note: this value has to be positive! */
-static const real_t QPOASES_TOL = 1.0e-25;
-
-
-/** Maximum number of characters within a string.
- *	Note: this value should be at least 41! */
-#define QPOASES_MAX_STRING_LENGTH 160
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_CONSTANTS_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/ConstraintProduct.h b/third_party/acados/include/qpOASES_e/ConstraintProduct.h
deleted file mode 100644
index eb5400c6cb91fa..00000000000000
--- a/third_party/acados/include/qpOASES_e/ConstraintProduct.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/ConstraintProduct.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches (thanks to D. Kwame Minde Kufoalor)
- *	\version 3.1embedded
- *	\date 2009-2015
- *
- *	Declaration of the ConstraintProduct interface which allows to specify a
- *	user-defined function for evaluating the constraint product at the 
- *	current iterate to speed-up QP solution in case of a specially structured
- *	constraint matrix.
- */
-
-
-
-#ifndef QPOASES_CONSTRAINT_PRODUCT_H
-#define QPOASES_CONSTRAINT_PRODUCT_H
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/** 
- *	\brief Interface for specifying user-defined evaluations of constraint products.
- *
- *	An interface which allows to specify a user-defined function for evaluating the 
- *	constraint product at the current iterate to speed-up QP solution in case 
- *	of a specially structured constraint matrix.
- *
- *	\author Hans Joachim Ferreau (thanks to Kwame Minde Kufoalor)
- *	\version 3.1embedded
- *	\date 2009-2015
- */
-typedef int(*ConstraintProduct)( int, const real_t* const, real_t* const );
-
-
-END_NAMESPACE_QPOASES
-
-#endif	/* QPOASES_CONSTRAINT_PRODUCT_H */
diff --git a/third_party/acados/include/qpOASES_e/Constraints.h b/third_party/acados/include/qpOASES_e/Constraints.h
deleted file mode 100644
index 8aca10d5d979a8..00000000000000
--- a/third_party/acados/include/qpOASES_e/Constraints.h
+++ /dev/null
@@ -1,535 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Constraints.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Constraints class designed to manage working sets of
- *	constraints within a QProblem.
- */
-
-
-#ifndef QPOASES_CONSTRAINTS_H
-#define QPOASES_CONSTRAINTS_H
-
-
-#include <qpOASES_e/Indexlist.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Manages working sets of constraints.
- *
- *	This class manages working sets of constraints by storing
- *	index sets and other status information.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	Indexlist *active;					/**< Index list of active constraints. */
-	Indexlist *inactive;				/**< Index list of inactive constraints. */
-
-	Indexlist *shiftedActive;			/**< Memory for shifting active constraints. */
-	Indexlist *shiftedInactive;			/**< Memory for shifting inactive constraints. */
-
-	Indexlist *rotatedActive;			/**< Memory for rotating active constraints. */
-	Indexlist *rotatedInactive;			/**< Memory for rotating inactive constraints. */
-
-	SubjectToType   *type; 				/**< Type of constraints. */
-	SubjectToStatus *status;			/**< Status of constraints. */
-
-	SubjectToType   *typeTmp;			/**< Temp memory for type of constraints. */
-	SubjectToStatus *statusTmp;			/**< Temp memory for status of constraints. */
-
-	BooleanType noLower;			 	/**< This flag indicates if there is no lower bound on any variable. */
-	BooleanType noUpper;	 			/**< This flag indicates if there is no upper bound on any variable. */
-
-	int n;								/**< Total number of constraints. */
-} Constraints;
-
-int Constraints_calculateMemorySize( int n);
-
-char *Constraints_assignMemory(int n, Constraints **mem, void *raw_memory);
-
-Constraints *Constraints_createMemory( int n );
-
-/** Constructor which takes the number of constraints. */
-void ConstraintsCON(	Constraints* _THIS,
-						int _n							/**< Number of constraints. */
-						);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void ConstraintsCPY(	Constraints* FROM,
-						Constraints* TO
-						);
-
-
-/** Initialises object with given number of constraints.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INVALID_ARGUMENTS */
-returnValue Constraints_init(	Constraints* _THIS,
-								int _n					/**< Number of constraints. */
-								);
-
-
-/** Initially adds number of a new (i.e. not yet in the list) constraint to
- *  a given index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_CONSTRAINT_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS \n
-			RET_INVALID_ARGUMENTS */
-returnValue Constraints_setupConstraint(	Constraints* _THIS,
-											int number,				/**< Number of new constraint. */
-											SubjectToStatus _status	/**< Status of new constraint. */
-											);
-
-/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
- *  to the index set of inactive constraints; the order depends on the SujectToType
- *  of each index. Only disabled constraints are added to index set of disabled constraints!
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_CONSTRAINT_FAILED */
-returnValue Constraints_setupAllInactive(	Constraints* _THIS
-											);
-
-/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
- *  to the index set of active constraints (on their lower bounds); the order depends on the SujectToType
- *  of each index. Only disabled constraints are added to index set of disabled constraints!
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_CONSTRAINT_FAILED */
-returnValue Constraints_setupAllLower(	Constraints* _THIS
-										);
-
-/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
- *  to the index set of active constraints (on their upper bounds); the order depends on the SujectToType
- *  of each index. Only disabled constraints are added to index set of disabled constraints!
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_CONSTRAINT_FAILED */
-returnValue Constraints_setupAllUpper(	Constraints* _THIS
-										);
-
-
-/** Moves index of a constraint from index list of active to that of inactive constraints.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_CONSTRAINT_FAILED */
-returnValue Constraints_moveActiveToInactive(	Constraints* _THIS,
-												int number				/**< Number of constraint to become inactive. */
-												);
-
-/** Moves index of a constraint from index list of inactive to that of active constraints.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_CONSTRAINT_FAILED */
-returnValue Constraints_moveInactiveToActive(	Constraints* _THIS,
-												int number,				/**< Number of constraint to become active. */
-												SubjectToStatus _status	/**< Status of constraint to become active. */
-												);
-
-/** Flip fixed constraint.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_CONSTRAINT_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS */
-returnValue Constraints_flipFixed(	Constraints* _THIS,
-									int number
-									);
-
-
-/** Returns the number of constraints.
- *	\return Number of constraints. */
-static inline int Constraints_getNC(	Constraints* _THIS
-										);
-
-/** Returns the number of implicit equality constraints.
- *	\return Number of implicit equality constraints. */
-static inline int Constraints_getNEC(	Constraints* _THIS
-										);
-
-/** Returns the number of "real" inequality constraints.
- *	\return Number of "real" inequality constraints. */
-static inline int Constraints_getNIC(	Constraints* _THIS
-										);
-
-/** Returns the number of unbounded constraints (i.e. without any bounds).
- *	\return Number of unbounded constraints (i.e. without any bounds). */
-static inline int Constraints_getNUC(	Constraints* _THIS
-										);
-
-/** Returns the number of active constraints.
- *	\return Number of active constraints. */
-static inline int Constraints_getNAC(	Constraints* _THIS
-										);
-
-/** Returns the number of inactive constraints.
- *	\return Number of inactive constraints. */
-static inline int Constraints_getNIAC(	Constraints* _THIS
-										);
-
-
-/** Returns a pointer to active constraints index list.
- *	\return Pointer to active constraints index list. */
-static inline Indexlist* Constraints_getActive(	Constraints* _THIS
-												);
-
-/** Returns a pointer to inactive constraints index list.
- *	\return Pointer to inactive constraints index list. */
-static inline Indexlist* Constraints_getInactive(	Constraints* _THIS
-													);
-
-
-/** Returns number of constraints with given SubjectTo type.
- *	\return Number of constraints with given type. */
-static inline int Constraints_getNumberOfType(	Constraints* _THIS,
-												SubjectToType _type	/**< Type of constraints' bound. */
-												);
-
-
-/** Returns type of constraints' bound.
- *	\return Type of constraints' bound \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline SubjectToType Constraints_getType(	Constraints* _THIS,
-													int i			/**< Number of constraints' bound. */
-													);
-
-/** Returns status of constraints' bound.
- *	\return Status of constraints' bound \n
- 			ST_UNDEFINED */
-static inline SubjectToStatus Constraints_getStatus(	Constraints* _THIS,
-														int i		/**< Number of constraints' bound. */
-														);
-
-
-/** Sets type of constraints' bound.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue Constraints_setType(	Constraints* _THIS,
-												int i,				/**< Number of constraints' bound. */
-												SubjectToType value	/**< Type of constraints' bound. */
-												);
-
-/** Sets status of constraints' bound.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue Constraints_setStatus(	Constraints* _THIS,
-													int i,					/**< Number of constraints' bound. */
-													SubjectToStatus value	/**< Status of constraints' bound. */
-													);
-
-
-/** Sets status of lower constraints' bounds. */
-static inline void Constraints_setNoLower(	Constraints* _THIS,
-											BooleanType _status		/**< Status of lower constraints' bounds. */
-											);
-
-/** Sets status of upper constraints' bounds. */
-static inline void Constraints_setNoUpper(	Constraints* _THIS,
-											BooleanType _status		/**< Status of upper constraints' bounds. */
-											);
-
-
-/** Returns status of lower constraints' bounds.
- *	\return BT_TRUE if there is no lower constraints' bound on any variable. */
-static inline BooleanType Constraints_hasNoLower(	Constraints* _THIS
-													);
-
-/** Returns status of upper bounds.
- *	\return BT_TRUE if there is no upper constraints' bound on any variable. */
-static inline BooleanType Constraints_hasNoUpper(	Constraints* _THIS
-													);
-
-
-/** Shifts forward type and status of all constraints by a given
- *  offset. This offset has to lie within the range [0,n/2] and has to
- *  be an integer divisor of the total number of constraints n.
- *  Type and status of the first \<offset\> constraints  is thrown away,
- *  type and status of the last \<offset\> constraints is doubled,
- *  e.g. for offset = 2: \n
- *  shift( {c/b1,c/b2,c/b3,c/b4,c/b5,c/b6} ) = {c/b3,c/b4,c/b5,c/b6,c/b5,c/b6}
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS \n
- 			RET_INVALID_ARGUMENTS \n
- 			RET_SHIFTING_FAILED */
-returnValue Constraints_shift(	Constraints* _THIS,
-								int offset		/**< Shift offset within the range [0,n/2] and integer divisor of n. */
-								);
-
-/** Rotates forward type and status of all constraints by a given
- *  offset. This offset has to lie within the range [0,n].
- *  Example for offset = 2: \n
- *  rotate( {c1,c2,c3,c4,c5,c6} ) = {c3,c4,c5,c6,c1,c2}
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS \n
- 			RET_ROTATING_FAILED */
-returnValue Constraints_rotate(	Constraints* _THIS,
-								int offset		/**< Rotation offset within the range [0,n]. */
-								);
-
-
-/** Prints information on constraints object
- *  (in particular, lists of inactive and active constraints.
- * \return SUCCESSFUL_RETURN \n
-		   RET_INDEXLIST_CORRUPTED */
-returnValue Constraints_print(	Constraints* _THIS
-								);
-
-
-/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
- *  to the index set corresponding to the desired status;
- *  the order depends on the SujectToType of each index.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_CONSTRAINT_FAILED */
-returnValue Constraints_setupAll(	Constraints* _THIS,
-									SubjectToStatus _status	/**< Desired initial status for all bounds. */
-									);
-
-
-/** Adds the index of a new constraint to index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_ADDINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Constraints_addIndex(	Constraints* _THIS,
-									Indexlist* const indexlist,	/**< Index list to which the new index shall be added. */
-									int newnumber,				/**< Number of new constraint. */
-									SubjectToStatus newstatus	/**< Status of new constraint. */
-									);
-
-/** Removes the index of a constraint from index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_REMOVEINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Constraints_removeIndex(	Constraints* _THIS,
-										Indexlist* const indexlist,	/**< Index list from which the new index shall be removed. */
-										int removenumber			/**< Number of constraint to be removed. */
-										);
-
-/** Swaps the indices of two constraints or bounds within the index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SWAPINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Constraints_swapIndex(	Constraints* _THIS,
-									Indexlist* const indexlist,	/**< Index list in which the indices shold be swapped. */
-									int number1,				/**< Number of first constraint. */
-									int number2					/**< Number of second constraint. */
-									);
-
-
-
-/*
- *	g e t N u m b e r O f T y p e
- */
-static inline int Constraints_getNumberOfType( Constraints* _THIS, SubjectToType _type )
-{
-	int i;
-	int numberOfType = 0;
-
-	if ( _THIS->type != 0 )
-	{
-		for( i=0; i<_THIS->n; ++i )
-			if ( _THIS->type[i] == _type )
-				++numberOfType;
-	}
-
-	return numberOfType;
-}
-
-
-/*
- *	g e t T y p e
- */
-static inline SubjectToType Constraints_getType( Constraints* _THIS, int i )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-		return _THIS->type[i];
-
-	return ST_UNKNOWN;
-}
-
-
-/*
- *	g e t S t a t u s
- */
-static inline SubjectToStatus Constraints_getStatus( Constraints* _THIS, int i )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-		return _THIS->status[i];
-
-	return ST_UNDEFINED;
-}
-
-
-/*
- *	s e t T y p e
- */
-static inline returnValue Constraints_setType( Constraints* _THIS, int i, SubjectToType value )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-	{
-		_THIS->type[i] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t S t a t u s
- */
-static inline returnValue Constraints_setStatus( Constraints* _THIS, int i, SubjectToStatus value )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-	{
-		_THIS->status[i] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t N o L o w e r
- */
-static inline void Constraints_setNoLower( Constraints* _THIS, BooleanType _status )
-{
-	_THIS->noLower = _status;
-}
-
-
-/*
- *	s e t N o U p p e r
- */
-static inline void Constraints_setNoUpper( Constraints* _THIS, BooleanType _status )
-{
-	_THIS->noUpper = _status;
-}
-
-
-/*
- *	h a s N o L o w e r
- */
-static inline BooleanType Constraints_hasNoLower( Constraints* _THIS )
-{
-	return _THIS->noLower;
-}
-
-
-/*
- *	h a s N o U p p p e r
- */
-static inline BooleanType Constraints_hasNoUpper( Constraints* _THIS )
-{
-	return _THIS->noUpper;
-}
-
-
-
-/*
- *	g e t N C
- */
-static inline int Constraints_getNC( Constraints* _THIS )
-{
- 	return _THIS->n;
-}
-
-
-/*
- *	g e t N E C
- */
-static inline int Constraints_getNEC( Constraints* _THIS )
-{
-	return Constraints_getNumberOfType( _THIS,ST_EQUALITY );
-}
-
-
-/*
- *	g e t N I C
- */
-static inline int Constraints_getNIC( Constraints* _THIS )
-{
- 	return Constraints_getNumberOfType( _THIS,ST_BOUNDED );
-}
-
-
-/*
- *	g e t N U C
- */
-static inline int Constraints_getNUC( Constraints* _THIS )
-{
- 	return Constraints_getNumberOfType( _THIS,ST_UNBOUNDED );
-}
-
-
-/*
- *	g e t N A C
- */
-static inline int Constraints_getNAC( Constraints* _THIS )
-{
- 	return Indexlist_getLength( _THIS->active );
-}
-
-
-/*
- *	g e t N I A C
- */
-static inline int Constraints_getNIAC( Constraints* _THIS )
-{
-	return Indexlist_getLength( _THIS->inactive );
-}
-
-
-
-/*
- *	g e t A c t i v e
- */
-static inline Indexlist* Constraints_getActive( Constraints* _THIS )
-{
-	return _THIS->active;
-}
-
-
-/*
- *	g e t I n a c t i v e
- */
-static inline Indexlist* Constraints_getInactive( Constraints* _THIS )
-{
-	return _THIS->inactive;
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_CONSTRAINTS_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Flipper.h b/third_party/acados/include/qpOASES_e/Flipper.h
deleted file mode 100644
index 63526a30f368e4..00000000000000
--- a/third_party/acados/include/qpOASES_e/Flipper.h
+++ /dev/null
@@ -1,129 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Flipper.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Options class designed to manage user-specified
- *	options for solving a QProblem.
- */
-
-
-#ifndef QPOASES_FLIPPER_H
-#define QPOASES_FLIPPER_H
-
-
-#include <qpOASES_e/Bounds.h>
-#include <qpOASES_e/Constraints.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Auxiliary class for storing a copy of the current matrix factorisations.
- *
- *	This auxiliary class stores a copy of the current matrix factorisations. It
- *	is used by the classe QProblemB and QProblem in case flipping bounds are enabled.
- *
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	Bounds      *bounds;			/**< Data structure for problem's bounds. */
-	Constraints *constraints;		/**< Data structure for problem's constraints. */
-
-	real_t *R;						/**< Cholesky factor of H (i.e. H = R^T*R). */
-	real_t *Q;						/**< Orthonormal quadratic matrix, A = [0 T]*Q'. */
-	real_t *T;						/**< Reverse triangular matrix, A = [0 T]*Q'. */
-
-	unsigned int nV;				/**< Number of variables. */
-	unsigned int nC;				/**< Number of constraints. */
-} Flipper;
-
-int Flipper_calculateMemorySize( unsigned int nV, unsigned int nC );
-
-char *Flipper_assignMemory( unsigned int nV, unsigned int nC, Flipper **mem, void *raw_memory );
-
-Flipper *Flipper_createMemory( unsigned int nV, unsigned int nC );
-
-/** Constructor which takes the number of bounds and constraints. */
-void FlipperCON(	Flipper* _THIS,
-					unsigned int _nV,		/**< Number of bounds. */
-					unsigned int _nC		/**< Number of constraints. */
-					);
-
-/** Copy constructor (deep copy). */
-void FlipperCPY(	Flipper* FROM,
-					Flipper* TO
-					);
-
-/** Initialises object with given number of bounds and constraints.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INVALID_ARGUMENTS */
-returnValue Flipper_init(	Flipper* _THIS,
-							unsigned int _nV,	/**< Number of bounds. */
-							unsigned int _nC	/**< Number of constraints. */
-							);
-
-
-/** Copies current values to non-null arguments (assumed to be allocated with consistent size).
- *	\return SUCCESSFUL_RETURN */
-returnValue Flipper_get(	Flipper* _THIS,
-							Bounds* const _bounds,				/**< Pointer to new bounds. */
-							real_t* const R,					/**< New matrix R. */
-							Constraints* const _constraints,	/**< Pointer to new constraints. */
-							real_t* const _Q,					/**< New matrix Q. */
-							real_t* const _T					/**< New matrix T. */
-							);
-
-/** Assigns new values to non-null arguments.
- *	\return SUCCESSFUL_RETURN */
-returnValue Flipper_set(	Flipper* _THIS,
-							const Bounds* const _bounds,			/**< Pointer to new bounds. */
-							const real_t* const _R,					/**< New matrix R. */
-							const Constraints* const _constraints,	/**< Pointer to new constraints. */
-							const real_t* const _Q,					/**< New matrix Q. */
-							const real_t* const _T					/**< New matrix T. */
-							);
-
-/** Returns dimension of matrix T.
- *  \return Dimension of matrix T. */
-unsigned int Flipper_getDimT( Flipper* _THIS );
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_FLIPPER_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Indexlist.h b/third_party/acados/include/qpOASES_e/Indexlist.h
deleted file mode 100644
index 02d259d63d03db..00000000000000
--- a/third_party/acados/include/qpOASES_e/Indexlist.h
+++ /dev/null
@@ -1,221 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Indexlist.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Indexlist class designed to manage index lists of
- *	constraints and bounds within a SubjectTo object.
- */
-
-
-#ifndef QPOASES_INDEXLIST_H
-#define QPOASES_INDEXLIST_H
-
-
-#include <qpOASES_e/Utils.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Stores and manages index lists.
- *
- *	This class manages index lists of active/inactive bounds/constraints.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	int *number;		/**< Array to store numbers of constraints or bounds. */
-	int *iSort;			/**< Index list to sort vector \a number */
-
-	int	length;			/**< Length of index list. */
-	int	first;			/**< Physical index of first element. */
-	int	last;			/**< Physical index of last element. */
-	int	lastusedindex;	/**< Physical index of last entry in index list. */
-	int	physicallength;	/**< Physical length of index list. */
-} Indexlist;
-
-int Indexlist_calculateMemorySize( int n);
-
-char *Indexlist_assignMemory(int n, Indexlist **mem, void *raw_memory);
-
-Indexlist *Indexlist_createMemory( int n );
-
-/** Constructor which takes the desired physical length of the index list. */
-void IndexlistCON(	Indexlist* _THIS,
-					int n	/**< Physical length of index list. */
-					);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void IndexlistCPY(	Indexlist* FROM,
-					Indexlist* TO
-					);
-
-/** Initialises index list of desired physical length.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INVALID_ARGUMENTS */
-returnValue Indexlist_init(	Indexlist* _THIS,
-							int n		/**< Physical length of index list. */
-							);
-
-/** Creates an array of all numbers within the index set in correct order.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEXLIST_CORRUPTED */
-returnValue Indexlist_getNumberArray(	Indexlist* _THIS,
-										int** const numberarray	/**< Output: Array of numbers (NULL on error). */
-										);
-
-/** Creates an array of all numbers within the index set in correct order.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INDEXLIST_CORRUPTED */
-returnValue	Indexlist_getISortArray(	Indexlist* _THIS,
-										int** const iSortArray	/**< Output: iSort Array. */
-										);
-
-
-/** Determines the index within the index list at which a given number is stored.
- *	\return >= 0: Index of given number. \n
- 			-1: Number not found. */
-int Indexlist_getIndex(	Indexlist* _THIS,
-						int givennumber	/**< Number whose index shall be determined. */
-						);
-
-/** Returns the number stored at a given physical index.
- *	\return >= 0: Number stored at given physical index. \n
- 			-RET_INDEXLIST_OUTOFBOUNDS */
-static inline int Indexlist_getNumber(	Indexlist* _THIS,
-										int physicalindex	/**< Physical index of the number to be returned. */
-										);
-
-
-/** Returns the current length of the index list.
- *	\return Current length of the index list. */
-static inline int Indexlist_getLength(	Indexlist* _THIS
-										);
-
-/** Returns last number within the index list.
- *	\return Last number within the index list. */
-static inline int Indexlist_getLastNumber(	Indexlist* _THIS
-											);
-
-
-/** Adds number to index list.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEXLIST_MUST_BE_REORDERD \n
- 			RET_INDEXLIST_EXCEEDS_MAX_LENGTH */
-returnValue Indexlist_addNumber(	Indexlist* _THIS,
-									int addnumber			/**< Number to be added. */
-									);
-
-/** Removes number from index list.
- *	\return SUCCESSFUL_RETURN */
-returnValue Indexlist_removeNumber(	Indexlist* _THIS,
-									int removenumber	/**< Number to be removed. */
-									);
-
-/** Swaps two numbers within index list.
- *	\return SUCCESSFUL_RETURN */
-returnValue Indexlist_swapNumbers(	Indexlist* _THIS,
-									int number1,		/**< First number for swapping. */
-									int number2			/**< Second number for swapping. */
-									);
-
-/** Determines if a given number is contained in the index set.
- *	\return BT_TRUE iff number is contain in the index set */
-static inline BooleanType Indexlist_isMember(	Indexlist* _THIS,
-												int _number		/**< Number to be tested for membership. */
-												);
-
-
-/** Find first index j between -1 and length in sorted list of indices
- *  iSort such that numbers[iSort[j]] <= i < numbers[iSort[j+1]]. Uses
- *  bisection.
- *  \return j. */
-int Indexlist_findInsert(	Indexlist* _THIS,
-							int i
-							);
-
-
-
-/*
- *	g e t N u m b e r
- */
-static inline int Indexlist_getNumber( Indexlist* _THIS, int physicalindex )
-{
-	/* consistency check */
-	if ( ( physicalindex < 0 ) || ( physicalindex > _THIS->length ) )
-		return -RET_INDEXLIST_OUTOFBOUNDS;
-
-	return _THIS->number[physicalindex];
-}
-
-
-/*
- *	g e t L e n g t h
- */
-static inline int Indexlist_getLength( Indexlist* _THIS )
-{
-	return _THIS->length;
-}
-
-
-/*
- *	g e t L a s t N u m b e r
- */
-static inline int Indexlist_getLastNumber( Indexlist* _THIS )
-{
-	return _THIS->number[_THIS->length-1];
-}
-
-
-/*
- *	g e t L a s t N u m b e r
- */
-static inline BooleanType Indexlist_isMember( Indexlist* _THIS, int _number )
-{
-	if ( Indexlist_getIndex( _THIS,_number ) >= 0 )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_INDEXLIST_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Matrices.h b/third_party/acados/include/qpOASES_e/Matrices.h
deleted file mode 100644
index e2a46b3a9daeda..00000000000000
--- a/third_party/acados/include/qpOASES_e/Matrices.h
+++ /dev/null
@@ -1,287 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Matrices.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2009-2015
- *
- *  Various matrix classes: Abstract base matrix class, dense and sparse matrices,
- *  including symmetry exploiting specializations.
- */
-
-
-
-#ifndef QPOASES_MATRICES_H
-#define QPOASES_MATRICES_H
-
-#ifdef __USE_SINGLE_PRECISION__
-
-	// single precision
-	#define GEMM sgemm_
-	#define GEMV sgemv_
-//	#define SYR ssyr_
-//	#define SYR2 ssyr2_
-	#define POTRF spotrf_
-
-#else
-
-	// double precision
-	#define GEMM dgemm_
-	#define GEMV dgemv_
-//	#define SYR  dsyr_
-//	#define SYR2 dsyr2_
-	#define POTRF dpotrf_
-
-#endif /* __USE_SINGLE_PRECISION__ */
-
-
-#ifdef EXTERNAL_BLAS
-	// double precision
-	void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int ldb, double *beta, double *C, int *ldc);
-	void dgemv_(char *ta, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-	void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
-	// single precision
-	void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int ldb, float *beta, float *C, int *ldc);
-	void sgemv_(char *ta, int *m, int *n, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
-	void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
-#else
-	/** Performs one of the matrix-matrix operation in double precision. */
-	void dgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*,
-			const double*, const double*, const unsigned long*, const double*, const unsigned long*,
-			const double*, double*, const unsigned long* );
-	/** Performs one of the matrix-matrix operation in single precision. */
-	void sgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*,
-			const float*, const float*, const unsigned long*, const float*, const unsigned long*,
-			const float*, float*, const unsigned long* );
-
-	/** Calculates the Cholesky factorization of a real symmetric positive definite matrix in double precision. */
-	void dpotrf_ ( const char *, const unsigned long *, double *, const unsigned long *, long * );
-	/** Calculates the Cholesky factorization of a real symmetric positive definite matrix in single precision. */
-	void spotrf_ ( const char *, const unsigned long *, float *, const unsigned long *, long * );
-
-#endif
-
-	/** Performs a symmetric rank 1 operation in double precision. */
-//	void dsyr_ ( const char *, const unsigned long *, const double *, const double *,
-//				 const unsigned long *, double *, const unsigned long *);
-	/** Performs a symmetric rank 1 operation in single precision. */
-//	void ssyr_ ( const char *, const unsigned long *, const float *, const float *,
-//				 const unsigned long *, float *, const unsigned long *);
-
-	/** Performs a symmetric rank 2 operation in double precision. */
-//	void dsyr2_ ( const char *, const unsigned long *, const double *, const double *,
-//				  const unsigned long *, const double *, const unsigned long *, double *, const unsigned long *);
-	/** Performs a symmetric rank 2 operation in single precision. */
-//	void ssyr2_ ( const char *, const unsigned long *, const float *, const float *,
-//				  const unsigned long *, const float *, const unsigned long *, float *, const unsigned long *);
-
-
-#include <qpOASES_e/Indexlist.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Interfaces matrix-vector operations tailored to general dense matrices.
- *
- *	Dense matrix class (row major format).
- *
- *	\author Andreas Potschka, Christian Kirches, Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2011-2015
- */
-typedef struct
-{
-	real_t *val;				/**< Vector of entries. */
-	int nRows;					/**< Number of rows. */
-	int nCols;					/**< Number of columns. */
-	int leaDim;					/**< Leading dimension. */
-} DenseMatrix;
-
-int DenseMatrix_calculateMemorySize( int m, int n );
-
-char *DenseMatrix_assignMemory( int m, int n, DenseMatrix **mem, void *raw_memory );
-
-DenseMatrix *DenseMatrix_createMemory( int m, int n );
-
-/** Constructor from vector of values.
- *  Caution: Data pointer must be valid throughout lifetime
- */
-void DenseMatrixCON(	DenseMatrix* _THIS,
-						int m,			/**< Number of rows. */
-						int n,			/**< Number of columns. */
-						int lD,			/**< Leading dimension. */
-						real_t *v		/**< Values. */
-						);
-
-void DenseMatrixCPY(	DenseMatrix* FROM,
-						DenseMatrix* TO
-						);
-
-
-/** Frees all internal memory. */
-void DenseMatrix_free( DenseMatrix* _THIS );
-
-/** Constructor from vector of values.
- *  Caution: Data pointer must be valid throughout lifetime
- */
-returnValue DenseMatrix_init(	DenseMatrix* _THIS,
-								int m,			/**< Number of rows. */
-								int n,			/**< Number of columns. */
-								int lD,			/**< Leading dimension. */
-								real_t *v		/**< Values. */
-								);
-
-
-/** Returns i-th diagonal entry.
- *	\return i-th diagonal entry */
-real_t DenseMatrix_diag(	DenseMatrix* _THIS,
-							int i			/**< Index. */
-							);
-
-/** Checks whether matrix is square and diagonal.
- *	\return BT_TRUE  iff matrix is square and diagonal; \n
- *	        BT_FALSE otherwise. */
-BooleanType DenseMatrix_isDiag( DenseMatrix* _THIS );
-
-/** Get the N-norm of the matrix
- *  \return N-norm of the matrix
- */
-real_t DenseMatrix_getNorm( DenseMatrix* _THIS,
-							int type			/**< Norm type, 1: one-norm, 2: Euclidean norm. */
-							);
-
-/** Get the N-norm of a row
- *  \return N-norm of row \a rNum
- */
-real_t DenseMatrix_getRowNorm(	DenseMatrix* _THIS,
-								int rNum,			/**< Row number. */
-								int type			/**< Norm type, 1: one-norm, 2: Euclidean norm. */
-								);
-
-/** Retrieve indexed entries of matrix row multiplied by alpha.
- *  \return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_getRow(	DenseMatrix* _THIS,
-								int rNum,						/**< Row number. */
-								const Indexlist* const icols,	/**< Index list specifying columns. */
-								real_t alpha,					/**< Scalar factor. */
-								real_t *row						/**< Output row vector. */
-								);
-
-/** Retrieve indexed entries of matrix column multiplied by alpha.
- *  \return SUCCESSFUL_RETURN */
- returnValue DenseMatrix_getCol(	DenseMatrix* _THIS,
-									int cNum,						/**< Column number. */
-									const Indexlist* const irows,	/**< Index list specifying rows. */
-									real_t alpha,					/**< Scalar factor. */
-									real_t *col						/**< Output column vector. */
-									);
-
-/** Evaluate Y=alpha*A*X + beta*Y.
- *  \return SUCCESSFUL_RETURN. */
-returnValue DenseMatrix_times(	DenseMatrix* _THIS,
-								int xN,					/**< Number of vectors to multiply. */
-								real_t alpha,			/**< Scalar factor for matrix vector product. */
-								const real_t *x,		/**< Input vector to be multiplied. */
-								int xLD,				/**< Leading dimension of input x. */
-								real_t beta,			/**< Scalar factor for y. */
-								real_t *y,				/**< Output vector of results. */
-								int yLD					/**< Leading dimension of output y. */
-								);
-
-/** Evaluate Y=alpha*A'*X + beta*Y.
- *  \return SUCCESSFUL_RETURN. */
-returnValue DenseMatrix_transTimes(	DenseMatrix* _THIS,
-									int xN,				/**< Number of vectors to multiply. */
-									real_t alpha,		/**< Scalar factor for matrix vector product. */
-									const real_t *x,	/**< Input vector to be multiplied. */
-									int xLD,			/**< Leading dimension of input x. */
-									real_t beta,		/**< Scalar factor for y. */
-									real_t *y,			/**< Output vector of results. */
-									int yLD				/**< Leading dimension of output y. */
-									);
-
-/** Evaluate matrix vector product with submatrix given by Indexlist.
- *	\return SUCCESSFUL_RETURN */
- returnValue DenseMatrix_subTimes(	DenseMatrix* _THIS,
-									const Indexlist* const irows,	/**< Index list specifying rows. */
-									const Indexlist* const icols,	/**< Index list specifying columns. */
-									int xN,							/**< Number of vectors to multiply. */
-									real_t alpha,					/**< Scalar factor for matrix vector product. */
-									const real_t *x,				/**< Input vector to be multiplied. */
-									int xLD,						/**< Leading dimension of input x. */
-									real_t beta,					/**< Scalar factor for y. */
-									real_t *y,						/**< Output vector of results. */
-									int yLD,						/**< Leading dimension of output y. */
-									BooleanType yCompr 				/**< Compressed storage for y. */
-									);
-
-/** Evaluate matrix transpose vector product.
- *	\return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_subTransTimes(	DenseMatrix* _THIS,
-										const Indexlist* const irows,	/**< Index list specifying rows. */
-										const Indexlist* const icols,	/**< Index list specifying columns. */
-										int xN,							/**< Number of vectors to multiply. */
-										real_t alpha,					/**< Scalar factor for matrix vector product. */
-										const real_t *x,				/**< Input vector to be multiplied. */
-										int xLD,						/**< Leading dimension of input x. */
-										real_t beta,					/**< Scalar factor for y. */
-										real_t *y,						/**< Output vector of results. */
-										int yLD							/**< Leading dimension of output y. */
-										);
-
-/** Adds given offset to diagonal of matrix.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_NO_DIAGONAL_AVAILABLE */
-returnValue DenseMatrix_addToDiag(	DenseMatrix* _THIS,
-									real_t alpha		/**< Diagonal offset. */
-									);
-
-/** Prints matrix to screen.
- *	\return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_print(	DenseMatrix* _THIS
-								);
-
-static inline real_t* DenseMatrix_getVal( DenseMatrix* _THIS ) { return _THIS->val; }
-
-/** Compute bilinear form y = x'*H*x using submatrix given by index list.
- *	\return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_bilinear(	DenseMatrix* _THIS,
-									const Indexlist* const icols,	/**< Index list specifying columns of x. */
-									int xN,							/**< Number of vectors to multiply. */
-									const real_t *x,				/**< Input vector to be multiplied (uncompressed). */
-									int xLD,						/**< Leading dimension of input x. */
-									real_t *y,						/**< Output vector of results (compressed). */
-									int yLD							/**< Leading dimension of output y. */
-									);
-
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_MATRICES_H */
diff --git a/third_party/acados/include/qpOASES_e/MessageHandling.h b/third_party/acados/include/qpOASES_e/MessageHandling.h
deleted file mode 100644
index fe5524948a8b2c..00000000000000
--- a/third_party/acados/include/qpOASES_e/MessageHandling.h
+++ /dev/null
@@ -1,544 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/MessageHandling.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches (thanks to Leonard Wirsching)
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the MessageHandling class including global return values.
- */
-
-
-#ifndef QPOASES_MESSAGEHANDLING_H
-#define QPOASES_MESSAGEHANDLING_H
-
-
-#include <stdio.h>
-#include <string.h>
-#include <math.h>
-#include <assert.h>
-
-#include <qpOASES_e/Constants.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/** Default file to display messages. */
-#define stdFile stderr
-
-
-/**
- *	\brief Defines all symbols for global return values.
- *	
- *  The enumeration returnValueType defines all symbols for global return values.
- *	Important: All return values are assumed to be nonnegative!
- *
- *	\author Hans Joachim Ferreau
- */
-typedef enum 
-{
-TERMINAL_LIST_ELEMENT = -1,						/**< Terminal list element, internal usage only! */
-/* miscellaneous */
-SUCCESSFUL_RETURN = 0,							/**< Successful return. */
-RET_DIV_BY_ZERO,		   						/**< Division by zero. */
-RET_INDEX_OUT_OF_BOUNDS,						/**< Index out of bounds. */
-RET_INVALID_ARGUMENTS,							/**< At least one of the arguments is invalid. */
-RET_ERROR_UNDEFINED,							/**< Error number undefined. */
-RET_WARNING_UNDEFINED,							/**< Warning number undefined. */
-RET_INFO_UNDEFINED,								/**< Info number undefined. */
-RET_EWI_UNDEFINED,								/**< Error/warning/info number undefined. */
-RET_AVAILABLE_WITH_LINUX_ONLY,					/**< This function is available under Linux only. */
-RET_UNKNOWN_BUG,								/**< The error occurred is not yet known. */
-RET_PRINTLEVEL_CHANGED,							/**< Print level changed. (10) */
-RET_NOT_YET_IMPLEMENTED,						/**< Requested function is not yet implemented in this version of qpOASES. */
-/* Indexlist */
-RET_INDEXLIST_MUST_BE_REORDERD,					/**< Index list has to be reordered. */
-RET_INDEXLIST_EXCEEDS_MAX_LENGTH,				/**< Index list exceeds its maximal physical length. */
-RET_INDEXLIST_CORRUPTED,						/**< Index list corrupted. */
-RET_INDEXLIST_OUTOFBOUNDS,						/**< Physical index is out of bounds. */
-RET_INDEXLIST_ADD_FAILED,						/**< Adding indices from another index set failed. */
-RET_INDEXLIST_INTERSECT_FAILED,					/**< Intersection with another index set failed. */
-/* SubjectTo / Bounds / Constraints */
-RET_INDEX_ALREADY_OF_DESIRED_STATUS,			/**< Index is already of desired status. (18) */
-RET_ADDINDEX_FAILED,							/**< Adding index to index set failed. */
-RET_REMOVEINDEX_FAILED,							/**< Removing index from index set failed. (20) */
-RET_SWAPINDEX_FAILED,							/**< Cannot swap between different indexsets. */
-RET_NOTHING_TO_DO,								/**< Nothing to do. */
-RET_SETUP_BOUND_FAILED,							/**< Setting up bound index failed. */
-RET_SETUP_CONSTRAINT_FAILED,					/**< Setting up constraint index failed. */
-RET_MOVING_BOUND_FAILED,						/**< Moving bound between index sets failed. */
-RET_MOVING_CONSTRAINT_FAILED,					/**< Moving constraint between index sets failed. */
-RET_SHIFTING_FAILED,							/**< Shifting of bounds/constraints failed. */
-RET_ROTATING_FAILED,							/**< Rotating of bounds/constraints failed. */
-/* QProblem */
-RET_QPOBJECT_NOT_SETUP,							/**< The QP object has not been setup correctly, use another constructor. */
-RET_QP_ALREADY_INITIALISED,						/**< QProblem has already been initialised. (30) */
-RET_NO_INIT_WITH_STANDARD_SOLVER,				/**< Initialisation via extern QP solver is not yet implemented. */
-RET_RESET_FAILED,								/**< Reset failed. */
-RET_INIT_FAILED,								/**< Initialisation failed. */
-RET_INIT_FAILED_TQ,								/**< Initialisation failed due to TQ factorisation. */
-RET_INIT_FAILED_CHOLESKY,						/**< Initialisation failed due to Cholesky decomposition. */
-RET_INIT_FAILED_HOTSTART,						/**< Initialisation failed! QP could not be solved! */
-RET_INIT_FAILED_INFEASIBILITY,					/**< Initial QP could not be solved due to infeasibility! */
-RET_INIT_FAILED_UNBOUNDEDNESS,					/**< Initial QP could not be solved due to unboundedness! */
-RET_INIT_FAILED_REGULARISATION,					/**< Initialisation failed as Hessian matrix could not be regularised. */
-RET_INIT_SUCCESSFUL,							/**< Initialisation done. (40) */
-RET_OBTAINING_WORKINGSET_FAILED,				/**< Failed to obtain working set for auxiliary QP. */
-RET_SETUP_WORKINGSET_FAILED,					/**< Failed to setup working set for auxiliary QP. */
-RET_SETUP_AUXILIARYQP_FAILED,					/**< Failed to setup auxiliary QP for initialised homotopy. */
-RET_NO_CHOLESKY_WITH_INITIAL_GUESS,				/**< Externally computed Cholesky factor cannot be combined with an initial guess. */
-RET_NO_EXTERN_SOLVER,							/**< No extern QP solver available. */
-RET_QP_UNBOUNDED,								/**< QP is unbounded. */
-RET_QP_INFEASIBLE,								/**< QP is infeasible. */
-RET_QP_NOT_SOLVED,								/**< Problems occurred while solving QP with standard solver. */
-RET_QP_SOLVED,									/**< QP successfully solved. */
-RET_UNABLE_TO_SOLVE_QP,							/**< Problems occurred while solving QP. (50) */
-RET_INITIALISATION_STARTED,						/**< Starting problem initialisation... */
-RET_HOTSTART_FAILED,							/**< Unable to perform homotopy due to internal error. */
-RET_HOTSTART_FAILED_TO_INIT,					/**< Unable to initialise problem. */
-RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED,		/**< Unable to perform homotopy as previous QP is not solved. */
-RET_ITERATION_STARTED,							/**< Iteration... */
-RET_SHIFT_DETERMINATION_FAILED,					/**< Determination of shift of the QP data failed. */
-RET_STEPDIRECTION_DETERMINATION_FAILED,			/**< Determination of step direction failed. */
-RET_STEPLENGTH_DETERMINATION_FAILED,			/**< Determination of step direction failed. */
-RET_OPTIMAL_SOLUTION_FOUND,						/**< Optimal solution of neighbouring QP found. */
-RET_HOMOTOPY_STEP_FAILED,						/**< Unable to perform homotopy step. (60) */
-RET_HOTSTART_STOPPED_INFEASIBILITY,				/**< Premature homotopy termination because QP is infeasible. */
-RET_HOTSTART_STOPPED_UNBOUNDEDNESS,				/**< Premature homotopy termination because QP is unbounded. */
-RET_WORKINGSET_UPDATE_FAILED,					/**< Unable to update working sets according to initial guesses. */
-RET_MAX_NWSR_REACHED,							/**< Maximum number of working set recalculations performed. */
-RET_CONSTRAINTS_NOT_SPECIFIED,					/**< Problem does comprise constraints! You also have to specify new constraints' bounds. */
-RET_INVALID_FACTORISATION_FLAG,					/**< Invalid factorisation flag. */
-RET_UNABLE_TO_SAVE_QPDATA,						/**< Unable to save QP data. */
-RET_STEPDIRECTION_FAILED_TQ,					/**< Abnormal termination due to TQ factorisation. */
-RET_STEPDIRECTION_FAILED_CHOLESKY,				/**< Abnormal termination due to Cholesky factorisation. */
-RET_CYCLING_DETECTED,							/**< Cycling detected. (70) */
-RET_CYCLING_NOT_RESOLVED,						/**< Cycling cannot be resolved, QP probably infeasible. */
-RET_CYCLING_RESOLVED,							/**< Cycling probably resolved. */
-RET_STEPSIZE,									/**< For displaying performed stepsize. */
-RET_STEPSIZE_NONPOSITIVE,						/**< For displaying non-positive stepsize. */
-RET_SETUPSUBJECTTOTYPE_FAILED,					/**< Setup of SubjectToTypes failed. */
-RET_ADDCONSTRAINT_FAILED,						/**< Addition of constraint to working set failed. */
-RET_ADDCONSTRAINT_FAILED_INFEASIBILITY,			/**< Addition of constraint to working set failed (due to QP infeasibility). */
-RET_ADDBOUND_FAILED,							/**< Addition of bound to working set failed. */
-RET_ADDBOUND_FAILED_INFEASIBILITY,				/**< Addition of bound to working set failed (due to QP infeasibility). */
-RET_REMOVECONSTRAINT_FAILED,					/**< Removal of constraint from working set failed. (80) */
-RET_REMOVEBOUND_FAILED,							/**< Removal of bound from working set failed. */
-RET_REMOVE_FROM_ACTIVESET,						/**< Removing from active set... */
-RET_ADD_TO_ACTIVESET,							/**< Adding to active set... */
-RET_REMOVE_FROM_ACTIVESET_FAILED,				/**< Removing from active set failed. */
-RET_ADD_TO_ACTIVESET_FAILED,					/**< Adding to active set failed. */
-RET_CONSTRAINT_ALREADY_ACTIVE,					/**< Constraint is already active. */
-RET_ALL_CONSTRAINTS_ACTIVE,						/**< All constraints are active, no further constraint can be added. */
-RET_LINEARLY_DEPENDENT,							/**< New bound/constraint is linearly dependent. */
-RET_LINEARLY_INDEPENDENT,						/**< New bound/constraint is linearly independent. */
-RET_LI_RESOLVED,								/**< Linear independence of active constraint matrix successfully resolved. (90) */
-RET_ENSURELI_FAILED,							/**< Failed to ensure linear independence of active constraint matrix. */
-RET_ENSURELI_FAILED_TQ,							/**< Abnormal termination due to TQ factorisation. */
-RET_ENSURELI_FAILED_NOINDEX,					/**< QP is infeasible. */
-RET_ENSURELI_FAILED_CYCLING,					/**< QP is infeasible. */
-RET_BOUND_ALREADY_ACTIVE,						/**< Bound is already active. */
-RET_ALL_BOUNDS_ACTIVE,							/**< All bounds are active, no further bound can be added. */
-RET_CONSTRAINT_NOT_ACTIVE,						/**< Constraint is not active. */
-RET_BOUND_NOT_ACTIVE,							/**< Bound is not active. */
-RET_HESSIAN_NOT_SPD,							/**< Projected Hessian matrix not positive definite. */
-RET_HESSIAN_INDEFINITE,							/**< Hessian matrix is indefinite. (100) */
-RET_MATRIX_SHIFT_FAILED,						/**< Unable to update matrices or to transform vectors. */
-RET_MATRIX_FACTORISATION_FAILED,				/**< Unable to calculate new matrix factorisations. */
-RET_PRINT_ITERATION_FAILED,						/**< Unable to print information on current iteration. */
-RET_NO_GLOBAL_MESSAGE_OUTPUTFILE,				/**< No global message output file initialised. */
-RET_DISABLECONSTRAINTS_FAILED,					/**< Unable to disbable constraints. */
-RET_ENABLECONSTRAINTS_FAILED,					/**< Unable to enbable constraints. */
-RET_ALREADY_ENABLED,							/**< Bound or constraint is already enabled. */
-RET_ALREADY_DISABLED,							/**< Bound or constraint is already disabled. */
-RET_NO_HESSIAN_SPECIFIED, 						/**< No Hessian matrix has been specified. */
-RET_USING_REGULARISATION,						/**< Using regularisation as Hessian matrix is not positive definite. (110) */
-RET_EPS_MUST_BE_POSITVE,						/**< Eps for regularisation must be sufficiently positive. */
-RET_REGSTEPS_MUST_BE_POSITVE, 					/**< Maximum number of regularisation steps must be non-negative. */
-RET_HESSIAN_ALREADY_REGULARISED,				/**< Hessian has been already regularised. */
-RET_CANNOT_REGULARISE_IDENTITY,					/**< Identity Hessian matrix cannot be regularised. */
-RET_CANNOT_REGULARISE_SPARSE,					/**< Sparse matrix cannot be regularised as diagonal entry is missing. */
-RET_NO_REGSTEP_NWSR,							/**< No additional regularisation step could be performed due to limits. */
-RET_FEWER_REGSTEPS_NWSR,						/**< Fewer additional regularisation steps have been performed due to limits. */
-RET_CHOLESKY_OF_ZERO_HESSIAN, 					/**< Cholesky decomposition of (unregularised) zero Hessian matrix. */
-RET_ZERO_HESSIAN_ASSUMED,						/**< Zero Hessian matrix assumed as null pointer passed without specifying hessianType. */
-RET_CONSTRAINTS_ARE_NOT_SCALED, 				/**< (no longer in use) (120) */
-RET_INITIAL_BOUNDS_STATUS_NYI, 					/**< (no longer in use) */
-RET_ERROR_IN_CONSTRAINTPRODUCT,					/**< Error in user-defined constraint product function. */
-RET_FIX_BOUNDS_FOR_LP,							/**< All initial bounds must be fixed when solving an (unregularised) LP. */
-RET_USE_REGULARISATION_FOR_LP,					/**< Set options.enableRegularisation=BT_TRUE for solving LPs. */
-/* SQProblem */
-RET_UPDATEMATRICES_FAILED,						/**< Unable to update QP matrices. */
-RET_UPDATEMATRICES_FAILED_AS_QP_NOT_SOLVED,		/**< Unable to update matrices as previous QP is not solved. */
-/* Utils */
-RET_UNABLE_TO_OPEN_FILE,						/**< Unable to open file. */
-RET_UNABLE_TO_WRITE_FILE,						/**< Unable to write into file. */
-RET_UNABLE_TO_READ_FILE,						/**< Unable to read from file. */
-RET_FILEDATA_INCONSISTENT,						/**< File contains inconsistent data. (130) */
-/* Options */
-RET_OPTIONS_ADJUSTED,							/**< Options needed to be adjusted for consistency reasons. */
-/* SolutionAnalysis */
-RET_UNABLE_TO_ANALYSE_QPROBLEM, 				/**< Unable to analyse (S)QProblem(B) object. */
-/* Benchmark */
-RET_NWSR_SET_TO_ONE,							/**< Maximum number of working set changes was set to 1. */
-RET_UNABLE_TO_READ_BENCHMARK,					/**< Unable to read benchmark data. */
-RET_BENCHMARK_ABORTED,							/**< Benchmark aborted. */
-RET_INITIAL_QP_SOLVED,							/**< Initial QP solved. */
-RET_QP_SOLUTION_STARTED,						/**< Solving QP... */
-RET_BENCHMARK_SUCCESSFUL,						/**< Benchmark terminated successfully. */
-/* Sparse matrices */
-RET_NO_DIAGONAL_AVAILABLE,						/**< Sparse matrix does not have entries on full diagonal. */
-RET_DIAGONAL_NOT_INITIALISED,					/**< Diagonal data of sparse matrix has not been initialised. (140) */
-/* Dropping of infeasible constraints */
-RET_ENSURELI_DROPPED,							/**< Linear independence resolved by dropping blocking constraint. */
-/* Simple exitflags */
-RET_SIMPLE_STATUS_P1,							/**< QP problem could not be solved within given number of iterations. */
-RET_SIMPLE_STATUS_P0,							/**< QP problem solved. */
-RET_SIMPLE_STATUS_M1,							/**< QP problem could not be solved due to an internal error. */
-RET_SIMPLE_STATUS_M2,							/**< QP problem is infeasible (and thus could not be solved). */
-RET_SIMPLE_STATUS_M3 							/**< QP problem is unbounded (and thus could not be solved). (146) */
-} returnValue;
-
-
-/**
- *	\brief Data structure for entries in global message list.
- *	
- *	Data structure for entries in global message list.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	returnValue key;							/**< Global return value. */
-	const char* data;							/**< Corresponding message. */
-	VisibilityStatus globalVisibilityStatus; 	/**< Determines if message can be printed.
-												* 	 If this value is set to VS_HIDDEN, no message is printed! */
-} ReturnValueList;
-
-
-
-/** 
- *	\brief Handles all kind of error messages, warnings and other information.
- *
- *	This class handles all kinds of messages (errors, warnings, infos) initiated
- *  by qpOASES modules and stores the corresponding global preferences.
- *
- *	\author Hans Joachim Ferreau (thanks to Leonard Wirsching)
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	VisibilityStatus errorVisibility;		/**< Error messages visible? */
-	VisibilityStatus warningVisibility;		/**< Warning messages visible? */
-	VisibilityStatus infoVisibility;		/**< Info messages visible? */
-
-	FILE* outputFile;						/**< Output file for messages. */
-
-	int errorCount; 						/**< Counts number of errors (for nicer output only). */
-} MessageHandling;
-
-
-
-/** Constructor which takes the desired output file and desired visibility states. */
-void MessageHandlingCON(	MessageHandling* _THIS,
-							FILE* _outputFile,					/**< Output file. */
-							VisibilityStatus _errorVisibility,	/**< Visibility status for error messages. */
-							VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */
-							VisibilityStatus _infoVisibility	/**< Visibility status for info messages. */
-							);
-
-void MessageHandlingCPY(	MessageHandling* FROM,
-							MessageHandling* TO
-							);
-
-
-/** Prints an error message(a simplified macro THROWERROR is also provided). \n
- *  Errors are definied as abnormal events which cause an immediate termination of the current (sub) function.
- *  Errors of a sub function should be commented by the calling function by means of a warning message
- *  (if this error does not cause an error of the calling function, either)!
- *  \return Error number returned by sub function call
- */
-returnValue MessageHandling_throwError(	MessageHandling* _THIS,
-										returnValue Enumber,					/**< Error number returned by sub function call. */
-										const char* additionaltext,				/**< Additional error text (0, if none). */
-										const char* functionname,				/**< Name of function which caused the error. */
-										const char* filename,					/**< Name of file which caused the error. */
-										const unsigned long linenumber,			/**< Number of line which caused the error.incompatible binary file */
-										VisibilityStatus localVisibilityStatus	/**< Determines (locally) if error message can be printed to stderr.
-																			*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-																			*   no message is printed, anyway! */
-										);
-
-/** Prints a warning message (a simplified macro THROWWARNING is also provided).
- *  Warnings are definied as abnormal events which does NOT cause an immediate termination of the current (sub) function.
- *  \return Warning number returned by sub function call
- */
-returnValue MessageHandling_throwWarning(	MessageHandling* _THIS,
-											returnValue Wnumber,	 				/**< Warning number returned by sub function call. */
-											const char* additionaltext,				/**< Additional warning text (0, if none). */
-											const char* functionname,				/**< Name of function which caused the warning. */
-											const char* filename,   				/**< Name of file which caused the warning. */
-											const unsigned long linenumber,	 		/**< Number of line which caused the warning. */
-											VisibilityStatus localVisibilityStatus	/**< Determines (locally) if warning message can be printed to stderr.
-																					*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-																					*   no message is printed, anyway! */
-											);
-
-/** Prints a info message (a simplified macro THROWINFO is also provided).
- *  \return Info number returned by sub function call
- */
-returnValue MessageHandling_throwInfo(	MessageHandling* _THIS,
-										returnValue Inumber,	 				/**< Info number returned by sub function call. */
-										const char* additionaltext,	 			/**< Additional warning text (0, if none). */
-										const char* functionname,				/**< Name of function which submitted the info. */
-										const char* filename,   				/**< Name of file which submitted the info. */
-										const unsigned long linenumber,			/**< Number of line which submitted the info. */
-										VisibilityStatus localVisibilityStatus	/**< Determines (locally) if info message can be printed to stderr.
-																				*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-																				*   no message is printed, anyway! */
-										);
-
-
-/** Resets all preferences to default values.
- *	\return SUCCESSFUL_RETURN */
-returnValue MessageHandling_reset( MessageHandling* _THIS );
-
-
-/** Prints a complete list of all messages to output file.
- *	\return SUCCESSFUL_RETURN */
-returnValue MessageHandling_listAllMessages( MessageHandling* _THIS );
-
-
-/** Returns visibility status for error messages.
- *	\return Visibility status for error messages. */
-static inline VisibilityStatus MessageHandling_getErrorVisibilityStatus( MessageHandling* _THIS );
-
-/** Returns visibility status for warning messages.
- *	\return Visibility status for warning messages. */
-static inline VisibilityStatus MessageHandling_getWarningVisibilityStatus( MessageHandling* _THIS );
-
-/** Returns visibility status for info messages.
- *	\return Visibility status for info messages. */
-static inline VisibilityStatus MessageHandling_getInfoVisibilityStatus( MessageHandling* _THIS );
-
-/** Returns pointer to output file.
- *	\return Pointer to output file. */
-static inline FILE* MessageHandling_getOutputFile( MessageHandling* _THIS );
-
-/** Returns error count value.
- *	\return Error count value. */
-static inline int MessageHandling_getErrorCount( MessageHandling* _THIS );
-
-
-/** Changes visibility status for error messages. */
-static inline void MessageHandling_setErrorVisibilityStatus(	MessageHandling* _THIS,
-														VisibilityStatus _errorVisibility	/**< New visibility status for error messages. */
-														);
-
-/** Changes visibility status for warning messages. */
-static inline void MessageHandling_setWarningVisibilityStatus(	MessageHandling* _THIS,
-																VisibilityStatus _warningVisibility	/**< New visibility status for warning messages. */
-																);
-
-/** Changes visibility status for info messages. */
-static inline void MessageHandling_setInfoVisibilityStatus(	MessageHandling* _THIS,
-															VisibilityStatus _infoVisibility	/**< New visibility status for info messages. */
-															);
-
-/** Changes output file for messages. */
-static inline void MessageHandling_setOutputFile(	MessageHandling* _THIS,
-													FILE* _outputFile	/**< New output file for messages. */
-													);
-
-/** Changes error count.
- * \return SUCCESSFUL_RETURN \n
- *		   RET_INVALID_ARGUMENT */
-static inline returnValue MessageHandling_setErrorCount(	MessageHandling* _THIS,
-															int _errorCount	/**< New error count value. */
-															);
-
-/** Provides message text corresponding to given \a returnValue.
- * \return String containing message text. */
-const char* MessageHandling_getErrorCodeMessage(	MessageHandling* _THIS,
-													const returnValue _returnValue
-													);
-
-
-returnValue MessageHandling_throwMessage(	MessageHandling* _THIS,
-											returnValue RETnumber,	 				/**< Error/warning/info number returned by sub function call. */
-											const char* additionaltext,				/**< Additional warning text (0, if none). */
-											const char* functionname,				/**< Name of function which caused the error/warning/info. */
-											const char* filename,   				/**< Name of file which caused the error/warning/info. */
-											const unsigned long linenumber,			/**< Number of line which caused the error/warning/info. */
-											VisibilityStatus localVisibilityStatus,	/**< Determines (locally) if info message can be printed to stderr.
-																					*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-																					*   no message is printed, anyway! */
-											const char* RETstring					/**< Leading string of error/warning/info message. */
-											);
-
-
-#ifndef __FILE__
-  /** Ensures that __FILE__ macro is defined. */
-  #define __FILE__ 0
-#endif
-
-#ifndef __LINE__
-  /** Ensures that __LINE__ macro is defined. */
-  #define __LINE__ 0
-#endif
-
-/** Define __FUNC__ macro providing current function for debugging. */
-/*#define __FUNC__ 0*/
-#define __FUNC__ ("(no function name provided)")
-/*#define __FUNC__ __func__*/
-/*#define __FUNC__ __FUNCTION__*/
-
-
-/** Short version of throwError with default values, only returnValue is needed */
-#define THROWERROR(retval) ( MessageHandling_throwError( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
-
-/** Short version of throwWarning with default values, only returnValue is needed */
-#define THROWWARNING(retval) ( MessageHandling_throwWarning( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
-
-/** Short version of throwInfo with default values, only returnValue is needed */
-#define THROWINFO(retval) ( MessageHandling_throwInfo( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
-
-
-/** Returns a pointer to global message handler.
- *  \return Pointer to global message handler.
- */
-MessageHandling* qpOASES_getGlobalMessageHandler( );
-
-
-/*
- *	g e t E r r o r V i s i b i l i t y S t a t u s
- */
-static inline VisibilityStatus MessageHandling_getErrorVisibilityStatus( MessageHandling* _THIS )
-{
- 	return _THIS->errorVisibility;
-}
-
-
-/*
- *	g e t W a r n i n g V i s i b i l i t y S t a t u s
- */
-static inline VisibilityStatus MessageHandling_getWarningVisibilityStatus( MessageHandling* _THIS )
-{
- 	return _THIS->warningVisibility;
-}
-
-
-/*
- *	g e t I n f o V i s i b i l i t y S t a t u s
- */
-static inline VisibilityStatus MessageHandling_getInfoVisibilityStatus( MessageHandling* _THIS )
-{
- 	return _THIS->infoVisibility;
-}
-
-
-/*
- *	g e t O u t p u t F i l e
- */
-static inline FILE* MessageHandling_getOutputFile( MessageHandling* _THIS )
-{
- 	return _THIS->outputFile;
-}
-
-
-/*
- *	g e t E r r o r C o u n t
- */
-static inline int MessageHandling_getErrorCount( MessageHandling* _THIS )
-{
- 	return _THIS->errorCount;
-}
-
-
-/*
- *	s e t E r r o r V i s i b i l i t y S t a t u s
- */
-static inline void MessageHandling_setErrorVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _errorVisibility )
-{
- 	_THIS->errorVisibility = _errorVisibility;
-}
-
-
-/*
- *	s e t W a r n i n g V i s i b i l i t y S t a t u s
- */
-static inline void MessageHandling_setWarningVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _warningVisibility )
-{
- 	_THIS->warningVisibility = _warningVisibility;
-}
-
-
-/*
- *	s e t I n f o V i s i b i l i t y S t a t u s
- */
-static inline void MessageHandling_setInfoVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _infoVisibility )
-{
- 	_THIS->infoVisibility = _infoVisibility;
-}
-
-
-/*
- *	s e t O u t p u t F i l e
- */
-static inline void MessageHandling_setOutputFile( MessageHandling* _THIS, FILE* _outputFile )
-{
- 	_THIS->outputFile = _outputFile;
-}
-
-
-/*
- *	s e t E r r o r C o u n t
- */
-static inline returnValue MessageHandling_setErrorCount( MessageHandling* _THIS, int _errorCount )
-{
-	if ( _errorCount >= 0 )
-	{
-		_THIS->errorCount = _errorCount;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return RET_INVALID_ARGUMENTS;
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif /* QPOASES_MESSAGEHANDLING_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Options.h b/third_party/acados/include/qpOASES_e/Options.h
deleted file mode 100644
index ca8086d2cc64ed..00000000000000
--- a/third_party/acados/include/qpOASES_e/Options.h
+++ /dev/null
@@ -1,153 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Options.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Options class designed to manage user-specified
- *	options for solving a QProblem.
- */
-
-
-#ifndef QPOASES_OPTIONS_H
-#define QPOASES_OPTIONS_H
-
-
-#include <qpOASES_e/Utils.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Manages all user-specified options for solving QPs.
- *
- *	This class manages all user-specified options used for solving
- *	quadratic programs.
- *
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	PrintLevel printLevel;					/**< Print level. */
-
-	BooleanType enableRamping;				/**< Specifies whether ramping shall be enabled or not. */
-	BooleanType enableFarBounds;			/**< Specifies whether far bounds shall be used or not. */
-	BooleanType enableFlippingBounds;		/**< Specifies whether flipping bounds shall be used or not. */
-	BooleanType enableRegularisation;		/**< Specifies whether Hessian matrix shall be regularised in case semi-definiteness is detected. */
-	BooleanType enableFullLITests;			/**< Specifies whether condition-hardened LI test shall be used or not. */
-	BooleanType enableNZCTests;				/**< Specifies whether nonzero curvature tests shall be used. */
-	int enableDriftCorrection;				/**< Specifies the frequency of drift corrections (0 = off). */
-	int enableCholeskyRefactorisation;		/**< Specifies the frequency of full refactorisation of proj. Hessian (otherwise updates). */
-	BooleanType enableEqualities;			/**< Specifies whether equalities shall be always treated as active constraints. */
-
-	real_t terminationTolerance;			/**< Termination tolerance. */
-	real_t boundTolerance;					/**< Lower/upper (constraints') bound tolerance (an inequality constraint whose lower and upper bounds differ by less is regarded to be an equality constraint). */
-	real_t boundRelaxation;					/**< Offset for relaxing (constraints') bounds at beginning of an initial homotopy. It is also as initial value for far bounds. */
-	real_t epsNum;							/**< Numerator tolerance for ratio tests. */
-	real_t epsDen;							/**< Denominator tolerance for ratio tests. */
-	real_t maxPrimalJump;					/**< Maximum allowed jump in primal variables in nonzero curvature tests. */
-	real_t maxDualJump;						/**< Maximum allowed jump in dual variables in linear independence tests. */
-
-	real_t initialRamping;					/**< Start value for Ramping Strategy. */
-	real_t finalRamping;					/**< Final value for Ramping Strategy. */
-	real_t initialFarBounds;				/**< Initial size of Far Bounds. */
-	real_t growFarBounds;					/**< Factor to grow Far Bounds. */
-	SubjectToStatus initialStatusBounds;	/**< Initial status of bounds at first iteration. */
-	real_t epsFlipping;						/**< Tolerance of squared Cholesky diagonal factor which triggers flipping bound. */
-	int numRegularisationSteps;				/**< Maximum number of successive regularisation steps. */
-	real_t epsRegularisation;				/**< Scaling factor of identity matrix used for Hessian regularisation. */
-	int numRefinementSteps;					/**< Maximum number of iterative refinement steps. */
-	real_t epsIterRef;						/**< Early termination tolerance for iterative refinement. */
-	real_t epsLITests;						/**< Tolerance for linear independence tests. */
-	real_t epsNZCTests;						/**< Tolerance for nonzero curvature tests. */
-
-	BooleanType enableDropInfeasibles;		/**< ... */
-	int    dropBoundPriority;				/**< ... */
-	int    dropEqConPriority;				/**< ... */
-	int    dropIneqConPriority;				/**< ... */
-} Options;
-
-
-void OptionsCON(	Options* _THIS
-					);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void OptionsCPY(	Options* FROM,
-					Options* TO
-					);
-
-
-/** Sets all options to default values.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToDefault(	Options* _THIS
-									);
-
-/** Sets all options to values resulting in maximum reliabilty.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToReliable(	Options* _THIS
-									);
-
-/** Sets all options to values resulting in minimum solution time.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToMPC(		Options* _THIS
-									);
-
-/** Same as setToMPC( ), for ensuring backwards compatibility.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToFast(		Options* _THIS
-									);
-
-
-/** Ensures that all options have consistent values by automatically
- *	adjusting inconsistent ones.
- *	Note: This routine cannot (and does not try to) ensure that values
- *	      are set to reasonable values that make the QP solution work!
- *	\return SUCCESSFUL_RETURN \n 
- *		    RET_OPTIONS_ADJUSTED */
-returnValue Options_ensureConsistency(	Options* _THIS
-										);
-
-
-/** Prints values of all options.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_print(	Options* _THIS
-							);
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_OPTIONS_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/QProblem.h b/third_party/acados/include/qpOASES_e/QProblem.h
deleted file mode 100644
index 91a4a6f396720a..00000000000000
--- a/third_party/acados/include/qpOASES_e/QProblem.h
+++ /dev/null
@@ -1,2369 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/QProblem.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the QProblem class which is able to use the newly
- *	developed online active set strategy for parametric quadratic programming.
- */
-
-
-
-#ifndef QPOASES_QPROBLEM_H
-#define QPOASES_QPROBLEM_H
-
-
-#include <qpOASES_e/Bounds.h>
-#include <qpOASES_e/Options.h>
-#include <qpOASES_e/Matrices.h>
-#include <qpOASES_e/Constraints.h>
-#include <qpOASES_e/Flipper.h>
-#include <qpOASES_e/ConstraintProduct.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-typedef struct {
-	Bounds *auxiliaryBounds;
-	Constraints *auxiliaryConstraints;
-
-	real_t *ub_new_far;
-	real_t *lb_new_far;
-	real_t *ubA_new_far;
-	real_t *lbA_new_far;
-
-	real_t *g_new;
-	real_t *lb_new;
-	real_t *ub_new;
-	real_t *lbA_new;
-	real_t *ubA_new;
-
-	real_t *g_new2;
-	real_t *lb_new2;
-	real_t *ub_new2;
-	real_t *lbA_new2;
-	real_t *ubA_new2;
-
-	real_t *delta_xFX5;
-	real_t *delta_xFR5;
-	real_t *delta_yAC5;
-	real_t *delta_yFX5;
-
-	real_t *Hx;
-
-	real_t *_H;
-
-	real_t *g_original;
-	real_t *lb_original;
-	real_t *ub_original;
-	real_t *lbA_original;
-	real_t *ubA_original;
-
-	real_t *delta_xFR;
-	real_t *delta_xFX;
-	real_t *delta_yAC;
-	real_t *delta_yFX;
-	real_t *delta_g;
-	real_t *delta_lb;
-	real_t *delta_ub;
-	real_t *delta_lbA;
-	real_t *delta_ubA;
-
-	real_t *gMod;
-
-	real_t *aFR;
-	real_t *wZ;
-
-	real_t *delta_g2;
-	real_t *delta_xFX2;
-	real_t *delta_xFR2;
-	real_t *delta_yAC2;
-	real_t *delta_yFX2;
-	real_t *nul;
-	real_t *Arow;
-
-	real_t *xiC;
-	real_t *xiC_TMP;
-	real_t *xiB;
-	real_t *Arow2;
-	real_t *num;
-
-	real_t *w;
-	real_t *tmp;
-
-	real_t *delta_g3;
-	real_t *delta_xFX3;
-	real_t *delta_xFR3;
-	real_t *delta_yAC3;
-	real_t *delta_yFX3;
-	real_t *nul2;
-
-	real_t *xiC2;
-	real_t *xiC_TMP2;
-	real_t *xiB2;
-	real_t *num2;
-
-	real_t *Hz;
-	real_t *z;
-	real_t *ZHz;
-	real_t *r;
-
-	real_t *tmp2;
-	real_t *Hz2;
-	real_t *z2;
-	real_t *r2;
-	real_t *rhs;
-
-	real_t *delta_xFX4;
-	real_t *delta_xFR4;
-	real_t *delta_yAC4;
-	real_t *delta_yFX4;
-	real_t *nul3;
-	real_t *ek;
-	real_t *x_W;
-	real_t *As;
-	real_t *Ax_W;
-
-	real_t *num3;
-	real_t *den;
-	real_t *delta_Ax_l;
-	real_t *delta_Ax_u;
-	real_t *delta_Ax;
-	real_t *delta_x;
-
-	real_t *_A;
-
-	real_t *grad;
-	real_t *AX;
-} QProblem_ws;
-
-int QProblem_ws_calculateMemorySize( unsigned int nV, unsigned int nC );
-
-char *QProblem_ws_assignMemory( unsigned int nV, unsigned int nC, QProblem_ws **mem, void *raw_memory );
-
-QProblem_ws *QProblem_ws_createMemory( unsigned int nV, unsigned int nC );
-
-/**
- *	\brief Implements the online active set strategy for QPs with general constraints.
- *
- *	A class for setting up and solving quadratic programs. The main feature is
- *	the possibily to use the newly developed online active set strategy for
- * 	parametric quadratic programming.
- *
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	QProblem_ws *ws;				/**< Workspace */
-	Bounds *bounds;					/**< Data structure for problem's bounds. */
-	Constraints *constraints;		/**< Data structure for problem's constraints. */
-	Flipper *flipper;				/**< Struct for making a temporary copy of the matrix factorisations. */
-
-	DenseMatrix* H;					/**< Hessian matrix pointer. */
-	DenseMatrix* A;					/**< Constraint matrix pointer. */
-
-	Options options;				/**< Struct containing all user-defined options for solving QPs. */
-	TabularOutput tabularOutput;	/**< Struct storing information for tabular output (printLevel == PL_TABULAR). */
-
-	real_t *g;						/**< Gradient. */
-
-	real_t *lb;						/**< Lower bound vector (on variables). */
-	real_t *ub;						/**< Upper bound vector (on variables). */
-	real_t *lbA;					/**< Lower constraints' bound vector. */
-	real_t *ubA;					/**< Upper constraints' bound vector. */
-
-	real_t *R;						/**< Cholesky factor of H (i.e. H = R^T*R). */
-
-	real_t *T;						/**< Reverse triangular matrix, A = [0 T]*Q'. */
-	real_t *Q;						/**< Orthonormal quadratic matrix, A = [0 T]*Q'. */
-
-	real_t *Ax;						/**< Stores the current A*x \n
-									 *	 (for increased efficiency only). */
-	real_t *Ax_l;					/**< Stores the current distance to lower constraints' bounds A*x-lbA \n
-									 *	 (for increased efficiency only). */
-	real_t *Ax_u;					/**< Stores the current distance to lower constraints' bounds ubA-A*x \n
-									 *	 (for increased efficiency only). */
-
-	real_t *x;						/**< Primal solution vector. */
-	real_t *y;						/**< Dual solution vector. */
-
-	real_t *delta_xFR_TMP;			/**< Temporary for determineStepDirection */
-	real_t *tempA;					/**< Temporary for determineStepDirection. */
-	real_t *tempB;					/**< Temporary for determineStepDirection. */
-	real_t *ZFR_delta_xFRz;			/**< Temporary for determineStepDirection. */
-	real_t *delta_xFRy;				/**< Temporary for determineStepDirection. */
-	real_t *delta_xFRz;				/**< Temporary for determineStepDirection. */
-	real_t *delta_yAC_TMP;			/**< Temporary for determineStepDirection. */
-
-	ConstraintProduct constraintProduct;	/**< Pointer to user-defined constraint product function. */
-
-	real_t tau;						/**< Last homotopy step length. */
-	real_t regVal;					/**< Holds the offset used to regularise Hessian matrix (zero by default). */
-
-	real_t ramp0;					/**< Start value for Ramping Strategy. */
-	real_t ramp1;					/**< Final value for Ramping Strategy. */
-
-	QProblemStatus status;			/**< Current status of the solution process. */
-	HessianType hessianType;		/**< Type of Hessian matrix. */
-
-	BooleanType haveCholesky;		/**< Flag indicating whether Cholesky decomposition has already been setup. */
-	BooleanType infeasible;			/**< QP infeasible? */
-	BooleanType unbounded;			/**< QP unbounded? */
-
-	int rampOffset;					/**< Offset index for Ramping. */
-	unsigned int count;				/**< Counts the number of hotstart function calls (internal usage only!). */
-
-	int sizeT;						/**< Matrix T is stored in a (sizeT x sizeT) array. */
-} QProblem;
-
-int QProblem_calculateMemorySize( unsigned int nV, unsigned int nC );
-
-char *QProblem_assignMemory( unsigned int nV, unsigned int nC, QProblem **mem, void *raw_memory );
-
-QProblem *QProblem_createMemory( unsigned int nV, unsigned int nC );
-
-
-/** Constructor which takes the QP dimension and Hessian type
- *  information. If the Hessian is the zero (i.e. HST_ZERO) or the
- *  identity matrix (i.e. HST_IDENTITY), respectively, no memory
- *  is allocated for it and a NULL pointer can be passed for it
- *  to the init() functions. */
-void QProblemCON(	QProblem* _THIS,
-					int _nV,	  					/**< Number of variables. */
-					int _nC,		  				/**< Number of constraints. */
-					HessianType _hessianType 		/**< Type of Hessian matrix. */
-					);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void QProblemCPY(	QProblem* FROM,
-					QProblem* TO
-					);
-
-
-/** Clears all data structures of QProblem except for QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_RESET_FAILED */
-returnValue QProblem_reset( QProblem* _THIS );
-
-
-/** Initialises a QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_initM(	QProblem* _THIS,
-							DenseMatrix *_H,			/**< Hessian matrix. */
-							const real_t* const _g, 	/**< Gradient vector. */
-							DenseMatrix *_A,  			/**< Constraint matrix. */
-							const real_t* const _lb,	/**< Lower bound vector (on variables). \n
-															 If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,	/**< Upper bound vector (on variables). \n
-															 If no upper bounds exist, a NULL pointer can be passed. */
-							const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
-															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ubA,	/**< Upper constraints' bound vector. \n
-															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
-															 Output: Number of performed working set recalculations. */
-							real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
-															 Output: CPU time spent for QP initialisation (if pointer passed). */
-							);
-
-
-/** Initialises a QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_init(	QProblem* _THIS,
-							real_t* const _H, 			/**< Hessian matrix. \n
-															 If Hessian matrix is trivial, a NULL pointer can be passed. */
-							const real_t* const _g, 	/**< Gradient vector. */
-							real_t* const _A,  			/**< Constraint matrix. */
-							const real_t* const _lb,	/**< Lower bound vector (on variables). \n
-															 If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,	/**< Upper bound vector (on variables). \n
-															 If no upper bounds exist, a NULL pointer can be passed. */
-							const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
-															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ubA,	/**< Upper constraints' bound vector. \n
-															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
-															 Output: Number of performed working set recalculations. */
-							real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
-															 Output: CPU time spent for QP initialisation (if pointer passed). */
-							);
-
-/** Initialises a QP problem with given QP data to be read from files and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_UNABLE_TO_READ_FILE */
-returnValue QProblem_initF(	QProblem* _THIS,
-							const char* const H_file,	/**< Name of file where Hessian matrix is stored. \n
-															 If Hessian matrix is trivial, a NULL pointer can be passed. */
-							const char* const g_file,	/**< Name of file where gradient vector is stored. */
-							const char* const A_file,	/**< Name of file where constraint matrix is stored. */
-							const char* const lb_file,	/**< Name of file where lower bound vector. \n
-															If no lower bounds exist, a NULL pointer can be passed. */
-							const char* const ub_file,	/**< Name of file where upper bound vector. \n
-															If no upper bounds exist, a NULL pointer can be passed. */
-							const char* const lbA_file,	/**< Name of file where lower constraints' bound vector. \n
-															If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							const char* const ubA_file,	/**< Name of file where upper constraints' bound vector. \n
-															 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
-															 Output: Number of performed working set recalculations. */
-							real_t* const cputime	 	/**< Input: Maximum CPU time allowed for QP initialisation. \n
-															 Output: CPU time spent for QP initialisation (if pointer passed). */
-							);
-
-/** Initialises a QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
- *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
- *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
- *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
- *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
- *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_initMW(	QProblem* _THIS,
-								DenseMatrix *_H, 						/**< Hessian matrix. \n
-														    				 If Hessian matrix is trivial, a NULL pointer can be passed. */
-								const real_t* const _g, 				/**< Gradient vector. */
-								DenseMatrix *_A, 			 			/**< Constraint matrix. */
-								const real_t* const _lb,				/**< Lower bound vector (on variables). \n
-																			 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const _ub,				/**< Upper bound vector (on variables). \n
-																			 If no upper bounds exist, a NULL pointer can be passed. */
-								const real_t* const _lbA,				/**< Lower constraints' bound vector. \n
-																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const real_t* const _ubA,				/**< Upper constraints' bound vector. \n
-																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,								/**< Input: Maximum number of working set recalculations when using initial homotopy.
-																		 *	 Output: Number of performed working set recalculations. */
-								real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP initialisation. \n
-																			 Output: CPU time spent for QP initialisation. */
-								const real_t* const xOpt,				/**< Optimal primal solution vector. \n
-																			 (If a null pointer is passed, the old primal solution is kept!) */
-								const real_t* const yOpt,				/**< Optimal dual solution vector. \n
-																			 (If a null pointer is passed, the old dual solution is kept!) */
-								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-								Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
-								const real_t* const _R					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																	 		 The Cholesky factor must be stored in a real_t array of size nV*nV
-																			 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																			 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-								);
-
-/** Initialises a QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
- *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
- *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
- *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
- *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
- *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_initW(	QProblem* _THIS,
-							real_t* const _H, 						/**< Hessian matrix. \n
-														    			 If Hessian matrix is trivial, a NULL pointer can be passed. */
-							const real_t* const _g, 				/**< Gradient vector. */
-							real_t* const _A,  						/**< Constraint matrix. */
-							const real_t* const _lb,				/**< Lower bound vector (on variables). \n
-																		 If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,				/**< Upper bound vector (on variables). \n
-																		 If no upper bounds exist, a NULL pointer can be passed. */
-							const real_t* const _lbA,				/**< Lower constraints' bound vector. \n
-																		 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ubA,				/**< Upper constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							int* nWSR,								/**< Input:  Maximum number of working set recalculations when using initial homotopy.
-																	 *	 Output: Number of performed working set recalculations. */
-							real_t* const cputime,					/**< Input:  Maximum CPU time allowed for QP initialisation. \n
-																		 Output: CPU time spent for QP initialisation. */
-							const real_t* const xOpt,				/**< Optimal primal solution vector. \n
-																		 (If a null pointer is passed, the old primal solution is kept!) */
-							const real_t* const yOpt,				/**< Optimal dual solution vector. \n
-																		 (If a null pointer is passed, the old dual solution is kept!) */
-							Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-							Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
-							const real_t* const _R					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																	 	 The Cholesky factor must be stored in a real_t array of size nV*nV
-																		 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																		 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-							);
-
-/** Initialises a QP problem with given QP data to be ream from files and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
- *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
- *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
- *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
- *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
- *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_UNABLE_TO_READ_FILE */
-returnValue QProblem_initFW(	QProblem* _THIS,
-								const char* const H_file,				/**< Name of file where Hessian matrix is stored. \n
-														     				 If Hessian matrix is trivial, a NULL pointer can be passed. */
-								const char* const g_file,				/**< Name of file where gradient vector is stored. */
-								const char* const A_file,				/**< Name of file where constraint matrix is stored. */
-								const char* const lb_file,				/**< Name of file where lower bound vector. \n
-																			 If no lower bounds exist, a NULL pointer can be passed. */
-								const char* const ub_file,				/**< Name of file where upper bound vector. \n
-																			 If no upper bounds exist, a NULL pointer can be passed. */
-								const char* const lbA_file,				/**< Name of file where lower constraints' bound vector. \n
-																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const char* const ubA_file,				/**< Name of file where upper constraints' bound vector. \n
-																			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,								/**< Input:  Maximum number of working set recalculations when using initial homotopy.
-																			 Output: Number of performed working set recalculations. */
-								real_t* const cputime,					/**< Input:  Maximum CPU time allowed for QP initialisation. \n
-																			 Output: CPU time spent for QP initialisation. */
-								const real_t* const xOpt,				/**< Optimal primal solution vector. \n
-																			 (If a null pointer is passed, the old primal solution is kept!) */
-								const real_t* const yOpt,				/**< Optimal dual solution vector. \n
-																			 (If a null pointer is passed, the old dual solution is kept!) */
-								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-								Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
-								const char* const R_file				/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																		 	 The Cholesky factor must be stored in a real_t array of size nV*nV
-																			 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																			 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy.
- *	QP solution is started from previous solution.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblem_hotstart(	QProblem* _THIS,
-								const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
-											 			 			 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
-											 			 			 If no upper bounds exist, a NULL pointer can be passed. */
-								const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-											 			 			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
-											 			 			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,						/**< Input:  Maximum number of working set recalculations; \n
-													 				 Output: Number of performed working set recalculations. */
-								real_t* const cputime 			/**< Input:  Maximum CPU time allowed for QP solution. \n
-														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy,
- *	where QP data is read from files. QP solution is started from previous solution.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_hotstartF(	QProblem* _THIS,
-								const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-								const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-											 					 If no lower bounds exist, a NULL pointer can be passed. */
-								const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-											 					 If no upper bounds exist, a NULL pointer can be passed. */
-								const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
-											 					 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const char* const ubA_file, /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
-											 					 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 					/**< Input:  Maximum number of working set recalculations; \n
-																 Output: Number of performed working set recalculations. */
-								real_t* const cputime 		/**< Input:  Maximum CPU time allowed for QP solution. \n
-														 		 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy.
- *	By default, QP solution is started from previous solution. If a guess
- *	for the working set is provided, an initialised homotopy is performed.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_SETUP_AUXILIARYQP_FAILED */
-returnValue QProblem_hotstartW(	QProblem* _THIS,
-								const real_t* const g_new,				/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,				/**< Lower bounds of neighbouring QP to be solved. \n
-											 						 		 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,				/**< Upper bounds of neighbouring QP to be solved. \n
-											 						 		 If no upper bounds exist, a NULL pointer can be passed. */
-								const real_t* const lbA_new,			/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-											 						 		 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const real_t* const ubA_new,			/**< Upper constraints' bounds of neighbouring QP to be solved. \n
-											 								 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,								/**< Input: Maximum number of working set recalculations; \n
-																			 Output: Number of performed working set recalculations. */
-								real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP solution. \n
-																	 		 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																			 (If a null pointer is passed, the previous working set of bounds is kept!) */
-								Constraints* const guessedConstraints	/**< Optimal working set of constraints for solution (xOpt,yOpt). \n
-																			 (If a null pointer is passed, the previous working set of constraints is kept!) */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy,
- *  where QP data is read from files.
- *	By default, QP solution is started from previous solution. If a guess
- *	for the working set is provided, an initialised homotopy is performed.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_SETUP_AUXILIARYQP_FAILED \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_hotstartFW(	QProblem* _THIS,
-									const char* const g_file, 				/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-									const char* const lb_file, 				/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-											 									 If no lower bounds exist, a NULL pointer can be passed. */
-									const char* const ub_file, 				/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-											 									 If no upper bounds exist, a NULL pointer can be passed. */
-									const char* const lbA_file, 			/**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
-											 									 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									const char* const ubA_file, 			/**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
-											 									 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-									int* nWSR,								/**< Input: Maximum number of working set recalculations; \n
-																 				 Output: Number of performed working set recalculations. */
-									real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP solution. \n
-																	 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-									Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																				 (If a null pointer is passed, the previous working set of bounds is kept!) */
-									Constraints* const guessedConstraints	/**< Optimal working set of constraints for solution (xOpt,yOpt). \n
-																				 (If a null pointer is passed, the previous working set of constraints is kept!) */
-									);
-
-
-/** Solves using the current working set
- *	\return SUCCESSFUL_RETURN \n
- *			RET_STEPDIRECTION_FAILED_TQ \n
- *			RET_STEPDIRECTION_FAILED_CHOLESKY \n
- *			RET_INVALID_ARGUMENTS */
-returnValue QProblem_solveCurrentEQP (	QProblem* _THIS,
-										const int n_rhs,		/**< Number of consecutive right hand sides */
-										const real_t* g_in,		/**< Gradient of neighbouring QP to be solved. */
-										const real_t* lb_in,	/**< Lower bounds of neighbouring QP to be solved. \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-										const real_t* ub_in,	/**< Upper bounds of neighbouring QP to be solved. \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-										const real_t* lbA_in,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-										const real_t* ubA_in,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n */
-										real_t* x_out,			/**< Output: Primal solution */
-										real_t* y_out			/**< Output: Dual solution */
-										);
-
-
-
-/** Returns current constraints object of the QP (deep copy).
-  *	\return SUCCESSFUL_RETURN \n
-  			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblem_getConstraints(	QProblem* _THIS,
-													Constraints* _constraints	/** Output: Constraints object. */
-													);
-
-
-/** Returns the number of constraints.
- *	\return Number of constraints. */
-static inline int QProblem_getNC( QProblem* _THIS );
-
-/** Returns the number of (implicitly defined) equality constraints.
- *	\return Number of (implicitly defined) equality constraints. */
-static inline int QProblem_getNEC( QProblem* _THIS );
-
-/** Returns the number of active constraints.
- *	\return Number of active constraints. */
-static inline int QProblem_getNAC( QProblem* _THIS );
-
-/** Returns the number of inactive constraints.
- *	\return Number of inactive constraints. */
-static inline int QProblem_getNIAC( QProblem* _THIS );
-
-/** Returns the dimension of null space.
- *	\return Dimension of null space. */
-int QProblem_getNZ( QProblem* _THIS );
-
-
-/** Returns the dual solution vector (deep copy).
- *	\return SUCCESSFUL_RETURN \n
-			RET_QP_NOT_SOLVED */
-returnValue QProblem_getDualSolution(	QProblem* _THIS,
-										real_t* const yOpt	/**< Output: Dual solution vector (if QP has been solved). */
-										);
-
-
-/** Defines user-defined routine for calculating the constraint product A*x
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblem_setConstraintProduct(	QProblem* _THIS,
-											ConstraintProduct _constraintProduct
-											);
-
-
-/** Prints concise list of properties of the current QP.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblem_printProperties( QProblem* _THIS );
-
-
-
-/** Writes a vector with the state of the working set
-*	\return SUCCESSFUL_RETURN */
-returnValue QProblem_getWorkingSet(	QProblem* _THIS,
-									real_t* workingSet	/** Output: array containing state of the working set. */
-									);
-
-/** Writes a vector with the state of the working set of bounds
- *	\return SUCCESSFUL_RETURN \n
- *	        RET_INVALID_ARGUMENTS */
-returnValue QProblem_getWorkingSetBounds(	QProblem* _THIS,
-											real_t* workingSetB	/** Output: array containing state of the working set of bounds. */
-											);
-
-/** Writes a vector with the state of the working set of constraints
- *	\return SUCCESSFUL_RETURN \n
- *	        RET_INVALID_ARGUMENTS */
-returnValue QProblem_getWorkingSetConstraints(	QProblem* _THIS,
-												real_t* workingSetC	/** Output: array containing state of the working set of constraints. */
-												);
-
-
-/** Returns current bounds object of the QP (deep copy).
-  *	\return SUCCESSFUL_RETURN \n
-  			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblem_getBounds(	QProblem* _THIS,
-												Bounds* _bounds		/** Output: Bounds object. */
-												);
-
-
-/** Returns the number of variables.
- *	\return Number of variables. */
-static inline int QProblem_getNV( QProblem* _THIS );
-
-/** Returns the number of free variables.
- *	\return Number of free variables. */
-static inline int QProblem_getNFR( QProblem* _THIS );
-
-/** Returns the number of fixed variables.
- *	\return Number of fixed variables. */
-static inline int QProblem_getNFX( QProblem* _THIS );
-
-/** Returns the number of implicitly fixed variables.
- *	\return Number of implicitly fixed variables. */
-static inline int QProblem_getNFV( QProblem* _THIS );
-
-
-/** Returns the optimal objective function value.
- *	\return finite value: Optimal objective function value (QP was solved) \n
- 			+infinity:	  QP was not yet solved */
-real_t QProblem_getObjVal( QProblem* _THIS );
-
-/** Returns the objective function value at an arbitrary point x.
- *	\return Objective function value at point x */
-real_t QProblem_getObjValX(	QProblem* _THIS,
-							const real_t* const _x	/**< Point at which the objective function shall be evaluated. */
-							);
-
-/** Returns the primal solution vector.
- *	\return SUCCESSFUL_RETURN \n
-			RET_QP_NOT_SOLVED */
-returnValue QProblem_getPrimalSolution(	QProblem* _THIS,
-										real_t* const xOpt	/**< Output: Primal solution vector (if QP has been solved). */
-										);
-
-
-/** Returns status of the solution process.
- *	\return Status of solution process. */
-static inline QProblemStatus QProblem_getStatus( QProblem* _THIS );
-
-
-/** Returns if the QProblem object is initialised.
- *	\return BT_TRUE:  QProblem initialised \n
- 			BT_FALSE: QProblem not initialised */
-static inline BooleanType QProblem_isInitialised( QProblem* _THIS );
-
-/** Returns if the QP has been solved.
- *	\return BT_TRUE:  QProblem solved \n
- 			BT_FALSE: QProblem not solved */
-static inline BooleanType QProblem_isSolved( QProblem* _THIS );
-
-/** Returns if the QP is infeasible.
- *	\return BT_TRUE:  QP infeasible \n
- 			BT_FALSE: QP feasible (or not known to be infeasible!) */
-static inline BooleanType QProblem_isInfeasible( QProblem* _THIS );
-
-/** Returns if the QP is unbounded.
- *	\return BT_TRUE:  QP unbounded \n
- 			BT_FALSE: QP unbounded (or not known to be unbounded!) */
-static inline BooleanType QProblem_isUnbounded( QProblem* _THIS );
-
-
-/** Returns Hessian type flag (type is not determined due to _THIS call!).
- *	\return Hessian type. */
-static inline HessianType QProblem_getHessianType( QProblem* _THIS );
-
-/** Changes the print level.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblem_setHessianType(	QProblem* _THIS,
-													HessianType _hessianType /**< New Hessian type. */
-													);
-
-/** Returns if the QP has been internally regularised.
- *	\return BT_TRUE:  Hessian is internally regularised for QP solution \n
- 			BT_FALSE: No internal Hessian regularisation is used for QP solution */
-static inline BooleanType QProblem_usingRegularisation( QProblem* _THIS );
-
-/** Returns current options struct.
- *	\return Current options struct. */
-static inline Options QProblem_getOptions( QProblem* _THIS );
-
-/** Overrides current options with given ones.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblem_setOptions(	QProblem* _THIS,
-												Options _options	/**< New options. */
-												);
-
-/** Returns the print level.
- *	\return Print level. */
-static inline PrintLevel QProblem_getPrintLevel( QProblem* _THIS );
-
-/** Changes the print level.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblem_setPrintLevel(	QProblem* _THIS,
-									PrintLevel _printlevel	/**< New print level. */
-									);
-
-
-/** Returns the current number of QP problems solved.
- *	\return Number of QP problems solved. */
-static inline unsigned int QProblem_getCount( QProblem* _THIS );
-
-/** Resets QP problem counter (to zero).
- *	\return SUCCESSFUL_RETURN. */
-static inline returnValue QProblem_resetCounter( QProblem* _THIS );
-
-
-/** Prints a list of all options and their current values.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblem_printOptions( QProblem* _THIS );
-
-
-/** Solves a QProblem whose QP data is assumed to be stored in the member variables.
- *  A guess for its primal/dual optimal solution vectors and the corresponding
- *  working sets of bounds and constraints can be provided.
- *  Note: This function is internally called by all init functions!
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED */
-returnValue QProblem_solveInitialQP(	QProblem* _THIS,
-										const real_t* const xOpt,				/**< Optimal primal solution vector.*/
-										const real_t* const yOpt,				/**< Optimal dual solution vector. */
-										Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-										Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
-										const real_t* const _R,					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. */
-										int* nWSR, 								/**< Input:  Maximum number of working set recalculations; \n
-														 						 *	 Output: Number of performed working set recalculations. */
-										real_t* const cputime					/**< Input:  Maximum CPU time allowed for QP solution. \n
-																	 			 *	 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-										);
-
-/** Solves QProblem using online active set strategy.
- *  Note: This function is internally called by all hotstart functions!
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblem_solveQP(	QProblem* _THIS,
-								const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
-											 			 			 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
-											 			 			 If no upper bounds exist, a NULL pointer can be passed. */
-								const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-											 			 			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
-											 			 			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,						/**< Input: Maximum number of working set recalculations; \n
-													 				 Output: Number of performed working set recalculations. */
-								real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP solution. \n
-														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								int  nWSRperformed,				/**< Number of working set recalculations already performed to solve
-																	 this QP within previous solveQP() calls. This number is
-																	 always zero, except for successive calls from solveRegularisedQP()
-																	 or when using the far bound strategy. */
-								BooleanType isFirstCall			/**< Indicating whether this is the first call for current QP. */
-								);
-
-
-/** Solves QProblem using online active set strategy.
- *  Note: This function is internally called by all hotstart functions!
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblem_solveRegularisedQP(	QProblem* _THIS,
-											const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
-											const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
-													 			 				 If no lower bounds exist, a NULL pointer can be passed. */
-											const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
-													 			 				 If no upper bounds exist, a NULL pointer can be passed. */
-											const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-													 			 				 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-											const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
-													 			 				 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-											int* nWSR,						/**< Input: Maximum number of working set recalculations; \n
-															 					 Output: Number of performed working set recalculations. */
-											real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP solution. \n
-																 				 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-											int  nWSRperformed,				/**< Number of working set recalculations already performed to solve
-																				 this QP within previous solveRegularisedQP() calls. This number is
-																				 always zero, except for successive calls when using the far bound strategy. */
-											BooleanType isFirstCall			/**< Indicating whether this is the first call for current QP. */
-											);
-
-
-/** Determines type of existing constraints and bounds (i.e. implicitly fixed, unbounded etc.).
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUPSUBJECTTOTYPE_FAILED */
-returnValue QProblem_setupSubjectToType( QProblem* _THIS );
-
-/** Determines type of new constraints and bounds (i.e. implicitly fixed, unbounded etc.).
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUPSUBJECTTOTYPE_FAILED */
-returnValue QProblem_setupSubjectToTypeNew(	QProblem* _THIS,
-											const real_t* const lb_new,		/**< New lower bounds. */
-											const real_t* const ub_new,		/**< New upper bounds. */
-											const real_t* const lbA_new,	/**< New lower constraints' bounds. */
-											const real_t* const ubA_new		/**< New upper constraints' bounds. */
-											);
-
-/** Computes the Cholesky decomposition of the projected Hessian (i.e. R^T*R = Z^T*H*Z).
- *  Note: If Hessian turns out not to be positive definite, the Hessian type
- *		  is set to HST_SEMIDEF accordingly.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblem_computeProjectedCholesky( QProblem* _THIS );
-
-/** Computes initial Cholesky decomposition of the projected Hessian making
- *  use of the function setupCholeskyDecomposition() or setupCholeskyDecompositionProjected().
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblem_setupInitialCholesky( QProblem* _THIS );
-
-/** Initialises TQ factorisation of A (i.e. A*Q = [0 T]) if NO constraint is active.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEXLIST_CORRUPTED */
-returnValue QProblem_setupTQfactorisation( QProblem* _THIS );
-
-
-/** Obtains the desired working set for the auxiliary initial QP in
- *  accordance with the user specifications
- *  (assumes that member AX has already been initialised!)
- *	\return SUCCESSFUL_RETURN \n
-			RET_OBTAINING_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_obtainAuxiliaryWorkingSet(	QProblem* _THIS,
-												const real_t* const xOpt,					/**< Optimal primal solution vector.
-																							 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-												const real_t* const yOpt,					/**< Optimal dual solution vector.
-																							 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-												Bounds* const guessedBounds,				/**< Guessed working set of bounds for solution (xOpt,yOpt). */
-												Constraints* const guessedConstraints,		/**< Guessed working set for solution (xOpt,yOpt). */
-												Bounds* auxiliaryBounds,					/**< Input: Allocated bound object. \n
-																							 *	 Ouput: Working set of constraints for auxiliary QP. */
-												Constraints* auxiliaryConstraints			/**< Input: Allocated bound object. \n
-																							 *	 Ouput: Working set for auxiliary QP. */
-												);
-
-/** Sets up bound and constraints data structures according to auxiliaryBounds/Constraints.
- *  (If the working set shall be setup afresh, make sure that
- *  bounds and constraints data structure have been resetted
- *  and the TQ factorisation has been initialised!)
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUP_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNOWN_BUG */
-returnValue QProblem_setupAuxiliaryWorkingSet(	QProblem* _THIS,
-												Bounds* const auxiliaryBounds,				/**< Working set of bounds for auxiliary QP. */
-												Constraints* const auxiliaryConstraints,	/**< Working set of constraints for auxiliary QP. */
-												BooleanType setupAfresh						/**< Flag indicating if given working set shall be
-																							 *    setup afresh or by updating the current one. */
-												);
-
-/** Sets up the optimal primal/dual solution of the auxiliary initial QP.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblem_setupAuxiliaryQPsolution(	QProblem* _THIS,
-												const real_t* const xOpt,	/**< Optimal primal solution vector.
-																		 	 *	 If a NULL pointer is passed, all entries are set to zero. */
-												const real_t* const yOpt	/**< Optimal dual solution vector.
-																			 *	 If a NULL pointer is passed, all entries are set to zero. */
-												);
-
-/** Sets up gradient of the auxiliary initial QP for given
- *  optimal primal/dual solution and given initial working set
- *  (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblem_setupAuxiliaryQPgradient( QProblem* _THIS );
-
-/** Sets up (constraints') bounds of the auxiliary initial QP for given
- *  optimal primal/dual solution and given initial working set
- *  (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNKNOWN_BUG */
-returnValue QProblem_setupAuxiliaryQPbounds(	QProblem* _THIS,
-												Bounds* const auxiliaryBounds,				/**< Working set of bounds for auxiliary QP. */
-												Constraints* const auxiliaryConstraints,	/**< Working set of constraints for auxiliary QP. */
-												BooleanType useRelaxation					/**< Flag indicating if inactive (constraints') bounds shall be relaxed. */
-												);
-
-
-/** Adds a constraint to active set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_ADDCONSTRAINT_FAILED \n
-			RET_ADDCONSTRAINT_FAILED_INFEASIBILITY \n
-			RET_ENSURELI_FAILED */
-returnValue QProblem_addConstraint(	QProblem* _THIS,
-									int number,					/**< Number of constraint to be added to active set. */
-									SubjectToStatus C_status,	/**< Status of new active constraint. */
-									BooleanType updateCholesky,	/**< Flag indicating if Cholesky decomposition shall be updated. */
-									BooleanType ensureLI		/**< Ensure linear independence by exchange rules by default. */
-									);
-
-/** Checks if new active constraint to be added is linearly dependent from
- *	from row of the active constraints matrix.
- *	\return	 RET_LINEARLY_DEPENDENT \n
- 			 RET_LINEARLY_INDEPENDENT \n
-			 RET_INDEXLIST_CORRUPTED */
-returnValue QProblem_addConstraint_checkLI(	QProblem* _THIS,
-											int number			/**< Number of constraint to be added to active set. */
-											);
-
-/** Ensures linear independence of constraint matrix when a new constraint is added.
- * 	To _THIS end a bound or constraint is removed simultaneously if necessary.
- *	\return	 SUCCESSFUL_RETURN \n
- 			 RET_LI_RESOLVED \n
-			 RET_ENSURELI_FAILED \n
-			 RET_ENSURELI_FAILED_TQ \n
-			 RET_ENSURELI_FAILED_NOINDEX \n
-			 RET_REMOVE_FROM_ACTIVESET */
-returnValue QProblem_addConstraint_ensureLI(	QProblem* _THIS,
-												int number,					/**< Number of constraint to be added to active set. */
-												SubjectToStatus C_status	/**< Status of new active bound. */
-												);
-
-/** Adds a bound to active set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_ADDBOUND_FAILED \n
-			RET_ADDBOUND_FAILED_INFEASIBILITY \n
-			RET_ENSURELI_FAILED */
-returnValue QProblem_addBound(	QProblem* _THIS,
-								int number,					/**< Number of bound to be added to active set. */
-								SubjectToStatus B_status,	/**< Status of new active bound. */
-								BooleanType updateCholesky,	/**< Flag indicating if Cholesky decomposition shall be updated. */
-								BooleanType ensureLI 		/**< Ensure linear independence by exchange rules by default. */
-								);
-
-/** Checks if new active bound to be added is linearly dependent from
- *	from row of the active constraints matrix.
- *	\return	 RET_LINEARLY_DEPENDENT \n
- 			 RET_LINEARLY_INDEPENDENT */
-returnValue QProblem_addBound_checkLI(	QProblem* _THIS,
-										int number			/**< Number of bound to be added to active set. */
-										);
-
-/** Ensures linear independence of constraint matrix when a new bound is added.
- *	To _THIS end a bound or constraint is removed simultaneously if necessary.
- *	\return	 SUCCESSFUL_RETURN \n
- 			 RET_LI_RESOLVED \n
-			 RET_ENSURELI_FAILED \n
-			 RET_ENSURELI_FAILED_TQ \n
-			 RET_ENSURELI_FAILED_NOINDEX \n
-			 RET_REMOVE_FROM_ACTIVESET */
-returnValue QProblem_addBound_ensureLI(	QProblem* _THIS,
-										int number,					/**< Number of bound to be added to active set. */
-										SubjectToStatus B_status	/**< Status of new active bound. */
-										);
-
-/** Removes a constraint from active set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_CONSTRAINT_NOT_ACTIVE \n
-			RET_REMOVECONSTRAINT_FAILED \n
-			RET_HESSIAN_NOT_SPD */
-returnValue QProblem_removeConstraint(	QProblem* _THIS,
-										int number,						/**< Number of constraint to be removed from active set. */
-										BooleanType updateCholesky,		/**< Flag indicating if Cholesky decomposition shall be updated. */
-										BooleanType allowFlipping,		/**< Flag indicating if flipping bounds are allowed. */
-										BooleanType ensureNZC			/**< Flag indicating if non-zero curvature is ensured by exchange rules. */
-										);
-
-/** Removes a bounds from active set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_BOUND_NOT_ACTIVE \n
-			RET_HESSIAN_NOT_SPD \n
-			RET_REMOVEBOUND_FAILED */
-returnValue QProblem_removeBound(	QProblem* _THIS,
-									int number,						/**< Number of bound to be removed from active set. */
-									BooleanType updateCholesky,		/**< Flag indicating if Cholesky decomposition shall be updated. */
-									BooleanType allowFlipping,		/**< Flag indicating if flipping bounds are allowed. */
-									BooleanType ensureNZC			/**< Flag indicating if non-zero curvature is ensured by exchange rules. */
-									);
-
-
-/** Performs robustified ratio test yield the maximum possible step length
- *  along the homotopy path.
- *	\return  SUCCESSFUL_RETURN */
-returnValue QProblem_performPlainRatioTest(	QProblem* _THIS,
-											int nIdx, 					/**< Number of ratios to be checked. */
-											const int* const idxList, 	/**< Array containing the indices of all ratios to be checked. */
-											const real_t* const num,	/**< Array containing all numerators for performing the ratio test. */
-											const real_t* const den,	/**< Array containing all denominators for performing the ratio test. */
-											real_t epsNum,				/**< Numerator tolerance. */
-											real_t epsDen,				/**< Denominator tolerance. */
-											real_t* t,					/**< Output: Maximum possible step length along the homotopy path. */
-											int* BC_idx 				/**< Output: Index of blocking constraint. */
-											);
-
-
-/** Ensure non-zero curvature by primal jump.
- *  \return SUCCESSFUL_RETURN \n
- *          RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblem_ensureNonzeroCurvature(	QProblem* _THIS,
-												BooleanType removeBoundNotConstraint,	/**< SubjectTo to be removed is a bound. */
-												int remIdx,								/**< Index of bound/constraint to be removed. */
-												BooleanType* exchangeHappened,			/**< Output: Exchange was necessary to ensure. */
-												BooleanType* addBoundNotConstraint,		/**< SubjectTo to be added is a bound. */
-												int* addIdx,							/**< Index of bound/constraint to be added. */
-												SubjectToStatus* addStatus				/**< Status of bound/constraint to be added. */
-												);
-
-
-/** Solves the system Ta = b or T^Ta = b where T is a reverse upper triangular matrix.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_DIV_BY_ZERO */
-returnValue QProblem_backsolveT(	QProblem* _THIS,
-									const real_t* const b,	/**< Right hand side vector. */
-									BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
-									real_t* const a 		/**< Output: Solution vector */
-									);
-
-
-/** Determines step direction of the shift of the QP data.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblem_determineDataShift(	QProblem* _THIS,
-											const real_t* const g_new,		/**< New gradient vector. */
-											const real_t* const lbA_new,	/**< New lower constraints' bounds. */
-											const real_t* const ubA_new,	/**< New upper constraints' bounds. */
-											const real_t* const lb_new,		/**< New lower bounds. */
-											const real_t* const ub_new,		/**< New upper bounds. */
-											real_t* const delta_g,	 		/**< Output: Step direction of gradient vector. */
-											real_t* const delta_lbA,		/**< Output: Step direction of lower constraints' bounds. */
-											real_t* const delta_ubA,		/**< Output: Step direction of upper constraints' bounds. */
-											real_t* const delta_lb,	 		/**< Output: Step direction of lower bounds. */
-											real_t* const delta_ub,	 		/**< Output: Step direction of upper bounds. */
-											BooleanType* Delta_bC_isZero,	/**< Output: Indicates if active constraints' bounds are to be shifted. */
-											BooleanType* Delta_bB_isZero	/**< Output: Indicates if active bounds are to be shifted. */
-											);
-
-/** Determines step direction of the homotopy path.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_STEPDIRECTION_FAILED_TQ \n
-			RET_STEPDIRECTION_FAILED_CHOLESKY */
-returnValue QProblem_determineStepDirection(	QProblem* _THIS,
-												const real_t* const delta_g,	/**< Step direction of gradient vector. */
-												const real_t* const delta_lbA,	/**< Step direction of lower constraints' bounds. */
-												const real_t* const delta_ubA,	/**< Step direction of upper constraints' bounds. */
-												const real_t* const delta_lb,	/**< Step direction of lower bounds. */
-												const real_t* const delta_ub,	/**< Step direction of upper bounds. */
-												BooleanType Delta_bC_isZero, 	/**< Indicates if active constraints' bounds are to be shifted. */
-												BooleanType Delta_bB_isZero,	/**< Indicates if active bounds are to be shifted. */
-												real_t* const delta_xFX, 		/**< Output: Primal homotopy step direction of fixed variables. */
-												real_t* const delta_xFR,	 	/**< Output: Primal homotopy step direction of free variables. */
-												real_t* const delta_yAC, 		/**< Output: Dual homotopy step direction of active constraints' multiplier. */
-												real_t* const delta_yFX 		/**< Output: Dual homotopy step direction of fixed variables' multiplier. */
-												);
-
-/** Determines the maximum possible step length along the homotopy path
- *  and performs _THIS step (without changing working set).
- *	\return SUCCESSFUL_RETURN \n
- * 			RET_ERROR_IN_CONSTRAINTPRODUCT \n
- * 			RET_QP_INFEASIBLE */
-returnValue QProblem_performStep(	QProblem* _THIS,
-									const real_t* const delta_g,		/**< Step direction of gradient. */
-									const real_t* const delta_lbA,		/**< Step direction of lower constraints' bounds. */
-									const real_t* const delta_ubA,		/**< Step direction of upper constraints' bounds. */
-									const real_t* const delta_lb,	 	/**< Step direction of lower bounds. */
-									const real_t* const delta_ub,	 	/**< Step direction of upper bounds. */
-									const real_t* const delta_xFX, 		/**< Primal homotopy step direction of fixed variables. */
-									const real_t* const delta_xFR,		/**< Primal homotopy step direction of free variables. */
-									const real_t* const delta_yAC,		/**< Dual homotopy step direction of active constraints' multiplier. */
-									const real_t* const delta_yFX,		/**< Dual homotopy step direction of fixed variables' multiplier. */
-									int* BC_idx, 						/**< Output: Index of blocking constraint. */
-									SubjectToStatus* BC_status,			/**< Output: Status of blocking constraint. */
-									BooleanType* BC_isBound 			/**< Output: Indicates if blocking constraint is a bound. */
-									);
-
-/** Updates the active set.
- *	\return  SUCCESSFUL_RETURN \n
- 			 RET_REMOVE_FROM_ACTIVESET_FAILED \n
-			 RET_ADD_TO_ACTIVESET_FAILED */
-returnValue QProblem_changeActiveSet(	QProblem* _THIS,
-										int BC_idx, 				/**< Index of blocking constraint. */
-										SubjectToStatus BC_status,	/**< Status of blocking constraint. */
-										BooleanType BC_isBound 		/**< Indicates if blocking constraint is a bound. */
-										);
-
-
-/** Compute relative length of homotopy in data space for termination
- *  criterion.
- *  \return Relative length in data space. */
-real_t QProblem_getRelativeHomotopyLength(	QProblem* _THIS,
-											const real_t* const g_new,		/**< Final gradient. */
-											const real_t* const lb_new,		/**< Final lower variable bounds. */
-											const real_t* const ub_new,		/**< Final upper variable bounds. */
-											const real_t* const lbA_new,	/**< Final lower constraint bounds. */
-											const real_t* const ubA_new		/**< Final upper constraint bounds. */
-											);
-
-
-/** Ramping Strategy to avoid ties. Modifies homotopy start without
- *  changing current active set.
- *  \return SUCCESSFUL_RETURN */
-returnValue QProblem_performRamping( QProblem* _THIS );
-
-
-/** ... */
-returnValue QProblem_updateFarBounds(	QProblem* _THIS,
-										real_t curFarBound,				/**< ... */
-										int nRamp,						/**< ... */
-										const real_t* const lb_new,		/**< ... */
-										real_t* const lb_new_far,		/**< ... */
-										const real_t* const ub_new,		/**< ... */
-										real_t* const ub_new_far,		/**< ... */
-										const real_t* const lbA_new,	/**< ... */
-										real_t* const lbA_new_far,		/**< ... */
-										const real_t* const ubA_new,	/**< ... */
-										real_t* const ubA_new_far		/**< ... */
-										);
-
-/** ... */
-returnValue QProblemBCPY_updateFarBounds(	QProblem* _THIS,
-											real_t curFarBound,				/**< ... */
-											int nRamp,						/**< ... */
-											const real_t* const lb_new,		/**< ... */
-											real_t* const lb_new_far,		/**< ... */
-											const real_t* const ub_new,		/**< ... */
-											real_t* const ub_new_far		/**< ... */
-											);
-
-
-
-/** Performs robustified ratio test yield the maximum possible step length
- *  along the homotopy path.
- *	\return  SUCCESSFUL_RETURN */
-returnValue QProblem_performRatioTestC(	QProblem* _THIS,
-										int nIdx, 						/**< Number of ratios to be checked. */
-										const int* const idxList, 		/**< Array containing the indices of all ratios to be checked. */
-										Constraints* const subjectTo,	/**< Constraint object corresponding to ratios to be checked. */
-										const real_t* const num,	 	/**< Array containing all numerators for performing the ratio test. */
-										const real_t* const den,		/**< Array containing all denominators for performing the ratio test. */
-										real_t epsNum,					/**< Numerator tolerance. */
-										real_t epsDen,					/**< Denominator tolerance. */
-										real_t* t,						/**< Output: Maximum possible step length along the homotopy path. */
-										int* BC_idx 					/**< Output: Index of blocking constraint. */
-										);
-
-
-/** Drift correction at end of each active set iteration
- *  \return SUCCESSFUL_RETURN */
-returnValue QProblem_performDriftCorrection( QProblem* _THIS );
-
-
-/** Updates QP vectors, working sets and internal data structures in order to
-	start from an optimal solution corresponding to initial guesses of the working
-	set for bounds and constraints.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_SETUP_AUXILIARYQP_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_setupAuxiliaryQP(	QProblem* _THIS,
-										Bounds* const guessedBounds,			/**< Initial guess for working set of bounds. */
-										Constraints* const guessedConstraints	/**< Initial guess for working set of constraints. */
-										);
-
-/** Determines if it is more efficient to refactorise the matrices when
- *  hotstarting or not (i.e. better to update the existing factorisations).
- *	\return BT_TRUE iff matrices shall be refactorised afresh
- */
-BooleanType QProblem_shallRefactorise(	QProblem* _THIS,
-										Bounds* const guessedBounds,			/**< Guessed new working set of bounds. */
-										Constraints* const guessedConstraints	/**< Guessed new working set of constraints. */
-										);
-
-/** Setups internal QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNONW_BUG */
-returnValue QProblem_setupQPdataM(	QProblem* _THIS,
-									DenseMatrix *_H, 			/**< Hessian matrix. \n
-																	 If Hessian matrix is trivial,a NULL pointer can be passed. */
-									const real_t* const _g, 	/**< Gradient vector. */
-									DenseMatrix *_A, 			 /**< Constraint matrix. */
-									const real_t* const _lb,	/**< Lower bound vector (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ub,	/**< Upper bound vector (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-									const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ubA	/**< Upper constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									);
-
-
-/** Sets up dense internal QP data. If the current Hessian is trivial
- *  (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNONW_BUG */
-returnValue QProblem_setupQPdata(	QProblem* _THIS,
-									real_t* const _H, 			/**< Hessian matrix. \n
-																	 If Hessian matrix is trivial,a NULL pointer can be passed. */
-									const real_t* const _g, 	/**< Gradient vector. */
-									real_t* const _A,  			/**< Constraint matrix. */
-									const real_t* const _lb,	/**< Lower bound vector (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ub,	/**< Upper bound vector (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-									const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ubA	/**< Upper constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									);
-
-/** Sets up internal QP data by loading it from files. If the current Hessian
- *  is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNONW_BUG */
-returnValue QProblem_setupQPdataFromFile(	QProblem* _THIS,
-											const char* const H_file, 	/**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n
-														     				 If Hessian matrix is trivial,a NULL pointer can be passed. */
-											const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-											const char* const A_file,	/**< Name of file where constraint matrix, of neighbouring QP to be solved, is stored. */
-											const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower bounds exist, a NULL pointer can be passed. */
-											const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper bounds exist, a NULL pointer can be passed. */
-											const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-											const char* const ubA_file	/**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-											);
-
-/** Loads new QP vectors from files (internal members are not affected!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_loadQPvectorsFromFile(	QProblem* _THIS,
-											const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-											const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower bounds exist, a NULL pointer can be passed. */
-											const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper bounds exist, a NULL pointer can be passed. */
-											const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-											const char* const ubA_file, /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-											real_t* const g_new,		/**< Output: Gradient of neighbouring QP to be solved. */
-											real_t* const lb_new,		/**< Output: Lower bounds of neighbouring QP to be solved */
-											real_t* const ub_new,		/**< Output: Upper bounds of neighbouring QP to be solved */
-											real_t* const lbA_new,		/**< Output: Lower constraints' bounds of neighbouring QP to be solved */
-											real_t* const ubA_new		/**< Output: Upper constraints' bounds of neighbouring QP to be solved */
-											);
-
-
-/** Prints concise information on the current iteration.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblem_printIteration(	QProblem* _THIS,
-										int iter,					/**< Number of current iteration. */
-										int BC_idx, 				/**< Index of blocking constraint. */
-										SubjectToStatus BC_status,	/**< Status of blocking constraint. */
-										BooleanType BC_isBound,		/**< Indicates if blocking constraint is a bound. */
-										real_t homotopyLength,		/**< Current homotopy distance. */
-										BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
- 										);
-
-
-/** Sets constraint matrix of the QP. \n
-	Note: Also internal vector Ax is recomputed!
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setAM(	QProblem* _THIS,
-											DenseMatrix *A_new	/**< New constraint matrix. */
-											);
-
-/** Sets dense constraint matrix of the QP. \n
-	Note: Also internal vector Ax is recomputed!
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setA(	QProblem* _THIS,
-											real_t* const A_new	/**< New dense constraint matrix (with correct dimension!). */
-											);
-
-
-/** Sets constraints' lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblem_setLBA(	QProblem* _THIS,
-											const real_t* const lbA_new	/**< New constraints' lower bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of lower constraints' bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
- *			RET_QPOBJECT_NOT_SETUP \n
- *			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblem_setLBAn(	QProblem* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of lower constraints' bound vector (with correct dimension!). */
-											);
-
-/** Sets constraints' upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblem_setUBA(	QProblem* _THIS,
-											const real_t* const ubA_new	/**< New constraints' upper bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of upper constraints' bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
- *			RET_QPOBJECT_NOT_SETUP \n
- *			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblem_setUBAn(	QProblem* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of upper constraints' bound vector (with correct dimension!). */
-											);
-
-
-/** Decides if lower bounds are smaller than upper bounds
- *
- * \return SUCCESSFUL_RETURN \n
- * 		   RET_QP_INFEASIBLE */
-returnValue QProblem_areBoundsConsistent(	QProblem* _THIS,
-											const real_t* const lb,		/**< Vector of lower bounds*/
-											const real_t* const ub,		/**< Vector of upper bounds*/
-											const real_t* const lbA,	/**< Vector of lower constraints*/
-											const real_t* const ubA		/**< Vector of upper constraints*/
-											);
-
-
-/** Drops the blocking bound/constraint that led to infeasibility, or finds another
- *  bound/constraint to drop according to drop priorities.
- *  \return SUCCESSFUL_RETURN \n
- */
-returnValue QProblem_dropInfeasibles ( 	QProblem* _THIS,
-										int BC_number,				/**< Number of the bound or constraint to be added */
-										SubjectToStatus BC_status, 	/**< New status of the bound or constraint to be added */
-										BooleanType BC_isBound,		/**< Whether a bound or a constraint is to be added */
-										real_t *xiB,
-										real_t *xiC
-										);
-
-
-/** If Hessian type has been set by the user, nothing is done.
- *  Otherwise the Hessian type is set to HST_IDENTITY, HST_ZERO, or
- *  HST_POSDEF (default), respectively.
- *	\return SUCCESSFUL_RETURN \n
-			RET_HESSIAN_INDEFINITE */
-returnValue QProblem_determineHessianType( QProblem* _THIS );
-
-/** Computes the Cholesky decomposition of the (simply projected) Hessian
- *  (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple
- *  projection matrix!
- *  Note: If Hessian turns out not to be positive definite, the Hessian type
- *		  is set to HST_SEMIDEF accordingly.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblemBCPY_computeCholesky( QProblem* _THIS );
-
-/** Obtains the desired working set for the auxiliary initial QP in
- *  accordance with the user specifications
- *	\return SUCCESSFUL_RETURN \n
-			RET_OBTAINING_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemBCPY_obtainAuxiliaryWorkingSet(	QProblem* _THIS,
-													const real_t* const xOpt,		/**< Optimal primal solution vector.
-																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-													const real_t* const yOpt,		/**< Optimal dual solution vector.
-																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-													Bounds* const guessedBounds,	/**< Guessed working set for solution (xOpt,yOpt). */
-													Bounds* auxiliaryBounds			/**< Input:  Allocated bound object. \n
-																					 *	 Output: Working set for auxiliary QP. */
-													);
-
-
-/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
- *	\return SUCCESSFUL_RETURN \n
-			RET_DIV_BY_ZERO */
-returnValue QProblem_backsolveR(	QProblem* _THIS,
-									const real_t* const b,	/**< Right hand side vector. */
-									BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
-									real_t* const a 		/**< Output: Solution vector */
-									);
-
-/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. \n
- *  Special variant for the case that _THIS function is called from within "removeBound()".
- *	\return SUCCESSFUL_RETURN \n
-			RET_DIV_BY_ZERO */
-returnValue QProblem_backsolveRrem(	QProblem* _THIS,
-									const real_t* const b,		/**< Right hand side vector. */
-									BooleanType transposed,		/**< Indicates if the transposed system shall be solved. */
-									BooleanType removingBound,	/**< Indicates if function is called from "removeBound()". */
-									real_t* const a 			/**< Output: Solution vector */
-									);
-
-
-/** Determines step direction of the shift of the QP data.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblemBCPY_determineDataShift(	QProblem* _THIS,
-												const real_t* const g_new,		/**< New gradient vector. */
-												const real_t* const lb_new,		/**< New lower bounds. */
-												const real_t* const ub_new,		/**< New upper bounds. */
-												real_t* const delta_g,	 		/**< Output: Step direction of gradient vector. */
-												real_t* const delta_lb,	 		/**< Output: Step direction of lower bounds. */
-												real_t* const delta_ub,	 		/**< Output: Step direction of upper bounds. */
-												BooleanType* Delta_bB_isZero	/**< Output: Indicates if active bounds are to be shifted. */
-												);
-
-
-/** Sets up internal QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemBCPY_setupQPdataM(	QProblem* _THIS,
-										DenseMatrix *_H,	 		/**< Hessian matrix.*/
-										const real_t* const _g,		/**< Gradient vector. */
-										const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																		 If no lower bounds exist, a NULL pointer can be passed. */
-										const real_t* const _ub		/**< Upper bounds (on variables). \n
-																		 If no upper bounds exist, a NULL pointer can be passed. */
-										);
-
-/** Sets up internal QP data. If the current Hessian is trivial
- *  (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS \n
-			RET_NO_HESSIAN_SPECIFIED */
-returnValue QProblemBCPY_setupQPdata(	QProblem* _THIS,
-										real_t* const _H, 			/**< Hessian matrix. \n
-																		 If Hessian matrix is trivial,a NULL pointer can be passed. */
-										const real_t* const _g,		/**< Gradient vector. */
-										const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																		 If no lower bounds exist, a NULL pointer can be passed. */
-										const real_t* const _ub		/**< Upper bounds (on variables). \n
-																		 If no upper bounds exist, a NULL pointer can be passed. */
-										);
-
-/** Sets up internal QP data by loading it from files. If the current Hessian
- *  is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS \n
-			RET_NO_HESSIAN_SPECIFIED */
-returnValue QProblemBCPY_setupQPdataFromFile(	QProblem* _THIS,
-												const char* const H_file, 	/**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n
-														     					 If Hessian matrix is trivial,a NULL pointer can be passed. */
-												const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-												const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no lower bounds exist, a NULL pointer can be passed. */
-												const char* const ub_file 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no upper bounds exist, a NULL pointer can be passed. */
-												);
-
-/** Loads new QP vectors from files (internal members are not affected!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemBCPY_loadQPvectorsFromFile(	QProblem* _THIS,
-												const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-												const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no lower bounds exist, a NULL pointer can be passed. */
-												const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no upper bounds exist, a NULL pointer can be passed. */
-												real_t* const g_new,		/**< Output: Gradient of neighbouring QP to be solved. */
-												real_t* const lb_new,		/**< Output: Lower bounds of neighbouring QP to be solved */
-												real_t* const ub_new		/**< Output: Upper bounds of neighbouring QP to be solved */
-												);
-
-
-/** Sets internal infeasibility flag and throws given error in case the far bound
- *	strategy is not enabled (as QP might actually not be infeasible in _THIS case).
- *	\return RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_ENSURELI_FAILED_CYCLING \n
-			RET_ENSURELI_FAILED_NOINDEX */
-returnValue QProblem_setInfeasibilityFlag(	QProblem* _THIS,
-											returnValue returnvalue,	/**< Returnvalue to be tunneled. */
-											BooleanType doThrowError	/**< Flag forcing to throw an error. */
-											);
-
-
-/** Determines if next QP iteration can be performed within given CPU time limit.
- *	\return BT_TRUE: CPU time limit is exceeded, stop QP solution. \n
-			BT_FALSE: Sufficient CPU time for next QP iteration. */
-BooleanType QProblem_isCPUtimeLimitExceeded(	QProblem* _THIS,
-												const real_t* const cputime,	/**< Maximum CPU time allowed for QP solution. */
-												real_t starttime,				/**< Start time of current QP solution. */
-												int nWSR						/**< Number of working set recalculations performed so far. */
-												);
-
-
-/** Regularise Hessian matrix by adding a scaled identity matrix to it.
- *	\return SUCCESSFUL_RETURN \n
-			RET_HESSIAN_ALREADY_REGULARISED */
-returnValue QProblem_regulariseHessian( QProblem* _THIS );
-
-
-/** Sets Hessian matrix of the QP.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblem_setHM(	QProblem* _THIS,
-											DenseMatrix* H_new	/**< New Hessian matrix. */
-											);
-
-/** Sets dense Hessian matrix of the QP.
- *  If a null pointer is passed and
- *  a) hessianType is HST_IDENTITY, nothing is done,
- *  b) hessianType is not HST_IDENTITY, Hessian matrix is set to zero.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblem_setH(	QProblem* _THIS,
-											real_t* const H_new	/**< New dense Hessian matrix (with correct dimension!). */
-											);
-
-/** Changes gradient vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setG(	QProblem* _THIS,
-											const real_t* const g_new	/**< New gradient vector (with correct dimension!). */
-											);
-
-/** Changes lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setLB(	QProblem* _THIS,
-											const real_t* const lb_new	/**< New lower bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
-			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblem_setLBn(	QProblem* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of lower bound vector. */
-											);
-
-/** Changes upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setUB(	QProblem* _THIS,
-											const real_t* const ub_new	/**< New upper bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
-			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblem_setUBn(	QProblem* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of upper bound vector. */
-											);
-
-
-
-/** Compute relative length of homotopy in data space for termination
- *  criterion.
- *  \return Relative length in data space. */
-real_t QProblemBCPY_getRelativeHomotopyLength(	QProblem* _THIS,
-												const real_t* const g_new,	/**< Final gradient. */
-												const real_t* const lb_new,	/**< Final lower variable bounds. */
-												const real_t* const ub_new	/**< Final upper variable bounds. */
-												);
-
-
-
-/** Performs robustified ratio test yield the maximum possible step length
- *  along the homotopy path.
- *	\return  SUCCESSFUL_RETURN */
-returnValue QProblem_performRatioTestB(	QProblem* _THIS,
-										int nIdx, 					/**< Number of ratios to be checked. */
-										const int* const idxList, 	/**< Array containing the indices of all ratios to be checked. */
-										Bounds* const subjectTo,	/**< Bound object corresponding to ratios to be checked. */
-										const real_t* const num,	/**< Array containing all numerators for performing the ratio test. */
-										const real_t* const den,	/**< Array containing all denominators for performing the ratio test. */
-										real_t epsNum,				/**< Numerator tolerance. */
-										real_t epsDen,				/**< Denominator tolerance. */
-										real_t* t,					/**< Output: Maximum possible step length along the homotopy path. */
-										int* BC_idx 				/**< Output: Index of blocking constraint. */
-										);
-
-/** Checks whether given ratio is blocking, i.e. limits the maximum step length
- *  along the homotopy path to a value lower than given one.
- *	\return  SUCCESSFUL_RETURN */
-static inline BooleanType QProblem_isBlocking(	QProblem* _THIS,
-												real_t num,			/**< Numerator for performing the ratio test. */
-												real_t den,			/**< Denominator for performing the ratio test. */
-												real_t epsNum,		/**< Numerator tolerance. */
-												real_t epsDen,		/**< Denominator tolerance. */
-												real_t* t			/**< Input:  Current maximum step length along the homotopy path,
-																	 *   Output: Updated maximum possible step length along the homotopy path. */
-												);
-
-
-/** ...
- *	\return SUCCESSFUL_RETURN  \n
-			RET_UNABLE_TO_OPEN_FILE */
-returnValue QProblem_writeQpDataIntoMatFile(	QProblem* _THIS,
-												const char* const filename	/**< Mat file name. */
-												);
-
-/** ...
-*	\return SUCCESSFUL_RETURN  \n
-			RET_UNABLE_TO_OPEN_FILE */
-returnValue QProblem_writeQpWorkspaceIntoMatFile(	QProblem* _THIS,
-													const char* const filename	/**< Mat file name. */
-													);
-
-
-/*
- *	g e t B o u n d s
- */
-static inline returnValue QProblem_getBounds( QProblem* _THIS, Bounds* _bounds )
-{
-	int nV = QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	_bounds = _THIS->bounds;
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t N V
- */
-static inline int QProblem_getNV( QProblem* _THIS )
-{
-	return Bounds_getNV( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F R
- */
-static inline int QProblem_getNFR( QProblem* _THIS )
-{
-	return Bounds_getNFR( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F X
- */
-static inline int QProblem_getNFX( QProblem* _THIS )
-{
-	return Bounds_getNFX( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F V
- */
-static inline int QProblem_getNFV( QProblem* _THIS )
-{
-	return Bounds_getNFV( _THIS->bounds );
-}
-
-
-/*
- *	g e t S t a t u s
- */
-static inline QProblemStatus QProblem_getStatus( QProblem* _THIS )
-{
-	return _THIS->status;
-}
-
-
-/*
- *	i s I n i t i a l i s e d
- */
-static inline BooleanType QProblem_isInitialised( QProblem* _THIS )
-{
-	if ( _THIS->status == QPS_NOTINITIALISED )
-		return BT_FALSE;
-	else
-		return BT_TRUE;
-}
-
-
-/*
- *	i s S o l v e d
- */
-static inline BooleanType QProblem_isSolved( QProblem* _THIS )
-{
-	if ( _THIS->status == QPS_SOLVED )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *	i s I n f e a s i b l e
- */
-static inline BooleanType QProblem_isInfeasible( QProblem* _THIS )
-{
-	return _THIS->infeasible;
-}
-
-
-/*
- *	i s U n b o u n d e d
- */
-static inline BooleanType QProblem_isUnbounded( QProblem* _THIS )
-{
-	return _THIS->unbounded;
-}
-
-
-/*
- *	g e t H e s s i a n T y p e
- */
-static inline HessianType QProblem_getHessianType( QProblem* _THIS )
-{
-	return _THIS->hessianType;
-}
-
-
-/*
- *	s e t H e s s i a n T y p e
- */
-static inline returnValue QProblem_setHessianType( QProblem* _THIS, HessianType _hessianType )
-{
-	_THIS->hessianType = _hessianType;
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	u s i n g R e g u l a r i s a t i o n
- */
-static inline BooleanType QProblem_usingRegularisation( QProblem* _THIS )
-{
-	if ( _THIS->regVal > QPOASES_ZERO )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *	g e t O p t i o n s
- */
-static inline Options QProblem_getOptions( QProblem* _THIS )
-{
-	return _THIS->options;
-}
-
-
-/*
- *	s e t O p t i o n s
- */
-static inline returnValue QProblem_setOptions(	QProblem* _THIS,
-												Options _options
-												)
-{
-	OptionsCPY( &_options,&(_THIS->options) );
-	Options_ensureConsistency( &(_THIS->options) );
-
-	QProblem_setPrintLevel( _THIS,_THIS->options.printLevel );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t P r i n t L e v e l
- */
-static inline PrintLevel QProblem_getPrintLevel( QProblem* _THIS )
-{
-	return _THIS->options.printLevel;
-}
-
-
-/*
- *	g e t C o u n t
- */
-static inline unsigned int QProblem_getCount( QProblem* _THIS )
-{
-	return _THIS->count;
-}
-
-
-/*
- *	r e s e t C o u n t e r
- */
-static inline returnValue QProblem_resetCounter( QProblem* _THIS )
-{
-	_THIS->count = 0;
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
-
-
-/*
- *	s e t H
- */
-static inline returnValue QProblem_setHM( QProblem* _THIS, DenseMatrix* H_new )
-{
-	if ( H_new == 0 )
-		return QProblem_setH( _THIS,(real_t*)0 );
-	else
-		return QProblem_setH( _THIS,DenseMatrix_getVal(H_new) );
-}
-
-
-/*
- *	s e t H
- */
-static inline returnValue QProblem_setH( QProblem* _THIS, real_t* const H_new )
-{
-	/* if null pointer is passed, Hessian is set to zero matrix
-	 *                            (or stays identity matrix) */
-	if ( H_new == 0 )
-	{
-		if ( _THIS->hessianType == HST_IDENTITY )
-			return SUCCESSFUL_RETURN;
-
-		_THIS->hessianType = HST_ZERO;
-
-		_THIS->H = 0;
-	}
-	else
-	{
-		DenseMatrixCON( _THIS->H,QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),H_new );
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t G
- */
-static inline returnValue QProblem_setG( QProblem* _THIS, const real_t* const g_new )
-{
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( g_new == 0 )
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	memcpy( _THIS->g,g_new,nV*sizeof(real_t) );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B
- */
-static inline returnValue QProblem_setLB( QProblem* _THIS, const real_t* const lb_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( lb_new != 0 )
-	{
-		memcpy( _THIS->lb,lb_new,nV*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no lower bounds are specified, set them to -infinity */
-		for( i=0; i<nV; ++i )
-			_THIS->lb[i] = -QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B
- */
-static inline returnValue QProblem_setLBn( QProblem* _THIS, int number, real_t value )
-{
-	int nV = QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nV ) )
-	{
-		_THIS->lb[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	s e t U B
- */
-static inline returnValue QProblem_setUB( QProblem* _THIS, const real_t* const ub_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ub_new != 0 )
-	{
-		memcpy( _THIS->ub,ub_new,nV*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no upper bounds are specified, set them to infinity */
-		for( i=0; i<nV; ++i )
-			_THIS->ub[i] = QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t U B
- */
-static inline returnValue QProblem_setUBn( QProblem* _THIS, int number, real_t value )
-{
-	int nV = QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nV ) )
-	{
-		_THIS->ub[number] = value;
-
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-
-/*
- * i s B l o c k i n g
- */
-static inline BooleanType QProblem_isBlocking(	QProblem* _THIS,
-												real_t num,
-												real_t den,
-												real_t epsNum,
-												real_t epsDen,
-												real_t* t
-												)
-{
-	if ( ( den >= epsDen ) && ( num >= epsNum ) )
-	{
-		if ( num < (*t)*den )
-			return BT_TRUE;
-	}
-
-	return BT_FALSE;
-}
-
-
-
-/*
- *	g e t C o n s t r a i n t s
- */
-static inline returnValue QProblem_getConstraints( QProblem* _THIS, Constraints* _constraints )
-{
-	int nV = QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	ConstraintsCPY( _THIS->constraints,_constraints );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*
- *	g e t N C
- */
-static inline int QProblem_getNC( QProblem* _THIS )
-{
-	return Constraints_getNC( _THIS->constraints );
-}
-
-
-/*
- *	g e t N E C
- */
-static inline int QProblem_getNEC( QProblem* _THIS )
-{
-	return Constraints_getNEC( _THIS->constraints );
-}
-
-
-/*
- *	g e t N A C
- */
-static inline int QProblem_getNAC( QProblem* _THIS )
-{
-	return Constraints_getNAC( _THIS->constraints );
-}
-
-
-/*
- *	g e t N I A C
- */
-static inline int QProblem_getNIAC( QProblem* _THIS )
-{
-	return Constraints_getNIAC( _THIS->constraints );
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
-
-
-/*
- *	s e t A
- */
-static inline returnValue QProblem_setAM( QProblem* _THIS, DenseMatrix *A_new )
-{
-	if ( A_new == 0 )
-		return QProblem_setA( _THIS,(real_t*)0 );
-	else
-		return QProblem_setA( _THIS,DenseMatrix_getVal(A_new) );
-}
-
-
-/*
- *	s e t A
- */
-static inline returnValue QProblem_setA( QProblem* _THIS, real_t* const A_new )
-{
-	int j;
-	int nV = QProblem_getNV( _THIS );
-	int nC = QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( A_new == 0 )
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	DenseMatrixCON( _THIS->A,QProblem_getNC( _THIS ),QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),A_new );
-
-	DenseMatrix_times( _THIS->A,1, 1.0, _THIS->x, nV, 0.0, _THIS->Ax, nC);
-
-	for( j=0; j<nC; ++j )
-	{
-		_THIS->Ax_u[j] = _THIS->ubA[j] - _THIS->Ax[j];
-		_THIS->Ax_l[j] = _THIS->Ax[j] - _THIS->lbA[j];
-
-		/* (ckirches) disable constraints with empty rows */
-		if ( qpOASES_isZero( DenseMatrix_getRowNorm( _THIS->A,j,2 ),QPOASES_ZERO ) == BT_TRUE )
-			Constraints_setType( _THIS->constraints,j,ST_DISABLED );
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B A
- */
-static inline returnValue QProblem_setLBA( QProblem* _THIS, const real_t* const lbA_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-	unsigned int nC = (unsigned int)QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( lbA_new != 0 )
-	{
-		memcpy( _THIS->lbA,lbA_new,nC*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no lower constraints' bounds are specified, set them to -infinity */
-		for( i=0; i<nC; ++i )
-			_THIS->lbA[i] = -QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B A
- */
-static inline returnValue QProblem_setLBAn( QProblem* _THIS, int number, real_t value )
-{
-	int nV = QProblem_getNV( _THIS );
-	int nC = QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nC ) )
-	{
-		_THIS->lbA[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t U B A
- */
-static inline returnValue QProblem_setUBA( QProblem* _THIS, const real_t* const ubA_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-	unsigned int nC = (unsigned int)QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ubA_new != 0 )
-	{
-		memcpy( _THIS->ubA,ubA_new,nC*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no upper constraints' bounds are specified, set them to infinity */
-		for( i=0; i<nC; ++i )
-			_THIS->ubA[i] = QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t U B A
- */
-static inline returnValue QProblem_setUBAn( QProblem* _THIS, int number, real_t value )
-{
-	int nV = QProblem_getNV( _THIS );
-	int nC = QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nC ) )
-	{
-		_THIS->ubA[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_QPROBLEM_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/QProblemB.h b/third_party/acados/include/qpOASES_e/QProblemB.h
deleted file mode 100644
index ee5157dda77e8b..00000000000000
--- a/third_party/acados/include/qpOASES_e/QProblemB.h
+++ /dev/null
@@ -1,1641 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/QProblemB.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the QProblemB class which is able to use the newly
- *	developed online active set strategy for parametric quadratic programming
- *	for problems with (simple) bounds only.
- */
-
-
-
-#ifndef QPOASES_QPROBLEMB_H
-#define QPOASES_QPROBLEMB_H
-
-
-#include <qpOASES_e/Bounds.h>
-#include <qpOASES_e/Options.h>
-#include <qpOASES_e/Matrices.h>
-#include <qpOASES_e/Flipper.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-typedef struct {
-	Bounds *emptyBounds;
-	Bounds *auxiliaryBounds;
-
-	real_t *ub_new_far;
-	real_t *lb_new_far;
-
-	real_t *g_new;
-	real_t *lb_new;
-	real_t *ub_new;
-
-	real_t *g_new2;
-	real_t *lb_new2;
-	real_t *ub_new2;
-
-	real_t *Hx;
-
-	real_t *_H;
-
-	real_t *g_original;
-	real_t *lb_original;
-	real_t *ub_original;
-
-	real_t *delta_xFR;
-	real_t *delta_xFX;
-	real_t *delta_yFX;
-	real_t *delta_g;
-	real_t *delta_lb;
-	real_t *delta_ub;
-
-	real_t *gMod;
-
-	real_t *num;
-	real_t *den;
-
-	real_t *rhs;
-	real_t *r;
-} QProblemB_ws;
-
-int QProblemB_ws_calculateMemorySize( unsigned int nV );
-
-char *QProblemB_ws_assignMemory( unsigned int nV, QProblemB_ws **mem, void *raw_memory );
-
-QProblemB_ws *QProblemB_ws_createMemory( unsigned int nV );
-
-
-/**
- *	\brief Implements the online active set strategy for box-constrained QPs.
- *
- *	Class for setting up and solving quadratic programs with bounds (= box constraints) only.
- *	The main feature is the possibility to use the newly developed online active set strategy
- *	for parametric quadratic programming.
- *
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	QProblemB_ws *ws;
-	Bounds *bounds;					/**< Data structure for problem's bounds. */
-	Flipper *flipper;				/**< Struct for making a temporary copy of the matrix factorisations. */
-
-	DenseMatrix* H;					/**< Hessian matrix pointer. */
-
-	Options options;				/**< Struct containing all user-defined options for solving QPs. */
-	TabularOutput tabularOutput;	/**< Struct storing information for tabular output (printLevel == PL_TABULAR). */
-
-	real_t *g;						/**< Gradient. */
-	real_t *lb;						/**< Lower bound vector (on variables). */
-	real_t *ub;						/**< Upper bound vector (on variables). */
-
-	real_t *R;						/**< Cholesky factor of H (i.e. H = R^T*R). */
-
-	real_t *x;						/**< Primal solution vector. */
-	real_t *y;						/**< Dual solution vector. */
-
-	real_t *delta_xFR_TMP;			/**< Temporary for determineStepDirection */
-
-	real_t tau;						/**< Last homotopy step length. */
-	real_t regVal;					/**< Holds the offset used to regularise Hessian matrix (zero by default). */
-
-	real_t ramp0;					/**< Start value for Ramping Strategy. */
-	real_t ramp1;					/**< Final value for Ramping Strategy. */
-
-	QProblemStatus status;			/**< Current status of the solution process. */
-	HessianType hessianType;		/**< Type of Hessian matrix. */
-
-	BooleanType haveCholesky;		/**< Flag indicating whether Cholesky decomposition has already been setup. */
-	BooleanType infeasible;			/**< QP infeasible? */
-	BooleanType unbounded;			/**< QP unbounded? */
-
-	int rampOffset;					/**< Offset index for Ramping. */
-	unsigned int count;				/**< Counts the number of hotstart function calls (internal usage only!). */
-} QProblemB;
-
-int QProblemB_calculateMemorySize( unsigned int nV );
-
-char *QProblemB_assignMemory( unsigned int nV, QProblemB **mem, void *raw_memory );
-
-QProblemB *QProblemB_createMemory( unsigned int nV );
-
-
-/** Constructor which takes the QP dimension and Hessian type
- *  information. If the Hessian is the zero (i.e. HST_ZERO) or the
- *  identity matrix (i.e. HST_IDENTITY), respectively, no memory
- *  is allocated for it and a NULL pointer can be passed for it
- *  to the init() functions. */
-void QProblemBCON(	QProblemB* _THIS,
-					int _nV,						/**< Number of variables. */
-					HessianType _hessianType		/**< Type of Hessian matrix. */
-					);
-
-void QProblemBCPY(	QProblemB* FROM,
-					QProblemB* TO
-					);
-
-
-/** Clears all data structures of QProblemB except for QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_RESET_FAILED */
-returnValue QProblemB_reset( QProblemB* _THIS );
-
-
-/** Initialises a simply bounded QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_initM(	QProblemB* _THIS,
-								DenseMatrix *_H,	 		/**< Hessian matrix. */
-								const real_t* const _g,		/**< Gradient vector. */
-								const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const _ub,	/**< Upper bounds (on variables). \n
-																 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 					/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-																 Output: Number of performed working set recalculations. */
-		 						real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
-																 Output: CPU time spent for QP initialisation (if pointer passed). */
-								);
-
-/** Initialises a simply bounded QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_init(	QProblemB* _THIS,
-							real_t* const _H, 			/**< Hessian matrix. \n
-															 If Hessian matrix is trivial, a NULL pointer can be passed. */
-							const real_t* const _g,		/**< Gradient vector. */
-							const real_t* const _lb,	/**< Lower bounds (on variables). \n
-															 If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,	/**< Upper bounds (on variables). \n
-															 If no upper bounds exist, a NULL pointer can be passed. */
-							int* nWSR, 					/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-															 Output: Number of performed working set recalculations. */
-		 					real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
-															 Output: CPU time spent for QP initialisation (if pointer passed). */
-							);
-
-/** Initialises a simply bounded QP problem with given QP data to be read from files and solves it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_UNABLE_TO_READ_FILE */
-returnValue QProblemB_initF(	QProblemB* _THIS,
-								const char* const H_file, 	/**< Name of file where Hessian matrix is stored. \n
-																 If Hessian matrix is trivial, a NULL pointer can be passed. */
-								const char* const g_file,  	/**< Name of file where gradient vector is stored. */
-								const char* const lb_file, 	/**< Name of file where lower bound vector. \n
-																 If no lower bounds exist, a NULL pointer can be passed. */
-								const char* const ub_file, 	/**< Name of file where upper bound vector. \n
-																 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 					/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-																 Output: Number of performed working set recalculations. */
-		 						real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
-																 Output: CPU time spent for QP initialisation (if pointer passed). */
-								);
-
-/** Initialises a simply bounded QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n
- *	3. 0,    yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n
- *	4. 0,    0,    gB: starts with xOpt = 0, yOpt = 0 and gB, \n
- *	5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n
- *	6. xOpt, 0,    gB: starts with xOpt, yOpt = 0 and gB, \n
- *	7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_initMW(	QProblemB* _THIS,
-								DenseMatrix *_H,				/**< Hessian matrix. */
-								const real_t* const _g,			/**< Gradient vector. */
-								const real_t* const _lb,		/**< Lower bounds (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const _ub,		/**< Upper bounds (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 						/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-																	 Output: Number of performed working set recalculations. */
-		 						real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP initialisation. \n
-													 				 Output: CPU time spent for QP initialisation. */
-								const real_t* const xOpt,		/**< Optimal primal solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old primal solution is kept!) */
-								const real_t* const yOpt,		/**< Optimal dual solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old dual solution is kept!) */
-								Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																	 (If a null pointer is passed, all bounds are assumed inactive!) */
-								const real_t* const _R			/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																 	 The Cholesky factor must be stored in a real_t array of size nV*nV
-																	 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																	 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-								);
-
-/** Initialises a simply bounded QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n
- *	3. 0,    yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n
- *	4. 0,    0,    gB: starts with xOpt = 0, yOpt = 0 and gB, \n
- *	5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n
- *	6. xOpt, 0,    gB: starts with xOpt, yOpt = 0 and gB, \n
- *	7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_initW(	QProblemB* _THIS,
-								real_t* const _H, 				/**< Hessian matrix. \n
-																	 If Hessian matrix is trivial, a NULL pointer can be passed. */
-								const real_t* const _g,			/**< Gradient vector. */
-								const real_t* const _lb,		/**< Lower bounds (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const _ub,		/**< Upper bounds (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 						/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-																	 Output: Number of performed working set recalculations. */
-		 						real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP initialisation. \n
-													 				 Output: CPU time spent for QP initialisation. */
-								const real_t* const xOpt,		/**< Optimal primal solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old primal solution is kept!) */
-								const real_t* const yOpt,		/**< Optimal dual solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old dual solution is kept!) */
-								Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																	 (If a null pointer is passed, all bounds are assumed inactive!) */
-								const real_t* const _R			/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																 	 The Cholesky factor must be stored in a real_t array of size nV*nV
-																	 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																	 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-								);
-
-/** Initialises a simply bounded QP problem with given QP data to be read from files and solves it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n
- *	3. 0,    yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n
- *	4. 0,    0,    gB: starts with xOpt = 0, yOpt = 0 and gB, \n
- *	5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n
- *	6. xOpt, 0,    gB: starts with xOpt, yOpt = 0 and gB, \n
- *	7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_UNABLE_TO_READ_FILE */
-returnValue QProblemB_initFW(	QProblemB* _THIS,
-								const char* const H_file, 		/**< Name of file where Hessian matrix is stored. \n
-																	 If Hessian matrix is trivial, a NULL pointer can be passed. */
-								const char* const g_file,  		/**< Name of file where gradient vector is stored. */
-								const char* const lb_file, 		/**< Name of file where lower bound vector. \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-								const char* const ub_file, 		/**< Name of file where upper bound vector. \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 						/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-																	 Output: Number of performed working set recalculations. */
-		 						real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP initialisation. \n
-													 				 Output: CPU time spent for QP initialisation. */
-								const real_t* const xOpt,		/**< Optimal primal solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old primal solution is kept!) */
-								const real_t* const yOpt,		/**< Optimal dual solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old dual solution is kept!) */
-								Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																	 (If a null pointer is passed, all bounds are assumed inactive!) */
-								const char* const R_file		/**< Name of the file where a pre-computed (upper triangular) Cholesky factor
-																	 of the Hessian matrix is stored. \n
-																	 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-								);
-
-
-/** Solves an initialised QP sequence using the online active set strategy.
- *	By default, QP solution is started from previous solution.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_MAX_NWSR_REACHED \n
-			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblemB_hotstart(	QProblemB* _THIS,
-								const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
-											 					 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
-											 					 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
-																 Output: Number of performed working set recalculations. */
-								real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP solution. \n
-																 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy,
- *  where QP data is read from files. QP solution is started from previous solution.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_hotstartF(	QProblemB* _THIS,
-									const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-									const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-											 						 If no lower bounds exist, a NULL pointer can be passed. */
-									const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-											 						 If no upper bounds exist, a NULL pointer can be passed. */
-									int* nWSR, 					/**< Input: Maximum number of working set recalculations; \n
-																	 Output: Number of performed working set recalculations. */
-									real_t* const cputime 	 	/**< Input: Maximum CPU time allowed for QP solution. \n
-																	 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-									);
-
-/** Solves an initialised QP sequence using the online active set strategy.
- *	By default, QP solution is started from previous solution. If a guess
- *	for the working set is provided, an initialised homotopy is performed.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_MAX_NWSR_REACHED \n
-			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_SETUP_AUXILIARYQP_FAILED */
-returnValue QProblemB_hotstartW(	QProblemB* _THIS,
-									const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
-									const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
-											 						 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
-											 						 If no upper bounds exist, a NULL pointer can be passed. */
-									int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
-																	 Output: Number of performed working set recalculations. */
-									real_t* const cputime,		/**< Input: Maximum CPU time allowed for QP solution. \n
-														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-									Bounds* const guessedBounds	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																	 (If a null pointer is passed, the previous working set is kept!) */
-									);
-
-/** Solves an initialised QP sequence using the online active set strategy,
- *  where QP data is read from files.
- *	By default, QP solution is started from previous solution. If a guess
- *	for the working set is provided, an initialised homotopy is performed.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS \n
-			RET_SETUP_AUXILIARYQP_FAILED */
-returnValue QProblemB_hotstartFW(	QProblemB* _THIS,
-									const char* const g_file,	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-									const char* const lb_file,	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-											 						 If no lower bounds exist, a NULL pointer can be passed. */
-									const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-											 						 If no upper bounds exist, a NULL pointer can be passed. */
-									int* nWSR,					/**< Input:  Maximum number of working set recalculations; \n
-																	 Output: Number of performed working set recalculations. */
-									real_t* const cputime,		/**< Input:  Maximum CPU time allowed for QP solution. \n
-														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-									Bounds* const guessedBounds	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																	 (If a null pointer is passed, the previous working set is kept!) */
-									);
-
-
-/** Writes a vector with the state of the working set
- *	\return SUCCESSFUL_RETURN \n
- *	        RET_INVALID_ARGUMENTS */
-returnValue QProblemB_getWorkingSet(	QProblemB* _THIS,
-										real_t* workingSet		/** Output: array containing state of the working set. */
-										);
-
-/** Writes a vector with the state of the working set of bounds
- *	\return SUCCESSFUL_RETURN \n
- *	        RET_INVALID_ARGUMENTS */
-returnValue QProblemB_getWorkingSetBounds(	QProblemB* _THIS,
-											real_t* workingSetB	/** Output: array containing state of the working set of bounds. */
-											);
-
-/** Writes a vector with the state of the working set of constraints
- *	\return SUCCESSFUL_RETURN \n
- *	        RET_INVALID_ARGUMENTS */
-returnValue QProblemB_getWorkingSetConstraints(	QProblemB* _THIS,
-												real_t* workingSetC	/** Output: array containing state of the working set of constraints. */
-												);
-
-
-/** Returns current bounds object of the QP (deep copy).
-  *	\return SUCCESSFUL_RETURN \n
-  			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblemB_getBounds(	QProblemB* _THIS,
-												Bounds* _bounds	/** Output: Bounds object. */
-												);
-
-
-/** Returns the number of variables.
- *	\return Number of variables. */
-static inline int QProblemB_getNV( QProblemB* _THIS );
-
-/** Returns the number of free variables.
- *	\return Number of free variables. */
-static inline int QProblemB_getNFR( QProblemB* _THIS );
-
-/** Returns the number of fixed variables.
- *	\return Number of fixed variables. */
-static inline int QProblemB_getNFX( QProblemB* _THIS );
-
-/** Returns the number of implicitly fixed variables.
- *	\return Number of implicitly fixed variables. */
-static inline int QProblemB_getNFV( QProblemB* _THIS );
-
-/** Returns the dimension of null space.
- *	\return Dimension of null space. */
-int QProblemB_getNZ( QProblemB* _THIS );
-
-
-/** Returns the optimal objective function value.
- *	\return finite value: Optimal objective function value (QP was solved) \n
- 			+infinity:	  QP was not yet solved */
-real_t QProblemB_getObjVal( QProblemB* _THIS );
-
-/** Returns the objective function value at an arbitrary point x.
- *	\return Objective function value at point x */
-real_t QProblemB_getObjValX(	QProblemB* _THIS,
-								const real_t* const _x	/**< Point at which the objective function shall be evaluated. */
-								);
-
-/** Returns the primal solution vector.
- *	\return SUCCESSFUL_RETURN \n
-			RET_QP_NOT_SOLVED */
-returnValue QProblemB_getPrimalSolution(	QProblemB* _THIS,
-											real_t* const xOpt			/**< Output: Primal solution vector (if QP has been solved). */
-											);
-
-/** Returns the dual solution vector.
- *	\return SUCCESSFUL_RETURN \n
-			RET_QP_NOT_SOLVED */
-returnValue QProblemB_getDualSolution(	QProblemB* _THIS,
-										real_t* const yOpt	/**< Output: Dual solution vector (if QP has been solved). */
-										);
-
-
-/** Returns status of the solution process.
- *	\return Status of solution process. */
-static inline QProblemStatus QProblemB_getStatus( QProblemB* _THIS );
-
-
-/** Returns if the QProblem object is initialised.
- *	\return BT_TRUE:  QProblemB initialised \n
- 			BT_FALSE: QProblemB not initialised */
-static inline BooleanType QProblemB_isInitialised( QProblemB* _THIS );
-
-/** Returns if the QP has been solved.
- *	\return BT_TRUE:  QProblemB solved \n
- 			BT_FALSE: QProblemB not solved */
-static inline BooleanType QProblemB_isSolved( QProblemB* _THIS );
-
-/** Returns if the QP is infeasible.
- *	\return BT_TRUE:  QP infeasible \n
- 			BT_FALSE: QP feasible (or not known to be infeasible!) */
-static inline BooleanType QProblemB_isInfeasible( QProblemB* _THIS );
-
-/** Returns if the QP is unbounded.
- *	\return BT_TRUE:  QP unbounded \n
- 			BT_FALSE: QP unbounded (or not known to be unbounded!) */
-static inline BooleanType QProblemB_isUnbounded( QProblemB* _THIS );
-
-
-/** Returns Hessian type flag (type is not determined due to _THIS call!).
- *	\return Hessian type. */
-static inline HessianType QProblemB_getHessianType( QProblemB* _THIS );
-
-/** Changes the print level.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblemB_setHessianType(	QProblemB* _THIS,
-													HessianType _hessianType /**< New Hessian type. */
-													);
-
-/** Returns if the QP has been internally regularised.
- *	\return BT_TRUE:  Hessian is internally regularised for QP solution \n
- 			BT_FALSE: No internal Hessian regularisation is used for QP solution */
-static inline BooleanType QProblemB_usingRegularisation( QProblemB* _THIS );
-
-/** Returns current options struct.
- *	\return Current options struct. */
-static inline Options QProblemB_getOptions( QProblemB* _THIS );
-
-/** Overrides current options with given ones.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblemB_setOptions(	QProblemB* _THIS,
-												Options _options	/**< New options. */
-												);
-
-/** Returns the print level.
- *	\return Print level. */
-static inline PrintLevel QProblemB_getPrintLevel( QProblemB* _THIS );
-
-/** Changes the print level.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblemB_setPrintLevel(	QProblemB* _THIS,
-										PrintLevel _printlevel	/**< New print level. */
-										);
-
-/** Returns the current number of QP problems solved.
- *	\return Number of QP problems solved. */
-static inline unsigned int QProblemB_getCount( QProblemB* _THIS );
-
-/** Resets QP problem counter (to zero).
- *	\return SUCCESSFUL_RETURN. */
-static inline returnValue QProblemB_resetCounter( QProblemB* _THIS );
-
-
-/** Prints concise list of properties of the current QP.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblemB_printProperties( QProblemB* _THIS );
-
-/** Prints a list of all options and their current values.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblemB_printOptions( QProblemB* _THIS );
-
-
-/** If Hessian type has been set by the user, nothing is done.
- *  Otherwise the Hessian type is set to HST_IDENTITY, HST_ZERO, or
- *  HST_POSDEF (default), respectively.
- *	\return SUCCESSFUL_RETURN \n
-			RET_HESSIAN_INDEFINITE */
-returnValue QProblemB_determineHessianType( QProblemB* _THIS );
-
-/** Determines type of existing constraints and bounds (i.e. implicitly fixed, unbounded etc.).
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUPSUBJECTTOTYPE_FAILED */
-returnValue QProblemB_setupSubjectToType( QProblemB* _THIS );
-
-/** Determines type of new constraints and bounds (i.e. implicitly fixed, unbounded etc.).
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUPSUBJECTTOTYPE_FAILED */
-returnValue QProblemB_setupSubjectToTypeNew(	QProblemB* _THIS,
-												const real_t* const lb_new,	/**< New lower bounds. */
-												const real_t* const ub_new	/**< New upper bounds. */
-												);
-
-/** Computes the Cholesky decomposition of the (simply projected) Hessian
- *  (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple
- *  projection matrix!
- *  Note: If Hessian turns out not to be positive definite, the Hessian type
- *		  is set to HST_SEMIDEF accordingly.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblemB_computeCholesky( QProblemB* _THIS );
-
-/** Computes initial Cholesky decomposition of the projected Hessian making
- *  use of the function setupCholeskyDecomposition() or setupCholeskyDecompositionProjected().
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblemB_setupInitialCholesky( QProblemB* _THIS );
-
-
-/** Obtains the desired working set for the auxiliary initial QP in
- *  accordance with the user specifications
- *	\return SUCCESSFUL_RETURN \n
-			RET_OBTAINING_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_obtainAuxiliaryWorkingSet(	QProblemB* _THIS,
-													const real_t* const xOpt,		/**< Optimal primal solution vector.
-																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-													const real_t* const yOpt,		/**< Optimal dual solution vector.
-																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-													Bounds* const guessedBounds,	/**< Guessed working set for solution (xOpt,yOpt). */
-													Bounds* auxiliaryBounds			/**< Input: Allocated bound object. \n
-																					 *	 Ouput: Working set for auxiliary QP. */
-													);
-
-/** Decides if lower bounds are smaller than upper bounds
- *
- * \return SUCCESSFUL_RETURN \n
- * 		   RET_QP_INFEASIBLE */
-returnValue QProblemB_areBoundsConsistent(	QProblemB* _THIS,
-											const real_t* const lb, /**< Vector of lower bounds*/
-											const real_t* const ub  /**< Vector of upper bounds*/
-											);
-
-/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
- *	\return SUCCESSFUL_RETURN \n
-			RET_DIV_BY_ZERO */
-returnValue QProblemB_backsolveR(	QProblemB* _THIS,
-									const real_t* const b,	/**< Right hand side vector. */
-									BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
-									real_t* const a 		/**< Output: Solution vector */
-									);
-
-/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. \n
- *  Special variant for the case that _THIS function is called from within "removeBound()".
- *	\return SUCCESSFUL_RETURN \n
-			RET_DIV_BY_ZERO */
-returnValue QProblemB_backsolveRrem(	QProblemB* _THIS,
-										const real_t* const b,		/**< Right hand side vector. */
-										BooleanType transposed,		/**< Indicates if the transposed system shall be solved. */
-										BooleanType removingBound,	/**< Indicates if function is called from "removeBound()". */
-										real_t* const a 			/**< Output: Solution vector */
-										);
-
-
-/** Determines step direction of the shift of the QP data.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblemB_determineDataShift(	QProblemB* _THIS,
-											const real_t* const g_new,	/**< New gradient vector. */
-											const real_t* const lb_new,	/**< New lower bounds. */
-											const real_t* const ub_new,	/**< New upper bounds. */
-											real_t* const delta_g,	 	/**< Output: Step direction of gradient vector. */
-											real_t* const delta_lb,	 	/**< Output: Step direction of lower bounds. */
-											real_t* const delta_ub,	 	/**< Output: Step direction of upper bounds. */
-											BooleanType* Delta_bB_isZero/**< Output: Indicates if active bounds are to be shifted. */
-											);
-
-
-/** Sets up internal QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_setupQPdataM(	QProblemB* _THIS,
-									DenseMatrix *_H,	 		/**< Hessian matrix.*/
-									const real_t* const _g,		/**< Gradient vector. */
-									const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ub		/**< Upper bounds (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-									);
-
-/** Sets up internal QP data. If the current Hessian is trivial
- *  (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS \n
-			RET_NO_HESSIAN_SPECIFIED */
-returnValue QProblemB_setupQPdata(	QProblemB* _THIS,
-									real_t* const _H, 			/**< Hessian matrix. \n
-																	 If Hessian matrix is trivial,a NULL pointer can be passed. */
-									const real_t* const _g,		/**< Gradient vector. */
-									const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ub		/**< Upper bounds (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-									);
-
-/** Sets up internal QP data by loading it from files. If the current Hessian
- *  is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS \n
-			RET_NO_HESSIAN_SPECIFIED */
-returnValue QProblemB_setupQPdataFromFile(	QProblemB* _THIS,
-											const char* const H_file, 	/**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n
-														     				 If Hessian matrix is trivial,a NULL pointer can be passed. */
-											const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-											const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower bounds exist, a NULL pointer can be passed. */
-											const char* const ub_file 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper bounds exist, a NULL pointer can be passed. */
-											);
-
-/** Loads new QP vectors from files (internal members are not affected!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_loadQPvectorsFromFile(	QProblemB* _THIS,
-												const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-												const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no lower bounds exist, a NULL pointer can be passed. */
-												const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no upper bounds exist, a NULL pointer can be passed. */
-												real_t* const g_new,		/**< Output: Gradient of neighbouring QP to be solved. */
-												real_t* const lb_new,		/**< Output: Lower bounds of neighbouring QP to be solved */
-												real_t* const ub_new		/**< Output: Upper bounds of neighbouring QP to be solved */
-												);
-
-
-/** Sets internal infeasibility flag and throws given error in case the far bound
- *	strategy is not enabled (as QP might actually not be infeasible in _THIS case).
- *	\return RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_ENSURELI_FAILED_CYCLING \n
-			RET_ENSURELI_FAILED_NOINDEX */
-returnValue QProblemB_setInfeasibilityFlag(	QProblemB* _THIS,
-											returnValue returnvalue,	/**< Returnvalue to be tunneled. */
-											BooleanType doThrowError	/**< Flag forcing to throw an error. */
-											);
-
-
-/** Determines if next QP iteration can be performed within given CPU time limit.
- *	\return BT_TRUE: CPU time limit is exceeded, stop QP solution. \n
-			BT_FALSE: Sufficient CPU time for next QP iteration. */
-BooleanType QProblemB_isCPUtimeLimitExceeded(	QProblemB* _THIS,
-												const real_t* const cputime,	/**< Maximum CPU time allowed for QP solution. */
-												real_t starttime,				/**< Start time of current QP solution. */
-												int nWSR						/**< Number of working set recalculations performed so far. */
-												);
-
-
-/** Regularise Hessian matrix by adding a scaled identity matrix to it.
- *	\return SUCCESSFUL_RETURN \n
-			RET_HESSIAN_ALREADY_REGULARISED */
-returnValue QProblemB_regulariseHessian( QProblemB* _THIS );
-
-
-/** Sets Hessian matrix of the QP.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblemB_setHM(	QProblemB* _THIS,
-											DenseMatrix* H_new	/**< New Hessian matrix. */
-											);
-
-/** Sets dense Hessian matrix of the QP.
- *  If a null pointer is passed and
- *  a) hessianType is HST_IDENTITY, nothing is done,
- *  b) hessianType is not HST_IDENTITY, Hessian matrix is set to zero.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblemB_setH(	QProblemB* _THIS,
-											real_t* const H_new	/**< New dense Hessian matrix (with correct dimension!). */
-											);
-
-/** Changes gradient vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblemB_setG(	QProblemB* _THIS,
-											const real_t* const g_new	/**< New gradient vector (with correct dimension!). */
-											);
-
-/** Changes lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblemB_setLB(	QProblemB* _THIS,
-											const real_t* const lb_new	/**< New lower bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
- *			RET_QPOBJECT_NOT_SETUP \n
- *			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblemB_setLBn(	QProblemB* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of lower bound vector. */
-											);
-
-/** Changes upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblemB_setUB(	QProblemB* _THIS,
-											const real_t* const ub_new	/**< New upper bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
- *			RET_QPOBJECT_NOT_SETUP \n
- *			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblemB_setUBn(	QProblemB* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of upper bound vector. */
-											);
-
-
-/** Computes parameters for the Givens matrix G for which [x,y]*G = [z,0]
- *	\return SUCCESSFUL_RETURN */
-static inline void QProblemB_computeGivens(	real_t xold,	/**< Matrix entry to be normalised. */
-											real_t yold,	/**< Matrix entry to be annihilated. */
-											real_t* xnew,	/**< Output: Normalised matrix entry. */
-											real_t* ynew,	/**< Output: Annihilated matrix entry. */
-											real_t* c,		/**< Output: Cosine entry of Givens matrix. */
-											real_t* s 		/**< Output: Sine entry of Givens matrix. */
-											);
-
-/** Applies Givens matrix determined by c and s (cf. computeGivens).
- *	\return SUCCESSFUL_RETURN */
-static inline void QProblemB_applyGivens(	real_t c,		/**< Cosine entry of Givens matrix. */
-											real_t s,		/**< Sine entry of Givens matrix. */
-											real_t nu, 		/**< Further factor: s/(1+c). */
-											real_t xold,	/**< Matrix entry to be transformed corresponding to
-															 *	 the normalised entry of the original matrix. */
-											real_t yold, 	/**< Matrix entry to be transformed corresponding to
-															 *	 the annihilated entry of the original matrix. */
-											real_t* xnew,	/**< Output: Transformed matrix entry corresponding to
-															 *	 the normalised entry of the original matrix. */
-											real_t* ynew	/**< Output: Transformed matrix entry corresponding to
-															 *	 the annihilated entry of the original matrix. */
-											);
-
-
-
-/** Compute relative length of homotopy in data space for termination
- *  criterion.
- *  \return Relative length in data space. */
-real_t QProblemB_getRelativeHomotopyLength(	QProblemB* _THIS,
-											const real_t* const g_new,	/**< Final gradient. */
-											const real_t* const lb_new,	/**< Final lower variable bounds. */
-											const real_t* const ub_new	/**< Final upper variable bounds. */
-											);
-
-/** Ramping Strategy to avoid ties. Modifies homotopy start without
- *  changing current active set.
- *  \return SUCCESSFUL_RETURN */
-returnValue QProblemB_performRamping( QProblemB* _THIS );
-
-
-/** ... */
-returnValue QProblemB_updateFarBounds(	QProblemB* _THIS,
-										real_t curFarBound,				/**< ... */
-										int nRamp,						/**< ... */
-										const real_t* const lb_new,		/**< ... */
-										real_t* const lb_new_far,		/**< ... */
-										const real_t* const ub_new,		/**< ... */
-										real_t* const ub_new_far		/**< ... */
-										);
-
-
-
-/** Performs robustified ratio test yield the maximum possible step length
- *  along the homotopy path.
- *	\return  SUCCESSFUL_RETURN */
-returnValue QProblemB_performRatioTestB(	QProblemB* _THIS,
-											int nIdx, 					/**< Number of ratios to be checked. */
-											const int* const idxList, 	/**< Array containing the indices of all ratios to be checked. */
-											Bounds* const subjectTo,	/**< Bound object corresponding to ratios to be checked. */
-											const real_t* const num,	/**< Array containing all numerators for performing the ratio test. */
-											const real_t* const den,	/**< Array containing all denominators for performing the ratio test. */
-											real_t epsNum,				/**< Numerator tolerance. */
-											real_t epsDen,				/**< Denominator tolerance. */
-											real_t* t,					/**< Output: Maximum possible step length along the homotopy path. */
-											int* BC_idx 				/**< Output: Index of blocking constraint. */
-											);
-
-/** Checks whether given ratio is blocking, i.e. limits the maximum step length
- *  along the homotopy path to a value lower than given one.
- *	\return  SUCCESSFUL_RETURN */
-static inline BooleanType QProblemB_isBlocking(	QProblemB* _THIS,
-												real_t num,		/**< Numerator for performing the ratio test. */
-												real_t den,		/**< Denominator for performing the ratio test. */
-												real_t epsNum,	/**< Numerator tolerance. */
-												real_t epsDen,	/**< Denominator tolerance. */
-												real_t* t		/**< Input:  Current maximum step length along the homotopy path,
-																 *   Output: Updated maximum possible step length along the homotopy path. */
-												);
-
-
-/** Solves a QProblemB whose QP data is assumed to be stored in the member variables.
- *  A guess for its primal/dual optimal solution vectors and the corresponding
- *  optimal working set can be provided.
- *  Note: This function is internally called by all init functions!
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED */
-returnValue QProblemB_solveInitialQP(	QProblemB* _THIS,
-										const real_t* const xOpt,		/**< Optimal primal solution vector.*/
-										const real_t* const yOpt,		/**< Optimal dual solution vector. */
-										Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-										const real_t* const _R,			/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. */
-										int* nWSR, 						/**< Input:  Maximum number of working set recalculations; \n
-														 				 *	 Output: Number of performed working set recalculations. */
-										real_t* const cputime			/**< Input:  Maximum CPU time allowed for QP solution. \n
-														 				 *	 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-										);
-
-/** Solves an initialised QProblemB using online active set strategy.
- *  Note: This function is internally called by all hotstart functions!
- *	\return SUCCESSFUL_RETURN \n
-			RET_MAX_NWSR_REACHED \n
-			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblemB_solveQP(	QProblemB* _THIS,
-								const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
-											 					 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
-											 					 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
-																 Output: Number of performed working set recalculations. */
-								real_t* const cputime,		/**< Input: Maximum CPU time allowed for QP solution. \n
-																 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								int  nWSRperformed,			/**< Number of working set recalculations already performed to solve
-																 this QP within previous solveQP() calls. This number is
-																 always zero, except for successive calls from solveRegularisedQP()
-																 or when using the far bound strategy. */
-								BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
-								);
-
-
-/** Solves an initialised QProblemB using online active set strategy.
- *  Note: This function is internally called by all hotstart functions!
- *	\return SUCCESSFUL_RETURN \n
-			RET_MAX_NWSR_REACHED \n
-			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblemB_solveRegularisedQP(	QProblemB* _THIS,
-											const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
-											const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
-													 						 If no lower bounds exist, a NULL pointer can be passed. */
-											const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
-													 						 If no upper bounds exist, a NULL pointer can be passed. */
-											int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
-																			 Output: Number of performed working set recalculations. */
-											real_t* const cputime,		/**< Input: Maximum CPU time allowed for QP solution. \n
-																			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-											int  nWSRperformed,			/**< Number of working set recalculations already performed to solve
-																			 this QP within previous solveRegularisedQP() calls. This number is
-																			 always zero, except for successive calls when using the far bound strategy. */
-											BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
-											);
-
-
-/** Sets up bound data structure according to auxiliaryBounds.
- *  (If the working set shall be setup afresh, make sure that
- *  bounds data structure has been resetted!)
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUP_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNOWN_BUG */
-returnValue QProblemB_setupAuxiliaryWorkingSet(	QProblemB* _THIS,
-												Bounds* const auxiliaryBounds,	/**< Working set for auxiliary QP. */
-												BooleanType setupAfresh			/**< Flag indicating if given working set shall be
-																				 *    setup afresh or by updating the current one. */
-												);
-
-/** Sets up the optimal primal/dual solution of the auxiliary initial QP.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblemB_setupAuxiliaryQPsolution(	QProblemB* _THIS,
-												const real_t* const xOpt,	/**< Optimal primal solution vector.
-																		 	 *	 If a NULL pointer is passed, all entries are set to zero. */
-												const real_t* const yOpt	/**< Optimal dual solution vector.
-																			 *	 If a NULL pointer is passed, all entries are set to zero. */
-												);
-
-/** Sets up gradient of the auxiliary initial QP for given
- *  optimal primal/dual solution and given initial working set
- *  (assumes that members X, Y and BOUNDS have already been (ialised!).
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblemB_setupAuxiliaryQPgradient( QProblemB* _THIS );
-
-/** Sets up bounds of the auxiliary initial QP for given
- *  optimal primal/dual solution and given initial working set
- *  (assumes that members X, Y and BOUNDS have already been initialised!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNKNOWN_BUG */
-returnValue QProblemB_setupAuxiliaryQPbounds(	QProblemB* _THIS,
-												BooleanType useRelaxation	/**< Flag indicating if inactive bounds shall be relaxed. */
-												);
-
-
-/** Updates QP vectors, working sets and internal data structures in order to
-	start from an optimal solution corresponding to initial guesses of the working
-	set for bounds
- *	\return SUCCESSFUL_RETURN \n
- *			RET_SETUP_AUXILIARYQP_FAILED */
-returnValue QProblemB_setupAuxiliaryQP(	QProblemB* _THIS,
-										Bounds* const guessedBounds	/**< Initial guess for working set of bounds. */
-										);
-
-/** Determines step direction of the homotopy path.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_STEPDIRECTION_FAILED_CHOLESKY */
-returnValue QProblemB_determineStepDirection(	QProblemB* _THIS,
-												const real_t* const delta_g,	/**< Step direction of gradient vector. */
-												const real_t* const delta_lb,	/**< Step direction of lower bounds. */
-												const real_t* const delta_ub,	/**< Step direction of upper bounds. */
-												BooleanType Delta_bB_isZero,	/**< Indicates if active bounds are to be shifted. */
-												real_t* const delta_xFX, 		/**< Output: Primal homotopy step direction of fixed variables. */
-												real_t* const delta_xFR,	 	/**< Output: Primal homotopy step direction of free variables. */
-												real_t* const delta_yFX 		/**< Output: Dual homotopy step direction of fixed variables' multiplier. */
-												);
-
-/** Determines the maximum possible step length along the homotopy path
- *  and performs _THIS step (without changing working set).
- *	\return SUCCESSFUL_RETURN \n
- *			RET_QP_INFEASIBLE \n
- */
-returnValue QProblemB_performStep(	QProblemB* _THIS,
-									const real_t* const delta_g,	/**< Step direction of gradient. */
-									const real_t* const delta_lb,	/**< Step direction of lower bounds. */
-									const real_t* const delta_ub,	/**< Step direction of upper bounds. */
-									const real_t* const delta_xFX, 	/**< Primal homotopy step direction of fixed variables. */
-									const real_t* const delta_xFR,	/**< Primal homotopy step direction of free variables. */
-									const real_t* const delta_yFX,	/**< Dual homotopy step direction of fixed variables' multiplier. */
-									int* BC_idx, 					/**< Output: Index of blocking constraint. */
-									SubjectToStatus* BC_status		/**< Output: Status of blocking constraint. */
-									);
-
-/** Updates active set.
- *	\return  SUCCESSFUL_RETURN \n
- 			 RET_REMOVE_FROM_ACTIVESET_FAILED \n
-			 RET_ADD_TO_ACTIVESET_FAILED */
-returnValue QProblemB_changeActiveSet(	QProblemB* _THIS,
-										int BC_idx, 				/**< Index of blocking constraint. */
-										SubjectToStatus BC_status 	/**< Status of blocking constraint. */
-										);
-
-/** Drift correction at end of each active set iteration
- *  \return SUCCESSFUL_RETURN */
-returnValue QProblemB_performDriftCorrection( QProblemB* _THIS );
-
-/** Determines if it is more efficient to refactorise the matrices when
- *  hotstarting or not (i.e. better to update the existing factorisations).
- *	\return BT_TRUE iff matrices shall be refactorised afresh
- */
-BooleanType QProblemB_shallRefactorise(	QProblemB* _THIS,
-										Bounds* const guessedBounds	/**< Guessed new working set. */
-										);
-
-
-/** Adds a bound to active set (specialised version for the case where no constraints exist).
- *	\return SUCCESSFUL_RETURN \n
- 			RET_ADDBOUND_FAILED */
-returnValue QProblemB_addBound(	QProblemB* _THIS,
-								int number,					/**< Number of bound to be added to active set. */
-								SubjectToStatus B_status,	/**< Status of new active bound. */
-								BooleanType updateCholesky	/**< Flag indicating if Cholesky decomposition shall be updated. */
-								);
-
-/** Removes a bounds from active set (specialised version for the case where no constraints exist).
- *	\return SUCCESSFUL_RETURN \n
-			RET_HESSIAN_NOT_SPD \n
-			RET_REMOVEBOUND_FAILED */
-returnValue QProblemB_removeBound(	QProblemB* _THIS,
-									int number,					/**< Number of bound to be removed from active set. */
-									BooleanType updateCholesky	/**< Flag indicating if Cholesky decomposition shall be updated. */
-									);
-
-
-/** Prints concise information on the current iteration.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblemB_printIteration(	QProblemB* _THIS,
-										int iter,					/**< Number of current iteration. */
-										int BC_idx, 				/**< Index of blocking bound. */
-										SubjectToStatus BC_status,	/**< Status of blocking bound. */
-										real_t homotopyLength,		/**< Current homotopy distance. */
-										BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
-										);
-
-
-
-/*
- *	g e t B o u n d s
- */
-static inline returnValue QProblemB_getBounds( QProblemB* _THIS, Bounds* _bounds )
-{
-	int nV = QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	_bounds = _THIS->bounds;
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t N V
- */
-static inline int QProblemB_getNV( QProblemB* _THIS )
-{
-	return Bounds_getNV( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F R
- */
-static inline int QProblemB_getNFR( QProblemB* _THIS )
-{
-	return Bounds_getNFR( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F X
- */
-static inline int QProblemB_getNFX( QProblemB* _THIS )
-{
-	return Bounds_getNFX( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F V
- */
-static inline int QProblemB_getNFV( QProblemB* _THIS )
-{
-	return Bounds_getNFV( _THIS->bounds );
-}
-
-
-/*
- *	g e t S t a t u s
- */
-static inline QProblemStatus QProblemB_getStatus( QProblemB* _THIS )
-{
-	return _THIS->status;
-}
-
-
-/*
- *	i s I n i t i a l i s e d
- */
-static inline BooleanType QProblemB_isInitialised( QProblemB* _THIS )
-{
-	if ( _THIS->status == QPS_NOTINITIALISED )
-		return BT_FALSE;
-	else
-		return BT_TRUE;
-}
-
-
-/*
- *	i s S o l v e d
- */
-static inline BooleanType QProblemB_isSolved( QProblemB* _THIS )
-{
-	if ( _THIS->status == QPS_SOLVED )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *	i s I n f e a s i b l e
- */
-static inline BooleanType QProblemB_isInfeasible( QProblemB* _THIS )
-{
-	return _THIS->infeasible;
-}
-
-
-/*
- *	i s U n b o u n d e d
- */
-static inline BooleanType QProblemB_isUnbounded( QProblemB* _THIS )
-{
-	return _THIS->unbounded;
-}
-
-
-/*
- *	g e t H e s s i a n T y p e
- */
-static inline HessianType QProblemB_getHessianType( QProblemB* _THIS )
-{
-	return _THIS->hessianType;
-}
-
-
-/*
- *	s e t H e s s i a n T y p e
- */
-static inline returnValue QProblemB_setHessianType( QProblemB* _THIS, HessianType _hessianType )
-{
-	_THIS->hessianType = _hessianType;
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	u s i n g R e g u l a r i s a t i o n
- */
-static inline BooleanType QProblemB_usingRegularisation( QProblemB* _THIS )
-{
-	if ( _THIS->regVal > QPOASES_ZERO )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *	g e t O p t i o n s
- */
-static inline Options QProblemB_getOptions( QProblemB* _THIS )
-{
-	return _THIS->options;
-}
-
-
-/*
- *	s e t O p t i o n s
- */
-static inline returnValue QProblemB_setOptions(	QProblemB* _THIS,
-												Options _options
-												)
-{
-	OptionsCPY( &_options,&(_THIS->options) );
-	Options_ensureConsistency( &(_THIS->options) );
-
-	QProblemB_setPrintLevel( _THIS,_THIS->options.printLevel );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t P r i n t L e v e l
- */
-static inline PrintLevel QProblemB_getPrintLevel( QProblemB* _THIS )
-{
-	return _THIS->options.printLevel;
-}
-
-
-
-/*
- *	g e t C o u n t
- */
-static inline unsigned int QProblemB_getCount( QProblemB* _THIS )
-{
-	return _THIS->count;
-}
-
-
-/*
- *	r e s e t C o u n t e r
- */
-static inline returnValue QProblemB_resetCounter( QProblemB* _THIS )
-{
-	_THIS->count = 0;
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
-
-
-/*
- *	s e t H
- */
-static inline returnValue QProblemB_setHM( QProblemB* _THIS, DenseMatrix* H_new )
-{
-	if ( H_new == 0 )
-		return QProblemB_setH( _THIS,(real_t*)0 );
-	else
-		return QProblemB_setH( _THIS,DenseMatrix_getVal(H_new) );
-}
-
-
-/*
- *	s e t H
- */
-static inline returnValue QProblemB_setH( QProblemB* _THIS, real_t* const H_new )
-{
-	/* if null pointer is passed, Hessian is set to zero matrix
-	 *                            (or stays identity matrix) */
-	if ( H_new == 0 )
-	{
-		if ( _THIS->hessianType == HST_IDENTITY )
-			return SUCCESSFUL_RETURN;
-
-		_THIS->hessianType = HST_ZERO;
-
-		_THIS->H = 0;
-	}
-	else
-	{
-		DenseMatrixCON( _THIS->H,QProblemB_getNV( _THIS ),QProblemB_getNV( _THIS ),QProblemB_getNV( _THIS ),H_new );
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t G
- */
-static inline returnValue QProblemB_setG( QProblemB* _THIS, const real_t* const g_new )
-{
-	unsigned int nV = (unsigned int)QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( g_new == 0 )
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	memcpy( _THIS->g,g_new,nV*sizeof(real_t) );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B
- */
-static inline returnValue QProblemB_setLB( QProblemB* _THIS, const real_t* const lb_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( lb_new != 0 )
-	{
-		memcpy( _THIS->lb,lb_new,nV*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no lower bounds are specified, set them to -infinity */
-		for( i=0; i<nV; ++i )
-			_THIS->lb[i] = -QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B
- */
-static inline returnValue QProblemB_setLBn( QProblemB* _THIS, int number, real_t value )
-{
-	int nV = QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nV ) )
-	{
-		_THIS->lb[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	s e t U B
- */
-static inline returnValue QProblemB_setUB( QProblemB* _THIS, const real_t* const ub_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ub_new != 0 )
-	{
-		memcpy( _THIS->ub,ub_new,nV*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no upper bounds are specified, set them to infinity */
-		for( i=0; i<nV; ++i )
-			_THIS->ub[i] = QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t U B
- */
-static inline returnValue QProblemB_setUBn( QProblemB* _THIS, int number, real_t value )
-{
-	int nV = QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nV ) )
-	{
-		_THIS->ub[number] = value;
-
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	c o m p u t e G i v e n s
- */
-static inline void QProblemB_computeGivens(	real_t xold, real_t yold,
-											real_t* xnew, real_t* ynew, real_t* c, real_t* s
-											)
-{
-	real_t t, mu;
-
-	if ( fabs( yold ) <= QPOASES_ZERO )
-	{
-		*c = 1.0;
-		*s = 0.0;
-
-		*xnew = xold;
-		*ynew = yold;
-	}
-	else
-	{
-		mu = fabs( xold );
-		if ( fabs( yold ) > mu )
-			mu = fabs( yold );
-
-		t = mu * sqrt( (xold/mu)*(xold/mu) + (yold/mu)*(yold/mu) );
-
-		if ( xold < 0.0 )
-		t = -t;
-
-		*c = xold/t;
-		*s = yold/t;
-		*xnew = t;
-		*ynew = 0.0;
-	}
-
-	return;
-}
-
-
-/*
- *	a p p l y G i v e n s
- */
-static inline void QProblemB_applyGivens(	real_t c, real_t s, real_t nu, real_t xold, real_t yold,
-											real_t* xnew, real_t* ynew
-											)
-{
-	#ifdef __USE_THREE_MULTS_GIVENS__
-
-	/* Givens plane rotation requiring only three multiplications,
-	 * cf. Hammarling, S.: A note on modifications to the givens plane rotation.
-	 * J. Inst. Maths Applics, 13:215-218, 1974. */
-	*xnew = xold*c + yold*s;
-	*ynew = (*xnew+xold)*nu - yold;
-
-	#else
-
-	/* Usual Givens plane rotation requiring four multiplications. */
-	*xnew =  c*xold + s*yold;
-	*ynew = -s*xold + c*yold;
-
-	#endif
-
-	return;
-}
-
-
-/*
- * i s B l o c k i n g
- */
-static inline BooleanType QProblemB_isBlocking(	QProblemB* _THIS,
-												real_t num,
-												real_t den,
-												real_t epsNum,
-												real_t epsDen,
-												real_t* t
-												)
-{
-	if ( ( den >= epsDen ) && ( num >= epsNum ) )
-	{
-		if ( num < (*t)*den )
-			return BT_TRUE;
-	}
-
-	return BT_FALSE;
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_QPROBLEMB_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Types.h b/third_party/acados/include/qpOASES_e/Types.h
deleted file mode 100644
index fc042aed826872..00000000000000
--- a/third_party/acados/include/qpOASES_e/Types.h
+++ /dev/null
@@ -1,310 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Types.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of all non-built-in types (except for classes).
- */
-
-
-#ifndef QPOASES_TYPES_H
-#define QPOASES_TYPES_H
-
-#ifdef USE_ACADOS_TYPES
-#include "acados/utils/types.h"
-#endif
-
-/* If your compiler does not support the snprintf() function,
- * uncomment the following line and try to compile again. */
-/* #define __NO_SNPRINTF__ */
-
-
-/* Uncomment the following line for setting the __DSPACE__ flag. */
-/* #define __DSPACE__ */
-
-/* Uncomment the following line for setting the __XPCTARGET__ flag. */
-/* #define __XPCTARGET__ */
-
-
-/* Uncomment the following line for setting the __NO_FMATH__ flag. */
-/* #define __NO_FMATH__ */
-
-/* Uncomment the following line to enable debug information. */
-/* #define __DEBUG__ */
-
-/* Uncomment the following line to enable suppress any kind of console output. */
-/* #define __SUPPRESSANYOUTPUT__ */
-
-
-/** Forces to always include all implicitly fixed bounds and all equality constraints
- *  into the initial working set when setting up an auxiliary QP. */
-#define __ALWAYS_INITIALISE_WITH_ALL_EQUALITIES__
-
-/* Uncomment the following line to activate the use of an alternative Givens
- * plane rotation requiring only three multiplications. */
-/* #define __USE_THREE_MULTS_GIVENS__ */
-
-/* Uncomment the following line to activate the use of single precision arithmetic. */
-/* #define __USE_SINGLE_PRECISION__ */
-
-/* The inline keyword is skipped by default as it is not part of the C90 standard.
- * However, by uncommenting the following line, use of the inline keyword can be enforced. */
-/* #define __USE_INLINE__ */
-
-
-/* Work-around for Borland BCC 5.5 compiler. */
-#ifdef __BORLANDC__
-#if __BORLANDC__ < 0x0561
-  #define __STDC__ 1
-#endif
-#endif
-
-
-/* Work-around for Microsoft compilers. */
-#ifdef _MSC_VER
-  #define __NO_SNPRINTF__
-  #pragma warning( disable : 4061 4100 4250 4514 4996 )
-#endif
-
-
-/* Apply pre-processor settings when using qpOASES within auto-generated code. */
-#ifdef __CODE_GENERATION__
-  #define __NO_COPYRIGHT__
-  #define __EXTERNAL_DIMENSIONS__
-#endif /* __CODE_GENERATION__ */
-
-
-/* Avoid using static variables declaration within functions. */
-#ifdef __NO_STATIC__
-  #define myStatic
-#else
-  #define myStatic static
-#endif /* __NO_STATIC__ */
-
-
-/* Skip inline keyword if not specified otherwise. */
-#ifndef __USE_INLINE__
-  #define inline
-#endif
-
-
-/* Avoid any printing on embedded platforms. */
-#if defined(__DSPACE__) || defined(__XPCTARGET__)
-  #define __SUPPRESSANYOUTPUT__
-  #define __NO_SNPRINTF__
-#endif
-
-
-#ifdef __NO_SNPRINTF__
-  #if (!defined(_MSC_VER)) || defined(__DSPACE__) || defined(__XPCTARGET__)
-    /* If snprintf is not available, provide an empty implementation... */
-    int snprintf( char* s, size_t n, const char* format, ... );
-  #else
-	/* ... or substitute snprintf by _snprintf for Microsoft compilers. */
-    #define snprintf _snprintf
-  #endif
-#endif /* __NO_SNPRINTF__ */
-
-
-/** Macro for switching on/off the beginning of the qpOASES namespace definition. */
-#define BEGIN_NAMESPACE_QPOASES
-
-/** Macro for switching on/off the end of the qpOASES namespace definition. */
-#define END_NAMESPACE_QPOASES
-
-/** Macro for switching on/off the use of the qpOASES namespace. */
-#define USING_NAMESPACE_QPOASES
-
-/** Macro for switching on/off references to the qpOASES namespace. */
-#define REFER_NAMESPACE_QPOASES /*::*/
-
-
-/** Macro for accessing the Cholesky factor R. */
-#define RR( I,J )  _THIS->R[(I)+nV*(J)]
-
-/** Macro for accessing the orthonormal matrix Q of the QT factorisation. */
-#define QQ( I,J )  _THIS->Q[(I)+nV*(J)]
-
-/** Macro for accessing the triangular matrix T of the QT factorisation. */
-#define TT( I,J )  _THIS->T[(I)*nVC_min+(J)]
-
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/** Defines real_t for facilitating switching between double and float. */
-
-#ifndef USE_ACADOS_TYPES
-#ifndef __CODE_GENERATION__
-
-  #ifdef __USE_SINGLE_PRECISION__
-  typedef float real_t;
-  #else
-  typedef double real_t;
-  #endif /* __USE_SINGLE_PRECISION__ */
-
-#endif /* __CODE_GENERATION__ */
-#endif /* USE_ACADOS_TYPES */
-
-/** Summarises all possible logical values. */
-typedef enum
-{
-	BT_FALSE = 0,				/**< Logical value for "false". */
-	BT_TRUE						/**< Logical value for "true". */
-} BooleanType;
-
-
-/** Summarises all possible print levels. Print levels are used to describe
- *	the desired amount of output during runtime of qpOASES. */
-typedef enum
-{
-	PL_DEBUG_ITER = -2,			/**< Full tabular debugging output. */
-	PL_TABULAR,					/**< Tabular output. */
-	PL_NONE,					/**< No output. */
-	PL_LOW,						/**< Print error messages only. */
-	PL_MEDIUM,					/**< Print error and warning messages as well as concise info messages. */
-	PL_HIGH						/**< Print all messages with full details. */
-} PrintLevel;
-
-
-/** Defines visibility status of a message. */
-typedef enum
-{
-	VS_HIDDEN,					/**< Message not visible. */
-	VS_VISIBLE					/**< Message visible. */
-} VisibilityStatus;
-
-
-/** Summarises all possible states of the (S)QProblem(B) object during the
-solution process of a QP sequence. */
-typedef enum
-{
-	QPS_NOTINITIALISED,			/**< QProblem object is freshly instantiated or reset. */
-	QPS_PREPARINGAUXILIARYQP,	/**< An auxiliary problem is currently setup, either at the very beginning
-								 *   via an initial homotopy or after changing the QP matrices. */
-	QPS_AUXILIARYQPSOLVED,		/**< An auxilary problem was solved, either at the very beginning
-								 *   via an initial homotopy or after changing the QP matrices. */
-	QPS_PERFORMINGHOMOTOPY,		/**< A homotopy according to the main idea of the online active
-								 *   set strategy is performed. */
-	QPS_HOMOTOPYQPSOLVED,		/**< An intermediate QP along the homotopy path was solved. */
-	QPS_SOLVED					/**< The solution of the actual QP was found. */
-} QProblemStatus;
-
-
-/** Summarises all possible types of the QP's Hessian matrix. */
-typedef enum
-{
-	HST_ZERO,				/**< Hessian is zero matrix (i.e. LP formulation). */
-	HST_IDENTITY,			/**< Hessian is identity matrix. */
-	HST_POSDEF,				/**< Hessian is (strictly) positive definite. */
-	HST_POSDEF_NULLSPACE,	/**< Hessian is positive definite on null space of active bounds/constraints. */
-	HST_SEMIDEF,			/**< Hessian is positive semi-definite. */
-	HST_INDEF,				/**< Hessian is indefinite. */
-	HST_UNKNOWN				/**< Hessian type is unknown. */
-} HessianType;
-
-
-/** Summarises all possible types of bounds and constraints. */
-typedef enum
-{
-	ST_UNBOUNDED,		/**< Bound/constraint is unbounded. */
-	ST_BOUNDED,			/**< Bound/constraint is bounded but not fixed. */
-	ST_EQUALITY,		/**< Bound/constraint is fixed (implicit equality bound/constraint). */
-	ST_DISABLED,		/**< Bound/constraint is disabled (i.e. ignored when solving QP). */
-	ST_UNKNOWN			/**< Type of bound/constraint unknown. */
-} SubjectToType;
-
-
-/** Summarises all possible states of bounds and constraints. */
-typedef enum
-{
-	ST_LOWER = -1,			/**< Bound/constraint is at its lower bound. */
-	ST_INACTIVE,			/**< Bound/constraint is inactive. */
-	ST_UPPER,				/**< Bound/constraint is at its upper bound. */
-	ST_INFEASIBLE_LOWER,	/**< (to be documented) */
-	ST_INFEASIBLE_UPPER,	/**< (to be documented) */
-	ST_UNDEFINED			/**< Status of bound/constraint undefined. */
-} SubjectToStatus;
-
-
-/**
- *	\brief Stores internal information for tabular (debugging) output.
- *
- *	Struct storing internal information for tabular (debugging) output
- *	when using the (S)QProblem(B) objects.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2013-2015
- */
-typedef struct
-{
-	int idxAddB;		/**< Index of bound that has been added to working set. */
-	int idxRemB;		/**< Index of bound that has been removed from working set. */
-	int idxAddC;		/**< Index of constraint that has been added to working set. */
-	int idxRemC;		/**< Index of constraint that has been removed from working set. */
-	int excAddB;		/**< Flag indicating whether a bound has been added to working set to keep a regular projected Hessian. */
-	int excRemB;		/**< Flag indicating whether a bound has been removed from working set to keep a regular projected Hessian. */
-	int excAddC;		/**< Flag indicating whether a constraint has been added to working set to keep a regular projected Hessian. */
-	int excRemC;		/**< Flag indicating whether a constraint has been removed from working set to keep a regular projected Hessian. */
-} TabularOutput;
-
-/**
- *	\brief Struct containing the variable header for mat file.
- *
- *	Struct storing the header of a variable to be stored in
- *	Matlab's binary format (using the outdated Level 4 variant
- *  for simplictiy).
- *
- *  Note, this code snippet has been inspired from the document
- *  "Matlab(R) MAT-file Format, R2013b" by MathWorks
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2013-2015
- */
-typedef struct
-{
-	long numericFormat;		/**< Flag indicating numerical format. */
-	long nRows;				/**< Number of rows. */
-	long nCols;				/**< Number of rows. */
-	long imaginaryPart;		/**< (to be documented) */
-	long nCharName;			/**< Number of character in name. */
-} MatMatrixHeader;
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_TYPES_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/UnitTesting.h b/third_party/acados/include/qpOASES_e/UnitTesting.h
deleted file mode 100644
index dbff201039eb58..00000000000000
--- a/third_party/acados/include/qpOASES_e/UnitTesting.h
+++ /dev/null
@@ -1,79 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/UnitTesting.h
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2014-2015
- *
- *	Definition of auxiliary functions/macros for unit testing.
- */
-
-
-#ifndef QPOASES_UNIT_TESTING_H
-#define QPOASES_UNIT_TESTING_H
-
-
-#ifndef TEST_TOL_FACTOR
-#define TEST_TOL_FACTOR 1
-#endif
-
-
-/** Return value for tests that passed. */
-#define TEST_PASSED 0
-
-/** Return value for tests that failed. */
-#define TEST_FAILED 1
-
-/** Return value for tests that could not run due to missing external data. */
-#define TEST_DATA_NOT_FOUND 99
-
-
-/** Macro verifying that two numerical values are equal in order to pass unit test. */
-#define QPOASES_TEST_FOR_EQUAL( x,y ) if ( REFER_NAMESPACE_QPOASES isEqual( (x),(y) ) == BT_FALSE ) { return TEST_FAILED; }
-
-/** Macro verifying that two numerical values are close to each other in order to pass unit test. */
-#define QPOASES_TEST_FOR_NEAR( x,y )  if ( REFER_NAMESPACE_QPOASES getAbs((x)-(y)) / REFER_NAMESPACE_QPOASES getMax( 1.0,REFER_NAMESPACE_QPOASES getAbs(x) ) >= 1e-10 ) { return TEST_FAILED; }
-
-/** Macro verifying that first quantity is lower or equal than second one in order to pass unit test. */
-#define QPOASES_TEST_FOR_TOL( x,tol )  if ( (x) > (tol)*(TEST_TOL_FACTOR) ) { return TEST_FAILED; }
-
-/** Macro verifying that a logical expression holds in order to pass unit test. */
-#define QPOASES_TEST_FOR_TRUE( x )  if ( (x) == 0 ) { return TEST_FAILED; }
-
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_UNIT_TESTING_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Utils.h b/third_party/acados/include/qpOASES_e/Utils.h
deleted file mode 100644
index 75e45a56a08c55..00000000000000
--- a/third_party/acados/include/qpOASES_e/Utils.h
+++ /dev/null
@@ -1,500 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Utils.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of some utilities for working with the different QProblem classes.
- */
-
-
-#ifndef QPOASES_UTILS_H
-#define QPOASES_UTILS_H
-
-#include <qpOASES_e/MessageHandling.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/** Prints a vector.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printV(	const real_t* const v,	/**< Vector to be printed. */
-							int n					/**< Length of vector. */
-							);
-
-/** Prints a permuted vector.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printPV(	const real_t* const v,		/**< Vector to be printed. */
-								int n,						/**< Length of vector. */
-								const int* const V_idx		/**< Pemutation vector. */
-								);
-
-/** Prints a named vector.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printNV(	const real_t* const v,	/**< Vector to be printed. */
-								int n,					/**< Length of vector. */
-								const char* name		/** Name of vector. */
-								);
-
-/** Prints a matrix.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printM(	const real_t* const M,	/**< Matrix to be printed. */
-							int nrow,				/**< Row number of matrix. */
-							int ncol				/**< Column number of matrix. */
-							);
-
-/** Prints a permuted matrix.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printPM(	const real_t* const M,		/**< Matrix to be printed. */
-								int nrow,					/**< Row number of matrix. */
-								int ncol	,				/**< Column number of matrix. */
-								const int* const ROW_idx,	/**< Row pemutation vector. */
-								const int* const COL_idx	/**< Column pemutation vector. */
-								);
-
-/** Prints a named matrix.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printNM(	const real_t* const M,	/**< Matrix to be printed. */
-								int nrow,				/**< Row number of matrix. */
-								int ncol,				/**< Column number of matrix. */
-								const char* name		/** Name of matrix. */
-								);
-
-/** Prints an index array.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printI(	const int* const _index,	/**< Index array to be printed. */
-							int n						/**< Length of index array. */
-							);
-
-/** Prints a named index array.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printNI(	const int* const _index,	/**< Index array to be printed. */
-								int n,						/**< Length of index array. */
-								const char* name			/**< Name of index array. */
-								);
-
-
-/** Prints a string to desired output target (useful also for MATLAB output!).
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_myPrintf(	const char* s	/**< String to be written. */
-								);
-
-
-/** Prints qpOASES copyright notice.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printCopyrightNotice( );
-
-
-/** Reads a real_t matrix from file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE \n
-		   RET_UNABLE_TO_READ_FILE */
-returnValue qpOASES_readFromFileM(	real_t* data,				/**< Matrix to be read from file. */
-									int nrow,					/**< Row number of matrix. */
-									int ncol,					/**< Column number of matrix. */
-									const char* datafilename	/**< Data file name. */
-									);
-
-/** Reads a real_t vector from file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE \n
-		   RET_UNABLE_TO_READ_FILE */
-returnValue qpOASES_readFromFileV(	real_t* data,				/**< Vector to be read from file. */
-									int n,						/**< Length of vector. */
-									const char* datafilename	/**< Data file name. */
-									);
-
-/** Reads an integer (column) vector from file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE \n
-		   RET_UNABLE_TO_READ_FILE */
-returnValue qpOASES_readFromFileI(	int* data,					/**< Vector to be read from file. */
-									int n,						/**< Length of vector. */
-									const char* datafilename	/**< Data file name. */
-									);
-
-
-/** Writes a real_t matrix into a file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE  */
-returnValue qpOASES_writeIntoFileM(	const real_t* const data,	/**< Matrix to be written into file. */
-									int nrow,					/**< Row number of matrix. */
-									int ncol,					/**< Column number of matrix. */
-									const char* datafilename,	/**< Data file name. */
-									BooleanType append			/**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
-									);
-
-/** Writes a real_t vector into a file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE  */
-returnValue qpOASES_writeIntoFileV(	const real_t* const data,	/**< Vector to be written into file. */
-									int n,						/**< Length of vector. */
-									const char* datafilename,	/**< Data file name. */
-									BooleanType append			/**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
-									);
-
-/** Writes an integer (column) vector into a file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE */
-returnValue qpOASES_writeIntoFileI(	const int* const integer,	/**< Integer vector to be written into file. */
-									int n,						/**< Length of vector. */
-									const char* datafilename,	/**< Data file name. */
-									BooleanType append			/**< Indicates if integer shall be appended if the file already exists (otherwise it is overwritten). */
-									);
-
-/** Writes a real_t matrix/vector into a Matlab binary file.
- * \return SUCCESSFUL_RETURN \n
-		   RET_INVALID_ARGUMENTS
- 		   RET_UNABLE_TO_WRITE_FILE */
-returnValue qpOASES_writeIntoMatFile(	FILE* const matFile,		/**< Pointer to Matlab binary file. */
-										const real_t* const data,	/**< Data to be written into file. */
-										int nRows,					/**< Row number of matrix. */
-										int nCols, 					/**< Column number of matrix. */
-										const char* name			/**< Matlab name of matrix/vector to be stored. */
- 										);
-
-/** Writes in integer matrix/vector into a Matlab binary file.
- * \return SUCCESSFUL_RETURN \n
-		   RET_INVALID_ARGUMENTS
- 		   RET_UNABLE_TO_WRITE_FILE */
-returnValue qpOASES_writeIntoMatFileI(	FILE* const matFile,		/**< Pointer to Matlab binary file. */
-										const int* const data,		/**< Data to be written into file. */
-										int nRows,					/**< Row number of matrix. */
-										int nCols,					/**< Column number of matrix. */
-										const char* name			/**< Matlab name of matrix/vector to be stored. */
- 										);
-
-
-/** Returns the current system time.
- * \return current system time */
-real_t qpOASES_getCPUtime( );
-
-
-/** Returns the N-norm of a vector.
- * \return >= 0.0: successful */
-real_t qpOASES_getNorm(	const real_t* const v,	/**< Vector. */
-						int n,					/**< Vector's dimension. */
-						int type				/**< Norm type, 1: one-norm, 2: Euclidean norm. */
-						);
-
-/** Tests whether two real-valued arguments are (numerically) equal.
- * \return	BT_TRUE:  arguments differ not more than TOL \n
-		 	BT_FALSE: arguments differ more than TOL */
-static inline BooleanType qpOASES_isEqual(	real_t x,	/**< First real number. */
-											real_t y,	/**< Second real number. */
-											real_t TOL	/**< Tolerance for comparison. */
-											);
-
-
-/** Tests whether a real-valued argument is (numerically) zero.
- * \return	BT_TRUE:  argument differs from 0.0 not more than TOL \n
-		 	BT_FALSE: argument differs from 0.0 more than TOL */
-static inline BooleanType qpOASES_isZero(	real_t x,			/**< Real number. */
-											real_t TOL			/**< Tolerance for comparison. */
-											);
-
-
-/** Returns sign of a real-valued argument.
- * \return	 1.0: argument is non-negative \n
-		 	-1.0: argument is negative */
-static inline real_t qpOASES_getSign(	real_t arg	/**< real-valued argument whose sign is to be determined. */
-										);
-
-
-/** Returns maximum of two integers.
- * \return	Maximum of two integers */
-static inline int qpOASES_getMaxI(	int x,	/**< First integer. */
-									int y	/**< Second integer. */
-									);
-
-
-/** Returns minimum of two integers.
- * \return	Minimum of two integers */
-static inline int qpOASES_getMinI(	int x,	/**< First integer. */
-									int y	/**< Second integer. */
-									);
-
-
-/** Returns maximum of two reals.
- * \return	Maximum of two reals */
-static inline real_t qpOASES_getMax(	real_t x,	/**< First real number. */
-										real_t y	/**< Second real number. */
-										);
-
-
-/** Returns minimum of two reals.
- * \return	Minimum of two reals */
-static inline real_t qpOASES_getMin(	real_t x,	/**< First real number. */
-										real_t y	/**< Second real number. */
-										);
-
-
-/** Returns the absolute value of a real_t-valued argument.
- * \return	Absolute value of a real_t-valued argument */
-static inline real_t qpOASES_getAbs(	real_t x	/**< real_t-valued argument. */
-										);
-
-/** Returns the square-root of a real number.
- * \return	Square-root of a real number */
-static inline real_t qpOASES_getSqrt(	real_t x	/**< Non-negative real number. */
-										);
-
-
-/** Computes the maximum violation of the KKT optimality conditions
- *	of given iterate for given QP data. */
-returnValue qpOASES_getKktViolation(	int nV,						/**< Number of variables. */
-										int nC,						/**< Number of constraints. */
-										const real_t* const H,		/**< Hessian matrix (may be NULL if Hessian is zero or identity matrix). */
-										const real_t* const g,		/**< Gradient vector. */
-										const real_t* const A,		/**< Constraint matrix. */
-										const real_t* const lb,		/**< Lower bound vector (on variables). */
-										const real_t* const ub,		/**< Upper bound vector (on variables). */
-										const real_t* const lbA,	/**< Lower constraints' bound vector. */
-										const real_t* const ubA,	/**< Upper constraints' bound vector. */
-										const real_t* const x,		/**< Primal trial vector. */
-										const real_t* const y,		/**< Dual trial vector. */
-										real_t* const _stat,		/**< Output: maximum value of stationarity condition residual. */
-										real_t* const feas,			/**< Output: maximum value of primal feasibility violation. */
-										real_t* const cmpl			/**< Output: maximum value of complementarity residual. */
-										);
-
-/** Computes the maximum violation of the KKT optimality conditions
- *	of given iterate for given QP data. */
-returnValue qpOASES_getKktViolationSB(	int nV,						/**< Number of variables. */
-										const real_t* const H,		/**< Hessian matrix (may be NULL if Hessian is zero or identity matrix). */
-										const real_t* const g,		/**< Gradient vector. */
-										const real_t* const lb,		/**< Lower bound vector (on variables). */
-										const real_t* const ub,		/**< Upper bound vector (on variables). */
-										const real_t* const x,		/**< Primal trial vector. */
-										const real_t* const y,		/**< Dual trial vector. */
-										real_t* const _stat,		/**< Output: maximum value of stationarity condition residual. */
-										real_t* const feas,			/**< Output: maximum value of primal feasibility violation. */
-										real_t* const cmpl			/**< Output: maximum value of complementarity residual. */
-										);
-
-
-/** Writes a value of BooleanType into a string.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_convertBooleanTypeToString(	BooleanType value, 		/**< Value to be written. */
-												char* const string		/**< Input: String of sufficient size, \n
-																			Output: String containing value. */
-												);
-
-/** Writes a value of SubjectToStatus into a string.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_convertSubjectToStatusToString(	SubjectToStatus value,	/**< Value to be written. */
-													char* const string		/**< Input: String of sufficient size, \n
-																				Output: String containing value. */
-													);
-
-/** Writes a value of PrintLevel into a string.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_convertPrintLevelToString(	PrintLevel value, 		/**< Value to be written. */
-												char* const string		/**< Input: String of sufficient size, \n
-																			Output: String containing value. */
-												);
-
-
-/** Converts a returnValue from an QProblem(B) object into a more 
- *	simple status flag.
- *
- * \return  0: QP problem solved
- *          1: QP could not be solved within given number of iterations
- *         -1: QP could not be solved due to an internal error
- *         -2: QP is infeasible (and thus could not be solved)
- *         -3: QP is unbounded (and thus could not be solved)
- */
-int qpOASES_getSimpleStatus(	returnValue returnvalue, 	/**< ReturnValue to be analysed. */
-								BooleanType doPrintStatus	/**< Flag indicating whether simple status shall be printed to screen. */
-								);
-
-/** Normalises QP constraints.
- * \return SUCCESSFUL_RETURN \n
- *		   RET_INVALID_ARGUMENTS */
-returnValue qpOASES_normaliseConstraints(	int nV,			/**< Number of variables. */
-											int nC, 		/**< Number of constraints. */
-											real_t* A,		/**< Input:  Constraint matrix, \n
-																 Output: Normalised constraint matrix. */
-											real_t* lbA,	/**< Input:  Constraints' lower bound vector, \n
-																 Output: Normalised constraints' lower bound vector. */
-											real_t* ubA,	/**< Input:  Constraints' upper bound vector, \n
-																 Output: Normalised constraints' upper bound vector. */
-											int type		/**< Norm type, 1: one-norm, 2: Euclidean norm. */
-											);
-
-
-#ifdef __DEBUG__
-/** Writes matrix with given dimension into specified file. */
-void gdb_printmat(	const char *fname,			/**< File name. */
-					real_t *M,					/**< Matrix to be written. */
-					int n,						/**< Number of rows. */
-					int m,						/**< Number of columns. */
-					int ldim					/**< Leading dimension. */
-					);
-#endif /* __DEBUG__ */
-
-
-#if defined(__DSPACE__) || defined(__XPCTARGET__) 
-void __cxa_pure_virtual( void );
-#endif /* __DSPACE__ || __XPCTARGET__*/ 
-
-
-
-/*
- *   i s E q u a l
- */
-static inline BooleanType qpOASES_isEqual(	real_t x,
-											real_t y,
-											real_t TOL
-											)
-{
-    if ( qpOASES_getAbs(x-y) <= TOL )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *   i s Z e r o
- */
-static inline BooleanType qpOASES_isZero(	real_t x,
-											real_t TOL
-											)
-{
-    if ( qpOASES_getAbs(x) <= TOL )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *   g e t S i g n
- */
-static inline real_t qpOASES_getSign(	real_t arg
-										)
-{
-	if ( arg >= 0.0 )
-		return 1.0;
-	else
-		return -1.0;
-}
-
-
-
-/*
- *   g e t M a x
- */
-static inline int qpOASES_getMaxI(	int x,
-									int y
-									)
-{
-    return (y<x) ? x : y;
-}
-
-
-/*
- *   g e t M i n
- */
-static inline int qpOASES_getMinI(	int x,
-									int y
-									)
-{
-    return (y>x) ? x : y;
-}
-
-
-/*
- *   g e t M a x
- */
-static inline real_t qpOASES_getMax(	real_t x,
-										real_t y
-										)
-{
-	#ifdef __NO_FMATH__
-    return (y<x) ? x : y;
-	#else
-	return (y<x) ? x : y;
-	/*return fmax(x,y); seems to be slower */
-	#endif
-}
-
-
-/*
- *   g e t M i n
- */
-static inline real_t qpOASES_getMin(	real_t x,
-										real_t y
-										)
-{
-	#ifdef __NO_FMATH__
-    return (y>x) ? x : y;
-	#else
-	return (y>x) ? x : y;
-	/*return fmin(x,y); seems to be slower */
-	#endif
-}
-
-
-/*
- *   g e t A b s
- */
-static inline real_t qpOASES_getAbs(	real_t x
-										)
-{
-	#ifdef __NO_FMATH__
-	return (x>=0.0) ? x : -x;
-	#else
-	return fabs(x);
-	#endif
-}
-
-/*
- *   g e t S q r t
- */
-static inline real_t qpOASES_getSqrt(	real_t x
-										)
-{
-    #ifdef __NO_FMATH__
-	return sqrt(x); /* put your custom sqrt-replacement here */
-	#else
-	return sqrt(x);
-	#endif
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_UTILS_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/extras/OQPinterface.h b/third_party/acados/include/qpOASES_e/extras/OQPinterface.h
deleted file mode 100644
index da59ea9db6483f..00000000000000
--- a/third_party/acados/include/qpOASES_e/extras/OQPinterface.h
+++ /dev/null
@@ -1,227 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/extras/OQPinterface.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of an interface comprising several utility functions
- *	for solving test problems from the Online QP Benchmark Collection
- *	(This collection is no longer maintained, see
- *	http://www.qpOASES.org/onlineQP for a backup).
- */
-
-
-#ifndef QPOASES_OQPINTERFACE_H
-#define QPOASES_OQPINTERFACE_H
-
-
-#include <qpOASES_e/Utils.h>
-#include <qpOASES_e/Options.h>
-
-#include <qpOASES_e/QProblemB.h>
-#include <qpOASES_e/QProblem.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-typedef struct {
-	QProblem *qp;
-
-	DenseMatrix *H;
-	DenseMatrix *A;
-
-	real_t *x;
-	real_t *y;
-} OQPbenchmark_ws;
-
-int OQPbenchmark_ws_calculateMemorySize( unsigned int nV, unsigned int nC );
-
-char *OQPbenchmark_ws_assignMemory( unsigned int nV, unsigned int nC, OQPbenchmark_ws **mem, void *raw_memory );
-
-OQPbenchmark_ws *OQPbenchmark_ws_createMemory( unsigned int nV, unsigned int nC );
-
-typedef struct {
-	QProblemB *qp;
-
-	DenseMatrix *H;
-
-	real_t *x;
-	real_t *y;
-} OQPbenchmarkB_ws;
-
-int OQPbenchmarkB_ws_calculateMemorySize( unsigned int nV );
-
-char *OQPbenchmarkB_ws_assignMemory( unsigned int nV, OQPbenchmarkB_ws **mem, void *raw_memory );
-
-OQPbenchmarkB_ws *OQPbenchmarkB_ws_createMemory( unsigned int nV );
-
-typedef struct {
-	OQPbenchmark_ws *qp_ws;
-	OQPbenchmarkB_ws *qpB_ws;
-
-	real_t *H;
-	real_t *g;
-	real_t *A;
-	real_t *lb;
-	real_t *ub;
-	real_t *lbA;
-	real_t *ubA;
-} OQPinterface_ws;
-
-int OQPinterface_ws_calculateMemorySize( unsigned int nV, unsigned int nC, unsigned int nQP  );
-
-char *OQPinterface_ws_assignMemory( unsigned int nV, unsigned int nC, unsigned int nQP, OQPinterface_ws **mem, void *raw_memory );
-
-OQPinterface_ws *OQPinterface_ws_createMemory( unsigned int nV, unsigned int nC, unsigned int nQP );
-
-/** Reads dimensions of an Online QP Benchmark problem from file.
- * \return SUCCESSFUL_RETURN \n
-		   RET_UNABLE_TO_READ_FILE \n
-		   RET_FILEDATA_INCONSISTENT */
-returnValue readOQPdimensions(	const char* path,	/**< Full path of the data files (without trailing slash!). */
-								int* nQP,			/**< Output: Number of QPs. */
-								int* nV,			/**< Output: Number of variables. */
-								int* nC,			/**< Output: Number of constraints. */
-								int* nEC			/**< Output: Number of equality constraints. */
-								);
-
-/** Reads data of an Online QP Benchmark problem from file.
- *  This function allocates the required memory for all data; after successfully calling it,
- *  you have to free this memory yourself!
- * \return SUCCESSFUL_RETURN \n
-		   RET_INVALID_ARGUMENTS \n
-		   RET_UNABLE_TO_READ_FILE \n
-		   RET_FILEDATA_INCONSISTENT */
-returnValue readOQPdata(	const char* path,	/**< Full path of the data files (without trailing slash!). */
-							int* nQP,			/**< Output: Number of QPs. */
-							int* nV,			/**< Output: Number of variables. */
-							int* nC,			/**< Output: Number of constraints. */
-							int* nEC,			/**< Output: Number of equality constraints. */
-							real_t* H,		 	/**< Output: Hessian matrix. */
-							real_t* g,		 	/**< Output: Sequence of gradient vectors. */
-							real_t* A,		 	/**< Output: Constraint matrix. */
-							real_t* lb,			/**< Output: Sequence of lower bound vectors (on variables). */
-							real_t* ub,			/**< Output: Sequence of upper bound vectors (on variables). */
-							real_t* lbA,		/**< Output: Sequence of lower constraints' bound vectors. */
-							real_t* ubA,		/**< Output: Sequence of upper constraints' bound vectors. */
-							real_t* xOpt,		/**< Output: Sequence of primal solution vectors
-												 *           (not read if a null pointer is passed). */
-							real_t* yOpt,		/**< Output: Sequence of dual solution vectors
-												 *           (not read if a null pointer is passed). */
-							real_t* objOpt		/**< Output: Sequence of optimal objective function values
-												 *           (not read if a null pointer is passed). */
-							);
-
-
-/** Solves an Online QP Benchmark problem as specified by the arguments.
- *  The maximum deviations from the given optimal solution as well as the
- *  maximum CPU time to solve each QP are determined.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_BENCHMARK_ABORTED */
-returnValue solveOQPbenchmark(	int nQP,					/**< Number of QPs. */
-								int nV,						/**< Number of variables. */
-								int nC,						/**< Number of constraints. */
-								int nEC,					/**< Number of equality constraints. */
-								real_t* _H,					/**< Hessian matrix. */
-								const real_t* const g,		/**< Sequence of gradient vectors. */
-								real_t* _A,					/**< Constraint matrix. */
-								const real_t* const lb,		/**< Sequence of lower bound vectors (on variables). */
-								const real_t* const ub,		/**< Sequence of upper bound vectors (on variables). */
-								const real_t* const lbA,	/**< Sequence of lower constraints' bound vectors. */
-								const real_t* const ubA,	/**< Sequence of upper constraints' bound vectors. */
-								BooleanType isSparse,		/**< Shall convert matrices to sparse format before solution? */
-								BooleanType useHotstarts,	/**< Shall QP solution be hotstarted? */
-								const Options* options,		/**< QP solver options to be used while solving benchmark problems. */
-								int maxAllowedNWSR, 		/**< Maximum number of working set recalculations to be performed. */
-								real_t* maxNWSR,			/**< Output: Maximum number of performed working set recalculations. */
-								real_t* avgNWSR,			/**< Output: Average number of performed working set recalculations. */
-								real_t* maxCPUtime,			/**< Output: Maximum CPU time required for solving each QP. */
-								real_t* avgCPUtime,			/**< Output: Average CPU time required for solving each QP. */
-								real_t* maxStationarity,	/**< Output: Maximum residual of stationarity condition. */
-								real_t* maxFeasibility,		/**< Output: Maximum residual of primal feasibility condition. */
-								real_t* maxComplementarity,	/**< Output: Maximum residual of complementarity condition. */
-								OQPbenchmark_ws *work	    /**< Workspace. */
-								);
-
-/** Solves an Online QP Benchmark problem (without constraints) as specified
- *  by the arguments. The maximum deviations from the given optimal solution
- *  as well as the maximum CPU time to solve each QP are determined.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_BENCHMARK_ABORTED */
-returnValue solveOQPbenchmarkB(	int nQP,					/**< Number of QPs. */
-								int nV,						/**< Number of variables. */
-								real_t* _H,					/**< Hessian matrix. */
-								const real_t* const g,		/**< Sequence of gradient vectors. */
-								const real_t* const lb,		/**< Sequence of lower bound vectors (on variables). */
-								const real_t* const ub,		/**< Sequence of upper bound vectors (on variables). */
-								BooleanType isSparse,		/**< Shall convert matrices to sparse format before solution? */
-								BooleanType useHotstarts,	/**< Shall QP solution be hotstarted? */
-								const Options* options,		/**< QP solver options to be used while solving benchmark problems. */
-								int maxAllowedNWSR, 		/**< Maximum number of working set recalculations to be performed. */
-								real_t* maxNWSR,			/**< Output: Maximum number of performed working set recalculations. */
-								real_t* avgNWSR,			/**< Output: Average number of performed working set recalculations. */
-								real_t* maxCPUtime,			/**< Output: Maximum CPU time required for solving each QP. */
-								real_t* avgCPUtime,			/**< Output: Average CPU time required for solving each QP. */
-								real_t* maxStationarity,	/**< Output: Maximum residual of stationarity condition. */
-								real_t* maxFeasibility,		/**< Output: Maximum residual of primal feasibility condition. */
-								real_t* maxComplementarity,	/**< Output: Maximum residual of complementarity condition. */
-								OQPbenchmarkB_ws *work	    /**< Workspace. */
-								);
-
-
-/** Runs an Online QP Benchmark problem and determines the maximum
- *  violation of the KKT optimality conditions as well as the
- *  maximum and average number of iterations and CPU time to solve
- *	each QP.
- *
- * \return SUCCESSFUL_RETURN \n
-		   RET_UNABLE_TO_READ_BENCHMARK \n
- 		   RET_BENCHMARK_ABORTED */
-returnValue runOQPbenchmark(	const char* path,			/**< Full path of the benchmark files (without trailing slash!). */
-								BooleanType isSparse,		/**< Shall convert matrices to sparse format before solution? */
-								BooleanType useHotstarts,	/**< Shall QP solution be hotstarted? */
-								const Options* options,		/**< QP solver options to be used while solving benchmark problems. */
-								int maxAllowedNWSR, 		/**< Maximum number of working set recalculations to be performed. */
-								real_t* maxNWSR,			/**< Output: Maximum number of performed working set recalculations. */
-								real_t* avgNWSR,			/**< Output: Average number of performed working set recalculations. */
-								real_t* maxCPUtime,			/**< Output: Maximum CPU time required for solving each QP. */
-								real_t* avgCPUtime,			/**< Output: Average CPU time required for solving each QP. */
-								real_t* maxStationarity,	/**< Output: Maximum residual of stationarity condition. */
-								real_t* maxFeasibility,		/**< Output: Maximum residual of primal feasibility condition. */
-								real_t* maxComplementarity,	/**< Output: Maximum residual of complementarity condition. */
-								OQPinterface_ws* work       /**< Workspace. */
-								);
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_OQPINTERFACE_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/larch64/lib/libacados.so b/third_party/acados/larch64/lib/libacados.so
deleted file mode 100644
index a081e31ab178fd..00000000000000
--- a/third_party/acados/larch64/lib/libacados.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:091ed10ea2b52866b826ef6867b3413d6fd61af66fcedf3d932c9adf3fb329de
-size 512912
diff --git a/third_party/acados/larch64/lib/libblasfeo.so b/third_party/acados/larch64/lib/libblasfeo.so
deleted file mode 100644
index e2191897a10225..00000000000000
--- a/third_party/acados/larch64/lib/libblasfeo.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d40b25de85318c8349c9894a3cbeaa713efae4158d8cc2c5c77af9f1bfbbb28e
-size 1150320
diff --git a/third_party/acados/larch64/lib/libhpipm.so b/third_party/acados/larch64/lib/libhpipm.so
deleted file mode 100644
index 002eda375a5265..00000000000000
--- a/third_party/acados/larch64/lib/libhpipm.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:91b9276e74c7d7750288d76087d586ed27932939bc7bca2ad1494b6558fc43e3
-size 1367352
diff --git a/third_party/acados/larch64/lib/libqpOASES_e.so b/third_party/acados/larch64/lib/libqpOASES_e.so
deleted file mode 120000
index 14048625a1c2d3..00000000000000
--- a/third_party/acados/larch64/lib/libqpOASES_e.so
+++ /dev/null
@@ -1 +0,0 @@
-libqpOASES_e.so.3.1
\ No newline at end of file
diff --git a/third_party/acados/larch64/lib/libqpOASES_e.so.3.1 b/third_party/acados/larch64/lib/libqpOASES_e.so.3.1
deleted file mode 100644
index d64e40ec607035..00000000000000
--- a/third_party/acados/larch64/lib/libqpOASES_e.so.3.1
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c0a84042e5315af18e6e33b9b9c5e96573248e41ff165657eb9d83da4da2889f
-size 223152
diff --git a/third_party/acados/larch64/t_renderer b/third_party/acados/larch64/t_renderer
deleted file mode 100755
index f9e7d16601d24a..00000000000000
--- a/third_party/acados/larch64/t_renderer
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4660fe00e03e29d90459ac2fd46a6e10982577d0ba558b9f05e5712df66814b4
-size 17915048
diff --git a/third_party/acados/x86_64/lib/libacados.so b/third_party/acados/x86_64/lib/libacados.so
deleted file mode 100644
index 50d647a8621fdd..00000000000000
--- a/third_party/acados/x86_64/lib/libacados.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:05a1ba3cf37fa929cdd56f892608b2f89c35a05ef1b07fedb86b2f0d76607263
-size 540488
diff --git a/third_party/acados/x86_64/lib/libblasfeo.so b/third_party/acados/x86_64/lib/libblasfeo.so
deleted file mode 100644
index a98f45abd2e47c..00000000000000
--- a/third_party/acados/x86_64/lib/libblasfeo.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c0bf22898d9c59b672d3d0961f5f4c804b9957478125d99eb297de3091bedd15
-size 2416112
diff --git a/third_party/acados/x86_64/lib/libhpipm.so b/third_party/acados/x86_64/lib/libhpipm.so
deleted file mode 100644
index f40cb487cd7cfa..00000000000000
--- a/third_party/acados/x86_64/lib/libhpipm.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5b6875fb47940764d4ebb916c2373cb0e04929229feb654b290676c28d48fa9d
-size 1531024
diff --git a/third_party/acados/x86_64/lib/libqpOASES_e.so b/third_party/acados/x86_64/lib/libqpOASES_e.so
deleted file mode 120000
index 14048625a1c2d3..00000000000000
--- a/third_party/acados/x86_64/lib/libqpOASES_e.so
+++ /dev/null
@@ -1 +0,0 @@
-libqpOASES_e.so.3.1
\ No newline at end of file
diff --git a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1
deleted file mode 100644
index 81afd059f7ea12..00000000000000
--- a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:04be908c3f707e5c968022b9cdd79ab75ae7af46e7fa019ceee98f854ddd3f64
-size 262464
diff --git a/third_party/acados/x86_64/t_renderer b/third_party/acados/x86_64/t_renderer
deleted file mode 100755
index d41f6c37255482..00000000000000
--- a/third_party/acados/x86_64/t_renderer
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a53ae46650c4df5b0ddb87a658f59a0422e41743e8bc2d822da0aefd1d280791
-size 5088536

From d7c562e1300b967fdbde39f7da733eb81aa52c6c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 9 May 2026 19:42:31 -0700
Subject: [PATCH 1046/1434] use linux headers from /usr (#37993)

* use linux headers from /usr

* Fix linux header build on non-TICI platforms

* Copy NV12 media header helpers
---
 SConstruct                                    |    1 -
 msgq_repo                                     |    2 +-
 system/camerad/cameras/camera_qcom2.cc        |    2 -
 system/camerad/cameras/nv12_info.h            |  110 +-
 system/camerad/cameras/nv12_info.py           |    2 +-
 system/camerad/cameras/spectra.cc             |    1 -
 system/camerad/cameras/spectra.h              |   23 +
 system/camerad/sensors/os04c10.cc             |    2 +-
 system/camerad/sensors/ox03c10.cc             |    2 +-
 system/loggerd/SConscript                     |   10 +-
 system/loggerd/encoder/encoder.h              |    2 +-
 system/loggerd/encoder/v4l_encoder.cc         |    4 +-
 third_party/linux/include/linux/ion.h         |   78 -
 third_party/linux/include/media/cam_cpas.h    |   25 -
 third_party/linux/include/media/cam_defs.h    |  477 -----
 third_party/linux/include/media/cam_fd.h      |  127 --
 third_party/linux/include/media/cam_icp.h     |  179 --
 third_party/linux/include/media/cam_isp.h     |  379 ----
 third_party/linux/include/media/cam_isp_ife.h |   39 -
 third_party/linux/include/media/cam_isp_vfe.h |   44 -
 third_party/linux/include/media/cam_jpeg.h    |  117 --
 third_party/linux/include/media/cam_lrme.h    |   65 -
 third_party/linux/include/media/cam_req_mgr.h |  436 -----
 third_party/linux/include/media/cam_sensor.h  |  477 -----
 .../include/media/cam_sensor_cmn_header.h     |  391 ----
 third_party/linux/include/media/cam_sync.h    |  134 --
 third_party/linux/include/msm_cam_sensor.h    |  829 --------
 third_party/linux/include/msm_camsensor_sdk.h |  386 ----
 third_party/linux/include/msm_ion.h           |  211 --
 third_party/linux/include/msm_kgsl.h          | 1449 --------------
 third_party/linux/include/msm_media_info.h    | 1392 --------------
 third_party/linux/include/msmb_camera.h       |  220 ---
 third_party/linux/include/msmb_isp.h          |  880 ---------
 third_party/linux/include/msmb_ispif.h        |  125 --
 third_party/linux/include/v4l2-controls.h     | 1696 -----------------
 tools/replay/qcom_decoder.cc                  |    4 +-
 36 files changed, 145 insertions(+), 10176 deletions(-)
 delete mode 100644 third_party/linux/include/linux/ion.h
 delete mode 100644 third_party/linux/include/media/cam_cpas.h
 delete mode 100644 third_party/linux/include/media/cam_defs.h
 delete mode 100644 third_party/linux/include/media/cam_fd.h
 delete mode 100644 third_party/linux/include/media/cam_icp.h
 delete mode 100644 third_party/linux/include/media/cam_isp.h
 delete mode 100644 third_party/linux/include/media/cam_isp_ife.h
 delete mode 100644 third_party/linux/include/media/cam_isp_vfe.h
 delete mode 100644 third_party/linux/include/media/cam_jpeg.h
 delete mode 100644 third_party/linux/include/media/cam_lrme.h
 delete mode 100644 third_party/linux/include/media/cam_req_mgr.h
 delete mode 100644 third_party/linux/include/media/cam_sensor.h
 delete mode 100644 third_party/linux/include/media/cam_sensor_cmn_header.h
 delete mode 100644 third_party/linux/include/media/cam_sync.h
 delete mode 100644 third_party/linux/include/msm_cam_sensor.h
 delete mode 100644 third_party/linux/include/msm_camsensor_sdk.h
 delete mode 100644 third_party/linux/include/msm_ion.h
 delete mode 100644 third_party/linux/include/msm_kgsl.h
 delete mode 100644 third_party/linux/include/msm_media_info.h
 delete mode 100644 third_party/linux/include/msmb_camera.h
 delete mode 100644 third_party/linux/include/msmb_isp.h
 delete mode 100644 third_party/linux/include/msmb_ispif.h
 delete mode 100644 third_party/linux/include/v4l2-controls.h

diff --git a/SConstruct b/SConstruct
index 277ea1a317db4c..9d985ab696aaec 100644
--- a/SConstruct
+++ b/SConstruct
@@ -113,7 +113,6 @@ env = Environment(
     "#msgq",
     "#third_party",
     "#third_party/json11",
-    "#third_party/linux/include",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
   ],
diff --git a/msgq_repo b/msgq_repo
index b7688b9bd731de..6e9dbd57681365 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit b7688b9bd731dea4520adf248bf1eb49b6dde776
+Subproject commit 6e9dbd57681365e272e5fb3d2af20d0d9af7e76f
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 6a7f599ab66ed3..63640920db9b23 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -12,8 +12,6 @@
 #include <string>
 #include <vector>
 
-#include "media/cam_sensor_cmn_header.h"
-
 #include "common/params.h"
 #include "common/swaglog.h"
 
diff --git a/system/camerad/cameras/nv12_info.h b/system/camerad/cameras/nv12_info.h
index e8eb1174062286..c0460caee33d25 100644
--- a/system/camerad/cameras/nv12_info.h
+++ b/system/camerad/cameras/nv12_info.h
@@ -4,7 +4,115 @@
 #include <cstdint>
 #include <tuple>
 
-#include "third_party/linux/include/msm_media_info.h"
+// NV12 subset copied from media/msm_media_info.h.
+#ifndef MSM_MEDIA_ALIGN
+#define MSM_MEDIA_ALIGN(__sz, __align) (((__align) & ((__align) - 1)) ? \
+  ((((__sz) + (__align) - 1) / (__align)) * (__align)) : \
+  (((__sz) + (__align) - 1) & (~((__align) - 1))))
+#endif
+
+#ifndef MSM_MEDIA_MAX
+#define MSM_MEDIA_MAX(__a, __b) ((__a) > (__b) ? (__a) : (__b))
+#endif
+
+enum color_fmts {
+  COLOR_FMT_NV12,
+};
+
+static inline unsigned int VENUS_EXTRADATA_SIZE(int width, int height) {
+  (void)height;
+  (void)width;
+  return 16 * 1024;
+}
+
+static inline unsigned int VENUS_Y_STRIDE(int color_fmt, int width) {
+  unsigned int stride = 0;
+  if (!width) goto invalid_input;
+
+  switch (color_fmt) {
+    case COLOR_FMT_NV12:
+      stride = MSM_MEDIA_ALIGN(width, 128);
+      break;
+    default:
+      break;
+  }
+invalid_input:
+  return stride;
+}
+
+static inline unsigned int VENUS_UV_STRIDE(int color_fmt, int width) {
+  unsigned int stride = 0;
+  if (!width) goto invalid_input;
+
+  switch (color_fmt) {
+    case COLOR_FMT_NV12:
+      stride = MSM_MEDIA_ALIGN(width, 128);
+      break;
+    default:
+      break;
+  }
+invalid_input:
+  return stride;
+}
+
+static inline unsigned int VENUS_Y_SCANLINES(int color_fmt, int height) {
+  unsigned int sclines = 0;
+  if (!height) goto invalid_input;
+
+  switch (color_fmt) {
+    case COLOR_FMT_NV12:
+      sclines = MSM_MEDIA_ALIGN(height, 32);
+      break;
+    default:
+      break;
+  }
+invalid_input:
+  return sclines;
+}
+
+static inline unsigned int VENUS_UV_SCANLINES(int color_fmt, int height) {
+  unsigned int sclines = 0;
+  if (!height) goto invalid_input;
+
+  switch (color_fmt) {
+    case COLOR_FMT_NV12:
+      sclines = MSM_MEDIA_ALIGN((height + 1) >> 1, 16);
+      break;
+    default:
+      break;
+  }
+invalid_input:
+  return sclines;
+}
+
+static inline unsigned int VENUS_BUFFER_SIZE(int color_fmt, int width, int height) {
+  const unsigned int extra_size = VENUS_EXTRADATA_SIZE(width, height);
+  unsigned int size = 0;
+  unsigned int y_stride = 0, uv_stride = 0, y_sclines = 0, uv_sclines = 0;
+
+  if (!width || !height) goto invalid_input;
+
+  y_stride = VENUS_Y_STRIDE(color_fmt, width);
+  uv_stride = VENUS_UV_STRIDE(color_fmt, width);
+  y_sclines = VENUS_Y_SCANLINES(color_fmt, height);
+  uv_sclines = VENUS_UV_SCANLINES(color_fmt, height);
+
+  switch (color_fmt) {
+    case COLOR_FMT_NV12: {
+      const unsigned int y_plane = y_stride * y_sclines;
+      const unsigned int uv_plane = uv_stride * uv_sclines + 4096;
+      size = y_plane + uv_plane + MSM_MEDIA_MAX(extra_size, 8 * y_stride);
+      size = MSM_MEDIA_ALIGN(size, 4096);
+      size += MSM_MEDIA_ALIGN(width, 512) * 512;
+      size = MSM_MEDIA_ALIGN(size, 4096);
+      break;
+    }
+    default:
+      break;
+  }
+invalid_input:
+  return size;
+}
 
 // Returns NV12 aligned (stride, y_height, uv_height, buffer_size) for the given frame dimensions.
 inline std::tuple<uint32_t, uint32_t, uint32_t, uint32_t> get_nv12_info(int width, int height) {
diff --git a/system/camerad/cameras/nv12_info.py b/system/camerad/cameras/nv12_info.py
index bcb6312d2bcf81..2cadc2936406db 100644
--- a/system/camerad/cameras/nv12_info.py
+++ b/system/camerad/cameras/nv12_info.py
@@ -1,5 +1,5 @@
 # Python version of system/camerad/cameras/nv12_info.h
-# Calculations from third_party/linux/include/msm_media_info.h (VENUS_BUFFER_SIZE)
+# Calculations from media/msm_media_info.h (VENUS_BUFFER_SIZE)
 
 def align(val: int, alignment: int) -> int:
   return ((val + alignment - 1) // alignment) * alignment
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 1ebb36a4d9c076..0b5f5327f58a55 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -10,7 +10,6 @@
 #include "media/cam_isp.h"
 #include "media/cam_icp.h"
 #include "media/cam_isp_ife.h"
-#include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sync.h"
 
 #include "common/util.h"
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index b8964aed6cc400..eb6d95af1ce273 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -30,6 +30,29 @@ const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 #define OpcodesIFEInitialConfig  0x0
 #define OpcodesIFEUpdate         0x1
 
+// Sensor command values from the SDM845 kernel's private camera header:
+// drivers/media/platform/msm/camera/cam_sensor_module/cam_sensor_utils/cam_sensor_cmn_header.h
+// These are userspace-visible ioctl payload values, but Qualcomm did not export them through UAPI.
+enum {
+  CAMERA_SENSOR_CMD_TYPE_PROBE = 1,
+  CAMERA_SENSOR_CMD_TYPE_PWR_UP = 2,
+  CAMERA_SENSOR_CMD_TYPE_PWR_DOWN = 3,
+  CAMERA_SENSOR_CMD_TYPE_I2C_INFO = 4,
+  CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR = 5,
+  CAMERA_SENSOR_CMD_TYPE_WAIT = 9,
+
+  CAMERA_SENSOR_WAIT_OP_SW_UCND = 3,
+
+  CAMERA_SENSOR_I2C_TYPE_BYTE = 1,
+  CAMERA_SENSOR_I2C_TYPE_WORD = 2,
+
+  I2C_FAST_MODE = 1,
+
+  CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE = 3,
+  CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG = 4,
+  CAM_SENSOR_PACKET_OPCODE_SENSOR_NOP = 127,
+};
+
 std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1);
 int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle);
 int device_control(int fd, int op_code, int session_handle, int dev_handle);
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 7e837f819ccbff..d14c288b919c9b 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -1,7 +1,7 @@
 #include <cmath>
 
 #include "system/camerad/sensors/sensor.h"
-#include "third_party/linux/include/msm_camsensor_sdk.h"
+#include <media/msm_camsensor_sdk.h>
 
 namespace {
 
diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
index 05d58f03c60209..e0e0dec2ffe948 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@@ -1,7 +1,7 @@
 #include <cmath>
 
 #include "system/camerad/sensors/sensor.h"
-#include "third_party/linux/include/msm_camsensor_sdk.h"
+#include <media/msm_camsensor_sdk.h>
 
 namespace {
 
diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript
index 37812639ff14bf..a638704dcad992 100644
--- a/system/loggerd/SConscript
+++ b/system/loggerd/SConscript
@@ -5,8 +5,10 @@ libs = [common, messaging, visionipc,
         'pthread', 'z', 'm', 'zstd']
 frameworks = []
 
-src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/jpeg_encoder.cc']
-if arch != "larch64":
+src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/jpeg_encoder.cc']
+if arch == "larch64":
+  src += ['encoder/v4l_encoder.cc']
+else:
   src += ['encoder/ffmpeg_encoder.cc']
   libs += ['yuv']
   if arch == "Darwin":
@@ -15,10 +17,6 @@ if arch != "larch64":
 if arch != "Darwin":
   libs += ['va', 'va-drm', 'drm']
 
-if arch == "Darwin":
-  # exclude v4l
-  del src[src.index('encoder/v4l_encoder.cc')]
-
 logger_lib = env.Library('logger', src)
 libs.insert(0, logger_lib)
 
diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h
index 57146fafc3b87a..97cd10acc92eaa 100644
--- a/system/loggerd/encoder/encoder.h
+++ b/system/loggerd/encoder/encoder.h
@@ -2,7 +2,7 @@
 
 // has to be in this order
 #ifdef __linux__
-#include "third_party/linux/include/v4l2-controls.h"
+#include <linux/v4l2-controls.h>
 #include <linux/videodev2.h>
 #else
 #define V4L2_BUF_FLAG_KEYFRAME 8
diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc
index cabd9fd997d424..c54469f69d3869 100644
--- a/system/loggerd/encoder/v4l_encoder.cc
+++ b/system/loggerd/encoder/v4l_encoder.cc
@@ -7,10 +7,10 @@
 #include "common/util.h"
 #include "common/timing.h"
 
-#include "third_party/linux/include/msm_media_info.h"
+#include <media/msm_media_info.h>
 
 // has to be in this order
-#include "third_party/linux/include/v4l2-controls.h"
+#include <linux/v4l2-controls.h>
 #include <linux/videodev2.h>
 #define V4L2_QCOM_BUF_FLAG_CODECCONFIG 0x00020000
 #define V4L2_QCOM_BUF_FLAG_EOS 0x02000000
diff --git a/third_party/linux/include/linux/ion.h b/third_party/linux/include/linux/ion.h
deleted file mode 100644
index 7b5b031f57fa0e..00000000000000
--- a/third_party/linux/include/linux/ion.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/****************************************************************************
- ****************************************************************************
- ***
- ***   This header was automatically generated from a Linux kernel header
- ***   of the same name, to make information necessary for userspace to
- ***   call into the kernel available to libc.  It contains only constants,
- ***   structures, and macros generated from the original header, and thus,
- ***   contains no copyrightable information.
- ***
- ***   To edit the content of this header, modify the corresponding
- ***   source file (e.g. under external/kernel-headers/original/) then
- ***   run bionic/libc/kernel/tools/update_all.py
- ***
- ***   Any manual change here will be lost the next time this script will
- ***   be run. You've been warned!
- ***
- ****************************************************************************
- ****************************************************************************/
-#ifndef _UAPI_LINUX_ION_H
-#define _UAPI_LINUX_ION_H
-#include <linux/ioctl.h>
-#include <linux/types.h>
-typedef int ion_user_handle_t;
-enum ion_heap_type {
-  ION_HEAP_TYPE_SYSTEM,
-  ION_HEAP_TYPE_SYSTEM_CONTIG,
-  ION_HEAP_TYPE_CARVEOUT,
-  ION_HEAP_TYPE_CHUNK,
-  ION_HEAP_TYPE_DMA,
-  ION_HEAP_TYPE_CUSTOM,
-};
-#define ION_NUM_HEAP_IDS (sizeof(unsigned int) * 8)
-#define ION_FLAG_CACHED 1
-#define ION_FLAG_CACHED_NEEDS_SYNC 2
-struct ion_allocation_data {
-  size_t len;
-  size_t align;
-  unsigned int heap_id_mask;
-  unsigned int flags;
-  ion_user_handle_t handle;
-};
-struct ion_fd_data {
-  ion_user_handle_t handle;
-  int fd;
-};
-struct ion_handle_data {
-  ion_user_handle_t handle;
-};
-struct ion_custom_data {
-  unsigned int cmd;
-  unsigned long arg;
-};
-#define MAX_HEAP_NAME 32
-struct ion_heap_data {
-  char name[MAX_HEAP_NAME];
-  __u32 type;
-  __u32 heap_id;
-  __u32 reserved0;
-  __u32 reserved1;
-  __u32 reserved2;
-};
-struct ion_heap_query {
-  __u32 cnt;
-  __u32 reserved0;
-  __u64 heaps;
-  __u32 reserved1;
-  __u32 reserved2;
-};
-#define ION_IOC_MAGIC 'I'
-#define ION_IOC_ALLOC _IOWR(ION_IOC_MAGIC, 0, struct ion_allocation_data)
-#define ION_IOC_FREE _IOWR(ION_IOC_MAGIC, 1, struct ion_handle_data)
-#define ION_IOC_MAP _IOWR(ION_IOC_MAGIC, 2, struct ion_fd_data)
-#define ION_IOC_SHARE _IOWR(ION_IOC_MAGIC, 4, struct ion_fd_data)
-#define ION_IOC_IMPORT _IOWR(ION_IOC_MAGIC, 5, struct ion_fd_data)
-#define ION_IOC_SYNC _IOWR(ION_IOC_MAGIC, 7, struct ion_fd_data)
-#define ION_IOC_CUSTOM _IOWR(ION_IOC_MAGIC, 6, struct ion_custom_data)
-#define ION_IOC_HEAP_QUERY _IOWR(ION_IOC_MAGIC, 8, struct ion_heap_query)
-#endif
diff --git a/third_party/linux/include/media/cam_cpas.h b/third_party/linux/include/media/cam_cpas.h
deleted file mode 100644
index c5cbac82e71b50..00000000000000
--- a/third_party/linux/include/media/cam_cpas.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#ifndef __UAPI_CAM_CPAS_H__
-#define __UAPI_CAM_CPAS_H__
-
-#include "cam_defs.h"
-
-#define CAM_FAMILY_CAMERA_SS     1
-#define CAM_FAMILY_CPAS_SS       2
-
-/**
- * struct cam_cpas_query_cap - CPAS query device capability payload
- *
- * @camera_family     : Camera family type
- * @reserved          : Reserved field for alignment
- * @camera_version    : Camera platform version
- * @cpas_version      : Camera CPAS version within camera platform
- *
- */
-struct cam_cpas_query_cap {
-	uint32_t                 camera_family;
-	uint32_t                 reserved;
-	struct cam_hw_version    camera_version;
-	struct cam_hw_version    cpas_version;
-};
-
-#endif /* __UAPI_CAM_CPAS_H__ */
diff --git a/third_party/linux/include/media/cam_defs.h b/third_party/linux/include/media/cam_defs.h
deleted file mode 100644
index e006463d2aa6c3..00000000000000
--- a/third_party/linux/include/media/cam_defs.h
+++ /dev/null
@@ -1,477 +0,0 @@
-#ifndef __UAPI_CAM_DEFS_H__
-#define __UAPI_CAM_DEFS_H__
-
-#include <linux/videodev2.h>
-#include <linux/types.h>
-#include <linux/ioctl.h>
-
-
-/* camera op codes */
-#define CAM_COMMON_OPCODE_BASE                  0x100
-#define CAM_QUERY_CAP                           (CAM_COMMON_OPCODE_BASE + 0x1)
-#define CAM_ACQUIRE_DEV                         (CAM_COMMON_OPCODE_BASE + 0x2)
-#define CAM_START_DEV                           (CAM_COMMON_OPCODE_BASE + 0x3)
-#define CAM_STOP_DEV                            (CAM_COMMON_OPCODE_BASE + 0x4)
-#define CAM_CONFIG_DEV                          (CAM_COMMON_OPCODE_BASE + 0x5)
-#define CAM_RELEASE_DEV                         (CAM_COMMON_OPCODE_BASE + 0x6)
-#define CAM_SD_SHUTDOWN                         (CAM_COMMON_OPCODE_BASE + 0x7)
-#define CAM_FLUSH_REQ                           (CAM_COMMON_OPCODE_BASE + 0x8)
-#define CAM_COMMON_OPCODE_MAX                   (CAM_COMMON_OPCODE_BASE + 0x9)
-
-#define CAM_EXT_OPCODE_BASE                     0x200
-#define CAM_CONFIG_DEV_EXTERNAL                 (CAM_EXT_OPCODE_BASE + 0x1)
-
-/* camera handle type */
-#define CAM_HANDLE_USER_POINTER                 1
-#define CAM_HANDLE_MEM_HANDLE                   2
-
-/* Generic Blob CmdBuffer header properties */
-#define CAM_GENERIC_BLOB_CMDBUFFER_SIZE_MASK    0xFFFFFF00
-#define CAM_GENERIC_BLOB_CMDBUFFER_SIZE_SHIFT   8
-#define CAM_GENERIC_BLOB_CMDBUFFER_TYPE_MASK    0xFF
-#define CAM_GENERIC_BLOB_CMDBUFFER_TYPE_SHIFT   0
-
-/* Command Buffer Types */
-#define CAM_CMD_BUF_DMI                     0x1
-#define CAM_CMD_BUF_DMI16                   0x2
-#define CAM_CMD_BUF_DMI32                   0x3
-#define CAM_CMD_BUF_DMI64                   0x4
-#define CAM_CMD_BUF_DIRECT                  0x5
-#define CAM_CMD_BUF_INDIRECT                0x6
-#define CAM_CMD_BUF_I2C                     0x7
-#define CAM_CMD_BUF_FW                      0x8
-#define CAM_CMD_BUF_GENERIC                 0x9
-#define CAM_CMD_BUF_LEGACY                  0xA
-
-/**
- * enum flush_type_t - Identifies the various flush types
- *
- * @CAM_FLUSH_TYPE_REQ:    Flush specific request
- * @CAM_FLUSH_TYPE_ALL:    Flush all requests belonging to a context
- * @CAM_FLUSH_TYPE_MAX:    Max enum to validate flush type
- *
- */
-enum flush_type_t {
-	CAM_FLUSH_TYPE_REQ,
-	CAM_FLUSH_TYPE_ALL,
-	CAM_FLUSH_TYPE_MAX
-};
-
-/**
- * struct cam_control - Structure used by ioctl control for camera
- *
- * @op_code:            This is the op code for camera control
- * @size:               Control command size
- * @handle_type:        User pointer or shared memory handle
- * @reserved:           Reserved field for 64 bit alignment
- * @handle:             Control command payload
- */
-struct cam_control {
-	uint32_t        op_code;
-	uint32_t        size;
-	uint32_t        handle_type;
-	uint32_t        reserved;
-	uint64_t        handle;
-};
-
-/* camera IOCTL */
-#define VIDIOC_CAM_CONTROL \
-	_IOWR('V', BASE_VIDIOC_PRIVATE, struct cam_control)
-
-/**
- * struct cam_hw_version - Structure for HW version of camera devices
- *
- * @major    : Hardware version major
- * @minor    : Hardware version minor
- * @incr     : Hardware version increment
- * @reserved : Reserved for 64 bit aligngment
- */
-struct cam_hw_version {
-	uint32_t major;
-	uint32_t minor;
-	uint32_t incr;
-	uint32_t reserved;
-};
-
-/**
- * struct cam_iommu_handle - Structure for IOMMU handles of camera hw devices
- *
- * @non_secure: Device Non Secure IOMMU handle
- * @secure:     Device Secure IOMMU handle
- *
- */
-struct cam_iommu_handle {
-	int32_t non_secure;
-	int32_t secure;
-};
-
-/* camera secure mode */
-#define CAM_SECURE_MODE_NON_SECURE             0
-#define CAM_SECURE_MODE_SECURE                 1
-
-/* Camera Format Type */
-#define CAM_FORMAT_BASE                         0
-#define CAM_FORMAT_MIPI_RAW_6                   1
-#define CAM_FORMAT_MIPI_RAW_8                   2
-#define CAM_FORMAT_MIPI_RAW_10                  3
-#define CAM_FORMAT_MIPI_RAW_12                  4
-#define CAM_FORMAT_MIPI_RAW_14                  5
-#define CAM_FORMAT_MIPI_RAW_16                  6
-#define CAM_FORMAT_MIPI_RAW_20                  7
-#define CAM_FORMAT_QTI_RAW_8                    8
-#define CAM_FORMAT_QTI_RAW_10                   9
-#define CAM_FORMAT_QTI_RAW_12                   10
-#define CAM_FORMAT_QTI_RAW_14                   11
-#define CAM_FORMAT_PLAIN8                       12
-#define CAM_FORMAT_PLAIN16_8                    13
-#define CAM_FORMAT_PLAIN16_10                   14
-#define CAM_FORMAT_PLAIN16_12                   15
-#define CAM_FORMAT_PLAIN16_14                   16
-#define CAM_FORMAT_PLAIN16_16                   17
-#define CAM_FORMAT_PLAIN32_20                   18
-#define CAM_FORMAT_PLAIN64                      19
-#define CAM_FORMAT_PLAIN128                     20
-#define CAM_FORMAT_ARGB                         21
-#define CAM_FORMAT_ARGB_10                      22
-#define CAM_FORMAT_ARGB_12                      23
-#define CAM_FORMAT_ARGB_14                      24
-#define CAM_FORMAT_DPCM_10_6_10                 25
-#define CAM_FORMAT_DPCM_10_8_10                 26
-#define CAM_FORMAT_DPCM_12_6_12                 27
-#define CAM_FORMAT_DPCM_12_8_12                 28
-#define CAM_FORMAT_DPCM_14_8_14                 29
-#define CAM_FORMAT_DPCM_14_10_14                30
-#define CAM_FORMAT_NV21                         31
-#define CAM_FORMAT_NV12                         32
-#define CAM_FORMAT_TP10                         33
-#define CAM_FORMAT_YUV422                       34
-#define CAM_FORMAT_PD8                          35
-#define CAM_FORMAT_PD10                         36
-#define CAM_FORMAT_UBWC_NV12                    37
-#define CAM_FORMAT_UBWC_NV12_4R                 38
-#define CAM_FORMAT_UBWC_TP10                    39
-#define CAM_FORMAT_UBWC_P010                    40
-#define CAM_FORMAT_PLAIN8_SWAP                  41
-#define CAM_FORMAT_PLAIN8_10                    42
-#define CAM_FORMAT_PLAIN8_10_SWAP               43
-#define CAM_FORMAT_YV12                         44
-#define CAM_FORMAT_Y_ONLY                       45
-#define CAM_FORMAT_MAX                          46
-
-/* camera rotaion */
-#define CAM_ROTATE_CW_0_DEGREE                  0
-#define CAM_ROTATE_CW_90_DEGREE                 1
-#define CAM_RORATE_CW_180_DEGREE                2
-#define CAM_ROTATE_CW_270_DEGREE                3
-
-/* camera Color Space */
-#define CAM_COLOR_SPACE_BASE                    0
-#define CAM_COLOR_SPACE_BT601_FULL              1
-#define CAM_COLOR_SPACE_BT601625                2
-#define CAM_COLOR_SPACE_BT601525                3
-#define CAM_COLOR_SPACE_BT709                   4
-#define CAM_COLOR_SPACE_DEPTH                   5
-#define CAM_COLOR_SPACE_MAX                     6
-
-/* camera buffer direction */
-#define CAM_BUF_INPUT                           1
-#define CAM_BUF_OUTPUT                          2
-#define CAM_BUF_IN_OUT                          3
-
-/* camera packet device Type */
-#define CAM_PACKET_DEV_BASE                     0
-#define CAM_PACKET_DEV_IMG_SENSOR               1
-#define CAM_PACKET_DEV_ACTUATOR                 2
-#define CAM_PACKET_DEV_COMPANION                3
-#define CAM_PACKET_DEV_EEPOM                    4
-#define CAM_PACKET_DEV_CSIPHY                   5
-#define CAM_PACKET_DEV_OIS                      6
-#define CAM_PACKET_DEV_FLASH                    7
-#define CAM_PACKET_DEV_FD                       8
-#define CAM_PACKET_DEV_JPEG_ENC                 9
-#define CAM_PACKET_DEV_JPEG_DEC                 10
-#define CAM_PACKET_DEV_VFE                      11
-#define CAM_PACKET_DEV_CPP                      12
-#define CAM_PACKET_DEV_CSID                     13
-#define CAM_PACKET_DEV_ISPIF                    14
-#define CAM_PACKET_DEV_IFE                      15
-#define CAM_PACKET_DEV_ICP                      16
-#define CAM_PACKET_DEV_LRME                     17
-#define CAM_PACKET_DEV_MAX                      18
-
-
-/* constants */
-#define CAM_PACKET_MAX_PLANES                   3
-
-/**
- * struct cam_plane_cfg - Plane configuration info
- *
- * @width:                      Plane width in pixels
- * @height:                     Plane height in lines
- * @plane_stride:               Plane stride in pixel
- * @slice_height:               Slice height in line (not used by ISP)
- * @meta_stride:                UBWC metadata stride
- * @meta_size:                  UBWC metadata plane size
- * @meta_offset:                UBWC metadata offset
- * @packer_config:              UBWC packer config
- * @mode_config:                UBWC mode config
- * @tile_config:                UBWC tile config
- * @h_init:                     UBWC horizontal initial coordinate in pixels
- * @v_init:                     UBWC vertical initial coordinate in lines
- *
- */
-struct cam_plane_cfg {
-	uint32_t                width;
-	uint32_t                height;
-	uint32_t                plane_stride;
-	uint32_t                slice_height;
-	uint32_t                meta_stride;
-	uint32_t                meta_size;
-	uint32_t                meta_offset;
-	uint32_t                packer_config;
-	uint32_t                mode_config;
-	uint32_t                tile_config;
-	uint32_t                h_init;
-	uint32_t                v_init;
-};
-
-/**
- * struct cam_cmd_buf_desc - Command buffer descriptor
- *
- * @mem_handle:                 Command buffer handle
- * @offset:                     Command start offset
- * @size:                       Size of the command buffer in bytes
- * @length:                     Used memory in command buffer in bytes
- * @type:                       Type of the command buffer
- * @meta_data:                  Data type for private command buffer
- *                              Between UMD and KMD
- *
- */
-struct cam_cmd_buf_desc {
-	int32_t                 mem_handle;
-	uint32_t                offset;
-	uint32_t                size;
-	uint32_t                length;
-	uint32_t                type;
-	uint32_t                meta_data;
-};
-
-/**
- * struct cam_buf_io_cfg - Buffer io configuration for buffers
- *
- * @mem_handle:                 Mem_handle array for the buffers.
- * @offsets:                    Offsets for each planes in the buffer
- * @planes:                     Per plane information
- * @width:                      Main plane width in pixel
- * @height:                     Main plane height in lines
- * @format:                     Format of the buffer
- * @color_space:                Color space for the buffer
- * @color_pattern:              Color pattern in the buffer
- * @bpp:                        Bit per pixel
- * @rotation:                   Rotation information for the buffer
- * @resource_type:              Resource type associated with the buffer
- * @fence:                      Fence handle
- * @early_fence:                Fence handle for early signal
- * @aux_cmd_buf:                An auxiliary command buffer that may be
- *                              used for programming the IO
- * @direction:                  Direction of the config
- * @batch_size:                 Batch size in HFR mode
- * @subsample_pattern:          Subsample pattern. Used in HFR mode. It
- *                              should be consistent with batchSize and
- *                              CAMIF programming.
- * @subsample_period:           Subsample period. Used in HFR mode. It
- *                              should be consistent with batchSize and
- *                              CAMIF programming.
- * @framedrop_pattern:          Framedrop pattern
- * @framedrop_period:           Framedrop period
- * @flag:                       Flags for extra information
- * @direction:                  Buffer direction: input or output
- * @padding:                    Padding for the structure
- *
- */
-struct cam_buf_io_cfg {
-	int32_t                         mem_handle[CAM_PACKET_MAX_PLANES];
-	uint32_t                        offsets[CAM_PACKET_MAX_PLANES];
-	struct cam_plane_cfg            planes[CAM_PACKET_MAX_PLANES];
-	uint32_t                        format;
-	uint32_t                        color_space;
-	uint32_t                        color_pattern;
-	uint32_t                        bpp;
-	uint32_t                        rotation;
-	uint32_t                        resource_type;
-	int32_t                         fence;
-	int32_t                         early_fence;
-	struct cam_cmd_buf_desc         aux_cmd_buf;
-	uint32_t                        direction;
-	uint32_t                        batch_size;
-	uint32_t                        subsample_pattern;
-	uint32_t                        subsample_period;
-	uint32_t                        framedrop_pattern;
-	uint32_t                        framedrop_period;
-	uint32_t                        flag;
-	uint32_t                        padding;
-};
-
-/**
- * struct cam_packet_header - Camera packet header
- *
- * @op_code:                    Camera packet opcode
- * @size:                       Size of the camera packet in bytes
- * @request_id:                 Request id for this camera packet
- * @flags:                      Flags for the camera packet
- * @padding:                    Padding
- *
- */
-struct cam_packet_header {
-	uint32_t                op_code;
-	uint32_t                size;
-	uint64_t                request_id;
-	uint32_t                flags;
-	uint32_t                padding;
-};
-
-/**
- * struct cam_patch_desc - Patch structure
- *
- * @dst_buf_hdl:                Memory handle for the dest buffer
- * @dst_offset:                 Offset byte in the dest buffer
- * @src_buf_hdl:                Memory handle for the source buffer
- * @src_offset:                 Offset byte in the source buffer
- *
- */
-struct cam_patch_desc {
-	int32_t                 dst_buf_hdl;
-	uint32_t                dst_offset;
-	int32_t                 src_buf_hdl;
-	uint32_t                src_offset;
-};
-
-/**
- * struct cam_packet - Camera packet structure
- *
- * @header:                     Camera packet header
- * @cmd_buf_offset:             Command buffer start offset
- * @num_cmd_buf:                Number of the command buffer in the packet
- * @io_config_offset:           Buffer io configuration start offset
- * @num_io_configs:             Number of the buffer io configurations
- * @patch_offset:               Patch offset for the patch structure
- * @num_patches:                Number of the patch structure
- * @kmd_cmd_buf_index:          Command buffer index which contains extra
- *                              space for the KMD buffer
- * @kmd_cmd_buf_offset:         Offset from the beginning of the command
- *                              buffer for KMD usage.
- * @payload:                    Camera packet payload
- *
- */
-struct cam_packet {
-	struct cam_packet_header        header;
-	uint32_t                        cmd_buf_offset;
-	uint32_t                        num_cmd_buf;
-	uint32_t                        io_configs_offset;
-	uint32_t                        num_io_configs;
-	uint32_t                        patch_offset;
-	uint32_t                        num_patches;
-	uint32_t                        kmd_cmd_buf_index;
-	uint32_t                        kmd_cmd_buf_offset;
-	uint64_t                        payload[1];
-
-};
-
-/**
- * struct cam_release_dev_cmd - Control payload for release devices
- *
- * @session_handle:             Session handle for the release
- * @dev_handle:                 Device handle for the release
- */
-struct cam_release_dev_cmd {
-	int32_t                 session_handle;
-	int32_t                 dev_handle;
-};
-
-/**
- * struct cam_start_stop_dev_cmd - Control payload for start/stop device
- *
- * @session_handle:             Session handle for the start/stop command
- * @dev_handle:                 Device handle for the start/stop command
- *
- */
-struct cam_start_stop_dev_cmd {
-	int32_t                 session_handle;
-	int32_t                 dev_handle;
-};
-
-/**
- * struct cam_config_dev_cmd - Command payload for configure device
- *
- * @session_handle:             Session handle for the command
- * @dev_handle:                 Device handle for the command
- * @offset:                     Offset byte in the packet handle.
- * @packet_handle:              Packet memory handle for the actual packet:
- *                              struct cam_packet.
- *
- */
-struct cam_config_dev_cmd {
-	int32_t                 session_handle;
-	int32_t                 dev_handle;
-	uint64_t                offset;
-	uint64_t                packet_handle;
-};
-
-/**
- * struct cam_query_cap_cmd - Payload for query device capability
- *
- * @size:               Handle size
- * @handle_type:        User pointer or shared memory handle
- * @caps_handle:        Device specific query command payload
- *
- */
-struct cam_query_cap_cmd {
-	uint32_t        size;
-	uint32_t        handle_type;
-	uint64_t        caps_handle;
-};
-
-/**
- * struct cam_acquire_dev_cmd - Control payload for acquire devices
- *
- * @session_handle:     Session handle for the acquire command
- * @dev_handle:         Device handle to be returned
- * @handle_type:        Resource handle type:
- *                      1 = user pointer, 2 = mem handle
- * @num_resources:      Number of the resources to be acquired
- * @resources_hdl:      Resource handle that refers to the actual
- *                      resource array. Each item in this
- *                      array is device specific resource structure
- *
- */
-struct cam_acquire_dev_cmd {
-	int32_t         session_handle;
-	int32_t         dev_handle;
-	uint32_t        handle_type;
-	uint32_t        num_resources;
-	uint64_t        resource_hdl;
-};
-
-/**
- * struct cam_flush_dev_cmd - Control payload for flush devices
- *
- * @version:           Version
- * @session_handle:    Session handle for the acquire command
- * @dev_handle:        Device handle to be returned
- * @flush_type:        Flush type:
- *                     0 = flush specific request
- *                     1 = flush all
- * @reserved:          Reserved for 64 bit aligngment
- * @req_id:            Request id that needs to cancel
- *
- */
-struct cam_flush_dev_cmd {
-	uint64_t       version;
-	int32_t        session_handle;
-	int32_t        dev_handle;
-	uint32_t       flush_type;
-	uint32_t       reserved;
-	int64_t        req_id;
-};
-
-#endif /* __UAPI_CAM_DEFS_H__ */
diff --git a/third_party/linux/include/media/cam_fd.h b/third_party/linux/include/media/cam_fd.h
deleted file mode 100644
index 8feb6e4da89a79..00000000000000
--- a/third_party/linux/include/media/cam_fd.h
+++ /dev/null
@@ -1,127 +0,0 @@
-#ifndef __UAPI_CAM_FD_H__
-#define __UAPI_CAM_FD_H__
-
-#include "cam_defs.h"
-
-#define CAM_FD_MAX_FACES                       35
-#define CAM_FD_RAW_RESULT_ENTRIES              512
-
-/* FD Op Codes */
-#define CAM_PACKET_OPCODES_FD_FRAME_UPDATE     0x0
-
-/* FD Command Buffer identifiers */
-#define CAM_FD_CMD_BUFFER_ID_GENERIC           0x0
-#define CAM_FD_CMD_BUFFER_ID_CDM               0x1
-#define CAM_FD_CMD_BUFFER_ID_MAX               0x2
-
-/* FD Blob types */
-#define CAM_FD_BLOB_TYPE_SOC_CLOCK_BW_REQUEST  0x0
-#define CAM_FD_BLOB_TYPE_RAW_RESULTS_REQUIRED  0x1
-
-/* FD Resource IDs */
-#define CAM_FD_INPUT_PORT_ID_IMAGE             0x0
-#define CAM_FD_INPUT_PORT_ID_MAX               0x1
-
-#define CAM_FD_OUTPUT_PORT_ID_RESULTS          0x0
-#define CAM_FD_OUTPUT_PORT_ID_RAW_RESULTS      0x1
-#define CAM_FD_OUTPUT_PORT_ID_WORK_BUFFER      0x2
-#define CAM_FD_OUTPUT_PORT_ID_MAX              0x3
-
-/**
- * struct cam_fd_soc_clock_bw_request - SOC clock, bandwidth request info
- *
- * @clock_rate : Clock rate required while processing frame
- * @bandwidth  : Bandwidth required while processing frame
- * @reserved   : Reserved for future use
- */
-struct cam_fd_soc_clock_bw_request {
-	uint64_t    clock_rate;
-	uint64_t    bandwidth;
-	uint64_t    reserved[4];
-};
-
-/**
- * struct cam_fd_face - Face properties
- *
- * @prop1 : Property 1 of face
- * @prop2 : Property 2 of face
- * @prop3 : Property 3 of face
- * @prop4 : Property 4 of face
- *
- * Do not change this layout, this is inline with how HW writes
- * these values directly when the buffer is programmed to HW
- */
-struct cam_fd_face {
-	uint32_t    prop1;
-	uint32_t    prop2;
-	uint32_t    prop3;
-	uint32_t    prop4;
-};
-
-/**
- * struct cam_fd_results - FD results layout
- *
- * @faces      : Array of faces with face properties
- * @face_count : Number of faces detected
- * @reserved   : Reserved for alignment
- *
- * Do not change this layout, this is inline with how HW writes
- * these values directly when the buffer is programmed to HW
- */
-struct cam_fd_results {
-	struct cam_fd_face    faces[CAM_FD_MAX_FACES];
-	uint32_t              face_count;
-	uint32_t              reserved[3];
-};
-
-/**
- * struct cam_fd_hw_caps - Face properties
- *
- * @core_version          : FD core version
- * @wrapper_version       : FD wrapper version
- * @raw_results_available : Whether raw results are available on this HW
- * @supported_modes       : Modes supported by this HW.
- * @reserved              : Reserved for future use
- */
-struct cam_fd_hw_caps {
-	struct cam_hw_version    core_version;
-	struct cam_hw_version    wrapper_version;
-	uint32_t                 raw_results_available;
-	uint32_t                 supported_modes;
-	uint64_t                 reserved;
-};
-
-/**
- * struct cam_fd_query_cap_cmd - FD Query capabilities information
- *
- * @device_iommu : FD IOMMU handles
- * @cdm_iommu    : CDM iommu handles
- * @hw_caps      : FD HW capabilities
- * @reserved     : Reserved for alignment
- */
-struct cam_fd_query_cap_cmd {
-	struct cam_iommu_handle    device_iommu;
-	struct cam_iommu_handle    cdm_iommu;
-	struct cam_fd_hw_caps      hw_caps;
-	uint64_t                   reserved;
-};
-
-/**
- * struct cam_fd_acquire_dev_info - FD acquire device information
- *
- * @clk_bw_request  : SOC clock, bandwidth request
- * @priority        : Priority for this acquire
- * @mode            : Mode in which to run FD HW.
- * @get_raw_results : Whether this acquire needs face raw results
- *                    while frame processing
- * @reserved        : Reserved field for 64 bit alignment
- */
-struct cam_fd_acquire_dev_info {
-	struct cam_fd_soc_clock_bw_request clk_bw_request;
-	uint32_t                           priority;
-	uint32_t                           mode;
-	uint32_t                           get_raw_results;
-	uint32_t                           reserved[13];
-};
-
-#endif /* __UAPI_CAM_FD_H__ */
diff --git a/third_party/linux/include/media/cam_icp.h b/third_party/linux/include/media/cam_icp.h
deleted file mode 100644
index 680d05b630a67e..00000000000000
--- a/third_party/linux/include/media/cam_icp.h
+++ /dev/null
@@ -1,179 +0,0 @@
-#ifndef __UAPI_CAM_ICP_H__
-#define __UAPI_CAM_ICP_H__
-
-#include "cam_defs.h"
-
-/* icp, ipe, bps, cdm(ipe/bps) are used in querycap */
-#define CAM_ICP_DEV_TYPE_A5      1
-#define CAM_ICP_DEV_TYPE_IPE     2
-#define CAM_ICP_DEV_TYPE_BPS     3
-#define CAM_ICP_DEV_TYPE_IPE_CDM 4
-#define CAM_ICP_DEV_TYPE_BPS_CDM 5
-#define CAM_ICP_DEV_TYPE_MAX     5
-
-/* definitions needed for icp aquire device */
-#define CAM_ICP_RES_TYPE_BPS        1
-#define CAM_ICP_RES_TYPE_IPE_RT     2
-#define CAM_ICP_RES_TYPE_IPE        3
-#define CAM_ICP_RES_TYPE_MAX        4
-
-/* packet opcode types */
-#define CAM_ICP_OPCODE_IPE_UPDATE 0
-#define CAM_ICP_OPCODE_BPS_UPDATE 1
-
-/* IPE input port resource type */
-#define CAM_ICP_IPE_INPUT_IMAGE_FULL            0x0
-#define CAM_ICP_IPE_INPUT_IMAGE_DS4             0x1
-#define CAM_ICP_IPE_INPUT_IMAGE_DS16            0x2
-#define CAM_ICP_IPE_INPUT_IMAGE_DS64            0x3
-#define CAM_ICP_IPE_INPUT_IMAGE_FULL_REF        0x4
-#define CAM_ICP_IPE_INPUT_IMAGE_DS4_REF         0x5
-#define CAM_ICP_IPE_INPUT_IMAGE_DS16_REF        0x6
-#define CAM_ICP_IPE_INPUT_IMAGE_DS64_REF        0x7
-
-/* IPE output port resource type */
-#define CAM_ICP_IPE_OUTPUT_IMAGE_DISPLAY        0x8
-#define CAM_ICP_IPE_OUTPUT_IMAGE_VIDEO          0x9
-#define CAM_ICP_IPE_OUTPUT_IMAGE_FULL_REF       0xA
-#define CAM_ICP_IPE_OUTPUT_IMAGE_DS4_REF        0xB
-#define CAM_ICP_IPE_OUTPUT_IMAGE_DS16_REF       0xC
-#define CAM_ICP_IPE_OUTPUT_IMAGE_DS64_REF       0xD
-
-#define CAM_ICP_IPE_IMAGE_MAX                   0xE
-
-/* BPS input port resource type */
-#define CAM_ICP_BPS_INPUT_IMAGE                 0x0
-
-/* BPS output port resource type */
-#define CAM_ICP_BPS_OUTPUT_IMAGE_FULL           0x1
-#define CAM_ICP_BPS_OUTPUT_IMAGE_DS4            0x2
-#define CAM_ICP_BPS_OUTPUT_IMAGE_DS16           0x3
-#define CAM_ICP_BPS_OUTPUT_IMAGE_DS64           0x4
-#define CAM_ICP_BPS_OUTPUT_IMAGE_STATS_BG       0x5
-#define CAM_ICP_BPS_OUTPUT_IMAGE_STATS_BHIST    0x6
-#define CAM_ICP_BPS_OUTPUT_IMAGE_REG1           0x7
-#define CAM_ICP_BPS_OUTPUT_IMAGE_REG2           0x8
-
-#define CAM_ICP_BPS_IO_IMAGES_MAX               0x9
-
-/* Command meta types */
-#define CAM_ICP_CMD_META_GENERIC_BLOB           0x1
-
-/* Generic blob types */
-#define CAM_ICP_CMD_GENERIC_BLOB_CLK            0x1
-#define CAM_ICP_CMD_GENERIC_BLOB_CFG_IO         0x2
-
-/**
- * struct cam_icp_clk_bw_request
- *
- * @budget_ns: Time required to process frame
- * @frame_cycles: Frame cycles needed to process the frame
- * @rt_flag: Flag to indicate real time stream
- * @uncompressed_bw: Bandwidth required to process frame
- * @compressed_bw: Compressed bandwidth to process frame
- */
-struct cam_icp_clk_bw_request {
-	uint64_t budget_ns;
-	uint32_t frame_cycles;
-	uint32_t rt_flag;
-	uint64_t uncompressed_bw;
-	uint64_t compressed_bw;
-};
-
-/**
- * struct cam_icp_dev_ver - Device information for particular hw type
- *
- * This is used to get device version info of
- * ICP, IPE, BPS and CDM related IPE and BPS from firmware
- * and use this info in CAM_QUERY_CAP IOCTL
- *
- * @dev_type: hardware type for the cap info(icp, ipe, bps, cdm(ipe/bps))
- * @reserved: reserved field
- * @hw_ver: major, minor and incr values of a device version
- */
-struct cam_icp_dev_ver {
-	uint32_t dev_type;
-	uint32_t reserved;
-	struct cam_hw_version hw_ver;
-};
-
-/**
- * struct cam_icp_ver - ICP version info
- *
- * This strcuture is used for fw and api version
- * this is used to get firmware version and api version from firmware
- * and use this info in CAM_QUERY_CAP IOCTL
- *
- * @major: FW version major
- * @minor: FW version minor
- * @revision: FW version increment
- */
-struct cam_icp_ver {
-	uint32_t major;
-	uint32_t minor;
-	uint32_t revision;
-	uint32_t reserved;
-};
-
-/**
- * struct cam_icp_query_cap_cmd - ICP query device capability payload
- *
- * @dev_iommu_handle: icp iommu handles for secure/non secure modes
- * @cdm_iommu_handle: iommu handles for secure/non secure modes
- * @fw_version: firmware version info
- * @api_version: api version info
- * @num_ipe: number of ipes
- * @num_bps: number of bps
- * @dev_ver: returned device capability array
- */
-struct cam_icp_query_cap_cmd {
-	struct cam_iommu_handle dev_iommu_handle;
-	struct cam_iommu_handle cdm_iommu_handle;
-	struct cam_icp_ver fw_version;
-	struct cam_icp_ver api_version;
-	uint32_t num_ipe;
-	uint32_t num_bps;
-	struct cam_icp_dev_ver dev_ver[CAM_ICP_DEV_TYPE_MAX];
-};
-
-/**
- * struct cam_icp_res_info - ICP output resource info
- *
- * @format: format of the resource
- * @width:  width in pixels
- * @height: height in lines
- * @fps:  fps
- */
-struct cam_icp_res_info {
-	uint32_t format;
-	uint32_t width;
-	uint32_t height;
-	uint32_t fps;
-};
-
-/**
- * struct cam_icp_acquire_dev_info - An ICP device info
- *
- * @scratch_mem_size: Output param - size of scratch memory
- * @dev_type: device type (IPE_RT/IPE_NON_RT/BPS)
- * @io_config_cmd_size: size of IO config command
- * @io_config_cmd_handle: IO config command for each acquire
- * @secure_mode: camera mode (secure/non secure)
- * @chain_info: chaining info of FW device handles
- * @in_res: resource info used for clock and bandwidth calculation
- * @num_out_res: number of output resources
- * @out_res: output resource
- */
-struct cam_icp_acquire_dev_info {
-	uint32_t scratch_mem_size;
-	uint32_t dev_type;
-	uint32_t io_config_cmd_size;
-	int32_t  io_config_cmd_handle;
-	uint32_t secure_mode;
-	int32_t chain_info;
-	struct cam_icp_res_info in_res;
-	uint32_t num_out_res;
-	struct cam_icp_res_info out_res[1];
-} __attribute__((__packed__));
-
-#endif /* __UAPI_CAM_ICP_H__ */
diff --git a/third_party/linux/include/media/cam_isp.h b/third_party/linux/include/media/cam_isp.h
deleted file mode 100644
index 266840d38c2547..00000000000000
--- a/third_party/linux/include/media/cam_isp.h
+++ /dev/null
@@ -1,379 +0,0 @@
-#ifndef __UAPI_CAM_ISP_H__
-#define __UAPI_CAM_ISP_H__
-
-#include "cam_defs.h"
-#include "cam_isp_vfe.h"
-#include "cam_isp_ife.h"
-
-
-/* ISP driver name */
-#define CAM_ISP_DEV_NAME                        "cam-isp"
-
-/* HW type */
-#define CAM_ISP_HW_BASE                         0
-#define CAM_ISP_HW_CSID                         1
-#define CAM_ISP_HW_VFE                          2
-#define CAM_ISP_HW_IFE                          3
-#define CAM_ISP_HW_ISPIF                        4
-#define CAM_ISP_HW_MAX                          5
-
-/* Color Pattern */
-#define CAM_ISP_PATTERN_BAYER_RGRGRG            0
-#define CAM_ISP_PATTERN_BAYER_GRGRGR            1
-#define CAM_ISP_PATTERN_BAYER_BGBGBG            2
-#define CAM_ISP_PATTERN_BAYER_GBGBGB            3
-#define CAM_ISP_PATTERN_YUV_YCBYCR              4
-#define CAM_ISP_PATTERN_YUV_YCRYCB              5
-#define CAM_ISP_PATTERN_YUV_CBYCRY              6
-#define CAM_ISP_PATTERN_YUV_CRYCBY              7
-#define CAM_ISP_PATTERN_MAX                     8
-
-/* Usage Type */
-#define CAM_ISP_RES_USAGE_SINGLE                0
-#define CAM_ISP_RES_USAGE_DUAL                  1
-#define CAM_ISP_RES_USAGE_MAX                   2
-
-/* Resource ID */
-#define CAM_ISP_RES_ID_PORT                     0
-#define CAM_ISP_RES_ID_CLK                      1
-#define CAM_ISP_RES_ID_MAX                      2
-
-/* Resource Type - Type of resource for the resource id
- * defined in cam_isp_vfe.h, cam_isp_ife.h
- */
-
-/* Lane Type in input resource for Port */
-#define CAM_ISP_LANE_TYPE_DPHY                  0
-#define CAM_ISP_LANE_TYPE_CPHY                  1
-#define CAM_ISP_LANE_TYPE_MAX                   2
-
-/* ISP Resurce Composite Group ID */
-#define CAM_ISP_RES_COMP_GROUP_NONE             0
-#define CAM_ISP_RES_COMP_GROUP_ID_0             1
-#define CAM_ISP_RES_COMP_GROUP_ID_1             2
-#define CAM_ISP_RES_COMP_GROUP_ID_2             3
-#define CAM_ISP_RES_COMP_GROUP_ID_3             4
-#define CAM_ISP_RES_COMP_GROUP_ID_4             5
-#define CAM_ISP_RES_COMP_GROUP_ID_5             6
-#define CAM_ISP_RES_COMP_GROUP_ID_MAX           6
-
-/* ISP packet opcode for ISP */
-#define CAM_ISP_PACKET_OP_BASE                  0
-#define CAM_ISP_PACKET_INIT_DEV                 1
-#define CAM_ISP_PACKET_UPDATE_DEV               2
-#define CAM_ISP_PACKET_OP_MAX                   3
-
-/* ISP packet meta_data type for command buffer */
-#define CAM_ISP_PACKET_META_BASE                0
-#define CAM_ISP_PACKET_META_LEFT                1
-#define CAM_ISP_PACKET_META_RIGHT               2
-#define CAM_ISP_PACKET_META_COMMON              3
-#define CAM_ISP_PACKET_META_DMI_LEFT            4
-#define CAM_ISP_PACKET_META_DMI_RIGHT           5
-#define CAM_ISP_PACKET_META_DMI_COMMON          6
-#define CAM_ISP_PACKET_META_CLOCK               7
-#define CAM_ISP_PACKET_META_CSID                8
-#define CAM_ISP_PACKET_META_DUAL_CONFIG         9
-#define CAM_ISP_PACKET_META_GENERIC_BLOB_LEFT   10
-#define CAM_ISP_PACKET_META_GENERIC_BLOB_RIGHT  11
-#define CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON 12
-
-/* DSP mode */
-#define CAM_ISP_DSP_MODE_NONE                   0
-#define CAM_ISP_DSP_MODE_ONE_WAY                1
-#define CAM_ISP_DSP_MODE_ROUND                  2
-
-/* ISP Generic Cmd Buffer Blob types */
-#define CAM_ISP_GENERIC_BLOB_TYPE_HFR_CONFIG      0
-#define CAM_ISP_GENERIC_BLOB_TYPE_CLOCK_CONFIG    1
-#define CAM_ISP_GENERIC_BLOB_TYPE_BW_CONFIG       2
-
-/* Query devices */
-/**
- * struct cam_isp_dev_cap_info - A cap info for particular hw type
- *
- * @hw_type:            Hardware type for the cap info
- * @reserved:           reserved field for alignment
- * @hw_version:         Hardware version
- *
- */
-struct cam_isp_dev_cap_info {
-	uint32_t              hw_type;
-	uint32_t              reserved;
-	struct cam_hw_version hw_version;
-};
-
-/**
- * struct cam_isp_query_cap_cmd - ISP query device capability payload
- *
- * @device_iommu:               returned iommu handles for device
- * @cdm_iommu:                  returned iommu handles for cdm
- * @num_dev:                    returned number of device capabilities
- * @reserved:                   reserved field for alignment
- * @dev_caps:                   returned device capability array
- *
- */
-struct cam_isp_query_cap_cmd {
-	struct cam_iommu_handle       device_iommu;
-	struct cam_iommu_handle       cdm_iommu;
-	int32_t                       num_dev;
-	uint32_t                      reserved;
-	struct cam_isp_dev_cap_info   dev_caps[CAM_ISP_HW_MAX];
-};
-
-/* Acquire Device */
-/**
- * struct cam_isp_out_port_info - An output port resource info
- *
- * @res_type:                   output resource type defined in file
- *                              cam_isp_vfe.h or cam_isp_ife.h
- * @format:                     output format of the resource
- * @wdith:                      output width in pixels
- * @height:                     output height in lines
- * @comp_grp_id:                composite group id for the resource.
- * @split_point:                split point in pixels for the dual VFE.
- * @secure_mode:                flag to tell if output should be run in secure
- *                              mode or not. See cam_defs.h for definition
- * @reserved:                   reserved field for alignment
- *
- */
-struct cam_isp_out_port_info {
-	uint32_t                res_type;
-	uint32_t                format;
-	uint32_t                width;
-	uint32_t                height;
-	uint32_t                comp_grp_id;
-	uint32_t                split_point;
-	uint32_t                secure_mode;
-	uint32_t                reserved;
-};
-
-/**
- * struct cam_isp_in_port_info - An input port resource info
- *
- * @res_type:                   input resource type define in file
- *                              cam_isp_vfe.h or cam_isp_ife.h
- * @lane_type:                  lane type: c-phy or d-phy.
- * @lane_num:                   active lane number
- * @lane_cfg:                   lane configurations: 4 bits per lane
- * @vc:                         input virtual channel number
- * @dt:                         input data type number
- * @format:                     input format
- * @test_pattern:               test pattern for the testgen
- * @usage_type:                 whether dual vfe is required
- * @left_start:                 left input start offset in pixels
- * @left_stop:                  left input stop offset in pixels
- * @left_width:                 left input width in pixels
- * @right_start:                right input start offset in pixels.
- *                              Only for Dual VFE
- * @right_stop:                 right input stop offset in pixels.
- *                              Only for Dual VFE
- * @right_width:                right input width in pixels.
- *                              Only for dual VFE
- * @line_start:                 top of the line number
- * @line_stop:                  bottome of the line number
- * @height:                     input height in lines
- * @pixel_clk;                  sensor output clock
- * @batch_size:                 batch size for HFR mode
- * @dsp_mode:                   DSP stream mode (Defines as CAM_ISP_DSP_MODE_*)
- * @hbi_cnt:                    HBI count for the camif input
- * @reserved:                   Reserved field for alignment
- * @num_out_res:                number of the output resource associated
- * @data:                       payload that contains the output resources
- *
- */
-struct cam_isp_in_port_info {
-	uint32_t                        res_type;
-	uint32_t                        lane_type;
-	uint32_t                        lane_num;
-	uint32_t                        lane_cfg;
-	uint32_t                        vc;
-	uint32_t                        dt;
-	uint32_t                        format;
-	uint32_t                        test_pattern;
-	uint32_t                        usage_type;
-	uint32_t                        left_start;
-	uint32_t                        left_stop;
-	uint32_t                        left_width;
-	uint32_t                        right_start;
-	uint32_t                        right_stop;
-	uint32_t                        right_width;
-	uint32_t                        line_start;
-	uint32_t                        line_stop;
-	uint32_t                        height;
-	uint32_t                        pixel_clk;
-	uint32_t                        batch_size;
-	uint32_t                        dsp_mode;
-	uint32_t                        hbi_cnt;
-        uint32_t                        custom_csid;
-	uint32_t                        reserved;
-	uint32_t                        num_out_res;
-	struct cam_isp_out_port_info    data[1];
-};
-
-/**
- * struct cam_isp_resource - A resource bundle
- *
- * @resoruce_id:                resource id for the resource bundle
- * @length:                     length of the while resource blob
- * @handle_type:                type of the resource handle
- * @reserved:                   reserved field for alignment
- * @res_hdl:                    resource handle that points to the
- *                                     resource array;
- *
- */
-struct cam_isp_resource {
-	uint32_t                       resource_id;
-	uint32_t                       length;
-	uint32_t                       handle_type;
-	uint32_t                       reserved;
-	uint64_t                       res_hdl;
-};
-
-/**
- * struct cam_isp_port_hfr_config - HFR configuration for this port
- *
- * @resource_type:              Resource type
- * @subsample_pattern:          Subsample pattern. Used in HFR mode. It
- *                              should be consistent with batchSize and
- *                              CAMIF programming.
- * @subsample_period:           Subsample period. Used in HFR mode. It
- *                              should be consistent with batchSize and
- *                              CAMIF programming.
- * @framedrop_pattern:          Framedrop pattern
- * @framedrop_period:           Framedrop period
- * @reserved:                   Reserved for alignment
- */
-struct cam_isp_port_hfr_config {
-	uint32_t                       resource_type;
-	uint32_t                       subsample_pattern;
-	uint32_t                       subsample_period;
-	uint32_t                       framedrop_pattern;
-	uint32_t                       framedrop_period;
-	uint32_t                       reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_isp_resource_hfr_config - Resource HFR configuration
- *
- * @num_ports:                  Number of ports
- * @reserved:                   Reserved for alignment
- * @port_hfr_config:            HFR configuration for each IO port
- */
-struct cam_isp_resource_hfr_config {
-	uint32_t                       num_ports;
-	uint32_t                       reserved;
-	struct cam_isp_port_hfr_config port_hfr_config[1];
-} __attribute__((packed));
-
-/**
- * struct cam_isp_dual_split_params - dual isp spilt parameters
- *
- * @split_point:                Split point information x, where (0 < x < width)
- *                              left ISP's input ends at x + righ padding and
- *                              Right ISP's input starts at x - left padding
- * @right_padding:              Padding added past the split point for left
- *                              ISP's input
- * @left_padding:               Padding added before split point for right
- *                              ISP's input
- * @reserved:                   Reserved filed for alignment
- *
- */
-struct cam_isp_dual_split_params {
-	uint32_t                       split_point;
-	uint32_t                       right_padding;
-	uint32_t                       left_padding;
-	uint32_t                       reserved;
-};
-
-/**
- * struct cam_isp_dual_stripe_config - stripe config per bus client
- *
- * @offset:                     Start horizontal offset relative to
- *                              output buffer
- *                              In UBWC mode, this value indicates the H_INIT
- *                              value in pixel
- * @width:                      Width of the stripe in bytes
- * @tileconfig                  Ubwc meta tile config. Contain the partial
- *                              tile info
- * @port_id:                    port id of ISP output
- *
- */
-struct cam_isp_dual_stripe_config {
-	uint32_t                       offset;
-	uint32_t                       width;
-	uint32_t                       tileconfig;
-	uint32_t                       port_id;
-};
-
-/**
- * struct cam_isp_dual_config - dual isp configuration
- *
- * @num_ports                   Number of isp output ports
- * @reserved                    Reserved field for alignment
- * @split_params:               Inpput split parameters
- * @stripes:                    Stripe information
- *
- */
-struct cam_isp_dual_config {
-	uint32_t                           num_ports;
-	uint32_t                           reserved;
-	struct cam_isp_dual_split_params   split_params;
-	struct cam_isp_dual_stripe_config  stripes[1];
-} __attribute__((packed));
-
-/**
- * struct cam_isp_clock_config - Clock configuration
- *
- * @usage_type:                 Usage type (Single/Dual)
- * @num_rdi:                    Number of RDI votes
- * @left_pix_hz:                Pixel Clock for Left ISP
- * @right_pix_hz:               Pixel Clock for Right ISP, valid only if Dual
- * @rdi_hz:                     RDI Clock. ISP clock will be max of RDI and
- *                              PIX clocks. For a particular context which ISP
- *                              HW the RDI is allocated to is not known to UMD.
- *                              Hence pass the clock and let KMD decide.
- */
-struct cam_isp_clock_config {
-	uint32_t                       usage_type;
-	uint32_t                       num_rdi;
-	uint64_t                       left_pix_hz;
-	uint64_t                       right_pix_hz;
-	uint64_t                       rdi_hz[1];
-} __attribute__((packed));
-
-/**
- * struct cam_isp_bw_vote - Bandwidth vote information
- *
- * @resource_id:                Resource ID
- * @reserved:                   Reserved field for alignment
- * @cam_bw_bps:                 Bandwidth vote for CAMNOC
- * @ext_bw_bps:                 Bandwidth vote for path-to-DDR after CAMNOC
- */
-
-struct cam_isp_bw_vote {
-	uint32_t                       resource_id;
-	uint32_t                       reserved;
-	uint64_t                       cam_bw_bps;
-	uint64_t                       ext_bw_bps;
-} __attribute__((packed));
-
-/**
- * struct cam_isp_bw_config - Bandwidth configuration
- *
- * @usage_type:                 Usage type (Single/Dual)
- * @num_rdi:                    Number of RDI votes
- * @left_pix_vote:              Bandwidth vote for left ISP
- * @right_pix_vote:             Bandwidth vote for right ISP
- * @rdi_vote:                   RDI bandwidth requirements
- */
-
-struct cam_isp_bw_config {
-	uint32_t                       usage_type;
-	uint32_t                       num_rdi;
-	struct cam_isp_bw_vote         left_pix_vote;
-	struct cam_isp_bw_vote         right_pix_vote;
-	struct cam_isp_bw_vote         rdi_vote[1];
-} __attribute__((packed));
-
-#endif /* __UAPI_CAM_ISP_H__ */
diff --git a/third_party/linux/include/media/cam_isp_ife.h b/third_party/linux/include/media/cam_isp_ife.h
deleted file mode 100644
index f5e72813fc0d2d..00000000000000
--- a/third_party/linux/include/media/cam_isp_ife.h
+++ /dev/null
@@ -1,39 +0,0 @@
-#ifndef __UAPI_CAM_ISP_IFE_H__
-#define __UAPI_CAM_ISP_IFE_H__
-
-/* IFE output port resource type (global unique)*/
-#define CAM_ISP_IFE_OUT_RES_BASE               0x3000
-
-#define CAM_ISP_IFE_OUT_RES_FULL               (CAM_ISP_IFE_OUT_RES_BASE + 0)
-#define CAM_ISP_IFE_OUT_RES_DS4                (CAM_ISP_IFE_OUT_RES_BASE + 1)
-#define CAM_ISP_IFE_OUT_RES_DS16               (CAM_ISP_IFE_OUT_RES_BASE + 2)
-#define CAM_ISP_IFE_OUT_RES_RAW_DUMP           (CAM_ISP_IFE_OUT_RES_BASE + 3)
-#define CAM_ISP_IFE_OUT_RES_FD                 (CAM_ISP_IFE_OUT_RES_BASE + 4)
-#define CAM_ISP_IFE_OUT_RES_PDAF               (CAM_ISP_IFE_OUT_RES_BASE + 5)
-#define CAM_ISP_IFE_OUT_RES_RDI_0              (CAM_ISP_IFE_OUT_RES_BASE + 6)
-#define CAM_ISP_IFE_OUT_RES_RDI_1              (CAM_ISP_IFE_OUT_RES_BASE + 7)
-#define CAM_ISP_IFE_OUT_RES_RDI_2              (CAM_ISP_IFE_OUT_RES_BASE + 8)
-#define CAM_ISP_IFE_OUT_RES_RDI_3              (CAM_ISP_IFE_OUT_RES_BASE + 9)
-#define CAM_ISP_IFE_OUT_RES_STATS_HDR_BE       (CAM_ISP_IFE_OUT_RES_BASE + 10)
-#define CAM_ISP_IFE_OUT_RES_STATS_HDR_BHIST    (CAM_ISP_IFE_OUT_RES_BASE + 11)
-#define CAM_ISP_IFE_OUT_RES_STATS_TL_BG        (CAM_ISP_IFE_OUT_RES_BASE + 12)
-#define CAM_ISP_IFE_OUT_RES_STATS_BF           (CAM_ISP_IFE_OUT_RES_BASE + 13)
-#define CAM_ISP_IFE_OUT_RES_STATS_AWB_BG       (CAM_ISP_IFE_OUT_RES_BASE + 14)
-#define CAM_ISP_IFE_OUT_RES_STATS_BHIST        (CAM_ISP_IFE_OUT_RES_BASE + 15)
-#define CAM_ISP_IFE_OUT_RES_STATS_RS           (CAM_ISP_IFE_OUT_RES_BASE + 16)
-#define CAM_ISP_IFE_OUT_RES_STATS_CS           (CAM_ISP_IFE_OUT_RES_BASE + 17)
-#define CAM_ISP_IFE_OUT_RES_STATS_IHIST        (CAM_ISP_IFE_OUT_RES_BASE + 18)
-#define CAM_ISP_IFE_OUT_RES_MAX                (CAM_ISP_IFE_OUT_RES_BASE + 19)
-
-
-/* IFE input port resource type (global unique) */
-#define CAM_ISP_IFE_IN_RES_BASE                 0x4000
-
-#define CAM_ISP_IFE_IN_RES_TPG                 (CAM_ISP_IFE_IN_RES_BASE + 0)
-#define CAM_ISP_IFE_IN_RES_PHY_0               (CAM_ISP_IFE_IN_RES_BASE + 1)
-#define CAM_ISP_IFE_IN_RES_PHY_1               (CAM_ISP_IFE_IN_RES_BASE + 2)
-#define CAM_ISP_IFE_IN_RES_PHY_2               (CAM_ISP_IFE_IN_RES_BASE + 3)
-#define CAM_ISP_IFE_IN_RES_PHY_3               (CAM_ISP_IFE_IN_RES_BASE + 4)
-#define CAM_ISP_IFE_IN_RES_MAX                 (CAM_ISP_IFE_IN_RES_BASE + 5)
-
-#endif /* __UAPI_CAM_ISP_IFE_H__ */
diff --git a/third_party/linux/include/media/cam_isp_vfe.h b/third_party/linux/include/media/cam_isp_vfe.h
deleted file mode 100644
index e48db2f98d91c2..00000000000000
--- a/third_party/linux/include/media/cam_isp_vfe.h
+++ /dev/null
@@ -1,44 +0,0 @@
-#ifndef __UAPI_CAM_ISP_VFE_H__
-#define __UAPI_CAM_ISP_VFE_H__
-
-/* VFE output port resource type  (global unique)  */
-#define CAM_ISP_VFE_OUT_RES_BASE               0x1000
-
-#define CAM_ISP_VFE_OUT_RES_ENC                (CAM_ISP_VFE_OUT_RES_BASE + 0)
-#define CAM_ISP_VFE_OUT_RES_VIEW               (CAM_ISP_VFE_OUT_RES_BASE + 1)
-#define CAM_ISP_VFE_OUT_RES_VID                (CAM_ISP_VFE_OUT_RES_BASE + 2)
-#define CAM_ISP_VFE_OUT_RES_RDI_0              (CAM_ISP_VFE_OUT_RES_BASE + 3)
-#define CAM_ISP_VFE_OUT_RES_RDI_1              (CAM_ISP_VFE_OUT_RES_BASE + 4)
-#define CAM_ISP_VFE_OUT_RES_RDI_2              (CAM_ISP_VFE_OUT_RES_BASE + 5)
-#define CAM_ISP_VFE_OUT_RES_RDI_3              (CAM_ISP_VFE_OUT_RES_BASE + 6)
-#define CAM_ISP_VFE_OUT_RES_STATS_AEC          (CAM_ISP_VFE_OUT_RES_BASE + 7)
-#define CAM_ISP_VFE_OUT_RES_STATS_AF           (CAM_ISP_VFE_OUT_RES_BASE + 8)
-#define CAM_ISP_VFE_OUT_RES_STATS_AWB          (CAM_ISP_VFE_OUT_RES_BASE + 9)
-#define CAM_ISP_VFE_OUT_RES_STATS_RS           (CAM_ISP_VFE_OUT_RES_BASE + 10)
-#define CAM_ISP_VFE_OUT_RES_STATS_CS           (CAM_ISP_VFE_OUT_RES_BASE + 11)
-#define CAM_ISP_VFE_OUT_RES_STATS_IHIST        (CAM_ISP_VFE_OUT_RES_BASE + 12)
-#define CAM_ISP_VFE_OUT_RES_STATS_SKIN         (CAM_ISP_VFE_OUT_RES_BASE + 13)
-#define CAM_ISP_VFE_OUT_RES_STATS_BG           (CAM_ISP_VFE_OUT_RES_BASE + 14)
-#define CAM_ISP_VFE_OUT_RES_STATS_BF           (CAM_ISP_VFE_OUT_RES_BASE + 15)
-#define CAM_ISP_VFE_OUT_RES_STATS_BE           (CAM_ISP_VFE_OUT_RES_BASE + 16)
-#define CAM_ISP_VFE_OUT_RES_STATS_BHIST        (CAM_ISP_VFE_OUT_RES_BASE + 17)
-#define CAM_ISP_VFE_OUT_RES_STATS_BF_SCALE     (CAM_ISP_VFE_OUT_RES_BASE + 18)
-#define CAM_ISP_VFE_OUT_RES_STATS_HDR_BE       (CAM_ISP_VFE_OUT_RES_BASE + 19)
-#define CAM_ISP_VFE_OUT_RES_STATS_HDR_BHIST    (CAM_ISP_VFE_OUT_RES_BASE + 20)
-#define CAM_ISP_VFE_OUT_RES_STATS_AEC_BG       (CAM_ISP_VFE_OUT_RES_BASE + 21)
-#define CAM_ISP_VFE_OUT_RES_CAMIF_RAW          (CAM_ISP_VFE_OUT_RES_BASE + 22)
-#define CAM_ISP_VFE_OUT_RES_IDEAL_RAW          (CAM_ISP_VFE_OUT_RES_BASE + 23)
-#define CAM_ISP_VFE_OUT_RES_MAX                (CAM_ISP_VFE_OUT_RES_BASE + 24)
-
-/* VFE input port_ resource type (global unique) */
-#define CAM_ISP_VFE_IN_RES_BASE                0x2000
-
-#define CAM_ISP_VFE_IN_RES_TPG                 (CAM_ISP_VFE_IN_RES_BASE + 0)
-#define CAM_ISP_VFE_IN_RES_PHY_0               (CAM_ISP_VFE_IN_RES_BASE + 1)
-#define CAM_ISP_VFE_IN_RES_PHY_1               (CAM_ISP_VFE_IN_RES_BASE + 2)
-#define CAM_ISP_VFE_IN_RES_PHY_2               (CAM_ISP_VFE_IN_RES_BASE + 3)
-#define CAM_ISP_VFE_IN_RES_PHY_3               (CAM_ISP_VFE_IN_RES_BASE + 4)
-#define CAM_ISP_VFE_IN_RES_FE                  (CAM_ISP_VFE_IN_RES_BASE + 5)
-#define CAM_ISP_VFE_IN_RES_MAX                 (CAM_ISP_VFE_IN_RES_BASE + 6)
-
-#endif /* __UAPI_CAM_ISP_VFE_H__ */
diff --git a/third_party/linux/include/media/cam_jpeg.h b/third_party/linux/include/media/cam_jpeg.h
deleted file mode 100644
index f3082f3bfe295b..00000000000000
--- a/third_party/linux/include/media/cam_jpeg.h
+++ /dev/null
@@ -1,117 +0,0 @@
-#ifndef __UAPI_CAM_JPEG_H__
-#define __UAPI_CAM_JPEG_H__
-
-#include "cam_defs.h"
-
-/* enc, dma, cdm(enc/dma) are used in querycap */
-#define CAM_JPEG_DEV_TYPE_ENC      0
-#define CAM_JPEG_DEV_TYPE_DMA      1
-#define CAM_JPEG_DEV_TYPE_MAX      2
-
-#define CAM_JPEG_NUM_DEV_PER_RES_MAX      1
-
-/* definitions needed for jpeg aquire device */
-#define CAM_JPEG_RES_TYPE_ENC        0
-#define CAM_JPEG_RES_TYPE_DMA        1
-#define CAM_JPEG_RES_TYPE_MAX        2
-
-/* packet opcode types */
-#define CAM_JPEG_OPCODE_ENC_UPDATE 0
-#define CAM_JPEG_OPCODE_DMA_UPDATE 1
-
-/* ENC input port resource type */
-#define CAM_JPEG_ENC_INPUT_IMAGE                 0x0
-
-/* ENC output port resource type */
-#define CAM_JPEG_ENC_OUTPUT_IMAGE                0x1
-
-#define CAM_JPEG_ENC_IO_IMAGES_MAX               0x2
-
-/* DMA input port resource type */
-#define CAM_JPEG_DMA_INPUT_IMAGE                 0x0
-
-/* DMA output port resource type */
-#define CAM_JPEG_DMA_OUTPUT_IMAGE                0x1
-
-#define CAM_JPEG_DMA_IO_IMAGES_MAX               0x2
-
-#define CAM_JPEG_IMAGE_MAX                       0x2
-
-/**
- * struct cam_jpeg_dev_ver - Device information for particular hw type
- *
- * This is used to get device version info of JPEG ENC, JPEG DMA
- * from hardware and use this info in CAM_QUERY_CAP IOCTL
- *
- * @size : Size of struct passed
- * @dev_type: Hardware type for the cap info(jpeg enc, jpeg dma)
- * @hw_ver: Major, minor and incr values of a device version
- */
-struct cam_jpeg_dev_ver {
-	uint32_t size;
-	uint32_t dev_type;
-	struct cam_hw_version hw_ver;
-};
-
-/**
- * struct cam_jpeg_query_cap_cmd - JPEG query device capability payload
- *
- * @dev_iommu_handle: Jpeg iommu handles for secure/non secure
- *      modes
- * @cdm_iommu_handle: Iommu handles for secure/non secure modes
- * @num_enc: Number of encoder
- * @num_dma: Number of dma
- * @dev_ver: Returned device capability array
- */
-struct cam_jpeg_query_cap_cmd {
-	struct cam_iommu_handle dev_iommu_handle;
-	struct cam_iommu_handle cdm_iommu_handle;
-	uint32_t num_enc;
-	uint32_t num_dma;
-	struct cam_jpeg_dev_ver dev_ver[CAM_JPEG_DEV_TYPE_MAX];
-};
-
-/**
- * struct cam_jpeg_res_info - JPEG output resource info
- *
- * @format: Format of the resource
- * @width:  Width in pixels
- * @height: Height in lines
- * @fps:  Fps
- */
-struct cam_jpeg_res_info {
-	uint32_t format;
-	uint32_t width;
-	uint32_t height;
-	uint32_t fps;
-};
-
-/**
- * struct cam_jpeg_acquire_dev_info - An JPEG device info
- *
- * @dev_type: Device type (ENC/DMA)
- * @reserved: Reserved Bytes
- * @in_res: In resource info
- * @in_res: Iut resource info
- */
-struct cam_jpeg_acquire_dev_info {
-	uint32_t dev_type;
-	uint32_t reserved;
-	struct cam_jpeg_res_info in_res;
-	struct cam_jpeg_res_info out_res;
-};
-
-/**
- * struct cam_jpeg_config_inout_param_info - JPEG Config time
- *     input output params
- *
- * @clk_index: Input Param- clock selection index.(-1 default)
- * @output_size: Output Param - jpeg encode/dma output size in
- *     bytes
- */
-struct cam_jpeg_config_inout_param_info {
-	int32_t clk_index;
-	int32_t output_size;
-};
-
-#endif /* __UAPI_CAM_JPEG_H__ */
diff --git a/third_party/linux/include/media/cam_lrme.h b/third_party/linux/include/media/cam_lrme.h
deleted file mode 100644
index 97d957835ee3b7..00000000000000
--- a/third_party/linux/include/media/cam_lrme.h
+++ /dev/null
@@ -1,65 +0,0 @@
-#ifndef __UAPI_CAM_LRME_H__
-#define __UAPI_CAM_LRME_H__
-
-#include "cam_defs.h"
-
-/* LRME Resource Types */
-
-enum CAM_LRME_IO_TYPE {
-	CAM_LRME_IO_TYPE_TAR,
-	CAM_LRME_IO_TYPE_REF,
-	CAM_LRME_IO_TYPE_RES,
-	CAM_LRME_IO_TYPE_DS2,
-};
-
-#define CAM_LRME_INPUT_PORT_TYPE_TAR (1 << 0)
-#define CAM_LRME_INPUT_PORT_TYPE_REF (1 << 1)
-
-#define CAM_LRME_OUTPUT_PORT_TYPE_DS2 (1 << 0)
-#define CAM_LRME_OUTPUT_PORT_TYPE_RES (1 << 1)
-
-#define CAM_LRME_DEV_MAX 1
-
-
-struct cam_lrme_hw_version {
-	uint32_t gen;
-	uint32_t rev;
-	uint32_t step;
-};
-
-struct cam_lrme_dev_cap {
-	struct cam_lrme_hw_version clc_hw_version;
-	struct cam_lrme_hw_version bus_rd_hw_version;
-	struct cam_lrme_hw_version bus_wr_hw_version;
-	struct cam_lrme_hw_version top_hw_version;
-	struct cam_lrme_hw_version top_titan_version;
-};
-
-/**
- * struct cam_lrme_query_cap_cmd - LRME query device capability payload
- *
- * @dev_iommu_handle: LRME iommu handles for secure/non secure
- *      modes
- * @cdm_iommu_handle: Iommu handles for secure/non secure modes
- * @num_devices: number of hardware devices
- * @dev_caps: Returned device capability array
- */
-struct cam_lrme_query_cap_cmd {
-	struct cam_iommu_handle device_iommu;
-	struct cam_iommu_handle cdm_iommu;
-	uint32_t num_devices;
-	struct cam_lrme_dev_cap dev_caps[CAM_LRME_DEV_MAX];
-};
-
-struct cam_lrme_soc_info {
-	uint64_t clock_rate;
-	uint64_t bandwidth;
-	uint64_t reserved[4];
-};
-
-struct cam_lrme_acquire_args {
-	struct cam_lrme_soc_info lrme_soc_info;
-};
-
-#endif /* __UAPI_CAM_LRME_H__ */
-
diff --git a/third_party/linux/include/media/cam_req_mgr.h b/third_party/linux/include/media/cam_req_mgr.h
deleted file mode 100644
index ae65649964ff0a..00000000000000
--- a/third_party/linux/include/media/cam_req_mgr.h
+++ /dev/null
@@ -1,436 +0,0 @@
-#ifndef __UAPI_LINUX_CAM_REQ_MGR_H
-#define __UAPI_LINUX_CAM_REQ_MGR_H
-
-#include <linux/videodev2.h>
-#include <linux/types.h>
-#include <linux/ioctl.h>
-#include <linux/media.h>
-#include <media/cam_defs.h>
-
-#define CAM_REQ_MGR_VNODE_NAME "cam-req-mgr-devnode"
-
-#define CAM_DEVICE_TYPE_BASE      (MEDIA_ENT_F_OLD_BASE)
-#define CAM_VNODE_DEVICE_TYPE     (CAM_DEVICE_TYPE_BASE)
-#define CAM_SENSOR_DEVICE_TYPE    (CAM_DEVICE_TYPE_BASE + 1)
-#define CAM_IFE_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 2)
-#define CAM_ICP_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 3)
-#define CAM_LRME_DEVICE_TYPE      (CAM_DEVICE_TYPE_BASE + 4)
-#define CAM_JPEG_DEVICE_TYPE      (CAM_DEVICE_TYPE_BASE + 5)
-#define CAM_FD_DEVICE_TYPE        (CAM_DEVICE_TYPE_BASE + 6)
-#define CAM_CPAS_DEVICE_TYPE      (CAM_DEVICE_TYPE_BASE + 7)
-#define CAM_CSIPHY_DEVICE_TYPE    (CAM_DEVICE_TYPE_BASE + 8)
-#define CAM_ACTUATOR_DEVICE_TYPE  (CAM_DEVICE_TYPE_BASE + 9)
-#define CAM_CCI_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 10)
-#define CAM_FLASH_DEVICE_TYPE     (CAM_DEVICE_TYPE_BASE + 11)
-#define CAM_EEPROM_DEVICE_TYPE    (CAM_DEVICE_TYPE_BASE + 12)
-#define CAM_OIS_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 13)
-
-/* cam_req_mgr hdl info */
-#define CAM_REQ_MGR_HDL_IDX_POS           8
-#define CAM_REQ_MGR_HDL_IDX_MASK          ((1 << CAM_REQ_MGR_HDL_IDX_POS) - 1)
-#define CAM_REQ_MGR_GET_HDL_IDX(hdl)      (hdl & CAM_REQ_MGR_HDL_IDX_MASK)
-
-/**
- * Max handles supported by cam_req_mgr
- * It includes both session and device handles
- */
-#define CAM_REQ_MGR_MAX_HANDLES           64
-#define MAX_LINKS_PER_SESSION             2
-
-/* V4L event type which user space will subscribe to */
-#define V4L_EVENT_CAM_REQ_MGR_EVENT       (V4L2_EVENT_PRIVATE_START + 0)
-
-/* Specific event ids to get notified in user space */
-#define V4L_EVENT_CAM_REQ_MGR_SOF            0
-#define V4L_EVENT_CAM_REQ_MGR_ERROR          1
-#define V4L_EVENT_CAM_REQ_MGR_SOF_BOOT_TS    2
-
-/* SOF Event status */
-#define CAM_REQ_MGR_SOF_EVENT_SUCCESS           0
-#define CAM_REQ_MGR_SOF_EVENT_ERROR             1
-
-/* Link control operations */
-#define CAM_REQ_MGR_LINK_ACTIVATE               0
-#define CAM_REQ_MGR_LINK_DEACTIVATE             1
-
-/**
- * Request Manager : flush_type
- * @CAM_REQ_MGR_FLUSH_TYPE_ALL: Req mgr will remove all the pending
- * requests from input/processing queue.
- * @CAM_REQ_MGR_FLUSH_TYPE_CANCEL_REQ: Req mgr will remove only particular
- * request id from input/processing queue.
- * @CAM_REQ_MGR_FLUSH_TYPE_MAX: Max number of the flush type
- * @opcode: CAM_REQ_MGR_FLUSH_REQ
- */
-#define CAM_REQ_MGR_FLUSH_TYPE_ALL          0
-#define CAM_REQ_MGR_FLUSH_TYPE_CANCEL_REQ   1
-#define CAM_REQ_MGR_FLUSH_TYPE_MAX          2
-
-/**
- * Request Manager : Sync Mode type
- * @CAM_REQ_MGR_SYNC_MODE_NO_SYNC: Req mgr will apply non-sync mode for this
- * request.
- * @CAM_REQ_MGR_SYNC_MODE_SYNC: Req mgr will apply sync mode for this request.
- */
-#define CAM_REQ_MGR_SYNC_MODE_NO_SYNC   0
-#define CAM_REQ_MGR_SYNC_MODE_SYNC      1
-
-/**
- * struct cam_req_mgr_event_data
- * @session_hdl: session handle
- * @link_hdl: link handle
- * @frame_id: frame id
- * @reserved: reserved for 64 bit aligngment
- * @req_id: request id
- * @tv_sec: timestamp in seconds
- * @tv_usec: timestamp in micro seconds
- */
-struct cam_req_mgr_event_data {
-	int32_t   session_hdl;
-	int32_t   link_hdl;
-	int32_t   frame_id;
-	int32_t   reserved;
-	int64_t   req_id;
-	uint64_t  tv_sec;
-	uint64_t  tv_usec;
-};
-
-/**
- * struct cam_req_mgr_session_info
- * @session_hdl: In/Output param - session_handle
- * @opcode1: CAM_REQ_MGR_CREATE_SESSION
- * @opcode2: CAM_REQ_MGR_DESTROY_SESSION
- */
-struct cam_req_mgr_session_info {
-	int32_t session_hdl;
-	int32_t reserved;
-};
-
-/**
- * struct cam_req_mgr_link_info
- * @session_hdl: Input param - Identifier for CSL session
- * @num_devices: Input Param - Num of devices to be linked
- * @dev_hdls: Input param - List of device handles to be linked
- * @link_hdl: Output Param -Identifier for link
- * @opcode: CAM_REQ_MGR_LINK
- */
-struct cam_req_mgr_link_info {
-	int32_t session_hdl;
-	uint32_t num_devices;
-	int32_t dev_hdls[CAM_REQ_MGR_MAX_HANDLES];
-	int32_t link_hdl;
-};
-
-/**
- * struct cam_req_mgr_unlink_info
- * @session_hdl: input param - session handle
- * @link_hdl: input param - link handle
- * @opcode: CAM_REQ_MGR_UNLINK
- */
-struct cam_req_mgr_unlink_info {
-	int32_t session_hdl;
-	int32_t link_hdl;
-};
-
-/**
- * struct cam_req_mgr_flush_info
- * @brief: User can tell drivers to flush a particular request id or
- * flush all requests from its pending processing queue. Flush is a
- * blocking call and driver shall ensure all requests are flushed
- * before returning.
- * @session_hdl: Input param - Identifier for CSL session
- * @link_hdl: Input Param -Identifier for link
- * @flush_type: User can cancel a particular req id or can flush
- * all requests in queue
- * @reserved: reserved for 64 bit aligngment
- * @req_id: field is valid only if flush type is cancel request
- * for flush all this field value is not considered.
- * @opcode: CAM_REQ_MGR_FLUSH_REQ
- */
-struct cam_req_mgr_flush_info {
-	int32_t session_hdl;
-	int32_t link_hdl;
-	uint32_t flush_type;
-	uint32_t reserved;
-	int64_t req_id;
-};
-
-/** struct cam_req_mgr_sched_info
- * @session_hdl: Input param - Identifier for CSL session
- * @link_hdl: Input Param -Identifier for link
- * inluding itself.
- * @bubble_enable: Input Param - Cam req mgr will do bubble recovery if this
- * flag is set.
- * @sync_mode: Type of Sync mode for this request
- * @req_id: Input Param - Request Id from which all requests will be flushed
- */
-struct cam_req_mgr_sched_request {
-	int32_t session_hdl;
-	int32_t link_hdl;
-	int32_t bubble_enable;
-	int32_t sync_mode;
-	int64_t req_id;
-};
-
-/**
- * struct cam_req_mgr_sync_mode
- * @session_hdl:         Input param - Identifier for CSL session
- * @sync_mode:           Input Param - Type of sync mode
- * @num_links:           Input Param - Num of links in sync mode (Valid only
- *                             when sync_mode is one of SYNC enabled modes)
- * @link_hdls:           Input Param - Array of link handles to be in sync mode
- *                             (Valid only when sync_mode is one of SYNC
- *                             enabled modes)
- * @master_link_hdl:     Input Param - To dictate which link's SOF drives system
- *                             (Valid only when sync_mode is one of SYNC
- *                             enabled modes)
- *
- * @opcode: CAM_REQ_MGR_SYNC_MODE
- */
-struct cam_req_mgr_sync_mode {
-	int32_t session_hdl;
-	int32_t sync_mode;
-	int32_t num_links;
-	int32_t link_hdls[MAX_LINKS_PER_SESSION];
-	int32_t master_link_hdl;
-	int32_t reserved;
-};
-
-/**
- * struct cam_req_mgr_link_control
- * @ops:                 Link operations: activate/deactive
- * @session_hdl:         Input param - Identifier for CSL session
- * @num_links:           Input Param - Num of links
- * @reserved:            reserved field
- * @link_hdls:           Input Param - Links to be activated/deactivated
- *
- * @opcode: CAM_REQ_MGR_LINK_CONTROL
- */
-struct cam_req_mgr_link_control {
-	int32_t ops;
-	int32_t session_hdl;
-	int32_t num_links;
-	int32_t reserved;
-	int32_t link_hdls[MAX_LINKS_PER_SESSION];
-};
-
-/**
- * cam_req_mgr specific opcode ids
- */
-#define CAM_REQ_MGR_CREATE_DEV_NODES            (CAM_COMMON_OPCODE_MAX + 1)
-#define CAM_REQ_MGR_CREATE_SESSION              (CAM_COMMON_OPCODE_MAX + 2)
-#define CAM_REQ_MGR_DESTROY_SESSION             (CAM_COMMON_OPCODE_MAX + 3)
-#define CAM_REQ_MGR_LINK                        (CAM_COMMON_OPCODE_MAX + 4)
-#define CAM_REQ_MGR_UNLINK                      (CAM_COMMON_OPCODE_MAX + 5)
-#define CAM_REQ_MGR_SCHED_REQ                   (CAM_COMMON_OPCODE_MAX + 6)
-#define CAM_REQ_MGR_FLUSH_REQ                   (CAM_COMMON_OPCODE_MAX + 7)
-#define CAM_REQ_MGR_SYNC_MODE                   (CAM_COMMON_OPCODE_MAX + 8)
-#define CAM_REQ_MGR_ALLOC_BUF                   (CAM_COMMON_OPCODE_MAX + 9)
-#define CAM_REQ_MGR_MAP_BUF                     (CAM_COMMON_OPCODE_MAX + 10)
-#define CAM_REQ_MGR_RELEASE_BUF                 (CAM_COMMON_OPCODE_MAX + 11)
-#define CAM_REQ_MGR_CACHE_OPS                   (CAM_COMMON_OPCODE_MAX + 12)
-#define CAM_REQ_MGR_LINK_CONTROL                (CAM_COMMON_OPCODE_MAX + 13)
-/* end of cam_req_mgr opcodes */
-
-#define CAM_MEM_FLAG_HW_READ_WRITE              (1<<0)
-#define CAM_MEM_FLAG_HW_READ_ONLY               (1<<1)
-#define CAM_MEM_FLAG_HW_WRITE_ONLY              (1<<2)
-#define CAM_MEM_FLAG_KMD_ACCESS                 (1<<3)
-#define CAM_MEM_FLAG_UMD_ACCESS                 (1<<4)
-#define CAM_MEM_FLAG_PROTECTED_MODE             (1<<5)
-#define CAM_MEM_FLAG_CMD_BUF_TYPE               (1<<6)
-#define CAM_MEM_FLAG_PIXEL_BUF_TYPE             (1<<7)
-#define CAM_MEM_FLAG_STATS_BUF_TYPE             (1<<8)
-#define CAM_MEM_FLAG_PACKET_BUF_TYPE            (1<<9)
-#define CAM_MEM_FLAG_CACHE                      (1<<10)
-#define CAM_MEM_FLAG_HW_SHARED_ACCESS           (1<<11)
-
-#define CAM_MEM_MMU_MAX_HANDLE                  16
-
-/* Maximum allowed buffers in existence */
-#define CAM_MEM_BUFQ_MAX                        1024
-
-#define CAM_MEM_MGR_SECURE_BIT_POS              15
-#define CAM_MEM_MGR_HDL_IDX_SIZE                15
-#define CAM_MEM_MGR_HDL_FD_SIZE                 16
-#define CAM_MEM_MGR_HDL_IDX_END_POS             16
-#define CAM_MEM_MGR_HDL_FD_END_POS              32
-
-#define CAM_MEM_MGR_HDL_IDX_MASK      ((1 << CAM_MEM_MGR_HDL_IDX_SIZE) - 1)
-
-#define GET_MEM_HANDLE(idx, fd) \
-	((idx & CAM_MEM_MGR_HDL_IDX_MASK) | \
-	(fd << (CAM_MEM_MGR_HDL_FD_END_POS - CAM_MEM_MGR_HDL_FD_SIZE))) \
-
-#define GET_FD_FROM_HANDLE(hdl) \
-	(hdl >> (CAM_MEM_MGR_HDL_FD_END_POS - CAM_MEM_MGR_HDL_FD_SIZE)) \
-
-#define CAM_MEM_MGR_GET_HDL_IDX(hdl) (hdl & CAM_MEM_MGR_HDL_IDX_MASK)
-
-#define CAM_MEM_MGR_SET_SECURE_HDL(hdl, flag) \
-	((flag) ? (hdl |= (1 << CAM_MEM_MGR_SECURE_BIT_POS)) : \
-	((hdl) &= ~(1 << CAM_MEM_MGR_SECURE_BIT_POS)))
-
-#define CAM_MEM_MGR_IS_SECURE_HDL(hdl) \
-	(((hdl) & \
-	(1<<CAM_MEM_MGR_SECURE_BIT_POS)) >> CAM_MEM_MGR_SECURE_BIT_POS)
-
-/**
- * memory allocation type
- */
-#define CAM_MEM_DMA_NONE                        0
-#define CAM_MEM_DMA_BIDIRECTIONAL               1
-#define CAM_MEM_DMA_TO_DEVICE                   2
-#define CAM_MEM_DMA_FROM_DEVICE                 3
-
-
-/**
- * memory cache operation
- */
-#define CAM_MEM_CLEAN_CACHE                     1
-#define CAM_MEM_INV_CACHE                       2
-#define CAM_MEM_CLEAN_INV_CACHE                 3
-
-
-/**
- * struct cam_mem_alloc_out_params
- * @buf_handle: buffer handle
- * @fd: output buffer file descriptor
- * @vaddr: virtual address pointer
- */
-struct cam_mem_alloc_out_params {
-	uint32_t buf_handle;
-	int32_t fd;
-	uint64_t vaddr;
-};
-
-/**
- * struct cam_mem_map_out_params
- * @buf_handle: buffer handle
- * @reserved: reserved for future
- * @vaddr: virtual address pointer
- */
-struct cam_mem_map_out_params {
-	uint32_t buf_handle;
-	uint32_t reserved;
-	uint64_t vaddr;
-};
-
-/**
- * struct cam_mem_mgr_alloc_cmd
- * @len: size of buffer to allocate
- * @align: alignment of the buffer
- * @mmu_hdls: array of mmu handles
- * @num_hdl: number of handles
- * @flags: flags of the buffer
- * @out: out params
- */
-/* CAM_REQ_MGR_ALLOC_BUF */
-struct cam_mem_mgr_alloc_cmd {
-	uint64_t len;
-	uint64_t align;
-	int32_t mmu_hdls[CAM_MEM_MMU_MAX_HANDLE];
-	uint32_t num_hdl;
-	uint32_t flags;
-	struct cam_mem_alloc_out_params out;
-};
-
-/**
- * struct cam_mem_mgr_map_cmd
- * @mmu_hdls: array of mmu handles
- * @num_hdl: number of handles
- * @flags: flags of the buffer
- * @fd: output buffer file descriptor
- * @reserved: reserved field
- * @out: out params
- */
-
-/* CAM_REQ_MGR_MAP_BUF */
-struct cam_mem_mgr_map_cmd {
-	int32_t mmu_hdls[CAM_MEM_MMU_MAX_HANDLE];
-	uint32_t num_hdl;
-	uint32_t flags;
-	int32_t fd;
-	uint32_t reserved;
-	struct cam_mem_map_out_params out;
-};
-
-/**
- * struct cam_mem_mgr_map_cmd
- * @buf_handle: buffer handle
- * @reserved: reserved field
- */
-/* CAM_REQ_MGR_RELEASE_BUF */
-struct cam_mem_mgr_release_cmd {
-	int32_t buf_handle;
-	uint32_t reserved;
-};
-
-/**
- * struct cam_mem_mgr_map_cmd
- * @buf_handle: buffer handle
- * @ops: cache operations
- */
-/* CAM_REQ_MGR_CACHE_OPS */
-struct cam_mem_cache_ops_cmd {
-	int32_t buf_handle;
-	uint32_t mem_cache_ops;
-};
-
-/**
- * Request Manager : error message type
- * @CAM_REQ_MGR_ERROR_TYPE_DEVICE: Device error message, fatal to session
- * @CAM_REQ_MGR_ERROR_TYPE_REQUEST: Error on a single request, not fatal
- * @CAM_REQ_MGR_ERROR_TYPE_BUFFER: Buffer was not filled, not fatal
- */
-#define CAM_REQ_MGR_ERROR_TYPE_DEVICE           0
-#define CAM_REQ_MGR_ERROR_TYPE_REQUEST          1
-#define CAM_REQ_MGR_ERROR_TYPE_BUFFER           2
-
-/**
- * struct cam_req_mgr_error_msg
- * @error_type: type of error
- * @request_id: request id of frame
- * @device_hdl: device handle
- * @linke_hdl: link_hdl
- * @resource_size: size of the resource
- */
-struct cam_req_mgr_error_msg {
-	uint32_t error_type;
-	uint32_t request_id;
-	int32_t device_hdl;
-	int32_t link_hdl;
-	uint64_t resource_size;
-};
-
-/**
- * struct cam_req_mgr_frame_msg
- * @request_id: request id of the frame
- * @frame_id: frame id of the frame
- * @timestamp: timestamp of the frame
- * @link_hdl: link handle associated with this message
- * @sof_status: sof status success or fail
- */
-struct cam_req_mgr_frame_msg {
-	uint64_t request_id;
-	uint64_t frame_id;
-	uint64_t timestamp;
-	int32_t  link_hdl;
-	uint32_t sof_status;
-};
-
-/**
- * struct cam_req_mgr_message
- * @session_hdl: session to which the frame belongs to
- * @reserved: reserved field
- * @u: union which can either be error or frame message
- */
-struct cam_req_mgr_message {
-	int32_t session_hdl;
-	int32_t reserved;
-	union {
-		struct cam_req_mgr_error_msg err_msg;
-		struct cam_req_mgr_frame_msg frame_msg;
-	} u;
-};
-#endif /* __UAPI_LINUX_CAM_REQ_MGR_H */
diff --git a/third_party/linux/include/media/cam_sensor.h b/third_party/linux/include/media/cam_sensor.h
deleted file mode 100644
index f5af6047f5ac88..00000000000000
--- a/third_party/linux/include/media/cam_sensor.h
+++ /dev/null
@@ -1,477 +0,0 @@
-#ifndef __UAPI_CAM_SENSOR_H__
-#define __UAPI_CAM_SENSOR_H__
-
-#include <linux/types.h>
-#include <linux/ioctl.h>
-#include <media/cam_defs.h>
-
-#define CAM_SENSOR_PROBE_CMD   (CAM_COMMON_OPCODE_MAX + 1)
-#define CAM_FLASH_MAX_LED_TRIGGERS 3
-#define MAX_OIS_NAME_SIZE 32
-#define CAM_CSIPHY_SECURE_MODE_ENABLED 1
-/**
- * struct cam_sensor_query_cap - capabilities info for sensor
- *
- * @slot_info        :  Indicates about the slotId or cell Index
- * @secure_camera    :  Camera is in secure/Non-secure mode
- * @pos_pitch        :  Sensor position pitch
- * @pos_roll         :  Sensor position roll
- * @pos_yaw          :  Sensor position yaw
- * @actuator_slot_id :  Actuator slot id which connected to sensor
- * @eeprom_slot_id   :  EEPROM slot id which connected to sensor
- * @ois_slot_id      :  OIS slot id which connected to sensor
- * @flash_slot_id    :  Flash slot id which connected to sensor
- * @csiphy_slot_id   :  CSIphy slot id which connected to sensor
- *
- */
-struct  cam_sensor_query_cap {
-	uint32_t        slot_info;
-	uint32_t        secure_camera;
-	uint32_t        pos_pitch;
-	uint32_t        pos_roll;
-	uint32_t        pos_yaw;
-	uint32_t        actuator_slot_id;
-	uint32_t        eeprom_slot_id;
-	uint32_t        ois_slot_id;
-	uint32_t        flash_slot_id;
-	uint32_t        csiphy_slot_id;
-} __attribute__((packed));
-
-/**
- * struct cam_csiphy_query_cap - capabilities info for csiphy
- *
- * @slot_info        :  Indicates about the slotId or cell Index
- * @version          :  CSIphy version
- * @clk lane         :  Of the 5 lanes, informs lane configured
- *                      as clock lane
- * @reserved
- */
-struct cam_csiphy_query_cap {
-	uint32_t            slot_info;
-	uint32_t            version;
-	uint32_t            clk_lane;
-	uint32_t            reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_actuator_query_cap - capabilities info for actuator
- *
- * @slot_info        :  Indicates about the slotId or cell Index
- * @reserved
- */
-struct cam_actuator_query_cap {
-	uint32_t            slot_info;
-	uint32_t            reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_eeprom_query_cap_t - capabilities info for eeprom
- *
- * @slot_info                  :  Indicates about the slotId or cell Index
- * @eeprom_kernel_probe        :  Indicates about the kernel or userspace probe
- */
-struct cam_eeprom_query_cap_t {
-	uint32_t            slot_info;
-	uint16_t            eeprom_kernel_probe;
-	uint16_t            reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_ois_query_cap_t - capabilities info for ois
- *
- * @slot_info                  :  Indicates about the slotId or cell Index
- */
-struct cam_ois_query_cap_t {
-	uint32_t            slot_info;
-	uint16_t            reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_i2c_info - Contains slave I2C related info
- *
- * @slave_addr      :    Slave address
- * @i2c_freq_mode   :    4 bits are used for I2c freq mode
- * @cmd_type        :    Explains type of command
- */
-struct cam_cmd_i2c_info {
-	uint16_t    slave_addr;
-	uint8_t     i2c_freq_mode;
-	uint8_t     cmd_type;
-} __attribute__((packed));
-
-/**
- * struct cam_ois_opcode - Contains OIS opcode
- *
- * @prog            :    OIS FW prog register address
- * @coeff           :    OIS FW coeff register address
- * @pheripheral     :    OIS pheripheral
- * @memory          :    OIS memory
- */
-struct cam_ois_opcode {
-	uint32_t prog;
-	uint32_t coeff;
-	uint32_t pheripheral;
-	uint32_t memory;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_ois_info - Contains OIS slave info
- *
- * @slave_addr            :    OIS i2c slave address
- * @i2c_freq_mode         :    i2c frequency mode
- * @cmd_type              :    Explains type of command
- * @ois_fw_flag           :    indicates if fw is present or not
- * @is_ois_calib          :    indicates the calibration data is available
- * @ois_name              :    OIS name
- * @opcode                :    opcode
- */
-struct cam_cmd_ois_info {
-	uint16_t              slave_addr;
-	uint8_t               i2c_freq_mode;
-	uint8_t               cmd_type;
-	uint8_t               ois_fw_flag;
-	uint8_t               is_ois_calib;
-	char                  ois_name[MAX_OIS_NAME_SIZE];
-	struct cam_ois_opcode opcode;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_probe - Contains sensor slave info
- *
- * @data_type       :   Slave register data type
- * @addr_type       :   Slave register address type
- * @op_code         :   Don't Care
- * @cmd_type        :   Explains type of command
- * @reg_addr        :   Slave register address
- * @expected_data   :   Data expected at slave register address
- * @data_mask       :   Data mask if only few bits are valid
- * @camera_id       :   Indicates the slot to which camera
- *                      needs to be probed
- * @reserved
- */
-struct cam_cmd_probe {
-	uint8_t     data_type;
-	uint8_t     addr_type;
-	uint8_t     op_code;
-	uint8_t     cmd_type;
-	uint32_t    reg_addr;
-	uint32_t    expected_data;
-	uint32_t    data_mask;
-	uint16_t    camera_id;
-	uint16_t    reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_power_settings - Contains sensor power setting info
- *
- * @power_seq_type  :   Type of power sequence
- * @reserved
- * @config_val_low  :   Lower 32 bit value configuration value
- * @config_val_high :   Higher 32 bit value configuration value
- *
- */
-struct cam_power_settings {
-	uint16_t    power_seq_type;
-	uint16_t    reserved;
-	uint32_t    config_val_low;
-	uint32_t    config_val_high;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_power - Explains about the power settings
- *
- * @count           :    Number of power settings follows
- * @reserved
- * @cmd_type        :    Explains type of command
- * @power_settings  :    Contains power setting info
- */
-struct cam_cmd_power {
-	uint16_t                    count;
-	uint8_t                     reserved;
-	uint8_t                     cmd_type;
-	struct cam_power_settings   power_settings[1];
-} __attribute__((packed));
-
-/**
- * struct i2c_rdwr_header - header of READ/WRITE I2C command
- *
- * @ count           :   Number of registers / data / reg-data pairs
- * @ op_code         :   Operation code
- * @ cmd_type        :   Command buffer type
- * @ data_type       :   I2C data type
- * @ addr_type       :   I2C address type
- * @ reserved
- */
-struct i2c_rdwr_header {
-	uint16_t    count;
-	uint8_t     op_code;
-	uint8_t     cmd_type;
-	uint8_t     data_type;
-	uint8_t     addr_type;
-	uint16_t    reserved;
-} __attribute__((packed));
-
-/**
- * struct i2c_random_wr_payload - payload for I2C random write
- *
- * @ reg_addr        :   Register address
- * @ reg_data        :   Register data
- *
- */
-struct i2c_random_wr_payload {
-	uint32_t     reg_addr;
-	uint32_t     reg_data;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_i2c_random_wr - I2C random write command
- * @ header            :   header of READ/WRITE I2C command
- * @ random_wr_payload :   payload for I2C random write
- */
-struct cam_cmd_i2c_random_wr {
-	struct i2c_rdwr_header       header;
-	struct i2c_random_wr_payload random_wr_payload[1];
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_read - I2C read command
- * @ reg_data        :   Register data
- * @ reserved
- */
-struct cam_cmd_read {
-	uint32_t                reg_data;
-	uint32_t                reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_i2c_continuous_wr - I2C continuous write command
- * @ header          :   header of READ/WRITE I2C command
- * @ reg_addr        :   Register address
- * @ data_read       :   I2C read command
- */
-struct cam_cmd_i2c_continuous_wr {
-	struct i2c_rdwr_header  header;
-	uint32_t                reg_addr;
-	struct cam_cmd_read     data_read[1];
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_i2c_random_rd - I2C random read command
- * @ header          :   header of READ/WRITE I2C command
- * @ data_read       :   I2C read command
- */
-struct cam_cmd_i2c_random_rd {
-	struct i2c_rdwr_header  header;
-	struct cam_cmd_read     data_read[1];
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_i2c_continuous_rd - I2C continuous continuous read command
- * @ header          :   header of READ/WRITE I2C command
- * @ reg_addr        :   Register address
- *
- */
-struct cam_cmd_i2c_continuous_rd {
-	struct i2c_rdwr_header  header;
-	uint32_t                reg_addr;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_conditional_wait - Conditional wait command
- * @data_type       :   Data type
- * @addr_type       :   Address type
- * @op_code         :   Opcode
- * @cmd_type        :   Explains type of command
- * @timeout         :   Timeout for retries
- * @reserved
- * @reg_addr        :   Register Address
- * @reg_data        :   Register data
- * @data_mask       :   Data mask if only few bits are valid
- * @camera_id       :   Indicates the slot to which camera
- *                      needs to be probed
- *
- */
-struct cam_cmd_conditional_wait {
-	uint8_t     data_type;
-	uint8_t     addr_type;
-	uint8_t     op_code;
-	uint8_t     cmd_type;
-	uint16_t    timeout;
-	uint16_t    reserved;
-	uint32_t    reg_addr;
-	uint32_t    reg_data;
-	uint32_t    data_mask;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_unconditional_wait - Un-conditional wait command
- * @delay           :   Delay
- * @op_code         :   Opcode
- * @cmd_type        :   Explains type of command
- */
-struct cam_cmd_unconditional_wait {
-	int16_t     delay;
-	uint8_t     op_code;
-	uint8_t     cmd_type;
-} __attribute__((packed));
-
-/**
- * cam_csiphy_info: Provides cmdbuffer structre
- * @lane_mask     : Lane mask details
- * @lane_assign   : Lane sensor will be using
- * @csiphy_3phase : Total number of lanes
- * @combo_mode    : Info regarding combo_mode is enable / disable
- * @lane_cnt      : Total number of lanes
- * @secure_mode   : Secure mode flag to enable / disable
- * @3phase        : Details whether 3Phase / 2Phase operation
- * @settle_time   : Settling time in ms
- * @data_rate     : Data rate
- *
- */
-struct cam_csiphy_info {
-	uint16_t    lane_mask;
-	uint16_t    lane_assign;
-	uint8_t     csiphy_3phase;
-	uint8_t     combo_mode;
-	uint8_t     lane_cnt;
-	uint8_t     secure_mode;
-	uint64_t    settle_time;
-	uint64_t    data_rate;
-} __attribute__((packed));
-
-/**
- * cam_csiphy_acquire_dev_info : Information needed for
- *                        csiphy at the time of acquire
- * @combo_mode     :    Indicates the device mode of operation
- * @reserved
- *
- */
-struct cam_csiphy_acquire_dev_info {
-	uint32_t    combo_mode;
-	uint32_t    reserved;
-} __attribute__((packed));
-
-/**
- * cam_sensor_acquire_dev : Updates sensor acuire cmd
- * @device_handle  :    Updates device handle
- * @session_handle :    Session handle for acquiring device
- * @handle_type    :    Resource handle type
- * @reserved
- * @info_handle    :    Handle to additional info
- *                      needed for sensor sub modules
- *
- */
-struct cam_sensor_acquire_dev {
-	uint32_t    session_handle;
-	uint32_t    device_handle;
-	uint32_t    handle_type;
-	uint32_t    reserved;
-	uint64_t    info_handle;
-} __attribute__((packed));
-
-/**
- * cam_sensor_streamon_dev : StreamOn command for the sensor
- * @session_handle :    Session handle for acquiring device
- * @device_handle  :    Updates device handle
- * @handle_type    :    Resource handle type
- * @reserved
- * @info_handle    :    Information Needed at the time of streamOn
- *
- */
-struct cam_sensor_streamon_dev {
-	uint32_t    session_handle;
-	uint32_t    device_handle;
-	uint32_t    handle_type;
-	uint32_t    reserved;
-	uint64_t    info_handle;
-} __attribute__((packed));
-
-/**
- * struct cam_flash_init : Init command for the flash
- * @flash_type  :    flash hw type
- * @reserved
- * @cmd_type    :    command buffer type
- */
-struct cam_flash_init {
-	uint8_t     flash_type;
-	uint16_t    reserved;
-	uint8_t     cmd_type;
-} __attribute__((packed));
-
-/**
- * struct cam_flash_set_rer : RedEyeReduction command buffer
- *
- * @count             :   Number of flash leds
- * @opcode            :   Command buffer opcode
- *			CAM_FLASH_FIRE_RER
- * @cmd_type          :   command buffer operation type
- * @num_iteration     :   Number of led turn on/off sequence
- * @reserved
- * @led_on_delay_ms   :   flash led turn on time in ms
- * @led_off_delay_ms  :   flash led turn off time in ms
- * @led_current_ma    :   flash led current in ma
- *
- */
-struct cam_flash_set_rer {
-	uint16_t    count;
-	uint8_t     opcode;
-	uint8_t     cmd_type;
-	uint16_t    num_iteration;
-	uint16_t    reserved;
-	uint32_t    led_on_delay_ms;
-	uint32_t    led_off_delay_ms;
-	uint32_t    led_current_ma[CAM_FLASH_MAX_LED_TRIGGERS];
-} __attribute__((packed));
-
-/**
- * struct cam_flash_set_on_off : led turn on/off command buffer
- *
- * @count              :   Number of Flash leds
- * @opcode             :   command buffer opcodes
- *			CAM_FLASH_FIRE_LOW
- *			CAM_FLASH_FIRE_HIGH
- *			CAM_FLASH_OFF
- * @cmd_type           :   command buffer operation type
- * @led_current_ma     :   flash led current in ma
- *
- */
-struct cam_flash_set_on_off {
-	uint16_t    count;
-	uint8_t     opcode;
-	uint8_t     cmd_type;
-	uint32_t    led_current_ma[CAM_FLASH_MAX_LED_TRIGGERS];
-} __attribute__((packed));
-
-/**
- * struct cam_flash_query_curr : query current command buffer
- *
- * @reserved
- * @opcode            :   command buffer opcode
- * @cmd_type          :   command buffer operation type
- * @query_current_ma  :   battery current in ma
- *
- */
-struct cam_flash_query_curr {
-	uint16_t    reserved;
-	uint8_t     opcode;
-	uint8_t     cmd_type;
-	uint32_t    query_current_ma;
-} __attribute__ ((packed));
-
-/**
- * struct cam_flash_query_cap  :  capabilities info for flash
- *
- * @slot_info           :  Indicates about the slotId or cell Index
- * @max_current_flash   :  max supported current for flash
- * @max_duration_flash  :  max flash turn on duration
- * @max_current_torch   :  max supported current for torch
- *
- */
-struct cam_flash_query_cap_info {
-	uint32_t    slot_info;
-	uint32_t    max_current_flash[CAM_FLASH_MAX_LED_TRIGGERS];
-	uint32_t    max_duration_flash[CAM_FLASH_MAX_LED_TRIGGERS];
-	uint32_t    max_current_torch[CAM_FLASH_MAX_LED_TRIGGERS];
-} __attribute__ ((packed));
-
-#endif
diff --git a/third_party/linux/include/media/cam_sensor_cmn_header.h b/third_party/linux/include/media/cam_sensor_cmn_header.h
deleted file mode 100644
index 24617b39bd1266..00000000000000
--- a/third_party/linux/include/media/cam_sensor_cmn_header.h
+++ /dev/null
@@ -1,391 +0,0 @@
-/* Copyright (c) 2017-2018, The Linux Foundation. All rights reserved.
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 and
- * only version 2 as published by the Free Software Foundation.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- */
-
-#ifndef _CAM_SENSOR_CMN_HEADER_
-#define _CAM_SENSOR_CMN_HEADER_
-
-#include <stdbool.h>
-#include <media/cam_sensor.h>
-#include <media/cam_req_mgr.h>
-
-#define MAX_REGULATOR 5
-#define MAX_POWER_CONFIG 12
-
-#define MAX_PER_FRAME_ARRAY 32
-#define BATCH_SIZE_MAX      16
-
-#define CAM_SENSOR_NAME    "cam-sensor"
-#define CAM_ACTUATOR_NAME  "cam-actuator"
-#define CAM_CSIPHY_NAME    "cam-csiphy"
-#define CAM_FLASH_NAME     "cam-flash"
-#define CAM_EEPROM_NAME    "cam-eeprom"
-#define CAM_OIS_NAME       "cam-ois"
-
-#define MAX_SYSTEM_PIPELINE_DELAY 2
-
-#define CAM_PKT_NOP_OPCODE 127
-
-enum camera_sensor_cmd_type {
-	CAMERA_SENSOR_CMD_TYPE_INVALID,
-	CAMERA_SENSOR_CMD_TYPE_PROBE,
-	CAMERA_SENSOR_CMD_TYPE_PWR_UP,
-	CAMERA_SENSOR_CMD_TYPE_PWR_DOWN,
-	CAMERA_SENSOR_CMD_TYPE_I2C_INFO,
-	CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR,
-	CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_RD,
-	CAMERA_SENSOR_CMD_TYPE_I2C_CONT_WR,
-	CAMERA_SENSOR_CMD_TYPE_I2C_CONT_RD,
-	CAMERA_SENSOR_CMD_TYPE_WAIT,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_INIT_INFO,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_FIRE,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_RER,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_QUERYCURR,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_WIDGET,
-	CAMERA_SENSOR_CMD_TYPE_RD_DATA,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_INIT_FIRE,
-	CAMERA_SENSOR_CMD_TYPE_MAX,
-};
-
-enum camera_sensor_i2c_op_code {
-	CAMERA_SENSOR_I2C_OP_INVALID,
-	CAMERA_SENSOR_I2C_OP_RNDM_WR,
-	CAMERA_SENSOR_I2C_OP_RNDM_WR_VERF,
-	CAMERA_SENSOR_I2C_OP_CONT_WR_BRST,
-	CAMERA_SENSOR_I2C_OP_CONT_WR_BRST_VERF,
-	CAMERA_SENSOR_I2C_OP_CONT_WR_SEQN,
-	CAMERA_SENSOR_I2C_OP_CONT_WR_SEQN_VERF,
-	CAMERA_SENSOR_I2C_OP_MAX,
-};
-
-enum camera_sensor_wait_op_code {
-	CAMERA_SENSOR_WAIT_OP_INVALID,
-	CAMERA_SENSOR_WAIT_OP_COND,
-	CAMERA_SENSOR_WAIT_OP_HW_UCND,
-	CAMERA_SENSOR_WAIT_OP_SW_UCND,
-	CAMERA_SENSOR_WAIT_OP_MAX,
-};
-
-enum camera_flash_opcode {
-	CAMERA_SENSOR_FLASH_OP_INVALID,
-	CAMERA_SENSOR_FLASH_OP_OFF,
-	CAMERA_SENSOR_FLASH_OP_FIRELOW,
-	CAMERA_SENSOR_FLASH_OP_FIREHIGH,
-	CAMERA_SENSOR_FLASH_OP_MAX,
-};
-
-enum camera_sensor_i2c_type {
-	CAMERA_SENSOR_I2C_TYPE_INVALID,
-	CAMERA_SENSOR_I2C_TYPE_BYTE,
-	CAMERA_SENSOR_I2C_TYPE_WORD,
-	CAMERA_SENSOR_I2C_TYPE_3B,
-	CAMERA_SENSOR_I2C_TYPE_DWORD,
-	CAMERA_SENSOR_I2C_TYPE_MAX,
-};
-
-enum i2c_freq_mode {
-	I2C_STANDARD_MODE,
-	I2C_FAST_MODE,
-	I2C_CUSTOM_MODE,
-	I2C_FAST_PLUS_MODE,
-	I2C_MAX_MODES,
-};
-
-enum position_roll {
-	ROLL_0       = 0,
-	ROLL_90      = 90,
-	ROLL_180     = 180,
-	ROLL_270     = 270,
-	ROLL_INVALID = 360,
-};
-
-enum position_yaw {
-	FRONT_CAMERA_YAW = 0,
-	REAR_CAMERA_YAW  = 180,
-	INVALID_YAW      = 360,
-};
-
-enum position_pitch {
-	LEVEL_PITCH    = 0,
-	INVALID_PITCH  = 360,
-};
-
-enum sensor_sub_module {
-	SUB_MODULE_SENSOR,
-	SUB_MODULE_ACTUATOR,
-	SUB_MODULE_EEPROM,
-	SUB_MODULE_LED_FLASH,
-	SUB_MODULE_CSID,
-	SUB_MODULE_CSIPHY,
-	SUB_MODULE_OIS,
-	SUB_MODULE_EXT,
-	SUB_MODULE_MAX,
-};
-
-enum msm_camera_power_seq_type {
-	SENSOR_MCLK,
-	SENSOR_VANA,
-	SENSOR_VDIG,
-	SENSOR_VIO,
-	SENSOR_VAF,
-	SENSOR_VAF_PWDM,
-	SENSOR_CUSTOM_REG1,
-	SENSOR_CUSTOM_REG2,
-	SENSOR_RESET,
-	SENSOR_STANDBY,
-	SENSOR_CUSTOM_GPIO1,
-	SENSOR_CUSTOM_GPIO2,
-	SENSOR_SEQ_TYPE_MAX,
-};
-
-enum cam_sensor_packet_opcodes {
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMON,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_UPDATE,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_INITIAL_CONFIG,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMOFF,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_NOP = 127
-};
-
-enum cam_actuator_packet_opcodes {
-	CAM_ACTUATOR_PACKET_OPCODE_INIT,
-	CAM_ACTUATOR_PACKET_AUTO_MOVE_LENS,
-	CAM_ACTUATOR_PACKET_MANUAL_MOVE_LENS
-};
-
-enum cam_eeprom_packet_opcodes {
-	CAM_EEPROM_PACKET_OPCODE_INIT
-};
-
-enum cam_ois_packet_opcodes {
-	CAM_OIS_PACKET_OPCODE_INIT,
-	CAM_OIS_PACKET_OPCODE_OIS_CONTROL
-};
-
-enum msm_bus_perf_setting {
-	S_INIT,
-	S_PREVIEW,
-	S_VIDEO,
-	S_CAPTURE,
-	S_ZSL,
-	S_STEREO_VIDEO,
-	S_STEREO_CAPTURE,
-	S_DEFAULT,
-	S_LIVESHOT,
-	S_DUAL,
-	S_EXIT
-};
-
-enum msm_camera_device_type_t {
-	MSM_CAMERA_I2C_DEVICE,
-	MSM_CAMERA_PLATFORM_DEVICE,
-	MSM_CAMERA_SPI_DEVICE,
-};
-
-enum cam_flash_device_type {
-	CAMERA_FLASH_DEVICE_TYPE_PMIC = 0,
-	CAMERA_FLASH_DEVICE_TYPE_I2C,
-	CAMERA_FLASH_DEVICE_TYPE_GPIO,
-};
-
-enum cci_i2c_master_t {
-	MASTER_0,
-	MASTER_1,
-	MASTER_MAX,
-};
-
-enum camera_vreg_type {
-	VREG_TYPE_DEFAULT,
-	VREG_TYPE_CUSTOM,
-};
-
-enum cam_sensor_i2c_cmd_type {
-	CAM_SENSOR_I2C_WRITE_RANDOM,
-	CAM_SENSOR_I2C_WRITE_BURST,
-	CAM_SENSOR_I2C_WRITE_SEQ,
-	CAM_SENSOR_I2C_READ,
-	CAM_SENSOR_I2C_POLL
-};
-
-struct common_header {
-	uint16_t    first_word;
-	uint8_t     third_byte;
-	uint8_t     cmd_type;
-};
-
-struct camera_vreg_t {
-	const char *reg_name;
-	int min_voltage;
-	int max_voltage;
-	int op_mode;
-	uint32_t delay;
-	const char *custom_vreg_name;
-	enum camera_vreg_type type;
-};
-
-struct msm_camera_gpio_num_info {
-	uint16_t gpio_num[SENSOR_SEQ_TYPE_MAX];
-	uint8_t valid[SENSOR_SEQ_TYPE_MAX];
-};
-
-struct msm_cam_clk_info {
-	const char *clk_name;
-	long clk_rate;
-	uint32_t delay;
-};
-
-struct msm_pinctrl_info {
-	struct pinctrl *pinctrl;
-	struct pinctrl_state *gpio_state_active;
-	struct pinctrl_state *gpio_state_suspend;
-	bool use_pinctrl;
-};
-
-struct cam_sensor_i2c_reg_array {
-	uint32_t reg_addr;
-	uint32_t reg_data;
-	uint32_t delay;
-	uint32_t data_mask;
-};
-
-struct cam_sensor_i2c_reg_setting {
-	struct cam_sensor_i2c_reg_array *reg_setting;
-	unsigned short size;
-	enum camera_sensor_i2c_type addr_type;
-	enum camera_sensor_i2c_type data_type;
-	unsigned short delay;
-};
-
-/*struct i2c_settings_list {
-	struct cam_sensor_i2c_reg_setting i2c_settings;
-	enum cam_sensor_i2c_cmd_type op_code;
-	struct list_head list;
-};
-
-struct i2c_settings_array {
-	struct list_head list_head;
-	int32_t is_settings_valid;
-	int64_t request_id;
-};
-
-struct i2c_data_settings {
-	struct i2c_settings_array init_settings;
-	struct i2c_settings_array config_settings;
-	struct i2c_settings_array streamon_settings;
-	struct i2c_settings_array streamoff_settings;
-	struct i2c_settings_array *per_frame;
-};*/
-
-struct cam_sensor_power_ctrl_t {
-	struct device *dev;
-	struct cam_sensor_power_setting *power_setting;
-	uint16_t power_setting_size;
-	struct cam_sensor_power_setting *power_down_setting;
-	uint16_t power_down_setting_size;
-	struct msm_camera_gpio_num_info *gpio_num_info;
-	struct msm_pinctrl_info pinctrl_info;
-	uint8_t cam_pinctrl_status;
-};
-
-struct cam_camera_slave_info {
-	uint16_t sensor_slave_addr;
-	uint16_t sensor_id_reg_addr;
-	uint16_t sensor_id;
-	uint16_t sensor_id_mask;
-};
-
-struct msm_sensor_init_params {
-	int modes_supported;
-	unsigned int sensor_mount_angle;
-};
-
-enum msm_sensor_camera_id_t {
-	CAMERA_0,
-	CAMERA_1,
-	CAMERA_2,
-	CAMERA_3,
-	CAMERA_4,
-	CAMERA_5,
-	CAMERA_6,
-	MAX_CAMERAS,
-};
-
-struct msm_sensor_id_info_t {
-	unsigned short sensor_id_reg_addr;
-	unsigned short sensor_id;
-	unsigned short sensor_id_mask;
-};
-
-enum msm_sensor_output_format_t {
-	MSM_SENSOR_BAYER,
-	MSM_SENSOR_YCBCR,
-	MSM_SENSOR_META,
-};
-
-struct cam_sensor_power_setting {
-	enum msm_camera_power_seq_type seq_type;
-	unsigned short seq_val;
-	long config_val;
-	unsigned short delay;
-	void *data[10];
-};
-
-struct cam_sensor_board_info {
-	struct cam_camera_slave_info slave_info;
-	int32_t sensor_mount_angle;
-	int32_t secure_mode;
-	int modes_supported;
-	int32_t pos_roll;
-	int32_t pos_yaw;
-	int32_t pos_pitch;
-	int32_t  subdev_id[SUB_MODULE_MAX];
-	int32_t  subdev_intf[SUB_MODULE_MAX];
-	const char *misc_regulator;
-	struct cam_sensor_power_ctrl_t power_info;
-};
-
-enum msm_camera_vreg_name_t {
-	CAM_VDIG,
-	CAM_VIO,
-	CAM_VANA,
-	CAM_VAF,
-	CAM_V_CUSTOM1,
-	CAM_V_CUSTOM2,
-	CAM_VREG_MAX,
-};
-
-struct msm_camera_gpio_conf {
-	void *cam_gpiomux_conf_tbl;
-	uint8_t cam_gpiomux_conf_tbl_size;
-	struct gpio *cam_gpio_common_tbl;
-	uint8_t cam_gpio_common_tbl_size;
-	struct gpio *cam_gpio_req_tbl;
-	uint8_t cam_gpio_req_tbl_size;
-	uint32_t gpio_no_mux;
-	uint32_t *camera_off_table;
-	uint8_t camera_off_table_size;
-	uint32_t *camera_on_table;
-	uint8_t camera_on_table_size;
-	struct msm_camera_gpio_num_info *gpio_num_info;
-};
-
-/*for tof camera  Begin*/
-enum EEPROM_DATA_OP_T{
-	EEPROM_DEFAULT_DATA = 0,
-	EEPROM_INIT_DATA,
-	EEPROM_CONFIG_DATA,
-	EEPROM_STREAMON_DATA,
-	EEPROM_STREAMOFF_DATA,
-	EEPROM_OTHER_DATA,
-};
-/*for tof camera  End*/
-#endif /* _CAM_SENSOR_CMN_HEADER_ */
diff --git a/third_party/linux/include/media/cam_sync.h b/third_party/linux/include/media/cam_sync.h
deleted file mode 100644
index 4a8781fc823d54..00000000000000
--- a/third_party/linux/include/media/cam_sync.h
+++ /dev/null
@@ -1,134 +0,0 @@
-#ifndef __UAPI_CAM_SYNC_H__
-#define __UAPI_CAM_SYNC_H__
-
-#include <linux/videodev2.h>
-#include <linux/types.h>
-#include <linux/ioctl.h>
-#include <linux/media.h>
-
-#define CAM_SYNC_DEVICE_NAME                     "cam_sync_device"
-
-/* V4L event which user space will subscribe to */
-#define CAM_SYNC_V4L_EVENT                       (V4L2_EVENT_PRIVATE_START + 0)
-
-/* Specific event ids to get notified in user space */
-#define CAM_SYNC_V4L_EVENT_ID_CB_TRIG            0
-
-/* Size of opaque payload sent to kernel for safekeeping until signal time */
-#define CAM_SYNC_USER_PAYLOAD_SIZE               2
-
-/* Device type for sync device needed for device discovery */
-#define CAM_SYNC_DEVICE_TYPE                     (MEDIA_ENT_F_OLD_BASE)
-
-#define CAM_SYNC_GET_PAYLOAD_PTR(ev, type)       \
-	(type *)((char *)ev.u.data + sizeof(struct cam_sync_ev_header))
-
-#define CAM_SYNC_GET_HEADER_PTR(ev)              \
-	((struct cam_sync_ev_header *)ev.u.data)
-
-#define CAM_SYNC_STATE_INVALID                   0
-#define CAM_SYNC_STATE_ACTIVE                    1
-#define CAM_SYNC_STATE_SIGNALED_SUCCESS          2
-#define CAM_SYNC_STATE_SIGNALED_ERROR            3
-
-/**
- * struct cam_sync_ev_header - Event header for sync event notification
- *
- * @sync_obj: Sync object
- * @status:   Status of the object
- */
-struct cam_sync_ev_header {
-	int32_t sync_obj;
-	int32_t status;
-};
-
-/**
- * struct cam_sync_info - Sync object creation information
- *
- * @name:       Optional string representation of the sync object
- * @sync_obj:   Sync object returned after creation in kernel
- */
-struct cam_sync_info {
-	char name[64];
-	int32_t sync_obj;
-};
-
-/**
- * struct cam_sync_signal - Sync object signaling struct
- *
- * @sync_obj:   Sync object to be signaled
- * @sync_state: State of the sync object to which it should be signaled
- */
-struct cam_sync_signal {
-	int32_t sync_obj;
-	uint32_t sync_state;
-};
-
-/**
- * struct cam_sync_merge - Merge information for sync objects
- *
- * @sync_objs:  Pointer to sync objects
- * @num_objs:   Number of objects in the array
- * @merged:     Merged sync object
- */
-struct cam_sync_merge {
-	__u64 sync_objs;
-	uint32_t num_objs;
-	int32_t merged;
-};
-
-/**
- * struct cam_sync_userpayload_info - Payload info from user space
- *
- * @sync_obj:   Sync object for which payload has to be registered for
- * @reserved:   Reserved
- * @payload:    Pointer to user payload
- */
-struct cam_sync_userpayload_info {
-	int32_t sync_obj;
-	uint32_t reserved;
-	__u64 payload[CAM_SYNC_USER_PAYLOAD_SIZE];
-};
-
-/**
- * struct cam_sync_wait - Sync object wait information
- *
- * @sync_obj:   Sync object to wait on
- * @reserved:   Reserved
- * @timeout_ms: Timeout in milliseconds
- */
-struct cam_sync_wait {
-	int32_t sync_obj;
-	uint32_t reserved;
-	uint64_t timeout_ms;
-};
-
-/**
- * struct cam_private_ioctl_arg - Sync driver ioctl argument
- *
- * @id:         IOCTL command id
- * @size:       Size of command payload
- * @result:     Result of command execution
- * @reserved:   Reserved
- * @ioctl_ptr:  Pointer to user data
- */
-struct cam_private_ioctl_arg {
-	__u32 id;
-	__u32 size;
-	__u32 result;
-	__u32 reserved;
-	__u64 ioctl_ptr;
-};
-
-#define CAM_PRIVATE_IOCTL_CMD \
-	_IOWR('V', BASE_VIDIOC_PRIVATE, struct cam_private_ioctl_arg)
-
-#define CAM_SYNC_CREATE                          0
-#define CAM_SYNC_DESTROY                         1
-#define CAM_SYNC_SIGNAL                          2
-#define CAM_SYNC_MERGE                           3
-#define CAM_SYNC_REGISTER_PAYLOAD                4
-#define CAM_SYNC_DEREGISTER_PAYLOAD              5
-#define CAM_SYNC_WAIT                            6
-
-#endif /* __UAPI_CAM_SYNC_H__ */
diff --git a/third_party/linux/include/msm_cam_sensor.h b/third_party/linux/include/msm_cam_sensor.h
deleted file mode 100644
index c75d1fd5272444..00000000000000
--- a/third_party/linux/include/msm_cam_sensor.h
+++ /dev/null
@@ -1,829 +0,0 @@
-#ifndef __LINUX_MSM_CAM_SENSOR_H
-#define __LINUX_MSM_CAM_SENSOR_H
-
-#ifdef MSM_CAMERA_BIONIC
-#include <sys/types.h>
-#endif
-
-//#include <linux/v4l2-mediabus.h>
-#include "msm_camsensor_sdk.h"
-
-#include <linux/types.h>
-#include <linux/i2c.h>
-#ifdef CONFIG_COMPAT
-#include <linux/compat.h>
-#endif
-
-#define I2C_SEQ_REG_SETTING_MAX   5
-
-#define MSM_SENSOR_MCLK_8HZ   8000000
-#define MSM_SENSOR_MCLK_16HZ  16000000
-#define MSM_SENSOR_MCLK_24HZ  24000000
-
-#define MAX_SENSOR_NAME 32
-#define MAX_ACTUATOR_AF_TOTAL_STEPS 1024
-
-#define MAX_OIS_MOD_NAME_SIZE 32
-#define MAX_OIS_NAME_SIZE 32
-#define MAX_OIS_REG_SETTINGS 800
-
-#define MOVE_NEAR 0
-#define MOVE_FAR  1
-
-#define MSM_ACTUATOR_MOVE_SIGNED_FAR -1
-#define MSM_ACTUATOR_MOVE_SIGNED_NEAR  1
-
-#define MAX_ACTUATOR_REGION  5
-
-#define MAX_EEPROM_NAME 32
-
-#define MAX_AF_ITERATIONS 3
-#define MAX_NUMBER_OF_STEPS 47
-#define MAX_REGULATOR 5
-
-#define MSM_V4L2_PIX_FMT_META v4l2_fourcc('M', 'E', 'T', 'A') /* META */
-#define MSM_V4L2_PIX_FMT_SBGGR14 v4l2_fourcc('B', 'G', '1', '4')
-	/* 14  BGBG.. GRGR.. */
-#define MSM_V4L2_PIX_FMT_SGBRG14 v4l2_fourcc('G', 'B', '1', '4')
-	/* 14  GBGB.. RGRG.. */
-#define MSM_V4L2_PIX_FMT_SGRBG14 v4l2_fourcc('B', 'A', '1', '4')
-	/* 14  GRGR.. BGBG.. */
-#define MSM_V4L2_PIX_FMT_SRGGB14 v4l2_fourcc('R', 'G', '1', '4')
-	/* 14  RGRG.. GBGB.. */
-
-enum flash_type {
-	LED_FLASH = 1,
-	STROBE_FLASH,
-	GPIO_FLASH
-};
-
-enum msm_sensor_resolution_t {
-	MSM_SENSOR_RES_FULL,
-	MSM_SENSOR_RES_QTR,
-	MSM_SENSOR_RES_2,
-	MSM_SENSOR_RES_3,
-	MSM_SENSOR_RES_4,
-	MSM_SENSOR_RES_5,
-	MSM_SENSOR_RES_6,
-	MSM_SENSOR_RES_7,
-	MSM_SENSOR_INVALID_RES,
-};
-
-enum msm_camera_stream_type_t {
-	MSM_CAMERA_STREAM_PREVIEW,
-	MSM_CAMERA_STREAM_SNAPSHOT,
-	MSM_CAMERA_STREAM_VIDEO,
-	MSM_CAMERA_STREAM_INVALID,
-};
-
-enum sensor_sub_module_t {
-	SUB_MODULE_SENSOR,
-	SUB_MODULE_CHROMATIX,
-	SUB_MODULE_ACTUATOR,
-	SUB_MODULE_EEPROM,
-	SUB_MODULE_LED_FLASH,
-	SUB_MODULE_STROBE_FLASH,
-	SUB_MODULE_CSID,
-	SUB_MODULE_CSID_3D,
-	SUB_MODULE_CSIPHY,
-	SUB_MODULE_CSIPHY_3D,
-	SUB_MODULE_OIS,
-	SUB_MODULE_EXT,
-	SUB_MODULE_MAX,
-};
-
-enum {
-	MSM_CAMERA_EFFECT_MODE_OFF,
-	MSM_CAMERA_EFFECT_MODE_MONO,
-	MSM_CAMERA_EFFECT_MODE_NEGATIVE,
-	MSM_CAMERA_EFFECT_MODE_SOLARIZE,
-	MSM_CAMERA_EFFECT_MODE_SEPIA,
-	MSM_CAMERA_EFFECT_MODE_POSTERIZE,
-	MSM_CAMERA_EFFECT_MODE_WHITEBOARD,
-	MSM_CAMERA_EFFECT_MODE_BLACKBOARD,
-	MSM_CAMERA_EFFECT_MODE_AQUA,
-	MSM_CAMERA_EFFECT_MODE_EMBOSS,
-	MSM_CAMERA_EFFECT_MODE_SKETCH,
-	MSM_CAMERA_EFFECT_MODE_NEON,
-	MSM_CAMERA_EFFECT_MODE_MAX
-};
-
-enum {
-	MSM_CAMERA_WB_MODE_AUTO,
-	MSM_CAMERA_WB_MODE_CUSTOM,
-	MSM_CAMERA_WB_MODE_INCANDESCENT,
-	MSM_CAMERA_WB_MODE_FLUORESCENT,
-	MSM_CAMERA_WB_MODE_WARM_FLUORESCENT,
-	MSM_CAMERA_WB_MODE_DAYLIGHT,
-	MSM_CAMERA_WB_MODE_CLOUDY_DAYLIGHT,
-	MSM_CAMERA_WB_MODE_TWILIGHT,
-	MSM_CAMERA_WB_MODE_SHADE,
-	MSM_CAMERA_WB_MODE_OFF,
-	MSM_CAMERA_WB_MODE_MAX
-};
-
-enum {
-	MSM_CAMERA_SCENE_MODE_OFF,
-	MSM_CAMERA_SCENE_MODE_AUTO,
-	MSM_CAMERA_SCENE_MODE_LANDSCAPE,
-	MSM_CAMERA_SCENE_MODE_SNOW,
-	MSM_CAMERA_SCENE_MODE_BEACH,
-	MSM_CAMERA_SCENE_MODE_SUNSET,
-	MSM_CAMERA_SCENE_MODE_NIGHT,
-	MSM_CAMERA_SCENE_MODE_PORTRAIT,
-	MSM_CAMERA_SCENE_MODE_BACKLIGHT,
-	MSM_CAMERA_SCENE_MODE_SPORTS,
-	MSM_CAMERA_SCENE_MODE_ANTISHAKE,
-	MSM_CAMERA_SCENE_MODE_FLOWERS,
-	MSM_CAMERA_SCENE_MODE_CANDLELIGHT,
-	MSM_CAMERA_SCENE_MODE_FIREWORKS,
-	MSM_CAMERA_SCENE_MODE_PARTY,
-	MSM_CAMERA_SCENE_MODE_NIGHT_PORTRAIT,
-	MSM_CAMERA_SCENE_MODE_THEATRE,
-	MSM_CAMERA_SCENE_MODE_ACTION,
-	MSM_CAMERA_SCENE_MODE_AR,
-	MSM_CAMERA_SCENE_MODE_FACE_PRIORITY,
-	MSM_CAMERA_SCENE_MODE_BARCODE,
-	MSM_CAMERA_SCENE_MODE_HDR,
-	MSM_CAMERA_SCENE_MODE_MAX
-};
-
-enum csid_cfg_type_t {
-	CSID_INIT,
-	CSID_CFG,
-	CSID_TESTMODE_CFG,
-	CSID_RELEASE,
-};
-
-enum csiphy_cfg_type_t {
-	CSIPHY_INIT,
-	CSIPHY_CFG,
-	CSIPHY_RELEASE,
-};
-
-enum camera_vreg_type {
-	VREG_TYPE_DEFAULT,
-	VREG_TYPE_CUSTOM,
-};
-
-enum sensor_af_t {
-	SENSOR_AF_FOCUSSED,
-	SENSOR_AF_NOT_FOCUSSED,
-};
-
-enum cci_i2c_master_t {
-	MASTER_0,
-	MASTER_1,
-	MASTER_MAX,
-};
-
-struct msm_camera_i2c_array_write_config {
-	struct msm_camera_i2c_reg_setting conf_array;
-	uint16_t slave_addr;
-};
-
-struct msm_camera_i2c_read_config {
-	uint16_t slave_addr;
-	uint16_t reg_addr;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	enum msm_camera_i2c_data_type data_type;
-	uint16_t data;
-};
-
-struct msm_camera_csi2_params {
-	struct msm_camera_csid_params csid_params;
-	struct msm_camera_csiphy_params csiphy_params;
-	uint8_t csi_clk_scale_enable;
-};
-
-struct msm_camera_csi_lane_params {
-	uint16_t csi_lane_assign;
-	uint16_t csi_lane_mask;
-};
-
-struct csi_lane_params_t {
-	uint16_t csi_lane_assign;
-	uint8_t csi_lane_mask;
-	uint8_t csi_if;
-	int8_t csid_core[2];
-	uint8_t csi_phy_sel;
-};
-
-struct msm_sensor_info_t {
-	char     sensor_name[MAX_SENSOR_NAME];
-	uint32_t session_id;
-	int32_t  subdev_id[SUB_MODULE_MAX];
-	int32_t  subdev_intf[SUB_MODULE_MAX];
-	uint8_t  is_mount_angle_valid;
-	uint32_t sensor_mount_angle;
-	int modes_supported;
-	enum camb_position_t position;
-};
-
-struct camera_vreg_t {
-	const char *reg_name;
-	int min_voltage;
-	int max_voltage;
-	int op_mode;
-	uint32_t delay;
-	const char *custom_vreg_name;
-	enum camera_vreg_type type;
-};
-
-struct sensorb_cfg_data {
-	int cfgtype;
-	union {
-		struct msm_sensor_info_t      sensor_info;
-		struct msm_sensor_init_params sensor_init_params;
-		void                         *setting;
-		struct msm_sensor_i2c_sync_params sensor_i2c_sync_params;
-	} cfg;
-};
-
-struct csid_cfg_data {
-	enum csid_cfg_type_t cfgtype;
-	union {
-		uint32_t csid_version;
-		struct msm_camera_csid_params *csid_params;
-		struct msm_camera_csid_testmode_parms *csid_testmode_params;
-	} cfg;
-};
-
-struct csiphy_cfg_data {
-	enum csiphy_cfg_type_t cfgtype;
-	union {
-		struct msm_camera_csiphy_params *csiphy_params;
-		struct msm_camera_csi_lane_params *csi_lane_params;
-	} cfg;
-};
-
-enum eeprom_cfg_type_t {
-	CFG_EEPROM_GET_INFO,
-	CFG_EEPROM_GET_CAL_DATA,
-	CFG_EEPROM_READ_CAL_DATA,
-	CFG_EEPROM_WRITE_DATA,
-	CFG_EEPROM_GET_MM_INFO,
-	CFG_EEPROM_INIT,
-};
-
-struct eeprom_get_t {
-	uint32_t num_bytes;
-};
-
-struct eeprom_read_t {
-	uint8_t *dbuffer;
-	uint32_t num_bytes;
-};
-
-struct eeprom_write_t {
-	uint8_t *dbuffer;
-	uint32_t num_bytes;
-};
-
-struct eeprom_get_cmm_t {
-	uint32_t cmm_support;
-	uint32_t cmm_compression;
-	uint32_t cmm_size;
-};
-
-struct msm_eeprom_info_t {
-	struct msm_sensor_power_setting_array *power_setting_array;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	struct msm_eeprom_memory_map_array *mem_map_array;
-};
-
-struct msm_eeprom_cfg_data {
-	enum eeprom_cfg_type_t cfgtype;
-	uint8_t is_supported;
-	union {
-		char eeprom_name[MAX_SENSOR_NAME];
-		struct eeprom_get_t get_data;
-		struct eeprom_read_t read_data;
-		struct eeprom_write_t write_data;
-		struct eeprom_get_cmm_t get_cmm_data;
-		struct msm_eeprom_info_t eeprom_info;
-	} cfg;
-};
-
-#ifdef CONFIG_COMPAT
-struct msm_sensor_power_setting32 {
-	enum msm_sensor_power_seq_type_t seq_type;
-	uint16_t seq_val;
-	compat_uint_t config_val;
-	uint16_t delay;
-	compat_uptr_t data[10];
-};
-
-struct msm_sensor_power_setting_array32 {
-	struct msm_sensor_power_setting32 power_setting_a[MAX_POWER_CONFIG];
-	compat_uptr_t power_setting;
-	uint16_t size;
-	struct msm_sensor_power_setting32
-		power_down_setting_a[MAX_POWER_CONFIG];
-	compat_uptr_t power_down_setting;
-	uint16_t size_down;
-};
-
-struct msm_camera_sensor_slave_info32 {
-	char sensor_name[32];
-	char eeprom_name[32];
-	char actuator_name[32];
-	char ois_name[32];
-	char flash_name[32];
-	enum msm_sensor_camera_id_t camera_id;
-	uint16_t slave_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	struct msm_sensor_id_info_t sensor_id_info;
-	struct msm_sensor_power_setting_array32 power_setting_array;
-	uint8_t  is_init_params_valid;
-	struct msm_sensor_init_params sensor_init_params;
-	enum msm_sensor_output_format_t output_format;
-};
-
-struct msm_camera_csid_lut_params32 {
-	uint8_t num_cid;
-	struct msm_camera_csid_vc_cfg vc_cfg_a[MAX_CID];
-	compat_uptr_t vc_cfg[MAX_CID];
-};
-
-struct msm_camera_csid_params32 {
-	uint8_t lane_cnt;
-	uint16_t lane_assign;
-	uint8_t phy_sel;
-	uint32_t csi_clk;
-	struct msm_camera_csid_lut_params32 lut_params;
-	uint8_t csi_3p_sel;
-};
-
-struct msm_camera_csi2_params32 {
-	struct msm_camera_csid_params32 csid_params;
-	struct msm_camera_csiphy_params csiphy_params;
-	uint8_t csi_clk_scale_enable;
-};
-
-struct csid_cfg_data32 {
-	enum csid_cfg_type_t cfgtype;
-	union {
-		uint32_t csid_version;
-		compat_uptr_t csid_params;
-		compat_uptr_t csid_testmode_params;
-	} cfg;
-};
-
-struct eeprom_read_t32 {
-	compat_uptr_t dbuffer;
-	uint32_t num_bytes;
-};
-
-struct eeprom_write_t32 {
-	compat_uptr_t dbuffer;
-	uint32_t num_bytes;
-};
-
-struct msm_eeprom_info_t32 {
-	compat_uptr_t power_setting_array;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	compat_uptr_t mem_map_array;
-};
-
-struct msm_eeprom_cfg_data32 {
-	enum eeprom_cfg_type_t cfgtype;
-	uint8_t is_supported;
-	union {
-		char eeprom_name[MAX_SENSOR_NAME];
-		struct eeprom_get_t get_data;
-		struct eeprom_read_t32 read_data;
-		struct eeprom_write_t32 write_data;
-		struct msm_eeprom_info_t32 eeprom_info;
-	} cfg;
-};
-
-struct msm_camera_i2c_seq_reg_setting32 {
-	compat_uptr_t reg_setting;
-	uint16_t size;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	uint16_t delay;
-};
-#endif
-
-enum msm_sensor_cfg_type_t {
-	CFG_SET_SLAVE_INFO,
-	CFG_SLAVE_READ_I2C,
-	CFG_WRITE_I2C_ARRAY,
-	CFG_SLAVE_WRITE_I2C_ARRAY,
-	CFG_WRITE_I2C_SEQ_ARRAY,
-	CFG_POWER_UP,
-	CFG_POWER_DOWN,
-	CFG_SET_STOP_STREAM_SETTING,
-	CFG_GET_SENSOR_INFO,
-	CFG_GET_SENSOR_INIT_PARAMS,
-	CFG_SET_INIT_SETTING,
-	CFG_SET_RESOLUTION,
-	CFG_SET_STOP_STREAM,
-	CFG_SET_START_STREAM,
-	CFG_SET_SATURATION,
-	CFG_SET_CONTRAST,
-	CFG_SET_SHARPNESS,
-	CFG_SET_ISO,
-	CFG_SET_EXPOSURE_COMPENSATION,
-	CFG_SET_ANTIBANDING,
-	CFG_SET_BESTSHOT_MODE,
-	CFG_SET_EFFECT,
-	CFG_SET_WHITE_BALANCE,
-	CFG_SET_AUTOFOCUS,
-	CFG_CANCEL_AUTOFOCUS,
-	CFG_SET_STREAM_TYPE,
-	CFG_SET_I2C_SYNC_PARAM,
-	CFG_WRITE_I2C_ARRAY_ASYNC,
-	CFG_WRITE_I2C_ARRAY_SYNC,
-	CFG_WRITE_I2C_ARRAY_SYNC_BLOCK,
-};
-
-enum msm_actuator_cfg_type_t {
-	CFG_GET_ACTUATOR_INFO,
-	CFG_SET_ACTUATOR_INFO,
-	CFG_SET_DEFAULT_FOCUS,
-	CFG_MOVE_FOCUS,
-	CFG_SET_POSITION,
-	CFG_ACTUATOR_POWERDOWN,
-	CFG_ACTUATOR_POWERUP,
-	CFG_ACTUATOR_INIT,
-};
-
-enum msm_ois_cfg_type_t {
-	CFG_OIS_INIT,
-	CFG_OIS_POWERDOWN,
-	CFG_OIS_POWERUP,
-	CFG_OIS_CONTROL,
-	CFG_OIS_I2C_WRITE_SEQ_TABLE,
-};
-
-enum msm_ois_i2c_operation {
-	MSM_OIS_WRITE = 0,
-	MSM_OIS_POLL,
-};
-
-struct reg_settings_ois_t {
-	uint16_t reg_addr;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	uint32_t reg_data;
-	enum msm_camera_i2c_data_type data_type;
-	enum msm_ois_i2c_operation i2c_operation;
-	uint32_t delay;
-#define OIS_REG_DATA_SEQ_MAX 128
-    unsigned char reg_data_seq[OIS_REG_DATA_SEQ_MAX];
-    uint32_t reg_data_seq_size;
-};
-
-struct msm_ois_params_t {
-	uint16_t data_size;
-	uint16_t setting_size;
-	uint32_t i2c_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_camera_i2c_reg_addr_type i2c_addr_type;
-	enum msm_camera_i2c_data_type i2c_data_type;
-	struct reg_settings_ois_t *settings;
-};
-
-struct msm_ois_set_info_t {
-	struct msm_ois_params_t ois_params;
-};
-
-struct msm_actuator_move_params_t {
-	int8_t dir;
-	int8_t sign_dir;
-	int16_t dest_step_pos;
-	int32_t num_steps;
-	uint16_t curr_lens_pos;
-	struct damping_params_t *ringing_params;
-};
-
-struct msm_actuator_tuning_params_t {
-	int16_t initial_code;
-	uint16_t pwd_step;
-	uint16_t region_size;
-	uint32_t total_steps;
-	struct region_params_t *region_params;
-};
-
-struct park_lens_data_t {
-	uint32_t damping_step;
-	uint32_t damping_delay;
-	uint32_t hw_params;
-	uint32_t max_step;
-};
-
-struct msm_actuator_params_t {
-	enum actuator_type act_type;
-	uint8_t reg_tbl_size;
-	uint16_t data_size;
-	uint16_t init_setting_size;
-	uint32_t i2c_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_actuator_addr_type i2c_addr_type;
-	enum msm_actuator_data_type i2c_data_type;
-	struct msm_actuator_reg_params_t *reg_tbl_params;
-	struct reg_settings_t *init_settings;
-	struct park_lens_data_t park_lens;
-};
-
-struct msm_actuator_set_info_t {
-	struct msm_actuator_params_t actuator_params;
-	struct msm_actuator_tuning_params_t af_tuning_params;
-};
-
-struct msm_actuator_get_info_t {
-	uint32_t focal_length_num;
-	uint32_t focal_length_den;
-	uint32_t f_number_num;
-	uint32_t f_number_den;
-	uint32_t f_pix_num;
-	uint32_t f_pix_den;
-	uint32_t total_f_dist_num;
-	uint32_t total_f_dist_den;
-	uint32_t hor_view_angle_num;
-	uint32_t hor_view_angle_den;
-	uint32_t ver_view_angle_num;
-	uint32_t ver_view_angle_den;
-};
-
-enum af_camera_name {
-	ACTUATOR_MAIN_CAM_0,
-	ACTUATOR_MAIN_CAM_1,
-	ACTUATOR_MAIN_CAM_2,
-	ACTUATOR_MAIN_CAM_3,
-	ACTUATOR_MAIN_CAM_4,
-	ACTUATOR_MAIN_CAM_5,
-	ACTUATOR_WEB_CAM_0,
-	ACTUATOR_WEB_CAM_1,
-	ACTUATOR_WEB_CAM_2,
-};
-
-struct msm_ois_cfg_data {
-	int cfgtype;
-	union {
-		struct msm_ois_set_info_t set_info;
-		struct msm_camera_i2c_seq_reg_setting *settings;
-	} cfg;
-};
-
-struct msm_actuator_set_position_t {
-	uint16_t number_of_steps;
-	uint32_t hw_params;
-	uint16_t pos[MAX_NUMBER_OF_STEPS];
-	uint16_t delay[MAX_NUMBER_OF_STEPS];
-};
-
-struct msm_actuator_cfg_data {
-	int cfgtype;
-	uint8_t is_af_supported;
-	union {
-		struct msm_actuator_move_params_t move;
-		struct msm_actuator_set_info_t set_info;
-		struct msm_actuator_get_info_t get_info;
-		struct msm_actuator_set_position_t setpos;
-		enum af_camera_name cam_name;
-	} cfg;
-};
-
-enum msm_camera_led_config_t {
-	MSM_CAMERA_LED_OFF,
-	MSM_CAMERA_LED_LOW,
-	MSM_CAMERA_LED_HIGH,
-	MSM_CAMERA_LED_INIT,
-	MSM_CAMERA_LED_RELEASE,
-};
-
-struct msm_camera_led_cfg_t {
-	enum msm_camera_led_config_t cfgtype;
-	int32_t torch_current[MAX_LED_TRIGGERS];
-	int32_t flash_current[MAX_LED_TRIGGERS];
-	int32_t flash_duration[MAX_LED_TRIGGERS];
-};
-
-struct msm_flash_init_info_t {
-	enum msm_flash_driver_type flash_driver_type;
-	uint32_t slave_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	struct msm_sensor_power_setting_array *power_setting_array;
-	struct msm_camera_i2c_reg_setting_array *settings;
-};
-
-struct msm_flash_cfg_data_t {
-	enum msm_flash_cfg_type_t cfg_type;
-	int32_t flash_current[MAX_LED_TRIGGERS];
-	int32_t flash_duration[MAX_LED_TRIGGERS];
-	union {
-		struct msm_flash_init_info_t *flash_init_info;
-		struct msm_camera_i2c_reg_setting_array *settings;
-	} cfg;
-};
-
-/* sensor init structures and enums */
-enum msm_sensor_init_cfg_type_t {
-	CFG_SINIT_PROBE,
-	CFG_SINIT_PROBE_DONE,
-	CFG_SINIT_PROBE_WAIT_DONE,
-};
-
-struct sensor_init_cfg_data {
-	enum msm_sensor_init_cfg_type_t cfgtype;
-	struct msm_sensor_info_t        probed_info;
-	char                            entity_name[MAX_SENSOR_NAME];
-	union {
-		void *setting;
-	} cfg;
-};
-
-#define VIDIOC_MSM_SENSOR_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 1, struct sensorb_cfg_data)
-
-#define VIDIOC_MSM_SENSOR_RELEASE \
-	_IO('V', BASE_VIDIOC_PRIVATE + 2)
-
-#define VIDIOC_MSM_SENSOR_GET_SUBDEV_ID \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 3, uint32_t)
-
-#define VIDIOC_MSM_CSIPHY_IO_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 4, struct csiphy_cfg_data)
-
-#define VIDIOC_MSM_CSID_IO_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 5, struct csid_cfg_data)
-
-#define VIDIOC_MSM_ACTUATOR_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 6, struct msm_actuator_cfg_data)
-
-#define VIDIOC_MSM_FLASH_LED_DATA_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 7, struct msm_camera_led_cfg_t)
-
-#define VIDIOC_MSM_EEPROM_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 8, struct msm_eeprom_cfg_data)
-
-#define VIDIOC_MSM_SENSOR_GET_AF_STATUS \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 9, uint32_t)
-
-#define VIDIOC_MSM_SENSOR_INIT_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 10, struct sensor_init_cfg_data)
-
-#define VIDIOC_MSM_OIS_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 11, struct msm_ois_cfg_data)
-
-#define VIDIOC_MSM_FLASH_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 13, struct msm_flash_cfg_data_t)
-
-#ifdef CONFIG_COMPAT
-struct msm_camera_i2c_reg_setting32 {
-	compat_uptr_t reg_setting;
-	uint16_t size;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	enum msm_camera_i2c_data_type data_type;
-	uint16_t delay;
-};
-
-struct msm_camera_i2c_array_write_config32 {
-	struct msm_camera_i2c_reg_setting32 conf_array;
-	uint16_t slave_addr;
-};
-
-struct msm_actuator_tuning_params_t32 {
-	int16_t initial_code;
-	uint16_t pwd_step;
-	uint16_t region_size;
-	uint32_t total_steps;
-	compat_uptr_t region_params;
-};
-
-struct msm_actuator_params_t32 {
-	enum actuator_type act_type;
-	uint8_t reg_tbl_size;
-	uint16_t data_size;
-	uint16_t init_setting_size;
-	uint32_t i2c_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_actuator_addr_type i2c_addr_type;
-	enum msm_actuator_data_type i2c_data_type;
-	compat_uptr_t reg_tbl_params;
-	compat_uptr_t init_settings;
-	struct park_lens_data_t park_lens;
-};
-
-struct msm_actuator_set_info_t32 {
-	struct msm_actuator_params_t32 actuator_params;
-	struct msm_actuator_tuning_params_t32 af_tuning_params;
-};
-
-struct sensor_init_cfg_data32 {
-	enum msm_sensor_init_cfg_type_t cfgtype;
-	struct msm_sensor_info_t        probed_info;
-	char                            entity_name[MAX_SENSOR_NAME];
-	union {
-		compat_uptr_t setting;
-	} cfg;
-};
-
-struct msm_actuator_move_params_t32 {
-	int8_t dir;
-	int8_t sign_dir;
-	int16_t dest_step_pos;
-	int32_t num_steps;
-	uint16_t curr_lens_pos;
-	compat_uptr_t ringing_params;
-};
-
-struct msm_actuator_cfg_data32 {
-	int cfgtype;
-	uint8_t is_af_supported;
-	union {
-		struct msm_actuator_move_params_t32 move;
-		struct msm_actuator_set_info_t32 set_info;
-		struct msm_actuator_get_info_t get_info;
-		struct msm_actuator_set_position_t setpos;
-		enum af_camera_name cam_name;
-	} cfg;
-};
-
-struct csiphy_cfg_data32 {
-	enum csiphy_cfg_type_t cfgtype;
-	union {
-		compat_uptr_t csiphy_params;
-		compat_uptr_t csi_lane_params;
-	} cfg;
-};
-
-struct sensorb_cfg_data32 {
-	int cfgtype;
-	union {
-		struct msm_sensor_info_t      sensor_info;
-		struct msm_sensor_init_params sensor_init_params;
-		compat_uptr_t                 setting;
-		struct msm_sensor_i2c_sync_params sensor_i2c_sync_params;
-	} cfg;
-};
-
-struct msm_ois_params_t32 {
-	uint16_t data_size;
-	uint16_t setting_size;
-	uint32_t i2c_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_camera_i2c_reg_addr_type i2c_addr_type;
-	enum msm_camera_i2c_data_type i2c_data_type;
-	compat_uptr_t settings;
-};
-
-struct msm_ois_set_info_t32 {
-	struct msm_ois_params_t32 ois_params;
-};
-
-struct msm_ois_cfg_data32 {
-	int cfgtype;
-	union {
-		struct msm_ois_set_info_t32 set_info;
-		compat_uptr_t settings;
-	} cfg;
-};
-
-struct msm_flash_init_info_t32 {
-	enum msm_flash_driver_type flash_driver_type;
-	uint32_t slave_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	compat_uptr_t power_setting_array;
-	compat_uptr_t settings;
-};
-
-struct msm_flash_cfg_data_t32 {
-	enum msm_flash_cfg_type_t cfg_type;
-	int32_t flash_current[MAX_LED_TRIGGERS];
-	int32_t flash_duration[MAX_LED_TRIGGERS];
-	union {
-		compat_uptr_t flash_init_info;
-		compat_uptr_t settings;
-	} cfg;
-};
-
-#define VIDIOC_MSM_ACTUATOR_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 6, struct msm_actuator_cfg_data32)
-
-#define VIDIOC_MSM_SENSOR_INIT_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 10, struct sensor_init_cfg_data32)
-
-#define VIDIOC_MSM_CSIPHY_IO_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 4, struct csiphy_cfg_data32)
-
-#define VIDIOC_MSM_SENSOR_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 1, struct sensorb_cfg_data32)
-
-#define VIDIOC_MSM_EEPROM_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 8, struct msm_eeprom_cfg_data32)
-
-#define VIDIOC_MSM_OIS_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 11, struct msm_ois_cfg_data32)
-
-#define VIDIOC_MSM_CSID_IO_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 5, struct csid_cfg_data32)
-
-#define VIDIOC_MSM_FLASH_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 13, struct msm_flash_cfg_data_t32)
-#endif
-
-#endif /* __LINUX_MSM_CAM_SENSOR_H */
diff --git a/third_party/linux/include/msm_camsensor_sdk.h b/third_party/linux/include/msm_camsensor_sdk.h
deleted file mode 100644
index 62a4da253c9345..00000000000000
--- a/third_party/linux/include/msm_camsensor_sdk.h
+++ /dev/null
@@ -1,386 +0,0 @@
-#ifndef __LINUX_MSM_CAMSENSOR_SDK_H
-#define __LINUX_MSM_CAMSENSOR_SDK_H
-
-#define KVERSION 0x1
-
-#define MAX_POWER_CONFIG      12
-#define GPIO_OUT_LOW          (0 << 1)
-#define GPIO_OUT_HIGH         (1 << 1)
-#define CSI_EMBED_DATA        0x12
-#define CSI_RESERVED_DATA_0   0x13
-#define CSI_YUV422_8          0x1E
-#define CSI_RAW8              0x2A
-#define CSI_RAW10             0x2B
-#define CSI_RAW12             0x2C
-#define CSI_DECODE_6BIT         0
-#define CSI_DECODE_8BIT         1
-#define CSI_DECODE_10BIT        2
-#define CSI_DECODE_12BIT        3
-#define CSI_DECODE_DPCM_10_8_10 5
-#define MAX_CID                 16
-#define I2C_SEQ_REG_DATA_MAX    1024
-#define I2C_REG_DATA_MAX       (8*1024)
-
-#define MSM_V4L2_PIX_FMT_META v4l2_fourcc('M', 'E', 'T', 'A') /* META */
-#define MSM_V4L2_PIX_FMT_SBGGR14 v4l2_fourcc('B', 'G', '1', '4')
-	/* 14  BGBG.. GRGR.. */
-#define MSM_V4L2_PIX_FMT_SGBRG14 v4l2_fourcc('G', 'B', '1', '4')
-	/* 14  GBGB.. RGRG.. */
-#define MSM_V4L2_PIX_FMT_SGRBG14 v4l2_fourcc('B', 'A', '1', '4')
-	/* 14  GRGR.. BGBG.. */
-#define MSM_V4L2_PIX_FMT_SRGGB14 v4l2_fourcc('R', 'G', '1', '4')
-	/* 14  RGRG.. GBGB.. */
-
-#define MAX_ACTUATOR_REG_TBL_SIZE 8
-#define MAX_ACTUATOR_REGION       5
-#define NUM_ACTUATOR_DIR          2
-#define MAX_ACTUATOR_SCENARIO     8
-#define MAX_ACT_MOD_NAME_SIZE     32
-#define MAX_ACT_NAME_SIZE         32
-#define MAX_ACTUATOR_INIT_SET     120
-#define MAX_I2C_REG_SET           12
-
-#define MAX_LED_TRIGGERS          3
-
-#define MSM_EEPROM_MEMORY_MAP_MAX_SIZE  80
-#define MSM_EEPROM_MAX_MEM_MAP_CNT      8
-
-enum msm_sensor_camera_id_t {
-	CAMERA_0,
-	CAMERA_1,
-	CAMERA_2,
-	CAMERA_3,
-	MAX_CAMERAS,
-};
-
-enum i2c_freq_mode_t {
-	I2C_STANDARD_MODE,
-	I2C_FAST_MODE,
-	I2C_CUSTOM_MODE,
-	I2C_FAST_PLUS_MODE,
-	I2C_MAX_MODES,
-};
-
-enum camb_position_t {
-	BACK_CAMERA_B,
-	FRONT_CAMERA_B,
-	AUX_CAMERA_B = 0x100,
-	INVALID_CAMERA_B,
-};
-
-enum msm_sensor_power_seq_type_t {
-	SENSOR_CLK,
-	SENSOR_GPIO,
-	SENSOR_VREG,
-	SENSOR_I2C_MUX,
-	SENSOR_I2C,
-};
-
-enum msm_camera_i2c_reg_addr_type {
-	MSM_CAMERA_I2C_BYTE_ADDR = 1,
-	MSM_CAMERA_I2C_WORD_ADDR,
-	MSM_CAMERA_I2C_3B_ADDR,
-	MSM_CAMERA_I2C_ADDR_TYPE_MAX,
-};
-
-enum msm_camera_i2c_data_type {
-	MSM_CAMERA_I2C_BYTE_DATA = 1,
-	MSM_CAMERA_I2C_WORD_DATA,
-	MSM_CAMERA_I2C_DWORD_DATA,
-	MSM_CAMERA_I2C_SET_BYTE_MASK,
-	MSM_CAMERA_I2C_UNSET_BYTE_MASK,
-	MSM_CAMERA_I2C_SET_WORD_MASK,
-	MSM_CAMERA_I2C_UNSET_WORD_MASK,
-	MSM_CAMERA_I2C_SET_BYTE_WRITE_MASK_DATA,
-	MSM_CAMERA_I2C_SEQ_DATA,
-	MSM_CAMERA_I2C_DATA_TYPE_MAX,
-};
-
-enum msm_sensor_power_seq_gpio_t {
-	SENSOR_GPIO_RESET,
-	SENSOR_GPIO_STANDBY,
-	SENSOR_GPIO_AF_PWDM,
-	SENSOR_GPIO_VIO,
-	SENSOR_GPIO_VANA,
-	SENSOR_GPIO_VDIG,
-	SENSOR_GPIO_VAF,
-	SENSOR_GPIO_FL_EN,
-	SENSOR_GPIO_FL_NOW,
-	SENSOR_GPIO_FL_RESET,
-	SENSOR_GPIO_CUSTOM1,
-	SENSOR_GPIO_CUSTOM2,
-	SENSOR_GPIO_MAX,
-};
-
-enum msm_camera_vreg_name_t {
-	CAM_VDIG,
-	CAM_VIO,
-	CAM_VANA,
-	CAM_VAF,
-	CAM_V_CUSTOM1,
-	CAM_V_CUSTOM2,
-	CAM_VREG_MAX,
-};
-
-enum msm_sensor_clk_type_t {
-	SENSOR_CAM_MCLK,
-	SENSOR_CAM_CLK,
-	SENSOR_CAM_CLK_MAX,
-};
-
-enum camerab_mode_t {
-	CAMERA_MODE_2D_B = (1<<0),
-	CAMERA_MODE_3D_B = (1<<1),
-	CAMERA_MODE_INVALID = (1<<2),
-};
-
-enum msm_actuator_data_type {
-	MSM_ACTUATOR_BYTE_DATA = 1,
-	MSM_ACTUATOR_WORD_DATA,
-};
-
-enum msm_actuator_addr_type {
-	MSM_ACTUATOR_BYTE_ADDR = 1,
-	MSM_ACTUATOR_WORD_ADDR,
-};
-
-enum msm_actuator_write_type {
-	MSM_ACTUATOR_WRITE_HW_DAMP,
-	MSM_ACTUATOR_WRITE_DAC,
-	MSM_ACTUATOR_WRITE,
-	MSM_ACTUATOR_WRITE_DIR_REG,
-	MSM_ACTUATOR_POLL,
-	MSM_ACTUATOR_READ_WRITE,
-};
-
-enum msm_actuator_i2c_operation {
-	MSM_ACT_WRITE = 0,
-	MSM_ACT_POLL,
-};
-
-enum actuator_type {
-	ACTUATOR_VCM,
-	ACTUATOR_PIEZO,
-	ACTUATOR_HVCM,
-	ACTUATOR_BIVCM,
-};
-
-enum msm_flash_driver_type {
-	FLASH_DRIVER_PMIC,
-	FLASH_DRIVER_I2C,
-	FLASH_DRIVER_GPIO,
-	FLASH_DRIVER_DEFAULT
-};
-
-enum msm_flash_cfg_type_t {
-	CFG_FLASH_INIT,
-	CFG_FLASH_RELEASE,
-	CFG_FLASH_OFF,
-	CFG_FLASH_LOW,
-	CFG_FLASH_HIGH,
-};
-
-enum msm_sensor_output_format_t {
-	MSM_SENSOR_BAYER,
-	MSM_SENSOR_YCBCR,
-	MSM_SENSOR_META,
-};
-
-struct msm_sensor_power_setting {
-	enum msm_sensor_power_seq_type_t seq_type;
-	unsigned short seq_val;
-	long config_val;
-	unsigned short delay;
-	void *data[10];
-};
-
-struct msm_sensor_power_setting_array {
-	struct msm_sensor_power_setting  power_setting_a[MAX_POWER_CONFIG];
-	struct msm_sensor_power_setting *power_setting;
-	unsigned short size;
-	struct msm_sensor_power_setting  power_down_setting_a[MAX_POWER_CONFIG];
-	struct msm_sensor_power_setting *power_down_setting;
-	unsigned short size_down;
-};
-
-enum msm_camera_i2c_operation {
-	MSM_CAM_WRITE = 0,
-	MSM_CAM_POLL,
-	MSM_CAM_READ,
-};
-
-struct msm_sensor_i2c_sync_params {
-	unsigned int cid;
-	int csid;
-	unsigned short line;
-	unsigned short delay;
-};
-
-struct msm_camera_reg_settings_t {
-	uint16_t reg_addr;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	uint16_t reg_data;
-	enum msm_camera_i2c_data_type data_type;
-	enum msm_camera_i2c_operation i2c_operation;
-	uint16_t delay;
-};
-
-struct msm_eeprom_mem_map_t {
-	int slave_addr;
-	struct msm_camera_reg_settings_t
-		mem_settings[MSM_EEPROM_MEMORY_MAP_MAX_SIZE];
-	int memory_map_size;
-};
-
-struct msm_eeprom_memory_map_array {
-	struct msm_eeprom_mem_map_t memory_map[MSM_EEPROM_MAX_MEM_MAP_CNT];
-	uint32_t msm_size_of_max_mappings;
-};
-
-struct msm_sensor_init_params {
-	/* mask of modes supported: 2D, 3D */
-	int                 modes_supported;
-	/* sensor position: front, back */
-	enum camb_position_t position;
-	/* sensor mount angle */
-	unsigned int            sensor_mount_angle;
-};
-
-struct msm_sensor_id_info_t {
-	unsigned short sensor_id_reg_addr;
-	unsigned short sensor_id;
-	unsigned short sensor_id_mask;
-  // added in LeEco
-  unsigned char module_id;
-  unsigned char vcm_id;
-};
-
-struct msm_camera_sensor_slave_info {
-	char sensor_name[32];
-	char eeprom_name[32];
-	char actuator_name[32];
-	char ois_name[32];
-	char flash_name[32];
-	enum msm_sensor_camera_id_t camera_id;
-	unsigned short slave_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	struct msm_sensor_id_info_t sensor_id_info;
-	struct msm_sensor_power_setting_array power_setting_array;
-	unsigned char  is_init_params_valid;
-	struct msm_sensor_init_params sensor_init_params;
-	enum msm_sensor_output_format_t output_format;
-};
-
-struct msm_camera_i2c_reg_array {
-	unsigned short reg_addr;
-	unsigned short reg_data;
-	unsigned int delay;
-};
-
-struct msm_camera_i2c_reg_setting {
-	struct msm_camera_i2c_reg_array *reg_setting;
-	unsigned short size;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	enum msm_camera_i2c_data_type data_type;
-	unsigned short delay;
-};
-
-struct msm_camera_csid_vc_cfg {
-	unsigned char cid;
-	unsigned char dt;
-	unsigned char decode_format;
-};
-
-struct msm_camera_csid_lut_params {
-	unsigned char num_cid;
-	struct msm_camera_csid_vc_cfg vc_cfg_a[MAX_CID];
-	struct msm_camera_csid_vc_cfg *vc_cfg[MAX_CID];
-};
-
-struct msm_camera_csid_params {
-	unsigned char lane_cnt;
-	unsigned short lane_assign;
-	unsigned char phy_sel;
-	unsigned int csi_clk;
-	struct msm_camera_csid_lut_params lut_params;
-	unsigned char csi_3p_sel;
-};
-
-struct msm_camera_csid_testmode_parms {
-	unsigned int num_bytes_per_line;
-	unsigned int num_lines;
-	unsigned int h_blanking_count;
-	unsigned int v_blanking_count;
-	unsigned int payload_mode;
-};
-
-struct msm_camera_csiphy_params {
-	unsigned char lane_cnt;
-	unsigned char settle_cnt;
-	unsigned short lane_mask;
-	unsigned char combo_mode;
-	unsigned char csid_core;
-	unsigned int csiphy_clk;
-	unsigned char csi_3phase;
-};
-
-struct msm_camera_i2c_seq_reg_array {
-	unsigned short reg_addr;
-	unsigned char reg_data[I2C_SEQ_REG_DATA_MAX];
-	unsigned short reg_data_size;
-};
-
-struct msm_camera_i2c_seq_reg_setting {
-	struct msm_camera_i2c_seq_reg_array *reg_setting;
-	unsigned short size;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	unsigned short delay;
-};
-
-struct msm_actuator_reg_params_t {
-	enum msm_actuator_write_type reg_write_type;
-	unsigned int hw_mask;
-	unsigned short reg_addr;
-	unsigned short hw_shift;
-	unsigned short data_shift;
-	unsigned short data_type;
-	unsigned short addr_type;
-	unsigned short reg_data;
-	unsigned short delay;
-};
-
-
-struct damping_params_t {
-	unsigned int damping_step;
-	unsigned int damping_delay;
-	unsigned int hw_params;
-};
-
-struct region_params_t {
-	/* [0] = ForwardDirection Macro boundary
-	   [1] = ReverseDirection Inf boundary
-	*/
-	unsigned short step_bound[2];
-	unsigned short code_per_step;
-	/* qvalue for converting float type numbers to integer format */
-	unsigned int qvalue;
-};
-
-struct reg_settings_t {
-	unsigned short reg_addr;
-	enum msm_actuator_addr_type addr_type;
-	unsigned short reg_data;
-	enum msm_actuator_data_type data_type;
-	enum msm_actuator_i2c_operation i2c_operation;
-	unsigned int delay;
-};
-
-struct msm_camera_i2c_reg_setting_array {
-	struct msm_camera_i2c_reg_array reg_setting_a[MAX_I2C_REG_SET];
-	unsigned short size;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	enum msm_camera_i2c_data_type data_type;
-	unsigned short delay;
-};
-#endif /* __LINUX_MSM_CAM_SENSOR_H */
diff --git a/third_party/linux/include/msm_ion.h b/third_party/linux/include/msm_ion.h
deleted file mode 100644
index d5caed5eb36e1b..00000000000000
--- a/third_party/linux/include/msm_ion.h
+++ /dev/null
@@ -1,211 +0,0 @@
-#ifndef _UAPI_MSM_ION_H
-#define _UAPI_MSM_ION_H
-
-#include <linux/ion.h>
-
-enum msm_ion_heap_types {
-	ION_HEAP_TYPE_MSM_START = ION_HEAP_TYPE_CUSTOM + 1,
-	ION_HEAP_TYPE_SECURE_DMA = ION_HEAP_TYPE_MSM_START,
-	ION_HEAP_TYPE_SYSTEM_SECURE,
-	ION_HEAP_TYPE_HYP_CMA,
-	/*
-	 * if you add a heap type here you should also add it to
-	 * heap_types_info[] in msm_ion.c
-	 */
-};
-
-/**
- * These are the only ids that should be used for Ion heap ids.
- * The ids listed are the order in which allocation will be attempted
- * if specified. Don't swap the order of heap ids unless you know what
- * you are doing!
- * Id's are spaced by purpose to allow new Id's to be inserted in-between (for
- * possible fallbacks)
- */
-
-enum ion_heap_ids {
-	INVALID_HEAP_ID = -1,
-	ION_CP_MM_HEAP_ID = 8,
-	ION_SECURE_HEAP_ID = 9,
-	ION_SECURE_DISPLAY_HEAP_ID = 10,
-	ION_CP_MFC_HEAP_ID = 12,
-	ION_CP_WB_HEAP_ID = 16, /* 8660 only */
-	ION_CAMERA_HEAP_ID = 20, /* 8660 only */
-	ION_SYSTEM_CONTIG_HEAP_ID = 21,
-	ION_ADSP_HEAP_ID = 22,
-	ION_PIL1_HEAP_ID = 23, /* Currently used for other PIL images */
-	ION_SF_HEAP_ID = 24,
-	ION_SYSTEM_HEAP_ID = 25,
-	ION_PIL2_HEAP_ID = 26, /* Currently used for modem firmware images */
-	ION_QSECOM_HEAP_ID = 27,
-	ION_AUDIO_HEAP_ID = 28,
-
-	ION_MM_FIRMWARE_HEAP_ID = 29,
-
-	ION_HEAP_ID_RESERVED = 31 /** Bit reserved for ION_FLAG_SECURE flag */
-};
-
-/*
- * The IOMMU heap is deprecated! Here are some aliases for backwards
- * compatibility:
- */
-#define ION_IOMMU_HEAP_ID ION_SYSTEM_HEAP_ID
-#define ION_HEAP_TYPE_IOMMU ION_HEAP_TYPE_SYSTEM
-
-enum ion_fixed_position {
-	NOT_FIXED,
-	FIXED_LOW,
-	FIXED_MIDDLE,
-	FIXED_HIGH,
-};
-
-enum cp_mem_usage {
-	VIDEO_BITSTREAM = 0x1,
-	VIDEO_PIXEL = 0x2,
-	VIDEO_NONPIXEL = 0x3,
-	DISPLAY_SECURE_CP_USAGE = 0x4,
-	CAMERA_SECURE_CP_USAGE = 0x5,
-	MAX_USAGE = 0x6,
-	UNKNOWN = 0x7FFFFFFF,
-};
-
-/**
- * Flags to be used when allocating from the secure heap for
- * content protection
- */
-#define ION_FLAG_CP_TOUCH (1 << 17)
-#define ION_FLAG_CP_BITSTREAM (1 << 18)
-#define ION_FLAG_CP_PIXEL  (1 << 19)
-#define ION_FLAG_CP_NON_PIXEL (1 << 20)
-#define ION_FLAG_CP_CAMERA (1 << 21)
-#define ION_FLAG_CP_HLOS (1 << 22)
-#define ION_FLAG_CP_HLOS_FREE (1 << 23)
-#define ION_FLAG_CP_SEC_DISPLAY (1 << 25)
-#define ION_FLAG_CP_APP (1 << 26)
-
-/**
- * Flag to allow non continguous allocation of memory from secure
- * heap
- */
-#define ION_FLAG_ALLOW_NON_CONTIG (1 << 24)
-
-/**
- * Flag to use when allocating to indicate that a heap is secure.
- */
-#define ION_FLAG_SECURE (1 << ION_HEAP_ID_RESERVED)
-
-/**
- * Flag for clients to force contiguous memort allocation
- *
- * Use of this flag is carefully monitored!
- */
-#define ION_FLAG_FORCE_CONTIGUOUS (1 << 30)
-
-/*
- * Used in conjunction with heap which pool memory to force an allocation
- * to come from the page allocator directly instead of from the pool allocation
- */
-#define ION_FLAG_POOL_FORCE_ALLOC (1 << 16)
-
-
-#define ION_FLAG_POOL_PREFETCH (1 << 27)
-
-/**
-* Deprecated! Please use the corresponding ION_FLAG_*
-*/
-#define ION_SECURE ION_FLAG_SECURE
-#define ION_FORCE_CONTIGUOUS ION_FLAG_FORCE_CONTIGUOUS
-
-/**
- * Macro should be used with ion_heap_ids defined above.
- */
-#define ION_HEAP(bit) (1 << (bit))
-
-#define ION_ADSP_HEAP_NAME	"adsp"
-#define ION_SYSTEM_HEAP_NAME	"system"
-#define ION_VMALLOC_HEAP_NAME	ION_SYSTEM_HEAP_NAME
-#define ION_KMALLOC_HEAP_NAME	"kmalloc"
-#define ION_AUDIO_HEAP_NAME	"audio"
-#define ION_SF_HEAP_NAME	"sf"
-#define ION_MM_HEAP_NAME	"mm"
-#define ION_CAMERA_HEAP_NAME	"camera_preview"
-#define ION_IOMMU_HEAP_NAME	"iommu"
-#define ION_MFC_HEAP_NAME	"mfc"
-#define ION_WB_HEAP_NAME	"wb"
-#define ION_MM_FIRMWARE_HEAP_NAME	"mm_fw"
-#define ION_PIL1_HEAP_NAME  "pil_1"
-#define ION_PIL2_HEAP_NAME  "pil_2"
-#define ION_QSECOM_HEAP_NAME	"qsecom"
-#define ION_SECURE_HEAP_NAME	"secure_heap"
-#define ION_SECURE_DISPLAY_HEAP_NAME "secure_display"
-
-#define ION_SET_CACHED(__cache)		(__cache | ION_FLAG_CACHED)
-#define ION_SET_UNCACHED(__cache)	(__cache & ~ION_FLAG_CACHED)
-
-#define ION_IS_CACHED(__flags)	((__flags) & ION_FLAG_CACHED)
-
-/* struct ion_flush_data - data passed to ion for flushing caches
- *
- * @handle:	handle with data to flush
- * @fd:		fd to flush
- * @vaddr:	userspace virtual address mapped with mmap
- * @offset:	offset into the handle to flush
- * @length:	length of handle to flush
- *
- * Performs cache operations on the handle. If p is the start address
- * of the handle, p + offset through p + offset + length will have
- * the cache operations performed
- */
-struct ion_flush_data {
-	ion_user_handle_t handle;
-	int fd;
-	void *vaddr;
-	unsigned int offset;
-	unsigned int length;
-};
-
-struct ion_prefetch_regions {
-	unsigned int vmid;
-	size_t *sizes;
-	unsigned int nr_sizes;
-};
-
-struct ion_prefetch_data {
-	int heap_id;
-	unsigned long len;
-	/* Is unsigned long bad? 32bit compiler vs 64 bit compiler*/
-	struct ion_prefetch_regions *regions;
-	unsigned int nr_regions;
-};
-
-#define ION_IOC_MSM_MAGIC 'M'
-
-/**
- * DOC: ION_IOC_CLEAN_CACHES - clean the caches
- *
- * Clean the caches of the handle specified.
- */
-#define ION_IOC_CLEAN_CACHES	_IOWR(ION_IOC_MSM_MAGIC, 0, \
-						struct ion_flush_data)
-/**
- * DOC: ION_IOC_INV_CACHES - invalidate the caches
- *
- * Invalidate the caches of the handle specified.
- */
-#define ION_IOC_INV_CACHES	_IOWR(ION_IOC_MSM_MAGIC, 1, \
-						struct ion_flush_data)
-/**
- * DOC: ION_IOC_CLEAN_INV_CACHES - clean and invalidate the caches
- *
- * Clean and invalidate the caches of the handle specified.
- */
-#define ION_IOC_CLEAN_INV_CACHES	_IOWR(ION_IOC_MSM_MAGIC, 2, \
-						struct ion_flush_data)
-
-#define ION_IOC_PREFETCH		_IOWR(ION_IOC_MSM_MAGIC, 3, \
-						struct ion_prefetch_data)
-
-#define ION_IOC_DRAIN			_IOWR(ION_IOC_MSM_MAGIC, 4, \
-						struct ion_prefetch_data)
-
-#endif
diff --git a/third_party/linux/include/msm_kgsl.h b/third_party/linux/include/msm_kgsl.h
deleted file mode 100644
index 93582eb066db77..00000000000000
--- a/third_party/linux/include/msm_kgsl.h
+++ /dev/null
@@ -1,1449 +0,0 @@
-#ifndef _UAPI_MSM_KGSL_H
-#define _UAPI_MSM_KGSL_H
-
-#include <linux/types.h>
-#include <linux/ioctl.h>
-
-/*
- * The KGSL version has proven not to be very useful in userspace if features
- * are cherry picked into other trees out of order so it is frozen as of 3.14.
- * It is left here for backwards compatabilty and as a reminder that
- * software releases are never linear. Also, I like pie.
- */
-
-#define KGSL_VERSION_MAJOR        3
-#define KGSL_VERSION_MINOR        14
-
-/*
- * We have traditionally mixed context and issueibcmds / command batch flags
- * together into a big flag stew. This worked fine until we started adding a
- * lot more command batch flags and we started running out of bits. Turns out
- * we have a bit of room in the context type / priority mask that we could use
- * for command batches, but that means we need to split out the flags into two
- * coherent sets.
- *
- * If any future definitions are for both context and cmdbatch add both defines
- * and link the cmdbatch to the context define as we do below. Otherwise feel
- * free to add exclusive bits to either set.
- */
-
-/* --- context flags --- */
-#define KGSL_CONTEXT_SAVE_GMEM		0x00000001
-#define KGSL_CONTEXT_NO_GMEM_ALLOC	0x00000002
-/* This is a cmdbatch exclusive flag - use the CMDBATCH equivalent instead */
-#define KGSL_CONTEXT_SUBMIT_IB_LIST	0x00000004
-#define KGSL_CONTEXT_CTX_SWITCH		0x00000008
-#define KGSL_CONTEXT_PREAMBLE		0x00000010
-#define KGSL_CONTEXT_TRASH_STATE	0x00000020
-#define KGSL_CONTEXT_PER_CONTEXT_TS	0x00000040
-#define KGSL_CONTEXT_USER_GENERATED_TS	0x00000080
-/* This is a cmdbatch exclusive flag - use the CMDBATCH equivalent instead */
-#define KGSL_CONTEXT_END_OF_FRAME	0x00000100
-#define KGSL_CONTEXT_NO_FAULT_TOLERANCE 0x00000200
-/* This is a cmdbatch exclusive flag - use the CMDBATCH equivalent instead */
-#define KGSL_CONTEXT_SYNC               0x00000400
-#define KGSL_CONTEXT_PWR_CONSTRAINT     0x00000800
-
-#define KGSL_CONTEXT_PRIORITY_MASK      0x0000F000
-#define KGSL_CONTEXT_PRIORITY_SHIFT     12
-#define KGSL_CONTEXT_PRIORITY_UNDEF     0
-
-#define KGSL_CONTEXT_IFH_NOP            0x00010000
-#define KGSL_CONTEXT_SECURE             0x00020000
-
-#define KGSL_CONTEXT_PREEMPT_STYLE_MASK       0x0E000000
-#define KGSL_CONTEXT_PREEMPT_STYLE_SHIFT      25
-#define KGSL_CONTEXT_PREEMPT_STYLE_DEFAULT    0x0
-#define KGSL_CONTEXT_PREEMPT_STYLE_RINGBUFFER 0x1
-#define KGSL_CONTEXT_PREEMPT_STYLE_FINEGRAIN  0x2
-
-#define KGSL_CONTEXT_TYPE_MASK          0x01F00000
-#define KGSL_CONTEXT_TYPE_SHIFT         20
-#define KGSL_CONTEXT_TYPE_ANY		0
-#define KGSL_CONTEXT_TYPE_GL		1
-#define KGSL_CONTEXT_TYPE_CL		2
-#define KGSL_CONTEXT_TYPE_C2D		3
-#define KGSL_CONTEXT_TYPE_RS		4
-#define KGSL_CONTEXT_TYPE_UNKNOWN	0x1E
-
-#define KGSL_CONTEXT_INVALID 0xffffffff
-
-/*
- * --- command batch flags ---
- * The bits that are linked to a KGSL_CONTEXT equivalent are either legacy
- * definitions or bits that are valid for both contexts and cmdbatches.  To be
- * safe the other 8 bits that are still available in the context field should be
- * omitted here in case we need to share - the other bits are available for
- * cmdbatch only flags as needed
- */
-#define KGSL_CMDBATCH_MEMLIST		0x00000001
-#define KGSL_CMDBATCH_MARKER		0x00000002
-#define KGSL_CMDBATCH_SUBMIT_IB_LIST	KGSL_CONTEXT_SUBMIT_IB_LIST /* 0x004 */
-#define KGSL_CMDBATCH_CTX_SWITCH	KGSL_CONTEXT_CTX_SWITCH     /* 0x008 */
-#define KGSL_CMDBATCH_PROFILING		0x00000010
-#define KGSL_CMDBATCH_PROFILING_KTIME	0x00000020
-#define KGSL_CMDBATCH_END_OF_FRAME	KGSL_CONTEXT_END_OF_FRAME   /* 0x100 */
-#define KGSL_CMDBATCH_SYNC		KGSL_CONTEXT_SYNC           /* 0x400 */
-#define KGSL_CMDBATCH_PWR_CONSTRAINT	KGSL_CONTEXT_PWR_CONSTRAINT /* 0x800 */
-
-/*
- * Reserve bits [16:19] and bits [28:31] for possible bits shared between
- * contexts and command batches.  Update this comment as new flags are added.
- */
-
-/*
- * gpu_command_object flags - these flags communicate the type of command or
- * memory object being submitted for a GPU command
- */
-
-/* Flags for GPU command objects */
-#define KGSL_CMDLIST_IB                  0x00000001U
-#define KGSL_CMDLIST_CTXTSWITCH_PREAMBLE 0x00000002U
-#define KGSL_CMDLIST_IB_PREAMBLE         0x00000004U
-
-/* Flags for GPU command memory objects */
-#define KGSL_OBJLIST_MEMOBJ  0x00000008U
-#define KGSL_OBJLIST_PROFILE 0x00000010U
-
-/* Flags for GPU command sync points */
-#define KGSL_CMD_SYNCPOINT_TYPE_TIMESTAMP 0
-#define KGSL_CMD_SYNCPOINT_TYPE_FENCE 1
-
-/* --- Memory allocation flags --- */
-
-/* General allocation hints */
-#define KGSL_MEMFLAGS_SECURE      0x00000008ULL
-#define KGSL_MEMFLAGS_GPUREADONLY 0x01000000U
-#define KGSL_MEMFLAGS_GPUWRITEONLY 0x02000000U
-#define KGSL_MEMFLAGS_FORCE_32BIT 0x100000000ULL
-
-/* Memory caching hints */
-#define KGSL_CACHEMODE_MASK       0x0C000000U
-#define KGSL_CACHEMODE_SHIFT 26
-
-#define KGSL_CACHEMODE_WRITECOMBINE 0
-#define KGSL_CACHEMODE_UNCACHED 1
-#define KGSL_CACHEMODE_WRITETHROUGH 2
-#define KGSL_CACHEMODE_WRITEBACK 3
-
-#define KGSL_MEMFLAGS_USE_CPU_MAP 0x10000000ULL
-
-/* Memory types for which allocations are made */
-#define KGSL_MEMTYPE_MASK		0x0000FF00
-#define KGSL_MEMTYPE_SHIFT		8
-
-#define KGSL_MEMTYPE_OBJECTANY			0
-#define KGSL_MEMTYPE_FRAMEBUFFER		1
-#define KGSL_MEMTYPE_RENDERBUFFER		2
-#define KGSL_MEMTYPE_ARRAYBUFFER		3
-#define KGSL_MEMTYPE_ELEMENTARRAYBUFFER		4
-#define KGSL_MEMTYPE_VERTEXARRAYBUFFER		5
-#define KGSL_MEMTYPE_TEXTURE			6
-#define KGSL_MEMTYPE_SURFACE			7
-#define KGSL_MEMTYPE_EGL_SURFACE		8
-#define KGSL_MEMTYPE_GL				9
-#define KGSL_MEMTYPE_CL				10
-#define KGSL_MEMTYPE_CL_BUFFER_MAP		11
-#define KGSL_MEMTYPE_CL_BUFFER_NOMAP		12
-#define KGSL_MEMTYPE_CL_IMAGE_MAP		13
-#define KGSL_MEMTYPE_CL_IMAGE_NOMAP		14
-#define KGSL_MEMTYPE_CL_KERNEL_STACK		15
-#define KGSL_MEMTYPE_COMMAND			16
-#define KGSL_MEMTYPE_2D				17
-#define KGSL_MEMTYPE_EGL_IMAGE			18
-#define KGSL_MEMTYPE_EGL_SHADOW			19
-#define KGSL_MEMTYPE_MULTISAMPLE		20
-#define KGSL_MEMTYPE_KERNEL			255
-
-/*
- * Alignment hint, passed as the power of 2 exponent.
- * i.e 4k (2^12) would be 12, 64k (2^16)would be 16.
- */
-#define KGSL_MEMALIGN_MASK		0x00FF0000
-#define KGSL_MEMALIGN_SHIFT		16
-
-enum kgsl_user_mem_type {
-	KGSL_USER_MEM_TYPE_PMEM		= 0x00000000,
-	KGSL_USER_MEM_TYPE_ASHMEM	= 0x00000001,
-	KGSL_USER_MEM_TYPE_ADDR		= 0x00000002,
-	KGSL_USER_MEM_TYPE_ION		= 0x00000003,
-	/*
-	 * ION type is retained for backwards compatibilty but Ion buffers are
-	 * dma-bufs so try to use that naming if we can
-	 */
-	KGSL_USER_MEM_TYPE_DMABUF       = 0x00000003,
-	KGSL_USER_MEM_TYPE_MAX		= 0x00000007,
-};
-#define KGSL_MEMFLAGS_USERMEM_MASK 0x000000e0
-#define KGSL_MEMFLAGS_USERMEM_SHIFT 5
-
-/*
- * Unfortunately, enum kgsl_user_mem_type starts at 0 which does not
- * leave a good value for allocated memory. In the flags we use
- * 0 to indicate allocated memory and thus need to add 1 to the enum
- * values.
- */
-#define KGSL_USERMEM_FLAG(x) (((x) + 1) << KGSL_MEMFLAGS_USERMEM_SHIFT)
-
-#define KGSL_MEMFLAGS_NOT_USERMEM 0
-#define KGSL_MEMFLAGS_USERMEM_PMEM KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_PMEM)
-#define KGSL_MEMFLAGS_USERMEM_ASHMEM \
-		KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_ASHMEM)
-#define KGSL_MEMFLAGS_USERMEM_ADDR KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_ADDR)
-#define KGSL_MEMFLAGS_USERMEM_ION KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_ION)
-
-/* --- generic KGSL flag values --- */
-
-#define KGSL_FLAGS_NORMALMODE  0x00000000
-#define KGSL_FLAGS_SAFEMODE    0x00000001
-#define KGSL_FLAGS_INITIALIZED0 0x00000002
-#define KGSL_FLAGS_INITIALIZED 0x00000004
-#define KGSL_FLAGS_STARTED     0x00000008
-#define KGSL_FLAGS_ACTIVE      0x00000010
-#define KGSL_FLAGS_RESERVED0   0x00000020
-#define KGSL_FLAGS_RESERVED1   0x00000040
-#define KGSL_FLAGS_RESERVED2   0x00000080
-#define KGSL_FLAGS_SOFT_RESET  0x00000100
-#define KGSL_FLAGS_PER_CONTEXT_TIMESTAMPS 0x00000200
-
-/* Server Side Sync Timeout in milliseconds */
-#define KGSL_SYNCOBJ_SERVER_TIMEOUT 2000
-
-/*
- * Reset status values for context
- */
-enum kgsl_ctx_reset_stat {
-	KGSL_CTX_STAT_NO_ERROR				= 0x00000000,
-	KGSL_CTX_STAT_GUILTY_CONTEXT_RESET_EXT		= 0x00000001,
-	KGSL_CTX_STAT_INNOCENT_CONTEXT_RESET_EXT	= 0x00000002,
-	KGSL_CTX_STAT_UNKNOWN_CONTEXT_RESET_EXT		= 0x00000003
-};
-
-#define KGSL_CONVERT_TO_MBPS(val) \
-	(val*1000*1000U)
-
-/* device id */
-enum kgsl_deviceid {
-	KGSL_DEVICE_3D0		= 0x00000000,
-	KGSL_DEVICE_MAX
-};
-
-struct kgsl_devinfo {
-
-	unsigned int device_id;
-	/* chip revision id
-	* coreid:8 majorrev:8 minorrev:8 patch:8
-	*/
-	unsigned int chip_id;
-	unsigned int mmu_enabled;
-	unsigned long gmem_gpubaseaddr;
-	/*
-	* This field contains the adreno revision
-	* number 200, 205, 220, etc...
-	*/
-	unsigned int gpu_id;
-	size_t gmem_sizebytes;
-};
-
-/*
- * struct kgsl_devmemstore - this structure defines the region of memory
- * that can be mmap()ed from this driver. The timestamp fields are volatile
- * because they are written by the GPU
- * @soptimestamp: Start of pipeline timestamp written by GPU before the
- * commands in concern are processed
- * @sbz: Unused, kept for 8 byte alignment
- * @eoptimestamp: End of pipeline timestamp written by GPU after the
- * commands in concern are processed
- * @sbz2: Unused, kept for 8 byte alignment
- * @preempted: Indicates if the context was preempted
- * @sbz3: Unused, kept for 8 byte alignment
- * @ref_wait_ts: Timestamp on which to generate interrupt, unused now.
- * @sbz4: Unused, kept for 8 byte alignment
- * @current_context: The current context the GPU is working on
- * @sbz5: Unused, kept for 8 byte alignment
- */
-struct kgsl_devmemstore {
-	volatile unsigned int soptimestamp;
-	unsigned int sbz;
-	volatile unsigned int eoptimestamp;
-	unsigned int sbz2;
-	volatile unsigned int preempted;
-	unsigned int sbz3;
-	volatile unsigned int ref_wait_ts;
-	unsigned int sbz4;
-	unsigned int current_context;
-	unsigned int sbz5;
-};
-
-#define KGSL_MEMSTORE_OFFSET(ctxt_id, field) \
-	((ctxt_id)*sizeof(struct kgsl_devmemstore) + \
-	 offsetof(struct kgsl_devmemstore, field))
-
-/* timestamp id*/
-enum kgsl_timestamp_type {
-	KGSL_TIMESTAMP_CONSUMED = 0x00000001, /* start-of-pipeline timestamp */
-	KGSL_TIMESTAMP_RETIRED  = 0x00000002, /* end-of-pipeline timestamp*/
-	KGSL_TIMESTAMP_QUEUED   = 0x00000003,
-};
-
-/* property types - used with kgsl_device_getproperty */
-#define KGSL_PROP_DEVICE_INFO		0x1
-#define KGSL_PROP_DEVICE_SHADOW		0x2
-#define KGSL_PROP_DEVICE_POWER		0x3
-#define KGSL_PROP_SHMEM			0x4
-#define KGSL_PROP_SHMEM_APERTURES	0x5
-#define KGSL_PROP_MMU_ENABLE		0x6
-#define KGSL_PROP_INTERRUPT_WAITS	0x7
-#define KGSL_PROP_VERSION		0x8
-#define KGSL_PROP_GPU_RESET_STAT	0x9
-#define KGSL_PROP_PWRCTRL		0xE
-#define KGSL_PROP_PWR_CONSTRAINT	0x12
-#define KGSL_PROP_UCHE_GMEM_VADDR	0x13
-#define KGSL_PROP_SP_GENERIC_MEM	0x14
-#define KGSL_PROP_UCODE_VERSION		0x15
-#define KGSL_PROP_GPMU_VERSION		0x16
-#define KGSL_PROP_DEVICE_BITNESS	0x18
-
-struct kgsl_shadowprop {
-	unsigned long gpuaddr;
-	size_t size;
-	unsigned int flags; /* contains KGSL_FLAGS_ values */
-};
-
-struct kgsl_version {
-	unsigned int drv_major;
-	unsigned int drv_minor;
-	unsigned int dev_major;
-	unsigned int dev_minor;
-};
-
-struct kgsl_sp_generic_mem {
-	uint64_t local;
-	uint64_t pvt;
-};
-
-struct kgsl_ucode_version {
-	unsigned int pfp;
-	unsigned int pm4;
-};
-
-struct kgsl_gpmu_version {
-	unsigned int major;
-	unsigned int minor;
-	unsigned int features;
-};
-
-/* Performance counter groups */
-
-#define KGSL_PERFCOUNTER_GROUP_CP 0x0
-#define KGSL_PERFCOUNTER_GROUP_RBBM 0x1
-#define KGSL_PERFCOUNTER_GROUP_PC 0x2
-#define KGSL_PERFCOUNTER_GROUP_VFD 0x3
-#define KGSL_PERFCOUNTER_GROUP_HLSQ 0x4
-#define KGSL_PERFCOUNTER_GROUP_VPC 0x5
-#define KGSL_PERFCOUNTER_GROUP_TSE 0x6
-#define KGSL_PERFCOUNTER_GROUP_RAS 0x7
-#define KGSL_PERFCOUNTER_GROUP_UCHE 0x8
-#define KGSL_PERFCOUNTER_GROUP_TP 0x9
-#define KGSL_PERFCOUNTER_GROUP_SP 0xA
-#define KGSL_PERFCOUNTER_GROUP_RB 0xB
-#define KGSL_PERFCOUNTER_GROUP_PWR 0xC
-#define KGSL_PERFCOUNTER_GROUP_VBIF 0xD
-#define KGSL_PERFCOUNTER_GROUP_VBIF_PWR 0xE
-#define KGSL_PERFCOUNTER_GROUP_MH 0xF
-#define KGSL_PERFCOUNTER_GROUP_PA_SU 0x10
-#define KGSL_PERFCOUNTER_GROUP_SQ 0x11
-#define KGSL_PERFCOUNTER_GROUP_SX 0x12
-#define KGSL_PERFCOUNTER_GROUP_TCF 0x13
-#define KGSL_PERFCOUNTER_GROUP_TCM 0x14
-#define KGSL_PERFCOUNTER_GROUP_TCR 0x15
-#define KGSL_PERFCOUNTER_GROUP_L2 0x16
-#define KGSL_PERFCOUNTER_GROUP_VSC 0x17
-#define KGSL_PERFCOUNTER_GROUP_CCU 0x18
-#define KGSL_PERFCOUNTER_GROUP_LRZ 0x19
-#define KGSL_PERFCOUNTER_GROUP_CMP 0x1A
-#define KGSL_PERFCOUNTER_GROUP_ALWAYSON 0x1B
-#define KGSL_PERFCOUNTER_GROUP_SP_PWR 0x1C
-#define KGSL_PERFCOUNTER_GROUP_TP_PWR 0x1D
-#define KGSL_PERFCOUNTER_GROUP_RB_PWR 0x1E
-#define KGSL_PERFCOUNTER_GROUP_CCU_PWR 0x1F
-#define KGSL_PERFCOUNTER_GROUP_UCHE_PWR 0x20
-#define KGSL_PERFCOUNTER_GROUP_CP_PWR 0x21
-#define KGSL_PERFCOUNTER_GROUP_GPMU_PWR 0x22
-#define KGSL_PERFCOUNTER_GROUP_ALWAYSON_PWR 0x23
-#define KGSL_PERFCOUNTER_GROUP_MAX 0x24
-
-#define KGSL_PERFCOUNTER_NOT_USED 0xFFFFFFFF
-#define KGSL_PERFCOUNTER_BROKEN 0xFFFFFFFE
-
-/* structure holds list of ibs */
-struct kgsl_ibdesc {
-	unsigned long gpuaddr;
-	unsigned long __pad;
-	size_t sizedwords;
-	unsigned int ctrl;
-};
-
-/**
- * struct kgsl_cmdbatch_profiling_buffer
- * @wall_clock_s: Ringbuffer submission time (seconds).
- *                If KGSL_CMDBATCH_PROFILING_KTIME is set, time is provided
- *                in kernel clocks, otherwise wall clock time is used.
- * @wall_clock_ns: Ringbuffer submission time (nanoseconds).
- *                 If KGSL_CMDBATCH_PROFILING_KTIME is set time is provided
- *                 in kernel clocks, otherwise wall clock time is used.
- * @gpu_ticks_queued: GPU ticks at ringbuffer submission
- * @gpu_ticks_submitted: GPU ticks when starting cmdbatch execution
- * @gpu_ticks_retired: GPU ticks when finishing cmdbatch execution
- *
- * This structure defines the profiling buffer used to measure cmdbatch
- * execution time
- */
-struct kgsl_cmdbatch_profiling_buffer {
-	uint64_t wall_clock_s;
-	uint64_t wall_clock_ns;
-	uint64_t gpu_ticks_queued;
-	uint64_t gpu_ticks_submitted;
-	uint64_t gpu_ticks_retired;
-};
-
-/* ioctls */
-#define KGSL_IOC_TYPE 0x09
-
-/* get misc info about the GPU
-   type should be a value from enum kgsl_property_type
-   value points to a structure that varies based on type
-   sizebytes is sizeof() that structure
-   for KGSL_PROP_DEVICE_INFO, use struct kgsl_devinfo
-   this structure contaings hardware versioning info.
-   for KGSL_PROP_DEVICE_SHADOW, use struct kgsl_shadowprop
-   this is used to find mmap() offset and sizes for mapping
-   struct kgsl_memstore into userspace.
-*/
-struct kgsl_device_getproperty {
-	unsigned int type;
-	void __user *value;
-	size_t sizebytes;
-};
-
-#define IOCTL_KGSL_DEVICE_GETPROPERTY \
-	_IOWR(KGSL_IOC_TYPE, 0x2, struct kgsl_device_getproperty)
-
-/* IOCTL_KGSL_DEVICE_READ (0x3) - removed 03/2012
- */
-
-/* block until the GPU has executed past a given timestamp
- * timeout is in milliseconds.
- */
-struct kgsl_device_waittimestamp {
-	unsigned int timestamp;
-	unsigned int timeout;
-};
-
-#define IOCTL_KGSL_DEVICE_WAITTIMESTAMP \
-	_IOW(KGSL_IOC_TYPE, 0x6, struct kgsl_device_waittimestamp)
-
-struct kgsl_device_waittimestamp_ctxtid {
-	unsigned int context_id;
-	unsigned int timestamp;
-	unsigned int timeout;
-};
-
-#define IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID \
-	_IOW(KGSL_IOC_TYPE, 0x7, struct kgsl_device_waittimestamp_ctxtid)
-
-/* DEPRECATED: issue indirect commands to the GPU.
- * drawctxt_id must have been created with IOCTL_KGSL_DRAWCTXT_CREATE
- * ibaddr and sizedwords must specify a subset of a buffer created
- * with IOCTL_KGSL_SHAREDMEM_FROM_PMEM
- * flags may be a mask of KGSL_CONTEXT_ values
- * timestamp is a returned counter value which can be passed to
- * other ioctls to determine when the commands have been executed by
- * the GPU.
- *
- * This fucntion is deprecated - consider using IOCTL_KGSL_SUBMIT_COMMANDS
- * instead
- */
-struct kgsl_ringbuffer_issueibcmds {
-	unsigned int drawctxt_id;
-	unsigned long ibdesc_addr;
-	unsigned int numibs;
-	unsigned int timestamp; /*output param */
-	unsigned int flags;
-};
-
-#define IOCTL_KGSL_RINGBUFFER_ISSUEIBCMDS \
-	_IOWR(KGSL_IOC_TYPE, 0x10, struct kgsl_ringbuffer_issueibcmds)
-
-/* read the most recently executed timestamp value
- * type should be a value from enum kgsl_timestamp_type
- */
-struct kgsl_cmdstream_readtimestamp {
-	unsigned int type;
-	unsigned int timestamp; /*output param */
-};
-
-#define IOCTL_KGSL_CMDSTREAM_READTIMESTAMP_OLD \
-	_IOR(KGSL_IOC_TYPE, 0x11, struct kgsl_cmdstream_readtimestamp)
-
-#define IOCTL_KGSL_CMDSTREAM_READTIMESTAMP \
-	_IOWR(KGSL_IOC_TYPE, 0x11, struct kgsl_cmdstream_readtimestamp)
-
-/* free memory when the GPU reaches a given timestamp.
- * gpuaddr specify a memory region created by a
- * IOCTL_KGSL_SHAREDMEM_FROM_PMEM call
- * type should be a value from enum kgsl_timestamp_type
- */
-struct kgsl_cmdstream_freememontimestamp {
-	unsigned long gpuaddr;
-	unsigned int type;
-	unsigned int timestamp;
-};
-
-#define IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP \
-	_IOW(KGSL_IOC_TYPE, 0x12, struct kgsl_cmdstream_freememontimestamp)
-
-/* Previous versions of this header had incorrectly defined
-   IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP as a read-only ioctl instead
-   of a write only ioctl.  To ensure binary compatability, the following
-   #define will be used to intercept the incorrect ioctl
-*/
-
-#define IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP_OLD \
-	_IOR(KGSL_IOC_TYPE, 0x12, struct kgsl_cmdstream_freememontimestamp)
-
-/* create a draw context, which is used to preserve GPU state.
- * The flags field may contain a mask KGSL_CONTEXT_*  values
- */
-struct kgsl_drawctxt_create {
-	unsigned int flags;
-	unsigned int drawctxt_id; /*output param */
-};
-
-#define IOCTL_KGSL_DRAWCTXT_CREATE \
-	_IOWR(KGSL_IOC_TYPE, 0x13, struct kgsl_drawctxt_create)
-
-/* destroy a draw context */
-struct kgsl_drawctxt_destroy {
-	unsigned int drawctxt_id;
-};
-
-#define IOCTL_KGSL_DRAWCTXT_DESTROY \
-	_IOW(KGSL_IOC_TYPE, 0x14, struct kgsl_drawctxt_destroy)
-
-/* add a block of pmem, fb, ashmem or user allocated address
- * into the GPU address space */
-struct kgsl_map_user_mem {
-	int fd;
-	unsigned long gpuaddr;   /*output param */
-	size_t len;
-	size_t offset;
-	unsigned long hostptr;   /*input param */
-	enum kgsl_user_mem_type memtype;
-	unsigned int flags;
-};
-
-#define IOCTL_KGSL_MAP_USER_MEM \
-	_IOWR(KGSL_IOC_TYPE, 0x15, struct kgsl_map_user_mem)
-
-struct kgsl_cmdstream_readtimestamp_ctxtid {
-	unsigned int context_id;
-	unsigned int type;
-	unsigned int timestamp; /*output param */
-};
-
-#define IOCTL_KGSL_CMDSTREAM_READTIMESTAMP_CTXTID \
-	_IOWR(KGSL_IOC_TYPE, 0x16, struct kgsl_cmdstream_readtimestamp_ctxtid)
-
-struct kgsl_cmdstream_freememontimestamp_ctxtid {
-	unsigned int context_id;
-	unsigned long gpuaddr;
-	unsigned int type;
-	unsigned int timestamp;
-};
-
-#define IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP_CTXTID \
-	_IOW(KGSL_IOC_TYPE, 0x17, \
-	struct kgsl_cmdstream_freememontimestamp_ctxtid)
-
-/* add a block of pmem or fb into the GPU address space */
-struct kgsl_sharedmem_from_pmem {
-        int pmem_fd;
-        unsigned long gpuaddr;  /*output param */
-        unsigned int len;
-        unsigned int offset;
-};
-
-#define IOCTL_KGSL_SHAREDMEM_FROM_PMEM \
-        _IOWR(KGSL_IOC_TYPE, 0x20, struct kgsl_sharedmem_from_pmem)
-
-/* remove memory from the GPU's address space */
-struct kgsl_sharedmem_free {
-	unsigned long gpuaddr;
-};
-
-#define IOCTL_KGSL_SHAREDMEM_FREE \
-	_IOW(KGSL_IOC_TYPE, 0x21, struct kgsl_sharedmem_free)
-
-struct kgsl_cff_user_event {
-	unsigned char cff_opcode;
-	unsigned int op1;
-	unsigned int op2;
-	unsigned int op3;
-	unsigned int op4;
-	unsigned int op5;
-	unsigned int __pad[2];
-};
-
-#define IOCTL_KGSL_CFF_USER_EVENT \
-	_IOW(KGSL_IOC_TYPE, 0x31, struct kgsl_cff_user_event)
-
-struct kgsl_gmem_desc {
-	unsigned int x;
-	unsigned int y;
-	unsigned int width;
-	unsigned int height;
-	unsigned int pitch;
-};
-
-struct kgsl_buffer_desc {
-	void 			*hostptr;
-	unsigned long	gpuaddr;
-	int				size;
-	unsigned int	format;
-	unsigned int  	pitch;
-	unsigned int  	enabled;
-};
-
-struct kgsl_bind_gmem_shadow {
-	unsigned int drawctxt_id;
-	struct kgsl_gmem_desc gmem_desc;
-	unsigned int shadow_x;
-	unsigned int shadow_y;
-	struct kgsl_buffer_desc shadow_buffer;
-	unsigned int buffer_id;
-};
-
-#define IOCTL_KGSL_DRAWCTXT_BIND_GMEM_SHADOW \
-    _IOW(KGSL_IOC_TYPE, 0x22, struct kgsl_bind_gmem_shadow)
-
-/* add a block of memory into the GPU address space */
-
-/*
- * IOCTL_KGSL_SHAREDMEM_FROM_VMALLOC deprecated 09/2012
- * use IOCTL_KGSL_GPUMEM_ALLOC instead
- */
-
-struct kgsl_sharedmem_from_vmalloc {
-	unsigned long gpuaddr;	/*output param */
-	unsigned int hostptr;
-	unsigned int flags;
-};
-
-#define IOCTL_KGSL_SHAREDMEM_FROM_VMALLOC \
-	_IOWR(KGSL_IOC_TYPE, 0x23, struct kgsl_sharedmem_from_vmalloc)
-
-/*
- * This is being deprecated in favor of IOCTL_KGSL_GPUMEM_CACHE_SYNC which
- * supports both directions (flush and invalidate). This code will still
- * work, but by definition it will do a flush of the cache which might not be
- * what you want to have happen on a buffer following a GPU operation.  It is
- * safer to go with IOCTL_KGSL_GPUMEM_CACHE_SYNC
- */
-
-#define IOCTL_KGSL_SHAREDMEM_FLUSH_CACHE \
-	_IOW(KGSL_IOC_TYPE, 0x24, struct kgsl_sharedmem_free)
-
-struct kgsl_drawctxt_set_bin_base_offset {
-	unsigned int drawctxt_id;
-	unsigned int offset;
-};
-
-#define IOCTL_KGSL_DRAWCTXT_SET_BIN_BASE_OFFSET \
-	_IOW(KGSL_IOC_TYPE, 0x25, struct kgsl_drawctxt_set_bin_base_offset)
-
-enum kgsl_cmdwindow_type {
-	KGSL_CMDWINDOW_MIN     = 0x00000000,
-	KGSL_CMDWINDOW_2D      = 0x00000000,
-	KGSL_CMDWINDOW_3D      = 0x00000001, /* legacy */
-	KGSL_CMDWINDOW_MMU     = 0x00000002,
-	KGSL_CMDWINDOW_ARBITER = 0x000000FF,
-	KGSL_CMDWINDOW_MAX     = 0x000000FF,
-};
-
-/* write to the command window */
-struct kgsl_cmdwindow_write {
-	enum kgsl_cmdwindow_type target;
-	unsigned int addr;
-	unsigned int data;
-};
-
-#define IOCTL_KGSL_CMDWINDOW_WRITE \
-	_IOW(KGSL_IOC_TYPE, 0x2e, struct kgsl_cmdwindow_write)
-
-struct kgsl_gpumem_alloc {
-	unsigned long gpuaddr; /* output param */
-	size_t size;
-	unsigned int flags;
-};
-
-#define IOCTL_KGSL_GPUMEM_ALLOC \
-	_IOWR(KGSL_IOC_TYPE, 0x2f, struct kgsl_gpumem_alloc)
-
-struct kgsl_cff_syncmem {
-	unsigned long gpuaddr;
-	size_t len;
-	unsigned int __pad[2]; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_CFF_SYNCMEM \
-	_IOW(KGSL_IOC_TYPE, 0x30, struct kgsl_cff_syncmem)
-
-/*
- * A timestamp event allows the user space to register an action following an
- * expired timestamp. Note IOCTL_KGSL_TIMESTAMP_EVENT has been redefined to
- * _IOWR to support fences which need to return a fd for the priv parameter.
- */
-
-struct kgsl_timestamp_event {
-	int type;                /* Type of event (see list below) */
-	unsigned int timestamp;  /* Timestamp to trigger event on */
-	unsigned int context_id; /* Context for the timestamp */
-	void __user *priv;	 /* Pointer to the event specific blob */
-	size_t len;              /* Size of the event specific blob */
-};
-
-#define IOCTL_KGSL_TIMESTAMP_EVENT_OLD \
-	_IOW(KGSL_IOC_TYPE, 0x31, struct kgsl_timestamp_event)
-
-/* A genlock timestamp event releases an existing lock on timestamp expire */
-
-#define KGSL_TIMESTAMP_EVENT_GENLOCK 1
-
-struct kgsl_timestamp_event_genlock {
-	int handle; /* Handle of the genlock lock to release */
-};
-
-/* A fence timestamp event releases an existing lock on timestamp expire */
-
-#define KGSL_TIMESTAMP_EVENT_FENCE 2
-
-struct kgsl_timestamp_event_fence {
-	int fence_fd; /* Fence to signal */
-};
-
-/*
- * Set a property within the kernel.  Uses the same structure as
- * IOCTL_KGSL_GETPROPERTY
- */
-
-#define IOCTL_KGSL_SETPROPERTY \
-	_IOW(KGSL_IOC_TYPE, 0x32, struct kgsl_device_getproperty)
-
-#define IOCTL_KGSL_TIMESTAMP_EVENT \
-	_IOWR(KGSL_IOC_TYPE, 0x33, struct kgsl_timestamp_event)
-
-/**
- * struct kgsl_gpumem_alloc_id - argument to IOCTL_KGSL_GPUMEM_ALLOC_ID
- * @id: returned id value for this allocation.
- * @flags: mask of KGSL_MEM* values requested and actual flags on return.
- * @size: requested size of the allocation and actual size on return.
- * @mmapsize: returned size to pass to mmap() which may be larger than 'size'
- * @gpuaddr: returned GPU address for the allocation
- *
- * Allocate memory for access by the GPU. The flags and size fields are echoed
- * back by the kernel, so that the caller can know if the request was
- * adjusted.
- *
- * Supported flags:
- * KGSL_MEMFLAGS_GPUREADONLY: the GPU will be unable to write to the buffer
- * KGSL_MEMTYPE*: usage hint for debugging aid
- * KGSL_MEMALIGN*: alignment hint, may be ignored or adjusted by the kernel.
- * KGSL_MEMFLAGS_USE_CPU_MAP: If set on call and return, the returned GPU
- * address will be 0. Calling mmap() will set the GPU address.
- */
-struct kgsl_gpumem_alloc_id {
-	unsigned int id;
-	unsigned int flags;
-	size_t size;
-	size_t mmapsize;
-	unsigned long gpuaddr;
-/* private: reserved for future use*/
-	unsigned long __pad[2];
-};
-
-#define IOCTL_KGSL_GPUMEM_ALLOC_ID \
-	_IOWR(KGSL_IOC_TYPE, 0x34, struct kgsl_gpumem_alloc_id)
-
-/**
- * struct kgsl_gpumem_free_id - argument to IOCTL_KGSL_GPUMEM_FREE_ID
- * @id: GPU allocation id to free
- *
- * Free an allocation by id, in case a GPU address has not been assigned or
- * is unknown. Freeing an allocation by id with this ioctl or by GPU address
- * with IOCTL_KGSL_SHAREDMEM_FREE are equivalent.
- */
-struct kgsl_gpumem_free_id {
-	unsigned int id;
-/* private: reserved for future use*/
-	unsigned int __pad;
-};
-
-#define IOCTL_KGSL_GPUMEM_FREE_ID \
-	_IOWR(KGSL_IOC_TYPE, 0x35, struct kgsl_gpumem_free_id)
-
-/**
- * struct kgsl_gpumem_get_info - argument to IOCTL_KGSL_GPUMEM_GET_INFO
- * @gpuaddr: GPU address to query. Also set on return.
- * @id: GPU allocation id to query. Also set on return.
- * @flags: returned mask of KGSL_MEM* values.
- * @size: returned size of the allocation.
- * @mmapsize: returned size to pass mmap(), which may be larger than 'size'
- * @useraddr: returned address of the userspace mapping for this buffer
- *
- * This ioctl allows querying of all user visible attributes of an existing
- * allocation, by either the GPU address or the id returned by a previous
- * call to IOCTL_KGSL_GPUMEM_ALLOC_ID. Legacy allocation ioctls may not
- * return all attributes so this ioctl can be used to look them up if needed.
- *
- */
-struct kgsl_gpumem_get_info {
-	unsigned long gpuaddr;
-	unsigned int id;
-	unsigned int flags;
-	size_t size;
-	size_t mmapsize;
-	unsigned long useraddr;
-/* private: reserved for future use*/
-	unsigned long __pad[4];
-};
-
-#define IOCTL_KGSL_GPUMEM_GET_INFO\
-	_IOWR(KGSL_IOC_TYPE, 0x36, struct kgsl_gpumem_get_info)
-
-/**
- * struct kgsl_gpumem_sync_cache - argument to IOCTL_KGSL_GPUMEM_SYNC_CACHE
- * @gpuaddr: GPU address of the buffer to sync.
- * @id: id of the buffer to sync. Either gpuaddr or id is sufficient.
- * @op: a mask of KGSL_GPUMEM_CACHE_* values
- * @offset: offset into the buffer
- * @length: number of bytes starting from offset to perform
- * the cache operation on
- *
- * Sync the L2 cache for memory headed to and from the GPU - this replaces
- * KGSL_SHAREDMEM_FLUSH_CACHE since it can handle cache management for both
- * directions
- *
- */
-struct kgsl_gpumem_sync_cache {
-	unsigned long gpuaddr;
-	unsigned int id;
-	unsigned int op;
-	size_t offset;
-	size_t length;
-};
-
-#define KGSL_GPUMEM_CACHE_CLEAN (1 << 0)
-#define KGSL_GPUMEM_CACHE_TO_GPU KGSL_GPUMEM_CACHE_CLEAN
-
-#define KGSL_GPUMEM_CACHE_INV (1 << 1)
-#define KGSL_GPUMEM_CACHE_FROM_GPU KGSL_GPUMEM_CACHE_INV
-
-#define KGSL_GPUMEM_CACHE_FLUSH \
-	(KGSL_GPUMEM_CACHE_CLEAN | KGSL_GPUMEM_CACHE_INV)
-
-/* Flag to ensure backwards compatibility of kgsl_gpumem_sync_cache struct */
-#define KGSL_GPUMEM_CACHE_RANGE (1 << 31U)
-
-#define IOCTL_KGSL_GPUMEM_SYNC_CACHE \
-	_IOW(KGSL_IOC_TYPE, 0x37, struct kgsl_gpumem_sync_cache)
-
-/**
- * struct kgsl_perfcounter_get - argument to IOCTL_KGSL_PERFCOUNTER_GET
- * @groupid: Performance counter group ID
- * @countable: Countable to select within the group
- * @offset: Return offset of the reserved LO counter
- * @offset_hi: Return offset of the reserved HI counter
- *
- * Get an available performance counter from a specified groupid.  The offset
- * of the performance counter will be returned after successfully assigning
- * the countable to the counter for the specified group.  An error will be
- * returned and an offset of 0 if the groupid is invalid or there are no
- * more counters left.  After successfully getting a perfcounter, the user
- * must call kgsl_perfcounter_put(groupid, contable) when finished with
- * the perfcounter to clear up perfcounter resources.
- *
- */
-struct kgsl_perfcounter_get {
-	unsigned int groupid;
-	unsigned int countable;
-	unsigned int offset;
-	unsigned int offset_hi;
-/* private: reserved for future use */
-	unsigned int __pad; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_PERFCOUNTER_GET \
-	_IOWR(KGSL_IOC_TYPE, 0x38, struct kgsl_perfcounter_get)
-
-/**
- * struct kgsl_perfcounter_put - argument to IOCTL_KGSL_PERFCOUNTER_PUT
- * @groupid: Performance counter group ID
- * @countable: Countable to release within the group
- *
- * Put an allocated performance counter to allow others to have access to the
- * resource that was previously taken.  This is only to be called after
- * successfully getting a performance counter from kgsl_perfcounter_get().
- *
- */
-struct kgsl_perfcounter_put {
-	unsigned int groupid;
-	unsigned int countable;
-/* private: reserved for future use */
-	unsigned int __pad[2]; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_PERFCOUNTER_PUT \
-	_IOW(KGSL_IOC_TYPE, 0x39, struct kgsl_perfcounter_put)
-
-/**
- * struct kgsl_perfcounter_query - argument to IOCTL_KGSL_PERFCOUNTER_QUERY
- * @groupid: Performance counter group ID
- * @countable: Return active countables array
- * @size: Size of active countables array
- * @max_counters: Return total number counters for the group ID
- *
- * Query the available performance counters given a groupid.  The array
- * *countables is used to return the current active countables in counters.
- * The size of the array is passed in so the kernel will only write at most
- * size or counter->size for the group id.  The total number of available
- * counters for the group ID is returned in max_counters.
- * If the array or size passed in are invalid, then only the maximum number
- * of counters will be returned, no data will be written to *countables.
- * If the groupid is invalid an error code will be returned.
- *
- */
-struct kgsl_perfcounter_query {
-	unsigned int groupid;
-	/* Array to return the current countable for up to size counters */
-	unsigned int __user *countables;
-	unsigned int count;
-	unsigned int max_counters;
-/* private: reserved for future use */
-	unsigned int __pad[2]; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_PERFCOUNTER_QUERY \
-	_IOWR(KGSL_IOC_TYPE, 0x3A, struct kgsl_perfcounter_query)
-
-/**
- * struct kgsl_perfcounter_query - argument to IOCTL_KGSL_PERFCOUNTER_QUERY
- * @groupid: Performance counter group IDs
- * @countable: Performance counter countable IDs
- * @value: Return performance counter reads
- * @size: Size of all arrays (groupid/countable pair and return value)
- *
- * Read in the current value of a performance counter given by the groupid
- * and countable.
- *
- */
-
-struct kgsl_perfcounter_read_group {
-	unsigned int groupid;
-	unsigned int countable;
-	unsigned long long value;
-};
-
-struct kgsl_perfcounter_read {
-	struct kgsl_perfcounter_read_group __user *reads;
-	unsigned int count;
-/* private: reserved for future use */
-	unsigned int __pad[2]; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_PERFCOUNTER_READ \
-	_IOWR(KGSL_IOC_TYPE, 0x3B, struct kgsl_perfcounter_read)
-/*
- * struct kgsl_gpumem_sync_cache_bulk - argument to
- * IOCTL_KGSL_GPUMEM_SYNC_CACHE_BULK
- * @id_list: list of GPU buffer ids of the buffers to sync
- * @count: number of GPU buffer ids in id_list
- * @op: a mask of KGSL_GPUMEM_CACHE_* values
- *
- * Sync the cache for memory headed to and from the GPU. Certain
- * optimizations can be made on the cache operation based on the total
- * size of the working set of memory to be managed.
- */
-struct kgsl_gpumem_sync_cache_bulk {
-	unsigned int __user *id_list;
-	unsigned int count;
-	unsigned int op;
-/* private: reserved for future use */
-	unsigned int __pad[2]; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_GPUMEM_SYNC_CACHE_BULK \
-	_IOWR(KGSL_IOC_TYPE, 0x3C, struct kgsl_gpumem_sync_cache_bulk)
-
-/*
- * struct kgsl_cmd_syncpoint_timestamp
- * @context_id: ID of a KGSL context
- * @timestamp: GPU timestamp
- *
- * This structure defines a syncpoint comprising a context/timestamp pair. A
- * list of these may be passed by IOCTL_KGSL_SUBMIT_COMMANDS to define
- * dependencies that must be met before the command can be submitted to the
- * hardware
- */
-struct kgsl_cmd_syncpoint_timestamp {
-	unsigned int context_id;
-	unsigned int timestamp;
-};
-
-struct kgsl_cmd_syncpoint_fence {
-	int fd;
-};
-
-/**
- * struct kgsl_cmd_syncpoint - Define a sync point for a command batch
- * @type: type of sync point defined here
- * @priv: Pointer to the type specific buffer
- * @size: Size of the type specific buffer
- *
- * This structure contains pointers defining a specific command sync point.
- * The pointer and size should point to a type appropriate structure.
- */
-struct kgsl_cmd_syncpoint {
-	int type;
-	void __user *priv;
-	size_t size;
-};
-
-/* Flag to indicate that the cmdlist may contain memlists */
-#define KGSL_IBDESC_MEMLIST 0x1
-
-/* Flag to point out the cmdbatch profiling buffer in the memlist */
-#define KGSL_IBDESC_PROFILING_BUFFER 0x2
-
-/**
- * struct kgsl_submit_commands - Argument to IOCTL_KGSL_SUBMIT_COMMANDS
- * @context_id: KGSL context ID that owns the commands
- * @flags:
- * @cmdlist: User pointer to a list of kgsl_ibdesc structures
- * @numcmds: Number of commands listed in cmdlist
- * @synclist: User pointer to a list of kgsl_cmd_syncpoint structures
- * @numsyncs: Number of sync points listed in synclist
- * @timestamp: On entry the a user defined timestamp, on exist the timestamp
- * assigned to the command batch
- *
- * This structure specifies a command to send to the GPU hardware.  This is
- * similar to kgsl_issueibcmds expect that it doesn't support the legacy way to
- * submit IB lists and it adds sync points to block the IB until the
- * dependencies are satisified.  This entry point is the new and preferred way
- * to submit commands to the GPU. The memory list can be used to specify all
- * memory that is referrenced in the current set of commands.
- */
-
-struct kgsl_submit_commands {
-	unsigned int context_id;
-	unsigned int flags;
-	struct kgsl_ibdesc __user *cmdlist;
-	unsigned int numcmds;
-	struct kgsl_cmd_syncpoint __user *synclist;
-	unsigned int numsyncs;
-	unsigned int timestamp;
-/* private: reserved for future use */
-	unsigned int __pad[4];
-};
-
-#define IOCTL_KGSL_SUBMIT_COMMANDS \
-	_IOWR(KGSL_IOC_TYPE, 0x3D, struct kgsl_submit_commands)
-
-/**
- * struct kgsl_device_constraint - device constraint argument
- * @context_id: KGSL context ID
- * @type: type of constraint i.e pwrlevel/none
- * @data: constraint data
- * @size: size of the constraint data
- */
-struct kgsl_device_constraint {
-	unsigned int type;
-	unsigned int context_id;
-	void __user *data;
-	size_t size;
-};
-
-/* Constraint Type*/
-#define KGSL_CONSTRAINT_NONE 0
-#define KGSL_CONSTRAINT_PWRLEVEL 1
-
-/* PWRLEVEL constraint level*/
-/* set to min frequency */
-#define KGSL_CONSTRAINT_PWR_MIN    0
-/* set to max frequency */
-#define KGSL_CONSTRAINT_PWR_MAX    1
-
-struct kgsl_device_constraint_pwrlevel {
-	unsigned int level;
-};
-
-/**
- * struct kgsl_syncsource_create - Argument to IOCTL_KGSL_SYNCSOURCE_CREATE
- * @id: returned id for the syncsource that was created.
- *
- * This ioctl creates a userspace sync timeline.
- */
-
-struct kgsl_syncsource_create {
-	unsigned int id;
-/* private: reserved for future use */
-	unsigned int __pad[3];
-};
-
-#define IOCTL_KGSL_SYNCSOURCE_CREATE \
-	_IOWR(KGSL_IOC_TYPE, 0x40, struct kgsl_syncsource_create)
-
-/**
- * struct kgsl_syncsource_destroy - Argument to IOCTL_KGSL_SYNCSOURCE_DESTROY
- * @id: syncsource id to destroy
- *
- * This ioctl creates a userspace sync timeline.
- */
-
-struct kgsl_syncsource_destroy {
-	unsigned int id;
-/* private: reserved for future use */
-	unsigned int __pad[3];
-};
-
-#define IOCTL_KGSL_SYNCSOURCE_DESTROY \
-	_IOWR(KGSL_IOC_TYPE, 0x41, struct kgsl_syncsource_destroy)
-
-/**
- * struct kgsl_syncsource_create_fence - Argument to
- *     IOCTL_KGSL_SYNCSOURCE_CREATE_FENCE
- * @id: syncsource id
- * @fence_fd: returned sync_fence fd
- *
- * Create a fence that may be signaled by userspace by calling
- * IOCTL_KGSL_SYNCSOURCE_SIGNAL_FENCE. There are no order dependencies between
- * these fences.
- */
-struct kgsl_syncsource_create_fence {
-	unsigned int id;
-	int fence_fd;
-/* private: reserved for future use */
-	unsigned int __pad[4];
-};
-
-/**
- * struct kgsl_syncsource_signal_fence - Argument to
- *     IOCTL_KGSL_SYNCSOURCE_SIGNAL_FENCE
- * @id: syncsource id
- * @fence_fd: sync_fence fd to signal
- *
- * Signal a fence that was created by a IOCTL_KGSL_SYNCSOURCE_CREATE_FENCE
- * call using the same syncsource id. This allows a fence to be shared
- * to other processes but only signaled by the process owning the fd
- * used to create the fence.
- */
-#define IOCTL_KGSL_SYNCSOURCE_CREATE_FENCE \
-	_IOWR(KGSL_IOC_TYPE, 0x42, struct kgsl_syncsource_create_fence)
-
-struct kgsl_syncsource_signal_fence {
-	unsigned int id;
-	int fence_fd;
-/* private: reserved for future use */
-	unsigned int __pad[4];
-};
-
-#define IOCTL_KGSL_SYNCSOURCE_SIGNAL_FENCE \
-	_IOWR(KGSL_IOC_TYPE, 0x43, struct kgsl_syncsource_signal_fence)
-
-/**
- * struct kgsl_cff_sync_gpuobj - Argument to IOCTL_KGSL_CFF_SYNC_GPUOBJ
- * @offset: Offset into the GPU object to sync
- * @length: Number of bytes to sync
- * @id: ID of the GPU object to sync
- */
-struct kgsl_cff_sync_gpuobj {
-	uint64_t offset;
-	uint64_t length;
-	unsigned int id;
-};
-
-#define IOCTL_KGSL_CFF_SYNC_GPUOBJ \
-	_IOW(KGSL_IOC_TYPE, 0x44, struct kgsl_cff_sync_gpuobj)
-
-/**
- * struct kgsl_gpuobj_alloc - Argument to IOCTL_KGSL_GPUOBJ_ALLOC
- * @size: Size in bytes of the object to allocate
- * @flags: mask of KGSL_MEMFLAG_* bits
- * @va_len: Size in bytes of the virtual region to allocate
- * @mmapsize: Returns the mmap() size of the object
- * @id: Returns the GPU object ID of the new object
- * @metadata_len: Length of the metdata to copy from the user
- * @metadata: Pointer to the user specified metadata to store for the object
- */
-struct kgsl_gpuobj_alloc {
-	uint64_t size;
-	uint64_t flags;
-	uint64_t va_len;
-	uint64_t mmapsize;
-	unsigned int id;
-	unsigned int metadata_len;
-	uint64_t metadata;
-};
-
-/* Let the user know that this header supports the gpuobj metadata */
-#define KGSL_GPUOBJ_ALLOC_METADATA_MAX 64
-
-#define IOCTL_KGSL_GPUOBJ_ALLOC \
-	_IOWR(KGSL_IOC_TYPE, 0x45, struct kgsl_gpuobj_alloc)
-
-/**
- * struct kgsl_gpuobj_free - Argument to IOCTL_KGLS_GPUOBJ_FREE
- * @flags: Mask of: KGSL_GUPOBJ_FREE_ON_EVENT
- * @priv: Pointer to the private object if KGSL_GPUOBJ_FREE_ON_EVENT is
- * specified
- * @id: ID of the GPU object to free
- * @type: If KGSL_GPUOBJ_FREE_ON_EVENT is specified, the type of asynchronous
- * event to free on
- * @len: Length of the data passed in priv
- */
-struct kgsl_gpuobj_free {
-	uint64_t flags;
-	uint64_t __user priv;
-	unsigned int id;
-	unsigned int type;
-	unsigned int len;
-};
-
-#define KGSL_GPUOBJ_FREE_ON_EVENT 1
-
-#define KGSL_GPU_EVENT_TIMESTAMP 1
-#define KGSL_GPU_EVENT_FENCE     2
-
-/**
- * struct kgsl_gpu_event_timestamp - Specifies a timestamp event to free a GPU
- * object on
- * @context_id: ID of the timestamp event to wait for
- * @timestamp: Timestamp of the timestamp event to wait for
- */
-struct kgsl_gpu_event_timestamp {
-	unsigned int context_id;
-	unsigned int timestamp;
-};
-
-/**
- * struct kgsl_gpu_event_fence - Specifies a fence ID to to free a GPU object on
- * @fd: File descriptor for the fence
- */
-struct kgsl_gpu_event_fence {
-	int fd;
-};
-
-#define IOCTL_KGSL_GPUOBJ_FREE \
-	_IOW(KGSL_IOC_TYPE, 0x46, struct kgsl_gpuobj_free)
-
-/**
- * struct kgsl_gpuobj_info - argument to IOCTL_KGSL_GPUOBJ_INFO
- * @gpuaddr: GPU address of the object
- * @flags: Current flags for the object
- * @size: Size of the object
- * @va_len: VA size of the object
- * @va_addr: Virtual address of the object (if it is mapped)
- * id - GPU object ID of the object to query
- */
-struct kgsl_gpuobj_info {
-	uint64_t gpuaddr;
-	uint64_t flags;
-	uint64_t size;
-	uint64_t va_len;
-	uint64_t va_addr;
-	unsigned int id;
-};
-
-#define IOCTL_KGSL_GPUOBJ_INFO \
-	_IOWR(KGSL_IOC_TYPE, 0x47, struct kgsl_gpuobj_info)
-
-/**
- * struct kgsl_gpuobj_import - argument to IOCTL_KGSL_GPUOBJ_IMPORT
- * @priv: Pointer to the private data for the import type
- * @priv_len: Length of the private data
- * @flags: Mask of KGSL_MEMFLAG_ flags
- * @type: Type of the import (KGSL_USER_MEM_TYPE_*)
- * @id: Returns the ID of the new GPU object
- */
-struct kgsl_gpuobj_import {
-	uint64_t __user priv;
-	uint64_t priv_len;
-	uint64_t flags;
-	unsigned int type;
-	unsigned int id;
-};
-
-/**
- * struct kgsl_gpuobj_import_dma_buf - import a dmabuf object
- * @fd: File descriptor for the dma-buf object
- */
-struct kgsl_gpuobj_import_dma_buf {
-	int fd;
-};
-
-/**
- * struct kgsl_gpuobj_import_useraddr - import an object based on a useraddr
- * @virtaddr: Virtual address of the object to import
- */
-struct kgsl_gpuobj_import_useraddr {
-	uint64_t virtaddr;
-};
-
-#define IOCTL_KGSL_GPUOBJ_IMPORT \
-	_IOWR(KGSL_IOC_TYPE, 0x48, struct kgsl_gpuobj_import)
-
-/**
- * struct kgsl_gpuobj_sync_obj - Individual GPU object to sync
- * @offset: Offset within the GPU object to sync
- * @length: Number of bytes to sync
- * @id: ID of the GPU object to sync
- * @op: Cache operation to execute
- */
-
-struct kgsl_gpuobj_sync_obj {
-	uint64_t offset;
-	uint64_t length;
-	unsigned int id;
-	unsigned int op;
-};
-
-/**
- * struct kgsl_gpuobj_sync - Argument for IOCTL_KGSL_GPUOBJ_SYNC
- * @objs: Pointer to an array of kgsl_gpuobj_sync_obj structs
- * @obj_len: Size of each item in the array
- * @count: Number of items in the array
- */
-
-struct kgsl_gpuobj_sync {
-	uint64_t __user objs;
-	unsigned int obj_len;
-	unsigned int count;
-};
-
-#define IOCTL_KGSL_GPUOBJ_SYNC \
-	_IOW(KGSL_IOC_TYPE, 0x49, struct kgsl_gpuobj_sync)
-
-/**
- * struct kgsl_command_object - GPU command object
- * @offset: GPU address offset of the object
- * @gpuaddr: GPU address of the object
- * @size: Size of the object
- * @flags: Current flags for the object
- * @id - GPU command object ID
- */
-struct kgsl_command_object {
-	uint64_t offset;
-	uint64_t gpuaddr;
-	uint64_t size;
-	unsigned int flags;
-	unsigned int id;
-};
-
-/**
- * struct kgsl_command_syncpoint - GPU syncpoint object
- * @priv: Pointer to the type specific buffer
- * @size: Size of the type specific buffer
- * @type: type of sync point defined here
- */
-struct kgsl_command_syncpoint {
-	uint64_t __user priv;
-	uint64_t size;
-	unsigned int type;
-};
-
-/**
- * struct kgsl_command_object - Argument for IOCTL_KGSL_GPU_COMMAND
- * @flags: Current flags for the object
- * @cmdlist: List of kgsl_command_objects for submission
- * @cmd_size: Size of kgsl_command_objects structure
- * @numcmds: Number of kgsl_command_objects in command list
- * @objlist: List of kgsl_command_objects for tracking
- * @obj_size: Size of kgsl_command_objects structure
- * @numobjs: Number of kgsl_command_objects in object list
- * @synclist: List of kgsl_command_syncpoints
- * @sync_size: Size of kgsl_command_syncpoint structure
- * @numsyncs: Number of kgsl_command_syncpoints in syncpoint list
- * @context_id: Context ID submittin ghte kgsl_gpu_command
- * @timestamp: Timestamp for the submitted commands
- */
-struct kgsl_gpu_command {
-	uint64_t flags;
-	uint64_t __user cmdlist;
-	unsigned int cmdsize;
-	unsigned int numcmds;
-	uint64_t __user objlist;
-	unsigned int objsize;
-	unsigned int numobjs;
-	uint64_t __user synclist;
-	unsigned int syncsize;
-	unsigned int numsyncs;
-	unsigned int context_id;
-	unsigned int timestamp;
-};
-
-#define IOCTL_KGSL_GPU_COMMAND \
-	_IOWR(KGSL_IOC_TYPE, 0x4A, struct kgsl_gpu_command)
-
-/**
- * struct kgsl_preemption_counters_query - argument to
- * IOCTL_KGSL_PREEMPTIONCOUNTER_QUERY
- * @counters: Return preemption counters array
- * @size_user: Size allocated by userspace
- * @size_priority_level: Size of preemption counters for each
- * priority level
- * @max_priority_level: Return max number of priority levels
- *
- * Query the available preemption counters. The array counters
- * is used to return preemption counters. The size of the array
- * is passed in so the kernel will only write at most size_user
- * or max available preemption counters.  The total number of
- * preemption counters is returned in max_priority_level. If the
- * array or size passed in are invalid, then an error is
- * returned back.
- */
-struct kgsl_preemption_counters_query {
-	uint64_t __user counters;
-	unsigned int size_user;
-	unsigned int size_priority_level;
-	unsigned int max_priority_level;
-};
-
-#define IOCTL_KGSL_PREEMPTIONCOUNTER_QUERY \
-	_IOWR(KGSL_IOC_TYPE, 0x4B, struct kgsl_preemption_counters_query)
-
-/**
- * struct kgsl_gpuobj_set_info - argument for IOCTL_KGSL_GPUOBJ_SET_INFO
- * @flags: Flags to indicate which paramaters to change
- * @metadata:  If KGSL_GPUOBJ_SET_INFO_METADATA is set, a pointer to the new
- * metadata
- * @id: GPU memory object ID to change
- * @metadata_len:  If KGSL_GPUOBJ_SET_INFO_METADATA is set, the length of the
- * new metadata string
- * @type: If KGSL_GPUOBJ_SET_INFO_TYPE is set, the new type of the memory object
- */
-
-#define KGSL_GPUOBJ_SET_INFO_METADATA (1 << 0)
-#define KGSL_GPUOBJ_SET_INFO_TYPE (1 << 1)
-
-struct kgsl_gpuobj_set_info {
-	uint64_t flags;
-	uint64_t metadata;
-	unsigned int id;
-	unsigned int metadata_len;
-	unsigned int type;
-};
-
-#define IOCTL_KGSL_GPUOBJ_SET_INFO \
-	_IOW(KGSL_IOC_TYPE, 0x4C, struct kgsl_gpuobj_set_info)
-
-#endif /* _UAPI_MSM_KGSL_H */
diff --git a/third_party/linux/include/msm_media_info.h b/third_party/linux/include/msm_media_info.h
deleted file mode 100644
index 3fd0c8849a4ec8..00000000000000
--- a/third_party/linux/include/msm_media_info.h
+++ /dev/null
@@ -1,1392 +0,0 @@
-#ifndef __MEDIA_INFO_H__
-#define __MEDIA_INFO_H__
-
-#ifndef MSM_MEDIA_ALIGN
-#define MSM_MEDIA_ALIGN(__sz, __align) (((__align) & ((__align) - 1)) ?\
-	((((__sz) + (__align) - 1) / (__align)) * (__align)) :\
-	(((__sz) + (__align) - 1) & (~((__align) - 1))))
-#endif
-
-#ifndef MSM_MEDIA_ROUNDUP
-#define MSM_MEDIA_ROUNDUP(__sz, __r) (((__sz) + ((__r) - 1)) / (__r))
-#endif
-
-#ifndef MSM_MEDIA_MAX
-#define MSM_MEDIA_MAX(__a, __b) ((__a) > (__b)?(__a):(__b))
-#endif
-
-enum color_fmts {
-	/* Venus NV12:
-	 * YUV 4:2:0 image with a plane of 8 bit Y samples followed
-	 * by an interleaved U/V plane containing 8 bit 2x2 subsampled
-	 * colour difference samples.
-	 *
-	 * <-------- Y/UV_Stride -------->
-	 * <------- Width ------->
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  ^           ^
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  Height      |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |          Y_Scanlines
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              V
-	 * U V U V U V U V U V U V . . . .  ^
-	 * U V U V U V U V U V U V . . . .  |
-	 * U V U V U V U V U V U V . . . .  |
-	 * U V U V U V U V U V U V . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  --> Buffer size alignment
-	 *
-	 * Y_Stride : Width aligned to 128
-	 * UV_Stride : Width aligned to 128
-	 * Y_Scanlines: Height aligned to 32
-	 * UV_Scanlines: Height/2 aligned to 16
-	 * Extradata: Arbitrary (software-imposed) padding
-	 * Total size = align((Y_Stride * Y_Scanlines
-	 *          + UV_Stride * UV_Scanlines
-	 *          + max(Extradata, Y_Stride * 8), 4096)
-	 */
-	COLOR_FMT_NV12,
-
-	/* Venus NV21:
-	 * YUV 4:2:0 image with a plane of 8 bit Y samples followed
-	 * by an interleaved V/U plane containing 8 bit 2x2 subsampled
-	 * colour difference samples.
-	 *
-	 * <-------- Y/UV_Stride -------->
-	 * <------- Width ------->
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  ^           ^
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  Height      |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |          Y_Scanlines
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              V
-	 * V U V U V U V U V U V U . . . .  ^
-	 * V U V U V U V U V U V U . . . .  |
-	 * V U V U V U V U V U V U . . . .  |
-	 * V U V U V U V U V U V U . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  --> Padding & Buffer size alignment
-	 *
-	 * Y_Stride : Width aligned to 128
-	 * UV_Stride : Width aligned to 128
-	 * Y_Scanlines: Height aligned to 32
-	 * UV_Scanlines: Height/2 aligned to 16
-	 * Extradata: Arbitrary (software-imposed) padding
-	 * Total size = align((Y_Stride * Y_Scanlines
-	 *          + UV_Stride * UV_Scanlines
-	 *          + max(Extradata, Y_Stride * 8), 4096)
-	 */
-	COLOR_FMT_NV21,
-	/* Venus NV12_MVTB:
-	 * Two YUV 4:2:0 images/views one after the other
-	 * in a top-bottom layout, same as NV12
-	 * with a plane of 8 bit Y samples followed
-	 * by an interleaved U/V plane containing 8 bit 2x2 subsampled
-	 * colour difference samples.
-	 *
-	 *
-	 * <-------- Y/UV_Stride -------->
-	 * <------- Width ------->
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  ^           ^               ^
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  Height      |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |          Y_Scanlines      |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  V           |               |
-	 * . . . . . . . . . . . . . . . .              |             View_1
-	 * . . . . . . . . . . . . . . . .              |               |
-	 * . . . . . . . . . . . . . . . .              |               |
-	 * . . . . . . . . . . . . . . . .              V               |
-	 * U V U V U V U V U V U V . . . .  ^                           |
-	 * U V U V U V U V U V U V . . . .  |                           |
-	 * U V U V U V U V U V U V . . . .  |                           |
-	 * U V U V U V U V U V U V . . . .  UV_Scanlines                |
-	 * . . . . . . . . . . . . . . . .  |                           |
-	 * . . . . . . . . . . . . . . . .  V                           V
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  ^           ^               ^
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  Height      |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |          Y_Scanlines      |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  V           |               |
-	 * . . . . . . . . . . . . . . . .              |             View_2
-	 * . . . . . . . . . . . . . . . .              |               |
-	 * . . . . . . . . . . . . . . . .              |               |
-	 * . . . . . . . . . . . . . . . .              V               |
-	 * U V U V U V U V U V U V . . . .  ^                           |
-	 * U V U V U V U V U V U V . . . .  |                           |
-	 * U V U V U V U V U V U V . . . .  |                           |
-	 * U V U V U V U V U V U V . . . .  UV_Scanlines                |
-	 * . . . . . . . . . . . . . . . .  |                           |
-	 * . . . . . . . . . . . . . . . .  V                           V
-	 * . . . . . . . . . . . . . . . .  --> Buffer size alignment
-	 *
-	 * Y_Stride : Width aligned to 128
-	 * UV_Stride : Width aligned to 128
-	 * Y_Scanlines: Height aligned to 32
-	 * UV_Scanlines: Height/2 aligned to 16
-	 * View_1 begin at: 0 (zero)
-	 * View_2 begin at: Y_Stride * Y_Scanlines + UV_Stride * UV_Scanlines
-	 * Extradata: Arbitrary (software-imposed) padding
-	 * Total size = align((2*(Y_Stride * Y_Scanlines)
-	 *          + 2*(UV_Stride * UV_Scanlines) + Extradata), 4096)
-	 */
-	COLOR_FMT_NV12_MVTB,
-	/*
-	 * The buffer can be of 2 types:
-	 * (1) Venus NV12 UBWC Progressive
-	 * (2) Venus NV12 UBWC Interlaced
-	 *
-	 * (1) Venus NV12 UBWC Progressive Buffer Format:
-	 * Compressed Macro-tile format for NV12.
-	 * Contains 4 planes in the following order -
-	 * (A) Y_Meta_Plane
-	 * (B) Y_UBWC_Plane
-	 * (C) UV_Meta_Plane
-	 * (D) UV_UBWC_Plane
-	 *
-	 * Y_Meta_Plane consists of meta information to decode compressed
-	 * tile data in Y_UBWC_Plane.
-	 * Y_UBWC_Plane consists of Y data in compressed macro-tile format.
-	 * UBWC decoder block will use the Y_Meta_Plane data together with
-	 * Y_UBWC_Plane data to produce loss-less uncompressed 8 bit Y samples.
-	 *
-	 * UV_Meta_Plane consists of meta information to decode compressed
-	 * tile data in UV_UBWC_Plane.
-	 * UV_UBWC_Plane consists of UV data in compressed macro-tile format.
-	 * UBWC decoder block will use UV_Meta_Plane data together with
-	 * UV_UBWC_Plane data to produce loss-less uncompressed 8 bit 2x2
-	 * subsampled color difference samples.
-	 *
-	 * Each tile in Y_UBWC_Plane/UV_UBWC_Plane is independently decodable
-	 * and randomly accessible. There is no dependency between tiles.
-	 *
-	 * <----- Y_Meta_Stride ---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |         Meta_Y_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <--Compressed tile Y Stride--->
-	 * <------- Width ------->
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  Height      |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_Scanlines
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 * <----- UV_Meta_Stride ---->
-	 * M M M M M M M M M M M M . .      ^
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      M_UV_Scanlines
-	 * . . . . . . . . . . . . . .      |
-	 * . . . . . . . . . . . . . .      V
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * <--Compressed tile UV Stride--->
-	 * U* V* U* V* U* V* U* V* . . . .  ^
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 *
-	 * Y_Stride = align(Width, 128)
-	 * UV_Stride = align(Width, 128)
-	 * Y_Scanlines = align(Height, 32)
-	 * UV_Scanlines = align(Height/2, 16)
-	 * Y_UBWC_Plane_size = align(Y_Stride * Y_Scanlines, 4096)
-	 * UV_UBWC_Plane_size = align(UV_Stride * UV_Scanlines, 4096)
-	 * Y_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
-	 * Y_Meta_Scanlines = align(roundup(Height, Y_TileHeight), 16)
-	 * Y_Meta_Plane_size = align(Y_Meta_Stride * Y_Meta_Scanlines, 4096)
-	 * UV_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
-	 * UV_Meta_Scanlines = align(roundup(Height, UV_TileHeight), 16)
-	 * UV_Meta_Plane_size = align(UV_Meta_Stride * UV_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align( Y_UBWC_Plane_size + UV_UBWC_Plane_size +
-	 *           Y_Meta_Plane_size + UV_Meta_Plane_size
-	 *           + max(Extradata, Y_Stride * 48), 4096)
-	 *
-	 *
-	 * (2) Venus NV12 UBWC Interlaced Buffer Format:
-	 * Compressed Macro-tile format for NV12 interlaced.
-	 * Contains 8 planes in the following order -
-	 * (A) Y_Meta_Top_Field_Plane
-	 * (B) Y_UBWC_Top_Field_Plane
-	 * (C) UV_Meta_Top_Field_Plane
-	 * (D) UV_UBWC_Top_Field_Plane
-	 * (E) Y_Meta_Bottom_Field_Plane
-	 * (F) Y_UBWC_Bottom_Field_Plane
-	 * (G) UV_Meta_Bottom_Field_Plane
-	 * (H) UV_UBWC_Bottom_Field_Plane
-	 * Y_Meta_Top_Field_Plane consists of meta information to decode
-	 * compressed tile data for Y_UBWC_Top_Field_Plane.
-	 * Y_UBWC_Top_Field_Plane consists of Y data in compressed macro-tile
-	 * format for top field of an interlaced frame.
-	 * UBWC decoder block will use the Y_Meta_Top_Field_Plane data together
-	 * with Y_UBWC_Top_Field_Plane data to produce loss-less uncompressed
-	 * 8 bit Y samples for top field of an interlaced frame.
-	 *
-	 * UV_Meta_Top_Field_Plane consists of meta information to decode
-	 * compressed tile data in UV_UBWC_Top_Field_Plane.
-	 * UV_UBWC_Top_Field_Plane consists of UV data in compressed macro-tile
-	 * format for top field of an interlaced frame.
-	 * UBWC decoder block will use UV_Meta_Top_Field_Plane data together
-	 * with UV_UBWC_Top_Field_Plane data to produce loss-less uncompressed
-	 * 8 bit subsampled color difference samples for top field of an
-	 * interlaced frame.
-	 *
-	 * Each tile in Y_UBWC_Top_Field_Plane/UV_UBWC_Top_Field_Plane is
-	 * independently decodable and randomly accessible. There is no
-	 * dependency between tiles.
-	 *
-	 * Y_Meta_Bottom_Field_Plane consists of meta information to decode
-	 * compressed tile data for Y_UBWC_Bottom_Field_Plane.
-	 * Y_UBWC_Bottom_Field_Plane consists of Y data in compressed macro-tile
-	 * format for bottom field of an interlaced frame.
-	 * UBWC decoder block will use the Y_Meta_Bottom_Field_Plane data
-	 * together with Y_UBWC_Bottom_Field_Plane data to produce loss-less
-	 * uncompressed 8 bit Y samples for bottom field of an interlaced frame.
-	 *
-	 * UV_Meta_Bottom_Field_Plane consists of meta information to decode
-	 * compressed tile data in UV_UBWC_Bottom_Field_Plane.
-	 * UV_UBWC_Bottom_Field_Plane consists of UV data in compressed
-	 * macro-tile format for bottom field of an interlaced frame.
-	 * UBWC decoder block will use UV_Meta_Bottom_Field_Plane data together
-	 * with UV_UBWC_Bottom_Field_Plane data to produce loss-less
-	 * uncompressed 8 bit subsampled color difference samples for bottom
-	 * field of an interlaced frame.
-	 *
-	 * Each tile in Y_UBWC_Bottom_Field_Plane/UV_UBWC_Bottom_Field_Plane is
-	 * independently decodable and randomly accessible. There is no
-	 * dependency between tiles.
-	 *
-	 * <-----Y_TF_Meta_Stride---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . . Half_height      |
-	 * M M M M M M M M M M M M . .      |         Meta_Y_TF_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <-Compressed tile Y_TF Stride->
-	 * <------- Width ------->
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . . Half_height  |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_TF_Scanlines
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 * <----UV_TF_Meta_Stride---->
-	 * M M M M M M M M M M M M . .      ^
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      M_UV_TF_Scanlines
-	 * . . . . . . . . . . . . . .      |
-	 * . . . . . . . . . . . . . .      V
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * <-Compressed tile UV_TF Stride->
-	 * U* V* U* V* U* V* U* V* . . . .  ^
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  UV_TF_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * <-----Y_BF_Meta_Stride---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . . Half_height      |
-	 * M M M M M M M M M M M M . .      |         Meta_Y_BF_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <-Compressed tile Y_BF Stride->
-	 * <------- Width ------->
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . . Half_height  |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_BF_Scanlines
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 * <----UV_BF_Meta_Stride---->
-	 * M M M M M M M M M M M M . .      ^
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      M_UV_BF_Scanlines
-	 * . . . . . . . . . . . . . .      |
-	 * . . . . . . . . . . . . . .      V
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * <-Compressed tile UV_BF Stride->
-	 * U* V* U* V* U* V* U* V* . . . .  ^
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  UV_BF_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 *
-	 * Half_height = (Height+1)>>1
-	 * Y_TF_Stride = align(Width, 128)
-	 * UV_TF_Stride = align(Width, 128)
-	 * Y_TF_Scanlines = align(Half_height, 32)
-	 * UV_TF_Scanlines = align((Half_height+1)/2, 32)
-	 * Y_UBWC_TF_Plane_size = align(Y_TF_Stride * Y_TF_Scanlines, 4096)
-	 * UV_UBWC_TF_Plane_size = align(UV_TF_Stride * UV_TF_Scanlines, 4096)
-	 * Y_TF_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
-	 * Y_TF_Meta_Scanlines = align(roundup(Half_height, Y_TileHeight), 16)
-	 * Y_TF_Meta_Plane_size =
-	 *     align(Y_TF_Meta_Stride * Y_TF_Meta_Scanlines, 4096)
-	 * UV_TF_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
-	 * UV_TF_Meta_Scanlines = align(roundup(Half_height, UV_TileHeight), 16)
-	 * UV_TF_Meta_Plane_size =
-	 *     align(UV_TF_Meta_Stride * UV_TF_Meta_Scanlines, 4096)
-	 * Y_BF_Stride = align(Width, 128)
-	 * UV_BF_Stride = align(Width, 128)
-	 * Y_BF_Scanlines = align(Half_height, 32)
-	 * UV_BF_Scanlines = align((Half_height+1)/2, 32)
-	 * Y_UBWC_BF_Plane_size = align(Y_BF_Stride * Y_BF_Scanlines, 4096)
-	 * UV_UBWC_BF_Plane_size = align(UV_BF_Stride * UV_BF_Scanlines, 4096)
-	 * Y_BF_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
-	 * Y_BF_Meta_Scanlines = align(roundup(Half_height, Y_TileHeight), 16)
-	 * Y_BF_Meta_Plane_size =
-	 *     align(Y_BF_Meta_Stride * Y_BF_Meta_Scanlines, 4096)
-	 * UV_BF_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
-	 * UV_BF_Meta_Scanlines = align(roundup(Half_height, UV_TileHeight), 16)
-	 * UV_BF_Meta_Plane_size =
-	 *     align(UV_BF_Meta_Stride * UV_BF_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align( Y_UBWC_TF_Plane_size + UV_UBWC_TF_Plane_size +
-	 *           Y_TF_Meta_Plane_size + UV_TF_Meta_Plane_size +
-	 *			 Y_UBWC_BF_Plane_size + UV_UBWC_BF_Plane_size +
-	 *           Y_BF_Meta_Plane_size + UV_BF_Meta_Plane_size +
-	 *           + max(Extradata, Y_TF_Stride * 48), 4096)
-	 */
-	COLOR_FMT_NV12_UBWC,
-	/* Venus NV12 10-bit UBWC:
-	 * Compressed Macro-tile format for NV12.
-	 * Contains 4 planes in the following order -
-	 * (A) Y_Meta_Plane
-	 * (B) Y_UBWC_Plane
-	 * (C) UV_Meta_Plane
-	 * (D) UV_UBWC_Plane
-	 *
-	 * Y_Meta_Plane consists of meta information to decode compressed
-	 * tile data in Y_UBWC_Plane.
-	 * Y_UBWC_Plane consists of Y data in compressed macro-tile format.
-	 * UBWC decoder block will use the Y_Meta_Plane data together with
-	 * Y_UBWC_Plane data to produce loss-less uncompressed 10 bit Y samples.
-	 *
-	 * UV_Meta_Plane consists of meta information to decode compressed
-	 * tile data in UV_UBWC_Plane.
-	 * UV_UBWC_Plane consists of UV data in compressed macro-tile format.
-	 * UBWC decoder block will use UV_Meta_Plane data together with
-	 * UV_UBWC_Plane data to produce loss-less uncompressed 10 bit 2x2
-	 * subsampled color difference samples.
-	 *
-	 * Each tile in Y_UBWC_Plane/UV_UBWC_Plane is independently decodable
-	 * and randomly accessible. There is no dependency between tiles.
-	 *
-	 * <----- Y_Meta_Stride ----->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |         Meta_Y_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <--Compressed tile Y Stride--->
-	 * <------- Width ------->
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  Height      |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_Scanlines
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 * <----- UV_Meta_Stride ---->
-	 * M M M M M M M M M M M M . .      ^
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      M_UV_Scanlines
-	 * . . . . . . . . . . . . . .      |
-	 * . . . . . . . . . . . . . .      V
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * <--Compressed tile UV Stride--->
-	 * U* V* U* V* U* V* U* V* . . . .  ^
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 *
-	 *
-	 * Y_Stride = align(Width * 4/3, 128)
-	 * UV_Stride = align(Width * 4/3, 128)
-	 * Y_Scanlines = align(Height, 32)
-	 * UV_Scanlines = align(Height/2, 16)
-	 * Y_UBWC_Plane_Size = align(Y_Stride * Y_Scanlines, 4096)
-	 * UV_UBWC_Plane_Size = align(UV_Stride * UV_Scanlines, 4096)
-	 * Y_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
-	 * Y_Meta_Scanlines = align(roundup(Height, Y_TileHeight), 16)
-	 * Y_Meta_Plane_size = align(Y_Meta_Stride * Y_Meta_Scanlines, 4096)
-	 * UV_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
-	 * UV_Meta_Scanlines = align(roundup(Height, UV_TileHeight), 16)
-	 * UV_Meta_Plane_size = align(UV_Meta_Stride * UV_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(Y_UBWC_Plane_size + UV_UBWC_Plane_size +
-	 *           Y_Meta_Plane_size + UV_Meta_Plane_size
-	 *           + max(Extradata, Y_Stride * 48), 4096)
-	 */
-	COLOR_FMT_NV12_BPP10_UBWC,
-	/* Venus RGBA8888 format:
-	 * Contains 1 plane in the following order -
-	 * (A) RGBA plane
-	 *
-	 * <-------- RGB_Stride -------->
-	 * <------- Width ------->
-	 * R R R R R R R R R R R R . . . .  ^           ^
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  Height      |
-	 * R R R R R R R R R R R R . . . .  |       RGB_Scanlines
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              V
-	 *
-	 * RGB_Stride = align(Width * 4, 128)
-	 * RGB_Scanlines = align(Height, 32)
-	 * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(RGB_Plane_size + Extradata, 4096)
-	 */
-	COLOR_FMT_RGBA8888,
-	/* Venus RGBA8888 UBWC format:
-	 * Contains 2 planes in the following order -
-	 * (A) Meta plane
-	 * (B) RGBA plane
-	 *
-	 * <--- RGB_Meta_Stride ---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |       Meta_RGB_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <-------- RGB_Stride -------->
-	 * <------- Width ------->
-	 * R R R R R R R R R R R R . . . .  ^           ^
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  Height      |
-	 * R R R R R R R R R R R R . . . .  |       RGB_Scanlines
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .    -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 *
-	 * RGB_Stride = align(Width * 4, 128)
-	 * RGB_Scanlines = align(Height, 32)
-	 * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096)
-	 * RGB_Meta_Stride = align(roundup(Width, RGB_TileWidth), 64)
-	 * RGB_Meta_Scanline = align(roundup(Height, RGB_TileHeight), 16)
-	 * RGB_Meta_Plane_size = align(RGB_Meta_Stride *
-	 *		RGB_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(RGB_Meta_Plane_size + RGB_Plane_size +
-	 *		Extradata, 4096)
-	 */
-	COLOR_FMT_RGBA8888_UBWC,
-	/* Venus RGBA1010102 UBWC format:
-	 * Contains 2 planes in the following order -
-	 * (A) Meta plane
-	 * (B) RGBA plane
-	 *
-	 * <--- RGB_Meta_Stride ---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |       Meta_RGB_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <-------- RGB_Stride -------->
-	 * <------- Width ------->
-	 * R R R R R R R R R R R R . . . .  ^           ^
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  Height      |
-	 * R R R R R R R R R R R R . . . .  |       RGB_Scanlines
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .    -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 *
-	 * RGB_Stride = align(Width * 4, 256)
-	 * RGB_Scanlines = align(Height, 16)
-	 * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096)
-	 * RGB_Meta_Stride = align(roundup(Width, RGB_TileWidth), 64)
-	 * RGB_Meta_Scanline = align(roundup(Height, RGB_TileHeight), 16)
-	 * RGB_Meta_Plane_size = align(RGB_Meta_Stride *
-	 *		RGB_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(RGB_Meta_Plane_size + RGB_Plane_size +
-	 *		Extradata, 4096)
-	 */
-	COLOR_FMT_RGBA1010102_UBWC,
-	/* Venus RGB565 UBWC format:
-	 * Contains 2 planes in the following order -
-	 * (A) Meta plane
-	 * (B) RGB plane
-	 *
-	 * <--- RGB_Meta_Stride ---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |       Meta_RGB_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <-------- RGB_Stride -------->
-	 * <------- Width ------->
-	 * R R R R R R R R R R R R . . . .  ^           ^
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  Height      |
-	 * R R R R R R R R R R R R . . . .  |       RGB_Scanlines
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .    -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 *
-	 * RGB_Stride = align(Width * 2, 128)
-	 * RGB_Scanlines = align(Height, 16)
-	 * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096)
-	 * RGB_Meta_Stride = align(roundup(Width, RGB_TileWidth), 64)
-	 * RGB_Meta_Scanline = align(roundup(Height, RGB_TileHeight), 16)
-	 * RGB_Meta_Plane_size = align(RGB_Meta_Stride *
-	 *		RGB_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(RGB_Meta_Plane_size + RGB_Plane_size +
-	 *		Extradata, 4096)
-	 */
-	COLOR_FMT_RGB565_UBWC,
-	/* P010 UBWC:
-	 * Compressed Macro-tile format for NV12.
-	 * Contains 4 planes in the following order -
-	 * (A) Y_Meta_Plane
-	 * (B) Y_UBWC_Plane
-	 * (C) UV_Meta_Plane
-	 * (D) UV_UBWC_Plane
-	 *
-	 * Y_Meta_Plane consists of meta information to decode compressed
-	 * tile data in Y_UBWC_Plane.
-	 * Y_UBWC_Plane consists of Y data in compressed macro-tile format.
-	 * UBWC decoder block will use the Y_Meta_Plane data together with
-	 * Y_UBWC_Plane data to produce loss-less uncompressed 10 bit Y samples.
-	 *
-	 * UV_Meta_Plane consists of meta information to decode compressed
-	 * tile data in UV_UBWC_Plane.
-	 * UV_UBWC_Plane consists of UV data in compressed macro-tile format.
-	 * UBWC decoder block will use UV_Meta_Plane data together with
-	 * UV_UBWC_Plane data to produce loss-less uncompressed 10 bit 2x2
-	 * subsampled color difference samples.
-	 *
-	 * Each tile in Y_UBWC_Plane/UV_UBWC_Plane is independently decodable
-	 * and randomly accessible. There is no dependency between tiles.
-	 *
-	 * <----- Y_Meta_Stride ----->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |         Meta_Y_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <--Compressed tile Y Stride--->
-	 * <------- Width ------->
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  Height      |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_Scanlines
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 * <----- UV_Meta_Stride ---->
-	 * M M M M M M M M M M M M . .      ^
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      M_UV_Scanlines
-	 * . . . . . . . . . . . . . .      |
-	 * . . . . . . . . . . . . . .      V
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * <--Compressed tile UV Stride--->
-	 * U* V* U* V* U* V* U* V* . . . .  ^
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 *
-	 *
-	 * Y_Stride = align(Width * 2, 256)
-	 * UV_Stride = align(Width * 2, 256)
-	 * Y_Scanlines = align(Height, 16)
-	 * UV_Scanlines = align(Height/2, 16)
-	 * Y_UBWC_Plane_Size = align(Y_Stride * Y_Scanlines, 4096)
-	 * UV_UBWC_Plane_Size = align(UV_Stride * UV_Scanlines, 4096)
-	 * Y_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
-	 * Y_Meta_Scanlines = align(roundup(Height, Y_TileHeight), 16)
-	 * Y_Meta_Plane_size = align(Y_Meta_Stride * Y_Meta_Scanlines, 4096)
-	 * UV_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
-	 * UV_Meta_Scanlines = align(roundup(Height, UV_TileHeight), 16)
-	 * UV_Meta_Plane_size = align(UV_Meta_Stride * UV_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(Y_UBWC_Plane_size + UV_UBWC_Plane_size +
-	 *           Y_Meta_Plane_size + UV_Meta_Plane_size
-	 *           + max(Extradata, Y_Stride * 48), 4096)
-	 */
-	COLOR_FMT_P010_UBWC,
-	/* Venus P010:
-	 * YUV 4:2:0 image with a plane of 10 bit Y samples followed
-	 * by an interleaved U/V plane containing 10 bit 2x2 subsampled
-	 * colour difference samples.
-	 *
-	 * <-------- Y/UV_Stride -------->
-	 * <------- Width ------->
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  ^           ^
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  Height      |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |          Y_Scanlines
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              V
-	 * U V U V U V U V U V U V . . . .  ^
-	 * U V U V U V U V U V U V . . . .  |
-	 * U V U V U V U V U V U V . . . .  |
-	 * U V U V U V U V U V U V . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  --> Buffer size alignment
-	 *
-	 * Y_Stride : Width * 2 aligned to 128
-	 * UV_Stride : Width * 2 aligned to 128
-	 * Y_Scanlines: Height aligned to 32
-	 * UV_Scanlines: Height/2 aligned to 16
-	 * Extradata: Arbitrary (software-imposed) padding
-	 * Total size = align((Y_Stride * Y_Scanlines
-	 *          + UV_Stride * UV_Scanlines
-	 *          + max(Extradata, Y_Stride * 8), 4096)
-	 */
-	COLOR_FMT_P010,
-};
-
-#define COLOR_FMT_RGBA1010102_UBWC	COLOR_FMT_RGBA1010102_UBWC
-#define COLOR_FMT_RGB565_UBWC		COLOR_FMT_RGB565_UBWC
-#define COLOR_FMT_P010_UBWC		COLOR_FMT_P010_UBWC
-#define COLOR_FMT_P010		COLOR_FMT_P010
-
-static inline unsigned int VENUS_EXTRADATA_SIZE(int width, int height)
-{
-	(void)height;
-	(void)width;
-
-	/*
-	 * In the future, calculate the size based on the w/h but just
-	 * hardcode it for now since 16K satisfies all current usecases.
-	 */
-	return 16 * 1024;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @width
- * Progressive: width
- * Interlaced: width
- */
-static inline unsigned int VENUS_Y_STRIDE(int color_fmt, int width)
-{
-	unsigned int alignment, stride = 0;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV21:
-	case COLOR_FMT_NV12:
-	case COLOR_FMT_NV12_MVTB:
-	case COLOR_FMT_NV12_UBWC:
-		alignment = 128;
-		stride = MSM_MEDIA_ALIGN(width, alignment);
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-		alignment = 256;
-		stride = MSM_MEDIA_ALIGN(width, 192);
-		stride = MSM_MEDIA_ALIGN(stride * 4/3, alignment);
-		break;
-	case COLOR_FMT_P010_UBWC:
-		alignment = 256;
-		stride = MSM_MEDIA_ALIGN(width * 2, alignment);
-		break;
-	case COLOR_FMT_P010:
-		alignment = 128;
-		stride = MSM_MEDIA_ALIGN(width*2, alignment);
-		break;
-	default:
-		break;
-	}
-invalid_input:
-	return stride;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @width
- * Progressive: width
- * Interlaced: width
- */
-static inline unsigned int VENUS_UV_STRIDE(int color_fmt, int width)
-{
-	unsigned int alignment, stride = 0;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV21:
-	case COLOR_FMT_NV12:
-	case COLOR_FMT_NV12_MVTB:
-	case COLOR_FMT_NV12_UBWC:
-		alignment = 128;
-		stride = MSM_MEDIA_ALIGN(width, alignment);
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-		alignment = 256;
-		stride = MSM_MEDIA_ALIGN(width, 192);
-		stride = MSM_MEDIA_ALIGN(stride * 4/3, alignment);
-		break;
-	case COLOR_FMT_P010_UBWC:
-		alignment = 256;
-		stride = MSM_MEDIA_ALIGN(width * 2, alignment);
-		break;
-	case COLOR_FMT_P010:
-		alignment = 128;
-		stride = MSM_MEDIA_ALIGN(width*2, alignment);
-		break;
-	default:
-		break;
-	}
-invalid_input:
-	return stride;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @height
- * Progressive: height
- * Interlaced: (height+1)>>1
- */
-static inline unsigned int VENUS_Y_SCANLINES(int color_fmt, int height)
-{
-	unsigned int alignment, sclines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV21:
-	case COLOR_FMT_NV12:
-	case COLOR_FMT_NV12_MVTB:
-	case COLOR_FMT_NV12_UBWC:
-	case COLOR_FMT_P010:
-		alignment = 32;
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-	case COLOR_FMT_P010_UBWC:
-		alignment = 16;
-		break;
-	default:
-		return 0;
-	}
-	sclines = MSM_MEDIA_ALIGN(height, alignment);
-invalid_input:
-	return sclines;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @height
- * Progressive: height
- * Interlaced: (height+1)>>1
- */
-static inline unsigned int VENUS_UV_SCANLINES(int color_fmt, int height)
-{
-	unsigned int alignment, sclines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV21:
-	case COLOR_FMT_NV12:
-	case COLOR_FMT_NV12_MVTB:
-	case COLOR_FMT_NV12_BPP10_UBWC:
-	case COLOR_FMT_P010_UBWC:
-	case COLOR_FMT_P010:
-		alignment = 16;
-		break;
-	case COLOR_FMT_NV12_UBWC:
-		alignment = 32;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	sclines = MSM_MEDIA_ALIGN((height+1)>>1, alignment);
-
-invalid_input:
-	return sclines;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @width
- * Progressive: width
- * Interlaced: width
- */
-static inline unsigned int VENUS_Y_META_STRIDE(int color_fmt, int width)
-{
-	int y_tile_width = 0, y_meta_stride = 0;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV12_UBWC:
-	case COLOR_FMT_P010_UBWC:
-		y_tile_width = 32;
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-		y_tile_width = 48;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	y_meta_stride = MSM_MEDIA_ROUNDUP(width, y_tile_width);
-	y_meta_stride = MSM_MEDIA_ALIGN(y_meta_stride, 64);
-
-invalid_input:
-	return y_meta_stride;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @height
- * Progressive: height
- * Interlaced: (height+1)>>1
- */
-static inline unsigned int VENUS_Y_META_SCANLINES(int color_fmt, int height)
-{
-	int y_tile_height = 0, y_meta_scanlines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV12_UBWC:
-		y_tile_height = 8;
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-	case COLOR_FMT_P010_UBWC:
-		y_tile_height = 4;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	y_meta_scanlines = MSM_MEDIA_ROUNDUP(height, y_tile_height);
-	y_meta_scanlines = MSM_MEDIA_ALIGN(y_meta_scanlines, 16);
-
-invalid_input:
-	return y_meta_scanlines;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @width
- * Progressive: width
- * Interlaced: width
- */
-static inline unsigned int VENUS_UV_META_STRIDE(int color_fmt, int width)
-{
-	int uv_tile_width = 0, uv_meta_stride = 0;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV12_UBWC:
-	case COLOR_FMT_P010_UBWC:
-		uv_tile_width = 16;
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-		uv_tile_width = 24;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	uv_meta_stride = MSM_MEDIA_ROUNDUP((width+1)>>1, uv_tile_width);
-	uv_meta_stride = MSM_MEDIA_ALIGN(uv_meta_stride, 64);
-
-invalid_input:
-	return uv_meta_stride;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @height
- * Progressive: height
- * Interlaced: (height+1)>>1
- */
-static inline unsigned int VENUS_UV_META_SCANLINES(int color_fmt, int height)
-{
-	int uv_tile_height = 0, uv_meta_scanlines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV12_UBWC:
-		uv_tile_height = 8;
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-	case COLOR_FMT_P010_UBWC:
-		uv_tile_height = 4;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	uv_meta_scanlines = MSM_MEDIA_ROUNDUP((height+1)>>1, uv_tile_height);
-	uv_meta_scanlines = MSM_MEDIA_ALIGN(uv_meta_scanlines, 16);
-
-invalid_input:
-	return uv_meta_scanlines;
-}
-
-static inline unsigned int VENUS_RGB_STRIDE(int color_fmt, int width)
-{
-	unsigned int alignment = 0, stride = 0, bpp = 4;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_RGBA8888:
-		alignment = 128;
-		break;
-	case COLOR_FMT_RGB565_UBWC:
-		alignment = 256;
-		bpp = 2;
-		break;
-	case COLOR_FMT_RGBA8888_UBWC:
-	case COLOR_FMT_RGBA1010102_UBWC:
-		alignment = 256;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	stride = MSM_MEDIA_ALIGN(width * bpp, alignment);
-
-invalid_input:
-	return stride;
-}
-
-static inline unsigned int VENUS_RGB_SCANLINES(int color_fmt, int height)
-{
-	unsigned int alignment = 0, scanlines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_RGBA8888:
-		alignment = 32;
-		break;
-	case COLOR_FMT_RGBA8888_UBWC:
-	case COLOR_FMT_RGBA1010102_UBWC:
-	case COLOR_FMT_RGB565_UBWC:
-		alignment = 16;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	scanlines = MSM_MEDIA_ALIGN(height, alignment);
-
-invalid_input:
-	return scanlines;
-}
-
-static inline unsigned int VENUS_RGB_META_STRIDE(int color_fmt, int width)
-{
-	int rgb_tile_width = 0, rgb_meta_stride = 0;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_RGBA8888_UBWC:
-	case COLOR_FMT_RGBA1010102_UBWC:
-	case COLOR_FMT_RGB565_UBWC:
-		rgb_tile_width = 16;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	rgb_meta_stride = MSM_MEDIA_ROUNDUP(width, rgb_tile_width);
-	rgb_meta_stride = MSM_MEDIA_ALIGN(rgb_meta_stride, 64);
-
-invalid_input:
-	return rgb_meta_stride;
-}
-
-static inline unsigned int VENUS_RGB_META_SCANLINES(int color_fmt, int height)
-{
-	int rgb_tile_height = 0, rgb_meta_scanlines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_RGBA8888_UBWC:
-	case COLOR_FMT_RGBA1010102_UBWC:
-	case COLOR_FMT_RGB565_UBWC:
-		rgb_tile_height = 4;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	rgb_meta_scanlines = MSM_MEDIA_ROUNDUP(height, rgb_tile_height);
-	rgb_meta_scanlines = MSM_MEDIA_ALIGN(rgb_meta_scanlines, 16);
-
-invalid_input:
-	return rgb_meta_scanlines;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @width
- * Progressive: width
- * Interlaced: width
- * @height
- * Progressive: height
- * Interlaced: height
- */
-static inline unsigned int VENUS_BUFFER_SIZE(
-	int color_fmt, int width, int height)
-{
-	const unsigned int extra_size = VENUS_EXTRADATA_SIZE(width, height);
-	unsigned int uv_alignment = 0, size = 0;
-	unsigned int w_alignment = 512;
-	unsigned int y_plane, uv_plane, y_stride,
-		uv_stride, y_sclines, uv_sclines;
-	unsigned int y_ubwc_plane = 0, uv_ubwc_plane = 0;
-	unsigned int y_meta_stride = 0, y_meta_scanlines = 0;
-	unsigned int uv_meta_stride = 0, uv_meta_scanlines = 0;
-	unsigned int y_meta_plane = 0, uv_meta_plane = 0;
-	unsigned int rgb_stride = 0, rgb_scanlines = 0;
-	unsigned int rgb_plane = 0, rgb_ubwc_plane = 0, rgb_meta_plane = 0;
-	unsigned int rgb_meta_stride = 0, rgb_meta_scanlines = 0;
-
-	if (!width || !height)
-		goto invalid_input;
-
-	y_stride = VENUS_Y_STRIDE(color_fmt, width);
-	uv_stride = VENUS_UV_STRIDE(color_fmt, width);
-	y_sclines = VENUS_Y_SCANLINES(color_fmt, height);
-	uv_sclines = VENUS_UV_SCANLINES(color_fmt, height);
-	rgb_stride = VENUS_RGB_STRIDE(color_fmt, width);
-	rgb_scanlines = VENUS_RGB_SCANLINES(color_fmt, height);
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV21:
-	case COLOR_FMT_NV12:
-		uv_alignment = 4096;
-		y_plane = y_stride * y_sclines;
-		uv_plane = uv_stride * uv_sclines + uv_alignment;
-		size = y_plane + uv_plane +
-				MSM_MEDIA_MAX(extra_size, 8 * y_stride);
-		size = MSM_MEDIA_ALIGN(size, 4096);
-
-		/* Additional size to cover last row of non-aligned frame */
-		size += MSM_MEDIA_ALIGN(width, w_alignment) * w_alignment;
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_P010:
-		uv_alignment = 4096;
-		y_plane = y_stride * y_sclines;
-		uv_plane = uv_stride * uv_sclines + uv_alignment;
-		size = y_plane + uv_plane +
-				MSM_MEDIA_MAX(extra_size, 8 * y_stride);
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_NV12_MVTB:
-		uv_alignment = 4096;
-		y_plane = y_stride * y_sclines;
-		uv_plane = uv_stride * uv_sclines + uv_alignment;
-		size = y_plane + uv_plane;
-		size = 2 * size + extra_size;
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_NV12_UBWC:
-		y_sclines = VENUS_Y_SCANLINES(color_fmt, (height+1)>>1);
-		y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096);
-		uv_sclines = VENUS_UV_SCANLINES(color_fmt, (height+1)>>1);
-		uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096);
-		y_meta_stride = VENUS_Y_META_STRIDE(color_fmt, width);
-		y_meta_scanlines =
-			VENUS_Y_META_SCANLINES(color_fmt, (height+1)>>1);
-		y_meta_plane = MSM_MEDIA_ALIGN(
-			y_meta_stride * y_meta_scanlines, 4096);
-		uv_meta_stride = VENUS_UV_META_STRIDE(color_fmt, width);
-		uv_meta_scanlines =
-			VENUS_UV_META_SCANLINES(color_fmt, (height+1)>>1);
-		uv_meta_plane = MSM_MEDIA_ALIGN(uv_meta_stride *
-			uv_meta_scanlines, 4096);
-
-		size = (y_ubwc_plane + uv_ubwc_plane + y_meta_plane +
-			uv_meta_plane)*2 +
-			MSM_MEDIA_MAX(extra_size + 8192, 48 * y_stride);
-		size = MSM_MEDIA_ALIGN(size, 4096);
-
-		/* Additional size to cover last row of non-aligned frame */
-		size += MSM_MEDIA_ALIGN(width, w_alignment) * w_alignment;
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-		y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096);
-		uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096);
-		y_meta_stride = VENUS_Y_META_STRIDE(color_fmt, width);
-		y_meta_scanlines = VENUS_Y_META_SCANLINES(color_fmt, height);
-		y_meta_plane = MSM_MEDIA_ALIGN(
-				y_meta_stride * y_meta_scanlines, 4096);
-		uv_meta_stride = VENUS_UV_META_STRIDE(color_fmt, width);
-		uv_meta_scanlines = VENUS_UV_META_SCANLINES(color_fmt, height);
-		uv_meta_plane = MSM_MEDIA_ALIGN(uv_meta_stride *
-					uv_meta_scanlines, 4096);
-
-		size = y_ubwc_plane + uv_ubwc_plane + y_meta_plane +
-			uv_meta_plane +
-			MSM_MEDIA_MAX(extra_size + 8192, 48 * y_stride);
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_P010_UBWC:
-		y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096);
-		uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096);
-		y_meta_stride = VENUS_Y_META_STRIDE(color_fmt, width);
-		y_meta_scanlines = VENUS_Y_META_SCANLINES(color_fmt, height);
-		y_meta_plane = MSM_MEDIA_ALIGN(
-				y_meta_stride * y_meta_scanlines, 4096);
-		uv_meta_stride = VENUS_UV_META_STRIDE(color_fmt, width);
-		uv_meta_scanlines = VENUS_UV_META_SCANLINES(color_fmt, height);
-		uv_meta_plane = MSM_MEDIA_ALIGN(uv_meta_stride *
-					uv_meta_scanlines, 4096);
-
-		size = y_ubwc_plane + uv_ubwc_plane + y_meta_plane +
-			uv_meta_plane;
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_RGBA8888:
-		rgb_plane = MSM_MEDIA_ALIGN(rgb_stride  * rgb_scanlines, 4096);
-		size = rgb_plane;
-		size =  MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_RGBA8888_UBWC:
-	case COLOR_FMT_RGBA1010102_UBWC:
-	case COLOR_FMT_RGB565_UBWC:
-		rgb_ubwc_plane = MSM_MEDIA_ALIGN(rgb_stride * rgb_scanlines,
-							4096);
-		rgb_meta_stride = VENUS_RGB_META_STRIDE(color_fmt, width);
-		rgb_meta_scanlines = VENUS_RGB_META_SCANLINES(color_fmt,
-					height);
-		rgb_meta_plane = MSM_MEDIA_ALIGN(rgb_meta_stride *
-					rgb_meta_scanlines, 4096);
-		size = rgb_ubwc_plane + rgb_meta_plane;
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	default:
-		break;
-	}
-invalid_input:
-	return size;
-}
-
-static inline unsigned int VENUS_VIEW2_OFFSET(
-	int color_fmt, int width, int height)
-{
-	unsigned int offset = 0;
-	unsigned int y_plane, uv_plane, y_stride,
-		uv_stride, y_sclines, uv_sclines;
-	if (!width || !height)
-		goto invalid_input;
-
-	y_stride = VENUS_Y_STRIDE(color_fmt, width);
-	uv_stride = VENUS_UV_STRIDE(color_fmt, width);
-	y_sclines = VENUS_Y_SCANLINES(color_fmt, height);
-	uv_sclines = VENUS_UV_SCANLINES(color_fmt, height);
-	switch (color_fmt) {
-	case COLOR_FMT_NV12_MVTB:
-		y_plane = y_stride * y_sclines;
-		uv_plane = uv_stride * uv_sclines;
-		offset = y_plane + uv_plane;
-		break;
-	default:
-		break;
-	}
-invalid_input:
-	return offset;
-}
-
-#endif
diff --git a/third_party/linux/include/msmb_camera.h b/third_party/linux/include/msmb_camera.h
deleted file mode 100644
index f4c4b3e183e86c..00000000000000
--- a/third_party/linux/include/msmb_camera.h
+++ /dev/null
@@ -1,220 +0,0 @@
-#ifndef __LINUX_MSMB_CAMERA_H
-#define __LINUX_MSMB_CAMERA_H
-
-#include <linux/videodev2.h>
-#include <linux/types.h>
-#include <linux/ioctl.h>
-
-#define MSM_CAM_LOGSYNC_FILE_NAME "logsync"
-#define MSM_CAM_LOGSYNC_FILE_BASEDIR "camera"
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 30, struct msm_v4l2_event_data)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_META \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 31, struct msm_v4l2_event_data)
-
-#define MSM_CAM_V4L2_IOCTL_CMD_ACK \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 32, struct msm_v4l2_event_data)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_ERROR \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 33, struct msm_v4l2_event_data)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_DEBUG \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 34, struct msm_v4l2_event_data)
-
-#ifdef CONFIG_COMPAT
-#define MSM_CAM_V4L2_IOCTL_NOTIFY32 \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 30, struct v4l2_event32)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_META32 \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 31, struct v4l2_event32)
-
-#define MSM_CAM_V4L2_IOCTL_CMD_ACK32 \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 32, struct v4l2_event32)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_ERROR32 \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 33, struct v4l2_event32)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_DEBUG32 \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 34, struct v4l2_event32)
-
-#endif
-
-#define QCAMERA_DEVICE_GROUP_ID	1
-#define QCAMERA_VNODE_GROUP_ID	2
-#define MSM_CAMERA_NAME					"msm_camera"
-#define MSM_CONFIGURATION_NAME	"msm_config"
-
-#define MSM_CAMERA_SUBDEV_CSIPHY       0
-#define MSM_CAMERA_SUBDEV_CSID         1
-#define MSM_CAMERA_SUBDEV_ISPIF        2
-#define MSM_CAMERA_SUBDEV_VFE          3
-#define MSM_CAMERA_SUBDEV_AXI          4
-#define MSM_CAMERA_SUBDEV_VPE          5
-#define MSM_CAMERA_SUBDEV_SENSOR       6
-#define MSM_CAMERA_SUBDEV_ACTUATOR     7
-#define MSM_CAMERA_SUBDEV_EEPROM       8
-#define MSM_CAMERA_SUBDEV_CPP          9
-#define MSM_CAMERA_SUBDEV_CCI          10
-#define MSM_CAMERA_SUBDEV_LED_FLASH    11
-#define MSM_CAMERA_SUBDEV_STROBE_FLASH 12
-#define MSM_CAMERA_SUBDEV_BUF_MNGR     13
-#define MSM_CAMERA_SUBDEV_SENSOR_INIT  14
-#define MSM_CAMERA_SUBDEV_OIS          15
-#define MSM_CAMERA_SUBDEV_FLASH        16
-#define MSM_CAMERA_SUBDEV_EXT          17
-
-#define MSM_MAX_CAMERA_SENSORS  5
-
-/* The below macro is defined to put an upper limit on maximum
- * number of buffer requested per stream. In case of extremely
- * large value for number of buffer due to data structure corruption
- * we return error to avoid integer overflow. Group processing
- * can have max of 9 groups of 8 bufs each. This value may be
- * configured in future*/
-#define MSM_CAMERA_MAX_STREAM_BUF 72
-
-/* Max batch size of processing */
-#define MSM_CAMERA_MAX_USER_BUFF_CNT 16
-
-/* featur base */
-#define MSM_CAMERA_FEATURE_BASE     0x00010000
-#define MSM_CAMERA_FEATURE_SHUTDOWN (MSM_CAMERA_FEATURE_BASE + 1)
-
-#define MSM_CAMERA_STATUS_BASE      0x00020000
-#define MSM_CAMERA_STATUS_FAIL      (MSM_CAMERA_STATUS_BASE + 1)
-#define MSM_CAMERA_STATUS_SUCCESS   (MSM_CAMERA_STATUS_BASE + 2)
-
-/* event type */
-#define MSM_CAMERA_V4L2_EVENT_TYPE (V4L2_EVENT_PRIVATE_START + 0x00002000)
-
-/* event id */
-#define MSM_CAMERA_EVENT_MIN    0
-#define MSM_CAMERA_NEW_SESSION  (MSM_CAMERA_EVENT_MIN + 1)
-#define MSM_CAMERA_DEL_SESSION  (MSM_CAMERA_EVENT_MIN + 2)
-#define MSM_CAMERA_SET_PARM     (MSM_CAMERA_EVENT_MIN + 3)
-#define MSM_CAMERA_GET_PARM     (MSM_CAMERA_EVENT_MIN + 4)
-#define MSM_CAMERA_MAPPING_CFG  (MSM_CAMERA_EVENT_MIN + 5)
-#define MSM_CAMERA_MAPPING_SES  (MSM_CAMERA_EVENT_MIN + 6)
-#define MSM_CAMERA_MSM_NOTIFY   (MSM_CAMERA_EVENT_MIN + 7)
-#define MSM_CAMERA_EVENT_MAX    (MSM_CAMERA_EVENT_MIN + 8)
-
-/* data.command */
-#define MSM_CAMERA_PRIV_S_CROP		 (V4L2_CID_PRIVATE_BASE + 1)
-#define MSM_CAMERA_PRIV_G_CROP		 (V4L2_CID_PRIVATE_BASE + 2)
-#define MSM_CAMERA_PRIV_G_FMT			 (V4L2_CID_PRIVATE_BASE + 3)
-#define MSM_CAMERA_PRIV_S_FMT			 (V4L2_CID_PRIVATE_BASE + 4)
-#define MSM_CAMERA_PRIV_TRY_FMT		 (V4L2_CID_PRIVATE_BASE + 5)
-#define MSM_CAMERA_PRIV_METADATA	 (V4L2_CID_PRIVATE_BASE + 6)
-#define MSM_CAMERA_PRIV_QUERY_CAP  (V4L2_CID_PRIVATE_BASE + 7)
-#define MSM_CAMERA_PRIV_STREAM_ON  (V4L2_CID_PRIVATE_BASE + 8)
-#define MSM_CAMERA_PRIV_STREAM_OFF (V4L2_CID_PRIVATE_BASE + 9)
-#define MSM_CAMERA_PRIV_NEW_STREAM (V4L2_CID_PRIVATE_BASE + 10)
-#define MSM_CAMERA_PRIV_DEL_STREAM (V4L2_CID_PRIVATE_BASE + 11)
-#define MSM_CAMERA_PRIV_SHUTDOWN   (V4L2_CID_PRIVATE_BASE + 12)
-#define MSM_CAMERA_PRIV_STREAM_INFO_SYNC \
-	(V4L2_CID_PRIVATE_BASE + 13)
-#define MSM_CAMERA_PRIV_G_SESSION_ID (V4L2_CID_PRIVATE_BASE + 14)
-#define MSM_CAMERA_PRIV_CMD_MAX  20
-
-/* data.status - success */
-#define MSM_CAMERA_CMD_SUCESS      0x00000001
-#define MSM_CAMERA_BUF_MAP_SUCESS  0x00000002
-
-/* data.status - error */
-#define MSM_CAMERA_ERR_EVT_BASE 0x00010000
-#define MSM_CAMERA_ERR_CMD_FAIL (MSM_CAMERA_ERR_EVT_BASE + 1)
-#define MSM_CAMERA_ERR_MAPPING  (MSM_CAMERA_ERR_EVT_BASE + 2)
-#define MSM_CAMERA_ERR_DEVICE_BUSY  (MSM_CAMERA_ERR_EVT_BASE + 3)
-
-/* The msm_v4l2_event_data structure should match the
- * v4l2_event.u.data field.
- * should not exceed 16 elements */
-struct msm_v4l2_event_data {
-	/*word 0*/
-	unsigned int command;
-	/*word 1*/
-	unsigned int status;
-	/*word 2*/
-	unsigned int session_id;
-	/*word 3*/
-	unsigned int stream_id;
-	/*word 4*/
-	unsigned int map_op;
-	/*word 5*/
-	unsigned int map_buf_idx;
-	/*word 6*/
-	unsigned int notify;
-	/*word 7*/
-	unsigned int arg_value;
-	/*word 8*/
-	unsigned int ret_value;
-	/*word 9*/
-	unsigned int v4l2_event_type;
-	/*word 10*/
-	unsigned int v4l2_event_id;
-	/*word 11*/
-	unsigned int handle;
-	/*word 12*/
-	unsigned int nop6;
-	/*word 13*/
-	unsigned int nop7;
-	/*word 14*/
-	unsigned int nop8;
-	/*word 15*/
-	unsigned int nop9;
-};
-
-/* map to v4l2_format.fmt.raw_data */
-struct msm_v4l2_format_data {
-	enum v4l2_buf_type type;
-	unsigned int width;
-	unsigned int height;
-	unsigned int pixelformat; /* FOURCC */
-	unsigned char num_planes;
-	unsigned int plane_sizes[VIDEO_MAX_PLANES];
-};
-
-/*  MSM Four-character-code (FOURCC) */
-#define msm_v4l2_fourcc(a, b, c, d)\
-	((__u32)(a) | ((__u32)(b) << 8) | ((__u32)(c) << 16) |\
-	((__u32)(d) << 24))
-
-/* Composite stats */
-#define MSM_V4L2_PIX_FMT_STATS_COMB v4l2_fourcc('S', 'T', 'C', 'M')
-/* AEC stats */
-#define MSM_V4L2_PIX_FMT_STATS_AE   v4l2_fourcc('S', 'T', 'A', 'E')
-/* AF stats */
-#define MSM_V4L2_PIX_FMT_STATS_AF   v4l2_fourcc('S', 'T', 'A', 'F')
-/* AWB stats */
-#define MSM_V4L2_PIX_FMT_STATS_AWB  v4l2_fourcc('S', 'T', 'W', 'B')
-/* IHIST stats */
-#define MSM_V4L2_PIX_FMT_STATS_IHST v4l2_fourcc('I', 'H', 'S', 'T')
-/* Column count stats */
-#define MSM_V4L2_PIX_FMT_STATS_CS   v4l2_fourcc('S', 'T', 'C', 'S')
-/* Row count stats */
-#define MSM_V4L2_PIX_FMT_STATS_RS   v4l2_fourcc('S', 'T', 'R', 'S')
-/* Bayer Grid stats */
-#define MSM_V4L2_PIX_FMT_STATS_BG   v4l2_fourcc('S', 'T', 'B', 'G')
-/* Bayer focus stats */
-#define MSM_V4L2_PIX_FMT_STATS_BF   v4l2_fourcc('S', 'T', 'B', 'F')
-/* Bayer hist stats */
-#define MSM_V4L2_PIX_FMT_STATS_BHST v4l2_fourcc('B', 'H', 'S', 'T')
-
-enum smmu_attach_mode {
-	NON_SECURE_MODE = 0x01,
-	SECURE_MODE = 0x02,
-	MAX_PROTECTION_MODE = 0x03,
-};
-
-struct msm_camera_smmu_attach_type {
-	enum smmu_attach_mode attach;
-};
-
-struct msm_camera_user_buf_cont_t {
-	unsigned int buf_cnt;
-	unsigned int buf_idx[MSM_CAMERA_MAX_USER_BUFF_CNT];
-};
-
-#endif /* __LINUX_MSMB_CAMERA_H */
diff --git a/third_party/linux/include/msmb_isp.h b/third_party/linux/include/msmb_isp.h
deleted file mode 100644
index 35589e050a4d06..00000000000000
--- a/third_party/linux/include/msmb_isp.h
+++ /dev/null
@@ -1,880 +0,0 @@
-#ifndef __MSMB_ISP__
-#define __MSMB_ISP__
-
-#include <linux/videodev2.h>
-
-#define MAX_PLANES_PER_STREAM 3
-#define MAX_NUM_STREAM 7
-
-#define ISP_VERSION_47        47
-#define ISP_VERSION_46        46
-#define ISP_VERSION_44        44
-#define ISP_VERSION_40        40
-#define ISP_VERSION_32        32
-#define ISP_NATIVE_BUF_BIT    (0x10000 << 0)
-#define ISP0_BIT              (0x10000 << 1)
-#define ISP1_BIT              (0x10000 << 2)
-#define ISP_META_CHANNEL_BIT  (0x10000 << 3)
-#define ISP_SCRATCH_BUF_BIT   (0x10000 << 4)
-#define ISP_OFFLINE_STATS_BIT (0x10000 << 5)
-#define ISP_STATS_STREAM_BIT  0x80000000
-
-struct msm_vfe_cfg_cmd_list;
-
-enum ISP_START_PIXEL_PATTERN {
-	ISP_BAYER_RGRGRG,
-	ISP_BAYER_GRGRGR,
-	ISP_BAYER_BGBGBG,
-	ISP_BAYER_GBGBGB,
-	ISP_YUV_YCbYCr,
-	ISP_YUV_YCrYCb,
-	ISP_YUV_CbYCrY,
-	ISP_YUV_CrYCbY,
-	ISP_PIX_PATTERN_MAX
-};
-
-enum msm_vfe_plane_fmt {
-	Y_PLANE,
-	CB_PLANE,
-	CR_PLANE,
-	CRCB_PLANE,
-	CBCR_PLANE,
-	VFE_PLANE_FMT_MAX
-};
-
-enum msm_vfe_input_src {
-	VFE_PIX_0,
-	VFE_RAW_0,
-	VFE_RAW_1,
-	VFE_RAW_2,
-	VFE_SRC_MAX,
-};
-
-enum msm_vfe_axi_stream_src {
-	PIX_ENCODER,
-	PIX_VIEWFINDER,
-	PIX_VIDEO,
-	CAMIF_RAW,
-	IDEAL_RAW,
-	RDI_INTF_0,
-	RDI_INTF_1,
-	RDI_INTF_2,
-	VFE_AXI_SRC_MAX
-};
-
-enum msm_vfe_frame_skip_pattern {
-	NO_SKIP,
-	EVERY_2FRAME,
-	EVERY_3FRAME,
-	EVERY_4FRAME,
-	EVERY_5FRAME,
-	EVERY_6FRAME,
-	EVERY_7FRAME,
-	EVERY_8FRAME,
-	EVERY_16FRAME,
-	EVERY_32FRAME,
-	SKIP_ALL,
-	SKIP_RANGE,
-	MAX_SKIP,
-};
-
-/*
- * Define an unused period. When this period is set it means that the stream is
- * stopped(i.e the pattern is 0). We don't track the current pattern, just the
- * period defines what the pattern is, if period is this then pattern is 0 else
- * pattern is 1
- */
-#define MSM_VFE_STREAM_STOP_PERIOD 15
-
-enum msm_isp_stats_type {
-	MSM_ISP_STATS_AEC,   /* legacy based AEC */
-	MSM_ISP_STATS_AF,    /* legacy based AF */
-	MSM_ISP_STATS_AWB,   /* legacy based AWB */
-	MSM_ISP_STATS_RS,    /* legacy based RS */
-	MSM_ISP_STATS_CS,    /* legacy based CS */
-	MSM_ISP_STATS_IHIST, /* legacy based HIST */
-	MSM_ISP_STATS_SKIN,  /* legacy based SKIN */
-	MSM_ISP_STATS_BG,    /* Bayer Grids */
-	MSM_ISP_STATS_BF,    /* Bayer Focus */
-	MSM_ISP_STATS_BE,    /* Bayer Exposure*/
-	MSM_ISP_STATS_BHIST, /* Bayer Hist */
-	MSM_ISP_STATS_BF_SCALE,  /* Bayer Focus scale */
-	MSM_ISP_STATS_HDR_BE,    /* HDR Bayer Exposure */
-	MSM_ISP_STATS_HDR_BHIST, /* HDR Bayer Hist */
-	MSM_ISP_STATS_AEC_BG,   /* AEC BG */
-	MSM_ISP_STATS_MAX    /* MAX */
-};
-
-/*
- * @stats_type_mask: Stats type mask (enum msm_isp_stats_type).
- * @stream_src_mask: Stream src mask (enum msm_vfe_axi_stream_src)
- * @skip_mode: skip pattern, if skip mode is range only then min/max is used
- * @min_frame_id: minimum frame id (valid only if skip_mode = RANGE)
- * @max_frame_id: maximum frame id (valid only if skip_mode = RANGE)
-*/
-struct msm_isp_sw_framskip {
-	uint32_t stats_type_mask;
-	uint32_t stream_src_mask;
-	enum msm_vfe_frame_skip_pattern skip_mode;
-	uint32_t min_frame_id;
-	uint32_t max_frame_id;
-};
-
-enum msm_vfe_testgen_color_pattern {
-	COLOR_BAR_8_COLOR,
-	UNICOLOR_WHITE,
-	UNICOLOR_YELLOW,
-	UNICOLOR_CYAN,
-	UNICOLOR_GREEN,
-	UNICOLOR_MAGENTA,
-	UNICOLOR_RED,
-	UNICOLOR_BLUE,
-	UNICOLOR_BLACK,
-	MAX_COLOR,
-};
-
-enum msm_vfe_camif_input {
-	CAMIF_DISABLED,
-	CAMIF_PAD_REG_INPUT,
-	CAMIF_MIDDI_INPUT,
-	CAMIF_MIPI_INPUT,
-};
-
-struct msm_vfe_fetch_engine_cfg {
-	uint32_t input_format;
-	uint32_t buf_width;
-	uint32_t buf_height;
-	uint32_t fetch_width;
-	uint32_t fetch_height;
-	uint32_t x_offset;
-	uint32_t y_offset;
-	uint32_t buf_stride;
-};
-
-enum msm_vfe_camif_output_format {
-	CAMIF_QCOM_RAW,
-	CAMIF_MIPI_RAW,
-	CAMIF_PLAIN_8,
-	CAMIF_PLAIN_16,
-	CAMIF_MAX_FORMAT,
-};
-
-/*
- * Camif output general configuration
- */
-struct msm_vfe_camif_subsample_cfg {
-	uint32_t irq_subsample_period;
-	uint32_t irq_subsample_pattern;
-	uint32_t sof_counter_step;
-	uint32_t pixel_skip;
-	uint32_t line_skip;
-	uint32_t first_line;
-	uint32_t last_line;
-	uint32_t first_pixel;
-	uint32_t last_pixel;
-	enum msm_vfe_camif_output_format output_format;
-};
-
-/*
- * Camif frame and window configuration
- */
-struct msm_vfe_camif_cfg {
-	uint32_t lines_per_frame;
-	uint32_t pixels_per_line;
-	uint32_t first_pixel;
-	uint32_t last_pixel;
-	uint32_t first_line;
-	uint32_t last_line;
-	uint32_t epoch_line0;
-	uint32_t epoch_line1;
-	uint32_t is_split;
-	enum msm_vfe_camif_input camif_input;
-	struct msm_vfe_camif_subsample_cfg subsample_cfg;
-};
-
-struct msm_vfe_testgen_cfg {
-	uint32_t lines_per_frame;
-	uint32_t pixels_per_line;
-	uint32_t v_blank;
-	uint32_t h_blank;
-	enum ISP_START_PIXEL_PATTERN pixel_bayer_pattern;
-	uint32_t rotate_period;
-	enum msm_vfe_testgen_color_pattern color_bar_pattern;
-	uint32_t burst_num_frame;
-};
-
-enum msm_vfe_inputmux {
-	CAMIF,
-	TESTGEN,
-	EXTERNAL_READ,
-};
-
-enum msm_vfe_stats_composite_group {
-	STATS_COMPOSITE_GRP_NONE,
-	STATS_COMPOSITE_GRP_1,
-	STATS_COMPOSITE_GRP_2,
-	STATS_COMPOSITE_GRP_MAX,
-};
-
-enum msm_vfe_hvx_streaming_cmd {
-	HVX_DISABLE,
-	HVX_ONE_WAY,
-	HVX_ROUND_TRIP
-};
-
-struct msm_vfe_pix_cfg {
-	struct msm_vfe_camif_cfg camif_cfg;
-	struct msm_vfe_testgen_cfg testgen_cfg;
-	struct msm_vfe_fetch_engine_cfg fetch_engine_cfg;
-	enum msm_vfe_inputmux input_mux;
-	enum ISP_START_PIXEL_PATTERN pixel_pattern;
-	uint32_t input_format;
-	enum msm_vfe_hvx_streaming_cmd hvx_cmd;
-	uint32_t is_split;
-};
-
-struct msm_vfe_rdi_cfg {
-	uint8_t cid;
-	uint8_t frame_based;
-};
-
-struct msm_vfe_input_cfg {
-	union {
-		struct msm_vfe_pix_cfg pix_cfg;
-		struct msm_vfe_rdi_cfg rdi_cfg;
-	} d;
-	enum msm_vfe_input_src input_src;
-	uint32_t input_pix_clk;
-};
-
-struct msm_vfe_fetch_eng_start {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t buf_idx;
-	uint8_t  offline_mode;
-	uint32_t fd;
-	uint32_t buf_addr;
-	uint32_t frame_id;
-};
-
-struct msm_vfe_axi_plane_cfg {
-	uint32_t output_width; /*Include padding*/
-	uint32_t output_height;
-	uint32_t output_stride;
-	uint32_t output_scan_lines;
-	uint32_t output_plane_format; /*Y/Cb/Cr/CbCr*/
-	uint32_t plane_addr_offset;
-	uint8_t csid_src; /*RDI 0-2*/
-	uint8_t rdi_cid;/*CID 1-16*/
-};
-
-enum msm_stream_memory_input_t {
-	MEMORY_INPUT_DISABLED,
-	MEMORY_INPUT_ENABLED
-};
-
-struct msm_vfe_axi_stream_request_cmd {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t vt_enable;
-	uint32_t output_format;/*Planar/RAW/Misc*/
-	enum msm_vfe_axi_stream_src stream_src; /*CAMIF/IDEAL/RDIs*/
-	struct msm_vfe_axi_plane_cfg plane_cfg[MAX_PLANES_PER_STREAM];
-
-	uint32_t burst_count;
-	uint32_t hfr_mode;
-	uint8_t frame_base;
-
-	uint32_t init_frame_drop; /*MAX 31 Frames*/
-	enum msm_vfe_frame_skip_pattern frame_skip_pattern;
-	uint8_t buf_divert; /* if TRUE no vb2 buf done. */
-	/*Return values*/
-	uint32_t axi_stream_handle;
-	uint32_t controllable_output;
-	uint32_t burst_len;
-	/* Flag indicating memory input stream */
-	enum msm_stream_memory_input_t memory_input;
-};
-
-struct msm_vfe_axi_stream_release_cmd {
-	uint32_t stream_handle;
-};
-
-enum msm_vfe_axi_stream_cmd {
-	STOP_STREAM,
-	START_STREAM,
-	STOP_IMMEDIATELY,
-};
-
-struct msm_vfe_axi_stream_cfg_cmd {
-	uint8_t num_streams;
-	uint32_t stream_handle[VFE_AXI_SRC_MAX];
-	enum msm_vfe_axi_stream_cmd cmd;
-	uint8_t sync_frame_id_src;
-};
-
-enum msm_vfe_axi_stream_update_type {
-	ENABLE_STREAM_BUF_DIVERT,
-	DISABLE_STREAM_BUF_DIVERT,
-	UPDATE_STREAM_FRAMEDROP_PATTERN,
-	UPDATE_STREAM_STATS_FRAMEDROP_PATTERN,
-	UPDATE_STREAM_AXI_CONFIG,
-	UPDATE_STREAM_REQUEST_FRAMES,
-	UPDATE_STREAM_ADD_BUFQ,
-	UPDATE_STREAM_REMOVE_BUFQ,
-	UPDATE_STREAM_SW_FRAME_DROP,
-};
-
-enum msm_vfe_iommu_type {
-	IOMMU_ATTACH,
-	IOMMU_DETACH,
-};
-
-enum msm_vfe_buff_queue_id {
-	VFE_BUF_QUEUE_DEFAULT,
-	VFE_BUF_QUEUE_SHARED,
-	VFE_BUF_QUEUE_MAX,
-};
-
-struct msm_vfe_axi_stream_cfg_update_info {
-	uint32_t stream_handle;
-	uint32_t output_format;
-	uint32_t user_stream_id;
-	uint32_t frame_id;
-	enum msm_vfe_frame_skip_pattern skip_pattern;
-	struct msm_vfe_axi_plane_cfg plane_cfg[MAX_PLANES_PER_STREAM];
-	struct msm_isp_sw_framskip sw_skip_info;
-};
-
-struct msm_vfe_axi_halt_cmd {
-	uint32_t stop_camif;
-	uint32_t overflow_detected;
-	uint32_t blocking_halt;
-};
-
-struct msm_vfe_axi_reset_cmd {
-	uint32_t blocking;
-	uint32_t frame_id;
-};
-
-struct msm_vfe_axi_restart_cmd {
-	uint32_t enable_camif;
-};
-
-struct msm_vfe_axi_stream_update_cmd {
-	uint32_t num_streams;
-	enum msm_vfe_axi_stream_update_type update_type;
-	struct msm_vfe_axi_stream_cfg_update_info
-					update_info[MSM_ISP_STATS_MAX];
-};
-
-struct msm_vfe_smmu_attach_cmd {
-	uint32_t security_mode;
-	uint32_t iommu_attach_mode;
-};
-
-struct msm_vfe_stats_stream_request_cmd {
-	uint32_t session_id;
-	uint32_t stream_id;
-	enum msm_isp_stats_type stats_type;
-	uint32_t composite_flag;
-	uint32_t framedrop_pattern;
-	uint32_t init_frame_drop; /*MAX 31 Frames*/
-	uint32_t irq_subsample_pattern;
-	uint32_t buffer_offset;
-	uint32_t stream_handle;
-};
-
-struct msm_vfe_stats_stream_release_cmd {
-	uint32_t stream_handle;
-};
-struct msm_vfe_stats_stream_cfg_cmd {
-	uint8_t num_streams;
-	uint32_t stream_handle[MSM_ISP_STATS_MAX];
-	uint8_t enable;
-	uint32_t stats_burst_len;
-};
-
-enum msm_vfe_reg_cfg_type {
-	VFE_WRITE,
-	VFE_WRITE_MB,
-	VFE_READ,
-	VFE_CFG_MASK,
-	VFE_WRITE_DMI_16BIT,
-	VFE_WRITE_DMI_32BIT,
-	VFE_WRITE_DMI_64BIT,
-	VFE_READ_DMI_16BIT,
-	VFE_READ_DMI_32BIT,
-	VFE_READ_DMI_64BIT,
-	GET_MAX_CLK_RATE,
-	GET_CLK_RATES,
-	GET_ISP_ID,
-	VFE_HW_UPDATE_LOCK,
-	VFE_HW_UPDATE_UNLOCK,
-	SET_WM_UB_SIZE,
-	SET_UB_POLICY,
-};
-
-struct msm_vfe_cfg_cmd2 {
-	uint16_t num_cfg;
-	uint16_t cmd_len;
-	void __user *cfg_data;
-	void __user *cfg_cmd;
-};
-
-struct msm_vfe_cfg_cmd_list {
-	struct msm_vfe_cfg_cmd2      cfg_cmd;
-	struct msm_vfe_cfg_cmd_list *next;
-	uint32_t                     next_size;
-};
-
-struct msm_vfe_reg_rw_info {
-	uint32_t reg_offset;
-	uint32_t cmd_data_offset;
-	uint32_t len;
-};
-
-struct msm_vfe_reg_mask_info {
-	uint32_t reg_offset;
-	uint32_t mask;
-	uint32_t val;
-};
-
-struct msm_vfe_reg_dmi_info {
-	uint32_t hi_tbl_offset; /*Optional*/
-	uint32_t lo_tbl_offset; /*Required*/
-	uint32_t len;
-};
-
-struct msm_vfe_reg_cfg_cmd {
-	union {
-		struct msm_vfe_reg_rw_info rw_info;
-		struct msm_vfe_reg_mask_info mask_info;
-		struct msm_vfe_reg_dmi_info dmi_info;
-	} u;
-
-	enum msm_vfe_reg_cfg_type cmd_type;
-};
-
-enum vfe_sd_type {
-	VFE_SD_0 = 0,
-	VFE_SD_1,
-	VFE_SD_COMMON,
-	VFE_SD_MAX,
-};
-
-/* When you change the value below, check for the sof event_data size.
- * V4l2 limits payload to 64 bytes */
-#define MS_NUM_SLAVE_MAX 1
-
-/* Usecases when 2 HW need to be related or synced */
-enum msm_vfe_dual_hw_type {
-	DUAL_NONE = 0,
-	DUAL_HW_VFE_SPLIT = 1,
-	DUAL_HW_MASTER_SLAVE = 2,
-};
-
-/* Type for 2 INTF when used in Master-Slave mode */
-enum msm_vfe_dual_hw_ms_type {
-	MS_TYPE_NONE,
-	MS_TYPE_MASTER,
-	MS_TYPE_SLAVE,
-};
-
-struct msm_isp_set_dual_hw_ms_cmd {
-	uint8_t num_src;
-	/* Each session can be only one type but multiple intf if YUV cam */
-	enum msm_vfe_dual_hw_ms_type dual_hw_ms_type;
-	/* Primary intf is mostly associated with preview.
-	 * This primary intf SOF frame_id and timestamp is tracked
-	 * and used to calculate delta */
-	enum msm_vfe_input_src primary_intf;
-	/* input_src array indicates other input INTF that may be Master/Slave.
-	 * For these additional intf, frame_id and timestamp are not saved.
-	 * However, if these are slaves then they will still get their
-	 * frame_id from Master */
-	enum msm_vfe_input_src input_src[VFE_SRC_MAX];
-	uint32_t sof_delta_threshold; /* In milliseconds. Sent for Master */
-};
-
-enum msm_isp_buf_type {
-	ISP_PRIVATE_BUF,
-	ISP_SHARE_BUF,
-	MAX_ISP_BUF_TYPE,
-};
-
-struct msm_isp_unmap_buf_req {
-	uint32_t fd;
-};
-
-struct msm_isp_buf_request {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint8_t num_buf;
-	uint32_t handle;
-	enum msm_isp_buf_type buf_type;
-};
-
-struct msm_isp_qbuf_plane {
-	uint32_t addr;
-	uint32_t offset;
-	uint32_t length;
-};
-
-struct msm_isp_qbuf_buffer {
-	struct msm_isp_qbuf_plane planes[MAX_PLANES_PER_STREAM];
-	uint32_t num_planes;
-};
-
-struct msm_isp_qbuf_info {
-	uint32_t handle;
-	int32_t buf_idx;
-	/*Only used for prepare buffer*/
-	struct msm_isp_qbuf_buffer buffer;
-	/*Only used for diverted buffer*/
-	uint32_t dirty_buf;
-};
-
-struct msm_isp_clk_rates {
-	uint32_t svs_rate;
-	uint32_t nominal_rate;
-	uint32_t high_rate;
-};
-
-struct msm_vfe_axi_src_state {
-	enum msm_vfe_input_src input_src;
-	uint32_t src_active;
-	uint32_t src_frame_id;
-};
-
-enum msm_isp_event_mask_index {
-	ISP_EVENT_MASK_INDEX_STATS_NOTIFY		= 0,
-	ISP_EVENT_MASK_INDEX_ERROR			= 1,
-	ISP_EVENT_MASK_INDEX_IOMMU_P_FAULT		= 2,
-	ISP_EVENT_MASK_INDEX_STREAM_UPDATE_DONE		= 3,
-	ISP_EVENT_MASK_INDEX_REG_UPDATE			= 4,
-	ISP_EVENT_MASK_INDEX_SOF			= 5,
-	ISP_EVENT_MASK_INDEX_BUF_DIVERT			= 6,
-	ISP_EVENT_MASK_INDEX_COMP_STATS_NOTIFY		= 7,
-	ISP_EVENT_MASK_INDEX_MASK_FE_READ_DONE		= 8,
-	ISP_EVENT_MASK_INDEX_BUF_DONE			= 9,
-	ISP_EVENT_MASK_INDEX_REG_UPDATE_MISSING		= 10,
-	ISP_EVENT_MASK_INDEX_PING_PONG_MISMATCH		= 11,
-	ISP_EVENT_MASK_INDEX_BUF_FATAL_ERROR		= 12,
-};
-
-
-#define ISP_EVENT_SUBS_MASK_NONE			0
-
-#define ISP_EVENT_SUBS_MASK_STATS_NOTIFY \
-			(1 << ISP_EVENT_MASK_INDEX_STATS_NOTIFY)
-
-#define ISP_EVENT_SUBS_MASK_ERROR \
-			(1 << ISP_EVENT_MASK_INDEX_ERROR)
-
-#define ISP_EVENT_SUBS_MASK_IOMMU_P_FAULT \
-			(1 << ISP_EVENT_MASK_INDEX_IOMMU_P_FAULT)
-
-#define ISP_EVENT_SUBS_MASK_STREAM_UPDATE_DONE \
-			(1 << ISP_EVENT_MASK_INDEX_STREAM_UPDATE_DONE)
-
-#define ISP_EVENT_SUBS_MASK_REG_UPDATE \
-			(1 << ISP_EVENT_MASK_INDEX_REG_UPDATE)
-
-#define ISP_EVENT_SUBS_MASK_SOF \
-			(1 << ISP_EVENT_MASK_INDEX_SOF)
-
-#define ISP_EVENT_SUBS_MASK_BUF_DIVERT \
-			(1 << ISP_EVENT_MASK_INDEX_BUF_DIVERT)
-
-#define ISP_EVENT_SUBS_MASK_COMP_STATS_NOTIFY \
-			(1 << ISP_EVENT_MASK_INDEX_COMP_STATS_NOTIFY)
-
-#define ISP_EVENT_SUBS_MASK_FE_READ_DONE \
-			(1 << ISP_EVENT_MASK_INDEX_MASK_FE_READ_DONE)
-
-#define ISP_EVENT_SUBS_MASK_BUF_DONE \
-			(1 << ISP_EVENT_MASK_INDEX_BUF_DONE)
-
-#define ISP_EVENT_SUBS_MASK_REG_UPDATE_MISSING \
-			(1 << ISP_EVENT_MASK_INDEX_REG_UPDATE_MISSING)
-
-#define ISP_EVENT_SUBS_MASK_PING_PONG_MISMATCH \
-			(1 << ISP_EVENT_MASK_INDEX_PING_PONG_MISMATCH)
-
-#define ISP_EVENT_SUBS_MASK_BUF_FATAL_ERROR \
-			(1 << ISP_EVENT_MASK_INDEX_BUF_FATAL_ERROR)
-
-enum msm_isp_event_idx {
-	ISP_REG_UPDATE        = 0,
-	ISP_EPOCH_0           = 1,
-	ISP_EPOCH_1           = 2,
-	ISP_START_ACK         = 3,
-	ISP_STOP_ACK          = 4,
-	ISP_IRQ_VIOLATION     = 5,
-	ISP_STATS_OVERFLOW    = 6,
-	ISP_BUF_DONE          = 7,
-	ISP_FE_RD_DONE        = 8,
-	ISP_IOMMU_P_FAULT     = 9,
-	ISP_ERROR             = 10,
-	ISP_HW_FATAL_ERROR      = 11,
-	ISP_PING_PONG_MISMATCH = 12,
-	ISP_REG_UPDATE_MISSING = 13,
-	ISP_BUF_FATAL_ERROR = 14,
-	ISP_EVENT_MAX         = 15
-};
-
-#define ISP_EVENT_OFFSET          8
-#define ISP_EVENT_BASE            (V4L2_EVENT_PRIVATE_START)
-#define ISP_BUF_EVENT_BASE        (ISP_EVENT_BASE + (1 << ISP_EVENT_OFFSET))
-#define ISP_STATS_EVENT_BASE      (ISP_EVENT_BASE + (2 << ISP_EVENT_OFFSET))
-#define ISP_CAMIF_EVENT_BASE      (ISP_EVENT_BASE + (3 << ISP_EVENT_OFFSET))
-#define ISP_STREAM_EVENT_BASE     (ISP_EVENT_BASE + (4 << ISP_EVENT_OFFSET))
-#define ISP_EVENT_REG_UPDATE      (ISP_EVENT_BASE + ISP_REG_UPDATE)
-#define ISP_EVENT_EPOCH_0         (ISP_EVENT_BASE + ISP_EPOCH_0)
-#define ISP_EVENT_EPOCH_1         (ISP_EVENT_BASE + ISP_EPOCH_1)
-#define ISP_EVENT_START_ACK       (ISP_EVENT_BASE + ISP_START_ACK)
-#define ISP_EVENT_STOP_ACK        (ISP_EVENT_BASE + ISP_STOP_ACK)
-#define ISP_EVENT_IRQ_VIOLATION   (ISP_EVENT_BASE + ISP_IRQ_VIOLATION)
-#define ISP_EVENT_STATS_OVERFLOW  (ISP_EVENT_BASE + ISP_STATS_OVERFLOW)
-#define ISP_EVENT_ERROR           (ISP_EVENT_BASE + ISP_ERROR)
-#define ISP_EVENT_SOF             (ISP_CAMIF_EVENT_BASE)
-#define ISP_EVENT_EOF             (ISP_CAMIF_EVENT_BASE + 1)
-#define ISP_EVENT_BUF_DONE        (ISP_EVENT_BASE + ISP_BUF_DONE)
-#define ISP_EVENT_BUF_DIVERT      (ISP_BUF_EVENT_BASE)
-#define ISP_EVENT_STATS_NOTIFY    (ISP_STATS_EVENT_BASE)
-#define ISP_EVENT_COMP_STATS_NOTIFY (ISP_EVENT_STATS_NOTIFY + MSM_ISP_STATS_MAX)
-#define ISP_EVENT_FE_READ_DONE    (ISP_EVENT_BASE + ISP_FE_RD_DONE)
-#define ISP_EVENT_IOMMU_P_FAULT   (ISP_EVENT_BASE + ISP_IOMMU_P_FAULT)
-#define ISP_EVENT_HW_FATAL_ERROR  (ISP_EVENT_BASE + ISP_HW_FATAL_ERROR)
-#define ISP_EVENT_PING_PONG_MISMATCH (ISP_EVENT_BASE + ISP_PING_PONG_MISMATCH)
-#define ISP_EVENT_REG_UPDATE_MISSING (ISP_EVENT_BASE + ISP_REG_UPDATE_MISSING)
-#define ISP_EVENT_BUF_FATAL_ERROR (ISP_EVENT_BASE + ISP_BUF_FATAL_ERROR)
-#define ISP_EVENT_STREAM_UPDATE_DONE   (ISP_STREAM_EVENT_BASE)
-
-/* The msm_v4l2_event_data structure should match the
- * v4l2_event.u.data field.
- * should not exceed 64 bytes */
-
-struct msm_isp_buf_event {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t handle;
-	uint32_t output_format;
-	int8_t buf_idx;
-};
-struct msm_isp_fetch_eng_event {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t handle;
-	uint32_t fd;
-	int8_t buf_idx;
-	int8_t offline_mode;
-};
-struct msm_isp_stats_event {
-	uint32_t stats_mask;                        /* 4 bytes */
-	uint8_t stats_buf_idxs[MSM_ISP_STATS_MAX];  /* 11 bytes */
-};
-
-struct msm_isp_stream_ack {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t handle;
-};
-
-enum msm_vfe_error_type {
-	ISP_ERROR_NONE,
-	ISP_ERROR_CAMIF,
-	ISP_ERROR_BUS_OVERFLOW,
-	ISP_ERROR_RETURN_EMPTY_BUFFER,
-	ISP_ERROR_FRAME_ID_MISMATCH,
-	ISP_ERROR_MAX,
-};
-
-struct msm_isp_error_info {
-	enum msm_vfe_error_type err_type;
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t stream_id_mask;
-};
-
-/* This structure reports delta between master and slave */
-struct msm_isp_ms_delta_info {
-	uint8_t num_delta_info;
-	uint32_t delta[MS_NUM_SLAVE_MAX];
-};
-
-/* This is sent in EPOCH irq */
-struct msm_isp_output_info {
-	uint8_t regs_not_updated;
-	/* mask with bufq_handle for regs not updated or return empty */
-	uint16_t output_err_mask;
-	/* mask with stream_idx for get_buf failed */
-	uint8_t stream_framedrop_mask;
-	/* mask with stats stream_idx for get_buf failed */
-	uint16_t stats_framedrop_mask;
-	/* delta between master and slave */
-};
-
-/* This structure is piggybacked with SOF event */
-struct msm_isp_sof_info {
-	uint8_t regs_not_updated;
-	/* mask with AXI_SRC for regs not updated */
-	uint16_t reg_update_fail_mask;
-	/* mask with bufq_handle for get_buf failed */
-	uint32_t stream_get_buf_fail_mask;
-	/* mask with stats stream_idx for get_buf failed */
-	uint16_t stats_get_buf_fail_mask;
-	/* delta between master and slave */
-	struct msm_isp_ms_delta_info ms_delta_info;
-};
-
-struct msm_isp_event_data {
-	/*Wall clock except for buffer divert events
-	 *which use monotonic clock
-	 */
-	struct timeval timestamp;
-	/* Monotonic timestamp since bootup */
-	struct timeval mono_timestamp;
-	uint32_t frame_id;
-	union {
-		/* Sent for Stats_Done event */
-		struct msm_isp_stats_event stats;
-		/* Sent for Buf_Divert event */
-		struct msm_isp_buf_event buf_done;
-		/* Sent for offline fetch done event */
-		struct msm_isp_fetch_eng_event fetch_done;
-		/* Sent for Error_Event */
-		struct msm_isp_error_info error_info;
-		/*
-		 * This struct needs to be removed once
-		 * userspace switches to sof_info
-		 */
-		struct msm_isp_output_info output_info;
-		/* Sent for SOF event */
-		struct msm_isp_sof_info sof_info;
-	} u; /* union can have max 52 bytes */
-};
-
-#ifdef CONFIG_COMPAT
-struct msm_isp_event_data32 {
-	struct compat_timeval timestamp;
-	struct compat_timeval mono_timestamp;
-	uint32_t frame_id;
-	union {
-		struct msm_isp_stats_event stats;
-		struct msm_isp_buf_event buf_done;
-		struct msm_isp_fetch_eng_event fetch_done;
-		struct msm_isp_error_info error_info;
-		struct msm_isp_output_info output_info;
-		struct msm_isp_sof_info sof_info;
-	} u;
-};
-#endif
-
-#define V4L2_PIX_FMT_QBGGR8  v4l2_fourcc('Q', 'B', 'G', '8')
-#define V4L2_PIX_FMT_QGBRG8  v4l2_fourcc('Q', 'G', 'B', '8')
-#define V4L2_PIX_FMT_QGRBG8  v4l2_fourcc('Q', 'G', 'R', '8')
-#define V4L2_PIX_FMT_QRGGB8  v4l2_fourcc('Q', 'R', 'G', '8')
-#define V4L2_PIX_FMT_QBGGR10 v4l2_fourcc('Q', 'B', 'G', '0')
-#define V4L2_PIX_FMT_QGBRG10 v4l2_fourcc('Q', 'G', 'B', '0')
-#define V4L2_PIX_FMT_QGRBG10 v4l2_fourcc('Q', 'G', 'R', '0')
-#define V4L2_PIX_FMT_QRGGB10 v4l2_fourcc('Q', 'R', 'G', '0')
-#define V4L2_PIX_FMT_QBGGR12 v4l2_fourcc('Q', 'B', 'G', '2')
-#define V4L2_PIX_FMT_QGBRG12 v4l2_fourcc('Q', 'G', 'B', '2')
-#define V4L2_PIX_FMT_QGRBG12 v4l2_fourcc('Q', 'G', 'R', '2')
-#define V4L2_PIX_FMT_QRGGB12 v4l2_fourcc('Q', 'R', 'G', '2')
-#define V4L2_PIX_FMT_QBGGR14 v4l2_fourcc('Q', 'B', 'G', '4')
-#define V4L2_PIX_FMT_QGBRG14 v4l2_fourcc('Q', 'G', 'B', '4')
-#define V4L2_PIX_FMT_QGRBG14 v4l2_fourcc('Q', 'G', 'R', '4')
-#define V4L2_PIX_FMT_QRGGB14 v4l2_fourcc('Q', 'R', 'G', '4')
-#define V4L2_PIX_FMT_P16BGGR10 v4l2_fourcc('P', 'B', 'G', '0')
-#define V4L2_PIX_FMT_P16GBRG10 v4l2_fourcc('P', 'G', 'B', '0')
-#define V4L2_PIX_FMT_P16GRBG10 v4l2_fourcc('P', 'G', 'R', '0')
-#define V4L2_PIX_FMT_P16RGGB10 v4l2_fourcc('P', 'R', 'G', '0')
-#define V4L2_PIX_FMT_NV14 v4l2_fourcc('N', 'V', '1', '4')
-#define V4L2_PIX_FMT_NV41 v4l2_fourcc('N', 'V', '4', '1')
-#define V4L2_PIX_FMT_META v4l2_fourcc('Q', 'M', 'E', 'T')
-#define V4L2_PIX_FMT_SBGGR14 v4l2_fourcc('B', 'G', '1', '4') /* 14 BGBG.GRGR.*/
-#define V4L2_PIX_FMT_SGBRG14 v4l2_fourcc('G', 'B', '1', '4') /* 14 GBGB.RGRG.*/
-#define V4L2_PIX_FMT_SGRBG14 v4l2_fourcc('B', 'A', '1', '4') /* 14 GRGR.BGBG.*/
-#define V4L2_PIX_FMT_SRGGB14 v4l2_fourcc('R', 'G', '1', '4') /* 14 RGRG.GBGB.*/
-
-#define VIDIOC_MSM_VFE_REG_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE, struct msm_vfe_cfg_cmd2)
-
-#define VIDIOC_MSM_ISP_REQUEST_BUF \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+1, struct msm_isp_buf_request)
-
-#define VIDIOC_MSM_ISP_ENQUEUE_BUF \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+2, struct msm_isp_qbuf_info)
-
-#define VIDIOC_MSM_ISP_RELEASE_BUF \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+3, struct msm_isp_buf_request)
-
-#define VIDIOC_MSM_ISP_REQUEST_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+4, struct msm_vfe_axi_stream_request_cmd)
-
-#define VIDIOC_MSM_ISP_CFG_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+5, struct msm_vfe_axi_stream_cfg_cmd)
-
-#define VIDIOC_MSM_ISP_RELEASE_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+6, struct msm_vfe_axi_stream_release_cmd)
-
-#define VIDIOC_MSM_ISP_INPUT_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+7, struct msm_vfe_input_cfg)
-
-#define VIDIOC_MSM_ISP_SET_SRC_STATE \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+8, struct msm_vfe_axi_src_state)
-
-#define VIDIOC_MSM_ISP_REQUEST_STATS_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+9, \
-	struct msm_vfe_stats_stream_request_cmd)
-
-#define VIDIOC_MSM_ISP_CFG_STATS_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+10, struct msm_vfe_stats_stream_cfg_cmd)
-
-#define VIDIOC_MSM_ISP_RELEASE_STATS_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+11, \
-	struct msm_vfe_stats_stream_release_cmd)
-
-#define VIDIOC_MSM_ISP_REG_UPDATE_CMD \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+12, enum msm_vfe_input_src)
-
-#define VIDIOC_MSM_ISP_UPDATE_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+13, struct msm_vfe_axi_stream_update_cmd)
-
-#define VIDIOC_MSM_VFE_REG_LIST_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+14, struct msm_vfe_cfg_cmd_list)
-
-#define VIDIOC_MSM_ISP_SMMU_ATTACH \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+15, struct msm_vfe_smmu_attach_cmd)
-
-#define VIDIOC_MSM_ISP_UPDATE_STATS_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+16, struct msm_vfe_axi_stream_update_cmd)
-
-#define VIDIOC_MSM_ISP_AXI_HALT \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+17, struct msm_vfe_axi_halt_cmd)
-
-#define VIDIOC_MSM_ISP_AXI_RESET \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+18, struct msm_vfe_axi_reset_cmd)
-
-#define VIDIOC_MSM_ISP_AXI_RESTART \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+19, struct msm_vfe_axi_restart_cmd)
-
-#define VIDIOC_MSM_ISP_FETCH_ENG_START \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+20, struct msm_vfe_fetch_eng_start)
-
-#define VIDIOC_MSM_ISP_DEQUEUE_BUF \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+21, struct msm_isp_qbuf_info)
-
-#define VIDIOC_MSM_ISP_SET_DUAL_HW_MASTER_SLAVE \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+22, struct msm_isp_set_dual_hw_ms_cmd)
-
-#define VIDIOC_MSM_ISP_MAP_BUF_START_FE \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+23, struct msm_vfe_fetch_eng_start)
-
-#define VIDIOC_MSM_ISP_UNMAP_BUF \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+24, struct msm_isp_unmap_buf_req)
-
-#endif /* __MSMB_ISP__ */
diff --git a/third_party/linux/include/msmb_ispif.h b/third_party/linux/include/msmb_ispif.h
deleted file mode 100644
index 2564c33b7b31ed..00000000000000
--- a/third_party/linux/include/msmb_ispif.h
+++ /dev/null
@@ -1,125 +0,0 @@
-#ifndef MSM_CAM_ISPIF_H
-#define MSM_CAM_ISPIF_H
-
-#define CSID_VERSION_V20                      0x02000011
-#define CSID_VERSION_V22                      0x02001000
-#define CSID_VERSION_V30                      0x30000000
-#define CSID_VERSION_V3                      0x30000000
-
-enum msm_ispif_vfe_intf {
-	VFE0,
-	VFE1,
-	VFE_MAX
-};
-#define VFE0_MASK    (1 << VFE0)
-#define VFE1_MASK    (1 << VFE1)
-
-enum msm_ispif_intftype {
-	PIX0,
-	RDI0,
-	PIX1,
-	RDI1,
-	RDI2,
-	INTF_MAX
-};
-#define MAX_PARAM_ENTRIES (INTF_MAX * 2)
-#define MAX_CID_CH	8
-
-#define PIX0_MASK (1 << PIX0)
-#define PIX1_MASK (1 << PIX1)
-#define RDI0_MASK (1 << RDI0)
-#define RDI1_MASK (1 << RDI1)
-#define RDI2_MASK (1 << RDI2)
-
-
-enum msm_ispif_vc {
-	VC0,
-	VC1,
-	VC2,
-	VC3,
-	VC_MAX
-};
-
-enum msm_ispif_cid {
-	CID0,
-	CID1,
-	CID2,
-	CID3,
-	CID4,
-	CID5,
-	CID6,
-	CID7,
-	CID8,
-	CID9,
-	CID10,
-	CID11,
-	CID12,
-	CID13,
-	CID14,
-	CID15,
-	CID_MAX
-};
-
-enum msm_ispif_csid {
-	CSID0,
-	CSID1,
-	CSID2,
-	CSID3,
-	CSID_MAX
-};
-
-struct msm_ispif_params_entry {
-	enum msm_ispif_vfe_intf vfe_intf;
-	enum msm_ispif_intftype intftype;
-	int num_cids;
-	enum msm_ispif_cid cids[3];
-	enum msm_ispif_csid csid;
-	int crop_enable;
-	uint16_t crop_start_pixel;
-	uint16_t crop_end_pixel;
-};
-
-struct msm_ispif_param_data {
-	uint32_t num;
-	struct msm_ispif_params_entry entries[MAX_PARAM_ENTRIES];
-};
-
-struct msm_isp_info {
-	uint32_t max_resolution;
-	uint32_t id;
-	uint32_t ver;
-};
-
-struct msm_ispif_vfe_info {
-	int num_vfe;
-	struct msm_isp_info info[VFE_MAX];
-};
-
-enum ispif_cfg_type_t {
-	ISPIF_CLK_ENABLE,
-	ISPIF_CLK_DISABLE,
-	ISPIF_INIT,
-	ISPIF_CFG,
-	ISPIF_START_FRAME_BOUNDARY,
-	ISPIF_RESTART_FRAME_BOUNDARY,
-	ISPIF_STOP_FRAME_BOUNDARY,
-	ISPIF_STOP_IMMEDIATELY,
-	ISPIF_RELEASE,
-	ISPIF_ENABLE_REG_DUMP,
-	ISPIF_SET_VFE_INFO,
-};
-
-struct ispif_cfg_data {
-	enum ispif_cfg_type_t cfg_type;
-	union {
-		int reg_dump;                        /* ISPIF_ENABLE_REG_DUMP */
-		uint32_t csid_version;               /* ISPIF_INIT */
-		struct msm_ispif_vfe_info vfe_info;  /* ISPIF_SET_VFE_INFO */
-		struct msm_ispif_param_data params;  /* CFG, START, STOP */
-	};
-};
-
-#define VIDIOC_MSM_ISPIF_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE, struct ispif_cfg_data)
-
-#endif /* MSM_CAM_ISPIF_H */
diff --git a/third_party/linux/include/v4l2-controls.h b/third_party/linux/include/v4l2-controls.h
deleted file mode 100644
index d14cd8fabee1c7..00000000000000
--- a/third_party/linux/include/v4l2-controls.h
+++ /dev/null
@@ -1,1696 +0,0 @@
-/*
- *  Video for Linux Two controls header file
- *
- *  Copyright (C) 1999-2012 the contributors
- *
- *  This program is free software; you can redistribute it and/or modify
- *  it under the terms of the GNU General Public License as published by
- *  the Free Software Foundation; either version 2 of the License, or
- *  (at your option) any later version.
- *
- *  This program is distributed in the hope that it will be useful,
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- *  GNU General Public License for more details.
- *
- *  Alternatively you can redistribute this file under the terms of the
- *  BSD license as stated below:
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *  1. Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *  2. Redistributions in binary form must reproduce the above copyright
- *     notice, this list of conditions and the following disclaimer in
- *     the documentation and/or other materials provided with the
- *     distribution.
- *  3. The names of its contributors may not be used to endorse or promote
- *     products derived from this software without specific prior written
- *     permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- *  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
- *  TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
- *  PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
- *  LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
- *  NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- *  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- *  The contents of this header was split off from videodev2.h. All control
- *  definitions should be added to this header, which is included by
- *  videodev2.h.
- */
-
-#ifndef __LINUX_V4L2_CONTROLS_H
-#define __LINUX_V4L2_CONTROLS_H
-
-/* Control classes */
-#define V4L2_CTRL_CLASS_USER		0x00980000	/* Old-style 'user' controls */
-#define V4L2_CTRL_CLASS_MPEG		0x00990000	/* MPEG-compression controls */
-#define V4L2_CTRL_CLASS_CAMERA		0x009a0000	/* Camera class controls */
-#define V4L2_CTRL_CLASS_FM_TX		0x009b0000	/* FM Modulator controls */
-#define V4L2_CTRL_CLASS_FLASH		0x009c0000	/* Camera flash controls */
-#define V4L2_CTRL_CLASS_JPEG		0x009d0000	/* JPEG-compression controls */
-#define V4L2_CTRL_CLASS_IMAGE_SOURCE	0x009e0000	/* Image source controls */
-#define V4L2_CTRL_CLASS_IMAGE_PROC	0x009f0000	/* Image processing controls */
-#define V4L2_CTRL_CLASS_DV		0x00a00000	/* Digital Video controls */
-#define V4L2_CTRL_CLASS_FM_RX		0x00a10000	/* FM Receiver controls */
-#define V4L2_CTRL_CLASS_RF_TUNER	0x00a20000	/* RF tuner controls */
-#define V4L2_CTRL_CLASS_DETECT		0x00a30000	/* Detection controls */
-
-/* User-class control IDs */
-
-#define V4L2_CID_BASE			(V4L2_CTRL_CLASS_USER | 0x900)
-#define V4L2_CID_USER_BASE 		V4L2_CID_BASE
-#define V4L2_CID_USER_CLASS 		(V4L2_CTRL_CLASS_USER | 1)
-#define V4L2_CID_BRIGHTNESS		(V4L2_CID_BASE+0)
-#define V4L2_CID_CONTRAST		(V4L2_CID_BASE+1)
-#define V4L2_CID_SATURATION		(V4L2_CID_BASE+2)
-#define V4L2_CID_HUE			(V4L2_CID_BASE+3)
-#define V4L2_CID_AUDIO_VOLUME		(V4L2_CID_BASE+5)
-#define V4L2_CID_AUDIO_BALANCE		(V4L2_CID_BASE+6)
-#define V4L2_CID_AUDIO_BASS		(V4L2_CID_BASE+7)
-#define V4L2_CID_AUDIO_TREBLE		(V4L2_CID_BASE+8)
-#define V4L2_CID_AUDIO_MUTE		(V4L2_CID_BASE+9)
-#define V4L2_CID_AUDIO_LOUDNESS		(V4L2_CID_BASE+10)
-#define V4L2_CID_BLACK_LEVEL		(V4L2_CID_BASE+11) /* Deprecated */
-#define V4L2_CID_AUTO_WHITE_BALANCE	(V4L2_CID_BASE+12)
-#define V4L2_CID_DO_WHITE_BALANCE	(V4L2_CID_BASE+13)
-#define V4L2_CID_RED_BALANCE		(V4L2_CID_BASE+14)
-#define V4L2_CID_BLUE_BALANCE		(V4L2_CID_BASE+15)
-#define V4L2_CID_GAMMA			(V4L2_CID_BASE+16)
-#define V4L2_CID_WHITENESS		(V4L2_CID_GAMMA) /* Deprecated */
-#define V4L2_CID_EXPOSURE		(V4L2_CID_BASE+17)
-#define V4L2_CID_AUTOGAIN		(V4L2_CID_BASE+18)
-#define V4L2_CID_GAIN			(V4L2_CID_BASE+19)
-#define V4L2_CID_HFLIP			(V4L2_CID_BASE+20)
-#define V4L2_CID_VFLIP			(V4L2_CID_BASE+21)
-
-#define V4L2_CID_POWER_LINE_FREQUENCY	(V4L2_CID_BASE+24)
-enum v4l2_power_line_frequency {
-	V4L2_CID_POWER_LINE_FREQUENCY_DISABLED	= 0,
-	V4L2_CID_POWER_LINE_FREQUENCY_50HZ	= 1,
-	V4L2_CID_POWER_LINE_FREQUENCY_60HZ	= 2,
-	V4L2_CID_POWER_LINE_FREQUENCY_AUTO	= 3,
-};
-#define V4L2_CID_HUE_AUTO			(V4L2_CID_BASE+25)
-#define V4L2_CID_WHITE_BALANCE_TEMPERATURE	(V4L2_CID_BASE+26)
-#define V4L2_CID_SHARPNESS			(V4L2_CID_BASE+27)
-#define V4L2_CID_BACKLIGHT_COMPENSATION 	(V4L2_CID_BASE+28)
-#define V4L2_CID_CHROMA_AGC                     (V4L2_CID_BASE+29)
-#define V4L2_CID_COLOR_KILLER                   (V4L2_CID_BASE+30)
-#define V4L2_CID_COLORFX			(V4L2_CID_BASE+31)
-enum v4l2_colorfx {
-	V4L2_COLORFX_NONE			= 0,
-	V4L2_COLORFX_BW				= 1,
-	V4L2_COLORFX_SEPIA			= 2,
-	V4L2_COLORFX_NEGATIVE			= 3,
-	V4L2_COLORFX_EMBOSS			= 4,
-	V4L2_COLORFX_SKETCH			= 5,
-	V4L2_COLORFX_SKY_BLUE			= 6,
-	V4L2_COLORFX_GRASS_GREEN		= 7,
-	V4L2_COLORFX_SKIN_WHITEN		= 8,
-	V4L2_COLORFX_VIVID			= 9,
-	V4L2_COLORFX_AQUA			= 10,
-	V4L2_COLORFX_ART_FREEZE			= 11,
-	V4L2_COLORFX_SILHOUETTE			= 12,
-	V4L2_COLORFX_SOLARIZATION		= 13,
-	V4L2_COLORFX_ANTIQUE			= 14,
-	V4L2_COLORFX_SET_CBCR			= 15,
-};
-#define V4L2_CID_AUTOBRIGHTNESS			(V4L2_CID_BASE+32)
-#define V4L2_CID_BAND_STOP_FILTER		(V4L2_CID_BASE+33)
-
-#define V4L2_CID_ROTATE				(V4L2_CID_BASE+34)
-#define V4L2_CID_BG_COLOR			(V4L2_CID_BASE+35)
-
-#define V4L2_CID_CHROMA_GAIN                    (V4L2_CID_BASE+36)
-
-#define V4L2_CID_ILLUMINATORS_1			(V4L2_CID_BASE+37)
-#define V4L2_CID_ILLUMINATORS_2			(V4L2_CID_BASE+38)
-
-#define V4L2_CID_MIN_BUFFERS_FOR_CAPTURE	(V4L2_CID_BASE+39)
-#define V4L2_CID_MIN_BUFFERS_FOR_OUTPUT		(V4L2_CID_BASE+40)
-
-#define V4L2_CID_ALPHA_COMPONENT		(V4L2_CID_BASE+41)
-#define V4L2_CID_COLORFX_CBCR			(V4L2_CID_BASE+42)
-
-/* last CID + 1 */
-#define V4L2_CID_LASTP1                         (V4L2_CID_BASE+43)
-
-/* USER-class private control IDs */
-
-/* The base for the meye driver controls. See linux/meye.h for the list
- * of controls. We reserve 16 controls for this driver. */
-#define V4L2_CID_USER_MEYE_BASE			(V4L2_CID_USER_BASE + 0x1000)
-
-/* The base for the bttv driver controls.
- * We reserve 32 controls for this driver. */
-#define V4L2_CID_USER_BTTV_BASE			(V4L2_CID_USER_BASE + 0x1010)
-
-
-/* The base for the s2255 driver controls.
- * We reserve 16 controls for this driver. */
-#define V4L2_CID_USER_S2255_BASE		(V4L2_CID_USER_BASE + 0x1030)
-
-/*
- * The base for the si476x driver controls. See include/media/drv-intf/si476x.h
- * for the list of controls. Total of 16 controls is reserved for this driver
- */
-#define V4L2_CID_USER_SI476X_BASE		(V4L2_CID_USER_BASE + 0x1040)
-
-/* The base for the TI VPE driver controls. Total of 16 controls is reserved for
- * this driver */
-#define V4L2_CID_USER_TI_VPE_BASE		(V4L2_CID_USER_BASE + 0x1050)
-
-/* The base for the saa7134 driver controls.
- * We reserve 16 controls for this driver. */
-#define V4L2_CID_USER_SAA7134_BASE		(V4L2_CID_USER_BASE + 0x1060)
-
-/* The base for the adv7180 driver controls.
- * We reserve 16 controls for this driver. */
-#define V4L2_CID_USER_ADV7180_BASE		(V4L2_CID_USER_BASE + 0x1070)
-
-/* The base for the tc358743 driver controls.
- * We reserve 16 controls for this driver. */
-#define V4L2_CID_USER_TC358743_BASE		(V4L2_CID_USER_BASE + 0x1080)
-
-/* MPEG-class control IDs */
-/* The MPEG controls are applicable to all codec controls
- * and the 'MPEG' part of the define is historical */
-
-#define V4L2_CID_MPEG_BASE 			(V4L2_CTRL_CLASS_MPEG | 0x900)
-#define V4L2_CID_MPEG_CLASS 			(V4L2_CTRL_CLASS_MPEG | 1)
-
-/*  MPEG streams, specific to multiplexed streams */
-#define V4L2_CID_MPEG_STREAM_TYPE 		(V4L2_CID_MPEG_BASE+0)
-enum v4l2_mpeg_stream_type {
-	V4L2_MPEG_STREAM_TYPE_MPEG2_PS   = 0, /* MPEG-2 program stream */
-	V4L2_MPEG_STREAM_TYPE_MPEG2_TS   = 1, /* MPEG-2 transport stream */
-	V4L2_MPEG_STREAM_TYPE_MPEG1_SS   = 2, /* MPEG-1 system stream */
-	V4L2_MPEG_STREAM_TYPE_MPEG2_DVD  = 3, /* MPEG-2 DVD-compatible stream */
-	V4L2_MPEG_STREAM_TYPE_MPEG1_VCD  = 4, /* MPEG-1 VCD-compatible stream */
-	V4L2_MPEG_STREAM_TYPE_MPEG2_SVCD = 5, /* MPEG-2 SVCD-compatible stream */
-};
-#define V4L2_CID_MPEG_STREAM_PID_PMT 		(V4L2_CID_MPEG_BASE+1)
-#define V4L2_CID_MPEG_STREAM_PID_AUDIO 		(V4L2_CID_MPEG_BASE+2)
-#define V4L2_CID_MPEG_STREAM_PID_VIDEO 		(V4L2_CID_MPEG_BASE+3)
-#define V4L2_CID_MPEG_STREAM_PID_PCR 		(V4L2_CID_MPEG_BASE+4)
-#define V4L2_CID_MPEG_STREAM_PES_ID_AUDIO 	(V4L2_CID_MPEG_BASE+5)
-#define V4L2_CID_MPEG_STREAM_PES_ID_VIDEO 	(V4L2_CID_MPEG_BASE+6)
-#define V4L2_CID_MPEG_STREAM_VBI_FMT 		(V4L2_CID_MPEG_BASE+7)
-enum v4l2_mpeg_stream_vbi_fmt {
-	V4L2_MPEG_STREAM_VBI_FMT_NONE = 0,  /* No VBI in the MPEG stream */
-	V4L2_MPEG_STREAM_VBI_FMT_IVTV = 1,  /* VBI in private packets, IVTV format */
-};
-
-/*  MPEG audio controls specific to multiplexed streams  */
-#define V4L2_CID_MPEG_AUDIO_SAMPLING_FREQ 	(V4L2_CID_MPEG_BASE+100)
-enum v4l2_mpeg_audio_sampling_freq {
-	V4L2_MPEG_AUDIO_SAMPLING_FREQ_44100 = 0,
-	V4L2_MPEG_AUDIO_SAMPLING_FREQ_48000 = 1,
-	V4L2_MPEG_AUDIO_SAMPLING_FREQ_32000 = 2,
-};
-#define V4L2_CID_MPEG_AUDIO_ENCODING 		(V4L2_CID_MPEG_BASE+101)
-enum v4l2_mpeg_audio_encoding {
-	V4L2_MPEG_AUDIO_ENCODING_LAYER_1 = 0,
-	V4L2_MPEG_AUDIO_ENCODING_LAYER_2 = 1,
-	V4L2_MPEG_AUDIO_ENCODING_LAYER_3 = 2,
-	V4L2_MPEG_AUDIO_ENCODING_AAC     = 3,
-	V4L2_MPEG_AUDIO_ENCODING_AC3     = 4,
-};
-#define V4L2_CID_MPEG_AUDIO_L1_BITRATE 		(V4L2_CID_MPEG_BASE+102)
-enum v4l2_mpeg_audio_l1_bitrate {
-	V4L2_MPEG_AUDIO_L1_BITRATE_32K  = 0,
-	V4L2_MPEG_AUDIO_L1_BITRATE_64K  = 1,
-	V4L2_MPEG_AUDIO_L1_BITRATE_96K  = 2,
-	V4L2_MPEG_AUDIO_L1_BITRATE_128K = 3,
-	V4L2_MPEG_AUDIO_L1_BITRATE_160K = 4,
-	V4L2_MPEG_AUDIO_L1_BITRATE_192K = 5,
-	V4L2_MPEG_AUDIO_L1_BITRATE_224K = 6,
-	V4L2_MPEG_AUDIO_L1_BITRATE_256K = 7,
-	V4L2_MPEG_AUDIO_L1_BITRATE_288K = 8,
-	V4L2_MPEG_AUDIO_L1_BITRATE_320K = 9,
-	V4L2_MPEG_AUDIO_L1_BITRATE_352K = 10,
-	V4L2_MPEG_AUDIO_L1_BITRATE_384K = 11,
-	V4L2_MPEG_AUDIO_L1_BITRATE_416K = 12,
-	V4L2_MPEG_AUDIO_L1_BITRATE_448K = 13,
-};
-#define V4L2_CID_MPEG_AUDIO_L2_BITRATE 		(V4L2_CID_MPEG_BASE+103)
-enum v4l2_mpeg_audio_l2_bitrate {
-	V4L2_MPEG_AUDIO_L2_BITRATE_32K  = 0,
-	V4L2_MPEG_AUDIO_L2_BITRATE_48K  = 1,
-	V4L2_MPEG_AUDIO_L2_BITRATE_56K  = 2,
-	V4L2_MPEG_AUDIO_L2_BITRATE_64K  = 3,
-	V4L2_MPEG_AUDIO_L2_BITRATE_80K  = 4,
-	V4L2_MPEG_AUDIO_L2_BITRATE_96K  = 5,
-	V4L2_MPEG_AUDIO_L2_BITRATE_112K = 6,
-	V4L2_MPEG_AUDIO_L2_BITRATE_128K = 7,
-	V4L2_MPEG_AUDIO_L2_BITRATE_160K = 8,
-	V4L2_MPEG_AUDIO_L2_BITRATE_192K = 9,
-	V4L2_MPEG_AUDIO_L2_BITRATE_224K = 10,
-	V4L2_MPEG_AUDIO_L2_BITRATE_256K = 11,
-	V4L2_MPEG_AUDIO_L2_BITRATE_320K = 12,
-	V4L2_MPEG_AUDIO_L2_BITRATE_384K = 13,
-};
-#define V4L2_CID_MPEG_AUDIO_L3_BITRATE 		(V4L2_CID_MPEG_BASE+104)
-enum v4l2_mpeg_audio_l3_bitrate {
-	V4L2_MPEG_AUDIO_L3_BITRATE_32K  = 0,
-	V4L2_MPEG_AUDIO_L3_BITRATE_40K  = 1,
-	V4L2_MPEG_AUDIO_L3_BITRATE_48K  = 2,
-	V4L2_MPEG_AUDIO_L3_BITRATE_56K  = 3,
-	V4L2_MPEG_AUDIO_L3_BITRATE_64K  = 4,
-	V4L2_MPEG_AUDIO_L3_BITRATE_80K  = 5,
-	V4L2_MPEG_AUDIO_L3_BITRATE_96K  = 6,
-	V4L2_MPEG_AUDIO_L3_BITRATE_112K = 7,
-	V4L2_MPEG_AUDIO_L3_BITRATE_128K = 8,
-	V4L2_MPEG_AUDIO_L3_BITRATE_160K = 9,
-	V4L2_MPEG_AUDIO_L3_BITRATE_192K = 10,
-	V4L2_MPEG_AUDIO_L3_BITRATE_224K = 11,
-	V4L2_MPEG_AUDIO_L3_BITRATE_256K = 12,
-	V4L2_MPEG_AUDIO_L3_BITRATE_320K = 13,
-};
-#define V4L2_CID_MPEG_AUDIO_MODE 		(V4L2_CID_MPEG_BASE+105)
-enum v4l2_mpeg_audio_mode {
-	V4L2_MPEG_AUDIO_MODE_STEREO       = 0,
-	V4L2_MPEG_AUDIO_MODE_JOINT_STEREO = 1,
-	V4L2_MPEG_AUDIO_MODE_DUAL         = 2,
-	V4L2_MPEG_AUDIO_MODE_MONO         = 3,
-};
-#define V4L2_CID_MPEG_AUDIO_MODE_EXTENSION 	(V4L2_CID_MPEG_BASE+106)
-enum v4l2_mpeg_audio_mode_extension {
-	V4L2_MPEG_AUDIO_MODE_EXTENSION_BOUND_4  = 0,
-	V4L2_MPEG_AUDIO_MODE_EXTENSION_BOUND_8  = 1,
-	V4L2_MPEG_AUDIO_MODE_EXTENSION_BOUND_12 = 2,
-	V4L2_MPEG_AUDIO_MODE_EXTENSION_BOUND_16 = 3,
-};
-#define V4L2_CID_MPEG_AUDIO_EMPHASIS 		(V4L2_CID_MPEG_BASE+107)
-enum v4l2_mpeg_audio_emphasis {
-	V4L2_MPEG_AUDIO_EMPHASIS_NONE         = 0,
-	V4L2_MPEG_AUDIO_EMPHASIS_50_DIV_15_uS = 1,
-	V4L2_MPEG_AUDIO_EMPHASIS_CCITT_J17    = 2,
-};
-#define V4L2_CID_MPEG_AUDIO_CRC 		(V4L2_CID_MPEG_BASE+108)
-enum v4l2_mpeg_audio_crc {
-	V4L2_MPEG_AUDIO_CRC_NONE  = 0,
-	V4L2_MPEG_AUDIO_CRC_CRC16 = 1,
-};
-#define V4L2_CID_MPEG_AUDIO_MUTE 		(V4L2_CID_MPEG_BASE+109)
-#define V4L2_CID_MPEG_AUDIO_AAC_BITRATE		(V4L2_CID_MPEG_BASE+110)
-#define V4L2_CID_MPEG_AUDIO_AC3_BITRATE		(V4L2_CID_MPEG_BASE+111)
-enum v4l2_mpeg_audio_ac3_bitrate {
-	V4L2_MPEG_AUDIO_AC3_BITRATE_32K  = 0,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_40K  = 1,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_48K  = 2,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_56K  = 3,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_64K  = 4,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_80K  = 5,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_96K  = 6,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_112K = 7,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_128K = 8,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_160K = 9,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_192K = 10,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_224K = 11,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_256K = 12,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_320K = 13,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_384K = 14,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_448K = 15,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_512K = 16,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_576K = 17,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_640K = 18,
-};
-#define V4L2_CID_MPEG_AUDIO_DEC_PLAYBACK	(V4L2_CID_MPEG_BASE+112)
-enum v4l2_mpeg_audio_dec_playback {
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_AUTO	    = 0,
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_STEREO	    = 1,
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_LEFT	    = 2,
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_RIGHT	    = 3,
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_MONO	    = 4,
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_SWAPPED_STEREO = 5,
-};
-#define V4L2_CID_MPEG_AUDIO_DEC_MULTILINGUAL_PLAYBACK (V4L2_CID_MPEG_BASE+113)
-
-/*  MPEG video controls specific to multiplexed streams */
-#define V4L2_CID_MPEG_VIDEO_ENCODING 		(V4L2_CID_MPEG_BASE+200)
-enum v4l2_mpeg_video_encoding {
-	V4L2_MPEG_VIDEO_ENCODING_MPEG_1     = 0,
-	V4L2_MPEG_VIDEO_ENCODING_MPEG_2     = 1,
-	V4L2_MPEG_VIDEO_ENCODING_MPEG_4_AVC = 2,
-};
-#define V4L2_CID_MPEG_VIDEO_ASPECT 		(V4L2_CID_MPEG_BASE+201)
-enum v4l2_mpeg_video_aspect {
-	V4L2_MPEG_VIDEO_ASPECT_1x1     = 0,
-	V4L2_MPEG_VIDEO_ASPECT_4x3     = 1,
-	V4L2_MPEG_VIDEO_ASPECT_16x9    = 2,
-	V4L2_MPEG_VIDEO_ASPECT_221x100 = 3,
-};
-#define V4L2_CID_MPEG_VIDEO_B_FRAMES 		(V4L2_CID_MPEG_BASE+202)
-#define V4L2_CID_MPEG_VIDEO_GOP_SIZE 		(V4L2_CID_MPEG_BASE+203)
-#define V4L2_CID_MPEG_VIDEO_GOP_CLOSURE 	(V4L2_CID_MPEG_BASE+204)
-#define V4L2_CID_MPEG_VIDEO_PULLDOWN 		(V4L2_CID_MPEG_BASE+205)
-#define V4L2_CID_MPEG_VIDEO_BITRATE_MODE 	(V4L2_CID_MPEG_BASE+206)
-enum v4l2_mpeg_video_bitrate_mode {
-	V4L2_MPEG_VIDEO_BITRATE_MODE_VBR = 0,
-	V4L2_MPEG_VIDEO_BITRATE_MODE_CBR = 1,
-};
-#define V4L2_CID_MPEG_VIDEO_BITRATE 		(V4L2_CID_MPEG_BASE+207)
-#define V4L2_CID_MPEG_VIDEO_BITRATE_PEAK 	(V4L2_CID_MPEG_BASE+208)
-#define V4L2_CID_MPEG_VIDEO_TEMPORAL_DECIMATION (V4L2_CID_MPEG_BASE+209)
-#define V4L2_CID_MPEG_VIDEO_MUTE 		(V4L2_CID_MPEG_BASE+210)
-#define V4L2_CID_MPEG_VIDEO_MUTE_YUV 		(V4L2_CID_MPEG_BASE+211)
-#define V4L2_CID_MPEG_VIDEO_DECODER_SLICE_INTERFACE		(V4L2_CID_MPEG_BASE+212)
-#define V4L2_CID_MPEG_VIDEO_DECODER_MPEG4_DEBLOCK_FILTER	(V4L2_CID_MPEG_BASE+213)
-#define V4L2_CID_MPEG_VIDEO_CYCLIC_INTRA_REFRESH_MB		(V4L2_CID_MPEG_BASE+214)
-#define V4L2_CID_MPEG_VIDEO_FRAME_RC_ENABLE			(V4L2_CID_MPEG_BASE+215)
-#define V4L2_CID_MPEG_VIDEO_HEADER_MODE				(V4L2_CID_MPEG_BASE+216)
-enum v4l2_mpeg_video_header_mode {
-	V4L2_MPEG_VIDEO_HEADER_MODE_SEPARATE			= 0,
-	V4L2_MPEG_VIDEO_HEADER_MODE_JOINED_WITH_1ST_FRAME	= 1,
-	V4L2_MPEG_VIDEO_HEADER_MODE_JOINED_WITH_I_FRAME		= 2,
-};
-#define V4L2_CID_MPEG_VIDEO_MAX_REF_PIC			(V4L2_CID_MPEG_BASE+217)
-#define V4L2_CID_MPEG_VIDEO_MB_RC_ENABLE		(V4L2_CID_MPEG_BASE+218)
-#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MAX_BYTES	(V4L2_CID_MPEG_BASE+219)
-#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MAX_MB		(V4L2_CID_MPEG_BASE+220)
-#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MODE		(V4L2_CID_MPEG_BASE+221)
-enum v4l2_mpeg_video_multi_slice_mode {
-	V4L2_MPEG_VIDEO_MULTI_SLICE_MODE_SINGLE		= 0,
-	V4L2_MPEG_VIDEO_MULTI_SICE_MODE_MAX_MB		= 1,
-	V4L2_MPEG_VIDEO_MULTI_SICE_MODE_MAX_BYTES	= 2,
-	V4L2_MPEG_VIDEO_MULTI_SLICE_GOB			= 3,
-};
-#define V4L2_CID_MPEG_VIDEO_VBV_SIZE			(V4L2_CID_MPEG_BASE+222)
-#define V4L2_CID_MPEG_VIDEO_DEC_PTS			(V4L2_CID_MPEG_BASE+223)
-#define V4L2_CID_MPEG_VIDEO_DEC_FRAME			(V4L2_CID_MPEG_BASE+224)
-#define V4L2_CID_MPEG_VIDEO_VBV_DELAY			(V4L2_CID_MPEG_BASE+225)
-#define V4L2_CID_MPEG_VIDEO_REPEAT_SEQ_HEADER		(V4L2_CID_MPEG_BASE+226)
-#define V4L2_CID_MPEG_VIDEO_MV_H_SEARCH_RANGE		(V4L2_CID_MPEG_BASE+227)
-#define V4L2_CID_MPEG_VIDEO_MV_V_SEARCH_RANGE		(V4L2_CID_MPEG_BASE+228)
-#define V4L2_CID_MPEG_VIDEO_FORCE_KEY_FRAME		(V4L2_CID_MPEG_BASE+229)
-
-#define V4L2_CID_MPEG_VIDEO_H263_I_FRAME_QP		(V4L2_CID_MPEG_BASE+300)
-#define V4L2_CID_MPEG_VIDEO_H263_P_FRAME_QP		(V4L2_CID_MPEG_BASE+301)
-#define V4L2_CID_MPEG_VIDEO_H263_B_FRAME_QP		(V4L2_CID_MPEG_BASE+302)
-#define V4L2_CID_MPEG_VIDEO_H263_MIN_QP			(V4L2_CID_MPEG_BASE+303)
-#define V4L2_CID_MPEG_VIDEO_H263_MAX_QP			(V4L2_CID_MPEG_BASE+304)
-#define V4L2_CID_MPEG_VIDEO_H264_I_FRAME_QP		(V4L2_CID_MPEG_BASE+350)
-#define V4L2_CID_MPEG_VIDEO_H264_P_FRAME_QP		(V4L2_CID_MPEG_BASE+351)
-#define V4L2_CID_MPEG_VIDEO_H264_B_FRAME_QP		(V4L2_CID_MPEG_BASE+352)
-#define V4L2_CID_MPEG_VIDEO_H264_MIN_QP			(V4L2_CID_MPEG_BASE+353)
-#define V4L2_CID_MPEG_VIDEO_H264_MAX_QP			(V4L2_CID_MPEG_BASE+354)
-#define V4L2_CID_MPEG_VIDEO_H264_8X8_TRANSFORM		(V4L2_CID_MPEG_BASE+355)
-#define V4L2_CID_MPEG_VIDEO_H264_CPB_SIZE		(V4L2_CID_MPEG_BASE+356)
-#define V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE		(V4L2_CID_MPEG_BASE+357)
-enum v4l2_mpeg_video_h264_entropy_mode {
-	V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CAVLC	= 0,
-	V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CABAC	= 1,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_I_PERIOD		(V4L2_CID_MPEG_BASE+358)
-#define V4L2_CID_MPEG_VIDEO_H264_LEVEL			(V4L2_CID_MPEG_BASE+359)
-enum v4l2_mpeg_video_h264_level {
-	V4L2_MPEG_VIDEO_H264_LEVEL_1_0	= 0,
-	V4L2_MPEG_VIDEO_H264_LEVEL_1B	= 1,
-	V4L2_MPEG_VIDEO_H264_LEVEL_1_1	= 2,
-	V4L2_MPEG_VIDEO_H264_LEVEL_1_2	= 3,
-	V4L2_MPEG_VIDEO_H264_LEVEL_1_3	= 4,
-	V4L2_MPEG_VIDEO_H264_LEVEL_2_0	= 5,
-	V4L2_MPEG_VIDEO_H264_LEVEL_2_1	= 6,
-	V4L2_MPEG_VIDEO_H264_LEVEL_2_2	= 7,
-	V4L2_MPEG_VIDEO_H264_LEVEL_3_0	= 8,
-	V4L2_MPEG_VIDEO_H264_LEVEL_3_1	= 9,
-	V4L2_MPEG_VIDEO_H264_LEVEL_3_2	= 10,
-	V4L2_MPEG_VIDEO_H264_LEVEL_4_0	= 11,
-	V4L2_MPEG_VIDEO_H264_LEVEL_4_1	= 12,
-	V4L2_MPEG_VIDEO_H264_LEVEL_4_2	= 13,
-	V4L2_MPEG_VIDEO_H264_LEVEL_5_0	= 14,
-	V4L2_MPEG_VIDEO_H264_LEVEL_5_1	= 15,
-	V4L2_MPEG_VIDEO_H264_LEVEL_5_2	= 16,
-#define V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN \
-	V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN
-	V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN = 17,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_ALPHA	(V4L2_CID_MPEG_BASE+360)
-#define V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_BETA	(V4L2_CID_MPEG_BASE+361)
-#define V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_MODE	(V4L2_CID_MPEG_BASE+362)
-enum v4l2_mpeg_video_h264_loop_filter_mode {
-	V4L2_MPEG_VIDEO_H264_LOOP_FILTER_MODE_ENABLED				= 0,
-	V4L2_MPEG_VIDEO_H264_LOOP_FILTER_MODE_DISABLED				= 1,
-	V4L2_MPEG_VIDEO_H264_LOOP_FILTER_MODE_DISABLED_AT_SLICE_BOUNDARY	= 2,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_PROFILE		(V4L2_CID_MPEG_BASE+363)
-enum v4l2_mpeg_video_h264_profile {
-	V4L2_MPEG_VIDEO_H264_PROFILE_BASELINE			= 0,
-	V4L2_MPEG_VIDEO_H264_PROFILE_CONSTRAINED_BASELINE	= 1,
-	V4L2_MPEG_VIDEO_H264_PROFILE_MAIN			= 2,
-	V4L2_MPEG_VIDEO_H264_PROFILE_EXTENDED			= 3,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH			= 4,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_10			= 5,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_422			= 6,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_444_PREDICTIVE	= 7,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_10_INTRA		= 8,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_422_INTRA		= 9,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_444_INTRA		= 10,
-	V4L2_MPEG_VIDEO_H264_PROFILE_CAVLC_444_INTRA		= 11,
-	V4L2_MPEG_VIDEO_H264_PROFILE_SCALABLE_BASELINE		= 12,
-	V4L2_MPEG_VIDEO_H264_PROFILE_SCALABLE_HIGH		= 13,
-	V4L2_MPEG_VIDEO_H264_PROFILE_SCALABLE_HIGH_INTRA	= 14,
-	V4L2_MPEG_VIDEO_H264_PROFILE_STEREO_HIGH		= 15,
-	V4L2_MPEG_VIDEO_H264_PROFILE_MULTIVIEW_HIGH		= 16,
-	V4L2_MPEG_VIDEO_H264_PROFILE_CONSTRAINED_HIGH		= 17,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_VUI_EXT_SAR_HEIGHT	(V4L2_CID_MPEG_BASE+364)
-#define V4L2_CID_MPEG_VIDEO_H264_VUI_EXT_SAR_WIDTH	(V4L2_CID_MPEG_BASE+365)
-#define V4L2_CID_MPEG_VIDEO_H264_VUI_SAR_ENABLE		(V4L2_CID_MPEG_BASE+366)
-#define V4L2_CID_MPEG_VIDEO_H264_VUI_SAR_IDC		(V4L2_CID_MPEG_BASE+367)
-enum v4l2_mpeg_video_h264_vui_sar_idc {
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_UNSPECIFIED	= 0,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_1x1		= 1,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_12x11		= 2,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_10x11		= 3,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_16x11		= 4,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_40x33		= 5,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_24x11		= 6,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_20x11		= 7,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_32x11		= 8,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_80x33		= 9,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_18x11		= 10,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_15x11		= 11,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_64x33		= 12,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_160x99		= 13,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_4x3		= 14,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_3x2		= 15,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_2x1		= 16,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_EXTENDED	= 17,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_SEI_FRAME_PACKING		(V4L2_CID_MPEG_BASE+368)
-#define V4L2_CID_MPEG_VIDEO_H264_SEI_FP_CURRENT_FRAME_0		(V4L2_CID_MPEG_BASE+369)
-#define V4L2_CID_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE	(V4L2_CID_MPEG_BASE+370)
-enum v4l2_mpeg_video_h264_sei_fp_arrangement_type {
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_CHECKERBOARD	= 0,
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_COLUMN		= 1,
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_ROW		= 2,
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_SIDE_BY_SIDE	= 3,
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_TOP_BOTTOM		= 4,
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_TEMPORAL		= 5,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_FMO			(V4L2_CID_MPEG_BASE+371)
-#define V4L2_CID_MPEG_VIDEO_H264_FMO_MAP_TYPE		(V4L2_CID_MPEG_BASE+372)
-enum v4l2_mpeg_video_h264_fmo_map_type {
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_INTERLEAVED_SLICES		= 0,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_SCATTERED_SLICES		= 1,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_FOREGROUND_WITH_LEFT_OVER	= 2,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_BOX_OUT			= 3,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_RASTER_SCAN			= 4,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_WIPE_SCAN			= 5,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_EXPLICIT			= 6,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_FMO_SLICE_GROUP	(V4L2_CID_MPEG_BASE+373)
-#define V4L2_CID_MPEG_VIDEO_H264_FMO_CHANGE_DIRECTION	(V4L2_CID_MPEG_BASE+374)
-enum v4l2_mpeg_video_h264_fmo_change_dir {
-	V4L2_MPEG_VIDEO_H264_FMO_CHANGE_DIR_RIGHT	= 0,
-	V4L2_MPEG_VIDEO_H264_FMO_CHANGE_DIR_LEFT	= 1,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_FMO_CHANGE_RATE	(V4L2_CID_MPEG_BASE+375)
-#define V4L2_CID_MPEG_VIDEO_H264_FMO_RUN_LENGTH		(V4L2_CID_MPEG_BASE+376)
-#define V4L2_CID_MPEG_VIDEO_H264_ASO			(V4L2_CID_MPEG_BASE+377)
-#define V4L2_CID_MPEG_VIDEO_H264_ASO_SLICE_ORDER	(V4L2_CID_MPEG_BASE+378)
-#define V4L2_CID_MPEG_VIDEO_H264_HIERARCHICAL_CODING		(V4L2_CID_MPEG_BASE+379)
-#define V4L2_CID_MPEG_VIDEO_H264_HIERARCHICAL_CODING_TYPE	(V4L2_CID_MPEG_BASE+380)
-enum v4l2_mpeg_video_h264_hierarchical_coding_type {
-	V4L2_MPEG_VIDEO_H264_HIERARCHICAL_CODING_B	= 0,
-	V4L2_MPEG_VIDEO_H264_HIERARCHICAL_CODING_P	= 1,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_HIERARCHICAL_CODING_LAYER	(V4L2_CID_MPEG_BASE+381)
-#define V4L2_CID_MPEG_VIDEO_H264_HIERARCHICAL_CODING_LAYER_QP	(V4L2_CID_MPEG_BASE+382)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_I_FRAME_QP	(V4L2_CID_MPEG_BASE+400)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_P_FRAME_QP	(V4L2_CID_MPEG_BASE+401)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_B_FRAME_QP	(V4L2_CID_MPEG_BASE+402)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_MIN_QP	(V4L2_CID_MPEG_BASE+403)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_MAX_QP	(V4L2_CID_MPEG_BASE+404)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_LEVEL		(V4L2_CID_MPEG_BASE+405)
-enum v4l2_mpeg_video_mpeg4_level {
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_0	= 0,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_0B	= 1,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_1	= 2,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_2	= 3,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_3	= 4,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_3B	= 5,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_4	= 6,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_5	= 7,
-};
-#define V4L2_CID_MPEG_VIDEO_MPEG4_PROFILE	(V4L2_CID_MPEG_BASE+406)
-enum v4l2_mpeg_video_mpeg4_profile {
-	V4L2_MPEG_VIDEO_MPEG4_PROFILE_SIMPLE				= 0,
-	V4L2_MPEG_VIDEO_MPEG4_PROFILE_ADVANCED_SIMPLE			= 1,
-	V4L2_MPEG_VIDEO_MPEG4_PROFILE_CORE				= 2,
-	V4L2_MPEG_VIDEO_MPEG4_PROFILE_SIMPLE_SCALABLE			= 3,
-	V4L2_MPEG_VIDEO_MPEG4_PROFILE_ADVANCED_CODING_EFFICIENCY	= 4,
-};
-#define V4L2_CID_MPEG_VIDEO_MPEG4_QPEL		(V4L2_CID_MPEG_BASE+407)
-
-/*  Control IDs for VP8 streams
- *  Although VP8 is not part of MPEG we add these controls to the MPEG class
- *  as that class is already handling other video compression standards
- */
-#define V4L2_CID_MPEG_VIDEO_VPX_NUM_PARTITIONS		(V4L2_CID_MPEG_BASE+500)
-enum v4l2_vp8_num_partitions {
-	V4L2_CID_MPEG_VIDEO_VPX_1_PARTITION	= 0,
-	V4L2_CID_MPEG_VIDEO_VPX_2_PARTITIONS	= 1,
-	V4L2_CID_MPEG_VIDEO_VPX_4_PARTITIONS	= 2,
-	V4L2_CID_MPEG_VIDEO_VPX_8_PARTITIONS	= 3,
-};
-#define V4L2_CID_MPEG_VIDEO_VPX_IMD_DISABLE_4X4		(V4L2_CID_MPEG_BASE+501)
-#define V4L2_CID_MPEG_VIDEO_VPX_NUM_REF_FRAMES		(V4L2_CID_MPEG_BASE+502)
-enum v4l2_vp8_num_ref_frames {
-	V4L2_CID_MPEG_VIDEO_VPX_1_REF_FRAME	= 0,
-	V4L2_CID_MPEG_VIDEO_VPX_2_REF_FRAME	= 1,
-	V4L2_CID_MPEG_VIDEO_VPX_3_REF_FRAME	= 2,
-};
-#define V4L2_CID_MPEG_VIDEO_VPX_FILTER_LEVEL		(V4L2_CID_MPEG_BASE+503)
-#define V4L2_CID_MPEG_VIDEO_VPX_FILTER_SHARPNESS	(V4L2_CID_MPEG_BASE+504)
-#define V4L2_CID_MPEG_VIDEO_VPX_GOLDEN_FRAME_REF_PERIOD	(V4L2_CID_MPEG_BASE+505)
-#define V4L2_CID_MPEG_VIDEO_VPX_GOLDEN_FRAME_SEL	(V4L2_CID_MPEG_BASE+506)
-enum v4l2_vp8_golden_frame_sel {
-	V4L2_CID_MPEG_VIDEO_VPX_GOLDEN_FRAME_USE_PREV		= 0,
-	V4L2_CID_MPEG_VIDEO_VPX_GOLDEN_FRAME_USE_REF_PERIOD	= 1,
-};
-#define V4L2_CID_MPEG_VIDEO_VPX_MIN_QP			(V4L2_CID_MPEG_BASE+507)
-#define V4L2_CID_MPEG_VIDEO_VPX_MAX_QP			(V4L2_CID_MPEG_BASE+508)
-#define V4L2_CID_MPEG_VIDEO_VPX_I_FRAME_QP		(V4L2_CID_MPEG_BASE+509)
-#define V4L2_CID_MPEG_VIDEO_VPX_P_FRAME_QP		(V4L2_CID_MPEG_BASE+510)
-#define V4L2_CID_MPEG_VIDEO_VPX_PROFILE			(V4L2_CID_MPEG_BASE+511)
-
-/*  MPEG-class control IDs specific to the CX2341x driver as defined by V4L2 */
-#define V4L2_CID_MPEG_CX2341X_BASE 				(V4L2_CTRL_CLASS_MPEG | 0x1000)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_SPATIAL_FILTER_MODE 	(V4L2_CID_MPEG_CX2341X_BASE+0)
-enum v4l2_mpeg_cx2341x_video_spatial_filter_mode {
-	V4L2_MPEG_CX2341X_VIDEO_SPATIAL_FILTER_MODE_MANUAL = 0,
-	V4L2_MPEG_CX2341X_VIDEO_SPATIAL_FILTER_MODE_AUTO   = 1,
-};
-#define V4L2_CID_MPEG_CX2341X_VIDEO_SPATIAL_FILTER 		(V4L2_CID_MPEG_CX2341X_BASE+1)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE 	(V4L2_CID_MPEG_CX2341X_BASE+2)
-enum v4l2_mpeg_cx2341x_video_luma_spatial_filter_type {
-	V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_OFF                  = 0,
-	V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_1D_HOR               = 1,
-	V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_1D_VERT              = 2,
-	V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_2D_HV_SEPARABLE      = 3,
-	V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_2D_SYM_NON_SEPARABLE = 4,
-};
-#define V4L2_CID_MPEG_CX2341X_VIDEO_CHROMA_SPATIAL_FILTER_TYPE 	(V4L2_CID_MPEG_CX2341X_BASE+3)
-enum v4l2_mpeg_cx2341x_video_chroma_spatial_filter_type {
-	V4L2_MPEG_CX2341X_VIDEO_CHROMA_SPATIAL_FILTER_TYPE_OFF    = 0,
-	V4L2_MPEG_CX2341X_VIDEO_CHROMA_SPATIAL_FILTER_TYPE_1D_HOR = 1,
-};
-#define V4L2_CID_MPEG_CX2341X_VIDEO_TEMPORAL_FILTER_MODE 	(V4L2_CID_MPEG_CX2341X_BASE+4)
-enum v4l2_mpeg_cx2341x_video_temporal_filter_mode {
-	V4L2_MPEG_CX2341X_VIDEO_TEMPORAL_FILTER_MODE_MANUAL = 0,
-	V4L2_MPEG_CX2341X_VIDEO_TEMPORAL_FILTER_MODE_AUTO   = 1,
-};
-#define V4L2_CID_MPEG_CX2341X_VIDEO_TEMPORAL_FILTER 		(V4L2_CID_MPEG_CX2341X_BASE+5)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE 		(V4L2_CID_MPEG_CX2341X_BASE+6)
-enum v4l2_mpeg_cx2341x_video_median_filter_type {
-	V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_OFF      = 0,
-	V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_HOR      = 1,
-	V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_VERT     = 2,
-	V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_HOR_VERT = 3,
-	V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_DIAG     = 4,
-};
-#define V4L2_CID_MPEG_CX2341X_VIDEO_LUMA_MEDIAN_FILTER_BOTTOM 	(V4L2_CID_MPEG_CX2341X_BASE+7)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_LUMA_MEDIAN_FILTER_TOP 	(V4L2_CID_MPEG_CX2341X_BASE+8)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_CHROMA_MEDIAN_FILTER_BOTTOM	(V4L2_CID_MPEG_CX2341X_BASE+9)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_CHROMA_MEDIAN_FILTER_TOP 	(V4L2_CID_MPEG_CX2341X_BASE+10)
-#define V4L2_CID_MPEG_CX2341X_STREAM_INSERT_NAV_PACKETS 	(V4L2_CID_MPEG_CX2341X_BASE+11)
-
-/*  MPEG-class control IDs specific to the Samsung MFC 5.1 driver as defined by V4L2 */
-#define V4L2_CID_MPEG_MFC51_BASE				(V4L2_CTRL_CLASS_MPEG | 0x1100)
-
-#define V4L2_CID_MPEG_MFC51_VIDEO_DECODER_H264_DISPLAY_DELAY		(V4L2_CID_MPEG_MFC51_BASE+0)
-#define V4L2_CID_MPEG_MFC51_VIDEO_DECODER_H264_DISPLAY_DELAY_ENABLE	(V4L2_CID_MPEG_MFC51_BASE+1)
-#define V4L2_CID_MPEG_MFC51_VIDEO_FRAME_SKIP_MODE			(V4L2_CID_MPEG_MFC51_BASE+2)
-enum v4l2_mpeg_mfc51_video_frame_skip_mode {
-	V4L2_MPEG_MFC51_VIDEO_FRAME_SKIP_MODE_DISABLED		= 0,
-	V4L2_MPEG_MFC51_VIDEO_FRAME_SKIP_MODE_LEVEL_LIMIT	= 1,
-	V4L2_MPEG_MFC51_VIDEO_FRAME_SKIP_MODE_BUF_LIMIT		= 2,
-};
-#define V4L2_CID_MPEG_MFC51_VIDEO_FORCE_FRAME_TYPE			(V4L2_CID_MPEG_MFC51_BASE+3)
-enum v4l2_mpeg_mfc51_video_force_frame_type {
-	V4L2_MPEG_MFC51_VIDEO_FORCE_FRAME_TYPE_DISABLED		= 0,
-	V4L2_MPEG_MFC51_VIDEO_FORCE_FRAME_TYPE_I_FRAME		= 1,
-	V4L2_MPEG_MFC51_VIDEO_FORCE_FRAME_TYPE_NOT_CODED	= 2,
-};
-#define V4L2_CID_MPEG_MFC51_VIDEO_PADDING				(V4L2_CID_MPEG_MFC51_BASE+4)
-#define V4L2_CID_MPEG_MFC51_VIDEO_PADDING_YUV				(V4L2_CID_MPEG_MFC51_BASE+5)
-#define V4L2_CID_MPEG_MFC51_VIDEO_RC_FIXED_TARGET_BIT			(V4L2_CID_MPEG_MFC51_BASE+6)
-#define V4L2_CID_MPEG_MFC51_VIDEO_RC_REACTION_COEFF			(V4L2_CID_MPEG_MFC51_BASE+7)
-#define V4L2_CID_MPEG_MFC51_VIDEO_H264_ADAPTIVE_RC_ACTIVITY		(V4L2_CID_MPEG_MFC51_BASE+50)
-#define V4L2_CID_MPEG_MFC51_VIDEO_H264_ADAPTIVE_RC_DARK			(V4L2_CID_MPEG_MFC51_BASE+51)
-#define V4L2_CID_MPEG_MFC51_VIDEO_H264_ADAPTIVE_RC_SMOOTH		(V4L2_CID_MPEG_MFC51_BASE+52)
-#define V4L2_CID_MPEG_MFC51_VIDEO_H264_ADAPTIVE_RC_STATIC		(V4L2_CID_MPEG_MFC51_BASE+53)
-#define V4L2_CID_MPEG_MFC51_VIDEO_H264_NUM_REF_PIC_FOR_P		(V4L2_CID_MPEG_MFC51_BASE+54)
-
-/*  MPEG-class control IDs specific to the msm_vidc driver */
-#define V4L2_CID_MPEG_MSM_VIDC_BASE		(V4L2_CTRL_CLASS_MPEG | 0x2000)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PICTYPE_DEC_MODE \
-			(V4L2_CID_MPEG_MSM_VIDC_BASE+0)
-enum v4l2_mpeg_vidc_video_pictype_dec_mode {
-	V4L2_MPEG_VIDC_VIDEO_PICTYPE_DECODE_OFF = 0,
-	V4L2_MPEG_VIDC_VIDEO_PICTYPE_DECODE_ON = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_KEEP_ASPECT_RATIO \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE+1)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_STREAM_FORMAT   (V4L2_CID_MPEG_MSM_VIDC_BASE+2)
-enum v4l2_mpeg_vidc_video_stream_format {
-	V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_STARTCODES         = 0,
-	V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_ONE_NAL_PER_BUFFER = 1,
-	V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_ONE_BYTE_LENGTH    = 2,
-	V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_TWO_BYTE_LENGTH    = 3,
-	V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_FOUR_BYTE_LENGTH   = 4,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_OUTPUT_ORDER   (V4L2_CID_MPEG_MSM_VIDC_BASE+3)
-enum v4l2_mpeg_vidc_video_output_order {
-	V4L2_MPEG_VIDC_VIDEO_OUTPUT_ORDER_DISPLAY         = 0,
-	V4L2_MPEG_VIDC_VIDEO_OUTPUT_ORDER_DECODE          = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_FRAME_RATE   (V4L2_CID_MPEG_MSM_VIDC_BASE+4)
-#define V4L2_CID_MPEG_VIDC_VIDEO_IDR_PERIOD   (V4L2_CID_MPEG_MSM_VIDC_BASE+5)
-#define V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES (V4L2_CID_MPEG_MSM_VIDC_BASE+6)
-#define V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES (V4L2_CID_MPEG_MSM_VIDC_BASE+7)
-#define V4L2_CID_MPEG_VIDC_VIDEO_REQUEST_IFRAME (V4L2_CID_MPEG_MSM_VIDC_BASE+8)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL (V4L2_CID_MPEG_MSM_VIDC_BASE+9)
-enum v4l2_mpeg_vidc_video_rate_control {
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_OFF = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_VFR = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_CFR = 2,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_CBR_VFR = 3,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_CBR_CFR = 4,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_CFR = 5,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_VFR = 6,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_CQ = 7,
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_CFR	\
-			V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_CFR
-#define V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_VFR	\
-			V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_VFR
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_ROTATION (V4L2_CID_MPEG_MSM_VIDC_BASE+10)
-enum v4l2_mpeg_vidc_video_rotation {
-	V4L2_CID_MPEG_VIDC_VIDEO_ROTATION_NONE = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_ROTATION_90 = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_ROTATION_180 = 2,
-	V4L2_CID_MPEG_VIDC_VIDEO_ROTATION_270 = 3,
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE+11)
-enum v4l2_mpeg_vidc_h264_cabac_model {
-	V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_0 = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_1 = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_2 = 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE+12)
-enum v4l2_mpeg_vidc_video_intra_refresh_mode {
-	V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_NONE = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_CYCLIC = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_RANDOM = 2,
-	V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_ADAPTIVE = 3,
-	V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_CYCLIC_ADAPTIVE = 4,
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_IR_MBS (V4L2_CID_MPEG_MSM_VIDC_BASE+13)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_AU_DELIMITER \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 14)
-enum v4l2_mpeg_vidc_video_au_delimiter {
-	V4L2_MPEG_VIDC_VIDEO_AU_DELIMITER_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_AU_DELIMITER_ENABLED = 1
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_SYNC_FRAME_DECODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 15)
-enum v4l2_mpeg_vidc_video_sync_frame_decode {
-	V4L2_MPEG_VIDC_VIDEO_SYNC_FRAME_DECODE_DISABLE = 0,
-	V4L2_MPEG_VIDC_VIDEO_SYNC_FRAME_DECODE_ENABLE = 1
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_SECURE (V4L2_CID_MPEG_MSM_VIDC_BASE+16)
-#define V4L2_CID_MPEG_VIDC_VIDEO_EXTRADATA \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 17)
-enum v4l2_mpeg_vidc_extradata {
-	V4L2_MPEG_VIDC_EXTRADATA_NONE = 0,
-	V4L2_MPEG_VIDC_EXTRADATA_MB_QUANTIZATION = 1,
-	V4L2_MPEG_VIDC_EXTRADATA_INTERLACE_VIDEO = 2,
-	V4L2_MPEG_VIDC_EXTRADATA_VC1_FRAMEDISP = 3,
-	V4L2_MPEG_VIDC_EXTRADATA_VC1_SEQDISP = 4,
-	V4L2_MPEG_VIDC_EXTRADATA_TIMESTAMP = 5,
-	V4L2_MPEG_VIDC_EXTRADATA_S3D_FRAME_PACKING = 6,
-	V4L2_MPEG_VIDC_EXTRADATA_FRAME_RATE = 7,
-	V4L2_MPEG_VIDC_EXTRADATA_PANSCAN_WINDOW = 8,
-	V4L2_MPEG_VIDC_EXTRADATA_RECOVERY_POINT_SEI = 9,
-	V4L2_MPEG_VIDC_EXTRADATA_MULTISLICE_INFO = 10,
-	V4L2_MPEG_VIDC_EXTRADATA_NUM_CONCEALED_MB = 11,
-	V4L2_MPEG_VIDC_EXTRADATA_METADATA_FILLER = 12,
-	V4L2_MPEG_VIDC_EXTRADATA_INPUT_CROP = 13,
-	V4L2_MPEG_VIDC_EXTRADATA_DIGITAL_ZOOM = 14,
-	V4L2_MPEG_VIDC_EXTRADATA_ASPECT_RATIO = 15,
-	V4L2_MPEG_VIDC_EXTRADATA_MPEG2_SEQDISP = 16,
-	V4L2_MPEG_VIDC_EXTRADATA_STREAM_USERDATA = 17,
-	V4L2_MPEG_VIDC_EXTRADATA_FRAME_QP = 18,
-	V4L2_MPEG_VIDC_EXTRADATA_FRAME_BITS_INFO = 19,
-	V4L2_MPEG_VIDC_EXTRADATA_LTR = 20,
-	V4L2_MPEG_VIDC_EXTRADATA_METADATA_MBI = 21,
-	V4L2_MPEG_VIDC_EXTRADATA_VQZIP_SEI = 22,
-	V4L2_MPEG_VIDC_EXTRADATA_YUV_STATS = 23,
-	V4L2_MPEG_VIDC_EXTRADATA_ROI_QP = 24,
-#define V4L2_MPEG_VIDC_EXTRADATA_OUTPUT_CROP \
-	V4L2_MPEG_VIDC_EXTRADATA_OUTPUT_CROP
-	V4L2_MPEG_VIDC_EXTRADATA_OUTPUT_CROP = 25,
-#define V4L2_MPEG_VIDC_EXTRADATA_DISPLAY_COLOUR_SEI \
-	V4L2_MPEG_VIDC_EXTRADATA_DISPLAY_COLOUR_SEI
-	V4L2_MPEG_VIDC_EXTRADATA_DISPLAY_COLOUR_SEI = 26,
-#define V4L2_MPEG_VIDC_EXTRADATA_CONTENT_LIGHT_LEVEL_SEI \
-	V4L2_MPEG_VIDC_EXTRADATA_CONTENT_LIGHT_LEVEL_SEI
-	V4L2_MPEG_VIDC_EXTRADATA_CONTENT_LIGHT_LEVEL_SEI = 27,
-#define V4L2_MPEG_VIDC_EXTRADATA_PQ_INFO \
-	V4L2_MPEG_VIDC_EXTRADATA_PQ_INFO
-	V4L2_MPEG_VIDC_EXTRADATA_PQ_INFO = 28,
-#define V4L2_MPEG_VIDC_EXTRADATA_VUI_DISPLAY \
-	V4L2_MPEG_VIDC_EXTRADATA_VUI_DISPLAY
-	V4L2_MPEG_VIDC_EXTRADATA_VUI_DISPLAY = 29,
-#define V4L2_MPEG_VIDC_EXTRADATA_VPX_COLORSPACE \
-	V4L2_MPEG_VIDC_EXTRADATA_VPX_COLORSPACE
-	V4L2_MPEG_VIDC_EXTRADATA_VPX_COLORSPACE = 30,
-#define V4L2_MPEG_VIDC_EXTRADATA_UBWC_CR_STATS_INFO \
-	V4L2_MPEG_VIDC_EXTRADATA_UBWC_CR_STATS_INFO
-	V4L2_MPEG_VIDC_EXTRADATA_UBWC_CR_STATS_INFO = 31,
-#define V4L2_MPEG_VIDC_EXTRADATA_ENC_FRAME_QP \
-	V4L2_MPEG_VIDC_EXTRADATA_ENC_FRAME_QP
-	V4L2_MPEG_VIDC_EXTRADATA_ENC_FRAME_QP = 32,
-};
-
-#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_DELIVERY_MODE	\
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 18)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VUI_TIMING_INFO \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 19)
-enum v4l2_mpeg_vidc_video_vui_timing_info {
-	V4L2_MPEG_VIDC_VIDEO_VUI_TIMING_INFO_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_VUI_TIMING_INFO_ENABLED = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VP8_PROFILE_LEVEL \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 20)
-enum v4l2_mpeg_vidc_video_vp8_profile_level {
-	V4L2_MPEG_VIDC_VIDEO_VP8_UNUSED,
-	V4L2_MPEG_VIDC_VIDEO_VP8_VERSION_0,
-	V4L2_MPEG_VIDC_VIDEO_VP8_VERSION_1,
-	V4L2_MPEG_VIDC_VIDEO_VP8_VERSION_2,
-	V4L2_MPEG_VIDC_VIDEO_VP8_VERSION_3,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PRESERVE_TEXT_QUALITY \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 21)
-enum v4l2_mpeg_vidc_video_preserve_text_quality {
-	V4L2_MPEG_VIDC_VIDEO_PRESERVE_TEXT_QUALITY_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_PRESERVE_TEXT_QUALITY_ENABLED = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 22)
-enum v4l2_mpeg_vidc_video_decoder_multi_stream {
-	V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_PRIMARY = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_SECONDARY = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MPEG2_LEVEL	(V4L2_CID_MPEG_MSM_VIDC_BASE+23)
-enum v4l2_mpeg_vidc_video_mpeg2_level {
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_LEVEL_0	= 0,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_LEVEL_1	= 1,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_LEVEL_2	= 2,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_LEVEL_3	= 3,
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_MPEG2_PROFILE	(V4L2_CID_MPEG_MSM_VIDC_BASE+24)
-enum v4l2_mpeg_vidc_video_mpeg2_profile {
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_SIMPLE		= 0,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_MAIN			= 1,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_422			= 2,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_SNR_SCALABLE		= 3,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_SPATIAL_SCALABLE	= 4,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_HIGH			= 5,
-};
-
-enum v4l2_mpeg_vidc_video_mvc_layout {
-	V4L2_MPEG_VIDC_VIDEO_MVC_SEQUENTIAL = 0,
-	V4L2_MPEG_VIDC_VIDEO_MVC_TOP_BOTTOM = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_CONCEAL_COLOR \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 25)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_LTRMODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 26)
-
-enum v4l2_mpeg_vidc_video_ltrmode {
-	V4L2_MPEG_VIDC_VIDEO_LTR_MODE_DISABLE = 0,
-	V4L2_MPEG_VIDC_VIDEO_LTR_MODE_MANUAL = 1,
-	V4L2_MPEG_VIDC_VIDEO_LTR_MODE_PERIODIC = 2
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_LTRCOUNT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 27)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_USELTRFRAME \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 28)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MARKLTRFRAME \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 29)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_HIER_P_NUM_LAYERS \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 30)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_ALLOC_MODE_OUTPUT       \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE+31)
-enum v4l2_mpeg_vidc_video_alloc_mode_type {
-	V4L2_MPEG_VIDC_VIDEO_STATIC = 0,
-	V4L2_MPEG_VIDC_VIDEO_RING = 1,
-	V4L2_MPEG_VIDC_VIDEO_DYNAMIC = 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_X_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 32)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PFRAME_X_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 33)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BFRAME_X_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 34)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_Y_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 35)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PFRAME_Y_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 36)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BFRAME_Y_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 37)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VPX_ERROR_RESILIENCE \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 38)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BUFFER_SIZE_LIMIT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 39)
-
-enum vl42_mpeg_vidc_video_vpx_error_resilience {
-	V4L2_MPEG_VIDC_VIDEO_VPX_ERROR_RESILIENCE_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_VPX_ERROR_RESILIENCE_ENABLED = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_HEVC_PROFILE \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 40)
-enum v4l2_mpeg_video_hevc_profile {
-	V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN			= 0,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN10		= 1,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN_STILL_PIC	= 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_HEVC_TIER_LEVEL \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 41)
-enum v4l2_mpeg_video_hevc_level {
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_1	= 0,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_1	= 1,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_2	= 2,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_2	= 3,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_2_1	= 4,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_2_1	= 5,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_3	= 6,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_3	= 7,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_3_1	= 8,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_3_1	= 9,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_4	= 10,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_4	= 11,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_4_1	= 12,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_4_1	= 13,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_5	= 14,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5	= 15,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_5_1	= 16,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5_1	= 17,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_5_2	= 18,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5_2	= 19,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_6	= 20,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_6	= 21,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_6_1	= 22,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_6_1	= 23,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_6_2	= 24,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_6_2	= 25,
-#define V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_UNKNOWN \
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_UNKNOWN
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_UNKNOWN = 26,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_HIER_B_NUM_LAYERS \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 42)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_HYBRID_HIERP_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 43)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_DPB_COLOR_FORMAT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 44)
-
-enum v4l2_mpeg_vidc_video_dpb_color_format {
-	V4L2_MPEG_VIDC_VIDEO_DPB_COLOR_FMT_NONE = 0,
-	V4L2_MPEG_VIDC_VIDEO_DPB_COLOR_FMT_UBWC = 1,
-	V4L2_MPEG_VIDC_VIDEO_DPB_COLOR_FMT_TP10_UBWC = 2
-};
-
-#define V4L2_CID_VIDC_QBUF_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 45)
-enum v4l2_vidc_qbuf_mode {
-	V4L2_VIDC_QBUF_STANDARD = 0,
-	V4L2_VIDC_QBUF_BATCHED = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MAX_HIERP_LAYERS \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 46)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BASELAYER_ID \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 47)
-
-#define V4L2_CID_MPEG_VIDC_VENC_PARAM_SAR_WIDTH \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 48)
-
-#define V4L2_CID_MPEG_VIDC_VENC_PARAM_SAR_HEIGHT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 49)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VQZIP_SEI	\
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 50)
-
-enum v4l2_mpeg_vidc_video_vqzip_sei_enable {
-	V4L2_CID_MPEG_VIDC_VIDEO_VQZIP_SEI_DISABLE	= 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_VQZIP_SEI_ENABLE	= 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VENC_PARAM_LAYER_BITRATE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 51)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 52)
-
-enum v4l2_mpeg_vidc_video_priority {
-	V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_ENABLE = 0,
-	V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_DISABLE = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_OPERATING_RATE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 53)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VENC_BITRATE_TYPE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 54)
-
-enum v4l2_mpeg_vidc_video_venc_bitrate_type_enable {
-	V4L2_CID_MPEG_VIDC_VIDEO_VENC_BITRATE_DISABLE	= 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_VENC_BITRATE_ENABLE	= 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VPE_CSC \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 55)
-
-enum v4l2_cid_mpeg_vidc_video_vpe_csc_type_enable {
-	V4L2_CID_MPEG_VIDC_VIDEO_VPE_CSC_DISABLE  = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_VPE_CSC_ENABLE   = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_LOWLATENCY_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 56)
-
-enum v4l2_mpeg_vidc_video_lowlatency_mode {
-	V4L2_CID_MPEG_VIDC_VIDEO_LOWLATENCY_DISABLE     = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_LOWLATENCY_ENABLE      = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BLUR_WIDTH \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 57)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BLUR_HEIGHT \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 58)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_TRANSFORM_8x8 \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 59)
-enum v4l2_mpeg_vidc_video_h264_transform_8x8 {
-	V4L2_MPEG_VIDC_VIDEO_H264_TRANSFORM_8x8_DISABLE = 0,
-	V4L2_MPEG_VIDC_VIDEO_H264_TRANSFORM_8x8_ENABLE = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_COLOR_SPACE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 60)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_FULL_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 61)
-
-enum v4l2_cid_mpeg_vidc_video_full_range {
-	V4L2_CID_MPEG_VIDC_VIDEO_FULL_RANGE_DISABLE = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_FULL_RANGE_ENABLE = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_TRANSFER_CHARS \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 62)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MATRIX_COEFFS \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 63)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_TYPE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 64)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_LAYER_ID \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 65)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VP9_PROFILE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 66)
-enum v4l2_mpeg_vidc_video_vp9_profile {
-	V4L2_MPEG_VIDC_VIDEO_VP9_PROFILE_UNUSED = 0,
-	V4L2_MPEG_VIDC_VIDEO_VP9_PROFILE_P0 = 1,
-	V4L2_MPEG_VIDC_VIDEO_VP9_PROFILE_P2_10 = 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VP9_LEVEL \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 67)
-enum v4l2_mpeg_vidc_video_vp9_level {
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_UNUSED = 0,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_1 = 1,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_11 = 2,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_2 = 3,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_21 = 4,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_3 = 5,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_31 = 6,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_4 = 7,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_41 = 8,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_5 = 9,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_51 = 10,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MB_ERROR_MAP_REPORTING \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 68)
-#define V4L2_CID_MPEG_VIDC_VIDEO_CONTINUE_DATA_TRANSFER \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 69)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_ALLOC_MODE_INPUT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 70)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_FRAME_ASSEMBLY	\
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 71)
-enum v4l2_mpeg_vidc_video_assembly {
-	V4L2_MPEG_VIDC_FRAME_ASSEMBLY_DISABLE = 0,
-	V4L2_MPEG_VIDC_FRAME_ASSEMBLY_ENABLE = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H263_PROFILE\
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 72)
-enum v4l2_mpeg_vidc_video_h263_profile {
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_BASELINE = 0,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_H320CODING	= 1,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_BACKWARDCOMPATIBLE = 2,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_ISWV2 = 3,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_ISWV3 = 4,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_HIGHCOMPRESSION = 5,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_INTERNET = 6,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_INTERLACE = 7,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_HIGHLATENCY = 8,
-};
-
-#define V4L2_CID_MPEG_VIDEO_MIN_QP_PACKED \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 97)
-#define V4L2_CID_MPEG_VIDEO_MAX_QP_PACKED \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 98)
-#define V4L2_CID_MPEG_VIDC_VIDEO_I_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 99)
-#define V4L2_CID_MPEG_VIDC_VIDEO_P_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 100)
-#define V4L2_CID_MPEG_VIDC_VIDEO_B_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 101)
-#define V4L2_CID_MPEG_VIDC_VIDEO_I_FRAME_QP_MIN \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 102)
-#define V4L2_CID_MPEG_VIDC_VIDEO_P_FRAME_QP_MIN \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 103)
-#define V4L2_CID_MPEG_VIDC_VIDEO_B_FRAME_QP_MIN \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 104)
-#define V4L2_CID_MPEG_VIDC_VIDEO_I_FRAME_QP_MAX \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 105)
-#define V4L2_CID_MPEG_VIDC_VIDEO_P_FRAME_QP_MAX \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 106)
-#define V4L2_CID_MPEG_VIDC_VIDEO_B_FRAME_QP_MAX \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 107)
-#define V4L2_CID_MPEG_VIDC_VIDEO_QP_MASK \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 108)
-
-enum v4l2_mpeg_vidc_video_venc_iframesize_type {
-	V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_DEFAULT,
-	V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_MEDIUM,
-	V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_HUGE,
-	V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_UNLIMITED,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_CONCEAL_COLOR_8BIT	\
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 109)
-#define V4L2_CID_MPEG_VIDC_VIDEO_CONCEAL_COLOR_10BIT \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 110)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_TME_PROFILE  \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 111)
-
-enum v4l2_mpeg_vidc_video_tme_profile {
-	V4L2_MPEG_VIDC_VIDEO_TME_PROFILE_0 = 0,
-	V4L2_MPEG_VIDC_VIDEO_TME_PROFILE_1 = 1,
-	V4L2_MPEG_VIDC_VIDEO_TME_PROFILE_2 = 2,
-	V4L2_MPEG_VIDC_VIDEO_TME_PROFILE_3 = 3,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_TME_LEVEL \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 112)
-
-enum v4l2_mpeg_vidc_video_tme_level {
-	V4L2_MPEG_VIDC_VIDEO_TME_LEVEL_INTEGER = 0,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_TME_PAYLOAD_VERSION  \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 113)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VPE_CSC_CUSTOM_MATRIX \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 114)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_FLIP (V4L2_CID_MPEG_MSM_VIDC_BASE + 115)
-enum v4l2_mpeg_vidc_video_flip {
-	V4L2_CID_MPEG_VIDC_VIDEO_FLIP_NONE = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_FLIP_HORI = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_FLIP_VERT = 2,
-	V4L2_CID_MPEG_VIDC_VIDEO_FLIP_BOTH = 3,
-};
-
-/* HDR SEI INFO related control IDs and definitions*/
-#define V4L2_MPEG_VIDC_VENC_HDR_INFO_ENABLED 1
-#define V4L2_MPEG_VIDC_VENC_HDR_INFO_DISABLED 0
-
-#define V4L2_CID_MPEG_VIDC_VENC_HDR_INFO \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 116)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_00 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 117)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_01 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 118)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_10 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 119)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_11 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 120)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_20 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 121)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_21 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 122)
-#define V4L2_CID_MPEG_VIDC_VENC_WHITEPOINT_X \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 123)
-#define V4L2_CID_MPEG_VIDC_VENC_WHITEPOINT_Y \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 124)
-#define V4L2_CID_MPEG_VIDC_VENC_MAX_DISP_LUM \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 125)
-#define V4L2_CID_MPEG_VIDC_VENC_MIN_DISP_LUM \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 126)
-#define V4L2_CID_MPEG_VIDC_VENC_MAX_CLL \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 127)
-#define V4L2_CID_MPEG_VIDC_VENC_MAX_FLL \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 128)
-
-#define V4L2_CID_MPEG_VIDC_SET_PERF_LEVEL \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 129)
-enum v4l2_mpeg_vidc_perf_level {
-	V4L2_CID_MPEG_VIDC_PERF_LEVEL_NOMINAL	= 0,
-	V4L2_CID_MPEG_VIDC_PERF_LEVEL_PERFORMANCE	= 1,
-	V4L2_CID_MPEG_VIDC_PERF_LEVEL_TURBO	= 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_AIR_MBS (V4L2_CID_MPEG_MSM_VIDC_BASE + 130)
-#define V4L2_CID_MPEG_VIDC_VIDEO_AIR_REF (V4L2_CID_MPEG_MSM_VIDC_BASE + 131)
-#define V4L2_CID_MPEG_VIDC_VIDEO_CIR_MBS (V4L2_CID_MPEG_MSM_VIDC_BASE + 132)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_VUI_TIMING_INFO \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 135)
-
-#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_GOB \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 136)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_VUI_BITSTREAM_RESTRICT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 137)
-enum v4l2_mpeg_vidc_video_h264_vui_bitstream_restrict {
-	V4L2_MPEG_VIDC_VIDEO_H264_VUI_BITSTREAM_RESTRICT_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_H264_VUI_BITSTREAM_RESTRICT_ENABLED = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_DEINTERLACE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 138)
-enum v4l2_mpeg_vidc_video_deinterlace {
-	V4L2_CID_MPEG_VIDC_VIDEO_DEINTERLACE_DISABLED = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_DEINTERLACE_ENABLED = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MPEG4_TIME_RESOLUTION \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 139)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_REQUEST_SEQ_HEADER \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 140)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_TIMESTAMP_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 141)
-enum v4l2_mpeg_vidc_video_rate_control_timestamp_mode {
-	V4L2_MPEG_VIDC_VIDEO_RATE_CONTROL_TIMESTAMP_MODE_HONOR = 0,
-	V4L2_MPEG_VIDC_VIDEO_RATE_CONTROL_TIMESTAMP_MODE_IGNORE = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_ENABLE_INITIAL_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 142)
-enum vl42_mpeg_vidc_video_enable_initial_qp {
-	V4L2_CID_MPEG_VIDC_VIDEO_ENABLE_INITIAL_QP_IFRAME = 0x1,
-	V4L2_CID_MPEG_VIDC_VIDEO_ENABLE_INITIAL_QP_PFRAME = 0x2,
-	V4L2_CID_MPEG_VIDC_VIDEO_ENABLE_INITIAL_QP_BFRAME = 0x4,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_INITIAL_I_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 143)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_INITIAL_P_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 144)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_INITIAL_B_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 145)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_NAL_SVC \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 146)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PERF_MODE	 \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 147)
-enum v4l2_mpeg_vidc_video_perf_mode {
-	V4L2_MPEG_VIDC_VIDEO_PERF_MAX_QUALITY = 1,
-	V4L2_MPEG_VIDC_VIDEO_PERF_POWER_SAVE = 2
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MBI_STATISTICS_MODE	\
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 148)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_CONFIG_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 149)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_PIC_ORDER_CNT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 150)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_SCS_THRESHOLD \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 151)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MVC_BUFFER_LAYOUT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 152)
-
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_SECURE_SCALING_THRESHOLD \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 153)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_NON_SECURE_OUTPUT2 \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 154)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VP8_MIN_QP (V4L2_CID_MPEG_MSM_VIDC_BASE + 155)
-#define V4L2_CID_MPEG_VIDC_VIDEO_VP8_MAX_QP (V4L2_CID_MPEG_MSM_VIDC_BASE + 156)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H263_LEVEL (V4L2_CID_MPEG_MSM_VIDC_BASE + 157)
-enum v4l2_mpeg_vidc_video_h263_level {
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_1_0 = 0,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_2_0 = 1,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_3_0 = 2,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_4_0 = 3,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_4_5 = 4,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_5_0 = 5,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_6_0 = 6,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_7_0 = 7,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_POST_LOOP_DEBLOCKER_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 158)
-
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_DIVX_FORMAT (V4L2_CID_MPEG_MSM_VIDC_BASE+159)
-
-enum v4l2_mpeg_vidc_video_divx_format_type {
-		V4L2_MPEG_VIDC_VIDEO_DIVX_FORMAT_4 = 0,
-		V4L2_MPEG_VIDC_VIDEO_DIVX_FORMAT_5 = 1,
-		V4L2_MPEG_VIDC_VIDEO_DIVX_FORMAT_6 = 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_FRAME_QUALITY \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE+160)
-
-#define V4L2_CID_MPEG_VIDC_IMG_GRID_DIMENSION \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE+161)
-
-enum v4l2_mpeg_vidc_video_mbi_statistics_mode {
-	V4L2_CID_MPEG_VIDC_VIDEO_MBI_MODE_DEFAULT = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_MBI_MODE_1 = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_MBI_MODE_2 = 2,
-	V4L2_CID_MPEG_VIDC_VIDEO_MBI_MODE_3 = 3,
-};
-
-enum vl42_mpeg_vidc_video_h264_svc_nal {
-	V4L2_CID_MPEG_VIDC_VIDEO_H264_NAL_SVC_DISABLED = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_H264_NAL_SVC_ENABLED = 1,
-};
-
-enum v4l2_mpeg_vidc_video_h264_vui_timing_info {
-	V4L2_MPEG_VIDC_VIDEO_H264_VUI_TIMING_INFO_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_H264_VUI_TIMING_INFO_ENABLED = 1
-};
-
-/*  Camera class control IDs */
-
-#define V4L2_CID_CAMERA_CLASS_BASE 	(V4L2_CTRL_CLASS_CAMERA | 0x900)
-#define V4L2_CID_CAMERA_CLASS 		(V4L2_CTRL_CLASS_CAMERA | 1)
-
-#define V4L2_CID_EXPOSURE_AUTO			(V4L2_CID_CAMERA_CLASS_BASE+1)
-enum  v4l2_exposure_auto_type {
-	V4L2_EXPOSURE_AUTO = 0,
-	V4L2_EXPOSURE_MANUAL = 1,
-	V4L2_EXPOSURE_SHUTTER_PRIORITY = 2,
-	V4L2_EXPOSURE_APERTURE_PRIORITY = 3
-};
-#define V4L2_CID_EXPOSURE_ABSOLUTE		(V4L2_CID_CAMERA_CLASS_BASE+2)
-#define V4L2_CID_EXPOSURE_AUTO_PRIORITY		(V4L2_CID_CAMERA_CLASS_BASE+3)
-
-#define V4L2_CID_PAN_RELATIVE			(V4L2_CID_CAMERA_CLASS_BASE+4)
-#define V4L2_CID_TILT_RELATIVE			(V4L2_CID_CAMERA_CLASS_BASE+5)
-#define V4L2_CID_PAN_RESET			(V4L2_CID_CAMERA_CLASS_BASE+6)
-#define V4L2_CID_TILT_RESET			(V4L2_CID_CAMERA_CLASS_BASE+7)
-
-#define V4L2_CID_PAN_ABSOLUTE			(V4L2_CID_CAMERA_CLASS_BASE+8)
-#define V4L2_CID_TILT_ABSOLUTE			(V4L2_CID_CAMERA_CLASS_BASE+9)
-
-#define V4L2_CID_FOCUS_ABSOLUTE			(V4L2_CID_CAMERA_CLASS_BASE+10)
-#define V4L2_CID_FOCUS_RELATIVE			(V4L2_CID_CAMERA_CLASS_BASE+11)
-#define V4L2_CID_FOCUS_AUTO			(V4L2_CID_CAMERA_CLASS_BASE+12)
-
-#define V4L2_CID_ZOOM_ABSOLUTE			(V4L2_CID_CAMERA_CLASS_BASE+13)
-#define V4L2_CID_ZOOM_RELATIVE			(V4L2_CID_CAMERA_CLASS_BASE+14)
-#define V4L2_CID_ZOOM_CONTINUOUS		(V4L2_CID_CAMERA_CLASS_BASE+15)
-
-#define V4L2_CID_PRIVACY			(V4L2_CID_CAMERA_CLASS_BASE+16)
-
-#define V4L2_CID_IRIS_ABSOLUTE			(V4L2_CID_CAMERA_CLASS_BASE+17)
-#define V4L2_CID_IRIS_RELATIVE			(V4L2_CID_CAMERA_CLASS_BASE+18)
-
-#define V4L2_CID_AUTO_EXPOSURE_BIAS		(V4L2_CID_CAMERA_CLASS_BASE+19)
-
-#define V4L2_CID_AUTO_N_PRESET_WHITE_BALANCE	(V4L2_CID_CAMERA_CLASS_BASE+20)
-enum v4l2_auto_n_preset_white_balance {
-	V4L2_WHITE_BALANCE_MANUAL		= 0,
-	V4L2_WHITE_BALANCE_AUTO			= 1,
-	V4L2_WHITE_BALANCE_INCANDESCENT		= 2,
-	V4L2_WHITE_BALANCE_FLUORESCENT		= 3,
-	V4L2_WHITE_BALANCE_FLUORESCENT_H	= 4,
-	V4L2_WHITE_BALANCE_HORIZON		= 5,
-	V4L2_WHITE_BALANCE_DAYLIGHT		= 6,
-	V4L2_WHITE_BALANCE_FLASH		= 7,
-	V4L2_WHITE_BALANCE_CLOUDY		= 8,
-	V4L2_WHITE_BALANCE_SHADE		= 9,
-};
-
-#define V4L2_CID_WIDE_DYNAMIC_RANGE		(V4L2_CID_CAMERA_CLASS_BASE+21)
-#define V4L2_CID_IMAGE_STABILIZATION		(V4L2_CID_CAMERA_CLASS_BASE+22)
-
-#define V4L2_CID_ISO_SENSITIVITY		(V4L2_CID_CAMERA_CLASS_BASE+23)
-#define V4L2_CID_ISO_SENSITIVITY_AUTO		(V4L2_CID_CAMERA_CLASS_BASE+24)
-enum v4l2_iso_sensitivity_auto_type {
-	V4L2_ISO_SENSITIVITY_MANUAL		= 0,
-	V4L2_ISO_SENSITIVITY_AUTO		= 1,
-};
-
-#define V4L2_CID_EXPOSURE_METERING		(V4L2_CID_CAMERA_CLASS_BASE+25)
-enum v4l2_exposure_metering {
-	V4L2_EXPOSURE_METERING_AVERAGE		= 0,
-	V4L2_EXPOSURE_METERING_CENTER_WEIGHTED	= 1,
-	V4L2_EXPOSURE_METERING_SPOT		= 2,
-	V4L2_EXPOSURE_METERING_MATRIX		= 3,
-};
-
-#define V4L2_CID_SCENE_MODE			(V4L2_CID_CAMERA_CLASS_BASE+26)
-enum v4l2_scene_mode {
-	V4L2_SCENE_MODE_NONE			= 0,
-	V4L2_SCENE_MODE_BACKLIGHT		= 1,
-	V4L2_SCENE_MODE_BEACH_SNOW		= 2,
-	V4L2_SCENE_MODE_CANDLE_LIGHT		= 3,
-	V4L2_SCENE_MODE_DAWN_DUSK		= 4,
-	V4L2_SCENE_MODE_FALL_COLORS		= 5,
-	V4L2_SCENE_MODE_FIREWORKS		= 6,
-	V4L2_SCENE_MODE_LANDSCAPE		= 7,
-	V4L2_SCENE_MODE_NIGHT			= 8,
-	V4L2_SCENE_MODE_PARTY_INDOOR		= 9,
-	V4L2_SCENE_MODE_PORTRAIT		= 10,
-	V4L2_SCENE_MODE_SPORTS			= 11,
-	V4L2_SCENE_MODE_SUNSET			= 12,
-	V4L2_SCENE_MODE_TEXT			= 13,
-};
-
-#define V4L2_CID_3A_LOCK			(V4L2_CID_CAMERA_CLASS_BASE+27)
-#define V4L2_LOCK_EXPOSURE			(1 << 0)
-#define V4L2_LOCK_WHITE_BALANCE			(1 << 1)
-#define V4L2_LOCK_FOCUS				(1 << 2)
-
-#define V4L2_CID_AUTO_FOCUS_START		(V4L2_CID_CAMERA_CLASS_BASE+28)
-#define V4L2_CID_AUTO_FOCUS_STOP		(V4L2_CID_CAMERA_CLASS_BASE+29)
-#define V4L2_CID_AUTO_FOCUS_STATUS		(V4L2_CID_CAMERA_CLASS_BASE+30)
-#define V4L2_AUTO_FOCUS_STATUS_IDLE		(0 << 0)
-#define V4L2_AUTO_FOCUS_STATUS_BUSY		(1 << 0)
-#define V4L2_AUTO_FOCUS_STATUS_REACHED		(1 << 1)
-#define V4L2_AUTO_FOCUS_STATUS_FAILED		(1 << 2)
-
-#define V4L2_CID_AUTO_FOCUS_RANGE		(V4L2_CID_CAMERA_CLASS_BASE+31)
-enum v4l2_auto_focus_range {
-	V4L2_AUTO_FOCUS_RANGE_AUTO		= 0,
-	V4L2_AUTO_FOCUS_RANGE_NORMAL		= 1,
-	V4L2_AUTO_FOCUS_RANGE_MACRO		= 2,
-	V4L2_AUTO_FOCUS_RANGE_INFINITY		= 3,
-};
-
-#define V4L2_CID_PAN_SPEED			(V4L2_CID_CAMERA_CLASS_BASE+32)
-#define V4L2_CID_TILT_SPEED			(V4L2_CID_CAMERA_CLASS_BASE+33)
-
-/* FM Modulator class control IDs */
-
-#define V4L2_CID_FM_TX_CLASS_BASE		(V4L2_CTRL_CLASS_FM_TX | 0x900)
-#define V4L2_CID_FM_TX_CLASS			(V4L2_CTRL_CLASS_FM_TX | 1)
-
-#define V4L2_CID_RDS_TX_DEVIATION		(V4L2_CID_FM_TX_CLASS_BASE + 1)
-#define V4L2_CID_RDS_TX_PI			(V4L2_CID_FM_TX_CLASS_BASE + 2)
-#define V4L2_CID_RDS_TX_PTY			(V4L2_CID_FM_TX_CLASS_BASE + 3)
-#define V4L2_CID_RDS_TX_PS_NAME			(V4L2_CID_FM_TX_CLASS_BASE + 5)
-#define V4L2_CID_RDS_TX_RADIO_TEXT		(V4L2_CID_FM_TX_CLASS_BASE + 6)
-#define V4L2_CID_RDS_TX_MONO_STEREO		(V4L2_CID_FM_TX_CLASS_BASE + 7)
-#define V4L2_CID_RDS_TX_ARTIFICIAL_HEAD		(V4L2_CID_FM_TX_CLASS_BASE + 8)
-#define V4L2_CID_RDS_TX_COMPRESSED		(V4L2_CID_FM_TX_CLASS_BASE + 9)
-#define V4L2_CID_RDS_TX_DYNAMIC_PTY		(V4L2_CID_FM_TX_CLASS_BASE + 10)
-#define V4L2_CID_RDS_TX_TRAFFIC_ANNOUNCEMENT	(V4L2_CID_FM_TX_CLASS_BASE + 11)
-#define V4L2_CID_RDS_TX_TRAFFIC_PROGRAM		(V4L2_CID_FM_TX_CLASS_BASE + 12)
-#define V4L2_CID_RDS_TX_MUSIC_SPEECH		(V4L2_CID_FM_TX_CLASS_BASE + 13)
-#define V4L2_CID_RDS_TX_ALT_FREQS_ENABLE	(V4L2_CID_FM_TX_CLASS_BASE + 14)
-#define V4L2_CID_RDS_TX_ALT_FREQS		(V4L2_CID_FM_TX_CLASS_BASE + 15)
-
-#define V4L2_CID_AUDIO_LIMITER_ENABLED		(V4L2_CID_FM_TX_CLASS_BASE + 64)
-#define V4L2_CID_AUDIO_LIMITER_RELEASE_TIME	(V4L2_CID_FM_TX_CLASS_BASE + 65)
-#define V4L2_CID_AUDIO_LIMITER_DEVIATION	(V4L2_CID_FM_TX_CLASS_BASE + 66)
-
-#define V4L2_CID_AUDIO_COMPRESSION_ENABLED	(V4L2_CID_FM_TX_CLASS_BASE + 80)
-#define V4L2_CID_AUDIO_COMPRESSION_GAIN		(V4L2_CID_FM_TX_CLASS_BASE + 81)
-#define V4L2_CID_AUDIO_COMPRESSION_THRESHOLD	(V4L2_CID_FM_TX_CLASS_BASE + 82)
-#define V4L2_CID_AUDIO_COMPRESSION_ATTACK_TIME	(V4L2_CID_FM_TX_CLASS_BASE + 83)
-#define V4L2_CID_AUDIO_COMPRESSION_RELEASE_TIME	(V4L2_CID_FM_TX_CLASS_BASE + 84)
-
-#define V4L2_CID_PILOT_TONE_ENABLED		(V4L2_CID_FM_TX_CLASS_BASE + 96)
-#define V4L2_CID_PILOT_TONE_DEVIATION		(V4L2_CID_FM_TX_CLASS_BASE + 97)
-#define V4L2_CID_PILOT_TONE_FREQUENCY		(V4L2_CID_FM_TX_CLASS_BASE + 98)
-
-#define V4L2_CID_TUNE_PREEMPHASIS		(V4L2_CID_FM_TX_CLASS_BASE + 112)
-enum v4l2_preemphasis {
-	V4L2_PREEMPHASIS_DISABLED	= 0,
-	V4L2_PREEMPHASIS_50_uS		= 1,
-	V4L2_PREEMPHASIS_75_uS		= 2,
-};
-#define V4L2_CID_TUNE_POWER_LEVEL		(V4L2_CID_FM_TX_CLASS_BASE + 113)
-#define V4L2_CID_TUNE_ANTENNA_CAPACITOR		(V4L2_CID_FM_TX_CLASS_BASE + 114)
-
-
-/* Flash and privacy (indicator) light controls */
-
-#define V4L2_CID_FLASH_CLASS_BASE		(V4L2_CTRL_CLASS_FLASH | 0x900)
-#define V4L2_CID_FLASH_CLASS			(V4L2_CTRL_CLASS_FLASH | 1)
-
-#define V4L2_CID_FLASH_LED_MODE			(V4L2_CID_FLASH_CLASS_BASE + 1)
-enum v4l2_flash_led_mode {
-	V4L2_FLASH_LED_MODE_NONE,
-	V4L2_FLASH_LED_MODE_FLASH,
-	V4L2_FLASH_LED_MODE_TORCH,
-};
-
-#define V4L2_CID_FLASH_STROBE_SOURCE		(V4L2_CID_FLASH_CLASS_BASE + 2)
-enum v4l2_flash_strobe_source {
-	V4L2_FLASH_STROBE_SOURCE_SOFTWARE,
-	V4L2_FLASH_STROBE_SOURCE_EXTERNAL,
-};
-
-#define V4L2_CID_FLASH_STROBE			(V4L2_CID_FLASH_CLASS_BASE + 3)
-#define V4L2_CID_FLASH_STROBE_STOP		(V4L2_CID_FLASH_CLASS_BASE + 4)
-#define V4L2_CID_FLASH_STROBE_STATUS		(V4L2_CID_FLASH_CLASS_BASE + 5)
-
-#define V4L2_CID_FLASH_TIMEOUT			(V4L2_CID_FLASH_CLASS_BASE + 6)
-#define V4L2_CID_FLASH_INTENSITY		(V4L2_CID_FLASH_CLASS_BASE + 7)
-#define V4L2_CID_FLASH_TORCH_INTENSITY		(V4L2_CID_FLASH_CLASS_BASE + 8)
-#define V4L2_CID_FLASH_INDICATOR_INTENSITY	(V4L2_CID_FLASH_CLASS_BASE + 9)
-
-#define V4L2_CID_FLASH_FAULT			(V4L2_CID_FLASH_CLASS_BASE + 10)
-#define V4L2_FLASH_FAULT_OVER_VOLTAGE		(1 << 0)
-#define V4L2_FLASH_FAULT_TIMEOUT		(1 << 1)
-#define V4L2_FLASH_FAULT_OVER_TEMPERATURE	(1 << 2)
-#define V4L2_FLASH_FAULT_SHORT_CIRCUIT		(1 << 3)
-#define V4L2_FLASH_FAULT_OVER_CURRENT		(1 << 4)
-#define V4L2_FLASH_FAULT_INDICATOR		(1 << 5)
-#define V4L2_FLASH_FAULT_UNDER_VOLTAGE		(1 << 6)
-#define V4L2_FLASH_FAULT_INPUT_VOLTAGE		(1 << 7)
-#define V4L2_FLASH_FAULT_LED_OVER_TEMPERATURE	(1 << 8)
-
-#define V4L2_CID_FLASH_CHARGE			(V4L2_CID_FLASH_CLASS_BASE + 11)
-#define V4L2_CID_FLASH_READY			(V4L2_CID_FLASH_CLASS_BASE + 12)
-
-
-/* JPEG-class control IDs */
-
-#define V4L2_CID_JPEG_CLASS_BASE		(V4L2_CTRL_CLASS_JPEG | 0x900)
-#define V4L2_CID_JPEG_CLASS			(V4L2_CTRL_CLASS_JPEG | 1)
-
-#define	V4L2_CID_JPEG_CHROMA_SUBSAMPLING	(V4L2_CID_JPEG_CLASS_BASE + 1)
-enum v4l2_jpeg_chroma_subsampling {
-	V4L2_JPEG_CHROMA_SUBSAMPLING_444	= 0,
-	V4L2_JPEG_CHROMA_SUBSAMPLING_422	= 1,
-	V4L2_JPEG_CHROMA_SUBSAMPLING_420	= 2,
-	V4L2_JPEG_CHROMA_SUBSAMPLING_411	= 3,
-	V4L2_JPEG_CHROMA_SUBSAMPLING_410	= 4,
-	V4L2_JPEG_CHROMA_SUBSAMPLING_GRAY	= 5,
-};
-#define	V4L2_CID_JPEG_RESTART_INTERVAL		(V4L2_CID_JPEG_CLASS_BASE + 2)
-#define	V4L2_CID_JPEG_COMPRESSION_QUALITY	(V4L2_CID_JPEG_CLASS_BASE + 3)
-
-#define	V4L2_CID_JPEG_ACTIVE_MARKER		(V4L2_CID_JPEG_CLASS_BASE + 4)
-#define	V4L2_JPEG_ACTIVE_MARKER_APP0		(1 << 0)
-#define	V4L2_JPEG_ACTIVE_MARKER_APP1		(1 << 1)
-#define	V4L2_JPEG_ACTIVE_MARKER_COM		(1 << 16)
-#define	V4L2_JPEG_ACTIVE_MARKER_DQT		(1 << 17)
-#define	V4L2_JPEG_ACTIVE_MARKER_DHT		(1 << 18)
-
-
-/* Image source controls */
-#define V4L2_CID_IMAGE_SOURCE_CLASS_BASE	(V4L2_CTRL_CLASS_IMAGE_SOURCE | 0x900)
-#define V4L2_CID_IMAGE_SOURCE_CLASS		(V4L2_CTRL_CLASS_IMAGE_SOURCE | 1)
-
-#define V4L2_CID_VBLANK				(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 1)
-#define V4L2_CID_HBLANK				(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 2)
-#define V4L2_CID_ANALOGUE_GAIN			(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 3)
-#define V4L2_CID_TEST_PATTERN_RED		(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 4)
-#define V4L2_CID_TEST_PATTERN_GREENR		(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 5)
-#define V4L2_CID_TEST_PATTERN_BLUE		(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 6)
-#define V4L2_CID_TEST_PATTERN_GREENB		(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 7)
-
-
-/* Image processing controls */
-
-#define V4L2_CID_IMAGE_PROC_CLASS_BASE		(V4L2_CTRL_CLASS_IMAGE_PROC | 0x900)
-#define V4L2_CID_IMAGE_PROC_CLASS		(V4L2_CTRL_CLASS_IMAGE_PROC | 1)
-
-#define V4L2_CID_LINK_FREQ			(V4L2_CID_IMAGE_PROC_CLASS_BASE + 1)
-#define V4L2_CID_PIXEL_RATE			(V4L2_CID_IMAGE_PROC_CLASS_BASE + 2)
-#define V4L2_CID_TEST_PATTERN			(V4L2_CID_IMAGE_PROC_CLASS_BASE + 3)
-
-
-/*  DV-class control IDs defined by V4L2 */
-#define V4L2_CID_DV_CLASS_BASE			(V4L2_CTRL_CLASS_DV | 0x900)
-#define V4L2_CID_DV_CLASS			(V4L2_CTRL_CLASS_DV | 1)
-
-#define	V4L2_CID_DV_TX_HOTPLUG			(V4L2_CID_DV_CLASS_BASE + 1)
-#define	V4L2_CID_DV_TX_RXSENSE			(V4L2_CID_DV_CLASS_BASE + 2)
-#define	V4L2_CID_DV_TX_EDID_PRESENT		(V4L2_CID_DV_CLASS_BASE + 3)
-#define	V4L2_CID_DV_TX_MODE			(V4L2_CID_DV_CLASS_BASE + 4)
-enum v4l2_dv_tx_mode {
-	V4L2_DV_TX_MODE_DVI_D	= 0,
-	V4L2_DV_TX_MODE_HDMI	= 1,
-};
-#define V4L2_CID_DV_TX_RGB_RANGE		(V4L2_CID_DV_CLASS_BASE + 5)
-enum v4l2_dv_rgb_range {
-	V4L2_DV_RGB_RANGE_AUTO	  = 0,
-	V4L2_DV_RGB_RANGE_LIMITED = 1,
-	V4L2_DV_RGB_RANGE_FULL	  = 2,
-};
-
-#define V4L2_CID_DV_TX_IT_CONTENT_TYPE		(V4L2_CID_DV_CLASS_BASE + 6)
-enum v4l2_dv_it_content_type {
-	V4L2_DV_IT_CONTENT_TYPE_GRAPHICS  = 0,
-	V4L2_DV_IT_CONTENT_TYPE_PHOTO	  = 1,
-	V4L2_DV_IT_CONTENT_TYPE_CINEMA	  = 2,
-	V4L2_DV_IT_CONTENT_TYPE_GAME	  = 3,
-	V4L2_DV_IT_CONTENT_TYPE_NO_ITC	  = 4,
-};
-
-#define	V4L2_CID_DV_RX_POWER_PRESENT		(V4L2_CID_DV_CLASS_BASE + 100)
-#define V4L2_CID_DV_RX_RGB_RANGE		(V4L2_CID_DV_CLASS_BASE + 101)
-#define V4L2_CID_DV_RX_IT_CONTENT_TYPE		(V4L2_CID_DV_CLASS_BASE + 102)
-
-#define V4L2_CID_FM_RX_CLASS_BASE		(V4L2_CTRL_CLASS_FM_RX | 0x900)
-#define V4L2_CID_FM_RX_CLASS			(V4L2_CTRL_CLASS_FM_RX | 1)
-
-#define V4L2_CID_TUNE_DEEMPHASIS		(V4L2_CID_FM_RX_CLASS_BASE + 1)
-enum v4l2_deemphasis {
-	V4L2_DEEMPHASIS_DISABLED	= V4L2_PREEMPHASIS_DISABLED,
-	V4L2_DEEMPHASIS_50_uS		= V4L2_PREEMPHASIS_50_uS,
-	V4L2_DEEMPHASIS_75_uS		= V4L2_PREEMPHASIS_75_uS,
-};
-
-#define V4L2_CID_RDS_RECEPTION			(V4L2_CID_FM_RX_CLASS_BASE + 2)
-#define V4L2_CID_RDS_RX_PTY			(V4L2_CID_FM_RX_CLASS_BASE + 3)
-#define V4L2_CID_RDS_RX_PS_NAME			(V4L2_CID_FM_RX_CLASS_BASE + 4)
-#define V4L2_CID_RDS_RX_RADIO_TEXT		(V4L2_CID_FM_RX_CLASS_BASE + 5)
-#define V4L2_CID_RDS_RX_TRAFFIC_ANNOUNCEMENT	(V4L2_CID_FM_RX_CLASS_BASE + 6)
-#define V4L2_CID_RDS_RX_TRAFFIC_PROGRAM		(V4L2_CID_FM_RX_CLASS_BASE + 7)
-#define V4L2_CID_RDS_RX_MUSIC_SPEECH		(V4L2_CID_FM_RX_CLASS_BASE + 8)
-
-#define V4L2_CID_RF_TUNER_CLASS_BASE		(V4L2_CTRL_CLASS_RF_TUNER | 0x900)
-#define V4L2_CID_RF_TUNER_CLASS			(V4L2_CTRL_CLASS_RF_TUNER | 1)
-
-#define V4L2_CID_RF_TUNER_BANDWIDTH_AUTO	(V4L2_CID_RF_TUNER_CLASS_BASE + 11)
-#define V4L2_CID_RF_TUNER_BANDWIDTH		(V4L2_CID_RF_TUNER_CLASS_BASE + 12)
-#define V4L2_CID_RF_TUNER_RF_GAIN		(V4L2_CID_RF_TUNER_CLASS_BASE + 32)
-#define V4L2_CID_RF_TUNER_LNA_GAIN_AUTO		(V4L2_CID_RF_TUNER_CLASS_BASE + 41)
-#define V4L2_CID_RF_TUNER_LNA_GAIN		(V4L2_CID_RF_TUNER_CLASS_BASE + 42)
-#define V4L2_CID_RF_TUNER_MIXER_GAIN_AUTO	(V4L2_CID_RF_TUNER_CLASS_BASE + 51)
-#define V4L2_CID_RF_TUNER_MIXER_GAIN		(V4L2_CID_RF_TUNER_CLASS_BASE + 52)
-#define V4L2_CID_RF_TUNER_IF_GAIN_AUTO		(V4L2_CID_RF_TUNER_CLASS_BASE + 61)
-#define V4L2_CID_RF_TUNER_IF_GAIN		(V4L2_CID_RF_TUNER_CLASS_BASE + 62)
-#define V4L2_CID_RF_TUNER_PLL_LOCK			(V4L2_CID_RF_TUNER_CLASS_BASE + 91)
-
-
-/*  Detection-class control IDs defined by V4L2 */
-#define V4L2_CID_DETECT_CLASS_BASE		(V4L2_CTRL_CLASS_DETECT | 0x900)
-#define V4L2_CID_DETECT_CLASS			(V4L2_CTRL_CLASS_DETECT | 1)
-
-#define V4L2_CID_DETECT_MD_MODE			(V4L2_CID_DETECT_CLASS_BASE + 1)
-enum v4l2_detect_md_mode {
-	V4L2_DETECT_MD_MODE_DISABLED		= 0,
-	V4L2_DETECT_MD_MODE_GLOBAL		= 1,
-	V4L2_DETECT_MD_MODE_THRESHOLD_GRID	= 2,
-	V4L2_DETECT_MD_MODE_REGION_GRID		= 3,
-};
-#define V4L2_CID_DETECT_MD_GLOBAL_THRESHOLD	(V4L2_CID_DETECT_CLASS_BASE + 2)
-#define V4L2_CID_DETECT_MD_THRESHOLD_GRID	(V4L2_CID_DETECT_CLASS_BASE + 3)
-#define V4L2_CID_DETECT_MD_REGION_GRID		(V4L2_CID_DETECT_CLASS_BASE + 4)
-
-#endif
diff --git a/tools/replay/qcom_decoder.cc b/tools/replay/qcom_decoder.cc
index 44ff16ce4fa7c4..b7f04a063be3d9 100644
--- a/tools/replay/qcom_decoder.cc
+++ b/tools/replay/qcom_decoder.cc
@@ -1,7 +1,7 @@
 #include "qcom_decoder.h"
 
 #include <assert.h>
-#include "third_party/linux/include/v4l2-controls.h"
+#include <linux/v4l2-controls.h>
 #include <linux/videodev2.h>
 
 
@@ -343,4 +343,4 @@ bool MsmVidc::handleEvent() {
       break;
   }
   return true;
-}
\ No newline at end of file
+}

From e771dfa007c883c143527d82068842589cad1450 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sat, 9 May 2026 23:47:07 -0400
Subject: [PATCH 1047/1434] sunnylink: fix max time offroad values (#1835)

fix sunnylink values
---
 sunnypilot/sunnylink/settings_ui.json         | 22 +++++++++----------
 .../settings_ui_src/pages/device.yaml         | 22 +++++++++----------
 2 files changed, 22 insertions(+), 22 deletions(-)

diff --git a/sunnypilot/sunnylink/settings_ui.json b/sunnypilot/sunnylink/settings_ui.json
index b762ccb6a12d9f..25c3b6335bf5ff 100644
--- a/sunnypilot/sunnylink/settings_ui.json
+++ b/sunnypilot/sunnylink/settings_ui.json
@@ -1593,47 +1593,47 @@
                   "label": "Always On"
                 },
                 {
-                  "value": 1,
+                  "value": 5,
                   "label": "5m"
                 },
                 {
-                  "value": 2,
+                  "value": 10,
                   "label": "10m"
                 },
                 {
-                  "value": 3,
+                  "value": 15,
                   "label": "15m"
                 },
                 {
-                  "value": 4,
+                  "value": 30,
                   "label": "30m"
                 },
                 {
-                  "value": 5,
+                  "value": 60,
                   "label": "1h"
                 },
                 {
-                  "value": 6,
+                  "value": 120,
                   "label": "2h"
                 },
                 {
-                  "value": 7,
+                  "value": 180,
                   "label": "3h"
                 },
                 {
-                  "value": 8,
+                  "value": 300,
                   "label": "5h"
                 },
                 {
-                  "value": 9,
+                  "value": 600,
                   "label": "10h"
                 },
                 {
-                  "value": 10,
+                  "value": 1440,
                   "label": "24h"
                 },
                 {
-                  "value": 11,
+                  "value": 1800,
                   "label": "30h (Default)"
                 }
               ]
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/device.yaml b/sunnypilot/sunnylink/settings_ui_src/pages/device.yaml
index e475c2c1ff411d..bf5f7883abc875 100644
--- a/sunnypilot/sunnylink/settings_ui_src/pages/device.yaml
+++ b/sunnypilot/sunnylink/settings_ui_src/pages/device.yaml
@@ -37,27 +37,27 @@ sections:
     options:
     - value: 0
       label: Always On
-    - value: 1
+    - value: 5
       label: 5m
-    - value: 2
+    - value: 10
       label: 10m
-    - value: 3
+    - value: 15
       label: 15m
-    - value: 4
+    - value: 30
       label: 30m
-    - value: 5
+    - value: 60
       label: 1h
-    - value: 6
+    - value: 120
       label: 2h
-    - value: 7
+    - value: 180
       label: 3h
-    - value: 8
+    - value: 300
       label: 5h
-    - value: 9
+    - value: 600
       label: 10h
-    - value: 10
+    - value: 1440
       label: 24h
-    - value: 11
+    - value: 1800
       label: 30h (Default)
 - id: language
   title: Language

From b1a6223b14f4ea14b748588da7667525ad259548 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 10 May 2026 01:04:45 -0400
Subject: [PATCH 1048/1434] ci: simplify cereal validation to sparse-checkout +
 pycapnp, drop scons (#1836)

* ci: simplify cereal validation to sparse-checkout + pycapnp, drop scons build

Co-Authored-By: Claude Sonnet 4.6 (1M context) <noreply@anthropic.com>

* more

* fix: resolve cereal_dir to absolute path before passing to capnp.load

Co-Authored-By: Claude Sonnet 4.6 (1M context) <noreply@anthropic.com>

* ci: init opendbc submodule after sparse checkout to resolve car.capnp symlink

Co-Authored-By: Claude Sonnet 4.6 (1M context) <noreply@anthropic.com>

* try to break it

* Revert "try to break it"

This reverts commit 79ce135c5f59b093aeee7cc564c29565498f74d9.

* try to break it

* Revert "try to break it"

This reverts commit 1eaa9e79e6824b9236e69ee2e34f359499fabf38.

---------

Co-authored-by: Claude Sonnet 4.6 (1M context) <noreply@anthropic.com>
---
 .github/workflows/cereal_validation.yaml      | 73 ++++++++-----------
 .../tests/validate_sp_cereal_upstream.py      | 29 +++++---
 2 files changed, 47 insertions(+), 55 deletions(-)

diff --git a/.github/workflows/cereal_validation.yaml b/.github/workflows/cereal_validation.yaml
index e9c0e5d03e02ad..d71354dd59c845 100644
--- a/.github/workflows/cereal_validation.yaml
+++ b/.github/workflows/cereal_validation.yaml
@@ -23,56 +23,43 @@ env:
   CI: 1
 
 jobs:
-  generate_cereal_artifact:
-    name: Generate cereal validation artifacts
-    runs-on: ubuntu-24.04
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          submodules: true
-      - run: ./tools/op.sh setup
-      - name: Build openpilot
-        run: scons -j$(nproc) cereal
-      - name: Dump sunnypilot schema
-        run: |
-          export PYTHONPATH=${{ github.workspace }}
-          python3 cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema.json
-      - name: 'Prepare artifact'
-        run: |
-          mkdir -p "cereal/messaging/tests/cereal_validations"
-          cp cereal/messaging/tests/validate_sp_cereal_upstream.py "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py"
-          cp schema.json "cereal/messaging/tests/cereal_validations/schema.json"
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: cereal_validations
-          path: cereal/messaging/tests/cereal_validations
-
   validate_cereal_with_upstream:
     name: Validate cereal with Upstream
     runs-on: ubuntu-24.04
-    needs: generate_cereal_artifact
     steps:
-      - name: Checkout sunnypilot
+      - name: Checkout sunnypilot cereal
         uses: actions/checkout@v6
-      - name: Checkout upstream openpilot
+        with:
+          sparse-checkout: cereal
+
+      - name: Init sunnypilot opendbc submodule
+        run: git submodule update --init --depth 1 opendbc_repo
+
+      - name: Checkout upstream openpilot cereal
         uses: actions/checkout@v6
         with:
           repository: 'commaai/openpilot'
-          path: openpilot
-          submodules: true
+          path: upstream_openpilot
+          sparse-checkout: cereal
           ref: "refs/heads/master"
-      - run: ./tools/op.sh setup
-      - name: Build openpilot
-        working-directory: openpilot
-        run: scons -j$(nproc) cereal
-      - name: Download build artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: cereal_validations
-          path: openpilot/cereal/messaging/tests/cereal_validations
-      - name: 'Validate sunnypilot schema against upstream'
+
+      - name: Init upstream opendbc submodule
+        working-directory: upstream_openpilot
+        run: git submodule update --init --depth 1 opendbc_repo
+
+      - name: Install uv
+        run: pip install uv
+
+      - name: Generate sunnypilot schema
+        run: |
+          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
+          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
+            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
+            -g -f /tmp/sp_schema.json --cereal-dir cereal
+
+      - name: Validate against upstream
         run: |
-          export PYTHONPATH=${{ github.workspace }}/openpilot
-          chmod +x openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
-          python3 openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f openpilot/cereal/messaging/tests/cereal_validations/schema.json
+          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
+          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
+            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
+            -r -f /tmp/sp_schema.json --cereal-dir upstream_openpilot/cereal
diff --git a/cereal/messaging/tests/validate_sp_cereal_upstream.py b/cereal/messaging/tests/validate_sp_cereal_upstream.py
index d673f7db0b8728..11e39cd6cebff1 100755
--- a/cereal/messaging/tests/validate_sp_cereal_upstream.py
+++ b/cereal/messaging/tests/validate_sp_cereal_upstream.py
@@ -13,6 +13,7 @@
 
 import argparse
 import json
+import os
 import sys
 from typing import Any
 
@@ -104,8 +105,15 @@ def collect_schema(root: Any) -> dict[str, dict]:
   return structs
 
 
-def dump_schema(path: str) -> None:
-  from cereal import log
+def load_log(cereal_dir: str) -> Any:
+  import capnp
+  cereal_dir = os.path.abspath(cereal_dir)
+  capnp.remove_import_hook()
+  return capnp.load(os.path.join(cereal_dir, "log.capnp"), imports=[cereal_dir])
+
+
+def dump_schema(cereal_dir: str, path: str) -> None:
+  log = load_log(cereal_dir)
   payload = {
     "root": hex_id(log.Event.schema.node.id),
     "structs": collect_schema(log.Event.schema),
@@ -206,8 +214,8 @@ def load_peer(path: str) -> dict:
     return json.load(handle)
 
 
-def run_read(peer_path: str) -> int:
-  from cereal import log
+def run_read(cereal_dir: str, peer_path: str) -> int:
+  log = load_log(cereal_dir)
   peer_dump = load_peer(peer_path)
   local_dump = {
     "root": hex_id(log.Event.schema.node.id),
@@ -235,16 +243,13 @@ def main() -> int:
   mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
   mode.add_argument("-r", "--read", action="store_true", help="load peer JSON and diff against local")
   parser.add_argument("-f", "--file", default="schema.json", help="JSON file path (default: schema.json)")
+  parser.add_argument("--cereal-dir", required=True, help="path to cereal directory containing log.capnp")
   args = parser.parse_args()
 
-  try:
-    if args.generate:
-      dump_schema(args.file)
-      return 0
-    return run_read(args.file)
-  except ImportError as exc:
-    print(f"error: cannot import cereal ({exc}). did scons build cereal?")
-    return 2
+  if args.generate:
+    dump_schema(args.cereal_dir, args.file)
+    return 0
+  return run_read(args.cereal_dir, args.file)
 
 
 if __name__ == "__main__":

From 63508d0481d18d5c787f03438ea7b4990347fa15 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 10:23:49 -0700
Subject: [PATCH 1049/1434] Use packaged json11 dependency (#37995)

* Use packaged json11 dependency

* rm that too
---
 SConstruct                         |   6 +-
 common/swaglog.cc                  |   2 +-
 common/tests/test_swaglog.cc       |   2 +-
 pyproject.toml                     |   1 +
 third_party/SConscript             |   3 -
 third_party/build.sh               |  53 --
 third_party/json11/json11.cpp      | 785 -----------------------------
 third_party/json11/json11.hpp      | 232 ---------
 tools/jotpluggler/app.cc           |   2 +-
 tools/jotpluggler/custom_series.cc |   2 +-
 tools/jotpluggler/layout_io.cc     |   2 +-
 tools/jotpluggler/map.cc           |   2 +-
 tools/jotpluggler/sketch_layout.cc |   2 +-
 tools/replay/route.cc              |   2 +-
 tools/replay/route.h               |   2 +-
 uv.lock                            |   7 +
 16 files changed, 18 insertions(+), 1087 deletions(-)
 delete mode 100644 third_party/SConscript
 delete mode 100755 third_party/build.sh
 delete mode 100644 third_party/json11/json11.cpp
 delete mode 100644 third_party/json11/json11.hpp

diff --git a/SConstruct b/SConstruct
index 9d985ab696aaec..6e5f31d921dd63 100644
--- a/SConstruct
+++ b/SConstruct
@@ -37,7 +37,7 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 acados = pkgs[pkg_names.index('acados')]
 acados_include_dirs = [
@@ -112,7 +112,6 @@ env = Environment(
     "#",
     "#msgq",
     "#third_party",
-    "#third_party/json11",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
   ],
@@ -242,9 +241,6 @@ SConscript([
 if arch == "larch64":
   SConscript(['system/camerad/SConscript'])
 
-# Build openpilot
-SConscript(['third_party/SConscript'])
-
 # Build selfdrive
 SConscript([
   'selfdrive/pandad/SConscript',
diff --git a/common/swaglog.cc b/common/swaglog.cc
index 62a405a2b6e244..df7ce94c146457 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -11,7 +11,7 @@
 
 #include <zmq.h>
 #include <stdarg.h>
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 #include "common/version.h"
 #include "system/hardware/hw.h"
 
diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc
index 09bc4c3795fd5e..8142f8d63e295c 100644
--- a/common/tests/test_swaglog.cc
+++ b/common/tests/test_swaglog.cc
@@ -7,7 +7,7 @@
 #include "common/util.h"
 #include "common/version.h"
 #include "system/hardware/hw.h"
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 std::string daemon_name = "testy";
 std::string dongle_id = "test_dongle_id";
diff --git a/pyproject.toml b/pyproject.toml
index fe6e9beb3c8732..6f5058b43c2549 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -38,6 +38,7 @@ dependencies = [
   "ncurses @ git+https://github.com/commaai/dependencies.git@release-ncurses#subdirectory=ncurses",
   "zeromq @ git+https://github.com/commaai/dependencies.git@release-zeromq#subdirectory=zeromq",
   "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
+  "json11 @ git+https://github.com/commaai/dependencies.git@release-json11#subdirectory=json11",
   "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
   "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
   "xvfb @ git+https://github.com/commaai/dependencies.git@release-xvfb#subdirectory=xvfb",
diff --git a/third_party/SConscript b/third_party/SConscript
deleted file mode 100644
index 3a7497d1623207..00000000000000
--- a/third_party/SConscript
+++ /dev/null
@@ -1,3 +0,0 @@
-Import('env')
-
-env.Library('json11', ['json11/json11.cpp'], CCFLAGS=env['CCFLAGS'] + ['-Wno-unqualified-std-cast-call'])
diff --git a/third_party/build.sh b/third_party/build.sh
deleted file mode 100755
index d3a9c6579c594a..00000000000000
--- a/third_party/build.sh
+++ /dev/null
@@ -1,53 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-
-# Reproducible builds: pin timestamps to epoch
-export SOURCE_DATE_EPOCH=0
-export ZERO_AR_DATE=1
-
-pids=()
-names=()
-logs=()
-
-for script in "$DIR"/*/build.sh; do
-  [ -f "$script" ] || continue
-  name=$(basename "$(dirname "$script")")
-  log=$(mktemp)
-  names+=("$name")
-  logs+=("$log")
-  (cd "$(dirname "$script")" && bash "$(basename "$script")") >"$log" 2>&1 &
-  pids+=($!)
-done
-
-failed=0
-for i in "${!pids[@]}"; do
-  echo "--- ${names[$i]} ---"
-  if wait "${pids[$i]}"; then
-    echo "OK"
-  else
-    echo "FAILED (exit $?)"
-    failed=1
-  fi
-  cat "${logs[$i]}"
-  rm -f "${logs[$i]}"
-  echo
-done
-
-[ $failed -ne 0 ] && exit $failed
-
-# Repack ar archives with deterministic headers (zero timestamps/uid/gid)
-# Skip foreign-platform archives that ar can't read (e.g. Mach-O on Linux)
-while IFS= read -r -d '' lib; do
-  tmpdir=$(mktemp -d)
-  lib=$(realpath "$lib")
-  if (cd "$tmpdir" && ar x "$lib" 2>/dev/null); then
-    (cd "$tmpdir" && ar Drcs repacked.a * && mv repacked.a "$lib")
-  fi
-  rm -rf "$tmpdir"
-done < <(find "$DIR" -name '*.a' \
-  \( -path '*/x86_64/*' -o -path '*/Darwin/*' -o -path '*/larch64/*' -o -path '*/aarch64/*' \) \
-  -print0)
-
-echo -e "\033[32mAll third_party builds succeeded.\033[0m"
diff --git a/third_party/json11/json11.cpp b/third_party/json11/json11.cpp
deleted file mode 100644
index 3bd4fde2f2c911..00000000000000
--- a/third_party/json11/json11.cpp
+++ /dev/null
@@ -1,785 +0,0 @@
-/* Copyright (c) 2013 Dropbox, Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include "json11.hpp"
-#include <cassert>
-#include <cmath>
-#include <cstdlib>
-#include <cstdio>
-#include <limits>
-#include <cstdint>
-
-namespace json11 {
-
-static const int max_depth = 200;
-
-using std::string;
-using std::vector;
-using std::map;
-using std::make_shared;
-using std::initializer_list;
-using std::move;
-
-/* Helper for representing null - just a do-nothing struct, plus comparison
- * operators so the helpers in JsonValue work. We can't use nullptr_t because
- * it may not be orderable.
- */
-struct NullStruct {
-    bool operator==(NullStruct) const { return true; }
-    bool operator<(NullStruct) const { return false; }
-};
-
-/* * * * * * * * * * * * * * * * * * * *
- * Serialization
- */
-
-static void dump(NullStruct, string &out) {
-    out += "null";
-}
-
-static void dump(double value, string &out) {
-    if (std::isfinite(value)) {
-        char buf[32];
-        snprintf(buf, sizeof buf, "%.17g", value);
-        out += buf;
-    } else {
-        out += "null";
-    }
-}
-
-static void dump(int value, string &out) {
-    char buf[32];
-    snprintf(buf, sizeof buf, "%d", value);
-    out += buf;
-}
-
-static void dump(bool value, string &out) {
-    out += value ? "true" : "false";
-}
-
-static void dump(const string &value, string &out) {
-    out += '"';
-    for (size_t i = 0; i < value.length(); i++) {
-        const char ch = value[i];
-        if (ch == '\\') {
-            out += "\\\\";
-        } else if (ch == '"') {
-            out += "\\\"";
-        } else if (ch == '\b') {
-            out += "\\b";
-        } else if (ch == '\f') {
-            out += "\\f";
-        } else if (ch == '\n') {
-            out += "\\n";
-        } else if (ch == '\r') {
-            out += "\\r";
-        } else if (ch == '\t') {
-            out += "\\t";
-        } else if (static_cast<uint8_t>(ch) <= 0x1f) {
-            char buf[8];
-            snprintf(buf, sizeof buf, "\\u%04x", ch);
-            out += buf;
-        } else if (static_cast<uint8_t>(ch) == 0xe2 && static_cast<uint8_t>(value[i+1]) == 0x80
-                   && static_cast<uint8_t>(value[i+2]) == 0xa8) {
-            out += "\\u2028";
-            i += 2;
-        } else if (static_cast<uint8_t>(ch) == 0xe2 && static_cast<uint8_t>(value[i+1]) == 0x80
-                   && static_cast<uint8_t>(value[i+2]) == 0xa9) {
-            out += "\\u2029";
-            i += 2;
-        } else {
-            out += ch;
-        }
-    }
-    out += '"';
-}
-
-static void dump(const Json::array &values, string &out) {
-    bool first = true;
-    out += "[";
-    for (const auto &value : values) {
-        if (!first)
-            out += ", ";
-        value.dump(out);
-        first = false;
-    }
-    out += "]";
-}
-
-static void dump(const Json::object &values, string &out) {
-    bool first = true;
-    out += "{";
-    for (const auto &kv : values) {
-        if (!first)
-            out += ", ";
-        dump(kv.first, out);
-        out += ": ";
-        kv.second.dump(out);
-        first = false;
-    }
-    out += "}";
-}
-
-void Json::dump(string &out) const {
-    m_ptr->dump(out);
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Value wrappers
- */
-
-template <Json::Type tag, typename T>
-class Value : public JsonValue {
-protected:
-
-    // Constructors
-    explicit Value(const T &value) : m_value(value) {}
-    explicit Value(T &&value)      : m_value(move(value)) {}
-
-    // Get type tag
-    Json::Type type() const override {
-        return tag;
-    }
-
-    // Comparisons
-    bool equals(const JsonValue * other) const override {
-        return m_value == static_cast<const Value<tag, T> *>(other)->m_value;
-    }
-    bool less(const JsonValue * other) const override {
-        return m_value < static_cast<const Value<tag, T> *>(other)->m_value;
-    }
-
-    const T m_value;
-    void dump(string &out) const override { json11::dump(m_value, out); }
-};
-
-class JsonDouble final : public Value<Json::NUMBER, double> {
-    double number_value() const override { return m_value; }
-    int int_value() const override { return static_cast<int>(m_value); }
-    bool equals(const JsonValue * other) const override { return m_value == other->number_value(); }
-    bool less(const JsonValue * other)   const override { return m_value <  other->number_value(); }
-public:
-    explicit JsonDouble(double value) : Value(value) {}
-};
-
-class JsonInt final : public Value<Json::NUMBER, int> {
-    double number_value() const override { return m_value; }
-    int int_value() const override { return m_value; }
-    bool equals(const JsonValue * other) const override { return m_value == other->number_value(); }
-    bool less(const JsonValue * other)   const override { return m_value <  other->number_value(); }
-public:
-    explicit JsonInt(int value) : Value(value) {}
-};
-
-class JsonBoolean final : public Value<Json::BOOL, bool> {
-    bool bool_value() const override { return m_value; }
-public:
-    explicit JsonBoolean(bool value) : Value(value) {}
-};
-
-class JsonString final : public Value<Json::STRING, string> {
-    const string &string_value() const override { return m_value; }
-public:
-    explicit JsonString(const string &value) : Value(value) {}
-    explicit JsonString(string &&value)      : Value(move(value)) {}
-};
-
-class JsonArray final : public Value<Json::ARRAY, Json::array> {
-    const Json::array &array_items() const override { return m_value; }
-    const Json & operator[](size_t i) const override;
-public:
-    explicit JsonArray(const Json::array &value) : Value(value) {}
-    explicit JsonArray(Json::array &&value)      : Value(move(value)) {}
-};
-
-class JsonObject final : public Value<Json::OBJECT, Json::object> {
-    const Json::object &object_items() const override { return m_value; }
-    const Json & operator[](const string &key) const override;
-public:
-    explicit JsonObject(const Json::object &value) : Value(value) {}
-    explicit JsonObject(Json::object &&value)      : Value(move(value)) {}
-};
-
-class JsonNull final : public Value<Json::NUL, NullStruct> {
-public:
-    JsonNull() : Value({}) {}
-};
-
-/* * * * * * * * * * * * * * * * * * * *
- * Static globals - static-init-safe
- */
-struct Statics {
-    const std::shared_ptr<JsonValue> null = make_shared<JsonNull>();
-    const std::shared_ptr<JsonValue> t = make_shared<JsonBoolean>(true);
-    const std::shared_ptr<JsonValue> f = make_shared<JsonBoolean>(false);
-    const string empty_string;
-    const vector<Json> empty_vector;
-    const map<string, Json> empty_map;
-    Statics() {}
-};
-
-static const Statics & statics() {
-    static const Statics s {};
-    return s;
-}
-
-static const Json & static_null() {
-    // This has to be separate, not in Statics, because Json() accesses statics().null.
-    static const Json json_null;
-    return json_null;
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Constructors
- */
-
-Json::Json() noexcept                  : m_ptr(statics().null) {}
-Json::Json(std::nullptr_t) noexcept    : m_ptr(statics().null) {}
-Json::Json(double value)               : m_ptr(make_shared<JsonDouble>(value)) {}
-Json::Json(int value)                  : m_ptr(make_shared<JsonInt>(value)) {}
-Json::Json(bool value)                 : m_ptr(value ? statics().t : statics().f) {}
-Json::Json(const string &value)        : m_ptr(make_shared<JsonString>(value)) {}
-Json::Json(string &&value)             : m_ptr(make_shared<JsonString>(move(value))) {}
-Json::Json(const char * value)         : m_ptr(make_shared<JsonString>(value)) {}
-Json::Json(const Json::array &values)  : m_ptr(make_shared<JsonArray>(values)) {}
-Json::Json(Json::array &&values)       : m_ptr(make_shared<JsonArray>(move(values))) {}
-Json::Json(const Json::object &values) : m_ptr(make_shared<JsonObject>(values)) {}
-Json::Json(Json::object &&values)      : m_ptr(make_shared<JsonObject>(move(values))) {}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Accessors
- */
-
-Json::Type Json::type()                           const { return m_ptr->type();         }
-double Json::number_value()                       const { return m_ptr->number_value(); }
-int Json::int_value()                             const { return m_ptr->int_value();    }
-bool Json::bool_value()                           const { return m_ptr->bool_value();   }
-const string & Json::string_value()               const { return m_ptr->string_value(); }
-const vector<Json> & Json::array_items()          const { return m_ptr->array_items();  }
-const map<string, Json> & Json::object_items()    const { return m_ptr->object_items(); }
-const Json & Json::operator[] (size_t i)          const { return (*m_ptr)[i];           }
-const Json & Json::operator[] (const string &key) const { return (*m_ptr)[key];         }
-
-double                    JsonValue::number_value()              const { return 0; }
-int                       JsonValue::int_value()                 const { return 0; }
-bool                      JsonValue::bool_value()                const { return false; }
-const string &            JsonValue::string_value()              const { return statics().empty_string; }
-const vector<Json> &      JsonValue::array_items()               const { return statics().empty_vector; }
-const map<string, Json> & JsonValue::object_items()              const { return statics().empty_map; }
-const Json &              JsonValue::operator[] (size_t)         const { return static_null(); }
-const Json &              JsonValue::operator[] (const string &) const { return static_null(); }
-
-const Json & JsonObject::operator[] (const string &key) const {
-    auto iter = m_value.find(key);
-    return (iter == m_value.end()) ? static_null() : iter->second;
-}
-const Json & JsonArray::operator[] (size_t i) const {
-    if (i >= m_value.size()) return static_null();
-    else return m_value[i];
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Comparison
- */
-
-bool Json::operator== (const Json &other) const {
-    if (m_ptr->type() != other.m_ptr->type())
-        return false;
-
-    return m_ptr->equals(other.m_ptr.get());
-}
-
-bool Json::operator< (const Json &other) const {
-    if (m_ptr->type() != other.m_ptr->type())
-        return m_ptr->type() < other.m_ptr->type();
-
-    return m_ptr->less(other.m_ptr.get());
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Parsing
- */
-
-/* esc(c)
- *
- * Format char c suitable for printing in an error message.
- */
-static inline string esc(char c) {
-    char buf[12];
-    if (static_cast<uint8_t>(c) >= 0x20 && static_cast<uint8_t>(c) <= 0x7f) {
-        snprintf(buf, sizeof buf, "'%c' (%d)", c, c);
-    } else {
-        snprintf(buf, sizeof buf, "(%d)", c);
-    }
-    return string(buf);
-}
-
-static inline bool in_range(long x, long lower, long upper) {
-    return (x >= lower && x <= upper);
-}
-
-namespace {
-/* JsonParser
- *
- * Object that tracks all state of an in-progress parse.
- */
-struct JsonParser final {
-
-    /* State
-     */
-    const string &str;
-    size_t i;
-    string &err;
-    bool failed;
-    const JsonParse strategy;
-
-    /* fail(msg, err_ret = Json())
-     *
-     * Mark this parse as failed.
-     */
-    Json fail(string &&msg) {
-        return fail(move(msg), Json());
-    }
-
-    template <typename T>
-    T fail(string &&msg, const T err_ret) {
-        if (!failed)
-            err = std::move(msg);
-        failed = true;
-        return err_ret;
-    }
-
-    /* consume_whitespace()
-     *
-     * Advance until the current character is non-whitespace.
-     */
-    void consume_whitespace() {
-        while (str[i] == ' ' || str[i] == '\r' || str[i] == '\n' || str[i] == '\t')
-            i++;
-    }
-
-    /* consume_comment()
-     *
-     * Advance comments (c-style inline and multiline).
-     */
-    bool consume_comment() {
-      bool comment_found = false;
-      if (str[i] == '/') {
-        i++;
-        if (i == str.size())
-          return fail("unexpected end of input after start of comment", false);
-        if (str[i] == '/') { // inline comment
-          i++;
-          // advance until next line, or end of input
-          while (i < str.size() && str[i] != '\n') {
-            i++;
-          }
-          comment_found = true;
-        }
-        else if (str[i] == '*') { // multiline comment
-          i++;
-          if (i > str.size()-2)
-            return fail("unexpected end of input inside multi-line comment", false);
-          // advance until closing tokens
-          while (!(str[i] == '*' && str[i+1] == '/')) {
-            i++;
-            if (i > str.size()-2)
-              return fail(
-                "unexpected end of input inside multi-line comment", false);
-          }
-          i += 2;
-          comment_found = true;
-        }
-        else
-          return fail("malformed comment", false);
-      }
-      return comment_found;
-    }
-
-    /* consume_garbage()
-     *
-     * Advance until the current character is non-whitespace and non-comment.
-     */
-    void consume_garbage() {
-      consume_whitespace();
-      if(strategy == JsonParse::COMMENTS) {
-        bool comment_found = false;
-        do {
-          comment_found = consume_comment();
-          if (failed) return;
-          consume_whitespace();
-        }
-        while(comment_found);
-      }
-    }
-
-    /* get_next_token()
-     *
-     * Return the next non-whitespace character. If the end of the input is reached,
-     * flag an error and return 0.
-     */
-    char get_next_token() {
-        consume_garbage();
-        if (failed) return (char)0;
-        if (i == str.size())
-            return fail("unexpected end of input", (char)0);
-
-        return str[i++];
-    }
-
-    /* encode_utf8(pt, out)
-     *
-     * Encode pt as UTF-8 and add it to out.
-     */
-    void encode_utf8(long pt, string & out) {
-        if (pt < 0)
-            return;
-
-        if (pt < 0x80) {
-            out += static_cast<char>(pt);
-        } else if (pt < 0x800) {
-            out += static_cast<char>((pt >> 6) | 0xC0);
-            out += static_cast<char>((pt & 0x3F) | 0x80);
-        } else if (pt < 0x10000) {
-            out += static_cast<char>((pt >> 12) | 0xE0);
-            out += static_cast<char>(((pt >> 6) & 0x3F) | 0x80);
-            out += static_cast<char>((pt & 0x3F) | 0x80);
-        } else {
-            out += static_cast<char>((pt >> 18) | 0xF0);
-            out += static_cast<char>(((pt >> 12) & 0x3F) | 0x80);
-            out += static_cast<char>(((pt >> 6) & 0x3F) | 0x80);
-            out += static_cast<char>((pt & 0x3F) | 0x80);
-        }
-    }
-
-    /* parse_string()
-     *
-     * Parse a string, starting at the current position.
-     */
-    string parse_string() {
-        string out;
-        long last_escaped_codepoint = -1;
-        while (true) {
-            if (i == str.size())
-                return fail("unexpected end of input in string", "");
-
-            char ch = str[i++];
-
-            if (ch == '"') {
-                encode_utf8(last_escaped_codepoint, out);
-                return out;
-            }
-
-            if (in_range(ch, 0, 0x1f))
-                return fail("unescaped " + esc(ch) + " in string", "");
-
-            // The usual case: non-escaped characters
-            if (ch != '\\') {
-                encode_utf8(last_escaped_codepoint, out);
-                last_escaped_codepoint = -1;
-                out += ch;
-                continue;
-            }
-
-            // Handle escapes
-            if (i == str.size())
-                return fail("unexpected end of input in string", "");
-
-            ch = str[i++];
-
-            if (ch == 'u') {
-                // Extract 4-byte escape sequence
-                string esc = str.substr(i, 4);
-                // Explicitly check length of the substring. The following loop
-                // relies on std::string returning the terminating NUL when
-                // accessing str[length]. Checking here reduces brittleness.
-                if (esc.length() < 4) {
-                    return fail("bad \\u escape: " + esc, "");
-                }
-                for (size_t j = 0; j < 4; j++) {
-                    if (!in_range(esc[j], 'a', 'f') && !in_range(esc[j], 'A', 'F')
-                            && !in_range(esc[j], '0', '9'))
-                        return fail("bad \\u escape: " + esc, "");
-                }
-
-                long codepoint = strtol(esc.data(), nullptr, 16);
-
-                // JSON specifies that characters outside the BMP shall be encoded as a pair
-                // of 4-hex-digit \u escapes encoding their surrogate pair components. Check
-                // whether we're in the middle of such a beast: the previous codepoint was an
-                // escaped lead (high) surrogate, and this is a trail (low) surrogate.
-                if (in_range(last_escaped_codepoint, 0xD800, 0xDBFF)
-                        && in_range(codepoint, 0xDC00, 0xDFFF)) {
-                    // Reassemble the two surrogate pairs into one astral-plane character, per
-                    // the UTF-16 algorithm.
-                    encode_utf8((((last_escaped_codepoint - 0xD800) << 10)
-                                 | (codepoint - 0xDC00)) + 0x10000, out);
-                    last_escaped_codepoint = -1;
-                } else {
-                    encode_utf8(last_escaped_codepoint, out);
-                    last_escaped_codepoint = codepoint;
-                }
-
-                i += 4;
-                continue;
-            }
-
-            encode_utf8(last_escaped_codepoint, out);
-            last_escaped_codepoint = -1;
-
-            if (ch == 'b') {
-                out += '\b';
-            } else if (ch == 'f') {
-                out += '\f';
-            } else if (ch == 'n') {
-                out += '\n';
-            } else if (ch == 'r') {
-                out += '\r';
-            } else if (ch == 't') {
-                out += '\t';
-            } else if (ch == '"' || ch == '\\' || ch == '/') {
-                out += ch;
-            } else {
-                return fail("invalid escape character " + esc(ch), "");
-            }
-        }
-    }
-
-    /* parse_number()
-     *
-     * Parse a double.
-     */
-    Json parse_number() {
-        size_t start_pos = i;
-
-        if (str[i] == '-')
-            i++;
-
-        // Integer part
-        if (str[i] == '0') {
-            i++;
-            if (in_range(str[i], '0', '9'))
-                return fail("leading 0s not permitted in numbers");
-        } else if (in_range(str[i], '1', '9')) {
-            i++;
-            while (in_range(str[i], '0', '9'))
-                i++;
-        } else {
-            return fail("invalid " + esc(str[i]) + " in number");
-        }
-
-        if (str[i] != '.' && str[i] != 'e' && str[i] != 'E'
-                && (i - start_pos) <= static_cast<size_t>(std::numeric_limits<int>::digits10)) {
-            return std::atoi(str.c_str() + start_pos);
-        }
-
-        // Decimal part
-        if (str[i] == '.') {
-            i++;
-            if (!in_range(str[i], '0', '9'))
-                return fail("at least one digit required in fractional part");
-
-            while (in_range(str[i], '0', '9'))
-                i++;
-        }
-
-        // Exponent part
-        if (str[i] == 'e' || str[i] == 'E') {
-            i++;
-
-            if (str[i] == '+' || str[i] == '-')
-                i++;
-
-            if (!in_range(str[i], '0', '9'))
-                return fail("at least one digit required in exponent");
-
-            while (in_range(str[i], '0', '9'))
-                i++;
-        }
-
-        return std::strtod(str.c_str() + start_pos, nullptr);
-    }
-
-    /* expect(str, res)
-     *
-     * Expect that 'str' starts at the character that was just read. If it does, advance
-     * the input and return res. If not, flag an error.
-     */
-    Json expect(const string &expected, Json res) {
-        assert(i != 0);
-        i--;
-        if (str.compare(i, expected.length(), expected) == 0) {
-            i += expected.length();
-            return res;
-        } else {
-            return fail("parse error: expected " + expected + ", got " + str.substr(i, expected.length()));
-        }
-    }
-
-    /* parse_json()
-     *
-     * Parse a JSON object.
-     */
-    Json parse_json(int depth) {
-        if (depth > max_depth) {
-            return fail("exceeded maximum nesting depth");
-        }
-
-        char ch = get_next_token();
-        if (failed)
-            return Json();
-
-        if (ch == '-' || (ch >= '0' && ch <= '9')) {
-            i--;
-            return parse_number();
-        }
-
-        if (ch == 't')
-            return expect("true", true);
-
-        if (ch == 'f')
-            return expect("false", false);
-
-        if (ch == 'n')
-            return expect("null", Json());
-
-        if (ch == '"')
-            return parse_string();
-
-        if (ch == '{') {
-            map<string, Json> data;
-            ch = get_next_token();
-            if (ch == '}')
-                return data;
-
-            while (1) {
-                if (ch != '"')
-                    return fail("expected '\"' in object, got " + esc(ch));
-
-                string key = parse_string();
-                if (failed)
-                    return Json();
-
-                ch = get_next_token();
-                if (ch != ':')
-                    return fail("expected ':' in object, got " + esc(ch));
-
-                data[std::move(key)] = parse_json(depth + 1);
-                if (failed)
-                    return Json();
-
-                ch = get_next_token();
-                if (ch == '}')
-                    break;
-                if (ch != ',')
-                    return fail("expected ',' in object, got " + esc(ch));
-
-                ch = get_next_token();
-            }
-            return data;
-        }
-
-        if (ch == '[') {
-            vector<Json> data;
-            ch = get_next_token();
-            if (ch == ']')
-                return data;
-
-            while (1) {
-                i--;
-                data.push_back(parse_json(depth + 1));
-                if (failed)
-                    return Json();
-
-                ch = get_next_token();
-                if (ch == ']')
-                    break;
-                if (ch != ',')
-                    return fail("expected ',' in list, got " + esc(ch));
-
-                ch = get_next_token();
-                (void)ch;
-            }
-            return data;
-        }
-
-        return fail("expected value, got " + esc(ch));
-    }
-};
-}//namespace {
-
-Json Json::parse(const string &in, string &err, JsonParse strategy) {
-    JsonParser parser { in, 0, err, false, strategy };
-    Json result = parser.parse_json(0);
-
-    // Check for any trailing garbage
-    parser.consume_garbage();
-    if (parser.failed)
-        return Json();
-    if (parser.i != in.size())
-        return parser.fail("unexpected trailing " + esc(in[parser.i]));
-
-    return result;
-}
-
-// Documented in json11.hpp
-vector<Json> Json::parse_multi(const string &in,
-                               std::string::size_type &parser_stop_pos,
-                               string &err,
-                               JsonParse strategy) {
-    JsonParser parser { in, 0, err, false, strategy };
-    parser_stop_pos = 0;
-    vector<Json> json_vec;
-    while (parser.i != in.size() && !parser.failed) {
-        json_vec.push_back(parser.parse_json(0));
-        if (parser.failed)
-            break;
-
-        // Check for another object
-        parser.consume_garbage();
-        if (parser.failed)
-            break;
-        parser_stop_pos = parser.i;
-    }
-    return json_vec;
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Shape-checking
- */
-
-bool Json::has_shape(const shape & types, string & err) const {
-    if (!is_object()) {
-        err = "expected JSON object, got " + dump();
-        return false;
-    }
-
-    for (auto & item : types) {
-        if ((*this)[item.first].type() != item.second) {
-            err = "bad type for " + item.first + " in " + dump();
-            return false;
-        }
-    }
-
-    return true;
-}
-
-} // namespace json11
diff --git a/third_party/json11/json11.hpp b/third_party/json11/json11.hpp
deleted file mode 100644
index 5202ef9323bb79..00000000000000
--- a/third_party/json11/json11.hpp
+++ /dev/null
@@ -1,232 +0,0 @@
-/* json11
- *
- * json11 is a tiny JSON library for C++11, providing JSON parsing and serialization.
- *
- * The core object provided by the library is json11::Json. A Json object represents any JSON
- * value: null, bool, number (int or double), string (std::string), array (std::vector), or
- * object (std::map).
- *
- * Json objects act like values: they can be assigned, copied, moved, compared for equality or
- * order, etc. There are also helper methods Json::dump, to serialize a Json to a string, and
- * Json::parse (static) to parse a std::string as a Json object.
- *
- * Internally, the various types of Json object are represented by the JsonValue class
- * hierarchy.
- *
- * A note on numbers - JSON specifies the syntax of number formatting but not its semantics,
- * so some JSON implementations distinguish between integers and floating-point numbers, while
- * some don't. In json11, we choose the latter. Because some JSON implementations (namely
- * Javascript itself) treat all numbers as the same type, distinguishing the two leads
- * to JSON that will be *silently* changed by a round-trip through those implementations.
- * Dangerous! To avoid that risk, json11 stores all numbers as double internally, but also
- * provides integer helpers.
- *
- * Fortunately, double-precision IEEE754 ('double') can precisely store any integer in the
- * range +/-2^53, which includes every 'int' on most systems. (Timestamps often use int64
- * or long long to avoid the Y2038K problem; a double storing microseconds since some epoch
- * will be exact for +/- 275 years.)
- */
-
-/* Copyright (c) 2013 Dropbox, Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <string>
-#include <vector>
-#include <map>
-#include <memory>
-#include <initializer_list>
-
-#ifdef _MSC_VER
-    #if _MSC_VER <= 1800 // VS 2013
-        #ifndef noexcept
-            #define noexcept throw()
-        #endif
-
-        #ifndef snprintf
-            #define snprintf _snprintf_s
-        #endif
-    #endif
-#endif
-
-namespace json11 {
-
-enum JsonParse {
-    STANDARD, COMMENTS
-};
-
-class JsonValue;
-
-class Json final {
-public:
-    // Types
-    enum Type {
-        NUL, NUMBER, BOOL, STRING, ARRAY, OBJECT
-    };
-
-    // Array and object typedefs
-    typedef std::vector<Json> array;
-    typedef std::map<std::string, Json> object;
-
-    // Constructors for the various types of JSON value.
-    Json() noexcept;                // NUL
-    Json(std::nullptr_t) noexcept;  // NUL
-    Json(double value);             // NUMBER
-    Json(int value);                // NUMBER
-    Json(bool value);               // BOOL
-    Json(const std::string &value); // STRING
-    Json(std::string &&value);      // STRING
-    Json(const char * value);       // STRING
-    Json(const array &values);      // ARRAY
-    Json(array &&values);           // ARRAY
-    Json(const object &values);     // OBJECT
-    Json(object &&values);          // OBJECT
-
-    // Implicit constructor: anything with a to_json() function.
-    template <class T, class = decltype(&T::to_json)>
-    Json(const T & t) : Json(t.to_json()) {}
-
-    // Implicit constructor: map-like objects (std::map, std::unordered_map, etc)
-    template <class M, typename std::enable_if<
-        std::is_constructible<std::string, typename M::key_type>::value
-        && std::is_constructible<Json, typename M::mapped_type>::value,
-            int>::type = 0>
-    Json(const M & m) : Json(object(m.begin(), m.end())) {}
-
-    // Implicit constructor: vector-like objects (std::list, std::vector, std::set, etc)
-    template <class V, typename std::enable_if<
-        std::is_constructible<Json, typename V::value_type>::value,
-            int>::type = 0>
-    Json(const V & v) : Json(array(v.begin(), v.end())) {}
-
-    // This prevents Json(some_pointer) from accidentally producing a bool. Use
-    // Json(bool(some_pointer)) if that behavior is desired.
-    Json(void *) = delete;
-
-    // Accessors
-    Type type() const;
-
-    bool is_null()   const { return type() == NUL; }
-    bool is_number() const { return type() == NUMBER; }
-    bool is_bool()   const { return type() == BOOL; }
-    bool is_string() const { return type() == STRING; }
-    bool is_array()  const { return type() == ARRAY; }
-    bool is_object() const { return type() == OBJECT; }
-
-    // Return the enclosed value if this is a number, 0 otherwise. Note that json11 does not
-    // distinguish between integer and non-integer numbers - number_value() and int_value()
-    // can both be applied to a NUMBER-typed object.
-    double number_value() const;
-    int int_value() const;
-
-    // Return the enclosed value if this is a boolean, false otherwise.
-    bool bool_value() const;
-    // Return the enclosed string if this is a string, "" otherwise.
-    const std::string &string_value() const;
-    // Return the enclosed std::vector if this is an array, or an empty vector otherwise.
-    const array &array_items() const;
-    // Return the enclosed std::map if this is an object, or an empty map otherwise.
-    const object &object_items() const;
-
-    // Return a reference to arr[i] if this is an array, Json() otherwise.
-    const Json & operator[](size_t i) const;
-    // Return a reference to obj[key] if this is an object, Json() otherwise.
-    const Json & operator[](const std::string &key) const;
-
-    // Serialize.
-    void dump(std::string &out) const;
-    std::string dump() const {
-        std::string out;
-        dump(out);
-        return out;
-    }
-
-    // Parse. If parse fails, return Json() and assign an error message to err.
-    static Json parse(const std::string & in,
-                      std::string & err,
-                      JsonParse strategy = JsonParse::STANDARD);
-    static Json parse(const char * in,
-                      std::string & err,
-                      JsonParse strategy = JsonParse::STANDARD) {
-        if (in) {
-            return parse(std::string(in), err, strategy);
-        } else {
-            err = "null input";
-            return nullptr;
-        }
-    }
-    // Parse multiple objects, concatenated or separated by whitespace
-    static std::vector<Json> parse_multi(
-        const std::string & in,
-        std::string::size_type & parser_stop_pos,
-        std::string & err,
-        JsonParse strategy = JsonParse::STANDARD);
-
-    static inline std::vector<Json> parse_multi(
-        const std::string & in,
-        std::string & err,
-        JsonParse strategy = JsonParse::STANDARD) {
-        std::string::size_type parser_stop_pos;
-        return parse_multi(in, parser_stop_pos, err, strategy);
-    }
-
-    bool operator== (const Json &rhs) const;
-    bool operator<  (const Json &rhs) const;
-    bool operator!= (const Json &rhs) const { return !(*this == rhs); }
-    bool operator<= (const Json &rhs) const { return !(rhs < *this); }
-    bool operator>  (const Json &rhs) const { return  (rhs < *this); }
-    bool operator>= (const Json &rhs) const { return !(*this < rhs); }
-
-    /* has_shape(types, err)
-     *
-     * Return true if this is a JSON object and, for each item in types, has a field of
-     * the given type. If not, return false and set err to a descriptive message.
-     */
-    typedef std::initializer_list<std::pair<std::string, Type>> shape;
-    bool has_shape(const shape & types, std::string & err) const;
-
-private:
-    std::shared_ptr<JsonValue> m_ptr;
-};
-
-// Internal class hierarchy - JsonValue objects are not exposed to users of this API.
-class JsonValue {
-protected:
-    friend class Json;
-    friend class JsonInt;
-    friend class JsonDouble;
-    virtual Json::Type type() const = 0;
-    virtual bool equals(const JsonValue * other) const = 0;
-    virtual bool less(const JsonValue * other) const = 0;
-    virtual void dump(std::string &out) const = 0;
-    virtual double number_value() const;
-    virtual int int_value() const;
-    virtual bool bool_value() const;
-    virtual const std::string &string_value() const;
-    virtual const Json::array &array_items() const;
-    virtual const Json &operator[](size_t i) const;
-    virtual const Json::object &object_items() const;
-    virtual const Json &operator[](const std::string &key) const;
-    virtual ~JsonValue() {}
-};
-
-} // namespace json11
diff --git a/tools/jotpluggler/app.cc b/tools/jotpluggler/app.cc
index efc848494ce1f7..22a9f9021c0081 100644
--- a/tools/jotpluggler/app.cc
+++ b/tools/jotpluggler/app.cc
@@ -27,7 +27,7 @@
 #include <unordered_set>
 #include <unistd.h>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/custom_series.cc b/tools/jotpluggler/custom_series.cc
index 568f7e97c310c5..aabf78a0dbc59e 100644
--- a/tools/jotpluggler/custom_series.cc
+++ b/tools/jotpluggler/custom_series.cc
@@ -11,7 +11,7 @@
 #include <stdexcept>
 #include <unistd.h>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/layout_io.cc b/tools/jotpluggler/layout_io.cc
index f984c0f0e8e19b..5c70f7a42add43 100644
--- a/tools/jotpluggler/layout_io.cc
+++ b/tools/jotpluggler/layout_io.cc
@@ -6,7 +6,7 @@
 #include <sstream>
 #include <stdexcept>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/map.cc b/tools/jotpluggler/map.cc
index 8725908ea022ed..fb4e03c9122a34 100644
--- a/tools/jotpluggler/map.cc
+++ b/tools/jotpluggler/map.cc
@@ -25,7 +25,7 @@ extern "C" {
 #include <vector>
 
 #include "common/util.h"
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/sketch_layout.cc b/tools/jotpluggler/sketch_layout.cc
index c44a4e93cdce65..20912801693c08 100644
--- a/tools/jotpluggler/sketch_layout.cc
+++ b/tools/jotpluggler/sketch_layout.cc
@@ -23,7 +23,7 @@
 #include <utility>
 
 #include "common/util.h"
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 #include "tools/replay/logreader.h"
 #include "tools/replay/py_downloader.h"
 
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index e7b8ed6bba5f62..df4fa813cf4571 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -4,7 +4,7 @@
 #include <filesystem>
 #include <regex>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 #include "system/hardware/hw.h"
 #include "tools/replay/py_downloader.h"
 #include "tools/replay/replay.h"
diff --git a/tools/replay/route.h b/tools/replay/route.h
index 119a81152e01c2..50f3eba8545ed4 100644
--- a/tools/replay/route.h
+++ b/tools/replay/route.h
@@ -8,7 +8,7 @@
 #include <thread>
 #include <vector>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 #include "tools/replay/framereader.h"
 #include "tools/replay/logreader.h"
 #include "tools/replay/util.h"
diff --git a/uv.lock b/uv.lock
index e3c967cfc16c66..99da78c44940d7 100644
--- a/uv.lock
+++ b/uv.lock
@@ -541,6 +541,11 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/94/9e/820c4b086ad01ba7d77369fb8b11470a01fac9b4977f02e18659cf378b6b/json_rpc-1.15.0-py2.py3-none-any.whl", hash = "sha256:4a4668bbbe7116feb4abbd0f54e64a4adcf4b8f648f19ffa0848ad0f6606a9bf", size = 39450, upload-time = "2023-06-11T09:45:47.136Z" },
 ]
 
+[[package]]
+name = "json11"
+version = "20170411.0"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=json11&rev=release-json11#8e7737088f52d10fdea69c28c55e3e40b74af3f3" }
+
 [[package]]
 name = "kiwisolver"
 version = "1.5.0"
@@ -758,6 +763,7 @@ dependencies = [
     { name = "inputs" },
     { name = "jeepney" },
     { name = "json-rpc" },
+    { name = "json11" },
     { name = "libjpeg" },
     { name = "libusb" },
     { name = "libusb1" },
@@ -842,6 +848,7 @@ requires-dist = [
     { name = "jeepney" },
     { name = "jinja2", marker = "extra == 'docs'" },
     { name = "json-rpc" },
+    { name = "json11", git = "https://github.com/commaai/dependencies.git?subdirectory=json11&rev=release-json11" },
     { name = "libjpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg" },
     { name = "libusb", git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb" },
     { name = "libusb1" },

From 656de3f17b75466274954a2a40a0eac8ae5de909 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 10:24:16 -0700
Subject: [PATCH 1050/1434] Revert "Use packaged json11 dependency (#37995)"

This reverts commit 63508d0481d18d5c787f03438ea7b4990347fa15.
---
 SConstruct                         |   6 +-
 common/swaglog.cc                  |   2 +-
 common/tests/test_swaglog.cc       |   2 +-
 pyproject.toml                     |   1 -
 third_party/SConscript             |   3 +
 third_party/build.sh               |  53 ++
 third_party/json11/json11.cpp      | 785 +++++++++++++++++++++++++++++
 third_party/json11/json11.hpp      | 232 +++++++++
 tools/jotpluggler/app.cc           |   2 +-
 tools/jotpluggler/custom_series.cc |   2 +-
 tools/jotpluggler/layout_io.cc     |   2 +-
 tools/jotpluggler/map.cc           |   2 +-
 tools/jotpluggler/sketch_layout.cc |   2 +-
 tools/replay/route.cc              |   2 +-
 tools/replay/route.h               |   2 +-
 uv.lock                            |   7 -
 16 files changed, 1087 insertions(+), 18 deletions(-)
 create mode 100644 third_party/SConscript
 create mode 100755 third_party/build.sh
 create mode 100644 third_party/json11/json11.cpp
 create mode 100644 third_party/json11/json11.hpp

diff --git a/SConstruct b/SConstruct
index 6e5f31d921dd63..9d985ab696aaec 100644
--- a/SConstruct
+++ b/SConstruct
@@ -37,7 +37,7 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 acados = pkgs[pkg_names.index('acados')]
 acados_include_dirs = [
@@ -112,6 +112,7 @@ env = Environment(
     "#",
     "#msgq",
     "#third_party",
+    "#third_party/json11",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
   ],
@@ -241,6 +242,9 @@ SConscript([
 if arch == "larch64":
   SConscript(['system/camerad/SConscript'])
 
+# Build openpilot
+SConscript(['third_party/SConscript'])
+
 # Build selfdrive
 SConscript([
   'selfdrive/pandad/SConscript',
diff --git a/common/swaglog.cc b/common/swaglog.cc
index df7ce94c146457..62a405a2b6e244 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -11,7 +11,7 @@
 
 #include <zmq.h>
 #include <stdarg.h>
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"
 #include "common/version.h"
 #include "system/hardware/hw.h"
 
diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc
index 8142f8d63e295c..09bc4c3795fd5e 100644
--- a/common/tests/test_swaglog.cc
+++ b/common/tests/test_swaglog.cc
@@ -7,7 +7,7 @@
 #include "common/util.h"
 #include "common/version.h"
 #include "system/hardware/hw.h"
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"
 
 std::string daemon_name = "testy";
 std::string dongle_id = "test_dongle_id";
diff --git a/pyproject.toml b/pyproject.toml
index 6f5058b43c2549..fe6e9beb3c8732 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -38,7 +38,6 @@ dependencies = [
   "ncurses @ git+https://github.com/commaai/dependencies.git@release-ncurses#subdirectory=ncurses",
   "zeromq @ git+https://github.com/commaai/dependencies.git@release-zeromq#subdirectory=zeromq",
   "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
-  "json11 @ git+https://github.com/commaai/dependencies.git@release-json11#subdirectory=json11",
   "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
   "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
   "xvfb @ git+https://github.com/commaai/dependencies.git@release-xvfb#subdirectory=xvfb",
diff --git a/third_party/SConscript b/third_party/SConscript
new file mode 100644
index 00000000000000..3a7497d1623207
--- /dev/null
+++ b/third_party/SConscript
@@ -0,0 +1,3 @@
+Import('env')
+
+env.Library('json11', ['json11/json11.cpp'], CCFLAGS=env['CCFLAGS'] + ['-Wno-unqualified-std-cast-call'])
diff --git a/third_party/build.sh b/third_party/build.sh
new file mode 100755
index 00000000000000..d3a9c6579c594a
--- /dev/null
+++ b/third_party/build.sh
@@ -0,0 +1,53 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+
+# Reproducible builds: pin timestamps to epoch
+export SOURCE_DATE_EPOCH=0
+export ZERO_AR_DATE=1
+
+pids=()
+names=()
+logs=()
+
+for script in "$DIR"/*/build.sh; do
+  [ -f "$script" ] || continue
+  name=$(basename "$(dirname "$script")")
+  log=$(mktemp)
+  names+=("$name")
+  logs+=("$log")
+  (cd "$(dirname "$script")" && bash "$(basename "$script")") >"$log" 2>&1 &
+  pids+=($!)
+done
+
+failed=0
+for i in "${!pids[@]}"; do
+  echo "--- ${names[$i]} ---"
+  if wait "${pids[$i]}"; then
+    echo "OK"
+  else
+    echo "FAILED (exit $?)"
+    failed=1
+  fi
+  cat "${logs[$i]}"
+  rm -f "${logs[$i]}"
+  echo
+done
+
+[ $failed -ne 0 ] && exit $failed
+
+# Repack ar archives with deterministic headers (zero timestamps/uid/gid)
+# Skip foreign-platform archives that ar can't read (e.g. Mach-O on Linux)
+while IFS= read -r -d '' lib; do
+  tmpdir=$(mktemp -d)
+  lib=$(realpath "$lib")
+  if (cd "$tmpdir" && ar x "$lib" 2>/dev/null); then
+    (cd "$tmpdir" && ar Drcs repacked.a * && mv repacked.a "$lib")
+  fi
+  rm -rf "$tmpdir"
+done < <(find "$DIR" -name '*.a' \
+  \( -path '*/x86_64/*' -o -path '*/Darwin/*' -o -path '*/larch64/*' -o -path '*/aarch64/*' \) \
+  -print0)
+
+echo -e "\033[32mAll third_party builds succeeded.\033[0m"
diff --git a/third_party/json11/json11.cpp b/third_party/json11/json11.cpp
new file mode 100644
index 00000000000000..3bd4fde2f2c911
--- /dev/null
+++ b/third_party/json11/json11.cpp
@@ -0,0 +1,785 @@
+/* Copyright (c) 2013 Dropbox, Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "json11.hpp"
+#include <cassert>
+#include <cmath>
+#include <cstdlib>
+#include <cstdio>
+#include <limits>
+#include <cstdint>
+
+namespace json11 {
+
+static const int max_depth = 200;
+
+using std::string;
+using std::vector;
+using std::map;
+using std::make_shared;
+using std::initializer_list;
+using std::move;
+
+/* Helper for representing null - just a do-nothing struct, plus comparison
+ * operators so the helpers in JsonValue work. We can't use nullptr_t because
+ * it may not be orderable.
+ */
+struct NullStruct {
+    bool operator==(NullStruct) const { return true; }
+    bool operator<(NullStruct) const { return false; }
+};
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Serialization
+ */
+
+static void dump(NullStruct, string &out) {
+    out += "null";
+}
+
+static void dump(double value, string &out) {
+    if (std::isfinite(value)) {
+        char buf[32];
+        snprintf(buf, sizeof buf, "%.17g", value);
+        out += buf;
+    } else {
+        out += "null";
+    }
+}
+
+static void dump(int value, string &out) {
+    char buf[32];
+    snprintf(buf, sizeof buf, "%d", value);
+    out += buf;
+}
+
+static void dump(bool value, string &out) {
+    out += value ? "true" : "false";
+}
+
+static void dump(const string &value, string &out) {
+    out += '"';
+    for (size_t i = 0; i < value.length(); i++) {
+        const char ch = value[i];
+        if (ch == '\\') {
+            out += "\\\\";
+        } else if (ch == '"') {
+            out += "\\\"";
+        } else if (ch == '\b') {
+            out += "\\b";
+        } else if (ch == '\f') {
+            out += "\\f";
+        } else if (ch == '\n') {
+            out += "\\n";
+        } else if (ch == '\r') {
+            out += "\\r";
+        } else if (ch == '\t') {
+            out += "\\t";
+        } else if (static_cast<uint8_t>(ch) <= 0x1f) {
+            char buf[8];
+            snprintf(buf, sizeof buf, "\\u%04x", ch);
+            out += buf;
+        } else if (static_cast<uint8_t>(ch) == 0xe2 && static_cast<uint8_t>(value[i+1]) == 0x80
+                   && static_cast<uint8_t>(value[i+2]) == 0xa8) {
+            out += "\\u2028";
+            i += 2;
+        } else if (static_cast<uint8_t>(ch) == 0xe2 && static_cast<uint8_t>(value[i+1]) == 0x80
+                   && static_cast<uint8_t>(value[i+2]) == 0xa9) {
+            out += "\\u2029";
+            i += 2;
+        } else {
+            out += ch;
+        }
+    }
+    out += '"';
+}
+
+static void dump(const Json::array &values, string &out) {
+    bool first = true;
+    out += "[";
+    for (const auto &value : values) {
+        if (!first)
+            out += ", ";
+        value.dump(out);
+        first = false;
+    }
+    out += "]";
+}
+
+static void dump(const Json::object &values, string &out) {
+    bool first = true;
+    out += "{";
+    for (const auto &kv : values) {
+        if (!first)
+            out += ", ";
+        dump(kv.first, out);
+        out += ": ";
+        kv.second.dump(out);
+        first = false;
+    }
+    out += "}";
+}
+
+void Json::dump(string &out) const {
+    m_ptr->dump(out);
+}
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Value wrappers
+ */
+
+template <Json::Type tag, typename T>
+class Value : public JsonValue {
+protected:
+
+    // Constructors
+    explicit Value(const T &value) : m_value(value) {}
+    explicit Value(T &&value)      : m_value(move(value)) {}
+
+    // Get type tag
+    Json::Type type() const override {
+        return tag;
+    }
+
+    // Comparisons
+    bool equals(const JsonValue * other) const override {
+        return m_value == static_cast<const Value<tag, T> *>(other)->m_value;
+    }
+    bool less(const JsonValue * other) const override {
+        return m_value < static_cast<const Value<tag, T> *>(other)->m_value;
+    }
+
+    const T m_value;
+    void dump(string &out) const override { json11::dump(m_value, out); }
+};
+
+class JsonDouble final : public Value<Json::NUMBER, double> {
+    double number_value() const override { return m_value; }
+    int int_value() const override { return static_cast<int>(m_value); }
+    bool equals(const JsonValue * other) const override { return m_value == other->number_value(); }
+    bool less(const JsonValue * other)   const override { return m_value <  other->number_value(); }
+public:
+    explicit JsonDouble(double value) : Value(value) {}
+};
+
+class JsonInt final : public Value<Json::NUMBER, int> {
+    double number_value() const override { return m_value; }
+    int int_value() const override { return m_value; }
+    bool equals(const JsonValue * other) const override { return m_value == other->number_value(); }
+    bool less(const JsonValue * other)   const override { return m_value <  other->number_value(); }
+public:
+    explicit JsonInt(int value) : Value(value) {}
+};
+
+class JsonBoolean final : public Value<Json::BOOL, bool> {
+    bool bool_value() const override { return m_value; }
+public:
+    explicit JsonBoolean(bool value) : Value(value) {}
+};
+
+class JsonString final : public Value<Json::STRING, string> {
+    const string &string_value() const override { return m_value; }
+public:
+    explicit JsonString(const string &value) : Value(value) {}
+    explicit JsonString(string &&value)      : Value(move(value)) {}
+};
+
+class JsonArray final : public Value<Json::ARRAY, Json::array> {
+    const Json::array &array_items() const override { return m_value; }
+    const Json & operator[](size_t i) const override;
+public:
+    explicit JsonArray(const Json::array &value) : Value(value) {}
+    explicit JsonArray(Json::array &&value)      : Value(move(value)) {}
+};
+
+class JsonObject final : public Value<Json::OBJECT, Json::object> {
+    const Json::object &object_items() const override { return m_value; }
+    const Json & operator[](const string &key) const override;
+public:
+    explicit JsonObject(const Json::object &value) : Value(value) {}
+    explicit JsonObject(Json::object &&value)      : Value(move(value)) {}
+};
+
+class JsonNull final : public Value<Json::NUL, NullStruct> {
+public:
+    JsonNull() : Value({}) {}
+};
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Static globals - static-init-safe
+ */
+struct Statics {
+    const std::shared_ptr<JsonValue> null = make_shared<JsonNull>();
+    const std::shared_ptr<JsonValue> t = make_shared<JsonBoolean>(true);
+    const std::shared_ptr<JsonValue> f = make_shared<JsonBoolean>(false);
+    const string empty_string;
+    const vector<Json> empty_vector;
+    const map<string, Json> empty_map;
+    Statics() {}
+};
+
+static const Statics & statics() {
+    static const Statics s {};
+    return s;
+}
+
+static const Json & static_null() {
+    // This has to be separate, not in Statics, because Json() accesses statics().null.
+    static const Json json_null;
+    return json_null;
+}
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Constructors
+ */
+
+Json::Json() noexcept                  : m_ptr(statics().null) {}
+Json::Json(std::nullptr_t) noexcept    : m_ptr(statics().null) {}
+Json::Json(double value)               : m_ptr(make_shared<JsonDouble>(value)) {}
+Json::Json(int value)                  : m_ptr(make_shared<JsonInt>(value)) {}
+Json::Json(bool value)                 : m_ptr(value ? statics().t : statics().f) {}
+Json::Json(const string &value)        : m_ptr(make_shared<JsonString>(value)) {}
+Json::Json(string &&value)             : m_ptr(make_shared<JsonString>(move(value))) {}
+Json::Json(const char * value)         : m_ptr(make_shared<JsonString>(value)) {}
+Json::Json(const Json::array &values)  : m_ptr(make_shared<JsonArray>(values)) {}
+Json::Json(Json::array &&values)       : m_ptr(make_shared<JsonArray>(move(values))) {}
+Json::Json(const Json::object &values) : m_ptr(make_shared<JsonObject>(values)) {}
+Json::Json(Json::object &&values)      : m_ptr(make_shared<JsonObject>(move(values))) {}
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Accessors
+ */
+
+Json::Type Json::type()                           const { return m_ptr->type();         }
+double Json::number_value()                       const { return m_ptr->number_value(); }
+int Json::int_value()                             const { return m_ptr->int_value();    }
+bool Json::bool_value()                           const { return m_ptr->bool_value();   }
+const string & Json::string_value()               const { return m_ptr->string_value(); }
+const vector<Json> & Json::array_items()          const { return m_ptr->array_items();  }
+const map<string, Json> & Json::object_items()    const { return m_ptr->object_items(); }
+const Json & Json::operator[] (size_t i)          const { return (*m_ptr)[i];           }
+const Json & Json::operator[] (const string &key) const { return (*m_ptr)[key];         }
+
+double                    JsonValue::number_value()              const { return 0; }
+int                       JsonValue::int_value()                 const { return 0; }
+bool                      JsonValue::bool_value()                const { return false; }
+const string &            JsonValue::string_value()              const { return statics().empty_string; }
+const vector<Json> &      JsonValue::array_items()               const { return statics().empty_vector; }
+const map<string, Json> & JsonValue::object_items()              const { return statics().empty_map; }
+const Json &              JsonValue::operator[] (size_t)         const { return static_null(); }
+const Json &              JsonValue::operator[] (const string &) const { return static_null(); }
+
+const Json & JsonObject::operator[] (const string &key) const {
+    auto iter = m_value.find(key);
+    return (iter == m_value.end()) ? static_null() : iter->second;
+}
+const Json & JsonArray::operator[] (size_t i) const {
+    if (i >= m_value.size()) return static_null();
+    else return m_value[i];
+}
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Comparison
+ */
+
+bool Json::operator== (const Json &other) const {
+    if (m_ptr->type() != other.m_ptr->type())
+        return false;
+
+    return m_ptr->equals(other.m_ptr.get());
+}
+
+bool Json::operator< (const Json &other) const {
+    if (m_ptr->type() != other.m_ptr->type())
+        return m_ptr->type() < other.m_ptr->type();
+
+    return m_ptr->less(other.m_ptr.get());
+}
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Parsing
+ */
+
+/* esc(c)
+ *
+ * Format char c suitable for printing in an error message.
+ */
+static inline string esc(char c) {
+    char buf[12];
+    if (static_cast<uint8_t>(c) >= 0x20 && static_cast<uint8_t>(c) <= 0x7f) {
+        snprintf(buf, sizeof buf, "'%c' (%d)", c, c);
+    } else {
+        snprintf(buf, sizeof buf, "(%d)", c);
+    }
+    return string(buf);
+}
+
+static inline bool in_range(long x, long lower, long upper) {
+    return (x >= lower && x <= upper);
+}
+
+namespace {
+/* JsonParser
+ *
+ * Object that tracks all state of an in-progress parse.
+ */
+struct JsonParser final {
+
+    /* State
+     */
+    const string &str;
+    size_t i;
+    string &err;
+    bool failed;
+    const JsonParse strategy;
+
+    /* fail(msg, err_ret = Json())
+     *
+     * Mark this parse as failed.
+     */
+    Json fail(string &&msg) {
+        return fail(move(msg), Json());
+    }
+
+    template <typename T>
+    T fail(string &&msg, const T err_ret) {
+        if (!failed)
+            err = std::move(msg);
+        failed = true;
+        return err_ret;
+    }
+
+    /* consume_whitespace()
+     *
+     * Advance until the current character is non-whitespace.
+     */
+    void consume_whitespace() {
+        while (str[i] == ' ' || str[i] == '\r' || str[i] == '\n' || str[i] == '\t')
+            i++;
+    }
+
+    /* consume_comment()
+     *
+     * Advance comments (c-style inline and multiline).
+     */
+    bool consume_comment() {
+      bool comment_found = false;
+      if (str[i] == '/') {
+        i++;
+        if (i == str.size())
+          return fail("unexpected end of input after start of comment", false);
+        if (str[i] == '/') { // inline comment
+          i++;
+          // advance until next line, or end of input
+          while (i < str.size() && str[i] != '\n') {
+            i++;
+          }
+          comment_found = true;
+        }
+        else if (str[i] == '*') { // multiline comment
+          i++;
+          if (i > str.size()-2)
+            return fail("unexpected end of input inside multi-line comment", false);
+          // advance until closing tokens
+          while (!(str[i] == '*' && str[i+1] == '/')) {
+            i++;
+            if (i > str.size()-2)
+              return fail(
+                "unexpected end of input inside multi-line comment", false);
+          }
+          i += 2;
+          comment_found = true;
+        }
+        else
+          return fail("malformed comment", false);
+      }
+      return comment_found;
+    }
+
+    /* consume_garbage()
+     *
+     * Advance until the current character is non-whitespace and non-comment.
+     */
+    void consume_garbage() {
+      consume_whitespace();
+      if(strategy == JsonParse::COMMENTS) {
+        bool comment_found = false;
+        do {
+          comment_found = consume_comment();
+          if (failed) return;
+          consume_whitespace();
+        }
+        while(comment_found);
+      }
+    }
+
+    /* get_next_token()
+     *
+     * Return the next non-whitespace character. If the end of the input is reached,
+     * flag an error and return 0.
+     */
+    char get_next_token() {
+        consume_garbage();
+        if (failed) return (char)0;
+        if (i == str.size())
+            return fail("unexpected end of input", (char)0);
+
+        return str[i++];
+    }
+
+    /* encode_utf8(pt, out)
+     *
+     * Encode pt as UTF-8 and add it to out.
+     */
+    void encode_utf8(long pt, string & out) {
+        if (pt < 0)
+            return;
+
+        if (pt < 0x80) {
+            out += static_cast<char>(pt);
+        } else if (pt < 0x800) {
+            out += static_cast<char>((pt >> 6) | 0xC0);
+            out += static_cast<char>((pt & 0x3F) | 0x80);
+        } else if (pt < 0x10000) {
+            out += static_cast<char>((pt >> 12) | 0xE0);
+            out += static_cast<char>(((pt >> 6) & 0x3F) | 0x80);
+            out += static_cast<char>((pt & 0x3F) | 0x80);
+        } else {
+            out += static_cast<char>((pt >> 18) | 0xF0);
+            out += static_cast<char>(((pt >> 12) & 0x3F) | 0x80);
+            out += static_cast<char>(((pt >> 6) & 0x3F) | 0x80);
+            out += static_cast<char>((pt & 0x3F) | 0x80);
+        }
+    }
+
+    /* parse_string()
+     *
+     * Parse a string, starting at the current position.
+     */
+    string parse_string() {
+        string out;
+        long last_escaped_codepoint = -1;
+        while (true) {
+            if (i == str.size())
+                return fail("unexpected end of input in string", "");
+
+            char ch = str[i++];
+
+            if (ch == '"') {
+                encode_utf8(last_escaped_codepoint, out);
+                return out;
+            }
+
+            if (in_range(ch, 0, 0x1f))
+                return fail("unescaped " + esc(ch) + " in string", "");
+
+            // The usual case: non-escaped characters
+            if (ch != '\\') {
+                encode_utf8(last_escaped_codepoint, out);
+                last_escaped_codepoint = -1;
+                out += ch;
+                continue;
+            }
+
+            // Handle escapes
+            if (i == str.size())
+                return fail("unexpected end of input in string", "");
+
+            ch = str[i++];
+
+            if (ch == 'u') {
+                // Extract 4-byte escape sequence
+                string esc = str.substr(i, 4);
+                // Explicitly check length of the substring. The following loop
+                // relies on std::string returning the terminating NUL when
+                // accessing str[length]. Checking here reduces brittleness.
+                if (esc.length() < 4) {
+                    return fail("bad \\u escape: " + esc, "");
+                }
+                for (size_t j = 0; j < 4; j++) {
+                    if (!in_range(esc[j], 'a', 'f') && !in_range(esc[j], 'A', 'F')
+                            && !in_range(esc[j], '0', '9'))
+                        return fail("bad \\u escape: " + esc, "");
+                }
+
+                long codepoint = strtol(esc.data(), nullptr, 16);
+
+                // JSON specifies that characters outside the BMP shall be encoded as a pair
+                // of 4-hex-digit \u escapes encoding their surrogate pair components. Check
+                // whether we're in the middle of such a beast: the previous codepoint was an
+                // escaped lead (high) surrogate, and this is a trail (low) surrogate.
+                if (in_range(last_escaped_codepoint, 0xD800, 0xDBFF)
+                        && in_range(codepoint, 0xDC00, 0xDFFF)) {
+                    // Reassemble the two surrogate pairs into one astral-plane character, per
+                    // the UTF-16 algorithm.
+                    encode_utf8((((last_escaped_codepoint - 0xD800) << 10)
+                                 | (codepoint - 0xDC00)) + 0x10000, out);
+                    last_escaped_codepoint = -1;
+                } else {
+                    encode_utf8(last_escaped_codepoint, out);
+                    last_escaped_codepoint = codepoint;
+                }
+
+                i += 4;
+                continue;
+            }
+
+            encode_utf8(last_escaped_codepoint, out);
+            last_escaped_codepoint = -1;
+
+            if (ch == 'b') {
+                out += '\b';
+            } else if (ch == 'f') {
+                out += '\f';
+            } else if (ch == 'n') {
+                out += '\n';
+            } else if (ch == 'r') {
+                out += '\r';
+            } else if (ch == 't') {
+                out += '\t';
+            } else if (ch == '"' || ch == '\\' || ch == '/') {
+                out += ch;
+            } else {
+                return fail("invalid escape character " + esc(ch), "");
+            }
+        }
+    }
+
+    /* parse_number()
+     *
+     * Parse a double.
+     */
+    Json parse_number() {
+        size_t start_pos = i;
+
+        if (str[i] == '-')
+            i++;
+
+        // Integer part
+        if (str[i] == '0') {
+            i++;
+            if (in_range(str[i], '0', '9'))
+                return fail("leading 0s not permitted in numbers");
+        } else if (in_range(str[i], '1', '9')) {
+            i++;
+            while (in_range(str[i], '0', '9'))
+                i++;
+        } else {
+            return fail("invalid " + esc(str[i]) + " in number");
+        }
+
+        if (str[i] != '.' && str[i] != 'e' && str[i] != 'E'
+                && (i - start_pos) <= static_cast<size_t>(std::numeric_limits<int>::digits10)) {
+            return std::atoi(str.c_str() + start_pos);
+        }
+
+        // Decimal part
+        if (str[i] == '.') {
+            i++;
+            if (!in_range(str[i], '0', '9'))
+                return fail("at least one digit required in fractional part");
+
+            while (in_range(str[i], '0', '9'))
+                i++;
+        }
+
+        // Exponent part
+        if (str[i] == 'e' || str[i] == 'E') {
+            i++;
+
+            if (str[i] == '+' || str[i] == '-')
+                i++;
+
+            if (!in_range(str[i], '0', '9'))
+                return fail("at least one digit required in exponent");
+
+            while (in_range(str[i], '0', '9'))
+                i++;
+        }
+
+        return std::strtod(str.c_str() + start_pos, nullptr);
+    }
+
+    /* expect(str, res)
+     *
+     * Expect that 'str' starts at the character that was just read. If it does, advance
+     * the input and return res. If not, flag an error.
+     */
+    Json expect(const string &expected, Json res) {
+        assert(i != 0);
+        i--;
+        if (str.compare(i, expected.length(), expected) == 0) {
+            i += expected.length();
+            return res;
+        } else {
+            return fail("parse error: expected " + expected + ", got " + str.substr(i, expected.length()));
+        }
+    }
+
+    /* parse_json()
+     *
+     * Parse a JSON object.
+     */
+    Json parse_json(int depth) {
+        if (depth > max_depth) {
+            return fail("exceeded maximum nesting depth");
+        }
+
+        char ch = get_next_token();
+        if (failed)
+            return Json();
+
+        if (ch == '-' || (ch >= '0' && ch <= '9')) {
+            i--;
+            return parse_number();
+        }
+
+        if (ch == 't')
+            return expect("true", true);
+
+        if (ch == 'f')
+            return expect("false", false);
+
+        if (ch == 'n')
+            return expect("null", Json());
+
+        if (ch == '"')
+            return parse_string();
+
+        if (ch == '{') {
+            map<string, Json> data;
+            ch = get_next_token();
+            if (ch == '}')
+                return data;
+
+            while (1) {
+                if (ch != '"')
+                    return fail("expected '\"' in object, got " + esc(ch));
+
+                string key = parse_string();
+                if (failed)
+                    return Json();
+
+                ch = get_next_token();
+                if (ch != ':')
+                    return fail("expected ':' in object, got " + esc(ch));
+
+                data[std::move(key)] = parse_json(depth + 1);
+                if (failed)
+                    return Json();
+
+                ch = get_next_token();
+                if (ch == '}')
+                    break;
+                if (ch != ',')
+                    return fail("expected ',' in object, got " + esc(ch));
+
+                ch = get_next_token();
+            }
+            return data;
+        }
+
+        if (ch == '[') {
+            vector<Json> data;
+            ch = get_next_token();
+            if (ch == ']')
+                return data;
+
+            while (1) {
+                i--;
+                data.push_back(parse_json(depth + 1));
+                if (failed)
+                    return Json();
+
+                ch = get_next_token();
+                if (ch == ']')
+                    break;
+                if (ch != ',')
+                    return fail("expected ',' in list, got " + esc(ch));
+
+                ch = get_next_token();
+                (void)ch;
+            }
+            return data;
+        }
+
+        return fail("expected value, got " + esc(ch));
+    }
+};
+}//namespace {
+
+Json Json::parse(const string &in, string &err, JsonParse strategy) {
+    JsonParser parser { in, 0, err, false, strategy };
+    Json result = parser.parse_json(0);
+
+    // Check for any trailing garbage
+    parser.consume_garbage();
+    if (parser.failed)
+        return Json();
+    if (parser.i != in.size())
+        return parser.fail("unexpected trailing " + esc(in[parser.i]));
+
+    return result;
+}
+
+// Documented in json11.hpp
+vector<Json> Json::parse_multi(const string &in,
+                               std::string::size_type &parser_stop_pos,
+                               string &err,
+                               JsonParse strategy) {
+    JsonParser parser { in, 0, err, false, strategy };
+    parser_stop_pos = 0;
+    vector<Json> json_vec;
+    while (parser.i != in.size() && !parser.failed) {
+        json_vec.push_back(parser.parse_json(0));
+        if (parser.failed)
+            break;
+
+        // Check for another object
+        parser.consume_garbage();
+        if (parser.failed)
+            break;
+        parser_stop_pos = parser.i;
+    }
+    return json_vec;
+}
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Shape-checking
+ */
+
+bool Json::has_shape(const shape & types, string & err) const {
+    if (!is_object()) {
+        err = "expected JSON object, got " + dump();
+        return false;
+    }
+
+    for (auto & item : types) {
+        if ((*this)[item.first].type() != item.second) {
+            err = "bad type for " + item.first + " in " + dump();
+            return false;
+        }
+    }
+
+    return true;
+}
+
+} // namespace json11
diff --git a/third_party/json11/json11.hpp b/third_party/json11/json11.hpp
new file mode 100644
index 00000000000000..5202ef9323bb79
--- /dev/null
+++ b/third_party/json11/json11.hpp
@@ -0,0 +1,232 @@
+/* json11
+ *
+ * json11 is a tiny JSON library for C++11, providing JSON parsing and serialization.
+ *
+ * The core object provided by the library is json11::Json. A Json object represents any JSON
+ * value: null, bool, number (int or double), string (std::string), array (std::vector), or
+ * object (std::map).
+ *
+ * Json objects act like values: they can be assigned, copied, moved, compared for equality or
+ * order, etc. There are also helper methods Json::dump, to serialize a Json to a string, and
+ * Json::parse (static) to parse a std::string as a Json object.
+ *
+ * Internally, the various types of Json object are represented by the JsonValue class
+ * hierarchy.
+ *
+ * A note on numbers - JSON specifies the syntax of number formatting but not its semantics,
+ * so some JSON implementations distinguish between integers and floating-point numbers, while
+ * some don't. In json11, we choose the latter. Because some JSON implementations (namely
+ * Javascript itself) treat all numbers as the same type, distinguishing the two leads
+ * to JSON that will be *silently* changed by a round-trip through those implementations.
+ * Dangerous! To avoid that risk, json11 stores all numbers as double internally, but also
+ * provides integer helpers.
+ *
+ * Fortunately, double-precision IEEE754 ('double') can precisely store any integer in the
+ * range +/-2^53, which includes every 'int' on most systems. (Timestamps often use int64
+ * or long long to avoid the Y2038K problem; a double storing microseconds since some epoch
+ * will be exact for +/- 275 years.)
+ */
+
+/* Copyright (c) 2013 Dropbox, Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <string>
+#include <vector>
+#include <map>
+#include <memory>
+#include <initializer_list>
+
+#ifdef _MSC_VER
+    #if _MSC_VER <= 1800 // VS 2013
+        #ifndef noexcept
+            #define noexcept throw()
+        #endif
+
+        #ifndef snprintf
+            #define snprintf _snprintf_s
+        #endif
+    #endif
+#endif
+
+namespace json11 {
+
+enum JsonParse {
+    STANDARD, COMMENTS
+};
+
+class JsonValue;
+
+class Json final {
+public:
+    // Types
+    enum Type {
+        NUL, NUMBER, BOOL, STRING, ARRAY, OBJECT
+    };
+
+    // Array and object typedefs
+    typedef std::vector<Json> array;
+    typedef std::map<std::string, Json> object;
+
+    // Constructors for the various types of JSON value.
+    Json() noexcept;                // NUL
+    Json(std::nullptr_t) noexcept;  // NUL
+    Json(double value);             // NUMBER
+    Json(int value);                // NUMBER
+    Json(bool value);               // BOOL
+    Json(const std::string &value); // STRING
+    Json(std::string &&value);      // STRING
+    Json(const char * value);       // STRING
+    Json(const array &values);      // ARRAY
+    Json(array &&values);           // ARRAY
+    Json(const object &values);     // OBJECT
+    Json(object &&values);          // OBJECT
+
+    // Implicit constructor: anything with a to_json() function.
+    template <class T, class = decltype(&T::to_json)>
+    Json(const T & t) : Json(t.to_json()) {}
+
+    // Implicit constructor: map-like objects (std::map, std::unordered_map, etc)
+    template <class M, typename std::enable_if<
+        std::is_constructible<std::string, typename M::key_type>::value
+        && std::is_constructible<Json, typename M::mapped_type>::value,
+            int>::type = 0>
+    Json(const M & m) : Json(object(m.begin(), m.end())) {}
+
+    // Implicit constructor: vector-like objects (std::list, std::vector, std::set, etc)
+    template <class V, typename std::enable_if<
+        std::is_constructible<Json, typename V::value_type>::value,
+            int>::type = 0>
+    Json(const V & v) : Json(array(v.begin(), v.end())) {}
+
+    // This prevents Json(some_pointer) from accidentally producing a bool. Use
+    // Json(bool(some_pointer)) if that behavior is desired.
+    Json(void *) = delete;
+
+    // Accessors
+    Type type() const;
+
+    bool is_null()   const { return type() == NUL; }
+    bool is_number() const { return type() == NUMBER; }
+    bool is_bool()   const { return type() == BOOL; }
+    bool is_string() const { return type() == STRING; }
+    bool is_array()  const { return type() == ARRAY; }
+    bool is_object() const { return type() == OBJECT; }
+
+    // Return the enclosed value if this is a number, 0 otherwise. Note that json11 does not
+    // distinguish between integer and non-integer numbers - number_value() and int_value()
+    // can both be applied to a NUMBER-typed object.
+    double number_value() const;
+    int int_value() const;
+
+    // Return the enclosed value if this is a boolean, false otherwise.
+    bool bool_value() const;
+    // Return the enclosed string if this is a string, "" otherwise.
+    const std::string &string_value() const;
+    // Return the enclosed std::vector if this is an array, or an empty vector otherwise.
+    const array &array_items() const;
+    // Return the enclosed std::map if this is an object, or an empty map otherwise.
+    const object &object_items() const;
+
+    // Return a reference to arr[i] if this is an array, Json() otherwise.
+    const Json & operator[](size_t i) const;
+    // Return a reference to obj[key] if this is an object, Json() otherwise.
+    const Json & operator[](const std::string &key) const;
+
+    // Serialize.
+    void dump(std::string &out) const;
+    std::string dump() const {
+        std::string out;
+        dump(out);
+        return out;
+    }
+
+    // Parse. If parse fails, return Json() and assign an error message to err.
+    static Json parse(const std::string & in,
+                      std::string & err,
+                      JsonParse strategy = JsonParse::STANDARD);
+    static Json parse(const char * in,
+                      std::string & err,
+                      JsonParse strategy = JsonParse::STANDARD) {
+        if (in) {
+            return parse(std::string(in), err, strategy);
+        } else {
+            err = "null input";
+            return nullptr;
+        }
+    }
+    // Parse multiple objects, concatenated or separated by whitespace
+    static std::vector<Json> parse_multi(
+        const std::string & in,
+        std::string::size_type & parser_stop_pos,
+        std::string & err,
+        JsonParse strategy = JsonParse::STANDARD);
+
+    static inline std::vector<Json> parse_multi(
+        const std::string & in,
+        std::string & err,
+        JsonParse strategy = JsonParse::STANDARD) {
+        std::string::size_type parser_stop_pos;
+        return parse_multi(in, parser_stop_pos, err, strategy);
+    }
+
+    bool operator== (const Json &rhs) const;
+    bool operator<  (const Json &rhs) const;
+    bool operator!= (const Json &rhs) const { return !(*this == rhs); }
+    bool operator<= (const Json &rhs) const { return !(rhs < *this); }
+    bool operator>  (const Json &rhs) const { return  (rhs < *this); }
+    bool operator>= (const Json &rhs) const { return !(*this < rhs); }
+
+    /* has_shape(types, err)
+     *
+     * Return true if this is a JSON object and, for each item in types, has a field of
+     * the given type. If not, return false and set err to a descriptive message.
+     */
+    typedef std::initializer_list<std::pair<std::string, Type>> shape;
+    bool has_shape(const shape & types, std::string & err) const;
+
+private:
+    std::shared_ptr<JsonValue> m_ptr;
+};
+
+// Internal class hierarchy - JsonValue objects are not exposed to users of this API.
+class JsonValue {
+protected:
+    friend class Json;
+    friend class JsonInt;
+    friend class JsonDouble;
+    virtual Json::Type type() const = 0;
+    virtual bool equals(const JsonValue * other) const = 0;
+    virtual bool less(const JsonValue * other) const = 0;
+    virtual void dump(std::string &out) const = 0;
+    virtual double number_value() const;
+    virtual int int_value() const;
+    virtual bool bool_value() const;
+    virtual const std::string &string_value() const;
+    virtual const Json::array &array_items() const;
+    virtual const Json &operator[](size_t i) const;
+    virtual const Json::object &object_items() const;
+    virtual const Json &operator[](const std::string &key) const;
+    virtual ~JsonValue() {}
+};
+
+} // namespace json11
diff --git a/tools/jotpluggler/app.cc b/tools/jotpluggler/app.cc
index 22a9f9021c0081..efc848494ce1f7 100644
--- a/tools/jotpluggler/app.cc
+++ b/tools/jotpluggler/app.cc
@@ -27,7 +27,7 @@
 #include <unordered_set>
 #include <unistd.h>
 
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/custom_series.cc b/tools/jotpluggler/custom_series.cc
index aabf78a0dbc59e..568f7e97c310c5 100644
--- a/tools/jotpluggler/custom_series.cc
+++ b/tools/jotpluggler/custom_series.cc
@@ -11,7 +11,7 @@
 #include <stdexcept>
 #include <unistd.h>
 
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/layout_io.cc b/tools/jotpluggler/layout_io.cc
index 5c70f7a42add43..f984c0f0e8e19b 100644
--- a/tools/jotpluggler/layout_io.cc
+++ b/tools/jotpluggler/layout_io.cc
@@ -6,7 +6,7 @@
 #include <sstream>
 #include <stdexcept>
 
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/map.cc b/tools/jotpluggler/map.cc
index fb4e03c9122a34..8725908ea022ed 100644
--- a/tools/jotpluggler/map.cc
+++ b/tools/jotpluggler/map.cc
@@ -25,7 +25,7 @@ extern "C" {
 #include <vector>
 
 #include "common/util.h"
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/sketch_layout.cc b/tools/jotpluggler/sketch_layout.cc
index 20912801693c08..c44a4e93cdce65 100644
--- a/tools/jotpluggler/sketch_layout.cc
+++ b/tools/jotpluggler/sketch_layout.cc
@@ -23,7 +23,7 @@
 #include <utility>
 
 #include "common/util.h"
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"
 #include "tools/replay/logreader.h"
 #include "tools/replay/py_downloader.h"
 
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index df4fa813cf4571..e7b8ed6bba5f62 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -4,7 +4,7 @@
 #include <filesystem>
 #include <regex>
 
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"
 #include "system/hardware/hw.h"
 #include "tools/replay/py_downloader.h"
 #include "tools/replay/replay.h"
diff --git a/tools/replay/route.h b/tools/replay/route.h
index 50f3eba8545ed4..119a81152e01c2 100644
--- a/tools/replay/route.h
+++ b/tools/replay/route.h
@@ -8,7 +8,7 @@
 #include <thread>
 #include <vector>
 
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"
 #include "tools/replay/framereader.h"
 #include "tools/replay/logreader.h"
 #include "tools/replay/util.h"
diff --git a/uv.lock b/uv.lock
index 99da78c44940d7..e3c967cfc16c66 100644
--- a/uv.lock
+++ b/uv.lock
@@ -541,11 +541,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/94/9e/820c4b086ad01ba7d77369fb8b11470a01fac9b4977f02e18659cf378b6b/json_rpc-1.15.0-py2.py3-none-any.whl", hash = "sha256:4a4668bbbe7116feb4abbd0f54e64a4adcf4b8f648f19ffa0848ad0f6606a9bf", size = 39450, upload-time = "2023-06-11T09:45:47.136Z" },
 ]
 
-[[package]]
-name = "json11"
-version = "20170411.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=json11&rev=release-json11#8e7737088f52d10fdea69c28c55e3e40b74af3f3" }
-
 [[package]]
 name = "kiwisolver"
 version = "1.5.0"
@@ -763,7 +758,6 @@ dependencies = [
     { name = "inputs" },
     { name = "jeepney" },
     { name = "json-rpc" },
-    { name = "json11" },
     { name = "libjpeg" },
     { name = "libusb" },
     { name = "libusb1" },
@@ -848,7 +842,6 @@ requires-dist = [
     { name = "jeepney" },
     { name = "jinja2", marker = "extra == 'docs'" },
     { name = "json-rpc" },
-    { name = "json11", git = "https://github.com/commaai/dependencies.git?subdirectory=json11&rev=release-json11" },
     { name = "libjpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg" },
     { name = "libusb", git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb" },
     { name = "libusb1" },

From e624da2eedc85ddb2b4153526857d2a69f6d8c62 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 10:24:53 -0700
Subject: [PATCH 1051/1434] add json11 to pyproject

---
 pyproject.toml | 1 +
 uv.lock        | 7 +++++++
 2 files changed, 8 insertions(+)

diff --git a/pyproject.toml b/pyproject.toml
index fe6e9beb3c8732..6f5058b43c2549 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -38,6 +38,7 @@ dependencies = [
   "ncurses @ git+https://github.com/commaai/dependencies.git@release-ncurses#subdirectory=ncurses",
   "zeromq @ git+https://github.com/commaai/dependencies.git@release-zeromq#subdirectory=zeromq",
   "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
+  "json11 @ git+https://github.com/commaai/dependencies.git@release-json11#subdirectory=json11",
   "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
   "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
   "xvfb @ git+https://github.com/commaai/dependencies.git@release-xvfb#subdirectory=xvfb",
diff --git a/uv.lock b/uv.lock
index e3c967cfc16c66..99da78c44940d7 100644
--- a/uv.lock
+++ b/uv.lock
@@ -541,6 +541,11 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/94/9e/820c4b086ad01ba7d77369fb8b11470a01fac9b4977f02e18659cf378b6b/json_rpc-1.15.0-py2.py3-none-any.whl", hash = "sha256:4a4668bbbe7116feb4abbd0f54e64a4adcf4b8f648f19ffa0848ad0f6606a9bf", size = 39450, upload-time = "2023-06-11T09:45:47.136Z" },
 ]
 
+[[package]]
+name = "json11"
+version = "20170411.0"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=json11&rev=release-json11#8e7737088f52d10fdea69c28c55e3e40b74af3f3" }
+
 [[package]]
 name = "kiwisolver"
 version = "1.5.0"
@@ -758,6 +763,7 @@ dependencies = [
     { name = "inputs" },
     { name = "jeepney" },
     { name = "json-rpc" },
+    { name = "json11" },
     { name = "libjpeg" },
     { name = "libusb" },
     { name = "libusb1" },
@@ -842,6 +848,7 @@ requires-dist = [
     { name = "jeepney" },
     { name = "jinja2", marker = "extra == 'docs'" },
     { name = "json-rpc" },
+    { name = "json11", git = "https://github.com/commaai/dependencies.git?subdirectory=json11&rev=release-json11" },
     { name = "libjpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg" },
     { name = "libusb", git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb" },
     { name = "libusb1" },

From bea893820e8665b6bc0a03237d4f22019108020e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 10:28:03 -0700
Subject: [PATCH 1052/1434] use packaged bootstrap icons (#37994)

* vendor bootstrap icons from dependencies

* use bootstrap-icons release
---
 pyproject.toml                            |  1 +
 selfdrive/assets/assets.qrc               |  2 +-
 selfdrive/assets/prep-svg.sh              |  2 +-
 third_party/bootstrap/.gitignore          |  1 -
 third_party/bootstrap/bootstrap-icons.svg |  3 ---
 third_party/bootstrap/bootstrap-icons.ttf |  3 ---
 third_party/bootstrap/pull.sh             | 24 -----------------------
 tools/cabana/SConscript                   | 14 ++++++++++++-
 tools/cabana/assets/assets.qrc            |  2 +-
 tools/jotpluggler/SConscript              |  2 ++
 tools/jotpluggler/icons.cc                |  2 +-
 uv.lock                                   |  7 +++++++
 12 files changed, 27 insertions(+), 36 deletions(-)
 delete mode 100644 third_party/bootstrap/.gitignore
 delete mode 100644 third_party/bootstrap/bootstrap-icons.svg
 delete mode 100644 third_party/bootstrap/bootstrap-icons.ttf
 delete mode 100755 third_party/bootstrap/pull.sh

diff --git a/pyproject.toml b/pyproject.toml
index 6f5058b43c2549..8b8662836fc543 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -27,6 +27,7 @@ dependencies = [
 
   # vendored native dependencies
   "bzip2 @ git+https://github.com/commaai/dependencies.git@release-bzip2#subdirectory=bzip2",
+  "bootstrap-icons @ git+https://github.com/commaai/dependencies.git@release-bootstrap-icons#subdirectory=bootstrap-icons",
   "capnproto @ git+https://github.com/commaai/dependencies.git@release-capnproto#subdirectory=capnproto",
   "catch2 @ git+https://github.com/commaai/dependencies.git@release-catch2#subdirectory=catch2",
   "acados @ git+https://github.com/commaai/dependencies.git@release-acados#subdirectory=acados",
diff --git a/selfdrive/assets/assets.qrc b/selfdrive/assets/assets.qrc
index 26a7d998edf2eb..72e2f7f3c0bba4 100644
--- a/selfdrive/assets/assets.qrc
+++ b/selfdrive/assets/assets.qrc
@@ -1,6 +1,6 @@
 <!DOCTYPE RCC><RCC version="1.0">
 <qresource>
-  <file alias="bootstrap-icons.svg">../../third_party/bootstrap/bootstrap-icons.svg</file>
+  <file alias="bootstrap-icons.svg">@BOOTSTRAP_ICONS_SVG@</file>
   <file>images/button_continue_triangle.svg</file>
   <file>icons/circled_check.svg</file>
   <file>icons/circled_slash.svg</file>
diff --git a/selfdrive/assets/prep-svg.sh b/selfdrive/assets/prep-svg.sh
index 2332cd25c52dd9..567c17da325a67 100755
--- a/selfdrive/assets/prep-svg.sh
+++ b/selfdrive/assets/prep-svg.sh
@@ -3,7 +3,7 @@ set -e
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 ICONS_DIR="$DIR/icons"
-BOOTSTRAP_SVG="$DIR/../../third_party/bootstrap/bootstrap-icons.svg"
+BOOTSTRAP_SVG="$(python3 -c 'import bootstrap_icons; print(bootstrap_icons.SVG_PATH)')"
 
 ICON_IDS=(
   arrow-right
diff --git a/third_party/bootstrap/.gitignore b/third_party/bootstrap/.gitignore
deleted file mode 100644
index ac06c0cf85b3ae..00000000000000
--- a/third_party/bootstrap/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-/icons/
diff --git a/third_party/bootstrap/bootstrap-icons.svg b/third_party/bootstrap/bootstrap-icons.svg
deleted file mode 100644
index 692a27ea55c32c..00000000000000
--- a/third_party/bootstrap/bootstrap-icons.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d7ecfaac355e51c9b95319fdf4681cf4c423109fd477e961af588b92607a76da
-size 1087239
diff --git a/third_party/bootstrap/bootstrap-icons.ttf b/third_party/bootstrap/bootstrap-icons.ttf
deleted file mode 100644
index 49c8ea699a0fdf..00000000000000
--- a/third_party/bootstrap/bootstrap-icons.ttf
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:57e798d421bb56bb058ed9b0c83dd97fe1e411cde3a2bd6eb4a8705234f69027
-size 453096
diff --git a/third_party/bootstrap/pull.sh b/third_party/bootstrap/pull.sh
deleted file mode 100755
index 5c4c955c04308d..00000000000000
--- a/third_party/bootstrap/pull.sh
+++ /dev/null
@@ -1,24 +0,0 @@
-#!/bin/bash
-set -e
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd $DIR
-
-if [ ! -d icons/ ]; then
-  git clone https://github.com/twbs/icons/
-fi
-
-cd icons
-git fetch --all
-git checkout d5aa187483a1b0b186f87adcfa8576350d970d98
-cp bootstrap-icons.svg ../
-
-# Convert WOFF → TTF for imgui (imgui only reads TTF/OTF)
-python3 -c "
-from fontTools.ttLib import TTFont
-import io
-f = TTFont('font/fonts/bootstrap-icons.woff')
-f.flavor = None
-f.save('../bootstrap-icons.ttf')
-print('bootstrap-icons.ttf written')
-"
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index f5ef0f4393946d..04389a9ebf30ad 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -2,6 +2,7 @@ import subprocess
 import os
 import shutil
 
+import bootstrap_icons
 import libusb
 
 Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib')
@@ -80,10 +81,21 @@ if arch != "Darwin":
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc/dbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
+def write_assets_qrc(target, source, env):
+  with open(str(source[0])) as f:
+    qrc = f.read()
+  with open(str(target[0]), "w") as f:
+    f.write(qrc.replace("@BOOTSTRAP_ICONS_SVG@", str(bootstrap_icons.SVG_PATH)))
+
 # build assets
 assets = "assets/assets.cc"
-assets_src = "assets/assets.qrc"
+assets_src = cabana_env.Command(
+  "assets/assets.generated.qrc",
+  "assets/assets.qrc",
+  write_assets_qrc,
+)
 cabana_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET")
+cabana_env.Depends(assets_src, str(bootstrap_icons.SVG_PATH))
 cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "assets/assets.o"]))
 
 cabana_srcs = ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc',
diff --git a/tools/cabana/assets/assets.qrc b/tools/cabana/assets/assets.qrc
index 6a8e5a3414fd17..f5880e55800f4e 100644
--- a/tools/cabana/assets/assets.qrc
+++ b/tools/cabana/assets/assets.qrc
@@ -1,6 +1,6 @@
 <!DOCTYPE RCC><RCC version="1.0">
 <qresource>
-  <file alias="bootstrap-icons.svg">../../../third_party/bootstrap/bootstrap-icons.svg</file>
+  <file alias="bootstrap-icons.svg">@BOOTSTRAP_ICONS_SVG@</file>
   <file>cabana-icon.png</file>
 </qresource>
 </RCC>
diff --git a/tools/jotpluggler/SConscript b/tools/jotpluggler/SConscript
index 082d052445991c..078e173959aeb9 100644
--- a/tools/jotpluggler/SConscript
+++ b/tools/jotpluggler/SConscript
@@ -1,5 +1,6 @@
 import os
 import subprocess
+import bootstrap_icons
 import imgui
 import libusb
 from opendbc import get_generated_dbcs
@@ -16,6 +17,7 @@ jot_env["CPPPATH"] += [imgui.INCLUDE_DIR, libusb.INCLUDE_DIR]
 jot_env["CXXFLAGS"] += [
   "-DGLFW_INCLUDE_NONE",
   '-DJOTP_REPO_ROOT=\'"%s"\'' % os.path.realpath(BASEDIR),
+  '-DBOOTSTRAP_ICONS_TTF=\'"%s"\'' % bootstrap_icons.TTF_PATH,
 ]
 
 def materialize_generated_dbcs(target, source, env):
diff --git a/tools/jotpluggler/icons.cc b/tools/jotpluggler/icons.cc
index 9507090e036b62..29edabad4ee3df 100644
--- a/tools/jotpluggler/icons.cc
+++ b/tools/jotpluggler/icons.cc
@@ -4,7 +4,7 @@
 #include <cmath>
 
 void icon_add_font(float size, bool merge, const ImFont *base_font) {
-  const std::filesystem::path ttf = repo_root() / "third_party" / "bootstrap" / "bootstrap-icons.ttf";
+  const std::filesystem::path ttf = BOOTSTRAP_ICONS_TTF;
   ImGuiIO &io = ImGui::GetIO();
   ImFontConfig config;
   config.MergeMode = merge;
diff --git a/uv.lock b/uv.lock
index 99da78c44940d7..0635f9ae1aaec4 100644
--- a/uv.lock
+++ b/uv.lock
@@ -121,6 +121,11 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/c8/b9/275df9607f7fb44317ccb1d4be74827185c0d410f52b6e2cd770fe209118/av-16.1.0-cp312-cp312-win_amd64.whl", hash = "sha256:f49243b1d27c91cd8c66fdba90a674e344eb8eb917264f36117bf2b6879118fd", size = 31752045, upload-time = "2026-01-11T09:57:45.106Z" },
 ]
 
+[[package]]
+name = "bootstrap-icons"
+version = "1.10.5.0"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bootstrap-icons&rev=release-bootstrap-icons#3db70e363cf3471969381bcb8f4ce3ebbab7b369" }
+
 [[package]]
 name = "bzip2"
 version = "1.0.8"
@@ -750,6 +755,7 @@ dependencies = [
     { name = "aiohttp" },
     { name = "aiortc" },
     { name = "av" },
+    { name = "bootstrap-icons" },
     { name = "bzip2" },
     { name = "capnproto" },
     { name = "catch2" },
@@ -830,6 +836,7 @@ requires-dist = [
     { name = "aiohttp" },
     { name = "aiortc" },
     { name = "av" },
+    { name = "bootstrap-icons", git = "https://github.com/commaai/dependencies.git?subdirectory=bootstrap-icons&rev=release-bootstrap-icons" },
     { name = "bzip2", git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2" },
     { name = "capnproto", git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto" },
     { name = "catch2", git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2" },

From 6b6b7f0f330639213f87ad7540bcabec8fbccb1d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 11:03:08 -0700
Subject: [PATCH 1053/1434] ci: remove old translation badge workflow

---
 .github/workflows/badges.yaml | 35 -----------------------------------
 1 file changed, 35 deletions(-)
 delete mode 100644 .github/workflows/badges.yaml

diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
deleted file mode 100644
index 9b99c4f1fe7172..00000000000000
--- a/.github/workflows/badges.yaml
+++ /dev/null
@@ -1,35 +0,0 @@
-name: badges
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  PYTHONPATH: ${{ github.workspace }}
-
-jobs:
-  badges:
-    name: create badges
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    permissions:
-      contents: write
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: Push badges
-      run: |
-        python3 selfdrive/ui/translations/create_badges.py
-
-        rm .gitattributes
-
-        git checkout --orphan badges
-        git rm -rf --cached .
-        git config user.email "badge-researcher@comma.ai"
-        git config user.name "Badge Researcher"
-
-        git add translation_badge.svg
-        git commit -m "Add/Update badges"
-        git push -f origin HEAD

From 93ed08ba20a08aeee5e15599d965d35e7bb7bd77 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 17:19:33 -0700
Subject: [PATCH 1054/1434] agnos 18.1.2  + raylib 6.0 (#37997)

* raylib 6

* uv lock

* one more time
---
 launch_env.sh                            |    2 +-
 pyproject.toml                           |    2 +-
 release/pack.py                          |    2 +-
 scripts/lint/check_raylib_includes.sh    |   10 -
 selfdrive/assets/fonts/process.py        |   16 +-
 selfdrive/ui/SConscript                  |   12 +-
 selfdrive/ui/installer/installer.cc      |    2 +-
 selfdrive/ui/mici/onroad/hud_renderer.py |    2 +-
 system/hardware/tici/agnos.json          |   12 +-
 system/hardware/tici/all-partitions.json |   28 +-
 system/ui/widgets/mici_keyboard.py       |    2 +-
 third_party/raylib/.gitignore            |    4 -
 third_party/raylib/Darwin/libraylib.a    |    3 -
 third_party/raylib/build.sh              |   91 -
 third_party/raylib/include/raygui.h      | 5759 ----------------------
 third_party/raylib/include/raylib.h      | 1766 -------
 third_party/raylib/include/raymath.h     | 2949 -----------
 third_party/raylib/include/rlgl.h        | 5262 --------------------
 third_party/raylib/larch64/libraylib.a   |    3 -
 third_party/raylib/x86_64/libraylib.a    |    3 -
 uv.lock                                  |  383 +-
 21 files changed, 240 insertions(+), 16073 deletions(-)
 delete mode 100755 scripts/lint/check_raylib_includes.sh
 delete mode 100644 third_party/raylib/.gitignore
 delete mode 100644 third_party/raylib/Darwin/libraylib.a
 delete mode 100755 third_party/raylib/build.sh
 delete mode 100644 third_party/raylib/include/raygui.h
 delete mode 100644 third_party/raylib/include/raylib.h
 delete mode 100644 third_party/raylib/include/raymath.h
 delete mode 100644 third_party/raylib/include/rlgl.h
 delete mode 100644 third_party/raylib/larch64/libraylib.a
 delete mode 100644 third_party/raylib/x86_64/libraylib.a

diff --git a/launch_env.sh b/launch_env.sh
index 1f096bca16323a..d836bbbb0b199b 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="18.1.1"
+  export AGNOS_VERSION="18.1.2"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/pyproject.toml b/pyproject.toml
index 8b8662836fc543..d9788925b25c6d 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -75,7 +75,7 @@ dependencies = [
   "zstandard",
 
   # ui
-  "raylib > 5.5.0.3",
+  "raylib @ git+https://github.com/commaai/dependencies.git@release-raylib#subdirectory=raylib",
   "qrcode",
   "jeepney",
   "pillow",
diff --git a/release/pack.py b/release/pack.py
index 8831a0b34dc6fa..560500e7a77fce 100755
--- a/release/pack.py
+++ b/release/pack.py
@@ -13,7 +13,7 @@
 
 DIRS = ['cereal', 'openpilot']
 EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo', '.po']
-EXCLUDE = ['selfdrive/assets/training', 'third_party/raylib/raylib_repo/examples']
+EXCLUDE = ['selfdrive/assets/training']
 INTERPRETER = '/usr/bin/env python3'
 
 
diff --git a/scripts/lint/check_raylib_includes.sh b/scripts/lint/check_raylib_includes.sh
deleted file mode 100755
index e3be73a4897afa..00000000000000
--- a/scripts/lint/check_raylib_includes.sh
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env bash
-
-FAIL=0
-
-if grep -n '#include "third_party/raylib/include/raylib\.h"' $@ | grep -v '^system/ui/raylib/raylib\.h'; then
-  echo -e "Bad raylib include found! Use '#include \"system/ui/raylib/raylib.h\"' instead\n"
-  FAIL=1
-fi
-
-exit $FAIL
diff --git a/selfdrive/assets/fonts/process.py b/selfdrive/assets/fonts/process.py
index 30ccf9ca551314..62ae6ec6843980 100755
--- a/selfdrive/assets/fonts/process.py
+++ b/selfdrive/assets/fonts/process.py
@@ -37,10 +37,10 @@ def _char_sets():
   return tuple(sorted(ord(c) for c in base)), tuple(sorted(ord(c) for c in unifont))
 
 
-def _glyph_metrics(glyphs, rects, codepoints):
+def _glyph_metrics(glyphs, rects, glyph_count: int):
   entries = []
   min_offset_y, max_extent = None, 0
-  for idx, codepoint in enumerate(codepoints):
+  for idx in range(glyph_count):
     glyph = glyphs[idx]
     rect = rects[idx]
     width = int(round(rect.width))
@@ -49,7 +49,7 @@ def _glyph_metrics(glyphs, rects, codepoints):
     min_offset_y = offset_y if min_offset_y is None else min(min_offset_y, offset_y)
     max_extent = max(max_extent, offset_y + height)
     entries.append({
-      "id": codepoint,
+      "id": glyph.value,
       "x": int(round(rect.x)),
       "y": int(round(rect.y)),
       "width": width,
@@ -97,19 +97,23 @@ def _process_font(font_path: Path, codepoints: tuple[int, ...]):
   file_buf = rl.ffi.new("unsigned char[]", data)
   cp_buffer = rl.ffi.new("int[]", codepoints)
   cp_ptr = rl.ffi.cast("int *", cp_buffer)
-  glyphs = rl.load_font_data(rl.ffi.cast("unsigned char *", file_buf), len(data), font_size, cp_ptr, len(codepoints), rl.FontType.FONT_DEFAULT)
+  glyph_count = rl.ffi.new("int *", len(codepoints))
+  glyphs = rl.load_font_data(
+    rl.ffi.cast("unsigned char *", file_buf), len(data), font_size, cp_ptr, len(codepoints),
+    rl.FontType.FONT_DEFAULT, glyph_count
+  )
   if glyphs == rl.ffi.NULL:
     raise RuntimeError("raylib failed to load font data")
 
   rects_ptr = rl.ffi.new("Rectangle **")
-  image = rl.gen_image_font_atlas(glyphs, rects_ptr, len(codepoints), font_size, GLYPH_PADDING, 0)
+  image = rl.gen_image_font_atlas(glyphs, rects_ptr, glyph_count[0], font_size, GLYPH_PADDING, 0)
   if image.width == 0 or image.height == 0:
     raise RuntimeError("raylib returned an empty atlas")
 
   rects = rects_ptr[0]
   atlas_name = f"{font_path.stem}.png"
   atlas_path = FONT_DIR / atlas_name
-  entries, line_height, base = _glyph_metrics(glyphs, rects, codepoints)
+  entries, line_height, base = _glyph_metrics(glyphs, rects, glyph_count[0])
 
   if not rl.export_image(image, atlas_path.as_posix()):
     raise RuntimeError("Failed to export atlas image")
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 1a662e6b245163..3d668aef8fc9d2 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -1,4 +1,6 @@
 from pathlib import Path
+import importlib.util
+
 Import('env', 'arch', 'common')
 
 # build the fonts
@@ -18,15 +20,13 @@ env.Command(
 
 if GetOption('extras') and arch == "larch64":
   # build installers
+  raylib_dir = Path(importlib.util.find_spec("raylib").submodule_search_locations[0]) / "install"
   raylib_env = env.Clone()
-  raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
+  raylib_env['CPPPATH'] += [str(raylib_dir / "include")]
+  raylib_env['LIBPATH'] += [str(raylib_dir / "lib")]
   raylib_env['LINKFLAGS'].append('-Wl,-strip-debug')
 
-  raylib_libs = common + ["raylib"]
-  if arch == "larch64":
-    raylib_libs += ["GLESv2", "EGL", "gbm", "drm"]
-  else:
-    raylib_libs += ["GL"]
+  raylib_libs = common + ["raylib_comma", "GLESv2", "EGL", "gbm", "drm"]
 
   release = "release3"
   installers = [
diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc
index 0832fbb628dfcd..176c2d510fbb72 100644
--- a/selfdrive/ui/installer/installer.cc
+++ b/selfdrive/ui/installer/installer.cc
@@ -6,7 +6,7 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "system/hardware/hw.h"
-#include "third_party/raylib/include/raylib.h"
+#include "raylib.h"
 
 int freshClone();
 int cachedFetch(const std::string &cache);
diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py
index 7f69ea94331e79..620dc543b7864d 100644
--- a/selfdrive/ui/mici/onroad/hud_renderer.py
+++ b/selfdrive/ui/mici/onroad/hud_renderer.py
@@ -233,7 +233,7 @@ def _draw_set_speed(self, rect: rl.Rectangle) -> None:
 
     # draw drop shadow
     circle_radius = 162 // 2
-    rl.draw_circle_gradient(int(x + circle_radius), int(y + circle_radius), circle_radius,
+    rl.draw_circle_gradient(rl.Vector2(x + circle_radius, y + circle_radius), circle_radius,
                             rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.BLANK)
 
     set_speed_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index bde39e35b44881..bb7e0f9bf78382 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -67,17 +67,17 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8.img.xz",
-    "hash": "a414abb7c37de6d6dd563ccd1436098f41d4a09b19969554be6da44eacf80a46",
-    "hash_raw": "a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683.img.xz",
+    "hash": "dd35538c93330e53ef7bf1216cb0513ccdcea07ce124a2053c8498ebaa944085",
+    "hash_raw": "3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "cb40885b4e2678d80d28d11816e93cb3bd6dd684305525371ba1f837e0f5466b",
+    "ondevice_hash": "5d398f3afde808725c13c7e4a01d8ce12d8733c1c38ee2ac0de7366885c329ff",
     "alt": {
-      "hash": "a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8.img",
+      "hash": "3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683.img",
       "size": 4718592000
     }
   }
diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json
index 534aa48723ce70..195da351687343 100644
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@@ -350,40 +350,40 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8.img.xz",
-    "hash": "a414abb7c37de6d6dd563ccd1436098f41d4a09b19969554be6da44eacf80a46",
-    "hash_raw": "a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683.img.xz",
+    "hash": "dd35538c93330e53ef7bf1216cb0513ccdcea07ce124a2053c8498ebaa944085",
+    "hash_raw": "3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "cb40885b4e2678d80d28d11816e93cb3bd6dd684305525371ba1f837e0f5466b",
+    "ondevice_hash": "5d398f3afde808725c13c7e4a01d8ce12d8733c1c38ee2ac0de7366885c329ff",
     "alt": {
-      "hash": "a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8.img",
+      "hash": "3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683.img",
       "size": 4718592000
     }
   },
   {
     "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-bef05b88eef9e34a2f21c7efa558d5f508c1942bffef326c518c05da98ef30da.img.xz",
-    "hash": "8ea6d720aaf0d549b9ff1420a8b8ab109928da2b3549e5d0998532fab6daeb4b",
-    "hash_raw": "bef05b88eef9e34a2f21c7efa558d5f508c1942bffef326c518c05da98ef30da",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-14a3fc6e9bd148b9deebf6ae9df2f1b3b759e629b337e41b6895864cdd51f630.img.xz",
+    "hash": "52160dd01b30b3dc572226e8d549a034b03bc328e80f1f4cd6a857b6dd447687",
+    "hash_raw": "14a3fc6e9bd148b9deebf6ae9df2f1b3b759e629b337e41b6895864cdd51f630",
     "size": 96636764160,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "ee80da4150cd885a17d9411865941050221ba4d408b52accae9b7678557a9b1f"
+    "ondevice_hash": "3bbc052c7793087946b0cd668c1778f930084f6b00896aeebd193dfce53fa518"
   },
   {
     "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-32a53ea75d4c8d91e4fb272f3e8178bc91b7a6cda60318dab4cbd5f855381251.img.xz",
-    "hash": "e997e7d143e35b4033533727e3414c1cdb3e46a3ac16cb3d5e1e32ca07be1054",
-    "hash_raw": "32a53ea75d4c8d91e4fb272f3e8178bc91b7a6cda60318dab4cbd5f855381251",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-425c69d021f4ee2f767963bf7b991d1a492485fa465c5f5d001e1cf7de3d62a0.img.xz",
+    "hash": "02a8c5512754d7781d930d242be3fad01fbce652297c69dfe8722dc92b18dc09",
+    "hash_raw": "425c69d021f4ee2f767963bf7b991d1a492485fa465c5f5d001e1cf7de3d62a0",
     "size": 95563022336,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "513279caaf06937932961577d94b21e5207dba5cbcf27613c2116da98093d342"
+    "ondevice_hash": "3667d500f91b08a4671d7c09623eb6ae8fc905d9273893b50689e214005c7fa6"
   }
 ]
\ No newline at end of file
diff --git a/system/ui/widgets/mici_keyboard.py b/system/ui/widgets/mici_keyboard.py
index 75a3c29e6b3551..bc3041aa3c67df 100644
--- a/system/ui/widgets/mici_keyboard.py
+++ b/system/ui/widgets/mici_keyboard.py
@@ -353,7 +353,7 @@ def _lay_out_keys(self, bg_x, bg_y, keys: list[list[Key]]):
 
           # draw black circle behind selected key
           circle_alpha = int(self._selected_key_filter.x * 225)
-          rl.draw_circle_gradient(int(key_x + key.rect.width / 2), int(key_y + key.rect.height / 2),
+          rl.draw_circle_gradient(rl.Vector2(key_x + key.rect.width / 2, key_y + key.rect.height / 2),
                                   SELECTED_CHAR_FONT_SIZE, rl.Color(0, 0, 0, circle_alpha), rl.BLANK)
         else:
           # move other keys away from selected key a bit
diff --git a/third_party/raylib/.gitignore b/third_party/raylib/.gitignore
deleted file mode 100644
index 6b1d3ad7482f2c..00000000000000
--- a/third_party/raylib/.gitignore
+++ /dev/null
@@ -1,4 +0,0 @@
-/raylib_repo/
-/raylib_python_repo/
-/wheel/
-!*.a
diff --git a/third_party/raylib/Darwin/libraylib.a b/third_party/raylib/Darwin/libraylib.a
deleted file mode 100644
index dd2e9b33f1227f..00000000000000
--- a/third_party/raylib/Darwin/libraylib.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fd045c1d4bca5c9b2ad044ea730826ff6cedeef0b64451b123717b136f1cd702
-size 6392532
diff --git a/third_party/raylib/build.sh b/third_party/raylib/build.sh
deleted file mode 100755
index 869e9e447c336a..00000000000000
--- a/third_party/raylib/build.sh
+++ /dev/null
@@ -1,91 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-export SOURCE_DATE_EPOCH=0
-export ZERO_AR_DATE=1
-
-SUDO=""
-
-# Use sudo if not root
-if [[ ! $(id -u) -eq 0 ]]; then
-  if [[ -z $(which sudo) ]]; then
-    echo "Please install sudo or run as root"
-    exit 1
-  fi
-  SUDO="sudo"
-fi
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd $DIR
-
-RAYLIB_PLATFORM="PLATFORM_DESKTOP"
-
-ARCHNAME=$(uname -m)
-if [ -f /TICI ]; then
-  ARCHNAME="larch64"
-  RAYLIB_PLATFORM="PLATFORM_COMMA"
-elif [[ "$OSTYPE" == "linux"* ]]; then
-  # required dependencies on Linux PC
-  $SUDO apt install \
-    libxcursor-dev \
-    libxi-dev \
-    libxinerama-dev \
-    libxrandr-dev
-fi
-
-if [[ "$OSTYPE" == "darwin"* ]]; then
-  ARCHNAME="Darwin"
-fi
-
-INSTALL_DIR="$DIR/$ARCHNAME"
-rm -rf $INSTALL_DIR
-mkdir -p $INSTALL_DIR
-
-INSTALL_H_DIR="$DIR/include"
-rm -rf $INSTALL_H_DIR
-mkdir -p $INSTALL_H_DIR
-
-if [ ! -d raylib_repo ]; then
-  git clone -b master --no-tags https://github.com/commaai/raylib.git raylib_repo
-fi
-
-cd raylib_repo
-
-COMMIT=${1:-faf6e4392780de7471504e43e70975efaba07e95}
-git fetch origin $COMMIT
-git reset --hard $COMMIT
-git clean -xdff .
-
-cd src
-
-make -j$(nproc) PLATFORM=$RAYLIB_PLATFORM RAYLIB_RELEASE_PATH=$INSTALL_DIR
-cp raylib.h raymath.h rlgl.h $INSTALL_H_DIR/
-echo "raylib development files installed/updated in $INSTALL_H_DIR"
-
-# this commit needs to be in line with raylib
-set -x
-RAYGUI_COMMIT="76b36b597edb70ffaf96f046076adc20d67e7827"
-curl -fsSLo $INSTALL_H_DIR/raygui.h https://raw.githubusercontent.com/raysan5/raygui/$RAYGUI_COMMIT/src/raygui.h
-
-if [ -f /TICI ]; then
-  # Building the python bindings
-  cd $DIR
-
-  if [ ! -d raylib_python_repo ]; then
-    git clone -b master --no-tags https://github.com/commaai/raylib-python-cffi.git raylib_python_repo
-  fi
-
-  cd raylib_python_repo
-
-  BINDINGS_COMMIT="a0710d95af3c12fd7f4b639589be9a13dad93cb6"
-  git fetch origin $BINDINGS_COMMIT
-  git reset --hard $BINDINGS_COMMIT
-  git clean -xdff .
-
-  RAYLIB_PLATFORM=$RAYLIB_PLATFORM RAYLIB_INCLUDE_PATH=$INSTALL_H_DIR RAYLIB_LIB_PATH=$INSTALL_DIR python setup.py bdist_wheel
-  cd $DIR
-
-  rm -rf wheel
-  mkdir wheel
-  cp raylib_python_repo/dist/*.whl wheel/
-fi
diff --git a/third_party/raylib/include/raygui.h b/third_party/raylib/include/raygui.h
deleted file mode 100644
index fe233a16cf6da6..00000000000000
--- a/third_party/raylib/include/raygui.h
+++ /dev/null
@@ -1,5759 +0,0 @@
-/*******************************************************************************************
-*
-*   raygui v4.5-dev - A simple and easy-to-use immediate-mode gui library
-*
-*   DESCRIPTION:
-*       raygui is a tools-dev-focused immediate-mode-gui library based on raylib but also
-*       available as a standalone library, as long as input and drawing functions are provided.
-*
-*   FEATURES:
-*       - Immediate-mode gui, minimal retained data
-*       - +25 controls provided (basic and advanced)
-*       - Styling system for colors, font and metrics
-*       - Icons supported, embedded as a 1-bit icons pack
-*       - Standalone mode option (custom input/graphics backend)
-*       - Multiple support tools provided for raygui development
-*
-*   POSSIBLE IMPROVEMENTS:
-*       - Better standalone mode API for easy plug of custom backends
-*       - Externalize required inputs, allow user easier customization
-*
-*   LIMITATIONS:
-*       - No editable multi-line word-wraped text box supported
-*       - No auto-layout mechanism, up to the user to define controls position and size
-*       - Standalone mode requires library modification and some user work to plug another backend
-*
-*   NOTES:
-*       - WARNING: GuiLoadStyle() and GuiLoadStyle{Custom}() functions, allocate memory for
-*         font atlas recs and glyphs, freeing that memory is (usually) up to the user,
-*         no unload function is explicitly provided... but note that GuiLoadStyleDefault() unloads
-*         by default any previously loaded font (texture, recs, glyphs).
-*       - Global UI alpha (guiAlpha) is applied inside GuiDrawRectangle() and GuiDrawText() functions
-*
-*   CONTROLS PROVIDED:
-*     # Container/separators Controls
-*       - WindowBox     --> StatusBar, Panel
-*       - GroupBox      --> Line
-*       - Line
-*       - Panel         --> StatusBar
-*       - ScrollPanel   --> StatusBar
-*       - TabBar        --> Button
-*
-*     # Basic Controls
-*       - Label
-*       - LabelButton   --> Label
-*       - Button
-*       - Toggle
-*       - ToggleGroup   --> Toggle
-*       - ToggleSlider
-*       - CheckBox
-*       - ComboBox
-*       - DropdownBox
-*       - TextBox
-*       - ValueBox      --> TextBox
-*       - Spinner       --> Button, ValueBox
-*       - Slider
-*       - SliderBar     --> Slider
-*       - ProgressBar
-*       - StatusBar
-*       - DummyRec
-*       - Grid
-*
-*     # Advance Controls
-*       - ListView
-*       - ColorPicker   --> ColorPanel, ColorBarHue
-*       - MessageBox    --> Window, Label, Button
-*       - TextInputBox  --> Window, Label, TextBox, Button
-*
-*     It also provides a set of functions for styling the controls based on its properties (size, color).
-*
-*
-*   RAYGUI STYLE (guiStyle):
-*       raygui uses a global data array for all gui style properties (allocated on data segment by default),
-*       when a new style is loaded, it is loaded over the global style... but a default gui style could always be
-*       recovered with GuiLoadStyleDefault() function, that overwrites the current style to the default one
-*
-*       The global style array size is fixed and depends on the number of controls and properties:
-*
-*           static unsigned int guiStyle[RAYGUI_MAX_CONTROLS*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED)];
-*
-*       guiStyle size is by default: 16*(16 + 8) = 384*4 = 1536 bytes = 1.5 KB
-*
-*       Note that the first set of BASE properties (by default guiStyle[0..15]) belong to the generic style
-*       used for all controls, when any of those base values is set, it is automatically populated to all
-*       controls, so, specific control values overwriting generic style should be set after base values.
-*
-*       After the first BASE set we have the EXTENDED properties (by default guiStyle[16..23]), those
-*       properties are actually common to all controls and can not be overwritten individually (like BASE ones)
-*       Some of those properties are: TEXT_SIZE, TEXT_SPACING, LINE_COLOR, BACKGROUND_COLOR
-*
-*       Custom control properties can be defined using the EXTENDED properties for each independent control.
-*
-*       TOOL: rGuiStyler is a visual tool to customize raygui style: github.com/raysan5/rguistyler
-*
-*
-*   RAYGUI ICONS (guiIcons):
-*       raygui could use a global array containing icons data (allocated on data segment by default),
-*       a custom icons set could be loaded over this array using GuiLoadIcons(), but loaded icons set
-*       must be same RAYGUI_ICON_SIZE and no more than RAYGUI_ICON_MAX_ICONS will be loaded
-*
-*       Every icon is codified in binary form, using 1 bit per pixel, so, every 16x16 icon
-*       requires 8 integers (16*16/32) to be stored in memory.
-*
-*       When the icon is draw, actually one quad per pixel is drawn if the bit for that pixel is set.
-*
-*       The global icons array size is fixed and depends on the number of icons and size:
-*
-*           static unsigned int guiIcons[RAYGUI_ICON_MAX_ICONS*RAYGUI_ICON_DATA_ELEMENTS];
-*
-*       guiIcons size is by default: 256*(16*16/32) = 2048*4 = 8192 bytes = 8 KB
-*
-*       TOOL: rGuiIcons is a visual tool to customize/create raygui icons: github.com/raysan5/rguiicons
-*
-*   RAYGUI LAYOUT:
-*       raygui currently does not provide an auto-layout mechanism like other libraries,
-*       layouts must be defined manually on controls drawing, providing the right bounds Rectangle for it.
-*
-*       TOOL: rGuiLayout is a visual tool to create raygui layouts: github.com/raysan5/rguilayout
-*
-*   CONFIGURATION:
-*       #define RAYGUI_IMPLEMENTATION
-*           Generates the implementation of the library into the included file.
-*           If not defined, the library is in header only mode and can be included in other headers
-*           or source files without problems. But only ONE file should hold the implementation.
-*
-*       #define RAYGUI_STANDALONE
-*           Avoid raylib.h header inclusion in this file. Data types defined on raylib are defined
-*           internally in the library and input management and drawing functions must be provided by
-*           the user (check library implementation for further details).
-*
-*       #define RAYGUI_NO_ICONS
-*           Avoid including embedded ricons data (256 icons, 16x16 pixels, 1-bit per pixel, 2KB)
-*
-*       #define RAYGUI_CUSTOM_ICONS
-*           Includes custom ricons.h header defining a set of custom icons,
-*           this file can be generated using rGuiIcons tool
-*
-*       #define RAYGUI_DEBUG_RECS_BOUNDS
-*           Draw control bounds rectangles for debug
-*
-*       #define RAYGUI_DEBUG_TEXT_BOUNDS
-*           Draw text bounds rectangles for debug
-*
-*   VERSIONS HISTORY:
-*       4.5-dev (Sep-2024)    Current dev version...
-*                         ADDED: guiControlExclusiveMode and guiControlExclusiveRec for exclusive modes
-*                         ADDED: GuiValueBoxFloat()
-*                         ADDED: GuiDropdonwBox() properties: DROPDOWN_ARROW_HIDDEN, DROPDOWN_ROLL_UP
-*                         ADDED: GuiListView() property: LIST_ITEMS_BORDER_WIDTH
-*                         ADDED: Multiple new icons
-*                         REVIEWED: GuiTabBar(), close tab with mouse middle button
-*                         REVIEWED: GuiScrollPanel(), scroll speed proportional to content
-*                         REVIEWED: GuiDropdownBox(), support roll up and hidden arrow
-*                         REVIEWED: GuiTextBox(), cursor position initialization
-*                         REVIEWED: GuiSliderPro(), control value change check
-*                         REVIEWED: GuiGrid(), simplified implementation
-*                         REVIEWED: GuiIconText(), increase buffer size and reviewed padding
-*                         REVIEWED: GuiDrawText(), improved wrap mode drawing
-*                         REVIEWED: GuiScrollBar(), minor tweaks
-*                         REVIEWED: Functions descriptions, removed wrong return value reference
-*                         REDESIGNED: GuiColorPanel(), improved HSV <-> RGBA convertion
-*
-*       4.0 (12-Sep-2023) ADDED: GuiToggleSlider()
-*                         ADDED: GuiColorPickerHSV() and GuiColorPanelHSV()
-*                         ADDED: Multiple new icons, mostly compiler related
-*                         ADDED: New DEFAULT properties: TEXT_LINE_SPACING, TEXT_ALIGNMENT_VERTICAL, TEXT_WRAP_MODE
-*                         ADDED: New enum values: GuiTextAlignment, GuiTextAlignmentVertical, GuiTextWrapMode
-*                         ADDED: Support loading styles with custom font charset from external file
-*                         REDESIGNED: GuiTextBox(), support mouse cursor positioning
-*                         REDESIGNED: GuiDrawText(), support multiline and word-wrap modes (read only)
-*                         REDESIGNED: GuiProgressBar() to be more visual, progress affects border color
-*                         REDESIGNED: Global alpha consideration moved to GuiDrawRectangle() and GuiDrawText()
-*                         REDESIGNED: GuiScrollPanel(), get parameters by reference and return result value
-*                         REDESIGNED: GuiToggleGroup(), get parameters by reference and return result value
-*                         REDESIGNED: GuiComboBox(), get parameters by reference and return result value
-*                         REDESIGNED: GuiCheckBox(), get parameters by reference and return result value
-*                         REDESIGNED: GuiSlider(), get parameters by reference and return result value
-*                         REDESIGNED: GuiSliderBar(), get parameters by reference and return result value
-*                         REDESIGNED: GuiProgressBar(), get parameters by reference and return result value
-*                         REDESIGNED: GuiListView(), get parameters by reference and return result value
-*                         REDESIGNED: GuiColorPicker(), get parameters by reference and return result value
-*                         REDESIGNED: GuiColorPanel(), get parameters by reference and return result value
-*                         REDESIGNED: GuiColorBarAlpha(), get parameters by reference and return result value
-*                         REDESIGNED: GuiColorBarHue(), get parameters by reference and return result value
-*                         REDESIGNED: GuiGrid(), get parameters by reference and return result value
-*                         REDESIGNED: GuiGrid(), added extra parameter
-*                         REDESIGNED: GuiListViewEx(), change parameters order
-*                         REDESIGNED: All controls return result as int value
-*                         REVIEWED: GuiScrollPanel() to avoid smallish scroll-bars
-*                         REVIEWED: All examples and specially controls_test_suite
-*                         RENAMED: gui_file_dialog module to gui_window_file_dialog
-*                         UPDATED: All styles to include ISO-8859-15 charset (as much as possible)
-*
-*       3.6 (10-May-2023) ADDED: New icon: SAND_TIMER
-*                         ADDED: GuiLoadStyleFromMemory() (binary only)
-*                         REVIEWED: GuiScrollBar() horizontal movement key
-*                         REVIEWED: GuiTextBox() crash on cursor movement
-*                         REVIEWED: GuiTextBox(), additional inputs support
-*                         REVIEWED: GuiLabelButton(), avoid text cut
-*                         REVIEWED: GuiTextInputBox(), password input
-*                         REVIEWED: Local GetCodepointNext(), aligned with raylib
-*                         REDESIGNED: GuiSlider*()/GuiScrollBar() to support out-of-bounds
-*
-*       3.5 (20-Apr-2023) ADDED: GuiTabBar(), based on GuiToggle()
-*                         ADDED: Helper functions to split text in separate lines
-*                         ADDED: Multiple new icons, useful for code editing tools
-*                         REMOVED: Unneeded icon editing functions
-*                         REMOVED: GuiTextBoxMulti(), very limited and broken
-*                         REMOVED: MeasureTextEx() dependency, logic directly implemented
-*                         REMOVED: DrawTextEx() dependency, logic directly implemented
-*                         REVIEWED: GuiScrollBar(), improve mouse-click behaviour
-*                         REVIEWED: Library header info, more info, better organized
-*                         REDESIGNED: GuiTextBox() to support cursor movement
-*                         REDESIGNED: GuiDrawText() to divide drawing by lines
-*
-*       3.2 (22-May-2022) RENAMED: Some enum values, for unification, avoiding prefixes
-*                         REMOVED: GuiScrollBar(), only internal
-*                         REDESIGNED: GuiPanel() to support text parameter
-*                         REDESIGNED: GuiScrollPanel() to support text parameter
-*                         REDESIGNED: GuiColorPicker() to support text parameter
-*                         REDESIGNED: GuiColorPanel() to support text parameter
-*                         REDESIGNED: GuiColorBarAlpha() to support text parameter
-*                         REDESIGNED: GuiColorBarHue() to support text parameter
-*                         REDESIGNED: GuiTextInputBox() to support password
-*
-*       3.1 (12-Jan-2022) REVIEWED: Default style for consistency (aligned with rGuiLayout v2.5 tool)
-*                         REVIEWED: GuiLoadStyle() to support compressed font atlas image data and unload previous textures
-*                         REVIEWED: External icons usage logic
-*                         REVIEWED: GuiLine() for centered alignment when including text
-*                         RENAMED: Multiple controls properties definitions to prepend RAYGUI_
-*                         RENAMED: RICON_ references to RAYGUI_ICON_ for library consistency
-*                         Projects updated and multiple tweaks
-*
-*       3.0 (04-Nov-2021) Integrated ricons data to avoid external file
-*                         REDESIGNED: GuiTextBoxMulti()
-*                         REMOVED: GuiImageButton*()
-*                         Multiple minor tweaks and bugs corrected
-*
-*       2.9 (17-Mar-2021) REMOVED: Tooltip API
-*       2.8 (03-May-2020) Centralized rectangles drawing to GuiDrawRectangle()
-*       2.7 (20-Feb-2020) ADDED: Possible tooltips API
-*       2.6 (09-Sep-2019) ADDED: GuiTextInputBox()
-*                         REDESIGNED: GuiListView*(), GuiDropdownBox(), GuiSlider*(), GuiProgressBar(), GuiMessageBox()
-*                         REVIEWED: GuiTextBox(), GuiSpinner(), GuiValueBox(), GuiLoadStyle()
-*                         Replaced property INNER_PADDING by TEXT_PADDING, renamed some properties
-*                         ADDED: 8 new custom styles ready to use
-*                         Multiple minor tweaks and bugs corrected
-*
-*       2.5 (28-May-2019) Implemented extended GuiTextBox(), GuiValueBox(), GuiSpinner()
-*       2.3 (29-Apr-2019) ADDED: rIcons auxiliar library and support for it, multiple controls reviewed
-*                         Refactor all controls drawing mechanism to use control state
-*       2.2 (05-Feb-2019) ADDED: GuiScrollBar(), GuiScrollPanel(), reviewed GuiListView(), removed Gui*Ex() controls
-*       2.1 (26-Dec-2018) REDESIGNED: GuiCheckBox(), GuiComboBox(), GuiDropdownBox(), GuiToggleGroup() > Use combined text string
-*                         REDESIGNED: Style system (breaking change)
-*       2.0 (08-Nov-2018) ADDED: Support controls guiLock and custom fonts
-*                         REVIEWED: GuiComboBox(), GuiListView()...
-*       1.9 (09-Oct-2018) REVIEWED: GuiGrid(), GuiTextBox(), GuiTextBoxMulti(), GuiValueBox()...
-*       1.8 (01-May-2018) Lot of rework and redesign to align with rGuiStyler and rGuiLayout
-*       1.5 (21-Jun-2017) Working in an improved styles system
-*       1.4 (15-Jun-2017) Rewritten all GUI functions (removed useless ones)
-*       1.3 (12-Jun-2017) Complete redesign of style system
-*       1.1 (01-Jun-2017) Complete review of the library
-*       1.0 (07-Jun-2016) Converted to header-only by Ramon Santamaria.
-*       0.9 (07-Mar-2016) Reviewed and tested by Albert Martos, Ian Eito, Sergio Martinez and Ramon Santamaria.
-*       0.8 (27-Aug-2015) Initial release. Implemented by Kevin Gato, Daniel Nicolás and Ramon Santamaria.
-*
-*   DEPENDENCIES:
-*       raylib 5.0  - Inputs reading (keyboard/mouse), shapes drawing, font loading and text drawing
-*
-*   STANDALONE MODE:
-*       By default raygui depends on raylib mostly for the inputs and the drawing functionality but that dependency can be disabled
-*       with the config flag RAYGUI_STANDALONE. In that case is up to the user to provide another backend to cover library needs.
-*
-*       The following functions should be redefined for a custom backend:
-*
-*           - Vector2 GetMousePosition(void);
-*           - float GetMouseWheelMove(void);
-*           - bool IsMouseButtonDown(int button);
-*           - bool IsMouseButtonPressed(int button);
-*           - bool IsMouseButtonReleased(int button);
-*           - bool IsKeyDown(int key);
-*           - bool IsKeyPressed(int key);
-*           - int GetCharPressed(void);         // -- GuiTextBox(), GuiValueBox()
-*
-*           - void DrawRectangle(int x, int y, int width, int height, Color color); // -- GuiDrawRectangle()
-*           - void DrawRectangleGradientEx(Rectangle rec, Color col1, Color col2, Color col3, Color col4); // -- GuiColorPicker()
-*
-*           - Font GetFontDefault(void);                            // -- GuiLoadStyleDefault()
-*           - Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount); // -- GuiLoadStyle()
-*           - Texture2D LoadTextureFromImage(Image image);          // -- GuiLoadStyle(), required to load texture from embedded font atlas image
-*           - void SetShapesTexture(Texture2D tex, Rectangle rec);  // -- GuiLoadStyle(), required to set shapes rec to font white rec (optimization)
-*           - char *LoadFileText(const char *fileName);             // -- GuiLoadStyle(), required to load charset data
-*           - void UnloadFileText(char *text);                      // -- GuiLoadStyle(), required to unload charset data
-*           - const char *GetDirectoryPath(const char *filePath);   // -- GuiLoadStyle(), required to find charset/font file from text .rgs
-*           - int *LoadCodepoints(const char *text, int *count);    // -- GuiLoadStyle(), required to load required font codepoints list
-*           - void UnloadCodepoints(int *codepoints);               // -- GuiLoadStyle(), required to unload codepoints list
-*           - unsigned char *DecompressData(const unsigned char *compData, int compDataSize, int *dataSize); // -- GuiLoadStyle()
-*
-*   CONTRIBUTORS:
-*       Ramon Santamaria:   Supervision, review, redesign, update and maintenance
-*       Vlad Adrian:        Complete rewrite of GuiTextBox() to support extended features (2019)
-*       Sergio Martinez:    Review, testing (2015) and redesign of multiple controls (2018)
-*       Adria Arranz:       Testing and implementation of additional controls (2018)
-*       Jordi Jorba:        Testing and implementation of additional controls (2018)
-*       Albert Martos:      Review and testing of the library (2015)
-*       Ian Eito:           Review and testing of the library (2015)
-*       Kevin Gato:         Initial implementation of basic components (2014)
-*       Daniel Nicolas:     Initial implementation of basic components (2014)
-*
-*
-*   LICENSE: zlib/libpng
-*
-*   Copyright (c) 2014-2025 Ramon Santamaria (@raysan5)
-*
-*   This software is provided "as-is", without any express or implied warranty. In no event
-*   will the authors be held liable for any damages arising from the use of this software.
-*
-*   Permission is granted to anyone to use this software for any purpose, including commercial
-*   applications, and to alter it and redistribute it freely, subject to the following restrictions:
-*
-*     1. The origin of this software must not be misrepresented; you must not claim that you
-*     wrote the original software. If you use this software in a product, an acknowledgment
-*     in the product documentation would be appreciated but is not required.
-*
-*     2. Altered source versions must be plainly marked as such, and must not be misrepresented
-*     as being the original software.
-*
-*     3. This notice may not be removed or altered from any source distribution.
-*
-**********************************************************************************************/
-
-#ifndef RAYGUI_H
-#define RAYGUI_H
-
-#define RAYGUI_VERSION_MAJOR 4
-#define RAYGUI_VERSION_MINOR 5
-#define RAYGUI_VERSION_PATCH 0
-#define RAYGUI_VERSION  "4.5-dev"
-
-#if !defined(RAYGUI_STANDALONE)
-    #include "raylib.h"
-#endif
-
-// Function specifiers in case library is build/used as a shared library (Windows)
-// NOTE: Microsoft specifiers to tell compiler that symbols are imported/exported from a .dll
-#if defined(_WIN32)
-    #if defined(BUILD_LIBTYPE_SHARED)
-        #define RAYGUIAPI __declspec(dllexport)     // We are building the library as a Win32 shared library (.dll)
-    #elif defined(USE_LIBTYPE_SHARED)
-        #define RAYGUIAPI __declspec(dllimport)     // We are using the library as a Win32 shared library (.dll)
-    #endif
-#endif
-
-// Function specifiers definition
-#ifndef RAYGUIAPI
-    #define RAYGUIAPI       // Functions defined as 'extern' by default (implicit specifiers)
-#endif
-
-//----------------------------------------------------------------------------------
-// Defines and Macros
-//----------------------------------------------------------------------------------
-// Allow custom memory allocators
-#ifndef RAYGUI_MALLOC
-    #define RAYGUI_MALLOC(sz)       malloc(sz)
-#endif
-#ifndef RAYGUI_CALLOC
-    #define RAYGUI_CALLOC(n,sz)     calloc(n,sz)
-#endif
-#ifndef RAYGUI_FREE
-    #define RAYGUI_FREE(p)          free(p)
-#endif
-
-// Simple log system to avoid printf() calls if required
-// NOTE: Avoiding those calls, also avoids const strings memory usage
-#define RAYGUI_SUPPORT_LOG_INFO
-#if defined(RAYGUI_SUPPORT_LOG_INFO)
-  #define RAYGUI_LOG(...)           printf(__VA_ARGS__)
-#else
-  #define RAYGUI_LOG(...)
-#endif
-
-//----------------------------------------------------------------------------------
-// Types and Structures Definition
-// NOTE: Some types are required for RAYGUI_STANDALONE usage
-//----------------------------------------------------------------------------------
-#if defined(RAYGUI_STANDALONE)
-    #ifndef __cplusplus
-    // Boolean type
-        #ifndef true
-            typedef enum { false, true } bool;
-        #endif
-    #endif
-
-    // Vector2 type
-    typedef struct Vector2 {
-        float x;
-        float y;
-    } Vector2;
-
-    // Vector3 type                 // -- ConvertHSVtoRGB(), ConvertRGBtoHSV()
-    typedef struct Vector3 {
-        float x;
-        float y;
-        float z;
-    } Vector3;
-
-    // Color type, RGBA (32bit)
-    typedef struct Color {
-        unsigned char r;
-        unsigned char g;
-        unsigned char b;
-        unsigned char a;
-    } Color;
-
-    // Rectangle type
-    typedef struct Rectangle {
-        float x;
-        float y;
-        float width;
-        float height;
-    } Rectangle;
-
-    // TODO: Texture2D type is very coupled to raylib, required by Font type
-    // It should be redesigned to be provided by user
-    typedef struct Texture2D {
-        unsigned int id;        // OpenGL texture id
-        int width;              // Texture base width
-        int height;             // Texture base height
-        int mipmaps;            // Mipmap levels, 1 by default
-        int format;             // Data format (PixelFormat type)
-    } Texture2D;
-
-    // Image, pixel data stored in CPU memory (RAM)
-    typedef struct Image {
-        void *data;             // Image raw data
-        int width;              // Image base width
-        int height;             // Image base height
-        int mipmaps;            // Mipmap levels, 1 by default
-        int format;             // Data format (PixelFormat type)
-    } Image;
-
-    // GlyphInfo, font characters glyphs info
-    typedef struct GlyphInfo {
-        int value;              // Character value (Unicode)
-        int offsetX;            // Character offset X when drawing
-        int offsetY;            // Character offset Y when drawing
-        int advanceX;           // Character advance position X
-        Image image;            // Character image data
-    } GlyphInfo;
-
-    // TODO: Font type is very coupled to raylib, mostly required by GuiLoadStyle()
-    // It should be redesigned to be provided by user
-    typedef struct Font {
-        int baseSize;           // Base size (default chars height)
-        int glyphCount;         // Number of glyph characters
-        int glyphPadding;       // Padding around the glyph characters
-        Texture2D texture;      // Texture atlas containing the glyphs
-        Rectangle *recs;        // Rectangles in texture for the glyphs
-        GlyphInfo *glyphs;      // Glyphs info data
-    } Font;
-#endif
-
-// Style property
-// NOTE: Used when exporting style as code for convenience
-typedef struct GuiStyleProp {
-    unsigned short controlId;   // Control identifier
-    unsigned short propertyId;  // Property identifier
-    int propertyValue;          // Property value
-} GuiStyleProp;
-
-/*
-// Controls text style -NOT USED-
-// NOTE: Text style is defined by control
-typedef struct GuiTextStyle {
-    unsigned int size;
-    int charSpacing;
-    int lineSpacing;
-    int alignmentH;
-    int alignmentV;
-    int padding;
-} GuiTextStyle;
-*/
-
-// Gui control state
-typedef enum {
-    STATE_NORMAL = 0,
-    STATE_FOCUSED,
-    STATE_PRESSED,
-    STATE_DISABLED
-} GuiState;
-
-// Gui control text alignment
-typedef enum {
-    TEXT_ALIGN_LEFT = 0,
-    TEXT_ALIGN_CENTER,
-    TEXT_ALIGN_RIGHT
-} GuiTextAlignment;
-
-// Gui control text alignment vertical
-// NOTE: Text vertical position inside the text bounds
-typedef enum {
-    TEXT_ALIGN_TOP = 0,
-    TEXT_ALIGN_MIDDLE,
-    TEXT_ALIGN_BOTTOM
-} GuiTextAlignmentVertical;
-
-// Gui control text wrap mode
-// NOTE: Useful for multiline text
-typedef enum {
-    TEXT_WRAP_NONE = 0,
-    TEXT_WRAP_CHAR,
-    TEXT_WRAP_WORD
-} GuiTextWrapMode;
-
-// Gui controls
-typedef enum {
-    // Default -> populates to all controls when set
-    DEFAULT = 0,
-
-    // Basic controls
-    LABEL,          // Used also for: LABELBUTTON
-    BUTTON,
-    TOGGLE,         // Used also for: TOGGLEGROUP
-    SLIDER,         // Used also for: SLIDERBAR, TOGGLESLIDER
-    PROGRESSBAR,
-    CHECKBOX,
-    COMBOBOX,
-    DROPDOWNBOX,
-    TEXTBOX,        // Used also for: TEXTBOXMULTI
-    VALUEBOX,
-    SPINNER,        // Uses: BUTTON, VALUEBOX
-    LISTVIEW,
-    COLORPICKER,
-    SCROLLBAR,
-    STATUSBAR
-} GuiControl;
-
-// Gui base properties for every control
-// NOTE: RAYGUI_MAX_PROPS_BASE properties (by default 16 properties)
-typedef enum {
-    BORDER_COLOR_NORMAL = 0,    // Control border color in STATE_NORMAL
-    BASE_COLOR_NORMAL,          // Control base color in STATE_NORMAL
-    TEXT_COLOR_NORMAL,          // Control text color in STATE_NORMAL
-    BORDER_COLOR_FOCUSED,       // Control border color in STATE_FOCUSED
-    BASE_COLOR_FOCUSED,         // Control base color in STATE_FOCUSED
-    TEXT_COLOR_FOCUSED,         // Control text color in STATE_FOCUSED
-    BORDER_COLOR_PRESSED,       // Control border color in STATE_PRESSED
-    BASE_COLOR_PRESSED,         // Control base color in STATE_PRESSED
-    TEXT_COLOR_PRESSED,         // Control text color in STATE_PRESSED
-    BORDER_COLOR_DISABLED,      // Control border color in STATE_DISABLED
-    BASE_COLOR_DISABLED,        // Control base color in STATE_DISABLED
-    TEXT_COLOR_DISABLED,        // Control text color in STATE_DISABLED
-    BORDER_WIDTH,               // Control border size, 0 for no border
-    //TEXT_SIZE,                  // Control text size (glyphs max height) -> GLOBAL for all controls
-    //TEXT_SPACING,               // Control text spacing between glyphs -> GLOBAL for all controls
-    //TEXT_LINE_SPACING           // Control text spacing between lines -> GLOBAL for all controls
-    TEXT_PADDING,               // Control text padding, not considering border
-    TEXT_ALIGNMENT,             // Control text horizontal alignment inside control text bound (after border and padding)
-    //TEXT_WRAP_MODE              // Control text wrap-mode inside text bounds -> GLOBAL for all controls
-} GuiControlProperty;
-
-// TODO: Which text styling properties should be global or per-control?
-// At this moment TEXT_PADDING and TEXT_ALIGNMENT is configured and saved per control while
-// TEXT_SIZE, TEXT_SPACING, TEXT_LINE_SPACING, TEXT_ALIGNMENT_VERTICAL, TEXT_WRAP_MODE are global and
-// should be configured by user as needed while defining the UI layout
-
-// Gui extended properties depend on control
-// NOTE: RAYGUI_MAX_PROPS_EXTENDED properties (by default, max 8 properties)
-//----------------------------------------------------------------------------------
-// DEFAULT extended properties
-// NOTE: Those properties are common to all controls or global
-// WARNING: We only have 8 slots for those properties by default!!! -> New global control: TEXT?
-typedef enum {
-    TEXT_SIZE = 16,             // Text size (glyphs max height)
-    TEXT_SPACING,               // Text spacing between glyphs
-    LINE_COLOR,                 // Line control color
-    BACKGROUND_COLOR,           // Background color
-    TEXT_LINE_SPACING,          // Text spacing between lines
-    TEXT_ALIGNMENT_VERTICAL,    // Text vertical alignment inside text bounds (after border and padding)
-    TEXT_WRAP_MODE              // Text wrap-mode inside text bounds
-    //TEXT_DECORATION             // Text decoration: 0-None, 1-Underline, 2-Line-through, 3-Overline
-    //TEXT_DECORATION_THICK       // Text decoration line thickness
-} GuiDefaultProperty;
-
-// Other possible text properties:
-// TEXT_WEIGHT                  // Normal, Italic, Bold -> Requires specific font change
-// TEXT_INDENT                  // Text indentation -> Now using TEXT_PADDING...
-
-// Label
-//typedef enum { } GuiLabelProperty;
-
-// Button/Spinner
-//typedef enum { } GuiButtonProperty;
-
-// Toggle/ToggleGroup
-typedef enum {
-    GROUP_PADDING = 16,         // ToggleGroup separation between toggles
-} GuiToggleProperty;
-
-// Slider/SliderBar
-typedef enum {
-    SLIDER_WIDTH = 16,          // Slider size of internal bar
-    SLIDER_PADDING              // Slider/SliderBar internal bar padding
-} GuiSliderProperty;
-
-// ProgressBar
-typedef enum {
-    PROGRESS_PADDING = 16,      // ProgressBar internal padding
-} GuiProgressBarProperty;
-
-// ScrollBar
-typedef enum {
-    ARROWS_SIZE = 16,           // ScrollBar arrows size
-    ARROWS_VISIBLE,             // ScrollBar arrows visible
-    SCROLL_SLIDER_PADDING,      // ScrollBar slider internal padding
-    SCROLL_SLIDER_SIZE,         // ScrollBar slider size
-    SCROLL_PADDING,             // ScrollBar scroll padding from arrows
-    SCROLL_SPEED,               // ScrollBar scrolling speed
-} GuiScrollBarProperty;
-
-// CheckBox
-typedef enum {
-    CHECK_PADDING = 16          // CheckBox internal check padding
-} GuiCheckBoxProperty;
-
-// ComboBox
-typedef enum {
-    COMBO_BUTTON_WIDTH = 16,    // ComboBox right button width
-    COMBO_BUTTON_SPACING        // ComboBox button separation
-} GuiComboBoxProperty;
-
-// DropdownBox
-typedef enum {
-    ARROW_PADDING = 16,         // DropdownBox arrow separation from border and items
-    DROPDOWN_ITEMS_SPACING,     // DropdownBox items separation
-    DROPDOWN_ARROW_HIDDEN,      // DropdownBox arrow hidden
-    DROPDOWN_ROLL_UP            // DropdownBox roll up flag (default rolls down)
-} GuiDropdownBoxProperty;
-
-// TextBox/TextBoxMulti/ValueBox/Spinner
-typedef enum {
-    TEXT_READONLY = 16,         // TextBox in read-only mode: 0-text editable, 1-text no-editable
-} GuiTextBoxProperty;
-
-// Spinner
-typedef enum {
-    SPIN_BUTTON_WIDTH = 16,     // Spinner left/right buttons width
-    SPIN_BUTTON_SPACING,        // Spinner buttons separation
-} GuiSpinnerProperty;
-
-// ListView
-typedef enum {
-    LIST_ITEMS_HEIGHT = 16,     // ListView items height
-    LIST_ITEMS_SPACING,         // ListView items separation
-    SCROLLBAR_WIDTH,            // ListView scrollbar size (usually width)
-    SCROLLBAR_SIDE,             // ListView scrollbar side (0-SCROLLBAR_LEFT_SIDE, 1-SCROLLBAR_RIGHT_SIDE)
-    LIST_ITEMS_BORDER_WIDTH     // ListView items border width
-} GuiListViewProperty;
-
-// ColorPicker
-typedef enum {
-    COLOR_SELECTOR_SIZE = 16,
-    HUEBAR_WIDTH,               // ColorPicker right hue bar width
-    HUEBAR_PADDING,             // ColorPicker right hue bar separation from panel
-    HUEBAR_SELECTOR_HEIGHT,     // ColorPicker right hue bar selector height
-    HUEBAR_SELECTOR_OVERFLOW    // ColorPicker right hue bar selector overflow
-} GuiColorPickerProperty;
-
-#define SCROLLBAR_LEFT_SIDE     0
-#define SCROLLBAR_RIGHT_SIDE    1
-
-//----------------------------------------------------------------------------------
-// Global Variables Definition
-//----------------------------------------------------------------------------------
-// ...
-
-//----------------------------------------------------------------------------------
-// Module Functions Declaration
-//----------------------------------------------------------------------------------
-
-#if defined(__cplusplus)
-extern "C" {            // Prevents name mangling of functions
-#endif
-
-// Global gui state control functions
-RAYGUIAPI void GuiEnable(void);                                 // Enable gui controls (global state)
-RAYGUIAPI void GuiDisable(void);                                // Disable gui controls (global state)
-RAYGUIAPI void GuiLock(void);                                   // Lock gui controls (global state)
-RAYGUIAPI void GuiUnlock(void);                                 // Unlock gui controls (global state)
-RAYGUIAPI bool GuiIsLocked(void);                               // Check if gui is locked (global state)
-RAYGUIAPI void GuiSetAlpha(float alpha);                        // Set gui controls alpha (global state), alpha goes from 0.0f to 1.0f
-RAYGUIAPI void GuiSetState(int state);                          // Set gui state (global state)
-RAYGUIAPI int GuiGetState(void);                                // Get gui state (global state)
-
-// Font set/get functions
-RAYGUIAPI void GuiSetFont(Font font);                           // Set gui custom font (global state)
-RAYGUIAPI Font GuiGetFont(void);                                // Get gui custom font (global state)
-
-// Style set/get functions
-RAYGUIAPI void GuiSetStyle(int control, int property, int value); // Set one style property
-RAYGUIAPI int GuiGetStyle(int control, int property);           // Get one style property
-
-// Styles loading functions
-RAYGUIAPI void GuiLoadStyle(const char *fileName);              // Load style file over global style variable (.rgs)
-RAYGUIAPI void GuiLoadStyleDefault(void);                       // Load style default over global style
-
-// Tooltips management functions
-RAYGUIAPI void GuiEnableTooltip(void);                          // Enable gui tooltips (global state)
-RAYGUIAPI void GuiDisableTooltip(void);                         // Disable gui tooltips (global state)
-RAYGUIAPI void GuiSetTooltip(const char *tooltip);              // Set tooltip string
-
-// Icons functionality
-RAYGUIAPI const char *GuiIconText(int iconId, const char *text); // Get text with icon id prepended (if supported)
-#if !defined(RAYGUI_NO_ICONS)
-RAYGUIAPI void GuiSetIconScale(int scale);                      // Set default icon drawing size
-RAYGUIAPI unsigned int *GuiGetIcons(void);                      // Get raygui icons data pointer
-RAYGUIAPI char **GuiLoadIcons(const char *fileName, bool loadIconsName); // Load raygui icons file (.rgi) into internal icons data
-RAYGUIAPI void GuiDrawIcon(int iconId, int posX, int posY, int pixelSize, Color color); // Draw icon using pixel size at specified position
-#endif
-
-// Controls
-//----------------------------------------------------------------------------------------------------------
-// Container/separator controls, useful for controls organization
-RAYGUIAPI int GuiWindowBox(Rectangle bounds, const char *title);                                       // Window Box control, shows a window that can be closed
-RAYGUIAPI int GuiGroupBox(Rectangle bounds, const char *text);                                         // Group Box control with text name
-RAYGUIAPI int GuiLine(Rectangle bounds, const char *text);                                             // Line separator control, could contain text
-RAYGUIAPI int GuiPanel(Rectangle bounds, const char *text);                                            // Panel control, useful to group controls
-RAYGUIAPI int GuiTabBar(Rectangle bounds, const char **text, int count, int *active);                  // Tab Bar control, returns TAB to be closed or -1
-RAYGUIAPI int GuiScrollPanel(Rectangle bounds, const char *text, Rectangle content, Vector2 *scroll, Rectangle *view); // Scroll Panel control
-
-// Basic controls set
-RAYGUIAPI int GuiLabel(Rectangle bounds, const char *text);                                            // Label control
-RAYGUIAPI int GuiButton(Rectangle bounds, const char *text);                                           // Button control, returns true when clicked
-RAYGUIAPI int GuiLabelButton(Rectangle bounds, const char *text);                                      // Label button control, returns true when clicked
-RAYGUIAPI int GuiToggle(Rectangle bounds, const char *text, bool *active);                             // Toggle Button control
-RAYGUIAPI int GuiToggleGroup(Rectangle bounds, const char *text, int *active);                         // Toggle Group control
-RAYGUIAPI int GuiToggleSlider(Rectangle bounds, const char *text, int *active);                        // Toggle Slider control
-RAYGUIAPI int GuiCheckBox(Rectangle bounds, const char *text, bool *checked);                          // Check Box control, returns true when active
-RAYGUIAPI int GuiComboBox(Rectangle bounds, const char *text, int *active);                            // Combo Box control
-
-RAYGUIAPI int GuiDropdownBox(Rectangle bounds, const char *text, int *active, bool editMode);          // Dropdown Box control
-RAYGUIAPI int GuiSpinner(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode); // Spinner control
-RAYGUIAPI int GuiValueBox(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode); // Value Box control, updates input text with numbers
-RAYGUIAPI int GuiValueBoxFloat(Rectangle bounds, const char *text, char *textValue, float *value, bool editMode); // Value box control for float values
-RAYGUIAPI int GuiTextBox(Rectangle bounds, char *text, int textSize, bool editMode);                   // Text Box control, updates input text
-
-RAYGUIAPI int GuiSlider(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue); // Slider control
-RAYGUIAPI int GuiSliderBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue); // Slider Bar control
-RAYGUIAPI int GuiProgressBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue); // Progress Bar control
-RAYGUIAPI int GuiStatusBar(Rectangle bounds, const char *text);                                        // Status Bar control, shows info text
-RAYGUIAPI int GuiDummyRec(Rectangle bounds, const char *text);                                         // Dummy control for placeholders
-RAYGUIAPI int GuiGrid(Rectangle bounds, const char *text, float spacing, int subdivs, Vector2 *mouseCell); // Grid control
-
-// Advance controls set
-RAYGUIAPI int GuiListView(Rectangle bounds, const char *text, int *scrollIndex, int *active);          // List View control
-RAYGUIAPI int GuiListViewEx(Rectangle bounds, const char **text, int count, int *scrollIndex, int *active, int *focus); // List View with extended parameters
-RAYGUIAPI int GuiMessageBox(Rectangle bounds, const char *title, const char *message, const char *buttons); // Message Box control, displays a message
-RAYGUIAPI int GuiTextInputBox(Rectangle bounds, const char *title, const char *message, const char *buttons, char *text, int textMaxSize, bool *secretViewActive); // Text Input Box control, ask for text, supports secret
-RAYGUIAPI int GuiColorPicker(Rectangle bounds, const char *text, Color *color);                        // Color Picker control (multiple color controls)
-RAYGUIAPI int GuiColorPanel(Rectangle bounds, const char *text, Color *color);                         // Color Panel control
-RAYGUIAPI int GuiColorBarAlpha(Rectangle bounds, const char *text, float *alpha);                      // Color Bar Alpha control
-RAYGUIAPI int GuiColorBarHue(Rectangle bounds, const char *text, float *value);                        // Color Bar Hue control
-RAYGUIAPI int GuiColorPickerHSV(Rectangle bounds, const char *text, Vector3 *colorHsv);                // Color Picker control that avoids conversion to RGB on each call (multiple color controls)
-RAYGUIAPI int GuiColorPanelHSV(Rectangle bounds, const char *text, Vector3 *colorHsv);                 // Color Panel control that updates Hue-Saturation-Value color value, used by GuiColorPickerHSV()
-//----------------------------------------------------------------------------------------------------------
-
-#if !defined(RAYGUI_NO_ICONS)
-
-#if !defined(RAYGUI_CUSTOM_ICONS)
-//----------------------------------------------------------------------------------
-// Icons enumeration
-//----------------------------------------------------------------------------------
-typedef enum {
-    ICON_NONE                     = 0,
-    ICON_FOLDER_FILE_OPEN         = 1,
-    ICON_FILE_SAVE_CLASSIC        = 2,
-    ICON_FOLDER_OPEN              = 3,
-    ICON_FOLDER_SAVE              = 4,
-    ICON_FILE_OPEN                = 5,
-    ICON_FILE_SAVE                = 6,
-    ICON_FILE_EXPORT              = 7,
-    ICON_FILE_ADD                 = 8,
-    ICON_FILE_DELETE              = 9,
-    ICON_FILETYPE_TEXT            = 10,
-    ICON_FILETYPE_AUDIO           = 11,
-    ICON_FILETYPE_IMAGE           = 12,
-    ICON_FILETYPE_PLAY            = 13,
-    ICON_FILETYPE_VIDEO           = 14,
-    ICON_FILETYPE_INFO            = 15,
-    ICON_FILE_COPY                = 16,
-    ICON_FILE_CUT                 = 17,
-    ICON_FILE_PASTE               = 18,
-    ICON_CURSOR_HAND              = 19,
-    ICON_CURSOR_POINTER           = 20,
-    ICON_CURSOR_CLASSIC           = 21,
-    ICON_PENCIL                   = 22,
-    ICON_PENCIL_BIG               = 23,
-    ICON_BRUSH_CLASSIC            = 24,
-    ICON_BRUSH_PAINTER            = 25,
-    ICON_WATER_DROP               = 26,
-    ICON_COLOR_PICKER             = 27,
-    ICON_RUBBER                   = 28,
-    ICON_COLOR_BUCKET             = 29,
-    ICON_TEXT_T                   = 30,
-    ICON_TEXT_A                   = 31,
-    ICON_SCALE                    = 32,
-    ICON_RESIZE                   = 33,
-    ICON_FILTER_POINT             = 34,
-    ICON_FILTER_BILINEAR          = 35,
-    ICON_CROP                     = 36,
-    ICON_CROP_ALPHA               = 37,
-    ICON_SQUARE_TOGGLE            = 38,
-    ICON_SYMMETRY                 = 39,
-    ICON_SYMMETRY_HORIZONTAL      = 40,
-    ICON_SYMMETRY_VERTICAL        = 41,
-    ICON_LENS                     = 42,
-    ICON_LENS_BIG                 = 43,
-    ICON_EYE_ON                   = 44,
-    ICON_EYE_OFF                  = 45,
-    ICON_FILTER_TOP               = 46,
-    ICON_FILTER                   = 47,
-    ICON_TARGET_POINT             = 48,
-    ICON_TARGET_SMALL             = 49,
-    ICON_TARGET_BIG               = 50,
-    ICON_TARGET_MOVE              = 51,
-    ICON_CURSOR_MOVE              = 52,
-    ICON_CURSOR_SCALE             = 53,
-    ICON_CURSOR_SCALE_RIGHT       = 54,
-    ICON_CURSOR_SCALE_LEFT        = 55,
-    ICON_UNDO                     = 56,
-    ICON_REDO                     = 57,
-    ICON_REREDO                   = 58,
-    ICON_MUTATE                   = 59,
-    ICON_ROTATE                   = 60,
-    ICON_REPEAT                   = 61,
-    ICON_SHUFFLE                  = 62,
-    ICON_EMPTYBOX                 = 63,
-    ICON_TARGET                   = 64,
-    ICON_TARGET_SMALL_FILL        = 65,
-    ICON_TARGET_BIG_FILL          = 66,
-    ICON_TARGET_MOVE_FILL         = 67,
-    ICON_CURSOR_MOVE_FILL         = 68,
-    ICON_CURSOR_SCALE_FILL        = 69,
-    ICON_CURSOR_SCALE_RIGHT_FILL  = 70,
-    ICON_CURSOR_SCALE_LEFT_FILL   = 71,
-    ICON_UNDO_FILL                = 72,
-    ICON_REDO_FILL                = 73,
-    ICON_REREDO_FILL              = 74,
-    ICON_MUTATE_FILL              = 75,
-    ICON_ROTATE_FILL              = 76,
-    ICON_REPEAT_FILL              = 77,
-    ICON_SHUFFLE_FILL             = 78,
-    ICON_EMPTYBOX_SMALL           = 79,
-    ICON_BOX                      = 80,
-    ICON_BOX_TOP                  = 81,
-    ICON_BOX_TOP_RIGHT            = 82,
-    ICON_BOX_RIGHT                = 83,
-    ICON_BOX_BOTTOM_RIGHT         = 84,
-    ICON_BOX_BOTTOM               = 85,
-    ICON_BOX_BOTTOM_LEFT          = 86,
-    ICON_BOX_LEFT                 = 87,
-    ICON_BOX_TOP_LEFT             = 88,
-    ICON_BOX_CENTER               = 89,
-    ICON_BOX_CIRCLE_MASK          = 90,
-    ICON_POT                      = 91,
-    ICON_ALPHA_MULTIPLY           = 92,
-    ICON_ALPHA_CLEAR              = 93,
-    ICON_DITHERING                = 94,
-    ICON_MIPMAPS                  = 95,
-    ICON_BOX_GRID                 = 96,
-    ICON_GRID                     = 97,
-    ICON_BOX_CORNERS_SMALL        = 98,
-    ICON_BOX_CORNERS_BIG          = 99,
-    ICON_FOUR_BOXES               = 100,
-    ICON_GRID_FILL                = 101,
-    ICON_BOX_MULTISIZE            = 102,
-    ICON_ZOOM_SMALL               = 103,
-    ICON_ZOOM_MEDIUM              = 104,
-    ICON_ZOOM_BIG                 = 105,
-    ICON_ZOOM_ALL                 = 106,
-    ICON_ZOOM_CENTER              = 107,
-    ICON_BOX_DOTS_SMALL           = 108,
-    ICON_BOX_DOTS_BIG             = 109,
-    ICON_BOX_CONCENTRIC           = 110,
-    ICON_BOX_GRID_BIG             = 111,
-    ICON_OK_TICK                  = 112,
-    ICON_CROSS                    = 113,
-    ICON_ARROW_LEFT               = 114,
-    ICON_ARROW_RIGHT              = 115,
-    ICON_ARROW_DOWN               = 116,
-    ICON_ARROW_UP                 = 117,
-    ICON_ARROW_LEFT_FILL          = 118,
-    ICON_ARROW_RIGHT_FILL         = 119,
-    ICON_ARROW_DOWN_FILL          = 120,
-    ICON_ARROW_UP_FILL            = 121,
-    ICON_AUDIO                    = 122,
-    ICON_FX                       = 123,
-    ICON_WAVE                     = 124,
-    ICON_WAVE_SINUS               = 125,
-    ICON_WAVE_SQUARE              = 126,
-    ICON_WAVE_TRIANGULAR          = 127,
-    ICON_CROSS_SMALL              = 128,
-    ICON_PLAYER_PREVIOUS          = 129,
-    ICON_PLAYER_PLAY_BACK         = 130,
-    ICON_PLAYER_PLAY              = 131,
-    ICON_PLAYER_PAUSE             = 132,
-    ICON_PLAYER_STOP              = 133,
-    ICON_PLAYER_NEXT              = 134,
-    ICON_PLAYER_RECORD            = 135,
-    ICON_MAGNET                   = 136,
-    ICON_LOCK_CLOSE               = 137,
-    ICON_LOCK_OPEN                = 138,
-    ICON_CLOCK                    = 139,
-    ICON_TOOLS                    = 140,
-    ICON_GEAR                     = 141,
-    ICON_GEAR_BIG                 = 142,
-    ICON_BIN                      = 143,
-    ICON_HAND_POINTER             = 144,
-    ICON_LASER                    = 145,
-    ICON_COIN                     = 146,
-    ICON_EXPLOSION                = 147,
-    ICON_1UP                      = 148,
-    ICON_PLAYER                   = 149,
-    ICON_PLAYER_JUMP              = 150,
-    ICON_KEY                      = 151,
-    ICON_DEMON                    = 152,
-    ICON_TEXT_POPUP               = 153,
-    ICON_GEAR_EX                  = 154,
-    ICON_CRACK                    = 155,
-    ICON_CRACK_POINTS             = 156,
-    ICON_STAR                     = 157,
-    ICON_DOOR                     = 158,
-    ICON_EXIT                     = 159,
-    ICON_MODE_2D                  = 160,
-    ICON_MODE_3D                  = 161,
-    ICON_CUBE                     = 162,
-    ICON_CUBE_FACE_TOP            = 163,
-    ICON_CUBE_FACE_LEFT           = 164,
-    ICON_CUBE_FACE_FRONT          = 165,
-    ICON_CUBE_FACE_BOTTOM         = 166,
-    ICON_CUBE_FACE_RIGHT          = 167,
-    ICON_CUBE_FACE_BACK           = 168,
-    ICON_CAMERA                   = 169,
-    ICON_SPECIAL                  = 170,
-    ICON_LINK_NET                 = 171,
-    ICON_LINK_BOXES               = 172,
-    ICON_LINK_MULTI               = 173,
-    ICON_LINK                     = 174,
-    ICON_LINK_BROKE               = 175,
-    ICON_TEXT_NOTES               = 176,
-    ICON_NOTEBOOK                 = 177,
-    ICON_SUITCASE                 = 178,
-    ICON_SUITCASE_ZIP             = 179,
-    ICON_MAILBOX                  = 180,
-    ICON_MONITOR                  = 181,
-    ICON_PRINTER                  = 182,
-    ICON_PHOTO_CAMERA             = 183,
-    ICON_PHOTO_CAMERA_FLASH       = 184,
-    ICON_HOUSE                    = 185,
-    ICON_HEART                    = 186,
-    ICON_CORNER                   = 187,
-    ICON_VERTICAL_BARS            = 188,
-    ICON_VERTICAL_BARS_FILL       = 189,
-    ICON_LIFE_BARS                = 190,
-    ICON_INFO                     = 191,
-    ICON_CROSSLINE                = 192,
-    ICON_HELP                     = 193,
-    ICON_FILETYPE_ALPHA           = 194,
-    ICON_FILETYPE_HOME            = 195,
-    ICON_LAYERS_VISIBLE           = 196,
-    ICON_LAYERS                   = 197,
-    ICON_WINDOW                   = 198,
-    ICON_HIDPI                    = 199,
-    ICON_FILETYPE_BINARY          = 200,
-    ICON_HEX                      = 201,
-    ICON_SHIELD                   = 202,
-    ICON_FILE_NEW                 = 203,
-    ICON_FOLDER_ADD               = 204,
-    ICON_ALARM                    = 205,
-    ICON_CPU                      = 206,
-    ICON_ROM                      = 207,
-    ICON_STEP_OVER                = 208,
-    ICON_STEP_INTO                = 209,
-    ICON_STEP_OUT                 = 210,
-    ICON_RESTART                  = 211,
-    ICON_BREAKPOINT_ON            = 212,
-    ICON_BREAKPOINT_OFF           = 213,
-    ICON_BURGER_MENU              = 214,
-    ICON_CASE_SENSITIVE           = 215,
-    ICON_REG_EXP                  = 216,
-    ICON_FOLDER                   = 217,
-    ICON_FILE                     = 218,
-    ICON_SAND_TIMER               = 219,
-    ICON_WARNING                  = 220,
-    ICON_HELP_BOX                 = 221,
-    ICON_INFO_BOX                 = 222,
-    ICON_PRIORITY                 = 223,
-    ICON_LAYERS_ISO               = 224,
-    ICON_LAYERS2                  = 225,
-    ICON_MLAYERS                  = 226,
-    ICON_MAPS                     = 227,
-    ICON_HOT                      = 228,
-    ICON_229                      = 229,
-    ICON_230                      = 230,
-    ICON_231                      = 231,
-    ICON_232                      = 232,
-    ICON_233                      = 233,
-    ICON_234                      = 234,
-    ICON_235                      = 235,
-    ICON_236                      = 236,
-    ICON_237                      = 237,
-    ICON_238                      = 238,
-    ICON_239                      = 239,
-    ICON_240                      = 240,
-    ICON_241                      = 241,
-    ICON_242                      = 242,
-    ICON_243                      = 243,
-    ICON_244                      = 244,
-    ICON_245                      = 245,
-    ICON_246                      = 246,
-    ICON_247                      = 247,
-    ICON_248                      = 248,
-    ICON_249                      = 249,
-    ICON_250                      = 250,
-    ICON_251                      = 251,
-    ICON_252                      = 252,
-    ICON_253                      = 253,
-    ICON_254                      = 254,
-    ICON_255                      = 255,
-} GuiIconName;
-#endif
-
-#endif
-
-#if defined(__cplusplus)
-}            // Prevents name mangling of functions
-#endif
-
-#endif // RAYGUI_H
-
-/***********************************************************************************
-*
-*   RAYGUI IMPLEMENTATION
-*
-************************************************************************************/
-
-#if defined(RAYGUI_IMPLEMENTATION)
-
-#include <ctype.h>              // required for: isspace() [GuiTextBox()]
-#include <stdio.h>              // Required for: FILE, fopen(), fclose(), fprintf(), feof(), fscanf(), vsprintf() [GuiLoadStyle(), GuiLoadIcons()]
-#include <stdlib.h>             // Required for: malloc(), calloc(), free() [GuiLoadStyle(), GuiLoadIcons()]
-#include <string.h>             // Required for: strlen() [GuiTextBox(), GuiValueBox()], memset(), memcpy()
-#include <stdarg.h>             // Required for: va_list, va_start(), vfprintf(), va_end() [TextFormat()]
-#include <math.h>               // Required for: roundf() [GuiColorPicker()]
-
-#ifdef __cplusplus
-    #define RAYGUI_CLITERAL(name) name
-#else
-    #define RAYGUI_CLITERAL(name) (name)
-#endif
-
-// Check if two rectangles are equal, used to validate a slider bounds as an id
-#ifndef CHECK_BOUNDS_ID
-    #define CHECK_BOUNDS_ID(src, dst) ((src.x == dst.x) && (src.y == dst.y) && (src.width == dst.width) && (src.height == dst.height))
-#endif
-
-#if !defined(RAYGUI_NO_ICONS) && !defined(RAYGUI_CUSTOM_ICONS)
-
-// Embedded icons, no external file provided
-#define RAYGUI_ICON_SIZE               16          // Size of icons in pixels (squared)
-#define RAYGUI_ICON_MAX_ICONS         256          // Maximum number of icons
-#define RAYGUI_ICON_MAX_NAME_LENGTH    32          // Maximum length of icon name id
-
-// Icons data is defined by bit array (every bit represents one pixel)
-// Those arrays are stored as unsigned int data arrays, so,
-// every array element defines 32 pixels (bits) of information
-// One icon is defined by 8 int, (8 int * 32 bit = 256 bit = 16*16 pixels)
-// NOTE: Number of elemens depend on RAYGUI_ICON_SIZE (by default 16x16 pixels)
-#define RAYGUI_ICON_DATA_ELEMENTS   (RAYGUI_ICON_SIZE*RAYGUI_ICON_SIZE/32)
-
-//----------------------------------------------------------------------------------
-// Icons data for all gui possible icons (allocated on data segment by default)
-//
-// NOTE 1: Every icon is codified in binary form, using 1 bit per pixel, so,
-// every 16x16 icon requires 8 integers (16*16/32) to be stored
-//
-// NOTE 2: A different icon set could be loaded over this array using GuiLoadIcons(),
-// but loaded icons set must be same RAYGUI_ICON_SIZE and no more than RAYGUI_ICON_MAX_ICONS
-//
-// guiIcons size is by default: 256*(16*16/32) = 2048*4 = 8192 bytes = 8 KB
-//----------------------------------------------------------------------------------
-static unsigned int guiIcons[RAYGUI_ICON_MAX_ICONS*RAYGUI_ICON_DATA_ELEMENTS] = {
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_NONE
-    0x3ff80000, 0x2f082008, 0x2042207e, 0x40027fc2, 0x40024002, 0x40024002, 0x40024002, 0x00007ffe,      // ICON_FOLDER_FILE_OPEN
-    0x3ffe0000, 0x44226422, 0x400247e2, 0x5ffa4002, 0x57ea500a, 0x500a500a, 0x40025ffa, 0x00007ffe,      // ICON_FILE_SAVE_CLASSIC
-    0x00000000, 0x0042007e, 0x40027fc2, 0x40024002, 0x41024002, 0x44424282, 0x793e4102, 0x00000100,      // ICON_FOLDER_OPEN
-    0x00000000, 0x0042007e, 0x40027fc2, 0x40024002, 0x41024102, 0x44424102, 0x793e4282, 0x00000000,      // ICON_FOLDER_SAVE
-    0x3ff00000, 0x201c2010, 0x20042004, 0x21042004, 0x24442284, 0x21042104, 0x20042104, 0x00003ffc,      // ICON_FILE_OPEN
-    0x3ff00000, 0x201c2010, 0x20042004, 0x21042004, 0x21042104, 0x22842444, 0x20042104, 0x00003ffc,      // ICON_FILE_SAVE
-    0x3ff00000, 0x201c2010, 0x00042004, 0x20041004, 0x20844784, 0x00841384, 0x20042784, 0x00003ffc,      // ICON_FILE_EXPORT
-    0x3ff00000, 0x201c2010, 0x20042004, 0x20042004, 0x22042204, 0x22042f84, 0x20042204, 0x00003ffc,      // ICON_FILE_ADD
-    0x3ff00000, 0x201c2010, 0x20042004, 0x20042004, 0x25042884, 0x25042204, 0x20042884, 0x00003ffc,      // ICON_FILE_DELETE
-    0x3ff00000, 0x201c2010, 0x20042004, 0x20042ff4, 0x20042ff4, 0x20042ff4, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_TEXT
-    0x3ff00000, 0x201c2010, 0x27042004, 0x244424c4, 0x26442444, 0x20642664, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_AUDIO
-    0x3ff00000, 0x201c2010, 0x26042604, 0x20042004, 0x35442884, 0x2414222c, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_IMAGE
-    0x3ff00000, 0x201c2010, 0x20c42004, 0x22442144, 0x22442444, 0x20c42144, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_PLAY
-    0x3ff00000, 0x3ffc2ff0, 0x3f3c2ff4, 0x3dbc2eb4, 0x3dbc2bb4, 0x3f3c2eb4, 0x3ffc2ff4, 0x00002ff4,      // ICON_FILETYPE_VIDEO
-    0x3ff00000, 0x201c2010, 0x21842184, 0x21842004, 0x21842184, 0x21842184, 0x20042184, 0x00003ffc,      // ICON_FILETYPE_INFO
-    0x0ff00000, 0x381c0810, 0x28042804, 0x28042804, 0x28042804, 0x28042804, 0x20102ffc, 0x00003ff0,      // ICON_FILE_COPY
-    0x00000000, 0x701c0000, 0x079c1e14, 0x55a000f0, 0x079c00f0, 0x701c1e14, 0x00000000, 0x00000000,      // ICON_FILE_CUT
-    0x01c00000, 0x13e41bec, 0x3f841004, 0x204420c4, 0x20442044, 0x20442044, 0x207c2044, 0x00003fc0,      // ICON_FILE_PASTE
-    0x00000000, 0x3aa00fe0, 0x2abc2aa0, 0x2aa42aa4, 0x20042aa4, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_CURSOR_HAND
-    0x00000000, 0x003c000c, 0x030800c8, 0x30100c10, 0x10202020, 0x04400840, 0x01800280, 0x00000000,      // ICON_CURSOR_POINTER
-    0x00000000, 0x00180000, 0x01f00078, 0x03e007f0, 0x07c003e0, 0x04000e40, 0x00000000, 0x00000000,      // ICON_CURSOR_CLASSIC
-    0x00000000, 0x04000000, 0x11000a00, 0x04400a80, 0x01100220, 0x00580088, 0x00000038, 0x00000000,      // ICON_PENCIL
-    0x04000000, 0x15000a00, 0x50402880, 0x14102820, 0x05040a08, 0x015c028c, 0x007c00bc, 0x00000000,      // ICON_PENCIL_BIG
-    0x01c00000, 0x01400140, 0x01400140, 0x0ff80140, 0x0ff80808, 0x0aa80808, 0x0aa80aa8, 0x00000ff8,      // ICON_BRUSH_CLASSIC
-    0x1ffc0000, 0x5ffc7ffe, 0x40004000, 0x00807f80, 0x01c001c0, 0x01c001c0, 0x01c001c0, 0x00000080,      // ICON_BRUSH_PAINTER
-    0x00000000, 0x00800000, 0x01c00080, 0x03e001c0, 0x07f003e0, 0x036006f0, 0x000001c0, 0x00000000,      // ICON_WATER_DROP
-    0x00000000, 0x3e003800, 0x1f803f80, 0x0c201e40, 0x02080c10, 0x00840104, 0x00380044, 0x00000000,      // ICON_COLOR_PICKER
-    0x00000000, 0x07800300, 0x1fe00fc0, 0x3f883fd0, 0x0e021f04, 0x02040402, 0x00f00108, 0x00000000,      // ICON_RUBBER
-    0x00c00000, 0x02800140, 0x08200440, 0x20081010, 0x2ffe3004, 0x03f807fc, 0x00e001f0, 0x00000040,      // ICON_COLOR_BUCKET
-    0x00000000, 0x21843ffc, 0x01800180, 0x01800180, 0x01800180, 0x01800180, 0x03c00180, 0x00000000,      // ICON_TEXT_T
-    0x00800000, 0x01400180, 0x06200340, 0x0c100620, 0x1ff80c10, 0x380c1808, 0x70067004, 0x0000f80f,      // ICON_TEXT_A
-    0x78000000, 0x50004000, 0x00004800, 0x03c003c0, 0x03c003c0, 0x00100000, 0x0002000a, 0x0000000e,      // ICON_SCALE
-    0x75560000, 0x5e004002, 0x54001002, 0x41001202, 0x408200fe, 0x40820082, 0x40820082, 0x00006afe,      // ICON_RESIZE
-    0x00000000, 0x3f003f00, 0x3f003f00, 0x3f003f00, 0x00400080, 0x001c0020, 0x001c001c, 0x00000000,      // ICON_FILTER_POINT
-    0x6d800000, 0x00004080, 0x40804080, 0x40800000, 0x00406d80, 0x001c0020, 0x001c001c, 0x00000000,      // ICON_FILTER_BILINEAR
-    0x40080000, 0x1ffe2008, 0x14081008, 0x11081208, 0x10481088, 0x10081028, 0x10047ff8, 0x00001002,      // ICON_CROP
-    0x00100000, 0x3ffc0010, 0x2ab03550, 0x22b02550, 0x20b02150, 0x20302050, 0x2000fff0, 0x00002000,      // ICON_CROP_ALPHA
-    0x40000000, 0x1ff82000, 0x04082808, 0x01082208, 0x00482088, 0x00182028, 0x35542008, 0x00000002,      // ICON_SQUARE_TOGGLE
-    0x00000000, 0x02800280, 0x06c006c0, 0x0ea00ee0, 0x1e901eb0, 0x3e883e98, 0x7efc7e8c, 0x00000000,      // ICON_SYMMETRY
-    0x01000000, 0x05600100, 0x1d480d50, 0x7d423d44, 0x3d447d42, 0x0d501d48, 0x01000560, 0x00000100,      // ICON_SYMMETRY_HORIZONTAL
-    0x01800000, 0x04200240, 0x10080810, 0x00001ff8, 0x00007ffe, 0x0ff01ff8, 0x03c007e0, 0x00000180,      // ICON_SYMMETRY_VERTICAL
-    0x00000000, 0x010800f0, 0x02040204, 0x02040204, 0x07f00308, 0x1c000e00, 0x30003800, 0x00000000,      // ICON_LENS
-    0x00000000, 0x061803f0, 0x08240c0c, 0x08040814, 0x0c0c0804, 0x23f01618, 0x18002400, 0x00000000,      // ICON_LENS_BIG
-    0x00000000, 0x00000000, 0x1c7007c0, 0x638e3398, 0x1c703398, 0x000007c0, 0x00000000, 0x00000000,      // ICON_EYE_ON
-    0x00000000, 0x10002000, 0x04700fc0, 0x610e3218, 0x1c703098, 0x001007a0, 0x00000008, 0x00000000,      // ICON_EYE_OFF
-    0x00000000, 0x00007ffc, 0x40047ffc, 0x10102008, 0x04400820, 0x02800280, 0x02800280, 0x00000100,      // ICON_FILTER_TOP
-    0x00000000, 0x40027ffe, 0x10082004, 0x04200810, 0x02400240, 0x02400240, 0x01400240, 0x000000c0,      // ICON_FILTER
-    0x00800000, 0x00800080, 0x00000080, 0x3c9e0000, 0x00000000, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_POINT
-    0x00800000, 0x00800080, 0x00800080, 0x3f7e01c0, 0x008001c0, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_SMALL
-    0x00800000, 0x00800080, 0x03e00080, 0x3e3e0220, 0x03e00220, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_BIG
-    0x01000000, 0x04400280, 0x01000100, 0x43842008, 0x43849ab2, 0x01002008, 0x04400100, 0x01000280,      // ICON_TARGET_MOVE
-    0x01000000, 0x04400280, 0x01000100, 0x41042108, 0x41049ff2, 0x01002108, 0x04400100, 0x01000280,      // ICON_CURSOR_MOVE
-    0x781e0000, 0x500a4002, 0x04204812, 0x00000240, 0x02400000, 0x48120420, 0x4002500a, 0x0000781e,      // ICON_CURSOR_SCALE
-    0x00000000, 0x20003c00, 0x24002800, 0x01000200, 0x00400080, 0x00140024, 0x003c0004, 0x00000000,      // ICON_CURSOR_SCALE_RIGHT
-    0x00000000, 0x0004003c, 0x00240014, 0x00800040, 0x02000100, 0x28002400, 0x3c002000, 0x00000000,      // ICON_CURSOR_SCALE_LEFT
-    0x00000000, 0x00100020, 0x10101fc8, 0x10001020, 0x10001000, 0x10001000, 0x00001fc0, 0x00000000,      // ICON_UNDO
-    0x00000000, 0x08000400, 0x080813f8, 0x00080408, 0x00080008, 0x00080008, 0x000003f8, 0x00000000,      // ICON_REDO
-    0x00000000, 0x3ffc0000, 0x20042004, 0x20002000, 0x20402000, 0x3f902020, 0x00400020, 0x00000000,      // ICON_REREDO
-    0x00000000, 0x3ffc0000, 0x20042004, 0x27fc2004, 0x20202000, 0x3fc82010, 0x00200010, 0x00000000,      // ICON_MUTATE
-    0x00000000, 0x0ff00000, 0x10081818, 0x11801008, 0x10001180, 0x18101020, 0x00100fc8, 0x00000020,      // ICON_ROTATE
-    0x00000000, 0x04000200, 0x240429fc, 0x20042204, 0x20442004, 0x3f942024, 0x00400020, 0x00000000,      // ICON_REPEAT
-    0x00000000, 0x20001000, 0x22104c0e, 0x00801120, 0x11200040, 0x4c0e2210, 0x10002000, 0x00000000,      // ICON_SHUFFLE
-    0x7ffe0000, 0x50024002, 0x44024802, 0x41024202, 0x40424082, 0x40124022, 0x4002400a, 0x00007ffe,      // ICON_EMPTYBOX
-    0x00800000, 0x03e00080, 0x08080490, 0x3c9e0808, 0x08080808, 0x03e00490, 0x00800080, 0x00000000,      // ICON_TARGET
-    0x00800000, 0x00800080, 0x00800080, 0x3ffe01c0, 0x008001c0, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_SMALL_FILL
-    0x00800000, 0x00800080, 0x03e00080, 0x3ffe03e0, 0x03e003e0, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_BIG_FILL
-    0x01000000, 0x07c00380, 0x01000100, 0x638c2008, 0x638cfbbe, 0x01002008, 0x07c00100, 0x01000380,      // ICON_TARGET_MOVE_FILL
-    0x01000000, 0x07c00380, 0x01000100, 0x610c2108, 0x610cfffe, 0x01002108, 0x07c00100, 0x01000380,      // ICON_CURSOR_MOVE_FILL
-    0x781e0000, 0x6006700e, 0x04204812, 0x00000240, 0x02400000, 0x48120420, 0x700e6006, 0x0000781e,      // ICON_CURSOR_SCALE_FILL
-    0x00000000, 0x38003c00, 0x24003000, 0x01000200, 0x00400080, 0x000c0024, 0x003c001c, 0x00000000,      // ICON_CURSOR_SCALE_RIGHT_FILL
-    0x00000000, 0x001c003c, 0x0024000c, 0x00800040, 0x02000100, 0x30002400, 0x3c003800, 0x00000000,      // ICON_CURSOR_SCALE_LEFT_FILL
-    0x00000000, 0x00300020, 0x10301ff8, 0x10001020, 0x10001000, 0x10001000, 0x00001fc0, 0x00000000,      // ICON_UNDO_FILL
-    0x00000000, 0x0c000400, 0x0c081ff8, 0x00080408, 0x00080008, 0x00080008, 0x000003f8, 0x00000000,      // ICON_REDO_FILL
-    0x00000000, 0x3ffc0000, 0x20042004, 0x20002000, 0x20402000, 0x3ff02060, 0x00400060, 0x00000000,      // ICON_REREDO_FILL
-    0x00000000, 0x3ffc0000, 0x20042004, 0x27fc2004, 0x20202000, 0x3ff82030, 0x00200030, 0x00000000,      // ICON_MUTATE_FILL
-    0x00000000, 0x0ff00000, 0x10081818, 0x11801008, 0x10001180, 0x18301020, 0x00300ff8, 0x00000020,      // ICON_ROTATE_FILL
-    0x00000000, 0x06000200, 0x26042ffc, 0x20042204, 0x20442004, 0x3ff42064, 0x00400060, 0x00000000,      // ICON_REPEAT_FILL
-    0x00000000, 0x30001000, 0x32107c0e, 0x00801120, 0x11200040, 0x7c0e3210, 0x10003000, 0x00000000,      // ICON_SHUFFLE_FILL
-    0x00000000, 0x30043ffc, 0x24042804, 0x21042204, 0x20442084, 0x20142024, 0x3ffc200c, 0x00000000,      // ICON_EMPTYBOX_SMALL
-    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX
-    0x00000000, 0x23c43ffc, 0x23c423c4, 0x200423c4, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_TOP
-    0x00000000, 0x3e043ffc, 0x3e043e04, 0x20043e04, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_TOP_RIGHT
-    0x00000000, 0x20043ffc, 0x20042004, 0x3e043e04, 0x3e043e04, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_RIGHT
-    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x3e042004, 0x3e043e04, 0x3ffc3e04, 0x00000000,      // ICON_BOX_BOTTOM_RIGHT
-    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x23c42004, 0x23c423c4, 0x3ffc23c4, 0x00000000,      // ICON_BOX_BOTTOM
-    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x207c2004, 0x207c207c, 0x3ffc207c, 0x00000000,      // ICON_BOX_BOTTOM_LEFT
-    0x00000000, 0x20043ffc, 0x20042004, 0x207c207c, 0x207c207c, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_LEFT
-    0x00000000, 0x207c3ffc, 0x207c207c, 0x2004207c, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_TOP_LEFT
-    0x00000000, 0x20043ffc, 0x20042004, 0x23c423c4, 0x23c423c4, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_CENTER
-    0x7ffe0000, 0x40024002, 0x47e24182, 0x4ff247e2, 0x47e24ff2, 0x418247e2, 0x40024002, 0x00007ffe,      // ICON_BOX_CIRCLE_MASK
-    0x7fff0000, 0x40014001, 0x40014001, 0x49555ddd, 0x4945495d, 0x400149c5, 0x40014001, 0x00007fff,      // ICON_POT
-    0x7ffe0000, 0x53327332, 0x44ce4cce, 0x41324332, 0x404e40ce, 0x48125432, 0x4006540e, 0x00007ffe,      // ICON_ALPHA_MULTIPLY
-    0x7ffe0000, 0x53327332, 0x44ce4cce, 0x41324332, 0x5c4e40ce, 0x44124432, 0x40065c0e, 0x00007ffe,      // ICON_ALPHA_CLEAR
-    0x7ffe0000, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x00007ffe,      // ICON_DITHERING
-    0x07fe0000, 0x1ffa0002, 0x7fea000a, 0x402a402a, 0x5b2a512a, 0x5128552a, 0x40205128, 0x00007fe0,      // ICON_MIPMAPS
-    0x00000000, 0x1ff80000, 0x12481248, 0x12481ff8, 0x1ff81248, 0x12481248, 0x00001ff8, 0x00000000,      // ICON_BOX_GRID
-    0x12480000, 0x7ffe1248, 0x12481248, 0x12487ffe, 0x7ffe1248, 0x12481248, 0x12487ffe, 0x00001248,      // ICON_GRID
-    0x00000000, 0x1c380000, 0x1c3817e8, 0x08100810, 0x08100810, 0x17e81c38, 0x00001c38, 0x00000000,      // ICON_BOX_CORNERS_SMALL
-    0x700e0000, 0x700e5ffa, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x5ffa700e, 0x0000700e,      // ICON_BOX_CORNERS_BIG
-    0x3f7e0000, 0x21422142, 0x21422142, 0x00003f7e, 0x21423f7e, 0x21422142, 0x3f7e2142, 0x00000000,      // ICON_FOUR_BOXES
-    0x00000000, 0x3bb80000, 0x3bb83bb8, 0x3bb80000, 0x3bb83bb8, 0x3bb80000, 0x3bb83bb8, 0x00000000,      // ICON_GRID_FILL
-    0x7ffe0000, 0x7ffe7ffe, 0x77fe7000, 0x77fe77fe, 0x777e7700, 0x777e777e, 0x777e777e, 0x0000777e,      // ICON_BOX_MULTISIZE
-    0x781e0000, 0x40024002, 0x00004002, 0x01800000, 0x00000180, 0x40020000, 0x40024002, 0x0000781e,      // ICON_ZOOM_SMALL
-    0x781e0000, 0x40024002, 0x00004002, 0x03c003c0, 0x03c003c0, 0x40020000, 0x40024002, 0x0000781e,      // ICON_ZOOM_MEDIUM
-    0x781e0000, 0x40024002, 0x07e04002, 0x07e007e0, 0x07e007e0, 0x400207e0, 0x40024002, 0x0000781e,      // ICON_ZOOM_BIG
-    0x781e0000, 0x5ffa4002, 0x1ff85ffa, 0x1ff81ff8, 0x1ff81ff8, 0x5ffa1ff8, 0x40025ffa, 0x0000781e,      // ICON_ZOOM_ALL
-    0x00000000, 0x2004381c, 0x00002004, 0x00000000, 0x00000000, 0x20040000, 0x381c2004, 0x00000000,      // ICON_ZOOM_CENTER
-    0x00000000, 0x1db80000, 0x10081008, 0x10080000, 0x00001008, 0x10081008, 0x00001db8, 0x00000000,      // ICON_BOX_DOTS_SMALL
-    0x35560000, 0x00002002, 0x00002002, 0x00002002, 0x00002002, 0x00002002, 0x35562002, 0x00000000,      // ICON_BOX_DOTS_BIG
-    0x7ffe0000, 0x40024002, 0x48124ff2, 0x49924812, 0x48124992, 0x4ff24812, 0x40024002, 0x00007ffe,      // ICON_BOX_CONCENTRIC
-    0x00000000, 0x10841ffc, 0x10841084, 0x1ffc1084, 0x10841084, 0x10841084, 0x00001ffc, 0x00000000,      // ICON_BOX_GRID_BIG
-    0x00000000, 0x00000000, 0x10000000, 0x04000800, 0x01040200, 0x00500088, 0x00000020, 0x00000000,      // ICON_OK_TICK
-    0x00000000, 0x10080000, 0x04200810, 0x01800240, 0x02400180, 0x08100420, 0x00001008, 0x00000000,      // ICON_CROSS
-    0x00000000, 0x02000000, 0x00800100, 0x00200040, 0x00200010, 0x00800040, 0x02000100, 0x00000000,      // ICON_ARROW_LEFT
-    0x00000000, 0x00400000, 0x01000080, 0x04000200, 0x04000800, 0x01000200, 0x00400080, 0x00000000,      // ICON_ARROW_RIGHT
-    0x00000000, 0x00000000, 0x00000000, 0x08081004, 0x02200410, 0x00800140, 0x00000000, 0x00000000,      // ICON_ARROW_DOWN
-    0x00000000, 0x00000000, 0x01400080, 0x04100220, 0x10040808, 0x00000000, 0x00000000, 0x00000000,      // ICON_ARROW_UP
-    0x00000000, 0x02000000, 0x03800300, 0x03e003c0, 0x03e003f0, 0x038003c0, 0x02000300, 0x00000000,      // ICON_ARROW_LEFT_FILL
-    0x00000000, 0x00400000, 0x01c000c0, 0x07c003c0, 0x07c00fc0, 0x01c003c0, 0x004000c0, 0x00000000,      // ICON_ARROW_RIGHT_FILL
-    0x00000000, 0x00000000, 0x00000000, 0x0ff81ffc, 0x03e007f0, 0x008001c0, 0x00000000, 0x00000000,      // ICON_ARROW_DOWN_FILL
-    0x00000000, 0x00000000, 0x01c00080, 0x07f003e0, 0x1ffc0ff8, 0x00000000, 0x00000000, 0x00000000,      // ICON_ARROW_UP_FILL
-    0x00000000, 0x18a008c0, 0x32881290, 0x24822686, 0x26862482, 0x12903288, 0x08c018a0, 0x00000000,      // ICON_AUDIO
-    0x00000000, 0x04800780, 0x004000c0, 0x662000f0, 0x08103c30, 0x130a0e18, 0x0000318e, 0x00000000,      // ICON_FX
-    0x00000000, 0x00800000, 0x08880888, 0x2aaa0a8a, 0x0a8a2aaa, 0x08880888, 0x00000080, 0x00000000,      // ICON_WAVE
-    0x00000000, 0x00600000, 0x01080090, 0x02040108, 0x42044204, 0x24022402, 0x00001800, 0x00000000,      // ICON_WAVE_SINUS
-    0x00000000, 0x07f80000, 0x04080408, 0x04080408, 0x04080408, 0x7c0e0408, 0x00000000, 0x00000000,      // ICON_WAVE_SQUARE
-    0x00000000, 0x00000000, 0x00a00040, 0x22084110, 0x08021404, 0x00000000, 0x00000000, 0x00000000,      // ICON_WAVE_TRIANGULAR
-    0x00000000, 0x00000000, 0x04200000, 0x01800240, 0x02400180, 0x00000420, 0x00000000, 0x00000000,      // ICON_CROSS_SMALL
-    0x00000000, 0x18380000, 0x12281428, 0x10a81128, 0x112810a8, 0x14281228, 0x00001838, 0x00000000,      // ICON_PLAYER_PREVIOUS
-    0x00000000, 0x18000000, 0x11801600, 0x10181060, 0x10601018, 0x16001180, 0x00001800, 0x00000000,      // ICON_PLAYER_PLAY_BACK
-    0x00000000, 0x00180000, 0x01880068, 0x18080608, 0x06081808, 0x00680188, 0x00000018, 0x00000000,      // ICON_PLAYER_PLAY
-    0x00000000, 0x1e780000, 0x12481248, 0x12481248, 0x12481248, 0x12481248, 0x00001e78, 0x00000000,      // ICON_PLAYER_PAUSE
-    0x00000000, 0x1ff80000, 0x10081008, 0x10081008, 0x10081008, 0x10081008, 0x00001ff8, 0x00000000,      // ICON_PLAYER_STOP
-    0x00000000, 0x1c180000, 0x14481428, 0x15081488, 0x14881508, 0x14281448, 0x00001c18, 0x00000000,      // ICON_PLAYER_NEXT
-    0x00000000, 0x03c00000, 0x08100420, 0x10081008, 0x10081008, 0x04200810, 0x000003c0, 0x00000000,      // ICON_PLAYER_RECORD
-    0x00000000, 0x0c3007e0, 0x13c81818, 0x14281668, 0x14281428, 0x1c381c38, 0x08102244, 0x00000000,      // ICON_MAGNET
-    0x07c00000, 0x08200820, 0x3ff80820, 0x23882008, 0x21082388, 0x20082108, 0x1ff02008, 0x00000000,      // ICON_LOCK_CLOSE
-    0x07c00000, 0x08000800, 0x3ff80800, 0x23882008, 0x21082388, 0x20082108, 0x1ff02008, 0x00000000,      // ICON_LOCK_OPEN
-    0x01c00000, 0x0c180770, 0x3086188c, 0x60832082, 0x60034781, 0x30062002, 0x0c18180c, 0x01c00770,      // ICON_CLOCK
-    0x0a200000, 0x1b201b20, 0x04200e20, 0x04200420, 0x04700420, 0x0e700e70, 0x0e700e70, 0x04200e70,      // ICON_TOOLS
-    0x01800000, 0x3bdc318c, 0x0ff01ff8, 0x7c3e1e78, 0x1e787c3e, 0x1ff80ff0, 0x318c3bdc, 0x00000180,      // ICON_GEAR
-    0x01800000, 0x3ffc318c, 0x1c381ff8, 0x781e1818, 0x1818781e, 0x1ff81c38, 0x318c3ffc, 0x00000180,      // ICON_GEAR_BIG
-    0x00000000, 0x08080ff8, 0x08081ffc, 0x0aa80aa8, 0x0aa80aa8, 0x0aa80aa8, 0x08080aa8, 0x00000ff8,      // ICON_BIN
-    0x00000000, 0x00000000, 0x20043ffc, 0x08043f84, 0x04040f84, 0x04040784, 0x000007fc, 0x00000000,      // ICON_HAND_POINTER
-    0x00000000, 0x24400400, 0x00001480, 0x6efe0e00, 0x00000e00, 0x24401480, 0x00000400, 0x00000000,      // ICON_LASER
-    0x00000000, 0x03c00000, 0x08300460, 0x11181118, 0x11181118, 0x04600830, 0x000003c0, 0x00000000,      // ICON_COIN
-    0x00000000, 0x10880080, 0x06c00810, 0x366c07e0, 0x07e00240, 0x00001768, 0x04200240, 0x00000000,      // ICON_EXPLOSION
-    0x00000000, 0x3d280000, 0x2528252c, 0x3d282528, 0x05280528, 0x05e80528, 0x00000000, 0x00000000,      // ICON_1UP
-    0x01800000, 0x03c003c0, 0x018003c0, 0x0ff007e0, 0x0bd00bd0, 0x0a500bd0, 0x02400240, 0x02400240,      // ICON_PLAYER
-    0x01800000, 0x03c003c0, 0x118013c0, 0x03c81ff8, 0x07c003c8, 0x04400440, 0x0c080478, 0x00000000,      // ICON_PLAYER_JUMP
-    0x3ff80000, 0x30183ff8, 0x30183018, 0x3ff83ff8, 0x03000300, 0x03c003c0, 0x03e00300, 0x000003e0,      // ICON_KEY
-    0x3ff80000, 0x3ff83ff8, 0x33983ff8, 0x3ff83398, 0x3ff83ff8, 0x00000540, 0x0fe00aa0, 0x00000fe0,      // ICON_DEMON
-    0x00000000, 0x0ff00000, 0x20041008, 0x25442004, 0x10082004, 0x06000bf0, 0x00000300, 0x00000000,      // ICON_TEXT_POPUP
-    0x00000000, 0x11440000, 0x07f00be8, 0x1c1c0e38, 0x1c1c0c18, 0x07f00e38, 0x11440be8, 0x00000000,      // ICON_GEAR_EX
-    0x00000000, 0x20080000, 0x0c601010, 0x07c00fe0, 0x07c007c0, 0x0c600fe0, 0x20081010, 0x00000000,      // ICON_CRACK
-    0x00000000, 0x20080000, 0x0c601010, 0x04400fe0, 0x04405554, 0x0c600fe0, 0x20081010, 0x00000000,      // ICON_CRACK_POINTS
-    0x00000000, 0x00800080, 0x01c001c0, 0x1ffc3ffe, 0x03e007f0, 0x07f003e0, 0x0c180770, 0x00000808,      // ICON_STAR
-    0x0ff00000, 0x08180810, 0x08100818, 0x0a100810, 0x08180810, 0x08100818, 0x08100810, 0x00001ff8,      // ICON_DOOR
-    0x0ff00000, 0x08100810, 0x08100810, 0x10100010, 0x4f902010, 0x10102010, 0x08100010, 0x00000ff0,      // ICON_EXIT
-    0x00040000, 0x001f000e, 0x0ef40004, 0x12f41284, 0x0ef41214, 0x10040004, 0x7ffc3004, 0x10003000,      // ICON_MODE_2D
-    0x78040000, 0x501f600e, 0x0ef44004, 0x12f41284, 0x0ef41284, 0x10140004, 0x7ffc300c, 0x10003000,      // ICON_MODE_3D
-    0x7fe00000, 0x50286030, 0x47fe4804, 0x44224402, 0x44224422, 0x241275e2, 0x0c06140a, 0x000007fe,      // ICON_CUBE
-    0x7fe00000, 0x5ff87ff0, 0x47fe4ffc, 0x44224402, 0x44224422, 0x241275e2, 0x0c06140a, 0x000007fe,      // ICON_CUBE_FACE_TOP
-    0x7fe00000, 0x50386030, 0x47c2483c, 0x443e443e, 0x443e443e, 0x241e75fe, 0x0c06140e, 0x000007fe,      // ICON_CUBE_FACE_LEFT
-    0x7fe00000, 0x50286030, 0x47fe4804, 0x47fe47fe, 0x47fe47fe, 0x27fe77fe, 0x0ffe17fe, 0x000007fe,      // ICON_CUBE_FACE_FRONT
-    0x7fe00000, 0x50286030, 0x47fe4804, 0x44224402, 0x44224422, 0x3bf27be2, 0x0bfe1bfa, 0x000007fe,      // ICON_CUBE_FACE_BOTTOM
-    0x7fe00000, 0x70286030, 0x7ffe7804, 0x7c227c02, 0x7c227c22, 0x3c127de2, 0x0c061c0a, 0x000007fe,      // ICON_CUBE_FACE_RIGHT
-    0x7fe00000, 0x6fe85ff0, 0x781e77e4, 0x7be27be2, 0x7be27be2, 0x24127be2, 0x0c06140a, 0x000007fe,      // ICON_CUBE_FACE_BACK
-    0x00000000, 0x2a0233fe, 0x22022602, 0x22022202, 0x2a022602, 0x00a033fe, 0x02080110, 0x00000000,      // ICON_CAMERA
-    0x00000000, 0x200c3ffc, 0x000c000c, 0x3ffc000c, 0x30003000, 0x30003000, 0x3ffc3004, 0x00000000,      // ICON_SPECIAL
-    0x00000000, 0x0022003e, 0x012201e2, 0x0100013e, 0x01000100, 0x79000100, 0x4f004900, 0x00007800,      // ICON_LINK_NET
-    0x00000000, 0x44007c00, 0x45004600, 0x00627cbe, 0x00620022, 0x45007cbe, 0x44004600, 0x00007c00,      // ICON_LINK_BOXES
-    0x00000000, 0x0044007c, 0x0010007c, 0x3f100010, 0x3f1021f0, 0x3f100010, 0x3f0021f0, 0x00000000,      // ICON_LINK_MULTI
-    0x00000000, 0x0044007c, 0x00440044, 0x0010007c, 0x00100010, 0x44107c10, 0x440047f0, 0x00007c00,      // ICON_LINK
-    0x00000000, 0x0044007c, 0x00440044, 0x0000007c, 0x00000010, 0x44007c10, 0x44004550, 0x00007c00,      // ICON_LINK_BROKE
-    0x02a00000, 0x22a43ffc, 0x20042004, 0x20042ff4, 0x20042ff4, 0x20042ff4, 0x20042004, 0x00003ffc,      // ICON_TEXT_NOTES
-    0x3ffc0000, 0x20042004, 0x245e27c4, 0x27c42444, 0x2004201e, 0x201e2004, 0x20042004, 0x00003ffc,      // ICON_NOTEBOOK
-    0x00000000, 0x07e00000, 0x04200420, 0x24243ffc, 0x24242424, 0x24242424, 0x3ffc2424, 0x00000000,      // ICON_SUITCASE
-    0x00000000, 0x0fe00000, 0x08200820, 0x40047ffc, 0x7ffc5554, 0x40045554, 0x7ffc4004, 0x00000000,      // ICON_SUITCASE_ZIP
-    0x00000000, 0x20043ffc, 0x3ffc2004, 0x13c81008, 0x100813c8, 0x10081008, 0x1ff81008, 0x00000000,      // ICON_MAILBOX
-    0x00000000, 0x40027ffe, 0x5ffa5ffa, 0x5ffa5ffa, 0x40025ffa, 0x03c07ffe, 0x1ff81ff8, 0x00000000,      // ICON_MONITOR
-    0x0ff00000, 0x6bfe7ffe, 0x7ffe7ffe, 0x68167ffe, 0x08106816, 0x08100810, 0x0ff00810, 0x00000000,      // ICON_PRINTER
-    0x3ff80000, 0xfffe2008, 0x870a8002, 0x904a888a, 0x904a904a, 0x870a888a, 0xfffe8002, 0x00000000,      // ICON_PHOTO_CAMERA
-    0x0fc00000, 0xfcfe0cd8, 0x8002fffe, 0x84428382, 0x84428442, 0x80028382, 0xfffe8002, 0x00000000,      // ICON_PHOTO_CAMERA_FLASH
-    0x00000000, 0x02400180, 0x08100420, 0x20041008, 0x23c42004, 0x22442244, 0x3ffc2244, 0x00000000,      // ICON_HOUSE
-    0x00000000, 0x1c700000, 0x3ff83ef8, 0x3ff83ff8, 0x0fe01ff0, 0x038007c0, 0x00000100, 0x00000000,      // ICON_HEART
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x80000000, 0xe000c000,      // ICON_CORNER
-    0x00000000, 0x14001c00, 0x15c01400, 0x15401540, 0x155c1540, 0x15541554, 0x1ddc1554, 0x00000000,      // ICON_VERTICAL_BARS
-    0x00000000, 0x03000300, 0x1b001b00, 0x1b601b60, 0x1b6c1b60, 0x1b6c1b6c, 0x1b6c1b6c, 0x00000000,      // ICON_VERTICAL_BARS_FILL
-    0x00000000, 0x00000000, 0x403e7ffe, 0x7ffe403e, 0x7ffe0000, 0x43fe43fe, 0x00007ffe, 0x00000000,      // ICON_LIFE_BARS
-    0x7ffc0000, 0x43844004, 0x43844284, 0x43844004, 0x42844284, 0x42844284, 0x40044384, 0x00007ffc,      // ICON_INFO
-    0x40008000, 0x10002000, 0x04000800, 0x01000200, 0x00400080, 0x00100020, 0x00040008, 0x00010002,      // ICON_CROSSLINE
-    0x00000000, 0x1ff01ff0, 0x18301830, 0x1f001830, 0x03001f00, 0x00000300, 0x03000300, 0x00000000,      // ICON_HELP
-    0x3ff00000, 0x2abc3550, 0x2aac3554, 0x2aac3554, 0x2aac3554, 0x2aac3554, 0x2aac3554, 0x00003ffc,      // ICON_FILETYPE_ALPHA
-    0x3ff00000, 0x201c2010, 0x22442184, 0x28142424, 0x29942814, 0x2ff42994, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_HOME
-    0x07fe0000, 0x04020402, 0x7fe20402, 0x44224422, 0x44224422, 0x402047fe, 0x40204020, 0x00007fe0,      // ICON_LAYERS_VISIBLE
-    0x07fe0000, 0x04020402, 0x7c020402, 0x44024402, 0x44024402, 0x402047fe, 0x40204020, 0x00007fe0,      // ICON_LAYERS
-    0x00000000, 0x40027ffe, 0x7ffe4002, 0x40024002, 0x40024002, 0x40024002, 0x7ffe4002, 0x00000000,      // ICON_WINDOW
-    0x09100000, 0x09f00910, 0x09100910, 0x00000910, 0x24a2779e, 0x27a224a2, 0x709e20a2, 0x00000000,      // ICON_HIDPI
-    0x3ff00000, 0x201c2010, 0x2a842e84, 0x2e842a84, 0x2ba42004, 0x2aa42aa4, 0x20042ba4, 0x00003ffc,      // ICON_FILETYPE_BINARY
-    0x00000000, 0x00000000, 0x00120012, 0x4a5e4bd2, 0x485233d2, 0x00004bd2, 0x00000000, 0x00000000,      // ICON_HEX
-    0x01800000, 0x381c0660, 0x23c42004, 0x23c42044, 0x13c82204, 0x08101008, 0x02400420, 0x00000180,      // ICON_SHIELD
-    0x007e0000, 0x20023fc2, 0x40227fe2, 0x400a403a, 0x400a400a, 0x400a400a, 0x4008400e, 0x00007ff8,      // ICON_FILE_NEW
-    0x00000000, 0x0042007e, 0x40027fc2, 0x44024002, 0x5f024402, 0x44024402, 0x7ffe4002, 0x00000000,      // ICON_FOLDER_ADD
-    0x44220000, 0x12482244, 0xf3cf0000, 0x14280420, 0x48122424, 0x08100810, 0x1ff81008, 0x03c00420,      // ICON_ALARM
-    0x0aa00000, 0x1ff80aa0, 0x1068700e, 0x1008706e, 0x1008700e, 0x1008700e, 0x0aa01ff8, 0x00000aa0,      // ICON_CPU
-    0x07e00000, 0x04201db8, 0x04a01c38, 0x04a01d38, 0x04a01d38, 0x04a01d38, 0x04201d38, 0x000007e0,      // ICON_ROM
-    0x00000000, 0x03c00000, 0x3c382ff0, 0x3c04380c, 0x01800000, 0x03c003c0, 0x00000180, 0x00000000,      // ICON_STEP_OVER
-    0x01800000, 0x01800180, 0x01800180, 0x03c007e0, 0x00000180, 0x01800000, 0x03c003c0, 0x00000180,      // ICON_STEP_INTO
-    0x01800000, 0x07e003c0, 0x01800180, 0x01800180, 0x00000180, 0x01800000, 0x03c003c0, 0x00000180,      // ICON_STEP_OUT
-    0x00000000, 0x0ff003c0, 0x181c1c34, 0x303c301c, 0x30003000, 0x1c301800, 0x03c00ff0, 0x00000000,      // ICON_RESTART
-    0x00000000, 0x00000000, 0x07e003c0, 0x0ff00ff0, 0x0ff00ff0, 0x03c007e0, 0x00000000, 0x00000000,      // ICON_BREAKPOINT_ON
-    0x00000000, 0x00000000, 0x042003c0, 0x08100810, 0x08100810, 0x03c00420, 0x00000000, 0x00000000,      // ICON_BREAKPOINT_OFF
-    0x00000000, 0x00000000, 0x1ff81ff8, 0x1ff80000, 0x00001ff8, 0x1ff81ff8, 0x00000000, 0x00000000,      // ICON_BURGER_MENU
-    0x00000000, 0x00000000, 0x00880070, 0x0c880088, 0x1e8810f8, 0x3e881288, 0x00000000, 0x00000000,      // ICON_CASE_SENSITIVE
-    0x00000000, 0x02000000, 0x07000a80, 0x07001fc0, 0x02000a80, 0x00300030, 0x00000000, 0x00000000,      // ICON_REG_EXP
-    0x00000000, 0x0042007e, 0x40027fc2, 0x40024002, 0x40024002, 0x40024002, 0x7ffe4002, 0x00000000,      // ICON_FOLDER
-    0x3ff00000, 0x201c2010, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x00003ffc,      // ICON_FILE
-    0x1ff00000, 0x20082008, 0x17d02fe8, 0x05400ba0, 0x09200540, 0x23881010, 0x2fe827c8, 0x00001ff0,      // ICON_SAND_TIMER
-    0x01800000, 0x02400240, 0x05a00420, 0x09900990, 0x11881188, 0x21842004, 0x40024182, 0x00003ffc,      // ICON_WARNING
-    0x7ffe0000, 0x4ff24002, 0x4c324ff2, 0x4f824c02, 0x41824f82, 0x41824002, 0x40024182, 0x00007ffe,      // ICON_HELP_BOX
-    0x7ffe0000, 0x41824002, 0x40024182, 0x41824182, 0x41824182, 0x41824182, 0x40024182, 0x00007ffe,      // ICON_INFO_BOX
-    0x01800000, 0x04200240, 0x10080810, 0x7bde2004, 0x0a500a50, 0x08500bd0, 0x08100850, 0x00000ff0,      // ICON_PRIORITY
-    0x01800000, 0x18180660, 0x80016006, 0x98196006, 0x99996666, 0x19986666, 0x01800660, 0x00000000,      // ICON_LAYERS_ISO
-    0x07fe0000, 0x1c020402, 0x74021402, 0x54025402, 0x54025402, 0x500857fe, 0x40205ff8, 0x00007fe0,      // ICON_LAYERS2
-    0x0ffe0000, 0x3ffa0802, 0x7fea200a, 0x402a402a, 0x422a422a, 0x422e422a, 0x40384e28, 0x00007fe0,      // ICON_MLAYERS
-    0x0ffe0000, 0x3ffa0802, 0x7fea200a, 0x402a402a, 0x5b2a512a, 0x512e552a, 0x40385128, 0x00007fe0,      // ICON_MAPS
-    0x04200000, 0x1cf00c60, 0x11f019f0, 0x0f3807b8, 0x1e3c0f3c, 0x1c1c1e1c, 0x1e3c1c1c, 0x00000f70,      // ICON_HOT
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_229
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_230
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_231
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_232
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_233
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_234
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_235
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_236
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_237
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_238
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_239
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_240
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_241
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_242
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_243
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_244
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_245
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_246
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_247
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_248
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_249
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_250
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_251
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_252
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_253
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_254
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_255
-};
-
-// NOTE: A pointer to current icons array should be defined
-static unsigned int *guiIconsPtr = guiIcons;
-
-#endif      // !RAYGUI_NO_ICONS && !RAYGUI_CUSTOM_ICONS
-
-#ifndef RAYGUI_ICON_SIZE
-    #define RAYGUI_ICON_SIZE             0
-#endif
-
-// WARNING: Those values define the total size of the style data array,
-// if changed, previous saved styles could become incompatible
-#define RAYGUI_MAX_CONTROLS             16      // Maximum number of controls
-#define RAYGUI_MAX_PROPS_BASE           16      // Maximum number of base properties
-#define RAYGUI_MAX_PROPS_EXTENDED        8      // Maximum number of extended properties
-
-//----------------------------------------------------------------------------------
-// Types and Structures Definition
-//----------------------------------------------------------------------------------
-// Gui control property style color element
-typedef enum { BORDER = 0, BASE, TEXT, OTHER } GuiPropertyElement;
-
-//----------------------------------------------------------------------------------
-// Global Variables Definition
-//----------------------------------------------------------------------------------
-static GuiState guiState = STATE_NORMAL;        // Gui global state, if !STATE_NORMAL, forces defined state
-
-static Font guiFont = { 0 };                    // Gui current font (WARNING: highly coupled to raylib)
-static bool guiLocked = false;                  // Gui lock state (no inputs processed)
-static float guiAlpha = 1.0f;                   // Gui controls transparency
-
-static unsigned int guiIconScale = 1;           // Gui icon default scale (if icons enabled)
-
-static bool guiTooltip = false;                 // Tooltip enabled/disabled
-static const char *guiTooltipPtr = NULL;        // Tooltip string pointer (string provided by user)
-
-static bool guiControlExclusiveMode = false;    // Gui control exclusive mode (no inputs processed except current control)
-static Rectangle guiControlExclusiveRec = { 0 }; // Gui control exclusive bounds rectangle, used as an unique identifier
-
-static int textBoxCursorIndex = 0;              // Cursor index, shared by all GuiTextBox*()
-//static int blinkCursorFrameCounter = 0;       // Frame counter for cursor blinking
-static int autoCursorCooldownCounter = 0;       // Cooldown frame counter for automatic cursor movement on key-down
-static int autoCursorDelayCounter = 0;          // Delay frame counter for automatic cursor movement
-
-//----------------------------------------------------------------------------------
-// Style data array for all gui style properties (allocated on data segment by default)
-//
-// NOTE 1: First set of BASE properties are generic to all controls but could be individually
-// overwritten per control, first set of EXTENDED properties are generic to all controls and
-// can not be overwritten individually but custom EXTENDED properties can be used by control
-//
-// NOTE 2: A new style set could be loaded over this array using GuiLoadStyle(),
-// but default gui style could always be recovered with GuiLoadStyleDefault()
-//
-// guiStyle size is by default: 16*(16 + 8) = 384*4 = 1536 bytes = 1.5 KB
-//----------------------------------------------------------------------------------
-static unsigned int guiStyle[RAYGUI_MAX_CONTROLS*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED)] = { 0 };
-
-static bool guiStyleLoaded = false;         // Style loaded flag for lazy style initialization
-
-//----------------------------------------------------------------------------------
-// Standalone Mode Functions Declaration
-//
-// NOTE: raygui depend on some raylib input and drawing functions
-// To use raygui as standalone library, below functions must be defined by the user
-//----------------------------------------------------------------------------------
-#if defined(RAYGUI_STANDALONE)
-
-#define KEY_RIGHT           262
-#define KEY_LEFT            263
-#define KEY_DOWN            264
-#define KEY_UP              265
-#define KEY_BACKSPACE       259
-#define KEY_ENTER           257
-
-#define MOUSE_LEFT_BUTTON     0
-
-// Input required functions
-//-------------------------------------------------------------------------------
-static Vector2 GetMousePosition(void);
-static float GetMouseWheelMove(void);
-static bool IsMouseButtonDown(int button);
-static bool IsMouseButtonPressed(int button);
-static bool IsMouseButtonReleased(int button);
-
-static bool IsKeyDown(int key);
-static bool IsKeyPressed(int key);
-static int GetCharPressed(void);         // -- GuiTextBox(), GuiValueBox()
-//-------------------------------------------------------------------------------
-
-// Drawing required functions
-//-------------------------------------------------------------------------------
-static void DrawRectangle(int x, int y, int width, int height, Color color);        // -- GuiDrawRectangle()
-static void DrawRectangleGradientEx(Rectangle rec, Color col1, Color col2, Color col3, Color col4); // -- GuiColorPicker()
-//-------------------------------------------------------------------------------
-
-// Text required functions
-//-------------------------------------------------------------------------------
-static Font GetFontDefault(void);                            // -- GuiLoadStyleDefault()
-static Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount); // -- GuiLoadStyle(), load font
-
-static Texture2D LoadTextureFromImage(Image image);          // -- GuiLoadStyle(), required to load texture from embedded font atlas image
-static void SetShapesTexture(Texture2D tex, Rectangle rec);  // -- GuiLoadStyle(), required to set shapes rec to font white rec (optimization)
-
-static char *LoadFileText(const char *fileName);             // -- GuiLoadStyle(), required to load charset data
-static void UnloadFileText(char *text);                      // -- GuiLoadStyle(), required to unload charset data
-
-static const char *GetDirectoryPath(const char *filePath);   // -- GuiLoadStyle(), required to find charset/font file from text .rgs
-
-static int *LoadCodepoints(const char *text, int *count);    // -- GuiLoadStyle(), required to load required font codepoints list
-static void UnloadCodepoints(int *codepoints);               // -- GuiLoadStyle(), required to unload codepoints list
-
-static unsigned char *DecompressData(const unsigned char *compData, int compDataSize, int *dataSize); // -- GuiLoadStyle()
-//-------------------------------------------------------------------------------
-
-// raylib functions already implemented in raygui
-//-------------------------------------------------------------------------------
-static Color GetColor(int hexValue);                // Returns a Color struct from hexadecimal value
-static int ColorToInt(Color color);                 // Returns hexadecimal value for a Color
-static bool CheckCollisionPointRec(Vector2 point, Rectangle rec);   // Check if point is inside rectangle
-static const char *TextFormat(const char *text, ...);               // Formatting of text with variables to 'embed'
-static const char **TextSplit(const char *text, char delimiter, int *count);    // Split text into multiple strings
-static int TextToInteger(const char *text);         // Get integer value from text
-static float TextToFloat(const char *text);         // Get float value from text
-
-static int GetCodepointNext(const char *text, int *codepointSize);  // Get next codepoint in a UTF-8 encoded text
-static const char *CodepointToUTF8(int codepoint, int *byteSize);   // Encode codepoint into UTF-8 text (char array size returned as parameter)
-
-static void DrawRectangleGradientV(int posX, int posY, int width, int height, Color color1, Color color2);  // Draw rectangle vertical gradient
-//-------------------------------------------------------------------------------
-
-#endif      // RAYGUI_STANDALONE
-
-//----------------------------------------------------------------------------------
-// Module specific Functions Declaration
-//----------------------------------------------------------------------------------
-static void GuiLoadStyleFromMemory(const unsigned char *fileData, int dataSize);    // Load style from memory (binary only)
-
-static int GetTextWidth(const char *text);                      // Gui get text width using gui font and style
-static Rectangle GetTextBounds(int control, Rectangle bounds);  // Get text bounds considering control bounds
-static const char *GetTextIcon(const char *text, int *iconId);  // Get text icon if provided and move text cursor
-
-static void GuiDrawText(const char *text, Rectangle textBounds, int alignment, Color tint);     // Gui draw text using default font
-static void GuiDrawRectangle(Rectangle rec, int borderWidth, Color borderColor, Color color);   // Gui draw rectangle using default raygui style
-
-static const char **GuiTextSplit(const char *text, char delimiter, int *count, int *textRow);   // Split controls text into multiple strings
-static Vector3 ConvertHSVtoRGB(Vector3 hsv);                    // Convert color data from HSV to RGB
-static Vector3 ConvertRGBtoHSV(Vector3 rgb);                    // Convert color data from RGB to HSV
-
-static int GuiScrollBar(Rectangle bounds, int value, int minValue, int maxValue);   // Scroll bar control, used by GuiScrollPanel()
-static void GuiTooltip(Rectangle controlRec);                   // Draw tooltip using control rec position
-
-static Color GuiFade(Color color, float alpha);         // Fade color by an alpha factor
-
-//----------------------------------------------------------------------------------
-// Gui Setup Functions Definition
-//----------------------------------------------------------------------------------
-// Enable gui global state
-// NOTE: We check for STATE_DISABLED to avoid messing custom global state setups
-void GuiEnable(void) { if (guiState == STATE_DISABLED) guiState = STATE_NORMAL; }
-
-// Disable gui global state
-// NOTE: We check for STATE_NORMAL to avoid messing custom global state setups
-void GuiDisable(void) { if (guiState == STATE_NORMAL) guiState = STATE_DISABLED; }
-
-// Lock gui global state
-void GuiLock(void) { guiLocked = true; }
-
-// Unlock gui global state
-void GuiUnlock(void) { guiLocked = false; }
-
-// Check if gui is locked (global state)
-bool GuiIsLocked(void) { return guiLocked; }
-
-// Set gui controls alpha global state
-void GuiSetAlpha(float alpha)
-{
-    if (alpha < 0.0f) alpha = 0.0f;
-    else if (alpha > 1.0f) alpha = 1.0f;
-
-    guiAlpha = alpha;
-}
-
-// Set gui state (global state)
-void GuiSetState(int state) { guiState = (GuiState)state; }
-
-// Get gui state (global state)
-int GuiGetState(void) { return guiState; }
-
-// Set custom gui font
-// NOTE: Font loading/unloading is external to raygui
-void GuiSetFont(Font font)
-{
-    if (font.texture.id > 0)
-    {
-        // NOTE: If we try to setup a font but default style has not been
-        // lazily loaded before, it will be overwritten, so we need to force
-        // default style loading first
-        if (!guiStyleLoaded) GuiLoadStyleDefault();
-
-        guiFont = font;
-    }
-}
-
-// Get custom gui font
-Font GuiGetFont(void)
-{
-    return guiFont;
-}
-
-// Set control style property value
-void GuiSetStyle(int control, int property, int value)
-{
-    if (!guiStyleLoaded) GuiLoadStyleDefault();
-    guiStyle[control*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED) + property] = value;
-
-    // Default properties are propagated to all controls
-    if ((control == 0) && (property < RAYGUI_MAX_PROPS_BASE))
-    {
-        for (int i = 1; i < RAYGUI_MAX_CONTROLS; i++) guiStyle[i*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED) + property] = value;
-    }
-}
-
-// Get control style property value
-int GuiGetStyle(int control, int property)
-{
-    if (!guiStyleLoaded) GuiLoadStyleDefault();
-    return guiStyle[control*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED) + property];
-}
-
-//----------------------------------------------------------------------------------
-// Gui Controls Functions Definition
-//----------------------------------------------------------------------------------
-
-// Window Box control
-int GuiWindowBox(Rectangle bounds, const char *title)
-{
-    // Window title bar height (including borders)
-    // NOTE: This define is also used by GuiMessageBox() and GuiTextInputBox()
-    #if !defined(RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT)
-        #define RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT        24
-    #endif
-
-    int result = 0;
-    //GuiState state = guiState;
-
-    int statusBarHeight = RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT;
-
-    Rectangle statusBar = { bounds.x, bounds.y, bounds.width, (float)statusBarHeight };
-    if (bounds.height < statusBarHeight*2.0f) bounds.height = statusBarHeight*2.0f;
-
-    Rectangle windowPanel = { bounds.x, bounds.y + (float)statusBarHeight - 1, bounds.width, bounds.height - (float)statusBarHeight + 1 };
-    Rectangle closeButtonRec = { statusBar.x + statusBar.width - GuiGetStyle(STATUSBAR, BORDER_WIDTH) - 20,
-                                 statusBar.y + statusBarHeight/2.0f - 18.0f/2.0f, 18, 18 };
-
-    // Update control
-    //--------------------------------------------------------------------
-    // NOTE: Logic is directly managed by button
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiStatusBar(statusBar, title); // Draw window header as status bar
-    GuiPanel(windowPanel, NULL);    // Draw window base
-
-    // Draw window close button
-    int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);
-    int tempTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, 1);
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-#if defined(RAYGUI_NO_ICONS)
-    result = GuiButton(closeButtonRec, "x");
-#else
-    result = GuiButton(closeButtonRec, GuiIconText(ICON_CROSS_SMALL, NULL));
-#endif
-    GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlignment);
-    //--------------------------------------------------------------------
-
-    return result;      // Window close button clicked: result = 1
-}
-
-// Group Box control with text name
-int GuiGroupBox(Rectangle bounds, const char *text)
-{
-    #if !defined(RAYGUI_GROUPBOX_LINE_THICK)
-        #define RAYGUI_GROUPBOX_LINE_THICK     1
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y, RAYGUI_GROUPBOX_LINE_THICK, bounds.height }, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR)));
-    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height - 1, bounds.width, RAYGUI_GROUPBOX_LINE_THICK }, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR)));
-    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - 1, bounds.y, RAYGUI_GROUPBOX_LINE_THICK, bounds.height }, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR)));
-
-    GuiLine(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y - GuiGetStyle(DEFAULT, TEXT_SIZE)/2, bounds.width, (float)GuiGetStyle(DEFAULT, TEXT_SIZE) }, text);
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Line control
-int GuiLine(Rectangle bounds, const char *text)
-{
-    #if !defined(RAYGUI_LINE_ORIGIN_SIZE)
-        #define RAYGUI_LINE_MARGIN_TEXT  12
-    #endif
-    #if !defined(RAYGUI_LINE_TEXT_PADDING)
-        #define RAYGUI_LINE_TEXT_PADDING  4
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    Color color = GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR));
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (text == NULL) GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height/2, bounds.width, 1 }, 0, BLANK, color);
-    else
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(text) + 2;
-        textBounds.height = bounds.height;
-        textBounds.x = bounds.x + RAYGUI_LINE_MARGIN_TEXT;
-        textBounds.y = bounds.y;
-
-        // Draw line with embedded text label: "--- text --------------"
-        GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height/2, RAYGUI_LINE_MARGIN_TEXT - RAYGUI_LINE_TEXT_PADDING, 1 }, 0, BLANK, color);
-        GuiDrawText(text, textBounds, TEXT_ALIGN_LEFT, color);
-        GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + 12 + textBounds.width + 4, bounds.y + bounds.height/2, bounds.width - textBounds.width - RAYGUI_LINE_MARGIN_TEXT - RAYGUI_LINE_TEXT_PADDING, 1 }, 0, BLANK, color);
-    }
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Panel control
-int GuiPanel(Rectangle bounds, const char *text)
-{
-    #if !defined(RAYGUI_PANEL_BORDER_WIDTH)
-        #define RAYGUI_PANEL_BORDER_WIDTH   1
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    // Text will be drawn as a header bar (if provided)
-    Rectangle statusBar = { bounds.x, bounds.y, bounds.width, (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT };
-    if ((text != NULL) && (bounds.height < RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f)) bounds.height = RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f;
-
-    if (text != NULL)
-    {
-        // Move panel bounds after the header bar
-        bounds.y += (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 1;
-        bounds.height -= (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 1;
-    }
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (text != NULL) GuiStatusBar(statusBar, text);  // Draw panel header as status bar
-
-    GuiDrawRectangle(bounds, RAYGUI_PANEL_BORDER_WIDTH, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED: (int)LINE_COLOR)),
-                     GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? BASE_COLOR_DISABLED : BACKGROUND_COLOR)));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Tab Bar control
-// NOTE: Using GuiToggle() for the TABS
-int GuiTabBar(Rectangle bounds, const char **text, int count, int *active)
-{
-    #define RAYGUI_TABBAR_ITEM_WIDTH    160
-
-    int result = -1;
-    //GuiState state = guiState;
-
-    Rectangle tabBounds = { bounds.x, bounds.y, RAYGUI_TABBAR_ITEM_WIDTH, bounds.height };
-
-    if (*active < 0) *active = 0;
-    else if (*active > count - 1) *active = count - 1;
-
-    int offsetX = 0;    // Required in case tabs go out of screen
-    offsetX = (*active + 2)*RAYGUI_TABBAR_ITEM_WIDTH - GetScreenWidth();
-    if (offsetX < 0) offsetX = 0;
-
-    bool toggle = false;    // Required for individual toggles
-
-    // Draw control
-    //--------------------------------------------------------------------
-    for (int i = 0; i < count; i++)
-    {
-        tabBounds.x = bounds.x + (RAYGUI_TABBAR_ITEM_WIDTH + 4)*i - offsetX;
-
-        if (tabBounds.x < GetScreenWidth())
-        {
-            // Draw tabs as toggle controls
-            int textAlignment = GuiGetStyle(TOGGLE, TEXT_ALIGNMENT);
-            int textPadding = GuiGetStyle(TOGGLE, TEXT_PADDING);
-            GuiSetStyle(TOGGLE, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-            GuiSetStyle(TOGGLE, TEXT_PADDING, 8);
-
-            if (i == (*active))
-            {
-                toggle = true;
-                GuiToggle(tabBounds, GuiIconText(12, text[i]), &toggle);
-            }
-            else
-            {
-                toggle = false;
-                GuiToggle(tabBounds, GuiIconText(12, text[i]), &toggle);
-                if (toggle) *active = i;
-            }
-
-            // Close tab with middle mouse button pressed
-            if (CheckCollisionPointRec(GetMousePosition(), tabBounds) && IsMouseButtonPressed(MOUSE_MIDDLE_BUTTON)) result = i;
-
-            GuiSetStyle(TOGGLE, TEXT_PADDING, textPadding);
-            GuiSetStyle(TOGGLE, TEXT_ALIGNMENT, textAlignment);
-
-            // Draw tab close button
-            // NOTE: Only draw close button for current tab: if (CheckCollisionPointRec(mousePosition, tabBounds))
-            int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);
-            int tempTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-            GuiSetStyle(BUTTON, BORDER_WIDTH, 1);
-            GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-#if defined(RAYGUI_NO_ICONS)
-            if (GuiButton(RAYGUI_CLITERAL(Rectangle){ tabBounds.x + tabBounds.width - 14 - 5, tabBounds.y + 5, 14, 14 }, "x")) result = i;
-#else
-            if (GuiButton(RAYGUI_CLITERAL(Rectangle){ tabBounds.x + tabBounds.width - 14 - 5, tabBounds.y + 5, 14, 14 }, GuiIconText(ICON_CROSS_SMALL, NULL))) result = i;
-#endif
-            GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);
-            GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlignment);
-        }
-    }
-
-    // Draw tab-bar bottom line
-    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height - 1, bounds.width, 1 }, 0, BLANK, GetColor(GuiGetStyle(TOGGLE, BORDER_COLOR_NORMAL)));
-    //--------------------------------------------------------------------
-
-    return result;     // Return as result the current TAB closing requested
-}
-
-// Scroll Panel control
-int GuiScrollPanel(Rectangle bounds, const char *text, Rectangle content, Vector2 *scroll, Rectangle *view)
-{
-    #define RAYGUI_MIN_SCROLLBAR_WIDTH     40
-    #define RAYGUI_MIN_SCROLLBAR_HEIGHT    40
-    #define RAYGUI_MIN_MOUSE_WHEEL_SPEED   20
-
-    int result = 0;
-    GuiState state = guiState;
-
-    Rectangle temp = { 0 };
-    if (view == NULL) view = &temp;
-
-    Vector2 scrollPos = { 0.0f, 0.0f };
-    if (scroll != NULL) scrollPos = *scroll;
-
-    // Text will be drawn as a header bar (if provided)
-    Rectangle statusBar = { bounds.x, bounds.y, bounds.width, (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT };
-    if (bounds.height < RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f) bounds.height = RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f;
-
-    if (text != NULL)
-    {
-        // Move panel bounds after the header bar
-        bounds.y += (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 1;
-        bounds.height -= (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT + 1;
-    }
-
-    bool hasHorizontalScrollBar = (content.width > bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH))? true : false;
-    bool hasVerticalScrollBar = (content.height > bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH))? true : false;
-
-    // Recheck to account for the other scrollbar being visible
-    if (!hasHorizontalScrollBar) hasHorizontalScrollBar = (hasVerticalScrollBar && (content.width > (bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH))))? true : false;
-    if (!hasVerticalScrollBar) hasVerticalScrollBar = (hasHorizontalScrollBar && (content.height > (bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH))))? true : false;
-
-    int horizontalScrollBarWidth = hasHorizontalScrollBar? GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH) : 0;
-    int verticalScrollBarWidth =  hasVerticalScrollBar? GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH) : 0;
-    Rectangle horizontalScrollBar = {
-        (float)((GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)bounds.x + verticalScrollBarWidth : (float)bounds.x) + GuiGetStyle(DEFAULT, BORDER_WIDTH),
-        (float)bounds.y + bounds.height - horizontalScrollBarWidth - GuiGetStyle(DEFAULT, BORDER_WIDTH),
-        (float)bounds.width - verticalScrollBarWidth - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH),
-        (float)horizontalScrollBarWidth
-    };
-    Rectangle verticalScrollBar = {
-        (float)((GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)bounds.x + GuiGetStyle(DEFAULT, BORDER_WIDTH) : (float)bounds.x + bounds.width - verticalScrollBarWidth - GuiGetStyle(DEFAULT, BORDER_WIDTH)),
-        (float)bounds.y + GuiGetStyle(DEFAULT, BORDER_WIDTH),
-        (float)verticalScrollBarWidth,
-        (float)bounds.height - horizontalScrollBarWidth - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH)
-    };
-
-    // Make sure scroll bars have a minimum width/height
-    if (horizontalScrollBar.width < RAYGUI_MIN_SCROLLBAR_WIDTH) horizontalScrollBar.width = RAYGUI_MIN_SCROLLBAR_WIDTH;
-    if (verticalScrollBar.height < RAYGUI_MIN_SCROLLBAR_HEIGHT) verticalScrollBar.height = RAYGUI_MIN_SCROLLBAR_HEIGHT;
-
-    // Calculate view area (area without the scrollbars)
-    *view = (GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)?
-                RAYGUI_CLITERAL(Rectangle){ bounds.x + verticalScrollBarWidth + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.y + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth, bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth } :
-                RAYGUI_CLITERAL(Rectangle){ bounds.x + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.y + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth, bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth };
-
-    // Clip view area to the actual content size
-    if (view->width > content.width) view->width = content.width;
-    if (view->height > content.height) view->height = content.height;
-
-    float horizontalMin = hasHorizontalScrollBar? ((GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)-verticalScrollBarWidth : 0) - (float)GuiGetStyle(DEFAULT, BORDER_WIDTH) : (((float)GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)-verticalScrollBarWidth : 0) - (float)GuiGetStyle(DEFAULT, BORDER_WIDTH);
-    float horizontalMax = hasHorizontalScrollBar? content.width - bounds.width + (float)verticalScrollBarWidth + GuiGetStyle(DEFAULT, BORDER_WIDTH) - (((float)GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)verticalScrollBarWidth : 0) : (float)-GuiGetStyle(DEFAULT, BORDER_WIDTH);
-    float verticalMin = hasVerticalScrollBar? 0.0f : -1.0f;
-    float verticalMax = hasVerticalScrollBar? content.height - bounds.height + (float)horizontalScrollBarWidth + (float)GuiGetStyle(DEFAULT, BORDER_WIDTH) : (float)-GuiGetStyle(DEFAULT, BORDER_WIDTH);
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check button state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-
-#if defined(SUPPORT_SCROLLBAR_KEY_INPUT)
-            if (hasHorizontalScrollBar)
-            {
-                if (IsKeyDown(KEY_RIGHT)) scrollPos.x -= GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-                if (IsKeyDown(KEY_LEFT)) scrollPos.x += GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-            }
-
-            if (hasVerticalScrollBar)
-            {
-                if (IsKeyDown(KEY_DOWN)) scrollPos.y -= GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-                if (IsKeyDown(KEY_UP)) scrollPos.y += GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-            }
-#endif
-            float wheelMove = GetMouseWheelMove();
-
-            // Set scrolling speed with mouse wheel based on ratio between bounds and content
-            Vector2 mouseWheelSpeed = { content.width/bounds.width, content.height/bounds.height };
-            if (mouseWheelSpeed.x < RAYGUI_MIN_MOUSE_WHEEL_SPEED) mouseWheelSpeed.x = RAYGUI_MIN_MOUSE_WHEEL_SPEED;
-            if (mouseWheelSpeed.y < RAYGUI_MIN_MOUSE_WHEEL_SPEED) mouseWheelSpeed.y = RAYGUI_MIN_MOUSE_WHEEL_SPEED;
-
-            // Horizontal and vertical scrolling with mouse wheel
-            if (hasHorizontalScrollBar && (IsKeyDown(KEY_LEFT_CONTROL) || IsKeyDown(KEY_LEFT_SHIFT))) scrollPos.x += wheelMove*mouseWheelSpeed.x;
-            else scrollPos.y += wheelMove*mouseWheelSpeed.y; // Vertical scroll
-        }
-    }
-
-    // Normalize scroll values
-    if (scrollPos.x > -horizontalMin) scrollPos.x = -horizontalMin;
-    if (scrollPos.x < -horizontalMax) scrollPos.x = -horizontalMax;
-    if (scrollPos.y > -verticalMin) scrollPos.y = -verticalMin;
-    if (scrollPos.y < -verticalMax) scrollPos.y = -verticalMax;
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (text != NULL) GuiStatusBar(statusBar, text);  // Draw panel header as status bar
-
-    GuiDrawRectangle(bounds, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, BACKGROUND_COLOR)));        // Draw background
-
-    // Save size of the scrollbar slider
-    const int slider = GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE);
-
-    // Draw horizontal scrollbar if visible
-    if (hasHorizontalScrollBar)
-    {
-        // Change scrollbar slider size to show the diff in size between the content width and the widget width
-        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, (int)(((bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth)/(int)content.width)*((int)bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth)));
-        scrollPos.x = (float)-GuiScrollBar(horizontalScrollBar, (int)-scrollPos.x, (int)horizontalMin, (int)horizontalMax);
-    }
-    else scrollPos.x = 0.0f;
-
-    // Draw vertical scrollbar if visible
-    if (hasVerticalScrollBar)
-    {
-        // Change scrollbar slider size to show the diff in size between the content height and the widget height
-        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, (int)(((bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth)/(int)content.height)*((int)bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth)));
-        scrollPos.y = (float)-GuiScrollBar(verticalScrollBar, (int)-scrollPos.y, (int)verticalMin, (int)verticalMax);
-    }
-    else scrollPos.y = 0.0f;
-
-    // Draw detail corner rectangle if both scroll bars are visible
-    if (hasHorizontalScrollBar && hasVerticalScrollBar)
-    {
-        Rectangle corner = { (GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (bounds.x + GuiGetStyle(DEFAULT, BORDER_WIDTH) + 2) : (horizontalScrollBar.x + horizontalScrollBar.width + 2), verticalScrollBar.y + verticalScrollBar.height + 2, (float)horizontalScrollBarWidth - 4, (float)verticalScrollBarWidth - 4 };
-        GuiDrawRectangle(corner, 0, BLANK, GetColor(GuiGetStyle(LISTVIEW, TEXT + (state*3))));
-    }
-
-    // Draw scrollbar lines depending on current state
-    GuiDrawRectangle(bounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER + (state*3))), BLANK);
-
-    // Set scrollbar slider size back to the way it was before
-    GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, slider);
-    //--------------------------------------------------------------------
-
-    if (scroll != NULL) *scroll = scrollPos;
-
-    return result;
-}
-
-// Label control
-int GuiLabel(Rectangle bounds, const char *text)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    // Update control
-    //--------------------------------------------------------------------
-    //...
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawText(text, GetTextBounds(LABEL, bounds), GuiGetStyle(LABEL, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Button control, returns true when clicked
-int GuiButton(Rectangle bounds, const char *text)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check button state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-
-            if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON)) result = 1;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(BUTTON, BORDER_WIDTH), GetColor(GuiGetStyle(BUTTON, BORDER + (state*3))), GetColor(GuiGetStyle(BUTTON, BASE + (state*3))));
-    GuiDrawText(text, GetTextBounds(BUTTON, bounds), GuiGetStyle(BUTTON, TEXT_ALIGNMENT), GetColor(GuiGetStyle(BUTTON, TEXT + (state*3))));
-
-    if (state == STATE_FOCUSED) GuiTooltip(bounds);
-    //------------------------------------------------------------------
-
-    return result;      // Button pressed: result = 1
-}
-
-// Label button control
-int GuiLabelButton(Rectangle bounds, const char *text)
-{
-    GuiState state = guiState;
-    bool pressed = false;
-
-    // NOTE: We force bounds.width to be all text
-    float textWidth = (float)GetTextWidth(text);
-    if ((bounds.width - 2*GuiGetStyle(LABEL, BORDER_WIDTH) - 2*GuiGetStyle(LABEL, TEXT_PADDING)) < textWidth) bounds.width = textWidth + 2*GuiGetStyle(LABEL, BORDER_WIDTH) + 2*GuiGetStyle(LABEL, TEXT_PADDING) + 2;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check checkbox state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-
-            if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON)) pressed = true;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawText(text, GetTextBounds(LABEL, bounds), GuiGetStyle(LABEL, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return pressed;
-}
-
-// Toggle Button control
-int GuiToggle(Rectangle bounds, const char *text, bool *active)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    bool temp = false;
-    if (active == NULL) active = &temp;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check toggle button state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_NORMAL;
-                *active = !(*active);
-            }
-            else state = STATE_FOCUSED;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state == STATE_NORMAL)
-    {
-        GuiDrawRectangle(bounds, GuiGetStyle(TOGGLE, BORDER_WIDTH), GetColor(GuiGetStyle(TOGGLE, ((*active)? BORDER_COLOR_PRESSED : (BORDER + state*3)))), GetColor(GuiGetStyle(TOGGLE, ((*active)? BASE_COLOR_PRESSED : (BASE + state*3)))));
-        GuiDrawText(text, GetTextBounds(TOGGLE, bounds), GuiGetStyle(TOGGLE, TEXT_ALIGNMENT), GetColor(GuiGetStyle(TOGGLE, ((*active)? TEXT_COLOR_PRESSED : (TEXT + state*3)))));
-    }
-    else
-    {
-        GuiDrawRectangle(bounds, GuiGetStyle(TOGGLE, BORDER_WIDTH), GetColor(GuiGetStyle(TOGGLE, BORDER + state*3)), GetColor(GuiGetStyle(TOGGLE, BASE + state*3)));
-        GuiDrawText(text, GetTextBounds(TOGGLE, bounds), GuiGetStyle(TOGGLE, TEXT_ALIGNMENT), GetColor(GuiGetStyle(TOGGLE, TEXT + state*3)));
-    }
-
-    if (state == STATE_FOCUSED) GuiTooltip(bounds);
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Toggle Group control
-int GuiToggleGroup(Rectangle bounds, const char *text, int *active)
-{
-    #if !defined(RAYGUI_TOGGLEGROUP_MAX_ITEMS)
-        #define RAYGUI_TOGGLEGROUP_MAX_ITEMS    32
-    #endif
-
-    int result = 0;
-    float initBoundsX = bounds.x;
-
-    int temp = 0;
-    if (active == NULL) active = &temp;
-
-    bool toggle = false;    // Required for individual toggles
-
-    // Get substrings items from text (items pointers)
-    int rows[RAYGUI_TOGGLEGROUP_MAX_ITEMS] = { 0 };
-    int itemCount = 0;
-    const char **items = GuiTextSplit(text, ';', &itemCount, rows);
-
-    int prevRow = rows[0];
-
-    for (int i = 0; i < itemCount; i++)
-    {
-        if (prevRow != rows[i])
-        {
-            bounds.x = initBoundsX;
-            bounds.y += (bounds.height + GuiGetStyle(TOGGLE, GROUP_PADDING));
-            prevRow = rows[i];
-        }
-
-        if (i == (*active))
-        {
-            toggle = true;
-            GuiToggle(bounds, items[i], &toggle);
-        }
-        else
-        {
-            toggle = false;
-            GuiToggle(bounds, items[i], &toggle);
-            if (toggle) *active = i;
-        }
-
-        bounds.x += (bounds.width + GuiGetStyle(TOGGLE, GROUP_PADDING));
-    }
-
-    return result;
-}
-
-// Toggle Slider control extended
-int GuiToggleSlider(Rectangle bounds, const char *text, int *active)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    int temp = 0;
-    if (active == NULL) active = &temp;
-
-    //bool toggle = false;    // Required for individual toggles
-
-    // Get substrings items from text (items pointers)
-    int itemCount = 0;
-    const char **items = NULL;
-
-    if (text != NULL) items = GuiTextSplit(text, ';', &itemCount, NULL);
-
-    Rectangle slider = {
-        0,      // Calculated later depending on the active toggle
-        bounds.y + GuiGetStyle(SLIDER, BORDER_WIDTH) + GuiGetStyle(SLIDER, SLIDER_PADDING),
-        (bounds.width - 2*GuiGetStyle(SLIDER, BORDER_WIDTH) - (itemCount + 1)*GuiGetStyle(SLIDER, SLIDER_PADDING))/itemCount,
-        bounds.height - 2*GuiGetStyle(SLIDER, BORDER_WIDTH) - 2*GuiGetStyle(SLIDER, SLIDER_PADDING) };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_PRESSED;
-                (*active)++;
-                result = 1;
-            }
-            else state = STATE_FOCUSED;
-        }
-
-        if ((*active) && (state != STATE_FOCUSED)) state = STATE_PRESSED;
-    }
-
-    if (*active >= itemCount) *active = 0;
-    slider.x = bounds.x + GuiGetStyle(SLIDER, BORDER_WIDTH) + (*active + 1)*GuiGetStyle(SLIDER, SLIDER_PADDING) + (*active)*slider.width;
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(SLIDER, BORDER_WIDTH), GetColor(GuiGetStyle(TOGGLE, BORDER + (state*3))),
-        GetColor(GuiGetStyle(TOGGLE, BASE_COLOR_NORMAL)));
-
-    // Draw internal slider
-    if (state == STATE_NORMAL) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_PRESSED)));
-    else if (state == STATE_FOCUSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_FOCUSED)));
-    else if (state == STATE_PRESSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_PRESSED)));
-
-    // Draw text in slider
-    if (text != NULL)
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(text);
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = slider.x + slider.width/2 - textBounds.width/2;
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-
-        GuiDrawText(items[*active], textBounds, GuiGetStyle(TOGGLE, TEXT_ALIGNMENT), Fade(GetColor(GuiGetStyle(TOGGLE, TEXT + (state*3))), guiAlpha));
-    }
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Check Box control, returns 1 when state changed
-int GuiCheckBox(Rectangle bounds, const char *text, bool *checked)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    bool temp = false;
-    if (checked == NULL) checked = &temp;
-
-    Rectangle textBounds = { 0 };
-
-    if (text != NULL)
-    {
-        textBounds.width = (float)GetTextWidth(text) + 2;
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(CHECKBOX, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-        if (GuiGetStyle(CHECKBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(CHECKBOX, TEXT_PADDING);
-    }
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        Rectangle totalBounds = {
-            (GuiGetStyle(CHECKBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT)? textBounds.x : bounds.x,
-            bounds.y,
-            bounds.width + textBounds.width + GuiGetStyle(CHECKBOX, TEXT_PADDING),
-            bounds.height,
-        };
-
-        // Check checkbox state
-        if (CheckCollisionPointRec(mousePoint, totalBounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-
-            if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))
-            {
-                *checked = !(*checked);
-                result = 1;
-            }
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(CHECKBOX, BORDER_WIDTH), GetColor(GuiGetStyle(CHECKBOX, BORDER + (state*3))), BLANK);
-
-    if (*checked)
-    {
-        Rectangle check = { bounds.x + GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING),
-                            bounds.y + GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING),
-                            bounds.width - 2*(GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING)),
-                            bounds.height - 2*(GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING)) };
-        GuiDrawRectangle(check, 0, BLANK, GetColor(GuiGetStyle(CHECKBOX, TEXT + state*3)));
-    }
-
-    GuiDrawText(text, textBounds, (GuiGetStyle(CHECKBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Combo Box control
-int GuiComboBox(Rectangle bounds, const char *text, int *active)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    int temp = 0;
-    if (active == NULL) active = &temp;
-
-    bounds.width -= (GuiGetStyle(COMBOBOX, COMBO_BUTTON_WIDTH) + GuiGetStyle(COMBOBOX, COMBO_BUTTON_SPACING));
-
-    Rectangle selector = { (float)bounds.x + bounds.width + GuiGetStyle(COMBOBOX, COMBO_BUTTON_SPACING),
-                           (float)bounds.y, (float)GuiGetStyle(COMBOBOX, COMBO_BUTTON_WIDTH), (float)bounds.height };
-
-    // Get substrings items from text (items pointers, lengths and count)
-    int itemCount = 0;
-    const char **items = GuiTextSplit(text, ';', &itemCount, NULL);
-
-    if (*active < 0) *active = 0;
-    else if (*active > (itemCount - 1)) *active = itemCount - 1;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && (itemCount > 1) && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (CheckCollisionPointRec(mousePoint, bounds) ||
-            CheckCollisionPointRec(mousePoint, selector))
-        {
-            if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-            {
-                *active += 1;
-                if (*active >= itemCount) *active = 0;      // Cyclic combobox
-            }
-
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    // Draw combo box main
-    GuiDrawRectangle(bounds, GuiGetStyle(COMBOBOX, BORDER_WIDTH), GetColor(GuiGetStyle(COMBOBOX, BORDER + (state*3))), GetColor(GuiGetStyle(COMBOBOX, BASE + (state*3))));
-    GuiDrawText(items[*active], GetTextBounds(COMBOBOX, bounds), GuiGetStyle(COMBOBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(COMBOBOX, TEXT + (state*3))));
-
-    // Draw selector using a custom button
-    // NOTE: BORDER_WIDTH and TEXT_ALIGNMENT forced values
-    int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);
-    int tempTextAlign = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, 1);
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-
-    GuiButton(selector, TextFormat("%i/%i", *active + 1, itemCount));
-
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlign);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Dropdown Box control
-// NOTE: Returns mouse click
-int GuiDropdownBox(Rectangle bounds, const char *text, int *active, bool editMode)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    int temp = 0;
-    if (active == NULL) active = &temp;
-
-    int itemSelected = *active;
-    int itemFocused = -1;
-
-    int direction = 0; // Dropdown box open direction: down (default)
-    if (GuiGetStyle(DROPDOWNBOX, DROPDOWN_ROLL_UP) == 1) direction = 1; // Up
-
-    // Get substrings items from text (items pointers, lengths and count)
-    int itemCount = 0;
-    const char **items = GuiTextSplit(text, ';', &itemCount, NULL);
-
-    Rectangle boundsOpen = bounds;
-    boundsOpen.height = (itemCount + 1)*(bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
-    if (direction == 1) boundsOpen.y -= itemCount*(bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING)) + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING);
-
-    Rectangle itemBounds = bounds;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && (editMode || !guiLocked) && (itemCount > 1) && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (editMode)
-        {
-            state = STATE_PRESSED;
-
-            // Check if mouse has been pressed or released outside limits
-            if (!CheckCollisionPointRec(mousePoint, boundsOpen))
-            {
-                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON) || IsMouseButtonReleased(MOUSE_LEFT_BUTTON)) result = 1;
-            }
-
-            // Check if already selected item has been pressed again
-            if (CheckCollisionPointRec(mousePoint, bounds) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON)) result = 1;
-
-            // Check focused and selected item
-            for (int i = 0; i < itemCount; i++)
-            {
-                // Update item rectangle y position for next item
-                if (direction == 0) itemBounds.y += (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
-                else itemBounds.y -= (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
-
-                if (CheckCollisionPointRec(mousePoint, itemBounds))
-                {
-                    itemFocused = i;
-                    if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))
-                    {
-                        itemSelected = i;
-                        result = 1;         // Item selected
-                    }
-                    break;
-                }
-            }
-
-            itemBounds = bounds;
-        }
-        else
-        {
-            if (CheckCollisionPointRec(mousePoint, bounds))
-            {
-                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-                {
-                    result = 1;
-                    state = STATE_PRESSED;
-                }
-                else state = STATE_FOCUSED;
-            }
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (editMode) GuiPanel(boundsOpen, NULL);
-
-    GuiDrawRectangle(bounds, GuiGetStyle(DROPDOWNBOX, BORDER_WIDTH), GetColor(GuiGetStyle(DROPDOWNBOX, BORDER + state*3)), GetColor(GuiGetStyle(DROPDOWNBOX, BASE + state*3)));
-    GuiDrawText(items[itemSelected], GetTextBounds(DROPDOWNBOX, bounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + state*3)));
-
-    if (editMode)
-    {
-        // Draw visible items
-        for (int i = 0; i < itemCount; i++)
-        {
-            // Update item rectangle y position for next item
-            if (direction == 0) itemBounds.y += (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
-            else itemBounds.y -= (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
-
-            if (i == itemSelected)
-            {
-                GuiDrawRectangle(itemBounds, GuiGetStyle(DROPDOWNBOX, BORDER_WIDTH), GetColor(GuiGetStyle(DROPDOWNBOX, BORDER_COLOR_PRESSED)), GetColor(GuiGetStyle(DROPDOWNBOX, BASE_COLOR_PRESSED)));
-                GuiDrawText(items[i], GetTextBounds(DROPDOWNBOX, itemBounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT_COLOR_PRESSED)));
-            }
-            else if (i == itemFocused)
-            {
-                GuiDrawRectangle(itemBounds, GuiGetStyle(DROPDOWNBOX, BORDER_WIDTH), GetColor(GuiGetStyle(DROPDOWNBOX, BORDER_COLOR_FOCUSED)), GetColor(GuiGetStyle(DROPDOWNBOX, BASE_COLOR_FOCUSED)));
-                GuiDrawText(items[i], GetTextBounds(DROPDOWNBOX, itemBounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT_COLOR_FOCUSED)));
-            }
-            else GuiDrawText(items[i], GetTextBounds(DROPDOWNBOX, itemBounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT_COLOR_NORMAL)));
-        }
-    }
-
-    if (!GuiGetStyle(DROPDOWNBOX, DROPDOWN_ARROW_HIDDEN))
-    {
-        // Draw arrows (using icon if available)
-#if defined(RAYGUI_NO_ICONS)
-        GuiDrawText("v", RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - GuiGetStyle(DROPDOWNBOX, ARROW_PADDING), bounds.y + bounds.height/2 - 2, 10, 10 },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));
-#else
-        GuiDrawText(direction? "#121#" : "#120#", RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - GuiGetStyle(DROPDOWNBOX, ARROW_PADDING), bounds.y + bounds.height/2 - 6, 10, 10 },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));   // ICON_ARROW_DOWN_FILL
-#endif
-    }
-    //--------------------------------------------------------------------
-
-    *active = itemSelected;
-
-    // TODO: Use result to return more internal states: mouse-press out-of-bounds, mouse-press over selected-item...
-    return result;   // Mouse click: result = 1
-}
-
-// Text Box control
-// NOTE: Returns true on ENTER pressed (useful for data validation)
-int GuiTextBox(Rectangle bounds, char *text, int textSize, bool editMode)
-{
-    #if !defined(RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN)
-        #define RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN  40        // Frames to wait for autocursor movement
-    #endif
-    #if !defined(RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY)
-        #define RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY      1        // Frames delay for autocursor movement
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    bool multiline = false;     // TODO: Consider multiline text input
-    int wrapMode = GuiGetStyle(DEFAULT, TEXT_WRAP_MODE);
-
-    Rectangle textBounds = GetTextBounds(TEXTBOX, bounds);
-    int textLength = (int)strlen(text);     // Get current text length
-    int thisCursorIndex = textBoxCursorIndex;
-    if (thisCursorIndex > textLength) thisCursorIndex = textLength;
-    int textWidth = GetTextWidth(text) - GetTextWidth(text + thisCursorIndex);
-    int textIndexOffset = 0;    // Text index offset to start drawing in the box
-
-    // Cursor rectangle
-    // NOTE: Position X value should be updated
-    Rectangle cursor = {
-        textBounds.x + textWidth + GuiGetStyle(DEFAULT, TEXT_SPACING),
-        textBounds.y + textBounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE),
-        2,
-        (float)GuiGetStyle(DEFAULT, TEXT_SIZE)*2
-    };
-
-    if (cursor.height >= bounds.height) cursor.height = bounds.height - GuiGetStyle(TEXTBOX, BORDER_WIDTH)*2;
-    if (cursor.y < (bounds.y + GuiGetStyle(TEXTBOX, BORDER_WIDTH))) cursor.y = bounds.y + GuiGetStyle(TEXTBOX, BORDER_WIDTH);
-
-    // Mouse cursor rectangle
-    // NOTE: Initialized outside of screen
-    Rectangle mouseCursor = cursor;
-    mouseCursor.x = -1;
-    mouseCursor.width = 1;
-
-    // Auto-cursor movement logic
-    // NOTE: Cursor moves automatically when key down after some time
-    if (IsKeyDown(KEY_LEFT) || IsKeyDown(KEY_RIGHT) || IsKeyDown(KEY_UP) || IsKeyDown(KEY_DOWN) || IsKeyDown(KEY_BACKSPACE) || IsKeyDown(KEY_DELETE)) autoCursorCooldownCounter++;
-    else
-    {
-        autoCursorCooldownCounter = 0;      // GLOBAL: Cursor cooldown counter
-        autoCursorDelayCounter = 0;         // GLOBAL: Cursor delay counter
-    }
-
-    // Blink-cursor frame counter
-    //if (!autoCursorMode) blinkCursorFrameCounter++;
-    //else blinkCursorFrameCounter = 0;
-
-    // Update control
-    //--------------------------------------------------------------------
-    // WARNING: Text editing is only supported under certain conditions:
-    if ((state != STATE_DISABLED) &&                // Control not disabled
-        !GuiGetStyle(TEXTBOX, TEXT_READONLY) &&     // TextBox not on read-only mode
-        !guiLocked &&                               // Gui not locked
-        !guiControlExclusiveMode &&                       // No gui slider on dragging
-        (wrapMode == TEXT_WRAP_NONE))               // No wrap mode
-    {
-        Vector2 mousePosition = GetMousePosition();
-
-        if (editMode)
-        {
-            state = STATE_PRESSED;
-
-            if (textBoxCursorIndex > textLength) textBoxCursorIndex = textLength;
-
-            // If text does not fit in the textbox and current cursor position is out of bounds,
-            // we add an index offset to text for drawing only what requires depending on cursor
-            while (textWidth >= textBounds.width)
-            {
-                int nextCodepointSize = 0;
-                GetCodepointNext(text + textIndexOffset, &nextCodepointSize);
-
-                textIndexOffset += nextCodepointSize;
-
-                textWidth = GetTextWidth(text + textIndexOffset) - GetTextWidth(text + textBoxCursorIndex);
-            }
-
-            int codepoint = GetCharPressed();       // Get Unicode codepoint
-            if (multiline && IsKeyPressed(KEY_ENTER)) codepoint = (int)'\n';
-
-            // Encode codepoint as UTF-8
-            int codepointSize = 0;
-            const char *charEncoded = CodepointToUTF8(codepoint, &codepointSize);
-
-            // Add codepoint to text, at current cursor position
-            // NOTE: Make sure we do not overflow buffer size
-            if (((multiline && (codepoint == (int)'\n')) || (codepoint >= 32)) && ((textLength + codepointSize) < textSize))
-            {
-                // Move forward data from cursor position
-                for (int i = (textLength + codepointSize); i > textBoxCursorIndex; i--) text[i] = text[i - codepointSize];
-
-                // Add new codepoint in current cursor position
-                for (int i = 0; i < codepointSize; i++) text[textBoxCursorIndex + i] = charEncoded[i];
-
-                textBoxCursorIndex += codepointSize;
-                textLength += codepointSize;
-
-                // Make sure text last character is EOL
-                text[textLength] = '\0';
-            }
-
-            // Move cursor to start
-            if ((textLength > 0) && IsKeyPressed(KEY_HOME)) textBoxCursorIndex = 0;
-
-            // Move cursor to end
-            if ((textLength > textBoxCursorIndex) && IsKeyPressed(KEY_END)) textBoxCursorIndex = textLength;
-
-            // Delete codepoint from text, after current cursor position
-            if ((textLength > textBoxCursorIndex) && (IsKeyPressed(KEY_DELETE) || (IsKeyDown(KEY_DELETE) && (autoCursorCooldownCounter >= RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN))))
-            {
-                autoCursorDelayCounter++;
-
-                if (IsKeyPressed(KEY_DELETE) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames
-                {
-                    int nextCodepointSize = 0;
-                    GetCodepointNext(text + textBoxCursorIndex, &nextCodepointSize);
-
-                    // Move backward text from cursor position
-                    for (int i = textBoxCursorIndex; i < textLength; i++) text[i] = text[i + nextCodepointSize];
-
-                    textLength -= codepointSize;
-                    if (textBoxCursorIndex > textLength) textBoxCursorIndex = textLength;
-
-                    // Make sure text last character is EOL
-                    text[textLength] = '\0';
-                }
-            }
-
-            // Delete related codepoints from text, before current cursor position
-            if ((textLength > 0) && IsKeyPressed(KEY_BACKSPACE) && (IsKeyDown(KEY_LEFT_CONTROL) || IsKeyDown(KEY_RIGHT_CONTROL)))
-            {
-                int i = textBoxCursorIndex - 1;
-                int accCodepointSize = 0;
-
-                // Move cursor to the end of word if on space already
-                while ((i > 0) && isspace(text[i]))
-                {
-                    int prevCodepointSize = 0;
-                    GetCodepointPrevious(text + i, &prevCodepointSize);
-                    i -= prevCodepointSize;
-                    accCodepointSize += prevCodepointSize;
-                }
-
-                // Move cursor to the start of the word
-                while ((i > 0) && !isspace(text[i]))
-                {
-                    int prevCodepointSize = 0;
-                    GetCodepointPrevious(text + i, &prevCodepointSize);
-                    i -= prevCodepointSize;
-                    accCodepointSize += prevCodepointSize;
-                }
-
-                // Move forward text from cursor position
-                for (int j = (textBoxCursorIndex - accCodepointSize); j < textLength; j++) text[j] = text[j + accCodepointSize];
-
-                // Prevent cursor index from decrementing past 0
-                if (textBoxCursorIndex > 0)
-                {
-                    textBoxCursorIndex -= accCodepointSize;
-                    textLength -= accCodepointSize;
-                }
-
-                // Make sure text last character is EOL
-                text[textLength] = '\0';
-            }
-            else if ((textLength > 0) && (IsKeyPressed(KEY_BACKSPACE) || (IsKeyDown(KEY_BACKSPACE) && (autoCursorCooldownCounter >= RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN))))
-            {
-                autoCursorDelayCounter++;
-
-                if (IsKeyPressed(KEY_BACKSPACE) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames
-                {
-                    int prevCodepointSize = 0;
-
-                    // Prevent cursor index from decrementing past 0
-                    if (textBoxCursorIndex > 0)
-                    {
-                        GetCodepointPrevious(text + textBoxCursorIndex, &prevCodepointSize);
-
-                        // Move backward text from cursor position
-                        for (int i = (textBoxCursorIndex - prevCodepointSize); i < textLength; i++) text[i] = text[i + prevCodepointSize];
-
-                        textBoxCursorIndex -= codepointSize;
-                        textLength -= codepointSize;
-                    }
-
-                    // Make sure text last character is EOL
-                    text[textLength] = '\0';
-                }
-            }
-
-            // Move cursor position with keys
-            if (IsKeyPressed(KEY_LEFT) || (IsKeyDown(KEY_LEFT) && (autoCursorCooldownCounter > RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN)))
-            {
-                autoCursorDelayCounter++;
-
-                if (IsKeyPressed(KEY_LEFT) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames
-                {
-                    int prevCodepointSize = 0;
-                    if (textBoxCursorIndex > 0) GetCodepointPrevious(text + textBoxCursorIndex, &prevCodepointSize);
-
-                    if (textBoxCursorIndex >= prevCodepointSize) textBoxCursorIndex -= prevCodepointSize;
-                }
-            }
-            else if (IsKeyPressed(KEY_RIGHT) || (IsKeyDown(KEY_RIGHT) && (autoCursorCooldownCounter > RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN)))
-            {
-                autoCursorDelayCounter++;
-
-                if (IsKeyPressed(KEY_RIGHT) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames
-                {
-                    int nextCodepointSize = 0;
-                    GetCodepointNext(text + textBoxCursorIndex, &nextCodepointSize);
-
-                    if ((textBoxCursorIndex + nextCodepointSize) <= textLength) textBoxCursorIndex += nextCodepointSize;
-                }
-            }
-
-            // Move cursor position with mouse
-            if (CheckCollisionPointRec(mousePosition, textBounds))     // Mouse hover text
-            {
-                float scaleFactor = (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/(float)guiFont.baseSize;
-                int codepointIndex = 0;
-                float glyphWidth = 0.0f;
-                float widthToMouseX = 0;
-                int mouseCursorIndex = 0;
-
-                for (int i = textIndexOffset; i < textLength; i++)
-                {
-                    codepoint = GetCodepointNext(&text[i], &codepointSize);
-                    codepointIndex = GetGlyphIndex(guiFont, codepoint);
-
-                    if (guiFont.glyphs[codepointIndex].advanceX == 0) glyphWidth = ((float)guiFont.recs[codepointIndex].width*scaleFactor);
-                    else glyphWidth = ((float)guiFont.glyphs[codepointIndex].advanceX*scaleFactor);
-
-                    if (mousePosition.x <= (textBounds.x + (widthToMouseX + glyphWidth/2)))
-                    {
-                        mouseCursor.x = textBounds.x + widthToMouseX;
-                        mouseCursorIndex = i;
-                        break;
-                    }
-
-                    widthToMouseX += (glyphWidth + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-                }
-
-                // Check if mouse cursor is at the last position
-                int textEndWidth = GetTextWidth(text + textIndexOffset);
-                if (GetMousePosition().x >= (textBounds.x + textEndWidth - glyphWidth/2))
-                {
-                    mouseCursor.x = textBounds.x + textEndWidth;
-                    mouseCursorIndex = textLength;
-                }
-
-                // Place cursor at required index on mouse click
-                if ((mouseCursor.x >= 0) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-                {
-                    cursor.x = mouseCursor.x;
-                    textBoxCursorIndex = mouseCursorIndex;
-                }
-            }
-            else mouseCursor.x = -1;
-
-            // Recalculate cursor position.y depending on textBoxCursorIndex
-            cursor.x = bounds.x + GuiGetStyle(TEXTBOX, TEXT_PADDING) + GetTextWidth(text + textIndexOffset) - GetTextWidth(text + textBoxCursorIndex) + GuiGetStyle(DEFAULT, TEXT_SPACING);
-            //if (multiline) cursor.y = GetTextLines()
-
-            // Finish text editing on ENTER or mouse click outside bounds
-            if ((!multiline && IsKeyPressed(KEY_ENTER)) ||
-                (!CheckCollisionPointRec(mousePosition, bounds) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON)))
-            {
-                textBoxCursorIndex = 0;     // GLOBAL: Reset the shared cursor index
-                result = 1;
-            }
-        }
-        else
-        {
-            if (CheckCollisionPointRec(mousePosition, bounds))
-            {
-                state = STATE_FOCUSED;
-
-                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-                {
-                    textBoxCursorIndex = textLength;   // GLOBAL: Place cursor index to the end of current text
-                    result = 1;
-                }
-            }
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state == STATE_PRESSED)
-    {
-        GuiDrawRectangle(bounds, GuiGetStyle(TEXTBOX, BORDER_WIDTH), GetColor(GuiGetStyle(TEXTBOX, BORDER + (state*3))), GetColor(GuiGetStyle(TEXTBOX, BASE_COLOR_PRESSED)));
-    }
-    else if (state == STATE_DISABLED)
-    {
-        GuiDrawRectangle(bounds, GuiGetStyle(TEXTBOX, BORDER_WIDTH), GetColor(GuiGetStyle(TEXTBOX, BORDER + (state*3))), GetColor(GuiGetStyle(TEXTBOX, BASE_COLOR_DISABLED)));
-    }
-    else GuiDrawRectangle(bounds, GuiGetStyle(TEXTBOX, BORDER_WIDTH), GetColor(GuiGetStyle(TEXTBOX, BORDER + (state*3))), BLANK);
-
-    // Draw text considering index offset if required
-    // NOTE: Text index offset depends on cursor position
-    GuiDrawText(text + textIndexOffset, textBounds, GuiGetStyle(TEXTBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(TEXTBOX, TEXT + (state*3))));
-
-    // Draw cursor
-    if (editMode && !GuiGetStyle(TEXTBOX, TEXT_READONLY))
-    {
-        //if (autoCursorMode || ((blinkCursorFrameCounter/40)%2 == 0))
-        GuiDrawRectangle(cursor, 0, BLANK, GetColor(GuiGetStyle(TEXTBOX, BORDER_COLOR_PRESSED)));
-
-        // Draw mouse position cursor (if required)
-        if (mouseCursor.x >= 0) GuiDrawRectangle(mouseCursor, 0, BLANK, GetColor(GuiGetStyle(TEXTBOX, BORDER_COLOR_PRESSED)));
-    }
-    else if (state == STATE_FOCUSED) GuiTooltip(bounds);
-    //--------------------------------------------------------------------
-
-    return result;      // Mouse button pressed: result = 1
-}
-
-/*
-// Text Box control with multiple lines and word-wrap
-// NOTE: This text-box is readonly, no editing supported by default
-bool GuiTextBoxMulti(Rectangle bounds, char *text, int textSize, bool editMode)
-{
-    bool pressed = false;
-
-    GuiSetStyle(TEXTBOX, TEXT_READONLY, 1);
-    GuiSetStyle(DEFAULT, TEXT_WRAP_MODE, TEXT_WRAP_WORD);   // WARNING: If wrap mode enabled, text editing is not supported
-    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL, TEXT_ALIGN_TOP);
-
-    // TODO: Implement methods to calculate cursor position properly
-    pressed = GuiTextBox(bounds, text, textSize, editMode);
-
-    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL, TEXT_ALIGN_MIDDLE);
-    GuiSetStyle(DEFAULT, TEXT_WRAP_MODE, TEXT_WRAP_NONE);
-    GuiSetStyle(TEXTBOX, TEXT_READONLY, 0);
-
-    return pressed;
-}
-*/
-
-// Spinner control, returns selected value
-int GuiSpinner(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode)
-{
-    int result = 1;
-    GuiState state = guiState;
-
-    int tempValue = *value;
-
-    Rectangle spinner = { bounds.x + GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH) + GuiGetStyle(SPINNER, SPIN_BUTTON_SPACING), bounds.y,
-                          bounds.width - 2*(GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH) + GuiGetStyle(SPINNER, SPIN_BUTTON_SPACING)), bounds.height };
-    Rectangle leftButtonBound = { (float)bounds.x, (float)bounds.y, (float)GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH), (float)bounds.height };
-    Rectangle rightButtonBound = { (float)bounds.x + bounds.width - GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH), (float)bounds.y, (float)GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH), (float)bounds.height };
-
-    Rectangle textBounds = { 0 };
-    if (text != NULL)
-    {
-        textBounds.width = (float)GetTextWidth(text) + 2;
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(SPINNER, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-        if (GuiGetStyle(SPINNER, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(SPINNER, TEXT_PADDING);
-    }
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check spinner state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-        }
-    }
-
-#if defined(RAYGUI_NO_ICONS)
-    if (GuiButton(leftButtonBound, "<")) tempValue--;
-    if (GuiButton(rightButtonBound, ">")) tempValue++;
-#else
-    if (GuiButton(leftButtonBound, GuiIconText(ICON_ARROW_LEFT_FILL, NULL))) tempValue--;
-    if (GuiButton(rightButtonBound, GuiIconText(ICON_ARROW_RIGHT_FILL, NULL))) tempValue++;
-#endif
-
-    if (!editMode)
-    {
-        if (tempValue < minValue) tempValue = minValue;
-        if (tempValue > maxValue) tempValue = maxValue;
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    result = GuiValueBox(spinner, NULL, &tempValue, minValue, maxValue, editMode);
-
-    // Draw value selector custom buttons
-    // NOTE: BORDER_WIDTH and TEXT_ALIGNMENT forced values
-    int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);
-    int tempTextAlign = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, GuiGetStyle(SPINNER, BORDER_WIDTH));
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlign);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);
-
-    // Draw text label if provided
-    GuiDrawText(text, textBounds, (GuiGetStyle(SPINNER, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    *value = tempValue;
-    return result;
-}
-
-// Value Box control, updates input text with numbers
-// NOTE: Requires static variables: frameCounter
-int GuiValueBox(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode)
-{
-    #if !defined(RAYGUI_VALUEBOX_MAX_CHARS)
-        #define RAYGUI_VALUEBOX_MAX_CHARS  32
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    char textValue[RAYGUI_VALUEBOX_MAX_CHARS + 1] = "\0";
-    sprintf(textValue, "%i", *value);
-
-    Rectangle textBounds = { 0 };
-    if (text != NULL)
-    {
-        textBounds.width = (float)GetTextWidth(text) + 2;
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(VALUEBOX, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-        if (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(VALUEBOX, TEXT_PADDING);
-    }
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        bool valueHasChanged = false;
-
-        if (editMode)
-        {
-            state = STATE_PRESSED;
-
-            int keyCount = (int)strlen(textValue);
-
-            // Only allow keys in range [48..57]
-            if (keyCount < RAYGUI_VALUEBOX_MAX_CHARS)
-            {
-                if (GetTextWidth(textValue) < bounds.width)
-                {
-                    int key = GetCharPressed();
-                    if ((key >= 48) && (key <= 57))
-                    {
-                        textValue[keyCount] = (char)key;
-                        keyCount++;
-                        valueHasChanged = true;
-                    }
-                }
-            }
-
-            // Delete text
-            if (keyCount > 0)
-            {
-                if (IsKeyPressed(KEY_BACKSPACE))
-                {
-                    keyCount--;
-                    textValue[keyCount] = '\0';
-                    valueHasChanged = true;
-                }
-            }
-
-            if (valueHasChanged) *value = TextToInteger(textValue);
-
-            // NOTE: We are not clamp values until user input finishes
-            //if (*value > maxValue) *value = maxValue;
-            //else if (*value < minValue) *value = minValue;
-
-            if ((IsKeyPressed(KEY_ENTER) || IsKeyPressed(KEY_KP_ENTER)) || (!CheckCollisionPointRec(mousePoint, bounds) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON)))
-            {
-                if (*value > maxValue) *value = maxValue;
-                else if (*value < minValue) *value = minValue;
-
-                result = 1;
-            }
-        }
-        else
-        {
-            if (*value > maxValue) *value = maxValue;
-            else if (*value < minValue) *value = minValue;
-
-            if (CheckCollisionPointRec(mousePoint, bounds))
-            {
-                state = STATE_FOCUSED;
-                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON)) result = 1;
-            }
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    Color baseColor = BLANK;
-    if (state == STATE_PRESSED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_PRESSED));
-    else if (state == STATE_DISABLED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_DISABLED));
-
-    GuiDrawRectangle(bounds, GuiGetStyle(VALUEBOX, BORDER_WIDTH), GetColor(GuiGetStyle(VALUEBOX, BORDER + (state*3))), baseColor);
-    GuiDrawText(textValue, GetTextBounds(VALUEBOX, bounds), TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(VALUEBOX, TEXT + (state*3))));
-
-    // Draw cursor
-    if (editMode)
-    {
-        // NOTE: ValueBox internal text is always centered
-        Rectangle cursor = { bounds.x + GetTextWidth(textValue)/2 + bounds.width/2 + 1, bounds.y + 2*GuiGetStyle(VALUEBOX, BORDER_WIDTH), 4, bounds.height - 4*GuiGetStyle(VALUEBOX, BORDER_WIDTH) };
-        GuiDrawRectangle(cursor, 0, BLANK, GetColor(GuiGetStyle(VALUEBOX, BORDER_COLOR_PRESSED)));
-    }
-
-    // Draw text label if provided
-    GuiDrawText(text, textBounds, (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Floating point Value Box control, updates input val_str with numbers
-// NOTE: Requires static variables: frameCounter
-int GuiValueBoxFloat(Rectangle bounds, const char *text, char *textValue, float *value, bool editMode)
-{
-    #if !defined(RAYGUI_VALUEBOX_MAX_CHARS)
-        #define RAYGUI_VALUEBOX_MAX_CHARS  32
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    //char textValue[RAYGUI_VALUEBOX_MAX_CHARS + 1] = "\0";
-    //sprintf(textValue, "%2.2f", *value);
-
-    Rectangle textBounds = {0};
-    if (text != NULL)
-    {
-        textBounds.width = (float)GetTextWidth(text) + 2;
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(VALUEBOX, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-        if (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(VALUEBOX, TEXT_PADDING);
-    }
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        bool valueHasChanged = false;
-
-        if (editMode)
-        {
-            state = STATE_PRESSED;
-
-            int keyCount = (int)strlen(textValue);
-
-            // Only allow keys in range [48..57]
-            if (keyCount < RAYGUI_VALUEBOX_MAX_CHARS)
-            {
-                if (GetTextWidth(textValue) < bounds.width)
-                {
-                    int key = GetCharPressed();
-                    if (((key >= 48) && (key <= 57)) ||
-                        (key == '.') ||
-                        ((keyCount == 0) && (key == '+')) ||  // NOTE: Sign can only be in first position
-                        ((keyCount == 0) && (key == '-')))
-                    {
-                        textValue[keyCount] = (char)key;
-                        keyCount++;
-
-                        valueHasChanged = true;
-                    }
-                }
-            }
-
-            // Pressed backspace
-            if (IsKeyPressed(KEY_BACKSPACE))
-            {
-                if (keyCount > 0)
-                {
-                    keyCount--;
-                    textValue[keyCount] = '\0';
-                    valueHasChanged = true;
-                }
-            }
-
-            if (valueHasChanged) *value = TextToFloat(textValue);
-
-            if ((IsKeyPressed(KEY_ENTER) || IsKeyPressed(KEY_KP_ENTER)) || (!CheckCollisionPointRec(mousePoint, bounds) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON))) result = 1;
-        }
-        else
-        {
-            if (CheckCollisionPointRec(mousePoint, bounds))
-            {
-                state = STATE_FOCUSED;
-                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON)) result = 1;
-            }
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    Color baseColor = BLANK;
-    if (state == STATE_PRESSED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_PRESSED));
-    else if (state == STATE_DISABLED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_DISABLED));
-
-    GuiDrawRectangle(bounds, GuiGetStyle(VALUEBOX, BORDER_WIDTH), GetColor(GuiGetStyle(VALUEBOX, BORDER + (state*3))), baseColor);
-    GuiDrawText(textValue, GetTextBounds(VALUEBOX, bounds), TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(VALUEBOX, TEXT + (state*3))));
-
-    // Draw cursor
-    if (editMode)
-    {
-        // NOTE: ValueBox internal text is always centered
-        Rectangle cursor = {bounds.x + GetTextWidth(textValue)/2 + bounds.width/2 + 1,
-                            bounds.y + 2*GuiGetStyle(VALUEBOX, BORDER_WIDTH), 4,
-                            bounds.height - 4*GuiGetStyle(VALUEBOX, BORDER_WIDTH)};
-        GuiDrawRectangle(cursor, 0, BLANK, GetColor(GuiGetStyle(VALUEBOX, BORDER_COLOR_PRESSED)));
-    }
-
-    // Draw text label if provided
-    GuiDrawText(text, textBounds,
-                (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT,
-                GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Slider control with pro parameters
-// NOTE: Other GuiSlider*() controls use this one
-int GuiSliderPro(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue, int sliderWidth)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    float temp = (maxValue - minValue)/2.0f;
-    if (value == NULL) value = &temp;
-    float oldValue = *value;
-
-    Rectangle slider = { bounds.x, bounds.y + GuiGetStyle(SLIDER, BORDER_WIDTH) + GuiGetStyle(SLIDER, SLIDER_PADDING),
-                         0, bounds.height - 2*GuiGetStyle(SLIDER, BORDER_WIDTH) - 2*GuiGetStyle(SLIDER, SLIDER_PADDING) };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
-                {
-                    state = STATE_PRESSED;
-                    // Get equivalent value and slider position from mousePosition.x
-                    *value = (maxValue - minValue)*((mousePoint.x - bounds.x - sliderWidth/2)/(bounds.width-sliderWidth)) + minValue;
-                }
-            }
-            else
-            {
-                guiControlExclusiveMode = false;
-                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
-            }
-        }
-        else if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_PRESSED;
-                guiControlExclusiveMode = true;
-                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts
-
-                if (!CheckCollisionPointRec(mousePoint, slider))
-                {
-                    // Get equivalent value and slider position from mousePosition.x
-                    *value = (maxValue - minValue)*((mousePoint.x - bounds.x - sliderWidth/2)/(bounds.width-sliderWidth)) + minValue;
-                }
-            }
-            else state = STATE_FOCUSED;
-        }
-
-        if (*value > maxValue) *value = maxValue;
-        else if (*value < minValue) *value = minValue;
-    }
-
-    // Control value change check
-    if (oldValue == *value) result = 0;
-    else result = 1;
-
-    // Slider bar limits check
-    float sliderValue = (((*value - minValue)/(maxValue - minValue))*(bounds.width - sliderWidth - 2*GuiGetStyle(SLIDER, BORDER_WIDTH)));
-    if (sliderWidth > 0)        // Slider
-    {
-        slider.x += sliderValue;
-        slider.width = (float)sliderWidth;
-        if (slider.x <= (bounds.x + GuiGetStyle(SLIDER, BORDER_WIDTH))) slider.x = bounds.x + GuiGetStyle(SLIDER, BORDER_WIDTH);
-        else if ((slider.x + slider.width) >= (bounds.x + bounds.width)) slider.x = bounds.x + bounds.width - slider.width - GuiGetStyle(SLIDER, BORDER_WIDTH);
-    }
-    else if (sliderWidth == 0)  // SliderBar
-    {
-        slider.x += GuiGetStyle(SLIDER, BORDER_WIDTH);
-        slider.width = sliderValue;
-        if (slider.width > bounds.width) slider.width = bounds.width - 2*GuiGetStyle(SLIDER, BORDER_WIDTH);
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(SLIDER, BORDER_WIDTH), GetColor(GuiGetStyle(SLIDER, BORDER + (state*3))), GetColor(GuiGetStyle(SLIDER, (state != STATE_DISABLED)?  BASE_COLOR_NORMAL : BASE_COLOR_DISABLED)));
-
-    // Draw slider internal bar (depends on state)
-    if (state == STATE_NORMAL) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_PRESSED)));
-    else if (state == STATE_FOCUSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, TEXT_COLOR_FOCUSED)));
-    else if (state == STATE_PRESSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, TEXT_COLOR_PRESSED)));
-
-    // Draw left/right text if provided
-    if (textLeft != NULL)
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(textLeft);
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x - textBounds.width - GuiGetStyle(SLIDER, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-
-        GuiDrawText(textLeft, textBounds, TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(SLIDER, TEXT + (state*3))));
-    }
-
-    if (textRight != NULL)
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(textRight);
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(SLIDER, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-
-        GuiDrawText(textRight, textBounds, TEXT_ALIGN_LEFT, GetColor(GuiGetStyle(SLIDER, TEXT + (state*3))));
-    }
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Slider control extended, returns selected value and has text
-int GuiSlider(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue)
-{
-    return GuiSliderPro(bounds, textLeft, textRight, value, minValue, maxValue, GuiGetStyle(SLIDER, SLIDER_WIDTH));
-}
-
-// Slider Bar control extended, returns selected value
-int GuiSliderBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue)
-{
-    return GuiSliderPro(bounds, textLeft, textRight, value, minValue, maxValue, 0);
-}
-
-// Progress Bar control extended, shows current progress value
-int GuiProgressBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    float temp = (maxValue - minValue)/2.0f;
-    if (value == NULL) value = &temp;
-
-    // Progress bar
-    Rectangle progress = { bounds.x + GuiGetStyle(PROGRESSBAR, BORDER_WIDTH),
-                           bounds.y + GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) + GuiGetStyle(PROGRESSBAR, PROGRESS_PADDING), 0,
-                           bounds.height - 2*GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) - 2*GuiGetStyle(PROGRESSBAR, PROGRESS_PADDING) };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if (*value > maxValue) *value = maxValue;
-
-    // WARNING: Working with floats could lead to rounding issues
-    if ((state != STATE_DISABLED)) progress.width = (float)(*value/(maxValue - minValue))*bounds.width - ((*value >= maxValue)? (float)(2*GuiGetStyle(PROGRESSBAR, BORDER_WIDTH)) : 0.0f);
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state == STATE_DISABLED)
-    {
-        GuiDrawRectangle(bounds, GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), GetColor(GuiGetStyle(PROGRESSBAR, BORDER + (state*3))), BLANK);
-    }
-    else
-    {
-        if (*value > minValue)
-        {
-            // Draw progress bar with colored border, more visual
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y, (int)progress.width + (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height - 2 }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height - 1, (int)progress.width + (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));
-        }
-        else GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));
-
-        if (*value >= maxValue) GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + progress.width + 1, bounds.y, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));
-        else
-        {
-            // Draw borders not yet reached by value
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + (int)progress.width + 1, bounds.y, bounds.width - (int)progress.width - 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + (int)progress.width + 1, bounds.y + bounds.height - 1, bounds.width - (int)progress.width - 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - 1, bounds.y + 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height - 2 }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));
-        }
-
-        // Draw slider internal progress bar (depends on state)
-        GuiDrawRectangle(progress, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BASE_COLOR_PRESSED)));
-    }
-
-    // Draw left/right text if provided
-    if (textLeft != NULL)
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(textLeft);
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x - textBounds.width - GuiGetStyle(PROGRESSBAR, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-
-        GuiDrawText(textLeft, textBounds, TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(PROGRESSBAR, TEXT + (state*3))));
-    }
-
-    if (textRight != NULL)
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(textRight);
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(PROGRESSBAR, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-
-        GuiDrawText(textRight, textBounds, TEXT_ALIGN_LEFT, GetColor(GuiGetStyle(PROGRESSBAR, TEXT + (state*3))));
-    }
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Status Bar control
-int GuiStatusBar(Rectangle bounds, const char *text)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(STATUSBAR, BORDER_WIDTH), GetColor(GuiGetStyle(STATUSBAR, BORDER + (state*3))), GetColor(GuiGetStyle(STATUSBAR, BASE + (state*3))));
-    GuiDrawText(text, GetTextBounds(STATUSBAR, bounds), GuiGetStyle(STATUSBAR, TEXT_ALIGNMENT), GetColor(GuiGetStyle(STATUSBAR, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Dummy rectangle control, intended for placeholding
-int GuiDummyRec(Rectangle bounds, const char *text)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check button state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state != STATE_DISABLED)? BASE_COLOR_NORMAL : BASE_COLOR_DISABLED)));
-    GuiDrawText(text, GetTextBounds(DEFAULT, bounds), TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(BUTTON, (state != STATE_DISABLED)? TEXT_COLOR_NORMAL : TEXT_COLOR_DISABLED)));
-    //------------------------------------------------------------------
-
-    return result;
-}
-
-// List View control
-int GuiListView(Rectangle bounds, const char *text, int *scrollIndex, int *active)
-{
-    int result = 0;
-    int itemCount = 0;
-    const char **items = NULL;
-
-    if (text != NULL) items = GuiTextSplit(text, ';', &itemCount, NULL);
-
-    result = GuiListViewEx(bounds, items, itemCount, scrollIndex, active, NULL);
-
-    return result;
-}
-
-// List View control with extended parameters
-int GuiListViewEx(Rectangle bounds, const char **text, int count, int *scrollIndex, int *active, int *focus)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    int itemFocused = (focus == NULL)? -1 : *focus;
-    int itemSelected = (active == NULL)? -1 : *active;
-
-    // Check if we need a scroll bar
-    bool useScrollBar = false;
-    if ((GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING))*count > bounds.height) useScrollBar = true;
-
-    // Define base item rectangle [0]
-    Rectangle itemBounds = { 0 };
-    itemBounds.x = bounds.x + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING);
-    itemBounds.y = bounds.y + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING) + GuiGetStyle(DEFAULT, BORDER_WIDTH);
-    itemBounds.width = bounds.width - 2*GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING) - GuiGetStyle(DEFAULT, BORDER_WIDTH);
-    itemBounds.height = (float)GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT);
-    if (useScrollBar) itemBounds.width -= GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH);
-
-    // Get items on the list
-    int visibleItems = (int)bounds.height/(GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING));
-    if (visibleItems > count) visibleItems = count;
-
-    int startIndex = (scrollIndex == NULL)? 0 : *scrollIndex;
-    if ((startIndex < 0) || (startIndex > (count - visibleItems))) startIndex = 0;
-    int endIndex = startIndex + visibleItems;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check mouse inside list view
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            state = STATE_FOCUSED;
-
-            // Check focused and selected item
-            for (int i = 0; i < visibleItems; i++)
-            {
-                if (CheckCollisionPointRec(mousePoint, itemBounds))
-                {
-                    itemFocused = startIndex + i;
-                    if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-                    {
-                        if (itemSelected == (startIndex + i)) itemSelected = -1;
-                        else itemSelected = startIndex + i;
-                    }
-                    break;
-                }
-
-                // Update item rectangle y position for next item
-                itemBounds.y += (GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING));
-            }
-
-            if (useScrollBar)
-            {
-                int wheelMove = (int)GetMouseWheelMove();
-                startIndex -= wheelMove;
-
-                if (startIndex < 0) startIndex = 0;
-                else if (startIndex > (count - visibleItems)) startIndex = count - visibleItems;
-
-                endIndex = startIndex + visibleItems;
-                if (endIndex > count) endIndex = count;
-            }
-        }
-        else itemFocused = -1;
-
-        // Reset item rectangle y to [0]
-        itemBounds.y = bounds.y + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING) + GuiGetStyle(DEFAULT, BORDER_WIDTH);
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER + state*3)), GetColor(GuiGetStyle(DEFAULT, BACKGROUND_COLOR)));     // Draw background
-
-    // Draw visible items
-    for (int i = 0; ((i < visibleItems) && (text != NULL)); i++)
-    {
-        GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, LIST_ITEMS_BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_NORMAL)), BLANK);
-
-        if (state == STATE_DISABLED)
-        {
-            if ((startIndex + i) == itemSelected) GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_DISABLED)), GetColor(GuiGetStyle(LISTVIEW, BASE_COLOR_DISABLED)));
-
-            GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_DISABLED)));
-        }
-        else
-        {
-            if (((startIndex + i) == itemSelected) && (active != NULL))
-            {
-                // Draw item selected
-                GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_PRESSED)), GetColor(GuiGetStyle(LISTVIEW, BASE_COLOR_PRESSED)));
-                GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_PRESSED)));
-            }
-            else if (((startIndex + i) == itemFocused)) // && (focus != NULL))  // NOTE: We want items focused, despite not returned!
-            {
-                // Draw item focused
-                GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_FOCUSED)), GetColor(GuiGetStyle(LISTVIEW, BASE_COLOR_FOCUSED)));
-                GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_FOCUSED)));
-            }
-            else
-            {
-                // Draw item normal
-                GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_NORMAL)));
-            }
-        }
-
-        // Update item rectangle y position for next item
-        itemBounds.y += (GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING));
-    }
-
-    if (useScrollBar)
-    {
-        Rectangle scrollBarBounds = {
-            bounds.x + bounds.width - GuiGetStyle(LISTVIEW, BORDER_WIDTH) - GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH),
-            bounds.y + GuiGetStyle(LISTVIEW, BORDER_WIDTH), (float)GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH),
-            bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH)
-        };
-
-        // Calculate percentage of visible items and apply same percentage to scrollbar
-        float percentVisible = (float)(endIndex - startIndex)/count;
-        float sliderSize = bounds.height*percentVisible;
-
-        int prevSliderSize = GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE);   // Save default slider size
-        int prevScrollSpeed = GuiGetStyle(SCROLLBAR, SCROLL_SPEED); // Save default scroll speed
-        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, (int)sliderSize);            // Change slider size
-        GuiSetStyle(SCROLLBAR, SCROLL_SPEED, count - visibleItems); // Change scroll speed
-
-        startIndex = GuiScrollBar(scrollBarBounds, startIndex, 0, count - visibleItems);
-
-        GuiSetStyle(SCROLLBAR, SCROLL_SPEED, prevScrollSpeed); // Reset scroll speed to default
-        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, prevSliderSize); // Reset slider size to default
-    }
-    //--------------------------------------------------------------------
-
-    if (active != NULL) *active = itemSelected;
-    if (focus != NULL) *focus = itemFocused;
-    if (scrollIndex != NULL) *scrollIndex = startIndex;
-
-    return result;
-}
-
-// Color Panel control - Color (RGBA) variant.
-int GuiColorPanel(Rectangle bounds, const char *text, Color *color)
-{
-    int result = 0;
-
-    Vector3 vcolor = { (float)color->r/255.0f, (float)color->g/255.0f, (float)color->b/255.0f };
-    Vector3 hsv = ConvertRGBtoHSV(vcolor);
-    Vector3 prevHsv = hsv; // workaround to see if GuiColorPanelHSV modifies the hsv.
-
-    GuiColorPanelHSV(bounds, text, &hsv);
-
-    // Check if the hsv was changed, only then change the color.
-    // This is required, because the Color->HSV->Color conversion has precision errors.
-    // Thus the assignment from HSV to Color should only be made, if the HSV has a new user-entered value.
-    // Otherwise GuiColorPanel would often modify it's color without user input.
-    // TODO: GuiColorPanelHSV could return 1 if the slider was dragged, to simplify this check.
-    if (hsv.x != prevHsv.x || hsv.y != prevHsv.y || hsv.z != prevHsv.z)
-    {
-        Vector3 rgb = ConvertHSVtoRGB(hsv);
-
-        // NOTE: Vector3ToColor() only available on raylib 1.8.1
-        *color = RAYGUI_CLITERAL(Color){ (unsigned char)(255.0f*rgb.x),
-                            (unsigned char)(255.0f*rgb.y),
-                            (unsigned char)(255.0f*rgb.z),
-                            color->a };
-    }
-    return result;
-}
-
-// Color Bar Alpha control
-// NOTE: Returns alpha value normalized [0..1]
-int GuiColorBarAlpha(Rectangle bounds, const char *text, float *alpha)
-{
-    #if !defined(RAYGUI_COLORBARALPHA_CHECKED_SIZE)
-        #define RAYGUI_COLORBARALPHA_CHECKED_SIZE   10
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-    Rectangle selector = { (float)bounds.x + (*alpha)*bounds.width - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT)/2, (float)bounds.y - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW), (float)GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT), (float)bounds.height + GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW)*2 };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
-                {
-                    state = STATE_PRESSED;
-
-                    *alpha = (mousePoint.x - bounds.x)/bounds.width;
-                    if (*alpha <= 0.0f) *alpha = 0.0f;
-                    if (*alpha >= 1.0f) *alpha = 1.0f;
-                }
-            }
-            else
-            {
-                guiControlExclusiveMode = false;
-                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
-            }
-        }
-        else if (CheckCollisionPointRec(mousePoint, bounds) || CheckCollisionPointRec(mousePoint, selector))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_PRESSED;
-                guiControlExclusiveMode = true;
-                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts
-
-                *alpha = (mousePoint.x - bounds.x)/bounds.width;
-                if (*alpha <= 0.0f) *alpha = 0.0f;
-                if (*alpha >= 1.0f) *alpha = 1.0f;
-                //selector.x = bounds.x + (int)(((alpha - 0)/(100 - 0))*(bounds.width - 2*GuiGetStyle(SLIDER, BORDER_WIDTH))) - selector.width/2;
-            }
-            else state = STATE_FOCUSED;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-
-    // Draw alpha bar: checked background
-    if (state != STATE_DISABLED)
-    {
-        int checksX = (int)bounds.width/RAYGUI_COLORBARALPHA_CHECKED_SIZE;
-        int checksY = (int)bounds.height/RAYGUI_COLORBARALPHA_CHECKED_SIZE;
-
-        for (int x = 0; x < checksX; x++)
-        {
-            for (int y = 0; y < checksY; y++)
-            {
-                Rectangle check = { bounds.x + x*RAYGUI_COLORBARALPHA_CHECKED_SIZE, bounds.y + y*RAYGUI_COLORBARALPHA_CHECKED_SIZE, RAYGUI_COLORBARALPHA_CHECKED_SIZE, RAYGUI_COLORBARALPHA_CHECKED_SIZE };
-                GuiDrawRectangle(check, 0, BLANK, ((x + y)%2)? Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), 0.4f) : Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.4f));
-            }
-        }
-
-        DrawRectangleGradientEx(bounds, RAYGUI_CLITERAL(Color){ 255, 255, 255, 0 }, RAYGUI_CLITERAL(Color){ 255, 255, 255, 0 }, Fade(RAYGUI_CLITERAL(Color){ 0, 0, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 0, 0, 255 }, guiAlpha));
-    }
-    else DrawRectangleGradientEx(bounds, Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), guiAlpha), Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), guiAlpha));
-
-    GuiDrawRectangle(bounds, GuiGetStyle(COLORPICKER, BORDER_WIDTH), GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)), BLANK);
-
-    // Draw alpha bar: selector
-    GuiDrawRectangle(selector, 0, BLANK, GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Color Bar Hue control
-// Returns hue value normalized [0..1]
-// NOTE: Other similar bars (for reference):
-//      Color GuiColorBarSat() [WHITE->color]
-//      Color GuiColorBarValue() [BLACK->color], HSV/HSL
-//      float GuiColorBarLuminance() [BLACK->WHITE]
-int GuiColorBarHue(Rectangle bounds, const char *text, float *hue)
-{
-    int result = 0;
-    GuiState state = guiState;
-    Rectangle selector = { (float)bounds.x - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW), (float)bounds.y + (*hue)/360.0f*bounds.height - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT)/2, (float)bounds.width + GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW)*2, (float)GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT) };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
-                {
-                    state = STATE_PRESSED;
-
-                    *hue = (mousePoint.y - bounds.y)*360/bounds.height;
-                    if (*hue <= 0.0f) *hue = 0.0f;
-                    if (*hue >= 359.0f) *hue = 359.0f;
-                }
-            }
-            else
-            {
-                guiControlExclusiveMode = false;
-                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
-            }
-        }
-        else if (CheckCollisionPointRec(mousePoint, bounds) || CheckCollisionPointRec(mousePoint, selector))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_PRESSED;
-                guiControlExclusiveMode = true;
-                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts
-
-                *hue = (mousePoint.y - bounds.y)*360/bounds.height;
-                if (*hue <= 0.0f) *hue = 0.0f;
-                if (*hue >= 359.0f) *hue = 359.0f;
-
-            }
-            else state = STATE_FOCUSED;
-
-            /*if (IsKeyDown(KEY_UP))
-            {
-                hue -= 2.0f;
-                if (hue <= 0.0f) hue = 0.0f;
-            }
-            else if (IsKeyDown(KEY_DOWN))
-            {
-                hue += 2.0f;
-                if (hue >= 360.0f) hue = 360.0f;
-            }*/
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state != STATE_DISABLED)
-    {
-        // Draw hue bar:color bars
-        // TODO: Use directly DrawRectangleGradientEx(bounds, color1, color2, color2, color1);
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 255, 255, 0, 255 }, guiAlpha));
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + bounds.height/6), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 255, 255, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 0, 255 }, guiAlpha));
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 2*(bounds.height/6)), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 255, 255 }, guiAlpha));
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 3*(bounds.height/6)), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 255, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 0, 255, 255 }, guiAlpha));
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 4*(bounds.height/6)), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 0, 0, 255, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 255, 255 }, guiAlpha));
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 5*(bounds.height/6)), (int)bounds.width, (int)(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 255, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 0, 255 }, guiAlpha));
-    }
-    else DrawRectangleGradientV((int)bounds.x, (int)bounds.y, (int)bounds.width, (int)bounds.height, Fade(Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), guiAlpha), Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), guiAlpha));
-
-    GuiDrawRectangle(bounds, GuiGetStyle(COLORPICKER, BORDER_WIDTH), GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)), BLANK);
-
-    // Draw hue bar: selector
-    GuiDrawRectangle(selector, 0, BLANK, GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Color Picker control
-// NOTE: It's divided in multiple controls:
-//      Color GuiColorPanel(Rectangle bounds, Color color)
-//      float GuiColorBarAlpha(Rectangle bounds, float alpha)
-//      float GuiColorBarHue(Rectangle bounds, float value)
-// NOTE: bounds define GuiColorPanel() size
-// NOTE: this picker converts RGB to HSV, which can cause the Hue control to jump. If you have this problem, consider using the HSV variant instead
-int GuiColorPicker(Rectangle bounds, const char *text, Color *color)
-{
-    int result = 0;
-
-    Color temp = { 200, 0, 0, 255 };
-    if (color == NULL) color = &temp;
-
-    GuiColorPanel(bounds, NULL, color);
-
-    Rectangle boundsHue = { (float)bounds.x + bounds.width + GuiGetStyle(COLORPICKER, HUEBAR_PADDING), (float)bounds.y, (float)GuiGetStyle(COLORPICKER, HUEBAR_WIDTH), (float)bounds.height };
-    //Rectangle boundsAlpha = { bounds.x, bounds.y + bounds.height + GuiGetStyle(COLORPICKER, BARS_PADDING), bounds.width, GuiGetStyle(COLORPICKER, BARS_THICK) };
-
-    // NOTE: this conversion can cause low hue-resolution, if the r, g and b value are very similar, which causes the hue bar to shift around when only the GuiColorPanel is used.
-    Vector3 hsv = ConvertRGBtoHSV(RAYGUI_CLITERAL(Vector3){ (*color).r/255.0f, (*color).g/255.0f, (*color).b/255.0f });
-
-    GuiColorBarHue(boundsHue, NULL, &hsv.x);
-
-    //color.a = (unsigned char)(GuiColorBarAlpha(boundsAlpha, (float)color.a/255.0f)*255.0f);
-    Vector3 rgb = ConvertHSVtoRGB(hsv);
-
-    *color = RAYGUI_CLITERAL(Color){ (unsigned char)roundf(rgb.x*255.0f), (unsigned char)roundf(rgb.y*255.0f), (unsigned char)roundf(rgb.z*255.0f), (*color).a };
-
-    return result;
-}
-
-// Color Picker control that avoids conversion to RGB and back to HSV on each call, thus avoiding jittering.
-// The user can call ConvertHSVtoRGB() to convert *colorHsv value to RGB.
-// NOTE: It's divided in multiple controls:
-//      int GuiColorPanelHSV(Rectangle bounds, const char *text, Vector3 *colorHsv)
-//      int GuiColorBarAlpha(Rectangle bounds, const char *text, float *alpha)
-//      float GuiColorBarHue(Rectangle bounds, float value)
-// NOTE: bounds define GuiColorPanelHSV() size
-int GuiColorPickerHSV(Rectangle bounds, const char *text, Vector3 *colorHsv)
-{
-    int result = 0;
-
-    Vector3 tempHsv = { 0 };
-
-    if (colorHsv == NULL)
-    {
-        const Vector3 tempColor = { 200.0f/255.0f, 0.0f, 0.0f };
-        tempHsv = ConvertRGBtoHSV(tempColor);
-        colorHsv = &tempHsv;
-    }
-
-    GuiColorPanelHSV(bounds, NULL, colorHsv);
-
-    const Rectangle boundsHue = { (float)bounds.x + bounds.width + GuiGetStyle(COLORPICKER, HUEBAR_PADDING), (float)bounds.y, (float)GuiGetStyle(COLORPICKER, HUEBAR_WIDTH), (float)bounds.height };
-
-    GuiColorBarHue(boundsHue, NULL, &colorHsv->x);
-
-    return result;
-}
-
-// Color Panel control - HSV variant
-int GuiColorPanelHSV(Rectangle bounds, const char *text, Vector3 *colorHsv)
-{
-    int result = 0;
-    GuiState state = guiState;
-    Vector2 pickerSelector = { 0 };
-
-    const Color colWhite = { 255, 255, 255, 255 };
-    const Color colBlack = { 0, 0, 0, 255 };
-
-    pickerSelector.x = bounds.x + (float)colorHsv->y*bounds.width;            // HSV: Saturation
-    pickerSelector.y = bounds.y + (1.0f - (float)colorHsv->z)*bounds.height;  // HSV: Value
-
-    Vector3 maxHue = { colorHsv->x, 1.0f, 1.0f };
-    Vector3 rgbHue = ConvertHSVtoRGB(maxHue);
-    Color maxHueCol = { (unsigned char)(255.0f*rgbHue.x),
-                      (unsigned char)(255.0f*rgbHue.y),
-                      (unsigned char)(255.0f*rgbHue.z), 255 };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
-                {
-                    pickerSelector = mousePoint;
-
-                    if (pickerSelector.x < bounds.x) pickerSelector.x = bounds.x;
-                    if (pickerSelector.x > bounds.x + bounds.width) pickerSelector.x = bounds.x + bounds.width;
-                    if (pickerSelector.y < bounds.y) pickerSelector.y = bounds.y;
-                    if (pickerSelector.y > bounds.y + bounds.height) pickerSelector.y = bounds.y + bounds.height;
-
-                    // Calculate color from picker
-                    Vector2 colorPick = { pickerSelector.x - bounds.x, pickerSelector.y - bounds.y };
-
-                    colorPick.x /= (float)bounds.width;     // Get normalized value on x
-                    colorPick.y /= (float)bounds.height;    // Get normalized value on y
-
-                    colorHsv->y = colorPick.x;
-                    colorHsv->z = 1.0f - colorPick.y;
-
-                }
-            }
-            else
-            {
-                guiControlExclusiveMode = false;
-                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
-            }
-        }
-        else if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_PRESSED;
-                guiControlExclusiveMode = true;
-                guiControlExclusiveRec = bounds;
-                pickerSelector = mousePoint;
-
-                // Calculate color from picker
-                Vector2 colorPick = { pickerSelector.x - bounds.x, pickerSelector.y - bounds.y };
-
-                colorPick.x /= (float)bounds.width;     // Get normalized value on x
-                colorPick.y /= (float)bounds.height;    // Get normalized value on y
-
-                colorHsv->y = colorPick.x;
-                colorHsv->z = 1.0f - colorPick.y;
-            }
-            else state = STATE_FOCUSED;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state != STATE_DISABLED)
-    {
-        DrawRectangleGradientEx(bounds, Fade(colWhite, guiAlpha), Fade(colWhite, guiAlpha), Fade(maxHueCol, guiAlpha), Fade(maxHueCol, guiAlpha));
-        DrawRectangleGradientEx(bounds, Fade(colBlack, 0), Fade(colBlack, guiAlpha), Fade(colBlack, guiAlpha), Fade(colBlack, 0));
-
-        // Draw color picker: selector
-        Rectangle selector = { pickerSelector.x - GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE)/2, pickerSelector.y - GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE)/2, (float)GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE), (float)GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE) };
-        GuiDrawRectangle(selector, 0, BLANK, colWhite);
-    }
-    else
-    {
-        DrawRectangleGradientEx(bounds, Fade(Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), guiAlpha), Fade(Fade(colBlack, 0.6f), guiAlpha), Fade(Fade(colBlack, 0.6f), guiAlpha), Fade(Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), 0.6f), guiAlpha));
-    }
-
-    GuiDrawRectangle(bounds, GuiGetStyle(COLORPICKER, BORDER_WIDTH), GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)), BLANK);
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Message Box control
-int GuiMessageBox(Rectangle bounds, const char *title, const char *message, const char *buttons)
-{
-    #if !defined(RAYGUI_MESSAGEBOX_BUTTON_HEIGHT)
-        #define RAYGUI_MESSAGEBOX_BUTTON_HEIGHT    24
-    #endif
-    #if !defined(RAYGUI_MESSAGEBOX_BUTTON_PADDING)
-        #define RAYGUI_MESSAGEBOX_BUTTON_PADDING   12
-    #endif
-
-    int result = -1;    // Returns clicked button from buttons list, 0 refers to closed window button
-
-    int buttonCount = 0;
-    const char **buttonsText = GuiTextSplit(buttons, ';', &buttonCount, NULL);
-    Rectangle buttonBounds = { 0 };
-    buttonBounds.x = bounds.x + RAYGUI_MESSAGEBOX_BUTTON_PADDING;
-    buttonBounds.y = bounds.y + bounds.height - RAYGUI_MESSAGEBOX_BUTTON_HEIGHT - RAYGUI_MESSAGEBOX_BUTTON_PADDING;
-    buttonBounds.width = (bounds.width - RAYGUI_MESSAGEBOX_BUTTON_PADDING*(buttonCount + 1))/buttonCount;
-    buttonBounds.height = RAYGUI_MESSAGEBOX_BUTTON_HEIGHT;
-
-    //int textWidth = GetTextWidth(message) + 2;
-
-    Rectangle textBounds = { 0 };
-    textBounds.x = bounds.x + RAYGUI_MESSAGEBOX_BUTTON_PADDING;
-    textBounds.y = bounds.y + RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT + RAYGUI_MESSAGEBOX_BUTTON_PADDING;
-    textBounds.width = bounds.width - RAYGUI_MESSAGEBOX_BUTTON_PADDING*2;
-    textBounds.height = bounds.height - RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 3*RAYGUI_MESSAGEBOX_BUTTON_PADDING - RAYGUI_MESSAGEBOX_BUTTON_HEIGHT;
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (GuiWindowBox(bounds, title)) result = 0;
-
-    int prevTextAlignment = GuiGetStyle(LABEL, TEXT_ALIGNMENT);
-    GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-    GuiLabel(textBounds, message);
-    GuiSetStyle(LABEL, TEXT_ALIGNMENT, prevTextAlignment);
-
-    prevTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-
-    for (int i = 0; i < buttonCount; i++)
-    {
-        if (GuiButton(buttonBounds, buttonsText[i])) result = i + 1;
-        buttonBounds.x += (buttonBounds.width + RAYGUI_MESSAGEBOX_BUTTON_PADDING);
-    }
-
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, prevTextAlignment);
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Text Input Box control, ask for text
-int GuiTextInputBox(Rectangle bounds, const char *title, const char *message, const char *buttons, char *text, int textMaxSize, bool *secretViewActive)
-{
-    #if !defined(RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT)
-        #define RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT      24
-    #endif
-    #if !defined(RAYGUI_TEXTINPUTBOX_BUTTON_PADDING)
-        #define RAYGUI_TEXTINPUTBOX_BUTTON_PADDING     12
-    #endif
-    #if !defined(RAYGUI_TEXTINPUTBOX_HEIGHT)
-        #define RAYGUI_TEXTINPUTBOX_HEIGHT             26
-    #endif
-
-    // Used to enable text edit mode
-    // WARNING: No more than one GuiTextInputBox() should be open at the same time
-    static bool textEditMode = false;
-
-    int result = -1;
-
-    int buttonCount = 0;
-    const char **buttonsText = GuiTextSplit(buttons, ';', &buttonCount, NULL);
-    Rectangle buttonBounds = { 0 };
-    buttonBounds.x = bounds.x + RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
-    buttonBounds.y = bounds.y + bounds.height - RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT - RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
-    buttonBounds.width = (bounds.width - RAYGUI_TEXTINPUTBOX_BUTTON_PADDING*(buttonCount + 1))/buttonCount;
-    buttonBounds.height = RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT;
-
-    int messageInputHeight = (int)bounds.height - RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - GuiGetStyle(STATUSBAR, BORDER_WIDTH) - RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT - 2*RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
-
-    Rectangle textBounds = { 0 };
-    if (message != NULL)
-    {
-        int textSize = GetTextWidth(message) + 2;
-
-        textBounds.x = bounds.x + bounds.width/2 - textSize/2;
-        textBounds.y = bounds.y + RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT + messageInputHeight/4 - (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-        textBounds.width = (float)textSize;
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-    }
-
-    Rectangle textBoxBounds = { 0 };
-    textBoxBounds.x = bounds.x + RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
-    textBoxBounds.y = bounds.y + RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - RAYGUI_TEXTINPUTBOX_HEIGHT/2;
-    if (message == NULL) textBoxBounds.y = bounds.y + 24 + RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
-    else textBoxBounds.y += (messageInputHeight/2 + messageInputHeight/4);
-    textBoxBounds.width = bounds.width - RAYGUI_TEXTINPUTBOX_BUTTON_PADDING*2;
-    textBoxBounds.height = RAYGUI_TEXTINPUTBOX_HEIGHT;
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (GuiWindowBox(bounds, title)) result = 0;
-
-    // Draw message if available
-    if (message != NULL)
-    {
-        int prevTextAlignment = GuiGetStyle(LABEL, TEXT_ALIGNMENT);
-        GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-        GuiLabel(textBounds, message);
-        GuiSetStyle(LABEL, TEXT_ALIGNMENT, prevTextAlignment);
-    }
-
-    if (secretViewActive != NULL)
-    {
-        static char stars[] = "****************";
-        if (GuiTextBox(RAYGUI_CLITERAL(Rectangle){ textBoxBounds.x, textBoxBounds.y, textBoxBounds.width - 4 - RAYGUI_TEXTINPUTBOX_HEIGHT, textBoxBounds.height },
-            ((*secretViewActive == 1) || textEditMode)? text : stars, textMaxSize, textEditMode)) textEditMode = !textEditMode;
-
-        GuiToggle(RAYGUI_CLITERAL(Rectangle){ textBoxBounds.x + textBoxBounds.width - RAYGUI_TEXTINPUTBOX_HEIGHT, textBoxBounds.y, RAYGUI_TEXTINPUTBOX_HEIGHT, RAYGUI_TEXTINPUTBOX_HEIGHT }, (*secretViewActive == 1)? "#44#" : "#45#", secretViewActive);
-    }
-    else
-    {
-        if (GuiTextBox(textBoxBounds, text, textMaxSize, textEditMode)) textEditMode = !textEditMode;
-    }
-
-    int prevBtnTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-
-    for (int i = 0; i < buttonCount; i++)
-    {
-        if (GuiButton(buttonBounds, buttonsText[i])) result = i + 1;
-        buttonBounds.x += (buttonBounds.width + RAYGUI_MESSAGEBOX_BUTTON_PADDING);
-    }
-
-    if (result >= 0) textEditMode = false;
-
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, prevBtnTextAlignment);
-    //--------------------------------------------------------------------
-
-    return result;      // Result is the pressed button index
-}
-
-// Grid control
-// NOTE: Returns grid mouse-hover selected cell
-// About drawing lines at subpixel spacing, simple put, not easy solution:
-// https://stackoverflow.com/questions/4435450/2d-opengl-drawing-lines-that-dont-exactly-fit-pixel-raster
-int GuiGrid(Rectangle bounds, const char *text, float spacing, int subdivs, Vector2 *mouseCell)
-{
-    // Grid lines alpha amount
-    #if !defined(RAYGUI_GRID_ALPHA)
-        #define RAYGUI_GRID_ALPHA    0.15f
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    Vector2 mousePoint = GetMousePosition();
-    Vector2 currentMouseCell = { -1, -1 };
-
-    float spaceWidth = spacing/(float)subdivs;
-    int linesV = (int)(bounds.width/spaceWidth) + 1;
-    int linesH = (int)(bounds.height/spaceWidth) + 1;
-
-    int color = GuiGetStyle(DEFAULT, LINE_COLOR);
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            // NOTE: Cell values must be the upper left of the cell the mouse is in
-            currentMouseCell.x = floorf((mousePoint.x - bounds.x)/spacing);
-            currentMouseCell.y = floorf((mousePoint.y - bounds.y)/spacing);
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state == STATE_DISABLED) color = GuiGetStyle(DEFAULT, BORDER_COLOR_DISABLED);
-
-    if (subdivs > 0)
-    {
-        // Draw vertical grid lines
-        for (int i = 0; i < linesV; i++)
-        {
-            Rectangle lineV = { bounds.x + spacing*i/subdivs, bounds.y, 1, bounds.height + 1 };
-            GuiDrawRectangle(lineV, 0, BLANK, ((i%subdivs) == 0)? GuiFade(GetColor(color), RAYGUI_GRID_ALPHA*4) : GuiFade(GetColor(color), RAYGUI_GRID_ALPHA));
-        }
-
-        // Draw horizontal grid lines
-        for (int i = 0; i < linesH; i++)
-        {
-            Rectangle lineH = { bounds.x, bounds.y + spacing*i/subdivs, bounds.width + 1, 1 };
-            GuiDrawRectangle(lineH, 0, BLANK, ((i%subdivs) == 0)? GuiFade(GetColor(color), RAYGUI_GRID_ALPHA*4) : GuiFade(GetColor(color), RAYGUI_GRID_ALPHA));
-        }
-    }
-
-    if (mouseCell != NULL) *mouseCell = currentMouseCell;
-    return result;
-}
-
-//----------------------------------------------------------------------------------
-// Tooltip management functions
-// NOTE: Tooltips requires some global variables: tooltipPtr
-//----------------------------------------------------------------------------------
-// Enable gui tooltips (global state)
-void GuiEnableTooltip(void) { guiTooltip = true; }
-
-// Disable gui tooltips (global state)
-void GuiDisableTooltip(void) { guiTooltip = false; }
-
-// Set tooltip string
-void GuiSetTooltip(const char *tooltip) { guiTooltipPtr = tooltip; }
-
-//----------------------------------------------------------------------------------
-// Styles loading functions
-//----------------------------------------------------------------------------------
-
-// Load raygui style file (.rgs)
-// NOTE: By default a binary file is expected, that file could contain a custom font,
-// in that case, custom font image atlas is GRAY+ALPHA and pixel data can be compressed (DEFLATE)
-void GuiLoadStyle(const char *fileName)
-{
-    #define MAX_LINE_BUFFER_SIZE    256
-
-    bool tryBinary = false;
-    if (!guiStyleLoaded) GuiLoadStyleDefault();
-
-    // Try reading the files as text file first
-    FILE *rgsFile = fopen(fileName, "rt");
-
-    if (rgsFile != NULL)
-    {
-        char buffer[MAX_LINE_BUFFER_SIZE] = { 0 };
-        fgets(buffer, MAX_LINE_BUFFER_SIZE, rgsFile);
-
-        if (buffer[0] == '#')
-        {
-            int controlId = 0;
-            int propertyId = 0;
-            unsigned int propertyValue = 0;
-
-            while (!feof(rgsFile))
-            {
-                switch (buffer[0])
-                {
-                    case 'p':
-                    {
-                        // Style property: p <control_id> <property_id> <property_value> <property_name>
-
-                        sscanf(buffer, "p %d %d 0x%x", &controlId, &propertyId, &propertyValue);
-                        GuiSetStyle(controlId, propertyId, (int)propertyValue);
-
-                    } break;
-                    case 'f':
-                    {
-                        // Style font: f <gen_font_size> <charmap_file> <font_file>
-
-                        int fontSize = 0;
-                        char charmapFileName[256] = { 0 };
-                        char fontFileName[256] = { 0 };
-                        sscanf(buffer, "f %d %s %[^\r\n]s", &fontSize, charmapFileName, fontFileName);
-
-                        Font font = { 0 };
-                        int *codepoints = NULL;
-                        int codepointCount = 0;
-
-                        if (charmapFileName[0] != '0')
-                        {
-                            // Load text data from file
-                            // NOTE: Expected an UTF-8 array of codepoints, no separation
-                            char *textData = LoadFileText(TextFormat("%s/%s", GetDirectoryPath(fileName), charmapFileName));
-                            codepoints = LoadCodepoints(textData, &codepointCount);
-                            UnloadFileText(textData);
-                        }
-
-                        if (fontFileName[0] != '\0')
-                        {
-                            // In case a font is already loaded and it is not default internal font, unload it
-                            if (font.texture.id != GetFontDefault().texture.id) UnloadTexture(font.texture);
-
-                            if (codepointCount > 0) font = LoadFontEx(TextFormat("%s/%s", GetDirectoryPath(fileName), fontFileName), fontSize, codepoints, codepointCount);
-                            else font = LoadFontEx(TextFormat("%s/%s", GetDirectoryPath(fileName), fontFileName), fontSize, NULL, 0);   // Default to 95 standard codepoints
-                        }
-
-                        // If font texture not properly loaded, revert to default font and size/spacing
-                        if (font.texture.id == 0)
-                        {
-                            font = GetFontDefault();
-                            GuiSetStyle(DEFAULT, TEXT_SIZE, 10);
-                            GuiSetStyle(DEFAULT, TEXT_SPACING, 1);
-                        }
-
-                        UnloadCodepoints(codepoints);
-
-                        if ((font.texture.id > 0) && (font.glyphCount > 0)) GuiSetFont(font);
-
-                    } break;
-                    default: break;
-                }
-
-                fgets(buffer, MAX_LINE_BUFFER_SIZE, rgsFile);
-            }
-        }
-        else tryBinary = true;
-
-        fclose(rgsFile);
-    }
-
-    if (tryBinary)
-    {
-        rgsFile = fopen(fileName, "rb");
-
-        if (rgsFile != NULL)
-        {
-            fseek(rgsFile, 0, SEEK_END);
-            int fileDataSize = ftell(rgsFile);
-            fseek(rgsFile, 0, SEEK_SET);
-
-            if (fileDataSize > 0)
-            {
-                unsigned char *fileData = (unsigned char *)RAYGUI_MALLOC(fileDataSize*sizeof(unsigned char));
-                fread(fileData, sizeof(unsigned char), fileDataSize, rgsFile);
-
-                GuiLoadStyleFromMemory(fileData, fileDataSize);
-
-                RAYGUI_FREE(fileData);
-            }
-
-            fclose(rgsFile);
-        }
-    }
-}
-
-// Load style default over global style
-void GuiLoadStyleDefault(void)
-{
-    // We set this variable first to avoid cyclic function calls
-    // when calling GuiSetStyle() and GuiGetStyle()
-    guiStyleLoaded = true;
-
-    // Initialize default LIGHT style property values
-    // WARNING: Default value are applied to all controls on set but
-    // they can be overwritten later on for every custom control
-    GuiSetStyle(DEFAULT, BORDER_COLOR_NORMAL, 0x838383ff);
-    GuiSetStyle(DEFAULT, BASE_COLOR_NORMAL, 0xc9c9c9ff);
-    GuiSetStyle(DEFAULT, TEXT_COLOR_NORMAL, 0x686868ff);
-    GuiSetStyle(DEFAULT, BORDER_COLOR_FOCUSED, 0x5bb2d9ff);
-    GuiSetStyle(DEFAULT, BASE_COLOR_FOCUSED, 0xc9effeff);
-    GuiSetStyle(DEFAULT, TEXT_COLOR_FOCUSED, 0x6c9bbcff);
-    GuiSetStyle(DEFAULT, BORDER_COLOR_PRESSED, 0x0492c7ff);
-    GuiSetStyle(DEFAULT, BASE_COLOR_PRESSED, 0x97e8ffff);
-    GuiSetStyle(DEFAULT, TEXT_COLOR_PRESSED, 0x368bafff);
-    GuiSetStyle(DEFAULT, BORDER_COLOR_DISABLED, 0xb5c1c2ff);
-    GuiSetStyle(DEFAULT, BASE_COLOR_DISABLED, 0xe6e9e9ff);
-    GuiSetStyle(DEFAULT, TEXT_COLOR_DISABLED, 0xaeb7b8ff);
-    GuiSetStyle(DEFAULT, BORDER_WIDTH, 1);
-    GuiSetStyle(DEFAULT, TEXT_PADDING, 0);
-    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-
-    // Initialize default extended property values
-    // NOTE: By default, extended property values are initialized to 0
-    GuiSetStyle(DEFAULT, TEXT_SIZE, 10);                // DEFAULT, shared by all controls
-    GuiSetStyle(DEFAULT, TEXT_SPACING, 1);              // DEFAULT, shared by all controls
-    GuiSetStyle(DEFAULT, LINE_COLOR, 0x90abb5ff);       // DEFAULT specific property
-    GuiSetStyle(DEFAULT, BACKGROUND_COLOR, 0xf5f5f5ff); // DEFAULT specific property
-    GuiSetStyle(DEFAULT, TEXT_LINE_SPACING, 15);        // DEFAULT, 15 pixels between lines
-    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL, TEXT_ALIGN_MIDDLE);   // DEFAULT, text aligned vertically to middle of text-bounds
-
-    // Initialize control-specific property values
-    // NOTE: Those properties are in default list but require specific values by control type
-    GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, 2);
-    GuiSetStyle(SLIDER, TEXT_PADDING, 4);
-    GuiSetStyle(PROGRESSBAR, TEXT_PADDING, 4);
-    GuiSetStyle(CHECKBOX, TEXT_PADDING, 4);
-    GuiSetStyle(CHECKBOX, TEXT_ALIGNMENT, TEXT_ALIGN_RIGHT);
-    GuiSetStyle(DROPDOWNBOX, TEXT_PADDING, 0);
-    GuiSetStyle(DROPDOWNBOX, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-    GuiSetStyle(TEXTBOX, TEXT_PADDING, 4);
-    GuiSetStyle(TEXTBOX, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-    GuiSetStyle(VALUEBOX, TEXT_PADDING, 0);
-    GuiSetStyle(VALUEBOX, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-    GuiSetStyle(SPINNER, TEXT_PADDING, 0);
-    GuiSetStyle(SPINNER, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-    GuiSetStyle(STATUSBAR, TEXT_PADDING, 8);
-    GuiSetStyle(STATUSBAR, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-
-    // Initialize extended property values
-    // NOTE: By default, extended property values are initialized to 0
-    GuiSetStyle(TOGGLE, GROUP_PADDING, 2);
-    GuiSetStyle(SLIDER, SLIDER_WIDTH, 16);
-    GuiSetStyle(SLIDER, SLIDER_PADDING, 1);
-    GuiSetStyle(PROGRESSBAR, PROGRESS_PADDING, 1);
-    GuiSetStyle(CHECKBOX, CHECK_PADDING, 1);
-    GuiSetStyle(COMBOBOX, COMBO_BUTTON_WIDTH, 32);
-    GuiSetStyle(COMBOBOX, COMBO_BUTTON_SPACING, 2);
-    GuiSetStyle(DROPDOWNBOX, ARROW_PADDING, 16);
-    GuiSetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING, 2);
-    GuiSetStyle(SPINNER, SPIN_BUTTON_WIDTH, 24);
-    GuiSetStyle(SPINNER, SPIN_BUTTON_SPACING, 2);
-    GuiSetStyle(SCROLLBAR, BORDER_WIDTH, 0);
-    GuiSetStyle(SCROLLBAR, ARROWS_VISIBLE, 0);
-    GuiSetStyle(SCROLLBAR, ARROWS_SIZE, 6);
-    GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING, 0);
-    GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, 16);
-    GuiSetStyle(SCROLLBAR, SCROLL_PADDING, 0);
-    GuiSetStyle(SCROLLBAR, SCROLL_SPEED, 12);
-    GuiSetStyle(LISTVIEW, LIST_ITEMS_HEIGHT, 28);
-    GuiSetStyle(LISTVIEW, LIST_ITEMS_SPACING, 2);
-    GuiSetStyle(LISTVIEW, SCROLLBAR_WIDTH, 12);
-    GuiSetStyle(LISTVIEW, SCROLLBAR_SIDE, SCROLLBAR_RIGHT_SIDE);
-    GuiSetStyle(COLORPICKER, COLOR_SELECTOR_SIZE, 8);
-    GuiSetStyle(COLORPICKER, HUEBAR_WIDTH, 16);
-    GuiSetStyle(COLORPICKER, HUEBAR_PADDING, 8);
-    GuiSetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT, 8);
-    GuiSetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW, 2);
-
-    if (guiFont.texture.id != GetFontDefault().texture.id)
-    {
-        // Unload previous font texture
-        UnloadTexture(guiFont.texture);
-        RL_FREE(guiFont.recs);
-        RL_FREE(guiFont.glyphs);
-        guiFont.recs = NULL;
-        guiFont.glyphs = NULL;
-
-        // Setup default raylib font
-        guiFont = GetFontDefault();
-
-        // NOTE: Default raylib font character 95 is a white square
-        Rectangle whiteChar = guiFont.recs[95];
-
-        // NOTE: We set up a 1px padding on char rectangle to avoid pixel bleeding on MSAA filtering
-        SetShapesTexture(guiFont.texture, RAYGUI_CLITERAL(Rectangle){ whiteChar.x + 1, whiteChar.y + 1, whiteChar.width - 2, whiteChar.height - 2 });
-    }
-}
-
-// Get text with icon id prepended
-// NOTE: Useful to add icons by name id (enum) instead of
-// a number that can change between ricon versions
-const char *GuiIconText(int iconId, const char *text)
-{
-#if defined(RAYGUI_NO_ICONS)
-    return NULL;
-#else
-    static char buffer[1024] = { 0 };
-    static char iconBuffer[16] = { 0 };
-
-    if (text != NULL)
-    {
-        memset(buffer, 0, 1024);
-        sprintf(buffer, "#%03i#", iconId);
-
-        for (int i = 5; i < 1024; i++)
-        {
-            buffer[i] = text[i - 5];
-            if (text[i - 5] == '\0') break;
-        }
-
-        return buffer;
-    }
-    else
-    {
-        sprintf(iconBuffer, "#%03i#", iconId);
-
-        return iconBuffer;
-    }
-#endif
-}
-
-#if !defined(RAYGUI_NO_ICONS)
-// Get full icons data pointer
-unsigned int *GuiGetIcons(void) { return guiIconsPtr; }
-
-// Load raygui icons file (.rgi)
-// NOTE: In case nameIds are required, they can be requested with loadIconsName,
-// they are returned as a guiIconsName[iconCount][RAYGUI_ICON_MAX_NAME_LENGTH],
-// WARNING: guiIconsName[]][] memory should be manually freed!
-char **GuiLoadIcons(const char *fileName, bool loadIconsName)
-{
-    // Style File Structure (.rgi)
-    // ------------------------------------------------------
-    // Offset  | Size    | Type       | Description
-    // ------------------------------------------------------
-    // 0       | 4       | char       | Signature: "rGI "
-    // 4       | 2       | short      | Version: 100
-    // 6       | 2       | short      | reserved
-
-    // 8       | 2       | short      | Num icons (N)
-    // 10      | 2       | short      | Icons size (Options: 16, 32, 64) (S)
-
-    // Icons name id (32 bytes per name id)
-    // foreach (icon)
-    // {
-    //   12+32*i  | 32   | char       | Icon NameId
-    // }
-
-    // Icons data: One bit per pixel, stored as unsigned int array (depends on icon size)
-    // S*S pixels/32bit per unsigned int = K unsigned int per icon
-    // foreach (icon)
-    // {
-    //   ...   | K       | unsigned int | Icon Data
-    // }
-
-    FILE *rgiFile = fopen(fileName, "rb");
-
-    char **guiIconsName = NULL;
-
-    if (rgiFile != NULL)
-    {
-        char signature[5] = { 0 };
-        short version = 0;
-        short reserved = 0;
-        short iconCount = 0;
-        short iconSize = 0;
-
-        fread(signature, 1, 4, rgiFile);
-        fread(&version, sizeof(short), 1, rgiFile);
-        fread(&reserved, sizeof(short), 1, rgiFile);
-        fread(&iconCount, sizeof(short), 1, rgiFile);
-        fread(&iconSize, sizeof(short), 1, rgiFile);
-
-        if ((signature[0] == 'r') &&
-            (signature[1] == 'G') &&
-            (signature[2] == 'I') &&
-            (signature[3] == ' '))
-        {
-            if (loadIconsName)
-            {
-                guiIconsName = (char **)RAYGUI_MALLOC(iconCount*sizeof(char **));
-                for (int i = 0; i < iconCount; i++)
-                {
-                    guiIconsName[i] = (char *)RAYGUI_MALLOC(RAYGUI_ICON_MAX_NAME_LENGTH);
-                    fread(guiIconsName[i], 1, RAYGUI_ICON_MAX_NAME_LENGTH, rgiFile);
-                }
-            }
-            else fseek(rgiFile, iconCount*RAYGUI_ICON_MAX_NAME_LENGTH, SEEK_CUR);
-
-            // Read icons data directly over internal icons array
-            fread(guiIconsPtr, sizeof(unsigned int), iconCount*(iconSize*iconSize/32), rgiFile);
-        }
-
-        fclose(rgiFile);
-    }
-
-    return guiIconsName;
-}
-
-// Draw selected icon using rectangles pixel-by-pixel
-void GuiDrawIcon(int iconId, int posX, int posY, int pixelSize, Color color)
-{
-    #define BIT_CHECK(a,b) ((a) & (1u<<(b)))
-
-    for (int i = 0, y = 0; i < RAYGUI_ICON_SIZE*RAYGUI_ICON_SIZE/32; i++)
-    {
-        for (int k = 0; k < 32; k++)
-        {
-            if (BIT_CHECK(guiIconsPtr[iconId*RAYGUI_ICON_DATA_ELEMENTS + i], k))
-            {
-            #if !defined(RAYGUI_STANDALONE)
-                GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ (float)posX + (k%RAYGUI_ICON_SIZE)*pixelSize, (float)posY + y*pixelSize, (float)pixelSize, (float)pixelSize }, 0, BLANK, color);
-            #endif
-            }
-
-            if ((k == 15) || (k == 31)) y++;
-        }
-    }
-}
-
-// Set icon drawing size
-void GuiSetIconScale(int scale)
-{
-    if (scale >= 1) guiIconScale = scale;
-}
-
-#endif      // !RAYGUI_NO_ICONS
-
-//----------------------------------------------------------------------------------
-// Module specific Functions Definition
-//----------------------------------------------------------------------------------
-
-// Load style from memory
-// WARNING: Binary files only
-static void GuiLoadStyleFromMemory(const unsigned char *fileData, int dataSize)
-{
-    unsigned char *fileDataPtr = (unsigned char *)fileData;
-
-    char signature[5] = { 0 };
-    short version = 0;
-    short reserved = 0;
-    int propertyCount = 0;
-
-    memcpy(signature, fileDataPtr, 4);
-    memcpy(&version, fileDataPtr + 4, sizeof(short));
-    memcpy(&reserved, fileDataPtr + 4 + 2, sizeof(short));
-    memcpy(&propertyCount, fileDataPtr + 4 + 2 + 2, sizeof(int));
-    fileDataPtr += 12;
-
-    if ((signature[0] == 'r') &&
-        (signature[1] == 'G') &&
-        (signature[2] == 'S') &&
-        (signature[3] == ' '))
-    {
-        short controlId = 0;
-        short propertyId = 0;
-        unsigned int propertyValue = 0;
-
-        for (int i = 0; i < propertyCount; i++)
-        {
-            memcpy(&controlId, fileDataPtr, sizeof(short));
-            memcpy(&propertyId, fileDataPtr + 2, sizeof(short));
-            memcpy(&propertyValue, fileDataPtr + 2 + 2, sizeof(unsigned int));
-            fileDataPtr += 8;
-
-            if (controlId == 0) // DEFAULT control
-            {
-                // If a DEFAULT property is loaded, it is propagated to all controls
-                // NOTE: All DEFAULT properties should be defined first in the file
-                GuiSetStyle(0, (int)propertyId, propertyValue);
-
-                if (propertyId < RAYGUI_MAX_PROPS_BASE) for (int j = 1; j < RAYGUI_MAX_CONTROLS; j++) GuiSetStyle(j, (int)propertyId, propertyValue);
-            }
-            else GuiSetStyle((int)controlId, (int)propertyId, propertyValue);
-        }
-
-        // Font loading is highly dependant on raylib API to load font data and image
-
-#if !defined(RAYGUI_STANDALONE)
-        // Load custom font if available
-        int fontDataSize = 0;
-        memcpy(&fontDataSize, fileDataPtr, sizeof(int));
-        fileDataPtr += 4;
-
-        if (fontDataSize > 0)
-        {
-            Font font = { 0 };
-            int fontType = 0;   // 0-Normal, 1-SDF
-
-            memcpy(&font.baseSize, fileDataPtr, sizeof(int));
-            memcpy(&font.glyphCount, fileDataPtr + 4, sizeof(int));
-            memcpy(&fontType, fileDataPtr + 4 + 4, sizeof(int));
-            fileDataPtr += 12;
-
-            // Load font white rectangle
-            Rectangle fontWhiteRec = { 0 };
-            memcpy(&fontWhiteRec, fileDataPtr, sizeof(Rectangle));
-            fileDataPtr += 16;
-
-            // Load font image parameters
-            int fontImageUncompSize = 0;
-            int fontImageCompSize = 0;
-            memcpy(&fontImageUncompSize, fileDataPtr, sizeof(int));
-            memcpy(&fontImageCompSize, fileDataPtr + 4, sizeof(int));
-            fileDataPtr += 8;
-
-            Image imFont = { 0 };
-            imFont.mipmaps = 1;
-            memcpy(&imFont.width, fileDataPtr, sizeof(int));
-            memcpy(&imFont.height, fileDataPtr + 4, sizeof(int));
-            memcpy(&imFont.format, fileDataPtr + 4 + 4, sizeof(int));
-            fileDataPtr += 12;
-
-            if ((fontImageCompSize > 0) && (fontImageCompSize != fontImageUncompSize))
-            {
-                // Compressed font atlas image data (DEFLATE), it requires DecompressData()
-                int dataUncompSize = 0;
-                unsigned char *compData = (unsigned char *)RAYGUI_MALLOC(fontImageCompSize);
-                memcpy(compData, fileDataPtr, fontImageCompSize);
-                fileDataPtr += fontImageCompSize;
-
-                imFont.data = DecompressData(compData, fontImageCompSize, &dataUncompSize);
-
-                // Security check, dataUncompSize must match the provided fontImageUncompSize
-                if (dataUncompSize != fontImageUncompSize) RAYGUI_LOG("WARNING: Uncompressed font atlas image data could be corrupted");
-
-                RAYGUI_FREE(compData);
-            }
-            else
-            {
-                // Font atlas image data is not compressed
-                imFont.data = (unsigned char *)RAYGUI_MALLOC(fontImageUncompSize);
-                memcpy(imFont.data, fileDataPtr, fontImageUncompSize);
-                fileDataPtr += fontImageUncompSize;
-            }
-
-            if (font.texture.id != GetFontDefault().texture.id) UnloadTexture(font.texture);
-            font.texture = LoadTextureFromImage(imFont);
-
-            RAYGUI_FREE(imFont.data);
-
-            // Validate font atlas texture was loaded correctly
-            if (font.texture.id != 0)
-            {
-                // Load font recs data
-                int recsDataSize = font.glyphCount*sizeof(Rectangle);
-                int recsDataCompressedSize = 0;
-
-                // WARNING: Version 400 adds the compression size parameter
-                if (version >= 400)
-                {
-                    // RGS files version 400 support compressed recs data
-                    memcpy(&recsDataCompressedSize, fileDataPtr, sizeof(int));
-                    fileDataPtr += sizeof(int);
-                }
-
-                if ((recsDataCompressedSize > 0) && (recsDataCompressedSize != recsDataSize))
-                {
-                    // Recs data is compressed, uncompress it
-                    unsigned char *recsDataCompressed = (unsigned char *)RAYGUI_MALLOC(recsDataCompressedSize);
-
-                    memcpy(recsDataCompressed, fileDataPtr, recsDataCompressedSize);
-                    fileDataPtr += recsDataCompressedSize;
-
-                    int recsDataUncompSize = 0;
-                    font.recs = (Rectangle *)DecompressData(recsDataCompressed, recsDataCompressedSize, &recsDataUncompSize);
-
-                    // Security check, data uncompressed size must match the expected original data size
-                    if (recsDataUncompSize != recsDataSize) RAYGUI_LOG("WARNING: Uncompressed font recs data could be corrupted");
-
-                    RAYGUI_FREE(recsDataCompressed);
-                }
-                else
-                {
-                    // Recs data is uncompressed
-                    font.recs = (Rectangle *)RAYGUI_CALLOC(font.glyphCount, sizeof(Rectangle));
-                    for (int i = 0; i < font.glyphCount; i++)
-                    {
-                        memcpy(&font.recs[i], fileDataPtr, sizeof(Rectangle));
-                        fileDataPtr += sizeof(Rectangle);
-                    }
-                }
-
-                // Load font glyphs info data
-                int glyphsDataSize = font.glyphCount*16;    // 16 bytes data per glyph
-                int glyphsDataCompressedSize = 0;
-
-                // WARNING: Version 400 adds the compression size parameter
-                if (version >= 400)
-                {
-                    // RGS files version 400 support compressed glyphs data
-                    memcpy(&glyphsDataCompressedSize, fileDataPtr, sizeof(int));
-                    fileDataPtr += sizeof(int);
-                }
-
-                // Allocate required glyphs space to fill with data
-                font.glyphs = (GlyphInfo *)RAYGUI_CALLOC(font.glyphCount, sizeof(GlyphInfo));
-
-                if ((glyphsDataCompressedSize > 0) && (glyphsDataCompressedSize != glyphsDataSize))
-                {
-                    // Glyphs data is compressed, uncompress it
-                    unsigned char *glypsDataCompressed = (unsigned char *)RAYGUI_MALLOC(glyphsDataCompressedSize);
-
-                    memcpy(glypsDataCompressed, fileDataPtr, glyphsDataCompressedSize);
-                    fileDataPtr += glyphsDataCompressedSize;
-
-                    int glyphsDataUncompSize = 0;
-                    unsigned char *glyphsDataUncomp = DecompressData(glypsDataCompressed, glyphsDataCompressedSize, &glyphsDataUncompSize);
-
-                    // Security check, data uncompressed size must match the expected original data size
-                    if (glyphsDataUncompSize != glyphsDataSize) RAYGUI_LOG("WARNING: Uncompressed font glyphs data could be corrupted");
-
-                    unsigned char *glyphsDataUncompPtr = glyphsDataUncomp;
-
-                    for (int i = 0; i < font.glyphCount; i++)
-                    {
-                        memcpy(&font.glyphs[i].value, glyphsDataUncompPtr, sizeof(int));
-                        memcpy(&font.glyphs[i].offsetX, glyphsDataUncompPtr + 4, sizeof(int));
-                        memcpy(&font.glyphs[i].offsetY, glyphsDataUncompPtr + 8, sizeof(int));
-                        memcpy(&font.glyphs[i].advanceX, glyphsDataUncompPtr + 12, sizeof(int));
-                        glyphsDataUncompPtr += 16;
-                    }
-
-                    RAYGUI_FREE(glypsDataCompressed);
-                    RAYGUI_FREE(glyphsDataUncomp);
-                }
-                else
-                {
-                    // Glyphs data is uncompressed
-                    for (int i = 0; i < font.glyphCount; i++)
-                    {
-                        memcpy(&font.glyphs[i].value, fileDataPtr, sizeof(int));
-                        memcpy(&font.glyphs[i].offsetX, fileDataPtr + 4, sizeof(int));
-                        memcpy(&font.glyphs[i].offsetY, fileDataPtr + 8, sizeof(int));
-                        memcpy(&font.glyphs[i].advanceX, fileDataPtr + 12, sizeof(int));
-                        fileDataPtr += 16;
-                    }
-                }
-            }
-            else font = GetFontDefault();   // Fallback in case of errors loading font atlas texture
-
-            GuiSetFont(font);
-
-            // Set font texture source rectangle to be used as white texture to draw shapes
-            // NOTE: It makes possible to draw shapes and text (full UI) in a single draw call
-            if ((fontWhiteRec.x > 0) &&
-                (fontWhiteRec.y > 0) &&
-                (fontWhiteRec.width > 0) &&
-                (fontWhiteRec.height > 0)) SetShapesTexture(font.texture, fontWhiteRec);
-        }
-#endif
-    }
-}
-
-// Gui get text width considering icon
-static int GetTextWidth(const char *text)
-{
-    #if !defined(ICON_TEXT_PADDING)
-        #define ICON_TEXT_PADDING   4
-    #endif
-
-    Vector2 textSize = { 0 };
-    int textIconOffset = 0;
-
-    if ((text != NULL) && (text[0] != '\0'))
-    {
-        if (text[0] == '#')
-        {
-            for (int i = 1; (i < 5) && (text[i] != '\0'); i++)
-            {
-                if (text[i] == '#')
-                {
-                    textIconOffset = i;
-                    break;
-                }
-            }
-        }
-
-        text += textIconOffset;
-
-        // Make sure guiFont is set, GuiGetStyle() initializes it lazynessly
-        float fontSize = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-
-        // Custom MeasureText() implementation
-        if ((guiFont.texture.id > 0) && (text != NULL))
-        {
-            // Get size in bytes of text, considering end of line and line break
-            int size = 0;
-            for (int i = 0; i < MAX_LINE_BUFFER_SIZE; i++)
-            {
-                if ((text[i] != '\0') && (text[i] != '\n')) size++;
-                else break;
-            }
-
-            float scaleFactor = fontSize/(float)guiFont.baseSize;
-            textSize.y = (float)guiFont.baseSize*scaleFactor;
-            float glyphWidth = 0.0f;
-
-            for (int i = 0, codepointSize = 0; i < size; i += codepointSize)
-            {
-                int codepoint = GetCodepointNext(&text[i], &codepointSize);
-                int codepointIndex = GetGlyphIndex(guiFont, codepoint);
-
-                if (guiFont.glyphs[codepointIndex].advanceX == 0) glyphWidth = ((float)guiFont.recs[codepointIndex].width*scaleFactor);
-                else glyphWidth = ((float)guiFont.glyphs[codepointIndex].advanceX*scaleFactor);
-
-                textSize.x += (glyphWidth + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-            }
-        }
-
-        if (textIconOffset > 0) textSize.x += (RAYGUI_ICON_SIZE + ICON_TEXT_PADDING);
-    }
-
-    return (int)textSize.x;
-}
-
-// Get text bounds considering control bounds
-static Rectangle GetTextBounds(int control, Rectangle bounds)
-{
-    Rectangle textBounds = bounds;
-
-    textBounds.x = bounds.x + GuiGetStyle(control, BORDER_WIDTH);
-    textBounds.y = bounds.y + GuiGetStyle(control, BORDER_WIDTH) + GuiGetStyle(control, TEXT_PADDING);
-    textBounds.width = bounds.width - 2*GuiGetStyle(control, BORDER_WIDTH) - 2*GuiGetStyle(control, TEXT_PADDING);
-    textBounds.height = bounds.height - 2*GuiGetStyle(control, BORDER_WIDTH) - 2*GuiGetStyle(control, TEXT_PADDING);    // NOTE: Text is processed line per line!
-
-    // Depending on control, TEXT_PADDING and TEXT_ALIGNMENT properties could affect the text-bounds
-    switch (control)
-    {
-        case COMBOBOX:
-        case DROPDOWNBOX:
-        case LISTVIEW:
-            // TODO: Special cases (no label): COMBOBOX, DROPDOWNBOX, LISTVIEW
-        case SLIDER:
-        case CHECKBOX:
-        case VALUEBOX:
-        case SPINNER:
-            // TODO: More special cases (label on side): SLIDER, CHECKBOX, VALUEBOX, SPINNER
-        default:
-        {
-            // TODO: WARNING: TEXT_ALIGNMENT is already considered in GuiDrawText()
-            if (GuiGetStyle(control, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT) textBounds.x -= GuiGetStyle(control, TEXT_PADDING);
-            else textBounds.x += GuiGetStyle(control, TEXT_PADDING);
-        }
-        break;
-    }
-
-    return textBounds;
-}
-
-// Get text icon if provided and move text cursor
-// NOTE: We support up to 999 values for iconId
-static const char *GetTextIcon(const char *text, int *iconId)
-{
-#if !defined(RAYGUI_NO_ICONS)
-    *iconId = -1;
-    if (text[0] == '#')     // Maybe we have an icon!
-    {
-        char iconValue[4] = { 0 };  // Maximum length for icon value: 3 digits + '\0'
-
-        int pos = 1;
-        while ((pos < 4) && (text[pos] >= '0') && (text[pos] <= '9'))
-        {
-            iconValue[pos - 1] = text[pos];
-            pos++;
-        }
-
-        if (text[pos] == '#')
-        {
-            *iconId = TextToInteger(iconValue);
-
-            // Move text pointer after icon
-            // WARNING: If only icon provided, it could point to EOL character: '\0'
-            if (*iconId >= 0) text += (pos + 1);
-        }
-    }
-#endif
-
-    return text;
-}
-
-// Get text divided into lines (by line-breaks '\n')
-const char **GetTextLines(const char *text, int *count)
-{
-    #define RAYGUI_MAX_TEXT_LINES   128
-
-    static const char *lines[RAYGUI_MAX_TEXT_LINES] = { 0 };
-    for (int i = 0; i < RAYGUI_MAX_TEXT_LINES; i++) lines[i] = NULL;    // Init NULL pointers to substrings
-
-    int textSize = (int)strlen(text);
-
-    lines[0] = text;
-    int len = 0;
-    *count = 1;
-    //int lineSize = 0;   // Stores current line size, not returned
-
-    for (int i = 0, k = 0; (i < textSize) && (*count < RAYGUI_MAX_TEXT_LINES); i++)
-    {
-        if (text[i] == '\n')
-        {
-            //lineSize = len;
-            k++;
-            lines[k] = &text[i + 1];     // WARNING: next value is valid?
-            len = 0;
-            *count += 1;
-        }
-        else len++;
-    }
-
-    //lines[*count - 1].size = len;
-
-    return lines;
-}
-
-// Get text width to next space for provided string
-static float GetNextSpaceWidth(const char *text, int *nextSpaceIndex)
-{
-    float width = 0;
-    int codepointByteCount = 0;
-    int codepoint = 0;
-    int index = 0;
-    float glyphWidth = 0;
-    float scaleFactor = (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/guiFont.baseSize;
-
-    for (int i = 0; text[i] != '\0'; i++)
-    {
-        if (text[i] != ' ')
-        {
-            codepoint = GetCodepoint(&text[i], &codepointByteCount);
-            index = GetGlyphIndex(guiFont, codepoint);
-            glyphWidth = (guiFont.glyphs[index].advanceX == 0)? guiFont.recs[index].width*scaleFactor : guiFont.glyphs[index].advanceX*scaleFactor;
-            width += (glyphWidth + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-        }
-        else
-        {
-            *nextSpaceIndex = i;
-            break;
-        }
-    }
-
-    return width;
-}
-
-// Gui draw text using default font
-static void GuiDrawText(const char *text, Rectangle textBounds, int alignment, Color tint)
-{
-    #define TEXT_VALIGN_PIXEL_OFFSET(h)  ((int)h%2)     // Vertical alignment for pixel perfect
-
-    #if !defined(ICON_TEXT_PADDING)
-        #define ICON_TEXT_PADDING   4
-    #endif
-
-    if ((text == NULL) || (text[0] == '\0')) return;    // Security check
-
-    // PROCEDURE:
-    //   - Text is processed line per line
-    //   - For every line, horizontal alignment is defined
-    //   - For all text, vertical alignment is defined (multiline text only)
-    //   - For every line, wordwrap mode is checked (useful for GuitextBox(), read-only)
-
-    // Get text lines (using '\n' as delimiter) to be processed individually
-    // WARNING: We can't use GuiTextSplit() function because it can be already used
-    // before the GuiDrawText() call and its buffer is static, it would be overriden :(
-    int lineCount = 0;
-    const char **lines = GetTextLines(text, &lineCount);
-
-    // Text style variables
-    //int alignment = GuiGetStyle(DEFAULT, TEXT_ALIGNMENT);
-    int alignmentVertical = GuiGetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL);
-    int wrapMode = GuiGetStyle(DEFAULT, TEXT_WRAP_MODE);    // Wrap-mode only available in read-only mode, no for text editing
-
-    // TODO: WARNING: This totalHeight is not valid for vertical alignment in case of word-wrap
-    float totalHeight = (float)(lineCount*GuiGetStyle(DEFAULT, TEXT_SIZE) + (lineCount - 1)*GuiGetStyle(DEFAULT, TEXT_SIZE)/2);
-    float posOffsetY = 0.0f;
-
-    for (int i = 0; i < lineCount; i++)
-    {
-        int iconId = 0;
-        lines[i] = GetTextIcon(lines[i], &iconId);      // Check text for icon and move cursor
-
-        // Get text position depending on alignment and iconId
-        //---------------------------------------------------------------------------------
-        Vector2 textBoundsPosition = { textBounds.x, textBounds.y };
-        float textBoundsWidthOffset = 0.0f;
-
-        // NOTE: We get text size after icon has been processed
-        // WARNING: GetTextWidth() also processes text icon to get width! -> Really needed?
-        int textSizeX = GetTextWidth(lines[i]);
-
-        // If text requires an icon, add size to measure
-        if (iconId >= 0)
-        {
-            textSizeX += RAYGUI_ICON_SIZE*guiIconScale;
-
-            // WARNING: If only icon provided, text could be pointing to EOF character: '\0'
-#if !defined(RAYGUI_NO_ICONS)
-            if ((lines[i] != NULL) && (lines[i][0] != '\0')) textSizeX += ICON_TEXT_PADDING;
-#endif
-        }
-
-        // Check guiTextAlign global variables
-        switch (alignment)
-        {
-            case TEXT_ALIGN_LEFT: textBoundsPosition.x = textBounds.x; break;
-            case TEXT_ALIGN_CENTER: textBoundsPosition.x = textBounds.x +  textBounds.width/2 - textSizeX/2; break;
-            case TEXT_ALIGN_RIGHT: textBoundsPosition.x = textBounds.x + textBounds.width - textSizeX; break;
-            default: break;
-        }
-
-        if (textSizeX > textBounds.width && (lines[i] != NULL) && (lines[i][0] != '\0')) textBoundsPosition.x = textBounds.x;
-
-        switch (alignmentVertical)
-        {
-            // Only valid in case of wordWrap = 0;
-            case TEXT_ALIGN_TOP: textBoundsPosition.y = textBounds.y + posOffsetY; break;
-            case TEXT_ALIGN_MIDDLE: textBoundsPosition.y = textBounds.y + posOffsetY + textBounds.height/2 - totalHeight/2 + TEXT_VALIGN_PIXEL_OFFSET(textBounds.height); break;
-            case TEXT_ALIGN_BOTTOM: textBoundsPosition.y = textBounds.y + posOffsetY + textBounds.height - totalHeight + TEXT_VALIGN_PIXEL_OFFSET(textBounds.height); break;
-            default: break;
-        }
-
-        // NOTE: Make sure we get pixel-perfect coordinates,
-        // In case of decimals we got weird text positioning
-        textBoundsPosition.x = (float)((int)textBoundsPosition.x);
-        textBoundsPosition.y = (float)((int)textBoundsPosition.y);
-        //---------------------------------------------------------------------------------
-
-        // Draw text (with icon if available)
-        //---------------------------------------------------------------------------------
-#if !defined(RAYGUI_NO_ICONS)
-        if (iconId >= 0)
-        {
-            // NOTE: We consider icon height, probably different than text size
-            GuiDrawIcon(iconId, (int)textBoundsPosition.x, (int)(textBounds.y + textBounds.height/2 - RAYGUI_ICON_SIZE*guiIconScale/2 + TEXT_VALIGN_PIXEL_OFFSET(textBounds.height)), guiIconScale, tint);
-            textBoundsPosition.x += (float)(RAYGUI_ICON_SIZE*guiIconScale + ICON_TEXT_PADDING);
-            textBoundsWidthOffset = (float)(RAYGUI_ICON_SIZE*guiIconScale + ICON_TEXT_PADDING);
-        }
-#endif
-        // Get size in bytes of text,
-        // considering end of line and line break
-        int lineSize = 0;
-        for (int c = 0; (lines[i][c] != '\0') && (lines[i][c] != '\n') && (lines[i][c] != '\r'); c++, lineSize++){ }
-        float scaleFactor = (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/guiFont.baseSize;
-
-        int lastSpaceIndex = 0;
-        bool tempWrapCharMode = false;
-
-        int textOffsetY = 0;
-        float textOffsetX = 0.0f;
-        float glyphWidth = 0;
-
-        int ellipsisWidth = GetTextWidth("...");
-        bool textOverflow = false;
-        for (int c = 0, codepointSize = 0; c < lineSize; c += codepointSize)
-        {
-            int codepoint = GetCodepointNext(&lines[i][c], &codepointSize);
-            int index = GetGlyphIndex(guiFont, codepoint);
-
-            // NOTE: Normally we exit the decoding sequence as soon as a bad byte is found (and return 0x3f)
-            // but we need to draw all of the bad bytes using the '?' symbol moving one byte
-            if (codepoint == 0x3f) codepointSize = 1; // TODO: Review not recognized codepoints size
-
-            // Get glyph width to check if it goes out of bounds
-            if (guiFont.glyphs[index].advanceX == 0) glyphWidth = ((float)guiFont.recs[index].width*scaleFactor);
-            else glyphWidth = (float)guiFont.glyphs[index].advanceX*scaleFactor;
-
-            // Wrap mode text measuring, to validate if
-            // it can be drawn or a new line is required
-            if (wrapMode == TEXT_WRAP_CHAR)
-            {
-                // Jump to next line if current character reach end of the box limits
-                if ((textOffsetX + glyphWidth) > textBounds.width - textBoundsWidthOffset)
-                {
-                    textOffsetX = 0.0f;
-                    textOffsetY += GuiGetStyle(DEFAULT, TEXT_LINE_SPACING);
-
-                    if (tempWrapCharMode)   // Wrap at char level when too long words
-                    {
-                        wrapMode = TEXT_WRAP_WORD;
-                        tempWrapCharMode = false;
-                    }
-                }
-            }
-            else if (wrapMode == TEXT_WRAP_WORD)
-            {
-                if (codepoint == 32) lastSpaceIndex = c;
-
-                // Get width to next space in line
-                int nextSpaceIndex = 0;
-                float nextSpaceWidth = GetNextSpaceWidth(lines[i] + c, &nextSpaceIndex);
-
-                int nextSpaceIndex2 = 0;
-                float nextWordSize = GetNextSpaceWidth(lines[i] + lastSpaceIndex + 1, &nextSpaceIndex2);
-
-                if (nextWordSize > textBounds.width - textBoundsWidthOffset)
-                {
-                    // Considering the case the next word is longer than bounds
-                    tempWrapCharMode = true;
-                    wrapMode = TEXT_WRAP_CHAR;
-                }
-                else if ((textOffsetX + nextSpaceWidth) > textBounds.width - textBoundsWidthOffset)
-                {
-                    textOffsetX = 0.0f;
-                    textOffsetY += GuiGetStyle(DEFAULT, TEXT_LINE_SPACING);
-                }
-            }
-
-            if (codepoint == '\n') break;   // WARNING: Lines are already processed manually, no need to keep drawing after this codepoint
-            else
-            {
-                // TODO: There are multiple types of spaces in Unicode,
-                // maybe it's a good idea to add support for more: http://jkorpela.fi/chars/spaces.html
-                if ((codepoint != ' ') && (codepoint != '\t'))      // Do not draw codepoints with no glyph
-                {
-                    if (wrapMode == TEXT_WRAP_NONE)
-                    {
-                        // Draw only required text glyphs fitting the textBounds.width
-                        if (textSizeX > textBounds.width)
-                        {
-                            if (textOffsetX <= (textBounds.width - glyphWidth - textBoundsWidthOffset - ellipsisWidth))
-                            {
-                                DrawTextCodepoint(guiFont, codepoint, RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));
-                            }
-                            else if (!textOverflow)
-                            {
-                                textOverflow = true;
-
-                                for (int j = 0; j < ellipsisWidth; j += ellipsisWidth/3)
-                                {
-                                    DrawTextCodepoint(guiFont, '.', RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX + j, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));
-                                }
-                            }
-                        }
-                        else
-                        {
-                            DrawTextCodepoint(guiFont, codepoint, RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));
-                        }
-                    }
-                    else if ((wrapMode == TEXT_WRAP_CHAR) || (wrapMode == TEXT_WRAP_WORD))
-                    {
-                        // Draw only glyphs inside the bounds
-                        if ((textBoundsPosition.y + textOffsetY) <= (textBounds.y + textBounds.height - GuiGetStyle(DEFAULT, TEXT_SIZE)))
-                        {
-                            DrawTextCodepoint(guiFont, codepoint, RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));
-                        }
-                    }
-                }
-
-                if (guiFont.glyphs[index].advanceX == 0) textOffsetX += ((float)guiFont.recs[index].width*scaleFactor + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-                else textOffsetX += ((float)guiFont.glyphs[index].advanceX*scaleFactor + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-            }
-        }
-
-        if (wrapMode == TEXT_WRAP_NONE) posOffsetY += (float)GuiGetStyle(DEFAULT, TEXT_LINE_SPACING);
-        else if ((wrapMode == TEXT_WRAP_CHAR) || (wrapMode == TEXT_WRAP_WORD)) posOffsetY += (textOffsetY + (float)GuiGetStyle(DEFAULT, TEXT_LINE_SPACING));
-        //---------------------------------------------------------------------------------
-    }
-
-#if defined(RAYGUI_DEBUG_TEXT_BOUNDS)
-    GuiDrawRectangle(textBounds, 0, WHITE, Fade(BLUE, 0.4f));
-#endif
-}
-
-// Gui draw rectangle using default raygui plain style with borders
-static void GuiDrawRectangle(Rectangle rec, int borderWidth, Color borderColor, Color color)
-{
-    if (color.a > 0)
-    {
-        // Draw rectangle filled with color
-        DrawRectangle((int)rec.x, (int)rec.y, (int)rec.width, (int)rec.height, GuiFade(color, guiAlpha));
-    }
-
-    if (borderWidth > 0)
-    {
-        // Draw rectangle border lines with color
-        DrawRectangle((int)rec.x, (int)rec.y, (int)rec.width, borderWidth, GuiFade(borderColor, guiAlpha));
-        DrawRectangle((int)rec.x, (int)rec.y + borderWidth, borderWidth, (int)rec.height - 2*borderWidth, GuiFade(borderColor, guiAlpha));
-        DrawRectangle((int)rec.x + (int)rec.width - borderWidth, (int)rec.y + borderWidth, borderWidth, (int)rec.height - 2*borderWidth, GuiFade(borderColor, guiAlpha));
-        DrawRectangle((int)rec.x, (int)rec.y + (int)rec.height - borderWidth, (int)rec.width, borderWidth, GuiFade(borderColor, guiAlpha));
-    }
-
-#if defined(RAYGUI_DEBUG_RECS_BOUNDS)
-    DrawRectangle((int)rec.x, (int)rec.y, (int)rec.width, (int)rec.height, Fade(RED, 0.4f));
-#endif
-}
-
-// Draw tooltip using control bounds
-static void GuiTooltip(Rectangle controlRec)
-{
-    if (!guiLocked && guiTooltip && (guiTooltipPtr != NULL) && !guiControlExclusiveMode)
-    {
-        Vector2 textSize = MeasureTextEx(GuiGetFont(), guiTooltipPtr, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-
-        if ((controlRec.x + textSize.x + 16) > GetScreenWidth()) controlRec.x -= (textSize.x + 16 - controlRec.width);
-
-        GuiPanel(RAYGUI_CLITERAL(Rectangle){ controlRec.x, controlRec.y + controlRec.height + 4, textSize.x + 16, GuiGetStyle(DEFAULT, TEXT_SIZE) + 8.f }, NULL);
-
-        int textPadding = GuiGetStyle(LABEL, TEXT_PADDING);
-        int textAlignment = GuiGetStyle(LABEL, TEXT_ALIGNMENT);
-        GuiSetStyle(LABEL, TEXT_PADDING, 0);
-        GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-        GuiLabel(RAYGUI_CLITERAL(Rectangle){ controlRec.x, controlRec.y + controlRec.height + 4, textSize.x + 16, GuiGetStyle(DEFAULT, TEXT_SIZE) + 8.f }, guiTooltipPtr);
-        GuiSetStyle(LABEL, TEXT_ALIGNMENT, textAlignment);
-        GuiSetStyle(LABEL, TEXT_PADDING, textPadding);
-    }
-}
-
-// Split controls text into multiple strings
-// Also check for multiple columns (required by GuiToggleGroup())
-static const char **GuiTextSplit(const char *text, char delimiter, int *count, int *textRow)
-{
-    // NOTE: Current implementation returns a copy of the provided string with '\0' (string end delimiter)
-    // inserted between strings defined by "delimiter" parameter. No memory is dynamically allocated,
-    // all used memory is static... it has some limitations:
-    //      1. Maximum number of possible split strings is set by RAYGUI_TEXTSPLIT_MAX_ITEMS
-    //      2. Maximum size of text to split is RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE
-    // NOTE: Those definitions could be externally provided if required
-
-    // TODO: HACK: GuiTextSplit() - Review how textRows are returned to user
-    // textRow is an externally provided array of integers that stores row number for every splitted string
-
-    #if !defined(RAYGUI_TEXTSPLIT_MAX_ITEMS)
-        #define RAYGUI_TEXTSPLIT_MAX_ITEMS          128
-    #endif
-    #if !defined(RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE)
-        #define RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE     1024
-    #endif
-
-    static const char *result[RAYGUI_TEXTSPLIT_MAX_ITEMS] = { NULL };   // String pointers array (points to buffer data)
-    static char buffer[RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE] = { 0 };         // Buffer data (text input copy with '\0' added)
-    memset(buffer, 0, RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE);
-
-    result[0] = buffer;
-    int counter = 1;
-
-    if (textRow != NULL) textRow[0] = 0;
-
-    // Count how many substrings we have on text and point to every one
-    for (int i = 0; i < RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE; i++)
-    {
-        buffer[i] = text[i];
-        if (buffer[i] == '\0') break;
-        else if ((buffer[i] == delimiter) || (buffer[i] == '\n'))
-        {
-            result[counter] = buffer + i + 1;
-
-            if (textRow != NULL)
-            {
-                if (buffer[i] == '\n') textRow[counter] = textRow[counter - 1] + 1;
-                else textRow[counter] = textRow[counter - 1];
-            }
-
-            buffer[i] = '\0';   // Set an end of string at this point
-
-            counter++;
-            if (counter > RAYGUI_TEXTSPLIT_MAX_ITEMS) break;
-        }
-    }
-
-    *count = counter;
-
-    return result;
-}
-
-// Convert color data from RGB to HSV
-// NOTE: Color data should be passed normalized
-static Vector3 ConvertRGBtoHSV(Vector3 rgb)
-{
-    Vector3 hsv = { 0 };
-    float min = 0.0f;
-    float max = 0.0f;
-    float delta = 0.0f;
-
-    min = (rgb.x < rgb.y)? rgb.x : rgb.y;
-    min = (min < rgb.z)? min  : rgb.z;
-
-    max = (rgb.x > rgb.y)? rgb.x : rgb.y;
-    max = (max > rgb.z)? max  : rgb.z;
-
-    hsv.z = max;            // Value
-    delta = max - min;
-
-    if (delta < 0.00001f)
-    {
-        hsv.y = 0.0f;
-        hsv.x = 0.0f;           // Undefined, maybe NAN?
-        return hsv;
-    }
-
-    if (max > 0.0f)
-    {
-        // NOTE: If max is 0, this divide would cause a crash
-        hsv.y = (delta/max);    // Saturation
-    }
-    else
-    {
-        // NOTE: If max is 0, then r = g = b = 0, s = 0, h is undefined
-        hsv.y = 0.0f;
-        hsv.x = 0.0f;           // Undefined, maybe NAN?
-        return hsv;
-    }
-
-    // NOTE: Comparing float values could not work properly
-    if (rgb.x >= max) hsv.x = (rgb.y - rgb.z)/delta;    // Between yellow & magenta
-    else
-    {
-        if (rgb.y >= max) hsv.x = 2.0f + (rgb.z - rgb.x)/delta;  // Between cyan & yellow
-        else hsv.x = 4.0f + (rgb.x - rgb.y)/delta;      // Between magenta & cyan
-    }
-
-    hsv.x *= 60.0f;     // Convert to degrees
-
-    if (hsv.x < 0.0f) hsv.x += 360.0f;
-
-    return hsv;
-}
-
-// Convert color data from HSV to RGB
-// NOTE: Color data should be passed normalized
-static Vector3 ConvertHSVtoRGB(Vector3 hsv)
-{
-    Vector3 rgb = { 0 };
-    float hh = 0.0f, p = 0.0f, q = 0.0f, t = 0.0f, ff = 0.0f;
-    long i = 0;
-
-    // NOTE: Comparing float values could not work properly
-    if (hsv.y <= 0.0f)
-    {
-        rgb.x = hsv.z;
-        rgb.y = hsv.z;
-        rgb.z = hsv.z;
-        return rgb;
-    }
-
-    hh = hsv.x;
-    if (hh >= 360.0f) hh = 0.0f;
-    hh /= 60.0f;
-
-    i = (long)hh;
-    ff = hh - i;
-    p = hsv.z*(1.0f - hsv.y);
-    q = hsv.z*(1.0f - (hsv.y*ff));
-    t = hsv.z*(1.0f - (hsv.y*(1.0f - ff)));
-
-    switch (i)
-    {
-        case 0:
-        {
-            rgb.x = hsv.z;
-            rgb.y = t;
-            rgb.z = p;
-        } break;
-        case 1:
-        {
-            rgb.x = q;
-            rgb.y = hsv.z;
-            rgb.z = p;
-        } break;
-        case 2:
-        {
-            rgb.x = p;
-            rgb.y = hsv.z;
-            rgb.z = t;
-        } break;
-        case 3:
-        {
-            rgb.x = p;
-            rgb.y = q;
-            rgb.z = hsv.z;
-        } break;
-        case 4:
-        {
-            rgb.x = t;
-            rgb.y = p;
-            rgb.z = hsv.z;
-        } break;
-        case 5:
-        default:
-        {
-            rgb.x = hsv.z;
-            rgb.y = p;
-            rgb.z = q;
-        } break;
-    }
-
-    return rgb;
-}
-
-// Scroll bar control (used by GuiScrollPanel())
-static int GuiScrollBar(Rectangle bounds, int value, int minValue, int maxValue)
-{
-    GuiState state = guiState;
-
-    // Is the scrollbar horizontal or vertical?
-    bool isVertical = (bounds.width > bounds.height)? false : true;
-
-    // The size (width or height depending on scrollbar type) of the spinner buttons
-    const int spinnerSize = GuiGetStyle(SCROLLBAR, ARROWS_VISIBLE)?
-        (isVertical? (int)bounds.width - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH) :
-        (int)bounds.height - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH)) : 0;
-
-    // Arrow buttons [<] [>] [∧] [∨]
-    Rectangle arrowUpLeft = { 0 };
-    Rectangle arrowDownRight = { 0 };
-
-    // Actual area of the scrollbar excluding the arrow buttons
-    Rectangle scrollbar = { 0 };
-
-    // Slider bar that moves     --[///]-----
-    Rectangle slider = { 0 };
-
-    // Normalize value
-    if (value > maxValue) value = maxValue;
-    if (value < minValue) value = minValue;
-
-    int valueRange = maxValue - minValue;
-    if (valueRange <= 0) valueRange = 1;
-
-    int sliderSize = GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE);
-    if (sliderSize < 1) sliderSize = 1;  // TODO: Consider a minimum slider size
-
-    // Calculate rectangles for all of the components
-    arrowUpLeft = RAYGUI_CLITERAL(Rectangle){
-        (float)bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH),
-        (float)bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH),
-        (float)spinnerSize, (float)spinnerSize };
-
-    if (isVertical)
-    {
-        arrowDownRight = RAYGUI_CLITERAL(Rectangle){ (float)bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)bounds.y + bounds.height - spinnerSize - GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)spinnerSize, (float)spinnerSize };
-        scrollbar = RAYGUI_CLITERAL(Rectangle){ bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING), arrowUpLeft.y + arrowUpLeft.height, bounds.width - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING)), bounds.height - arrowUpLeft.height - arrowDownRight.height - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH) };
-
-        // Make sure the slider won't get outside of the scrollbar
-        sliderSize = (sliderSize >= scrollbar.height)? ((int)scrollbar.height - 2) : sliderSize;
-        slider = RAYGUI_CLITERAL(Rectangle){
-            bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING),
-            scrollbar.y + (int)(((float)(value - minValue)/valueRange)*(scrollbar.height - sliderSize)),
-            bounds.width - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING)),
-            (float)sliderSize };
-    }
-    else    // horizontal
-    {
-        arrowDownRight = RAYGUI_CLITERAL(Rectangle){ (float)bounds.x + bounds.width - spinnerSize - GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)spinnerSize, (float)spinnerSize };
-        scrollbar = RAYGUI_CLITERAL(Rectangle){ arrowUpLeft.x + arrowUpLeft.width, bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING), bounds.width - arrowUpLeft.width - arrowDownRight.width - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH), bounds.height - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING)) };
-
-        // Make sure the slider won't get outside of the scrollbar
-        sliderSize = (sliderSize >= scrollbar.width)? ((int)scrollbar.width - 2) : sliderSize;
-        slider = RAYGUI_CLITERAL(Rectangle){
-            scrollbar.x + (int)(((float)(value - minValue)/valueRange)*(scrollbar.width - sliderSize)),
-            bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING),
-            (float)sliderSize,
-            bounds.height - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING)) };
-    }
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON) &&
-                !CheckCollisionPointRec(mousePoint, arrowUpLeft) &&
-                !CheckCollisionPointRec(mousePoint, arrowDownRight))
-            {
-                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
-                {
-                    state = STATE_PRESSED;
-
-                    if (isVertical) value = (int)(((float)(mousePoint.y - scrollbar.y - slider.height/2)*valueRange)/(scrollbar.height - slider.height) + minValue);
-                    else value = (int)(((float)(mousePoint.x - scrollbar.x - slider.width/2)*valueRange)/(scrollbar.width - slider.width) + minValue);
-                }
-            }
-            else
-            {
-                guiControlExclusiveMode = false;
-                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
-            }
-        }
-        else if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            state = STATE_FOCUSED;
-
-            // Handle mouse wheel
-            int wheel = (int)GetMouseWheelMove();
-            if (wheel != 0) value += wheel;
-
-            // Handle mouse button down
-            if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-            {
-                guiControlExclusiveMode = true;
-                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts
-
-                // Check arrows click
-                if (CheckCollisionPointRec(mousePoint, arrowUpLeft)) value -= valueRange/GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-                else if (CheckCollisionPointRec(mousePoint, arrowDownRight)) value += valueRange/GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-                else if (!CheckCollisionPointRec(mousePoint, slider))
-                {
-                    // If click on scrollbar position but not on slider, place slider directly on that position
-                    if (isVertical) value = (int)(((float)(mousePoint.y - scrollbar.y - slider.height/2)*valueRange)/(scrollbar.height - slider.height) + minValue);
-                    else value = (int)(((float)(mousePoint.x - scrollbar.x - slider.width/2)*valueRange)/(scrollbar.width - slider.width) + minValue);
-                }
-
-                state = STATE_PRESSED;
-            }
-
-            // Keyboard control on mouse hover scrollbar
-            /*
-            if (isVertical)
-            {
-                if (IsKeyDown(KEY_DOWN)) value += 5;
-                else if (IsKeyDown(KEY_UP)) value -= 5;
-            }
-            else
-            {
-                if (IsKeyDown(KEY_RIGHT)) value += 5;
-                else if (IsKeyDown(KEY_LEFT)) value -= 5;
-            }
-            */
-        }
-
-        // Normalize value
-        if (value > maxValue) value = maxValue;
-        if (value < minValue) value = minValue;
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(SCROLLBAR, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER + state*3)), GetColor(GuiGetStyle(DEFAULT, BORDER_COLOR_DISABLED)));   // Draw the background
-
-    GuiDrawRectangle(scrollbar, 0, BLANK, GetColor(GuiGetStyle(BUTTON, BASE_COLOR_NORMAL)));     // Draw the scrollbar active area background
-    GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BORDER + state*3)));         // Draw the slider bar
-
-    // Draw arrows (using icon if available)
-    if (GuiGetStyle(SCROLLBAR, ARROWS_VISIBLE))
-    {
-#if defined(RAYGUI_NO_ICONS)
-        GuiDrawText(isVertical? "^" : "<",
-            RAYGUI_CLITERAL(Rectangle){ arrowUpLeft.x, arrowUpLeft.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));
-        GuiDrawText(isVertical? "v" : ">",
-            RAYGUI_CLITERAL(Rectangle){ arrowDownRight.x, arrowDownRight.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));
-#else
-        GuiDrawText(isVertical? "#121#" : "#118#",
-            RAYGUI_CLITERAL(Rectangle){ arrowUpLeft.x, arrowUpLeft.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(SCROLLBAR, TEXT + state*3)));   // ICON_ARROW_UP_FILL / ICON_ARROW_LEFT_FILL
-        GuiDrawText(isVertical? "#120#" : "#119#",
-            RAYGUI_CLITERAL(Rectangle){ arrowDownRight.x, arrowDownRight.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(SCROLLBAR, TEXT + state*3)));   // ICON_ARROW_DOWN_FILL / ICON_ARROW_RIGHT_FILL
-#endif
-    }
-    //--------------------------------------------------------------------
-
-    return value;
-}
-
-// Color fade-in or fade-out, alpha goes from 0.0f to 1.0f
-// WARNING: It multiplies current alpha by alpha scale factor
-static Color GuiFade(Color color, float alpha)
-{
-    if (alpha < 0.0f) alpha = 0.0f;
-    else if (alpha > 1.0f) alpha = 1.0f;
-
-    Color result = { color.r, color.g, color.b, (unsigned char)(color.a*alpha) };
-
-    return result;
-}
-
-#if defined(RAYGUI_STANDALONE)
-// Returns a Color struct from hexadecimal value
-static Color GetColor(int hexValue)
-{
-    Color color;
-
-    color.r = (unsigned char)(hexValue >> 24) & 0xFF;
-    color.g = (unsigned char)(hexValue >> 16) & 0xFF;
-    color.b = (unsigned char)(hexValue >> 8) & 0xFF;
-    color.a = (unsigned char)hexValue & 0xFF;
-
-    return color;
-}
-
-// Returns hexadecimal value for a Color
-static int ColorToInt(Color color)
-{
-    return (((int)color.r << 24) | ((int)color.g << 16) | ((int)color.b << 8) | (int)color.a);
-}
-
-// Check if point is inside rectangle
-static bool CheckCollisionPointRec(Vector2 point, Rectangle rec)
-{
-    bool collision = false;
-
-    if ((point.x >= rec.x) && (point.x <= (rec.x + rec.width)) &&
-        (point.y >= rec.y) && (point.y <= (rec.y + rec.height))) collision = true;
-
-    return collision;
-}
-
-// Formatting of text with variables to 'embed'
-static const char *TextFormat(const char *text, ...)
-{
-    #if !defined(RAYGUI_TEXTFORMAT_MAX_SIZE)
-        #define RAYGUI_TEXTFORMAT_MAX_SIZE   256
-    #endif
-
-    static char buffer[RAYGUI_TEXTFORMAT_MAX_SIZE];
-
-    va_list args;
-    va_start(args, text);
-    vsprintf(buffer, text, args);
-    va_end(args);
-
-    return buffer;
-}
-
-// Draw rectangle with vertical gradient fill color
-// NOTE: This function is only used by GuiColorPicker()
-static void DrawRectangleGradientV(int posX, int posY, int width, int height, Color color1, Color color2)
-{
-    Rectangle bounds = { (float)posX, (float)posY, (float)width, (float)height };
-    DrawRectangleGradientEx(bounds, color1, color2, color2, color1);
-}
-
-// Split string into multiple strings
-const char **TextSplit(const char *text, char delimiter, int *count)
-{
-    // NOTE: Current implementation returns a copy of the provided string with '\0' (string end delimiter)
-    // inserted between strings defined by "delimiter" parameter. No memory is dynamically allocated,
-    // all used memory is static... it has some limitations:
-    //      1. Maximum number of possible split strings is set by RAYGUI_TEXTSPLIT_MAX_ITEMS
-    //      2. Maximum size of text to split is RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE
-
-    #if !defined(RAYGUI_TEXTSPLIT_MAX_ITEMS)
-        #define RAYGUI_TEXTSPLIT_MAX_ITEMS          128
-    #endif
-    #if !defined(RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE)
-        #define RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE      1024
-    #endif
-
-    static const char *result[RAYGUI_TEXTSPLIT_MAX_ITEMS] = { NULL };
-    static char buffer[RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE] = { 0 };
-    memset(buffer, 0, RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE);
-
-    result[0] = buffer;
-    int counter = 0;
-
-    if (text != NULL)
-    {
-        counter = 1;
-
-        // Count how many substrings we have on text and point to every one
-        for (int i = 0; i < RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE; i++)
-        {
-            buffer[i] = text[i];
-            if (buffer[i] == '\0') break;
-            else if (buffer[i] == delimiter)
-            {
-                buffer[i] = '\0';   // Set an end of string at this point
-                result[counter] = buffer + i + 1;
-                counter++;
-
-                if (counter == RAYGUI_TEXTSPLIT_MAX_ITEMS) break;
-            }
-        }
-    }
-
-    *count = counter;
-    return result;
-}
-
-// Get integer value from text
-// NOTE: This function replaces atoi() [stdlib.h]
-static int TextToInteger(const char *text)
-{
-    int value = 0;
-    int sign = 1;
-
-    if ((text[0] == '+') || (text[0] == '-'))
-    {
-        if (text[0] == '-') sign = -1;
-        text++;
-    }
-
-    for (int i = 0; ((text[i] >= '0') && (text[i] <= '9')); ++i) value = value*10 + (int)(text[i] - '0');
-
-    return value*sign;
-}
-
-// Get float value from text
-// NOTE: This function replaces atof() [stdlib.h]
-// WARNING: Only '.' character is understood as decimal point
-static float TextToFloat(const char *text)
-{
-    float value = 0.0f;
-    float sign = 1.0f;
-
-    if ((text[0] == '+') || (text[0] == '-'))
-    {
-        if (text[0] == '-') sign = -1.0f;
-        text++;
-    }
-
-    int i = 0;
-    for (; ((text[i] >= '0') && (text[i] <= '9')); i++) value = value*10.0f + (float)(text[i] - '0');
-
-    if (text[i++] != '.') value *= sign;
-    else
-    {
-        float divisor = 10.0f;
-        for (; ((text[i] >= '0') && (text[i] <= '9')); i++)
-        {
-            value += ((float)(text[i] - '0'))/divisor;
-            divisor = divisor*10.0f;
-        }
-    }
-
-    return value;
-}
-
-// Encode codepoint into UTF-8 text (char array size returned as parameter)
-static const char *CodepointToUTF8(int codepoint, int *byteSize)
-{
-    static char utf8[6] = { 0 };
-    int size = 0;
-
-    if (codepoint <= 0x7f)
-    {
-        utf8[0] = (char)codepoint;
-        size = 1;
-    }
-    else if (codepoint <= 0x7ff)
-    {
-        utf8[0] = (char)(((codepoint >> 6) & 0x1f) | 0xc0);
-        utf8[1] = (char)((codepoint & 0x3f) | 0x80);
-        size = 2;
-    }
-    else if (codepoint <= 0xffff)
-    {
-        utf8[0] = (char)(((codepoint >> 12) & 0x0f) | 0xe0);
-        utf8[1] = (char)(((codepoint >>  6) & 0x3f) | 0x80);
-        utf8[2] = (char)((codepoint & 0x3f) | 0x80);
-        size = 3;
-    }
-    else if (codepoint <= 0x10ffff)
-    {
-        utf8[0] = (char)(((codepoint >> 18) & 0x07) | 0xf0);
-        utf8[1] = (char)(((codepoint >> 12) & 0x3f) | 0x80);
-        utf8[2] = (char)(((codepoint >>  6) & 0x3f) | 0x80);
-        utf8[3] = (char)((codepoint & 0x3f) | 0x80);
-        size = 4;
-    }
-
-    *byteSize = size;
-
-    return utf8;
-}
-
-// Get next codepoint in a UTF-8 encoded text, scanning until '\0' is found
-// When a invalid UTF-8 byte is encountered we exit as soon as possible and a '?'(0x3f) codepoint is returned
-// Total number of bytes processed are returned as a parameter
-// NOTE: the standard says U+FFFD should be returned in case of errors
-// but that character is not supported by the default font in raylib
-static int GetCodepointNext(const char *text, int *codepointSize)
-{
-    const char *ptr = text;
-    int codepoint = 0x3f;       // Codepoint (defaults to '?')
-    *codepointSize = 1;
-
-    // Get current codepoint and bytes processed
-    if (0xf0 == (0xf8 & ptr[0]))
-    {
-        // 4 byte UTF-8 codepoint
-        if (((ptr[1] & 0xC0) ^ 0x80) || ((ptr[2] & 0xC0) ^ 0x80) || ((ptr[3] & 0xC0) ^ 0x80)) { return codepoint; } //10xxxxxx checks
-        codepoint = ((0x07 & ptr[0]) << 18) | ((0x3f & ptr[1]) << 12) | ((0x3f & ptr[2]) << 6) | (0x3f & ptr[3]);
-        *codepointSize = 4;
-    }
-    else if (0xe0 == (0xf0 & ptr[0]))
-    {
-        // 3 byte UTF-8 codepoint */
-        if (((ptr[1] & 0xC0) ^ 0x80) || ((ptr[2] & 0xC0) ^ 0x80)) { return codepoint; } //10xxxxxx checks
-        codepoint = ((0x0f & ptr[0]) << 12) | ((0x3f & ptr[1]) << 6) | (0x3f & ptr[2]);
-        *codepointSize = 3;
-    }
-    else if (0xc0 == (0xe0 & ptr[0]))
-    {
-        // 2 byte UTF-8 codepoint
-        if ((ptr[1] & 0xC0) ^ 0x80) { return codepoint; } //10xxxxxx checks
-        codepoint = ((0x1f & ptr[0]) << 6) | (0x3f & ptr[1]);
-        *codepointSize = 2;
-    }
-    else if (0x00 == (0x80 & ptr[0]))
-    {
-        // 1 byte UTF-8 codepoint
-        codepoint = ptr[0];
-        *codepointSize = 1;
-    }
-
-    return codepoint;
-}
-#endif      // RAYGUI_STANDALONE
-
-#endif      // RAYGUI_IMPLEMENTATION
diff --git a/third_party/raylib/include/raylib.h b/third_party/raylib/include/raylib.h
deleted file mode 100644
index ea973ff1bac4ce..00000000000000
--- a/third_party/raylib/include/raylib.h
+++ /dev/null
@@ -1,1766 +0,0 @@
-/**********************************************************************************************
-*
-*   raylib v5.6-dev - A simple and easy-to-use library to enjoy videogames programming (www.raylib.com)
-*
-*   FEATURES:
-*       - NO external dependencies, all required libraries included with raylib
-*       - Multiplatform: Windows, Linux, FreeBSD, OpenBSD, NetBSD, DragonFly,
-*                        MacOS, Haiku, Android, Raspberry Pi, DRM native, HTML5.
-*       - Written in plain C code (C99) in PascalCase/camelCase notation
-*       - Hardware accelerated with OpenGL (1.1, 2.1, 3.3, 4.3, ES2, ES3 - choose at compile)
-*       - Unique OpenGL abstraction layer (usable as standalone module): [rlgl]
-*       - Multiple Fonts formats supported (TTF, OTF, FNT, BDF, Sprite fonts)
-*       - Outstanding texture formats support, including compressed formats (DXT, ETC, ASTC)
-*       - Full 3d support for 3d Shapes, Models, Billboards, Heightmaps and more!
-*       - Flexible Materials system, supporting classic maps and PBR maps
-*       - Animated 3D models supported (skeletal bones animation) (IQM, M3D, GLTF)
-*       - Shaders support, including Model shaders and Postprocessing shaders
-*       - Powerful math module for Vector, Matrix and Quaternion operations: [raymath]
-*       - Audio loading and playing with streaming support (WAV, OGG, MP3, FLAC, QOA, XM, MOD)
-*       - VR stereo rendering with configurable HMD device parameters
-*       - Bindings to multiple programming languages available!
-*
-*   NOTES:
-*       - One default Font is loaded on InitWindow()->LoadFontDefault() [core, text]
-*       - One default Texture2D is loaded on rlglInit(), 1x1 white pixel R8G8B8A8 [rlgl] (OpenGL 3.3 or ES2)
-*       - One default Shader is loaded on rlglInit()->rlLoadShaderDefault() [rlgl] (OpenGL 3.3 or ES2)
-*       - One default RenderBatch is loaded on rlglInit()->rlLoadRenderBatch() [rlgl] (OpenGL 3.3 or ES2)
-*
-*   DEPENDENCIES (included):
-*       [rcore][GLFW] rglfw (Camilla Löwy - github.com/glfw/glfw) for window/context management and input
-*       [rcore][RGFW] rgfw (ColleagueRiley - github.com/ColleagueRiley/RGFW) for window/context management and input
-*       [rlgl] glad/glad_gles2 (David Herberth - github.com/Dav1dde/glad) for OpenGL 3.3 extensions loading
-*       [raudio] miniaudio (David Reid - github.com/mackron/miniaudio) for audio device/context management
-*
-*   OPTIONAL DEPENDENCIES (included):
-*       [rcore] msf_gif (Miles Fogle) for GIF recording
-*       [rcore] sinfl (Micha Mettke) for DEFLATE decompression algorithm
-*       [rcore] sdefl (Micha Mettke) for DEFLATE compression algorithm
-*       [rcore] rprand (Ramon Snatamaria) for pseudo-random numbers generation
-*       [rtextures] qoi (Dominic Szablewski - https://phoboslab.org) for QOI image manage
-*       [rtextures] stb_image (Sean Barret) for images loading (BMP, TGA, PNG, JPEG, HDR...)
-*       [rtextures] stb_image_write (Sean Barret) for image writing (BMP, TGA, PNG, JPG)
-*       [rtextures] stb_image_resize2 (Sean Barret) for image resizing algorithms
-*       [rtextures] stb_perlin (Sean Barret) for Perlin Noise image generation
-*       [rtext] stb_truetype (Sean Barret) for ttf fonts loading
-*       [rtext] stb_rect_pack (Sean Barret) for rectangles packing
-*       [rmodels] par_shapes (Philip Rideout) for parametric 3d shapes generation
-*       [rmodels] tinyobj_loader_c (Syoyo Fujita) for models loading (OBJ, MTL)
-*       [rmodels] cgltf (Johannes Kuhlmann) for models loading (glTF)
-*       [rmodels] m3d (bzt) for models loading (M3D, https://bztsrc.gitlab.io/model3d)
-*       [rmodels] vox_loader (Johann Nadalutti) for models loading (VOX)
-*       [raudio] dr_wav (David Reid) for WAV audio file loading
-*       [raudio] dr_flac (David Reid) for FLAC audio file loading
-*       [raudio] dr_mp3 (David Reid) for MP3 audio file loading
-*       [raudio] stb_vorbis (Sean Barret) for OGG audio loading
-*       [raudio] jar_xm (Joshua Reisenauer) for XM audio module loading
-*       [raudio] jar_mod (Joshua Reisenauer) for MOD audio module loading
-*       [raudio] qoa (Dominic Szablewski - https://phoboslab.org) for QOA audio manage
-*
-*
-*   LICENSE: zlib/libpng
-*
-*   raylib is licensed under an unmodified zlib/libpng license, which is an OSI-certified,
-*   BSD-like license that allows static linking with closed source software:
-*
-*   Copyright (c) 2013-2024 Ramon Santamaria (@raysan5)
-*
-*   This software is provided "as-is", without any express or implied warranty. In no event
-*   will the authors be held liable for any damages arising from the use of this software.
-*
-*   Permission is granted to anyone to use this software for any purpose, including commercial
-*   applications, and to alter it and redistribute it freely, subject to the following restrictions:
-*
-*     1. The origin of this software must not be misrepresented; you must not claim that you
-*     wrote the original software. If you use this software in a product, an acknowledgment
-*     in the product documentation would be appreciated but is not required.
-*
-*     2. Altered source versions must be plainly marked as such, and must not be misrepresented
-*     as being the original software.
-*
-*     3. This notice may not be removed or altered from any source distribution.
-*
-**********************************************************************************************/
-
-#ifndef RAYLIB_H
-#define RAYLIB_H
-
-#include <stdarg.h>     // Required for: va_list - Only used by TraceLogCallback
-
-#define RAYLIB_VERSION_MAJOR 5
-#define RAYLIB_VERSION_MINOR 6
-#define RAYLIB_VERSION_PATCH 0
-#define RAYLIB_VERSION  "5.6-dev"
-
-// Function specifiers in case library is build/used as a shared library
-// NOTE: Microsoft specifiers to tell compiler that symbols are imported/exported from a .dll
-// NOTE: visibility("default") attribute makes symbols "visible" when compiled with -fvisibility=hidden
-#if defined(_WIN32)
-    #if defined(__TINYC__)
-        #define __declspec(x) __attribute__((x))
-    #endif
-    #if defined(BUILD_LIBTYPE_SHARED)
-        #define RLAPI __declspec(dllexport)     // We are building the library as a Win32 shared library (.dll)
-    #elif defined(USE_LIBTYPE_SHARED)
-        #define RLAPI __declspec(dllimport)     // We are using the library as a Win32 shared library (.dll)
-    #endif
-#else
-    #if defined(BUILD_LIBTYPE_SHARED)
-        #define RLAPI __attribute__((visibility("default"))) // We are building as a Unix shared library (.so/.dylib)
-    #endif
-#endif
-
-#ifndef RLAPI
-    #define RLAPI       // Functions defined as 'extern' by default (implicit specifiers)
-#endif
-
-//----------------------------------------------------------------------------------
-// Some basic Defines
-//----------------------------------------------------------------------------------
-#ifndef PI
-    #define PI 3.14159265358979323846f
-#endif
-#ifndef DEG2RAD
-    #define DEG2RAD (PI/180.0f)
-#endif
-#ifndef RAD2DEG
-    #define RAD2DEG (180.0f/PI)
-#endif
-
-// Allow custom memory allocators
-// NOTE: Require recompiling raylib sources
-#ifndef RL_MALLOC
-    #define RL_MALLOC(sz)       malloc(sz)
-#endif
-#ifndef RL_CALLOC
-    #define RL_CALLOC(n,sz)     calloc(n,sz)
-#endif
-#ifndef RL_REALLOC
-    #define RL_REALLOC(ptr,sz)  realloc(ptr,sz)
-#endif
-#ifndef RL_FREE
-    #define RL_FREE(ptr)        free(ptr)
-#endif
-
-// NOTE: MSVC C++ compiler does not support compound literals (C99 feature)
-// Plain structures in C++ (without constructors) can be initialized with { }
-// This is called aggregate initialization (C++11 feature)
-#if defined(__cplusplus)
-    #define CLITERAL(type)      type
-#else
-    #define CLITERAL(type)      (type)
-#endif
-
-// Some compilers (mostly macos clang) default to C++98,
-// where aggregate initialization can't be used
-// So, give a more clear error stating how to fix this
-#if !defined(_MSC_VER) && (defined(__cplusplus) && __cplusplus < 201103L)
-    #error "C++11 or later is required. Add -std=c++11"
-#endif
-
-// NOTE: We set some defines with some data types declared by raylib
-// Other modules (raymath, rlgl) also require some of those types, so,
-// to be able to use those other modules as standalone (not depending on raylib)
-// this defines are very useful for internal check and avoid type (re)definitions
-#define RL_COLOR_TYPE
-#define RL_RECTANGLE_TYPE
-#define RL_VECTOR2_TYPE
-#define RL_VECTOR3_TYPE
-#define RL_VECTOR4_TYPE
-#define RL_QUATERNION_TYPE
-#define RL_MATRIX_TYPE
-
-// Some Basic Colors
-// NOTE: Custom raylib color palette for amazing visuals on WHITE background
-#define _rl_LIGHTGRAY  CLITERAL(Color){ 200, 200, 200, 255 }   // Light Gray
-#define _rl_GRAY       CLITERAL(Color){ 130, 130, 130, 255 }   // Gray
-#define _rl_DARKGRAY   CLITERAL(Color){ 80, 80, 80, 255 }      // Dark Gray
-#define _rl_YELLOW     CLITERAL(Color){ 253, 249, 0, 255 }     // Yellow
-#define _rl_GOLD       CLITERAL(Color){ 255, 203, 0, 255 }     // Gold
-#define _rl_ORANGE     CLITERAL(Color){ 255, 161, 0, 255 }     // Orange
-#define _rl_PINK       CLITERAL(Color){ 255, 109, 194, 255 }   // Pink
-#define _rl_RED        CLITERAL(Color){ 230, 41, 55, 255 }     // Red
-#define _rl_MAROON     CLITERAL(Color){ 190, 33, 55, 255 }     // Maroon
-#define _rl_GREEN      CLITERAL(Color){ 0, 228, 48, 255 }      // Green
-#define _rl_LIME       CLITERAL(Color){ 0, 158, 47, 255 }      // Lime
-#define _rl_DARKGREEN  CLITERAL(Color){ 0, 117, 44, 255 }      // Dark Green
-#define _rl_SKYBLUE    CLITERAL(Color){ 102, 191, 255, 255 }   // Sky Blue
-#define _rl_BLUE       CLITERAL(Color){ 0, 121, 241, 255 }     // Blue
-#define _rl_DARKBLUE   CLITERAL(Color){ 0, 82, 172, 255 }      // Dark Blue
-#define _rl_PURPLE     CLITERAL(Color){ 200, 122, 255, 255 }   // Purple
-#define _rl_VIOLET     CLITERAL(Color){ 135, 60, 190, 255 }    // Violet
-#define _rl_DARKPURPLE CLITERAL(Color){ 112, 31, 126, 255 }    // Dark Purple
-#define _rl_BEIGE      CLITERAL(Color){ 211, 176, 131, 255 }   // Beige
-#define _rl_BROWN      CLITERAL(Color){ 127, 106, 79, 255 }    // Brown
-#define _rl_DARKBROWN  CLITERAL(Color){ 76, 63, 47, 255 }      // Dark Brown
-
-#define _rl_WHITE      CLITERAL(Color){ 255, 255, 255, 255 }   // White
-#define _rl_BLACK      CLITERAL(Color){ 0, 0, 0, 255 }         // Black
-#define _rl_BLANK      CLITERAL(Color){ 0, 0, 0, 0 }           // Blank (Transparent)
-#define _rl_MAGENTA    CLITERAL(Color){ 255, 0, 255, 255 }     // Magenta
-#define _rl_RAYWHITE   CLITERAL(Color){ 245, 245, 245, 255 }   // My own White (raylib logo)
-
-#ifndef OPENPILOT_RAYLIB
-  #define LIGHTGRAY  _rl_LIGHTGRAY
-  #define GRAY       _rl_GRAY
-  #define DARKGRAY   _rl_DARKGRAY
-  #define YELLOW     _rl_YELLOW
-  #define GOLD       _rl_GOLD
-  #define ORANGE     _rl_ORANGE
-  #define PINK       _rl_PINK
-  #define RED        _rl_RED
-  #define MAROON     _rl_MAROON
-  #define GREEN      _rl_GREEN
-  #define LIME       _rl_LIME
-  #define DARKGREEN  _rl_DARKGREEN
-  #define SKYBLUE    _rl_SKYBLUE
-  #define BLUE       _rl_BLUE
-  #define DARKBLUE   _rl_DARKBLUE
-  #define PURPLE     _rl_PURPLE
-  #define VIOLET     _rl_VIOLET
-  #define DARKPURPLE _rl_DARKBLUE
-  #define BEIGE      _rl_BEIGE
-  #define BROWN      _rl_BROWN
-  #define DARKBROWN  _rl_DARKBROWN
-
-  #define WHITE      _rl_WHITE
-  #define BLACK      _rl_BLACK
-  #define BLANK      _rl_BLANK
-  #define MAGENTA    _rl_MAGENTA
-  #define RAYWHITE   _rl_RAYWHITE
-#else
-  #define RAYLIB_LIGHTGRAY  _rl_LIGHTGRAY
-  #define RAYLIB_GRAY       _rl_GRAY
-  #define RAYLIB_DARKGRAY   _rl_DARKGRAY
-  #define RAYLIB_YELLOW     _rl_YELLOW
-  #define RAYLIB_GOLD       _rl_GOLD
-  #define RAYLIB_ORANGE     _rl_ORANGE
-  #define RAYLIB_PINK       _rl_PINK
-  #define RAYLIB_RED        _rl_RED
-  #define RAYLIB_MAROON     _rl_MAROON
-  #define RAYLIB_GREEN      _rl_GREEN
-  #define RAYLIB_LIME       _rl_LIME
-  #define RAYLIB_DARKGREEN  _rl_DARKGREEN
-  #define RAYLIB_SKYBLUE    _rl_SKYBLUE
-  #define RAYLIB_BLUE       _rl_BLUE
-  #define RAYLIB_DARKBLUE   _rl_DARKBLUE
-  #define RAYLIB_PURPLE     _rl_PURPLE
-  #define RAYLIB_VIOLET     _rl_VIOLET
-  #define RAYLIB_DARKPURPLE _rl_DARKBLUE
-  #define RAYLIB_BEIGE      _rl_BEIGE
-  #define RAYLIB_BROWN      _rl_BROWN
-  #define RAYLIB_DARKBROWN  _rl_DARKBROWN
-
-  #define RAYLIB_WHITE      _rl_WHITE
-  #define RAYLIB_BLACK      _rl_BLACK
-  #define RAYLIB_BLANK      _rl_BLANK
-  #define RAYLIB_MAGENTA    _rl_MAGENTA
-  #define RAYLIB_RAYWHITE   _rl_RAYWHITE
-#endif
-
-//----------------------------------------------------------------------------------
-// Structures Definition
-//----------------------------------------------------------------------------------
-// Boolean type
-#if (defined(__STDC__) && __STDC_VERSION__ >= 199901L) || (defined(_MSC_VER) && _MSC_VER >= 1800)
-    #include <stdbool.h>
-#elif !defined(__cplusplus) && !defined(bool)
-    typedef enum bool { false = 0, true = !false } bool;
-    #define RL_BOOL_TYPE
-#endif
-
-// Vector2, 2 components
-typedef struct Vector2 {
-    float x;                // Vector x component
-    float y;                // Vector y component
-} Vector2;
-
-// Vector3, 3 components
-typedef struct Vector3 {
-    float x;                // Vector x component
-    float y;                // Vector y component
-    float z;                // Vector z component
-} Vector3;
-
-// Vector4, 4 components
-typedef struct Vector4 {
-    float x;                // Vector x component
-    float y;                // Vector y component
-    float z;                // Vector z component
-    float w;                // Vector w component
-} Vector4;
-
-// Quaternion, 4 components (Vector4 alias)
-typedef Vector4 Quaternion;
-
-// Matrix, 4x4 components, column major, OpenGL style, right-handed
-typedef struct Matrix {
-    float m0, m4, m8, m12;  // Matrix first row (4 components)
-    float m1, m5, m9, m13;  // Matrix second row (4 components)
-    float m2, m6, m10, m14; // Matrix third row (4 components)
-    float m3, m7, m11, m15; // Matrix fourth row (4 components)
-} Matrix;
-
-// Color, 4 components, R8G8B8A8 (32bit)
-typedef struct Color {
-    unsigned char r;        // Color red value
-    unsigned char g;        // Color green value
-    unsigned char b;        // Color blue value
-    unsigned char a;        // Color alpha value
-} Color;
-
-// Rectangle, 4 components
-typedef struct Rectangle {
-    float x;                // Rectangle top-left corner position x
-    float y;                // Rectangle top-left corner position y
-    float width;            // Rectangle width
-    float height;           // Rectangle height
-} Rectangle;
-
-// Image, pixel data stored in CPU memory (RAM)
-typedef struct Image {
-    void *data;             // Image raw data
-    int width;              // Image base width
-    int height;             // Image base height
-    int mipmaps;            // Mipmap levels, 1 by default
-    int format;             // Data format (PixelFormat type)
-} Image;
-
-// Texture, tex data stored in GPU memory (VRAM)
-typedef struct Texture {
-    unsigned int id;        // OpenGL texture id
-    int width;              // Texture base width
-    int height;             // Texture base height
-    int mipmaps;            // Mipmap levels, 1 by default
-    int format;             // Data format (PixelFormat type)
-} Texture;
-
-// Texture2D, same as Texture
-typedef Texture Texture2D;
-
-// TextureCubemap, same as Texture
-typedef Texture TextureCubemap;
-
-// RenderTexture, fbo for texture rendering
-typedef struct RenderTexture {
-    unsigned int id;        // OpenGL framebuffer object id
-    Texture texture;        // Color buffer attachment texture
-    Texture depth;          // Depth buffer attachment texture
-} RenderTexture;
-
-// RenderTexture2D, same as RenderTexture
-typedef RenderTexture RenderTexture2D;
-
-// NPatchInfo, n-patch layout info
-typedef struct NPatchInfo {
-    Rectangle source;       // Texture source rectangle
-    int left;               // Left border offset
-    int top;                // Top border offset
-    int right;              // Right border offset
-    int bottom;             // Bottom border offset
-    int layout;             // Layout of the n-patch: 3x3, 1x3 or 3x1
-} NPatchInfo;
-
-// GlyphInfo, font characters glyphs info
-typedef struct GlyphInfo {
-    int value;              // Character value (Unicode)
-    int offsetX;            // Character offset X when drawing
-    int offsetY;            // Character offset Y when drawing
-    int advanceX;           // Character advance position X
-    Image image;            // Character image data
-} GlyphInfo;
-
-// Font, font texture and GlyphInfo array data
-typedef struct Font {
-    int baseSize;           // Base size (default chars height)
-    int glyphCount;         // Number of glyph characters
-    int glyphPadding;       // Padding around the glyph characters
-    Texture2D texture;      // Texture atlas containing the glyphs
-    Rectangle *recs;        // Rectangles in texture for the glyphs
-    GlyphInfo *glyphs;      // Glyphs info data
-} Font;
-
-// Camera, defines position/orientation in 3d space
-typedef struct Camera3D {
-    Vector3 position;       // Camera position
-    Vector3 target;         // Camera target it looks-at
-    Vector3 up;             // Camera up vector (rotation over its axis)
-    float fovy;             // Camera field-of-view aperture in Y (degrees) in perspective, used as near plane width in orthographic
-    int projection;         // Camera projection: CAMERA_PERSPECTIVE or CAMERA_ORTHOGRAPHIC
-} Camera3D;
-
-typedef Camera3D Camera;    // Camera type fallback, defaults to Camera3D
-
-// Camera2D, defines position/orientation in 2d space
-typedef struct Camera2D {
-    Vector2 offset;         // Camera offset (displacement from target)
-    Vector2 target;         // Camera target (rotation and zoom origin)
-    float rotation;         // Camera rotation in degrees
-    float zoom;             // Camera zoom (scaling), should be 1.0f by default
-} Camera2D;
-
-// Mesh, vertex data and vao/vbo
-typedef struct Mesh {
-    int vertexCount;        // Number of vertices stored in arrays
-    int triangleCount;      // Number of triangles stored (indexed or not)
-
-    // Vertex attributes data
-    float *vertices;        // Vertex position (XYZ - 3 components per vertex) (shader-location = 0)
-    float *texcoords;       // Vertex texture coordinates (UV - 2 components per vertex) (shader-location = 1)
-    float *texcoords2;      // Vertex texture second coordinates (UV - 2 components per vertex) (shader-location = 5)
-    float *normals;         // Vertex normals (XYZ - 3 components per vertex) (shader-location = 2)
-    float *tangents;        // Vertex tangents (XYZW - 4 components per vertex) (shader-location = 4)
-    unsigned char *colors;      // Vertex colors (RGBA - 4 components per vertex) (shader-location = 3)
-    unsigned short *indices;    // Vertex indices (in case vertex data comes indexed)
-
-    // Animation vertex data
-    float *animVertices;    // Animated vertex positions (after bones transformations)
-    float *animNormals;     // Animated normals (after bones transformations)
-    unsigned char *boneIds; // Vertex bone ids, max 255 bone ids, up to 4 bones influence by vertex (skinning) (shader-location = 6)
-    float *boneWeights;     // Vertex bone weight, up to 4 bones influence by vertex (skinning) (shader-location = 7)
-    Matrix *boneMatrices;   // Bones animated transformation matrices
-    int boneCount;          // Number of bones
-
-    // OpenGL identifiers
-    unsigned int vaoId;     // OpenGL Vertex Array Object id
-    unsigned int *vboId;    // OpenGL Vertex Buffer Objects id (default vertex data)
-} Mesh;
-
-// Shader
-typedef struct Shader {
-    unsigned int id;        // Shader program id
-    int *locs;              // Shader locations array (RL_MAX_SHADER_LOCATIONS)
-} Shader;
-
-// MaterialMap
-typedef struct MaterialMap {
-    Texture2D texture;      // Material map texture
-    Color color;            // Material map color
-    float value;            // Material map value
-} MaterialMap;
-
-// Material, includes shader and maps
-typedef struct Material {
-    Shader shader;          // Material shader
-    MaterialMap *maps;      // Material maps array (MAX_MATERIAL_MAPS)
-    float params[4];        // Material generic parameters (if required)
-} Material;
-
-// Transform, vertex transformation data
-typedef struct Transform {
-    Vector3 translation;    // Translation
-    Quaternion rotation;    // Rotation
-    Vector3 scale;          // Scale
-} Transform;
-
-// Bone, skeletal animation bone
-typedef struct BoneInfo {
-    char name[32];          // Bone name
-    int parent;             // Bone parent
-} BoneInfo;
-
-// Model, meshes, materials and animation data
-typedef struct Model {
-    Matrix transform;       // Local transform matrix
-
-    int meshCount;          // Number of meshes
-    int materialCount;      // Number of materials
-    Mesh *meshes;           // Meshes array
-    Material *materials;    // Materials array
-    int *meshMaterial;      // Mesh material number
-
-    // Animation data
-    int boneCount;          // Number of bones
-    BoneInfo *bones;        // Bones information (skeleton)
-    Transform *bindPose;    // Bones base transformation (pose)
-} Model;
-
-// ModelAnimation
-typedef struct ModelAnimation {
-    int boneCount;          // Number of bones
-    int frameCount;         // Number of animation frames
-    BoneInfo *bones;        // Bones information (skeleton)
-    Transform **framePoses; // Poses array by frame
-    char name[32];          // Animation name
-} ModelAnimation;
-
-// Ray, ray for raycasting
-typedef struct Ray {
-    Vector3 position;       // Ray position (origin)
-    Vector3 direction;      // Ray direction (normalized)
-} Ray;
-
-// RayCollision, ray hit information
-typedef struct RayCollision {
-    bool hit;               // Did the ray hit something?
-    float distance;         // Distance to the nearest hit
-    Vector3 point;          // Point of the nearest hit
-    Vector3 normal;         // Surface normal of hit
-} RayCollision;
-
-// BoundingBox
-typedef struct BoundingBox {
-    Vector3 min;            // Minimum vertex box-corner
-    Vector3 max;            // Maximum vertex box-corner
-} BoundingBox;
-
-// Wave, audio wave data
-typedef struct Wave {
-    unsigned int frameCount;    // Total number of frames (considering channels)
-    unsigned int sampleRate;    // Frequency (samples per second)
-    unsigned int sampleSize;    // Bit depth (bits per sample): 8, 16, 32 (24 not supported)
-    unsigned int channels;      // Number of channels (1-mono, 2-stereo, ...)
-    void *data;                 // Buffer data pointer
-} Wave;
-
-// Opaque structs declaration
-// NOTE: Actual structs are defined internally in raudio module
-typedef struct rAudioBuffer rAudioBuffer;
-typedef struct rAudioProcessor rAudioProcessor;
-
-// AudioStream, custom audio stream
-typedef struct AudioStream {
-    rAudioBuffer *buffer;       // Pointer to internal data used by the audio system
-    rAudioProcessor *processor; // Pointer to internal data processor, useful for audio effects
-
-    unsigned int sampleRate;    // Frequency (samples per second)
-    unsigned int sampleSize;    // Bit depth (bits per sample): 8, 16, 32 (24 not supported)
-    unsigned int channels;      // Number of channels (1-mono, 2-stereo, ...)
-} AudioStream;
-
-// Sound
-typedef struct Sound {
-    AudioStream stream;         // Audio stream
-    unsigned int frameCount;    // Total number of frames (considering channels)
-} Sound;
-
-// Music, audio stream, anything longer than ~10 seconds should be streamed
-typedef struct Music {
-    AudioStream stream;         // Audio stream
-    unsigned int frameCount;    // Total number of frames (considering channels)
-    bool looping;               // Music looping enable
-
-    int ctxType;                // Type of music context (audio filetype)
-    void *ctxData;              // Audio context data, depends on type
-} Music;
-
-// VrDeviceInfo, Head-Mounted-Display device parameters
-typedef struct VrDeviceInfo {
-    int hResolution;                // Horizontal resolution in pixels
-    int vResolution;                // Vertical resolution in pixels
-    float hScreenSize;              // Horizontal size in meters
-    float vScreenSize;              // Vertical size in meters
-    float eyeToScreenDistance;      // Distance between eye and display in meters
-    float lensSeparationDistance;   // Lens separation distance in meters
-    float interpupillaryDistance;   // IPD (distance between pupils) in meters
-    float lensDistortionValues[4];  // Lens distortion constant parameters
-    float chromaAbCorrection[4];    // Chromatic aberration correction parameters
-} VrDeviceInfo;
-
-// VrStereoConfig, VR stereo rendering configuration for simulator
-typedef struct VrStereoConfig {
-    Matrix projection[2];           // VR projection matrices (per eye)
-    Matrix viewOffset[2];           // VR view offset matrices (per eye)
-    float leftLensCenter[2];        // VR left lens center
-    float rightLensCenter[2];       // VR right lens center
-    float leftScreenCenter[2];      // VR left screen center
-    float rightScreenCenter[2];     // VR right screen center
-    float scale[2];                 // VR distortion scale
-    float scaleIn[2];               // VR distortion scale in
-} VrStereoConfig;
-
-// File path list
-typedef struct FilePathList {
-    unsigned int capacity;          // Filepaths max entries
-    unsigned int count;             // Filepaths entries count
-    char **paths;                   // Filepaths entries
-} FilePathList;
-
-// Automation event
-typedef struct AutomationEvent {
-    unsigned int frame;             // Event frame
-    unsigned int type;              // Event type (AutomationEventType)
-    int params[4];                  // Event parameters (if required)
-} AutomationEvent;
-
-// Automation event list
-typedef struct AutomationEventList {
-    unsigned int capacity;          // Events max entries (MAX_AUTOMATION_EVENTS)
-    unsigned int count;             // Events entries count
-    AutomationEvent *events;        // Events entries
-} AutomationEventList;
-
-//----------------------------------------------------------------------------------
-// Enumerators Definition
-//----------------------------------------------------------------------------------
-// System/Window config flags
-// NOTE: Every bit registers one state (use it with bit masks)
-// By default all flags are set to 0
-typedef enum {
-    FLAG_VSYNC_HINT         = 0x00000040,   // Set to try enabling V-Sync on GPU
-    FLAG_FULLSCREEN_MODE    = 0x00000002,   // Set to run program in fullscreen
-    FLAG_WINDOW_RESIZABLE   = 0x00000004,   // Set to allow resizable window
-    FLAG_WINDOW_UNDECORATED = 0x00000008,   // Set to disable window decoration (frame and buttons)
-    FLAG_WINDOW_HIDDEN      = 0x00000080,   // Set to hide window
-    FLAG_WINDOW_MINIMIZED   = 0x00000200,   // Set to minimize window (iconify)
-    FLAG_WINDOW_MAXIMIZED   = 0x00000400,   // Set to maximize window (expanded to monitor)
-    FLAG_WINDOW_UNFOCUSED   = 0x00000800,   // Set to window non focused
-    FLAG_WINDOW_TOPMOST     = 0x00001000,   // Set to window always on top
-    FLAG_WINDOW_ALWAYS_RUN  = 0x00000100,   // Set to allow windows running while minimized
-    FLAG_WINDOW_TRANSPARENT = 0x00000010,   // Set to allow transparent framebuffer
-    FLAG_WINDOW_HIGHDPI     = 0x00002000,   // Set to support HighDPI
-    FLAG_WINDOW_MOUSE_PASSTHROUGH = 0x00004000, // Set to support mouse passthrough, only supported when FLAG_WINDOW_UNDECORATED
-    FLAG_BORDERLESS_WINDOWED_MODE = 0x00008000, // Set to run program in borderless windowed mode
-    FLAG_MSAA_4X_HINT       = 0x00000020,   // Set to try enabling MSAA 4X
-    FLAG_INTERLACED_HINT    = 0x00010000    // Set to try enabling interlaced video format (for V3D)
-} ConfigFlags;
-
-// Trace log level
-// NOTE: Organized by priority level
-typedef enum {
-    LOG_ALL = 0,        // Display all logs
-    LOG_TRACE,          // Trace logging, intended for internal use only
-    LOG_DEBUG,          // Debug logging, used for internal debugging, it should be disabled on release builds
-    LOG_INFO,           // Info logging, used for program execution info
-    LOG_WARNING,        // Warning logging, used on recoverable failures
-    LOG_ERROR,          // Error logging, used on unrecoverable failures
-    LOG_FATAL,          // Fatal logging, used to abort program: exit(EXIT_FAILURE)
-    LOG_NONE            // Disable logging
-} TraceLogLevel;
-
-// Keyboard keys (US keyboard layout)
-// NOTE: Use GetKeyPressed() to allow redefining
-// required keys for alternative layouts
-typedef enum {
-    KEY_NULL            = 0,        // Key: NULL, used for no key pressed
-    // Alphanumeric keys
-    KEY_APOSTROPHE      = 39,       // Key: '
-    KEY_COMMA           = 44,       // Key: ,
-    KEY_MINUS           = 45,       // Key: -
-    KEY_PERIOD          = 46,       // Key: .
-    KEY_SLASH           = 47,       // Key: /
-    KEY_ZERO            = 48,       // Key: 0
-    KEY_ONE             = 49,       // Key: 1
-    KEY_TWO             = 50,       // Key: 2
-    KEY_THREE           = 51,       // Key: 3
-    KEY_FOUR            = 52,       // Key: 4
-    KEY_FIVE            = 53,       // Key: 5
-    KEY_SIX             = 54,       // Key: 6
-    KEY_SEVEN           = 55,       // Key: 7
-    KEY_EIGHT           = 56,       // Key: 8
-    KEY_NINE            = 57,       // Key: 9
-    KEY_SEMICOLON       = 59,       // Key: ;
-    KEY_EQUAL           = 61,       // Key: =
-    KEY_A               = 65,       // Key: A | a
-    KEY_B               = 66,       // Key: B | b
-    KEY_C               = 67,       // Key: C | c
-    KEY_D               = 68,       // Key: D | d
-    KEY_E               = 69,       // Key: E | e
-    KEY_F               = 70,       // Key: F | f
-    KEY_G               = 71,       // Key: G | g
-    KEY_H               = 72,       // Key: H | h
-    KEY_I               = 73,       // Key: I | i
-    KEY_J               = 74,       // Key: J | j
-    KEY_K               = 75,       // Key: K | k
-    KEY_L               = 76,       // Key: L | l
-    KEY_M               = 77,       // Key: M | m
-    KEY_N               = 78,       // Key: N | n
-    KEY_O               = 79,       // Key: O | o
-    KEY_P               = 80,       // Key: P | p
-    KEY_Q               = 81,       // Key: Q | q
-    KEY_R               = 82,       // Key: R | r
-    KEY_S               = 83,       // Key: S | s
-    KEY_T               = 84,       // Key: T | t
-    KEY_U               = 85,       // Key: U | u
-    KEY_V               = 86,       // Key: V | v
-    KEY_W               = 87,       // Key: W | w
-    KEY_X               = 88,       // Key: X | x
-    KEY_Y               = 89,       // Key: Y | y
-    KEY_Z               = 90,       // Key: Z | z
-    KEY_LEFT_BRACKET    = 91,       // Key: [
-    KEY_BACKSLASH       = 92,       // Key: '\'
-    KEY_RIGHT_BRACKET   = 93,       // Key: ]
-    KEY_GRAVE           = 96,       // Key: `
-    // Function keys
-    KEY_SPACE           = 32,       // Key: Space
-    KEY_ESCAPE          = 256,      // Key: Esc
-    KEY_ENTER           = 257,      // Key: Enter
-    KEY_TAB             = 258,      // Key: Tab
-    KEY_BACKSPACE       = 259,      // Key: Backspace
-    KEY_INSERT          = 260,      // Key: Ins
-    KEY_DELETE          = 261,      // Key: Del
-    KEY_RIGHT           = 262,      // Key: Cursor right
-    KEY_LEFT            = 263,      // Key: Cursor left
-    KEY_DOWN            = 264,      // Key: Cursor down
-    KEY_UP              = 265,      // Key: Cursor up
-    KEY_PAGE_UP         = 266,      // Key: Page up
-    KEY_PAGE_DOWN       = 267,      // Key: Page down
-    KEY_HOME            = 268,      // Key: Home
-    KEY_END             = 269,      // Key: End
-    KEY_CAPS_LOCK       = 280,      // Key: Caps lock
-    KEY_SCROLL_LOCK     = 281,      // Key: Scroll down
-    KEY_NUM_LOCK        = 282,      // Key: Num lock
-    KEY_PRINT_SCREEN    = 283,      // Key: Print screen
-    KEY_PAUSE           = 284,      // Key: Pause
-    KEY_F1              = 290,      // Key: F1
-    KEY_F2              = 291,      // Key: F2
-    KEY_F3              = 292,      // Key: F3
-    KEY_F4              = 293,      // Key: F4
-    KEY_F5              = 294,      // Key: F5
-    KEY_F6              = 295,      // Key: F6
-    KEY_F7              = 296,      // Key: F7
-    KEY_F8              = 297,      // Key: F8
-    KEY_F9              = 298,      // Key: F9
-    KEY_F10             = 299,      // Key: F10
-    KEY_F11             = 300,      // Key: F11
-    KEY_F12             = 301,      // Key: F12
-    KEY_LEFT_SHIFT      = 340,      // Key: Shift left
-    KEY_LEFT_CONTROL    = 341,      // Key: Control left
-    KEY_LEFT_ALT        = 342,      // Key: Alt left
-    KEY_LEFT_SUPER      = 343,      // Key: Super left
-    KEY_RIGHT_SHIFT     = 344,      // Key: Shift right
-    KEY_RIGHT_CONTROL   = 345,      // Key: Control right
-    KEY_RIGHT_ALT       = 346,      // Key: Alt right
-    KEY_RIGHT_SUPER     = 347,      // Key: Super right
-    KEY_KB_MENU         = 348,      // Key: KB menu
-    // Keypad keys
-    KEY_KP_0            = 320,      // Key: Keypad 0
-    KEY_KP_1            = 321,      // Key: Keypad 1
-    KEY_KP_2            = 322,      // Key: Keypad 2
-    KEY_KP_3            = 323,      // Key: Keypad 3
-    KEY_KP_4            = 324,      // Key: Keypad 4
-    KEY_KP_5            = 325,      // Key: Keypad 5
-    KEY_KP_6            = 326,      // Key: Keypad 6
-    KEY_KP_7            = 327,      // Key: Keypad 7
-    KEY_KP_8            = 328,      // Key: Keypad 8
-    KEY_KP_9            = 329,      // Key: Keypad 9
-    KEY_KP_DECIMAL      = 330,      // Key: Keypad .
-    KEY_KP_DIVIDE       = 331,      // Key: Keypad /
-    KEY_KP_MULTIPLY     = 332,      // Key: Keypad *
-    KEY_KP_SUBTRACT     = 333,      // Key: Keypad -
-    KEY_KP_ADD          = 334,      // Key: Keypad +
-    KEY_KP_ENTER        = 335,      // Key: Keypad Enter
-    KEY_KP_EQUAL        = 336,      // Key: Keypad =
-    // Android key buttons
-    KEY_BACK            = 4,        // Key: Android back button
-    KEY_MENU            = 5,        // Key: Android menu button
-    KEY_VOLUME_UP       = 24,       // Key: Android volume up button
-    KEY_VOLUME_DOWN     = 25        // Key: Android volume down button
-} KeyboardKey;
-
-// Add backwards compatibility support for deprecated names
-#define MOUSE_LEFT_BUTTON   MOUSE_BUTTON_LEFT
-#define MOUSE_RIGHT_BUTTON  MOUSE_BUTTON_RIGHT
-#define MOUSE_MIDDLE_BUTTON MOUSE_BUTTON_MIDDLE
-
-// Mouse buttons
-typedef enum {
-    MOUSE_BUTTON_LEFT    = 0,       // Mouse button left
-    MOUSE_BUTTON_RIGHT   = 1,       // Mouse button right
-    MOUSE_BUTTON_MIDDLE  = 2,       // Mouse button middle (pressed wheel)
-    MOUSE_BUTTON_SIDE    = 3,       // Mouse button side (advanced mouse device)
-    MOUSE_BUTTON_EXTRA   = 4,       // Mouse button extra (advanced mouse device)
-    MOUSE_BUTTON_FORWARD = 5,       // Mouse button forward (advanced mouse device)
-    MOUSE_BUTTON_BACK    = 6,       // Mouse button back (advanced mouse device)
-} MouseButton;
-
-// Mouse cursor
-typedef enum {
-    MOUSE_CURSOR_DEFAULT       = 0,     // Default pointer shape
-    MOUSE_CURSOR_ARROW         = 1,     // Arrow shape
-    MOUSE_CURSOR_IBEAM         = 2,     // Text writing cursor shape
-    MOUSE_CURSOR_CROSSHAIR     = 3,     // Cross shape
-    MOUSE_CURSOR_POINTING_HAND = 4,     // Pointing hand cursor
-    MOUSE_CURSOR_RESIZE_EW     = 5,     // Horizontal resize/move arrow shape
-    MOUSE_CURSOR_RESIZE_NS     = 6,     // Vertical resize/move arrow shape
-    MOUSE_CURSOR_RESIZE_NWSE   = 7,     // Top-left to bottom-right diagonal resize/move arrow shape
-    MOUSE_CURSOR_RESIZE_NESW   = 8,     // The top-right to bottom-left diagonal resize/move arrow shape
-    MOUSE_CURSOR_RESIZE_ALL    = 9,     // The omnidirectional resize/move cursor shape
-    MOUSE_CURSOR_NOT_ALLOWED   = 10     // The operation-not-allowed shape
-} MouseCursor;
-
-// Gamepad buttons
-typedef enum {
-    GAMEPAD_BUTTON_UNKNOWN = 0,         // Unknown button, just for error checking
-    GAMEPAD_BUTTON_LEFT_FACE_UP,        // Gamepad left DPAD up button
-    GAMEPAD_BUTTON_LEFT_FACE_RIGHT,     // Gamepad left DPAD right button
-    GAMEPAD_BUTTON_LEFT_FACE_DOWN,      // Gamepad left DPAD down button
-    GAMEPAD_BUTTON_LEFT_FACE_LEFT,      // Gamepad left DPAD left button
-    GAMEPAD_BUTTON_RIGHT_FACE_UP,       // Gamepad right button up (i.e. PS3: Triangle, Xbox: Y)
-    GAMEPAD_BUTTON_RIGHT_FACE_RIGHT,    // Gamepad right button right (i.e. PS3: Circle, Xbox: B)
-    GAMEPAD_BUTTON_RIGHT_FACE_DOWN,     // Gamepad right button down (i.e. PS3: Cross, Xbox: A)
-    GAMEPAD_BUTTON_RIGHT_FACE_LEFT,     // Gamepad right button left (i.e. PS3: Square, Xbox: X)
-    GAMEPAD_BUTTON_LEFT_TRIGGER_1,      // Gamepad top/back trigger left (first), it could be a trailing button
-    GAMEPAD_BUTTON_LEFT_TRIGGER_2,      // Gamepad top/back trigger left (second), it could be a trailing button
-    GAMEPAD_BUTTON_RIGHT_TRIGGER_1,     // Gamepad top/back trigger right (first), it could be a trailing button
-    GAMEPAD_BUTTON_RIGHT_TRIGGER_2,     // Gamepad top/back trigger right (second), it could be a trailing button
-    GAMEPAD_BUTTON_MIDDLE_LEFT,         // Gamepad center buttons, left one (i.e. PS3: Select)
-    GAMEPAD_BUTTON_MIDDLE,              // Gamepad center buttons, middle one (i.e. PS3: PS, Xbox: XBOX)
-    GAMEPAD_BUTTON_MIDDLE_RIGHT,        // Gamepad center buttons, right one (i.e. PS3: Start)
-    GAMEPAD_BUTTON_LEFT_THUMB,          // Gamepad joystick pressed button left
-    GAMEPAD_BUTTON_RIGHT_THUMB          // Gamepad joystick pressed button right
-} GamepadButton;
-
-// Gamepad axis
-typedef enum {
-    GAMEPAD_AXIS_LEFT_X        = 0,     // Gamepad left stick X axis
-    GAMEPAD_AXIS_LEFT_Y        = 1,     // Gamepad left stick Y axis
-    GAMEPAD_AXIS_RIGHT_X       = 2,     // Gamepad right stick X axis
-    GAMEPAD_AXIS_RIGHT_Y       = 3,     // Gamepad right stick Y axis
-    GAMEPAD_AXIS_LEFT_TRIGGER  = 4,     // Gamepad back trigger left, pressure level: [1..-1]
-    GAMEPAD_AXIS_RIGHT_TRIGGER = 5      // Gamepad back trigger right, pressure level: [1..-1]
-} GamepadAxis;
-
-// Material map index
-typedef enum {
-    MATERIAL_MAP_ALBEDO = 0,        // Albedo material (same as: MATERIAL_MAP_DIFFUSE)
-    MATERIAL_MAP_METALNESS,         // Metalness material (same as: MATERIAL_MAP_SPECULAR)
-    MATERIAL_MAP_NORMAL,            // Normal material
-    MATERIAL_MAP_ROUGHNESS,         // Roughness material
-    MATERIAL_MAP_OCCLUSION,         // Ambient occlusion material
-    MATERIAL_MAP_EMISSION,          // Emission material
-    MATERIAL_MAP_HEIGHT,            // Heightmap material
-    MATERIAL_MAP_CUBEMAP,           // Cubemap material (NOTE: Uses GL_TEXTURE_CUBE_MAP)
-    MATERIAL_MAP_IRRADIANCE,        // Irradiance material (NOTE: Uses GL_TEXTURE_CUBE_MAP)
-    MATERIAL_MAP_PREFILTER,         // Prefilter material (NOTE: Uses GL_TEXTURE_CUBE_MAP)
-    MATERIAL_MAP_BRDF               // Brdf material
-} MaterialMapIndex;
-
-#define MATERIAL_MAP_DIFFUSE      MATERIAL_MAP_ALBEDO
-#define MATERIAL_MAP_SPECULAR     MATERIAL_MAP_METALNESS
-
-// Shader location index
-typedef enum {
-    SHADER_LOC_VERTEX_POSITION = 0, // Shader location: vertex attribute: position
-    SHADER_LOC_VERTEX_TEXCOORD01,   // Shader location: vertex attribute: texcoord01
-    SHADER_LOC_VERTEX_TEXCOORD02,   // Shader location: vertex attribute: texcoord02
-    SHADER_LOC_VERTEX_NORMAL,       // Shader location: vertex attribute: normal
-    SHADER_LOC_VERTEX_TANGENT,      // Shader location: vertex attribute: tangent
-    SHADER_LOC_VERTEX_COLOR,        // Shader location: vertex attribute: color
-    SHADER_LOC_MATRIX_MVP,          // Shader location: matrix uniform: model-view-projection
-    SHADER_LOC_MATRIX_VIEW,         // Shader location: matrix uniform: view (camera transform)
-    SHADER_LOC_MATRIX_PROJECTION,   // Shader location: matrix uniform: projection
-    SHADER_LOC_MATRIX_MODEL,        // Shader location: matrix uniform: model (transform)
-    SHADER_LOC_MATRIX_NORMAL,       // Shader location: matrix uniform: normal
-    SHADER_LOC_VECTOR_VIEW,         // Shader location: vector uniform: view
-    SHADER_LOC_COLOR_DIFFUSE,       // Shader location: vector uniform: diffuse color
-    SHADER_LOC_COLOR_SPECULAR,      // Shader location: vector uniform: specular color
-    SHADER_LOC_COLOR_AMBIENT,       // Shader location: vector uniform: ambient color
-    SHADER_LOC_MAP_ALBEDO,          // Shader location: sampler2d texture: albedo (same as: SHADER_LOC_MAP_DIFFUSE)
-    SHADER_LOC_MAP_METALNESS,       // Shader location: sampler2d texture: metalness (same as: SHADER_LOC_MAP_SPECULAR)
-    SHADER_LOC_MAP_NORMAL,          // Shader location: sampler2d texture: normal
-    SHADER_LOC_MAP_ROUGHNESS,       // Shader location: sampler2d texture: roughness
-    SHADER_LOC_MAP_OCCLUSION,       // Shader location: sampler2d texture: occlusion
-    SHADER_LOC_MAP_EMISSION,        // Shader location: sampler2d texture: emission
-    SHADER_LOC_MAP_HEIGHT,          // Shader location: sampler2d texture: height
-    SHADER_LOC_MAP_CUBEMAP,         // Shader location: samplerCube texture: cubemap
-    SHADER_LOC_MAP_IRRADIANCE,      // Shader location: samplerCube texture: irradiance
-    SHADER_LOC_MAP_PREFILTER,       // Shader location: samplerCube texture: prefilter
-    SHADER_LOC_MAP_BRDF,            // Shader location: sampler2d texture: brdf
-    SHADER_LOC_VERTEX_BONEIDS,      // Shader location: vertex attribute: boneIds
-    SHADER_LOC_VERTEX_BONEWEIGHTS,  // Shader location: vertex attribute: boneWeights
-    SHADER_LOC_BONE_MATRICES        // Shader location: array of matrices uniform: boneMatrices
-} ShaderLocationIndex;
-
-#define SHADER_LOC_MAP_DIFFUSE      SHADER_LOC_MAP_ALBEDO
-#define SHADER_LOC_MAP_SPECULAR     SHADER_LOC_MAP_METALNESS
-
-// Shader uniform data type
-typedef enum {
-    SHADER_UNIFORM_FLOAT = 0,       // Shader uniform type: float
-    SHADER_UNIFORM_VEC2,            // Shader uniform type: vec2 (2 float)
-    SHADER_UNIFORM_VEC3,            // Shader uniform type: vec3 (3 float)
-    SHADER_UNIFORM_VEC4,            // Shader uniform type: vec4 (4 float)
-    SHADER_UNIFORM_INT,             // Shader uniform type: int
-    SHADER_UNIFORM_IVEC2,           // Shader uniform type: ivec2 (2 int)
-    SHADER_UNIFORM_IVEC3,           // Shader uniform type: ivec3 (3 int)
-    SHADER_UNIFORM_IVEC4,           // Shader uniform type: ivec4 (4 int)
-    SHADER_UNIFORM_SAMPLER2D        // Shader uniform type: sampler2d
-} ShaderUniformDataType;
-
-// Shader attribute data types
-typedef enum {
-    SHADER_ATTRIB_FLOAT = 0,        // Shader attribute type: float
-    SHADER_ATTRIB_VEC2,             // Shader attribute type: vec2 (2 float)
-    SHADER_ATTRIB_VEC3,             // Shader attribute type: vec3 (3 float)
-    SHADER_ATTRIB_VEC4              // Shader attribute type: vec4 (4 float)
-} ShaderAttributeDataType;
-
-// Pixel formats
-// NOTE: Support depends on OpenGL version and platform
-typedef enum {
-    PIXELFORMAT_UNCOMPRESSED_GRAYSCALE = 1, // 8 bit per pixel (no alpha)
-    PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA,    // 8*2 bpp (2 channels)
-    PIXELFORMAT_UNCOMPRESSED_R5G6B5,        // 16 bpp
-    PIXELFORMAT_UNCOMPRESSED_R8G8B8,        // 24 bpp
-    PIXELFORMAT_UNCOMPRESSED_R5G5B5A1,      // 16 bpp (1 bit alpha)
-    PIXELFORMAT_UNCOMPRESSED_R4G4B4A4,      // 16 bpp (4 bit alpha)
-    PIXELFORMAT_UNCOMPRESSED_R8G8B8A8,      // 32 bpp
-    PIXELFORMAT_UNCOMPRESSED_R32,           // 32 bpp (1 channel - float)
-    PIXELFORMAT_UNCOMPRESSED_R32G32B32,     // 32*3 bpp (3 channels - float)
-    PIXELFORMAT_UNCOMPRESSED_R32G32B32A32,  // 32*4 bpp (4 channels - float)
-    PIXELFORMAT_UNCOMPRESSED_R16,           // 16 bpp (1 channel - half float)
-    PIXELFORMAT_UNCOMPRESSED_R16G16B16,     // 16*3 bpp (3 channels - half float)
-    PIXELFORMAT_UNCOMPRESSED_R16G16B16A16,  // 16*4 bpp (4 channels - half float)
-    PIXELFORMAT_COMPRESSED_DXT1_RGB,        // 4 bpp (no alpha)
-    PIXELFORMAT_COMPRESSED_DXT1_RGBA,       // 4 bpp (1 bit alpha)
-    PIXELFORMAT_COMPRESSED_DXT3_RGBA,       // 8 bpp
-    PIXELFORMAT_COMPRESSED_DXT5_RGBA,       // 8 bpp
-    PIXELFORMAT_COMPRESSED_ETC1_RGB,        // 4 bpp
-    PIXELFORMAT_COMPRESSED_ETC2_RGB,        // 4 bpp
-    PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA,   // 8 bpp
-    PIXELFORMAT_COMPRESSED_PVRT_RGB,        // 4 bpp
-    PIXELFORMAT_COMPRESSED_PVRT_RGBA,       // 4 bpp
-    PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA,   // 8 bpp
-    PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA    // 2 bpp
-} PixelFormat;
-
-// Texture parameters: filter mode
-// NOTE 1: Filtering considers mipmaps if available in the texture
-// NOTE 2: Filter is accordingly set for minification and magnification
-typedef enum {
-    TEXTURE_FILTER_POINT = 0,               // No filter, just pixel approximation
-    TEXTURE_FILTER_BILINEAR,                // Linear filtering
-    TEXTURE_FILTER_TRILINEAR,               // Trilinear filtering (linear with mipmaps)
-    TEXTURE_FILTER_ANISOTROPIC_4X,          // Anisotropic filtering 4x
-    TEXTURE_FILTER_ANISOTROPIC_8X,          // Anisotropic filtering 8x
-    TEXTURE_FILTER_ANISOTROPIC_16X,         // Anisotropic filtering 16x
-} TextureFilter;
-
-// Texture parameters: wrap mode
-typedef enum {
-    TEXTURE_WRAP_REPEAT = 0,                // Repeats texture in tiled mode
-    TEXTURE_WRAP_CLAMP,                     // Clamps texture to edge pixel in tiled mode
-    TEXTURE_WRAP_MIRROR_REPEAT,             // Mirrors and repeats the texture in tiled mode
-    TEXTURE_WRAP_MIRROR_CLAMP               // Mirrors and clamps to border the texture in tiled mode
-} TextureWrap;
-
-// Cubemap layouts
-typedef enum {
-    CUBEMAP_LAYOUT_AUTO_DETECT = 0,         // Automatically detect layout type
-    CUBEMAP_LAYOUT_LINE_VERTICAL,           // Layout is defined by a vertical line with faces
-    CUBEMAP_LAYOUT_LINE_HORIZONTAL,         // Layout is defined by a horizontal line with faces
-    CUBEMAP_LAYOUT_CROSS_THREE_BY_FOUR,     // Layout is defined by a 3x4 cross with cubemap faces
-    CUBEMAP_LAYOUT_CROSS_FOUR_BY_THREE     // Layout is defined by a 4x3 cross with cubemap faces
-} CubemapLayout;
-
-// Font type, defines generation method
-typedef enum {
-    FONT_DEFAULT = 0,               // Default font generation, anti-aliased
-    FONT_BITMAP,                    // Bitmap font generation, no anti-aliasing
-    FONT_SDF                        // SDF font generation, requires external shader
-} FontType;
-
-// Color blending modes (pre-defined)
-typedef enum {
-    BLEND_ALPHA = 0,                // Blend textures considering alpha (default)
-    BLEND_ADDITIVE,                 // Blend textures adding colors
-    BLEND_MULTIPLIED,               // Blend textures multiplying colors
-    BLEND_ADD_COLORS,               // Blend textures adding colors (alternative)
-    BLEND_SUBTRACT_COLORS,          // Blend textures subtracting colors (alternative)
-    BLEND_ALPHA_PREMULTIPLY,        // Blend premultiplied textures considering alpha
-    BLEND_CUSTOM,                   // Blend textures using custom src/dst factors (use rlSetBlendFactors())
-    BLEND_CUSTOM_SEPARATE           // Blend textures using custom rgb/alpha separate src/dst factors (use rlSetBlendFactorsSeparate())
-} BlendMode;
-
-// Gesture
-// NOTE: Provided as bit-wise flags to enable only desired gestures
-typedef enum {
-    GESTURE_NONE        = 0,        // No gesture
-    GESTURE_TAP         = 1,        // Tap gesture
-    GESTURE_DOUBLETAP   = 2,        // Double tap gesture
-    GESTURE_HOLD        = 4,        // Hold gesture
-    GESTURE_DRAG        = 8,        // Drag gesture
-    GESTURE_SWIPE_RIGHT = 16,       // Swipe right gesture
-    GESTURE_SWIPE_LEFT  = 32,       // Swipe left gesture
-    GESTURE_SWIPE_UP    = 64,       // Swipe up gesture
-    GESTURE_SWIPE_DOWN  = 128,      // Swipe down gesture
-    GESTURE_PINCH_IN    = 256,      // Pinch in gesture
-    GESTURE_PINCH_OUT   = 512       // Pinch out gesture
-} Gesture;
-
-// Camera system modes
-typedef enum {
-    CAMERA_CUSTOM = 0,              // Camera custom, controlled by user (UpdateCamera() does nothing)
-    CAMERA_FREE,                    // Camera free mode
-    CAMERA_ORBITAL,                 // Camera orbital, around target, zoom supported
-    CAMERA_FIRST_PERSON,            // Camera first person
-    CAMERA_THIRD_PERSON             // Camera third person
-} CameraMode;
-
-// Camera projection
-typedef enum {
-    CAMERA_PERSPECTIVE = 0,         // Perspective projection
-    CAMERA_ORTHOGRAPHIC             // Orthographic projection
-} CameraProjection;
-
-// N-patch layout
-typedef enum {
-    NPATCH_NINE_PATCH = 0,          // Npatch layout: 3x3 tiles
-    NPATCH_THREE_PATCH_VERTICAL,    // Npatch layout: 1x3 tiles
-    NPATCH_THREE_PATCH_HORIZONTAL   // Npatch layout: 3x1 tiles
-} NPatchLayout;
-
-// Callbacks to hook some internal functions
-// WARNING: These callbacks are intended for advanced users
-typedef void (*TraceLogCallback)(int logLevel, const char *text, va_list args);  // Logging: Redirect trace log messages
-typedef unsigned char *(*LoadFileDataCallback)(const char *fileName, int *dataSize);    // FileIO: Load binary data
-typedef bool (*SaveFileDataCallback)(const char *fileName, void *data, int dataSize);   // FileIO: Save binary data
-typedef char *(*LoadFileTextCallback)(const char *fileName);            // FileIO: Load text data
-typedef bool (*SaveFileTextCallback)(const char *fileName, char *text); // FileIO: Save text data
-
-//------------------------------------------------------------------------------------
-// Global Variables Definition
-//------------------------------------------------------------------------------------
-// It's lonely here...
-
-//------------------------------------------------------------------------------------
-// Window and Graphics Device Functions (Module: core)
-//------------------------------------------------------------------------------------
-
-#if defined(__cplusplus)
-extern "C" {            // Prevents name mangling of functions
-#endif
-
-// Window-related functions
-RLAPI void InitWindow(int width, int height, const char *title);  // Initialize window and OpenGL context
-RLAPI void CloseWindow(void);                                     // Close window and unload OpenGL context
-RLAPI bool WindowShouldClose(void);                               // Check if application should close (KEY_ESCAPE pressed or windows close icon clicked)
-RLAPI bool IsWindowReady(void);                                   // Check if window has been initialized successfully
-RLAPI bool IsWindowFullscreen(void);                              // Check if window is currently fullscreen
-RLAPI bool IsWindowHidden(void);                                  // Check if window is currently hidden
-RLAPI bool IsWindowMinimized(void);                               // Check if window is currently minimized
-RLAPI bool IsWindowMaximized(void);                               // Check if window is currently maximized
-RLAPI bool IsWindowFocused(void);                                 // Check if window is currently focused
-RLAPI bool IsWindowResized(void);                                 // Check if window has been resized last frame
-RLAPI bool IsWindowState(unsigned int flag);                      // Check if one specific window flag is enabled
-RLAPI void SetWindowState(unsigned int flags);                    // Set window configuration state using flags
-RLAPI void ClearWindowState(unsigned int flags);                  // Clear window configuration state flags
-RLAPI void ToggleFullscreen(void);                                // Toggle window state: fullscreen/windowed, resizes monitor to match window resolution
-RLAPI void ToggleBorderlessWindowed(void);                        // Toggle window state: borderless windowed, resizes window to match monitor resolution
-RLAPI void MaximizeWindow(void);                                  // Set window state: maximized, if resizable
-RLAPI void MinimizeWindow(void);                                  // Set window state: minimized, if resizable
-RLAPI void RestoreWindow(void);                                   // Set window state: not minimized/maximized
-RLAPI void SetWindowIcon(Image image);                            // Set icon for window (single image, RGBA 32bit)
-RLAPI void SetWindowIcons(Image *images, int count);              // Set icon for window (multiple images, RGBA 32bit)
-RLAPI void SetWindowTitle(const char *title);                     // Set title for window
-RLAPI void SetWindowPosition(int x, int y);                       // Set window position on screen
-RLAPI void SetWindowMonitor(int monitor);                         // Set monitor for the current window
-RLAPI void SetWindowMinSize(int width, int height);               // Set window minimum dimensions (for FLAG_WINDOW_RESIZABLE)
-RLAPI void SetWindowMaxSize(int width, int height);               // Set window maximum dimensions (for FLAG_WINDOW_RESIZABLE)
-RLAPI void SetWindowSize(int width, int height);                  // Set window dimensions
-RLAPI void SetWindowOpacity(float opacity);                       // Set window opacity [0.0f..1.0f]
-RLAPI void SetWindowFocused(void);                                // Set window focused
-RLAPI void *GetWindowHandle(void);                                // Get native window handle
-RLAPI int GetScreenWidth(void);                                   // Get current screen width
-RLAPI int GetScreenHeight(void);                                  // Get current screen height
-RLAPI int GetRenderWidth(void);                                   // Get current render width (it considers HiDPI)
-RLAPI int GetRenderHeight(void);                                  // Get current render height (it considers HiDPI)
-RLAPI int GetMonitorCount(void);                                  // Get number of connected monitors
-RLAPI int GetCurrentMonitor(void);                                // Get current monitor where window is placed
-RLAPI Vector2 GetMonitorPosition(int monitor);                    // Get specified monitor position
-RLAPI int GetMonitorWidth(int monitor);                           // Get specified monitor width (current video mode used by monitor)
-RLAPI int GetMonitorHeight(int monitor);                          // Get specified monitor height (current video mode used by monitor)
-RLAPI int GetMonitorPhysicalWidth(int monitor);                   // Get specified monitor physical width in millimetres
-RLAPI int GetMonitorPhysicalHeight(int monitor);                  // Get specified monitor physical height in millimetres
-RLAPI int GetMonitorRefreshRate(int monitor);                     // Get specified monitor refresh rate
-RLAPI Vector2 GetWindowPosition(void);                            // Get window position XY on monitor
-RLAPI Vector2 GetWindowScaleDPI(void);                            // Get window scale DPI factor
-RLAPI const char *GetMonitorName(int monitor);                    // Get the human-readable, UTF-8 encoded name of the specified monitor
-RLAPI void SetClipboardText(const char *text);                    // Set clipboard text content
-RLAPI const char *GetClipboardText(void);                         // Get clipboard text content
-RLAPI Image GetClipboardImage(void);                              // Get clipboard image content
-RLAPI void EnableEventWaiting(void);                              // Enable waiting for events on EndDrawing(), no automatic event polling
-RLAPI void DisableEventWaiting(void);                             // Disable waiting for events on EndDrawing(), automatic events polling
-
-// Cursor-related functions
-RLAPI void ShowCursor(void);                                      // Shows cursor
-RLAPI void HideCursor(void);                                      // Hides cursor
-RLAPI bool IsCursorHidden(void);                                  // Check if cursor is not visible
-RLAPI void EnableCursor(void);                                    // Enables cursor (unlock cursor)
-RLAPI void DisableCursor(void);                                   // Disables cursor (lock cursor)
-RLAPI bool IsCursorOnScreen(void);                                // Check if cursor is on the screen
-
-// Drawing-related functions
-RLAPI void ClearBackground(Color color);                          // Set background color (framebuffer clear color)
-RLAPI void BeginDrawing(void);                                    // Setup canvas (framebuffer) to start drawing
-RLAPI void EndDrawing(void);                                      // End canvas drawing and swap buffers (double buffering)
-RLAPI void BeginMode2D(Camera2D camera);                          // Begin 2D mode with custom camera (2D)
-RLAPI void EndMode2D(void);                                       // Ends 2D mode with custom camera
-RLAPI void BeginMode3D(Camera3D camera);                          // Begin 3D mode with custom camera (3D)
-RLAPI void EndMode3D(void);                                       // Ends 3D mode and returns to default 2D orthographic mode
-RLAPI void BeginTextureMode(RenderTexture2D target);              // Begin drawing to render texture
-RLAPI void EndTextureMode(void);                                  // Ends drawing to render texture
-RLAPI void BeginShaderMode(Shader shader);                        // Begin custom shader drawing
-RLAPI void EndShaderMode(void);                                   // End custom shader drawing (use default shader)
-RLAPI void BeginBlendMode(int mode);                              // Begin blending mode (alpha, additive, multiplied, subtract, custom)
-RLAPI void EndBlendMode(void);                                    // End blending mode (reset to default: alpha blending)
-RLAPI void BeginScissorMode(int x, int y, int width, int height); // Begin scissor mode (define screen area for following drawing)
-RLAPI void EndScissorMode(void);                                  // End scissor mode
-RLAPI void BeginVrStereoMode(VrStereoConfig config);              // Begin stereo rendering (requires VR simulator)
-RLAPI void EndVrStereoMode(void);                                 // End stereo rendering (requires VR simulator)
-
-// VR stereo config functions for VR simulator
-RLAPI VrStereoConfig LoadVrStereoConfig(VrDeviceInfo device);     // Load VR stereo config for VR simulator device parameters
-RLAPI void UnloadVrStereoConfig(VrStereoConfig config);           // Unload VR stereo config
-
-// Shader management functions
-// NOTE: Shader functionality is not available on OpenGL 1.1
-RLAPI Shader LoadShader(const char *vsFileName, const char *fsFileName);   // Load shader from files and bind default locations
-RLAPI Shader LoadShaderFromMemory(const char *vsCode, const char *fsCode); // Load shader from code strings and bind default locations
-RLAPI bool IsShaderValid(Shader shader);                                   // Check if a shader is valid (loaded on GPU)
-RLAPI int GetShaderLocation(Shader shader, const char *uniformName);       // Get shader uniform location
-RLAPI int GetShaderLocationAttrib(Shader shader, const char *attribName);  // Get shader attribute location
-RLAPI void SetShaderValue(Shader shader, int locIndex, const void *value, int uniformType);               // Set shader uniform value
-RLAPI void SetShaderValueV(Shader shader, int locIndex, const void *value, int uniformType, int count);   // Set shader uniform value vector
-RLAPI void SetShaderValueMatrix(Shader shader, int locIndex, Matrix mat);         // Set shader uniform value (matrix 4x4)
-RLAPI void SetShaderValueTexture(Shader shader, int locIndex, Texture2D texture); // Set shader uniform value for texture (sampler2d)
-RLAPI void UnloadShader(Shader shader);                                    // Unload shader from GPU memory (VRAM)
-
-// Screen-space-related functions
-#define GetMouseRay GetScreenToWorldRay     // Compatibility hack for previous raylib versions
-RLAPI Ray GetScreenToWorldRay(Vector2 position, Camera camera);         // Get a ray trace from screen position (i.e mouse)
-RLAPI Ray GetScreenToWorldRayEx(Vector2 position, Camera camera, int width, int height); // Get a ray trace from screen position (i.e mouse) in a viewport
-RLAPI Vector2 GetWorldToScreen(Vector3 position, Camera camera);        // Get the screen space position for a 3d world space position
-RLAPI Vector2 GetWorldToScreenEx(Vector3 position, Camera camera, int width, int height); // Get size position for a 3d world space position
-RLAPI Vector2 GetWorldToScreen2D(Vector2 position, Camera2D camera);    // Get the screen space position for a 2d camera world space position
-RLAPI Vector2 GetScreenToWorld2D(Vector2 position, Camera2D camera);    // Get the world space position for a 2d camera screen space position
-RLAPI Matrix GetCameraMatrix(Camera camera);                            // Get camera transform matrix (view matrix)
-RLAPI Matrix GetCameraMatrix2D(Camera2D camera);                        // Get camera 2d transform matrix
-
-// Timing-related functions
-RLAPI void SetTargetFPS(int fps);                                 // Set target FPS (maximum)
-RLAPI float GetFrameTime(void);                                   // Get time in seconds for last frame drawn (delta time)
-RLAPI double GetTime(void);                                       // Get elapsed time in seconds since InitWindow()
-RLAPI int GetFPS(void);                                           // Get current FPS
-
-// Custom frame control functions
-// NOTE: Those functions are intended for advanced users that want full control over the frame processing
-// By default EndDrawing() does this job: draws everything + SwapScreenBuffer() + manage frame timing + PollInputEvents()
-// To avoid that behaviour and control frame processes manually, enable in config.h: SUPPORT_CUSTOM_FRAME_CONTROL
-RLAPI void SwapScreenBuffer(void);                                // Swap back buffer with front buffer (screen drawing)
-RLAPI void PollInputEvents(void);                                 // Register all input events
-RLAPI void WaitTime(double seconds);                              // Wait for some time (halt program execution)
-
-// Random values generation functions
-RLAPI void SetRandomSeed(unsigned int seed);                      // Set the seed for the random number generator
-RLAPI int GetRandomValue(int min, int max);                       // Get a random value between min and max (both included)
-RLAPI int *LoadRandomSequence(unsigned int count, int min, int max); // Load random values sequence, no values repeated
-RLAPI void UnloadRandomSequence(int *sequence);                   // Unload random values sequence
-
-// Misc. functions
-RLAPI void TakeScreenshot(const char *fileName);                  // Takes a screenshot of current screen (filename extension defines format)
-RLAPI void SetConfigFlags(unsigned int flags);                    // Setup init configuration flags (view FLAGS)
-RLAPI void OpenURL(const char *url);                              // Open URL with default system browser (if available)
-
-// NOTE: Following functions implemented in module [utils]
-//------------------------------------------------------------------
-RLAPI void TraceLog(int logLevel, const char *text, ...);         // Show trace log messages (LOG_DEBUG, LOG_INFO, LOG_WARNING, LOG_ERROR...)
-RLAPI void SetTraceLogLevel(int logLevel);                        // Set the current threshold (minimum) log level
-RLAPI void *MemAlloc(unsigned int size);                          // Internal memory allocator
-RLAPI void *MemRealloc(void *ptr, unsigned int size);             // Internal memory reallocator
-RLAPI void MemFree(void *ptr);                                    // Internal memory free
-
-// Set custom callbacks
-// WARNING: Callbacks setup is intended for advanced users
-RLAPI void SetTraceLogCallback(TraceLogCallback callback);         // Set custom trace log
-RLAPI void SetLoadFileDataCallback(LoadFileDataCallback callback); // Set custom file binary data loader
-RLAPI void SetSaveFileDataCallback(SaveFileDataCallback callback); // Set custom file binary data saver
-RLAPI void SetLoadFileTextCallback(LoadFileTextCallback callback); // Set custom file text data loader
-RLAPI void SetSaveFileTextCallback(SaveFileTextCallback callback); // Set custom file text data saver
-
-// Files management functions
-RLAPI unsigned char *LoadFileData(const char *fileName, int *dataSize); // Load file data as byte array (read)
-RLAPI void UnloadFileData(unsigned char *data);                   // Unload file data allocated by LoadFileData()
-RLAPI bool SaveFileData(const char *fileName, void *data, int dataSize); // Save data to file from byte array (write), returns true on success
-RLAPI bool ExportDataAsCode(const unsigned char *data, int dataSize, const char *fileName); // Export data to code (.h), returns true on success
-RLAPI char *LoadFileText(const char *fileName);                   // Load text data from file (read), returns a '\0' terminated string
-RLAPI void UnloadFileText(char *text);                            // Unload file text data allocated by LoadFileText()
-RLAPI bool SaveFileText(const char *fileName, char *text);        // Save text data to file (write), string must be '\0' terminated, returns true on success
-//------------------------------------------------------------------
-
-// File system functions
-RLAPI bool FileExists(const char *fileName);                      // Check if file exists
-RLAPI bool DirectoryExists(const char *dirPath);                  // Check if a directory path exists
-RLAPI bool IsFileExtension(const char *fileName, const char *ext); // Check file extension (including point: .png, .wav)
-RLAPI int GetFileLength(const char *fileName);                    // Get file length in bytes (NOTE: GetFileSize() conflicts with windows.h)
-RLAPI const char *GetFileExtension(const char *fileName);         // Get pointer to extension for a filename string (includes dot: '.png')
-RLAPI const char *GetFileName(const char *filePath);              // Get pointer to filename for a path string
-RLAPI const char *GetFileNameWithoutExt(const char *filePath);    // Get filename string without extension (uses static string)
-RLAPI const char *GetDirectoryPath(const char *filePath);         // Get full path for a given fileName with path (uses static string)
-RLAPI const char *GetPrevDirectoryPath(const char *dirPath);      // Get previous directory path for a given path (uses static string)
-RLAPI const char *GetWorkingDirectory(void);                      // Get current working directory (uses static string)
-RLAPI const char *GetApplicationDirectory(void);                  // Get the directory of the running application (uses static string)
-RLAPI int MakeDirectory(const char *dirPath);                     // Create directories (including full path requested), returns 0 on success
-RLAPI bool ChangeDirectory(const char *dir);                      // Change working directory, return true on success
-RLAPI bool IsPathFile(const char *path);                          // Check if a given path is a file or a directory
-RLAPI bool IsFileNameValid(const char *fileName);                 // Check if fileName is valid for the platform/OS
-RLAPI FilePathList LoadDirectoryFiles(const char *dirPath);       // Load directory filepaths
-RLAPI FilePathList LoadDirectoryFilesEx(const char *basePath, const char *filter, bool scanSubdirs); // Load directory filepaths with extension filtering and recursive directory scan. Use 'DIR' in the filter string to include directories in the result
-RLAPI void UnloadDirectoryFiles(FilePathList files);              // Unload filepaths
-RLAPI bool IsFileDropped(void);                                   // Check if a file has been dropped into window
-RLAPI FilePathList LoadDroppedFiles(void);                        // Load dropped filepaths
-RLAPI void UnloadDroppedFiles(FilePathList files);                // Unload dropped filepaths
-RLAPI long GetFileModTime(const char *fileName);                  // Get file modification time (last write time)
-
-// Compression/Encoding functionality
-RLAPI unsigned char *CompressData(const unsigned char *data, int dataSize, int *compDataSize);        // Compress data (DEFLATE algorithm), memory must be MemFree()
-RLAPI unsigned char *DecompressData(const unsigned char *compData, int compDataSize, int *dataSize);  // Decompress data (DEFLATE algorithm), memory must be MemFree()
-RLAPI char *EncodeDataBase64(const unsigned char *data, int dataSize, int *outputSize);               // Encode data to Base64 string, memory must be MemFree()
-RLAPI unsigned char *DecodeDataBase64(const unsigned char *data, int *outputSize);                    // Decode Base64 string data, memory must be MemFree()
-RLAPI unsigned int ComputeCRC32(unsigned char *data, int dataSize);     // Compute CRC32 hash code
-RLAPI unsigned int *ComputeMD5(unsigned char *data, int dataSize);      // Compute MD5 hash code, returns static int[4] (16 bytes)
-RLAPI unsigned int *ComputeSHA1(unsigned char *data, int dataSize);     // Compute SHA1 hash code, returns static int[5] (20 bytes)
-
-
-// Automation events functionality
-RLAPI AutomationEventList LoadAutomationEventList(const char *fileName);                // Load automation events list from file, NULL for empty list, capacity = MAX_AUTOMATION_EVENTS
-RLAPI void UnloadAutomationEventList(AutomationEventList list);                         // Unload automation events list from file
-RLAPI bool ExportAutomationEventList(AutomationEventList list, const char *fileName);   // Export automation events list as text file
-RLAPI void SetAutomationEventList(AutomationEventList *list);                           // Set automation event list to record to
-RLAPI void SetAutomationEventBaseFrame(int frame);                                      // Set automation event internal base frame to start recording
-RLAPI void StartAutomationEventRecording(void);                                         // Start recording automation events (AutomationEventList must be set)
-RLAPI void StopAutomationEventRecording(void);                                          // Stop recording automation events
-RLAPI void PlayAutomationEvent(AutomationEvent event);                                  // Play a recorded automation event
-
-//------------------------------------------------------------------------------------
-// Input Handling Functions (Module: core)
-//------------------------------------------------------------------------------------
-
-// Input-related functions: keyboard
-RLAPI bool IsKeyPressed(int key);                             // Check if a key has been pressed once
-RLAPI bool IsKeyPressedRepeat(int key);                       // Check if a key has been pressed again
-RLAPI bool IsKeyDown(int key);                                // Check if a key is being pressed
-RLAPI bool IsKeyReleased(int key);                            // Check if a key has been released once
-RLAPI bool IsKeyUp(int key);                                  // Check if a key is NOT being pressed
-RLAPI int GetKeyPressed(void);                                // Get key pressed (keycode), call it multiple times for keys queued, returns 0 when the queue is empty
-RLAPI int GetCharPressed(void);                               // Get char pressed (unicode), call it multiple times for chars queued, returns 0 when the queue is empty
-RLAPI void SetExitKey(int key);                               // Set a custom key to exit program (default is ESC)
-
-// Input-related functions: gamepads
-RLAPI bool IsGamepadAvailable(int gamepad);                                        // Check if a gamepad is available
-RLAPI const char *GetGamepadName(int gamepad);                                     // Get gamepad internal name id
-RLAPI bool IsGamepadButtonPressed(int gamepad, int button);                        // Check if a gamepad button has been pressed once
-RLAPI bool IsGamepadButtonDown(int gamepad, int button);                           // Check if a gamepad button is being pressed
-RLAPI bool IsGamepadButtonReleased(int gamepad, int button);                       // Check if a gamepad button has been released once
-RLAPI bool IsGamepadButtonUp(int gamepad, int button);                             // Check if a gamepad button is NOT being pressed
-RLAPI int GetGamepadButtonPressed(void);                                           // Get the last gamepad button pressed
-RLAPI int GetGamepadAxisCount(int gamepad);                                        // Get gamepad axis count for a gamepad
-RLAPI float GetGamepadAxisMovement(int gamepad, int axis);                         // Get axis movement value for a gamepad axis
-RLAPI int SetGamepadMappings(const char *mappings);                                // Set internal gamepad mappings (SDL_GameControllerDB)
-RLAPI void SetGamepadVibration(int gamepad, float leftMotor, float rightMotor, float duration); // Set gamepad vibration for both motors (duration in seconds)
-
-// Input-related functions: mouse
-RLAPI bool IsMouseButtonPressed(int button);                  // Check if a mouse button has been pressed once
-RLAPI bool IsMouseButtonDown(int button);                     // Check if a mouse button is being pressed
-RLAPI bool IsMouseButtonReleased(int button);                 // Check if a mouse button has been released once
-RLAPI bool IsMouseButtonUp(int button);                       // Check if a mouse button is NOT being pressed
-RLAPI int GetMouseX(void);                                    // Get mouse position X
-RLAPI int GetMouseY(void);                                    // Get mouse position Y
-RLAPI Vector2 GetMousePosition(void);                         // Get mouse position XY
-RLAPI Vector2 GetMouseDelta(void);                            // Get mouse delta between frames
-RLAPI void SetMousePosition(int x, int y);                    // Set mouse position XY
-RLAPI void SetMouseOffset(int offsetX, int offsetY);          // Set mouse offset
-RLAPI void SetMouseScale(float scaleX, float scaleY);         // Set mouse scaling
-RLAPI float GetMouseWheelMove(void);                          // Get mouse wheel movement for X or Y, whichever is larger
-RLAPI Vector2 GetMouseWheelMoveV(void);                       // Get mouse wheel movement for both X and Y
-RLAPI void SetMouseCursor(int cursor);                        // Set mouse cursor
-
-// Input-related functions: touch
-RLAPI int GetTouchX(void);                                    // Get touch position X for touch point 0 (relative to screen size)
-RLAPI int GetTouchY(void);                                    // Get touch position Y for touch point 0 (relative to screen size)
-RLAPI Vector2 GetTouchPosition(int index);                    // Get touch position XY for a touch point index (relative to screen size)
-RLAPI int GetTouchPointId(int index);                         // Get touch point identifier for given index
-RLAPI int GetTouchPointCount(void);                           // Get number of touch points
-
-//------------------------------------------------------------------------------------
-// Gestures and Touch Handling Functions (Module: rgestures)
-//------------------------------------------------------------------------------------
-RLAPI void SetGesturesEnabled(unsigned int flags);      // Enable a set of gestures using flags
-RLAPI bool IsGestureDetected(unsigned int gesture);     // Check if a gesture have been detected
-RLAPI int GetGestureDetected(void);                     // Get latest detected gesture
-RLAPI float GetGestureHoldDuration(void);               // Get gesture hold time in seconds
-RLAPI Vector2 GetGestureDragVector(void);               // Get gesture drag vector
-RLAPI float GetGestureDragAngle(void);                  // Get gesture drag angle
-RLAPI Vector2 GetGesturePinchVector(void);              // Get gesture pinch delta
-RLAPI float GetGesturePinchAngle(void);                 // Get gesture pinch angle
-
-//------------------------------------------------------------------------------------
-// Camera System Functions (Module: rcamera)
-//------------------------------------------------------------------------------------
-RLAPI void UpdateCamera(Camera *camera, int mode);      // Update camera position for selected mode
-RLAPI void UpdateCameraPro(Camera *camera, Vector3 movement, Vector3 rotation, float zoom); // Update camera movement/rotation
-
-//------------------------------------------------------------------------------------
-// Basic Shapes Drawing Functions (Module: shapes)
-//------------------------------------------------------------------------------------
-// Set texture and rectangle to be used on shapes drawing
-// NOTE: It can be useful when using basic shapes and one single font,
-// defining a font char white rectangle would allow drawing everything in a single draw call
-RLAPI void SetShapesTexture(Texture2D texture, Rectangle source);       // Set texture and rectangle to be used on shapes drawing
-RLAPI Texture2D GetShapesTexture(void);                                 // Get texture that is used for shapes drawing
-RLAPI Rectangle GetShapesTextureRectangle(void);                        // Get texture source rectangle that is used for shapes drawing
-
-// Basic shapes drawing functions
-RLAPI void DrawPixel(int posX, int posY, Color color);                                                   // Draw a pixel using geometry [Can be slow, use with care]
-RLAPI void DrawPixelV(Vector2 position, Color color);                                                    // Draw a pixel using geometry (Vector version) [Can be slow, use with care]
-RLAPI void DrawLine(int startPosX, int startPosY, int endPosX, int endPosY, Color color);                // Draw a line
-RLAPI void DrawLineV(Vector2 startPos, Vector2 endPos, Color color);                                     // Draw a line (using gl lines)
-RLAPI void DrawLineEx(Vector2 startPos, Vector2 endPos, float thick, Color color);                       // Draw a line (using triangles/quads)
-RLAPI void DrawLineStrip(const Vector2 *points, int pointCount, Color color);                            // Draw lines sequence (using gl lines)
-RLAPI void DrawLineBezier(Vector2 startPos, Vector2 endPos, float thick, Color color);                   // Draw line segment cubic-bezier in-out interpolation
-RLAPI void DrawCircle(int centerX, int centerY, float radius, Color color);                              // Draw a color-filled circle
-RLAPI void DrawCircleSector(Vector2 center, float radius, float startAngle, float endAngle, int segments, Color color);      // Draw a piece of a circle
-RLAPI void DrawCircleSectorLines(Vector2 center, float radius, float startAngle, float endAngle, int segments, Color color); // Draw circle sector outline
-RLAPI void DrawCircleGradient(int centerX, int centerY, float radius, Color inner, Color outer);         // Draw a gradient-filled circle
-RLAPI void DrawCircleV(Vector2 center, float radius, Color color);                                       // Draw a color-filled circle (Vector version)
-RLAPI void DrawCircleLines(int centerX, int centerY, float radius, Color color);                         // Draw circle outline
-RLAPI void DrawCircleLinesV(Vector2 center, float radius, Color color);                                  // Draw circle outline (Vector version)
-RLAPI void DrawEllipse(int centerX, int centerY, float radiusH, float radiusV, Color color);             // Draw ellipse
-RLAPI void DrawEllipseLines(int centerX, int centerY, float radiusH, float radiusV, Color color);        // Draw ellipse outline
-RLAPI void DrawRing(Vector2 center, float innerRadius, float outerRadius, float startAngle, float endAngle, int segments, Color color); // Draw ring
-RLAPI void DrawRingLines(Vector2 center, float innerRadius, float outerRadius, float startAngle, float endAngle, int segments, Color color);    // Draw ring outline
-RLAPI void DrawRectangle(int posX, int posY, int width, int height, Color color);                        // Draw a color-filled rectangle
-RLAPI void DrawRectangleV(Vector2 position, Vector2 size, Color color);                                  // Draw a color-filled rectangle (Vector version)
-RLAPI void DrawRectangleRec(Rectangle rec, Color color);                                                 // Draw a color-filled rectangle
-RLAPI void DrawRectanglePro(Rectangle rec, Vector2 origin, float rotation, Color color);                 // Draw a color-filled rectangle with pro parameters
-RLAPI void DrawRectangleGradientV(int posX, int posY, int width, int height, Color top, Color bottom);   // Draw a vertical-gradient-filled rectangle
-RLAPI void DrawRectangleGradientH(int posX, int posY, int width, int height, Color left, Color right);   // Draw a horizontal-gradient-filled rectangle
-RLAPI void DrawRectangleGradientEx(Rectangle rec, Color topLeft, Color bottomLeft, Color topRight, Color bottomRight); // Draw a gradient-filled rectangle with custom vertex colors
-RLAPI void DrawRectangleLines(int posX, int posY, int width, int height, Color color);                   // Draw rectangle outline
-RLAPI void DrawRectangleLinesEx(Rectangle rec, float lineThick, Color color);                            // Draw rectangle outline with extended parameters
-RLAPI void DrawRectangleRounded(Rectangle rec, float roundness, int segments, Color color);              // Draw rectangle with rounded edges
-RLAPI void DrawRectangleRoundedLines(Rectangle rec, float roundness, int segments, Color color);         // Draw rectangle lines with rounded edges
-RLAPI void DrawRectangleRoundedLinesEx(Rectangle rec, float roundness, int segments, float lineThick, Color color); // Draw rectangle with rounded edges outline
-RLAPI void DrawTriangle(Vector2 v1, Vector2 v2, Vector2 v3, Color color);                                // Draw a color-filled triangle (vertex in counter-clockwise order!)
-RLAPI void DrawTriangleLines(Vector2 v1, Vector2 v2, Vector2 v3, Color color);                           // Draw triangle outline (vertex in counter-clockwise order!)
-RLAPI void DrawTriangleFan(const Vector2 *points, int pointCount, Color color);                          // Draw a triangle fan defined by points (first vertex is the center)
-RLAPI void DrawTriangleStrip(const Vector2 *points, int pointCount, Color color);                        // Draw a triangle strip defined by points
-RLAPI void DrawPoly(Vector2 center, int sides, float radius, float rotation, Color color);               // Draw a regular polygon (Vector version)
-RLAPI void DrawPolyLines(Vector2 center, int sides, float radius, float rotation, Color color);          // Draw a polygon outline of n sides
-RLAPI void DrawPolyLinesEx(Vector2 center, int sides, float radius, float rotation, float lineThick, Color color); // Draw a polygon outline of n sides with extended parameters
-
-// Splines drawing functions
-RLAPI void DrawSplineLinear(const Vector2 *points, int pointCount, float thick, Color color);                  // Draw spline: Linear, minimum 2 points
-RLAPI void DrawSplineBasis(const Vector2 *points, int pointCount, float thick, Color color);                   // Draw spline: B-Spline, minimum 4 points
-RLAPI void DrawSplineCatmullRom(const Vector2 *points, int pointCount, float thick, Color color);              // Draw spline: Catmull-Rom, minimum 4 points
-RLAPI void DrawSplineBezierQuadratic(const Vector2 *points, int pointCount, float thick, Color color);         // Draw spline: Quadratic Bezier, minimum 3 points (1 control point): [p1, c2, p3, c4...]
-RLAPI void DrawSplineBezierCubic(const Vector2 *points, int pointCount, float thick, Color color);             // Draw spline: Cubic Bezier, minimum 4 points (2 control points): [p1, c2, c3, p4, c5, c6...]
-RLAPI void DrawSplineSegmentLinear(Vector2 p1, Vector2 p2, float thick, Color color);                    // Draw spline segment: Linear, 2 points
-RLAPI void DrawSplineSegmentBasis(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float thick, Color color); // Draw spline segment: B-Spline, 4 points
-RLAPI void DrawSplineSegmentCatmullRom(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float thick, Color color); // Draw spline segment: Catmull-Rom, 4 points
-RLAPI void DrawSplineSegmentBezierQuadratic(Vector2 p1, Vector2 c2, Vector2 p3, float thick, Color color); // Draw spline segment: Quadratic Bezier, 2 points, 1 control point
-RLAPI void DrawSplineSegmentBezierCubic(Vector2 p1, Vector2 c2, Vector2 c3, Vector2 p4, float thick, Color color); // Draw spline segment: Cubic Bezier, 2 points, 2 control points
-
-// Spline segment point evaluation functions, for a given t [0.0f .. 1.0f]
-RLAPI Vector2 GetSplinePointLinear(Vector2 startPos, Vector2 endPos, float t);                           // Get (evaluate) spline point: Linear
-RLAPI Vector2 GetSplinePointBasis(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float t);              // Get (evaluate) spline point: B-Spline
-RLAPI Vector2 GetSplinePointCatmullRom(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float t);         // Get (evaluate) spline point: Catmull-Rom
-RLAPI Vector2 GetSplinePointBezierQuad(Vector2 p1, Vector2 c2, Vector2 p3, float t);                     // Get (evaluate) spline point: Quadratic Bezier
-RLAPI Vector2 GetSplinePointBezierCubic(Vector2 p1, Vector2 c2, Vector2 c3, Vector2 p4, float t);        // Get (evaluate) spline point: Cubic Bezier
-
-// Basic shapes collision detection functions
-RLAPI bool CheckCollisionRecs(Rectangle rec1, Rectangle rec2);                                           // Check collision between two rectangles
-RLAPI bool CheckCollisionCircles(Vector2 center1, float radius1, Vector2 center2, float radius2);        // Check collision between two circles
-RLAPI bool CheckCollisionCircleRec(Vector2 center, float radius, Rectangle rec);                         // Check collision between circle and rectangle
-RLAPI bool CheckCollisionCircleLine(Vector2 center, float radius, Vector2 p1, Vector2 p2);               // Check if circle collides with a line created betweeen two points [p1] and [p2]
-RLAPI bool CheckCollisionPointRec(Vector2 point, Rectangle rec);                                         // Check if point is inside rectangle
-RLAPI bool CheckCollisionPointCircle(Vector2 point, Vector2 center, float radius);                       // Check if point is inside circle
-RLAPI bool CheckCollisionPointTriangle(Vector2 point, Vector2 p1, Vector2 p2, Vector2 p3);               // Check if point is inside a triangle
-RLAPI bool CheckCollisionPointLine(Vector2 point, Vector2 p1, Vector2 p2, int threshold);                // Check if point belongs to line created between two points [p1] and [p2] with defined margin in pixels [threshold]
-RLAPI bool CheckCollisionPointPoly(Vector2 point, const Vector2 *points, int pointCount);                // Check if point is within a polygon described by array of vertices
-RLAPI bool CheckCollisionLines(Vector2 startPos1, Vector2 endPos1, Vector2 startPos2, Vector2 endPos2, Vector2 *collisionPoint); // Check the collision between two lines defined by two points each, returns collision point by reference
-RLAPI Rectangle GetCollisionRec(Rectangle rec1, Rectangle rec2);                                         // Get collision rectangle for two rectangles collision
-
-//------------------------------------------------------------------------------------
-// Texture Loading and Drawing Functions (Module: textures)
-//------------------------------------------------------------------------------------
-
-// Image loading functions
-// NOTE: These functions do not require GPU access
-RLAPI Image LoadImage(const char *fileName);                                                             // Load image from file into CPU memory (RAM)
-RLAPI Image LoadImageRaw(const char *fileName, int width, int height, int format, int headerSize);       // Load image from RAW file data
-RLAPI Image LoadImageAnim(const char *fileName, int *frames);                                            // Load image sequence from file (frames appended to image.data)
-RLAPI Image LoadImageAnimFromMemory(const char *fileType, const unsigned char *fileData, int dataSize, int *frames); // Load image sequence from memory buffer
-RLAPI Image LoadImageFromMemory(const char *fileType, const unsigned char *fileData, int dataSize);      // Load image from memory buffer, fileType refers to extension: i.e. '.png'
-RLAPI Image LoadImageFromTexture(Texture2D texture);                                                     // Load image from GPU texture data
-RLAPI Image LoadImageFromScreen(void);                                                                   // Load image from screen buffer and (screenshot)
-RLAPI bool IsImageValid(Image image);                                                                    // Check if an image is valid (data and parameters)
-RLAPI void UnloadImage(Image image);                                                                     // Unload image from CPU memory (RAM)
-RLAPI bool ExportImage(Image image, const char *fileName);                                               // Export image data to file, returns true on success
-RLAPI unsigned char *ExportImageToMemory(Image image, const char *fileType, int *fileSize);              // Export image to memory buffer
-RLAPI bool ExportImageAsCode(Image image, const char *fileName);                                         // Export image as code file defining an array of bytes, returns true on success
-
-// Image generation functions
-RLAPI Image GenImageColor(int width, int height, Color color);                                           // Generate image: plain color
-RLAPI Image GenImageGradientLinear(int width, int height, int direction, Color start, Color end);        // Generate image: linear gradient, direction in degrees [0..360], 0=Vertical gradient
-RLAPI Image GenImageGradientRadial(int width, int height, float density, Color inner, Color outer);      // Generate image: radial gradient
-RLAPI Image GenImageGradientSquare(int width, int height, float density, Color inner, Color outer);      // Generate image: square gradient
-RLAPI Image GenImageChecked(int width, int height, int checksX, int checksY, Color col1, Color col2);    // Generate image: checked
-RLAPI Image GenImageWhiteNoise(int width, int height, float factor);                                     // Generate image: white noise
-RLAPI Image GenImagePerlinNoise(int width, int height, int offsetX, int offsetY, float scale);           // Generate image: perlin noise
-RLAPI Image GenImageCellular(int width, int height, int tileSize);                                       // Generate image: cellular algorithm, bigger tileSize means bigger cells
-RLAPI Image GenImageText(int width, int height, const char *text);                                       // Generate image: grayscale image from text data
-
-// Image manipulation functions
-RLAPI Image ImageCopy(Image image);                                                                      // Create an image duplicate (useful for transformations)
-RLAPI Image ImageFromImage(Image image, Rectangle rec);                                                  // Create an image from another image piece
-RLAPI Image ImageFromChannel(Image image, int selectedChannel);                                          // Create an image from a selected channel of another image (GRAYSCALE)
-RLAPI Image ImageText(const char *text, int fontSize, Color color);                                      // Create an image from text (default font)
-RLAPI Image ImageTextEx(Font font, const char *text, float fontSize, float spacing, Color tint);         // Create an image from text (custom sprite font)
-RLAPI void ImageFormat(Image *image, int newFormat);                                                     // Convert image data to desired format
-RLAPI void ImageToPOT(Image *image, Color fill);                                                         // Convert image to POT (power-of-two)
-RLAPI void ImageCrop(Image *image, Rectangle crop);                                                      // Crop an image to a defined rectangle
-RLAPI void ImageAlphaCrop(Image *image, float threshold);                                                // Crop image depending on alpha value
-RLAPI void ImageAlphaClear(Image *image, Color color, float threshold);                                  // Clear alpha channel to desired color
-RLAPI void ImageAlphaMask(Image *image, Image alphaMask);                                                // Apply alpha mask to image
-RLAPI void ImageAlphaPremultiply(Image *image);                                                          // Premultiply alpha channel
-RLAPI void ImageBlurGaussian(Image *image, int blurSize);                                                // Apply Gaussian blur using a box blur approximation
-RLAPI void ImageKernelConvolution(Image *image, const float *kernel, int kernelSize);                    // Apply custom square convolution kernel to image
-RLAPI void ImageResize(Image *image, int newWidth, int newHeight);                                       // Resize image (Bicubic scaling algorithm)
-RLAPI void ImageResizeNN(Image *image, int newWidth,int newHeight);                                      // Resize image (Nearest-Neighbor scaling algorithm)
-RLAPI void ImageResizeCanvas(Image *image, int newWidth, int newHeight, int offsetX, int offsetY, Color fill); // Resize canvas and fill with color
-RLAPI void ImageMipmaps(Image *image);                                                                   // Compute all mipmap levels for a provided image
-RLAPI void ImageDither(Image *image, int rBpp, int gBpp, int bBpp, int aBpp);                            // Dither image data to 16bpp or lower (Floyd-Steinberg dithering)
-RLAPI void ImageFlipVertical(Image *image);                                                              // Flip image vertically
-RLAPI void ImageFlipHorizontal(Image *image);                                                            // Flip image horizontally
-RLAPI void ImageRotate(Image *image, int degrees);                                                       // Rotate image by input angle in degrees (-359 to 359)
-RLAPI void ImageRotateCW(Image *image);                                                                  // Rotate image clockwise 90deg
-RLAPI void ImageRotateCCW(Image *image);                                                                 // Rotate image counter-clockwise 90deg
-RLAPI void ImageColorTint(Image *image, Color color);                                                    // Modify image color: tint
-RLAPI void ImageColorInvert(Image *image);                                                               // Modify image color: invert
-RLAPI void ImageColorGrayscale(Image *image);                                                            // Modify image color: grayscale
-RLAPI void ImageColorContrast(Image *image, float contrast);                                             // Modify image color: contrast (-100 to 100)
-RLAPI void ImageColorBrightness(Image *image, int brightness);                                           // Modify image color: brightness (-255 to 255)
-RLAPI void ImageColorReplace(Image *image, Color color, Color replace);                                  // Modify image color: replace color
-RLAPI Color *LoadImageColors(Image image);                                                               // Load color data from image as a Color array (RGBA - 32bit)
-RLAPI Color *LoadImagePalette(Image image, int maxPaletteSize, int *colorCount);                         // Load colors palette from image as a Color array (RGBA - 32bit)
-RLAPI void UnloadImageColors(Color *colors);                                                             // Unload color data loaded with LoadImageColors()
-RLAPI void UnloadImagePalette(Color *colors);                                                            // Unload colors palette loaded with LoadImagePalette()
-RLAPI Rectangle GetImageAlphaBorder(Image image, float threshold);                                       // Get image alpha border rectangle
-RLAPI Color GetImageColor(Image image, int x, int y);                                                    // Get image pixel color at (x, y) position
-
-// Image drawing functions
-// NOTE: Image software-rendering functions (CPU)
-RLAPI void ImageClearBackground(Image *dst, Color color);                                                // Clear image background with given color
-RLAPI void ImageDrawPixel(Image *dst, int posX, int posY, Color color);                                  // Draw pixel within an image
-RLAPI void ImageDrawPixelV(Image *dst, Vector2 position, Color color);                                   // Draw pixel within an image (Vector version)
-RLAPI void ImageDrawLine(Image *dst, int startPosX, int startPosY, int endPosX, int endPosY, Color color); // Draw line within an image
-RLAPI void ImageDrawLineV(Image *dst, Vector2 start, Vector2 end, Color color);                          // Draw line within an image (Vector version)
-RLAPI void ImageDrawLineEx(Image *dst, Vector2 start, Vector2 end, int thick, Color color);              // Draw a line defining thickness within an image
-RLAPI void ImageDrawCircle(Image *dst, int centerX, int centerY, int radius, Color color);               // Draw a filled circle within an image
-RLAPI void ImageDrawCircleV(Image *dst, Vector2 center, int radius, Color color);                        // Draw a filled circle within an image (Vector version)
-RLAPI void ImageDrawCircleLines(Image *dst, int centerX, int centerY, int radius, Color color);          // Draw circle outline within an image
-RLAPI void ImageDrawCircleLinesV(Image *dst, Vector2 center, int radius, Color color);                   // Draw circle outline within an image (Vector version)
-RLAPI void ImageDrawRectangle(Image *dst, int posX, int posY, int width, int height, Color color);       // Draw rectangle within an image
-RLAPI void ImageDrawRectangleV(Image *dst, Vector2 position, Vector2 size, Color color);                 // Draw rectangle within an image (Vector version)
-RLAPI void ImageDrawRectangleRec(Image *dst, Rectangle rec, Color color);                                // Draw rectangle within an image
-RLAPI void ImageDrawRectangleLines(Image *dst, Rectangle rec, int thick, Color color);                   // Draw rectangle lines within an image
-RLAPI void ImageDrawTriangle(Image *dst, Vector2 v1, Vector2 v2, Vector2 v3, Color color);               // Draw triangle within an image
-RLAPI void ImageDrawTriangleEx(Image *dst, Vector2 v1, Vector2 v2, Vector2 v3, Color c1, Color c2, Color c3); // Draw triangle with interpolated colors within an image
-RLAPI void ImageDrawTriangleLines(Image *dst, Vector2 v1, Vector2 v2, Vector2 v3, Color color);          // Draw triangle outline within an image
-RLAPI void ImageDrawTriangleFan(Image *dst, Vector2 *points, int pointCount, Color color);               // Draw a triangle fan defined by points within an image (first vertex is the center)
-RLAPI void ImageDrawTriangleStrip(Image *dst, Vector2 *points, int pointCount, Color color);             // Draw a triangle strip defined by points within an image
-RLAPI void ImageDraw(Image *dst, Image src, Rectangle srcRec, Rectangle dstRec, Color tint);             // Draw a source image within a destination image (tint applied to source)
-RLAPI void ImageDrawText(Image *dst, const char *text, int posX, int posY, int fontSize, Color color);   // Draw text (using default font) within an image (destination)
-RLAPI void ImageDrawTextEx(Image *dst, Font font, const char *text, Vector2 position, float fontSize, float spacing, Color tint); // Draw text (custom sprite font) within an image (destination)
-
-// Texture loading functions
-// NOTE: These functions require GPU access
-RLAPI Texture2D LoadTexture(const char *fileName);                                                       // Load texture from file into GPU memory (VRAM)
-RLAPI Texture2D LoadTextureFromImage(Image image);                                                       // Load texture from image data
-RLAPI TextureCubemap LoadTextureCubemap(Image image, int layout);                                        // Load cubemap from image, multiple image cubemap layouts supported
-RLAPI RenderTexture2D LoadRenderTexture(int width, int height);                                          // Load texture for rendering (framebuffer)
-RLAPI bool IsTextureValid(Texture2D texture);                                                            // Check if a texture is valid (loaded in GPU)
-RLAPI void UnloadTexture(Texture2D texture);                                                             // Unload texture from GPU memory (VRAM)
-RLAPI bool IsRenderTextureValid(RenderTexture2D target);                                                 // Check if a render texture is valid (loaded in GPU)
-RLAPI void UnloadRenderTexture(RenderTexture2D target);                                                  // Unload render texture from GPU memory (VRAM)
-RLAPI void UpdateTexture(Texture2D texture, const void *pixels);                                         // Update GPU texture with new data
-RLAPI void UpdateTextureRec(Texture2D texture, Rectangle rec, const void *pixels);                       // Update GPU texture rectangle with new data
-
-// Texture configuration functions
-RLAPI void GenTextureMipmaps(Texture2D *texture);                                                        // Generate GPU mipmaps for a texture
-RLAPI void SetTextureFilter(Texture2D texture, int filter);                                              // Set texture scaling filter mode
-RLAPI void SetTextureWrap(Texture2D texture, int wrap);                                                  // Set texture wrapping mode
-
-// Texture drawing functions
-RLAPI void DrawTexture(Texture2D texture, int posX, int posY, Color tint);                               // Draw a Texture2D
-RLAPI void DrawTextureV(Texture2D texture, Vector2 position, Color tint);                                // Draw a Texture2D with position defined as Vector2
-RLAPI void DrawTextureEx(Texture2D texture, Vector2 position, float rotation, float scale, Color tint);  // Draw a Texture2D with extended parameters
-RLAPI void DrawTextureRec(Texture2D texture, Rectangle source, Vector2 position, Color tint);            // Draw a part of a texture defined by a rectangle
-RLAPI void DrawTexturePro(Texture2D texture, Rectangle source, Rectangle dest, Vector2 origin, float rotation, Color tint); // Draw a part of a texture defined by a rectangle with 'pro' parameters
-RLAPI void DrawTextureNPatch(Texture2D texture, NPatchInfo nPatchInfo, Rectangle dest, Vector2 origin, float rotation, Color tint); // Draws a texture (or part of it) that stretches or shrinks nicely
-
-// Color/pixel related functions
-RLAPI bool ColorIsEqual(Color col1, Color col2);                            // Check if two colors are equal
-RLAPI Color Fade(Color color, float alpha);                                 // Get color with alpha applied, alpha goes from 0.0f to 1.0f
-RLAPI int ColorToInt(Color color);                                          // Get hexadecimal value for a Color (0xRRGGBBAA)
-RLAPI Vector4 ColorNormalize(Color color);                                  // Get Color normalized as float [0..1]
-RLAPI Color ColorFromNormalized(Vector4 normalized);                        // Get Color from normalized values [0..1]
-RLAPI Vector3 ColorToHSV(Color color);                                      // Get HSV values for a Color, hue [0..360], saturation/value [0..1]
-RLAPI Color ColorFromHSV(float hue, float saturation, float value);         // Get a Color from HSV values, hue [0..360], saturation/value [0..1]
-RLAPI Color ColorTint(Color color, Color tint);                             // Get color multiplied with another color
-RLAPI Color ColorBrightness(Color color, float factor);                     // Get color with brightness correction, brightness factor goes from -1.0f to 1.0f
-RLAPI Color ColorContrast(Color color, float contrast);                     // Get color with contrast correction, contrast values between -1.0f and 1.0f
-RLAPI Color ColorAlpha(Color color, float alpha);                           // Get color with alpha applied, alpha goes from 0.0f to 1.0f
-RLAPI Color ColorAlphaBlend(Color dst, Color src, Color tint);              // Get src alpha-blended into dst color with tint
-RLAPI Color ColorLerp(Color color1, Color color2, float factor);            // Get color lerp interpolation between two colors, factor [0.0f..1.0f]
-RLAPI Color GetColor(unsigned int hexValue);                                // Get Color structure from hexadecimal value
-RLAPI Color GetPixelColor(void *srcPtr, int format);                        // Get Color from a source pixel pointer of certain format
-RLAPI void SetPixelColor(void *dstPtr, Color color, int format);            // Set color formatted into destination pixel pointer
-RLAPI int GetPixelDataSize(int width, int height, int format);              // Get pixel data size in bytes for certain format
-
-//------------------------------------------------------------------------------------
-// Font Loading and Text Drawing Functions (Module: text)
-//------------------------------------------------------------------------------------
-
-// Font loading/unloading functions
-RLAPI Font GetFontDefault(void);                                                            // Get the default Font
-RLAPI Font LoadFont(const char *fileName);                                                  // Load font from file into GPU memory (VRAM)
-RLAPI Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount); // Load font from file with extended parameters, use NULL for codepoints and 0 for codepointCount to load the default character set, font size is provided in pixels height
-RLAPI Font LoadFontFromImage(Image image, Color key, int firstChar);                        // Load font from Image (XNA style)
-RLAPI Font LoadFontFromMemory(const char *fileType, const unsigned char *fileData, int dataSize, int fontSize, int *codepoints, int codepointCount); // Load font from memory buffer, fileType refers to extension: i.e. '.ttf'
-RLAPI bool IsFontValid(Font font);                                                          // Check if a font is valid (font data loaded, WARNING: GPU texture not checked)
-RLAPI GlyphInfo *LoadFontData(const unsigned char *fileData, int dataSize, int fontSize, int *codepoints, int codepointCount, int type); // Load font data for further use
-RLAPI Image GenImageFontAtlas(const GlyphInfo *glyphs, Rectangle **glyphRecs, int glyphCount, int fontSize, int padding, int packMethod); // Generate image font atlas using chars info
-RLAPI void UnloadFontData(GlyphInfo *glyphs, int glyphCount);                               // Unload font chars info data (RAM)
-RLAPI void UnloadFont(Font font);                                                           // Unload font from GPU memory (VRAM)
-RLAPI bool ExportFontAsCode(Font font, const char *fileName);                               // Export font as code file, returns true on success
-
-// Text drawing functions
-RLAPI void DrawFPS(int posX, int posY);                                                     // Draw current FPS
-RLAPI void DrawText(const char *text, int posX, int posY, int fontSize, Color color);       // Draw text (using default font)
-RLAPI void DrawTextEx(Font font, const char *text, Vector2 position, float fontSize, float spacing, Color tint); // Draw text using font and additional parameters
-RLAPI void DrawTextPro(Font font, const char *text, Vector2 position, Vector2 origin, float rotation, float fontSize, float spacing, Color tint); // Draw text using Font and pro parameters (rotation)
-RLAPI void DrawTextCodepoint(Font font, int codepoint, Vector2 position, float fontSize, Color tint); // Draw one character (codepoint)
-RLAPI void DrawTextCodepoints(Font font, const int *codepoints, int codepointCount, Vector2 position, float fontSize, float spacing, Color tint); // Draw multiple character (codepoint)
-
-// Text font info functions
-RLAPI void SetTextLineSpacing(int spacing);                                                 // Set vertical line spacing when drawing with line-breaks
-RLAPI int MeasureText(const char *text, int fontSize);                                      // Measure string width for default font
-RLAPI Vector2 MeasureTextEx(Font font, const char *text, float fontSize, float spacing);    // Measure string size for Font
-RLAPI int GetGlyphIndex(Font font, int codepoint);                                          // Get glyph index position in font for a codepoint (unicode character), fallback to '?' if not found
-RLAPI GlyphInfo GetGlyphInfo(Font font, int codepoint);                                     // Get glyph font info data for a codepoint (unicode character), fallback to '?' if not found
-RLAPI Rectangle GetGlyphAtlasRec(Font font, int codepoint);                                 // Get glyph rectangle in font atlas for a codepoint (unicode character), fallback to '?' if not found
-
-// Text codepoints management functions (unicode characters)
-RLAPI char *LoadUTF8(const int *codepoints, int length);                // Load UTF-8 text encoded from codepoints array
-RLAPI void UnloadUTF8(char *text);                                      // Unload UTF-8 text encoded from codepoints array
-RLAPI int *LoadCodepoints(const char *text, int *count);                // Load all codepoints from a UTF-8 text string, codepoints count returned by parameter
-RLAPI void UnloadCodepoints(int *codepoints);                           // Unload codepoints data from memory
-RLAPI int GetCodepointCount(const char *text);                          // Get total number of codepoints in a UTF-8 encoded string
-RLAPI int GetCodepoint(const char *text, int *codepointSize);           // Get next codepoint in a UTF-8 encoded string, 0x3f('?') is returned on failure
-RLAPI int GetCodepointNext(const char *text, int *codepointSize);       // Get next codepoint in a UTF-8 encoded string, 0x3f('?') is returned on failure
-RLAPI int GetCodepointPrevious(const char *text, int *codepointSize);   // Get previous codepoint in a UTF-8 encoded string, 0x3f('?') is returned on failure
-RLAPI const char *CodepointToUTF8(int codepoint, int *utf8Size);        // Encode one codepoint into UTF-8 byte array (array length returned as parameter)
-
-// Text strings management functions (no UTF-8 strings, only byte chars)
-// NOTE: Some strings allocate memory internally for returned strings, just be careful!
-RLAPI int TextCopy(char *dst, const char *src);                                             // Copy one string to another, returns bytes copied
-RLAPI bool TextIsEqual(const char *text1, const char *text2);                               // Check if two text string are equal
-RLAPI unsigned int TextLength(const char *text);                                            // Get text length, checks for '\0' ending
-RLAPI const char *TextFormat(const char *text, ...);                                        // Text formatting with variables (sprintf() style)
-RLAPI const char *TextSubtext(const char *text, int position, int length);                  // Get a piece of a text string
-RLAPI char *TextReplace(const char *text, const char *replace, const char *by);             // Replace text string (WARNING: memory must be freed!)
-RLAPI char *TextInsert(const char *text, const char *insert, int position);                 // Insert text in a position (WARNING: memory must be freed!)
-RLAPI const char *TextJoin(const char **textList, int count, const char *delimiter);        // Join text strings with delimiter
-RLAPI const char **TextSplit(const char *text, char delimiter, int *count);                 // Split text into multiple strings
-RLAPI void TextAppend(char *text, const char *append, int *position);                       // Append text at specific position and move cursor!
-RLAPI int TextFindIndex(const char *text, const char *find);                                // Find first text occurrence within a string
-RLAPI const char *TextToUpper(const char *text);                      // Get upper case version of provided string
-RLAPI const char *TextToLower(const char *text);                      // Get lower case version of provided string
-RLAPI const char *TextToPascal(const char *text);                     // Get Pascal case notation version of provided string
-RLAPI const char *TextToSnake(const char *text);                      // Get Snake case notation version of provided string
-RLAPI const char *TextToCamel(const char *text);                      // Get Camel case notation version of provided string
-
-RLAPI int TextToInteger(const char *text);                            // Get integer value from text (negative values not supported)
-RLAPI float TextToFloat(const char *text);                            // Get float value from text (negative values not supported)
-
-//------------------------------------------------------------------------------------
-// Basic 3d Shapes Drawing Functions (Module: models)
-//------------------------------------------------------------------------------------
-
-// Basic geometric 3D shapes drawing functions
-RLAPI void DrawLine3D(Vector3 startPos, Vector3 endPos, Color color);                                    // Draw a line in 3D world space
-RLAPI void DrawPoint3D(Vector3 position, Color color);                                                   // Draw a point in 3D space, actually a small line
-RLAPI void DrawCircle3D(Vector3 center, float radius, Vector3 rotationAxis, float rotationAngle, Color color); // Draw a circle in 3D world space
-RLAPI void DrawTriangle3D(Vector3 v1, Vector3 v2, Vector3 v3, Color color);                              // Draw a color-filled triangle (vertex in counter-clockwise order!)
-RLAPI void DrawTriangleStrip3D(const Vector3 *points, int pointCount, Color color);                      // Draw a triangle strip defined by points
-RLAPI void DrawCube(Vector3 position, float width, float height, float length, Color color);             // Draw cube
-RLAPI void DrawCubeV(Vector3 position, Vector3 size, Color color);                                       // Draw cube (Vector version)
-RLAPI void DrawCubeWires(Vector3 position, float width, float height, float length, Color color);        // Draw cube wires
-RLAPI void DrawCubeWiresV(Vector3 position, Vector3 size, Color color);                                  // Draw cube wires (Vector version)
-RLAPI void DrawSphere(Vector3 centerPos, float radius, Color color);                                     // Draw sphere
-RLAPI void DrawSphereEx(Vector3 centerPos, float radius, int rings, int slices, Color color);            // Draw sphere with extended parameters
-RLAPI void DrawSphereWires(Vector3 centerPos, float radius, int rings, int slices, Color color);         // Draw sphere wires
-RLAPI void DrawCylinder(Vector3 position, float radiusTop, float radiusBottom, float height, int slices, Color color); // Draw a cylinder/cone
-RLAPI void DrawCylinderEx(Vector3 startPos, Vector3 endPos, float startRadius, float endRadius, int sides, Color color); // Draw a cylinder with base at startPos and top at endPos
-RLAPI void DrawCylinderWires(Vector3 position, float radiusTop, float radiusBottom, float height, int slices, Color color); // Draw a cylinder/cone wires
-RLAPI void DrawCylinderWiresEx(Vector3 startPos, Vector3 endPos, float startRadius, float endRadius, int sides, Color color); // Draw a cylinder wires with base at startPos and top at endPos
-RLAPI void DrawCapsule(Vector3 startPos, Vector3 endPos, float radius, int slices, int rings, Color color); // Draw a capsule with the center of its sphere caps at startPos and endPos
-RLAPI void DrawCapsuleWires(Vector3 startPos, Vector3 endPos, float radius, int slices, int rings, Color color); // Draw capsule wireframe with the center of its sphere caps at startPos and endPos
-RLAPI void DrawPlane(Vector3 centerPos, Vector2 size, Color color);                                      // Draw a plane XZ
-RLAPI void DrawRay(Ray ray, Color color);                                                                // Draw a ray line
-RLAPI void DrawGrid(int slices, float spacing);                                                          // Draw a grid (centered at (0, 0, 0))
-
-//------------------------------------------------------------------------------------
-// Model 3d Loading and Drawing Functions (Module: models)
-//------------------------------------------------------------------------------------
-
-// Model management functions
-RLAPI Model LoadModel(const char *fileName);                                                // Load model from files (meshes and materials)
-RLAPI Model LoadModelFromMesh(Mesh mesh);                                                   // Load model from generated mesh (default material)
-RLAPI bool IsModelValid(Model model);                                                       // Check if a model is valid (loaded in GPU, VAO/VBOs)
-RLAPI void UnloadModel(Model model);                                                        // Unload model (including meshes) from memory (RAM and/or VRAM)
-RLAPI BoundingBox GetModelBoundingBox(Model model);                                         // Compute model bounding box limits (considers all meshes)
-
-// Model drawing functions
-RLAPI void DrawModel(Model model, Vector3 position, float scale, Color tint);               // Draw a model (with texture if set)
-RLAPI void DrawModelEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model with extended parameters
-RLAPI void DrawModelWires(Model model, Vector3 position, float scale, Color tint);          // Draw a model wires (with texture if set)
-RLAPI void DrawModelWiresEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model wires (with texture if set) with extended parameters
-RLAPI void DrawModelPoints(Model model, Vector3 position, float scale, Color tint); // Draw a model as points
-RLAPI void DrawModelPointsEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model as points with extended parameters
-RLAPI void DrawBoundingBox(BoundingBox box, Color color);                                   // Draw bounding box (wires)
-RLAPI void DrawBillboard(Camera camera, Texture2D texture, Vector3 position, float scale, Color tint);   // Draw a billboard texture
-RLAPI void DrawBillboardRec(Camera camera, Texture2D texture, Rectangle source, Vector3 position, Vector2 size, Color tint); // Draw a billboard texture defined by source
-RLAPI void DrawBillboardPro(Camera camera, Texture2D texture, Rectangle source, Vector3 position, Vector3 up, Vector2 size, Vector2 origin, float rotation, Color tint); // Draw a billboard texture defined by source and rotation
-
-// Mesh management functions
-RLAPI void UploadMesh(Mesh *mesh, bool dynamic);                                            // Upload mesh vertex data in GPU and provide VAO/VBO ids
-RLAPI void UpdateMeshBuffer(Mesh mesh, int index, const void *data, int dataSize, int offset); // Update mesh vertex data in GPU for a specific buffer index
-RLAPI void UnloadMesh(Mesh mesh);                                                           // Unload mesh data from CPU and GPU
-RLAPI void DrawMesh(Mesh mesh, Material material, Matrix transform);                        // Draw a 3d mesh with material and transform
-RLAPI void DrawMeshInstanced(Mesh mesh, Material material, const Matrix *transforms, int instances); // Draw multiple mesh instances with material and different transforms
-RLAPI BoundingBox GetMeshBoundingBox(Mesh mesh);                                            // Compute mesh bounding box limits
-RLAPI void GenMeshTangents(Mesh *mesh);                                                     // Compute mesh tangents
-RLAPI bool ExportMesh(Mesh mesh, const char *fileName);                                     // Export mesh data to file, returns true on success
-RLAPI bool ExportMeshAsCode(Mesh mesh, const char *fileName);                               // Export mesh as code file (.h) defining multiple arrays of vertex attributes
-
-// Mesh generation functions
-RLAPI Mesh GenMeshPoly(int sides, float radius);                                            // Generate polygonal mesh
-RLAPI Mesh GenMeshPlane(float width, float length, int resX, int resZ);                     // Generate plane mesh (with subdivisions)
-RLAPI Mesh GenMeshCube(float width, float height, float length);                            // Generate cuboid mesh
-RLAPI Mesh GenMeshSphere(float radius, int rings, int slices);                              // Generate sphere mesh (standard sphere)
-RLAPI Mesh GenMeshHemiSphere(float radius, int rings, int slices);                          // Generate half-sphere mesh (no bottom cap)
-RLAPI Mesh GenMeshCylinder(float radius, float height, int slices);                         // Generate cylinder mesh
-RLAPI Mesh GenMeshCone(float radius, float height, int slices);                             // Generate cone/pyramid mesh
-RLAPI Mesh GenMeshTorus(float radius, float size, int radSeg, int sides);                   // Generate torus mesh
-RLAPI Mesh GenMeshKnot(float radius, float size, int radSeg, int sides);                    // Generate trefoil knot mesh
-RLAPI Mesh GenMeshHeightmap(Image heightmap, Vector3 size);                                 // Generate heightmap mesh from image data
-RLAPI Mesh GenMeshCubicmap(Image cubicmap, Vector3 cubeSize);                               // Generate cubes-based map mesh from image data
-
-// Material loading/unloading functions
-RLAPI Material *LoadMaterials(const char *fileName, int *materialCount);                    // Load materials from model file
-RLAPI Material LoadMaterialDefault(void);                                                   // Load default material (Supports: DIFFUSE, SPECULAR, NORMAL maps)
-RLAPI bool IsMaterialValid(Material material);                                              // Check if a material is valid (shader assigned, map textures loaded in GPU)
-RLAPI void UnloadMaterial(Material material);                                               // Unload material from GPU memory (VRAM)
-RLAPI void SetMaterialTexture(Material *material, int mapType, Texture2D texture);          // Set texture for a material map type (MATERIAL_MAP_DIFFUSE, MATERIAL_MAP_SPECULAR...)
-RLAPI void SetModelMeshMaterial(Model *model, int meshId, int materialId);                  // Set material for a mesh
-
-// Model animations loading/unloading functions
-RLAPI ModelAnimation *LoadModelAnimations(const char *fileName, int *animCount);            // Load model animations from file
-RLAPI void UpdateModelAnimation(Model model, ModelAnimation anim, int frame);               // Update model animation pose (CPU)
-RLAPI void UpdateModelAnimationBones(Model model, ModelAnimation anim, int frame);          // Update model animation mesh bone matrices (GPU skinning)
-RLAPI void UnloadModelAnimation(ModelAnimation anim);                                       // Unload animation data
-RLAPI void UnloadModelAnimations(ModelAnimation *animations, int animCount);                // Unload animation array data
-RLAPI bool IsModelAnimationValid(Model model, ModelAnimation anim);                         // Check model animation skeleton match
-
-// Collision detection functions
-RLAPI bool CheckCollisionSpheres(Vector3 center1, float radius1, Vector3 center2, float radius2);   // Check collision between two spheres
-RLAPI bool CheckCollisionBoxes(BoundingBox box1, BoundingBox box2);                                 // Check collision between two bounding boxes
-RLAPI bool CheckCollisionBoxSphere(BoundingBox box, Vector3 center, float radius);                  // Check collision between box and sphere
-RLAPI RayCollision GetRayCollisionSphere(Ray ray, Vector3 center, float radius);                    // Get collision info between ray and sphere
-RLAPI RayCollision GetRayCollisionBox(Ray ray, BoundingBox box);                                    // Get collision info between ray and box
-RLAPI RayCollision GetRayCollisionMesh(Ray ray, Mesh mesh, Matrix transform);                       // Get collision info between ray and mesh
-RLAPI RayCollision GetRayCollisionTriangle(Ray ray, Vector3 p1, Vector3 p2, Vector3 p3);            // Get collision info between ray and triangle
-RLAPI RayCollision GetRayCollisionQuad(Ray ray, Vector3 p1, Vector3 p2, Vector3 p3, Vector3 p4);    // Get collision info between ray and quad
-
-//------------------------------------------------------------------------------------
-// Audio Loading and Playing Functions (Module: audio)
-//------------------------------------------------------------------------------------
-typedef void (*AudioCallback)(void *bufferData, unsigned int frames);
-
-// Audio device management functions
-RLAPI void InitAudioDevice(void);                                     // Initialize audio device and context
-RLAPI void CloseAudioDevice(void);                                    // Close the audio device and context
-RLAPI bool IsAudioDeviceReady(void);                                  // Check if audio device has been initialized successfully
-RLAPI void SetMasterVolume(float volume);                             // Set master volume (listener)
-RLAPI float GetMasterVolume(void);                                    // Get master volume (listener)
-
-// Wave/Sound loading/unloading functions
-RLAPI Wave LoadWave(const char *fileName);                            // Load wave data from file
-RLAPI Wave LoadWaveFromMemory(const char *fileType, const unsigned char *fileData, int dataSize); // Load wave from memory buffer, fileType refers to extension: i.e. '.wav'
-RLAPI bool IsWaveValid(Wave wave);                                    // Checks if wave data is valid (data loaded and parameters)
-RLAPI Sound LoadSound(const char *fileName);                          // Load sound from file
-RLAPI Sound LoadSoundFromWave(Wave wave);                             // Load sound from wave data
-RLAPI Sound LoadSoundAlias(Sound source);                             // Create a new sound that shares the same sample data as the source sound, does not own the sound data
-RLAPI bool IsSoundValid(Sound sound);                                 // Checks if a sound is valid (data loaded and buffers initialized)
-RLAPI void UpdateSound(Sound sound, const void *data, int sampleCount); // Update sound buffer with new data
-RLAPI void UnloadWave(Wave wave);                                     // Unload wave data
-RLAPI void UnloadSound(Sound sound);                                  // Unload sound
-RLAPI void UnloadSoundAlias(Sound alias);                             // Unload a sound alias (does not deallocate sample data)
-RLAPI bool ExportWave(Wave wave, const char *fileName);               // Export wave data to file, returns true on success
-RLAPI bool ExportWaveAsCode(Wave wave, const char *fileName);         // Export wave sample data to code (.h), returns true on success
-
-// Wave/Sound management functions
-RLAPI void PlaySound(Sound sound);                                    // Play a sound
-RLAPI void StopSound(Sound sound);                                    // Stop playing a sound
-RLAPI void PauseSound(Sound sound);                                   // Pause a sound
-RLAPI void ResumeSound(Sound sound);                                  // Resume a paused sound
-RLAPI bool IsSoundPlaying(Sound sound);                               // Check if a sound is currently playing
-RLAPI void SetSoundVolume(Sound sound, float volume);                 // Set volume for a sound (1.0 is max level)
-RLAPI void SetSoundPitch(Sound sound, float pitch);                   // Set pitch for a sound (1.0 is base level)
-RLAPI void SetSoundPan(Sound sound, float pan);                       // Set pan for a sound (0.5 is center)
-RLAPI Wave WaveCopy(Wave wave);                                       // Copy a wave to a new wave
-RLAPI void WaveCrop(Wave *wave, int initFrame, int finalFrame);       // Crop a wave to defined frames range
-RLAPI void WaveFormat(Wave *wave, int sampleRate, int sampleSize, int channels); // Convert wave data to desired format
-RLAPI float *LoadWaveSamples(Wave wave);                              // Load samples data from wave as a 32bit float data array
-RLAPI void UnloadWaveSamples(float *samples);                         // Unload samples data loaded with LoadWaveSamples()
-
-// Music management functions
-RLAPI Music LoadMusicStream(const char *fileName);                    // Load music stream from file
-RLAPI Music LoadMusicStreamFromMemory(const char *fileType, const unsigned char *data, int dataSize); // Load music stream from data
-RLAPI bool IsMusicValid(Music music);                                 // Checks if a music stream is valid (context and buffers initialized)
-RLAPI void UnloadMusicStream(Music music);                            // Unload music stream
-RLAPI void PlayMusicStream(Music music);                              // Start music playing
-RLAPI bool IsMusicStreamPlaying(Music music);                         // Check if music is playing
-RLAPI void UpdateMusicStream(Music music);                            // Updates buffers for music streaming
-RLAPI void StopMusicStream(Music music);                              // Stop music playing
-RLAPI void PauseMusicStream(Music music);                             // Pause music playing
-RLAPI void ResumeMusicStream(Music music);                            // Resume playing paused music
-RLAPI void SeekMusicStream(Music music, float position);              // Seek music to a position (in seconds)
-RLAPI void SetMusicVolume(Music music, float volume);                 // Set volume for music (1.0 is max level)
-RLAPI void SetMusicPitch(Music music, float pitch);                   // Set pitch for a music (1.0 is base level)
-RLAPI void SetMusicPan(Music music, float pan);                       // Set pan for a music (0.5 is center)
-RLAPI float GetMusicTimeLength(Music music);                          // Get music time length (in seconds)
-RLAPI float GetMusicTimePlayed(Music music);                          // Get current music time played (in seconds)
-
-// AudioStream management functions
-RLAPI AudioStream LoadAudioStream(unsigned int sampleRate, unsigned int sampleSize, unsigned int channels); // Load audio stream (to stream raw audio pcm data)
-RLAPI bool IsAudioStreamValid(AudioStream stream);                    // Checks if an audio stream is valid (buffers initialized)
-RLAPI void UnloadAudioStream(AudioStream stream);                     // Unload audio stream and free memory
-RLAPI void UpdateAudioStream(AudioStream stream, const void *data, int frameCount); // Update audio stream buffers with data
-RLAPI bool IsAudioStreamProcessed(AudioStream stream);                // Check if any audio stream buffers requires refill
-RLAPI void PlayAudioStream(AudioStream stream);                       // Play audio stream
-RLAPI void PauseAudioStream(AudioStream stream);                      // Pause audio stream
-RLAPI void ResumeAudioStream(AudioStream stream);                     // Resume audio stream
-RLAPI bool IsAudioStreamPlaying(AudioStream stream);                  // Check if audio stream is playing
-RLAPI void StopAudioStream(AudioStream stream);                       // Stop audio stream
-RLAPI void SetAudioStreamVolume(AudioStream stream, float volume);    // Set volume for audio stream (1.0 is max level)
-RLAPI void SetAudioStreamPitch(AudioStream stream, float pitch);      // Set pitch for audio stream (1.0 is base level)
-RLAPI void SetAudioStreamPan(AudioStream stream, float pan);          // Set pan for audio stream (0.5 is centered)
-RLAPI void SetAudioStreamBufferSizeDefault(int size);                 // Default size for new audio streams
-RLAPI void SetAudioStreamCallback(AudioStream stream, AudioCallback callback); // Audio thread callback to request new data
-
-RLAPI void AttachAudioStreamProcessor(AudioStream stream, AudioCallback processor); // Attach audio stream processor to stream, receives the samples as 'float'
-RLAPI void DetachAudioStreamProcessor(AudioStream stream, AudioCallback processor); // Detach audio stream processor from stream
-
-RLAPI void AttachAudioMixedProcessor(AudioCallback processor); // Attach audio stream processor to the entire audio pipeline, receives the samples as 'float'
-RLAPI void DetachAudioMixedProcessor(AudioCallback processor); // Detach audio stream processor from the entire audio pipeline
-
-#if defined(__cplusplus)
-}
-#endif
-
-#endif // RAYLIB_H
diff --git a/third_party/raylib/include/raymath.h b/third_party/raylib/include/raymath.h
deleted file mode 100644
index 5b5e4c74ff6543..00000000000000
--- a/third_party/raylib/include/raymath.h
+++ /dev/null
@@ -1,2949 +0,0 @@
-/**********************************************************************************************
-*
-*   raymath v2.0 - Math functions to work with Vector2, Vector3, Matrix and Quaternions
-*
-*   CONVENTIONS:
-*     - Matrix structure is defined as row-major (memory layout) but parameters naming AND all
-*       math operations performed by the library consider the structure as it was column-major
-*       It is like transposed versions of the matrices are used for all the maths
-*       It benefits some functions making them cache-friendly and also avoids matrix
-*       transpositions sometimes required by OpenGL
-*       Example: In memory order, row0 is [m0 m4 m8 m12] but in semantic math row0 is [m0 m1 m2 m3]
-*     - Functions are always self-contained, no function use another raymath function inside,
-*       required code is directly re-implemented inside
-*     - Functions input parameters are always received by value (2 unavoidable exceptions)
-*     - Functions use always a "result" variable for return (except C++ operators)
-*     - Functions are always defined inline
-*     - Angles are always in radians (DEG2RAD/RAD2DEG macros provided for convenience)
-*     - No compound literals used to make sure libray is compatible with C++
-*
-*   CONFIGURATION:
-*       #define RAYMATH_IMPLEMENTATION
-*           Generates the implementation of the library into the included file.
-*           If not defined, the library is in header only mode and can be included in other headers
-*           or source files without problems. But only ONE file should hold the implementation.
-*
-*       #define RAYMATH_STATIC_INLINE
-*           Define static inline functions code, so #include header suffices for use.
-*           This may use up lots of memory.
-*
-*       #define RAYMATH_DISABLE_CPP_OPERATORS
-*           Disables C++ operator overloads for raymath types.
-*
-*   LICENSE: zlib/libpng
-*
-*   Copyright (c) 2015-2024 Ramon Santamaria (@raysan5)
-*
-*   This software is provided "as-is", without any express or implied warranty. In no event
-*   will the authors be held liable for any damages arising from the use of this software.
-*
-*   Permission is granted to anyone to use this software for any purpose, including commercial
-*   applications, and to alter it and redistribute it freely, subject to the following restrictions:
-*
-*     1. The origin of this software must not be misrepresented; you must not claim that you
-*     wrote the original software. If you use this software in a product, an acknowledgment
-*     in the product documentation would be appreciated but is not required.
-*
-*     2. Altered source versions must be plainly marked as such, and must not be misrepresented
-*     as being the original software.
-*
-*     3. This notice may not be removed or altered from any source distribution.
-*
-**********************************************************************************************/
-
-#ifndef RAYMATH_H
-#define RAYMATH_H
-
-#if defined(RAYMATH_IMPLEMENTATION) && defined(RAYMATH_STATIC_INLINE)
-    #error "Specifying both RAYMATH_IMPLEMENTATION and RAYMATH_STATIC_INLINE is contradictory"
-#endif
-
-// Function specifiers definition
-#if defined(RAYMATH_IMPLEMENTATION)
-    #if defined(_WIN32) && defined(BUILD_LIBTYPE_SHARED)
-        #define RMAPI __declspec(dllexport) extern inline // We are building raylib as a Win32 shared library (.dll)
-    #elif defined(BUILD_LIBTYPE_SHARED)
-        #define RMAPI __attribute__((visibility("default"))) // We are building raylib as a Unix shared library (.so/.dylib)
-    #elif defined(_WIN32) && defined(USE_LIBTYPE_SHARED)
-        #define RMAPI __declspec(dllimport)         // We are using raylib as a Win32 shared library (.dll)
-    #else
-        #define RMAPI extern inline // Provide external definition
-    #endif
-#elif defined(RAYMATH_STATIC_INLINE)
-    #define RMAPI static inline // Functions may be inlined, no external out-of-line definition
-#else
-    #if defined(__TINYC__)
-        #define RMAPI static inline // plain inline not supported by tinycc (See issue #435)
-    #else
-        #define RMAPI inline        // Functions may be inlined or external definition used
-    #endif
-#endif
-
-
-//----------------------------------------------------------------------------------
-// Defines and Macros
-//----------------------------------------------------------------------------------
-#ifndef PI
-    #define PI 3.14159265358979323846f
-#endif
-
-#ifndef EPSILON
-    #define EPSILON 0.000001f
-#endif
-
-#ifndef DEG2RAD
-    #define DEG2RAD (PI/180.0f)
-#endif
-
-#ifndef RAD2DEG
-    #define RAD2DEG (180.0f/PI)
-#endif
-
-// Get float vector for Matrix
-#ifndef MatrixToFloat
-    #define MatrixToFloat(mat) (MatrixToFloatV(mat).v)
-#endif
-
-// Get float vector for Vector3
-#ifndef Vector3ToFloat
-    #define Vector3ToFloat(vec) (Vector3ToFloatV(vec).v)
-#endif
-
-//----------------------------------------------------------------------------------
-// Types and Structures Definition
-//----------------------------------------------------------------------------------
-#if !defined(RL_VECTOR2_TYPE)
-// Vector2 type
-typedef struct Vector2 {
-    float x;
-    float y;
-} Vector2;
-#define RL_VECTOR2_TYPE
-#endif
-
-#if !defined(RL_VECTOR3_TYPE)
-// Vector3 type
-typedef struct Vector3 {
-    float x;
-    float y;
-    float z;
-} Vector3;
-#define RL_VECTOR3_TYPE
-#endif
-
-#if !defined(RL_VECTOR4_TYPE)
-// Vector4 type
-typedef struct Vector4 {
-    float x;
-    float y;
-    float z;
-    float w;
-} Vector4;
-#define RL_VECTOR4_TYPE
-#endif
-
-#if !defined(RL_QUATERNION_TYPE)
-// Quaternion type
-typedef Vector4 Quaternion;
-#define RL_QUATERNION_TYPE
-#endif
-
-#if !defined(RL_MATRIX_TYPE)
-// Matrix type (OpenGL style 4x4 - right handed, column major)
-typedef struct Matrix {
-    float m0, m4, m8, m12;      // Matrix first row (4 components)
-    float m1, m5, m9, m13;      // Matrix second row (4 components)
-    float m2, m6, m10, m14;     // Matrix third row (4 components)
-    float m3, m7, m11, m15;     // Matrix fourth row (4 components)
-} Matrix;
-#define RL_MATRIX_TYPE
-#endif
-
-// NOTE: Helper types to be used instead of array return types for *ToFloat functions
-typedef struct float3 {
-    float v[3];
-} float3;
-
-typedef struct float16 {
-    float v[16];
-} float16;
-
-#include <math.h>       // Required for: sinf(), cosf(), tan(), atan2f(), sqrtf(), floor(), fminf(), fmaxf(), fabsf()
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Utils math
-//----------------------------------------------------------------------------------
-
-// Clamp float value
-RMAPI float Clamp(float value, float min, float max)
-{
-    float result = (value < min)? min : value;
-
-    if (result > max) result = max;
-
-    return result;
-}
-
-// Calculate linear interpolation between two floats
-RMAPI float Lerp(float start, float end, float amount)
-{
-    float result = start + amount*(end - start);
-
-    return result;
-}
-
-// Normalize input value within input range
-RMAPI float Normalize(float value, float start, float end)
-{
-    float result = (value - start)/(end - start);
-
-    return result;
-}
-
-// Remap input value within input range to output range
-RMAPI float Remap(float value, float inputStart, float inputEnd, float outputStart, float outputEnd)
-{
-    float result = (value - inputStart)/(inputEnd - inputStart)*(outputEnd - outputStart) + outputStart;
-
-    return result;
-}
-
-// Wrap input value from min to max
-RMAPI float Wrap(float value, float min, float max)
-{
-    float result = value - (max - min)*floorf((value - min)/(max - min));
-
-    return result;
-}
-
-// Check whether two given floats are almost equal
-RMAPI int FloatEquals(float x, float y)
-{
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    int result = (fabsf(x - y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(x), fabsf(y))));
-
-    return result;
-}
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Vector2 math
-//----------------------------------------------------------------------------------
-
-// Vector with components value 0.0f
-RMAPI Vector2 Vector2Zero(void)
-{
-    Vector2 result = { 0.0f, 0.0f };
-
-    return result;
-}
-
-// Vector with components value 1.0f
-RMAPI Vector2 Vector2One(void)
-{
-    Vector2 result = { 1.0f, 1.0f };
-
-    return result;
-}
-
-// Add two vectors (v1 + v2)
-RMAPI Vector2 Vector2Add(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { v1.x + v2.x, v1.y + v2.y };
-
-    return result;
-}
-
-// Add vector and float value
-RMAPI Vector2 Vector2AddValue(Vector2 v, float add)
-{
-    Vector2 result = { v.x + add, v.y + add };
-
-    return result;
-}
-
-// Subtract two vectors (v1 - v2)
-RMAPI Vector2 Vector2Subtract(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { v1.x - v2.x, v1.y - v2.y };
-
-    return result;
-}
-
-// Subtract vector by float value
-RMAPI Vector2 Vector2SubtractValue(Vector2 v, float sub)
-{
-    Vector2 result = { v.x - sub, v.y - sub };
-
-    return result;
-}
-
-// Calculate vector length
-RMAPI float Vector2Length(Vector2 v)
-{
-    float result = sqrtf((v.x*v.x) + (v.y*v.y));
-
-    return result;
-}
-
-// Calculate vector square length
-RMAPI float Vector2LengthSqr(Vector2 v)
-{
-    float result = (v.x*v.x) + (v.y*v.y);
-
-    return result;
-}
-
-// Calculate two vectors dot product
-RMAPI float Vector2DotProduct(Vector2 v1, Vector2 v2)
-{
-    float result = (v1.x*v2.x + v1.y*v2.y);
-
-    return result;
-}
-
-// Calculate two vectors cross product
-RMAPI float Vector2CrossProduct(Vector2 v1, Vector2 v2)
-{
-    float result = (v1.x*v2.y - v1.y*v2.x);
-
-    return result;
-}
-
-// Calculate distance between two vectors
-RMAPI float Vector2Distance(Vector2 v1, Vector2 v2)
-{
-    float result = sqrtf((v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y));
-
-    return result;
-}
-
-// Calculate square distance between two vectors
-RMAPI float Vector2DistanceSqr(Vector2 v1, Vector2 v2)
-{
-    float result = ((v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y));
-
-    return result;
-}
-
-// Calculate angle between two vectors
-// NOTE: Angle is calculated from origin point (0, 0)
-RMAPI float Vector2Angle(Vector2 v1, Vector2 v2)
-{
-    float result = 0.0f;
-
-    float dot = v1.x*v2.x + v1.y*v2.y;
-    float det = v1.x*v2.y - v1.y*v2.x;
-
-    result = atan2f(det, dot);
-
-    return result;
-}
-
-// Calculate angle defined by a two vectors line
-// NOTE: Parameters need to be normalized
-// Current implementation should be aligned with glm::angle
-RMAPI float Vector2LineAngle(Vector2 start, Vector2 end)
-{
-    float result = 0.0f;
-
-    // TODO(10/9/2023): Currently angles move clockwise, determine if this is wanted behavior
-    result = -atan2f(end.y - start.y, end.x - start.x);
-
-    return result;
-}
-
-// Scale vector (multiply by value)
-RMAPI Vector2 Vector2Scale(Vector2 v, float scale)
-{
-    Vector2 result = { v.x*scale, v.y*scale };
-
-    return result;
-}
-
-// Multiply vector by vector
-RMAPI Vector2 Vector2Multiply(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { v1.x*v2.x, v1.y*v2.y };
-
-    return result;
-}
-
-// Negate vector
-RMAPI Vector2 Vector2Negate(Vector2 v)
-{
-    Vector2 result = { -v.x, -v.y };
-
-    return result;
-}
-
-// Divide vector by vector
-RMAPI Vector2 Vector2Divide(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { v1.x/v2.x, v1.y/v2.y };
-
-    return result;
-}
-
-// Normalize provided vector
-RMAPI Vector2 Vector2Normalize(Vector2 v)
-{
-    Vector2 result = { 0 };
-    float length = sqrtf((v.x*v.x) + (v.y*v.y));
-
-    if (length > 0)
-    {
-        float ilength = 1.0f/length;
-        result.x = v.x*ilength;
-        result.y = v.y*ilength;
-    }
-
-    return result;
-}
-
-// Transforms a Vector2 by a given Matrix
-RMAPI Vector2 Vector2Transform(Vector2 v, Matrix mat)
-{
-    Vector2 result = { 0 };
-
-    float x = v.x;
-    float y = v.y;
-    float z = 0;
-
-    result.x = mat.m0*x + mat.m4*y + mat.m8*z + mat.m12;
-    result.y = mat.m1*x + mat.m5*y + mat.m9*z + mat.m13;
-
-    return result;
-}
-
-// Calculate linear interpolation between two vectors
-RMAPI Vector2 Vector2Lerp(Vector2 v1, Vector2 v2, float amount)
-{
-    Vector2 result = { 0 };
-
-    result.x = v1.x + amount*(v2.x - v1.x);
-    result.y = v1.y + amount*(v2.y - v1.y);
-
-    return result;
-}
-
-// Calculate reflected vector to normal
-RMAPI Vector2 Vector2Reflect(Vector2 v, Vector2 normal)
-{
-    Vector2 result = { 0 };
-
-    float dotProduct = (v.x*normal.x + v.y*normal.y); // Dot product
-
-    result.x = v.x - (2.0f*normal.x)*dotProduct;
-    result.y = v.y - (2.0f*normal.y)*dotProduct;
-
-    return result;
-}
-
-// Get min value for each pair of components
-RMAPI Vector2 Vector2Min(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { 0 };
-
-    result.x = fminf(v1.x, v2.x);
-    result.y = fminf(v1.y, v2.y);
-
-    return result;
-}
-
-// Get max value for each pair of components
-RMAPI Vector2 Vector2Max(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { 0 };
-
-    result.x = fmaxf(v1.x, v2.x);
-    result.y = fmaxf(v1.y, v2.y);
-
-    return result;
-}
-
-// Rotate vector by angle
-RMAPI Vector2 Vector2Rotate(Vector2 v, float angle)
-{
-    Vector2 result = { 0 };
-
-    float cosres = cosf(angle);
-    float sinres = sinf(angle);
-
-    result.x = v.x*cosres - v.y*sinres;
-    result.y = v.x*sinres + v.y*cosres;
-
-    return result;
-}
-
-// Move Vector towards target
-RMAPI Vector2 Vector2MoveTowards(Vector2 v, Vector2 target, float maxDistance)
-{
-    Vector2 result = { 0 };
-
-    float dx = target.x - v.x;
-    float dy = target.y - v.y;
-    float value = (dx*dx) + (dy*dy);
-
-    if ((value == 0) || ((maxDistance >= 0) && (value <= maxDistance*maxDistance))) return target;
-
-    float dist = sqrtf(value);
-
-    result.x = v.x + dx/dist*maxDistance;
-    result.y = v.y + dy/dist*maxDistance;
-
-    return result;
-}
-
-// Invert the given vector
-RMAPI Vector2 Vector2Invert(Vector2 v)
-{
-    Vector2 result = { 1.0f/v.x, 1.0f/v.y };
-
-    return result;
-}
-
-// Clamp the components of the vector between
-// min and max values specified by the given vectors
-RMAPI Vector2 Vector2Clamp(Vector2 v, Vector2 min, Vector2 max)
-{
-    Vector2 result = { 0 };
-
-    result.x = fminf(max.x, fmaxf(min.x, v.x));
-    result.y = fminf(max.y, fmaxf(min.y, v.y));
-
-    return result;
-}
-
-// Clamp the magnitude of the vector between two min and max values
-RMAPI Vector2 Vector2ClampValue(Vector2 v, float min, float max)
-{
-    Vector2 result = v;
-
-    float length = (v.x*v.x) + (v.y*v.y);
-    if (length > 0.0f)
-    {
-        length = sqrtf(length);
-
-        float scale = 1;    // By default, 1 as the neutral element.
-        if (length < min)
-        {
-            scale = min/length;
-        }
-        else if (length > max)
-        {
-            scale = max/length;
-        }
-
-        result.x = v.x*scale;
-        result.y = v.y*scale;
-    }
-
-    return result;
-}
-
-// Check whether two given vectors are almost equal
-RMAPI int Vector2Equals(Vector2 p, Vector2 q)
-{
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    int result = ((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
-                  ((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y)))));
-
-    return result;
-}
-
-// Compute the direction of a refracted ray
-// v: normalized direction of the incoming ray
-// n: normalized normal vector of the interface of two optical media
-// r: ratio of the refractive index of the medium from where the ray comes
-//    to the refractive index of the medium on the other side of the surface
-RMAPI Vector2 Vector2Refract(Vector2 v, Vector2 n, float r)
-{
-    Vector2 result = { 0 };
-
-    float dot = v.x*n.x + v.y*n.y;
-    float d = 1.0f - r*r*(1.0f - dot*dot);
-
-    if (d >= 0.0f)
-    {
-        d = sqrtf(d);
-        v.x = r*v.x - (r*dot + d)*n.x;
-        v.y = r*v.y - (r*dot + d)*n.y;
-
-        result = v;
-    }
-
-    return result;
-}
-
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Vector3 math
-//----------------------------------------------------------------------------------
-
-// Vector with components value 0.0f
-RMAPI Vector3 Vector3Zero(void)
-{
-    Vector3 result = { 0.0f, 0.0f, 0.0f };
-
-    return result;
-}
-
-// Vector with components value 1.0f
-RMAPI Vector3 Vector3One(void)
-{
-    Vector3 result = { 1.0f, 1.0f, 1.0f };
-
-    return result;
-}
-
-// Add two vectors
-RMAPI Vector3 Vector3Add(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { v1.x + v2.x, v1.y + v2.y, v1.z + v2.z };
-
-    return result;
-}
-
-// Add vector and float value
-RMAPI Vector3 Vector3AddValue(Vector3 v, float add)
-{
-    Vector3 result = { v.x + add, v.y + add, v.z + add };
-
-    return result;
-}
-
-// Subtract two vectors
-RMAPI Vector3 Vector3Subtract(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { v1.x - v2.x, v1.y - v2.y, v1.z - v2.z };
-
-    return result;
-}
-
-// Subtract vector by float value
-RMAPI Vector3 Vector3SubtractValue(Vector3 v, float sub)
-{
-    Vector3 result = { v.x - sub, v.y - sub, v.z - sub };
-
-    return result;
-}
-
-// Multiply vector by scalar
-RMAPI Vector3 Vector3Scale(Vector3 v, float scalar)
-{
-    Vector3 result = { v.x*scalar, v.y*scalar, v.z*scalar };
-
-    return result;
-}
-
-// Multiply vector by vector
-RMAPI Vector3 Vector3Multiply(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { v1.x*v2.x, v1.y*v2.y, v1.z*v2.z };
-
-    return result;
-}
-
-// Calculate two vectors cross product
-RMAPI Vector3 Vector3CrossProduct(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { v1.y*v2.z - v1.z*v2.y, v1.z*v2.x - v1.x*v2.z, v1.x*v2.y - v1.y*v2.x };
-
-    return result;
-}
-
-// Calculate one vector perpendicular vector
-RMAPI Vector3 Vector3Perpendicular(Vector3 v)
-{
-    Vector3 result = { 0 };
-
-    float min = fabsf(v.x);
-    Vector3 cardinalAxis = {1.0f, 0.0f, 0.0f};
-
-    if (fabsf(v.y) < min)
-    {
-        min = fabsf(v.y);
-        Vector3 tmp = {0.0f, 1.0f, 0.0f};
-        cardinalAxis = tmp;
-    }
-
-    if (fabsf(v.z) < min)
-    {
-        Vector3 tmp = {0.0f, 0.0f, 1.0f};
-        cardinalAxis = tmp;
-    }
-
-    // Cross product between vectors
-    result.x = v.y*cardinalAxis.z - v.z*cardinalAxis.y;
-    result.y = v.z*cardinalAxis.x - v.x*cardinalAxis.z;
-    result.z = v.x*cardinalAxis.y - v.y*cardinalAxis.x;
-
-    return result;
-}
-
-// Calculate vector length
-RMAPI float Vector3Length(const Vector3 v)
-{
-    float result = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-
-    return result;
-}
-
-// Calculate vector square length
-RMAPI float Vector3LengthSqr(const Vector3 v)
-{
-    float result = v.x*v.x + v.y*v.y + v.z*v.z;
-
-    return result;
-}
-
-// Calculate two vectors dot product
-RMAPI float Vector3DotProduct(Vector3 v1, Vector3 v2)
-{
-    float result = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
-
-    return result;
-}
-
-// Calculate distance between two vectors
-RMAPI float Vector3Distance(Vector3 v1, Vector3 v2)
-{
-    float result = 0.0f;
-
-    float dx = v2.x - v1.x;
-    float dy = v2.y - v1.y;
-    float dz = v2.z - v1.z;
-    result = sqrtf(dx*dx + dy*dy + dz*dz);
-
-    return result;
-}
-
-// Calculate square distance between two vectors
-RMAPI float Vector3DistanceSqr(Vector3 v1, Vector3 v2)
-{
-    float result = 0.0f;
-
-    float dx = v2.x - v1.x;
-    float dy = v2.y - v1.y;
-    float dz = v2.z - v1.z;
-    result = dx*dx + dy*dy + dz*dz;
-
-    return result;
-}
-
-// Calculate angle between two vectors
-RMAPI float Vector3Angle(Vector3 v1, Vector3 v2)
-{
-    float result = 0.0f;
-
-    Vector3 cross = { v1.y*v2.z - v1.z*v2.y, v1.z*v2.x - v1.x*v2.z, v1.x*v2.y - v1.y*v2.x };
-    float len = sqrtf(cross.x*cross.x + cross.y*cross.y + cross.z*cross.z);
-    float dot = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
-    result = atan2f(len, dot);
-
-    return result;
-}
-
-// Negate provided vector (invert direction)
-RMAPI Vector3 Vector3Negate(Vector3 v)
-{
-    Vector3 result = { -v.x, -v.y, -v.z };
-
-    return result;
-}
-
-// Divide vector by vector
-RMAPI Vector3 Vector3Divide(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { v1.x/v2.x, v1.y/v2.y, v1.z/v2.z };
-
-    return result;
-}
-
-// Normalize provided vector
-RMAPI Vector3 Vector3Normalize(Vector3 v)
-{
-    Vector3 result = v;
-
-    float length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-    if (length != 0.0f)
-    {
-        float ilength = 1.0f/length;
-
-        result.x *= ilength;
-        result.y *= ilength;
-        result.z *= ilength;
-    }
-
-    return result;
-}
-
-//Calculate the projection of the vector v1 on to v2
-RMAPI Vector3 Vector3Project(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { 0 };
-
-    float v1dv2 = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
-    float v2dv2 = (v2.x*v2.x + v2.y*v2.y + v2.z*v2.z);
-
-    float mag = v1dv2/v2dv2;
-
-    result.x = v2.x*mag;
-    result.y = v2.y*mag;
-    result.z = v2.z*mag;
-
-    return result;
-}
-
-//Calculate the rejection of the vector v1 on to v2
-RMAPI Vector3 Vector3Reject(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { 0 };
-
-    float v1dv2 = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
-    float v2dv2 = (v2.x*v2.x + v2.y*v2.y + v2.z*v2.z);
-
-    float mag = v1dv2/v2dv2;
-
-    result.x = v1.x - (v2.x*mag);
-    result.y = v1.y - (v2.y*mag);
-    result.z = v1.z - (v2.z*mag);
-
-    return result;
-}
-
-// Orthonormalize provided vectors
-// Makes vectors normalized and orthogonal to each other
-// Gram-Schmidt function implementation
-RMAPI void Vector3OrthoNormalize(Vector3 *v1, Vector3 *v2)
-{
-    float length = 0.0f;
-    float ilength = 0.0f;
-
-    // Vector3Normalize(*v1);
-    Vector3 v = *v1;
-    length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-    if (length == 0.0f) length = 1.0f;
-    ilength = 1.0f/length;
-    v1->x *= ilength;
-    v1->y *= ilength;
-    v1->z *= ilength;
-
-    // Vector3CrossProduct(*v1, *v2)
-    Vector3 vn1 = { v1->y*v2->z - v1->z*v2->y, v1->z*v2->x - v1->x*v2->z, v1->x*v2->y - v1->y*v2->x };
-
-    // Vector3Normalize(vn1);
-    v = vn1;
-    length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-    if (length == 0.0f) length = 1.0f;
-    ilength = 1.0f/length;
-    vn1.x *= ilength;
-    vn1.y *= ilength;
-    vn1.z *= ilength;
-
-    // Vector3CrossProduct(vn1, *v1)
-    Vector3 vn2 = { vn1.y*v1->z - vn1.z*v1->y, vn1.z*v1->x - vn1.x*v1->z, vn1.x*v1->y - vn1.y*v1->x };
-
-    *v2 = vn2;
-}
-
-// Transforms a Vector3 by a given Matrix
-RMAPI Vector3 Vector3Transform(Vector3 v, Matrix mat)
-{
-    Vector3 result = { 0 };
-
-    float x = v.x;
-    float y = v.y;
-    float z = v.z;
-
-    result.x = mat.m0*x + mat.m4*y + mat.m8*z + mat.m12;
-    result.y = mat.m1*x + mat.m5*y + mat.m9*z + mat.m13;
-    result.z = mat.m2*x + mat.m6*y + mat.m10*z + mat.m14;
-
-    return result;
-}
-
-// Transform a vector by quaternion rotation
-RMAPI Vector3 Vector3RotateByQuaternion(Vector3 v, Quaternion q)
-{
-    Vector3 result = { 0 };
-
-    result.x = v.x*(q.x*q.x + q.w*q.w - q.y*q.y - q.z*q.z) + v.y*(2*q.x*q.y - 2*q.w*q.z) + v.z*(2*q.x*q.z + 2*q.w*q.y);
-    result.y = v.x*(2*q.w*q.z + 2*q.x*q.y) + v.y*(q.w*q.w - q.x*q.x + q.y*q.y - q.z*q.z) + v.z*(-2*q.w*q.x + 2*q.y*q.z);
-    result.z = v.x*(-2*q.w*q.y + 2*q.x*q.z) + v.y*(2*q.w*q.x + 2*q.y*q.z)+ v.z*(q.w*q.w - q.x*q.x - q.y*q.y + q.z*q.z);
-
-    return result;
-}
-
-// Rotates a vector around an axis
-RMAPI Vector3 Vector3RotateByAxisAngle(Vector3 v, Vector3 axis, float angle)
-{
-    // Using Euler-Rodrigues Formula
-    // Ref.: https://en.wikipedia.org/w/index.php?title=Euler%E2%80%93Rodrigues_formula
-
-    Vector3 result = v;
-
-    // Vector3Normalize(axis);
-    float length = sqrtf(axis.x*axis.x + axis.y*axis.y + axis.z*axis.z);
-    if (length == 0.0f) length = 1.0f;
-    float ilength = 1.0f/length;
-    axis.x *= ilength;
-    axis.y *= ilength;
-    axis.z *= ilength;
-
-    angle /= 2.0f;
-    float a = sinf(angle);
-    float b = axis.x*a;
-    float c = axis.y*a;
-    float d = axis.z*a;
-    a = cosf(angle);
-    Vector3 w = { b, c, d };
-
-    // Vector3CrossProduct(w, v)
-    Vector3 wv = { w.y*v.z - w.z*v.y, w.z*v.x - w.x*v.z, w.x*v.y - w.y*v.x };
-
-    // Vector3CrossProduct(w, wv)
-    Vector3 wwv = { w.y*wv.z - w.z*wv.y, w.z*wv.x - w.x*wv.z, w.x*wv.y - w.y*wv.x };
-
-    // Vector3Scale(wv, 2*a)
-    a *= 2;
-    wv.x *= a;
-    wv.y *= a;
-    wv.z *= a;
-
-    // Vector3Scale(wwv, 2)
-    wwv.x *= 2;
-    wwv.y *= 2;
-    wwv.z *= 2;
-
-    result.x += wv.x;
-    result.y += wv.y;
-    result.z += wv.z;
-
-    result.x += wwv.x;
-    result.y += wwv.y;
-    result.z += wwv.z;
-
-    return result;
-}
-
-// Move Vector towards target
-RMAPI Vector3 Vector3MoveTowards(Vector3 v, Vector3 target, float maxDistance)
-{
-    Vector3 result = { 0 };
-
-    float dx = target.x - v.x;
-    float dy = target.y - v.y;
-    float dz = target.z - v.z;
-    float value = (dx*dx) + (dy*dy) + (dz*dz);
-
-    if ((value == 0) || ((maxDistance >= 0) && (value <= maxDistance*maxDistance))) return target;
-
-    float dist = sqrtf(value);
-
-    result.x = v.x + dx/dist*maxDistance;
-    result.y = v.y + dy/dist*maxDistance;
-    result.z = v.z + dz/dist*maxDistance;
-
-    return result;
-}
-
-// Calculate linear interpolation between two vectors
-RMAPI Vector3 Vector3Lerp(Vector3 v1, Vector3 v2, float amount)
-{
-    Vector3 result = { 0 };
-
-    result.x = v1.x + amount*(v2.x - v1.x);
-    result.y = v1.y + amount*(v2.y - v1.y);
-    result.z = v1.z + amount*(v2.z - v1.z);
-
-    return result;
-}
-
-// Calculate cubic hermite interpolation between two vectors and their tangents
-// as described in the GLTF 2.0 specification: https://registry.khronos.org/glTF/specs/2.0/glTF-2.0.html#interpolation-cubic
-RMAPI Vector3 Vector3CubicHermite(Vector3 v1, Vector3 tangent1, Vector3 v2, Vector3 tangent2, float amount)
-{
-    Vector3 result = { 0 };
-
-    float amountPow2 = amount*amount;
-    float amountPow3 = amount*amount*amount;
-
-    result.x = (2*amountPow3 - 3*amountPow2 + 1)*v1.x + (amountPow3 - 2*amountPow2 + amount)*tangent1.x + (-2*amountPow3 + 3*amountPow2)*v2.x + (amountPow3 - amountPow2)*tangent2.x;
-    result.y = (2*amountPow3 - 3*amountPow2 + 1)*v1.y + (amountPow3 - 2*amountPow2 + amount)*tangent1.y + (-2*amountPow3 + 3*amountPow2)*v2.y + (amountPow3 - amountPow2)*tangent2.y;
-    result.z = (2*amountPow3 - 3*amountPow2 + 1)*v1.z + (amountPow3 - 2*amountPow2 + amount)*tangent1.z + (-2*amountPow3 + 3*amountPow2)*v2.z + (amountPow3 - amountPow2)*tangent2.z;
-
-    return result;
-}
-
-// Calculate reflected vector to normal
-RMAPI Vector3 Vector3Reflect(Vector3 v, Vector3 normal)
-{
-    Vector3 result = { 0 };
-
-    // I is the original vector
-    // N is the normal of the incident plane
-    // R = I - (2*N*(DotProduct[I, N]))
-
-    float dotProduct = (v.x*normal.x + v.y*normal.y + v.z*normal.z);
-
-    result.x = v.x - (2.0f*normal.x)*dotProduct;
-    result.y = v.y - (2.0f*normal.y)*dotProduct;
-    result.z = v.z - (2.0f*normal.z)*dotProduct;
-
-    return result;
-}
-
-// Get min value for each pair of components
-RMAPI Vector3 Vector3Min(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { 0 };
-
-    result.x = fminf(v1.x, v2.x);
-    result.y = fminf(v1.y, v2.y);
-    result.z = fminf(v1.z, v2.z);
-
-    return result;
-}
-
-// Get max value for each pair of components
-RMAPI Vector3 Vector3Max(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { 0 };
-
-    result.x = fmaxf(v1.x, v2.x);
-    result.y = fmaxf(v1.y, v2.y);
-    result.z = fmaxf(v1.z, v2.z);
-
-    return result;
-}
-
-// Compute barycenter coordinates (u, v, w) for point p with respect to triangle (a, b, c)
-// NOTE: Assumes P is on the plane of the triangle
-RMAPI Vector3 Vector3Barycenter(Vector3 p, Vector3 a, Vector3 b, Vector3 c)
-{
-    Vector3 result = { 0 };
-
-    Vector3 v0 = { b.x - a.x, b.y - a.y, b.z - a.z };   // Vector3Subtract(b, a)
-    Vector3 v1 = { c.x - a.x, c.y - a.y, c.z - a.z };   // Vector3Subtract(c, a)
-    Vector3 v2 = { p.x - a.x, p.y - a.y, p.z - a.z };   // Vector3Subtract(p, a)
-    float d00 = (v0.x*v0.x + v0.y*v0.y + v0.z*v0.z);    // Vector3DotProduct(v0, v0)
-    float d01 = (v0.x*v1.x + v0.y*v1.y + v0.z*v1.z);    // Vector3DotProduct(v0, v1)
-    float d11 = (v1.x*v1.x + v1.y*v1.y + v1.z*v1.z);    // Vector3DotProduct(v1, v1)
-    float d20 = (v2.x*v0.x + v2.y*v0.y + v2.z*v0.z);    // Vector3DotProduct(v2, v0)
-    float d21 = (v2.x*v1.x + v2.y*v1.y + v2.z*v1.z);    // Vector3DotProduct(v2, v1)
-
-    float denom = d00*d11 - d01*d01;
-
-    result.y = (d11*d20 - d01*d21)/denom;
-    result.z = (d00*d21 - d01*d20)/denom;
-    result.x = 1.0f - (result.z + result.y);
-
-    return result;
-}
-
-// Projects a Vector3 from screen space into object space
-// NOTE: We are avoiding calling other raymath functions despite available
-RMAPI Vector3 Vector3Unproject(Vector3 source, Matrix projection, Matrix view)
-{
-    Vector3 result = { 0 };
-
-    // Calculate unprojected matrix (multiply view matrix by projection matrix) and invert it
-    Matrix matViewProj = {      // MatrixMultiply(view, projection);
-        view.m0*projection.m0 + view.m1*projection.m4 + view.m2*projection.m8 + view.m3*projection.m12,
-        view.m0*projection.m1 + view.m1*projection.m5 + view.m2*projection.m9 + view.m3*projection.m13,
-        view.m0*projection.m2 + view.m1*projection.m6 + view.m2*projection.m10 + view.m3*projection.m14,
-        view.m0*projection.m3 + view.m1*projection.m7 + view.m2*projection.m11 + view.m3*projection.m15,
-        view.m4*projection.m0 + view.m5*projection.m4 + view.m6*projection.m8 + view.m7*projection.m12,
-        view.m4*projection.m1 + view.m5*projection.m5 + view.m6*projection.m9 + view.m7*projection.m13,
-        view.m4*projection.m2 + view.m5*projection.m6 + view.m6*projection.m10 + view.m7*projection.m14,
-        view.m4*projection.m3 + view.m5*projection.m7 + view.m6*projection.m11 + view.m7*projection.m15,
-        view.m8*projection.m0 + view.m9*projection.m4 + view.m10*projection.m8 + view.m11*projection.m12,
-        view.m8*projection.m1 + view.m9*projection.m5 + view.m10*projection.m9 + view.m11*projection.m13,
-        view.m8*projection.m2 + view.m9*projection.m6 + view.m10*projection.m10 + view.m11*projection.m14,
-        view.m8*projection.m3 + view.m9*projection.m7 + view.m10*projection.m11 + view.m11*projection.m15,
-        view.m12*projection.m0 + view.m13*projection.m4 + view.m14*projection.m8 + view.m15*projection.m12,
-        view.m12*projection.m1 + view.m13*projection.m5 + view.m14*projection.m9 + view.m15*projection.m13,
-        view.m12*projection.m2 + view.m13*projection.m6 + view.m14*projection.m10 + view.m15*projection.m14,
-        view.m12*projection.m3 + view.m13*projection.m7 + view.m14*projection.m11 + view.m15*projection.m15 };
-
-    // Calculate inverted matrix -> MatrixInvert(matViewProj);
-    // Cache the matrix values (speed optimization)
-    float a00 = matViewProj.m0, a01 = matViewProj.m1, a02 = matViewProj.m2, a03 = matViewProj.m3;
-    float a10 = matViewProj.m4, a11 = matViewProj.m5, a12 = matViewProj.m6, a13 = matViewProj.m7;
-    float a20 = matViewProj.m8, a21 = matViewProj.m9, a22 = matViewProj.m10, a23 = matViewProj.m11;
-    float a30 = matViewProj.m12, a31 = matViewProj.m13, a32 = matViewProj.m14, a33 = matViewProj.m15;
-
-    float b00 = a00*a11 - a01*a10;
-    float b01 = a00*a12 - a02*a10;
-    float b02 = a00*a13 - a03*a10;
-    float b03 = a01*a12 - a02*a11;
-    float b04 = a01*a13 - a03*a11;
-    float b05 = a02*a13 - a03*a12;
-    float b06 = a20*a31 - a21*a30;
-    float b07 = a20*a32 - a22*a30;
-    float b08 = a20*a33 - a23*a30;
-    float b09 = a21*a32 - a22*a31;
-    float b10 = a21*a33 - a23*a31;
-    float b11 = a22*a33 - a23*a32;
-
-    // Calculate the invert determinant (inlined to avoid double-caching)
-    float invDet = 1.0f/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06);
-
-    Matrix matViewProjInv = {
-        (a11*b11 - a12*b10 + a13*b09)*invDet,
-        (-a01*b11 + a02*b10 - a03*b09)*invDet,
-        (a31*b05 - a32*b04 + a33*b03)*invDet,
-        (-a21*b05 + a22*b04 - a23*b03)*invDet,
-        (-a10*b11 + a12*b08 - a13*b07)*invDet,
-        (a00*b11 - a02*b08 + a03*b07)*invDet,
-        (-a30*b05 + a32*b02 - a33*b01)*invDet,
-        (a20*b05 - a22*b02 + a23*b01)*invDet,
-        (a10*b10 - a11*b08 + a13*b06)*invDet,
-        (-a00*b10 + a01*b08 - a03*b06)*invDet,
-        (a30*b04 - a31*b02 + a33*b00)*invDet,
-        (-a20*b04 + a21*b02 - a23*b00)*invDet,
-        (-a10*b09 + a11*b07 - a12*b06)*invDet,
-        (a00*b09 - a01*b07 + a02*b06)*invDet,
-        (-a30*b03 + a31*b01 - a32*b00)*invDet,
-        (a20*b03 - a21*b01 + a22*b00)*invDet };
-
-    // Create quaternion from source point
-    Quaternion quat = { source.x, source.y, source.z, 1.0f };
-
-    // Multiply quat point by unprojecte matrix
-    Quaternion qtransformed = {     // QuaternionTransform(quat, matViewProjInv)
-        matViewProjInv.m0*quat.x + matViewProjInv.m4*quat.y + matViewProjInv.m8*quat.z + matViewProjInv.m12*quat.w,
-        matViewProjInv.m1*quat.x + matViewProjInv.m5*quat.y + matViewProjInv.m9*quat.z + matViewProjInv.m13*quat.w,
-        matViewProjInv.m2*quat.x + matViewProjInv.m6*quat.y + matViewProjInv.m10*quat.z + matViewProjInv.m14*quat.w,
-        matViewProjInv.m3*quat.x + matViewProjInv.m7*quat.y + matViewProjInv.m11*quat.z + matViewProjInv.m15*quat.w };
-
-    // Normalized world points in vectors
-    result.x = qtransformed.x/qtransformed.w;
-    result.y = qtransformed.y/qtransformed.w;
-    result.z = qtransformed.z/qtransformed.w;
-
-    return result;
-}
-
-// Get Vector3 as float array
-RMAPI float3 Vector3ToFloatV(Vector3 v)
-{
-    float3 buffer = { 0 };
-
-    buffer.v[0] = v.x;
-    buffer.v[1] = v.y;
-    buffer.v[2] = v.z;
-
-    return buffer;
-}
-
-// Invert the given vector
-RMAPI Vector3 Vector3Invert(Vector3 v)
-{
-    Vector3 result = { 1.0f/v.x, 1.0f/v.y, 1.0f/v.z };
-
-    return result;
-}
-
-// Clamp the components of the vector between
-// min and max values specified by the given vectors
-RMAPI Vector3 Vector3Clamp(Vector3 v, Vector3 min, Vector3 max)
-{
-    Vector3 result = { 0 };
-
-    result.x = fminf(max.x, fmaxf(min.x, v.x));
-    result.y = fminf(max.y, fmaxf(min.y, v.y));
-    result.z = fminf(max.z, fmaxf(min.z, v.z));
-
-    return result;
-}
-
-// Clamp the magnitude of the vector between two values
-RMAPI Vector3 Vector3ClampValue(Vector3 v, float min, float max)
-{
-    Vector3 result = v;
-
-    float length = (v.x*v.x) + (v.y*v.y) + (v.z*v.z);
-    if (length > 0.0f)
-    {
-        length = sqrtf(length);
-
-        float scale = 1;    // By default, 1 as the neutral element.
-        if (length < min)
-        {
-            scale = min/length;
-        }
-        else if (length > max)
-        {
-            scale = max/length;
-        }
-
-        result.x = v.x*scale;
-        result.y = v.y*scale;
-        result.z = v.z*scale;
-    }
-
-    return result;
-}
-
-// Check whether two given vectors are almost equal
-RMAPI int Vector3Equals(Vector3 p, Vector3 q)
-{
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    int result = ((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
-                 ((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
-                 ((fabsf(p.z - q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z)))));
-
-    return result;
-}
-
-// Compute the direction of a refracted ray
-// v: normalized direction of the incoming ray
-// n: normalized normal vector of the interface of two optical media
-// r: ratio of the refractive index of the medium from where the ray comes
-//    to the refractive index of the medium on the other side of the surface
-RMAPI Vector3 Vector3Refract(Vector3 v, Vector3 n, float r)
-{
-    Vector3 result = { 0 };
-
-    float dot = v.x*n.x + v.y*n.y + v.z*n.z;
-    float d = 1.0f - r*r*(1.0f - dot*dot);
-
-    if (d >= 0.0f)
-    {
-        d = sqrtf(d);
-        v.x = r*v.x - (r*dot + d)*n.x;
-        v.y = r*v.y - (r*dot + d)*n.y;
-        v.z = r*v.z - (r*dot + d)*n.z;
-
-        result = v;
-    }
-
-    return result;
-}
-
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Vector4 math
-//----------------------------------------------------------------------------------
-
-RMAPI Vector4 Vector4Zero(void)
-{
-    Vector4 result = { 0.0f, 0.0f, 0.0f, 0.0f };
-    return result;
-}
-
-RMAPI Vector4 Vector4One(void)
-{
-    Vector4 result = { 1.0f, 1.0f, 1.0f, 1.0f };
-    return result;
-}
-
-RMAPI Vector4 Vector4Add(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = {
-        v1.x + v2.x,
-        v1.y + v2.y,
-        v1.z + v2.z,
-        v1.w + v2.w
-    };
-    return result;
-}
-
-RMAPI Vector4 Vector4AddValue(Vector4 v, float add)
-{
-    Vector4 result = {
-        v.x + add,
-        v.y + add,
-        v.z + add,
-        v.w + add
-    };
-    return result;
-}
-
-RMAPI Vector4 Vector4Subtract(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = {
-        v1.x - v2.x,
-        v1.y - v2.y,
-        v1.z - v2.z,
-        v1.w - v2.w
-    };
-    return result;
-}
-
-RMAPI Vector4 Vector4SubtractValue(Vector4 v, float add)
-{
-    Vector4 result = {
-        v.x - add,
-        v.y - add,
-        v.z - add,
-        v.w - add
-    };
-    return result;
-}
-
-RMAPI float Vector4Length(Vector4 v)
-{
-    float result = sqrtf((v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w));
-    return result;
-}
-
-RMAPI float Vector4LengthSqr(Vector4 v)
-{
-    float result = (v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w);
-    return result;
-}
-
-RMAPI float Vector4DotProduct(Vector4 v1, Vector4 v2)
-{
-    float result = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z + v1.w*v2.w);
-    return result;
-}
-
-// Calculate distance between two vectors
-RMAPI float Vector4Distance(Vector4 v1, Vector4 v2)
-{
-    float result = sqrtf(
-        (v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y) +
-        (v1.z - v2.z)*(v1.z - v2.z) + (v1.w - v2.w)*(v1.w - v2.w));
-    return result;
-}
-
-// Calculate square distance between two vectors
-RMAPI float Vector4DistanceSqr(Vector4 v1, Vector4 v2)
-{
-    float result =
-        (v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y) +
-        (v1.z - v2.z)*(v1.z - v2.z) + (v1.w - v2.w)*(v1.w - v2.w);
-
-    return result;
-}
-
-RMAPI Vector4 Vector4Scale(Vector4 v, float scale)
-{
-    Vector4 result = { v.x*scale, v.y*scale, v.z*scale, v.w*scale };
-    return result;
-}
-
-// Multiply vector by vector
-RMAPI Vector4 Vector4Multiply(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = { v1.x*v2.x, v1.y*v2.y, v1.z*v2.z, v1.w*v2.w };
-    return result;
-}
-
-// Negate vector
-RMAPI Vector4 Vector4Negate(Vector4 v)
-{
-    Vector4 result = { -v.x, -v.y, -v.z, -v.w };
-    return result;
-}
-
-// Divide vector by vector
-RMAPI Vector4 Vector4Divide(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = { v1.x/v2.x, v1.y/v2.y, v1.z/v2.z, v1.w/v2.w };
-    return result;
-}
-
-// Normalize provided vector
-RMAPI Vector4 Vector4Normalize(Vector4 v)
-{
-    Vector4 result = { 0 };
-    float length = sqrtf((v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w));
-
-    if (length > 0)
-    {
-        float ilength = 1.0f/length;
-        result.x = v.x*ilength;
-        result.y = v.y*ilength;
-        result.z = v.z*ilength;
-        result.w = v.w*ilength;
-    }
-
-    return result;
-}
-
-// Get min value for each pair of components
-RMAPI Vector4 Vector4Min(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = { 0 };
-
-    result.x = fminf(v1.x, v2.x);
-    result.y = fminf(v1.y, v2.y);
-    result.z = fminf(v1.z, v2.z);
-    result.w = fminf(v1.w, v2.w);
-
-    return result;
-}
-
-// Get max value for each pair of components
-RMAPI Vector4 Vector4Max(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = { 0 };
-
-    result.x = fmaxf(v1.x, v2.x);
-    result.y = fmaxf(v1.y, v2.y);
-    result.z = fmaxf(v1.z, v2.z);
-    result.w = fmaxf(v1.w, v2.w);
-
-    return result;
-}
-
-// Calculate linear interpolation between two vectors
-RMAPI Vector4 Vector4Lerp(Vector4 v1, Vector4 v2, float amount)
-{
-    Vector4 result = { 0 };
-
-    result.x = v1.x + amount*(v2.x - v1.x);
-    result.y = v1.y + amount*(v2.y - v1.y);
-    result.z = v1.z + amount*(v2.z - v1.z);
-    result.w = v1.w + amount*(v2.w - v1.w);
-
-    return result;
-}
-
-// Move Vector towards target
-RMAPI Vector4 Vector4MoveTowards(Vector4 v, Vector4 target, float maxDistance)
-{
-    Vector4 result = { 0 };
-
-    float dx = target.x - v.x;
-    float dy = target.y - v.y;
-    float dz = target.z - v.z;
-    float dw = target.w - v.w;
-    float value = (dx*dx) + (dy*dy) + (dz*dz) + (dw*dw);
-
-    if ((value == 0) || ((maxDistance >= 0) && (value <= maxDistance*maxDistance))) return target;
-
-    float dist = sqrtf(value);
-
-    result.x = v.x + dx/dist*maxDistance;
-    result.y = v.y + dy/dist*maxDistance;
-    result.z = v.z + dz/dist*maxDistance;
-    result.w = v.w + dw/dist*maxDistance;
-
-    return result;
-}
-
-// Invert the given vector
-RMAPI Vector4 Vector4Invert(Vector4 v)
-{
-    Vector4 result = { 1.0f/v.x, 1.0f/v.y, 1.0f/v.z, 1.0f/v.w };
-    return result;
-}
-
-// Check whether two given vectors are almost equal
-RMAPI int Vector4Equals(Vector4 p, Vector4 q)
-{
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    int result = ((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
-                  ((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
-                  ((fabsf(p.z - q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
-                  ((fabsf(p.w - q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w)))));
-    return result;
-}
-
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Matrix math
-//----------------------------------------------------------------------------------
-
-// Compute matrix determinant
-RMAPI float MatrixDeterminant(Matrix mat)
-{
-    float result = 0.0f;
-
-    // Cache the matrix values (speed optimization)
-    float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
-    float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7;
-    float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
-    float a30 = mat.m12, a31 = mat.m13, a32 = mat.m14, a33 = mat.m15;
-
-    result = a30*a21*a12*a03 - a20*a31*a12*a03 - a30*a11*a22*a03 + a10*a31*a22*a03 +
-             a20*a11*a32*a03 - a10*a21*a32*a03 - a30*a21*a02*a13 + a20*a31*a02*a13 +
-             a30*a01*a22*a13 - a00*a31*a22*a13 - a20*a01*a32*a13 + a00*a21*a32*a13 +
-             a30*a11*a02*a23 - a10*a31*a02*a23 - a30*a01*a12*a23 + a00*a31*a12*a23 +
-             a10*a01*a32*a23 - a00*a11*a32*a23 - a20*a11*a02*a33 + a10*a21*a02*a33 +
-             a20*a01*a12*a33 - a00*a21*a12*a33 - a10*a01*a22*a33 + a00*a11*a22*a33;
-
-    return result;
-}
-
-// Get the trace of the matrix (sum of the values along the diagonal)
-RMAPI float MatrixTrace(Matrix mat)
-{
-    float result = (mat.m0 + mat.m5 + mat.m10 + mat.m15);
-
-    return result;
-}
-
-// Transposes provided matrix
-RMAPI Matrix MatrixTranspose(Matrix mat)
-{
-    Matrix result = { 0 };
-
-    result.m0 = mat.m0;
-    result.m1 = mat.m4;
-    result.m2 = mat.m8;
-    result.m3 = mat.m12;
-    result.m4 = mat.m1;
-    result.m5 = mat.m5;
-    result.m6 = mat.m9;
-    result.m7 = mat.m13;
-    result.m8 = mat.m2;
-    result.m9 = mat.m6;
-    result.m10 = mat.m10;
-    result.m11 = mat.m14;
-    result.m12 = mat.m3;
-    result.m13 = mat.m7;
-    result.m14 = mat.m11;
-    result.m15 = mat.m15;
-
-    return result;
-}
-
-// Invert provided matrix
-RMAPI Matrix MatrixInvert(Matrix mat)
-{
-    Matrix result = { 0 };
-
-    // Cache the matrix values (speed optimization)
-    float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
-    float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7;
-    float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
-    float a30 = mat.m12, a31 = mat.m13, a32 = mat.m14, a33 = mat.m15;
-
-    float b00 = a00*a11 - a01*a10;
-    float b01 = a00*a12 - a02*a10;
-    float b02 = a00*a13 - a03*a10;
-    float b03 = a01*a12 - a02*a11;
-    float b04 = a01*a13 - a03*a11;
-    float b05 = a02*a13 - a03*a12;
-    float b06 = a20*a31 - a21*a30;
-    float b07 = a20*a32 - a22*a30;
-    float b08 = a20*a33 - a23*a30;
-    float b09 = a21*a32 - a22*a31;
-    float b10 = a21*a33 - a23*a31;
-    float b11 = a22*a33 - a23*a32;
-
-    // Calculate the invert determinant (inlined to avoid double-caching)
-    float invDet = 1.0f/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06);
-
-    result.m0 = (a11*b11 - a12*b10 + a13*b09)*invDet;
-    result.m1 = (-a01*b11 + a02*b10 - a03*b09)*invDet;
-    result.m2 = (a31*b05 - a32*b04 + a33*b03)*invDet;
-    result.m3 = (-a21*b05 + a22*b04 - a23*b03)*invDet;
-    result.m4 = (-a10*b11 + a12*b08 - a13*b07)*invDet;
-    result.m5 = (a00*b11 - a02*b08 + a03*b07)*invDet;
-    result.m6 = (-a30*b05 + a32*b02 - a33*b01)*invDet;
-    result.m7 = (a20*b05 - a22*b02 + a23*b01)*invDet;
-    result.m8 = (a10*b10 - a11*b08 + a13*b06)*invDet;
-    result.m9 = (-a00*b10 + a01*b08 - a03*b06)*invDet;
-    result.m10 = (a30*b04 - a31*b02 + a33*b00)*invDet;
-    result.m11 = (-a20*b04 + a21*b02 - a23*b00)*invDet;
-    result.m12 = (-a10*b09 + a11*b07 - a12*b06)*invDet;
-    result.m13 = (a00*b09 - a01*b07 + a02*b06)*invDet;
-    result.m14 = (-a30*b03 + a31*b01 - a32*b00)*invDet;
-    result.m15 = (a20*b03 - a21*b01 + a22*b00)*invDet;
-
-    return result;
-}
-
-// Get identity matrix
-RMAPI Matrix MatrixIdentity(void)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f };
-
-    return result;
-}
-
-// Add two matrices
-RMAPI Matrix MatrixAdd(Matrix left, Matrix right)
-{
-    Matrix result = { 0 };
-
-    result.m0 = left.m0 + right.m0;
-    result.m1 = left.m1 + right.m1;
-    result.m2 = left.m2 + right.m2;
-    result.m3 = left.m3 + right.m3;
-    result.m4 = left.m4 + right.m4;
-    result.m5 = left.m5 + right.m5;
-    result.m6 = left.m6 + right.m6;
-    result.m7 = left.m7 + right.m7;
-    result.m8 = left.m8 + right.m8;
-    result.m9 = left.m9 + right.m9;
-    result.m10 = left.m10 + right.m10;
-    result.m11 = left.m11 + right.m11;
-    result.m12 = left.m12 + right.m12;
-    result.m13 = left.m13 + right.m13;
-    result.m14 = left.m14 + right.m14;
-    result.m15 = left.m15 + right.m15;
-
-    return result;
-}
-
-// Subtract two matrices (left - right)
-RMAPI Matrix MatrixSubtract(Matrix left, Matrix right)
-{
-    Matrix result = { 0 };
-
-    result.m0 = left.m0 - right.m0;
-    result.m1 = left.m1 - right.m1;
-    result.m2 = left.m2 - right.m2;
-    result.m3 = left.m3 - right.m3;
-    result.m4 = left.m4 - right.m4;
-    result.m5 = left.m5 - right.m5;
-    result.m6 = left.m6 - right.m6;
-    result.m7 = left.m7 - right.m7;
-    result.m8 = left.m8 - right.m8;
-    result.m9 = left.m9 - right.m9;
-    result.m10 = left.m10 - right.m10;
-    result.m11 = left.m11 - right.m11;
-    result.m12 = left.m12 - right.m12;
-    result.m13 = left.m13 - right.m13;
-    result.m14 = left.m14 - right.m14;
-    result.m15 = left.m15 - right.m15;
-
-    return result;
-}
-
-// Get two matrix multiplication
-// NOTE: When multiplying matrices... the order matters!
-RMAPI Matrix MatrixMultiply(Matrix left, Matrix right)
-{
-    Matrix result = { 0 };
-
-    result.m0 = left.m0*right.m0 + left.m1*right.m4 + left.m2*right.m8 + left.m3*right.m12;
-    result.m1 = left.m0*right.m1 + left.m1*right.m5 + left.m2*right.m9 + left.m3*right.m13;
-    result.m2 = left.m0*right.m2 + left.m1*right.m6 + left.m2*right.m10 + left.m3*right.m14;
-    result.m3 = left.m0*right.m3 + left.m1*right.m7 + left.m2*right.m11 + left.m3*right.m15;
-    result.m4 = left.m4*right.m0 + left.m5*right.m4 + left.m6*right.m8 + left.m7*right.m12;
-    result.m5 = left.m4*right.m1 + left.m5*right.m5 + left.m6*right.m9 + left.m7*right.m13;
-    result.m6 = left.m4*right.m2 + left.m5*right.m6 + left.m6*right.m10 + left.m7*right.m14;
-    result.m7 = left.m4*right.m3 + left.m5*right.m7 + left.m6*right.m11 + left.m7*right.m15;
-    result.m8 = left.m8*right.m0 + left.m9*right.m4 + left.m10*right.m8 + left.m11*right.m12;
-    result.m9 = left.m8*right.m1 + left.m9*right.m5 + left.m10*right.m9 + left.m11*right.m13;
-    result.m10 = left.m8*right.m2 + left.m9*right.m6 + left.m10*right.m10 + left.m11*right.m14;
-    result.m11 = left.m8*right.m3 + left.m9*right.m7 + left.m10*right.m11 + left.m11*right.m15;
-    result.m12 = left.m12*right.m0 + left.m13*right.m4 + left.m14*right.m8 + left.m15*right.m12;
-    result.m13 = left.m12*right.m1 + left.m13*right.m5 + left.m14*right.m9 + left.m15*right.m13;
-    result.m14 = left.m12*right.m2 + left.m13*right.m6 + left.m14*right.m10 + left.m15*right.m14;
-    result.m15 = left.m12*right.m3 + left.m13*right.m7 + left.m14*right.m11 + left.m15*right.m15;
-
-    return result;
-}
-
-// Get translation matrix
-RMAPI Matrix MatrixTranslate(float x, float y, float z)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, x,
-                      0.0f, 1.0f, 0.0f, y,
-                      0.0f, 0.0f, 1.0f, z,
-                      0.0f, 0.0f, 0.0f, 1.0f };
-
-    return result;
-}
-
-// Create rotation matrix from axis and angle
-// NOTE: Angle should be provided in radians
-RMAPI Matrix MatrixRotate(Vector3 axis, float angle)
-{
-    Matrix result = { 0 };
-
-    float x = axis.x, y = axis.y, z = axis.z;
-
-    float lengthSquared = x*x + y*y + z*z;
-
-    if ((lengthSquared != 1.0f) && (lengthSquared != 0.0f))
-    {
-        float ilength = 1.0f/sqrtf(lengthSquared);
-        x *= ilength;
-        y *= ilength;
-        z *= ilength;
-    }
-
-    float sinres = sinf(angle);
-    float cosres = cosf(angle);
-    float t = 1.0f - cosres;
-
-    result.m0 = x*x*t + cosres;
-    result.m1 = y*x*t + z*sinres;
-    result.m2 = z*x*t - y*sinres;
-    result.m3 = 0.0f;
-
-    result.m4 = x*y*t - z*sinres;
-    result.m5 = y*y*t + cosres;
-    result.m6 = z*y*t + x*sinres;
-    result.m7 = 0.0f;
-
-    result.m8 = x*z*t + y*sinres;
-    result.m9 = y*z*t - x*sinres;
-    result.m10 = z*z*t + cosres;
-    result.m11 = 0.0f;
-
-    result.m12 = 0.0f;
-    result.m13 = 0.0f;
-    result.m14 = 0.0f;
-    result.m15 = 1.0f;
-
-    return result;
-}
-
-// Get x-rotation matrix
-// NOTE: Angle must be provided in radians
-RMAPI Matrix MatrixRotateX(float angle)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
-
-    float cosres = cosf(angle);
-    float sinres = sinf(angle);
-
-    result.m5 = cosres;
-    result.m6 = sinres;
-    result.m9 = -sinres;
-    result.m10 = cosres;
-
-    return result;
-}
-
-// Get y-rotation matrix
-// NOTE: Angle must be provided in radians
-RMAPI Matrix MatrixRotateY(float angle)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
-
-    float cosres = cosf(angle);
-    float sinres = sinf(angle);
-
-    result.m0 = cosres;
-    result.m2 = -sinres;
-    result.m8 = sinres;
-    result.m10 = cosres;
-
-    return result;
-}
-
-// Get z-rotation matrix
-// NOTE: Angle must be provided in radians
-RMAPI Matrix MatrixRotateZ(float angle)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
-
-    float cosres = cosf(angle);
-    float sinres = sinf(angle);
-
-    result.m0 = cosres;
-    result.m1 = sinres;
-    result.m4 = -sinres;
-    result.m5 = cosres;
-
-    return result;
-}
-
-
-// Get xyz-rotation matrix
-// NOTE: Angle must be provided in radians
-RMAPI Matrix MatrixRotateXYZ(Vector3 angle)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
-
-    float cosz = cosf(-angle.z);
-    float sinz = sinf(-angle.z);
-    float cosy = cosf(-angle.y);
-    float siny = sinf(-angle.y);
-    float cosx = cosf(-angle.x);
-    float sinx = sinf(-angle.x);
-
-    result.m0 = cosz*cosy;
-    result.m1 = (cosz*siny*sinx) - (sinz*cosx);
-    result.m2 = (cosz*siny*cosx) + (sinz*sinx);
-
-    result.m4 = sinz*cosy;
-    result.m5 = (sinz*siny*sinx) + (cosz*cosx);
-    result.m6 = (sinz*siny*cosx) - (cosz*sinx);
-
-    result.m8 = -siny;
-    result.m9 = cosy*sinx;
-    result.m10= cosy*cosx;
-
-    return result;
-}
-
-// Get zyx-rotation matrix
-// NOTE: Angle must be provided in radians
-RMAPI Matrix MatrixRotateZYX(Vector3 angle)
-{
-    Matrix result = { 0 };
-
-    float cz = cosf(angle.z);
-    float sz = sinf(angle.z);
-    float cy = cosf(angle.y);
-    float sy = sinf(angle.y);
-    float cx = cosf(angle.x);
-    float sx = sinf(angle.x);
-
-    result.m0 = cz*cy;
-    result.m4 = cz*sy*sx - cx*sz;
-    result.m8 = sz*sx + cz*cx*sy;
-    result.m12 = 0;
-
-    result.m1 = cy*sz;
-    result.m5 = cz*cx + sz*sy*sx;
-    result.m9 = cx*sz*sy - cz*sx;
-    result.m13 = 0;
-
-    result.m2 = -sy;
-    result.m6 = cy*sx;
-    result.m10 = cy*cx;
-    result.m14 = 0;
-
-    result.m3 = 0;
-    result.m7 = 0;
-    result.m11 = 0;
-    result.m15 = 1;
-
-    return result;
-}
-
-// Get scaling matrix
-RMAPI Matrix MatrixScale(float x, float y, float z)
-{
-    Matrix result = { x, 0.0f, 0.0f, 0.0f,
-                      0.0f, y, 0.0f, 0.0f,
-                      0.0f, 0.0f, z, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f };
-
-    return result;
-}
-
-// Get perspective projection matrix
-RMAPI Matrix MatrixFrustum(double left, double right, double bottom, double top, double nearPlane, double farPlane)
-{
-    Matrix result = { 0 };
-
-    float rl = (float)(right - left);
-    float tb = (float)(top - bottom);
-    float fn = (float)(farPlane - nearPlane);
-
-    result.m0 = ((float)nearPlane*2.0f)/rl;
-    result.m1 = 0.0f;
-    result.m2 = 0.0f;
-    result.m3 = 0.0f;
-
-    result.m4 = 0.0f;
-    result.m5 = ((float)nearPlane*2.0f)/tb;
-    result.m6 = 0.0f;
-    result.m7 = 0.0f;
-
-    result.m8 = ((float)right + (float)left)/rl;
-    result.m9 = ((float)top + (float)bottom)/tb;
-    result.m10 = -((float)farPlane + (float)nearPlane)/fn;
-    result.m11 = -1.0f;
-
-    result.m12 = 0.0f;
-    result.m13 = 0.0f;
-    result.m14 = -((float)farPlane*(float)nearPlane*2.0f)/fn;
-    result.m15 = 0.0f;
-
-    return result;
-}
-
-// Get perspective projection matrix
-// NOTE: Fovy angle must be provided in radians
-RMAPI Matrix MatrixPerspective(double fovY, double aspect, double nearPlane, double farPlane)
-{
-    Matrix result = { 0 };
-
-    double top = nearPlane*tan(fovY*0.5);
-    double bottom = -top;
-    double right = top*aspect;
-    double left = -right;
-
-    // MatrixFrustum(-right, right, -top, top, near, far);
-    float rl = (float)(right - left);
-    float tb = (float)(top - bottom);
-    float fn = (float)(farPlane - nearPlane);
-
-    result.m0 = ((float)nearPlane*2.0f)/rl;
-    result.m5 = ((float)nearPlane*2.0f)/tb;
-    result.m8 = ((float)right + (float)left)/rl;
-    result.m9 = ((float)top + (float)bottom)/tb;
-    result.m10 = -((float)farPlane + (float)nearPlane)/fn;
-    result.m11 = -1.0f;
-    result.m14 = -((float)farPlane*(float)nearPlane*2.0f)/fn;
-
-    return result;
-}
-
-// Get orthographic projection matrix
-RMAPI Matrix MatrixOrtho(double left, double right, double bottom, double top, double nearPlane, double farPlane)
-{
-    Matrix result = { 0 };
-
-    float rl = (float)(right - left);
-    float tb = (float)(top - bottom);
-    float fn = (float)(farPlane - nearPlane);
-
-    result.m0 = 2.0f/rl;
-    result.m1 = 0.0f;
-    result.m2 = 0.0f;
-    result.m3 = 0.0f;
-    result.m4 = 0.0f;
-    result.m5 = 2.0f/tb;
-    result.m6 = 0.0f;
-    result.m7 = 0.0f;
-    result.m8 = 0.0f;
-    result.m9 = 0.0f;
-    result.m10 = -2.0f/fn;
-    result.m11 = 0.0f;
-    result.m12 = -((float)left + (float)right)/rl;
-    result.m13 = -((float)top + (float)bottom)/tb;
-    result.m14 = -((float)farPlane + (float)nearPlane)/fn;
-    result.m15 = 1.0f;
-
-    return result;
-}
-
-// Get camera look-at matrix (view matrix)
-RMAPI Matrix MatrixLookAt(Vector3 eye, Vector3 target, Vector3 up)
-{
-    Matrix result = { 0 };
-
-    float length = 0.0f;
-    float ilength = 0.0f;
-
-    // Vector3Subtract(eye, target)
-    Vector3 vz = { eye.x - target.x, eye.y - target.y, eye.z - target.z };
-
-    // Vector3Normalize(vz)
-    Vector3 v = vz;
-    length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-    if (length == 0.0f) length = 1.0f;
-    ilength = 1.0f/length;
-    vz.x *= ilength;
-    vz.y *= ilength;
-    vz.z *= ilength;
-
-    // Vector3CrossProduct(up, vz)
-    Vector3 vx = { up.y*vz.z - up.z*vz.y, up.z*vz.x - up.x*vz.z, up.x*vz.y - up.y*vz.x };
-
-    // Vector3Normalize(x)
-    v = vx;
-    length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-    if (length == 0.0f) length = 1.0f;
-    ilength = 1.0f/length;
-    vx.x *= ilength;
-    vx.y *= ilength;
-    vx.z *= ilength;
-
-    // Vector3CrossProduct(vz, vx)
-    Vector3 vy = { vz.y*vx.z - vz.z*vx.y, vz.z*vx.x - vz.x*vx.z, vz.x*vx.y - vz.y*vx.x };
-
-    result.m0 = vx.x;
-    result.m1 = vy.x;
-    result.m2 = vz.x;
-    result.m3 = 0.0f;
-    result.m4 = vx.y;
-    result.m5 = vy.y;
-    result.m6 = vz.y;
-    result.m7 = 0.0f;
-    result.m8 = vx.z;
-    result.m9 = vy.z;
-    result.m10 = vz.z;
-    result.m11 = 0.0f;
-    result.m12 = -(vx.x*eye.x + vx.y*eye.y + vx.z*eye.z);   // Vector3DotProduct(vx, eye)
-    result.m13 = -(vy.x*eye.x + vy.y*eye.y + vy.z*eye.z);   // Vector3DotProduct(vy, eye)
-    result.m14 = -(vz.x*eye.x + vz.y*eye.y + vz.z*eye.z);   // Vector3DotProduct(vz, eye)
-    result.m15 = 1.0f;
-
-    return result;
-}
-
-// Get float array of matrix data
-RMAPI float16 MatrixToFloatV(Matrix mat)
-{
-    float16 result = { 0 };
-
-    result.v[0] = mat.m0;
-    result.v[1] = mat.m1;
-    result.v[2] = mat.m2;
-    result.v[3] = mat.m3;
-    result.v[4] = mat.m4;
-    result.v[5] = mat.m5;
-    result.v[6] = mat.m6;
-    result.v[7] = mat.m7;
-    result.v[8] = mat.m8;
-    result.v[9] = mat.m9;
-    result.v[10] = mat.m10;
-    result.v[11] = mat.m11;
-    result.v[12] = mat.m12;
-    result.v[13] = mat.m13;
-    result.v[14] = mat.m14;
-    result.v[15] = mat.m15;
-
-    return result;
-}
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Quaternion math
-//----------------------------------------------------------------------------------
-
-// Add two quaternions
-RMAPI Quaternion QuaternionAdd(Quaternion q1, Quaternion q2)
-{
-    Quaternion result = {q1.x + q2.x, q1.y + q2.y, q1.z + q2.z, q1.w + q2.w};
-
-    return result;
-}
-
-// Add quaternion and float value
-RMAPI Quaternion QuaternionAddValue(Quaternion q, float add)
-{
-    Quaternion result = {q.x + add, q.y + add, q.z + add, q.w + add};
-
-    return result;
-}
-
-// Subtract two quaternions
-RMAPI Quaternion QuaternionSubtract(Quaternion q1, Quaternion q2)
-{
-    Quaternion result = {q1.x - q2.x, q1.y - q2.y, q1.z - q2.z, q1.w - q2.w};
-
-    return result;
-}
-
-// Subtract quaternion and float value
-RMAPI Quaternion QuaternionSubtractValue(Quaternion q, float sub)
-{
-    Quaternion result = {q.x - sub, q.y - sub, q.z - sub, q.w - sub};
-
-    return result;
-}
-
-// Get identity quaternion
-RMAPI Quaternion QuaternionIdentity(void)
-{
-    Quaternion result = { 0.0f, 0.0f, 0.0f, 1.0f };
-
-    return result;
-}
-
-// Computes the length of a quaternion
-RMAPI float QuaternionLength(Quaternion q)
-{
-    float result = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-
-    return result;
-}
-
-// Normalize provided quaternion
-RMAPI Quaternion QuaternionNormalize(Quaternion q)
-{
-    Quaternion result = { 0 };
-
-    float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-    if (length == 0.0f) length = 1.0f;
-    float ilength = 1.0f/length;
-
-    result.x = q.x*ilength;
-    result.y = q.y*ilength;
-    result.z = q.z*ilength;
-    result.w = q.w*ilength;
-
-    return result;
-}
-
-// Invert provided quaternion
-RMAPI Quaternion QuaternionInvert(Quaternion q)
-{
-    Quaternion result = q;
-
-    float lengthSq = q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w;
-
-    if (lengthSq != 0.0f)
-    {
-        float invLength = 1.0f/lengthSq;
-
-        result.x *= -invLength;
-        result.y *= -invLength;
-        result.z *= -invLength;
-        result.w *= invLength;
-    }
-
-    return result;
-}
-
-// Calculate two quaternion multiplication
-RMAPI Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2)
-{
-    Quaternion result = { 0 };
-
-    float qax = q1.x, qay = q1.y, qaz = q1.z, qaw = q1.w;
-    float qbx = q2.x, qby = q2.y, qbz = q2.z, qbw = q2.w;
-
-    result.x = qax*qbw + qaw*qbx + qay*qbz - qaz*qby;
-    result.y = qay*qbw + qaw*qby + qaz*qbx - qax*qbz;
-    result.z = qaz*qbw + qaw*qbz + qax*qby - qay*qbx;
-    result.w = qaw*qbw - qax*qbx - qay*qby - qaz*qbz;
-
-    return result;
-}
-
-// Scale quaternion by float value
-RMAPI Quaternion QuaternionScale(Quaternion q, float mul)
-{
-    Quaternion result = { 0 };
-
-    result.x = q.x*mul;
-    result.y = q.y*mul;
-    result.z = q.z*mul;
-    result.w = q.w*mul;
-
-    return result;
-}
-
-// Divide two quaternions
-RMAPI Quaternion QuaternionDivide(Quaternion q1, Quaternion q2)
-{
-    Quaternion result = { q1.x/q2.x, q1.y/q2.y, q1.z/q2.z, q1.w/q2.w };
-
-    return result;
-}
-
-// Calculate linear interpolation between two quaternions
-RMAPI Quaternion QuaternionLerp(Quaternion q1, Quaternion q2, float amount)
-{
-    Quaternion result = { 0 };
-
-    result.x = q1.x + amount*(q2.x - q1.x);
-    result.y = q1.y + amount*(q2.y - q1.y);
-    result.z = q1.z + amount*(q2.z - q1.z);
-    result.w = q1.w + amount*(q2.w - q1.w);
-
-    return result;
-}
-
-// Calculate slerp-optimized interpolation between two quaternions
-RMAPI Quaternion QuaternionNlerp(Quaternion q1, Quaternion q2, float amount)
-{
-    Quaternion result = { 0 };
-
-    // QuaternionLerp(q1, q2, amount)
-    result.x = q1.x + amount*(q2.x - q1.x);
-    result.y = q1.y + amount*(q2.y - q1.y);
-    result.z = q1.z + amount*(q2.z - q1.z);
-    result.w = q1.w + amount*(q2.w - q1.w);
-
-    // QuaternionNormalize(q);
-    Quaternion q = result;
-    float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-    if (length == 0.0f) length = 1.0f;
-    float ilength = 1.0f/length;
-
-    result.x = q.x*ilength;
-    result.y = q.y*ilength;
-    result.z = q.z*ilength;
-    result.w = q.w*ilength;
-
-    return result;
-}
-
-// Calculates spherical linear interpolation between two quaternions
-RMAPI Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount)
-{
-    Quaternion result = { 0 };
-
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    float cosHalfTheta = q1.x*q2.x + q1.y*q2.y + q1.z*q2.z + q1.w*q2.w;
-
-    if (cosHalfTheta < 0)
-    {
-        q2.x = -q2.x; q2.y = -q2.y; q2.z = -q2.z; q2.w = -q2.w;
-        cosHalfTheta = -cosHalfTheta;
-    }
-
-    if (fabsf(cosHalfTheta) >= 1.0f) result = q1;
-    else if (cosHalfTheta > 0.95f) result = QuaternionNlerp(q1, q2, amount);
-    else
-    {
-        float halfTheta = acosf(cosHalfTheta);
-        float sinHalfTheta = sqrtf(1.0f - cosHalfTheta*cosHalfTheta);
-
-        if (fabsf(sinHalfTheta) < EPSILON)
-        {
-            result.x = (q1.x*0.5f + q2.x*0.5f);
-            result.y = (q1.y*0.5f + q2.y*0.5f);
-            result.z = (q1.z*0.5f + q2.z*0.5f);
-            result.w = (q1.w*0.5f + q2.w*0.5f);
-        }
-        else
-        {
-            float ratioA = sinf((1 - amount)*halfTheta)/sinHalfTheta;
-            float ratioB = sinf(amount*halfTheta)/sinHalfTheta;
-
-            result.x = (q1.x*ratioA + q2.x*ratioB);
-            result.y = (q1.y*ratioA + q2.y*ratioB);
-            result.z = (q1.z*ratioA + q2.z*ratioB);
-            result.w = (q1.w*ratioA + q2.w*ratioB);
-        }
-    }
-
-    return result;
-}
-
-// Calculate quaternion cubic spline interpolation using Cubic Hermite Spline algorithm
-// as described in the GLTF 2.0 specification: https://registry.khronos.org/glTF/specs/2.0/glTF-2.0.html#interpolation-cubic
-RMAPI Quaternion QuaternionCubicHermiteSpline(Quaternion q1, Quaternion outTangent1, Quaternion q2, Quaternion inTangent2, float t)
-{
-    float t2 = t*t;
-    float t3 = t2*t;
-    float h00 = 2*t3 - 3*t2 + 1;
-    float h10 = t3 - 2*t2 + t;
-    float h01 = -2*t3 + 3*t2;
-    float h11 = t3 - t2;
-
-    Quaternion p0 = QuaternionScale(q1, h00);
-    Quaternion m0 = QuaternionScale(outTangent1, h10);
-    Quaternion p1 = QuaternionScale(q2, h01);
-    Quaternion m1 = QuaternionScale(inTangent2, h11);
-
-    Quaternion result = { 0 };
-
-    result = QuaternionAdd(p0, m0);
-    result = QuaternionAdd(result, p1);
-    result = QuaternionAdd(result, m1);
-    result = QuaternionNormalize(result);
-
-    return result;
-}
-
-// Calculate quaternion based on the rotation from one vector to another
-RMAPI Quaternion QuaternionFromVector3ToVector3(Vector3 from, Vector3 to)
-{
-    Quaternion result = { 0 };
-
-    float cos2Theta = (from.x*to.x + from.y*to.y + from.z*to.z);    // Vector3DotProduct(from, to)
-    Vector3 cross = { from.y*to.z - from.z*to.y, from.z*to.x - from.x*to.z, from.x*to.y - from.y*to.x }; // Vector3CrossProduct(from, to)
-
-    result.x = cross.x;
-    result.y = cross.y;
-    result.z = cross.z;
-    result.w = 1.0f + cos2Theta;
-
-    // QuaternionNormalize(q);
-    // NOTE: Normalize to essentially nlerp the original and identity to 0.5
-    Quaternion q = result;
-    float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-    if (length == 0.0f) length = 1.0f;
-    float ilength = 1.0f/length;
-
-    result.x = q.x*ilength;
-    result.y = q.y*ilength;
-    result.z = q.z*ilength;
-    result.w = q.w*ilength;
-
-    return result;
-}
-
-// Get a quaternion for a given rotation matrix
-RMAPI Quaternion QuaternionFromMatrix(Matrix mat)
-{
-    Quaternion result = { 0 };
-
-    float fourWSquaredMinus1 = mat.m0  + mat.m5 + mat.m10;
-    float fourXSquaredMinus1 = mat.m0  - mat.m5 - mat.m10;
-    float fourYSquaredMinus1 = mat.m5  - mat.m0 - mat.m10;
-    float fourZSquaredMinus1 = mat.m10 - mat.m0 - mat.m5;
-
-    int biggestIndex = 0;
-    float fourBiggestSquaredMinus1 = fourWSquaredMinus1;
-    if (fourXSquaredMinus1 > fourBiggestSquaredMinus1)
-    {
-        fourBiggestSquaredMinus1 = fourXSquaredMinus1;
-        biggestIndex = 1;
-    }
-
-    if (fourYSquaredMinus1 > fourBiggestSquaredMinus1)
-    {
-        fourBiggestSquaredMinus1 = fourYSquaredMinus1;
-        biggestIndex = 2;
-    }
-
-    if (fourZSquaredMinus1 > fourBiggestSquaredMinus1)
-    {
-        fourBiggestSquaredMinus1 = fourZSquaredMinus1;
-        biggestIndex = 3;
-    }
-
-    float biggestVal = sqrtf(fourBiggestSquaredMinus1 + 1.0f)*0.5f;
-    float mult = 0.25f/biggestVal;
-
-    switch (biggestIndex)
-    {
-        case 0:
-            result.w = biggestVal;
-            result.x = (mat.m6 - mat.m9)*mult;
-            result.y = (mat.m8 - mat.m2)*mult;
-            result.z = (mat.m1 - mat.m4)*mult;
-            break;
-        case 1:
-            result.x = biggestVal;
-            result.w = (mat.m6 - mat.m9)*mult;
-            result.y = (mat.m1 + mat.m4)*mult;
-            result.z = (mat.m8 + mat.m2)*mult;
-            break;
-        case 2:
-            result.y = biggestVal;
-            result.w = (mat.m8 - mat.m2)*mult;
-            result.x = (mat.m1 + mat.m4)*mult;
-            result.z = (mat.m6 + mat.m9)*mult;
-            break;
-        case 3:
-            result.z = biggestVal;
-            result.w = (mat.m1 - mat.m4)*mult;
-            result.x = (mat.m8 + mat.m2)*mult;
-            result.y = (mat.m6 + mat.m9)*mult;
-            break;
-    }
-
-    return result;
-}
-
-// Get a matrix for a given quaternion
-RMAPI Matrix QuaternionToMatrix(Quaternion q)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
-
-    float a2 = q.x*q.x;
-    float b2 = q.y*q.y;
-    float c2 = q.z*q.z;
-    float ac = q.x*q.z;
-    float ab = q.x*q.y;
-    float bc = q.y*q.z;
-    float ad = q.w*q.x;
-    float bd = q.w*q.y;
-    float cd = q.w*q.z;
-
-    result.m0 = 1 - 2*(b2 + c2);
-    result.m1 = 2*(ab + cd);
-    result.m2 = 2*(ac - bd);
-
-    result.m4 = 2*(ab - cd);
-    result.m5 = 1 - 2*(a2 + c2);
-    result.m6 = 2*(bc + ad);
-
-    result.m8 = 2*(ac + bd);
-    result.m9 = 2*(bc - ad);
-    result.m10 = 1 - 2*(a2 + b2);
-
-    return result;
-}
-
-// Get rotation quaternion for an angle and axis
-// NOTE: Angle must be provided in radians
-RMAPI Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle)
-{
-    Quaternion result = { 0.0f, 0.0f, 0.0f, 1.0f };
-
-    float axisLength = sqrtf(axis.x*axis.x + axis.y*axis.y + axis.z*axis.z);
-
-    if (axisLength != 0.0f)
-    {
-        angle *= 0.5f;
-
-        float length = 0.0f;
-        float ilength = 0.0f;
-
-        // Vector3Normalize(axis)
-        length = axisLength;
-        if (length == 0.0f) length = 1.0f;
-        ilength = 1.0f/length;
-        axis.x *= ilength;
-        axis.y *= ilength;
-        axis.z *= ilength;
-
-        float sinres = sinf(angle);
-        float cosres = cosf(angle);
-
-        result.x = axis.x*sinres;
-        result.y = axis.y*sinres;
-        result.z = axis.z*sinres;
-        result.w = cosres;
-
-        // QuaternionNormalize(q);
-        Quaternion q = result;
-        length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-        if (length == 0.0f) length = 1.0f;
-        ilength = 1.0f/length;
-        result.x = q.x*ilength;
-        result.y = q.y*ilength;
-        result.z = q.z*ilength;
-        result.w = q.w*ilength;
-    }
-
-    return result;
-}
-
-// Get the rotation angle and axis for a given quaternion
-RMAPI void QuaternionToAxisAngle(Quaternion q, Vector3 *outAxis, float *outAngle)
-{
-    if (fabsf(q.w) > 1.0f)
-    {
-        // QuaternionNormalize(q);
-        float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-        if (length == 0.0f) length = 1.0f;
-        float ilength = 1.0f/length;
-
-        q.x = q.x*ilength;
-        q.y = q.y*ilength;
-        q.z = q.z*ilength;
-        q.w = q.w*ilength;
-    }
-
-    Vector3 resAxis = { 0.0f, 0.0f, 0.0f };
-    float resAngle = 2.0f*acosf(q.w);
-    float den = sqrtf(1.0f - q.w*q.w);
-
-    if (den > EPSILON)
-    {
-        resAxis.x = q.x/den;
-        resAxis.y = q.y/den;
-        resAxis.z = q.z/den;
-    }
-    else
-    {
-        // This occurs when the angle is zero.
-        // Not a problem: just set an arbitrary normalized axis.
-        resAxis.x = 1.0f;
-    }
-
-    *outAxis = resAxis;
-    *outAngle = resAngle;
-}
-
-// Get the quaternion equivalent to Euler angles
-// NOTE: Rotation order is ZYX
-RMAPI Quaternion QuaternionFromEuler(float pitch, float yaw, float roll)
-{
-    Quaternion result = { 0 };
-
-    float x0 = cosf(pitch*0.5f);
-    float x1 = sinf(pitch*0.5f);
-    float y0 = cosf(yaw*0.5f);
-    float y1 = sinf(yaw*0.5f);
-    float z0 = cosf(roll*0.5f);
-    float z1 = sinf(roll*0.5f);
-
-    result.x = x1*y0*z0 - x0*y1*z1;
-    result.y = x0*y1*z0 + x1*y0*z1;
-    result.z = x0*y0*z1 - x1*y1*z0;
-    result.w = x0*y0*z0 + x1*y1*z1;
-
-    return result;
-}
-
-// Get the Euler angles equivalent to quaternion (roll, pitch, yaw)
-// NOTE: Angles are returned in a Vector3 struct in radians
-RMAPI Vector3 QuaternionToEuler(Quaternion q)
-{
-    Vector3 result = { 0 };
-
-    // Roll (x-axis rotation)
-    float x0 = 2.0f*(q.w*q.x + q.y*q.z);
-    float x1 = 1.0f - 2.0f*(q.x*q.x + q.y*q.y);
-    result.x = atan2f(x0, x1);
-
-    // Pitch (y-axis rotation)
-    float y0 = 2.0f*(q.w*q.y - q.z*q.x);
-    y0 = y0 > 1.0f ? 1.0f : y0;
-    y0 = y0 < -1.0f ? -1.0f : y0;
-    result.y = asinf(y0);
-
-    // Yaw (z-axis rotation)
-    float z0 = 2.0f*(q.w*q.z + q.x*q.y);
-    float z1 = 1.0f - 2.0f*(q.y*q.y + q.z*q.z);
-    result.z = atan2f(z0, z1);
-
-    return result;
-}
-
-// Transform a quaternion given a transformation matrix
-RMAPI Quaternion QuaternionTransform(Quaternion q, Matrix mat)
-{
-    Quaternion result = { 0 };
-
-    result.x = mat.m0*q.x + mat.m4*q.y + mat.m8*q.z + mat.m12*q.w;
-    result.y = mat.m1*q.x + mat.m5*q.y + mat.m9*q.z + mat.m13*q.w;
-    result.z = mat.m2*q.x + mat.m6*q.y + mat.m10*q.z + mat.m14*q.w;
-    result.w = mat.m3*q.x + mat.m7*q.y + mat.m11*q.z + mat.m15*q.w;
-
-    return result;
-}
-
-// Check whether two given quaternions are almost equal
-RMAPI int QuaternionEquals(Quaternion p, Quaternion q)
-{
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    int result = (((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
-                  ((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
-                  ((fabsf(p.z - q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
-                  ((fabsf(p.w - q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w)))))) ||
-                 (((fabsf(p.x + q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
-                  ((fabsf(p.y + q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
-                  ((fabsf(p.z + q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
-                  ((fabsf(p.w + q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w))))));
-
-    return result;
-}
-
-// Decompose a transformation matrix into its rotational, translational and scaling components
-RMAPI void MatrixDecompose(Matrix mat, Vector3 *translation, Quaternion *rotation, Vector3 *scale)
-{
-    // Extract translation.
-    translation->x = mat.m12;
-    translation->y = mat.m13;
-    translation->z = mat.m14;
-
-    // Extract upper-left for determinant computation
-    const float a = mat.m0;
-    const float b = mat.m4;
-    const float c = mat.m8;
-    const float d = mat.m1;
-    const float e = mat.m5;
-    const float f = mat.m9;
-    const float g = mat.m2;
-    const float h = mat.m6;
-    const float i = mat.m10;
-    const float A = e*i - f*h;
-    const float B = f*g - d*i;
-    const float C = d*h - e*g;
-
-    // Extract scale
-    const float det = a*A + b*B + c*C;
-    Vector3 abc = { a, b, c };
-    Vector3 def = { d, e, f };
-    Vector3 ghi = { g, h, i };
-
-    float scalex = Vector3Length(abc);
-    float scaley = Vector3Length(def);
-    float scalez = Vector3Length(ghi);
-    Vector3 s = { scalex, scaley, scalez };
-
-    if (det < 0) s = Vector3Negate(s);
-
-    *scale = s;
-
-    // Remove scale from the matrix if it is not close to zero
-    Matrix clone = mat;
-    if (!FloatEquals(det, 0))
-    {
-        clone.m0 /= s.x;
-        clone.m4 /= s.x;
-        clone.m8 /= s.x;
-        clone.m1 /= s.y;
-        clone.m5 /= s.y;
-        clone.m9 /= s.y;
-        clone.m2 /= s.z;
-        clone.m6 /= s.z;
-        clone.m10 /= s.z;
-
-        // Extract rotation
-        *rotation = QuaternionFromMatrix(clone);
-    }
-    else
-    {
-        // Set to identity if close to zero
-        *rotation = QuaternionIdentity();
-    }
-}
-
-#if defined(__cplusplus) && !defined(RAYMATH_DISABLE_CPP_OPERATORS)
-
-// Optional C++ math operators
-//-------------------------------------------------------------------------------
-
-// Vector2 operators
-static constexpr Vector2 Vector2Zeros = { 0, 0 };
-static constexpr Vector2 Vector2Ones = { 1, 1 };
-static constexpr Vector2 Vector2UnitX = { 1, 0 };
-static constexpr Vector2 Vector2UnitY = { 0, 1 };
-
-inline Vector2 operator + (const Vector2& lhs, const Vector2& rhs)
-{
-    return Vector2Add(lhs, rhs);
-}
-
-inline const Vector2& operator += (Vector2& lhs, const Vector2& rhs)
-{
-    lhs = Vector2Add(lhs, rhs);
-    return lhs;
-}
-
-inline Vector2 operator - (const Vector2& lhs, const Vector2& rhs)
-{
-    return Vector2Subtract(lhs, rhs);
-}
-
-inline const Vector2& operator -= (Vector2& lhs, const Vector2& rhs)
-{
-    lhs = Vector2Subtract(lhs, rhs);
-    return lhs;
-}
-
-inline Vector2 operator * (const Vector2& lhs, const float& rhs)
-{
-    return Vector2Scale(lhs, rhs);
-}
-
-inline const Vector2& operator *= (Vector2& lhs, const float& rhs)
-{
-    lhs = Vector2Scale(lhs, rhs);
-    return lhs;
-}
-
-inline Vector2 operator * (const Vector2& lhs, const Vector2& rhs)
-{
-    return Vector2Multiply(lhs, rhs);
-}
-
-inline const Vector2& operator *= (Vector2& lhs, const Vector2& rhs)
-{
-    lhs = Vector2Multiply(lhs, rhs);
-    return lhs;
-}
-
-inline Vector2 operator * (const Vector2& lhs, const Matrix& rhs)
-{
-    return Vector2Transform(lhs, rhs);
-}
-
-inline const Vector2& operator *= (Vector2& lhs, const Matrix& rhs)
-{
-    lhs = Vector2Transform(lhs, rhs);
-    return lhs;
-}
-
-inline Vector2 operator / (const Vector2& lhs, const float& rhs)
-{
-    return Vector2Scale(lhs, 1.0f / rhs);
-}
-
-inline const Vector2& operator /= (Vector2& lhs, const float& rhs)
-{
-    lhs = Vector2Scale(lhs, 1.0f / rhs);
-    return lhs;
-}
-
-inline Vector2 operator / (const Vector2& lhs, const Vector2& rhs)
-{
-    return Vector2Divide(lhs, rhs);
-}
-
-inline const Vector2& operator /= (Vector2& lhs, const Vector2& rhs)
-{
-    lhs = Vector2Divide(lhs, rhs);
-    return lhs;
-}
-
-inline bool operator == (const Vector2& lhs, const Vector2& rhs)
-{
-    return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y);
-}
-
-inline bool operator != (const Vector2& lhs, const Vector2& rhs)
-{
-    return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y);
-}
-
-// Vector3 operators
-static constexpr Vector3 Vector3Zeros = { 0, 0, 0 };
-static constexpr Vector3 Vector3Ones = { 1, 1, 1 };
-static constexpr Vector3 Vector3UnitX = { 1, 0, 0 };
-static constexpr Vector3 Vector3UnitY = { 0, 1, 0 };
-static constexpr Vector3 Vector3UnitZ = { 0, 0, 1 };
-
-inline Vector3 operator + (const Vector3& lhs, const Vector3& rhs)
-{
-    return Vector3Add(lhs, rhs);
-}
-
-inline const Vector3& operator += (Vector3& lhs, const Vector3& rhs)
-{
-    lhs = Vector3Add(lhs, rhs);
-    return lhs;
-}
-
-inline Vector3 operator - (const Vector3& lhs, const Vector3& rhs)
-{
-    return Vector3Subtract(lhs, rhs);
-}
-
-inline const Vector3& operator -= (Vector3& lhs, const Vector3& rhs)
-{
-    lhs = Vector3Subtract(lhs, rhs);
-    return lhs;
-}
-
-inline Vector3 operator * (const Vector3& lhs, const float& rhs)
-{
-    return Vector3Scale(lhs, rhs);
-}
-
-inline const Vector3& operator *= (Vector3& lhs, const float& rhs)
-{
-    lhs = Vector3Scale(lhs, rhs);
-    return lhs;
-}
-
-inline Vector3 operator * (const Vector3& lhs, const Vector3& rhs)
-{
-    return Vector3Multiply(lhs, rhs);
-}
-
-inline const Vector3& operator *= (Vector3& lhs, const Vector3& rhs)
-{
-    lhs = Vector3Multiply(lhs, rhs);
-    return lhs;
-}
-
-inline Vector3 operator * (const Vector3& lhs, const Matrix& rhs)
-{
-    return Vector3Transform(lhs, rhs);
-}
-
-inline const Vector3& operator *= (Vector3& lhs, const Matrix& rhs)
-{
-    lhs = Vector3Transform(lhs, rhs);
-    return lhs;
-}
-
-inline Vector3 operator / (const Vector3& lhs, const float& rhs)
-{
-    return Vector3Scale(lhs, 1.0f / rhs);
-}
-
-inline const Vector3& operator /= (Vector3& lhs, const float& rhs)
-{
-    lhs = Vector3Scale(lhs, 1.0f / rhs);
-    return lhs;
-}
-
-inline Vector3 operator / (const Vector3& lhs, const Vector3& rhs)
-{
-    return Vector3Divide(lhs, rhs);
-}
-
-inline const Vector3& operator /= (Vector3& lhs, const Vector3& rhs)
-{
-    lhs = Vector3Divide(lhs, rhs);
-    return lhs;
-}
-
-inline bool operator == (const Vector3& lhs, const Vector3& rhs)
-{
-    return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y) && FloatEquals(lhs.z, rhs.z);
-}
-
-inline bool operator != (const Vector3& lhs, const Vector3& rhs)
-{
-    return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y) || !FloatEquals(lhs.z, rhs.z);
-}
-
-// Vector4 operators
-static constexpr Vector4 Vector4Zeros = { 0, 0, 0, 0 };
-static constexpr Vector4 Vector4Ones = { 1, 1, 1, 1 };
-static constexpr Vector4 Vector4UnitX = { 1, 0, 0, 0 };
-static constexpr Vector4 Vector4UnitY = { 0, 1, 0, 0 };
-static constexpr Vector4 Vector4UnitZ = { 0, 0, 1, 0 };
-static constexpr Vector4 Vector4UnitW = { 0, 0, 0, 1 };
-
-inline Vector4 operator + (const Vector4& lhs, const Vector4& rhs)
-{
-    return Vector4Add(lhs, rhs);
-}
-
-inline const Vector4& operator += (Vector4& lhs, const Vector4& rhs)
-{
-    lhs = Vector4Add(lhs, rhs);
-    return lhs;
-}
-
-inline Vector4 operator - (const Vector4& lhs, const Vector4& rhs)
-{
-    return Vector4Subtract(lhs, rhs);
-}
-
-inline const Vector4& operator -= (Vector4& lhs, const Vector4& rhs)
-{
-    lhs = Vector4Subtract(lhs, rhs);
-    return lhs;
-}
-
-inline Vector4 operator * (const Vector4& lhs, const float& rhs)
-{
-    return Vector4Scale(lhs, rhs);
-}
-
-inline const Vector4& operator *= (Vector4& lhs, const float& rhs)
-{
-    lhs = Vector4Scale(lhs, rhs);
-    return lhs;
-}
-
-inline Vector4 operator * (const Vector4& lhs, const Vector4& rhs)
-{
-    return Vector4Multiply(lhs, rhs);
-}
-
-inline const Vector4& operator *= (Vector4& lhs, const Vector4& rhs)
-{
-    lhs = Vector4Multiply(lhs, rhs);
-    return lhs;
-}
-
-inline Vector4 operator / (const Vector4& lhs, const float& rhs)
-{
-    return Vector4Scale(lhs, 1.0f / rhs);
-}
-
-inline const Vector4& operator /= (Vector4& lhs, const float& rhs)
-{
-    lhs = Vector4Scale(lhs, 1.0f / rhs);
-    return lhs;
-}
-
-inline Vector4 operator / (const Vector4& lhs, const Vector4& rhs)
-{
-    return Vector4Divide(lhs, rhs);
-}
-
-inline const Vector4& operator /= (Vector4& lhs, const Vector4& rhs)
-{
-    lhs = Vector4Divide(lhs, rhs);
-    return lhs;
-}
-
-inline bool operator == (const Vector4& lhs, const Vector4& rhs)
-{
-    return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y) && FloatEquals(lhs.z, rhs.z) && FloatEquals(lhs.w, rhs.w);
-}
-
-inline bool operator != (const Vector4& lhs, const Vector4& rhs)
-{
-    return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y) || !FloatEquals(lhs.z, rhs.z) || !FloatEquals(lhs.w, rhs.w);
-}
-
-// Quaternion operators
-static constexpr Quaternion QuaternionZeros = { 0, 0, 0, 0 };
-static constexpr Quaternion QuaternionOnes = { 1, 1, 1, 1 };
-static constexpr Quaternion QuaternionUnitX = { 0, 0, 0, 1 };
-
-inline Quaternion operator + (const Quaternion& lhs, const float& rhs)
-{
-    return QuaternionAddValue(lhs, rhs);
-}
-
-inline const Quaternion& operator += (Quaternion& lhs, const float& rhs)
-{
-    lhs = QuaternionAddValue(lhs, rhs);
-    return lhs;
-}
-
-inline Quaternion operator - (const Quaternion& lhs, const float& rhs)
-{
-    return QuaternionSubtractValue(lhs, rhs);
-}
-
-inline const Quaternion& operator -= (Quaternion& lhs, const float& rhs)
-{
-    lhs = QuaternionSubtractValue(lhs, rhs);
-    return lhs;
-}
-
-inline Quaternion operator * (const Quaternion& lhs, const Matrix& rhs)
-{
-    return QuaternionTransform(lhs, rhs);
-}
-
-inline const Quaternion& operator *= (Quaternion& lhs, const Matrix& rhs)
-{
-    lhs = QuaternionTransform(lhs, rhs);
-    return lhs;
-}
-
-// Matrix operators
-inline Matrix operator + (const Matrix& lhs, const Matrix& rhs)
-{
-    return MatrixAdd(lhs, rhs);
-}
-
-inline const Matrix& operator += (Matrix& lhs, const Matrix& rhs)
-{
-    lhs = MatrixAdd(lhs, rhs);
-    return lhs;
-}
-
-inline Matrix operator - (const Matrix& lhs, const Matrix& rhs)
-{
-    return MatrixSubtract(lhs, rhs);
-}
-
-inline const Matrix& operator -= (Matrix& lhs, const Matrix& rhs)
-{
-    lhs = MatrixSubtract(lhs, rhs);
-    return lhs;
-}
-
-inline Matrix operator * (const Matrix& lhs, const Matrix& rhs)
-{
-    return MatrixMultiply(lhs, rhs);
-}
-
-inline const Matrix& operator *= (Matrix& lhs, const Matrix& rhs)
-{
-    lhs = MatrixMultiply(lhs, rhs);
-    return lhs;
-}
-//-------------------------------------------------------------------------------
-#endif  // C++ operators
-
-#endif  // RAYMATH_H
diff --git a/third_party/raylib/include/rlgl.h b/third_party/raylib/include/rlgl.h
deleted file mode 100644
index 92971df6277665..00000000000000
--- a/third_party/raylib/include/rlgl.h
+++ /dev/null
@@ -1,5262 +0,0 @@
-/**********************************************************************************************
-*
-*   rlgl v5.0 - A multi-OpenGL abstraction layer with an immediate-mode style API
-*
-*   DESCRIPTION:
-*       An abstraction layer for multiple OpenGL versions (1.1, 2.1, 3.3 Core, 4.3 Core, ES 2.0, ES 3.0)
-*       that provides a pseudo-OpenGL 1.1 immediate-mode style API (rlVertex, rlTranslate, rlRotate...)
-*
-*   ADDITIONAL NOTES:
-*       When choosing an OpenGL backend different than OpenGL 1.1, some internal buffer are
-*       initialized on rlglInit() to accumulate vertex data
-*
-*       When an internal state change is required all the stored vertex data is renderer in batch,
-*       additionally, rlDrawRenderBatchActive() could be called to force flushing of the batch
-*
-*       Some resources are also loaded for convenience, here the complete list:
-*          - Default batch (RLGL.defaultBatch): RenderBatch system to accumulate vertex data
-*          - Default texture (RLGL.defaultTextureId): 1x1 white pixel R8G8B8A8
-*          - Default shader (RLGL.State.defaultShaderId, RLGL.State.defaultShaderLocs)
-*
-*       Internal buffer (and resources) must be manually unloaded calling rlglClose()
-*
-*   CONFIGURATION:
-*       #define GRAPHICS_API_OPENGL_11
-*       #define GRAPHICS_API_OPENGL_21
-*       #define GRAPHICS_API_OPENGL_33
-*       #define GRAPHICS_API_OPENGL_43
-*       #define GRAPHICS_API_OPENGL_ES2
-*       #define GRAPHICS_API_OPENGL_ES3
-*           Use selected OpenGL graphics backend, should be supported by platform
-*           Those preprocessor defines are only used on rlgl module, if OpenGL version is
-*           required by any other module, use rlGetVersion() to check it
-*
-*       #define RLGL_IMPLEMENTATION
-*           Generates the implementation of the library into the included file
-*           If not defined, the library is in header only mode and can be included in other headers
-*           or source files without problems. But only ONE file should hold the implementation
-*
-*       #define RLGL_RENDER_TEXTURES_HINT
-*           Enable framebuffer objects (fbo) support (enabled by default)
-*           Some GPUs could not support them despite the OpenGL version
-*
-*       #define RLGL_SHOW_GL_DETAILS_INFO
-*           Show OpenGL extensions and capabilities detailed logs on init
-*
-*       #define RLGL_ENABLE_OPENGL_DEBUG_CONTEXT
-*           Enable debug context (only available on OpenGL 4.3)
-*
-*       rlgl capabilities could be customized just defining some internal
-*       values before library inclusion (default values listed):
-*
-*       #define RL_DEFAULT_BATCH_BUFFER_ELEMENTS   8192    // Default internal render batch elements limits
-*       #define RL_DEFAULT_BATCH_BUFFERS              1    // Default number of batch buffers (multi-buffering)
-*       #define RL_DEFAULT_BATCH_DRAWCALLS          256    // Default number of batch draw calls (by state changes: mode, texture)
-*       #define RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS    4    // Maximum number of textures units that can be activated on batch drawing (SetShaderValueTexture())
-*
-*       #define RL_MAX_MATRIX_STACK_SIZE             32    // Maximum size of internal Matrix stack
-*       #define RL_MAX_SHADER_LOCATIONS              32    // Maximum number of shader locations supported
-*       #define RL_CULL_DISTANCE_NEAR              0.01    // Default projection matrix near cull distance
-*       #define RL_CULL_DISTANCE_FAR             1000.0    // Default projection matrix far cull distance
-*
-*       When loading a shader, the following vertex attributes and uniform
-*       location names are tried to be set automatically:
-*
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION     "vertexPosition"    // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD     "vertexTexCoord"    // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL       "vertexNormal"      // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR        "vertexColor"       // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT      "vertexTangent"     // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_TANGENT
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2    "vertexTexCoord2"   // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD2
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS      "vertexBoneIds"     // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEIDS
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS  "vertexBoneWeights" // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEWEIGHTS
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_MVP         "mvp"               // model-view-projection matrix
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_VIEW        "matView"           // view matrix
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_PROJECTION  "matProjection"     // projection matrix
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_MODEL       "matModel"          // model matrix
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_NORMAL      "matNormal"         // normal matrix (transpose(inverse(matModelView)))
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR       "colDiffuse"        // color diffuse (base tint color, multiplied by texture color)
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_BONE_MATRICES  "boneMatrices"   // bone matrices
-*       #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0  "texture0"          // texture0 (texture slot active 0)
-*       #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE1  "texture1"          // texture1 (texture slot active 1)
-*       #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE2  "texture2"          // texture2 (texture slot active 2)
-*
-*   DEPENDENCIES:
-*      - OpenGL libraries (depending on platform and OpenGL version selected)
-*      - GLAD OpenGL extensions loading library (only for OpenGL 3.3 Core, 4.3 Core)
-*
-*
-*   LICENSE: zlib/libpng
-*
-*   Copyright (c) 2014-2024 Ramon Santamaria (@raysan5)
-*
-*   This software is provided "as-is", without any express or implied warranty. In no event
-*   will the authors be held liable for any damages arising from the use of this software.
-*
-*   Permission is granted to anyone to use this software for any purpose, including commercial
-*   applications, and to alter it and redistribute it freely, subject to the following restrictions:
-*
-*     1. The origin of this software must not be misrepresented; you must not claim that you
-*     wrote the original software. If you use this software in a product, an acknowledgment
-*     in the product documentation would be appreciated but is not required.
-*
-*     2. Altered source versions must be plainly marked as such, and must not be misrepresented
-*     as being the original software.
-*
-*     3. This notice may not be removed or altered from any source distribution.
-*
-**********************************************************************************************/
-
-#ifndef RLGL_H
-#define RLGL_H
-
-#define RLGL_VERSION  "5.0"
-
-// Function specifiers in case library is build/used as a shared library
-// NOTE: Microsoft specifiers to tell compiler that symbols are imported/exported from a .dll
-// NOTE: visibility(default) attribute makes symbols "visible" when compiled with -fvisibility=hidden
-#if defined(_WIN32) && defined(BUILD_LIBTYPE_SHARED)
-    #define RLAPI __declspec(dllexport)     // We are building the library as a Win32 shared library (.dll)
-#elif defined(BUILD_LIBTYPE_SHARED)
-    #define RLAPI __attribute__((visibility("default"))) // We are building the library as a Unix shared library (.so/.dylib)
-#elif defined(_WIN32) && defined(USE_LIBTYPE_SHARED)
-    #define RLAPI __declspec(dllimport)     // We are using the library as a Win32 shared library (.dll)
-#endif
-
-// Function specifiers definition
-#ifndef RLAPI
-    #define RLAPI       // Functions defined as 'extern' by default (implicit specifiers)
-#endif
-
-// Support TRACELOG macros
-#ifndef TRACELOG
-    #define TRACELOG(level, ...) (void)0
-    #define TRACELOGD(...) (void)0
-#endif
-
-// Allow custom memory allocators
-#ifndef RL_MALLOC
-    #define RL_MALLOC(sz)     malloc(sz)
-#endif
-#ifndef RL_CALLOC
-    #define RL_CALLOC(n,sz)   calloc(n,sz)
-#endif
-#ifndef RL_REALLOC
-    #define RL_REALLOC(n,sz)  realloc(n,sz)
-#endif
-#ifndef RL_FREE
-    #define RL_FREE(p)        free(p)
-#endif
-
-// Security check in case no GRAPHICS_API_OPENGL_* defined
-#if !defined(GRAPHICS_API_OPENGL_11) && \
-    !defined(GRAPHICS_API_OPENGL_21) && \
-    !defined(GRAPHICS_API_OPENGL_33) && \
-    !defined(GRAPHICS_API_OPENGL_43) && \
-    !defined(GRAPHICS_API_OPENGL_ES2) && \
-    !defined(GRAPHICS_API_OPENGL_ES3)
-        #define GRAPHICS_API_OPENGL_33
-#endif
-
-// Security check in case multiple GRAPHICS_API_OPENGL_* defined
-#if defined(GRAPHICS_API_OPENGL_11)
-    #if defined(GRAPHICS_API_OPENGL_21)
-        #undef GRAPHICS_API_OPENGL_21
-    #endif
-    #if defined(GRAPHICS_API_OPENGL_33)
-        #undef GRAPHICS_API_OPENGL_33
-    #endif
-    #if defined(GRAPHICS_API_OPENGL_43)
-        #undef GRAPHICS_API_OPENGL_43
-    #endif
-    #if defined(GRAPHICS_API_OPENGL_ES2)
-        #undef GRAPHICS_API_OPENGL_ES2
-    #endif
-#endif
-
-// OpenGL 2.1 uses most of OpenGL 3.3 Core functionality
-// WARNING: Specific parts are checked with #if defines
-#if defined(GRAPHICS_API_OPENGL_21)
-    #define GRAPHICS_API_OPENGL_33
-#endif
-
-// OpenGL 4.3 uses OpenGL 3.3 Core functionality
-#if defined(GRAPHICS_API_OPENGL_43)
-    #define GRAPHICS_API_OPENGL_33
-#endif
-
-// OpenGL ES 3.0 uses OpenGL ES 2.0 functionality (and more)
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    #define GRAPHICS_API_OPENGL_ES2
-#endif
-
-// Support framebuffer objects by default
-// NOTE: Some driver implementation do not support it, despite they should
-#define RLGL_RENDER_TEXTURES_HINT
-
-//----------------------------------------------------------------------------------
-// Defines and Macros
-//----------------------------------------------------------------------------------
-
-// Default internal render batch elements limits
-#ifndef RL_DEFAULT_BATCH_BUFFER_ELEMENTS
-    #if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-        // This is the maximum amount of elements (quads) per batch
-        // NOTE: Be careful with text, every letter maps to a quad
-        #define RL_DEFAULT_BATCH_BUFFER_ELEMENTS  8192
-    #endif
-    #if defined(GRAPHICS_API_OPENGL_ES2)
-        // We reduce memory sizes for embedded systems (RPI and HTML5)
-        // NOTE: On HTML5 (emscripten) this is allocated on heap,
-        // by default it's only 16MB!...just take care...
-        #define RL_DEFAULT_BATCH_BUFFER_ELEMENTS  2048
-    #endif
-#endif
-#ifndef RL_DEFAULT_BATCH_BUFFERS
-    #define RL_DEFAULT_BATCH_BUFFERS                 1      // Default number of batch buffers (multi-buffering)
-#endif
-#ifndef RL_DEFAULT_BATCH_DRAWCALLS
-    #define RL_DEFAULT_BATCH_DRAWCALLS             256      // Default number of batch draw calls (by state changes: mode, texture)
-#endif
-#ifndef RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS
-    #define RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS       4      // Maximum number of textures units that can be activated on batch drawing (SetShaderValueTexture())
-#endif
-
-// Internal Matrix stack
-#ifndef RL_MAX_MATRIX_STACK_SIZE
-    #define RL_MAX_MATRIX_STACK_SIZE                32      // Maximum size of Matrix stack
-#endif
-
-// Shader limits
-#ifndef RL_MAX_SHADER_LOCATIONS
-    #define RL_MAX_SHADER_LOCATIONS                 32      // Maximum number of shader locations supported
-#endif
-
-// Projection matrix culling
-#ifndef RL_CULL_DISTANCE_NEAR
-    #define RL_CULL_DISTANCE_NEAR                 0.01      // Default near cull distance
-#endif
-#ifndef RL_CULL_DISTANCE_FAR
-    #define RL_CULL_DISTANCE_FAR                1000.0      // Default far cull distance
-#endif
-
-// Texture parameters (equivalent to OpenGL defines)
-#define RL_TEXTURE_WRAP_S                       0x2802      // GL_TEXTURE_WRAP_S
-#define RL_TEXTURE_WRAP_T                       0x2803      // GL_TEXTURE_WRAP_T
-#define RL_TEXTURE_MAG_FILTER                   0x2800      // GL_TEXTURE_MAG_FILTER
-#define RL_TEXTURE_MIN_FILTER                   0x2801      // GL_TEXTURE_MIN_FILTER
-
-#define RL_TEXTURE_FILTER_NEAREST               0x2600      // GL_NEAREST
-#define RL_TEXTURE_FILTER_LINEAR                0x2601      // GL_LINEAR
-#define RL_TEXTURE_FILTER_MIP_NEAREST           0x2700      // GL_NEAREST_MIPMAP_NEAREST
-#define RL_TEXTURE_FILTER_NEAREST_MIP_LINEAR    0x2702      // GL_NEAREST_MIPMAP_LINEAR
-#define RL_TEXTURE_FILTER_LINEAR_MIP_NEAREST    0x2701      // GL_LINEAR_MIPMAP_NEAREST
-#define RL_TEXTURE_FILTER_MIP_LINEAR            0x2703      // GL_LINEAR_MIPMAP_LINEAR
-#define RL_TEXTURE_FILTER_ANISOTROPIC           0x3000      // Anisotropic filter (custom identifier)
-#define RL_TEXTURE_MIPMAP_BIAS_RATIO            0x4000      // Texture mipmap bias, percentage ratio (custom identifier)
-
-#define RL_TEXTURE_WRAP_REPEAT                  0x2901      // GL_REPEAT
-#define RL_TEXTURE_WRAP_CLAMP                   0x812F      // GL_CLAMP_TO_EDGE
-#define RL_TEXTURE_WRAP_MIRROR_REPEAT           0x8370      // GL_MIRRORED_REPEAT
-#define RL_TEXTURE_WRAP_MIRROR_CLAMP            0x8742      // GL_MIRROR_CLAMP_EXT
-
-// Matrix modes (equivalent to OpenGL)
-#define RL_MODELVIEW                            0x1700      // GL_MODELVIEW
-#define RL_PROJECTION                           0x1701      // GL_PROJECTION
-#define RL_TEXTURE                              0x1702      // GL_TEXTURE
-
-// Primitive assembly draw modes
-#define RL_LINES                                0x0001      // GL_LINES
-#define RL_TRIANGLES                            0x0004      // GL_TRIANGLES
-#define RL_QUADS                                0x0007      // GL_QUADS
-
-// GL equivalent data types
-#define RL_UNSIGNED_BYTE                        0x1401      // GL_UNSIGNED_BYTE
-#define RL_FLOAT                                0x1406      // GL_FLOAT
-
-// GL buffer usage hint
-#define RL_STREAM_DRAW                          0x88E0      // GL_STREAM_DRAW
-#define RL_STREAM_READ                          0x88E1      // GL_STREAM_READ
-#define RL_STREAM_COPY                          0x88E2      // GL_STREAM_COPY
-#define RL_STATIC_DRAW                          0x88E4      // GL_STATIC_DRAW
-#define RL_STATIC_READ                          0x88E5      // GL_STATIC_READ
-#define RL_STATIC_COPY                          0x88E6      // GL_STATIC_COPY
-#define RL_DYNAMIC_DRAW                         0x88E8      // GL_DYNAMIC_DRAW
-#define RL_DYNAMIC_READ                         0x88E9      // GL_DYNAMIC_READ
-#define RL_DYNAMIC_COPY                         0x88EA      // GL_DYNAMIC_COPY
-
-// GL Shader type
-#define RL_FRAGMENT_SHADER                      0x8B30      // GL_FRAGMENT_SHADER
-#define RL_VERTEX_SHADER                        0x8B31      // GL_VERTEX_SHADER
-#define RL_COMPUTE_SHADER                       0x91B9      // GL_COMPUTE_SHADER
-
-// GL blending factors
-#define RL_ZERO                                 0           // GL_ZERO
-#define RL_ONE                                  1           // GL_ONE
-#define RL_SRC_COLOR                            0x0300      // GL_SRC_COLOR
-#define RL_ONE_MINUS_SRC_COLOR                  0x0301      // GL_ONE_MINUS_SRC_COLOR
-#define RL_SRC_ALPHA                            0x0302      // GL_SRC_ALPHA
-#define RL_ONE_MINUS_SRC_ALPHA                  0x0303      // GL_ONE_MINUS_SRC_ALPHA
-#define RL_DST_ALPHA                            0x0304      // GL_DST_ALPHA
-#define RL_ONE_MINUS_DST_ALPHA                  0x0305      // GL_ONE_MINUS_DST_ALPHA
-#define RL_DST_COLOR                            0x0306      // GL_DST_COLOR
-#define RL_ONE_MINUS_DST_COLOR                  0x0307      // GL_ONE_MINUS_DST_COLOR
-#define RL_SRC_ALPHA_SATURATE                   0x0308      // GL_SRC_ALPHA_SATURATE
-#define RL_CONSTANT_COLOR                       0x8001      // GL_CONSTANT_COLOR
-#define RL_ONE_MINUS_CONSTANT_COLOR             0x8002      // GL_ONE_MINUS_CONSTANT_COLOR
-#define RL_CONSTANT_ALPHA                       0x8003      // GL_CONSTANT_ALPHA
-#define RL_ONE_MINUS_CONSTANT_ALPHA             0x8004      // GL_ONE_MINUS_CONSTANT_ALPHA
-
-// GL blending functions/equations
-#define RL_FUNC_ADD                             0x8006      // GL_FUNC_ADD
-#define RL_MIN                                  0x8007      // GL_MIN
-#define RL_MAX                                  0x8008      // GL_MAX
-#define RL_FUNC_SUBTRACT                        0x800A      // GL_FUNC_SUBTRACT
-#define RL_FUNC_REVERSE_SUBTRACT                0x800B      // GL_FUNC_REVERSE_SUBTRACT
-#define RL_BLEND_EQUATION                       0x8009      // GL_BLEND_EQUATION
-#define RL_BLEND_EQUATION_RGB                   0x8009      // GL_BLEND_EQUATION_RGB   // (Same as BLEND_EQUATION)
-#define RL_BLEND_EQUATION_ALPHA                 0x883D      // GL_BLEND_EQUATION_ALPHA
-#define RL_BLEND_DST_RGB                        0x80C8      // GL_BLEND_DST_RGB
-#define RL_BLEND_SRC_RGB                        0x80C9      // GL_BLEND_SRC_RGB
-#define RL_BLEND_DST_ALPHA                      0x80CA      // GL_BLEND_DST_ALPHA
-#define RL_BLEND_SRC_ALPHA                      0x80CB      // GL_BLEND_SRC_ALPHA
-#define RL_BLEND_COLOR                          0x8005      // GL_BLEND_COLOR
-
-#define RL_READ_FRAMEBUFFER                     0x8CA8      // GL_READ_FRAMEBUFFER
-#define RL_DRAW_FRAMEBUFFER                     0x8CA9      // GL_DRAW_FRAMEBUFFER
-
-// Default shader vertex attribute locations
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION    0
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD    1
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL      2
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR       3
-#endif
-    #ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_TANGENT
-#define RL_DEFAULT_SHADER_ATTRIB_LOCATION_TANGENT         4
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD2
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD2   5
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_INDICES
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_INDICES     6
-#endif
-#ifdef RL_SUPPORT_MESH_GPU_SKINNING
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEIDS
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEIDS     7
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEWEIGHTS
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEWEIGHTS 8
-#endif
-#endif
-
-//----------------------------------------------------------------------------------
-// Types and Structures Definition
-//----------------------------------------------------------------------------------
-#if (defined(__STDC__) && __STDC_VERSION__ >= 199901L) || (defined(_MSC_VER) && _MSC_VER >= 1800)
-    #include <stdbool.h>
-#elif !defined(__cplusplus) && !defined(bool) && !defined(RL_BOOL_TYPE)
-    // Boolean type
-typedef enum bool { false = 0, true = !false } bool;
-#endif
-
-#if !defined(RL_MATRIX_TYPE)
-// Matrix, 4x4 components, column major, OpenGL style, right handed
-typedef struct Matrix {
-    float m0, m4, m8, m12;      // Matrix first row (4 components)
-    float m1, m5, m9, m13;      // Matrix second row (4 components)
-    float m2, m6, m10, m14;     // Matrix third row (4 components)
-    float m3, m7, m11, m15;     // Matrix fourth row (4 components)
-} Matrix;
-#define RL_MATRIX_TYPE
-#endif
-
-// Dynamic vertex buffers (position + texcoords + colors + indices arrays)
-typedef struct rlVertexBuffer {
-    int elementCount;           // Number of elements in the buffer (QUADS)
-
-    float *vertices;            // Vertex position (XYZ - 3 components per vertex) (shader-location = 0)
-    float *texcoords;           // Vertex texture coordinates (UV - 2 components per vertex) (shader-location = 1)
-    float *normals;             // Vertex normal (XYZ - 3 components per vertex) (shader-location = 2)
-    unsigned char *colors;      // Vertex colors (RGBA - 4 components per vertex) (shader-location = 3)
-#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-    unsigned int *indices;      // Vertex indices (in case vertex data comes indexed) (6 indices per quad)
-#endif
-#if defined(GRAPHICS_API_OPENGL_ES2)
-    unsigned short *indices;    // Vertex indices (in case vertex data comes indexed) (6 indices per quad)
-#endif
-    unsigned int vaoId;         // OpenGL Vertex Array Object id
-    unsigned int vboId[5];      // OpenGL Vertex Buffer Objects id (5 types of vertex data)
-} rlVertexBuffer;
-
-// Draw call type
-// NOTE: Only texture changes register a new draw, other state-change-related elements are not
-// used at this moment (vaoId, shaderId, matrices), raylib just forces a batch draw call if any
-// of those state-change happens (this is done in core module)
-typedef struct rlDrawCall {
-    int mode;                   // Drawing mode: LINES, TRIANGLES, QUADS
-    int vertexCount;            // Number of vertex of the draw
-    int vertexAlignment;        // Number of vertex required for index alignment (LINES, TRIANGLES)
-    //unsigned int vaoId;       // Vertex array id to be used on the draw -> Using RLGL.currentBatch->vertexBuffer.vaoId
-    //unsigned int shaderId;    // Shader id to be used on the draw -> Using RLGL.currentShaderId
-    unsigned int textureId;     // Texture id to be used on the draw -> Use to create new draw call if changes
-
-    //Matrix projection;        // Projection matrix for this draw -> Using RLGL.projection by default
-    //Matrix modelview;         // Modelview matrix for this draw -> Using RLGL.modelview by default
-} rlDrawCall;
-
-// rlRenderBatch type
-typedef struct rlRenderBatch {
-    int bufferCount;            // Number of vertex buffers (multi-buffering support)
-    int currentBuffer;          // Current buffer tracking in case of multi-buffering
-    rlVertexBuffer *vertexBuffer; // Dynamic buffer(s) for vertex data
-
-    rlDrawCall *draws;          // Draw calls array, depends on textureId
-    int drawCounter;            // Draw calls counter
-    float currentDepth;         // Current depth value for next draw
-} rlRenderBatch;
-
-// OpenGL version
-typedef enum {
-    RL_OPENGL_11 = 1,           // OpenGL 1.1
-    RL_OPENGL_21,               // OpenGL 2.1 (GLSL 120)
-    RL_OPENGL_33,               // OpenGL 3.3 (GLSL 330)
-    RL_OPENGL_43,               // OpenGL 4.3 (using GLSL 330)
-    RL_OPENGL_ES_20,            // OpenGL ES 2.0 (GLSL 100)
-    RL_OPENGL_ES_30             // OpenGL ES 3.0 (GLSL 300 es)
-} rlGlVersion;
-
-// Trace log level
-// NOTE: Organized by priority level
-typedef enum {
-    RL_LOG_ALL = 0,             // Display all logs
-    RL_LOG_TRACE,               // Trace logging, intended for internal use only
-    RL_LOG_DEBUG,               // Debug logging, used for internal debugging, it should be disabled on release builds
-    RL_LOG_INFO,                // Info logging, used for program execution info
-    RL_LOG_WARNING,             // Warning logging, used on recoverable failures
-    RL_LOG_ERROR,               // Error logging, used on unrecoverable failures
-    RL_LOG_FATAL,               // Fatal logging, used to abort program: exit(EXIT_FAILURE)
-    RL_LOG_NONE                 // Disable logging
-} rlTraceLogLevel;
-
-// Texture pixel formats
-// NOTE: Support depends on OpenGL version
-typedef enum {
-    RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE = 1,     // 8 bit per pixel (no alpha)
-    RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA,        // 8*2 bpp (2 channels)
-    RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5,            // 16 bpp
-    RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8,            // 24 bpp
-    RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1,          // 16 bpp (1 bit alpha)
-    RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4,          // 16 bpp (4 bit alpha)
-    RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8,          // 32 bpp
-    RL_PIXELFORMAT_UNCOMPRESSED_R32,               // 32 bpp (1 channel - float)
-    RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32,         // 32*3 bpp (3 channels - float)
-    RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32,      // 32*4 bpp (4 channels - float)
-    RL_PIXELFORMAT_UNCOMPRESSED_R16,               // 16 bpp (1 channel - half float)
-    RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16,         // 16*3 bpp (3 channels - half float)
-    RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16,      // 16*4 bpp (4 channels - half float)
-    RL_PIXELFORMAT_COMPRESSED_DXT1_RGB,            // 4 bpp (no alpha)
-    RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA,           // 4 bpp (1 bit alpha)
-    RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA,           // 8 bpp
-    RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA,           // 8 bpp
-    RL_PIXELFORMAT_COMPRESSED_ETC1_RGB,            // 4 bpp
-    RL_PIXELFORMAT_COMPRESSED_ETC2_RGB,            // 4 bpp
-    RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA,       // 8 bpp
-    RL_PIXELFORMAT_COMPRESSED_PVRT_RGB,            // 4 bpp
-    RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA,           // 4 bpp
-    RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA,       // 8 bpp
-    RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA        // 2 bpp
-} rlPixelFormat;
-
-// Texture parameters: filter mode
-// NOTE 1: Filtering considers mipmaps if available in the texture
-// NOTE 2: Filter is accordingly set for minification and magnification
-typedef enum {
-    RL_TEXTURE_FILTER_POINT = 0,        // No filter, just pixel approximation
-    RL_TEXTURE_FILTER_BILINEAR,         // Linear filtering
-    RL_TEXTURE_FILTER_TRILINEAR,        // Trilinear filtering (linear with mipmaps)
-    RL_TEXTURE_FILTER_ANISOTROPIC_4X,   // Anisotropic filtering 4x
-    RL_TEXTURE_FILTER_ANISOTROPIC_8X,   // Anisotropic filtering 8x
-    RL_TEXTURE_FILTER_ANISOTROPIC_16X,  // Anisotropic filtering 16x
-} rlTextureFilter;
-
-// Color blending modes (pre-defined)
-typedef enum {
-    RL_BLEND_ALPHA = 0,                 // Blend textures considering alpha (default)
-    RL_BLEND_ADDITIVE,                  // Blend textures adding colors
-    RL_BLEND_MULTIPLIED,                // Blend textures multiplying colors
-    RL_BLEND_ADD_COLORS,                // Blend textures adding colors (alternative)
-    RL_BLEND_SUBTRACT_COLORS,           // Blend textures subtracting colors (alternative)
-    RL_BLEND_ALPHA_PREMULTIPLY,         // Blend premultiplied textures considering alpha
-    RL_BLEND_CUSTOM,                    // Blend textures using custom src/dst factors (use rlSetBlendFactors())
-    RL_BLEND_CUSTOM_SEPARATE            // Blend textures using custom src/dst factors (use rlSetBlendFactorsSeparate())
-} rlBlendMode;
-
-// Shader location point type
-typedef enum {
-    RL_SHADER_LOC_VERTEX_POSITION = 0,  // Shader location: vertex attribute: position
-    RL_SHADER_LOC_VERTEX_TEXCOORD01,    // Shader location: vertex attribute: texcoord01
-    RL_SHADER_LOC_VERTEX_TEXCOORD02,    // Shader location: vertex attribute: texcoord02
-    RL_SHADER_LOC_VERTEX_NORMAL,        // Shader location: vertex attribute: normal
-    RL_SHADER_LOC_VERTEX_TANGENT,       // Shader location: vertex attribute: tangent
-    RL_SHADER_LOC_VERTEX_COLOR,         // Shader location: vertex attribute: color
-    RL_SHADER_LOC_MATRIX_MVP,           // Shader location: matrix uniform: model-view-projection
-    RL_SHADER_LOC_MATRIX_VIEW,          // Shader location: matrix uniform: view (camera transform)
-    RL_SHADER_LOC_MATRIX_PROJECTION,    // Shader location: matrix uniform: projection
-    RL_SHADER_LOC_MATRIX_MODEL,         // Shader location: matrix uniform: model (transform)
-    RL_SHADER_LOC_MATRIX_NORMAL,        // Shader location: matrix uniform: normal
-    RL_SHADER_LOC_VECTOR_VIEW,          // Shader location: vector uniform: view
-    RL_SHADER_LOC_COLOR_DIFFUSE,        // Shader location: vector uniform: diffuse color
-    RL_SHADER_LOC_COLOR_SPECULAR,       // Shader location: vector uniform: specular color
-    RL_SHADER_LOC_COLOR_AMBIENT,        // Shader location: vector uniform: ambient color
-    RL_SHADER_LOC_MAP_ALBEDO,           // Shader location: sampler2d texture: albedo (same as: RL_SHADER_LOC_MAP_DIFFUSE)
-    RL_SHADER_LOC_MAP_METALNESS,        // Shader location: sampler2d texture: metalness (same as: RL_SHADER_LOC_MAP_SPECULAR)
-    RL_SHADER_LOC_MAP_NORMAL,           // Shader location: sampler2d texture: normal
-    RL_SHADER_LOC_MAP_ROUGHNESS,        // Shader location: sampler2d texture: roughness
-    RL_SHADER_LOC_MAP_OCCLUSION,        // Shader location: sampler2d texture: occlusion
-    RL_SHADER_LOC_MAP_EMISSION,         // Shader location: sampler2d texture: emission
-    RL_SHADER_LOC_MAP_HEIGHT,           // Shader location: sampler2d texture: height
-    RL_SHADER_LOC_MAP_CUBEMAP,          // Shader location: samplerCube texture: cubemap
-    RL_SHADER_LOC_MAP_IRRADIANCE,       // Shader location: samplerCube texture: irradiance
-    RL_SHADER_LOC_MAP_PREFILTER,        // Shader location: samplerCube texture: prefilter
-    RL_SHADER_LOC_MAP_BRDF              // Shader location: sampler2d texture: brdf
-} rlShaderLocationIndex;
-
-#define RL_SHADER_LOC_MAP_DIFFUSE       RL_SHADER_LOC_MAP_ALBEDO
-#define RL_SHADER_LOC_MAP_SPECULAR      RL_SHADER_LOC_MAP_METALNESS
-
-// Shader uniform data type
-typedef enum {
-    RL_SHADER_UNIFORM_FLOAT = 0,        // Shader uniform type: float
-    RL_SHADER_UNIFORM_VEC2,             // Shader uniform type: vec2 (2 float)
-    RL_SHADER_UNIFORM_VEC3,             // Shader uniform type: vec3 (3 float)
-    RL_SHADER_UNIFORM_VEC4,             // Shader uniform type: vec4 (4 float)
-    RL_SHADER_UNIFORM_INT,              // Shader uniform type: int
-    RL_SHADER_UNIFORM_IVEC2,            // Shader uniform type: ivec2 (2 int)
-    RL_SHADER_UNIFORM_IVEC3,            // Shader uniform type: ivec3 (3 int)
-    RL_SHADER_UNIFORM_IVEC4,            // Shader uniform type: ivec4 (4 int)
-    RL_SHADER_UNIFORM_UINT,             // Shader uniform type: unsigned int
-    RL_SHADER_UNIFORM_UIVEC2,           // Shader uniform type: uivec2 (2 unsigned int)
-    RL_SHADER_UNIFORM_UIVEC3,           // Shader uniform type: uivec3 (3 unsigned int)
-    RL_SHADER_UNIFORM_UIVEC4,           // Shader uniform type: uivec4 (4 unsigned int)
-    RL_SHADER_UNIFORM_SAMPLER2D         // Shader uniform type: sampler2d
-} rlShaderUniformDataType;
-
-// Shader attribute data types
-typedef enum {
-    RL_SHADER_ATTRIB_FLOAT = 0,         // Shader attribute type: float
-    RL_SHADER_ATTRIB_VEC2,              // Shader attribute type: vec2 (2 float)
-    RL_SHADER_ATTRIB_VEC3,              // Shader attribute type: vec3 (3 float)
-    RL_SHADER_ATTRIB_VEC4               // Shader attribute type: vec4 (4 float)
-} rlShaderAttributeDataType;
-
-// Framebuffer attachment type
-// NOTE: By default up to 8 color channels defined, but it can be more
-typedef enum {
-    RL_ATTACHMENT_COLOR_CHANNEL0 = 0,       // Framebuffer attachment type: color 0
-    RL_ATTACHMENT_COLOR_CHANNEL1 = 1,       // Framebuffer attachment type: color 1
-    RL_ATTACHMENT_COLOR_CHANNEL2 = 2,       // Framebuffer attachment type: color 2
-    RL_ATTACHMENT_COLOR_CHANNEL3 = 3,       // Framebuffer attachment type: color 3
-    RL_ATTACHMENT_COLOR_CHANNEL4 = 4,       // Framebuffer attachment type: color 4
-    RL_ATTACHMENT_COLOR_CHANNEL5 = 5,       // Framebuffer attachment type: color 5
-    RL_ATTACHMENT_COLOR_CHANNEL6 = 6,       // Framebuffer attachment type: color 6
-    RL_ATTACHMENT_COLOR_CHANNEL7 = 7,       // Framebuffer attachment type: color 7
-    RL_ATTACHMENT_DEPTH = 100,              // Framebuffer attachment type: depth
-    RL_ATTACHMENT_STENCIL = 200,            // Framebuffer attachment type: stencil
-} rlFramebufferAttachType;
-
-// Framebuffer texture attachment type
-typedef enum {
-    RL_ATTACHMENT_CUBEMAP_POSITIVE_X = 0,   // Framebuffer texture attachment type: cubemap, +X side
-    RL_ATTACHMENT_CUBEMAP_NEGATIVE_X = 1,   // Framebuffer texture attachment type: cubemap, -X side
-    RL_ATTACHMENT_CUBEMAP_POSITIVE_Y = 2,   // Framebuffer texture attachment type: cubemap, +Y side
-    RL_ATTACHMENT_CUBEMAP_NEGATIVE_Y = 3,   // Framebuffer texture attachment type: cubemap, -Y side
-    RL_ATTACHMENT_CUBEMAP_POSITIVE_Z = 4,   // Framebuffer texture attachment type: cubemap, +Z side
-    RL_ATTACHMENT_CUBEMAP_NEGATIVE_Z = 5,   // Framebuffer texture attachment type: cubemap, -Z side
-    RL_ATTACHMENT_TEXTURE2D = 100,          // Framebuffer texture attachment type: texture2d
-    RL_ATTACHMENT_RENDERBUFFER = 200,       // Framebuffer texture attachment type: renderbuffer
-} rlFramebufferAttachTextureType;
-
-// Face culling mode
-typedef enum {
-    RL_CULL_FACE_FRONT = 0,
-    RL_CULL_FACE_BACK
-} rlCullMode;
-
-//------------------------------------------------------------------------------------
-// Functions Declaration - Matrix operations
-//------------------------------------------------------------------------------------
-
-#if defined(__cplusplus)
-extern "C" {            // Prevents name mangling of functions
-#endif
-
-RLAPI void rlMatrixMode(int mode);                      // Choose the current matrix to be transformed
-RLAPI void rlPushMatrix(void);                          // Push the current matrix to stack
-RLAPI void rlPopMatrix(void);                           // Pop latest inserted matrix from stack
-RLAPI void rlLoadIdentity(void);                        // Reset current matrix to identity matrix
-RLAPI void rlTranslatef(float x, float y, float z);     // Multiply the current matrix by a translation matrix
-RLAPI void rlRotatef(float angle, float x, float y, float z); // Multiply the current matrix by a rotation matrix
-RLAPI void rlScalef(float x, float y, float z);         // Multiply the current matrix by a scaling matrix
-RLAPI void rlMultMatrixf(const float *matf);            // Multiply the current matrix by another matrix
-RLAPI void rlFrustum(double left, double right, double bottom, double top, double znear, double zfar);
-RLAPI void rlOrtho(double left, double right, double bottom, double top, double znear, double zfar);
-RLAPI void rlViewport(int x, int y, int width, int height); // Set the viewport area
-RLAPI void rlSetClipPlanes(double nearPlane, double farPlane);    // Set clip planes distances
-RLAPI double rlGetCullDistanceNear(void);               // Get cull plane distance near
-RLAPI double rlGetCullDistanceFar(void);                // Get cull plane distance far
-
-//------------------------------------------------------------------------------------
-// Functions Declaration - Vertex level operations
-//------------------------------------------------------------------------------------
-RLAPI void rlBegin(int mode);                           // Initialize drawing mode (how to organize vertex)
-RLAPI void rlEnd(void);                                 // Finish vertex providing
-RLAPI void rlVertex2i(int x, int y);                    // Define one vertex (position) - 2 int
-RLAPI void rlVertex2f(float x, float y);                // Define one vertex (position) - 2 float
-RLAPI void rlVertex3f(float x, float y, float z);       // Define one vertex (position) - 3 float
-RLAPI void rlTexCoord2f(float x, float y);              // Define one vertex (texture coordinate) - 2 float
-RLAPI void rlNormal3f(float x, float y, float z);       // Define one vertex (normal) - 3 float
-RLAPI void rlColor4ub(unsigned char r, unsigned char g, unsigned char b, unsigned char a); // Define one vertex (color) - 4 byte
-RLAPI void rlColor3f(float x, float y, float z);        // Define one vertex (color) - 3 float
-RLAPI void rlColor4f(float x, float y, float z, float w); // Define one vertex (color) - 4 float
-
-//------------------------------------------------------------------------------------
-// Functions Declaration - OpenGL style functions (common to 1.1, 3.3+, ES2)
-// NOTE: This functions are used to completely abstract raylib code from OpenGL layer,
-// some of them are direct wrappers over OpenGL calls, some others are custom
-//------------------------------------------------------------------------------------
-
-// Vertex buffers state
-RLAPI bool rlEnableVertexArray(unsigned int vaoId);     // Enable vertex array (VAO, if supported)
-RLAPI void rlDisableVertexArray(void);                  // Disable vertex array (VAO, if supported)
-RLAPI void rlEnableVertexBuffer(unsigned int id);       // Enable vertex buffer (VBO)
-RLAPI void rlDisableVertexBuffer(void);                 // Disable vertex buffer (VBO)
-RLAPI void rlEnableVertexBufferElement(unsigned int id); // Enable vertex buffer element (VBO element)
-RLAPI void rlDisableVertexBufferElement(void);          // Disable vertex buffer element (VBO element)
-RLAPI void rlEnableVertexAttribute(unsigned int index); // Enable vertex attribute index
-RLAPI void rlDisableVertexAttribute(unsigned int index); // Disable vertex attribute index
-#if defined(GRAPHICS_API_OPENGL_11)
-RLAPI void rlEnableStatePointer(int vertexAttribType, void *buffer); // Enable attribute state pointer
-RLAPI void rlDisableStatePointer(int vertexAttribType); // Disable attribute state pointer
-#endif
-
-// Textures state
-RLAPI void rlActiveTextureSlot(int slot);               // Select and active a texture slot
-RLAPI void rlEnableTexture(unsigned int id);            // Enable texture
-RLAPI void rlDisableTexture(void);                      // Disable texture
-RLAPI void rlEnableTextureCubemap(unsigned int id);     // Enable texture cubemap
-RLAPI void rlDisableTextureCubemap(void);               // Disable texture cubemap
-RLAPI void rlTextureParameters(unsigned int id, int param, int value); // Set texture parameters (filter, wrap)
-RLAPI void rlCubemapParameters(unsigned int id, int param, int value); // Set cubemap parameters (filter, wrap)
-
-// Shader state
-RLAPI void rlEnableShader(unsigned int id);             // Enable shader program
-RLAPI void rlDisableShader(void);                       // Disable shader program
-
-// Framebuffer state
-RLAPI void rlEnableFramebuffer(unsigned int id);        // Enable render texture (fbo)
-RLAPI void rlDisableFramebuffer(void);                  // Disable render texture (fbo), return to default framebuffer
-RLAPI unsigned int rlGetActiveFramebuffer(void);        // Get the currently active render texture (fbo), 0 for default framebuffer
-RLAPI void rlActiveDrawBuffers(int count);              // Activate multiple draw color buffers
-RLAPI void rlBlitFramebuffer(int srcX, int srcY, int srcWidth, int srcHeight, int dstX, int dstY, int dstWidth, int dstHeight, int bufferMask); // Blit active framebuffer to main framebuffer
-RLAPI void rlBindFramebuffer(unsigned int target, unsigned int framebuffer); // Bind framebuffer (FBO)
-
-// General render state
-RLAPI void rlEnableColorBlend(void);                    // Enable color blending
-RLAPI void rlDisableColorBlend(void);                   // Disable color blending
-RLAPI void rlEnableDepthTest(void);                     // Enable depth test
-RLAPI void rlDisableDepthTest(void);                    // Disable depth test
-RLAPI void rlEnableDepthMask(void);                     // Enable depth write
-RLAPI void rlDisableDepthMask(void);                    // Disable depth write
-RLAPI void rlEnableBackfaceCulling(void);               // Enable backface culling
-RLAPI void rlDisableBackfaceCulling(void);              // Disable backface culling
-RLAPI void rlColorMask(bool r, bool g, bool b, bool a); // Color mask control
-RLAPI void rlSetCullFace(int mode);                     // Set face culling mode
-RLAPI void rlEnableScissorTest(void);                   // Enable scissor test
-RLAPI void rlDisableScissorTest(void);                  // Disable scissor test
-RLAPI void rlScissor(int x, int y, int width, int height); // Scissor test
-RLAPI void rlEnableWireMode(void);                      // Enable wire mode
-RLAPI void rlEnablePointMode(void);                     // Enable point mode
-RLAPI void rlDisableWireMode(void);                     // Disable wire (and point) mode
-RLAPI void rlSetLineWidth(float width);                 // Set the line drawing width
-RLAPI float rlGetLineWidth(void);                       // Get the line drawing width
-RLAPI void rlEnableSmoothLines(void);                   // Enable line aliasing
-RLAPI void rlDisableSmoothLines(void);                  // Disable line aliasing
-RLAPI void rlEnableStereoRender(void);                  // Enable stereo rendering
-RLAPI void rlDisableStereoRender(void);                 // Disable stereo rendering
-RLAPI bool rlIsStereoRenderEnabled(void);               // Check if stereo render is enabled
-
-RLAPI void rlClearColor(unsigned char r, unsigned char g, unsigned char b, unsigned char a); // Clear color buffer with color
-RLAPI void rlClearScreenBuffers(void);                  // Clear used screen buffers (color and depth)
-RLAPI void rlCheckErrors(void);                         // Check and log OpenGL error codes
-RLAPI void rlSetBlendMode(int mode);                    // Set blending mode
-RLAPI void rlSetBlendFactors(int glSrcFactor, int glDstFactor, int glEquation); // Set blending mode factor and equation (using OpenGL factors)
-RLAPI void rlSetBlendFactorsSeparate(int glSrcRGB, int glDstRGB, int glSrcAlpha, int glDstAlpha, int glEqRGB, int glEqAlpha); // Set blending mode factors and equations separately (using OpenGL factors)
-
-//------------------------------------------------------------------------------------
-// Functions Declaration - rlgl functionality
-//------------------------------------------------------------------------------------
-// rlgl initialization functions
-RLAPI void rlglInit(int width, int height);             // Initialize rlgl (buffers, shaders, textures, states)
-RLAPI void rlglClose(void);                             // De-initialize rlgl (buffers, shaders, textures)
-RLAPI void rlLoadExtensions(void *loader);              // Load OpenGL extensions (loader function required)
-RLAPI int rlGetVersion(void);                           // Get current OpenGL version
-RLAPI void rlSetFramebufferWidth(int width);            // Set current framebuffer width
-RLAPI int rlGetFramebufferWidth(void);                  // Get default framebuffer width
-RLAPI void rlSetFramebufferHeight(int height);          // Set current framebuffer height
-RLAPI int rlGetFramebufferHeight(void);                 // Get default framebuffer height
-
-RLAPI unsigned int rlGetTextureIdDefault(void);         // Get default texture id
-RLAPI unsigned int rlGetShaderIdDefault(void);          // Get default shader id
-RLAPI int *rlGetShaderLocsDefault(void);                // Get default shader locations
-
-// Render batch management
-// NOTE: rlgl provides a default render batch to behave like OpenGL 1.1 immediate mode
-// but this render batch API is exposed in case of custom batches are required
-RLAPI rlRenderBatch rlLoadRenderBatch(int numBuffers, int bufferElements); // Load a render batch system
-RLAPI void rlUnloadRenderBatch(rlRenderBatch batch);    // Unload render batch system
-RLAPI void rlDrawRenderBatch(rlRenderBatch *batch);     // Draw render batch data (Update->Draw->Reset)
-RLAPI void rlSetRenderBatchActive(rlRenderBatch *batch); // Set the active render batch for rlgl (NULL for default internal)
-RLAPI void rlDrawRenderBatchActive(void);               // Update and draw internal render batch
-RLAPI bool rlCheckRenderBatchLimit(int vCount);         // Check internal buffer overflow for a given number of vertex
-
-RLAPI void rlSetTexture(unsigned int id);               // Set current texture for render batch and check buffers limits
-
-//------------------------------------------------------------------------------------------------------------------------
-
-// Vertex buffers management
-RLAPI unsigned int rlLoadVertexArray(void);             // Load vertex array (vao) if supported
-RLAPI unsigned int rlLoadVertexBuffer(const void *buffer, int size, bool dynamic); // Load a vertex buffer object
-RLAPI unsigned int rlLoadVertexBufferElement(const void *buffer, int size, bool dynamic); // Load vertex buffer elements object
-RLAPI void rlUpdateVertexBuffer(unsigned int bufferId, const void *data, int dataSize, int offset); // Update vertex buffer object data on GPU buffer
-RLAPI void rlUpdateVertexBufferElements(unsigned int id, const void *data, int dataSize, int offset); // Update vertex buffer elements data on GPU buffer
-RLAPI void rlUnloadVertexArray(unsigned int vaoId);     // Unload vertex array (vao)
-RLAPI void rlUnloadVertexBuffer(unsigned int vboId);    // Unload vertex buffer object
-RLAPI void rlSetVertexAttribute(unsigned int index, int compSize, int type, bool normalized, int stride, int offset); // Set vertex attribute data configuration
-RLAPI void rlSetVertexAttributeDivisor(unsigned int index, int divisor); // Set vertex attribute data divisor
-RLAPI void rlSetVertexAttributeDefault(int locIndex, const void *value, int attribType, int count); // Set vertex attribute default value, when attribute to provided
-RLAPI void rlDrawVertexArray(int offset, int count);    // Draw vertex array (currently active vao)
-RLAPI void rlDrawVertexArrayElements(int offset, int count, const void *buffer); // Draw vertex array elements
-RLAPI void rlDrawVertexArrayInstanced(int offset, int count, int instances); // Draw vertex array (currently active vao) with instancing
-RLAPI void rlDrawVertexArrayElementsInstanced(int offset, int count, const void *buffer, int instances); // Draw vertex array elements with instancing
-
-// Textures management
-RLAPI unsigned int rlLoadTexture(const void *data, int width, int height, int format, int mipmapCount); // Load texture data
-RLAPI unsigned int rlLoadTextureDepth(int width, int height, bool useRenderBuffer); // Load depth texture/renderbuffer (to be attached to fbo)
-RLAPI unsigned int rlLoadTextureCubemap(const void *data, int size, int format, int mipmapCount); // Load texture cubemap data
-RLAPI void rlUpdateTexture(unsigned int id, int offsetX, int offsetY, int width, int height, int format, const void *data); // Update texture with new data on GPU
-RLAPI void rlGetGlTextureFormats(int format, unsigned int *glInternalFormat, unsigned int *glFormat, unsigned int *glType); // Get OpenGL internal formats
-RLAPI const char *rlGetPixelFormatName(unsigned int format);              // Get name string for pixel format
-RLAPI void rlUnloadTexture(unsigned int id);                              // Unload texture from GPU memory
-RLAPI void rlGenTextureMipmaps(unsigned int id, int width, int height, int format, int *mipmaps); // Generate mipmap data for selected texture
-RLAPI void *rlReadTexturePixels(unsigned int id, int width, int height, int format); // Read texture pixel data
-RLAPI unsigned char *rlReadScreenPixels(int width, int height);           // Read screen pixel data (color buffer)
-
-// Framebuffer management (fbo)
-RLAPI unsigned int rlLoadFramebuffer(void);                               // Load an empty framebuffer
-RLAPI void rlFramebufferAttach(unsigned int fboId, unsigned int texId, int attachType, int texType, int mipLevel); // Attach texture/renderbuffer to a framebuffer
-RLAPI bool rlFramebufferComplete(unsigned int id);                        // Verify framebuffer is complete
-RLAPI void rlUnloadFramebuffer(unsigned int id);                          // Delete framebuffer from GPU
-
-// Shaders management
-RLAPI unsigned int rlLoadShaderCode(const char *vsCode, const char *fsCode);    // Load shader from code strings
-RLAPI unsigned int rlCompileShader(const char *shaderCode, int type);           // Compile custom shader and return shader id (type: RL_VERTEX_SHADER, RL_FRAGMENT_SHADER, RL_COMPUTE_SHADER)
-RLAPI unsigned int rlLoadShaderProgram(unsigned int vShaderId, unsigned int fShaderId); // Load custom shader program
-RLAPI void rlUnloadShaderProgram(unsigned int id);                              // Unload shader program
-RLAPI int rlGetLocationUniform(unsigned int shaderId, const char *uniformName); // Get shader location uniform
-RLAPI int rlGetLocationAttrib(unsigned int shaderId, const char *attribName);   // Get shader location attribute
-RLAPI void rlSetUniform(int locIndex, const void *value, int uniformType, int count); // Set shader value uniform
-RLAPI void rlSetUniformMatrix(int locIndex, Matrix mat);                        // Set shader value matrix
-RLAPI void rlSetUniformMatrices(int locIndex, const Matrix *mat, int count);    // Set shader value matrices
-RLAPI void rlSetUniformSampler(int locIndex, unsigned int textureId);           // Set shader value sampler
-RLAPI void rlSetShader(unsigned int id, int *locs);                             // Set shader currently active (id and locations)
-
-// Compute shader management
-RLAPI unsigned int rlLoadComputeShaderProgram(unsigned int shaderId);           // Load compute shader program
-RLAPI void rlComputeShaderDispatch(unsigned int groupX, unsigned int groupY, unsigned int groupZ); // Dispatch compute shader (equivalent to *draw* for graphics pipeline)
-
-// Shader buffer storage object management (ssbo)
-RLAPI unsigned int rlLoadShaderBuffer(unsigned int size, const void *data, int usageHint); // Load shader storage buffer object (SSBO)
-RLAPI void rlUnloadShaderBuffer(unsigned int ssboId);                           // Unload shader storage buffer object (SSBO)
-RLAPI void rlUpdateShaderBuffer(unsigned int id, const void *data, unsigned int dataSize, unsigned int offset); // Update SSBO buffer data
-RLAPI void rlBindShaderBuffer(unsigned int id, unsigned int index);             // Bind SSBO buffer
-RLAPI void rlReadShaderBuffer(unsigned int id, void *dest, unsigned int count, unsigned int offset); // Read SSBO buffer data (GPU->CPU)
-RLAPI void rlCopyShaderBuffer(unsigned int destId, unsigned int srcId, unsigned int destOffset, unsigned int srcOffset, unsigned int count); // Copy SSBO data between buffers
-RLAPI unsigned int rlGetShaderBufferSize(unsigned int id);                      // Get SSBO buffer size
-
-// Buffer management
-RLAPI void rlBindImageTexture(unsigned int id, unsigned int index, int format, bool readonly);  // Bind image texture
-
-// Matrix state management
-RLAPI Matrix rlGetMatrixModelview(void);                                  // Get internal modelview matrix
-RLAPI Matrix rlGetMatrixProjection(void);                                 // Get internal projection matrix
-RLAPI Matrix rlGetMatrixTransform(void);                                  // Get internal accumulated transform matrix
-RLAPI Matrix rlGetMatrixProjectionStereo(int eye);                        // Get internal projection matrix for stereo render (selected eye)
-RLAPI Matrix rlGetMatrixViewOffsetStereo(int eye);                        // Get internal view offset matrix for stereo render (selected eye)
-RLAPI void rlSetMatrixProjection(Matrix proj);                            // Set a custom projection matrix (replaces internal projection matrix)
-RLAPI void rlSetMatrixModelview(Matrix view);                             // Set a custom modelview matrix (replaces internal modelview matrix)
-RLAPI void rlSetMatrixProjectionStereo(Matrix right, Matrix left);        // Set eyes projection matrices for stereo rendering
-RLAPI void rlSetMatrixViewOffsetStereo(Matrix right, Matrix left);        // Set eyes view offsets matrices for stereo rendering
-
-// Quick and dirty cube/quad buffers load->draw->unload
-RLAPI void rlLoadDrawCube(void);     // Load and draw a cube
-RLAPI void rlLoadDrawQuad(void);     // Load and draw a quad
-
-#if defined(__cplusplus)
-}
-#endif
-
-#endif // RLGL_H
-
-/***********************************************************************************
-*
-*   RLGL IMPLEMENTATION
-*
-************************************************************************************/
-
-#if defined(RLGL_IMPLEMENTATION)
-
-// Expose OpenGL functions from glad in raylib
-#if defined(BUILD_LIBTYPE_SHARED)
-    #define GLAD_API_CALL_EXPORT
-    #define GLAD_API_CALL_EXPORT_BUILD
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_11)
-    #if defined(__APPLE__)
-        #include <OpenGL/gl.h>          // OpenGL 1.1 library for OSX
-        #include <OpenGL/glext.h>       // OpenGL extensions library
-    #else
-        // APIENTRY for OpenGL function pointer declarations is required
-        #if !defined(APIENTRY)
-            #if defined(_WIN32)
-                #define APIENTRY __stdcall
-            #else
-                #define APIENTRY
-            #endif
-        #endif
-        // WINGDIAPI definition. Some Windows OpenGL headers need it
-        #if !defined(WINGDIAPI) && defined(_WIN32)
-            #define WINGDIAPI __declspec(dllimport)
-        #endif
-
-        #include <GL/gl.h>              // OpenGL 1.1 library
-    #endif
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_33)
-    #define GLAD_MALLOC RL_MALLOC
-    #define GLAD_FREE RL_FREE
-
-    #define GLAD_GL_IMPLEMENTATION
-    #include "external/glad.h"          // GLAD extensions loading library, includes OpenGL headers
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    #include <GLES3/gl3.h>              // OpenGL ES 3.0 library
-    #define GL_GLEXT_PROTOTYPES
-    #include <GLES2/gl2ext.h>           // OpenGL ES 2.0 extensions library
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-    // NOTE: OpenGL ES 2.0 can be enabled on Desktop platforms,
-    // in that case, functions are loaded from a custom glad for OpenGL ES 2.0
-    #if defined(PLATFORM_DESKTOP_GLFW) || defined(PLATFORM_DESKTOP_SDL)
-        #define GLAD_GLES2_IMPLEMENTATION
-        #include "external/glad_gles2.h"
-    #else
-        #define GL_GLEXT_PROTOTYPES
-        //#include <EGL/egl.h>          // EGL library -> not required, platform layer
-        #include <GLES2/gl2.h>          // OpenGL ES 2.0 library
-        #include <GLES2/gl2ext.h>       // OpenGL ES 2.0 extensions library
-    #endif
-
-    // It seems OpenGL ES 2.0 instancing entry points are not defined on Raspberry Pi
-    // provided headers (despite being defined in official Khronos GLES2 headers)
-    #if defined(PLATFORM_DRM)
-    typedef void (GL_APIENTRYP PFNGLDRAWARRAYSINSTANCEDEXTPROC) (GLenum mode, GLint start, GLsizei count, GLsizei primcount);
-    typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSINSTANCEDEXTPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount);
-    typedef void (GL_APIENTRYP PFNGLVERTEXATTRIBDIVISOREXTPROC) (GLuint index, GLuint divisor);
-    #endif
-#endif
-
-#include <stdlib.h>                     // Required for: malloc(), free()
-#include <string.h>                     // Required for: strcmp(), strlen() [Used in rlglInit(), on extensions loading]
-#include <math.h>                       // Required for: sqrtf(), sinf(), cosf(), floor(), log()
-
-//----------------------------------------------------------------------------------
-// Defines and Macros
-//----------------------------------------------------------------------------------
-#ifndef PI
-    #define PI 3.14159265358979323846f
-#endif
-#ifndef DEG2RAD
-    #define DEG2RAD (PI/180.0f)
-#endif
-#ifndef RAD2DEG
-    #define RAD2DEG (180.0f/PI)
-#endif
-
-#ifndef GL_SHADING_LANGUAGE_VERSION
-    #define GL_SHADING_LANGUAGE_VERSION         0x8B8C
-#endif
-
-#ifndef GL_COMPRESSED_RGB_S3TC_DXT1_EXT
-    #define GL_COMPRESSED_RGB_S3TC_DXT1_EXT     0x83F0
-#endif
-#ifndef GL_COMPRESSED_RGBA_S3TC_DXT1_EXT
-    #define GL_COMPRESSED_RGBA_S3TC_DXT1_EXT    0x83F1
-#endif
-#ifndef GL_COMPRESSED_RGBA_S3TC_DXT3_EXT
-    #define GL_COMPRESSED_RGBA_S3TC_DXT3_EXT    0x83F2
-#endif
-#ifndef GL_COMPRESSED_RGBA_S3TC_DXT5_EXT
-    #define GL_COMPRESSED_RGBA_S3TC_DXT5_EXT    0x83F3
-#endif
-#ifndef GL_ETC1_RGB8_OES
-    #define GL_ETC1_RGB8_OES                    0x8D64
-#endif
-#ifndef GL_COMPRESSED_RGB8_ETC2
-    #define GL_COMPRESSED_RGB8_ETC2             0x9274
-#endif
-#ifndef GL_COMPRESSED_RGBA8_ETC2_EAC
-    #define GL_COMPRESSED_RGBA8_ETC2_EAC        0x9278
-#endif
-#ifndef GL_COMPRESSED_RGB_PVRTC_4BPPV1_IMG
-    #define GL_COMPRESSED_RGB_PVRTC_4BPPV1_IMG  0x8C00
-#endif
-#ifndef GL_COMPRESSED_RGBA_PVRTC_4BPPV1_IMG
-    #define GL_COMPRESSED_RGBA_PVRTC_4BPPV1_IMG 0x8C02
-#endif
-#ifndef GL_COMPRESSED_RGBA_ASTC_4x4_KHR
-    #define GL_COMPRESSED_RGBA_ASTC_4x4_KHR     0x93b0
-#endif
-#ifndef GL_COMPRESSED_RGBA_ASTC_8x8_KHR
-    #define GL_COMPRESSED_RGBA_ASTC_8x8_KHR     0x93b7
-#endif
-
-#ifndef GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT
-    #define GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT   0x84FF
-#endif
-#ifndef GL_TEXTURE_MAX_ANISOTROPY_EXT
-    #define GL_TEXTURE_MAX_ANISOTROPY_EXT       0x84FE
-#endif
-
-#ifndef GL_PROGRAM_POINT_SIZE
-    #define GL_PROGRAM_POINT_SIZE               0x8642
-#endif
-
-#ifndef GL_LINE_WIDTH
-    #define GL_LINE_WIDTH                       0x0B21
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_11)
-    #define GL_UNSIGNED_SHORT_5_6_5             0x8363
-    #define GL_UNSIGNED_SHORT_5_5_5_1           0x8034
-    #define GL_UNSIGNED_SHORT_4_4_4_4           0x8033
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_21)
-    #define GL_LUMINANCE                        0x1909
-    #define GL_LUMINANCE_ALPHA                  0x190A
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_ES2)
-    #define glClearDepth                 glClearDepthf
-    #if !defined(GRAPHICS_API_OPENGL_ES3)
-        #define GL_READ_FRAMEBUFFER         GL_FRAMEBUFFER
-        #define GL_DRAW_FRAMEBUFFER         GL_FRAMEBUFFER
-    #endif
-#endif
-
-// Default shader vertex attribute names to set location points
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION     "vertexPosition"    // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD     "vertexTexCoord"    // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL       "vertexNormal"      // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR        "vertexColor"       // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT      "vertexTangent"     // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2    "vertexTexCoord2"   // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS      "vertexBoneIds"     // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS  "vertexBoneWeights" // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS
-#endif
-
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_MVP
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_MVP         "mvp"               // model-view-projection matrix
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_VIEW
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_VIEW        "matView"           // view matrix
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_PROJECTION
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_PROJECTION  "matProjection"     // projection matrix
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_MODEL
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_MODEL       "matModel"          // model matrix
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_NORMAL
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_NORMAL      "matNormal"         // normal matrix (transpose(inverse(matModelView))
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR       "colDiffuse"        // color diffuse (base tint color, multiplied by texture color)
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_BONE_MATRICES
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_BONE_MATRICES  "boneMatrices"   // bone matrices
-#endif
-#ifndef RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0
-    #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0  "texture0"          // texture0 (texture slot active 0)
-#endif
-#ifndef RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE1
-    #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE1  "texture1"          // texture1 (texture slot active 1)
-#endif
-#ifndef RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE2
-    #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE2  "texture2"          // texture2 (texture slot active 2)
-#endif
-
-//----------------------------------------------------------------------------------
-// Types and Structures Definition
-//----------------------------------------------------------------------------------
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-typedef struct rlglData {
-    rlRenderBatch *currentBatch;            // Current render batch
-    rlRenderBatch defaultBatch;             // Default internal render batch
-
-    struct {
-        int vertexCounter;                  // Current active render batch vertex counter (generic, used for all batches)
-        float texcoordx, texcoordy;         // Current active texture coordinate (added on glVertex*())
-        float normalx, normaly, normalz;    // Current active normal (added on glVertex*())
-        unsigned char colorr, colorg, colorb, colora;   // Current active color (added on glVertex*())
-
-        int currentMatrixMode;              // Current matrix mode
-        Matrix *currentMatrix;              // Current matrix pointer
-        Matrix modelview;                   // Default modelview matrix
-        Matrix projection;                  // Default projection matrix
-        Matrix transform;                   // Transform matrix to be used with rlTranslate, rlRotate, rlScale
-        bool transformRequired;             // Require transform matrix application to current draw-call vertex (if required)
-        Matrix stack[RL_MAX_MATRIX_STACK_SIZE];// Matrix stack for push/pop
-        int stackCounter;                   // Matrix stack counter
-
-        unsigned int defaultTextureId;      // Default texture used on shapes/poly drawing (required by shader)
-        unsigned int activeTextureId[RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS];    // Active texture ids to be enabled on batch drawing (0 active by default)
-        unsigned int defaultVShaderId;      // Default vertex shader id (used by default shader program)
-        unsigned int defaultFShaderId;      // Default fragment shader id (used by default shader program)
-        unsigned int defaultShaderId;       // Default shader program id, supports vertex color and diffuse texture
-        int *defaultShaderLocs;             // Default shader locations pointer to be used on rendering
-        unsigned int currentShaderId;       // Current shader id to be used on rendering (by default, defaultShaderId)
-        int *currentShaderLocs;             // Current shader locations pointer to be used on rendering (by default, defaultShaderLocs)
-
-        bool stereoRender;                  // Stereo rendering flag
-        Matrix projectionStereo[2];         // VR stereo rendering eyes projection matrices
-        Matrix viewOffsetStereo[2];         // VR stereo rendering eyes view offset matrices
-
-        // Blending variables
-        int currentBlendMode;               // Blending mode active
-        int glBlendSrcFactor;               // Blending source factor
-        int glBlendDstFactor;               // Blending destination factor
-        int glBlendEquation;                // Blending equation
-        int glBlendSrcFactorRGB;            // Blending source RGB factor
-        int glBlendDestFactorRGB;           // Blending destination RGB factor
-        int glBlendSrcFactorAlpha;          // Blending source alpha factor
-        int glBlendDestFactorAlpha;         // Blending destination alpha factor
-        int glBlendEquationRGB;             // Blending equation for RGB
-        int glBlendEquationAlpha;           // Blending equation for alpha
-        bool glCustomBlendModeModified;     // Custom blending factor and equation modification status
-
-        int framebufferWidth;               // Current framebuffer width
-        int framebufferHeight;              // Current framebuffer height
-
-    } State;            // Renderer state
-    struct {
-        bool vao;                           // VAO support (OpenGL ES2 could not support VAO extension) (GL_ARB_vertex_array_object)
-        bool instancing;                    // Instancing supported (GL_ANGLE_instanced_arrays, GL_EXT_draw_instanced + GL_EXT_instanced_arrays)
-        bool texNPOT;                       // NPOT textures full support (GL_ARB_texture_non_power_of_two, GL_OES_texture_npot)
-        bool texDepth;                      // Depth textures supported (GL_ARB_depth_texture, GL_OES_depth_texture)
-        bool texDepthWebGL;                 // Depth textures supported WebGL specific (GL_WEBGL_depth_texture)
-        bool texFloat32;                    // float textures support (32 bit per channel) (GL_OES_texture_float)
-        bool texFloat16;                    // half float textures support (16 bit per channel) (GL_OES_texture_half_float)
-        bool texCompDXT;                    // DDS texture compression support (GL_EXT_texture_compression_s3tc, GL_WEBGL_compressed_texture_s3tc, GL_WEBKIT_WEBGL_compressed_texture_s3tc)
-        bool texCompETC1;                   // ETC1 texture compression support (GL_OES_compressed_ETC1_RGB8_texture, GL_WEBGL_compressed_texture_etc1)
-        bool texCompETC2;                   // ETC2/EAC texture compression support (GL_ARB_ES3_compatibility)
-        bool texCompPVRT;                   // PVR texture compression support (GL_IMG_texture_compression_pvrtc)
-        bool texCompASTC;                   // ASTC texture compression support (GL_KHR_texture_compression_astc_hdr, GL_KHR_texture_compression_astc_ldr)
-        bool texMirrorClamp;                // Clamp mirror wrap mode supported (GL_EXT_texture_mirror_clamp)
-        bool texAnisoFilter;                // Anisotropic texture filtering support (GL_EXT_texture_filter_anisotropic)
-        bool computeShader;                 // Compute shaders support (GL_ARB_compute_shader)
-        bool ssbo;                          // Shader storage buffer object support (GL_ARB_shader_storage_buffer_object)
-
-        float maxAnisotropyLevel;           // Maximum anisotropy level supported (minimum is 2.0f)
-        int maxDepthBits;                   // Maximum bits for depth component
-
-    } ExtSupported;     // Extensions supported flags
-} rlglData;
-
-typedef void *(*rlglLoadProc)(const char *name);   // OpenGL extension functions loader signature (same as GLADloadproc)
-
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-
-//----------------------------------------------------------------------------------
-// Global Variables Definition
-//----------------------------------------------------------------------------------
-static double rlCullDistanceNear = RL_CULL_DISTANCE_NEAR;
-static double rlCullDistanceFar = RL_CULL_DISTANCE_FAR;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-static rlglData RLGL = { 0 };
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-
-#if defined(GRAPHICS_API_OPENGL_ES2) && !defined(GRAPHICS_API_OPENGL_ES3)
-// NOTE: VAO functionality is exposed through extensions (OES)
-static PFNGLGENVERTEXARRAYSOESPROC glGenVertexArrays = NULL;
-static PFNGLBINDVERTEXARRAYOESPROC glBindVertexArray = NULL;
-static PFNGLDELETEVERTEXARRAYSOESPROC glDeleteVertexArrays = NULL;
-
-// NOTE: Instancing functionality could also be available through extension
-static PFNGLDRAWARRAYSINSTANCEDEXTPROC glDrawArraysInstanced = NULL;
-static PFNGLDRAWELEMENTSINSTANCEDEXTPROC glDrawElementsInstanced = NULL;
-static PFNGLVERTEXATTRIBDIVISOREXTPROC glVertexAttribDivisor = NULL;
-#endif
-
-//----------------------------------------------------------------------------------
-// Module specific Functions Declaration
-//----------------------------------------------------------------------------------
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-static void rlLoadShaderDefault(void);      // Load default shader
-static void rlUnloadShaderDefault(void);    // Unload default shader
-#if defined(RLGL_SHOW_GL_DETAILS_INFO)
-static const char *rlGetCompressedFormatName(int format); // Get compressed format official GL identifier name
-#endif  // RLGL_SHOW_GL_DETAILS_INFO
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-
-static int rlGetPixelDataSize(int width, int height, int format);   // Get pixel data size in bytes (image or texture)
-
-// Auxiliar matrix math functions
-typedef struct rl_float16 {
-    float v[16];
-} rl_float16;
-static rl_float16 rlMatrixToFloatV(Matrix mat);             // Get float array of matrix data
-#define rlMatrixToFloat(mat) (rlMatrixToFloatV(mat).v)      // Get float vector for Matrix
-static Matrix rlMatrixIdentity(void);                       // Get identity matrix
-static Matrix rlMatrixMultiply(Matrix left, Matrix right);  // Multiply two matrices
-static Matrix rlMatrixTranspose(Matrix mat);                // Transposes provided matrix
-static Matrix rlMatrixInvert(Matrix mat);                   // Invert provided matrix
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Matrix operations
-//----------------------------------------------------------------------------------
-
-#if defined(GRAPHICS_API_OPENGL_11)
-// Fallback to OpenGL 1.1 function calls
-//---------------------------------------
-void rlMatrixMode(int mode)
-{
-    switch (mode)
-    {
-        case RL_PROJECTION: glMatrixMode(GL_PROJECTION); break;
-        case RL_MODELVIEW: glMatrixMode(GL_MODELVIEW); break;
-        case RL_TEXTURE: glMatrixMode(GL_TEXTURE); break;
-        default: break;
-    }
-}
-
-void rlFrustum(double left, double right, double bottom, double top, double znear, double zfar)
-{
-    glFrustum(left, right, bottom, top, znear, zfar);
-}
-
-void rlOrtho(double left, double right, double bottom, double top, double znear, double zfar)
-{
-    glOrtho(left, right, bottom, top, znear, zfar);
-}
-
-void rlPushMatrix(void) { glPushMatrix(); }
-void rlPopMatrix(void) { glPopMatrix(); }
-void rlLoadIdentity(void) { glLoadIdentity(); }
-void rlTranslatef(float x, float y, float z) { glTranslatef(x, y, z); }
-void rlRotatef(float angle, float x, float y, float z) { glRotatef(angle, x, y, z); }
-void rlScalef(float x, float y, float z) { glScalef(x, y, z); }
-void rlMultMatrixf(const float *matf) { glMultMatrixf(matf); }
-#endif
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-// Choose the current matrix to be transformed
-void rlMatrixMode(int mode)
-{
-    if (mode == RL_PROJECTION) RLGL.State.currentMatrix = &RLGL.State.projection;
-    else if (mode == RL_MODELVIEW) RLGL.State.currentMatrix = &RLGL.State.modelview;
-    //else if (mode == RL_TEXTURE) // Not supported
-
-    RLGL.State.currentMatrixMode = mode;
-}
-
-// Push the current matrix into RLGL.State.stack
-void rlPushMatrix(void)
-{
-    if (RLGL.State.stackCounter >= RL_MAX_MATRIX_STACK_SIZE) TRACELOG(RL_LOG_ERROR, "RLGL: Matrix stack overflow (RL_MAX_MATRIX_STACK_SIZE)");
-
-    if (RLGL.State.currentMatrixMode == RL_MODELVIEW)
-    {
-        RLGL.State.transformRequired = true;
-        RLGL.State.currentMatrix = &RLGL.State.transform;
-    }
-
-    RLGL.State.stack[RLGL.State.stackCounter] = *RLGL.State.currentMatrix;
-    RLGL.State.stackCounter++;
-}
-
-// Pop lattest inserted matrix from RLGL.State.stack
-void rlPopMatrix(void)
-{
-    if (RLGL.State.stackCounter > 0)
-    {
-        Matrix mat = RLGL.State.stack[RLGL.State.stackCounter - 1];
-        *RLGL.State.currentMatrix = mat;
-        RLGL.State.stackCounter--;
-    }
-
-    if ((RLGL.State.stackCounter == 0) && (RLGL.State.currentMatrixMode == RL_MODELVIEW))
-    {
-        RLGL.State.currentMatrix = &RLGL.State.modelview;
-        RLGL.State.transformRequired = false;
-    }
-}
-
-// Reset current matrix to identity matrix
-void rlLoadIdentity(void)
-{
-    *RLGL.State.currentMatrix = rlMatrixIdentity();
-}
-
-// Multiply the current matrix by a translation matrix
-void rlTranslatef(float x, float y, float z)
-{
-    Matrix matTranslation = {
-        1.0f, 0.0f, 0.0f, x,
-        0.0f, 1.0f, 0.0f, y,
-        0.0f, 0.0f, 1.0f, z,
-        0.0f, 0.0f, 0.0f, 1.0f
-    };
-
-    // NOTE: We transpose matrix with multiplication order
-    *RLGL.State.currentMatrix = rlMatrixMultiply(matTranslation, *RLGL.State.currentMatrix);
-}
-
-// Multiply the current matrix by a rotation matrix
-// NOTE: The provided angle must be in degrees
-void rlRotatef(float angle, float x, float y, float z)
-{
-    Matrix matRotation = rlMatrixIdentity();
-
-    // Axis vector (x, y, z) normalization
-    float lengthSquared = x*x + y*y + z*z;
-    if ((lengthSquared != 1.0f) && (lengthSquared != 0.0f))
-    {
-        float inverseLength = 1.0f/sqrtf(lengthSquared);
-        x *= inverseLength;
-        y *= inverseLength;
-        z *= inverseLength;
-    }
-
-    // Rotation matrix generation
-    float sinres = sinf(DEG2RAD*angle);
-    float cosres = cosf(DEG2RAD*angle);
-    float t = 1.0f - cosres;
-
-    matRotation.m0 = x*x*t + cosres;
-    matRotation.m1 = y*x*t + z*sinres;
-    matRotation.m2 = z*x*t - y*sinres;
-    matRotation.m3 = 0.0f;
-
-    matRotation.m4 = x*y*t - z*sinres;
-    matRotation.m5 = y*y*t + cosres;
-    matRotation.m6 = z*y*t + x*sinres;
-    matRotation.m7 = 0.0f;
-
-    matRotation.m8 = x*z*t + y*sinres;
-    matRotation.m9 = y*z*t - x*sinres;
-    matRotation.m10 = z*z*t + cosres;
-    matRotation.m11 = 0.0f;
-
-    matRotation.m12 = 0.0f;
-    matRotation.m13 = 0.0f;
-    matRotation.m14 = 0.0f;
-    matRotation.m15 = 1.0f;
-
-    // NOTE: We transpose matrix with multiplication order
-    *RLGL.State.currentMatrix = rlMatrixMultiply(matRotation, *RLGL.State.currentMatrix);
-}
-
-// Multiply the current matrix by a scaling matrix
-void rlScalef(float x, float y, float z)
-{
-    Matrix matScale = {
-        x, 0.0f, 0.0f, 0.0f,
-        0.0f, y, 0.0f, 0.0f,
-        0.0f, 0.0f, z, 0.0f,
-        0.0f, 0.0f, 0.0f, 1.0f
-    };
-
-    // NOTE: We transpose matrix with multiplication order
-    *RLGL.State.currentMatrix = rlMatrixMultiply(matScale, *RLGL.State.currentMatrix);
-}
-
-// Multiply the current matrix by another matrix
-void rlMultMatrixf(const float *matf)
-{
-    // Matrix creation from array
-    Matrix mat = { matf[0], matf[4], matf[8], matf[12],
-                   matf[1], matf[5], matf[9], matf[13],
-                   matf[2], matf[6], matf[10], matf[14],
-                   matf[3], matf[7], matf[11], matf[15] };
-
-    *RLGL.State.currentMatrix = rlMatrixMultiply(mat, *RLGL.State.currentMatrix);
-}
-
-// Multiply the current matrix by a perspective matrix generated by parameters
-void rlFrustum(double left, double right, double bottom, double top, double znear, double zfar)
-{
-    Matrix matFrustum = { 0 };
-
-    float rl = (float)(right - left);
-    float tb = (float)(top - bottom);
-    float fn = (float)(zfar - znear);
-
-    matFrustum.m0 = ((float) znear*2.0f)/rl;
-    matFrustum.m1 = 0.0f;
-    matFrustum.m2 = 0.0f;
-    matFrustum.m3 = 0.0f;
-
-    matFrustum.m4 = 0.0f;
-    matFrustum.m5 = ((float) znear*2.0f)/tb;
-    matFrustum.m6 = 0.0f;
-    matFrustum.m7 = 0.0f;
-
-    matFrustum.m8 = ((float)right + (float)left)/rl;
-    matFrustum.m9 = ((float)top + (float)bottom)/tb;
-    matFrustum.m10 = -((float)zfar + (float)znear)/fn;
-    matFrustum.m11 = -1.0f;
-
-    matFrustum.m12 = 0.0f;
-    matFrustum.m13 = 0.0f;
-    matFrustum.m14 = -((float)zfar*(float)znear*2.0f)/fn;
-    matFrustum.m15 = 0.0f;
-
-    *RLGL.State.currentMatrix = rlMatrixMultiply(*RLGL.State.currentMatrix, matFrustum);
-}
-
-// Multiply the current matrix by an orthographic matrix generated by parameters
-void rlOrtho(double left, double right, double bottom, double top, double znear, double zfar)
-{
-    // NOTE: If left-right and top-botton values are equal it could create a division by zero,
-    // response to it is platform/compiler dependant
-    Matrix matOrtho = { 0 };
-
-    float rl = (float)(right - left);
-    float tb = (float)(top - bottom);
-    float fn = (float)(zfar - znear);
-
-    matOrtho.m0 = 2.0f/rl;
-    matOrtho.m1 = 0.0f;
-    matOrtho.m2 = 0.0f;
-    matOrtho.m3 = 0.0f;
-    matOrtho.m4 = 0.0f;
-    matOrtho.m5 = 2.0f/tb;
-    matOrtho.m6 = 0.0f;
-    matOrtho.m7 = 0.0f;
-    matOrtho.m8 = 0.0f;
-    matOrtho.m9 = 0.0f;
-    matOrtho.m10 = -2.0f/fn;
-    matOrtho.m11 = 0.0f;
-    matOrtho.m12 = -((float)left + (float)right)/rl;
-    matOrtho.m13 = -((float)top + (float)bottom)/tb;
-    matOrtho.m14 = -((float)zfar + (float)znear)/fn;
-    matOrtho.m15 = 1.0f;
-
-    *RLGL.State.currentMatrix = rlMatrixMultiply(*RLGL.State.currentMatrix, matOrtho);
-}
-#endif
-
-// Set the viewport area (transformation from normalized device coordinates to window coordinates)
-// NOTE: We store current viewport dimensions
-void rlViewport(int x, int y, int width, int height)
-{
-    glViewport(x, y, width, height);
-}
-
-// Set clip planes distances
-void rlSetClipPlanes(double nearPlane, double farPlane)
-{
-    rlCullDistanceNear = nearPlane;
-    rlCullDistanceFar = farPlane;
-}
-
-// Get cull plane distance near
-double rlGetCullDistanceNear(void)
-{
-    return rlCullDistanceNear;
-}
-
-// Get cull plane distance far
-double rlGetCullDistanceFar(void)
-{
-    return rlCullDistanceFar;
-}
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Vertex level operations
-//----------------------------------------------------------------------------------
-#if defined(GRAPHICS_API_OPENGL_11)
-// Fallback to OpenGL 1.1 function calls
-//---------------------------------------
-void rlBegin(int mode)
-{
-    switch (mode)
-    {
-        case RL_LINES: glBegin(GL_LINES); break;
-        case RL_TRIANGLES: glBegin(GL_TRIANGLES); break;
-        case RL_QUADS: glBegin(GL_QUADS); break;
-        default: break;
-    }
-}
-
-void rlEnd(void) { glEnd(); }
-void rlVertex2i(int x, int y) { glVertex2i(x, y); }
-void rlVertex2f(float x, float y) { glVertex2f(x, y); }
-void rlVertex3f(float x, float y, float z) { glVertex3f(x, y, z); }
-void rlTexCoord2f(float x, float y) { glTexCoord2f(x, y); }
-void rlNormal3f(float x, float y, float z) { glNormal3f(x, y, z); }
-void rlColor4ub(unsigned char r, unsigned char g, unsigned char b, unsigned char a) { glColor4ub(r, g, b, a); }
-void rlColor3f(float x, float y, float z) { glColor3f(x, y, z); }
-void rlColor4f(float x, float y, float z, float w) { glColor4f(x, y, z, w); }
-#endif
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-// Initialize drawing mode (how to organize vertex)
-void rlBegin(int mode)
-{
-    // Draw mode can be RL_LINES, RL_TRIANGLES and RL_QUADS
-    // NOTE: In all three cases, vertex are accumulated over default internal vertex buffer
-    if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode != mode)
-    {
-        if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount > 0)
-        {
-            // Make sure current RLGL.currentBatch->draws[i].vertexCount is aligned a multiple of 4,
-            // that way, following QUADS drawing will keep aligned with index processing
-            // It implies adding some extra alignment vertex at the end of the draw,
-            // those vertex are not processed but they are considered as an additional offset
-            // for the next set of vertex to be drawn
-            if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_LINES) RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount < 4)? RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount : RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4);
-            else if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_TRIANGLES) RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount < 4)? 1 : (4 - (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4)));
-            else RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = 0;
-
-            if (!rlCheckRenderBatchLimit(RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment))
-            {
-                RLGL.State.vertexCounter += RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment;
-                RLGL.currentBatch->drawCounter++;
-            }
-        }
-
-        if (RLGL.currentBatch->drawCounter >= RL_DEFAULT_BATCH_DRAWCALLS) rlDrawRenderBatch(RLGL.currentBatch);
-
-        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode = mode;
-        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount = 0;
-        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId = RLGL.State.defaultTextureId;
-    }
-}
-
-// Finish vertex providing
-void rlEnd(void)
-{
-    // NOTE: Depth increment is dependant on rlOrtho(): z-near and z-far values,
-    // as well as depth buffer bit-depth (16bit or 24bit or 32bit)
-    // Correct increment formula would be: depthInc = (zfar - znear)/pow(2, bits)
-    RLGL.currentBatch->currentDepth += (1.0f/20000.0f);
-}
-
-// Define one vertex (position)
-// NOTE: Vertex position data is the basic information required for drawing
-void rlVertex3f(float x, float y, float z)
-{
-    float tx = x;
-    float ty = y;
-    float tz = z;
-
-    // Transform provided vector if required
-    if (RLGL.State.transformRequired)
-    {
-        tx = RLGL.State.transform.m0*x + RLGL.State.transform.m4*y + RLGL.State.transform.m8*z + RLGL.State.transform.m12;
-        ty = RLGL.State.transform.m1*x + RLGL.State.transform.m5*y + RLGL.State.transform.m9*z + RLGL.State.transform.m13;
-        tz = RLGL.State.transform.m2*x + RLGL.State.transform.m6*y + RLGL.State.transform.m10*z + RLGL.State.transform.m14;
-    }
-
-    // WARNING: We can't break primitives when launching a new batch
-    // RL_LINES comes in pairs, RL_TRIANGLES come in groups of 3 vertices and RL_QUADS come in groups of 4 vertices
-    // We must check current draw.mode when a new vertex is required and finish the batch only if the draw.mode draw.vertexCount is %2, %3 or %4
-    if (RLGL.State.vertexCounter > (RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].elementCount*4 - 4))
-    {
-        if ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_LINES) &&
-            (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%2 == 0))
-        {
-            // Reached the maximum number of vertices for RL_LINES drawing
-            // Launch a draw call but keep current state for next vertices comming
-            // NOTE: We add +1 vertex to the check for security
-            rlCheckRenderBatchLimit(2 + 1);
-        }
-        else if ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_TRIANGLES) &&
-            (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%3 == 0))
-        {
-            rlCheckRenderBatchLimit(3 + 1);
-        }
-        else if ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_QUADS) &&
-            (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4 == 0))
-        {
-            rlCheckRenderBatchLimit(4 + 1);
-        }
-    }
-
-    // Add vertices
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].vertices[3*RLGL.State.vertexCounter] = tx;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].vertices[3*RLGL.State.vertexCounter + 1] = ty;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].vertices[3*RLGL.State.vertexCounter + 2] = tz;
-
-    // Add current texcoord
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].texcoords[2*RLGL.State.vertexCounter] = RLGL.State.texcoordx;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].texcoords[2*RLGL.State.vertexCounter + 1] = RLGL.State.texcoordy;
-
-    // Add current normal
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].normals[3*RLGL.State.vertexCounter] = RLGL.State.normalx;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].normals[3*RLGL.State.vertexCounter + 1] = RLGL.State.normaly;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].normals[3*RLGL.State.vertexCounter + 2] = RLGL.State.normalz;
-
-    // Add current color
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].colors[4*RLGL.State.vertexCounter] = RLGL.State.colorr;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].colors[4*RLGL.State.vertexCounter + 1] = RLGL.State.colorg;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].colors[4*RLGL.State.vertexCounter + 2] = RLGL.State.colorb;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].colors[4*RLGL.State.vertexCounter + 3] = RLGL.State.colora;
-
-    RLGL.State.vertexCounter++;
-    RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount++;
-}
-
-// Define one vertex (position)
-void rlVertex2f(float x, float y)
-{
-    rlVertex3f(x, y, RLGL.currentBatch->currentDepth);
-}
-
-// Define one vertex (position)
-void rlVertex2i(int x, int y)
-{
-    rlVertex3f((float)x, (float)y, RLGL.currentBatch->currentDepth);
-}
-
-// Define one vertex (texture coordinate)
-// NOTE: Texture coordinates are limited to QUADS only
-void rlTexCoord2f(float x, float y)
-{
-    RLGL.State.texcoordx = x;
-    RLGL.State.texcoordy = y;
-}
-
-// Define one vertex (normal)
-// NOTE: Normals limited to TRIANGLES only?
-void rlNormal3f(float x, float y, float z)
-{
-    float normalx = x;
-    float normaly = y;
-    float normalz = z;
-    if (RLGL.State.transformRequired)
-    {
-        normalx = RLGL.State.transform.m0*x + RLGL.State.transform.m4*y + RLGL.State.transform.m8*z;
-        normaly = RLGL.State.transform.m1*x + RLGL.State.transform.m5*y + RLGL.State.transform.m9*z;
-        normalz = RLGL.State.transform.m2*x + RLGL.State.transform.m6*y + RLGL.State.transform.m10*z;
-    }
-    float length = sqrtf(normalx*normalx + normaly*normaly + normalz*normalz);
-    if (length != 0.0f)
-    {
-        float ilength = 1.0f/length;
-        normalx *= ilength;
-        normaly *= ilength;
-        normalz *= ilength;
-    }
-    RLGL.State.normalx = normalx;
-    RLGL.State.normaly = normaly;
-    RLGL.State.normalz = normalz;
-}
-
-// Define one vertex (color)
-void rlColor4ub(unsigned char x, unsigned char y, unsigned char z, unsigned char w)
-{
-    RLGL.State.colorr = x;
-    RLGL.State.colorg = y;
-    RLGL.State.colorb = z;
-    RLGL.State.colora = w;
-}
-
-// Define one vertex (color)
-void rlColor4f(float r, float g, float b, float a)
-{
-    rlColor4ub((unsigned char)(r*255), (unsigned char)(g*255), (unsigned char)(b*255), (unsigned char)(a*255));
-}
-
-// Define one vertex (color)
-void rlColor3f(float x, float y, float z)
-{
-    rlColor4ub((unsigned char)(x*255), (unsigned char)(y*255), (unsigned char)(z*255), 255);
-}
-
-#endif
-
-//--------------------------------------------------------------------------------------
-// Module Functions Definition - OpenGL style functions (common to 1.1, 3.3+, ES2)
-//--------------------------------------------------------------------------------------
-
-// Set current texture to use
-void rlSetTexture(unsigned int id)
-{
-    if (id == 0)
-    {
-#if defined(GRAPHICS_API_OPENGL_11)
-        rlDisableTexture();
-#else
-        // NOTE: If quads batch limit is reached, we force a draw call and next batch starts
-        if (RLGL.State.vertexCounter >=
-            RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].elementCount*4)
-        {
-            rlDrawRenderBatch(RLGL.currentBatch);
-        }
-#endif
-    }
-    else
-    {
-#if defined(GRAPHICS_API_OPENGL_11)
-        rlEnableTexture(id);
-#else
-        if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId != id)
-        {
-            if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount > 0)
-            {
-                // Make sure current RLGL.currentBatch->draws[i].vertexCount is aligned a multiple of 4,
-                // that way, following QUADS drawing will keep aligned with index processing
-                // It implies adding some extra alignment vertex at the end of the draw,
-                // those vertex are not processed but they are considered as an additional offset
-                // for the next set of vertex to be drawn
-                if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_LINES) RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount < 4)? RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount : RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4);
-                else if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_TRIANGLES) RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount < 4)? 1 : (4 - (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4)));
-                else RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = 0;
-
-                if (!rlCheckRenderBatchLimit(RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment))
-                {
-                    RLGL.State.vertexCounter += RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment;
-
-                    RLGL.currentBatch->drawCounter++;
-                }
-            }
-
-            if (RLGL.currentBatch->drawCounter >= RL_DEFAULT_BATCH_DRAWCALLS) rlDrawRenderBatch(RLGL.currentBatch);
-
-            RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId = id;
-            RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount = 0;
-        }
-#endif
-    }
-}
-
-// Select and active a texture slot
-void rlActiveTextureSlot(int slot)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glActiveTexture(GL_TEXTURE0 + slot);
-#endif
-}
-
-// Enable texture
-void rlEnableTexture(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_11)
-    glEnable(GL_TEXTURE_2D);
-#endif
-    glBindTexture(GL_TEXTURE_2D, id);
-}
-
-// Disable texture
-void rlDisableTexture(void)
-{
-#if defined(GRAPHICS_API_OPENGL_11)
-    glDisable(GL_TEXTURE_2D);
-#endif
-    glBindTexture(GL_TEXTURE_2D, 0);
-}
-
-// Enable texture cubemap
-void rlEnableTextureCubemap(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindTexture(GL_TEXTURE_CUBE_MAP, id);
-#endif
-}
-
-// Disable texture cubemap
-void rlDisableTextureCubemap(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindTexture(GL_TEXTURE_CUBE_MAP, 0);
-#endif
-}
-
-// Set texture parameters (wrap mode/filter mode)
-void rlTextureParameters(unsigned int id, int param, int value)
-{
-    glBindTexture(GL_TEXTURE_2D, id);
-
-#if !defined(GRAPHICS_API_OPENGL_11)
-    // Reset anisotropy filter, in case it was set
-    glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, 1.0f);
-#endif
-
-    switch (param)
-    {
-        case RL_TEXTURE_WRAP_S:
-        case RL_TEXTURE_WRAP_T:
-        {
-            if (value == RL_TEXTURE_WRAP_MIRROR_CLAMP)
-            {
-#if !defined(GRAPHICS_API_OPENGL_11)
-                if (RLGL.ExtSupported.texMirrorClamp) glTexParameteri(GL_TEXTURE_2D, param, value);
-                else TRACELOG(RL_LOG_WARNING, "GL: Clamp mirror wrap mode not supported (GL_MIRROR_CLAMP_EXT)");
-#endif
-            }
-            else glTexParameteri(GL_TEXTURE_2D, param, value);
-
-        } break;
-        case RL_TEXTURE_MAG_FILTER:
-        case RL_TEXTURE_MIN_FILTER: glTexParameteri(GL_TEXTURE_2D, param, value); break;
-        case RL_TEXTURE_FILTER_ANISOTROPIC:
-        {
-#if !defined(GRAPHICS_API_OPENGL_11)
-            if (value <= RLGL.ExtSupported.maxAnisotropyLevel) glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, (float)value);
-            else if (RLGL.ExtSupported.maxAnisotropyLevel > 0.0f)
-            {
-                TRACELOG(RL_LOG_WARNING, "GL: Maximum anisotropic filter level supported is %iX", id, (int)RLGL.ExtSupported.maxAnisotropyLevel);
-                glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, (float)value);
-            }
-            else TRACELOG(RL_LOG_WARNING, "GL: Anisotropic filtering not supported");
-#endif
-        } break;
-#if defined(GRAPHICS_API_OPENGL_33)
-        case RL_TEXTURE_MIPMAP_BIAS_RATIO: glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_LOD_BIAS, value/100.0f);
-#endif
-        default: break;
-    }
-
-    glBindTexture(GL_TEXTURE_2D, 0);
-}
-
-// Set cubemap parameters (wrap mode/filter mode)
-void rlCubemapParameters(unsigned int id, int param, int value)
-{
-#if !defined(GRAPHICS_API_OPENGL_11)
-    glBindTexture(GL_TEXTURE_CUBE_MAP, id);
-
-    // Reset anisotropy filter, in case it was set
-    glTexParameterf(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAX_ANISOTROPY_EXT, 1.0f);
-
-    switch (param)
-    {
-        case RL_TEXTURE_WRAP_S:
-        case RL_TEXTURE_WRAP_T:
-        {
-            if (value == RL_TEXTURE_WRAP_MIRROR_CLAMP)
-            {
-                if (RLGL.ExtSupported.texMirrorClamp) glTexParameteri(GL_TEXTURE_CUBE_MAP, param, value);
-                else TRACELOG(RL_LOG_WARNING, "GL: Clamp mirror wrap mode not supported (GL_MIRROR_CLAMP_EXT)");
-            }
-            else glTexParameteri(GL_TEXTURE_CUBE_MAP, param, value);
-
-        } break;
-        case RL_TEXTURE_MAG_FILTER:
-        case RL_TEXTURE_MIN_FILTER: glTexParameteri(GL_TEXTURE_CUBE_MAP, param, value); break;
-        case RL_TEXTURE_FILTER_ANISOTROPIC:
-        {
-            if (value <= RLGL.ExtSupported.maxAnisotropyLevel) glTexParameterf(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAX_ANISOTROPY_EXT, (float)value);
-            else if (RLGL.ExtSupported.maxAnisotropyLevel > 0.0f)
-            {
-                TRACELOG(RL_LOG_WARNING, "GL: Maximum anisotropic filter level supported is %iX", id, (int)RLGL.ExtSupported.maxAnisotropyLevel);
-                glTexParameterf(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAX_ANISOTROPY_EXT, (float)value);
-            }
-            else TRACELOG(RL_LOG_WARNING, "GL: Anisotropic filtering not supported");
-        } break;
-#if defined(GRAPHICS_API_OPENGL_33)
-        case RL_TEXTURE_MIPMAP_BIAS_RATIO: glTexParameterf(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_LOD_BIAS, value/100.0f);
-#endif
-        default: break;
-    }
-
-    glBindTexture(GL_TEXTURE_CUBE_MAP, 0);
-#endif
-}
-
-// Enable shader program
-void rlEnableShader(unsigned int id)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
-    glUseProgram(id);
-#endif
-}
-
-// Disable shader program
-void rlDisableShader(void)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
-    glUseProgram(0);
-#endif
-}
-
-// Enable rendering to texture (fbo)
-void rlEnableFramebuffer(unsigned int id)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBindFramebuffer(GL_FRAMEBUFFER, id);
-#endif
-}
-
-// return the active render texture (fbo)
-unsigned int rlGetActiveFramebuffer(void)
-{
-    GLint fboId = 0;
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES3)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glGetIntegerv(GL_DRAW_FRAMEBUFFER_BINDING, &fboId);
-#endif
-    return fboId;
-}
-
-// Disable rendering to texture
-void rlDisableFramebuffer(void)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-#endif
-}
-
-// Blit active framebuffer to main framebuffer
-void rlBlitFramebuffer(int srcX, int srcY, int srcWidth, int srcHeight, int dstX, int dstY, int dstWidth, int dstHeight, int bufferMask)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES3)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBlitFramebuffer(srcX, srcY, srcWidth, srcHeight, dstX, dstY, dstWidth, dstHeight, bufferMask, GL_NEAREST);
-#endif
-}
-
-// Bind framebuffer object (fbo)
-void rlBindFramebuffer(unsigned int target, unsigned int framebuffer)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBindFramebuffer(target, framebuffer);
-#endif
-}
-
-// Activate multiple draw color buffers
-// NOTE: One color buffer is always active by default
-void rlActiveDrawBuffers(int count)
-{
-#if ((defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES3)) && defined(RLGL_RENDER_TEXTURES_HINT))
-    // NOTE: Maximum number of draw buffers supported is implementation dependant,
-    // it can be queried with glGet*() but it must be at least 8
-    //GLint maxDrawBuffers = 0;
-    //glGetIntegerv(GL_MAX_DRAW_BUFFERS, &maxDrawBuffers);
-
-    if (count > 0)
-    {
-        if (count > 8) TRACELOG(LOG_WARNING, "GL: Max color buffers limited to 8");
-        else
-        {
-            unsigned int buffers[8] = {
-#if defined(GRAPHICS_API_OPENGL_ES3)
-                GL_COLOR_ATTACHMENT0_EXT,
-                GL_COLOR_ATTACHMENT1_EXT,
-                GL_COLOR_ATTACHMENT2_EXT,
-                GL_COLOR_ATTACHMENT3_EXT,
-                GL_COLOR_ATTACHMENT4_EXT,
-                GL_COLOR_ATTACHMENT5_EXT,
-                GL_COLOR_ATTACHMENT6_EXT,
-                GL_COLOR_ATTACHMENT7_EXT,
-#else
-                GL_COLOR_ATTACHMENT0,
-                GL_COLOR_ATTACHMENT1,
-                GL_COLOR_ATTACHMENT2,
-                GL_COLOR_ATTACHMENT3,
-                GL_COLOR_ATTACHMENT4,
-                GL_COLOR_ATTACHMENT5,
-                GL_COLOR_ATTACHMENT6,
-                GL_COLOR_ATTACHMENT7,
-#endif
-            };
-
-#if defined(GRAPHICS_API_OPENGL_ES3)
-            glDrawBuffersEXT(count, buffers);
-#else
-            glDrawBuffers(count, buffers);
-#endif
-        }
-    }
-    else TRACELOG(LOG_WARNING, "GL: One color buffer active by default");
-#endif
-}
-
-//----------------------------------------------------------------------------------
-// General render state configuration
-//----------------------------------------------------------------------------------
-
-// Enable color blending
-void rlEnableColorBlend(void) { glEnable(GL_BLEND); }
-
-// Disable color blending
-void rlDisableColorBlend(void) { glDisable(GL_BLEND); }
-
-// Enable depth test
-void rlEnableDepthTest(void) { glEnable(GL_DEPTH_TEST); }
-
-// Disable depth test
-void rlDisableDepthTest(void) { glDisable(GL_DEPTH_TEST); }
-
-// Enable depth write
-void rlEnableDepthMask(void) { glDepthMask(GL_TRUE); }
-
-// Disable depth write
-void rlDisableDepthMask(void) { glDepthMask(GL_FALSE); }
-
-// Enable backface culling
-void rlEnableBackfaceCulling(void) { glEnable(GL_CULL_FACE); }
-
-// Disable backface culling
-void rlDisableBackfaceCulling(void) { glDisable(GL_CULL_FACE); }
-
-// Set color mask active for screen read/draw
-void rlColorMask(bool r, bool g, bool b, bool a) { glColorMask(r, g, b, a); }
-
-// Set face culling mode
-void rlSetCullFace(int mode)
-{
-    switch (mode)
-    {
-        case RL_CULL_FACE_BACK: glCullFace(GL_BACK); break;
-        case RL_CULL_FACE_FRONT: glCullFace(GL_FRONT); break;
-        default: break;
-    }
-}
-
-// Enable scissor test
-void rlEnableScissorTest(void) { glEnable(GL_SCISSOR_TEST); }
-
-// Disable scissor test
-void rlDisableScissorTest(void) { glDisable(GL_SCISSOR_TEST); }
-
-// Scissor test
-void rlScissor(int x, int y, int width, int height) { glScissor(x, y, width, height); }
-
-// Enable wire mode
-void rlEnableWireMode(void)
-{
-#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-    // NOTE: glPolygonMode() not available on OpenGL ES
-    glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
-#endif
-}
-
-// Enable point mode
-void rlEnablePointMode(void)
-{
-#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-    // NOTE: glPolygonMode() not available on OpenGL ES
-    glPolygonMode(GL_FRONT_AND_BACK, GL_POINT);
-    glEnable(GL_PROGRAM_POINT_SIZE);
-#endif
-}
-
-// Disable wire mode
-void rlDisableWireMode(void)
-{
-#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-    // NOTE: glPolygonMode() not available on OpenGL ES
-    glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
-#endif
-}
-
-// Set the line drawing width
-void rlSetLineWidth(float width) { glLineWidth(width); }
-
-// Get the line drawing width
-float rlGetLineWidth(void)
-{
-    float width = 0;
-    glGetFloatv(GL_LINE_WIDTH, &width);
-    return width;
-}
-
-// Enable line aliasing
-void rlEnableSmoothLines(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_11)
-    glEnable(GL_LINE_SMOOTH);
-#endif
-}
-
-// Disable line aliasing
-void rlDisableSmoothLines(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_11)
-    glDisable(GL_LINE_SMOOTH);
-#endif
-}
-
-// Enable stereo rendering
-void rlEnableStereoRender(void)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
-    RLGL.State.stereoRender = true;
-#endif
-}
-
-// Disable stereo rendering
-void rlDisableStereoRender(void)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
-    RLGL.State.stereoRender = false;
-#endif
-}
-
-// Check if stereo render is enabled
-bool rlIsStereoRenderEnabled(void)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
-    return RLGL.State.stereoRender;
-#else
-    return false;
-#endif
-}
-
-// Clear color buffer with color
-void rlClearColor(unsigned char r, unsigned char g, unsigned char b, unsigned char a)
-{
-    // Color values clamp to 0.0f(0) and 1.0f(255)
-    float cr = (float)r/255;
-    float cg = (float)g/255;
-    float cb = (float)b/255;
-    float ca = (float)a/255;
-
-    glClearColor(cr, cg, cb, ca);
-}
-
-// Clear used screen buffers (color and depth)
-void rlClearScreenBuffers(void)
-{
-    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);     // Clear used buffers: Color and Depth (Depth is used for 3D)
-    //glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);     // Stencil buffer not used...
-}
-
-// Check and log OpenGL error codes
-void rlCheckErrors(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    int check = 1;
-    while (check)
-    {
-        const GLenum err = glGetError();
-        switch (err)
-        {
-            case GL_NO_ERROR: check = 0; break;
-            case 0x0500: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_INVALID_ENUM"); break;
-            case 0x0501: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_INVALID_VALUE"); break;
-            case 0x0502: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_INVALID_OPERATION"); break;
-            case 0x0503: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_STACK_OVERFLOW"); break;
-            case 0x0504: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_STACK_UNDERFLOW"); break;
-            case 0x0505: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_OUT_OF_MEMORY"); break;
-            case 0x0506: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_INVALID_FRAMEBUFFER_OPERATION"); break;
-            default: TRACELOG(RL_LOG_WARNING, "GL: Error detected: Unknown error code: %x", err); break;
-        }
-    }
-#endif
-}
-
-// Set blend mode
-void rlSetBlendMode(int mode)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if ((RLGL.State.currentBlendMode != mode) || ((mode == RL_BLEND_CUSTOM || mode == RL_BLEND_CUSTOM_SEPARATE) && RLGL.State.glCustomBlendModeModified))
-    {
-        rlDrawRenderBatch(RLGL.currentBatch);
-
-        switch (mode)
-        {
-            case RL_BLEND_ALPHA: glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); glBlendEquation(GL_FUNC_ADD); break;
-            case RL_BLEND_ADDITIVE: glBlendFunc(GL_SRC_ALPHA, GL_ONE); glBlendEquation(GL_FUNC_ADD); break;
-            case RL_BLEND_MULTIPLIED: glBlendFunc(GL_DST_COLOR, GL_ONE_MINUS_SRC_ALPHA); glBlendEquation(GL_FUNC_ADD); break;
-            case RL_BLEND_ADD_COLORS: glBlendFunc(GL_ONE, GL_ONE); glBlendEquation(GL_FUNC_ADD); break;
-            case RL_BLEND_SUBTRACT_COLORS: glBlendFunc(GL_ONE, GL_ONE); glBlendEquation(GL_FUNC_SUBTRACT); break;
-            case RL_BLEND_ALPHA_PREMULTIPLY: glBlendFunc(GL_ONE, GL_ONE_MINUS_SRC_ALPHA); glBlendEquation(GL_FUNC_ADD); break;
-            case RL_BLEND_CUSTOM:
-            {
-                // NOTE: Using GL blend src/dst factors and GL equation configured with rlSetBlendFactors()
-                glBlendFunc(RLGL.State.glBlendSrcFactor, RLGL.State.glBlendDstFactor); glBlendEquation(RLGL.State.glBlendEquation);
-
-            } break;
-            case RL_BLEND_CUSTOM_SEPARATE:
-            {
-                // NOTE: Using GL blend src/dst factors and GL equation configured with rlSetBlendFactorsSeparate()
-                glBlendFuncSeparate(RLGL.State.glBlendSrcFactorRGB, RLGL.State.glBlendDestFactorRGB, RLGL.State.glBlendSrcFactorAlpha, RLGL.State.glBlendDestFactorAlpha);
-                glBlendEquationSeparate(RLGL.State.glBlendEquationRGB, RLGL.State.glBlendEquationAlpha);
-
-            } break;
-            default: break;
-        }
-
-        RLGL.State.currentBlendMode = mode;
-        RLGL.State.glCustomBlendModeModified = false;
-    }
-#endif
-}
-
-// Set blending mode factor and equation
-void rlSetBlendFactors(int glSrcFactor, int glDstFactor, int glEquation)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if ((RLGL.State.glBlendSrcFactor != glSrcFactor) ||
-        (RLGL.State.glBlendDstFactor != glDstFactor) ||
-        (RLGL.State.glBlendEquation != glEquation))
-    {
-        RLGL.State.glBlendSrcFactor = glSrcFactor;
-        RLGL.State.glBlendDstFactor = glDstFactor;
-        RLGL.State.glBlendEquation = glEquation;
-
-        RLGL.State.glCustomBlendModeModified = true;
-    }
-#endif
-}
-
-// Set blending mode factor and equation separately for RGB and alpha
-void rlSetBlendFactorsSeparate(int glSrcRGB, int glDstRGB, int glSrcAlpha, int glDstAlpha, int glEqRGB, int glEqAlpha)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if ((RLGL.State.glBlendSrcFactorRGB != glSrcRGB) ||
-        (RLGL.State.glBlendDestFactorRGB != glDstRGB) ||
-        (RLGL.State.glBlendSrcFactorAlpha != glSrcAlpha) ||
-        (RLGL.State.glBlendDestFactorAlpha != glDstAlpha) ||
-        (RLGL.State.glBlendEquationRGB != glEqRGB) ||
-        (RLGL.State.glBlendEquationAlpha != glEqAlpha))
-    {
-        RLGL.State.glBlendSrcFactorRGB = glSrcRGB;
-        RLGL.State.glBlendDestFactorRGB = glDstRGB;
-        RLGL.State.glBlendSrcFactorAlpha = glSrcAlpha;
-        RLGL.State.glBlendDestFactorAlpha = glDstAlpha;
-        RLGL.State.glBlendEquationRGB = glEqRGB;
-        RLGL.State.glBlendEquationAlpha = glEqAlpha;
-
-        RLGL.State.glCustomBlendModeModified = true;
-    }
-#endif
-}
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - OpenGL Debug
-//----------------------------------------------------------------------------------
-#if defined(RLGL_ENABLE_OPENGL_DEBUG_CONTEXT) && defined(GRAPHICS_API_OPENGL_43)
-static void GLAPIENTRY rlDebugMessageCallback(GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *message, const void *userParam)
-{
-    // Ignore non-significant error/warning codes (NVidia drivers)
-    // NOTE: Here there are the details with a sample output:
-    // - #131169 - Framebuffer detailed info: The driver allocated storage for renderbuffer 2. (severity: low)
-    // - #131185 - Buffer detailed info: Buffer object 1 (bound to GL_ELEMENT_ARRAY_BUFFER_ARB, usage hint is GL_ENUM_88e4)
-    //             will use VIDEO memory as the source for buffer object operations. (severity: low)
-    // - #131218 - Program/shader state performance warning: Vertex shader in program 7 is being recompiled based on GL state. (severity: medium)
-    // - #131204 - Texture state usage warning: The texture object (0) bound to texture image unit 0 does not have
-    //             a defined base level and cannot be used for texture mapping. (severity: low)
-    if ((id == 131169) || (id == 131185) || (id == 131218) || (id == 131204)) return;
-
-    const char *msgSource = NULL;
-    switch (source)
-    {
-        case GL_DEBUG_SOURCE_API: msgSource = "API"; break;
-        case GL_DEBUG_SOURCE_WINDOW_SYSTEM: msgSource = "WINDOW_SYSTEM"; break;
-        case GL_DEBUG_SOURCE_SHADER_COMPILER: msgSource = "SHADER_COMPILER"; break;
-        case GL_DEBUG_SOURCE_THIRD_PARTY: msgSource = "THIRD_PARTY"; break;
-        case GL_DEBUG_SOURCE_APPLICATION: msgSource = "APPLICATION"; break;
-        case GL_DEBUG_SOURCE_OTHER: msgSource = "OTHER"; break;
-        default: break;
-    }
-
-    const char *msgType = NULL;
-    switch (type)
-    {
-        case GL_DEBUG_TYPE_ERROR: msgType = "ERROR"; break;
-        case GL_DEBUG_TYPE_DEPRECATED_BEHAVIOR: msgType = "DEPRECATED_BEHAVIOR"; break;
-        case GL_DEBUG_TYPE_UNDEFINED_BEHAVIOR: msgType = "UNDEFINED_BEHAVIOR"; break;
-        case GL_DEBUG_TYPE_PORTABILITY: msgType = "PORTABILITY"; break;
-        case GL_DEBUG_TYPE_PERFORMANCE: msgType = "PERFORMANCE"; break;
-        case GL_DEBUG_TYPE_MARKER: msgType = "MARKER"; break;
-        case GL_DEBUG_TYPE_PUSH_GROUP: msgType = "PUSH_GROUP"; break;
-        case GL_DEBUG_TYPE_POP_GROUP: msgType = "POP_GROUP"; break;
-        case GL_DEBUG_TYPE_OTHER: msgType = "OTHER"; break;
-        default: break;
-    }
-
-    const char *msgSeverity = "DEFAULT";
-    switch (severity)
-    {
-        case GL_DEBUG_SEVERITY_LOW: msgSeverity = "LOW"; break;
-        case GL_DEBUG_SEVERITY_MEDIUM: msgSeverity = "MEDIUM"; break;
-        case GL_DEBUG_SEVERITY_HIGH: msgSeverity = "HIGH"; break;
-        case GL_DEBUG_SEVERITY_NOTIFICATION: msgSeverity = "NOTIFICATION"; break;
-        default: break;
-    }
-
-    TRACELOG(LOG_WARNING, "GL: OpenGL debug message: %s", message);
-    TRACELOG(LOG_WARNING, "    > Type: %s", msgType);
-    TRACELOG(LOG_WARNING, "    > Source = %s", msgSource);
-    TRACELOG(LOG_WARNING, "    > Severity = %s", msgSeverity);
-}
-#endif
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - rlgl functionality
-//----------------------------------------------------------------------------------
-
-// Initialize rlgl: OpenGL extensions, default buffers/shaders/textures, OpenGL states
-void rlglInit(int width, int height)
-{
-    // Enable OpenGL debug context if required
-#if defined(RLGL_ENABLE_OPENGL_DEBUG_CONTEXT) && defined(GRAPHICS_API_OPENGL_43)
-    if ((glDebugMessageCallback != NULL) && (glDebugMessageControl != NULL))
-    {
-        glDebugMessageCallback(rlDebugMessageCallback, 0);
-        // glDebugMessageControl(GL_DEBUG_SOURCE_API, GL_DEBUG_TYPE_ERROR, GL_DEBUG_SEVERITY_HIGH, 0, 0, GL_TRUE);
-
-        // Debug context options:
-        //  - GL_DEBUG_OUTPUT - Faster version but not useful for breakpoints
-        //  - GL_DEBUG_OUTPUT_SYNCHRONUS - Callback is in sync with errors, so a breakpoint can be placed on the callback in order to get a stacktrace for the GL error
-        glEnable(GL_DEBUG_OUTPUT);
-        glEnable(GL_DEBUG_OUTPUT_SYNCHRONOUS);
-    }
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Init default white texture
-    unsigned char pixels[4] = { 255, 255, 255, 255 };   // 1 pixel RGBA (4 bytes)
-    RLGL.State.defaultTextureId = rlLoadTexture(pixels, 1, 1, RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8, 1);
-
-    if (RLGL.State.defaultTextureId != 0) TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Default texture loaded successfully", RLGL.State.defaultTextureId);
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: Failed to load default texture");
-
-    // Init default Shader (customized for GL 3.3 and ES2)
-    // Loaded: RLGL.State.defaultShaderId + RLGL.State.defaultShaderLocs
-    rlLoadShaderDefault();
-    RLGL.State.currentShaderId = RLGL.State.defaultShaderId;
-    RLGL.State.currentShaderLocs = RLGL.State.defaultShaderLocs;
-
-    // Init default vertex arrays buffers
-    // Simulate that the default shader has the location RL_SHADER_LOC_VERTEX_NORMAL to bind the normal buffer for the default render batch
-    RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL] = RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL;
-    RLGL.defaultBatch = rlLoadRenderBatch(RL_DEFAULT_BATCH_BUFFERS, RL_DEFAULT_BATCH_BUFFER_ELEMENTS);
-    RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL] = -1;
-    RLGL.currentBatch = &RLGL.defaultBatch;
-
-    // Init stack matrices (emulating OpenGL 1.1)
-    for (int i = 0; i < RL_MAX_MATRIX_STACK_SIZE; i++) RLGL.State.stack[i] = rlMatrixIdentity();
-
-    // Init internal matrices
-    RLGL.State.transform = rlMatrixIdentity();
-    RLGL.State.projection = rlMatrixIdentity();
-    RLGL.State.modelview = rlMatrixIdentity();
-    RLGL.State.currentMatrix = &RLGL.State.modelview;
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-
-    // Initialize OpenGL default states
-    //----------------------------------------------------------
-    // Init state: Depth test
-    glDepthFunc(GL_LEQUAL);                                 // Type of depth testing to apply
-    glDisable(GL_DEPTH_TEST);                               // Disable depth testing for 2D (only used for 3D)
-
-    // Init state: Blending mode
-    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);      // Color blending function (how colors are mixed)
-    glEnable(GL_BLEND);                                     // Enable color blending (required to work with transparencies)
-
-    // Init state: Culling
-    // NOTE: All shapes/models triangles are drawn CCW
-    glCullFace(GL_BACK);                                    // Cull the back face (default)
-    glFrontFace(GL_CCW);                                    // Front face are defined counter clockwise (default)
-    glEnable(GL_CULL_FACE);                                 // Enable backface culling
-
-    // Init state: Cubemap seamless
-#if defined(GRAPHICS_API_OPENGL_33)
-    glEnable(GL_TEXTURE_CUBE_MAP_SEAMLESS);                 // Seamless cubemaps (not supported on OpenGL ES 2.0)
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_11)
-    // Init state: Color hints (deprecated in OpenGL 3.0+)
-    glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);      // Improve quality of color and texture coordinate interpolation
-    glShadeModel(GL_SMOOTH);                                // Smooth shading between vertex (vertex colors interpolation)
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Store screen size into global variables
-    RLGL.State.framebufferWidth = width;
-    RLGL.State.framebufferHeight = height;
-
-    TRACELOG(RL_LOG_INFO, "RLGL: Default OpenGL state initialized successfully");
-    //----------------------------------------------------------
-#endif
-
-    // Init state: Color/Depth buffers clear
-    glClearColor(0.0f, 0.0f, 0.0f, 1.0f);                   // Set clear color (black)
-    glClearDepth(1.0f);                                     // Set clear depth value (default)
-    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);     // Clear color and depth buffers (depth buffer required for 3D)
-}
-
-// Vertex Buffer Object deinitialization (memory free)
-void rlglClose(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    rlUnloadRenderBatch(RLGL.defaultBatch);
-
-    rlUnloadShaderDefault();          // Unload default shader
-
-    glDeleteTextures(1, &RLGL.State.defaultTextureId); // Unload default texture
-    TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Default texture unloaded successfully", RLGL.State.defaultTextureId);
-#endif
-}
-
-// Load OpenGL extensions
-// NOTE: External loader function must be provided
-void rlLoadExtensions(void *loader)
-{
-#if defined(GRAPHICS_API_OPENGL_33)     // Also defined for GRAPHICS_API_OPENGL_21
-    // NOTE: glad is generated and contains only required OpenGL 3.3 Core extensions (and lower versions)
-    if (gladLoadGL((GLADloadfunc)loader) == 0) TRACELOG(RL_LOG_WARNING, "GLAD: Cannot load OpenGL extensions");
-    else TRACELOG(RL_LOG_INFO, "GLAD: OpenGL extensions loaded successfully");
-
-    // Get number of supported extensions
-    GLint numExt = 0;
-    glGetIntegerv(GL_NUM_EXTENSIONS, &numExt);
-    TRACELOG(RL_LOG_INFO, "GL: Supported extensions count: %i", numExt);
-
-#if defined(RLGL_SHOW_GL_DETAILS_INFO)
-    // Get supported extensions list
-    // WARNING: glGetStringi() not available on OpenGL 2.1
-    TRACELOG(RL_LOG_INFO, "GL: OpenGL extensions:");
-    for (int i = 0; i < numExt; i++) TRACELOG(RL_LOG_INFO, "    %s", glGetStringi(GL_EXTENSIONS, i));
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_21)
-    // Register supported extensions flags
-    // Optional OpenGL 2.1 extensions
-    RLGL.ExtSupported.vao = GLAD_GL_ARB_vertex_array_object;
-    RLGL.ExtSupported.instancing = (GLAD_GL_EXT_draw_instanced && GLAD_GL_ARB_instanced_arrays);
-    RLGL.ExtSupported.texNPOT = GLAD_GL_ARB_texture_non_power_of_two;
-    RLGL.ExtSupported.texFloat32 = GLAD_GL_ARB_texture_float;
-    RLGL.ExtSupported.texFloat16 = GLAD_GL_ARB_texture_float;
-    RLGL.ExtSupported.texDepth = GLAD_GL_ARB_depth_texture;
-    RLGL.ExtSupported.maxDepthBits = 32;
-    RLGL.ExtSupported.texAnisoFilter = GLAD_GL_EXT_texture_filter_anisotropic;
-    RLGL.ExtSupported.texMirrorClamp = GLAD_GL_EXT_texture_mirror_clamp;
-#else
-    // Register supported extensions flags
-    // OpenGL 3.3 extensions supported by default (core)
-    RLGL.ExtSupported.vao = true;
-    RLGL.ExtSupported.instancing = true;
-    RLGL.ExtSupported.texNPOT = true;
-    RLGL.ExtSupported.texFloat32 = true;
-    RLGL.ExtSupported.texFloat16 = true;
-    RLGL.ExtSupported.texDepth = true;
-    RLGL.ExtSupported.maxDepthBits = 32;
-    RLGL.ExtSupported.texAnisoFilter = true;
-    RLGL.ExtSupported.texMirrorClamp = true;
-#endif
-
-    // Optional OpenGL 3.3 extensions
-    RLGL.ExtSupported.texCompASTC = GLAD_GL_KHR_texture_compression_astc_hdr && GLAD_GL_KHR_texture_compression_astc_ldr;
-    RLGL.ExtSupported.texCompDXT = GLAD_GL_EXT_texture_compression_s3tc;  // Texture compression: DXT
-    RLGL.ExtSupported.texCompETC2 = GLAD_GL_ARB_ES3_compatibility;        // Texture compression: ETC2/EAC
-    #if defined(GRAPHICS_API_OPENGL_43)
-    RLGL.ExtSupported.computeShader = GLAD_GL_ARB_compute_shader;
-    RLGL.ExtSupported.ssbo = GLAD_GL_ARB_shader_storage_buffer_object;
-    #endif
-
-#endif  // GRAPHICS_API_OPENGL_33
-
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    // Register supported extensions flags
-    // OpenGL ES 3.0 extensions supported by default (or it should be)
-    RLGL.ExtSupported.vao = true;
-    RLGL.ExtSupported.instancing = true;
-    RLGL.ExtSupported.texNPOT = true;
-    RLGL.ExtSupported.texFloat32 = true;
-    RLGL.ExtSupported.texFloat16 = true;
-    RLGL.ExtSupported.texDepth = true;
-    RLGL.ExtSupported.texDepthWebGL = true;
-    RLGL.ExtSupported.maxDepthBits = 24;
-    RLGL.ExtSupported.texAnisoFilter = true;
-    RLGL.ExtSupported.texMirrorClamp = true;
-    // TODO: Check for additional OpenGL ES 3.0 supported extensions:
-    //RLGL.ExtSupported.texCompDXT = true;
-    //RLGL.ExtSupported.texCompETC1 = true;
-    //RLGL.ExtSupported.texCompETC2 = true;
-    //RLGL.ExtSupported.texCompPVRT = true;
-    //RLGL.ExtSupported.texCompASTC = true;
-    //RLGL.ExtSupported.maxAnisotropyLevel = true;
-    //RLGL.ExtSupported.computeShader = true;
-    //RLGL.ExtSupported.ssbo = true;
-
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-
-    #if defined(PLATFORM_DESKTOP_GLFW) || defined(PLATFORM_DESKTOP_SDL)
-    // TODO: Support GLAD loader for OpenGL ES 3.0
-    if (gladLoadGLES2((GLADloadfunc)loader) == 0) TRACELOG(RL_LOG_WARNING, "GLAD: Cannot load OpenGL ES2.0 functions");
-    else TRACELOG(RL_LOG_INFO, "GLAD: OpenGL ES 2.0 loaded successfully");
-    #endif
-
-    // Get supported extensions list
-    GLint numExt = 0;
-    const char **extList = RL_MALLOC(512*sizeof(const char *)); // Allocate 512 strings pointers (2 KB)
-    const char *extensions = (const char *)glGetString(GL_EXTENSIONS);  // One big const string
-
-    // NOTE: We have to duplicate string because glGetString() returns a const string
-    int size = strlen(extensions) + 1;      // Get extensions string size in bytes
-    char *extensionsDup = (char *)RL_CALLOC(size, sizeof(char));
-    strcpy(extensionsDup, extensions);
-    extList[numExt] = extensionsDup;
-
-    for (int i = 0; i < size; i++)
-    {
-        if (extensionsDup[i] == ' ')
-        {
-            extensionsDup[i] = '\0';
-            numExt++;
-            extList[numExt] = &extensionsDup[i + 1];
-        }
-    }
-
-    TRACELOG(RL_LOG_INFO, "GL: Supported extensions count: %i", numExt);
-
-#if defined(RLGL_SHOW_GL_DETAILS_INFO)
-    TRACELOG(RL_LOG_INFO, "GL: OpenGL extensions:");
-    for (int i = 0; i < numExt; i++) TRACELOG(RL_LOG_INFO, "    %s", extList[i]);
-#endif
-
-    // Check required extensions
-    for (int i = 0; i < numExt; i++)
-    {
-        // Check VAO support
-        // NOTE: Only check on OpenGL ES, OpenGL 3.3 has VAO support as core feature
-        if (strcmp(extList[i], (const char *)"GL_OES_vertex_array_object") == 0)
-        {
-            // The extension is supported by our hardware and driver, try to get related functions pointers
-            // NOTE: emscripten does not support VAOs natively, it uses emulation and it reduces overall performance...
-            glGenVertexArrays = (PFNGLGENVERTEXARRAYSOESPROC)((rlglLoadProc)loader)("glGenVertexArraysOES");
-            glBindVertexArray = (PFNGLBINDVERTEXARRAYOESPROC)((rlglLoadProc)loader)("glBindVertexArrayOES");
-            glDeleteVertexArrays = (PFNGLDELETEVERTEXARRAYSOESPROC)((rlglLoadProc)loader)("glDeleteVertexArraysOES");
-            //glIsVertexArray = (PFNGLISVERTEXARRAYOESPROC)loader("glIsVertexArrayOES");     // NOTE: Fails in WebGL, omitted
-
-            if ((glGenVertexArrays != NULL) && (glBindVertexArray != NULL) && (glDeleteVertexArrays != NULL)) RLGL.ExtSupported.vao = true;
-        }
-
-        // Check instanced rendering support
-        if (strstr(extList[i], (const char*)"instanced_arrays") != NULL)   // Broad check for instanced_arrays
-        {
-            // Specific check
-            if (strcmp(extList[i], (const char *)"GL_ANGLE_instanced_arrays") == 0)      // ANGLE
-            {
-                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedANGLE");
-                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedANGLE");
-                glVertexAttribDivisor = (PFNGLVERTEXATTRIBDIVISOREXTPROC)((rlglLoadProc)loader)("glVertexAttribDivisorANGLE");
-            }
-            else if (strcmp(extList[i], (const char *)"GL_EXT_instanced_arrays") == 0)   // EXT
-            {
-                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedEXT");
-                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedEXT");
-                glVertexAttribDivisor = (PFNGLVERTEXATTRIBDIVISOREXTPROC)((rlglLoadProc)loader)("glVertexAttribDivisorEXT");
-            }
-            else if (strcmp(extList[i], (const char *)"GL_NV_instanced_arrays") == 0)    // NVIDIA GLES
-            {
-                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedNV");
-                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedNV");
-                glVertexAttribDivisor = (PFNGLVERTEXATTRIBDIVISOREXTPROC)((rlglLoadProc)loader)("glVertexAttribDivisorNV");
-            }
-
-            // The feature will only be marked as supported if the elements from GL_XXX_instanced_arrays are present
-            if ((glDrawArraysInstanced != NULL) && (glDrawElementsInstanced != NULL) && (glVertexAttribDivisor != NULL)) RLGL.ExtSupported.instancing = true;
-        }
-        else if (strstr(extList[i], (const char *)"draw_instanced") != NULL)
-        {
-            // GL_ANGLE_draw_instanced doesn't exist
-            if (strcmp(extList[i], (const char *)"GL_EXT_draw_instanced") == 0)
-            {
-                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedEXT");
-                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedEXT");
-            }
-            else if (strcmp(extList[i], (const char*)"GL_NV_draw_instanced") == 0)
-            {
-                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedNV");
-                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedNV");
-            }
-
-            // But the functions will at least be loaded if only GL_XX_EXT_draw_instanced exist
-            if ((glDrawArraysInstanced != NULL) && (glDrawElementsInstanced != NULL) && (glVertexAttribDivisor != NULL)) RLGL.ExtSupported.instancing = true;
-        }
-
-        // Check NPOT textures support
-        // NOTE: Only check on OpenGL ES, OpenGL 3.3 has NPOT textures full support as core feature
-        if (strcmp(extList[i], (const char *)"GL_OES_texture_npot") == 0) RLGL.ExtSupported.texNPOT = true;
-
-        // Check texture float support
-        if (strcmp(extList[i], (const char *)"GL_OES_texture_float") == 0) RLGL.ExtSupported.texFloat32 = true;
-        if (strcmp(extList[i], (const char *)"GL_OES_texture_half_float") == 0) RLGL.ExtSupported.texFloat16 = true;
-
-        // Check depth texture support
-        if (strcmp(extList[i], (const char *)"GL_OES_depth_texture") == 0) RLGL.ExtSupported.texDepth = true;
-        if (strcmp(extList[i], (const char *)"GL_WEBGL_depth_texture") == 0) RLGL.ExtSupported.texDepthWebGL = true;    // WebGL requires unsized internal format
-        if (RLGL.ExtSupported.texDepthWebGL) RLGL.ExtSupported.texDepth = true;
-
-        if (strcmp(extList[i], (const char *)"GL_OES_depth24") == 0) RLGL.ExtSupported.maxDepthBits = 24;   // Not available on WebGL
-        if (strcmp(extList[i], (const char *)"GL_OES_depth32") == 0) RLGL.ExtSupported.maxDepthBits = 32;   // Not available on WebGL
-
-        // Check texture compression support: DXT
-        if ((strcmp(extList[i], (const char *)"GL_EXT_texture_compression_s3tc") == 0) ||
-            (strcmp(extList[i], (const char *)"GL_WEBGL_compressed_texture_s3tc") == 0) ||
-            (strcmp(extList[i], (const char *)"GL_WEBKIT_WEBGL_compressed_texture_s3tc") == 0)) RLGL.ExtSupported.texCompDXT = true;
-
-        // Check texture compression support: ETC1
-        if ((strcmp(extList[i], (const char *)"GL_OES_compressed_ETC1_RGB8_texture") == 0) ||
-            (strcmp(extList[i], (const char *)"GL_WEBGL_compressed_texture_etc1") == 0)) RLGL.ExtSupported.texCompETC1 = true;
-
-        // Check texture compression support: ETC2/EAC
-        if (strcmp(extList[i], (const char *)"GL_ARB_ES3_compatibility") == 0) RLGL.ExtSupported.texCompETC2 = true;
-
-        // Check texture compression support: PVR
-        if (strcmp(extList[i], (const char *)"GL_IMG_texture_compression_pvrtc") == 0) RLGL.ExtSupported.texCompPVRT = true;
-
-        // Check texture compression support: ASTC
-        if (strcmp(extList[i], (const char *)"GL_KHR_texture_compression_astc_hdr") == 0) RLGL.ExtSupported.texCompASTC = true;
-
-        // Check anisotropic texture filter support
-        if (strcmp(extList[i], (const char *)"GL_EXT_texture_filter_anisotropic") == 0) RLGL.ExtSupported.texAnisoFilter = true;
-
-        // Check clamp mirror wrap mode support
-        if (strcmp(extList[i], (const char *)"GL_EXT_texture_mirror_clamp") == 0) RLGL.ExtSupported.texMirrorClamp = true;
-    }
-
-    // Free extensions pointers
-    RL_FREE(extList);
-    RL_FREE(extensionsDup);    // Duplicated string must be deallocated
-#endif  // GRAPHICS_API_OPENGL_ES2
-
-    // Check OpenGL information and capabilities
-    //------------------------------------------------------------------------------
-    // Show current OpenGL and GLSL version
-    TRACELOG(RL_LOG_INFO, "GL: OpenGL device information:");
-    TRACELOG(RL_LOG_INFO, "    > Vendor:   %s", glGetString(GL_VENDOR));
-    TRACELOG(RL_LOG_INFO, "    > Renderer: %s", glGetString(GL_RENDERER));
-    TRACELOG(RL_LOG_INFO, "    > Version:  %s", glGetString(GL_VERSION));
-    TRACELOG(RL_LOG_INFO, "    > GLSL:     %s", glGetString(GL_SHADING_LANGUAGE_VERSION));
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // NOTE: Anisotropy levels capability is an extension
-    #ifndef GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT
-        #define GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT 0x84FF
-    #endif
-    glGetFloatv(GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT, &RLGL.ExtSupported.maxAnisotropyLevel);
-
-#if defined(RLGL_SHOW_GL_DETAILS_INFO)
-    // Show some OpenGL GPU capabilities
-    TRACELOG(RL_LOG_INFO, "GL: OpenGL capabilities:");
-    GLint capability = 0;
-    glGetIntegerv(GL_MAX_TEXTURE_SIZE, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_TEXTURE_SIZE: %i", capability);
-    glGetIntegerv(GL_MAX_CUBE_MAP_TEXTURE_SIZE, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_CUBE_MAP_TEXTURE_SIZE: %i", capability);
-    glGetIntegerv(GL_MAX_TEXTURE_IMAGE_UNITS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_TEXTURE_IMAGE_UNITS: %i", capability);
-    glGetIntegerv(GL_MAX_VERTEX_ATTRIBS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_VERTEX_ATTRIBS: %i", capability);
-    #if !defined(GRAPHICS_API_OPENGL_ES2)
-    glGetIntegerv(GL_MAX_UNIFORM_BLOCK_SIZE, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_UNIFORM_BLOCK_SIZE: %i", capability);
-    glGetIntegerv(GL_MAX_DRAW_BUFFERS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_DRAW_BUFFERS: %i", capability);
-    if (RLGL.ExtSupported.texAnisoFilter) TRACELOG(RL_LOG_INFO, "    GL_MAX_TEXTURE_MAX_ANISOTROPY: %.0f", RLGL.ExtSupported.maxAnisotropyLevel);
-    #endif
-    glGetIntegerv(GL_NUM_COMPRESSED_TEXTURE_FORMATS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_NUM_COMPRESSED_TEXTURE_FORMATS: %i", capability);
-    GLint *compFormats = (GLint *)RL_CALLOC(capability, sizeof(GLint));
-    glGetIntegerv(GL_COMPRESSED_TEXTURE_FORMATS, compFormats);
-    for (int i = 0; i < capability; i++) TRACELOG(RL_LOG_INFO, "        %s", rlGetCompressedFormatName(compFormats[i]));
-    RL_FREE(compFormats);
-
-#if defined(GRAPHICS_API_OPENGL_43)
-    glGetIntegerv(GL_MAX_VERTEX_ATTRIB_BINDINGS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_VERTEX_ATTRIB_BINDINGS: %i", capability);
-    glGetIntegerv(GL_MAX_UNIFORM_LOCATIONS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_UNIFORM_LOCATIONS: %i", capability);
-#endif  // GRAPHICS_API_OPENGL_43
-#else   // RLGL_SHOW_GL_DETAILS_INFO
-
-    // Show some basic info about GL supported features
-    if (RLGL.ExtSupported.vao) TRACELOG(RL_LOG_INFO, "GL: VAO extension detected, VAO functions loaded successfully");
-    else TRACELOG(RL_LOG_WARNING, "GL: VAO extension not found, VAO not supported");
-    if (RLGL.ExtSupported.texNPOT) TRACELOG(RL_LOG_INFO, "GL: NPOT textures extension detected, full NPOT textures supported");
-    else TRACELOG(RL_LOG_WARNING, "GL: NPOT textures extension not found, limited NPOT support (no-mipmaps, no-repeat)");
-    if (RLGL.ExtSupported.texCompDXT) TRACELOG(RL_LOG_INFO, "GL: DXT compressed textures supported");
-    if (RLGL.ExtSupported.texCompETC1) TRACELOG(RL_LOG_INFO, "GL: ETC1 compressed textures supported");
-    if (RLGL.ExtSupported.texCompETC2) TRACELOG(RL_LOG_INFO, "GL: ETC2/EAC compressed textures supported");
-    if (RLGL.ExtSupported.texCompPVRT) TRACELOG(RL_LOG_INFO, "GL: PVRT compressed textures supported");
-    if (RLGL.ExtSupported.texCompASTC) TRACELOG(RL_LOG_INFO, "GL: ASTC compressed textures supported");
-    if (RLGL.ExtSupported.computeShader) TRACELOG(RL_LOG_INFO, "GL: Compute shaders supported");
-    if (RLGL.ExtSupported.ssbo) TRACELOG(RL_LOG_INFO, "GL: Shader storage buffer objects supported");
-#endif  // RLGL_SHOW_GL_DETAILS_INFO
-
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-}
-
-// Get current OpenGL version
-int rlGetVersion(void)
-{
-    int glVersion = 0;
-#if defined(GRAPHICS_API_OPENGL_11)
-    glVersion = RL_OPENGL_11;
-#endif
-#if defined(GRAPHICS_API_OPENGL_21)
-    glVersion = RL_OPENGL_21;
-#elif defined(GRAPHICS_API_OPENGL_43)
-    glVersion = RL_OPENGL_43;
-#elif defined(GRAPHICS_API_OPENGL_33)
-    glVersion = RL_OPENGL_33;
-#endif
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    glVersion = RL_OPENGL_ES_30;
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-    glVersion = RL_OPENGL_ES_20;
-#endif
-
-    return glVersion;
-}
-
-// Set current framebuffer width
-void rlSetFramebufferWidth(int width)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.framebufferWidth = width;
-#endif
-}
-
-// Set current framebuffer height
-void rlSetFramebufferHeight(int height)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.framebufferHeight = height;
-#endif
-}
-
-// Get default framebuffer width
-int rlGetFramebufferWidth(void)
-{
-    int width = 0;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    width = RLGL.State.framebufferWidth;
-#endif
-    return width;
-}
-
-// Get default framebuffer height
-int rlGetFramebufferHeight(void)
-{
-    int height = 0;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    height = RLGL.State.framebufferHeight;
-#endif
-    return height;
-}
-
-// Get default internal texture (white texture)
-// NOTE: Default texture is a 1x1 pixel UNCOMPRESSED_R8G8B8A8
-unsigned int rlGetTextureIdDefault(void)
-{
-    unsigned int id = 0;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    id = RLGL.State.defaultTextureId;
-#endif
-    return id;
-}
-
-// Get default shader id
-unsigned int rlGetShaderIdDefault(void)
-{
-    unsigned int id = 0;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    id = RLGL.State.defaultShaderId;
-#endif
-    return id;
-}
-
-// Get default shader locs
-int *rlGetShaderLocsDefault(void)
-{
-    int *locs = NULL;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    locs = RLGL.State.defaultShaderLocs;
-#endif
-    return locs;
-}
-
-// Render batch management
-//------------------------------------------------------------------------------------------------
-// Load render batch
-rlRenderBatch rlLoadRenderBatch(int numBuffers, int bufferElements)
-{
-    rlRenderBatch batch = { 0 };
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Initialize CPU (RAM) vertex buffers (position, texcoord, color data and indexes)
-    //--------------------------------------------------------------------------------------------
-    batch.vertexBuffer = (rlVertexBuffer *)RL_MALLOC(numBuffers*sizeof(rlVertexBuffer));
-
-    for (int i = 0; i < numBuffers; i++)
-    {
-        batch.vertexBuffer[i].elementCount = bufferElements;
-
-        batch.vertexBuffer[i].vertices = (float *)RL_MALLOC(bufferElements*3*4*sizeof(float));        // 3 float by vertex, 4 vertex by quad
-        batch.vertexBuffer[i].texcoords = (float *)RL_MALLOC(bufferElements*2*4*sizeof(float));       // 2 float by texcoord, 4 texcoord by quad
-        batch.vertexBuffer[i].normals = (float *)RL_MALLOC(bufferElements*3*4*sizeof(float));        // 3 float by vertex, 4 vertex by quad
-        batch.vertexBuffer[i].colors = (unsigned char *)RL_MALLOC(bufferElements*4*4*sizeof(unsigned char));   // 4 float by color, 4 colors by quad
-#if defined(GRAPHICS_API_OPENGL_33)
-        batch.vertexBuffer[i].indices = (unsigned int *)RL_MALLOC(bufferElements*6*sizeof(unsigned int));      // 6 int by quad (indices)
-#endif
-#if defined(GRAPHICS_API_OPENGL_ES2)
-        batch.vertexBuffer[i].indices = (unsigned short *)RL_MALLOC(bufferElements*6*sizeof(unsigned short));  // 6 int by quad (indices)
-#endif
-
-        for (int j = 0; j < (3*4*bufferElements); j++) batch.vertexBuffer[i].vertices[j] = 0.0f;
-        for (int j = 0; j < (2*4*bufferElements); j++) batch.vertexBuffer[i].texcoords[j] = 0.0f;
-        for (int j = 0; j < (3*4*bufferElements); j++) batch.vertexBuffer[i].normals[j] = 0.0f;
-        for (int j = 0; j < (4*4*bufferElements); j++) batch.vertexBuffer[i].colors[j] = 0;
-
-        int k = 0;
-
-        // Indices can be initialized right now
-        for (int j = 0; j < (6*bufferElements); j += 6)
-        {
-            batch.vertexBuffer[i].indices[j] = 4*k;
-            batch.vertexBuffer[i].indices[j + 1] = 4*k + 1;
-            batch.vertexBuffer[i].indices[j + 2] = 4*k + 2;
-            batch.vertexBuffer[i].indices[j + 3] = 4*k;
-            batch.vertexBuffer[i].indices[j + 4] = 4*k + 2;
-            batch.vertexBuffer[i].indices[j + 5] = 4*k + 3;
-
-            k++;
-        }
-
-        RLGL.State.vertexCounter = 0;
-    }
-
-    TRACELOG(RL_LOG_INFO, "RLGL: Render batch vertex buffers loaded successfully in RAM (CPU)");
-    //--------------------------------------------------------------------------------------------
-
-    // Upload to GPU (VRAM) vertex data and initialize VAOs/VBOs
-    //--------------------------------------------------------------------------------------------
-    for (int i = 0; i < numBuffers; i++)
-    {
-        if (RLGL.ExtSupported.vao)
-        {
-            // Initialize Quads VAO
-            glGenVertexArrays(1, &batch.vertexBuffer[i].vaoId);
-            glBindVertexArray(batch.vertexBuffer[i].vaoId);
-        }
-
-        // Quads - Vertex buffers binding and attributes enable
-        // Vertex position buffer (shader-location = 0)
-        glGenBuffers(1, &batch.vertexBuffer[i].vboId[0]);
-        glBindBuffer(GL_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[0]);
-        glBufferData(GL_ARRAY_BUFFER, bufferElements*3*4*sizeof(float), batch.vertexBuffer[i].vertices, GL_DYNAMIC_DRAW);
-        glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_POSITION]);
-        glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_POSITION], 3, GL_FLOAT, 0, 0, 0);
-
-        // Vertex texcoord buffer (shader-location = 1)
-        glGenBuffers(1, &batch.vertexBuffer[i].vboId[1]);
-        glBindBuffer(GL_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[1]);
-        glBufferData(GL_ARRAY_BUFFER, bufferElements*2*4*sizeof(float), batch.vertexBuffer[i].texcoords, GL_DYNAMIC_DRAW);
-        glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01]);
-        glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01], 2, GL_FLOAT, 0, 0, 0);
-
-        // Vertex normal buffer (shader-location = 2)
-        glGenBuffers(1, &batch.vertexBuffer[i].vboId[2]);
-        glBindBuffer(GL_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[2]);
-        glBufferData(GL_ARRAY_BUFFER, bufferElements*3*4*sizeof(float), batch.vertexBuffer[i].normals, GL_DYNAMIC_DRAW);
-        glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL]);
-        glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL], 3, GL_FLOAT, 0, 0, 0);
-
-        // Vertex color buffer (shader-location = 3)
-        glGenBuffers(1, &batch.vertexBuffer[i].vboId[3]);
-        glBindBuffer(GL_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[3]);
-        glBufferData(GL_ARRAY_BUFFER, bufferElements*4*4*sizeof(unsigned char), batch.vertexBuffer[i].colors, GL_DYNAMIC_DRAW);
-        glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR]);
-        glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR], 4, GL_UNSIGNED_BYTE, GL_TRUE, 0, 0);
-
-        // Fill index buffer
-        glGenBuffers(1, &batch.vertexBuffer[i].vboId[4]);
-        glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[4]);
-#if defined(GRAPHICS_API_OPENGL_33)
-        glBufferData(GL_ELEMENT_ARRAY_BUFFER, bufferElements*6*sizeof(int), batch.vertexBuffer[i].indices, GL_STATIC_DRAW);
-#endif
-#if defined(GRAPHICS_API_OPENGL_ES2)
-        glBufferData(GL_ELEMENT_ARRAY_BUFFER, bufferElements*6*sizeof(short), batch.vertexBuffer[i].indices, GL_STATIC_DRAW);
-#endif
-    }
-
-    TRACELOG(RL_LOG_INFO, "RLGL: Render batch vertex buffers loaded successfully in VRAM (GPU)");
-
-    // Unbind the current VAO
-    if (RLGL.ExtSupported.vao) glBindVertexArray(0);
-    //--------------------------------------------------------------------------------------------
-
-    // Init draw calls tracking system
-    //--------------------------------------------------------------------------------------------
-    batch.draws = (rlDrawCall *)RL_MALLOC(RL_DEFAULT_BATCH_DRAWCALLS*sizeof(rlDrawCall));
-
-    for (int i = 0; i < RL_DEFAULT_BATCH_DRAWCALLS; i++)
-    {
-        batch.draws[i].mode = RL_QUADS;
-        batch.draws[i].vertexCount = 0;
-        batch.draws[i].vertexAlignment = 0;
-        //batch.draws[i].vaoId = 0;
-        //batch.draws[i].shaderId = 0;
-        batch.draws[i].textureId = RLGL.State.defaultTextureId;
-        //batch.draws[i].RLGL.State.projection = rlMatrixIdentity();
-        //batch.draws[i].RLGL.State.modelview = rlMatrixIdentity();
-    }
-
-    batch.bufferCount = numBuffers;    // Record buffer count
-    batch.drawCounter = 1;             // Reset draws counter
-    batch.currentDepth = -1.0f;         // Reset depth value
-    //--------------------------------------------------------------------------------------------
-#endif
-
-    return batch;
-}
-
-// Unload default internal buffers vertex data from CPU and GPU
-void rlUnloadRenderBatch(rlRenderBatch batch)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Unbind everything
-    glBindBuffer(GL_ARRAY_BUFFER, 0);
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-
-    // Unload all vertex buffers data
-    for (int i = 0; i < batch.bufferCount; i++)
-    {
-        // Unbind VAO attribs data
-        if (RLGL.ExtSupported.vao)
-        {
-            glBindVertexArray(batch.vertexBuffer[i].vaoId);
-            glDisableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION);
-            glDisableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD);
-            glDisableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL);
-            glDisableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR);
-            glBindVertexArray(0);
-        }
-
-        // Delete VBOs from GPU (VRAM)
-        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[0]);
-        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[1]);
-        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[2]);
-        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[3]);
-        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[4]);
-
-        // Delete VAOs from GPU (VRAM)
-        if (RLGL.ExtSupported.vao) glDeleteVertexArrays(1, &batch.vertexBuffer[i].vaoId);
-
-        // Free vertex arrays memory from CPU (RAM)
-        RL_FREE(batch.vertexBuffer[i].vertices);
-        RL_FREE(batch.vertexBuffer[i].texcoords);
-        RL_FREE(batch.vertexBuffer[i].normals);
-        RL_FREE(batch.vertexBuffer[i].colors);
-        RL_FREE(batch.vertexBuffer[i].indices);
-    }
-
-    // Unload arrays
-    RL_FREE(batch.vertexBuffer);
-    RL_FREE(batch.draws);
-#endif
-}
-
-// Draw render batch
-// NOTE: We require a pointer to reset batch and increase current buffer (multi-buffer)
-void rlDrawRenderBatch(rlRenderBatch *batch)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Update batch vertex buffers
-    //------------------------------------------------------------------------------------------------------------
-    // NOTE: If there is not vertex data, buffers doesn't need to be updated (vertexCount > 0)
-    // TODO: If no data changed on the CPU arrays --> No need to re-update GPU arrays (use a change detector flag?)
-    if (RLGL.State.vertexCounter > 0)
-    {
-        // Activate elements VAO
-        if (RLGL.ExtSupported.vao) glBindVertexArray(batch->vertexBuffer[batch->currentBuffer].vaoId);
-
-        // Vertex positions buffer
-        glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[0]);
-        glBufferSubData(GL_ARRAY_BUFFER, 0, RLGL.State.vertexCounter*3*sizeof(float), batch->vertexBuffer[batch->currentBuffer].vertices);
-        //glBufferData(GL_ARRAY_BUFFER, sizeof(float)*3*4*batch->vertexBuffer[batch->currentBuffer].elementCount, batch->vertexBuffer[batch->currentBuffer].vertices, GL_DYNAMIC_DRAW);  // Update all buffer
-
-        // Texture coordinates buffer
-        glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[1]);
-        glBufferSubData(GL_ARRAY_BUFFER, 0, RLGL.State.vertexCounter*2*sizeof(float), batch->vertexBuffer[batch->currentBuffer].texcoords);
-        //glBufferData(GL_ARRAY_BUFFER, sizeof(float)*2*4*batch->vertexBuffer[batch->currentBuffer].elementCount, batch->vertexBuffer[batch->currentBuffer].texcoords, GL_DYNAMIC_DRAW); // Update all buffer
-
-        // Normals buffer
-        glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[2]);
-        glBufferSubData(GL_ARRAY_BUFFER, 0, RLGL.State.vertexCounter*3*sizeof(float), batch->vertexBuffer[batch->currentBuffer].normals);
-        //glBufferData(GL_ARRAY_BUFFER, sizeof(float)*3*4*batch->vertexBuffer[batch->currentBuffer].elementCount, batch->vertexBuffer[batch->currentBuffer].normals, GL_DYNAMIC_DRAW); // Update all buffer
-
-        // Colors buffer
-        glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[3]);
-        glBufferSubData(GL_ARRAY_BUFFER, 0, RLGL.State.vertexCounter*4*sizeof(unsigned char), batch->vertexBuffer[batch->currentBuffer].colors);
-        //glBufferData(GL_ARRAY_BUFFER, sizeof(float)*4*4*batch->vertexBuffer[batch->currentBuffer].elementCount, batch->vertexBuffer[batch->currentBuffer].colors, GL_DYNAMIC_DRAW);    // Update all buffer
-
-        // NOTE: glMapBuffer() causes sync issue
-        // If GPU is working with this buffer, glMapBuffer() will wait(stall) until GPU to finish its job
-        // To avoid waiting (idle), you can call first glBufferData() with NULL pointer before glMapBuffer()
-        // If you do that, the previous data in PBO will be discarded and glMapBuffer() returns a new
-        // allocated pointer immediately even if GPU is still working with the previous data
-
-        // Another option: map the buffer object into client's memory
-        // Probably this code could be moved somewhere else...
-        // batch->vertexBuffer[batch->currentBuffer].vertices = (float *)glMapBuffer(GL_ARRAY_BUFFER, GL_READ_WRITE);
-        // if (batch->vertexBuffer[batch->currentBuffer].vertices)
-        // {
-            // Update vertex data
-        // }
-        // glUnmapBuffer(GL_ARRAY_BUFFER);
-
-        // Unbind the current VAO
-        if (RLGL.ExtSupported.vao) glBindVertexArray(0);
-    }
-    //------------------------------------------------------------------------------------------------------------
-
-    // Draw batch vertex buffers (considering VR stereo if required)
-    //------------------------------------------------------------------------------------------------------------
-    Matrix matProjection = RLGL.State.projection;
-    Matrix matModelView = RLGL.State.modelview;
-
-    int eyeCount = 1;
-    if (RLGL.State.stereoRender) eyeCount = 2;
-
-    for (int eye = 0; eye < eyeCount; eye++)
-    {
-        if (eyeCount == 2)
-        {
-            // Setup current eye viewport (half screen width)
-            rlViewport(eye*RLGL.State.framebufferWidth/2, 0, RLGL.State.framebufferWidth/2, RLGL.State.framebufferHeight);
-
-            // Set current eye view offset to modelview matrix
-            rlSetMatrixModelview(rlMatrixMultiply(matModelView, RLGL.State.viewOffsetStereo[eye]));
-            // Set current eye projection matrix
-            rlSetMatrixProjection(RLGL.State.projectionStereo[eye]);
-        }
-
-        // Draw buffers
-        if (RLGL.State.vertexCounter > 0)
-        {
-            // Set current shader and upload current MVP matrix
-            glUseProgram(RLGL.State.currentShaderId);
-
-            // Create modelview-projection matrix and upload to shader
-            Matrix matMVP = rlMatrixMultiply(RLGL.State.modelview, RLGL.State.projection);
-            glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_MVP], 1, false, rlMatrixToFloat(matMVP));
-
-            if (RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_PROJECTION] != -1)
-            {
-                glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_PROJECTION], 1, false, rlMatrixToFloat(RLGL.State.projection));
-            }
-
-            // WARNING: For the following setup of the view, model, and normal matrices, it is expected that
-            // transformations and rendering occur between rlPushMatrix() and rlPopMatrix()
-
-            if (RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_VIEW] != -1)
-            {
-                glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_VIEW], 1, false, rlMatrixToFloat(RLGL.State.modelview));
-            }
-
-            if (RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_MODEL] != -1)
-            {
-                glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_MODEL], 1, false, rlMatrixToFloat(RLGL.State.transform));
-            }
-
-            if (RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_NORMAL] != -1)
-            {
-                glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_NORMAL], 1, false, rlMatrixToFloat(rlMatrixTranspose(rlMatrixInvert(RLGL.State.transform))));
-            }
-
-            if (RLGL.ExtSupported.vao) glBindVertexArray(batch->vertexBuffer[batch->currentBuffer].vaoId);
-            else
-            {
-                // Bind vertex attrib: position (shader-location = 0)
-                glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[0]);
-                glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_POSITION], 3, GL_FLOAT, 0, 0, 0);
-                glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_POSITION]);
-
-                // Bind vertex attrib: texcoord (shader-location = 1)
-                glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[1]);
-                glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01], 2, GL_FLOAT, 0, 0, 0);
-                glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01]);
-
-                // Bind vertex attrib: normal (shader-location = 2)
-                glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[2]);
-                glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL], 3, GL_FLOAT, 0, 0, 0);
-                glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL]);
-
-                // Bind vertex attrib: color (shader-location = 3)
-                glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[3]);
-                glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR], 4, GL_UNSIGNED_BYTE, GL_TRUE, 0, 0);
-                glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR]);
-
-                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[4]);
-            }
-
-            // Setup some default shader values
-            glUniform4f(RLGL.State.currentShaderLocs[RL_SHADER_LOC_COLOR_DIFFUSE], 1.0f, 1.0f, 1.0f, 1.0f);
-            glUniform1i(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MAP_DIFFUSE], 0);  // Active default sampler2D: texture0
-
-            // Activate additional sampler textures
-            // Those additional textures will be common for all draw calls of the batch
-            for (int i = 0; i < RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS; i++)
-            {
-                if (RLGL.State.activeTextureId[i] > 0)
-                {
-                    glActiveTexture(GL_TEXTURE0 + 1 + i);
-                    glBindTexture(GL_TEXTURE_2D, RLGL.State.activeTextureId[i]);
-                }
-            }
-
-            // Activate default sampler2D texture0 (one texture is always active for default batch shader)
-            // NOTE: Batch system accumulates calls by texture0 changes, additional textures are enabled for all the draw calls
-            glActiveTexture(GL_TEXTURE0);
-
-            for (int i = 0, vertexOffset = 0; i < batch->drawCounter; i++)
-            {
-                // Bind current draw call texture, activated as GL_TEXTURE0 and Bound to sampler2D texture0 by default
-                glBindTexture(GL_TEXTURE_2D, batch->draws[i].textureId);
-
-                if ((batch->draws[i].mode == RL_LINES) || (batch->draws[i].mode == RL_TRIANGLES)) glDrawArrays(batch->draws[i].mode, vertexOffset, batch->draws[i].vertexCount);
-                else
-                {
-    #if defined(GRAPHICS_API_OPENGL_33)
-                    // We need to define the number of indices to be processed: elementCount*6
-                    // NOTE: The final parameter tells the GPU the offset in bytes from the
-                    // start of the index buffer to the location of the first index to process
-                    glDrawElements(GL_TRIANGLES, batch->draws[i].vertexCount/4*6, GL_UNSIGNED_INT, (GLvoid *)(vertexOffset/4*6*sizeof(GLuint)));
-    #endif
-    #if defined(GRAPHICS_API_OPENGL_ES2)
-                    glDrawElements(GL_TRIANGLES, batch->draws[i].vertexCount/4*6, GL_UNSIGNED_SHORT, (GLvoid *)(vertexOffset/4*6*sizeof(GLushort)));
-    #endif
-                }
-
-                vertexOffset += (batch->draws[i].vertexCount + batch->draws[i].vertexAlignment);
-            }
-
-            if (!RLGL.ExtSupported.vao)
-            {
-                glBindBuffer(GL_ARRAY_BUFFER, 0);
-                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-            }
-
-            glBindTexture(GL_TEXTURE_2D, 0);    // Unbind textures
-        }
-
-        if (RLGL.ExtSupported.vao) glBindVertexArray(0); // Unbind VAO
-
-        glUseProgram(0);    // Unbind shader program
-    }
-
-    // Restore viewport to default measures
-    if (eyeCount == 2) rlViewport(0, 0, RLGL.State.framebufferWidth, RLGL.State.framebufferHeight);
-    //------------------------------------------------------------------------------------------------------------
-
-    // Reset batch buffers
-    //------------------------------------------------------------------------------------------------------------
-    // Reset vertex counter for next frame
-    RLGL.State.vertexCounter = 0;
-
-    // Reset depth for next draw
-    batch->currentDepth = -1.0f;
-
-    // Restore projection/modelview matrices
-    RLGL.State.projection = matProjection;
-    RLGL.State.modelview = matModelView;
-
-    // Reset RLGL.currentBatch->draws array
-    for (int i = 0; i < RL_DEFAULT_BATCH_DRAWCALLS; i++)
-    {
-        batch->draws[i].mode = RL_QUADS;
-        batch->draws[i].vertexCount = 0;
-        batch->draws[i].textureId = RLGL.State.defaultTextureId;
-    }
-
-    // Reset active texture units for next batch
-    for (int i = 0; i < RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS; i++) RLGL.State.activeTextureId[i] = 0;
-
-    // Reset draws counter to one draw for the batch
-    batch->drawCounter = 1;
-    //------------------------------------------------------------------------------------------------------------
-
-    // Change to next buffer in the list (in case of multi-buffering)
-    batch->currentBuffer++;
-    if (batch->currentBuffer >= batch->bufferCount) batch->currentBuffer = 0;
-#endif
-}
-
-// Set the active render batch for rlgl
-void rlSetRenderBatchActive(rlRenderBatch *batch)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    rlDrawRenderBatch(RLGL.currentBatch);
-
-    if (batch != NULL) RLGL.currentBatch = batch;
-    else RLGL.currentBatch = &RLGL.defaultBatch;
-#endif
-}
-
-// Update and draw internal render batch
-void rlDrawRenderBatchActive(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    rlDrawRenderBatch(RLGL.currentBatch);    // NOTE: Stereo rendering is checked inside
-#endif
-}
-
-// Check internal buffer overflow for a given number of vertex
-// and force a rlRenderBatch draw call if required
-bool rlCheckRenderBatchLimit(int vCount)
-{
-    bool overflow = false;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if ((RLGL.State.vertexCounter + vCount) >=
-        (RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].elementCount*4))
-    {
-        overflow = true;
-
-        // Store current primitive drawing mode and texture id
-        int currentMode = RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode;
-        int currentTexture = RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId;
-
-        rlDrawRenderBatch(RLGL.currentBatch);    // NOTE: Stereo rendering is checked inside
-
-        // Restore state of last batch so we can continue adding vertices
-        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode = currentMode;
-        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId = currentTexture;
-    }
-#endif
-
-    return overflow;
-}
-
-// Textures data management
-//-----------------------------------------------------------------------------------------
-// Convert image data to OpenGL texture (returns OpenGL valid Id)
-unsigned int rlLoadTexture(const void *data, int width, int height, int format, int mipmapCount)
-{
-    unsigned int id = 0;
-
-    glBindTexture(GL_TEXTURE_2D, 0);    // Free any old binding
-
-    // Check texture format support by OpenGL 1.1 (compressed textures not supported)
-#if defined(GRAPHICS_API_OPENGL_11)
-    if (format >= RL_PIXELFORMAT_COMPRESSED_DXT1_RGB)
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: OpenGL 1.1 does not support GPU compressed texture formats");
-        return id;
-    }
-#else
-    if ((!RLGL.ExtSupported.texCompDXT) && ((format == RL_PIXELFORMAT_COMPRESSED_DXT1_RGB) || (format == RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA) ||
-        (format == RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA) || (format == RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA)))
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: DXT compressed texture format not supported");
-        return id;
-    }
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if ((!RLGL.ExtSupported.texCompETC1) && (format == RL_PIXELFORMAT_COMPRESSED_ETC1_RGB))
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: ETC1 compressed texture format not supported");
-        return id;
-    }
-
-    if ((!RLGL.ExtSupported.texCompETC2) && ((format == RL_PIXELFORMAT_COMPRESSED_ETC2_RGB) || (format == RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA)))
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: ETC2 compressed texture format not supported");
-        return id;
-    }
-
-    if ((!RLGL.ExtSupported.texCompPVRT) && ((format == RL_PIXELFORMAT_COMPRESSED_PVRT_RGB) || (format == RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA)))
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: PVRT compressed texture format not supported");
-        return id;
-    }
-
-    if ((!RLGL.ExtSupported.texCompASTC) && ((format == RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA) || (format == RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA)))
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: ASTC compressed texture format not supported");
-        return id;
-    }
-#endif
-#endif  // GRAPHICS_API_OPENGL_11
-
-    glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
-
-    glGenTextures(1, &id);              // Generate texture id
-
-    glBindTexture(GL_TEXTURE_2D, id);
-
-    int mipWidth = width;
-    int mipHeight = height;
-    int mipOffset = 0;          // Mipmap data offset, only used for tracelog
-
-    // NOTE: Added pointer math separately from function to avoid UBSAN complaining
-    unsigned char *dataPtr = NULL;
-    if (data != NULL) dataPtr = (unsigned char *)data;
-
-    // Load the different mipmap levels
-    for (int i = 0; i < mipmapCount; i++)
-    {
-        unsigned int mipSize = rlGetPixelDataSize(mipWidth, mipHeight, format);
-
-        unsigned int glInternalFormat, glFormat, glType;
-        rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
-
-        TRACELOGD("TEXTURE: Load mipmap level %i (%i x %i), size: %i, offset: %i", i, mipWidth, mipHeight, mipSize, mipOffset);
-
-        if (glInternalFormat != 0)
-        {
-            if (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB) glTexImage2D(GL_TEXTURE_2D, i, glInternalFormat, mipWidth, mipHeight, 0, glFormat, glType, dataPtr);
-#if !defined(GRAPHICS_API_OPENGL_11)
-            else glCompressedTexImage2D(GL_TEXTURE_2D, i, glInternalFormat, mipWidth, mipHeight, 0, mipSize, dataPtr);
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_33)
-            if (format == RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE)
-            {
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_ONE };
-                glTexParameteriv(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_RGBA, swizzleMask);
-            }
-            else if (format == RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA)
-            {
-#if defined(GRAPHICS_API_OPENGL_21)
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_ALPHA };
-#elif defined(GRAPHICS_API_OPENGL_33)
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_GREEN };
-#endif
-                glTexParameteriv(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_RGBA, swizzleMask);
-            }
-#endif
-        }
-
-        mipWidth /= 2;
-        mipHeight /= 2;
-        mipOffset += mipSize;       // Increment offset position to next mipmap
-        if (data != NULL) dataPtr += mipSize;         // Increment data pointer to next mipmap
-
-        // Security check for NPOT textures
-        if (mipWidth < 1) mipWidth = 1;
-        if (mipHeight < 1) mipHeight = 1;
-    }
-
-    // Texture parameters configuration
-    // NOTE: glTexParameteri does NOT affect texture uploading, just the way it's used
-#if defined(GRAPHICS_API_OPENGL_ES2)
-    // NOTE: OpenGL ES 2.0 with no GL_OES_texture_npot support (i.e. WebGL) has limited NPOT support, so CLAMP_TO_EDGE must be used
-    if (RLGL.ExtSupported.texNPOT)
-    {
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);       // Set texture to repeat on x-axis
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);       // Set texture to repeat on y-axis
-    }
-    else
-    {
-        // NOTE: If using negative texture coordinates (LoadOBJ()), it does not work!
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);       // Set texture to clamp on x-axis
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);       // Set texture to clamp on y-axis
-    }
-#else
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);       // Set texture to repeat on x-axis
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);       // Set texture to repeat on y-axis
-#endif
-
-    // Magnification and minification filters
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);  // Alternative: GL_LINEAR
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);  // Alternative: GL_LINEAR
-
-#if defined(GRAPHICS_API_OPENGL_33)
-    if (mipmapCount > 1)
-    {
-        // Activate Trilinear filtering if mipmaps are available
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
-    }
-#endif
-
-    // At this point we have the texture loaded in GPU and texture parameters configured
-
-    // NOTE: If mipmaps were not in data, they are not generated automatically
-
-    // Unbind current texture
-    glBindTexture(GL_TEXTURE_2D, 0);
-
-    if (id > 0) TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Texture loaded successfully (%ix%i | %s | %i mipmaps)", id, width, height, rlGetPixelFormatName(format), mipmapCount);
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: Failed to load texture");
-
-    return id;
-}
-
-// Load depth texture/renderbuffer (to be attached to fbo)
-// WARNING: OpenGL ES 2.0 requires GL_OES_depth_texture and WebGL requires WEBGL_depth_texture extensions
-unsigned int rlLoadTextureDepth(int width, int height, bool useRenderBuffer)
-{
-    unsigned int id = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // In case depth textures not supported, we force renderbuffer usage
-    if (!RLGL.ExtSupported.texDepth) useRenderBuffer = true;
-
-    // NOTE: We let the implementation to choose the best bit-depth
-    // Possible formats: GL_DEPTH_COMPONENT16, GL_DEPTH_COMPONENT24, GL_DEPTH_COMPONENT32 and GL_DEPTH_COMPONENT32F
-    unsigned int glInternalFormat = GL_DEPTH_COMPONENT;
-
-#if (defined(GRAPHICS_API_OPENGL_ES2) || defined(GRAPHICS_API_OPENGL_ES3))
-    // WARNING: WebGL platform requires unsized internal format definition (GL_DEPTH_COMPONENT)
-    // while other platforms using OpenGL ES 2.0 require/support sized internal formats depending on the GPU capabilities
-    if (!RLGL.ExtSupported.texDepthWebGL || useRenderBuffer)
-    {
-        if (RLGL.ExtSupported.maxDepthBits == 32) glInternalFormat = GL_DEPTH_COMPONENT32_OES;
-        else if (RLGL.ExtSupported.maxDepthBits == 24) glInternalFormat = GL_DEPTH_COMPONENT24_OES;
-        else glInternalFormat = GL_DEPTH_COMPONENT16;
-    }
-#endif
-
-    if (!useRenderBuffer && RLGL.ExtSupported.texDepth)
-    {
-        glGenTextures(1, &id);
-        glBindTexture(GL_TEXTURE_2D, id);
-        glTexImage2D(GL_TEXTURE_2D, 0, glInternalFormat, width, height, 0, GL_DEPTH_COMPONENT, GL_UNSIGNED_INT, NULL);
-
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
-
-        glBindTexture(GL_TEXTURE_2D, 0);
-
-        TRACELOG(RL_LOG_INFO, "TEXTURE: Depth texture loaded successfully");
-    }
-    else
-    {
-        // Create the renderbuffer that will serve as the depth attachment for the framebuffer
-        // NOTE: A renderbuffer is simpler than a texture and could offer better performance on embedded devices
-        glGenRenderbuffers(1, &id);
-        glBindRenderbuffer(GL_RENDERBUFFER, id);
-        glRenderbufferStorage(GL_RENDERBUFFER, glInternalFormat, width, height);
-
-        glBindRenderbuffer(GL_RENDERBUFFER, 0);
-
-        TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Depth renderbuffer loaded successfully (%i bits)", id, (RLGL.ExtSupported.maxDepthBits >= 24)? RLGL.ExtSupported.maxDepthBits : 16);
-    }
-#endif
-
-    return id;
-}
-
-// Load texture cubemap
-// NOTE: Cubemap data is expected to be 6 images in a single data array (one after the other),
-// expected the following convention: +X, -X, +Y, -Y, +Z, -Z
-unsigned int rlLoadTextureCubemap(const void *data, int size, int format, int mipmapCount)
-{
-    unsigned int id = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    int mipSize = size;
-
-    // NOTE: Added pointer math separately from function to avoid UBSAN complaining
-    unsigned char *dataPtr = NULL;
-    if (data != NULL) dataPtr = (unsigned char *)data;
-
-    unsigned int dataSize = rlGetPixelDataSize(size, size, format);
-
-    glGenTextures(1, &id);
-    glBindTexture(GL_TEXTURE_CUBE_MAP, id);
-
-    unsigned int glInternalFormat, glFormat, glType;
-    rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
-
-    if (glInternalFormat != 0)
-    {
-        // Load cubemap faces/mipmaps
-        for (int i = 0; i < 6*mipmapCount; i++)
-        {
-            int mipmapLevel = i/6;
-            int face = i%6;
-
-            if (data == NULL)
-            {
-                if (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB)
-                {
-                    if ((format == RL_PIXELFORMAT_UNCOMPRESSED_R32) ||
-                        (format == RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32) ||
-                        (format == RL_PIXELFORMAT_UNCOMPRESSED_R16) ||
-                        (format == RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16)) TRACELOG(RL_LOG_WARNING, "TEXTURES: Cubemap requested format not supported");
-                    else glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X + face, mipmapLevel, glInternalFormat, mipSize, mipSize, 0, glFormat, glType, NULL);
-                }
-                else TRACELOG(RL_LOG_WARNING, "TEXTURES: Empty cubemap creation does not support compressed format");
-            }
-            else
-            {
-                if (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB) glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X + face, mipmapLevel, glInternalFormat, mipSize, mipSize, 0, glFormat, glType, (unsigned char *)dataPtr + face*dataSize);
-                else glCompressedTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X + face, mipmapLevel, glInternalFormat, mipSize, mipSize, 0, dataSize, (unsigned char *)dataPtr + face*dataSize);
-            }
-
-#if defined(GRAPHICS_API_OPENGL_33)
-            if (format == RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE)
-            {
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_ONE };
-                glTexParameteriv(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_SWIZZLE_RGBA, swizzleMask);
-            }
-            else if (format == RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA)
-            {
-#if defined(GRAPHICS_API_OPENGL_21)
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_ALPHA };
-#elif defined(GRAPHICS_API_OPENGL_33)
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_GREEN };
-#endif
-                glTexParameteriv(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_SWIZZLE_RGBA, swizzleMask);
-            }
-#endif
-            if (face == 5)
-            {
-                mipSize /= 2;
-                if (data != NULL) dataPtr += dataSize*6; // Increment data pointer to next mipmap
-
-                // Security check for NPOT textures
-                if (mipSize < 1) mipSize = 1;
-
-                dataSize = rlGetPixelDataSize(mipSize, mipSize, format);
-            }
-        }
-    }
-
-    // Set cubemap texture sampling parameters
-    if (mipmapCount > 1) glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
-    else glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
-
-    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
-    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
-#if defined(GRAPHICS_API_OPENGL_33)
-    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_R, GL_CLAMP_TO_EDGE);  // Flag not supported on OpenGL ES 2.0
-#endif
-
-    glBindTexture(GL_TEXTURE_CUBE_MAP, 0);
-#endif
-
-    if (id > 0) TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Cubemap texture loaded successfully (%ix%i)", id, size, size);
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: Failed to load cubemap texture");
-
-    return id;
-}
-
-// Update already loaded texture in GPU with new data
-// NOTE: We don't know safely if internal texture format is the expected one...
-void rlUpdateTexture(unsigned int id, int offsetX, int offsetY, int width, int height, int format, const void *data)
-{
-    glBindTexture(GL_TEXTURE_2D, id);
-
-    unsigned int glInternalFormat, glFormat, glType;
-    rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
-
-    if ((glInternalFormat != 0) && (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB))
-    {
-        glTexSubImage2D(GL_TEXTURE_2D, 0, offsetX, offsetY, width, height, glFormat, glType, data);
-    }
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: [ID %i] Failed to update for current texture format (%i)", id, format);
-}
-
-// Get OpenGL internal formats and data type from raylib PixelFormat
-void rlGetGlTextureFormats(int format, unsigned int *glInternalFormat, unsigned int *glFormat, unsigned int *glType)
-{
-    *glInternalFormat = 0;
-    *glFormat = 0;
-    *glType = 0;
-
-    switch (format)
-    {
-    #if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_21) || defined(GRAPHICS_API_OPENGL_ES2)
-        // NOTE: on OpenGL ES 2.0 (WebGL), internalFormat must match format and options allowed are: GL_LUMINANCE, GL_RGB, GL_RGBA
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE: *glInternalFormat = GL_LUMINANCE; *glFormat = GL_LUMINANCE; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA: *glInternalFormat = GL_LUMINANCE_ALPHA; *glFormat = GL_LUMINANCE_ALPHA; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5: *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_UNSIGNED_SHORT_5_6_5; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8: *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1: *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_SHORT_5_5_5_1; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4: *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_SHORT_4_4_4_4; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8: *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_BYTE; break;
-        #if !defined(GRAPHICS_API_OPENGL_11)
-        #if defined(GRAPHICS_API_OPENGL_ES3)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_R32F_EXT; *glFormat = GL_RED_EXT; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGB32F_EXT; *glFormat = GL_RGB; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGBA32F_EXT; *glFormat = GL_RGBA; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_R16F_EXT; *glFormat = GL_RED_EXT; *glType = GL_HALF_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGB16F_EXT; *glFormat = GL_RGB; *glType = GL_HALF_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGBA16F_EXT; *glFormat = GL_RGBA; *glType = GL_HALF_FLOAT; break;
-        #else
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_LUMINANCE; *glFormat = GL_LUMINANCE; *glType = GL_FLOAT; break;            // NOTE: Requires extension OES_texture_float
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_FLOAT; break;                  // NOTE: Requires extension OES_texture_float
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_FLOAT; break;             // NOTE: Requires extension OES_texture_float
-        #if defined(GRAPHICS_API_OPENGL_21)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_LUMINANCE; *glFormat = GL_LUMINANCE; *glType = GL_HALF_FLOAT_ARB; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_HALF_FLOAT_ARB; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_HALF_FLOAT_ARB; break;
-        #else // defined(GRAPHICS_API_OPENGL_ES2)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_LUMINANCE; *glFormat = GL_LUMINANCE; *glType = GL_HALF_FLOAT_OES; break;   // NOTE: Requires extension OES_texture_half_float
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_HALF_FLOAT_OES; break;         // NOTE: Requires extension OES_texture_half_float
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_HALF_FLOAT_OES; break;    // NOTE: Requires extension OES_texture_half_float
-        #endif
-        #endif
-        #endif
-    #elif defined(GRAPHICS_API_OPENGL_33)
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE: *glInternalFormat = GL_R8; *glFormat = GL_RED; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA: *glInternalFormat = GL_RG8; *glFormat = GL_RG; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5: *glInternalFormat = GL_RGB565; *glFormat = GL_RGB; *glType = GL_UNSIGNED_SHORT_5_6_5; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8: *glInternalFormat = GL_RGB8; *glFormat = GL_RGB; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1: *glInternalFormat = GL_RGB5_A1; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_SHORT_5_5_5_1; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4: *glInternalFormat = GL_RGBA4; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_SHORT_4_4_4_4; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8: *glInternalFormat = GL_RGBA8; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_R32F; *glFormat = GL_RED; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGB32F; *glFormat = GL_RGB; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGBA32F; *glFormat = GL_RGBA; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_R16F; *glFormat = GL_RED; *glType = GL_HALF_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGB16F; *glFormat = GL_RGB; *glType = GL_HALF_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGBA16F; *glFormat = GL_RGBA; *glType = GL_HALF_FLOAT; break;
-    #endif
-    #if !defined(GRAPHICS_API_OPENGL_11)
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGB: if (RLGL.ExtSupported.texCompDXT) *glInternalFormat = GL_COMPRESSED_RGB_S3TC_DXT1_EXT; break;
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA: if (RLGL.ExtSupported.texCompDXT) *glInternalFormat = GL_COMPRESSED_RGBA_S3TC_DXT1_EXT; break;
-        case RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA: if (RLGL.ExtSupported.texCompDXT) *glInternalFormat = GL_COMPRESSED_RGBA_S3TC_DXT3_EXT; break;
-        case RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA: if (RLGL.ExtSupported.texCompDXT) *glInternalFormat = GL_COMPRESSED_RGBA_S3TC_DXT5_EXT; break;
-        case RL_PIXELFORMAT_COMPRESSED_ETC1_RGB: if (RLGL.ExtSupported.texCompETC1) *glInternalFormat = GL_ETC1_RGB8_OES; break;                      // NOTE: Requires OpenGL ES 2.0 or OpenGL 4.3
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_RGB: if (RLGL.ExtSupported.texCompETC2) *glInternalFormat = GL_COMPRESSED_RGB8_ETC2; break;               // NOTE: Requires OpenGL ES 3.0 or OpenGL 4.3
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA: if (RLGL.ExtSupported.texCompETC2) *glInternalFormat = GL_COMPRESSED_RGBA8_ETC2_EAC; break;     // NOTE: Requires OpenGL ES 3.0 or OpenGL 4.3
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGB: if (RLGL.ExtSupported.texCompPVRT) *glInternalFormat = GL_COMPRESSED_RGB_PVRTC_4BPPV1_IMG; break;    // NOTE: Requires PowerVR GPU
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA: if (RLGL.ExtSupported.texCompPVRT) *glInternalFormat = GL_COMPRESSED_RGBA_PVRTC_4BPPV1_IMG; break;  // NOTE: Requires PowerVR GPU
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA: if (RLGL.ExtSupported.texCompASTC) *glInternalFormat = GL_COMPRESSED_RGBA_ASTC_4x4_KHR; break;  // NOTE: Requires OpenGL ES 3.1 or OpenGL 4.3
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA: if (RLGL.ExtSupported.texCompASTC) *glInternalFormat = GL_COMPRESSED_RGBA_ASTC_8x8_KHR; break;  // NOTE: Requires OpenGL ES 3.1 or OpenGL 4.3
-    #endif
-        default: TRACELOG(RL_LOG_WARNING, "TEXTURE: Current format not supported (%i)", format); break;
-    }
-}
-
-// Unload texture from GPU memory
-void rlUnloadTexture(unsigned int id)
-{
-    glDeleteTextures(1, &id);
-}
-
-// Generate mipmap data for selected texture
-// NOTE: Only supports GPU mipmap generation
-void rlGenTextureMipmaps(unsigned int id, int width, int height, int format, int *mipmaps)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindTexture(GL_TEXTURE_2D, id);
-
-    // Check if texture is power-of-two (POT)
-    bool texIsPOT = false;
-
-    if (((width > 0) && ((width & (width - 1)) == 0)) &&
-        ((height > 0) && ((height & (height - 1)) == 0))) texIsPOT = true;
-
-    if ((texIsPOT) || (RLGL.ExtSupported.texNPOT))
-    {
-        //glHint(GL_GENERATE_MIPMAP_HINT, GL_DONT_CARE);   // Hint for mipmaps generation algorithm: GL_FASTEST, GL_NICEST, GL_DONT_CARE
-        glGenerateMipmap(GL_TEXTURE_2D);    // Generate mipmaps automatically
-
-        #define MIN(a,b) (((a)<(b))? (a):(b))
-        #define MAX(a,b) (((a)>(b))? (a):(b))
-
-        *mipmaps = 1 + (int)floor(log(MAX(width, height))/log(2));
-        TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Mipmaps generated automatically, total: %i", id, *mipmaps);
-    }
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: [ID %i] Failed to generate mipmaps", id);
-
-    glBindTexture(GL_TEXTURE_2D, 0);
-#else
-    TRACELOG(RL_LOG_WARNING, "TEXTURE: [ID %i] GPU mipmap generation not supported", id);
-#endif
-}
-
-// Read texture pixel data
-void *rlReadTexturePixels(unsigned int id, int width, int height, int format)
-{
-    void *pixels = NULL;
-
-#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-    glBindTexture(GL_TEXTURE_2D, id);
-
-    // NOTE: Using texture id, we can retrieve some texture info (but not on OpenGL ES 2.0)
-    // Possible texture info: GL_TEXTURE_RED_SIZE, GL_TEXTURE_GREEN_SIZE, GL_TEXTURE_BLUE_SIZE, GL_TEXTURE_ALPHA_SIZE
-    //int width, height, format;
-    //glGetTexLevelParameteriv(GL_TEXTURE_2D, 0, GL_TEXTURE_WIDTH, &width);
-    //glGetTexLevelParameteriv(GL_TEXTURE_2D, 0, GL_TEXTURE_HEIGHT, &height);
-    //glGetTexLevelParameteriv(GL_TEXTURE_2D, 0, GL_TEXTURE_INTERNAL_FORMAT, &format);
-
-    // NOTE: Each row written to or read from by OpenGL pixel operations like glGetTexImage are aligned to a 4 byte boundary by default, which may add some padding
-    // Use glPixelStorei to modify padding with the GL_[UN]PACK_ALIGNMENT setting
-    // GL_PACK_ALIGNMENT affects operations that read from OpenGL memory (glReadPixels, glGetTexImage, etc.)
-    // GL_UNPACK_ALIGNMENT affects operations that write to OpenGL memory (glTexImage, etc.)
-    glPixelStorei(GL_PACK_ALIGNMENT, 1);
-
-    unsigned int glInternalFormat, glFormat, glType;
-    rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
-    unsigned int size = rlGetPixelDataSize(width, height, format);
-
-    if ((glInternalFormat != 0) && (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB))
-    {
-        pixels = RL_MALLOC(size);
-        glGetTexImage(GL_TEXTURE_2D, 0, glFormat, glType, pixels);
-    }
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: [ID %i] Data retrieval not suported for pixel format (%i)", id, format);
-
-    glBindTexture(GL_TEXTURE_2D, 0);
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_ES2)
-    // glGetTexImage() is not available on OpenGL ES 2.0
-    // Texture width and height are required on OpenGL ES 2.0, there is no way to get it from texture id
-    // Two possible Options:
-    // 1 - Bind texture to color fbo attachment and glReadPixels()
-    // 2 - Create an fbo, activate it, render quad with texture, glReadPixels()
-    // We are using Option 1, just need to care for texture format on retrieval
-    // NOTE: This behaviour could be conditioned by graphic driver...
-    unsigned int fboId = rlLoadFramebuffer();
-
-    glBindFramebuffer(GL_FRAMEBUFFER, fboId);
-    glBindTexture(GL_TEXTURE_2D, 0);
-
-    // Attach our texture to FBO
-    glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, id, 0);
-
-    // We read data as RGBA because FBO texture is configured as RGBA, despite binding another texture format
-    pixels = (unsigned char *)RL_MALLOC(rlGetPixelDataSize(width, height, RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8));
-    glReadPixels(0, 0, width, height, GL_RGBA, GL_UNSIGNED_BYTE, pixels);
-
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-
-    // Clean up temporal fbo
-    rlUnloadFramebuffer(fboId);
-#endif
-
-    return pixels;
-}
-
-// Read screen pixel data (color buffer)
-unsigned char *rlReadScreenPixels(int width, int height)
-{
-    unsigned char *screenData = (unsigned char *)RL_CALLOC(width*height*4, sizeof(unsigned char));
-
-    // NOTE 1: glReadPixels returns image flipped vertically -> (0,0) is the bottom left corner of the framebuffer
-    // NOTE 2: We are getting alpha channel! Be careful, it can be transparent if not cleared properly!
-    glReadPixels(0, 0, width, height, GL_RGBA, GL_UNSIGNED_BYTE, screenData);
-
-    // Flip image vertically!
-    unsigned char *imgData = (unsigned char *)RL_MALLOC(width*height*4*sizeof(unsigned char));
-
-    for (int y = height - 1; y >= 0; y--)
-    {
-        for (int x = 0; x < (width*4); x++)
-        {
-            imgData[((height - 1) - y)*width*4 + x] = screenData[(y*width*4) + x];  // Flip line
-
-            // Set alpha component value to 255 (no trasparent image retrieval)
-            // NOTE: Alpha value has already been applied to RGB in framebuffer, we don't need it!
-            if (((x + 1)%4) == 0) imgData[((height - 1) - y)*width*4 + x] = 255;
-        }
-    }
-
-    RL_FREE(screenData);
-
-    return imgData;     // NOTE: image data should be freed
-}
-
-// Framebuffer management (fbo)
-//-----------------------------------------------------------------------------------------
-// Load a framebuffer to be used for rendering
-// NOTE: No textures attached
-unsigned int rlLoadFramebuffer(void)
-{
-    unsigned int fboId = 0;
-
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glGenFramebuffers(1, &fboId);       // Create the framebuffer object
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);   // Unbind any framebuffer
-#endif
-
-    return fboId;
-}
-
-// Attach color buffer texture to an fbo (unloads previous attachment)
-// NOTE: Attach type: 0-Color, 1-Depth renderbuffer, 2-Depth texture
-void rlFramebufferAttach(unsigned int fboId, unsigned int texId, int attachType, int texType, int mipLevel)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBindFramebuffer(GL_FRAMEBUFFER, fboId);
-
-    switch (attachType)
-    {
-        case RL_ATTACHMENT_COLOR_CHANNEL0:
-        case RL_ATTACHMENT_COLOR_CHANNEL1:
-        case RL_ATTACHMENT_COLOR_CHANNEL2:
-        case RL_ATTACHMENT_COLOR_CHANNEL3:
-        case RL_ATTACHMENT_COLOR_CHANNEL4:
-        case RL_ATTACHMENT_COLOR_CHANNEL5:
-        case RL_ATTACHMENT_COLOR_CHANNEL6:
-        case RL_ATTACHMENT_COLOR_CHANNEL7:
-        {
-            if (texType == RL_ATTACHMENT_TEXTURE2D) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0 + attachType, GL_TEXTURE_2D, texId, mipLevel);
-            else if (texType == RL_ATTACHMENT_RENDERBUFFER) glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0 + attachType, GL_RENDERBUFFER, texId);
-            else if (texType >= RL_ATTACHMENT_CUBEMAP_POSITIVE_X) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0 + attachType, GL_TEXTURE_CUBE_MAP_POSITIVE_X + texType, texId, mipLevel);
-
-        } break;
-        case RL_ATTACHMENT_DEPTH:
-        {
-            if (texType == RL_ATTACHMENT_TEXTURE2D) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_TEXTURE_2D, texId, mipLevel);
-            else if (texType == RL_ATTACHMENT_RENDERBUFFER)  glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, texId);
-
-        } break;
-        case RL_ATTACHMENT_STENCIL:
-        {
-            if (texType == RL_ATTACHMENT_TEXTURE2D) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_STENCIL_ATTACHMENT, GL_TEXTURE_2D, texId, mipLevel);
-            else if (texType == RL_ATTACHMENT_RENDERBUFFER)  glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_STENCIL_ATTACHMENT, GL_RENDERBUFFER, texId);
-
-        } break;
-        default: break;
-    }
-
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-#endif
-}
-
-// Verify render texture is complete
-bool rlFramebufferComplete(unsigned int id)
-{
-    bool result = false;
-
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBindFramebuffer(GL_FRAMEBUFFER, id);
-
-    GLenum status = glCheckFramebufferStatus(GL_FRAMEBUFFER);
-
-    if (status != GL_FRAMEBUFFER_COMPLETE)
-    {
-        switch (status)
-        {
-            case GL_FRAMEBUFFER_UNSUPPORTED: TRACELOG(RL_LOG_WARNING, "FBO: [ID %i] Framebuffer is unsupported", id); break;
-            case GL_FRAMEBUFFER_INCOMPLETE_ATTACHMENT: TRACELOG(RL_LOG_WARNING, "FBO: [ID %i] Framebuffer has incomplete attachment", id); break;
-#if defined(GRAPHICS_API_OPENGL_ES2)
-            case GL_FRAMEBUFFER_INCOMPLETE_DIMENSIONS: TRACELOG(RL_LOG_WARNING, "FBO: [ID %i] Framebuffer has incomplete dimensions", id); break;
-#endif
-            case GL_FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT: TRACELOG(RL_LOG_WARNING, "FBO: [ID %i] Framebuffer has a missing attachment", id); break;
-            default: break;
-        }
-    }
-
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-
-    result = (status == GL_FRAMEBUFFER_COMPLETE);
-#endif
-
-    return result;
-}
-
-// Unload framebuffer from GPU memory
-// NOTE: All attached textures/cubemaps/renderbuffers are also deleted
-void rlUnloadFramebuffer(unsigned int id)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    // Query depth attachment to automatically delete texture/renderbuffer
-    int depthType = 0, depthId = 0;
-    glBindFramebuffer(GL_FRAMEBUFFER, id);   // Bind framebuffer to query depth texture type
-    glGetFramebufferAttachmentParameteriv(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_FRAMEBUFFER_ATTACHMENT_OBJECT_TYPE, &depthType);
-
-    // TODO: Review warning retrieving object name in WebGL
-    // WARNING: WebGL: INVALID_ENUM: getFramebufferAttachmentParameter: invalid parameter name
-    // https://registry.khronos.org/webgl/specs/latest/1.0/
-    glGetFramebufferAttachmentParameteriv(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_FRAMEBUFFER_ATTACHMENT_OBJECT_NAME, &depthId);
-
-    unsigned int depthIdU = (unsigned int)depthId;
-    if (depthType == GL_RENDERBUFFER) glDeleteRenderbuffers(1, &depthIdU);
-    else if (depthType == GL_TEXTURE) glDeleteTextures(1, &depthIdU);
-
-    // NOTE: If a texture object is deleted while its image is attached to the *currently bound* framebuffer,
-    // the texture image is automatically detached from the currently bound framebuffer
-
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-    glDeleteFramebuffers(1, &id);
-
-    TRACELOG(RL_LOG_INFO, "FBO: [ID %i] Unloaded framebuffer from VRAM (GPU)", id);
-#endif
-}
-
-// Vertex data management
-//-----------------------------------------------------------------------------------------
-// Load a new attributes buffer
-unsigned int rlLoadVertexBuffer(const void *buffer, int size, bool dynamic)
-{
-    unsigned int id = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glGenBuffers(1, &id);
-    glBindBuffer(GL_ARRAY_BUFFER, id);
-    glBufferData(GL_ARRAY_BUFFER, size, buffer, dynamic? GL_DYNAMIC_DRAW : GL_STATIC_DRAW);
-#endif
-
-    return id;
-}
-
-// Load a new attributes element buffer
-unsigned int rlLoadVertexBufferElement(const void *buffer, int size, bool dynamic)
-{
-    unsigned int id = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glGenBuffers(1, &id);
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, id);
-    glBufferData(GL_ELEMENT_ARRAY_BUFFER, size, buffer, dynamic? GL_DYNAMIC_DRAW : GL_STATIC_DRAW);
-#endif
-
-    return id;
-}
-
-// Enable vertex buffer (VBO)
-void rlEnableVertexBuffer(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ARRAY_BUFFER, id);
-#endif
-}
-
-// Disable vertex buffer (VBO)
-void rlDisableVertexBuffer(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ARRAY_BUFFER, 0);
-#endif
-}
-
-// Enable vertex buffer element (VBO element)
-void rlEnableVertexBufferElement(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, id);
-#endif
-}
-
-// Disable vertex buffer element (VBO element)
-void rlDisableVertexBufferElement(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-#endif
-}
-
-// Update vertex buffer with new data
-// NOTE: dataSize and offset must be provided in bytes
-void rlUpdateVertexBuffer(unsigned int id, const void *data, int dataSize, int offset)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ARRAY_BUFFER, id);
-    glBufferSubData(GL_ARRAY_BUFFER, offset, dataSize, data);
-#endif
-}
-
-// Update vertex buffer elements with new data
-// NOTE: dataSize and offset must be provided in bytes
-void rlUpdateVertexBufferElements(unsigned int id, const void *data, int dataSize, int offset)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, id);
-    glBufferSubData(GL_ELEMENT_ARRAY_BUFFER, offset, dataSize, data);
-#endif
-}
-
-// Enable vertex array object (VAO)
-bool rlEnableVertexArray(unsigned int vaoId)
-{
-    bool result = false;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if (RLGL.ExtSupported.vao)
-    {
-        glBindVertexArray(vaoId);
-        result = true;
-    }
-#endif
-    return result;
-}
-
-// Disable vertex array object (VAO)
-void rlDisableVertexArray(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if (RLGL.ExtSupported.vao) glBindVertexArray(0);
-#endif
-}
-
-// Enable vertex attribute index
-void rlEnableVertexAttribute(unsigned int index)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glEnableVertexAttribArray(index);
-#endif
-}
-
-// Disable vertex attribute index
-void rlDisableVertexAttribute(unsigned int index)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glDisableVertexAttribArray(index);
-#endif
-}
-
-// Draw vertex array
-void rlDrawVertexArray(int offset, int count)
-{
-    glDrawArrays(GL_TRIANGLES, offset, count);
-}
-
-// Draw vertex array elements
-void rlDrawVertexArrayElements(int offset, int count, const void *buffer)
-{
-    // NOTE: Added pointer math separately from function to avoid UBSAN complaining
-    unsigned short *bufferPtr = (unsigned short *)buffer;
-    if (offset > 0) bufferPtr += offset;
-
-    glDrawElements(GL_TRIANGLES, count, GL_UNSIGNED_SHORT, (const unsigned short *)bufferPtr);
-}
-
-// Draw vertex array instanced
-void rlDrawVertexArrayInstanced(int offset, int count, int instances)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glDrawArraysInstanced(GL_TRIANGLES, 0, count, instances);
-#endif
-}
-
-// Draw vertex array elements instanced
-void rlDrawVertexArrayElementsInstanced(int offset, int count, const void *buffer, int instances)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // NOTE: Added pointer math separately from function to avoid UBSAN complaining
-    unsigned short *bufferPtr = (unsigned short *)buffer;
-    if (offset > 0) bufferPtr += offset;
-
-    glDrawElementsInstanced(GL_TRIANGLES, count, GL_UNSIGNED_SHORT, (const unsigned short *)bufferPtr, instances);
-#endif
-}
-
-#if defined(GRAPHICS_API_OPENGL_11)
-// Enable vertex state pointer
-void rlEnableStatePointer(int vertexAttribType, void *buffer)
-{
-    if (buffer != NULL) glEnableClientState(vertexAttribType);
-    switch (vertexAttribType)
-    {
-        case GL_VERTEX_ARRAY: glVertexPointer(3, GL_FLOAT, 0, buffer); break;
-        case GL_TEXTURE_COORD_ARRAY: glTexCoordPointer(2, GL_FLOAT, 0, buffer); break;
-        case GL_NORMAL_ARRAY: if (buffer != NULL) glNormalPointer(GL_FLOAT, 0, buffer); break;
-        case GL_COLOR_ARRAY: if (buffer != NULL) glColorPointer(4, GL_UNSIGNED_BYTE, 0, buffer); break;
-        //case GL_INDEX_ARRAY: if (buffer != NULL) glIndexPointer(GL_SHORT, 0, buffer); break; // Indexed colors
-        default: break;
-    }
-}
-
-// Disable vertex state pointer
-void rlDisableStatePointer(int vertexAttribType)
-{
-    glDisableClientState(vertexAttribType);
-}
-#endif
-
-// Load vertex array object (VAO)
-unsigned int rlLoadVertexArray(void)
-{
-    unsigned int vaoId = 0;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if (RLGL.ExtSupported.vao)
-    {
-        glGenVertexArrays(1, &vaoId);
-    }
-#endif
-    return vaoId;
-}
-
-// Set vertex attribute
-void rlSetVertexAttribute(unsigned int index, int compSize, int type, bool normalized, int stride, int offset)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // NOTE: Data type could be: GL_BYTE, GL_UNSIGNED_BYTE, GL_SHORT, GL_UNSIGNED_SHORT, GL_INT, GL_UNSIGNED_INT
-    // Additional types (depends on OpenGL version or extensions):
-    //  - GL_HALF_FLOAT, GL_FLOAT, GL_DOUBLE, GL_FIXED,
-    //  - GL_INT_2_10_10_10_REV, GL_UNSIGNED_INT_2_10_10_10_REV, GL_UNSIGNED_INT_10F_11F_11F_REV
-
-    size_t offsetNative = offset;
-    glVertexAttribPointer(index, compSize, type, normalized, stride, (void *)offsetNative);
-#endif
-}
-
-// Set vertex attribute divisor
-void rlSetVertexAttributeDivisor(unsigned int index, int divisor)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glVertexAttribDivisor(index, divisor);
-#endif
-}
-
-// Unload vertex array object (VAO)
-void rlUnloadVertexArray(unsigned int vaoId)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if (RLGL.ExtSupported.vao)
-    {
-        glBindVertexArray(0);
-        glDeleteVertexArrays(1, &vaoId);
-        TRACELOG(RL_LOG_INFO, "VAO: [ID %i] Unloaded vertex array data from VRAM (GPU)", vaoId);
-    }
-#endif
-}
-
-// Unload vertex buffer (VBO)
-void rlUnloadVertexBuffer(unsigned int vboId)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glDeleteBuffers(1, &vboId);
-    //TRACELOG(RL_LOG_INFO, "VBO: Unloaded vertex data from VRAM (GPU)");
-#endif
-}
-
-// Shaders management
-//-----------------------------------------------------------------------------------------------
-// Load shader from code strings
-// NOTE: If shader string is NULL, using default vertex/fragment shaders
-unsigned int rlLoadShaderCode(const char *vsCode, const char *fsCode)
-{
-    unsigned int id = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    unsigned int vertexShaderId = 0;
-    unsigned int fragmentShaderId = 0;
-
-    // Compile vertex shader (if provided)
-    // NOTE: If not vertex shader is provided, use default one
-    if (vsCode != NULL) vertexShaderId = rlCompileShader(vsCode, GL_VERTEX_SHADER);
-    else vertexShaderId = RLGL.State.defaultVShaderId;
-
-    // Compile fragment shader (if provided)
-    // NOTE: If not vertex shader is provided, use default one
-    if (fsCode != NULL) fragmentShaderId = rlCompileShader(fsCode, GL_FRAGMENT_SHADER);
-    else fragmentShaderId = RLGL.State.defaultFShaderId;
-
-    // In case vertex and fragment shader are the default ones, no need to recompile, we can just assign the default shader program id
-    if ((vertexShaderId == RLGL.State.defaultVShaderId) && (fragmentShaderId == RLGL.State.defaultFShaderId)) id = RLGL.State.defaultShaderId;
-    else if ((vertexShaderId > 0) && (fragmentShaderId > 0))
-    {
-        // One of or both shader are new, we need to compile a new shader program
-        id = rlLoadShaderProgram(vertexShaderId, fragmentShaderId);
-
-        // We can detach and delete vertex/fragment shaders (if not default ones)
-        // NOTE: We detach shader before deletion to make sure memory is freed
-        if (vertexShaderId != RLGL.State.defaultVShaderId)
-        {
-            // WARNING: Shader program linkage could fail and returned id is 0
-            if (id > 0) glDetachShader(id, vertexShaderId);
-            glDeleteShader(vertexShaderId);
-        }
-        if (fragmentShaderId != RLGL.State.defaultFShaderId)
-        {
-            // WARNING: Shader program linkage could fail and returned id is 0
-            if (id > 0) glDetachShader(id, fragmentShaderId);
-            glDeleteShader(fragmentShaderId);
-        }
-
-        // In case shader program loading failed, we assign default shader
-        if (id == 0)
-        {
-            // In case shader loading fails, we return the default shader
-            TRACELOG(RL_LOG_WARNING, "SHADER: Failed to load custom shader code, using default shader");
-            id = RLGL.State.defaultShaderId;
-        }
-        /*
-        else
-        {
-            // Get available shader uniforms
-            // NOTE: This information is useful for debug...
-            int uniformCount = -1;
-            glGetProgramiv(id, GL_ACTIVE_UNIFORMS, &uniformCount);
-
-            for (int i = 0; i < uniformCount; i++)
-            {
-                int namelen = -1;
-                int num = -1;
-                char name[256] = { 0 };     // Assume no variable names longer than 256
-                GLenum type = GL_ZERO;
-
-                // Get the name of the uniforms
-                glGetActiveUniform(id, i, sizeof(name) - 1, &namelen, &num, &type, name);
-
-                name[namelen] = 0;
-                TRACELOGD("SHADER: [ID %i] Active uniform (%s) set at location: %i", id, name, glGetUniformLocation(id, name));
-            }
-        }
-        */
-    }
-#endif
-
-    return id;
-}
-
-// Compile custom shader and return shader id
-unsigned int rlCompileShader(const char *shaderCode, int type)
-{
-    unsigned int shader = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    shader = glCreateShader(type);
-    glShaderSource(shader, 1, &shaderCode, NULL);
-
-    GLint success = 0;
-    glCompileShader(shader);
-    glGetShaderiv(shader, GL_COMPILE_STATUS, &success);
-
-    if (success == GL_FALSE)
-    {
-        switch (type)
-        {
-            case GL_VERTEX_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to compile vertex shader code", shader); break;
-            case GL_FRAGMENT_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to compile fragment shader code", shader); break;
-            //case GL_GEOMETRY_SHADER:
-        #if defined(GRAPHICS_API_OPENGL_43)
-            case GL_COMPUTE_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to compile compute shader code", shader); break;
-        #elif defined(GRAPHICS_API_OPENGL_33)
-            case GL_COMPUTE_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: Compute shaders not enabled. Define GRAPHICS_API_OPENGL_43", shader); break;
-        #endif
-            default: break;
-        }
-
-        int maxLength = 0;
-        glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &maxLength);
-
-        if (maxLength > 0)
-        {
-            int length = 0;
-            char *log = (char *)RL_CALLOC(maxLength, sizeof(char));
-            glGetShaderInfoLog(shader, maxLength, &length, log);
-            TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Compile error: %s", shader, log);
-            RL_FREE(log);
-        }
-
-        shader = 0;
-    }
-    else
-    {
-        switch (type)
-        {
-            case GL_VERTEX_SHADER: TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Vertex shader compiled successfully", shader); break;
-            case GL_FRAGMENT_SHADER: TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Fragment shader compiled successfully", shader); break;
-            //case GL_GEOMETRY_SHADER:
-        #if defined(GRAPHICS_API_OPENGL_43)
-            case GL_COMPUTE_SHADER: TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Compute shader compiled successfully", shader); break;
-        #elif defined(GRAPHICS_API_OPENGL_33)
-            case GL_COMPUTE_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: Compute shaders not enabled. Define GRAPHICS_API_OPENGL_43", shader); break;
-        #endif
-            default: break;
-        }
-    }
-#endif
-
-    return shader;
-}
-
-// Load custom shader strings and return program id
-unsigned int rlLoadShaderProgram(unsigned int vShaderId, unsigned int fShaderId)
-{
-    unsigned int program = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    GLint success = 0;
-    program = glCreateProgram();
-
-    glAttachShader(program, vShaderId);
-    glAttachShader(program, fShaderId);
-
-    // NOTE: Default attribute shader locations must be Bound before linking
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION, RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD, RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL, RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR, RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_TANGENT, RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD2, RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2);
-
-#ifdef RL_SUPPORT_MESH_GPU_SKINNING
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEIDS, RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEWEIGHTS, RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS);
-#endif
-
-    // NOTE: If some attrib name is no found on the shader, it locations becomes -1
-
-    glLinkProgram(program);
-
-    // NOTE: All uniform variables are intitialised to 0 when a program links
-
-    glGetProgramiv(program, GL_LINK_STATUS, &success);
-
-    if (success == GL_FALSE)
-    {
-        TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to link shader program", program);
-
-        int maxLength = 0;
-        glGetProgramiv(program, GL_INFO_LOG_LENGTH, &maxLength);
-
-        if (maxLength > 0)
-        {
-            int length = 0;
-            char *log = (char *)RL_CALLOC(maxLength, sizeof(char));
-            glGetProgramInfoLog(program, maxLength, &length, log);
-            TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Link error: %s", program, log);
-            RL_FREE(log);
-        }
-
-        glDeleteProgram(program);
-
-        program = 0;
-    }
-    else
-    {
-        // Get the size of compiled shader program (not available on OpenGL ES 2.0)
-        // NOTE: If GL_LINK_STATUS is GL_FALSE, program binary length is zero
-        //GLint binarySize = 0;
-        //glGetProgramiv(id, GL_PROGRAM_BINARY_LENGTH, &binarySize);
-
-        TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Program shader loaded successfully", program);
-    }
-#endif
-    return program;
-}
-
-// Unload shader program
-void rlUnloadShaderProgram(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glDeleteProgram(id);
-
-    TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Unloaded shader program data from VRAM (GPU)", id);
-#endif
-}
-
-// Get shader location uniform
-int rlGetLocationUniform(unsigned int shaderId, const char *uniformName)
-{
-    int location = -1;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    location = glGetUniformLocation(shaderId, uniformName);
-
-    //if (location == -1) TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to find shader uniform: %s", shaderId, uniformName);
-    //else TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Shader uniform (%s) set at location: %i", shaderId, uniformName, location);
-#endif
-    return location;
-}
-
-// Get shader location attribute
-int rlGetLocationAttrib(unsigned int shaderId, const char *attribName)
-{
-    int location = -1;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    location = glGetAttribLocation(shaderId, attribName);
-
-    //if (location == -1) TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to find shader attribute: %s", shaderId, attribName);
-    //else TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Shader attribute (%s) set at location: %i", shaderId, attribName, location);
-#endif
-    return location;
-}
-
-// Set shader value uniform
-void rlSetUniform(int locIndex, const void *value, int uniformType, int count)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    switch (uniformType)
-    {
-        case RL_SHADER_UNIFORM_FLOAT: glUniform1fv(locIndex, count, (float *)value); break;
-        case RL_SHADER_UNIFORM_VEC2: glUniform2fv(locIndex, count, (float *)value); break;
-        case RL_SHADER_UNIFORM_VEC3: glUniform3fv(locIndex, count, (float *)value); break;
-        case RL_SHADER_UNIFORM_VEC4: glUniform4fv(locIndex, count, (float *)value); break;
-        case RL_SHADER_UNIFORM_INT: glUniform1iv(locIndex, count, (int *)value); break;
-        case RL_SHADER_UNIFORM_IVEC2: glUniform2iv(locIndex, count, (int *)value); break;
-        case RL_SHADER_UNIFORM_IVEC3: glUniform3iv(locIndex, count, (int *)value); break;
-        case RL_SHADER_UNIFORM_IVEC4: glUniform4iv(locIndex, count, (int *)value); break;
-    #if !defined(GRAPHICS_API_OPENGL_ES2)
-        case RL_SHADER_UNIFORM_UINT: glUniform1uiv(locIndex, count, (unsigned int *)value); break;
-        case RL_SHADER_UNIFORM_UIVEC2: glUniform2uiv(locIndex, count, (unsigned int *)value); break;
-        case RL_SHADER_UNIFORM_UIVEC3: glUniform3uiv(locIndex, count, (unsigned int *)value); break;
-        case RL_SHADER_UNIFORM_UIVEC4: glUniform4uiv(locIndex, count, (unsigned int *)value); break;
-    #endif
-        case RL_SHADER_UNIFORM_SAMPLER2D: glUniform1iv(locIndex, count, (int *)value); break;
-        default: TRACELOG(RL_LOG_WARNING, "SHADER: Failed to set uniform value, data type not recognized");
-
-        // TODO: Support glUniform1uiv(), glUniform2uiv(), glUniform3uiv(), glUniform4uiv()
-    }
-#endif
-}
-
-// Set shader value attribute
-void rlSetVertexAttributeDefault(int locIndex, const void *value, int attribType, int count)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    switch (attribType)
-    {
-        case RL_SHADER_ATTRIB_FLOAT: if (count == 1) glVertexAttrib1fv(locIndex, (float *)value); break;
-        case RL_SHADER_ATTRIB_VEC2: if (count == 2) glVertexAttrib2fv(locIndex, (float *)value); break;
-        case RL_SHADER_ATTRIB_VEC3: if (count == 3) glVertexAttrib3fv(locIndex, (float *)value); break;
-        case RL_SHADER_ATTRIB_VEC4: if (count == 4) glVertexAttrib4fv(locIndex, (float *)value); break;
-        default: TRACELOG(RL_LOG_WARNING, "SHADER: Failed to set attrib default value, data type not recognized");
-    }
-#endif
-}
-
-// Set shader value uniform matrix
-void rlSetUniformMatrix(int locIndex, Matrix mat)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    float matfloat[16] = {
-        mat.m0, mat.m1, mat.m2, mat.m3,
-        mat.m4, mat.m5, mat.m6, mat.m7,
-        mat.m8, mat.m9, mat.m10, mat.m11,
-        mat.m12, mat.m13, mat.m14, mat.m15
-    };
-    glUniformMatrix4fv(locIndex, 1, false, matfloat);
-#endif
-}
-
-// Set shader value uniform matrix
-void rlSetUniformMatrices(int locIndex, const Matrix *matrices, int count)
-{
-#if defined(GRAPHICS_API_OPENGL_33)
-    glUniformMatrix4fv(locIndex, count, true, (const float *)matrices);
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-    // WARNING: WebGL does not support Matrix transpose ("true" parameter)
-    // REF: https://developer.mozilla.org/en-US/docs/Web/API/WebGLRenderingContext/uniformMatrix
-    glUniformMatrix4fv(locIndex, count, false, (const float *)matrices);
-#endif
-}
-
-// Set shader value uniform sampler
-void rlSetUniformSampler(int locIndex, unsigned int textureId)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Check if texture is already active
-    for (int i = 0; i < RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS; i++)
-    {
-        if (RLGL.State.activeTextureId[i] == textureId)
-        {
-            glUniform1i(locIndex, 1 + i);
-            return;
-        }
-    }
-
-    // Register a new active texture for the internal batch system
-    // NOTE: Default texture is always activated as GL_TEXTURE0
-    for (int i = 0; i < RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS; i++)
-    {
-        if (RLGL.State.activeTextureId[i] == 0)
-        {
-            glUniform1i(locIndex, 1 + i);              // Activate new texture unit
-            RLGL.State.activeTextureId[i] = textureId; // Save texture id for binding on drawing
-            break;
-        }
-    }
-#endif
-}
-
-// Set shader currently active (id and locations)
-void rlSetShader(unsigned int id, int *locs)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if (RLGL.State.currentShaderId != id)
-    {
-        rlDrawRenderBatch(RLGL.currentBatch);
-        RLGL.State.currentShaderId = id;
-        RLGL.State.currentShaderLocs = locs;
-    }
-#endif
-}
-
-// Load compute shader program
-unsigned int rlLoadComputeShaderProgram(unsigned int shaderId)
-{
-    unsigned int program = 0;
-
-#if defined(GRAPHICS_API_OPENGL_43)
-    GLint success = 0;
-    program = glCreateProgram();
-    glAttachShader(program, shaderId);
-    glLinkProgram(program);
-
-    // NOTE: All uniform variables are intitialised to 0 when a program links
-
-    glGetProgramiv(program, GL_LINK_STATUS, &success);
-
-    if (success == GL_FALSE)
-    {
-        TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to link compute shader program", program);
-
-        int maxLength = 0;
-        glGetProgramiv(program, GL_INFO_LOG_LENGTH, &maxLength);
-
-        if (maxLength > 0)
-        {
-            int length = 0;
-            char *log = (char *)RL_CALLOC(maxLength, sizeof(char));
-            glGetProgramInfoLog(program, maxLength, &length, log);
-            TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Link error: %s", program, log);
-            RL_FREE(log);
-        }
-
-        glDeleteProgram(program);
-
-        program = 0;
-    }
-    else
-    {
-        // Get the size of compiled shader program (not available on OpenGL ES 2.0)
-        // NOTE: If GL_LINK_STATUS is GL_FALSE, program binary length is zero
-        //GLint binarySize = 0;
-        //glGetProgramiv(id, GL_PROGRAM_BINARY_LENGTH, &binarySize);
-
-        TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Compute shader program loaded successfully", program);
-    }
-#else
-    TRACELOG(RL_LOG_WARNING, "SHADER: Compute shaders not enabled. Define GRAPHICS_API_OPENGL_43");
-#endif
-
-    return program;
-}
-
-// Dispatch compute shader (equivalent to *draw* for graphics pilepine)
-void rlComputeShaderDispatch(unsigned int groupX, unsigned int groupY, unsigned int groupZ)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glDispatchCompute(groupX, groupY, groupZ);
-#endif
-}
-
-// Load shader storage buffer object (SSBO)
-unsigned int rlLoadShaderBuffer(unsigned int size, const void *data, int usageHint)
-{
-    unsigned int ssbo = 0;
-
-#if defined(GRAPHICS_API_OPENGL_43)
-    glGenBuffers(1, &ssbo);
-    glBindBuffer(GL_SHADER_STORAGE_BUFFER, ssbo);
-    glBufferData(GL_SHADER_STORAGE_BUFFER, size, data, usageHint? usageHint : RL_STREAM_COPY);
-    if (data == NULL) glClearBufferData(GL_SHADER_STORAGE_BUFFER, GL_R8UI, GL_RED_INTEGER, GL_UNSIGNED_BYTE, NULL);    // Clear buffer data to 0
-    glBindBuffer(GL_SHADER_STORAGE_BUFFER, 0);
-#else
-    TRACELOG(RL_LOG_WARNING, "SSBO: SSBO not enabled. Define GRAPHICS_API_OPENGL_43");
-#endif
-
-    return ssbo;
-}
-
-// Unload shader storage buffer object (SSBO)
-void rlUnloadShaderBuffer(unsigned int ssboId)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glDeleteBuffers(1, &ssboId);
-#else
-    TRACELOG(RL_LOG_WARNING, "SSBO: SSBO not enabled. Define GRAPHICS_API_OPENGL_43");
-#endif
-
-}
-
-// Update SSBO buffer data
-void rlUpdateShaderBuffer(unsigned int id, const void *data, unsigned int dataSize, unsigned int offset)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glBindBuffer(GL_SHADER_STORAGE_BUFFER, id);
-    glBufferSubData(GL_SHADER_STORAGE_BUFFER, offset, dataSize, data);
-#endif
-}
-
-// Get SSBO buffer size
-unsigned int rlGetShaderBufferSize(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    GLint64 size = 0;
-    glBindBuffer(GL_SHADER_STORAGE_BUFFER, id);
-    glGetBufferParameteri64v(GL_SHADER_STORAGE_BUFFER, GL_BUFFER_SIZE, &size);
-    return (size > 0)? (unsigned int)size : 0;
-#else
-    return 0;
-#endif
-}
-
-// Read SSBO buffer data (GPU->CPU)
-void rlReadShaderBuffer(unsigned int id, void *dest, unsigned int count, unsigned int offset)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glBindBuffer(GL_SHADER_STORAGE_BUFFER, id);
-    glGetBufferSubData(GL_SHADER_STORAGE_BUFFER, offset, count, dest);
-#endif
-}
-
-// Bind SSBO buffer
-void rlBindShaderBuffer(unsigned int id, unsigned int index)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glBindBufferBase(GL_SHADER_STORAGE_BUFFER, index, id);
-#endif
-}
-
-// Copy SSBO buffer data
-void rlCopyShaderBuffer(unsigned int destId, unsigned int srcId, unsigned int destOffset, unsigned int srcOffset, unsigned int count)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glBindBuffer(GL_COPY_READ_BUFFER, srcId);
-    glBindBuffer(GL_COPY_WRITE_BUFFER, destId);
-    glCopyBufferSubData(GL_COPY_READ_BUFFER, GL_COPY_WRITE_BUFFER, srcOffset, destOffset, count);
-#endif
-}
-
-// Bind image texture
-void rlBindImageTexture(unsigned int id, unsigned int index, int format, bool readonly)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    unsigned int glInternalFormat = 0, glFormat = 0, glType = 0;
-
-    rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
-    glBindImageTexture(index, id, 0, 0, 0, readonly? GL_READ_ONLY : GL_READ_WRITE, glInternalFormat);
-#else
-    TRACELOG(RL_LOG_WARNING, "TEXTURE: Image texture binding not enabled. Define GRAPHICS_API_OPENGL_43");
-#endif
-}
-
-// Matrix state management
-//-----------------------------------------------------------------------------------------
-// Get internal modelview matrix
-Matrix rlGetMatrixModelview(void)
-{
-    Matrix matrix = rlMatrixIdentity();
-#if defined(GRAPHICS_API_OPENGL_11)
-    float mat[16];
-    glGetFloatv(GL_MODELVIEW_MATRIX, mat);
-    matrix.m0 = mat[0];
-    matrix.m1 = mat[1];
-    matrix.m2 = mat[2];
-    matrix.m3 = mat[3];
-    matrix.m4 = mat[4];
-    matrix.m5 = mat[5];
-    matrix.m6 = mat[6];
-    matrix.m7 = mat[7];
-    matrix.m8 = mat[8];
-    matrix.m9 = mat[9];
-    matrix.m10 = mat[10];
-    matrix.m11 = mat[11];
-    matrix.m12 = mat[12];
-    matrix.m13 = mat[13];
-    matrix.m14 = mat[14];
-    matrix.m15 = mat[15];
-#else
-    matrix = RLGL.State.modelview;
-#endif
-    return matrix;
-}
-
-// Get internal projection matrix
-Matrix rlGetMatrixProjection(void)
-{
-#if defined(GRAPHICS_API_OPENGL_11)
-    float mat[16];
-    glGetFloatv(GL_PROJECTION_MATRIX,mat);
-    Matrix m;
-    m.m0 = mat[0];
-    m.m1 = mat[1];
-    m.m2 = mat[2];
-    m.m3 = mat[3];
-    m.m4 = mat[4];
-    m.m5 = mat[5];
-    m.m6 = mat[6];
-    m.m7 = mat[7];
-    m.m8 = mat[8];
-    m.m9 = mat[9];
-    m.m10 = mat[10];
-    m.m11 = mat[11];
-    m.m12 = mat[12];
-    m.m13 = mat[13];
-    m.m14 = mat[14];
-    m.m15 = mat[15];
-    return m;
-#else
-    return RLGL.State.projection;
-#endif
-}
-
-// Get internal accumulated transform matrix
-Matrix rlGetMatrixTransform(void)
-{
-    Matrix mat = rlMatrixIdentity();
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // TODO: Consider possible transform matrices in the RLGL.State.stack
-    // Is this the right order? or should we start with the first stored matrix instead of the last one?
-    //Matrix matStackTransform = rlMatrixIdentity();
-    //for (int i = RLGL.State.stackCounter; i > 0; i--) matStackTransform = rlMatrixMultiply(RLGL.State.stack[i], matStackTransform);
-    mat = RLGL.State.transform;
-#endif
-    return mat;
-}
-
-// Get internal projection matrix for stereo render (selected eye)
-Matrix rlGetMatrixProjectionStereo(int eye)
-{
-    Matrix mat = rlMatrixIdentity();
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    mat = RLGL.State.projectionStereo[eye];
-#endif
-    return mat;
-}
-
-// Get internal view offset matrix for stereo render (selected eye)
-Matrix rlGetMatrixViewOffsetStereo(int eye)
-{
-    Matrix mat = rlMatrixIdentity();
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    mat = RLGL.State.viewOffsetStereo[eye];
-#endif
-    return mat;
-}
-
-// Set a custom modelview matrix (replaces internal modelview matrix)
-void rlSetMatrixModelview(Matrix view)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.modelview = view;
-#endif
-}
-
-// Set a custom projection matrix (replaces internal projection matrix)
-void rlSetMatrixProjection(Matrix projection)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.projection = projection;
-#endif
-}
-
-// Set eyes projection matrices for stereo rendering
-void rlSetMatrixProjectionStereo(Matrix right, Matrix left)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.projectionStereo[0] = right;
-    RLGL.State.projectionStereo[1] = left;
-#endif
-}
-
-// Set eyes view offsets matrices for stereo rendering
-void rlSetMatrixViewOffsetStereo(Matrix right, Matrix left)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.viewOffsetStereo[0] = right;
-    RLGL.State.viewOffsetStereo[1] = left;
-#endif
-}
-
-// Load and draw a quad in NDC
-void rlLoadDrawQuad(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    unsigned int quadVAO = 0;
-    unsigned int quadVBO = 0;
-
-    float vertices[] = {
-         // Positions         Texcoords
-        -1.0f,  1.0f, 0.0f,   0.0f, 1.0f,
-        -1.0f, -1.0f, 0.0f,   0.0f, 0.0f,
-         1.0f,  1.0f, 0.0f,   1.0f, 1.0f,
-         1.0f, -1.0f, 0.0f,   1.0f, 0.0f,
-    };
-
-    // Gen VAO to contain VBO
-    glGenVertexArrays(1, &quadVAO);
-    glBindVertexArray(quadVAO);
-
-    // Gen and fill vertex buffer (VBO)
-    glGenBuffers(1, &quadVBO);
-    glBindBuffer(GL_ARRAY_BUFFER, quadVBO);
-    glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), &vertices, GL_STATIC_DRAW);
-
-    // Bind vertex attributes (position, texcoords)
-    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION);
-    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION, 3, GL_FLOAT, GL_FALSE, 5*sizeof(float), (void *)0); // Positions
-    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD);
-    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD, 2, GL_FLOAT, GL_FALSE, 5*sizeof(float), (void *)(3*sizeof(float))); // Texcoords
-
-    // Draw quad
-    glBindVertexArray(quadVAO);
-    glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
-    glBindVertexArray(0);
-
-    // Delete buffers (VBO and VAO)
-    glDeleteBuffers(1, &quadVBO);
-    glDeleteVertexArrays(1, &quadVAO);
-#endif
-}
-
-// Load and draw a cube in NDC
-void rlLoadDrawCube(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    unsigned int cubeVAO = 0;
-    unsigned int cubeVBO = 0;
-
-    float vertices[] = {
-         // Positions          Normals               Texcoords
-        -1.0f, -1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   0.0f, 0.0f,
-         1.0f,  1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   1.0f, 1.0f,
-         1.0f, -1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   1.0f, 0.0f,
-         1.0f,  1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   1.0f, 1.0f,
-        -1.0f, -1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   0.0f, 0.0f,
-        -1.0f,  1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   0.0f, 1.0f,
-        -1.0f, -1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   0.0f, 0.0f,
-         1.0f, -1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   1.0f, 0.0f,
-         1.0f,  1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   1.0f, 1.0f,
-         1.0f,  1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   1.0f, 1.0f,
-        -1.0f,  1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   0.0f, 1.0f,
-        -1.0f, -1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   0.0f, 0.0f,
-        -1.0f,  1.0f,  1.0f,  -1.0f,  0.0f,  0.0f,   1.0f, 0.0f,
-        -1.0f,  1.0f, -1.0f,  -1.0f,  0.0f,  0.0f,   1.0f, 1.0f,
-        -1.0f, -1.0f, -1.0f,  -1.0f,  0.0f,  0.0f,   0.0f, 1.0f,
-        -1.0f, -1.0f, -1.0f,  -1.0f,  0.0f,  0.0f,   0.0f, 1.0f,
-        -1.0f, -1.0f,  1.0f,  -1.0f,  0.0f,  0.0f,   0.0f, 0.0f,
-        -1.0f,  1.0f,  1.0f,  -1.0f,  0.0f,  0.0f,   1.0f, 0.0f,
-         1.0f,  1.0f,  1.0f,   1.0f,  0.0f,  0.0f,   1.0f, 0.0f,
-         1.0f, -1.0f, -1.0f,   1.0f,  0.0f,  0.0f,   0.0f, 1.0f,
-         1.0f,  1.0f, -1.0f,   1.0f,  0.0f,  0.0f,   1.0f, 1.0f,
-         1.0f, -1.0f, -1.0f,   1.0f,  0.0f,  0.0f,   0.0f, 1.0f,
-         1.0f,  1.0f,  1.0f,   1.0f,  0.0f,  0.0f,   1.0f, 0.0f,
-         1.0f, -1.0f,  1.0f,   1.0f,  0.0f,  0.0f,   0.0f, 0.0f,
-        -1.0f, -1.0f, -1.0f,   0.0f, -1.0f,  0.0f,   0.0f, 1.0f,
-         1.0f, -1.0f, -1.0f,   0.0f, -1.0f,  0.0f,   1.0f, 1.0f,
-         1.0f, -1.0f,  1.0f,   0.0f, -1.0f,  0.0f,   1.0f, 0.0f,
-         1.0f, -1.0f,  1.0f,   0.0f, -1.0f,  0.0f,   1.0f, 0.0f,
-        -1.0f, -1.0f,  1.0f,   0.0f, -1.0f,  0.0f,   0.0f, 0.0f,
-        -1.0f, -1.0f, -1.0f,   0.0f, -1.0f,  0.0f,   0.0f, 1.0f,
-        -1.0f,  1.0f, -1.0f,   0.0f,  1.0f,  0.0f,   0.0f, 1.0f,
-         1.0f,  1.0f,  1.0f,   0.0f,  1.0f,  0.0f,   1.0f, 0.0f,
-         1.0f,  1.0f, -1.0f,   0.0f,  1.0f,  0.0f,   1.0f, 1.0f,
-         1.0f,  1.0f,  1.0f,   0.0f,  1.0f,  0.0f,   1.0f, 0.0f,
-        -1.0f,  1.0f, -1.0f,   0.0f,  1.0f,  0.0f,   0.0f, 1.0f,
-        -1.0f,  1.0f,  1.0f,   0.0f,  1.0f,  0.0f,   0.0f, 0.0f
-    };
-
-    // Gen VAO to contain VBO
-    glGenVertexArrays(1, &cubeVAO);
-    glBindVertexArray(cubeVAO);
-
-    // Gen and fill vertex buffer (VBO)
-    glGenBuffers(1, &cubeVBO);
-    glBindBuffer(GL_ARRAY_BUFFER, cubeVBO);
-    glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), vertices, GL_STATIC_DRAW);
-
-    // Bind vertex attributes (position, normals, texcoords)
-    glBindVertexArray(cubeVAO);
-    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION);
-    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION, 3, GL_FLOAT, GL_FALSE, 8*sizeof(float), (void *)0); // Positions
-    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL);
-    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL, 3, GL_FLOAT, GL_FALSE, 8*sizeof(float), (void *)(3*sizeof(float))); // Normals
-    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD);
-    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD, 2, GL_FLOAT, GL_FALSE, 8*sizeof(float), (void *)(6*sizeof(float))); // Texcoords
-    glBindBuffer(GL_ARRAY_BUFFER, 0);
-    glBindVertexArray(0);
-
-    // Draw cube
-    glBindVertexArray(cubeVAO);
-    glDrawArrays(GL_TRIANGLES, 0, 36);
-    glBindVertexArray(0);
-
-    // Delete VBO and VAO
-    glDeleteBuffers(1, &cubeVBO);
-    glDeleteVertexArrays(1, &cubeVAO);
-#endif
-}
-
-// Get name string for pixel format
-const char *rlGetPixelFormatName(unsigned int format)
-{
-    switch (format)
-    {
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE: return "GRAYSCALE"; break;         // 8 bit per pixel (no alpha)
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA: return "GRAY_ALPHA"; break;       // 8*2 bpp (2 channels)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5: return "R5G6B5"; break;               // 16 bpp
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8: return "R8G8B8"; break;               // 24 bpp
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1: return "R5G5B5A1"; break;           // 16 bpp (1 bit alpha)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4: return "R4G4B4A4"; break;           // 16 bpp (4 bit alpha)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8: return "R8G8B8A8"; break;           // 32 bpp
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32: return "R32"; break;                     // 32 bpp (1 channel - float)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: return "R32G32B32"; break;         // 32*3 bpp (3 channels - float)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: return "R32G32B32A32"; break;   // 32*4 bpp (4 channels - float)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: return "R16"; break;                     // 16 bpp (1 channel - half float)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: return "R16G16B16"; break;         // 16*3 bpp (3 channels - half float)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: return "R16G16B16A16"; break;   // 16*4 bpp (4 channels - half float)
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGB: return "DXT1_RGB"; break;             // 4 bpp (no alpha)
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA: return "DXT1_RGBA"; break;           // 4 bpp (1 bit alpha)
-        case RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA: return "DXT3_RGBA"; break;           // 8 bpp
-        case RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA: return "DXT5_RGBA"; break;           // 8 bpp
-        case RL_PIXELFORMAT_COMPRESSED_ETC1_RGB: return "ETC1_RGB"; break;             // 4 bpp
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_RGB: return "ETC2_RGB"; break;             // 4 bpp
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA: return "ETC2_RGBA"; break;       // 8 bpp
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGB: return "PVRT_RGB"; break;             // 4 bpp
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA: return "PVRT_RGBA"; break;           // 4 bpp
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA: return "ASTC_4x4_RGBA"; break;   // 8 bpp
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA: return "ASTC_8x8_RGBA"; break;   // 2 bpp
-        default: return "UNKNOWN"; break;
-    }
-}
-
-//----------------------------------------------------------------------------------
-// Module specific Functions Definition
-//----------------------------------------------------------------------------------
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-// Load default shader (just vertex positioning and texture coloring)
-// NOTE: This shader program is used for internal buffers
-// NOTE: Loaded: RLGL.State.defaultShaderId, RLGL.State.defaultShaderLocs
-static void rlLoadShaderDefault(void)
-{
-    RLGL.State.defaultShaderLocs = (int *)RL_CALLOC(RL_MAX_SHADER_LOCATIONS, sizeof(int));
-
-    // NOTE: All locations must be reseted to -1 (no location)
-    for (int i = 0; i < RL_MAX_SHADER_LOCATIONS; i++) RLGL.State.defaultShaderLocs[i] = -1;
-
-    // Vertex shader directly defined, no external file required
-    const char *defaultVShaderCode =
-#if defined(GRAPHICS_API_OPENGL_21)
-    "#version 120                       \n"
-    "attribute vec3 vertexPosition;     \n"
-    "attribute vec2 vertexTexCoord;     \n"
-    "attribute vec4 vertexColor;        \n"
-    "varying vec2 fragTexCoord;         \n"
-    "varying vec4 fragColor;            \n"
-#elif defined(GRAPHICS_API_OPENGL_33)
-    "#version 330                       \n"
-    "in vec3 vertexPosition;            \n"
-    "in vec2 vertexTexCoord;            \n"
-    "in vec4 vertexColor;               \n"
-    "out vec2 fragTexCoord;             \n"
-    "out vec4 fragColor;                \n"
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    "#version 300 es                    \n"
-    "precision mediump float;           \n"     // Precision required for OpenGL ES3 (WebGL 2) (on some browsers)
-    "in vec3 vertexPosition;            \n"
-    "in vec2 vertexTexCoord;            \n"
-    "in vec4 vertexColor;               \n"
-    "out vec2 fragTexCoord;             \n"
-    "out vec4 fragColor;                \n"
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-    "#version 100                       \n"
-    "precision mediump float;           \n"     // Precision required for OpenGL ES2 (WebGL) (on some browsers)
-    "attribute vec3 vertexPosition;     \n"
-    "attribute vec2 vertexTexCoord;     \n"
-    "attribute vec4 vertexColor;        \n"
-    "varying vec2 fragTexCoord;         \n"
-    "varying vec4 fragColor;            \n"
-#endif
-
-    "uniform mat4 mvp;                  \n"
-    "void main()                        \n"
-    "{                                  \n"
-    "    fragTexCoord = vertexTexCoord; \n"
-    "    fragColor = vertexColor;       \n"
-    "    gl_Position = mvp*vec4(vertexPosition, 1.0); \n"
-    "}                                  \n";
-
-    // Fragment shader directly defined, no external file required
-    const char *defaultFShaderCode =
-#if defined(GRAPHICS_API_OPENGL_21)
-    "#version 120                       \n"
-    "varying vec2 fragTexCoord;         \n"
-    "varying vec4 fragColor;            \n"
-    "uniform sampler2D texture0;        \n"
-    "uniform vec4 colDiffuse;           \n"
-    "void main()                        \n"
-    "{                                  \n"
-    "    vec4 texelColor = texture2D(texture0, fragTexCoord); \n"
-    "    gl_FragColor = texelColor*colDiffuse*fragColor;      \n"
-    "}                                  \n";
-#elif defined(GRAPHICS_API_OPENGL_33)
-    "#version 330       \n"
-    "in vec2 fragTexCoord;              \n"
-    "in vec4 fragColor;                 \n"
-    "out vec4 finalColor;               \n"
-    "uniform sampler2D texture0;        \n"
-    "uniform vec4 colDiffuse;           \n"
-    "void main()                        \n"
-    "{                                  \n"
-    "    vec4 texelColor = texture(texture0, fragTexCoord);   \n"
-    "    finalColor = texelColor*colDiffuse*fragColor;        \n"
-    "}                                  \n";
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    "#version 300 es                    \n"
-    "precision mediump float;           \n"     // Precision required for OpenGL ES3 (WebGL 2)
-    "in vec2 fragTexCoord;              \n"
-    "in vec4 fragColor;                 \n"
-    "out vec4 finalColor;               \n"
-    "uniform sampler2D texture0;        \n"
-    "uniform vec4 colDiffuse;           \n"
-    "void main()                        \n"
-    "{                                  \n"
-    "    vec4 texelColor = texture(texture0, fragTexCoord);   \n"
-    "    finalColor = texelColor*colDiffuse*fragColor;        \n"
-    "}                                  \n";
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-    "#version 100                       \n"
-    "precision mediump float;           \n"     // Precision required for OpenGL ES2 (WebGL)
-    "varying vec2 fragTexCoord;         \n"
-    "varying vec4 fragColor;            \n"
-    "uniform sampler2D texture0;        \n"
-    "uniform vec4 colDiffuse;           \n"
-    "void main()                        \n"
-    "{                                  \n"
-    "    vec4 texelColor = texture2D(texture0, fragTexCoord); \n"
-    "    gl_FragColor = texelColor*colDiffuse*fragColor;      \n"
-    "}                                  \n";
-#endif
-
-    // NOTE: Compiled vertex/fragment shaders are not deleted,
-    // they are kept for re-use as default shaders in case some shader loading fails
-    RLGL.State.defaultVShaderId = rlCompileShader(defaultVShaderCode, GL_VERTEX_SHADER);     // Compile default vertex shader
-    RLGL.State.defaultFShaderId = rlCompileShader(defaultFShaderCode, GL_FRAGMENT_SHADER);   // Compile default fragment shader
-
-    RLGL.State.defaultShaderId = rlLoadShaderProgram(RLGL.State.defaultVShaderId, RLGL.State.defaultFShaderId);
-
-    if (RLGL.State.defaultShaderId > 0)
-    {
-        TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Default shader loaded successfully", RLGL.State.defaultShaderId);
-
-        // Set default shader locations: attributes locations
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_VERTEX_POSITION] = glGetAttribLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION);
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01] = glGetAttribLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD);
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_VERTEX_COLOR] = glGetAttribLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR);
-
-        // Set default shader locations: uniform locations
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_MATRIX_MVP] = glGetUniformLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_UNIFORM_NAME_MVP);
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_COLOR_DIFFUSE] = glGetUniformLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR);
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_MAP_DIFFUSE] = glGetUniformLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0);
-    }
-    else TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to load default shader", RLGL.State.defaultShaderId);
-}
-
-// Unload default shader
-// NOTE: Unloads: RLGL.State.defaultShaderId, RLGL.State.defaultShaderLocs
-static void rlUnloadShaderDefault(void)
-{
-    glUseProgram(0);
-
-    glDetachShader(RLGL.State.defaultShaderId, RLGL.State.defaultVShaderId);
-    glDetachShader(RLGL.State.defaultShaderId, RLGL.State.defaultFShaderId);
-    glDeleteShader(RLGL.State.defaultVShaderId);
-    glDeleteShader(RLGL.State.defaultFShaderId);
-
-    glDeleteProgram(RLGL.State.defaultShaderId);
-
-    RL_FREE(RLGL.State.defaultShaderLocs);
-
-    TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Default shader unloaded successfully", RLGL.State.defaultShaderId);
-}
-
-#if defined(RLGL_SHOW_GL_DETAILS_INFO)
-// Get compressed format official GL identifier name
-static const char *rlGetCompressedFormatName(int format)
-{
-    switch (format)
-    {
-        // GL_EXT_texture_compression_s3tc
-        case 0x83F0: return "GL_COMPRESSED_RGB_S3TC_DXT1_EXT"; break;
-        case 0x83F1: return "GL_COMPRESSED_RGBA_S3TC_DXT1_EXT"; break;
-        case 0x83F2: return "GL_COMPRESSED_RGBA_S3TC_DXT3_EXT"; break;
-        case 0x83F3: return "GL_COMPRESSED_RGBA_S3TC_DXT5_EXT"; break;
-        // GL_3DFX_texture_compression_FXT1
-        case 0x86B0: return "GL_COMPRESSED_RGB_FXT1_3DFX"; break;
-        case 0x86B1: return "GL_COMPRESSED_RGBA_FXT1_3DFX"; break;
-        // GL_IMG_texture_compression_pvrtc
-        case 0x8C00: return "GL_COMPRESSED_RGB_PVRTC_4BPPV1_IMG"; break;
-        case 0x8C01: return "GL_COMPRESSED_RGB_PVRTC_2BPPV1_IMG"; break;
-        case 0x8C02: return "GL_COMPRESSED_RGBA_PVRTC_4BPPV1_IMG"; break;
-        case 0x8C03: return "GL_COMPRESSED_RGBA_PVRTC_2BPPV1_IMG"; break;
-        // GL_OES_compressed_ETC1_RGB8_texture
-        case 0x8D64: return "GL_ETC1_RGB8_OES"; break;
-        // GL_ARB_texture_compression_rgtc
-        case 0x8DBB: return "GL_COMPRESSED_RED_RGTC1"; break;
-        case 0x8DBC: return "GL_COMPRESSED_SIGNED_RED_RGTC1"; break;
-        case 0x8DBD: return "GL_COMPRESSED_RG_RGTC2"; break;
-        case 0x8DBE: return "GL_COMPRESSED_SIGNED_RG_RGTC2"; break;
-        // GL_ARB_texture_compression_bptc
-        case 0x8E8C: return "GL_COMPRESSED_RGBA_BPTC_UNORM_ARB"; break;
-        case 0x8E8D: return "GL_COMPRESSED_SRGB_ALPHA_BPTC_UNORM_ARB"; break;
-        case 0x8E8E: return "GL_COMPRESSED_RGB_BPTC_SIGNED_FLOAT_ARB"; break;
-        case 0x8E8F: return "GL_COMPRESSED_RGB_BPTC_UNSIGNED_FLOAT_ARB"; break;
-        // GL_ARB_ES3_compatibility
-        case 0x9274: return "GL_COMPRESSED_RGB8_ETC2"; break;
-        case 0x9275: return "GL_COMPRESSED_SRGB8_ETC2"; break;
-        case 0x9276: return "GL_COMPRESSED_RGB8_PUNCHTHROUGH_ALPHA1_ETC2"; break;
-        case 0x9277: return "GL_COMPRESSED_SRGB8_PUNCHTHROUGH_ALPHA1_ETC2"; break;
-        case 0x9278: return "GL_COMPRESSED_RGBA8_ETC2_EAC"; break;
-        case 0x9279: return "GL_COMPRESSED_SRGB8_ALPHA8_ETC2_EAC"; break;
-        case 0x9270: return "GL_COMPRESSED_R11_EAC"; break;
-        case 0x9271: return "GL_COMPRESSED_SIGNED_R11_EAC"; break;
-        case 0x9272: return "GL_COMPRESSED_RG11_EAC"; break;
-        case 0x9273: return "GL_COMPRESSED_SIGNED_RG11_EAC"; break;
-        // GL_KHR_texture_compression_astc_hdr
-        case 0x93B0: return "GL_COMPRESSED_RGBA_ASTC_4x4_KHR"; break;
-        case 0x93B1: return "GL_COMPRESSED_RGBA_ASTC_5x4_KHR"; break;
-        case 0x93B2: return "GL_COMPRESSED_RGBA_ASTC_5x5_KHR"; break;
-        case 0x93B3: return "GL_COMPRESSED_RGBA_ASTC_6x5_KHR"; break;
-        case 0x93B4: return "GL_COMPRESSED_RGBA_ASTC_6x6_KHR"; break;
-        case 0x93B5: return "GL_COMPRESSED_RGBA_ASTC_8x5_KHR"; break;
-        case 0x93B6: return "GL_COMPRESSED_RGBA_ASTC_8x6_KHR"; break;
-        case 0x93B7: return "GL_COMPRESSED_RGBA_ASTC_8x8_KHR"; break;
-        case 0x93B8: return "GL_COMPRESSED_RGBA_ASTC_10x5_KHR"; break;
-        case 0x93B9: return "GL_COMPRESSED_RGBA_ASTC_10x6_KHR"; break;
-        case 0x93BA: return "GL_COMPRESSED_RGBA_ASTC_10x8_KHR"; break;
-        case 0x93BB: return "GL_COMPRESSED_RGBA_ASTC_10x10_KHR"; break;
-        case 0x93BC: return "GL_COMPRESSED_RGBA_ASTC_12x10_KHR"; break;
-        case 0x93BD: return "GL_COMPRESSED_RGBA_ASTC_12x12_KHR"; break;
-        case 0x93D0: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_4x4_KHR"; break;
-        case 0x93D1: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x4_KHR"; break;
-        case 0x93D2: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x5_KHR"; break;
-        case 0x93D3: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x5_KHR"; break;
-        case 0x93D4: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x6_KHR"; break;
-        case 0x93D5: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x5_KHR"; break;
-        case 0x93D6: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x6_KHR"; break;
-        case 0x93D7: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x8_KHR"; break;
-        case 0x93D8: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x5_KHR"; break;
-        case 0x93D9: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x6_KHR"; break;
-        case 0x93DA: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x8_KHR"; break;
-        case 0x93DB: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x10_KHR"; break;
-        case 0x93DC: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_12x10_KHR"; break;
-        case 0x93DD: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_12x12_KHR"; break;
-        default: return "GL_COMPRESSED_UNKNOWN"; break;
-    }
-}
-#endif  // RLGL_SHOW_GL_DETAILS_INFO
-
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-
-// Get pixel data size in bytes (image or texture)
-// NOTE: Size depends on pixel format
-static int rlGetPixelDataSize(int width, int height, int format)
-{
-    int dataSize = 0;       // Size in bytes
-    int bpp = 0;            // Bits per pixel
-
-    switch (format)
-    {
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE: bpp = 8; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA:
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5:
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1:
-        case RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4: bpp = 16; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8: bpp = 32; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8: bpp = 24; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32: bpp = 32; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: bpp = 32*3; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: bpp = 32*4; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: bpp = 16; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: bpp = 16*3; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: bpp = 16*4; break;
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGB:
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA:
-        case RL_PIXELFORMAT_COMPRESSED_ETC1_RGB:
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_RGB:
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGB:
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA: bpp = 4; break;
-        case RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA:
-        case RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA:
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA:
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA: bpp = 8; break;
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA: bpp = 2; break;
-        default: break;
-    }
-
-    double bytesPerPixel = (double)bpp/8.0;
-    dataSize = (int)(bytesPerPixel*width*height); // Total data size in bytes
-
-    // Most compressed formats works on 4x4 blocks,
-    // if texture is smaller, minimum dataSize is 8 or 16
-    if ((width < 4) && (height < 4))
-    {
-        if ((format >= RL_PIXELFORMAT_COMPRESSED_DXT1_RGB) && (format < RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA)) dataSize = 8;
-        else if ((format >= RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA) && (format < RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA)) dataSize = 16;
-    }
-
-    return dataSize;
-}
-
-// Auxiliar math functions
-
-// Get float array of matrix data
-static rl_float16 rlMatrixToFloatV(Matrix mat)
-{
-    rl_float16 result = { 0 };
-
-    result.v[0] = mat.m0;
-    result.v[1] = mat.m1;
-    result.v[2] = mat.m2;
-    result.v[3] = mat.m3;
-    result.v[4] = mat.m4;
-    result.v[5] = mat.m5;
-    result.v[6] = mat.m6;
-    result.v[7] = mat.m7;
-    result.v[8] = mat.m8;
-    result.v[9] = mat.m9;
-    result.v[10] = mat.m10;
-    result.v[11] = mat.m11;
-    result.v[12] = mat.m12;
-    result.v[13] = mat.m13;
-    result.v[14] = mat.m14;
-    result.v[15] = mat.m15;
-
-    return result;
-}
-
-// Get identity matrix
-static Matrix rlMatrixIdentity(void)
-{
-    Matrix result = {
-        1.0f, 0.0f, 0.0f, 0.0f,
-        0.0f, 1.0f, 0.0f, 0.0f,
-        0.0f, 0.0f, 1.0f, 0.0f,
-        0.0f, 0.0f, 0.0f, 1.0f
-    };
-
-    return result;
-}
-
-// Get two matrix multiplication
-// NOTE: When multiplying matrices... the order matters!
-static Matrix rlMatrixMultiply(Matrix left, Matrix right)
-{
-    Matrix result = { 0 };
-
-    result.m0 = left.m0*right.m0 + left.m1*right.m4 + left.m2*right.m8 + left.m3*right.m12;
-    result.m1 = left.m0*right.m1 + left.m1*right.m5 + left.m2*right.m9 + left.m3*right.m13;
-    result.m2 = left.m0*right.m2 + left.m1*right.m6 + left.m2*right.m10 + left.m3*right.m14;
-    result.m3 = left.m0*right.m3 + left.m1*right.m7 + left.m2*right.m11 + left.m3*right.m15;
-    result.m4 = left.m4*right.m0 + left.m5*right.m4 + left.m6*right.m8 + left.m7*right.m12;
-    result.m5 = left.m4*right.m1 + left.m5*right.m5 + left.m6*right.m9 + left.m7*right.m13;
-    result.m6 = left.m4*right.m2 + left.m5*right.m6 + left.m6*right.m10 + left.m7*right.m14;
-    result.m7 = left.m4*right.m3 + left.m5*right.m7 + left.m6*right.m11 + left.m7*right.m15;
-    result.m8 = left.m8*right.m0 + left.m9*right.m4 + left.m10*right.m8 + left.m11*right.m12;
-    result.m9 = left.m8*right.m1 + left.m9*right.m5 + left.m10*right.m9 + left.m11*right.m13;
-    result.m10 = left.m8*right.m2 + left.m9*right.m6 + left.m10*right.m10 + left.m11*right.m14;
-    result.m11 = left.m8*right.m3 + left.m9*right.m7 + left.m10*right.m11 + left.m11*right.m15;
-    result.m12 = left.m12*right.m0 + left.m13*right.m4 + left.m14*right.m8 + left.m15*right.m12;
-    result.m13 = left.m12*right.m1 + left.m13*right.m5 + left.m14*right.m9 + left.m15*right.m13;
-    result.m14 = left.m12*right.m2 + left.m13*right.m6 + left.m14*right.m10 + left.m15*right.m14;
-    result.m15 = left.m12*right.m3 + left.m13*right.m7 + left.m14*right.m11 + left.m15*right.m15;
-
-    return result;
-}
-
-// Transposes provided matrix
-static Matrix rlMatrixTranspose(Matrix mat)
-{
-    Matrix result = { 0 };
-
-    result.m0 = mat.m0;
-    result.m1 = mat.m4;
-    result.m2 = mat.m8;
-    result.m3 = mat.m12;
-    result.m4 = mat.m1;
-    result.m5 = mat.m5;
-    result.m6 = mat.m9;
-    result.m7 = mat.m13;
-    result.m8 = mat.m2;
-    result.m9 = mat.m6;
-    result.m10 = mat.m10;
-    result.m11 = mat.m14;
-    result.m12 = mat.m3;
-    result.m13 = mat.m7;
-    result.m14 = mat.m11;
-    result.m15 = mat.m15;
-
-    return result;
-}
-
-// Invert provided matrix
-static Matrix rlMatrixInvert(Matrix mat)
-{
-    Matrix result = { 0 };
-
-    // Cache the matrix values (speed optimization)
-    float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
-    float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7;
-    float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
-    float a30 = mat.m12, a31 = mat.m13, a32 = mat.m14, a33 = mat.m15;
-
-    float b00 = a00*a11 - a01*a10;
-    float b01 = a00*a12 - a02*a10;
-    float b02 = a00*a13 - a03*a10;
-    float b03 = a01*a12 - a02*a11;
-    float b04 = a01*a13 - a03*a11;
-    float b05 = a02*a13 - a03*a12;
-    float b06 = a20*a31 - a21*a30;
-    float b07 = a20*a32 - a22*a30;
-    float b08 = a20*a33 - a23*a30;
-    float b09 = a21*a32 - a22*a31;
-    float b10 = a21*a33 - a23*a31;
-    float b11 = a22*a33 - a23*a32;
-
-    // Calculate the invert determinant (inlined to avoid double-caching)
-    float invDet = 1.0f/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06);
-
-    result.m0 = (a11*b11 - a12*b10 + a13*b09)*invDet;
-    result.m1 = (-a01*b11 + a02*b10 - a03*b09)*invDet;
-    result.m2 = (a31*b05 - a32*b04 + a33*b03)*invDet;
-    result.m3 = (-a21*b05 + a22*b04 - a23*b03)*invDet;
-    result.m4 = (-a10*b11 + a12*b08 - a13*b07)*invDet;
-    result.m5 = (a00*b11 - a02*b08 + a03*b07)*invDet;
-    result.m6 = (-a30*b05 + a32*b02 - a33*b01)*invDet;
-    result.m7 = (a20*b05 - a22*b02 + a23*b01)*invDet;
-    result.m8 = (a10*b10 - a11*b08 + a13*b06)*invDet;
-    result.m9 = (-a00*b10 + a01*b08 - a03*b06)*invDet;
-    result.m10 = (a30*b04 - a31*b02 + a33*b00)*invDet;
-    result.m11 = (-a20*b04 + a21*b02 - a23*b00)*invDet;
-    result.m12 = (-a10*b09 + a11*b07 - a12*b06)*invDet;
-    result.m13 = (a00*b09 - a01*b07 + a02*b06)*invDet;
-    result.m14 = (-a30*b03 + a31*b01 - a32*b00)*invDet;
-    result.m15 = (a20*b03 - a21*b01 + a22*b00)*invDet;
-
-    return result;
-}
-
-#endif  // RLGL_IMPLEMENTATION
diff --git a/third_party/raylib/larch64/libraylib.a b/third_party/raylib/larch64/libraylib.a
deleted file mode 100644
index fa538e5214362b..00000000000000
--- a/third_party/raylib/larch64/libraylib.a
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--- a/third_party/raylib/x86_64/libraylib.a
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diff --git a/uv.lock b/uv.lock
index 0635f9ae1aaec4..d89fb55665a816 100644
--- a/uv.lock
+++ b/uv.lock
@@ -5,7 +5,7 @@ requires-python = ">=3.12.3, <3.13"
 [[package]]
 name = "acados"
 version = "0.2.2"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=acados&rev=release-acados#2dc0ff804cab5f495641e5e45c6061296445d6cb" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=acados&rev=release-acados#e33e466a477c16576cf30f73d1921dd78d4e1248" }
 dependencies = [
     { name = "numpy" },
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@@ -124,30 +124,30 @@ wheels = [
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-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bootstrap-icons&rev=release-bootstrap-icons#3db70e363cf3471969381bcb8f4ce3ebbab7b369" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bootstrap-icons&rev=release-bootstrap-icons#976cd610d1eee61135d33e6fbb0a3ea1098807be" }
 
 [[package]]
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-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#13755b73dbcda1b186641fcccce90d55f815d6bc" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#3d53522328d6c0eebc1ae8d07ef9669c8ad7b2f2" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#847f0ccfef2bc5c57bd8fc0c4776ff760ec1d2b9" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2#f354d6cf68504032a0fbdfc552c82c09655899ab" }
 
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 ]
 
 [[package]]
@@ -1529,11 +1540,11 @@ wheels = [
 
 [[package]]
 name = "urllib3"
-version = "2.6.3"
+version = "2.7.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/c7/24/5f1b3bdffd70275f6661c76461e25f024d5a38a46f04aaca912426a2b1d3/urllib3-2.6.3.tar.gz", hash = "sha256:1b62b6884944a57dbe321509ab94fd4d3b307075e0c2eae991ac71ee15ad38ed", size = 435556, upload-time = "2026-01-07T16:24:43.925Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/53/0c/06f8b233b8fd13b9e5ee11424ef85419ba0d8ba0b3138bf360be2ff56953/urllib3-2.7.0.tar.gz", hash = "sha256:231e0ec3b63ceb14667c67be60f2f2c40a518cb38b03af60abc813da26505f4c", size = 433602, upload-time = "2026-05-07T16:13:18.596Z" }
 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/7f/3e/5db95bcf282c52709639744ca2a8b149baccf648e39c8cc87553df9eae0c/urllib3-2.7.0-py3-none-any.whl", hash = "sha256:9fb4c81ebbb1ce9531cce37674bbc6f1360472bc18ca9a553ede278ef7276897", size = 131087, upload-time = "2026-05-07T16:13:17.151Z" },
 ]
 
 [[package]]
@@ -1566,7 +1577,7 @@ wheels = [
 [[package]]
 name = "xvfb"
 version = "1.20.11.post1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=xvfb&rev=release-xvfb#8dbb2f0e4a8b22402e8f7029dc7fd06c8e4fd865" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=xvfb&rev=release-xvfb#7d7442bf49a90ccf2dfd6d8c0890292a85851518" }
 
 [[package]]
 name = "yarl"
@@ -1602,36 +1613,38 @@ wheels = [
 
 [[package]]
 name = "zensical"
-version = "0.0.33"
+version = "0.0.41"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "click" },
     { name = "deepmerge" },
+    { name = "jinja2" },
     { name = "markdown" },
     { name = "pygments" },
     { name = "pymdown-extensions" },
     { name = "pyyaml" },
+    { name = "tomli" },
 ]
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+sdist = { url = "https://files.pythonhosted.org/packages/89/d6/b3e931233e53a2377ef5915cc6e786845c3263306874a469af8fb569ef9c/zensical-0.0.41.tar.gz", hash = "sha256:6c3c90301123749dfc26a210d6c080f0691253c7c765ad308a10b4518369a6fe", size = 3927788, upload-time = "2026-05-09T14:35:29.005Z" }
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+    { url = "https://files.pythonhosted.org/packages/a0/92/5cf943133f61b996965743deeaff467f278135521f58d83ca68d2601ded3/zensical-0.0.41-cp310-abi3-win_amd64.whl", hash = "sha256:00d80cd573152e0efb655143bbdfe8788eb4b33167a802639fdb1b1800b724ac", size = 12483190, upload-time = "2026-05-09T14:35:26.43Z" },
 ]
 
 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#173fe8e9a0b8cf666bac5363c3376e866a386568" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#1ae3130cf64f557dc5fc30e469b2aab612389d3e" }
 
 [[package]]
 name = "zstandard"
@@ -1661,4 +1674,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#c4b1fdec74010075965d68e2c743055c6ef18d48" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#fdecf7d8932fdbad96752aa187bac94a74640890" }

From 8583826166a78596a46ebc6df6e3123de5219372 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 17:24:53 -0700
Subject: [PATCH 1055/1434] Reapply "Use packaged json11 dependency (#37995)"
 (#37996)

This reverts commit 656de3f17b75466274954a2a40a0eac8ae5de909.
---
 SConstruct                         |   6 +-
 common/swaglog.cc                  |   2 +-
 common/tests/test_swaglog.cc       |   2 +-
 third_party/SConscript             |   3 -
 third_party/build.sh               |  53 --
 third_party/json11/json11.cpp      | 785 -----------------------------
 third_party/json11/json11.hpp      | 232 ---------
 tools/jotpluggler/app.cc           |   2 +-
 tools/jotpluggler/custom_series.cc |   2 +-
 tools/jotpluggler/layout_io.cc     |   2 +-
 tools/jotpluggler/map.cc           |   2 +-
 tools/jotpluggler/sketch_layout.cc |   2 +-
 tools/replay/route.cc              |   2 +-
 tools/replay/route.h               |   2 +-
 14 files changed, 10 insertions(+), 1087 deletions(-)
 delete mode 100644 third_party/SConscript
 delete mode 100755 third_party/build.sh
 delete mode 100644 third_party/json11/json11.cpp
 delete mode 100644 third_party/json11/json11.hpp

diff --git a/SConstruct b/SConstruct
index 9d985ab696aaec..6e5f31d921dd63 100644
--- a/SConstruct
+++ b/SConstruct
@@ -37,7 +37,7 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 acados = pkgs[pkg_names.index('acados')]
 acados_include_dirs = [
@@ -112,7 +112,6 @@ env = Environment(
     "#",
     "#msgq",
     "#third_party",
-    "#third_party/json11",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
   ],
@@ -242,9 +241,6 @@ SConscript([
 if arch == "larch64":
   SConscript(['system/camerad/SConscript'])
 
-# Build openpilot
-SConscript(['third_party/SConscript'])
-
 # Build selfdrive
 SConscript([
   'selfdrive/pandad/SConscript',
diff --git a/common/swaglog.cc b/common/swaglog.cc
index 62a405a2b6e244..df7ce94c146457 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -11,7 +11,7 @@
 
 #include <zmq.h>
 #include <stdarg.h>
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 #include "common/version.h"
 #include "system/hardware/hw.h"
 
diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc
index 09bc4c3795fd5e..8142f8d63e295c 100644
--- a/common/tests/test_swaglog.cc
+++ b/common/tests/test_swaglog.cc
@@ -7,7 +7,7 @@
 #include "common/util.h"
 #include "common/version.h"
 #include "system/hardware/hw.h"
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 std::string daemon_name = "testy";
 std::string dongle_id = "test_dongle_id";
diff --git a/third_party/SConscript b/third_party/SConscript
deleted file mode 100644
index 3a7497d1623207..00000000000000
--- a/third_party/SConscript
+++ /dev/null
@@ -1,3 +0,0 @@
-Import('env')
-
-env.Library('json11', ['json11/json11.cpp'], CCFLAGS=env['CCFLAGS'] + ['-Wno-unqualified-std-cast-call'])
diff --git a/third_party/build.sh b/third_party/build.sh
deleted file mode 100755
index d3a9c6579c594a..00000000000000
--- a/third_party/build.sh
+++ /dev/null
@@ -1,53 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-
-# Reproducible builds: pin timestamps to epoch
-export SOURCE_DATE_EPOCH=0
-export ZERO_AR_DATE=1
-
-pids=()
-names=()
-logs=()
-
-for script in "$DIR"/*/build.sh; do
-  [ -f "$script" ] || continue
-  name=$(basename "$(dirname "$script")")
-  log=$(mktemp)
-  names+=("$name")
-  logs+=("$log")
-  (cd "$(dirname "$script")" && bash "$(basename "$script")") >"$log" 2>&1 &
-  pids+=($!)
-done
-
-failed=0
-for i in "${!pids[@]}"; do
-  echo "--- ${names[$i]} ---"
-  if wait "${pids[$i]}"; then
-    echo "OK"
-  else
-    echo "FAILED (exit $?)"
-    failed=1
-  fi
-  cat "${logs[$i]}"
-  rm -f "${logs[$i]}"
-  echo
-done
-
-[ $failed -ne 0 ] && exit $failed
-
-# Repack ar archives with deterministic headers (zero timestamps/uid/gid)
-# Skip foreign-platform archives that ar can't read (e.g. Mach-O on Linux)
-while IFS= read -r -d '' lib; do
-  tmpdir=$(mktemp -d)
-  lib=$(realpath "$lib")
-  if (cd "$tmpdir" && ar x "$lib" 2>/dev/null); then
-    (cd "$tmpdir" && ar Drcs repacked.a * && mv repacked.a "$lib")
-  fi
-  rm -rf "$tmpdir"
-done < <(find "$DIR" -name '*.a' \
-  \( -path '*/x86_64/*' -o -path '*/Darwin/*' -o -path '*/larch64/*' -o -path '*/aarch64/*' \) \
-  -print0)
-
-echo -e "\033[32mAll third_party builds succeeded.\033[0m"
diff --git a/third_party/json11/json11.cpp b/third_party/json11/json11.cpp
deleted file mode 100644
index 3bd4fde2f2c911..00000000000000
--- a/third_party/json11/json11.cpp
+++ /dev/null
@@ -1,785 +0,0 @@
-/* Copyright (c) 2013 Dropbox, Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include "json11.hpp"
-#include <cassert>
-#include <cmath>
-#include <cstdlib>
-#include <cstdio>
-#include <limits>
-#include <cstdint>
-
-namespace json11 {
-
-static const int max_depth = 200;
-
-using std::string;
-using std::vector;
-using std::map;
-using std::make_shared;
-using std::initializer_list;
-using std::move;
-
-/* Helper for representing null - just a do-nothing struct, plus comparison
- * operators so the helpers in JsonValue work. We can't use nullptr_t because
- * it may not be orderable.
- */
-struct NullStruct {
-    bool operator==(NullStruct) const { return true; }
-    bool operator<(NullStruct) const { return false; }
-};
-
-/* * * * * * * * * * * * * * * * * * * *
- * Serialization
- */
-
-static void dump(NullStruct, string &out) {
-    out += "null";
-}
-
-static void dump(double value, string &out) {
-    if (std::isfinite(value)) {
-        char buf[32];
-        snprintf(buf, sizeof buf, "%.17g", value);
-        out += buf;
-    } else {
-        out += "null";
-    }
-}
-
-static void dump(int value, string &out) {
-    char buf[32];
-    snprintf(buf, sizeof buf, "%d", value);
-    out += buf;
-}
-
-static void dump(bool value, string &out) {
-    out += value ? "true" : "false";
-}
-
-static void dump(const string &value, string &out) {
-    out += '"';
-    for (size_t i = 0; i < value.length(); i++) {
-        const char ch = value[i];
-        if (ch == '\\') {
-            out += "\\\\";
-        } else if (ch == '"') {
-            out += "\\\"";
-        } else if (ch == '\b') {
-            out += "\\b";
-        } else if (ch == '\f') {
-            out += "\\f";
-        } else if (ch == '\n') {
-            out += "\\n";
-        } else if (ch == '\r') {
-            out += "\\r";
-        } else if (ch == '\t') {
-            out += "\\t";
-        } else if (static_cast<uint8_t>(ch) <= 0x1f) {
-            char buf[8];
-            snprintf(buf, sizeof buf, "\\u%04x", ch);
-            out += buf;
-        } else if (static_cast<uint8_t>(ch) == 0xe2 && static_cast<uint8_t>(value[i+1]) == 0x80
-                   && static_cast<uint8_t>(value[i+2]) == 0xa8) {
-            out += "\\u2028";
-            i += 2;
-        } else if (static_cast<uint8_t>(ch) == 0xe2 && static_cast<uint8_t>(value[i+1]) == 0x80
-                   && static_cast<uint8_t>(value[i+2]) == 0xa9) {
-            out += "\\u2029";
-            i += 2;
-        } else {
-            out += ch;
-        }
-    }
-    out += '"';
-}
-
-static void dump(const Json::array &values, string &out) {
-    bool first = true;
-    out += "[";
-    for (const auto &value : values) {
-        if (!first)
-            out += ", ";
-        value.dump(out);
-        first = false;
-    }
-    out += "]";
-}
-
-static void dump(const Json::object &values, string &out) {
-    bool first = true;
-    out += "{";
-    for (const auto &kv : values) {
-        if (!first)
-            out += ", ";
-        dump(kv.first, out);
-        out += ": ";
-        kv.second.dump(out);
-        first = false;
-    }
-    out += "}";
-}
-
-void Json::dump(string &out) const {
-    m_ptr->dump(out);
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Value wrappers
- */
-
-template <Json::Type tag, typename T>
-class Value : public JsonValue {
-protected:
-
-    // Constructors
-    explicit Value(const T &value) : m_value(value) {}
-    explicit Value(T &&value)      : m_value(move(value)) {}
-
-    // Get type tag
-    Json::Type type() const override {
-        return tag;
-    }
-
-    // Comparisons
-    bool equals(const JsonValue * other) const override {
-        return m_value == static_cast<const Value<tag, T> *>(other)->m_value;
-    }
-    bool less(const JsonValue * other) const override {
-        return m_value < static_cast<const Value<tag, T> *>(other)->m_value;
-    }
-
-    const T m_value;
-    void dump(string &out) const override { json11::dump(m_value, out); }
-};
-
-class JsonDouble final : public Value<Json::NUMBER, double> {
-    double number_value() const override { return m_value; }
-    int int_value() const override { return static_cast<int>(m_value); }
-    bool equals(const JsonValue * other) const override { return m_value == other->number_value(); }
-    bool less(const JsonValue * other)   const override { return m_value <  other->number_value(); }
-public:
-    explicit JsonDouble(double value) : Value(value) {}
-};
-
-class JsonInt final : public Value<Json::NUMBER, int> {
-    double number_value() const override { return m_value; }
-    int int_value() const override { return m_value; }
-    bool equals(const JsonValue * other) const override { return m_value == other->number_value(); }
-    bool less(const JsonValue * other)   const override { return m_value <  other->number_value(); }
-public:
-    explicit JsonInt(int value) : Value(value) {}
-};
-
-class JsonBoolean final : public Value<Json::BOOL, bool> {
-    bool bool_value() const override { return m_value; }
-public:
-    explicit JsonBoolean(bool value) : Value(value) {}
-};
-
-class JsonString final : public Value<Json::STRING, string> {
-    const string &string_value() const override { return m_value; }
-public:
-    explicit JsonString(const string &value) : Value(value) {}
-    explicit JsonString(string &&value)      : Value(move(value)) {}
-};
-
-class JsonArray final : public Value<Json::ARRAY, Json::array> {
-    const Json::array &array_items() const override { return m_value; }
-    const Json & operator[](size_t i) const override;
-public:
-    explicit JsonArray(const Json::array &value) : Value(value) {}
-    explicit JsonArray(Json::array &&value)      : Value(move(value)) {}
-};
-
-class JsonObject final : public Value<Json::OBJECT, Json::object> {
-    const Json::object &object_items() const override { return m_value; }
-    const Json & operator[](const string &key) const override;
-public:
-    explicit JsonObject(const Json::object &value) : Value(value) {}
-    explicit JsonObject(Json::object &&value)      : Value(move(value)) {}
-};
-
-class JsonNull final : public Value<Json::NUL, NullStruct> {
-public:
-    JsonNull() : Value({}) {}
-};
-
-/* * * * * * * * * * * * * * * * * * * *
- * Static globals - static-init-safe
- */
-struct Statics {
-    const std::shared_ptr<JsonValue> null = make_shared<JsonNull>();
-    const std::shared_ptr<JsonValue> t = make_shared<JsonBoolean>(true);
-    const std::shared_ptr<JsonValue> f = make_shared<JsonBoolean>(false);
-    const string empty_string;
-    const vector<Json> empty_vector;
-    const map<string, Json> empty_map;
-    Statics() {}
-};
-
-static const Statics & statics() {
-    static const Statics s {};
-    return s;
-}
-
-static const Json & static_null() {
-    // This has to be separate, not in Statics, because Json() accesses statics().null.
-    static const Json json_null;
-    return json_null;
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Constructors
- */
-
-Json::Json() noexcept                  : m_ptr(statics().null) {}
-Json::Json(std::nullptr_t) noexcept    : m_ptr(statics().null) {}
-Json::Json(double value)               : m_ptr(make_shared<JsonDouble>(value)) {}
-Json::Json(int value)                  : m_ptr(make_shared<JsonInt>(value)) {}
-Json::Json(bool value)                 : m_ptr(value ? statics().t : statics().f) {}
-Json::Json(const string &value)        : m_ptr(make_shared<JsonString>(value)) {}
-Json::Json(string &&value)             : m_ptr(make_shared<JsonString>(move(value))) {}
-Json::Json(const char * value)         : m_ptr(make_shared<JsonString>(value)) {}
-Json::Json(const Json::array &values)  : m_ptr(make_shared<JsonArray>(values)) {}
-Json::Json(Json::array &&values)       : m_ptr(make_shared<JsonArray>(move(values))) {}
-Json::Json(const Json::object &values) : m_ptr(make_shared<JsonObject>(values)) {}
-Json::Json(Json::object &&values)      : m_ptr(make_shared<JsonObject>(move(values))) {}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Accessors
- */
-
-Json::Type Json::type()                           const { return m_ptr->type();         }
-double Json::number_value()                       const { return m_ptr->number_value(); }
-int Json::int_value()                             const { return m_ptr->int_value();    }
-bool Json::bool_value()                           const { return m_ptr->bool_value();   }
-const string & Json::string_value()               const { return m_ptr->string_value(); }
-const vector<Json> & Json::array_items()          const { return m_ptr->array_items();  }
-const map<string, Json> & Json::object_items()    const { return m_ptr->object_items(); }
-const Json & Json::operator[] (size_t i)          const { return (*m_ptr)[i];           }
-const Json & Json::operator[] (const string &key) const { return (*m_ptr)[key];         }
-
-double                    JsonValue::number_value()              const { return 0; }
-int                       JsonValue::int_value()                 const { return 0; }
-bool                      JsonValue::bool_value()                const { return false; }
-const string &            JsonValue::string_value()              const { return statics().empty_string; }
-const vector<Json> &      JsonValue::array_items()               const { return statics().empty_vector; }
-const map<string, Json> & JsonValue::object_items()              const { return statics().empty_map; }
-const Json &              JsonValue::operator[] (size_t)         const { return static_null(); }
-const Json &              JsonValue::operator[] (const string &) const { return static_null(); }
-
-const Json & JsonObject::operator[] (const string &key) const {
-    auto iter = m_value.find(key);
-    return (iter == m_value.end()) ? static_null() : iter->second;
-}
-const Json & JsonArray::operator[] (size_t i) const {
-    if (i >= m_value.size()) return static_null();
-    else return m_value[i];
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Comparison
- */
-
-bool Json::operator== (const Json &other) const {
-    if (m_ptr->type() != other.m_ptr->type())
-        return false;
-
-    return m_ptr->equals(other.m_ptr.get());
-}
-
-bool Json::operator< (const Json &other) const {
-    if (m_ptr->type() != other.m_ptr->type())
-        return m_ptr->type() < other.m_ptr->type();
-
-    return m_ptr->less(other.m_ptr.get());
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Parsing
- */
-
-/* esc(c)
- *
- * Format char c suitable for printing in an error message.
- */
-static inline string esc(char c) {
-    char buf[12];
-    if (static_cast<uint8_t>(c) >= 0x20 && static_cast<uint8_t>(c) <= 0x7f) {
-        snprintf(buf, sizeof buf, "'%c' (%d)", c, c);
-    } else {
-        snprintf(buf, sizeof buf, "(%d)", c);
-    }
-    return string(buf);
-}
-
-static inline bool in_range(long x, long lower, long upper) {
-    return (x >= lower && x <= upper);
-}
-
-namespace {
-/* JsonParser
- *
- * Object that tracks all state of an in-progress parse.
- */
-struct JsonParser final {
-
-    /* State
-     */
-    const string &str;
-    size_t i;
-    string &err;
-    bool failed;
-    const JsonParse strategy;
-
-    /* fail(msg, err_ret = Json())
-     *
-     * Mark this parse as failed.
-     */
-    Json fail(string &&msg) {
-        return fail(move(msg), Json());
-    }
-
-    template <typename T>
-    T fail(string &&msg, const T err_ret) {
-        if (!failed)
-            err = std::move(msg);
-        failed = true;
-        return err_ret;
-    }
-
-    /* consume_whitespace()
-     *
-     * Advance until the current character is non-whitespace.
-     */
-    void consume_whitespace() {
-        while (str[i] == ' ' || str[i] == '\r' || str[i] == '\n' || str[i] == '\t')
-            i++;
-    }
-
-    /* consume_comment()
-     *
-     * Advance comments (c-style inline and multiline).
-     */
-    bool consume_comment() {
-      bool comment_found = false;
-      if (str[i] == '/') {
-        i++;
-        if (i == str.size())
-          return fail("unexpected end of input after start of comment", false);
-        if (str[i] == '/') { // inline comment
-          i++;
-          // advance until next line, or end of input
-          while (i < str.size() && str[i] != '\n') {
-            i++;
-          }
-          comment_found = true;
-        }
-        else if (str[i] == '*') { // multiline comment
-          i++;
-          if (i > str.size()-2)
-            return fail("unexpected end of input inside multi-line comment", false);
-          // advance until closing tokens
-          while (!(str[i] == '*' && str[i+1] == '/')) {
-            i++;
-            if (i > str.size()-2)
-              return fail(
-                "unexpected end of input inside multi-line comment", false);
-          }
-          i += 2;
-          comment_found = true;
-        }
-        else
-          return fail("malformed comment", false);
-      }
-      return comment_found;
-    }
-
-    /* consume_garbage()
-     *
-     * Advance until the current character is non-whitespace and non-comment.
-     */
-    void consume_garbage() {
-      consume_whitespace();
-      if(strategy == JsonParse::COMMENTS) {
-        bool comment_found = false;
-        do {
-          comment_found = consume_comment();
-          if (failed) return;
-          consume_whitespace();
-        }
-        while(comment_found);
-      }
-    }
-
-    /* get_next_token()
-     *
-     * Return the next non-whitespace character. If the end of the input is reached,
-     * flag an error and return 0.
-     */
-    char get_next_token() {
-        consume_garbage();
-        if (failed) return (char)0;
-        if (i == str.size())
-            return fail("unexpected end of input", (char)0);
-
-        return str[i++];
-    }
-
-    /* encode_utf8(pt, out)
-     *
-     * Encode pt as UTF-8 and add it to out.
-     */
-    void encode_utf8(long pt, string & out) {
-        if (pt < 0)
-            return;
-
-        if (pt < 0x80) {
-            out += static_cast<char>(pt);
-        } else if (pt < 0x800) {
-            out += static_cast<char>((pt >> 6) | 0xC0);
-            out += static_cast<char>((pt & 0x3F) | 0x80);
-        } else if (pt < 0x10000) {
-            out += static_cast<char>((pt >> 12) | 0xE0);
-            out += static_cast<char>(((pt >> 6) & 0x3F) | 0x80);
-            out += static_cast<char>((pt & 0x3F) | 0x80);
-        } else {
-            out += static_cast<char>((pt >> 18) | 0xF0);
-            out += static_cast<char>(((pt >> 12) & 0x3F) | 0x80);
-            out += static_cast<char>(((pt >> 6) & 0x3F) | 0x80);
-            out += static_cast<char>((pt & 0x3F) | 0x80);
-        }
-    }
-
-    /* parse_string()
-     *
-     * Parse a string, starting at the current position.
-     */
-    string parse_string() {
-        string out;
-        long last_escaped_codepoint = -1;
-        while (true) {
-            if (i == str.size())
-                return fail("unexpected end of input in string", "");
-
-            char ch = str[i++];
-
-            if (ch == '"') {
-                encode_utf8(last_escaped_codepoint, out);
-                return out;
-            }
-
-            if (in_range(ch, 0, 0x1f))
-                return fail("unescaped " + esc(ch) + " in string", "");
-
-            // The usual case: non-escaped characters
-            if (ch != '\\') {
-                encode_utf8(last_escaped_codepoint, out);
-                last_escaped_codepoint = -1;
-                out += ch;
-                continue;
-            }
-
-            // Handle escapes
-            if (i == str.size())
-                return fail("unexpected end of input in string", "");
-
-            ch = str[i++];
-
-            if (ch == 'u') {
-                // Extract 4-byte escape sequence
-                string esc = str.substr(i, 4);
-                // Explicitly check length of the substring. The following loop
-                // relies on std::string returning the terminating NUL when
-                // accessing str[length]. Checking here reduces brittleness.
-                if (esc.length() < 4) {
-                    return fail("bad \\u escape: " + esc, "");
-                }
-                for (size_t j = 0; j < 4; j++) {
-                    if (!in_range(esc[j], 'a', 'f') && !in_range(esc[j], 'A', 'F')
-                            && !in_range(esc[j], '0', '9'))
-                        return fail("bad \\u escape: " + esc, "");
-                }
-
-                long codepoint = strtol(esc.data(), nullptr, 16);
-
-                // JSON specifies that characters outside the BMP shall be encoded as a pair
-                // of 4-hex-digit \u escapes encoding their surrogate pair components. Check
-                // whether we're in the middle of such a beast: the previous codepoint was an
-                // escaped lead (high) surrogate, and this is a trail (low) surrogate.
-                if (in_range(last_escaped_codepoint, 0xD800, 0xDBFF)
-                        && in_range(codepoint, 0xDC00, 0xDFFF)) {
-                    // Reassemble the two surrogate pairs into one astral-plane character, per
-                    // the UTF-16 algorithm.
-                    encode_utf8((((last_escaped_codepoint - 0xD800) << 10)
-                                 | (codepoint - 0xDC00)) + 0x10000, out);
-                    last_escaped_codepoint = -1;
-                } else {
-                    encode_utf8(last_escaped_codepoint, out);
-                    last_escaped_codepoint = codepoint;
-                }
-
-                i += 4;
-                continue;
-            }
-
-            encode_utf8(last_escaped_codepoint, out);
-            last_escaped_codepoint = -1;
-
-            if (ch == 'b') {
-                out += '\b';
-            } else if (ch == 'f') {
-                out += '\f';
-            } else if (ch == 'n') {
-                out += '\n';
-            } else if (ch == 'r') {
-                out += '\r';
-            } else if (ch == 't') {
-                out += '\t';
-            } else if (ch == '"' || ch == '\\' || ch == '/') {
-                out += ch;
-            } else {
-                return fail("invalid escape character " + esc(ch), "");
-            }
-        }
-    }
-
-    /* parse_number()
-     *
-     * Parse a double.
-     */
-    Json parse_number() {
-        size_t start_pos = i;
-
-        if (str[i] == '-')
-            i++;
-
-        // Integer part
-        if (str[i] == '0') {
-            i++;
-            if (in_range(str[i], '0', '9'))
-                return fail("leading 0s not permitted in numbers");
-        } else if (in_range(str[i], '1', '9')) {
-            i++;
-            while (in_range(str[i], '0', '9'))
-                i++;
-        } else {
-            return fail("invalid " + esc(str[i]) + " in number");
-        }
-
-        if (str[i] != '.' && str[i] != 'e' && str[i] != 'E'
-                && (i - start_pos) <= static_cast<size_t>(std::numeric_limits<int>::digits10)) {
-            return std::atoi(str.c_str() + start_pos);
-        }
-
-        // Decimal part
-        if (str[i] == '.') {
-            i++;
-            if (!in_range(str[i], '0', '9'))
-                return fail("at least one digit required in fractional part");
-
-            while (in_range(str[i], '0', '9'))
-                i++;
-        }
-
-        // Exponent part
-        if (str[i] == 'e' || str[i] == 'E') {
-            i++;
-
-            if (str[i] == '+' || str[i] == '-')
-                i++;
-
-            if (!in_range(str[i], '0', '9'))
-                return fail("at least one digit required in exponent");
-
-            while (in_range(str[i], '0', '9'))
-                i++;
-        }
-
-        return std::strtod(str.c_str() + start_pos, nullptr);
-    }
-
-    /* expect(str, res)
-     *
-     * Expect that 'str' starts at the character that was just read. If it does, advance
-     * the input and return res. If not, flag an error.
-     */
-    Json expect(const string &expected, Json res) {
-        assert(i != 0);
-        i--;
-        if (str.compare(i, expected.length(), expected) == 0) {
-            i += expected.length();
-            return res;
-        } else {
-            return fail("parse error: expected " + expected + ", got " + str.substr(i, expected.length()));
-        }
-    }
-
-    /* parse_json()
-     *
-     * Parse a JSON object.
-     */
-    Json parse_json(int depth) {
-        if (depth > max_depth) {
-            return fail("exceeded maximum nesting depth");
-        }
-
-        char ch = get_next_token();
-        if (failed)
-            return Json();
-
-        if (ch == '-' || (ch >= '0' && ch <= '9')) {
-            i--;
-            return parse_number();
-        }
-
-        if (ch == 't')
-            return expect("true", true);
-
-        if (ch == 'f')
-            return expect("false", false);
-
-        if (ch == 'n')
-            return expect("null", Json());
-
-        if (ch == '"')
-            return parse_string();
-
-        if (ch == '{') {
-            map<string, Json> data;
-            ch = get_next_token();
-            if (ch == '}')
-                return data;
-
-            while (1) {
-                if (ch != '"')
-                    return fail("expected '\"' in object, got " + esc(ch));
-
-                string key = parse_string();
-                if (failed)
-                    return Json();
-
-                ch = get_next_token();
-                if (ch != ':')
-                    return fail("expected ':' in object, got " + esc(ch));
-
-                data[std::move(key)] = parse_json(depth + 1);
-                if (failed)
-                    return Json();
-
-                ch = get_next_token();
-                if (ch == '}')
-                    break;
-                if (ch != ',')
-                    return fail("expected ',' in object, got " + esc(ch));
-
-                ch = get_next_token();
-            }
-            return data;
-        }
-
-        if (ch == '[') {
-            vector<Json> data;
-            ch = get_next_token();
-            if (ch == ']')
-                return data;
-
-            while (1) {
-                i--;
-                data.push_back(parse_json(depth + 1));
-                if (failed)
-                    return Json();
-
-                ch = get_next_token();
-                if (ch == ']')
-                    break;
-                if (ch != ',')
-                    return fail("expected ',' in list, got " + esc(ch));
-
-                ch = get_next_token();
-                (void)ch;
-            }
-            return data;
-        }
-
-        return fail("expected value, got " + esc(ch));
-    }
-};
-}//namespace {
-
-Json Json::parse(const string &in, string &err, JsonParse strategy) {
-    JsonParser parser { in, 0, err, false, strategy };
-    Json result = parser.parse_json(0);
-
-    // Check for any trailing garbage
-    parser.consume_garbage();
-    if (parser.failed)
-        return Json();
-    if (parser.i != in.size())
-        return parser.fail("unexpected trailing " + esc(in[parser.i]));
-
-    return result;
-}
-
-// Documented in json11.hpp
-vector<Json> Json::parse_multi(const string &in,
-                               std::string::size_type &parser_stop_pos,
-                               string &err,
-                               JsonParse strategy) {
-    JsonParser parser { in, 0, err, false, strategy };
-    parser_stop_pos = 0;
-    vector<Json> json_vec;
-    while (parser.i != in.size() && !parser.failed) {
-        json_vec.push_back(parser.parse_json(0));
-        if (parser.failed)
-            break;
-
-        // Check for another object
-        parser.consume_garbage();
-        if (parser.failed)
-            break;
-        parser_stop_pos = parser.i;
-    }
-    return json_vec;
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Shape-checking
- */
-
-bool Json::has_shape(const shape & types, string & err) const {
-    if (!is_object()) {
-        err = "expected JSON object, got " + dump();
-        return false;
-    }
-
-    for (auto & item : types) {
-        if ((*this)[item.first].type() != item.second) {
-            err = "bad type for " + item.first + " in " + dump();
-            return false;
-        }
-    }
-
-    return true;
-}
-
-} // namespace json11
diff --git a/third_party/json11/json11.hpp b/third_party/json11/json11.hpp
deleted file mode 100644
index 5202ef9323bb79..00000000000000
--- a/third_party/json11/json11.hpp
+++ /dev/null
@@ -1,232 +0,0 @@
-/* json11
- *
- * json11 is a tiny JSON library for C++11, providing JSON parsing and serialization.
- *
- * The core object provided by the library is json11::Json. A Json object represents any JSON
- * value: null, bool, number (int or double), string (std::string), array (std::vector), or
- * object (std::map).
- *
- * Json objects act like values: they can be assigned, copied, moved, compared for equality or
- * order, etc. There are also helper methods Json::dump, to serialize a Json to a string, and
- * Json::parse (static) to parse a std::string as a Json object.
- *
- * Internally, the various types of Json object are represented by the JsonValue class
- * hierarchy.
- *
- * A note on numbers - JSON specifies the syntax of number formatting but not its semantics,
- * so some JSON implementations distinguish between integers and floating-point numbers, while
- * some don't. In json11, we choose the latter. Because some JSON implementations (namely
- * Javascript itself) treat all numbers as the same type, distinguishing the two leads
- * to JSON that will be *silently* changed by a round-trip through those implementations.
- * Dangerous! To avoid that risk, json11 stores all numbers as double internally, but also
- * provides integer helpers.
- *
- * Fortunately, double-precision IEEE754 ('double') can precisely store any integer in the
- * range +/-2^53, which includes every 'int' on most systems. (Timestamps often use int64
- * or long long to avoid the Y2038K problem; a double storing microseconds since some epoch
- * will be exact for +/- 275 years.)
- */
-
-/* Copyright (c) 2013 Dropbox, Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <string>
-#include <vector>
-#include <map>
-#include <memory>
-#include <initializer_list>
-
-#ifdef _MSC_VER
-    #if _MSC_VER <= 1800 // VS 2013
-        #ifndef noexcept
-            #define noexcept throw()
-        #endif
-
-        #ifndef snprintf
-            #define snprintf _snprintf_s
-        #endif
-    #endif
-#endif
-
-namespace json11 {
-
-enum JsonParse {
-    STANDARD, COMMENTS
-};
-
-class JsonValue;
-
-class Json final {
-public:
-    // Types
-    enum Type {
-        NUL, NUMBER, BOOL, STRING, ARRAY, OBJECT
-    };
-
-    // Array and object typedefs
-    typedef std::vector<Json> array;
-    typedef std::map<std::string, Json> object;
-
-    // Constructors for the various types of JSON value.
-    Json() noexcept;                // NUL
-    Json(std::nullptr_t) noexcept;  // NUL
-    Json(double value);             // NUMBER
-    Json(int value);                // NUMBER
-    Json(bool value);               // BOOL
-    Json(const std::string &value); // STRING
-    Json(std::string &&value);      // STRING
-    Json(const char * value);       // STRING
-    Json(const array &values);      // ARRAY
-    Json(array &&values);           // ARRAY
-    Json(const object &values);     // OBJECT
-    Json(object &&values);          // OBJECT
-
-    // Implicit constructor: anything with a to_json() function.
-    template <class T, class = decltype(&T::to_json)>
-    Json(const T & t) : Json(t.to_json()) {}
-
-    // Implicit constructor: map-like objects (std::map, std::unordered_map, etc)
-    template <class M, typename std::enable_if<
-        std::is_constructible<std::string, typename M::key_type>::value
-        && std::is_constructible<Json, typename M::mapped_type>::value,
-            int>::type = 0>
-    Json(const M & m) : Json(object(m.begin(), m.end())) {}
-
-    // Implicit constructor: vector-like objects (std::list, std::vector, std::set, etc)
-    template <class V, typename std::enable_if<
-        std::is_constructible<Json, typename V::value_type>::value,
-            int>::type = 0>
-    Json(const V & v) : Json(array(v.begin(), v.end())) {}
-
-    // This prevents Json(some_pointer) from accidentally producing a bool. Use
-    // Json(bool(some_pointer)) if that behavior is desired.
-    Json(void *) = delete;
-
-    // Accessors
-    Type type() const;
-
-    bool is_null()   const { return type() == NUL; }
-    bool is_number() const { return type() == NUMBER; }
-    bool is_bool()   const { return type() == BOOL; }
-    bool is_string() const { return type() == STRING; }
-    bool is_array()  const { return type() == ARRAY; }
-    bool is_object() const { return type() == OBJECT; }
-
-    // Return the enclosed value if this is a number, 0 otherwise. Note that json11 does not
-    // distinguish between integer and non-integer numbers - number_value() and int_value()
-    // can both be applied to a NUMBER-typed object.
-    double number_value() const;
-    int int_value() const;
-
-    // Return the enclosed value if this is a boolean, false otherwise.
-    bool bool_value() const;
-    // Return the enclosed string if this is a string, "" otherwise.
-    const std::string &string_value() const;
-    // Return the enclosed std::vector if this is an array, or an empty vector otherwise.
-    const array &array_items() const;
-    // Return the enclosed std::map if this is an object, or an empty map otherwise.
-    const object &object_items() const;
-
-    // Return a reference to arr[i] if this is an array, Json() otherwise.
-    const Json & operator[](size_t i) const;
-    // Return a reference to obj[key] if this is an object, Json() otherwise.
-    const Json & operator[](const std::string &key) const;
-
-    // Serialize.
-    void dump(std::string &out) const;
-    std::string dump() const {
-        std::string out;
-        dump(out);
-        return out;
-    }
-
-    // Parse. If parse fails, return Json() and assign an error message to err.
-    static Json parse(const std::string & in,
-                      std::string & err,
-                      JsonParse strategy = JsonParse::STANDARD);
-    static Json parse(const char * in,
-                      std::string & err,
-                      JsonParse strategy = JsonParse::STANDARD) {
-        if (in) {
-            return parse(std::string(in), err, strategy);
-        } else {
-            err = "null input";
-            return nullptr;
-        }
-    }
-    // Parse multiple objects, concatenated or separated by whitespace
-    static std::vector<Json> parse_multi(
-        const std::string & in,
-        std::string::size_type & parser_stop_pos,
-        std::string & err,
-        JsonParse strategy = JsonParse::STANDARD);
-
-    static inline std::vector<Json> parse_multi(
-        const std::string & in,
-        std::string & err,
-        JsonParse strategy = JsonParse::STANDARD) {
-        std::string::size_type parser_stop_pos;
-        return parse_multi(in, parser_stop_pos, err, strategy);
-    }
-
-    bool operator== (const Json &rhs) const;
-    bool operator<  (const Json &rhs) const;
-    bool operator!= (const Json &rhs) const { return !(*this == rhs); }
-    bool operator<= (const Json &rhs) const { return !(rhs < *this); }
-    bool operator>  (const Json &rhs) const { return  (rhs < *this); }
-    bool operator>= (const Json &rhs) const { return !(*this < rhs); }
-
-    /* has_shape(types, err)
-     *
-     * Return true if this is a JSON object and, for each item in types, has a field of
-     * the given type. If not, return false and set err to a descriptive message.
-     */
-    typedef std::initializer_list<std::pair<std::string, Type>> shape;
-    bool has_shape(const shape & types, std::string & err) const;
-
-private:
-    std::shared_ptr<JsonValue> m_ptr;
-};
-
-// Internal class hierarchy - JsonValue objects are not exposed to users of this API.
-class JsonValue {
-protected:
-    friend class Json;
-    friend class JsonInt;
-    friend class JsonDouble;
-    virtual Json::Type type() const = 0;
-    virtual bool equals(const JsonValue * other) const = 0;
-    virtual bool less(const JsonValue * other) const = 0;
-    virtual void dump(std::string &out) const = 0;
-    virtual double number_value() const;
-    virtual int int_value() const;
-    virtual bool bool_value() const;
-    virtual const std::string &string_value() const;
-    virtual const Json::array &array_items() const;
-    virtual const Json &operator[](size_t i) const;
-    virtual const Json::object &object_items() const;
-    virtual const Json &operator[](const std::string &key) const;
-    virtual ~JsonValue() {}
-};
-
-} // namespace json11
diff --git a/tools/jotpluggler/app.cc b/tools/jotpluggler/app.cc
index efc848494ce1f7..22a9f9021c0081 100644
--- a/tools/jotpluggler/app.cc
+++ b/tools/jotpluggler/app.cc
@@ -27,7 +27,7 @@
 #include <unordered_set>
 #include <unistd.h>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/custom_series.cc b/tools/jotpluggler/custom_series.cc
index 568f7e97c310c5..aabf78a0dbc59e 100644
--- a/tools/jotpluggler/custom_series.cc
+++ b/tools/jotpluggler/custom_series.cc
@@ -11,7 +11,7 @@
 #include <stdexcept>
 #include <unistd.h>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/layout_io.cc b/tools/jotpluggler/layout_io.cc
index f984c0f0e8e19b..5c70f7a42add43 100644
--- a/tools/jotpluggler/layout_io.cc
+++ b/tools/jotpluggler/layout_io.cc
@@ -6,7 +6,7 @@
 #include <sstream>
 #include <stdexcept>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/map.cc b/tools/jotpluggler/map.cc
index 8725908ea022ed..fb4e03c9122a34 100644
--- a/tools/jotpluggler/map.cc
+++ b/tools/jotpluggler/map.cc
@@ -25,7 +25,7 @@ extern "C" {
 #include <vector>
 
 #include "common/util.h"
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/sketch_layout.cc b/tools/jotpluggler/sketch_layout.cc
index c44a4e93cdce65..20912801693c08 100644
--- a/tools/jotpluggler/sketch_layout.cc
+++ b/tools/jotpluggler/sketch_layout.cc
@@ -23,7 +23,7 @@
 #include <utility>
 
 #include "common/util.h"
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 #include "tools/replay/logreader.h"
 #include "tools/replay/py_downloader.h"
 
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index e7b8ed6bba5f62..df4fa813cf4571 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -4,7 +4,7 @@
 #include <filesystem>
 #include <regex>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 #include "system/hardware/hw.h"
 #include "tools/replay/py_downloader.h"
 #include "tools/replay/replay.h"
diff --git a/tools/replay/route.h b/tools/replay/route.h
index 119a81152e01c2..50f3eba8545ed4 100644
--- a/tools/replay/route.h
+++ b/tools/replay/route.h
@@ -8,7 +8,7 @@
 #include <thread>
 #include <vector>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 #include "tools/replay/framereader.h"
 #include "tools/replay/logreader.h"
 #include "tools/replay/util.h"

From f6e2dd280df545ca0a313a7e6c600664470cf1b5 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 17:29:04 -0700
Subject: [PATCH 1056/1434] third_party/ is dead (#37998)

* third_party/ is dead

* lil more
---
 .gitattributes           | 8 --------
 .vscode/settings.json    | 1 -
 SConstruct               | 2 --
 openpilot/third_party    | 1 -
 pyproject.toml           | 5 +----
 release/build_release.sh | 7 -------
 scripts/lint/lint.sh     | 2 +-
 7 files changed, 2 insertions(+), 24 deletions(-)
 delete mode 120000 openpilot/third_party

diff --git a/.gitattributes b/.gitattributes
index 41a7367d84ae5d..c908ca8d0792ba 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -13,11 +13,3 @@
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
 system/hardware/tici/updater_weston filter=lfs diff=lfs merge=lfs -text
 system/hardware/tici/updater_magic filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text
-third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
-third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
-third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text
-third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text
diff --git a/.vscode/settings.json b/.vscode/settings.json
index f0731c362d9a5c..811306f399cdac 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -21,7 +21,6 @@
     "common/**",
     "selfdrive/**",
     "system/**",
-    "third_party/**",
     "tools/**",
   ]
 }
diff --git a/SConstruct b/SConstruct
index 6e5f31d921dd63..cd651bf289e303 100644
--- a/SConstruct
+++ b/SConstruct
@@ -111,14 +111,12 @@ env = Environment(
   CPPPATH=[
     "#",
     "#msgq",
-    "#third_party",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
   ],
   LIBPATH=[
     "#common",
     "#msgq_repo",
-    "#third_party",
     "#selfdrive/pandad",
     "#rednose/helpers",
     [x.LIB_DIR for x in pkgs],
diff --git a/openpilot/third_party b/openpilot/third_party
deleted file mode 120000
index d838c05a86286e..00000000000000
--- a/openpilot/third_party
+++ /dev/null
@@ -1 +0,0 @@
-../third_party
\ No newline at end of file
diff --git a/pyproject.toml b/pyproject.toml
index d9788925b25c6d..75240aa05c5076 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -151,7 +151,7 @@ quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
 ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite,ser"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, *.pem, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
+skip = "../tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, *.pem, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
 
 # https://docs.astral.sh/ruff/configuration/#using-pyprojecttoml
 [tool.ruff]
@@ -187,7 +187,6 @@ exclude = [
   "tinygrad_repo",
   "teleoprtc",
   "teleoprtc_repo",
-  "third_party",
   "*.ipynb",
   "generated",
 ]
@@ -197,7 +196,6 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 "selfdrive".msg = "Use openpilot.selfdrive"
 "common".msg = "Use openpilot.common"
 "system".msg = "Use openpilot.system"
-"third_party".msg = "Use openpilot.third_party"
 "tools".msg = "Use openpilot.tools"
 "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
 "unittest".msg = "Use pytest"
@@ -227,7 +225,6 @@ exclude = [
   "tinygrad_repo/",
   "teleoprtc/",
   "teleoprtc_repo/",
-  "third_party/",
 ]
 
 [tool.ty.rules]
diff --git a/release/build_release.sh b/release/build_release.sh
index 1f7c8390561c42..69b46111c8f776 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -74,13 +74,6 @@ find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile release/
 rm -f selfdrive/modeld/models/*.onnx
 
-find third_party/ -name '*x86*' -exec rm -r {} +
-find third_party/ -name '*Darwin*' -exec rm -r {} +
-
-
-# Restore third_party
-git checkout third_party/
-
 # Mark as prebuilt release
 touch prebuilt
 
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index 5581171e8feb65..4b6838449f8176 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -14,7 +14,7 @@ cd $ROOT
 FAILED=0
 
 IGNORED_FILES="uv\.lock|docs\/CARS.md"
-IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
+IGNORED_DIRS="^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
 
 function run() {
   shopt -s extglob

From da62722d07346a7f9fd39d688af00776769273eb Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 18:04:27 -0700
Subject: [PATCH 1057/1434] tighten pandad timings (#37999)

* tighten can timings

* cleanup

* rm that
---
 selfdrive/pandad/pandad.cc                    | 55 +++++++++++++++----
 .../pandad/tests/test_pandad_loopback.py      | 16 ++++--
 system/hardware/tici/hardware.h               |  9 ++-
 3 files changed, 61 insertions(+), 19 deletions(-)

diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index f0f13d32e74a5e..7c91fe361130ec 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -1,6 +1,7 @@
 #include "selfdrive/pandad/pandad.h"
 
 #include <array>
+#include <atomic>
 #include <bitset>
 #include <cassert>
 #include <cerrno>
@@ -23,6 +24,14 @@
 
 ExitHandler do_exit;
 
+struct HwmonState {
+  std::atomic<uint32_t> voltage{0};
+  std::atomic<uint32_t> current{0};
+  std::atomic<bool> initialized{false};
+};
+
+HwmonState hwmon_state;
+
 bool check_connected(Panda *panda) {
   if (!panda->connected()) {
     do_exit = true;
@@ -105,6 +114,26 @@ void can_recv(Panda *panda, PubMaster *pm) {
   }
 }
 
+void hwmon_thread() {
+  util::set_thread_name("pandad_hwmon");
+
+  while (!do_exit) {
+    double read_time = millis_since_boot();
+    uint32_t voltage = Hardware::get_voltage();
+    uint32_t current = Hardware::get_current();
+    read_time = millis_since_boot() - read_time;
+    if (read_time > 50) {
+      LOGW("reading hwmon took %lfms", read_time);
+    }
+
+    hwmon_state.voltage.store(voltage);
+    hwmon_state.current.store(current);
+    hwmon_state.initialized.store(true);
+
+    util::sleep_for(500);
+  }
+}
+
 void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::PandaType hw_type, const health_t &health) {
   ps.setVoltage(health.voltage_pkt);
   ps.setCurrent(health.current_pkt);
@@ -235,6 +264,10 @@ std::optional<bool> send_panda_states(PubMaster *pm, Panda *panda, bool is_onroa
 }
 
 void send_peripheral_state(Panda *panda, PubMaster *pm) {
+  if (!hwmon_state.initialized.load()) {
+    return;
+  }
+
   // build msg
   MessageBuilder msg;
   auto evt = msg.initEvent();
@@ -243,13 +276,8 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
   auto ps = evt.initPeripheralState();
   ps.setPandaType(panda->hw_type);
 
-  double read_time = millis_since_boot();
-  ps.setVoltage(Hardware::get_voltage());
-  ps.setCurrent(Hardware::get_current());
-  read_time = millis_since_boot() - read_time;
-  if (read_time > 50) {
-    LOGW("reading hwmon took %lfms", read_time);
-  }
+  ps.setVoltage(hwmon_state.voltage.load());
+  ps.setCurrent(hwmon_state.current.load());
 
   // fall back to panda's voltage and current measurement
   if (ps.getVoltage() == 0 && ps.getCurrent() == 0) {
@@ -371,18 +399,18 @@ void pandad_run(Panda *panda) {
   const bool spoofing_started = getenv("STARTED") != nullptr;
   const bool fake_send = getenv("FAKESEND") != nullptr;
 
-  // Start the CAN send thread
+  // Start helper threads for event-driven sendcan and slow non-Panda reads.
   std::thread send_thread(can_send_thread, panda, fake_send);
+  std::thread hardware_thread(hwmon_thread);
 
-  Params params;
   RateKeeper rk("pandad", 100);
-  SubMaster sm({"selfdriveState"});
+  SubMaster sm({"selfdriveState", "deviceState"});
   PubMaster pm({"can", "pandaStates", "peripheralState"});
   PandaSafety panda_safety(panda);
   bool engaged = false;
   bool is_onroad = false;
 
-  // Main loop: receive CAN data and process states
+  // Main loop: receive CAN first, then process lower priority panda and peripheral state.
   while (!do_exit && check_connected(panda)) {
     can_recv(panda, &pm);
 
@@ -395,7 +423,9 @@ void pandad_run(Panda *panda) {
     if (rk.frame() % 10 == 0) {
       sm.update(0);
       engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
-      is_onroad = params.getBool("IsOnroad");
+      if (sm.updated("deviceState")) {
+        is_onroad = sm["deviceState"].getDeviceState().getStarted();
+      }
       process_panda_state(panda, &pm, engaged, is_onroad, spoofing_started);
       panda_safety.configureSafetyMode(is_onroad);
     }
@@ -427,6 +457,7 @@ void pandad_run(Panda *panda) {
   }
 
   send_thread.join();
+  hardware_thread.join();
 }
 
 void pandad_main_thread(std::string serial) {
diff --git a/selfdrive/pandad/tests/test_pandad_loopback.py b/selfdrive/pandad/tests/test_pandad_loopback.py
index fd4a99be6284c3..0c0e57b375340e 100644
--- a/selfdrive/pandad/tests/test_pandad_loopback.py
+++ b/selfdrive/pandad/tests/test_pandad_loopback.py
@@ -16,17 +16,24 @@
 from openpilot.selfdrive.test.helpers import with_processes
 
 
+def publish_device_state(pm, started):
+  msg = messaging.new_message('deviceState')
+  msg.deviceState.started = started
+  pm.send('deviceState', msg)
+
 @retry(attempts=3)
 def setup_pandad():
   params = Params()
   params.clear_all()
-  params.put_bool("IsOnroad", False)
 
+  pm = messaging.PubMaster(['deviceState'])
   sm = messaging.SubMaster(['pandaStates'])
+  publish_device_state(pm, False)
   with Timeout(90, "pandad didn't start"):
     while sm.recv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
         any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
-      sm.update(1000)
+      publish_device_state(pm, False)
+      sm.update(100)
 
   # pandad safety setting relies on these params
   cp = car.CarParams.new_message()
@@ -35,14 +42,15 @@ def setup_pandad():
   safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
   cp.safetyConfigs = [safety_config]
 
-  params.put_bool("IsOnroad", True)
   params.put_bool("FirmwareQueryDone", True)
   params.put_bool("ControlsReady", True)
   params.put("CarParams", cp.to_bytes())
 
+  publish_device_state(pm, True)
   with Timeout(90, "pandad didn't set safety mode"):
     while any(ps.safetyModel != car.CarParams.SafetyModel.allOutput for ps in sm['pandaStates']):
-      sm.update(1000)
+      publish_device_state(pm, True)
+      sm.update(100)
 
 def send_random_can_messages(sendcan, count):
   sent_msgs = defaultdict(set)
diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index d59b45efcb96e4..a06ce43b35626d 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -13,8 +13,11 @@
 class HardwareTici : public HardwareNone {
 public:
   static std::string get_name() {
-    std::string model = util::read_file("/sys/firmware/devicetree/base/model");
-    return util::strip(model.substr(std::string("comma ").size()));
+    static const std::string name = []() {
+      std::string model = util::read_file("/sys/firmware/devicetree/base/model");
+      return util::strip(model.substr(std::string("comma ").size()));
+    }();
+    return name;
   }
 
   static cereal::InitData::DeviceType get_device_type() {
@@ -23,7 +26,7 @@ class HardwareTici : public HardwareNone {
       {"tizi", cereal::InitData::DeviceType::TIZI},
       {"mici", cereal::InitData::DeviceType::MICI}
     };
-    auto it = device_map.find(get_name());
+    static const auto it = device_map.find(get_name());
     assert(it != device_map.end());
     return it->second;
   }

From 2691aa8e391d4a1ade6f13f71038e1f6b7377822 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 18:05:15 -0700
Subject: [PATCH 1058/1434] qcomgpsd: take AT lock (#38000)

---
 system/qcomgpsd/qcomgpsd.py | 32 ++++++++++++++++++--------------
 1 file changed, 18 insertions(+), 14 deletions(-)

diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py
index e7a8d55d6c5ea1..7e0d30487206bb 100755
--- a/system/qcomgpsd/qcomgpsd.py
+++ b/system/qcomgpsd/qcomgpsd.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import fcntl
 import os
 import sys
 import signal
@@ -85,23 +86,26 @@ def try_setup_logs(diag, logs):
   return setup_logs(diag, logs)
 
 AT_PORT = "/dev/modem_at0"
+AT_LOCK = "/dev/shm/modem.lock"  # shared with modem.py and LPA
 
 @retry(attempts=5, delay=1.0)
 def at_cmd(cmd: str) -> str:
-  with Serial(AT_PORT, baudrate=115200, timeout=5) as ser:
-    ser.reset_input_buffer()
-    ser.write(f"{cmd}\r".encode())
-    lines = []
-    while True:
-      line = ser.readline()
-      if not line:
-        raise RuntimeError(f"AT command timeout: {cmd}")
-      line = line.decode('utf-8', errors='replace').strip()
-      if line in ("OK", "ERROR") or line.startswith("+CME ERROR"):
-        break
-      if line and line != cmd:
-        lines.append(line)
-  return '\n'.join(lines)
+  with os.fdopen(os.open(AT_LOCK, os.O_CREAT | os.O_RDWR, 0o666), "r+") as lock:
+    fcntl.flock(lock.fileno(), fcntl.LOCK_EX)
+    with Serial(AT_PORT, baudrate=115200, timeout=5) as ser:
+      ser.reset_input_buffer()
+      ser.write(f"{cmd}\r".encode())
+      lines = []
+      while True:
+        line = ser.readline()
+        if not line:
+          raise RuntimeError(f"AT command timeout: {cmd}")
+        line = line.decode('utf-8', errors='replace').strip()
+        if line in ("OK", "ERROR") or line.startswith("+CME ERROR"):
+          break
+        if line and line != cmd:
+          lines.append(line)
+    return '\n'.join(lines)
 
 def gps_enabled() -> bool:
   return "QGPS: 1" in at_cmd("AT+QGPS?")

From bbe5b3864337bb5bb3a55e6478992929ec1fa03b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 18:27:36 -0700
Subject: [PATCH 1059/1434] test_onroad covers this

---
 Jenkinsfile                            |  1 -
 system/qcomgpsd/tests/test_qcomgpsd.py | 51 --------------------------
 2 files changed, 52 deletions(-)
 delete mode 100644 system/qcomgpsd/tests/test_qcomgpsd.py

diff --git a/Jenkinsfile b/Jenkinsfile
index 39175d89e373c7..f0e6b3dcf5ef1e 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -247,7 +247,6 @@ node {
           step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
           step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
           step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
         ])
       },
 
diff --git a/system/qcomgpsd/tests/test_qcomgpsd.py b/system/qcomgpsd/tests/test_qcomgpsd.py
deleted file mode 100644
index f697811ae9b84d..00000000000000
--- a/system/qcomgpsd/tests/test_qcomgpsd.py
+++ /dev/null
@@ -1,51 +0,0 @@
-import os
-import pytest
-import time
-
-import cereal.messaging as messaging
-from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem
-from openpilot.system.manager.process_config import managed_processes
-
-
-@pytest.mark.tici
-class TestQcomgpsd:
-  @classmethod
-  def setup_class(cls):
-    os.system("sudo systemctl restart ModemManager lte")
-    wait_for_modem()
-
-  @classmethod
-  def teardown_class(cls):
-    managed_processes['qcomgpsd'].stop()
-    os.system("sudo systemctl restart ModemManager lte")
-
-  def setup_method(self):
-    self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation'])
-
-  def teardown_method(self):
-    managed_processes['qcomgpsd'].stop()
-
-  def _wait_for_output(self, t):
-    dt = 0.1
-    for _ in range(t*int(1/dt)):
-      self.sm.update(0)
-      if self.sm.updated['qcomGnss']:
-        break
-      time.sleep(dt)
-    return self.sm.updated['qcomGnss']
-
-  def test_startup_time(self):
-    managed_processes['qcomgpsd'].start()
-    assert self._wait_for_output(30)
-    managed_processes['qcomgpsd'].stop()
-
-  def test_turns_off_gnss(self, subtests):
-    for s in (0.1, 1, 5):
-      with subtests.test(runtime=s):
-        managed_processes['qcomgpsd'].start()
-        time.sleep(s)
-        managed_processes['qcomgpsd'].stop()
-
-        wait_for_modem()
-        resp = at_cmd("AT+QGPS?")
-        assert "+QGPS: 0" in resp

From 2a86d0cea5a2863fb1c8eef3a4ad5158150b712a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 19:55:16 -0700
Subject: [PATCH 1060/1434] modem.py: nice human readable state file

---
 system/hardware/tici/modem.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/hardware/tici/modem.py b/system/hardware/tici/modem.py
index 2f994eca5d86d7..ebefd90c0174c4 100755
--- a/system/hardware/tici/modem.py
+++ b/system/hardware/tici/modem.py
@@ -202,7 +202,7 @@ def _is_roaming_allowed(self) -> bool:
   def _publish_state(self, **kwargs):
     self.S.update(kwargs)
     with tempfile.NamedTemporaryFile(mode="w", dir="/dev/shm", delete=False) as f:
-      json.dump(self.S, f)
+      json.dump(self.S, f, indent=2)
     os.chmod(f.name, 0o644)
     os.replace(f.name, STATE_PATH)
 

From 294cb687f6c894ff7af051455f929b9094b6dff1 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 21:20:35 -0700
Subject: [PATCH 1061/1434] fix memory leak from pycapnp 2.2+ (#38001)

---
 cereal/messaging/__init__.py        | 16 ++++++++++------
 selfdrive/pandad/pandad_api_impl.py |  4 +++-
 2 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 2c925b4cc40b1d..47d109453a5732 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -40,12 +40,16 @@ def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event
 
 
 def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
-  args = {
-    'valid': False,
-    'logMonoTime': int(time.monotonic() * 1e9),
-    **kwargs
-  }
-  dat = log.Event.new_message(**args)
+  valid = kwargs.pop('valid', False)
+  log_mono_time = kwargs.pop('logMonoTime', int(time.monotonic() * 1e9))
+
+  # pycapnp 2.2.x's kwargs/from_dict path creates cyclic garbage here. Realtime processes disable GC.
+  dat = log.Event.new_message()
+  dat.valid = valid
+  dat.logMonoTime = log_mono_time
+  for field, value in kwargs.items():
+    setattr(dat, field, value)
+
   if service is not None:
     if size is None:
       dat.init(service)
diff --git a/selfdrive/pandad/pandad_api_impl.py b/selfdrive/pandad/pandad_api_impl.py
index 75a7ba484e15f0..c5b2750d7d8d26 100644
--- a/selfdrive/pandad/pandad_api_impl.py
+++ b/selfdrive/pandad/pandad_api_impl.py
@@ -39,7 +39,9 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
   """
   global _cached_writer_fields
 
-  dat = log.Event.new_message(valid=valid, logMonoTime=int(time.monotonic() * 1e9))
+  dat = log.Event.new_message()
+  dat.valid = valid
+  dat.logMonoTime = int(time.monotonic() * 1e9)
   can_data = dat.init(msgtype, len(can_msgs))
 
   # Cache schema fields on first call

From 534fb19714e37c04e7f881b63978b7985600713d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 22:17:11 -0700
Subject: [PATCH 1062/1434] agnos 18.1.3 (#38002)

---
 launch_env.sh                            |  2 +-
 system/hardware/tici/agnos.json          | 20 ++++++++++----------
 system/hardware/tici/all-partitions.json | 20 ++++++++++----------
 3 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/launch_env.sh b/launch_env.sh
index d836bbbb0b199b..8cc770b357a536 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="18.1.2"
+  export AGNOS_VERSION="18.1.3"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index bb7e0f9bf78382..d3ed1c3847d821 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -56,28 +56,28 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73.img.xz",
-    "hash": "ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73",
-    "hash_raw": "ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8.img.xz",
+    "hash": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
+    "hash_raw": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
     "size": 17487872,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "51f13aaf26d3716ab6032badeb04d28552c77247912554bd6f1c566fe9150094"
+    "ondevice_hash": "edca8bee1531e66953d107eeceeed2dc7b3ca46417e49d55508f94e58bf95db8"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683.img.xz",
-    "hash": "dd35538c93330e53ef7bf1216cb0513ccdcea07ce124a2053c8498ebaa944085",
-    "hash_raw": "3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b.img.xz",
+    "hash": "ed1536d9c565b1e13cf604c93b1e520148aa1f849f9451595c06000bc09d3036",
+    "hash_raw": "51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "5d398f3afde808725c13c7e4a01d8ce12d8733c1c38ee2ac0de7366885c329ff",
+    "ondevice_hash": "4a38555fdebea9818c92c6ee2f85368bbc8ce2eca4b71e5d1e4cdee29f10fedf",
     "alt": {
-      "hash": "3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683.img",
+      "hash": "51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b.img",
       "size": 4718592000
     }
   }
diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json
index 195da351687343..cbd2b0b8ad8138 100644
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@@ -339,28 +339,28 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73.img.xz",
-    "hash": "ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73",
-    "hash_raw": "ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8.img.xz",
+    "hash": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
+    "hash_raw": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
     "size": 17487872,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "51f13aaf26d3716ab6032badeb04d28552c77247912554bd6f1c566fe9150094"
+    "ondevice_hash": "edca8bee1531e66953d107eeceeed2dc7b3ca46417e49d55508f94e58bf95db8"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683.img.xz",
-    "hash": "dd35538c93330e53ef7bf1216cb0513ccdcea07ce124a2053c8498ebaa944085",
-    "hash_raw": "3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b.img.xz",
+    "hash": "ed1536d9c565b1e13cf604c93b1e520148aa1f849f9451595c06000bc09d3036",
+    "hash_raw": "51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "5d398f3afde808725c13c7e4a01d8ce12d8733c1c38ee2ac0de7366885c329ff",
+    "ondevice_hash": "4a38555fdebea9818c92c6ee2f85368bbc8ce2eca4b71e5d1e4cdee29f10fedf",
     "alt": {
-      "hash": "3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683.img",
+      "hash": "51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b.img",
       "size": 4718592000
     }
   },

From 78007e82e077980865e4f1aac29432999bef1818 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Mon, 11 May 2026 01:19:10 -0400
Subject: [PATCH 1063/1434] ui: show default model name (#1837)

* py py py

* sunnylink too

* refactor

* this is not needed anymore

* mici mici

* ugh

* retry CI

* ui: refactor default model name handling

Move DEFAULT_MODEL constant into sunnypilot/models/default_model.py
and remove the one-liner common/model.py. Strip the hardcoded
" (Default)" suffix from the constant value so each UI site appends
it contextually, keeping the raw model name clean for the schema
payload to sunnylink.

Replace the DefaultModel param approach with schema["default_model"]
injected at schema assembly time, eliminating a redundant param write
on every sunnylinkd start. Remove DefaultModel from params_keys.h and
params_metadata.json.

Update update_default_model_name() to do a targeted regex replacement
instead of overwriting the whole file, since the constant now lives in
a module with other code.

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/model.h                                         |  1 -
 selfdrive/ui/sunnypilot/layouts/settings/models.py     |  5 +++--
 selfdrive/ui/sunnypilot/mici/layouts/models.py         |  9 ++++++---
 sunnypilot/models/default_model.py                     | 10 +++++-----
 sunnypilot/models/model_name.py                        |  1 +
 ...sync_car_list_param.py => sync_sunnylink_params.py} |  0
 sunnypilot/sunnylink/athena/sunnylinkd.py              |  4 +++-
 sunnypilot/system/params_migration.py                  |  2 +-
 8 files changed, 19 insertions(+), 13 deletions(-)
 delete mode 100644 common/model.h
 create mode 100644 sunnypilot/models/model_name.py
 rename sunnypilot/selfdrive/car/{sync_car_list_param.py => sync_sunnylink_params.py} (100%)

diff --git a/common/model.h b/common/model.h
deleted file mode 100644
index d134ebd15e529e..00000000000000
--- a/common/model.h
+++ /dev/null
@@ -1 +0,0 @@
-#define DEFAULT_MODEL "POP model (Default)"
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/models.py b/selfdrive/ui/sunnypilot/layouts/settings/models.py
index adbd99f1f3e782..81f1c47db26793 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/models.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/models.py
@@ -10,6 +10,7 @@
 import pyray as rl
 
 from cereal import custom
+from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
 from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.system.ui.lib.multilang import tr
@@ -207,7 +208,7 @@ def _get_folders(self, favorites):
     for bundle in bundles:
       folders.setdefault(next((ov_ride.value for ov_ride in bundle.overrides if ov_ride.key == "folder"), ""), []).append(bundle)
 
-    folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': tr("Default Model"), 'short_name': "Default"})])]
+    folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': f"{DEFAULT_MODEL} (Default)", 'short_name': "Default"})])]
     for folder, folder_bundles in sorted(folders.items(), key=lambda x: max((bundle.index for bundle in x[1]), default=-1), reverse=True):
       folder_bundles.sort(key=lambda bundle: bundle.index, reverse=True)
       name = folder + (f" - (Updated: {m.group(1)})" if folder_bundles and (m := re.search(r'\(([^)]*)\)[^(]*$', folder_bundles[0].displayName)) else "")
@@ -243,7 +244,7 @@ def _update_state(self):
     self._update_lagd_description(live_delay)
     self.model_manager = ui_state.sm["modelManagerSP"]
     self._handle_bundle_download_progress()
-    active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else tr("Default Model")
+    active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else f"{DEFAULT_MODEL} (Default)"
     self.current_model_item.action_item.set_value(active_name)
 
     if not ui_state.is_offroad():
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/models.py b/selfdrive/ui/sunnypilot/mici/layouts/models.py
index 331743416f6714..7f3d9a065b9635 100644
--- a/selfdrive/ui/sunnypilot/mici/layouts/models.py
+++ b/selfdrive/ui/sunnypilot/mici/layouts/models.py
@@ -8,6 +8,7 @@
 import pyray as rl
 
 from cereal import custom
+from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
 from openpilot.selfdrive.ui.ui_state import ui_state, device
@@ -27,7 +28,8 @@ def __init__(self):
     subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
     max_width = int(self._rect.width - 20)
     self.current_model_header = UnifiedLabel(tr("active model"), 48, max_width=max_width, text_color=header_color, font_weight=FontWeight.DISPLAY)
-    self.current_model_text = UnifiedLabel(tr("default model"), 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN, scroll=True)
+    default_text = f"{DEFAULT_MODEL} (Default)".lower()
+    self.current_model_text = UnifiedLabel(default_text, 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN, scroll=True)
 
     self.info_header = UnifiedLabel("cache size", 48, max_width=max_width, text_color=header_color, font_weight=FontWeight.DISPLAY)
     self.info_text = UnifiedLabel("0 mb", 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN)
@@ -98,7 +100,7 @@ def _show_folders(self):
 
     folders = self._get_grouped_bundles(favorites)
     folder_buttons = []
-    default_btn = BigButton(tr("default model"))
+    default_btn = BigButton(f"{DEFAULT_MODEL} (Default)".lower())
     default_btn.set_click_callback(self._select_default)
     folder_buttons.append(default_btn)
 
@@ -168,7 +170,8 @@ def _update_state(self):
     self._was_downloading = is_downloading
 
     self.current_model_info.current_model_header.set_text(tr("active model"))
-    self.current_model_info.current_model_text.set_text(manager.activeBundle.displayName.lower() if manager.activeBundle.index > 0 else tr("default model"))
+    model_text = manager.activeBundle.displayName.lower() if manager.activeBundle.index > 0 else f"{DEFAULT_MODEL} (Default)".lower()
+    self.current_model_info.current_model_text.set_text(model_text)
     self.current_model_info.info_header.set_text(tr("cache size"))
     self.current_model_info.info_text.set_text(f"{ModelsLayout.calculate_cache_size():.2f} MB")
 
diff --git a/sunnypilot/models/default_model.py b/sunnypilot/models/default_model.py
index 0260a3c3bc7912..f0469a46018db3 100755
--- a/sunnypilot/models/default_model.py
+++ b/sunnypilot/models/default_model.py
@@ -4,8 +4,9 @@
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.sunnypilot import get_file_hash
+from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL
 
-DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "common", "model.h")
+DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "model_name.py")
 MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "tests", "model_hash")
 VISION_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_vision.onnx")
 POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_policy.onnx")
@@ -25,8 +26,7 @@ def update_model_hash():
 
 def get_current_default_model_name():
   print("[GET DEFAULT MODEL NAME]")
-  with open(DEFAULT_MODEL_NAME_PATH) as f:
-    name = f.read().split('"')[1]
+  name = DEFAULT_MODEL
   print(f'Current default model name: "{name}"')
 
   return name
@@ -35,7 +35,7 @@ def get_current_default_model_name():
 def update_default_model_name(name: str):
   print("[CHANGE DEFAULT MODEL NAME]")
   with open(DEFAULT_MODEL_NAME_PATH, "w") as f:
-    f.write(f'#define DEFAULT_MODEL "{name}"\n')
+    f.write(f'DEFAULT_MODEL = "{name}"\n')
   print(f'New default model name: "{name}"')
   print("[DONE]")
 
@@ -51,7 +51,7 @@ def update_default_model_name(name: str):
     exit(0)
 
   current_name = get_current_default_model_name()
-  new_name = f"{args.new_name} (Default)"
+  new_name = args.new_name
   if current_name == new_name:
     print(f'Proposed default model name: "{new_name}"')
     confirm = input("Proposed default model name is the same as the current default model name. Confirm? (y/n): ").upper().strip()
diff --git a/sunnypilot/models/model_name.py b/sunnypilot/models/model_name.py
new file mode 100644
index 00000000000000..2d9c5497639fbb
--- /dev/null
+++ b/sunnypilot/models/model_name.py
@@ -0,0 +1 @@
+DEFAULT_MODEL = "POP model"
diff --git a/sunnypilot/selfdrive/car/sync_car_list_param.py b/sunnypilot/selfdrive/car/sync_sunnylink_params.py
similarity index 100%
rename from sunnypilot/selfdrive/car/sync_car_list_param.py
rename to sunnypilot/selfdrive/car/sync_sunnylink_params.py
diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index b896d26ab43eb0..5e7b400d97f24e 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -28,7 +28,8 @@
                        create_connection, WebSocketConnectionClosedException)
 
 import cereal.messaging as messaging
-from openpilot.sunnypilot.selfdrive.car.sync_car_list_param import update_car_list_param
+from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
+from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import update_car_list_param
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
 from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
 from openpilot.sunnypilot.sunnylink.capabilities import generate_capabilities, CAPABILITY_LABELS
@@ -214,6 +215,7 @@ def getParamsMetadata() -> str:
     schema = generate_schema()
     schema["capabilities"] = generate_capabilities()
     schema["capability_labels"] = CAPABILITY_LABELS
+    schema["default_model"] = DEFAULT_MODEL
     raw = json.dumps(schema, separators=(",", ":")).encode("utf-8")
     return base64.b64encode(gzip.compress(raw)).decode("utf-8")
   except Exception:
diff --git a/sunnypilot/system/params_migration.py b/sunnypilot/system/params_migration.py
index 5d5c75ffeb2eca..2f796c174e8451 100644
--- a/sunnypilot/system/params_migration.py
+++ b/sunnypilot/system/params_migration.py
@@ -7,7 +7,7 @@
 import json
 
 from openpilot.common.swaglog import cloudlog
-from openpilot.sunnypilot.selfdrive.car.sync_car_list_param import CAR_LIST_JSON_OUT
+from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import CAR_LIST_JSON_OUT
 
 ONROAD_BRIGHTNESS_MIGRATION_VERSION: str = "1.0"
 ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION: str = "1.0"

From 38ffb324f8c4903aaafafe1daea1192cbb886771 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 11 May 2026 00:25:15 -0700
Subject: [PATCH 1064/1434] radard: filter lead prob (#37879)

* filter lead prob

* rename

* try correcting model bias

* Revert "try correcting model bias"

This reverts commit b5e9b7147e58f200ca2e02ccea8adf88be99e206.

* fast gain slow lose

* cmt

* deb

* rename

* rename

* end
---
 selfdrive/controls/radard.py | 27 ++++++++++++++++++---------
 1 file changed, 18 insertions(+), 9 deletions(-)

diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 98fce1cb26e7b5..6450ff416aa372 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -138,7 +138,7 @@ def prob(c):
     return None
 
 
-def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: float, model_v_ego: float):
+def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: float, model_v_ego: float, lead_prob: float):
   lead_v_rel_pred = lead_msg.v[0] - model_v_ego
   return {
     "dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA),
@@ -149,7 +149,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
     "aLeadK": float(lead_msg.a[0]),
     "aLeadTau": 0.3,
     "fcw": False,
-    "modelProb": float(lead_msg.prob),
+    "modelProb": float(lead_prob),
     "status": True,
     "radar": False,
     "radarTrackId": -1,
@@ -157,18 +157,18 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
 
 
 def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
-             model_v_ego: float, low_speed_override: bool = True) -> dict[str, Any]:
+             model_v_ego: float, lead_prob: float, low_speed_override: bool = True) -> dict[str, Any]:
   # Determine leads, this is where the essential logic happens
-  if len(tracks) > 0 and ready and lead_msg.prob > .5:
+  if len(tracks) > 0 and ready and lead_prob > .5:
     track = match_vision_to_track(v_ego, lead_msg, tracks)
   else:
     track = None
 
   lead_dict = {'status': False}
   if track is not None:
-    lead_dict = track.get_RadarState(lead_msg.prob)
-  elif (track is None) and ready and (lead_msg.prob > .5):
-    lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego)
+    lead_dict = track.get_RadarState(lead_prob)
+  elif (track is None) and ready and (lead_prob > .5):
+    lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego, lead_prob)
 
   if low_speed_override:
     low_speed_tracks = [c for c in tracks.values() if c.potential_low_speed_lead(v_ego)]
@@ -188,6 +188,7 @@ def __init__(self, delay: float = 0.0):
 
     self.tracks: dict[int, Track] = {}
     self.kalman_params = KalmanParams(DT_MDL)
+    self.lead_prob_filters = [FirstOrderFilter(0.0, 0.2, DT_MDL) for _ in range(2)]
 
     self.v_ego = 0.0
     self.v_ego_hist = deque([0.0], maxlen=int(round(delay / DT_MDL))+1)
@@ -239,8 +240,16 @@ def update(self, sm: messaging.SubMaster, rr: car.RadarData):
       model_v_ego = self.v_ego
     leads_v3 = sm['modelV2'].leadsV3
     if len(leads_v3) > 1:
-      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, low_speed_override=True)
-      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, low_speed_override=False)
+      for i in range(2):
+        # Asymmetric filter on lead prob to keep lead when uncertain
+        lead_prob = leads_v3[i].prob
+        if lead_prob > self.lead_prob_filters[i].x:
+          self.lead_prob_filters[i].x = lead_prob
+        else:
+          self.lead_prob_filters[i].update(lead_prob)
+
+      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.lead_prob_filters[0].x, low_speed_override=True)
+      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.lead_prob_filters[1].x, low_speed_override=False)
 
   def publish(self, pm: messaging.PubMaster):
     assert self.radar_state is not None

From 98512fc62bb1f6ba6e6d6ae829a55058b9625f11 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 11 May 2026 09:29:40 -0700
Subject: [PATCH 1065/1434] update release notes

---
 RELEASES.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/RELEASES.md b/RELEASES.md
index 1fbf556fc63cd5..aa2b9fa220419a 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,4 +1,4 @@
-Version 0.11.1 (2026-04-22)
+Version 0.11.1 (2026-05-18)
 ========================
 * New driver monitoring model
 * Improved image processing pipeline for driver camera

From 628e230b63d5d9e7e35493edce23a94cf8a42472 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Mon, 11 May 2026 15:26:04 -0700
Subject: [PATCH 1066/1434] modeld: build single camera (#37990)

* modeld: build single camera

* rm old

* detect release only once

* acados

* rm whitespace change
---
 SConstruct                  |  5 +++--
 selfdrive/modeld/SConscript | 21 +++++++++++++++------
 2 files changed, 18 insertions(+), 8 deletions(-)

diff --git a/SConstruct b/SConstruct
index cd651bf289e303..5ac0987a8b271c 100644
--- a/SConstruct
+++ b/SConstruct
@@ -18,10 +18,11 @@ SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2)
 
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
 AddOption('--verbose', action='store_true', default=False, help='show full build commands')
+release = not os.path.exists(File('#.gitattributes').abspath) # file absent on release branch, see release_files.py
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
+          default=not release,
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
 # Detect platform
@@ -187,7 +188,7 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch', 'acados')
+Export('env', 'arch', 'acados', 'release')
 
 # Setup cache dir
 cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 40b30b8c1bc4d0..ed8ad8075ecff7 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -9,16 +9,25 @@ from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.helpers import CompileConfig
 from tinygrad import Device
+from openpilot.system.hardware import HARDWARE, PC
 
-CAMERA_CONFIGS = [
-  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
-  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
-]
+Import('env', 'arch', 'release')
+
+
+def get_camera_configs():
+  DEVICE_RESOLUTIONS = {
+    "tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+    "tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+    "mici": (_os_fisheye.width, _os_fisheye.height),
+  }
+  if release or PC or 'CI' in os.environ:
+    return list(DEVICE_RESOLUTIONS.values())
+  return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
+
+CAMERA_CONFIGS = get_camera_configs()
 MODELD_CONFIGS = [CompileConfig(cam_w, cam_h, prepare_only, 'driving_')
                   for (cam_w, cam_h), prepare_only in product(CAMERA_CONFIGS, [True, False])]
 DM_WARP_CONFIGS = [CompileConfig(cam_w, cam_h, True, 'dm_') for cam_w, cam_h in CAMERA_CONFIGS]
-
-Import('env', 'arch')
 chunker_file = File("#common/file_chunker.py")
 lenv = env.Clone()
 

From 15267e40828fcd37f5700b608961865c41b7ce17 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 11 May 2026 15:34:05 -0700
Subject: [PATCH 1067/1434] cabana: gitignore generated file

---
 tools/cabana/.gitignore | 1 +
 1 file changed, 1 insertion(+)

diff --git a/tools/cabana/.gitignore b/tools/cabana/.gitignore
index 1ee6c922366d83..927b05e34abf0f 100644
--- a/tools/cabana/.gitignore
+++ b/tools/cabana/.gitignore
@@ -1,5 +1,6 @@
 moc_*
 *.moc
+*.generated.qrc
 
 assets.cc
 

From 02f66e6e84dd8f4b452487dc3f410244ccf2667b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 11 May 2026 15:37:29 -0700
Subject: [PATCH 1068/1434] jp: surface py_downloader errors better

---
 tools/replay/py_downloader.cc | 73 +++++++----------------------------
 1 file changed, 15 insertions(+), 58 deletions(-)

diff --git a/tools/replay/py_downloader.cc b/tools/replay/py_downloader.cc
index 5063d6947c57ed..d27a77e6ee353b 100644
--- a/tools/replay/py_downloader.cc
+++ b/tools/replay/py_downloader.cc
@@ -5,6 +5,7 @@
 #include <mutex>
 #include <sys/wait.h>
 #include <unistd.h>
+#include <vector>
 
 #include "tools/replay/util.h"
 
@@ -13,9 +14,9 @@ namespace {
 static std::mutex handler_mutex;
 static DownloadProgressHandler progress_handler = nullptr;
 
-// Run a Python command and capture stdout. Optionally parse stderr for PROGRESS lines.
+// Run a Python command and capture stdout. Stderr is left attached to the parent.
 // Returns stdout content. If abort is signaled, kills the child process.
-std::string runPython(const std::vector<std::string> &args, std::atomic<bool> *abort = nullptr, bool parse_progress = false) {
+std::string runPython(const std::vector<std::string> &args, std::atomic<bool> *abort = nullptr) {
   // Build argv for execvp
   std::vector<const char *> argv;
   argv.push_back("python3");
@@ -27,22 +28,15 @@ std::string runPython(const std::vector<std::string> &args, std::atomic<bool> *a
   argv.push_back(nullptr);
 
   int stdout_pipe[2];
-  int stderr_pipe[2];
   if (pipe(stdout_pipe) != 0) {
     rWarning("py_downloader: pipe() failed");
     return {};
   }
-  if (pipe(stderr_pipe) != 0) {
-    rWarning("py_downloader: pipe() failed");
-    close(stdout_pipe[0]); close(stdout_pipe[1]);
-    return {};
-  }
 
   pid_t pid = fork();
   if (pid < 0) {
     rWarning("py_downloader: fork() failed");
     close(stdout_pipe[0]); close(stdout_pipe[1]);
-    close(stderr_pipe[0]); close(stderr_pipe[1]);
     return {};
   }
 
@@ -61,11 +55,8 @@ std::string runPython(const std::vector<std::string> &args, std::atomic<bool> *a
     unsetenv("OPENPILOT_PREFIX");
 
     close(stdout_pipe[0]);
-    close(stderr_pipe[0]);
     dup2(stdout_pipe[1], STDOUT_FILENO);
-    dup2(stderr_pipe[1], STDERR_FILENO);
     close(stdout_pipe[1]);
-    close(stderr_pipe[1]);
 
     execvp("python3", const_cast<char *const *>(argv.data()));
     _exit(127);
@@ -73,32 +64,28 @@ std::string runPython(const std::vector<std::string> &args, std::atomic<bool> *a
 
   // Parent process
   close(stdout_pipe[1]);
-  close(stderr_pipe[1]);
 
   std::string stdout_data;
-  std::string stderr_buf;
   char buf[4096];
 
-  // Use select() to read from both pipes
+  // Use select() so abort can interrupt while waiting for Python output.
   fd_set rfds;
-  int max_fd = std::max(stdout_pipe[0], stderr_pipe[0]);
-  bool stdout_open = true, stderr_open = true;
+  bool stdout_open = true;
 
-  while (stdout_open || stderr_open) {
+  while (stdout_open) {
     if (abort && *abort) {
       kill(pid, SIGTERM);
       break;
     }
 
     FD_ZERO(&rfds);
-    if (stdout_open) FD_SET(stdout_pipe[0], &rfds);
-    if (stderr_open) FD_SET(stderr_pipe[0], &rfds);
+    FD_SET(stdout_pipe[0], &rfds);
 
     struct timeval tv = {0, 100000};  // 100ms timeout
-    int ret = select(max_fd + 1, &rfds, nullptr, nullptr, &tv);
+    int ret = select(stdout_pipe[0] + 1, &rfds, nullptr, nullptr, &tv);
     if (ret < 0) break;
 
-    if (stdout_open && FD_ISSET(stdout_pipe[0], &rfds)) {
+    if (FD_ISSET(stdout_pipe[0], &rfds)) {
       ssize_t n = read(stdout_pipe[0], buf, sizeof(buf));
       if (n <= 0) {
         stdout_open = false;
@@ -106,45 +93,15 @@ std::string runPython(const std::vector<std::string> &args, std::atomic<bool> *a
         stdout_data.append(buf, n);
       }
     }
-
-    if (stderr_open && FD_ISSET(stderr_pipe[0], &rfds)) {
-      ssize_t n = read(stderr_pipe[0], buf, sizeof(buf));
-      if (n <= 0) {
-        stderr_open = false;
-      } else {
-        stderr_buf.append(buf, n);
-        // Parse complete lines from stderr
-        size_t pos;
-        while ((pos = stderr_buf.find('\n')) != std::string::npos) {
-          std::string line = stderr_buf.substr(0, pos);
-          stderr_buf.erase(0, pos + 1);
-
-          if (parse_progress && line.rfind("PROGRESS:", 0) == 0) {
-            // Parse "PROGRESS:<cur>:<total>"
-            auto colon1 = line.find(':', 9);
-            if (colon1 != std::string::npos) {
-              try {
-                uint64_t cur = std::stoull(line.c_str() + 9);
-                uint64_t total = std::stoull(line.c_str() + colon1 + 1);
-                std::lock_guard<std::mutex> lk(handler_mutex);
-                if (progress_handler) {
-                  progress_handler(cur, total, true);
-                }
-              } catch (...) {}
-            }
-          } else if (line.rfind("ERROR:", 0) == 0) {
-            rWarning("py_downloader: %s", line.c_str() + 6);
-          }
-        }
-      }
-    }
   }
 
   // Drain remaining pipe data to prevent child from blocking on write
-  for (int fd : {stdout_pipe[0], stderr_pipe[0]}) {
-    while (read(fd, buf, sizeof(buf)) > 0) {}
-    close(fd);
+  while (true) {
+    ssize_t n = read(stdout_pipe[0], buf, sizeof(buf));
+    if (n <= 0) break;
+    stdout_data.append(buf, n);
   }
+  close(stdout_pipe[0]);
 
   int status;
   waitpid(pid, &status, 0);
@@ -192,7 +149,7 @@ std::string download(const std::string &url, bool use_cache, std::atomic<bool> *
   if (!use_cache) {
     args.push_back("--no-cache");
   }
-  return runPython(args, abort, true);
+  return runPython(args, abort);
 }
 
 std::string getRouteFiles(const std::string &route) {

From edc3ce89fa6c932bcfbcd3091675f3e96b5d4b77 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Mon, 11 May 2026 15:57:18 -0700
Subject: [PATCH 1069/1434] Revert "modeld: build single camera" (#38007)

Revert "modeld: build single camera (#37990)"

This reverts commit 628e230b63d5d9e7e35493edce23a94cf8a42472.
---
 SConstruct                  |  5 ++---
 selfdrive/modeld/SConscript | 21 ++++++---------------
 2 files changed, 8 insertions(+), 18 deletions(-)

diff --git a/SConstruct b/SConstruct
index 5ac0987a8b271c..cd651bf289e303 100644
--- a/SConstruct
+++ b/SConstruct
@@ -18,11 +18,10 @@ SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2)
 
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
 AddOption('--verbose', action='store_true', default=False, help='show full build commands')
-release = not os.path.exists(File('#.gitattributes').abspath) # file absent on release branch, see release_files.py
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=not release,
+          default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
 # Detect platform
@@ -188,7 +187,7 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch', 'acados', 'release')
+Export('env', 'arch', 'acados')
 
 # Setup cache dir
 cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index ed8ad8075ecff7..40b30b8c1bc4d0 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -9,25 +9,16 @@ from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.helpers import CompileConfig
 from tinygrad import Device
-from openpilot.system.hardware import HARDWARE, PC
 
-Import('env', 'arch', 'release')
-
-
-def get_camera_configs():
-  DEVICE_RESOLUTIONS = {
-    "tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
-    "tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
-    "mici": (_os_fisheye.width, _os_fisheye.height),
-  }
-  if release or PC or 'CI' in os.environ:
-    return list(DEVICE_RESOLUTIONS.values())
-  return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
-
-CAMERA_CONFIGS = get_camera_configs()
+CAMERA_CONFIGS = [
+  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
+  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
+]
 MODELD_CONFIGS = [CompileConfig(cam_w, cam_h, prepare_only, 'driving_')
                   for (cam_w, cam_h), prepare_only in product(CAMERA_CONFIGS, [True, False])]
 DM_WARP_CONFIGS = [CompileConfig(cam_w, cam_h, True, 'dm_') for cam_w, cam_h in CAMERA_CONFIGS]
+
+Import('env', 'arch')
 chunker_file = File("#common/file_chunker.py")
 lenv = env.Clone()
 

From 4b81dda1b53abd901c8b0cb89406ac62577d4f27 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Mon, 11 May 2026 16:05:30 -0700
Subject: [PATCH 1070/1434] modeld: build single camera (#38008)

* Reapply "modeld: build single camera" (#38007)

This reverts commit edc3ce89fa6c932bcfbcd3091675f3e96b5d4b77.

* don't build same cam twice
---
 SConstruct                  |  5 +++--
 selfdrive/modeld/SConscript | 22 ++++++++++++++++------
 2 files changed, 19 insertions(+), 8 deletions(-)

diff --git a/SConstruct b/SConstruct
index cd651bf289e303..5ac0987a8b271c 100644
--- a/SConstruct
+++ b/SConstruct
@@ -18,10 +18,11 @@ SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2)
 
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
 AddOption('--verbose', action='store_true', default=False, help='show full build commands')
+release = not os.path.exists(File('#.gitattributes').abspath) # file absent on release branch, see release_files.py
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
+          default=not release,
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
 # Detect platform
@@ -187,7 +188,7 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch', 'acados')
+Export('env', 'arch', 'acados', 'release')
 
 # Setup cache dir
 cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 40b30b8c1bc4d0..88e72ea0b9cfd5 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -9,16 +9,26 @@ from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.helpers import CompileConfig
 from tinygrad import Device
+from openpilot.system.hardware import HARDWARE, PC
+
+Import('env', 'arch', 'release')
+
+
+def get_camera_configs():
+  DEVICE_RESOLUTIONS = {
+    "tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+    "tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+    "mici": (_os_fisheye.width, _os_fisheye.height),
+  }
+  if release or PC or 'CI' in os.environ:
+    return set(DEVICE_RESOLUTIONS.values())
+  return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
+
+CAMERA_CONFIGS = get_camera_configs()
 
-CAMERA_CONFIGS = [
-  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
-  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
-]
 MODELD_CONFIGS = [CompileConfig(cam_w, cam_h, prepare_only, 'driving_')
                   for (cam_w, cam_h), prepare_only in product(CAMERA_CONFIGS, [True, False])]
 DM_WARP_CONFIGS = [CompileConfig(cam_w, cam_h, True, 'dm_') for cam_w, cam_h in CAMERA_CONFIGS]
-
-Import('env', 'arch')
 chunker_file = File("#common/file_chunker.py")
 lenv = env.Clone()
 

From bdee8731b71f3ab4d70f36f0a1832c28a37c752f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 11 May 2026 18:55:18 -0700
Subject: [PATCH 1071/1434] pytest config cleanup (#38015)

* no randomly

* lil more
---
 conftest.py    | 22 +---------------------
 pyproject.toml |  5 ++++-
 2 files changed, 5 insertions(+), 22 deletions(-)

diff --git a/conftest.py b/conftest.py
index a01ddc2f6bd8de..f2fd482be9947f 100644
--- a/conftest.py
+++ b/conftest.py
@@ -7,24 +7,16 @@
 from openpilot.system.manager import manager
 from openpilot.system.hardware import TICI, HARDWARE
 
-# TODO: pytest-cpp doesn't support FAIL, and we need to create test translations in sessionstart
-# pending https://github.com/pytest-dev/pytest-cpp/pull/147
+# these are heavy CI-only tests, invoked explicitly in .github/workflows/tests.yaml
 collect_ignore = [
   "selfdrive/test/process_replay/test_processes.py",
   "selfdrive/test/process_replay/test_regen.py",
 ]
 collect_ignore_glob = [
   "selfdrive/debug/*.py",
-  "selfdrive/modeld/*.py",
 ]
 
 
-def pytest_sessionstart(session):
-  # TODO: fix tests and enable test order randomization
-  if session.config.pluginmanager.hasplugin('randomly'):
-    session.config.option.randomly_reorganize = False
-
-
 @pytest.hookimpl(hookwrapper=True, trylast=True)
 def pytest_runtest_call(item):
   # ensure we run as a hook after capturemanager's
@@ -96,15 +88,3 @@ def pytest_collection_modifyitems(config, items):
       class_property_name = item.get_closest_marker('xdist_group_class_property').args[0]
       class_property_value = getattr(item.cls, class_property_name)
       item.add_marker(pytest.mark.xdist_group(class_property_value))
-
-
-@pytest.hookimpl(trylast=True)
-def pytest_configure(config):
-  config_line = "xdist_group_class_property: group tests by a property of the class that contains them"
-  config.addinivalue_line("markers", config_line)
-
-  config_line = "nocapture: don't capture test output"
-  config.addinivalue_line("markers", config_line)
-
-  config_line = "shared_download_cache: share download cache between tests"
-  config.addinivalue_line("markers", config_line)
diff --git a/pyproject.toml b/pyproject.toml
index 75240aa05c5076..c7358b0585f983 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -136,7 +136,10 @@ asyncio_default_fixture_loop_scope = "function"
 markers = [
   "slow: tests that take awhile to run and can be skipped with -m 'not slow'",
   "tici: tests that are only meant to run on the C3/C3X",
-  "skip_tici_setup: mark test to skip tici setup fixture"
+  "skip_tici_setup: mark test to skip tici setup fixture",
+  "nocapture: don't capture test output",
+  "shared_download_cache: share download cache between tests",
+  "xdist_group_class_property: group tests by a property of the class that contains them",
 ]
 testpaths = [
   "common",

From 11c14a138f038937bfff131bfb1ee0cd0aab949e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 11 May 2026 19:40:20 -0700
Subject: [PATCH 1072/1434] speedup test_pandad.py (#38009)

* speedup slowest

* less setup

* rm som reset logging

* simpliy a lil more

* lil more

* down to 36s

* sleeeeeeep

* finishing touches

* oopsie

* ty fix

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 common/params_keys.h                          |   2 -
 selfdrive/pandad/pandad.py                    | 114 +++++-------------
 .../pandad/tests/bootstub.panda_h7_spiv0.bin  | Bin 16860 -> 0 bytes
 selfdrive/pandad/tests/test_pandad.py         |  39 ++----
 system/hardware/tici/hardware.py              |   6 +-
 5 files changed, 47 insertions(+), 114 deletions(-)
 delete mode 100755 selfdrive/pandad/tests/bootstub.panda_h7_spiv0.bin

diff --git a/common/params_keys.h b/common/params_keys.h
index b81a373d0876ef..64d77177846542 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -103,8 +103,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
     {"OpenpilotEnabledToggle", {PERSISTENT, BOOL, "1"}},
     {"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"PandaSomResetTriggered", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
     {"PrimeType", {PERSISTENT, INT}},
     {"RecordAudio", {PERSISTENT, BOOL}},
     {"RecordAudioFeedback", {PERSISTENT, BOOL, "0"}},
diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index df2b4f7ee895a6..fcae0d8b3779a8 100755
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -14,21 +14,11 @@
 
 
 def get_expected_signature() -> bytes:
-  try:
-    fn = os.path.join(FW_PATH, McuType.H7.config.app_fn)
-    return Panda.get_signature_from_firmware(fn)
-  except Exception:
-    cloudlog.exception("Error computing expected signature")
-    return b""
-
-def flash_panda(panda_serial: str) -> Panda:
-  try:
-    panda = Panda(panda_serial)
-  except PandaProtocolMismatch:
-    cloudlog.warning("detected protocol mismatch, reflashing panda")
-    HARDWARE.recover_internal_panda()
-    raise
+  fn = os.path.join(FW_PATH, McuType.H7.config.app_fn)
+  return Panda.get_signature_from_firmware(fn)
 
+def flash_panda(panda_serial: str):
+  panda = Panda(panda_serial)
   fw_signature = get_expected_signature()
   internal_panda = panda.is_internal()
 
@@ -58,7 +48,7 @@ def flash_panda(panda_serial: str) -> Panda:
     cloudlog.info("Version mismatch after flashing, exiting")
     raise AssertionError
 
-  return panda
+  panda.close()
 
 
 def main() -> None:
@@ -74,89 +64,51 @@ def signal_handler(signum, frame):
   do_exit = False
   signal.signal(signal.SIGINT, signal_handler)
 
-  count = 0
-  first_run = True
-  params = Params()
-  no_internal_panda_count = 0
+  # check health for lost heartbeat
+  try:
+    for s in Panda.list():
+      with Panda(s) as p:
+        health = p.health()
+        if p.is_internal() and health["heartbeat_lost"]:
+          Params().put_bool("PandaHeartbeatLost", True)
+          cloudlog.event("heartbeat lost", deviceState=health)
+  except Exception:
+    cloudlog.exception("pandad.uncaught_exception")
 
+  count = 0
   while not do_exit:
     try:
-      count += 1
       cloudlog.event("pandad.flash_and_connect", count=count)
-      params.remove("PandaSignatures")
-
-      # Handle missing internal panda
-      if no_internal_panda_count > 0:
-        if no_internal_panda_count == 3:
-          cloudlog.info("No pandas found, putting internal panda into DFU")
-          HARDWARE.recover_internal_panda()
-        else:
-          cloudlog.info("No pandas found, resetting internal panda")
-          HARDWARE.reset_internal_panda()
-        time.sleep(3)  # wait to come back up
+      if (count % 2) == 0:
+        HARDWARE.reset_internal_panda()
+      else:
+        HARDWARE.recover_internal_panda()
+      count += 1
 
       # Flash all Pandas in DFU mode
-      dfu_serials = PandaDFU.list()
-      if len(dfu_serials) > 0:
-        for serial in dfu_serials:
-          cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
-          PandaDFU(serial).recover()
+      for serial in PandaDFU.list():
+        cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
+        PandaDFU(serial).recover()
         time.sleep(1)
 
       panda_serials = Panda.list()
-      if len(panda_serials) == 0:
-        no_internal_panda_count += 1
-        continue
-
-      cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
-
-      # Flash the first panda
-      panda_serial = panda_serials[0]
-      panda = flash_panda(panda_serial)
-
-      # Ensure internal panda is present if expected
-      if HARDWARE.has_internal_panda() and not panda.is_internal():
-        cloudlog.error("Internal panda is missing, trying again")
-        no_internal_panda_count += 1
-        continue
-      no_internal_panda_count = 0
-
-      # log panda fw version
-      params.put("PandaSignatures", panda.get_signature())
-
-      # check health for lost heartbeat
-      health = panda.health()
-      if health["heartbeat_lost"]:
-        params.put_bool("PandaHeartbeatLost", True)
-        cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
-      if health["som_reset_triggered"]:
-        params.put_bool("PandaSomResetTriggered", True)
-        cloudlog.event("panda.som_reset_triggered", health=health, serial=panda.get_usb_serial())
-
-      if first_run:
-        # reset panda to ensure we're in a good state
-        cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
-        panda.reset(reconnect=True)
-
-      panda.close()
+      if len(panda_serials):
+        assert len(panda_serials) == 1
+        cloudlog.info(f"{len(panda_serials)} panda found, connecting - {panda_serials}")
+        flash_panda(panda_serials[0])
+
+        # run real pandad
+        os.environ['MANAGER_DAEMON'] = 'pandad'
+        process = subprocess.Popen(["./pandad"], cwd=os.path.join(BASEDIR, "selfdrive/pandad"))
+        process.wait()
     # TODO: wrap all panda exceptions in a base panda exception
     except (usb1.USBErrorNoDevice, usb1.USBErrorPipe):
       # a panda was disconnected while setting everything up. let's try again
       cloudlog.exception("Panda USB exception while setting up")
-      continue
     except PandaProtocolMismatch:
       cloudlog.exception("pandad.protocol_mismatch")
-      continue
     except Exception:
       cloudlog.exception("pandad.uncaught_exception")
-      continue
-
-    first_run = False
-
-    # run pandad with all connected serials as arguments
-    os.environ['MANAGER_DAEMON'] = 'pandad'
-    process = subprocess.Popen(["./pandad", panda_serial], cwd=os.path.join(BASEDIR, "selfdrive/pandad"))
-    process.wait()
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/pandad/tests/bootstub.panda_h7_spiv0.bin b/selfdrive/pandad/tests/bootstub.panda_h7_spiv0.bin
deleted file mode 100755
index 5cf2fa45196484fdfeb8ca952ca2ab89ff951e22..0000000000000000000000000000000000000000
GIT binary patch
literal 0
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diff --git a/selfdrive/pandad/tests/test_pandad.py b/selfdrive/pandad/tests/test_pandad.py
index 6a5840d4875b36..9dacd3f5a88d40 100644
--- a/selfdrive/pandad/tests/test_pandad.py
+++ b/selfdrive/pandad/tests/test_pandad.py
@@ -15,12 +15,6 @@
 
 @pytest.mark.tici
 class TestPandad:
-
-  def setup_method(self):
-    # ensure panda is up
-    if len(Panda.list()) == 0:
-      self._run_test(60)
-
   def teardown_method(self):
     managed_processes['pandad'].stop()
 
@@ -30,7 +24,7 @@ def _run_test(self, timeout=30) -> float:
 
     managed_processes['pandad'].start()
     while (time.monotonic() - st) < timeout:
-      sm.update(100)
+      sm.update(10)
       if len(sm['pandaStates']) and sm['pandaStates'][0].pandaType != log.PandaState.PandaType.unknown:
         break
     dt = time.monotonic() - st
@@ -45,10 +39,6 @@ def _go_to_dfu(self):
     HARDWARE.recover_internal_panda()
     assert Panda.wait_for_dfu(None, 10)
 
-  def _assert_no_panda(self):
-    assert not Panda.wait_for_dfu(None, 3)
-    assert not Panda.wait_for_panda(None, 3)
-
   def _flash_bootstub(self, fn):
     self._go_to_dfu()
     pd = PandaDFU(None)
@@ -56,12 +46,11 @@ def _flash_bootstub(self, fn):
       fn = os.path.join(HERE, pd.get_mcu_type().config.bootstub_fn)
     with open(fn, "rb") as f:
       pd.program_bootstub(f.read())
-    pd.reset()
     HARDWARE.reset_internal_panda()
 
   def test_in_dfu(self):
     HARDWARE.recover_internal_panda()
-    self._run_test(60)
+    self._run_test()
 
   def test_in_bootstub(self):
     with Panda() as p:
@@ -69,30 +58,24 @@ def test_in_bootstub(self):
       assert p.bootstub
     self._run_test()
 
-  def test_internal_panda_reset(self):
+  def test_in_reset(self):
     gpio_init(GPIO.STM_RST_N, True)
     gpio_set(GPIO.STM_RST_N, 1)
-    time.sleep(0.5)
-    assert all(not Panda(s).is_internal() for s in Panda.list())
+    assert not Panda.list()
     self._run_test()
 
-    assert any(Panda(s).is_internal() for s in Panda.list())
-
-  def test_old_spi_protocol(self):
-    # flash firmware with old SPI protocol
-    self._flash_bootstub(os.path.join(HERE, "bootstub.panda_h7_spiv0.bin"))
-    self._run_test(45)
-
   def test_release_to_devel_bootstub(self):
+    st = time.monotonic()
     self._flash_bootstub(None)
-    self._run_test(45)
+    print("flash done", time.monotonic() - st)
+    self._run_test()
 
   def test_recover_from_bad_bootstub(self):
     self._go_to_dfu()
     with PandaDFU(None) as pd:
-      pd.program_bootstub(b"\x00"*1024)
-      pd.reset()
+      pd._handle.program(pd.get_mcu_type().config.bootstub_address, b"\x00"*100)
     HARDWARE.reset_internal_panda()
-    self._assert_no_panda()
+    assert not Panda.list()
+    assert not PandaDFU.list()
 
-    self._run_test(60)
+    self._run_test()
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index dcdeb8ac47b831..120ca77107992e 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -414,7 +414,7 @@ def reset_internal_panda(self):
 
     gpio_set(GPIO.STM_RST_N, 1)
     gpio_set(GPIO.STM_BOOT0, 0)
-    time.sleep(1)
+    time.sleep(0.01)
     gpio_set(GPIO.STM_RST_N, 0)
 
   def recover_internal_panda(self):
@@ -423,9 +423,9 @@ def recover_internal_panda(self):
 
     gpio_set(GPIO.STM_RST_N, 1)
     gpio_set(GPIO.STM_BOOT0, 1)
-    time.sleep(0.5)
+    time.sleep(0.01)
     gpio_set(GPIO.STM_RST_N, 0)
-    time.sleep(0.5)
+    time.sleep(0.01)
     gpio_set(GPIO.STM_BOOT0, 0)
 
   def booted(self):

From 3a764c0ae3246b4fd532d275e795b1e993ec5866 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 11 May 2026 20:00:00 -0700
Subject: [PATCH 1073/1434] Params: rm nonblocking funcs (#38016)

* rm nonblocking funcs

* same behavior

* and put_bool

* missing!

* and nonblocking

* cmt
---
 common/params.py                              |  2 +-
 common/params_pyx.pyx                         | 31 ++++++-------
 common/tests/test_params.py                   | 38 +++++++--------
 selfdrive/car/card.py                         | 16 +++----
 selfdrive/debug/car/ecu_addrs.py              |  4 +-
 selfdrive/debug/car/fw_versions.py            |  4 +-
 selfdrive/debug/set_car_params.py             |  2 +-
 selfdrive/debug/uiview.py                     |  2 +-
 selfdrive/locationd/calibrationd.py           |  2 +-
 selfdrive/locationd/lagd.py                   |  2 +-
 selfdrive/locationd/paramsd.py                |  4 +-
 selfdrive/locationd/test/test_calibrationd.py |  2 +-
 selfdrive/locationd/test/test_lagd.py         |  4 +-
 selfdrive/locationd/test/test_paramsd.py      | 10 ++--
 selfdrive/locationd/torqued.py                |  2 +-
 selfdrive/monitoring/dmonitoringd.py          |  2 +-
 selfdrive/pandad/pandad.py                    |  2 +-
 .../pandad/tests/test_pandad_loopback.py      |  6 +--
 selfdrive/selfdrived/alertmanager.py          |  2 +-
 selfdrive/selfdrived/selfdrived.py            |  4 +-
 selfdrive/test/helpers.py                     |  8 ++--
 .../test/process_replay/process_replay.py     |  6 +--
 selfdrive/test/test_onroad.py                 |  2 +-
 selfdrive/test/test_updated.py                |  2 +-
 selfdrive/ui/layouts/onboarding.py            |  8 ++--
 selfdrive/ui/layouts/settings/common.py       |  2 +-
 selfdrive/ui/layouts/settings/developer.py    | 34 +++++++-------
 selfdrive/ui/layouts/settings/device.py       |  6 +--
 selfdrive/ui/layouts/settings/software.py     |  6 +--
 selfdrive/ui/layouts/settings/toggles.py      | 12 ++---
 selfdrive/ui/lib/prime_state.py               |  2 +-
 selfdrive/ui/mici/layouts/home.py             |  2 +-
 selfdrive/ui/mici/layouts/onboarding.py       | 18 ++++----
 .../ui/mici/layouts/settings/developer.py     | 22 ++++-----
 selfdrive/ui/mici/layouts/settings/device.py  | 12 ++---
 .../ui/mici/layouts/settings/firehose.py      |  2 +-
 .../settings/network/network_layout.py        |  2 +-
 .../ui/mici/onroad/driver_camera_dialog.py    |  4 +-
 selfdrive/ui/mici/widgets/button.py           |  6 +--
 selfdrive/ui/onroad/driver_camera_dialog.py   |  4 +-
 selfdrive/ui/onroad/exp_button.py             |  2 +-
 selfdrive/ui/tests/cycle_offroad_alerts.py    |  6 +--
 selfdrive/ui/tests/diff/replay.py             | 18 ++++----
 selfdrive/ui/tests/diff/replay_script.py      | 18 ++++----
 selfdrive/ui/tests/test_feedbackd.py          |  2 +-
 selfdrive/ui/widgets/offroad_alerts.py        |  2 +-
 selfdrive/ui/widgets/ssh_key.py               |  4 +-
 system/athena/athenad.py                      |  6 +--
 system/athena/registration.py                 |  2 +-
 system/athena/tests/test_athenad.py           |  4 +-
 system/athena/tests/test_registration.py      |  2 +-
 system/camerad/snapshot.py                    |  6 +--
 system/hardware/hardwared.py                  | 16 +++----
 system/hardware/power_monitoring.py           |  2 +-
 .../hardware/tests/test_power_monitoring.py   |  2 +-
 system/hardware/tici/tests/test_power_draw.py |  2 +-
 system/loggerd/tests/loggerd_tests_common.py  |  4 +-
 system/loggerd/tests/test_encoder.py          |  2 +-
 system/loggerd/tests/test_loggerd.py          | 10 ++--
 system/manager/helpers.py                     |  4 +-
 system/manager/manager.py                     | 22 ++++-----
 system/manager/process.py                     |  2 +-
 system/manager/process_config.py              |  2 +-
 system/ui/lib/multilang.py                    |  2 +-
 system/ui/widgets/network.py                  |  6 +--
 system/updated/tests/test_base.py             |  2 +-
 system/updated/tests/test_updated.py          |  2 +-
 system/updated/updated.py                     | 46 +++++++++----------
 tools/bodyteleop/web.py                       |  2 +-
 tools/clip/run.py                             |  2 +-
 tools/joystick/joystick_control.py            |  2 +-
 tools/scripts/setup_ssh_keys.py               |  6 +--
 tools/sim/bridge/common.py                    |  2 +-
 tools/sim/lib/simulated_car.py                |  2 +-
 74 files changed, 255 insertions(+), 260 deletions(-)

diff --git a/common/params.py b/common/params.py
index 494617200f2cfc..8af80c04bb20c3 100644
--- a/common/params.py
+++ b/common/params.py
@@ -14,6 +14,6 @@
   if len(sys.argv) == 3:
     val = sys.argv[2]
     print(f"SET: {key} = {val}")
-    params.put(key, val)
+    params.put(key, val, block=True)
   elif len(sys.argv) == 2:
     print(f"GET: {key} = {params.get(key)}")
diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
index 93c550f22a2c8a..c919c85f0c40e8 100644
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -141,33 +141,28 @@ cdef class Params:
     cdef ParamKeyType t = self.p.getKeyType(k)
     return ensure_bytes(self.python2cpp(type(dat), t, dat, key))
 
-  def put(self, key, dat):
+  def put(self, key, dat, bool block = False):
     """
-    Warning: This function blocks until the param is written to disk!
+    Warning: block=True blocks until the param is written to disk!
     In very rare cases this can take over a second, and your code will hang.
-    Use the put_nonblocking, put_bool_nonblocking in time sensitive code, but
-    in general try to avoid writing params as much as possible.
+    Use block=False in time sensitive code, but in general try to avoid
+    writing params as much as possible.
     """
     cdef string k = self.check_key(key)
     cdef string dat_bytes = self._put_cast(key, dat)
     with nogil:
-      self.p.put(k, dat_bytes)
-
-  def put_bool(self, key, bool val):
-    cdef string k = self.check_key(key)
-    with nogil:
-      self.p.putBool(k, val)
-
-  def put_nonblocking(self, key, dat):
-    cdef string k = self.check_key(key)
-    cdef string dat_bytes = self._put_cast(key, dat)
-    with nogil:
-      self.p.putNonBlocking(k, dat_bytes)
+      if block:
+        self.p.put(k, dat_bytes)
+      else:
+        self.p.putNonBlocking(k, dat_bytes)
 
-  def put_bool_nonblocking(self, key, bool val):
+  def put_bool(self, key, bool val, bool block = False):
     cdef string k = self.check_key(key)
     with nogil:
-      self.p.putBoolNonBlocking(k, val)
+      if block:
+        self.p.putBool(k, val)
+      else:
+        self.p.putBoolNonBlocking(k, val)
 
   def remove(self, key):
     cdef string k = self.check_key(key)
diff --git a/common/tests/test_params.py b/common/tests/test_params.py
index 592bf2c4b24cbc..fcb8e5a185d885 100644
--- a/common/tests/test_params.py
+++ b/common/tests/test_params.py
@@ -12,17 +12,17 @@ def setup_method(self):
     self.params = Params()
 
   def test_params_put_and_get(self):
-    self.params.put("DongleId", "cb38263377b873ee")
+    self.params.put("DongleId", "cb38263377b873ee", block=True)
     assert self.params.get("DongleId") == "cb38263377b873ee"
 
   def test_params_non_ascii(self):
     st = b"\xe1\x90\xff"
-    self.params.put("CarParams", st)
+    self.params.put("CarParams", st, block=True)
     assert self.params.get("CarParams") == st
 
   def test_params_get_cleared_manager_start(self):
-    self.params.put("CarParams", b"test")
-    self.params.put("DongleId", "cb38263377b873ee")
+    self.params.put("CarParams", b"test", block=True)
+    self.params.put("DongleId", "cb38263377b873ee", block=True)
     assert self.params.get("CarParams") == b"test"
 
     undefined_param = self.params.get_param_path(uuid.uuid4().hex)
@@ -36,15 +36,15 @@ def test_params_get_cleared_manager_start(self):
     assert not os.path.isfile(undefined_param)
 
   def test_params_two_things(self):
-    self.params.put("DongleId", "bob")
-    self.params.put("AthenadPid", 123)
+    self.params.put("DongleId", "bob", block=True)
+    self.params.put("AthenadPid", 123, block=True)
     assert self.params.get("DongleId") == "bob"
     assert self.params.get("AthenadPid") == 123
 
   def test_params_get_block(self):
     def _delayed_writer():
       time.sleep(0.1)
-      self.params.put("CarParams", b"test")
+      self.params.put("CarParams", b"test", block=True)
     threading.Thread(target=_delayed_writer).start()
     assert self.params.get("CarParams") is None
     assert self.params.get("CarParams", block=True) == b"test"
@@ -57,10 +57,10 @@ def test_params_unknown_key_fails(self):
       self.params.get_bool("swag")
 
     with pytest.raises(UnknownKeyName):
-      self.params.put("swag", "abc")
+      self.params.put("swag", "abc", block=True)
 
     with pytest.raises(UnknownKeyName):
-      self.params.put_bool("swag", True)
+      self.params.put_bool("swag", True, block=True)
 
   def test_remove_not_there(self):
     assert self.params.get("CarParams") is None
@@ -71,23 +71,23 @@ def test_get_bool(self):
     self.params.remove("IsMetric")
     assert not self.params.get_bool("IsMetric")
 
-    self.params.put_bool("IsMetric", True)
+    self.params.put_bool("IsMetric", True, block=True)
     assert self.params.get_bool("IsMetric")
 
-    self.params.put_bool("IsMetric", False)
+    self.params.put_bool("IsMetric", False, block=True)
     assert not self.params.get_bool("IsMetric")
 
-    self.params.put("IsMetric", True)
+    self.params.put("IsMetric", True, block=True)
     assert self.params.get_bool("IsMetric")
 
-    self.params.put("IsMetric", False)
+    self.params.put("IsMetric", False, block=True)
     assert not self.params.get_bool("IsMetric")
 
   def test_put_non_blocking_with_get_block(self):
     q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      Params().put_nonblocking("CarParams", b"test")
+      Params().put("CarParams", b"test")
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"test"
@@ -96,7 +96,7 @@ def test_put_bool_non_blocking_with_get_block(self):
     q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      Params().put_bool_nonblocking("CarParams", True)
+      Params().put_bool("CarParams", True)
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"1"
@@ -123,19 +123,19 @@ def test_params_default_value(self):
 
   def test_params_get_type(self):
     # json
-    self.params.put("ApiCache_FirehoseStats", {"a": 0})
+    self.params.put("ApiCache_FirehoseStats", {"a": 0}, block=True)
     assert self.params.get("ApiCache_FirehoseStats") == {"a": 0}
 
     # int
-    self.params.put("BootCount", 1441)
+    self.params.put("BootCount", 1441, block=True)
     assert self.params.get("BootCount") == 1441
 
     # bool
-    self.params.put("AdbEnabled", True)
+    self.params.put("AdbEnabled", True, block=True)
     assert self.params.get("AdbEnabled")
     assert isinstance(self.params.get("AdbEnabled"), bool)
 
     # time
     now = datetime.datetime.now(datetime.UTC)
-    self.params.put("InstallDate", now)
+    self.params.put("InstallDate", now, block=True)
     assert self.params.get("InstallDate") == now
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index b64210514a62b3..1660881a9ab207 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -33,7 +33,7 @@ def set_obd_multiplexing(obd_multiplexing: bool):
     if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing:
       cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
       params.remove("ObdMultiplexingChanged")
-      params.put_bool("ObdMultiplexingEnabled", obd_multiplexing)
+      params.put_bool("ObdMultiplexingEnabled", obd_multiplexing, block=True)
       params.get_bool("ObdMultiplexingChanged", block=True)
       cloudlog.warning("OBD multiplexing set successfully")
   return set_obd_multiplexing
@@ -102,7 +102,7 @@ def __init__(self, CI=None, RI=None) -> None:
       self.CP = self.CI.CP
 
       # continue onto next fingerprinting step in pandad
-      self.params.put_bool("FirmwareQueryDone", True)
+      self.params.put_bool("FirmwareQueryDone", True, block=True)
     else:
       self.CI, self.CP = CI, CI.CP
       self.RI = RI
@@ -122,7 +122,7 @@ def __init__(self, CI=None, RI=None) -> None:
         with open("/cache/params/SecOCKey") as f:
           user_key = f.readline().strip()
           if len(user_key) == 32:
-            self.params.put("SecOCKey", user_key)
+            self.params.put("SecOCKey", user_key, block=True)
       except Exception:
         pass
 
@@ -140,13 +140,13 @@ def __init__(self, CI=None, RI=None) -> None:
     # Write previous route's CarParams
     prev_cp = self.params.get("CarParamsPersistent")
     if prev_cp is not None:
-      self.params.put("CarParamsPrevRoute", prev_cp)
+      self.params.put("CarParamsPrevRoute", prev_cp, block=True)
 
     # Write CarParams for controls and radard
     cp_bytes = self.CP.to_bytes()
-    self.params.put("CarParams", cp_bytes)
-    self.params.put_nonblocking("CarParamsCache", cp_bytes)
-    self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
+    self.params.put("CarParams", cp_bytes, block=True)
+    self.params.put("CarParamsCache", cp_bytes)
+    self.params.put("CarParamsPersistent", cp_bytes)
 
     self.v_cruise_helper = VCruiseHelper(self.CP)
 
@@ -228,7 +228,7 @@ def controls_update(self, CS: car.CarState, CC: car.CarControl):
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
       self.CI.init(self.CP, *self.can_callbacks)
       # signal pandad to switch to car safety mode
-      self.params.put_bool_nonblocking("ControlsReady", True)
+      self.params.put_bool("ControlsReady", True)
 
     if self.sm.all_alive(['carControl']):
       # send car controls over can
diff --git a/selfdrive/debug/car/ecu_addrs.py b/selfdrive/debug/car/ecu_addrs.py
index 584c930ebfd3f4..f3f06406c076cf 100755
--- a/selfdrive/debug/car/ecu_addrs.py
+++ b/selfdrive/debug/car/ecu_addrs.py
@@ -26,9 +26,9 @@
   # Set up params for pandad
   params = Params()
   params.remove("FirmwareQueryDone")
-  params.put_bool("IsOnroad", False)
+  params.put_bool("IsOnroad", False, block=True)
   time.sleep(0.2)  # thread is 10 Hz
-  params.put_bool("IsOnroad", True)
+  params.put_bool("IsOnroad", True, block=True)
 
   obd_callback(params)(not args.no_obd)
 
diff --git a/selfdrive/debug/car/fw_versions.py b/selfdrive/debug/car/fw_versions.py
index 5fb65e6972dbe9..b04f9cd2a68af1 100755
--- a/selfdrive/debug/car/fw_versions.py
+++ b/selfdrive/debug/car/fw_versions.py
@@ -30,9 +30,9 @@
   # Set up params for pandad
   params = Params()
   params.remove("FirmwareQueryDone")
-  params.put_bool("IsOnroad", False)
+  params.put_bool("IsOnroad", False, block=True)
   time.sleep(0.2)  # thread is 10 Hz
-  params.put_bool("IsOnroad", True)
+  params.put_bool("IsOnroad", True, block=True)
   set_obd_multiplexing = obd_callback(params)
 
   extra: Any = None
diff --git a/selfdrive/debug/set_car_params.py b/selfdrive/debug/set_car_params.py
index aec30b4d74649f..dabb6b706587a7 100755
--- a/selfdrive/debug/set_car_params.py
+++ b/selfdrive/debug/set_car_params.py
@@ -19,4 +19,4 @@
 
   cp_bytes = CP.to_bytes()
   for p in ("CarParams", "CarParamsCache", "CarParamsPersistent"):
-    Params().put(p, cp_bytes)
+    Params().put(p, cp_bytes, block=True)
diff --git a/selfdrive/debug/uiview.py b/selfdrive/debug/uiview.py
index 8e75769a85ec64..e558406b09dc2e 100755
--- a/selfdrive/debug/uiview.py
+++ b/selfdrive/debug/uiview.py
@@ -8,7 +8,7 @@
 
 if __name__ == "__main__":
   CP = car.CarParams(notCar=True, wheelbase=1, steerRatio=10)
-  Params().put("CarParams", CP.to_bytes())
+  Params().put("CarParams", CP.to_bytes(), block=True)
 
   procs = ['camerad', 'ui', 'modeld', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
   for p in procs:
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index 036f5822d25589..4423f39061f02f 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -167,7 +167,7 @@ def update_status(self) -> None:
 
     write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)
     if self.param_put and write_this_cycle:
-      self.params.put_nonblocking("CalibrationParams", self.get_msg(True).to_bytes())
+      self.params.put("CalibrationParams", self.get_msg(True).to_bytes())
 
   def handle_v_ego(self, v_ego: float) -> None:
     self.v_ego = v_ego
diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py
index 6232404c30da9c..e2026908c9e82e 100755
--- a/selfdrive/locationd/lagd.py
+++ b/selfdrive/locationd/lagd.py
@@ -411,4 +411,4 @@ def main():
       pm.send('liveDelay', lag_msg_dat)
 
       if sm.frame % 1200 == 0: # cache every 60 seconds
-        params.put_nonblocking("LiveDelay", lag_msg_dat)
+        params.put("LiveDelay", lag_msg_dat)
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 0489ae417442cc..02d09c506e158c 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -212,7 +212,7 @@ def migrate_cached_vehicle_params_if_needed(params: Params):
     last_parameters_msg.liveParameters.steerRatio = last_parameters_data_old['steerRatio']
     last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_data_old['stiffnessFactor']
     last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_data_old['angleOffsetAverageDeg']
-    params.put("LiveParametersV2", last_parameters_msg.to_bytes())
+    params.put("LiveParametersV2", last_parameters_msg.to_bytes(), block=True)
   except Exception as e:
     cloudlog.error(f"Failed to perform parameter migration: {e}")
     params.remove("LiveParameters")
@@ -290,7 +290,7 @@ def main():
 
       msg_dat = msg.to_bytes()
       if sm.frame % 1200 == 0:  # once a minute
-        params.put_nonblocking("LiveParametersV2", msg_dat)
+        params.put("LiveParametersV2", msg_dat)
 
       pm.send('liveParameters', msg_dat)
 
diff --git a/selfdrive/locationd/test/test_calibrationd.py b/selfdrive/locationd/test/test_calibrationd.py
index df61b6a7c7e3ef..c90ce506abf52b 100644
--- a/selfdrive/locationd/test/test_calibrationd.py
+++ b/selfdrive/locationd/test/test_calibrationd.py
@@ -36,7 +36,7 @@ def test_read_saved_params(self):
     msg.liveCalibration.validBlocks = random.randint(1, 10)
     msg.liveCalibration.rpyCalib = [random.random() for _ in range(3)]
     msg.liveCalibration.height = [random.random() for _ in range(1)]
-    Params().put("CalibrationParams", msg.to_bytes())
+    Params().put("CalibrationParams", msg.to_bytes(), block=True)
     c = Calibrator(param_put=True)
 
     np.testing.assert_allclose(msg.liveCalibration.rpyCalib, c.rpy)
diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py
index 6249e6b04b8fe8..746f7ad4785f24 100644
--- a/selfdrive/locationd/test/test_lagd.py
+++ b/selfdrive/locationd/test/test_lagd.py
@@ -53,8 +53,8 @@ def test_read_saved_params(self):
     msg = messaging.new_message('liveDelay')
     msg.liveDelay.lateralDelayEstimate = random.random()
     msg.liveDelay.validBlocks = random.randint(1, 10)
-    params.put("LiveDelay", msg.to_bytes())
-    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
+    params.put("LiveDelay", msg.to_bytes(), block=True)
+    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
 
     saved_lag_params = retrieve_initial_lag(params, CP)
     assert saved_lag_params is not None
diff --git a/selfdrive/locationd/test/test_paramsd.py b/selfdrive/locationd/test/test_paramsd.py
index dd496b767539f0..1a4d348e945d3b 100644
--- a/selfdrive/locationd/test/test_paramsd.py
+++ b/selfdrive/locationd/test/test_paramsd.py
@@ -27,8 +27,8 @@ def test_read_saved_params(self):
     CP = next(m for m in lr if m.which() == "carParams").carParams
 
     msg = get_random_live_parameters(CP)
-    params.put("LiveParametersV2", msg.to_bytes())
-    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
+    params.put("LiveParametersV2", msg.to_bytes(), block=True)
+    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
 
     migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error
     sr, sf, offset, p_init = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
@@ -46,8 +46,8 @@ def test_read_saved_params_old_format(self):
     CP = next(m for m in lr if m.which() == "carParams").carParams
 
     msg = get_random_live_parameters(CP)
-    params.put("LiveParameters", msg.liveParameters.to_dict())
-    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
+    params.put("LiveParameters", msg.liveParameters.to_dict(), block=True)
+    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
     params.remove("LiveParametersV2")
 
     migrate_cached_vehicle_params_if_needed(params)
@@ -59,7 +59,7 @@ def test_read_saved_params_old_format(self):
 
   def test_read_saved_params_corrupted_old_format(self):
     params = Params()
-    params.put("LiveParameters", {})
+    params.put("LiveParameters", {}, block=True)
     params.remove("LiveParametersV2")
 
     migrate_cached_vehicle_params_if_needed(params)
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 9a2b6c17b16442..16468f7055f3aa 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -268,7 +268,7 @@ def main(demo=False):
     # Cache points every 60 seconds while onroad
     if sm.frame % 240 == 0:
       msg = estimator.get_msg(valid=sm.all_checks(), with_points=True)
-      params.put_nonblocking("LiveTorqueParameters", msg.to_bytes())
+      params.put("LiveTorqueParameters", msg.to_bytes())
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index 415853513ed6c4..c81245a8159786 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -41,7 +41,7 @@ def dmonitoringd_thread():
     if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
      DM.wheelpos_offsetter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
      DM.wheel_on_right == (DM.wheelpos_offsetter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
-      params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
+      params.put_bool("IsRhdDetected", DM.wheel_on_right)
 
 def main():
   dmonitoringd_thread()
diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index fcae0d8b3779a8..2400f8cd6c769d 100755
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -70,7 +70,7 @@ def signal_handler(signum, frame):
       with Panda(s) as p:
         health = p.health()
         if p.is_internal() and health["heartbeat_lost"]:
-          Params().put_bool("PandaHeartbeatLost", True)
+          Params().put_bool("PandaHeartbeatLost", True, block=True)
           cloudlog.event("heartbeat lost", deviceState=health)
   except Exception:
     cloudlog.exception("pandad.uncaught_exception")
diff --git a/selfdrive/pandad/tests/test_pandad_loopback.py b/selfdrive/pandad/tests/test_pandad_loopback.py
index 0c0e57b375340e..bc90f42a839f1c 100644
--- a/selfdrive/pandad/tests/test_pandad_loopback.py
+++ b/selfdrive/pandad/tests/test_pandad_loopback.py
@@ -42,9 +42,9 @@ def setup_pandad():
   safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
   cp.safetyConfigs = [safety_config]
 
-  params.put_bool("FirmwareQueryDone", True)
-  params.put_bool("ControlsReady", True)
-  params.put("CarParams", cp.to_bytes())
+  params.put_bool("FirmwareQueryDone", True, block=True)
+  params.put_bool("ControlsReady", True, block=True)
+  params.put("CarParams", cp.to_bytes(), block=True)
 
   publish_device_state(pm, True)
   with Timeout(90, "pandad didn't set safety mode"):
diff --git a/selfdrive/selfdrived/alertmanager.py b/selfdrive/selfdrived/alertmanager.py
index 385c276a948c95..c166ff591c974e 100644
--- a/selfdrive/selfdrived/alertmanager.py
+++ b/selfdrive/selfdrived/alertmanager.py
@@ -17,7 +17,7 @@ def set_offroad_alert(alert: str, show_alert: bool, extra_text: str | None = Non
   if show_alert:
     a = copy.copy(OFFROAD_ALERTS[alert])
     a['extra'] = extra_text or ''
-    Params().put(alert, a)
+    Params().put(alert, a, block=True)
   else:
     Params().remove(alert)
 
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 52ddb8397c2fd4..37538b6ab28e78 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -190,7 +190,7 @@ def update_events(self, CS):
     if not self.CP.notCar:
       # Block engaging until ignition cycle after max number or time of distractions
       if self.sm['driverMonitoringState'].lockout and not self.dm_lockout_set:
-        self.params.put_bool_nonblocking("DriverTooDistracted", True)
+        self.params.put_bool("DriverTooDistracted", True)
         self.dm_lockout_set = True
       # No entry conditions
       if self.sm['driverMonitoringState'].lockout or self.sm['driverMonitoringState'].alwaysOnLockout:
@@ -425,7 +425,7 @@ def update_events(self, CS):
     if self.CP.openpilotLongitudinalControl:
       if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
         self.personality = (self.personality - 1) % 3
-        self.params.put_nonblocking('LongitudinalPersonality', self.personality)
+        self.params.put('LongitudinalPersonality', self.personality)
         self.events.add(EventName.personalityChanged)
 
   def data_sample(self):
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index 5dfc1c3ec8de77..49a8ec60a3408d 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -18,15 +18,15 @@ def set_params_enabled():
   os.environ['LOGPRINT'] = "debug"
 
   params = Params()
-  params.put("HasAcceptedTerms", terms_version)
-  params.put("CompletedTrainingVersion", training_version)
-  params.put_bool("OpenpilotEnabledToggle", True)
+  params.put("HasAcceptedTerms", terms_version, block=True)
+  params.put("CompletedTrainingVersion", training_version, block=True)
+  params.put_bool("OpenpilotEnabledToggle", True, block=True)
 
   # valid calib
   msg = messaging.new_message('liveCalibration')
   msg.liveCalibration.validBlocks = 20
   msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
-  params.put("CalibrationParams", msg.to_bytes())
+  params.put("CalibrationParams", msg.to_bytes(), block=True)
 
 def release_only(f):
   @wraps(f)
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index a74dfcbb4364b5..1edbc3e2d6b223 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -191,9 +191,9 @@ def _setup_env(self, params_config: dict[str, Any], environ_config: dict[str, An
     params = Params()
     for k, v in params_config.items():
       if isinstance(v, bool):
-        params.put_bool(k, v)
+        params.put_bool(k, v, block=True)
       else:
-        params.put(k, v)
+        params.put(k, v, block=True)
 
     self.environ_config = environ_config
 
@@ -372,7 +372,7 @@ def can_recv(wait_for_one: bool = False) -> list[list[CanData]]:
 
     CP = get_car(can_recv, lambda _msgs: None, lambda obd: None, params.get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params).CP
 
-  params.put("CarParams", CP.to_bytes())
+  params.put("CarParams", CP.to_bytes(), block=True)
 
 
 def card_rcv_callback(msg, cfg, frame):
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index abb6e96069702e..897d11e310c40e 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -119,7 +119,7 @@ def setup_class(cls):
     # setup env
     params = Params()
     params.remove("CurrentRoute")
-    params.put_bool("RecordFront", True)
+    params.put_bool("RecordFront", True, block=True)
     set_params_enabled()
     os.environ['REPLAY'] = '1'
     os.environ['MSGQ_PREALLOC'] = '1'
diff --git a/selfdrive/test/test_updated.py b/selfdrive/test/test_updated.py
index 22fee9bab285b7..e4cc714b87c6a9 100644
--- a/selfdrive/test/test_updated.py
+++ b/selfdrive/test/test_updated.py
@@ -92,7 +92,7 @@ def _get_updated_proc(self):
     return subprocess.Popen(updated_path, env=os.environ)
 
   def _start_updater(self, offroad=True, nosleep=False):
-    self.params.put_bool("IsOffroad", offroad)
+    self.params.put_bool("IsOffroad", offroad, block=True)
     self.updated_proc = self._get_updated_proc()
     if not nosleep:
       time.sleep(1)
diff --git a/selfdrive/ui/layouts/onboarding.py b/selfdrive/ui/layouts/onboarding.py
index 37205b0e26adec..c75abac1a211fc 100644
--- a/selfdrive/ui/layouts/onboarding.py
+++ b/selfdrive/ui/layouts/onboarding.py
@@ -66,7 +66,7 @@ def _handle_mouse_release(self, mouse_pos):
       if self._step == DM_RECORD_STEP:
         yes = rl.check_collision_point_rec(mouse_pos, DM_RECORD_YES_RECT)
         print(f"putting RecordFront to {yes}")
-        ui_state.params.put_bool("RecordFront", yes)
+        ui_state.params.put_bool("RecordFront", yes, block=True)
 
       # Restart training?
       elif self._step == len(self._image_paths) - 1:
@@ -153,7 +153,7 @@ def __init__(self, back_callback=None):
                                  click_callback=self._on_uninstall_clicked)
 
   def _on_uninstall_clicked(self):
-    ui_state.params.put_bool("DoUninstall", True)
+    ui_state.params.put_bool("DoUninstall", True, block=True)
     gui_app.request_close()
 
   def _render(self, _):
@@ -194,13 +194,13 @@ def _on_decline_back(self):
     self._state = OnboardingState.TERMS
 
   def _on_terms_accepted(self):
-    ui_state.params.put("HasAcceptedTerms", terms_version)
+    ui_state.params.put("HasAcceptedTerms", terms_version, block=True)
     self._state = OnboardingState.ONBOARDING
     if self._training_done:
       gui_app.pop_widget()
 
   def _on_completed_training(self):
-    ui_state.params.put("CompletedTrainingVersion", training_version)
+    ui_state.params.put("CompletedTrainingVersion", training_version, block=True)
 
   def _render(self, _):
     if self._training_guide is None:
diff --git a/selfdrive/ui/layouts/settings/common.py b/selfdrive/ui/layouts/settings/common.py
index 13d1c743dffe49..bba8606e6442cc 100644
--- a/selfdrive/ui/layouts/settings/common.py
+++ b/selfdrive/ui/layouts/settings/common.py
@@ -2,4 +2,4 @@
 
 
 def restart_needed_callback(_=None):
-  ui_state.params.put_bool_nonblocking("OnroadCycleRequested", True)
+  ui_state.params.put_bool("OnroadCycleRequested", True)
diff --git a/selfdrive/ui/layouts/settings/developer.py b/selfdrive/ui/layouts/settings/developer.py
index 782f7c2117f2c3..64179093223155 100644
--- a/selfdrive/ui/layouts/settings/developer.py
+++ b/selfdrive/ui/layouts/settings/developer.py
@@ -150,44 +150,44 @@ def _update_toggles(self):
       item.action_item.set_state(self._params.get_bool(key))
 
   def _on_enable_ui_debug(self, state: bool):
-    self._params.put_bool("ShowDebugInfo", state)
+    self._params.put_bool("ShowDebugInfo", state, block=True)
     gui_app.set_show_touches(state)
     gui_app.set_show_fps(state)
 
   def _on_enable_adb(self, state: bool):
-    self._params.put_bool("AdbEnabled", state)
+    self._params.put_bool("AdbEnabled", state, block=True)
 
   def _on_enable_ssh(self, state: bool):
-    self._params.put_bool("SshEnabled", state)
+    self._params.put_bool("SshEnabled", state, block=True)
 
   def _on_joystick_debug_mode(self, state: bool):
-    self._params.put_bool("JoystickDebugMode", state)
-    self._params.put_bool("LongitudinalManeuverMode", False)
+    self._params.put_bool("JoystickDebugMode", state, block=True)
+    self._params.put_bool("LongitudinalManeuverMode", False, block=True)
     self._long_maneuver_toggle.action_item.set_state(False)
-    self._params.put_bool("LateralManeuverMode", False)
+    self._params.put_bool("LateralManeuverMode", False, block=True)
     self._lat_maneuver_toggle.action_item.set_state(False)
 
   def _on_long_maneuver_mode(self, state: bool):
-    self._params.put_bool("LongitudinalManeuverMode", state)
-    self._params.put_bool("JoystickDebugMode", False)
+    self._params.put_bool("LongitudinalManeuverMode", state, block=True)
+    self._params.put_bool("JoystickDebugMode", False, block=True)
     self._joystick_toggle.action_item.set_state(False)
-    self._params.put_bool("LateralManeuverMode", False)
+    self._params.put_bool("LateralManeuverMode", False, block=True)
     self._lat_maneuver_toggle.action_item.set_state(False)
 
   def _on_lat_maneuver_mode(self, state: bool):
-    self._params.put_bool("LateralManeuverMode", state)
-    self._params.put_bool("ExperimentalMode", False)
-    self._params.put_bool("JoystickDebugMode", False)
+    self._params.put_bool("LateralManeuverMode", state, block=True)
+    self._params.put_bool("ExperimentalMode", False, block=True)
+    self._params.put_bool("JoystickDebugMode", False, block=True)
     self._joystick_toggle.action_item.set_state(False)
-    self._params.put_bool("LongitudinalManeuverMode", False)
+    self._params.put_bool("LongitudinalManeuverMode", False, block=True)
     self._long_maneuver_toggle.action_item.set_state(False)
 
   def _on_alpha_long_enabled(self, state: bool):
     if state:
       def confirm_callback(result: DialogResult):
         if result == DialogResult.CONFIRM:
-          self._params.put_bool("AlphaLongitudinalEnabled", True)
-          self._params.put_bool("OnroadCycleRequested", True)
+          self._params.put_bool("AlphaLongitudinalEnabled", True, block=True)
+          self._params.put_bool("OnroadCycleRequested", True, block=True)
           self._update_toggles()
         else:
           self._alpha_long_toggle.action_item.set_state(False)
@@ -200,6 +200,6 @@ def confirm_callback(result: DialogResult):
       gui_app.push_widget(dlg)
 
     else:
-      self._params.put_bool("AlphaLongitudinalEnabled", False)
-      self._params.put_bool("OnroadCycleRequested", True)
+      self._params.put_bool("AlphaLongitudinalEnabled", False, block=True)
+      self._params.put_bool("OnroadCycleRequested", True, block=True)
       self._update_toggles()
diff --git a/selfdrive/ui/layouts/settings/device.py b/selfdrive/ui/layouts/settings/device.py
index 5c3dae869be4bb..845fca3e838078 100644
--- a/selfdrive/ui/layouts/settings/device.py
+++ b/selfdrive/ui/layouts/settings/device.py
@@ -105,7 +105,7 @@ def reset_calibration(result: DialogResult):
       self._params.remove("LiveParameters")
       self._params.remove("LiveParametersV2")
       self._params.remove("LiveDelay")
-      self._params.put_bool("OnroadCycleRequested", True)
+      self._params.put_bool("OnroadCycleRequested", True, block=True)
       self._update_calib_description()
 
     dialog = ConfirmDialog(tr("Are you sure you want to reset calibration?"), tr("Reset"), callback=reset_calibration)
@@ -166,7 +166,7 @@ def _reboot_prompt(self):
 
     def perform_reboot(result: DialogResult):
       if not ui_state.engaged and result == DialogResult.CONFIRM:
-        self._params.put_bool_nonblocking("DoReboot", True)
+        self._params.put_bool("DoReboot", True)
 
     dialog = ConfirmDialog(tr("Are you sure you want to reboot?"), tr("Reboot"), callback=perform_reboot)
     gui_app.push_widget(dialog)
@@ -178,7 +178,7 @@ def _power_off_prompt(self):
 
     def perform_power_off(result: DialogResult):
       if not ui_state.engaged and result == DialogResult.CONFIRM:
-        self._params.put_bool_nonblocking("DoShutdown", True)
+        self._params.put_bool("DoShutdown", True)
 
     dialog = ConfirmDialog(tr("Are you sure you want to power off?"), tr("Power Off"), callback=perform_power_off)
     gui_app.push_widget(dialog)
diff --git a/selfdrive/ui/layouts/settings/software.py b/selfdrive/ui/layouts/settings/software.py
index 83a66ef3bd0484..3bf271052d270d 100644
--- a/selfdrive/ui/layouts/settings/software.py
+++ b/selfdrive/ui/layouts/settings/software.py
@@ -168,7 +168,7 @@ def _on_download_update(self):
   def _on_uninstall(self):
     def handle_uninstall_confirmation(result: DialogResult):
       if result == DialogResult.CONFIRM:
-        ui_state.params.put_bool("DoUninstall", True)
+        ui_state.params.put_bool("DoUninstall", True, block=True)
 
     dialog = ConfirmDialog(tr("Are you sure you want to uninstall?"), tr("Uninstall"), callback=handle_uninstall_confirmation)
     gui_app.push_widget(dialog)
@@ -176,7 +176,7 @@ def handle_uninstall_confirmation(result: DialogResult):
   def _on_install_update(self):
     # Trigger reboot to install update
     self._install_btn.action_item.set_enabled(False)
-    ui_state.params.put_bool("DoReboot", True)
+    ui_state.params.put_bool("DoReboot", True, block=True)
 
   def _on_select_branch(self):
     # Get available branches and order
@@ -195,7 +195,7 @@ def handle_selection(result: DialogResult):
       # Confirmed selection
       if result == DialogResult.CONFIRM and self._branch_dialog is not None and self._branch_dialog.selection:
         selection = self._branch_dialog.selection
-        ui_state.params.put("UpdaterTargetBranch", selection)
+        ui_state.params.put("UpdaterTargetBranch", selection, block=True)
         self._branch_btn.action_item.set_value(selection)
         os.system("pkill -SIGUSR1 -f system.updated.updated")
       self._branch_dialog = None
diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py
index 711392bdb0213f..f342175a82ce1d 100644
--- a/selfdrive/ui/layouts/settings/toggles.py
+++ b/selfdrive/ui/layouts/settings/toggles.py
@@ -217,8 +217,8 @@ def _handle_experimental_mode_toggle(self, state: bool):
     if state and not confirmed:
       def confirm_callback(result: DialogResult):
         if result == DialogResult.CONFIRM:
-          self._params.put_bool("ExperimentalMode", True)
-          self._params.put_bool("ExperimentalModeConfirmed", True)
+          self._params.put_bool("ExperimentalMode", True, block=True)
+          self._params.put_bool("ExperimentalModeConfirmed", True, block=True)
         else:
           self._toggles["ExperimentalMode"].action_item.set_state(False)
         self._update_experimental_mode_icon()
@@ -230,16 +230,16 @@ def confirm_callback(result: DialogResult):
       gui_app.push_widget(dlg)
     else:
       self._update_experimental_mode_icon()
-      self._params.put_bool("ExperimentalMode", state)
+      self._params.put_bool("ExperimentalMode", state, block=True)
 
   def _toggle_callback(self, state: bool, param: str):
     if param == "ExperimentalMode":
       self._handle_experimental_mode_toggle(state)
       return
 
-    self._params.put_bool(param, state)
+    self._params.put_bool(param, state, block=True)
     if self._toggle_defs[param][3]:
-      self._params.put_bool("OnroadCycleRequested", True)
+      self._params.put_bool("OnroadCycleRequested", True, block=True)
 
   def _set_longitudinal_personality(self, button_index: int):
-    self._params.put("LongitudinalPersonality", button_index)
+    self._params.put("LongitudinalPersonality", button_index, block=True)
diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py
index 4292962b3930b1..1aed949bee922b 100644
--- a/selfdrive/ui/lib/prime_state.py
+++ b/selfdrive/ui/lib/prime_state.py
@@ -65,7 +65,7 @@ def set_type(self, prime_type: PrimeType) -> None:
     with self._lock:
       if prime_type != self.prime_type:
         self.prime_type = prime_type
-        self._params.put_nonblocking("PrimeType", int(prime_type))
+        self._params.put("PrimeType", int(prime_type))
         cloudlog.info(f"Prime type updated to {prime_type}")
 
   def _worker_thread(self) -> None:
diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index f9a85a8fba936c..de20b80f4ccf83 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -182,7 +182,7 @@ def _update_state(self):
         # long gating for experimental mode - only allow toggle if longitudinal control is available
         if ui_state.has_longitudinal_control:
           self._experimental_mode = not self._experimental_mode
-          ui_state.params.put("ExperimentalMode", self._experimental_mode)
+          ui_state.params.put("ExperimentalMode", self._experimental_mode, block=True)
         self._mouse_down_t = None
         self._did_long_press = True
 
diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py
index 85731564ea5454..2d6acf60d669ae 100644
--- a/selfdrive/ui/mici/layouts/onboarding.py
+++ b/selfdrive/ui/mici/layouts/onboarding.py
@@ -69,7 +69,7 @@ def __init__(self, continue_callback: Callable[[], None]):
   def show_event(self):
     super().show_event()
     # Get driver monitoring model ready for next step
-    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True)
+    ui_state.params.put_bool("IsDriverViewEnabled", True)
 
 
 class DMBadFaceDetected(NavScroller):
@@ -109,7 +109,7 @@ def __init__(self, continue_callback: Callable[[], None]):
 
     # Disable driver monitoring model when device times out for inactivity
     def inactivity_callback():
-      ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False)
+      ui_state.params.put_bool("IsDriverViewEnabled", False)
 
     device.add_interactive_timeout_callback(inactivity_callback)
 
@@ -121,7 +121,7 @@ def show_event(self):
   def _update_state(self):
     super()._update_state()
     if device.awake and not ui_state.params.get_bool("IsDriverViewEnabled"):
-      ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True)
+      ui_state.params.put_bool("IsDriverViewEnabled", True)
 
     sm = ui_state.sm
     if sm.recv_frame.get("driverMonitoringState", 0) == 0:
@@ -217,11 +217,11 @@ def __init__(self, continue_callback: Callable[[], None]):
     super().__init__()
 
     def on_accept():
-      ui_state.params.put_bool_nonblocking("RecordFront", True)
+      ui_state.params.put_bool("RecordFront", True)
       continue_callback()
 
     def on_decline():
-      ui_state.params.put_bool_nonblocking("RecordFront", False)
+      ui_state.params.put_bool("RecordFront", False)
       continue_callback()
 
     self._accept_button = BigConfirmationCircleButton("allow data uploading", gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64),
@@ -353,7 +353,7 @@ def __init__(self, completed_callback: Callable[[], None]):
     self._training_guide.set_enabled(lambda: self.enabled)  # for nav stack
 
   def _on_uninstall(self):
-    ui_state.params.put_bool("DoUninstall", True)
+    ui_state.params.put_bool("DoUninstall", True, block=True)
 
   def show_event(self):
     super().show_event()
@@ -371,15 +371,15 @@ def completed(self) -> bool:
     return self._accepted_terms and self._training_done
 
   def close(self):
-    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False)
+    ui_state.params.put_bool("IsDriverViewEnabled", False)
     self._completed_callback()
 
   def _on_terms_accepted(self):
-    ui_state.params.put("HasAcceptedTerms", terms_version)
+    ui_state.params.put("HasAcceptedTerms", terms_version, block=True)
     gui_app.push_widget(self._training_guide)
 
   def _on_completed_training(self):
-    ui_state.params.put("CompletedTrainingVersion", training_version)
+    ui_state.params.put("CompletedTrainingVersion", training_version, block=True)
     self.close()
 
   def _render(self, _):
diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/selfdrive/ui/mici/layouts/settings/developer.py
index 6e74473a48554b..2f0250ff5f269e 100644
--- a/selfdrive/ui/mici/layouts/settings/developer.py
+++ b/selfdrive/ui/mici/layouts/settings/developer.py
@@ -162,32 +162,32 @@ def _update_toggles(self):
       item.set_checked(ui_state.params.get_bool(key))
 
   def _on_joystick_debug_mode(self, state: bool):
-    ui_state.params.put_bool("JoystickDebugMode", state)
-    ui_state.params.put_bool("LongitudinalManeuverMode", False)
+    ui_state.params.put_bool("JoystickDebugMode", state, block=True)
+    ui_state.params.put_bool("LongitudinalManeuverMode", False, block=True)
     self._long_maneuver_toggle.set_checked(False)
-    ui_state.params.put_bool("LateralManeuverMode", False)
+    ui_state.params.put_bool("LateralManeuverMode", False, block=True)
     self._lat_maneuver_toggle.set_checked(False)
 
   def _on_long_maneuver_mode(self, state: bool):
-    ui_state.params.put_bool("LongitudinalManeuverMode", state)
-    ui_state.params.put_bool("JoystickDebugMode", False)
+    ui_state.params.put_bool("LongitudinalManeuverMode", state, block=True)
+    ui_state.params.put_bool("JoystickDebugMode", False, block=True)
     self._joystick_toggle.set_checked(False)
-    ui_state.params.put_bool("LateralManeuverMode", False)
+    ui_state.params.put_bool("LateralManeuverMode", False, block=True)
     self._lat_maneuver_toggle.set_checked(False)
     restart_needed_callback()
 
   def _on_lat_maneuver_mode(self, state: bool):
-    ui_state.params.put_bool("LateralManeuverMode", state)
-    ui_state.params.put_bool("ExperimentalMode", False)
-    ui_state.params.put_bool("JoystickDebugMode", False)
+    ui_state.params.put_bool("LateralManeuverMode", state, block=True)
+    ui_state.params.put_bool("ExperimentalMode", False, block=True)
+    ui_state.params.put_bool("JoystickDebugMode", False, block=True)
     self._joystick_toggle.set_checked(False)
-    ui_state.params.put_bool("LongitudinalManeuverMode", False)
+    ui_state.params.put_bool("LongitudinalManeuverMode", False, block=True)
     self._long_maneuver_toggle.set_checked(False)
     restart_needed_callback()
 
   def _on_alpha_long_enabled(self, state: bool):
     def do_toggle(_state: bool):
-      ui_state.params.put_bool("AlphaLongitudinalEnabled", _state)
+      ui_state.params.put_bool("AlphaLongitudinalEnabled", _state, block=True)
       restart_needed_callback()
       self._update_toggles()
 
diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py
index 3c165b5bb35b6b..6b8320f4889d64 100644
--- a/selfdrive/ui/mici/layouts/settings/device.py
+++ b/selfdrive/ui/mici/layouts/settings/device.py
@@ -40,7 +40,7 @@ def show_event(self):
   def hide_event(self):
     super().hide_event()
     device.set_override_interactive_timeout(None)
-    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False)
+    ui_state.params.put_bool("IsDriverViewEnabled", False)
 
 
 class MiciFccModal(NavRawScrollPanel):
@@ -200,7 +200,7 @@ def run():
       if self.get_value() == "download update":
         os.system("pkill -SIGHUP -f system.updated.updated")
       elif self.get_value() == "update now":
-        ui_state.params.put_bool("DoReboot", True)
+        ui_state.params.put_bool("DoReboot", True, block=True)
       else:
         os.system("pkill -SIGUSR1 -f system.updated.updated")
 
@@ -292,10 +292,10 @@ def __init__(self):
     self._fcc_dialog: HtmlModal | None = None
 
     def power_off_callback():
-      ui_state.params.put_bool("DoShutdown", True)
+      ui_state.params.put_bool("DoShutdown", True, block=True)
 
     def reboot_callback():
-      ui_state.params.put_bool("DoReboot", True)
+      ui_state.params.put_bool("DoReboot", True, block=True)
 
     def reset_calibration_callback():
       params = ui_state.params
@@ -304,10 +304,10 @@ def reset_calibration_callback():
       params.remove("LiveParameters")
       params.remove("LiveParametersV2")
       params.remove("LiveDelay")
-      params.put_bool("OnroadCycleRequested", True)
+      params.put_bool("OnroadCycleRequested", True, block=True)
 
     def uninstall_openpilot_callback():
-      ui_state.params.put_bool("DoUninstall", True)
+      ui_state.params.put_bool("DoUninstall", True, block=True)
 
     reset_calibration_btn = EngagedConfirmationButton("reset calibration", "reset", gui_app.texture("icons_mici/settings/device/lkas.png", 122, 64),
                                                       reset_calibration_callback)
diff --git a/selfdrive/ui/mici/layouts/settings/firehose.py b/selfdrive/ui/mici/layouts/settings/firehose.py
index 64cd3a29c93a3e..4c27a909f96ee7 100644
--- a/selfdrive/ui/mici/layouts/settings/firehose.py
+++ b/selfdrive/ui/mici/layouts/settings/firehose.py
@@ -207,7 +207,7 @@ def _fetch_firehose_stats(self):
       if response.status_code == 200:
         data = response.json()
         self._segment_count = data.get("firehose", 0)
-        self._params.put_nonblocking(self.PARAM_KEY, data)
+        self._params.put(self.PARAM_KEY, data)
     except Exception as e:
       cloudlog.error(f"Failed to fetch firehose stats: {e}")
 
diff --git a/selfdrive/ui/mici/layouts/settings/network/network_layout.py b/selfdrive/ui/mici/layouts/settings/network/network_layout.py
index 58b3d0c77dceeb..cb44a09a2b0f8e 100644
--- a/selfdrive/ui/mici/layouts/settings/network/network_layout.py
+++ b/selfdrive/ui/mici/layouts/settings/network/network_layout.py
@@ -117,7 +117,7 @@ def update_apn(apn: str):
       if apn == "":
         ui_state.params.remove("GsmApn")
       else:
-        ui_state.params.put("GsmApn", apn)
+        ui_state.params.put("GsmApn", apn, block=True)
 
     current_apn = ui_state.params.get("GsmApn") or ""
     dlg = BigInputDialog("enter APN...", current_apn, minimum_length=0, confirm_callback=update_apn)
diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
index ddc084c1482887..df5afe2e7c4a7f 100644
--- a/selfdrive/ui/mici/onroad/driver_camera_dialog.py
+++ b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
@@ -41,7 +41,7 @@ def __init__(self):
 
   def show_event(self):
     super().show_event()
-    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True)
+    ui_state.params.put_bool("IsDriverViewEnabled", True)
     self._publish_alert_sound(None)
     device.set_override_interactive_timeout(300)
     ui_state.params.remove("DriverTooDistracted")
@@ -49,7 +49,7 @@ def show_event(self):
 
   def hide_event(self):
     super().hide_event()
-    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False)
+    ui_state.params.put_bool("IsDriverViewEnabled", False)
     device.set_override_interactive_timeout(None)
 
   def _handle_mouse_release(self, _):
diff --git a/selfdrive/ui/mici/widgets/button.py b/selfdrive/ui/mici/widgets/button.py
index 058c351fb639f9..1dceb796916761 100644
--- a/selfdrive/ui/mici/widgets/button.py
+++ b/selfdrive/ui/mici/widgets/button.py
@@ -387,7 +387,7 @@ def _load_value(self):
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
     new_idx = self._options.index(self.value)
-    self._params.put_nonblocking(self._param, new_idx)
+    self._params.put(self._param, new_idx)
 
 
 class BigParamControl(BigToggle):
@@ -399,7 +399,7 @@ def __init__(self, text: str, param: str, toggle_callback: Callable | None = Non
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
-    self.params.put_bool(self.param, self._checked)
+    self.params.put_bool(self.param, self._checked, block=True)
 
   def refresh(self):
     self.set_checked(self.params.get_bool(self.param, False))
@@ -416,7 +416,7 @@ def __init__(self, icon: rl.Texture, param: str, toggle_callback: Callable | Non
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
-    self.params.put_bool(self._param, self._checked)
+    self.params.put_bool(self._param, self._checked, block=True)
 
   def refresh(self):
     self.set_checked(self.params.get_bool(self._param, False))
diff --git a/selfdrive/ui/onroad/driver_camera_dialog.py b/selfdrive/ui/onroad/driver_camera_dialog.py
index e66e04b8241275..7e07e44210ba22 100644
--- a/selfdrive/ui/onroad/driver_camera_dialog.py
+++ b/selfdrive/ui/onroad/driver_camera_dialog.py
@@ -15,11 +15,11 @@ def __init__(self):
     self.driver_state_renderer = DriverStateRenderer()
     # TODO: this can grow unbounded, should be given some thought
     device.add_interactive_timeout_callback(gui_app.pop_widget)
-    ui_state.params.put_bool("IsDriverViewEnabled", True)
+    ui_state.params.put_bool("IsDriverViewEnabled", True, block=True)
 
   def hide_event(self):
     super().hide_event()
-    ui_state.params.put_bool("IsDriverViewEnabled", False)
+    ui_state.params.put_bool("IsDriverViewEnabled", False, block=True)
     self.close()
 
   def _handle_mouse_release(self, _):
diff --git a/selfdrive/ui/onroad/exp_button.py b/selfdrive/ui/onroad/exp_button.py
index ff0bad7479ffc1..9a92ebc3c358a1 100644
--- a/selfdrive/ui/onroad/exp_button.py
+++ b/selfdrive/ui/onroad/exp_button.py
@@ -36,7 +36,7 @@ def _handle_mouse_release(self, _):
     super()._handle_mouse_release(_)
     if self._is_toggle_allowed():
       new_mode = not self._experimental_mode
-      self._params.put_bool_nonblocking("ExperimentalMode", new_mode)
+      self._params.put_bool("ExperimentalMode", new_mode)
 
       # Hold new state temporarily
       self._held_mode = new_mode
diff --git a/selfdrive/ui/tests/cycle_offroad_alerts.py b/selfdrive/ui/tests/cycle_offroad_alerts.py
index b577b74b00130e..fcb4a72c77e8a3 100755
--- a/selfdrive/ui/tests/cycle_offroad_alerts.py
+++ b/selfdrive/ui/tests/cycle_offroad_alerts.py
@@ -18,11 +18,11 @@
   t = 10 if len(sys.argv) < 2 else int(sys.argv[1])
   while True:
     print("setting alert update")
-    params.put_bool("UpdateAvailable", True)
-    params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR))
+    params.put_bool("UpdateAvailable", True, block=True)
+    params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR), block=True)
 
     time.sleep(t)
-    params.put_bool("UpdateAvailable", False)
+    params.put_bool("UpdateAvailable", False, block=True)
 
     # cycle through normal alerts
     for a in offroad_alerts:
diff --git a/selfdrive/ui/tests/diff/replay.py b/selfdrive/ui/tests/diff/replay.py
index b38026048dd0c4..25920b67fb0603 100755
--- a/selfdrive/ui/tests/diff/replay.py
+++ b/selfdrive/ui/tests/diff/replay.py
@@ -24,17 +24,17 @@
 
 def setup_state():
   params = Params()
-  params.put("HasAcceptedTerms", terms_version)
-  params.put("CompletedTrainingVersion", training_version)
-  params.put("DongleId", "test123456789")
+  params.put("HasAcceptedTerms", terms_version, block=True)
+  params.put("CompletedTrainingVersion", training_version, block=True)
+  params.put("DongleId", "test123456789", block=True)
   # Combined description for layouts that still use it (BIG home, settings/software)
-  params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30")
-  params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR))
+  params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30", block=True)
+  params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR), block=True)
   # Params for mici home
-  params.put("Version", "0.10.1")
-  params.put("GitBranch", "test-branch")
-  params.put("GitCommit", "abc12340ff9131237ba23a1d0fbd8edf9c80e87")
-  params.put("GitCommitDate", "'1732924800 2024-11-30 00:00:00 +0000'")
+  params.put("Version", "0.10.1", block=True)
+  params.put("GitBranch", "test-branch", block=True)
+  params.put("GitCommit", "abc12340ff9131237ba23a1d0fbd8edf9c80e87", block=True)
+  params.put("GitCommitDate", "'1732924800 2024-11-30 00:00:00 +0000'", block=True)
 
   # Patch Api.get_token to return a static token so the pairing QR code is deterministic across runs
   Api.get_token = lambda self, payload_extra=None, expiry_hours=0: "test_token"
diff --git a/selfdrive/ui/tests/diff/replay_script.py b/selfdrive/ui/tests/diff/replay_script.py
index c53d2f116bf76a..dce1c12dc464f6 100644
--- a/selfdrive/ui/tests/diff/replay_script.py
+++ b/selfdrive/ui/tests/diff/replay_script.py
@@ -126,12 +126,12 @@ def setup_offroad_alerts() -> None:
 
 def setup_update_available(available: bool = True) -> None:
   params = Params()
-  params.put_bool("UpdateAvailable", available)
-  params.put("UpdaterAvailableBranches", ",".join(["test-branch", "test-branch-2", BRANCH_NAME]))
+  params.put_bool("UpdateAvailable", available, block=True)
+  params.put("UpdaterAvailableBranches", ",".join(["test-branch", "test-branch-2", BRANCH_NAME]), block=True)
   if available:
-    params.put("UpdaterNewDescription", f"0.10.2 / {BRANCH_NAME} / 0a1b2c3 / Jan 01")
-    params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR))
-    params.put("UpdaterTargetBranch", BRANCH_NAME)
+    params.put("UpdaterNewDescription", f"0.10.2 / {BRANCH_NAME} / 0a1b2c3 / Jan 01", block=True)
+    params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR), block=True)
+    params.put("UpdaterTargetBranch", BRANCH_NAME, block=True)
   else:
     params.remove("UpdaterNewDescription")
     params.remove("UpdaterNewReleaseNotes")
@@ -144,22 +144,22 @@ def setup_calibration_params() -> None:
   calib = messaging.new_message('liveCalibration')
   calib.liveCalibration.calStatus = log.LiveCalibrationData.Status.calibrated
   calib.liveCalibration.rpyCalib = [0.0, math.radians(2.5), math.radians(-1.2)]
-  params.put("CalibrationParams", calib.to_bytes())
+  params.put("CalibrationParams", calib.to_bytes(), block=True)
   # live delay
   delay = messaging.new_message('liveDelay')
   delay.liveDelay.calPerc = 75
-  params.put("LiveDelay", delay.to_bytes())
+  params.put("LiveDelay", delay.to_bytes(), block=True)
   # live torque parameters
   torque = messaging.new_message('liveTorqueParameters')
   torque.liveTorqueParameters.useParams = True
   torque.liveTorqueParameters.calPerc = 60
-  params.put("LiveTorqueParameters", torque.to_bytes())
+  params.put("LiveTorqueParameters", torque.to_bytes(), block=True)
 
 
 def setup_developer_params() -> None:
   CP = car.CarParams()
   CP.alphaLongitudinalAvailable = True
-  Params().put("CarParamsPersistent", CP.to_bytes())
+  Params().put("CarParamsPersistent", CP.to_bytes(), block=True)
 
 
 # --- Send functions ---
diff --git a/selfdrive/ui/tests/test_feedbackd.py b/selfdrive/ui/tests/test_feedbackd.py
index 6b7ec448632ded..0f7148de04ea4f 100644
--- a/selfdrive/ui/tests/test_feedbackd.py
+++ b/selfdrive/ui/tests/test_feedbackd.py
@@ -27,7 +27,7 @@ def _send_audio_data(self, count: int = 5):
 
   @pytest.mark.parametrize("record_feedback", [False, True])
   def test_audio_feedback(self, record_feedback):
-    Params().put_bool("RecordAudioFeedback", record_feedback)
+    Params().put_bool("RecordAudioFeedback", record_feedback, block=True)
 
     managed_processes["feedbackd"].start()
     assert self.pm.wait_for_readers_to_update('carState', timeout=5)
diff --git a/selfdrive/ui/widgets/offroad_alerts.py b/selfdrive/ui/widgets/offroad_alerts.py
index 110ca714a9d82e..b86e827664ca6e 100644
--- a/selfdrive/ui/widgets/offroad_alerts.py
+++ b/selfdrive/ui/widgets/offroad_alerts.py
@@ -92,7 +92,7 @@ def __init__(self, has_reboot_btn: bool = False):
     self.dismiss_callback: Callable | None = None
 
     def snooze_callback():
-      self.params.put_bool("SnoozeUpdate", True)
+      self.params.put_bool("SnoozeUpdate", True, block=True)
       if self.dismiss_callback:
         self.dismiss_callback()
 
diff --git a/selfdrive/ui/widgets/ssh_key.py b/selfdrive/ui/widgets/ssh_key.py
index b3ff5c1711b52d..aa7cb91b1f0107 100644
--- a/selfdrive/ui/widgets/ssh_key.py
+++ b/selfdrive/ui/widgets/ssh_key.py
@@ -59,8 +59,8 @@ def _fetch_thread(self, username: str):
       if not keys:
         raise requests.exceptions.HTTPError("No SSH keys found")
 
-      self._params.put("GithubUsername", username)
-      self._params.put("GithubSshKeys", keys)
+      self._params.put("GithubUsername", username, block=True)
+      self._params.put("GithubSshKeys", keys, block=True)
     except requests.exceptions.Timeout:
       self._error = tr("Request timed out")
     except Exception:
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index b52ef21ba63702..de09c2da7637ef 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -161,7 +161,7 @@ def cache(upload_queue: Queue[UploadItem]) -> None:
     try:
       queue: list[UploadItem | None] = list(upload_queue.queue)
       items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
-      Params().put("AthenadUploadQueue", items)
+      Params().put("AthenadUploadQueue", items, block=True)
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
 
@@ -477,7 +477,7 @@ def setRouteViewed(route: str) -> dict[str, int | str]:
   # remove duplicates
   routes = list(dict.fromkeys(routes))
 
-  params.put("AthenadRecentlyViewedRoutes", ",".join(routes[-10:]))
+  params.put("AthenadRecentlyViewedRoutes", ",".join(routes[-10:]), block=True)
   return {"success": 1}
 
 
@@ -745,7 +745,7 @@ def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
         recv_queue.put_nowait(data)
       elif opcode == ABNF.OPCODE_PING:
         last_ping = int(time.monotonic() * 1e9)
-        Params().put("LastAthenaPingTime", last_ping)
+        Params().put("LastAthenaPingTime", last_ping, block=True)
     except WebSocketTimeoutException:
       ns_since_last_ping = int(time.monotonic() * 1e9) - last_ping
       if ns_since_last_ping > RECONNECT_TIMEOUT_S * 1e9:
diff --git a/system/athena/registration.py b/system/athena/registration.py
index 405b2423f26d08..ecc102edf9202f 100755
--- a/system/athena/registration.py
+++ b/system/athena/registration.py
@@ -95,7 +95,7 @@ def register(show_spinner=False) -> str | None:
       spinner.close()
 
   if dongle_id:
-    params.put("DongleId", dongle_id)
+    params.put("DongleId", dongle_id, block=True)
     set_offroad_alert("Offroad_UnregisteredHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
   return dongle_id
 
diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py
index 5b3e0b41f48bdd..b0c20a26a92e66 100644
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -73,8 +73,8 @@ def setup_method(self):
 
     self.params = Params()
     for k, v in self.default_params.items():
-      self.params.put(k, v)
-    self.params.put_bool("GsmMetered", True)
+      self.params.put(k, v, block=True)
+    self.params.put_bool("GsmMetered", True, block=True)
 
     athenad.upload_queue = queue.PriorityQueue()
     athenad.cur_upload_items.clear()
diff --git a/system/athena/tests/test_registration.py b/system/athena/tests/test_registration.py
index c20722659abaf5..f5d900d4db6e4d 100644
--- a/system/athena/tests/test_registration.py
+++ b/system/athena/tests/test_registration.py
@@ -37,7 +37,7 @@ def test_valid_cache(self, mocker):
     dongle = "DONGLE_ID_123"
     m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True)
     for persist, params in [(True, True), (True, False), (False, True)]:
-      self.params.put("DongleId", dongle if params else "")
+      self.params.put("DongleId", dongle if params else "", block=True)
       with open(self.dongle_id, "w") as f:
         f.write(dongle if persist else "")
       assert register() == dongle
diff --git a/system/camerad/snapshot.py b/system/camerad/snapshot.py
index 035a4acdcf4c09..ec6cbc8ad3fd5c 100755
--- a/system/camerad/snapshot.py
+++ b/system/camerad/snapshot.py
@@ -87,7 +87,7 @@ def snapshot():
     return None, None
 
   front_camera_allowed = params.get_bool("RecordFront")
-  params.put_bool("IsTakingSnapshot", True)
+  params.put_bool("IsTakingSnapshot", True, block=True)
   set_offroad_alert("Offroad_IsTakingSnapshot", True)
   time.sleep(2.0)  # Give hardwared time to read the param, or if just started give camerad time to start
 
@@ -95,7 +95,7 @@ def snapshot():
   try:
     subprocess.check_call(["pgrep", "camerad"])
     print("Camerad already running")
-    params.put_bool("IsTakingSnapshot", False)
+    params.put_bool("IsTakingSnapshot", False, block=True)
     params.remove("Offroad_IsTakingSnapshot")
     return None, None
   except subprocess.CalledProcessError:
@@ -111,7 +111,7 @@ def snapshot():
     rear, front = get_snapshots(frame, front_frame)
   finally:
     managed_processes['camerad'].stop()
-    params.put_bool("IsTakingSnapshot", False)
+    params.put_bool("IsTakingSnapshot", False, block=True)
     set_offroad_alert("Offroad_IsTakingSnapshot", False)
 
   if not front_camera_allowed:
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index bcf9f2ec0b9bf9..5db73403e11f98 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -206,7 +206,7 @@ def hardware_thread(end_event, hw_queue) -> None:
 
     # handle requests to cycle system started state
     if params.get_bool("OnroadCycleRequested"):
-      params.put_bool("OnroadCycleRequested", False)
+      params.put_bool("OnroadCycleRequested", False, block=True)
       offroad_cycle_count = sm.frame
     onroad_conditions["not_onroad_cycle"] = (sm.frame - offroad_cycle_count) >= ONROAD_CYCLE_TIME * SERVICE_LIST['pandaStates'].frequency
 
@@ -324,13 +324,13 @@ def hardware_thread(end_event, hw_queue) -> None:
       should_start = should_start and all(startup_conditions.values())
 
     if should_start != should_start_prev or (count == 0):
-      params.put_bool("IsEngaged", False)
+      params.put_bool("IsEngaged", False, block=True)
       engaged_prev = False
 
     if sm.updated['selfdriveState']:
       engaged = sm['selfdriveState'].enabled
       if engaged != engaged_prev:
-        params.put_bool("IsEngaged", engaged)
+        params.put_bool("IsEngaged", engaged, block=True)
         engaged_prev = engaged
 
       try:
@@ -380,7 +380,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     # Check if we need to shut down
     if power_monitor.should_shutdown(onroad_conditions["ignition"], in_car, off_ts, started_seen):
       cloudlog.warning(f"shutting device down, offroad since {off_ts}")
-      params.put_bool("DoShutdown", True)
+      params.put_bool("DoShutdown", True, block=True)
 
     msg.deviceState.started = started_ts is not None
     msg.deviceState.startedMonoTime = int(1e9*(started_ts or 0))
@@ -426,11 +426,11 @@ def hardware_thread(end_event, hw_queue) -> None:
       # save last one before going onroad
       if rising_edge_started:
         try:
-          params.put("LastOffroadStatusPacket", dat)
+          params.put("LastOffroadStatusPacket", dat, block=True)
         except Exception:
           cloudlog.exception("failed to save offroad status")
 
-    params.put_bool_nonblocking("NetworkMetered", msg.deviceState.networkMetered)
+    params.put_bool("NetworkMetered", msg.deviceState.networkMetered)
 
     now_ts = time.monotonic()
     if off_ts:
@@ -440,8 +440,8 @@ def hardware_thread(end_event, hw_queue) -> None:
     last_uptime_ts = now_ts
 
     if (count % int(60. / DT_HW)) == 0:
-      params.put("UptimeOffroad", uptime_offroad)
-      params.put("UptimeOnroad", uptime_onroad)
+      params.put("UptimeOffroad", uptime_offroad, block=True)
+      params.put("UptimeOnroad", uptime_onroad, block=True)
 
     count += 1
     should_start_prev = should_start
diff --git a/system/hardware/power_monitoring.py b/system/hardware/power_monitoring.py
index f8b0e8b6291723..161b5d23eff40d 100644
--- a/system/hardware/power_monitoring.py
+++ b/system/hardware/power_monitoring.py
@@ -56,7 +56,7 @@ def calculate(self, voltage: int | None, ignition: bool):
       self.car_battery_capacity_uWh = max(self.car_battery_capacity_uWh, 0)
       self.car_battery_capacity_uWh = min(self.car_battery_capacity_uWh, CAR_BATTERY_CAPACITY_uWh)
       if now - self.last_save_time >= 10:
-        self.params.put_nonblocking("CarBatteryCapacity", int(self.car_battery_capacity_uWh))
+        self.params.put("CarBatteryCapacity", int(self.car_battery_capacity_uWh))
         self.last_save_time = now
 
       # First measurement, set integration time
diff --git a/system/hardware/tests/test_power_monitoring.py b/system/hardware/tests/test_power_monitoring.py
index 1dff6c6c5f728e..5e1b751a0f2a05 100644
--- a/system/hardware/tests/test_power_monitoring.py
+++ b/system/hardware/tests/test_power_monitoring.py
@@ -139,7 +139,7 @@ def test_car_voltage(self, mocker):
   def test_disable_power_down(self, mocker):
     POWER_DRAW = 0 # To stop shutting down for other reasons
     TEST_TIME = 100
-    self.params.put_bool("DisablePowerDown", True)
+    self.params.put_bool("DisablePowerDown", True, block=True)
     pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
     pm = PowerMonitoring()
     pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index c4401c9583cb88..6656addf73bb53 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -42,7 +42,7 @@ def name(self):
 class TestPowerDraw:
 
   def setup_method(self):
-    Params().put("CarParams", get_demo_car_params().to_bytes())
+    Params().put("CarParams", get_demo_car_params().to_bytes(), block=True)
 
     # wait a bit for power save to disable
     time.sleep(5)
diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py
index 8bf609ae8d906a..fd071486dffc63 100644
--- a/system/loggerd/tests/loggerd_tests_common.py
+++ b/system/loggerd/tests/loggerd_tests_common.py
@@ -76,8 +76,8 @@ def setup_method(self):
     self.seg_dir = self.seg_format.format(self.seg_num)
 
     self.params = Params()
-    self.params.put("IsOffroad", True)
-    self.params.put("DongleId", "0000000000000000")
+    self.params.put("IsOffroad", True, block=True)
+    self.params.put("DongleId", "0000000000000000", block=True)
 
   def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False,
                           upload_xattr: bytes | None = None, preserve_xattr: bytes | None = None) -> Path:
diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py
index a9de0690aaad0b..2b74fe2276bdc0 100644
--- a/system/loggerd/tests/test_encoder.py
+++ b/system/loggerd/tests/test_encoder.py
@@ -53,7 +53,7 @@ def _get_latest_segment_path(self):
   # TODO: this should run faster than real time
   @parameterized.expand([(True, ), (False, )])
   def test_log_rotation(self, record_front):
-    Params().put_bool("RecordFront", record_front)
+    Params().put_bool("RecordFront", record_front, block=True)
 
     managed_processes['sensord'].start()
     managed_processes['loggerd'].start()
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index 9703ac2f5fe078..3a0da849de9a71 100644
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -161,8 +161,8 @@ def test_init_data_values(self):
     ]
     params = Params()
     for k, _, v in fake_params:
-      params.put(k, v)
-    params.put("AccessToken", "abc")
+      params.put(k, v, block=True)
+    params.put("AccessToken", "abc", block=True)
 
     lr = list(LogReader(str(self._gen_bootlog())))
     initData = lr[0].initData
@@ -188,7 +188,7 @@ def test_init_data_values(self):
 
   @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
   def test_rotation(self):
-    Params().put("RecordFront", True)
+    Params().put("RecordFront", True, block=True)
 
     expected_files = {"rlog.zst", "qlog.zst", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"}
 
@@ -309,7 +309,7 @@ def test_not_preserving_nonbookmarked_segments(self):
   @pytest.mark.parametrize("record_front", [True, False])
   def test_record_front(self, record_front):
     params = Params()
-    params.put_bool("RecordFront", record_front)
+    params.put_bool("RecordFront", record_front, block=True)
 
     self._publish_camera_and_audio_messages()
 
@@ -320,7 +320,7 @@ def test_record_front(self, record_front):
   @pytest.mark.parametrize("record_audio", [True, False])
   def test_record_audio(self, record_audio):
     params = Params()
-    params.put_bool("RecordAudio", record_audio)
+    params.put_bool("RecordAudio", record_audio, block=True)
 
     self._publish_camera_and_audio_messages()
 
diff --git a/system/manager/helpers.py b/system/manager/helpers.py
index 047d0ac2d6f881..6af4a799e428d9 100644
--- a/system/manager/helpers.py
+++ b/system/manager/helpers.py
@@ -46,8 +46,8 @@ def unblock_stdout() -> None:
 
 
 def write_onroad_params(started, params):
-  params.put_bool("IsOnroad", started)
-  params.put_bool("IsOffroad", not started)
+  params.put_bool("IsOnroad", started, block=True)
+  params.put_bool("IsOffroad", not started, block=True)
 
 
 def save_bootlog():
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 2d80c78ff50072..d8f9a3d8fa02c0 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -36,13 +36,13 @@ def manager_init() -> None:
     params.clear_all(ParamKeyFlag.DEVELOPMENT_ONLY)
 
   if params.get_bool("RecordFrontLock"):
-    params.put_bool("RecordFront", True)
+    params.put_bool("RecordFront", True, block=True)
 
   # set unset params to their default value
   for k in params.all_keys():
     default_value = params.get_default_value(k)
     if default_value is not None and params.get(k) is None:
-      params.put(k, default_value)
+      params.put(k, default_value, block=True)
 
   # Create folders needed for msgq
   try:
@@ -54,14 +54,14 @@ def manager_init() -> None:
 
   # set params
   serial = HARDWARE.get_serial()
-  params.put("Version", build_metadata.openpilot.version)
-  params.put("GitCommit", build_metadata.openpilot.git_commit)
-  params.put("GitCommitDate", build_metadata.openpilot.git_commit_date)
-  params.put("GitBranch", build_metadata.channel)
-  params.put("GitRemote", build_metadata.openpilot.git_origin)
-  params.put_bool("IsTestedBranch", build_metadata.tested_channel)
-  params.put_bool("IsReleaseBranch", build_metadata.release_channel)
-  params.put("HardwareSerial", serial)
+  params.put("Version", build_metadata.openpilot.version, block=True)
+  params.put("GitCommit", build_metadata.openpilot.git_commit, block=True)
+  params.put("GitCommitDate", build_metadata.openpilot.git_commit_date, block=True)
+  params.put("GitBranch", build_metadata.channel, block=True)
+  params.put("GitRemote", build_metadata.openpilot.git_origin, block=True)
+  params.put_bool("IsTestedBranch", build_metadata.tested_channel, block=True)
+  params.put_bool("IsReleaseBranch", build_metadata.release_channel, block=True)
+  params.put("HardwareSerial", serial, block=True)
 
   # set dongle id
   reg_res = register(show_spinner=True)
@@ -173,7 +173,7 @@ def manager_thread() -> None:
     for param in ("DoUninstall", "DoShutdown", "DoReboot"):
       if params.get_bool(param):
         shutdown = True
-        params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}")
+        params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}", block=True)
         cloudlog.warning(f"Shutting down manager - {param} set")
 
     if shutdown:
diff --git a/system/manager/process.py b/system/manager/process.py
index 36e1ba77b286dd..d328d4d4419c10 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -240,7 +240,7 @@ def start(self) -> None:
                                stderr=open('/dev/null', 'w'),
                                preexec_fn=os.setpgrp)
 
-    self.params.put(self.param_name, proc.pid)
+    self.params.put(self.param_name, proc.pid, block=True)
 
   def stop(self, retry=True, block=True, sig=None) -> None:
     pass
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index f5a6c510720958..7ed4a2dacb2c3c 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -28,7 +28,7 @@ def ublox_available() -> bool:
 def ublox(started: bool, params: Params, CP: car.CarParams) -> bool:
   use_ublox = ublox_available()
   if use_ublox != params.get_bool("UbloxAvailable"):
-    params.put_bool("UbloxAvailable", use_ublox)
+    params.put_bool("UbloxAvailable", use_ublox, block=True)
   return started and use_ublox
 
 def joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
diff --git a/system/ui/lib/multilang.py b/system/ui/lib/multilang.py
index 3c6a6b8564306f..06c54f6e9f67f9 100644
--- a/system/ui/lib/multilang.py
+++ b/system/ui/lib/multilang.py
@@ -176,7 +176,7 @@ def setup(self):
       self._plurals = {}
 
   def change_language(self, language_code: str) -> None:
-    self._params.put("LanguageSetting", language_code)
+    self._params.put("LanguageSetting", language_code, block=True)
     self._language = language_code
     self.setup()
 
diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py
index f7bc553dcabe5f..f104ba6add1d06 100644
--- a/system/ui/widgets/network.py
+++ b/system/ui/widgets/network.py
@@ -175,7 +175,7 @@ def _toggle_tethering(self):
     self._wifi_manager.set_tethering_active(checked)
 
   def _toggle_roaming(self):
-    self._params.put_bool("GsmRoaming", self._roaming_action.get_state())
+    self._params.put_bool("GsmRoaming", self._roaming_action.get_state(), block=True)
 
   def _edit_apn(self):
     def update_apn(result: DialogResult):
@@ -186,7 +186,7 @@ def update_apn(result: DialogResult):
       if apn == "":
         self._params.remove("GsmApn")
       else:
-        self._params.put("GsmApn", apn)
+        self._params.put("GsmApn", apn, block=True)
 
     current_apn = self._params.get("GsmApn") or ""
     self._keyboard.reset(min_text_size=0)
@@ -196,7 +196,7 @@ def update_apn(result: DialogResult):
     gui_app.push_widget(self._keyboard)
 
   def _toggle_cellular_metered(self):
-    self._params.put_bool("GsmMetered", self._cellular_metered_action.get_state())
+    self._params.put_bool("GsmMetered", self._cellular_metered_action.get_state(), block=True)
 
   def _toggle_wifi_metered(self, metered):
     metered_type = {0: MeteredType.UNKNOWN, 1: MeteredType.YES, 2: MeteredType.NO}.get(metered, MeteredType.UNKNOWN)
diff --git a/system/updated/tests/test_base.py b/system/updated/tests/test_base.py
index c4894f271134fd..db38bfa840aef4 100644
--- a/system/updated/tests/test_base.py
+++ b/system/updated/tests/test_base.py
@@ -86,7 +86,7 @@ def mock_basedir(self, mocker):
     mocker.patch("openpilot.common.basedir.BASEDIR", self.basedir)
 
   def set_target_branch(self, branch):
-    self.params.put("UpdaterTargetBranch", branch)
+    self.params.put("UpdaterTargetBranch", branch, block=True)
 
   def setup_basedir_release(self, release):
     self.params = Params()
diff --git a/system/updated/tests/test_updated.py b/system/updated/tests/test_updated.py
index d36d4dd4e1324a..18ee0e706a4506 100644
--- a/system/updated/tests/test_updated.py
+++ b/system/updated/tests/test_updated.py
@@ -28,7 +28,7 @@ def test_target_branch_migration_from_current_branch(mocker, device_type, branch
 ])
 def test_target_branch_migration_from_param(mocker, device_type, branch, expected):
   params = Params()
-  params.put("UpdaterTargetBranch", branch)
+  params.put("UpdaterTargetBranch", branch, block=True)
 
   mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
 
diff --git a/system/updated/updated.py b/system/updated/updated.py
index 693a31c9f497c2..25821e3732e077 100755
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -66,7 +66,7 @@ def sleep(self, t: float) -> None:
 
 def write_time_to_param(params, param) -> None:
   t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
-  params.put(param, t)
+  params.put(param, t, block=True)
 
 def run(cmd: list[str], cwd: str | None = None) -> str:
   return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8')
@@ -139,7 +139,7 @@ def init_overlay() -> None:
   cloudlog.info("preparing new safe staging area")
 
   params = Params()
-  params.put_bool("UpdateAvailable", False)
+  params.put_bool("UpdateAvailable", False, block=True)
   set_consistent_flag(False)
   dismount_overlay()
   run(["sudo", "rm", "-rf", STAGING_ROOT])
@@ -170,7 +170,7 @@ def init_overlay() -> None:
   run(["sudo", "chmod", "755", os.path.join(OVERLAY_METADATA, "work")])
 
   git_diff = run(["git", "diff", "--submodule=diff"], OVERLAY_MERGED)
-  params.put("GitDiff", git_diff)
+  params.put("GitDiff", git_diff, block=True)
   cloudlog.info(f"git diff output:\n{git_diff}")
 
 
@@ -275,19 +275,19 @@ def get_commit_hash(self, path: str = OVERLAY_MERGED) -> str:
     return run(["git", "rev-parse", "HEAD"], path).rstrip()
 
   def set_params(self, update_success: bool, failed_count: int, exception: str | None) -> None:
-    self.params.put("UpdateFailedCount", failed_count)
-    self.params.put("UpdaterTargetBranch", self.target_branch)
+    self.params.put("UpdateFailedCount", failed_count, block=True)
+    self.params.put("UpdaterTargetBranch", self.target_branch, block=True)
 
-    self.params.put_bool("UpdaterFetchAvailable", self.update_available)
+    self.params.put_bool("UpdaterFetchAvailable", self.update_available, block=True)
     if len(self.branches):
-      self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys()))
+      self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys()), block=True)
 
     last_uptime_onroad = self.params.get("UptimeOnroad", return_default=True)
     last_route_count = self.params.get("RouteCount", return_default=True)
     if update_success:
-      self.params.put("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None))
-      self.params.put("LastUpdateUptimeOnroad", last_uptime_onroad)
-      self.params.put("LastUpdateRouteCount", last_route_count)
+      self.params.put("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None), block=True)
+      self.params.put("LastUpdateUptimeOnroad", last_uptime_onroad, block=True)
+      self.params.put("LastUpdateRouteCount", last_route_count, block=True)
     else:
       last_uptime_onroad = self.params.get("LastUpdateUptimeOnroad", return_default=True)
       last_route_count = self.params.get("LastUpdateRouteCount", return_default=True)
@@ -295,7 +295,7 @@ def set_params(self, update_success: bool, failed_count: int, exception: str | N
     if exception is None:
       self.params.remove("LastUpdateException")
     else:
-      self.params.put("LastUpdateException", exception)
+      self.params.put("LastUpdateException", exception, block=True)
 
     # Write out current and new version info
     def get_description(basedir: str) -> str:
@@ -318,11 +318,11 @@ def get_description(basedir: str) -> str:
       except Exception:
         cloudlog.exception("updater.get_description")
       return f"{version} / {branch} / {commit} / {commit_date}"
-    self.params.put("UpdaterCurrentDescription", get_description(BASEDIR))
-    self.params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR))
-    self.params.put("UpdaterNewDescription", get_description(FINALIZED))
-    self.params.put("UpdaterNewReleaseNotes", parse_release_notes(FINALIZED))
-    self.params.put_bool("UpdateAvailable", self.update_ready)
+    self.params.put("UpdaterCurrentDescription", get_description(BASEDIR), block=True)
+    self.params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR), block=True)
+    self.params.put("UpdaterNewDescription", get_description(FINALIZED), block=True)
+    self.params.put("UpdaterNewReleaseNotes", parse_release_notes(FINALIZED), block=True)
+    self.params.put_bool("UpdateAvailable", self.update_ready, block=True)
 
     # Handle user prompt
     for alert in ("Offroad_UpdateFailed", "Offroad_ConnectivityNeeded", "Offroad_ConnectivityNeededPrompt"):
@@ -377,11 +377,11 @@ def check_for_update(self) -> None:
   def fetch_update(self) -> None:
     cloudlog.info("attempting git fetch inside staging overlay")
 
-    self.params.put("UpdaterState", "downloading...")
+    self.params.put("UpdaterState", "downloading...", block=True)
 
     # TODO: cleanly interrupt this and invalidate old update
     set_consistent_flag(False)
-    self.params.put_bool("UpdateAvailable", False)
+    self.params.put_bool("UpdateAvailable", False, block=True)
 
     setup_git_options(OVERLAY_MERGED)
 
@@ -409,7 +409,7 @@ def fetch_update(self) -> None:
       handle_agnos_update()
 
     # Create the finalized, ready-to-swap update
-    self.params.put("UpdaterState", "finalizing update...")
+    self.params.put("UpdaterState", "finalizing update...", block=True)
     finalize_update()
     cloudlog.info("finalize success!")
 
@@ -438,7 +438,7 @@ def main() -> None:
 
     if not params.get("InstallDate"):
       t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
-      params.put("InstallDate", t)
+      params.put("InstallDate", t, block=True)
 
     updater = Updater()
     update_failed_count = 0 # TODO: Load from param?
@@ -448,7 +448,7 @@ def main() -> None:
     set_consistent_flag(False)
 
     # set initial state
-    params.put("UpdaterState", "idle")
+    params.put("UpdaterState", "idle", block=True)
 
     # Run the update loop
     first_run = True
@@ -472,7 +472,7 @@ def main() -> None:
         update_failed_count += 1
 
         # check for update
-        params.put("UpdaterState", "checking...")
+        params.put("UpdaterState", "checking...", block=True)
         updater.check_for_update()
 
         # download update
@@ -502,7 +502,7 @@ def main() -> None:
         OVERLAY_INIT.unlink(missing_ok=True)
 
       try:
-        params.put("UpdaterState", "idle")
+        params.put("UpdaterState", "idle", block=True)
         update_successful = (update_failed_count == 0)
         updater.set_params(update_successful, update_failed_count, exception)
       except Exception:
diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py
index f91d6a1441cf23..29d23184bd7325 100644
--- a/tools/bodyteleop/web.py
+++ b/tools/bodyteleop/web.py
@@ -69,7 +69,7 @@ async def offer(request: 'web.Request'):
 
 def main():
   # Enable joystick debug mode
-  Params().put_bool("JoystickDebugMode", True)
+  Params().put_bool("JoystickDebugMode", True, block=True)
 
   # App needs to be HTTPS for WebRTC to work on the browser
   ssl_context = create_ssl_context()
diff --git a/tools/clip/run.py b/tools/clip/run.py
index 172410dc1ad475..d3a0496b1e6e96 100755
--- a/tools/clip/run.py
+++ b/tools/clip/run.py
@@ -219,7 +219,7 @@ def load_route_metadata(route):
   params = Params()
   for entry in init_data.params.entries:
     try:
-      params.put(entry.key, params.cpp2python(entry.key, entry.value))
+      params.put(entry.key, params.cpp2python(entry.key, entry.value), block=True)
     except UnknownKeyName:
       pass
 
diff --git a/tools/joystick/joystick_control.py b/tools/joystick/joystick_control.py
index 11d17e587e8451..b1f14043b759ae 100755
--- a/tools/joystick/joystick_control.py
+++ b/tools/joystick/joystick_control.py
@@ -110,7 +110,7 @@ def send_thread(joystick):
 
 
 def joystick_control_thread(joystick):
-  Params().put_bool('JoystickDebugMode', True)
+  Params().put_bool('JoystickDebugMode', True, block=True)
   threading.Thread(target=send_thread, args=(joystick,), daemon=True).start()
   while True:
     joystick.update()
diff --git a/tools/scripts/setup_ssh_keys.py b/tools/scripts/setup_ssh_keys.py
index 45dc0aa9775c22..e599dd3c5d6e4b 100755
--- a/tools/scripts/setup_ssh_keys.py
+++ b/tools/scripts/setup_ssh_keys.py
@@ -15,9 +15,9 @@
 
   if keys.status_code == 200:
     params = Params()
-    params.put_bool("SshEnabled", True)
-    params.put("GithubSshKeys", keys.text)
-    params.put("GithubUsername", username)
+    params.put_bool("SshEnabled", True, block=True)
+    params.put("GithubSshKeys", keys.text, block=True)
+    params.put("GithubUsername", username, block=True)
     print("Set up ssh keys successfully")
   else:
     print("Error getting public keys from github")
diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py
index 69dec173ca8b98..499420ec4b2a41 100644
--- a/tools/sim/bridge/common.py
+++ b/tools/sim/bridge/common.py
@@ -40,7 +40,7 @@ class SimulatorBridge(ABC):
   def __init__(self, dual_camera, high_quality):
     set_params_enabled()
     self.params = Params()
-    self.params.put_bool("AlphaLongitudinalEnabled", True)
+    self.params.put_bool("AlphaLongitudinalEnabled", True, block=True)
 
     self.rk = Ratekeeper(100, None)
 
diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py
index 68ff3050db9ec0..03da594769d604 100644
--- a/tools/sim/lib/simulated_car.py
+++ b/tools/sim/lib/simulated_car.py
@@ -84,7 +84,7 @@ def send_panda_state(self, simulator_state):
 
     if self.params.get_bool("ObdMultiplexingEnabled") != self.obd_multiplexing:
       self.obd_multiplexing = not self.obd_multiplexing
-      self.params.put_bool("ObdMultiplexingChanged", True)
+      self.params.put_bool("ObdMultiplexingChanged", True, block=True)
 
     dat = messaging.new_message('pandaStates', 1)
     dat.valid = True

From dff6a80fafe755f18b29a63b7e558f1d16ffba71 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 11 May 2026 20:16:54 -0700
Subject: [PATCH 1074/1434] Remove some blocking params

---
 selfdrive/ui/mici/layouts/settings/network/network_layout.py | 2 +-
 selfdrive/ui/widgets/offroad_alerts.py                       | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/settings/network/network_layout.py b/selfdrive/ui/mici/layouts/settings/network/network_layout.py
index cb44a09a2b0f8e..58b3d0c77dceeb 100644
--- a/selfdrive/ui/mici/layouts/settings/network/network_layout.py
+++ b/selfdrive/ui/mici/layouts/settings/network/network_layout.py
@@ -117,7 +117,7 @@ def update_apn(apn: str):
       if apn == "":
         ui_state.params.remove("GsmApn")
       else:
-        ui_state.params.put("GsmApn", apn, block=True)
+        ui_state.params.put("GsmApn", apn)
 
     current_apn = ui_state.params.get("GsmApn") or ""
     dlg = BigInputDialog("enter APN...", current_apn, minimum_length=0, confirm_callback=update_apn)
diff --git a/selfdrive/ui/widgets/offroad_alerts.py b/selfdrive/ui/widgets/offroad_alerts.py
index b86e827664ca6e..110ca714a9d82e 100644
--- a/selfdrive/ui/widgets/offroad_alerts.py
+++ b/selfdrive/ui/widgets/offroad_alerts.py
@@ -92,7 +92,7 @@ def __init__(self, has_reboot_btn: bool = False):
     self.dismiss_callback: Callable | None = None
 
     def snooze_callback():
-      self.params.put_bool("SnoozeUpdate", True, block=True)
+      self.params.put_bool("SnoozeUpdate", True)
       if self.dismiss_callback:
         self.dismiss_callback()
 

From ecb661fe8548fb22bd9e941bcccd39d967bc8d99 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 11 May 2026 20:39:46 -0700
Subject: [PATCH 1075/1434] ui: get version info once (#38018)

* these are written by manager

* rm
---
 selfdrive/ui/mici/layouts/home.py | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index de20b80f4ccf83..f37cbf47980918 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -137,7 +137,7 @@ def __init__(self):
     self._did_long_press = False
     self._is_pressed_prev = False
 
-    self._version_text = None
+    self._version_text = self._get_version_text()
     self._experimental_mode = False
 
     self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48))
@@ -163,7 +163,6 @@ def __init__(self):
 
   def show_event(self):
     super().show_event()
-    self._version_text = self._get_version_text()
     self._update_params()
 
   def _update_params(self):
@@ -187,8 +186,6 @@ def _update_state(self):
         self._did_long_press = True
 
     if rl.get_time() - self._last_refresh > 5.0:
-      # Update version text
-      self._version_text = self._get_version_text()
       self._last_refresh = rl.get_time()
       self._update_params()
 

From af92603d1733dfee1cfc06e65ec4f46bd1e3d45d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 11 May 2026 21:06:23 -0700
Subject: [PATCH 1076/1434] Move experimental mode param to ui_state.py
 (#38017)

* re-do

* rm more

* and that
---
 selfdrive/ui/mici/layouts/home.py | 19 +++----------------
 selfdrive/ui/ui_state.py          |  3 +++
 2 files changed, 6 insertions(+), 16 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index f37cbf47980918..60c5fcf1d41954 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -132,13 +132,11 @@ def __init__(self):
     self._on_alerts_click: Callable | None = None
     self._alert_count_callback: Callable[[], int] | None = None
 
-    self._last_refresh = 0
     self._mouse_down_t: None | float = None
     self._did_long_press = False
     self._is_pressed_prev = False
 
     self._version_text = self._get_version_text()
-    self._experimental_mode = False
 
     self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48))
     self._mic_icon = IconWidget("icons_mici/microphone.png", (32, 46))
@@ -161,13 +159,6 @@ def __init__(self):
     self._branch_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, scroll=True)
     self._version_commit_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
 
-  def show_event(self):
-    super().show_event()
-    self._update_params()
-
-  def _update_params(self):
-    self._experimental_mode = ui_state.params.get_bool("ExperimentalMode")
-
   def _update_state(self):
     if self.is_pressed and not self._is_pressed_prev:
       self._mouse_down_t = time.monotonic()
@@ -180,15 +171,11 @@ def _update_state(self):
       if time.monotonic() - self._mouse_down_t > 0.5:
         # long gating for experimental mode - only allow toggle if longitudinal control is available
         if ui_state.has_longitudinal_control:
-          self._experimental_mode = not self._experimental_mode
-          ui_state.params.put("ExperimentalMode", self._experimental_mode, block=True)
+          ui_state.experimental_mode = not ui_state.experimental_mode
+          ui_state.params.put("ExperimentalMode", ui_state.experimental_mode, block=True)
         self._mouse_down_t = None
         self._did_long_press = True
 
-    if rl.get_time() - self._last_refresh > 5.0:
-      self._last_refresh = rl.get_time()
-      self._update_params()
-
   def set_callbacks(self, on_settings: Callable | None = None, on_alerts: Callable | None = None,
                     alert_count_callback: Callable[[], int] | None = None,
                     max_severity_callback: Callable[[], int | None] | None = None):
@@ -256,7 +243,7 @@ def _render(self, _):
         self._version_commit_label.render()
 
     # ***** Center-aligned bottom section icons *****
-    self._experimental_icon.set_visible(self._experimental_mode)
+    self._experimental_icon.set_visible(ui_state.experimental_mode)
     self._mic_icon.set_visible(ui_state.recording_audio)
     self._body_icon.set_visible(ui_state.is_body)
 
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index 52426f510b5889..3bcdfa10c88a91 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -73,6 +73,7 @@ def _initialize(self):
     self.is_metric: bool = self.params.get_bool("IsMetric")
     self.is_release = self.params.get_bool("IsReleaseBranch")
     self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
+    self.experimental_mode: bool = self.params.get_bool("ExperimentalMode")
     self.started: bool = False
     self.ignition: bool = False
     self.recording_audio: bool = False
@@ -191,6 +192,8 @@ def update_params(self) -> None:
         for callback in self._on_body_changed_callbacks:
           callback()
 
+    self.experimental_mode = self.params.get_bool("ExperimentalMode")
+
     self._param_update_time = time.monotonic()
 
 

From 492ed73127427aa5db85fe967f9779ac9c60b23e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 11 May 2026 22:53:29 -0700
Subject: [PATCH 1077/1434] device sync: serverless code sync (#38020)

* serverless code sync

* rm stuff

* we have ls-files for this

* rm

* no debounce

fix

* fix

* no del

* no init

* clean up

* clean up

* smol

* fixup

* rm

* clean up

* any change

* rm arg

* rm

* rm
---
 tools/scripts/devsync.py | 93 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 93 insertions(+)
 create mode 100755 tools/scripts/devsync.py

diff --git a/tools/scripts/devsync.py b/tools/scripts/devsync.py
new file mode 100755
index 00000000000000..98312dd5454491
--- /dev/null
+++ b/tools/scripts/devsync.py
@@ -0,0 +1,93 @@
+#!/usr/bin/env python3
+import argparse
+import shlex
+import subprocess
+import threading
+import time
+
+from watchdog.events import FileSystemEventHandler
+from watchdog.observers import Observer
+
+from openpilot.common.basedir import BASEDIR
+
+
+def build_rsync_cmd(args) -> list[str]:
+  ssh = [
+    "ssh",
+    "-o", "ControlMaster=auto",
+    "-o", f"ControlPath=/tmp/devsync-{args.ip}.ctl",
+    "-o", "ControlPersist=10m",
+    "-o", "StrictHostKeyChecking=accept-new",
+  ]
+  if args.identity:
+    ssh += ["-i", args.identity]
+
+  return [
+    "rsync", "-az",
+    "--files-from=-", "--from0",
+    "-e", " ".join(shlex.quote(p) for p in ssh),
+    "--out-format=%n",
+    BASEDIR + "/", f"comma@{args.ip}:{args.remote}/",
+  ]
+
+
+def git_tracked_files() -> bytes:
+  return subprocess.check_output(
+    ["git", "-C", BASEDIR, "ls-files", "--recurse-submodules", "-z"]
+  )
+
+
+class Handler(FileSystemEventHandler):
+  def __init__(self, sync_fn):
+    self.dirty = threading.Event()
+    self.sync_fn = sync_fn
+
+  def on_any_event(self, event):
+    if not event.is_directory:
+      self.dirty.set()
+
+  def run(self):
+    while True:
+      time.sleep(1)
+      if self.dirty.is_set():
+        self.dirty.clear()
+        self.sync_fn()
+
+
+def main():
+  p = argparse.ArgumentParser()
+  p.add_argument("ip", help="device IP / hostname")
+  p.add_argument("--remote", default="/data/openpilot", help="remote path on device")
+  p.add_argument("-i", "--identity", default=None, help="ssh identity file")
+  args = p.parse_args()
+
+  print(f"[devsync] watching {BASEDIR}")
+  print(f"[devsync] target   comma@{args.ip}:{args.remote}")
+
+  def run_sync():
+    file_list = git_tracked_files()
+    cmd = build_rsync_cmd(args)
+    t0 = time.monotonic()
+    r = subprocess.run(cmd, input=file_list, capture_output=True)
+    dt = time.monotonic() - t0
+    if r.returncode:
+      print(f"[devsync] ERR rc={r.returncode} in {dt:.2f}s")
+      return
+    files = [ln for ln in r.stdout.decode().splitlines() if ln.strip()]
+    msg = f"{len(files)} files: {', '.join(files)}" if files else "no changes"
+    print(f"[devsync] {dt:.2f}s · {msg}")
+
+  run_sync()
+
+  handler = Handler(run_sync)
+  obs = Observer()
+  obs.schedule(handler, BASEDIR, recursive=True)
+  obs.start()
+  handler.run()
+
+
+if __name__ == "__main__":
+  try:
+    main()
+  except KeyboardInterrupt:
+    print("\n[devsync] stopping")

From 9574eee0e3df2094de408be7c968cc648af8b1a1 Mon Sep 17 00:00:00 2001
From: Andi Radulescu <andi.radulescu@gmail.com>
Date: Tue, 12 May 2026 19:42:22 +0300
Subject: [PATCH 1078/1434] modem.py: normalize padded ICCIDs (#38021)

modem: normalize padded ICCIDs
---
 system/hardware/tici/modem.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/system/hardware/tici/modem.py b/system/hardware/tici/modem.py
index ebefd90c0174c4..cb25d501d17d60 100755
--- a/system/hardware/tici/modem.py
+++ b/system/hardware/tici/modem.py
@@ -308,7 +308,7 @@ def first_line(cmd):
     if not (imei.isdigit() and 14 <= len(imei) <= 17):  # 3GPP TS 23.003
       imei = ""
 
-    iccid = self._atv("AT+QCCID", "+QCCID:") or ""
+    iccid = (self._atv("AT+QCCID", "+QCCID:") or "").rstrip("F")
     if not iccid.isdigit():
       iccid = ""
 
@@ -387,7 +387,7 @@ def _params_changed(self) -> bool:
   def _check_iccid(self, state):
     if state in (State.INITIALIZING, State.DISCONNECTING) or not self.S["iccid"]:
       return
-    iccid = self._atv("AT+QCCID", "+QCCID:")
+    iccid = (self._atv("AT+QCCID", "+QCCID:") or "").rstrip("F")
     if iccid and iccid != self.S["iccid"]:
       logging.warning(f"iccid changed: {self.S['iccid']} -> {iccid}")
       self._sim_change = True

From 69d3066d824fcdd20c6e641dd0918e85f4022fce Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 12 May 2026 09:59:46 -0700
Subject: [PATCH 1079/1434] minimal build by default on device (#38023)

* minimal build by default on device

* and
---
 SConstruct | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/SConstruct b/SConstruct
index 5ac0987a8b271c..550e5f0ee361b4 100644
--- a/SConstruct
+++ b/SConstruct
@@ -10,6 +10,8 @@ import numpy as np
 import SCons.Errors
 from SCons.Defaults import _stripixes
 
+TICI = os.path.isfile('/TICI')
+
 SCons.Warnings.warningAsException(True)
 
 Decider('MD5-timestamp')
@@ -22,14 +24,14 @@ release = not os.path.exists(File('#.gitattributes').abspath) # file absent on r
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=not release,
+          default=(not TICI and not release),
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
 # Detect platform
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
-elif arch == "aarch64" and os.path.isfile('/TICI'):
+elif arch == "aarch64" and TICI:
   arch = "larch64"
 assert arch in [
   "larch64",  # linux tici arm64

From e8a03f7f321a2c79ebd268447374bc4b01641c38 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 12 May 2026 10:12:50 -0700
Subject: [PATCH 1080/1434] fix build warnings (#38025)

---
 system/manager/build.py | 45 +++++++++++++++++++++--------------------
 1 file changed, 23 insertions(+), 22 deletions(-)

diff --git a/system/manager/build.py b/system/manager/build.py
index af66782273ee54..470cfccdaa706e 100755
--- a/system/manager/build.py
+++ b/system/manager/build.py
@@ -11,7 +11,6 @@
 def build() -> None:
   spinner = Spinner()
   spinner.update_progress(0, 100)
-  env = os.environ.copy()
 
   HARDWARE.set_power_save(False)
   if AGNOS:
@@ -21,35 +20,37 @@ def build() -> None:
   compile_output: list[bytes] = []
   for parallelism in ([], ["-j4"], ["-j1"]):
     compile_output.clear()
-    scons: subprocess.Popen = subprocess.Popen(["scons", *parallelism], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
-    assert scons.stderr is not None
+    with subprocess.Popen(["scons", *parallelism], cwd=BASEDIR, env={**os.environ, "PWD": BASEDIR}, stderr=subprocess.PIPE) as scons:
+      assert scons.stderr is not None
 
-    # Read progress from stderr and update spinner
-    while scons.poll() is None:
-      try:
-        line = scons.stderr.readline()
-        if line is None:
-          continue
-        line = line.rstrip()
+      # Read progress from stderr and update spinner
+      while scons.poll() is None:
+        try:
+          line = scons.stderr.readline()
+          if line is None:
+            continue
+          line = line.rstrip()
+
+          prefix = b'progress: '
+          if line.startswith(prefix):
+            progress = float(line[len(prefix):])
+            spinner.update_progress(100 * min(1., progress / 100.), 100.)
+          elif len(line):
+            compile_output.append(line)
+            print(line.decode('utf8', 'replace'))
+        except Exception:
+          pass
 
-        prefix = b'progress: '
-        if line.startswith(prefix):
-          progress = float(line[len(prefix):])
-          spinner.update_progress(100 * min(1., progress / 100.), 100.)
-        elif len(line):
+      # Drain and close the pipe before retrying or returning.
+      for line in scons.stderr.read().split(b'\n'):
+        line = line.rstrip()
+        if len(line):
           compile_output.append(line)
-          print(line.decode('utf8', 'replace'))
-      except Exception:
-        pass
 
     if scons.returncode == 0:
       break
 
   if scons.returncode != 0:
-    # Read remaining output
-    if scons.stderr is not None:
-      compile_output += scons.stderr.read().split(b'\n')
-
     # Build failed log errors
     error_s = b"\n".join(compile_output).decode('utf8', 'replace')
 

From 4b945a1b7969c9d844d3549b373c06b6fe733da7 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 12 May 2026 10:30:22 -0700
Subject: [PATCH 1081/1434] test_onroad: remove MPC timing check (#38026)

* test_onroad: cleanup timings checks

* just mpc:
---
 selfdrive/test/test_onroad.py | 17 -----------------
 1 file changed, 17 deletions(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 897d11e310c40e..40b8174d721fab 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -371,23 +371,6 @@ def test_camera_encoder_matches(self, subtests):
           assert enc_sof == cam_sof, f"SOF mismatch: frameId={fid}, enc_sof={enc_sof}, cam_sof={cam_sof}"
           assert enc_eof == cam_eof, f"EOF mismatch: frameId={fid}, enc_eof={enc_eof}, cam_eof={cam_eof}"
 
-  def test_mpc_execution_timings(self):
-    result = "\n"
-    result += "------------------------------------------------\n"
-    result += "-----------------  MPC Timing ------------------\n"
-    result += "------------------------------------------------\n"
-
-    cfgs = [("longitudinalPlan", 0.05, 0.05),]
-    for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(m, s).solverExecutionTime for m in self.msgs[s]]
-      assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
-      assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
-      result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
-      result += f"'{s}' execution time: max  {max(ts):.5f}s\n"
-      result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n"
-    result += "------------------------------------------------\n"
-    print(result)
-
   def test_model_execution_timings(self, subtests):
     result = "\n"
     result += "------------------------------------------------\n"

From 4ecbdb0d7adfe2b69f5dff34639cf5565fd5756d Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Tue, 12 May 2026 14:57:59 -0700
Subject: [PATCH 1082/1434] DM: reduce _DCAM_UNCERTAIN_RESET_COUNT to 2 sec
 (#38027)

---
 selfdrive/monitoring/policy.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/monitoring/policy.py b/selfdrive/monitoring/policy.py
index 2315fc04d37870..cf784818ee3ca9 100644
--- a/selfdrive/monitoring/policy.py
+++ b/selfdrive/monitoring/policy.py
@@ -65,7 +65,7 @@ def __init__(self):
 
     self._DCAM_UNCERTAIN_ALERT_THRESHOLD = 0.1
     self._DCAM_UNCERTAIN_ALERT_COUNT = int(60  / DT_DMON)
-    self._DCAM_UNCERTAIN_RESET_COUNT = int(20  / DT_DMON)
+    self._DCAM_UNCERTAIN_RESET_COUNT = int(2  / DT_DMON)
     self._HI_STD_THRESHOLD = 0.3
     self._HI_STD_FALLBACK_TIME = int(10  / DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
     self._DISTRACTED_FILTER_TS = 0.25  # 0.6Hz

From 8ebc51a8aae016591d04419110bf946b91674f7a Mon Sep 17 00:00:00 2001
From: Christopher Milan <chrismilan@ucla.edu>
Date: Tue, 12 May 2026 15:29:11 -0700
Subject: [PATCH 1083/1434] bump tinygrad (#38010)

* bump tinygrad

* bump

* debug

* Revert "debug"

This reverts commit 808f4668c67e995a93236c6e763923cc39394862.
---
 tinygrad_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tinygrad_repo b/tinygrad_repo
index 5b4f62519d628d..039d84ff021bd5 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 5b4f62519d628d1f238a5025b153aaedeee141cc
+Subproject commit 039d84ff021bd5ee7ef8902bb60ea09c7b54f513

From 57c44831da77f4072730d09ed9b83fefbbb399eb Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 12 May 2026 19:33:36 -0700
Subject: [PATCH 1084/1434] test_onroad: skip model timing warmup (#38028)

---
 selfdrive/test/test_onroad.py | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 40b8174d721fab..8161dca130c527 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -385,9 +385,7 @@ def test_model_execution_timings(self, subtests):
       ("driverStateV2", 0.3, 0.05),
     ]
     for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]]
-      # TODO some init can happen in first iteration
-      ts = ts[1:]
+      ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s] if (m.logMonoTime*1e-9 - self.ts[s]['t'][0]) > LOG_OFFSET]
       result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
       result += f"'{s}' execution time: max {max(ts):.5f}s\n"
       result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n"

From b3ed39525dcaca1bb6d05284b696151abf80bcf9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 12 May 2026 20:37:57 -0700
Subject: [PATCH 1085/1434] ui: bg brightness write thread (#38030)

* bg brightness thread

* rn

* later

* better

* rn
---
 selfdrive/ui/ui_state.py | 22 ++++++++++++++++++----
 1 file changed, 18 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index 3bcdfa10c88a91..644e6e8436a09f 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -210,6 +210,8 @@ def __init__(self):
     self._last_brightness: int = 0
     self._brightness_filter = FirstOrderFilter(BACKLIGHT_OFFROAD, 10.00, 1 / gui_app.target_fps)
     self._brightness_thread: threading.Thread | None = None
+    self._brightness_event = threading.Event()
+    self._brightness_target: int = 0
 
   @property
   def awake(self) -> bool:
@@ -235,6 +237,8 @@ def add_interactive_timeout_callback(self, callback: Callable):
     self._interactive_timeout_callbacks.append(callback)
 
   def update(self):
+    self._start_brightness_thread()  # start thread after manager forks ui
+
     # do initial reset
     if self._interaction_time <= 0:
       self._reset_interactive_timeout()
@@ -242,6 +246,17 @@ def update(self):
     self._update_brightness()
     self._update_wakefulness()
 
+  def _start_brightness_thread(self):
+    if self._brightness_thread is None or not self._brightness_thread.is_alive():
+      self._brightness_thread = threading.Thread(target=self._brightness_worker, daemon=True)
+      self._brightness_thread.start()
+
+  def _brightness_worker(self):
+    while True:
+      self._brightness_event.wait()
+      self._brightness_event.clear()
+      HARDWARE.set_screen_brightness(self._brightness_target)
+
   def set_offroad_brightness(self, brightness: int | None):
     if brightness is None:
       brightness = BACKLIGHT_OFFROAD
@@ -266,10 +281,9 @@ def _update_brightness(self):
       brightness = 0
 
     if brightness != self._last_brightness:
-      if self._brightness_thread is None or not self._brightness_thread.is_alive():
-        self._brightness_thread = threading.Thread(target=HARDWARE.set_screen_brightness, args=(brightness,))
-        self._brightness_thread.start()
-        self._last_brightness = brightness
+      self._brightness_target = brightness
+      self._brightness_event.set()
+      self._last_brightness = brightness
 
   def _update_wakefulness(self):
     # Handle interactive timeout

From a06f31b4727373d5b390bdf4da0c31e8b139d0fa Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 12 May 2026 21:24:12 -0700
Subject: [PATCH 1086/1434] ui: param thread (#38029)

* ui param thread

* 5hz

* later

* rename

* temp

* clean up

* no ui mutate from thread

* cmt
---
 selfdrive/ui/ui_state.py | 36 ++++++++++++++++++++----------------
 1 file changed, 20 insertions(+), 16 deletions(-)

diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index 644e6e8436a09f..18a647f8e32091 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -13,7 +13,7 @@
 from openpilot.system.hardware import HARDWARE, PC
 
 BACKLIGHT_OFFROAD = 65 if HARDWARE.get_device_type() == "mici" else 50
-PARAM_UPDATE_TIME = 5.0
+PARAM_UPDATE_TIME = 1 / 5.0
 
 
 class UIStatus(Enum):
@@ -83,7 +83,8 @@ def _initialize(self):
     self.is_body: bool | None = None
     self.CP: car.CarParams | None = None
     self.light_sensor: float = -1.0
-    self._param_update_time: float = -PARAM_UPDATE_TIME
+
+    self._params_thread: threading.Thread | None = None
 
     # Callbacks
     self._offroad_transition_callbacks: list[Callable[[], None]] = []
@@ -111,13 +112,20 @@ def is_offroad(self) -> bool:
 
   def update(self) -> None:
     self.prime_state.start()  # start thread after manager forks ui
+    if self._params_thread is None:
+      self._params_thread = threading.Thread(target=self._params_refresh_worker, daemon=True)
+      self._params_thread.start()
+
     self.sm.update(0)
     self._update_state()
     self._update_status()
-    if time.monotonic() - self._param_update_time >= PARAM_UPDATE_TIME:
-      self.update_params()
     device.update()
 
+  def _params_refresh_worker(self):
+    while True:
+      self.update_params()
+      time.sleep(PARAM_UPDATE_TIME)
+
   def _update_state(self) -> None:
     # Handle panda states updates
     if self.sm.updated["pandaStates"]:
@@ -142,11 +150,11 @@ def _update_state(self) -> None:
     # Update started state
     self.started = self.sm["deviceState"].started and self.ignition
 
-    # Update recording audio state
-    self.recording_audio = self.params.get_bool("RecordAudio") and self.started
-
-    self.is_metric = self.params.get_bool("IsMetric")
-    self.always_on_dm = self.params.get_bool("AlwaysOnDM")
+    # Update body state
+    if self.CP is not None and self.is_body != self.CP.notCar:
+      self.is_body = self.CP.notCar
+      for callback in self._on_body_changed_callbacks:
+        callback()
 
   def _update_status(self) -> None:
     if self.started and self.sm.updated["selfdriveState"]:
@@ -187,15 +195,11 @@ def update_params(self) -> None:
       else:
         self.has_longitudinal_control = self.CP.openpilotLongitudinalControl
 
-      if self.is_body != self.CP.notCar:
-        self.is_body = self.CP.notCar
-        for callback in self._on_body_changed_callbacks:
-          callback()
-
+    self.recording_audio = self.params.get_bool("RecordAudio") and self.started
+    self.is_metric = self.params.get_bool("IsMetric")
+    self.always_on_dm = self.params.get_bool("AlwaysOnDM")
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
 
-    self._param_update_time = time.monotonic()
-
 
 class Device:
   def __init__(self):

From aa26dded8b931dc46f593dab5554afd645ccbc0b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 12 May 2026 21:33:40 -0700
Subject: [PATCH 1087/1434] ui: lower priority background threads (#38031)

* drop realtime so preempt can happen during swap

* prime state and firehose

* and params

* above
---
 common/realtime.py                             | 5 +++++
 selfdrive/ui/lib/prime_state.py                | 2 ++
 selfdrive/ui/mici/layouts/settings/firehose.py | 2 ++
 selfdrive/ui/ui_state.py                       | 3 +++
 4 files changed, 12 insertions(+)

diff --git a/common/realtime.py b/common/realtime.py
index 0b14681021c838..91d2e165e909c8 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -28,6 +28,11 @@ class Priority:
   CTRL_HIGH = 53
 
 
+def drop_realtime() -> None:
+  if sys.platform == 'linux' and not PC:
+    os.sched_setscheduler(0, os.SCHED_OTHER, os.sched_param(0))
+
+
 def set_core_affinity(cores: list[int]) -> None:
   if sys.platform == 'linux' and not PC:
     os.sched_setaffinity(0, cores)
diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py
index 1aed949bee922b..b57380ac5757c9 100644
--- a/selfdrive/ui/lib/prime_state.py
+++ b/selfdrive/ui/lib/prime_state.py
@@ -6,6 +6,7 @@
 
 from openpilot.common.api import api_get
 from openpilot.common.params import Params
+from openpilot.common.realtime import drop_realtime
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 from openpilot.selfdrive.ui.lib.api_helpers import get_token
@@ -69,6 +70,7 @@ def set_type(self, prime_type: PrimeType) -> None:
         cloudlog.info(f"Prime type updated to {prime_type}")
 
   def _worker_thread(self) -> None:
+    drop_realtime()
     from openpilot.selfdrive.ui.ui_state import ui_state, device
     while self._running:
       if not ui_state.started and device._awake:
diff --git a/selfdrive/ui/mici/layouts/settings/firehose.py b/selfdrive/ui/mici/layouts/settings/firehose.py
index 4c27a909f96ee7..66393de6795c18 100644
--- a/selfdrive/ui/mici/layouts/settings/firehose.py
+++ b/selfdrive/ui/mici/layouts/settings/firehose.py
@@ -5,6 +5,7 @@
 
 from openpilot.common.api import api_get
 from openpilot.common.params import Params
+from openpilot.common.realtime import drop_realtime
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.api_helpers import get_token
 from openpilot.selfdrive.ui.ui_state import ui_state, device
@@ -212,6 +213,7 @@ def _fetch_firehose_stats(self):
       cloudlog.error(f"Failed to fetch firehose stats: {e}")
 
   def _update_loop(self):
+    drop_realtime()
     while self._running:
       if not ui_state.started and device._awake:
         self._fetch_firehose_stats()
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index 18a647f8e32091..fd1a5228dfee77 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -7,6 +7,7 @@
 from cereal import messaging, car, log
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
+from openpilot.common.realtime import drop_realtime
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.prime_state import PrimeState
 from openpilot.system.ui.lib.application import gui_app
@@ -122,6 +123,7 @@ def update(self) -> None:
     device.update()
 
   def _params_refresh_worker(self):
+    drop_realtime()
     while True:
       self.update_params()
       time.sleep(PARAM_UPDATE_TIME)
@@ -256,6 +258,7 @@ def _start_brightness_thread(self):
       self._brightness_thread.start()
 
   def _brightness_worker(self):
+    drop_realtime()
     while True:
       self._brightness_event.wait()
       self._brightness_event.clear()

From a15aed1a79ec385774a9a81c02f7de33e43857c4 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 13 May 2026 01:29:18 -0400
Subject: [PATCH 1088/1434] sunnylink: add CarParams fallback for
 brand-specific capabilities (#1839)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Brand-specific capabilities (hyundai_alpha_long_available,
subaru_has_sng) only resolved from CarPlatformBundle, which requires
manual car selection. Auto-fingerprinted vehicles had no bundle,
leaving these capabilities at default false — hiding vehicle settings
on the dashboard despite working on the device UI.

Add _resolve_brand_capabilities() with bundle-first, CP-fallback
pattern matching the device UI layouts (hyundai.py, subaru.py).

Fixes https://community.sunnypilot.ai/t/5126
---
 sunnypilot/sunnylink/capabilities.py | 52 +++++++++++++++++++---------
 1 file changed, 35 insertions(+), 17 deletions(-)

diff --git a/sunnypilot/sunnylink/capabilities.py b/sunnypilot/sunnylink/capabilities.py
index 933368713e3883..fbdcf8f04a60a0 100644
--- a/sunnypilot/sunnylink/capabilities.py
+++ b/sunnypilot/sunnylink/capabilities.py
@@ -78,6 +78,38 @@ def _bundle_field(bundle: dict | None, key: str) -> str:
   return bundle.get(key, "") if isinstance(bundle, dict) else ""
 
 
+def _resolve_brand_capabilities(caps: dict, bundle_platform: str, CP) -> None:
+  """Set brand-specific capabilities from bundle platform or CarParams fallback.
+
+  Bundle (manual car selection) is a pre-fingerprint approximation.
+  CarParams (auto-fingerprint) is the authoritative post-fingerprint source.
+  Mirrors the per-brand update_settings() logic in device UI layouts.
+  """
+  brand = caps["brand"]
+
+  if brand == "hyundai":
+    if bundle_platform:
+      try:
+        unsupported = set().union(*UNSUPPORTED_LONGITUDINAL_CAR.values())
+        caps["hyundai_alpha_long_available"] = HYUNDAI_CAR[bundle_platform] not in unsupported
+      except KeyError:
+        cloudlog.exception(f"capabilities: unknown hyundai platform {bundle_platform!r}")
+    elif CP is not None:
+      caps["hyundai_alpha_long_available"] = bool(CP.alphaLongitudinalAvailable)
+
+  elif brand == "subaru":
+    if bundle_platform:
+      try:
+        flags = SUBARU_CAR[bundle_platform].config.flags
+        caps["subaru_has_sng"] = not bool(flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
+        caps["has_stop_and_go"] = caps["subaru_has_sng"]
+      except KeyError:
+        cloudlog.exception(f"capabilities: unknown subaru platform {bundle_platform!r}")
+    elif CP is not None:
+      caps["subaru_has_sng"] = not bool(CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
+      caps["has_stop_and_go"] = caps["subaru_has_sng"]
+
+
 def generate_capabilities(params: Params | None = None) -> dict:
   """Generate a SettingsCapabilities dict from CarParams + boolean params.
 
@@ -108,6 +140,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
     caps["brand"] = bundle_brand
 
   # CarParams-derived capabilities
+  CP = None
   CP_bytes = params.get("CarParamsPersistent")
   if CP_bytes is not None:
     try:
@@ -129,6 +162,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
       # Generic SnG fallback. Brand-specific opaque flags below override.
       caps["has_stop_and_go"] = bool(CP.openpilotLongitudinalControl)
     except Exception:
+      CP = None
       cloudlog.exception("capabilities: failed to deserialize CarParamsPersistent")
 
   # CarParamsSP-derived capabilities
@@ -142,23 +176,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
     except Exception:
       cloudlog.exception("capabilities: failed to deserialize CarParamsSPPersistent")
 
-  # Brand-specific opaque flags. Mirror Raylib brand-settings logic so the
-  # device and the dashboard agree on per-platform availability without
-  # leaking the platform identifier over the wire.
-  if caps["brand"] == "subaru" and bundle_platform:
-    try:
-      flags = SUBARU_CAR[bundle_platform].config.flags
-      caps["subaru_has_sng"] = not bool(flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
-      caps["has_stop_and_go"] = caps["subaru_has_sng"]
-    except KeyError:
-      cloudlog.exception(f"capabilities: unknown subaru platform {bundle_platform!r}")
-
-  if caps["brand"] == "hyundai" and bundle_platform:
-    try:
-      unsupported = set().union(*UNSUPPORTED_LONGITUDINAL_CAR.values())
-      caps["hyundai_alpha_long_available"] = HYUNDAI_CAR[bundle_platform] not in unsupported
-    except KeyError:
-      cloudlog.exception(f"capabilities: unknown hyundai platform {bundle_platform!r}")
+  _resolve_brand_capabilities(caps, bundle_platform, CP)
 
   return caps
 

From b88adeb4ad31f40c523ae720653ccf554ae807ef Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 13 May 2026 15:12:18 -0700
Subject: [PATCH 1089/1434] pyproject cleanup (#38035)

* pyproject cleanup

* one more
---
 pyproject.toml | 40 ++++++++++++----------------------------
 uv.lock        | 15 ---------------
 2 files changed, 12 insertions(+), 43 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index c7358b0585f983..0602eca33b44ac 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -96,7 +96,6 @@ testing = [
   "pytest-subtests",
   # https://github.com/pytest-dev/pytest-xdist/pull/1229
   "pytest-xdist @ git+https://github.com/sshane/pytest-xdist@2b4372bd62699fb412c4fe2f95bf9f01bd2018da",
-  "pytest-asyncio",
   "pytest-mock",
   "ruff",
   "codespell",
@@ -109,7 +108,7 @@ dev = [
 ]
 
 tools = [
-  "imgui  @ git+https://github.com/commaai/dependencies.git@release-imgui#subdirectory=imgui",
+  "imgui @ git+https://github.com/commaai/dependencies.git@release-imgui#subdirectory=imgui",
   "metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
 ]
 
@@ -128,11 +127,10 @@ allow-direct-references = true
 
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
-asyncio_default_fixture_loop_scope = "function"
 markers = [
   "slow: tests that take awhile to run and can be skipped with -m 'not slow'",
   "tici: tests that are only meant to run on the C3/C3X",
@@ -179,9 +177,7 @@ lint.ignore = [
   "UP045", "UP007",  # these don't play nice with raylib atm
 ]
 line-length = 160
-target-version ="py311"
 exclude = [
-  "body",
   "cereal",
   "panda",
   "opendbc",
@@ -216,7 +212,6 @@ quote-style = "preserve"
 
 [tool.ty.src]
 exclude = [
-  "cereal/",
   "msgq/",
   "msgq_repo/",
   "opendbc/",
@@ -231,27 +226,16 @@ exclude = [
 ]
 
 [tool.ty.rules]
-# Ignore unresolved imports for Cython-compiled modules (.pyx)
-unresolved-import = "ignore"
-# Ignore unresolved attributes - many from capnp and Cython modules
-unresolved-attribute = "ignore"
-# Ignore invalid method overrides - signature variance issues
-invalid-method-override = "ignore"
-# Ignore possibly-missing-attribute - too many false positives
-possibly-missing-attribute = "ignore"
-# Ignore invalid assignment - often intentional monkey-patching
-invalid-assignment = "ignore"
-# Ignore no-matching-overload - numpy/ctypes overload matching issues
-no-matching-overload = "ignore"
-# Ignore invalid-argument-type - many false positives from raylib, ctypes, numpy
-invalid-argument-type = "ignore"
-# Ignore call-non-callable - false positives from dynamic types
-call-non-callable = "ignore"
-# Ignore unsupported-operator - false positives from dynamic types
-unsupported-operator = "ignore"
-# Ignore not-subscriptable - false positives from dynamic types
-not-subscriptable = "ignore"
-# not-iterable errors are now fixed
+unresolved-import = "ignore"  # Cython-compiled modules (.pyx)
+unresolved-attribute = "ignore"  # many from capnp and Cython modules
+invalid-method-override = "ignore"  # signature variance issues
+possibly-missing-attribute = "ignore"  # too many false positives
+invalid-assignment = "ignore"  # often intentional monkey-patching
+no-matching-overload = "ignore"  # numpy/ctypes overload matching issues
+invalid-argument-type = "ignore"  # many false positives from raylib, ctypes, numpy
+call-non-callable = "ignore"  # false positives from dynamic types
+unsupported-operator = "ignore" # false positives from dynamic types
+not-subscriptable = "ignore" # false positives from dynamic types
 
 [tool.uv]
 python-preference = "only-managed"
diff --git a/uv.lock b/uv.lock
index d89fb55665a816..48761b75cffb08 100644
--- a/uv.lock
+++ b/uv.lock
@@ -817,7 +817,6 @@ testing = [
     { name = "hypothesis" },
     { name = "pre-commit-hooks" },
     { name = "pytest" },
-    { name = "pytest-asyncio" },
     { name = "pytest-cpp" },
     { name = "pytest-mock" },
     { name = "pytest-subtests" },
@@ -873,7 +872,6 @@ requires-dist = [
     { name = "pyjwt" },
     { name = "pyserial" },
     { name = "pytest", marker = "extra == 'testing'" },
-    { name = "pytest-asyncio", marker = "extra == 'testing'" },
     { name = "pytest-cpp", marker = "extra == 'testing'" },
     { name = "pytest-mock", marker = "extra == 'testing'" },
     { name = "pytest-subtests", marker = "extra == 'testing'" },
@@ -1194,19 +1192,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/d4/24/a372aaf5c9b7208e7112038812994107bc65a84cd00e0354a88c2c77a617/pytest-9.0.3-py3-none-any.whl", hash = "sha256:2c5efc453d45394fdd706ade797c0a81091eccd1d6e4bccfcd476e2b8e0ab5d9", size = 375249, upload-time = "2026-04-07T17:16:16.13Z" },
 ]
 
-[[package]]
-name = "pytest-asyncio"
-version = "1.3.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pytest" },
-    { name = "typing-extensions" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/90/2c/8af215c0f776415f3590cac4f9086ccefd6fd463befeae41cd4d3f193e5a/pytest_asyncio-1.3.0.tar.gz", hash = "sha256:d7f52f36d231b80ee124cd216ffb19369aa168fc10095013c6b014a34d3ee9e5", size = 50087, upload-time = "2025-11-10T16:07:47.256Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/e5/35/f8b19922b6a25bc0880171a2f1a003eaeb93657475193ab516fd87cac9da/pytest_asyncio-1.3.0-py3-none-any.whl", hash = "sha256:611e26147c7f77640e6d0a92a38ed17c3e9848063698d5c93d5aa7aa11cebff5", size = 15075, upload-time = "2025-11-10T16:07:45.537Z" },
-]
-
 [[package]]
 name = "pytest-cpp"
 version = "2.6.0"

From f24ad7e27aaf90fd7a6dedc56a21648b191dc3fe Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Wed, 13 May 2026 16:52:08 -0700
Subject: [PATCH 1090/1434] modeld: use const border mode for dm warp (#37986)

---
 selfdrive/modeld/compile_dm_warp.py |  2 +-
 selfdrive/modeld/compile_modeld.py  | 16 ++++++++++++----
 2 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/selfdrive/modeld/compile_dm_warp.py b/selfdrive/modeld/compile_dm_warp.py
index 2713cccf413a09..b035566535d35f 100755
--- a/selfdrive/modeld/compile_dm_warp.py
+++ b/selfdrive/modeld/compile_dm_warp.py
@@ -17,7 +17,7 @@ def make_warp_dm(nv12: NV12Frame, dm_w, dm_h):
   def warp_dm(input_frame, M_inv):
     M_inv = M_inv.to(Device.DEFAULT).realize()
     return warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv,
-                                     (dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w)
+                                     (dm_w, dm_h), (cam_h, cam_w), stride_pad, border_fill_val=0).reshape(-1, dm_h * dm_w)
   return warp_dm
 
 
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index 61de986d564f41..2f97d8890c78e6 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -19,7 +19,7 @@
 UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
 
 
-def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad):
+def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, border_fill_val=None):
   w_dst, h_dst = dst_shape
   h_src, w_src = src_shape
 
@@ -34,11 +34,19 @@ def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad)
   src_x = src_x / src_w
   src_y = src_y / src_w
 
-  x_nn_clipped = Tensor.round(src_x).clip(0, w_src - 1).cast('int')
-  y_nn_clipped = Tensor.round(src_y).clip(0, h_src - 1).cast('int')
+  x_round = Tensor.round(src_x)
+  y_round = Tensor.round(src_y)
+  x_nn_clipped = x_round.clip(0, w_src - 1).cast('int')
+  y_nn_clipped = y_round.clip(0, h_src - 1).cast('int')
   idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped
+  sampled = src_flat[idx]
 
-  return src_flat[idx]
+  if border_fill_val is None:
+    return sampled
+
+  in_bounds = ((x_round >= 0) & (x_round <= w_src - 1) &
+               (y_round >= 0) & (y_round <= h_src - 1)).cast(sampled.dtype)
+  return sampled * in_bounds + Tensor(border_fill_val, dtype=sampled.dtype) * (1 - in_bounds)
 
 
 def frames_to_tensor(frames):

From ef94b134c3abe53bb330ddb00e5631eaa031cdea Mon Sep 17 00:00:00 2001
From: Andi Radulescu <andi.radulescu@gmail.com>
Date: Thu, 14 May 2026 05:36:47 +0300
Subject: [PATCH 1091/1434] common: avoid shell in sudo_read (#38022)

---
 common/utils.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/common/utils.py b/common/utils.py
index 28b9274d825b30..183363f39d1b54 100644
--- a/common/utils.py
+++ b/common/utils.py
@@ -48,7 +48,7 @@ def sudo_write(val: str, path: str) -> None:
 
 def sudo_read(path: str) -> str:
   try:
-    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
+    return subprocess.check_output(["sudo", "cat", "--", path], encoding='utf8').strip()
   except Exception:
     return ""
 

From c51ffe38082d0be880f9b9d99abc1e67cf406f49 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Thu, 14 May 2026 02:24:09 -0400
Subject: [PATCH 1092/1434] [bot] Update Python packages (#1827)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 opendbc_repo |   2 +-
 uv.lock      | 260 ++++++++++++++++++++++++++-------------------------
 2 files changed, 133 insertions(+), 129 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 57b531acd30a9d..4dad7b09dda58a 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 57b531acd30a9d7dec1397d337759259d8c45322
+Subproject commit 4dad7b09dda58ac161988b7949355f7300a3b0f2
diff --git a/uv.lock b/uv.lock
index a3f5d4f9282adc..153c8c44e290e4 100644
--- a/uv.lock
+++ b/uv.lock
@@ -116,12 +116,12 @@ wheels = [
 [[package]]
 name = "bzip2"
 version = "1.0.8"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#7876f40b7a3e9f0d634a60586043395169ef1a82" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#346fa1e479d7324d446f32b2cbe2913897372745" }
 
 [[package]]
 name = "capnproto"
 version = "1.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#bcd0c43cb9dbd3b48aad36812bae9498fb5c7be1" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#b4fd14982cbff568be0e021f55c0ef90c29da934" }
 
 [[package]]
 name = "casadi"
@@ -251,26 +251,26 @@ wheels = [
 
 [[package]]
 name = "coverage"
-version = "7.13.5"
+version = "7.14.0"
 source = { registry = "https://pypi.org/simple" }
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg#61e60dfe431b927cdb5631b43b765294c2b2f7ad" }
 
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 [[package]]
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     { name = "deepmerge" },
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     { name = "markdown" },
     { name = "pygments" },
     { name = "pymdown-extensions" },
     { name = "pyyaml" },
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 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#39acf5d6cbd996fe61e8e8727e1b403e79bc2b7b" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#10f97237e00e5fabf3c1fa54a2ca1a1da39de461" }
 
 [[package]]
 name = "zstandard"
@@ -1661,4 +1665,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#59e9ca4ecfda299d4861ea53a5fcc1eacadc5524" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#eb147476324db97737c31cd63e71a4f44b0d0723" }

From a432afd173f9c7c6b71ac4c72c709e31c6733e54 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Thu, 14 May 2026 09:24:22 -0700
Subject: [PATCH 1093/1434] Revert "bump tinygrad (#38010)" (#38039)

This reverts commit 8ebc51a8aae016591d04419110bf946b91674f7a.
---
 tinygrad_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tinygrad_repo b/tinygrad_repo
index 039d84ff021bd5..5b4f62519d628d 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 039d84ff021bd5ee7ef8902bb60ea09c7b54f513
+Subproject commit 5b4f62519d628d1f238a5025b153aaedeee141cc

From c9d77fb3fbb7983e5ec236de2c9fcebec64a818d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Thu, 14 May 2026 10:38:09 -0700
Subject: [PATCH 1094/1434] process_replay/migration: doesnt need to import
 acados (#38040)

process_replay/migration: drop transitive dep on long_mpc/acados

migrate_longitudinalPlan only needs get_accel_from_plan + CONTROL_N_T_IDX,
both available from drive_helpers + ModelConstants directly. Importing
from longitudinal_planner instead pulled in long_mpc -> libacados.so as
an eager side-effect, which downstream log-migration consumers (e.g.
commaai/xx pipeline) shouldn't pay for.
---
 selfdrive/test/process_replay/migration.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 578dd44628d9a6..bc6399aa941db9 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -14,7 +14,7 @@
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
-from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan, CONTROL_N_T_IDX
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogIterable
 
@@ -126,7 +126,7 @@ def migrate_longitudinalPlan(msgs):
     if msg.which() != 'longitudinalPlan':
       continue
     new_msg = msg.as_builder()
-    a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, CONTROL_N_T_IDX)
+    a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, ModelConstants.T_IDXS[:CONTROL_N])
     new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = float(a_target), bool(should_stop)
     ops.append((index, as_reader(new_msg)))
   return ops, [], []

From 2d4ac33ed72e756ef5a52edea64a8dac09bdbb4e Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Thu, 14 May 2026 16:42:55 -0700
Subject: [PATCH 1095/1434] modeld: DEV=AMD dedupe weights across camera
 resolutions (#38041)

* modeld: dedupe weight accross resolutions

* cleanup

* rm compileconfig

* depends on camera targets

* dedupe doesn't work on qcom as is
---
 selfdrive/modeld/SConscript           | 42 ++++++++---------
 selfdrive/modeld/compile_dm_warp.py   | 10 +++--
 selfdrive/modeld/compile_modeld.py    | 65 ++++++++++++++-------------
 selfdrive/modeld/dmonitoringmodeld.py |  4 +-
 selfdrive/modeld/helpers.py           | 19 --------
 selfdrive/modeld/modeld.py            |  7 +--
 6 files changed, 65 insertions(+), 82 deletions(-)

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 88e72ea0b9cfd5..29ac9a47c94163 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -1,13 +1,11 @@
 import glob
 import json
 import os
-from itertools import product
 from SCons.Script import Value
 from openpilot.common.file_chunker import chunk_file, get_chunk_paths
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.selfdrive.modeld.helpers import CompileConfig
 from tinygrad import Device
 from openpilot.system.hardware import HARDWARE, PC
 
@@ -26,9 +24,6 @@ def get_camera_configs():
 
 CAMERA_CONFIGS = get_camera_configs()
 
-MODELD_CONFIGS = [CompileConfig(cam_w, cam_h, prepare_only, 'driving_')
-                  for (cam_w, cam_h), prepare_only in product(CAMERA_CONFIGS, [True, False])]
-DM_WARP_CONFIGS = [CompileConfig(cam_w, cam_h, True, 'dm_') for cam_w, cam_h in CAMERA_CONFIGS]
 chunker_file = File("#common/file_chunker.py")
 lenv = env.Clone()
 
@@ -80,27 +75,28 @@ driving_metadata_deps = [File(f"models/{m}_metadata.pkl").abspath for m in ['dri
 
 model_w, model_h = MEDMODEL_INPUT_SIZE
 frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
-for cfg in MODELD_CONFIGS:
-  cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
-         f'--model-size {model_w}x{model_h} '
-         f'--nv12 {",".join(str(x) for x in cfg.nv12)} '
-         f'--vision-onnx {File("models/driving_vision.onnx").abspath} '
-         f'--policy-onnx {File("models/driving_policy.onnx").abspath} '
-         f'--output {cfg.pkl_path} --frame-skip {frame_skip}'
-         + (' --prepare-only' if cfg.prepare_only else ''))
-  node = lenv.Command(cfg.pkl_path, tinygrad_files + compile_modeld_script + driving_onnx_deps + driving_metadata_deps + [chunker_file, compiled_flags_node], cmd)
-  onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
-  chunk_targets = get_chunk_paths(cfg.pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
-  def do_chunk(target, source, env, pkl=cfg.pkl_path, chunks=chunk_targets):
-    chunk_file(pkl, chunks)
-  lenv.Command(chunk_targets, node, do_chunk)
+pkl_path = File("models/driving_tinygrad.pkl").abspath
+camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
+cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
+       f'--model-size {model_w}x{model_h} '
+       f'--camera-resolutions {camera_res_args} '
+       f'--vision-onnx {File("models/driving_vision.onnx").abspath} '
+       f'--policy-onnx {File("models/driving_policy.onnx").abspath} '
+       f'--output {pkl_path} --frame-skip {frame_skip}')
+node = lenv.Command(pkl_path, tinygrad_files + compile_modeld_script + driving_onnx_deps + driving_metadata_deps + [Value(camera_res_args), chunker_file, compiled_flags_node], cmd)
+onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
+chunk_targets = get_chunk_paths(pkl_path, estimate_pickle_max_size(onnx_sizes_sum)*2) # TODO make weight dedupe work on QCOM
+def do_chunk(target, source, env, pkl=pkl_path, chunks=chunk_targets):
+  chunk_file(pkl, chunks)
+lenv.Command(chunk_targets, node, do_chunk)
 
 dm_w, dm_h = DM_INPUT_SIZE
-for cfg in DM_WARP_CONFIGS:
+for cam_w, cam_h in CAMERA_CONFIGS:
+  dm_pkl_path = File(f"models/dm_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
   cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_dm_warp.py '
-         f'--nv12 {",".join(str(x) for x in cfg.nv12)} --warp-to {dm_w}x{dm_h} '
-         f'--output {cfg.pkl_path}')
-  lenv.Command(cfg.pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [compiled_flags_node], cmd)
+         f'--camera-resolution {cam_w}x{cam_h} --warp-to {dm_w}x{dm_h} '
+         f'--output {dm_pkl_path}')
+  lenv.Command(dm_pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [compiled_flags_node], cmd)
 
 def tg_compile(flags, model_name):
   pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
diff --git a/selfdrive/modeld/compile_dm_warp.py b/selfdrive/modeld/compile_dm_warp.py
index b035566535d35f..548990ee15a7d9 100755
--- a/selfdrive/modeld/compile_dm_warp.py
+++ b/selfdrive/modeld/compile_dm_warp.py
@@ -7,7 +7,8 @@
 from tinygrad.device import Device
 from tinygrad.engine.jit import TinyJit
 
-from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, warp_perspective_tinygrad, _parse_size, _parse_nv12
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, warp_perspective_tinygrad, _parse_size
 
 
 def make_warp_dm(nv12: NV12Frame, dm_w, dm_h):
@@ -44,11 +45,12 @@ def compile_dm_warp(nv12: NV12Frame, dm_w, dm_h, pkl_path):
 
 if __name__ == "__main__":
   p = argparse.ArgumentParser()
-  p.add_argument('--nv12', type=_parse_nv12, required=True,
-                 help=f'NV12 frame layout: {",".join(NV12Frame._fields)}')
+  p.add_argument('--camera-resolution', type=_parse_size, required=True, help='camera resolution WxH')
   p.add_argument('--warp-to', type=_parse_size, required=True, help='DM input WxH')
   p.add_argument('--output', required=True)
   args = p.parse_args()
 
+  cam_w, cam_h = args.camera_resolution
+  nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
   dm_w, dm_h = args.warp_to
-  compile_dm_warp(args.nv12, dm_w, dm_h, args.output)
+  compile_dm_warp(nv12, dm_w, dm_h, args.output)
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index 2f97d8890c78e6..f6ad3989243d7c 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import argparse
+import os
 import pickle
 import time
 from functools import partial
@@ -10,7 +11,6 @@
 from tinygrad.helpers import Context
 from tinygrad.device import Device
 from tinygrad.engine.jit import TinyJit
-from tinygrad.nn.onnx import OnnxRunner
 
 
 NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
@@ -158,21 +158,10 @@ def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, t
 
 
 def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
-                   vision_onnx, policy_onnx, pkl_path):
-  from get_model_metadata import metadata_path_for
-
+                   vision_runner, policy_runner, vision_features_slice,
+                   vision_input_shapes, policy_input_shapes):
   print(f"Compiling combined policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
 
-  vision_runner = OnnxRunner(vision_onnx)
-  policy_runner = OnnxRunner(policy_onnx)
-
-  with open(metadata_path_for(vision_onnx), 'rb') as f:
-    vision_metadata = pickle.load(f)
-    vision_features_slice = vision_metadata['output_slices']['hidden_state']
-    vision_input_shapes = vision_metadata['input_shapes']
-  with open(metadata_path_for(policy_onnx), 'rb') as f:
-    policy_input_shapes = pickle.load(f)['input_shapes']
-
   _run = make_run_policy(vision_runner, policy_runner, nv12, model_w, model_h,
                          vision_features_slice, frame_skip, prepare_only)
   run_policy_jit = TinyJit(_run, prune=True)
@@ -216,13 +205,10 @@ def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_matc
   run_policy_jit, test_val, test_buffers = random_inputs_run_fn(run_policy_jit, SEED)
 
   print('pickle round trip')
-  with open(pkl_path, "wb") as f:
-    pickle.dump(run_policy_jit, f)
-    print(f"  Saved to {pkl_path}")
-  with open(pkl_path, "rb") as f:
-    run_policy_jit = pickle.load(f)
+  run_policy_jit = pickle.loads(pickle.dumps(run_policy_jit))
   random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers, expect_match=True)
   random_inputs_run_fn(run_policy_jit, SEED+1, test_val, test_buffers, expect_match=False)
+  return run_policy_jit
 
 
 def _parse_size(s):
@@ -230,25 +216,42 @@ def _parse_size(s):
   return int(w), int(h)
 
 
-def _parse_nv12(s):
-  parts = s.split(',')
-  assert len(parts) == len(NV12Frame._fields), \
-    f"--nv12 expects {','.join(NV12Frame._fields)} (got {s!r})"
-  return NV12Frame(*(int(x) for x in parts))
-
-
 if __name__ == "__main__":
+  from tinygrad.nn.onnx import OnnxRunner
+  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
   p = argparse.ArgumentParser()
   p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
-  p.add_argument('--nv12', type=_parse_nv12, required=True,
-                 help=f'NV12 frame layout: {",".join(NV12Frame._fields)}')
+  p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True,
+                 help='camera resolutions WxH (one or more)')
   p.add_argument('--vision-onnx', required=True)
   p.add_argument('--policy-onnx', required=True)
   p.add_argument('--output', required=True)
-  p.add_argument('--prepare-only', action='store_true')
   p.add_argument('--frame-skip', type=int, required=True)
   args = p.parse_args()
 
   model_w, model_h = args.model_size
-  compile_modeld(args.nv12, model_w, model_h, args.prepare_only, args.frame_skip,
-                 args.vision_onnx, args.policy_onnx, args.output)
+
+  # init runners once so weights are shared
+  from get_model_metadata import metadata_path_for
+  vision_runner = OnnxRunner(args.vision_onnx)
+  policy_runner = OnnxRunner(args.policy_onnx)
+  with open(metadata_path_for(args.vision_onnx), 'rb') as f:
+    vision_metadata = pickle.load(f)
+    vision_features_slice = vision_metadata['output_slices']['hidden_state']
+    vision_input_shapes = vision_metadata['input_shapes']
+  with open(metadata_path_for(args.policy_onnx), 'rb') as f:
+    policy_input_shapes = pickle.load(f)['input_shapes']
+
+  out = {}
+  for cam_w, cam_h in args.camera_resolutions:
+    nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+    out[(cam_w,cam_h)] = {
+      name: compile_modeld(nv12, model_w, model_h, prepare_only, args.frame_skip,
+                           vision_runner, policy_runner, vision_features_slice,
+                           vision_input_shapes, policy_input_shapes)
+      for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
+    }
+
+  with open(args.output, "wb") as f:
+    pickle.dump(out, f)
+  print(f"Saved combined JIT to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB)")
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 7b073a5f507acd..618d39ca675e1f 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.helpers import MODELS_DIR, CompileConfig, set_tinygrad_backend_from_compiled_flags
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
 set_tinygrad_backend_from_compiled_flags()
 
 from tinygrad.tensor import Tensor
@@ -44,7 +44,7 @@ def __init__(self, cam_w: int, cam_h: int):
     self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
     self._blob_cache : dict[int, Tensor] = {}
     self.model_run = pickle.loads(read_file_chunked(str(MODEL_PKL_PATH)))
-    with open(CompileConfig(cam_w, cam_h, prefix='dm_', prepare_only=True).pkl_path, "rb") as f:
+    with open(MODELS_DIR / f'dm_warp_{cam_w}x{cam_h}_tinygrad.pkl', "rb") as f:
       self.image_warp = pickle.load(f)
 
   def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
diff --git a/selfdrive/modeld/helpers.py b/selfdrive/modeld/helpers.py
index e5d731f34ba9cb..9c1a0d4689f5dd 100644
--- a/selfdrive/modeld/helpers.py
+++ b/selfdrive/modeld/helpers.py
@@ -1,10 +1,7 @@
 import json
 import os
-from dataclasses import dataclass
 from pathlib import Path
 
-from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-
 MODELS_DIR = Path(__file__).resolve().parent / 'models'
 COMPILED_FLAGS_PATH = MODELS_DIR / 'tg_compiled_flags.json'
 
@@ -13,19 +10,3 @@ def set_tinygrad_backend_from_compiled_flags() -> None:
   if os.path.isfile(COMPILED_FLAGS_PATH):
     with open(COMPILED_FLAGS_PATH) as f:
       os.environ['DEV'] = str(json.load(f)['DEV'])
-
-
-@dataclass
-class CompileConfig:
-  cam_w: int
-  cam_h: int
-  prepare_only: bool
-  prefix: str
-
-  @property
-  def pkl_path(self):
-    return str(MODELS_DIR / f'{self.prefix}{"warp_" if self.prepare_only else ""}{self.cam_w}x{self.cam_h}_tinygrad.pkl')
-
-  @property
-  def nv12(self):
-    return (self.cam_w, self.cam_h, *get_nv12_info(self.cam_w, self.cam_h))
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 73ed19ec943790..5784099a38ee2b 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.helpers import MODELS_DIR, CompileConfig, set_tinygrad_backend_from_compiled_flags
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
 set_tinygrad_backend_from_compiled_flags()
 
 USBGPU = "USBGPU" in os.environ
@@ -100,8 +100,9 @@ def __init__(self, cam_w: int, cam_h: int):
     self._blob_cache : dict[int, Tensor] = {}
     self.parser = Parser()
     self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
-    self.run_policy = pickle.loads(read_file_chunked(CompileConfig(cam_w, cam_h, prefix='driving_', prepare_only=False).pkl_path))
-    self.warp_enqueue = pickle.loads(read_file_chunked(CompileConfig(cam_w, cam_h, prefix='driving_', prepare_only=True).pkl_path))
+    jits = pickle.loads(read_file_chunked(MODELS_DIR / 'driving_tinygrad.pkl'))[(cam_w,cam_h)]
+    self.run_policy = jits['run_policy']
+    self.warp_enqueue = jits['warp_enqueue']
     self.warp_enqueue(
       **self.input_queues,
       frame=Tensor.zeros(self.frame_buf_params['img'][3], dtype='uint8').contiguous().realize(),

From 74554a523f57c5da17cd40bf98d42d62a2dcfcef Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Thu, 14 May 2026 21:17:08 -0700
Subject: [PATCH 1096/1434] modeld: fold metadata into jit pkl (#38042)

* modeld: fold metadata into jit pkl

* modeld

* no more metadata deps
---
 selfdrive/modeld/SConscript            | 19 ++++++++---------
 selfdrive/modeld/compile_modeld.py     | 29 ++++++++++++--------------
 selfdrive/modeld/get_model_metadata.py | 18 +++++++---------
 selfdrive/modeld/modeld.py             | 25 +++++++++-------------
 4 files changed, 39 insertions(+), 52 deletions(-)

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 29ac9a47c94163..73dcb4a6f43224 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -60,18 +60,9 @@ compiled_flags_node = lenv.Command(
 # tinygrad calls brew which needs a $HOME in the env
 mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
 
-# Get model metadata
-for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
-  fn = File(f"models/{model_name}").abspath
-  script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
-  cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
-  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [compiled_flags_node], cmd)
-
 modeld_dir = Dir("#selfdrive/modeld").abspath
 compile_modeld_script = [File(f"{modeld_dir}/compile_modeld.py")]
-compile_dm_warp_script = [File(f"{modeld_dir}/compile_dm_warp.py")]
 driving_onnx_deps = [File(f"models/{m}.onnx").abspath for m in ['driving_vision', 'driving_policy']]
-driving_metadata_deps = [File(f"models/{m}_metadata.pkl").abspath for m in ['driving_vision', 'driving_policy']]
 
 model_w, model_h = MEDMODEL_INPUT_SIZE
 frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
@@ -83,14 +74,21 @@ cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
        f'--vision-onnx {File("models/driving_vision.onnx").abspath} '
        f'--policy-onnx {File("models/driving_policy.onnx").abspath} '
        f'--output {pkl_path} --frame-skip {frame_skip}')
-node = lenv.Command(pkl_path, tinygrad_files + compile_modeld_script + driving_onnx_deps + driving_metadata_deps + [Value(camera_res_args), chunker_file, compiled_flags_node], cmd)
+node = lenv.Command(pkl_path, tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(camera_res_args), chunker_file, compiled_flags_node], cmd)
 onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
 chunk_targets = get_chunk_paths(pkl_path, estimate_pickle_max_size(onnx_sizes_sum)*2) # TODO make weight dedupe work on QCOM
 def do_chunk(target, source, env, pkl=pkl_path, chunks=chunk_targets):
   chunk_file(pkl, chunks)
 lenv.Command(chunk_targets, node, do_chunk)
 
+# get model metadata
+fn = File(f"models/dmonitoring_model").abspath
+script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
+cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
+lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [compiled_flags_node], cmd)
+
 dm_w, dm_h = DM_INPUT_SIZE
+compile_dm_warp_script = [File(f"{modeld_dir}/compile_dm_warp.py")]
 for cam_w, cam_h in CAMERA_CONFIGS:
   dm_pkl_path = File(f"models/dm_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
   cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_dm_warp.py '
@@ -98,6 +96,7 @@ for cam_w, cam_h in CAMERA_CONFIGS:
          f'--output {dm_pkl_path}')
   lenv.Command(dm_pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [compiled_flags_node], cmd)
 
+driving_metadata_deps = [File(f"models/{m}_metadata.pkl").abspath for m in ['driving_vision', 'driving_policy']]
 def tg_compile(flags, model_name):
   pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
   fn = File(f"models/{model_name}").abspath
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index f6ad3989243d7c..f5d92edce977ab 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -4,7 +4,7 @@
 import pickle
 import time
 from functools import partial
-from collections import namedtuple
+from collections import namedtuple, defaultdict
 
 import numpy as np
 from tinygrad.tensor import Tensor
@@ -158,10 +158,13 @@ def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, t
 
 
 def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
-                   vision_runner, policy_runner, vision_features_slice,
-                   vision_input_shapes, policy_input_shapes):
+                   vision_runner, policy_runner, vision_metadata, policy_metadata):
   print(f"Compiling combined policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
 
+  vision_features_slice = vision_metadata['output_slices']['hidden_state']
+  vision_input_shapes = vision_metadata['input_shapes']
+  policy_input_shapes = policy_metadata['input_shapes']
+
   _run = make_run_policy(vision_runner, policy_runner, nv12, model_w, model_h,
                          vision_features_slice, frame_skip, prepare_only)
   run_policy_jit = TinyJit(_run, prune=True)
@@ -229,26 +232,20 @@ def _parse_size(s):
   p.add_argument('--frame-skip', type=int, required=True)
   args = p.parse_args()
 
-  model_w, model_h = args.model_size
-
+  out = defaultdict(dict)
   # init runners once so weights are shared
-  from get_model_metadata import metadata_path_for
+  from get_model_metadata import make_metadata_dict
   vision_runner = OnnxRunner(args.vision_onnx)
   policy_runner = OnnxRunner(args.policy_onnx)
-  with open(metadata_path_for(args.vision_onnx), 'rb') as f:
-    vision_metadata = pickle.load(f)
-    vision_features_slice = vision_metadata['output_slices']['hidden_state']
-    vision_input_shapes = vision_metadata['input_shapes']
-  with open(metadata_path_for(args.policy_onnx), 'rb') as f:
-    policy_input_shapes = pickle.load(f)['input_shapes']
-
-  out = {}
+  out['metadata']['vision'] = make_metadata_dict(args.vision_onnx)
+  out['metadata']['policy'] = make_metadata_dict(args.policy_onnx)
+
   for cam_w, cam_h in args.camera_resolutions:
     nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+    model_w, model_h = args.model_size
     out[(cam_w,cam_h)] = {
       name: compile_modeld(nv12, model_w, model_h, prepare_only, args.frame_skip,
-                           vision_runner, policy_runner, vision_features_slice,
-                           vision_input_shapes, policy_input_shapes)
+                           vision_runner, policy_runner, out['metadata']['vision'], out['metadata']['policy'])
       for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
     }
 
diff --git a/selfdrive/modeld/get_model_metadata.py b/selfdrive/modeld/get_model_metadata.py
index ee08e9fb14522f..e4c173957a7cf2 100755
--- a/selfdrive/modeld/get_model_metadata.py
+++ b/selfdrive/modeld/get_model_metadata.py
@@ -7,10 +7,6 @@
 
 from tinygrad.nn.onnx import OnnxPBParser
 
-def metadata_path_for(onnx_path) -> pathlib.Path:
-  p = pathlib.Path(onnx_path)
-  return p.parent / (p.stem + '_metadata.pkl')
-
 
 class MetadataOnnxPBParser(OnnxPBParser):
   def _parse_ModelProto(self) -> dict:
@@ -39,21 +35,21 @@ def get_metadata_value_by_name(model: dict[str, Any], name: str) -> str | Any:
   return None
 
 
-if __name__ == "__main__":
-  model_path = pathlib.Path(sys.argv[1])
+def make_metadata_dict(model_path):
   model = MetadataOnnxPBParser(model_path).parse()
   output_slices = get_metadata_value_by_name(model, 'output_slices')
   assert output_slices is not None, 'output_slices not found in metadata'
-
-  metadata = {
+  return {
     'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
     'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
     'input_shapes': dict(get_name_and_shape(x) for x in model["graph"]["input"]),
     'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
   }
 
-  metadata_path = metadata_path_for(model_path)
-  with open(metadata_path, 'wb') as f:
-    pickle.dump(metadata, f)
 
+if __name__ == "__main__":
+  model_path = pathlib.Path(sys.argv[1])
+  metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
+  with open(metadata_path, 'wb') as f:
+    pickle.dump(make_metadata_dict(model_path), f)
   print(f'saved metadata to {metadata_path}')
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 5784099a38ee2b..527cc5d7afa329 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -35,9 +35,6 @@
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
-VISION_METADATA_PATH = MODELS_DIR / 'driving_vision_metadata.pkl'
-POLICY_METADATA_PATH = MODELS_DIR / 'driving_policy_metadata.pkl'
-
 LAT_SMOOTH_SECONDS = 0.0
 LONG_SMOOTH_SECONDS = 0.3
 MIN_LAT_CONTROL_SPEED = 0.3
@@ -81,16 +78,15 @@ class ModelState:
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
   def __init__(self, cam_w: int, cam_h: int):
-    with open(VISION_METADATA_PATH, 'rb') as f:
-      vision_metadata = pickle.load(f)
-      self.vision_input_shapes =  vision_metadata['input_shapes']
-      self.vision_input_names = list(self.vision_input_shapes.keys())
-      self.vision_output_slices = vision_metadata['output_slices']
+    jits = pickle.loads(read_file_chunked(MODELS_DIR / 'driving_tinygrad.pkl'))
+    vision_metadata = jits['metadata']['vision']
+    self.vision_input_shapes =  vision_metadata['input_shapes']
+    self.vision_input_names = list(self.vision_input_shapes.keys())
+    self.vision_output_slices = vision_metadata['output_slices']
 
-    with open(POLICY_METADATA_PATH, 'rb') as f:
-      policy_metadata = pickle.load(f)
-      self.policy_input_shapes =  policy_metadata['input_shapes']
-      self.policy_output_slices = policy_metadata['output_slices']
+    policy_metadata = jits['metadata']['policy']
+    self.policy_input_shapes =  policy_metadata['input_shapes']
+    self.policy_output_slices = policy_metadata['output_slices']
 
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
 
@@ -100,9 +96,8 @@ def __init__(self, cam_w: int, cam_h: int):
     self._blob_cache : dict[int, Tensor] = {}
     self.parser = Parser()
     self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
-    jits = pickle.loads(read_file_chunked(MODELS_DIR / 'driving_tinygrad.pkl'))[(cam_w,cam_h)]
-    self.run_policy = jits['run_policy']
-    self.warp_enqueue = jits['warp_enqueue']
+    self.run_policy = jits[(cam_w,cam_h)]['run_policy']
+    self.warp_enqueue = jits[(cam_w,cam_h)]['warp_enqueue']
     self.warp_enqueue(
       **self.input_queues,
       frame=Tensor.zeros(self.frame_buf_params['img'][3], dtype='uint8').contiguous().realize(),

From e9cf5d67cf0ab96f6c7ba3e37c1f78119aba1838 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 14 May 2026 22:45:04 -0700
Subject: [PATCH 1097/1434] ui: offroad alerts params thread (#38043)

* offroad alerts in thread

* stashh

* better

* revert

* revert

* revert

* clean up

* rename

* hack
---
 selfdrive/ui/mici/layouts/offroad_alerts.py | 38 ++++++++++++---------
 selfdrive/ui/tests/diff/replay_script.py    |  5 ++-
 2 files changed, 26 insertions(+), 17 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/offroad_alerts.py b/selfdrive/ui/mici/layouts/offroad_alerts.py
index a46002c289dfe3..de631f686c8f15 100644
--- a/selfdrive/ui/mici/layouts/offroad_alerts.py
+++ b/selfdrive/ui/mici/layouts/offroad_alerts.py
@@ -1,9 +1,11 @@
 import pyray as rl
 import re
+import threading
 import time
 from dataclasses import dataclass
 from enum import IntEnum
 from openpilot.common.params import Params
+from openpilot.common.realtime import drop_realtime
 from openpilot.selfdrive.selfdrived.alertmanager import OFFROAD_ALERTS
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.widgets import Widget
@@ -195,7 +197,6 @@ def __init__(self):
     self.params = Params()
     self.sorted_alerts: list[AlertData] = []
     self.alert_items: list[AlertItem] = []
-    self._last_refresh = 0.0
 
     # Create empty state label
     self._empty_label = UnifiedLabel(tr("no alerts"), 65, FontWeight.DISPLAY, rl.WHITE,
@@ -205,6 +206,11 @@ def __init__(self):
     # Build initial alert list
     self._build_alerts()
 
+    # Start param thread
+    self._pending_params: dict | None = None
+    self._params_thread = threading.Thread(target=self._params_worker, daemon=True)
+    self._params_thread.start()
+
   def active_alerts(self) -> int:
     return sum(alert.visible for alert in self.sorted_alerts)
 
@@ -237,12 +243,19 @@ def _build_alerts(self):
       self.alert_items.append(alert_item)
       self._scroller.add_widget(alert_item)
 
-  def refresh(self) -> int:
+  def _params_worker(self):
+    drop_realtime()
+    while True:
+      self._pending_params = ({"UpdaterNewDescription": self.params.get("UpdaterNewDescription")} |
+                              {alert_data.key: self.params.get(alert_data.key) for alert_data in self.sorted_alerts})
+      time.sleep(REFRESH_INTERVAL)
+
+  def _refresh(self) -> int:
     """Refresh alerts from params and return active count."""
     active_count = 0
 
     # Handle UpdateAvailable alert specially
-    update_available = self.params.get_bool("UpdateAvailable")
+    update_available = self._pending_params["UpdateAvailable"]
     update_alert_data = next((alert_data for alert_data in self.sorted_alerts if alert_data.key == "UpdateAvailable"), None)
 
     if update_alert_data:
@@ -250,7 +263,7 @@ def refresh(self) -> int:
         version_string = ""
 
         # Get new version description and parse version and date
-        new_desc = self.params.get("UpdaterNewDescription") or ""
+        new_desc = self._pending_params["UpdaterNewDescription"] or ""
         if new_desc:
           # format: "version / branch / commit / date"
           parts = new_desc.split(" / ")
@@ -271,7 +284,7 @@ def refresh(self) -> int:
         continue  # Skip, already handled above
 
       text = ""
-      alert_json = self.params.get(alert_data.key)
+      alert_json = self._pending_params[alert_data.key]
 
       if alert_json:
         text = alert_json.get("text", "").replace("%1", alert_json.get("extra", ""))
@@ -295,19 +308,12 @@ def refresh(self) -> int:
 
     return active_count
 
-  def show_event(self):
-    """Reset scroll position when shown and refresh alerts."""
-    super().show_event()
-    self._last_refresh = time.monotonic()
-    self.refresh()
-
   def _update_state(self):
     """Periodically refresh alerts."""
-    # Refresh alerts periodically, not every frame
-    current_time = time.monotonic()
-    if current_time - self._last_refresh >= REFRESH_INTERVAL:
-      self.refresh()
-      self._last_refresh = current_time
+    # Refresh alerts when thread updates params
+    if self._pending_params is not None:
+      self._refresh()
+      self._pending_params = None
 
   def _render(self, rect: rl.Rectangle):
     """Render the alerts scroller or empty state."""
diff --git a/selfdrive/ui/tests/diff/replay_script.py b/selfdrive/ui/tests/diff/replay_script.py
index dce1c12dc464f6..ad7e8952d6d152 100644
--- a/selfdrive/ui/tests/diff/replay_script.py
+++ b/selfdrive/ui/tests/diff/replay_script.py
@@ -354,7 +354,10 @@ def interact_keyboard() -> None:
   def setup_offroad_alerts_and_refresh() -> None:
     """Setup function to trigger offroad alerts and force a refresh on the alerts layout."""
     setup_offroad_alerts()
-    main_layout._alerts_layout.refresh()
+    params = Params()
+    main_layout._alerts_layout._pending_params = ({"UpdaterNewDescription": params.get("UpdaterNewDescription")} |
+                                                  {alert_data.key: params.get(alert_data.key) for alert_data in main_layout._alerts_layout.sorted_alerts})
+    main_layout._alerts_layout._refresh()
 
   swipe_right(width, wait_after=WAIT_SHORT)  # open alerts
   script.setup(setup_offroad_alerts_and_refresh)  # show alerts

From 4cfd7748556cee51d008e7ce9dac4502fec632b3 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Thu, 14 May 2026 23:09:50 -0700
Subject: [PATCH 1098/1434] modeld/dmonitoringmodeld: explicitly set input
 devices (#38044)

* modeld/dmonitoringmodeld: explicitly set input devices

* lint

* ignore metadata json file
---
 .gitignore                            |  2 +-
 selfdrive/modeld/SConscript           | 26 ++++++++++++++++----------
 selfdrive/modeld/compile_modeld.py    | 12 ++++++------
 selfdrive/modeld/dmonitoringmodeld.py |  7 +++----
 selfdrive/modeld/helpers.py           | 10 ++++------
 selfdrive/modeld/modeld.py            | 18 +++++++-----------
 6 files changed, 37 insertions(+), 38 deletions(-)

diff --git a/.gitignore b/.gitignore
index 689d1d6c29c7ee..8f4442e522c90d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -44,7 +44,7 @@ bin/
 config.json
 compile_commands.json
 compare_runtime*.html
-selfdrive/modeld/models/tg_compiled_flags.json
+selfdrive/modeld/models/tg_input_devices.json
 
 # build artifacts
 docs_site/
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 73dcb4a6f43224..18e806a6ab9e9a 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -8,6 +8,7 @@ from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from tinygrad import Device
 from openpilot.system.hardware import HARDWARE, PC
+from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH
 
 Import('env', 'arch', 'release')
 
@@ -46,15 +47,20 @@ else:
   tg_backend = 'CPU' if arch == 'Darwin' else 'CPU:LLVM'
   tg_flags = f'DEV={tg_backend}'
 
-def write_tg_compiled_flags(target, source, env):
+tg_devices = { # which device to put jit inputs to at runtime
+  'selfdrive.modeld.modeld': tg_backend,
+  'selfdrive.modeld.dmonitoringmodeld': tg_backend,
+}
+
+def write_tg_devices(target, source, env):
   with open(str(target[0]), "w") as f:
-    json.dump({"DEV": tg_backend}, f)
+    json.dump(tg_devices, f)
     f.write("\n")
 
-compiled_flags_node = lenv.Command(
-  File("models/tg_compiled_flags.json").abspath,
-  tinygrad_files + [Value(tg_backend)],
-  write_tg_compiled_flags,
+tg_devices_node = lenv.Command(
+  str(TG_INPUT_DEVICES_PATH),
+  [Value(json.dumps(tg_devices, sort_keys=True))],
+  write_tg_devices,
 )
 
 # tinygrad calls brew which needs a $HOME in the env
@@ -74,7 +80,7 @@ cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
        f'--vision-onnx {File("models/driving_vision.onnx").abspath} '
        f'--policy-onnx {File("models/driving_policy.onnx").abspath} '
        f'--output {pkl_path} --frame-skip {frame_skip}')
-node = lenv.Command(pkl_path, tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(camera_res_args), chunker_file, compiled_flags_node], cmd)
+node = lenv.Command(pkl_path, tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(camera_res_args), chunker_file, tg_devices_node], cmd)
 onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
 chunk_targets = get_chunk_paths(pkl_path, estimate_pickle_max_size(onnx_sizes_sum)*2) # TODO make weight dedupe work on QCOM
 def do_chunk(target, source, env, pkl=pkl_path, chunks=chunk_targets):
@@ -85,7 +91,7 @@ lenv.Command(chunk_targets, node, do_chunk)
 fn = File(f"models/dmonitoring_model").abspath
 script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
 cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
-lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [compiled_flags_node], cmd)
+lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [tg_devices_node], cmd)
 
 dm_w, dm_h = DM_INPUT_SIZE
 compile_dm_warp_script = [File(f"{modeld_dir}/compile_dm_warp.py")]
@@ -94,7 +100,7 @@ for cam_w, cam_h in CAMERA_CONFIGS:
   cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_dm_warp.py '
          f'--camera-resolution {cam_w}x{cam_h} --warp-to {dm_w}x{dm_h} '
          f'--output {dm_pkl_path}')
-  lenv.Command(dm_pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [compiled_flags_node], cmd)
+  lenv.Command(dm_pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [tg_devices_node], cmd)
 
 driving_metadata_deps = [File(f"models/{m}_metadata.pkl").abspath for m in ['driving_vision', 'driving_policy']]
 def tg_compile(flags, model_name):
@@ -105,7 +111,7 @@ def tg_compile(flags, model_name):
   chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
   compile_node = lenv.Command(
     pkl,
-    [onnx_path] + tinygrad_files + [chunker_file, compiled_flags_node],
+    [onnx_path] + tinygrad_files + [chunker_file, tg_devices_node],
     f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
   )
   def do_chunk(target, source, env):
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index f5d92edce977ab..031f13be3a072e 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -87,7 +87,7 @@ def frame_prepare_tinygrad(input_frame, M_inv):
   return frame_prepare_tinygrad
 
 
-def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip):
+def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device):
   img = vision_input_shapes['img']  # (1, 12, 128, 256)
   n_frames = img[1] // 6
   img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
@@ -103,10 +103,10 @@ def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip):
     'big_tfm': np.zeros((3, 3), dtype=np.float32),
   }
   input_queues = {
-    'img_q': Tensor.zeros(img_buf_shape, dtype='uint8').contiguous().realize(),
-    'big_img_q': Tensor.zeros(img_buf_shape, dtype='uint8').contiguous().realize(),
-    'feat_q': Tensor.zeros(frame_skip * (fb[1] - 1) + 1, fb[0], fb[2]).contiguous().realize(),
-    'desire_q': Tensor.zeros(frame_skip * dp[1], dp[0], dp[2]).contiguous().realize(),
+    'img_q': Tensor.zeros(img_buf_shape, dtype='uint8', device=device).contiguous().realize(),
+    'big_img_q': Tensor.zeros(img_buf_shape, dtype='uint8', device=device).contiguous().realize(),
+    'feat_q': Tensor.zeros(frame_skip * (fb[1] - 1) + 1, fb[0], fb[2], device=device).contiguous().realize(),
+    'desire_q': Tensor.zeros(frame_skip * dp[1], dp[0], dp[2], device=device).contiguous().realize(),
     **{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
   }
   return input_queues, npy
@@ -172,7 +172,7 @@ def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
   SEED = 42
 
   def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
-    input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip)
+    input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
     np.random.seed(seed)
     Tensor.manual_seed(seed)
 
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 618d39ca675e1f..7b0a26f4acbd7b 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,8 +1,6 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
-set_tinygrad_backend_from_compiled_flags()
-
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, get_tg_input_devices
 from tinygrad.tensor import Tensor
 import time
 import pickle
@@ -29,6 +27,7 @@ class ModelState:
   output: np.ndarray
 
   def __init__(self, cam_w: int, cam_h: int):
+    self.DEV = get_tg_input_devices(PROCESS_NAME)
     with open(METADATA_PATH, 'rb') as f:
       model_metadata = pickle.load(f)
       self.input_shapes = model_metadata['input_shapes']
@@ -55,7 +54,7 @@ def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple
     ptr = buf.data.ctypes.data
     # There is a ringbuffer of imgs, just cache tensors pointing to all of them
     if ptr not in self._blob_cache:
-      self._blob_cache[ptr] = Tensor.from_blob(ptr, (self.frame_buf_params[3],), dtype='uint8')
+      self._blob_cache[ptr] = Tensor.from_blob(ptr, (self.frame_buf_params[3],), dtype='uint8', device=self.DEV)
 
     self.warp_inputs_np['transform'][:] = transform[:]
     self.tensor_inputs['input_img'] = self.image_warp(self._blob_cache[ptr], self.warp_inputs['transform'])
diff --git a/selfdrive/modeld/helpers.py b/selfdrive/modeld/helpers.py
index 9c1a0d4689f5dd..f4b3968421346f 100644
--- a/selfdrive/modeld/helpers.py
+++ b/selfdrive/modeld/helpers.py
@@ -1,12 +1,10 @@
 import json
-import os
 from pathlib import Path
 
 MODELS_DIR = Path(__file__).resolve().parent / 'models'
-COMPILED_FLAGS_PATH = MODELS_DIR / 'tg_compiled_flags.json'
+TG_INPUT_DEVICES_PATH = MODELS_DIR / 'tg_input_devices.json'
 
 
-def set_tinygrad_backend_from_compiled_flags() -> None:
-  if os.path.isfile(COMPILED_FLAGS_PATH):
-    with open(COMPILED_FLAGS_PATH) as f:
-      os.environ['DEV'] = str(json.load(f)['DEV'])
+def get_tg_input_devices(process_name: str) -> dict[str, str]:
+  with open(TG_INPUT_DEVICES_PATH) as f:
+    return json.load(f)[process_name]
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 527cc5d7afa329..6aa94be4955bdf 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,12 +1,6 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
-set_tinygrad_backend_from_compiled_flags()
-
-USBGPU = "USBGPU" in os.environ
-if USBGPU:
-  os.environ['DEV'] = 'AMD'
-  os.environ['AMD_IFACE'] = 'USB'
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, get_tg_input_devices
 from tinygrad.tensor import Tensor
 import time
 import pickle
@@ -78,6 +72,7 @@ class ModelState:
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
   def __init__(self, cam_w: int, cam_h: int):
+    self.DEV = get_tg_input_devices(PROCESS_NAME)
     jits = pickle.loads(read_file_chunked(MODELS_DIR / 'driving_tinygrad.pkl'))
     vision_metadata = jits['metadata']['vision']
     self.vision_input_shapes =  vision_metadata['input_shapes']
@@ -91,7 +86,7 @@ def __init__(self, cam_w: int, cam_h: int):
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
 
     self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
-    self.input_queues, self.npy = make_input_queues(self.vision_input_shapes, self.policy_input_shapes, self.frame_skip)
+    self.input_queues, self.npy = make_input_queues(self.vision_input_shapes, self.policy_input_shapes, self.frame_skip, device=self.DEV)
     self.full_frames : dict[str, Tensor] = {}
     self._blob_cache : dict[int, Tensor] = {}
     self.parser = Parser()
@@ -100,8 +95,8 @@ def __init__(self, cam_w: int, cam_h: int):
     self.warp_enqueue = jits[(cam_w,cam_h)]['warp_enqueue']
     self.warp_enqueue(
       **self.input_queues,
-      frame=Tensor.zeros(self.frame_buf_params['img'][3], dtype='uint8').contiguous().realize(),
-      big_frame=Tensor.zeros(self.frame_buf_params['big_img'][3], dtype='uint8').contiguous().realize())
+      frame=Tensor.zeros(self.frame_buf_params['img'][3], dtype='uint8', device=self.DEV).contiguous().realize(),
+      big_frame=Tensor.zeros(self.frame_buf_params['big_img'][3], dtype='uint8', device=self.DEV).contiguous().realize())
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
@@ -115,7 +110,7 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
       # There is a ringbuffer of imgs, just cache tensors pointing to all of them
       cache_key = (key, ptr)
       if cache_key not in self._blob_cache:
-        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8')
+        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.DEV)
       self.full_frames[key] = self._blob_cache[cache_key]
 
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
@@ -148,6 +143,7 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
 def main(demo=False):
   cloudlog.warning("modeld init")
 
+  USBGPU = False
   if not USBGPU:
     # USB GPU currently saturates a core so can't do this yet,
     # also need to move the aux USB interrupts for good timings

From dd58eb68f007d918df624373c045c5bfd1f10853 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Thu, 14 May 2026 23:29:26 -0700
Subject: [PATCH 1099/1434] bump tg (#38045)

* partial tg bump

* nvm can bump all the way
---
 tinygrad_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tinygrad_repo b/tinygrad_repo
index 5b4f62519d628d..409bb0c9ada39d 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 5b4f62519d628d1f238a5025b153aaedeee141cc
+Subproject commit 409bb0c9ada39dd00effaaee1887db828c9bfcf0

From d4a83deb7dd4430f58b89ef11482d542a83b995a Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Fri, 15 May 2026 13:26:18 -0700
Subject: [PATCH 1100/1434] modeld/SConscript: rm unused line (#38047)

rm unused line
---
 selfdrive/modeld/SConscript | 1 -
 1 file changed, 1 deletion(-)

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 18e806a6ab9e9a..fe86b7347c907e 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -102,7 +102,6 @@ for cam_w, cam_h in CAMERA_CONFIGS:
          f'--output {dm_pkl_path}')
   lenv.Command(dm_pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [tg_devices_node], cmd)
 
-driving_metadata_deps = [File(f"models/{m}_metadata.pkl").abspath for m in ['driving_vision', 'driving_policy']]
 def tg_compile(flags, model_name):
   pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
   fn = File(f"models/{model_name}").abspath

From 65405bafa6cfaebb94bc088a8ecb39fcbdead062 Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Sat, 16 May 2026 11:09:03 -0700
Subject: [PATCH 1101/1434] acados: copy c generated code (#38050)

---
 selfdrive/controls/lib/lateral_mpc_lib/SConscript     | 11 +++++++++--
 .../controls/lib/longitudinal_mpc_lib/SConscript      | 11 +++++++++--
 2 files changed, 18 insertions(+), 4 deletions(-)

diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index 80649444aee951..5ff526ae83ec17 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -55,8 +55,14 @@ source_list = ['lat_mpc.py',
 ]
 
 lenv = env.Clone()
-acados_rel_path = Dir(gen).rel_path(Dir(acados.LIB_DIR))
-lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
+copied_acados_libs = []
+if arch != "Darwin":
+  for lib in ["libacados.so", "libblasfeo.so", "libhpipm.so", "libqpOASES_e.so.3.1"]:
+    copied_acados_libs += lenv.Command(f"{gen}/{lib}", Dir(acados.LIB_DIR).File(lib), [Mkdir(Dir(gen)), Copy("$TARGET", "$SOURCE")])
+  lenv["RPATH"] += [lenv.Literal('\\$$ORIGIN')]
+else:
+  acados_rel_path = Dir(gen).rel_path(Dir(acados.LIB_DIR))
+  lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
 lenv.Clean(generated_files, Dir(gen))
 
 generated_lat = lenv.Command(generated_files,
@@ -94,4 +100,5 @@ lenv2.Command(libacados_ocp_solver_c,
   f' {acados_ocp_solver_pyx.get_labspath()}')
 lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c], LIBS=['acados_ocp_solver_lat'])
 lenv2.Depends(lib_cython, lib_solver)
+lenv2.Depends(lib_cython, copied_acados_libs)
 lenv2.Depends(libacados_ocp_solver_c, np_version)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 39466245215b33..a3218e9f34dcf6 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -61,8 +61,14 @@ source_list = ['long_mpc.py',
 ]
 
 lenv = env.Clone()
-acados_rel_path = Dir(gen).rel_path(Dir(acados.LIB_DIR))
-lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
+copied_acados_libs = []
+if arch != "Darwin":
+  for lib in ["libacados.so", "libblasfeo.so", "libhpipm.so", "libqpOASES_e.so.3.1"]:
+    copied_acados_libs += lenv.Command(f"{gen}/{lib}", Dir(acados.LIB_DIR).File(lib), [Mkdir(Dir(gen)), Copy("$TARGET", "$SOURCE")])
+  lenv["RPATH"] += [lenv.Literal('\\$$ORIGIN')]
+else:
+  acados_rel_path = Dir(gen).rel_path(Dir(acados.LIB_DIR))
+  lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
 lenv.Clean(generated_files, Dir(gen))
 generated_long = lenv.Command(generated_files,
                               source_list,
@@ -99,4 +105,5 @@ lenv2.Command(libacados_ocp_solver_c,
   f' {acados_ocp_solver_pyx.get_labspath()}')
 lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c], LIBS=['acados_ocp_solver_long'])
 lenv2.Depends(lib_cython, lib_solver)
+lenv2.Depends(lib_cython, copied_acados_libs)
 lenv2.Depends(libacados_ocp_solver_c, np_version)

From 059d0b6c4c532184008606229359ef5986e1fdc8 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 17 May 2026 20:40:56 -0400
Subject: [PATCH 1102/1434] sunnylink SDUI: tweak DisableUpdate param for
 clarity (#1842)

* sunnylink SDUI: tweak DisableUpdate param for clarity

* sync
---
 sunnypilot/sunnylink/settings_ui.json                    | 4 ++--
 sunnypilot/sunnylink/settings_ui_src/pages/software.yaml | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/sunnypilot/sunnylink/settings_ui.json b/sunnypilot/sunnylink/settings_ui.json
index 25c3b6335bf5ff..1745235d9660b0 100644
--- a/sunnypilot/sunnylink/settings_ui.json
+++ b/sunnypilot/sunnylink/settings_ui.json
@@ -1664,13 +1664,13 @@
         {
           "id": "updates",
           "title": "Updates",
-          "description": "Control automatic software updates",
+          "description": "Control software updates",
           "items": [
             {
               "key": "DisableUpdates",
               "widget": "toggle",
               "title": "Disable Updates",
-              "description": "When enabled, automatic software updates will be off. This requires a reboot to take effect.",
+              "description": "When enabled, software updates will be off. This requires a reboot to take effect.",
               "enablement": [
                 {
                   "type": "offroad_only"
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/software.yaml b/sunnypilot/sunnylink/settings_ui_src/pages/software.yaml
index 8eb6049d61475b..4935d28e0c98b3 100644
--- a/sunnypilot/sunnylink/settings_ui_src/pages/software.yaml
+++ b/sunnypilot/sunnylink/settings_ui_src/pages/software.yaml
@@ -9,12 +9,12 @@ description: Software update preferences
 sections:
 - id: updates
   title: Updates
-  description: Control automatic software updates
+  description: Control software updates
   items:
   - key: DisableUpdates
     widget: toggle
     title: Disable Updates
-    description: When enabled, automatic software updates will be off. This requires a reboot to take effect.
+    description: When enabled, software updates will be off. This requires a reboot to take effect.
     enablement:
     - $ref: '#/macros/offroad'
     - $ref: '#/macros/advanced_only'

From 107a6f4c007b90b61f58ffaaf580382e774dd415 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 17 May 2026 21:24:19 -0400
Subject: [PATCH 1103/1434] version: bump to 2026.002.000

---
 CHANGELOG.md                | 3 +++
 sunnypilot/common/version.h | 2 +-
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 74d79aeacd0057..e5e31c60ffefd0 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,3 +1,6 @@
+sunnypilot Version 2026.002.000 (2026-xx-xx)
+========================
+
 sunnypilot Version 2026.001.000 (2026-05-06)
 ========================
 * What's Changed (sunnypilot/sunnypilot)
diff --git a/sunnypilot/common/version.h b/sunnypilot/common/version.h
index 1c7fcd2e642c75..fccd807e6416c0 100644
--- a/sunnypilot/common/version.h
+++ b/sunnypilot/common/version.h
@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2026.001.000"
+#define SUNNYPILOT_VERSION "2026.002.000"

From 2ed88a1dff26c96076f1226ff1fa364ea68a7134 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Sun, 17 May 2026 19:27:51 -0700
Subject: [PATCH 1104/1434] DM: add sleep prob logging (#38049)

* add parsing - 0963efe6-96e5-4408-8233-0fa565fc7510

* 8a4d3664-e618-4051-8e72-4e9522e40af0
---
 cereal/log.capnp                               | 1 +
 selfdrive/modeld/dmonitoringmodeld.py          | 3 ++-
 selfdrive/modeld/models/dmonitoring_model.onnx | 4 ++--
 3 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 73a34a2ea8c6f1..d12cd6cdc831ae 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2063,6 +2063,7 @@ struct DriverStateV2 {
     rightBlinkProb @8 :Float32;
     sunglassesProb @9 :Float32;
     phoneProb @13 :Float32;
+    sleepProb @14 :Float32;
 
     deprecated :group {
       notReadyProb @12 :List(Float32);
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 7b0a26f4acbd7b..3da75d1eaf18dc 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -74,7 +74,7 @@ def parse_model_output(model_output):
     face_descs = model_output[f'face_descs_{ds_suffix}']
     parsed[f'face_descs_{ds_suffix}'] = face_descs[:, :-6]
     parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:])
-    for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
+    for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob', 'sleep_prob']:
       parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
   return parsed
 
@@ -90,6 +90,7 @@ def fill_driver_data(msg, model_output, ds_suffix):
   msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item()
   msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item()
   msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()
+  msg.sleepProb = model_output[f'sleep_prob_{ds_suffix}'][0, 0].item()
 
 def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float):
   msg = messaging.new_message('driverStateV2', valid=True)
diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx
index dc621bed03a45f..bd3f2c85a614b2 100644
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/selfdrive/modeld/models/dmonitoring_model.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7aff7ff1dc08bbaf562a8f77380ab5e5914f8557dba2f760d87e4d953f5604b0
-size 7307246
+oid sha256:3e7b31dfbc0a5234f1baf196513b77fc6af12204b8a8ffe8ee0417e48352f316
+size 7494962

From 46e3c907f6e85bde779283e0a7d7a6872c153934 Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Tue, 19 May 2026 00:48:36 +0800
Subject: [PATCH 1105/1434] hardware: tolerate missing modem state in setup
 (#38058)

* hardware: tolerate missing modem state in setup

* get_network_type: read modem state after wifi/ethernet checks
---
 system/hardware/tici/hardware.py | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 120ca77107992e..e4c8cf0b5cc034 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -69,9 +69,11 @@ def amplifier(self):
     return Amplifier()
 
   def get_modem_state(self) -> dict:
-    """Read modem.py state file. Raises if modem.py hasn't published state yet."""
-    with open(MODEM_STATE_PATH) as f:
-      return json.load(f)
+    try:
+      with open(MODEM_STATE_PATH) as f:
+        return json.load(f)
+    except (FileNotFoundError, json.JSONDecodeError):
+      return {}
 
   def get_os_version(self):
     with open("/VERSION") as f:
@@ -112,7 +114,6 @@ def set_ir_power(self, percent: int):
       f.write(f"{value}\n")
 
   def get_network_type(self):
-    ms = self.get_modem_state()
     try:
       primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
       primary_connection = self.bus.get_object(NM, primary_connection)
@@ -124,6 +125,7 @@ def get_network_type(self):
     except Exception:
       pass
 
+    ms = self.get_modem_state()
     if ms.get('connected'):
       nt = ms.get('network_type', '')
       if nt == 'nr':

From 2920503f94b99705c44566785d8d4e02240202a2 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Mon, 18 May 2026 15:54:18 -0700
Subject: [PATCH 1106/1434] modeld: no runtime compile (#38060)

---
 selfdrive/modeld/compile_modeld.py | 8 ++++----
 selfdrive/modeld/modeld.py         | 4 ++--
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index 031f13be3a072e..633f1f03b07aaa 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -103,10 +103,10 @@ def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, devi
     'big_tfm': np.zeros((3, 3), dtype=np.float32),
   }
   input_queues = {
-    'img_q': Tensor.zeros(img_buf_shape, dtype='uint8', device=device).contiguous().realize(),
-    'big_img_q': Tensor.zeros(img_buf_shape, dtype='uint8', device=device).contiguous().realize(),
-    'feat_q': Tensor.zeros(frame_skip * (fb[1] - 1) + 1, fb[0], fb[2], device=device).contiguous().realize(),
-    'desire_q': Tensor.zeros(frame_skip * dp[1], dp[0], dp[2], device=device).contiguous().realize(),
+    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'feat_q': Tensor(np.zeros((frame_skip * (fb[1] - 1) + 1, fb[0], fb[2]), dtype=np.float32), device=device).contiguous().realize(),
+    'desire_q': Tensor(np.zeros((frame_skip * dp[1], dp[0], dp[2]), dtype=np.float32), device=device).contiguous().realize(),
     **{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
   }
   return input_queues, npy
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 6aa94be4955bdf..93de1ee82cbbfa 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -95,8 +95,8 @@ def __init__(self, cam_w: int, cam_h: int):
     self.warp_enqueue = jits[(cam_w,cam_h)]['warp_enqueue']
     self.warp_enqueue(
       **self.input_queues,
-      frame=Tensor.zeros(self.frame_buf_params['img'][3], dtype='uint8', device=self.DEV).contiguous().realize(),
-      big_frame=Tensor.zeros(self.frame_buf_params['big_img'][3], dtype='uint8', device=self.DEV).contiguous().realize())
+      frame=Tensor(np.zeros(self.frame_buf_params['img'][3], dtype=np.uint8), device=self.DEV).contiguous().realize(),
+      big_frame=Tensor(np.zeros(self.frame_buf_params['big_img'][3], dtype=np.uint8), device=self.DEV).contiguous().realize())
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}

From 24ff455bc0b750954cd9c2a5c017cd6e2cf37bdd Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 18 May 2026 15:55:33 -0700
Subject: [PATCH 1107/1434] Add Acura MDX

---
 RELEASES.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/RELEASES.md b/RELEASES.md
index aa2b9fa220419a..9d8eb72eebd12f 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -3,6 +3,7 @@ Version 0.11.1 (2026-05-18)
 * New driver monitoring model
 * Improved image processing pipeline for driver camera
 * Improved thermal policy for comma four
+* Acura MDX 2022-24 support thanks to mvl-boston!
 * Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
 
 Version 0.11.0 (2026-03-17)

From 77017a913a6fd686dabe5268d76d45fb367783ac Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 18 May 2026 18:17:21 -0700
Subject: [PATCH 1108/1434] modem.py: roaming is always allowed for prime
 (#38064)

---
 system/hardware/tici/modem.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/system/hardware/tici/modem.py b/system/hardware/tici/modem.py
index cb25d501d17d60..b68b37ce288105 100755
--- a/system/hardware/tici/modem.py
+++ b/system/hardware/tici/modem.py
@@ -40,6 +40,7 @@
                 11: "nr", 12: "nr", 13: "nr"}
 
 DIAL_CID = 1
+WEBBING_ICCID_PREFIX = "8985235"
 
 PPPD_CMD = [
   "sudo", "pppd", PPP_PORT, "460800", "noauth", "nodetach", "noipdefault", "usepeerdns",
@@ -197,6 +198,8 @@ def _has_modem_manager() -> bool:
     return os.path.isfile("/lib/systemd/system/ModemManager.service")
 
   def _is_roaming_allowed(self) -> bool:
+    if self.S["iccid"].startswith(WEBBING_ICCID_PREFIX):
+      return True
     return self._read_param("GsmRoaming") == "1"
 
   def _publish_state(self, **kwargs):
@@ -289,6 +292,7 @@ def _do_initializing(self):
 
     self._configure_modem(identity["modem_version"])
 
+    self.S.update(identity)
     self._apn = self._read_param("GsmApn")
     self._roaming_allowed = self._is_roaming_allowed()
     # blank APN lets the carrier supply one via PCO

From 43d61f043cba570f5480a10cc2d428dbb597e4a9 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 18 May 2026 18:20:53 -0700
Subject: [PATCH 1109/1434] modem.py: roaming is always allowed for prime
 (#38065)

* modem.py: roaming is always allowed for prime

* modem.py: add timestamp
---
 system/hardware/tici/modem.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/system/hardware/tici/modem.py b/system/hardware/tici/modem.py
index b68b37ce288105..39266be1225a61 100755
--- a/system/hardware/tici/modem.py
+++ b/system/hardware/tici/modem.py
@@ -52,6 +52,7 @@
   "user", '""', "password", '""',
 ]
 INITIAL_STATE = {
+  "seconds_since_boot": 0,
   "state": "INITIALIZING",
   "connected": False, "ip_address": "",
   "iccid": "", "mcc_mnc": "", "imei": "", "modem_version": "",
@@ -204,6 +205,7 @@ def _is_roaming_allowed(self) -> bool:
 
   def _publish_state(self, **kwargs):
     self.S.update(kwargs)
+    self.S["seconds_since_boot"] = time.monotonic()
     with tempfile.NamedTemporaryFile(mode="w", dir="/dev/shm", delete=False) as f:
       json.dump(self.S, f, indent=2)
     os.chmod(f.name, 0o644)

From 27e37f9d954936a68e0d3331091661588114b109 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 18 May 2026 19:52:06 -0700
Subject: [PATCH 1110/1434] agnos 18.3 (#38063)

---
 launch_env.sh                            |  2 +-
 system/hardware/tici/agnos.json          | 12 ++++++------
 system/hardware/tici/all-partitions.json | 12 ++++++------
 3 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/launch_env.sh b/launch_env.sh
index 8cc770b357a536..d0d7da576459fd 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="18.1.3"
+  export AGNOS_VERSION="18.3"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index d3ed1c3847d821..b3f7b0903a1430 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -67,17 +67,17 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b.img.xz",
-    "hash": "ed1536d9c565b1e13cf604c93b1e520148aa1f849f9451595c06000bc09d3036",
-    "hash_raw": "51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2.img.xz",
+    "hash": "7be4361a422b05a029f6841cee6949c479cc24bbad3e0f447713c1e92f770c79",
+    "hash_raw": "428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "4a38555fdebea9818c92c6ee2f85368bbc8ce2eca4b71e5d1e4cdee29f10fedf",
+    "ondevice_hash": "b80ca9a902fa96d78c640574a33b8848dcec18b1f0e761170c19d8432456d1cb",
     "alt": {
-      "hash": "51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b.img",
+      "hash": "428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2.img",
       "size": 4718592000
     }
   }
diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json
index cbd2b0b8ad8138..875d81f7470c45 100644
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@@ -350,17 +350,17 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b.img.xz",
-    "hash": "ed1536d9c565b1e13cf604c93b1e520148aa1f849f9451595c06000bc09d3036",
-    "hash_raw": "51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2.img.xz",
+    "hash": "7be4361a422b05a029f6841cee6949c479cc24bbad3e0f447713c1e92f770c79",
+    "hash_raw": "428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "4a38555fdebea9818c92c6ee2f85368bbc8ce2eca4b71e5d1e4cdee29f10fedf",
+    "ondevice_hash": "b80ca9a902fa96d78c640574a33b8848dcec18b1f0e761170c19d8432456d1cb",
     "alt": {
-      "hash": "51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b.img",
+      "hash": "428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2.img",
       "size": 4718592000
     }
   },

From 6941a913a39ebff27489063a1bd6bde66f208459 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Mon, 18 May 2026 21:23:24 -0700
Subject: [PATCH 1111/1434] modeld/SConscript: fix pkl chunking (#38067)

---
 selfdrive/modeld/SConscript | 16 +++++++---------
 1 file changed, 7 insertions(+), 9 deletions(-)

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index fe86b7347c907e..5ca9d14824a1e5 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -80,12 +80,15 @@ cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
        f'--vision-onnx {File("models/driving_vision.onnx").abspath} '
        f'--policy-onnx {File("models/driving_policy.onnx").abspath} '
        f'--output {pkl_path} --frame-skip {frame_skip}')
-node = lenv.Command(pkl_path, tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(camera_res_args), chunker_file, tg_devices_node], cmd)
 onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
 chunk_targets = get_chunk_paths(pkl_path, estimate_pickle_max_size(onnx_sizes_sum)*2) # TODO make weight dedupe work on QCOM
 def do_chunk(target, source, env, pkl=pkl_path, chunks=chunk_targets):
   chunk_file(pkl, chunks)
-lenv.Command(chunk_targets, node, do_chunk)
+lenv.Command(
+  chunk_targets,
+  tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(camera_res_args), chunker_file, tg_devices_node],
+  [cmd, do_chunk],
+)
 
 # get model metadata
 fn = File(f"models/dmonitoring_model").abspath
@@ -108,17 +111,12 @@ def tg_compile(flags, model_name):
   pkl = fn + "_tinygrad.pkl"
   onnx_path = fn + ".onnx"
   chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
-  compile_node = lenv.Command(
-    pkl,
-    [onnx_path] + tinygrad_files + [chunker_file, tg_devices_node],
-    f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
-  )
   def do_chunk(target, source, env):
     chunk_file(pkl, chunk_targets)
   return lenv.Command(
     chunk_targets,
-    compile_node,
-    do_chunk,
+    [onnx_path] + tinygrad_files + [chunker_file, tg_devices_node],
+    [f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}', do_chunk],
   )
 
 tg_compile(tg_flags, 'dmonitoring_model')

From 12aaacdffc2ebe7aa71c1a974304f34b94f3eba9 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 19 May 2026 11:22:13 -0700
Subject: [PATCH 1112/1434] loggerd: fix flaky test case (#38068)

---
 system/loggerd/tests/test_loggerd.py | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index 3a0da849de9a71..9fd1b2d4343f74 100644
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -82,7 +82,7 @@ def _publish_random_messages(self, services: list[str]) -> dict[str, list]:
       assert pm.wait_for_readers_to_update(s, timeout=5)
 
     sent_msgs = defaultdict(list)
-    for _ in range(random.randint(2, 10) * 100):
+    for i in range(random.randint(2, 10) * 100):
       for s in services:
         try:
           m = messaging.new_message(s)
@@ -91,6 +91,12 @@ def _publish_random_messages(self, services: list[str]) -> dict[str, list]:
         pm.send(s, m)
         sent_msgs[s].append(m)
 
+      # Keep msgq's finite per-service queues from wrapping; this test asserts
+      # that loggerd logged every message we sent.
+      if (i + 1) % 100 == 0:
+        for s in services:
+          assert pm.wait_for_readers_to_update(s, timeout=5)
+
     for s in services:
       assert pm.wait_for_readers_to_update(s, timeout=5)
     managed_processes["loggerd"].stop()

From 82338fd8c52ccf6d3c2cba38c8c700f244422969 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 19 May 2026 19:40:48 -0700
Subject: [PATCH 1113/1434] bump to 0.11.2

---
 RELEASES.md      | 4 ++++
 common/version.h | 2 +-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/RELEASES.md b/RELEASES.md
index 9d8eb72eebd12f..7946fce019faca 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,7 @@
+Version 0.11.2 (2026-06-15)
+========================
+
+
 Version 0.11.1 (2026-05-18)
 ========================
 * New driver monitoring model
diff --git a/common/version.h b/common/version.h
index 41440556c54eef..5a09588e2255eb 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.11.1"
+#define COMMA_VERSION "0.11.2"

From 52e182611d3f150ec620a7b9d08ddcb4322ab17b Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Tue, 19 May 2026 22:41:57 -0700
Subject: [PATCH 1114/1434] initial usbgpu support (#37906)

* zero ll patched big model

* probe in a subprocess so usbgpu lock gets released

* compiles

* runs

* num_jobs gets overwritten, use side effect

* poll tg devices

* make sure build crashes on missing gpu

* fine not to rely on Device.default

* seperate tg env for each model runner

* comment

* Revert "seperate tg env for each model runner"

This reverts commit f6470cc4258eaeb3e8e37907ef370871c9af5aa4.

* env is shared, gate on flag

* no fallback warp dev must be set

* build for current device only, unless pc/release

* comment

* list

* listen for plug in

* add icon to status bar, read params on every frame (?)

* log available devices

* try copy out when loading?

* Revert "log available devices"

This reverts commit e8c52a5d59456d4820ecb13b99a6c46ea1386a20.

* Revert "try copy out when loading?"

This reverts commit 518f403aa03faeda1950fe3dbce0d9e4c1584455.

* don't trigger device probe/caching on modeld prepare

* re-export with ll and road edges

* dont cache devices in manager process

* get USBGPU from params

* no usbgpu env

* missed one

* sconscript don't poll

* unconditional env

* always explicitely set devices on input tensors

* set DEV so amd uses right compiler and iface??

* fix flag

* bump tg

* rm xdg_cache_home

* tg don't bump all the way

* missing gmmu=0 at compile time

* dm set dev

* tg backend

* update gitignore

* missing import

* unused imports

* rely on Device.DEFAULT at compile time (already the case bc onnxrunner)

* comments

* dm warp needs DEV set too

* build both smol and big

* misc typos

* set dev at compile time

* don't need

* DEV=CPU when getting metadata, ensure we don't grab gpu lock

* this would also grab lock

* put bool

* warp compile always prepare only

* missed one

* poll ui

* missing here

* don't force usbgpu at build time

* tmp patch fetch_fw

* catch all, follow hardwared patterns

* simpler

* compile make input queues

* revert this

* group this more readable

* rm empty line

* make dummy frame using numpy

* revert compile make input queues

* no compiler at runtime

* cleanup

* fine to rebuild all on change to device node for now

* fix usbgpu_present

* fix sconscript

* no size in header stream decompress

* DEBUG=2

* minimal viable feedback

* egpu gray

* oops

* gotta do this actually

* modeld build only depends on modeld devices

* don't ship onnx to release? or chunk

* don't need

* can only set compiler on dev=

* none device works, will use default

* make linter happy

* chunk agnostic onnx input to compile_modeld

* chunk big onnx

* +x chunker

* fix #!

* and don't ship chunked onnx to release

* firmware now in correct location

* better err on missing onnx/chunk

* SConscript also need to accept chunked onnx

* metadata also need to load maybe chunked

* dedupe cmd

* this needs to be on cpu

* devices are set in the tgflags, we already depend on them

* rebuilding on changed order is fine

* read file chunked can already load either chunked or not

* chunk all big onnx

* less confusing

* unused import

* python device to load onnx bytes

* default device for runners, python for metadata

* why not

* chunked to shm
---
 common/file_chunker.py                        | 22 ++++-
 common/params_keys.h                          |  2 +
 release/build_release.sh                      |  2 +-
 release/build_stripped.sh                     |  2 +
 selfdrive/assets/icons_mici/egpu.png          |  3 +
 selfdrive/assets/icons_mici/egpu_gray.png     |  3 +
 selfdrive/modeld/SConscript                   | 81 ++++++++++++-------
 selfdrive/modeld/compile_modeld.py            | 60 +++++++++++---
 selfdrive/modeld/dmonitoringmodeld.py         |  2 +-
 selfdrive/modeld/helpers.py                   | 20 ++++-
 selfdrive/modeld/modeld.py                    | 30 ++++---
 .../modeld/models/big_driving_policy.onnx     |  4 +-
 .../modeld/models/big_driving_vision.onnx     |  4 +-
 selfdrive/ui/mici/layouts/home.py             |  6 ++
 selfdrive/ui/ui_state.py                      |  4 +
 15 files changed, 184 insertions(+), 61 deletions(-)
 mode change 100644 => 100755 common/file_chunker.py
 create mode 100644 selfdrive/assets/icons_mici/egpu.png
 create mode 100644 selfdrive/assets/icons_mici/egpu_gray.png
 mode change 120000 => 100644 selfdrive/modeld/models/big_driving_policy.onnx
 mode change 120000 => 100644 selfdrive/modeld/models/big_driving_vision.onnx

diff --git a/common/file_chunker.py b/common/file_chunker.py
old mode 100644
new mode 100755
index ac9ddbb3848771..57dfc3553107a9
--- a/common/file_chunker.py
+++ b/common/file_chunker.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+import sys
 import math
 import os
 from pathlib import Path
@@ -10,10 +12,13 @@ def get_chunk_name(name, idx, num_chunks):
 def get_manifest_path(name):
   return f"{name}.chunkmanifest"
 
-def get_chunk_paths(path, file_size):
-  num_chunks = math.ceil(file_size / CHUNK_SIZE)
+def _chunk_paths(path, num_chunks):
   return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
 
+def get_chunk_targets(path, file_size):
+  num_chunks = math.ceil(file_size / CHUNK_SIZE)
+  return _chunk_paths(path, num_chunks)
+
 def chunk_file(path, targets):
   manifest_path, *chunk_paths = targets
   with open(path, 'rb') as f:
@@ -26,6 +31,13 @@ def chunk_file(path, targets):
   Path(manifest_path).write_text(str(len(chunk_paths)))
   os.remove(path)
 
+def get_existing_chunks(path):
+  if os.path.isfile(path):
+    return [path]
+  if os.path.isfile(manifest := get_manifest_path(path)):
+    num_chunks = int(Path(manifest).read_text().strip())
+    return _chunk_paths(path, num_chunks)
+  raise FileNotFoundError(path)
 
 def read_file_chunked(path):
   manifest_path = get_manifest_path(path)
@@ -35,3 +47,9 @@ def read_file_chunked(path):
   if os.path.isfile(path):
     return Path(path).read_bytes()
   raise FileNotFoundError(path)
+
+
+if __name__ == "__main__":
+  path = sys.argv[1]
+  chunk_paths = get_chunk_targets(path, os.path.getsize(path))
+  chunk_file(path, chunk_paths)
diff --git a/common/params_keys.h b/common/params_keys.h
index 64d77177846542..d0ee114bc9f2b8 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -127,5 +127,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UpdaterLastFetchTime", {PERSISTENT, TIME}},
     {"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
     {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
+    {"UsbGpuPresent", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"UsbGpuCompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"Version", {PERSISTENT, STRING}},
 };
diff --git a/release/build_release.sh b/release/build_release.sh
index 69b46111c8f776..d137edab91a9c7 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -72,7 +72,7 @@ find . -name '*.pyc' -delete
 find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile release/
-rm -f selfdrive/modeld/models/*.onnx
+rm -f selfdrive/modeld/models/*.onnx*
 
 # Mark as prebuilt release
 touch prebuilt
diff --git a/release/build_stripped.sh b/release/build_stripped.sh
index 6f1a568c25ebfd..91c94b44a05030 100755
--- a/release/build_stripped.sh
+++ b/release/build_stripped.sh
@@ -45,6 +45,8 @@ cd $TARGET_DIR
 rm -rf .git/modules/
 rm -f panda/board/obj/panda.bin.signed
 
+find selfdrive/modeld/models -name '*.onnx' -size +95M -exec ./common/file_chunker.py {} \;
+
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 GIT_COMMIT_DATE=$(git --git-dir=$SOURCE_DIR/.git show --no-patch --format='%ct %ci' HEAD)
diff --git a/selfdrive/assets/icons_mici/egpu.png b/selfdrive/assets/icons_mici/egpu.png
new file mode 100644
index 00000000000000..dc2bc8e276fcd8
--- /dev/null
+++ b/selfdrive/assets/icons_mici/egpu.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec3dcf64cbc34251d8423cb8b3b31d743e93d14002dec43c389a857cb7e8eb17
+size 10875
diff --git a/selfdrive/assets/icons_mici/egpu_gray.png b/selfdrive/assets/icons_mici/egpu_gray.png
new file mode 100644
index 00000000000000..a6aeb846891219
--- /dev/null
+++ b/selfdrive/assets/icons_mici/egpu_gray.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7409c53d7c72681c24982fd83b56ce70f80797c9c0f936d9296a5c18557ac472
+size 7279
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 5ca9d14824a1e5..eba951611697be 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -1,14 +1,14 @@
 import glob
 import json
 import os
+import sys, subprocess
 from SCons.Script import Value
-from openpilot.common.file_chunker import chunk_file, get_chunk_paths
+from openpilot.common.file_chunker import chunk_file, get_chunk_targets, get_existing_chunks
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from tinygrad import Device
 from openpilot.system.hardware import HARDWARE, PC
-from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH
+from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH, usbgpu_present, modeld_pkl_path
 
 Import('env', 'arch', 'release')
 
@@ -36,7 +36,13 @@ def estimate_pickle_max_size(onnx_size):
   return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty
 
 # get fastest TG config
-available = set(Device.get_available_devices())
+# probe in subprocess so usbgpu locks gets released on process exit
+def probe_devices():
+  return set(subprocess.run(
+    [sys.executable, '-c', 'from tinygrad import Device\nprint("\\n".join(Device.get_available_devices()))'],
+    capture_output=True, text=True, check=True).stdout.strip().splitlines())
+
+available = probe_devices()
 if 'CUDA' in available:
   tg_backend = 'CUDA'
   tg_flags = f'DEV={tg_backend}'
@@ -44,14 +50,25 @@ elif 'QCOM' in available:
   tg_backend = 'QCOM'
   tg_flags = f'DEV={tg_backend} IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
 else:
-  tg_backend = 'CPU' if arch == 'Darwin' else 'CPU:LLVM'
-  tg_flags = f'DEV={tg_backend}'
+  tg_backend = 'CPU'
+  tg_flags = f'DEV=CPU' if arch == 'Darwin' else 'DEV=CPU:LLVM'
 
 tg_devices = { # which device to put jit inputs to at runtime
-  'selfdrive.modeld.modeld': tg_backend,
-  'selfdrive.modeld.dmonitoringmodeld': tg_backend,
+  'selfdrive.modeld.modeld': {
+    'default': {'WARP_DEV': tg_backend, 'QUEUE_DEV': tg_backend}
+  },
+  'selfdrive.modeld.dmonitoringmodeld': {
+    'default': {'DEV': tg_backend}
+  },
 }
 
+USBGPU = usbgpu_present() # or release # TODO always build big model on release
+if USBGPU:
+  tg_devices['selfdrive.modeld.modeld']['usbgpu'] = {'WARP_DEV': tg_backend, 'QUEUE_DEV': 'AMD'}
+  usbgpu_tg_flags = f'DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV={tg_backend} FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0'
+  # the USB+AMD GPU takes an exclusive flock; serialize all targets that touch it
+  usbgpu_lock = File("models/.usb_gpu.lock").abspath
+
 def write_tg_devices(target, source, env):
   with open(str(target[0]), "w") as f:
     json.dump(tg_devices, f)
@@ -59,7 +76,7 @@ def write_tg_devices(target, source, env):
 
 tg_devices_node = lenv.Command(
   str(TG_INPUT_DEVICES_PATH),
-  [Value(json.dumps(tg_devices, sort_keys=True))],
+  [Value(tg_devices)],
   write_tg_devices,
 )
 
@@ -68,27 +85,33 @@ mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
 
 modeld_dir = Dir("#selfdrive/modeld").abspath
 compile_modeld_script = [File(f"{modeld_dir}/compile_modeld.py")]
-driving_onnx_deps = [File(f"models/{m}.onnx").abspath for m in ['driving_vision', 'driving_policy']]
-
 model_w, model_h = MEDMODEL_INPUT_SIZE
 frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
-pkl_path = File("models/driving_tinygrad.pkl").abspath
-camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
-cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
-       f'--model-size {model_w}x{model_h} '
-       f'--camera-resolutions {camera_res_args} '
-       f'--vision-onnx {File("models/driving_vision.onnx").abspath} '
-       f'--policy-onnx {File("models/driving_policy.onnx").abspath} '
-       f'--output {pkl_path} --frame-skip {frame_skip}')
-onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
-chunk_targets = get_chunk_paths(pkl_path, estimate_pickle_max_size(onnx_sizes_sum)*2) # TODO make weight dedupe work on QCOM
-def do_chunk(target, source, env, pkl=pkl_path, chunks=chunk_targets):
-  chunk_file(pkl, chunks)
-lenv.Command(
-  chunk_targets,
-  tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(camera_res_args), chunker_file, tg_devices_node],
-  [cmd, do_chunk],
-)
+
+for usbgpu in [False, True] if USBGPU else [False]:
+  target_pkl_path = File(modeld_pkl_path(usbgpu)).abspath
+  file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('', tg_flags)
+  driving_onnx_deps = [p for m in [f'{file_prefix}driving_vision', f'{file_prefix}driving_policy']
+                       for p in get_existing_chunks(File(f"models/{m}.onnx").abspath)]
+  camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
+  cmd = (f'{cmd_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
+        f'--model-size {model_w}x{model_h} '
+        f'--camera-resolutions {camera_res_args} '
+        f'--vision-onnx {File(f"models/{file_prefix}driving_vision.onnx").abspath} '
+        f'--policy-onnx {File(f"models/{file_prefix}driving_policy.onnx").abspath} '
+        f'--output {target_pkl_path} --frame-skip {frame_skip}')
+  onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
+  size_multiplier = 1 if usbgpu else 2 # TODO make weight dedupe work on QCOM
+  chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum)*size_multiplier)
+  def do_chunk(target, source, env, pkl=target_pkl_path, chunks=chunk_targets):
+    chunk_file(pkl, chunks)
+  node = lenv.Command(
+    chunk_targets,
+    tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(camera_res_args), chunker_file],
+    [cmd, do_chunk],
+  )
+  if usbgpu:
+    lenv.SideEffect(usbgpu_lock, node)
 
 # get model metadata
 fn = File(f"models/dmonitoring_model").abspath
@@ -110,7 +133,7 @@ def tg_compile(flags, model_name):
   fn = File(f"models/{model_name}").abspath
   pkl = fn + "_tinygrad.pkl"
   onnx_path = fn + ".onnx"
-  chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
+  chunk_targets = get_chunk_targets(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
   def do_chunk(target, source, env):
     chunk_file(pkl, chunk_targets)
   return lenv.Command(
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index 633f1f03b07aaa..f919d1da23a0b7 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import argparse
+import atexit
 import os
 import pickle
 import time
@@ -7,24 +8,46 @@
 from collections import namedtuple, defaultdict
 
 import numpy as np
+
+def _patch_tinygrad_fetch_fw():
+  import hashlib
+  import pathlib
+  import zstandard
+  from tinygrad import helpers
+  _orig = helpers.fetch_fw
+  def fetch_fw(path, name, sha256):
+    p = pathlib.Path(f"/lib/firmware/{path}/{name}.zst")
+    if p.is_file():
+      blob = zstandard.ZstdDecompressor().stream_reader(p.read_bytes()).read()
+      if hashlib.sha256(blob).hexdigest() == sha256:
+        return blob
+    return _orig(path, name, sha256)
+  helpers.fetch_fw = fetch_fw
+_patch_tinygrad_fetch_fw()
+
 from tinygrad.tensor import Tensor
 from tinygrad.helpers import Context
 from tinygrad.device import Device
 from tinygrad.engine.jit import TinyJit
 
+from openpilot.common.file_chunker import read_file_chunked
+from openpilot.system.hardware.hw import Paths
+
 
 NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
 
 UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
 UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
 
+WARP_DEV = os.getenv('WARP_DEV')
+
 
 def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, border_fill_val=None):
   w_dst, h_dst = dst_shape
   h_src, w_src = src_shape
 
-  x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
-  y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
+  x = Tensor.arange(w_dst, device=WARP_DEV).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
+  y = Tensor.arange(h_dst, device=WARP_DEV).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
 
   # inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather)
   src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2]
@@ -68,7 +91,7 @@ def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
 
   def frame_prepare_tinygrad(input_frame, M_inv):
     # UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
-    M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]])
+    M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]], device=WARP_DEV)
     # deinterleave NV12 UV plane (UVUV... -> separate U, V)
     uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
     with Context(SPLIT_REDUCEOP=0):
@@ -132,14 +155,16 @@ def make_run_policy(vision_runner, policy_runner, nv12: NV12Frame, model_w, mode
   sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
 
   def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, tfm, big_tfm, frame, big_frame):
-    tfm = tfm.to(Device.DEFAULT)
-    big_tfm = big_tfm.to(Device.DEFAULT)
+    tfm = tfm.to(WARP_DEV)
+    big_tfm = big_tfm.to(WARP_DEV)
     desire = desire.to(Device.DEFAULT)
     traffic_convention = traffic_convention.to(Device.DEFAULT)
     Tensor.realize(tfm, big_tfm, desire, traffic_convention)
 
-    img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
-    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
+    warped_frame = frame_prepare(frame, tfm).unsqueeze(0).to(Device.DEFAULT)
+    warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0).to(Device.DEFAULT)
+    img = shift_and_sample(img_q, warped_frame, sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, warped_big_frame, sample_skip_fn)
 
     if prepare_only:
       return img, big_img
@@ -180,8 +205,8 @@ def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_matc
     n_runs = 1 if testing else 3
 
     for i in range(n_runs):
-      frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
-      big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+      frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8', device=WARP_DEV).realize()
+      big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8', device=WARP_DEV).realize()
       for v in npy.values():
         v[:] = np.random.randn(*v.shape).astype(v.dtype)
       Device.default.synchronize()
@@ -219,6 +244,14 @@ def _parse_size(s):
   return int(w), int(h)
 
 
+def read_file_chunked_to_shm(path):
+  shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
+  atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
+  with open(shm_path, 'wb') as f:
+    f.write(read_file_chunked(path))
+  return shm_path
+
+
 if __name__ == "__main__":
   from tinygrad.nn.onnx import OnnxRunner
   from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
@@ -235,10 +268,11 @@ def _parse_size(s):
   out = defaultdict(dict)
   # init runners once so weights are shared
   from get_model_metadata import make_metadata_dict
-  vision_runner = OnnxRunner(args.vision_onnx)
-  policy_runner = OnnxRunner(args.policy_onnx)
-  out['metadata']['vision'] = make_metadata_dict(args.vision_onnx)
-  out['metadata']['policy'] = make_metadata_dict(args.policy_onnx)
+  vision_path, policy_path = read_file_chunked_to_shm(args.vision_onnx), read_file_chunked_to_shm(args.policy_onnx)
+  vision_runner = OnnxRunner(vision_path)
+  policy_runner = OnnxRunner(policy_path)
+  out['metadata']['vision'] = make_metadata_dict(vision_path)
+  out['metadata']['policy'] = make_metadata_dict(policy_path)
 
   for cam_w, cam_h in args.camera_resolutions:
     nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 3da75d1eaf18dc..cf99c432e69c1c 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -27,7 +27,7 @@ class ModelState:
   output: np.ndarray
 
   def __init__(self, cam_w: int, cam_h: int):
-    self.DEV = get_tg_input_devices(PROCESS_NAME)
+    self.DEV = get_tg_input_devices(PROCESS_NAME, usbgpu=False)['DEV']
     with open(METADATA_PATH, 'rb') as f:
       model_metadata = pickle.load(f)
       self.input_shapes = model_metadata['input_shapes']
diff --git a/selfdrive/modeld/helpers.py b/selfdrive/modeld/helpers.py
index f4b3968421346f..64bf28873f1d89 100644
--- a/selfdrive/modeld/helpers.py
+++ b/selfdrive/modeld/helpers.py
@@ -3,8 +3,24 @@
 
 MODELS_DIR = Path(__file__).resolve().parent / 'models'
 TG_INPUT_DEVICES_PATH = MODELS_DIR / 'tg_input_devices.json'
+USBGPU_VID = 0xADD1
+USBGPU_PID = 0x0001
 
 
-def get_tg_input_devices(process_name: str) -> dict[str, str]:
+def get_tg_input_devices(process_name: str, usbgpu: bool):
   with open(TG_INPUT_DEVICES_PATH) as f:
-    return json.load(f)[process_name]
+    return json.load(f)[process_name]['default' if not usbgpu else 'usbgpu']
+
+def modeld_pkl_path(usbgpu: bool):
+  prefix = 'big_' if usbgpu else ''
+  return MODELS_DIR / f'{prefix}driving_tinygrad.pkl'
+
+def usbgpu_present() -> bool:
+  for d in Path("/sys/bus/usb/devices").glob("*"):
+    try:
+      if int((d / "idVendor").read_text(), 16) == USBGPU_VID and \
+          int((d / "idProduct").read_text(), 16) == USBGPU_PID:
+        return True
+    except Exception:
+      pass
+  return False
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 93de1ee82cbbfa..7e0fa8a037abc7 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.helpers import MODELS_DIR, get_tg_input_devices
+os.environ['GMMU'] = '0' # for usbgpu fast loading, noop for qcom
 from tinygrad.tensor import Tensor
 import time
 import pickle
@@ -22,8 +22,9 @@
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.compile_modeld import make_input_queues
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
-from openpilot.common.file_chunker import read_file_chunked
+from openpilot.common.file_chunker import read_file_chunked, get_manifest_path
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
+from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path, get_tg_input_devices
 
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -71,9 +72,10 @@ def __init__(self, vipc=None):
 class ModelState:
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
-  def __init__(self, cam_w: int, cam_h: int):
-    self.DEV = get_tg_input_devices(PROCESS_NAME)
-    jits = pickle.loads(read_file_chunked(MODELS_DIR / 'driving_tinygrad.pkl'))
+  def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
+    input_devices = get_tg_input_devices(PROCESS_NAME, usbgpu)
+    self.WARP_DEV, self.QUEUE_DEV = input_devices['WARP_DEV'], input_devices['QUEUE_DEV']
+    jits = pickle.loads(read_file_chunked(modeld_pkl_path(usbgpu)))
     vision_metadata = jits['metadata']['vision']
     self.vision_input_shapes =  vision_metadata['input_shapes']
     self.vision_input_names = list(self.vision_input_shapes.keys())
@@ -86,7 +88,7 @@ def __init__(self, cam_w: int, cam_h: int):
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
 
     self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
-    self.input_queues, self.npy = make_input_queues(self.vision_input_shapes, self.policy_input_shapes, self.frame_skip, device=self.DEV)
+    self.input_queues, self.npy = make_input_queues(self.vision_input_shapes, self.policy_input_shapes, self.frame_skip, device=self.QUEUE_DEV)
     self.full_frames : dict[str, Tensor] = {}
     self._blob_cache : dict[int, Tensor] = {}
     self.parser = Parser()
@@ -95,8 +97,8 @@ def __init__(self, cam_w: int, cam_h: int):
     self.warp_enqueue = jits[(cam_w,cam_h)]['warp_enqueue']
     self.warp_enqueue(
       **self.input_queues,
-      frame=Tensor(np.zeros(self.frame_buf_params['img'][3], dtype=np.uint8), device=self.DEV).contiguous().realize(),
-      big_frame=Tensor(np.zeros(self.frame_buf_params['big_img'][3], dtype=np.uint8), device=self.DEV).contiguous().realize())
+      frame=Tensor(np.zeros(self.frame_buf_params['img'][3], dtype=np.uint8), device=self.WARP_DEV).contiguous().realize(),
+      big_frame=Tensor(np.zeros(self.frame_buf_params['big_img'][3], dtype=np.uint8), device=self.WARP_DEV).contiguous().realize())
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
@@ -110,7 +112,7 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
       # There is a ringbuffer of imgs, just cache tensors pointing to all of them
       cache_key = (key, ptr)
       if cache_key not in self._blob_cache:
-        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.DEV)
+        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.WARP_DEV)
       self.full_frames[key] = self._blob_cache[cache_key]
 
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
@@ -143,7 +145,13 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
 def main(demo=False):
   cloudlog.warning("modeld init")
 
-  USBGPU = False
+  _present = usbgpu_present()
+  _compiled = os.path.isfile(get_manifest_path(modeld_pkl_path(usbgpu=True)))
+  USBGPU = _present and _compiled
+  params = Params()
+  params.put_bool("UsbGpuPresent", _present)
+  params.put_bool("UsbGpuCompiled", _compiled)
+
   if not USBGPU:
     # USB GPU currently saturates a core so can't do this yet,
     # also need to move the aux USB interrupts for good timings
@@ -174,7 +182,7 @@ def main(demo=False):
 
   st = time.monotonic()
   cloudlog.warning("loading model")
-  model = ModelState(vipc_client_main.width, vipc_client_main.height)
+  model = ModelState(vipc_client_main.width, vipc_client_main.height, USBGPU)
   cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
 
   # messaging
diff --git a/selfdrive/modeld/models/big_driving_policy.onnx b/selfdrive/modeld/models/big_driving_policy.onnx
deleted file mode 120000
index e1b653a14a03d6..00000000000000
--- a/selfdrive/modeld/models/big_driving_policy.onnx
+++ /dev/null
@@ -1 +0,0 @@
-driving_policy.onnx
\ No newline at end of file
diff --git a/selfdrive/modeld/models/big_driving_policy.onnx b/selfdrive/modeld/models/big_driving_policy.onnx
new file mode 100644
index 00000000000000..f7b49c018a3009
--- /dev/null
+++ b/selfdrive/modeld/models/big_driving_policy.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:565e53c38dcd64c50dd3fe4d5ee1530213aeefd66c3f6b67ea6a72a32612a6bf
+size 14061419
diff --git a/selfdrive/modeld/models/big_driving_vision.onnx b/selfdrive/modeld/models/big_driving_vision.onnx
deleted file mode 120000
index 28ee71dd746e63..00000000000000
--- a/selfdrive/modeld/models/big_driving_vision.onnx
+++ /dev/null
@@ -1 +0,0 @@
-driving_vision.onnx
\ No newline at end of file
diff --git a/selfdrive/modeld/models/big_driving_vision.onnx b/selfdrive/modeld/models/big_driving_vision.onnx
new file mode 100644
index 00000000000000..d14f1969e0cca2
--- /dev/null
+++ b/selfdrive/modeld/models/big_driving_vision.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f0cab5033fe9e3bc5e174a2e790fa277f7d9fc44c65822d734064d2f899a9a0
+size 296203378
diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index 60c5fcf1d41954..1cc61c64789ab6 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -139,6 +139,8 @@ def __init__(self):
     self._version_text = self._get_version_text()
 
     self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48))
+    self._egpu_icon = IconWidget("icons_mici/egpu.png", (50, 37))
+    self._egpu_icon_gray = IconWidget("icons_mici/egpu_gray.png", (50, 37))
     self._mic_icon = IconWidget("icons_mici/microphone.png", (32, 46))
     self._body_icon = IconWidget("icons_mici/body.png", (54, 37))
 
@@ -148,6 +150,8 @@ def __init__(self):
       IconWidget("icons_mici/settings.png", (48, 48), opacity=0.9),
       NetworkIcon(),
       self._experimental_icon,
+      self._egpu_icon,
+      self._egpu_icon_gray,
       self._body_icon,
       self._mic_icon,
     ], spacing=18)
@@ -244,6 +248,8 @@ def _render(self, _):
 
     # ***** Center-aligned bottom section icons *****
     self._experimental_icon.set_visible(ui_state.experimental_mode)
+    self._egpu_icon.set_visible(ui_state.usbgpu and ui_state.usbgpu_compiled)
+    self._egpu_icon_gray.set_visible(ui_state.usbgpu and not ui_state.usbgpu_compiled)
     self._mic_icon.set_visible(ui_state.recording_audio)
     self._body_icon.set_visible(ui_state.is_body)
 
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index fd1a5228dfee77..6309642fd27436 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -75,6 +75,8 @@ def _initialize(self):
     self.is_release = self.params.get_bool("IsReleaseBranch")
     self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
     self.experimental_mode: bool = self.params.get_bool("ExperimentalMode")
+    self.usbgpu: bool = self.params.get_bool("UsbGpuPresent")
+    self.usbgpu_compiled: bool = self.params.get_bool("UsbGpuCompiled")
     self.started: bool = False
     self.ignition: bool = False
     self.recording_audio: bool = False
@@ -201,6 +203,8 @@ def update_params(self) -> None:
     self.is_metric = self.params.get_bool("IsMetric")
     self.always_on_dm = self.params.get_bool("AlwaysOnDM")
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
+    self.usbgpu = self.params.get_bool("UsbGpuPresent")
+    self.usbgpu_compiled = self.params.get_bool("UsbGpuCompiled")
 
 
 class Device:

From 38faa7c2cb265243b87644ad40aa8b971b220f92 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 21 May 2026 16:29:27 -0700
Subject: [PATCH 1115/1434] bump msgq (#38057)

* bump msgq

* bump msgq

* fix ui
---
 cereal/messaging/__init__.py           | 10 +++++-----
 msgq_repo                              |  2 +-
 selfdrive/modeld/dmonitoringmodeld.py  |  3 ++-
 selfdrive/modeld/modeld.py             |  2 +-
 selfdrive/ui/mici/onroad/cameraview.py |  4 ++--
 selfdrive/ui/onroad/cameraview.py      |  4 ++--
 6 files changed, 13 insertions(+), 12 deletions(-)

diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 47d109453a5732..158e3329e73f45 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -263,11 +263,11 @@ def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder])
     self.sock[s].send(dat)
 
   def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
-    for _ in range(int(timeout*(1./dt))):
-      if self.sock[s].all_readers_updated():
-        return True
-      time.sleep(dt)
-    return False
+    try:
+      self.sock[s].wait_for_readers(timeout=timeout, interval=dt)
+      return True
+    except TimeoutError:
+      return False
 
   def all_readers_updated(self, s: str) -> bool:
     return self.sock[s].all_readers_updated()  # type: ignore
diff --git a/msgq_repo b/msgq_repo
index 6e9dbd57681365..9beb84af67527f 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit 6e9dbd57681365e272e5fb3d2af20d0d9af7e76f
+Subproject commit 9beb84af67527f7b6bfee349dcbe3dbb8d4f4789
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index cf99c432e69c1c..eaf423e7beaa09 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -22,6 +22,7 @@
 MODEL_PKL_PATH = MODELS_DIR / 'dmonitoring_model_tinygrad.pkl'
 METADATA_PATH = MODELS_DIR / 'dmonitoring_model_metadata.pkl'
 
+
 class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
@@ -51,7 +52,7 @@ def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple
 
     t1 = time.perf_counter()
 
-    ptr = buf.data.ctypes.data
+    ptr = np.frombuffer(buf.data, dtype=np.uint8).ctypes.data
     # There is a ringbuffer of imgs, just cache tensors pointing to all of them
     if ptr not in self._blob_cache:
       self._blob_cache[ptr] = Tensor.from_blob(ptr, (self.frame_buf_params[3],), dtype='uint8', device=self.DEV)
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 7e0fa8a037abc7..0c13b322df3b69 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -107,7 +107,7 @@ def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slic
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     for key in bufs.keys():
-      ptr = bufs[key].data.ctypes.data
+      ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
       yuv_size = self.frame_buf_params[key][3]
       # There is a ringbuffer of imgs, just cache tensors pointing to all of them
       cache_key = (key, ptr)
diff --git a/selfdrive/ui/mici/onroad/cameraview.py b/selfdrive/ui/mici/onroad/cameraview.py
index 57a8a2d5cea363..86dd95f46659e7 100644
--- a/selfdrive/ui/mici/onroad/cameraview.py
+++ b/selfdrive/ui/mici/onroad/cameraview.py
@@ -308,8 +308,8 @@ def _render_textures(self, src_rect: rl.Rectangle, dst_rect: rl.Rectangle) -> No
       y_data = self.frame.data[: self.frame.uv_offset]
       uv_data = self.frame.data[self.frame.uv_offset:]
 
-      rl.update_texture(self.texture_y, rl.ffi.cast("void *", y_data.ctypes.data))
-      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", uv_data.ctypes.data))
+      rl.update_texture(self.texture_y, rl.ffi.cast("void *", rl.ffi.from_buffer(y_data)))
+      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", rl.ffi.from_buffer(uv_data)))
       self._texture_needs_update = False
 
     # Render with shader
diff --git a/selfdrive/ui/onroad/cameraview.py b/selfdrive/ui/onroad/cameraview.py
index 544394846595de..53c2ff8b0b699a 100644
--- a/selfdrive/ui/onroad/cameraview.py
+++ b/selfdrive/ui/onroad/cameraview.py
@@ -267,8 +267,8 @@ def _render_textures(self, src_rect: rl.Rectangle, dst_rect: rl.Rectangle) -> No
       y_data = self.frame.data[: self.frame.uv_offset]
       uv_data = self.frame.data[self.frame.uv_offset:]
 
-      rl.update_texture(self.texture_y, rl.ffi.cast("void *", y_data.ctypes.data))
-      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", uv_data.ctypes.data))
+      rl.update_texture(self.texture_y, rl.ffi.cast("void *", rl.ffi.from_buffer(y_data)))
+      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", rl.ffi.from_buffer(uv_data)))
       self._texture_needs_update = False
 
     # Render with shader

From aff9f9ffae3f80a9d162a6a0b462e621de86a100 Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Thu, 21 May 2026 17:42:19 -0700
Subject: [PATCH 1116/1434] remote body teleop from connect support (#38011)

* athenad and webrtcd updates

* remove feature stream services from webrtcd split

* remove cors

* clean

* remove unused

* remove extra try except

* add back exception trace

* clean diff

* clean diff

* add testJoystick only on body

* fix camera list

* remove reference to future service
---
 system/athena/athenad.py | 42 ++++++++++++++++++++-
 system/webrtc/webrtcd.py | 81 ++++++++++++++++++++++++++++++----------
 2 files changed, 102 insertions(+), 21 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index de09c2da7637ef..36f1d848c2062f 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -28,7 +28,7 @@
                        create_connection)
 
 import cereal.messaging as messaging
-from cereal import log
+from cereal import car, log
 from cereal.services import SERVICE_LIST
 from openpilot.common.api import Api, get_key_pair
 from openpilot.common.utils import CallbackReader, get_upload_stream
@@ -44,6 +44,7 @@
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
 LOCAL_PORT_WHITELIST = {22, }  # SSH
+WEBRTCD_PORT = 5001
 
 LOG_ATTR_NAME = 'user.upload'
 LOG_ATTR_VALUE_MAX_UNIX_TIME = int.to_bytes(2147483647, 4, sys.byteorder)
@@ -536,6 +537,16 @@ def getSshAuthorizedKeys() -> str:
 def getGithubUsername() -> str:
   return cast(str, Params().get("GithubUsername") or "")
 
+
+@dispatcher.add_method
+def getNotCar() -> bool:
+  cp_bytes = Params().get("CarParamsPersistent")
+  if cp_bytes is not None:
+    with car.CarParams.from_bytes(cp_bytes) as CP:
+      return CP.notCar
+  return False
+
+
 @dispatcher.add_method
 def getSimInfo():
   return HARDWARE.get_sim_info()
@@ -557,6 +568,35 @@ def getNetworks():
   return HARDWARE.get_networks()
 
 
+@dispatcher.add_method
+def startStream(sdp: str) -> dict:
+  from openpilot.system.webrtc.webrtcd import StreamRequestBody
+  bridge_services_in = []
+
+  # get live car params to avoid stale notCar edge case
+  cp_bytes = Params().get("CarParams")
+  if cp_bytes is not None:
+    with car.CarParams.from_bytes(cp_bytes) as CP:
+      if CP.notCar:
+        bridge_services_in.append("testJoystick")
+
+  body = StreamRequestBody(sdp, ["driver"], bridge_services_in, ["carState"])
+  try:
+    resp = requests.post(f"http://localhost:{WEBRTCD_PORT}/stream",
+                       json=asdict(body), timeout=10)
+    if not resp.ok:
+      try:
+        error_body = resp.json()
+        raise Exception(error_body.get("message", f"webrtcd returned {resp.status_code}"))
+      except ValueError:
+        resp.raise_for_status()
+    return resp.json()
+  except requests.ConnectTimeout as e:
+    raise Exception("webrtc took too long to respond. is it on?") from e
+  except requests.ConnectionError as e:
+    raise Exception("webrtc is not running. turn on comma body ignition.") from e
+
+
 @dispatcher.add_method
 def takeSnapshot() -> str | dict[str, str] | None:
   from openpilot.system.camerad.snapshot import jpeg_write, snapshot
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index d2c90cafb5b2e6..7a51d45034e42b 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -2,6 +2,7 @@
 
 import argparse
 import asyncio
+import contextlib
 import json
 import uuid
 import logging
@@ -83,11 +84,16 @@ def start(self):
     assert self.task is None
     self.task = asyncio.create_task(self.run())
 
-  def stop(self):
-    if self.task is None or self.task.done():
+  async def stop(self):
+    if self.task is None:
       return
-    self.task.cancel()
+    task = self.task
     self.task = None
+    if task.done():
+      return
+    task.cancel()
+    with contextlib.suppress(asyncio.CancelledError):
+      await task
 
   async def run(self):
     from aiortc.exceptions import InvalidStateError
@@ -145,24 +151,29 @@ def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], o
       self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge)
 
     self.run_task: asyncio.Task | None = None
+    self._cleanup_lock = asyncio.Lock()
+    self._cleanup_done = False
     self.logger = logging.getLogger("webrtcd")
-    self.logger.info("New stream session (%s), cameras %s, incoming services %s, outgoing services %s",
-                      self.identifier, cameras, incoming_services, outgoing_services)
+    self.logger.info(
+      "New stream session (%s), cameras %s, incoming services %s, outgoing services %s",
+      self.identifier, cameras, incoming_services, outgoing_services,
+    )
 
   def start(self):
     self.run_task = asyncio.create_task(self.run())
 
-  def stop(self):
-    if self.run_task.done():
-      return
-    self.run_task.cancel()
+  async def stop(self):
+    if self.run_task is not None and not self.run_task.done() and self.run_task is not asyncio.current_task():
+      self.run_task.cancel()
+      with contextlib.suppress(asyncio.CancelledError):
+        await self.run_task
     self.run_task = None
-    asyncio.run(self.post_run_cleanup())
+    await self.post_run_cleanup()
 
   async def get_answer(self):
     return await self.stream.start()
 
-  async def message_handler(self, message: bytes):
+  def message_handler(self, message: bytes):
     assert self.incoming_bridge is not None
     try:
       self.incoming_bridge.send(message)
@@ -183,16 +194,21 @@ async def run(self):
       self.logger.info("Stream session (%s) connected", self.identifier)
 
       await self.stream.wait_for_disconnection()
-      await self.post_run_cleanup()
 
       self.logger.info("Stream session (%s) ended", self.identifier)
     except Exception:
       self.logger.exception("Stream session failure")
+    finally:
+      await self.post_run_cleanup()
 
   async def post_run_cleanup(self):
-    await self.stream.stop()
-    if self.outgoing_bridge is not None:
-      self.outgoing_bridge_runner.stop()
+    async with self._cleanup_lock:
+      if self._cleanup_done:
+        return
+      self._cleanup_done = True
+      if self.outgoing_bridge_runner is not None:
+        await self.outgoing_bridge_runner.stop()
+      await self.stream.stop()
 
 
 @dataclass
@@ -208,11 +224,33 @@ async def get_stream(request: 'web.Request'):
   raw_body = await request.json()
   body = StreamRequestBody(**raw_body)
 
-  session = StreamSession(body.sdp, body.cameras, body.bridge_services_in, body.bridge_services_out, debug_mode)
-  answer = await session.get_answer()
-  session.start()
+  async with request.app['stream_lock']:
+    # Fully disconnect any other active stream before starting the replacement.
+    for sid, s in list(stream_dict.items()):
+      if s.run_task and not s.run_task.done():
+        try:
+          ch = s.stream.get_messaging_channel()
+          ch.send(json.dumps({"type": "connectionReplaced", "data": "Another device has connected, closing this session."}))
+        except Exception:
+          pass
+      await s.stop()
+      del stream_dict[sid]
+
+    session = StreamSession(body.sdp, body.cameras, body.bridge_services_in, body.bridge_services_out, debug_mode)
+    try:
+      answer = await session.get_answer()
+    except ValueError as e:
+      await session.stop()
+      raise web.HTTPBadRequest(
+        text=json.dumps({"error": "invalid_sdp", "message": str(e)}),
+        content_type="application/json",
+      ) from e
+    except Exception:
+      await session.stop()
+      raise
+    session.start()
 
-  stream_dict[session.identifier] = session
+    stream_dict[session.identifier] = session
 
   return web.json_response({"sdp": answer.sdp, "type": answer.type})
 
@@ -224,6 +262,7 @@ async def get_schema(request: 'web.Request'):
   schema_dict = {s: generate_field(log.Event.schema.fields[s]) for s in services}
   return web.json_response(schema_dict)
 
+
 async def post_notify(request: 'web.Request'):
   try:
     payload = await request.json()
@@ -239,9 +278,10 @@ async def post_notify(request: 'web.Request'):
 
   return web.Response(status=200, text="OK")
 
+
 async def on_shutdown(app: 'web.Application'):
   for session in app['streams'].values():
-    session.stop()
+    await session.stop()
   del app['streams']
 
 
@@ -254,6 +294,7 @@ def webrtcd_thread(host: str, port: int, debug: bool):
   app = web.Application()
 
   app['streams'] = dict()
+  app['stream_lock'] = asyncio.Lock()
   app['debug'] = debug
   app.on_shutdown.append(on_shutdown)
   app.router.add_post("/stream", get_stream)

From a3cc9c7ac3ba7a163fdee7927f333f360431fd80 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Fri, 22 May 2026 17:50:26 -0700
Subject: [PATCH 1117/1434] modeld: split warp (#38079)

* compiles

* runs

* dedupe compiling model

* always build for both res

* fix does not bind loop variable

* rm size multiplier
---
 SConstruct                         |  2 +-
 selfdrive/modeld/SConscript        | 22 ++-----
 selfdrive/modeld/compile_modeld.py | 92 +++++++++++++++---------------
 selfdrive/modeld/modeld.py         | 15 ++---
 4 files changed, 59 insertions(+), 72 deletions(-)

diff --git a/SConstruct b/SConstruct
index 550e5f0ee361b4..0427d462949f67 100644
--- a/SConstruct
+++ b/SConstruct
@@ -190,7 +190,7 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch', 'acados', 'release')
+Export('env', 'arch', 'acados')
 
 # Setup cache dir
 cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index eba951611697be..9878050ba334d5 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -7,24 +7,15 @@ from openpilot.common.file_chunker import chunk_file, get_chunk_targets, get_exi
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.system.hardware import HARDWARE, PC
 from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH, usbgpu_present, modeld_pkl_path
 
-Import('env', 'arch', 'release')
 
+CAMERA_CONFIGS = [
+  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
+  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
+]
 
-def get_camera_configs():
-  DEVICE_RESOLUTIONS = {
-    "tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
-    "tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
-    "mici": (_os_fisheye.width, _os_fisheye.height),
-  }
-  if release or PC or 'CI' in os.environ:
-    return set(DEVICE_RESOLUTIONS.values())
-  return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
-
-CAMERA_CONFIGS = get_camera_configs()
-
+Import('env', 'arch')
 chunker_file = File("#common/file_chunker.py")
 lenv = env.Clone()
 
@@ -101,8 +92,7 @@ for usbgpu in [False, True] if USBGPU else [False]:
         f'--policy-onnx {File(f"models/{file_prefix}driving_policy.onnx").abspath} '
         f'--output {target_pkl_path} --frame-skip {frame_skip}')
   onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
-  size_multiplier = 1 if usbgpu else 2 # TODO make weight dedupe work on QCOM
-  chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum)*size_multiplier)
+  chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
   def do_chunk(target, source, env, pkl=target_pkl_path, chunks=chunk_targets):
     chunk_file(pkl, chunks)
   node = lenv.Command(
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index f919d1da23a0b7..ad76b5d8cc7bab 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -30,11 +30,10 @@ def fetch_fw(path, name, sha256):
 from tinygrad.device import Device
 from tinygrad.engine.jit import TinyJit
 
-from openpilot.common.file_chunker import read_file_chunked
-from openpilot.system.hardware.hw import Paths
-
 
 NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
+WARP_INPUTS = ['img_q', 'big_img_q', 'tfm', 'big_tfm']
+POLICY_INPUTS = ['feat_q', 'desire_q', 'desire', 'traffic_convention']
 
 UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
 UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
@@ -42,6 +41,10 @@ def fetch_fw(path, name, sha256):
 WARP_DEV = os.getenv('WARP_DEV')
 
 
+def make_random_images(keys, shape, device=None):
+  return {k: Tensor.randint(shape, low=0, high=256, dtype='uint8', device=device).realize() for k in keys}
+
+
 def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, border_fill_val=None):
   w_dst, h_dst = dst_shape
   h_src, w_src = src_shape
@@ -148,55 +151,49 @@ def sample_desire(buf, frame_skip):
   return buf.reshape(-1, frame_skip, *buf.shape[1:]).max(1).flatten(0, 1).unsqueeze(0)
 
 
-def make_run_policy(vision_runner, policy_runner, nv12: NV12Frame, model_w, model_h,
-                    vision_features_slice, frame_skip, prepare_only=False):
+def make_warp(nv12, model_w, model_h, frame_skip):
   frame_prepare = make_frame_prepare(nv12, model_w, model_h)
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
-  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
 
-  def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, tfm, big_tfm, frame, big_frame):
+  def warp_enqueue(img_q, big_img_q, tfm, big_tfm, frame, big_frame):
     tfm = tfm.to(WARP_DEV)
     big_tfm = big_tfm.to(WARP_DEV)
-    desire = desire.to(Device.DEFAULT)
-    traffic_convention = traffic_convention.to(Device.DEFAULT)
-    Tensor.realize(tfm, big_tfm, desire, traffic_convention)
+    Tensor.realize(tfm, big_tfm)
 
     warped_frame = frame_prepare(frame, tfm).unsqueeze(0).to(Device.DEFAULT)
     warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0).to(Device.DEFAULT)
     img = shift_and_sample(img_q, warped_frame, sample_skip_fn)
     big_img = shift_and_sample(big_img_q, warped_big_frame, sample_skip_fn)
+    return img, big_img
+  return warp_enqueue
 
-    if prepare_only:
-      return img, big_img
 
+def make_run_policy(vision_runner, policy_runner, vision_features_slice, frame_skip):
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+
+  def run_policy(img, big_img, feat_q, desire_q, desire, traffic_convention):
+    desire = desire.to(Device.DEFAULT)
+    traffic_convention = traffic_convention.to(Device.DEFAULT)
+    Tensor.realize(desire, traffic_convention)
+    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
     vision_out = next(iter(vision_runner({'img': img, 'big_img': big_img}).values())).cast('float32')
 
     new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
     feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
-    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
 
     inputs = {'features_buffer': feat_buf, 'desire_pulse': desire_buf, 'traffic_convention': traffic_convention}
     policy_out = next(iter(policy_runner(inputs).values())).cast('float32')
-
     return vision_out, policy_out
   return run_policy
 
 
-def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
-                   vision_runner, policy_runner, vision_metadata, policy_metadata):
-  print(f"Compiling combined policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
-
-  vision_features_slice = vision_metadata['output_slices']['hidden_state']
+def compile_jit(jit, make_random_inputs, input_keys, frame_skip, vision_metadata, policy_metadata):
   vision_input_shapes = vision_metadata['input_shapes']
   policy_input_shapes = policy_metadata['input_shapes']
 
-  _run = make_run_policy(vision_runner, policy_runner, nv12, model_w, model_h,
-                         vision_features_slice, frame_skip, prepare_only)
-  run_policy_jit = TinyJit(_run, prune=True)
-
   SEED = 42
-
-  def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
+  def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
     input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
     np.random.seed(seed)
     Tensor.manual_seed(seed)
@@ -205,13 +202,11 @@ def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_matc
     n_runs = 1 if testing else 3
 
     for i in range(n_runs):
-      frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8', device=WARP_DEV).realize()
-      big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8', device=WARP_DEV).realize()
       for v in npy.values():
         v[:] = np.random.randn(*v.shape).astype(v.dtype)
       Device.default.synchronize()
       st = time.perf_counter()
-      outs = fn(**input_queues, frame=frame, big_frame=big_frame)
+      outs = fn(**{k: input_queues[k] for k in input_keys}, **make_random_inputs())
       mt = time.perf_counter()
       Device.default.synchronize()
       et = time.perf_counter()
@@ -227,16 +222,15 @@ def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_matc
     if test_buffers is not None:
       match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
       assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
-    return fn, val, buffers
+    return val, buffers
 
   print('capture + replay')
-  run_policy_jit, test_val, test_buffers = random_inputs_run_fn(run_policy_jit, SEED)
-
+  test_val, test_buffers = random_inputs_run(jit, SEED)
   print('pickle round trip')
-  run_policy_jit = pickle.loads(pickle.dumps(run_policy_jit))
-  random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers, expect_match=True)
-  random_inputs_run_fn(run_policy_jit, SEED+1, test_val, test_buffers, expect_match=False)
-  return run_policy_jit
+  jit = pickle.loads(pickle.dumps(jit))
+  random_inputs_run(jit, SEED, test_val, test_buffers, expect_match=True)
+  random_inputs_run(jit, SEED+1, test_val, test_buffers, expect_match=False)
+  return jit
 
 
 def _parse_size(s):
@@ -245,6 +239,8 @@ def _parse_size(s):
 
 
 def read_file_chunked_to_shm(path):
+  from openpilot.common.file_chunker import read_file_chunked
+  from openpilot.system.hardware.hw import Paths
   shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
   atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
   with open(shm_path, 'wb') as f:
@@ -255,6 +251,7 @@ def read_file_chunked_to_shm(path):
 if __name__ == "__main__":
   from tinygrad.nn.onnx import OnnxRunner
   from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+  from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
   p = argparse.ArgumentParser()
   p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
   p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True,
@@ -266,23 +263,26 @@ def read_file_chunked_to_shm(path):
   args = p.parse_args()
 
   out = defaultdict(dict)
-  # init runners once so weights are shared
-  from get_model_metadata import make_metadata_dict
   vision_path, policy_path = read_file_chunked_to_shm(args.vision_onnx), read_file_chunked_to_shm(args.policy_onnx)
+  model_w, model_h = args.model_size
+
   vision_runner = OnnxRunner(vision_path)
   policy_runner = OnnxRunner(policy_path)
-  out['metadata']['vision'] = make_metadata_dict(vision_path)
-  out['metadata']['policy'] = make_metadata_dict(policy_path)
+  vision_metadata, policy_metadata = make_metadata_dict(vision_path), make_metadata_dict(policy_path)
+
+  run_policy_jit = TinyJit(make_run_policy(vision_runner, policy_runner, vision_metadata['output_slices']['hidden_state'], args.frame_skip), prune=True)
+
+  out['metadata']['vision'], out['metadata']['policy'] = vision_metadata, policy_metadata
+
+  make_random_model_inputs = partial(make_random_images, keys=['img', 'big_img'], shape=vision_metadata['input_shapes']['img'])
+  out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, args.frame_skip, vision_metadata, policy_metadata)
 
   for cam_w, cam_h in args.camera_resolutions:
     nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-    model_w, model_h = args.model_size
-    out[(cam_w,cam_h)] = {
-      name: compile_modeld(nv12, model_w, model_h, prepare_only, args.frame_skip,
-                           vision_runner, policy_runner, out['metadata']['vision'], out['metadata']['policy'])
-      for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
-    }
+    make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
+    warp_enqueue = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
+    out[(cam_w,cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, args.frame_skip, vision_metadata, policy_metadata)
 
   with open(args.output, "wb") as f:
     pickle.dump(out, f)
-  print(f"Saved combined JIT to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB)")
+  print(f"Saved JITs to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB)")
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 0c13b322df3b69..35063e6d37386e 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -20,7 +20,7 @@
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
-from openpilot.selfdrive.modeld.compile_modeld import make_input_queues
+from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, WARP_INPUTS, POLICY_INPUTS
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.common.file_chunker import read_file_chunked, get_manifest_path
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
@@ -93,12 +93,8 @@ def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
     self._blob_cache : dict[int, Tensor] = {}
     self.parser = Parser()
     self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
-    self.run_policy = jits[(cam_w,cam_h)]['run_policy']
-    self.warp_enqueue = jits[(cam_w,cam_h)]['warp_enqueue']
-    self.warp_enqueue(
-      **self.input_queues,
-      frame=Tensor(np.zeros(self.frame_buf_params['img'][3], dtype=np.uint8), device=self.WARP_DEV).contiguous().realize(),
-      big_frame=Tensor(np.zeros(self.frame_buf_params['big_img'][3], dtype=np.uint8), device=self.WARP_DEV).contiguous().realize())
+    self.run_policy = jits['run_policy']
+    self.warp_enqueue = jits[(cam_w,cam_h)]
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
@@ -123,12 +119,13 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
     self.npy['tfm'][:,:] = transforms['img'][:,:]
     self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
 
+    img, big_img = self.warp_enqueue(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
+
     if prepare_only:
-      self.warp_enqueue(**self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
       return None
 
     vision_output, policy_output = self.run_policy(
-      **self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img']
+      **{k: self.input_queues[k] for k in POLICY_INPUTS}, img=img, big_img=big_img
     )
 
     vision_output = vision_output.numpy().flatten()

From 9844075bb27fee142a8e123a9e03bdf1afd1e008 Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Fri, 22 May 2026 19:20:22 -0700
Subject: [PATCH 1118/1434] remote teleop multi-stream on 1 video track
 (#38013)

* athenad and webrtcd updates

* remove feature stream services from webrtcd split

* stream encoder thread

* reduce diff

* wire webrtc to livestream camera encoder

* request livestream camera switch service

* remove camera list in favour of init camera field

* remove cors

* clean

* remove unused

* remove extra try except

* add back exception trace

* add stream road camera info to stream cameras

* fix

* clean diff

* clean diff

* add testJoystick only on body

* fix camera list

* remove reference to future service

* encode all cameras and swap in video track in webrtc

* clean

* explicitly gate bridge send

* clean leftover

* make local bodyteleop work still
---
 system/athena/athenad.py      |  2 +-
 system/loggerd/loggerd.h      |  4 ++--
 system/webrtc/device/video.py |  8 +++++++-
 system/webrtc/webrtcd.py      | 24 ++++++++++++++----------
 tools/bodyteleop/web.py       |  2 +-
 5 files changed, 25 insertions(+), 15 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 36f1d848c2062f..6bccaae63eb424 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -580,7 +580,7 @@ def startStream(sdp: str) -> dict:
       if CP.notCar:
         bridge_services_in.append("testJoystick")
 
-  body = StreamRequestBody(sdp, ["driver"], bridge_services_in, ["carState"])
+  body = StreamRequestBody(sdp, "wideRoad", bridge_services_in, ["carState"])
   try:
     resp = requests.post(f"http://localhost:{WEBRTCD_PORT}/stream",
                        json=asdict(body), timeout=10)
diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index 6aa0c8be40b96f..01bce2c9ea7e7b 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -47,8 +47,8 @@ struct EncoderSettings {
   }
 
   static EncoderSettings StreamEncoderSettings() {
-    int _stream_bitrate = getenv("STREAM_BITRATE") ? atoi(getenv("STREAM_BITRATE")) : 1'000'000;
-    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _stream_bitrate , .gop_size = 15};
+    int _stream_bitrate = getenv("STREAM_BITRATE") ? atoi(getenv("STREAM_BITRATE")) : 4'000'000;
+    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _stream_bitrate , .gop_size = 5};
   }
 };
 
diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py
index 50feab4f4a910d..b46d0222030794 100644
--- a/system/webrtc/device/video.py
+++ b/system/webrtc/device/video.py
@@ -19,10 +19,16 @@ def __init__(self, camera_type: str):
     dt = DT_DMON if camera_type == "driver" else DT_MDL
     super().__init__(camera_type, dt)
 
-    self._sock = messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
+    self._sock = self._make_sock(camera_type)
     self._pts = 0
     self._t0_ns = time.monotonic_ns()
 
+  def _make_sock(self, camera_type: str) -> messaging.SubSocket:
+    return messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
+
+  def switch_camera(self, camera_type: str) -> None:
+    self._sock = self._make_sock(camera_type)
+
   async def recv(self):
     while True:
       msg = messaging.recv_one_or_none(self._sock)
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 7a51d45034e42b..1239a1759cdea2 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -124,18 +124,15 @@ async def add_services_if_needed(self, services):
 class StreamSession:
   shared_pub_master = DynamicPubMaster([])
 
-  def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], outgoing_services: list[str], debug_mode: bool = False):
+  def __init__(self, sdp: str, init_camera: str, incoming_services: list[str], outgoing_services: list[str], debug_mode: bool = False):
     from aiortc.mediastreams import VideoStreamTrack
     from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
     from teleoprtc import WebRTCAnswerBuilder
-    from teleoprtc.info import parse_info_from_offer
 
-    config = parse_info_from_offer(sdp)
     builder = WebRTCAnswerBuilder(sdp)
 
-    assert len(cameras) == config.n_expected_camera_tracks, "Incoming stream has misconfigured number of video tracks"
-    for cam in cameras:
-      builder.add_video_stream(cam, LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack())
+    self.video_track = LiveStreamVideoStreamTrack(init_camera) if not debug_mode else VideoStreamTrack()
+    builder.add_video_stream(init_camera, self.video_track)
 
     self.stream = builder.stream()
     self.identifier = str(uuid.uuid4())
@@ -155,8 +152,8 @@ def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], o
     self._cleanup_done = False
     self.logger = logging.getLogger("webrtcd")
     self.logger.info(
-      "New stream session (%s), cameras %s, incoming services %s, outgoing services %s",
-      self.identifier, cameras, incoming_services, outgoing_services,
+      "New stream session (%s), init camera %s, incoming services %s, outgoing services %s",
+      self.identifier, init_camera, incoming_services, outgoing_services,
     )
 
   def start(self):
@@ -176,6 +173,13 @@ async def get_answer(self):
   def message_handler(self, message: bytes):
     assert self.incoming_bridge is not None
     try:
+      msg_json = json.loads(message)
+      if msg_json.get("type") == "livestreamCameraSwitch" and hasattr(self.video_track, "switch_camera"):
+        self.video_track.switch_camera(msg_json["data"]["camera"])
+        return
+
+      if msg_json.get("type") not in self.incoming_bridge_services:
+        return
       self.incoming_bridge.send(message)
     except Exception:
       self.logger.exception("Cereal incoming proxy failure")
@@ -214,7 +218,7 @@ async def post_run_cleanup(self):
 @dataclass
 class StreamRequestBody:
   sdp: str
-  cameras: list[str]
+  initCamera: str
   bridge_services_in: list[str] = field(default_factory=list)
   bridge_services_out: list[str] = field(default_factory=list)
 
@@ -236,7 +240,7 @@ async def get_stream(request: 'web.Request'):
       await s.stop()
       del stream_dict[sid]
 
-    session = StreamSession(body.sdp, body.cameras, body.bridge_services_in, body.bridge_services_out, debug_mode)
+    session = StreamSession(body.sdp, body.initCamera, body.bridge_services_in, body.bridge_services_out, debug_mode)
     try:
       answer = await session.get_answer()
     except ValueError as e:
diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py
index 29d23184bd7325..d357561b22d254 100644
--- a/tools/bodyteleop/web.py
+++ b/tools/bodyteleop/web.py
@@ -56,7 +56,7 @@ async def ping(request: 'web.Request'):
 
 async def offer(request: 'web.Request'):
   params = await request.json()
-  body = StreamRequestBody(params["sdp"], ["driver"], ["testJoystick"], ["carState"])
+  body = StreamRequestBody(params["sdp"], "driver", ["testJoystick"], ["carState"])
   body_json = json.dumps(dataclasses.asdict(body))
 
   logger.info("Sending offer to webrtcd...")

From 1f227bbe200fe76e83216654f6218977d60ce584 Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Fri, 22 May 2026 19:30:48 -0700
Subject: [PATCH 1119/1434] remote teleop frame timing support (#38014)

* athenad and webrtcd updates

* remove feature stream services from webrtcd split

* stream encoder thread

* reduce diff

* wire webrtc to livestream camera encoder

* request livestream camera switch service

* add frame timing headers

* rfctr

* diff

* clean

* remove camera list in favour of init camera field

* remove cors

* clean

* remove unused

* remove extra try except

* remove video_tracks unused

* add back exception trace

* add stream road camera info to stream cameras

* fix

* add back assert

* clean diff

* clean diff

* add testJoystick only on body

* fix camera list

* remove reference to future service

* video_tracks list add back

* encode all cameras and swap in video track in webrtc

* clean

* explicitly gate bridge send

* clean leftover

* rearrange video.py

* fix lint
---
 system/webrtc/device/video.py | 27 ++++++++++++++++++++++++---
 system/webrtc/webrtcd.py      | 31 +++++++++++++++++++++++++------
 2 files changed, 49 insertions(+), 9 deletions(-)

diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py
index b46d0222030794..8a07c5b9be9c92 100644
--- a/system/webrtc/device/video.py
+++ b/system/webrtc/device/video.py
@@ -1,4 +1,5 @@
 import asyncio
+import struct
 import time
 
 import av
@@ -7,6 +8,13 @@
 from cereal import messaging
 from openpilot.common.realtime import DT_MDL, DT_DMON
 
+# arbitrary 16-byte UUID identifying openpilot frame-timing SEI messages
+TIMING_SEI_UUID = bytes([
+  0xa5, 0xe0, 0xc4, 0xa4, 0x5b, 0x6e, 0x4e, 0x1e,
+  0x9c, 0x7e, 0x12, 0x34, 0x56, 0x78, 0x9a, 0xbc,
+])
+_SEI_PREFIX = b'\x00\x00\x00\x01\x06\x05\x30' + TIMING_SEI_UUID
+
 
 class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
   camera_to_sock_mapping = {
@@ -22,6 +30,7 @@ def __init__(self, camera_type: str):
     self._sock = self._make_sock(camera_type)
     self._pts = 0
     self._t0_ns = time.monotonic_ns()
+    self.timing_sei_enabled = False
 
   def _make_sock(self, camera_type: str) -> messaging.SubSocket:
     return messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
@@ -29,6 +38,20 @@ def _make_sock(self, camera_type: str) -> messaging.SubSocket:
   def switch_camera(self, camera_type: str) -> None:
     self._sock = self._make_sock(camera_type)
 
+  def _build_frame_data(self, msg) -> bytes:
+    encode_data = getattr(msg, msg.which())
+    if not self.timing_sei_enabled:
+      return encode_data.header + encode_data.data
+
+    idx = encode_data.idx
+    sei_nal = _SEI_PREFIX + struct.pack('>4d',
+      (idx.timestampEof - idx.timestampSof) / 1e6,
+      (msg.logMonoTime - idx.timestampEof) / 1e6,
+      (time.monotonic_ns() - msg.logMonoTime) / 1e6,
+      time.time() * 1000,  # noqa: TID251
+    ) + b'\x80'
+    return encode_data.header + sei_nal + encode_data.data
+
   async def recv(self):
     while True:
       msg = messaging.recv_one_or_none(self._sock)
@@ -36,9 +59,7 @@ async def recv(self):
         break
       await asyncio.sleep(0.005)
 
-    evta = getattr(msg, msg.which())
-
-    packet = av.Packet(evta.header + evta.data)
+    packet = av.Packet(self._build_frame_data(msg))
     packet.time_base = self._time_base
 
     self._pts =  ((time.monotonic_ns() - self._t0_ns) * self._clock_rate) // 1_000_000_000
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 1239a1759cdea2..502e6716605680 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 
+import time
 import argparse
 import asyncio
 import contextlib
@@ -173,12 +174,30 @@ async def get_answer(self):
   def message_handler(self, message: bytes):
     assert self.incoming_bridge is not None
     try:
-      msg_json = json.loads(message)
-      if msg_json.get("type") == "livestreamCameraSwitch" and hasattr(self.video_track, "switch_camera"):
-        self.video_track.switch_camera(msg_json["data"]["camera"])
-        return
-
-      if msg_json.get("type") not in self.incoming_bridge_services:
+      payload = json.loads(message) if isinstance(message, (bytes, str)) else None
+      if isinstance(payload, dict):
+        msg_type = payload.get("type")
+
+        if msg_type == "livestreamCameraSwitch":
+          self.video_track.switch_camera(payload["data"]["camera"])
+          return
+
+        if msg_type == "clockSync":
+          data = payload.get("data", {})
+          pong = json.dumps({"type": "clockSync", "data": {
+            "action": "pong", "browserSendTime": data.get("browserSendTime"), "deviceTime": time.time() * 1000, # noqa: TID251
+          }})
+          self.stream.get_messaging_channel().send(pong)
+          return
+
+        if msg_type == "enableTimingSei":
+          enabled = bool(payload.get("data", {}).get("enabled"))
+          for track in self.video_tracks:
+            if hasattr(track, 'timing_sei_enabled'):
+              track.timing_sei_enabled = enabled
+          return
+
+      if payload.get("type") not in self.incoming_bridge_services:
         return
       self.incoming_bridge.send(message)
     except Exception:

From d489dd8909db8e8f82f456234d02018e694e9dde Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Sat, 23 May 2026 00:53:12 -0700
Subject: [PATCH 1120/1434] Revert "modeld: split warp" (#38085)

Revert "modeld: split warp (#38079)"

This reverts commit a3cc9c7ac3ba7a163fdee7927f333f360431fd80.
---
 SConstruct                         |  2 +-
 selfdrive/modeld/SConscript        | 22 +++++--
 selfdrive/modeld/compile_modeld.py | 92 +++++++++++++++---------------
 selfdrive/modeld/modeld.py         | 15 +++--
 4 files changed, 72 insertions(+), 59 deletions(-)

diff --git a/SConstruct b/SConstruct
index 0427d462949f67..550e5f0ee361b4 100644
--- a/SConstruct
+++ b/SConstruct
@@ -190,7 +190,7 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch', 'acados')
+Export('env', 'arch', 'acados', 'release')
 
 # Setup cache dir
 cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 9878050ba334d5..eba951611697be 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -7,15 +7,24 @@ from openpilot.common.file_chunker import chunk_file, get_chunk_targets, get_exi
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
 from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.system.hardware import HARDWARE, PC
 from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH, usbgpu_present, modeld_pkl_path
 
+Import('env', 'arch', 'release')
 
-CAMERA_CONFIGS = [
-  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
-  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
-]
 
-Import('env', 'arch')
+def get_camera_configs():
+  DEVICE_RESOLUTIONS = {
+    "tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+    "tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+    "mici": (_os_fisheye.width, _os_fisheye.height),
+  }
+  if release or PC or 'CI' in os.environ:
+    return set(DEVICE_RESOLUTIONS.values())
+  return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
+
+CAMERA_CONFIGS = get_camera_configs()
+
 chunker_file = File("#common/file_chunker.py")
 lenv = env.Clone()
 
@@ -92,7 +101,8 @@ for usbgpu in [False, True] if USBGPU else [False]:
         f'--policy-onnx {File(f"models/{file_prefix}driving_policy.onnx").abspath} '
         f'--output {target_pkl_path} --frame-skip {frame_skip}')
   onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
-  chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
+  size_multiplier = 1 if usbgpu else 2 # TODO make weight dedupe work on QCOM
+  chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum)*size_multiplier)
   def do_chunk(target, source, env, pkl=target_pkl_path, chunks=chunk_targets):
     chunk_file(pkl, chunks)
   node = lenv.Command(
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index ad76b5d8cc7bab..f919d1da23a0b7 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -30,10 +30,11 @@ def fetch_fw(path, name, sha256):
 from tinygrad.device import Device
 from tinygrad.engine.jit import TinyJit
 
+from openpilot.common.file_chunker import read_file_chunked
+from openpilot.system.hardware.hw import Paths
+
 
 NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
-WARP_INPUTS = ['img_q', 'big_img_q', 'tfm', 'big_tfm']
-POLICY_INPUTS = ['feat_q', 'desire_q', 'desire', 'traffic_convention']
 
 UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
 UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
@@ -41,10 +42,6 @@ def fetch_fw(path, name, sha256):
 WARP_DEV = os.getenv('WARP_DEV')
 
 
-def make_random_images(keys, shape, device=None):
-  return {k: Tensor.randint(shape, low=0, high=256, dtype='uint8', device=device).realize() for k in keys}
-
-
 def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, border_fill_val=None):
   w_dst, h_dst = dst_shape
   h_src, w_src = src_shape
@@ -151,49 +148,55 @@ def sample_desire(buf, frame_skip):
   return buf.reshape(-1, frame_skip, *buf.shape[1:]).max(1).flatten(0, 1).unsqueeze(0)
 
 
-def make_warp(nv12, model_w, model_h, frame_skip):
+def make_run_policy(vision_runner, policy_runner, nv12: NV12Frame, model_w, model_h,
+                    vision_features_slice, frame_skip, prepare_only=False):
   frame_prepare = make_frame_prepare(nv12, model_w, model_h)
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
 
-  def warp_enqueue(img_q, big_img_q, tfm, big_tfm, frame, big_frame):
+  def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, tfm, big_tfm, frame, big_frame):
     tfm = tfm.to(WARP_DEV)
     big_tfm = big_tfm.to(WARP_DEV)
-    Tensor.realize(tfm, big_tfm)
+    desire = desire.to(Device.DEFAULT)
+    traffic_convention = traffic_convention.to(Device.DEFAULT)
+    Tensor.realize(tfm, big_tfm, desire, traffic_convention)
 
     warped_frame = frame_prepare(frame, tfm).unsqueeze(0).to(Device.DEFAULT)
     warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0).to(Device.DEFAULT)
     img = shift_and_sample(img_q, warped_frame, sample_skip_fn)
     big_img = shift_and_sample(big_img_q, warped_big_frame, sample_skip_fn)
-    return img, big_img
-  return warp_enqueue
 
+    if prepare_only:
+      return img, big_img
 
-def make_run_policy(vision_runner, policy_runner, vision_features_slice, frame_skip):
-  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
-  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
-
-  def run_policy(img, big_img, feat_q, desire_q, desire, traffic_convention):
-    desire = desire.to(Device.DEFAULT)
-    traffic_convention = traffic_convention.to(Device.DEFAULT)
-    Tensor.realize(desire, traffic_convention)
-    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
     vision_out = next(iter(vision_runner({'img': img, 'big_img': big_img}).values())).cast('float32')
 
     new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
     feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
+    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
 
     inputs = {'features_buffer': feat_buf, 'desire_pulse': desire_buf, 'traffic_convention': traffic_convention}
     policy_out = next(iter(policy_runner(inputs).values())).cast('float32')
+
     return vision_out, policy_out
   return run_policy
 
 
-def compile_jit(jit, make_random_inputs, input_keys, frame_skip, vision_metadata, policy_metadata):
+def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
+                   vision_runner, policy_runner, vision_metadata, policy_metadata):
+  print(f"Compiling combined policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
+
+  vision_features_slice = vision_metadata['output_slices']['hidden_state']
   vision_input_shapes = vision_metadata['input_shapes']
   policy_input_shapes = policy_metadata['input_shapes']
 
+  _run = make_run_policy(vision_runner, policy_runner, nv12, model_w, model_h,
+                         vision_features_slice, frame_skip, prepare_only)
+  run_policy_jit = TinyJit(_run, prune=True)
+
   SEED = 42
-  def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
+
+  def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
     input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
     np.random.seed(seed)
     Tensor.manual_seed(seed)
@@ -202,11 +205,13 @@ def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=T
     n_runs = 1 if testing else 3
 
     for i in range(n_runs):
+      frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8', device=WARP_DEV).realize()
+      big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8', device=WARP_DEV).realize()
       for v in npy.values():
         v[:] = np.random.randn(*v.shape).astype(v.dtype)
       Device.default.synchronize()
       st = time.perf_counter()
-      outs = fn(**{k: input_queues[k] for k in input_keys}, **make_random_inputs())
+      outs = fn(**input_queues, frame=frame, big_frame=big_frame)
       mt = time.perf_counter()
       Device.default.synchronize()
       et = time.perf_counter()
@@ -222,15 +227,16 @@ def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=T
     if test_buffers is not None:
       match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
       assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
-    return val, buffers
+    return fn, val, buffers
 
   print('capture + replay')
-  test_val, test_buffers = random_inputs_run(jit, SEED)
+  run_policy_jit, test_val, test_buffers = random_inputs_run_fn(run_policy_jit, SEED)
+
   print('pickle round trip')
-  jit = pickle.loads(pickle.dumps(jit))
-  random_inputs_run(jit, SEED, test_val, test_buffers, expect_match=True)
-  random_inputs_run(jit, SEED+1, test_val, test_buffers, expect_match=False)
-  return jit
+  run_policy_jit = pickle.loads(pickle.dumps(run_policy_jit))
+  random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers, expect_match=True)
+  random_inputs_run_fn(run_policy_jit, SEED+1, test_val, test_buffers, expect_match=False)
+  return run_policy_jit
 
 
 def _parse_size(s):
@@ -239,8 +245,6 @@ def _parse_size(s):
 
 
 def read_file_chunked_to_shm(path):
-  from openpilot.common.file_chunker import read_file_chunked
-  from openpilot.system.hardware.hw import Paths
   shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
   atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
   with open(shm_path, 'wb') as f:
@@ -251,7 +255,6 @@ def read_file_chunked_to_shm(path):
 if __name__ == "__main__":
   from tinygrad.nn.onnx import OnnxRunner
   from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-  from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
   p = argparse.ArgumentParser()
   p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
   p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True,
@@ -263,26 +266,23 @@ def read_file_chunked_to_shm(path):
   args = p.parse_args()
 
   out = defaultdict(dict)
+  # init runners once so weights are shared
+  from get_model_metadata import make_metadata_dict
   vision_path, policy_path = read_file_chunked_to_shm(args.vision_onnx), read_file_chunked_to_shm(args.policy_onnx)
-  model_w, model_h = args.model_size
-
   vision_runner = OnnxRunner(vision_path)
   policy_runner = OnnxRunner(policy_path)
-  vision_metadata, policy_metadata = make_metadata_dict(vision_path), make_metadata_dict(policy_path)
-
-  run_policy_jit = TinyJit(make_run_policy(vision_runner, policy_runner, vision_metadata['output_slices']['hidden_state'], args.frame_skip), prune=True)
-
-  out['metadata']['vision'], out['metadata']['policy'] = vision_metadata, policy_metadata
-
-  make_random_model_inputs = partial(make_random_images, keys=['img', 'big_img'], shape=vision_metadata['input_shapes']['img'])
-  out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, args.frame_skip, vision_metadata, policy_metadata)
+  out['metadata']['vision'] = make_metadata_dict(vision_path)
+  out['metadata']['policy'] = make_metadata_dict(policy_path)
 
   for cam_w, cam_h in args.camera_resolutions:
     nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-    make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
-    warp_enqueue = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
-    out[(cam_w,cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, args.frame_skip, vision_metadata, policy_metadata)
+    model_w, model_h = args.model_size
+    out[(cam_w,cam_h)] = {
+      name: compile_modeld(nv12, model_w, model_h, prepare_only, args.frame_skip,
+                           vision_runner, policy_runner, out['metadata']['vision'], out['metadata']['policy'])
+      for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
+    }
 
   with open(args.output, "wb") as f:
     pickle.dump(out, f)
-  print(f"Saved JITs to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB)")
+  print(f"Saved combined JIT to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB)")
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 35063e6d37386e..0c13b322df3b69 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -20,7 +20,7 @@
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
-from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, WARP_INPUTS, POLICY_INPUTS
+from openpilot.selfdrive.modeld.compile_modeld import make_input_queues
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.common.file_chunker import read_file_chunked, get_manifest_path
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
@@ -93,8 +93,12 @@ def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
     self._blob_cache : dict[int, Tensor] = {}
     self.parser = Parser()
     self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
-    self.run_policy = jits['run_policy']
-    self.warp_enqueue = jits[(cam_w,cam_h)]
+    self.run_policy = jits[(cam_w,cam_h)]['run_policy']
+    self.warp_enqueue = jits[(cam_w,cam_h)]['warp_enqueue']
+    self.warp_enqueue(
+      **self.input_queues,
+      frame=Tensor(np.zeros(self.frame_buf_params['img'][3], dtype=np.uint8), device=self.WARP_DEV).contiguous().realize(),
+      big_frame=Tensor(np.zeros(self.frame_buf_params['big_img'][3], dtype=np.uint8), device=self.WARP_DEV).contiguous().realize())
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
@@ -119,13 +123,12 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
     self.npy['tfm'][:,:] = transforms['img'][:,:]
     self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
 
-    img, big_img = self.warp_enqueue(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
-
     if prepare_only:
+      self.warp_enqueue(**self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
       return None
 
     vision_output, policy_output = self.run_policy(
-      **{k: self.input_queues[k] for k in POLICY_INPUTS}, img=img, big_img=big_img
+      **self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img']
     )
 
     vision_output = vision_output.numpy().flatten()

From 95f562c298e894e0f14fffea24d0711eb25e8465 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 23 May 2026 01:56:15 -0700
Subject: [PATCH 1121/1434] op: autocomplete (#38081)

* op autocomplete

* rm

* indent

* Revert "indent"

This reverts commit 6dd513f3229741864563f81ab8547c24c3557dda.

* clean er
---
 tools/op.sh | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index dccf080829f308..7ed3d242fd28b6 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -21,8 +21,14 @@ if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
 fi
 function op_install() {
   echo "Installing op system-wide..."
-  CMD="\nalias op='"$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n"
-  grep "alias op=" "$RC_FILE" &> /dev/null || printf "$CMD" >> $RC_FILE
+  OP_SH="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh"
+  CMD=$(cat <<EOF
+alias op='$OP_SH "\$@"'
+_op_completions() { [ "\$COMP_CWORD" -eq 1 ] && COMPREPLY=(\$(compgen -W "\$(awk '/shift 1; op_/{print \$1}' $OP_SH)" -- "\${COMP_WORDS[1]}")); }
+complete -F _op_completions -o default op
+EOF
+)
+  grep -q "alias op=" "$RC_FILE" 2>/dev/null || printf '\n%s\n' "$CMD" >> "$RC_FILE"
   echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it."
 }
 

From 9d74412fec6fce57155530388b8a1ae02c87a874 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 23 May 2026 02:02:16 -0700
Subject: [PATCH 1122/1434] no warning on macos zsh

---
 tools/op.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/op.sh b/tools/op.sh
index 7ed3d242fd28b6..538d689569c042 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -25,7 +25,7 @@ function op_install() {
   CMD=$(cat <<EOF
 alias op='$OP_SH "\$@"'
 _op_completions() { [ "\$COMP_CWORD" -eq 1 ] && COMPREPLY=(\$(compgen -W "\$(awk '/shift 1; op_/{print \$1}' $OP_SH)" -- "\${COMP_WORDS[1]}")); }
-complete -F _op_completions -o default op
+[ -n "\$BASH_VERSION" ] && complete -F _op_completions -o default op
 EOF
 )
   grep -q "alias op=" "$RC_FILE" 2>/dev/null || printf '\n%s\n' "$CMD" >> "$RC_FILE"

From d9553eeec7f8006ee72b8113837c58c6554b2d36 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Sat, 23 May 2026 15:55:40 -0700
Subject: [PATCH 1123/1434] Reapply "modeld: split warp" (#38085) (#38086)

* Reapply "modeld: split warp" (#38085)

This reverts commit d489dd8909db8e8f82f456234d02018e694e9dde.

* don't time make_random_inputs

* depend on chunk targets

* also depend on compile_modeld's dependencies
---
 SConstruct                         |  2 +-
 selfdrive/modeld/SConscript        | 33 +++++------
 selfdrive/modeld/compile_modeld.py | 93 +++++++++++++++---------------
 selfdrive/modeld/modeld.py         | 15 ++---
 4 files changed, 68 insertions(+), 75 deletions(-)

diff --git a/SConstruct b/SConstruct
index 550e5f0ee361b4..0427d462949f67 100644
--- a/SConstruct
+++ b/SConstruct
@@ -190,7 +190,7 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch', 'acados', 'release')
+Export('env', 'arch', 'acados')
 
 # Setup cache dir
 cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index eba951611697be..fadd5825732df9 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -7,24 +7,15 @@ from openpilot.common.file_chunker import chunk_file, get_chunk_targets, get_exi
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.system.hardware import HARDWARE, PC
 from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH, usbgpu_present, modeld_pkl_path
 
-Import('env', 'arch', 'release')
 
+CAMERA_CONFIGS = [
+  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
+  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
+]
 
-def get_camera_configs():
-  DEVICE_RESOLUTIONS = {
-    "tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
-    "tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
-    "mici": (_os_fisheye.width, _os_fisheye.height),
-  }
-  if release or PC or 'CI' in os.environ:
-    return set(DEVICE_RESOLUTIONS.values())
-  return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
-
-CAMERA_CONFIGS = get_camera_configs()
-
+Import('env', 'arch')
 chunker_file = File("#common/file_chunker.py")
 lenv = env.Clone()
 
@@ -84,7 +75,12 @@ tg_devices_node = lenv.Command(
 mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
 
 modeld_dir = Dir("#selfdrive/modeld").abspath
-compile_modeld_script = [File(f"{modeld_dir}/compile_modeld.py")]
+compile_modeld_script = [
+  File(f"{modeld_dir}/compile_modeld.py"),
+  File(f"{modeld_dir}/get_model_metadata.py"),
+  File("#system/camerad/cameras/nv12_info.py"),
+  File("#system/hardware/hw.py"),
+]
 model_w, model_h = MEDMODEL_INPUT_SIZE
 frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
 
@@ -101,13 +97,12 @@ for usbgpu in [False, True] if USBGPU else [False]:
         f'--policy-onnx {File(f"models/{file_prefix}driving_policy.onnx").abspath} '
         f'--output {target_pkl_path} --frame-skip {frame_skip}')
   onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
-  size_multiplier = 1 if usbgpu else 2 # TODO make weight dedupe work on QCOM
-  chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum)*size_multiplier)
+  chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
   def do_chunk(target, source, env, pkl=target_pkl_path, chunks=chunk_targets):
     chunk_file(pkl, chunks)
   node = lenv.Command(
     chunk_targets,
-    tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(camera_res_args), chunker_file],
+    tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(chunk_targets), chunker_file],
     [cmd, do_chunk],
   )
   if usbgpu:
@@ -138,7 +133,7 @@ def tg_compile(flags, model_name):
     chunk_file(pkl, chunk_targets)
   return lenv.Command(
     chunk_targets,
-    [onnx_path] + tinygrad_files + [chunker_file, tg_devices_node],
+    [onnx_path] + tinygrad_files + [Value(chunk_targets), chunker_file, tg_devices_node],
     [f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}', do_chunk],
   )
 
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index f919d1da23a0b7..f455e9f6eb11ad 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -30,11 +30,10 @@ def fetch_fw(path, name, sha256):
 from tinygrad.device import Device
 from tinygrad.engine.jit import TinyJit
 
-from openpilot.common.file_chunker import read_file_chunked
-from openpilot.system.hardware.hw import Paths
-
 
 NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
+WARP_INPUTS = ['img_q', 'big_img_q', 'tfm', 'big_tfm']
+POLICY_INPUTS = ['feat_q', 'desire_q', 'desire', 'traffic_convention']
 
 UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
 UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
@@ -42,6 +41,10 @@ def fetch_fw(path, name, sha256):
 WARP_DEV = os.getenv('WARP_DEV')
 
 
+def make_random_images(keys, shape, device=None):
+  return {k: Tensor.randint(shape, low=0, high=256, dtype='uint8', device=device).realize() for k in keys}
+
+
 def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, border_fill_val=None):
   w_dst, h_dst = dst_shape
   h_src, w_src = src_shape
@@ -148,55 +151,49 @@ def sample_desire(buf, frame_skip):
   return buf.reshape(-1, frame_skip, *buf.shape[1:]).max(1).flatten(0, 1).unsqueeze(0)
 
 
-def make_run_policy(vision_runner, policy_runner, nv12: NV12Frame, model_w, model_h,
-                    vision_features_slice, frame_skip, prepare_only=False):
+def make_warp(nv12, model_w, model_h, frame_skip):
   frame_prepare = make_frame_prepare(nv12, model_w, model_h)
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
-  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
 
-  def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, tfm, big_tfm, frame, big_frame):
+  def warp_enqueue(img_q, big_img_q, tfm, big_tfm, frame, big_frame):
     tfm = tfm.to(WARP_DEV)
     big_tfm = big_tfm.to(WARP_DEV)
-    desire = desire.to(Device.DEFAULT)
-    traffic_convention = traffic_convention.to(Device.DEFAULT)
-    Tensor.realize(tfm, big_tfm, desire, traffic_convention)
+    Tensor.realize(tfm, big_tfm)
 
     warped_frame = frame_prepare(frame, tfm).unsqueeze(0).to(Device.DEFAULT)
     warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0).to(Device.DEFAULT)
     img = shift_and_sample(img_q, warped_frame, sample_skip_fn)
     big_img = shift_and_sample(big_img_q, warped_big_frame, sample_skip_fn)
+    return img, big_img
+  return warp_enqueue
 
-    if prepare_only:
-      return img, big_img
 
+def make_run_policy(vision_runner, policy_runner, vision_features_slice, frame_skip):
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+
+  def run_policy(img, big_img, feat_q, desire_q, desire, traffic_convention):
+    desire = desire.to(Device.DEFAULT)
+    traffic_convention = traffic_convention.to(Device.DEFAULT)
+    Tensor.realize(desire, traffic_convention)
+    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
     vision_out = next(iter(vision_runner({'img': img, 'big_img': big_img}).values())).cast('float32')
 
     new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
     feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
-    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
 
     inputs = {'features_buffer': feat_buf, 'desire_pulse': desire_buf, 'traffic_convention': traffic_convention}
     policy_out = next(iter(policy_runner(inputs).values())).cast('float32')
-
     return vision_out, policy_out
   return run_policy
 
 
-def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
-                   vision_runner, policy_runner, vision_metadata, policy_metadata):
-  print(f"Compiling combined policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
-
-  vision_features_slice = vision_metadata['output_slices']['hidden_state']
+def compile_jit(jit, make_random_inputs, input_keys, frame_skip, vision_metadata, policy_metadata):
   vision_input_shapes = vision_metadata['input_shapes']
   policy_input_shapes = policy_metadata['input_shapes']
 
-  _run = make_run_policy(vision_runner, policy_runner, nv12, model_w, model_h,
-                         vision_features_slice, frame_skip, prepare_only)
-  run_policy_jit = TinyJit(_run, prune=True)
-
   SEED = 42
-
-  def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
+  def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
     input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
     np.random.seed(seed)
     Tensor.manual_seed(seed)
@@ -205,13 +202,12 @@ def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_matc
     n_runs = 1 if testing else 3
 
     for i in range(n_runs):
-      frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8', device=WARP_DEV).realize()
-      big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8', device=WARP_DEV).realize()
       for v in npy.values():
         v[:] = np.random.randn(*v.shape).astype(v.dtype)
       Device.default.synchronize()
+      random_inputs = make_random_inputs()
       st = time.perf_counter()
-      outs = fn(**input_queues, frame=frame, big_frame=big_frame)
+      outs = fn(**{k: input_queues[k] for k in input_keys}, **random_inputs)
       mt = time.perf_counter()
       Device.default.synchronize()
       et = time.perf_counter()
@@ -227,16 +223,15 @@ def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_matc
     if test_buffers is not None:
       match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
       assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
-    return fn, val, buffers
+    return val, buffers
 
   print('capture + replay')
-  run_policy_jit, test_val, test_buffers = random_inputs_run_fn(run_policy_jit, SEED)
-
+  test_val, test_buffers = random_inputs_run(jit, SEED)
   print('pickle round trip')
-  run_policy_jit = pickle.loads(pickle.dumps(run_policy_jit))
-  random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers, expect_match=True)
-  random_inputs_run_fn(run_policy_jit, SEED+1, test_val, test_buffers, expect_match=False)
-  return run_policy_jit
+  jit = pickle.loads(pickle.dumps(jit))
+  random_inputs_run(jit, SEED, test_val, test_buffers, expect_match=True)
+  random_inputs_run(jit, SEED+1, test_val, test_buffers, expect_match=False)
+  return jit
 
 
 def _parse_size(s):
@@ -245,6 +240,8 @@ def _parse_size(s):
 
 
 def read_file_chunked_to_shm(path):
+  from openpilot.common.file_chunker import read_file_chunked
+  from openpilot.system.hardware.hw import Paths
   shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
   atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
   with open(shm_path, 'wb') as f:
@@ -255,6 +252,7 @@ def read_file_chunked_to_shm(path):
 if __name__ == "__main__":
   from tinygrad.nn.onnx import OnnxRunner
   from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+  from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
   p = argparse.ArgumentParser()
   p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
   p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True,
@@ -266,23 +264,26 @@ def read_file_chunked_to_shm(path):
   args = p.parse_args()
 
   out = defaultdict(dict)
-  # init runners once so weights are shared
-  from get_model_metadata import make_metadata_dict
   vision_path, policy_path = read_file_chunked_to_shm(args.vision_onnx), read_file_chunked_to_shm(args.policy_onnx)
+  model_w, model_h = args.model_size
+
   vision_runner = OnnxRunner(vision_path)
   policy_runner = OnnxRunner(policy_path)
-  out['metadata']['vision'] = make_metadata_dict(vision_path)
-  out['metadata']['policy'] = make_metadata_dict(policy_path)
+  vision_metadata, policy_metadata = make_metadata_dict(vision_path), make_metadata_dict(policy_path)
+
+  run_policy_jit = TinyJit(make_run_policy(vision_runner, policy_runner, vision_metadata['output_slices']['hidden_state'], args.frame_skip), prune=True)
+
+  out['metadata']['vision'], out['metadata']['policy'] = vision_metadata, policy_metadata
+
+  make_random_model_inputs = partial(make_random_images, keys=['img', 'big_img'], shape=vision_metadata['input_shapes']['img'])
+  out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, args.frame_skip, vision_metadata, policy_metadata)
 
   for cam_w, cam_h in args.camera_resolutions:
     nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-    model_w, model_h = args.model_size
-    out[(cam_w,cam_h)] = {
-      name: compile_modeld(nv12, model_w, model_h, prepare_only, args.frame_skip,
-                           vision_runner, policy_runner, out['metadata']['vision'], out['metadata']['policy'])
-      for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
-    }
+    make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
+    warp_enqueue = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
+    out[(cam_w,cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, args.frame_skip, vision_metadata, policy_metadata)
 
   with open(args.output, "wb") as f:
     pickle.dump(out, f)
-  print(f"Saved combined JIT to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB)")
+  print(f"Saved JITs to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB)")
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 0c13b322df3b69..35063e6d37386e 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -20,7 +20,7 @@
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
-from openpilot.selfdrive.modeld.compile_modeld import make_input_queues
+from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, WARP_INPUTS, POLICY_INPUTS
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.common.file_chunker import read_file_chunked, get_manifest_path
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
@@ -93,12 +93,8 @@ def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
     self._blob_cache : dict[int, Tensor] = {}
     self.parser = Parser()
     self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
-    self.run_policy = jits[(cam_w,cam_h)]['run_policy']
-    self.warp_enqueue = jits[(cam_w,cam_h)]['warp_enqueue']
-    self.warp_enqueue(
-      **self.input_queues,
-      frame=Tensor(np.zeros(self.frame_buf_params['img'][3], dtype=np.uint8), device=self.WARP_DEV).contiguous().realize(),
-      big_frame=Tensor(np.zeros(self.frame_buf_params['big_img'][3], dtype=np.uint8), device=self.WARP_DEV).contiguous().realize())
+    self.run_policy = jits['run_policy']
+    self.warp_enqueue = jits[(cam_w,cam_h)]
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
@@ -123,12 +119,13 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
     self.npy['tfm'][:,:] = transforms['img'][:,:]
     self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
 
+    img, big_img = self.warp_enqueue(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
+
     if prepare_only:
-      self.warp_enqueue(**self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
       return None
 
     vision_output, policy_output = self.run_policy(
-      **self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img']
+      **{k: self.input_queues[k] for k in POLICY_INPUTS}, img=img, big_img=big_img
     )
 
     vision_output = vision_output.numpy().flatten()

From b93d166ff812562798cd95d2731b897d02670fc2 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 25 May 2026 16:49:41 -0700
Subject: [PATCH 1124/1434] [bot] Update Python packages (#38003)

* Update Python packages

* unused

* ty happy

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 cereal/messaging/__init__.py              |   2 +-
 docs/CARS.md                              | 224 +++++++--------
 opendbc_repo                              |   2 +-
 panda                                     |   2 +-
 selfdrive/selfdrived/tests/test_alerts.py |   2 +-
 tinygrad_repo                             |   2 +-
 uv.lock                                   | 331 +++++++++++-----------
 7 files changed, 283 insertions(+), 282 deletions(-)

diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 158e3329e73f45..18578fb44361ac 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -270,4 +270,4 @@ def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) ->
       return False
 
   def all_readers_updated(self, s: str) -> bool:
-    return self.sock[s].all_readers_updated()  # type: ignore
+    return self.sock[s].all_readers_updated()
diff --git a/docs/CARS.md b/docs/CARS.md
index f50ed2a7ef511c..89d583f363f8a8 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,24 +4,24 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 333 Supported Cars
+# 334 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
-|Acura|MDX 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
+|Acura|MDX 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
 |Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
-|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
-|Acura|TLX 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
+|Acura|RDX 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
+|Acura|TLX 2021-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
 |Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
@@ -33,7 +33,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|CUPRA[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -75,35 +75,35 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Accord 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
-|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
-|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
+|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
-|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
+|Honda|e 2020|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
 |Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
-|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
-|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
-|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
+|Honda|HR-V 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
+|Honda|Inspire 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
+|Honda|N-Box 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
-|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
+|Honda|Odyssey 2021-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
@@ -126,6 +126,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 6 (without HDA II) 2023-24|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (without HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
@@ -222,44 +223,44 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>12</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>12</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
-|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Å koda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Å koda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Å koda[<sup>11</sup>](#footnotes)|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Å koda[<sup>11</sup>](#footnotes)|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Å koda[<sup>11</sup>](#footnotes)|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Å koda[<sup>11</sup>](#footnotes)|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Å koda[<sup>11</sup>](#footnotes)|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Å koda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Å koda[<sup>11</sup>](#footnotes)|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Å koda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Å koda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Å koda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Å koda[<sup>12</sup>](#footnotes)|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Å koda[<sup>12</sup>](#footnotes)|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Å koda[<sup>12</sup>](#footnotes)|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Å koda[<sup>12</sup>](#footnotes)|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Å koda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Å koda[<sup>12</sup>](#footnotes)|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Superb 2015-22">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
@@ -272,8 +273,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
@@ -305,60 +306,61 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen[<sup>11</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen[<sup>12</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
 <sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
 <sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
-<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
-<sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>11</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
-<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>14</sup>Some Å koda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
+<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>9</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
+<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>15</sup>Some Å koda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
diff --git a/opendbc_repo b/opendbc_repo
index f15cc7673a4f1b..ed14aa6faae0c8 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit f15cc7673a4f1bd87436eb4ce1e6bad3bdb8272d
+Subproject commit ed14aa6faae0c8daabc840d0c090bdc96d6f0bc0
diff --git a/panda b/panda
index b19b66a6f0a246..7ffc916578af93 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit b19b66a6f0a246729953cb19390dbee1e93610b2
+Subproject commit 7ffc916578af9373a165cf9df5974720d9a258a5
diff --git a/selfdrive/selfdrived/tests/test_alerts.py b/selfdrive/selfdrived/tests/test_alerts.py
index c9718069992b10..5d5a1733e71598 100644
--- a/selfdrive/selfdrived/tests/test_alerts.py
+++ b/selfdrive/selfdrived/tests/test_alerts.py
@@ -63,7 +63,7 @@ def test_alert_text_length(self):
 
     for alert in ALERTS:
       if not isinstance(alert, Alert):
-        alert = alert(self.CP, self.CS, self.sm, metric=False, soft_disable_time=100, personality=log.LongitudinalPersonality.standard)
+        alert = alert(self.CP, self.CS, self.sm, False, 100, log.LongitudinalPersonality.standard)
 
       # for full size alerts, both text fields wrap the text,
       # so it's unlikely that they  would go past the max width
diff --git a/tinygrad_repo b/tinygrad_repo
index 409bb0c9ada39d..eecd4706fffe3a 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 409bb0c9ada39dd00effaaee1887db828c9bfcf0
+Subproject commit eecd4706fffe3ad8bdd7350e8db52d86d7214be2
diff --git a/uv.lock b/uv.lock
index 48761b75cffb08..3b00c77c48ad5f 100644
--- a/uv.lock
+++ b/uv.lock
@@ -5,18 +5,18 @@ requires-python = ">=3.12.3, <3.13"
 [[package]]
 name = "acados"
 version = "0.2.2"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=acados&rev=release-acados#e33e466a477c16576cf30f73d1921dd78d4e1248" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=acados&rev=release-acados#25933c81c7db5573afe38f012f52befc15cdb804" }
 dependencies = [
     { name = "numpy" },
 ]
 
 [[package]]
 name = "aiohappyeyeballs"
-version = "2.6.1"
+version = "2.6.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/26/30/f84a107a9c4331c14b2b586036f40965c128aa4fee4dda5d3d51cb14ad54/aiohappyeyeballs-2.6.1.tar.gz", hash = "sha256:c3f9d0113123803ccadfdf3f0faa505bc78e6a72d1cc4806cbd719826e943558", size = 22760, upload-time = "2025-03-12T01:42:48.764Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/33/c6/61a2d7b7572279226bb2e7f61d7a19ca7c90da0329c93fa0d560cbf288d8/aiohappyeyeballs-2.6.2.tar.gz", hash = "sha256:e202810ee718bd01fc6ef49e8ea53d023d5cb6b581076d7925aa499fa55dbe64", size = 22591, upload-time = "2026-05-20T15:12:24.631Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/0f/15/5bf3b99495fb160b63f95972b81750f18f7f4e02ad051373b669d17d44f2/aiohappyeyeballs-2.6.1-py3-none-any.whl", hash = "sha256:f349ba8f4b75cb25c99c5c2d84e997e485204d2902a9597802b0371f09331fb8", size = 15265, upload-time = "2025-03-12T01:42:47.083Z" },
+    { url = "https://files.pythonhosted.org/packages/5f/fc/a7bf5b6e4e617b45f90f2d9d2a68519c249c81dd4fc2658c7a2a61c4f4b7/aiohappyeyeballs-2.6.2-py3-none-any.whl", hash = "sha256:4708045e2d7a6c6bdf8aafa8ed39649eaf926a4543b54560659129e3365953c4", size = 15062, upload-time = "2026-05-20T15:12:23.328Z" },
 ]
 
 [[package]]
@@ -124,30 +124,30 @@ wheels = [
 [[package]]
 name = "bootstrap-icons"
 version = "1.10.5.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bootstrap-icons&rev=release-bootstrap-icons#976cd610d1eee61135d33e6fbb0a3ea1098807be" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bootstrap-icons&rev=release-bootstrap-icons#d7e41838af9320328dd7102f9288a94f0cf0fa9f" }
 
 [[package]]
 name = "bzip2"
 version = "1.0.8"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#3d53522328d6c0eebc1ae8d07ef9669c8ad7b2f2" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#12916f9f84848239e5a69a8c5a282f3dcb0d86a3" }
 
 [[package]]
 name = "capnproto"
 version = "1.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#847f0ccfef2bc5c57bd8fc0c4776ff760ec1d2b9" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#a75eb83bd98440e890261f82aa8dcfbda0b0a206" }
 
 [[package]]
 name = "catch2"
 version = "2.13.10"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2#f354d6cf68504032a0fbdfc552c82c09655899ab" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2#7287b4c99d23fdd87e66f9941b0e35ece6b4d91b" }
 
 [[package]]
 name = "certifi"
-version = "2026.4.22"
+version = "2026.5.20"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/25/ee/6caf7a40c36a1220410afe15a1cc64993a1f864871f698c0f93acb72842a/certifi-2026.4.22.tar.gz", hash = "sha256:8d455352a37b71bf76a79caa83a3d6c25afee4a385d632127b6afb3963f1c580", size = 137077, upload-time = "2026-04-22T11:26:11.191Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/f3/ce/ee2ecad540810a79593028e88299baeae54d346cc7a0d94b6199988b89b1/certifi-2026.5.20.tar.gz", hash = "sha256:69dea482ab64caa7b9f6aba1c6bf48bb6a5448d1c0f1b17ab42ad8c763a5344d", size = 135422, upload-time = "2026-05-20T11:46:50.073Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/22/30/7cd8fdcdfbc5b869528b079bfb76dcdf6056b1a2097a662e5e8c04f42965/certifi-2026.4.22-py3-none-any.whl", hash = "sha256:3cb2210c8f88ba2318d29b0388d1023c8492ff72ecdde4ebdaddbb13a31b1c4a", size = 135707, upload-time = "2026-04-22T11:26:09.372Z" },
+    { url = "https://files.pythonhosted.org/packages/59/8c/57e832b7af6d7c5abe66eb3fbe3a3a32f4d11ea23a1aa7131371035be991/certifi-2026.5.20-py3-none-any.whl", hash = "sha256:3c52e209ba0a4ad7aebe60436a4ab349c39e1e602e8c134221e546902ad25897", size = 134134, upload-time = "2026-05-20T11:46:48.578Z" },
 ]
 
 [[package]]
@@ -200,14 +200,14 @@ wheels = [
 
 [[package]]
 name = "click"
-version = "8.3.3"
+version = "8.4.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "colorama", marker = "sys_platform == 'win32'" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/bb/63/f9e1ea081ce35720d8b92acde70daaedace594dc93b693c869e0d5910718/click-8.3.3.tar.gz", hash = "sha256:398329ad4837b2ff7cbe1dd166a4c0f8900c3ca3a218de04466f38f6497f18a2", size = 328061, upload-time = "2026-04-22T15:11:27.506Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/9b/98/518d8e5081007684232226f475082b30087d0f585e8457db087298259f49/click-8.4.1.tar.gz", hash = "sha256:918b5633eddf6b41c32d4f454bf0de810065c74e3f7dbf8ee5452f8be88d3e96", size = 353007, upload-time = "2026-05-22T04:08:37.769Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/ae/44/c1221527f6a71a01ec6fbad7fa78f1d50dfa02217385cf0fa3eec7087d59/click-8.3.3-py3-none-any.whl", hash = "sha256:a2bf429bb3033c89fa4936ffb35d5cb471e3719e1f3c8a7c3fff0b8314305613", size = 110502, upload-time = "2026-04-22T15:11:25.044Z" },
+    { url = "https://files.pythonhosted.org/packages/c7/0d/67e5b4109ea4a837e80daa87c2c696711955e40449a97e8926672534def2/click-8.4.1-py3-none-any.whl", hash = "sha256:482be17c6991b8c19c5429a1e995d9b0efdbb63172824c41f99965dc0ade8ec2", size = 116639, upload-time = "2026-05-22T04:08:35.26Z" },
 ]
 
 [[package]]
@@ -340,24 +340,24 @@ wheels = [
 
 [[package]]
 name = "cython"
-version = "3.2.4"
+version = "3.2.5"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/91/85/7574c9cd44b69a27210444b6650f6477f56c75fee1b70d7672d3e4166167/cython-3.2.4.tar.gz", hash = "sha256:84226ecd313b233da27dc2eb3601b4f222b8209c3a7216d8733b031da1dc64e6", size = 3280291, upload-time = "2026-01-04T14:14:14.473Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/3f/3b/ebd94c8b85f8e41b5015a9ed94ee3df866024d480d05cd08b774684fb81d/cython-3.2.5.tar.gz", hash = "sha256:3dd42e4cf36ad15f265bdfec2337cc00c688c8eb6d374ffd13bb19437c27bba1", size = 3286381, upload-time = "2026-05-23T19:34:08.439Z" }
 wheels = [
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-    { url = "https://files.pythonhosted.org/packages/03/1c/46e34b08bea19a1cdd1e938a4c123e6299241074642db9d81983cef95e9f/cython-3.2.4-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:869487ea41d004f8b92171f42271fbfadb1ec03bede3158705d16cd570d6b891", size = 3226757, upload-time = "2026-01-04T14:15:10.812Z" },
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+    { url = "https://files.pythonhosted.org/packages/ca/a8/d967e70eac810a7e9eb8c5150d6d02848a1f42260f42977c71debed3cb02/zensical-0.0.43-cp310-abi3-win_amd64.whl", hash = "sha256:03a9d1744a6394ad66c355d6f1de04cfd92efa525b0b94bf6dbf6971c5cd2c6b", size = 12496166, upload-time = "2026-05-19T09:44:04.915Z" },
 ]
 
 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#1ae3130cf64f557dc5fc30e469b2aab612389d3e" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#40b29e8e88a69802e8afc4f71f5c955bc2d5c74c" }
 
 [[package]]
 name = "zstandard"
@@ -1659,4 +1658,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#fdecf7d8932fdbad96752aa187bac94a74640890" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#13015596466eb68825f109ad0d5aefa6330cc495" }

From bdca89724833af06e85955816463247c82ba46ee Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 25 May 2026 16:56:57 -0700
Subject: [PATCH 1125/1434] docs: update DM description (#38089)

---
 docs/SAFETY.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/SAFETY.md b/docs/SAFETY.md
index 25815e3372e57b..0a662ac6cd6136 100644
--- a/docs/SAFETY.md
+++ b/docs/SAFETY.md
@@ -4,8 +4,8 @@ openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC)
 Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
 driver to be alert and to pay attention at all times.
 
-In order to enforce driver alertness, openpilot includes a driver monitoring feature
-that alerts the driver when distracted.
+To assist the driver in maintaining alertness, openpilot includes a driver monitoring feature
+that alerts when it detects driver distraction.
 
 However, even with an attentive driver, we must make further efforts for the system to be
 safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be

From ccac1e28ded67e9e006cebbc3ebb7f53ca92aa27 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 25 May 2026 18:01:46 -0700
Subject: [PATCH 1126/1434] jp: DM debug layout

---
 tools/jotpluggler/layouts/driver-monitoring-debug.json | 1 +
 1 file changed, 1 insertion(+)
 create mode 100644 tools/jotpluggler/layouts/driver-monitoring-debug.json

diff --git a/tools/jotpluggler/layouts/driver-monitoring-debug.json b/tools/jotpluggler/layouts/driver-monitoring-debug.json
new file mode 100644
index 00000000000000..07a5c2fd6e5d28
--- /dev/null
+++ b/tools/jotpluggler/layouts/driver-monitoring-debug.json
@@ -0,0 +1 @@
+{"current_tab_index": 0, "tabs": [{"name": "tab1", "root": {"children": [{"children": [{"camera_view": "driver", "curves": [], "kind": "camera", "title": "Driver Camera"}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/alertLevel"}], "title": "..."}], "sizes": [0.5, 0.5], "split": "vertical"}, {"children": [{"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/activePolicy"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/faceDetected"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/eye"}, {"color": "#dc5234", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/phone"}, {"color": "#43a047", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/pose"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/awarenessPercent"}], "title": "..."}], "sizes": [0.25, 0.25, 0.25, 0.25], "split": "vertical"}], "sizes": [0.5, 0.5], "split": "horizontal"}}]}

From 5af72796f20f70bcef0df0e2d83ddc036f301864 Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Tue, 26 May 2026 10:32:02 -0700
Subject: [PATCH 1127/1434] fix frame timing feature in webrtcd (#38090)

fix misreference to video_tracks in webrtcd
---
 system/webrtc/webrtcd.py | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 502e6716605680..4fd922688e1bf6 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -192,9 +192,8 @@ def message_handler(self, message: bytes):
 
         if msg_type == "enableTimingSei":
           enabled = bool(payload.get("data", {}).get("enabled"))
-          for track in self.video_tracks:
-            if hasattr(track, 'timing_sei_enabled'):
-              track.timing_sei_enabled = enabled
+          if hasattr(self.video_track, 'timing_sei_enabled'):
+            self.video_track.timing_sei_enabled = enabled
           return
 
       if payload.get("type") not in self.incoming_bridge_services:

From 4585e93066b86ef8afa0788b7d0dd7249c66932d Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Tue, 26 May 2026 18:00:10 -0700
Subject: [PATCH 1128/1434] dmonitoringmodeld: fix YUV padding  (#38091)

---
 selfdrive/modeld/compile_dm_warp.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/modeld/compile_dm_warp.py b/selfdrive/modeld/compile_dm_warp.py
index 548990ee15a7d9..16e0d39fbb5780 100755
--- a/selfdrive/modeld/compile_dm_warp.py
+++ b/selfdrive/modeld/compile_dm_warp.py
@@ -18,7 +18,7 @@ def make_warp_dm(nv12: NV12Frame, dm_w, dm_h):
   def warp_dm(input_frame, M_inv):
     M_inv = M_inv.to(Device.DEFAULT).realize()
     return warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv,
-                                     (dm_w, dm_h), (cam_h, cam_w), stride_pad, border_fill_val=0).reshape(-1, dm_h * dm_w)
+                                     (dm_w, dm_h), (cam_h, cam_w), stride_pad, border_fill_val=16).reshape(-1, dm_h * dm_w) # Y
   return warp_dm
 
 

From dfc3c98b226da57a653daf57131a8a3d66166fcb Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 26 May 2026 23:31:54 -0400
Subject: [PATCH 1129/1434] Revert "DM: Lancia Delta HF Integrale model"
 (#1849)

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

This reverts commit d8569b07ebeed5fcb2b466fcd3824b968b4a8271.
---
 cereal/log.capnp                              | 12 +++++-----
 .../assets/icons_mici/onroad/glasses.png      |  3 +++
 selfdrive/modeld/dmonitoringmodeld.py         |  9 +++++---
 .../modeld/models/dmonitoring_model.onnx      |  4 ++--
 selfdrive/monitoring/helpers.py               | 19 +++++++++++-----
 selfdrive/monitoring/test_monitoring.py       |  6 +++--
 selfdrive/test/process_replay/model_replay.py |  2 +-
 .../ui/mici/onroad/driver_camera_dialog.py    | 22 +++++++++++++++----
 8 files changed, 53 insertions(+), 24 deletions(-)
 create mode 100644 selfdrive/assets/icons_mici/onroad/glasses.png

diff --git a/cereal/log.capnp b/cereal/log.capnp
index cf91e017e6fa07..961395091462c2 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2054,16 +2054,14 @@ struct DriverStateV2 {
     facePosition @2 :List(Float32);
     facePositionStd @3 :List(Float32);
     faceProb @4 :Float32;
-    eyesVisibleProb @14 :Float32;
-    eyesClosedProb @15 :Float32;
+    leftEyeProb @5 :Float32;
+    rightEyeProb @6 :Float32;
+    leftBlinkProb @7 :Float32;
+    rightBlinkProb @8 :Float32;
+    sunglassesProb @9 :Float32;
     phoneProb @13 :Float32;
 
     deprecated :group {
-      leftEyeProb @5 :Float32;
-      rightEyeProb @6 :Float32;
-      leftBlinkProb @7 :Float32;
-      rightBlinkProb @8 :Float32;
-      sunglassesProb @9 :Float32;
       notReadyProb @12 :List(Float32);
       occludedProb @10 :Float32;
       readyProb @11 :List(Float32);
diff --git a/selfdrive/assets/icons_mici/onroad/glasses.png b/selfdrive/assets/icons_mici/onroad/glasses.png
new file mode 100644
index 00000000000000..006972fd397c41
--- /dev/null
+++ b/selfdrive/assets/icons_mici/onroad/glasses.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56de402482b5987ed9a0ff3f793a1c89f857304b34fbb8a3deb5b5d4a332be1c
+size 3688
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 78749b773afc77..1d80cd910eac62 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -83,7 +83,7 @@ def parse_model_output(model_output):
     face_descs = model_output[f'face_descs_{ds_suffix}']
     parsed[f'face_descs_{ds_suffix}'] = face_descs[:, :-6]
     parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:])
-    for key in ['face_prob', 'eyes_visible_prob', 'eyes_closed_prob', 'using_phone_prob']:
+    for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
       parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
   return parsed
 
@@ -93,8 +93,11 @@ def fill_driver_data(msg, model_output, ds_suffix):
   msg.facePosition = model_output[f'face_descs_{ds_suffix}'][0, 3:5].tolist()
   msg.facePositionStd = model_output[f'face_descs_{ds_suffix}_std'][0, 3:5].tolist()
   msg.faceProb = model_output[f'face_prob_{ds_suffix}'][0, 0].item()
-  msg.eyesVisibleProb = model_output[f'eyes_visible_prob_{ds_suffix}'][0, 0].item()
-  msg.eyesClosedProb = model_output[f'eyes_closed_prob_{ds_suffix}'][0, 0].item()
+  msg.leftEyeProb = model_output[f'left_eye_prob_{ds_suffix}'][0, 0].item()
+  msg.rightEyeProb = model_output[f'right_eye_prob_{ds_suffix}'][0, 0].item()
+  msg.leftBlinkProb = model_output[f'left_blink_prob_{ds_suffix}'][0, 0].item()
+  msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item()
+  msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item()
   msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()
 
 def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float):
diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx
index 628f385796991f..dc621bed03a45f 100644
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/selfdrive/modeld/models/dmonitoring_model.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2fd471febb6e973313ac0d0c6755f6410c1937ba92230b58a433761e8c883072
-size 7364290
+oid sha256:7aff7ff1dc08bbaf562a8f77380ab5e5914f8557dba2f760d87e4d953f5604b0
+size 7307246
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index aea81d336f9a89..b3921826070e00 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -32,8 +32,9 @@ def __init__(self, device_type):
     self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
 
     self._FACE_THRESHOLD = 0.7
-    self._EYE_THRESHOLD = 0.5
-    self._BLINK_THRESHOLD = 0.5
+    self._EYE_THRESHOLD = 0.65
+    self._SG_THRESHOLD = 0.9
+    self._BLINK_THRESHOLD = 0.865
     self._PHONE_THRESH = 0.5
 
     self._POSE_PITCH_THRESHOLD = 0.3133
@@ -110,6 +111,11 @@ def __init__(self, raw_priors, max_trackable):
     self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
     self.prob_calibrated = False
 
+class DriverBlink:
+  def __init__(self):
+    self.left = 0.
+    self.right = 0.
+
 
 # model output refers to center of undistorted+leveled image
 EFL = 598.0 # focal length in K
@@ -144,7 +150,7 @@ def __init__(self, rhd_saved=False, settings=None, always_on=False):
     wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
     self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
     self.pose = DriverPose(settings=self.settings)
-    self.blink_prob = 0.
+    self.blink = DriverBlink()
     self.phone_prob = 0.
 
     self.always_on = always_on
@@ -247,7 +253,7 @@ def _get_distracted_types(self):
     if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
       distracted_types.append(DistractedType.DISTRACTED_POSE)
 
-    if self.blink_prob > self.settings._BLINK_THRESHOLD:
+    if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
       distracted_types.append(DistractedType.DISTRACTED_BLINK)
 
     if self.phone_prob > self.settings._PHONE_THRESH:
@@ -288,7 +294,10 @@ def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstil
     self.pose.yaw_std = driver_data.faceOrientationStd[1]
     model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
     self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
-    self.blink_prob = driver_data.eyesClosedProb * (driver_data.eyesVisibleProb > self.settings._EYE_THRESHOLD)
+    self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
+                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
+    self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
+                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
     self.phone_prob = driver_data.phoneProb
 
     self.distracted_types = self._get_distracted_types()
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index 30e81d2dbf7da9..8306889e5bd1b7 100644
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -20,8 +20,10 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
   ds.leftDriverData.faceOrientation = [0., 0., 0.]
   ds.leftDriverData.facePosition = [0., 0.]
   ds.leftDriverData.faceProb = 1. * face_detected
-  ds.leftDriverData.eyesVisibleProb = 1.
-  ds.leftDriverData.eyesClosedProb = 1. * distracted
+  ds.leftDriverData.leftEyeProb = 1.
+  ds.leftDriverData.rightEyeProb = 1.
+  ds.leftDriverData.leftBlinkProb = 1. * distracted
+  ds.leftDriverData.rightBlinkProb = 1. * distracted
   ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
   ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
   # TODO: test both separately when e2e is used
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index eb7cdbe34acfdd..a6ccaa104778a6 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -76,7 +76,7 @@ def generate_report(proposed, master, tmp, commit):
                      (lambda x: get_idx_if_non_empty(x.wheelOnRightProb), "wheelOnRightProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.faceProb), "leftDriverData.faceProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.faceOrientation, 0), "leftDriverData.faceOrientation0"),
-                     (lambda x: get_idx_if_non_empty(x.leftDriverData.eyesClosedProb), "leftDriverData.eyesClosedProb"),
+                     (lambda x: get_idx_if_non_empty(x.leftDriverData.leftBlinkProb), "leftDriverData.leftBlinkProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.phoneProb), "leftDriverData.phoneProb"),
                      (lambda x: get_idx_if_non_empty(x.rightDriverData.faceProb), "rightDriverData.faceProb"),
                     ], "driverStateV2")
diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
index e8b8abb7f5cfd0..e8321b099c7e08 100644
--- a/selfdrive/ui/mici/onroad/driver_camera_dialog.py
+++ b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
@@ -39,6 +39,8 @@ def __init__(self):
     self._eye_fill_texture = None
     self._eye_orange_texture = None
     self._eye_size = 74
+    self._glasses_texture = None
+    self._glasses_size = 171
 
     self._load_eye_textures()
 
@@ -152,6 +154,8 @@ def _load_eye_textures(self):
       self._eye_fill_texture = gui_app.texture("icons_mici/onroad/eye_fill.png", self._eye_size, self._eye_size)
     if self._eye_orange_texture is None:
       self._eye_orange_texture = gui_app.texture("icons_mici/onroad/eye_orange.png", self._eye_size, self._eye_size)
+    if self._glasses_texture is None:
+      self._glasses_texture = gui_app.texture("icons_mici/onroad/glasses.png", self._glasses_size, self._glasses_size)
 
   def _draw_face_detection(self, rect: rl.Rectangle):
     dm_state = ui_state.sm["driverMonitoringState"]
@@ -198,21 +202,31 @@ def _draw_eyes(self, rect: rl.Rectangle, driver_data):
     eye_offset_x = 10
     eye_offset_y = 10
     eye_spacing = self._eye_size + 15
-    eyes_prob = driver_data.eyesVisibleProb
 
     left_eye_x = rect.x + eye_offset_x
     left_eye_y = rect.y + eye_offset_y
+    left_eye_prob = driver_data.leftEyeProb
 
     right_eye_x = rect.x + eye_offset_x + eye_spacing
     right_eye_y = rect.y + eye_offset_y
+    right_eye_prob = driver_data.rightEyeProb
 
     # Draw eyes with opacity based on probability
-    fill_opacity = eyes_prob
-    orange_opacity = 1.0 - eyes_prob
-    for eye_x, eye_y in [(left_eye_x, left_eye_y), (right_eye_x, right_eye_y)]:
+    for eye_x, eye_y, eye_prob in [(left_eye_x, left_eye_y, left_eye_prob), (right_eye_x, right_eye_y, right_eye_prob)]:
+      fill_opacity = eye_prob
+      orange_opacity = 1.0 - eye_prob
+
       rl.draw_texture_v(self._eye_orange_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * orange_opacity)))
       rl.draw_texture_v(self._eye_fill_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * fill_opacity)))
 
+    # Draw sunglasses indicator based on sunglasses probability
+    # Position glasses centered between the two eyes at top left
+    glasses_x = rect.x + eye_offset_x - 4
+    glasses_y = rect.y
+    glasses_pos = rl.Vector2(glasses_x, glasses_y)
+    glasses_prob = driver_data.sunglassesProb
+    rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))
+
 
 class DriverCameraDialog(NavWidget, BaseDriverCameraDialog):
   def __init__(self):

From 4cd93f3eee29987ba7679087c2f33a3f157e43cd Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Wed, 27 May 2026 13:49:46 -0700
Subject: [PATCH 1130/1434] webrtcd: turn CerealProxyRunner into more general
 AsyncTaskRunner (#38093)

* make cereal proxy runner more general

* missing init()
---
 system/webrtc/webrtcd.py | 91 +++++++++++++++++++++-------------------
 1 file changed, 47 insertions(+), 44 deletions(-)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 4fd922688e1bf6..9ff937b67365db 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 
+from abc import abstractmethod
 import time
 import argparse
 import asyncio
@@ -24,8 +25,35 @@
 from cereal import messaging, log
 
 
-class CerealOutgoingMessageProxy:
+class AsyncTaskRunner:
+  def __init__(self):
+    self.is_running = False
+    self.task = None
+    self.logger = logging.getLogger("webrtcd")
+
+  def start(self):
+    assert self.task is None
+    self.task = asyncio.create_task(self.run())
+
+  async def stop(self):
+    if self.task is None:
+      return
+    task = self.task
+    self.task = None
+    if task.done():
+      return
+    task.cancel()
+    with contextlib.suppress(asyncio.CancelledError):
+      await task
+
+  @abstractmethod
+  async def run(self):
+    pass
+
+
+class CerealOutgoingMessageProxy(AsyncTaskRunner):
   def __init__(self, sm: messaging.SubMaster):
+    super().__init__()
     self.sm = sm
     self.channels: list[RTCDataChannel] = []
 
@@ -57,6 +85,19 @@ def update(self):
       for channel in self.channels:
         channel.send(encoded_msg)
 
+  async def run(self):
+    from aiortc.exceptions import InvalidStateError
+
+    while True:
+      try:
+        self.update()
+      except InvalidStateError:
+        self.logger.warning("Cereal outgoing proxy invalid state (connection closed)")
+        break
+      except Exception:
+        self.logger.exception("Cereal outgoing proxy failure")
+      await asyncio.sleep(0.01)
+
 
 class CerealIncomingMessageProxy:
   def __init__(self, pm: messaging.PubMaster):
@@ -74,42 +115,6 @@ def send(self, message: bytes):
     self.pm.send(msg_type, msg)
 
 
-class CerealProxyRunner:
-  def __init__(self, proxy: CerealOutgoingMessageProxy):
-    self.proxy = proxy
-    self.is_running = False
-    self.task = None
-    self.logger = logging.getLogger("webrtcd")
-
-  def start(self):
-    assert self.task is None
-    self.task = asyncio.create_task(self.run())
-
-  async def stop(self):
-    if self.task is None:
-      return
-    task = self.task
-    self.task = None
-    if task.done():
-      return
-    task.cancel()
-    with contextlib.suppress(asyncio.CancelledError):
-      await task
-
-  async def run(self):
-    from aiortc.exceptions import InvalidStateError
-
-    while True:
-      try:
-        self.proxy.update()
-      except InvalidStateError:
-        self.logger.warning("Cereal outgoing proxy invalid state (connection closed)")
-        break
-      except Exception:
-        self.logger.exception("Cereal outgoing proxy failure")
-      await asyncio.sleep(0.01)
-
-
 class DynamicPubMaster(messaging.PubMaster):
   def __init__(self, *args, **kwargs):
     super().__init__(*args, **kwargs)
@@ -141,12 +146,10 @@ def __init__(self, sdp: str, init_camera: str, incoming_services: list[str], out
     self.incoming_bridge: CerealIncomingMessageProxy | None = None
     self.incoming_bridge_services = incoming_services
     self.outgoing_bridge: CerealOutgoingMessageProxy | None = None
-    self.outgoing_bridge_runner: CerealProxyRunner | None = None
     if len(incoming_services) > 0:
       self.incoming_bridge = CerealIncomingMessageProxy(self.shared_pub_master)
     if len(outgoing_services) > 0:
       self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services))
-      self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge)
 
     self.run_task: asyncio.Task | None = None
     self._cleanup_lock = asyncio.Lock()
@@ -209,10 +212,10 @@ async def run(self):
         if self.incoming_bridge is not None:
           await self.shared_pub_master.add_services_if_needed(self.incoming_bridge_services)
           self.stream.set_message_handler(self.message_handler)
-        if self.outgoing_bridge_runner is not None:
+        if self.outgoing_bridge is not None:
           channel = self.stream.get_messaging_channel()
-          self.outgoing_bridge_runner.proxy.add_channel(channel)
-          self.outgoing_bridge_runner.start()
+          self.outgoing_bridge.add_channel(channel)
+          self.outgoing_bridge.start()
       self.logger.info("Stream session (%s) connected", self.identifier)
 
       await self.stream.wait_for_disconnection()
@@ -228,8 +231,8 @@ async def post_run_cleanup(self):
       if self._cleanup_done:
         return
       self._cleanup_done = True
-      if self.outgoing_bridge_runner is not None:
-        await self.outgoing_bridge_runner.stop()
+      if self.outgoing_bridge is not None:
+        await self.outgoing_bridge.stop()
       await self.stream.stop()
 
 

From 5408c86b7b3ad76f20b95dfa892894a4192f8cf2 Mon Sep 17 00:00:00 2001
From: Gabe Lynch <gabe3lynch@gmail.com>
Date: Thu, 28 May 2026 14:05:23 -0400
Subject: [PATCH 1131/1434] Cabana: Fixed internal typos and method casing
 (#38099)

---
 tools/cabana/binaryview.cc     | 4 ++--
 tools/cabana/messageswidget.cc | 6 +++---
 tools/cabana/messageswidget.h  | 2 +-
 tools/cabana/signalview.cc     | 2 +-
 tools/cabana/videowidget.cc    | 2 +-
 5 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index 0be28f06b79cd9..c86b3ebdae1128 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -40,14 +40,14 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
   addShortcuts();
   setWhatsThis(R"(
     <b>Binary View</b><br/>
-    <!-- TODO: add descprition here -->
+    <!-- TODO: add description here -->
     <span style="color:gray">Shortcuts</span><br />
     Delete Signal:
       <span style="background-color:lightGray;color:gray">&nbsp;x&nbsp;</span>,
       <span style="background-color:lightGray;color:gray">&nbsp;Backspace&nbsp;</span>,
       <span style="background-color:lightGray;color:gray">&nbsp;Delete&nbsp;</span><br />
     Change endianness: <span style="background-color:lightGray;color:gray">&nbsp;e&nbsp; </span><br />
-    Change singedness: <span style="background-color:lightGray;color:gray">&nbsp;s&nbsp;</span><br />
+    Change signedness: <span style="background-color:lightGray;color:gray">&nbsp;s&nbsp;</span><br />
     Open chart:
       <span style="background-color:lightGray;color:gray">&nbsp;c&nbsp;</span>,
       <span style="background-color:lightGray;color:gray">&nbsp;p&nbsp;</span>,
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index ec8c82dd98fa60..75cdaa7cc3a64a 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -64,7 +64,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget
 
   setWhatsThis(tr(R"(
     <b>Message View</b><br/>
-    <!-- TODO: add descprition here -->
+    <!-- TODO: add description here -->
     <span style="color:gray">Byte color</span><br />
     <span style="color:gray;">â–  </span> constant changing<br />
     <span style="color:blue;">â–  </span> increasing<br />
@@ -146,7 +146,7 @@ void MessagesWidget::menuAboutToShow() {
   action->setCheckable(true);
   action->setChecked(settings.multiple_lines_hex);
 
-  action = menu->addAction(tr("Show inactive Messages"), model, &MessageListModel::showInactivemessages);
+  action = menu->addAction(tr("Show inactive messages"), model, &MessageListModel::showInactiveMessages);
   action->setCheckable(true);
   action->setChecked(model->show_inactive_messages);
 }
@@ -216,7 +216,7 @@ void MessageListModel::setFilterStrings(const QMap<int, QString> &filters) {
   filterAndSort();
 }
 
-void MessageListModel::showInactivemessages(bool show) {
+void MessageListModel::showInactiveMessages(bool show) {
   show_inactive_messages = show;
   filterAndSort();
 }
diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h
index 0fc09519a3c38e..9ffb156604d9be 100644
--- a/tools/cabana/messageswidget.h
+++ b/tools/cabana/messageswidget.h
@@ -36,7 +36,7 @@ Q_OBJECT
   int rowCount(const QModelIndex &parent = QModelIndex()) const override { return items_.size(); }
   void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override;
   void setFilterStrings(const QMap<int, QString> &filters);
-  void showInactivemessages(bool show);
+  void showInactiveMessages(bool show);
   void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
   bool filterAndSort();
   void dbcModified();
diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index 15baabe512a762..a204512e83d48b 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -495,7 +495,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
 
   setWhatsThis(tr(R"(
     <b>Signal view</b><br />
-    <!-- TODO: add descprition here -->
+    <!-- TODO: add description here -->
   )"));
 }
 
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index f203ec663ee50e..87d3cbec956556 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -51,7 +51,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
   updatePlayBtnState();
   setWhatsThis(tr(R"(
     <b>Video</b><br />
-    <!-- TODO: add descprition here -->
+    <!-- TODO: add description here -->
     <span style="color:gray">Timeline color</span>
     <table>
     <tr><td><span style="color:%1;">â–  </span>Disengaged </td>

From a81617d8ee2bd88c4b8304945e38c66a5befbb78 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Thu, 28 May 2026 12:14:35 -0700
Subject: [PATCH 1132/1434] adjust fan setpoint (#38100)

* adjust fan setpoint

* comment
---
 system/hardware/fan_controller.py | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/system/hardware/fan_controller.py b/system/hardware/fan_controller.py
index b2140d33d41ed6..eafde599ade5e2 100755
--- a/system/hardware/fan_controller.py
+++ b/system/hardware/fan_controller.py
@@ -2,6 +2,11 @@
 import numpy as np
 
 from openpilot.common.pid import PIDController
+from openpilot.system.hardware import HARDWARE
+
+# raise fan setpoint on tici/tizi to reduce noise
+# after raising LMH threshold in AGNOS 18.1 to prevent CPU throttling
+OFFSET = 0 if HARDWARE.get_device_type() == "mici" else 5
 
 
 class FanController:
@@ -18,6 +23,6 @@ def update(self, cur_temp: float, ignition: bool) -> int:
     self.last_ignition = ignition
 
     return int(self.controller.update(
-                 error=(cur_temp - 75),  # temperature setpoint in C
-                 feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100])
+                 error=(cur_temp - (75 + OFFSET)),  # temperature setpoint in C
+                 feedforward=np.interp(cur_temp, [60.0 + OFFSET, 100.0 + OFFSET], [0, 100])
               ))

From a8772eb0af40405da7ed812f56902608eb5361bb Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Thu, 28 May 2026 12:49:56 -0700
Subject: [PATCH 1133/1434] add retries to process-replay ref push (#38101)

* add one retry to push replay refs

* more retries
---
 .github/workflows/tests.yaml | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index e0dcac53a07381..bccc6b57265abf 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -162,7 +162,7 @@ jobs:
         repository: commaai/ci-artifacts
         ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
         path: ${{ github.workspace }}/ci-artifacts
-    - name: Push refs
+    - name: Prepare refs
       if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
       working-directory: ${{ github.workspace }}/ci-artifacts
       run: |
@@ -174,7 +174,13 @@ jobs:
         echo "${{ github.sha }}" > ref_commit
         git add .
         git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
-        git push origin process-replay --force
+    - name: Push refs
+      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
+      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
+      with:
+        timeout_minutes: 2
+        max_attempts: 3
+        command: cd ${{ github.workspace }}/ci-artifacts && git push origin process-replay --force
     - name: Run regen
       if: false
       timeout-minutes: 4

From 069b912056cfe59dd1012b6b59e196b57cd9cc9a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 29 May 2026 10:48:34 -0700
Subject: [PATCH 1134/1434] jenkins: fix mici release branch pushing

---
 Jenkinsfile              |  6 +++---
 release/build_release.sh | 14 +++++++++-----
 2 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index f0e6b3dcf5ef1e..a7f46ce17a0d2e 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -166,8 +166,8 @@ node {
   env.GIT_BRANCH = checkout(scm).GIT_BRANCH
   env.GIT_COMMIT = checkout(scm).GIT_COMMIT
 
-  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'release-tici', 'release-tizi', 'release-tizi-staging', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
+  def excludeBranches = ['__nightly', 'devel', 'devel-staging',
+                         'release-tizi', 'release-tizi-staging', 'release-mici', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
   if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
@@ -179,7 +179,7 @@ node {
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
       deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh && git push -f origin release-tizi-staging:release-mici-staging"),
+        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging,release-mici-staging $SOURCE_DIR/release/build_release.sh"),
       ])
     }
 
diff --git a/release/build_release.sh b/release/build_release.sh
index d137edab91a9c7..5bc73167b05685 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -16,6 +16,8 @@ if [ -z "$RELEASE_BRANCH" ]; then
   exit 1
 fi
 
+BUILD_BRANCH=release-build
+
 
 # set git identity
 source $DIR/identity.sh
@@ -26,7 +28,7 @@ mkdir -p $BUILD_DIR
 cd $BUILD_DIR
 git init
 git remote add origin git@github.com:commaai/openpilot.git
-git checkout --orphan $RELEASE_BRANCH
+git checkout --orphan $BUILD_BRANCH
 
 # do the files copy
 echo "[-] copying files T=$SECONDS"
@@ -86,9 +88,11 @@ cd $BUILD_DIR
 RELEASE=1 pytest -n0 -s selfdrive/test/test_onroad.py
 #pytest selfdrive/car/tests/test_car_interfaces.py
 
-if [ ! -z "$RELEASE_BRANCH" ]; then
-  echo "[-] pushing release T=$SECONDS"
-  git push -f origin $RELEASE_BRANCH:$RELEASE_BRANCH
-fi
+echo "[-] pushing release T=$SECONDS"
+REFS=()
+for branch in ${RELEASE_BRANCH//,/ }; do
+  REFS+=("$BUILD_BRANCH:$branch")
+done
+git push -f origin "${REFS[@]}"
 
 echo "[-] done T=$SECONDS"

From 4df40d2c1946a57242230186edd073c4073060a6 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 29 May 2026 11:48:09 -0700
Subject: [PATCH 1135/1434] needs to be a real release branch name for the
 tests

---
 release/build_release.sh          | 2 +-
 selfdrive/test/setup_device_ci.sh | 7 -------
 2 files changed, 1 insertion(+), 8 deletions(-)

diff --git a/release/build_release.sh b/release/build_release.sh
index 5bc73167b05685..cec6f4ecdca327 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -16,7 +16,7 @@ if [ -z "$RELEASE_BRANCH" ]; then
   exit 1
 fi
 
-BUILD_BRANCH=release-build
+BUILD_BRANCH=release-mici-staging
 
 
 # set git identity
diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index 2a1442a20cce13..3fe353e72c067f 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -48,13 +48,6 @@ while true; do
   if ! sudo systemctl is-active -q ssh; then
     sudo systemctl start ssh
   fi
-
-  #if ! pgrep -f 'ciui.py' > /dev/null 2>&1; then
-  #  echo 'starting UI'
-  #  cp $SOURCE_DIR/selfdrive/test/ciui.py /data/
-  #  /data/ciui.py &
-  #fi
-
   sleep 5s
 done
 

From 417efb3c05abf593ac600a73e8232393d78f40a0 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Fri, 29 May 2026 14:59:52 -0700
Subject: [PATCH 1136/1434] migration: fix missing and wrong fields in
 driverMonitoringStateDEPRECATED (#38105)

---
 selfdrive/test/process_replay/migration.py | 13 +++++++++----
 1 file changed, 9 insertions(+), 4 deletions(-)

diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index bc6399aa941db9..5a3403c9254791 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -499,23 +499,28 @@ def migrate_driverMonitoringState(msgs):
       'driverDistracted1': AlertLevel.one, 'driverUnresponsive1': AlertLevel.one,
       'driverDistracted2': AlertLevel.two, 'driverUnresponsive2': AlertLevel.two,
       'driverDistracted3': AlertLevel.three, 'driverUnresponsive3': AlertLevel.three,
-      'tooDistracted': AlertLevel.three,
     }
     for event in old.events:
       level = event_to_alert_level.get(str(event.name))
       if level is not None:
         dm.alertLevel = level
         break
+    dm.lockout = any(str(event.name) == 'tooDistracted' for event in old.events)
 
     dm.visionPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessStatus if old.isActiveMode else old.awarenessActive) * 100)))
     dm.visionPolicyState.awarenessStep = old.stepChange if old.isActiveMode else 0.
     dm.visionPolicyState.isDistracted = old.isDistracted
+    dm.visionPolicyState.distractedTypes.pose = bool(old.distractedType & 1)
+    dm.visionPolicyState.distractedTypes.eye = bool(old.distractedType & 2)
+    dm.visionPolicyState.distractedTypes.phone = bool(old.distractedType & 4)
     dm.visionPolicyState.faceDetected = old.faceDetected
     dm.visionPolicyState.pose.pitchCalib.offset = old.posePitchOffset
-    dm.visionPolicyState.pose.pitchCalib.calibratedPercent = int(min(100, old.posePitchValidCount / 600 * 100))
+    dm.visionPolicyState.pose.pitchCalib.calibratedPercent = int(min(100, old.posePitchValidCount / 1200 * 100))
     dm.visionPolicyState.pose.yawCalib.offset = old.poseYawOffset
-    dm.visionPolicyState.pose.yawCalib.calibratedPercent = int(min(100, old.poseYawValidCount / 600 * 100))
-    dm.visionPolicyState.pose.calibrated = old.posePitchValidCount >= 600 and old.poseYawValidCount >= 600
+    dm.visionPolicyState.pose.yawCalib.calibratedPercent = int(min(100, old.poseYawValidCount / 1200 * 100))
+    dm.visionPolicyState.pose.calibrated = old.posePitchValidCount >= 1200 and old.poseYawValidCount >= 1200
+    dm.visionPolicyState.wheeltouchFallbackPercent = int(min(100, old.hiStdCount / 200 * 100))
+    dm.visionPolicyState.uncertainOffroadAlertPercent = int(min(100, old.uncertainCount / 1200 * 100))
     dm.wheeltouchPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessPassive if old.isActiveMode else old.awarenessStatus) * 100)))
     dm.wheeltouchPolicyState.awarenessStep = 0. if old.isActiveMode else old.stepChange
     ops.append((index, as_reader(new_msg)))

From 9f59a4a5cacef13e11e3bf80bc04e413536fd732 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Fri, 29 May 2026 16:35:08 -0700
Subject: [PATCH 1137/1434] manager: remove obsolete tinygrad `MainProcess`
 workaround (#38104)

tinygrad doesn't need to run in 'MainProcess'?
---
 system/manager/process.py | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/system/manager/process.py b/system/manager/process.py
index d328d4d4419c10..cdb316e1a1dc29 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -190,12 +190,8 @@ def start(self) -> None:
     if self.proc is not None:
       return
 
-    # TODO: this is just a workaround for this tinygrad check:
-    # https://github.com/tinygrad/tinygrad/blob/ac9c96dae1656dc220ee4acc39cef4dd449aa850/tinygrad/device.py#L26
-    name = self.name if "modeld" not in self.name else "MainProcess"
-
     cloudlog.info(f"starting python {self.module}")
-    self.proc = Process(name=name, target=self.launcher, args=(self.module, self.name))
+    self.proc = Process(name=self.name, target=self.launcher, args=(self.module, self.name))
     self.proc.start()
     self.shutting_down = False
 

From ad522f8444b39b47acfe4c6e4c376c8dc7fbbe5a Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Fri, 29 May 2026 18:00:47 -0700
Subject: [PATCH 1138/1434] hw encoder: set_bitrate and apply_bitrate based on
 Param (#38095)

* initial codex

* remove ISP delay from encode ms

* try something simpler

* not allowing increase bug

* decrease bitrate increase rate

* upsample only on consecutive good checks

* rearrange

* clean

* Revert frame timing processing time change

* clean

* remove bitrate option and just do it on --stream

* make set_bitrate a lot more simple

* clean default impl

* further cleaning

* struct for bitrate to pass ci

* refactor a bit

* add comment

* small clean

* add init()

* increase bitrate

* update ffmpeg message

* remove unnecessary include

* modify set_bitrate

* change to Param

* remove getInt helper; add back in diff pr

* reword unclear error message

* move webrtcd change to new branch
---
 common/params_keys.h                     |  1 +
 system/loggerd/encoder/encoder.h         |  1 +
 system/loggerd/encoder/ffmpeg_encoder.cc |  4 ++++
 system/loggerd/encoder/ffmpeg_encoder.h  |  1 +
 system/loggerd/encoder/v4l_encoder.cc    | 21 +++++++++++++++++++++
 system/loggerd/encoder/v4l_encoder.h     |  3 +++
 system/loggerd/encoderd.cc               | 15 +++++++++++++++
 system/loggerd/loggerd.h                 | 12 ++++++++----
 8 files changed, 54 insertions(+), 4 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index d0ee114bc9f2b8..7a96da0be792b9 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -80,6 +80,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LiveDelay", {PERSISTENT, BYTES}},
     {"LiveParameters", {PERSISTENT, JSON}},
     {"LiveParametersV2", {PERSISTENT, BYTES}},
+    {"LivestreamEncoderBitrate", {CLEAR_ON_MANAGER_START | DONT_LOG, INT}},
     {"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
     {"LocationFilterInitialState", {PERSISTENT, BYTES}},
     {"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h
index 97cd10acc92eaa..0a136f769caab8 100644
--- a/system/loggerd/encoder/encoder.h
+++ b/system/loggerd/encoder/encoder.h
@@ -26,6 +26,7 @@ class VideoEncoder {
   virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0;
   virtual void encoder_open() = 0;
   virtual void encoder_close() = 0;
+  virtual void set_bitrate(int bitrate) = 0;
 
   void publisher_publish(int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
 
diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc
index 275a2e481e51df..f6399659b45cc6 100644
--- a/system/loggerd/encoder/ffmpeg_encoder.cc
+++ b/system/loggerd/encoder/ffmpeg_encoder.cc
@@ -72,6 +72,10 @@ void FfmpegEncoder::encoder_close() {
   is_open = false;
 }
 
+void FfmpegEncoder::set_bitrate(int bitrate) {
+  LOGE("adaptive bitrate is not supported for ffmpeg encoder %s", encoder_info.publish_name);
+}
+
 int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) {
   assert(buf->width == this->in_width);
   assert(buf->height == this->in_height);
diff --git a/system/loggerd/encoder/ffmpeg_encoder.h b/system/loggerd/encoder/ffmpeg_encoder.h
index cd5ac1e13a69eb..a85e1d38165fce 100644
--- a/system/loggerd/encoder/ffmpeg_encoder.h
+++ b/system/loggerd/encoder/ffmpeg_encoder.h
@@ -21,6 +21,7 @@ class FfmpegEncoder : public VideoEncoder {
   int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);
   void encoder_open();
   void encoder_close();
+  void set_bitrate(int bitrate);
 
 private:
   int segment_num = -1;
diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc
index c54469f69d3869..96a565f4aefbbc 100644
--- a/system/loggerd/encoder/v4l_encoder.cc
+++ b/system/loggerd/encoder/v4l_encoder.cc
@@ -155,6 +155,8 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
   assert(strcmp((const char *)cap.card, "msm_vidc_venc") == 0);
 
   EncoderSettings encoder_settings = encoder_info.get_settings(in_width);
+  current_bitrate = encoder_settings.bitrate;
+  adaptive_bitrate = encoder_info.adaptive_bitrate;
   bool is_h265 = encoder_settings.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C;
 
   struct v4l2_format fmt_out = {
@@ -304,6 +306,25 @@ void V4LEncoder::encoder_close() {
   this->is_open = false;
 }
 
+void V4LEncoder::set_bitrate(int bitrate) {
+  if (!adaptive_bitrate || bitrate == current_bitrate) return;
+  if (bitrate <= 0) {
+    LOGE("invalid livestream encoder bitrate %d", bitrate);
+    return;
+  }
+
+  struct v4l2_control ctrl = {
+    .id = V4L2_CID_MPEG_VIDEO_BITRATE,
+    .value = bitrate,
+  };
+
+  if (util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl) == -1) {
+    LOGE("failed to update %s bitrate to %d", encoder_info.publish_name, bitrate);
+    return;
+  }
+  current_bitrate = bitrate;
+}
+
 V4LEncoder::~V4LEncoder() {
   encoder_close();
   v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
diff --git a/system/loggerd/encoder/v4l_encoder.h b/system/loggerd/encoder/v4l_encoder.h
index 58011d60e1a881..2985409605ddee 100644
--- a/system/loggerd/encoder/v4l_encoder.h
+++ b/system/loggerd/encoder/v4l_encoder.h
@@ -13,6 +13,7 @@ class V4LEncoder : public VideoEncoder {
   int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);
   void encoder_open();
   void encoder_close();
+  void set_bitrate(int bitrate);
 
 private:
   int fd;
@@ -20,6 +21,8 @@ class V4LEncoder : public VideoEncoder {
   bool is_open = false;
   int segment_num = -1;
   int counter = 0;
+  int current_bitrate = -1;
+  bool adaptive_bitrate;
 
   SafeQueue<VisionIpcBufExtra> extras;
 
diff --git a/system/loggerd/encoderd.cc b/system/loggerd/encoderd.cc
index 9d4b81a3f90230..546990041a7da7 100644
--- a/system/loggerd/encoderd.cc
+++ b/system/loggerd/encoderd.cc
@@ -44,11 +44,24 @@ bool sync_encoders(EncoderdState *s, VisionStreamType cam_type, uint32_t frame_i
   }
 }
 
+void apply_bitrate(std::vector<std::unique_ptr<Encoder>> &encoders) {
+  static Params params;
+  std::string val = params.get("LivestreamEncoderBitrate");
+  if (val.empty()) return;
+  int bitrate = std::stoi(val);
+  for (auto &e : encoders) {
+    e->set_bitrate(bitrate);
+  }
+}
 
 void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
   util::set_thread_name(cam_info.thread_name);
 
   std::vector<std::unique_ptr<Encoder>> encoders;
+
+  bool has_adaptive = std::any_of(cam_info.encoder_infos.begin(), cam_info.encoder_infos.end(),
+                                  [](const auto &ei) { return ei.adaptive_bitrate; });
+
   VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false);
 
   std::unique_ptr<JpegEncoder> jpeg_encoder;
@@ -108,6 +121,8 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
         ++cur_seg;
       }
 
+      if (has_adaptive) apply_bitrate(encoders);
+
       // encode a frame
       for (int i = 0; i < encoders.size(); ++i) {
         int out_id = encoders[i]->encode_frame(buf, &extra);
diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index 01bce2c9ea7e7b..340e72e6fdc2a1 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -47,7 +47,7 @@ struct EncoderSettings {
   }
 
   static EncoderSettings StreamEncoderSettings() {
-    int _stream_bitrate = getenv("STREAM_BITRATE") ? atoi(getenv("STREAM_BITRATE")) : 4'000'000;
+    int _stream_bitrate = getenv("STREAM_BITRATE") ? atoi(getenv("STREAM_BITRATE")) : 5'000'000;
     return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _stream_bitrate , .gop_size = 5};
   }
 };
@@ -59,6 +59,7 @@ class EncoderInfo {
   const char *filename = NULL;
   bool record = true;
   bool include_audio = false;
+  bool adaptive_bitrate = false;
   int frame_width = -1;
   int frame_height = -1;
   int fps = MAIN_FPS;
@@ -104,6 +105,7 @@ const EncoderInfo stream_road_encoder_info = {
   .publish_name = "livestreamRoadEncodeData",
   //.thumbnail_name = "thumbnail",
   .record = false,
+  .adaptive_bitrate = true,
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode),
 };
@@ -111,6 +113,7 @@ const EncoderInfo stream_road_encoder_info = {
 const EncoderInfo stream_wide_road_encoder_info = {
   .publish_name = "livestreamWideRoadEncodeData",
   .record = false,
+  .adaptive_bitrate = true,
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode),
 };
@@ -118,6 +121,7 @@ const EncoderInfo stream_wide_road_encoder_info = {
 const EncoderInfo stream_driver_encoder_info = {
   .publish_name = "livestreamDriverEncodeData",
   .record = false,
+  .adaptive_bitrate = true,
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode),
 };
@@ -153,19 +157,19 @@ const LogCameraInfo driver_camera_info{
 const LogCameraInfo stream_road_camera_info{
   .thread_name = "road_cam_encoder",
   .stream_type = VISION_STREAM_ROAD,
-  .encoder_infos = {stream_road_encoder_info}
+  .encoder_infos = {stream_road_encoder_info},
 };
 
 const LogCameraInfo stream_wide_road_camera_info{
   .thread_name = "wide_road_cam_encoder",
   .stream_type = VISION_STREAM_WIDE_ROAD,
-  .encoder_infos = {stream_wide_road_encoder_info}
+  .encoder_infos = {stream_wide_road_encoder_info},
 };
 
 const LogCameraInfo stream_driver_camera_info{
   .thread_name = "driver_cam_encoder",
   .stream_type = VISION_STREAM_DRIVER,
-  .encoder_infos = {stream_driver_encoder_info}
+  .encoder_infos = {stream_driver_encoder_info},
 };
 
 const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info};

From 804d9016aed4c8c6257078c89b3add979ed3e44e Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Fri, 29 May 2026 19:55:06 -0700
Subject: [PATCH 1139/1434] modeld/SConscript: tg_devices depends on tg_backend
 only (#38108)

---
 selfdrive/modeld/SConscript | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index fadd5825732df9..dc3d23bf5b71cd 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -46,7 +46,8 @@ else:
 
 tg_devices = { # which device to put jit inputs to at runtime
   'selfdrive.modeld.modeld': {
-    'default': {'WARP_DEV': tg_backend, 'QUEUE_DEV': tg_backend}
+    'default': {'WARP_DEV': tg_backend, 'QUEUE_DEV': tg_backend},
+    'usbgpu': {'WARP_DEV': tg_backend, 'QUEUE_DEV': 'AMD'}
   },
   'selfdrive.modeld.dmonitoringmodeld': {
     'default': {'DEV': tg_backend}
@@ -55,7 +56,6 @@ tg_devices = { # which device to put jit inputs to at runtime
 
 USBGPU = usbgpu_present() # or release # TODO always build big model on release
 if USBGPU:
-  tg_devices['selfdrive.modeld.modeld']['usbgpu'] = {'WARP_DEV': tg_backend, 'QUEUE_DEV': 'AMD'}
   usbgpu_tg_flags = f'DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV={tg_backend} FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0'
   # the USB+AMD GPU takes an exclusive flock; serialize all targets that touch it
   usbgpu_lock = File("models/.usb_gpu.lock").abspath

From 3452e878a77ec17efd9deb3ae5ec8a4e86d91706 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 29 May 2026 20:51:04 -0700
Subject: [PATCH 1140/1434] parameterized_class: fix class name (#38109)

* fix class name

* comment
---
 common/parameterized.py | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/common/parameterized.py b/common/parameterized.py
index 7cd21bb9c5e4e6..f36d649dad0ddb 100644
--- a/common/parameterized.py
+++ b/common/parameterized.py
@@ -1,8 +1,13 @@
+import re
 import sys
 import pytest
 import inspect
 
 
+def _to_safe_name(s):
+  return re.sub(r"[^a-zA-Z0-9_]+", "_", str(s)).strip("_")
+
+
 class parameterized:
   @staticmethod
   def expand(cases):
@@ -34,7 +39,9 @@ def parameterized_class(attrs, input_list=None):
   def decorator(cls):
     globs = sys._getframe(1).f_globals
     for i, params in enumerate(params_list):
-      name = f"{cls.__name__}_{i}"
+      # append sanitized string param values so pytest -k can filter by them
+      suffix = "_".join(filter(None, (_to_safe_name(v) for v in params.values() if isinstance(v, str))))
+      name = f"{cls.__name__}_{i}" + (f"_{suffix}" if suffix else "")
       new_cls = type(name, (cls,), dict(params))
       new_cls.__module__ = cls.__module__
       new_cls.__test__ = True  # override inherited False so pytest collects this subclass

From 8499de6afe1b7aa22a8ee753c25b1ac595cc6e8a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 30 May 2026 10:50:17 -0700
Subject: [PATCH 1141/1434] tici: remove weston fallback (#38111)

---
 .gitattributes                      |  3 +--
 system/hardware/tici/updater        | 20 +++-----------------
 system/hardware/tici/updater_magic  |  3 ---
 system/hardware/tici/updater_weston |  3 ---
 4 files changed, 4 insertions(+), 25 deletions(-)
 delete mode 100755 system/hardware/tici/updater_magic
 delete mode 100755 system/hardware/tici/updater_weston

diff --git a/.gitattributes b/.gitattributes
index c908ca8d0792ba..efbe60f9904fce 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -11,5 +11,4 @@
 *.wav filter=lfs diff=lfs merge=lfs -text
 
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater_weston filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater_magic filter=lfs diff=lfs merge=lfs -text
+system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
diff --git a/system/hardware/tici/updater b/system/hardware/tici/updater
index 69ce323a1064e9..44b82d0c547173 100755
--- a/system/hardware/tici/updater
+++ b/system/hardware/tici/updater
@@ -1,17 +1,3 @@
-#!/usr/bin/env bash
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-
-AGNOS_PY=$1
-MANIFEST=$2
-
-if [[ ! -f "$AGNOS_PY" || ! -f "$MANIFEST" ]]; then
-  echo "invalid args"
-  exit 1
-fi
-
-if systemctl is-active --quiet weston-ready; then
-  $DIR/updater_weston $AGNOS_PY $MANIFEST
-else
-  $DIR/updater_magic $AGNOS_PY $MANIFEST
-fi
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a94ab8395f20d20a9d5a2a2bacca0694f072df8421cf13adca6250d28065bdc
+size 24709205
diff --git a/system/hardware/tici/updater_magic b/system/hardware/tici/updater_magic
deleted file mode 100755
index 44b82d0c547173..00000000000000
--- a/system/hardware/tici/updater_magic
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3a94ab8395f20d20a9d5a2a2bacca0694f072df8421cf13adca6250d28065bdc
-size 24709205
diff --git a/system/hardware/tici/updater_weston b/system/hardware/tici/updater_weston
deleted file mode 100755
index 23cdc140f452a1..00000000000000
--- a/system/hardware/tici/updater_weston
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:eba5f44e6a763e1f74d1c718993218adcc72cba4caafe99b595fa701151a4c54
-size 10448792

From d937401511cf33b154ca1f2a90d0177179481091 Mon Sep 17 00:00:00 2001
From: Andi Radulescu <andi.radulescu@gmail.com>
Date: Sat, 30 May 2026 21:09:17 +0300
Subject: [PATCH 1142/1434] hardware.py: remove NM dbus (#38005)

* hardware: read network info without NetworkManager DBus

* hardware: simplify wpa_cli SSID escape decoding

* hardware: restore cellular block in get_network_type to match master

* hardware: factor wpa_cli helper for key=value parsing

* hardware: comment SSID byte conversion for keyfile match

* hardware: comment NM metered enum values

* hardware: use check_output for ip route and wpa_cli helpers

* hardware: read default route iface from /proc/net/route

* hardware: simplify default route iface parsing

* hardware: only check for metered == 1

* hardware: also look for *.nmconnection in /data/etc/NetworkManager/system-connections

* hardware: use nmcli for runtime metered guess on wifi

* socket

* cleanup

* poor

* lil more

* mv that

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 system/hardware/tici/hardware.py | 111 ++++++++++++++++---------------
 1 file changed, 59 insertions(+), 52 deletions(-)

diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index e4c8cf0b5cc034..34c426d6e7a6fd 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -1,8 +1,9 @@
+import configparser
 import json
 import os
+import socket
 import subprocess
 import time
-from enum import IntEnum
 from functools import cached_property, lru_cache
 from pathlib import Path
 
@@ -15,22 +16,7 @@
 from openpilot.system.hardware.tici.pins import GPIO
 from openpilot.system.hardware.tici.amplifier import Amplifier
 
-NM = 'org.freedesktop.NetworkManager'
-NM_CON_ACT = NM + '.Connection.Active'
-NM_DEV = NM + '.Device'
-NM_DEV_WL = NM + '.Device.Wireless'
-NM_AP = NM + '.AccessPoint'
-DBUS_PROPS = 'org.freedesktop.DBus.Properties'
-
-class NMMetered(IntEnum):
-  NM_METERED_UNKNOWN = 0
-  NM_METERED_YES = 1
-  NM_METERED_NO = 2
-  NM_METERED_GUESS_YES = 3
-  NM_METERED_GUESS_NO = 4
-
 MODEM_STATE_PATH = "/dev/shm/modem"
-TIMEOUT = 0.1
 
 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength
@@ -52,16 +38,27 @@ def get_device_type():
     model = f.read().strip('\x00')
   return model.split('comma ')[-1]
 
-class Tici(HardwareBase):
-  @cached_property
-  def bus(self):
-    import dbus
-    return dbus.SystemBus()
+def wpa_supplicant_cmd(cmd: str, timeout: float = 0.2) -> dict[str, str]:
+  with socket.socket(socket.AF_UNIX, socket.SOCK_DGRAM) as sock:
+    sock.settimeout(timeout)
+    sock.bind(f"\0openpilot-wpa-{os.getpid()}-{time.monotonic_ns()}")
+    sock.connect("/run/wpa_supplicant/wlan0")
+    sock.send(cmd.encode())
 
-  @cached_property
-  def nm(self):
-    return self.bus.get_object(NM, '/org/freedesktop/NetworkManager')
+    while True:
+      out = sock.recv(8192).decode("utf-8", "replace")
+      if out.startswith("<"):
+        continue
+      if out.startswith("FAIL"):
+        return {}
+      return dict(l.split("=", 1) for l in out.splitlines() if "=" in l)
 
+def get_default_route_iface():
+  with open("/proc/net/route") as f:
+    routes = [(int(route[6]), route[0]) for line in f.readlines()[1:] if (route := line.split())[1] == "00000000" and int(route[3], 16) & 0x1]
+  return min(routes)[1] if routes else None
+
+class Tici(HardwareBase):
   @cached_property
   def amplifier(self):
     if self.get_device_type() == "mici":
@@ -115,13 +112,11 @@ def set_ir_power(self, percent: int):
 
   def get_network_type(self):
     try:
-      primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      primary_connection = self.bus.get_object(NM, primary_connection)
-      primary_type = primary_connection.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      if primary_type == '802-3-ethernet':
-        return NetworkType.ethernet
-      elif primary_type == '802-11-wireless':
-        return NetworkType.wifi
+      if (iface := get_default_route_iface()):
+        if iface.startswith('wlan'):
+          return NetworkType.wifi
+        if iface.startswith('eth'):
+          return NetworkType.ethernet
     except Exception:
       pass
 
@@ -138,10 +133,6 @@ def get_network_type(self):
         return NetworkType.cell2G
     return NetworkType.none
 
-  def get_wlan(self):
-    wlan_path = self.nm.GetDeviceByIpIface('wlan0', dbus_interface=NM, timeout=TIMEOUT)
-    return self.bus.get_object(NM, wlan_path)
-
   def get_sim_info(self):
     ms = self.get_modem_state()
     sim_id = ms.get('iccid', '')
@@ -191,13 +182,14 @@ def get_network_strength(self, network_type):
     try:
       if network_type == NetworkType.none:
         pass
+      elif network_type == NetworkType.ethernet:
+        network_strength = NetworkStrength.great
       elif network_type == NetworkType.wifi:
-        wlan = self.get_wlan()
-        active_ap_path = wlan.Get(NM_DEV_WL, 'ActiveAccessPoint', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-        if active_ap_path != "/":
-          active_ap = self.bus.get_object(NM, active_ap_path)
-          strength = int(active_ap.Get(NM_AP, 'Strength', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
-          network_strength = self.parse_strength(strength)
+        rssi = wpa_supplicant_cmd("SIGNAL_POLL").get("RSSI")
+        if rssi is not None:
+          dbm = int(rssi)
+          if -100 < dbm <= 0:
+            network_strength = self.parse_strength(120 + max(-100, min(-20, dbm)))
       else:  # Cellular
         network_strength = self.parse_strength(self.get_modem_state().get('signal_quality', 0))
     except Exception:
@@ -210,17 +202,32 @@ def get_network_metered(self, network_type) -> bool:
       from openpilot.common.params import Params
       return Params().get_bool("GsmMetered")
     try:
-      primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      primary_connection = self.bus.get_object(NM, primary_connection)
-      primary_devices = primary_connection.Get(NM_CON_ACT, 'Devices', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-
-      for dev in primary_devices:
-        dev_obj = self.bus.get_object(NM, str(dev))
-        metered_prop = dev_obj.Get(NM_DEV, 'Metered', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-
-        if network_type == NetworkType.wifi:
-          if metered_prop in [NMMetered.NM_METERED_YES, NMMetered.NM_METERED_GUESS_YES]:
-            return True
+      if network_type == NetworkType.wifi:
+        ssid = wpa_supplicant_cmd("STATUS").get("ssid", "")
+        if ssid:
+          # wpa_supplicant escapes non-printable bytes as \xNN; NM keyfile stores ASCII SSIDs as a literal and others as a byte;byte; list
+          ssid_bytes = ssid.encode().decode('unicode_escape').encode('latin-1')
+          ssid_keyfile_list = ';'.join(str(b) for b in ssid_bytes) + ';'
+
+          nm_dirs = ("/run/NetworkManager/system-connections", "/data/etc/NetworkManager/system-connections")
+          for fpath in (p for d in nm_dirs for p in Path(d).glob("*.nmconnection")):
+            raw = sudo_read(str(fpath))
+            if not raw:
+              continue
+            cp = configparser.ConfigParser(interpolation=None)
+            try:
+              cp.read_string(raw)
+              keyfile_ssid = cp.get("wifi", "ssid", fallback="")
+              if keyfile_ssid != ssid and keyfile_ssid != ssid_keyfile_list:
+                continue
+              metered = cp.getint("connection", "metered", fallback=0)
+            except (configparser.Error, ValueError):
+              continue
+            if metered == 1:  # NM_METERED_YES
+              return True
+            if metered == 2:  # NM_METERED_NO
+              return False
+            break
     except Exception:
       pass
 

From 609a5c3cfa2f7b0e7a6cd525ea862bea6ba91827 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 30 May 2026 13:06:45 -0700
Subject: [PATCH 1143/1434] tools/setup: skip native package managers if we can
 (#38112)

* tools/setup: skip native package managers if we can

* revert that
---
 tools/setup_dependencies.sh | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
index 3fb7165a5097f3..8d85001d31d071 100755
--- a/tools/setup_dependencies.sh
+++ b/tools/setup_dependencies.sh
@@ -30,8 +30,19 @@ function install_linux_deps() {
     SUDO="sudo"
   fi
 
+  local missing_linux_deps=0
+  for cmd in gcc g++ make curl curl-config git; do
+    if ! command -v "$cmd" > /dev/null 2>&1; then
+      missing_linux_deps=1
+      break
+    fi
+  done
+
   # normal stuff, this mostly for bare docker images
-  if command -v apt-get > /dev/null 2>&1; then
+  if [[ "$missing_linux_deps" -eq 0 ]]; then
+    # the native package managers are slow, so skip if we canNM_CONNECTIONS_DIRS 
+    echo "[ ] system packages already installed t=$SECONDS"
+  elif command -v apt-get > /dev/null 2>&1; then
     $SUDO apt-get update
     $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git
   elif command -v dnf > /dev/null 2>&1; then

From 9f3448f66278fdafb0724710952c9b7e39c744d3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 30 May 2026 13:38:17 -0700
Subject: [PATCH 1144/1434] fix up comment

---
 tools/setup_dependencies.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
index 8d85001d31d071..6cfd75ce177e80 100755
--- a/tools/setup_dependencies.sh
+++ b/tools/setup_dependencies.sh
@@ -40,7 +40,7 @@ function install_linux_deps() {
 
   # normal stuff, this mostly for bare docker images
   if [[ "$missing_linux_deps" -eq 0 ]]; then
-    # the native package managers are slow, so skip if we canNM_CONNECTIONS_DIRS 
+    # the native package managers are slow, so skip if we can
     echo "[ ] system packages already installed t=$SECONDS"
   elif command -v apt-get > /dev/null 2>&1; then
     $SUDO apt-get update

From 5063c2055f30e2d091f6c53965ae6e1455c1e659 Mon Sep 17 00:00:00 2001
From: John Belmonte <john@neggie.net>
Date: Sat, 30 May 2026 14:51:59 -0700
Subject: [PATCH 1145/1434] deprecate `carState.brake` (#37857)

* remove CarState.brake refs

Intending to deprecate this field since it's set incorrectly by
most car implementations, and (essentially) unused in openpilot.
Everything should be using CarState.brakePressed.
See https://github.com/commaai/opendbc/pull/3338.

* fix test_models.py
---
 selfdrive/car/car_specific.py      |  2 +-
 selfdrive/car/tests/test_models.py | 17 +++--------------
 2 files changed, 4 insertions(+), 15 deletions(-)

diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 86494afc7a0dae..baa29978e360fb 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -73,7 +73,7 @@ def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
     elif self.CP.brand == 'gm':
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
-      if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
+      if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brakePressed and
                                                    self.CP.networkLocation == NetworkLocation.fwdCamera):
         events.add(EventName.belowEngageSpeed)
       if CS.cruiseState.standstill:
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index a7f3d68c149788..ea6382d0d16aaa 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -12,7 +12,7 @@
 from opendbc.car.can_definitions import CanData
 from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from opendbc.car.fingerprints import MIGRATION
-from opendbc.car.honda.values import CAR as HONDA, HondaFlags
+from opendbc.car.honda.values import HondaFlags
 from opendbc.car.structs import car
 from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from opendbc.car.values import Platform, PLATFORMS
@@ -342,13 +342,7 @@ def test_panda_safety_carstate_fuzzy(self, data):
         self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
 
       if self.safety.get_brake_pressed_prev() != prev_panda_brake:
-        # TODO: remove this exception once this mismatch is resolved
-        brake_pressed = CS.brakePressed
-        if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-          if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
-            brake_pressed = False
-
-        self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
+        self.assertEqual(CS.brakePressed, self.safety.get_brake_pressed_prev())
 
       if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
         self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
@@ -424,12 +418,7 @@ def test_panda_safety_carstate(self):
         checks['vEgoRaw'] += (v_ego_raw > (self.safety.get_vehicle_speed_max() + 1e-3) or
                               v_ego_raw < (self.safety.get_vehicle_speed_min() - 1e-3))
 
-      # TODO: remove this exception once this mismatch is resolved
-      brake_pressed = CS.brakePressed
-      if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-        if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
-          brake_pressed = False
-      checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
+      checks['brakePressed'] += CS.brakePressed != self.safety.get_brake_pressed_prev()
       checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
       checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
 

From 517b9a2d5f908026f3ac7e3fca2f23ab910c6b56 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 30 May 2026 14:55:18 -0700
Subject: [PATCH 1146/1434] bump opendbc (#38113)

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index ed14aa6faae0c8..07f46708c13e79 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit ed14aa6faae0c8daabc840d0c090bdc96d6f0bc0
+Subproject commit 07f46708c13e7922b1a03be21fc58d1771c488ef

From 5bbcc32b5da43b3711d5f7c3aad211d940712a5e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sun, 31 May 2026 01:19:06 -0700
Subject: [PATCH 1147/1434] bump opendbc (#38115)

* bump

* fix
---
 cereal/messaging/tests/test_messaging.py | 2 +-
 opendbc_repo                             | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/cereal/messaging/tests/test_messaging.py b/cereal/messaging/tests/test_messaging.py
index afdab8a51f4bdb..97388446f402d4 100644
--- a/cereal/messaging/tests/test_messaging.py
+++ b/cereal/messaging/tests/test_messaging.py
@@ -30,7 +30,7 @@ def zmq_sleep(t=1):
 
 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
-  fields = ["vEgo", "aEgo", "brake", "steeringAngleDeg"]
+  fields = ["vEgo", "aEgo", "steeringTorque", "steeringAngleDeg"]
   msg = messaging.new_message("carState")
   cs = msg.carState
   for f in fields:
diff --git a/opendbc_repo b/opendbc_repo
index 07f46708c13e79..62cd798e8d1bc5 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 07f46708c13e7922b1a03be21fc58d1771c488ef
+Subproject commit 62cd798e8d1bc5dac6d249e7c8b1e7da571a20fd

From 965f47efe3de92f37bb491506bf7c060e1bcefce Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sun, 31 May 2026 01:21:35 -0700
Subject: [PATCH 1148/1434] test models: check angle matches safety (#38110)

* check angle matches safety

* add to fuzzy

* explicit

* fix tesla

* just real data for now, fix toyota

* clean up
---
 selfdrive/car/tests/test_models.py | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index ea6382d0d16aaa..6171d02b5e4bbb 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -27,6 +27,14 @@
 SafetyModel = car.CarParams.SafetyModel
 SteerControlType = structs.CarParams.SteerControlType
 
+# panda safety stores angle_meas in brand-specific CAN units (angle_deg_to_can in opendbc/safety/modes/*.h).
+ANGLE_DEG_TO_CAN = {
+  "tesla": -10,
+  "toyota": 17.452007,
+  "nissan": 100,
+  "psa": 10,
+}
+
 NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
 JOB_ID = int(os.environ.get("JOB_ID", "0"))
 INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "")
@@ -418,6 +426,13 @@ def test_panda_safety_carstate(self):
         checks['vEgoRaw'] += (v_ego_raw > (self.safety.get_vehicle_speed_max() + 1e-3) or
                               v_ego_raw < (self.safety.get_vehicle_speed_min() - 1e-3))
 
+      # check steering angle for angle control cars (panda stores angle_meas in CAN units)
+      # ford excluded since it tracks curvature, not steering angle
+      if self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar and self.CP.brand != "ford":
+        angle_can = (CS.steeringAngleDeg + CS.steeringAngleOffsetDeg) * ANGLE_DEG_TO_CAN[self.CP.brand]
+        checks['steeringAngleDeg'] += (angle_can > (self.safety.get_angle_meas_max() + 1) or
+                                       angle_can < (self.safety.get_angle_meas_min() - 1))
+
       checks['brakePressed'] += CS.brakePressed != self.safety.get_brake_pressed_prev()
       checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
       checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()

From bc2b0d8272f47432727f0df7861d12da08ef7afd Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sun, 31 May 2026 02:12:36 -0700
Subject: [PATCH 1149/1434] Nissan: fix steering wheel offset in some cases
 (#38116)

bump
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 62cd798e8d1bc5..560b75d6bb5ba1 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 62cd798e8d1bc5dac6d249e7c8b1e7da571a20fd
+Subproject commit 560b75d6bb5ba14dc594727e5cc7c7bbf0ed0f3c

From ce08f5290b301675f2a1a85734e183901ba2a272 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sun, 31 May 2026 03:14:57 -0700
Subject: [PATCH 1150/1434] modeld formatting

---
 selfdrive/modeld/modeld.py | 54 ++++++++++++++++++--------------------
 1 file changed, 26 insertions(+), 28 deletions(-)

diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 35063e6d37386e..c1111584f3f932 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -26,7 +26,6 @@
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path, get_tg_input_devices
 
-
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
@@ -35,29 +34,29 @@
 MIN_LAT_CONTROL_SPEED = 0.3
 
 
-
 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                           lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
-    plan = model_output['plan'][0]
-    desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
-                                                     plan[:,Plan.ACCELERATION][:,0],
-                                                     ModelConstants.T_IDXS,
-                                                     action_t=long_action_t)
-    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
-
-    desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2],
-                                                plan[:,Plan.ORIENTATION_RATE][:,2],
-                                                ModelConstants.T_IDXS,
-                                                v_ego,
-                                                lat_action_t)
-    if v_ego > MIN_LAT_CONTROL_SPEED:
-      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
-    else:
-      desired_curvature = prev_action.desiredCurvature
+  plan = model_output['plan'][0]
+  desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
+                                                   plan[:,Plan.ACCELERATION][:,0],
+                                                   ModelConstants.T_IDXS,
+                                                   action_t=long_action_t)
+  desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
+
+  desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2],
+                                              plan[:,Plan.ORIENTATION_RATE][:,2],
+                                              ModelConstants.T_IDXS,
+                                              v_ego,
+                                              lat_action_t)
+  if v_ego > MIN_LAT_CONTROL_SPEED:
+    desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
+  else:
+    desired_curvature = prev_action.desiredCurvature
+
+  return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
+                                desiredAcceleration=float(desired_accel),
+                                shouldStop=bool(should_stop))
 
-    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
-                                  desiredAcceleration=float(desired_accel),
-                                  shouldStop=bool(should_stop))
 
 class FrameMeta:
   frame_id: int = 0
@@ -77,20 +76,20 @@ def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
     self.WARP_DEV, self.QUEUE_DEV = input_devices['WARP_DEV'], input_devices['QUEUE_DEV']
     jits = pickle.loads(read_file_chunked(modeld_pkl_path(usbgpu)))
     vision_metadata = jits['metadata']['vision']
-    self.vision_input_shapes =  vision_metadata['input_shapes']
+    self.vision_input_shapes = vision_metadata['input_shapes']
     self.vision_input_names = list(self.vision_input_shapes.keys())
     self.vision_output_slices = vision_metadata['output_slices']
 
     policy_metadata = jits['metadata']['policy']
-    self.policy_input_shapes =  policy_metadata['input_shapes']
+    self.policy_input_shapes = policy_metadata['input_shapes']
     self.policy_output_slices = policy_metadata['output_slices']
 
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
 
     self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
     self.input_queues, self.npy = make_input_queues(self.vision_input_shapes, self.policy_input_shapes, self.frame_skip, device=self.QUEUE_DEV)
-    self.full_frames : dict[str, Tensor] = {}
-    self._blob_cache : dict[int, Tensor] = {}
+    self.full_frames: dict[str, Tensor] = {}
+    self._blob_cache: dict[int, Tensor] = {}
     self.parser = Parser()
     self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
     self.run_policy = jits['run_policy']
@@ -101,7 +100,7 @@ def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slic
     return parsed_model_outputs
 
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
-                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
+          inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     for key in bufs.keys():
       ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
       yuv_size = self.frame_buf_params[key][3]
@@ -202,7 +201,6 @@ def main(demo=False):
   meta_main = FrameMeta()
   meta_extra = FrameMeta()
 
-
   if demo:
     CP = get_demo_car_params()
   else:
@@ -284,7 +282,7 @@ def main(demo=False):
 
     bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
     transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
-    inputs:dict[str, np.ndarray] = {
+    inputs: dict[str, np.ndarray] = {
       'desire_pulse': vec_desire,
       'traffic_convention': traffic_convention,
     }

From c76f481ddc3eabde3b187765c8d666106c090b28 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 1 Jun 2026 00:11:40 -0700
Subject: [PATCH 1151/1434] mici ui: recover from updater failed (#37427)

fix
---
 selfdrive/ui/mici/layouts/settings/device.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py
index 6b8320f4889d64..535f75d97fdac1 100644
--- a/selfdrive/ui/mici/layouts/settings/device.py
+++ b/selfdrive/ui/mici/layouts/settings/device.py
@@ -258,6 +258,7 @@ def _update_state(self):
     elif self._state == UpdaterState.IDLE:
       self.set_rotate_icon(False)
       if failed:
+        self.set_enabled(True)  # allow retry when failure came from updater param
         if self.get_value() != "failed to update":
           self.set_value("failed to update")
 

From bd148abbc46489d2966ea88e1844b9f4c9df8190 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 1 Jun 2026 09:23:37 -0700
Subject: [PATCH 1152/1434] [bot] Update Python packages (#38122)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 docs/CARS.md  |   4 +-
 tinygrad_repo |   2 +-
 uv.lock       | 164 +++++++++++++++++++++++++-------------------------
 3 files changed, 85 insertions(+), 85 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 89d583f363f8a8..1f86abb4f80545 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -47,8 +47,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
 |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
-|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
+|Ford|Focus 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018-22">Buy Here</a></sub></details>|||
+|Ford|Focus Hybrid 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018-22">Buy Here</a></sub></details>|||
 |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
diff --git a/tinygrad_repo b/tinygrad_repo
index eecd4706fffe3a..556defa0f78ed1 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit eecd4706fffe3ad8bdd7350e8db52d86d7214be2
+Subproject commit 556defa0f78ed10b6ce675a2fa15a1c2521b5e93
diff --git a/uv.lock b/uv.lock
index 3b00c77c48ad5f..491dc9a7443c05 100644
--- a/uv.lock
+++ b/uv.lock
@@ -252,26 +252,26 @@ wheels = [
 
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 ]
 
 [[package]]

From 04e235124620ca3a8b1ab3b38a45c9b0a438ac28 Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Mon, 1 Jun 2026 10:33:29 -0700
Subject: [PATCH 1153/1434] webrtc: livestream bitrate controller (#38120)

* bitrate controller

* ability to set the quality so a certain level, make message handler a switch case

* distinct bitrate levels and exponential backoff of raising bitrate

* add med level threshold

* fix

* fix

* simplify

* clean
---
 system/webrtc/webrtcd.py | 118 ++++++++++++++++++++++++++++++++-------
 1 file changed, 97 insertions(+), 21 deletions(-)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 9ff937b67365db..aac020dd069f9d 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 
 from abc import abstractmethod
+import os
 import time
 import argparse
 import asyncio
@@ -22,6 +23,7 @@
   from aiortc.rtcdatachannel import RTCDataChannel
 
 from openpilot.system.webrtc.schema import generate_field
+from openpilot.common.params import Params
 from cereal import messaging, log
 
 
@@ -127,6 +129,78 @@ async def add_services_if_needed(self, services):
           self.sock[service] = messaging.pub_sock(service)
 
 
+class LivestreamBitrateController(AsyncTaskRunner):
+  bitrates = [500_000, 1_500_000, int(os.environ.get("STREAM_BITRATE", 5_000_000))]
+  label_to_bitrate = { "high": bitrates[2], "med": bitrates[1], "low": bitrates[0]}
+  sample_interval = 0.2
+  high_level = 0.1 # drop immediately
+  med_level = 0.05 # drop after # of samples
+  low_level = 0 # raise after # of samples
+  down_samples = 5 # 1s
+  param_name = "LivestreamEncoderBitrate"
+
+  def __init__(self, peer_connection: Any):
+    super().__init__()
+    self.pc = peer_connection
+    self.params = Params()
+
+    self.level = 0
+    self.prev_lost, self.prev_sent = None, None
+    self.counter = 0
+    self.up_samples = 5 # 1s
+    self._auto = True
+
+  async def run(self):
+    while True:
+      await asyncio.sleep(self.sample_interval)
+      if not self._auto:
+        continue
+
+      loss_rate = await self._sample()
+      if loss_rate is None:
+        continue
+      if loss_rate >= self.med_level and self.level > 0:
+        self.counter += 1
+        if self.counter >= self.down_samples or loss_rate >= self.high_level:
+          self.level -= 1
+          self.up_samples *= 2 # exponential backoff before raising again
+          self.counter = 0
+          self._publish(self.bitrates[self.level])
+      elif loss_rate <= self.low_level and self.level < len(self.bitrates) - 1:
+        self.counter -= 1
+        if -self.counter >= self.up_samples:
+          self.level += 1
+          self.counter = 0
+          self._publish(self.bitrates[self.level])
+
+  async def _sample(self) -> float | None:
+    report = await self.pc.getStats()
+    packets_lost = packets_sent = 0
+    for s in report.values():
+      if s.type == "remote-inbound-rtp":
+        packets_lost += s.packetsLost
+      elif s.type == "outbound-rtp":
+        packets_sent += s.packetsSent
+
+    if self.prev_lost is None:
+      self.prev_lost, self.prev_sent = packets_lost, packets_sent
+      return None
+    lost_delta = max(0, packets_lost - self.prev_lost)
+    sent_delta = max(0, packets_sent - self.prev_sent)
+    self.prev_lost, self.prev_sent = packets_lost, packets_sent
+    return lost_delta / sent_delta if sent_delta else 0.0
+
+  def _publish(self, bitrate: float):
+    self.params.put(self.param_name, bitrate)
+
+  def set_quality(self, quality):
+    if quality in self.label_to_bitrate:
+      self._publish(self.label_to_bitrate[quality])
+      self._auto = False
+    elif quality == "auto":
+      self._auto = True
+
+
 class StreamSession:
   shared_pub_master = DynamicPubMaster([])
 
@@ -146,10 +220,12 @@ def __init__(self, sdp: str, init_camera: str, incoming_services: list[str], out
     self.incoming_bridge: CerealIncomingMessageProxy | None = None
     self.incoming_bridge_services = incoming_services
     self.outgoing_bridge: CerealOutgoingMessageProxy | None = None
+    self.bitrate_controller: LivestreamBitrateController | None = None
     if len(incoming_services) > 0:
       self.incoming_bridge = CerealIncomingMessageProxy(self.shared_pub_master)
     if len(outgoing_services) > 0:
       self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services))
+    self.bitrate_controller = LivestreamBitrateController(self.stream.peer_connection)
 
     self.run_task: asyncio.Task | None = None
     self._cleanup_lock = asyncio.Lock()
@@ -181,27 +257,23 @@ def message_handler(self, message: bytes):
       if isinstance(payload, dict):
         msg_type = payload.get("type")
 
-        if msg_type == "livestreamCameraSwitch":
-          self.video_track.switch_camera(payload["data"]["camera"])
-          return
-
-        if msg_type == "clockSync":
-          data = payload.get("data", {})
-          pong = json.dumps({"type": "clockSync", "data": {
-            "action": "pong", "browserSendTime": data.get("browserSendTime"), "deviceTime": time.time() * 1000, # noqa: TID251
-          }})
-          self.stream.get_messaging_channel().send(pong)
-          return
-
-        if msg_type == "enableTimingSei":
-          enabled = bool(payload.get("data", {}).get("enabled"))
-          if hasattr(self.video_track, 'timing_sei_enabled'):
-            self.video_track.timing_sei_enabled = enabled
-          return
-
-      if payload.get("type") not in self.incoming_bridge_services:
-        return
-      self.incoming_bridge.send(message)
+        match msg_type:
+          case "livestreamCameraSwitch":
+            self.video_track.switch_camera(payload["data"]["camera"])
+          case "livestreamSettings":
+            self.bitrate_controller.set_quality(payload["data"]["quality"])
+          case "clockSync":
+            pong = json.dumps({"type": "clockSync", "data": {
+              "action": "pong", "browserSendTime": payload["data"]["browserSendTime"], "deviceTime": time.time() * 1000, # noqa: TID251
+            }})
+            self.stream.get_messaging_channel().send(pong)
+          case "enableTimingSei":
+            if hasattr(self.video_track, 'timing_sei_enabled'):
+              self.video_track.timing_sei_enabled = bool(payload["data"]["enabled"])
+          case _:
+            if payload.get("type") not in self.incoming_bridge_services:
+              return
+            self.incoming_bridge.send(message)
     except Exception:
       self.logger.exception("Cereal incoming proxy failure")
 
@@ -216,6 +288,8 @@ async def run(self):
           channel = self.stream.get_messaging_channel()
           self.outgoing_bridge.add_channel(channel)
           self.outgoing_bridge.start()
+      self.bitrate_controller.start()
+
       self.logger.info("Stream session (%s) connected", self.identifier)
 
       await self.stream.wait_for_disconnection()
@@ -231,6 +305,8 @@ async def post_run_cleanup(self):
       if self._cleanup_done:
         return
       self._cleanup_done = True
+      if self.bitrate_controller is not None:
+        await self.bitrate_controller.stop()
       if self.outgoing_bridge is not None:
         await self.outgoing_bridge.stop()
       await self.stream.stop()

From 0f17a9879364c6f410df7ddf990380ad623a4c92 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 1 Jun 2026 18:35:44 -0700
Subject: [PATCH 1154/1434] modeld: fix capnp memory leak (#38117)

* modeld leak

* rm
---
 selfdrive/modeld/modeld.py | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index c1111584f3f932..8e14455e1217a5 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -53,9 +53,11 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
   else:
     desired_curvature = prev_action.desiredCurvature
 
-  return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
-                                desiredAcceleration=float(desired_accel),
-                                shouldStop=bool(should_stop))
+  action = log.ModelDataV2.Action()
+  action.desiredCurvature = float(desired_curvature)
+  action.desiredAcceleration = float(desired_accel)
+  action.shouldStop = bool(should_stop)
+  return action
 
 
 class FrameMeta:

From 249cafe897deb433944c84fa6c3c6ce568f727e1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Mon, 1 Jun 2026 18:43:47 -0700
Subject: [PATCH 1155/1434] Prereqs deep models (#38125)

* deep pre-req

* modeld changes

* fix parsing

* comment

* fix reporter
---
 scripts/reporter.py                           |  9 +++-
 selfdrive/modeld/SConscript                   | 11 +++--
 selfdrive/modeld/compile_modeld.py            | 42 ++++++++++-------
 selfdrive/modeld/constants.py                 |  1 +
 selfdrive/modeld/modeld.py                    | 46 +++++++++++--------
 ...policy.onnx => big_driving_on_policy.onnx} |  0
 ...ing_policy.onnx => driving_on_policy.onnx} |  0
 selfdrive/modeld/parse_model_outputs.py       |  6 +--
 8 files changed, 68 insertions(+), 47 deletions(-)
 rename selfdrive/modeld/models/{big_driving_policy.onnx => big_driving_on_policy.onnx} (100%)
 rename selfdrive/modeld/models/{driving_policy.onnx => driving_on_policy.onnx} (100%)

diff --git a/scripts/reporter.py b/scripts/reporter.py
index 93b71761a9e421..9821a47ccfe620 100755
--- a/scripts/reporter.py
+++ b/scripts/reporter.py
@@ -34,6 +34,11 @@ def get_checkpoint(f):
 
   for f in glob.glob(BASEDIR + MODEL_PATH + "/*.onnx"):
     fn = os.path.basename(f)
-    master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn)
+    master_path = MASTER_PATH + MODEL_PATH + fn
+    if os.path.exists(master_path):
+      master = get_checkpoint(master_path)
+      master_col = f"[{master}](https://reporter.comma.life/experiment/{master})"
+    else:
+      master_col = "N/A (new model)"
     pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
-    print("|", fn, "|", f"[{master}](https://reporterv2.comma.life/{master})", "|", f"[{pr}](https://reporterv2.comma.life/{pr})", "|")
+    print("|", fn, "|", master_col, "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index dc3d23bf5b71cd..80a7df45157585 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -2,7 +2,7 @@ import glob
 import json
 import os
 import sys, subprocess
-from SCons.Script import Value
+from SCons.Script import Action, Value
 from openpilot.common.file_chunker import chunk_file, get_chunk_targets, get_existing_chunks
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
@@ -87,14 +87,14 @@ frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
 for usbgpu in [False, True] if USBGPU else [False]:
   target_pkl_path = File(modeld_pkl_path(usbgpu)).abspath
   file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('', tg_flags)
-  driving_onnx_deps = [p for m in [f'{file_prefix}driving_vision', f'{file_prefix}driving_policy']
+  driving_onnx_deps = [p for m in [f'{file_prefix}driving_vision', f'{file_prefix}driving_on_policy']
                        for p in get_existing_chunks(File(f"models/{m}.onnx").abspath)]
   camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
   cmd = (f'{cmd_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
         f'--model-size {model_w}x{model_h} '
         f'--camera-resolutions {camera_res_args} '
         f'--vision-onnx {File(f"models/{file_prefix}driving_vision.onnx").abspath} '
-        f'--policy-onnx {File(f"models/{file_prefix}driving_policy.onnx").abspath} '
+        f'--on-policy-onnx {File(f"models/{file_prefix}driving_on_policy.onnx").abspath} '
         f'--output {target_pkl_path} --frame-skip {frame_skip}')
   onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
   chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
@@ -103,7 +103,7 @@ for usbgpu in [False, True] if USBGPU else [False]:
   node = lenv.Command(
     chunk_targets,
     tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(chunk_targets), chunker_file],
-    [cmd, do_chunk],
+    [cmd, Action(do_chunk, "  [CHUNK] $TARGET")],
   )
   if usbgpu:
     lenv.SideEffect(usbgpu_lock, node)
@@ -134,7 +134,8 @@ def tg_compile(flags, model_name):
   return lenv.Command(
     chunk_targets,
     [onnx_path] + tinygrad_files + [Value(chunk_targets), chunker_file, tg_devices_node],
-    [f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}', do_chunk],
+    [f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
+     Action(do_chunk, "  [CHUNK] $TARGET")],
   )
 
 tg_compile(tg_flags, 'dmonitoring_model')
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index f455e9f6eb11ad..2f91076ab7e720 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -33,7 +33,7 @@ def fetch_fw(path, name, sha256):
 
 NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
 WARP_INPUTS = ['img_q', 'big_img_q', 'tfm', 'big_tfm']
-POLICY_INPUTS = ['feat_q', 'desire_q', 'desire', 'traffic_convention']
+POLICY_INPUTS = ['feat_q', 'desire_q', 'desire', 'traffic_convention', 'action_t']
 
 UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
 UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
@@ -121,12 +121,15 @@ def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, devi
   fb = policy_input_shapes['features_buffer']  # (1, 25, 512)
   dp = policy_input_shapes['desire_pulse']  # (1, 25, 8)
   tc = policy_input_shapes['traffic_convention']  # (1, 2)
+  #TODO action_t is hardcoded to match tc for future compatibility
+  at = tc
 
   npy = {
     'desire': np.zeros(dp[2], dtype=np.float32),
     'traffic_convention': np.zeros(tc, dtype=np.float32),
     'tfm': np.zeros((3, 3), dtype=np.float32),
     'big_tfm': np.zeros((3, 3), dtype=np.float32),
+    'action_t': np.zeros(at, dtype=np.float32),
   }
   input_queues = {
     'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
@@ -168,23 +171,31 @@ def warp_enqueue(img_q, big_img_q, tfm, big_tfm, frame, big_frame):
   return warp_enqueue
 
 
-def make_run_policy(vision_runner, policy_runner, vision_features_slice, frame_skip):
+def make_run_policy(vision_runner, on_policy_runner, vision_features_slice, frame_skip):
   sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
 
-  def run_policy(img, big_img, feat_q, desire_q, desire, traffic_convention):
+  def run_policy(img, big_img, feat_q, desire_q, desire, traffic_convention, action_t):
     desire = desire.to(Device.DEFAULT)
     traffic_convention = traffic_convention.to(Device.DEFAULT)
-    Tensor.realize(desire, traffic_convention)
+    action_t = action_t.to(Device.DEFAULT)
+    Tensor.realize(desire, traffic_convention, action_t)
     desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
     vision_out = next(iter(vision_runner({'img': img, 'big_img': big_img}).values())).cast('float32')
 
     new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
     feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
 
-    inputs = {'features_buffer': feat_buf, 'desire_pulse': desire_buf, 'traffic_convention': traffic_convention}
-    policy_out = next(iter(policy_runner(inputs).values())).cast('float32')
-    return vision_out, policy_out
+    inputs = {
+      'features_buffer': feat_buf,
+      'desire_pulse': desire_buf,
+      'traffic_convention': traffic_convention,
+      'action_t': action_t,
+    }
+    on_policy_out = next(iter(on_policy_runner(inputs).values())).cast('float32')
+    #off_policy_out = next(iter(off_policy_runner(inputs).values())).cast('float32')
+    return vision_out, on_policy_out
+
   return run_policy
 
 
@@ -258,31 +269,30 @@ def read_file_chunked_to_shm(path):
   p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True,
                  help='camera resolutions WxH (one or more)')
   p.add_argument('--vision-onnx', required=True)
-  p.add_argument('--policy-onnx', required=True)
+  p.add_argument('--on-policy-onnx', required=True)
   p.add_argument('--output', required=True)
   p.add_argument('--frame-skip', type=int, required=True)
   args = p.parse_args()
 
   out = defaultdict(dict)
-  vision_path, policy_path = read_file_chunked_to_shm(args.vision_onnx), read_file_chunked_to_shm(args.policy_onnx)
+  vision_path, on_policy_path = read_file_chunked_to_shm(args.vision_onnx), read_file_chunked_to_shm(args.on_policy_onnx)
   model_w, model_h = args.model_size
 
   vision_runner = OnnxRunner(vision_path)
-  policy_runner = OnnxRunner(policy_path)
-  vision_metadata, policy_metadata = make_metadata_dict(vision_path), make_metadata_dict(policy_path)
-
-  run_policy_jit = TinyJit(make_run_policy(vision_runner, policy_runner, vision_metadata['output_slices']['hidden_state'], args.frame_skip), prune=True)
+  on_policy_runner = OnnxRunner(on_policy_path)
+  vision_metadata, on_policy_metadata = make_metadata_dict(vision_path), make_metadata_dict(on_policy_path)
 
-  out['metadata']['vision'], out['metadata']['policy'] = vision_metadata, policy_metadata
+  run_policy_jit = TinyJit(make_run_policy(vision_runner, on_policy_runner, vision_metadata['output_slices']['hidden_state'], args.frame_skip), prune=True)
+  out['metadata']['vision'], out['metadata']['on_policy'] = vision_metadata, on_policy_metadata
 
   make_random_model_inputs = partial(make_random_images, keys=['img', 'big_img'], shape=vision_metadata['input_shapes']['img'])
-  out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, args.frame_skip, vision_metadata, policy_metadata)
+  out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, args.frame_skip, vision_metadata, on_policy_metadata)
 
   for cam_w, cam_h in args.camera_resolutions:
     nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
     make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
     warp_enqueue = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
-    out[(cam_w,cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, args.frame_skip, vision_metadata, policy_metadata)
+    out[(cam_w,cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, args.frame_skip, vision_metadata, on_policy_metadata)
 
   with open(args.output, "wb") as f:
     pickle.dump(out, f)
diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
index ff7e1d86006e83..0fb09262d0192e 100644
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@@ -38,6 +38,7 @@ class ModelConstants:
   LANE_LINES_WIDTH = 2
   ROAD_EDGES_WIDTH = 2
   PLAN_WIDTH = 15
+  ACTION_WIDTH = 2
   DESIRE_PRED_WIDTH = 8
   LAT_PLANNER_SOLUTION_WIDTH = 4
   DESIRED_CURV_WIDTH = 1
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 8e14455e1217a5..60454bf3ecb8a2 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -36,18 +36,22 @@
 
 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                           lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
-  plan = model_output['plan'][0]
-  desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
-                                                   plan[:,Plan.ACCELERATION][:,0],
-                                                   ModelConstants.T_IDXS,
-                                                   action_t=long_action_t)
+  if 'action' not in model_output:
+    plan = model_output['plan'][0]
+    desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
+                                                     plan[:,Plan.ACCELERATION][:,0],
+                                                     ModelConstants.T_IDXS,
+                                                     action_t=long_action_t)
+    desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2],
+                                                plan[:,Plan.ORIENTATION_RATE][:,2],
+                                                ModelConstants.T_IDXS,
+                                                v_ego,
+                                                lat_action_t)
+  else:
+    desired_accel = model_output['action'][0,1]
+    desired_curvature = model_output['action'][0,0] / (max(1.0, v_ego))**2
+    should_stop = (v_ego < 0.3 and desired_accel < 0.1)
   desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
-
-  desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2],
-                                              plan[:,Plan.ORIENTATION_RATE][:,2],
-                                              ModelConstants.T_IDXS,
-                                              v_ego,
-                                              lat_action_t)
   if v_ego > MIN_LAT_CONTROL_SPEED:
     desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
   else:
@@ -82,7 +86,7 @@ def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
     self.vision_input_names = list(self.vision_input_shapes.keys())
     self.vision_output_slices = vision_metadata['output_slices']
 
-    policy_metadata = jits['metadata']['policy']
+    policy_metadata = jits['metadata']['on_policy']
     self.policy_input_shapes = policy_metadata['input_shapes']
     self.policy_output_slices = policy_metadata['output_slices']
 
@@ -117,6 +121,7 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
     self.npy['desire'][:] = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
     self.prev_desire[:] = inputs['desire_pulse']
     self.npy['traffic_convention'][:] = inputs['traffic_convention']
+    self.npy['action_t'][:] = inputs['action_t']
     self.npy['tfm'][:,:] = transforms['img'][:,:]
     self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
 
@@ -125,18 +130,18 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
     if prepare_only:
       return None
 
-    vision_output, policy_output = self.run_policy(
+    vision_output, on_policy_output = self.run_policy(
       **{k: self.input_queues[k] for k in POLICY_INPUTS}, img=img, big_img=big_img
     )
 
     vision_output = vision_output.numpy().flatten()
-    policy_output = policy_output.numpy().flatten()
+    on_policy_output = on_policy_output.numpy().flatten()
     vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(vision_output, self.vision_output_slices))
-    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(policy_output, self.policy_output_slices))
+    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(on_policy_output, self.policy_output_slices))
     combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
 
     if SEND_RAW_PRED:
-      combined_outputs_dict['raw_pred'] = np.concatenate([vision_output.copy(), policy_output.copy()])
+      combined_outputs_dict['raw_pred'] = np.concatenate([vision_output.copy(), on_policy_output.copy()])
     return combined_outputs_dict
 
 
@@ -284,9 +289,14 @@ def main(demo=False):
 
     bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
     transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
+    frame_delay = DT_MDL # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average
+    action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state)
+    lat_action_t = lat_delay + frame_delay + action_delay
+    long_action_t = long_delay + frame_delay + action_delay
     inputs: dict[str, np.ndarray] = {
       'desire_pulse': vec_desire,
       'traffic_convention': traffic_convention,
+      'action_t': np.array([lat_action_t, long_action_t], dtype=np.float32),
     }
 
     mt1 = time.perf_counter()
@@ -299,9 +309,7 @@ def main(demo=False):
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
 
-      frame_delay = DT_MDL # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average
-      action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state)
-      action = get_action_from_model(model_output, prev_action, lat_delay + frame_delay + action_delay, long_delay + frame_delay + action_delay, v_ego)
+      action = get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
diff --git a/selfdrive/modeld/models/big_driving_policy.onnx b/selfdrive/modeld/models/big_driving_on_policy.onnx
similarity index 100%
rename from selfdrive/modeld/models/big_driving_policy.onnx
rename to selfdrive/modeld/models/big_driving_on_policy.onnx
diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_on_policy.onnx
similarity index 100%
rename from selfdrive/modeld/models/driving_policy.onnx
rename to selfdrive/modeld/models/driving_on_policy.onnx
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index a0b45d2a981685..26c138b8eccb42 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -110,11 +110,7 @@ def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndar
     return outs
 
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
-    plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
-    self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
-    if 'planplus' in outs:
-      self.parse_mdn('planplus', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
+    self.parse_mdn('plan', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
     return outs
 

From c87f613659fa6d6f3d25214d05bdb085e14312c0 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 1 Jun 2026 20:43:32 -0700
Subject: [PATCH 1156/1434] agnos 18.4: pin pycapnp to 2.1.0 (#38126)

* Revert "modeld: fix capnp memory leak (#38117)"

This reverts commit 0f17a9879364c6f410df7ddf990380ad623a4c92.

* Revert "fix memory leak from pycapnp 2.2+ (#38001)"

This reverts commit 294cb687f6c894ff7af051455f929b9094b6dff1.

* downgrade

* agnos 18.4
---
 cereal/messaging/__init__.py             | 16 ++++-------
 launch_env.sh                            |  2 +-
 pyproject.toml                           |  2 +-
 selfdrive/modeld/modeld.py               |  8 ++----
 selfdrive/pandad/pandad_api_impl.py      |  4 +--
 system/hardware/tici/agnos.json          | 12 ++++----
 system/hardware/tici/all-partitions.json | 12 ++++----
 uv.lock                                  | 36 +++++++++++-------------
 8 files changed, 41 insertions(+), 51 deletions(-)

diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 18578fb44361ac..ae32bfd4cbebc1 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -40,16 +40,12 @@ def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event
 
 
 def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
-  valid = kwargs.pop('valid', False)
-  log_mono_time = kwargs.pop('logMonoTime', int(time.monotonic() * 1e9))
-
-  # pycapnp 2.2.x's kwargs/from_dict path creates cyclic garbage here. Realtime processes disable GC.
-  dat = log.Event.new_message()
-  dat.valid = valid
-  dat.logMonoTime = log_mono_time
-  for field, value in kwargs.items():
-    setattr(dat, field, value)
-
+  args = {
+    'valid': False,
+    'logMonoTime': int(time.monotonic() * 1e9),
+    **kwargs
+  }
+  dat = log.Event.new_message(**args)
   if service is not None:
     if size is None:
       dat.init(service)
diff --git a/launch_env.sh b/launch_env.sh
index d0d7da576459fd..d71a5c27670c1d 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="18.3"
+  export AGNOS_VERSION="18.4"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/pyproject.toml b/pyproject.toml
index 0602eca33b44ac..1e8ecb0232a602 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -20,7 +20,7 @@ dependencies = [
   # core
   "cffi",
   "scons",
-  "pycapnp",
+  "pycapnp==2.1.0",  # 2.2 introduces a memory leak due to cyclic references
   "Cython",
   "setuptools",
   "numpy >=2.0",
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 60454bf3ecb8a2..682633b02f6bd8 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -57,11 +57,9 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
   else:
     desired_curvature = prev_action.desiredCurvature
 
-  action = log.ModelDataV2.Action()
-  action.desiredCurvature = float(desired_curvature)
-  action.desiredAcceleration = float(desired_accel)
-  action.shouldStop = bool(should_stop)
-  return action
+  return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
+                                desiredAcceleration=float(desired_accel),
+                                shouldStop=bool(should_stop))
 
 
 class FrameMeta:
diff --git a/selfdrive/pandad/pandad_api_impl.py b/selfdrive/pandad/pandad_api_impl.py
index c5b2750d7d8d26..75a7ba484e15f0 100644
--- a/selfdrive/pandad/pandad_api_impl.py
+++ b/selfdrive/pandad/pandad_api_impl.py
@@ -39,9 +39,7 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
   """
   global _cached_writer_fields
 
-  dat = log.Event.new_message()
-  dat.valid = valid
-  dat.logMonoTime = int(time.monotonic() * 1e9)
+  dat = log.Event.new_message(valid=valid, logMonoTime=int(time.monotonic() * 1e9))
   can_data = dat.init(msgtype, len(can_msgs))
 
   # Cache schema fields on first call
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index b3f7b0903a1430..07e2079ec9f7d1 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -67,17 +67,17 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2.img.xz",
-    "hash": "7be4361a422b05a029f6841cee6949c479cc24bbad3e0f447713c1e92f770c79",
-    "hash_raw": "428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img.xz",
+    "hash": "78acfe16a7b62a3a91fc7a81f40a693e4468cec1c69df7d0b1e550aacc646113",
+    "hash_raw": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "b80ca9a902fa96d78c640574a33b8848dcec18b1f0e761170c19d8432456d1cb",
+    "ondevice_hash": "743142c5a898f27b2a1029cca42c8a5d5d1fc0096414422b850fe84c8d0b8342",
     "alt": {
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diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json
index 875d81f7470c45..80a0f7702ebcd5 100644
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@@ -350,17 +350,17 @@
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diff --git a/uv.lock b/uv.lock
index 491dc9a7443c05..dc51d2a45ef8bc 100644
--- a/uv.lock
+++ b/uv.lock
@@ -867,7 +867,7 @@ requires-dist = [
     { name = "pillow" },
     { name = "pre-commit-hooks", marker = "extra == 'testing'" },
     { name = "psutil" },
-    { name = "pycapnp" },
+    { name = "pycapnp", specifier = "==2.1.0" },
     { name = "pycryptodome" },
     { name = "pyjwt" },
     { name = "pyserial" },
@@ -1032,24 +1032,22 @@ wheels = [
 
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 ]
 
 [[package]]

From 69e2c321e49760e52f7983eaa0a5f77cb95de637 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Mon, 1 Jun 2026 22:11:02 -0700
Subject: [PATCH 1157/1434] Frame drop: only allow 1percent (#38127)

---
 selfdrive/selfdrived/selfdrived.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 37538b6ab28e78..d2fd0f099e0299 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -418,7 +418,7 @@ def update_events(self, CS):
 
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
-      if self.sm['modelV2'].frameDropPerc > 20:
+      if self.sm['modelV2'].frameDropPerc > 1:
         self.events.add(EventName.modeldLagging)
 
     # Decrement personality on distance button press

From d09a411cb4589a9b411cabf4eefb86a3b5f38686 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Tue, 2 Jun 2026 16:35:40 -0700
Subject: [PATCH 1158/1434] Refactor compile_modeld model setup (#38128)

---
 selfdrive/modeld/compile_modeld.py | 71 ++++++++++++++++++------------
 1 file changed, 42 insertions(+), 29 deletions(-)

diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index 2f91076ab7e720..a7298705ef45b5 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -5,7 +5,7 @@
 import pickle
 import time
 from functools import partial
-from collections import namedtuple, defaultdict
+from collections import namedtuple
 
 import numpy as np
 
@@ -113,31 +113,43 @@ def frame_prepare_tinygrad(input_frame, M_inv):
   return frame_prepare_tinygrad
 
 
-def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device):
+def make_warp_input_queues(vision_input_shapes, frame_skip, device):
   img = vision_input_shapes['img']  # (1, 12, 128, 256)
   n_frames = img[1] // 6
   img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
 
+  npy = {
+    'tfm': np.zeros((3, 3), dtype=np.float32),
+    'big_tfm': np.zeros((3, 3), dtype=np.float32),
+  }
+  input_queues = {
+    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    **{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
+  }
+  return input_queues, npy
+
+
+def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device):
+  input_queues, npy = make_warp_input_queues(vision_input_shapes, frame_skip, device)
+
   fb = policy_input_shapes['features_buffer']  # (1, 25, 512)
   dp = policy_input_shapes['desire_pulse']  # (1, 25, 8)
   tc = policy_input_shapes['traffic_convention']  # (1, 2)
   #TODO action_t is hardcoded to match tc for future compatibility
   at = tc
 
-  npy = {
+  policy_npy = {
     'desire': np.zeros(dp[2], dtype=np.float32),
     'traffic_convention': np.zeros(tc, dtype=np.float32),
-    'tfm': np.zeros((3, 3), dtype=np.float32),
-    'big_tfm': np.zeros((3, 3), dtype=np.float32),
     'action_t': np.zeros(at, dtype=np.float32),
   }
-  input_queues = {
-    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+  npy.update(policy_npy)
+  input_queues.update({
     'feat_q': Tensor(np.zeros((frame_skip * (fb[1] - 1) + 1, fb[0], fb[2]), dtype=np.float32), device=device).contiguous().realize(),
     'desire_q': Tensor(np.zeros((frame_skip * dp[1], dp[0], dp[2]), dtype=np.float32), device=device).contiguous().realize(),
-    **{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
-  }
+    **{k: Tensor(v, device='NPY').realize() for k, v in policy_npy.items()},
+  })
   return input_queues, npy
 
 
@@ -171,9 +183,10 @@ def warp_enqueue(img_q, big_img_q, tfm, big_tfm, frame, big_frame):
   return warp_enqueue
 
 
-def make_run_policy(vision_runner, on_policy_runner, vision_features_slice, frame_skip):
+def make_run_policy(model_runners, model_metadata, frame_skip):
   sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+  vision_features_slice = model_metadata['vision']['output_slices']['hidden_state']
 
   def run_policy(img, big_img, feat_q, desire_q, desire, traffic_convention, action_t):
     desire = desire.to(Device.DEFAULT)
@@ -181,7 +194,7 @@ def run_policy(img, big_img, feat_q, desire_q, desire, traffic_convention, actio
     action_t = action_t.to(Device.DEFAULT)
     Tensor.realize(desire, traffic_convention, action_t)
     desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
-    vision_out = next(iter(vision_runner({'img': img, 'big_img': big_img}).values())).cast('float32')
+    vision_out = next(iter(model_runners['vision']({'img': img, 'big_img': big_img}).values())).cast('float32')
 
     new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
     feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
@@ -192,20 +205,16 @@ def run_policy(img, big_img, feat_q, desire_q, desire, traffic_convention, actio
       'traffic_convention': traffic_convention,
       'action_t': action_t,
     }
-    on_policy_out = next(iter(on_policy_runner(inputs).values())).cast('float32')
+    on_policy_out = next(iter(model_runners['on_policy'](inputs).values())).cast('float32')
     #off_policy_out = next(iter(off_policy_runner(inputs).values())).cast('float32')
     return vision_out, on_policy_out
-
   return run_policy
 
 
-def compile_jit(jit, make_random_inputs, input_keys, frame_skip, vision_metadata, policy_metadata):
-  vision_input_shapes = vision_metadata['input_shapes']
-  policy_input_shapes = policy_metadata['input_shapes']
-
+def compile_jit(jit, make_random_inputs, input_keys, make_queues):
   SEED = 42
   def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
-    input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
+    input_queues, npy = make_queues(Device.DEFAULT)
     np.random.seed(seed)
     Tensor.manual_seed(seed)
 
@@ -274,25 +283,29 @@ def read_file_chunked_to_shm(path):
   p.add_argument('--frame-skip', type=int, required=True)
   args = p.parse_args()
 
-  out = defaultdict(dict)
-  vision_path, on_policy_path = read_file_chunked_to_shm(args.vision_onnx), read_file_chunked_to_shm(args.on_policy_onnx)
+  model_paths = {
+    'vision': read_file_chunked_to_shm(args.vision_onnx),
+    'on_policy': read_file_chunked_to_shm(args.on_policy_onnx),
+  }
   model_w, model_h = args.model_size
 
-  vision_runner = OnnxRunner(vision_path)
-  on_policy_runner = OnnxRunner(on_policy_path)
-  vision_metadata, on_policy_metadata = make_metadata_dict(vision_path), make_metadata_dict(on_policy_path)
+  model_runners = {name: OnnxRunner(path) for name, path in model_paths.items()}
+  out = {'metadata': {name: make_metadata_dict(path) for name, path in model_paths.items()}}
 
-  run_policy_jit = TinyJit(make_run_policy(vision_runner, on_policy_runner, vision_metadata['output_slices']['hidden_state'], args.frame_skip), prune=True)
-  out['metadata']['vision'], out['metadata']['on_policy'] = vision_metadata, on_policy_metadata
+  run_policy_jit = TinyJit(make_run_policy(model_runners, out['metadata'], args.frame_skip), prune=True)
 
-  make_random_model_inputs = partial(make_random_images, keys=['img', 'big_img'], shape=vision_metadata['input_shapes']['img'])
-  out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, args.frame_skip, vision_metadata, on_policy_metadata)
+  make_policy_queues = partial(make_input_queues, out['metadata']['vision']['input_shapes'],
+                               out['metadata']['on_policy']['input_shapes'], args.frame_skip)
+  make_random_model_inputs = partial(make_random_images, keys=['img', 'big_img'], shape=out['metadata']['vision']['input_shapes']['img'])
+  out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS,
+                                  make_policy_queues)
 
   for cam_w, cam_h in args.camera_resolutions:
     nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
     make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
     warp_enqueue = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
-    out[(cam_w,cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, args.frame_skip, vision_metadata, on_policy_metadata)
+    make_warp_queues = partial(make_warp_input_queues, out['metadata']['vision']['input_shapes'], args.frame_skip)
+    out[(cam_w,cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)
 
   with open(args.output, "wb") as f:
     pickle.dump(out, f)

From 866cd01f32d073b298ee8fc1d1984387ebd8435e Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Tue, 2 Jun 2026 21:07:12 -0400
Subject: [PATCH 1159/1434] webrtc: initialize on medium bitrate (#38129)

initialize on medium quality
---
 system/webrtc/webrtcd.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index aac020dd069f9d..38c30862f8b396 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -144,7 +144,8 @@ def __init__(self, peer_connection: Any):
     self.pc = peer_connection
     self.params = Params()
 
-    self.level = 0
+    self.level = 1
+    self._publish(self.bitrates[self.level])
     self.prev_lost, self.prev_sent = None, None
     self.counter = 0
     self.up_samples = 5 # 1s

From 5b3d5f74ed6606fcc280f5e79695d846fcedc48d Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Tue, 2 Jun 2026 19:23:31 -0700
Subject: [PATCH 1160/1434] test models: add VW MEB angle exception (#38119)

* add vw meb exception

* comment
---
 selfdrive/car/tests/test_models.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 6171d02b5e4bbb..62ddadef8f7d3f 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -427,8 +427,9 @@ def test_panda_safety_carstate(self):
                               v_ego_raw < (self.safety.get_vehicle_speed_min() - 1e-3))
 
       # check steering angle for angle control cars (panda stores angle_meas in CAN units)
-      # ford excluded since it tracks curvature, not steering angle
-      if self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar and self.CP.brand != "ford":
+      # ford and VW MEB excluded since they track curvature, not steering angle
+      # TODO: add curvature check, standardize CAN units to rm brand specific ANGLE_DEG_TO_CAN
+      if self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar and self.CP.brand not in ("ford", "volkswagen"):
         angle_can = (CS.steeringAngleDeg + CS.steeringAngleOffsetDeg) * ANGLE_DEG_TO_CAN[self.CP.brand]
         checks['steeringAngleDeg'] += (angle_can > (self.safety.get_angle_meas_max() + 1) or
                                        angle_can < (self.safety.get_angle_meas_min() - 1))

From 36a9c02b8f2e7c9f96898e859a5fe219082162f4 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 3 Jun 2026 01:46:14 -0400
Subject: [PATCH 1161/1434] sync: post-merge fixes for tinygrad bump

---
 .../workflows/build-all-tinygrad-models.yaml  |   2 +
 .../build-single-tinygrad-model.yaml          |  12 +-
 .github/workflows/sunnypilot-build-model.yaml |  54 +-
 SConstruct                                    |   2 +-
 release/ci/model_generator.py                 |  98 +++-
 sunnypilot/modeld_v2/SConscript               | 118 +++--
 sunnypilot/modeld_v2/compile_modeld.py        | 480 ++++++++++++++++++
 sunnypilot/modeld_v2/modeld.py                | 268 ++++++----
 sunnypilot/modeld_v2/tests/conftest.py        | 204 ++++++++
 .../tests/test_buffer_logic_inspect.py        | 263 ----------
 .../tests/test_combined_pkl_loader.py         | 263 ++++++++++
 .../modeld_v2/tests/test_compile_modeld.py    | 161 ++++++
 sunnypilot/modeld_v2/tests/test_warp.py       |   3 +-
 sunnypilot/modeld_v2/warp.py                  |  53 +-
 sunnypilot/models/fetcher.py                  |   6 +-
 sunnypilot/models/helpers.py                  |  44 +-
 sunnypilot/models/manager.py                  |  99 +++-
 sunnypilot/models/model_name.py               |   2 +-
 sunnypilot/models/tests/model_hash            |   2 +-
 19 files changed, 1646 insertions(+), 488 deletions(-)
 create mode 100755 sunnypilot/modeld_v2/compile_modeld.py
 create mode 100644 sunnypilot/modeld_v2/tests/conftest.py
 delete mode 100644 sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py
 create mode 100644 sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
 create mode 100644 sunnypilot/modeld_v2/tests/test_compile_modeld.py

diff --git a/.github/workflows/build-all-tinygrad-models.yaml b/.github/workflows/build-all-tinygrad-models.yaml
index 412676e5fd5b43..1e341cb8ecb4b6 100644
--- a/.github/workflows/build-all-tinygrad-models.yaml
+++ b/.github/workflows/build-all-tinygrad-models.yaml
@@ -120,6 +120,7 @@ jobs:
     with:
       upstream_branch: ${{ matrix.model.ref }}
       custom_name: ${{ matrix.model.display_name }}
+      is_20hz: ${{ matrix.model.is_20hz }}
       recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
       json_version: ${{ needs.setup.outputs.json_version }}
     secrets: inherit
@@ -157,6 +158,7 @@ jobs:
     with:
       upstream_branch: ${{ matrix.model.ref }}
       custom_name: ${{ matrix.model.display_name }}
+      is_20hz: ${{ matrix.model.is_20hz }}
       recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
       json_version: ${{ needs.setup.outputs.json_version }}
       artifact_suffix: -retry
diff --git a/.github/workflows/build-single-tinygrad-model.yaml b/.github/workflows/build-single-tinygrad-model.yaml
index e7e3b67b51cdce..f10f1b71a38d9d 100644
--- a/.github/workflows/build-single-tinygrad-model.yaml
+++ b/.github/workflows/build-single-tinygrad-model.yaml
@@ -24,6 +24,11 @@ on:
         required: false
         type: string
         default: ''
+      is_20hz:
+        description: 'Is this a 20Hz model'
+        required: false
+        type: boolean
+        default: true
       bypass_push:
         description: 'Bypass pushing to GitLab for build-all'
         required: false
@@ -39,6 +44,11 @@ on:
         description: 'Custom name for the model (no date, only name)'
         required: false
         type: string
+      is_20hz:
+        description: 'Is this a 20Hz model'
+        required: false
+        type: boolean
+        default: true
       recompiled_dir:
         description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
         required: true
@@ -82,7 +92,7 @@ jobs:
     with:
       upstream_branch: ${{ inputs.upstream_branch }}
       custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
-      is_20hz: true
+      is_20hz: ${{ inputs.is_20hz }}
       artifact_suffix: ${{ inputs.artifact_suffix }}
     secrets: inherit
 
diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml
index ff09489b92b038..3c5554fcc4812a 100644
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -164,18 +164,54 @@ jobs:
           source /etc/profile
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}"
+          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}:${{ github.workspace }}"
 
-          # Loop through all .onnx files
-          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
-            base_name=$(basename "$onnx_file" .onnx)
-            output_file="${{ env.MODELS_DIR }}/${base_name}_tinygrad.pkl"
+          COMPILE_MODELD="${{ github.workspace }}/sunnypilot/modeld_v2/compile_modeld.py"
+          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
+          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
+          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
 
-            echo "Compiling: $onnx_file -> $output_file"
-            QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
-            DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
+          # Generate metadata for all ONNX files
+          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
+            echo "Generating metadata: $onnx_file"
+            env ${TG_FLAGS} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
           done
 
+          # Detect model type and build compile args
+          VISION_ONNX="${{ env.MODELS_DIR }}/driving_vision.onnx"
+          POLICY_ONNX="${{ env.MODELS_DIR }}/driving_policy.onnx"
+          OFF_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_off_policy.onnx"
+          ON_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_on_policy.onnx"
+          SUPERCOMBO_ONNX="${{ env.MODELS_DIR }}/supercombo.onnx"
+
+          MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
+          if [ -f "$VISION_ONNX" ]; then
+            ONNX_ARGS="--vision-onnx $VISION_ONNX"
+            if [ -f "$ON_POLICY_ONNX" ] && [ -f "$OFF_POLICY_ONNX" ]; then
+              MODEL_TYPE=vision_multi_policy
+              ONNX_ARGS="$ONNX_ARGS --off-policy-onnx $OFF_POLICY_ONNX --on-policy-onnx $ON_POLICY_ONNX"
+            elif [ -f "$OFF_POLICY_ONNX" ] && [ -f "$POLICY_ONNX" ]; then
+              MODEL_TYPE=vision_multi_policy
+              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX --off-policy-onnx $OFF_POLICY_ONNX"
+            elif [ -f "$POLICY_ONNX" ]; then
+              MODEL_TYPE=vision_policy
+              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX"
+            fi
+          elif [ -f "$SUPERCOMBO_ONNX" ]; then
+            MODEL_TYPE=supercombo
+            ONNX_ARGS="--supercombo-onnx $SUPERCOMBO_ONNX"
+          fi
+
+          if [ -n "$MODEL_TYPE" ]; then
+            echo "Detected: $MODEL_TYPE -> driving_tinygrad.pkl"
+            env ${TG_FLAGS} python3 "$COMPILE_MODELD" \
+              --model-type $MODEL_TYPE \
+              --model-size $MODEL_SIZE \
+              --camera-resolutions $CAMERA_RES \
+              $ONNX_ARGS \
+              --output "${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
+          fi
+
       - name: Validate Model Outputs
         run: |
           source /etc/profile
@@ -194,6 +230,8 @@ jobs:
           rsync -avm \
             --include='*.dlc' \
             --include='*.pkl' \
+            --include='*.chunk*' \
+            --include='*.chunkmanifest' \
             --include='*.onnx' \
             --exclude='*' \
             --delete-excluded \
diff --git a/SConstruct b/SConstruct
index 5eb25ff50cc5df..e714571d8157e1 100644
--- a/SConstruct
+++ b/SConstruct
@@ -190,7 +190,7 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch', 'acados')
+Export('env', 'arch', 'acados', 'release')
 
 # Setup cache dir
 default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
diff --git a/release/ci/model_generator.py b/release/ci/model_generator.py
index feeb80095bf078..afee782bebedd1 100755
--- a/release/ci/model_generator.py
+++ b/release/ci/model_generator.py
@@ -1,3 +1,10 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
 import os
 import pickle
 import sys
@@ -32,6 +39,9 @@
 def validate_model_outputs(metadata_paths: list[Path]) -> None:
   combined_keys: set[str] = set()
   for path in metadata_paths:
+    if path.stat().st_size == 0:
+      print(f"skipping empty metadata: {path}")
+      continue
     with open(path, "rb") as f:
       metadata = pickle.load(f)
     combined_keys.update(metadata.get("output_slices", {}).keys())
@@ -78,38 +88,65 @@ def create_short_name(full_name):
   return result[:8]
 
 
-def generate_metadata(model_path: Path, output_dir: Path, short_name: str):
-  model_path = model_path
-  output_path = output_dir
+def _read_pkl_bytes(pkl_path: Path) -> bytes:
+  manifest = Path(f"{pkl_path}.chunkmanifest")
+  if manifest.exists():
+    num_chunks = int(manifest.read_text().strip())
+    parts = []
+    for i in range(num_chunks):
+      chunk = Path(f"{pkl_path}.chunk{i + 1:02d}of{num_chunks:02d}")
+      parts.append(chunk.read_bytes())
+    return b''.join(parts)
+  return pkl_path.read_bytes()
+
+
+def _find_driving_pkl(output_path: Path) -> Path | None:
+  for pattern in ('driving_tinygrad.pkl', 'driving_*_tinygrad.pkl'):
+    matches = sorted(output_path.glob(pattern))
+    if matches:
+      return matches[0]
+  for pattern in ('driving_tinygrad.pkl.chunkmanifest', 'driving_*_tinygrad.pkl.chunkmanifest'):
+    matches = sorted(output_path.glob(pattern))
+    if matches:
+      return Path(str(matches[0]).removesuffix('.chunkmanifest'))
+  return None
+
+
+def _rename_pkl_with_chunks(old_pkl: Path, new_pkl: Path) -> Path:
+  manifest = Path(f"{old_pkl}.chunkmanifest")
+  if manifest.exists():
+    for f in sorted(old_pkl.parent.glob(f"{old_pkl.name}.chunk*")):
+      f.rename(old_pkl.parent / f.name.replace(old_pkl.name, new_pkl.name, 1))
+    return new_pkl
+  return old_pkl.rename(new_pkl)
+
+
+def generate_metadata(model_path: Path, output_dir: Path, short_name: str, driving_pkl: Path):
   base = model_path.stem
+  metadata_file = output_dir / f"{base}_metadata.pkl"
 
-  # Define output files for tinygrad and metadata
-  tinygrad_file = output_path / f"{base}_tinygrad.pkl"
-  metadata_file = output_path / f"{base}_metadata.pkl"
-
-  if not tinygrad_file.exists() or not metadata_file.exists():
-    print(f"Error: Missing files for model {base} ({tinygrad_file} or {metadata_file})", file=sys.stderr)
+  if short_name:
+    renamed_meta = output_dir / f"{base}_{short_name.lower()}_metadata.pkl"
+    if metadata_file.exists() and not renamed_meta.exists():
+      metadata_file = metadata_file.rename(renamed_meta)
+    elif renamed_meta.exists():
+      metadata_file = renamed_meta
+
+  if not metadata_file.exists():
+    print(f"Warning: Missing metadata for {base} ({metadata_file}), skipping", file=sys.stderr)
     return
 
-  # Calculate the sha256 hashes
-  with open(tinygrad_file, 'rb') as f:
-    tinygrad_hash = hashlib.sha256(f.read()).hexdigest()
+  tinygrad_hash = hashlib.sha256(_read_pkl_bytes(driving_pkl)).hexdigest()
 
   with open(metadata_file, 'rb') as f:
     metadata_hash = hashlib.sha256(f.read()).hexdigest()
 
-  # Rename the files if a custom file name is provided
-  if short_name:
-    tinygrad_file = tinygrad_file.rename(output_path / f"{base}_{short_name.lower()}_tinygrad.pkl")
-    metadata_file = metadata_file.rename(output_path / f"{base}_{short_name.lower()}_metadata.pkl")
-
-  # Build the metadata structure
   model_type = "offPolicy" if "off_policy" in base else "onPolicy" if "on_policy" in base else base.split("_")[-1]
 
-  model_metadata = {
+  return {
     "type": model_type,
     "artifact": {
-      "file_name": tinygrad_file.name,
+      "file_name": driving_pkl.name,
       "download_uri": {
         "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
         "sha256": tinygrad_hash
@@ -124,9 +161,6 @@ def generate_metadata(model_path: Path, output_dir: Path, short_name: str):
     }
   }
 
-  # Return model metadata
-  return model_metadata
-
 
 def create_metadata_json(models: list, output_dir: Path, custom_name=None, short_name=None, is_20hz=False, upstream_branch="unknown"):
   metadata_json = {
@@ -181,14 +215,28 @@ def create_metadata_json(models: list, output_dir: Path, custom_name=None, short
 
   _output_dir = Path(args.output_dir)
   _output_dir.mkdir(exist_ok=True, parents=True)
+  _short_name = create_short_name(args.custom_name) if args.custom_name else None
+
+  _driving_pkl = _find_driving_pkl(_output_dir)
+  if not _driving_pkl:
+    print(f"No driving_tinygrad.pkl found in {_output_dir}", file=sys.stderr)
+    sys.exit(1)
+
+  if _short_name:
+    new_pkl = _output_dir / f"driving_{_short_name.lower()}_tinygrad.pkl"
+    if not new_pkl.exists():
+      _driving_pkl = _rename_pkl_with_chunks(_driving_pkl, new_pkl)
+    else:
+      _driving_pkl = new_pkl
+
   _models = []
 
   for _model_path in model_paths:
-    _model_metadata = generate_metadata(Path(_model_path), _output_dir, create_short_name(args.custom_name))
+    _model_metadata = generate_metadata(Path(_model_path), _output_dir, _short_name, _driving_pkl)
     if _model_metadata:
       _models.append(_model_metadata)
 
   if _models:
-    create_metadata_json(_models, _output_dir, args.custom_name, create_short_name(args.custom_name), args.is_20hz, args.upstream_branch)
+    create_metadata_json(_models, _output_dir, args.custom_name, _short_name, args.is_20hz, args.upstream_branch)
   else:
     print("No models processed.", file=sys.stderr)
diff --git a/sunnypilot/modeld_v2/SConscript b/sunnypilot/modeld_v2/SConscript
index 8526fd27293a3f..a5b0bad86252fa 100644
--- a/sunnypilot/modeld_v2/SConscript
+++ b/sunnypilot/modeld_v2/SConscript
@@ -1,12 +1,88 @@
 import os
 import glob
 
-Import('env', 'arch')
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
+from openpilot.system.hardware import HARDWARE, PC
+
+Import('env', 'arch', 'release')
 lenv = env.Clone()
 tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
 
-# Get model metadata
-PC = not os.path.isfile('/TICI')
+
+def get_camera_configs():
+  DEVICE_RESOLUTIONS = {
+    "tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+    "tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+    "mici": (_os_fisheye.width, _os_fisheye.height),
+  }
+  if release or PC or 'CI' in os.environ:
+    return set(DEVICE_RESOLUTIONS.values())
+  return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
+
+CAMERA_CONFIGS = get_camera_configs()
+
+tg_flags = {
+  'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
+  'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}',
+}.get(arch, 'DEV=CPU:LLVM')
+
+image_flag = {
+  'larch64': 'IMAGE=2',
+}.get(arch, 'IMAGE=0')
+
+model_w, model_h = MEDMODEL_INPUT_SIZE
+from openpilot.selfdrive.modeld.constants import ModelConstants
+frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
+camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
+
+pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + ':' + env.Dir("#").abspath + '"'
+compile_modeld_script = File("compile_modeld.py").abspath
+upstream_compile_script = File(Dir("#selfdrive/modeld").File("compile_modeld.py").abspath)
+script_deps = [File("compile_modeld.py"), upstream_compile_script]
+
+def compile_combined(model_type, onnx_args, output_name):
+  output_pkl = File(f"models/{output_name}").abspath
+  cmd = (f'{pythonpath_string} {tg_flags} {image_flag} python3 {compile_modeld_script} '
+         f'--model-type {model_type} '
+         f'--model-size {model_w}x{model_h} '
+         f'--camera-resolutions {camera_res_args} '
+         f'{onnx_args} '
+         f'--frame-skip {frame_skip} '
+         f'--output {output_pkl}')
+  onnx_files = [f for f in onnx_args.split() if f.endswith('.onnx')]
+  return lenv.Command(output_pkl, tinygrad_files + script_deps + [File(f) for f in onnx_files if os.path.isfile(f)], cmd)
+
+# Vision + Policy (stock default model)
+vision_onnx = File("models/driving_vision.onnx").abspath
+policy_onnx = File("models/driving_policy.onnx").abspath
+if os.path.isfile(vision_onnx) and os.path.isfile(policy_onnx):
+  compile_combined('vision_policy',
+                   f'--vision-onnx {vision_onnx} --policy-onnx {policy_onnx}',
+                   'driving_combined_tinygrad.pkl')
+
+# Vision + Off-Policy
+off_policy_onnx = File("models/driving_off_policy.onnx").abspath
+if os.path.isfile(vision_onnx) and os.path.isfile(off_policy_onnx):
+  policy_arg = f'--policy-onnx {policy_onnx}' if os.path.isfile(policy_onnx) else ''
+  compile_combined('vision_multi_policy',
+                   f'--vision-onnx {vision_onnx} {policy_arg} --off-policy-onnx {off_policy_onnx}',
+                   'driving_combined_multi_tinygrad.pkl')
+
+# Vision + On-Policy + Off-Policy
+on_policy_onnx = File("models/driving_on_policy.onnx").abspath
+if os.path.isfile(vision_onnx) and os.path.isfile(on_policy_onnx) and os.path.isfile(off_policy_onnx):
+  compile_combined('vision_multi_policy',
+                   f'--vision-onnx {vision_onnx} --off-policy-onnx {off_policy_onnx} --on-policy-onnx {on_policy_onnx}',
+                   'driving_combined_tri_tinygrad.pkl')
+
+# Supercombo
+supercombo_onnx = File("models/supercombo.onnx").abspath
+if os.path.isfile(supercombo_onnx):
+  compile_combined('supercombo',
+                   f'--supercombo-onnx {supercombo_onnx}',
+                   'driving_combined_supercombo_tinygrad.pkl')
+
 if PC:
   inputs = tinygrad_files + [File(Dir("#sunnypilot/modeld_v2").File("install_models_pc.py").abspath)]
   outputs = []
@@ -21,39 +97,3 @@ if PC:
   if outputs:
     lenv.Command(outputs, inputs, cmd)
 
-tg_flags = {
-  'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
-  'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}',
-}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0')
-
-image_flag = {
-  'larch64': 'IMAGE=2',
-}.get(arch, 'IMAGE=0')
-
-def tg_compile(flags, model_name):
-  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
-  fn = File(f"models/{model_name}").abspath
-  out = fn + "_tinygrad.pkl"
-
-  return lenv.Command(
-    out,
-    [fn + ".onnx"] + tinygrad_files,
-    f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {out}'
-  )
-
-# Compile models
-for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_on_policy', 'driving_policy']:
-  if File(f"models/{model_name}.onnx").exists():
-    tg_compile(tg_flags, model_name)
-
-script_files = [File("warp.py"), File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
-pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + ':' + env.Dir("#").abspath + '"'
-compile_warp_cmd = f'{pythonpath_string} {tg_flags} python3 -m sunnypilot.modeld_v2.warp'
-
-from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
-warp_targets = []
-for cam in [_ar_ox_fisheye, _os_fisheye]:
-  w, h = cam.width, cam.height
-  for bl in [2, 5]:
-    warp_targets.append(File(f"models/warp_{w}x{h}_b{bl}_tinygrad.pkl").abspath)
-lenv.Command(warp_targets, tinygrad_files + script_files, compile_warp_cmd)
diff --git a/sunnypilot/modeld_v2/compile_modeld.py b/sunnypilot/modeld_v2/compile_modeld.py
new file mode 100755
index 00000000000000..387d3378e2d49b
--- /dev/null
+++ b/sunnypilot/modeld_v2/compile_modeld.py
@@ -0,0 +1,480 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import argparse
+import os
+import pickle
+import time
+from functools import partial
+from collections import defaultdict
+
+import numpy as np
+from tinygrad.tensor import Tensor
+from tinygrad.device import Device
+from tinygrad.engine.jit import TinyJit
+
+from openpilot.selfdrive.modeld.compile_modeld import (
+  NV12Frame, make_frame_prepare,
+  shift_and_sample, sample_skip, sample_desire,
+)
+
+MODEL_TYPES = ('vision_policy', 'supercombo', 'vision_multi_policy')
+
+
+def _detect_desire_key(policy_input_shapes):
+  for k in policy_input_shapes:
+    if k.startswith('desire'):
+      return k
+  return None
+
+
+def _detect_vision_keys(vision_input_shapes):
+  img_keys = sorted([k for k in vision_input_shapes if 'img' in k])
+  road_key = next((k for k in img_keys if 'big' not in k), None)
+  wide_key = next((k for k in img_keys if 'big' in k), None)
+  if road_key is None or wide_key is None:
+    raise ValueError(f"Cannot determine road/wide image keys from {list(vision_input_shapes.keys())}")
+  return road_key, wide_key
+
+
+def make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device):
+  road_key, _ = _detect_vision_keys(vision_input_shapes)
+  img = vision_input_shapes[road_key]
+  n_frames = img[1] // 6
+  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
+
+  fb = policy_input_shapes['features_buffer']
+  desire_key = _detect_desire_key(policy_input_shapes)
+  dp = policy_input_shapes[desire_key]
+  tc = policy_input_shapes.get('traffic_convention', (1, 2))
+
+  npy = {
+    'desire': np.zeros(dp[2], dtype=np.float32),
+    'traffic_convention': np.zeros(tc, dtype=np.float32),
+    'tfm': np.zeros((3, 3), dtype=np.float32),
+    'big_tfm': np.zeros((3, 3), dtype=np.float32),
+  }
+
+  handled = {'features_buffer', desire_key, 'traffic_convention'}
+  for key, shape in policy_input_shapes.items():
+    if key in handled:
+      continue
+    npy[key] = np.zeros(shape, dtype=np.float32)
+
+  input_queues = {
+    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'feat_q': Tensor(np.zeros((frame_skip * (fb[1] - 1) + 1, fb[0], fb[2]), dtype=np.float32), device=device).contiguous().realize(),
+    'desire_q': Tensor(np.zeros((frame_skip * dp[1], dp[0], dp[2]), dtype=np.float32), device=device).contiguous().realize(),
+    **{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
+  }
+  return input_queues, npy
+
+
+def make_run_split_policy(vision_runner, policy_runner, nv12: NV12Frame, model_w, model_h,
+                          vision_features_slice, frame_skip, desire_key, extra_policy_keys,
+                          vision_road_key, vision_wide_key, prepare_only=False):
+  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+
+  def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, tfm, big_tfm, frame, big_frame, **extra):
+    npy_tensors = [tfm.to(Device.DEFAULT), big_tfm.to(Device.DEFAULT),
+                   desire.to(Device.DEFAULT), traffic_convention.to(Device.DEFAULT)]
+    extra_device = {k: extra[k].to(Device.DEFAULT) for k in extra_policy_keys}
+    Tensor.realize(*npy_tensors, *extra_device.values())
+    tfm, big_tfm, desire, traffic_convention = npy_tensors
+
+    img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
+
+    if prepare_only:
+      return img, big_img
+
+    vision_out = next(iter(vision_runner({vision_road_key: img, vision_wide_key: big_img}).values())).cast('float32')
+
+    new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
+    feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
+    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
+
+    inputs = {'features_buffer': feat_buf, desire_key: desire_buf, 'traffic_convention': traffic_convention, **extra_device}
+    policy_out = next(iter(policy_runner(inputs).values())).cast('float32')
+
+    return vision_out, policy_out
+  return run_policy
+
+
+def compile_split_policy(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
+                         vision_runner, policy_runner, vision_metadata, policy_metadata):
+  print(f"Compiling combined policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
+
+  vision_features_slice = vision_metadata['output_slices']['hidden_state']
+  vision_input_shapes = vision_metadata['input_shapes']
+  policy_input_shapes = policy_metadata['input_shapes']
+  desire_key = _detect_desire_key(policy_input_shapes)
+  extra_policy_keys = [k for k in policy_input_shapes if k not in ('features_buffer', desire_key, 'traffic_convention')]
+  vision_road_key, vision_wide_key = _detect_vision_keys(vision_input_shapes)
+
+  _run = make_run_split_policy(vision_runner, policy_runner, nv12, model_w, model_h,
+                               vision_features_slice, frame_skip, desire_key, extra_policy_keys,
+                               vision_road_key, vision_wide_key, prepare_only)
+  run_policy_jit = TinyJit(_run, prune=True)
+
+  SEED = 42
+
+  def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
+    input_queues, npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
+    np.random.seed(seed)
+    Tensor.manual_seed(seed)
+
+    testing = test_val is not None or test_buffers is not None
+    n_runs = 1 if testing else 3
+
+    for i in range(n_runs):
+      frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+      big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+      for v in npy.values():
+        v[:] = np.random.randn(*v.shape).astype(v.dtype)
+      Device.default.synchronize()
+      st = time.perf_counter()
+      outs = fn(**input_queues, frame=frame, big_frame=big_frame)
+      mt = time.perf_counter()
+      Device.default.synchronize()
+      et = time.perf_counter()
+      print(f"  [{i+1}/{n_runs}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+
+      if i == 0:
+        val = [np.copy(v.numpy()) for v in outs]
+        buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
+
+    if test_val is not None:
+      match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
+      assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})"
+    if test_buffers is not None:
+      match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
+      assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
+    return fn, val, buffers
+
+  print('capture + replay')
+  run_policy_jit, test_val, test_buffers = random_inputs_run_fn(run_policy_jit, SEED)
+
+  print('pickle round trip')
+  run_policy_jit = pickle.loads(pickle.dumps(run_policy_jit))
+  random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers, expect_match=True)
+  random_inputs_run_fn(run_policy_jit, SEED+1, test_val, test_buffers, expect_match=False)
+  return run_policy_jit
+
+
+def derive_frame_skip(vision_input_shapes, policy_input_shapes):
+  fb = policy_input_shapes.get('features_buffer')
+  if fb is None:
+    return 1
+  fb_history = fb[1]
+  if fb_history >= 99:
+    return 1
+  return 4
+
+
+def make_supercombo_input_queues(input_shapes, frame_skip, device):
+  img_shape = input_shapes.get('img', input_shapes.get('input_imgs'))
+  if img_shape is None:
+    raise ValueError("No img input found in model shapes")
+
+  n_frames = img_shape[1] // 6
+  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img_shape[2], img_shape[3])
+
+  npy_keys = {}
+  queue_keys = {}
+
+  for key, shape in input_shapes.items():
+    if 'img' in key:
+      continue
+    if len(shape) == 3 and shape[1] > 1:
+      if key.startswith('desire'):
+        npy_keys[key] = np.zeros(shape[2], dtype=np.float32)
+        queue_keys[f'{key}_q'] = Tensor(
+          np.zeros((frame_skip * shape[1], shape[0], shape[2]), dtype=np.float32),
+          device=device).contiguous().realize()
+      elif key == 'features_buffer':
+        queue_keys['feat_q'] = Tensor(
+          np.zeros((frame_skip * (shape[1] - 1) + 1, shape[0], shape[2]), dtype=np.float32),
+          device=device).contiguous().realize()
+      else:
+        npy_keys[key] = np.zeros(shape, dtype=np.float32)
+    elif len(shape) == 2:
+      npy_keys[key] = np.zeros(shape, dtype=np.float32)
+
+  if 'traffic_convention' not in npy_keys:
+    tc_shape = input_shapes.get('traffic_convention', (1, 2))
+    npy_keys['traffic_convention'] = np.zeros(tc_shape, dtype=np.float32)
+
+  npy_keys['tfm'] = np.zeros((3, 3), dtype=np.float32)
+  npy_keys['big_tfm'] = np.zeros((3, 3), dtype=np.float32)
+
+  input_queues = {
+    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    **queue_keys,
+    **{k: Tensor(v, device='NPY').realize() for k, v in npy_keys.items()},
+  }
+  return input_queues, npy_keys
+
+
+def make_run_supercombo(model_runner, nv12: NV12Frame, model_w, model_h,
+                        features_slice, frame_skip, input_shapes, prepare_only=False):
+  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+
+  desire_key = _detect_desire_key(input_shapes)
+  if desire_key is None:
+    raise ValueError(f"No desire* key found in input_shapes: {list(input_shapes.keys())}")
+  road_img_key, wide_img_key = _detect_vision_keys(input_shapes)
+  extra_policy_keys = [k for k in input_shapes
+                       if k not in (desire_key, 'features_buffer', 'traffic_convention')
+                       and 'img' not in k]
+
+  def run_supercombo(img_q, big_img_q, feat_q, desire_q,
+                     frame, big_frame, **kwargs):
+    desire = kwargs.get(desire_key)
+    traffic_convention = kwargs.get('traffic_convention')
+    tfm = kwargs['tfm']
+    big_tfm = kwargs['big_tfm']
+
+    tfm = tfm.to(Device.DEFAULT)
+    big_tfm = big_tfm.to(Device.DEFAULT)
+    desire = desire.to(Device.DEFAULT)
+    traffic_convention = traffic_convention.to(Device.DEFAULT)
+    Tensor.realize(tfm, big_tfm, desire, traffic_convention)
+
+    img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
+
+    if prepare_only:
+      return img, big_img
+
+    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
+    feat_buf = sample_skip_fn(feat_q)
+
+    inputs = {road_img_key: img, wide_img_key: big_img,
+              desire_key: desire_buf, 'features_buffer': feat_buf,
+              'traffic_convention': traffic_convention}
+    for k in extra_policy_keys:
+      if k in kwargs:
+        inputs[k] = kwargs[k].to(Device.DEFAULT)
+
+    model_out = next(iter(model_runner(inputs).values())).cast('float32')
+
+    new_feat = model_out[:, features_slice].reshape(1, -1).unsqueeze(0)
+    shift_and_sample(feat_q, new_feat, sample_skip_fn)
+
+    return model_out
+
+  return run_supercombo
+
+
+def make_run_vision_multi_policy(vision_runner, policy_runners, nv12: NV12Frame, model_w, model_h,
+                                 vision_features_slice, frame_skip, desire_key, extra_policy_keys,
+                                 vision_road_key, vision_wide_key, prepare_only=False):
+  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+
+  def run_multi_policy(img_q, big_img_q, feat_q, desire_q, desire,
+                       traffic_convention, tfm, big_tfm, frame, big_frame, **extra):
+    npy_tensors = [tfm.to(Device.DEFAULT), big_tfm.to(Device.DEFAULT),
+                   desire.to(Device.DEFAULT), traffic_convention.to(Device.DEFAULT)]
+    extra_device = {k: extra[k].to(Device.DEFAULT) for k in extra_policy_keys}
+    Tensor.realize(*npy_tensors, *extra_device.values())
+    tfm, big_tfm, desire, traffic_convention = npy_tensors
+
+    img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
+
+    if prepare_only:
+      return img, big_img
+
+    vision_out = next(iter(vision_runner({vision_road_key: img, vision_wide_key: big_img}).values())).cast('float32')
+
+    new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
+    feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
+    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
+
+    inputs = {'features_buffer': feat_buf, desire_key: desire_buf, 'traffic_convention': traffic_convention, **extra_device}
+
+    policy_outputs = []
+    for runner in policy_runners:
+      policy_out = next(iter(runner(inputs).values())).cast('float32')
+      policy_outputs.append(policy_out)
+
+    return (vision_out, *policy_outputs)
+
+  return run_multi_policy
+
+
+def _warmup_and_serialize(run_jit, input_queues, npy, nv12):
+  for i in range(3):
+    np.random.seed(42 + i)
+    frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+    big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+    for v in npy.values():
+      v[:] = np.random.randn(*v.shape).astype(v.dtype)
+    Device.default.synchronize()
+    st = time.perf_counter()
+    run_jit(**input_queues, frame=frame, big_frame=big_frame)
+    mt = time.perf_counter()
+    Device.default.synchronize()
+    et = time.perf_counter()
+    print(f"  [{i + 1}/3] enqueue {(mt - st) * 1e3:6.2f} ms -- total {(et - st) * 1e3:6.2f} ms")
+  return pickle.loads(pickle.dumps(run_jit))
+
+
+def compile_supercombo(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
+                       model_runner, metadata):
+  print(f"Compiling combined supercombo JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
+
+  features_slice = metadata['output_slices']['hidden_state']
+  input_shapes = metadata['input_shapes']
+
+  _run = make_run_supercombo(model_runner, nv12, model_w, model_h,
+                             features_slice, frame_skip, input_shapes, prepare_only)
+  run_jit = TinyJit(_run, prune=True)
+
+  input_queues, npy = make_supercombo_input_queues(input_shapes, frame_skip, Device.DEFAULT)
+
+  run_jit = _warmup_and_serialize(run_jit, input_queues, npy, nv12)
+  return run_jit
+
+
+def compile_multi_policy(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
+                         vision_runner, policy_runners, vision_metadata, policy_metadata):
+  print(f"Compiling combined multi-policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
+
+  vision_features_slice = vision_metadata['output_slices']['hidden_state']
+  vision_input_shapes = vision_metadata['input_shapes']
+  policy_input_shapes = policy_metadata['input_shapes']
+  desire_key = _detect_desire_key(policy_input_shapes)
+  extra_policy_keys = [k for k in policy_input_shapes if k not in ('features_buffer', desire_key, 'traffic_convention')]
+  vision_road_key, vision_wide_key = _detect_vision_keys(vision_input_shapes)
+
+  _run = make_run_vision_multi_policy(vision_runner, policy_runners, nv12, model_w, model_h,
+                                      vision_features_slice, frame_skip, desire_key, extra_policy_keys,
+                                      vision_road_key, vision_wide_key, prepare_only)
+  run_jit = TinyJit(_run, prune=True)
+
+  input_queues, npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
+
+  run_jit = _warmup_and_serialize(run_jit, input_queues, npy, nv12)
+  return run_jit
+
+
+def _parse_size(s):
+  w, h = s.lower().split('x')
+  return int(w), int(h)
+
+
+if __name__ == "__main__":
+  from tinygrad.nn.onnx import OnnxRunner
+  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+  from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
+
+  p = argparse.ArgumentParser(description="Compile combined JIT pkl for sunnypilot modeld_v2")
+  p.add_argument('--model-type', choices=MODEL_TYPES, required=True)
+  p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
+  p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True)
+  p.add_argument('--frame-skip', type=int, default=None, help='frame skip value (auto-derived if not provided)')
+  p.add_argument('--output', required=True)
+
+  p.add_argument('--vision-onnx', help='vision ONNX (for split models)')
+  p.add_argument('--policy-onnx', help='policy ONNX (for vision_policy)')
+  p.add_argument('--off-policy-onnx', help='off-policy ONNX (for vision_multi_policy)')
+  p.add_argument('--on-policy-onnx', help='on-policy ONNX (for vision_multi_policy)')
+  p.add_argument('--supercombo-onnx', help='supercombo ONNX (for supercombo)')
+
+  args = p.parse_args()
+  out = defaultdict(dict)
+
+  if args.model_type == 'vision_policy':
+    assert args.vision_onnx and args.policy_onnx
+    vision_runner = OnnxRunner(args.vision_onnx)
+    policy_runner = OnnxRunner(args.policy_onnx)
+    out['metadata']['vision'] = make_metadata_dict(args.vision_onnx)
+    out['metadata']['policy'] = make_metadata_dict(args.policy_onnx)
+
+    frame_skip = args.frame_skip if args.frame_skip is not None else derive_frame_skip(out['metadata']['vision']['input_shapes'],
+                                                                                       out['metadata']['policy']['input_shapes'])
+
+    for cam_w, cam_h in args.camera_resolutions:
+      nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+      model_w, model_h = args.model_size
+      out[(cam_w, cam_h)] = {
+        name: compile_split_policy(nv12, model_w, model_h, prepare_only, frame_skip,
+                                   vision_runner, policy_runner,
+                                   out['metadata']['vision'], out['metadata']['policy'])
+        for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
+      }
+
+  elif args.model_type == 'supercombo':
+    assert args.supercombo_onnx
+    model_runner = OnnxRunner(args.supercombo_onnx)
+    out['metadata']['model'] = make_metadata_dict(args.supercombo_onnx)
+
+    frame_skip = args.frame_skip if args.frame_skip is not None else derive_frame_skip({}, out['metadata']['model']['input_shapes'])
+
+    for cam_w, cam_h in args.camera_resolutions:
+      nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+      model_w, model_h = args.model_size
+      out[(cam_w, cam_h)] = {
+        name: compile_supercombo(nv12, model_w, model_h, prepare_only, frame_skip,
+                                 model_runner, out['metadata']['model'])
+        for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
+      }
+
+  elif args.model_type == 'vision_multi_policy':
+    assert args.vision_onnx
+    vision_runner = OnnxRunner(args.vision_onnx)
+    out['metadata']['vision'] = make_metadata_dict(args.vision_onnx)
+
+    policy_runners = []
+    policy_onnxes = []
+    if args.policy_onnx:
+      policy_onnxes.append(('policy', args.policy_onnx))
+    if args.off_policy_onnx:
+      policy_onnxes.append(('off_policy', args.off_policy_onnx))
+    if args.on_policy_onnx:
+      policy_onnxes.append(('on_policy', args.on_policy_onnx))
+
+    for name, onnx_path in policy_onnxes:
+      runner = OnnxRunner(onnx_path)
+      policy_runners.append(runner)
+      out['metadata'][name] = make_metadata_dict(onnx_path)
+
+    first_policy_key = policy_onnxes[0][0]
+    frame_skip = args.frame_skip if args.frame_skip is not None else derive_frame_skip(out['metadata']['vision']['input_shapes'],
+                                                                                       out['metadata'][first_policy_key]['input_shapes'])
+
+    for cam_w, cam_h in args.camera_resolutions:
+      nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+      model_w, model_h = args.model_size
+      out[(cam_w, cam_h)] = {
+        name: compile_multi_policy(nv12, model_w, model_h, prepare_only, frame_skip,
+                                   vision_runner, policy_runners,
+                                   out['metadata']['vision'], out['metadata'][first_policy_key])
+        for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
+      }
+
+  with open(args.output, "wb") as f:
+    pickle.dump(out, f)
+  pkl_size = os.path.getsize(args.output)
+  print(f"Saved combined JIT to {args.output} ({pkl_size / 1e6:.2f} MB)")
+
+  from openpilot.common.file_chunker import chunk_file, get_chunk_targets
+  chunk_targets = get_chunk_targets(args.output, pkl_size)
+  chunk_file(args.output, chunk_targets)
+  num_chunks = len(chunk_targets) - 1
+  print(f"Chunked into {num_chunks} file(s)")
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index f8622861819eeb..dfff2e6c22011c 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -1,4 +1,11 @@
 #!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
 import os
 from openpilot.system.hardware import TICI
 os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
@@ -6,6 +13,7 @@
 if USBGPU:
   os.environ['DEV'] = 'AMD'
   os.environ['AMD_IFACE'] = 'USB'
+import pickle
 import time
 import numpy as np
 import cereal.messaging as messaging
@@ -26,18 +34,40 @@
 
 from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output
 from openpilot.sunnypilot.modeld_v2.constants import Plan
-from openpilot.sunnypilot.modeld_v2.warp import Warp
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
 
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
-from openpilot.sunnypilot.models.runners.helpers import get_model_runner
 
 PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
 
 
+def _pkl_exists(path):
+  from openpilot.common.file_chunker import get_manifest_path
+  return os.path.exists(path) or os.path.exists(get_manifest_path(path))
+
+
+def _find_driving_pkl(bundle):
+  if (override := os.environ.get('COMBINED_MODEL_PKL')) and _pkl_exists(override):
+    return override
+  if bundle is None or not bundle.models:
+    return None
+  from openpilot.system.hardware.hw import Paths
+  model_root = Paths.model_root()
+
+  pkl_name = bundle.models[0].artifact.fileName
+  pkl_path = os.path.join(model_root, pkl_name)
+  if _pkl_exists(pkl_path):
+    return pkl_path
+
+  fallback = os.path.join(model_root, 'driving_tinygrad.pkl')
+  if _pkl_exists(fallback):
+    return fallback
+  return None
+
+
 class FrameMeta:
   frame_id: int = 0
   timestamp_sof: int = 0
@@ -49,117 +79,170 @@ def __init__(self, vipc=None):
 
 
 class ModelState(ModelStateBase):
-  frames: dict[str, Warp]
   inputs: dict[str, np.ndarray]
-  prev_desire: np.ndarray  # for tracking the rising edge of the pulse
-  temporal_idxs: slice | np.ndarray
+  prev_desire: np.ndarray
 
-  def __init__(self):
+  def __init__(self, cam_w: int, cam_h: int):
     ModelStateBase.__init__(self)
-    try:
-      self.model_runner = get_model_runner()
-      self.constants = self.model_runner.constants
-    except Exception as e:
-      cloudlog.exception(f"Failed to initialize model runner: {str(e)}")
-      raise
-
-    model_bundle = get_active_bundle()
+
+    env_pkl = os.environ.get('COMBINED_MODEL_PKL')
+    if env_pkl and os.path.exists(env_pkl):
+      model_bundle = None
+    else:
+      model_bundle = get_active_bundle()
     self.generation = model_bundle.generation if model_bundle is not None else None
-    overrides = {override.key: override.value for override in model_bundle.overrides}
+    overrides = {override.key: override.value for override in model_bundle.overrides} if model_bundle else {}
 
     self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".0"))
     self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
     self.MIN_LAT_CONTROL_SPEED = 0.3
     self.PLANPLUS_CONTROL: float = 1.0
 
-    buffer_length = 5 if self.model_runner.is_20hz else 2
-    self.warp = Warp(buffer_length)
+    pkl_path = _find_driving_pkl(model_bundle)
+    assert pkl_path is not None, "No driving pkl found — all models must be compiled with compile_modeld.py"
+    self._init_combined(pkl_path, cam_w, cam_h, model_bundle)
+
+  def _init_combined(self, pkl_path, cam_w, cam_h, bundle):
+    from tinygrad.tensor import Tensor
+    from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+    from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
+    from tinygrad.device import Device
+
+    from openpilot.common.file_chunker import read_file_chunked
+
+    cloudlog.warning(f"loading combined pkl: {pkl_path}")
+    jits = pickle.loads(read_file_chunked(pkl_path))
+
+    self.DEV = Device.DEFAULT
+
+    metadata = jits['metadata']
+    if 'model' in metadata:
+      model_metadata = metadata['model']
+      self.vision_output_slices = model_metadata['output_slices']
+      self.policy_output_slices = {}
+      self._policy_slices_list = []
+      self._combined_model_type = 'supercombo'
+      self._vision_input_names = [k for k in model_metadata['input_shapes'] if 'img' in k]
+      from openpilot.sunnypilot.modeld_v2.compile_modeld import make_supercombo_input_queues
+      frame_skip = derive_frame_skip({}, model_metadata['input_shapes'])
+      self.input_queues, self.npy = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.DEV)
+    else:
+      vision_metadata = metadata['vision']
+      policy_keys = [k for k in metadata if k != 'vision']
+      if policy_keys == ['policy']:
+        self._combined_model_type = 'split'
+      else:
+        self._combined_model_type = 'multi_policy'
+      self.vision_output_slices = vision_metadata['output_slices']
+      self._policy_keys = policy_keys
+      self._policy_slices_list = [metadata[k]['output_slices'] for k in policy_keys]
+      self.policy_output_slices = self._policy_slices_list[0]
+      self._has_on_policy = any('on' in k.lower() for k in policy_keys)
+      first_policy_metadata = metadata[policy_keys[0]]
+      vision_input_shapes = vision_metadata['input_shapes']
+      policy_input_shapes = first_policy_metadata['input_shapes']
+      self._vision_input_names = [k for k in vision_input_shapes if 'img' in k]
+      frame_skip = derive_frame_skip(vision_input_shapes, policy_input_shapes)
+      self.input_queues, self.npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.DEV)
+
+    from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
+    from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
+    self.parser = SplitParser() if self._combined_model_type != 'supercombo' else CombinedParser()
+
+    is_20hz = bundle.is20hz if bundle else self._combined_model_type in ('split', 'multi_policy')
+    if is_20hz:
+      from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
+      self.constants = SplitModelConstants()
+    else:
+      from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
+      self.constants = ModelConstants()
+
     self.prev_desire = np.zeros(self.constants.DESIRE_LEN, dtype=np.float32)
-    self.numpy_inputs = {}
-    self.temporal_buffers = {}
-    self.temporal_idxs_map = {}
-
-    for key, shape in self.model_runner.input_shapes.items():
-      if key not in self.model_runner.vision_input_names: # Policy inputs
-        self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
-
-        # Temporal input: shape is [batch, history, features]
-        if len(shape) == 3 and shape[1] > 1:
-          buffer_history_len = shape[1] * 4 if shape[1] < 99 else shape[1]  # Allow for higher history buffers in the future
-          feature_len = shape[2]
-          features_buffer_shape = self.model_runner.input_shapes.get('features_buffer')
-          if shape[1] in (24, 25) and features_buffer_shape is not None and features_buffer_shape[1] == 24:  # 20Hz
-            buffer_history_len = (features_buffer_shape[1] + 1) * 4
-            step = int(-buffer_history_len / shape[1])
-            self.temporal_idxs_map[key] = np.arange(step, step * (shape[1] + 1), step)[::-1]
-          elif shape[1] == 25:  # Split
-            skip = buffer_history_len // shape[1]
-            self.temporal_idxs_map[key] = np.arange(buffer_history_len)[-1 - (skip * (shape[1] - 1))::skip]
-          elif shape[1] >= 99:  # non20hz
-            self.temporal_idxs_map[key] = np.arange(shape[1])
-          self.temporal_buffers[key] = np.zeros((1, buffer_history_len, feature_len), dtype=np.float32)
+    self.full_frames: dict = {}
+    self._blob_cache: dict = {}
+    nv12_info = get_nv12_info(cam_w, cam_h)
+    self.frame_buf_params = dict.fromkeys(self._vision_input_names, nv12_info)
+
+    self._run_policy = jits[(cam_w, cam_h)]['run_policy']
+    self._warp_enqueue = jits[(cam_w, cam_h)]['warp_enqueue']
+    road_name = next(k for k in self._vision_input_names if 'big' not in k)
+    yuv_size = self.frame_buf_params[road_name][3]
+    self._warp_enqueue(
+      **self.input_queues,
+      frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.DEV).contiguous().realize(),
+      big_frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.DEV).contiguous().realize())
+
 
   @property
   def mlsim(self) -> bool:
     return bool(self.generation is not None and self.generation >= 11)
 
+  @property
+  def vision_input_names(self) -> list[str]:
+    return self._vision_input_names
+
   @property
   def desire_key(self) -> str:
-    return next(key for key in self.numpy_inputs if key.startswith('desire'))
+    return next(k for k in self.npy if k.startswith('desire'))
 
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
-    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs[self.desire_key][0] = 0
-    new_desire = np.where(inputs[self.desire_key] - self.prev_desire > .99, inputs[self.desire_key], 0)
-    self.prev_desire[:] = inputs[self.desire_key]
-    self.temporal_buffers[self.desire_key][0,:-1] = self.temporal_buffers[self.desire_key][0,1:]
-    self.temporal_buffers[self.desire_key][0,-1] = new_desire
-
-    # Roll buffer and assign based on desire.shape[1] value
-    if self.temporal_buffers[self.desire_key].shape[1] > self.numpy_inputs[self.desire_key].shape[1]:
-      skip = self.temporal_buffers[self.desire_key].shape[1] // self.numpy_inputs[self.desire_key].shape[1]
-      self.numpy_inputs[self.desire_key][:] = (self.temporal_buffers[self.desire_key][0].reshape(
-                                               self.numpy_inputs[self.desire_key].shape[0], self.numpy_inputs[self.desire_key].shape[1], skip, -1).max(axis=2))
-    else:
-      self.numpy_inputs[self.desire_key][:] = self.temporal_buffers[self.desire_key][0, self.temporal_idxs_map[self.desire_key]]
-
-    for key in self.numpy_inputs:
-      if key in inputs and key not in [self.desire_key]:
-        self.numpy_inputs[key][:] = inputs[key]
-
-    imgs_tensors = self.warp.process(bufs, transforms)
-    for name, tensor in imgs_tensors.items():
-      self.model_runner.inputs[name] = tensor
-    self.model_runner.prepare_inputs(self.numpy_inputs)
+    from tinygrad.tensor import Tensor
+
+    for key in bufs.keys():
+      ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
+      yuv_size = self.frame_buf_params[key][3]
+      cache_key = (key, ptr)
+      if cache_key not in self._blob_cache:
+        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.DEV)
+      self.full_frames[key] = self._blob_cache[cache_key]
+
+    desire_key = self.desire_key
+    inputs[desire_key][0] = 0
+    self.npy[desire_key][:] = np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
+    self.prev_desire[:] = inputs[desire_key]
+    for key in ('traffic_convention', 'lateral_control_params'):
+      if key in self.npy and key in inputs:
+        self.npy[key][:] = inputs[key]
+
+    road_key = next(n for n in bufs if 'big' not in n)
+    wide_key = next(n for n in bufs if 'big' in n)
+    self.npy['tfm'][:, :] = transforms[road_key].reshape(3, 3)
+    self.npy['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
 
     if prepare_only:
+      self._warp_enqueue(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
       return None
 
-    # Run model inference
-    outputs = self.model_runner.run_model()
+    raw_outputs = self._run_policy(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
 
-    # Update features_buffer
-    self.temporal_buffers['features_buffer'][0, :-1] = self.temporal_buffers['features_buffer'][0, 1:]
-    self.temporal_buffers['features_buffer'][0, -1] = outputs['hidden_state'][0, :]
-    self.numpy_inputs['features_buffer'][:] = self.temporal_buffers['features_buffer'][0, self.temporal_idxs_map['features_buffer']]
-
-    if "desired_curvature" in outputs:
-      input_name_prev = None
-      if "prev_desired_curv" in self.numpy_inputs.keys():
-        input_name_prev = 'prev_desired_curv'
-      if input_name_prev and input_name_prev in self.temporal_buffers:
-        self.process_desired_curvature(outputs, input_name_prev)
+    if self._combined_model_type == 'supercombo':
+      model_output = raw_outputs.numpy().flatten()
+      sliced = {k: model_output[np.newaxis, v] for k, v in self.vision_output_slices.items()}
+      outputs = self.parser.parse_outputs(sliced)
+    else:
+      vision_output = raw_outputs[0].numpy().flatten()
+      vision_sliced = {k: vision_output[np.newaxis, v] for k, v in self.vision_output_slices.items()}
+      outputs = self.parser.parse_vision_outputs(vision_sliced)
+
+      for i, policy_slices in enumerate(self._policy_slices_list):
+        policy_output = raw_outputs[i + 1].numpy().flatten()
+        policy_sliced = {k: policy_output[np.newaxis, v] for k, v in policy_slices.items()}
+        parsed = self.parser.parse_policy_outputs(policy_sliced)
+        if 'off' in self._policy_keys[i] and self._has_on_policy:
+          parsed.pop('plan', None)
+        outputs.update(parsed)
+
+      if 'planplus' in outputs and 'plan' in outputs:
+        outputs['plan'] = outputs['plan'] + outputs['planplus']
+
+    if 'desired_curvature' in outputs and 'prev_desired_curv' in self.npy:
+      buf = self.npy['prev_desired_curv']
+      buf[0, :-1] = buf[0, 1:]
+      buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0
 
     return outputs
 
-  def process_desired_curvature(self, outputs, input_name_prev):
-    self.temporal_buffers[input_name_prev][0,:-1] = self.temporal_buffers[input_name_prev][0,1:]
-    self.temporal_buffers[input_name_prev][0,-1,:] = outputs['desired_curvature'][0, :]
-    self.numpy_inputs[input_name_prev][:] = self.temporal_buffers[input_name_prev][0, self.temporal_idxs_map[input_name_prev]]
-    if self.mlsim:
-      self.numpy_inputs[input_name_prev][:] = 0*self.temporal_buffers[input_name_prev][0, self.temporal_idxs_map[input_name_prev]]
-
   def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                             lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
     plan = model_output['plan'][0]
@@ -186,10 +269,6 @@ def main(demo=False):
   setproctitle(PROCESS_NAME)
   config_realtime_process(7, 54)
 
-  cloudlog.warning("loading model")
-  model = ModelState()
-  cloudlog.warning("models loaded, modeld starting")
-
   # visionipc clients
   while True:
     available_streams = VisionIpcClient.available_streams("camerad", block=False)
@@ -213,6 +292,10 @@ def main(demo=False):
   if use_extra_client:
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
+  cloudlog.warning("loading model")
+  model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height)
+  cloudlog.warning("models loaded, modeld starting")
+
   # messaging
   pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
@@ -246,6 +329,7 @@ def main(demo=False):
   prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
+  meta_constants = load_meta_constants()
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -318,14 +402,14 @@ def main(demo=False):
     if prepare_only:
       cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
 
-    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.model_runner.vision_input_names}
-    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.model_runner.vision_input_names}
+    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
+    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
     inputs:dict[str, np.ndarray] = {
       model.desire_key: vec_desire,
       'traffic_convention': traffic_convention,
     }
 
-    if "lateral_control_params" in model.numpy_inputs.keys():
+    if 'lateral_control_params' in model.npy:
       inputs['lateral_control_params'] = np.array([v_ego, lat_delay], dtype=np.float32)
 
     mt1 = time.perf_counter()
@@ -343,7 +427,7 @@ def main(demo=False):
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
-                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, load_meta_constants())
+                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, meta_constants)
 
       desire_state = modelv2_send.modelV2.meta.desireState
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
diff --git a/sunnypilot/modeld_v2/tests/conftest.py b/sunnypilot/modeld_v2/tests/conftest.py
new file mode 100644
index 00000000000000..89e2f2d4cce971
--- /dev/null
+++ b/sunnypilot/modeld_v2/tests/conftest.py
@@ -0,0 +1,204 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import pickle
+import pytest
+
+import openpilot.sunnypilot.models.helpers as helpers
+import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
+from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
+from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
+
+
+class DummyOverride:
+  def __init__(self, key, value):
+    self.key = key
+    self.value = value
+
+
+class DummyArtifact:
+  def __init__(self, file_name):
+    self.fileName = file_name
+
+
+class DummyModelType:
+  def __init__(self, raw):
+    self.raw = raw
+
+
+class DummyModel:
+  def __init__(self, type_str, artifact_file):
+    self.type = DummyModelType(type_str)
+    self.artifact = DummyArtifact(artifact_file)
+
+
+class DummyBundle:
+  def __init__(self, is_20hz=False, models=None, generation=10):
+    self.overrides = [DummyOverride('lat', '.1'), DummyOverride('long', '.3')]
+    self.generation = generation
+    self.is20hz = is_20hz
+    self.models = models or []
+
+
+class Archetype:
+  def __init__(self, name, metadata_structure, model_stubs, is_20hz,
+               expected_model_type, expected_constants_class, expected_parser_module,
+               expected_desire_key):
+    self.name = name
+    self.metadata_structure = metadata_structure
+    self.model_stubs = model_stubs
+    self.is_20hz = is_20hz
+    self.expected_model_type = expected_model_type
+    self.expected_constants_class = expected_constants_class
+    self.expected_parser_module = expected_parser_module
+    self.expected_desire_key = expected_desire_key
+
+
+def _noop_jit(**kwargs):
+  pass
+
+
+def _make_vision_policy_metadata(vision_input_shapes, policy_input_shapes,
+                                 vision_output_slices, policy_output_slices):
+  return {
+    'vision': {'input_shapes': vision_input_shapes, 'output_slices': vision_output_slices},
+    'policy': {'input_shapes': policy_input_shapes, 'output_slices': policy_output_slices},
+  }
+
+
+def _make_multi_policy_metadata(vision_input_shapes, policy_input_shapes,
+                                vision_output_slices, policy_output_slices):
+  return {
+    'vision': {'input_shapes': vision_input_shapes, 'output_slices': vision_output_slices},
+    'offPolicy': {'input_shapes': policy_input_shapes, 'output_slices': policy_output_slices},
+  }
+
+
+def _make_tri_policy_metadata(vision_input_shapes, policy_input_shapes,
+                              vision_output_slices, policy_output_slices):
+  return {
+    'vision': {'input_shapes': vision_input_shapes, 'output_slices': vision_output_slices},
+    'onPolicy': {'input_shapes': policy_input_shapes, 'output_slices': policy_output_slices},
+    'offPolicy': {'input_shapes': policy_input_shapes, 'output_slices': policy_output_slices},
+  }
+
+
+def _make_supercombo_metadata(input_shapes, output_slices):
+  return {'model': {'input_shapes': input_shapes, 'output_slices': output_slices}}
+
+
+SPLIT_VISION_INPUT_SHAPES = {'img': (1, 12, 128, 256), 'big_img': (1, 12, 128, 256)}
+SPLIT_POLICY_INPUT_SHAPES = {'features_buffer': (1, 25, 512), 'desire_pulse': (1, 25, 8), 'traffic_convention': (1, 2)}
+SPLIT_VISION_SLICES = {'hidden_state': slice(0, 512), 'pose': slice(512, 524)}
+SPLIT_POLICY_SLICES = {'plan': slice(0, 495), 'meta': slice(495, 550)}
+
+SUPERCOMBO_INPUT_SHAPES = {
+  'img': (1, 12, 128, 256), 'big_img': (1, 12, 128, 256),
+  'desire': (1, 100, 8), 'features_buffer': (1, 99, 512),
+  'lateral_control_params': (1, 2), 'prev_desired_curv': (1, 100, 1),
+  'traffic_convention': (1, 2),
+}
+SUPERCOMBO_SLICES = {'plan': slice(0, 495), 'hidden_state': slice(495, 1007), 'meta': slice(1007, 1062)}
+
+CAM_W, CAM_H = 1928, 1208
+
+ARCHETYPES = {
+  'vision_policy_split': Archetype(
+    name='vision_policy_split',
+    metadata_structure=_make_vision_policy_metadata(
+      SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES,
+      SPLIT_VISION_SLICES, SPLIT_POLICY_SLICES),
+    model_stubs=[DummyModel('vision', 'driving_test_tinygrad.pkl'),
+                 DummyModel('policy', 'driving_test_tinygrad.pkl')],
+    is_20hz=True,
+    expected_model_type='split',
+    expected_constants_class=SplitModelConstants,
+    expected_parser_module='parse_model_outputs_split',
+    expected_desire_key='desire',
+  ),
+  'vision_multi_policy': Archetype(
+    name='vision_multi_policy',
+    metadata_structure=_make_multi_policy_metadata(
+      SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES,
+      SPLIT_VISION_SLICES, SPLIT_POLICY_SLICES),
+    model_stubs=[DummyModel('vision', 'driving_test_tinygrad.pkl'),
+                 DummyModel('offPolicy', 'driving_test_tinygrad.pkl')],
+    is_20hz=True,
+    expected_model_type='multi_policy',
+    expected_constants_class=SplitModelConstants,
+    expected_parser_module='parse_model_outputs_split',
+    expected_desire_key='desire',
+  ),
+  'tri_policy': Archetype(
+    name='tri_policy',
+    metadata_structure=_make_tri_policy_metadata(
+      SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES,
+      SPLIT_VISION_SLICES, SPLIT_POLICY_SLICES),
+    model_stubs=[DummyModel('vision', 'driving_test_tinygrad.pkl'),
+                 DummyModel('onPolicy', 'driving_test_tinygrad.pkl'),
+                 DummyModel('offPolicy', 'driving_test_tinygrad.pkl')],
+    is_20hz=True,
+    expected_model_type='multi_policy',
+    expected_constants_class=SplitModelConstants,
+    expected_parser_module='parse_model_outputs_split',
+    expected_desire_key='desire',
+  ),
+  'supercombo_non20hz': Archetype(
+    name='supercombo_non20hz',
+    metadata_structure=_make_supercombo_metadata(SUPERCOMBO_INPUT_SHAPES, SUPERCOMBO_SLICES),
+    model_stubs=[DummyModel('supercombo', 'driving_test_tinygrad.pkl')],
+    is_20hz=False,
+    expected_model_type='supercombo',
+    expected_constants_class=ModelConstants,
+    expected_parser_module='parse_model_outputs',
+    expected_desire_key='desire',
+  ),
+}
+
+
+def make_pkl_data(archetype):
+  return {
+    'metadata': archetype.metadata_structure,
+    (CAM_W, CAM_H): {'run_policy': _noop_jit, 'warp_enqueue': _noop_jit},
+  }
+
+
+def write_pkl(tmp_path, archetype):
+  pkl_path = tmp_path / 'driving_test_tinygrad.pkl'
+  with open(pkl_path, 'wb') as f:
+    pickle.dump(make_pkl_data(archetype), f)
+  return pkl_path
+
+
+def make_bundle(archetype):
+  return DummyBundle(
+    models=archetype.model_stubs,
+    is_20hz=archetype.is_20hz,
+  )
+
+
+@pytest.fixture
+def patch_modeld(monkeypatch):
+  def _patch(bundle):
+    monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None: bundle, raising=False)
+    monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None: bundle, raising=False)
+
+  return _patch
+
+
+@pytest.fixture
+def model_state_factory(tmp_path, monkeypatch, patch_modeld):
+  from openpilot.system.hardware import hw
+
+  def _create(archetype):
+    write_pkl(tmp_path, archetype)
+    bundle = make_bundle(archetype)
+    patch_modeld(bundle)
+    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
+    return modeld_module.ModelState(cam_w=CAM_W, cam_h=CAM_H)
+
+  return _create
diff --git a/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py b/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py
deleted file mode 100644
index 15009c94d90f76..00000000000000
--- a/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py
+++ /dev/null
@@ -1,263 +0,0 @@
-import numpy as np
-import pytest
-from typing import Any
-
-import openpilot.sunnypilot.models.helpers as helpers
-import openpilot.sunnypilot.models.runners.helpers as runner_helpers
-import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
-
-ModelState = modeld_module.ModelState
-
-# These are the shapes extracted/loaded from the model onnx
-SHAPE_MODE_PARAMS = [
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "nav_features": (1, 256), "nav_instructions": (1, 150)}, 'non20hz'), # Optimus Prime
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "lat_planner_state": (1, 4),}, 'non20hz'), # farmville
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "lateral_control_params": (1, 2), "prev_desired_curv": (1, 100, 1)}, 'non20hz'), # wd40
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1), "lateral_control_params": (1, 2),}, 'non20hz'), # NTS
-  ({'desire': (1, 25, 8), 'features_buffer': (1, 24, 512)}, '20hz'), # NPR
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1), "lateral_control_params": (1, 2),}, 'non20hz'), # NTS
-  ({'desire': (1, 25, 8), 'features_buffer': (1, 25, 512)}, 'split'), # Steam Powered v2
-  ({'desire_pulse': (1, 25, 8), 'features_buffer': (1, 25, 512)}, 'split'), # desire rename
-]
-
-
-# This creates a dummy runner, override, and bundle instance for the tests to run, without actually trying to load a physical model.
-class DummyOverride:
-  def __init__(self, key: str, value: str) -> None:
-    self.key = key
-    self.value = value
-
-
-class DummyBundle:
-  def __init__(self) -> None:
-    self.overrides = [DummyOverride('lat', '.1'), DummyOverride('long', '.3')]
-    self.generation = 10  # default to non-mlsim for buffer-update tests, as raising to 11 here will zero curvature buffer
-
-
-class DummyModelRunner:
-  def __init__(self, input_shapes: dict[str, tuple[int, int, int]], constants: Any = None) -> None:
-    self.input_shapes = input_shapes
-    self.constants = constants or type('C', (), {
-      'FULL_HISTORY_BUFFER_LEN': 100,
-      'FEATURE_LEN': 512,
-      'DESIRE_LEN': 8,
-      'PREV_DESIRED_CURV_LEN': 1,
-      'INPUT_HISTORY_BUFFER_LEN': 25,
-      'TEMPORAL_SKIP': 4,
-    })()
-    self.vision_input_names: list[str] = []
-    shape = input_shapes.get('desire', (1, 0, 0)) # [batch, history, features]
-    if shape[1] == 25:
-      self.is_20hz = True
-    else:
-      self.is_20hz = False
-
-  # Minimal prepare/run methods so ModelState can be run without actually running the model
-  def prepare_inputs(self, numpy_inputs):
-    return None
-
-  def run_model(self):
-    return {
-      'hidden_state': np.zeros((1, self.constants.FEATURE_LEN), dtype=np.float32),
-      'desired_curvature': np.zeros((1, 1), dtype=np.float32),
-    }
-
-
-@pytest.fixture
-def shapes(request):
-  return request.param
-
-
-@pytest.fixture
-def bundle() -> DummyBundle:
-  return DummyBundle()
-
-
-@pytest.fixture
-def runner(shapes) -> DummyModelRunner:
-  return DummyModelRunner(shapes)
-
-
-@pytest.fixture
-def apply_patches(monkeypatch: pytest.MonkeyPatch, bundle: DummyBundle, runner: DummyModelRunner):
-  monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None: bundle, raising=False)
-  monkeypatch.setattr(runner_helpers, 'get_model_runner', lambda: runner, raising=False)
-  monkeypatch.setattr(modeld_module, 'get_model_runner', lambda: runner, raising=False)
-  monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None: bundle, raising=False)
-
-
-# These are expected shapes and indices based on the time the model was presented
-def get_expected_indices(shape, constants, mode, key=None):
-  if mode == 'split':
-    start = -1 - (constants.TEMPORAL_SKIP * (constants.INPUT_HISTORY_BUFFER_LEN - 1))
-    arr = np.arange(constants.FULL_HISTORY_BUFFER_LEN)
-    idxs = arr[start::constants.TEMPORAL_SKIP]
-    return idxs
-  elif mode == '20hz':
-    num_elements = shape[1]
-    step_size = int(-100 / num_elements)
-    idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
-    return idxs
-  elif mode == 'non20hz':
-    return np.arange(shape[1])
-  return None
-
-
-@pytest.mark.parametrize("shapes,mode", SHAPE_MODE_PARAMS, indirect=["shapes"])
-def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
-  state = ModelState()
-  constants = DummyModelRunner(shapes).constants
-  for key in shapes:
-    buf = state.temporal_buffers.get(key, None)
-    idxs = state.temporal_idxs_map.get(key, None)
-    if buf is None:
-      continue    # not all shapes are 3D, and the non-3D ones are not buffered
-    # Buffer shape logic
-    if mode == 'split':
-      expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
-      expected_idxs = get_expected_indices(shapes[key], constants, 'split', key)
-    elif mode == '20hz':
-      expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
-      expected_idxs = get_expected_indices(shapes[key], constants, '20hz', key)
-    elif mode == 'non20hz':
-      expected_shape = (1, shapes[key][1], shapes[key][2])
-      expected_idxs = get_expected_indices(shapes[key], constants, 'non20hz', key)
-
-    assert buf is not None, f"{key}: buffer not found"
-    assert buf.shape == expected_shape, f"{key}: buffer shape {buf.shape} != expected {expected_shape}"
-    if expected_idxs is not None:
-      assert np.all(idxs == expected_idxs), f"{key}: buffer idxs {idxs} != expected {expected_idxs}"
-    else:
-      assert idxs is None or idxs.size == 0, f"{key}: buffer idxs should be None or empty"
-
-
-def legacy_buffer_update(buf, new_val, mode, key, constants, idxs, input_shape, prev_desire=None):
-  # This is what we compare the new dynamic logic to, to ensure it does the same thing
-  if mode == 'split':
-    if key == 'desire' or key.startswith('desire'):
-      buf[0,:-1] = buf[0,1:]
-      buf[0,-1] = new_val
-      return buf.reshape((1, constants.INPUT_HISTORY_BUFFER_LEN, constants.TEMPORAL_SKIP, -1)).max(axis=2)
-    elif key == 'features_buffer':
-      buf[0,:-1] = buf[0,1:]
-      buf[0,-1] = new_val
-      return buf[0, idxs]
-    elif key == 'prev_desired_curv':
-      buf[0,:-1] = buf[0,1:]
-      buf[0,-1,:] = new_val
-      return buf[0, idxs]
-  elif mode == '20hz':
-    if key == 'desire':
-      buf[:-1] = buf[1:]
-      buf[-1] = new_val
-      reshape_dims = (1, buf.shape[1], -1, buf.shape[2])
-      reshaped = buf.reshape(reshape_dims).max(axis=2)
-      # Slice to last shape[1] elements to match model input shape
-      input_len = reshaped.shape[1]
-      model_input_len = 25  # For 20hz mode, desire shape[1] is 25
-      if input_len > model_input_len:
-        reshaped = reshaped[:, -model_input_len:, :]
-      return reshaped
-    elif key == 'features_buffer':
-      buffer_history_len = buf.shape[1]
-      legacy_buf = np.zeros((buffer_history_len, buf.shape[2]), dtype=np.float32)
-      legacy_buf[:] = buf[0]
-      legacy_buf[:-1] = legacy_buf[1:]
-      legacy_buf[-1] = new_val
-      return legacy_buf[idxs]
-    elif key == 'prev_desired_curv':
-      buffer_history_len = buf.shape[1]
-      legacy_buf = np.zeros((buffer_history_len, buf.shape[2]), dtype=np.float32)
-      legacy_buf[:] = buf[0]
-      legacy_buf[:-1] = legacy_buf[1:]
-      legacy_buf[-1,:] = new_val
-      return legacy_buf[idxs]
-  elif mode == 'non20hz':
-    if key == 'desire':
-      desire_len = constants.DESIRE_LEN
-      if prev_desire is None:
-        prev_desire = np.zeros(desire_len, dtype=np.float32)
-      # Set first element to zero
-      new_val = new_val.copy()
-      new_val[0] = 0
-      # Shift buffer by desire len
-      buf[0][:-desire_len] = buf[0][desire_len:]
-      # Only insert new desire if rising edge
-      buf[0][-desire_len:] = np.where(new_val - prev_desire > 0.99, new_val, 0)
-      prev_desire[:] = new_val
-      return buf[0]
-    elif key == 'features_buffer':
-      buf[0, :-1] = buf[0, 1:]
-      buf[0, -1] = new_val
-      return buf[0, -input_shape[1]:]  # (99, 512)
-    elif key == 'prev_desired_curv':
-      length = new_val.shape[0]
-      buf[0,:-length,0] = buf[0,length:,0]
-      buf[0,-length:,0] = new_val[:length]
-      return buf[0]
-  return None
-
-
-def dynamic_buffer_update(state, key, new_val, mode):
-  if key == 'desire' or key.startswith('desire'):
-    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
-              for k, v in state.model_runner.input_shapes.items() if k != key}
-    inputs[key] = new_val.copy()
-    # ModelState.run expects desire as a pulse, so we zero the first element.
-    inputs[key][0] = 0
-    state.run({}, {}, inputs, prepare_only=False)
-    return state.numpy_inputs[key]
-
-  if key == 'features_buffer':
-    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
-              for k, v in state.model_runner.input_shapes.items() if k != 'features_buffer'}
-    def run_model_stub():
-      return {
-        'hidden_state': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
-      }
-    state.model_runner.run_model = run_model_stub
-    state.run({}, {}, inputs, prepare_only=False)
-    return state.numpy_inputs['features_buffer'][0]
-
-  if key == 'prev_desired_curv':
-    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
-              for k, v in state.model_runner.input_shapes.items() if k != 'prev_desired_curv'}
-    def run_model_stub():
-      return {
-        'hidden_state': np.zeros((1, state.constants.FEATURE_LEN), dtype=np.float32),
-        'desired_curvature': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
-      }
-    state.model_runner.run_model = run_model_stub
-    state.run({}, {}, inputs, prepare_only=False)
-    return state.numpy_inputs['prev_desired_curv'][0]
-  return None
-
-
-@pytest.mark.parametrize("shapes,mode", SHAPE_MODE_PARAMS, indirect=["shapes"])
-@pytest.mark.parametrize("key", ["desire", "features_buffer", "prev_desired_curv"])
-def test_buffer_update_equivalence(shapes, mode, key, apply_patches):
-  state = ModelState()
-  if key == "desire":
-    desire_keys = [k for k in shapes.keys() if k.startswith('desire')]
-    if desire_keys:
-      actual_key = desire_keys[0]  # Use the first (and likely only) desire key
-  else:
-    actual_key = key
-
-  if actual_key not in state.numpy_inputs:
-    pytest.skip()
-
-  constants = DummyModelRunner(shapes).constants
-  buf = state.temporal_buffers.get(actual_key, None)
-  idxs = state.temporal_idxs_map.get(actual_key, None)
-  input_shape = shapes[actual_key]
-  prev_desire = np.zeros(constants.DESIRE_LEN, dtype=np.float32) if key == 'desire' else None
-
-  for step in range(20):    # multiple steps to ensure history is built up
-    new_val = np.full((input_shape[2],), step, dtype=np.float32)
-    expected = legacy_buffer_update(buf, new_val, mode, actual_key, constants, idxs, input_shape, prev_desire)
-    actual = dynamic_buffer_update(state, actual_key, new_val, mode)
-    if expected is not None and actual is not None and expected.shape != actual.shape:
-      if expected.ndim == 2 and actual.ndim == 2 and expected.shape[1] == actual.shape[1]:
-        expected = expected[-actual.shape[0]:]
-    assert np.allclose(actual, expected), f"{mode} {actual_key}: dynamic buffer update does not match legacy logic"
diff --git a/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py b/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
new file mode 100644
index 00000000000000..d4ef0d476ba375
--- /dev/null
+++ b/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
@@ -0,0 +1,263 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import pytest
+
+import openpilot.sunnypilot.models.helpers as helpers
+import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
+from openpilot.sunnypilot.modeld_v2.modeld import _find_driving_pkl
+from openpilot.sunnypilot.modeld_v2.tests.conftest import DummyModel, DummyBundle, ARCHETYPES, CAM_W, CAM_H, \
+  SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES
+
+ModelState = modeld_module.ModelState
+
+
+# Pkl discovery
+
+class TestFindDrivingPkl:
+  def test_returns_none_when_no_bundle(self):
+    assert _find_driving_pkl(None) is None
+
+  def test_returns_none_when_no_models(self):
+    bundle = DummyBundle(models=[])
+    assert _find_driving_pkl(bundle) is None
+
+  def test_returns_none_when_pkl_not_on_disk(self):
+    bundle = DummyBundle(models=[
+      DummyModel('vision', 'driving_fof_tinygrad.pkl'),
+      DummyModel('policy', 'driving_fof_tinygrad.pkl'),
+    ])
+    assert _find_driving_pkl(bundle) is None
+
+  def test_finds_pkl_by_artifact_name(self, tmp_path, monkeypatch):
+    (tmp_path / 'driving_fof_tinygrad.pkl').write_bytes(b'fake')
+    from openpilot.system.hardware import hw
+    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
+
+    bundle = DummyBundle(models=[
+      DummyModel('vision', 'driving_fof_tinygrad.pkl'),
+      DummyModel('policy', 'driving_fof_tinygrad.pkl'),
+    ])
+    result = _find_driving_pkl(bundle)
+    assert result is not None
+    assert 'driving_fof_tinygrad.pkl' in result
+
+  def test_finds_fallback_driving_tinygrad(self, tmp_path, monkeypatch):
+    (tmp_path / 'driving_tinygrad.pkl').write_bytes(b'fake')
+    from openpilot.system.hardware import hw
+    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
+
+    bundle = DummyBundle(models=[DummyModel('vision', 'nonexistent.pkl')])
+    result = _find_driving_pkl(bundle)
+    assert result is not None
+    assert 'driving_tinygrad.pkl' in result
+
+
+# Init — assertion guard
+
+class TestModelStateCombinedInit:
+  def test_asserts_when_no_pkl(self, monkeypatch):
+    bundle = DummyBundle(models=[], is_20hz=True)
+    monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None: bundle, raising=False)
+    monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None: bundle, raising=False)
+    with pytest.raises(AssertionError, match="No driving pkl found"):
+      ModelState(cam_w=CAM_W, cam_h=CAM_H)
+
+
+class TestStockEquivalence:
+
+  def test_split_queue_keys_match_stock(self, model_state_factory):
+    from openpilot.selfdrive.modeld.compile_modeld import make_input_queues
+    from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip
+
+    state = model_state_factory(ARCHETYPES['vision_policy_split'])
+
+    frame_skip = derive_frame_skip(SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES)
+    stock_queues, stock_npy = make_input_queues(SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES, frame_skip,
+                                                device='NPY')
+
+    # TODO-SP: remove action_t skip once SP adds prerequisite for deep models (action_t input queue)
+    skip_keys = {'action_t'}
+    assert set(state.input_queues.keys()) == set(stock_queues.keys()) - skip_keys, \
+      f"Queue keys differ: v2={set(state.input_queues.keys())}, stock={set(stock_queues.keys())}"
+    assert set(state.npy.keys()) == set(stock_npy.keys()) - skip_keys, \
+      f"Npy keys differ: v2={set(state.npy.keys())}, stock={set(stock_npy.keys())}"
+
+  def test_split_queue_keys_work_with_desire_key(self, model_state_factory):
+    from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
+
+    policy_shapes_desire = {'features_buffer': (1, 25, 512), 'desire': (1, 25, 8), 'traffic_convention': (1, 2)}
+    frame_skip = derive_frame_skip(SPLIT_VISION_INPUT_SHAPES, policy_shapes_desire)
+    queues, npy = make_split_input_queues(SPLIT_VISION_INPUT_SHAPES, policy_shapes_desire, frame_skip, device='NPY')
+
+    assert 'desire_q' in queues
+    assert 'desire' in npy
+    assert 'img_q' in queues
+    assert 'feat_q' in queues
+
+  def test_split_vision_input_names_match_stock(self, model_state_factory):
+    state = model_state_factory(ARCHETYPES['vision_policy_split'])
+    assert state.vision_input_names == ['img', 'big_img']
+
+  def test_split_output_slices_preserved(self, model_state_factory):
+    arch = ARCHETYPES['vision_policy_split']
+    state = model_state_factory(arch)
+    assert state.vision_output_slices == arch.metadata_structure['vision']['output_slices']
+    assert state.policy_output_slices == arch.metadata_structure['policy']['output_slices']
+
+
+ARCHETYPE_NAMES = list(ARCHETYPES.keys())
+
+
+class TestModelTypeDetection:
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_combined_model_type(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert state._combined_model_type == arch.expected_model_type, \
+      f"{arch.name}: got {state._combined_model_type}, expected {arch.expected_model_type}"
+
+
+class TestConstantsSelection:
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_constants_class(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert type(state.constants) is arch.expected_constants_class, \
+      f"{arch.name}: got {type(state.constants).__name__}, expected {arch.expected_constants_class.__name__}"
+
+
+class TestParserSelection:
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_parser_module(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    parser_module = type(state.parser).__module__
+    assert parser_module.endswith(arch.expected_parser_module), \
+      f"{arch.name}: parser from {parser_module}, expected module ending with {arch.expected_parser_module}"
+
+
+class TestDesireKeyDetection:
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_desire_key(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert state.desire_key == arch.expected_desire_key, \
+      f"{arch.name}: got {state.desire_key}, expected {arch.expected_desire_key}"
+
+
+class TestVisionInputNames:
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_vision_names_contain_img(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert len(state.vision_input_names) >= 1
+    for name in state.vision_input_names:
+      assert 'img' in name, f"{arch.name}: vision input name '{name}' missing 'img'"
+
+
+class TestOutputSlices:
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_vision_slices_populated(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert len(state.vision_output_slices) > 0, f"{arch.name}: vision_output_slices empty"
+
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_policy_slices_match_type(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    if arch.expected_model_type == 'supercombo':
+      assert state.policy_output_slices == {}, f"{arch.name}: supercombo should have empty policy slices"
+    else:
+      assert len(state.policy_output_slices) > 0, f"{arch.name}: split/multi should have policy slices"
+
+
+class TestInputQueueCreation:
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_queues_not_empty(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert len(state.input_queues) > 0, f"{arch.name}: input_queues empty"
+
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_npy_contains_transforms(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert 'tfm' in state.npy, f"{arch.name}: 'tfm' missing from npy"
+    assert 'big_tfm' in state.npy, f"{arch.name}: 'big_tfm' missing from npy"
+    assert state.npy['tfm'].shape == (3, 3)
+    assert state.npy['big_tfm'].shape == (3, 3)
+
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_npy_contains_desire(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert arch.expected_desire_key in state.npy, \
+      f"{arch.name}: '{arch.expected_desire_key}' missing from npy"
+
+
+class TestFrameBufferParams:
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_frame_buf_params_per_vision_input(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    for name in state.vision_input_names:
+      assert name in state.frame_buf_params, f"{arch.name}: frame_buf_params missing '{name}'"
+      nv12_info = state.frame_buf_params[name]
+      assert len(nv12_info) >= 4, f"{arch.name}: nv12_info for '{name}' too short"
+
+
+class TestBundleOverrides:
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_smoothing_params_from_overrides(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert state.LAT_SMOOTH_SECONDS == 0.1
+    assert state.LONG_SMOOTH_SECONDS == 0.3
+
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_generation_from_bundle(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert state.generation == 10
+
+
+class TestMlsimProperty:
+  def test_mlsim_false_for_gen10(self, model_state_factory):
+    state = model_state_factory(ARCHETYPES['supercombo_non20hz'])
+    assert state.mlsim is False
+
+  def test_mlsim_true_for_gen11(self, tmp_path, monkeypatch, patch_modeld):
+    from openpilot.system.hardware import hw
+    from openpilot.sunnypilot.modeld_v2.tests.conftest import write_pkl, ARCHETYPES as A
+
+    arch = A['supercombo_non20hz']
+    write_pkl(tmp_path, arch)
+    bundle = DummyBundle(models=arch.model_stubs, is_20hz=arch.is_20hz, generation=11)
+    patch_modeld(bundle)
+    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
+
+    state = ModelState(cam_w=CAM_W, cam_h=CAM_H)
+    assert state.mlsim is True
+
+
+class TestCrossArchetypeMismatch:
+  def test_wrong_is_20hz_changes_constants(self, tmp_path, monkeypatch, patch_modeld):
+    from openpilot.system.hardware import hw
+    from openpilot.sunnypilot.modeld_v2.tests.conftest import write_pkl
+    from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
+
+    arch = ARCHETYPES['vision_policy_split']
+    write_pkl(tmp_path, arch)
+    bundle = DummyBundle(models=arch.model_stubs, is_20hz=False)
+    patch_modeld(bundle)
+    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
+
+    state = ModelState(cam_w=CAM_W, cam_h=CAM_H)
+    assert type(state.constants) is ModelConstants, \
+      "Wrong is_20hz should produce wrong constants class"
diff --git a/sunnypilot/modeld_v2/tests/test_compile_modeld.py b/sunnypilot/modeld_v2/tests/test_compile_modeld.py
new file mode 100644
index 00000000000000..f4046785169578
--- /dev/null
+++ b/sunnypilot/modeld_v2/tests/test_compile_modeld.py
@@ -0,0 +1,161 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import numpy as np
+import pytest
+
+from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, _detect_desire_key
+
+
+class TestDeriveFrameSkip:
+  def test_non20hz_supercombo(self):
+    vision = {}
+    policy = {'features_buffer': (1, 99, 512), 'desire': (1, 100, 8)}
+    assert derive_frame_skip(vision, policy) == 1
+
+  def test_20hz_supercombo(self):
+    vision = {}
+    policy = {'features_buffer': (1, 24, 512), 'desire': (1, 25, 8)}
+    assert derive_frame_skip(vision, policy) == 4
+
+  def test_split_vision_policy(self):
+    vision = {'img': (1, 12, 128, 256)}
+    policy = {'features_buffer': (1, 25, 512), 'desire_pulse': (1, 25, 8)}
+    assert derive_frame_skip(vision, policy) == 4
+
+  def test_no_features_buffer(self):
+    assert derive_frame_skip({}, {}) == 1
+
+
+class TestFrameSkipBufferLengthEquivalence:
+  @pytest.mark.parametrize("frame_skip,expected_buffer_length", [
+    (1, 2),
+    (4, 5),
+  ])
+  def test_img_buffer_size_matches_warp_buffer_length(self, frame_skip, expected_buffer_length):
+    n_frames = 2
+    img_buf_dim0 = frame_skip * (n_frames - 1) + 1
+    assert img_buf_dim0 == expected_buffer_length, \
+      f"frame_skip={frame_skip}: img_buf[0]={img_buf_dim0}, expected {expected_buffer_length}"
+
+  @pytest.mark.parametrize("is_20hz,expected_frame_skip,expected_buffer_length", [
+    (False, 1, 2),
+    (True, 4, 5),
+  ])
+  def test_is_20hz_to_frame_skip_to_buffer_length(self, is_20hz, expected_frame_skip, expected_buffer_length):
+    if is_20hz:
+      policy_shapes = {'features_buffer': (1, 24, 512)}
+    else:
+      policy_shapes = {'features_buffer': (1, 99, 512)}
+    frame_skip = derive_frame_skip({}, policy_shapes)
+    assert frame_skip == expected_frame_skip
+
+    n_frames = 2
+    img_buf_dim0 = frame_skip * (n_frames - 1) + 1
+    assert img_buf_dim0 == expected_buffer_length
+
+
+class TestTemporalSamplingEquivalence:
+  def test_non20hz_desire_sampling_identity(self):
+    buf = np.random.randn(100, 1, 8).astype(np.float32)
+    frame_skip = 1
+    sampled = buf[::frame_skip].reshape(-1, 8)
+    assert sampled.shape == (100, 8)
+    np.testing.assert_array_equal(sampled, buf[:, 0, :])
+
+  def test_20hz_desire_sampling_max(self):
+    buf = np.zeros((100, 1, 8), dtype=np.float32)
+    buf[99, 0, 3] = 1.0
+    frame_skip = 4
+    reshaped = buf.reshape(-1, frame_skip, 1, 8).max(axis=1)
+    sampled = reshaped.reshape(-1, 8)
+    assert sampled.shape == (25, 8)
+    assert sampled[24, 3] == 1.0
+    assert sampled[23, 3] == 0.0
+
+  def test_split_features_buffer_sampling_skip(self):
+    buf = np.arange(100 * 512, dtype=np.float32).reshape(100, 1, 512)
+    frame_skip = 4
+    sampled = buf[::frame_skip].reshape(-1, 512)
+    assert sampled.shape == (25, 512)
+    np.testing.assert_array_equal(sampled[0], buf[0, 0])
+    np.testing.assert_array_equal(sampled[1], buf[4, 0])
+    np.testing.assert_array_equal(sampled[24], buf[96, 0])
+
+  def test_non20hz_features_buffer_sampling_identity(self):
+    buf = np.arange(99 * 512, dtype=np.float32).reshape(99, 1, 512)
+    frame_skip = 1
+    sampled = buf[::frame_skip].reshape(-1, 512)
+    assert sampled.shape == (99, 512)
+    np.testing.assert_array_equal(sampled, buf[:, 0, :])
+
+
+class TestTemporalIdxEquivalence:
+  @pytest.mark.parametrize("mode,desire_shape,fb_shape,frame_skip", [
+    ('non20hz', (1, 100, 8), (1, 99, 512), 1),
+    ('20hz', (1, 25, 8), (1, 24, 512), 4),
+    ('split', (1, 25, 8), (1, 25, 512), 4),
+  ])
+  def test_features_buffer_idx_equivalence(self, mode, desire_shape, fb_shape, frame_skip):
+    history = fb_shape[1]
+
+    if mode == 'non20hz':
+      modelstate_idxs = np.arange(history)
+      buf_len = history
+    elif mode == '20hz':
+      buf_len = (history + 1) * 4
+      step = int(-buf_len / history)
+      modelstate_idxs = np.arange(step, step * (history + 1), step)[::-1]
+    elif mode == 'split':
+      buf_len = history * 4
+      skip = buf_len // history
+      modelstate_idxs = np.arange(buf_len)[-1 - (skip * (history - 1))::skip]
+
+    assert len(modelstate_idxs) == fb_shape[1], \
+      f"{mode}: ModelState idx count {len(modelstate_idxs)} != input shape {fb_shape[1]}"
+
+  @pytest.mark.parametrize("mode,desire_shape,fb_shape,frame_skip", [
+    ('non20hz', (1, 100, 8), (1, 99, 512), 1),
+    ('20hz', (1, 25, 8), (1, 24, 512), 4),
+    ('split', (1, 25, 8), (1, 25, 512), 4),
+  ])
+  def test_desire_idx_equivalence(self, mode, desire_shape, fb_shape, frame_skip):
+    history = desire_shape[1]
+
+    compile_desire_buf_len = frame_skip * history if mode != 'non20hz' else history
+    compile_sampled_count = compile_desire_buf_len // frame_skip if frame_skip > 1 else compile_desire_buf_len
+    assert compile_sampled_count == history, \
+      f"{mode}: compile desire samples {compile_sampled_count} != model input {history}"
+
+
+class TestDetectDesireKey:
+  def test_finds_desire(self):
+    shapes = {'features_buffer': (1, 99, 512), 'desire': (1, 100, 8), 'traffic_convention': (1, 2)}
+    assert _detect_desire_key(shapes) == 'desire'
+
+  def test_finds_desire_pulse(self):
+    shapes = {'features_buffer': (1, 25, 512), 'desire_pulse': (1, 25, 8), 'traffic_convention': (1, 2)}
+    assert _detect_desire_key(shapes) == 'desire_pulse'
+
+  def test_returns_none_when_no_desire(self):
+    shapes = {'features_buffer': (1, 99, 512), 'traffic_convention': (1, 2)}
+    assert _detect_desire_key(shapes) is None
+
+
+class TestOutputSlicePreservation:
+  def test_vision_hidden_state_slice_used_for_features(self):
+    mock_slices = {'hidden_state': slice(0, 512), 'plan': slice(512, 1024)}
+    features_slice = mock_slices['hidden_state']
+    fake_output = np.random.randn(1, 1024).astype(np.float32)
+    features = fake_output[:, features_slice]
+    assert features.shape == (1, 512)
+
+  def test_policy_output_slices_independent(self):
+    vision_slices = {'hidden_state': slice(0, 512)}
+    policy_slices = {'plan': slice(0, 495), 'meta': slice(495, 550)}
+    assert set(vision_slices.keys()) & set(policy_slices.keys()) == set(), \
+      "vision and policy slices should not overlap in keys"
diff --git a/sunnypilot/modeld_v2/tests/test_warp.py b/sunnypilot/modeld_v2/tests/test_warp.py
index daf0dd528c45fa..49dc634a4dc9fa 100644
--- a/sunnypilot/modeld_v2/tests/test_warp.py
+++ b/sunnypilot/modeld_v2/tests/test_warp.py
@@ -2,7 +2,8 @@
 os.environ['DEV'] = 'CPU'
 import pytest
 import numpy as np
-from openpilot.selfdrive.modeld.compile_warp import get_nv12_info, CAMERA_CONFIGS
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+from openpilot.sunnypilot.modeld_v2.warp import CAMERA_CONFIGS
 from openpilot.sunnypilot.modeld_v2.warp import Warp, MODEL_W, MODEL_H
 
 VISION_NAME_PAIRS = [  # needed to account for supercombos input_imgs
diff --git a/sunnypilot/modeld_v2/warp.py b/sunnypilot/modeld_v2/warp.py
index fd8be46837d342..f91e456c00d262 100644
--- a/sunnypilot/modeld_v2/warp.py
+++ b/sunnypilot/modeld_v2/warp.py
@@ -7,10 +7,43 @@
 from tinygrad.device import Device
 
 from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-from openpilot.selfdrive.modeld.compile_warp import (
-  CAMERA_CONFIGS, MEDMODEL_INPUT_SIZE, make_frame_prepare, make_update_both_imgs,
-  warp_pkl_path,
-)
+from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, make_frame_prepare as _make_frame_prepare
+
+CAMERA_CONFIGS = [
+  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+  (_os_fisheye.width, _os_fisheye.height),
+]
+
+
+def make_frame_prepare(cam_w, cam_h, model_w, model_h):
+  nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+  return _make_frame_prepare(nv12, model_w, model_h)
+
+
+def warp_pkl_path(w, h):
+  from openpilot.selfdrive.modeld.helpers import MODELS_DIR
+  return MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
+
+
+def make_update_img_input(frame_prepare, model_w, model_h):
+  def update_img_input_tinygrad(tensor, frame, M_inv):
+    M_inv = M_inv.to(Device.DEFAULT)
+    new_img = frame_prepare(frame, M_inv)
+    tensor.assign(tensor[6:].cat(new_img, dim=0).contiguous())
+    return Tensor.cat(tensor[:6], tensor[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
+  return update_img_input_tinygrad
+
+
+def make_update_both_imgs(frame_prepare, model_w, model_h):
+  update_img = make_update_img_input(frame_prepare, model_w, model_h)
+  def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
+                                calib_big_img_buffer, new_big_img, M_inv_big):
+    calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
+    calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
+    return calib_img_pair, calib_big_img_pair
+  return update_both_imgs_tinygrad
 
 MODELS_DIR = Path(__file__).parent / 'models'
 MODEL_W, MODEL_H = MEDMODEL_INPUT_SIZE
@@ -58,7 +91,17 @@ def compile_v2_warp(cam_w, cam_h, buffer_length):
   print(f"  Saved to {pkl_path}")
 
   jit = pickle.load(open(pkl_path, "rb"))
-  jit(*inputs)
+  verify_frame = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
+  verify_big_frame = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
+  fresh_inputs = [
+    Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize(),
+    Tensor.from_blob(verify_frame.ctypes.data, (yuv_size,), dtype='uint8').realize(),
+    Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY'),
+    Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize(),
+    Tensor.from_blob(verify_big_frame.ctypes.data, (yuv_size,), dtype='uint8').realize(),
+    Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY'),
+  ]
+  jit(*fresh_inputs)
 
 
 class Warp:
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 0b6853da8a4fcd..6484f2b4441827 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -110,13 +110,13 @@ def get(self) -> tuple[dict, bool]:
 
   def set(self, data: dict) -> None:
     """Updates the cache with new model data"""
-    self.params.put(self._CACHE_KEY, data)
-    self.params.put(self._LAST_SYNC_KEY, int(time.monotonic() * 1e9))
+    self.params.put(self._CACHE_KEY, data, block=True)
+    self.params.put(self._LAST_SYNC_KEY, int(time.monotonic() * 1e9), block=True)
 
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v16.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v17.json"
 
   def __init__(self, params: Params):
     self.params = params
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index 56270803193623..c9344f54efb5b4 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -6,7 +6,6 @@
 """
 
 import hashlib
-import os
 import pickle
 import numpy as np
 
@@ -28,16 +27,12 @@
 
 
 async def verify_file(file_path: str, expected_hash: str) -> bool:
-  """Verifies file hash against expected hash"""
-  if not os.path.exists(file_path):
+  from openpilot.common.file_chunker import read_file_chunked
+  try:
+    data = read_file_chunked(file_path)
+  except FileNotFoundError:
     return False
-
-  sha256_hash = hashlib.sha256()
-  with open(file_path, "rb") as file:
-    for chunk in iter(lambda: file.read(4096), b""):
-      sha256_hash.update(chunk)
-
-  return sha256_hash.hexdigest().lower() == expected_hash.lower()
+  return hashlib.sha256(data).hexdigest().lower() == expected_hash.lower()
 
 
 def is_bundle_version_compatible(bundle: dict) -> bool:
@@ -75,32 +70,13 @@ def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundl
   return None
 
 
-def get_active_model_runner(params: Params = None, force_check=False) -> custom.ModelManagerSP.Runner:
-  """
-  Determines and returns the active model runner type, based on provided parameters.
-  The function utilizes caching to prevent redundant calculations and checks.
-
-  If the cached "ModelRunnerTypeCache" exists in the provided parameters and `force_check`
-  is set to False, the cached value is directly returned. Otherwise, the function determines
-  the runner type based on the active model bundle. If a model bundle containing a drive
-  model exists, the runner type is derived based on the filename of the drive model.
-  Finally, it updates the cache with the determined runner type, if needed.
-
-  :param params: The parameter set used to retrieve caching and runner details. If `None`,
-      a default `Params` instance is created internally.
-  :type params: Params
-  :param force_check: A flag indicating whether to bypass cached results and always
-      re-determine the runner type. Defaults to `False`.
-  :type force_check: bool
-  :return: The determined or cached model runner type.
-  :rtype: custom.ModelManagerSP.Runner
-  """
+def get_active_model_runner(params: Params = None, force_check=False) -> int:
   if params is None:
     params = Params()
 
-  if (cached_runner_type := params.get("ModelRunnerTypeCache")) and not force_check:
-    if isinstance(cached_runner_type, str) and cached_runner_type.isdigit():
-      return int(cached_runner_type)
+  cached_runner_type = params.get("ModelRunnerTypeCache")
+  if cached_runner_type is not None and not force_check:
+    return cached_runner_type
 
   runner_type = custom.ModelManagerSP.Runner.stock
 
@@ -108,7 +84,7 @@ def get_active_model_runner(params: Params = None, force_check=False) -> custom.
     runner_type = active_bundle.runner.raw
 
   if cached_runner_type != runner_type:
-    params.put("ModelRunnerTypeCache", int(runner_type))
+    params.put("ModelRunnerTypeCache", int(runner_type), block=True)
 
   return runner_type
 
diff --git a/sunnypilot/models/manager.py b/sunnypilot/models/manager.py
index 8fee0798b61cac..b5ccb736c1ac34 100644
--- a/sunnypilot/models/manager.py
+++ b/sunnypilot/models/manager.py
@@ -33,6 +33,17 @@ def __init__(self):
     self._chunk_size = 128 * 1000  # 128 KB chunks
     self._download_start_times: dict[str, float] = {}  # Track start time per model
 
+  def _sync_artifact_progress(self, source_artifact) -> None:
+    """Mirror download progress to all artifacts sharing the same filename in the selected bundle."""
+    if not self.selected_bundle:
+      return
+    for model in self.selected_bundle.models:
+      for artifact in (model.artifact, model.metadata):
+        if artifact is not source_artifact and artifact.fileName == source_artifact.fileName:
+          artifact.downloadProgress.status = source_artifact.downloadProgress.status
+          artifact.downloadProgress.progress = source_artifact.downloadProgress.progress
+          artifact.downloadProgress.eta = source_artifact.downloadProgress.eta
+
   def _calculate_eta(self, filename: str, progress: float) -> int:
     """Calculate ETA based on elapsed time and current progress"""
     if filename not in self._download_start_times or progress <= 0:
@@ -63,7 +74,7 @@ async def _download_file(self, url: str, path: str, model) -> None:
             f.write(chunk)
             bytes_downloaded += len(chunk)
 
-            if not self.params.get("ModelManager_DownloadIndex"):
+            if self.params.get("ModelManager_DownloadIndex") is None:
               raise Exception("Download cancelled")
 
             if total_size > 0:
@@ -71,13 +82,55 @@ async def _download_file(self, url: str, path: str, model) -> None:
               model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading
               model.downloadProgress.progress = progress
               model.downloadProgress.eta = self._calculate_eta(model.fileName, progress)
+              self._sync_artifact_progress(model)
               self._report_status()
 
         # Clean up start time after download completes
         del self._download_start_times[model.fileName]
 
+  async def _download_chunked(self, base_url: str, base_path: str, artifact) -> None:
+    from openpilot.common.file_chunker import get_manifest_path, get_chunk_name
+    manifest_url = get_manifest_path(base_url)
+    manifest_path = get_manifest_path(base_path)
+
+    async with aiohttp.ClientSession() as session:
+      async with session.get(manifest_url) as resp:
+        if resp.status == 404:
+          raise FileNotFoundError
+        resp.raise_for_status()
+        num_chunks = int((await resp.read()).strip())
+
+    self._download_start_times[artifact.fileName] = time.monotonic()
+
+    for i in range(num_chunks):
+      chunk_url = get_chunk_name(base_url, i, num_chunks)
+      chunk_path = get_chunk_name(base_path, i, num_chunks)
+      chunk_downloaded = 0
+      async with aiohttp.ClientSession() as session:
+        async with session.get(chunk_url) as response:
+          response.raise_for_status()
+          chunk_size = int(response.headers.get("content-length", 0))
+          with open(chunk_path, 'wb') as f:
+            async for data in response.content.iter_chunked(self._chunk_size):
+              f.write(data)
+              chunk_downloaded += len(data)
+              if self.params.get("ModelManager_DownloadIndex") is None:
+                raise Exception("Download cancelled")
+              intra = chunk_downloaded / max(chunk_size, 1)
+              progress = min(99, (i + intra) / num_chunks * 100)
+              artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading
+              artifact.downloadProgress.progress = progress
+              artifact.downloadProgress.eta = self._calculate_eta(artifact.fileName, progress)
+              self._sync_artifact_progress(artifact)
+              self._report_status()
+
+    with open(manifest_path, 'w') as f:
+      f.write(str(num_chunks))
+    if os.path.isfile(base_path):
+      os.remove(base_path)
+    del self._download_start_times[artifact.fileName]
+
   async def _process_artifact(self, artifact, destination_path: str) -> None:
-    """Processes a single model download including verification"""
     if not artifact.downloadUri.uri:
       return None
 
@@ -87,32 +140,38 @@ async def _process_artifact(self, artifact, destination_path: str) -> None:
     full_path = os.path.join(destination_path, filename)
 
     try:
-      # Check existing file
-      if os.path.exists(full_path) and await verify_file(full_path, expected_hash):
+      if await verify_file(full_path, expected_hash):
         artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
         artifact.downloadProgress.progress = 100
         artifact.downloadProgress.eta = 0
+        self._sync_artifact_progress(artifact)
         self._report_status()
         return
 
-      # Download and verify
-      await self._download_file(url, full_path, artifact)
+      try:
+        await self._download_chunked(url, full_path, artifact)
+      except (FileNotFoundError, aiohttp.ClientResponseError):
+        await self._download_file(url, full_path, artifact)
+
       if not await verify_file(full_path, expected_hash):
         raise ValueError(f"Hash validation failed for {filename}")
 
       artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloaded
+      artifact.downloadProgress.progress = 100
       artifact.downloadProgress.eta = 0
+      self._sync_artifact_progress(artifact)
       self._report_status()
 
     except Exception as e:
       cloudlog.error(f"Error downloading {filename}: {str(e)}")
-      if os.path.exists(full_path):
-        os.remove(full_path)
+      for f in [full_path] + [p for p in (os.path.join(destination_path, f) for f in os.listdir(destination_path)) if filename in p]:
+        if os.path.isfile(f):
+          os.remove(f)
       artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed
       artifact.downloadProgress.eta = 0
+      self._sync_artifact_progress(artifact)
       self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
       self._report_status()
-      # Clean up start time if it exists
       self._download_start_times.pop(artifact.fileName, None)
       raise
 
@@ -144,11 +203,22 @@ async def _download_bundle(self, model_bundle: custom.ModelManagerSP.ModelBundle
     os.makedirs(destination_path, exist_ok=True)
 
     try:
-      tasks = [self._process_model(model, destination_path) for model in self.selected_bundle.models]
-      await asyncio.gather(*tasks)
+      seen_artifacts: set[str] = set()
+      for model in self.selected_bundle.models:
+        for artifact in (model.metadata, model.artifact):
+          if not artifact.fileName:
+            continue
+          if artifact.fileName in seen_artifacts:
+            artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
+            artifact.downloadProgress.progress = 100
+            artifact.downloadProgress.eta = 0
+          else:
+            seen_artifacts.add(artifact.fileName)
+            await self._process_artifact(artifact, destination_path)
+
       self.active_bundle = self.selected_bundle
       self.active_bundle.status = custom.ModelManagerSP.DownloadStatus.downloaded
-      self.params.put("ModelManager_ActiveBundle", self.active_bundle.to_dict())
+      self.params.put("ModelManager_ActiveBundle", self.active_bundle.to_dict(), block=True)
       self.selected_bundle = None
 
     except Exception:
@@ -206,11 +276,12 @@ def clear_model_cache(self) -> None:
         if hasattr(model, 'metadata') and model.metadata.fileName:
           active_files.append(model.metadata.fileName)
 
-    # Remove all files except active ones
+    # Remove all files except active ones (including their chunk files)
     model_dir = Paths.model_root()
     try:
       for filename in os.listdir(model_dir):
-        if filename not in active_files:
+        base = filename.split('.chunk')[0] if '.chunk' in filename else filename
+        if base not in active_files and filename not in active_files:
           file_path = os.path.join(model_dir, filename)
           if os.path.isfile(file_path):
             os.remove(file_path)
diff --git a/sunnypilot/models/model_name.py b/sunnypilot/models/model_name.py
index 2d9c5497639fbb..02a6c2bac2e778 100644
--- a/sunnypilot/models/model_name.py
+++ b/sunnypilot/models/model_name.py
@@ -1 +1 @@
-DEFAULT_MODEL = "POP model"
+DEFAULT_MODEL = "CD210"
diff --git a/sunnypilot/models/tests/model_hash b/sunnypilot/models/tests/model_hash
index eaf923358cb15f..f363f8309aba20 100644
--- a/sunnypilot/models/tests/model_hash
+++ b/sunnypilot/models/tests/model_hash
@@ -1 +1 @@
-5d4d21f1899de21137f69d74a4602c44cc5a6b04cf4e4aa9d0ec9206f8c30350
\ No newline at end of file
+32f57bdc91f910df1f48ddae7c59aaf6e751f9df6756da481a210577dbce8bcf
\ No newline at end of file

From f02d134f40f5e7be22b182af21b438915a47600e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Wed, 3 Jun 2026 12:48:58 -0700
Subject: [PATCH 1162/1434] Op model16 deep (#38073)

* modeld: RL driving model with 3-file split

Split the driving model into vision + off_policy + on_policy ONNX
files and wire up the RL policy:

- 3-file model split (vision / off_policy / on_policy), replacing the
  combined big_driving_policy/vision models
- compiler updates for the split models
- actually consume the policy action in modeld
- add desire state to the driving model
- model iterations (smoothness, off/on-policy weight updates)

* modeld: update driving model

* 1e72cf5a-785f-45ea-888f-28cdb14785de/100

* tinygrad hack

* fix parsing

* looser timing

* big

* Remove unnecessary modeld rebase changes

* Tighten modeld split cleanup

---------

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Armandpl <adpl33@gmail.com>
---
 selfdrive/modeld/SConscript                        |  3 ++-
 selfdrive/modeld/compile_modeld.py                 |  8 ++++++--
 selfdrive/modeld/modeld.py                         | 13 +++++++++----
 .../modeld/models/big_driving_off_policy.onnx      |  3 +++
 selfdrive/modeld/models/big_driving_on_policy.onnx |  4 ++--
 selfdrive/modeld/models/big_driving_vision.onnx    |  4 ++--
 selfdrive/modeld/models/driving_off_policy.onnx    |  3 +++
 selfdrive/modeld/models/driving_on_policy.onnx     |  4 ++--
 selfdrive/modeld/models/driving_vision.onnx        |  4 ++--
 selfdrive/modeld/parse_model_outputs.py            | 14 ++++++++++----
 selfdrive/test/process_replay/model_replay.py      |  2 +-
 system/hardware/tici/tests/test_power_draw.py      |  2 +-
 tinygrad_repo                                      |  2 +-
 13 files changed, 44 insertions(+), 22 deletions(-)
 create mode 100644 selfdrive/modeld/models/big_driving_off_policy.onnx
 create mode 100644 selfdrive/modeld/models/driving_off_policy.onnx

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 80a7df45157585..c13842115d8007 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -87,13 +87,14 @@ frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
 for usbgpu in [False, True] if USBGPU else [False]:
   target_pkl_path = File(modeld_pkl_path(usbgpu)).abspath
   file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('', tg_flags)
-  driving_onnx_deps = [p for m in [f'{file_prefix}driving_vision', f'{file_prefix}driving_on_policy']
+  driving_onnx_deps = [p for m in [f'{file_prefix}driving_vision', f'{file_prefix}driving_on_policy', f'{file_prefix}driving_off_policy']
                        for p in get_existing_chunks(File(f"models/{m}.onnx").abspath)]
   camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
   cmd = (f'{cmd_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
         f'--model-size {model_w}x{model_h} '
         f'--camera-resolutions {camera_res_args} '
         f'--vision-onnx {File(f"models/{file_prefix}driving_vision.onnx").abspath} '
+        f'--off-policy-onnx {File(f"models/{file_prefix}driving_off_policy.onnx").abspath} '
         f'--on-policy-onnx {File(f"models/{file_prefix}driving_on_policy.onnx").abspath} '
         f'--output {target_pkl_path} --frame-skip {frame_skip}')
   onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index a7298705ef45b5..8d6058f39df5b2 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -206,8 +206,8 @@ def run_policy(img, big_img, feat_q, desire_q, desire, traffic_convention, actio
       'action_t': action_t,
     }
     on_policy_out = next(iter(model_runners['on_policy'](inputs).values())).cast('float32')
-    #off_policy_out = next(iter(off_policy_runner(inputs).values())).cast('float32')
-    return vision_out, on_policy_out
+    off_policy_out = next(iter(model_runners['off_policy'](inputs).values())).cast('float32')
+    return vision_out, on_policy_out, off_policy_out
   return run_policy
 
 
@@ -278,6 +278,7 @@ def read_file_chunked_to_shm(path):
   p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True,
                  help='camera resolutions WxH (one or more)')
   p.add_argument('--vision-onnx', required=True)
+  p.add_argument('--off-policy-onnx', required=True)
   p.add_argument('--on-policy-onnx', required=True)
   p.add_argument('--output', required=True)
   p.add_argument('--frame-skip', type=int, required=True)
@@ -285,6 +286,7 @@ def read_file_chunked_to_shm(path):
 
   model_paths = {
     'vision': read_file_chunked_to_shm(args.vision_onnx),
+    'off_policy': read_file_chunked_to_shm(args.off_policy_onnx),
     'on_policy': read_file_chunked_to_shm(args.on_policy_onnx),
   }
   model_w, model_h = args.model_size
@@ -292,6 +294,8 @@ def read_file_chunked_to_shm(path):
   model_runners = {name: OnnxRunner(path) for name, path in model_paths.items()}
   out = {'metadata': {name: make_metadata_dict(path) for name, path in model_paths.items()}}
 
+  assert out['metadata']['off_policy']['input_shapes'] == out['metadata']['on_policy']['input_shapes']
+
   run_policy_jit = TinyJit(make_run_policy(model_runners, out['metadata'], args.frame_skip), prune=True)
 
   make_policy_queues = partial(make_input_queues, out['metadata']['vision']['input_shapes'],
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 682633b02f6bd8..338f26b598c0b5 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -84,6 +84,9 @@ def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
     self.vision_input_names = list(self.vision_input_shapes.keys())
     self.vision_output_slices = vision_metadata['output_slices']
 
+    off_policy_metadata = jits['metadata']['off_policy']
+    self.off_policy_output_slices = off_policy_metadata['output_slices']
+
     policy_metadata = jits['metadata']['on_policy']
     self.policy_input_shapes = policy_metadata['input_shapes']
     self.policy_output_slices = policy_metadata['output_slices']
@@ -128,18 +131,20 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
     if prepare_only:
       return None
 
-    vision_output, on_policy_output = self.run_policy(
-      **{k: self.input_queues[k] for k in POLICY_INPUTS}, img=img, big_img=big_img
+    vision_output, on_policy_output, off_policy_output = self.run_policy(
+      **{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, img=img, big_img=big_img
     )
 
     vision_output = vision_output.numpy().flatten()
+    off_policy_output = off_policy_output.numpy().flatten()
     on_policy_output = on_policy_output.numpy().flatten()
     vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(vision_output, self.vision_output_slices))
+    off_policy_outputs_dict = self.parser.parse_off_policy_outputs(self.slice_outputs(off_policy_output, self.off_policy_output_slices))
     policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(on_policy_output, self.policy_output_slices))
-    combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
+    combined_outputs_dict = {**vision_outputs_dict, **off_policy_outputs_dict, **policy_outputs_dict}
 
     if SEND_RAW_PRED:
-      combined_outputs_dict['raw_pred'] = np.concatenate([vision_output.copy(), on_policy_output.copy()])
+      combined_outputs_dict['raw_pred'] = np.concatenate([vision_output.copy(), on_policy_output.copy(), off_policy_output.copy()])
     return combined_outputs_dict
 
 
diff --git a/selfdrive/modeld/models/big_driving_off_policy.onnx b/selfdrive/modeld/models/big_driving_off_policy.onnx
new file mode 100644
index 00000000000000..715f9f9c99e748
--- /dev/null
+++ b/selfdrive/modeld/models/big_driving_off_policy.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a26866121d1d3a1152bfce024ed7584b8569507d120d4bc8917320093dcd31a
+size 41191256
diff --git a/selfdrive/modeld/models/big_driving_on_policy.onnx b/selfdrive/modeld/models/big_driving_on_policy.onnx
index f7b49c018a3009..6011d4be222632 100644
--- a/selfdrive/modeld/models/big_driving_on_policy.onnx
+++ b/selfdrive/modeld/models/big_driving_on_policy.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:565e53c38dcd64c50dd3fe4d5ee1530213aeefd66c3f6b67ea6a72a32612a6bf
-size 14061419
+oid sha256:94b07ef7a0f65d5c41ac696b4ae7bdc59e2d4c5f504460e2b0d720620892c2e8
+size 33679037
diff --git a/selfdrive/modeld/models/big_driving_vision.onnx b/selfdrive/modeld/models/big_driving_vision.onnx
index d14f1969e0cca2..bfebd4f7a64a41 100644
--- a/selfdrive/modeld/models/big_driving_vision.onnx
+++ b/selfdrive/modeld/models/big_driving_vision.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1f0cab5033fe9e3bc5e174a2e790fa277f7d9fc44c65822d734064d2f899a9a0
-size 296203378
+oid sha256:eda005282417ffa825092ece5c16b5584142044cdbcf15b6d0246136ac6db601
+size 120584466
diff --git a/selfdrive/modeld/models/driving_off_policy.onnx b/selfdrive/modeld/models/driving_off_policy.onnx
new file mode 100644
index 00000000000000..673f7949f81ef0
--- /dev/null
+++ b/selfdrive/modeld/models/driving_off_policy.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6173be8a69b1d9633a09969c80b2a8bd990bfe7d3e76e192a0e537f6fd72222b
+size 41192485
diff --git a/selfdrive/modeld/models/driving_on_policy.onnx b/selfdrive/modeld/models/driving_on_policy.onnx
index 611ae9fe85f837..dc9f587949be74 100644
--- a/selfdrive/modeld/models/driving_on_policy.onnx
+++ b/selfdrive/modeld/models/driving_on_policy.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:78477124cbf3ffe30fa951ebada8410b43c4242c6054584d656f1d329b067e15
-size 14060847
+oid sha256:6b66ef783af3fa86190e85a6b4f729cd1443b20be41134aa258f9c376825a45c
+size 33680163
diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx
index 6c9fc4c84d3632..6bfff25c21e1fb 100644
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ b/selfdrive/modeld/models/driving_vision.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ee29ee5bce84d1ce23e9ff381280de9b4e4d96d2934cd751740354884e112c66
-size 46877473
+oid sha256:bbd0761201b3b161587d097f173c66bf82cd02966e5f0d1edd888c970d6f6d87
+size 21735970
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index 26c138b8eccb42..3b35c15acb9305 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -96,11 +96,17 @@ def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndar
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
+    self.parse_binary_crossentropy('meta', outs)
     self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
     self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
     self.parse_binary_crossentropy('lane_lines_prob', outs)
-    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
-    self.parse_binary_crossentropy('meta', outs)
+    return outs
+
+  def parse_off_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    plan_mhp = self.is_mhp(outs, 'plan',  ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
+    plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
+    self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
     self.parse_binary_crossentropy('lead_prob', outs)
     lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH)
     lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
@@ -110,11 +116,11 @@ def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndar
     return outs
 
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    self.parse_mdn('plan', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
-    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
+    self.parse_mdn('action', outs, in_N=0, out_N=0, out_shape=(ModelConstants.ACTION_WIDTH,))
     return outs
 
   def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     outs = self.parse_vision_outputs(outs)
+    outs = self.parse_off_policy_outputs(outs)
     outs = self.parse_policy_outputs(outs)
     return outs
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 266f66aaf24856..25ee6ac8d18fa4 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -34,7 +34,7 @@
 
 EXEC_TIMINGS = [
   # model, instant max, average max
-  ("modelV2", 0.05, 0.028),
+  ("modelV2", 0.05, 0.032),
   ("driverStateV2", 0.05, 0.018),
 ]
 
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index 6656addf73bb53..2de2efe2d81e3a 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -32,7 +32,7 @@ def name(self):
 
 PROCS = [
   Proc(['camerad'], 1.65, atol=0.4, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
-  Proc(['modeld'], 1.5, atol=0.2, msgs=['modelV2']),
+  Proc(['modeld'], 1.8, atol=0.2, msgs=['modelV2']),
   Proc(['dmonitoringmodeld'], 0.65, atol=0.35, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),
 ]
diff --git a/tinygrad_repo b/tinygrad_repo
index 556defa0f78ed1..fd992d668400de 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 556defa0f78ed10b6ce675a2fa15a1c2521b5e93
+Subproject commit fd992d668400ded1b0114f0a741fc37214fbc4a4

From 094591793aba4aa0afaf4d0701962fbfacde00d9 Mon Sep 17 00:00:00 2001
From: brian <blittle65@gmail.com>
Date: Wed, 3 Jun 2026 19:25:39 -0400
Subject: [PATCH 1163/1434] A valid livePose should not carry a timestamp
 produced from uninitialized Kalman filter time (#38124)

* locationd: require finite filter time for valid livePose

* cast to bool and rename
---
 selfdrive/locationd/locationd.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/locationd/locationd.py b/selfdrive/locationd/locationd.py
index 57aecb22e73fdb..41b80a1c41e37a 100755
--- a/selfdrive/locationd/locationd.py
+++ b/selfdrive/locationd/locationd.py
@@ -206,9 +206,11 @@ def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader) -> H
       self._finite_check(t, new_x, new_P)
     return HandleLogResult.SUCCESS
 
-  def get_msg(self, sensors_valid: bool, inputs_valid: bool, filter_valid: bool):
+  def get_msg(self, sensors_valid: bool, inputs_valid: bool, filter_initialized: bool):
     state, cov = self.kf.x, self.kf.P
     std = np.sqrt(np.diag(cov))
+    filter_time_valid = bool(np.isfinite(self.kf.t))
+    filter_valid = filter_initialized and filter_time_valid
 
     orientation_ned, orientation_ned_std = state[States.NED_ORIENTATION], std[States.NED_ORIENTATION]
     velocity_device, velocity_device_std = state[States.DEVICE_VELOCITY], std[States.DEVICE_VELOCITY]

From c01b8be9682f54d7305c79ed7f2c8f2812bcc486 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Wed, 3 Jun 2026 19:35:51 -0700
Subject: [PATCH 1164/1434] set max cpu core frequency (#38132)

cap cpu core frequency
---
 system/hardware/tici/hardware.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 34c426d6e7a6fd..35bed557213531 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -313,6 +313,9 @@ def set_power_save(self, powersave_enabled):
         continue
       gov = 'ondemand' if powersave_enabled else 'performance'
       sudo_write(gov, f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor')
+      if not powersave_enabled:
+        # cap max core freq to 1689 Mhz
+        sudo_write('1689600', f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_max_freq')
 
     # *** IRQ config ***
 

From 900a896c63470f5f85b7dd3a70d9a91a245d8861 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Thu, 4 Jun 2026 03:24:27 +0000
Subject: [PATCH 1165/1434] lagd: higher min speed (#38133)

* Higher min vego

* Use CV

* Bump speed in simulated tests
---
 selfdrive/locationd/lagd.py           | 3 ++-
 selfdrive/locationd/test/test_lagd.py | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py
index e2026908c9e82e..2df3dc9ad97493 100755
--- a/selfdrive/locationd/lagd.py
+++ b/selfdrive/locationd/lagd.py
@@ -8,6 +8,7 @@
 import cereal.messaging as messaging
 from cereal import car, log
 from cereal.services import SERVICE_LIST
+from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.swaglog import cloudlog
@@ -19,7 +20,7 @@
 MOVING_WINDOW_SEC = 60.0
 MIN_OKAY_WINDOW_SEC = 25.0
 MIN_RECOVERY_BUFFER_SEC = 2.0
-MIN_VEGO = 15.0
+MIN_VEGO = 50.0 * CV.MPH_TO_MS
 MIN_ABS_YAW_RATE = 0.0
 MAX_YAW_RATE_SANITY_CHECK = 1.0
 MIN_NCC = 0.95
diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py
index 746f7ad4785f24..7e8d79a7de2a35 100644
--- a/selfdrive/locationd/test/test_lagd.py
+++ b/selfdrive/locationd/test/test_lagd.py
@@ -16,7 +16,7 @@
 DT = 0.05
 
 
-def process_messages(estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0):
+def process_messages(estimator, lag_frames, n_frames, vego=25.0, rejection_threshold=0.0):
   for i in range(n_frames):
     t = i * estimator.dt
     desired_la = np.cos(10 * t) * 0.3

From 268126f3761dccd276a158ac67951407381eba32 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Wed, 3 Jun 2026 23:32:32 -0700
Subject: [PATCH 1166/1434] usbgpu: pin modeld (#38123)

usbgpu: pin modeld to core 7
---
 selfdrive/modeld/modeld.py | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 338f26b598c0b5..49ea0d5cdf49f9 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -158,10 +158,7 @@ def main(demo=False):
   params.put_bool("UsbGpuPresent", _present)
   params.put_bool("UsbGpuCompiled", _compiled)
 
-  if not USBGPU:
-    # USB GPU currently saturates a core so can't do this yet,
-    # also need to move the aux USB interrupts for good timings
-    config_realtime_process(7, 54)
+  config_realtime_process(7, 54)
 
   # visionipc clients
   while True:

From 46b9253729193e47a8be99154bae41c35359a373 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 4 Jun 2026 22:10:20 -0400
Subject: [PATCH 1167/1434] ci: exclude ONNX models from publish output (#1853)

---
 .github/workflows/sunnypilot-build-prebuilt.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 79cb5e3d616234..977dc949725394 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -215,8 +215,8 @@ jobs:
             --exclude='**/SConstruct' \
             --exclude='**/SConscript' \
             --exclude='**/.venv/' \
-            --exclude='selfdrive/modeld/models/driving_vision.onnx' \
-            --exclude='selfdrive/modeld/models/driving_policy.onnx' \
+            --exclude='selfdrive/modeld/models/*.onnx*' \
+            --exclude='sunnypilot/modeld*/models/*.onnx*' \
             --exclude='third_party/*x86*' \
             --exclude='third_party/*Darwin*' \
             --delete-excluded \

From 14a00e0cc8759a42e86d7c620cfae1dfce61f59b Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Fri, 5 Jun 2026 20:32:30 -0700
Subject: [PATCH 1168/1434] Add latcontrol for curvature (#38141)

* undeprecate curvature

* use pid_log

* bump

* fix test

* bump

* bump

* fix

* tune saturation

* bump

* fix torque bar

* bump

* rm redundant

* reduce sesitivity

* pid

* bump

* reset opendbc

* preserve sorting

* bump opendbc
---
 cereal/deprecated.capnp                       | 12 ----
 cereal/log.capnp                              | 14 ++++-
 opendbc_repo                                  |  2 +-
 selfdrive/car/tests/test_models.py            |  2 +-
 selfdrive/controls/controlsd.py               | 16 +++--
 .../controls/lib/latcontrol_curvature.py      | 58 +++++++++++++++++++
 selfdrive/ui/mici/onroad/torque_bar.py        |  2 +-
 7 files changed, 86 insertions(+), 20 deletions(-)
 create mode 100644 selfdrive/controls/lib/latcontrol_curvature.py

diff --git a/cereal/deprecated.capnp b/cereal/deprecated.capnp
index 45ce25c6827e27..5e4b0b4de0ae24 100644
--- a/cereal/deprecated.capnp
+++ b/cereal/deprecated.capnp
@@ -760,18 +760,6 @@ struct LateralLQRState @0x9024e2d790c82ade {
   steeringAngleDesiredDeg @6 :Float32;
 }
 
-struct LateralCurvatureState @0xad9d8095c06f7c61 {
-  active @0 :Bool;
-  actualCurvature @1 :Float32;
-  desiredCurvature @2 :Float32;
-  error @3 :Float32;
-  p @4 :Float32;
-  i @5 :Float32;
-  f @6 :Float32;
-  output @7 :Float32;
-  saturated @8 :Bool;
-}
-
 struct LateralPlannerSolution @0x84caeca5a6b4acfe {
   x @0 :List(Float32);
   y @1 :List(Float32);
diff --git a/cereal/log.capnp b/cereal/log.capnp
index d12cd6cdc831ae..b7202dfcf7a36c 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -818,7 +818,7 @@ struct ControlsState @0x97ff69c53601abf1 {
     debugState @59 :LateralDebugState;
     torqueState @60 :LateralTorqueState;
 
-    curvatureStateDEPRECATED @65 :Deprecated.LateralCurvatureState;
+    curvatureState @65 :LateralCurvatureState;
     lqrStateDEPRECATED @55 :Deprecated.LateralLQRState;
     indiStateDEPRECATED @52 :Deprecated.LateralINDIState;
   }
@@ -867,6 +867,18 @@ struct ControlsState @0x97ff69c53601abf1 {
     saturated @3 :Bool;
   }
 
+  struct LateralCurvatureState @0xad9d8095c06f7c61 {
+    active @0 :Bool;
+    actualCurvature @1 :Float32;
+    desiredCurvature @2 :Float32;
+    error @3 :Float32;
+    p @4 :Float32;
+    i @5 :Float32;
+    f @6 :Float32;
+    output @7 :Float32;
+    saturated @8 :Bool;
+  }
+
   deprecated :group {
     vEgo @0 :Float32;
     vEgoRaw @32 :Float32;
diff --git a/opendbc_repo b/opendbc_repo
index 560b75d6bb5ba1..7343ffe79d4ce3 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 560b75d6bb5ba14dc594727e5cc7c7bbf0ed0f3c
+Subproject commit 7343ffe79d4ce3244cb0faead4cfbebc3ffc9d87
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 62ddadef8f7d3f..dd0826e513d51e 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -186,7 +186,7 @@ def test_car_params(self):
     # make sure car params are within a valid range
     self.assertGreater(self.CP.mass, 1)
 
-    if self.CP.steerControlType != SteerControlType.angle:
+    if self.CP.steerControlType not in (SteerControlType.angle, SteerControlType.curvature):
       tuning = self.CP.lateralTuning.which()
       if tuning == 'pid':
         self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index e1d9650d7243eb..cdd00f7234ca1e 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -15,6 +15,7 @@
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
+from openpilot.selfdrive.controls.lib.latcontrol_curvature import LatControlCurvature
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.modeld.modeld import LAT_SMOOTH_SECONDS
@@ -53,6 +54,8 @@ def __init__(self) -> None:
     self.LaC: LatControl
     if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
       self.LaC = LatControlAngle(self.CP, self.CI, DT_CTRL)
+    elif self.CP.steerControlType == car.CarParams.SteerControlType.curvature:
+      self.LaC = LatControlCurvature(self.CP, self.CI, DT_CTRL)
     elif self.CP.lateralTuning.which() == 'pid':
       self.LaC = LatControlPID(self.CP, self.CI, DT_CTRL)
     elif self.CP.lateralTuning.which() == 'torque':
@@ -124,11 +127,14 @@ def state_control(self):
     lat_delay = self.sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
 
     actuators.curvature = self.desired_curvature
-    steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
-                                                       self.steer_limited_by_safety, self.desired_curvature,
-                                                       curvature_limited, lat_delay)
+    steer, lateral_output, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
+                                                     self.steer_limited_by_safety, self.desired_curvature,
+                                                     curvature_limited, lat_delay)
     actuators.torque = float(steer)
-    actuators.steeringAngleDeg = float(steeringAngleDeg)
+    if self.CP.steerControlType == car.CarParams.SteerControlType.curvature:
+      actuators.curvature = float(lateral_output)
+    else:
+      actuators.steeringAngleDeg = float(lateral_output)
     # Ensure no NaNs/Infs
     for p in ACTUATOR_FIELDS:
       attr = getattr(actuators, p)
@@ -199,6 +205,8 @@ def publish(self, CC, lac_log):
     lat_tuning = self.CP.lateralTuning.which()
     if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
       cs.lateralControlState.angleState = lac_log
+    elif self.CP.steerControlType == car.CarParams.SteerControlType.curvature:
+      cs.lateralControlState.curvatureState = lac_log
     elif lat_tuning == 'pid':
       cs.lateralControlState.pidState = lac_log
     elif lat_tuning == 'torque':
diff --git a/selfdrive/controls/lib/latcontrol_curvature.py b/selfdrive/controls/lib/latcontrol_curvature.py
new file mode 100644
index 00000000000000..cd2d8e32841d2a
--- /dev/null
+++ b/selfdrive/controls/lib/latcontrol_curvature.py
@@ -0,0 +1,58 @@
+import math
+
+from cereal import log
+from openpilot.common.pid import PIDController
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl
+from openpilot.selfdrive.controls.lib.drive_helpers import MAX_CURVATURE
+
+CURVATURE_SATURATION_THRESHOLD = 1e-3  # 1/m
+
+
+class LatControlCurvature(LatControl):
+  def __init__(self, CP, CI, dt):
+    super().__init__(CP, CI, dt)
+    self.sat_check_min_speed = 5.
+    if CP.lateralTuning.which() == 'pid':
+      ct = CP.lateralTuning.pid
+      self.pid = PIDController((ct.kpBP, ct.kpV), (ct.kiBP, ct.kiV),
+                               pos_limit=MAX_CURVATURE, neg_limit=-MAX_CURVATURE, rate=1 / dt)
+      self.kf = ct.kf
+    else:
+      self.pid = None
+      self.kf = 1.
+
+  def reset(self):
+    super().reset()
+    if self.pid is not None:
+      self.pid.reset()
+
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay):
+    curvature_log = log.ControlsState.LateralCurvatureState.new_message()
+    actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+    error = desired_curvature - actual_curvature
+
+    if not active:
+      output_curvature = 0.0
+      curvature_log.active = False
+      if self.pid is not None:
+        self.pid.reset()
+    elif self.pid is None or CS.steeringPressed:
+      # no PID or override: feedforward only
+      if self.pid is not None:
+        self.pid.reset()
+      output_curvature = self.kf * desired_curvature
+      curvature_log.active = True
+    else:
+      output_curvature = self.pid.update(error, speed=CS.vEgo, feedforward=self.kf * desired_curvature)
+      curvature_log.p = float(self.pid.p)
+      curvature_log.i = float(self.pid.i)
+      curvature_log.f = float(self.pid.f)
+      curvature_log.active = True
+
+    curvature_log.error = float(error)
+    curvature_log.actualCurvature = float(actual_curvature)
+    curvature_log.desiredCurvature = float(desired_curvature)
+    curvature_log.output = float(output_curvature)
+    curvature_log.saturated = bool(self._check_saturation(abs(error) > CURVATURE_SATURATION_THRESHOLD, CS,
+                                                          False, curvature_limited))
+    return 0.0, float(output_curvature), curvature_log
diff --git a/selfdrive/ui/mici/onroad/torque_bar.py b/selfdrive/ui/mici/onroad/torque_bar.py
index 406e6ff712fcfb..6a1d12b6c49306 100644
--- a/selfdrive/ui/mici/onroad/torque_bar.py
+++ b/selfdrive/ui/mici/onroad/torque_bar.py
@@ -163,7 +163,7 @@ def _update_state(self):
       return
 
     # torque line
-    if ui_state.sm['controlsState'].lateralControlState.which() == 'angleState':
+    if ui_state.sm['controlsState'].lateralControlState.which() in ('angleState', 'curvatureState'):
       controls_state = ui_state.sm['controlsState']
       car_state = ui_state.sm['carState']
       live_parameters = ui_state.sm['liveParameters']

From bfd8d4868df6f46a18334e349d952bdd6ab996ff Mon Sep 17 00:00:00 2001
From: CommaKia <Zennytop@proton.me>
Date: Sat, 6 Jun 2026 16:32:58 +1000
Subject: [PATCH 1169/1434] cabana: fix "seperated" typo in findsignal
 placeholders (#38142)

---
 tools/cabana/tools/findsignal.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc
index b13189394275ff..d538d676b16260 100644
--- a/tools/cabana/tools/findsignal.cc
+++ b/tools/cabana/tools/findsignal.cc
@@ -98,9 +98,9 @@ FindSignalDlg::FindSignalDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags(
   message_group = new QGroupBox(tr("Messages"), this);
   QFormLayout *message_layout = new QFormLayout(message_group);
   message_layout->addRow(tr("Bus"), bus_edit = new QLineEdit());
-  bus_edit->setPlaceholderText(tr("comma-seperated values. Leave blank for all"));
+  bus_edit->setPlaceholderText(tr("comma-separated values. Leave blank for all"));
   message_layout->addRow(tr("Address"), address_edit = new QLineEdit());
-  address_edit->setPlaceholderText(tr("comma-seperated hex values. Leave blank for all"));
+  address_edit->setPlaceholderText(tr("comma-separated hex values. Leave blank for all"));
   QHBoxLayout *hlayout = new QHBoxLayout();
   hlayout->addWidget(first_time_edit = new QLineEdit("0"));
   hlayout->addWidget(new QLabel("-"));

From cc110d1eb1b5581a93d8b7d99805fd127de737de Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Sat, 6 Jun 2026 12:02:46 -0700
Subject: [PATCH 1170/1434] Add driverMonitoringEscalation for stock DM trigger
 (#38143)

* trigger dm

* rename

* ci

* opendbc bump
---
 opendbc_repo                    | 2 +-
 selfdrive/controls/controlsd.py | 3 +++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 7343ffe79d4ce3..e91d0199680b09 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 7343ffe79d4ce3244cb0faead4cfbebc3ffc9d87
+Subproject commit e91d0199680b096fcea94baf287f17cb852b7231
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index cdd00f7234ca1e..5e3817c298b55c 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -202,6 +202,9 @@ def publish(self, CC, lac_log):
     cs.forceDecel = bool((self.sm['driverMonitoringState'].alertLevel == log.DriverMonitoringState.AlertLevel.three) or
                          (self.sm['selfdriveState'].state == State.softDisabling))
 
+    # trigger the car's stock driver monitoring escalation
+    CC.driverMonitoringEscalation = cs.forceDecel
+
     lat_tuning = self.CP.lateralTuning.which()
     if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
       cs.lateralControlState.angleState = lac_log

From b0600a422548f421e6467b58fdd411f378e6ed72 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 7 Jun 2026 10:00:08 -0700
Subject: [PATCH 1171/1434] rm unused updated test

---
 selfdrive/test/test_updated.py | 295 ---------------------------------
 1 file changed, 295 deletions(-)
 delete mode 100644 selfdrive/test/test_updated.py

diff --git a/selfdrive/test/test_updated.py b/selfdrive/test/test_updated.py
deleted file mode 100644
index e4cc714b87c6a9..00000000000000
--- a/selfdrive/test/test_updated.py
+++ /dev/null
@@ -1,295 +0,0 @@
-import datetime
-import os
-import pytest
-import time
-import tempfile
-import shutil
-import signal
-import subprocess
-import random
-
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.params import Params
-
-
-@pytest.mark.tici
-class TestUpdated:
-
-  def setup_method(self):
-    self.updated_proc = None
-
-    self.tmp_dir = tempfile.TemporaryDirectory()
-    org_dir = os.path.join(self.tmp_dir.name, "commaai")
-
-    self.basedir = os.path.join(org_dir, "openpilot")
-    self.git_remote_dir = os.path.join(org_dir, "openpilot_remote")
-    self.staging_dir = os.path.join(org_dir, "safe_staging")
-    for d in [org_dir, self.basedir, self.git_remote_dir, self.staging_dir]:
-      os.mkdir(d)
-
-    self.neos_version = os.path.join(org_dir, "neos_version")
-    self.neosupdate_dir = os.path.join(org_dir, "neosupdate")
-    with open(self.neos_version, "w") as f:
-      v = subprocess.check_output(r"bash -c 'source launch_env.sh && echo $REQUIRED_NEOS_VERSION'",
-                                  cwd=BASEDIR, shell=True, encoding='utf8').strip()
-      f.write(v)
-
-    self.upper_dir = os.path.join(self.staging_dir, "upper")
-    self.merged_dir = os.path.join(self.staging_dir, "merged")
-    self.finalized_dir = os.path.join(self.staging_dir, "finalized")
-
-    # setup local submodule remotes
-    submodules = subprocess.check_output("git submodule --quiet foreach 'echo $name'",
-                                         shell=True, cwd=BASEDIR, encoding='utf8').split()
-    for s in submodules:
-      sub_path = os.path.join(org_dir, s.split("_repo")[0])
-      self._run(f"git clone {s} {sub_path}.git", cwd=BASEDIR)
-
-    # setup two git repos, a remote and one we'll run updated in
-    self._run([
-      f"git clone {BASEDIR} {self.git_remote_dir}",
-      f"git clone {self.git_remote_dir} {self.basedir}",
-      f"cd {self.basedir} && git submodule init && git submodule update",
-      f"cd {self.basedir} && scons cereal/ common/"
-    ])
-
-    self.params = Params(os.path.join(self.basedir, "persist/params"))
-    self.params.clear_all()
-    os.sync()
-
-  def teardown_method(self):
-    try:
-      if self.updated_proc is not None:
-        self.updated_proc.terminate()
-        self.updated_proc.wait(30)
-    except Exception as e:
-      print(e)
-    self.tmp_dir.cleanup()
-
-
-  # *** test helpers ***
-
-
-  def _run(self, cmd, cwd=None):
-    if not isinstance(cmd, list):
-      cmd = (cmd,)
-
-    for c in cmd:
-      subprocess.check_output(c, cwd=cwd, shell=True)
-
-  def _get_updated_proc(self):
-    os.environ["PYTHONPATH"] = self.basedir
-    os.environ["GIT_AUTHOR_NAME"] = "testy tester"
-    os.environ["GIT_COMMITTER_NAME"] = "testy tester"
-    os.environ["GIT_AUTHOR_EMAIL"] = "testy@tester.test"
-    os.environ["GIT_COMMITTER_EMAIL"] = "testy@tester.test"
-    os.environ["UPDATER_TEST_IP"] = "localhost"
-    os.environ["UPDATER_LOCK_FILE"] = os.path.join(self.tmp_dir.name, "updater.lock")
-    os.environ["UPDATER_STAGING_ROOT"] = self.staging_dir
-    os.environ["UPDATER_NEOS_VERSION"] = self.neos_version
-    os.environ["UPDATER_NEOSUPDATE_DIR"] = self.neosupdate_dir
-    updated_path = os.path.join(self.basedir, "system/updated.py")
-    return subprocess.Popen(updated_path, env=os.environ)
-
-  def _start_updater(self, offroad=True, nosleep=False):
-    self.params.put_bool("IsOffroad", offroad, block=True)
-    self.updated_proc = self._get_updated_proc()
-    if not nosleep:
-      time.sleep(1)
-
-  def _update_now(self):
-    self.updated_proc.send_signal(signal.SIGHUP)
-
-  # TODO: this should be implemented in params
-  def _read_param(self, key, timeout=1):
-    ret = None
-    start_time = time.monotonic()
-    while ret is None:
-      ret = self.params.get(key)
-      if time.monotonic() - start_time > timeout:
-        break
-      time.sleep(0.01)
-    return ret
-
-  def _wait_for_update(self, timeout=30, clear_param=False):
-    if clear_param:
-      self.params.remove("LastUpdateTime")
-
-    self._update_now()
-    t = self._read_param("LastUpdateTime", timeout=timeout)
-    if t is None:
-      raise Exception("timed out waiting for update to complete")
-
-  def _make_commit(self):
-    all_dirs, all_files = [], []
-    for root, dirs, files in os.walk(self.git_remote_dir):
-      if ".git" in root:
-        continue
-      for d in dirs:
-        all_dirs.append(os.path.join(root, d))
-      for f in files:
-        all_files.append(os.path.join(root, f))
-
-    # make a new dir and some new files
-    new_dir = os.path.join(self.git_remote_dir, "this_is_a_new_dir")
-    os.mkdir(new_dir)
-    for _ in range(random.randrange(5, 30)):
-      for d in (new_dir, random.choice(all_dirs)):
-        with tempfile.NamedTemporaryFile(dir=d, delete=False) as f:
-          f.write(os.urandom(random.randrange(1, 1000000)))
-
-    # modify some files
-    for f in random.sample(all_files, random.randrange(5, 50)):
-      with open(f, "w+") as ff:
-        txt = ff.readlines()
-        ff.seek(0)
-        for line in txt:
-          ff.write(line[::-1])
-
-    # remove some files
-    for f in random.sample(all_files, random.randrange(5, 50)):
-      os.remove(f)
-
-    # remove some dirs
-    for d in random.sample(all_dirs, random.randrange(1, 10)):
-      shutil.rmtree(d)
-
-    # commit the changes
-    self._run([
-      "git add -A",
-      "git commit -m 'an update'",
-    ], cwd=self.git_remote_dir)
-
-  def _check_update_state(self, update_available):
-    # make sure LastUpdateTime is recent
-    last_update_time = self._read_param("LastUpdateTime")
-    td = datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - last_update_time
-    assert td.total_seconds() < 10
-    self.params.remove("LastUpdateTime")
-
-    # wait a bit for the rest of the params to be written
-    time.sleep(0.1)
-
-    # check params
-    update = self._read_param("UpdateAvailable")
-    assert update == "1" == update_available, f"UpdateAvailable: {repr(update)}"
-    assert self._read_param("UpdateFailedCount") == 0
-
-    # TODO: check that the finalized update actually matches remote
-    # check the .overlay_init and .overlay_consistent flags
-    assert os.path.isfile(os.path.join(self.basedir, ".overlay_init"))
-    assert os.path.isfile(os.path.join(self.finalized_dir, ".overlay_consistent")) == update_available
-
-
-  # *** test cases ***
-
-
-  # Run updated for 100 cycles with no update
-  def test_no_update(self):
-    self._start_updater()
-    for _ in range(100):
-      self._wait_for_update(clear_param=True)
-      self._check_update_state(False)
-
-  # Let the updater run with no update for a cycle, then write an update
-  def test_update(self):
-    self._start_updater()
-
-    # run for a cycle with no update
-    self._wait_for_update(clear_param=True)
-    self._check_update_state(False)
-
-    # write an update to our remote
-    self._make_commit()
-
-    # run for a cycle to get the update
-    self._wait_for_update(timeout=60, clear_param=True)
-    self._check_update_state(True)
-
-    # run another cycle with no update
-    self._wait_for_update(clear_param=True)
-    self._check_update_state(True)
-
-  # Let the updater run for 10 cycles, and write an update every cycle
-  @pytest.mark.skip("need to make this faster")
-  def test_update_loop(self):
-    self._start_updater()
-
-    # run for a cycle with no update
-    self._wait_for_update(clear_param=True)
-    for _ in range(10):
-      time.sleep(0.5)
-      self._make_commit()
-      self._wait_for_update(timeout=90, clear_param=True)
-      self._check_update_state(True)
-
-  # Test overlay re-creation after tracking a new file in basedir's git
-  def test_overlay_reinit(self):
-    self._start_updater()
-
-    overlay_init_fn = os.path.join(self.basedir, ".overlay_init")
-
-    # run for a cycle with no update
-    self._wait_for_update(clear_param=True)
-    self.params.remove("LastUpdateTime")
-    first_mtime = os.path.getmtime(overlay_init_fn)
-
-    # touch a file in the basedir
-    self._run("touch new_file && git add new_file", cwd=self.basedir)
-
-    # run another cycle, should have a new mtime
-    self._wait_for_update(clear_param=True)
-    second_mtime = os.path.getmtime(overlay_init_fn)
-    assert first_mtime != second_mtime
-
-    # run another cycle, mtime should be same as last cycle
-    self._wait_for_update(clear_param=True)
-    new_mtime = os.path.getmtime(overlay_init_fn)
-    assert second_mtime == new_mtime
-
-  # Make sure updated exits if another instance is running
-  def test_multiple_instances(self):
-    # start updated and let it run for a cycle
-    self._start_updater()
-    time.sleep(1)
-    self._wait_for_update(clear_param=True)
-
-    # start another instance
-    second_updated = self._get_updated_proc()
-    ret_code = second_updated.wait(timeout=5)
-    assert ret_code is not None
-
-
-  # *** test cases with NEOS updates ***
-
-
-  # Run updated with no update, make sure it clears the old NEOS update
-  def test_clear_neos_cache(self):
-    # make the dir and some junk files
-    os.mkdir(self.neosupdate_dir)
-    for _ in range(15):
-      with tempfile.NamedTemporaryFile(dir=self.neosupdate_dir, delete=False) as f:
-        f.write(os.urandom(random.randrange(1, 1000000)))
-
-    self._start_updater()
-    self._wait_for_update(clear_param=True)
-    self._check_update_state(False)
-    assert not os.path.isdir(self.neosupdate_dir)
-
-  # Let the updater run with no update for a cycle, then write an update
-  @pytest.mark.skip("TODO: only runs on device")
-  def test_update_with_neos_update(self):
-    # bump the NEOS version and commit it
-    self._run([
-      "echo 'export REQUIRED_NEOS_VERSION=3' >> launch_env.sh",
-      "git -c user.name='testy' -c user.email='testy@tester.test' \
-       commit -am 'a neos update'",
-    ], cwd=self.git_remote_dir)
-
-    # run for a cycle to get the update
-    self._start_updater()
-    self._wait_for_update(timeout=60, clear_param=True)
-    self._check_update_state(True)
-
-    # TODO: more comprehensive check
-    assert os.path.isdir(self.neosupdate_dir)

From dfb21bd53e1b38be741f865bc5184b486024258b Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Sun, 7 Jun 2026 22:56:23 -0400
Subject: [PATCH 1172/1434] [bot] Update Python packages (#1859)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 docs/CARS.md | 236 ++++++++++++++++++++++++++-------------------------
 opendbc_repo |   2 +-
 uv.lock      | 168 ++++++++++++++++++------------------
 3 files changed, 205 insertions(+), 201 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 288d5b7a477477..c52707f4f3a0f2 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,24 +4,24 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 340 Supported Cars
+# 341 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
-|Acura|MDX 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
+|Acura|MDX 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
 |Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
-|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
-|Acura|TLX 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
+|Acura|RDX 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
+|Acura|TLX 2021-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
 |Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
@@ -33,7 +33,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|CUPRA[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -47,8 +47,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
 |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
-|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
+|Ford|Focus 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018-22">Buy Here</a></sub></details>|||
+|Ford|Focus Hybrid 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018-22">Buy Here</a></sub></details>|||
 |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
@@ -75,35 +75,35 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Accord 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
-|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
-|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
+|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
-|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
+|Honda|e 2020|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
 |Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
-|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
-|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
-|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
+|Honda|HR-V 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
+|Honda|Inspire 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
+|Honda|N-Box 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
-|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
+|Honda|Odyssey 2021-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
@@ -126,6 +126,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 6 (without HDA II) 2023-24|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (without HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
@@ -223,14 +224,14 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>12</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>12</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
@@ -238,35 +239,35 @@ A supported vehicle is one that just works when you install a comma device. All
 |Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
-|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Å koda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Å koda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Å koda[<sup>11</sup>](#footnotes)|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Å koda[<sup>11</sup>](#footnotes)|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Å koda[<sup>11</sup>](#footnotes)|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Å koda[<sup>11</sup>](#footnotes)|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Å koda[<sup>11</sup>](#footnotes)|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Å koda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Å koda[<sup>11</sup>](#footnotes)|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Å koda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Å koda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Å koda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Å koda[<sup>12</sup>](#footnotes)|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Å koda[<sup>12</sup>](#footnotes)|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Å koda[<sup>12</sup>](#footnotes)|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Å koda[<sup>12</sup>](#footnotes)|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Å koda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Å koda[<sup>12</sup>](#footnotes)|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Å koda Superb 2015-22">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
@@ -279,8 +280,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
@@ -312,60 +313,61 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen[<sup>11</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen[<sup>12</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
 <sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
 <sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
-<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
-<sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>11</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
-<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>14</sup>Some Å koda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
+<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>9</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
+<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>15</sup>Some Å koda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
diff --git a/opendbc_repo b/opendbc_repo
index 10e654bf216233..4ec5a35e2943dd 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 10e654bf216233e72660c7906574d66ed75b1a16
+Subproject commit 4ec5a35e2943dd4b73eb2c82632ad56167d7388c
diff --git a/uv.lock b/uv.lock
index dc51d2a45ef8bc..6af02b8c10fe94 100644
--- a/uv.lock
+++ b/uv.lock
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@@ -30,27 +30,29 @@ dependencies = [
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 ]
 
 [[package]]

From 066ba92e77fc06d8cd06ea96199757d77fae62ee Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Mon, 8 Jun 2026 05:07:59 +0200
Subject: [PATCH 1173/1434] modeld_v2: safe model validation (#1855)

* modeld_v2: safe model validation

* fix string

* numpy

* dumb

* god use full attribute names please

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/modeld_v2/compile_modeld.py        |  20 +-
 sunnypilot/modeld_v2/modeld.py                |  27 +--
 sunnypilot/modeld_v2/models/README.md         |  62 ------
 sunnypilot/modeld_v2/models/__init__.py       |   0
 sunnypilot/modeld_v2/tests/dmon_lag/repro.cc  | 101 ---------
 .../tests/test_combined_pkl_loader.py         |  24 +--
 sunnypilot/modeld_v2/tests/tf_test/build.sh   |   2 -
 sunnypilot/modeld_v2/tests/tf_test/main.cc    |  69 -------
 .../modeld_v2/tests/tf_test/pb_loader.py      |   8 -
 .../modeld_v2/tests/timing/benchmark.py       |  38 ----
 sunnypilot/models/helpers.py                  | 194 ++++++++++--------
 sunnypilot/models/manager.py                  |   7 +-
 12 files changed, 145 insertions(+), 407 deletions(-)
 delete mode 100644 sunnypilot/modeld_v2/models/README.md
 delete mode 100644 sunnypilot/modeld_v2/models/__init__.py
 delete mode 100644 sunnypilot/modeld_v2/tests/dmon_lag/repro.cc
 delete mode 100755 sunnypilot/modeld_v2/tests/tf_test/build.sh
 delete mode 100644 sunnypilot/modeld_v2/tests/tf_test/main.cc
 delete mode 100755 sunnypilot/modeld_v2/tests/tf_test/pb_loader.py
 delete mode 100755 sunnypilot/modeld_v2/tests/timing/benchmark.py

diff --git a/sunnypilot/modeld_v2/compile_modeld.py b/sunnypilot/modeld_v2/compile_modeld.py
index 387d3378e2d49b..9c8cdb2c0a6932 100755
--- a/sunnypilot/modeld_v2/compile_modeld.py
+++ b/sunnypilot/modeld_v2/compile_modeld.py
@@ -188,7 +188,7 @@ def make_supercombo_input_queues(input_shapes, frame_skip, device):
   n_frames = img_shape[1] // 6
   img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img_shape[2], img_shape[3])
 
-  npy_keys = {}
+  numpy_keys = {}
   queue_keys = {}
 
   for key, shape in input_shapes.items():
@@ -196,7 +196,7 @@ def make_supercombo_input_queues(input_shapes, frame_skip, device):
       continue
     if len(shape) == 3 and shape[1] > 1:
       if key.startswith('desire'):
-        npy_keys[key] = np.zeros(shape[2], dtype=np.float32)
+        numpy_keys[key] = np.zeros(shape[2], dtype=np.float32)
         queue_keys[f'{key}_q'] = Tensor(
           np.zeros((frame_skip * shape[1], shape[0], shape[2]), dtype=np.float32),
           device=device).contiguous().realize()
@@ -205,24 +205,24 @@ def make_supercombo_input_queues(input_shapes, frame_skip, device):
           np.zeros((frame_skip * (shape[1] - 1) + 1, shape[0], shape[2]), dtype=np.float32),
           device=device).contiguous().realize()
       else:
-        npy_keys[key] = np.zeros(shape, dtype=np.float32)
+        numpy_keys[key] = np.zeros(shape, dtype=np.float32)
     elif len(shape) == 2:
-      npy_keys[key] = np.zeros(shape, dtype=np.float32)
+      numpy_keys[key] = np.zeros(shape, dtype=np.float32)
 
-  if 'traffic_convention' not in npy_keys:
+  if 'traffic_convention' not in numpy_keys:
     tc_shape = input_shapes.get('traffic_convention', (1, 2))
-    npy_keys['traffic_convention'] = np.zeros(tc_shape, dtype=np.float32)
+    numpy_keys['traffic_convention'] = np.zeros(tc_shape, dtype=np.float32)
 
-  npy_keys['tfm'] = np.zeros((3, 3), dtype=np.float32)
-  npy_keys['big_tfm'] = np.zeros((3, 3), dtype=np.float32)
+  numpy_keys['tfm'] = np.zeros((3, 3), dtype=np.float32)
+  numpy_keys['big_tfm'] = np.zeros((3, 3), dtype=np.float32)
 
   input_queues = {
     'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
     'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
     **queue_keys,
-    **{k: Tensor(v, device='NPY').realize() for k, v in npy_keys.items()},
+    **{k: Tensor(v, device='NPY').realize() for k, v in numpy_keys.items()},
   }
-  return input_queues, npy_keys
+  return input_queues, numpy_keys
 
 
 def make_run_supercombo(model_runner, nv12: NV12Frame, model_w, model_h,
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index dfff2e6c22011c..b124e3645af5a3 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -62,11 +62,6 @@ def _find_driving_pkl(bundle):
   if _pkl_exists(pkl_path):
     return pkl_path
 
-  fallback = os.path.join(model_root, 'driving_tinygrad.pkl')
-  if _pkl_exists(fallback):
-    return fallback
-  return None
-
 
 class FrameMeta:
   frame_id: int = 0
@@ -125,7 +120,7 @@ def _init_combined(self, pkl_path, cam_w, cam_h, bundle):
       self._vision_input_names = [k for k in model_metadata['input_shapes'] if 'img' in k]
       from openpilot.sunnypilot.modeld_v2.compile_modeld import make_supercombo_input_queues
       frame_skip = derive_frame_skip({}, model_metadata['input_shapes'])
-      self.input_queues, self.npy = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.DEV)
+      self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.DEV)
     else:
       vision_metadata = metadata['vision']
       policy_keys = [k for k in metadata if k != 'vision']
@@ -143,7 +138,7 @@ def _init_combined(self, pkl_path, cam_w, cam_h, bundle):
       policy_input_shapes = first_policy_metadata['input_shapes']
       self._vision_input_names = [k for k in vision_input_shapes if 'img' in k]
       frame_skip = derive_frame_skip(vision_input_shapes, policy_input_shapes)
-      self.input_queues, self.npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.DEV)
+      self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.DEV)
 
     from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
     from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
@@ -183,7 +178,7 @@ def vision_input_names(self) -> list[str]:
 
   @property
   def desire_key(self) -> str:
-    return next(k for k in self.npy if k.startswith('desire'))
+    return next(k for k in self.numpy_inputs if k.startswith('desire'))
 
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
@@ -199,16 +194,16 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
 
     desire_key = self.desire_key
     inputs[desire_key][0] = 0
-    self.npy[desire_key][:] = np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
+    self.numpy_inputs[desire_key][:] = np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
     self.prev_desire[:] = inputs[desire_key]
     for key in ('traffic_convention', 'lateral_control_params'):
-      if key in self.npy and key in inputs:
-        self.npy[key][:] = inputs[key]
+      if key in self.numpy_inputs and key in inputs:
+        self.numpy_inputs[key][:] = inputs[key]
 
     road_key = next(n for n in bufs if 'big' not in n)
     wide_key = next(n for n in bufs if 'big' in n)
-    self.npy['tfm'][:, :] = transforms[road_key].reshape(3, 3)
-    self.npy['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
+    self.numpy_inputs['tfm'][:, :] = transforms[road_key].reshape(3, 3)
+    self.numpy_inputs['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
 
     if prepare_only:
       self._warp_enqueue(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
@@ -236,8 +231,8 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
       if 'planplus' in outputs and 'plan' in outputs:
         outputs['plan'] = outputs['plan'] + outputs['planplus']
 
-    if 'desired_curvature' in outputs and 'prev_desired_curv' in self.npy:
-      buf = self.npy['prev_desired_curv']
+    if 'desired_curvature' in outputs and 'prev_desired_curv' in self.numpy_inputs:
+      buf = self.numpy_inputs['prev_desired_curv']
       buf[0, :-1] = buf[0, 1:]
       buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0
 
@@ -409,7 +404,7 @@ def main(demo=False):
       'traffic_convention': traffic_convention,
     }
 
-    if 'lateral_control_params' in model.npy:
+    if 'lateral_control_params' in model.numpy_inputs:
       inputs['lateral_control_params'] = np.array([v_ego, lat_delay], dtype=np.float32)
 
     mt1 = time.perf_counter()
diff --git a/sunnypilot/modeld_v2/models/README.md b/sunnypilot/modeld_v2/models/README.md
deleted file mode 100644
index 9e11ca82550c52..00000000000000
--- a/sunnypilot/modeld_v2/models/README.md
+++ /dev/null
@@ -1,62 +0,0 @@
-## Neural networks in openpilot
-To view the architecture of the ONNX networks, you can use [netron](https://netron.app/)
-
-## Supercombo
-### Supercombo input format (Full size: 799906 x float32)
-* **image stream**
-  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
-    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
-      * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
-      * Channel 4 represents the half-res U channel
-      * Channel 5 represents the half-res V channel
-* **wide image stream**
-  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
-    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
-      * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
-      * Channel 4 represents the half-res U channel
-      * Channel 5 represents the half-res V channel
-* **desire**
-  * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8
-* **traffic convention**
-  * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
-* **feature buffer**
-  * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 512
-
-
-### Supercombo output format (Full size: XXX x float32)
-Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d093c29f738adf6a/selfdrive/modeld/models/driving.h#L236) for more.
-
-
-## Driver Monitoring Model
-* .onnx model can be run with onnx runtimes
-* .dlc file is a pre-quantized model and only runs on qualcomm DSPs
-
-### input format
-* single image W = 1440 H = 960 luminance channel (Y) from the planar YUV420 format:
-  * full input size is 1440 * 960 = 1382400
-  * normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner)
-* camera calibration angles (roll, pitch, yaw) from liveCalibration: 3 x float32 inputs
-
-### output format
-* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/selfdrive/modeld/models/dmonitoring.cc#L33))
-  * for each person in the front seats (2 * 41)
-    * face pose: 12 = 6 + 6
-      * face orientation [pitch, yaw, roll] in camera frame: 3
-      * face position [dx, dy] relative to image center: 2
-      * normalized face size: 1
-      * standard deviations for above outputs: 6
-    * face visible probability: 1
-    * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1
-      * eye position and size, and their standard deviations: 8
-      * eye visible probability: 1
-      * eye closed probability: 1
-    * wearing sunglasses probability: 1
-    * face occluded probability: 1
-    * touching wheel probability: 1
-    * paying attention probability: 1
-    * (deprecated) distracted probabilities: 2
-    * using phone probability: 1
-    * distracted probability: 1
-  * common outputs 2
-    * poor camera vision probability: 1
-    * left hand drive probability: 1
diff --git a/sunnypilot/modeld_v2/models/__init__.py b/sunnypilot/modeld_v2/models/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/sunnypilot/modeld_v2/tests/dmon_lag/repro.cc b/sunnypilot/modeld_v2/tests/dmon_lag/repro.cc
deleted file mode 100644
index c4c1c65cbe86a7..00000000000000
--- a/sunnypilot/modeld_v2/tests/dmon_lag/repro.cc
+++ /dev/null
@@ -1,101 +0,0 @@
-// clang++ -O2 repro.cc && ./a.out
-
-#include <sched.h>
-#include <sys/types.h>
-#include <unistd.h>
-
-#include <cstdint>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <ctime>
-
-static inline double millis_since_boot() {
-  struct timespec t;
-  clock_gettime(CLOCK_BOOTTIME, &t);
-  return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6;
-}
-
-#define MODEL_WIDTH 320
-#define MODEL_HEIGHT 640
-
-// null function still breaks it
-#define input_lambda(x) x
-
-// this is copied from models/dmonitoring.cc, and is the code that triggers the issue
-void inner(uint8_t *resized_buf, float *net_input_buf) {
-  int resized_width = MODEL_WIDTH;
-  int resized_height = MODEL_HEIGHT;
-
-  // one shot conversion, O(n) anyway
-  // yuvframe2tensor, normalize
-  for (int r = 0; r < MODEL_HEIGHT/2; r++) {
-    for (int c = 0; c < MODEL_WIDTH/2; c++) {
-      // Y_ul
-      net_input_buf[(c*MODEL_HEIGHT/2) + r] = input_lambda(resized_buf[(2*r*resized_width) + (2*c)]);
-      // Y_ur
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width) + (2*c+1)]);
-      // Y_dl
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + ((MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c)]);
-      // Y_dr
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c+1)]);
-      // U
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + (r*resized_width/2) + c]);
-      // V
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + ((resized_width/2)*(resized_height/2)) + (r*resized_width/2) + c]);
-    }
-  }
-}
-
-float trial() {
-  int resized_width = MODEL_WIDTH;
-  int resized_height = MODEL_HEIGHT;
-
-  int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
-
-  // allocate the buffers
-  uint8_t *resized_buf = (uint8_t*)malloc(resized_width*resized_height*3/2);
-  float *net_input_buf = (float*)malloc(yuv_buf_len*sizeof(float));
-  printf("allocate -- %p 0x%x -- %p 0x%lx\n", resized_buf, resized_width*resized_height*3/2, net_input_buf, yuv_buf_len*sizeof(float));
-
-  // test for bad buffers
-  static int CNT = 20;
-  float avg = 0.0;
-  for (int i = 0; i < CNT; i++) {
-    double s4 = millis_since_boot();
-    inner(resized_buf, net_input_buf);
-    double s5 = millis_since_boot();
-    avg += s5-s4;
-  }
-  avg /= CNT;
-
-  // once it's bad, it's reliably bad
-  if (avg > 10) {
-    printf("HIT %f\n", avg);
-    printf("BAD\n");
-
-    for (int i = 0; i < 200; i++) {
-      double s4 = millis_since_boot();
-      inner(resized_buf, net_input_buf);
-      double s5 = millis_since_boot();
-      printf("%.2f   ", s5-s4);
-    }
-    printf("\n");
-
-    exit(0);
-  }
-
-  // don't free so we get a different buffer each time
-  //free(resized_buf);
-  //free(net_input_buf);
-
-  return avg;
-}
-
-int main() {
-  while (true) {
-    float ret = trial();
-    printf("got %f\n", ret);
-  }
-}
-
diff --git a/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py b/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
index d4ef0d476ba375..38f6cd446b7bf4 100644
--- a/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
+++ b/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
@@ -46,16 +46,6 @@ def test_finds_pkl_by_artifact_name(self, tmp_path, monkeypatch):
     assert result is not None
     assert 'driving_fof_tinygrad.pkl' in result
 
-  def test_finds_fallback_driving_tinygrad(self, tmp_path, monkeypatch):
-    (tmp_path / 'driving_tinygrad.pkl').write_bytes(b'fake')
-    from openpilot.system.hardware import hw
-    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
-
-    bundle = DummyBundle(models=[DummyModel('vision', 'nonexistent.pkl')])
-    result = _find_driving_pkl(bundle)
-    assert result is not None
-    assert 'driving_tinygrad.pkl' in result
-
 
 # Init — assertion guard
 
@@ -84,8 +74,8 @@ def test_split_queue_keys_match_stock(self, model_state_factory):
     skip_keys = {'action_t'}
     assert set(state.input_queues.keys()) == set(stock_queues.keys()) - skip_keys, \
       f"Queue keys differ: v2={set(state.input_queues.keys())}, stock={set(stock_queues.keys())}"
-    assert set(state.npy.keys()) == set(stock_npy.keys()) - skip_keys, \
-      f"Npy keys differ: v2={set(state.npy.keys())}, stock={set(stock_npy.keys())}"
+    assert set(state.numpy_inputs.keys()) == set(stock_npy.keys()) - skip_keys, \
+      f"Npy keys differ: v2={set(state.numpy_inputs.keys())}, stock={set(stock_npy.keys())}"
 
   def test_split_queue_keys_work_with_desire_key(self, model_state_factory):
     from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
@@ -188,16 +178,16 @@ def test_queues_not_empty(self, archetype_name, model_state_factory):
   def test_npy_contains_transforms(self, archetype_name, model_state_factory):
     arch = ARCHETYPES[archetype_name]
     state = model_state_factory(arch)
-    assert 'tfm' in state.npy, f"{arch.name}: 'tfm' missing from npy"
-    assert 'big_tfm' in state.npy, f"{arch.name}: 'big_tfm' missing from npy"
-    assert state.npy['tfm'].shape == (3, 3)
-    assert state.npy['big_tfm'].shape == (3, 3)
+    assert 'tfm' in state.numpy_inputs, f"{arch.name}: 'tfm' missing from npy"
+    assert 'big_tfm' in state.numpy_inputs, f"{arch.name}: 'big_tfm' missing from npy"
+    assert state.numpy_inputs['tfm'].shape == (3, 3)
+    assert state.numpy_inputs['big_tfm'].shape == (3, 3)
 
   @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
   def test_npy_contains_desire(self, archetype_name, model_state_factory):
     arch = ARCHETYPES[archetype_name]
     state = model_state_factory(arch)
-    assert arch.expected_desire_key in state.npy, \
+    assert arch.expected_desire_key in state.numpy_inputs, \
       f"{arch.name}: '{arch.expected_desire_key}' missing from npy"
 
 
diff --git a/sunnypilot/modeld_v2/tests/tf_test/build.sh b/sunnypilot/modeld_v2/tests/tf_test/build.sh
deleted file mode 100755
index df1d24761e9b07..00000000000000
--- a/sunnypilot/modeld_v2/tests/tf_test/build.sh
+++ /dev/null
@@ -1,2 +0,0 @@
-#!/usr/bin/env bash
-clang++ -I /home/batman/one/external/tensorflow/include/ -L /home/batman/one/external/tensorflow/lib -Wl,-rpath=/home/batman/one/external/tensorflow/lib main.cc -ltensorflow
diff --git a/sunnypilot/modeld_v2/tests/tf_test/main.cc b/sunnypilot/modeld_v2/tests/tf_test/main.cc
deleted file mode 100644
index b00f7f95e8db2e..00000000000000
--- a/sunnypilot/modeld_v2/tests/tf_test/main.cc
+++ /dev/null
@@ -1,69 +0,0 @@
-#include <cassert>
-#include <cstdio>
-#include <cstdlib>
-#include "tensorflow/c/c_api.h"
-
-void* read_file(const char* path, size_t* out_len) {
-  FILE* f = fopen(path, "r");
-  if (!f) {
-    return NULL;
-  }
-  fseek(f, 0, SEEK_END);
-  long f_len = ftell(f);
-  rewind(f);
-
-  char* buf = (char*)calloc(f_len, 1);
-  assert(buf);
-
-  size_t num_read = fread(buf, f_len, 1, f);
-  fclose(f);
-
-  if (num_read != 1) {
-    free(buf);
-    return NULL;
-  }
-
-  if (out_len) {
-    *out_len = f_len;
-  }
-
-  return buf;
-}
-
-static void DeallocateBuffer(void* data, size_t) {
-  free(data);
-}
-
-int main(int argc, char* argv[]) {
-  TF_Buffer* buf;
-  TF_Graph* graph;
-  TF_Status* status;
-  char *path = argv[1];
-
-  // load model
-  {
-    size_t model_size;
-    char tmp[1024];
-    snprintf(tmp, sizeof(tmp), "%s.pb", path);
-    printf("loading model %s\n", tmp);
-    uint8_t *model_data = (uint8_t *)read_file(tmp, &model_size);
-    buf = TF_NewBuffer();
-    buf->data = model_data;
-    buf->length = model_size;
-    buf->data_deallocator = DeallocateBuffer;
-    printf("loaded model of size %d\n", model_size);
-  }
-
-  // import graph
-  status = TF_NewStatus();
-  graph = TF_NewGraph();
-  TF_ImportGraphDefOptions *opts = TF_NewImportGraphDefOptions();
-  TF_GraphImportGraphDef(graph, buf, opts, status);
-  TF_DeleteImportGraphDefOptions(opts);
-  TF_DeleteBuffer(buf);
-  if (TF_GetCode(status) != TF_OK) {
-    printf("FAIL: %s\n", TF_Message(status));
-  } else {
-    printf("SUCCESS\n");
-  }
-}
diff --git a/sunnypilot/modeld_v2/tests/tf_test/pb_loader.py b/sunnypilot/modeld_v2/tests/tf_test/pb_loader.py
deleted file mode 100755
index 3e476628ebd0e7..00000000000000
--- a/sunnypilot/modeld_v2/tests/tf_test/pb_loader.py
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import tensorflow as tf
-
-with open(sys.argv[1], "rb") as f:
-  graph_def = tf.compat.v1.GraphDef()
-  graph_def.ParseFromString(f.read())
-  #tf.io.write_graph(graph_def, '', sys.argv[1]+".try")
diff --git a/sunnypilot/modeld_v2/tests/timing/benchmark.py b/sunnypilot/modeld_v2/tests/timing/benchmark.py
deleted file mode 100755
index 3e81f73fa333e7..00000000000000
--- a/sunnypilot/modeld_v2/tests/timing/benchmark.py
+++ /dev/null
@@ -1,38 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import time
-import numpy as np
-
-import cereal.messaging as messaging
-from openpilot.system.manager.process_config import managed_processes
-
-
-N = int(os.getenv("N", "5"))
-TIME = int(os.getenv("TIME", "30"))
-
-if __name__ == "__main__":
-  sock = messaging.sub_sock('modelV2', conflate=False, timeout=1000)
-
-  execution_times = []
-
-  for _ in range(N):
-    os.environ['LOGPRINT'] = 'debug'
-    managed_processes['modeld'].start()
-    time.sleep(5)
-
-    t = []
-    start = time.monotonic()
-    while time.monotonic() - start < TIME:
-      msgs = messaging.drain_sock(sock, wait_for_one=True)
-      for m in msgs:
-        t.append(m.modelV2.modelExecutionTime)
-
-    execution_times.append(np.array(t[10:]) * 1000)
-    managed_processes['modeld'].stop()
-
-  print("\n\n")
-  print(f"ran modeld {N} times for {TIME}s each")
-  for _, t in enumerate(execution_times):
-    print(f"\tavg: {sum(t)/len(t):0.2f}ms, min: {min(t):0.2f}ms, max: {max(t):0.2f}ms")
-  print("\n\n")
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index c9344f54efb5b4..0fa94e39ff1001 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -6,80 +6,138 @@
 """
 
 import hashlib
+import os
 import pickle
+from pathlib import Path
 import numpy as np
 
-from openpilot.common.params import Params
 from cereal import custom
-from openpilot.sunnypilot.models.constants import Meta, MetaTombRaider, MetaSimPose
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.sunnypilot.models.constants import Meta, MetaSimPose, MetaTombRaider
 from openpilot.system.hardware.hw import Paths
-from pathlib import Path
-
-# see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 15
-REQUIRED_MIN_SELECTOR_VERSION = 14
 
+# SET ME TO THE EXACT JSON VERSION WE SET IN SUNNYPILOT_MODELS REPO
+REQUIRED_JSON_VERSION = 15
 
 CUSTOM_MODEL_PATH = Paths.model_root()
 METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
-
 ModelManager = custom.ModelManagerSP
+_LAST_VALIDATED_RAW = None
 
 
-async def verify_file(file_path: str, expected_hash: str) -> bool:
+def _compute_hash(file_path: str) -> str | None:
   from openpilot.common.file_chunker import read_file_chunked
   try:
-    data = read_file_chunked(file_path)
+    return hashlib.sha256(read_file_chunked(file_path)).hexdigest().lower()
   except FileNotFoundError:
-    return False
-  return hashlib.sha256(data).hexdigest().lower() == expected_hash.lower()
+    return None
+
+
+async def verify_file(file_path: str, expected_hash: str) -> bool:
+  file_hash = _compute_hash(file_path)
+  return file_hash == expected_hash.lower() if file_hash else False
+
+
+def _verify_file(file_path: str, expected_hash: str) -> bool:
+  file_hash = _compute_hash(file_path)
+  return file_hash == expected_hash.lower() if file_hash else False
 
 
 def is_bundle_version_compatible(bundle: dict) -> bool:
   """
-  Checks whether the model bundle is compatible with the current selector version constraints.
-
-  The bundle specifies a `minimum_selector_version`, which defines the minimum selector version
+  The bundle parsed from the json specifies a `minimum_selector_version`, which defines the minimum selector version
   required to load the model. This function ensures that:
+    the bundle MUST match the `REQUIRED_JSON_VERSION` set here in helpers.
+  """
+  return bundle.get("minimumSelectorVersion", 0) == REQUIRED_JSON_VERSION
 
-    1. The model is not too old: the bundle must require at least `REQUIRED_MIN_SELECTOR_VERSION`.
-    2. The model is not too new: it must support the current selector version (`CURRENT_SELECTOR_VERSION`).
 
-  This allows the selector to enforce both a minimum and maximum range of supported models,
-  even if a model would otherwise be compatible.
+def _bundle_artifacts(bundle: custom.ModelManagerSP.ModelBundle) -> list[tuple[str, str]]:
+  artifacts = []
+  for model in getattr(bundle, 'models', []) or []:
+    for artifact in (getattr(model, 'artifact', None), getattr(model, 'metadata', None)):
+      if artifact and getattr(artifact, 'fileName', None) and getattr(artifact, 'downloadUri', None):
+        sha256 = getattr(artifact.downloadUri, 'sha256', None)
+        if sha256:
+          artifacts.append((artifact.fileName, sha256))
+  return artifacts
 
-  :param bundle: Dictionary containing `minimum_selector_version`, as defined by the model bundle.
-  :type bundle: Dict
-  :return: True if the selector version is within the accepted range for the bundle; otherwise False.
-  :rtype: Bool
-  """
-  return bool(REQUIRED_MIN_SELECTOR_VERSION <= bundle.get("minimumSelectorVersion", 0) <= CURRENT_SELECTOR_VERSION)
 
+def _bundle_is_valid_locally(bundle: custom.ModelManagerSP.ModelBundle) -> bool:
+  model_root = Paths.model_root()
+  return all(_verify_file(os.path.join(model_root, file_name), expected_hash)
+             for file_name, expected_hash in _bundle_artifacts(bundle))
 
-def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundle:
-  """Gets the active model bundle from cache"""
-  if params is None:
-    params = Params()
 
+def _bundle_needs_reset(active_bundle: custom.ModelManagerSP.ModelBundle, available_bundles: list[custom.ModelManagerSP.ModelBundle] | None) -> bool:
+  if active_bundle is None:
+    return False
+
+  if available_bundles is not None:
+    matching_bundle = None
+    for bundle in available_bundles:
+      if getattr(active_bundle, 'ref', None) and getattr(bundle, 'ref', None):
+        if active_bundle.ref == bundle.ref:
+          matching_bundle = bundle
+          break
+      elif getattr(active_bundle, 'internalName', None) == getattr(bundle, 'internalName', None):
+        matching_bundle = bundle
+        break
+
+    if matching_bundle is None:
+      return True
+    if active_bundle.minimumSelectorVersion != matching_bundle.minimumSelectorVersion:
+      return True
+
+    active_runner = getattr(active_bundle, 'runner', None)
+    matching_runner = getattr(matching_bundle, 'runner', None)
+    if active_runner is not None and matching_runner is not None:
+      if getattr(active_runner, 'raw', active_runner) != getattr(matching_runner, 'raw', matching_runner):
+        return True
+    if set(_bundle_artifacts(active_bundle)) != set(_bundle_artifacts(matching_bundle)):
+      return True
+
+  return not _bundle_is_valid_locally(active_bundle)
+
+
+def validate_active_bundle(params: Params, available_bundles: list[custom.ModelManagerSP.ModelBundle] | None = None) -> None:
+  global _LAST_VALIDATED_RAW
+
+  raw_bundle = params.get("ModelManager_ActiveBundle")
+  if not raw_bundle:
+    return
+
+  if raw_bundle == _LAST_VALIDATED_RAW:
+    return
+
+  active_bundle = get_active_bundle(params, raw_bundle_dict=raw_bundle)
+  if active_bundle is None or _bundle_needs_reset(active_bundle, available_bundles):
+    cloudlog.warning("Active model bundle invalid; resetting to default")
+    params.remove("ModelManager_ActiveBundle")
+    params.put("ModelRunnerTypeCache", int(custom.ModelManagerSP.Runner.stock), block=True)
+    _LAST_VALIDATED_RAW = None
+  else:
+    _LAST_VALIDATED_RAW = raw_bundle
+
+
+def get_active_bundle(params: Params | None = None, raw_bundle_dict: dict | bytes | None = None) -> "custom.ModelManagerSP.ModelBundle | None":
+  params = params or Params()
   try:
-    if (active_bundle := params.get("ModelManager_ActiveBundle") or {}) and is_bundle_version_compatible(active_bundle):
-      return custom.ModelManagerSP.ModelBundle(**active_bundle)
+    active_bundle_dict = raw_bundle_dict if raw_bundle_dict is not None else (params.get("ModelManager_ActiveBundle") or {})
+    if active_bundle_dict and is_bundle_version_compatible(active_bundle_dict):
+      return custom.ModelManagerSP.ModelBundle(**active_bundle_dict)
   except Exception:
     pass
-
   return None
 
 
-def get_active_model_runner(params: Params = None, force_check=False) -> int:
-  if params is None:
-    params = Params()
-
+def get_active_model_runner(params: Params | None = None, force_check: bool = False) -> int:
+  params = params or Params()
   cached_runner_type = params.get("ModelRunnerTypeCache")
   if cached_runner_type is not None and not force_check:
     return cached_runner_type
-
   runner_type = custom.ModelManagerSP.Runner.stock
-
   if active_bundle := get_active_bundle(params):
     runner_type = active_bundle.runner.raw
 
@@ -88,66 +146,40 @@ def get_active_model_runner(params: Params = None, force_check=False) -> int:
 
   return runner_type
 
+
 def _get_model():
   if bundle := get_active_bundle():
     drive_model = next(model for model in bundle.models if model.type == ModelManager.Model.Type.supercombo)
     return drive_model
-
   return None
 
-def load_metadata():
-  metadata_path = METADATA_PATH
 
-  if model := _get_model():
-    metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}"
+def load_metadata():
+  model = _get_model()
+  metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}" if model else METADATA_PATH
 
   with open(metadata_path, 'rb') as f:
     return pickle.load(f)
 
 
-def prepare_inputs(model_metadata) -> dict[str, np.ndarray]:
-  # img buffers are managed in openCL transform code so we don't pass them as inputs
-  inputs = {
-    k: np.zeros(v, dtype=np.float32).flatten()
-    for k, v in model_metadata['input_shapes'].items()
-    if 'img' not in k
+def prepare_inputs(model_metadata: dict) -> dict[str, np.ndarray]:
+  return {
+    key: np.zeros(shape, dtype=np.float32).flatten()
+    for key, shape in model_metadata['input_shapes'].items()
+    if 'img' not in key
   }
 
-  return inputs
 
+def load_meta_constants(model_metadata: dict):
+  """ Loads the appropriate meta model class based on key shapes"""
+  if 'sim_pose' in model_metadata['input_shapes']:
+    return MetaSimPose
 
-def load_meta_constants(model_metadata):
-  """
-  Determines and loads the appropriate meta model class based on the metadata provided. The function checks
-  specific keys and conditions within the provided metadata dictionary to identify the corresponding meta
-  model class to return.
-
-  :param model_metadata: Dictionary containing metadata about the model. It includes
-      details such as input shapes, output slices, and other configurations for identifying
-      metadata-dependent meta model classes.
-  :type model_metadata: dict
-  :return: The appropriate meta model class (Meta, MetaSimPose, or MetaTombRaider)
-      based on the conditions and metadata provided.
-  :rtype: type
-  """
-  meta = Meta  # Default Meta
+  meta_slice = model_metadata['output_slices']['meta']
+  if (meta_slice.start, meta_slice.stop, meta_slice.step) == (5868, 5921, None):
+    return MetaTombRaider
 
-  if 'sim_pose' in model_metadata['input_shapes'].keys():
-    # Meta for models with sim_pose input
-    meta = MetaSimPose
-  else:
-    # Meta for Tomb Raider, it does not include sim_pose input but has the same meta slice as previous models
-    meta_slice = model_metadata['output_slices']['meta']
-    meta_tf_slice = slice(5868, 5921, None)
-
-    if (
-            meta_slice.start == meta_tf_slice.start and
-            meta_slice.stop == meta_tf_slice.stop and
-            meta_slice.step == meta_tf_slice.step
-    ):
-      meta = MetaTombRaider
-
-  return meta
+  return Meta
 
 
 # The following method(s) are modeld helper methods
diff --git a/sunnypilot/models/manager.py b/sunnypilot/models/manager.py
index b5ccb736c1ac34..518671181ecbe3 100644
--- a/sunnypilot/models/manager.py
+++ b/sunnypilot/models/manager.py
@@ -17,7 +17,7 @@
 
 from cereal import messaging, custom
 from openpilot.sunnypilot.models.fetcher import ModelFetcher
-from openpilot.sunnypilot.models.helpers import verify_file, get_active_bundle
+from openpilot.sunnypilot.models.helpers import get_active_bundle, validate_active_bundle, verify_file
 
 
 class ModelManagerSP:
@@ -239,6 +239,7 @@ def main_thread(self) -> None:
     while True:
       try:
         self.available_models = self.model_fetcher.get_available_bundles()
+        validate_active_bundle(self.params, self.available_models)
         self.active_bundle = get_active_bundle(self.params)
 
         if (index_to_download := self.params.get("ModelManager_DownloadIndex")) is not None:
@@ -252,8 +253,8 @@ def main_thread(self) -> None:
               self.selected_bundle = None
 
         if self.params.get("ModelManager_ClearCache"):
-            self.clear_model_cache()
-            self.params.remove("ModelManager_ClearCache")
+          self.clear_model_cache()
+          self.params.remove("ModelManager_ClearCache")
 
         self._report_status()
         rk.keep_time()

From ef3ec30fe2c3fe517c7243114090ae9f3a2a3dab Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Mon, 8 Jun 2026 09:58:57 -0700
Subject: [PATCH 1174/1434] bump opendbc - ID.4 release (#38150)

id4 release
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index e91d0199680b09..e23d405ab3beb3 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit e91d0199680b096fcea94baf287f17cb852b7231
+Subproject commit e23d405ab3beb31de503400acd47d9c390564a8d

From 7abe0205fd7bc2f9ae245d778524f3fdb0d0b353 Mon Sep 17 00:00:00 2001
From: Bruce Wayne <harald.the.engineer@gmail.com>
Date: Mon, 8 Jun 2026 15:17:07 -0700
Subject: [PATCH 1175/1434] modeld test: 1ms extra buffer

---
 selfdrive/test/process_replay/model_replay.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 25ee6ac8d18fa4..7cbdc73a61e3d4 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -34,7 +34,7 @@
 
 EXEC_TIMINGS = [
   # model, instant max, average max
-  ("modelV2", 0.05, 0.032),
+  ("modelV2", 0.05, 0.033),
   ("driverStateV2", 0.05, 0.018),
 ]
 

From bc27262a92e6d8c51cc54ff0feaec2f67c171b6d Mon Sep 17 00:00:00 2001
From: MVL <manuel@alumni.virginia.edu>
Date: Mon, 8 Jun 2026 23:20:51 -0400
Subject: [PATCH 1176/1434] Revert "deprecate `carState.brake`" for Honda Gas
 Interceptor (#1860)

* Return Honda exception removed in commaai#37857

Added handling for brakePressed state with conditions for Honda models.

* Add CAR back to imports

* match

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/car/tests/test_models.py | 17 ++++++++++++++---
 1 file changed, 14 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index a99e8b9d1d6c77..d9252dd4a8a0c1 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -13,7 +13,7 @@
 from opendbc.car.can_definitions import CanData
 from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from opendbc.car.fingerprints import MIGRATION
-from opendbc.car.honda.values import HondaFlags
+from opendbc.car.honda.values import CAR as HONDA, HondaFlags
 from opendbc.car.structs import car
 from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from opendbc.car.values import Platform, PLATFORMS
@@ -358,7 +358,13 @@ def test_panda_safety_carstate_fuzzy(self, data):
         self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
 
       if self.safety.get_brake_pressed_prev() != prev_panda_brake:
-        self.assertEqual(CS.brakePressed, self.safety.get_brake_pressed_prev())
+        # TODO: remove this exception once this mismatch is resolved
+        brake_pressed = CS.brakePressed
+        if CS.brakePressed and not self.safety.get_brake_pressed_prev():
+          if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
+            brake_pressed = False
+
+        self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
 
       if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
         self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
@@ -442,7 +448,12 @@ def test_panda_safety_carstate(self):
         checks['steeringAngleDeg'] += (angle_can > (self.safety.get_angle_meas_max() + 1) or
                                        angle_can < (self.safety.get_angle_meas_min() - 1))
 
-      checks['brakePressed'] += CS.brakePressed != self.safety.get_brake_pressed_prev()
+      # TODO: remove this exception once this mismatch is resolved
+      brake_pressed = CS.brakePressed
+      if CS.brakePressed and not self.safety.get_brake_pressed_prev():
+        if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brakeDEPRECATED > 0.05:
+          brake_pressed = False
+      checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
       checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
       checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
 

From 122ac986de55726fc12d9de7457afbf6ff9a4957 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Mon, 8 Jun 2026 23:35:54 -0400
Subject: [PATCH 1177/1434] [bot] Update Python packages (#1861)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 opendbc_repo |  2 +-
 uv.lock      | 48 ++++++++++++++++++++++++------------------------
 2 files changed, 25 insertions(+), 25 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 4ec5a35e2943dd..b9712d20efd4fb 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 4ec5a35e2943dd4b73eb2c82632ad56167d7388c
+Subproject commit b9712d20efd4fb7b1c29378ee153013d2a32a9f1
diff --git a/uv.lock b/uv.lock
index 6af02b8c10fe94..3413e4da04a232 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1369,15 +1369,15 @@ wheels = [
 
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+version = "2.62.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
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     { name = "urllib3" },
 ]
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 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/3d/07/05440381627877aae223fd68f330df9b9fc6641d08bf65328b55235617a2/sentry_sdk-2.62.0-py3-none-any.whl", hash = "sha256:27f61d13a86c3c1648dec666dd5a64f79772dd6a84b446f11866601ecab24f6f", size = 490586, upload-time = "2026-06-08T13:23:47.486Z" },
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From 097dd9b5f2396070862a74cd0c8e299d93089c97 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 8 Jun 2026 23:50:43 -0400
Subject: [PATCH 1178/1434] sunnylink: deprecate legacy params metadata (#1862)

---
 sunnypilot/sunnylink/athena/sunnylinkd.py     |   34 -
 sunnypilot/sunnylink/docs/README.md           |   11 +-
 sunnypilot/sunnylink/params_metadata.json     | 1411 -----------------
 .../sunnylink/tests/test_params_metadata.py   |   86 -
 .../sunnylink/tests/test_params_sync.py       |  284 ----
 .../sunnylink/tools/update_params_metadata.py |  133 --
 6 files changed, 5 insertions(+), 1954 deletions(-)
 delete mode 100644 sunnypilot/sunnylink/params_metadata.json
 delete mode 100644 sunnypilot/sunnylink/tests/test_params_metadata.py
 delete mode 100644 sunnypilot/sunnylink/tests/test_params_sync.py
 delete mode 100755 sunnypilot/sunnylink/tools/update_params_metadata.py

diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index ce622bc5ad1b08..fff6e1bfe6da5d 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -41,7 +41,6 @@
 SUNNYLINK_LOG_ATTR_NAME = "user.sunny.upload"
 SUNNYLINK_RECONNECT_TIMEOUT_S = 70  # FYI changing this will also would require a change on sidebar.cc
 DISALLOW_LOG_UPLOAD = threading.Event()
-METADATA_PATH = os.path.join(os.path.dirname(os.path.dirname(os.path.abspath(__file__))), "params_metadata.json")
 
 params = Params()
 
@@ -170,39 +169,6 @@ def getParamsAllKeys() -> list[str]:
   return keys
 
 
-@dispatcher.add_method
-def getParamsAllKeysV1() -> dict[str, str]:
-  try:
-    with open(METADATA_PATH) as f:
-      metadata = json.load(f)
-  except Exception:
-    cloudlog.exception("sunnylinkd.getParamsAllKeysV1.metadata.exception")
-    metadata = {}
-
-  try:
-    available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
-
-    params_dict: dict[str, list[dict[str, str | bool | int | object | dict | None]]] = {"params": []}
-    for key in available_keys:
-      value = get_param_as_byte(key, get_default=True)
-
-      param_entry = {
-        "key": key,
-        "type": int(params.get_type(key).value),
-        "default_value": base64.b64encode(value).decode('utf-8') if value else None,
-      }
-
-      if key in metadata:
-        meta_copy = metadata[key].copy()
-        param_entry["_extra"] = meta_copy
-
-      params_dict["params"].append(param_entry)
-    return {"keys": json.dumps(params_dict.get("params", []))}
-  except Exception:
-    cloudlog.exception("sunnylinkd.getParamsAllKeysV1.exception")
-    raise
-
-
 @dispatcher.add_method
 def getParamsMetadata() -> str:
   """Return settings_ui.json + live capabilities as gzip-compressed, base64-encoded string.
diff --git a/sunnypilot/sunnylink/docs/README.md b/sunnypilot/sunnylink/docs/README.md
index 7327564ace9741..62d46677e67756 100644
--- a/sunnypilot/sunnylink/docs/README.md
+++ b/sunnypilot/sunnylink/docs/README.md
@@ -97,12 +97,11 @@ The compiler splices a list-context `$ref` into its parent list. Macros may refe
 
 ```
 1. common/params_keys.h               — add/remove the C++ param key
-2. params_metadata.json               — automated via update_params_metadata.py
-3. settings_ui_src/pages/<page>.yaml  — add/edit/remove the item in the right section
-4. python sunnypilot/sunnylink/tools/compile_settings_ui.py
-5. python sunnypilot/sunnylink/tools/validate_settings_ui.py  (or: --check on the compiler)
-6. uv run python -m pytest sunnypilot/sunnylink/tests/   # run regression + compiler tests
-7. commit
+2. settings_ui_src/pages/<page>.yaml  — add/edit/remove the item in the right section
+3. python sunnypilot/sunnylink/tools/compile_settings_ui.py
+4. python sunnypilot/sunnylink/tools/validate_settings_ui.py  (or: --check on the compiler)
+5. uv run python -m pytest sunnypilot/sunnylink/tests/   # run regression + compiler tests
+6. commit
 ```
 
 CI runs `compile_settings_ui.py --check` to fail on hand-edited `settings_ui.json`.
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
deleted file mode 100644
index 764f37ffdefd71..00000000000000
--- a/sunnypilot/sunnylink/params_metadata.json
+++ /dev/null
@@ -1,1411 +0,0 @@
-{
-  "AccessToken": {
-    "title": "AccessTokenIsNice",
-    "description": ""
-  },
-  "AdbEnabled": {
-    "title": "Enable ADB",
-    "description": ""
-  },
-  "AlphaLongitudinalEnabled": {
-    "title": "Alpha Longitudinal",
-    "description": ""
-  },
-  "AlwaysOnDM": {
-    "title": "Always-on Driver Monitor",
-    "description": ""
-  },
-  "ApiCache_Device": {
-    "title": "Api Cache  Device",
-    "description": ""
-  },
-  "ApiCache_DriveStats": {
-    "title": "Api Cache  Drive Stats",
-    "description": ""
-  },
-  "ApiCache_FirehoseStats": {
-    "title": "Firehose Mode Stats",
-    "description": ""
-  },
-  "AssistNowToken": {
-    "title": "Assist Now Token",
-    "description": ""
-  },
-  "AthenadPid": {
-    "title": "Athenad Pid",
-    "description": ""
-  },
-  "AthenadRecentlyViewedRoutes": {
-    "title": "Athenad Recently Viewed Routes",
-    "description": ""
-  },
-  "AthenadUploadQueue": {
-    "title": "Athenad Upload Queue",
-    "description": ""
-  },
-  "AutoLaneChangeBsmDelay": {
-    "title": "Auto Lane Change BSM Delay",
-    "description": ""
-  },
-  "AutoLaneChangeTimer": {
-    "title": "Auto Lane Change Timer",
-    "description": "",
-    "options": [
-      {
-        "value": -1,
-        "label": "Off"
-      },
-      {
-        "value": 0,
-        "label": "Nudge"
-      },
-      {
-        "value": 1,
-        "label": "Nudgeless"
-      },
-      {
-        "value": 2,
-        "label": "0.5s"
-      },
-      {
-        "value": 3,
-        "label": "1s"
-      },
-      {
-        "value": 4,
-        "label": "2s"
-      },
-      {
-        "value": 5,
-        "label": "3s"
-      }
-    ]
-  },
-  "BackupManager_CreateBackup": {
-    "title": "Create Backup",
-    "description": ""
-  },
-  "BackupManager_RestoreVersion": {
-    "title": "Restore Version",
-    "description": ""
-  },
-  "BlindSpot": {
-    "title": "[TIZI/TICI only] Blind Spot Detection",
-    "description": "Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported."
-  },
-  "BlinkerLateralReengageDelay": {
-    "title": "Post-Blinker Delay",
-    "description": "Delay before lateral control resumes after the turn signal ends."
-  },
-  "BlinkerMinLateralControlSpeed": {
-    "title": "Blinker Min Lateral Control Speed",
-    "description": ""
-  },
-  "BlinkerPauseLateralControl": {
-    "title": "Blinker Pause Lateral Control",
-    "description": ""
-  },
-  "BootCount": {
-    "title": "Boot Count",
-    "description": ""
-  },
-  "Brightness": {
-    "title": "Screen Brightness",
-    "description": ""
-  },
-  "CalibrationParams": {
-    "title": "Calibration Params",
-    "description": ""
-  },
-  "CameraDebugExpGain": {
-    "title": "Camera Debug Exp Gain",
-    "description": ""
-  },
-  "CameraDebugExpTime": {
-    "title": "Camera Debug Exp Time",
-    "description": ""
-  },
-  "CameraOffset": {
-    "title": "Adjust Camera Offset",
-    "description": "Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)",
-    "min": -0.35,
-    "max": 0.35,
-    "step": 0.01,
-    "unit": "meters"
-  },
-  "CarBatteryCapacity": {
-    "title": "Car Battery Capacity",
-    "description": "Battery Size",
-    "unit": "kWh"
-  },
-  "CarList": {
-    "title": "Supported Car List",
-    "description": "All supported platform in sunnypilot"
-  },
-  "CarParams": {
-    "title": "Car Params",
-    "description": ""
-  },
-  "CarParamsCache": {
-    "title": "Car Params Cache",
-    "description": ""
-  },
-  "CarParamsPersistent": {
-    "title": "Car Params Persistent",
-    "description": ""
-  },
-  "CarParamsPrevRoute": {
-    "title": "Car Params Prev Route",
-    "description": ""
-  },
-  "CarParamsSP": {
-    "title": "Car Params Sp",
-    "description": ""
-  },
-  "CarParamsSPCache": {
-    "title": "Car Params Sp Cache",
-    "description": ""
-  },
-  "CarParamsSPPersistent": {
-    "title": "Car Params Sp Persistent",
-    "description": ""
-  },
-  "CarPlatformBundle": {
-    "title": "Car Platform Bundle",
-    "description": ""
-  },
-  "ChevronInfo": {
-    "title": "Chevron Info",
-    "description": ""
-  },
-  "CompletedSunnylinkConsentVersion": {
-    "title": "Completed sunnylink Consent Version",
-    "description": ""
-  },
-  "CompletedTrainingVersion": {
-    "title": "Completed Training Version",
-    "description": ""
-  },
-  "ControlsReady": {
-    "title": "Controls Ready",
-    "description": ""
-  },
-  "CurrentBootlog": {
-    "title": "Current Bootlog",
-    "description": ""
-  },
-  "CurrentRoute": {
-    "title": "Current Route",
-    "description": ""
-  },
-  "CustomAccIncrementsEnabled": {
-    "title": "Custom ACC Increments",
-    "description": ""
-  },
-  "CustomAccLongPressIncrement": {
-    "title": "Custom ACC Long Press Increment",
-    "description": "",
-    "min": 1,
-    "max": 10,
-    "step": 1
-  },
-  "CustomAccShortPressIncrement": {
-    "title": "Custom ACC Short Press Increment",
-    "description": "",
-    "min": 1,
-    "max": 10,
-    "step": 1
-  },
-  "CustomTorqueParams": {
-    "title": "Enable Custom Torque Tuning",
-    "description": "Enables custom tuning for Torque lateral control"
-  },
-  "DevUIInfo": {
-    "title": "Developer UI Info",
-    "description": ""
-  },
-  "DeviceBootMode": {
-    "title": "Device Boot Mode",
-    "description": "",
-    "options": [
-      {
-        "value": 0,
-        "label": "Standard"
-      },
-      {
-        "value": 1,
-        "label": "Always Offroad"
-      }
-    ]
-  },
-  "DisableLogging": {
-    "title": "Disable Logging",
-    "description": ""
-  },
-  "DisablePowerDown": {
-    "title": "Disable Power Down",
-    "description": ""
-  },
-  "DisableUpdates": {
-    "title": "Disable Updates",
-    "description": ""
-  },
-  "DisengageOnAccelerator": {
-    "title": "Disengage On Accelerator",
-    "description": ""
-  },
-  "DoReboot": {
-    "title": "Reboot",
-    "description": ""
-  },
-  "DoShutdown": {
-    "title": "Power Off",
-    "description": ""
-  },
-  "DoUninstall": {
-    "title": "Uninstall sunnypilot",
-    "description": ""
-  },
-  "DongleId": {
-    "title": "Device ID",
-    "description": ""
-  },
-  "DriverTooDistracted": {
-    "title": "Driver Too Distracted",
-    "description": ""
-  },
-  "DynamicExperimentalControl": {
-    "title": "Dynamic Experimental Control",
-    "description": ""
-  },
-  "EnableCopyparty": {
-    "title": "copyparty Service",
-    "description": ""
-  },
-  "EnableGithubRunner": {
-    "title": "GitHub Runner Service",
-    "description": ""
-  },
-  "EnableSunnylinkUploader": {
-    "title": "Enable sunnylink Uploader",
-    "description": ""
-  },
-  "EnforceTorqueControl": {
-    "title": "Enforce Torque Control",
-    "description": "Enable this to enforce sunnypilot to steer with Torque lateral control."
-  },
-  "ExperimentalMode": {
-    "title": "Experimental Mode",
-    "description": ""
-  },
-  "ExperimentalModeConfirmed": {
-    "title": "Experimental Mode Confirmed",
-    "description": ""
-  },
-  "FirmwareQueryDone": {
-    "title": "Firmware Query Done",
-    "description": ""
-  },
-  "ForcePowerDown": {
-    "title": "Force Power Down",
-    "description": ""
-  },
-  "GitBranch": {
-    "title": "Git Branch",
-    "description": ""
-  },
-  "GitCommit": {
-    "title": "Git Commit",
-    "description": ""
-  },
-  "GitCommitDate": {
-    "title": "Git Commit Date",
-    "description": ""
-  },
-  "GitDiff": {
-    "title": "Git Diff",
-    "description": ""
-  },
-  "GitRemote": {
-    "title": "Git Remote",
-    "description": ""
-  },
-  "GithubRunnerSufficientVoltage": {
-    "title": "Github Runner Sufficient Voltage",
-    "description": ""
-  },
-  "GithubSshKeys": {
-    "title": "Github Ssh Keys",
-    "description": ""
-  },
-  "GithubUsername": {
-    "title": "GitHub Username",
-    "description": ""
-  },
-  "GreenLightAlert": {
-    "title": "Green Traffic Light Alert (Beta)",
-    "description": "A chime and on-screen alert (TIZI/TICI only) will play when the traffic light you are waiting for turns green and you have no vehicle in front of you. <br>Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly."
-  },
-  "GsmApn": {
-    "title": "GSM APN",
-    "description": ""
-  },
-  "GsmMetered": {
-    "title": "Gsm Metered",
-    "description": ""
-  },
-  "GsmRoaming": {
-    "title": "GSM Roaming",
-    "description": ""
-  },
-  "HardwareSerial": {
-    "title": "Serial Number",
-    "description": ""
-  },
-  "HasAcceptedTerms": {
-    "title": "Has Accepted Terms",
-    "description": ""
-  },
-  "HasAcceptedTermsSP": {
-    "title": "Has Accepted sunnypilot Terms",
-    "description": ""
-  },
-  "HideVEgoUI": {
-    "title": "[TIZI/TICI only] Speedometer: Hide from Onroad Screen",
-    "description": "When enabled, the speedometer on the onroad screen is not displayed."
-  },
-  "HyundaiLongitudinalTuning": {
-    "title": "Hyundai Longitudinal Tuning",
-    "description": "",
-    "options": [
-      {
-        "value": 0,
-        "label": "Off"
-      },
-      {
-        "value": 1,
-        "label": "Dynamic"
-      },
-      {
-        "value": 2,
-        "label": "Predictive"
-      }
-    ]
-  },
-  "InstallDate": {
-    "title": "Install Date",
-    "description": ""
-  },
-  "IntelligentCruiseButtonManagement": {
-    "title": "Intelligent Cruise Button Management",
-    "description": ""
-  },
-  "InteractivityTimeout": {
-    "title": "Interactivity Timeout",
-    "description": "Apply a custom timeout for settings UI. This is the time after which settings UI closes automatically if user is not interacting with the screen.",
-    "options": [
-      {
-        "value": 0,
-        "label": "Default"
-      },
-      {
-        "value": 10,
-        "label": "10 s"
-      },
-      {
-        "value": 20,
-        "label": "20 s"
-      },
-      {
-        "value": 30,
-        "label": "30 s"
-      },
-      {
-        "value": 40,
-        "label": "40 s"
-      },
-      {
-        "value": 50,
-        "label": "50 s"
-      },
-      {
-        "value": 60,
-        "label": "1 m"
-      },
-      {
-        "value": 70,
-        "label": "1 m"
-      },
-      {
-        "value": 80,
-        "label": "1 m"
-      },
-      {
-        "value": 90,
-        "label": "1 m"
-      },
-      {
-        "value": 100,
-        "label": "1 m"
-      },
-      {
-        "value": 110,
-        "label": "1 m"
-      },
-      {
-        "value": 120,
-        "label": "2 m"
-      }
-    ]
-  },
-  "IsDevelopmentBranch": {
-    "title": "Is Development Branch",
-    "description": ""
-  },
-  "IsDriverViewEnabled": {
-    "title": "Is Driver View Enabled",
-    "description": ""
-  },
-  "IsEngaged": {
-    "title": "Is Engaged",
-    "description": ""
-  },
-  "IsLdwEnabled": {
-    "title": "Lane Departure Warnings",
-    "description": ""
-  },
-  "IsMetric": {
-    "title": "Use Metric Units",
-    "description": ""
-  },
-  "IsOffroad": {
-    "title": "Is Offroad",
-    "description": ""
-  },
-  "IsOnroad": {
-    "title": "Is Onroad",
-    "description": ""
-  },
-  "IsReleaseBranch": {
-    "title": "Is Release Branch",
-    "description": ""
-  },
-  "IsReleaseSpBranch": {
-    "title": "Is Release Sp Branch",
-    "description": ""
-  },
-  "IsRhdDetected": {
-    "title": "Is Rhd Detected",
-    "description": ""
-  },
-  "IsTakingSnapshot": {
-    "title": "Is Taking Snapshot",
-    "description": ""
-  },
-  "IsTestedBranch": {
-    "title": "Is Tested Branch",
-    "description": ""
-  },
-  "JoystickDebugMode": {
-    "title": "Joystick Debug Mode",
-    "description": ""
-  },
-  "LagdToggle": {
-    "title": "Live Learning Steer Delay",
-    "description": "Allow device to learn and adapt car's steering response time"
-  },
-  "LagdToggleDelay": {
-    "title": "Manual Software Delay",
-    "description": "Software delay to use when Live Learning Steer Delay is toggled off",
-    "min": 0.05,
-    "max": 0.5,
-    "step": 0.01
-  },
-  "LagdValueCache": {
-    "title": "LaGD Value Cache",
-    "description": ""
-  },
-  "LaneTurnDesire": {
-    "title": "Lane Turn Desire",
-    "description": "Force model to plan an intent to turn based on blinker"
-  },
-  "LaneTurnValue": {
-    "title": "Lane Turn Speed",
-    "description": "Maximum speed for lane turn desire",
-    "min": 0,
-    "max": 20,
-    "step": 1
-  },
-  "LanguageSetting": {
-    "title": "Language",
-    "description": ""
-  },
-  "LastAgnosPowerMonitorShutdown": {
-    "title": "Last AGNOS Power Monitor Shutdown",
-    "description": ""
-  },
-  "LastAthenaPingTime": {
-    "title": "Last Athena Ping Time",
-    "description": ""
-  },
-  "LastGPSPosition": {
-    "title": "Last Gps Position",
-    "description": ""
-  },
-  "LastGPSPositionLLK": {
-    "title": "Last GPS Position LLK",
-    "description": ""
-  },
-  "LastManagerExitReason": {
-    "title": "Last Manager Exit Reason",
-    "description": ""
-  },
-  "LastOffroadStatusPacket": {
-    "title": "Last Offroad Status Packet",
-    "description": ""
-  },
-  "LastPowerDropDetected": {
-    "title": "Last Power Drop Detected",
-    "description": ""
-  },
-  "LastSunnylinkPingTime": {
-    "title": "Last sunnylink Ping Time",
-    "description": ""
-  },
-  "LastUpdateException": {
-    "title": "Last Update Exception",
-    "description": ""
-  },
-  "LastUpdateRouteCount": {
-    "title": "Last Update Route Count",
-    "description": ""
-  },
-  "LastUpdateTime": {
-    "title": "Last Update Time",
-    "description": ""
-  },
-  "LastUpdateUptimeOnroad": {
-    "title": "Last Update Uptime Onroad",
-    "description": ""
-  },
-  "LateralManeuverMode": {
-    "title": "Lateral Maneuver Mode",
-    "description": ""
-  },
-  "LeadDepartAlert": {
-    "title": "Lead Departure Alert (Beta)",
-    "description": "A chime and on-screen alert (TIZI/TICI only) will play when you are stopped, and the vehicle in front of you start moving. <br>Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly."
-  },
-  "LiveDelay": {
-    "title": "Live Delay",
-    "description": ""
-  },
-  "LiveParameters": {
-    "title": "Live Parameters",
-    "description": ""
-  },
-  "LiveParametersV2": {
-    "title": "Live Parameters V2",
-    "description": ""
-  },
-  "LiveTorqueParameters": {
-    "title": "Live Torque Parameters",
-    "description": ""
-  },
-  "LiveTorqueParamsRelaxedToggle": {
-    "title": "Less Restrict Settings for Self-Tune (Beta)",
-    "description": "Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values."
-  },
-  "LiveTorqueParamsToggle": {
-    "title": "Self-Tune",
-    "description": "Enables self-tune for Torque lateral control"
-  },
-  "LivestreamEncoderBitrate": {
-    "title": "Livestream Encoder Bitrate",
-    "description": ""
-  },
-  "LocationFilterInitialState": {
-    "title": "Location Filter Initial State",
-    "description": ""
-  },
-  "LongitudinalManeuverMode": {
-    "title": "Longitudinal Maneuver Mode",
-    "description": ""
-  },
-  "LongitudinalPersonality": {
-    "title": "Driving Personality",
-    "description": "",
-    "options": [
-      {
-        "value": 0,
-        "label": "Aggressive"
-      },
-      {
-        "value": 1,
-        "label": "Standard"
-      },
-      {
-        "value": 2,
-        "label": "Relaxed"
-      }
-    ]
-  },
-  "Mads": {
-    "title": "MADS Enabled",
-    "description": ""
-  },
-  "MadsMainCruiseAllowed": {
-    "title": "MADS Main Cruise Allowed",
-    "description": ""
-  },
-  "MadsSteeringMode": {
-    "title": "MADS Steering Mode",
-    "description": "",
-    "options": [
-      {
-        "value": 0,
-        "label": "Remain Active"
-      },
-      {
-        "value": 1,
-        "label": "Pause"
-      },
-      {
-        "value": 2,
-        "label": "Disengage"
-      }
-    ]
-  },
-  "MadsUnifiedEngagementMode": {
-    "title": "MADS Unified Engagement Mode",
-    "description": ""
-  },
-  "MapAdvisorySpeedLimit": {
-    "title": "Map Advisory Speed Limit",
-    "description": ""
-  },
-  "MapSpeedLimit": {
-    "title": "Map Speed Limit",
-    "description": ""
-  },
-  "MapTargetVelocities": {
-    "title": "Map Target Velocities",
-    "description": ""
-  },
-  "MapdVersion": {
-    "title": "Mapd Version",
-    "description": ""
-  },
-  "MaxTimeOffroad": {
-    "title": "Max Time Offroad",
-    "description": "",
-    "unit": "minutes"
-  },
-  "ModelManager_ActiveBundle": {
-    "title": "Model Manager Active Bundle",
-    "description": ""
-  },
-  "ModelManager_ClearCache": {
-    "title": "Model Manager Clear Cache",
-    "description": ""
-  },
-  "ModelManager_DownloadIndex": {
-    "title": "Model Manager Download Index",
-    "description": ""
-  },
-  "ModelManager_Favs": {
-    "title": "Model Manager Favorites",
-    "description": ""
-  },
-  "ModelManager_LastSyncTime": {
-    "title": "Model Manager Last Sync Time",
-    "description": ""
-  },
-  "ModelManager_ModelsCache": {
-    "title": "Model Manager Models Cache",
-    "description": ""
-  },
-  "ModelRunnerTypeCache": {
-    "title": "Model Runner Type Cache",
-    "description": ""
-  },
-  "NetworkMetered": {
-    "title": "Network Usage",
-    "description": "",
-    "options": [
-      {
-        "value": 0,
-        "label": "Default"
-      },
-      {
-        "value": 1,
-        "label": "Metered"
-      },
-      {
-        "value": 2,
-        "label": "Unmetered"
-      }
-    ]
-  },
-  "NeuralNetworkLateralControl": {
-    "title": "Neural Network Lateral Control",
-    "description": ""
-  },
-  "NextMapSpeedLimit": {
-    "title": "Next Map Speed Limit",
-    "description": ""
-  },
-  "OSMDownloadBounds": {
-    "title": "OSM Download Bounds",
-    "description": ""
-  },
-  "OSMDownloadLocations": {
-    "title": "OSM Download Locations",
-    "description": ""
-  },
-  "OSMDownloadProgress": {
-    "title": "OSM Download Progress",
-    "description": ""
-  },
-  "ObdMultiplexingChanged": {
-    "title": "Obd Multiplexing Changed",
-    "description": ""
-  },
-  "ObdMultiplexingEnabled": {
-    "title": "Obd Multiplexing Enabled",
-    "description": ""
-  },
-  "OffroadMode": {
-    "title": "Force Offroad Mode",
-    "description": ""
-  },
-  "Offroad_CarUnrecognized": {
-    "title": "Offroad Car Unrecognized",
-    "description": ""
-  },
-  "Offroad_ConnectivityNeeded": {
-    "title": "Offroad Connectivity Needed",
-    "description": ""
-  },
-  "Offroad_ConnectivityNeededPrompt": {
-    "title": "Offroad Connectivity Needed Prompt",
-    "description": ""
-  },
-  "Offroad_DriverMonitoringUncertain": {
-    "title": "Offroad Driver Monitoring Uncertain",
-    "description": ""
-  },
-  "Offroad_ExcessiveActuation": {
-    "title": "Offroad Excessive Actuation",
-    "description": ""
-  },
-  "Offroad_IsTakingSnapshot": {
-    "title": "Offroad Is Taking Snapshot",
-    "description": ""
-  },
-  "Offroad_NeosUpdate": {
-    "title": "Offroad Neos Update",
-    "description": ""
-  },
-  "Offroad_NoFirmware": {
-    "title": "Offroad No Firmware",
-    "description": ""
-  },
-  "Offroad_OSMUpdateRequired": {
-    "title": "Offroad OSM Update Required",
-    "description": ""
-  },
-  "Offroad_Recalibration": {
-    "title": "Offroad Recalibration",
-    "description": ""
-  },
-  "Offroad_TemperatureTooHigh": {
-    "title": "Offroad Temperature Too High",
-    "description": ""
-  },
-  "Offroad_TiciSupport": {
-    "title": "Offroad Tici Support",
-    "description": ""
-  },
-  "Offroad_UnregisteredHardware": {
-    "title": "Offroad Unregistered Hardware",
-    "description": ""
-  },
-  "Offroad_UpdateFailed": {
-    "title": "Offroad Update Failed",
-    "description": ""
-  },
-  "OnroadCycleRequested": {
-    "title": "Onroad Cycle Requested",
-    "description": ""
-  },
-  "OnroadScreenOffBrightness": {
-    "title": "Onroad Brightness",
-    "description": "",
-    "options": [
-      {
-        "value": 0,
-        "label": "Auto (Default)"
-      },
-      {
-        "value": 1,
-        "label": "Auto (Dark)"
-      },
-      {
-        "value": 2,
-        "label": "Screen Off"
-      },
-      {
-        "value": 3,
-        "label": "5 %"
-      },
-      {
-        "value": 4,
-        "label": "10 %"
-      },
-      {
-        "value": 5,
-        "label": "15 %"
-      },
-      {
-        "value": 6,
-        "label": "20 %"
-      },
-      {
-        "value": 7,
-        "label": "25 %"
-      },
-      {
-        "value": 8,
-        "label": "30 %"
-      },
-      {
-        "value": 9,
-        "label": "35 %"
-      },
-      {
-        "value": 10,
-        "label": "40 %"
-      },
-      {
-        "value": 11,
-        "label": "45 %"
-      },
-      {
-        "value": 12,
-        "label": "50 %"
-      },
-      {
-        "value": 13,
-        "label": "55 %"
-      },
-      {
-        "value": 14,
-        "label": "60 %"
-      },
-      {
-        "value": 15,
-        "label": "65 %"
-      },
-      {
-        "value": 16,
-        "label": "70 %"
-      },
-      {
-        "value": 17,
-        "label": "75 %"
-      },
-      {
-        "value": 18,
-        "label": "80 %"
-      },
-      {
-        "value": 19,
-        "label": "85 %"
-      },
-      {
-        "value": 20,
-        "label": "90 %"
-      },
-      {
-        "value": 21,
-        "label": "95 %"
-      },
-      {
-        "value": 22,
-        "label": "100 %"
-      }
-    ]
-  },
-  "OnroadScreenOffBrightnessMigrated": {
-    "title": "Onroad Brightness Migration Version",
-    "description": "This param is to track whether OnroadScreenOffBrightness needs to be migrated."
-  },
-  "OnroadScreenOffControl": {
-    "title": "Onroad Brightness",
-    "description": "Adjusts the screen brightness while it's in onroad state."
-  },
-  "OnroadScreenOffTimer": {
-    "title": "Onroad Brightness Delay",
-    "description": "",
-    "options": [
-      {
-        "value": 3,
-        "label": "3s"
-      },
-      {
-        "value": 5,
-        "label": "5s"
-      },
-      {
-        "value": 7,
-        "label": "7s"
-      },
-      {
-        "value": 10,
-        "label": "10s"
-      },
-      {
-        "value": 15,
-        "label": "15s"
-      },
-      {
-        "value": 30,
-        "label": "30s"
-      },
-      {
-        "value": 60,
-        "label": "1m"
-      },
-      {
-        "value": 120,
-        "label": "2m"
-      },
-      {
-        "value": 180,
-        "label": "3m"
-      },
-      {
-        "value": 240,
-        "label": "4m"
-      },
-      {
-        "value": 300,
-        "label": "5m"
-      },
-      {
-        "value": 360,
-        "label": "6m"
-      },
-      {
-        "value": 420,
-        "label": "7m"
-      },
-      {
-        "value": 480,
-        "label": "8m"
-      },
-      {
-        "value": 540,
-        "label": "9m"
-      },
-      {
-        "value": 600,
-        "label": "10m"
-      }
-    ]
-  },
-  "OnroadScreenOffTimerMigrated": {
-    "title": "Onroad Brightness Delay Migration Version",
-    "description": "This param is to track whether OnroadScreenOffTimer needs to be migrated."
-  },
-  "OnroadUploads": {
-    "title": "Onroad Uploads",
-    "description": ""
-  },
-  "OpenpilotEnabledToggle": {
-    "title": "Enable sunnypilot",
-    "description": ""
-  },
-  "OsmDbUpdatesCheck": {
-    "title": "OSM DB Updates Check",
-    "description": ""
-  },
-  "OsmDownloadedDate": {
-    "title": "OSM Downloaded Date",
-    "description": ""
-  },
-  "OsmLocal": {
-    "title": "OSM Local",
-    "description": ""
-  },
-  "OsmLocationName": {
-    "title": "OSM Location Name",
-    "description": ""
-  },
-  "OsmLocationTitle": {
-    "title": "OSM Location Title",
-    "description": ""
-  },
-  "OsmLocationUrl": {
-    "title": "OSM Location URL",
-    "description": ""
-  },
-  "OsmStateName": {
-    "title": "OSM State Name",
-    "description": ""
-  },
-  "OsmStateTitle": {
-    "title": "OSM State Title",
-    "description": ""
-  },
-  "OsmWayTest": {
-    "title": "OSM Way Test",
-    "description": ""
-  },
-  "PandaHeartbeatLost": {
-    "title": "Panda Heartbeat Lost",
-    "description": ""
-  },
-  "PandaSignatures": {
-    "title": "Panda Signatures",
-    "description": ""
-  },
-  "PandaSomResetTriggered": {
-    "title": "Panda Som Reset Triggered",
-    "description": ""
-  },
-  "ParamsVersion": {
-    "title": "Params Version",
-    "description": ""
-  },
-  "PlanplusControl": {
-    "title": "Plan Plus Controls",
-    "description": "Adjust planplus model recentering strength. The higher this number the more aggressively the model will recover to lanecenter, too high and it will ping-pong",
-    "min": 0.0,
-    "max": 2.0,
-    "step": 0.1
-  },
-  "PrimeType": {
-    "title": "Prime Type",
-    "description": ""
-  },
-  "QuickBootToggle": {
-    "title": "Quick Boot",
-    "description": ""
-  },
-  "QuietMode": {
-    "title": "Quiet Mode",
-    "description": ""
-  },
-  "RainbowMode": {
-    "title": "Rainbow Mode",
-    "description": ""
-  },
-  "RecordAudio": {
-    "title": "Record & Upload Mic Audio",
-    "description": ""
-  },
-  "RecordAudioFeedback": {
-    "title": "Record Audio Feedback",
-    "description": ""
-  },
-  "RecordFront": {
-    "title": "Record & Upload Driver Camera",
-    "description": ""
-  },
-  "RecordFrontLock": {
-    "title": "Record Front Lock",
-    "description": ""
-  },
-  "RoadName": {
-    "title": "Road Name",
-    "description": ""
-  },
-  "RoadNameToggle": {
-    "title": "[TIZI/TICI only] Display Road Name",
-    "description": "Displays the name of the road the car is traveling on. <br>The OpenStreetMap database of the location must be downloaded to fetch the road name."
-  },
-  "RocketFuel": {
-    "title": "[TIZI/TICI only] Real-time Acceleration Bar",
-    "description": "Show an indicator on the left side of the screen to display real-time vehicle acceleration and deceleration. This displays what the car is currently doing, not what the planner is requesting."
-  },
-  "RouteCount": {
-    "title": "Route Count",
-    "description": ""
-  },
-  "SecOCKey": {
-    "title": "Sec Oc Key",
-    "description": ""
-  },
-  "ShowAdvancedControls": {
-    "title": "Show Advanced Controls",
-    "description": "Enable to show advanced controls on device"
-  },
-  "ShowDebugInfo": {
-    "title": "UI Debug Mode",
-    "description": ""
-  },
-  "ShowTurnSignals": {
-    "title": "[TIZI/TICI only] Display Turn Signals",
-    "description": "When enabled, visual turn indicators are drawn on the HUD."
-  },
-  "SmartCruiseControlMap": {
-    "title": "Smart Cruise Control - Map",
-    "description": ""
-  },
-  "SmartCruiseControlVision": {
-    "title": "Smart Cruise Control - Vision",
-    "description": ""
-  },
-  "SnoozeUpdate": {
-    "title": "Snooze Update",
-    "description": ""
-  },
-  "SpeedLimitMode": {
-    "title": "Speed Limit Assist Mode",
-    "description": "",
-    "options": [
-      {
-        "value": 0,
-        "label": "Off"
-      },
-      {
-        "value": 1,
-        "label": "Information"
-      },
-      {
-        "value": 2,
-        "label": "Warning"
-      },
-      {
-        "value": 3,
-        "label": "Assist"
-      }
-    ]
-  },
-  "SpeedLimitOffsetType": {
-    "title": "Speed Limit Offset Type",
-    "description": "",
-    "options": [
-      {
-        "value": 0,
-        "label": "Off"
-      },
-      {
-        "value": 1,
-        "label": "Fixed"
-      },
-      {
-        "value": 2,
-        "label": "Percentage"
-      }
-    ]
-  },
-  "SpeedLimitPolicy": {
-    "title": "Speed Limit Source",
-    "description": "",
-    "options": [
-      {
-        "value": 0,
-        "label": "Car State Only"
-      },
-      {
-        "value": 1,
-        "label": "Map Data Only"
-      },
-      {
-        "value": 2,
-        "label": "Car State Priority"
-      },
-      {
-        "value": 3,
-        "label": "Map Data Priority"
-      },
-      {
-        "value": 4,
-        "label": "Combined"
-      }
-    ]
-  },
-  "SpeedLimitValueOffset": {
-    "title": "Speed Limit Offset Value",
-    "description": "",
-    "min": -30,
-    "max": 30,
-    "step": 1
-  },
-  "SshEnabled": {
-    "title": "Enable SSH",
-    "description": ""
-  },
-  "StandstillTimer": {
-    "title": "[TIZI/TICI only] Standstill Timer",
-    "description": "Show a timer on the HUD when the car is at a standstill."
-  },
-  "SubaruStopAndGo": {
-    "title": "Subaru Stop and Go",
-    "description": ""
-  },
-  "SubaruStopAndGoManualParkingBrake": {
-    "title": "Subaru Stop and Go Manual Parking Brake",
-    "description": ""
-  },
-  "SunnylinkCache_Roles": {
-    "title": "sunnylink Cache  Roles",
-    "description": ""
-  },
-  "SunnylinkCache_Users": {
-    "title": "sunnylink Cache  Users",
-    "description": ""
-  },
-  "SunnylinkDongleId": {
-    "title": "sunnylink Dongle ID",
-    "description": ""
-  },
-  "SunnylinkEnabled": {
-    "title": "sunnylink Enabled",
-    "description": ""
-  },
-  "SunnylinkTempFault": {
-    "title": "sunnylink Temp Fault",
-    "description": ""
-  },
-  "SunnylinkdPid": {
-    "title": "Sunnylinkd Pid",
-    "description": ""
-  },
-  "TermsVersion": {
-    "title": "Terms Version",
-    "description": ""
-  },
-  "TeslaCoopSteering": {
-    "title": "Tesla Coop Steering",
-    "description": ""
-  },
-  "TorqueBar": {
-    "title": "[TIZI/TICI only] Steering Arc",
-    "description": "Display steering arc on the driving screen when lateral control is enabled."
-  },
-  "TorqueControlTune": {
-    "title": "Torque Control Tune Version",
-    "description": "Select the version of Torque Control Tune to use.",
-    "options": [
-      {
-        "value": "",
-        "label": "Default"
-      },
-      {
-        "value": 1.0,
-        "label": "v1.0"
-      },
-      {
-        "value": 0.0,
-        "label": "v0.0"
-      }
-    ]
-  },
-  "TorqueParamsOverrideEnabled": {
-    "title": "Manual Real-Time Tuning",
-    "description": ""
-  },
-  "TorqueParamsOverrideFriction": {
-    "title": "Manual Tune - Friction",
-    "description": "",
-    "min": 0.0,
-    "max": 1.0,
-    "step": 0.01
-  },
-  "TorqueParamsOverrideLatAccelFactor": {
-    "title": "Manual Tune - Lateral Acceleration Factor",
-    "description": "",
-    "min": 0.1,
-    "max": 5.0,
-    "step": 0.1,
-    "unit": "m/s\u00b2"
-  },
-  "ToyotaEnforceStockLongitudinal": {
-    "title": "Toyota: Enforce Factory Longitudinal Control",
-    "description": "When enabled, sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used."
-  },
-  "ToyotaStopAndGoHack": {
-    "title": "Toyota: Stop and Go Hack (Alpha)",
-    "description": "sunnypilot will allow some Toyota/Lexus cars to auto resume during stop and go traffic. This feature is only applicable to certain models that are able to use longitudinal control. This is an alpha feature. Use at your own risk."
-  },
-  "TrainingVersion": {
-    "title": "Training Version",
-    "description": ""
-  },
-  "TrueVEgoUI": {
-    "title": "[TIZI/TICI only] Speedometer: Always Display True Speed",
-    "description": "For applicable vehicles, always display the true vehicle current speed from wheel speed sensors."
-  },
-  "UbloxAvailable": {
-    "title": "Ublox Available",
-    "description": ""
-  },
-  "UpdateAvailable": {
-    "title": "Update Available",
-    "description": ""
-  },
-  "UpdateFailedCount": {
-    "title": "Update Failed Count",
-    "description": ""
-  },
-  "UpdaterAvailableBranches": {
-    "title": "Updater Available Branches",
-    "description": ""
-  },
-  "UpdaterCurrentDescription": {
-    "title": "Updater Current Description",
-    "description": ""
-  },
-  "UpdaterCurrentReleaseNotes": {
-    "title": "Updater Current Release Notes",
-    "description": ""
-  },
-  "UpdaterFetchAvailable": {
-    "title": "Updater Fetch Available",
-    "description": ""
-  },
-  "UpdaterLastFetchTime": {
-    "title": "Updater Last Fetch Time",
-    "description": ""
-  },
-  "UpdaterNewDescription": {
-    "title": "Updater New Description",
-    "description": ""
-  },
-  "UpdaterNewReleaseNotes": {
-    "title": "Updater New Release Notes",
-    "description": ""
-  },
-  "UpdaterState": {
-    "title": "Updater State",
-    "description": ""
-  },
-  "UpdaterTargetBranch": {
-    "title": "Updater Target Branch",
-    "description": ""
-  },
-  "UptimeOffroad": {
-    "title": "Uptime Offroad",
-    "description": ""
-  },
-  "UptimeOnroad": {
-    "title": "Uptime Onroad",
-    "description": ""
-  },
-  "UsbGpuCompiled": {
-    "title": "Usb Gpu Compiled",
-    "description": ""
-  },
-  "UsbGpuPresent": {
-    "title": "Usb Gpu Present",
-    "description": ""
-  },
-  "Version": {
-    "title": "openpilot Version",
-    "description": ""
-  }
-}
diff --git a/sunnypilot/sunnylink/tests/test_params_metadata.py b/sunnypilot/sunnylink/tests/test_params_metadata.py
deleted file mode 100644
index f4f1fbc4b10e6d..00000000000000
--- a/sunnypilot/sunnylink/tests/test_params_metadata.py
+++ /dev/null
@@ -1,86 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import json
-
-from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import getParamsAllKeysV1, METADATA_PATH
-
-
-def test_get_params_all_keys_v1():
-  """
-  Test the getParamsAllKeysV1 API endpoint.
-
-  Why:
-  This endpoint is used by the UI (and potentially external tools) to fetch the list of
-  available parameters along with their metadata (titles, descriptions, options, constraints).
-  We need to ensure it returns the correct structure and that the metadata from
-  params_metadata.json is correctly merged into the response.
-
-  Expected:
-  - The response should contain a "keys" field which is a JSON string of a list of parameters.
-  - Each parameter object should have "key", "type", "default_value", and optionally "_extra".
-  - The "_extra" field should contain the rich metadata (title, options, min/max, etc.) matching
-    the source of truth (params_metadata.json).
-  """
-  response = getParamsAllKeysV1()
-  assert "keys" in response
-
-  keys_json = response["keys"]
-  params_list = json.loads(keys_json)
-
-  assert isinstance(params_list, list)
-  assert len(params_list) > 0
-
-  # Check structure of first item
-  first_param = params_list[0]
-  assert "key" in first_param
-  assert "type" in first_param
-  assert "default_value" in first_param
-
-  if "_extra" in first_param:
-    assert isinstance(first_param["_extra"], dict)
-    assert "default" not in first_param["_extra"]
-    assert "type" not in first_param["_extra"]
-
-  # Load the source of truth
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  # Verify that the API response matches the metadata file for a few sample keys
-  # This ensures the plumbing is working without being brittle to content changes
-
-  # 1. Check a key that should have metadata
-  keys_with_metadata = [k for k in params_list if k["key"] in metadata]
-  assert len(keys_with_metadata) > 0, "No parameters found that match metadata keys"
-
-  for param in keys_with_metadata[:5]:  # Check first 5 matches
-    key = param["key"]
-    expected_meta = metadata[key]
-
-    assert "_extra" in param, f"Parameter {key} should have _extra field"
-    actual_meta = param["_extra"]
-
-    # Verify all fields in JSON are present in the API response
-    for meta_key, meta_val in expected_meta.items():
-      assert meta_key in actual_meta, f"Missing {meta_key} in API response for {key}"
-      assert actual_meta[meta_key] == meta_val, f"Mismatch for {key}.{meta_key}: expected {meta_val}, got {actual_meta[meta_key]}"
-
-  # 2. Check that we are correctly serving options if they exist
-  params_with_options = [k for k in keys_with_metadata if "options" in k.get("_extra", {})]
-  if params_with_options:
-    param = params_with_options[0]
-    key = param["key"]
-    assert isinstance(param["_extra"]["options"], list), f"Options for {key} should be a list"
-    assert param["_extra"]["options"] == metadata[key]["options"]
-
-  # 3. Check that we are correctly serving numeric constraints if they exist
-  params_with_constraints = [k for k in keys_with_metadata if "min" in k.get("_extra", {})]
-  if params_with_constraints:
-    param = params_with_constraints[0]
-    key = param["key"]
-    assert param["_extra"]["min"] == metadata[key]["min"]
-    assert param["_extra"]["max"] == metadata[key]["max"]
-    assert param["_extra"]["step"] == metadata[key]["step"]
diff --git a/sunnypilot/sunnylink/tests/test_params_sync.py b/sunnypilot/sunnylink/tests/test_params_sync.py
deleted file mode 100644
index 05114de49aff58..00000000000000
--- a/sunnypilot/sunnylink/tests/test_params_sync.py
+++ /dev/null
@@ -1,284 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import json
-import os
-import pytest
-
-from openpilot.common.params import Params
-from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import METADATA_PATH
-
-
-def test_metadata_json_exists():
-  """
-  Test that the params_metadata.json file exists at the expected path.
-
-  Why:
-  The metadata file is the source of truth for parameter descriptions, options, and constraints.
-  If it's missing, the UI will not be able to display rich information for parameters.
-
-  Expected:
-  The file should exist at sunnypilot/sunnylink/params_metadata.json.
-  """
-  assert os.path.exists(METADATA_PATH), f"Metadata file not found at {METADATA_PATH}"
-
-
-def test_metadata_json_valid():
-  """
-  Test that the params_metadata.json file contains valid JSON.
-
-  Why:
-  Invalid JSON will cause the metadata loading to fail, potentially crashing the UI or
-  resulting in missing metadata.
-
-  Expected:
-  The file content should be parseable as a JSON object (dictionary).
-  """
-  with open(METADATA_PATH) as f:
-    try:
-      data = json.load(f)
-    except json.JSONDecodeError:
-      pytest.fail("Metadata file is not valid JSON")
-
-    assert isinstance(data, dict), "Metadata root must be a dictionary"
-
-
-def test_all_params_have_metadata():
-  """
-  Test that every parameter in the codebase has a corresponding entry in params_metadata.json.
-
-  Why:
-  We want to ensure 100% coverage of parameter metadata. Any parameter added to the codebase
-  should also be documented in the metadata file.
-
-  Expected:
-  There should be no parameters in Params() that are missing from the metadata file.
-  If this fails, run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py'.
-  """
-  params = Params()
-  all_keys = [k.decode('utf-8') for k in params.all_keys()]
-
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  missing_keys = [key for key in all_keys if key not in metadata]
-
-  if missing_keys:
-    pytest.fail(
-      f"The following parameters are missing from metadata: {missing_keys}. "
-      + "Please run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py' to update."
-    )
-
-
-def test_metadata_keys_exist_in_params():
-  """
-  Test that all keys in params_metadata.json actually exist in the codebase.
-
-  Why:
-  We want to avoid stale metadata for parameters that have been removed or renamed.
-  This keeps the metadata file clean and relevant.
-
-  Expected:
-  There should be no keys in the metadata file that are not present in Params().
-  This prints a warning rather than failing, as it's less critical than missing metadata.
-  """
-  params = Params()
-  all_keys = {k.decode('utf-8') for k in params.all_keys()}
-
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  extra_keys = [key for key in metadata.keys() if key not in all_keys]
-
-  if extra_keys:
-    print(f"Warning: The following keys in metadata do not exist in Params: {extra_keys}")
-
-
-def test_no_default_titles():
-  """
-  Test that no parameter has a title that is identical to its key.
-
-  Why:
-  The default behavior of the update script is to set the title equal to the key.
-  We want to force developers to provide human-readable, descriptive titles for all parameters.
-
-  Expected:
-  No parameter metadata should have 'title' == 'key'.
-  """
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  default_title_keys = [key for key, meta in metadata.items() if meta.get("title") == key]
-
-  if default_title_keys:
-    pytest.fail(
-      f"The following parameters have default titles (title == key): {default_title_keys}. "
-      + "Please update 'params_metadata.json' with descriptive titles."
-    )
-
-
-def test_options_structure():
-  """
-  Test that the 'options' field in metadata follows the correct structure.
-
-  Why:
-  The UI expects 'options' to be a list of objects with 'value' and 'label' keys.
-  Incorrect structure will break the UI rendering for dropdowns/toggles.
-
-  Expected:
-  If 'options' is present, it must be a list of dicts, and each dict must have 'value' and 'label'.
-  """
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  for key, meta in metadata.items():
-    if "options" in meta:
-      options = meta["options"]
-      assert isinstance(options, list), f"Options for {key} must be a list"
-      for option in options:
-        assert isinstance(option, dict), f"Option in {key} must be a dictionary"
-        assert "value" in option, f"Option in {key} must have a 'value' key"
-        assert "label" in option, f"Option in {key} must have a 'label' key"
-
-
-def test_numeric_constraints():
-  """
-  Test that numeric parameters have valid 'min', 'max', and 'step' constraints.
-
-  Why:
-  The UI uses these constraints to validate user input and render sliders/steppers.
-  Missing or invalid constraints can lead to UI bugs or invalid parameter values.
-
-  Expected:
-  If any of min/max/step is present, ALL of them must be present.
-  They must be numbers (int/float), and min must be less than max.
-  """
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  for key, meta in metadata.items():
-    if "min" in meta or "max" in meta or "step" in meta:
-      assert "min" in meta, f"Numeric param {key} must have 'min'"
-      assert "max" in meta, f"Numeric param {key} must have 'max'"
-      assert "step" in meta, f"Numeric param {key} must have 'step'"
-
-      assert isinstance(meta["min"], (int, float)), f"Min for {key} must be number"
-      assert isinstance(meta["max"], (int, float)), f"Max for {key} must be number"
-      assert isinstance(meta["step"], (int, float)), f"Step for {key} must be number"
-      assert meta["min"] < meta["max"], f"Min must be less than max for {key}"
-
-
-def test_known_params_metadata():
-  """
-  Test specific known parameters to ensure they have the expected rich metadata.
-
-  Why:
-  This acts as a spot check to ensure that our rich metadata population logic is working correctly
-  and that critical parameters (like LongitudinalPersonality) have their options and constraints preserved.
-
-  Expected:
-  'LongitudinalPersonality' should have 3 options (Aggressive, Standard, Relaxed).
-  'CustomAccLongPressIncrement' should have min=1, max=10, step=1.
-  """
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  # Check an enum-like param
-  lp = metadata.get("LongitudinalPersonality")
-  assert lp is not None
-  assert "options" in lp
-  assert len(lp["options"]) == 3
-  assert lp["options"][0]["label"] == "Aggressive"
-  assert lp["options"][0]["value"] == 0
-
-  # Check a numeric param
-  acc_long = metadata.get("CustomAccLongPressIncrement")
-  assert acc_long is not None
-  assert acc_long["min"] == 1
-  assert acc_long["max"] == 10
-  assert acc_long["step"] == 1
-
-
-def test_torque_control_tune_versions_in_sync():
-  """
-  Test that TorqueControlTune options in params_metadata.json match versions in latcontrol_torque_versions.json.
-
-  Why:
-  The TorqueControlTune dropdown in the UI should always reflect the available torque tune versions.
-  If versions are added/removed from latcontrol_torque_versions.json, the metadata must be updated accordingly.
-
-  Expected:
-  - TorqueControlTune should have a 'Default' option with empty string value
-  - All versions from latcontrol_torque_versions.json should be present in the options
-  - The version values and labels should match between both files
-  """
-  from openpilot.common.basedir import BASEDIR
-
-  versions_json_path = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
-  sync_script_path = "python3 sunnypilot/sunnylink/tools/sync_torque_versions.py"
-
-  # Load both files
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  with open(versions_json_path) as f:
-    versions = json.load(f)
-
-  # Get TorqueControlTune metadata
-  torque_tune = metadata.get("TorqueControlTune")
-  if torque_tune is None:
-    pytest.fail(f"TorqueControlTune not found in params_metadata.json. Please run '{sync_script_path}' to sync.")
-
-  if "options" not in torque_tune:
-    pytest.fail(f"TorqueControlTune must have options. Please run '{sync_script_path}' to sync.")
-
-  options = torque_tune["options"]
-  if not isinstance(options, list):
-    pytest.fail(f"TorqueControlTune options must be a list. Please run '{sync_script_path}' to sync.")
-
-  if len(options) == 0:
-    pytest.fail(f"TorqueControlTune must have at least one option. Please run '{sync_script_path}' to sync.")
-
-  # Check that Default option exists
-  default_option = next((opt for opt in options if opt.get("value") == ""), None)
-  if default_option is None:
-    pytest.fail(f"TorqueControlTune must have a 'Default' option with empty string value. Please run '{sync_script_path}' to sync.")
-
-  if default_option.get("label") != "Default":
-    pytest.fail(f"Default option must have label 'Default'. Please run '{sync_script_path}' to sync.")
-
-  # Build expected options from versions.json
-  expected_version_keys = set(versions.keys())
-  actual_version_keys = set()
-
-  for option in options:
-    if option.get("value") == "":
-      continue  # Skip the default option
-
-    label = option.get("label")
-    value = option.get("value")
-
-    # Check that this option corresponds to a version
-    if label not in versions:
-      pytest.fail(f"Option label '{label}' not found in latcontrol_torque_versions.json. Please run '{sync_script_path}' to sync.")
-
-    # Check that the value matches the version number
-    expected_value = float(versions[label]["version"])
-    if value != expected_value:
-      pytest.fail(f"Option '{label}' has value {value}, expected {expected_value}. Please run '{sync_script_path}' to sync.")
-
-    actual_version_keys.add(label)
-
-  # Check that all versions are represented
-  missing_versions = expected_version_keys - actual_version_keys
-  if missing_versions:
-    pytest.fail(f"The following versions are missing from TorqueControlTune options: {missing_versions}. " +
-                f"Please run '{sync_script_path}' to sync.")
-
-  extra_versions = actual_version_keys - expected_version_keys
-  if extra_versions:
-    pytest.fail("The following versions in TorqueControlTune options are not in latcontrol_torque_versions.json: " +
-                f"{extra_versions}. Please run '{sync_script_path}' to sync.")
diff --git a/sunnypilot/sunnylink/tools/update_params_metadata.py b/sunnypilot/sunnylink/tools/update_params_metadata.py
deleted file mode 100755
index ea3765420d68db..00000000000000
--- a/sunnypilot/sunnylink/tools/update_params_metadata.py
+++ /dev/null
@@ -1,133 +0,0 @@
-#!/usr/bin/env python3
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import json
-import os
-
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.params import Params
-from openpilot.sunnypilot.system.params_migration import ONROAD_BRIGHTNESS_TIMER_VALUES
-
-METADATA_PATH = os.path.join(os.path.dirname(__file__), "../params_metadata.json")
-TORQUE_VERSIONS_JSON = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
-
-
-def main():
-  params = Params()
-  all_keys = params.all_keys()
-
-  if os.path.exists(METADATA_PATH):
-    with open(METADATA_PATH) as f:
-      try:
-        data = json.load(f)
-      except json.JSONDecodeError:
-        data = {}
-  else:
-    data = {}
-
-  # Add new keys
-  for key in all_keys:
-    key_str = key.decode("utf-8")
-    if key_str not in data:
-      print(f"Adding new key: {key_str}")
-      data[key_str] = {
-        "title": key_str,
-        "description": "",
-      }
-
-  # Remove deleted keys
-  # keys_to_remove = [k for k in data.keys() if k.encode("utf-8") not in all_keys]
-  # for k in keys_to_remove:
-  #   print(f"Removing deleted key: {k}")
-  #   del data[k]
-
-  # Sort keys
-  sorted_data = dict(sorted(data.items()))
-
-  with open(METADATA_PATH, "w") as f:
-    json.dump(sorted_data, f, indent=2)
-    f.write("\n")
-
-  print(f"Updated {METADATA_PATH}")
-
-  # update onroad screen brightness params
-  update_onroad_brightness_param()
-
-  # update onroad screen brightness timer params
-  update_onroad_brightness_timer_param()
-
-  # update torque versions param
-  update_torque_versions_param()
-
-
-def update_onroad_brightness_param():
-  try:
-    with open(METADATA_PATH) as f:
-      params_metadata = json.load(f)
-    if "OnroadScreenOffBrightness" in params_metadata:
-      options = [
-        {"value": 0, "label": "Auto (Default)"},
-        {"value": 1, "label": "Auto (Dark)"},
-        {"value": 2, "label": "Screen Off"},
-      ]
-      for i in range(3, 23):
-        options.append({"value": i, "label": f"{(i - 2) * 5} %"})
-      params_metadata["OnroadScreenOffBrightness"]["options"] = options
-      with open(METADATA_PATH, 'w') as f:
-        json.dump(params_metadata, f, indent=2)
-        f.write('\n')
-      print(f"Updated OnroadScreenOffBrightness options in params_metadata.json with {len(options)} options.")
-  except Exception as e:
-    print(f"Failed to update OnroadScreenOffBrightness versions in params_metadata.json: {e}")
-
-
-def update_onroad_brightness_timer_param():
-  try:
-    with open(METADATA_PATH) as f:
-      params_metadata = json.load(f)
-    if "OnroadScreenOffTimer" in params_metadata:
-      options = []
-      for _index, seconds in sorted(ONROAD_BRIGHTNESS_TIMER_VALUES.items()):
-        label = f"{seconds}s" if seconds < 60 else f"{seconds // 60}m"
-        options.append({"value": seconds, "label": label})
-      params_metadata["OnroadScreenOffTimer"]["options"] = options
-      with open(METADATA_PATH, 'w') as f:
-        json.dump(params_metadata, f, indent=2)
-        f.write('\n')
-      print(f"Updated OnroadScreenOffTimer options in params_metadata.json with {len(options)} options.")
-  except Exception as e:
-    print(f"Failed to update OnroadScreenOffTimer options in params_metadata.json: {e}")
-
-
-def update_torque_versions_param():
-  with open(TORQUE_VERSIONS_JSON) as f:
-    current_versions = json.load(f)
-
-  try:
-    with open(METADATA_PATH) as f:
-      params_metadata = json.load(f)
-
-    options = [{"value": "", "label": "Default"}]
-    for version_key, version_data in current_versions.items():
-      version_value = float(version_data["version"])
-      options.append({"value": version_value, "label": str(version_key)})
-
-    if "TorqueControlTune" in params_metadata:
-      params_metadata["TorqueControlTune"]["options"] = options
-
-      with open(METADATA_PATH, 'w') as f:
-        json.dump(params_metadata, f, indent=2)
-        f.write('\n')
-
-      print(f"Updated TorqueControlTune options in params_metadata.json with {len(options)} options: \n{options}")
-
-  except Exception as e:
-    print(f"Failed to update TorqueControlTune versions in params_metadata.json: {e}")
-
-
-if __name__ == "__main__":
-  main()

From 01a843e0acbe74d566a7eee9fe0f12f227ae81ed Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 9 Jun 2026 02:15:42 -0400
Subject: [PATCH 1179/1434] ui: reset Enforce Torque Control and NNLC if both
 are enabled (#1863)

* ui: reset Enforce Torque Control and NNLC if both are enabled

* block
---
 selfdrive/ui/sunnypilot/layouts/settings/steering.py | 5 +++++
 selfdrive/ui/sunnypilot/ui_state.py                  | 4 ++++
 2 files changed, 9 insertions(+)

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering.py b/selfdrive/ui/sunnypilot/layouts/settings/steering.py
index e31ee1891c9503..a5cd626483c87f 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/steering.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/steering.py
@@ -134,6 +134,11 @@ def _update_state(self):
 
     enforce_torque_enabled = self._torque_control_toggle.action_item.get_state()
     nnlc_enabled = self._nnlc_toggle.action_item.get_state()
+    if enforce_torque_enabled and nnlc_enabled:
+      self._torque_control_toggle.action_item.set_state(False)
+      self._nnlc_toggle.action_item.set_state(False)
+      enforce_torque_enabled = False
+      nnlc_enabled = False
     self._nnlc_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not enforce_torque_enabled)
     self._torque_control_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not nnlc_enabled)
     self._torque_customization_button.action_item.set_enabled(self._torque_control_toggle.action_item.get_state())
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index 8cd37583f36de5..1c21c35c6f0406 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -179,6 +179,10 @@ def _enforce_constraints(self) -> None:
     CP = self.CP
 
     if CP is not None:
+      if self.params.get_bool("EnforceTorqueControl") and self.params.get_bool("NeuralNetworkLateralControl"):
+        self.params.put_bool("EnforceTorqueControl", False, block=True)
+        self.params.put_bool("NeuralNetworkLateralControl", False, block=True)
+
       # Angle steering: no torque-based lateral controls
       if CP.steerControlType == car.CarParams.SteerControlType.angle:
         self.params.remove("EnforceTorqueControl")

From 57b5eb3113a96797b11233a5733ef1ebb97f886b Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Tue, 9 Jun 2026 11:44:57 -0700
Subject: [PATCH 1180/1434] op.sh: fix arg quoting so special chars survive
 eval (#37967)

op.sh: don't eval CMD, run argv directly so special chars work

Previously op_run_command joined "$@" into a single string and eval'd
it, which broke on inputs containing shell metacharacters. For example,
'op esim --download "LPA:1$[rsp.truphone.com]($url)$QRF-SPEEDTEST" name'
would fail with a syntax error on the unquoted parens. Run "$@" instead
and only use $* for the printed display string. Also quote the unquoted
$@ in the other op_run_command callers.
---
 tools/op.sh | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index 538d689569c042..1188d21ac20272 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -48,7 +48,7 @@ function retry() {
 }
 
 function op_run_command() {
-  CMD="$@"
+  CMD="$*"
 
   echo -e "${BOLD}Running command →${NC} $CMD │"
   for ((i=0; i<$((19 + ${#CMD})); i++)); do
@@ -57,7 +57,7 @@ function op_run_command() {
   echo -e "┘\n"
 
   if [[ -z "$DRY" ]]; then
-    eval "$CMD"
+    "$@"
   fi
 }
 
@@ -310,33 +310,33 @@ function op_build() {
     op_run_command system/manager/build.py
   else
     # scons is fine on PC
-    op_run_command scons $@
+    op_run_command scons "$@"
   fi
 }
 
 function op_juggle() {
   op_before_cmd
-  op_run_command tools/plotjuggler/juggle.py $@
+  op_run_command tools/plotjuggler/juggle.py "$@"
 }
 
 function op_lint() {
   op_before_cmd
-  op_run_command scripts/lint/lint.sh $@
+  op_run_command scripts/lint/lint.sh "$@"
 }
 
 function op_test() {
   op_before_cmd
-  op_run_command pytest $@
+  op_run_command pytest "$@"
 }
 
 function op_replay() {
   op_before_cmd
-  op_run_command tools/replay/replay $@
+  op_run_command tools/replay/replay "$@"
 }
 
 function op_cabana() {
   op_before_cmd
-  op_run_command tools/cabana/cabana $@
+  op_run_command tools/cabana/cabana "$@"
 }
 
 function op_sim() {
@@ -347,7 +347,7 @@ function op_sim() {
 
 function op_clip() {
   op_before_cmd
-  op_run_command tools/clip/run.py $@
+  op_run_command tools/clip/run.py "$@"
 }
 
 function op_switch() {
@@ -489,4 +489,4 @@ function _op() {
   esac
 }
 
-_op $@
+_op "$@"

From 41390a95b85cd85dfd78abc3a031a10434450ad4 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 9 Jun 2026 16:15:54 -0700
Subject: [PATCH 1181/1434] Jenkinsfile: use SSH ControlMaster to multiplex
 device connections (#38157)

---
 Jenkinsfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index a7f46ce17a0d2e..92bc61521e14da 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -12,7 +12,7 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
 def device(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
-ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
+ssh -o ControlMaster=auto -o ControlPath=/tmp/ssh_control_%C -o ControlPersist=yes -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
 
 set -e
 

From 24d373062d9c4bd488416bb29cdb9a130a94cc4e Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Tue, 9 Jun 2026 16:37:45 -0700
Subject: [PATCH 1182/1434] soundd: fix long wav playback and mic feedback
 (#38155)

fix soundd long duration playback and mic feedback
---
 selfdrive/ui/soundd.py | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index 8225efabf9af5a..a6f5d2fc27999b 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -110,6 +110,8 @@ def get_sound_data(self, frames): # get "frames" worth of data from the current
         ret[written_frames:written_frames+frames_to_write] = sound_data[current_sound_frame:current_sound_frame+frames_to_write]
         written_frames += frames_to_write
         self.current_sound_frame += frames_to_write
+        current_sound_frame = self.current_sound_frame % len(sound_data)
+        loops = self.current_sound_frame // len(sound_data)
 
     return ret * self.current_volume
 
@@ -119,7 +121,7 @@ def callback(self, data_out: np.ndarray, frames: int, time, status) -> None:
     data_out[:frames, 0] = self.get_sound_data(frames)
 
   def update_alert(self, new_alert):
-    current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame > len(self.loaded_sounds[self.current_alert])
+    current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame >= len(self.loaded_sounds[self.current_alert])
     if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once):
       if new_alert == AudibleAlert.warningImmediate:
         self.ramp_start_volume = self.current_volume
@@ -162,10 +164,11 @@ def soundd_thread(self):
       while True:
         sm.update(0)
 
-        # Always update volume, even when alert is playing
+        # freeze volume during alerts to avoid mic feedback increasing volume
         if sm.updated['soundPressure']:
           self.spl_filter_weighted.update(sm["soundPressure"].soundPressureWeightedDb)
-          self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
+          if self.current_alert == AudibleAlert.none:
+            self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
 
         self.get_audible_alert(sm)
 

From 433c52f6237fb8dc934feac4c4b9da814200bc30 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 9 Jun 2026 16:56:48 -0700
Subject: [PATCH 1183/1434] radar errors: only gate enable if openpilot long
 (#38145)

only prevent engagement for op long cars
---
 selfdrive/selfdrived/selfdrived.py | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index d2fd0f099e0299..e376ea5c9c2c83 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -331,12 +331,13 @@ def update_events(self, CS):
           self.events.add(EventName.cameraFrameRate)
     if not REPLAY and self.rk.lagging:
       self.events.add(EventName.selfdrivedLagging)
-    if self.sm['radarState'].radarErrors.canError:
-      self.events.add(EventName.canError)
-    elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
-      self.events.add(EventName.radarTempUnavailable)
-    elif any(self.sm['radarState'].radarErrors.to_dict().values()):
-      self.events.add(EventName.radarFault)
+    if self.CP.openpilotLongitudinalControl:
+      if self.sm['radarState'].radarErrors.canError:
+        self.events.add(EventName.canError)
+      elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
+        self.events.add(EventName.radarTempUnavailable)
+      elif any(self.sm['radarState'].radarErrors.to_dict().values()):
+        self.events.add(EventName.radarFault)
     if not self.sm.valid['pandaStates']:
       self.events.add(EventName.usbError)
     if CS.canTimeout:

From bdac9efa1e6b24bbc47203b05c75eeb5b56dd42a Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Wed, 10 Jun 2026 17:06:09 -0700
Subject: [PATCH 1184/1434] modeld: compress modelV2 into drivingModelData
 (#38165)

* modeld: compress modelV2 into drivingModelData

* slightly better

* less diff

* whitespace

* dedupe with migrate?

* Revert "dedupe with migrate?"

This reverts commit f31fe34994f4331f45e14a035df4847905d37540.
---
 selfdrive/modeld/fill_model_msg.py | 36 ++++++++++++++----------------
 selfdrive/modeld/modeld.py         |  7 +++---
 2 files changed, 20 insertions(+), 23 deletions(-)

diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 82c4c92b1d53c7..8e63d29ea2941b 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -55,26 +55,29 @@ def fill_lane_line_meta(builder, lane_lines, lane_line_probs):
   builder.rightY = lane_lines[2].y[0]
   builder.rightProb = lane_line_probs[2]
 
-def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
-                   net_output_data: dict[str, np.ndarray], action: log.ModelDataV2.Action,
+def fill_driving_model_data(msg: capnp._DynamicStructBuilder, modelv2_send: capnp._DynamicStructBuilder) -> None:
+  msg.valid = modelv2_send.valid
+  modelV2 = modelv2_send.modelV2
+  driving_model_data = msg.drivingModelData
+  driving_model_data.frameId = modelV2.frameId
+  driving_model_data.frameIdExtra = modelV2.frameIdExtra
+  driving_model_data.frameDropPerc = modelV2.frameDropPerc
+  driving_model_data.modelExecutionTime = modelV2.modelExecutionTime
+  driving_model_data.action = modelV2.action
+  driving_model_data.meta.laneChangeState = modelV2.meta.laneChangeState
+  driving_model_data.meta.laneChangeDirection = modelV2.meta.laneChangeDirection
+  fill_lane_line_meta(driving_model_data.laneLineMeta, modelV2.laneLines, modelV2.laneLineProbs)
+  fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, modelV2.position.x, modelV2.position.y, modelV2.position.z)
+
+def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray], action: log.ModelDataV2.Action,
                    publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
                    frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
                    valid: bool) -> None:
   frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
   frame_drop_perc = frame_drop * 100
-  extended_msg.valid = valid
-  base_msg.valid = valid
-
-  driving_model_data = base_msg.drivingModelData
-
-  driving_model_data.frameId = vipc_frame_id
-  driving_model_data.frameIdExtra = vipc_frame_id_extra
-  driving_model_data.frameDropPerc = frame_drop_perc
-  driving_model_data.modelExecutionTime = model_execution_time
+  msg.valid = valid
 
-  driving_model_data.action = action
-
-  modelV2 = extended_msg.modelV2
+  modelV2 = msg.modelV2
   modelV2.frameId = vipc_frame_id
   modelV2.frameIdExtra = vipc_frame_id_extra
   modelV2.frameAge = frame_age
@@ -89,9 +92,6 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   fill_xyzt(modelV2.orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
   fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
-  # poly path
-  fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
-
   # action
   modelV2.action = action
 
@@ -106,8 +106,6 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
   modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
 
-  fill_lane_line_meta(driving_model_data.laneLineMeta, modelV2.laneLines, modelV2.laneLineProbs)
-
   # road edges
   modelV2.init('roadEdges', 2)
   for i in range(2):
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 49ea0d5cdf49f9..cf53eb23d8923a 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -21,7 +21,7 @@
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, WARP_INPUTS, POLICY_INPUTS
-from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
+from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_driving_model_data, fill_pose_msg, PublishState
 from openpilot.common.file_chunker import read_file_chunked, get_manifest_path
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path, get_tg_input_devices
@@ -311,7 +311,7 @@ def main(demo=False):
 
       action = get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego)
       prev_action = action
-      fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
+      fill_model_msg(modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
 
@@ -322,9 +322,8 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
-      drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
-      drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 
+      fill_driving_model_data(drivingdata_send, modelv2_send)
       fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)

From 7661e03d1e3f666781f56feb48c031293757fdd3 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 10 Jun 2026 18:51:28 -0700
Subject: [PATCH 1185/1434] bump opendbc (#38167)

bump
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index e23d405ab3beb3..e5d654dac2dd52 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit e23d405ab3beb31de503400acd47d9c390564a8d
+Subproject commit e5d654dac2dd52e4d02f6ba97d8d02bc089f8e00

From 5a7b710d9058ca3c889cb5e56da8b8cb9c088308 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Thu, 11 Jun 2026 02:25:23 +0000
Subject: [PATCH 1186/1434] lagd: invalidate cached estimates on major
 estimator update (#38162)

* Versioning

* comment

* Tests

* fix issues
---
 cereal/log.capnp                      |  1 +
 selfdrive/locationd/lagd.py           |  6 +++++-
 selfdrive/locationd/test/test_lagd.py | 17 ++++++++++++++++-
 3 files changed, 22 insertions(+), 2 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index b7202dfcf7a36c..6cf4781228aaa4 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2259,6 +2259,7 @@ struct LiveDelayData {
   lateralDelayEstimateStd @5 :Float32;
   points @4 :List(Float32);
   calPerc @6 :Int8;
+  version @7 :Int32;
 
   enum Status {
     unestimated @0;
diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py
index 2df3dc9ad97493..0069bb51b91bad 100755
--- a/selfdrive/locationd/lagd.py
+++ b/selfdrive/locationd/lagd.py
@@ -36,6 +36,8 @@
 SMOOTH_K = 5
 SMOOTH_SIGMA = 1.0
 
+VERSION = 1  # bump this to invalidate old parameter caches
+
 
 def masked_symmetric_moving_average(x: np.ndarray, mask: np.ndarray, k: int, sigma: float) -> np.ndarray:
   assert k >= 1 and k % 2 == 1, "k must be positive and odd"
@@ -248,6 +250,7 @@ def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuild
                             (self.min_valid_block_count * self.block_size), 100)
     if debug:
       liveDelay.points = self.block_avg.values.flatten().tolist()
+    liveDelay.version = VERSION
 
     return msg
 
@@ -368,9 +371,10 @@ def retrieve_initial_lag(params: Params, CP: car.CarParams):
         if last_CP.carFingerprint != CP.carFingerprint:
           raise Exception("Car model mismatch")
 
-        lag, valid_blocks, status = ld.lateralDelayEstimate, ld.validBlocks, ld.status
+        lag, valid_blocks, status, version = ld.lateralDelayEstimate, ld.validBlocks, ld.status, ld.version
         assert valid_blocks <= BLOCK_NUM, "Invalid number of valid blocks"
         assert status != log.LiveDelayData.Status.invalid, "Lag estimate is invalid"
+        assert version == VERSION, f"Lag estimate is from a different version (got {version}, expected {VERSION})"
         return lag, valid_blocks
     except Exception as e:
       cloudlog.error(f"Failed to retrieve initial lag: {e}")
diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py
index 7e8d79a7de2a35..0c4e227192174a 100644
--- a/selfdrive/locationd/test/test_lagd.py
+++ b/selfdrive/locationd/test/test_lagd.py
@@ -5,7 +5,7 @@
 
 from cereal import messaging, log, car
 from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \
-                                               BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC
+                                               BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC, VERSION
 from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
 from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
 from openpilot.common.params import Params
@@ -53,6 +53,7 @@ def test_read_saved_params(self):
     msg = messaging.new_message('liveDelay')
     msg.liveDelay.lateralDelayEstimate = random.random()
     msg.liveDelay.validBlocks = random.randint(1, 10)
+    msg.liveDelay.version = VERSION
     params.put("LiveDelay", msg.to_bytes(), block=True)
     params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
 
@@ -63,6 +64,20 @@ def test_read_saved_params(self):
     assert lag == msg.liveDelay.lateralDelayEstimate
     assert valid_blocks == msg.liveDelay.validBlocks
 
+  def test_read_invalid_saved_params(self, subtests):
+    params = Params()
+
+    lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
+    CP = next(m for m in lr if m.which() == "carParams").carParams
+
+    for msg_dict in [{'version': 0}, {'status': 'invalid'}, {'validBlocks': 100}]:
+      with subtests.test(msg=f"liveDelay={msg_dict}"):
+        msg = messaging.new_message('liveDelay')
+        msg.liveDelay = msg_dict
+        params.put("LiveDelay", msg.to_bytes(), block=True)
+        params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
+        assert retrieve_initial_lag(params, CP) is None
+
   def test_ncc(self):
     lag_frames = random.randint(1, 19)
 

From 98e5f547ea1ca1302e729e2aab9d972738503e78 Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Wed, 10 Jun 2026 22:28:26 -0400
Subject: [PATCH 1187/1434] fix(athena): outbound rpc stuck behind low prio
 queue timeout (#38160)

* priority queue instead of 2 queues

* add assert on priority instead of default

* fix lint
---
 system/athena/athenad.py            | 26 +++++++++++++++-----------
 system/athena/tests/test_athenad.py |  4 ++--
 2 files changed, 17 insertions(+), 13 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 6bccaae63eb424..870d271624a0c0 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -4,6 +4,7 @@
 import base64
 import hashlib
 import io
+import itertools
 import json
 import os
 import queue
@@ -57,6 +58,9 @@
 DEVICE_STATE_UPDATE_INTERVAL = 1.0  # in seconds
 DEFAULT_UPLOAD_PRIORITY = 99  # higher number = lower priority
 
+SEND_PRIORITY_HIGH = 0
+SEND_PRIORITY_LOW = 1
+
 # https://bytesolutions.com/dscp-tos-cos-precedence-conversion-chart,
 # https://en.wikipedia.org/wiki/Differentiated_services
 UPLOAD_TOS = 0x20  # CS1, low priority background traffic
@@ -126,14 +130,18 @@ def __eq__(self, other):
 
 dispatcher["echo"] = lambda s: s
 recv_queue: Queue[str] = queue.Queue()
-send_queue: Queue[str] = queue.Queue()
+send_queue: Queue[tuple[int, int, str]] = queue.PriorityQueue()
 upload_queue: Queue[UploadItem] = queue.PriorityQueue()
-low_priority_send_queue: Queue[str] = queue.Queue()
 log_recv_queue: Queue[str] = queue.Queue()
 cancelled_uploads: set[str] = set()
 
 cur_upload_items: dict[int, UploadItem | None] = {}
 
+send_seq = itertools.count()
+def send_queue_push(data: str, priority: int) -> None:
+  assert priority is not None, "send queue priority must be specified"
+  send_queue.put_nowait((priority, next(send_seq), data)) # tie-break with a monotonic counter
+
 
 def strip_zst_extension(fn: str) -> str:
   if fn.endswith('.zst'):
@@ -208,7 +216,7 @@ def jsonrpc_handler(end_event: threading.Event) -> None:
       if "method" in data:
         cloudlog.event("athena.jsonrpc_handler.call_method", data=data)
         response = JSONRPCResponseManager.handle(data, dispatcher)
-        send_queue.put_nowait(response.json)
+        send_queue_push(response.json, SEND_PRIORITY_HIGH)
       elif "id" in data and ("result" in data or "error" in data):
         log_recv_queue.put_nowait(data)
       else:
@@ -217,7 +225,7 @@ def jsonrpc_handler(end_event: threading.Event) -> None:
       pass
     except Exception as e:
       cloudlog.exception("athena jsonrpc handler failed")
-      send_queue.put_nowait(json.dumps({"error": str(e)}))
+      send_queue_push(json.dumps({"error": str(e)}), SEND_PRIORITY_HIGH)
 
 
 def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = True) -> None:
@@ -596,7 +604,6 @@ def startStream(sdp: str) -> dict:
   except requests.ConnectionError as e:
     raise Exception("webrtc is not running. turn on comma body ignition.") from e
 
-
 @dispatcher.add_method
 def takeSnapshot() -> str | dict[str, str] | None:
   from openpilot.system.camerad.snapshot import jpeg_write, snapshot
@@ -666,7 +673,7 @@ def log_handler(end_event: threading.Event) -> None:
               "jsonrpc": "2.0",
               "id": log_entry
             }
-            low_priority_send_queue.put_nowait(json.dumps(jsonrpc))
+            send_queue_push(json.dumps(jsonrpc), SEND_PRIORITY_LOW)
             curr_log = log_entry
         except OSError:
           pass  # file could be deleted by log rotation
@@ -717,7 +724,7 @@ def stat_handler(end_event: threading.Event) -> None:
               "jsonrpc": "2.0",
               "id": stat_filenames[0]
             }
-            low_priority_send_queue.put_nowait(json.dumps(jsonrpc))
+            send_queue_push(json.dumps(jsonrpc), SEND_PRIORITY_LOW)
           os.remove(stat_path)
         last_scan = curr_scan
     except Exception:
@@ -799,10 +806,7 @@ def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
 def ws_send(ws: WebSocket, end_event: threading.Event) -> None:
   while not end_event.is_set():
     try:
-      try:
-        data = send_queue.get_nowait()
-      except queue.Empty:
-        data = low_priority_send_queue.get(timeout=1)
+      _, _, data = send_queue.get(timeout=1)
       for i in range(0, len(data), WS_FRAME_SIZE):
         frame = data[i:i+WS_FRAME_SIZE]
         last = i + WS_FRAME_SIZE >= len(data)
diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py
index b0c20a26a92e66..33b0113b327896 100644
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -422,11 +422,11 @@ def test_jsonrpc_handler(self):
     try:
       # with params
       athenad.recv_queue.put_nowait(json.dumps({"method": "echo", "params": ["hello"], "jsonrpc": "2.0", "id": 0}))
-      resp = athenad.send_queue.get(timeout=3)
+      _, _, resp = athenad.send_queue.get(timeout=3)
       assert json.loads(resp) == {'result': 'hello', 'id': 0, 'jsonrpc': '2.0'}
       # without params
       athenad.recv_queue.put_nowait(json.dumps({"method": "getNetworkType", "jsonrpc": "2.0", "id": 0}))
-      resp = athenad.send_queue.get(timeout=3)
+      _, _, resp = athenad.send_queue.get(timeout=3)
       assert json.loads(resp) == {'result': 1, 'id': 0, 'jsonrpc': '2.0'}
       # log forwarding
       athenad.recv_queue.put_nowait(json.dumps({'result': {'success': 1}, 'id': 0, 'jsonrpc': '2.0'}))

From b2bb71b4b76260b9df0456dd43418135564c9f90 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Wed, 10 Jun 2026 22:02:28 -0700
Subject: [PATCH 1188/1434] modeld: less cross device copies (#38168)

* single copy for frames

* single copy out

* missed this

* pack npy inputs to the policy

* strict zip

* strict zip
---
 selfdrive/modeld/compile_modeld.py | 46 ++++++++++++++++--------------
 selfdrive/modeld/modeld.py         |  8 +++---
 2 files changed, 29 insertions(+), 25 deletions(-)

diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index 8d6058f39df5b2..81d0a30033dbf0 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import argparse
 import atexit
+import math
 import os
 import pickle
 import time
@@ -33,7 +34,7 @@ def fetch_fw(path, name, sha256):
 
 NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
 WARP_INPUTS = ['img_q', 'big_img_q', 'tfm', 'big_tfm']
-POLICY_INPUTS = ['feat_q', 'desire_q', 'desire', 'traffic_convention', 'action_t']
+POLICY_INPUTS = ['feat_q', 'desire_q', 'packed_npy_inputs']
 
 UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
 UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
@@ -130,25 +131,28 @@ def make_warp_input_queues(vision_input_shapes, frame_skip, device):
   return input_queues, npy
 
 
+def get_policy_npy_shapes(policy_input_shapes):
+  dp = policy_input_shapes['desire_pulse']  # (1, 25, 8)
+  tc = policy_input_shapes['traffic_convention']  # (1, 2)
+  #TODO action_t is hardcoded to match tc for future compatibility
+  shapes = {'desire': (dp[2],), 'traffic_convention': tuple(tc), 'action_t': tuple(tc)}
+  return shapes, [math.prod(s) for s in shapes.values()]
+
+
 def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device):
   input_queues, npy = make_warp_input_queues(vision_input_shapes, frame_skip, device)
 
   fb = policy_input_shapes['features_buffer']  # (1, 25, 512)
   dp = policy_input_shapes['desire_pulse']  # (1, 25, 8)
-  tc = policy_input_shapes['traffic_convention']  # (1, 2)
-  #TODO action_t is hardcoded to match tc for future compatibility
-  at = tc
 
-  policy_npy = {
-    'desire': np.zeros(dp[2], dtype=np.float32),
-    'traffic_convention': np.zeros(tc, dtype=np.float32),
-    'action_t': np.zeros(at, dtype=np.float32),
-  }
-  npy.update(policy_npy)
+  shapes, sizes = get_policy_npy_shapes(policy_input_shapes)
+  packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)
+  # views into the packed inputs, to be refilled at runtime
+  npy.update({k: v.reshape(s) for (k, s), v in zip(shapes.items(), np.split(packed_npy_inputs, np.cumsum(sizes[:-1])), strict=True)})
   input_queues.update({
     'feat_q': Tensor(np.zeros((frame_skip * (fb[1] - 1) + 1, fb[0], fb[2]), dtype=np.float32), device=device).contiguous().realize(),
     'desire_q': Tensor(np.zeros((frame_skip * dp[1], dp[0], dp[2]), dtype=np.float32), device=device).contiguous().realize(),
-    **{k: Tensor(v, device='NPY').realize() for k, v in policy_npy.items()},
+    'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
   })
   return input_queues, npy
 
@@ -175,10 +179,11 @@ def warp_enqueue(img_q, big_img_q, tfm, big_tfm, frame, big_frame):
     big_tfm = big_tfm.to(WARP_DEV)
     Tensor.realize(tfm, big_tfm)
 
-    warped_frame = frame_prepare(frame, tfm).unsqueeze(0).to(Device.DEFAULT)
-    warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0).to(Device.DEFAULT)
-    img = shift_and_sample(img_q, warped_frame, sample_skip_fn)
-    big_img = shift_and_sample(big_img_q, warped_big_frame, sample_skip_fn)
+    warped_frame = frame_prepare(frame, tfm).unsqueeze(0)
+    warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0)
+    warped = Tensor.cat(warped_frame, warped_big_frame).to(Device.DEFAULT)
+    img = shift_and_sample(img_q, warped[0:1], sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, warped[1:2], sample_skip_fn)
     return img, big_img
   return warp_enqueue
 
@@ -187,12 +192,11 @@ def make_run_policy(model_runners, model_metadata, frame_skip):
   sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
   vision_features_slice = model_metadata['vision']['output_slices']['hidden_state']
+  npy_shapes, npy_sizes = get_policy_npy_shapes(model_metadata['on_policy']['input_shapes'])
 
-  def run_policy(img, big_img, feat_q, desire_q, desire, traffic_convention, action_t):
-    desire = desire.to(Device.DEFAULT)
-    traffic_convention = traffic_convention.to(Device.DEFAULT)
-    action_t = action_t.to(Device.DEFAULT)
-    Tensor.realize(desire, traffic_convention, action_t)
+  def run_policy(img, big_img, feat_q, desire_q, packed_npy_inputs):
+    packed_npy_inputs = packed_npy_inputs.to(Device.DEFAULT).realize()
+    desire, traffic_convention, action_t = (t.reshape(s) for t, s in zip(packed_npy_inputs.split(npy_sizes), npy_shapes.values(), strict=True))
     desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
     vision_out = next(iter(model_runners['vision']({'img': img, 'big_img': big_img}).values())).cast('float32')
 
@@ -207,7 +211,7 @@ def run_policy(img, big_img, feat_q, desire_q, desire, traffic_convention, actio
     }
     on_policy_out = next(iter(model_runners['on_policy'](inputs).values())).cast('float32')
     off_policy_out = next(iter(model_runners['off_policy'](inputs).values())).cast('float32')
-    return vision_out, on_policy_out, off_policy_out
+    return Tensor.cat(vision_out, on_policy_out, off_policy_out, dim=1),
   return run_policy
 
 
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index cf53eb23d8923a..7e4976bf5e74ff 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -83,6 +83,7 @@ def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
     self.vision_input_shapes = vision_metadata['input_shapes']
     self.vision_input_names = list(self.vision_input_shapes.keys())
     self.vision_output_slices = vision_metadata['output_slices']
+    self.vision_output_len = vision_metadata['output_shapes']['outputs'][1]
 
     off_policy_metadata = jits['metadata']['off_policy']
     self.off_policy_output_slices = off_policy_metadata['output_slices']
@@ -90,6 +91,7 @@ def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
     policy_metadata = jits['metadata']['on_policy']
     self.policy_input_shapes = policy_metadata['input_shapes']
     self.policy_output_slices = policy_metadata['output_slices']
+    self.on_policy_output_len = policy_metadata['output_shapes']['outputs'][1]
 
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
 
@@ -131,13 +133,11 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
     if prepare_only:
       return None
 
-    vision_output, on_policy_output, off_policy_output = self.run_policy(
+    outs, = self.run_policy(
       **{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, img=img, big_img=big_img
     )
+    vision_output, on_policy_output, off_policy_output = np.split(outs.numpy()[0], [self.vision_output_len, self.vision_output_len+self.on_policy_output_len])
 
-    vision_output = vision_output.numpy().flatten()
-    off_policy_output = off_policy_output.numpy().flatten()
-    on_policy_output = on_policy_output.numpy().flatten()
     vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(vision_output, self.vision_output_slices))
     off_policy_outputs_dict = self.parser.parse_off_policy_outputs(self.slice_outputs(off_policy_output, self.off_policy_output_slices))
     policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(on_policy_output, self.policy_output_slices))

From 4024d13ddabbb23aca2399603957096b0921b4d8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Thu, 11 Jun 2026 09:32:24 -0700
Subject: [PATCH 1189/1434] Revert "Op model16 deep (#38073)" (#38166)

This reverts commit f02d134f40f5e7be22b182af21b438915a47600e.
---
 selfdrive/modeld/SConscript                        |  3 +--
 selfdrive/modeld/compile_modeld.py                 |  7 +------
 selfdrive/modeld/modeld.py                         | 12 +++---------
 .../modeld/models/big_driving_off_policy.onnx      |  3 ---
 selfdrive/modeld/models/big_driving_on_policy.onnx |  4 ++--
 selfdrive/modeld/models/big_driving_vision.onnx    |  4 ++--
 selfdrive/modeld/models/driving_off_policy.onnx    |  3 ---
 selfdrive/modeld/models/driving_on_policy.onnx     |  4 ++--
 selfdrive/modeld/models/driving_vision.onnx        |  4 ++--
 selfdrive/modeld/parse_model_outputs.py            | 14 ++++----------
 selfdrive/test/process_replay/model_replay.py      |  2 +-
 system/hardware/tici/tests/test_power_draw.py      |  2 +-
 tinygrad_repo                                      |  2 +-
 13 files changed, 20 insertions(+), 44 deletions(-)
 delete mode 100644 selfdrive/modeld/models/big_driving_off_policy.onnx
 delete mode 100644 selfdrive/modeld/models/driving_off_policy.onnx

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index c13842115d8007..80a7df45157585 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -87,14 +87,13 @@ frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
 for usbgpu in [False, True] if USBGPU else [False]:
   target_pkl_path = File(modeld_pkl_path(usbgpu)).abspath
   file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('', tg_flags)
-  driving_onnx_deps = [p for m in [f'{file_prefix}driving_vision', f'{file_prefix}driving_on_policy', f'{file_prefix}driving_off_policy']
+  driving_onnx_deps = [p for m in [f'{file_prefix}driving_vision', f'{file_prefix}driving_on_policy']
                        for p in get_existing_chunks(File(f"models/{m}.onnx").abspath)]
   camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
   cmd = (f'{cmd_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
         f'--model-size {model_w}x{model_h} '
         f'--camera-resolutions {camera_res_args} '
         f'--vision-onnx {File(f"models/{file_prefix}driving_vision.onnx").abspath} '
-        f'--off-policy-onnx {File(f"models/{file_prefix}driving_off_policy.onnx").abspath} '
         f'--on-policy-onnx {File(f"models/{file_prefix}driving_on_policy.onnx").abspath} '
         f'--output {target_pkl_path} --frame-skip {frame_skip}')
   onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index 81d0a30033dbf0..1a137a34b6a113 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -210,8 +210,7 @@ def run_policy(img, big_img, feat_q, desire_q, packed_npy_inputs):
       'action_t': action_t,
     }
     on_policy_out = next(iter(model_runners['on_policy'](inputs).values())).cast('float32')
-    off_policy_out = next(iter(model_runners['off_policy'](inputs).values())).cast('float32')
-    return Tensor.cat(vision_out, on_policy_out, off_policy_out, dim=1),
+    return Tensor.cat(vision_out, on_policy_out, dim=1),
   return run_policy
 
 
@@ -282,7 +281,6 @@ def read_file_chunked_to_shm(path):
   p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True,
                  help='camera resolutions WxH (one or more)')
   p.add_argument('--vision-onnx', required=True)
-  p.add_argument('--off-policy-onnx', required=True)
   p.add_argument('--on-policy-onnx', required=True)
   p.add_argument('--output', required=True)
   p.add_argument('--frame-skip', type=int, required=True)
@@ -290,7 +288,6 @@ def read_file_chunked_to_shm(path):
 
   model_paths = {
     'vision': read_file_chunked_to_shm(args.vision_onnx),
-    'off_policy': read_file_chunked_to_shm(args.off_policy_onnx),
     'on_policy': read_file_chunked_to_shm(args.on_policy_onnx),
   }
   model_w, model_h = args.model_size
@@ -298,8 +295,6 @@ def read_file_chunked_to_shm(path):
   model_runners = {name: OnnxRunner(path) for name, path in model_paths.items()}
   out = {'metadata': {name: make_metadata_dict(path) for name, path in model_paths.items()}}
 
-  assert out['metadata']['off_policy']['input_shapes'] == out['metadata']['on_policy']['input_shapes']
-
   run_policy_jit = TinyJit(make_run_policy(model_runners, out['metadata'], args.frame_skip), prune=True)
 
   make_policy_queues = partial(make_input_queues, out['metadata']['vision']['input_shapes'],
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 7e4976bf5e74ff..7505ddf1825082 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -85,13 +85,9 @@ def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
     self.vision_output_slices = vision_metadata['output_slices']
     self.vision_output_len = vision_metadata['output_shapes']['outputs'][1]
 
-    off_policy_metadata = jits['metadata']['off_policy']
-    self.off_policy_output_slices = off_policy_metadata['output_slices']
-
     policy_metadata = jits['metadata']['on_policy']
     self.policy_input_shapes = policy_metadata['input_shapes']
     self.policy_output_slices = policy_metadata['output_slices']
-    self.on_policy_output_len = policy_metadata['output_shapes']['outputs'][1]
 
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
 
@@ -136,15 +132,13 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
     outs, = self.run_policy(
       **{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, img=img, big_img=big_img
     )
-    vision_output, on_policy_output, off_policy_output = np.split(outs.numpy()[0], [self.vision_output_len, self.vision_output_len+self.on_policy_output_len])
-
+    vision_output, on_policy_output = np.split(outs.numpy()[0], [self.vision_output_len])
     vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(vision_output, self.vision_output_slices))
-    off_policy_outputs_dict = self.parser.parse_off_policy_outputs(self.slice_outputs(off_policy_output, self.off_policy_output_slices))
     policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(on_policy_output, self.policy_output_slices))
-    combined_outputs_dict = {**vision_outputs_dict, **off_policy_outputs_dict, **policy_outputs_dict}
+    combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
 
     if SEND_RAW_PRED:
-      combined_outputs_dict['raw_pred'] = np.concatenate([vision_output.copy(), on_policy_output.copy(), off_policy_output.copy()])
+      combined_outputs_dict['raw_pred'] = np.concatenate([vision_output.copy(), on_policy_output.copy()])
     return combined_outputs_dict
 
 
diff --git a/selfdrive/modeld/models/big_driving_off_policy.onnx b/selfdrive/modeld/models/big_driving_off_policy.onnx
deleted file mode 100644
index 715f9f9c99e748..00000000000000
--- a/selfdrive/modeld/models/big_driving_off_policy.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8a26866121d1d3a1152bfce024ed7584b8569507d120d4bc8917320093dcd31a
-size 41191256
diff --git a/selfdrive/modeld/models/big_driving_on_policy.onnx b/selfdrive/modeld/models/big_driving_on_policy.onnx
index 6011d4be222632..f7b49c018a3009 100644
--- a/selfdrive/modeld/models/big_driving_on_policy.onnx
+++ b/selfdrive/modeld/models/big_driving_on_policy.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:94b07ef7a0f65d5c41ac696b4ae7bdc59e2d4c5f504460e2b0d720620892c2e8
-size 33679037
+oid sha256:565e53c38dcd64c50dd3fe4d5ee1530213aeefd66c3f6b67ea6a72a32612a6bf
+size 14061419
diff --git a/selfdrive/modeld/models/big_driving_vision.onnx b/selfdrive/modeld/models/big_driving_vision.onnx
index bfebd4f7a64a41..d14f1969e0cca2 100644
--- a/selfdrive/modeld/models/big_driving_vision.onnx
+++ b/selfdrive/modeld/models/big_driving_vision.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:eda005282417ffa825092ece5c16b5584142044cdbcf15b6d0246136ac6db601
-size 120584466
+oid sha256:1f0cab5033fe9e3bc5e174a2e790fa277f7d9fc44c65822d734064d2f899a9a0
+size 296203378
diff --git a/selfdrive/modeld/models/driving_off_policy.onnx b/selfdrive/modeld/models/driving_off_policy.onnx
deleted file mode 100644
index 673f7949f81ef0..00000000000000
--- a/selfdrive/modeld/models/driving_off_policy.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6173be8a69b1d9633a09969c80b2a8bd990bfe7d3e76e192a0e537f6fd72222b
-size 41192485
diff --git a/selfdrive/modeld/models/driving_on_policy.onnx b/selfdrive/modeld/models/driving_on_policy.onnx
index dc9f587949be74..611ae9fe85f837 100644
--- a/selfdrive/modeld/models/driving_on_policy.onnx
+++ b/selfdrive/modeld/models/driving_on_policy.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6b66ef783af3fa86190e85a6b4f729cd1443b20be41134aa258f9c376825a45c
-size 33680163
+oid sha256:78477124cbf3ffe30fa951ebada8410b43c4242c6054584d656f1d329b067e15
+size 14060847
diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx
index 6bfff25c21e1fb..6c9fc4c84d3632 100644
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ b/selfdrive/modeld/models/driving_vision.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bbd0761201b3b161587d097f173c66bf82cd02966e5f0d1edd888c970d6f6d87
-size 21735970
+oid sha256:ee29ee5bce84d1ce23e9ff381280de9b4e4d96d2934cd751740354884e112c66
+size 46877473
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index 3b35c15acb9305..26c138b8eccb42 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -96,17 +96,11 @@ def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndar
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
-    self.parse_binary_crossentropy('meta', outs)
     self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
     self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
     self.parse_binary_crossentropy('lane_lines_prob', outs)
-    return outs
-
-  def parse_off_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    plan_mhp = self.is_mhp(outs, 'plan',  ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
-    plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
-    self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
+    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
+    self.parse_binary_crossentropy('meta', outs)
     self.parse_binary_crossentropy('lead_prob', outs)
     lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH)
     lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
@@ -116,11 +110,11 @@ def parse_off_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.
     return outs
 
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    self.parse_mdn('action', outs, in_N=0, out_N=0, out_shape=(ModelConstants.ACTION_WIDTH,))
+    self.parse_mdn('plan', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
+    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
     return outs
 
   def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     outs = self.parse_vision_outputs(outs)
-    outs = self.parse_off_policy_outputs(outs)
     outs = self.parse_policy_outputs(outs)
     return outs
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 7cbdc73a61e3d4..266f66aaf24856 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -34,7 +34,7 @@
 
 EXEC_TIMINGS = [
   # model, instant max, average max
-  ("modelV2", 0.05, 0.033),
+  ("modelV2", 0.05, 0.028),
   ("driverStateV2", 0.05, 0.018),
 ]
 
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index 2de2efe2d81e3a..6656addf73bb53 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -32,7 +32,7 @@ def name(self):
 
 PROCS = [
   Proc(['camerad'], 1.65, atol=0.4, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
-  Proc(['modeld'], 1.8, atol=0.2, msgs=['modelV2']),
+  Proc(['modeld'], 1.5, atol=0.2, msgs=['modelV2']),
   Proc(['dmonitoringmodeld'], 0.65, atol=0.35, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),
 ]
diff --git a/tinygrad_repo b/tinygrad_repo
index fd992d668400de..556defa0f78ed1 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit fd992d668400ded1b0114f0a741fc37214fbc4a4
+Subproject commit 556defa0f78ed10b6ce675a2fa15a1c2521b5e93

From 9ef3cfdf9adef89dd169ab126e473ca329cb4ce8 Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Thu, 11 Jun 2026 12:29:56 -0700
Subject: [PATCH 1190/1434] compile modeld: use tmp file name (#38170)

---
 selfdrive/modeld/compile_modeld.py | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index 1a137a34b6a113..bc8caca7e6821a 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -4,6 +4,7 @@
 import math
 import os
 import pickle
+import tempfile
 import time
 from functools import partial
 from collections import namedtuple
@@ -265,11 +266,11 @@ def _parse_size(s):
 def read_file_chunked_to_shm(path):
   from openpilot.common.file_chunker import read_file_chunked
   from openpilot.system.hardware.hw import Paths
-  shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
-  atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
-  with open(shm_path, 'wb') as f:
+  with tempfile.NamedTemporaryFile(prefix='compile_modeld_', dir=Paths.shm_path(), delete=False) as f:
     f.write(read_file_chunked(path))
-  return shm_path
+    tmp_path = f.name
+  atexit.register(lambda: os.path.exists(tmp_path) and os.remove(tmp_path))
+  return tmp_path
 
 
 if __name__ == "__main__":

From 14cff000e9c21d5e8f8b7ffa74bd820dcda94ea9 Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Thu, 11 Jun 2026 15:58:04 -0400
Subject: [PATCH 1191/1434] feat(webrtc): addIceCandidate dispatcher (#38161)

* addIceCandidate dispatcher

* clean

* fix lint
---
 system/athena/athenad.py |  8 ++++++++
 system/webrtc/webrtcd.py | 31 ++++++++++++++++++++++++++++++-
 2 files changed, 38 insertions(+), 1 deletion(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 870d271624a0c0..27a9afe535ac83 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -604,6 +604,14 @@ def startStream(sdp: str) -> dict:
   except requests.ConnectionError as e:
     raise Exception("webrtc is not running. turn on comma body ignition.") from e
 
+@dispatcher.add_method
+def addIceCandidate(session_id: str, candidate: dict | None) -> dict:
+  if session_id is None:
+    return Exception("cannot add ice candidate without session_id")
+  resp = requests.post(f"http://localhost:{WEBRTCD_PORT}/candidate",
+                       json={"session_id": session_id, "candidate": candidate}, timeout=10)
+  return resp.json()
+
 @dispatcher.add_method
 def takeSnapshot() -> str | dict[str, str] | None:
   from openpilot.system.camerad.snapshot import jpeg_write, snapshot
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 38c30862f8b396..e86b8f17d5abf9 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -251,6 +251,23 @@ async def stop(self):
   async def get_answer(self):
     return await self.stream.start()
 
+  async def add_ice_candidate(self, candidate_init: dict | None):
+    from aiortc.sdp import candidate_from_sdp
+
+    pc = self.stream.peer_connection
+    if pc.iceConnectionState not in ("new", "checking"):
+      return
+
+    # a null/empty candidate signals end-of-candidates per the WebRTC convention
+    if not candidate_init or not candidate_init.get("candidate"):
+      await pc.addIceCandidate(None)
+      return
+
+    candidate = candidate_from_sdp(candidate_init["candidate"].split(":", 1)[1])
+    candidate.sdpMid = candidate_init.get("sdpMid")
+    candidate.sdpMLineIndex = candidate_init.get("sdpMLineIndex")
+    await pc.addIceCandidate(candidate)
+
   def message_handler(self, message: bytes):
     assert self.incoming_bridge is not None
     try:
@@ -354,7 +371,18 @@ async def get_stream(request: 'web.Request'):
 
     stream_dict[session.identifier] = session
 
-  return web.json_response({"sdp": answer.sdp, "type": answer.type})
+  return web.json_response({"sdp": answer.sdp, "type": answer.type, "session_id": session.identifier})
+
+
+async def post_candidate(request: 'web.Request'):
+  body = await request.json()
+  session = request.app.get('streams', {}).get(body.get("session_id"))
+
+  try:
+    await session.add_ice_candidate(body.get("candidate"))
+  except Exception as e:
+    raise web.HTTPBadRequest(text=json.dumps({"error": "invalid_candidate", "message": str(e)}), content_type="application/json") from e
+  return web.Response(status=200, text="OK")
 
 
 async def get_schema(request: 'web.Request'):
@@ -400,6 +428,7 @@ def webrtcd_thread(host: str, port: int, debug: bool):
   app['debug'] = debug
   app.on_shutdown.append(on_shutdown)
   app.router.add_post("/stream", get_stream)
+  app.router.add_post("/candidate", post_candidate)
   app.router.add_post("/notify", post_notify)
   app.router.add_get("/schema", get_schema)
 

From cd052f124ee87e319bf0fb091e9646c96c6a8a26 Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Thu, 11 Jun 2026 19:10:34 -0400
Subject: [PATCH 1192/1434] webrtc: speed ups (#38163)

- patch `aioice` to only get host address of active network interface (wlan0 when on wifi, ppp0 when not)
- use common webrtc session between `startStream` and `addIceCandidates`
- first time connection speed ups
  - move imports to top of file to move delay to webrtcd server start up not first connection
  - warm up webrtc stack by creating a webrtc connection object to import all submodule classes
---
 system/athena/athenad.py      | 13 ++++---
 system/webrtc/device/video.py |  7 ++++
 system/webrtc/webrtcd.py      | 67 +++++++++++++++++++++++++++++++----
 3 files changed, 76 insertions(+), 11 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 27a9afe535ac83..a03a150330eca1 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -40,6 +40,7 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_build_metadata
 from openpilot.system.hardware.hw import Paths
+from openpilot.system.webrtc.webrtcd import StreamRequestBody
 
 
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
@@ -84,6 +85,9 @@ def init_poolmanager(self, connections, maxsize, block=DEFAULT_POOLBLOCK, **pool
 UPLOAD_SESS.mount("http://", UploadTOSAdapter())
 UPLOAD_SESS.mount("https://", UploadTOSAdapter())
 
+WEBRTCD_SESS = requests.Session()
+WEBRTCD_SESS.mount("http://", HTTPAdapter(max_retries=0))
+
 
 @dataclass
 class UploadFile:
@@ -578,7 +582,6 @@ def getNetworks():
 
 @dispatcher.add_method
 def startStream(sdp: str) -> dict:
-  from openpilot.system.webrtc.webrtcd import StreamRequestBody
   bridge_services_in = []
 
   # get live car params to avoid stale notCar edge case
@@ -590,7 +593,7 @@ def startStream(sdp: str) -> dict:
 
   body = StreamRequestBody(sdp, "wideRoad", bridge_services_in, ["carState"])
   try:
-    resp = requests.post(f"http://localhost:{WEBRTCD_PORT}/stream",
+    resp = WEBRTCD_SESS.post(f"http://localhost:{WEBRTCD_PORT}/stream",
                        json=asdict(body), timeout=10)
     if not resp.ok:
       try:
@@ -600,7 +603,7 @@ def startStream(sdp: str) -> dict:
         resp.raise_for_status()
     return resp.json()
   except requests.ConnectTimeout as e:
-    raise Exception("webrtc took too long to respond. is it on?") from e
+    raise Exception("webrtc took too long to respond. is the comma body on?") from e
   except requests.ConnectionError as e:
     raise Exception("webrtc is not running. turn on comma body ignition.") from e
 
@@ -608,8 +611,8 @@ def startStream(sdp: str) -> dict:
 def addIceCandidate(session_id: str, candidate: dict | None) -> dict:
   if session_id is None:
     return Exception("cannot add ice candidate without session_id")
-  resp = requests.post(f"http://localhost:{WEBRTCD_PORT}/candidate",
-                       json={"session_id": session_id, "candidate": candidate}, timeout=10)
+  resp = WEBRTCD_SESS.post(f"http://localhost:{WEBRTCD_PORT}/candidate",
+                            json={"session_id": session_id, "candidate": candidate}, timeout=10)
   return resp.json()
 
 @dispatcher.add_method
diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py
index 8a07c5b9be9c92..2083233dc9a38e 100644
--- a/system/webrtc/device/video.py
+++ b/system/webrtc/device/video.py
@@ -4,6 +4,7 @@
 
 import av
 from teleoprtc.tracks import TiciVideoStreamTrack
+from aiortc import MediaStreamError
 
 from cereal import messaging
 from openpilot.common.realtime import DT_MDL, DT_DMON
@@ -32,6 +33,10 @@ def __init__(self, camera_type: str):
     self._t0_ns = time.monotonic_ns()
     self.timing_sei_enabled = False
 
+  def stop(self) -> None:
+    super().stop()
+    self._sock = None
+
   def _make_sock(self, camera_type: str) -> messaging.SubSocket:
     return messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
 
@@ -54,6 +59,8 @@ def _build_frame_data(self, msg) -> bytes:
 
   async def recv(self):
     while True:
+      if self.readyState != "live":
+        raise MediaStreamError
       msg = messaging.recv_one_or_none(self._sock)
       if msg is not None:
         break
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index e86b8f17d5abf9..14c39fcd3751f9 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -2,6 +2,7 @@
 
 from abc import abstractmethod
 import os
+import socket
 import time
 import argparse
 import asyncio
@@ -26,6 +27,36 @@
 from openpilot.common.params import Params
 from cereal import messaging, log
 
+from aiortc import RTCBundlePolicy, RTCConfiguration, RTCPeerConnection
+from aiortc.mediastreams import VideoStreamTrack
+from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
+from teleoprtc import WebRTCAnswerBuilder
+
+import aioice.ice
+
+
+# socket trick: route lookup for 8.8.8.8 (nothing is sent or actually connected to)
+# return the source interfaces IP which is the default interface of the device
+def _default_route_ip() -> str | None:
+  s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+  try:
+    s.connect(("8.8.8.8", 53))  # selects a route, sends nothing
+    return s.getsockname()[0]
+  except OSError:
+    return None
+  finally:
+    s.close()
+
+# aioice patch: gather ICE candidates only on the default-route interface
+_get_host_addresses = aioice.ice.get_host_addresses
+def _primary_host_addresses(use_ipv4: bool, use_ipv6: bool) -> list[str]:
+  addresses = _get_host_addresses(use_ipv4, use_ipv6)
+  primary = _default_route_ip()
+  if primary not in addresses:
+    return addresses
+  return [a for a in addresses if a == primary]
+aioice.ice.get_host_addresses = _primary_host_addresses
+
 
 class AsyncTaskRunner:
   def __init__(self):
@@ -206,10 +237,6 @@ class StreamSession:
   shared_pub_master = DynamicPubMaster([])
 
   def __init__(self, sdp: str, init_camera: str, incoming_services: list[str], outgoing_services: list[str], debug_mode: bool = False):
-    from aiortc.mediastreams import VideoStreamTrack
-    from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
-    from teleoprtc import WebRTCAnswerBuilder
-
     builder = WebRTCAnswerBuilder(sdp)
 
     self.video_track = LiveStreamVideoStreamTrack(init_camera) if not debug_mode else VideoStreamTrack()
@@ -327,6 +354,8 @@ async def post_run_cleanup(self):
         await self.bitrate_controller.stop()
       if self.outgoing_bridge is not None:
         await self.outgoing_bridge.stop()
+      if self.video_track is not None:
+        self.video_track.stop()
       await self.stream.stop()
 
 
@@ -353,7 +382,7 @@ async def get_stream(request: 'web.Request'):
         except Exception:
           pass
       await s.stop()
-      del stream_dict[sid]
+      stream_dict.pop(sid, None)
 
     session = StreamSession(body.sdp, body.initCamera, body.bridge_services_in, body.bridge_services_out, debug_mode)
     try:
@@ -367,9 +396,14 @@ async def get_stream(request: 'web.Request'):
     except Exception:
       await session.stop()
       raise
+    stream_dict[session.identifier] = session
     session.start()
 
-    stream_dict[session.identifier] = session
+    session_id = session.identifier
+
+    def remove_finished_session(_: asyncio.Task) -> None:
+      stream_dict.pop(session_id, None)
+    session.run_task.add_done_callback(remove_finished_session)
 
   return web.json_response({"sdp": answer.sdp, "type": answer.type, "session_id": session.identifier})
 
@@ -409,6 +443,26 @@ async def post_notify(request: 'web.Request'):
   return web.Response(status=200, text="OK")
 
 
+async def on_startup(app: 'web.Application'):
+  logger = logging.getLogger("webrtcd")
+  start_time = time.monotonic()
+  pc = None
+
+  # warmup imports for webrtc stack
+  try:
+    pc = RTCPeerConnection(RTCConfiguration(bundlePolicy=RTCBundlePolicy.MAX_BUNDLE))
+    pc.addTransceiver("video", direction="recvonly")
+    pc.createDataChannel("data", ordered=True)
+    offer = await pc.createOffer()
+    await asyncio.wait_for(pc.setLocalDescription(offer), timeout=1.5)
+    logger.info("Warmed WebRTC stack in %.1f ms", (time.monotonic() - start_time) * 1000)
+  except Exception:
+    logger.exception("WebRTC stack warmup failed")
+  finally:
+    if pc is not None:
+      await pc.close()
+
+
 async def on_shutdown(app: 'web.Application'):
   for session in app['streams'].values():
     await session.stop()
@@ -426,6 +480,7 @@ def webrtcd_thread(host: str, port: int, debug: bool):
   app['streams'] = dict()
   app['stream_lock'] = asyncio.Lock()
   app['debug'] = debug
+  app.on_startup.append(on_startup)
   app.on_shutdown.append(on_shutdown)
   app.router.add_post("/stream", get_stream)
   app.router.add_post("/candidate", post_candidate)

From f9cc67896c7ed0c3a59a30f5df3ddac55660896f Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Thu, 11 Jun 2026 18:59:56 -0700
Subject: [PATCH 1193/1434] Improve lateral maneuvers (#38159)

* improve lat maneuver report

* rm torque jerk

* add jitter maneuver

* add to 30mph

* add jerk

* color

* more state

* override

* abort reason

* abort

* rm text

* pad for small text
---
 selfdrive/ui/layouts/settings/developer.py    |  1 +
 .../ui/mici/layouts/settings/developer.py     |  1 +
 tools/lateral_maneuvers/generate_report.py    | 62 ++++++++++---------
 tools/lateral_maneuvers/lateral_maneuversd.py | 29 ++++++++-
 4 files changed, 60 insertions(+), 33 deletions(-)

diff --git a/selfdrive/ui/layouts/settings/developer.py b/selfdrive/ui/layouts/settings/developer.py
index 64179093223155..2b17436943798e 100644
--- a/selfdrive/ui/layouts/settings/developer.py
+++ b/selfdrive/ui/layouts/settings/developer.py
@@ -131,6 +131,7 @@ def _update_toggles(self):
 
       long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
       self._long_maneuver_toggle.action_item.set_enabled(long_man_enabled)
+      self._lat_maneuver_toggle.action_item.set_enabled(ui_state.is_offroad())
     else:
       self._long_maneuver_toggle.action_item.set_enabled(False)
       self._lat_maneuver_toggle.action_item.set_enabled(False)
diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/selfdrive/ui/mici/layouts/settings/developer.py
index 2f0250ff5f269e..2d7dc0899ddda8 100644
--- a/selfdrive/ui/mici/layouts/settings/developer.py
+++ b/selfdrive/ui/mici/layouts/settings/developer.py
@@ -152,6 +152,7 @@ def _update_toggles(self):
 
       long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
       self._long_maneuver_toggle.set_enabled(long_man_enabled)
+      self._lat_maneuver_toggle.set_enabled(ui_state.is_offroad())
     else:
       self._long_maneuver_toggle.set_enabled(False)
       self._lat_maneuver_toggle.set_enabled(False)
diff --git a/tools/lateral_maneuvers/generate_report.py b/tools/lateral_maneuvers/generate_report.py
index 9a6fe1b979aa7b..c2ef7e99ea99d9 100755
--- a/tools/lateral_maneuvers/generate_report.py
+++ b/tools/lateral_maneuvers/generate_report.py
@@ -51,6 +51,8 @@ def report(platform, route, _description, CP, ID, maneuvers):
     builder.append("<div style='border-top: 1px solid #000; margin: 20px 0;'></div>\n")
     builder.append(f"<h2>{description}</h2>\n")
     for run, msgs in enumerate(completed_runs):
+      last_active = max(m.logMonoTime for m in msgs if m.which() == 'lateralManeuverPlan' and m.valid)
+      msgs = [m for m in msgs if m.logMonoTime <= last_active]
       t_carControl, carControl = zip(*[(m.logMonoTime, m.carControl) for m in msgs if m.which() == 'carControl'], strict=True)
       t_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'], strict=True)
       t_controlsState, controlsState = zip(*[(m.logMonoTime, m.controlsState) for m in msgs if m.which() == 'controlsState'], strict=True)
@@ -77,7 +79,7 @@ def report(platform, route, _description, CP, ID, maneuvers):
       v_ego = [m.vEgo for m in carState]
       cross_markers = []
 
-      if description.startswith('sine'):
+      if description.startswith(('sine', 'jitter')):
         amplitude = max(abs(lat_accel(lp.desiredCurvature, v) - baseline_accel)
                         for lp, v in zip(lateralPlan, v_ego, strict=False))
         threshold = amplitude * 0.5
@@ -128,58 +130,58 @@ def report(platform, route, _description, CP, ID, maneuvers):
             target_cross_times.setdefault(description, [])
 
       plt.rcParams['font.size'] = 40
-      fig = plt.figure(figsize=(30, 30))
-      ax = fig.subplots(4, 1, sharex=True, gridspec_kw={'height_ratios': [5, 3, 3, 3]})
+      fig = plt.figure(figsize=(30, 40))
+      ax = fig.subplots(5, 1, sharex=True, gridspec_kw={'height_ratios': [5, 5, 3, 3, 3]})
 
       ax[0].grid(linewidth=4)
+      desired_label = 'lateralManeuverPlan.desiredCurvature * vEgo^2'
       desired_lat_accel = [lat_accel(m.desiredCurvature, v) for m, v in zip(lateralPlan, v_ego, strict=False)]
-      if description.startswith('sine'):
-        ax[0].plot(t_lateralPlan[:len(desired_lat_accel)], desired_lat_accel, label='desired lat accel', linewidth=6)
+      if description.startswith(('sine', 'jitter')):
+        ax[0].plot(t_lateralPlan[:len(desired_lat_accel)], desired_lat_accel, 'C1', label=desired_label, linewidth=6)
       else:
         t_desired = [t_lateralPlan[0]] + t_lateralPlan[:len(desired_lat_accel)]
         desired_lat_accel = [baseline_accel] + desired_lat_accel
-        ax[0].step(t_desired, desired_lat_accel, label='desired lat accel', linewidth=6, where='post')
+        ax[0].step(t_desired, desired_lat_accel, 'C1', label=desired_label, linewidth=6, where='post')
       actual_lat_accel = [lat_accel(cs.curvature, v) for cs, v in zip(controlsState, v_ego, strict=False)]
-      ax[0].plot(t_controlsState[:len(actual_lat_accel)], actual_lat_accel, label='actual lat accel', linewidth=6)
+      ax[0].plot(t_controlsState[:len(actual_lat_accel)], actual_lat_accel, 'g', label='controlsState.curvature * vEgo^2', linewidth=6)
       ax[0].set_ylabel('Lateral Accel (m/s^2)')
-
       for ct, cv in cross_markers:
         ax[0].plot(ct, cv, marker='o', markersize=50, markeredgewidth=7, markeredgecolor='black', markerfacecolor='None')
+      ax[0].legend(prop={'size': 30})
 
-      ax2 = ax[0].twinx()
+      ax[1].grid(linewidth=4)
       if CP.steerControlType == car.CarParams.SteerControlType.angle:
-        ax2.plot(t_carOutput, [-m.actuatorsOutput.steeringAngleDeg for m in carOutput], 'C2', label='steer angle', linewidth=6)
+        steer_field, steer_ylabel = 'steeringAngleDeg', 'Steer angle (deg)'
+      elif CP.steerControlType == car.CarParams.SteerControlType.curvature:
+        steer_field, steer_ylabel = 'curvature', 'Curvature (1/m)'
       else:
-        ax2.plot(t_carOutput, [-m.actuatorsOutput.torque for m in carOutput], 'C2', label='steer torque', linewidth=6)
-
-      h1, l1 = ax[0].get_legend_handles_labels()
-      h2, l2 = ax2.get_legend_handles_labels()
-      ax[0].legend(h1 + h2, l1 + l2, prop={'size': 30})
+        steer_field, steer_ylabel = 'torque', 'Steer torque'
+      ax[1].plot(t_carControl, [getattr(m.actuators, steer_field) for m in carControl], 'C1', label=f'carControl.actuators.{steer_field}', linewidth=6)
+      ax[1].plot(t_carOutput, [getattr(m.actuatorsOutput, steer_field) for m in carOutput], 'g', label=f'carOutput.actuatorsOutput.{steer_field}', linewidth=6)
+      ax[1].set_ylabel(steer_ylabel)
+      ax[1].legend(prop={'size': 30})
 
-      ax[1].grid(linewidth=4)
-      ax[1].plot(t_carState, [v * CV.MS_TO_MPH for v in v_ego], label='vEgo', linewidth=6)
-      ax[1].set_ylabel('Velocity (mph)')
-      ax[1].yaxis.set_major_formatter(plt.FormatStrFormatter('%.1f'))
-      ax[1].legend()
+      ax[2].grid(linewidth=4)
+      ax[2].plot(t_carState, [v * CV.MS_TO_MPH for v in v_ego], label='carState.vEgo', linewidth=6)
+      ax[2].set_ylabel('Velocity (mph)')
+      ax[2].yaxis.set_major_formatter(plt.FormatStrFormatter('%.1f'))
+      ax[2].legend()
 
       t_accel = np.array(t_controlsState[:len(actual_lat_accel)])
       raw_jerk = np.gradient(actual_lat_accel, t_accel)
       dt_avg = np.mean(np.diff(t_accel))
       jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), dt_avg)
       filtered_jerk = [jerk_filter.update(j) for j in raw_jerk]
-      ax[2].grid(linewidth=4)
-      ax[2].plot(t_accel, filtered_jerk, label='actual jerk', linewidth=6)
-      if CP.steerControlType == car.CarParams.SteerControlType.torque:
-        desired_jerk = [cs.lateralControlState.torqueState.desiredLateralJerk for cs in controlsState]
-        ax[2].plot(t_controlsState[:len(controlsState)], desired_jerk, label='desired jerk', linewidth=6)
-      ax[2].set_ylabel('Jerk (m/s^3)')
-      ax[2].legend()
-
       ax[3].grid(linewidth=4)
-      ax[3].plot(t_carControl, [math.degrees(m.orientationNED[0]) for m in carControl], label='roll', linewidth=6)
-      ax[3].set_ylabel('Roll (deg)')
+      ax[3].plot(t_accel, filtered_jerk, label='d/dt(controlsState.curvature * vEgo^2)', linewidth=6)
+      ax[3].set_ylabel('Jerk (m/s^3)')
       ax[3].legend()
 
+      ax[4].grid(linewidth=4)
+      ax[4].plot(t_carControl, [math.degrees(m.orientationNED[0]) for m in carControl], label='carControl.orientationNED[0]', linewidth=6)
+      ax[4].set_ylabel('Roll (deg)')
+      ax[4].legend()
+
       ax[-1].set_xlabel("Time (s)")
       fig.tight_layout()
 
diff --git a/tools/lateral_maneuvers/lateral_maneuversd.py b/tools/lateral_maneuvers/lateral_maneuversd.py
index 4f68d9be085194..1cc2d3560eafff 100755
--- a/tools/lateral_maneuvers/lateral_maneuversd.py
+++ b/tools/lateral_maneuvers/lateral_maneuversd.py
@@ -12,7 +12,7 @@
 
 # thresholds for starting maneuvers
 MAX_SPEED_DEV = 0.7 # deviation in m/s
-MAX_CURV = 0.002 # 500 m radius
+MAX_CURV = 0.004 # 250 m radius
 MAX_ROLL = 0.12 # 6.8°
 TIMER = 2.0 # sec stable conditions before starting maneuver
 
@@ -66,6 +66,12 @@ def _sine_action(amplitude, period, duration):
     repeat=2,
     initial_speed=20. * CV.MPH_TO_MS,
   ),
+  Maneuver(
+    "jitter 20mph",
+    [Action([-0.5 if i % 2 == 0 else 0.5], [0.1]) for i in range(10)],
+    repeat=2,
+    initial_speed=20. * CV.MPH_TO_MS,
+  ),
   Maneuver(
     "step right 30mph",
     [Action([0.5], [1.0]), Action([-0.5], [1.5])],
@@ -84,6 +90,12 @@ def _sine_action(amplitude, period, duration):
     repeat=2,
     initial_speed=30. * CV.MPH_TO_MS,
   ),
+  Maneuver(
+    "jitter 30mph",
+    [Action([-0.5 if i % 2 == 0 else 0.5], [0.1]) for i in range(10)],
+    repeat=2,
+    initial_speed=30. * CV.MPH_TO_MS,
+  ),
 ]
 
 
@@ -98,6 +110,8 @@ def main():
   maneuvers = iter(MANEUVERS)
   maneuver = None
   complete_cnt = 0
+  aborted_cnt = 0
+  abort_reason = ''
   display_holdoff = 0
   prev_text = ''
 
@@ -121,8 +135,14 @@ def main():
       alert_msg.alertDebug.alertText1 = 'Completed'
       alert_msg.alertDebug.alertText2 = maneuver.description
     elif maneuver is not None:
-      # reset maneuver on steering override or out of range speed
-      if sm['carState'].steeringPressed or (maneuver.active and abs(v_ego - maneuver.initial_speed) > MAX_SPEED_DEV):
+      # any driver input aborts the maneuver
+      CS = sm['carState']
+      if CS.steeringPressed or CS.gasPressed:
+        aborted_cnt = int(1.0 / DT_MDL)
+        abort_reason = ('steering pressed' if CS.steeringPressed else 'gas pressed').ljust(20)
+      aborted = aborted_cnt > 0
+      speed_out_of_range = maneuver.active and abs(v_ego - maneuver.initial_speed) > MAX_SPEED_DEV
+      if aborted or speed_out_of_range:
         maneuver.reset()
 
       roll = sm['carControl'].orientationNED[0] if len(sm['carControl'].orientationNED) == 3 else 0.0
@@ -140,6 +160,9 @@ def main():
         else:
           alert_msg.alertDebug.alertText1 = f'Active {accel:+.1f}m/s² {max(action_remaining, 0):.1f}s'
         alert_msg.alertDebug.alertText2 = maneuver.description
+      elif aborted_cnt > 0:
+        aborted_cnt -= 1
+        alert_msg.alertDebug.alertText1 = abort_reason
       elif not (abs(v_ego - maneuver.initial_speed) < MAX_SPEED_DEV and sm['carControl'].latActive):
         alert_msg.alertDebug.alertText1 = f'Set speed to {maneuver.initial_speed * CV.MS_TO_MPH:0.0f} mph'
       elif maneuver._ready_cnt > 0:

From a40fa3a0b0cfacb0010b50515bcd64aed3dbdac8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Fri, 12 Jun 2026 18:35:52 -0700
Subject: [PATCH 1194/1434] modeld: run the driving model as a single combined
 onnx (#38173)

---
 scripts/reporter.py                           |  8 ++-
 selfdrive/modeld/SConscript                   |  9 ++-
 selfdrive/modeld/compile_modeld.py            | 63 +++++++++----------
 selfdrive/modeld/modeld.py                    | 26 +++-----
 .../modeld/models/big_driving_on_policy.onnx  |  3 -
 .../modeld/models/big_driving_supercombo.onnx |  3 +
 .../modeld/models/big_driving_vision.onnx     |  3 -
 .../modeld/models/driving_on_policy.onnx      |  3 -
 .../modeld/models/driving_supercombo.onnx     |  3 +
 selfdrive/modeld/models/driving_vision.onnx   |  3 -
 tinygrad_repo                                 |  2 +-
 11 files changed, 55 insertions(+), 71 deletions(-)
 delete mode 100644 selfdrive/modeld/models/big_driving_on_policy.onnx
 create mode 100644 selfdrive/modeld/models/big_driving_supercombo.onnx
 delete mode 100644 selfdrive/modeld/models/big_driving_vision.onnx
 delete mode 100644 selfdrive/modeld/models/driving_on_policy.onnx
 create mode 100644 selfdrive/modeld/models/driving_supercombo.onnx
 delete mode 100644 selfdrive/modeld/models/driving_vision.onnx

diff --git a/scripts/reporter.py b/scripts/reporter.py
index 9821a47ccfe620..199f1fae580643 100755
--- a/scripts/reporter.py
+++ b/scripts/reporter.py
@@ -25,7 +25,9 @@ def _parse_ModelProto(self) -> dict:
 def get_checkpoint(f):
   model = MetadataOnnxPBParser(f).parse()
   metadata = {prop["key"]: prop["value"] for prop in model["metadata_props"]}
-  return metadata['model_checkpoint'].split('/')[0]
+  # "<uuid>" or ".../<run_uuid>/<step>"; combined models list vision then policy
+  parts = metadata['model_checkpoint'].split('/')
+  return parts[-2] if len(parts) > 1 else parts[0]
 
 
 if __name__ == "__main__":
@@ -37,8 +39,8 @@ def get_checkpoint(f):
     master_path = MASTER_PATH + MODEL_PATH + fn
     if os.path.exists(master_path):
       master = get_checkpoint(master_path)
-      master_col = f"[{master}](https://reporter.comma.life/experiment/{master})"
+      master_col = f"[{master}](https://reporter.comma.life/{master})"
     else:
       master_col = "N/A (new model)"
     pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
-    print("|", fn, "|", master_col, "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")
+    print("|", fn, "|", master_col, "|", f"[{pr}](https://reporter.comma.life/{pr})", "|")
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 80a7df45157585..74adf0d93257cc 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -86,15 +86,14 @@ frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
 
 for usbgpu in [False, True] if USBGPU else [False]:
   target_pkl_path = File(modeld_pkl_path(usbgpu)).abspath
-  file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('', tg_flags)
-  driving_onnx_deps = [p for m in [f'{file_prefix}driving_vision', f'{file_prefix}driving_on_policy']
-                       for p in get_existing_chunks(File(f"models/{m}.onnx").abspath)]
+  # BIG_INTO_SMALL=1 builds the default target from the big model, e.g. to test it without a USB GPU
+  file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('big_' if os.getenv('BIG_INTO_SMALL') else '', tg_flags)
+  driving_onnx_deps = get_existing_chunks(File(f"models/{file_prefix}driving_supercombo.onnx").abspath)
   camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
   cmd = (f'{cmd_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
         f'--model-size {model_w}x{model_h} '
         f'--camera-resolutions {camera_res_args} '
-        f'--vision-onnx {File(f"models/{file_prefix}driving_vision.onnx").abspath} '
-        f'--on-policy-onnx {File(f"models/{file_prefix}driving_on_policy.onnx").abspath} '
+        f'--onnx {File(f"models/{file_prefix}driving_supercombo.onnx").abspath} '
         f'--output {target_pkl_path} --frame-skip {frame_skip}')
   onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
   chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index bc8caca7e6821a..09e8d06c7ca69d 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -132,26 +132,28 @@ def make_warp_input_queues(vision_input_shapes, frame_skip, device):
   return input_queues, npy
 
 
-def get_policy_npy_shapes(policy_input_shapes):
-  dp = policy_input_shapes['desire_pulse']  # (1, 25, 8)
-  tc = policy_input_shapes['traffic_convention']  # (1, 2)
-  #TODO action_t is hardcoded to match tc for future compatibility
-  shapes = {'desire': (dp[2],), 'traffic_convention': tuple(tc), 'action_t': tuple(tc)}
+def get_policy_npy_shapes(input_shapes):
+  dp = input_shapes['desire_pulse']  # (1, 25, 8)
+  tc = input_shapes['traffic_convention']  # (1, 2)
+  at = input_shapes['action_t']  # (1, 2)
+  fb = input_shapes['features_buffer']  # (1, 24, 512)
+  # TODO prev_feat shouldn't exist and be handled inside the JIT, but corrupt on QCOM for now
+  shapes = {'desire': (dp[2],), 'traffic_convention': tuple(tc), 'action_t': tuple(at), 'prev_feat': (fb[0], fb[2])}
   return shapes, [math.prod(s) for s in shapes.values()]
 
 
-def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device):
-  input_queues, npy = make_warp_input_queues(vision_input_shapes, frame_skip, device)
+def make_input_queues(input_shapes, frame_skip, device):
+  input_queues, npy = make_warp_input_queues(input_shapes, frame_skip, device)
 
-  fb = policy_input_shapes['features_buffer']  # (1, 25, 512)
-  dp = policy_input_shapes['desire_pulse']  # (1, 25, 8)
+  fb = input_shapes['features_buffer']  # (1, 24, 512), past features only; the model appends the current frame's feature
+  dp = input_shapes['desire_pulse']  # (1, 25, 8)
 
-  shapes, sizes = get_policy_npy_shapes(policy_input_shapes)
+  shapes, sizes = get_policy_npy_shapes(input_shapes)
   packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)
   # views into the packed inputs, to be refilled at runtime
   npy.update({k: v.reshape(s) for (k, s), v in zip(shapes.items(), np.split(packed_npy_inputs, np.cumsum(sizes[:-1])), strict=True)})
   input_queues.update({
-    'feat_q': Tensor(np.zeros((frame_skip * (fb[1] - 1) + 1, fb[0], fb[2]), dtype=np.float32), device=device).contiguous().realize(),
+    'feat_q': Tensor(np.zeros((frame_skip * fb[1], fb[0], fb[2]), dtype=np.float32), device=device).contiguous().realize(),
     'desire_q': Tensor(np.zeros((frame_skip * dp[1], dp[0], dp[2]), dtype=np.float32), device=device).contiguous().realize(),
     'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
   })
@@ -189,29 +191,27 @@ def warp_enqueue(img_q, big_img_q, tfm, big_tfm, frame, big_frame):
   return warp_enqueue
 
 
-def make_run_policy(model_runners, model_metadata, frame_skip):
+def make_run_policy(model_runner, model_metadata, frame_skip):
   sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
-  vision_features_slice = model_metadata['vision']['output_slices']['hidden_state']
-  npy_shapes, npy_sizes = get_policy_npy_shapes(model_metadata['on_policy']['input_shapes'])
+  npy_shapes, npy_sizes = get_policy_npy_shapes(model_metadata['input_shapes'])
 
   def run_policy(img, big_img, feat_q, desire_q, packed_npy_inputs):
     packed_npy_inputs = packed_npy_inputs.to(Device.DEFAULT).realize()
-    desire, traffic_convention, action_t = (t.reshape(s) for t, s in zip(packed_npy_inputs.split(npy_sizes), npy_shapes.values(), strict=True))
+    desire, traffic_convention, action_t, prev_feat = (t.reshape(s) for t, s in zip(packed_npy_inputs.split(npy_sizes), npy_shapes.values(), strict=True))
     desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
-    vision_out = next(iter(model_runners['vision']({'img': img, 'big_img': big_img}).values())).cast('float32')
-
-    new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
-    feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
+    feat_buf = shift_and_sample(feat_q, prev_feat.reshape(1, 1, -1), sample_skip_fn)
 
     inputs = {
+      'img': img,
+      'big_img': big_img,
       'features_buffer': feat_buf,
       'desire_pulse': desire_buf,
       'traffic_convention': traffic_convention,
       'action_t': action_t,
     }
-    on_policy_out = next(iter(model_runners['on_policy'](inputs).values())).cast('float32')
-    return Tensor.cat(vision_out, on_policy_out, dim=1),
+    out = next(iter(model_runner(inputs).values())).cast('float32')
+    return out,
   return run_policy
 
 
@@ -281,26 +281,21 @@ def read_file_chunked_to_shm(path):
   p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
   p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True,
                  help='camera resolutions WxH (one or more)')
-  p.add_argument('--vision-onnx', required=True)
-  p.add_argument('--on-policy-onnx', required=True)
+  p.add_argument('--onnx', required=True)
   p.add_argument('--output', required=True)
   p.add_argument('--frame-skip', type=int, required=True)
   args = p.parse_args()
 
-  model_paths = {
-    'vision': read_file_chunked_to_shm(args.vision_onnx),
-    'on_policy': read_file_chunked_to_shm(args.on_policy_onnx),
-  }
+  model_path = read_file_chunked_to_shm(args.onnx)
   model_w, model_h = args.model_size
 
-  model_runners = {name: OnnxRunner(path) for name, path in model_paths.items()}
-  out = {'metadata': {name: make_metadata_dict(path) for name, path in model_paths.items()}}
+  model_runner = OnnxRunner(model_path)
+  out = {'metadata': make_metadata_dict(model_path)}
 
-  run_policy_jit = TinyJit(make_run_policy(model_runners, out['metadata'], args.frame_skip), prune=True)
+  run_policy_jit = TinyJit(make_run_policy(model_runner, out['metadata'], args.frame_skip), prune=True)
 
-  make_policy_queues = partial(make_input_queues, out['metadata']['vision']['input_shapes'],
-                               out['metadata']['on_policy']['input_shapes'], args.frame_skip)
-  make_random_model_inputs = partial(make_random_images, keys=['img', 'big_img'], shape=out['metadata']['vision']['input_shapes']['img'])
+  make_policy_queues = partial(make_input_queues, out['metadata']['input_shapes'], args.frame_skip)
+  make_random_model_inputs = partial(make_random_images, keys=['img', 'big_img'], shape=out['metadata']['input_shapes']['img'])
   out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS,
                                   make_policy_queues)
 
@@ -308,7 +303,7 @@ def read_file_chunked_to_shm(path):
     nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
     make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
     warp_enqueue = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
-    make_warp_queues = partial(make_warp_input_queues, out['metadata']['vision']['input_shapes'], args.frame_skip)
+    make_warp_queues = partial(make_warp_input_queues, out['metadata']['input_shapes'], args.frame_skip)
     out[(cam_w,cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)
 
   with open(args.output, "wb") as f:
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 7505ddf1825082..372e8704a292c5 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -79,20 +79,15 @@ def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
     input_devices = get_tg_input_devices(PROCESS_NAME, usbgpu)
     self.WARP_DEV, self.QUEUE_DEV = input_devices['WARP_DEV'], input_devices['QUEUE_DEV']
     jits = pickle.loads(read_file_chunked(modeld_pkl_path(usbgpu)))
-    vision_metadata = jits['metadata']['vision']
-    self.vision_input_shapes = vision_metadata['input_shapes']
-    self.vision_input_names = list(self.vision_input_shapes.keys())
-    self.vision_output_slices = vision_metadata['output_slices']
-    self.vision_output_len = vision_metadata['output_shapes']['outputs'][1]
-
-    policy_metadata = jits['metadata']['on_policy']
-    self.policy_input_shapes = policy_metadata['input_shapes']
-    self.policy_output_slices = policy_metadata['output_slices']
+    metadata = jits['metadata']
+    self.input_shapes = metadata['input_shapes']
+    self.vision_input_names = [k for k in self.input_shapes if 'img' in k]
+    self.output_slices = metadata['output_slices']
 
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
 
     self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
-    self.input_queues, self.npy = make_input_queues(self.vision_input_shapes, self.policy_input_shapes, self.frame_skip, device=self.QUEUE_DEV)
+    self.input_queues, self.npy = make_input_queues(self.input_shapes, self.frame_skip, device=self.QUEUE_DEV)
     self.full_frames: dict[str, Tensor] = {}
     self._blob_cache: dict[int, Tensor] = {}
     self.parser = Parser()
@@ -132,14 +127,13 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
     outs, = self.run_policy(
       **{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, img=img, big_img=big_img
     )
-    vision_output, on_policy_output = np.split(outs.numpy()[0], [self.vision_output_len])
-    vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(vision_output, self.vision_output_slices))
-    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(on_policy_output, self.policy_output_slices))
-    combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
+    model_output = outs.numpy()[0]
+    outputs_dict = self.parser.parse_outputs(self.slice_outputs(model_output, self.output_slices))
+    self.npy['prev_feat'][:] = model_output[self.output_slices['hidden_state']]
 
     if SEND_RAW_PRED:
-      combined_outputs_dict['raw_pred'] = np.concatenate([vision_output.copy(), on_policy_output.copy()])
-    return combined_outputs_dict
+      outputs_dict['raw_pred'] = model_output.copy()
+    return outputs_dict
 
 
 def main(demo=False):
diff --git a/selfdrive/modeld/models/big_driving_on_policy.onnx b/selfdrive/modeld/models/big_driving_on_policy.onnx
deleted file mode 100644
index f7b49c018a3009..00000000000000
--- a/selfdrive/modeld/models/big_driving_on_policy.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:565e53c38dcd64c50dd3fe4d5ee1530213aeefd66c3f6b67ea6a72a32612a6bf
-size 14061419
diff --git a/selfdrive/modeld/models/big_driving_supercombo.onnx b/selfdrive/modeld/models/big_driving_supercombo.onnx
new file mode 100644
index 00000000000000..de843259125135
--- /dev/null
+++ b/selfdrive/modeld/models/big_driving_supercombo.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:471f372751d5931e939320c211e35b7255f8fa8015125b3b3fd48ef43020257e
+size 195490097
diff --git a/selfdrive/modeld/models/big_driving_vision.onnx b/selfdrive/modeld/models/big_driving_vision.onnx
deleted file mode 100644
index d14f1969e0cca2..00000000000000
--- a/selfdrive/modeld/models/big_driving_vision.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1f0cab5033fe9e3bc5e174a2e790fa277f7d9fc44c65822d734064d2f899a9a0
-size 296203378
diff --git a/selfdrive/modeld/models/driving_on_policy.onnx b/selfdrive/modeld/models/driving_on_policy.onnx
deleted file mode 100644
index 611ae9fe85f837..00000000000000
--- a/selfdrive/modeld/models/driving_on_policy.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:78477124cbf3ffe30fa951ebada8410b43c4242c6054584d656f1d329b067e15
-size 14060847
diff --git a/selfdrive/modeld/models/driving_supercombo.onnx b/selfdrive/modeld/models/driving_supercombo.onnx
new file mode 100644
index 00000000000000..f0672eab48566d
--- /dev/null
+++ b/selfdrive/modeld/models/driving_supercombo.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:659727c4d4839adc4992a254409a54259a8756a743f2d567bf5fdc6579f8009b
+size 60881999
diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx
deleted file mode 100644
index 6c9fc4c84d3632..00000000000000
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ee29ee5bce84d1ce23e9ff381280de9b4e4d96d2934cd751740354884e112c66
-size 46877473
diff --git a/tinygrad_repo b/tinygrad_repo
index 556defa0f78ed1..5039d954f27fd4 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 556defa0f78ed10b6ce675a2fa15a1c2521b5e93
+Subproject commit 5039d954f27fd4d4ebeb76951e9933f17985c1a4

From 2feca929ab6d893abadaefe73433b9f09ebd3b57 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 12 Jun 2026 19:17:09 -0700
Subject: [PATCH 1195/1434] bump opendbc (#38175)

bump
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index e5d654dac2dd52..75889fd9283730 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit e5d654dac2dd52e4d02f6ba97d8d02bc089f8e00
+Subproject commit 75889fd9283730feb6ec824a00975fda0807bbc5

From fafcee04f43a94194c886d7914ec25c6f7bb3ac9 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 15 Jun 2026 17:44:01 +0200
Subject: [PATCH 1196/1434] replay: fix current time (#38179)

---
 tools/replay/replay.cc | 2 +-
 tools/replay/replay.h  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index d8d59e41a43578..d6d02b1a9f449c 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -193,7 +193,7 @@ void Replay::startStream(const std::shared_ptr<Segment> segment) {
     auto event = reader.getRoot<cereal::Event>();
     uint64_t wall_time = event.getInitData().getWallTimeNanos();
     if (wall_time > 0) {
-      route_date_time_ = wall_time / 1e6;
+      route_date_time_ = wall_time / 1e9;
     }
   }
 
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 3e2bc7c00e8641..ce6d75bd6d104f 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -100,7 +100,7 @@ class Replay {
   std::atomic<bool> exit_ = false;
   std::atomic<bool> interrupt_requested_ = false;
   bool events_ready_ = false;
-  std::time_t route_date_time_;
+  std::time_t route_date_time_ = 0;
   uint64_t route_start_ts_ = 0;
   std::atomic<uint64_t> cur_mono_time_ = 0;
   cereal::Event::Which cur_which_ = cereal::Event::Which::INIT_DATA;

From 0240a62fd96c8b053304d358df32523cc2bc527f Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Mon, 15 Jun 2026 17:48:13 -0400
Subject: [PATCH 1197/1434] encoder: add ability to request keyframes from
 livestream encoders (#38172)

* add param that requests keyframe

* set keyframe request to false on cleanup

* clean

* timing and errors

* remove other changes

* clean diff

* clean diff

* clean up live adaptation params and functions

* better function names

* fix syntax

* remove unused var

* clean diff
---
 common/params_keys.h                     |  1 +
 system/loggerd/encoder/encoder.h         |  1 +
 system/loggerd/encoder/ffmpeg_encoder.cc |  4 ++++
 system/loggerd/encoder/ffmpeg_encoder.h  |  1 +
 system/loggerd/encoder/v4l_encoder.cc    | 14 ++++++++++++--
 system/loggerd/encoder/v4l_encoder.h     |  2 +-
 system/loggerd/encoderd.cc               | 22 +++++++++++++---------
 system/loggerd/loggerd.h                 |  8 ++++----
 system/webrtc/device/video.py            | 10 ++++++++++
 system/webrtc/webrtcd.py                 |  3 +++
 10 files changed, 50 insertions(+), 16 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 7a96da0be792b9..546a53c76c8371 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -81,6 +81,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LiveParameters", {PERSISTENT, JSON}},
     {"LiveParametersV2", {PERSISTENT, BYTES}},
     {"LivestreamEncoderBitrate", {CLEAR_ON_MANAGER_START | DONT_LOG, INT}},
+    {"LivestreamRequestKeyframe", {CLEAR_ON_MANAGER_START | DONT_LOG, BOOL}},
     {"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
     {"LocationFilterInitialState", {PERSISTENT, BYTES}},
     {"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h
index 0a136f769caab8..696cb86737a147 100644
--- a/system/loggerd/encoder/encoder.h
+++ b/system/loggerd/encoder/encoder.h
@@ -27,6 +27,7 @@ class VideoEncoder {
   virtual void encoder_open() = 0;
   virtual void encoder_close() = 0;
   virtual void set_bitrate(int bitrate) = 0;
+  virtual void request_keyframe() = 0;
 
   void publisher_publish(int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
 
diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc
index f6399659b45cc6..40f3bdee42be30 100644
--- a/system/loggerd/encoder/ffmpeg_encoder.cc
+++ b/system/loggerd/encoder/ffmpeg_encoder.cc
@@ -76,6 +76,10 @@ void FfmpegEncoder::set_bitrate(int bitrate) {
   LOGE("adaptive bitrate is not supported for ffmpeg encoder %s", encoder_info.publish_name);
 }
 
+void FfmpegEncoder::request_keyframe() {
+  LOGE("keyframe request is not supported for ffmpeg encoder %s", encoder_info.publish_name);
+}
+
 int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) {
   assert(buf->width == this->in_width);
   assert(buf->height == this->in_height);
diff --git a/system/loggerd/encoder/ffmpeg_encoder.h b/system/loggerd/encoder/ffmpeg_encoder.h
index a85e1d38165fce..3f7c674db3f7e4 100644
--- a/system/loggerd/encoder/ffmpeg_encoder.h
+++ b/system/loggerd/encoder/ffmpeg_encoder.h
@@ -22,6 +22,7 @@ class FfmpegEncoder : public VideoEncoder {
   void encoder_open();
   void encoder_close();
   void set_bitrate(int bitrate);
+  void request_keyframe();
 
 private:
   int segment_num = -1;
diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc
index 96a565f4aefbbc..1b4d976b93f849 100644
--- a/system/loggerd/encoder/v4l_encoder.cc
+++ b/system/loggerd/encoder/v4l_encoder.cc
@@ -156,7 +156,6 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
 
   EncoderSettings encoder_settings = encoder_info.get_settings(in_width);
   current_bitrate = encoder_settings.bitrate;
-  adaptive_bitrate = encoder_info.adaptive_bitrate;
   bool is_h265 = encoder_settings.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C;
 
   struct v4l2_format fmt_out = {
@@ -307,7 +306,7 @@ void V4LEncoder::encoder_close() {
 }
 
 void V4LEncoder::set_bitrate(int bitrate) {
-  if (!adaptive_bitrate || bitrate == current_bitrate) return;
+  if (bitrate == current_bitrate) return;
   if (bitrate <= 0) {
     LOGE("invalid livestream encoder bitrate %d", bitrate);
     return;
@@ -325,6 +324,17 @@ void V4LEncoder::set_bitrate(int bitrate) {
   current_bitrate = bitrate;
 }
 
+void V4LEncoder::request_keyframe() {
+  struct v4l2_control ctrl = {
+    .id = V4L2_CID_MPEG_VIDC_VIDEO_REQUEST_IFRAME,
+    .value = 1,
+  };
+
+  if (util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl) == -1) {
+    LOGE("failed to request keyframe for %s", encoder_info.publish_name);
+  }
+}
+
 V4LEncoder::~V4LEncoder() {
   encoder_close();
   v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
diff --git a/system/loggerd/encoder/v4l_encoder.h b/system/loggerd/encoder/v4l_encoder.h
index 2985409605ddee..b1a84e654f18c6 100644
--- a/system/loggerd/encoder/v4l_encoder.h
+++ b/system/loggerd/encoder/v4l_encoder.h
@@ -14,6 +14,7 @@ class V4LEncoder : public VideoEncoder {
   void encoder_open();
   void encoder_close();
   void set_bitrate(int bitrate);
+  void request_keyframe();
 
 private:
   int fd;
@@ -22,7 +23,6 @@ class V4LEncoder : public VideoEncoder {
   int segment_num = -1;
   int counter = 0;
   int current_bitrate = -1;
-  bool adaptive_bitrate;
 
   SafeQueue<VisionIpcBufExtra> extras;
 
diff --git a/system/loggerd/encoderd.cc b/system/loggerd/encoderd.cc
index 546990041a7da7..11db07671df5a3 100644
--- a/system/loggerd/encoderd.cc
+++ b/system/loggerd/encoderd.cc
@@ -44,14 +44,18 @@ bool sync_encoders(EncoderdState *s, VisionStreamType cam_type, uint32_t frame_i
   }
 }
 
-void apply_bitrate(std::vector<std::unique_ptr<Encoder>> &encoders) {
+void encoder_set_bitrate(std::unique_ptr<Encoder> &e) {
   static Params params;
   std::string val = params.get("LivestreamEncoderBitrate");
   if (val.empty()) return;
   int bitrate = std::stoi(val);
-  for (auto &e : encoders) {
-    e->set_bitrate(bitrate);
-  }
+  e->set_bitrate(bitrate);
+}
+
+void encoder_request_keyframe(std::unique_ptr<Encoder> &e) {
+  static Params params;
+  if (!params.getBool("LivestreamRequestKeyframe")) return;
+  e->request_keyframe();
 }
 
 void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
@@ -59,9 +63,6 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
 
   std::vector<std::unique_ptr<Encoder>> encoders;
 
-  bool has_adaptive = std::any_of(cam_info.encoder_infos.begin(), cam_info.encoder_infos.end(),
-                                  [](const auto &ei) { return ei.adaptive_bitrate; });
-
   VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false);
 
   std::unique_ptr<JpegEncoder> jpeg_encoder;
@@ -121,10 +122,13 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
         ++cur_seg;
       }
 
-      if (has_adaptive) apply_bitrate(encoders);
-
       // encode a frame
       for (int i = 0; i < encoders.size(); ++i) {
+        if (cam_info.encoder_infos[i].is_live) {
+          encoder_set_bitrate(encoders[i]);
+          encoder_request_keyframe(encoders[i]);
+        }
+
         int out_id = encoders[i]->encode_frame(buf, &extra);
 
         if (out_id == -1) {
diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index 340e72e6fdc2a1..c5f253d8f5eb08 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -59,7 +59,7 @@ class EncoderInfo {
   const char *filename = NULL;
   bool record = true;
   bool include_audio = false;
-  bool adaptive_bitrate = false;
+  bool is_live = false;
   int frame_width = -1;
   int frame_height = -1;
   int fps = MAIN_FPS;
@@ -105,7 +105,7 @@ const EncoderInfo stream_road_encoder_info = {
   .publish_name = "livestreamRoadEncodeData",
   //.thumbnail_name = "thumbnail",
   .record = false,
-  .adaptive_bitrate = true,
+  .is_live = true,
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode),
 };
@@ -113,7 +113,7 @@ const EncoderInfo stream_road_encoder_info = {
 const EncoderInfo stream_wide_road_encoder_info = {
   .publish_name = "livestreamWideRoadEncodeData",
   .record = false,
-  .adaptive_bitrate = true,
+  .is_live = true,
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode),
 };
@@ -121,7 +121,7 @@ const EncoderInfo stream_wide_road_encoder_info = {
 const EncoderInfo stream_driver_encoder_info = {
   .publish_name = "livestreamDriverEncodeData",
   .record = false,
-  .adaptive_bitrate = true,
+  .is_live = true,
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode),
 };
diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py
index 2083233dc9a38e..4973e289717e07 100644
--- a/system/webrtc/device/video.py
+++ b/system/webrtc/device/video.py
@@ -8,6 +8,11 @@
 
 from cereal import messaging
 from openpilot.common.realtime import DT_MDL, DT_DMON
+from openpilot.common.params import Params
+
+
+# v4l2 buffer flag marking an encoded keyframe (linux/videodev2.h)
+V4L2_BUF_FLAG_KEYFRAME = 0x8
 
 # arbitrary 16-byte UUID identifying openpilot frame-timing SEI messages
 TIMING_SEI_UUID = bytes([
@@ -32,6 +37,8 @@ def __init__(self, camera_type: str):
     self._pts = 0
     self._t0_ns = time.monotonic_ns()
     self.timing_sei_enabled = False
+    self.params = Params()
+    self._seen_keyframe = False
 
   def stop(self) -> None:
     super().stop()
@@ -63,6 +70,9 @@ async def recv(self):
         raise MediaStreamError
       msg = messaging.recv_one_or_none(self._sock)
       if msg is not None:
+        if not self._seen_keyframe and (getattr(msg, msg.which()).idx.flags & V4L2_BUF_FLAG_KEYFRAME):
+          self._seen_keyframe = True
+          self.params.put("LivestreamRequestKeyframe", False, block=False)
         break
       await asyncio.sleep(0.005)
 
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 14c39fcd3751f9..eb1c21250b415e 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -245,6 +245,7 @@ def __init__(self, sdp: str, init_camera: str, incoming_services: list[str], out
     self.stream = builder.stream()
     self.identifier = str(uuid.uuid4())
 
+    self.params = Params()
     self.incoming_bridge: CerealIncomingMessageProxy | None = None
     self.incoming_bridge_services = incoming_services
     self.outgoing_bridge: CerealOutgoingMessageProxy | None = None
@@ -324,6 +325,7 @@ def message_handler(self, message: bytes):
 
   async def run(self):
     try:
+      self.params.put("LivestreamRequestKeyframe", True)
       await self.stream.wait_for_connection()
       if self.stream.has_messaging_channel():
         if self.incoming_bridge is not None:
@@ -350,6 +352,7 @@ async def post_run_cleanup(self):
       if self._cleanup_done:
         return
       self._cleanup_done = True
+      self.params.put("LivestreamRequestKeyframe", False)
       if self.bitrate_controller is not None:
         await self.bitrate_controller.stop()
       if self.outgoing_bridge is not None:

From 15fb1a809ded75a9699c460c0dc4e8e870a44fca Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Mon, 15 Jun 2026 19:49:56 -0400
Subject: [PATCH 1198/1434] webrtc: revert prewarm and import movements
 (#38181)

---
 system/athena/athenad.py |  2 +-
 system/webrtc/webrtcd.py | 30 ++++--------------------------
 2 files changed, 5 insertions(+), 27 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index a03a150330eca1..28796adc1b68b6 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -40,7 +40,6 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_build_metadata
 from openpilot.system.hardware.hw import Paths
-from openpilot.system.webrtc.webrtcd import StreamRequestBody
 
 
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
@@ -582,6 +581,7 @@ def getNetworks():
 
 @dispatcher.add_method
 def startStream(sdp: str) -> dict:
+  from openpilot.system.webrtc.webrtcd import StreamRequestBody
   bridge_services_in = []
 
   # get live car params to avoid stale notCar edge case
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index eb1c21250b415e..ce51ed5018f1dc 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -27,11 +27,6 @@
 from openpilot.common.params import Params
 from cereal import messaging, log
 
-from aiortc import RTCBundlePolicy, RTCConfiguration, RTCPeerConnection
-from aiortc.mediastreams import VideoStreamTrack
-from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
-from teleoprtc import WebRTCAnswerBuilder
-
 import aioice.ice
 
 
@@ -237,6 +232,10 @@ class StreamSession:
   shared_pub_master = DynamicPubMaster([])
 
   def __init__(self, sdp: str, init_camera: str, incoming_services: list[str], outgoing_services: list[str], debug_mode: bool = False):
+    from aiortc.mediastreams import VideoStreamTrack
+    from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
+    from teleoprtc import WebRTCAnswerBuilder
+
     builder = WebRTCAnswerBuilder(sdp)
 
     self.video_track = LiveStreamVideoStreamTrack(init_camera) if not debug_mode else VideoStreamTrack()
@@ -446,26 +445,6 @@ async def post_notify(request: 'web.Request'):
   return web.Response(status=200, text="OK")
 
 
-async def on_startup(app: 'web.Application'):
-  logger = logging.getLogger("webrtcd")
-  start_time = time.monotonic()
-  pc = None
-
-  # warmup imports for webrtc stack
-  try:
-    pc = RTCPeerConnection(RTCConfiguration(bundlePolicy=RTCBundlePolicy.MAX_BUNDLE))
-    pc.addTransceiver("video", direction="recvonly")
-    pc.createDataChannel("data", ordered=True)
-    offer = await pc.createOffer()
-    await asyncio.wait_for(pc.setLocalDescription(offer), timeout=1.5)
-    logger.info("Warmed WebRTC stack in %.1f ms", (time.monotonic() - start_time) * 1000)
-  except Exception:
-    logger.exception("WebRTC stack warmup failed")
-  finally:
-    if pc is not None:
-      await pc.close()
-
-
 async def on_shutdown(app: 'web.Application'):
   for session in app['streams'].values():
     await session.stop()
@@ -483,7 +462,6 @@ def webrtcd_thread(host: str, port: int, debug: bool):
   app['streams'] = dict()
   app['stream_lock'] = asyncio.Lock()
   app['debug'] = debug
-  app.on_startup.append(on_startup)
   app.on_shutdown.append(on_shutdown)
   app.router.add_post("/stream", get_stream)
   app.router.add_post("/candidate", post_candidate)

From 37390743c1940079782210d1a9e882537d2f80ef Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Mon, 15 Jun 2026 19:50:07 -0400
Subject: [PATCH 1199/1434] webrtc/athena: revert addIceCandidate changes
 (#38180)

* revert addIceCandidate changes

* remove accidental file
---
 system/athena/athenad.py |  8 --------
 system/webrtc/webrtcd.py | 35 ++---------------------------------
 2 files changed, 2 insertions(+), 41 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 28796adc1b68b6..420396e891b64e 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -607,14 +607,6 @@ def startStream(sdp: str) -> dict:
   except requests.ConnectionError as e:
     raise Exception("webrtc is not running. turn on comma body ignition.") from e
 
-@dispatcher.add_method
-def addIceCandidate(session_id: str, candidate: dict | None) -> dict:
-  if session_id is None:
-    return Exception("cannot add ice candidate without session_id")
-  resp = WEBRTCD_SESS.post(f"http://localhost:{WEBRTCD_PORT}/candidate",
-                            json={"session_id": session_id, "candidate": candidate}, timeout=10)
-  return resp.json()
-
 @dispatcher.add_method
 def takeSnapshot() -> str | dict[str, str] | None:
   from openpilot.system.camerad.snapshot import jpeg_write, snapshot
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index ce51ed5018f1dc..90fabc071558dc 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -278,23 +278,6 @@ async def stop(self):
   async def get_answer(self):
     return await self.stream.start()
 
-  async def add_ice_candidate(self, candidate_init: dict | None):
-    from aiortc.sdp import candidate_from_sdp
-
-    pc = self.stream.peer_connection
-    if pc.iceConnectionState not in ("new", "checking"):
-      return
-
-    # a null/empty candidate signals end-of-candidates per the WebRTC convention
-    if not candidate_init or not candidate_init.get("candidate"):
-      await pc.addIceCandidate(None)
-      return
-
-    candidate = candidate_from_sdp(candidate_init["candidate"].split(":", 1)[1])
-    candidate.sdpMid = candidate_init.get("sdpMid")
-    candidate.sdpMLineIndex = candidate_init.get("sdpMLineIndex")
-    await pc.addIceCandidate(candidate)
-
   def message_handler(self, message: bytes):
     assert self.incoming_bridge is not None
     try:
@@ -401,24 +384,11 @@ async def get_stream(request: 'web.Request'):
     stream_dict[session.identifier] = session
     session.start()
 
-    session_id = session.identifier
-
     def remove_finished_session(_: asyncio.Task) -> None:
-      stream_dict.pop(session_id, None)
+      stream_dict.pop(session.identifier, None)
     session.run_task.add_done_callback(remove_finished_session)
 
-  return web.json_response({"sdp": answer.sdp, "type": answer.type, "session_id": session.identifier})
-
-
-async def post_candidate(request: 'web.Request'):
-  body = await request.json()
-  session = request.app.get('streams', {}).get(body.get("session_id"))
-
-  try:
-    await session.add_ice_candidate(body.get("candidate"))
-  except Exception as e:
-    raise web.HTTPBadRequest(text=json.dumps({"error": "invalid_candidate", "message": str(e)}), content_type="application/json") from e
-  return web.Response(status=200, text="OK")
+  return web.json_response({"sdp": answer.sdp, "type": answer.type})
 
 
 async def get_schema(request: 'web.Request'):
@@ -464,7 +434,6 @@ def webrtcd_thread(host: str, port: int, debug: bool):
   app['debug'] = debug
   app.on_shutdown.append(on_shutdown)
   app.router.add_post("/stream", get_stream)
-  app.router.add_post("/candidate", post_candidate)
   app.router.add_post("/notify", post_notify)
   app.router.add_get("/schema", get_schema)
 

From 291315ab258fc58658c3b76c8a9da3257019ed9d Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Mon, 15 Jun 2026 22:11:28 -0400
Subject: [PATCH 1200/1434] webrtc/athena: allow webrtc connection with only
 data channel (#38177)

* add param that requests keyframe

* set keyframe request to false on cleanup

* timing and errors

* video_enabled option and ability to add video later

* remove loggerd changes from this PR

* video enabled default to on, clean identifier

* request keyframe on start regardless of video enabled or not

* move error handling additions to different PR
---
 system/athena/athenad.py                   | 13 ++--
 system/webrtc/device/video.py              | 14 ++++-
 system/webrtc/tests/test_stream_session.py |  5 +-
 system/webrtc/webrtcd.py                   | 73 +++++++++++++++-------
 4 files changed, 74 insertions(+), 31 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 420396e891b64e..e78fc89bd9378a 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -580,7 +580,7 @@ def getNetworks():
 
 
 @dispatcher.add_method
-def startStream(sdp: str) -> dict:
+def startStream(sdp: str, video_enabled: bool | None = None) -> dict:
   from openpilot.system.webrtc.webrtcd import StreamRequestBody
   bridge_services_in = []
 
@@ -591,17 +591,20 @@ def startStream(sdp: str) -> dict:
       if CP.notCar:
         bridge_services_in.append("testJoystick")
 
-  body = StreamRequestBody(sdp, "wideRoad", bridge_services_in, ["carState"])
+  t_start = time.monotonic()
+  body = StreamRequestBody(sdp=sdp, initCamera="wideRoad", bridge_services_in=bridge_services_in, bridge_services_out=["carState"], video_enabled=video_enabled)
   try:
-    resp = WEBRTCD_SESS.post(f"http://localhost:{WEBRTCD_PORT}/stream",
-                       json=asdict(body), timeout=10)
+    resp = WEBRTCD_SESS.post(f"http://localhost:{WEBRTCD_PORT}/stream", json=asdict(body), timeout=10)
+    t_end = time.monotonic()
     if not resp.ok:
       try:
         error_body = resp.json()
         raise Exception(error_body.get("message", f"webrtcd returned {resp.status_code}"))
       except ValueError:
         resp.raise_for_status()
-    return resp.json()
+    ret = resp.json()
+    ret["time"] = (t_end - t_start) * 1000
+    return ret
   except requests.ConnectTimeout as e:
     raise Exception("webrtc took too long to respond. is the comma body on?") from e
   except requests.ConnectionError as e:
diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py
index 4973e289717e07..af492c829e154d 100644
--- a/system/webrtc/device/video.py
+++ b/system/webrtc/device/video.py
@@ -29,7 +29,7 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
     "road": "livestreamRoadEncodeData",
   }
 
-  def __init__(self, camera_type: str):
+  def __init__(self, camera_type: str, video_enabled: bool = True):
     dt = DT_DMON if camera_type == "driver" else DT_MDL
     super().__init__(camera_type, dt)
 
@@ -39,6 +39,7 @@ def __init__(self, camera_type: str):
     self.timing_sei_enabled = False
     self.params = Params()
     self._seen_keyframe = False
+    self.video_enabled = video_enabled
 
   def stop(self) -> None:
     super().stop()
@@ -50,6 +51,11 @@ def _make_sock(self, camera_type: str) -> messaging.SubSocket:
   def switch_camera(self, camera_type: str) -> None:
     self._sock = self._make_sock(camera_type)
 
+  def enable(self, enabled: bool):
+    self.video_enabled = enabled
+    if not enabled:
+      self._seen_keyframe = False
+
   def _build_frame_data(self, msg) -> bytes:
     encode_data = getattr(msg, msg.which())
     if not self.timing_sei_enabled:
@@ -68,6 +74,12 @@ async def recv(self):
     while True:
       if self.readyState != "live":
         raise MediaStreamError
+
+      # while video is disabled, pause here without returning
+      if not self.video_enabled:
+        await asyncio.sleep(0.005)
+        continue
+
       msg = messaging.recv_one_or_none(self._sock)
       if msg is not None:
         if not self._seen_keyframe and (getattr(msg, msg.which()).idx.flags & V4L2_BUF_FLAG_KEYFRAME):
diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py
index f44d217d58ced6..bf413eeebacbed 100644
--- a/system/webrtc/tests/test_stream_session.py
+++ b/system/webrtc/tests/test_stream_session.py
@@ -32,12 +32,11 @@ def test_outgoing_proxy(self, mocker):
     expected_json = json.dumps(expected_dict).encode()
 
     channel = mocker.Mock(spec=RTCDataChannel)
-    mocked_submaster = messaging.SubMaster(["customReservedRawData0"])
+    proxy = CerealOutgoingMessageProxy(["customReservedRawData0"])
     def mocked_update(t):
-      mocked_submaster.update_msgs(0, [test_msg])
+      proxy.sm.update_msgs(0, [test_msg])
 
     mocker.patch.object(messaging.SubMaster, "update", side_effect=mocked_update)
-    proxy = CerealOutgoingMessageProxy(mocked_submaster)
     proxy.add_channel(channel)
 
     proxy.update()
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 90fabc071558dc..f4f58c06d67d23 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -49,7 +49,7 @@ def _primary_host_addresses(use_ipv4: bool, use_ipv6: bool) -> list[str]:
   primary = _default_route_ip()
   if primary not in addresses:
     return addresses
-  return [a for a in addresses if a == primary]
+  return [primary, ]
 aioice.ice.get_host_addresses = _primary_host_addresses
 
 
@@ -80,14 +80,19 @@ async def run(self):
 
 
 class CerealOutgoingMessageProxy(AsyncTaskRunner):
-  def __init__(self, sm: messaging.SubMaster):
+  def __init__(self, services: list[str], enabled: bool = True):
     super().__init__()
-    self.sm = sm
+    self.services = list(services)
+    self.sm = messaging.SubMaster(self.services)
     self.channels: list[RTCDataChannel] = []
+    self._enabled = enabled
 
   def add_channel(self, channel: 'RTCDataChannel'):
     self.channels.append(channel)
 
+  def enable(self, enable: bool):
+    self._enabled = enable
+
   def to_json(self, msg_content: Any):
     if isinstance(msg_content, capnp._DynamicStructReader):
       msg_dict = msg_content.to_dict()
@@ -117,6 +122,9 @@ async def run(self):
     from aiortc.exceptions import InvalidStateError
 
     while True:
+      if not self._enabled:
+        await asyncio.sleep(0.01)
+        continue
       try:
         self.update()
       except InvalidStateError:
@@ -165,21 +173,27 @@ class LivestreamBitrateController(AsyncTaskRunner):
   down_samples = 5 # 1s
   param_name = "LivestreamEncoderBitrate"
 
-  def __init__(self, peer_connection: Any):
+  def __init__(self, peer_connection: Any, params: Params, enabled: bool = True):
     super().__init__()
     self.pc = peer_connection
-    self.params = Params()
+    self.params = params
 
-    self.level = 1
+    self.level = 2
     self._publish(self.bitrates[self.level])
     self.prev_lost, self.prev_sent = None, None
     self.counter = 0
     self.up_samples = 5 # 1s
     self._auto = True
+    self._enabled = enabled
+
+  def enable(self, enable: bool):
+    self._enabled = enable
 
   async def run(self):
     while True:
       await asyncio.sleep(self.sample_interval)
+      if not self._enabled:
+        continue
       if not self._auto:
         continue
 
@@ -231,20 +245,28 @@ def set_quality(self, quality):
 class StreamSession:
   shared_pub_master = DynamicPubMaster([])
 
-  def __init__(self, sdp: str, init_camera: str, incoming_services: list[str], outgoing_services: list[str], debug_mode: bool = False):
+  def __init__(
+    self,
+    sdp: str,
+    init_camera: str,
+    incoming_services: list[str],
+    outgoing_services: list[str],
+    enabled: bool | None = None,
+    debug_mode: bool = False
+  ):
     from aiortc.mediastreams import VideoStreamTrack
     from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
     from teleoprtc import WebRTCAnswerBuilder
 
+    self.identifier = str(uuid.uuid4())
+    self.params = Params()
     builder = WebRTCAnswerBuilder(sdp)
 
-    self.video_track = LiveStreamVideoStreamTrack(init_camera) if not debug_mode else VideoStreamTrack()
+    self.enabled = enabled if enabled else True # default to enabled
+    self.video_track = LiveStreamVideoStreamTrack(init_camera, self.enabled) if not debug_mode else VideoStreamTrack()
     builder.add_video_stream(init_camera, self.video_track)
-
     self.stream = builder.stream()
-    self.identifier = str(uuid.uuid4())
 
-    self.params = Params()
     self.incoming_bridge: CerealIncomingMessageProxy | None = None
     self.incoming_bridge_services = incoming_services
     self.outgoing_bridge: CerealOutgoingMessageProxy | None = None
@@ -252,16 +274,16 @@ def __init__(self, sdp: str, init_camera: str, incoming_services: list[str], out
     if len(incoming_services) > 0:
       self.incoming_bridge = CerealIncomingMessageProxy(self.shared_pub_master)
     if len(outgoing_services) > 0:
-      self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services))
-    self.bitrate_controller = LivestreamBitrateController(self.stream.peer_connection)
+      self.outgoing_bridge = CerealOutgoingMessageProxy(outgoing_services, self.enabled)
+    self.bitrate_controller = LivestreamBitrateController(self.stream.peer_connection, self.params, self.enabled)
 
     self.run_task: asyncio.Task | None = None
     self._cleanup_lock = asyncio.Lock()
     self._cleanup_done = False
     self.logger = logging.getLogger("webrtcd")
     self.logger.info(
-      "New stream session (%s), init camera %s, incoming services %s, outgoing services %s",
-      self.identifier, init_camera, incoming_services, outgoing_services,
+      "New stream session (%s), init camera %s, video enabled %s, incoming services %s, outgoing services %s",
+      self.identifier, init_camera, enabled, incoming_services, outgoing_services,
     )
 
   def start(self):
@@ -279,7 +301,6 @@ async def get_answer(self):
     return await self.stream.start()
 
   def message_handler(self, message: bytes):
-    assert self.incoming_bridge is not None
     try:
       payload = json.loads(message) if isinstance(message, (bytes, str)) else None
       if isinstance(payload, dict):
@@ -290,6 +311,13 @@ def message_handler(self, message: bytes):
             self.video_track.switch_camera(payload["data"]["camera"])
           case "livestreamSettings":
             self.bitrate_controller.set_quality(payload["data"]["quality"])
+          case "livestreamVideoEnable":
+            enabled = payload["data"]["enabled"]
+            self.video_track.enable(enabled)
+            self.outgoing_bridge.enable(enabled)
+            self.bitrate_controller.enable(enabled)
+            if not enabled:
+              self.params.put("LivestreamRequestKeyframe", True)
           case "clockSync":
             pong = json.dumps({"type": "clockSync", "data": {
               "action": "pong", "browserSendTime": payload["data"]["browserSendTime"], "deviceTime": time.time() * 1000, # noqa: TID251
@@ -320,9 +348,7 @@ async def run(self):
       self.bitrate_controller.start()
 
       self.logger.info("Stream session (%s) connected", self.identifier)
-
       await self.stream.wait_for_disconnection()
-
       self.logger.info("Stream session (%s) ended", self.identifier)
     except Exception:
       self.logger.exception("Stream session failure")
@@ -335,12 +361,12 @@ async def post_run_cleanup(self):
         return
       self._cleanup_done = True
       self.params.put("LivestreamRequestKeyframe", False)
-      if self.bitrate_controller is not None:
-        await self.bitrate_controller.stop()
+      await self.bitrate_controller.stop()
       if self.outgoing_bridge is not None:
         await self.outgoing_bridge.stop()
       if self.video_track is not None:
         self.video_track.stop()
+        self.video_track = None
       await self.stream.stop()
 
 
@@ -348,6 +374,7 @@ async def post_run_cleanup(self):
 class StreamRequestBody:
   sdp: str
   initCamera: str
+  video_enabled: bool = True
   bridge_services_in: list[str] = field(default_factory=list)
   bridge_services_out: list[str] = field(default_factory=list)
 
@@ -369,7 +396,8 @@ async def get_stream(request: 'web.Request'):
       await s.stop()
       stream_dict.pop(sid, None)
 
-    session = StreamSession(body.sdp, body.initCamera, body.bridge_services_in, body.bridge_services_out, debug_mode)
+    session = StreamSession(body.sdp, body.initCamera, body.bridge_services_in, body.bridge_services_out, body.video_enabled, debug_mode)
+    stream_dict[session.identifier] = session
     try:
       answer = await session.get_answer()
     except ValueError as e:
@@ -380,8 +408,9 @@ async def get_stream(request: 'web.Request'):
       ) from e
     except Exception:
       await session.stop()
+      stream_dict.pop(session.identifier, None)
+      logging.getLogger("webrtcd").exception("Failed to create stream answer")
       raise
-    stream_dict[session.identifier] = session
     session.start()
 
     def remove_finished_session(_: asyncio.Task) -> None:

From 586dd4c6118b9820b07c1986a10aa8b584d130ea Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Mon, 15 Jun 2026 22:19:07 -0400
Subject: [PATCH 1201/1434] webrtc: add error handling middleware (#38182)

* webrtc add error handling middleware

* clean diff
---
 system/athena/athenad.py |  6 +-----
 system/webrtc/webrtcd.py | 19 ++++++++++++-------
 2 files changed, 13 insertions(+), 12 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index e78fc89bd9378a..c31f1ef281856f 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -597,11 +597,7 @@ def startStream(sdp: str, video_enabled: bool | None = None) -> dict:
     resp = WEBRTCD_SESS.post(f"http://localhost:{WEBRTCD_PORT}/stream", json=asdict(body), timeout=10)
     t_end = time.monotonic()
     if not resp.ok:
-      try:
-        error_body = resp.json()
-        raise Exception(error_body.get("message", f"webrtcd returned {resp.status_code}"))
-      except ValueError:
-        resp.raise_for_status()
+      raise Exception(resp.json().get("message", f"webrtcd returned {resp.status_code}"))
     ret = resp.json()
     ret["time"] = (t_end - t_start) * 1000
     return ret
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index f4f58c06d67d23..8d29dafdd3743d 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -400,12 +400,6 @@ async def get_stream(request: 'web.Request'):
     stream_dict[session.identifier] = session
     try:
       answer = await session.get_answer()
-    except ValueError as e:
-      await session.stop()
-      raise web.HTTPBadRequest(
-        text=json.dumps({"error": "invalid_sdp", "message": str(e)}),
-        content_type="application/json",
-      ) from e
     except Exception:
       await session.stop()
       stream_dict.pop(session.identifier, None)
@@ -450,13 +444,24 @@ async def on_shutdown(app: 'web.Application'):
   del app['streams']
 
 
+@web.middleware
+async def error_middleware(request: 'web.Request', handler):
+  try:
+    return await handler(request)
+  except web.HTTPException:
+    raise  # intentional responses (400/404/etc.) pass through untouched
+  except Exception as e:
+    logging.getLogger("webrtcd").exception("Unhandled error handling %s", request.path)
+    return web.json_response({"error": "exception", "message": f"{type(e).__name__}: {e}"}, status=500)
+
+
 def webrtcd_thread(host: str, port: int, debug: bool):
   logging.basicConfig(level=logging.CRITICAL, handlers=[logging.StreamHandler()])
   logging_level = logging.DEBUG if debug else logging.INFO
   logging.getLogger("WebRTCStream").setLevel(logging_level)
   logging.getLogger("webrtcd").setLevel(logging_level)
 
-  app = web.Application()
+  app = web.Application(middlewares=[error_middleware])
 
   app['streams'] = dict()
   app['stream_lock'] = asyncio.Lock()

From 4cefe7239d7dc5b70d8031ebe5c744f64777d08f Mon Sep 17 00:00:00 2001
From: Apostolos Georgiadis <apgeorg@users.noreply.github.com>
Date: Tue, 16 Jun 2026 18:23:30 +0200
Subject: [PATCH 1202/1434] fetch_image_from_route: fix missing f-string in
 error message (#38183)

---
 tools/scripts/fetch_image_from_route.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/scripts/fetch_image_from_route.py b/tools/scripts/fetch_image_from_route.py
index 77bf48f946a7fa..a0537148013301 100755
--- a/tools/scripts/fetch_image_from_route.py
+++ b/tools/scripts/fetch_image_from_route.py
@@ -35,7 +35,7 @@
 
 fr = FrameReader(segments[segment])
 if frame >= fr.frame_count:
-  raise Exception("frame {frame} not found, got {fr.frame_count} frames")
+  raise Exception(f"frame {frame} not found, got {fr.frame_count} frames")
 
 im = Image.fromarray(fr.get(frame))
 fn = f"uxxx_{route.replace('|', '_')}_{segment}_{frame}.png"

From f3b1f97afacc13d68d1fb3543c19b6ec9708a870 Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Tue, 16 Jun 2026 16:48:16 -0400
Subject: [PATCH 1203/1434] webrtc/athena: speed up first time stream
 connection (#38184)

* move streamrequest to models file, prewarm in webrtcd

* cleanup

* debug

* change print to logger.info
---
 system/athena/athenad.py      |  2 +-
 system/webrtc/device/video.py |  5 ++---
 system/webrtc/models.py       |  9 +++++++++
 system/webrtc/webrtcd.py      | 33 +++++++++++++++++++--------------
 4 files changed, 31 insertions(+), 18 deletions(-)
 create mode 100644 system/webrtc/models.py

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index c31f1ef281856f..4c9b536219823a 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -581,7 +581,7 @@ def getNetworks():
 
 @dispatcher.add_method
 def startStream(sdp: str, video_enabled: bool | None = None) -> dict:
-  from openpilot.system.webrtc.webrtcd import StreamRequestBody
+  from openpilot.system.webrtc.models import StreamRequestBody
   bridge_services_in = []
 
   # get live car params to avoid stale notCar edge case
diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py
index af492c829e154d..69f628cb11e1c3 100644
--- a/system/webrtc/device/video.py
+++ b/system/webrtc/device/video.py
@@ -7,7 +7,7 @@
 from aiortc import MediaStreamError
 
 from cereal import messaging
-from openpilot.common.realtime import DT_MDL, DT_DMON
+from openpilot.common.realtime import DT_MDL
 from openpilot.common.params import Params
 
 
@@ -30,8 +30,7 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
   }
 
   def __init__(self, camera_type: str, video_enabled: bool = True):
-    dt = DT_DMON if camera_type == "driver" else DT_MDL
-    super().__init__(camera_type, dt)
+    super().__init__(camera_type, DT_MDL)
 
     self._sock = self._make_sock(camera_type)
     self._pts = 0
diff --git a/system/webrtc/models.py b/system/webrtc/models.py
new file mode 100644
index 00000000000000..fd7411304957f9
--- /dev/null
+++ b/system/webrtc/models.py
@@ -0,0 +1,9 @@
+from dataclasses import dataclass, field
+
+@dataclass
+class StreamRequestBody:
+  sdp: str
+  initCamera: str
+  video_enabled: bool = True
+  bridge_services_in: list[str] = field(default_factory=list)
+  bridge_services_out: list[str] = field(default_factory=list)
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 8d29dafdd3743d..48b868de216de7 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -10,7 +10,6 @@
 import json
 import uuid
 import logging
-from dataclasses import dataclass, field
 from typing import Any, TYPE_CHECKING
 
 # aiortc and its dependencies have lots of internal warnings :(
@@ -22,13 +21,13 @@
 from aiohttp import web
 if TYPE_CHECKING:
   from aiortc.rtcdatachannel import RTCDataChannel
+import aioice.ice
 
+from openpilot.system.webrtc.models import StreamRequestBody
 from openpilot.system.webrtc.schema import generate_field
 from openpilot.common.params import Params
 from cereal import messaging, log
 
-import aioice.ice
-
 
 # socket trick: route lookup for 8.8.8.8 (nothing is sent or actually connected to)
 # return the source interfaces IP which is the default interface of the device
@@ -254,9 +253,10 @@ def __init__(
     enabled: bool | None = None,
     debug_mode: bool = False
   ):
-    from aiortc.mediastreams import VideoStreamTrack
+    if debug_mode:
+      from aiortc.mediastreams import VideoStreamTrack
     from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
-    from teleoprtc import WebRTCAnswerBuilder
+    from teleoprtc.builder import WebRTCAnswerBuilder
 
     self.identifier = str(uuid.uuid4())
     self.params = Params()
@@ -370,15 +370,6 @@ async def post_run_cleanup(self):
       await self.stream.stop()
 
 
-@dataclass
-class StreamRequestBody:
-  sdp: str
-  initCamera: str
-  video_enabled: bool = True
-  bridge_services_in: list[str] = field(default_factory=list)
-  bridge_services_out: list[str] = field(default_factory=list)
-
-
 async def get_stream(request: 'web.Request'):
   stream_dict, debug_mode = request.app['streams'], request.app['debug']
   raw_body = await request.json()
@@ -455,11 +446,25 @@ async def error_middleware(request: 'web.Request', handler):
     return web.json_response({"error": "exception", "message": f"{type(e).__name__}: {e}"}, status=500)
 
 
+def prewarm_stream_session_imports(debug_mode: bool = False) -> None:
+  if debug_mode:
+    from aiortc.mediastreams import VideoStreamTrack
+    assert VideoStreamTrack
+  from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
+  from teleoprtc.builder import WebRTCAnswerBuilder
+  assert LiveStreamVideoStreamTrack
+  assert WebRTCAnswerBuilder
+
+
 def webrtcd_thread(host: str, port: int, debug: bool):
   logging.basicConfig(level=logging.CRITICAL, handlers=[logging.StreamHandler()])
   logging_level = logging.DEBUG if debug else logging.INFO
   logging.getLogger("WebRTCStream").setLevel(logging_level)
   logging.getLogger("webrtcd").setLevel(logging_level)
+  prewarm_start = time.monotonic()
+  prewarm_stream_session_imports(debug)
+  prewarm_end = time.monotonic()
+  logging.getLogger("webrtcd").info(f"webrtc prewarm finished in {(prewarm_end - prewarm_start) * 1000} ms")
 
   app = web.Application(middlewares=[error_middleware])
 

From c0456590f62388cd0c918b706afe968aad459bba Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 16 Jun 2026 14:01:14 -0700
Subject: [PATCH 1204/1434] mici ui: add branch switcher (#38153)

* mici ui: add branch switcher

* add icon
---
 .../assets/icons_mici/settings/software.png   |   3 +
 selfdrive/ui/mici/layouts/settings/device.py  | 139 ---------
 .../ui/mici/layouts/settings/settings.py      |   6 +
 .../ui/mici/layouts/settings/software.py      | 274 ++++++++++++++++++
 4 files changed, 283 insertions(+), 139 deletions(-)
 create mode 100644 selfdrive/assets/icons_mici/settings/software.png
 create mode 100644 selfdrive/ui/mici/layouts/settings/software.py

diff --git a/selfdrive/assets/icons_mici/settings/software.png b/selfdrive/assets/icons_mici/settings/software.png
new file mode 100644
index 00000000000000..5cf528cbdd5081
--- /dev/null
+++ b/selfdrive/assets/icons_mici/settings/software.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4c38772e6080aa4b8bf5212d3619e949775468c64f3edb88a1a426d767c38d2
+size 1579
diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py
index 535f75d97fdac1..fd8bacf441d0dc 100644
--- a/selfdrive/ui/mici/layouts/settings/device.py
+++ b/selfdrive/ui/mici/layouts/settings/device.py
@@ -1,7 +1,5 @@
 import os
-import threading
 import pyray as rl
-from enum import IntEnum
 from collections.abc import Callable
 
 from openpilot.common.basedir import BASEDIR
@@ -122,12 +120,6 @@ def _render(self, _):
     self._serial_number_text_label.render()
 
 
-class UpdaterState(IntEnum):
-  IDLE = 0
-  WAITING_FOR_UPDATER = 1
-  UPDATER_RESPONDING = 2
-
-
 class PairBigButton(BigButton):
   def __init__(self):
     super().__init__("pair", "connect.comma.ai", gui_app.texture("icons_mici/settings/comma_icon.png", 33, 60))
@@ -164,128 +156,6 @@ def _handle_mouse_release(self, mouse_pos: MousePos):
     gui_app.push_widget(dlg)
 
 
-UPDATER_TIMEOUT = 10.0  # seconds to wait for updater to respond
-
-
-class UpdateOpenpilotBigButton(BigButton):
-  def __init__(self):
-    self._txt_update_icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 75)
-    self._txt_reboot_icon = gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70)
-    self._txt_up_to_date_icon = gui_app.texture("icons_mici/settings/device/up_to_date.png", 64, 64)
-    super().__init__("update openpilot", "", self._txt_update_icon)
-
-    self._waiting_for_updater_t: float | None = None
-    self._hide_value_t: float | None = None
-    self._state: UpdaterState = UpdaterState.IDLE
-
-    ui_state.add_offroad_transition_callback(self.offroad_transition)
-
-  def offroad_transition(self):
-    if ui_state.is_offroad():
-      self.set_enabled(True)
-
-  def _handle_mouse_release(self, mouse_pos: MousePos):
-    super()._handle_mouse_release(mouse_pos)
-
-    if not system_time_valid():
-      dlg = BigDialog("", tr("Please connect to Wi-Fi to update."))
-      gui_app.push_widget(dlg)
-      return
-
-    self.set_enabled(False)
-    self._state = UpdaterState.WAITING_FOR_UPDATER
-    self.set_icon(self._txt_update_icon)
-
-    def run():
-      if self.get_value() == "download update":
-        os.system("pkill -SIGHUP -f system.updated.updated")
-      elif self.get_value() == "update now":
-        ui_state.params.put_bool("DoReboot", True, block=True)
-      else:
-        os.system("pkill -SIGUSR1 -f system.updated.updated")
-
-    threading.Thread(target=run, daemon=True).start()
-
-  def set_value(self, value: str):
-    super().set_value(value)
-    if value:
-      self.set_text("")
-    else:
-      self.set_text("update openpilot")
-
-  def _update_state(self):
-    super()._update_state()
-
-    if ui_state.started:
-      self.set_enabled(False)
-      return
-
-    updater_state = ui_state.params.get("UpdaterState") or ""
-    failed_count = ui_state.params.get("UpdateFailedCount")
-    failed = False if failed_count is None else int(failed_count) > 0
-
-    if ui_state.params.get_bool("UpdateAvailable"):
-      self.set_rotate_icon(False)
-      self.set_enabled(True)
-      if self.get_value() != "update now":
-        self.set_value("update now")
-        self.set_icon(self._txt_reboot_icon)
-
-    elif self._state == UpdaterState.WAITING_FOR_UPDATER:
-      self.set_rotate_icon(True)
-      if updater_state != "idle":
-        self._state = UpdaterState.UPDATER_RESPONDING
-
-      # Recover from updater not responding (time invalid shortly after boot)
-      if self._waiting_for_updater_t is None:
-        self._waiting_for_updater_t = rl.get_time()
-
-      if self._waiting_for_updater_t is not None and rl.get_time() - self._waiting_for_updater_t > UPDATER_TIMEOUT:
-        self.set_rotate_icon(False)
-        self.set_value("updater failed\nto respond")
-        self._state = UpdaterState.IDLE
-        self._hide_value_t = rl.get_time()
-
-    elif self._state == UpdaterState.UPDATER_RESPONDING:
-      if updater_state == "idle":
-        self.set_rotate_icon(False)
-        self._state = UpdaterState.IDLE
-        self._hide_value_t = rl.get_time()
-      else:
-        if self.get_value() != updater_state:
-          self.set_value(updater_state)
-
-    elif self._state == UpdaterState.IDLE:
-      self.set_rotate_icon(False)
-      if failed:
-        self.set_enabled(True)  # allow retry when failure came from updater param
-        if self.get_value() != "failed to update":
-          self.set_value("failed to update")
-
-      elif ui_state.params.get_bool("UpdaterFetchAvailable"):
-        self.set_enabled(True)
-        if self.get_value() != "download update":
-          self.set_value("download update")
-
-      elif self._hide_value_t is not None:
-        self.set_enabled(True)
-        if self.get_value() == "checking...":
-          self.set_value("up to date")
-          self.set_icon(self._txt_up_to_date_icon)
-
-        # Hide previous text after short amount of time (up to date or failed)
-        if rl.get_time() - self._hide_value_t > 3.0:
-          self._hide_value_t = None
-          self.set_value("")
-          self.set_icon(self._txt_update_icon)
-      else:
-        if self.get_value() != "":
-          self.set_value("")
-
-    if self._state != UpdaterState.WAITING_FOR_UPDATER:
-      self._waiting_for_updater_t = None
-
-
 class DeviceLayoutMici(NavScroller):
   def __init__(self):
     super().__init__()
@@ -307,16 +177,9 @@ def reset_calibration_callback():
       params.remove("LiveDelay")
       params.put_bool("OnroadCycleRequested", True, block=True)
 
-    def uninstall_openpilot_callback():
-      ui_state.params.put_bool("DoUninstall", True, block=True)
-
     reset_calibration_btn = EngagedConfirmationButton("reset calibration", "reset", gui_app.texture("icons_mici/settings/device/lkas.png", 122, 64),
                                                       reset_calibration_callback)
 
-    uninstall_openpilot_btn = EngagedConfirmationButton("uninstall openpilot", "uninstall",
-                                                        gui_app.texture("icons_mici/settings/device/uninstall.png", 64, 64),
-                                                        uninstall_openpilot_callback, exit_on_confirm=False)
-
     reboot_btn = EngagedConfirmationCircleButton("reboot", gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70),
                                                  reboot_callback, exit_on_confirm=False)
 
@@ -340,14 +203,12 @@ def uninstall_openpilot_callback():
 
     self._scroller.add_widgets([
       DeviceInfoLayoutMici(),
-      UpdateOpenpilotBigButton(),
       PairBigButton(),
       review_training_guide_btn,
       driver_cam_btn,
       terms_btn,
       regulatory_btn,
       reset_calibration_btn,
-      uninstall_openpilot_btn,
       reboot_btn,
       self._power_off_btn,
     ])
diff --git a/selfdrive/ui/mici/layouts/settings/settings.py b/selfdrive/ui/mici/layouts/settings/settings.py
index 4ccc5ba139ac48..56a953a65d437f 100644
--- a/selfdrive/ui/mici/layouts/settings/settings.py
+++ b/selfdrive/ui/mici/layouts/settings/settings.py
@@ -5,6 +5,7 @@
 from openpilot.selfdrive.ui.mici.layouts.settings.network.network_layout import NetworkLayoutMici
 from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici, PairBigButton
 from openpilot.selfdrive.ui.mici.layouts.settings.developer import DeveloperLayoutMici
+from openpilot.selfdrive.ui.mici.layouts.settings.software import SoftwareLayoutMici
 from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayout
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 
@@ -31,6 +32,10 @@ def __init__(self):
     device_btn = SettingsBigButton("device", "", gui_app.texture("icons_mici/settings/device_icon.png", 72, 58))
     device_btn.set_click_callback(lambda: gui_app.push_widget(device_panel))
 
+    software_panel = SoftwareLayoutMici()
+    software_btn = SettingsBigButton("software", "", gui_app.texture("icons_mici/settings/software.png", 64, 75))
+    software_btn.set_click_callback(lambda: gui_app.push_widget(software_panel))
+
     developer_panel = DeveloperLayoutMici()
     developer_btn = SettingsBigButton("developer", "", gui_app.texture("icons_mici/settings/developer_icon.png", 64, 60))
     developer_btn.set_click_callback(lambda: gui_app.push_widget(developer_panel))
@@ -43,6 +48,7 @@ def __init__(self):
       toggles_btn,
       network_btn,
       device_btn,
+      software_btn,
       PairBigButton(),
       #BigDialogButton("manual", "", "icons_mici/settings/manual_icon.png", "Check out the mici user\nmanual at comma.ai/setup"),
       firehose_btn,
diff --git a/selfdrive/ui/mici/layouts/settings/software.py b/selfdrive/ui/mici/layouts/settings/software.py
new file mode 100644
index 00000000000000..32f20256f412e1
--- /dev/null
+++ b/selfdrive/ui/mici/layouts/settings/software.py
@@ -0,0 +1,274 @@
+import os
+import threading
+import pyray as rl
+from enum import IntEnum
+from collections.abc import Callable
+
+from openpilot.common.time_helpers import system_time_valid
+from openpilot.selfdrive.ui.mici.layouts.settings.device import EngagedConfirmationButton
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.scroller import NavScroller
+
+UPDATER_TIMEOUT = 10.0  # seconds to wait for updater to respond
+
+
+def _split_description(desc: str) -> tuple[str, str, str, str] | None:
+  # UpdaterCurrentDescription/UpdaterNewDescription format: "version / branch / commit / date"
+  parts = [p.strip() for p in desc.split(" / ")]
+  if len(parts) != 4:
+    return None
+  version, branch, commit, date = parts
+  return version, branch, commit, date
+
+
+class UpdaterState(IntEnum):
+  IDLE = 0
+  WAITING_FOR_UPDATER = 1
+  UPDATER_RESPONDING = 2
+
+
+class SoftwareInfoLayoutMici(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self.set_rect(rl.Rectangle(0, 0, 360, 180))
+
+    subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
+    max_width = int(self._rect.width - 20)
+    self._version_label = UnifiedLabel("version", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
+    self._version_text_label = UnifiedLabel("", 32, max_width=max_width, text_color=subheader_color,
+                                            font_weight=FontWeight.ROMAN, wrap_text=False)
+
+    self._branch_label = UnifiedLabel("branch", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
+    self._branch_text_label = UnifiedLabel("", 32, max_width=max_width, text_color=subheader_color,
+                                           font_weight=FontWeight.ROMAN, wrap_text=False)
+
+  def _update_state(self):
+    desc = _split_description(ui_state.params.get("UpdaterCurrentDescription") or "")
+    if desc is not None:
+      version, branch, commit, date = desc
+      self._version_text_label.set_text(f"{version} ({date})")
+      self._branch_text_label.set_text(f"{branch} ({commit})")
+    else:
+      self._version_text_label.set_text(ui_state.params.get("Version") or "N/A")
+      self._branch_text_label.set_text(ui_state.params.get("GitBranch") or "N/A")
+
+  def _render(self, _):
+    self._version_label.set_position(self._rect.x + 20, self._rect.y - 10)
+    self._version_label.render()
+
+    self._version_text_label.set_position(self._rect.x + 20, self._rect.y + 68 - 25)
+    self._version_text_label.render()
+
+    self._branch_label.set_position(self._rect.x + 20, self._rect.y + 114 - 30)
+    self._branch_label.render()
+
+    self._branch_text_label.set_position(self._rect.x + 20, self._rect.y + 161 - 25)
+    self._branch_text_label.render()
+
+
+class CheckUpdateButton(BigButton):
+  def __init__(self):
+    self._txt_update_icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 75)
+    self._txt_up_to_date_icon = gui_app.texture("icons_mici/settings/device/up_to_date.png", 64, 64)
+    super().__init__("check for update", "", self._txt_update_icon)
+
+    self._waiting_for_updater_t: float | None = None
+    self._hide_value_t: float | None = None
+    self._state: UpdaterState = UpdaterState.IDLE
+
+    ui_state.add_offroad_transition_callback(self.offroad_transition)
+
+  def offroad_transition(self):
+    if ui_state.is_offroad():
+      self.set_enabled(True)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+
+    if not system_time_valid():
+      dlg = BigDialog("", tr("Please connect to Wi-Fi to update."))
+      gui_app.push_widget(dlg)
+      return
+
+    self.set_enabled(False)
+    self._state = UpdaterState.WAITING_FOR_UPDATER
+    self.set_icon(self._txt_update_icon)
+
+    def run():
+      if self.get_value() == "download update":
+        os.system("pkill -SIGHUP -f system.updated.updated")
+      else:
+        os.system("pkill -SIGUSR1 -f system.updated.updated")
+
+    threading.Thread(target=run, daemon=True).start()
+
+  def set_value(self, value: str):
+    super().set_value(value)
+    if value:
+      self.set_text("")
+    else:
+      self.set_text("check for update")
+
+  def _update_state(self):
+    super()._update_state()
+
+    if ui_state.started:
+      self.set_enabled(False)
+      return
+
+    updater_state = ui_state.params.get("UpdaterState") or ""
+    failed_count = ui_state.params.get("UpdateFailedCount") or 0
+    failed = int(failed_count) > 0
+
+    if self._state == UpdaterState.WAITING_FOR_UPDATER:
+      self.set_rotate_icon(True)
+      if updater_state != "idle":
+        self._state = UpdaterState.UPDATER_RESPONDING
+
+      # Recover from updater not responding (time invalid shortly after boot)
+      if self._waiting_for_updater_t is None:
+        self._waiting_for_updater_t = rl.get_time()
+
+      if self._waiting_for_updater_t is not None and rl.get_time() - self._waiting_for_updater_t > UPDATER_TIMEOUT:
+        self.set_rotate_icon(False)
+        self.set_value("updater failed\nto respond")
+        self._state = UpdaterState.IDLE
+        self._hide_value_t = rl.get_time()
+
+    elif self._state == UpdaterState.UPDATER_RESPONDING:
+      if updater_state == "idle":
+        self.set_rotate_icon(False)
+        self._state = UpdaterState.IDLE
+        self._hide_value_t = rl.get_time()
+      else:
+        if self.get_value() != updater_state:
+          self.set_value(updater_state)
+
+    elif self._state == UpdaterState.IDLE:
+      self.set_rotate_icon(False)
+      if failed:
+        self.set_enabled(True)  # allow retry when failure came from updater param
+        if self.get_value() != "failed to update":
+          self.set_value("failed to update")
+
+      elif ui_state.params.get_bool("UpdaterFetchAvailable"):
+        self.set_enabled(True)
+        if self.get_value() != "download update":
+          self.set_value("download update")
+
+      elif self._hide_value_t is not None:
+        self.set_enabled(True)
+        if self.get_value() == "checking...":
+          self.set_value("up to date")
+          self.set_icon(self._txt_up_to_date_icon)
+
+        # Hide previous text after short amount of time (up to date or failed)
+        if rl.get_time() - self._hide_value_t > 3.0:
+          self._hide_value_t = None
+          self.set_value("")
+          self.set_icon(self._txt_update_icon)
+      else:
+        if self.get_value() != "":
+          self.set_value("")
+
+    if self._state != UpdaterState.WAITING_FOR_UPDATER:
+      self._waiting_for_updater_t = None
+
+
+class InstallUpdateButton(BigButton):
+  def __init__(self):
+    super().__init__("install update", "", gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70))
+    self.set_visible(lambda: ui_state.is_offroad() and ui_state.params.get_bool("UpdateAvailable"))
+
+  def _update_state(self):
+    super()._update_state()
+
+    desc = _split_description(ui_state.params.get("UpdaterNewDescription") or "")
+    value = f"{desc[0]} ({desc[1]})" if desc is not None else ""
+    if self.get_value() != value:
+      self.set_value(value)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+
+    self.set_enabled(False)
+
+    def run():
+      ui_state.params.put_bool("DoReboot", True, block=True)
+
+    threading.Thread(target=run, daemon=True).start()
+
+
+class BranchSelectPage(NavScroller):
+  def __init__(self, on_select: Callable[[str], None]):
+    super().__init__()
+
+    params = ui_state.params
+    current_git_branch = params.get("GitBranch") or ""
+    branches_str = params.get("UpdaterAvailableBranches") or ""
+    branches = [b for b in branches_str.split(",") if b]
+
+    for b in [current_git_branch, "devel-staging", "devel", "nightly", "nightly-dev", "master"]:
+      if b in branches:
+        branches.remove(b)
+        branches.insert(0, b)
+
+    current_target = params.get("UpdaterTargetBranch") or ""
+    check_icon = gui_app.texture("icons_mici/settings/device/up_to_date.png", 64, 64)
+
+    buttons = []
+    for branch in branches:
+      btn = BigButton(branch, "", check_icon if branch == current_target else None, scroll=True)
+      btn.set_click_callback(lambda b=branch: self.dismiss(lambda: on_select(b)))
+      buttons.append(btn)
+    self._scroller.add_widgets(buttons)
+
+
+class TargetBranchButton(BigButton):
+  def __init__(self):
+    super().__init__("target branch", ui_state.params.get("UpdaterTargetBranch") or "")
+    self.set_click_callback(self._on_click)
+    self.set_visible(not ui_state.params.get_bool("IsTestedBranch"))
+    self.set_enabled(lambda: ui_state.is_offroad())
+
+  def _update_state(self):
+    super()._update_state()
+
+    target = ui_state.params.get("UpdaterTargetBranch") or ""
+    if self.get_value() != target:
+      self.set_value(target)
+
+  def _on_click(self):
+    gui_app.push_widget(BranchSelectPage(self._on_select))
+
+  def _on_select(self, branch: str):
+    ui_state.params.put("UpdaterTargetBranch", branch, block=True)
+    self.set_value(branch)
+    os.system("pkill -SIGUSR1 -f system.updated.updated")
+
+
+class SoftwareLayoutMici(NavScroller):
+  def __init__(self):
+    super().__init__()
+
+    def uninstall_openpilot_callback():
+      ui_state.params.put_bool("DoUninstall", True, block=True)
+
+    uninstall_openpilot_btn = EngagedConfirmationButton("uninstall openpilot", "uninstall",
+                                                        gui_app.texture("icons_mici/settings/device/uninstall.png", 64, 64),
+                                                        uninstall_openpilot_callback, exit_on_confirm=False)
+
+    self._scroller.add_widgets([
+      SoftwareInfoLayoutMici(),
+      CheckUpdateButton(),
+      InstallUpdateButton(),
+      TargetBranchButton(),
+      uninstall_openpilot_btn,
+    ])

From 3c4790c089a77594e6c04c337cae985a04e7b61d Mon Sep 17 00:00:00 2001
From: eFini <ricklan@gmail.com>
Date: Wed, 17 Jun 2026 05:58:30 +0800
Subject: [PATCH 1205/1434] bugfix: should be Error not Exception (#38071)

should be Error not Exception
---
 system/hardware/tici/hardware.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 35bed557213531..10b6d7646cfb14 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -383,7 +383,7 @@ def initialize_hardware(self):
       pid = subprocess.check_output(["pgrep", "-f", "spi0"], encoding='utf8').strip()
       subprocess.call(["sudo", "chrt", "-f", "-p", "1", pid])
       subprocess.call(["sudo", "taskset", "-pc", "3", pid])
-    except subprocess.CalledProcessException as e:
+    except subprocess.CalledProcessError as e:
       print(str(e))
 
   def get_networks(self):

From 29e7f362edce1f86088a167b56cfb98ac70b2084 Mon Sep 17 00:00:00 2001
From: David <49467229+TheSecurityDev@users.noreply.github.com>
Date: Tue, 16 Jun 2026 17:25:27 -0500
Subject: [PATCH 1206/1434] clip: add wide camera stream (#37677)

clip: add support for wide camera frames in clip rendering
---
 tools/clip/run.py | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/tools/clip/run.py b/tools/clip/run.py
index d3a0496b1e6e96..fa4b203862060d 100755
--- a/tools/clip/run.py
+++ b/tools/clip/run.py
@@ -312,8 +312,15 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True,
     camera_paths = route.qcamera_paths() if use_qcam else route.camera_paths()
     frame_queue = FrameQueue(camera_paths, start, end, fps=FRAMERATE, use_qcam=use_qcam)
 
+    ecamera_paths = route.ecamera_paths() if not use_qcam else []
+    wide_frame_queue: FrameQueue | None = None
+    if any(p for p in ecamera_paths[seg_start:seg_end] if p):
+      wide_frame_queue = FrameQueue(ecamera_paths, start, end, fps=FRAMERATE)
+
     vipc = VisionIpcServer("camerad")
     vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 4, frame_queue.frame_w, frame_queue.frame_h)
+    if wide_frame_queue:
+      vipc.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 4, wide_frame_queue.frame_w, wide_frame_queue.frame_h)
     vipc.start_listener()
 
     patch_submaster(message_chunks, ui_state)
@@ -331,6 +338,9 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True,
           break
         _, frame_bytes = frame_queue.get()
         vipc.send(VisionStreamType.VISION_STREAM_ROAD, frame_bytes, frame_idx, int(frame_idx * 5e7), int(frame_idx * 5e7))
+        if wide_frame_queue:
+          _, wide_bytes = wide_frame_queue.get()
+          vipc.send(VisionStreamType.VISION_STREAM_WIDE_ROAD, wide_bytes, frame_idx, int(frame_idx * 5e7), int(frame_idx * 5e7))
         ui_state.update()
         if should_render:
           road_view.render()
@@ -340,6 +350,8 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True,
     timer.lap("render")
 
     frame_queue.stop()
+    if wide_frame_queue:
+      wide_frame_queue.stop()
     gui_app.close()
     timer.lap("ffmpeg")
 

From 8a80bd70e7bd319a84425b7e31d15d3bade2cc8a Mon Sep 17 00:00:00 2001
From: Robbie Wadley <robbiethewadley@gmail.com>
Date: Tue, 16 Jun 2026 17:25:40 -0600
Subject: [PATCH 1207/1434] fix: cruise faults should not disable silently
 (#37557)

Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 selfdrive/selfdrived/state.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/selfdrived/state.py b/selfdrive/selfdrived/state.py
index 073ddb56eb9dc6..25c22684ad1df9 100644
--- a/selfdrive/selfdrived/state.py
+++ b/selfdrive/selfdrived/state.py
@@ -24,13 +24,13 @@ def update(self, events: Events):
     # ENABLED, SOFT DISABLING, PRE ENABLING, OVERRIDING
     if self.state != State.disabled:
       # user and immediate disable always have priority in a non-disabled state
-      if events.contains(ET.USER_DISABLE):
+      if events.contains(ET.IMMEDIATE_DISABLE):
         self.state = State.disabled
-        self.current_alert_types.append(ET.USER_DISABLE)
+        self.current_alert_types.append(ET.IMMEDIATE_DISABLE)
 
-      elif events.contains(ET.IMMEDIATE_DISABLE):
+      elif events.contains(ET.USER_DISABLE):
         self.state = State.disabled
-        self.current_alert_types.append(ET.IMMEDIATE_DISABLE)
+        self.current_alert_types.append(ET.USER_DISABLE)
 
       else:
         # ENABLED

From 93224b3c051aacacca82e60d3937841c53b57425 Mon Sep 17 00:00:00 2001
From: hypery11 <hypery11@gmail.com>
Date: Wed, 17 Jun 2026 07:28:37 +0800
Subject: [PATCH 1208/1434] speedup pytest collection (#37977)

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 conftest.py                                  |  6 +++
 pyproject.toml                               |  2 +-
 selfdrive/ui/mici/tests/test_widget_leaks.py | 43 ++++++++++----------
 3 files changed, 29 insertions(+), 22 deletions(-)

diff --git a/conftest.py b/conftest.py
index f2fd482be9947f..e368b01e83dd5c 100644
--- a/conftest.py
+++ b/conftest.py
@@ -17,6 +17,12 @@
 ]
 
 
+def pytest_sessionstart(session):
+  # TODO: fix tests and enable test order randomization
+  if session.config.pluginmanager.hasplugin('randomly'):
+    session.config.option.randomly_reorganize = False
+
+
 @pytest.hookimpl(hookwrapper=True, trylast=True)
 def pytest_runtest_call(item):
   # ensure we run as a hook after capturemanager's
diff --git a/pyproject.toml b/pyproject.toml
index 1e8ecb0232a602..2120e6a4305e6f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -127,7 +127,7 @@ allow-direct-references = true
 
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ --ignore=selfdrive/modeld -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
diff --git a/selfdrive/ui/mici/tests/test_widget_leaks.py b/selfdrive/ui/mici/tests/test_widget_leaks.py
index e35cb4477686b0..09142a8e11844f 100755
--- a/selfdrive/ui/mici/tests/test_widget_leaks.py
+++ b/selfdrive/ui/mici/tests/test_widget_leaks.py
@@ -1,26 +1,6 @@
-import pyray as rl
-rl.set_config_flags(rl.ConfigFlags.FLAG_WINDOW_HIDDEN)
 import gc
 import weakref
 import pytest
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.widgets import Widget
-
-# mici dialogs
-from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide as MiciTrainingGuide, OnboardingWindow as MiciOnboardingWindow
-from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog as MiciDriverCameraDialog
-from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog as MiciPairingDialog
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog, BigInputDialog
-from openpilot.selfdrive.ui.mici.layouts.settings.device import MiciFccModal
-
-# tici dialogs
-from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog as TiciDriverCameraDialog
-from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow as TiciOnboardingWindow
-from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog as TiciPairingDialog
-from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
-from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
-from openpilot.system.ui.widgets.html_render import HtmlModal
-from openpilot.system.ui.widgets.keyboard import Keyboard
 
 # FIXME: known small leaks not worth worrying about at the moment
 KNOWN_LEAKS = {
@@ -52,7 +32,8 @@
 }
 
 
-def get_child_widgets(widget: Widget) -> list[Widget]:
+def get_child_widgets(widget) -> list:
+  from openpilot.system.ui.widgets import Widget
   children = []
   for val in widget.__dict__.values():
     items = val if isinstance(val, (list, tuple)) else (val,)
@@ -62,6 +43,26 @@ def get_child_widgets(widget: Widget) -> list[Widget]:
 
 @pytest.mark.skip(reason="segfaults")
 def test_dialogs_do_not_leak():
+  import pyray as rl
+  rl.set_config_flags(rl.ConfigFlags.FLAG_WINDOW_HIDDEN)
+  from openpilot.system.ui.lib.application import gui_app
+
+  # mici dialogs
+  from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide as MiciTrainingGuide, OnboardingWindow as MiciOnboardingWindow
+  from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog as MiciDriverCameraDialog
+  from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog as MiciPairingDialog
+  from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog, BigInputDialog
+  from openpilot.selfdrive.ui.mici.layouts.settings.device import MiciFccModal
+
+  # tici dialogs
+  from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog as TiciDriverCameraDialog
+  from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow as TiciOnboardingWindow
+  from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog as TiciPairingDialog
+  from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+  from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
+  from openpilot.system.ui.widgets.html_render import HtmlModal
+  from openpilot.system.ui.widgets.keyboard import Keyboard
+
   gui_app.init_window("ref-test")
 
   leaked_widgets = set()

From 82a945d14524c5f64e23455d180f39cf38d93723 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 16 Jun 2026 17:49:12 -0700
Subject: [PATCH 1209/1434] scons: enforce max file size for build products
 (#38077)

* scons: enforce max file size for build products

* only for minimal build

* enable

* fix build product size check
---
 SConstruct | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/SConstruct b/SConstruct
index 0427d462949f67..31d4af801bc306 100644
--- a/SConstruct
+++ b/SConstruct
@@ -273,6 +273,8 @@ def count_scons_nodes(nodes):
     if node in seen:
       continue
     seen.add(node)
+    if hasattr(node, 'has_builder') and node.has_builder():
+      build_product_nodes.add(node)
     executor = node.get_executor()
     if executor is not None:
       stack += executor.get_all_prerequisites() + executor.get_all_children()
@@ -281,6 +283,7 @@ def count_scons_nodes(nodes):
 
 progress_interval = 5
 progress_count = 0
+build_product_nodes = set()
 progress_total = max(1, count_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)))
 
 def progress_function(node):
@@ -296,3 +299,11 @@ def progress_function(node):
 
 Progress(progress_function, interval=progress_interval)
 AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
+
+def check_build_product_size(target, source, env):
+  limit = 50 * 1024 * 1024  # GitHub max size
+  for t in target:
+    if hasattr(t, 'isfile') and t.isfile() and (size := os.path.getsize(t.abspath)) > limit:
+      raise SCons.Errors.UserError(f"{t} is {size / (1024 * 1024):.1f} MiB, exceeding the {limit / (1024 * 1024):.1f} MiB limit")
+if not GetOption('extras'):
+  AddPostAction(list(build_product_nodes), Action(check_build_product_size, None))

From 3939f1e92c92b1c15f7d3cbd59d386bfcbd8cdd0 Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Tue, 16 Jun 2026 21:33:59 -0400
Subject: [PATCH 1210/1434] webrtc: signal shutdown over datachannel (#38185)

signal shut down, fix enabled bug
---
 system/webrtc/webrtcd.py | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 48b868de216de7..f5e3d52ebbae1d 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -262,7 +262,7 @@ def __init__(
     self.params = Params()
     builder = WebRTCAnswerBuilder(sdp)
 
-    self.enabled = enabled if enabled else True # default to enabled
+    self.enabled = enabled if enabled is not None else True # default to enabled
     self.video_track = LiveStreamVideoStreamTrack(init_camera, self.enabled) if not debug_mode else VideoStreamTrack()
     builder.add_video_stream(init_camera, self.video_track)
     self.stream = builder.stream()
@@ -381,7 +381,7 @@ async def get_stream(request: 'web.Request'):
       if s.run_task and not s.run_task.done():
         try:
           ch = s.stream.get_messaging_channel()
-          ch.send(json.dumps({"type": "connectionReplaced", "data": "Another device has connected, closing this session."}))
+          ch.send(json.dumps({"type": "disconnect", "data": "Another device has connected, closing this session."}))
         except Exception:
           pass
       await s.stop()
@@ -431,6 +431,11 @@ async def post_notify(request: 'web.Request'):
 
 async def on_shutdown(app: 'web.Application'):
   for session in app['streams'].values():
+    try:
+      ch = session.stream.get_messaging_channel()
+      ch.send(json.dumps({"type": "disconnect", "data": "device stream has been stopped."}))
+    except Exception:
+      pass
     await session.stop()
   del app['streams']
 

From e2e3703ae4630cb2ae9e61c4c94aef9011fcc108 Mon Sep 17 00:00:00 2001
From: Andi Radulescu <andi.radulescu@gmail.com>
Date: Wed, 17 Jun 2026 18:14:07 +0300
Subject: [PATCH 1211/1434] ui: fix false "NO PANDA" flash on screen wake
 (#37404)

* ui: fix false "NO PANDA" flash on screen wake

* ui: use recv_time for panda timeout instead of frame counting

* ui: use sm.alive for panda timeout
---
 selfdrive/ui/ui_state.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index 6309642fd27436..643054e508f531 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -1,4 +1,3 @@
-import pyray as rl
 import numpy as np
 import time
 import threading
@@ -141,7 +140,7 @@ def _update_state(self) -> None:
         # Check ignition status across all pandas
         if self.panda_type != log.PandaState.PandaType.unknown:
           self.ignition = any(state.ignitionLine or state.ignitionCan for state in panda_states)
-    elif self.sm.frame - self.sm.recv_frame["pandaStates"] > 5 * rl.get_fps():
+    elif not self.sm.alive["pandaStates"]:
       self.panda_type = log.PandaState.PandaType.unknown
 
     # Handle wide road camera state updates

From 5ab7e484794da5a65f5875faffb9b29c2a9eaf85 Mon Sep 17 00:00:00 2001
From: David <49467229+TheSecurityDev@users.noreply.github.com>
Date: Wed, 17 Jun 2026 11:54:24 -0500
Subject: [PATCH 1212/1434] fix(ui): fill and center onroad camera if too small
 (#37673)

* ui: ensure zoom accommodates full view area in AugmentedRoadView

* fix: use _content_rect

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 selfdrive/ui/mici/onroad/augmented_road_view.py | 7 +++++--
 selfdrive/ui/onroad/augmented_road_view.py      | 9 ++++++---
 2 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index 0246a0e5973b9d..e6609f9c09461a 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -313,10 +313,13 @@ def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
     w, h = self._content_rect.width, self._content_rect.height
     cx, cy = intrinsic[0, 2], intrinsic[1, 2]
 
+    # Ensure zoom views the whole area
+    zoom = max(zoom, w / (2 * cx), h / (2 * cy))
+
     # Calculate max allowed offsets with margins
     margin = 5
-    max_x_offset = cx * zoom - w / 2 - margin
-    max_y_offset = cy * zoom - h / 2 - margin
+    max_x_offset = max(0.0, cx * zoom - w / 2 - margin)
+    max_y_offset = max(0.0, cy * zoom - h / 2 - margin)
 
     # Calculate and clamp offsets to prevent out-of-bounds issues
     try:
diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py
index 1a2181628ee21f..d381c255ea451f 100644
--- a/selfdrive/ui/onroad/augmented_road_view.py
+++ b/selfdrive/ui/onroad/augmented_road_view.py
@@ -76,7 +76,7 @@ def _render(self, rect):
     )
 
     # Render the base camera view
-    super()._render(rect)
+    super()._render(self._content_rect)
 
     # Draw all UI overlays
     self.model_renderer.render(self._content_rect)
@@ -175,10 +175,13 @@ def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
     w, h = self._content_rect.width, self._content_rect.height
     cx, cy = intrinsic[0, 2], intrinsic[1, 2]
 
+    # Ensure zoom views the whole area
+    zoom = max(zoom, w / (2 * cx), h / (2 * cy))
+
     # Calculate max allowed offsets with margins
     margin = 5
-    max_x_offset = cx * zoom - w / 2 - margin
-    max_y_offset = cy * zoom - h / 2 - margin
+    max_x_offset = max(0.0, cx * zoom - w / 2 - margin)
+    max_y_offset = max(0.0, cy * zoom - h / 2 - margin)
 
     # Calculate and clamp offsets to prevent out-of-bounds issues
     try:

From d4db600d4b8cedf68c0ea23d06c7acdd5cea002c Mon Sep 17 00:00:00 2001
From: David <49467229+TheSecurityDev@users.noreply.github.com>
Date: Wed, 17 Jun 2026 12:27:46 -0500
Subject: [PATCH 1213/1434] ui diff: add multithreading and improve logging
 (split from #37328) (#37474)

* split out and refactor

* simplify

* rm extra line

* use threadpoolexecutor to handle exceptions

* simplify

* improve

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 selfdrive/ui/tests/diff/diff.py | 106 ++++++++++++++++++--------------
 1 file changed, 59 insertions(+), 47 deletions(-)

diff --git a/selfdrive/ui/tests/diff/diff.py b/selfdrive/ui/tests/diff/diff.py
index 974edb42a367ee..b861d848eb3274 100755
--- a/selfdrive/ui/tests/diff/diff.py
+++ b/selfdrive/ui/tests/diff/diff.py
@@ -4,6 +4,7 @@
 import subprocess
 import webbrowser
 import argparse
+from concurrent.futures import ThreadPoolExecutor
 from pathlib import Path
 from openpilot.common.basedir import BASEDIR
 
@@ -11,8 +12,8 @@
 HTML_TEMPLATE_PATH = Path(__file__).with_name("diff_template.html")
 
 
-def extract_framehashes(video_path):
-  cmd = ['ffmpeg', '-i', video_path, '-map', '0:v:0', '-vsync', '0', '-f', 'framehash', '-hash', 'md5', '-']
+def extract_framehashes(video_path: Path) -> list[str]:
+  cmd = ['ffmpeg', '-nostdin', '-i', video_path, '-map', '0:v:0', '-vsync', '0', '-f', 'framehash', '-hash', 'md5', '-']
   result = subprocess.run(cmd, capture_output=True, text=True, check=True)
   hashes = []
   for line in result.stdout.splitlines():
@@ -25,42 +26,33 @@ def extract_framehashes(video_path):
   return hashes
 
 
-def create_diff_video(video1, video2, output_path):
-  """Create a diff video using ffmpeg blend filter with difference mode."""
-  print("Creating diff video...")
-  cmd = ['ffmpeg', '-i', video1, '-i', video2, '-filter_complex', '[0:v]blend=all_mode=difference', '-vsync', '0', '-y', output_path]
-  subprocess.run(cmd, capture_output=True, check=True)
+def get_video_frame_hashes(video1: Path, video2: Path) -> tuple[list[str], list[str]]:
+  """Hash every frame of both videos in parallel and return the two hash lists."""
+  with ThreadPoolExecutor(max_workers=2) as executor:
+    print("Generating frame hashes for both videos...")
+    future1 = executor.submit(extract_framehashes, video1)
+    future2 = executor.submit(extract_framehashes, video2)
+    hashes1 = future1.result()
+    hashes2 = future2.result()
+  return hashes1, hashes2
 
 
-def find_differences(video1, video2) -> tuple[list[int], tuple[int, int]]:
-  print(f"Hashing frames from {video1}...")
-  hashes1 = extract_framehashes(video1)
+def create_diff_video(video1: Path, video2: Path, output: Path) -> None:
+  """Create a diff video of two clips using ffmpeg blend filter with difference mode."""
+  cmd = ['ffmpeg', '-nostdin', '-i', video1, '-i', video2, '-filter_complex', 'blend=all_mode=difference', '-vsync', '0', '-y', output]
+  subprocess.run(cmd, capture_output=True, check=True)
 
-  print(f"Hashing frames from {video2}...")
-  hashes2 = extract_framehashes(video2)
 
-  print(f"Comparing {len(hashes1)} frames...")
+def find_frame_differences(hashes1: list[str], hashes2: list[str]) -> list[int]:
+  """Compare two lists of frame hashes and return the indices of different frames."""
   different_frames = []
-
   for i, (h1, h2) in enumerate(zip(hashes1, hashes2, strict=False)):
     if h1 != h2:
       different_frames.append(i)
+  return different_frames
 
-  return different_frames, (len(hashes1), len(hashes2))
-
-
-def generate_html_report(videos: tuple[str, str], basedir: str, different_frames: list[int], frame_counts: tuple[int, int], diff_video_name):
-  chunks = []
-  if different_frames:
-    current_chunk = [different_frames[0]]
-    for i in range(1, len(different_frames)):
-      if different_frames[i] == different_frames[i - 1] + 1:
-        current_chunk.append(different_frames[i])
-      else:
-        chunks.append(current_chunk)
-        current_chunk = [different_frames[i]]
-    chunks.append(current_chunk)
 
+def generate_html_report(videos: tuple[Path, Path], basedir: str, different_frames: list[int], frame_counts: tuple[int, int], diff_video_name: str) -> str:
   total_frames = max(frame_counts)
   frame_delta = frame_counts[1] - frame_counts[0]
   different_total = len(different_frames) + abs(frame_delta)
@@ -71,12 +63,13 @@ def generate_html_report(videos: tuple[str, str], basedir: str, different_frames
     else f"� Found {different_total} different frames out of {total_frames} total ({different_total / total_frames * 100:.1f}%)."
     + (f" Video {'2' if frame_delta > 0 else '1'} is longer by {abs(frame_delta)} frames." if frame_delta != 0 else "")
   )
+  print(f"  Results: {result_text}")
 
   # Load HTML template and replace placeholders
   html = HTML_TEMPLATE_PATH.read_text()
   placeholders = {
-    "VIDEO1_SRC": os.path.join(basedir, os.path.basename(videos[0])),
-    "VIDEO2_SRC": os.path.join(basedir, os.path.basename(videos[1])),
+    "VIDEO1_SRC": os.path.join(basedir, videos[0].name),
+    "VIDEO2_SRC": os.path.join(basedir, videos[1].name),
     "DIFF_SRC": os.path.join(basedir, diff_video_name),
     "RESULT_TEXT": result_text,
   }
@@ -91,7 +84,7 @@ def main():
   parser.add_argument('video1', help='First video file')
   parser.add_argument('video2', help='Second video file')
   parser.add_argument('output', nargs='?', default='diff.html', help='Output HTML file (default: diff.html)')
-  parser.add_argument("--basedir", type=str, help="Base directory for output", default="")
+  parser.add_argument("--basedir", type=str, help="Base path for files in HTML report", default="")
   parser.add_argument('--no-open', action='store_true', help='Do not open HTML report in browser')
 
   args = parser.parse_args()
@@ -99,37 +92,56 @@ def main():
   if not args.output.lower().endswith('.html'):
     args.output += '.html'
 
+  video1, video2 = Path(args.video1), Path(args.video2)
+  missing = [str(p) for p in (video1, video2) if not p.is_file()]
+  if missing:
+    parser.error(f"Video file(s) not found: {', '.join(missing)}")
+
+  diff_video_name = f"{Path(args.output).stem}.mp4"  # diff video name derived from output HTML name
+
   os.makedirs(DIFF_OUT_DIR, exist_ok=True)
 
   print("=" * 60)
-  print("VIDEO DIFF - HTML REPORT")
+  print("UI VIDEO DIFF - HTML REPORT")
   print("=" * 60)
-  print(f"Video 1: {args.video1}")
-  print(f"Video 2: {args.video2}")
-  print(f"Output: {args.output}")
+  print(f"Video 1:      {video1}")
+  print(f"Video 2:      {video2}")
+  print(f"HTML output:  {args.output}")
+  print(f"Diff video:   {diff_video_name}")
   print()
 
-  # Create diff video with name derived from output HTML
-  diff_video_name = Path(args.output).stem + '.mp4'
-  diff_video_path = str(DIFF_OUT_DIR / diff_video_name)
-  create_diff_video(args.video1, args.video2, diff_video_path)
+  print("[1/4] Starting full video diff generation in background thread...")
+  diff_executor = ThreadPoolExecutor(max_workers=1)
+  diff_future = diff_executor.submit(create_diff_video, video1, video2, DIFF_OUT_DIR / diff_video_name)
 
-  different_frames, frame_counts = find_differences(args.video1, args.video2)
+  print("[2/4] Hashing frames...")
+  hashes1, hashes2 = get_video_frame_hashes(video1, video2)
+  frame_counts = (len(hashes1), len(hashes2))
+  print(f"  Found {frame_counts[0]} frames in video 1 and {frame_counts[1]} frames in video 2.")
 
-  if different_frames is None:
-    sys.exit(1)
+  print("[3/4] Finding different frames...")
+  different_frames = find_frame_differences(hashes1, hashes2)
+  print(f"  Found {len(different_frames)} different frames.")
 
-  print()
-  print("Generating HTML report...")
-  html = generate_html_report((args.video1, args.video2), args.basedir, different_frames, frame_counts, diff_video_name)
+  print("[4/4] Generating HTML report...")
+  html = generate_html_report((video1, video2), args.basedir, different_frames, frame_counts, diff_video_name)
 
-  with open(DIFF_OUT_DIR / args.output, 'w') as f:
+  output_path = DIFF_OUT_DIR / args.output
+  with open(output_path, 'w') as f:
     f.write(html)
 
+  print(f"  Report generated at: {output_path}")
+
   # Open in browser by default
   if not args.no_open:
     print(f"Opening {args.output} in browser...")
-    webbrowser.open(f'file://{os.path.abspath(DIFF_OUT_DIR / args.output)}')
+    webbrowser.open(f'file://{os.path.abspath(output_path)}')
+
+  # Wait for diff video generation to finish before exiting
+  if not diff_future.done():
+    print("Waiting for diff video generation to finish...")
+  diff_future.result()
+  diff_executor.shutdown()
 
   extra_frames = abs(frame_counts[0] - frame_counts[1])
   return 0 if (len(different_frames) + extra_frames) == 0 else 1

From ddc8d371363226708c2eaab5c67323a266e9e34f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Wed, 17 Jun 2026 13:48:53 -0400
Subject: [PATCH 1214/1434] Desire keep pulsing is dead (#38187)

---
 selfdrive/controls/lib/desire_helper.py | 11 -----------
 1 file changed, 11 deletions(-)

diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index ee4567f1e988e3..659c0adc30bb79 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -36,7 +36,6 @@ def __init__(self):
     self.lane_change_direction = LaneChangeDirection.none
     self.lane_change_timer = 0.0
     self.lane_change_ll_prob = 1.0
-    self.keep_pulse_timer = 0.0
     self.prev_one_blinker = False
     self.desire = log.Desire.none
 
@@ -107,13 +106,3 @@ def update(self, carstate, lateral_active, lane_change_prob):
     self.prev_one_blinker = one_blinker
 
     self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
-
-    # Send keep pulse once per second during LaneChangeStart.preLaneChange
-    if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):
-      self.keep_pulse_timer = 0.0
-    elif self.lane_change_state == LaneChangeState.preLaneChange:
-      self.keep_pulse_timer += DT_MDL
-      if self.keep_pulse_timer > 1.0:
-        self.keep_pulse_timer = 0.0
-      elif self.desire in (log.Desire.keepLeft, log.Desire.keepRight):
-        self.desire = log.Desire.none

From cd2c590d50ee8301cdf10a9ae6565d488a1c03e8 Mon Sep 17 00:00:00 2001
From: Christopher Milan <chrismilan@ucla.edu>
Date: Wed, 17 Jun 2026 11:24:11 -0700
Subject: [PATCH 1215/1434] bump tinygrad (#38176)

* bump tinygrad

* wip: try this

* origin/master

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
---
 selfdrive/modeld/compile_modeld.py | 4 ++--
 tinygrad_repo                      | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index 09e8d06c7ca69d..069e39091a1f68 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -51,8 +51,8 @@ def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad,
   w_dst, h_dst = dst_shape
   h_src, w_src = src_shape
 
-  x = Tensor.arange(w_dst, device=WARP_DEV).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
-  y = Tensor.arange(h_dst, device=WARP_DEV).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
+  x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
+  y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
 
   # inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather)
   src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2]
diff --git a/tinygrad_repo b/tinygrad_repo
index 5039d954f27fd4..443f976305038c 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 5039d954f27fd4d4ebeb76951e9933f17985c1a4
+Subproject commit 443f976305038c113cc7836799967da738c5b77e

From 0038d84e1399bba3a8b93870e9772177e1e51c6c Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Wed, 17 Jun 2026 17:53:06 -0400
Subject: [PATCH 1216/1434] webrtc: do not replace connection on prewarm
 (#38190)

* refactor

* remove accidental change

* clean error handler

* clean structure

* only is other stream is active and enabled

* better structure

* remove enabled None default

* update comment
---
 system/athena/athenad.py |  6 ++----
 system/webrtc/models.py  |  4 ++--
 system/webrtc/webrtcd.py | 39 +++++++++++++++++----------------------
 3 files changed, 21 insertions(+), 28 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 4c9b536219823a..d72745a38971df 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -580,7 +580,7 @@ def getNetworks():
 
 
 @dispatcher.add_method
-def startStream(sdp: str, video_enabled: bool | None = None) -> dict:
+def startStream(sdp: str, enabled: bool) -> dict:
   from openpilot.system.webrtc.models import StreamRequestBody
   bridge_services_in = []
 
@@ -592,12 +592,10 @@ def startStream(sdp: str, video_enabled: bool | None = None) -> dict:
         bridge_services_in.append("testJoystick")
 
   t_start = time.monotonic()
-  body = StreamRequestBody(sdp=sdp, initCamera="wideRoad", bridge_services_in=bridge_services_in, bridge_services_out=["carState"], video_enabled=video_enabled)
+  body = StreamRequestBody(sdp=sdp, init_camera="wideRoad", bridge_services_in=bridge_services_in, bridge_services_out=["carState"], enabled=enabled)
   try:
     resp = WEBRTCD_SESS.post(f"http://localhost:{WEBRTCD_PORT}/stream", json=asdict(body), timeout=10)
     t_end = time.monotonic()
-    if not resp.ok:
-      raise Exception(resp.json().get("message", f"webrtcd returned {resp.status_code}"))
     ret = resp.json()
     ret["time"] = (t_end - t_start) * 1000
     return ret
diff --git a/system/webrtc/models.py b/system/webrtc/models.py
index fd7411304957f9..5a80576f7d9a42 100644
--- a/system/webrtc/models.py
+++ b/system/webrtc/models.py
@@ -3,7 +3,7 @@
 @dataclass
 class StreamRequestBody:
   sdp: str
-  initCamera: str
-  video_enabled: bool = True
+  init_camera: str
+  enabled: bool
   bridge_services_in: list[str] = field(default_factory=list)
   bridge_services_out: list[str] = field(default_factory=list)
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index f5e3d52ebbae1d..c2bceb5d908f14 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -244,15 +244,7 @@ def set_quality(self, quality):
 class StreamSession:
   shared_pub_master = DynamicPubMaster([])
 
-  def __init__(
-    self,
-    sdp: str,
-    init_camera: str,
-    incoming_services: list[str],
-    outgoing_services: list[str],
-    enabled: bool | None = None,
-    debug_mode: bool = False
-  ):
+  def __init__(self, body: StreamRequestBody, debug_mode: bool = False):
     if debug_mode:
       from aiortc.mediastreams import VideoStreamTrack
     from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
@@ -260,21 +252,21 @@ def __init__(
 
     self.identifier = str(uuid.uuid4())
     self.params = Params()
-    builder = WebRTCAnswerBuilder(sdp)
+    builder = WebRTCAnswerBuilder(body.sdp)
 
-    self.enabled = enabled if enabled is not None else True # default to enabled
-    self.video_track = LiveStreamVideoStreamTrack(init_camera, self.enabled) if not debug_mode else VideoStreamTrack()
-    builder.add_video_stream(init_camera, self.video_track)
+    self.enabled = body.enabled
+    self.video_track = LiveStreamVideoStreamTrack(body.init_camera, self.enabled) if not debug_mode else VideoStreamTrack()
+    builder.add_video_stream(body.init_camera, self.video_track)
     self.stream = builder.stream()
 
     self.incoming_bridge: CerealIncomingMessageProxy | None = None
-    self.incoming_bridge_services = incoming_services
+    self.incoming_bridge_services = body.bridge_services_in
     self.outgoing_bridge: CerealOutgoingMessageProxy | None = None
     self.bitrate_controller: LivestreamBitrateController | None = None
-    if len(incoming_services) > 0:
+    if len(body.bridge_services_in) > 0:
       self.incoming_bridge = CerealIncomingMessageProxy(self.shared_pub_master)
-    if len(outgoing_services) > 0:
-      self.outgoing_bridge = CerealOutgoingMessageProxy(outgoing_services, self.enabled)
+    if len(body.bridge_services_out) > 0:
+      self.outgoing_bridge = CerealOutgoingMessageProxy(body.bridge_services_out, self.enabled)
     self.bitrate_controller = LivestreamBitrateController(self.stream.peer_connection, self.params, self.enabled)
 
     self.run_task: asyncio.Task | None = None
@@ -283,7 +275,7 @@ def __init__(
     self.logger = logging.getLogger("webrtcd")
     self.logger.info(
       "New stream session (%s), init camera %s, video enabled %s, incoming services %s, outgoing services %s",
-      self.identifier, init_camera, enabled, incoming_services, outgoing_services,
+      self.identifier, body.init_camera, body.enabled, body.bridge_services_in, body.bridge_services_out,
     )
 
   def start(self):
@@ -313,6 +305,7 @@ def message_handler(self, message: bytes):
             self.bitrate_controller.set_quality(payload["data"]["quality"])
           case "livestreamVideoEnable":
             enabled = payload["data"]["enabled"]
+            self.enabled = enabled
             self.video_track.enable(enabled)
             self.outgoing_bridge.enable(enabled)
             self.bitrate_controller.enable(enabled)
@@ -376,7 +369,11 @@ async def get_stream(request: 'web.Request'):
   body = StreamRequestBody(**raw_body)
 
   async with request.app['stream_lock']:
-    # Fully disconnect any other active stream before starting the replacement.
+    # don't remove existing connection on prewarm request
+    enabled = any(s.run_task and not s.run_task.done() and s.enabled for s in stream_dict.values())
+    if enabled and not body.enabled:
+      return web.json_response({"error": "busy", "message": "someone else is connected."})
+
     for sid, s in list(stream_dict.items()):
       if s.run_task and not s.run_task.done():
         try:
@@ -387,7 +384,7 @@ async def get_stream(request: 'web.Request'):
       await s.stop()
       stream_dict.pop(sid, None)
 
-    session = StreamSession(body.sdp, body.initCamera, body.bridge_services_in, body.bridge_services_out, body.video_enabled, debug_mode)
+    session = StreamSession(body, debug_mode)
     stream_dict[session.identifier] = session
     try:
       answer = await session.get_answer()
@@ -444,8 +441,6 @@ async def on_shutdown(app: 'web.Application'):
 async def error_middleware(request: 'web.Request', handler):
   try:
     return await handler(request)
-  except web.HTTPException:
-    raise  # intentional responses (400/404/etc.) pass through untouched
   except Exception as e:
     logging.getLogger("webrtcd").exception("Unhandled error handling %s", request.path)
     return web.json_response({"error": "exception", "message": f"{type(e).__name__}: {e}"}, status=500)

From 45d8bcd7f3f2da7e03d95f45218b49e00fb06963 Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Fri, 19 Jun 2026 21:20:55 -0400
Subject: [PATCH 1217/1434] car livestream (#38193)

* athenad and webrtcd updates

* remove feature stream services from webrtcd split

* stream encoder thread

* reduce diff

* wire webrtc to livestream camera encoder

* request livestream camera switch service

* remove camera list in favour of init camera field

* remove cors

* clean

* remove unused

* remove extra try except

* add back exception trace

* add stream road camera info to stream cameras

* fix

* clean diff

* clean diff

* add testJoystick only on body

* fix camera list

* remove reference to future service

* encode all cameras and swap in video track in webrtc

* clean

* explicitly gate bridge send

* clean leftover

* initial idea

* add a watchdog to kill the process after disconnect or onroad

* start camerad and stream encoderd as well

* add message handler even without bridge

* remove carState when offroad

* transition to onroad works for body, kill for car not working

* turn off stream processes on started car

* cereal messaging sub field allow list, carparamspersistent, ping webrtcd to see when awake

* fix imports

* fix and increase max retries

* reduce max retries, increase timeout

* timeout on wait for connection

* remove cereal sub message and update process config to run on body ignition

* debounce 5s on teardown

* update error messages

* fix tear down crash

* clean

* clean

* fix lint
---
 common/params_keys.h             |  1 +
 system/athena/athenad.py         | 34 ++++++++++++---------------
 system/manager/process_config.py | 12 +++++++---
 system/webrtc/helpers.py         | 40 ++++++++++++++++++++++++++++++++
 system/webrtc/models.py          |  9 -------
 system/webrtc/webrtcd.py         | 27 ++++++++++++++-------
 6 files changed, 83 insertions(+), 40 deletions(-)
 create mode 100644 system/webrtc/helpers.py
 delete mode 100644 system/webrtc/models.py

diff --git a/common/params_keys.h b/common/params_keys.h
index 546a53c76c8371..01b051545afd09 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -58,6 +58,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsEngaged", {PERSISTENT, BOOL}},
     {"IsLdwEnabled", {PERSISTENT, BOOL}},
+    {"IsLiveStreaming", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsMetric", {PERSISTENT, BOOL}},
     {"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsOnroad", {PERSISTENT, BOOL}},
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index d72745a38971df..8cadfb857a272b 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -45,7 +45,6 @@
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
 LOCAL_PORT_WHITELIST = {22, }  # SSH
-WEBRTCD_PORT = 5001
 
 LOG_ATTR_NAME = 'user.upload'
 LOG_ATTR_VALUE_MAX_UNIX_TIME = int.to_bytes(2147483647, 4, sys.byteorder)
@@ -84,9 +83,6 @@ def init_poolmanager(self, connections, maxsize, block=DEFAULT_POOLBLOCK, **pool
 UPLOAD_SESS.mount("http://", UploadTOSAdapter())
 UPLOAD_SESS.mount("https://", UploadTOSAdapter())
 
-WEBRTCD_SESS = requests.Session()
-WEBRTCD_SESS.mount("http://", HTTPAdapter(max_retries=0))
-
 
 @dataclass
 class UploadFile:
@@ -581,28 +577,28 @@ def getNetworks():
 
 @dispatcher.add_method
 def startStream(sdp: str, enabled: bool) -> dict:
-  from openpilot.system.webrtc.models import StreamRequestBody
+  from openpilot.system.webrtc.helpers import StreamRequestBody, post_stream_request, wait_for_webrtcd
+  params = Params()
   bridge_services_in = []
 
-  # get live car params to avoid stale notCar edge case
-  cp_bytes = Params().get("CarParams")
+  # stale car params case taken care of by webrtcd being shut off on ignition
+  cp_bytes = Params().get("CarParamsPersistent")
   if cp_bytes is not None:
     with car.CarParams.from_bytes(cp_bytes) as CP:
       if CP.notCar:
         bridge_services_in.append("testJoystick")
+  else:
+      raise Exception("failed to get CarParamsPersistent")
+
+  if not params.get_bool("IsOnroad"):
+    # manager owns camerad/stream_encoderd/webrtcd; flip the param and let it bring them up.
+    # webrtcd clears IsLiveStreaming when the session ends
+    params.put_bool("IsLiveStreaming", True)
+    # wait for webrtcd end points to wake up
+    wait_for_webrtcd()
+
+  return post_stream_request(StreamRequestBody(sdp, "wideRoad", enabled, bridge_services_in, ["carState", "deviceState"]))
 
-  t_start = time.monotonic()
-  body = StreamRequestBody(sdp=sdp, init_camera="wideRoad", bridge_services_in=bridge_services_in, bridge_services_out=["carState"], enabled=enabled)
-  try:
-    resp = WEBRTCD_SESS.post(f"http://localhost:{WEBRTCD_PORT}/stream", json=asdict(body), timeout=10)
-    t_end = time.monotonic()
-    ret = resp.json()
-    ret["time"] = (t_end - t_start) * 1000
-    return ret
-  except requests.ConnectTimeout as e:
-    raise Exception("webrtc took too long to respond. is the comma body on?") from e
-  except requests.ConnectionError as e:
-    raise Exception("webrtc is not running. turn on comma body ignition.") from e
 
 @dispatcher.add_method
 def takeSnapshot() -> str | dict[str, str] | None:
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 7ed4a2dacb2c3c..84f031371414ef 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -58,21 +58,27 @@ def only_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
 def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
   return not started
 
+def livestream(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return params.get_bool("IsLiveStreaming")
+
 def or_(*fns):
   return lambda *args: operator.or_(*(fn(*args) for fn in fns))
 
 def and_(*fns):
   return lambda *args: operator.and_(*(fn(*args) for fn in fns))
 
+def not_(*fns):
+  return lambda *args: operator.not_(*(fn(*args) for fn in fns))
+
 procs = [
   DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
 
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
   NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
-  NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
+  NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], or_(and_(livestream, not_(iscar)), notcar)),
   PythonProcess("logmessaged", "system.logmessaged", always_run),
 
-  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),
+  NativeProcess("camerad", "system/camerad", ["./camerad"], or_(driverview, livestream), enabled=not WEBCAM),
   PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
   PythonProcess("proclogd", "system.proclogd", only_onroad, enabled=platform.system() != "Darwin"),
   PythonProcess("journald", "system.journald", only_onroad, platform.system() != "Darwin"),
@@ -115,7 +121,7 @@ def and_(*fns):
 
   # debug procs
   NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
-  PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
+  PythonProcess("webrtcd", "system.webrtc.webrtcd", or_(and_(livestream, not_(iscar)), notcar)),
   PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
   PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
 ]
diff --git a/system/webrtc/helpers.py b/system/webrtc/helpers.py
new file mode 100644
index 00000000000000..776b64573ec6bf
--- /dev/null
+++ b/system/webrtc/helpers.py
@@ -0,0 +1,40 @@
+import time
+import requests
+from dataclasses import asdict, dataclass, field
+
+
+WEBRTCD_PORT = 5001
+
+@dataclass
+class StreamRequestBody:
+  sdp: str
+  init_camera: str
+  enabled: bool
+  bridge_services_in: list[str] = field(default_factory=list)
+  bridge_services_out: list[str] = field(default_factory=list)
+
+
+def post_stream_request(body: StreamRequestBody) -> dict:
+  t_start = time.monotonic()
+  try:
+    resp = requests.post(f"http://localhost:{WEBRTCD_PORT}/stream", json=asdict(body), timeout=10)
+    t_end = time.monotonic()
+    ret = resp.json()
+    ret["time"] = (t_end - t_start) * 1000
+    return ret
+  except requests.ConnectTimeout as e:
+    raise Exception("webrtc took too long to respond.") from e
+  except requests.ConnectionError as e:
+    raise Exception("webrtc server on device is not running.") from e
+
+
+def wait_for_webrtcd(max_retries: float = 10) -> None:
+  attempts = 0
+  while attempts < max_retries:
+    try:
+      if requests.get(f"http://localhost:{WEBRTCD_PORT}/schema", timeout=1).ok:
+        return
+    except requests.ConnectionError:
+      attempts += 1
+      time.sleep(0.5)
+  raise TimeoutError("webrtcd did not initialize in time.")
diff --git a/system/webrtc/models.py b/system/webrtc/models.py
deleted file mode 100644
index 5a80576f7d9a42..00000000000000
--- a/system/webrtc/models.py
+++ /dev/null
@@ -1,9 +0,0 @@
-from dataclasses import dataclass, field
-
-@dataclass
-class StreamRequestBody:
-  sdp: str
-  init_camera: str
-  enabled: bool
-  bridge_services_in: list[str] = field(default_factory=list)
-  bridge_services_out: list[str] = field(default_factory=list)
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index c2bceb5d908f14..da10855a59208c 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -23,7 +23,7 @@
   from aiortc.rtcdatachannel import RTCDataChannel
 import aioice.ice
 
-from openpilot.system.webrtc.models import StreamRequestBody
+from openpilot.system.webrtc.helpers import StreamRequestBody
 from openpilot.system.webrtc.schema import generate_field
 from openpilot.common.params import Params
 from cereal import messaging, log
@@ -329,11 +329,11 @@ def message_handler(self, message: bytes):
   async def run(self):
     try:
       self.params.put("LivestreamRequestKeyframe", True)
-      await self.stream.wait_for_connection()
+      await asyncio.wait_for(self.stream.wait_for_connection(), timeout=15)
       if self.stream.has_messaging_channel():
+        self.stream.set_message_handler(self.message_handler)
         if self.incoming_bridge is not None:
           await self.shared_pub_master.add_services_if_needed(self.incoming_bridge_services)
-          self.stream.set_message_handler(self.message_handler)
         if self.outgoing_bridge is not None:
           channel = self.stream.get_messaging_channel()
           self.outgoing_bridge.add_channel(channel)
@@ -363,6 +363,17 @@ async def post_run_cleanup(self):
       await self.stream.stop()
 
 
+def schedule_teardown(app):
+  # if nothing connects for 5 seconds, tear down livestreaming processes
+  h = app.get('teardown')
+  if h:
+      h.cancel()
+  def clear():
+      if not app['streams']:
+          Params().put_bool("IsLiveStreaming", False)
+  app['teardown'] = asyncio.get_running_loop().call_later(5.0, clear)
+
+
 async def get_stream(request: 'web.Request'):
   stream_dict, debug_mode = request.app['streams'], request.app['debug']
   raw_body = await request.json()
@@ -397,13 +408,14 @@ async def get_stream(request: 'web.Request'):
 
     def remove_finished_session(_: asyncio.Task) -> None:
       stream_dict.pop(session.identifier, None)
+      schedule_teardown(request.app)
     session.run_task.add_done_callback(remove_finished_session)
 
   return web.json_response({"sdp": answer.sdp, "type": answer.type})
 
 
 async def get_schema(request: 'web.Request'):
-  services = request.query["services"].split(",")
+  services = request.query.get("services", "").split(",")
   services = [s for s in services if s]
   assert all(s in log.Event.schema.fields and not s.endswith("DEPRECATED") for s in services), "Invalid service name"
   schema_dict = {s: generate_field(log.Event.schema.fields[s]) for s in services}
@@ -427,10 +439,10 @@ async def post_notify(request: 'web.Request'):
 
 
 async def on_shutdown(app: 'web.Application'):
-  for session in app['streams'].values():
+  for session in list(app['streams'].values()):
     try:
       ch = session.stream.get_messaging_channel()
-      ch.send(json.dumps({"type": "disconnect", "data": "device stream has been stopped."}))
+      ch.send(json.dumps({"type": "disconnect", "data": "device streaming has been stopped."}))
     except Exception:
       pass
     await session.stop()
@@ -458,9 +470,6 @@ def prewarm_stream_session_imports(debug_mode: bool = False) -> None:
 
 def webrtcd_thread(host: str, port: int, debug: bool):
   logging.basicConfig(level=logging.CRITICAL, handlers=[logging.StreamHandler()])
-  logging_level = logging.DEBUG if debug else logging.INFO
-  logging.getLogger("WebRTCStream").setLevel(logging_level)
-  logging.getLogger("webrtcd").setLevel(logging_level)
   prewarm_start = time.monotonic()
   prewarm_stream_session_imports(debug)
   prewarm_end = time.monotonic()

From f257544f1b15ce04d0552691e77087d76963050f Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Fri, 19 Jun 2026 22:08:21 -0400
Subject: [PATCH 1218/1434] tools: goodbye webjoystick (#38194)

remove body web tool
---
 system/manager/process_config.py       |   1 -
 tools/bodyteleop/static/index.html     |  60 ---------
 tools/bodyteleop/static/js/controls.js |  20 ---
 tools/bodyteleop/static/js/jsmain.js   |  21 ---
 tools/bodyteleop/static/js/plots.js    |  53 --------
 tools/bodyteleop/static/js/webrtc.js   | 175 ------------------------
 tools/bodyteleop/static/main.css       | 178 -------------------------
 tools/bodyteleop/static/poster.png     |   3 -
 tools/bodyteleop/web.py                |  86 ------------
 9 files changed, 597 deletions(-)
 delete mode 100644 tools/bodyteleop/static/index.html
 delete mode 100644 tools/bodyteleop/static/js/controls.js
 delete mode 100644 tools/bodyteleop/static/js/jsmain.js
 delete mode 100644 tools/bodyteleop/static/js/plots.js
 delete mode 100644 tools/bodyteleop/static/js/webrtc.js
 delete mode 100644 tools/bodyteleop/static/main.css
 delete mode 100644 tools/bodyteleop/static/poster.png
 delete mode 100644 tools/bodyteleop/web.py

diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 84f031371414ef..796e69eef658ab 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -122,7 +122,6 @@ def not_(*fns):
   # debug procs
   NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
   PythonProcess("webrtcd", "system.webrtc.webrtcd", or_(and_(livestream, not_(iscar)), notcar)),
-  PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
   PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
 ]
 
diff --git a/tools/bodyteleop/static/index.html b/tools/bodyteleop/static/index.html
deleted file mode 100644
index 48672dbbf0c16b..00000000000000
--- a/tools/bodyteleop/static/index.html
+++ /dev/null
@@ -1,60 +0,0 @@
-<html>
-  <head>
-    <meta charset="UTF-8"/>
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>commabody</title>
-    <link rel="stylesheet" href="/static/main.css">
-    <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/bootstrap/5.2.3/css/bootstrap.min.css" integrity="sha512-SbiR/eusphKoMVVXysTKG/7VseWii+Y3FdHrt0EpKgpToZeemhqHeZeLWLhJutz/2ut2Vw1uQEj2MbRF+TVBUA==" crossorigin="anonymous" referrerpolicy="no-referrer" /><script src="https://code.jquery.com/jquery-3.6.0.min.js"></script>
-    <link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/bootstrap-icons@1.10.5/font/bootstrap-icons.css">
-    <script src="https://cdnjs.cloudflare.com/ajax/libs/bootstrap/5.2.3/js/bootstrap.min.js" integrity="sha512-1/RvZTcCDEUjY/CypiMz+iqqtaoQfAITmNSJY17Myp4Ms5mdxPS5UV7iOfdZoxcGhzFbOm6sntTKJppjvuhg4g==" crossorigin="anonymous" referrerpolicy="no-referrer"></script>
-    <script src="https://cdnjs.cloudflare.com/ajax/libs/moment.js/2.29.1/moment.min.js"></script>
-    <script src="https://cdn.jsdelivr.net/npm/chart.js@^3"></script>
-    <script src="https://cdn.jsdelivr.net/npm/moment@^2"></script>
-    <script src="https://cdn.jsdelivr.net/npm/chartjs-adapter-moment@^1"></script>
-  </head>
-  <body>
-    <div id="main">
-      <p class="jumbo">comma body</p>
-      <video id="video" playsinline autoplay muted loop poster="/static/poster.png"></video>
-      <div class="row" style="width: 100%; padding: 10px 10px 0px 10px;">
-        <div id="wasd" class="col-md-12 row">
-          <div class="col-md-6 col-sm-12" style="justify-content: center; display: flex; flex-direction: column;">
-            <div class="wasd-row">
-              <div class="keys" id="key-w">W</div>
-            </div>
-            <div class="wasd-row">
-              <div class="keys" id="key-a">A</div>
-              <div class="keys" id="key-s">S</div>
-              <div class="keys" id="key-d">D</div>
-            </div>
-          </div>
-        </div>
-      </div>
-      <div id="icon-panel" class="row" style="width: 100%; padding: 0px 10px 0px 10px;">
-        <div class="col-12 details">
-          <div class="icon-sup-panel col-12">
-            <div class="icon-sub-panel">
-              <div class="icon-sub-sub-panel">
-                <i id="ping-time" class="pre-blob1">-</i>
-              </div>
-              <p class="bi bi-arrow-repeat small"> ping time</p>
-            </div>
-            <div class="icon-sub-panel">
-              <div class="icon-sub-sub-panel">
-                <i id="battery" class="pre-blob1">-</i>
-              </div>
-              <p class="bi bi-battery-half small"> battery</p>
-            </div>
-          </div>
-        </div>
-      </div>
-      <div class="row" style="padding: 0px 10px 0px 10px; width: 100%;">
-        <div class="panel row">
-          <div class="col-sm-6"><canvas id="chart-ping"></canvas></div>
-          <div class="col-sm-6"><canvas id="chart-battery"></canvas></div>
-        </div>
-      </div>
-    </div>
-    <script src="/static/js/jsmain.js" type="module"></script>
-  </body>
-</html>
diff --git a/tools/bodyteleop/static/js/controls.js b/tools/bodyteleop/static/js/controls.js
deleted file mode 100644
index 3a11f78b9efada..00000000000000
--- a/tools/bodyteleop/static/js/controls.js
+++ /dev/null
@@ -1,20 +0,0 @@
-const keyVals = {w: 0, a: 0, s: 0, d: 0}
-
-export function getXY() {
-  let x = -keyVals.w + keyVals.s
-  let y = -keyVals.d + keyVals.a
-  return {x, y}
-}
-
-export const handleKeyX = (key, setValue) => {
-  if (['w', 'a', 's', 'd'].includes(key)){
-    keyVals[key] = setValue;
-    let color = "#333";
-    if (setValue === 1){
-      color = "#e74c3c";
-    }
-    $("#key-"+key).css('background', color);
-    const {x, y} = getXY();
-    $("#pos-vals").text(x+","+y);
-  }
-};
diff --git a/tools/bodyteleop/static/js/jsmain.js b/tools/bodyteleop/static/js/jsmain.js
deleted file mode 100644
index 0db1dcd9b3084d..00000000000000
--- a/tools/bodyteleop/static/js/jsmain.js
+++ /dev/null
@@ -1,21 +0,0 @@
-import { handleKeyX } from "./controls.js";
-import { start, stop, lastChannelMessageTime } from "./webrtc.js";
-
-export var pc = null;
-export var dc = null;
-
-document.addEventListener('keydown', (e)=>(handleKeyX(e.key.toLowerCase(), 1)));
-document.addEventListener('keyup', (e)=>(handleKeyX(e.key.toLowerCase(), 0)));
-$(".keys").bind("mousedown touchstart", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 1));
-$(".keys").bind("mouseup touchend", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 0));
-setInterval( () => {
-  const dt = new Date().getTime();
-  if ((dt - lastChannelMessageTime) > 1000) {
-    $(".pre-blob").removeClass('blob');
-    $("#battery").text("-");
-    $("#ping-time").text('-');
-    $("video")[0].load();
-  }
-}, 5000);
-
-start(pc, dc);
diff --git a/tools/bodyteleop/static/js/plots.js b/tools/bodyteleop/static/js/plots.js
deleted file mode 100644
index 5327bf71bea7fb..00000000000000
--- a/tools/bodyteleop/static/js/plots.js
+++ /dev/null
@@ -1,53 +0,0 @@
-export const pingPoints = [];
-export const batteryPoints = [];
-
-function getChartConfig(pts, color, title, ymax=100) {
-  return {
-    type: 'line',
-    data: {
-      datasets: [{
-        label: title,
-        data: pts,
-        borderWidth: 1,
-        borderColor: color,
-        backgroundColor: color,
-        fill: 'origin'
-      }]
-    },
-    options: {
-      scales: {
-        x: {
-          type: 'time',
-          time: {
-            unit: 'minute',
-            displayFormats: {
-              second: 'h:mm a'
-            }
-          },
-          grid: {
-            color: '#222', // Grid lines color
-          },
-          ticks: {
-            source: 'data',
-            fontColor: 'rgba(255, 255, 255, 1.0)', // Y-axis label color
-          }
-        },
-        y: {
-          beginAtZero: true,
-          max: ymax,
-          grid: {
-            color: 'rgba(255, 255, 255, 0.1)', // Grid lines color
-          },
-          ticks: {
-            fontColor: 'rgba(255, 255, 255, 0.7)', // Y-axis label color
-          }
-        }
-      }
-    }
-  }
-}
-
-const ctxPing = document.getElementById('chart-ping');
-const ctxBattery = document.getElementById('chart-battery');
-export const chartPing = new Chart(ctxPing, getChartConfig(pingPoints, 'rgba(192, 57, 43, 0.7)', 'Controls Ping Time (ms)', 250));
-export const chartBattery = new Chart(ctxBattery, getChartConfig(batteryPoints, 'rgba(41, 128, 185, 0.7)', 'Battery %', 100));
diff --git a/tools/bodyteleop/static/js/webrtc.js b/tools/bodyteleop/static/js/webrtc.js
deleted file mode 100644
index 28bea238e62614..00000000000000
--- a/tools/bodyteleop/static/js/webrtc.js
+++ /dev/null
@@ -1,175 +0,0 @@
-import { getXY } from "./controls.js";
-import { pingPoints, batteryPoints, chartPing, chartBattery } from "./plots.js";
-
-export let controlCommandInterval = null;
-export let latencyInterval = null;
-export let lastChannelMessageTime = null;
-
-
-export function offerRtcRequest(sdp, type) {
-  return fetch('/offer', {
-    body: JSON.stringify({sdp: sdp, type: type}),
-    headers: {'Content-Type': 'application/json'},
-    method: 'POST'
-  });
-}
-
-
-export function pingHeadRequest() {
-  return fetch('/', {
-    method: 'HEAD'
-  });
-}
-
-
-export function createPeerConnection(pc) {
-  var config = {
-    sdpSemantics: 'unified-plan'
-  };
-
-  pc = new RTCPeerConnection(config);
-
-  // connect video
-  pc.addEventListener('track', function(evt) {
-    console.log("Adding Tracks!")
-    if (evt.track.kind == 'video')
-      document.getElementById('video').srcObject = evt.streams[0];
-  });
-  return pc;
-}
-
-
-export function negotiate(pc) {
-  return pc.createOffer({offerToReceiveVideo:true}).then(function(offer) {
-    return pc.setLocalDescription(offer);
-  }).then(function() {
-    return new Promise(function(resolve) {
-      if (pc.iceGatheringState === 'complete') {
-        resolve();
-      }
-      else {
-        function checkState() {
-          if (pc.iceGatheringState === 'complete') {
-            pc.removeEventListener('icegatheringstatechange', checkState);
-            resolve();
-          }
-        }
-        pc.addEventListener('icegatheringstatechange', checkState);
-      }
-    });
-  }).then(function() {
-    var offer = pc.localDescription;
-    return offerRtcRequest(offer.sdp, offer.type);
-  }).then(function(response) {
-    console.log(response);
-    return response.json();
-  }).then(function(answer) {
-    return pc.setRemoteDescription(answer);
-  }).catch(function(e) {
-    alert(e);
-  });
-}
-
-
-function isMobile() {
-    let check = false;
-    (function(a){if(/(android|bb\d+|meego).+mobile|avantgo|bada\/|blackberry|blazer|compal|elaine|fennec|hiptop|iemobile|ip(hone|od)|iris|kindle|lge |maemo|midp|mmp|mobile.+firefox|netfront|opera m(ob|in)i|palm( os)?|phone|p(ixi|re)\/|plucker|pocket|psp|series(4|6)0|symbian|treo|up\.(browser|link)|vodafone|wap|windows ce|xda|xiino/i.test(a)||/1207|6310|6590|3gso|4thp|50[1-6]i|770s|802s|a wa|abac|ac(er|oo|s\-)|ai(ko|rn)|al(av|ca|co)|amoi|an(ex|ny|yw)|aptu|ar(ch|go)|as(te|us)|attw|au(di|\-m|r |s )|avan|be(ck|ll|nq)|bi(lb|rd)|bl(ac|az)|br(e|v)w|bumb|bw\-(n|u)|c55\/|capi|ccwa|cdm\-|cell|chtm|cldc|cmd\-|co(mp|nd)|craw|da(it|ll|ng)|dbte|dc\-s|devi|dica|dmob|do(c|p)o|ds(12|\-d)|el(49|ai)|em(l2|ul)|er(ic|k0)|esl8|ez([4-7]0|os|wa|ze)|fetc|fly(\-|_)|g1 u|g560|gene|gf\-5|g\-mo|go(\.w|od)|gr(ad|un)|haie|hcit|hd\-(m|p|t)|hei\-|hi(pt|ta)|hp( i|ip)|hs\-c|ht(c(\-| |_|a|g|p|s|t)|tp)|hu(aw|tc)|i\-(20|go|ma)|i230|iac( |\-|\/)|ibro|idea|ig01|ikom|im1k|inno|ipaq|iris|ja(t|v)a|jbro|jemu|jigs|kddi|keji|kgt( |\/)|klon|kpt |kwc\-|kyo(c|k)|le(no|xi)|lg( g|\/(k|l|u)|50|54|\-[a-w])|libw|lynx|m1\-w|m3ga|m50\/|ma(te|ui|xo)|mc(01|21|ca)|m\-cr|me(rc|ri)|mi(o8|oa|ts)|mmef|mo(01|02|bi|de|do|t(\-| |o|v)|zz)|mt(50|p1|v )|mwbp|mywa|n10[0-2]|n20[2-3]|n30(0|2)|n50(0|2|5)|n7(0(0|1)|10)|ne((c|m)\-|on|tf|wf|wg|wt)|nok(6|i)|nzph|o2im|op(ti|wv)|oran|owg1|p800|pan(a|d|t)|pdxg|pg(13|\-([1-8]|c))|phil|pire|pl(ay|uc)|pn\-2|po(ck|rt|se)|prox|psio|pt\-g|qa\-a|qc(07|12|21|32|60|\-[2-7]|i\-)|qtek|r380|r600|raks|rim9|ro(ve|zo)|s55\/|sa(ge|ma|mm|ms|ny|va)|sc(01|h\-|oo|p\-)|sdk\/|se(c(\-|0|1)|47|mc|nd|ri)|sgh\-|shar|sie(\-|m)|sk\-0|sl(45|id)|sm(al|ar|b3|it|t5)|so(ft|ny)|sp(01|h\-|v\-|v )|sy(01|mb)|t2(18|50)|t6(00|10|18)|ta(gt|lk)|tcl\-|tdg\-|tel(i|m)|tim\-|t\-mo|to(pl|sh)|ts(70|m\-|m3|m5)|tx\-9|up(\.b|g1|si)|utst|v400|v750|veri|vi(rg|te)|vk(40|5[0-3]|\-v)|vm40|voda|vulc|vx(52|53|60|61|70|80|81|83|85|98)|w3c(\-| )|webc|whit|wi(g |nc|nw)|wmlb|wonu|x700|yas\-|your|zeto|zte\-/i.test(a.substr(0,4))) check = true;})(navigator.userAgent||navigator.vendor||window.opera);
-    return check;
-};
-
-
-export const constraints = {
-  video: isMobile()
-};
-
-
-export function start(pc, dc) {
-  pc = createPeerConnection(pc);
-
-  // add a local video track on mobile
-  (constraints.video ? navigator.mediaDevices.getUserMedia(constraints) : Promise.resolve(null))
-    .then(function(stream) {
-      if (stream) {
-        stream.getTracks().forEach(function(track) {
-          pc.addTrack(track, stream);
-        });
-      }
-
-      return negotiate(pc);
-    })
-    .catch(function(err) {
-      alert('Could not acquire media: ' + err);
-    });
-
-  var parameters = {"ordered": true};
-  dc = pc.createDataChannel('data', parameters);
-  dc.onclose = function() {
-    clearInterval(controlCommandInterval);
-    clearInterval(latencyInterval);
-  };
-
-  function sendJoystickOverDataChannel() {
-    const {x, y} = getXY();
-    var message = JSON.stringify({type: "testJoystick", data: {axes: [x, y], buttons: [false]}})
-    dc.send(message);
-  }
-  function checkLatency() {
-    const initialTime = new Date().getTime();
-    pingHeadRequest().then(function() {
-      const currentTime = new Date().getTime();
-      if (Math.abs(currentTime - lastChannelMessageTime) < 1000) {
-        const pingtime = currentTime - initialTime;
-        pingPoints.push({'x': currentTime, 'y': pingtime});
-        if (pingPoints.length > 1000) {
-          pingPoints.shift();
-        }
-        chartPing.update();
-        $("#ping-time").text((pingtime) + "ms");
-      }
-    })
-  }
-  dc.onopen = function() {
-    controlCommandInterval = setInterval(sendJoystickOverDataChannel, 50);
-    latencyInterval = setInterval(checkLatency, 1000);
-    sendJoystickOverDataChannel();
-  };
-
-  const textDecoder = new TextDecoder();
-  var carStaterIndex = 0;
-  dc.onmessage = function(evt) {
-    const text = textDecoder.decode(evt.data);
-    const msg = JSON.parse(text);
-    if (carStaterIndex % 100 == 0 && msg.type === 'carState') {
-      const batteryLevel = Math.round(msg.data.fuelGauge * 100);
-      $("#battery").text(batteryLevel + "%");
-      batteryPoints.push({'x': new Date().getTime(), 'y': batteryLevel});
-      if (batteryPoints.length > 1000) {
-        batteryPoints.shift();
-      }
-      chartBattery.update();
-    }
-    carStaterIndex += 1;
-    lastChannelMessageTime = new Date().getTime();
-    $(".pre-blob").addClass('blob');
-  };
-}
-
-
-export function stop(pc, dc) {
-  if (dc) {
-    dc.close();
-  }
-  if (pc.getTransceivers) {
-    pc.getTransceivers().forEach(function(transceiver) {
-      if (transceiver.stop) {
-        transceiver.stop();
-      }
-    });
-  }
-  pc.getSenders().forEach(function(sender) {
-    sender.track.stop();
-  });
-  setTimeout(function() {
-    pc.close();
-  }, 500);
-}
diff --git a/tools/bodyteleop/static/main.css b/tools/bodyteleop/static/main.css
deleted file mode 100644
index 79fe8052ff9cb7..00000000000000
--- a/tools/bodyteleop/static/main.css
+++ /dev/null
@@ -1,178 +0,0 @@
-body {
-  background: #333 !important;
-  color: #fff !important;
-  display: flex;
-  justify-content: center;
-  align-items: start;
-}
-
-p {
-  margin: 0px !important;
-}
-
-i {
-  font-style: normal;
-}
-
-.small {
-  font-size: 1em !important
-}
-
-.jumbo {
-  font-size: 8rem;
-}
-
-
-@media (max-width: 600px) {
-  .small {
-      font-size: 0.5em !important
-  }
-  .jumbo {
-      display: none;
-  }
-  
-}
-
-#main {
-  display: flex;
-  flex-direction: column;
-  align-content: center;
-  justify-content: center;
-  align-items: center;
-  font-size: 30px;
-  width: 100%;
-  max-width: 1200px;
-}
-
-video {
-  width: 95%;
-}
-
-.pre-blob {
-  display: flex;
-  background: #333;
-  border-radius: 50%;
-  margin: 10px;
-  height: 45px;
-  width: 45px;
-  justify-content: center;
-  align-items: center;
-  font-size: 1rem;
-}
-
-.blob {
-  background: rgba(231, 76, 60,1.0);
-  box-shadow: 0 0 0 0 rgba(231, 76, 60,1.0);
-  animation: pulse 2s infinite;
-}
-
-@keyframes pulse {
-  0% {
-    box-shadow: 0 0 0 0px rgba(192, 57, 43, 1);
-  }
-  100% {
-    box-shadow: 0 0 0 20px rgba(192, 57, 43, 0);
-  }
-}
-
-
-.icon-sup-panel {
-  display: flex;
-  flex-direction: row;
-  justify-content: space-around;
-  align-items: center;
-  background: #222;
-  border-radius: 10px;
-  padding: 5px;
-  margin: 5px 0px 5px 0px;
-}
-
-.icon-sub-panel {
-  display: flex;
-  flex-direction: column;
-  justify-content: space-between;
-  align-items: center;
-}
-
-#icon-panel {
-  display: flex;
-  width: 100%;
-  justify-content: space-between;
-  margin-top: 5px;
-}
-
-.icon-sub-sub-panel {
-  display: flex;
-  flex-direction: row;
-}
-
-.keys, #key-val {
-  background: #333;
-  padding: 2rem;
-  margin: 5px;
-  color: #fff;
-  display: flex;
-  justify-content: center;
-  align-items: center;
-  border-radius: 10px;
-  cursor: pointer;
-}
-
-#key-val {
-  pointer-events: none;
-  background: #fff;
-  color: #333;
-  line-height: 1;
-  font-size: 20px;
-  flex-direction: column;
-}
-
-.wasd-row {
-  display: flex;
-  flex-direction: row;
-  justify-content: center;
-  align-items: stretch;
-}
-
-#wasd {
-  margin: 5px 0px 5px 0px;
-  background: #222;
-  border-radius: 10px;
-  width: 100%;
-  padding: 20px;
-  display: flex;
-  flex-direction: row;
-  justify-content: space-around;
-  align-items: stretch;
-
-  user-select: none;
-  -webkit-touch-callout: none;
-  -webkit-user-select: none;
-  -khtml-user-select: none;
-  -moz-user-select: none;
-  -ms-user-select: none;
-  touch-action: manipulation;
-}
-
-.panel {
-  display: flex;
-  justify-content: center;
-  margin: 5px 0px 5px 0px !important;
-  background: #222;
-  border-radius: 10px;
-  width: 100%;
-  padding: 10px;
-}
-
-#ping-time, #battery {
-  font-size: 25px;
-}
-
-#stop {
-  display: none;
-}
-
-.details {
-  display: flex;
-  padding: 0px 10px 0px 10px;
-}
diff --git a/tools/bodyteleop/static/poster.png b/tools/bodyteleop/static/poster.png
deleted file mode 100644
index 2f2b02dd8a2f0d..00000000000000
--- a/tools/bodyteleop/static/poster.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8740da2be7faac198b5e10780c646166056a76ebbe3d64499e0cdc49280c8a4f
-size 8297
diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py
deleted file mode 100644
index d357561b22d254..00000000000000
--- a/tools/bodyteleop/web.py
+++ /dev/null
@@ -1,86 +0,0 @@
-import dataclasses
-import json
-import logging
-import os
-import ssl
-import subprocess
-
-from aiohttp import web
-from aiohttp import ClientSession
-
-from openpilot.common.basedir import BASEDIR
-from openpilot.system.webrtc.webrtcd import StreamRequestBody
-from openpilot.common.params import Params
-
-logger = logging.getLogger("bodyteleop")
-logging.basicConfig(level=logging.INFO)
-
-TELEOPDIR = f"{BASEDIR}/tools/bodyteleop"
-WEBRTCD_HOST, WEBRTCD_PORT = "localhost", 5001
-
-
-## SSL
-def create_ssl_cert(cert_path: str, key_path: str):
-  try:
-    proc = subprocess.run(f'openssl req -x509 -newkey rsa:4096 -nodes -out {cert_path} -keyout {key_path} \
-                          -days 365 -subj "/C=US/ST=California/O=commaai/OU=comma body"',
-                          capture_output=True, shell=True)
-    proc.check_returncode()
-  except subprocess.CalledProcessError as ex:
-    raise ValueError(f"Error creating SSL certificate:\n[stdout]\n{proc.stdout.decode()}\n[stderr]\n{proc.stderr.decode()}") from ex
-
-
-def create_ssl_context():
-  cert_path = os.path.join(TELEOPDIR, "cert.pem")
-  key_path = os.path.join(TELEOPDIR, "key.pem")
-  if not os.path.exists(cert_path) or not os.path.exists(key_path):
-    logger.info("Creating certificate...")
-    create_ssl_cert(cert_path, key_path)
-  else:
-    logger.info("Certificate exists!")
-  ssl_context = ssl.SSLContext(protocol=ssl.PROTOCOL_TLS_SERVER)
-  ssl_context.load_cert_chain(cert_path, key_path)
-
-  return ssl_context
-
-## ENDPOINTS
-async def index(request: 'web.Request'):
-  with open(os.path.join(TELEOPDIR, "static", "index.html")) as f:
-    content = f.read()
-    return web.Response(content_type="text/html", text=content)
-
-
-async def ping(request: 'web.Request'):
-  return web.Response(text="pong")
-
-
-async def offer(request: 'web.Request'):
-  params = await request.json()
-  body = StreamRequestBody(params["sdp"], "driver", ["testJoystick"], ["carState"])
-  body_json = json.dumps(dataclasses.asdict(body))
-
-  logger.info("Sending offer to webrtcd...")
-  webrtcd_url = f"http://{WEBRTCD_HOST}:{WEBRTCD_PORT}/stream"
-  async with ClientSession() as session, session.post(webrtcd_url, data=body_json) as resp:
-    assert resp.status == 200
-    answer = await resp.json()
-    return web.json_response(answer)
-
-
-def main():
-  # Enable joystick debug mode
-  Params().put_bool("JoystickDebugMode", True, block=True)
-
-  # App needs to be HTTPS for WebRTC to work on the browser
-  ssl_context = create_ssl_context()
-
-  app = web.Application()
-  app.router.add_get("/", index)
-  app.router.add_get("/ping", ping, allow_head=True)
-  app.router.add_post("/offer", offer)
-  app.router.add_static('/static', os.path.join(TELEOPDIR, 'static'))
-  web.run_app(app, access_log=None, host="0.0.0.0", port=5000, ssl_context=ssl_context)
-
-
-if __name__ == "__main__":
-  main()

From 62b97fabf79d848264c79f1fc44857b79851896f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 20 Jun 2026 13:52:16 -0700
Subject: [PATCH 1219/1434] merge selfdrive/debug/ into tools/scripts/ (#38195)

* merge selfdrive/debug/ into tools/scripts/

* rm unused

* single timings script

* lil more

* profiling is scripts quality
---
 conftest.py                                   |   3 -
 selfdrive/car/tests/test_docs.py              |  10 --
 selfdrive/debug/README.md                     |  59 ---------
 selfdrive/debug/analyze-msg-size.py           |  82 ------------
 .../debug/check_can_parser_performance.py     |  36 ------
 selfdrive/debug/check_freq.py                 |  50 --------
 selfdrive/debug/check_lag.py                  |  27 ----
 selfdrive/debug/check_timings.py              |  36 ------
 selfdrive/debug/dump_car_docs.py              |  18 ---
 selfdrive/debug/print_docs_diff.py            | 120 ------------------
 selfdrive/debug/touch_replay.py               |  54 --------
 selfdrive/test/test_onroad.py                 |   2 +-
 tools/CTF.md                                  |   2 +-
 .../debug => tools/scripts}/__init__.py       |   0
 .../scripts/car}/can_print_changes.py         |   2 +-
 .../scripts/car}/can_printer.py               |   0
 .../debug => tools/scripts/car}/can_table.py  |   0
 .../debug => tools/scripts}/car/clear_dtc.py  |   0
 .../scripts}/car/disable_ecu.py               |   0
 .../debug => tools/scripts}/car/ecu_addrs.py  |   0
 .../scripts}/car/fw_versions.py               |   0
 .../car/hyundai_enable_radar_points.py        |   0
 .../scripts/car}/max_lat_accel.py             |   0
 .../car}/measure_torque_time_to_max.py        |   0
 .../scripts/car}/read_dtc_status.py           |   0
 .../scripts}/car/toyota_eps_factor.py         |   0
 {selfdrive/debug => tools/scripts}/car/vin.py |   0
 .../scripts}/car/vw_mqb_config.py             |   0
 .../debug => tools/scripts}/count_events.py   |   0
 .../debug => tools/scripts}/cpu_usage_stat.py |   2 +-
 .../debug => tools/scripts}/cycle_alerts.py   |   0
 .../debug_fw_fingerprinting_offline.py        |   0
 {selfdrive/debug => tools/scripts}/dump.py    |   0
 tools/scripts/fetch_image_from_route.py       |  43 -------
 .../scripts}/filter_log_message.py            |   0
 .../scripts}/fingerprint_from_route.py        |   0
 .../scripts}/fuzz_fw_fingerprint.py           |   0
 .../scripts}/get_fingerprint.py               |   0
 .../scripts}/live_cpu_and_temp.py             |   0
 .../debug => tools/scripts}/mem_usage.py      |   0
 .../debug => tools/scripts}/print_flags.py    |   0
 .../{ => scripts}/profiling/clpeak/.gitignore |   0
 tools/{ => scripts}/profiling/clpeak/build.sh |   0
 .../profiling/clpeak/no_print.patch           |   0
 .../profiling/clpeak/run_continuously.patch   |   0
 tools/{ => scripts}/profiling/ftrace.sh       |   0
 .../profiling/palanteer/.gitignore            |   0
 .../profiling/palanteer/setup.sh              |   0
 .../profiling/perfetto/.gitignore             |   0
 .../{ => scripts}/profiling/perfetto/build.sh |   0
 .../{ => scripts}/profiling/perfetto/copy.sh  |   0
 .../profiling/perfetto/record.sh              |   0
 .../profiling/perfetto/server.sh              |   0
 .../profiling/perfetto/traces.sh              |   0
 .../{ => scripts}/profiling/py-spy/profile.sh |   0
 .../profiling/snapdragon/.gitignore           |   0
 .../profiling/snapdragon/README.md            |   0
 .../profiling/snapdragon/setup-agnos.sh       |   0
 .../profiling/snapdragon/setup-profiler.sh    |   0
 tools/{ => scripts}/profiling/watch-irqs.sh   |   0
 .../debug => tools/scripts}/qlog_size.py      |   0
 .../scripts}/run_process_on_route.py          |   0
 tools/scripts/save_ubloxraw_stream.py         |  47 -------
 .../debug => tools/scripts}/set_car_params.py |   0
 .../scripts}/test_fw_query_on_routes.py       |   0
 {selfdrive/debug => tools/scripts}/uiview.py  |   0
 tools/scripts/watch_timings.py                | 102 +++++++++++++++
 67 files changed, 106 insertions(+), 589 deletions(-)
 delete mode 100644 selfdrive/debug/README.md
 delete mode 100755 selfdrive/debug/analyze-msg-size.py
 delete mode 100755 selfdrive/debug/check_can_parser_performance.py
 delete mode 100755 selfdrive/debug/check_freq.py
 delete mode 100755 selfdrive/debug/check_lag.py
 delete mode 100755 selfdrive/debug/check_timings.py
 delete mode 100755 selfdrive/debug/dump_car_docs.py
 delete mode 100755 selfdrive/debug/print_docs_diff.py
 delete mode 100755 selfdrive/debug/touch_replay.py
 rename {selfdrive/debug => tools/scripts}/__init__.py (100%)
 rename {selfdrive/debug => tools/scripts/car}/can_print_changes.py (98%)
 rename {selfdrive/debug => tools/scripts/car}/can_printer.py (100%)
 rename {selfdrive/debug => tools/scripts/car}/can_table.py (100%)
 rename {selfdrive/debug => tools/scripts}/car/clear_dtc.py (100%)
 rename {selfdrive/debug => tools/scripts}/car/disable_ecu.py (100%)
 rename {selfdrive/debug => tools/scripts}/car/ecu_addrs.py (100%)
 rename {selfdrive/debug => tools/scripts}/car/fw_versions.py (100%)
 rename {selfdrive/debug => tools/scripts}/car/hyundai_enable_radar_points.py (100%)
 rename {selfdrive/debug => tools/scripts/car}/max_lat_accel.py (100%)
 rename {selfdrive/debug => tools/scripts/car}/measure_torque_time_to_max.py (100%)
 rename {selfdrive/debug => tools/scripts/car}/read_dtc_status.py (100%)
 rename {selfdrive/debug => tools/scripts}/car/toyota_eps_factor.py (100%)
 rename {selfdrive/debug => tools/scripts}/car/vin.py (100%)
 rename {selfdrive/debug => tools/scripts}/car/vw_mqb_config.py (100%)
 rename {selfdrive/debug => tools/scripts}/count_events.py (100%)
 rename {selfdrive/debug => tools/scripts}/cpu_usage_stat.py (98%)
 rename {selfdrive/debug => tools/scripts}/cycle_alerts.py (100%)
 rename {selfdrive/debug => tools/scripts}/debug_fw_fingerprinting_offline.py (100%)
 rename {selfdrive/debug => tools/scripts}/dump.py (100%)
 delete mode 100755 tools/scripts/fetch_image_from_route.py
 rename {selfdrive/debug => tools/scripts}/filter_log_message.py (100%)
 rename {selfdrive/debug => tools/scripts}/fingerprint_from_route.py (100%)
 rename {selfdrive/debug => tools/scripts}/fuzz_fw_fingerprint.py (100%)
 rename {selfdrive/debug => tools/scripts}/get_fingerprint.py (100%)
 rename {selfdrive/debug => tools/scripts}/live_cpu_and_temp.py (100%)
 rename {selfdrive/debug => tools/scripts}/mem_usage.py (100%)
 rename {selfdrive/debug => tools/scripts}/print_flags.py (100%)
 rename tools/{ => scripts}/profiling/clpeak/.gitignore (100%)
 rename tools/{ => scripts}/profiling/clpeak/build.sh (100%)
 rename tools/{ => scripts}/profiling/clpeak/no_print.patch (100%)
 rename tools/{ => scripts}/profiling/clpeak/run_continuously.patch (100%)
 rename tools/{ => scripts}/profiling/ftrace.sh (100%)
 rename tools/{ => scripts}/profiling/palanteer/.gitignore (100%)
 rename tools/{ => scripts}/profiling/palanteer/setup.sh (100%)
 rename tools/{ => scripts}/profiling/perfetto/.gitignore (100%)
 rename tools/{ => scripts}/profiling/perfetto/build.sh (100%)
 rename tools/{ => scripts}/profiling/perfetto/copy.sh (100%)
 rename tools/{ => scripts}/profiling/perfetto/record.sh (100%)
 rename tools/{ => scripts}/profiling/perfetto/server.sh (100%)
 rename tools/{ => scripts}/profiling/perfetto/traces.sh (100%)
 rename tools/{ => scripts}/profiling/py-spy/profile.sh (100%)
 rename tools/{ => scripts}/profiling/snapdragon/.gitignore (100%)
 rename tools/{ => scripts}/profiling/snapdragon/README.md (100%)
 rename tools/{ => scripts}/profiling/snapdragon/setup-agnos.sh (100%)
 rename tools/{ => scripts}/profiling/snapdragon/setup-profiler.sh (100%)
 rename tools/{ => scripts}/profiling/watch-irqs.sh (100%)
 rename {selfdrive/debug => tools/scripts}/qlog_size.py (100%)
 rename {selfdrive/debug => tools/scripts}/run_process_on_route.py (100%)
 delete mode 100755 tools/scripts/save_ubloxraw_stream.py
 rename {selfdrive/debug => tools/scripts}/set_car_params.py (100%)
 rename {selfdrive/debug => tools/scripts}/test_fw_query_on_routes.py (100%)
 rename {selfdrive/debug => tools/scripts}/uiview.py (100%)
 create mode 100755 tools/scripts/watch_timings.py

diff --git a/conftest.py b/conftest.py
index e368b01e83dd5c..dd159129b6a15a 100644
--- a/conftest.py
+++ b/conftest.py
@@ -12,9 +12,6 @@
   "selfdrive/test/process_replay/test_processes.py",
   "selfdrive/test/process_replay/test_regen.py",
 ]
-collect_ignore_glob = [
-  "selfdrive/debug/*.py",
-]
 
 
 def pytest_sessionstart(session):
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index 6e13d55b29a52d..ef6795ef804e3d 100644
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -1,9 +1,5 @@
-import os
 
-from openpilot.common.basedir import BASEDIR
 from opendbc.car.docs import generate_cars_md, get_all_car_docs
-from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
-from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
 from openpilot.selfdrive.car.docs import CARS_MD_TEMPLATE
 
 
@@ -14,9 +10,3 @@ def setup_class(cls):
 
   def test_generator(self):
     generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
-
-  def test_docs_diff(self):
-    dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
-    dump_car_docs(dump_path)
-    print_car_docs_diff(dump_path)
-    os.remove(dump_path)
diff --git a/selfdrive/debug/README.md b/selfdrive/debug/README.md
deleted file mode 100644
index 83b8a994db1a74..00000000000000
--- a/selfdrive/debug/README.md
+++ /dev/null
@@ -1,59 +0,0 @@
-# debug scripts
-
-## [can_printer.py](can_printer.py)
-
-```
-usage: can_printer.py [-h] [--bus BUS] [--max_msg MAX_MSG] [--addr ADDR]
-
-simple CAN data viewer
-
-optional arguments:
-  -h, --help         show this help message and exit
-  --bus BUS          CAN bus to print out (default: 0)
-  --max_msg MAX_MSG  max addr (default: None)
-  --addr ADDR
-```
-
-## [dump.py](dump.py)
-
-```
-usage: dump.py [-h] [--pipe] [--raw] [--json] [--dump-json] [--no-print] [--addr ADDR] [--values VALUES] [socket [socket ...]]
-
-Dump communication sockets. See cereal/services.py for a complete list of available sockets.
-
-positional arguments:
-  socket           socket names to dump. defaults to all services defined in cereal
-
-optional arguments:
-  -h, --help       show this help message and exit
-  --pipe
-  --raw
-  --json
-  --dump-json
-  --no-print
-  --addr ADDR
-  --values VALUES  values to monitor (instead of entire event)
-```
-
-## [vw_mqb_config.py](vw_mqb_config.py)
-
-```
-usage: vw_mqb_config.py [-h] [--debug] {enable,show,disable}
-
-Shows Volkswagen EPS software and coding info, and enables or disables Heading Control
-Assist (Lane Assist). Useful for enabling HCA on cars without factory Lane Assist that want
-to use openpilot integrated at the CAN gateway (J533).
-
-positional arguments:
-  {enable,show,disable}
-                        show or modify current EPS HCA config
-
-optional arguments:
-  -h, --help            show this help message and exit
-  --debug               enable ISO-TP/UDS stack debugging output
-
-This tool is meant to run directly on a vehicle-installed comma three, with
-the openpilot/tmux processes stopped. It should also work on a separate PC with a USB-
-attached comma panda. Vehicle ignition must be on. Recommend engine not be running when
-making changes. Must turn ignition off and on again for any changes to take effect.
-```
diff --git a/selfdrive/debug/analyze-msg-size.py b/selfdrive/debug/analyze-msg-size.py
deleted file mode 100755
index 69015a6be2b96e..00000000000000
--- a/selfdrive/debug/analyze-msg-size.py
+++ /dev/null
@@ -1,82 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-from tqdm import tqdm
-
-from cereal.services import SERVICE_LIST, QueueSize
-from openpilot.tools.lib.logreader import LogReader
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="Analyze message sizes from a log route")
-  parser.add_argument("route", nargs="?", default="98395b7c5b27882e/000000a8--f87e7cd255",
-                      help="Log route to analyze (default: 98395b7c5b27882e/000000a8--f87e7cd255)")
-  args = parser.parse_args()
-
-  lr = LogReader(args.route)
-
-  szs = {}
-  for msg in tqdm(lr):
-    sz = len(msg.as_builder().to_bytes())
-    msg_type = msg.which()
-    if msg_type not in szs:
-      szs[msg_type] = {'min': sz, 'max': sz, 'sum': sz, 'count': 1}
-    else:
-      szs[msg_type]['min'] = min(szs[msg_type]['min'], sz)
-      szs[msg_type]['max'] = max(szs[msg_type]['max'], sz)
-      szs[msg_type]['sum'] += sz
-      szs[msg_type]['count'] += 1
-
-  print()
-  print(f"{'Service':<36} {'Min (KB)':>12} {'Max (KB)':>12} {'Avg (KB)':>12} {'KB/min':>12} {'KB/sec':>12} {'Minutes in 10MB':>18} {'Seconds in Queue':>18}")
-  print("-" * 132)
-  def sort_key(x):
-    k, v = x
-    avg = v['sum'] / v['count']
-    freq = SERVICE_LIST.get(k, None)
-    freq_val = freq.frequency if freq else 0.0
-    kb_per_min = (avg * freq_val * 60) / 1024 if freq_val > 0 else 0.0
-    return kb_per_min
-  total_kb_per_min = 0.0
-  RINGBUFFER_SIZE_KB = 10 * 1024  # 10MB old default
-  for k, v in sorted(szs.items(), key=sort_key, reverse=True):
-    avg = v['sum'] / v['count']
-    service = SERVICE_LIST.get(k, None)
-    freq_val = service.frequency if service else 0.0
-    queue_size_kb = (service.queue_size / 1024) if service else 250  # default to SMALL
-    kb_per_min = (avg * freq_val * 60) / 1024 if freq_val > 0 else 0.0
-    kb_per_sec = kb_per_min / 60
-    minutes_in_buffer = RINGBUFFER_SIZE_KB / kb_per_min if kb_per_min > 0 else float('inf')
-    seconds_in_queue = (queue_size_kb / kb_per_sec) if kb_per_sec > 0 else float('inf')
-    total_kb_per_min += kb_per_min
-    min_str = f"{minutes_in_buffer:.2f}" if minutes_in_buffer != float('inf') else "inf"
-    sec_queue_str = f"{seconds_in_queue:.2f}" if seconds_in_queue != float('inf') else "inf"
-    print(f"{k:<36} {v['min']/1024:>12.2f} {v['max']/1024:>12.2f} {avg/1024:>12.2f} {kb_per_min:>12.2f} {kb_per_sec:>12.2f} {min_str:>18} {sec_queue_str:>18}")
-
-  # Summary section
-  print()
-  print(f"Total usage: {total_kb_per_min / 1024:.2f} MB/min")
-
-  # Calculate memory usage: old (10MB for all) vs new (from services.py)
-  OLD_SIZE = 10 * 1024 * 1024  # 10MB was the old default
-  old_total = len(SERVICE_LIST) * OLD_SIZE
-
-  new_total = sum(s.queue_size for s in SERVICE_LIST.values())
-
-  # Count by queue size
-  size_counts = {QueueSize.BIG: 0, QueueSize.MEDIUM: 0, QueueSize.SMALL: 0}
-  for s in SERVICE_LIST.values():
-    size_counts[s.queue_size] += 1
-
-  savings_pct = (1 - new_total / old_total) * 100
-
-  print()
-  print(f"{'Queue Size Comparison':<40}")
-  print("-" * 60)
-  print(f"{'Old (10MB default):':<30} {old_total / 1024 / 1024:>10.2f} MB")
-  print(f"{'New (from services.py):':<30} {new_total / 1024 / 1024:>10.2f} MB")
-  print(f"{'Savings:':<30} {savings_pct:>10.1f}%")
-  print()
-  print(f"{'Breakdown:':<30}")
-  print(f"  BIG (10MB):    {size_counts[QueueSize.BIG]:>3} services")
-  print(f"  MEDIUM (2MB):  {size_counts[QueueSize.MEDIUM]:>3} services")
-  print(f"  SMALL (250KB): {size_counts[QueueSize.SMALL]:>3} services")
diff --git a/selfdrive/debug/check_can_parser_performance.py b/selfdrive/debug/check_can_parser_performance.py
deleted file mode 100755
index 20987b3cf41286..00000000000000
--- a/selfdrive/debug/check_can_parser_performance.py
+++ /dev/null
@@ -1,36 +0,0 @@
-#!/usr/bin/env python3
-import numpy as np
-import time
-from tqdm import tqdm
-
-from cereal import car
-from opendbc.car.tests.routes import CarTestRoute
-from openpilot.selfdrive.car.tests.test_models import TestCarModelBase
-from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE
-
-N_RUNS = 10
-
-
-class CarModelTestCase(TestCarModelBase):
-  test_route = CarTestRoute(DEMO_ROUTE, None)
-
-
-if __name__ == '__main__':
-  # Get CAN messages and parsers
-  tm = CarModelTestCase()
-  tm.setUpClass()
-  tm.setUp()
-
-  CC = car.CarControl.new_message()
-  ets = []
-  for _ in tqdm(range(N_RUNS)):
-    start_t = time.process_time_ns()
-    for msg in tm.can_msgs:
-      for cp in tm.CI.can_parsers.values():
-        if cp is not None:
-          cp.update_strings(msg)
-    ets.append((time.process_time_ns() - start_t) * 1e-6)
-
-  print(f'{len(tm.can_msgs)} CAN packets, {N_RUNS} runs')
-  print(f'{np.mean(ets):.2f} mean ms, {max(ets):.2f} max ms, {min(ets):.2f} min ms, {np.std(ets):.2f} std ms')
-  print(f'{np.mean(ets) / len(tm.can_msgs):.4f} mean ms / CAN packet')
diff --git a/selfdrive/debug/check_freq.py b/selfdrive/debug/check_freq.py
deleted file mode 100755
index 1765aeb86b6752..00000000000000
--- a/selfdrive/debug/check_freq.py
+++ /dev/null
@@ -1,50 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import numpy as np
-import time
-from collections import defaultdict, deque
-from collections.abc import MutableSequence
-
-import cereal.messaging as messaging
-
-
-if __name__ == "__main__":
-  context = messaging.Context()
-  poller = messaging.Poller()
-
-  parser = argparse.ArgumentParser()
-  parser.add_argument("socket", type=str, nargs='*', help="socket name")
-  args = parser.parse_args()
-
-  socket_names = args.socket
-  sockets = {}
-
-  rcv_times: defaultdict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100))
-  valids: defaultdict[str, deque[bool]] = defaultdict(lambda: deque(maxlen=100))
-
-  t = time.monotonic()
-  for name in socket_names:
-    sock = messaging.sub_sock(name, poller=poller)
-    sockets[sock] = name
-
-  prev_print = t
-  while True:
-    for socket in poller.poll(100):
-      msg = messaging.recv_one(socket)
-      if msg is None:
-        continue
-
-      name = msg.which()
-
-      t = time.monotonic()
-      rcv_times[name].append(msg.logMonoTime / 1e9)
-      valids[name].append(msg.valid)
-
-    if t - prev_print > 1:
-      print()
-      for name in socket_names:
-        dts = np.diff(rcv_times[name])
-        mean = np.mean(dts)
-        print(f"{name}: Freq {1.0 / mean:.2f} Hz, Min {np.min(dts) / mean * 100:.2f}%, Max {np.max(dts) / mean * 100:.2f}%, valid ", all(valids[name]))
-
-      prev_print = t
diff --git a/selfdrive/debug/check_lag.py b/selfdrive/debug/check_lag.py
deleted file mode 100755
index 341ae79c8b5138..00000000000000
--- a/selfdrive/debug/check_lag.py
+++ /dev/null
@@ -1,27 +0,0 @@
-#!/usr/bin/env python3
-
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
-
-TO_CHECK = ['carState']
-
-
-if __name__ == "__main__":
-  sm = messaging.SubMaster(TO_CHECK)
-
-  prev_t: dict[str, float] = {}
-
-  while True:
-    sm.update()
-
-    for s in TO_CHECK:
-      if sm.updated[s]:
-        t = sm.logMonoTime[s] / 1e9
-
-        if s in prev_t:
-          expected = 1.0 / (SERVICE_LIST[s].frequency)
-          dt = t - prev_t[s]
-          if dt > 10 * expected:
-            print(t, s, dt)
-
-        prev_t[s] = t
diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py
deleted file mode 100755
index fc527cd81b81d7..00000000000000
--- a/selfdrive/debug/check_timings.py
+++ /dev/null
@@ -1,36 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import time
-import numpy as np
-import datetime
-from collections.abc import MutableSequence
-from collections import defaultdict
-
-import cereal.messaging as messaging
-
-
-if __name__ == "__main__":
-  ts: defaultdict[str, MutableSequence[float]] = defaultdict(list)
-  socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]}
-  try:
-    st = time.monotonic()
-    while True:
-      print()
-      for s, sock in socks.items():
-        msgs = messaging.drain_sock(sock)
-        for m in msgs:
-          ts[s].append(m.logMonoTime / 1e6)
-
-        if len(ts[s]) > 2:
-          d = np.diff(ts[s])[-100:]
-          print(f"{s:25} {np.mean(d):7.2f} {np.std(d):7.2f} {np.max(d):7.2f} {np.min(d):7.2f}")
-      time.sleep(1)
-  except KeyboardInterrupt:
-    print("\n")
-    print("="*5, "timing summary", "="*5)
-    for s, sock in socks.items():
-      msgs = messaging.drain_sock(sock)
-      if len(ts[s]) > 2:
-        d = np.diff(ts[s])
-        print(f"{s:25} {np.mean(d):7.2f} {np.std(d):7.2f} {np.max(d):7.2f} {np.min(d):7.2f}")
-    print("="*5, datetime.timedelta(seconds=time.monotonic()-st), "="*5)
diff --git a/selfdrive/debug/dump_car_docs.py b/selfdrive/debug/dump_car_docs.py
deleted file mode 100755
index f0e99cda24ad6f..00000000000000
--- a/selfdrive/debug/dump_car_docs.py
+++ /dev/null
@@ -1,18 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import pickle
-
-from opendbc.car.docs import get_all_car_docs
-
-
-def dump_car_docs(path):
-  with open(path, 'wb') as f:
-    pickle.dump(get_all_car_docs(), f)
-  print(f'Dumping car info to {path}')
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("--path", required=True)
-  args = parser.parse_args()
-  dump_car_docs(args.path)
diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py
deleted file mode 100755
index c7850939f073a2..00000000000000
--- a/selfdrive/debug/print_docs_diff.py
+++ /dev/null
@@ -1,120 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-from collections import defaultdict
-import difflib
-import pickle
-
-from opendbc.car.docs import get_all_car_docs
-from opendbc.car.docs_definitions import Column
-
-FOOTNOTE_TAG = "<sup>{}</sup>"
-STAR_ICON = '<a href="##"><img valign="top" ' + \
-            'src="https://media.githubusercontent.com/media/commaai/openpilot/master/docs/assets/icon-star-{}.svg" width="22" /></a>'
-VIDEO_ICON = '<a href="{}" target="_blank">' + \
-             '<img height="18px" src="https://media.githubusercontent.com/media/commaai/openpilot/master/docs/assets/icon-youtube.svg" /></a>'
-COLUMNS = "|" + "|".join([column.value for column in Column]) + "|"
-COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3)))
-ARROW_SYMBOL = "➡�"
-
-
-def load_base_car_docs(path):
-  with open(path, "rb") as f:
-    return pickle.load(f)
-
-
-def match_cars(base_cars, new_cars):
-  changes = []
-  additions = []
-  for new in new_cars:
-    # Addition if no close matches or close match already used
-    # Change if close match and not already used
-    matches = difflib.get_close_matches(new.name, [b.name for b in base_cars], cutoff=0.)
-    if not len(matches) or matches[0] in [c[1].name for c in changes]:
-      additions.append(new)
-    else:
-      changes.append((new, next(car for car in base_cars if car.name == matches[0])))
-
-  # Removal if base car not in changes
-  removals = [b for b in base_cars if b.name not in [c[1].name for c in changes]]
-  return changes, additions, removals
-
-
-def build_column_diff(base_car, new_car):
-  row_builder = []
-  for column in Column:
-    base_column = base_car.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG)
-    new_column = new_car.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG)
-
-    if base_column != new_column:
-      row_builder.append(f"{base_column} {ARROW_SYMBOL} {new_column}")
-    else:
-      row_builder.append(new_column)
-
-  return format_row(row_builder)
-
-
-def format_row(builder):
-  return "|" + "|".join(builder) + "|"
-
-
-def print_car_docs_diff(path):
-  base_car_docs = defaultdict(list)
-  new_car_docs = defaultdict(list)
-
-  for car in load_base_car_docs(path):
-    base_car_docs[car.car_fingerprint].append(car)
-  for car in get_all_car_docs():
-    new_car_docs[car.car_fingerprint].append(car)
-
-  # Add new platforms to base cars so we can detect additions and removals in one pass
-  base_car_docs.update({car: [] for car in new_car_docs if car not in base_car_docs})
-
-  changes = defaultdict(list)
-  for base_car_model, base_cars in base_car_docs.items():
-    # Match car info changes, and get additions and removals
-    new_cars = new_car_docs[base_car_model]
-    car_changes, car_additions, car_removals = match_cars(base_cars, new_cars)
-
-    # Removals
-    for car_docs in car_removals:
-      changes["removals"].append(format_row([car_docs.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG) for column in Column]))
-
-    # Additions
-    for car_docs in car_additions:
-      changes["additions"].append(format_row([car_docs.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG) for column in Column]))
-
-    for new_car, base_car in car_changes:
-      # Column changes
-      row_diff = build_column_diff(base_car, new_car)
-      if ARROW_SYMBOL in row_diff:
-        changes["column"].append(row_diff)
-
-      # Detail sentence changes
-      if base_car.detail_sentence != new_car.detail_sentence:
-        changes["detail"].append(f"- Sentence for {base_car.name} changed!\n" +
-                                 "  ```diff\n" +
-                                 f"  - {base_car.detail_sentence}\n" +
-                                 f"  + {new_car.detail_sentence}\n" +
-                                 "  ```")
-
-  # Print diff
-  if any(len(c) for c in changes.values()):
-    markdown_builder = ["### ⚠� This PR makes changes to [CARS.md](../blob/master/docs/CARS.md) ⚠�"]
-
-    for title, category in (("## 🔀 Column Changes", "column"), ("## � Removed", "removals"),
-                            ("## ➕ Added", "additions"), ("## 📖 Detail Sentence Changes", "detail")):
-      if len(changes[category]):
-        markdown_builder.append(title)
-        if category not in ("detail",):
-          markdown_builder.append(COLUMNS)
-          markdown_builder.append(COLUMN_HEADER)
-        markdown_builder.extend(changes[category])
-
-    print("\n".join(markdown_builder))
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("--path", required=True)
-  args = parser.parse_args()
-  print_car_docs_diff(args.path)
diff --git a/selfdrive/debug/touch_replay.py b/selfdrive/debug/touch_replay.py
deleted file mode 100755
index 6e5ecbbe5b59e8..00000000000000
--- a/selfdrive/debug/touch_replay.py
+++ /dev/null
@@ -1,54 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-
-import numpy as np
-import matplotlib.pyplot as plt
-
-from openpilot.tools.lib.logreader import LogReader
-
-if __name__ == '__main__':
-  parser = argparse.ArgumentParser()
-  parser.add_argument('--width', default=2160, type=int)
-  parser.add_argument('--height', default=1080, type=int)
-  parser.add_argument('--route', default='rlog', type=str)
-  args = parser.parse_args()
-
-  w = args.width
-  h = args.height
-  route = args.route
-
-  fingers = [[-1, -1]] * 5
-  touch_points = []
-  current_slot = 0
-
-  lr = list(LogReader(route))
-  for msg in lr:
-    if msg.which() == 'touch':
-      for event in msg.touch:
-        if event.type == 3 and event.code == 47:
-          current_slot = event.value
-        elif event.type == 3 and event.code == 57 and event.value == -1:
-          fingers[current_slot] = [-1, -1]
-        elif event.type == 3 and event.code == 53:
-          fingers[current_slot][1] = event.value
-          if fingers[current_slot][0] != -1:
-            touch_points.append(fingers[current_slot].copy())
-        elif event.type == 3 and event.code == 54:
-          fingers[current_slot][0] = w - event.value
-          if fingers[current_slot][1] != -1:
-            touch_points.append(fingers[current_slot].copy())
-
-  if not touch_points:
-    print(f'No touch events found for {route}')
-    quit()
-
-  unique_points, counts = np.unique(touch_points, axis=0, return_counts=True)
-
-  plt.figure(figsize=(10, 3))
-  plt.scatter(unique_points[:, 0], unique_points[:, 1], c=counts, s=counts * 20, edgecolors='red')
-  plt.colorbar()
-  plt.title(f'Touches for {route}')
-  plt.xlim(0, w)
-  plt.ylim(0, h)
-  plt.grid(True)
-  plt.show()
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 8161dca130c527..a08912fdef0fe3 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -284,7 +284,7 @@ def test_memory_usage(self):
     print("--------------- Memory Usage -------------------")
     print("------------------------------------------------")
 
-    from openpilot.selfdrive.debug.mem_usage import print_report
+    from openpilot.tools.scripts.mem_usage import print_report
     print_report(self.msgs['procLog'], self.msgs['deviceState'])
 
     offset = int(SERVICE_LIST['deviceState'].frequency * LOG_OFFSET)
diff --git a/tools/CTF.md b/tools/CTF.md
index 32891cd389a0fc..609c82ad5a6871 100644
--- a/tools/CTF.md
+++ b/tools/CTF.md
@@ -6,7 +6,7 @@ Welcome to the first part of the comma CTF!
 * everything you'll need to find the flags is in the openpilot repo
   * grep is also your friend
   * first, [setup](https://github.com/commaai/openpilot/tree/master/tools#setup-your-pc) your PC
-  * read the docs & checkout out the tools in tools/ and selfdrive/debug/
+  * read the docs & checkout out the tools in tools/
   * tip: once you get the replay and UI up, start by familiarizing yourself with seeking in replay
 
 getting started
diff --git a/selfdrive/debug/__init__.py b/tools/scripts/__init__.py
similarity index 100%
rename from selfdrive/debug/__init__.py
rename to tools/scripts/__init__.py
diff --git a/selfdrive/debug/can_print_changes.py b/tools/scripts/car/can_print_changes.py
similarity index 98%
rename from selfdrive/debug/can_print_changes.py
rename to tools/scripts/car/can_print_changes.py
index 97d60b2b05ed9f..c2e152e1e047f1 100755
--- a/selfdrive/debug/can_print_changes.py
+++ b/tools/scripts/car/can_print_changes.py
@@ -5,7 +5,7 @@
 from collections import defaultdict
 
 import cereal.messaging as messaging
-from openpilot.selfdrive.debug.can_table import can_table
+from openpilot.tools.scripts.can_table import can_table
 from openpilot.tools.lib.logreader import LogIterable, LogReader
 
 RED = '\033[91m'
diff --git a/selfdrive/debug/can_printer.py b/tools/scripts/car/can_printer.py
similarity index 100%
rename from selfdrive/debug/can_printer.py
rename to tools/scripts/car/can_printer.py
diff --git a/selfdrive/debug/can_table.py b/tools/scripts/car/can_table.py
similarity index 100%
rename from selfdrive/debug/can_table.py
rename to tools/scripts/car/can_table.py
diff --git a/selfdrive/debug/car/clear_dtc.py b/tools/scripts/car/clear_dtc.py
similarity index 100%
rename from selfdrive/debug/car/clear_dtc.py
rename to tools/scripts/car/clear_dtc.py
diff --git a/selfdrive/debug/car/disable_ecu.py b/tools/scripts/car/disable_ecu.py
similarity index 100%
rename from selfdrive/debug/car/disable_ecu.py
rename to tools/scripts/car/disable_ecu.py
diff --git a/selfdrive/debug/car/ecu_addrs.py b/tools/scripts/car/ecu_addrs.py
similarity index 100%
rename from selfdrive/debug/car/ecu_addrs.py
rename to tools/scripts/car/ecu_addrs.py
diff --git a/selfdrive/debug/car/fw_versions.py b/tools/scripts/car/fw_versions.py
similarity index 100%
rename from selfdrive/debug/car/fw_versions.py
rename to tools/scripts/car/fw_versions.py
diff --git a/selfdrive/debug/car/hyundai_enable_radar_points.py b/tools/scripts/car/hyundai_enable_radar_points.py
similarity index 100%
rename from selfdrive/debug/car/hyundai_enable_radar_points.py
rename to tools/scripts/car/hyundai_enable_radar_points.py
diff --git a/selfdrive/debug/max_lat_accel.py b/tools/scripts/car/max_lat_accel.py
similarity index 100%
rename from selfdrive/debug/max_lat_accel.py
rename to tools/scripts/car/max_lat_accel.py
diff --git a/selfdrive/debug/measure_torque_time_to_max.py b/tools/scripts/car/measure_torque_time_to_max.py
similarity index 100%
rename from selfdrive/debug/measure_torque_time_to_max.py
rename to tools/scripts/car/measure_torque_time_to_max.py
diff --git a/selfdrive/debug/read_dtc_status.py b/tools/scripts/car/read_dtc_status.py
similarity index 100%
rename from selfdrive/debug/read_dtc_status.py
rename to tools/scripts/car/read_dtc_status.py
diff --git a/selfdrive/debug/car/toyota_eps_factor.py b/tools/scripts/car/toyota_eps_factor.py
similarity index 100%
rename from selfdrive/debug/car/toyota_eps_factor.py
rename to tools/scripts/car/toyota_eps_factor.py
diff --git a/selfdrive/debug/car/vin.py b/tools/scripts/car/vin.py
similarity index 100%
rename from selfdrive/debug/car/vin.py
rename to tools/scripts/car/vin.py
diff --git a/selfdrive/debug/car/vw_mqb_config.py b/tools/scripts/car/vw_mqb_config.py
similarity index 100%
rename from selfdrive/debug/car/vw_mqb_config.py
rename to tools/scripts/car/vw_mqb_config.py
diff --git a/selfdrive/debug/count_events.py b/tools/scripts/count_events.py
similarity index 100%
rename from selfdrive/debug/count_events.py
rename to tools/scripts/count_events.py
diff --git a/selfdrive/debug/cpu_usage_stat.py b/tools/scripts/cpu_usage_stat.py
similarity index 98%
rename from selfdrive/debug/cpu_usage_stat.py
rename to tools/scripts/cpu_usage_stat.py
index 089685103f7cda..5b72eacc658206 100755
--- a/selfdrive/debug/cpu_usage_stat.py
+++ b/tools/scripts/cpu_usage_stat.py
@@ -8,7 +8,7 @@
     Calculate minumium/maximum/accumulated_average cpu usage as long term inspections.
     Monitor multiple processes simuteneously.
   Sample usage:
-    root@localhost:/data/openpilot$ python selfdrive/debug/cpu_usage_stat.py pandad,ubloxd
+    root@localhost:/data/openpilot$ python tools/scripts/cpu_usage_stat.py pandad,ubloxd
     ('Add monitored proc:', './pandad')
     ('Add monitored proc:', 'python locationd/ubloxd.py')
     pandad: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96%
diff --git a/selfdrive/debug/cycle_alerts.py b/tools/scripts/cycle_alerts.py
similarity index 100%
rename from selfdrive/debug/cycle_alerts.py
rename to tools/scripts/cycle_alerts.py
diff --git a/selfdrive/debug/debug_fw_fingerprinting_offline.py b/tools/scripts/debug_fw_fingerprinting_offline.py
similarity index 100%
rename from selfdrive/debug/debug_fw_fingerprinting_offline.py
rename to tools/scripts/debug_fw_fingerprinting_offline.py
diff --git a/selfdrive/debug/dump.py b/tools/scripts/dump.py
similarity index 100%
rename from selfdrive/debug/dump.py
rename to tools/scripts/dump.py
diff --git a/tools/scripts/fetch_image_from_route.py b/tools/scripts/fetch_image_from_route.py
deleted file mode 100755
index a0537148013301..00000000000000
--- a/tools/scripts/fetch_image_from_route.py
+++ /dev/null
@@ -1,43 +0,0 @@
-#!/usr/bin/env python3
-import sys
-
-if len(sys.argv) < 4:
-  print(f"{sys.argv[0]} <route> <segment> <frame number> [front|wide|driver]")
-  print('example: ./fetch_image_from_route.py "02c45f73a2e5c6e9|2020-06-01--18-03-08" 3 500 driver')
-  exit(0)
-
-cameras = {
-  "front": "cameras",
-  "wide": "ecameras",
-  "driver": "dcameras"
-}
-
-import requests
-from PIL import Image
-from openpilot.tools.lib.auth_config import get_token
-from openpilot.tools.lib.framereader import FrameReader
-
-jwt = get_token()
-
-route = sys.argv[1]
-segment = int(sys.argv[2])
-frame = int(sys.argv[3])
-camera = cameras[sys.argv[4]] if len(sys.argv) > 4 and sys.argv[4] in cameras else "cameras"
-
-url = f'https://api.commadotai.com/v1/route/{route}/files'
-r = requests.get(url, headers={"Authorization": f"JWT {jwt}"}, timeout=10)
-assert r.status_code == 200
-print("got api response")
-
-segments = r.json()[camera]
-if segment >= len(segments):
-  raise Exception(f"segment {segment} not found, got {len(segments)} segments")
-
-fr = FrameReader(segments[segment])
-if frame >= fr.frame_count:
-  raise Exception(f"frame {frame} not found, got {fr.frame_count} frames")
-
-im = Image.fromarray(fr.get(frame))
-fn = f"uxxx_{route.replace('|', '_')}_{segment}_{frame}.png"
-im.save(fn)
-print(f"saved {fn}")
diff --git a/selfdrive/debug/filter_log_message.py b/tools/scripts/filter_log_message.py
similarity index 100%
rename from selfdrive/debug/filter_log_message.py
rename to tools/scripts/filter_log_message.py
diff --git a/selfdrive/debug/fingerprint_from_route.py b/tools/scripts/fingerprint_from_route.py
similarity index 100%
rename from selfdrive/debug/fingerprint_from_route.py
rename to tools/scripts/fingerprint_from_route.py
diff --git a/selfdrive/debug/fuzz_fw_fingerprint.py b/tools/scripts/fuzz_fw_fingerprint.py
similarity index 100%
rename from selfdrive/debug/fuzz_fw_fingerprint.py
rename to tools/scripts/fuzz_fw_fingerprint.py
diff --git a/selfdrive/debug/get_fingerprint.py b/tools/scripts/get_fingerprint.py
similarity index 100%
rename from selfdrive/debug/get_fingerprint.py
rename to tools/scripts/get_fingerprint.py
diff --git a/selfdrive/debug/live_cpu_and_temp.py b/tools/scripts/live_cpu_and_temp.py
similarity index 100%
rename from selfdrive/debug/live_cpu_and_temp.py
rename to tools/scripts/live_cpu_and_temp.py
diff --git a/selfdrive/debug/mem_usage.py b/tools/scripts/mem_usage.py
similarity index 100%
rename from selfdrive/debug/mem_usage.py
rename to tools/scripts/mem_usage.py
diff --git a/selfdrive/debug/print_flags.py b/tools/scripts/print_flags.py
similarity index 100%
rename from selfdrive/debug/print_flags.py
rename to tools/scripts/print_flags.py
diff --git a/tools/profiling/clpeak/.gitignore b/tools/scripts/profiling/clpeak/.gitignore
similarity index 100%
rename from tools/profiling/clpeak/.gitignore
rename to tools/scripts/profiling/clpeak/.gitignore
diff --git a/tools/profiling/clpeak/build.sh b/tools/scripts/profiling/clpeak/build.sh
similarity index 100%
rename from tools/profiling/clpeak/build.sh
rename to tools/scripts/profiling/clpeak/build.sh
diff --git a/tools/profiling/clpeak/no_print.patch b/tools/scripts/profiling/clpeak/no_print.patch
similarity index 100%
rename from tools/profiling/clpeak/no_print.patch
rename to tools/scripts/profiling/clpeak/no_print.patch
diff --git a/tools/profiling/clpeak/run_continuously.patch b/tools/scripts/profiling/clpeak/run_continuously.patch
similarity index 100%
rename from tools/profiling/clpeak/run_continuously.patch
rename to tools/scripts/profiling/clpeak/run_continuously.patch
diff --git a/tools/profiling/ftrace.sh b/tools/scripts/profiling/ftrace.sh
similarity index 100%
rename from tools/profiling/ftrace.sh
rename to tools/scripts/profiling/ftrace.sh
diff --git a/tools/profiling/palanteer/.gitignore b/tools/scripts/profiling/palanteer/.gitignore
similarity index 100%
rename from tools/profiling/palanteer/.gitignore
rename to tools/scripts/profiling/palanteer/.gitignore
diff --git a/tools/profiling/palanteer/setup.sh b/tools/scripts/profiling/palanteer/setup.sh
similarity index 100%
rename from tools/profiling/palanteer/setup.sh
rename to tools/scripts/profiling/palanteer/setup.sh
diff --git a/tools/profiling/perfetto/.gitignore b/tools/scripts/profiling/perfetto/.gitignore
similarity index 100%
rename from tools/profiling/perfetto/.gitignore
rename to tools/scripts/profiling/perfetto/.gitignore
diff --git a/tools/profiling/perfetto/build.sh b/tools/scripts/profiling/perfetto/build.sh
similarity index 100%
rename from tools/profiling/perfetto/build.sh
rename to tools/scripts/profiling/perfetto/build.sh
diff --git a/tools/profiling/perfetto/copy.sh b/tools/scripts/profiling/perfetto/copy.sh
similarity index 100%
rename from tools/profiling/perfetto/copy.sh
rename to tools/scripts/profiling/perfetto/copy.sh
diff --git a/tools/profiling/perfetto/record.sh b/tools/scripts/profiling/perfetto/record.sh
similarity index 100%
rename from tools/profiling/perfetto/record.sh
rename to tools/scripts/profiling/perfetto/record.sh
diff --git a/tools/profiling/perfetto/server.sh b/tools/scripts/profiling/perfetto/server.sh
similarity index 100%
rename from tools/profiling/perfetto/server.sh
rename to tools/scripts/profiling/perfetto/server.sh
diff --git a/tools/profiling/perfetto/traces.sh b/tools/scripts/profiling/perfetto/traces.sh
similarity index 100%
rename from tools/profiling/perfetto/traces.sh
rename to tools/scripts/profiling/perfetto/traces.sh
diff --git a/tools/profiling/py-spy/profile.sh b/tools/scripts/profiling/py-spy/profile.sh
similarity index 100%
rename from tools/profiling/py-spy/profile.sh
rename to tools/scripts/profiling/py-spy/profile.sh
diff --git a/tools/profiling/snapdragon/.gitignore b/tools/scripts/profiling/snapdragon/.gitignore
similarity index 100%
rename from tools/profiling/snapdragon/.gitignore
rename to tools/scripts/profiling/snapdragon/.gitignore
diff --git a/tools/profiling/snapdragon/README.md b/tools/scripts/profiling/snapdragon/README.md
similarity index 100%
rename from tools/profiling/snapdragon/README.md
rename to tools/scripts/profiling/snapdragon/README.md
diff --git a/tools/profiling/snapdragon/setup-agnos.sh b/tools/scripts/profiling/snapdragon/setup-agnos.sh
similarity index 100%
rename from tools/profiling/snapdragon/setup-agnos.sh
rename to tools/scripts/profiling/snapdragon/setup-agnos.sh
diff --git a/tools/profiling/snapdragon/setup-profiler.sh b/tools/scripts/profiling/snapdragon/setup-profiler.sh
similarity index 100%
rename from tools/profiling/snapdragon/setup-profiler.sh
rename to tools/scripts/profiling/snapdragon/setup-profiler.sh
diff --git a/tools/profiling/watch-irqs.sh b/tools/scripts/profiling/watch-irqs.sh
similarity index 100%
rename from tools/profiling/watch-irqs.sh
rename to tools/scripts/profiling/watch-irqs.sh
diff --git a/selfdrive/debug/qlog_size.py b/tools/scripts/qlog_size.py
similarity index 100%
rename from selfdrive/debug/qlog_size.py
rename to tools/scripts/qlog_size.py
diff --git a/selfdrive/debug/run_process_on_route.py b/tools/scripts/run_process_on_route.py
similarity index 100%
rename from selfdrive/debug/run_process_on_route.py
rename to tools/scripts/run_process_on_route.py
diff --git a/tools/scripts/save_ubloxraw_stream.py b/tools/scripts/save_ubloxraw_stream.py
deleted file mode 100755
index b5354a7831fb8a..00000000000000
--- a/tools/scripts/save_ubloxraw_stream.py
+++ /dev/null
@@ -1,47 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import os
-import sys
-from openpilot.common.basedir import BASEDIR
-from openpilot.tools.lib.logreader import LogReader
-
-os.environ['BASEDIR'] = BASEDIR
-
-
-def get_arg_parser():
-  parser = argparse.ArgumentParser(
-      description="Unlogging and save to file",
-      formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-
-  parser.add_argument("route", type=(lambda x: x.replace("#", "|")), nargs="?",
-                      help="The route whose messages will be published.")
-  parser.add_argument("--out_path", nargs='?', default='/data/ubloxRaw.stream',
-                      help="Output pickle file path")
-  return parser
-
-
-def main():
-  args = get_arg_parser().parse_args(sys.argv[1:])
-
-  lr = LogReader(args.route)
-
-  with open(args.out_path, 'wb') as f:
-    try:
-      done = False
-      i = 0
-      while not done:
-        msg = next(lr)
-        if not msg:
-          break
-        smsg = msg.as_builder()
-        typ = smsg.which()
-        if typ == 'ubloxRaw':
-          f.write(smsg.to_bytes())
-          i += 1
-    except StopIteration:
-      print('All done')
-  print(f'Writed {i} msgs')
-
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/debug/set_car_params.py b/tools/scripts/set_car_params.py
similarity index 100%
rename from selfdrive/debug/set_car_params.py
rename to tools/scripts/set_car_params.py
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/tools/scripts/test_fw_query_on_routes.py
similarity index 100%
rename from selfdrive/debug/test_fw_query_on_routes.py
rename to tools/scripts/test_fw_query_on_routes.py
diff --git a/selfdrive/debug/uiview.py b/tools/scripts/uiview.py
similarity index 100%
rename from selfdrive/debug/uiview.py
rename to tools/scripts/uiview.py
diff --git a/tools/scripts/watch_timings.py b/tools/scripts/watch_timings.py
new file mode 100755
index 00000000000000..874720dd223f92
--- /dev/null
+++ b/tools/scripts/watch_timings.py
@@ -0,0 +1,102 @@
+#!/usr/bin/env python3
+import argparse
+import datetime
+import time
+from collections import deque
+from dataclasses import dataclass, field
+
+import numpy as np
+
+import cereal.messaging as messaging
+from cereal.services import SERVICE_LIST
+
+
+@dataclass
+class ServiceTiming:
+  times: list[float] = field(default_factory=list)
+  window: deque[float] = field(default_factory=lambda: deque(maxlen=100))
+  valids: deque[bool] = field(default_factory=lambda: deque(maxlen=100))
+  lag_events: list[tuple[float, float]] = field(default_factory=list)
+
+  def add(self, mono_time: float, valid: bool, expected_interval: float | None, lag_threshold: float) -> None:
+    if self.times:
+      dt = mono_time - self.times[-1]
+      self.window.append(dt)
+      if expected_interval is not None and dt > lag_threshold * expected_interval:
+        self.lag_events.append((mono_time, dt))
+
+    self.times.append(mono_time)
+    self.valids.append(valid)
+
+  def intervals(self, latest_only: bool) -> np.ndarray:
+    if latest_only:
+      return np.array(self.window)
+    return np.diff(self.times)
+
+
+def format_row(name: str, timing: ServiceTiming, latest_only: bool) -> str:
+  dts = timing.intervals(latest_only)
+  if len(dts) == 0:
+    return f"{name:25} waiting for messages"
+
+  mean = np.mean(dts)
+  hz = 1.0 / mean if mean > 0 else 0.0
+  valid = all(timing.valids) if timing.valids else False
+  return f"{name:25} {hz:8.2f}Hz {mean * 1e3:8.2f}ms {np.std(dts) * 1e3:8.2f}ms {np.max(dts) * 1e3:8.2f}ms {np.min(dts) * 1e3:8.2f}ms valid={valid}"
+
+
+def print_lag_events(name: str, timing: ServiceTiming, printed_lags: dict[str, int]) -> None:
+  start = printed_lags.get(name, 0)
+  for mono_time, dt in timing.lag_events[start:]:
+    print(f"{mono_time:.3f} {name} lag {dt:.3f}s", flush=True)
+  printed_lags[name] = len(timing.lag_events)
+
+
+def monitor_services(socket_names: list[str], print_interval: float, lag_threshold: float, lag_only: bool) -> None:
+  sockets = {name: messaging.sub_sock(name, conflate=False) for name in socket_names}
+  timings = {name: ServiceTiming() for name in socket_names}
+  printed_lags: dict[str, int] = {}
+
+  start_time = time.monotonic()
+  last_print = start_time
+
+  try:
+    while True:
+      for name, sock in sockets.items():
+        for msg in messaging.drain_sock(sock):
+          expected_interval = 1.0 / SERVICE_LIST[name].frequency if name in SERVICE_LIST else None
+          timings[name].add(msg.logMonoTime / 1e9, msg.valid, expected_interval, lag_threshold)
+
+      now = time.monotonic()
+      if now - last_print < print_interval:
+        time.sleep(0.01)
+        continue
+
+      if not lag_only:
+        print(flush=True)
+        print(f"{'service':25} {'freq':>10} {'mean':>10} {'std':>10} {'max':>10} {'min':>10} valid", flush=True)
+        for name in socket_names:
+          print(format_row(name, timings[name], latest_only=True), flush=True)
+
+      for name in socket_names:
+        print_lag_events(name, timings[name], printed_lags)
+
+      last_print = now
+  except KeyboardInterrupt:
+    print("\n", flush=True)
+    print("=" * 5, "timing summary", "=" * 5, flush=True)
+    print(f"{'service':25} {'freq':>10} {'mean':>10} {'std':>10} {'max':>10} {'min':>10} valid", flush=True)
+    for name in socket_names:
+      print(format_row(name, timings[name], latest_only=False), flush=True)
+    print("=" * 5, datetime.timedelta(seconds=time.monotonic() - start_time), "=" * 5, flush=True)
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Check live service timing, frequency, validity, and lag")
+  parser.add_argument("socket", nargs="*", default=["carState"], help="service/socket name")
+  parser.add_argument("--lag-threshold", type=float, default=10.0, help="report intervals above this multiple of the expected service interval")
+  parser.add_argument("--lag-only", action="store_true", help="only print lag events")
+  parser.add_argument("--print-interval", type=float, default=1.0, help="seconds between table updates")
+  args = parser.parse_args()
+
+  monitor_services(args.socket, args.print_interval, args.lag_threshold, args.lag_only)

From b2a708490609efdcd6a3d7e4214eb030b844e48e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 20 Jun 2026 13:54:47 -0700
Subject: [PATCH 1220/1434] move webcam to system/camerad/ (#38196)

* move webcam to system/camerad/

* lil more
---
 {tools => system/camerad}/webcam/README.md  | 9 +--------
 {tools => system/camerad}/webcam/camera.py  | 0
 {tools => system/camerad}/webcam/camerad.py | 2 +-
 system/manager/process_config.py            | 2 +-
 4 files changed, 3 insertions(+), 10 deletions(-)
 rename {tools => system/camerad}/webcam/README.md (63%)
 rename {tools => system/camerad}/webcam/camera.py (100%)
 rename {tools => system/camerad}/webcam/camerad.py (97%)

diff --git a/tools/webcam/README.md b/system/camerad/webcam/README.md
similarity index 63%
rename from tools/webcam/README.md
rename to system/camerad/webcam/README.md
index 6abbc47935ed21..2c0ce6a8af4934 100644
--- a/tools/webcam/README.md
+++ b/system/camerad/webcam/README.md
@@ -1,13 +1,5 @@
 # Run openpilot with webcam on PC
 
-What's needed:
-- Ubuntu 24.04 ([WSL2 is not supported](https://github.com/commaai/openpilot/issues/34216)) or macOS
-- GPU (recommended)
-- One USB webcam, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615, NexiGo N60)
-- [Car harness](https://comma.ai/shop/products/comma-car-harness)
-- [panda](https://comma.ai/shop/panda)
-- USB-A to USB-A cable to connect panda to your computer
-
 ## Setup openpilot
 - Follow [this readme](../README.md) to install and build the requirements
 
@@ -16,6 +8,7 @@ What's needed:
 - Connect your computer to panda
 
 ## GO
+
 ```
 USE_WEBCAM=1 system/manager/manager.py
 ```
diff --git a/tools/webcam/camera.py b/system/camerad/webcam/camera.py
similarity index 100%
rename from tools/webcam/camera.py
rename to system/camerad/webcam/camera.py
diff --git a/tools/webcam/camerad.py b/system/camerad/webcam/camerad.py
similarity index 97%
rename from tools/webcam/camerad.py
rename to system/camerad/webcam/camerad.py
index f1e70d948a0ac3..401eec106f8d3a 100755
--- a/tools/webcam/camerad.py
+++ b/system/camerad/webcam/camerad.py
@@ -7,7 +7,7 @@
 from msgq.visionipc import VisionIpcServer, VisionStreamType
 from cereal import messaging
 
-from openpilot.tools.webcam.camera import Camera
+from openpilot.system.camerad.webcam.camera import Camera
 from openpilot.common.realtime import Ratekeeper
 
 ROAD_CAM = os.getenv("ROAD_CAM", "0")
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 796e69eef658ab..a442e4f860db7a 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -79,7 +79,7 @@ def not_(*fns):
   PythonProcess("logmessaged", "system.logmessaged", always_run),
 
   NativeProcess("camerad", "system/camerad", ["./camerad"], or_(driverview, livestream), enabled=not WEBCAM),
-  PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
+  PythonProcess("webcamerad", "system.camerad.webcam.camerad", driverview, enabled=WEBCAM),
   PythonProcess("proclogd", "system.proclogd", only_onroad, enabled=platform.system() != "Darwin"),
   PythonProcess("journald", "system.journald", only_onroad, platform.system() != "Darwin"),
   PythonProcess("micd", "system.micd", iscar),

From f48e99b33537c823e97a2da588ec441c2d5f3a78 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 20 Jun 2026 14:19:25 -0700
Subject: [PATCH 1221/1434] updated: remove (never used) casync support
 (#38198)

---
 pyproject.toml                                |   2 +-
 system/hardware/tici/agnos.py                 |  52 +---
 .../tici/tests/compare_casync_manifest.py     |  73 -----
 system/updated/casync/casync.py               | 246 ----------------
 system/updated/casync/common.py               |  61 ----
 system/updated/casync/tar.py                  |  39 ---
 system/updated/casync/tests/test_casync.py    | 264 ------------------
 7 files changed, 2 insertions(+), 735 deletions(-)
 delete mode 100755 system/hardware/tici/tests/compare_casync_manifest.py
 delete mode 100755 system/updated/casync/casync.py
 delete mode 100644 system/updated/casync/common.py
 delete mode 100644 system/updated/casync/tar.py
 delete mode 100644 system/updated/casync/tests/test_casync.py

diff --git a/pyproject.toml b/pyproject.toml
index 2120e6a4305e6f..51844ef93c9cde 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -68,7 +68,7 @@ dependencies = [
 
   # these should be removed
   "psutil",
-  "pycryptodome", # used in updated/casync, panda, body, and a test
+  "pycryptodome", # used in panda, body, and a test
   "setproctitle",
 
   # logreader
diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py
index f5261953d5c468..c5ca7efb4ae60c 100755
--- a/system/hardware/tici/agnos.py
+++ b/system/hardware/tici/agnos.py
@@ -10,10 +10,7 @@
 
 import requests
 
-import openpilot.system.updated.casync.casync as casync
-
 SPARSE_CHUNK_FMT = struct.Struct('H2xI4x')
-CAIBX_URL = "https://commadist.azureedge.net/agnosupdate/"
 
 AGNOS_MANIFEST_FILE = "system/hardware/tici/agnos.json"
 
@@ -187,50 +184,6 @@ def extract_compressed_image(target_slot_number: int, partition: dict, cloudlog)
     os.sync()
 
 
-def extract_casync_image(target_slot_number: int, partition: dict, cloudlog):
-  path = get_partition_path(target_slot_number, partition)
-  seed_path = path[:-1] + ('b' if path[-1] == 'a' else 'a')
-
-  target = casync.parse_caibx(partition['casync_caibx'])
-
-  sources: list[tuple[str, casync.ChunkReader, casync.ChunkDict]] = []
-
-  # First source is the current partition.
-  try:
-    raw_hash = get_raw_hash(seed_path, partition['size'])
-    caibx_url = f"{CAIBX_URL}{partition['name']}-{raw_hash}.caibx"
-
-    try:
-      cloudlog.info(f"casync fetching {caibx_url}")
-      sources += [('seed', casync.FileChunkReader(seed_path), casync.build_chunk_dict(casync.parse_caibx(caibx_url)))]
-    except requests.RequestException:
-      cloudlog.error(f"casync failed to load {caibx_url}")
-  except Exception:
-    cloudlog.exception("casync failed to hash seed partition")
-
-  # Second source is the target partition, this allows for resuming
-  sources += [('target', casync.FileChunkReader(path), casync.build_chunk_dict(target))]
-
-  # Finally we add the remote source to download any missing chunks
-  sources += [('remote', casync.RemoteChunkReader(partition['casync_store']), casync.build_chunk_dict(target))]
-
-  last_p = 0
-
-  def progress(cur):
-    nonlocal last_p
-    p = int(cur / partition['size'] * 100)
-    if p != last_p:
-      last_p = p
-      print(f"Installing {partition['name']}: {p}", flush=True)
-
-  stats = casync.extract(target, sources, path, progress)
-  cloudlog.error(f'casync done {json.dumps(stats)}')
-
-  os.sync()
-  if not verify_partition(target_slot_number, partition, force_full_check=True):
-    raise Exception(f"Raw hash mismatch '{partition['hash_raw'].lower()}'")
-
-
 def flash_partition(target_slot_number: int, partition: dict, cloudlog, standalone=False):
   cloudlog.info(f"Downloading and writing {partition['name']}")
 
@@ -245,10 +198,7 @@ def flash_partition(target_slot_number: int, partition: dict, cloudlog, standalo
 
   path = get_partition_path(target_slot_number, partition)
 
-  if ('casync_caibx' in partition) and not standalone:
-    extract_casync_image(target_slot_number, partition, cloudlog)
-  else:
-    extract_compressed_image(target_slot_number, partition, cloudlog)
+  extract_compressed_image(target_slot_number, partition, cloudlog)
 
   # Write hash after successful flash
   if not full_check:
diff --git a/system/hardware/tici/tests/compare_casync_manifest.py b/system/hardware/tici/tests/compare_casync_manifest.py
deleted file mode 100755
index 7de66d91d0cdd9..00000000000000
--- a/system/hardware/tici/tests/compare_casync_manifest.py
+++ /dev/null
@@ -1,73 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import collections
-import multiprocessing
-import os
-
-import requests
-from tqdm import tqdm
-
-import openpilot.system.hardware.tici.casync as casync
-
-
-def get_chunk_download_size(chunk):
-  sha = chunk.sha.hex()
-  path = os.path.join(remote_url, sha[:4], sha + ".cacnk")
-  if os.path.isfile(path):
-    return os.path.getsize(path)
-  else:
-    r = requests.head(path, timeout=10)
-    r.raise_for_status()
-    return int(r.headers['content-length'])
-
-
-if __name__ == "__main__":
-
-  parser = argparse.ArgumentParser(description='Compute overlap between two casync manifests')
-  parser.add_argument('frm')
-  parser.add_argument('to')
-  args = parser.parse_args()
-
-  frm = casync.parse_caibx(args.frm)
-  to = casync.parse_caibx(args.to)
-  remote_url = args.to.replace('.caibx', '')
-
-  most_common = collections.Counter(t.sha for t in to).most_common(1)[0][0]
-
-  frm_dict = casync.build_chunk_dict(frm)
-
-  # Get content-length for each chunk
-  with multiprocessing.Pool() as pool:
-    szs = list(tqdm(pool.imap(get_chunk_download_size, to), total=len(to)))
-  chunk_sizes = {t.sha: sz for (t, sz) in zip(to, szs, strict=True)}
-
-  sources: dict[str, list[int]] = {
-    'seed': [],
-    'remote_uncompressed': [],
-    'remote_compressed': [],
-  }
-
-  for chunk in to:
-    # Assume most common chunk is the zero chunk
-    if chunk.sha == most_common:
-      continue
-
-    if chunk.sha in frm_dict:
-      sources['seed'].append(chunk.length)
-    else:
-      sources['remote_uncompressed'].append(chunk.length)
-      sources['remote_compressed'].append(chunk_sizes[chunk.sha])
-
-  print()
-  print("Update statistics (excluding zeros)")
-  print()
-  print("Download only with no seed:")
-  print(f"  Remote (uncompressed)\t\t{sum(sources['seed'] + sources['remote_uncompressed']) / 1000 / 1000:.2f} MB\tn = {len(to)}")
-  print(f"  Remote (compressed download)\t{sum(chunk_sizes.values()) / 1000 / 1000:.2f} MB\tn = {len(to)}")
-  print()
-  print("Upgrade with seed partition:")
-  print(f"  Seed   (uncompressed)\t\t{sum(sources['seed']) / 1000 / 1000:.2f} MB\t\t\t\tn = {len(sources['seed'])}")
-  sz, n = sum(sources['remote_uncompressed']), len(sources['remote_uncompressed'])
-  print(f"  Remote (uncompressed)\t\t{sz / 1000 / 1000:.2f} MB\t(avg {sz / 1000 / 1000 / n:4f} MB)\tn = {n}")
-  sz, n = sum(sources['remote_compressed']), len(sources['remote_compressed'])
-  print(f"  Remote (compressed download)\t{sz / 1000 / 1000:.2f} MB\t(avg {sz / 1000 / 1000 / n:4f} MB)\tn = {n}")
diff --git a/system/updated/casync/casync.py b/system/updated/casync/casync.py
deleted file mode 100755
index 2bd46a1ffba45c..00000000000000
--- a/system/updated/casync/casync.py
+++ /dev/null
@@ -1,246 +0,0 @@
-#!/usr/bin/env python3
-import io
-import lzma
-import os
-import pathlib
-import struct
-import sys
-import time
-from abc import ABC, abstractmethod
-from collections import defaultdict, namedtuple
-from collections.abc import Callable
-from typing import IO
-
-import requests
-from Crypto.Hash import SHA512
-from openpilot.system.updated.casync import tar
-from openpilot.system.updated.casync.common import create_casync_tar_package
-
-CA_FORMAT_INDEX = 0x96824d9c7b129ff9
-CA_FORMAT_TABLE = 0xe75b9e112f17417d
-CA_FORMAT_TABLE_TAIL_MARKER = 0xe75b9e112f17417
-FLAGS = 0xb000000000000000
-
-CA_HEADER_LEN = 48
-CA_TABLE_HEADER_LEN = 16
-CA_TABLE_ENTRY_LEN = 40
-CA_TABLE_MIN_LEN = CA_TABLE_HEADER_LEN + CA_TABLE_ENTRY_LEN
-
-CHUNK_DOWNLOAD_TIMEOUT = 60
-CHUNK_DOWNLOAD_RETRIES = 3
-
-CAIBX_DOWNLOAD_TIMEOUT = 120
-
-Chunk = namedtuple('Chunk', ['sha', 'offset', 'length'])
-ChunkDict = dict[bytes, Chunk]
-
-
-class ChunkReader(ABC):
-  @abstractmethod
-  def read(self, chunk: Chunk) -> bytes:
-    ...
-
-
-class BinaryChunkReader(ChunkReader):
-  """Reads chunks from a local file"""
-  def __init__(self, file_like: IO[bytes]) -> None:
-    super().__init__()
-    self.f = file_like
-
-  def read(self, chunk: Chunk) -> bytes:
-    self.f.seek(chunk.offset)
-    return self.f.read(chunk.length)
-
-
-class FileChunkReader(BinaryChunkReader):
-  def __init__(self, path: str) -> None:
-    super().__init__(open(path, 'rb'))
-
-  def __del__(self):
-    self.f.close()
-
-
-class RemoteChunkReader(ChunkReader):
-  """Reads lzma compressed chunks from a remote store"""
-
-  def __init__(self, url: str) -> None:
-    super().__init__()
-    self.url = url
-    self.session = requests.Session()
-
-  def read(self, chunk: Chunk) -> bytes:
-    sha_hex = chunk.sha.hex()
-    url = os.path.join(self.url, sha_hex[:4], sha_hex + ".cacnk")
-
-    if os.path.isfile(url):
-      with open(url, 'rb') as f:
-        contents = f.read()
-    else:
-      for i in range(CHUNK_DOWNLOAD_RETRIES):
-        try:
-          resp = self.session.get(url, timeout=CHUNK_DOWNLOAD_TIMEOUT)
-          break
-        except Exception:
-          if i == CHUNK_DOWNLOAD_RETRIES - 1:
-            raise
-          time.sleep(CHUNK_DOWNLOAD_TIMEOUT)
-
-      resp.raise_for_status()
-      contents = resp.content
-
-    decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
-    return decompressor.decompress(contents)
-
-
-class DirectoryTarChunkReader(BinaryChunkReader):
-  """creates a tar archive of a directory and reads chunks from it"""
-
-  def __init__(self, path: str, cache_file: str) -> None:
-    create_casync_tar_package(pathlib.Path(path), pathlib.Path(cache_file))
-
-    self.f = open(cache_file, "rb")
-    super().__init__(self.f)
-
-  def __del__(self):
-    self.f.close()
-    os.unlink(self.f.name)
-
-
-def parse_caibx(caibx_path: str) -> list[Chunk]:
-  """Parses the chunks from a caibx file. Can handle both local and remote files.
-  Returns a list of chunks with hash, offset and length"""
-  caibx: io.BufferedIOBase
-  if os.path.isfile(caibx_path):
-    caibx = open(caibx_path, 'rb')
-  else:
-    resp = requests.get(caibx_path, timeout=CAIBX_DOWNLOAD_TIMEOUT)
-    resp.raise_for_status()
-    caibx = io.BytesIO(resp.content)
-
-  caibx.seek(0, os.SEEK_END)
-  caibx_len = caibx.tell()
-  caibx.seek(0, os.SEEK_SET)
-
-  # Parse header
-  length, magic, flags, min_size, _, max_size = struct.unpack("<QQQQQQ", caibx.read(CA_HEADER_LEN))
-  assert flags == flags
-  assert length == CA_HEADER_LEN
-  assert magic == CA_FORMAT_INDEX
-
-  # Parse table header
-  length, magic = struct.unpack("<QQ", caibx.read(CA_TABLE_HEADER_LEN))
-  assert magic == CA_FORMAT_TABLE
-
-  # Parse chunks
-  num_chunks = (caibx_len - CA_HEADER_LEN - CA_TABLE_MIN_LEN) // CA_TABLE_ENTRY_LEN
-  chunks = []
-
-  offset = 0
-  for i in range(num_chunks):
-    new_offset = struct.unpack("<Q", caibx.read(8))[0]
-
-    sha = caibx.read(32)
-    length = new_offset - offset
-
-    assert length <= max_size
-
-    # Last chunk can be smaller
-    if i < num_chunks - 1:
-      assert length >= min_size
-
-    chunks.append(Chunk(sha, offset, length))
-    offset = new_offset
-
-  caibx.close()
-  return chunks
-
-
-def build_chunk_dict(chunks: list[Chunk]) -> ChunkDict:
-  """Turn a list of chunks into a dict for faster lookups based on hash.
-  Keep first chunk since it's more likely to be already downloaded."""
-  r = {}
-  for c in chunks:
-    if c.sha not in r:
-      r[c.sha] = c
-  return r
-
-
-def extract(target: list[Chunk],
-            sources: list[tuple[str, ChunkReader, ChunkDict]],
-            out_path: str,
-            progress: Callable[[int], None] | None = None):
-  stats: dict[str, int] = defaultdict(int)
-
-  mode = 'rb+' if os.path.exists(out_path) else 'wb'
-  with open(out_path, mode) as out:
-    for cur_chunk in target:
-
-      # Find source for desired chunk
-      for name, chunk_reader, store_chunks in sources:
-        if cur_chunk.sha in store_chunks:
-          bts = chunk_reader.read(store_chunks[cur_chunk.sha])
-
-          # Check length
-          if len(bts) != cur_chunk.length:
-            continue
-
-          # Check hash
-          if SHA512.new(bts, truncate="256").digest() != cur_chunk.sha:
-            continue
-
-          # Write to output
-          out.seek(cur_chunk.offset)
-          out.write(bts)
-
-          stats[name] += cur_chunk.length
-
-          if progress is not None:
-            progress(sum(stats.values()))
-
-          break
-      else:
-        raise RuntimeError("Desired chunk not found in provided stores")
-
-  return stats
-
-
-def extract_directory(target: list[Chunk],
-            sources: list[tuple[str, ChunkReader, ChunkDict]],
-            out_path: str,
-            tmp_file: str,
-            progress: Callable[[int], None] | None = None):
-  """extract a directory stored as a casync tar archive"""
-
-  stats = extract(target, sources, tmp_file, progress)
-
-  with open(tmp_file, "rb") as f:
-    tar.extract_tar_archive(f, pathlib.Path(out_path))
-
-  return stats
-
-
-def print_stats(stats: dict[str, int]):
-  total_bytes = sum(stats.values())
-  print(f"Total size: {total_bytes / 1024 / 1024:.2f} MB")
-  for name, total in stats.items():
-    print(f"  {name}: {total / 1024 / 1024:.2f} MB ({total / total_bytes * 100:.1f}%)")
-
-
-def extract_simple(caibx_path, out_path, store_path):
-  # (name, callback, chunks)
-  target = parse_caibx(caibx_path)
-  sources = [
-    # (store_path, RemoteChunkReader(store_path), build_chunk_dict(target)),
-    (store_path, FileChunkReader(store_path), build_chunk_dict(target)),
-  ]
-
-  return extract(target, sources, out_path)
-
-
-if __name__ == "__main__":
-  caibx = sys.argv[1]
-  out = sys.argv[2]
-  store = sys.argv[3]
-
-  stats = extract_simple(caibx, out, store)
-  print_stats(stats)
diff --git a/system/updated/casync/common.py b/system/updated/casync/common.py
deleted file mode 100644
index 6979f5cb06a329..00000000000000
--- a/system/updated/casync/common.py
+++ /dev/null
@@ -1,61 +0,0 @@
-import dataclasses
-import json
-import pathlib
-import subprocess
-
-from openpilot.system.version import BUILD_METADATA_FILENAME, BuildMetadata
-from openpilot.system.updated.casync import tar
-
-
-CASYNC_ARGS = ["--with=symlinks", "--with=permissions", "--compression=xz", "--chunk-size=16M"]
-CASYNC_FILES = [BUILD_METADATA_FILENAME]
-
-
-def run(cmd):
-  return subprocess.check_output(cmd)
-
-
-def get_exclude_set(path) -> set[str]:
-  exclude_set = set(CASYNC_FILES)
-
-  for file in path.rglob("*"):
-    if file.is_file() or file.is_symlink():
-
-      while file.resolve() != path.resolve():
-        exclude_set.add(str(file.relative_to(path)))
-
-        file = file.parent
-
-  return exclude_set
-
-
-def create_build_metadata_file(path: pathlib.Path, build_metadata: BuildMetadata):
-  with open(path / BUILD_METADATA_FILENAME, "w") as f:
-    build_metadata_dict = dataclasses.asdict(build_metadata)
-    build_metadata_dict["openpilot"].pop("is_dirty")  # this is determined at runtime
-    build_metadata_dict.pop("channel")                # channel is unrelated to the build itself
-    f.write(json.dumps(build_metadata_dict))
-
-
-def is_not_git(path: pathlib.Path) -> bool:
-  return ".git" not in path.parts
-
-
-def create_casync_tar_package(target_dir: pathlib.Path, output_path: pathlib.Path):
-  tar.create_tar_archive(output_path, target_dir, is_not_git)
-
-
-def create_casync_from_file(file: pathlib.Path, output_dir: pathlib.Path, caibx_name: str):
-  caibx_file = output_dir / f"{caibx_name}.caibx"
-  run(["casync", "make", *CASYNC_ARGS, caibx_file, str(file)])
-
-  return caibx_file
-
-
-def create_casync_release(target_dir: pathlib.Path, output_dir: pathlib.Path, caibx_name: str):
-  tar_file = output_dir / f"{caibx_name}.tar"
-  create_casync_tar_package(target_dir, tar_file)
-  caibx_file = create_casync_from_file(tar_file, output_dir, caibx_name)
-  tar_file.unlink()
-  digest = run(["casync", "digest", *CASYNC_ARGS, target_dir]).decode("utf-8").strip()
-  return digest, caibx_file
diff --git a/system/updated/casync/tar.py b/system/updated/casync/tar.py
deleted file mode 100644
index a5a8238bbadc8b..00000000000000
--- a/system/updated/casync/tar.py
+++ /dev/null
@@ -1,39 +0,0 @@
-import pathlib
-import tarfile
-from typing import IO
-from collections.abc import Callable
-
-
-def include_default(_) -> bool:
-  return True
-
-
-def create_tar_archive(filename: pathlib.Path, directory: pathlib.Path, include: Callable[[pathlib.Path], bool] = include_default):
-  """Creates a tar archive of a directory"""
-
-  with tarfile.open(filename, 'w') as tar:
-    for file in sorted(directory.rglob("*"), key=lambda f: f.stat().st_size if f.is_file() else 0, reverse=True):
-      if not include(file):
-        continue
-      relative_path = str(file.relative_to(directory))
-      if file.is_symlink():
-        info = tarfile.TarInfo(relative_path)
-        info.type = tarfile.SYMTYPE
-        info.linkpath = str(file.readlink())
-        tar.addfile(info)
-
-      elif file.is_file():
-        info = tarfile.TarInfo(relative_path)
-        info.size = file.stat().st_size
-        info.type = tarfile.REGTYPE
-        info.mode = file.stat().st_mode
-        with file.open('rb') as f:
-          tar.addfile(info, f)
-
-
-def extract_tar_archive(fh: IO[bytes], directory: pathlib.Path):
-  """Extracts a tar archive to a directory"""
-
-  tar = tarfile.open(fileobj=fh, mode='r')
-  tar.extractall(str(directory), filter=lambda info, path: info)
-  tar.close()
diff --git a/system/updated/casync/tests/test_casync.py b/system/updated/casync/tests/test_casync.py
deleted file mode 100644
index bc171e7432b415..00000000000000
--- a/system/updated/casync/tests/test_casync.py
+++ /dev/null
@@ -1,264 +0,0 @@
-import pytest
-import os
-import pathlib
-import tempfile
-import subprocess
-
-from openpilot.system.updated.casync import casync
-from openpilot.system.updated.casync import tar
-
-# dd if=/dev/zero of=/tmp/img.raw bs=1M count=2
-# sudo losetup -f /tmp/img.raw
-# losetup -a | grep img.raw
-LOOPBACK = os.environ.get('LOOPBACK', None)
-
-
-@pytest.mark.skip("not used yet")
-class TestCasync:
-  @classmethod
-  def setup_class(cls):
-    cls.tmpdir = tempfile.TemporaryDirectory()
-
-    # Build example contents
-    chunk_a = [i % 256 for i in range(1024)] * 512
-    chunk_b = [(256 - i) % 256 for i in range(1024)] * 512
-    zeroes = [0] * (1024 * 128)
-    contents = chunk_a + chunk_b + zeroes + chunk_a
-
-    cls.contents = bytes(contents)
-
-    # Write to file
-    cls.orig_fn = os.path.join(cls.tmpdir.name, 'orig.bin')
-    with open(cls.orig_fn, 'wb') as f:
-      f.write(cls.contents)
-
-    # Create casync files
-    cls.manifest_fn = os.path.join(cls.tmpdir.name, 'orig.caibx')
-    cls.store_fn = os.path.join(cls.tmpdir.name, 'store')
-    subprocess.check_output(["casync", "make", "--compression=xz", "--store", cls.store_fn, cls.manifest_fn, cls.orig_fn])
-
-    target = casync.parse_caibx(cls.manifest_fn)
-    hashes = [c.sha.hex() for c in target]
-
-    # Ensure we have chunk reuse
-    assert len(hashes) > len(set(hashes))
-
-  def setup_method(self):
-    # Clear target_lo
-    if LOOPBACK is not None:
-      self.target_lo = LOOPBACK
-      with open(self.target_lo, 'wb') as f:
-        f.write(b"0" * len(self.contents))
-
-    self.target_fn = os.path.join(self.tmpdir.name, next(tempfile._get_candidate_names()))
-    self.seed_fn = os.path.join(self.tmpdir.name, next(tempfile._get_candidate_names()))
-
-  def teardown_method(self):
-    for fn in [self.target_fn, self.seed_fn]:
-      try:
-        os.unlink(fn)
-      except FileNotFoundError:
-        pass
-
-  def test_simple_extract(self):
-    target = casync.parse_caibx(self.manifest_fn)
-
-    sources = [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
-    stats = casync.extract(target, sources, self.target_fn)
-
-    with open(self.target_fn, 'rb') as target_f:
-      assert target_f.read() == self.contents
-
-    assert stats['remote'] == len(self.contents)
-
-  def test_seed(self):
-    target = casync.parse_caibx(self.manifest_fn)
-
-    # Populate seed with half of the target contents
-    with open(self.seed_fn, 'wb') as seed_f:
-      seed_f.write(self.contents[:len(self.contents) // 2])
-
-    sources = [('seed', casync.FileChunkReader(self.seed_fn), casync.build_chunk_dict(target))]
-    sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
-    stats = casync.extract(target, sources, self.target_fn)
-
-    with open(self.target_fn, 'rb') as target_f:
-      assert target_f.read() == self.contents
-
-    assert stats['seed'] > 0
-    assert stats['remote'] < len(self.contents)
-
-  def test_already_done(self):
-    """Test that an already flashed target doesn't download any chunks"""
-    target = casync.parse_caibx(self.manifest_fn)
-
-    with open(self.target_fn, 'wb') as f:
-      f.write(self.contents)
-
-    sources = [('target', casync.FileChunkReader(self.target_fn), casync.build_chunk_dict(target))]
-    sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
-
-    stats = casync.extract(target, sources, self.target_fn)
-
-    with open(self.target_fn, 'rb') as f:
-      assert f.read() == self.contents
-
-    assert stats['target'] == len(self.contents)
-
-  def test_chunk_reuse(self):
-    """Test that chunks that are reused are only downloaded once"""
-    target = casync.parse_caibx(self.manifest_fn)
-
-    # Ensure target exists
-    with open(self.target_fn, 'wb'):
-      pass
-
-    sources = [('target', casync.FileChunkReader(self.target_fn), casync.build_chunk_dict(target))]
-    sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
-
-    stats = casync.extract(target, sources, self.target_fn)
-
-    with open(self.target_fn, 'rb') as f:
-      assert f.read() == self.contents
-
-    assert stats['remote'] < len(self.contents)
-
-  @pytest.mark.skipif(not LOOPBACK, reason="requires loopback device")
-  def test_lo_simple_extract(self):
-    target = casync.parse_caibx(self.manifest_fn)
-    sources = [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
-
-    stats = casync.extract(target, sources, self.target_lo)
-
-    with open(self.target_lo, 'rb') as target_f:
-      assert target_f.read(len(self.contents)) == self.contents
-
-    assert stats['remote'] == len(self.contents)
-
-  @pytest.mark.skipif(not LOOPBACK, reason="requires loopback device")
-  def test_lo_chunk_reuse(self):
-    """Test that chunks that are reused are only downloaded once"""
-    target = casync.parse_caibx(self.manifest_fn)
-
-    sources = [('target', casync.FileChunkReader(self.target_lo), casync.build_chunk_dict(target))]
-    sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
-
-    stats = casync.extract(target, sources, self.target_lo)
-
-    with open(self.target_lo, 'rb') as f:
-      assert f.read(len(self.contents)) == self.contents
-
-    assert stats['remote'] < len(self.contents)
-
-
-@pytest.mark.skip("not used yet")
-class TestCasyncDirectory:
-  """Tests extracting a directory stored as a casync tar archive"""
-
-  NUM_FILES = 16
-
-  @classmethod
-  def setup_cache(cls, directory, files=None):
-    if files is None:
-      files = range(cls.NUM_FILES)
-
-    chunk_a = [i % 256 for i in range(1024)] * 512
-    chunk_b = [(256 - i) % 256 for i in range(1024)] * 512
-    zeroes = [0] * (1024 * 128)
-    cls.contents = chunk_a + chunk_b + zeroes + chunk_a
-    cls.contents = bytes(cls.contents)
-
-    for i in files:
-      with open(os.path.join(directory, f"file_{i}.txt"), "wb") as f:
-        f.write(cls.contents)
-
-      os.symlink(f"file_{i}.txt", os.path.join(directory, f"link_{i}.txt"))
-
-  @classmethod
-  def setup_class(cls):
-    cls.tmpdir = tempfile.TemporaryDirectory()
-
-    # Create casync files
-    cls.manifest_fn = os.path.join(cls.tmpdir.name, 'orig.caibx')
-    cls.store_fn = os.path.join(cls.tmpdir.name, 'store')
-
-    cls.directory_to_extract = tempfile.TemporaryDirectory()
-    cls.setup_cache(cls.directory_to_extract.name)
-
-    cls.orig_fn = os.path.join(cls.tmpdir.name, 'orig.tar')
-    tar.create_tar_archive(cls.orig_fn, pathlib.Path(cls.directory_to_extract.name))
-
-    subprocess.check_output(["casync", "make", "--compression=xz", "--store", cls.store_fn, cls.manifest_fn, cls.orig_fn])
-
-  @classmethod
-  def teardown_class(cls):
-    cls.tmpdir.cleanup()
-    cls.directory_to_extract.cleanup()
-
-  def setup_method(self):
-    self.cache_dir = tempfile.TemporaryDirectory()
-    self.working_dir = tempfile.TemporaryDirectory()
-    self.out_dir = tempfile.TemporaryDirectory()
-
-  def teardown_method(self):
-    self.cache_dir.cleanup()
-    self.working_dir.cleanup()
-    self.out_dir.cleanup()
-
-  def run_test(self):
-    target = casync.parse_caibx(self.manifest_fn)
-
-    cache_filename = os.path.join(self.working_dir.name, "cache.tar")
-    tmp_filename = os.path.join(self.working_dir.name, "tmp.tar")
-
-    sources = [('cache', casync.DirectoryTarChunkReader(self.cache_dir.name, cache_filename), casync.build_chunk_dict(target))]
-    sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
-
-    stats = casync.extract_directory(target, sources, pathlib.Path(self.out_dir.name), tmp_filename)
-
-    with open(os.path.join(self.out_dir.name, "file_0.txt"), "rb") as f:
-      assert f.read() == self.contents
-
-    with open(os.path.join(self.out_dir.name, "link_0.txt"), "rb") as f:
-      assert f.read() == self.contents
-      assert os.readlink(os.path.join(self.out_dir.name, "link_0.txt")) == "file_0.txt"
-
-    return stats
-
-  def test_no_cache(self):
-    self.setup_cache(self.cache_dir.name, [])
-    stats = self.run_test()
-    assert stats['remote'] > 0
-    assert stats['cache'] == 0
-
-  def test_full_cache(self):
-    self.setup_cache(self.cache_dir.name, range(self.NUM_FILES))
-    stats = self.run_test()
-    assert stats['remote'] == 0
-    assert stats['cache'] > 0
-
-  def test_one_file_cache(self):
-    self.setup_cache(self.cache_dir.name, range(1))
-    stats = self.run_test()
-    assert stats['remote'] > 0
-    assert stats['cache'] > 0
-    assert stats['cache'] < stats['remote']
-
-  def test_one_file_incorrect_cache(self):
-    self.setup_cache(self.cache_dir.name, range(self.NUM_FILES))
-    with open(os.path.join(self.cache_dir.name, "file_0.txt"), "wb") as f:
-      f.write(b"1234")
-
-    stats = self.run_test()
-    assert stats['remote'] > 0
-    assert stats['cache'] > 0
-    assert stats['cache'] > stats['remote']
-
-  def test_one_file_missing_cache(self):
-    self.setup_cache(self.cache_dir.name, range(self.NUM_FILES))
-    os.unlink(os.path.join(self.cache_dir.name, "file_12.txt"))
-
-    stats = self.run_test()
-    assert stats['remote'] > 0
-    assert stats['cache'] > 0
-    assert stats['cache'] > stats['remote']

From cb6e422c913ce59edfc8d049eac3d6f3d4b74915 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 20 Jun 2026 15:16:48 -0700
Subject: [PATCH 1222/1434] move esim to common/ (#38199)

* move esim to common/

* add pem
---
 common/esim/__init__.py                       |  3 +
 common/esim/base.py                           | 55 +++++++++++++++++++
 {system/hardware => common/esim}/esim.py      |  2 +-
 .../tici => common/esim}/gsma_ci_bundle.pem   |  0
 {system/hardware/tici => common/esim}/lpa.py  |  2 +-
 system/hardware/base.py                       | 50 +----------------
 system/hardware/tici/hardware.py              |  5 +-
 tools/op.sh                                   |  2 +-
 8 files changed, 65 insertions(+), 54 deletions(-)
 create mode 100644 common/esim/__init__.py
 create mode 100644 common/esim/base.py
 rename {system/hardware => common/esim}/esim.py (97%)
 rename {system/hardware/tici => common/esim}/gsma_ci_bundle.pem (100%)
 rename {system/hardware/tici => common/esim}/lpa.py (99%)

diff --git a/common/esim/__init__.py b/common/esim/__init__.py
new file mode 100644
index 00000000000000..5f83412c076db8
--- /dev/null
+++ b/common/esim/__init__.py
@@ -0,0 +1,3 @@
+from openpilot.common.esim.base import LPABase, LPAError, LPAProfileNotFoundError, Profile
+
+__all__ = ["LPABase", "LPAError", "LPAProfileNotFoundError", "Profile"]
diff --git a/common/esim/base.py b/common/esim/base.py
new file mode 100644
index 00000000000000..b783a630b24bd7
--- /dev/null
+++ b/common/esim/base.py
@@ -0,0 +1,55 @@
+from abc import ABC, abstractmethod
+from dataclasses import dataclass
+
+
+class LPAError(RuntimeError):
+  pass
+
+
+class LPAProfileNotFoundError(LPAError):
+  pass
+
+
+@dataclass
+class Profile:
+  iccid: str
+  nickname: str
+  enabled: bool
+  provider: str
+
+  @property
+  def is_comma(self) -> bool:
+    return self.provider == 'Webbing' and self.iccid.startswith('8985235')
+
+
+class LPABase(ABC):
+  @abstractmethod
+  def list_profiles(self) -> list[Profile]:
+    pass
+
+  @abstractmethod
+  def get_active_profile(self) -> Profile | None:
+    pass
+
+  @abstractmethod
+  def delete_profile(self, iccid: str) -> None:
+    pass
+
+  @abstractmethod
+  def download_profile(self, qr: str, nickname: str | None = None) -> None:
+    pass
+
+  @abstractmethod
+  def nickname_profile(self, iccid: str, nickname: str) -> None:
+    pass
+
+  @abstractmethod
+  def switch_profile(self, iccid: str) -> None:
+    pass
+
+  def process_notifications(self) -> None:
+    pass
+
+  @abstractmethod
+  def is_euicc(self) -> bool:
+    pass
diff --git a/system/hardware/esim.py b/common/esim/esim.py
similarity index 97%
rename from system/hardware/esim.py
rename to common/esim/esim.py
index 18d84de9835f65..788e944c434899 100755
--- a/system/hardware/esim.py
+++ b/common/esim/esim.py
@@ -2,7 +2,7 @@
 
 import argparse
 from openpilot.system.hardware import HARDWARE
-from openpilot.system.hardware.base import LPABase, Profile
+from openpilot.common.esim.base import LPABase, Profile
 
 
 def sorted_profiles(lpa: LPABase) -> list[Profile]:
diff --git a/system/hardware/tici/gsma_ci_bundle.pem b/common/esim/gsma_ci_bundle.pem
similarity index 100%
rename from system/hardware/tici/gsma_ci_bundle.pem
rename to common/esim/gsma_ci_bundle.pem
diff --git a/system/hardware/tici/lpa.py b/common/esim/lpa.py
similarity index 99%
rename from system/hardware/tici/lpa.py
rename to common/esim/lpa.py
index 618d11e5d15e0f..4009823323ae19 100644
--- a/system/hardware/tici/lpa.py
+++ b/common/esim/lpa.py
@@ -19,7 +19,7 @@
 from pathlib import Path
 
 from openpilot.common.time_helpers import system_time_valid
-from openpilot.system.hardware.base import LPABase, LPAError, LPAProfileNotFoundError, Profile
+from openpilot.common.esim.base import LPABase, LPAError, LPAProfileNotFoundError, Profile
 
 GSMA_CI_BUNDLE = str(Path(__file__).parent / "gsma_ci_bundle.pem")
 
diff --git a/system/hardware/base.py b/system/hardware/base.py
index 5bcf886ae83789..dccb168935bb0c 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -3,27 +3,11 @@
 from dataclasses import dataclass, fields
 
 from cereal import log
+from openpilot.common.esim.base import LPABase
 
 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength
 
-class LPAError(RuntimeError):
-  pass
-
-class LPAProfileNotFoundError(LPAError):
-  pass
-
-@dataclass
-class Profile:
-  iccid: str
-  nickname: str
-  enabled: bool
-  provider: str
-
-  @property
-  def is_comma(self) -> bool:
-    return self.provider == 'Webbing' and self.iccid.startswith('8985235')
-
 @dataclass
 class ThermalZone:
   # a zone from /sys/class/thermal/thermal_zone*
@@ -70,38 +54,6 @@ def get_msg(self):
           ret[f.name + "TempC"] = v.read()
     return ret
 
-class LPABase(ABC):
-  @abstractmethod
-  def list_profiles(self) -> list[Profile]:
-    pass
-
-  @abstractmethod
-  def get_active_profile(self) -> Profile | None:
-    pass
-
-  @abstractmethod
-  def delete_profile(self, iccid: str) -> None:
-    pass
-
-  @abstractmethod
-  def download_profile(self, qr: str, nickname: str | None = None) -> None:
-    pass
-
-  @abstractmethod
-  def nickname_profile(self, iccid: str, nickname: str) -> None:
-    pass
-
-  @abstractmethod
-  def switch_profile(self, iccid: str) -> None:
-    pass
-
-  def process_notifications(self) -> None:
-    pass
-
-  @abstractmethod
-  def is_euicc(self) -> bool:
-    pass
-
 class HardwareBase(ABC):
   @staticmethod
   def get_cmdline() -> dict[str, str]:
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 10b6d7646cfb14..252474e12c5e61 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -10,9 +10,10 @@
 from cereal import log
 from openpilot.common.utils import sudo_read, sudo_write
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
-from openpilot.system.hardware.base import HardwareBase, LPABase, ThermalConfig, ThermalZone
+from openpilot.common.esim.base import LPABase
+from openpilot.system.hardware.base import HardwareBase, ThermalConfig, ThermalZone
 from openpilot.system.hardware.tici import iwlist
-from openpilot.system.hardware.tici.lpa import TiciLPA
+from openpilot.common.esim.lpa import TiciLPA
 from openpilot.system.hardware.tici.pins import GPIO
 from openpilot.system.hardware.tici.amplifier import Amplifier
 
diff --git a/tools/op.sh b/tools/op.sh
index 1188d21ac20272..ecef240b5bf975 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -298,7 +298,7 @@ function op_check() {
 
 function op_esim() {
   op_before_cmd
-  op_run_command system/hardware/esim.py "$@"
+  op_run_command common/esim/esim.py "$@"
 }
 
 function op_build() {

From f0f7b877c374898881e20a2608883e77b1e7d562 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 20 Jun 2026 15:27:36 -0700
Subject: [PATCH 1223/1434] athena: remove getNetworks (#38200)

---
 system/athena/athenad.py         |  5 -----
 system/hardware/base.py          |  3 ---
 system/hardware/tici/hardware.py | 28 -------------------------
 system/hardware/tici/iwlist.py   | 35 --------------------------------
 4 files changed, 71 deletions(-)
 delete mode 100644 system/hardware/tici/iwlist.py

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 8cadfb857a272b..6350b8a891d0bb 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -570,11 +570,6 @@ def getNetworkMetered() -> bool:
   return HARDWARE.get_network_metered(network_type)
 
 
-@dispatcher.add_method
-def getNetworks():
-  return HARDWARE.get_networks()
-
-
 @dispatcher.add_method
 def startStream(sdp: str, enabled: bool) -> dict:
   from openpilot.system.webrtc.helpers import StreamRequestBody, post_stream_request, wait_for_webrtcd
diff --git a/system/hardware/base.py b/system/hardware/base.py
index dccb168935bb0c..0e4fb0b615fdd7 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -151,9 +151,6 @@ def get_modem_temperatures(self):
   def initialize_hardware(self):
     pass
 
-  def get_networks(self):
-    return None
-
   def has_internal_panda(self) -> bool:
     return False
 
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 252474e12c5e61..6f3d7e870dd05b 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -12,7 +12,6 @@
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
 from openpilot.common.esim.base import LPABase
 from openpilot.system.hardware.base import HardwareBase, ThermalConfig, ThermalZone
-from openpilot.system.hardware.tici import iwlist
 from openpilot.common.esim.lpa import TiciLPA
 from openpilot.system.hardware.tici.pins import GPIO
 from openpilot.system.hardware.tici.amplifier import Amplifier
@@ -387,33 +386,6 @@ def initialize_hardware(self):
     except subprocess.CalledProcessError as e:
       print(str(e))
 
-  def get_networks(self):
-    r = {}
-
-    wlan = iwlist.scan()
-    if wlan is not None:
-      r['wlan'] = wlan
-
-    lte_info = self.get_network_info()
-    if lte_info is not None:
-      extra = lte_info['extra']
-
-      # <state>,"LTE",<is_tdd>,<mcc>,<mnc>,<cellid>,<pcid>,<earfcn>,<freq_band_ind>,
-      # <ul_bandwidth>,<dl_bandwidth>,<tac>,<rsrp>,<rsrq>,<rssi>,<sinr>,<srxlev>
-      if 'LTE' in extra:
-        extra = extra.split(',')
-        try:
-          r['lte'] = [{
-            "mcc": int(extra[3]),
-            "mnc": int(extra[4]),
-            "cid": int(extra[5], 16),
-            "nmr": [{"pci": int(extra[6]), "earfcn": int(extra[7])}],
-          }]
-        except (ValueError, IndexError):
-          pass
-
-    return r
-
   def get_modem_data_usage(self):
     ms = self.get_modem_state()
     return ms.get('tx_bytes', -1), ms.get('rx_bytes', -1)
diff --git a/system/hardware/tici/iwlist.py b/system/hardware/tici/iwlist.py
deleted file mode 100644
index 1e7c428b40679a..00000000000000
--- a/system/hardware/tici/iwlist.py
+++ /dev/null
@@ -1,35 +0,0 @@
-import subprocess
-
-
-def scan(interface="wlan0"):
-  result = []
-  try:
-    r = subprocess.check_output(["iwlist", interface, "scan"], encoding='utf8')
-
-    mac = None
-    for line in r.split('\n'):
-      if "Address" in line:
-        # Based on the adapter eithere a percentage or dBm is returned
-        # Add previous network in case no dBm signal level was seen
-        if mac is not None:
-          result.append({"mac": mac})
-          mac = None
-
-        mac = line.split(' ')[-1]
-      elif "dBm" in line:
-        try:
-          level = line.split('Signal level=')[1]
-          rss = int(level.split(' ')[0])
-          result.append({"mac": mac, "rss": rss})
-          mac = None
-        except ValueError:
-          continue
-
-    # Add last network if no dBm was found
-    if mac is not None:
-      result.append({"mac": mac})
-
-    return result
-
-  except Exception:
-    return None

From 3b4077d31be58eba4208ae4aa480b499e928cf49 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 20 Jun 2026 15:51:01 -0700
Subject: [PATCH 1224/1434] system/hardware/ cleanup (#38201)

* imei cleanup

* rm get_modem_version

* cpp cleanup

* that's not in the panda!
---
 selfdrive/pandad/pandad.cc                    | 51 +++----------------
 system/athena/registration.py                 | 13 +++--
 system/hardware/base.h                        |  4 --
 system/hardware/base.py                       | 14 +----
 system/hardware/hardwared.py                  | 11 +---
 system/hardware/pc/hardware.h                 |  2 -
 system/hardware/pc/hardware.py                |  6 +--
 system/hardware/tici/hardware.h               |  8 +--
 system/hardware/tici/hardware.py              | 10 +---
 system/hardware/tici/precise_power_measure.py |  9 ----
 10 files changed, 18 insertions(+), 110 deletions(-)
 delete mode 100755 system/hardware/tici/precise_power_measure.py

diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index 7c91fe361130ec..7fbfcb5b18fbf0 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -1,7 +1,6 @@
 #include "selfdrive/pandad/pandad.h"
 
 #include <array>
-#include <atomic>
 #include <bitset>
 #include <cassert>
 #include <cerrno>
@@ -24,14 +23,6 @@
 
 ExitHandler do_exit;
 
-struct HwmonState {
-  std::atomic<uint32_t> voltage{0};
-  std::atomic<uint32_t> current{0};
-  std::atomic<bool> initialized{false};
-};
-
-HwmonState hwmon_state;
-
 bool check_connected(Panda *panda) {
   if (!panda->connected()) {
     do_exit = true;
@@ -114,26 +105,6 @@ void can_recv(Panda *panda, PubMaster *pm) {
   }
 }
 
-void hwmon_thread() {
-  util::set_thread_name("pandad_hwmon");
-
-  while (!do_exit) {
-    double read_time = millis_since_boot();
-    uint32_t voltage = Hardware::get_voltage();
-    uint32_t current = Hardware::get_current();
-    read_time = millis_since_boot() - read_time;
-    if (read_time > 50) {
-      LOGW("reading hwmon took %lfms", read_time);
-    }
-
-    hwmon_state.voltage.store(voltage);
-    hwmon_state.current.store(current);
-    hwmon_state.initialized.store(true);
-
-    util::sleep_for(500);
-  }
-}
-
 void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::PandaType hw_type, const health_t &health) {
   ps.setVoltage(health.voltage_pkt);
   ps.setCurrent(health.current_pkt);
@@ -264,7 +235,8 @@ std::optional<bool> send_panda_states(PubMaster *pm, Panda *panda, bool is_onroa
 }
 
 void send_peripheral_state(Panda *panda, PubMaster *pm) {
-  if (!hwmon_state.initialized.load()) {
+  auto health_opt = panda->get_state();
+  if (!health_opt) {
     return;
   }
 
@@ -276,18 +248,9 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
   auto ps = evt.initPeripheralState();
   ps.setPandaType(panda->hw_type);
 
-  ps.setVoltage(hwmon_state.voltage.load());
-  ps.setCurrent(hwmon_state.current.load());
-
-  // fall back to panda's voltage and current measurement
-  if (ps.getVoltage() == 0 && ps.getCurrent() == 0) {
-    auto health_opt = panda->get_state();
-    if (health_opt) {
-      health_t health = *health_opt;
-      ps.setVoltage(health.voltage_pkt);
-      ps.setCurrent(health.current_pkt);
-    }
-  }
+  health_t health = *health_opt;
+  ps.setVoltage(health.voltage_pkt);
+  ps.setCurrent(health.current_pkt);
 
   uint16_t fan_speed_rpm = panda->get_fan_speed();
   ps.setFanSpeedRpm(fan_speed_rpm);
@@ -399,9 +362,8 @@ void pandad_run(Panda *panda) {
   const bool spoofing_started = getenv("STARTED") != nullptr;
   const bool fake_send = getenv("FAKESEND") != nullptr;
 
-  // Start helper threads for event-driven sendcan and slow non-Panda reads.
+  // Start helper thread for event-driven sendcan.
   std::thread send_thread(can_send_thread, panda, fake_send);
-  std::thread hardware_thread(hwmon_thread);
 
   RateKeeper rk("pandad", 100);
   SubMaster sm({"selfdriveState", "deviceState"});
@@ -457,7 +419,6 @@ void pandad_run(Panda *panda) {
   }
 
   send_thread.join();
-  hardware_thread.join();
 }
 
 void pandad_main_thread(std::string serial) {
diff --git a/system/athena/registration.py b/system/athena/registration.py
index ecc102edf9202f..8548a544f517d8 100755
--- a/system/athena/registration.py
+++ b/system/athena/registration.py
@@ -54,17 +54,16 @@ def register(show_spinner=False) -> str | None:
     # Block until we get the imei
     serial = HARDWARE.get_serial()
     start_time = time.monotonic()
-    imei1: str | None = None
-    imei2: str | None = None
-    while imei1 is None and imei2 is None:
+    imei: str | None = None
+    while imei is None:
       try:
-        imei1, imei2 = HARDWARE.get_imei(0), HARDWARE.get_imei(1)
+        imei = HARDWARE.get_imei()
       except Exception:
         cloudlog.exception("Error getting imei, trying again...")
         time.sleep(1)
 
       if time.monotonic() - start_time > 60 and show_spinner:
-        spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")
+        spinner.update(f"registering device - serial: {serial}, IMEI: {imei}")
 
     backoff = 0
     start_time = time.monotonic()
@@ -74,7 +73,7 @@ def register(show_spinner=False) -> str | None:
                                     cast(str, private_key), algorithm=jwt_algo)
         cloudlog.info("getting pilotauth")
         resp = api_get("v2/pilotauth/", method='POST', timeout=15,
-                       imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token)
+                       imei=imei, imei2="", serial=serial, public_key=public_key, register_token=register_token)
 
         if resp.status_code in (402, 403):
           cloudlog.info(f"Unable to register device, got {resp.status_code}")
@@ -89,7 +88,7 @@ def register(show_spinner=False) -> str | None:
         time.sleep(backoff)
 
       if time.monotonic() - start_time > 60 and show_spinner:
-        spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")
+        spinner.update(f"registering device - serial: {serial}, IMEI: {imei}")
 
     if show_spinner:
       spinner.close()
diff --git a/system/hardware/base.h b/system/hardware/base.h
index 3eded659acc38c..3cb8add783c45a 100644
--- a/system/hardware/base.h
+++ b/system/hardware/base.h
@@ -12,8 +12,6 @@ class HardwareNone {
 public:
   static std::string get_name() { return ""; }
   static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; }
-  static int get_voltage() { return 0; }
-  static int get_current() { return 0; }
 
   static std::string get_serial() { return "cccccc"; }
 
@@ -24,6 +22,4 @@ class HardwareNone {
   static void set_ir_power(int percentage) {}
 
   static bool PC() { return false; }
-  static bool TICI() { return false; }
-  static bool AGNOS() { return false; }
 };
diff --git a/system/hardware/base.py b/system/hardware/base.py
index 0e4fb0b615fdd7..bf6523db77a703 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -85,7 +85,7 @@ def get_os_version(self):
   def get_device_type(self):
     pass
 
-  def get_imei(self, slot) -> str:
+  def get_imei(self) -> str:
     return ""
 
   def get_serial(self):
@@ -142,18 +142,12 @@ def set_power_save(self, powersave_enabled):
   def get_gpu_usage_percent(self):
     return 0
 
-  def get_modem_version(self):
-    return None
-
   def get_modem_temperatures(self):
     return []
 
   def initialize_hardware(self):
     pass
 
-  def has_internal_panda(self) -> bool:
-    return False
-
   def reset_internal_panda(self):
     pass
 
@@ -163,11 +157,5 @@ def recover_internal_panda(self):
   def get_modem_data_usage(self):
     return -1, -1
 
-  def get_voltage(self) -> float:
-    return 0.
-
-  def get_current(self) -> float:
-    return 0.
-
   def set_ir_power(self, percent: int):
     pass
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 5db73403e11f98..d047ee37cddc1e 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -17,7 +17,7 @@
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_HW
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.system.hardware import HARDWARE, TICI, AGNOS, PC
+from openpilot.system.hardware import HARDWARE, TICI, PC
 from openpilot.system.loggerd.config import get_available_percent
 from openpilot.system.statsd import statlog
 from openpilot.common.swaglog import cloudlog
@@ -107,8 +107,6 @@ def hw_state_thread(end_event, hw_queue):
   count = 0
   prev_hw_state = None
 
-  modem_version = None
-
   while not end_event.is_set():
     # these are expensive calls. update every 10s
     if (count % int(10. / DT_HW)) == 0:
@@ -118,13 +116,6 @@ def hw_state_thread(end_event, hw_queue):
         if len(modem_temps) == 0 and prev_hw_state is not None:
           modem_temps = prev_hw_state.modem_temps
 
-        # Log modem version once
-        if AGNOS and (modem_version is None):
-          modem_version = HARDWARE.get_modem_version()
-
-          if modem_version is not None:
-            cloudlog.event("modem version", version=modem_version)
-
         tx, rx = HARDWARE.get_modem_data_usage()
 
         hw_state = HardwareState(
diff --git a/system/hardware/pc/hardware.h b/system/hardware/pc/hardware.h
index 71f58b188bed01..c3545f3e5f244a 100644
--- a/system/hardware/pc/hardware.h
+++ b/system/hardware/pc/hardware.h
@@ -9,6 +9,4 @@ class HardwarePC : public HardwareNone {
   static std::string get_name() { return "pc"; }
   static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; }
   static bool PC() { return true; }
-  static bool TICI() { return util::getenv("TICI", 0) == 1; }
-  static bool AGNOS() { return util::getenv("TICI", 0) == 1; }
 };
diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py
index f3d527429ce4a6..37775d9bb05562 100644
--- a/system/hardware/pc/hardware.py
+++ b/system/hardware/pc/hardware.py
@@ -1,12 +1,10 @@
 from cereal import log
 from openpilot.system.hardware.base import HardwareBase
 
-NetworkType = log.DeviceState.NetworkType
-
-
 class Pc(HardwareBase):
   def get_device_type(self):
     return "pc"
 
   def get_network_type(self):
-    return NetworkType.wifi
+    # some stuff is gated on wifi, so just assume for now
+    return log.DeviceState.NetworkType.wifi
diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index a06ce43b35626d..95a6d4e011bbe0 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -1,6 +1,5 @@
 #pragma once
 
-#include <cstdlib>
 #include <cassert>
 #include <fstream>
 #include <map>
@@ -22,7 +21,6 @@ class HardwareTici : public HardwareNone {
 
   static cereal::InitData::DeviceType get_device_type() {
     static const std::map<std::string, cereal::InitData::DeviceType> device_map = {
-      {"tici", cereal::InitData::DeviceType::TICI},
       {"tizi", cereal::InitData::DeviceType::TIZI},
       {"mici", cereal::InitData::DeviceType::MICI}
     };
@@ -31,9 +29,6 @@ class HardwareTici : public HardwareNone {
     return it->second;
   }
 
-  static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }
-  static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); }
-
   static std::string get_serial() {
     static std::string serial("");
     if (serial.empty()) {
@@ -54,8 +49,7 @@ class HardwareTici : public HardwareNone {
 
   static void set_ir_power(int percent) {
     auto device = get_device_type();
-    if (device == cereal::InitData::DeviceType::TICI ||
-        device == cereal::InitData::DeviceType::TIZI) {
+    if (device == cereal::InitData::DeviceType::TIZI) {
       return;
     }
 
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 6f3d7e870dd05b..35bf4cd08a862a 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -147,9 +147,7 @@ def get_sim_info(self):
   def get_sim_lpa(self) -> LPABase:
     return TiciLPA()
 
-  def get_imei(self, slot):
-    if slot != 0:
-      return ""
+  def get_imei(self):
     return self.get_modem_state().get('imei', '')
 
   def get_network_info(self):
@@ -233,9 +231,6 @@ def get_network_metered(self, network_type) -> bool:
 
     return super().get_network_metered(network_type)
 
-  def get_modem_version(self):
-    return self.get_modem_state().get('modem_version') or None
-
   def get_modem_temperatures(self):
     return self.get_modem_state().get('temperatures', [])
 
@@ -390,9 +385,6 @@ def get_modem_data_usage(self):
     ms = self.get_modem_state()
     return ms.get('tx_bytes', -1), ms.get('rx_bytes', -1)
 
-  def has_internal_panda(self):
-    return True
-
   def reset_internal_panda(self):
     gpio_init(GPIO.STM_RST_N, True)
     gpio_init(GPIO.STM_BOOT0, True)
diff --git a/system/hardware/tici/precise_power_measure.py b/system/hardware/tici/precise_power_measure.py
deleted file mode 100755
index 52fe0850ab3e15..00000000000000
--- a/system/hardware/tici/precise_power_measure.py
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/usr/bin/env python3
-import numpy as np
-from openpilot.system.hardware.tici.power_monitor import sample_power
-
-if __name__ == '__main__':
-  print("measuring for 5 seconds")
-  for _ in range(3):
-    pwrs = sample_power()
-    print(f"mean {np.mean(pwrs):.2f} std {np.std(pwrs):.2f}")

From 52e25ebe4e5e1786ce1310a35cb4e071987602d5 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 20 Jun 2026 16:08:24 -0700
Subject: [PATCH 1225/1434] we don't have this anymore

---
 selfdrive/pandad/tests/test_pandad_spi.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/selfdrive/pandad/tests/test_pandad_spi.py b/selfdrive/pandad/tests/test_pandad_spi.py
index 69dfb67e9334e3..50021d89984e26 100644
--- a/selfdrive/pandad/tests/test_pandad_spi.py
+++ b/selfdrive/pandad/tests/test_pandad_spi.py
@@ -80,7 +80,6 @@ def test_spi_corruption(self, subtests):
             ps = m.peripheralState
             assert ps.pandaType == "tres"
             assert 4000 < ps.voltage < 14000
-            assert 50 < ps.current < 1000
             assert ps.fanSpeedRpm < 10000
 
       time.sleep(0.5)

From 160942dfde46786f3fa35ad3814cd6861d61d324 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 20 Jun 2026 16:09:22 -0700
Subject: [PATCH 1226/1434] move HAL to common/hardware/ (#38202)

* move HAL to common/hardware/

* lint

* rm shim
---
 .gitattributes                                |  2 +-
 Jenkinsfile                                   |  4 +-
 common/api.py                                 |  2 +-
 common/esim/esim.py                           |  2 +-
 {system => common}/hardware/__init__.py       |  6 +-
 {system => common}/hardware/base.h            |  0
 {system => common}/hardware/base.py           |  0
 {system => common}/hardware/hw.h              |  6 +-
 {system => common}/hardware/hw.py             |  2 +-
 {system => common}/hardware/pc/__init__.py    |  0
 {system => common}/hardware/pc/hardware.h     |  2 +-
 {system => common}/hardware/pc/hardware.py    |  2 +-
 common/hardware/tici/__init__.py              |  1 +
 common/hardware/tici/agnos.json               | 84 ++++++++++++++++++
 {system => common}/hardware/tici/agnos.py     |  0
 .../hardware/tici/all-partitions.json         |  0
 {system => common}/hardware/tici/amplifier.py |  0
 {system => common}/hardware/tici/hardware.h   |  2 +-
 {system => common}/hardware/tici/hardware.py  |  6 +-
 {system => common}/hardware/tici/id_rsa       |  0
 {system => common}/hardware/tici/modem.py     |  0
 {system => common}/hardware/tici/pins.py      |  0
 .../hardware/tici/power_monitor.py            |  0
 common/hardware/tici/tests/__init__.py        |  1 +
 .../hardware/tici/tests/test_agnos_updater.py |  0
 .../hardware/tici/tests/test_amplifier.py     |  4 +-
 .../hardware/tici/tests/test_power_draw.py    |  2 +-
 {system => common}/hardware/tici/updater      |  0
 common/params.cc                              |  2 +-
 common/prefix.h                               |  2 +-
 common/prefix.py                              |  6 +-
 common/realtime.py                            |  2 +-
 common/swaglog.cc                             |  2 +-
 common/swaglog.py                             |  2 +-
 common/tests/test_swaglog.cc                  |  2 +-
 conftest.py                                   |  2 +-
 launch_chffrplus.sh                           |  4 +-
 scripts/disable-powersave.py                  |  2 +-
 selfdrive/car/tests/test_models.py            |  2 +-
 selfdrive/locationd/calibrationd.py           |  2 +-
 selfdrive/locationd/test/test_lagd.py         |  2 +-
 selfdrive/modeld/SConscript                   |  2 +-
 selfdrive/modeld/compile_modeld.py            |  2 +-
 selfdrive/pandad/main.cc                      |  2 +-
 selfdrive/pandad/pandad.cc                    |  2 +-
 selfdrive/pandad/pandad.py                    |  2 +-
 selfdrive/pandad/tests/test_pandad.py         |  4 +-
 selfdrive/selfdrived/events.py                |  2 +-
 selfdrive/selfdrived/selfdrived.py            |  2 +-
 selfdrive/test/process_replay/model_replay.py |  2 +-
 .../test/process_replay/process_replay.py     |  2 +-
 selfdrive/test/test_onroad.py                 |  4 +-
 selfdrive/ui/installer/installer.cc           |  2 +-
 selfdrive/ui/mici/layouts/offroad_alerts.py   |  2 +-
 selfdrive/ui/mici/onroad/alert_renderer.py    |  2 +-
 selfdrive/ui/mici/onroad/cameraview.py        |  2 +-
 selfdrive/ui/onroad/alert_renderer.py         |  2 +-
 selfdrive/ui/onroad/cameraview.py             |  2 +-
 selfdrive/ui/soundd.py                        |  2 +-
 selfdrive/ui/ui.py                            |  2 +-
 selfdrive/ui/ui_state.py                      |  2 +-
 selfdrive/ui/widgets/offroad_alerts.py        |  2 +-
 system/athena/athenad.py                      |  4 +-
 system/athena/manage_athenad.py               |  2 +-
 system/athena/registration.py                 |  4 +-
 system/athena/tests/test_athenad.py           |  2 +-
 system/athena/tests/test_athenad_ping.py      |  2 +-
 system/athena/tests/test_registration.py      |  2 +-
 system/camerad/snapshot.py                    |  2 +-
 system/hardware/fan_controller.py             |  2 +-
 system/hardware/hardwared.py                  |  2 +-
 system/hardware/power_monitoring.py           |  2 +-
 system/hardware/tici/__init__.py              |  0
 system/hardware/tici/agnos.json               | 85 +------------------
 system/hardware/tici/tests/__init__.py        |  0
 system/loggerd/config.py                      |  2 +-
 system/loggerd/deleter.py                     |  2 +-
 system/loggerd/logger.h                       |  2 +-
 system/loggerd/loggerd.h                      |  2 +-
 system/loggerd/tests/loggerd_tests_common.py  |  2 +-
 system/loggerd/tests/test_encoder.py          |  4 +-
 system/loggerd/tests/test_loggerd.py          |  4 +-
 system/loggerd/tests/test_uploader.py         |  2 +-
 system/loggerd/uploader.py                    |  2 +-
 system/logmessaged.py                         |  2 +-
 system/manager/build.py                       |  2 +-
 system/manager/manager.py                     |  4 +-
 system/manager/process_config.py              |  4 +-
 system/manager/test/test_manager.py           |  2 +-
 system/qcomgpsd/nmeaport.py                   |  2 +-
 system/qcomgpsd/qcomgpsd.py                   |  2 +-
 system/sentry.py                              |  2 +-
 system/statsd.py                              |  4 +-
 system/tests/test_logmessaged.py              |  2 +-
 system/tombstoned.py                          |  2 +-
 system/ubloxd/pigeond.py                      |  4 +-
 system/ubloxd/tests/test_pigeond.py           |  2 +-
 system/ui/lib/application.py                  |  2 +-
 system/ui/lib/scroll_panel2.py                |  2 +-
 system/ui/mici_reset.py                       |  2 +-
 system/ui/mici_setup.py                       |  2 +-
 system/ui/mici_updater.py                     |  2 +-
 system/ui/text.py                             |  2 +-
 system/ui/tici_reset.py                       |  2 +-
 system/ui/tici_setup.py                       |  2 +-
 system/ui/tici_updater.py                     |  2 +-
 system/updated/tests/test_base.py             |  8 +-
 system/updated/updated.py                     |  4 +-
 tools/jotpluggler/app.cc                      |  2 +-
 tools/jotpluggler/layout.cc                   |  2 +-
 tools/joystick/joystick_control.py            |  2 +-
 tools/lateral_maneuvers/generate_report.py    |  2 +-
 tools/lib/auth_config.py                      |  2 +-
 tools/lib/file_downloader.py                  |  2 +-
 tools/lib/tests/test_caching.py               |  2 +-
 tools/lib/url_file.py                         |  2 +-
 .../longitudinal_maneuvers/generate_report.py |  2 +-
 tools/replay/framereader.cc                   |  2 +-
 tools/replay/route.cc                         |  2 +-
 tools/scripts/ssh.py                          |  2 +-
 tools/scripts/uiview.py                       |  2 +-
 121 files changed, 215 insertions(+), 212 deletions(-)
 rename {system => common}/hardware/__init__.py (55%)
 rename {system => common}/hardware/base.h (100%)
 rename {system => common}/hardware/base.py (100%)
 rename {system => common}/hardware/hw.h (91%)
 rename {system => common}/hardware/hw.py (97%)
 rename {system => common}/hardware/pc/__init__.py (100%)
 rename {system => common}/hardware/pc/hardware.h (88%)
 rename {system => common}/hardware/pc/hardware.py (80%)
 create mode 100644 common/hardware/tici/__init__.py
 create mode 100644 common/hardware/tici/agnos.json
 rename {system => common}/hardware/tici/agnos.py (100%)
 rename {system => common}/hardware/tici/all-partitions.json (100%)
 rename {system => common}/hardware/tici/amplifier.py (100%)
 rename {system => common}/hardware/tici/hardware.h (98%)
 rename {system => common}/hardware/tici/hardware.py (98%)
 rename {system => common}/hardware/tici/id_rsa (100%)
 rename {system => common}/hardware/tici/modem.py (100%)
 rename {system => common}/hardware/tici/pins.py (100%)
 rename {system => common}/hardware/tici/power_monitor.py (100%)
 create mode 100644 common/hardware/tici/tests/__init__.py
 rename {system => common}/hardware/tici/tests/test_agnos_updater.py (100%)
 rename {system => common}/hardware/tici/tests/test_amplifier.py (93%)
 rename {system => common}/hardware/tici/tests/test_power_draw.py (98%)
 rename {system => common}/hardware/tici/updater (100%)
 delete mode 100644 system/hardware/tici/__init__.py
 mode change 100644 => 120000 system/hardware/tici/agnos.json
 delete mode 100644 system/hardware/tici/tests/__init__.py

diff --git a/.gitattributes b/.gitattributes
index efbe60f9904fce..507eb73c13a423 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -11,4 +11,4 @@
 *.wav filter=lfs diff=lfs merge=lfs -text
 
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
+common/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
diff --git a/Jenkinsfile b/Jenkinsfile
index 92bc61521e14da..6291f5beb0722f 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -210,7 +210,7 @@ node {
       'HW + Unit Tests': {
         deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
-          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
+          step("test power draw", "pytest -s common/hardware/tici/tests/test_power_draw.py"),
           step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
           step("test manager", "pytest system/manager/test/test_manager.py"),
         ])
@@ -246,7 +246,7 @@ node {
           step("build openpilot", "cd system/manager && ./build.py"),
           step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
           step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
+          step("test amp", "pytest common/hardware/tici/tests/test_amplifier.py"),
         ])
       },
 
diff --git a/common/api.py b/common/api.py
index ebf0290d154de7..521aac3fdda544 100644
--- a/common/api.py
+++ b/common/api.py
@@ -2,7 +2,7 @@
 import os
 import requests
 from datetime import datetime, timedelta, UTC
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.system.version import get_version
 
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
diff --git a/common/esim/esim.py b/common/esim/esim.py
index 788e944c434899..8456d4dd47b619 100755
--- a/common/esim/esim.py
+++ b/common/esim/esim.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import argparse
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.common.esim.base import LPABase, Profile
 
 
diff --git a/system/hardware/__init__.py b/common/hardware/__init__.py
similarity index 55%
rename from system/hardware/__init__.py
rename to common/hardware/__init__.py
index 99079b5ef3b145..3387d8a0ca3503 100644
--- a/system/hardware/__init__.py
+++ b/common/hardware/__init__.py
@@ -1,9 +1,9 @@
 import os
 from typing import cast
 
-from openpilot.system.hardware.base import HardwareBase
-from openpilot.system.hardware.tici.hardware import Tici
-from openpilot.system.hardware.pc.hardware import Pc
+from openpilot.common.hardware.base import HardwareBase
+from openpilot.common.hardware.tici.hardware import Tici
+from openpilot.common.hardware.pc.hardware import Pc
 
 TICI = os.path.isfile('/TICI')
 AGNOS = os.path.isfile('/AGNOS')
diff --git a/system/hardware/base.h b/common/hardware/base.h
similarity index 100%
rename from system/hardware/base.h
rename to common/hardware/base.h
diff --git a/system/hardware/base.py b/common/hardware/base.py
similarity index 100%
rename from system/hardware/base.py
rename to common/hardware/base.py
diff --git a/system/hardware/hw.h b/common/hardware/hw.h
similarity index 91%
rename from system/hardware/hw.h
rename to common/hardware/hw.h
index a9058401ceb9cd..1e097d99b1b21f 100644
--- a/system/hardware/hw.h
+++ b/common/hardware/hw.h
@@ -2,14 +2,14 @@
 
 #include <string>
 
-#include "system/hardware/base.h"
+#include "common/hardware/base.h"
 #include "common/util.h"
 
 #if __TICI__
-#include "system/hardware/tici/hardware.h"
+#include "common/hardware/tici/hardware.h"
 #define Hardware HardwareTici
 #else
-#include "system/hardware/pc/hardware.h"
+#include "common/hardware/pc/hardware.h"
 #define Hardware HardwarePC
 #endif
 
diff --git a/system/hardware/hw.py b/common/hardware/hw.py
similarity index 97%
rename from system/hardware/hw.py
rename to common/hardware/hw.py
index dc36dc047498a7..2c649db9ebfc0f 100644
--- a/system/hardware/hw.py
+++ b/common/hardware/hw.py
@@ -2,7 +2,7 @@
 import platform
 from pathlib import Path
 
-from openpilot.system.hardware import PC
+from openpilot.common.hardware import PC
 
 DEFAULT_DOWNLOAD_CACHE_ROOT = "/tmp/comma_download_cache"
 
diff --git a/system/hardware/pc/__init__.py b/common/hardware/pc/__init__.py
similarity index 100%
rename from system/hardware/pc/__init__.py
rename to common/hardware/pc/__init__.py
diff --git a/system/hardware/pc/hardware.h b/common/hardware/pc/hardware.h
similarity index 88%
rename from system/hardware/pc/hardware.h
rename to common/hardware/pc/hardware.h
index c3545f3e5f244a..2c43b432925726 100644
--- a/system/hardware/pc/hardware.h
+++ b/common/hardware/pc/hardware.h
@@ -2,7 +2,7 @@
 
 #include <string>
 
-#include "system/hardware/base.h"
+#include "common/hardware/base.h"
 
 class HardwarePC : public HardwareNone {
 public:
diff --git a/system/hardware/pc/hardware.py b/common/hardware/pc/hardware.py
similarity index 80%
rename from system/hardware/pc/hardware.py
rename to common/hardware/pc/hardware.py
index 37775d9bb05562..b387f031271270 100644
--- a/system/hardware/pc/hardware.py
+++ b/common/hardware/pc/hardware.py
@@ -1,5 +1,5 @@
 from cereal import log
-from openpilot.system.hardware.base import HardwareBase
+from openpilot.common.hardware.base import HardwareBase
 
 class Pc(HardwareBase):
   def get_device_type(self):
diff --git a/common/hardware/tici/__init__.py b/common/hardware/tici/__init__.py
new file mode 100644
index 00000000000000..8b137891791fe9
--- /dev/null
+++ b/common/hardware/tici/__init__.py
@@ -0,0 +1 @@
+
diff --git a/common/hardware/tici/agnos.json b/common/hardware/tici/agnos.json
new file mode 100644
index 00000000000000..07e2079ec9f7d1
--- /dev/null
+++ b/common/hardware/tici/agnos.json
@@ -0,0 +1,84 @@
+[
+  {
+    "name": "xbl",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb.img.xz",
+    "hash": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
+    "hash_raw": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
+    "size": 3282256,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "bea7f1a24428c3ededf672fa4fc78baf180cfbd8aafb77c974655b38517283e3"
+  },
+  {
+    "name": "xbl_config",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85.img.xz",
+    "hash": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
+    "hash_raw": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
+    "size": 98124,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "fb18cde08a98a168961ecd357e92474823046752b94e112f59fe51a6acd7197d"
+  },
+  {
+    "name": "abl",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c.img.xz",
+    "hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
+    "hash_raw": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
+    "size": 274432,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c"
+  },
+  {
+    "name": "aop",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1.img.xz",
+    "hash": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
+    "hash_raw": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
+    "size": 184364,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "6c9135446bd3fc075fcee59b887a12e49029ab1f98ed8d6d1e32c73569d47de3"
+  },
+  {
+    "name": "devcfg",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc.img.xz",
+    "hash": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
+    "hash_raw": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
+    "size": 40336,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "2a67971602012c1b43544964709da13c322786b456a8e78568b117e8b1540ce3"
+  },
+  {
+    "name": "boot",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8.img.xz",
+    "hash": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
+    "hash_raw": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
+    "size": 17487872,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "edca8bee1531e66953d107eeceeed2dc7b3ca46417e49d55508f94e58bf95db8"
+  },
+  {
+    "name": "system",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img.xz",
+    "hash": "78acfe16a7b62a3a91fc7a81f40a693e4468cec1c69df7d0b1e550aacc646113",
+    "hash_raw": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
+    "size": 4718592000,
+    "sparse": true,
+    "full_check": false,
+    "has_ab": true,
+    "ondevice_hash": "743142c5a898f27b2a1029cca42c8a5d5d1fc0096414422b850fe84c8d0b8342",
+    "alt": {
+      "hash": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img",
+      "size": 4718592000
+    }
+  }
+]
\ No newline at end of file
diff --git a/system/hardware/tici/agnos.py b/common/hardware/tici/agnos.py
similarity index 100%
rename from system/hardware/tici/agnos.py
rename to common/hardware/tici/agnos.py
diff --git a/system/hardware/tici/all-partitions.json b/common/hardware/tici/all-partitions.json
similarity index 100%
rename from system/hardware/tici/all-partitions.json
rename to common/hardware/tici/all-partitions.json
diff --git a/system/hardware/tici/amplifier.py b/common/hardware/tici/amplifier.py
similarity index 100%
rename from system/hardware/tici/amplifier.py
rename to common/hardware/tici/amplifier.py
diff --git a/system/hardware/tici/hardware.h b/common/hardware/tici/hardware.h
similarity index 98%
rename from system/hardware/tici/hardware.h
rename to common/hardware/tici/hardware.h
index 95a6d4e011bbe0..a1a8090c35a325 100644
--- a/system/hardware/tici/hardware.h
+++ b/common/hardware/tici/hardware.h
@@ -7,7 +7,7 @@
 #include <algorithm>  // for std::clamp
 
 #include "common/util.h"
-#include "system/hardware/base.h"
+#include "common/hardware/base.h"
 
 class HardwareTici : public HardwareNone {
 public:
diff --git a/system/hardware/tici/hardware.py b/common/hardware/tici/hardware.py
similarity index 98%
rename from system/hardware/tici/hardware.py
rename to common/hardware/tici/hardware.py
index 35bf4cd08a862a..bec4c9042397a0 100644
--- a/system/hardware/tici/hardware.py
+++ b/common/hardware/tici/hardware.py
@@ -11,10 +11,10 @@
 from openpilot.common.utils import sudo_read, sudo_write
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
 from openpilot.common.esim.base import LPABase
-from openpilot.system.hardware.base import HardwareBase, ThermalConfig, ThermalZone
+from openpilot.common.hardware.base import HardwareBase, ThermalConfig, ThermalZone
 from openpilot.common.esim.lpa import TiciLPA
-from openpilot.system.hardware.tici.pins import GPIO
-from openpilot.system.hardware.tici.amplifier import Amplifier
+from openpilot.common.hardware.tici.pins import GPIO
+from openpilot.common.hardware.tici.amplifier import Amplifier
 
 MODEM_STATE_PATH = "/dev/shm/modem"
 
diff --git a/system/hardware/tici/id_rsa b/common/hardware/tici/id_rsa
similarity index 100%
rename from system/hardware/tici/id_rsa
rename to common/hardware/tici/id_rsa
diff --git a/system/hardware/tici/modem.py b/common/hardware/tici/modem.py
similarity index 100%
rename from system/hardware/tici/modem.py
rename to common/hardware/tici/modem.py
diff --git a/system/hardware/tici/pins.py b/common/hardware/tici/pins.py
similarity index 100%
rename from system/hardware/tici/pins.py
rename to common/hardware/tici/pins.py
diff --git a/system/hardware/tici/power_monitor.py b/common/hardware/tici/power_monitor.py
similarity index 100%
rename from system/hardware/tici/power_monitor.py
rename to common/hardware/tici/power_monitor.py
diff --git a/common/hardware/tici/tests/__init__.py b/common/hardware/tici/tests/__init__.py
new file mode 100644
index 00000000000000..8b137891791fe9
--- /dev/null
+++ b/common/hardware/tici/tests/__init__.py
@@ -0,0 +1 @@
+
diff --git a/system/hardware/tici/tests/test_agnos_updater.py b/common/hardware/tici/tests/test_agnos_updater.py
similarity index 100%
rename from system/hardware/tici/tests/test_agnos_updater.py
rename to common/hardware/tici/tests/test_agnos_updater.py
diff --git a/system/hardware/tici/tests/test_amplifier.py b/common/hardware/tici/tests/test_amplifier.py
similarity index 93%
rename from system/hardware/tici/tests/test_amplifier.py
rename to common/hardware/tici/tests/test_amplifier.py
index 9ce00c3ff26c26..39628b53cca0b5 100644
--- a/system/hardware/tici/tests/test_amplifier.py
+++ b/common/hardware/tici/tests/test_amplifier.py
@@ -4,8 +4,8 @@
 import subprocess
 
 from panda import Panda
-from openpilot.system.hardware import TICI, HARDWARE
-from openpilot.system.hardware.tici.amplifier import Amplifier
+from openpilot.common.hardware import TICI, HARDWARE
+from openpilot.common.hardware.tici.amplifier import Amplifier
 
 
 class TestAmplifier:
diff --git a/system/hardware/tici/tests/test_power_draw.py b/common/hardware/tici/tests/test_power_draw.py
similarity index 98%
rename from system/hardware/tici/tests/test_power_draw.py
rename to common/hardware/tici/tests/test_power_draw.py
index 6656addf73bb53..ad27292945af7e 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/common/hardware/tici/tests/test_power_draw.py
@@ -10,7 +10,7 @@
 from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.mock import mock_messages
 from openpilot.common.params import Params
-from openpilot.system.hardware.tici.power_monitor import get_power
+from openpilot.common.hardware.tici.power_monitor import get_power
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.manager.manager import manager_cleanup
 
diff --git a/system/hardware/tici/updater b/common/hardware/tici/updater
similarity index 100%
rename from system/hardware/tici/updater
rename to common/hardware/tici/updater
diff --git a/common/params.cc b/common/params.cc
index 6af00fe95c0109..495feb0a99111a 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -12,7 +12,7 @@
 #include "common/queue.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 
 namespace {
 
diff --git a/common/prefix.h b/common/prefix.h
index de3a94d71f2072..89f346b9e50539 100644
--- a/common/prefix.h
+++ b/common/prefix.h
@@ -5,7 +5,7 @@
 
 #include "common/params.h"
 #include "common/util.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 
 class OpenpilotPrefix {
 public:
diff --git a/common/prefix.py b/common/prefix.py
index d0a5f926286935..d0be8997ae1ac6 100644
--- a/common/prefix.py
+++ b/common/prefix.py
@@ -5,9 +5,9 @@
 
 
 from openpilot.common.params import Params
-from openpilot.system.hardware import PC
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
+from openpilot.common.hardware import PC
+from openpilot.common.hardware.hw import Paths
+from openpilot.common.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
 class OpenpilotPrefix:
   def __init__(self, prefix: str | None = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
diff --git a/common/realtime.py b/common/realtime.py
index 91d2e165e909c8..e0b9e8a3a53c92 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -7,7 +7,7 @@
 from setproctitle import getproctitle
 
 from openpilot.common.utils import MovingAverage
-from openpilot.system.hardware import PC
+from openpilot.common.hardware import PC
 
 
 # time step for each process
diff --git a/common/swaglog.cc b/common/swaglog.cc
index df7ce94c146457..74c617fa611008 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -13,7 +13,7 @@
 #include <stdarg.h>
 #include "json11/json11.hpp"
 #include "common/version.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 
 class SwaglogState {
 public:
diff --git a/common/swaglog.py b/common/swaglog.py
index d009f00e76177d..ea72766fcb2744 100644
--- a/common/swaglog.py
+++ b/common/swaglog.py
@@ -8,7 +8,7 @@
 import zmq
 
 from openpilot.common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 
 def get_file_handler():
diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc
index 8142f8d63e295c..0c9cfcc1e6c92d 100644
--- a/common/tests/test_swaglog.cc
+++ b/common/tests/test_swaglog.cc
@@ -6,7 +6,7 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "common/version.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 #include "json11/json11.hpp"
 
 std::string daemon_name = "testy";
diff --git a/conftest.py b/conftest.py
index dd159129b6a15a..3719be93d3ab6c 100644
--- a/conftest.py
+++ b/conftest.py
@@ -5,7 +5,7 @@
 
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.system.manager import manager
-from openpilot.system.hardware import TICI, HARDWARE
+from openpilot.common.hardware import TICI, HARDWARE
 
 # these are heavy CI-only tests, invoked explicitly in .github/workflows/tests.yaml
 collect_ignore = [
diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index 5e7b4fa0db830c..46b0a5d0795abf 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -19,12 +19,12 @@ function agnos_init {
 
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
+    AGNOS_PY="$DIR/common/hardware/tici/agnos.py"
     MANIFEST="$DIR/system/hardware/tici/agnos.json"
     if $AGNOS_PY --verify $MANIFEST; then
       sudo reboot
     fi
-    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
+    $DIR/common/hardware/tici/updater $AGNOS_PY $MANIFEST
   fi
 }
 
diff --git a/scripts/disable-powersave.py b/scripts/disable-powersave.py
index 367b4108b0d28b..093275fd77f405 100755
--- a/scripts/disable-powersave.py
+++ b/scripts/disable-powersave.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 
 if __name__ == "__main__":
   HARDWARE.set_power_save(False)
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index dd0826e513d51e..035602b95520fc 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -20,7 +20,7 @@
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
-from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
+from openpilot.common.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 from openpilot.tools.lib.logreader import LogReader, LogsUnavailable, openpilotci_source, internal_source, comma_api_source
 from openpilot.tools.lib.route import SegmentName
 
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index 4423f39061f02f..c444d43983ec48 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -13,7 +13,7 @@
 
 from cereal import log, car
 import cereal.messaging as messaging
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py
index 0c4e227192174a..63ea2b5fab1fc9 100644
--- a/selfdrive/locationd/test/test_lagd.py
+++ b/selfdrive/locationd/test/test_lagd.py
@@ -10,7 +10,7 @@
 from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
 from openpilot.common.params import Params
 from openpilot.tools.lib.logreader import LogReader
-from openpilot.system.hardware import PC
+from openpilot.common.hardware import PC
 
 MAX_ERR_FRAMES = 1
 DT = 0.05
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 74adf0d93257cc..4a40173629e8a6 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -79,7 +79,7 @@ compile_modeld_script = [
   File(f"{modeld_dir}/compile_modeld.py"),
   File(f"{modeld_dir}/get_model_metadata.py"),
   File("#system/camerad/cameras/nv12_info.py"),
-  File("#system/hardware/hw.py"),
+  File("#common/hardware/hw.py"),
 ]
 model_w, model_h = MEDMODEL_INPUT_SIZE
 frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index 069e39091a1f68..35f92d344f0f64 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -265,7 +265,7 @@ def _parse_size(s):
 
 def read_file_chunked_to_shm(path):
   from openpilot.common.file_chunker import read_file_chunked
-  from openpilot.system.hardware.hw import Paths
+  from openpilot.common.hardware.hw import Paths
   with tempfile.NamedTemporaryFile(prefix='compile_modeld_', dir=Paths.shm_path(), delete=False) as f:
     f.write(read_file_chunked(path))
     tmp_path = f.name
diff --git a/selfdrive/pandad/main.cc b/selfdrive/pandad/main.cc
index ef30d6037c221e..08e88b6163bb39 100644
--- a/selfdrive/pandad/main.cc
+++ b/selfdrive/pandad/main.cc
@@ -3,7 +3,7 @@
 #include "selfdrive/pandad/pandad.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 
 int main(int argc, char *argv[]) {
   LOGW("starting pandad");
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index 7fbfcb5b18fbf0..657e36e6b816f8 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -15,7 +15,7 @@
 #include "common/swaglog.h"
 #include "common/timing.h"
 #include "common/util.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 
 #define MAX_IR_PANDA_VAL 50
 #define CUTOFF_IL 400
diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index 2400f8cd6c769d..443c25a7e5ea0d 100755
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -9,7 +9,7 @@
 from panda import Panda, PandaDFU, PandaProtocolMismatch, McuType, FW_PATH
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.common.swaglog import cloudlog
 
 
diff --git a/selfdrive/pandad/tests/test_pandad.py b/selfdrive/pandad/tests/test_pandad.py
index 9dacd3f5a88d40..88022dda8d2208 100644
--- a/selfdrive/pandad/tests/test_pandad.py
+++ b/selfdrive/pandad/tests/test_pandad.py
@@ -7,8 +7,8 @@
 from openpilot.common.gpio import gpio_set, gpio_init
 from panda import Panda, PandaDFU
 from openpilot.system.manager.process_config import managed_processes
-from openpilot.system.hardware import HARDWARE
-from openpilot.system.hardware.tici.pins import GPIO
+from openpilot.common.hardware import HARDWARE
+from openpilot.common.hardware.tici.pins import GPIO
 
 HERE = os.path.dirname(os.path.realpath(__file__))
 
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 99e25571bd1136..9a31e6f6b34990 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -13,7 +13,7 @@
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
 from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
 from openpilot.selfdrive.ui.feedback.feedbackd import FEEDBACK_MAX_DURATION
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index e376ea5c9c2c83..5fe45d927480e7 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -22,7 +22,7 @@
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
 
 from openpilot.system.version import get_build_metadata
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 266f66aaf24856..3e5616e702d9a6 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -12,7 +12,7 @@
 from openpilot.common.utils import tabulate
 
 from openpilot.common.git import get_commit
-from openpilot.system.hardware import PC
+from openpilot.common.hardware import PC
 from openpilot.tools.lib.openpilotci import get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 1edbc3e2d6b223..2f198b04766eaa 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -12,7 +12,7 @@
 from collections.abc import Callable, Iterable
 from tqdm import tqdm
 import capnp
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 import cereal.messaging as messaging
 from cereal import car
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index a08912fdef0fe3..99d0279c4c79ea 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -18,7 +18,7 @@
 from openpilot.common.params import Params
 from openpilot.selfdrive.selfdrived.events import EVENTS, ET
 from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.log_time_series import msgs_to_time_series
 
@@ -68,7 +68,7 @@
   "system.loggerd.deleter": 1.0,
   "./pandad": 19.0,
   "system.qcomgpsd.qcomgpsd": 1.0,
-  "system.hardware.tici.modem": 10.0,
+  "common.hardware.tici.modem": 10.0,
 }
 
 TIMINGS = {
diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc
index 176c2d510fbb72..07e824c649d8cd 100644
--- a/selfdrive/ui/installer/installer.cc
+++ b/selfdrive/ui/installer/installer.cc
@@ -5,7 +5,7 @@
 
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 #include "raylib.h"
 
 int freshClone();
diff --git a/selfdrive/ui/mici/layouts/offroad_alerts.py b/selfdrive/ui/mici/layouts/offroad_alerts.py
index de631f686c8f15..47a2ddde9508d0 100644
--- a/selfdrive/ui/mici/layouts/offroad_alerts.py
+++ b/selfdrive/ui/mici/layouts/offroad_alerts.py
@@ -7,7 +7,7 @@
 from openpilot.common.params import Params
 from openpilot.common.realtime import drop_realtime
 from openpilot.selfdrive.selfdrived.alertmanager import OFFROAD_ALERTS
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import Scroller
diff --git a/selfdrive/ui/mici/onroad/alert_renderer.py b/selfdrive/ui/mici/onroad/alert_renderer.py
index 7b006aaaeaa968..6505ca47c8d237 100644
--- a/selfdrive/ui/mici/onroad/alert_renderer.py
+++ b/selfdrive/ui/mici/onroad/alert_renderer.py
@@ -8,7 +8,7 @@
 from cereal import messaging, log, car
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import TICI
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
diff --git a/selfdrive/ui/mici/onroad/cameraview.py b/selfdrive/ui/mici/onroad/cameraview.py
index 86dd95f46659e7..991349dbf04457 100644
--- a/selfdrive/ui/mici/onroad/cameraview.py
+++ b/selfdrive/ui/mici/onroad/cameraview.py
@@ -4,7 +4,7 @@
 
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import TICI
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.egl import init_egl, create_egl_image, destroy_egl_image, bind_egl_image_to_texture, EGLImage
 from openpilot.system.ui.widgets import Widget
diff --git a/selfdrive/ui/onroad/alert_renderer.py b/selfdrive/ui/onroad/alert_renderer.py
index a81fbfc440b0df..cfb4bf66162fa1 100644
--- a/selfdrive/ui/onroad/alert_renderer.py
+++ b/selfdrive/ui/onroad/alert_renderer.py
@@ -3,7 +3,7 @@
 from dataclasses import dataclass
 from cereal import messaging, log
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import TICI
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.text_measure import measure_text_cached
diff --git a/selfdrive/ui/onroad/cameraview.py b/selfdrive/ui/onroad/cameraview.py
index 53c2ff8b0b699a..846bf20bbcb046 100644
--- a/selfdrive/ui/onroad/cameraview.py
+++ b/selfdrive/ui/onroad/cameraview.py
@@ -4,7 +4,7 @@
 
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import TICI
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.egl import init_egl, create_egl_image, destroy_egl_image, bind_egl_image_to_texture, EGLImage
 from openpilot.system.ui.widgets import Widget
diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index a6f5d2fc27999b..ca5c824c29876a 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -12,7 +12,7 @@
 from openpilot.common.swaglog import cloudlog
 
 from openpilot.system import micd
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 
 SAMPLE_RATE = 48000
 SAMPLE_BUFFER = 4096 # (approx 100ms)
diff --git a/selfdrive/ui/ui.py b/selfdrive/ui/ui.py
index e01ddb25132713..fc7e40920aa6d4 100755
--- a/selfdrive/ui/ui.py
+++ b/selfdrive/ui/ui.py
@@ -3,7 +3,7 @@
 import time
 
 from cereal import messaging
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import TICI
 from openpilot.common.realtime import Priority, config_realtime_process, set_core_affinity
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.layouts.main import MainLayout
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index 643054e508f531..d5b01427441fc9 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -10,7 +10,7 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.prime_state import PrimeState
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.hardware import HARDWARE, PC
+from openpilot.common.hardware import HARDWARE, PC
 
 BACKLIGHT_OFFROAD = 65 if HARDWARE.get_device_type() == "mici" else 50
 PARAM_UPDATE_TIME = 1 / 5.0
diff --git a/selfdrive/ui/widgets/offroad_alerts.py b/selfdrive/ui/widgets/offroad_alerts.py
index 110ca714a9d82e..88ccc5df7eee04 100644
--- a/selfdrive/ui/widgets/offroad_alerts.py
+++ b/selfdrive/ui/widgets/offroad_alerts.py
@@ -4,7 +4,7 @@
 from collections.abc import Callable
 from dataclasses import dataclass
 from openpilot.common.params import Params
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 6350b8a891d0bb..697819d0adfb49 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -35,11 +35,11 @@
 from openpilot.common.utils import CallbackReader, get_upload_stream
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
-from openpilot.system.hardware import HARDWARE, PC
+from openpilot.common.hardware import HARDWARE, PC
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_build_metadata
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
diff --git a/system/athena/manage_athenad.py b/system/athena/manage_athenad.py
index ee63606b666c1a..11fd11d4319f2c 100755
--- a/system/athena/manage_athenad.py
+++ b/system/athena/manage_athenad.py
@@ -6,7 +6,7 @@
 from openpilot.common.params import Params
 from openpilot.system.manager.process import launcher
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.system.version import get_build_metadata
 
 ATHENA_MGR_PID_PARAM = "AthenadPid"
diff --git a/system/athena/registration.py b/system/athena/registration.py
index 8548a544f517d8..0e8d4bc49eef2a 100755
--- a/system/athena/registration.py
+++ b/system/athena/registration.py
@@ -10,8 +10,8 @@
 from openpilot.common.params import Params
 from openpilot.common.spinner import Spinner
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.system.hardware import HARDWARE, PC
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware import HARDWARE, PC
+from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 
 
diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py
index 33b0113b327896..0e3ae68d4e0275 100644
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -22,7 +22,7 @@
 from openpilot.system.athena.athenad import MAX_RETRY_COUNT, UPLOAD_SESS, dispatcher
 from openpilot.system.athena.tests.helpers import HTTPRequestHandler, MockWebsocket, MockApi, EchoSocket
 from openpilot.selfdrive.test.helpers import http_server_context
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 
 def seed_athena_server(host, port):
diff --git a/system/athena/tests/test_athenad_ping.py b/system/athena/tests/test_athenad_ping.py
index 8ff1e37a5de7c9..7f442631629ec1 100644
--- a/system/athena/tests/test_athenad_ping.py
+++ b/system/athena/tests/test_athenad_ping.py
@@ -8,7 +8,7 @@
 from openpilot.common.timeout import Timeout
 from openpilot.system.athena import athenad
 from openpilot.system.manager.helpers import write_onroad_params
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import TICI
 
 TIMEOUT_TOLERANCE = 20  # seconds
 
diff --git a/system/athena/tests/test_registration.py b/system/athena/tests/test_registration.py
index f5d900d4db6e4d..bb1523de80ab85 100644
--- a/system/athena/tests/test_registration.py
+++ b/system/athena/tests/test_registration.py
@@ -5,7 +5,7 @@
 from openpilot.common.params import Params
 from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID
 from openpilot.system.athena.tests.helpers import MockResponse
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 
 class TestRegistration:
diff --git a/system/camerad/snapshot.py b/system/camerad/snapshot.py
index ec6cbc8ad3fd5c..241f027044ec57 100755
--- a/system/camerad/snapshot.py
+++ b/system/camerad/snapshot.py
@@ -9,7 +9,7 @@
 from msgq.visionipc import VisionIpcClient, VisionStreamType
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
-from openpilot.system.hardware import PC
+from openpilot.common.hardware import PC
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.system.manager.process_config import managed_processes
 
diff --git a/system/hardware/fan_controller.py b/system/hardware/fan_controller.py
index eafde599ade5e2..869fe19c3d6ff3 100755
--- a/system/hardware/fan_controller.py
+++ b/system/hardware/fan_controller.py
@@ -2,7 +2,7 @@
 import numpy as np
 
 from openpilot.common.pid import PIDController
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 
 # raise fan setpoint on tici/tizi to reduce noise
 # after raising LMH threshold in AGNOS 18.1 to prevent CPU throttling
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index d047ee37cddc1e..f8a9d3adde22f7 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -17,7 +17,7 @@
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_HW
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.system.hardware import HARDWARE, TICI, PC
+from openpilot.common.hardware import HARDWARE, TICI, PC
 from openpilot.system.loggerd.config import get_available_percent
 from openpilot.system.statsd import statlog
 from openpilot.common.swaglog import cloudlog
diff --git a/system/hardware/power_monitoring.py b/system/hardware/power_monitoring.py
index 161b5d23eff40d..ca43d9007b25ee 100644
--- a/system/hardware/power_monitoring.py
+++ b/system/hardware/power_monitoring.py
@@ -2,7 +2,7 @@
 import threading
 
 from openpilot.common.params import Params
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.statsd import statlog
 
diff --git a/system/hardware/tici/__init__.py b/system/hardware/tici/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
deleted file mode 100644
index 07e2079ec9f7d1..00000000000000
--- a/system/hardware/tici/agnos.json
+++ /dev/null
@@ -1,84 +0,0 @@
-[
-  {
-    "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb.img.xz",
-    "hash": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
-    "hash_raw": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
-    "size": 3282256,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "bea7f1a24428c3ededf672fa4fc78baf180cfbd8aafb77c974655b38517283e3"
-  },
-  {
-    "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85.img.xz",
-    "hash": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
-    "hash_raw": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
-    "size": 98124,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "fb18cde08a98a168961ecd357e92474823046752b94e112f59fe51a6acd7197d"
-  },
-  {
-    "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c.img.xz",
-    "hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
-    "hash_raw": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
-    "size": 274432,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c"
-  },
-  {
-    "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1.img.xz",
-    "hash": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
-    "hash_raw": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
-    "size": 184364,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "6c9135446bd3fc075fcee59b887a12e49029ab1f98ed8d6d1e32c73569d47de3"
-  },
-  {
-    "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc.img.xz",
-    "hash": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
-    "hash_raw": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
-    "size": 40336,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "2a67971602012c1b43544964709da13c322786b456a8e78568b117e8b1540ce3"
-  },
-  {
-    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8.img.xz",
-    "hash": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
-    "hash_raw": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
-    "size": 17487872,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "edca8bee1531e66953d107eeceeed2dc7b3ca46417e49d55508f94e58bf95db8"
-  },
-  {
-    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img.xz",
-    "hash": "78acfe16a7b62a3a91fc7a81f40a693e4468cec1c69df7d0b1e550aacc646113",
-    "hash_raw": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
-    "size": 4718592000,
-    "sparse": true,
-    "full_check": false,
-    "has_ab": true,
-    "ondevice_hash": "743142c5a898f27b2a1029cca42c8a5d5d1fc0096414422b850fe84c8d0b8342",
-    "alt": {
-      "hash": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img",
-      "size": 4718592000
-    }
-  }
-]
\ No newline at end of file
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
new file mode 120000
index 00000000000000..ffee992f25233c
--- /dev/null
+++ b/system/hardware/tici/agnos.json
@@ -0,0 +1 @@
+../../../common/hardware/tici/agnos.json
\ No newline at end of file
diff --git a/system/hardware/tici/tests/__init__.py b/system/hardware/tici/tests/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/system/loggerd/config.py b/system/loggerd/config.py
index e1c47c768df93f..0a8ee98390a82f 100644
--- a/system/loggerd/config.py
+++ b/system/loggerd/config.py
@@ -1,5 +1,5 @@
 import os
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 
 CAMERA_FPS = 20
diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py
index eb8fd35f21813c..6e9ac3657b2fca 100755
--- a/system/loggerd/deleter.py
+++ b/system/loggerd/deleter.py
@@ -2,7 +2,7 @@
 import os
 import shutil
 import threading
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.loggerd.config import get_available_bytes, get_available_percent
 from openpilot.system.loggerd.uploader import listdir_by_creation
diff --git a/system/loggerd/logger.h b/system/loggerd/logger.h
index 18d07b5f383237..dba7c2f44cde63 100644
--- a/system/loggerd/logger.h
+++ b/system/loggerd/logger.h
@@ -6,7 +6,7 @@
 
 #include "cereal/messaging/messaging.h"
 #include "common/util.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 #include "system/loggerd/zstd_writer.h"
 
 constexpr int LOG_COMPRESSION_LEVEL = 10;
diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index c5f253d8f5eb08..7877e9dbb888eb 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -6,7 +6,7 @@
 #include "cereal/messaging/messaging.h"
 #include "cereal/services.h"
 #include "msgq/visionipc/visionipc_client.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "common/util.h"
diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py
index fd071486dffc63..757b61d17e1ae3 100644
--- a/system/loggerd/tests/loggerd_tests_common.py
+++ b/system/loggerd/tests/loggerd_tests_common.py
@@ -6,7 +6,7 @@
 import openpilot.system.loggerd.deleter as deleter
 import openpilot.system.loggerd.uploader as uploader
 from openpilot.common.params import Params
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import setxattr
 
 
diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py
index 2b74fe2276bdc0..416c158ed30c5e 100644
--- a/system/loggerd/tests/test_encoder.py
+++ b/system/loggerd/tests/test_encoder.py
@@ -12,10 +12,10 @@
 
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import TICI
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogReader
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 SEGMENT_LENGTH = 2
 FULL_SIZE = 2507572
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index 9fd1b2d4343f74..882de583b4a61a 100644
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -15,8 +15,8 @@
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware.hw import Paths
+from openpilot.common.hardware import TICI
 from openpilot.system.loggerd.xattr_cache import getxattr
 from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
 from openpilot.system.manager.process_config import managed_processes
diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py
index 562bc068eb80e8..eec85eda2e2820 100644
--- a/system/loggerd/tests/test_uploader.py
+++ b/system/loggerd/tests/test_uploader.py
@@ -4,7 +4,7 @@
 import logging
 import json
 from pathlib import Path
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.loggerd.uploader import main, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index 8ac38b6df6a76d..809a302b6f2691 100755
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -15,7 +15,7 @@
 from openpilot.common.utils import get_upload_stream
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.common.swaglog import cloudlog
 
diff --git a/system/logmessaged.py b/system/logmessaged.py
index c095c261926b8c..a64a849b022ae4 100755
--- a/system/logmessaged.py
+++ b/system/logmessaged.py
@@ -4,7 +4,7 @@
 
 import cereal.messaging as messaging
 from openpilot.common.logging_extra import SwagLogFileFormatter
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import get_file_handler
 
 
diff --git a/system/manager/build.py b/system/manager/build.py
index 470cfccdaa706e..75a7dc63eb743a 100755
--- a/system/manager/build.py
+++ b/system/manager/build.py
@@ -6,7 +6,7 @@
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.spinner import Spinner
 from openpilot.common.text_window import TextWindow
-from openpilot.system.hardware import HARDWARE, AGNOS
+from openpilot.common.hardware import HARDWARE, AGNOS
 
 def build() -> None:
   spinner = Spinner()
diff --git a/system/manager/manager.py b/system/manager/manager.py
index d8f9a3d8fa02c0..cb84b9b8ca9ec6 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -12,14 +12,14 @@
 from openpilot.common.utils import atomic_write
 from openpilot.common.params import Params, ParamKeyFlag
 from openpilot.common.text_window import TextWindow
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
 from openpilot.system.manager.process import ensure_running
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID
 from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.version import get_build_metadata
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 
 def manager_init() -> None:
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index a442e4f860db7a..a099bc753a4eae 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -4,7 +4,7 @@
 
 from cereal import car
 from openpilot.common.params import Params
-from openpilot.system.hardware import PC, TICI
+from openpilot.common.hardware import PC, TICI
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
@@ -112,7 +112,7 @@ def not_(*fns):
   PythonProcess("lateral_maneuversd", "tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
   PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
   PythonProcess("hardwared", "system.hardware.hardwared", always_run),
-  PythonProcess("modem", "system.hardware.tici.modem", always_run, enabled=TICI),
+  PythonProcess("modem", "common.hardware.tici.modem", always_run, enabled=TICI),
   PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
   PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
   PythonProcess("uploader", "system.loggerd.uploader", always_run),
diff --git a/system/manager/test/test_manager.py b/system/manager/test/test_manager.py
index 34d07c6724cf7b..73c66ff3fc5ed8 100644
--- a/system/manager/test/test_manager.py
+++ b/system/manager/test/test_manager.py
@@ -8,7 +8,7 @@
 import openpilot.system.manager.manager as manager
 from openpilot.system.manager.process import ensure_running
 from openpilot.system.manager.process_config import managed_processes, procs
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 
 os.environ['FAKEUPLOAD'] = "1"
 
diff --git a/system/qcomgpsd/nmeaport.py b/system/qcomgpsd/nmeaport.py
index 10b8516ed09d7e..0e695b65e5cdce 100644
--- a/system/qcomgpsd/nmeaport.py
+++ b/system/qcomgpsd/nmeaport.py
@@ -119,7 +119,7 @@ def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn:
 
 def main() -> NoReturn:
   from openpilot.common.gpio import gpio_init, gpio_set
-  from openpilot.system.hardware.tici.pins import GPIO
+  from openpilot.common.hardware.tici.pins import GPIO
   from openpilot.system.qcomgpsd.qcomgpsd import at_cmd
 
   try:
diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py
index 7e0d30487206bb..78731f434b3b69 100755
--- a/system/qcomgpsd/qcomgpsd.py
+++ b/system/qcomgpsd/qcomgpsd.py
@@ -16,7 +16,7 @@
 from openpilot.common.gpio import gpio_init, gpio_set
 from openpilot.common.utils import retry
 from openpilot.common.time_helpers import system_time_valid
-from openpilot.system.hardware.tici.pins import GPIO
+from openpilot.common.hardware.tici.pins import GPIO
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.qcomgpsd.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
 from openpilot.system.qcomgpsd.structs import (dict_unpacker, position_report, relist,
diff --git a/system/sentry.py b/system/sentry.py
index 47d64ba0fde75a..ee9f813e25245a 100644
--- a/system/sentry.py
+++ b/system/sentry.py
@@ -5,7 +5,7 @@
 
 from openpilot.common.params import Params
 from openpilot.system.athena.registration import is_registered_device
-from openpilot.system.hardware import HARDWARE, PC
+from openpilot.common.hardware import HARDWARE, PC
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_build_metadata, get_version
 
diff --git a/system/statsd.py b/system/statsd.py
index 33e9e9912d4a1c..250780e018f03f 100755
--- a/system/statsd.py
+++ b/system/statsd.py
@@ -10,9 +10,9 @@
 
 from openpilot.common.params import Params
 from cereal.messaging import SubMaster
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.common.utils import atomic_write
 from openpilot.system.version import get_build_metadata
 from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py
index 9ccc8ef53bc25c..92bcd9d1ad698f 100644
--- a/system/tests/test_logmessaged.py
+++ b/system/tests/test_logmessaged.py
@@ -4,7 +4,7 @@
 
 import cereal.messaging as messaging
 from openpilot.system.manager.process_config import managed_processes
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog, ipchandler
 
 
diff --git a/system/tombstoned.py b/system/tombstoned.py
index 5bcced266629cf..88a2a879ed182d 100755
--- a/system/tombstoned.py
+++ b/system/tombstoned.py
@@ -10,7 +10,7 @@
 from typing import NoReturn
 
 import openpilot.system.sentry as sentry
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_build_metadata
 
diff --git a/system/ubloxd/pigeond.py b/system/ubloxd/pigeond.py
index e458a9d65f2373..fe2634e3338fc4 100755
--- a/system/ubloxd/pigeond.py
+++ b/system/ubloxd/pigeond.py
@@ -12,9 +12,9 @@
 from openpilot.common.time_helpers import system_time_valid
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import TICI
 from openpilot.common.gpio import gpio_init, gpio_set
-from openpilot.system.hardware.tici.pins import GPIO
+from openpilot.common.hardware.tici.pins import GPIO
 
 UBLOX_TTY = "/dev/ttyHS0"
 
diff --git a/system/ubloxd/tests/test_pigeond.py b/system/ubloxd/tests/test_pigeond.py
index 202820e4125125..fb979a9372b55c 100644
--- a/system/ubloxd/tests/test_pigeond.py
+++ b/system/ubloxd/tests/test_pigeond.py
@@ -6,7 +6,7 @@
 from openpilot.common.gpio import gpio_read
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.system.manager.process_config import managed_processes
-from openpilot.system.hardware.tici.pins import GPIO
+from openpilot.common.hardware.tici.pins import GPIO
 
 
 # TODO: test TTFF when we have good A-GNSS
diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index 2513086edddf79..bd2c9dfcd33298 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -18,7 +18,7 @@
 from typing import NamedTuple
 from importlib.resources import as_file, files
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import HARDWARE, PC
+from openpilot.common.hardware import HARDWARE, PC
 from openpilot.system.ui.lib.multilang import multilang
 from openpilot.common.realtime import Ratekeeper
 
diff --git a/system/ui/lib/scroll_panel2.py b/system/ui/lib/scroll_panel2.py
index 7fae60119c0d11..b6193672c42b86 100644
--- a/system/ui/lib/scroll_panel2.py
+++ b/system/ui/lib/scroll_panel2.py
@@ -5,7 +5,7 @@
 from enum import Enum
 from typing import cast
 from openpilot.system.ui.lib.application import gui_app, MouseEvent
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import TICI
 from collections import deque
 
 MIN_VELOCITY = 10  # px/s, changes from auto scroll to steady state
diff --git a/system/ui/mici_reset.py b/system/ui/mici_reset.py
index 9cc6e7f3f8ee27..90de7843f93665 100755
--- a/system/ui/mici_reset.py
+++ b/system/ui/mici_reset.py
@@ -7,7 +7,7 @@
 
 import pyray as rl
 
-from openpilot.system.hardware import HARDWARE, PC
+from openpilot.common.hardware import HARDWARE, PC
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.mici_setup import GreyBigButton, FailedPage
diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py
index 2a23e4c4fd6a0b..4df127f1b52988 100755
--- a/system/ui/mici_setup.py
+++ b/system/ui/mici_setup.py
@@ -13,7 +13,7 @@
 
 from cereal import log
 from openpilot.common.filter_simple import BounceFilter
-from openpilot.system.hardware import HARDWARE, TICI
+from openpilot.common.hardware import HARDWARE, TICI
 from openpilot.common.realtime import config_realtime_process, set_core_affinity
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.time_helpers import system_time_valid
diff --git a/system/ui/mici_updater.py b/system/ui/mici_updater.py
index 8437e6fa60c5dd..a072354cf0e177 100755
--- a/system/ui/mici_updater.py
+++ b/system/ui/mici_updater.py
@@ -5,7 +5,7 @@
 import pyray as rl
 
 from openpilot.common.realtime import config_realtime_process, set_core_affinity
-from openpilot.system.hardware import HARDWARE, TICI
+from openpilot.common.hardware import HARDWARE, TICI
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets.nav_widget import NavWidget
diff --git a/system/ui/text.py b/system/ui/text.py
index 17e8a507cb0b2a..f6bcf4eddfd3e3 100755
--- a/system/ui/text.py
+++ b/system/ui/text.py
@@ -2,7 +2,7 @@
 import re
 import sys
 import pyray as rl
-from openpilot.system.hardware import HARDWARE, PC
+from openpilot.common.hardware import HARDWARE, PC
 from openpilot.system.ui.lib.application import BIG_UI, gui_app
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.text_measure import measure_text_cached
diff --git a/system/ui/tici_reset.py b/system/ui/tici_reset.py
index a6603d547e6b42..cb5441a406be3c 100755
--- a/system/ui/tici_reset.py
+++ b/system/ui/tici_reset.py
@@ -7,7 +7,7 @@
 
 import pyray as rl
 
-from openpilot.system.hardware import PC
+from openpilot.common.hardware import PC
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
diff --git a/system/ui/tici_setup.py b/system/ui/tici_setup.py
index 9eefb6af537613..0e0c6fdc7c5791 100755
--- a/system/ui/tici_setup.py
+++ b/system/ui/tici_setup.py
@@ -11,7 +11,7 @@
 import pyray as rl
 
 from cereal import log
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.widgets import DialogResult, Widget
diff --git a/system/ui/tici_updater.py b/system/ui/tici_updater.py
index 3a3b0987d0e174..27cf6579a8b322 100755
--- a/system/ui/tici_updater.py
+++ b/system/ui/tici_updater.py
@@ -5,7 +5,7 @@
 import pyray as rl
 from enum import IntEnum
 
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.lib.wifi_manager import WifiManager
 from openpilot.system.ui.widgets import Widget
diff --git a/system/updated/tests/test_base.py b/system/updated/tests/test_base.py
index db38bfa840aef4..315aebbbe6b4cf 100644
--- a/system/updated/tests/test_base.py
+++ b/system/updated/tests/test_base.py
@@ -233,10 +233,10 @@ def test_agnos_update(self, mocker):
     self.setup_basedir_release("release3")
 
     with self.additional_context(), processes_context(["updated"]) as [updated]:
-      mocker.patch("openpilot.system.hardware.AGNOS", "True")
-      mocker.patch("openpilot.system.hardware.tici.hardware.Tici.get_os_version", "1.2")
-      mocker.patch("openpilot.system.hardware.tici.agnos.get_target_slot_number")
-      mocker.patch("openpilot.system.hardware.tici.agnos.flash_agnos_update")
+      mocker.patch("openpilot.common.hardware.AGNOS", "True")
+      mocker.patch("openpilot.common.hardware.tici.hardware.Tici.get_os_version", "1.2")
+      mocker.patch("openpilot.common.hardware.tici.agnos.get_target_slot_number")
+      mocker.patch("openpilot.common.hardware.tici.agnos.flash_agnos_update")
 
       self._test_params("release3", False, False)
       self.wait_for_idle()
diff --git a/system/updated/updated.py b/system/updated/updated.py
index 25821e3732e077..e40bc44e764265 100755
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -18,7 +18,7 @@
 from openpilot.common.markdown import parse_markdown
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.system.hardware import AGNOS, HARDWARE
+from openpilot.common.hardware import AGNOS, HARDWARE
 from openpilot.system.version import get_build_metadata
 
 LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock")
@@ -204,7 +204,7 @@ def finalize_update() -> None:
 
 
 def handle_agnos_update() -> None:
-  from openpilot.system.hardware.tici.agnos import flash_agnos_update, get_target_slot_number
+  from openpilot.common.hardware.tici.agnos import flash_agnos_update, get_target_slot_number
 
   cur_version = HARDWARE.get_os_version()
   updated_version = run(["bash", "-c", r"unset AGNOS_VERSION && source launch_env.sh && \
diff --git a/tools/jotpluggler/app.cc b/tools/jotpluggler/app.cc
index 22a9f9021c0081..f80443e56929c4 100644
--- a/tools/jotpluggler/app.cc
+++ b/tools/jotpluggler/app.cc
@@ -3,7 +3,7 @@
 #include "tools/jotpluggler/common.h"
 #include "tools/jotpluggler/internal.h"
 #include "tools/jotpluggler/map.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 #include "imgui_impl_glfw.h"
 
 #include "imgui_internal.h"
diff --git a/tools/jotpluggler/layout.cc b/tools/jotpluggler/layout.cc
index 0d3b82c25461fb..bf2a3f208cc116 100644
--- a/tools/jotpluggler/layout.cc
+++ b/tools/jotpluggler/layout.cc
@@ -1,5 +1,5 @@
 #include "tools/jotpluggler/internal.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 
 #include <unistd.h>
 
diff --git a/tools/joystick/joystick_control.py b/tools/joystick/joystick_control.py
index b1f14043b759ae..d9d4f0156fa521 100755
--- a/tools/joystick/joystick_control.py
+++ b/tools/joystick/joystick_control.py
@@ -8,7 +8,7 @@
 from cereal import messaging
 from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.tools.lib.kbhit import KBHit
 
 EXPO = 0.4
diff --git a/tools/lateral_maneuvers/generate_report.py b/tools/lateral_maneuvers/generate_report.py
index c2ef7e99ea99d9..5db486a70d4412 100755
--- a/tools/lateral_maneuvers/generate_report.py
+++ b/tools/lateral_maneuvers/generate_report.py
@@ -15,7 +15,7 @@
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LP_FILTER_CUTOFF_HZ
 from openpilot.tools.lib.logreader import LogReader
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.common.constants import CV
 from openpilot.tools.longitudinal_maneuvers.generate_report import format_car_params
 
diff --git a/tools/lib/auth_config.py b/tools/lib/auth_config.py
index c4e7b6261b8b0b..5966bd34a9bfa7 100644
--- a/tools/lib/auth_config.py
+++ b/tools/lib/auth_config.py
@@ -1,6 +1,6 @@
 import json
 import os
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 
 class MissingAuthConfigError(Exception):
diff --git a/tools/lib/file_downloader.py b/tools/lib/file_downloader.py
index 5b31a5894cf265..68061b201eea80 100755
--- a/tools/lib/file_downloader.py
+++ b/tools/lib/file_downloader.py
@@ -17,7 +17,7 @@
 import tempfile
 import shutil
 
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.tools.lib.api import CommaApi, UnauthorizedError, APIError
 from openpilot.tools.lib.auth_config import get_token
 from openpilot.tools.lib.url_file import URLFile
diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py
index cb14098e6dcbca..0753ef1d3cc9a9 100644
--- a/tools/lib/tests/test_caching.py
+++ b/tools/lib/tests/test_caching.py
@@ -6,7 +6,7 @@
 import pytest
 
 from openpilot.selfdrive.test.helpers import http_server_context
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.tools.lib.url_file import URLFile, prune_cache
 import openpilot.tools.lib.url_file as url_file_module
 
diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py
index de120704659620..3f72429b94e6c3 100644
--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@@ -9,7 +9,7 @@
 from urllib3.util import Timeout
 
 from openpilot.common.utils import atomic_write
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from urllib3.exceptions import MaxRetryError
 
 #  Cache chunk size
diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index 32bdb5b1c4cb09..dbd9f6db91abda 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -12,7 +12,7 @@
 from openpilot.common.utils import tabulate
 
 from openpilot.tools.lib.logreader import LogReader
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 
 def format_car_params(CP):
diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc
index a643f0d3a78229..52db658add6dcd 100644
--- a/tools/replay/framereader.cc
+++ b/tools/replay/framereader.cc
@@ -9,7 +9,7 @@
 #include "libyuv.h"
 #include "tools/replay/py_downloader.h"
 #include "tools/replay/util.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 
 #ifdef __APPLE__
 #define HW_DEVICE_TYPE AV_HWDEVICE_TYPE_VIDEOTOOLBOX
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index df4fa813cf4571..1560f1dce8db3f 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -5,7 +5,7 @@
 #include <regex>
 
 #include "json11/json11.hpp"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 #include "tools/replay/py_downloader.h"
 #include "tools/replay/replay.h"
 #include "tools/replay/util.h"
diff --git a/tools/scripts/ssh.py b/tools/scripts/ssh.py
index e454afb6912f65..33eac4081d1869 100755
--- a/tools/scripts/ssh.py
+++ b/tools/scripts/ssh.py
@@ -14,7 +14,7 @@
   parser.add_argument("device", help="device name or dongle id")
   parser.add_argument("--host", help="ssh jump server host", default="ssh.comma.ai")
   parser.add_argument("--port", help="ssh jump server port", default=22, type=int)
-  parser.add_argument("--key", help="ssh key", default=os.path.join(BASEDIR, "system/hardware/tici/id_rsa"))
+  parser.add_argument("--key", help="ssh key", default=os.path.join(BASEDIR, "common/hardware/tici/id_rsa"))
   parser.add_argument("--debug", help="enable debug output", action="store_true")
   args = parser.parse_args()
 
diff --git a/tools/scripts/uiview.py b/tools/scripts/uiview.py
index e558406b09dc2e..a8d50e7f99a1fa 100755
--- a/tools/scripts/uiview.py
+++ b/tools/scripts/uiview.py
@@ -4,7 +4,7 @@
 from cereal import car, log, messaging
 from openpilot.common.params import Params
 from openpilot.system.manager.process_config import managed_processes
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 
 if __name__ == "__main__":
   CP = car.CarParams(notCar=True, wheelbase=1, steerRatio=10)

From e0e9f1a4d3a81be461e960e804f85735faa40fed Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 20 Jun 2026 16:12:54 -0700
Subject: [PATCH 1227/1434] move test_power_draw.py

---
 Jenkinsfile                                                     | 2 +-
 .../hardware/tici/tests => selfdrive/test}/test_power_draw.py   | 0
 2 files changed, 1 insertion(+), 1 deletion(-)
 rename {common/hardware/tici/tests => selfdrive/test}/test_power_draw.py (100%)

diff --git a/Jenkinsfile b/Jenkinsfile
index 6291f5beb0722f..90f86b19674027 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -210,7 +210,7 @@ node {
       'HW + Unit Tests': {
         deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
-          step("test power draw", "pytest -s common/hardware/tici/tests/test_power_draw.py"),
+          step("test power draw", "pytest -s selfdrive/test//test_power_draw.py"),
           step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
           step("test manager", "pytest system/manager/test/test_manager.py"),
         ])
diff --git a/common/hardware/tici/tests/test_power_draw.py b/selfdrive/test/test_power_draw.py
similarity index 100%
rename from common/hardware/tici/tests/test_power_draw.py
rename to selfdrive/test/test_power_draw.py

From 7cee534b722799aa067166987efef99d634c7c99 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 20 Jun 2026 16:16:15 -0700
Subject: [PATCH 1228/1434] rm dead scripts

---
 scripts/cell.sh             |  3 ---
 scripts/stop_updater.sh     |  7 -------
 scripts/usb.sh              | 12 ------------
 scripts/usbgpu/benchmark.sh | 26 --------------------------
 4 files changed, 48 deletions(-)
 delete mode 100755 scripts/cell.sh
 delete mode 100755 scripts/stop_updater.sh
 delete mode 100755 scripts/usb.sh
 delete mode 100755 scripts/usbgpu/benchmark.sh

diff --git a/scripts/cell.sh b/scripts/cell.sh
deleted file mode 100755
index 310a9694fd044b..00000000000000
--- a/scripts/cell.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-#!/usr/bin/env bash
-nmcli connection modify --temporary esim ipv4.route-metric 1 ipv6.route-metric 1
-nmcli con up esim
diff --git a/scripts/stop_updater.sh b/scripts/stop_updater.sh
deleted file mode 100755
index 703b3639282a48..00000000000000
--- a/scripts/stop_updater.sh
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/usr/bin/env sh
-
-# Stop updater
-pkill -2 -f system.updated.updated
-
-# Remove pending update
-rm -f /data/safe_staging/finalized/.overlay_consistent
diff --git a/scripts/usb.sh b/scripts/usb.sh
deleted file mode 100755
index 5796cfa028b526..00000000000000
--- a/scripts/usb.sh
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/usr/bin/env bash
-
-# testing the GPU box
-
-export XDG_CACHE_HOME=/data/tinycache
-mkdir -p $XDG_CACHE_HOME
-
-cd /data/openpilot/tinygrad_repo/examples
-while true; do
-  AMD=1 AMD_IFACE=usb python ./beautiful_cartpole.py
-  sleep 1
-done
diff --git a/scripts/usbgpu/benchmark.sh b/scripts/usbgpu/benchmark.sh
deleted file mode 100755
index 04a76d054e7ab4..00000000000000
--- a/scripts/usbgpu/benchmark.sh
+++ /dev/null
@@ -1,26 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd $DIR/../../tinygrad_repo
-
-GREEN='\033[0;32m'
-NC='\033[0m'
-
-
-#export DEBUG=2
-export PYTHONPATH=.
-export AM_RESET=1
-export AMD=1
-export AMD_IFACE=USB
-export AMD_LLVM=1
-
-python3 -m unittest -q --buffer test.test_tiny.TestTiny.test_plus \
-  > /tmp/test_tiny.log 2>&1 || (cat /tmp/test_tiny.log; exit 1)
-printf "${GREEN}Booted in ${SECONDS}s${NC}\n"
-printf "${GREEN}=============${NC}\n"
-
-printf "\n\n"
-printf "${GREEN}Transfer speeds:${NC}\n"
-printf "${GREEN}================${NC}\n"
-python3 test/external/external_test_usb_asm24.py TestDevCopySpeeds

From f0831e549b4a015eb60f5740453b12b88da886b3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 20 Jun 2026 16:20:05 -0700
Subject: [PATCH 1229/1434] rm dead updated tests

---
 system/updated/tests/test_base.py    | 259 ---------------------------
 system/updated/tests/test_git.py     |  22 ---
 system/updated/tests/test_updated.py |  38 ----
 3 files changed, 319 deletions(-)
 delete mode 100644 system/updated/tests/test_base.py
 delete mode 100644 system/updated/tests/test_git.py
 delete mode 100644 system/updated/tests/test_updated.py

diff --git a/system/updated/tests/test_base.py b/system/updated/tests/test_base.py
deleted file mode 100644
index 315aebbbe6b4cf..00000000000000
--- a/system/updated/tests/test_base.py
+++ /dev/null
@@ -1,259 +0,0 @@
-import os
-import pathlib
-import shutil
-import signal
-import stat
-import subprocess
-import tempfile
-import time
-import pytest
-
-from openpilot.common.params import Params
-from openpilot.system.manager.process import ManagerProcess
-from openpilot.selfdrive.test.helpers import processes_context
-
-
-def get_consistent_flag(path: str) -> bool:
-  consistent_file = pathlib.Path(os.path.join(path, ".overlay_consistent"))
-  return consistent_file.is_file()
-
-
-def run(args, **kwargs):
-  return subprocess.check_output(args, **kwargs)
-
-
-def update_release(directory, name, version, agnos_version, release_notes):
-  with open(directory / "RELEASES.md", "w") as f:
-    f.write(release_notes)
-
-  (directory / "common").mkdir(exist_ok=True)
-
-  with open(directory / "common" / "version.h", "w") as f:
-    f.write(f'#define COMMA_VERSION "{version}"')
-
-  launch_env = directory / "launch_env.sh"
-  with open(launch_env, "w") as f:
-    f.write(f'export AGNOS_VERSION="{agnos_version}"')
-
-  st = os.stat(launch_env)
-  os.chmod(launch_env, st.st_mode | stat.S_IEXEC)
-
-  test_symlink = directory / "test_symlink"
-  if not os.path.exists(str(test_symlink)):
-    os.symlink("common/version.h", test_symlink)
-
-
-def get_version(path: str) -> str:
-  with open(os.path.join(path, "common", "version.h")) as f:
-    return f.read().split('"')[1]
-
-
-@pytest.mark.slow # TODO: can we test overlayfs in GHA?
-class TestBaseUpdate:
-  @classmethod
-  def setup_class(cls):
-    if "Base" in cls.__name__:
-      pytest.skip()
-
-  def setup_method(self):
-    self.tmpdir = tempfile.mkdtemp()
-
-    run(["sudo", "mount", "-t", "tmpfs", "tmpfs", self.tmpdir]) # overlayfs doesn't work inside of docker unless this is a tmpfs
-
-    self.mock_update_path = pathlib.Path(self.tmpdir)
-
-    self.params = Params()
-
-    self.basedir = self.mock_update_path / "openpilot"
-    self.basedir.mkdir()
-
-    self.staging_root = self.mock_update_path / "safe_staging"
-    self.staging_root.mkdir()
-
-    self.remote_dir = self.mock_update_path / "remote"
-    self.remote_dir.mkdir()
-
-    os.environ["UPDATER_STAGING_ROOT"] = str(self.staging_root)
-    os.environ["UPDATER_LOCK_FILE"] = str(self.mock_update_path / "safe_staging_overlay.lock")
-
-    self.MOCK_RELEASES = {
-      "release3": ("0.1.2", "1.2", "0.1.2 release notes"),
-      "master": ("0.1.3", "1.2", "0.1.3 release notes"),
-    }
-
-  @pytest.fixture(autouse=True)
-  def mock_basedir(self, mocker):
-    mocker.patch("openpilot.common.basedir.BASEDIR", self.basedir)
-
-  def set_target_branch(self, branch):
-    self.params.put("UpdaterTargetBranch", branch, block=True)
-
-  def setup_basedir_release(self, release):
-    self.params = Params()
-    self.set_target_branch(release)
-
-  def update_remote_release(self, release):
-    raise NotImplementedError("")
-
-  def setup_remote_release(self, release):
-    raise NotImplementedError("")
-
-  def additional_context(self):
-    raise NotImplementedError("")
-
-  def teardown_method(self):
-    try:
-      run(["sudo", "umount", "-l", str(self.staging_root / "merged")])
-      run(["sudo", "umount", "-l", self.tmpdir])
-      shutil.rmtree(self.tmpdir)
-    except Exception:
-      print("cleanup failed...")
-
-  def wait_for_condition(self, condition, timeout=12):
-    start = time.monotonic()
-    while True:
-      waited = time.monotonic() - start
-      if condition():
-        print(f"waited {waited}s for condition ")
-        return waited
-
-      if waited > timeout:
-        raise TimeoutError("timed out waiting for condition")
-
-      time.sleep(1)
-
-  def _test_finalized_update(self, branch, version, agnos_version, release_notes):
-    assert get_version(str(self.staging_root / "finalized")) == version
-    assert get_consistent_flag(str(self.staging_root / "finalized"))
-    assert os.access(str(self.staging_root / "finalized" / "launch_env.sh"), os.X_OK)
-
-    with open(self.staging_root / "finalized" / "test_symlink") as f:
-      assert version in f.read()
-
-class ParamsBaseUpdateTest(TestBaseUpdate):
-  def _test_finalized_update(self, branch, version, agnos_version, release_notes):
-    assert self.params.get("UpdaterNewDescription").startswith(f"{version} / {branch}")
-    assert self.params.get("UpdaterNewReleaseNotes") == f"{release_notes}\n".encode()
-    super()._test_finalized_update(branch, version, agnos_version, release_notes)
-
-  def send_check_for_updates_signal(self, updated: ManagerProcess):
-    updated.signal(signal.SIGUSR1.value)
-
-  def send_download_signal(self, updated: ManagerProcess):
-    updated.signal(signal.SIGHUP.value)
-
-  def _test_params(self, branch, fetch_available, update_available):
-    assert self.params.get("UpdaterTargetBranch") == branch
-    assert self.params.get_bool("UpdaterFetchAvailable") == fetch_available
-    assert self.params.get_bool("UpdateAvailable") == update_available
-
-  def wait_for_idle(self):
-    self.wait_for_condition(lambda: self.params.get("UpdaterState") == "idle")
-
-  def wait_for_failed(self):
-    self.wait_for_condition(lambda: self.params.get("UpdateFailedCount") is not None and \
-                                              self.params.get("UpdateFailedCount") > 0)
-
-  def wait_for_fetch_available(self):
-    self.wait_for_condition(lambda: self.params.get_bool("UpdaterFetchAvailable"))
-
-  def wait_for_update_available(self):
-    self.wait_for_condition(lambda: self.params.get_bool("UpdateAvailable"))
-
-  def test_no_update(self):
-    # Start on release3, ensure we don't fetch any updates
-    self.setup_remote_release("release3")
-    self.setup_basedir_release("release3")
-
-    with self.additional_context(), processes_context(["updated"]) as [updated]:
-      self._test_params("release3", False, False)
-      self.wait_for_idle()
-      self._test_params("release3", False, False)
-
-      self.send_check_for_updates_signal(updated)
-
-      self.wait_for_idle()
-
-      self._test_params("release3", False, False)
-
-  def test_new_release(self):
-    # Start on release3, simulate a release3 commit, ensure we fetch that update properly
-    self.setup_remote_release("release3")
-    self.setup_basedir_release("release3")
-
-    with self.additional_context(), processes_context(["updated"]) as [updated]:
-      self._test_params("release3", False, False)
-      self.wait_for_idle()
-      self._test_params("release3", False, False)
-
-      self.MOCK_RELEASES["release3"] = ("0.1.3", "1.2", "0.1.3 release notes")
-      self.update_remote_release("release3")
-
-      self.send_check_for_updates_signal(updated)
-
-      self.wait_for_fetch_available()
-
-      self._test_params("release3", True, False)
-
-      self.send_download_signal(updated)
-
-      self.wait_for_update_available()
-
-      self._test_params("release3", False, True)
-      self._test_finalized_update("release3", *self.MOCK_RELEASES["release3"])
-
-  def test_switch_branches(self):
-    # Start on release3, request to switch to master manually, ensure we switched
-    self.setup_remote_release("release3")
-    self.setup_remote_release("master")
-    self.setup_basedir_release("release3")
-
-    with self.additional_context(), processes_context(["updated"]) as [updated]:
-      self._test_params("release3", False, False)
-      self.wait_for_idle()
-      self._test_params("release3", False, False)
-
-      self.set_target_branch("master")
-      self.send_check_for_updates_signal(updated)
-
-      self.wait_for_fetch_available()
-
-      self._test_params("master", True, False)
-
-      self.send_download_signal(updated)
-
-      self.wait_for_update_available()
-
-      self._test_params("master", False, True)
-      self._test_finalized_update("master", *self.MOCK_RELEASES["master"])
-
-  def test_agnos_update(self, mocker):
-    # Start on release3, push an update with an agnos change
-    self.setup_remote_release("release3")
-    self.setup_basedir_release("release3")
-
-    with self.additional_context(), processes_context(["updated"]) as [updated]:
-      mocker.patch("openpilot.common.hardware.AGNOS", "True")
-      mocker.patch("openpilot.common.hardware.tici.hardware.Tici.get_os_version", "1.2")
-      mocker.patch("openpilot.common.hardware.tici.agnos.get_target_slot_number")
-      mocker.patch("openpilot.common.hardware.tici.agnos.flash_agnos_update")
-
-      self._test_params("release3", False, False)
-      self.wait_for_idle()
-      self._test_params("release3", False, False)
-
-      self.MOCK_RELEASES["release3"] = ("0.1.3", "1.3", "0.1.3 release notes")
-      self.update_remote_release("release3")
-
-      self.send_check_for_updates_signal(updated)
-
-      self.wait_for_fetch_available()
-
-      self._test_params("release3", True, False)
-
-      self.send_download_signal(updated)
-
-      self.wait_for_update_available()
-
-      self._test_params("release3", False, True)
-      self._test_finalized_update("release3", *self.MOCK_RELEASES["release3"])
diff --git a/system/updated/tests/test_git.py b/system/updated/tests/test_git.py
deleted file mode 100644
index 5a5a27000b0c18..00000000000000
--- a/system/updated/tests/test_git.py
+++ /dev/null
@@ -1,22 +0,0 @@
-import contextlib
-from openpilot.system.updated.tests.test_base import ParamsBaseUpdateTest, run, update_release
-
-
-class TestUpdateDGitStrategy(ParamsBaseUpdateTest):
-  def update_remote_release(self, release):
-    update_release(self.remote_dir, release, *self.MOCK_RELEASES[release])
-    run(["git", "add", "."], cwd=self.remote_dir)
-    run(["git", "commit", "-m", f"openpilot release {release}"], cwd=self.remote_dir)
-
-  def setup_remote_release(self, release):
-    run(["git", "init"], cwd=self.remote_dir)
-    run(["git", "checkout", "-b", release], cwd=self.remote_dir)
-    self.update_remote_release(release)
-
-  def setup_basedir_release(self, release):
-    super().setup_basedir_release(release)
-    run(["git", "clone", "-b", release, self.remote_dir, self.basedir])
-
-  @contextlib.contextmanager
-  def additional_context(self):
-    yield
diff --git a/system/updated/tests/test_updated.py b/system/updated/tests/test_updated.py
deleted file mode 100644
index 18ee0e706a4506..00000000000000
--- a/system/updated/tests/test_updated.py
+++ /dev/null
@@ -1,38 +0,0 @@
-import pytest
-
-from openpilot.common.params import Params
-from openpilot.system.updated.updated import Updater
-
-
-@pytest.mark.parametrize(("device_type", "branch", "expected"), [
-  ("tizi", "release3", "release-tizi"),
-  ("tizi", "release3-staging", "release-tizi-staging"),
-  ("mici", "release3", "release-mici"),
-  ("mici", "release3-staging", "release-mici-staging"),
-])
-def test_target_branch_migration_from_current_branch(mocker, device_type, branch, expected):
-  params = Params()
-  params.remove("UpdaterTargetBranch")
-
-  mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
-  mocker.patch.object(Updater, "get_branch", return_value=branch)
-
-  assert Updater().target_branch == expected
-
-
-@pytest.mark.parametrize(("device_type", "branch", "expected"), [
-  ("tizi", "release3", "release-tizi"),
-  ("tizi", "release3-staging", "release-tizi-staging"),
-  ("mici", "release3", "release-mici"),
-  ("mici", "release3-staging", "release-mici-staging"),
-])
-def test_target_branch_migration_from_param(mocker, device_type, branch, expected):
-  params = Params()
-  params.put("UpdaterTargetBranch", branch, block=True)
-
-  mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
-
-  try:
-    assert Updater().target_branch == expected
-  finally:
-    params.remove("UpdaterTargetBranch")

From b871364e1f48af04113f05c0f6604a9c42f57ac7 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 20 Jun 2026 16:22:37 -0700
Subject: [PATCH 1230/1434] remove rest of docker (#38203)

---
 .dockerignore                   | 18 ---------------
 .github/workflows/prebuilt.yaml | 39 ---------------------------------
 Dockerfile.openpilot            | 38 --------------------------------
 selfdrive/test/.gitignore       |  1 -
 selfdrive/test/docker_build.sh  | 30 -------------------------
 5 files changed, 126 deletions(-)
 delete mode 100644 .dockerignore
 delete mode 100644 .github/workflows/prebuilt.yaml
 delete mode 100644 Dockerfile.openpilot
 delete mode 100755 selfdrive/test/docker_build.sh

diff --git a/.dockerignore b/.dockerignore
deleted file mode 100644
index 631ea048403903..00000000000000
--- a/.dockerignore
+++ /dev/null
@@ -1,18 +0,0 @@
-**/.git
-.DS_Store
-*.dylib
-*.DSYM
-*.d
-*.pyc
-*.pyo
-.*.swp
-.*.swo
-.*.un~
-*.tmp
-*.o
-*.o-*
-*.os
-*.os-*
-
-venv/
-.venv/
diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
deleted file mode 100644
index ecf1e8503aee57..00000000000000
--- a/.github/workflows/prebuilt.yaml
+++ /dev/null
@@ -1,39 +0,0 @@
-name: prebuilt
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: selfdrive/test/docker_build.sh
-
-jobs:
-  build_prebuilt:
-    name: build prebuilt
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    env:
-      PUSH_IMAGE: true
-    permissions:
-      checks: read
-      contents: read
-      packages: write
-    steps:
-    - name: Wait for green check mark
-      if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
-      with:
-        ref: master
-        wait-interval: 30
-        running-workflow-name: 'build prebuilt'
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci|create badges).*).)*$
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: git lfs pull
-    - name: Build and Push docker image
-      run: |
-        $DOCKER_LOGIN
-        eval "$BUILD"
diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot
deleted file mode 100644
index 72d874b022b690..00000000000000
--- a/Dockerfile.openpilot
+++ /dev/null
@@ -1,38 +0,0 @@
-FROM ubuntu:24.04
-
-ENV PYTHONUNBUFFERED=1
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
-
-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-
-ARG USER=batman
-ARG USER_UID=1001
-RUN useradd -m -s /bin/bash -u $USER_UID $USER
-RUN usermod -aG sudo $USER
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
-USER $USER
-
-ENV OPENPILOT_PATH=/home/$USER/openpilot
-RUN mkdir -p ${OPENPILOT_PATH}
-WORKDIR ${OPENPILOT_PATH}
-
-COPY --chown=$USER . ${OPENPILOT_PATH}/
-
-ENV UV_BIN="/home/$USER/.local/bin/"
-ENV VIRTUAL_ENV=${OPENPILOT_PATH}/.venv
-ENV PATH="$UV_BIN:$VIRTUAL_ENV/bin:$PATH"
-RUN tools/setup_dependencies.sh && \
-    sudo rm -rf /var/lib/apt/lists/*
-
-USER root
-RUN git config --global --add safe.directory '*'
diff --git a/selfdrive/test/.gitignore b/selfdrive/test/.gitignore
index b8c6bebd953635..377696afaeef1d 100644
--- a/selfdrive/test/.gitignore
+++ b/selfdrive/test/.gitignore
@@ -1,5 +1,4 @@
 out/
-docker_out/
 
 process_replay/diff.txt
 process_replay/model_diff.txt
diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh
deleted file mode 100755
index 8d1fa82249874e..00000000000000
--- a/selfdrive/test/docker_build.sh
+++ /dev/null
@@ -1,30 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-SCRIPT_DIR=$(dirname "$0")
-OPENPILOT_DIR=$SCRIPT_DIR/../../
-
-DOCKER_IMAGE=openpilot
-DOCKER_FILE=Dockerfile.openpilot
-DOCKER_REGISTRY=ghcr.io/commaai
-COMMIT_SHA=$(git rev-parse HEAD)
-
-if [ -n "$TARGET_ARCHITECTURE" ]; then
-  PLATFORM="linux/$TARGET_ARCHITECTURE"
-  TAG_SUFFIX="-$TARGET_ARCHITECTURE"
-else
-  PLATFORM="linux/$(uname -m)"
-  TAG_SUFFIX=""
-fi
-
-LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX
-REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
-REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA
-
-DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
-
-if [ -n "$PUSH_IMAGE" ]; then
-  docker push $REMOTE_TAG
-  docker tag $REMOTE_TAG $REMOTE_SHA_TAG
-  docker push $REMOTE_SHA_TAG
-fi

From fddb9fb31c406081a33d9f86d933d2ce880156a0 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 20 Jun 2026 16:35:28 -0700
Subject: [PATCH 1231/1434] remove statsd (#38204)

---
 common/hardware/hw.py               |   7 --
 selfdrive/test/test_onroad.py       |   1 -
 system/athena/athenad.py            |  30 -----
 system/hardware/hardwared.py        |  21 ----
 system/hardware/power_monitoring.py |   2 -
 system/loggerd/config.py            |   4 -
 system/manager/process_config.py    |   1 -
 system/statsd.py                    | 183 ----------------------------
 8 files changed, 249 deletions(-)
 delete mode 100755 system/statsd.py

diff --git a/common/hardware/hw.py b/common/hardware/hw.py
index 2c649db9ebfc0f..1041a17c1c7fc4 100644
--- a/common/hardware/hw.py
+++ b/common/hardware/hw.py
@@ -44,13 +44,6 @@ def persist_root() -> str:
     else:
       return "/persist/"
 
-  @staticmethod
-  def stats_root() -> str:
-    if PC:
-      return str(Path(Paths.comma_home()) / "stats")
-    else:
-      return "/data/stats/"
-
   @staticmethod
   def config_root() -> str:
     if PC:
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 99d0279c4c79ea..974859a23cb3e6 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -63,7 +63,6 @@
   "system.micd": 5.0,
   "system.timed": 0,
   "selfdrive.pandad.pandad": 0,
-  "system.statsd": 1.0,
   "system.loggerd.uploader": 15.0,
   "system.loggerd.deleter": 1.0,
   "./pandad": 19.0,
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 697819d0adfb49..a322652e3e860b 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -12,7 +12,6 @@
 import select
 import socket
 import sys
-import tempfile
 import threading
 import time
 from dataclasses import asdict, dataclass, replace
@@ -186,7 +185,6 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
     threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler3'),
     threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler4'),
     threading.Thread(target=log_handler, args=(end_event,), name='log_handler'),
-    threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
   ] + [
     threading.Thread(target=jsonrpc_handler, args=(end_event,), name=f'worker_{x}')
     for x in range(HANDLER_THREADS)
@@ -695,34 +693,6 @@ def log_handler(end_event: threading.Event) -> None:
       cloudlog.exception("athena.log_handler.exception")
 
 
-def stat_handler(end_event: threading.Event) -> None:
-  STATS_DIR = Paths.stats_root()
-  last_scan = 0.0
-
-  while not end_event.is_set():
-    curr_scan = time.monotonic()
-    try:
-      if curr_scan - last_scan > 10:
-        stat_filenames = list(filter(lambda name: not name.startswith(tempfile.gettempprefix()), os.listdir(STATS_DIR)))
-        if len(stat_filenames) > 0:
-          stat_path = os.path.join(STATS_DIR, stat_filenames[0])
-          with open(stat_path) as f:
-            jsonrpc = {
-              "method": "storeStats",
-              "params": {
-                "stats": f.read()
-              },
-              "jsonrpc": "2.0",
-              "id": stat_filenames[0]
-            }
-            send_queue_push(json.dumps(jsonrpc), SEND_PRIORITY_LOW)
-          os.remove(stat_path)
-        last_scan = curr_scan
-    except Exception:
-      cloudlog.exception("athena.stat_handler.exception")
-    time.sleep(0.1)
-
-
 def ws_proxy_recv(ws: WebSocket, local_sock: socket.socket, ssock: socket.socket, end_event: threading.Event, global_end_event: threading.Event) -> None:
   while not (end_event.is_set() or global_end_event.is_set()):
     try:
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index f8a9d3adde22f7..70f31d5f7d813d 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -19,7 +19,6 @@
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.common.hardware import HARDWARE, TICI, PC
 from openpilot.system.loggerd.config import get_available_percent
-from openpilot.system.statsd import statlog
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.power_monitoring import PowerMonitoring
 from openpilot.system.hardware.fan_controller import FanController
@@ -361,11 +360,9 @@ def hardware_thread(end_event, hw_queue) -> None:
     msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
     msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.get_car_battery_capacity())
     current_power_draw = HARDWARE.get_current_power_draw()
-    statlog.sample("power_draw", current_power_draw)
     msg.deviceState.powerDrawW = current_power_draw
 
     som_power_draw = HARDWARE.get_som_power_draw()
-    statlog.sample("som_power_draw", som_power_draw)
     msg.deviceState.somPowerDrawW = som_power_draw
 
     # Check if we need to shut down
@@ -383,24 +380,6 @@ def hardware_thread(end_event, hw_queue) -> None:
     msg.deviceState.thermalStatus = thermal_status
     pm.send("deviceState", msg)
 
-    # Log to statsd
-    statlog.gauge("free_space_percent", msg.deviceState.freeSpacePercent)
-    statlog.gauge("gpu_usage_percent", msg.deviceState.gpuUsagePercent)
-    statlog.gauge("memory_usage_percent", msg.deviceState.memoryUsagePercent)
-    for i, usage in enumerate(msg.deviceState.cpuUsagePercent):
-      statlog.gauge(f"cpu{i}_usage_percent", usage)
-    for i, temp in enumerate(msg.deviceState.cpuTempC):
-      statlog.gauge(f"cpu{i}_temperature", temp)
-    for i, temp in enumerate(msg.deviceState.gpuTempC):
-      statlog.gauge(f"gpu{i}_temperature", temp)
-    statlog.gauge("memory_temperature", msg.deviceState.memoryTempC)
-    for i, temp in enumerate(msg.deviceState.pmicTempC):
-      statlog.gauge(f"pmic{i}_temperature", temp)
-    for i, temp in enumerate(last_hw_state.modem_temps):
-      statlog.gauge(f"modem_temperature{i}", temp)
-    statlog.gauge("fan_speed_percent_desired", msg.deviceState.fanSpeedPercentDesired)
-    statlog.gauge("screen_brightness_percent", msg.deviceState.screenBrightnessPercent)
-
     # report to server once every 10 minutes, or every 1s when thermally blocked
     rising_edge_started = should_start and not should_start_prev
     status_packet_interval = 1. if show_alert else 600.
diff --git a/system/hardware/power_monitoring.py b/system/hardware/power_monitoring.py
index ca43d9007b25ee..72a8c6848c367d 100644
--- a/system/hardware/power_monitoring.py
+++ b/system/hardware/power_monitoring.py
@@ -4,7 +4,6 @@
 from openpilot.common.params import Params
 from openpilot.common.hardware import HARDWARE
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.statsd import statlog
 
 CAR_VOLTAGE_LOW_PASS_K = 0.011 # LPF gain for 45s tau (dt/tau / (dt/tau + 1))
 
@@ -50,7 +49,6 @@ def calculate(self, voltage: int | None, ignition: bool):
       # Low-pass battery voltage
       self.car_voltage_instant_mV = voltage
       self.car_voltage_mV = ((voltage * CAR_VOLTAGE_LOW_PASS_K) + (self.car_voltage_mV * (1 - CAR_VOLTAGE_LOW_PASS_K)))
-      statlog.gauge("car_voltage", self.car_voltage_mV / 1e3)
 
       # Cap the car battery power and save it in a param every 10-ish seconds
       self.car_battery_capacity_uWh = max(self.car_battery_capacity_uWh, 0)
diff --git a/system/loggerd/config.py b/system/loggerd/config.py
index 0a8ee98390a82f..c2d213e90617a8 100644
--- a/system/loggerd/config.py
+++ b/system/loggerd/config.py
@@ -5,10 +5,6 @@
 CAMERA_FPS = 20
 SEGMENT_LENGTH = 60
 
-STATS_DIR_FILE_LIMIT = 10000
-STATS_SOCKET = "ipc:///tmp/stats"
-STATS_FLUSH_TIME_S = 60
-
 def get_available_percent(default: float) -> float:
   try:
     statvfs = os.statvfs(Paths.log_root())
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index a099bc753a4eae..f610d1c786c18e 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -116,7 +116,6 @@ def not_(*fns):
   PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
   PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
   PythonProcess("uploader", "system.loggerd.uploader", always_run),
-  PythonProcess("statsd", "system.statsd", always_run),
   PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad),
 
   # debug procs
diff --git a/system/statsd.py b/system/statsd.py
deleted file mode 100755
index 250780e018f03f..00000000000000
--- a/system/statsd.py
+++ /dev/null
@@ -1,183 +0,0 @@
-#!/usr/bin/env python3
-import os
-import zmq
-import time
-import uuid
-from pathlib import Path
-from collections import defaultdict
-from datetime import datetime, UTC
-from typing import NoReturn
-
-from openpilot.common.params import Params
-from cereal.messaging import SubMaster
-from openpilot.common.hardware.hw import Paths
-from openpilot.common.swaglog import cloudlog
-from openpilot.common.hardware import HARDWARE
-from openpilot.common.utils import atomic_write
-from openpilot.system.version import get_build_metadata
-from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
-
-
-class METRIC_TYPE:
-  GAUGE = 'g'
-  SAMPLE = 'sa'
-
-class StatLog:
-  def __init__(self):
-    self.pid = None
-    self.zctx = None
-    self.sock = None
-
-  def connect(self) -> None:
-    self.zctx = zmq.Context()
-    self.sock = self.zctx.socket(zmq.PUSH)
-    self.sock.setsockopt(zmq.LINGER, 10)
-    self.sock.connect(STATS_SOCKET)
-    self.pid = os.getpid()
-
-  def __del__(self):
-    if self.sock is not None:
-      self.sock.close()
-    if self.zctx is not None:
-      self.zctx.term()
-
-  def _send(self, metric: str) -> None:
-    if os.getpid() != self.pid:
-      self.connect()
-
-    try:
-      self.sock.send_string(metric, zmq.NOBLOCK)
-    except zmq.error.Again:
-      # drop :/
-      pass
-
-  def gauge(self, name: str, value: float) -> None:
-    self._send(f"{name}:{value}|{METRIC_TYPE.GAUGE}")
-
-  # Samples will be recorded in a buffer and at aggregation time,
-  # statistical properties will be logged (mean, count, percentiles, ...)
-  def sample(self, name: str, value: float):
-    self._send(f"{name}:{value}|{METRIC_TYPE.SAMPLE}")
-
-
-def main() -> NoReturn:
-  dongle_id = Params().get("DongleId")
-  def get_influxdb_line(measurement: str, value: float | dict[str, float],  timestamp: datetime, tags: dict) -> str:
-    res = f"{measurement}"
-    for k, v in tags.items():
-      res += f",{k}={str(v)}"
-    res += " "
-
-    if isinstance(value, float):
-      value = {'value': value}
-
-    for k, v in value.items():
-      res += f"{k}={v},"
-
-    res += f"dongle_id=\"{dongle_id}\" {int(timestamp.timestamp() * 1e9)}\n"
-    return res
-
-  # open statistics socket
-  ctx = zmq.Context.instance()
-  sock = ctx.socket(zmq.PULL)
-  sock.bind(STATS_SOCKET)
-
-  STATS_DIR = Paths.stats_root()
-
-  # initialize stats directory
-  Path(STATS_DIR).mkdir(parents=True, exist_ok=True)
-
-  build_metadata = get_build_metadata()
-
-  # initialize tags
-  tags = {
-    'started': False,
-    'version': build_metadata.openpilot.version,
-    'branch': build_metadata.channel,
-    'dirty': build_metadata.openpilot.is_dirty,
-    'origin': build_metadata.openpilot.git_normalized_origin,
-    'deviceType': HARDWARE.get_device_type(),
-  }
-
-  # subscribe to deviceState for started state
-  sm = SubMaster(['deviceState'])
-
-  idx = 0
-  boot_uid = str(uuid.uuid4())[:8]
-  last_flush_time = time.monotonic()
-  gauges = {}
-  samples: dict[str, list[float]] = defaultdict(list)
-  try:
-    while True:
-      started_prev = sm['deviceState'].started
-      sm.update()
-
-      # Update metrics
-      while True:
-        try:
-          metric = sock.recv_string(zmq.NOBLOCK)
-          try:
-            metric_type = metric.split('|')[1]
-            metric_name = metric.split(':')[0]
-            metric_value = float(metric.split('|')[0].split(':')[1])
-
-            if metric_type == METRIC_TYPE.GAUGE:
-              gauges[metric_name] = metric_value
-            elif metric_type == METRIC_TYPE.SAMPLE:
-              samples[metric_name].append(metric_value)
-            else:
-              cloudlog.event("unknown metric type", metric_type=metric_type)
-          except Exception:
-            cloudlog.event("malformed metric", metric=metric)
-        except zmq.error.Again:
-          break
-
-      # flush when started state changes or after FLUSH_TIME_S
-      if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev):
-        result = ""
-        current_time = datetime.now(UTC)
-        tags['started'] = sm['deviceState'].started
-
-        for key, value in gauges.items():
-          result += get_influxdb_line(f"gauge.{key}", value, current_time, tags)
-
-        for key, values in samples.items():
-          values.sort()
-          sample_count = len(values)
-          sample_sum = sum(values)
-
-          stats = {
-            'count': sample_count,
-            'min': values[0],
-            'max': values[-1],
-            'mean': sample_sum / sample_count,
-          }
-          for percentile in [0.05, 0.5, 0.95]:
-            value = values[int(round(percentile * (sample_count - 1)))]
-            stats[f"p{int(percentile * 100)}"] = value
-
-          result += get_influxdb_line(f"sample.{key}", stats, current_time, tags)
-
-        # clear intermediate data
-        gauges.clear()
-        samples.clear()
-        last_flush_time = time.monotonic()
-
-        # check that we aren't filling up the drive
-        if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
-          if len(result) > 0:
-            stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}")
-            with atomic_write(stats_path) as f:
-              f.write(result)
-            idx += 1
-        else:
-          cloudlog.error("stats dir full")
-  finally:
-    sock.close()
-    ctx.term()
-
-
-if __name__ == "__main__":
-  main()
-else:
-  statlog = StatLog()

From ad5151b38b540e08a01c87029c3ddb0979ba4fdf Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 20 Jun 2026 16:55:48 -0700
Subject: [PATCH 1232/1434] single IsOffroad param (#38205)

---
 common/params_keys.h                     | 1 -
 system/athena/athenad.py                 | 4 ++--
 system/athena/tests/test_athenad_ping.py | 5 ++---
 system/manager/helpers.py                | 6 ------
 system/manager/manager.py                | 8 ++++----
 tools/scripts/car/ecu_addrs.py           | 4 ++--
 tools/scripts/car/fw_versions.py         | 4 ++--
 7 files changed, 12 insertions(+), 20 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 01b051545afd09..5b0f6e99c93b0e 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -61,7 +61,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IsLiveStreaming", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsMetric", {PERSISTENT, BOOL}},
     {"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"IsOnroad", {PERSISTENT, BOOL}},
     {"IsRhdDetected", {PERSISTENT, BOOL}},
     {"IsReleaseBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsTakingSnapshot", {CLEAR_ON_MANAGER_START, BOOL}},
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index a322652e3e860b..e94a0dd0ca921c 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -583,7 +583,7 @@ def startStream(sdp: str, enabled: bool) -> dict:
   else:
       raise Exception("failed to get CarParamsPersistent")
 
-  if not params.get_bool("IsOnroad"):
+  if params.get_bool("IsOffroad"):
     # manager owns camerad/stream_encoderd/webrtcd; flip the param and let it bring them up.
     # webrtcd clears IsLiveStreaming when the session ends
     params.put_bool("IsLiveStreaming", True)
@@ -786,7 +786,7 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None:
   sock = ws.sock
 
   while True:
-    onroad = params.get_bool("IsOnroad")
+    onroad = not params.get_bool("IsOffroad")
     if onroad != onroad_prev:
       onroad_prev = onroad
 
diff --git a/system/athena/tests/test_athenad_ping.py b/system/athena/tests/test_athenad_ping.py
index 7f442631629ec1..44a6b8a56b7437 100644
--- a/system/athena/tests/test_athenad_ping.py
+++ b/system/athena/tests/test_athenad_ping.py
@@ -7,7 +7,6 @@
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.system.athena import athenad
-from openpilot.system.manager.helpers import write_onroad_params
 from openpilot.common.hardware import TICI
 
 TIMEOUT_TOLERANCE = 20  # seconds
@@ -93,10 +92,10 @@ def assertTimeout(self, reconnect_time: float, subtests, mocker) -> None:
 
   @pytest.mark.skipif(not TICI, reason="only run on desk")
   def test_offroad(self, subtests, mocker) -> None:
-    write_onroad_params(False, self.params)
+    self.params.put_bool("IsOffroad", True, block=True)
     self.assertTimeout(60 + TIMEOUT_TOLERANCE, subtests, mocker)  # based using TCP keepalive settings
 
   @pytest.mark.skipif(not TICI, reason="only run on desk")
   def test_onroad(self, subtests, mocker) -> None:
-    write_onroad_params(True, self.params)
+    self.params.put_bool("IsOffroad", False, block=True)
     self.assertTimeout(21 + TIMEOUT_TOLERANCE, subtests, mocker)
diff --git a/system/manager/helpers.py b/system/manager/helpers.py
index 6af4a799e428d9..b07aec0c816197 100644
--- a/system/manager/helpers.py
+++ b/system/manager/helpers.py
@@ -44,12 +44,6 @@ def unblock_stdout() -> None:
     exit_status = os.wait()[1] >> 8
     os._exit(exit_status)
 
-
-def write_onroad_params(started, params):
-  params.put_bool("IsOnroad", started, block=True)
-  params.put_bool("IsOffroad", not started, block=True)
-
-
 def save_bootlog():
   # copy current params
   tmp = tempfile.mkdtemp()
diff --git a/system/manager/manager.py b/system/manager/manager.py
index cb84b9b8ca9ec6..e129e64f137600 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -13,7 +13,7 @@
 from openpilot.common.params import Params, ParamKeyFlag
 from openpilot.common.text_window import TextWindow
 from openpilot.common.hardware import HARDWARE
-from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
+from openpilot.system.manager.helpers import unblock_stdout, save_bootlog
 from openpilot.system.manager.process import ensure_running
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID
@@ -121,7 +121,7 @@ def manager_thread() -> None:
   sm = messaging.SubMaster(['deviceState', 'carParams', 'pandaStates'], poll='deviceState')
   pm = messaging.PubMaster(['managerState'])
 
-  write_onroad_params(False, params)
+  params.put_bool("IsOffroad", True, block=True)
   ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
 
   started_prev = False
@@ -141,9 +141,9 @@ def manager_thread() -> None:
     if ignition and not ignition_prev:
       params.clear_all(ParamKeyFlag.CLEAR_ON_IGNITION_ON)
 
-    # update onroad params, which drives pandad's safety setter thread
+    # update offroad state for services that don't subscribe to deviceState
     if started != started_prev:
-      write_onroad_params(started, params)
+      params.put_bool("IsOffroad", not started, block=True)
 
     started_prev = started
     ignition_prev = ignition
diff --git a/tools/scripts/car/ecu_addrs.py b/tools/scripts/car/ecu_addrs.py
index f3f06406c076cf..b0e7a8f2dcc359 100755
--- a/tools/scripts/car/ecu_addrs.py
+++ b/tools/scripts/car/ecu_addrs.py
@@ -26,9 +26,9 @@
   # Set up params for pandad
   params = Params()
   params.remove("FirmwareQueryDone")
-  params.put_bool("IsOnroad", False, block=True)
+  params.put_bool("IsOffroad", True, block=True)
   time.sleep(0.2)  # thread is 10 Hz
-  params.put_bool("IsOnroad", True, block=True)
+  params.put_bool("IsOffroad", False, block=True)
 
   obd_callback(params)(not args.no_obd)
 
diff --git a/tools/scripts/car/fw_versions.py b/tools/scripts/car/fw_versions.py
index b04f9cd2a68af1..81692147f025d6 100755
--- a/tools/scripts/car/fw_versions.py
+++ b/tools/scripts/car/fw_versions.py
@@ -30,9 +30,9 @@
   # Set up params for pandad
   params = Params()
   params.remove("FirmwareQueryDone")
-  params.put_bool("IsOnroad", False, block=True)
+  params.put_bool("IsOffroad", True, block=True)
   time.sleep(0.2)  # thread is 10 Hz
-  params.put_bool("IsOnroad", True, block=True)
+  params.put_bool("IsOffroad", False, block=True)
   set_obd_multiplexing = obd_callback(params)
 
   extra: Any = None

From d8bd6c784e1386cc61d3c6e51291a4d75a4ab911 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 21 Jun 2026 09:11:04 -0700
Subject: [PATCH 1233/1434] rename androidLog -> operatingSystemLog (#38209)

not android
---
 cereal/log.capnp                    |  4 ++--
 cereal/services.py                  |  2 +-
 system/journald.py                  |  8 ++++----
 tools/jotpluggler/app.h             |  2 +-
 tools/jotpluggler/sketch_layout.cc  | 24 ++++++++++++------------
 tools/scripts/filter_log_message.py | 16 ++++++++--------
 6 files changed, 28 insertions(+), 28 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 6cf4781228aaa4..ec7a065eb74500 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -1132,7 +1132,7 @@ struct EncodeIndex {
   }
 }
 
-struct AndroidLogEntry {
+struct OperatingSystemLogEntry {
   id @0 :UInt8;
   ts @1 :UInt64;
   priority @2 :UInt8;
@@ -2517,7 +2517,7 @@ struct Event {
     rawAudioData @147 :AudioData;
 
     # systems stuff
-    androidLog @20 :AndroidLogEntry;
+    operatingSystemLog @20 :OperatingSystemLogEntry;
     managerState @78 :ManagerState;
     procLog @33 :ProcLog;
     clocks @35 :Clocks;
diff --git a/cereal/services.py b/cereal/services.py
index c2d38d852db133..0f5e50f31f2930 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -41,7 +41,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "liveCalibration": (True, 4., 4),
   "liveTorqueParameters": (True, 4., 1),
   "liveDelay": (True, 4., 1),
-  "androidLog": (True, 0.),
+  "operatingSystemLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
   "carOutput": (True, 100., 10),
diff --git a/system/journald.py b/system/journald.py
index 37158b9251dd5b..7c656d3b133741 100755
--- a/system/journald.py
+++ b/system/journald.py
@@ -7,7 +7,7 @@
 
 
 def main():
-  pm = messaging.PubMaster(['androidLog'])
+  pm = messaging.PubMaster(['operatingSystemLog'])
   cmd = ['journalctl', '-f', '-o', 'json']
   proc = subprocess.Popen(cmd, stdout=subprocess.PIPE, text=True)
   assert proc.stdout is not None
@@ -22,8 +22,8 @@ def main():
         cloudlog.exception("failed to parse journalctl output")
         continue
 
-      msg = messaging.new_message('androidLog')
-      entry = msg.androidLog
+      msg = messaging.new_message('operatingSystemLog')
+      entry = msg.operatingSystemLog
       entry.ts = int(kv.get('__REALTIME_TIMESTAMP', 0))
       entry.message = json.dumps(kv)
       if '_PID' in kv:
@@ -33,7 +33,7 @@ def main():
       if 'SYSLOG_IDENTIFIER' in kv:
         entry.tag = kv['SYSLOG_IDENTIFIER']
 
-      pm.send('androidLog', msg)
+      pm.send('operatingSystemLog', msg)
   finally:
     proc.terminate()
     proc.wait()
diff --git a/tools/jotpluggler/app.h b/tools/jotpluggler/app.h
index 872a6973d786c8..a059d94c087686 100644
--- a/tools/jotpluggler/app.h
+++ b/tools/jotpluggler/app.h
@@ -143,7 +143,7 @@ struct CameraFeedIndex {
 
 enum class LogOrigin : uint8_t {
   Log,
-  Android,
+  OperatingSystem,
   Alert,
 };
 
diff --git a/tools/jotpluggler/sketch_layout.cc b/tools/jotpluggler/sketch_layout.cc
index 20912801693c08..143a6f5a1db185 100644
--- a/tools/jotpluggler/sketch_layout.cc
+++ b/tools/jotpluggler/sketch_layout.cc
@@ -432,7 +432,7 @@ std::array<uint8_t, 3> parse_color(std::string_view color) {
   return out;
 }
 
-uint8_t android_priority_to_level(uint8_t priority) {
+uint8_t operating_system_priority_to_level(uint8_t priority) {
   switch (priority) {
     case 2:
     case 3:
@@ -491,7 +491,7 @@ void append_timeline_entry(std::vector<TimelineEntry> *timeline, double mono_tim
   });
 }
 
-double android_wall_time_seconds(uint64_t timestamp) {
+double operating_system_wall_time_seconds(uint64_t timestamp) {
   if (timestamp == 0) return 0.0;
   if (timestamp > 1000000000000ULL) return static_cast<double>(timestamp) / 1.0e9;
   if (timestamp > 1000000000ULL) return static_cast<double>(timestamp) / 1.0e6;
@@ -609,13 +609,13 @@ void append_log_event(cereal::Event::Which which,
       logs->push_back(std::move(entry));
       break;
     }
-    case cereal::Event::Which::ANDROID_LOG: {
-      const auto android = event.getAndroidLog();
-      auto entry = make_entry(LogOrigin::Android, android_priority_to_level(android.getPriority()));
-      entry.wall_time = android_wall_time_seconds(android.getTs());
-      entry.source = android.hasTag() ? android.getTag().cStr() : "android";
-      entry.message = android.hasMessage() ? android.getMessage().cStr() : std::string();
-      entry.context = "pid=" + std::to_string(android.getPid()) + ", tid=" + std::to_string(android.getTid());
+    case cereal::Event::Which::OPERATING_SYSTEM_LOG: {
+      const auto operating_system_log = event.getOperatingSystemLog();
+      auto entry = make_entry(LogOrigin::OperatingSystem, operating_system_priority_to_level(operating_system_log.getPriority()));
+      entry.wall_time = operating_system_wall_time_seconds(operating_system_log.getTs());
+      entry.source = operating_system_log.hasTag() ? operating_system_log.getTag().cStr() : "operating_system";
+      entry.message = operating_system_log.hasMessage() ? operating_system_log.getMessage().cStr() : std::string();
+      entry.context = "pid=" + std::to_string(operating_system_log.getPid()) + ", tid=" + std::to_string(operating_system_log.getTid());
       if (!entry.message.empty()) {
         std::string err;
         if (const auto p = json11::Json::parse(entry.message, err); err.empty() && p.is_object()) {
@@ -623,10 +623,10 @@ void append_log_event(cereal::Event::Which which,
           if (p["SYSLOG_IDENTIFIER"].is_string() && !p["SYSLOG_IDENTIFIER"].string_value().empty())
             entry.source = p["SYSLOG_IDENTIFIER"].string_value();
           if (auto pri = json_int_value(p["PRIORITY"]); pri.has_value())
-            entry.level = android_priority_to_level(*pri);
+            entry.level = operating_system_priority_to_level(*pri);
           if (auto ts = json_u64_value(p["__REALTIME_TIMESTAMP"]); ts.has_value())
-            entry.wall_time = android_wall_time_seconds(*ts);
-          entry.context = format_journal_context(p, android.getPid(), android.getTid());
+            entry.wall_time = operating_system_wall_time_seconds(*ts);
+          entry.context = format_journal_context(p, operating_system_log.getPid(), operating_system_log.getTid());
         }
       }
       logs->push_back(std::move(entry));
diff --git a/tools/scripts/filter_log_message.py b/tools/scripts/filter_log_message.py
index 9cbab0b41fe1c6..38904aaa075699 100755
--- a/tools/scripts/filter_log_message.py
+++ b/tools/scripts/filter_log_message.py
@@ -13,7 +13,7 @@
   "CRITICAL": 50,
 }
 
-ANDROID_LOG_SOURCE = {
+OPERATING_SYSTEM_LOG_SOURCE = {
   0: "MAIN",
   1: "RADIO",
   2: "EVENTS",
@@ -34,8 +34,8 @@ def print_logmessage(t, msg, min_level):
     print(f"[{t / 1e9:.6f}] decode error: {msg}")
 
 
-def print_androidlog(t, msg):
-  source = ANDROID_LOG_SOURCE[msg.id]
+def print_operating_system_log(t, msg):
+  source = msg.tag or OPERATING_SYSTEM_LOG_SOURCE.get(msg.id, "SYSTEM")
   try:
     m = json.loads(msg.message)['MESSAGE']
   except Exception:
@@ -65,15 +65,15 @@ def print_androidlog(t, msg):
           print_logmessage(m.logMonoTime-st, m.logMessage, min_level)
         elif m.which() == 'errorLogMessage':
           print_logmessage(m.logMonoTime-st, m.errorLogMessage, min_level)
-        elif m.which() == 'androidLog':
-          print_androidlog(m.logMonoTime-st, m.androidLog)
+        elif m.which() == 'operatingSystemLog':
+          print_operating_system_log(m.logMonoTime-st, m.operatingSystemLog)
   else:
-    sm = messaging.SubMaster(['logMessage', 'androidLog'], addr=args.addr)
+    sm = messaging.SubMaster(['logMessage', 'operatingSystemLog'], addr=args.addr)
     while True:
       sm.update()
 
       if sm.updated['logMessage']:
         print_logmessage(sm.logMonoTime['logMessage'], sm['logMessage'], min_level)
 
-      if sm.updated['androidLog']:
-        print_androidlog(sm.logMonoTime['androidLog'], sm['androidLog'])
+      if sm.updated['operatingSystemLog']:
+        print_operating_system_log(sm.logMonoTime['operatingSystemLog'], sm['operatingSystemLog'])

From cea5273f1f40ac8e1ccbc438cadf29de42c157af Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 21 Jun 2026 09:43:53 -0700
Subject: [PATCH 1234/1434] move version to common/ (#38210)

---
 common/api.py                           | 2 +-
 {system => common}/version.py           | 0
 selfdrive/selfdrived/selfdrived.py      | 2 +-
 selfdrive/test/helpers.py               | 2 +-
 selfdrive/ui/layouts/onboarding.py      | 2 +-
 selfdrive/ui/mici/layouts/home.py       | 2 +-
 selfdrive/ui/mici/layouts/onboarding.py | 2 +-
 selfdrive/ui/tests/diff/replay.py       | 2 +-
 system/athena/athenad.py                | 2 +-
 system/athena/manage_athenad.py         | 2 +-
 system/hardware/hardwared.py            | 2 +-
 system/loggerd/tests/test_loggerd.py    | 2 +-
 system/manager/manager.py               | 2 +-
 system/sentry.py                        | 2 +-
 system/tombstoned.py                    | 2 +-
 system/updated/updated.py               | 2 +-
 16 files changed, 15 insertions(+), 15 deletions(-)
 rename {system => common}/version.py (100%)

diff --git a/common/api.py b/common/api.py
index 521aac3fdda544..c97f56c4b5cb71 100644
--- a/common/api.py
+++ b/common/api.py
@@ -3,7 +3,7 @@
 import requests
 from datetime import datetime, timedelta, UTC
 from openpilot.common.hardware.hw import Paths
-from openpilot.system.version import get_version
+from openpilot.common.version import get_version
 
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 
diff --git a/system/version.py b/common/version.py
similarity index 100%
rename from system/version.py
rename to common/version.py
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 5fe45d927480e7..b4bd2a7b906ebe 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -21,7 +21,7 @@
 from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
 
-from openpilot.system.version import get_build_metadata
+from openpilot.common.version import get_build_metadata
 from openpilot.common.hardware import HARDWARE
 
 REPLAY = "REPLAY" in os.environ
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index 49a8ec60a3408d..615ea5d8aca789 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -10,7 +10,7 @@
 import cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.system.manager.process_config import managed_processes
-from openpilot.system.version import training_version, terms_version
+from openpilot.common.version import training_version, terms_version
 
 
 def set_params_enabled():
diff --git a/selfdrive/ui/layouts/onboarding.py b/selfdrive/ui/layouts/onboarding.py
index c75abac1a211fc..4ef9c13f276432 100644
--- a/selfdrive/ui/layouts/onboarding.py
+++ b/selfdrive/ui/layouts/onboarding.py
@@ -11,7 +11,7 @@
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
 from openpilot.system.ui.widgets.label import Label
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.version import terms_version, training_version
+from openpilot.common.version import terms_version, training_version
 
 DEBUG = False
 
diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index 1cc61c64789ab6..997ca6276fcb99 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -10,7 +10,7 @@
 from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.version import RELEASE_BRANCHES
+from openpilot.common.version import RELEASE_BRANCHES
 
 HEAD_BUTTON_FONT_SIZE = 40
 HOME_PADDING = 8
diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py
index 2d6acf60d669ae..8d80df3a891014 100644
--- a/selfdrive/ui/mici/layouts/onboarding.py
+++ b/selfdrive/ui/mici/layouts/onboarding.py
@@ -12,7 +12,7 @@
 from openpilot.system.ui.mici_setup import GreyBigButton, BigPillButton
 from openpilot.system.ui.widgets.label import gui_label
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.version import terms_version, training_version
+from openpilot.common.version import terms_version, training_version
 from openpilot.selfdrive.ui.ui_state import ui_state, device
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationCircleButton
 from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
diff --git a/selfdrive/ui/tests/diff/replay.py b/selfdrive/ui/tests/diff/replay.py
index 25920b67fb0603..6f3dd8f040b1e2 100755
--- a/selfdrive/ui/tests/diff/replay.py
+++ b/selfdrive/ui/tests/diff/replay.py
@@ -14,7 +14,7 @@
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.selfdrive.ui.tests.diff.diff import DIFF_OUT_DIR
 from openpilot.system.updated.updated import parse_release_notes
-from openpilot.system.version import terms_version, training_version
+from openpilot.common.version import terms_version, training_version
 
 LayoutVariant = Literal["mici", "tizi"]
 
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index e94a0dd0ca921c..6d1325dac60765 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -37,7 +37,7 @@
 from openpilot.common.hardware import HARDWARE, PC
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_build_metadata
+from openpilot.common.version import get_build_metadata
 from openpilot.common.hardware.hw import Paths
 
 
diff --git a/system/athena/manage_athenad.py b/system/athena/manage_athenad.py
index 11fd11d4319f2c..3faad546b27d20 100755
--- a/system/athena/manage_athenad.py
+++ b/system/athena/manage_athenad.py
@@ -7,7 +7,7 @@
 from openpilot.system.manager.process import launcher
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware import HARDWARE
-from openpilot.system.version import get_build_metadata
+from openpilot.common.version import get_build_metadata
 
 ATHENA_MGR_PID_PARAM = "AthenadPid"
 
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 70f31d5f7d813d..c7b7befd55358b 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -22,7 +22,7 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.power_monitoring import PowerMonitoring
 from openpilot.system.hardware.fan_controller import FanController
-from openpilot.system.version import terms_version, training_version
+from openpilot.common.version import terms_version, training_version
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 
 ThermalStatus = log.DeviceState.ThermalStatus
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index 882de583b4a61a..217de649eb41ce 100644
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -20,7 +20,7 @@
 from openpilot.system.loggerd.xattr_cache import getxattr
 from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
 from openpilot.system.manager.process_config import managed_processes
-from openpilot.system.version import get_version
+from openpilot.common.version import get_version
 from openpilot.tools.lib.helpers import RE
 from openpilot.tools.lib.logreader import LogReader
 from msgq.visionipc import VisionIpcServer, VisionStreamType
diff --git a/system/manager/manager.py b/system/manager/manager.py
index e129e64f137600..179108b9b18bf2 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -18,7 +18,7 @@
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID
 from openpilot.common.swaglog import cloudlog, add_file_handler
-from openpilot.system.version import get_build_metadata
+from openpilot.common.version import get_build_metadata
 from openpilot.common.hardware.hw import Paths
 
 
diff --git a/system/sentry.py b/system/sentry.py
index ee9f813e25245a..8a4e1bb9f227da 100644
--- a/system/sentry.py
+++ b/system/sentry.py
@@ -7,7 +7,7 @@
 from openpilot.system.athena.registration import is_registered_device
 from openpilot.common.hardware import HARDWARE, PC
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_build_metadata, get_version
+from openpilot.common.version import get_build_metadata, get_version
 
 
 class SentryProject(Enum):
diff --git a/system/tombstoned.py b/system/tombstoned.py
index 88a2a879ed182d..349a71cc19a8e6 100755
--- a/system/tombstoned.py
+++ b/system/tombstoned.py
@@ -12,7 +12,7 @@
 import openpilot.system.sentry as sentry
 from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_build_metadata
+from openpilot.common.version import get_build_metadata
 
 MAX_SIZE = 1_000_000 * 100  # allow up to 100M
 MAX_TOMBSTONE_FN_LEN = 62  # 85 - 23 ("<dongle id>/crash/")
diff --git a/system/updated/updated.py b/system/updated/updated.py
index e40bc44e764265..affacd0f2d862a 100755
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -19,7 +19,7 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.common.hardware import AGNOS, HARDWARE
-from openpilot.system.version import get_build_metadata
+from openpilot.common.version import get_build_metadata
 
 LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock")
 STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging")

From d79267fa22ce280c0ff7762596a071136ddc491f Mon Sep 17 00:00:00 2001
From: Fang Li <fangli@users.noreply.github.com>
Date: Sun, 21 Jun 2026 12:37:56 -0700
Subject: [PATCH 1235/1434] modem: fall back when cellular DNS is missing
 (#38213)

* modem: fall back when cellular DNS is missing

* rm test

* comment

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 common/hardware/tici/modem.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/common/hardware/tici/modem.py b/common/hardware/tici/modem.py
index 39266be1225a61..78f4e2a49242a3 100755
--- a/common/hardware/tici/modem.py
+++ b/common/hardware/tici/modem.py
@@ -505,7 +505,11 @@ def _read_cellular_dns(self) -> list[str]:
       except (AddressValueError, ValueError):
         pass
     if not dns_servers:
-      logging.warning(f"no cellular DNS servers reported by modem: {v!r}")
+      dns_servers = [
+        "8.8.8.8",  # Google
+        "1.1.1.1",  # Cloudflare
+      ]
+      logging.warning(f"no cellular DNS servers reported by modem: {v!r}; using fallback {dns_servers}")
     return dns_servers
 
   def _poll_byte_counters(self) -> dict:

From bc168bb33a856c4298d8bc6a56a9a2a496518ff9 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 21 Jun 2026 12:49:12 -0700
Subject: [PATCH 1236/1434] rm opencv-python-headless (#38214)

* rm opencv-python-headless

* and metadrive

* skip sim
---
 conftest.py    |  2 ++
 pyproject.toml |  5 ++--
 uv.lock        | 71 --------------------------------------------------
 3 files changed, 5 insertions(+), 73 deletions(-)

diff --git a/conftest.py b/conftest.py
index 3719be93d3ab6c..6307f8304c4862 100644
--- a/conftest.py
+++ b/conftest.py
@@ -11,6 +11,8 @@
 collect_ignore = [
   "selfdrive/test/process_replay/test_processes.py",
   "selfdrive/test/process_replay/test_regen.py",
+
+  "tools/sim/",
 ]
 
 
diff --git a/pyproject.toml b/pyproject.toml
index 51844ef93c9cde..b146138ae78686 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -104,12 +104,13 @@ testing = [
 
 dev = [
   "matplotlib",
-  "opencv-python-headless",
 ]
 
 tools = [
   "imgui @ git+https://github.com/commaai/dependencies.git@release-imgui#subdirectory=imgui",
-  "metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
+
+  # this can be added back once it's stripped down some more
+  #"metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
 ]
 
 [project.urls]
diff --git a/uv.lock b/uv.lock
index dc51d2a45ef8bc..e95c49f4976f03 100644
--- a/uv.lock
+++ b/uv.lock
@@ -658,16 +658,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/4b/d0/2269edb12aa30c13c8bcc9382892e39943ce1d28aab4ec296e0381798e81/matplotlib-3.10.9-cp312-cp312-win_arm64.whl", hash = "sha256:10cc5ce06d10231c36f40e875f3c7e8050362a4ee8f0ee5d29a6b3277d57bb42", size = 8136688, upload-time = "2026-04-24T00:12:37.442Z" },
 ]
 
-[[package]]
-name = "metadrive-simulator"
-version = "0.4.2.3"
-source = { git = "https://github.com/commaai/metadrive.git?rev=minimal#2716f55a9c7b928ce957a497a15c2c19840c08bc" }
-dependencies = [
-    { name = "numpy" },
-    { name = "panda3d" },
-    { name = "panda3d-gltf" },
-]
-
 [[package]]
 name = "mpmath"
 version = "1.3.0"
@@ -728,24 +718,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/63/cf/5a6d34850a39d1093558564f77ee8e8e0bee5061151b8f05a55711001ec7/numpy-2.4.6-cp312-cp312-win_arm64.whl", hash = "sha256:4081eb135ac24158bd51cdfbef16f1c64df7063b1143f24731387137c092bec8", size = 10221482, upload-time = "2026-05-18T23:34:25.876Z" },
 ]
 
-[[package]]
-name = "opencv-python-headless"
-version = "4.13.0.92"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "numpy" },
-]
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/79/42/2310883be3b8826ac58c3f2787b9358a2d46923d61f88fedf930bc59c60c/opencv_python_headless-4.13.0.92-cp37-abi3-macosx_13_0_arm64.whl", hash = "sha256:1a7d040ac656c11b8c38677cc8cccdc149f98535089dbe5b081e80a4e5903209", size = 46247192, upload-time = "2026-02-05T07:01:35.187Z" },
-    { url = "https://files.pythonhosted.org/packages/2d/1e/6f9e38005a6f7f22af785df42a43139d0e20f169eb5787ce8be37ee7fcc9/opencv_python_headless-4.13.0.92-cp37-abi3-macosx_14_0_x86_64.whl", hash = "sha256:3e0a6f0a37994ec6ce5f59e936be21d5d6384a4556f2d2da9c2f9c5dc948394c", size = 32568914, upload-time = "2026-02-05T07:01:51.989Z" },
-    { url = "https://files.pythonhosted.org/packages/21/76/9417a6aef9def70e467a5bf560579f816148a4c658b7d525581b356eda9e/opencv_python_headless-4.13.0.92-cp37-abi3-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:5c8cfc8e87ed452b5cecb9419473ee5560a989859fe1d10d1ce11ae87b09a2cb", size = 33703709, upload-time = "2026-02-05T10:24:46.469Z" },
-    { url = "https://files.pythonhosted.org/packages/92/ce/bd17ff5772938267fd49716e94ca24f616ff4cb1ff4c6be13085108037be/opencv_python_headless-4.13.0.92-cp37-abi3-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:0525a3d2c0b46c611e2130b5fdebc94cf404845d8fa64d2f3a3b679572a5bd22", size = 56016764, upload-time = "2026-02-05T10:26:48.904Z" },
-    { url = "https://files.pythonhosted.org/packages/8f/b4/b7bcbf7c874665825a8c8e1097e93ea25d1f1d210a3e20d4451d01da30aa/opencv_python_headless-4.13.0.92-cp37-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:eb60e36b237b1ebd40a912da5384b348df8ed534f6f644d8e0b4f103e272ba7d", size = 35010236, upload-time = "2026-02-05T10:28:11.031Z" },
-    { url = "https://files.pythonhosted.org/packages/4b/33/b5db29a6c00eb8f50708110d8d453747ca125c8b805bc437b289dbdcc057/opencv_python_headless-4.13.0.92-cp37-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:0bd48544f77c68b2941392fcdf9bcd2b9cdf00e98cb8c29b2455d194763cf99e", size = 60391106, upload-time = "2026-02-05T10:30:14.236Z" },
-    { url = "https://files.pythonhosted.org/packages/fb/c3/52cfea47cd33e53e8c0fbd6e7c800b457245c1fda7d61660b4ffe9596a7f/opencv_python_headless-4.13.0.92-cp37-abi3-win32.whl", hash = "sha256:a7cf08e5b191f4ebb530791acc0825a7986e0d0dee2a3c491184bd8599848a4b", size = 30812232, upload-time = "2026-02-05T07:02:29.594Z" },
-    { url = "https://files.pythonhosted.org/packages/4a/90/b338326131ccb2aaa3c2c85d00f41822c0050139a4bfe723cfd95455bd2d/opencv_python_headless-4.13.0.92-cp37-abi3-win_amd64.whl", hash = "sha256:77a82fe35ddcec0f62c15f2ba8a12ecc2ed4207c17b0902c7a3151ae29f37fb6", size = 40070414, upload-time = "2026-02-05T07:02:26.448Z" },
-]
-
 [[package]]
 name = "openpilot"
 version = "0.1.0"
@@ -805,7 +777,6 @@ dependencies = [
 [package.optional-dependencies]
 dev = [
     { name = "matplotlib" },
-    { name = "opencv-python-headless" },
 ]
 docs = [
     { name = "jinja2" },
@@ -826,7 +797,6 @@ testing = [
 ]
 tools = [
     { name = "imgui" },
-    { name = "metadrive-simulator", marker = "platform_machine != 'aarch64'" },
 ]
 
 [package.metadata]
@@ -860,10 +830,8 @@ requires-dist = [
     { name = "libusb1" },
     { name = "libyuv", git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv" },
     { name = "matplotlib", marker = "extra == 'dev'" },
-    { name = "metadrive-simulator", marker = "platform_machine != 'aarch64' and extra == 'tools'", git = "https://github.com/commaai/metadrive.git?rev=minimal" },
     { name = "ncurses", git = "https://github.com/commaai/dependencies.git?subdirectory=ncurses&rev=release-ncurses" },
     { name = "numpy", specifier = ">=2.0" },
-    { name = "opencv-python-headless", marker = "extra == 'dev'" },
     { name = "pillow" },
     { name = "pre-commit-hooks", marker = "extra == 'testing'" },
     { name = "psutil" },
@@ -909,45 +877,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/df/b2/87e62e8c3e2f4b32e5fe99e0b86d576da1312593b39f47d8ceef365e95ed/packaging-26.2-py3-none-any.whl", hash = "sha256:5fc45236b9446107ff2415ce77c807cee2862cb6fac22b8a73826d0693b0980e", size = 100195, upload-time = "2026-04-24T20:15:22.081Z" },
 ]
 
-[[package]]
-name = "panda3d"
-version = "1.10.14"
-source = { registry = "https://pypi.org/simple" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/5a/d4/90e98993b1a3f3c9fae83267f8c51186e676a8c1365c4180dfc65cd7ba62/panda3d-1.10.14-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:1bfbcee77779f12ecce6a3d5a856e573b25d6343f8c4b107e814d9702e70a65d", size = 67839196, upload-time = "2024-01-08T19:01:00.417Z" },
-    { url = "https://files.pythonhosted.org/packages/dc/e5/862821575073863ce49cc57b8349b47cb25ce11feae0e419b3d023ac1a69/panda3d-1.10.14-cp312-cp312-macosx_11_0_universal2.whl", hash = "sha256:bc6540c5559d7e14a8992eff7de0157b7c42406b7ba221941ed224289496841c", size = 119271341, upload-time = "2024-01-08T19:01:09.455Z" },
-    { url = "https://files.pythonhosted.org/packages/f4/20/f16d91805777825e530037177d9075c83da7384f12b778b133e3164a31f3/panda3d-1.10.14-cp312-cp312-manylinux2014_aarch64.whl", hash = "sha256:143daab1ce6bedcba711ea3f6cab0ebe5082f22c5f43e7178fadd2dd01209da7", size = 47604077, upload-time = "2024-05-28T20:25:37.118Z" },
-    { url = "https://files.pythonhosted.org/packages/11/69/806dcdbaee3e8deee1956abeea0d3d3e504315d2e9814de82a44809a8617/panda3d-1.10.14-cp312-cp312-manylinux2014_x86_64.whl", hash = "sha256:3c4399a286a142de7ff86f9356d7e526bbbd38892d7f7d39fecb5c33064972bc", size = 55539594, upload-time = "2024-01-08T19:01:15.979Z" },
-    { url = "https://files.pythonhosted.org/packages/ad/25/005de5e2b6d0acd546f8b3f2b547cd29e308cdd04a397f0ea68046e26571/panda3d-1.10.14-cp312-cp312-win32.whl", hash = "sha256:e92e0dd907e2af33085a2c31ca2263dc8023b1b7bc70ce1b9fbc84631e130e51", size = 53479813, upload-time = "2024-01-08T19:01:20.923Z" },
-    { url = "https://files.pythonhosted.org/packages/74/bb/cb57563855da994614a33f57bd5691fbcd69f12e5ccddd30d387d0be287f/panda3d-1.10.14-cp312-cp312-win_amd64.whl", hash = "sha256:a5f2defd822d38848f8ae1956115adcb6cc7f464f03a67e73681cc72df125ef4", size = 64893222, upload-time = "2024-01-08T19:01:26.347Z" },
-]
-
-[[package]]
-name = "panda3d-gltf"
-version = "0.13"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "panda3d" },
-    { name = "panda3d-simplepbr" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/07/7f/9f18fc3fa843a080acb891af6bcc12262e7bdf1d194a530f7042bebfc81f/panda3d-gltf-0.13.tar.gz", hash = "sha256:d06d373bdd91cf530909b669f43080e599463bbf6d3ef00c3558bad6c6b19675", size = 25573, upload-time = "2021-05-21T05:46:32.738Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/70/94/98ed1f81ca0f5daf6de80533805cc1e98ac162abe4e3e1d382caa7ba5c3c/panda3d_gltf-0.13-py3-none-any.whl", hash = "sha256:02d1a980f447bb1895ff4b48c667f289ba78f07a28ef308d8839b665a621efe2", size = 25568, upload-time = "2021-05-21T05:46:31.28Z" },
-]
-
-[[package]]
-name = "panda3d-simplepbr"
-version = "0.13.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "panda3d" },
-    { name = "typing-extensions" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/0d/be/c4d1ded04c22b357277cf6e6a44c1ab4abb285a700bd1991460460e05b99/panda3d_simplepbr-0.13.1.tar.gz", hash = "sha256:c83766d7c8f47499f365a07fe1dff078fc8b3054c2689bdc8dceabddfe7f1a35", size = 6216055, upload-time = "2025-03-30T16:57:41.087Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/11/5d/3744c6550dddf933785a37cdd4a9921fe13284e6d115b5a2637fe390f158/panda3d_simplepbr-0.13.1-py3-none-any.whl", hash = "sha256:cda41cb57cff035b851646956cfbdcc408bee42511dabd4f2d7bd4fbf48c57a9", size = 2457097, upload-time = "2025-03-30T16:57:39.729Z" },
-]
-
 [[package]]
 name = "pillow"
 version = "12.2.0"

From df1663c58d6e72b46fc9b731fd905c03b6d30a74 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 21 Jun 2026 17:32:19 -0700
Subject: [PATCH 1237/1434] the one true car.capnp (#38221)

* the one true car.capnp

* fix jotpluggler capnp import path

* bump to master
---
 SConstruct                                           |  1 +
 cereal/SConscript                                    | 12 +++++++-----
 cereal/__init__.py                                   |  8 ++++----
 cereal/car.capnp                                     |  1 -
 cereal/custom.capnp                                  |  2 +-
 cereal/deprecated.capnp                              |  2 +-
 cereal/log.capnp                                     |  4 ++--
 cereal/messaging/tests/test_messaging.py             |  3 ++-
 opendbc_repo                                         |  2 +-
 selfdrive/car/car_specific.py                        |  3 ++-
 selfdrive/car/card.py                                |  3 ++-
 selfdrive/car/cruise.py                              |  2 +-
 selfdrive/car/tests/test_car_interfaces.py           |  2 +-
 selfdrive/car/tests/test_cruise_speed.py             |  2 +-
 selfdrive/controls/controlsd.py                      |  3 ++-
 selfdrive/controls/lib/longcontrol.py                |  2 +-
 selfdrive/controls/plannerd.py                       |  2 +-
 selfdrive/controls/radard.py                         |  3 ++-
 selfdrive/controls/tests/test_latcontrol.py          |  3 ++-
 .../controls/tests/test_latcontrol_torque_buffer.py  |  3 ++-
 selfdrive/controls/tests/test_longcontrol.py         |  2 +-
 .../controls/tests/test_torqued_lat_accel_offset.py  |  3 ++-
 selfdrive/locationd/calibrationd.py                  |  3 ++-
 selfdrive/locationd/lagd.py                          |  3 ++-
 selfdrive/locationd/paramsd.py                       |  3 ++-
 selfdrive/locationd/test/test_lagd.py                |  3 ++-
 selfdrive/locationd/test/test_torqued.py             |  2 +-
 selfdrive/locationd/torqued.py                       |  3 ++-
 selfdrive/modeld/modeld.py                           |  3 ++-
 selfdrive/monitoring/policy.py                       |  3 ++-
 selfdrive/pandad/tests/test_pandad_loopback.py       |  3 ++-
 selfdrive/selfdrived/events.py                       |  3 ++-
 selfdrive/selfdrived/helpers.py                      |  3 ++-
 selfdrive/selfdrived/selfdrived.py                   |  3 ++-
 selfdrive/selfdrived/tests/test_alerts.py            |  3 ++-
 selfdrive/test/process_replay/migration.py           |  3 ++-
 selfdrive/test/process_replay/process_replay.py      |  2 +-
 selfdrive/ui/feedback/feedbackd.py                   |  2 +-
 selfdrive/ui/mici/onroad/alert_renderer.py           |  3 ++-
 selfdrive/ui/mici/onroad/augmented_road_view.py      |  3 ++-
 selfdrive/ui/mici/onroad/driver_camera_dialog.py     |  3 ++-
 selfdrive/ui/mici/onroad/model_renderer.py           |  3 ++-
 selfdrive/ui/onroad/model_renderer.py                |  3 ++-
 selfdrive/ui/soundd.py                               |  3 ++-
 selfdrive/ui/tests/diff/replay_script.py             |  3 ++-
 selfdrive/ui/tests/test_feedbackd.py                 |  2 +-
 selfdrive/ui/tests/test_soundd.py                    |  2 +-
 selfdrive/ui/ui_state.py                             |  3 ++-
 system/athena/athenad.py                             |  3 ++-
 system/manager/process.py                            |  3 ++-
 system/manager/process_config.py                     |  2 +-
 system/manager/test/test_manager.py                  |  2 +-
 tools/jotpluggler/SConscript                         |  2 ++
 tools/jotpluggler/generate_event_extractors.py       |  2 +-
 tools/joystick/joystickd.py                          |  3 ++-
 tools/lateral_maneuvers/generate_report.py           |  2 +-
 tools/lateral_maneuvers/lateral_maneuversd.py        |  3 ++-
 tools/longitudinal_maneuvers/maneuversd.py           |  3 ++-
 tools/scripts/car/fw_versions.py                     |  2 +-
 tools/scripts/cycle_alerts.py                        |  3 ++-
 tools/scripts/set_car_params.py                      |  2 +-
 tools/scripts/uiview.py                              |  3 ++-
 62 files changed, 108 insertions(+), 68 deletions(-)
 delete mode 120000 cereal/car.capnp

diff --git a/SConstruct b/SConstruct
index 31d4af801bc306..9429daea15c98a 100644
--- a/SConstruct
+++ b/SConstruct
@@ -114,6 +114,7 @@ env = Environment(
   CPPPATH=[
     "#",
     "#msgq",
+    "#cereal/gen/cpp",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
   ],
diff --git a/cereal/SConscript b/cereal/SConscript
index de7ca0d7214ae1..bee7620b1ee589 100644
--- a/cereal/SConscript
+++ b/cereal/SConscript
@@ -4,12 +4,14 @@ cereal_dir = Dir('.')
 gen_dir = Dir('gen')
 
 # Build cereal
-schema_files = ['log.capnp', 'car.capnp', 'deprecated.capnp', 'custom.capnp']
-env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
-            schema_files,
-            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
+schema_files = ['log.capnp', 'deprecated.capnp', 'custom.capnp']
+car_capnp = '#opendbc_repo/opendbc/car/car.capnp'
+all_output = schema_files + ['car.capnp']
+env.Command([f'gen/cpp/{s}.c++' for s in all_output] + [f'gen/cpp/{s}.h' for s in all_output],
+            schema_files + [car_capnp],
+            f"capnpc --src-prefix={cereal_dir.path} --src-prefix=opendbc_repo/opendbc/car --import-path=opendbc_repo/opendbc/car $SOURCES -o c++:{gen_dir.path}/cpp/")
 
-cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
+cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in all_output])
 
 # Build messaging
 services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
diff --git a/cereal/__init__.py b/cereal/__init__.py
index 93f4d772276d57..d4f6504652b908 100644
--- a/cereal/__init__.py
+++ b/cereal/__init__.py
@@ -4,8 +4,8 @@
 
 capnp.remove_import_hook()
 
-with as_file(files("cereal")) as fspath:
+with as_file(files("cereal")) as fspath, as_file(files("opendbc")) as opendbc_path:
   CEREAL_PATH = fspath.as_posix()
-  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
-  car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
-  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
+  opendbc_import_path = os.path.join(os.path.realpath(opendbc_path.as_posix()), 'car')
+  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"), imports=[opendbc_import_path])
+  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"), imports=[opendbc_import_path])
diff --git a/cereal/car.capnp b/cereal/car.capnp
deleted file mode 120000
index 4bc7f89b1fb5f2..00000000000000
--- a/cereal/car.capnp
+++ /dev/null
@@ -1 +0,0 @@
-../opendbc_repo/opendbc/car/car.capnp
\ No newline at end of file
diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 3348e859efb8eb..42804e0a977f7d 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -1,4 +1,4 @@
-using Cxx = import "./include/c++.capnp";
+using Cxx = import "/include/c++.capnp";
 $Cxx.namespace("cereal");
 
 @0xb526ba661d550a59;
diff --git a/cereal/deprecated.capnp b/cereal/deprecated.capnp
index 5e4b0b4de0ae24..37153e4d62621c 100644
--- a/cereal/deprecated.capnp
+++ b/cereal/deprecated.capnp
@@ -1,4 +1,4 @@
-using Cxx = import "./include/c++.capnp";
+using Cxx = import "/include/c++.capnp";
 $Cxx.namespace("cereal");
 
 @0x80ef1ec4889c2a63;
diff --git a/cereal/log.capnp b/cereal/log.capnp
index ec7a065eb74500..02536e46b1f20c 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -1,7 +1,7 @@
-using Cxx = import "./include/c++.capnp";
+using Cxx = import "/include/c++.capnp";
 $Cxx.namespace("cereal");
 
-using Car = import "car.capnp";
+using Car = import "/car.capnp";
 using Deprecated = import "deprecated.capnp";
 using Custom = import "custom.capnp";
 
diff --git a/cereal/messaging/tests/test_messaging.py b/cereal/messaging/tests/test_messaging.py
index 97388446f402d4..22601158a6ff40 100644
--- a/cereal/messaging/tests/test_messaging.py
+++ b/cereal/messaging/tests/test_messaging.py
@@ -8,7 +8,8 @@
 from openpilot.common.parameterized import parameterized
 import pytest
 
-from cereal import log, car
+from cereal import log
+from opendbc.car.structs import car
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
 
diff --git a/opendbc_repo b/opendbc_repo
index 75889fd9283730..7e3a0703b9d254 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 75889fd9283730feb6ec824a00975fda0807bbc5
+Subproject commit 7e3a0703b9d254812151f3660b6f8549432c954e
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index baa29978e360fb..1487f4380c0565 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -1,4 +1,5 @@
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 from opendbc.car import DT_CTRL, structs
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.interfaces import MAX_CTRL_SPEED
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 1660881a9ab207..f5186699ac8df4 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -5,7 +5,8 @@
 
 import cereal.messaging as messaging
 
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index 0d761844b53810..5e2f9db3060923 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -1,7 +1,7 @@
 import math
 import numpy as np
 
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.constants import CV
 
 
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 1bc59326a20a3c..7ddd73c2d8c2f8 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -3,7 +3,7 @@
 from hypothesis import Phase, given, settings
 from openpilot.common.parameterized import parameterized
 
-from cereal import car
+from opendbc.car.structs import car
 from opendbc.car import DT_CTRL
 from opendbc.car.structs import CarParams
 from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface
diff --git a/selfdrive/car/tests/test_cruise_speed.py b/selfdrive/car/tests/test_cruise_speed.py
index bfb060874d17d5..3b3fb115badad3 100644
--- a/selfdrive/car/tests/test_cruise_speed.py
+++ b/selfdrive/car/tests/test_cruise_speed.py
@@ -5,7 +5,7 @@
 from openpilot.common.parameterized import parameterized_class
 from cereal import log
 from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.constants import CV
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 5e3817c298b55c..67566cf0a7f7b4 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -2,7 +2,8 @@
 import math
 from numbers import Number
 
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 import cereal.messaging as messaging
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 62dbc842c54ef2..1132fedda68fa8 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -1,5 +1,5 @@
 import numpy as np
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.common.pid import PIDController
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index bec7eede0b56c9..49c4473590f2b7 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 6450ff416aa372..9d438661b37777 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -5,7 +5,8 @@
 from typing import Any
 
 import capnp
-from cereal import messaging, log, car
+from cereal import messaging, log
+from opendbc.car.structs import car
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index 5c3381edce2c1a..9cd5e6307c4888 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -1,6 +1,7 @@
 from openpilot.common.parameterized import parameterized
 
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.toyota.values import CAR as TOYOTA
diff --git a/selfdrive/controls/tests/test_latcontrol_torque_buffer.py b/selfdrive/controls/tests/test_latcontrol_torque_buffer.py
index ab1d2c7b36ca47..6a7ed5419e7ce8 100644
--- a/selfdrive/controls/tests/test_latcontrol_torque_buffer.py
+++ b/selfdrive/controls/tests/test_latcontrol_torque_buffer.py
@@ -1,6 +1,7 @@
 from openpilot.common.parameterized import parameterized
 
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.vehicle_model import VehicleModel
diff --git a/selfdrive/controls/tests/test_longcontrol.py b/selfdrive/controls/tests/test_longcontrol.py
index ab50810d894f61..da916b156fcc17 100644
--- a/selfdrive/controls/tests/test_longcontrol.py
+++ b/selfdrive/controls/tests/test_longcontrol.py
@@ -1,4 +1,4 @@
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
 
 
diff --git a/selfdrive/controls/tests/test_torqued_lat_accel_offset.py b/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
index 2f95d7c14f7b05..f1ca0c5f49e320 100644
--- a/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
+++ b/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
@@ -1,5 +1,6 @@
 import numpy as np
-from cereal import car, messaging
+from cereal import messaging
+from opendbc.car.structs import car
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
 from opendbc.car import structs
 from opendbc.car.lateral import get_friction, FRICTION_THRESHOLD
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index c444d43983ec48..23dacf6821f0ff 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -11,7 +11,8 @@
 import numpy as np
 from typing import NoReturn
 
-from cereal import log, car
+from cereal import log
+from opendbc.car.structs import car
 import cereal.messaging as messaging
 from openpilot.common.hardware import HARDWARE
 from openpilot.common.constants import CV
diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py
index 0069bb51b91bad..17aa0a43030f81 100755
--- a/selfdrive/locationd/lagd.py
+++ b/selfdrive/locationd/lagd.py
@@ -6,7 +6,8 @@
 from functools import partial
 
 import cereal.messaging as messaging
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 from cereal.services import SERVICE_LIST
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 02d09c506e158c..6acf3351786f5a 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -4,7 +4,8 @@
 import capnp
 
 import cereal.messaging as messaging
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States
diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py
index 63ea2b5fab1fc9..a0e4ee31faf385 100644
--- a/selfdrive/locationd/test/test_lagd.py
+++ b/selfdrive/locationd/test/test_lagd.py
@@ -3,7 +3,8 @@
 import time
 import pytest
 
-from cereal import messaging, log, car
+from cereal import messaging, log
+from opendbc.car.structs import car
 from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \
                                                BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC, VERSION
 from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
diff --git a/selfdrive/locationd/test/test_torqued.py b/selfdrive/locationd/test/test_torqued.py
index 53f3120c362dfc..ac8e40fc30a6c9 100644
--- a/selfdrive/locationd/test/test_torqued.py
+++ b/selfdrive/locationd/test/test_torqued.py
@@ -1,4 +1,4 @@
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.selfdrive.locationd.torqued import TorqueEstimator
 
 
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 16468f7055f3aa..fdd50d3eb65cd3 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -4,7 +4,8 @@
 from collections import deque, defaultdict
 
 import cereal.messaging as messaging
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 372e8704a292c5..18f665529ca595 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -6,7 +6,8 @@
 import pickle
 import numpy as np
 import cereal.messaging as messaging
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
diff --git a/selfdrive/monitoring/policy.py b/selfdrive/monitoring/policy.py
index cf784818ee3ca9..146717349dd108 100644
--- a/selfdrive/monitoring/policy.py
+++ b/selfdrive/monitoring/policy.py
@@ -2,7 +2,8 @@
 from math import atan2, radians
 import numpy as np
 
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 import cereal.messaging as messaging
 from openpilot.common.realtime import DT_DMON
 from openpilot.common.filter_simple import FirstOrderFilter
diff --git a/selfdrive/pandad/tests/test_pandad_loopback.py b/selfdrive/pandad/tests/test_pandad_loopback.py
index bc90f42a839f1c..5543b6d03c910e 100644
--- a/selfdrive/pandad/tests/test_pandad_loopback.py
+++ b/selfdrive/pandad/tests/test_pandad_loopback.py
@@ -7,7 +7,8 @@
 from pprint import pprint
 
 import cereal.messaging as messaging
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 from opendbc.car.can_definitions import CanData
 from openpilot.common.utils import retry
 from openpilot.common.params import Params
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 9a31e6f6b34990..efdbd35d7bc538 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -5,7 +5,8 @@
 from enum import IntEnum
 from collections.abc import Callable
 
-from cereal import log, car
+from cereal import log
+from opendbc.car.structs import car
 import cereal.messaging as messaging
 from openpilot.common.constants import CV
 from openpilot.common.git import get_short_branch
diff --git a/selfdrive/selfdrived/helpers.py b/selfdrive/selfdrived/helpers.py
index f7468cbe4361ff..3182d23403f2ff 100644
--- a/selfdrive/selfdrived/helpers.py
+++ b/selfdrive/selfdrived/helpers.py
@@ -1,7 +1,8 @@
 import math
 from enum import StrEnum, auto
 
-from cereal import car, messaging
+from cereal import messaging
+from opendbc.car.structs import car
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.helpers import Pose
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index b4bd2a7b906ebe..261a62ff6a49dd 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -5,7 +5,8 @@
 
 import cereal.messaging as messaging
 
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 from msgq.visionipc import VisionIpcClient, VisionStreamType
 
 
diff --git a/selfdrive/selfdrived/tests/test_alerts.py b/selfdrive/selfdrived/tests/test_alerts.py
index 5d5a1733e71598..3cd137d5860a41 100644
--- a/selfdrive/selfdrived/tests/test_alerts.py
+++ b/selfdrive/selfdrived/tests/test_alerts.py
@@ -4,7 +4,8 @@
 import random
 from PIL import Image, ImageDraw, ImageFont
 
-from cereal import log, car
+from cereal import log
+from opendbc.car.structs import car
 from cereal.messaging import SubMaster
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 5a3403c9254791..e10db26e7942e9 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -5,7 +5,8 @@
 import functools
 import traceback
 
-from cereal import messaging, car, log
+from cereal import messaging, log
+from opendbc.car.structs import car
 from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.toyota.values import EPS_SCALE, ToyotaSafetyFlags
 from opendbc.car.ford.values import CAR as FORD, FordFlags, FordSafetyFlags
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 2f198b04766eaa..110b0101a5e4b8 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -15,7 +15,7 @@
 from openpilot.common.hardware.hw import Paths
 
 import cereal.messaging as messaging
-from cereal import car
+from opendbc.car.structs import car
 from cereal.services import SERVICE_LIST
 from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
 from opendbc.car.can_definitions import CanData
diff --git a/selfdrive/ui/feedback/feedbackd.py b/selfdrive/ui/feedback/feedbackd.py
index 2d131a0d5ed0ea..b59954926c0d09 100755
--- a/selfdrive/ui/feedback/feedbackd.py
+++ b/selfdrive/ui/feedback/feedbackd.py
@@ -2,7 +2,7 @@
 import cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
 
 FEEDBACK_MAX_DURATION = 10.0
diff --git a/selfdrive/ui/mici/onroad/alert_renderer.py b/selfdrive/ui/mici/onroad/alert_renderer.py
index 6505ca47c8d237..a9cb5790d26d71 100644
--- a/selfdrive/ui/mici/onroad/alert_renderer.py
+++ b/selfdrive/ui/mici/onroad/alert_renderer.py
@@ -5,7 +5,8 @@
 import random
 import string
 from dataclasses import dataclass
-from cereal import messaging, log, car
+from cereal import messaging, log
+from opendbc.car.structs import car
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
 from openpilot.common.hardware import TICI
diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index e6609f9c09461a..0fe5875b8dad67 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -1,6 +1,7 @@
 import numpy as np
 import pyray as rl
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
index df5afe2e7c4a7f..f45cf33912be63 100644
--- a/selfdrive/ui/mici/onroad/driver_camera_dialog.py
+++ b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
@@ -1,5 +1,6 @@
 import pyray as rl
-from cereal import car, log, messaging
+from cereal import log, messaging
+from opendbc.car.structs import car
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
diff --git a/selfdrive/ui/mici/onroad/model_renderer.py b/selfdrive/ui/mici/onroad/model_renderer.py
index 12500bdcd4184c..6e335b0af2c475 100644
--- a/selfdrive/ui/mici/onroad/model_renderer.py
+++ b/selfdrive/ui/mici/onroad/model_renderer.py
@@ -1,7 +1,8 @@
 import colorsys
 import numpy as np
 import pyray as rl
-from cereal import messaging, car
+from cereal import messaging
+from opendbc.car.structs import car
 from dataclasses import dataclass, field
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py
index b9f601f8fb2b33..94e5637a093798 100644
--- a/selfdrive/ui/onroad/model_renderer.py
+++ b/selfdrive/ui/onroad/model_renderer.py
@@ -1,7 +1,8 @@
 import colorsys
 import numpy as np
 import pyray as rl
-from cereal import messaging, car
+from cereal import messaging
+from opendbc.car.structs import car
 from dataclasses import dataclass, field
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index ca5c824c29876a..7766d0321b7e24 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -4,7 +4,8 @@
 import wave
 
 
-from cereal import car, messaging
+from cereal import messaging
+from opendbc.car.structs import car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import Ratekeeper
diff --git a/selfdrive/ui/tests/diff/replay_script.py b/selfdrive/ui/tests/diff/replay_script.py
index ad7e8952d6d152..f4c97a223f3c9a 100644
--- a/selfdrive/ui/tests/diff/replay_script.py
+++ b/selfdrive/ui/tests/diff/replay_script.py
@@ -5,7 +5,8 @@
 
 import math
 
-from cereal import car, log, messaging
+from cereal import log, messaging
+from opendbc.car.structs import car
 from cereal.messaging import PubMaster
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
diff --git a/selfdrive/ui/tests/test_feedbackd.py b/selfdrive/ui/tests/test_feedbackd.py
index 0f7148de04ea4f..ada2c4763e68de 100644
--- a/selfdrive/ui/tests/test_feedbackd.py
+++ b/selfdrive/ui/tests/test_feedbackd.py
@@ -1,6 +1,6 @@
 import pytest
 import cereal.messaging as messaging
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.system.manager.process_config import managed_processes
 
diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py
index a9da8455ebdd24..ca153b6eef8750 100644
--- a/selfdrive/ui/tests/test_soundd.py
+++ b/selfdrive/ui/tests/test_soundd.py
@@ -1,4 +1,4 @@
-from cereal import car
+from opendbc.car.structs import car
 from cereal import messaging
 from cereal.messaging import SubMaster, PubMaster
 from openpilot.selfdrive.ui.soundd import SELFDRIVE_STATE_TIMEOUT, check_selfdrive_timeout_alert
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index d5b01427441fc9..4cc5810bb9a03b 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -3,7 +3,8 @@
 import threading
 from collections.abc import Callable
 from enum import Enum
-from cereal import messaging, car, log
+from cereal import messaging, log
+from opendbc.car.structs import car
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import drop_realtime
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 6d1325dac60765..d5bcc92f137203 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -28,7 +28,8 @@
                        create_connection)
 
 import cereal.messaging as messaging
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 from cereal.services import SERVICE_LIST
 from openpilot.common.api import Api, get_key_pair
 from openpilot.common.utils import CallbackReader, get_upload_stream
diff --git a/system/manager/process.py b/system/manager/process.py
index cdb316e1a1dc29..63dbb35eb15126 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -9,7 +9,8 @@
 
 from setproctitle import setproctitle
 
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 import cereal.messaging as messaging
 import openpilot.system.sentry as sentry
 from openpilot.common.basedir import BASEDIR
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index f610d1c786c18e..c4cf8345607467 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -2,7 +2,7 @@
 import operator
 import platform
 
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.common.hardware import PC, TICI
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
diff --git a/system/manager/test/test_manager.py b/system/manager/test/test_manager.py
index 73c66ff3fc5ed8..273ddc8fd94163 100644
--- a/system/manager/test/test_manager.py
+++ b/system/manager/test/test_manager.py
@@ -3,7 +3,7 @@
 import signal
 import time
 
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.params import Params
 import openpilot.system.manager.manager as manager
 from openpilot.system.manager.process import ensure_running
diff --git a/tools/jotpluggler/SConscript b/tools/jotpluggler/SConscript
index 078e173959aeb9..d65b8c02e3b479 100644
--- a/tools/jotpluggler/SConscript
+++ b/tools/jotpluggler/SConscript
@@ -95,6 +95,8 @@ event_extractors = jot_env.Command("generated_event_extractors.h", [
     "generate_event_extractors.py",
     jot_env.Glob("#cereal/*.capnp"),
     jot_env.Glob("#cereal/include/*.capnp"),
+    "#opendbc_repo/opendbc/car/car.capnp",
+    "#opendbc_repo/opendbc/car/include/c++.capnp",
   ],
   generate_event_extractors,
 )
diff --git a/tools/jotpluggler/generate_event_extractors.py b/tools/jotpluggler/generate_event_extractors.py
index 1aba9578cd1a66..0ffa11c36c2c70 100644
--- a/tools/jotpluggler/generate_event_extractors.py
+++ b/tools/jotpluggler/generate_event_extractors.py
@@ -321,7 +321,7 @@ def generate(self):
   repo_root = Path(sys.argv[1]).resolve()
   output = Path(sys.argv[2])
   capnp.remove_import_hook()
-  log = capnp.load(str(repo_root / "cereal" / "log.capnp"))
+  log = capnp.load(str(repo_root / "cereal" / "log.capnp"), imports=[str(repo_root / "opendbc_repo" / "opendbc" / "car")])
   generated = Generator(log.Event.schema).generate()
   output.parent.mkdir(parents=True, exist_ok=True)
   output.write_text(generated)
diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index 789dad562318f2..f06097658a94ae 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -3,7 +3,8 @@
 import math
 import numpy as np
 
-from cereal import messaging, car
+from cereal import messaging
+from opendbc.car.structs import car
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.common.realtime import DT_CTRL, Ratekeeper
 from openpilot.common.params import Params
diff --git a/tools/lateral_maneuvers/generate_report.py b/tools/lateral_maneuvers/generate_report.py
index 5db486a70d4412..e26690e2da66a8 100755
--- a/tools/lateral_maneuvers/generate_report.py
+++ b/tools/lateral_maneuvers/generate_report.py
@@ -11,7 +11,7 @@
 import matplotlib.pyplot as plt
 from openpilot.common.utils import tabulate
 
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LP_FILTER_CUTOFF_HZ
 from openpilot.tools.lib.logreader import LogReader
diff --git a/tools/lateral_maneuvers/lateral_maneuversd.py b/tools/lateral_maneuvers/lateral_maneuversd.py
index 1cc2d3560eafff..61f51145df732e 100755
--- a/tools/lateral_maneuvers/lateral_maneuversd.py
+++ b/tools/lateral_maneuvers/lateral_maneuversd.py
@@ -2,7 +2,8 @@
 import numpy as np
 from dataclasses import dataclass
 
-from cereal import messaging, car
+from cereal import messaging
+from opendbc.car.structs import car
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.params import Params
diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
index f8dc6787cc488b..cf53f8e85ae610 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -2,7 +2,8 @@
 import numpy as np
 from dataclasses import dataclass
 
-from cereal import messaging, car
+from cereal import messaging
+from opendbc.car.structs import car
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.params import Params
diff --git a/tools/scripts/car/fw_versions.py b/tools/scripts/car/fw_versions.py
index 81692147f025d6..6fdac5e46da336 100755
--- a/tools/scripts/car/fw_versions.py
+++ b/tools/scripts/car/fw_versions.py
@@ -2,7 +2,7 @@
 import time
 import argparse
 import cereal.messaging as messaging
-from cereal import car
+from opendbc.car.structs import car
 from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import get_fw_versions, match_fw_to_car
 from opendbc.car.vin import get_vin
diff --git a/tools/scripts/cycle_alerts.py b/tools/scripts/cycle_alerts.py
index 4b1def4fc64e01..7dc963aafd311a 100755
--- a/tools/scripts/cycle_alerts.py
+++ b/tools/scripts/cycle_alerts.py
@@ -2,7 +2,8 @@
 import time
 import random
 
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 import cereal.messaging as messaging
 from opendbc.car.honda.interface import CarInterface
 from openpilot.common.realtime import DT_CTRL
diff --git a/tools/scripts/set_car_params.py b/tools/scripts/set_car_params.py
index dabb6b706587a7..3864de0838335d 100755
--- a/tools/scripts/set_car_params.py
+++ b/tools/scripts/set_car_params.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import sys
 
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.logreader import LogReader
diff --git a/tools/scripts/uiview.py b/tools/scripts/uiview.py
index a8d50e7f99a1fa..3a81f2f84f36b0 100755
--- a/tools/scripts/uiview.py
+++ b/tools/scripts/uiview.py
@@ -1,7 +1,8 @@
 #!/usr/bin/env python3
 import time
 
-from cereal import car, log, messaging
+from cereal import log, messaging
+from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.common.hardware import HARDWARE

From 37eda06c95cf808770ad7b3a2ae30d1eae1b12c0 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 21 Jun 2026 17:55:17 -0700
Subject: [PATCH 1238/1434] move cereal/ into nested openpilot (#38220)

---
 .gitignore                                      |  6 +++---
 RELEASES.md                                     |  2 +-
 SConstruct                                      |  4 ++--
 common/hardware/base.h                          |  2 +-
 common/hardware/base.py                         |  2 +-
 common/hardware/pc/hardware.py                  |  2 +-
 common/hardware/tici/hardware.py                |  2 +-
 common/mock/__init__.py                         |  4 ++--
 common/mock/generators.py                       |  2 +-
 common/params_keys.h                            |  2 +-
 docs/CONTRIBUTING.md                            |  2 +-
 docs/concepts/logs.md                           |  4 ++--
 {cereal => openpilot/cereal}/README.md          |  2 +-
 {cereal => openpilot/cereal}/SConscript         |  0
 {cereal => openpilot/cereal}/__init__.py        |  2 +-
 {cereal => openpilot/cereal}/custom.capnp       |  0
 {cereal => openpilot/cereal}/deprecated.capnp   |  0
 {cereal => openpilot/cereal}/include/c++.capnp  |  0
 {cereal => openpilot/cereal}/log.capnp          |  0
 .../cereal}/messaging/__init__.py               |  4 ++--
 .../cereal}/messaging/bridge.cc                 |  4 ++--
 .../cereal}/messaging/bridge_zmq.cc             |  2 +-
 .../cereal}/messaging/bridge_zmq.h              |  0
 .../cereal}/messaging/messaging.h               |  2 +-
 .../cereal}/messaging/msgq_to_zmq.cc            |  4 ++--
 .../cereal}/messaging/msgq_to_zmq.h             |  2 +-
 .../cereal}/messaging/socketmaster.cc           |  4 ++--
 .../cereal}/messaging/tests/__init__.py         |  0
 .../cereal}/messaging/tests/test_messaging.py   |  6 +++---
 .../messaging/tests/test_pub_sub_master.py      |  6 +++---
 .../cereal}/messaging/tests/test_services.py    |  4 ++--
 {cereal => openpilot/cereal}/services.py        |  0
 pyproject.toml                                  |  8 ++++----
 release/pack.py                                 |  2 +-
 scripts/lint/lint.sh                            |  2 +-
 selfdrive/car/car_specific.py                   |  2 +-
 selfdrive/car/card.py                           |  4 ++--
 selfdrive/car/tests/test_cruise_speed.py        |  2 +-
 selfdrive/car/tests/test_docs.py                |  1 -
 selfdrive/car/tests/test_models.py              |  1 -
 selfdrive/controls/controlsd.py                 |  4 ++--
 selfdrive/controls/lib/desire_helper.py         |  2 +-
 selfdrive/controls/lib/latcontrol_angle.py      |  2 +-
 selfdrive/controls/lib/latcontrol_curvature.py  |  2 +-
 selfdrive/controls/lib/latcontrol_pid.py        |  2 +-
 selfdrive/controls/lib/latcontrol_torque.py     |  2 +-
 selfdrive/controls/lib/ldw.py                   |  2 +-
 .../lib/longitudinal_mpc_lib/long_mpc.py        |  2 +-
 selfdrive/controls/lib/longitudinal_planner.py  |  2 +-
 selfdrive/controls/plannerd.py                  |  2 +-
 selfdrive/controls/radard.py                    |  2 +-
 .../controls/tests/test_following_distance.py   |  2 +-
 selfdrive/controls/tests/test_latcontrol.py     |  2 +-
 .../tests/test_latcontrol_torque_buffer.py      |  2 +-
 selfdrive/controls/tests/test_leads.py          |  2 +-
 .../tests/test_torqued_lat_accel_offset.py      |  2 +-
 selfdrive/locationd/calibrationd.py             |  4 ++--
 selfdrive/locationd/helpers.py                  |  2 +-
 selfdrive/locationd/lagd.py                     |  6 +++---
 selfdrive/locationd/locationd.py                |  4 ++--
 selfdrive/locationd/paramsd.py                  |  4 ++--
 selfdrive/locationd/test/test_calibrationd.py   |  4 ++--
 selfdrive/locationd/test/test_lagd.py           |  2 +-
 selfdrive/locationd/test/test_paramsd.py        |  2 +-
 selfdrive/locationd/torqued.py                  |  4 ++--
 selfdrive/modeld/dmonitoringmodeld.py           |  4 ++--
 selfdrive/modeld/fill_model_msg.py              |  2 +-
 selfdrive/modeld/modeld.py                      |  6 +++---
 selfdrive/monitoring/dmonitoringd.py            |  2 +-
 selfdrive/monitoring/policy.py                  |  4 ++--
 selfdrive/monitoring/test_monitoring.py         |  2 +-
 selfdrive/pandad/panda.cc                       |  2 +-
 selfdrive/pandad/panda.h                        |  4 ++--
 selfdrive/pandad/panda_safety.cc                |  2 +-
 selfdrive/pandad/pandad.cc                      |  6 +++---
 selfdrive/pandad/pandad_api_impl.py             |  2 +-
 selfdrive/pandad/tests/test_pandad.py           |  4 ++--
 .../pandad/tests/test_pandad_canprotocol.cc     |  2 +-
 selfdrive/pandad/tests/test_pandad_loopback.py  |  4 ++--
 selfdrive/pandad/tests/test_pandad_spi.py       |  4 ++--
 selfdrive/selfdrived/events.py                  |  6 +++---
 selfdrive/selfdrived/helpers.py                 |  2 +-
 selfdrive/selfdrived/selfdrived.py              |  4 ++--
 selfdrive/selfdrived/state.py                   |  2 +-
 selfdrive/selfdrived/tests/test_alerts.py       |  4 ++--
 .../selfdrived/tests/test_state_machine.py      |  2 +-
 selfdrive/test/fuzzy_generation.py              |  2 +-
 selfdrive/test/helpers.py                       |  2 +-
 selfdrive/test/longitudinal_maneuvers/plant.py  |  4 ++--
 selfdrive/test/process_replay/diff_report.py    |  1 -
 selfdrive/test/process_replay/migration.py      |  2 +-
 selfdrive/test/process_replay/process_replay.py |  4 ++--
 selfdrive/test/process_replay/test_fuzzy.py     |  2 +-
 selfdrive/test/process_replay/test_processes.py |  1 -
 selfdrive/test/test_onroad.py                   |  6 +++---
 selfdrive/test/test_power_draw.py               |  4 ++--
 selfdrive/test/update_ci_routes.py              |  1 -
 selfdrive/ui/feedback/feedbackd.py              |  2 +-
 selfdrive/ui/layouts/main.py                    |  2 +-
 selfdrive/ui/layouts/settings/device.py         |  2 +-
 selfdrive/ui/layouts/settings/toggles.py        |  2 +-
 selfdrive/ui/layouts/sidebar.py                 |  2 +-
 selfdrive/ui/mici/layouts/home.py               |  2 +-
 selfdrive/ui/mici/layouts/main.py               |  2 +-
 selfdrive/ui/mici/layouts/settings/toggles.py   |  2 +-
 selfdrive/ui/mici/onroad/alert_renderer.py      |  2 +-
 selfdrive/ui/mici/onroad/augmented_road_view.py |  2 +-
 .../ui/mici/onroad/driver_camera_dialog.py      |  2 +-
 selfdrive/ui/mici/onroad/driver_state.py        |  2 +-
 selfdrive/ui/mici/onroad/hud_renderer.py        |  2 +-
 selfdrive/ui/mici/onroad/model_renderer.py      |  2 +-
 selfdrive/ui/onroad/alert_renderer.py           |  2 +-
 selfdrive/ui/onroad/augmented_road_view.py      |  2 +-
 selfdrive/ui/onroad/driver_state.py             |  2 +-
 selfdrive/ui/onroad/model_renderer.py           |  2 +-
 selfdrive/ui/soundd.py                          |  2 +-
 selfdrive/ui/tests/body.py                      |  2 +-
 selfdrive/ui/tests/diff/replay.py               |  2 +-
 selfdrive/ui/tests/diff/replay_script.py        |  4 ++--
 selfdrive/ui/tests/test_feedbackd.py            |  2 +-
 selfdrive/ui/tests/test_soundd.py               |  4 ++--
 selfdrive/ui/ui.py                              |  2 +-
 selfdrive/ui/ui_state.py                        |  2 +-
 system/athena/athenad.py                        |  6 +++---
 system/athena/tests/test_athenad.py             |  2 +-
 system/camerad/cameras/camera_common.h          |  2 +-
 system/camerad/cameras/hw.h                     |  2 +-
 system/camerad/sensors/sensor.h                 |  2 +-
 system/camerad/snapshot.py                      |  2 +-
 system/camerad/test/test_camerad.py             |  2 +-
 system/camerad/webcam/camerad.py                |  2 +-
 system/hardware/hardwared.py                    |  6 +++---
 system/journald.py                              |  2 +-
 system/loggerd/bootlog.cc                       |  4 ++--
 system/loggerd/encoder/encoder.h                |  2 +-
 system/loggerd/encoder/jpeg_encoder.h           |  2 +-
 system/loggerd/logger.h                         |  2 +-
 system/loggerd/loggerd.h                        |  4 ++--
 system/loggerd/tests/test_loggerd.py            |  6 +++---
 system/loggerd/uploader.py                      |  4 ++--
 system/loggerd/video_writer.h                   |  2 +-
 system/logmessaged.py                           |  2 +-
 system/manager/manager.py                       |  4 ++--
 system/manager/process.py                       |  4 ++--
 system/manager/process_config.py                |  2 +-
 system/micd.py                                  |  2 +-
 system/proclogd.py                              |  2 +-
 system/qcomgpsd/qcomgpsd.py                     |  4 ++--
 system/sensord/sensord.py                       |  4 ++--
 system/sensord/sensors/i2c_sensor.py            |  2 +-
 system/sensord/sensors/lsm6ds3_accel.py         |  2 +-
 system/sensord/sensors/lsm6ds3_gyro.py          |  2 +-
 system/sensord/sensors/lsm6ds3_temp.py          |  2 +-
 system/sensord/tests/test_sensord.py            |  4 ++--
 system/tests/test_logmessaged.py                |  2 +-
 system/timed.py                                 |  2 +-
 system/ubloxd/pigeond.py                        |  2 +-
 system/ubloxd/tests/test_pigeond.py             |  4 ++--
 system/ubloxd/ubloxd.py                         |  4 ++--
 system/ui/mici_setup.py                         |  2 +-
 system/ui/tici_setup.py                         |  2 +-
 system/webrtc/device/video.py                   |  2 +-
 system/webrtc/tests/test_stream_session.py      |  2 +-
 system/webrtc/webrtcd.py                        |  2 +-
 tools/cabana/README.md                          |  4 ++--
 tools/cabana/SConscript                         |  2 +-
 tools/cabana/cabana                             |  2 +-
 tools/cabana/dbc/generate_dbc_json.py           |  1 -
 tools/cabana/panda.cc                           |  2 +-
 tools/cabana/panda.h                            |  4 ++--
 tools/cabana/streams/abstractstream.h           |  2 +-
 tools/cabana/streams/devicestream.cc            |  4 ++--
 tools/camerastream/README.md                    |  6 +++---
 tools/camerastream/compressed_vipc.py           |  2 +-
 tools/car_porting/measure_steering_accuracy.py  |  2 +-
 tools/car_porting/test_car_model.py             |  1 -
 tools/jotpluggler/SConscript                    |  4 ++--
 tools/jotpluggler/app.h                         |  2 +-
 tools/jotpluggler/generate_event_extractors.py  |  2 +-
 tools/jotpluggler/runtime.cc                    |  2 +-
 tools/joystick/README.md                        |  2 +-
 tools/joystick/joystick_control.py              |  4 ++--
 tools/joystick/joystickd.py                     |  2 +-
 tools/lateral_maneuvers/lateral_maneuversd.py   |  2 +-
 tools/lib/live_logreader.py                     |  4 ++--
 tools/lib/logreader.py                          |  2 +-
 tools/lib/tests/test_logreader.py               |  2 +-
 tools/longitudinal_maneuvers/maneuversd.py      |  2 +-
 tools/plotjuggler/README.md                     |  2 +-
 tools/plotjuggler/juggle.py                     | 17 ++++++++++++++---
 tools/replay/logreader.h                        |  2 +-
 tools/replay/replay.cc                          |  2 +-
 tools/replay/timeline.cc                        |  2 +-
 tools/replay/ui.py                              |  2 +-
 tools/replay/util.h                             |  2 +-
 tools/scripts/adb_ssh.sh                        |  2 +-
 tools/scripts/car/can_print_changes.py          |  2 +-
 tools/scripts/car/can_printer.py                |  2 +-
 tools/scripts/car/can_table.py                  |  2 +-
 tools/scripts/car/disable_ecu.py                |  2 +-
 tools/scripts/car/ecu_addrs.py                  |  2 +-
 tools/scripts/car/fw_versions.py                |  2 +-
 .../scripts/car/hyundai_enable_radar_points.py  |  1 -
 tools/scripts/car/measure_torque_time_to_max.py |  4 ++--
 tools/scripts/car/vin.py                        |  2 +-
 tools/scripts/count_events.py                   |  2 +-
 tools/scripts/cycle_alerts.py                   |  4 ++--
 .../scripts/debug_fw_fingerprinting_offline.py  |  1 -
 tools/scripts/dump.py                           |  6 +++---
 tools/scripts/filter_log_message.py             |  2 +-
 tools/scripts/fuzz_fw_fingerprint.py            |  1 -
 tools/scripts/get_fingerprint.py                |  2 +-
 tools/scripts/live_cpu_and_temp.py              |  2 +-
 tools/scripts/qlog_size.py                      |  2 +-
 tools/scripts/uiview.py                         |  2 +-
 tools/scripts/watch_timings.py                  |  4 ++--
 tools/sim/bridge/common.py                      |  1 -
 tools/sim/lib/camerad.py                        |  2 +-
 tools/sim/lib/simulated_car.py                  |  2 +-
 tools/sim/lib/simulated_sensors.py              |  4 ++--
 tools/sim/tests/test_sim_bridge.py              |  2 +-
 221 files changed, 292 insertions(+), 292 deletions(-)
 rename {cereal => openpilot/cereal}/README.md (98%)
 rename {cereal => openpilot/cereal}/SConscript (100%)
 rename {cereal => openpilot/cereal}/__init__.py (81%)
 rename {cereal => openpilot/cereal}/custom.capnp (100%)
 rename {cereal => openpilot/cereal}/deprecated.capnp (100%)
 rename {cereal => openpilot/cereal}/include/c++.capnp (100%)
 rename {cereal => openpilot/cereal}/log.capnp (100%)
 rename {cereal => openpilot/cereal}/messaging/__init__.py (99%)
 rename {cereal => openpilot/cereal}/messaging/bridge.cc (95%)
 rename {cereal => openpilot/cereal}/messaging/bridge_zmq.cc (98%)
 rename {cereal => openpilot/cereal}/messaging/bridge_zmq.h (100%)
 rename {cereal => openpilot/cereal}/messaging/messaging.h (98%)
 rename {cereal => openpilot/cereal}/messaging/msgq_to_zmq.cc (98%)
 rename {cereal => openpilot/cereal}/messaging/msgq_to_zmq.h (94%)
 rename {cereal => openpilot/cereal}/messaging/socketmaster.cc (98%)
 rename {cereal => openpilot/cereal}/messaging/tests/__init__.py (100%)
 rename {cereal => openpilot/cereal}/messaging/tests/test_messaging.py (97%)
 rename {cereal => openpilot/cereal}/messaging/tests/test_pub_sub_master.py (96%)
 rename {cereal => openpilot/cereal}/messaging/tests/test_services.py (85%)
 rename {cereal => openpilot/cereal}/services.py (100%)

diff --git a/.gitignore b/.gitignore
index 8f4442e522c90d..35a2fe8c5e7286 100644
--- a/.gitignore
+++ b/.gitignore
@@ -49,9 +49,9 @@ selfdrive/modeld/models/tg_input_devices.json
 # build artifacts
 docs_site/
 selfdrive/pandad/pandad
-cereal/services.h
-cereal/gen
-cereal/messaging/bridge
+openpilot/cereal/services.h
+openpilot/cereal/gen
+openpilot/cereal/messaging/bridge
 selfdrive/ui/translations/tmp
 selfdrive/car/tests/cars_dump
 system/camerad/camerad
diff --git a/RELEASES.md b/RELEASES.md
index 7946fce019faca..770a7c40fee625 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1104,7 +1104,7 @@ Version 0.2.1  (2016-12-14)
 
 Version 0.2  (2016-12-12)
 =========================
- * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+ * Car/Radar abstraction layers have shipped, see openpilot/cereal/car.capnp
  * controlsd has been refactored
  * Shipped plant model and testing maneuvers
  * visiond exits more gracefully now
diff --git a/SConstruct b/SConstruct
index 9429daea15c98a..41bc5d7d0ddec6 100644
--- a/SConstruct
+++ b/SConstruct
@@ -114,7 +114,7 @@ env = Environment(
   CPPPATH=[
     "#",
     "#msgq",
-    "#cereal/gen/cpp",
+    "#openpilot/cereal/gen/cpp",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
   ],
@@ -222,7 +222,7 @@ env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
 
-SConscript(['cereal/SConscript'])
+SConscript(['openpilot/cereal/SConscript'])
 
 Import('socketmaster', 'msgq')
 messaging = [socketmaster, msgq, 'capnp', 'kj',]
diff --git a/common/hardware/base.h b/common/hardware/base.h
index 3cb8add783c45a..f4546adfa83676 100644
--- a/common/hardware/base.h
+++ b/common/hardware/base.h
@@ -5,7 +5,7 @@
 #include <map>
 #include <string>
 
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 
 // no-op base hw class
 class HardwareNone {
diff --git a/common/hardware/base.py b/common/hardware/base.py
index bf6523db77a703..5d8f7770dced51 100644
--- a/common/hardware/base.py
+++ b/common/hardware/base.py
@@ -2,7 +2,7 @@
 from abc import abstractmethod, ABC
 from dataclasses import dataclass, fields
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.esim.base import LPABase
 
 NetworkType = log.DeviceState.NetworkType
diff --git a/common/hardware/pc/hardware.py b/common/hardware/pc/hardware.py
index b387f031271270..b4aa56c9045722 100644
--- a/common/hardware/pc/hardware.py
+++ b/common/hardware/pc/hardware.py
@@ -1,4 +1,4 @@
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.hardware.base import HardwareBase
 
 class Pc(HardwareBase):
diff --git a/common/hardware/tici/hardware.py b/common/hardware/tici/hardware.py
index bec4c9042397a0..1a2cb51d055336 100644
--- a/common/hardware/tici/hardware.py
+++ b/common/hardware/tici/hardware.py
@@ -7,7 +7,7 @@
 from functools import cached_property, lru_cache
 from pathlib import Path
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.utils import sudo_read, sudo_write
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
 from openpilot.common.esim.base import LPABase
diff --git a/common/mock/__init__.py b/common/mock/__init__.py
index 4b01dfe8411b11..673513fdd9d96d 100644
--- a/common/mock/__init__.py
+++ b/common/mock/__init__.py
@@ -6,8 +6,8 @@
 
 import functools
 import threading
-from cereal.messaging import PubMaster
-from cereal.services import SERVICE_LIST
+from openpilot.cereal.messaging import PubMaster
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.mock.generators import generate_livePose
 from openpilot.common.realtime import Ratekeeper
 
diff --git a/common/mock/generators.py b/common/mock/generators.py
index 5cd9c88a56fc33..28a3b98e58b6e8 100644
--- a/common/mock/generators.py
+++ b/common/mock/generators.py
@@ -1,4 +1,4 @@
-from cereal import messaging
+from openpilot.cereal import messaging
 
 
 def generate_livePose():
diff --git a/common/params_keys.h b/common/params_keys.h
index 5b0f6e99c93b0e..02bdc616dafe71 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -3,7 +3,7 @@
 #include <string>
 #include <unordered_map>
 
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 
 inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"AccessToken", {CLEAR_ON_MANAGER_START | DONT_LOG, STRING}},
diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md
index 3d39420c01b18d..cbeb5f6d3a14f6 100644
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@@ -68,6 +68,6 @@ A good pull request has all of the following:
 ### A guide for forks
 
 In order for your fork's data to be eligible for the training set:
-* **Your cereal messaging structs must be [compatible](../cereal#custom-forks)**
+* **Your cereal messaging structs must be [compatible](../openpilot/cereal#custom-forks)**
 * **The definitions of all the stock messaging structs must not change**: Do not change how any of the fields are set, including everything from `selfdriveState.enabled` to `carState.steeringAngleDeg`. Instead, create your own structs and set them however you'd like.
 * **Do not include cars that are not supported in upstream platforms**: Instead, create new opendbc platforms for cars that you'd like to support outside of upstream, even if it's just a trim-level difference.
diff --git a/docs/concepts/logs.md b/docs/concepts/logs.md
index e533d3629725de..4fa720dddec8b5 100644
--- a/docs/concepts/logs.md
+++ b/docs/concepts/logs.md
@@ -8,7 +8,7 @@ For each segment, openpilot records the following log types:
 
 ## rlog.zst
 
-rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/openpilot/blob/master/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
+rlogs contain all the messages passed amongst openpilot's processes. See [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
 
 ## {f,e,d}camera.hevc
 
@@ -20,7 +20,7 @@ Each camera stream is H.265 encoded and written to its respective file.
 
 ## qlog.zst & qcamera.ts
 
-qlogs are a decimated subset of the rlogs. Check out [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for the decimation.
+qlogs are a decimated subset of the rlogs. Check out [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/cereal/services.py) for the decimation.
 
 qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in [comma connect](https://connect.comma.ai/) is from the qcameras.
 
diff --git a/cereal/README.md b/openpilot/cereal/README.md
similarity index 98%
rename from cereal/README.md
rename to openpilot/cereal/README.md
index 45e859c09ca4a6..419d380882803c 100644
--- a/cereal/README.md
+++ b/openpilot/cereal/README.md
@@ -76,7 +76,7 @@ index 1209f3fd9..b189f58b6 100644
 Example
 ---
 ```python
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
 # in subscriber
 sm = messaging.SubMaster(['sensorEvents'])
diff --git a/cereal/SConscript b/openpilot/cereal/SConscript
similarity index 100%
rename from cereal/SConscript
rename to openpilot/cereal/SConscript
diff --git a/cereal/__init__.py b/openpilot/cereal/__init__.py
similarity index 81%
rename from cereal/__init__.py
rename to openpilot/cereal/__init__.py
index d4f6504652b908..d4a43a8474441b 100644
--- a/cereal/__init__.py
+++ b/openpilot/cereal/__init__.py
@@ -4,7 +4,7 @@
 
 capnp.remove_import_hook()
 
-with as_file(files("cereal")) as fspath, as_file(files("opendbc")) as opendbc_path:
+with as_file(files("openpilot.cereal")) as fspath, as_file(files("opendbc")) as opendbc_path:
   CEREAL_PATH = fspath.as_posix()
   opendbc_import_path = os.path.join(os.path.realpath(opendbc_path.as_posix()), 'car')
   log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"), imports=[opendbc_import_path])
diff --git a/cereal/custom.capnp b/openpilot/cereal/custom.capnp
similarity index 100%
rename from cereal/custom.capnp
rename to openpilot/cereal/custom.capnp
diff --git a/cereal/deprecated.capnp b/openpilot/cereal/deprecated.capnp
similarity index 100%
rename from cereal/deprecated.capnp
rename to openpilot/cereal/deprecated.capnp
diff --git a/cereal/include/c++.capnp b/openpilot/cereal/include/c++.capnp
similarity index 100%
rename from cereal/include/c++.capnp
rename to openpilot/cereal/include/c++.capnp
diff --git a/cereal/log.capnp b/openpilot/cereal/log.capnp
similarity index 100%
rename from cereal/log.capnp
rename to openpilot/cereal/log.capnp
diff --git a/cereal/messaging/__init__.py b/openpilot/cereal/messaging/__init__.py
similarity index 99%
rename from cereal/messaging/__init__.py
rename to openpilot/cereal/messaging/__init__.py
index ae32bfd4cbebc1..cb5f090095bad9 100644
--- a/cereal/messaging/__init__.py
+++ b/openpilot/cereal/messaging/__init__.py
@@ -9,8 +9,8 @@
 
 from typing import Optional, List, Union, Dict
 
-from cereal import log
-from cereal.services import SERVICE_LIST
+from openpilot.cereal import log
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.utils import MovingAverage
 
 NO_TRAVERSAL_LIMIT = 2**64-1
diff --git a/cereal/messaging/bridge.cc b/openpilot/cereal/messaging/bridge.cc
similarity index 95%
rename from cereal/messaging/bridge.cc
rename to openpilot/cereal/messaging/bridge.cc
index 77823c413acae2..ee3d5e93caae8f 100644
--- a/cereal/messaging/bridge.cc
+++ b/openpilot/cereal/messaging/bridge.cc
@@ -1,7 +1,7 @@
 #include <cassert>
 
-#include "cereal/messaging/msgq_to_zmq.h"
-#include "cereal/services.h"
+#include "openpilot/cereal/messaging/msgq_to_zmq.h"
+#include "openpilot/cereal/services.h"
 #include "common/util.h"
 
 ExitHandler do_exit;
diff --git a/cereal/messaging/bridge_zmq.cc b/openpilot/cereal/messaging/bridge_zmq.cc
similarity index 98%
rename from cereal/messaging/bridge_zmq.cc
rename to openpilot/cereal/messaging/bridge_zmq.cc
index 5c56673b472adf..72d4345d0384ae 100644
--- a/cereal/messaging/bridge_zmq.cc
+++ b/openpilot/cereal/messaging/bridge_zmq.cc
@@ -1,4 +1,4 @@
-#include "cereal/messaging/bridge_zmq.h"
+#include "openpilot/cereal/messaging/bridge_zmq.h"
 
 #include <cassert>
 #include <cstring>
diff --git a/cereal/messaging/bridge_zmq.h b/openpilot/cereal/messaging/bridge_zmq.h
similarity index 100%
rename from cereal/messaging/bridge_zmq.h
rename to openpilot/cereal/messaging/bridge_zmq.h
diff --git a/cereal/messaging/messaging.h b/openpilot/cereal/messaging/messaging.h
similarity index 98%
rename from cereal/messaging/messaging.h
rename to openpilot/cereal/messaging/messaging.h
index fb9c261f2b57ea..933e0b9f1573c3 100644
--- a/cereal/messaging/messaging.h
+++ b/openpilot/cereal/messaging/messaging.h
@@ -8,7 +8,7 @@
 
 #include <capnp/serialize.h>
 
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 #include "common/timing.h"
 #include "msgq/ipc.h"
 
diff --git a/cereal/messaging/msgq_to_zmq.cc b/openpilot/cereal/messaging/msgq_to_zmq.cc
similarity index 98%
rename from cereal/messaging/msgq_to_zmq.cc
rename to openpilot/cereal/messaging/msgq_to_zmq.cc
index 5e7ea222739823..adea00f9231c4c 100644
--- a/cereal/messaging/msgq_to_zmq.cc
+++ b/openpilot/cereal/messaging/msgq_to_zmq.cc
@@ -1,8 +1,8 @@
-#include "cereal/messaging/msgq_to_zmq.h"
+#include "openpilot/cereal/messaging/msgq_to_zmq.h"
 
 #include <cassert>
 
-#include "cereal/services.h"
+#include "openpilot/cereal/services.h"
 #include "common/util.h"
 
 extern ExitHandler do_exit;
diff --git a/cereal/messaging/msgq_to_zmq.h b/openpilot/cereal/messaging/msgq_to_zmq.h
similarity index 94%
rename from cereal/messaging/msgq_to_zmq.h
rename to openpilot/cereal/messaging/msgq_to_zmq.h
index 64f3a2173e7bea..a34f0ebbf0fd9f 100644
--- a/cereal/messaging/msgq_to_zmq.h
+++ b/openpilot/cereal/messaging/msgq_to_zmq.h
@@ -8,7 +8,7 @@
 #include <vector>
 
 #include "msgq/impl_msgq.h"
-#include "cereal/messaging/bridge_zmq.h"
+#include "openpilot/cereal/messaging/bridge_zmq.h"
 
 class MsgqToZmq {
 public:
diff --git a/cereal/messaging/socketmaster.cc b/openpilot/cereal/messaging/socketmaster.cc
similarity index 98%
rename from cereal/messaging/socketmaster.cc
rename to openpilot/cereal/messaging/socketmaster.cc
index dfeeb807ee596f..dd285a0c8ec433 100644
--- a/cereal/messaging/socketmaster.cc
+++ b/openpilot/cereal/messaging/socketmaster.cc
@@ -3,8 +3,8 @@
 #include <string>
 #include <mutex>
 
-#include "cereal/services.h"
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/services.h"
+#include "openpilot/cereal/messaging/messaging.h"
 
 const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
 
diff --git a/cereal/messaging/tests/__init__.py b/openpilot/cereal/messaging/tests/__init__.py
similarity index 100%
rename from cereal/messaging/tests/__init__.py
rename to openpilot/cereal/messaging/tests/__init__.py
diff --git a/cereal/messaging/tests/test_messaging.py b/openpilot/cereal/messaging/tests/test_messaging.py
similarity index 97%
rename from cereal/messaging/tests/test_messaging.py
rename to openpilot/cereal/messaging/tests/test_messaging.py
index 22601158a6ff40..c2ac1578d4b116 100644
--- a/cereal/messaging/tests/test_messaging.py
+++ b/openpilot/cereal/messaging/tests/test_messaging.py
@@ -8,10 +8,10 @@
 from openpilot.common.parameterized import parameterized
 import pytest
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
 
 events = [evt for evt in log.Event.schema.union_fields if evt in SERVICE_LIST.keys()]
 
diff --git a/cereal/messaging/tests/test_pub_sub_master.py b/openpilot/cereal/messaging/tests/test_pub_sub_master.py
similarity index 96%
rename from cereal/messaging/tests/test_pub_sub_master.py
rename to openpilot/cereal/messaging/tests/test_pub_sub_master.py
index 5e26b49701e87a..eb8f62140bf59d 100644
--- a/cereal/messaging/tests/test_pub_sub_master.py
+++ b/openpilot/cereal/messaging/tests/test_pub_sub_master.py
@@ -2,11 +2,11 @@
 import time
 from typing import Sized, cast
 
-import cereal.messaging as messaging
-from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
                                                   random_bytes, random_carstate, assert_carstate, \
                                                   zmq_sleep
-from cereal.services import SERVICE_LIST
+from openpilot.cereal.services import SERVICE_LIST
 
 
 class TestSubMaster:
diff --git a/cereal/messaging/tests/test_services.py b/openpilot/cereal/messaging/tests/test_services.py
similarity index 85%
rename from cereal/messaging/tests/test_services.py
rename to openpilot/cereal/messaging/tests/test_services.py
index 3320723fec855b..debe8913755b9e 100644
--- a/cereal/messaging/tests/test_services.py
+++ b/openpilot/cereal/messaging/tests/test_services.py
@@ -3,8 +3,8 @@
 from typing import Dict
 from openpilot.common.parameterized import parameterized
 
-import cereal.services as services
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.services as services
+from openpilot.cereal.services import SERVICE_LIST
 
 
 class TestServices:
diff --git a/cereal/services.py b/openpilot/cereal/services.py
similarity index 100%
rename from cereal/services.py
rename to openpilot/cereal/services.py
diff --git a/pyproject.toml b/pyproject.toml
index b146138ae78686..53a237a22ca07c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -128,7 +128,7 @@ allow-direct-references = true
 
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ --ignore=selfdrive/modeld -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/common --ignore=openpilot/selfdrive --ignore=openpilot/system --ignore=openpilot/tools --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ --ignore=selfdrive/modeld -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
@@ -145,7 +145,7 @@ testpaths = [
   "selfdrive",
   "system",
   "tools",
-  "cereal",
+  "openpilot/cereal",
 ]
 
 [tool.codespell]
@@ -153,7 +153,7 @@ quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
 ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite,ser"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "../tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, *.pem, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
+skip = "../tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, *.pem, ./openpilot/cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
 
 # https://docs.astral.sh/ruff/configuration/#using-pyprojecttoml
 [tool.ruff]
@@ -179,7 +179,7 @@ lint.ignore = [
 ]
 line-length = 160
 exclude = [
-  "cereal",
+  "openpilot/cereal",
   "panda",
   "opendbc",
   "opendbc_repo",
diff --git a/release/pack.py b/release/pack.py
index 560500e7a77fce..dd29de4256a42d 100755
--- a/release/pack.py
+++ b/release/pack.py
@@ -11,7 +11,7 @@
 from openpilot.common.basedir import BASEDIR
 
 
-DIRS = ['cereal', 'openpilot']
+DIRS = ['openpilot']
 EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo', '.po']
 EXCLUDE = ['selfdrive/assets/training']
 INTERPRETER = '/usr/bin/env python3'
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index 4b6838449f8176..0f236377edbbca 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -14,7 +14,7 @@ cd $ROOT
 FAILED=0
 
 IGNORED_FILES="uv\.lock|docs\/CARS.md"
-IGNORED_DIRS="^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
+IGNORED_DIRS="^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^openpilot\/cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
 
 function run() {
   shopt -s extglob
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 1487f4380c0565..244a8e3b07e530 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -1,4 +1,4 @@
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
 from opendbc.car import DT_CTRL, structs
 from opendbc.car.car_helpers import interfaces
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index f5186699ac8df4..96c169a1dac9f7 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -3,9 +3,9 @@
 import time
 import threading
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
 
 from openpilot.common.params import Params
diff --git a/selfdrive/car/tests/test_cruise_speed.py b/selfdrive/car/tests/test_cruise_speed.py
index 3b3fb115badad3..57e89a11176289 100644
--- a/selfdrive/car/tests/test_cruise_speed.py
+++ b/selfdrive/car/tests/test_cruise_speed.py
@@ -3,7 +3,7 @@
 import numpy as np
 
 from openpilot.common.parameterized import parameterized_class
-from cereal import log
+from openpilot.cereal import log
 from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
 from opendbc.car.structs import car
 from openpilot.common.constants import CV
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index ef6795ef804e3d..8ccbfb5a796c86 100644
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -1,4 +1,3 @@
-
 from opendbc.car.docs import generate_cars_md, get_all_car_docs
 from openpilot.selfdrive.car.docs import CARS_MD_TEMPLATE
 
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 035602b95520fc..ac2cd3ec7e3a7a 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -7,7 +7,6 @@
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from openpilot.common.parameterized import parameterized_class
-
 from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
 from opendbc.car.can_definitions import CanData
 from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 67566cf0a7f7b4..fe3b0f66c0d8bc 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -2,9 +2,9 @@
 import math
 from numbers import Number
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_CTRL, Priority, Ratekeeper
diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index 659c0adc30bb79..68ddc3861ed66e 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -1,4 +1,4 @@
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 
diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index a7d0403248751b..517c77f569ff64 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -1,6 +1,6 @@
 import math
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 
 # TODO This is speed dependent
diff --git a/selfdrive/controls/lib/latcontrol_curvature.py b/selfdrive/controls/lib/latcontrol_curvature.py
index cd2d8e32841d2a..ec3ad1bf167ac7 100644
--- a/selfdrive/controls/lib/latcontrol_curvature.py
+++ b/selfdrive/controls/lib/latcontrol_curvature.py
@@ -1,6 +1,6 @@
 import math
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.pid import PIDController
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.selfdrive.controls.lib.drive_helpers import MAX_CURVATURE
diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
index 14ab9f21b5580b..48074c823de1f0 100644
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@@ -1,6 +1,6 @@
 import math
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
 
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 903700d4b3ce06..846f1daf008d06 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -2,7 +2,7 @@
 import numpy as np
 from collections import deque
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
 from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.filter_simple import FirstOrderFilter
diff --git a/selfdrive/controls/lib/ldw.py b/selfdrive/controls/lib/ldw.py
index 78a6d6cf6eee49..6db59791cc9a81 100644
--- a/selfdrive/controls/lib/ldw.py
+++ b/selfdrive/controls/lib/ldw.py
@@ -1,4 +1,4 @@
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.realtime import DT_CTRL
 from openpilot.common.constants import CV
 
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index deae4164894003..02a424c4c21b27 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -2,7 +2,7 @@
 import os
 import time
 import numpy as np
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.swaglog import cloudlog
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 64de1a8fda1953..a2547f99bfbf78 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -2,7 +2,7 @@
 import math
 import numpy as np
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.common.constants import CV
 from openpilot.common.filter_simple import FirstOrderFilter
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 49c4473590f2b7..e8ee4395b8c00e 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -5,7 +5,7 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.ldw import LaneDepartureWarning
 from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
 
 def main():
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 9d438661b37777..94400f335721b8 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -5,7 +5,7 @@
 from typing import Any
 
 import capnp
-from cereal import messaging, log
+from openpilot.cereal import messaging, log
 from opendbc.car.structs import car
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py
index 1eb88d72067442..fcabce0387b80a 100644
--- a/selfdrive/controls/tests/test_following_distance.py
+++ b/selfdrive/controls/tests/test_following_distance.py
@@ -2,7 +2,7 @@
 import itertools
 from openpilot.common.parameterized import parameterized_class
 
-from cereal import log
+from openpilot.cereal import log
 
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import get_safe_obstacle_distance, get_stopped_equivalence_factor, get_T_FOLLOW
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index 9cd5e6307c4888..8389a1e31abb0e 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -1,6 +1,6 @@
 from openpilot.common.parameterized import parameterized
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.honda.values import CAR as HONDA
diff --git a/selfdrive/controls/tests/test_latcontrol_torque_buffer.py b/selfdrive/controls/tests/test_latcontrol_torque_buffer.py
index 6a7ed5419e7ce8..9e04316798286d 100644
--- a/selfdrive/controls/tests/test_latcontrol_torque_buffer.py
+++ b/selfdrive/controls/tests/test_latcontrol_torque_buffer.py
@@ -1,6 +1,6 @@
 from openpilot.common.parameterized import parameterized
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.toyota.values import CAR as TOYOTA
diff --git a/selfdrive/controls/tests/test_leads.py b/selfdrive/controls/tests/test_leads.py
index 77384fea20ffad..1956bb34ecff03 100644
--- a/selfdrive/controls/tests/test_leads.py
+++ b/selfdrive/controls/tests/test_leads.py
@@ -1,4 +1,4 @@
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
 from opendbc.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.test.process_replay import replay_process_with_name
diff --git a/selfdrive/controls/tests/test_torqued_lat_accel_offset.py b/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
index f1ca0c5f49e320..93a57d7f608249 100644
--- a/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
+++ b/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
@@ -1,5 +1,5 @@
 import numpy as np
-from cereal import messaging
+from openpilot.cereal import messaging
 from opendbc.car.structs import car
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
 from opendbc.car import structs
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index 23dacf6821f0ff..4e3eb7b0fa1f44 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -11,9 +11,9 @@
 import numpy as np
 from typing import NoReturn
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.hardware import HARDWARE
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py
index 73c4d8bf352552..fe7930c509f7d1 100644
--- a/selfdrive/locationd/helpers.py
+++ b/selfdrive/locationd/helpers.py
@@ -2,7 +2,7 @@
 from typing import Any
 from functools import cache
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
 
 
diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py
index 17aa0a43030f81..78c673a3bd6dec 100755
--- a/selfdrive/locationd/lagd.py
+++ b/selfdrive/locationd/lagd.py
@@ -5,10 +5,10 @@
 from collections import deque
 from functools import partial
 
-import cereal.messaging as messaging
-from cereal import log
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
 from opendbc.car.structs import car
-from cereal.services import SERVICE_LIST
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
diff --git a/selfdrive/locationd/locationd.py b/selfdrive/locationd/locationd.py
index 41b80a1c41e37a..8e03995d132c02 100755
--- a/selfdrive/locationd/locationd.py
+++ b/selfdrive/locationd/locationd.py
@@ -6,8 +6,8 @@
 from enum import Enum
 from collections import defaultdict
 
-from cereal import log, messaging
-from cereal.services import SERVICE_LIST
+from openpilot.cereal import log, messaging
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.transformations.orientation import rot_from_euler
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.params import Params
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 6acf3351786f5a..a32773bf0cfdc9 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -3,8 +3,8 @@
 import numpy as np
 import capnp
 
-import cereal.messaging as messaging
-from cereal import log
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
 from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
diff --git a/selfdrive/locationd/test/test_calibrationd.py b/selfdrive/locationd/test/test_calibrationd.py
index c90ce506abf52b..f862b369fe78a6 100644
--- a/selfdrive/locationd/test/test_calibrationd.py
+++ b/selfdrive/locationd/test/test_calibrationd.py
@@ -2,8 +2,8 @@
 
 import numpy as np
 
-import cereal.messaging as messaging
-from cereal import log
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
 from openpilot.common.params import Params
 from openpilot.selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, \
                                                          MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT, MAX_ALLOWED_PITCH_SPREAD, MAX_ALLOWED_YAW_SPREAD
diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py
index a0e4ee31faf385..af401187f5646a 100644
--- a/selfdrive/locationd/test/test_lagd.py
+++ b/selfdrive/locationd/test/test_lagd.py
@@ -3,7 +3,7 @@
 import time
 import pytest
 
-from cereal import messaging, log
+from openpilot.cereal import messaging, log
 from opendbc.car.structs import car
 from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \
                                                BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC, VERSION
diff --git a/selfdrive/locationd/test/test_paramsd.py b/selfdrive/locationd/test/test_paramsd.py
index 1a4d348e945d3b..28c3f4acf7cc76 100644
--- a/selfdrive/locationd/test/test_paramsd.py
+++ b/selfdrive/locationd/test/test_paramsd.py
@@ -1,7 +1,7 @@
 import random
 import numpy as np
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from openpilot.selfdrive.locationd.paramsd import retrieve_initial_vehicle_params, migrate_cached_vehicle_params_if_needed
 from openpilot.selfdrive.locationd.models.car_kf import CarKalman
 from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index fdd50d3eb65cd3..6321461e8b33df 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -3,8 +3,8 @@
 import numpy as np
 from collections import deque, defaultdict
 
-import cereal.messaging as messaging
-from cereal import log
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
 from opendbc.car.structs import car
 from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.params import Params
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index eaf423e7beaa09..a022e3c3c0c142 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -6,8 +6,8 @@
 import pickle
 import numpy as np
 
-from cereal import messaging
-from cereal.messaging import PubMaster, SubMaster
+from openpilot.cereal import messaging
+from openpilot.cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.realtime import config_realtime_process
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 8e63d29ea2941b..d926ace3daa1f1 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -1,7 +1,7 @@
 import os
 import capnp
 import numpy as np
-from cereal import log
+from openpilot.cereal import log
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 18f665529ca595..590d0f103e8e6e 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -5,10 +5,10 @@
 import time
 import pickle
 import numpy as np
-import cereal.messaging as messaging
-from cereal import log
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
 from opendbc.car.structs import car
-from cereal.messaging import PubMaster, SubMaster
+from openpilot.cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.swaglog import cloudlog
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index c81245a8159786..a70659cb06798c 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
 from openpilot.selfdrive.monitoring.policy import DriverMonitoring
diff --git a/selfdrive/monitoring/policy.py b/selfdrive/monitoring/policy.py
index 146717349dd108..adb61b0a389e12 100644
--- a/selfdrive/monitoring/policy.py
+++ b/selfdrive/monitoring/policy.py
@@ -2,9 +2,9 @@
 from math import atan2, radians
 import numpy as np
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.realtime import DT_DMON
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index 05ab4bfd91b261..c13f043ce9cf35 100644
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -1,6 +1,6 @@
 import numpy as np
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.realtime import DT_DMON
 from openpilot.selfdrive.monitoring.policy import DriverMonitoring, DRIVER_MONITOR_SETTINGS
 
diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc
index edc2228c0c70b9..730ce59b6eec8b 100644
--- a/selfdrive/pandad/panda.cc
+++ b/selfdrive/pandad/panda.cc
@@ -6,7 +6,7 @@
 #include <stdexcept>
 #include <vector>
 
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 
diff --git a/selfdrive/pandad/panda.h b/selfdrive/pandad/panda.h
index 1a066dc5fb7428..b0fb637b6b316f 100644
--- a/selfdrive/pandad/panda.h
+++ b/selfdrive/pandad/panda.h
@@ -9,8 +9,8 @@
 #include <string>
 #include <vector>
 
-#include "cereal/gen/cpp/car.capnp.h"
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/car.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 #include "panda/board/health.h"
 #include "panda/board/can.h"
 #include "selfdrive/pandad/panda_comms.h"
diff --git a/selfdrive/pandad/panda_safety.cc b/selfdrive/pandad/panda_safety.cc
index 32d129bc2e7cf0..a0e1fdbe7bf484 100644
--- a/selfdrive/pandad/panda_safety.cc
+++ b/selfdrive/pandad/panda_safety.cc
@@ -1,5 +1,5 @@
 #include "selfdrive/pandad/pandad.h"
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 #include "common/swaglog.h"
 
 void PandaSafety::configureSafetyMode(bool is_onroad) {
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index 657e36e6b816f8..68d74f81a17252 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -8,9 +8,9 @@
 #include <thread>
 #include <utility>
 
-#include "cereal/gen/cpp/car.capnp.h"
-#include "cereal/messaging/messaging.h"
-#include "cereal/services.h"
+#include "openpilot/cereal/gen/cpp/car.capnp.h"
+#include "openpilot/cereal/messaging/messaging.h"
+#include "openpilot/cereal/services.h"
 #include "common/ratekeeper.h"
 #include "common/swaglog.h"
 #include "common/timing.h"
diff --git a/selfdrive/pandad/pandad_api_impl.py b/selfdrive/pandad/pandad_api_impl.py
index 75a7ba484e15f0..9da277d73a0599 100644
--- a/selfdrive/pandad/pandad_api_impl.py
+++ b/selfdrive/pandad/pandad_api_impl.py
@@ -1,5 +1,5 @@
 import time
-from cereal import log
+from openpilot.cereal import log
 
 NO_TRAVERSAL_LIMIT = 2**64 - 1
 
diff --git a/selfdrive/pandad/tests/test_pandad.py b/selfdrive/pandad/tests/test_pandad.py
index 88022dda8d2208..e7a7107dcd6af4 100644
--- a/selfdrive/pandad/tests/test_pandad.py
+++ b/selfdrive/pandad/tests/test_pandad.py
@@ -2,8 +2,8 @@
 import pytest
 import time
 
-import cereal.messaging as messaging
-from cereal import log
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
 from openpilot.common.gpio import gpio_set, gpio_init
 from panda import Panda, PandaDFU
 from openpilot.system.manager.process_config import managed_processes
diff --git a/selfdrive/pandad/tests/test_pandad_canprotocol.cc b/selfdrive/pandad/tests/test_pandad_canprotocol.cc
index 8499a1aab86a16..83339a4c1c0094 100644
--- a/selfdrive/pandad/tests/test_pandad_canprotocol.cc
+++ b/selfdrive/pandad/tests/test_pandad_canprotocol.cc
@@ -4,7 +4,7 @@
 #include <climits>
 
 #include "catch2/catch.hpp"
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 #include "common/util.h"
 #include "selfdrive/pandad/panda.h"
 
diff --git a/selfdrive/pandad/tests/test_pandad_loopback.py b/selfdrive/pandad/tests/test_pandad_loopback.py
index 5543b6d03c910e..0d0aa8004678b9 100644
--- a/selfdrive/pandad/tests/test_pandad_loopback.py
+++ b/selfdrive/pandad/tests/test_pandad_loopback.py
@@ -6,8 +6,8 @@
 from collections import defaultdict
 from pprint import pprint
 
-import cereal.messaging as messaging
-from cereal import log
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
 from opendbc.car.structs import car
 from opendbc.car.can_definitions import CanData
 from openpilot.common.utils import retry
diff --git a/selfdrive/pandad/tests/test_pandad_spi.py b/selfdrive/pandad/tests/test_pandad_spi.py
index 50021d89984e26..672244026f977e 100644
--- a/selfdrive/pandad/tests/test_pandad_spi.py
+++ b/selfdrive/pandad/tests/test_pandad_spi.py
@@ -4,8 +4,8 @@
 import pytest
 import random
 
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
 
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index efdbd35d7bc538..cc841accaf6fc0 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -5,9 +5,9 @@
 from enum import IntEnum
 from collections.abc import Callable
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.constants import CV
 from openpilot.common.git import get_short_branch
 from openpilot.common.realtime import DT_CTRL
@@ -1101,7 +1101,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
 
 if __name__ == '__main__':
   # print all alerts by type and priority
-  from cereal.services import SERVICE_LIST
+  from openpilot.cereal.services import SERVICE_LIST
   from collections import defaultdict
 
   event_names = {v: k for k, v in EventName.schema.enumerants.items()}
diff --git a/selfdrive/selfdrived/helpers.py b/selfdrive/selfdrived/helpers.py
index 3182d23403f2ff..3b3c44ecaf55b0 100644
--- a/selfdrive/selfdrived/helpers.py
+++ b/selfdrive/selfdrived/helpers.py
@@ -1,7 +1,7 @@
 import math
 from enum import StrEnum, auto
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from opendbc.car.structs import car
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.helpers import Pose
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 261a62ff6a49dd..064789dae8fc66 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -3,9 +3,9 @@
 import time
 import threading
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
 from msgq.visionipc import VisionIpcClient, VisionStreamType
 
diff --git a/selfdrive/selfdrived/state.py b/selfdrive/selfdrived/state.py
index 25c22684ad1df9..eca001950371a3 100644
--- a/selfdrive/selfdrived/state.py
+++ b/selfdrive/selfdrived/state.py
@@ -1,4 +1,4 @@
-from cereal import log
+from openpilot.cereal import log
 from openpilot.selfdrive.selfdrived.events import Events, ET
 from openpilot.common.realtime import DT_CTRL
 
diff --git a/selfdrive/selfdrived/tests/test_alerts.py b/selfdrive/selfdrived/tests/test_alerts.py
index 3cd137d5860a41..38db9981f6627b 100644
--- a/selfdrive/selfdrived/tests/test_alerts.py
+++ b/selfdrive/selfdrived/tests/test_alerts.py
@@ -4,9 +4,9 @@
 import random
 from PIL import Image, ImageDraw, ImageFont
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
-from cereal.messaging import SubMaster
+from openpilot.cereal.messaging import SubMaster
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.selfdrive.selfdrived.events import Alert, EVENTS, ET
diff --git a/selfdrive/selfdrived/tests/test_state_machine.py b/selfdrive/selfdrived/tests/test_state_machine.py
index b720f48f1ec02b..8139e53d2e7aac 100644
--- a/selfdrive/selfdrived/tests/test_state_machine.py
+++ b/selfdrive/selfdrived/tests/test_state_machine.py
@@ -1,4 +1,4 @@
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.selfdrived.state import StateMachine, SOFT_DISABLE_TIME
 from openpilot.selfdrive.selfdrived.events import Events, ET, EVENTS, NormalPermanentAlert
diff --git a/selfdrive/test/fuzzy_generation.py b/selfdrive/test/fuzzy_generation.py
index 9f028a8fc8dd3e..c97221ae9ecb84 100644
--- a/selfdrive/test/fuzzy_generation.py
+++ b/selfdrive/test/fuzzy_generation.py
@@ -4,7 +4,7 @@
 from collections.abc import Callable
 from functools import cache
 
-from cereal import log
+from openpilot.cereal import log
 
 DrawType = Callable[[st.SearchStrategy], Any]
 
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index 615ea5d8aca789..9d954216b809e8 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -7,7 +7,7 @@
 
 from functools import wraps
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.common.version import training_version, terms_version
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index 5f768a1fb93554..fbffde911ae921 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -2,8 +2,8 @@
 import time
 import numpy as np
 
-from cereal import log
-import cereal.messaging as messaging
+from openpilot.cereal import log
+import openpilot.cereal.messaging as messaging
 from openpilot.common.realtime import Ratekeeper, DT_MDL
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.modeld.constants import ModelConstants
diff --git a/selfdrive/test/process_replay/diff_report.py b/selfdrive/test/process_replay/diff_report.py
index 5da78657f48876..c6c1f01abd3c36 100644
--- a/selfdrive/test/process_replay/diff_report.py
+++ b/selfdrive/test/process_replay/diff_report.py
@@ -1,6 +1,5 @@
 import os
 from collections import defaultdict
-
 from opendbc.car.tests.car_diff import format_diff, format_numeric_diffs
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs
 from openpilot.selfdrive.test.process_replay.process_replay import PROC_REPLAY_DIR
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index e10db26e7942e9..0045fa8a879fe2 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -5,7 +5,7 @@
 import functools
 import traceback
 
-from cereal import messaging, log
+from openpilot.cereal import messaging, log
 from opendbc.car.structs import car
 from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.toyota.values import EPS_SCALE, ToyotaSafetyFlags
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 110b0101a5e4b8..b34535e96b4d84 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -14,9 +14,9 @@
 import capnp
 from openpilot.common.hardware.hw import Paths
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from opendbc.car.structs import car
-from cereal.services import SERVICE_LIST
+from openpilot.cereal.services import SERVICE_LIST
 from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
 from opendbc.car.can_definitions import CanData
 from opendbc.car.car_helpers import get_car, interfaces
diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py
index 6989f8957febd4..372b36860848f4 100644
--- a/selfdrive/test/process_replay/test_fuzzy.py
+++ b/selfdrive/test/process_replay/test_fuzzy.py
@@ -4,7 +4,7 @@
 import hypothesis.strategies as st
 from openpilot.common.parameterized import parameterized
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
 import openpilot.selfdrive.test.process_replay.process_replay as pr
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index bc0085534c179f..d9d827add58407 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -7,7 +7,6 @@
 from collections import defaultdict
 from tqdm import tqdm
 from typing import Any
-
 from opendbc.car.car_helpers import interface_names
 from openpilot.common.git import get_commit
 from openpilot.tools.lib.openpilotci import get_url
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 974859a23cb3e6..f64bc3b0272c4f 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -10,9 +10,9 @@
 from pathlib import Path
 from openpilot.common.utils import tabulate
 
-from cereal import log
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+from openpilot.cereal import log
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.timeout import Timeout
 from openpilot.common.params import Params
diff --git a/selfdrive/test/test_power_draw.py b/selfdrive/test/test_power_draw.py
index ad27292945af7e..d5bb3d324d6918 100644
--- a/selfdrive/test/test_power_draw.py
+++ b/selfdrive/test/test_power_draw.py
@@ -5,8 +5,8 @@
 from dataclasses import dataclass
 from openpilot.common.utils import tabulate
 
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
 from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.mock import mock_messages
 from openpilot.common.params import Params
diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py
index 54e1c88718f9f8..40f74ee93c624d 100755
--- a/selfdrive/test/update_ci_routes.py
+++ b/selfdrive/test/update_ci_routes.py
@@ -6,7 +6,6 @@
 from collections.abc import Iterable
 
 from tqdm import tqdm
-
 from opendbc.car.tests.routes import routes as test_car_models_routes
 from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments
 from openpilot.tools.lib.azure_container import AzureContainer
diff --git a/selfdrive/ui/feedback/feedbackd.py b/selfdrive/ui/feedback/feedbackd.py
index b59954926c0d09..57f6b881e4c8e9 100755
--- a/selfdrive/ui/feedback/feedbackd.py
+++ b/selfdrive/ui/feedback/feedbackd.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from opendbc.car.structs import car
diff --git a/selfdrive/ui/layouts/main.py b/selfdrive/ui/layouts/main.py
index 672f5463d978e6..47a52280f2a375 100644
--- a/selfdrive/ui/layouts/main.py
+++ b/selfdrive/ui/layouts/main.py
@@ -1,6 +1,6 @@
 import pyray as rl
 from enum import IntEnum
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH
diff --git a/selfdrive/ui/layouts/settings/device.py b/selfdrive/ui/layouts/settings/device.py
index 845fca3e838078..0930616e19005a 100644
--- a/selfdrive/ui/layouts/settings/device.py
+++ b/selfdrive/ui/layouts/settings/device.py
@@ -1,7 +1,7 @@
 import os
 import math
 
-from cereal import messaging, log
+from openpilot.cereal import messaging, log
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py
index f342175a82ce1d..b03ecd10ec2b1d 100644
--- a/selfdrive/ui/layouts/settings/toggles.py
+++ b/selfdrive/ui/layouts/settings/toggles.py
@@ -1,4 +1,4 @@
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.params import Params, UnknownKeyName
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.list_view import multiple_button_item, toggle_item
diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py
index 3b45c994c0cca0..eabf5cc008a05c 100644
--- a/selfdrive/ui/layouts/sidebar.py
+++ b/selfdrive/ui/layouts/sidebar.py
@@ -2,7 +2,7 @@
 import time
 from dataclasses import dataclass
 from collections.abc import Callable
-from cereal import log
+from openpilot.cereal import log
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, FONT_SCALE
 from openpilot.system.ui.lib.multilang import tr, tr_noop
diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index 997ca6276fcb99..adb02fb731ccf2 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -1,7 +1,7 @@
 import datetime
 import time
 
-from cereal import log
+from openpilot.cereal import log
 import pyray as rl
 from collections.abc import Callable
 from openpilot.system.ui.widgets import Widget
diff --git a/selfdrive/ui/mici/layouts/main.py b/selfdrive/ui/mici/layouts/main.py
index 9b4bcb5cc4326c..26ec5555be22dd 100644
--- a/selfdrive/ui/mici/layouts/main.py
+++ b/selfdrive/ui/mici/layouts/main.py
@@ -1,5 +1,5 @@
 import pyray as rl
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
 from openpilot.selfdrive.ui.mici.layouts.settings.settings import SettingsLayout
 from openpilot.selfdrive.ui.mici.layouts.offroad_alerts import MiciOffroadAlerts
diff --git a/selfdrive/ui/mici/layouts/settings/toggles.py b/selfdrive/ui/mici/layouts/settings/toggles.py
index acb502fda0ae72..5f75ef8903bb0f 100644
--- a/selfdrive/ui/mici/layouts/settings/toggles.py
+++ b/selfdrive/ui/mici/layouts/settings/toggles.py
@@ -1,4 +1,4 @@
-from cereal import log
+from openpilot.cereal import log
 
 from openpilot.system.ui.widgets.scroller import NavScroller
 from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl, BigMultiParamToggle
diff --git a/selfdrive/ui/mici/onroad/alert_renderer.py b/selfdrive/ui/mici/onroad/alert_renderer.py
index a9cb5790d26d71..e2e398a4e14e94 100644
--- a/selfdrive/ui/mici/onroad/alert_renderer.py
+++ b/selfdrive/ui/mici/onroad/alert_renderer.py
@@ -5,7 +5,7 @@
 import random
 import string
 from dataclasses import dataclass
-from cereal import messaging, log
+from openpilot.cereal import messaging, log
 from opendbc.car.structs import car
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index 0fe5875b8dad67..25061f12aeed45 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -1,6 +1,6 @@
 import numpy as np
 import pyray as rl
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
index f45cf33912be63..d880189412886f 100644
--- a/selfdrive/ui/mici/onroad/driver_camera_dialog.py
+++ b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
@@ -1,5 +1,5 @@
 import pyray as rl
-from cereal import log, messaging
+from openpilot.cereal import log, messaging
 from opendbc.car.structs import car
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
diff --git a/selfdrive/ui/mici/onroad/driver_state.py b/selfdrive/ui/mici/onroad/driver_state.py
index 1855d77b77b784..85b90704ac5ba5 100644
--- a/selfdrive/ui/mici/onroad/driver_state.py
+++ b/selfdrive/ui/mici/onroad/driver_state.py
@@ -1,7 +1,7 @@
 import pyray as rl
 import numpy as np
 import math
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets import Widget
diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py
index 620dc543b7864d..27bb815590ee1f 100644
--- a/selfdrive/ui/mici/onroad/hud_renderer.py
+++ b/selfdrive/ui/mici/onroad/hud_renderer.py
@@ -8,7 +8,7 @@
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.widgets import Widget
 from openpilot.common.filter_simple import FirstOrderFilter
-from cereal import log
+from openpilot.cereal import log
 
 EventName = log.OnroadEvent.EventName
 
diff --git a/selfdrive/ui/mici/onroad/model_renderer.py b/selfdrive/ui/mici/onroad/model_renderer.py
index 6e335b0af2c475..0442aa2b65c3c6 100644
--- a/selfdrive/ui/mici/onroad/model_renderer.py
+++ b/selfdrive/ui/mici/onroad/model_renderer.py
@@ -1,7 +1,7 @@
 import colorsys
 import numpy as np
 import pyray as rl
-from cereal import messaging
+from openpilot.cereal import messaging
 from opendbc.car.structs import car
 from dataclasses import dataclass, field
 from openpilot.common.params import Params
diff --git a/selfdrive/ui/onroad/alert_renderer.py b/selfdrive/ui/onroad/alert_renderer.py
index cfb4bf66162fa1..0ce404bec3aa8f 100644
--- a/selfdrive/ui/onroad/alert_renderer.py
+++ b/selfdrive/ui/onroad/alert_renderer.py
@@ -1,7 +1,7 @@
 import time
 import pyray as rl
 from dataclasses import dataclass
-from cereal import messaging, log
+from openpilot.cereal import messaging, log
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.common.hardware import TICI
 from openpilot.system.ui.lib.application import gui_app, FontWeight
diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py
index d381c255ea451f..1b0c84f0feb14f 100644
--- a/selfdrive/ui/onroad/augmented_road_view.py
+++ b/selfdrive/ui/onroad/augmented_road_view.py
@@ -1,6 +1,6 @@
 import numpy as np
 import pyray as rl
-from cereal import log
+from openpilot.cereal import log
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui import UI_BORDER_SIZE
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
diff --git a/selfdrive/ui/onroad/driver_state.py b/selfdrive/ui/onroad/driver_state.py
index 5b09e471b52125..6b11f0b10bb085 100644
--- a/selfdrive/ui/onroad/driver_state.py
+++ b/selfdrive/ui/onroad/driver_state.py
@@ -1,6 +1,6 @@
 import numpy as np
 import pyray as rl
-from cereal import log
+from openpilot.cereal import log
 from dataclasses import dataclass
 from openpilot.selfdrive.ui import UI_BORDER_SIZE
 from openpilot.selfdrive.ui.ui_state import ui_state
diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py
index 94e5637a093798..e21ca4f27130fb 100644
--- a/selfdrive/ui/onroad/model_renderer.py
+++ b/selfdrive/ui/onroad/model_renderer.py
@@ -1,7 +1,7 @@
 import colorsys
 import numpy as np
 import pyray as rl
-from cereal import messaging
+from openpilot.cereal import messaging
 from opendbc.car.structs import car
 from dataclasses import dataclass, field
 from openpilot.common.filter_simple import FirstOrderFilter
diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index 7766d0321b7e24..f8c364e2c5d25d 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -4,7 +4,7 @@
 import wave
 
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from opendbc.car.structs import car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.filter_simple import FirstOrderFilter
diff --git a/selfdrive/ui/tests/body.py b/selfdrive/ui/tests/body.py
index 07a2ef5128ae10..b9f5c2d18cb7c8 100755
--- a/selfdrive/ui/tests/body.py
+++ b/selfdrive/ui/tests/body.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import time
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
 if __name__ == "__main__":
   while True:
diff --git a/selfdrive/ui/tests/diff/replay.py b/selfdrive/ui/tests/diff/replay.py
index 6f3dd8f040b1e2..5e189e3d94507e 100755
--- a/selfdrive/ui/tests/diff/replay.py
+++ b/selfdrive/ui/tests/diff/replay.py
@@ -7,7 +7,7 @@
 from tqdm import tqdm
 from typing import Literal
 from collections.abc import Callable
-from cereal.messaging import PubMaster
+from openpilot.cereal.messaging import PubMaster
 from openpilot.common.api import Api
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
diff --git a/selfdrive/ui/tests/diff/replay_script.py b/selfdrive/ui/tests/diff/replay_script.py
index f4c97a223f3c9a..60c4a21ce46c93 100644
--- a/selfdrive/ui/tests/diff/replay_script.py
+++ b/selfdrive/ui/tests/diff/replay_script.py
@@ -5,9 +5,9 @@
 
 import math
 
-from cereal import log, messaging
+from openpilot.cereal import log, messaging
 from opendbc.car.structs import car
-from cereal.messaging import PubMaster
+from openpilot.cereal.messaging import PubMaster
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
diff --git a/selfdrive/ui/tests/test_feedbackd.py b/selfdrive/ui/tests/test_feedbackd.py
index ada2c4763e68de..72bd4990813884 100644
--- a/selfdrive/ui/tests/test_feedbackd.py
+++ b/selfdrive/ui/tests/test_feedbackd.py
@@ -1,5 +1,5 @@
 import pytest
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.system.manager.process_config import managed_processes
diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py
index ca153b6eef8750..2890d4ae78919b 100644
--- a/selfdrive/ui/tests/test_soundd.py
+++ b/selfdrive/ui/tests/test_soundd.py
@@ -1,6 +1,6 @@
 from opendbc.car.structs import car
-from cereal import messaging
-from cereal.messaging import SubMaster, PubMaster
+from openpilot.cereal import messaging
+from openpilot.cereal.messaging import SubMaster, PubMaster
 from openpilot.selfdrive.ui.soundd import SELFDRIVE_STATE_TIMEOUT, check_selfdrive_timeout_alert
 
 import time
diff --git a/selfdrive/ui/ui.py b/selfdrive/ui/ui.py
index fc7e40920aa6d4..ff2bc7d3cef1e2 100755
--- a/selfdrive/ui/ui.py
+++ b/selfdrive/ui/ui.py
@@ -2,7 +2,7 @@
 import os
 import time
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from openpilot.common.hardware import TICI
 from openpilot.common.realtime import Priority, config_realtime_process, set_core_affinity
 from openpilot.system.ui.lib.application import gui_app
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index 4cc5810bb9a03b..78388593c8945b 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -3,7 +3,7 @@
 import threading
 from collections.abc import Callable
 from enum import Enum
-from cereal import messaging, log
+from openpilot.cereal import messaging, log
 from opendbc.car.structs import car
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index d5bcc92f137203..3949a7b201dc23 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -27,10 +27,10 @@
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                        create_connection)
 
-import cereal.messaging as messaging
-from cereal import log
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
 from opendbc.car.structs import car
-from cereal.services import SERVICE_LIST
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.api import Api, get_key_pair
 from openpilot.common.utils import CallbackReader, get_upload_stream
 from openpilot.common.params import Params
diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py
index 0e3ae68d4e0275..253a057b9138a3 100644
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -14,7 +14,7 @@
 from websocket import ABNF
 from websocket._exceptions import WebSocketConnectionClosedException
 
-from cereal import messaging
+from openpilot.cereal import messaging
 
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 7f35e06a8353a8..24f70dbcf331a6 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -2,7 +2,7 @@
 
 #include <memory>
 
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 #include "msgq/visionipc/visionipc_server.h"
 #include "common/util.h"
 
diff --git a/system/camerad/cameras/hw.h b/system/camerad/cameras/hw.h
index defe878e89ad19..be0bea872d181d 100644
--- a/system/camerad/cameras/hw.h
+++ b/system/camerad/cameras/hw.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include "common/util.h"
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 #include "msgq/visionipc/visionipc_server.h"
 
 #include "media/cam_isp_ife.h"
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index 1a647d1528af10..251f5d64b44b08 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -9,7 +9,7 @@
 #include "media/cam_isp.h"
 #include "media/cam_sensor.h"
 
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 #include "system/camerad/sensors/ox03c10_registers.h"
 #include "system/camerad/sensors/os04c10_registers.h"
 
diff --git a/system/camerad/snapshot.py b/system/camerad/snapshot.py
index 241f027044ec57..1e73718abdb6ee 100755
--- a/system/camerad/snapshot.py
+++ b/system/camerad/snapshot.py
@@ -5,7 +5,7 @@
 import numpy as np
 from PIL import Image
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from msgq.visionipc import VisionIpcClient, VisionStreamType
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py
index 3abe4db6548c1a..afc49c02bfdc28 100644
--- a/system/camerad/test/test_camerad.py
+++ b/system/camerad/test/test_camerad.py
@@ -3,7 +3,7 @@
 import pytest
 import numpy as np
 
-from cereal.services import SERVICE_LIST
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.tools.lib.log_time_series import msgs_to_time_series
 from openpilot.system.camerad.snapshot import get_snapshots
 from openpilot.selfdrive.test.helpers import collect_logs, log_collector, processes_context
diff --git a/system/camerad/webcam/camerad.py b/system/camerad/webcam/camerad.py
index 401eec106f8d3a..c46482360df0a2 100755
--- a/system/camerad/webcam/camerad.py
+++ b/system/camerad/webcam/camerad.py
@@ -5,7 +5,7 @@
 from collections import namedtuple
 
 from msgq.visionipc import VisionIpcServer, VisionStreamType
-from cereal import messaging
+from openpilot.cereal import messaging
 
 from openpilot.system.camerad.webcam.camera import Camera
 from openpilot.common.realtime import Ratekeeper
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index c7b7befd55358b..c56c37082f6c8f 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -9,9 +9,9 @@
 
 import psutil
 
-import cereal.messaging as messaging
-from cereal import log
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.utils import strip_deprecated_keys
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
diff --git a/system/journald.py b/system/journald.py
index 7c656d3b133741..091494b6520cd0 100755
--- a/system/journald.py
+++ b/system/journald.py
@@ -2,7 +2,7 @@
 import json
 import subprocess
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.swaglog import cloudlog
 
 
diff --git a/system/loggerd/bootlog.cc b/system/loggerd/bootlog.cc
index 1b87ce394f9a0f..b2e3abfcf1264b 100644
--- a/system/loggerd/bootlog.cc
+++ b/system/loggerd/bootlog.cc
@@ -1,7 +1,7 @@
 #include <cassert>
 #include <string>
 
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "system/loggerd/logger.h"
@@ -28,7 +28,7 @@ static kj::Array<capnp::word> build_boot_log() {
 
   // Gather output of commands
   std::vector<std::string> bootlog_commands = {
-    "[ -x \"$(command -v journalctl)\" ] && journalctl -o short-monotonic",
+    "[ -x \"$(command -v journalctl)\" ] && journalctl -b -n 2000 -o short-monotonic --no-pager",
   };
 
 
diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h
index 696cb86737a147..d333351cb40fb3 100644
--- a/system/loggerd/encoder/encoder.h
+++ b/system/loggerd/encoder/encoder.h
@@ -14,7 +14,7 @@
 #include <thread>
 #include <vector>
 
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 #include "msgq/visionipc/visionipc.h"
 #include "common/queue.h"
 #include "system/loggerd/loggerd.h"
diff --git a/system/loggerd/encoder/jpeg_encoder.h b/system/loggerd/encoder/jpeg_encoder.h
index af1427c19a3d2d..3bd1308b4bc97e 100644
--- a/system/loggerd/encoder/jpeg_encoder.h
+++ b/system/loggerd/encoder/jpeg_encoder.h
@@ -7,7 +7,7 @@
 #include <jpeglib.h>
 #include <vector>
 #include <memory>
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 #include "msgq/visionipc/visionbuf.h"
 
 class JpegEncoder {
diff --git a/system/loggerd/logger.h b/system/loggerd/logger.h
index dba7c2f44cde63..419becfe5dd1b3 100644
--- a/system/loggerd/logger.h
+++ b/system/loggerd/logger.h
@@ -4,7 +4,7 @@
 #include <memory>
 #include <string>
 
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 #include "common/util.h"
 #include "common/hardware/hw.h"
 #include "system/loggerd/zstd_writer.h"
diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index 7877e9dbb888eb..110dbe4fd2be8d 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -3,8 +3,8 @@
 #include <cstdlib>
 #include <vector>
 
-#include "cereal/messaging/messaging.h"
-#include "cereal/services.h"
+#include "openpilot/cereal/messaging/messaging.h"
+#include "openpilot/cereal/services.h"
 #include "msgq/visionipc/visionipc_client.h"
 #include "common/hardware/hw.h"
 #include "common/params.h"
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index 217de649eb41ce..7a6a741aa47810 100644
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -9,9 +9,9 @@
 from pathlib import Path
 import pytest
 
-import cereal.messaging as messaging
-from cereal import log
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index 809a302b6f2691..e36b12ed6a8189 100755
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -9,8 +9,8 @@
 import datetime
 from collections.abc import Iterator
 
-from cereal import log
-import cereal.messaging as messaging
+from openpilot.cereal import log
+import openpilot.cereal.messaging as messaging
 from openpilot.common.api import Api
 from openpilot.common.utils import get_upload_stream
 from openpilot.common.params import Params
diff --git a/system/loggerd/video_writer.h b/system/loggerd/video_writer.h
index e973c5d8114d58..fdec606058880e 100644
--- a/system/loggerd/video_writer.h
+++ b/system/loggerd/video_writer.h
@@ -8,7 +8,7 @@ extern "C" {
 #include <libavcodec/avcodec.h>
 }
 
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 
 class VideoWriter {
 public:
diff --git a/system/logmessaged.py b/system/logmessaged.py
index a64a849b022ae4..937a0741d0139a 100755
--- a/system/logmessaged.py
+++ b/system/logmessaged.py
@@ -2,7 +2,7 @@
 import zmq
 from typing import NoReturn
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.logging_extra import SwagLogFileFormatter
 from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import get_file_handler
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 179108b9b18bf2..2d090b37f0a5e8 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -6,8 +6,8 @@
 import time
 import traceback
 
-from cereal import log
-import cereal.messaging as messaging
+from openpilot.cereal import log
+import openpilot.cereal.messaging as messaging
 import openpilot.system.sentry as sentry
 from openpilot.common.utils import atomic_write
 from openpilot.common.params import Params, ParamKeyFlag
diff --git a/system/manager/process.py b/system/manager/process.py
index 63dbb35eb15126..a0b878d0f2210c 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -9,9 +9,9 @@
 
 from setproctitle import setproctitle
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 import openpilot.system.sentry as sentry
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index c4cf8345607467..0bf11b4b59a920 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -119,7 +119,7 @@ def not_(*fns):
   PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad),
 
   # debug procs
-  NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
+  NativeProcess("bridge", "openpilot/cereal/messaging", ["./bridge"], notcar),
   PythonProcess("webrtcd", "system.webrtc.webrtcd", or_(and_(livestream, not_(iscar)), notcar)),
   PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
 ]
diff --git a/system/micd.py b/system/micd.py
index 9b3ccc8d29a290..a3a93c8c1aeb9d 100755
--- a/system/micd.py
+++ b/system/micd.py
@@ -3,7 +3,7 @@
 from functools import cache
 import threading
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.utils import retry
 from openpilot.common.swaglog import cloudlog
diff --git a/system/proclogd.py b/system/proclogd.py
index b008f8ed9bcd5b..9979b3a40138e3 100755
--- a/system/proclogd.py
+++ b/system/proclogd.py
@@ -2,7 +2,7 @@
 import os
 from typing import NoReturn, TypedDict
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.swaglog import cloudlog
 
diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py
index 78731f434b3b69..e1a7dc39c9df0a 100755
--- a/system/qcomgpsd/qcomgpsd.py
+++ b/system/qcomgpsd/qcomgpsd.py
@@ -11,8 +11,8 @@
 from typing import NoReturn
 from struct import unpack_from, calcsize, pack
 
-from cereal import log
-import cereal.messaging as messaging
+from openpilot.cereal import log
+import openpilot.cereal.messaging as messaging
 from openpilot.common.gpio import gpio_init, gpio_set
 from openpilot.common.utils import retry
 from openpilot.common.time_helpers import system_time_valid
diff --git a/system/sensord/sensord.py b/system/sensord/sensord.py
index ce6fb9ccb24340..6942b284df40f6 100755
--- a/system/sensord/sensord.py
+++ b/system/sensord/sensord.py
@@ -5,8 +5,8 @@
 import select
 import threading
 
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.utils import sudo_write
 from openpilot.common.realtime import config_realtime_process, Ratekeeper
 from openpilot.common.swaglog import cloudlog
diff --git a/system/sensord/sensors/i2c_sensor.py b/system/sensord/sensors/i2c_sensor.py
index 57edcc52d9056f..e0e808725861d3 100644
--- a/system/sensord/sensors/i2c_sensor.py
+++ b/system/sensord/sensors/i2c_sensor.py
@@ -2,7 +2,7 @@
 import ctypes
 from collections.abc import Iterable
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.i2c import SMBus
 
 
diff --git a/system/sensord/sensors/lsm6ds3_accel.py b/system/sensord/sensors/lsm6ds3_accel.py
index 761ae828bbdee3..e47db152502645 100644
--- a/system/sensord/sensors/lsm6ds3_accel.py
+++ b/system/sensord/sensors/lsm6ds3_accel.py
@@ -1,7 +1,7 @@
 import os
 import time
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.system.sensord.sensors.i2c_sensor import Sensor
 
 class LSM6DS3_Accel(Sensor):
diff --git a/system/sensord/sensors/lsm6ds3_gyro.py b/system/sensord/sensors/lsm6ds3_gyro.py
index 654cff9da8d0e1..a82827ccb46365 100644
--- a/system/sensord/sensors/lsm6ds3_gyro.py
+++ b/system/sensord/sensors/lsm6ds3_gyro.py
@@ -2,7 +2,7 @@
 import math
 import time
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.system.sensord.sensors.i2c_sensor import Sensor
 
 class LSM6DS3_Gyro(Sensor):
diff --git a/system/sensord/sensors/lsm6ds3_temp.py b/system/sensord/sensors/lsm6ds3_temp.py
index ffe970c22cbbbf..0a5e85a2b90f20 100644
--- a/system/sensord/sensors/lsm6ds3_temp.py
+++ b/system/sensord/sensors/lsm6ds3_temp.py
@@ -1,6 +1,6 @@
 import time
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.system.sensord.sensors.i2c_sensor import Sensor
 
 # https://content.arduino.cc/assets/st_imu_lsm6ds3_datasheet.pdf
diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py
index 3d7d26f9faf4bc..27c2365602214f 100644
--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@@ -4,8 +4,8 @@
 import numpy as np
 from collections import namedtuple, defaultdict
 
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.gpio import get_irqs_for_action
 from openpilot.common.timeout import Timeout
 from openpilot.system.manager.process_config import managed_processes
diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py
index 92bcd9d1ad698f..e2637fb0e66f9d 100644
--- a/system/tests/test_logmessaged.py
+++ b/system/tests/test_logmessaged.py
@@ -2,7 +2,7 @@
 import os
 import time
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog, ipchandler
diff --git a/system/timed.py b/system/timed.py
index c74ba51da59923..0413f645e333e5 100755
--- a/system/timed.py
+++ b/system/timed.py
@@ -4,7 +4,7 @@
 import time
 from typing import NoReturn
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.time_helpers import min_date, MAX_DATE, system_time_valid
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
diff --git a/system/ubloxd/pigeond.py b/system/ubloxd/pigeond.py
index fe2634e3338fc4..ce9c71db61dc7e 100755
--- a/system/ubloxd/pigeond.py
+++ b/system/ubloxd/pigeond.py
@@ -8,7 +8,7 @@
 import urllib.parse
 from datetime import datetime, UTC
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from openpilot.common.time_helpers import system_time_valid
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
diff --git a/system/ubloxd/tests/test_pigeond.py b/system/ubloxd/tests/test_pigeond.py
index fb979a9372b55c..b894ed718b396d 100644
--- a/system/ubloxd/tests/test_pigeond.py
+++ b/system/ubloxd/tests/test_pigeond.py
@@ -1,8 +1,8 @@
 import pytest
 import time
 
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.gpio import gpio_read
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.system.manager.process_config import managed_processes
diff --git a/system/ubloxd/ubloxd.py b/system/ubloxd/ubloxd.py
index 78429a847b7c0e..3b32f70657be1a 100755
--- a/system/ubloxd/ubloxd.py
+++ b/system/ubloxd/ubloxd.py
@@ -6,8 +6,8 @@
 from collections import defaultdict
 from dataclasses import dataclass
 
-from cereal import log
-from cereal import messaging
+from openpilot.cereal import log
+from openpilot.cereal import messaging
 from openpilot.system.ubloxd.ubx import Ubx
 from openpilot.system.ubloxd.gps import Gps
 from openpilot.system.ubloxd.glonass import Glonass
diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py
index 4df127f1b52988..465cadda0baf9b 100755
--- a/system/ui/mici_setup.py
+++ b/system/ui/mici_setup.py
@@ -11,7 +11,7 @@
 
 import pyray as rl
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.filter_simple import BounceFilter
 from openpilot.common.hardware import HARDWARE, TICI
 from openpilot.common.realtime import config_realtime_process, set_core_affinity
diff --git a/system/ui/tici_setup.py b/system/ui/tici_setup.py
index 0e0c6fdc7c5791..2b2c1c39f8b976 100755
--- a/system/ui/tici_setup.py
+++ b/system/ui/tici_setup.py
@@ -10,7 +10,7 @@
 
 import pyray as rl
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.hardware import HARDWARE
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py
index 69f628cb11e1c3..3c8a7b93c212aa 100644
--- a/system/webrtc/device/video.py
+++ b/system/webrtc/device/video.py
@@ -6,7 +6,7 @@
 from teleoprtc.tracks import TiciVideoStreamTrack
 from aiortc import MediaStreamError
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.params import Params
 
diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py
index bf413eeebacbed..e03932f7b2d9b2 100644
--- a/system/webrtc/tests/test_stream_session.py
+++ b/system/webrtc/tests/test_stream_session.py
@@ -9,7 +9,7 @@
 from aiortc import RTCDataChannel
 from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
 import capnp
-from cereal import messaging, log
+from openpilot.cereal import messaging, log
 
 from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy
 from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index da10855a59208c..72d949f551cfa4 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -26,7 +26,7 @@
 from openpilot.system.webrtc.helpers import StreamRequestBody
 from openpilot.system.webrtc.schema import generate_field
 from openpilot.common.params import Params
-from cereal import messaging, log
+from openpilot.cereal import messaging, log
 
 
 # socket trick: route lookup for 8.8.8.8 (nothing is sent or actually connected to)
diff --git a/tools/cabana/README.md b/tools/cabana/README.md
index a721b1aa13ba76..b30c29640e2300 100644
--- a/tools/cabana/README.md
+++ b/tools/cabana/README.md
@@ -63,8 +63,8 @@ cabana "5beb9b58bd12b691/0000010a--a51155e496" --dcam --ecam
 [SSH into your device](https://github.com/commaai/openpilot/wiki/SSH) and start the bridge with the following command:
 
 ```shell
-cd /data/openpilot/cereal/messaging/
-./bridge &
+cd /data/openpilot
+./openpilot/cereal/messaging/bridge &
 ```
 
 Then Run Cabana with the device's IP address:
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index 04389a9ebf30ad..2bc86753396057 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -116,4 +116,4 @@ output_json_file = 'tools/cabana/dbc/car_fingerprint_to_dbc.json'
 generate_dbc = cabana_env.Command('#' + output_json_file,
                                   ['dbc/generate_dbc_json.py'],
                                   "python3 tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file)
-cabana_env.Depends(generate_dbc, ["#common", '#opendbc_repo', "#cereal", "#msgq_repo"])
+cabana_env.Depends(generate_dbc, ["#common", '#opendbc_repo', "#openpilot/cereal", "#msgq_repo"])
diff --git a/tools/cabana/cabana b/tools/cabana/cabana
index 5eb15eabf08148..e1756335342911 100755
--- a/tools/cabana/cabana
+++ b/tools/cabana/cabana
@@ -33,6 +33,6 @@ fi
 
 # Build _cabana
 cd "$ROOT"
-scons tools/cabana/_cabana cereal/messaging/bridge
+scons tools/cabana/_cabana openpilot/cereal/messaging/bridge
 
 exec "$DIR/_cabana" "$@"
diff --git a/tools/cabana/dbc/generate_dbc_json.py b/tools/cabana/dbc/generate_dbc_json.py
index d002a50ef82cac..13b6799ffb2219 100755
--- a/tools/cabana/dbc/generate_dbc_json.py
+++ b/tools/cabana/dbc/generate_dbc_json.py
@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 import argparse
 import json
-
 from opendbc.car import Bus
 from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.values import PLATFORMS
diff --git a/tools/cabana/panda.cc b/tools/cabana/panda.cc
index 0612d677469a03..9bb5320eaca485 100644
--- a/tools/cabana/panda.cc
+++ b/tools/cabana/panda.cc
@@ -6,7 +6,7 @@
 #include <vector>
 #include <memory>
 
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 
diff --git a/tools/cabana/panda.h b/tools/cabana/panda.h
index d318c33f4d8457..c99be1f5cfd953 100644
--- a/tools/cabana/panda.h
+++ b/tools/cabana/panda.h
@@ -13,8 +13,8 @@
 #include <mutex>
 #include <libusb-1.0/libusb.h>
 
-#include "cereal/gen/cpp/car.capnp.h"
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/car.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 #include "panda/board/health.h"
 #include "panda/board/can.h"
 
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index 7d66a420dc8eca..2f3b26fe2acdcc 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -14,7 +14,7 @@
 #include <QColor>
 #include <QDateTime>
 
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 #include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/utils/util.h"
 #include "tools/replay/util.h"
diff --git a/tools/cabana/streams/devicestream.cc b/tools/cabana/streams/devicestream.cc
index 20eaa70cd6b56f..96fae908ba415b 100644
--- a/tools/cabana/streams/devicestream.cc
+++ b/tools/cabana/streams/devicestream.cc
@@ -3,7 +3,7 @@
 #include <memory>
 #include <string>
 
-#include "cereal/services.h"
+#include "openpilot/cereal/services.h"
 
 #include <QButtonGroup>
 #include <QFileInfo>
@@ -33,7 +33,7 @@ DeviceStream::~DeviceStream() {
 void DeviceStream::start() {
   if (!zmq_address.isEmpty()) {
     bridge_process = new QProcess(this);
-    QString bridge_path = QCoreApplication::applicationDirPath() + "/../../cereal/messaging/bridge";
+    QString bridge_path = QCoreApplication::applicationDirPath() + "/../../openpilot/cereal/messaging/bridge";
     bridge_process->start(QFileInfo(bridge_path).absoluteFilePath(), QStringList { zmq_address, "/\"can/\"" });
 
     if (!bridge_process->waitForStarted()) {
diff --git a/tools/camerastream/README.md b/tools/camerastream/README.md
index 2f7498a07c05d8..8b77fc5990f57d 100644
--- a/tools/camerastream/README.md
+++ b/tools/camerastream/README.md
@@ -7,7 +7,7 @@
 ### On the device
 SSH into the device and run following in separate terminals:
 
-`cd /data/openpilot/cereal/messaging && ./bridge`
+`cd /data/openpilot && ./openpilot/cereal/messaging/bridge`
 
 `cd /data/openpilot/system/loggerd && ./encoderd`
 
@@ -18,8 +18,8 @@ Note that both the device and your PC must be on the same openpilot commit.
 Alternatively paste this as a single command:
 ```
 (
-  cd /data/openpilot/cereal/messaging/
-  ./bridge &
+  cd /data/openpilot
+  ./openpilot/cereal/messaging/bridge &
 
   cd /data/openpilot/system/camerad/
   ./camerad &
diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py
index 4dc74272ea50be..0b96223e8e0fbc 100755
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@@ -9,7 +9,7 @@
 import signal
 
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from msgq.visionipc import VisionIpcServer, VisionStreamType
 
 V4L2_BUF_FLAG_KEYFRAME = 8
diff --git a/tools/car_porting/measure_steering_accuracy.py b/tools/car_porting/measure_steering_accuracy.py
index ae3344c2eb1548..fa1da959a71c0c 100755
--- a/tools/car_porting/measure_steering_accuracy.py
+++ b/tools/car_porting/measure_steering_accuracy.py
@@ -6,7 +6,7 @@
 import signal
 from collections import defaultdict
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.tools.lib.logreader import LogReader
 
 def sigint_handler(signal, frame):
diff --git a/tools/car_porting/test_car_model.py b/tools/car_porting/test_car_model.py
index dd248f562e59e7..78784a4299145d 100755
--- a/tools/car_porting/test_car_model.py
+++ b/tools/car_porting/test_car_model.py
@@ -2,7 +2,6 @@
 import argparse
 import sys
 import unittest # noqa: TID251
-
 from opendbc.car.tests.routes import CarTestRoute
 from openpilot.selfdrive.car.tests.test_models import TestCarModel
 from openpilot.tools.lib.route import SegmentRange
diff --git a/tools/jotpluggler/SConscript b/tools/jotpluggler/SConscript
index d65b8c02e3b479..36d709621d00c1 100644
--- a/tools/jotpluggler/SConscript
+++ b/tools/jotpluggler/SConscript
@@ -93,8 +93,8 @@ generated_dbc_stamp = jot_env.Command(f"generated_dbcs/.stamp", [], materialize_
 car_fingerprint_to_dbc = jot_env.Command("car_fingerprint_to_dbc.h", [], write_car_fingerprint_to_dbc_header)
 event_extractors = jot_env.Command("generated_event_extractors.h", [
     "generate_event_extractors.py",
-    jot_env.Glob("#cereal/*.capnp"),
-    jot_env.Glob("#cereal/include/*.capnp"),
+    jot_env.Glob("#openpilot/cereal/*.capnp"),
+    jot_env.Glob("#openpilot/cereal/include/*.capnp"),
     "#opendbc_repo/opendbc/car/car.capnp",
     "#opendbc_repo/opendbc/car/include/c++.capnp",
   ],
diff --git a/tools/jotpluggler/app.h b/tools/jotpluggler/app.h
index a059d94c087686..a38f889687406f 100644
--- a/tools/jotpluggler/app.h
+++ b/tools/jotpluggler/app.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 #include "imgui.h"
 #include "tools/jotpluggler/dbc.h"
 #include "tools/jotpluggler/util.h"
diff --git a/tools/jotpluggler/generate_event_extractors.py b/tools/jotpluggler/generate_event_extractors.py
index 0ffa11c36c2c70..25f121f0b95254 100644
--- a/tools/jotpluggler/generate_event_extractors.py
+++ b/tools/jotpluggler/generate_event_extractors.py
@@ -321,7 +321,7 @@ def generate(self):
   repo_root = Path(sys.argv[1]).resolve()
   output = Path(sys.argv[2])
   capnp.remove_import_hook()
-  log = capnp.load(str(repo_root / "cereal" / "log.capnp"), imports=[str(repo_root / "opendbc_repo" / "opendbc" / "car")])
+  log = capnp.load(str(repo_root / "openpilot" / "cereal" / "log.capnp"), imports=[str(repo_root / "opendbc_repo" / "opendbc" / "car")])
   generated = Generator(log.Event.schema).generate()
   output.parent.mkdir(parents=True, exist_ok=True)
   output.write_text(generated)
diff --git a/tools/jotpluggler/runtime.cc b/tools/jotpluggler/runtime.cc
index 3247a5d01da8b4..4e98f96c3d9c57 100644
--- a/tools/jotpluggler/runtime.cc
+++ b/tools/jotpluggler/runtime.cc
@@ -1,7 +1,7 @@
 #include "tools/jotpluggler/app.h"
 #include "tools/jotpluggler/common.h"
 
-#include "cereal/services.h"
+#include "openpilot/cereal/services.h"
 #include "common/timing.h"
 #include "imgui_impl_glfw.h"
 #include "imgui_impl_opengl3.h"
diff --git a/tools/joystick/README.md b/tools/joystick/README.md
index eb67060ca85b06..bc0968809473e9 100644
--- a/tools/joystick/README.md
+++ b/tools/joystick/README.md
@@ -36,7 +36,7 @@ In order to use a joystick over the network, we need to run joystick_control loc
 3. Run bridge with your laptop's IP address. This republishes the `testJoystick` packets sent from your laptop so that openpilot can receive them:
    ```shell
    # on your comma device
-   cereal/messaging/bridge {LAPTOP_IP} testJoystick
+   openpilot/cereal/messaging/bridge {LAPTOP_IP} testJoystick
    ```
 4. Start joystick_control on your laptop in ZMQ mode.
    ```shell
diff --git a/tools/joystick/joystick_control.py b/tools/joystick/joystick_control.py
index d9d4f0156fa521..9a39d564db2308 100755
--- a/tools/joystick/joystick_control.py
+++ b/tools/joystick/joystick_control.py
@@ -5,7 +5,7 @@
 import numpy as np
 from inputs import UnpluggedError, get_gamepad
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.hardware import HARDWARE
@@ -140,7 +140,7 @@ def main():
     print('- `R`: Resets axes')
     print('- `C`: Cancel cruise control')
   else:
-    print('Using joystick, make sure to run cereal/messaging/bridge on your device if running over the network!')
+    print('Using joystick, make sure to run openpilot/cereal/messaging/bridge on your device if running over the network!')
     print('If not running on a comma device, the mapping may need to be adjusted.')
 
   joystick = Keyboard() if args.keyboard else Joystick()
diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index f06097658a94ae..a1c00746b61f11 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -3,7 +3,7 @@
 import math
 import numpy as np
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from opendbc.car.structs import car
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.common.realtime import DT_CTRL, Ratekeeper
diff --git a/tools/lateral_maneuvers/lateral_maneuversd.py b/tools/lateral_maneuvers/lateral_maneuversd.py
index 61f51145df732e..ed07c896f91273 100755
--- a/tools/lateral_maneuvers/lateral_maneuversd.py
+++ b/tools/lateral_maneuvers/lateral_maneuversd.py
@@ -2,7 +2,7 @@
 import numpy as np
 from dataclasses import dataclass
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from opendbc.car.structs import car
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
diff --git a/tools/lib/live_logreader.py b/tools/lib/live_logreader.py
index edc4ac16112933..20f8c3502cacdd 100644
--- a/tools/lib/live_logreader.py
+++ b/tools/lib/live_logreader.py
@@ -1,6 +1,6 @@
 import os
-from cereal import log as capnp_log, messaging
-from cereal.services import SERVICE_LIST
+from openpilot.cereal import log as capnp_log, messaging
+from openpilot.cereal.services import SERVICE_LIST
 
 from openpilot.tools.lib.logreader import LogIterable, RawLogIterable
 
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 9696c8524d104d..805e411b53adb5 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -15,7 +15,7 @@
 from collections.abc import Iterable, Iterator
 from urllib.parse import parse_qs, urlparse
 
-from cereal import log as capnp_log
+from openpilot.cereal import log as capnp_log
 from openpilot.common.swaglog import cloudlog
 from openpilot.tools.lib.filereader import FileReader
 from openpilot.tools.lib.file_sources import comma_api_source, internal_source, openpilotci_source, comma_car_segments_source, Source
diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py
index 123f142383a308..a27a348d9ec9c0 100644
--- a/tools/lib/tests/test_logreader.py
+++ b/tools/lib/tests/test_logreader.py
@@ -9,7 +9,7 @@
 
 from openpilot.common.parameterized import parameterized
 
-from cereal import log as capnp_log
+from openpilot.cereal import log as capnp_log
 from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, parse_indirect, ReadMode
 from openpilot.tools.lib.file_sources import comma_api_source, InternalUnavailableException
 from openpilot.tools.lib.route import SegmentRange
diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
index cf53f8e85ae610..a9a5ba6304154d 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -2,7 +2,7 @@
 import numpy as np
 from dataclasses import dataclass
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from opendbc.car.structs import car
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md
index 3249971bfcf5e4..9a40ac798d2712 100644
--- a/tools/plotjuggler/README.md
+++ b/tools/plotjuggler/README.md
@@ -51,7 +51,7 @@ Example using segment range:
 
 Explore live data from your car! Follow these steps to stream from your comma device to your laptop:
 - Enable wifi tethering on your comma device
-- [SSH into your device](https://github.com/commaai/openpilot/wiki/SSH) and run `cd /data/openpilot && ./cereal/messaging/bridge`
+- [SSH into your device](https://github.com/commaai/openpilot/wiki/SSH) and run `cd /data/openpilot && ./openpilot/cereal/messaging/bridge`
 - On your laptop, connect to the device's wifi hotspot
 - Start PlotJuggler with `ZMQ=1 ./juggle.py --stream`, find the `Cereal Subscriber` plugin in the dropdown under Streaming, and click `Start`.
 
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index a31c62c940edcf..e1143a3cd40954 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -9,7 +9,6 @@
 import requests
 import argparse
 from functools import partial
-
 from opendbc.car.fingerprints import MIGRATION
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.swaglog import cloudlog
@@ -70,7 +69,6 @@ def get_plotjuggler_version():
 
 def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None, platform=None):
   env = os.environ.copy()
-  env["BASEDIR"] = BASEDIR
   env["PATH"] = f"{INSTALL_DIR}:{os.getenv('PATH', '')}"
   if dbc:
     if os.path.exists(dbc):
@@ -86,7 +84,20 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None, pl
     extra_args += f" --window_title \"{route_or_segment_name}{f' ({platform})' if platform is not None else ''}\""
 
   cmd = f'{PLOTJUGGLER_BIN} --buffer_size {MAX_STREAMING_BUFFER_SIZE} --plugin_folders {INSTALL_DIR}{extra_args}'
-  subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir)
+  with tempfile.TemporaryDirectory() as schema_root:
+    tmp_cereal = os.path.join(schema_root, "cereal")
+    os.mkdir(tmp_cereal)
+    for schema in ("log.capnp", "deprecated.capnp", "custom.capnp"):
+      with open(os.path.join(BASEDIR, "openpilot", "cereal", schema)) as src:
+        contents = src.read()
+      contents = contents.replace('import "/include/c++.capnp"', 'import "./include/c++.capnp"')
+      contents = contents.replace('import "/car.capnp"', 'import "car.capnp"')
+      with open(os.path.join(tmp_cereal, schema), "w") as dst:
+        dst.write(contents)
+    os.symlink(os.path.join(BASEDIR, "openpilot", "cereal", "include"), os.path.join(tmp_cereal, "include"), target_is_directory=True)
+    os.symlink(os.path.join(BASEDIR, "opendbc_repo", "opendbc", "car", "car.capnp"), os.path.join(tmp_cereal, "car.capnp"))
+    env["BASEDIR"] = schema_root
+    subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir)
 
 
 def process(can, lr):
diff --git a/tools/replay/logreader.h b/tools/replay/logreader.h
index fe11ab0f77d3bb..63f7468401f022 100644
--- a/tools/replay/logreader.h
+++ b/tools/replay/logreader.h
@@ -5,7 +5,7 @@
 #include <string>
 #include <vector>
 
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 #include "tools/replay/util.h"
 
 const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index d6d02b1a9f449c..75aecfd0c20532 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -4,7 +4,7 @@
 #include <csignal>
 #include <iomanip>
 #include <sstream>
-#include "cereal/services.h"
+#include "openpilot/cereal/services.h"
 #include "common/params.h"
 #include "tools/replay/util.h"
 
diff --git a/tools/replay/timeline.cc b/tools/replay/timeline.cc
index 08dca5c89eb09e..34729f52140223 100644
--- a/tools/replay/timeline.cc
+++ b/tools/replay/timeline.cc
@@ -3,7 +3,7 @@
 #include <algorithm>
 #include <array>
 
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 
 Timeline::~Timeline() {
   should_exit_.store(true);
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
index 405c79f42502f5..838b7ab15aa489 100755
--- a/tools/replay/ui.py
+++ b/tools/replay/ui.py
@@ -6,7 +6,7 @@
 import numpy as np
 import pyray as rl
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.tools.replay.lib.ui_helpers import (
diff --git a/tools/replay/util.h b/tools/replay/util.h
index a2d0f6203a8d1a..03a15787b2127e 100644
--- a/tools/replay/util.h
+++ b/tools/replay/util.h
@@ -7,7 +7,7 @@
 #include <string>
 #include <string_view>
 #include <vector>
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 
 enum CameraType {
   RoadCam = 0,
diff --git a/tools/scripts/adb_ssh.sh b/tools/scripts/adb_ssh.sh
index b9668e7e0b4335..c584a72f2b34f7 100755
--- a/tools/scripts/adb_ssh.sh
+++ b/tools/scripts/adb_ssh.sh
@@ -5,7 +5,7 @@ set -euo pipefail
 while IFS=' ' read -r name port; do
   adb forward "tcp:${port}" "tcp:${port}" > /dev/null
 done < <(python3 - <<'PY'
-from cereal.services import SERVICE_LIST
+from openpilot.cereal.services import SERVICE_LIST
 
 FNV_PRIME = 0x100000001b3
 FNV_OFFSET_BASIS = 0xcbf29ce484222325
diff --git a/tools/scripts/car/can_print_changes.py b/tools/scripts/car/can_print_changes.py
index c2e152e1e047f1..1db29c3d37419d 100755
--- a/tools/scripts/car/can_print_changes.py
+++ b/tools/scripts/car/can_print_changes.py
@@ -4,7 +4,7 @@
 import time
 from collections import defaultdict
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.tools.scripts.can_table import can_table
 from openpilot.tools.lib.logreader import LogIterable, LogReader
 
diff --git a/tools/scripts/car/can_printer.py b/tools/scripts/car/can_printer.py
index f2ed6730d37a30..85f129f7950214 100755
--- a/tools/scripts/car/can_printer.py
+++ b/tools/scripts/car/can_printer.py
@@ -4,7 +4,7 @@
 import time
 from collections import defaultdict
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
 
 def can_printer(bus, max_msg, addr, ascii_decode):
diff --git a/tools/scripts/car/can_table.py b/tools/scripts/car/can_table.py
index 11d070e7089d51..e2d9874fec7728 100755
--- a/tools/scripts/car/can_table.py
+++ b/tools/scripts/car/can_table.py
@@ -2,7 +2,7 @@
 import argparse
 import pandas as pd
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
 
 def can_table(dat):
diff --git a/tools/scripts/car/disable_ecu.py b/tools/scripts/car/disable_ecu.py
index 14d0cbb9cf3c95..884b86896bfdef 100755
--- a/tools/scripts/car/disable_ecu.py
+++ b/tools/scripts/car/disable_ecu.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import time
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from opendbc.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.card import can_comm_callbacks
 
diff --git a/tools/scripts/car/ecu_addrs.py b/tools/scripts/car/ecu_addrs.py
index b0e7a8f2dcc359..0dfce880b09e5b 100755
--- a/tools/scripts/car/ecu_addrs.py
+++ b/tools/scripts/car/ecu_addrs.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import argparse
 import time
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from opendbc.car.carlog import carlog
 from opendbc.car.ecu_addrs import get_all_ecu_addrs
 from openpilot.common.params import Params
diff --git a/tools/scripts/car/fw_versions.py b/tools/scripts/car/fw_versions.py
index 6fdac5e46da336..e68447d69efb87 100755
--- a/tools/scripts/car/fw_versions.py
+++ b/tools/scripts/car/fw_versions.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import time
 import argparse
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from opendbc.car.structs import car
 from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import get_fw_versions, match_fw_to_car
diff --git a/tools/scripts/car/hyundai_enable_radar_points.py b/tools/scripts/car/hyundai_enable_radar_points.py
index df150a5224d986..f9ae29f8176fe3 100755
--- a/tools/scripts/car/hyundai_enable_radar_points.py
+++ b/tools/scripts/car/hyundai_enable_radar_points.py
@@ -15,7 +15,6 @@
 import argparse
 from typing import NamedTuple
 from subprocess import check_output, CalledProcessError
-
 from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE
 from opendbc.car.structs import CarParams
diff --git a/tools/scripts/car/measure_torque_time_to_max.py b/tools/scripts/car/measure_torque_time_to_max.py
index e99aeae464b8e9..df41e5738ea306 100755
--- a/tools/scripts/car/measure_torque_time_to_max.py
+++ b/tools/scripts/car/measure_torque_time_to_max.py
@@ -6,8 +6,8 @@
 from collections import deque
 from statistics import mean
 
-from cereal import log
-import cereal.messaging as messaging
+from openpilot.cereal import log
+import openpilot.cereal.messaging as messaging
 
 if __name__ == "__main__":
 
diff --git a/tools/scripts/car/vin.py b/tools/scripts/car/vin.py
index 9b1d6528ccb3d1..732d3d3f4abf81 100755
--- a/tools/scripts/car/vin.py
+++ b/tools/scripts/car/vin.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import argparse
 import time
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from opendbc.car.carlog import carlog
 from opendbc.car.vin import get_vin
 from openpilot.selfdrive.car.card import can_comm_callbacks
diff --git a/tools/scripts/count_events.py b/tools/scripts/count_events.py
index 76e02d414ec873..a7e71210ac1b74 100755
--- a/tools/scripts/count_events.py
+++ b/tools/scripts/count_events.py
@@ -6,7 +6,7 @@
 from pprint import pprint
 from typing import cast
 
-from cereal.services import SERVICE_LIST
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.tools.lib.logreader import LogReader, ReadMode
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
 
diff --git a/tools/scripts/cycle_alerts.py b/tools/scripts/cycle_alerts.py
index 7dc963aafd311a..0bd42bcd3fe70c 100755
--- a/tools/scripts/cycle_alerts.py
+++ b/tools/scripts/cycle_alerts.py
@@ -2,9 +2,9 @@
 import time
 import random
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from opendbc.car.honda.interface import CarInterface
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.selfdrived.events import ET, Events
diff --git a/tools/scripts/debug_fw_fingerprinting_offline.py b/tools/scripts/debug_fw_fingerprinting_offline.py
index d36b350bbcd07f..b33817e94498e8 100755
--- a/tools/scripts/debug_fw_fingerprinting_offline.py
+++ b/tools/scripts/debug_fw_fingerprinting_offline.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import argparse
-
 from opendbc.car import uds
 from openpilot.tools.lib.live_logreader import live_logreader
 from openpilot.tools.lib.logreader import LogReader, ReadMode
diff --git a/tools/scripts/dump.py b/tools/scripts/dump.py
index 78cf51e3db5fb0..e4f5495f9bc685 100755
--- a/tools/scripts/dump.py
+++ b/tools/scripts/dump.py
@@ -4,8 +4,8 @@
 import json
 import codecs
 
-from cereal import log
-from cereal.services import SERVICE_LIST
+from openpilot.cereal import log
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.tools.lib.live_logreader import raw_live_logreader
 
 
@@ -25,7 +25,7 @@ def hexdump(msg):
 
 if __name__ == "__main__":
 
-  parser = argparse.ArgumentParser(description='Dump communication sockets. See cereal/services.py for a complete list of available sockets.')
+  parser = argparse.ArgumentParser(description='Dump communication sockets. See openpilot/cereal/services.py for a complete list of available sockets.')
   parser.add_argument('--pipe', action='store_true')
   parser.add_argument('--raw', action='store_true')
   parser.add_argument('--json', action='store_true')
diff --git a/tools/scripts/filter_log_message.py b/tools/scripts/filter_log_message.py
index 38904aaa075699..1ec0333169b509 100755
--- a/tools/scripts/filter_log_message.py
+++ b/tools/scripts/filter_log_message.py
@@ -2,7 +2,7 @@
 import argparse
 import json
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.tools.lib.logreader import LogReader
 
 LEVELS = {
diff --git a/tools/scripts/fuzz_fw_fingerprint.py b/tools/scripts/fuzz_fw_fingerprint.py
index b4276c0c1af93d..5b0ba9cfd04ed5 100755
--- a/tools/scripts/fuzz_fw_fingerprint.py
+++ b/tools/scripts/fuzz_fw_fingerprint.py
@@ -3,7 +3,6 @@
 from collections import defaultdict
 
 from tqdm import tqdm
-
 from opendbc.car.fw_versions import match_fw_to_car_fuzzy
 from opendbc.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS
 from opendbc.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS
diff --git a/tools/scripts/get_fingerprint.py b/tools/scripts/get_fingerprint.py
index 75c3d5579fdd37..1cdf8534d9708d 100755
--- a/tools/scripts/get_fingerprint.py
+++ b/tools/scripts/get_fingerprint.py
@@ -10,7 +10,7 @@
 # - since some messages are published at low frequency, keep this script running for at least 30s,
 #   until all messages are received at least once
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
 logcan = messaging.sub_sock('can')
 msgs = {}
diff --git a/tools/scripts/live_cpu_and_temp.py b/tools/scripts/live_cpu_and_temp.py
index ee0524ec9d4d06..484207d0fef9e9 100755
--- a/tools/scripts/live_cpu_and_temp.py
+++ b/tools/scripts/live_cpu_and_temp.py
@@ -4,7 +4,7 @@
 import capnp
 from collections import defaultdict
 
-from cereal.messaging import SubMaster
+from openpilot.cereal.messaging import SubMaster
 
 def cputime_total(ct):
   return ct.user + ct.nice + ct.system + ct.idle + ct.iowait + ct.irq + ct.softirq
diff --git a/tools/scripts/qlog_size.py b/tools/scripts/qlog_size.py
index 2b54cfeebf7297..46ef4b8be0492f 100755
--- a/tools/scripts/qlog_size.py
+++ b/tools/scripts/qlog_size.py
@@ -5,7 +5,7 @@
 
 import matplotlib.pyplot as plt
 
-from cereal.services import SERVICE_LIST
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.utils import LOG_COMPRESSION_LEVEL
 from openpilot.tools.lib.logreader import LogReader
 from tqdm import tqdm
diff --git a/tools/scripts/uiview.py b/tools/scripts/uiview.py
index 3a81f2f84f36b0..8611a861b3c97f 100755
--- a/tools/scripts/uiview.py
+++ b/tools/scripts/uiview.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import time
 
-from cereal import log, messaging
+from openpilot.cereal import log, messaging
 from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.system.manager.process_config import managed_processes
diff --git a/tools/scripts/watch_timings.py b/tools/scripts/watch_timings.py
index 874720dd223f92..0df9db2033c04f 100755
--- a/tools/scripts/watch_timings.py
+++ b/tools/scripts/watch_timings.py
@@ -7,8 +7,8 @@
 
 import numpy as np
 
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
 
 
 @dataclass
diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py
index 499420ec4b2a41..048bf6cb11e161 100644
--- a/tools/sim/bridge/common.py
+++ b/tools/sim/bridge/common.py
@@ -7,7 +7,6 @@
 from enum import Enum
 from multiprocessing import Process, Queue, Value
 from abc import ABC, abstractmethod
-
 from opendbc.car.honda.values import CruiseButtons
 from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper
diff --git a/tools/sim/lib/camerad.py b/tools/sim/lib/camerad.py
index 7634b8524d1716..8efb3e5dab48ba 100644
--- a/tools/sim/lib/camerad.py
+++ b/tools/sim/lib/camerad.py
@@ -1,7 +1,7 @@
 import numpy as np
 
 from msgq.visionipc import VisionIpcServer, VisionStreamType
-from cereal import messaging
+from openpilot.cereal import messaging
 
 from openpilot.tools.sim.lib.common import W, H
 
diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py
index 03da594769d604..4e04ecd513f857 100644
--- a/tools/sim/lib/simulated_car.py
+++ b/tools/sim/lib/simulated_car.py
@@ -1,5 +1,5 @@
 import traceback
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
 from opendbc.can.packer import CANPacker
 from opendbc.can.parser import CANParser
diff --git a/tools/sim/lib/simulated_sensors.py b/tools/sim/lib/simulated_sensors.py
index d6d822c582bbe1..63935d3068bf9c 100644
--- a/tools/sim/lib/simulated_sensors.py
+++ b/tools/sim/lib/simulated_sensors.py
@@ -1,7 +1,7 @@
 import time
 
-from cereal import log
-import cereal.messaging as messaging
+from openpilot.cereal import log
+import openpilot.cereal.messaging as messaging
 
 from openpilot.common.realtime import DT_DMON
 from openpilot.tools.sim.lib.camerad import Camerad
diff --git a/tools/sim/tests/test_sim_bridge.py b/tools/sim/tests/test_sim_bridge.py
index d58cddff7fabf0..0b3650e0a3a231 100644
--- a/tools/sim/tests/test_sim_bridge.py
+++ b/tools/sim/tests/test_sim_bridge.py
@@ -5,7 +5,7 @@
 
 from multiprocessing import Queue
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.tools.sim.bridge.common import QueueMessageType
 

From 20e0f21b5853b4675adc5c1879fe02871a160a3c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 21 Jun 2026 18:28:35 -0700
Subject: [PATCH 1239/1434] prefix paths with openpilot (#38223)

* prefix paths with openpilot

* fix setup root detection

* fix split branch codespell skips
---
 .github/labeler.yaml                          | 12 +--
 .github/pull_request_template.md              |  4 +-
 .github/workflows/model_review.yaml           |  2 +-
 .github/workflows/release.yaml                |  2 +-
 .github/workflows/repo-maintenance.yaml       |  4 +-
 .github/workflows/tests.yaml                  | 44 ++++-----
 .github/workflows/ui_preview.yaml             | 14 +--
 Jenkinsfile                                   | 42 ++++----
 README.md                                     |  2 +-
 SConstruct                                    | 29 +++---
 common/hardware/tici/agnos.py                 |  2 +-
 common/mock/__init__.py                       |  2 +-
 common/spinner.py                             |  2 +-
 common/text_window.py                         |  2 +-
 common/version.py                             |  2 +-
 conftest.py                                   |  6 +-
 docs/CARS.md                                  |  2 +-
 docs/CONTRIBUTING.md                          |  2 +-
 docs/SAFETY.md                                |  4 +-
 docs/concepts/logs.md                         |  2 +-
 docs/how-to/car-port.md                       |  2 +-
 docs/how-to/replay-a-drive.md                 |  2 +-
 docs/how-to/turn-the-speed-blue.md            | 10 +-
 launch_chffrplus.sh                           |  8 +-
 openpilot/cereal/README.md                    | 16 ++--
 openpilot/cereal/log.capnp                    |  4 +-
 pyproject.toml                                | 34 +------
 release/README.md                             |  2 +-
 release/build_release.sh                      |  8 +-
 release/build_stripped.sh                     |  4 +-
 release/pack.py                               |  2 +-
 scripts/lint/lint.sh                          |  9 +-
 scripts/post-commit                           |  2 +-
 scripts/reporter.py                           |  2 +-
 scripts/waste.c                               |  3 +-
 selfdrive/car/CARS_template.md                |  2 +-
 selfdrive/car/docs.py                         |  2 +-
 selfdrive/car/tests/big_cars_test.sh          |  4 +-
 .../controls/lib/lateral_mpc_lib/SConscript   |  2 +-
 .../lib/longitudinal_mpc_lib/SConscript       |  2 +-
 selfdrive/locationd/calibrationd.py           |  2 +-
 selfdrive/modeld/SConscript                   | 16 ++--
 selfdrive/modeld/dmonitoringmodeld.py         |  2 +-
 selfdrive/modeld/modeld.py                    |  2 +-
 selfdrive/modeld/models/README.md             |  2 +-
 selfdrive/pandad/pandad.py                    |  2 +-
 selfdrive/selfdrived/alertmanager.py          |  2 +-
 selfdrive/selfdrived/tests/test_alerts.py     |  4 +-
 selfdrive/test/test_onroad.py                 | 60 ++++++------
 selfdrive/ui/SConscript                       |  4 +-
 selfdrive/ui/layouts/onboarding.py            |  4 +-
 selfdrive/ui/layouts/settings/device.py       |  2 +-
 selfdrive/ui/layouts/settings/software.py     |  6 +-
 selfdrive/ui/mici/layouts/settings/device.py  |  2 +-
 .../ui/mici/layouts/settings/software.py      |  6 +-
 selfdrive/ui/soundd.py                        |  2 +-
 selfdrive/ui/tests/cycle_offroad_alerts.py    |  2 +-
 selfdrive/ui/tests/diff/diff.py               |  2 +-
 selfdrive/ui/translations/app.pot             | 74 +++++++-------
 selfdrive/ui/translations/auto_translate.sh   |  2 +-
 system/athena/manage_athenad.py               |  2 +-
 system/camerad/cameras/nv12_info.py           |  2 +-
 system/camerad/webcam/README.md               |  4 +-
 system/loggerd/tests/test_loggerd.py          |  2 +-
 system/manager/helpers.py                     |  2 +-
 system/manager/process_config.py              | 96 +++++++++----------
 system/tombstoned.py                          |  2 +-
 system/ui/README.md                           |  2 +-
 system/ui/lib/multilang.py                    |  2 +-
 system/updated/updated.py                     |  4 +-
 tools/CTF.md                                  |  6 +-
 tools/README.md                               |  4 +-
 tools/cabana/SConscript                       |  8 +-
 tools/cabana/cabana                           |  2 +-
 tools/cabana/streams/replaystream.cc          |  2 +-
 tools/cabana/streams/routes.cc                |  2 +-
 tools/car_porting/README.md                   | 30 +++---
 tools/car_porting/test_car_model.py           |  2 +-
 tools/jotpluggler/SConscript                  |  2 +-
 .../jotpluggler/generate_event_extractors.py  |  2 +-
 tools/joystick/README.md                      |  4 +-
 tools/lateral_maneuvers/README.md             |  2 +-
 tools/lib/README.md                           |  2 +-
 tools/lib/api.py                              |  2 +-
 tools/longitudinal_maneuvers/README.md        |  2 +-
 tools/op.sh                                   | 26 ++---
 tools/plotjuggler/README.md                   |  2 +-
 tools/plotjuggler/juggle.py                   |  2 +-
 tools/plotjuggler/test_plotjuggler.py         |  2 +-
 tools/replay/README.md                        | 30 +++---
 tools/replay/route.cc                         |  2 +-
 tools/replay/ui.py                            |  2 +-
 tools/scripts/cpu_usage_stat.py               |  2 +-
 tools/scripts/get_fingerprint.py              |  2 +-
 tools/scripts/profiling/snapdragon/README.md  |  4 +-
 tools/scripts/ssh.py                          |  2 +-
 tools/setup.sh                                |  6 +-
 tools/setup_dependencies.sh                   |  2 +-
 tools/sim/README.md                           |  4 +-
 tools/sim/tests/test_sim_bridge.py            |  2 +-
 100 files changed, 375 insertions(+), 404 deletions(-)

diff --git a/.github/labeler.yaml b/.github/labeler.yaml
index 63d41d5b73506c..2481a112ce0ff6 100644
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@@ -4,24 +4,24 @@ CI / testing:
 
 car:
   - changed-files:
-    - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
+    - any-glob-to-all-files: '{openpilot/selfdrive/car/**,opendbc_repo}'
 
 simulation:
   - changed-files:
-    - any-glob-to-all-files: 'tools/sim/**'
+    - any-glob-to-all-files: 'openpilot/tools/sim/**'
 
 ui:
   - changed-files:
-    - any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'
+    - any-glob-to-all-files: '{openpilot/selfdrive/assets/**,openpilot/selfdrive/ui/**,openpilot/system/ui/**}'
 
 tools:
   - changed-files:
-    - any-glob-to-all-files: 'tools/**'
+    - any-glob-to-all-files: 'openpilot/tools/**'
 
 multilanguage:
   - changed-files:
-    - any-glob-to-all-files: 'selfdrive/ui/translations/**'
+    - any-glob-to-all-files: 'openpilot/selfdrive/ui/translations/**'
 
 autonomy:
   - changed-files:
-    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"
+    - any-glob-to-all-files: "{openpilot/selfdrive/modeld/models/**,openpilot/selfdrive/test/process_replay/model_replay_ref_commit}"
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
index 2b4a5ed48f1b14..b9862730975294 100644
--- a/.github/pull_request_template.md
+++ b/.github/pull_request_template.md
@@ -44,8 +44,8 @@ Explain how you tested this bug fix.
 
 **Checklist**
 
-- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
-- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
+- [ ] added entry to CAR in openpilot/selfdrive/car/*/values.py and ran `openpilot/selfdrive/car/docs.py` to generate new docs
+- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/openpilot/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
 - [ ] car harness used (if comma doesn't sell it, put N/A):
diff --git a/.github/workflows/model_review.yaml b/.github/workflows/model_review.yaml
index 2775dbc5743056..66f0398d09d393 100644
--- a/.github/workflows/model_review.yaml
+++ b/.github/workflows/model_review.yaml
@@ -4,7 +4,7 @@ on:
   pull_request:
     types: [opened, reopened, synchronize]
     paths:
-      - 'selfdrive/modeld/models/*.onnx'
+      - 'openpilot/selfdrive/modeld/models/*.onnx'
   workflow_dispatch:
 
 jobs:
diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index a90f064b82cb61..ae6a2655a4b8ab 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -26,6 +26,6 @@ jobs:
       with:
         submodules: true
         fetch-depth: 0
-    - run: ./tools/op.sh setup
+    - run: ./openpilot/tools/op.sh setup
     - name: Push master-ci
       run: BRANCH=__nightly release/build_stripped.sh
diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index f829415f4eea68..14c613fbe433d3 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -17,7 +17,7 @@ jobs:
     - uses: actions/checkout@v6
       with:
         submodules: true
-    - run: ./tools/op.sh setup
+    - run: ./openpilot/tools/op.sh setup
     - name: uv lock
       run: uv lock --upgrade
     - name: uv pip tree
@@ -46,7 +46,7 @@ jobs:
         git add .
     - name: update car docs
       run: |
-        python selfdrive/car/docs.py
+        python openpilot/selfdrive/car/docs.py
         git add docs/CARS.md
     - name: Create Pull Request
       uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index bccc6b57265abf..3ed0829a2647ed 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -47,11 +47,11 @@ jobs:
     - name: Build devel
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
-    - run: ./tools/op.sh setup
+    - run: ./openpilot/tools/op.sh setup
     - name: Build openpilot and run checks
       timeout-minutes: 30
       working-directory: ${{ env.STRIPPED_DIR }}
-      run: python3 system/manager/build.py
+      run: python3 openpilot/system/manager/build.py
     - name: Run tests
       timeout-minutes: 1
       working-directory: ${{ env.STRIPPED_DIR }}
@@ -72,7 +72,7 @@ jobs:
       run: |
         FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
         echo "PATH=${FILTERED}/usr/local/bin:/usr/bin:/bin:/usr/sbin:/sbin" >> $GITHUB_ENV
-    - run: ./tools/op.sh setup
+    - run: ./openpilot/tools/op.sh setup
     - name: Building openpilot
       run: scons
 
@@ -88,7 +88,7 @@ jobs:
     - uses: actions/checkout@v6
       with:
         submodules: true
-    - run: ./tools/op.sh setup
+    - run: ./openpilot/tools/op.sh setup
     - name: Static analysis
       timeout-minutes: 1
       run: scripts/lint/lint.sh
@@ -105,13 +105,13 @@ jobs:
     - uses: actions/checkout@v6
       with:
         submodules: true
-    - run: ./tools/op.sh setup
+    - run: ./openpilot/tools/op.sh setup
     - name: Build openpilot
       run: scons
     - name: Run unit tests
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
       run: |
-        source selfdrive/test/setup_xvfb.sh
+        source openpilot/selfdrive/test/setup_xvfb.sh
         # Pre-compile Python bytecode so each pytest worker doesn't need to
         $PYTEST --collect-only -m 'not slow' -qq
         MAX_EXAMPLES=1 $PYTEST -m 'not slow'
@@ -128,33 +128,33 @@ jobs:
     - uses: actions/checkout@v6
       with:
         submodules: true
-    - run: ./tools/op.sh setup
+    - run: ./openpilot/tools/op.sh setup
     - name: Build openpilot
       run: scons
     - name: Run replay
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
       continue-on-error: ${{ github.ref == 'refs/heads/master' }}
-      run: selfdrive/test/process_replay/test_processes.py -j$(nproc)
+      run: openpilot/selfdrive/test/process_replay/test_processes.py -j$(nproc)
     - name: Print diff
       id: print-diff
       if: always()
-      run: cat selfdrive/test/process_replay/diff.txt
+      run: cat openpilot/selfdrive/test/process_replay/diff.txt
     - name: Print diff report
       if: always()
-      run: cat selfdrive/test/process_replay/diff_report.txt
+      run: cat openpilot/selfdrive/test/process_replay/diff_report.txt
     - uses: actions/upload-artifact@v6
       if: always()
       continue-on-error: true
       with:
         name: process_replay_diff.txt
-        path: selfdrive/test/process_replay/diff.txt
+        path: openpilot/selfdrive/test/process_replay/diff.txt
     - name: Upload diff report
       uses: actions/upload-artifact@v6
       if: always() && github.event_name == 'pull_request'
       continue-on-error: true
       with:
         name: diff_report_${{ github.event.number }}
-        path: selfdrive/test/process_replay/diff_report.txt
+        path: openpilot/selfdrive/test/process_replay/diff_report.txt
     - name: Checkout ci-artifacts
       if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
       uses: actions/checkout@v4
@@ -170,7 +170,7 @@ jobs:
         git config user.email "<>"
         git fetch origin process-replay || true
         git checkout process-replay 2>/dev/null || git checkout --orphan process-replay
-        cp ${{ github.workspace }}/selfdrive/test/process_replay/fakedata/*.zst .
+        cp ${{ github.workspace }}/openpilot/selfdrive/test/process_replay/fakedata/*.zst .
         echo "${{ github.sha }}" > ref_commit
         git add .
         git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
@@ -186,7 +186,7 @@ jobs:
       timeout-minutes: 4
       env:
         ONNXCPU: 1
-      run: $PYTEST selfdrive/test/process_replay/test_regen.py
+      run: $PYTEST openpilot/selfdrive/test/process_replay/test_regen.py
 
   simulator_driving:
     name: simulator driving
@@ -201,14 +201,14 @@ jobs:
     - uses: actions/checkout@v6
       with:
         submodules: true
-    - run: ./tools/op.sh setup
+    - run: ./openpilot/tools/op.sh setup
     - name: Build openpilot
       run: scons
     - name: Driving test
       timeout-minutes: 2
       run: |
-        source selfdrive/test/setup_xvfb.sh
-        pytest -s tools/sim/tests/test_metadrive_bridge.py
+        source openpilot/selfdrive/test/setup_xvfb.sh
+        pytest -s openpilot/tools/sim/tests/test_metadrive_bridge.py
 
   create_ui_report:
     name: Create UI Report
@@ -222,16 +222,16 @@ jobs:
       - uses: actions/checkout@v6
         with:
           submodules: true
-      - run: ./tools/op.sh setup
+      - run: ./openpilot/tools/op.sh setup
       - name: Build openpilot
         run: scons
       - name: Create UI Report
         run: |
-          source selfdrive/test/setup_xvfb.sh
-          python3 selfdrive/ui/tests/diff/replay.py
-          python3 selfdrive/ui/tests/diff/replay.py --big
+          source openpilot/selfdrive/test/setup_xvfb.sh
+          python3 openpilot/selfdrive/ui/tests/diff/replay.py
+          python3 openpilot/selfdrive/ui/tests/diff/replay.py --big
       - name: Upload UI Report
         uses: actions/upload-artifact@v6
         with:
           name: ui-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/diff/report
+          path: openpilot/selfdrive/ui/tests/diff/report
diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 72ced4985228d1..7bfaea63aa7c0d 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -8,9 +8,9 @@ on:
     branches:
       - 'master'
     paths:
-      - 'selfdrive/assets/**'
-      - 'selfdrive/ui/**'
-      - 'system/ui/**'
+      - 'openpilot/selfdrive/assets/**'
+      - 'openpilot/selfdrive/ui/**'
+      - 'openpilot/system/ui/**'
   workflow_dispatch:
 
 env:
@@ -115,13 +115,13 @@ jobs:
             cp "${{ github.workspace }}/master_${name}/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_master.mp4"
 
             diff_exit_code=0
-            python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py \
+            python3 ${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/diff.py \
               "${{ github.workspace }}/pr_ui/${video}_master.mp4" \
               "${{ github.workspace }}/pr_ui/${video}_proposed.mp4" \
               "${diff_name}.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
 
-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
+            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
+            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
 
             REPORT_URL="https://commaai.github.io/ci-artifacts/${diff_name}_pr_${{ github.event.number }}.html"
             if [ $diff_exit_code -eq 0 ]; then
@@ -156,7 +156,7 @@ jobs:
           for variant in $VARIANTS; do
             IFS=':' read -r name _ _ <<< "$variant"
             diff_name="${name}_diff"
-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
+            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
             git add "${diff_name}_pr_${{ github.event.number }}.html"
           done
           git commit -m "ui diff reports for PR #${{ github.event.number }}" || echo "No changes to commit"
diff --git a/Jenkinsfile b/Jenkinsfile
index 90f86b19674027..c06674a5c547b8 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -93,7 +93,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
           retry (3) {
             def date = sh(script: 'date', returnStdout: true).trim();
             device(device_ip, "set time", "date -s '" + date + "'")
-            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
+            device(device_ip, "git checkout", extra + "\n" + readFile("openpilot/selfdrive/test/setup_device_ci.sh"))
           }
           steps.each { item ->
             def name = item[0]
@@ -202,51 +202,51 @@ node {
     parallel (
       'onroad tests': {
         deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
+          step("build openpilot", "cd openpilot/system/manager && ./build.py"),
           step("check dirty", "release/check-dirty.sh"),
-          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
+          step("onroad tests", "pytest openpilot/selfdrive/test/test_onroad.py -s", [timeout: 60]),
         ])
       },
       'HW + Unit Tests': {
         deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test power draw", "pytest -s selfdrive/test//test_power_draw.py"),
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
-          step("test manager", "pytest system/manager/test/test_manager.py"),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test power draw", "pytest -s openpilot/selfdrive/test//test_power_draw.py"),
+          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest openpilot/system/loggerd/tests/test_encoder.py", [diffPaths: ["openpilot/system/loggerd/"]]),
+          step("test manager", "pytest openpilot/system/manager/test/test_manager.py"),
         ])
       },
       'camerad OX03C10': {
         deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test pandad", "pytest openpilot/selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "pytest openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
         ])
       },
       'camerad OS04C10': {
         deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test pandad", "pytest openpilot/selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "pytest openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
         ])
       },
       'sensord': {
         deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test sensord", "pytest openpilot/system/sensord/tests/test_sensord.py"),
         ])
       },
       'replay': {
         deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
+          step("build", "cd openpilot/system/manager && ./build.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
+          step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
         ])
       },
       'tizi': {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test amp", "pytest common/hardware/tici/tests/test_amplifier.py"),
+          step("build openpilot", "cd openpilot/system/manager && ./build.py"),
+          step("test pandad loopback", "pytest openpilot/selfdrive/pandad/tests/test_pandad_loopback.py"),
+          step("test pandad spi", "pytest openpilot/selfdrive/pandad/tests/test_pandad_spi.py"),
+          step("test amp", "pytest openpilot/common/hardware/tici/tests/test_amplifier.py"),
         ])
       },
 
diff --git a/README.md b/README.md
index 480b14003672e9..0f248cf35a0e81 100644
--- a/README.md
+++ b/README.md
@@ -68,7 +68,7 @@ openpilot is developed by [comma](https://comma.ai/) and by users like you. We w
 
 * Join the [community Discord](https://discord.comma.ai)
 * Check out [the contributing docs](docs/CONTRIBUTING.md)
-* Check out the [openpilot tools](tools/)
+* Check out the [openpilot tools](openpilot/tools/)
 * Code documentation lives at https://docs.comma.ai
 * Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
 
diff --git a/SConstruct b/SConstruct
index 41bc5d7d0ddec6..2e4002f1f2e318 100644
--- a/SConstruct
+++ b/SConstruct
@@ -113,15 +113,16 @@ env = Environment(
   CXXFLAGS=["-std=c++1z"],
   CPPPATH=[
     "#",
+    "#openpilot",
     "#msgq",
     "#openpilot/cereal/gen/cpp",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
   ],
   LIBPATH=[
-    "#common",
+    "#openpilot/common",
     "#msgq_repo",
-    "#selfdrive/pandad",
+    "#openpilot/selfdrive/pandad",
     "#rednose/helpers",
     [x.LIB_DIR for x in pkgs],
   ],
@@ -211,7 +212,7 @@ def prune_cache_dir(target=None, source=None, env=None):
 # ********** start building stuff **********
 
 # Build common module
-SConscript(['common/SConscript'])
+SConscript(['openpilot/common/SConscript'])
 Import('_common')
 common = [_common, 'json11', 'zmq']
 Export('common')
@@ -237,28 +238,28 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
-  'system/loggerd/SConscript',
+  'openpilot/system/loggerd/SConscript',
 ])
 
 if arch == "larch64":
-  SConscript(['system/camerad/SConscript'])
+  SConscript(['openpilot/system/camerad/SConscript'])
 
 # Build selfdrive
 SConscript([
-  'selfdrive/pandad/SConscript',
-  'selfdrive/controls/lib/lateral_mpc_lib/SConscript',
-  'selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
-  'selfdrive/locationd/SConscript',
-  'selfdrive/modeld/SConscript',
-  'selfdrive/ui/SConscript',
+  'openpilot/selfdrive/pandad/SConscript',
+  'openpilot/selfdrive/controls/lib/lateral_mpc_lib/SConscript',
+  'openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
+  'openpilot/selfdrive/locationd/SConscript',
+  'openpilot/selfdrive/modeld/SConscript',
+  'openpilot/selfdrive/ui/SConscript',
 ])
 
 # Build desktop-only tools
 if GetOption('extras') and arch != "larch64":
   SConscript([
-    'tools/replay/SConscript',
-    'tools/cabana/SConscript',
-    'tools/jotpluggler/SConscript',
+    'openpilot/tools/replay/SConscript',
+    'openpilot/tools/cabana/SConscript',
+    'openpilot/tools/jotpluggler/SConscript',
   ])
 
 
diff --git a/common/hardware/tici/agnos.py b/common/hardware/tici/agnos.py
index c5ca7efb4ae60c..0210821a0d7a85 100755
--- a/common/hardware/tici/agnos.py
+++ b/common/hardware/tici/agnos.py
@@ -12,7 +12,7 @@
 
 SPARSE_CHUNK_FMT = struct.Struct('H2xI4x')
 
-AGNOS_MANIFEST_FILE = "system/hardware/tici/agnos.json"
+AGNOS_MANIFEST_FILE = "openpilot/system/hardware/tici/agnos.json"
 
 
 class StreamingDecompressor:
diff --git a/common/mock/__init__.py b/common/mock/__init__.py
index 673513fdd9d96d..ff4dd32b920804 100644
--- a/common/mock/__init__.py
+++ b/common/mock/__init__.py
@@ -1,6 +1,6 @@
 """
 Utilities for generating mock messages for testing.
-example in common/tests/test_mock.py
+example in openpilot/common/tests/test_mock.py
 """
 
 
diff --git a/common/spinner.py b/common/spinner.py
index 12a816eaf8d729..f1522851385adf 100755
--- a/common/spinner.py
+++ b/common/spinner.py
@@ -8,7 +8,7 @@ def __init__(self):
     try:
       self.spinner_proc = subprocess.Popen(["./spinner.py"],
                                            stdin=subprocess.PIPE,
-                                           cwd=os.path.join(BASEDIR, "system", "ui"),
+                                           cwd=os.path.join(BASEDIR, "openpilot/system", "ui"),
                                            close_fds=True)
     except OSError:
       self.spinner_proc = None
diff --git a/common/text_window.py b/common/text_window.py
index 358243d1f1fb9e..94cfa7811ed3af 100755
--- a/common/text_window.py
+++ b/common/text_window.py
@@ -10,7 +10,7 @@ def __init__(self, text):
     try:
       self.text_proc = subprocess.Popen(["./text.py", text],
                                         stdin=subprocess.PIPE,
-                                        cwd=os.path.join(BASEDIR, "system", "ui"),
+                                        cwd=os.path.join(BASEDIR, "openpilot/system", "ui"),
                                         close_fds=True)
     except OSError:
       self.text_proc = None
diff --git a/common/version.py b/common/version.py
index 0cea616d236f7f..011161b99d6136 100755
--- a/common/version.py
+++ b/common/version.py
@@ -20,7 +20,7 @@
 
 
 def get_version(path: str = BASEDIR) -> str:
-  with open(os.path.join(path, "common", "version.h")) as _versionf:
+  with open(os.path.join(path, "openpilot", "common", "version.h")) as _versionf:
     version = _versionf.read().split('"')[1]
   return version
 
diff --git a/conftest.py b/conftest.py
index 6307f8304c4862..48d42aed86acff 100644
--- a/conftest.py
+++ b/conftest.py
@@ -9,10 +9,10 @@
 
 # these are heavy CI-only tests, invoked explicitly in .github/workflows/tests.yaml
 collect_ignore = [
-  "selfdrive/test/process_replay/test_processes.py",
-  "selfdrive/test/process_replay/test_regen.py",
+  "openpilot/selfdrive/test/process_replay/test_processes.py",
+  "openpilot/selfdrive/test/process_replay/test_regen.py",
 
-  "tools/sim/",
+  "openpilot/tools/sim/",
 ]
 
 
diff --git a/docs/CARS.md b/docs/CARS.md
index 1f86abb4f80545..b0891b83664f85 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -1,4 +1,4 @@
-<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
+<!--- AUTOGENERATED FROM openpilot/selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
 # Supported Cars
 
diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md
index cbeb5f6d3a14f6..393819830b28bd 100644
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@@ -6,7 +6,7 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu
 
 ### Getting Started
 
-* Set up your [development environment](/tools/)
+* Set up your [development environment](/openpilot/tools/)
 * Join our [Discord](https://discord.comma.ai)
 * Docs are at https://docs.comma.ai and https://blog.comma.ai
 
diff --git a/docs/SAFETY.md b/docs/SAFETY.md
index 0a662ac6cd6136..5857c6d5b5042c 100644
--- a/docs/SAFETY.md
+++ b/docs/SAFETY.md
@@ -35,8 +35,8 @@ For additional safety implementation details, refer to [panda safety model](http
 
 ### Forks of openpilot
 
-* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring)
-* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py)
+* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/openpilot/selfdrive/monitoring)
+* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/openpilot/selfdrive/selfdrived/helpers.py)
 * If your fork modifies any of the code in `opendbc/safety/`:
    * your fork cannot use the openpilot trademark
    * your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes
diff --git a/docs/concepts/logs.md b/docs/concepts/logs.md
index 4fa720dddec8b5..8ba2486ab57637 100644
--- a/docs/concepts/logs.md
+++ b/docs/concepts/logs.md
@@ -2,7 +2,7 @@
 
 openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge.
 
-Check out our [Python library](https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
+Check out our [Python library](https://github.com/commaai/openpilot/blob/master/openpilot/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
 
 For each segment, openpilot records the following log types:
 
diff --git a/docs/how-to/car-port.md b/docs/how-to/car-port.md
index ca565e53f6dd3f..c4106f91a7b59d 100644
--- a/docs/how-to/car-port.md
+++ b/docs/how-to/car-port.md
@@ -30,7 +30,7 @@ Each car brand is supported by a standard interface structure in `opendbc/car/[b
 
 For historical reasons, openpilot still contains a small amount of car-specific logic. This will eventually be migrated to opendbc or otherwise removed.
 
-* `selfdrive/car/car_specific.py`: Brand-specific event logic
+* `openpilot/selfdrive/car/car_specific.py`: Brand-specific event logic
 
 # How do I port car?
 
diff --git a/docs/how-to/replay-a-drive.md b/docs/how-to/replay-a-drive.md
index a11b29dcc4e3f7..129e7b83017302 100644
--- a/docs/how-to/replay-a-drive.md
+++ b/docs/how-to/replay-a-drive.md
@@ -5,7 +5,7 @@ Replaying is a critical tool for openpilot development and debugging.
 ## Replaying a route
 *Hardware required: none*
 
-Just run `tools/replay/replay --demo`.
+Just run `openpilot/tools/replay/replay --demo`.
 
 ## Replaying CAN data
 *Hardware required: jungle and comma four*
diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md
index b5692daff752c6..5cfa8e176a3a93 100644
--- a/docs/how-to/turn-the-speed-blue.md
+++ b/docs/how-to/turn-the-speed-blue.md
@@ -28,10 +28,10 @@ scons
 We'll run the `replay` tool with the demo route to get data streaming for testing our UI changes.
 ```bash
 # in terminal 1
-tools/replay/replay --demo
+openpilot/tools/replay/replay --demo
 
 # in terminal 2
-./selfdrive/ui/ui.py
+./openpilot/selfdrive/ui/ui.py
 ```
 
 The openpilot UI should launch and show a replay of the demo route.
@@ -45,10 +45,10 @@ Now let’s update the speed display color in the UI.
 
 Search for the function responsible for rendering the current speed:
 ```bash
-git grep "_draw_current_speed" selfdrive/ui/onroad/hud_renderer.py
+git grep "_draw_current_speed" openpilot/selfdrive/ui/onroad/hud_renderer.py
 ```
 
-You'll find the relevant code inside `selfdrive/ui/onroad/hud_renderer.py`, in this function:
+You'll find the relevant code inside `openpilot/selfdrive/ui/onroad/hud_renderer.py`, in this function:
 
 ```python
 def _draw_current_speed(self, rect: rl.Rectangle) -> None:
@@ -72,7 +72,7 @@ Change `COLORS.white` to make it **blue** instead of white. A nice soft blue is
 
 After making changes, re-run the UI to see your new UI:
 ```bash
-./selfdrive/ui/ui.py
+./openpilot/selfdrive/ui/ui.py
 ```
 ![](https://blog.comma.ai/img/blue_speed_ui.png)
 
diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index 46b0a5d0795abf..17a765e076a3b3 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -19,12 +19,12 @@ function agnos_init {
 
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/common/hardware/tici/agnos.py"
-    MANIFEST="$DIR/system/hardware/tici/agnos.json"
+    AGNOS_PY="$DIR/openpilot/common/hardware/tici/agnos.py"
+    MANIFEST="$DIR/openpilot/system/hardware/tici/agnos.json"
     if $AGNOS_PY --verify $MANIFEST; then
       sudo reboot
     fi
-    $DIR/common/hardware/tici/updater $AGNOS_PY $MANIFEST
+    $DIR/openpilot/common/hardware/tici/updater $AGNOS_PY $MANIFEST
   fi
 }
 
@@ -79,7 +79,7 @@ function launch {
   tmux capture-pane -pq -S-1000 > /tmp/launch_log
 
   # start manager
-  cd system/manager
+  cd openpilot/system/manager
   if [ ! -f $DIR/prebuilt ]; then
     ./build.py
   fi
diff --git a/openpilot/cereal/README.md b/openpilot/cereal/README.md
index 419d380882803c..17f27fd742a550 100644
--- a/openpilot/cereal/README.md
+++ b/openpilot/cereal/README.md
@@ -24,17 +24,17 @@ things are not. Read more details [here](https://capnproto.org/language.html).
 ### Custom forks
 
 Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging
-spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
+spec, however this could conflict with future changes made in mainline openpilot's cereal spec. Rebasing against mainline openpilot
 then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
-[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
+[custom.capnp](custom.capnp) that we will leave empty in mainline openpilot's cereal spec. **If you only modify those, you can ensure your
 fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**
 
 An example of compatible changes:
 ```diff
-diff --git a/cereal/custom.capnp b/cereal/custom.capnp
+diff --git a/openpilot/cereal/custom.capnp b/openpilot/cereal/custom.capnp
 index 3348e859e..3365c7b98 100644
---- a/cereal/custom.capnp
-+++ b/cereal/custom.capnp
+--- a/openpilot/cereal/custom.capnp
++++ b/openpilot/cereal/custom.capnp
 @@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
  # DO rename the structs
  # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
@@ -48,10 +48,10 @@ index 3348e859e..3365c7b98 100644
  }
 
  struct CustomReserved1 @0xaedffd8f31e7b55d {
-diff --git a/cereal/log.capnp b/cereal/log.capnp
+diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp
 index 1209f3fd9..b189f58b6 100644
---- a/cereal/log.capnp
-+++ b/cereal/log.capnp
+--- a/openpilot/cereal/log.capnp
++++ b/openpilot/cereal/log.capnp
 @@ -2558,14 +2558,14 @@ struct Event {
 
      # DO change the name of the field
diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp
index 02536e46b1f20c..beb71c8da8b61f 100644
--- a/openpilot/cereal/log.capnp
+++ b/openpilot/cereal/log.capnp
@@ -1270,7 +1270,7 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
 struct LiveLocationKalman {
 
   # More info on reference frames:
-  # https://github.com/commaai/openpilot/tree/master/common/transformations
+  # https://github.com/commaai/openpilot/tree/master/openpilot/common/transformations
 
   positionECEF @0 : Measurement;
   positionGeodetic @1 : Measurement;
@@ -1327,7 +1327,7 @@ struct LiveLocationKalman {
 
 struct LivePose {
   # More info on reference frames:
-  # https://github.com/commaai/openpilot/tree/master/common/transformations
+  # https://github.com/commaai/openpilot/tree/master/openpilot/common/transformations
   orientationNED @0 :XYZMeasurement;
   velocityDevice @1 :XYZMeasurement;
   accelerationDevice @2 :XYZMeasurement;
diff --git a/pyproject.toml b/pyproject.toml
index 53a237a22ca07c..8cff68a1765b96 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -128,9 +128,9 @@ allow-direct-references = true
 
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/common --ignore=openpilot/selfdrive --ignore=openpilot/system --ignore=openpilot/tools --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ --ignore=selfdrive/modeld -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "-Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
-cpp_harness = "selfdrive/test/cpp_harness.py"
+cpp_harness = "openpilot/selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
 markers = [
   "slow: tests that take awhile to run and can be skipped with -m 'not slow'",
@@ -141,11 +141,7 @@ markers = [
   "xdist_group_class_property: group tests by a property of the class that contains them",
 ]
 testpaths = [
-  "common",
-  "selfdrive",
-  "system",
-  "tools",
-  "openpilot/cereal",
+  "openpilot",
 ]
 
 [tool.codespell]
@@ -153,7 +149,7 @@ quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
 ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite,ser"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "../tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, *.pem, ./openpilot/cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
+skip = "*.po, uv.lock, *.onnx, *.pem, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, openpilot/tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html, openpilot/selfdrive/assets/offroad/mici_fcc.html"
 
 # https://docs.astral.sh/ruff/configuration/#using-pyprojecttoml
 [tool.ruff]
@@ -180,13 +176,6 @@ lint.ignore = [
 line-length = 160
 exclude = [
   "openpilot/cereal",
-  "panda",
-  "opendbc",
-  "opendbc_repo",
-  "rednose_repo",
-  "tinygrad_repo",
-  "teleoprtc",
-  "teleoprtc_repo",
   "*.ipynb",
   "generated",
 ]
@@ -211,21 +200,6 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 [tool.ruff.format]
 quote-style = "preserve"
 
-[tool.ty.src]
-exclude = [
-  "msgq/",
-  "msgq_repo/",
-  "opendbc/",
-  "opendbc_repo/",
-  "panda/",
-  "rednose/",
-  "rednose_repo/",
-  "tinygrad/",
-  "tinygrad_repo/",
-  "teleoprtc/",
-  "teleoprtc_repo/",
-]
-
 [tool.ty.rules]
 unresolved-import = "ignore"  # Cython-compiled modules (.pyx)
 unresolved-attribute = "ignore"  # many from capnp and Cython modules
diff --git a/release/README.md b/release/README.md
index 7aeea9fe4aff6d..f3dcefd5874a42 100644
--- a/release/README.md
+++ b/release/README.md
@@ -12,7 +12,7 @@
 - [ ] push to staging:
   - [ ] make sure you are on the newly created release master branch (`zerotentwo`)
   - [ ] run `BRANCH=devel-staging release/build_stripped.sh`. Jenkins will then automatically build staging on device, run `test_onroad` and update the staging branch
-- [ ] bump version on master: `common/version.h` and `RELEASES.md`
+- [ ] bump version on master: `openpilot/common/version.h` and `RELEASES.md`
 - [ ] post on Discord, tag `@release crew`
 
 ### Go to release
diff --git a/release/build_release.sh b/release/build_release.sh
index cec6f4ecdca327..4f609aea3fc25a 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -41,7 +41,7 @@ cd $BUILD_DIR
 rm -f panda/board/obj/panda.bin.signed
 rm -f panda/board/obj/panda_h7.bin.signed
 
-VERSION=$(cat common/version.h | awk -F[\"-]  '{print $2}')
+VERSION=$(cat openpilot/common/version.h | awk -F[\"-]  '{print $2}')
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git commit -a -m "openpilot v$VERSION release"
@@ -74,7 +74,7 @@ find . -name '*.pyc' -delete
 find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile release/
-rm -f selfdrive/modeld/models/*.onnx*
+rm -f openpilot/selfdrive/modeld/models/*.onnx*
 
 # Mark as prebuilt release
 touch prebuilt
@@ -85,8 +85,8 @@ git commit --amend -m "openpilot v$VERSION"
 
 # Run tests
 cd $BUILD_DIR
-RELEASE=1 pytest -n0 -s selfdrive/test/test_onroad.py
-#pytest selfdrive/car/tests/test_car_interfaces.py
+RELEASE=1 pytest -n0 -s openpilot/selfdrive/test/test_onroad.py
+#pytest openpilot/selfdrive/car/tests/test_car_interfaces.py
 
 echo "[-] pushing release T=$SECONDS"
 REFS=()
diff --git a/release/build_stripped.sh b/release/build_stripped.sh
index 91c94b44a05030..ea74aac859796c 100755
--- a/release/build_stripped.sh
+++ b/release/build_stripped.sh
@@ -45,13 +45,13 @@ cd $TARGET_DIR
 rm -rf .git/modules/
 rm -f panda/board/obj/panda.bin.signed
 
-find selfdrive/modeld/models -name '*.onnx' -size +95M -exec ./common/file_chunker.py {} \;
+find openpilot/selfdrive/modeld/models -name '*.onnx' -size +95M -exec ./openpilot/common/file_chunker.py {} \;
 
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 GIT_COMMIT_DATE=$(git --git-dir=$SOURCE_DIR/.git show --no-patch --format='%ct %ci' HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
+VERSION=$(cat $SOURCE_DIR/openpilot/common/version.h | awk -F\" '{print $2}')
 
 echo -n "$GIT_HASH" > git_src_commit
 echo -n "$GIT_COMMIT_DATE" > git_src_commit_date
diff --git a/release/pack.py b/release/pack.py
index dd29de4256a42d..f29ea034db1ddf 100755
--- a/release/pack.py
+++ b/release/pack.py
@@ -13,7 +13,7 @@
 
 DIRS = ['openpilot']
 EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo', '.po']
-EXCLUDE = ['selfdrive/assets/training']
+EXCLUDE = ['openpilot/selfdrive/assets/training']
 INTERPRETER = '/usr/bin/env python3'
 
 
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index 0f236377edbbca..77d29e709273dc 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -13,9 +13,6 @@ cd $ROOT
 
 FAILED=0
 
-IGNORED_FILES="uv\.lock|docs\/CARS.md"
-IGNORED_DIRS="^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^openpilot\/cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
-
 function run() {
   shopt -s extglob
   case $1 in
@@ -48,14 +45,14 @@ function run_tests() {
   ALL_FILES=$1
   PYTHON_FILES=$2
 
-  run "ruff" ruff check $ROOT --quiet
+  run "ruff" ruff check openpilot --quiet
   run "check_added_large_files" python3 -m pre_commit_hooks.check_added_large_files --enforce-all $ALL_FILES --maxkb=120
   run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
   run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
   run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
 
   if [[ -z "$FAST" ]]; then
-    run "ty" ty check
+    run "ty" ty check openpilot
     run "codespell" codespell $ALL_FILES
   fi
 
@@ -105,7 +102,7 @@ done
 RUN=$([ -z "$RUN" ] && echo "" || echo "!($(echo $RUN | sed 's/ /|/g'))")
 SKIP="@($(echo $SKIP | sed 's/ /|/g'))"
 
-GIT_FILES="$(git ls-files | sed -E "s/$IGNORED_FILES|$IGNORED_DIRS//g")"
+GIT_FILES="$(git ls-files openpilot common selfdrive system tools)"
 ALL_FILES=""
 for f in $GIT_FILES; do
   if [[ -f $f ]]; then
diff --git a/scripts/post-commit b/scripts/post-commit
index f9964639de4137..399b73c523f951 100755
--- a/scripts/post-commit
+++ b/scripts/post-commit
@@ -3,5 +3,5 @@ set -e
 if [[ -f .git/hooks/post-commit.d/post-commit ]]; then
   .git/hooks/post-commit.d/post-commit
 fi
-tools/op.sh lint --fast
+openpilot/tools/op.sh lint --fast
 echo ""
diff --git a/scripts/reporter.py b/scripts/reporter.py
index 199f1fae580643..5de5521835acb4 100755
--- a/scripts/reporter.py
+++ b/scripts/reporter.py
@@ -7,7 +7,7 @@
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
 
 MASTER_PATH = os.getenv("MASTER_PATH", BASEDIR)
-MODEL_PATH = "/selfdrive/modeld/models/"
+MODEL_PATH = "/openpilot/selfdrive/modeld/models/"
 
 
 class MetadataOnnxPBParser(OnnxPBParser):
diff --git a/scripts/waste.c b/scripts/waste.c
index 2e492916a73a89..fc230846f23730 100644
--- a/scripts/waste.c
+++ b/scripts/waste.c
@@ -11,7 +11,7 @@
 #include <pthread.h>
 #include <arm_neon.h>
 #include <sys/sysinfo.h>
-#include "../common/timing.h"
+#include "../openpilot/common/timing.h"
 
 int get_nprocs(void);
 double *ttime, *oout;
@@ -86,4 +86,3 @@ int main() {
     sleep(1);
   }
 }
-
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index bc335b6bd3312b..35804ff1fa35fe 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -6,7 +6,7 @@
 {% set hardware_col_name = 'Hardware Needed' %}
 {% set wide_hardware_col_name = width_tag|format(hardware_col_name) -%}
 
-<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
+<!--- AUTOGENERATED FROM openpilot/selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
 # Supported Cars
 
diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py
index f807fc320edbe0..ea7a70688e7aa4 100755
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@@ -6,7 +6,7 @@
 from opendbc.car.docs import get_all_car_docs, generate_cars_md
 
 CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
-CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
+CARS_MD_TEMPLATE = os.path.join(BASEDIR, "openpilot/selfdrive", "car", "CARS_template.md")
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Auto generates supported cars documentation",
diff --git a/selfdrive/car/tests/big_cars_test.sh b/selfdrive/car/tests/big_cars_test.sh
index bb6e82dd0ebbf5..1c3da2e9e7beb2 100755
--- a/selfdrive/car/tests/big_cars_test.sh
+++ b/selfdrive/car/tests/big_cars_test.sh
@@ -6,6 +6,6 @@ cd $BASEDIR
 
 export MAX_EXAMPLES=300
 export INTERNAL_SEG_CNT=300
-export INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt
+export INTERNAL_SEG_LIST=openpilot/selfdrive/car/tests/test_models_segs.txt
 
-cd selfdrive/car/tests && pytest test_models.py test_car_interfaces.py
+cd openpilot/selfdrive/car/tests && pytest test_models.py test_car_interfaces.py
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index 5ff526ae83ec17..575e5c1af53e7c 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -49,7 +49,7 @@ acados_include_dir = Dir(acados.INCLUDE_DIR)
 acados_template_dir = Dir(acados.TEMPLATE_DIR)
 
 source_list = ['lat_mpc.py',
-  '#selfdrive/modeld/constants.py',
+  '#openpilot/selfdrive/modeld/constants.py',
   acados_include_dir.File('acados_c/ocp_nlp_interface.h'),
   acados_template_dir.File('c_templates_tera/acados_solver.in.c'),
 ]
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index a3218e9f34dcf6..636ef0fb2141c9 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -55,7 +55,7 @@ acados_include_dir = Dir(acados.INCLUDE_DIR)
 acados_template_dir = Dir(acados.TEMPLATE_DIR)
 
 source_list = ['long_mpc.py',
-  '#selfdrive/modeld/constants.py',
+  '#openpilot/selfdrive/modeld/constants.py',
   acados_include_dir.File('acados_c/ocp_nlp_interface.h'),
   acados_template_dir.File('c_templates_tera/acados_solver.in.c'),
 ]
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index 4e3eb7b0fa1f44..b9616bf632a3e3 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 '''
 This process finds calibration values. More info on what these calibration values
-are can be found here https://github.com/commaai/openpilot/tree/master/common/transformations
+are can be found here https://github.com/commaai/openpilot/tree/master/openpilot/common/transformations
 While the roll calibration is a real value that can be estimated, here we assume it's zero,
 and the image input into the neural network is not corrected for roll.
 '''
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 4a40173629e8a6..5f6281556f2539 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -16,7 +16,7 @@ CAMERA_CONFIGS = [
 ]
 
 Import('env', 'arch')
-chunker_file = File("#common/file_chunker.py")
+chunker_file = File("#openpilot/common/file_chunker.py")
 lenv = env.Clone()
 
 tinygrad_root = env.Dir("#").abspath
@@ -45,11 +45,11 @@ else:
   tg_flags = f'DEV=CPU' if arch == 'Darwin' else 'DEV=CPU:LLVM'
 
 tg_devices = { # which device to put jit inputs to at runtime
-  'selfdrive.modeld.modeld': {
+  'openpilot.selfdrive.modeld.modeld': {
     'default': {'WARP_DEV': tg_backend, 'QUEUE_DEV': tg_backend},
     'usbgpu': {'WARP_DEV': tg_backend, 'QUEUE_DEV': 'AMD'}
   },
-  'selfdrive.modeld.dmonitoringmodeld': {
+  'openpilot.selfdrive.modeld.dmonitoringmodeld': {
     'default': {'DEV': tg_backend}
   },
 }
@@ -74,12 +74,12 @@ tg_devices_node = lenv.Command(
 # tinygrad calls brew which needs a $HOME in the env
 mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
 
-modeld_dir = Dir("#selfdrive/modeld").abspath
+modeld_dir = Dir("#openpilot/selfdrive/modeld").abspath
 compile_modeld_script = [
   File(f"{modeld_dir}/compile_modeld.py"),
   File(f"{modeld_dir}/get_model_metadata.py"),
-  File("#system/camerad/cameras/nv12_info.py"),
-  File("#common/hardware/hw.py"),
+  File("#openpilot/system/camerad/cameras/nv12_info.py"),
+  File("#openpilot/common/hardware/hw.py"),
 ]
 model_w, model_h = MEDMODEL_INPUT_SIZE
 frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
@@ -109,8 +109,8 @@ for usbgpu in [False, True] if USBGPU else [False]:
 
 # get model metadata
 fn = File(f"models/dmonitoring_model").abspath
-script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
-cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
+script_files = [File(Dir("#openpilot/selfdrive/modeld").File("get_model_metadata.py").abspath)]
+cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#openpilot/selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
 lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [tg_devices_node], cmd)
 
 dm_w, dm_h = DM_INPUT_SIZE
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index a022e3c3c0c142..2c659d9ac64830 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -17,7 +17,7 @@
 from openpilot.common.file_chunker import read_file_chunked
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp
 
-PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
+PROCESS_NAME = "openpilot.selfdrive.modeld.dmonitoringmodeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 MODEL_PKL_PATH = MODELS_DIR / 'dmonitoring_model_tinygrad.pkl'
 METADATA_PATH = MODELS_DIR / 'dmonitoring_model_metadata.pkl'
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 590d0f103e8e6e..9722538b33eedd 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -27,7 +27,7 @@
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path, get_tg_input_devices
 
-PROCESS_NAME = "selfdrive.modeld.modeld"
+PROCESS_NAME = "openpilot.selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 LAT_SMOOTH_SECONDS = 0.0
diff --git a/selfdrive/modeld/models/README.md b/selfdrive/modeld/models/README.md
index 04b69c61c3d6d3..ce84b1e28f2baa 100644
--- a/selfdrive/modeld/models/README.md
+++ b/selfdrive/modeld/models/README.md
@@ -43,7 +43,7 @@ Refer to **slice_outputs** and **parse_vision_outputs/parse_policy_outputs** in
 * camera calibration angles (roll, pitch, yaw) from liveCalibration: 3 x float32 inputs
 
 ### output format
-* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/selfdrive/modeld/models/dmonitoring.cc#L33))
+* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/openpilot/selfdrive/modeld/models/dmonitoring.cc#L33))
   * for each person in the front seats (2 * 41)
     * face pose: 12 = 6 + 6
       * face orientation [pitch, yaw, roll] in camera frame: 3
diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index 443c25a7e5ea0d..6dbb398eed7e27 100755
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -99,7 +99,7 @@ def signal_handler(signum, frame):
 
         # run real pandad
         os.environ['MANAGER_DAEMON'] = 'pandad'
-        process = subprocess.Popen(["./pandad"], cwd=os.path.join(BASEDIR, "selfdrive/pandad"))
+        process = subprocess.Popen(["./pandad"], cwd=os.path.join(BASEDIR, "openpilot/selfdrive/pandad"))
         process.wait()
     # TODO: wrap all panda exceptions in a base panda exception
     except (usb1.USBErrorNoDevice, usb1.USBErrorPipe):
diff --git a/selfdrive/selfdrived/alertmanager.py b/selfdrive/selfdrived/alertmanager.py
index c166ff591c974e..7ba3d8034c5819 100644
--- a/selfdrive/selfdrived/alertmanager.py
+++ b/selfdrive/selfdrived/alertmanager.py
@@ -9,7 +9,7 @@
 from openpilot.selfdrive.selfdrived.events import Alert, EmptyAlert
 
 
-with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as f:
+with open(os.path.join(BASEDIR, "openpilot/selfdrive/selfdrived/alerts_offroad.json")) as f:
   OFFROAD_ALERTS = json.load(f)
 
 
diff --git a/selfdrive/selfdrived/tests/test_alerts.py b/selfdrive/selfdrived/tests/test_alerts.py
index 38db9981f6627b..276de2a6a9e585 100644
--- a/selfdrive/selfdrived/tests/test_alerts.py
+++ b/selfdrive/selfdrived/tests/test_alerts.py
@@ -15,7 +15,7 @@
 
 AlertSize = log.SelfdriveState.AlertSize
 
-OFFROAD_ALERTS_PATH = os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")
+OFFROAD_ALERTS_PATH = os.path.join(BASEDIR, "openpilot/selfdrive/selfdrived/alerts_offroad.json")
 
 # TODO: add callback alerts
 ALERTS = []
@@ -48,7 +48,7 @@ def test_events_defined(self):
 
   # ensure alert text doesn't exceed allowed width
   def test_alert_text_length(self):
-    font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts")
+    font_path = os.path.join(BASEDIR, "openpilot/selfdrive/assets/fonts")
     regular_font_path = os.path.join(font_path, "Inter-SemiBold.ttf")
     bold_font_path = os.path.join(font_path, "Inter-Bold.ttf")
     semibold_font_path = os.path.join(font_path, "Inter-SemiBold.ttf")
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index f64bc3b0272c4f..56ea9dbd067dd4 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -35,39 +35,39 @@
 MAX_TOTAL_CPU = 350.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
-  "selfdrive.controls.controlsd": 16.0,
-  "selfdrive.selfdrived.selfdrived": 16.0,
-  "selfdrive.car.card": 26.0,
+  "openpilot.selfdrive.controls.controlsd": 16.0,
+  "openpilot.selfdrive.selfdrived.selfdrived": 16.0,
+  "openpilot.selfdrive.car.card": 26.0,
   "./loggerd": 14.0,
   "./encoderd": 13.0,
   "./camerad": 10.0,
-  "selfdrive.controls.plannerd": 8.0,
-  "selfdrive.ui.ui": 40.0,
-  "system.sensord.sensord": 13.0,
-  "selfdrive.controls.radard": 2.0,
-  "selfdrive.modeld.modeld": 22.0,
-  "selfdrive.modeld.dmonitoringmodeld": 18.0,
-  "system.hardware.hardwared": 4.0,
-  "selfdrive.locationd.calibrationd": 2.0,
-  "selfdrive.locationd.torqued": 5.0,
-  "selfdrive.locationd.locationd": 25.0,
-  "selfdrive.locationd.paramsd": 9.0,
-  "selfdrive.locationd.lagd": 11.0,
-  "selfdrive.ui.soundd": 3.0,
-  "selfdrive.ui.feedback.feedbackd": 1.0,
-  "selfdrive.monitoring.dmonitoringd": 4.0,
-  "system.proclogd": 7.0,
-  "system.logmessaged": 1.0,
-  "system.tombstoned": 0,
-  "system.journald": 1.0,
-  "system.micd": 5.0,
-  "system.timed": 0,
-  "selfdrive.pandad.pandad": 0,
-  "system.loggerd.uploader": 15.0,
-  "system.loggerd.deleter": 1.0,
+  "openpilot.selfdrive.controls.plannerd": 8.0,
+  "openpilot.selfdrive.ui.ui": 40.0,
+  "openpilot.system.sensord.sensord": 13.0,
+  "openpilot.selfdrive.controls.radard": 2.0,
+  "openpilot.selfdrive.modeld.modeld": 22.0,
+  "openpilot.selfdrive.modeld.dmonitoringmodeld": 18.0,
+  "openpilot.system.hardware.hardwared": 4.0,
+  "openpilot.selfdrive.locationd.calibrationd": 2.0,
+  "openpilot.selfdrive.locationd.torqued": 5.0,
+  "openpilot.selfdrive.locationd.locationd": 25.0,
+  "openpilot.selfdrive.locationd.paramsd": 9.0,
+  "openpilot.selfdrive.locationd.lagd": 11.0,
+  "openpilot.selfdrive.ui.soundd": 3.0,
+  "openpilot.selfdrive.ui.feedback.feedbackd": 1.0,
+  "openpilot.selfdrive.monitoring.dmonitoringd": 4.0,
+  "openpilot.system.proclogd": 7.0,
+  "openpilot.system.logmessaged": 1.0,
+  "openpilot.system.tombstoned": 0,
+  "openpilot.system.journald": 1.0,
+  "openpilot.system.micd": 5.0,
+  "openpilot.system.timed": 0,
+  "openpilot.selfdrive.pandad.pandad": 0,
+  "openpilot.system.loggerd.uploader": 15.0,
+  "openpilot.system.loggerd.deleter": 1.0,
   "./pandad": 19.0,
-  "system.qcomgpsd.qcomgpsd": 1.0,
-  "common.hardware.tici.modem": 10.0,
+  "openpilot.system.qcomgpsd.qcomgpsd": 1.0,
+  "openpilot.common.hardware.tici.modem": 10.0,
 }
 
 TIMINGS = {
@@ -129,7 +129,7 @@ def setup_class(cls):
     # start manager and run openpilot for TEST_DURATION
     proc = None
     try:
-      manager_path = os.path.join(BASEDIR, "system/manager/manager.py")
+      manager_path = os.path.join(BASEDIR, "openpilot/system/manager/manager.py")
       cls.manager_st = time.monotonic()
       proc = subprocess.Popen(["python", manager_path])
 
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 3d668aef8fc9d2..d187b4ca3c5909 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -4,8 +4,8 @@ import importlib.util
 Import('env', 'arch', 'common')
 
 # build the fonts
-generator = File("#selfdrive/assets/fonts/process.py")
-source_files = Glob("#selfdrive/assets/fonts/*.ttf") + Glob("#selfdrive/assets/fonts/*.otf")
+generator = File("#openpilot/selfdrive/assets/fonts/process.py")
+source_files = Glob("#openpilot/selfdrive/assets/fonts/*.ttf") + Glob("#openpilot/selfdrive/assets/fonts/*.otf")
 output_files = [
   (f"#{Path(f.path).with_suffix('.fnt')}", f"#{Path(f.path).with_suffix('.png')}")
   for f in source_files
diff --git a/selfdrive/ui/layouts/onboarding.py b/selfdrive/ui/layouts/onboarding.py
index 4ef9c13f276432..97ca89b50c4166 100644
--- a/selfdrive/ui/layouts/onboarding.py
+++ b/selfdrive/ui/layouts/onboarding.py
@@ -50,9 +50,9 @@ def __init__(self, completed_callback=None):
     threading.Thread(target=self._preload_thread, daemon=True).start()
 
   def _load_image_paths(self):
-    paths = [fn for fn in os.listdir(os.path.join(BASEDIR, "selfdrive/assets/training")) if re.match(r'^step\d*\.png$', fn)]
+    paths = [fn for fn in os.listdir(os.path.join(BASEDIR, "openpilot/selfdrive/assets/training")) if re.match(r'^step\d*\.png$', fn)]
     paths = sorted(paths, key=lambda x: int(re.search(r'\d+', x).group()))
-    self._image_paths = [os.path.join(BASEDIR, "selfdrive/assets/training", fn) for fn in paths]
+    self._image_paths = [os.path.join(BASEDIR, "openpilot/selfdrive/assets/training", fn) for fn in paths]
 
   def _preload_thread(self):
     # PNG loading is slow in raylib, so we preload in a thread and upload to GPU in main thread
diff --git a/selfdrive/ui/layouts/settings/device.py b/selfdrive/ui/layouts/settings/device.py
index 0930616e19005a..aa15899ac2ec3e 100644
--- a/selfdrive/ui/layouts/settings/device.py
+++ b/selfdrive/ui/layouts/settings/device.py
@@ -185,7 +185,7 @@ def perform_power_off(result: DialogResult):
 
   def _on_regulatory(self):
     if not self._fcc_dialog:
-      self._fcc_dialog = HtmlModal(os.path.join(BASEDIR, "selfdrive/assets/offroad/fcc.html"))
+      self._fcc_dialog = HtmlModal(os.path.join(BASEDIR, "openpilot/selfdrive/assets/offroad/fcc.html"))
     gui_app.push_widget(self._fcc_dialog)
 
   def _on_review_training_guide(self):
diff --git a/selfdrive/ui/layouts/settings/software.py b/selfdrive/ui/layouts/settings/software.py
index 3bf271052d270d..3b05eef5497230 100644
--- a/selfdrive/ui/layouts/settings/software.py
+++ b/selfdrive/ui/layouts/settings/software.py
@@ -158,12 +158,12 @@ def _on_download_update(self):
       # Start checking for updates
       self._waiting_for_updater = True
       self._waiting_start_ts = time.monotonic()
-      os.system("pkill -SIGUSR1 -f system.updated.updated")
+      os.system("pkill -SIGUSR1 -f openpilot.system.updated.updated")
     else:
       # Start downloading
       self._waiting_for_updater = True
       self._waiting_start_ts = time.monotonic()
-      os.system("pkill -SIGHUP -f system.updated.updated")
+      os.system("pkill -SIGHUP -f openpilot.system.updated.updated")
 
   def _on_uninstall(self):
     def handle_uninstall_confirmation(result: DialogResult):
@@ -197,7 +197,7 @@ def handle_selection(result: DialogResult):
         selection = self._branch_dialog.selection
         ui_state.params.put("UpdaterTargetBranch", selection, block=True)
         self._branch_btn.action_item.set_value(selection)
-        os.system("pkill -SIGUSR1 -f system.updated.updated")
+        os.system("pkill -SIGUSR1 -f openpilot.system.updated.updated")
       self._branch_dialog = None
 
     self._branch_dialog = MultiOptionDialog(tr("Select a branch"), branches, current_target, callback=handle_selection)
diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py
index fd8bacf441d0dc..0adcf537523a76 100644
--- a/selfdrive/ui/mici/layouts/settings/device.py
+++ b/selfdrive/ui/mici/layouts/settings/device.py
@@ -215,5 +215,5 @@ def reset_calibration_callback():
 
   def _on_regulatory(self):
     if not self._fcc_dialog:
-      self._fcc_dialog = MiciFccModal(os.path.join(BASEDIR, "selfdrive/assets/offroad/mici_fcc.html"))
+      self._fcc_dialog = MiciFccModal(os.path.join(BASEDIR, "openpilot/selfdrive/assets/offroad/mici_fcc.html"))
     gui_app.push_widget(self._fcc_dialog)
diff --git a/selfdrive/ui/mici/layouts/settings/software.py b/selfdrive/ui/mici/layouts/settings/software.py
index 32f20256f412e1..115b560cc5cd1f 100644
--- a/selfdrive/ui/mici/layouts/settings/software.py
+++ b/selfdrive/ui/mici/layouts/settings/software.py
@@ -103,9 +103,9 @@ def _handle_mouse_release(self, mouse_pos: MousePos):
 
     def run():
       if self.get_value() == "download update":
-        os.system("pkill -SIGHUP -f system.updated.updated")
+        os.system("pkill -SIGHUP -f openpilot.system.updated.updated")
       else:
-        os.system("pkill -SIGUSR1 -f system.updated.updated")
+        os.system("pkill -SIGUSR1 -f openpilot.system.updated.updated")
 
     threading.Thread(target=run, daemon=True).start()
 
@@ -251,7 +251,7 @@ def _on_click(self):
   def _on_select(self, branch: str):
     ui_state.params.put("UpdaterTargetBranch", branch, block=True)
     self.set_value(branch)
-    os.system("pkill -SIGUSR1 -f system.updated.updated")
+    os.system("pkill -SIGUSR1 -f openpilot.system.updated.updated")
 
 
 class SoftwareLayoutMici(NavScroller):
diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index f8c364e2c5d25d..901e2b56cb1030 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -85,7 +85,7 @@ def load_sounds(self):
     for sound in sound_list:
       filename, play_count, volume = sound_list[sound]
 
-      with wave.open(BASEDIR + "/selfdrive/assets/sounds/" + filename, 'r') as wavefile:
+      with wave.open(BASEDIR + "/openpilot/selfdrive/assets/sounds/" + filename, 'r') as wavefile:
         assert wavefile.getnchannels() == 1
         assert wavefile.getsampwidth() == 2
         assert wavefile.getframerate() == SAMPLE_RATE
diff --git a/selfdrive/ui/tests/cycle_offroad_alerts.py b/selfdrive/ui/tests/cycle_offroad_alerts.py
index fcb4a72c77e8a3..c2690edf7d0317 100755
--- a/selfdrive/ui/tests/cycle_offroad_alerts.py
+++ b/selfdrive/ui/tests/cycle_offroad_alerts.py
@@ -12,7 +12,7 @@
 if __name__ == "__main__":
   params = Params()
 
-  with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as f:
+  with open(os.path.join(BASEDIR, "openpilot/selfdrive/selfdrived/alerts_offroad.json")) as f:
     offroad_alerts = json.load(f)
 
   t = 10 if len(sys.argv) < 2 else int(sys.argv[1])
diff --git a/selfdrive/ui/tests/diff/diff.py b/selfdrive/ui/tests/diff/diff.py
index b861d848eb3274..9dd7c3bc0e8d9f 100755
--- a/selfdrive/ui/tests/diff/diff.py
+++ b/selfdrive/ui/tests/diff/diff.py
@@ -8,7 +8,7 @@
 from pathlib import Path
 from openpilot.common.basedir import BASEDIR
 
-DIFF_OUT_DIR = Path(BASEDIR) / "selfdrive" / "ui" / "tests" / "diff" / "report"
+DIFF_OUT_DIR = Path(BASEDIR) / "openpilot" / "selfdrive" / "ui" / "tests" / "diff" / "report"
 HTML_TEMPLATE_PATH = Path(__file__).with_name("diff_template.html")
 
 
diff --git a/selfdrive/ui/translations/app.pot b/selfdrive/ui/translations/app.pot
index 0872ed538e3021..3f9f86af8eb075 100644
--- a/selfdrive/ui/translations/app.pot
+++ b/selfdrive/ui/translations/app.pot
@@ -3,141 +3,141 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 
 #: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/html_render.py
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
 msgstr ""
 
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/keyboard.py
-#: system/ui/widgets/network.py
-#: system/ui/widgets/option_dialog.py
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/keyboard.py
+#: openpilot/system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "EDIT"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter password"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "default"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "metered"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "unmetered"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "IP Address"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr ""
 
-#: system/ui/widgets/list_view.py
+#: openpilot/system/ui/widgets/list_view.py
 msgid "Error"
 msgstr ""
 
-#: system/ui/widgets/option_dialog.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr ""
 
diff --git a/selfdrive/ui/translations/auto_translate.sh b/selfdrive/ui/translations/auto_translate.sh
index 03a207ca3c4b0a..7238426c7565b9 100755
--- a/selfdrive/ui/translations/auto_translate.sh
+++ b/selfdrive/ui/translations/auto_translate.sh
@@ -15,7 +15,7 @@ command -v codex >/dev/null || {
 }
 
 codex exec --cd "$ROOT" -c 'model_reasoning_effort="low"' --dangerously-bypass-approvals-and-sandbox "$(cat <<EOF
-Update openpilot UI translations in selfdrive/ui/translations.
+Update openpilot UI translations in openpilot/selfdrive/ui/translations.
 - Translate English UI text naturally.
 - Preserve placeholders (%n, %1, {}, {:.1f}), HTML/tags, and plural forms.
 - Edit .po files in place.
diff --git a/system/athena/manage_athenad.py b/system/athena/manage_athenad.py
index 3faad546b27d20..f0cd124f37289d 100755
--- a/system/athena/manage_athenad.py
+++ b/system/athena/manage_athenad.py
@@ -28,7 +28,7 @@ def main():
   try:
     while 1:
       cloudlog.info("starting athena daemon")
-      proc = Process(name='athenad', target=launcher, args=('system.athena.athenad', 'athenad'))
+      proc = Process(name='athenad', target=launcher, args=('openpilot.system.athena.athenad', 'athenad'))
       proc.start()
       proc.join()
       cloudlog.event("athenad exited", exitcode=proc.exitcode)
diff --git a/system/camerad/cameras/nv12_info.py b/system/camerad/cameras/nv12_info.py
index 2cadc2936406db..abd734ba50f38a 100644
--- a/system/camerad/cameras/nv12_info.py
+++ b/system/camerad/cameras/nv12_info.py
@@ -1,4 +1,4 @@
-# Python version of system/camerad/cameras/nv12_info.h
+# Python version of openpilot/system/camerad/cameras/nv12_info.h
 # Calculations from media/msm_media_info.h (VENUS_BUFFER_SIZE)
 
 def align(val: int, alignment: int) -> int:
diff --git a/system/camerad/webcam/README.md b/system/camerad/webcam/README.md
index 2c0ce6a8af4934..17d7ee6d80cec0 100644
--- a/system/camerad/webcam/README.md
+++ b/system/camerad/webcam/README.md
@@ -10,7 +10,7 @@
 ## GO
 
 ```
-USE_WEBCAM=1 system/manager/manager.py
+USE_WEBCAM=1 openpilot/system/manager/manager.py
 ```
 - Start the car, then the UI should show the road webcam's view
 - Adjust and secure the webcam
@@ -20,5 +20,5 @@ USE_WEBCAM=1 system/manager/manager.py
 
 Use the `ROAD_CAM` (default 0) and optional `DRIVER_CAM`, `WIDE_CAM` environment variables to specify which camera is which (ie. `ROAD_CAM=1` uses `/dev/video1`, on Ubuntu, for the road camera):
 ```
-USE_WEBCAM=1 ROAD_CAM=1 system/manager/manager.py
+USE_WEBCAM=1 ROAD_CAM=1 openpilot/system/manager/manager.py
 ```
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index 7a6a741aa47810..5d8f635d965443 100644
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -54,7 +54,7 @@ def _get_log_fn(self, x):
 
   def _gen_bootlog(self):
     with Timeout(5):
-      out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), encoding='utf-8')
+      out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "openpilot/system/loggerd"), encoding='utf-8')
 
     log_fn = self._get_log_fn(out)
 
diff --git a/system/manager/helpers.py b/system/manager/helpers.py
index b07aec0c816197..453e13184de911 100644
--- a/system/manager/helpers.py
+++ b/system/manager/helpers.py
@@ -54,7 +54,7 @@ def save_bootlog():
   def fn(tmpdir):
     env = os.environ.copy()
     env['PARAMS_COPY_PATH'] = tmpdir
-    subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), env=env)
+    subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "openpilot/system/loggerd"), env=env)
     shutil.rmtree(tmpdir)
   t = threading.Thread(target=fn, args=(tmp, ))
   t.daemon = True
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 0bf11b4b59a920..655d1c4e29ee14 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -71,57 +71,57 @@ def not_(*fns):
   return lambda *args: operator.not_(*(fn(*args) for fn in fns))
 
 procs = [
-  DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
-
-  NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
-  NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
-  NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], or_(and_(livestream, not_(iscar)), notcar)),
-  PythonProcess("logmessaged", "system.logmessaged", always_run),
-
-  NativeProcess("camerad", "system/camerad", ["./camerad"], or_(driverview, livestream), enabled=not WEBCAM),
-  PythonProcess("webcamerad", "system.camerad.webcam.camerad", driverview, enabled=WEBCAM),
-  PythonProcess("proclogd", "system.proclogd", only_onroad, enabled=platform.system() != "Darwin"),
-  PythonProcess("journald", "system.journald", only_onroad, platform.system() != "Darwin"),
-  PythonProcess("micd", "system.micd", iscar),
-  PythonProcess("timed", "system.timed", always_run, enabled=not PC),
-
-  PythonProcess("modeld", "selfdrive.modeld.modeld", only_onroad),
-  PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
-
-  PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
-  PythonProcess("ui", "selfdrive.ui.ui", always_run, restart_if_crash=True),
-  PythonProcess("soundd", "selfdrive.ui.soundd", driverview),
-  PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
-  NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
-  PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
-  PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
-  PythonProcess("controlsd", "selfdrive.controls.controlsd", and_(not_joystick, iscar)),
-  PythonProcess("joystickd", "tools.joystick.joystickd", or_(joystick, notcar)),
-  PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
-  PythonProcess("card", "selfdrive.car.card", only_onroad),
-  PythonProcess("deleter", "system.loggerd.deleter", always_run),
-  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(WEBCAM or not PC)),
-  PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
-  PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
-  PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
-  PythonProcess("lagd", "selfdrive.locationd.lagd", only_onroad),
-  PythonProcess("ubloxd", "system.ubloxd.ubloxd", ublox, enabled=TICI),
-  PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
-  PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),
-  PythonProcess("maneuversd", "tools.longitudinal_maneuvers.maneuversd", long_maneuver),
-  PythonProcess("lateral_maneuversd", "tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
-  PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
-  PythonProcess("hardwared", "system.hardware.hardwared", always_run),
-  PythonProcess("modem", "common.hardware.tici.modem", always_run, enabled=TICI),
-  PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
-  PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
-  PythonProcess("uploader", "system.loggerd.uploader", always_run),
-  PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad),
+  DaemonProcess("manage_athenad", "openpilot.system.athena.manage_athenad", "AthenadPid"),
+
+  NativeProcess("loggerd", "openpilot/system/loggerd", ["./loggerd"], logging),
+  NativeProcess("encoderd", "openpilot/system/loggerd", ["./encoderd"], only_onroad),
+  NativeProcess("stream_encoderd", "openpilot/system/loggerd", ["./encoderd", "--stream"], or_(and_(livestream, not_(iscar)), notcar)),
+  PythonProcess("logmessaged", "openpilot.system.logmessaged", always_run),
+
+  NativeProcess("camerad", "openpilot/system/camerad", ["./camerad"], or_(driverview, livestream), enabled=not WEBCAM),
+  PythonProcess("webcamerad", "openpilot.system.camerad.webcam.camerad", driverview, enabled=WEBCAM),
+  PythonProcess("proclogd", "openpilot.system.proclogd", only_onroad, enabled=platform.system() != "Darwin"),
+  PythonProcess("journald", "openpilot.system.journald", only_onroad, platform.system() != "Darwin"),
+  PythonProcess("micd", "openpilot.system.micd", iscar),
+  PythonProcess("timed", "openpilot.system.timed", always_run, enabled=not PC),
+
+  PythonProcess("modeld", "openpilot.selfdrive.modeld.modeld", only_onroad),
+  PythonProcess("dmonitoringmodeld", "openpilot.selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
+
+  PythonProcess("sensord", "openpilot.system.sensord.sensord", only_onroad, enabled=not PC),
+  PythonProcess("ui", "openpilot.selfdrive.ui.ui", always_run, restart_if_crash=True),
+  PythonProcess("soundd", "openpilot.selfdrive.ui.soundd", driverview),
+  PythonProcess("locationd", "openpilot.selfdrive.locationd.locationd", only_onroad),
+  NativeProcess("_pandad", "openpilot/selfdrive/pandad", ["./pandad"], always_run, enabled=False),
+  PythonProcess("calibrationd", "openpilot.selfdrive.locationd.calibrationd", only_onroad),
+  PythonProcess("torqued", "openpilot.selfdrive.locationd.torqued", only_onroad),
+  PythonProcess("controlsd", "openpilot.selfdrive.controls.controlsd", and_(not_joystick, iscar)),
+  PythonProcess("joystickd", "openpilot.tools.joystick.joystickd", or_(joystick, notcar)),
+  PythonProcess("selfdrived", "openpilot.selfdrive.selfdrived.selfdrived", only_onroad),
+  PythonProcess("card", "openpilot.selfdrive.car.card", only_onroad),
+  PythonProcess("deleter", "openpilot.system.loggerd.deleter", always_run),
+  PythonProcess("dmonitoringd", "openpilot.selfdrive.monitoring.dmonitoringd", driverview, enabled=(WEBCAM or not PC)),
+  PythonProcess("qcomgpsd", "openpilot.system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
+  PythonProcess("pandad", "openpilot.selfdrive.pandad.pandad", always_run),
+  PythonProcess("paramsd", "openpilot.selfdrive.locationd.paramsd", only_onroad),
+  PythonProcess("lagd", "openpilot.selfdrive.locationd.lagd", only_onroad),
+  PythonProcess("ubloxd", "openpilot.system.ubloxd.ubloxd", ublox, enabled=TICI),
+  PythonProcess("pigeond", "openpilot.system.ubloxd.pigeond", ublox, enabled=TICI),
+  PythonProcess("plannerd", "openpilot.selfdrive.controls.plannerd", not_long_maneuver),
+  PythonProcess("maneuversd", "openpilot.tools.longitudinal_maneuvers.maneuversd", long_maneuver),
+  PythonProcess("lateral_maneuversd", "openpilot.tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
+  PythonProcess("radard", "openpilot.selfdrive.controls.radard", only_onroad),
+  PythonProcess("hardwared", "openpilot.system.hardware.hardwared", always_run),
+  PythonProcess("modem", "openpilot.common.hardware.tici.modem", always_run, enabled=TICI),
+  PythonProcess("tombstoned", "openpilot.system.tombstoned", always_run, enabled=not PC),
+  PythonProcess("updated", "openpilot.system.updated.updated", only_offroad, enabled=not PC),
+  PythonProcess("uploader", "openpilot.system.loggerd.uploader", always_run),
+  PythonProcess("feedbackd", "openpilot.selfdrive.ui.feedback.feedbackd", only_onroad),
 
   # debug procs
   NativeProcess("bridge", "openpilot/cereal/messaging", ["./bridge"], notcar),
-  PythonProcess("webrtcd", "system.webrtc.webrtcd", or_(and_(livestream, not_(iscar)), notcar)),
-  PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
+  PythonProcess("webrtcd", "openpilot.system.webrtc.webrtcd", or_(and_(livestream, not_(iscar)), notcar)),
+  PythonProcess("joystick", "openpilot.tools.joystick.joystick_control", and_(joystick, iscar)),
 ]
 
 managed_processes = {p.name: p for p in procs}
diff --git a/system/tombstoned.py b/system/tombstoned.py
index 349a71cc19a8e6..7741a923cd1495 100755
--- a/system/tombstoned.py
+++ b/system/tombstoned.py
@@ -104,7 +104,7 @@ def report_tombstone_apport(fn):
 
     # Try to find first entry in openpilot, fall back to first line
     for line in stacktrace_s:
-      if "at selfdrive/" in line:
+      if "at openpilot/selfdrive/" in line or "at selfdrive/" in line:
         crash_function = line
         found = True
         break
diff --git a/system/ui/README.md b/system/ui/README.md
index 79a4dd32ea9240..3624c8d1ceb435 100644
--- a/system/ui/README.md
+++ b/system/ui/README.md
@@ -15,6 +15,6 @@ Quick start:
 * https://electronstudio.github.io/raylib-python-cffi/README.html#quickstart
 
 Style guide:
-* All graphical elements should subclass [`Widget`](/system/ui/widgets/__init__.py).
+* All graphical elements should subclass [`Widget`](/openpilot/system/ui/widgets/__init__.py).
   * Prefer a stateful widget over a function for easy migration from QT
 * All internal class variables and functions should be prefixed with `_`
diff --git a/system/ui/lib/multilang.py b/system/ui/lib/multilang.py
index 06c54f6e9f67f9..2305404679b1ac 100644
--- a/system/ui/lib/multilang.py
+++ b/system/ui/lib/multilang.py
@@ -10,7 +10,7 @@
 except ImportError:
   Params = None
 
-SYSTEM_UI_DIR = os.path.join(BASEDIR, "system", "ui")
+SYSTEM_UI_DIR = os.path.join(BASEDIR, "openpilot/system", "ui")
 UI_DIR = files("openpilot.selfdrive.ui")
 TRANSLATIONS_DIR = UI_DIR.joinpath("translations")
 LANGUAGES_FILE = TRANSLATIONS_DIR.joinpath("languages.json")
diff --git a/system/updated/updated.py b/system/updated/updated.py
index affacd0f2d862a..c8f45fdb56f5be 100755
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -220,7 +220,7 @@ def handle_agnos_update() -> None:
   cloudlog.info(f"Beginning background installation for AGNOS {updated_version}")
   set_offroad_alert("Offroad_NeosUpdate", True)
 
-  manifest_path = os.path.join(OVERLAY_MERGED, "system/hardware/tici/agnos.json")
+  manifest_path = os.path.join(OVERLAY_MERGED, "openpilot/system/hardware/tici/agnos.json")
   target_slot_number = get_target_slot_number()
   flash_agnos_update(manifest_path, target_slot_number, cloudlog)
   set_offroad_alert("Offroad_NeosUpdate", False)
@@ -309,7 +309,7 @@ def get_description(basedir: str) -> str:
       try:
         branch = self.get_branch(basedir)
         commit = self.get_commit_hash(basedir)[:7]
-        with open(os.path.join(basedir, "common", "version.h")) as f:
+        with open(os.path.join(basedir, "openpilot", "common", "version.h")) as f:
           version = f.read().split('"')[1]
 
         commit_unix_ts = run(["git", "show", "-s", "--format=%ct", "HEAD"], basedir).rstrip()
diff --git a/tools/CTF.md b/tools/CTF.md
index 609c82ad5a6871..b8acc46fef8898 100644
--- a/tools/CTF.md
+++ b/tools/CTF.md
@@ -6,15 +6,15 @@ Welcome to the first part of the comma CTF!
 * everything you'll need to find the flags is in the openpilot repo
   * grep is also your friend
   * first, [setup](https://github.com/commaai/openpilot/tree/master/tools#setup-your-pc) your PC
-  * read the docs & checkout out the tools in tools/
+  * read the docs & checkout out the tools in openpilot/tools/
   * tip: once you get the replay and UI up, start by familiarizing yourself with seeking in replay
 
 getting started
 ```bash
 # start the route replay
-cd tools/replay
+cd openpilot/tools/replay
 ./replay '0c7f0c7f0c7f0c7f|2021-10-13--13-00-00' --dcam --ecam
 
 # start the UI in another terminal
-selfdrive/ui/ui
+openpilot/selfdrive/ui/ui
 ```
diff --git a/tools/README.md b/tools/README.md
index 1ea42bbe1d129f..522bb388684c03 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -18,7 +18,7 @@ git clone https://github.com/commaai/openpilot.git
 **2. Run the setup script**
 ``` bash
 cd openpilot
-tools/op.sh setup
+openpilot/tools/op.sh setup
 ```
 
 **3. Activate a Python shell**
@@ -41,7 +41,7 @@ Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install
 **NOTE**: If you are running WSL 2 and experiencing performance issues with the UI or simulator, you may need to explicitly enable hardware acceleration by setting `GALLIUM_DRIVER=d3d12` before commands. Add `export GALLIUM_DRIVER=d3d12` to your `~/.bashrc` file to make it automatic for future sessions.
 
 ## CTF
-Learn about the openpilot ecosystem and tools by playing our [CTF](/tools/CTF.md).
+Learn about the openpilot ecosystem and tools by playing our [CTF](/openpilot/tools/CTF.md).
 
 ## Directory Structure
 
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index 2bc86753396057..92e95d3cc235e7 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -60,7 +60,7 @@ qt_flags = [
   "-DQT_MESSAGELOGCONTEXT",
 ]
 qt_env['CXXFLAGS'] += qt_flags
-qt_env['LIBPATH'] += ['#selfdrive/ui', ]
+qt_env['LIBPATH'] += ['#openpilot/selfdrive/ui', ]
 qt_env['LIBS'] = qt_libs
 
 base_frameworks = qt_env['FRAMEWORKS']
@@ -112,8 +112,8 @@ cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_lib
 if GetOption('extras'):
   cabana_env.Program('tests/test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs])
 
-output_json_file = 'tools/cabana/dbc/car_fingerprint_to_dbc.json'
+output_json_file = 'openpilot/tools/cabana/dbc/car_fingerprint_to_dbc.json'
 generate_dbc = cabana_env.Command('#' + output_json_file,
                                   ['dbc/generate_dbc_json.py'],
-                                  "python3 tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file)
-cabana_env.Depends(generate_dbc, ["#common", '#opendbc_repo', "#openpilot/cereal", "#msgq_repo"])
+                                  "python3 openpilot/tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file)
+cabana_env.Depends(generate_dbc, ["#openpilot/common", '#opendbc_repo', "#openpilot/cereal", "#msgq_repo"])
diff --git a/tools/cabana/cabana b/tools/cabana/cabana
index e1756335342911..a51b3950906b70 100755
--- a/tools/cabana/cabana
+++ b/tools/cabana/cabana
@@ -33,6 +33,6 @@ fi
 
 # Build _cabana
 cd "$ROOT"
-scons tools/cabana/_cabana openpilot/cereal/messaging/bridge
+scons openpilot/tools/cabana/_cabana openpilot/cereal/messaging/bridge
 
 exec "$DIR/_cabana" "$@"
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index f42bf2601cae15..b00c6e52c66b00 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -68,7 +68,7 @@ bool ReplayStream::loadRoute(const std::string &route, const std::string &data_d
       QString message;
       if (auth_content.empty()) {
         message = "Authentication Required. Please run the following command to authenticate:\n\n"
-                  "python3 tools/lib/auth.py\n\n"
+                  "python3 openpilot/tools/lib/auth.py\n\n"
                   "This will grant access to routes from your comma account.";
       } else {
         message = tr("Access Denied. You do not have permission to access route:\n\n%1\n\n"
diff --git a/tools/cabana/streams/routes.cc b/tools/cabana/streams/routes.cc
index 1e69a45cea90c3..e3e5cb1b6e3ab5 100644
--- a/tools/cabana/streams/routes.cc
+++ b/tools/cabana/streams/routes.cc
@@ -88,7 +88,7 @@ void RoutesDialog::parseDeviceList(const QString &json, bool success, int error_
       device_list_->addItem(dongle_id, dongle_id);
     }
   } else {
-    QMessageBox::warning(this, tr("Error"), error_code == 401 ? tr("Unauthorized. Authenticate with tools/lib/auth.py") : tr("Network error"));
+    QMessageBox::warning(this, tr("Error"), error_code == 401 ? tr("Unauthorized. Authenticate with openpilot/tools/lib/auth.py") : tr("Network error"));
     reject();
   }
 }
diff --git a/tools/car_porting/README.md b/tools/car_porting/README.md
index 77492035cabc31..3766978e97b786 100644
--- a/tools/car_porting/README.md
+++ b/tools/car_porting/README.md
@@ -1,4 +1,4 @@
-# tools/car_porting
+# openpilot/tools/car_porting
 
 Check out [this blog post](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) for a high-level overview of porting a car.
 
@@ -6,46 +6,46 @@ Check out [this blog post](https://blog.comma.ai/how-to-write-a-car-port-for-ope
 
 Testing car ports in your car is very time-consuming. Check out these utilities to do basic checks on your work before running it in your car.
 
-### [Cabana](/tools/cabana/README.md)
+### [Cabana](/openpilot/tools/cabana/README.md)
 
 View your car's CAN signals through DBC files, which openpilot uses to parse and create messages that talk to the car.
 
 Example:
 ```bash
-> tools/cabana/cabana '1bbe6bf2d62f58a8|2022-07-14--17-11-43'
+> openpilot/tools/cabana/cabana '1bbe6bf2d62f58a8|2022-07-14--17-11-43'
 ```
 
-### [tools/car_porting/auto_fingerprint.py](/tools/car_porting/auto_fingerprint.py)
+### [openpilot/tools/car_porting/auto_fingerprint.py](/openpilot/tools/car_porting/auto_fingerprint.py)
 
 Given a route and platform, automatically inserts FW fingerprints from the platform into the correct place in fingerprints.py
 
 Example:
 ```bash
-> python3 tools/car_porting/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'OUTBACK'
+> python3 openpilot/tools/car_porting/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'OUTBACK'
 Attempting to add fw version for:  OUTBACK
 ```
 
-### [selfdrive/car/tests/test_car_interfaces.py](/selfdrive/car/tests/test_car_interfaces.py)
+### [openpilot/selfdrive/car/tests/test_car_interfaces.py](/openpilot/selfdrive/car/tests/test_car_interfaces.py)
 
 Finds common bugs for car interfaces, without even requiring a route.
 
 
 #### Example: Typo in signal name
 ```bash
-> pytest selfdrive/car/tests/test_car_interfaces.py -k subaru  # replace with the brand you are working on
+> pytest openpilot/selfdrive/car/tests/test_car_interfaces.py -k subaru  # replace with the brand you are working on
 
 =====================================================================
-FAILED selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_interfaces_165_SUBARU_LEGACY_7TH_GEN - KeyError: 'CruiseControlOOPS'
+FAILED openpilot/selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_interfaces_165_SUBARU_LEGACY_7TH_GEN - KeyError: 'CruiseControlOOPS'
 
 ```
 
-### [tools/car_porting/test_car_model.py](/tools/car_porting/test_car_model.py)
+### [openpilot/tools/car_porting/test_car_model.py](/openpilot/tools/car_porting/test_car_model.py)
 
 Given a route, runs most of the car interface to check for common errors like missing signals, blocked panda messages, and safety mismatches.
 
 #### Example: panda safety mismatch for gasPressed
 ```bash
-> python3 tools/car_porting/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21'
+> python3 openpilot/tools/car_porting/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21'
 
 =====================================================================
 FAIL: test_panda_safety_carstate (__main__.CarModelTestCase.test_panda_safety_carstate)
@@ -59,7 +59,7 @@ AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'ga
 
 ## Jupyter notebooks
 
-To use these notebooks, install Jupyter within your [openpilot virtual environment](/tools/README.md).
+To use these notebooks, install Jupyter within your [openpilot virtual environment](/openpilot/tools/README.md).
 
 ```bash
 uv pip install jupyter ipykernel
@@ -71,7 +71,7 @@ Launching:
 jupyter notebook
 ```
 
-### [examples/subaru_steer_temp_fault.ipynb](/tools/car_porting/examples/subaru_steer_temp_fault.ipynb)
+### [examples/subaru_steer_temp_fault.ipynb](/openpilot/tools/car_porting/examples/subaru_steer_temp_fault.ipynb)
 
 An example of searching through a database of segments for a specific condition, and plotting the results.
 
@@ -79,7 +79,7 @@ An example of searching through a database of segments for a specific condition,
 
 *a plot of the steer_warning vs steering angle, where we can see it is clearly caused by a large steering angle change*
 
-### [examples/subaru_long_accel.ipynb](/tools/car_porting/examples/subaru_long_accel.ipynb)
+### [examples/subaru_long_accel.ipynb](/openpilot/tools/car_porting/examples/subaru_long_accel.ipynb)
 
 An example of plotting the response of an actuator when it is active.
 
@@ -87,7 +87,7 @@ An example of plotting the response of an actuator when it is active.
 
 *a plot of the brake_pressure vs acceleration, where we can see it is a fairly linear response.*
 
-### [examples/ford_vin_fingerprint.ipynb](/tools/car_porting/examples/ford_vin_fingerprint.ipynb)
+### [examples/ford_vin_fingerprint.ipynb](/openpilot/tools/car_porting/examples/ford_vin_fingerprint.ipynb)
 
 In this example, we use the public comma car segments database to check if vin fingerprinting is feasible for ford.
 
@@ -109,7 +109,7 @@ vin: 3FTTW8E31PRXXXXXX real platform: FORD MAVERICK 1ST GEN              determi
 vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False
 ```
 
-### [examples/find_segments_with_message.ipynb](/tools/car_porting/examples/find_segments_with_message.ipynb)
+### [examples/find_segments_with_message.ipynb](/openpilot/tools/car_porting/examples/find_segments_with_message.ipynb)
 
 Searches for segments where a set of given CAN message IDs are present. In the example, we search for all messages
 used for CAN-based ignition detection.
diff --git a/tools/car_porting/test_car_model.py b/tools/car_porting/test_car_model.py
index 78784a4299145d..20e7d136ea137e 100755
--- a/tools/car_porting/test_car_model.py
+++ b/tools/car_porting/test_car_model.py
@@ -19,7 +19,7 @@ def create_test_models_suite(routes: list[CarTestRoute]) -> unittest.TestSuite:
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Test any route against common issues with a new car port. " +
-                                               "Uses selfdrive/car/tests/test_models.py")
+                                               "Uses openpilot/selfdrive/car/tests/test_models.py")
   parser.add_argument("route_or_segment_name", help="Specify route to run tests on")
   parser.add_argument("--car", help="Specify car model for test route")
   args = parser.parse_args()
diff --git a/tools/jotpluggler/SConscript b/tools/jotpluggler/SConscript
index 36d709621d00c1..3e235bb07a6ec3 100644
--- a/tools/jotpluggler/SConscript
+++ b/tools/jotpluggler/SConscript
@@ -83,7 +83,7 @@ def write_car_fingerprint_to_dbc_header(target, source, env):
 def generate_event_extractors(target, source, env):
   subprocess.check_call([
     "python3",
-    "tools/jotpluggler/generate_event_extractors.py",
+    "openpilot/tools/jotpluggler/generate_event_extractors.py",
     os.path.realpath(BASEDIR),
     str(target[0]),
   ])
diff --git a/tools/jotpluggler/generate_event_extractors.py b/tools/jotpluggler/generate_event_extractors.py
index 25f121f0b95254..be9bd49003afe0 100644
--- a/tools/jotpluggler/generate_event_extractors.py
+++ b/tools/jotpluggler/generate_event_extractors.py
@@ -275,7 +275,7 @@ def emit_event_case(self, field_name):
 
   def generate(self):
     self.lines = []
-    self.emit(0, "// Generated by tools/jotpluggler/generate_event_extractors.py; do not edit.")
+    self.emit(0, "// Generated by openpilot/tools/jotpluggler/generate_event_extractors.py; do not edit.")
     self.emit(0, "")
     self.emit(0, "const std::vector<std::string> &static_event_fixed_paths() {")
     self.emit(2, "static const std::vector<std::string> paths = {")
diff --git a/tools/joystick/README.md b/tools/joystick/README.md
index bc0968809473e9..3ce308927c49c8 100644
--- a/tools/joystick/README.md
+++ b/tools/joystick/README.md
@@ -14,7 +14,7 @@ The car must be off, and openpilot must be offroad before starting `joystick_con
 SSH into your comma device and start joystick_control with the following command:
 
 ```shell
-tools/joystick/joystick_control.py --keyboard
+openpilot/tools/joystick/joystick_control.py --keyboard
 ```
 
 The available buttons and axes will print showing their key mappings. In general, the WASD keys control gas and brakes and steering torque in 5% increments.
@@ -42,7 +42,7 @@ In order to use a joystick over the network, we need to run joystick_control loc
    ```shell
    # on your laptop
    export ZMQ=1
-   tools/joystick/joystick_control.py
+   openpilot/tools/joystick/joystick_control.py
    ```
 
 ---
diff --git a/tools/lateral_maneuvers/README.md b/tools/lateral_maneuvers/README.md
index 3a54bc74099bef..7a4c381b153548 100644
--- a/tools/lateral_maneuvers/README.md
+++ b/tools/lateral_maneuvers/README.md
@@ -28,7 +28,7 @@ Test your vehicle's lateral control tuning with this tool. The tool will test th
 8. Gather the route ID and then run the report generator. The file will be exported to the same directory:
 
     ```sh
-    $ python tools/lateral_maneuvers/generate_report.py 98395b7c5b27882e/000001cc--5a73bde686
+    $ python openpilot/tools/lateral_maneuvers/generate_report.py 98395b7c5b27882e/000001cc--5a73bde686
 
     processing report for KIA_EV6
     plotting maneuver: step right 20mph, runs: 3
diff --git a/tools/lib/README.md b/tools/lib/README.md
index af1ad0de22e5a1..17e24816ece141 100644
--- a/tools/lib/README.md
+++ b/tools/lib/README.md
@@ -1,6 +1,6 @@
 ## LogReader
 
-Route is a class for conveniently accessing all the [logs](/system/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos.
+Route is a class for conveniently accessing all the [logs](/openpilot/system/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos.
 
 ```python
 from openpilot.tools.lib.route import Route
diff --git a/tools/lib/api.py b/tools/lib/api.py
index f84fe758695fc3..7fca9b320f611e 100644
--- a/tools/lib/api.py
+++ b/tools/lib/api.py
@@ -20,7 +20,7 @@ def request(self, method, endpoint, **kwargs):
       resp_json = resp.json()
       if isinstance(resp_json, dict) and resp_json.get('error'):
         if resp.status_code in [401, 403]:
-          raise UnauthorizedError('Unauthorized. Authenticate with tools/lib/auth.py')
+          raise UnauthorizedError('Unauthorized. Authenticate with openpilot/tools/lib/auth.py')
 
         e = APIError(str(resp.status_code) + ":" + resp_json.get('description', str(resp_json['error'])))
         e.status_code = resp.status_code
diff --git a/tools/longitudinal_maneuvers/README.md b/tools/longitudinal_maneuvers/README.md
index 643af7fd826e18..96b989b5554ef7 100644
--- a/tools/longitudinal_maneuvers/README.md
+++ b/tools/longitudinal_maneuvers/README.md
@@ -35,7 +35,7 @@ Test your vehicle's longitudinal control tuning with this tool. The tool will te
 8. Gather the route ID and then run the report generator. The file will be exported to the same directory:
 
     ```sh
-    $ python tools/longitudinal_maneuvers/generate_report.py 57048cfce01d9625/0000010e--5b26bc3be7 'pcm accel compensation'
+    $ python openpilot/tools/longitudinal_maneuvers/generate_report.py 57048cfce01d9625/0000010e--5b26bc3be7 'pcm accel compensation'
 
     processing report for LEXUS_ES_TSS2
     plotting maneuver: start from stop, runs: 4
diff --git a/tools/op.sh b/tools/op.sh
index ecef240b5bf975..3b766b61eefbdb 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -116,7 +116,7 @@ function op_check_git() {
   fi
 
   echo "Checking for git lfs files..."
-  if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/dmonitoring_model.onnx) == "data" ]]; then
+  if [[ $(file -b $OPENPILOT_ROOT/openpilot/selfdrive/modeld/models/dmonitoring_model.onnx) == "data" ]]; then
     echo -e " ↳ [${GREEN}✔${NC}] git lfs files found."
   else
     echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run 'git lfs pull'"
@@ -201,7 +201,7 @@ function op_setup() {
 
   echo "Installing dependencies..."
   st="$(date +%s)"
-  SETUP_SCRIPT="tools/setup_dependencies.sh"
+  SETUP_SCRIPT="openpilot/tools/setup_dependencies.sh"
   if ! $OPENPILOT_ROOT/$SETUP_SCRIPT; then
     echo -e " ↳ [${RED}✗${NC}] Dependencies installation failed!"
     return 1
@@ -234,7 +234,7 @@ function op_setup() {
 
 function op_auth() {
   op_before_cmd
-  op_run_command tools/lib/auth.py "$@"
+  op_run_command openpilot/tools/lib/auth.py "$@"
 }
 
 function op_activate_venv() {
@@ -269,12 +269,12 @@ function op_venv() {
 
 function op_adb() {
   op_before_cmd
-  op_run_command tools/scripts/adb_ssh.sh "$@"
+  op_run_command openpilot/tools/scripts/adb_ssh.sh "$@"
 }
 
 function op_ssh() {
   op_before_cmd
-  op_run_command tools/scripts/ssh.py "$@"
+  op_run_command openpilot/tools/scripts/ssh.py "$@"
 }
 
 function op_script() {
@@ -298,7 +298,7 @@ function op_check() {
 
 function op_esim() {
   op_before_cmd
-  op_run_command common/esim/esim.py "$@"
+  op_run_command openpilot/common/esim/esim.py "$@"
 }
 
 function op_build() {
@@ -307,7 +307,7 @@ function op_build() {
   cd "$CDIR"
   if [[ -f "/AGNOS" ]]; then
     # needed on AGNOS to not run out of memory
-    op_run_command system/manager/build.py
+    op_run_command openpilot/system/manager/build.py
   else
     # scons is fine on PC
     op_run_command scons "$@"
@@ -316,7 +316,7 @@ function op_build() {
 
 function op_juggle() {
   op_before_cmd
-  op_run_command tools/plotjuggler/juggle.py "$@"
+  op_run_command openpilot/tools/plotjuggler/juggle.py "$@"
 }
 
 function op_lint() {
@@ -331,23 +331,23 @@ function op_test() {
 
 function op_replay() {
   op_before_cmd
-  op_run_command tools/replay/replay "$@"
+  op_run_command openpilot/tools/replay/replay "$@"
 }
 
 function op_cabana() {
   op_before_cmd
-  op_run_command tools/cabana/cabana "$@"
+  op_run_command openpilot/tools/cabana/cabana "$@"
 }
 
 function op_sim() {
   op_before_cmd
-  op_run_command exec tools/sim/run_bridge.py &
-  op_run_command exec tools/sim/launch_openpilot.sh
+  op_run_command exec openpilot/tools/sim/run_bridge.py &
+  op_run_command exec openpilot/tools/sim/launch_openpilot.sh
 }
 
 function op_clip() {
   op_before_cmd
-  op_run_command tools/clip/run.py "$@"
+  op_run_command openpilot/tools/clip/run.py "$@"
 }
 
 function op_switch() {
diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md
index 9a40ac798d2712..efccbdc0bd3e5c 100644
--- a/tools/plotjuggler/README.md
+++ b/tools/plotjuggler/README.md
@@ -6,7 +6,7 @@
 
 Once you've [set up the openpilot environment](../README.md), this command will download PlotJuggler and install our plugins:
 
-`cd tools/plotjuggler && ./juggle.py --install`
+`cd openpilot/tools/plotjuggler && ./juggle.py --install`
 
 ## Usage
 
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index e1143a3cd40954..593192ed3031fa 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -33,7 +33,7 @@ def print_jotpluggler_banner():
   reset = "\033[0m" if purple else ""
   print(f"{purple}+-------------------------------------------------------------+{reset}")
   print(f"{purple}|{reset} JotPluggler is the future! Try it like this:                {purple}|{reset}")
-  print(f"{purple}|{reset}   ./tools/jotpluggler/jotpluggler --demo --layout tuning    {purple}|{reset}")
+  print(f"{purple}|{reset}   ./openpilot/tools/jotpluggler/jotpluggler --demo --layout tuning    {purple}|{reset}")
   print(f"{purple}|{reset}                                                             {purple}|{reset}")
   print(f"{purple}|{reset} PlotJuggler will be deleted soon.                           {purple}|{reset}")
   print(f"{purple}|{reset} Missing a feature? Open an issue or post in #dev-openpilot. {purple}|{reset}")
diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py
index 26bad25c3ec416..d55aafe9be1174 100644
--- a/tools/plotjuggler/test_plotjuggler.py
+++ b/tools/plotjuggler/test_plotjuggler.py
@@ -11,7 +11,7 @@
 from openpilot.common.timeout import Timeout
 from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE, install
 
-PJ_DIR = os.path.join(BASEDIR, "tools/plotjuggler")
+PJ_DIR = os.path.join(BASEDIR, "openpilot/tools/plotjuggler")
 
 class TestPlotJuggler:
 
diff --git a/tools/replay/README.md b/tools/replay/README.md
index d2beda994030a3..108df08935cc3f 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -8,7 +8,7 @@ Before starting a replay, you need to authenticate with your comma account using
 
 ```bash
 # Authenticate to access routes from your comma account:
-python3 tools/lib/auth.py
+python3 openpilot/tools/lib/auth.py
 ```
 
 ## Replay a Remote Route
@@ -16,13 +16,13 @@ You can replay a route from your comma account by specifying the route name.
 
 ```bash
 # Start a replay with a specific route:
-tools/replay/replay <route-name>
+openpilot/tools/replay/replay <route-name>
 
 # Example:
-tools/replay/replay '5beb9b58bd12b691/0000010a--a51155e496'
+openpilot/tools/replay/replay '5beb9b58bd12b691/0000010a--a51155e496'
 
 # Replay the default demo route:
-tools/replay/replay --demo
+openpilot/tools/replay/replay --demo
 ```
 
 ## Replay a Local Route
@@ -30,14 +30,14 @@ To replay a route stored locally on your machine, specify the route name and pro
 
 ```bash
 # Replay a local route
-tools/replay/replay <route-name> --data_dir="/path_to/route"
+openpilot/tools/replay/replay <route-name> --data_dir="/path_to/route"
 
 # Example:
 # If you have a local route stored at /path_to_routes with segments like:
 # 5beb9b58bd12b691/0000010a--a51155e496--0
 # 5beb9b58bd12b691/0000010a--a51155e496--1
 # You can replay it like this:
-tools/replay/replay "5beb9b58bd12b691/0000010a--a51155e496" --data_dir="/path_to_routes"
+openpilot/tools/replay/replay "5beb9b58bd12b691/0000010a--a51155e496" --data_dir="/path_to_routes"
 ```
 
 ## Send Messages via ZMQ
@@ -45,15 +45,15 @@ By default, replay sends messages via MSGQ. To switch to ZMQ, set the ZMQ enviro
 
 ```bash
 # Start replay and send messages via ZMQ:
-ZMQ=1 tools/replay/replay <route-name>
+ZMQ=1 openpilot/tools/replay/replay <route-name>
 ```
 
 ## Usage
 For more information on available options and arguments, use the help command:
 
 ``` bash
-$ tools/replay/replay -h
-Usage: tools/replay/replay [options] route
+$ openpilot/tools/replay/replay -h
+Usage: openpilot/tools/replay/replay [options] route
 Mock openpilot components by publishing logged messages.
 
 Options:
@@ -87,16 +87,16 @@ Arguments:
 To visualize the replay within the openpilot UI, run the following commands:
 
 ```bash
-tools/replay/replay <route-name>
-cd selfdrive/ui && ./ui.py
+openpilot/tools/replay/replay <route-name>
+cd openpilot/selfdrive/ui && ./ui.py
 ```
 
 ## Work with plotjuggler
 If you want to use replay with plotjuggler, you can stream messages by running:
 
 ```bash
-tools/replay/replay <route-name>
-tools/plotjuggler/juggle.py --stream
+openpilot/tools/replay/replay <route-name>
+openpilot/tools/plotjuggler/juggle.py --stream
 ```
 
 ## watch3
@@ -107,10 +107,10 @@ simply replay a route using the `--dcam` and `--ecam` flags:
 
 ```bash
 # start a replay
-cd tools/replay && ./replay --demo --dcam --ecam
+cd openpilot/tools/replay && ./replay --demo --dcam --ecam
 
 # then start watch3
-cd selfdrive/ui && ./watch3.py
+cd openpilot/selfdrive/ui && ./watch3.py
 ```
 
 ![](https://i.imgur.com/IeaOdAb.png)
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index 1560f1dce8db3f..326d28d726c593 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -123,7 +123,7 @@ bool Route::loadFromServer() {
   if (json.is_object() && json["error"].is_string()) {
     const std::string &error = json["error"].string_value();
     if (error == "unauthorized") {
-      rWarning(">> Unauthorized. Authenticate with tools/lib/auth.py <<");
+      rWarning(">> Unauthorized. Authenticate with openpilot/tools/lib/auth.py <<");
       err_ = RouteLoadError::Unauthorized;
     } else if (error == "not_found") {
       rWarning("The specified route could not be found on the server.");
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
index 838b7ab15aa489..932b3f9b8c624f 100755
--- a/tools/replay/ui.py
+++ b/tools/replay/ui.py
@@ -54,7 +54,7 @@ def ui_thread(addr):
   rl.set_target_fps(60)
 
   # Load font
-  font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts/JetBrainsMono-Medium.ttf")
+  font_path = os.path.join(BASEDIR, "openpilot/selfdrive/assets/fonts/JetBrainsMono-Medium.ttf")
   font = rl.load_font_ex(font_path, 32, None, 0)
 
   camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
diff --git a/tools/scripts/cpu_usage_stat.py b/tools/scripts/cpu_usage_stat.py
index 5b72eacc658206..902df1c778adf5 100755
--- a/tools/scripts/cpu_usage_stat.py
+++ b/tools/scripts/cpu_usage_stat.py
@@ -8,7 +8,7 @@
     Calculate minumium/maximum/accumulated_average cpu usage as long term inspections.
     Monitor multiple processes simuteneously.
   Sample usage:
-    root@localhost:/data/openpilot$ python tools/scripts/cpu_usage_stat.py pandad,ubloxd
+    root@localhost:/data/openpilot$ python openpilot/tools/scripts/cpu_usage_stat.py pandad,ubloxd
     ('Add monitored proc:', './pandad')
     ('Add monitored proc:', 'python locationd/ubloxd.py')
     pandad: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96%
diff --git a/tools/scripts/get_fingerprint.py b/tools/scripts/get_fingerprint.py
index 1cdf8534d9708d..1e5e8eca5ab371 100755
--- a/tools/scripts/get_fingerprint.py
+++ b/tools/scripts/get_fingerprint.py
@@ -4,7 +4,7 @@
 
 # Instructions:
 # - connect to a Panda
-# - run selfdrive/pandad/pandad
+# - run openpilot/selfdrive/pandad/pandad
 # - launching this script
 #   Note: it's very important that the car is in stock mode, in order to collect a complete fingerprint
 # - since some messages are published at low frequency, keep this script running for at least 30s,
diff --git a/tools/scripts/profiling/snapdragon/README.md b/tools/scripts/profiling/snapdragon/README.md
index f56ca182a77763..383d83ba9badc0 100644
--- a/tools/scripts/profiling/snapdragon/README.md
+++ b/tools/scripts/profiling/snapdragon/README.md
@@ -4,10 +4,10 @@ snapdragon profiler
 
 * download from https://developer.qualcomm.com/software/snapdragon-profiler/tools-archive (need a qc developer account)
   * choose v2021.5 (verified working with 24.04 dev environment)
-* unzip to selfdrive/debug/profiling/snapdragon/SnapdragonProfiler
+* unzip to openpilot/selfdrive/debug/profiling/snapdragon/SnapdragonProfiler
 * run ```./setup-profiler.sh```
 * run ```./setup-agnos.sh```
-* run ```selfdrive/debug/adb.sh``` on device
+* run ```openpilot/selfdrive/debug/adb.sh``` on device
 * run the ```adb connect xxx``` command that was given to you on local pc
 * cd to SnapdragonProfiler and run ```./run_sdp.sh```
 * connect to device -> choose device you just setup
diff --git a/tools/scripts/ssh.py b/tools/scripts/ssh.py
index 33eac4081d1869..86e86c7eed970c 100755
--- a/tools/scripts/ssh.py
+++ b/tools/scripts/ssh.py
@@ -14,7 +14,7 @@
   parser.add_argument("device", help="device name or dongle id")
   parser.add_argument("--host", help="ssh jump server host", default="ssh.comma.ai")
   parser.add_argument("--port", help="ssh jump server port", default=22, type=int)
-  parser.add_argument("--key", help="ssh key", default=os.path.join(BASEDIR, "common/hardware/tici/id_rsa"))
+  parser.add_argument("--key", help="ssh key", default=os.path.join(BASEDIR, "openpilot/common/hardware/tici/id_rsa"))
   parser.add_argument("--debug", help="enable debug output", action="store_true")
   args = parser.parse_args()
 
diff --git a/tools/setup.sh b/tools/setup.sh
index dafd466ef92bd1..1437a1d68640d6 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -121,10 +121,10 @@ function git_clone() {
 
 function install_with_op() {
   cd $OPENPILOT_ROOT
-  $OPENPILOT_ROOT/tools/op.sh install
-  $OPENPILOT_ROOT/tools/op.sh post-commit
+  $OPENPILOT_ROOT/openpilot/tools/op.sh install
+  $OPENPILOT_ROOT/openpilot/tools/op.sh post-commit
 
-  if ! $OPENPILOT_ROOT/tools/op.sh setup; then
+  if ! $OPENPILOT_ROOT/openpilot/tools/op.sh setup; then
     echo -e "\n[${RED}✗${NC}] failed to install openpilot!"
     return 1
   fi
diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
index 6cfd75ce177e80..80f3ac4e45ae66 100755
--- a/tools/setup_dependencies.sh
+++ b/tools/setup_dependencies.sh
@@ -2,7 +2,7 @@
 set -e
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-ROOT="$(cd "$DIR/../" && pwd)"
+ROOT="$(git -C "$DIR" rev-parse --show-toplevel)"
 
 function retry() {
   local attempts=$1
diff --git a/tools/sim/README.md b/tools/sim/README.md
index f6ddde2580d2b5..b3e60a119b5f41 100644
--- a/tools/sim/README.md
+++ b/tools/sim/README.md
@@ -7,7 +7,7 @@ openpilot implements a [bridge](run_bridge.py) that allows it to run in the [Met
 First, start openpilot.
 ``` bash
 # Run locally
-./tools/sim/launch_openpilot.sh
+./openpilot/tools/sim/launch_openpilot.sh
 ```
 
 ## Bridge usage
@@ -44,7 +44,7 @@ options:
 ## MetaDrive
 
 ### Launching Metadrive
-Start bridge processes located in tools/sim:
+Start bridge processes located in openpilot/tools/sim:
 ``` bash
 ./run_bridge.py
 ```
\ No newline at end of file
diff --git a/tools/sim/tests/test_sim_bridge.py b/tools/sim/tests/test_sim_bridge.py
index 0b3650e0a3a231..f93cc2ef5059f1 100644
--- a/tools/sim/tests/test_sim_bridge.py
+++ b/tools/sim/tests/test_sim_bridge.py
@@ -9,7 +9,7 @@
 from openpilot.common.basedir import BASEDIR
 from openpilot.tools.sim.bridge.common import QueueMessageType
 
-SIM_DIR = os.path.join(BASEDIR, "tools/sim")
+SIM_DIR = os.path.join(BASEDIR, "openpilot/tools/sim")
 
 class TestSimBridgeBase:
   @classmethod

From 5edc0bd89d0830bc1ac86ee923d1d08d2915b770 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 21 Jun 2026 18:49:46 -0700
Subject: [PATCH 1240/1434] mv root dirs into nested openpilot (#38219)

---
 .gitattributes                                      |   4 ++--
 .gitignore                                          |  12 ++++++------
 openpilot/common                                    |   1 -
 {common => openpilot/common}/SConscript             |   0
 {common => openpilot/common}/__init__.py            |   0
 {common => openpilot/common}/api.py                 |   0
 {common => openpilot/common}/basedir.py             |   2 +-
 {common => openpilot/common}/constants.py           |   0
 {common => openpilot/common}/esim/__init__.py       |   0
 {common => openpilot/common}/esim/base.py           |   0
 {common => openpilot/common}/esim/esim.py           |   0
 .../common}/esim/gsma_ci_bundle.pem                 |   0
 {common => openpilot/common}/esim/lpa.py            |   0
 {common => openpilot/common}/file_chunker.py        |   0
 {common => openpilot/common}/filter_simple.py       |   0
 {common => openpilot/common}/git.py                 |   0
 {common => openpilot/common}/gpio.py                |   0
 {common => openpilot/common}/gps.py                 |   0
 {common => openpilot/common}/hardware/__init__.py   |   0
 {common => openpilot/common}/hardware/base.h        |   0
 {common => openpilot/common}/hardware/base.py       |   0
 {common => openpilot/common}/hardware/hw.h          |   0
 {common => openpilot/common}/hardware/hw.py         |   0
 .../common}/hardware/pc/__init__.py                 |   0
 {common => openpilot/common}/hardware/pc/hardware.h |   0
 .../common}/hardware/pc/hardware.py                 |   0
 .../common}/hardware/tici/__init__.py               |   0
 .../common}/hardware/tici/agnos.json                |   0
 {common => openpilot/common}/hardware/tici/agnos.py |   0
 .../common}/hardware/tici/all-partitions.json       |   0
 .../common}/hardware/tici/amplifier.py              |   0
 .../common}/hardware/tici/hardware.h                |   0
 .../common}/hardware/tici/hardware.py               |   0
 {common => openpilot/common}/hardware/tici/id_rsa   |   0
 {common => openpilot/common}/hardware/tici/modem.py |   0
 {common => openpilot/common}/hardware/tici/pins.py  |   0
 .../common}/hardware/tici/power_monitor.py          |   0
 .../common}/hardware/tici/tests/__init__.py         |   0
 .../hardware/tici/tests/test_agnos_updater.py       |   0
 .../common}/hardware/tici/tests/test_amplifier.py   |   0
 {common => openpilot/common}/hardware/tici/updater  |   0
 {common => openpilot/common}/i2c.py                 |   0
 {common => openpilot/common}/logging_extra.py       |   0
 {common => openpilot/common}/markdown.py            |   0
 {common => openpilot/common}/mock/__init__.py       |   0
 {common => openpilot/common}/mock/generators.py     |   0
 {common => openpilot/common}/parameterized.py       |   0
 {common => openpilot/common}/params.cc              |   0
 {common => openpilot/common}/params.h               |   0
 {common => openpilot/common}/params.py              |   0
 {common => openpilot/common}/params_keys.h          |   0
 {common => openpilot/common}/params_pyx.pyx         |   0
 {common => openpilot/common}/pid.py                 |   0
 {common => openpilot/common}/prefix.h               |   0
 {common => openpilot/common}/prefix.py              |   0
 {common => openpilot/common}/queue.h                |   0
 {common => openpilot/common}/ratekeeper.cc          |   0
 {common => openpilot/common}/ratekeeper.h           |   0
 {common => openpilot/common}/realtime.py            |   0
 {common => openpilot/common}/simple_kalman.py       |   0
 {common => openpilot/common}/spinner.py             |   0
 {common => openpilot/common}/stat_live.py           |   0
 {common => openpilot/common}/swaglog.cc             |   0
 {common => openpilot/common}/swaglog.h              |   0
 {common => openpilot/common}/swaglog.py             |   0
 {common => openpilot/common}/tests/.gitignore       |   0
 {common => openpilot/common}/tests/__init__.py      |   0
 .../common}/tests/test_file_helpers.py              |   0
 {common => openpilot/common}/tests/test_markdown.py |   0
 {common => openpilot/common}/tests/test_params.cc   |   0
 {common => openpilot/common}/tests/test_params.py   |   0
 {common => openpilot/common}/tests/test_runner.cc   |   0
 .../common}/tests/test_simple_kalman.py             |   0
 {common => openpilot/common}/tests/test_swaglog.cc  |   0
 {common => openpilot/common}/tests/test_util.cc     |   0
 {common => openpilot/common}/text_window.py         |   0
 {common => openpilot/common}/time_helpers.py        |   0
 {common => openpilot/common}/timeout.py             |   0
 {common => openpilot/common}/timing.h               |   0
 .../common}/transformations/README.md               |   0
 .../common}/transformations/__init__.py             |   0
 .../common}/transformations/camera.py               |   0
 .../common}/transformations/coordinates.py          |   0
 .../common}/transformations/model.py                |   0
 .../common}/transformations/orientation.py          |   0
 .../common}/transformations/tests/__init__.py       |   0
 .../transformations/tests/test_coordinates.py       |   0
 .../transformations/tests/test_orientation.py       |   0
 .../common}/transformations/transformations.py      |   0
 {common => openpilot/common}/util.cc                |   0
 {common => openpilot/common}/util.h                 |   0
 {common => openpilot/common}/utils.py               |   0
 {common => openpilot/common}/version.h              |   0
 {common => openpilot/common}/version.py             |   0
 openpilot/selfdrive                                 |   1 -
 {selfdrive => openpilot/selfdrive}/__init__.py      |   0
 .../selfdrive}/assets/.gitignore                    |   0
 .../selfdrive}/assets/assets.qrc                    |   0
 .../selfdrive}/assets/body/awake.gif                |   0
 .../selfdrive}/assets/body/sleep.gif                |   0
 .../selfdrive}/assets/compress-images.sh            |   0
 .../selfdrive}/assets/fonts/Inter-Black.ttf         |   0
 .../selfdrive}/assets/fonts/Inter-Bold.ttf          |   0
 .../selfdrive}/assets/fonts/Inter-ExtraBold.ttf     |   0
 .../selfdrive}/assets/fonts/Inter-ExtraLight.ttf    |   0
 .../selfdrive}/assets/fonts/Inter-Light.ttf         |   0
 .../selfdrive}/assets/fonts/Inter-Medium.ttf        |   0
 .../selfdrive}/assets/fonts/Inter-Regular.ttf       |   0
 .../selfdrive}/assets/fonts/Inter-SemiBold.ttf      |   0
 .../selfdrive}/assets/fonts/Inter-Thin.ttf          |   0
 .../assets/fonts/JetBrainsMono-Medium.ttf           |   0
 .../selfdrive}/assets/fonts/NotoColorEmoji.ttf      |   0
 .../selfdrive}/assets/fonts/process.py              |   0
 .../selfdrive}/assets/fonts/unifont.otf             |   0
 .../selfdrive}/assets/icons/arrow-right.png         |   0
 .../selfdrive}/assets/icons/backspace.png           |   0
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 .../selfdrive}/assets/icons/chffr_wheel.png         |   0
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 .../selfdrive}/assets/icons/circled_check.svg       |   0
 .../selfdrive}/assets/icons/circled_slash.png       |   0
 .../selfdrive}/assets/icons/circled_slash.svg       |   0
 .../selfdrive}/assets/icons/close.png               |   0
 .../selfdrive}/assets/icons/close.svg               |   0
 .../selfdrive}/assets/icons/close2.png              |   0
 .../selfdrive}/assets/icons/close2.svg              |   0
 .../selfdrive}/assets/icons/couch.png               |   0
 .../selfdrive}/assets/icons/couch.svg               |   0
 .../assets/icons/disengage_on_accelerator.png       |   0
 .../assets/icons/disengage_on_accelerator.svg       |   0
 .../selfdrive}/assets/icons/driver_face.png         |   0
 .../selfdrive}/assets/icons/experimental.png        |   0
 .../selfdrive}/assets/icons/experimental.svg        |   0
 .../selfdrive}/assets/icons/experimental_grey.png   |   0
 .../selfdrive}/assets/icons/experimental_grey.svg   |   0
 .../selfdrive}/assets/icons/experimental_white.png  |   0
 .../selfdrive}/assets/icons/experimental_white.svg  |   0
 .../selfdrive}/assets/icons/eye_closed.png          |   0
 .../selfdrive}/assets/icons/eye_closed.svg          |   0
 .../selfdrive}/assets/icons/eye_open.png            |   0
 .../selfdrive}/assets/icons/eye_open.svg            |   0
 .../selfdrive}/assets/icons/eyes_crossed.png        |   0
 .../selfdrive}/assets/icons/eyes_open.png           |   0
 .../selfdrive}/assets/icons/link.png                |   0
 .../selfdrive}/assets/icons/lock_closed.png         |   0
 .../selfdrive}/assets/icons/lock_closed.svg         |   0
 .../selfdrive}/assets/icons/menu.png                |   0
 .../selfdrive}/assets/icons/metric.png              |   0
 .../selfdrive}/assets/icons/microphone.png          |   0
 .../selfdrive}/assets/icons/minus.png               |   0
 .../selfdrive}/assets/icons/monitoring.png          |   0
 .../selfdrive}/assets/icons/network.png             |   0
 .../selfdrive}/assets/icons/road.png                |   0
 .../selfdrive}/assets/icons/settings.png            |   0
 .../selfdrive}/assets/icons/shell.png               |   0
 .../selfdrive}/assets/icons/shift-fill.png          |   0
 .../selfdrive}/assets/icons/shift.png               |   0
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 .../selfdrive}/assets/icons/triangle.svg            |   0
 .../selfdrive}/assets/icons/warning.png             |   0
 .../selfdrive}/assets/icons/wifi_strength_full.png  |   0
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 .../selfdrive}/assets/icons/wifi_strength_high.png  |   0
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 .../selfdrive}/assets/icons/wifi_strength_low.png   |   0
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 .../assets/icons/wifi_strength_medium.png           |   0
 .../assets/icons/wifi_strength_medium.svg           |   0
 .../selfdrive}/assets/icons/wifi_uploading.png      |   0
 .../selfdrive}/assets/icons/wifi_uploading.svg      |   0
 .../selfdrive}/assets/icons_mici/adb_short.png      |   0
 .../selfdrive}/assets/icons_mici/alerts_bell.png    |   0
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 .../icons_mici/buttons/button_circle_disabled.png   |   0
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 .../icons_mici/buttons/toggle_dot_enabled.png       |   0
 .../icons_mici/buttons/toggle_pill_disabled.png     |   0
 .../icons_mici/buttons/toggle_pill_enabled.png      |   0
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 .../selfdrive}/assets/icons_mici/egpu_gray.png      |   0
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 .../selfdrive}/assets/icons_mici/microphone.png     |   0
 .../assets/icons_mici/offroad_alerts/big_alert.png  |   0
 .../icons_mici/offroad_alerts/big_alert_pressed.png |   0
 .../icons_mici/offroad_alerts/green_wheel.png       |   0
 .../icons_mici/offroad_alerts/medium_alert.png      |   0
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 .../icons_mici/offroad_alerts/orange_warning.png    |   0
 .../icons_mici/offroad_alerts/red_warning.png       |   0
 .../icons_mici/offroad_alerts/small_alert.png       |   0
 .../offroad_alerts/small_alert_pressed.png          |   0
 .../assets/icons_mici/onroad/blind_spot_left.png    |   0
 .../assets/icons_mici/onroad/bookmark.png           |   0
 .../onroad/driver_monitoring/dm_background.png      |   0
 .../icons_mici/onroad/driver_monitoring/dm_cone.png |   0
 .../onroad/driver_monitoring/dm_person.png          |   0
 .../assets/icons_mici/onroad/eye_fill.png           |   0
 .../assets/icons_mici/onroad/eye_orange.png         |   0
 .../selfdrive}/assets/icons_mici/onroad/glasses.png |   0
 .../assets/icons_mici/onroad/onroad_fade.png        |   0
 .../assets/icons_mici/onroad/turn_signal_left.png   |   0
 .../selfdrive}/assets/icons_mici/settings.png       |   0
 .../assets/icons_mici/settings/comma_icon.png       |   0
 .../assets/icons_mici/settings/developer/ssh.png    |   0
 .../assets/icons_mici/settings/developer_icon.png   |   0
 .../assets/icons_mici/settings/device/cameras.png   |   0
 .../assets/icons_mici/settings/device/fcc_logo.png  |   0
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 rename {tools => openpilot/tools}/scripts/print_flags.py (100%)
 rename {tools => openpilot/tools}/scripts/profiling/clpeak/.gitignore (100%)
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 rename {tools => openpilot/tools}/scripts/profiling/perfetto/copy.sh (100%)
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 rename {tools => openpilot/tools}/sim/lib/simulated_sensors.py (100%)
 rename {tools => openpilot/tools}/sim/run_bridge.py (100%)
 rename {tools => openpilot/tools}/sim/tests/__init__.py (100%)
 rename {tools => openpilot/tools}/sim/tests/conftest.py (100%)
 rename {tools => openpilot/tools}/sim/tests/test_metadrive_bridge.py (100%)
 rename {tools => openpilot/tools}/sim/tests/test_sim_bridge.py (100%)

diff --git a/.gitattributes b/.gitattributes
index 507eb73c13a423..1cf541aa3a33ba 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -10,5 +10,5 @@
 *.otf filter=lfs diff=lfs merge=lfs -text
 *.wav filter=lfs diff=lfs merge=lfs -text
 
-selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-common/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
+openpilot/selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
+openpilot/common/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
diff --git a/.gitignore b/.gitignore
index 35a2fe8c5e7286..6581b90e7cf6be 100644
--- a/.gitignore
+++ b/.gitignore
@@ -44,18 +44,18 @@ bin/
 config.json
 compile_commands.json
 compare_runtime*.html
-selfdrive/modeld/models/tg_input_devices.json
+openpilot/selfdrive/modeld/models/tg_input_devices.json
 
 # build artifacts
 docs_site/
-selfdrive/pandad/pandad
+openpilot/selfdrive/pandad/pandad
 openpilot/cereal/services.h
 openpilot/cereal/gen
 openpilot/cereal/messaging/bridge
-selfdrive/ui/translations/tmp
-selfdrive/car/tests/cars_dump
-system/camerad/camerad
-system/camerad/test/ae_gray_test
+openpilot/selfdrive/ui/translations/tmp
+openpilot/selfdrive/car/tests/cars_dump
+openpilot/system/camerad/camerad
+openpilot/system/camerad/test/ae_gray_test
 
 .coverage*
 coverage.xml
diff --git a/openpilot/common b/openpilot/common
deleted file mode 120000
index 60d3b0a6a8f6b0..00000000000000
--- a/openpilot/common
+++ /dev/null
@@ -1 +0,0 @@
-../common
\ No newline at end of file
diff --git a/common/SConscript b/openpilot/common/SConscript
similarity index 100%
rename from common/SConscript
rename to openpilot/common/SConscript
diff --git a/common/__init__.py b/openpilot/common/__init__.py
similarity index 100%
rename from common/__init__.py
rename to openpilot/common/__init__.py
diff --git a/common/api.py b/openpilot/common/api.py
similarity index 100%
rename from common/api.py
rename to openpilot/common/api.py
diff --git a/common/basedir.py b/openpilot/common/basedir.py
similarity index 71%
rename from common/basedir.py
rename to openpilot/common/basedir.py
index 6b4811e53c3f89..49b092d930f670 100644
--- a/common/basedir.py
+++ b/openpilot/common/basedir.py
@@ -1,4 +1,4 @@
 import os
 
 
-BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../.."))
diff --git a/common/constants.py b/openpilot/common/constants.py
similarity index 100%
rename from common/constants.py
rename to openpilot/common/constants.py
diff --git a/common/esim/__init__.py b/openpilot/common/esim/__init__.py
similarity index 100%
rename from common/esim/__init__.py
rename to openpilot/common/esim/__init__.py
diff --git a/common/esim/base.py b/openpilot/common/esim/base.py
similarity index 100%
rename from common/esim/base.py
rename to openpilot/common/esim/base.py
diff --git a/common/esim/esim.py b/openpilot/common/esim/esim.py
similarity index 100%
rename from common/esim/esim.py
rename to openpilot/common/esim/esim.py
diff --git a/common/esim/gsma_ci_bundle.pem b/openpilot/common/esim/gsma_ci_bundle.pem
similarity index 100%
rename from common/esim/gsma_ci_bundle.pem
rename to openpilot/common/esim/gsma_ci_bundle.pem
diff --git a/common/esim/lpa.py b/openpilot/common/esim/lpa.py
similarity index 100%
rename from common/esim/lpa.py
rename to openpilot/common/esim/lpa.py
diff --git a/common/file_chunker.py b/openpilot/common/file_chunker.py
similarity index 100%
rename from common/file_chunker.py
rename to openpilot/common/file_chunker.py
diff --git a/common/filter_simple.py b/openpilot/common/filter_simple.py
similarity index 100%
rename from common/filter_simple.py
rename to openpilot/common/filter_simple.py
diff --git a/common/git.py b/openpilot/common/git.py
similarity index 100%
rename from common/git.py
rename to openpilot/common/git.py
diff --git a/common/gpio.py b/openpilot/common/gpio.py
similarity index 100%
rename from common/gpio.py
rename to openpilot/common/gpio.py
diff --git a/common/gps.py b/openpilot/common/gps.py
similarity index 100%
rename from common/gps.py
rename to openpilot/common/gps.py
diff --git a/common/hardware/__init__.py b/openpilot/common/hardware/__init__.py
similarity index 100%
rename from common/hardware/__init__.py
rename to openpilot/common/hardware/__init__.py
diff --git a/common/hardware/base.h b/openpilot/common/hardware/base.h
similarity index 100%
rename from common/hardware/base.h
rename to openpilot/common/hardware/base.h
diff --git a/common/hardware/base.py b/openpilot/common/hardware/base.py
similarity index 100%
rename from common/hardware/base.py
rename to openpilot/common/hardware/base.py
diff --git a/common/hardware/hw.h b/openpilot/common/hardware/hw.h
similarity index 100%
rename from common/hardware/hw.h
rename to openpilot/common/hardware/hw.h
diff --git a/common/hardware/hw.py b/openpilot/common/hardware/hw.py
similarity index 100%
rename from common/hardware/hw.py
rename to openpilot/common/hardware/hw.py
diff --git a/common/hardware/pc/__init__.py b/openpilot/common/hardware/pc/__init__.py
similarity index 100%
rename from common/hardware/pc/__init__.py
rename to openpilot/common/hardware/pc/__init__.py
diff --git a/common/hardware/pc/hardware.h b/openpilot/common/hardware/pc/hardware.h
similarity index 100%
rename from common/hardware/pc/hardware.h
rename to openpilot/common/hardware/pc/hardware.h
diff --git a/common/hardware/pc/hardware.py b/openpilot/common/hardware/pc/hardware.py
similarity index 100%
rename from common/hardware/pc/hardware.py
rename to openpilot/common/hardware/pc/hardware.py
diff --git a/common/hardware/tici/__init__.py b/openpilot/common/hardware/tici/__init__.py
similarity index 100%
rename from common/hardware/tici/__init__.py
rename to openpilot/common/hardware/tici/__init__.py
diff --git a/common/hardware/tici/agnos.json b/openpilot/common/hardware/tici/agnos.json
similarity index 100%
rename from common/hardware/tici/agnos.json
rename to openpilot/common/hardware/tici/agnos.json
diff --git a/common/hardware/tici/agnos.py b/openpilot/common/hardware/tici/agnos.py
similarity index 100%
rename from common/hardware/tici/agnos.py
rename to openpilot/common/hardware/tici/agnos.py
diff --git a/common/hardware/tici/all-partitions.json b/openpilot/common/hardware/tici/all-partitions.json
similarity index 100%
rename from common/hardware/tici/all-partitions.json
rename to openpilot/common/hardware/tici/all-partitions.json
diff --git a/common/hardware/tici/amplifier.py b/openpilot/common/hardware/tici/amplifier.py
similarity index 100%
rename from common/hardware/tici/amplifier.py
rename to openpilot/common/hardware/tici/amplifier.py
diff --git a/common/hardware/tici/hardware.h b/openpilot/common/hardware/tici/hardware.h
similarity index 100%
rename from common/hardware/tici/hardware.h
rename to openpilot/common/hardware/tici/hardware.h
diff --git a/common/hardware/tici/hardware.py b/openpilot/common/hardware/tici/hardware.py
similarity index 100%
rename from common/hardware/tici/hardware.py
rename to openpilot/common/hardware/tici/hardware.py
diff --git a/common/hardware/tici/id_rsa b/openpilot/common/hardware/tici/id_rsa
similarity index 100%
rename from common/hardware/tici/id_rsa
rename to openpilot/common/hardware/tici/id_rsa
diff --git a/common/hardware/tici/modem.py b/openpilot/common/hardware/tici/modem.py
similarity index 100%
rename from common/hardware/tici/modem.py
rename to openpilot/common/hardware/tici/modem.py
diff --git a/common/hardware/tici/pins.py b/openpilot/common/hardware/tici/pins.py
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diff --git a/common/hardware/tici/power_monitor.py b/openpilot/common/hardware/tici/power_monitor.py
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rename to openpilot/common/hardware/tici/power_monitor.py
diff --git a/common/hardware/tici/tests/__init__.py b/openpilot/common/hardware/tici/tests/__init__.py
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rename from common/hardware/tici/tests/test_amplifier.py
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rename from common/hardware/tici/updater
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diff --git a/common/logging_extra.py b/openpilot/common/logging_extra.py
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diff --git a/common/mock/__init__.py b/openpilot/common/mock/__init__.py
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diff --git a/common/parameterized.py b/openpilot/common/parameterized.py
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diff --git a/common/params_keys.h b/openpilot/common/params_keys.h
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diff --git a/common/params_pyx.pyx b/openpilot/common/params_pyx.pyx
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diff --git a/common/prefix.h b/openpilot/common/prefix.h
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diff --git a/common/prefix.py b/openpilot/common/prefix.py
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diff --git a/common/queue.h b/openpilot/common/queue.h
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diff --git a/common/ratekeeper.cc b/openpilot/common/ratekeeper.cc
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diff --git a/common/simple_kalman.py b/openpilot/common/simple_kalman.py
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diff --git a/common/spinner.py b/openpilot/common/spinner.py
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diff --git a/common/stat_live.py b/openpilot/common/stat_live.py
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diff --git a/common/swaglog.cc b/openpilot/common/swaglog.cc
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diff --git a/common/swaglog.h b/openpilot/common/swaglog.h
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diff --git a/common/swaglog.py b/openpilot/common/swaglog.py
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diff --git a/common/tests/.gitignore b/openpilot/common/tests/.gitignore
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diff --git a/common/tests/__init__.py b/openpilot/common/tests/__init__.py
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diff --git a/common/tests/test_file_helpers.py b/openpilot/common/tests/test_file_helpers.py
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diff --git a/common/tests/test_markdown.py b/openpilot/common/tests/test_markdown.py
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diff --git a/common/tests/test_params.cc b/openpilot/common/tests/test_params.cc
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diff --git a/common/tests/test_params.py b/openpilot/common/tests/test_params.py
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diff --git a/common/tests/test_runner.cc b/openpilot/common/tests/test_runner.cc
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diff --git a/common/tests/test_simple_kalman.py b/openpilot/common/tests/test_simple_kalman.py
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diff --git a/common/tests/test_swaglog.cc b/openpilot/common/tests/test_swaglog.cc
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diff --git a/common/tests/test_util.cc b/openpilot/common/tests/test_util.cc
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diff --git a/common/text_window.py b/openpilot/common/text_window.py
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diff --git a/common/time_helpers.py b/openpilot/common/time_helpers.py
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diff --git a/common/timeout.py b/openpilot/common/timeout.py
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diff --git a/common/timing.h b/openpilot/common/timing.h
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diff --git a/common/transformations/README.md b/openpilot/common/transformations/README.md
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diff --git a/common/transformations/__init__.py b/openpilot/common/transformations/__init__.py
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diff --git a/common/transformations/camera.py b/openpilot/common/transformations/camera.py
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diff --git a/common/transformations/coordinates.py b/openpilot/common/transformations/coordinates.py
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diff --git a/common/transformations/model.py b/openpilot/common/transformations/model.py
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diff --git a/common/transformations/orientation.py b/openpilot/common/transformations/orientation.py
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diff --git a/common/transformations/tests/__init__.py b/openpilot/common/transformations/tests/__init__.py
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diff --git a/common/transformations/tests/test_orientation.py b/openpilot/common/transformations/tests/test_orientation.py
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diff --git a/common/transformations/transformations.py b/openpilot/common/transformations/transformations.py
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diff --git a/common/util.cc b/openpilot/common/util.cc
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diff --git a/common/util.h b/openpilot/common/util.h
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diff --git a/common/utils.py b/openpilot/common/utils.py
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diff --git a/common/version.h b/openpilot/common/version.h
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diff --git a/openpilot/selfdrive b/openpilot/selfdrive
deleted file mode 120000
index e005fd0d04dbca..00000000000000
--- a/openpilot/selfdrive
+++ /dev/null
@@ -1 +0,0 @@
-../selfdrive/
\ No newline at end of file
diff --git a/selfdrive/__init__.py b/openpilot/selfdrive/__init__.py
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diff --git a/selfdrive/assets/.gitignore b/openpilot/selfdrive/assets/.gitignore
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diff --git a/selfdrive/assets/assets.qrc b/openpilot/selfdrive/assets/assets.qrc
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diff --git a/selfdrive/assets/body/awake.gif b/openpilot/selfdrive/assets/body/awake.gif
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diff --git a/selfdrive/assets/compress-images.sh b/openpilot/selfdrive/assets/compress-images.sh
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diff --git a/selfdrive/assets/icons/experimental.svg b/openpilot/selfdrive/assets/icons/experimental.svg
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diff --git a/selfdrive/assets/icons/eye_closed.png b/openpilot/selfdrive/assets/icons/eye_closed.png
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diff --git a/selfdrive/assets/icons/eye_open.png b/openpilot/selfdrive/assets/icons/eye_open.png
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rename from selfdrive/assets/icons/eye_open.png
rename to openpilot/selfdrive/assets/icons/eye_open.png
diff --git a/selfdrive/assets/icons/eye_open.svg b/openpilot/selfdrive/assets/icons/eye_open.svg
similarity index 100%
rename from selfdrive/assets/icons/eye_open.svg
rename to openpilot/selfdrive/assets/icons/eye_open.svg
diff --git a/selfdrive/assets/icons/eyes_crossed.png b/openpilot/selfdrive/assets/icons/eyes_crossed.png
similarity index 100%
rename from selfdrive/assets/icons/eyes_crossed.png
rename to openpilot/selfdrive/assets/icons/eyes_crossed.png
diff --git a/selfdrive/assets/icons/eyes_open.png b/openpilot/selfdrive/assets/icons/eyes_open.png
similarity index 100%
rename from selfdrive/assets/icons/eyes_open.png
rename to openpilot/selfdrive/assets/icons/eyes_open.png
diff --git a/selfdrive/assets/icons/link.png b/openpilot/selfdrive/assets/icons/link.png
similarity index 100%
rename from selfdrive/assets/icons/link.png
rename to openpilot/selfdrive/assets/icons/link.png
diff --git a/selfdrive/assets/icons/lock_closed.png b/openpilot/selfdrive/assets/icons/lock_closed.png
similarity index 100%
rename from selfdrive/assets/icons/lock_closed.png
rename to openpilot/selfdrive/assets/icons/lock_closed.png
diff --git a/selfdrive/assets/icons/lock_closed.svg b/openpilot/selfdrive/assets/icons/lock_closed.svg
similarity index 100%
rename from selfdrive/assets/icons/lock_closed.svg
rename to openpilot/selfdrive/assets/icons/lock_closed.svg
diff --git a/selfdrive/assets/icons/menu.png b/openpilot/selfdrive/assets/icons/menu.png
similarity index 100%
rename from selfdrive/assets/icons/menu.png
rename to openpilot/selfdrive/assets/icons/menu.png
diff --git a/selfdrive/assets/icons/metric.png b/openpilot/selfdrive/assets/icons/metric.png
similarity index 100%
rename from selfdrive/assets/icons/metric.png
rename to openpilot/selfdrive/assets/icons/metric.png
diff --git a/selfdrive/assets/icons/microphone.png b/openpilot/selfdrive/assets/icons/microphone.png
similarity index 100%
rename from selfdrive/assets/icons/microphone.png
rename to openpilot/selfdrive/assets/icons/microphone.png
diff --git a/selfdrive/assets/icons/minus.png b/openpilot/selfdrive/assets/icons/minus.png
similarity index 100%
rename from selfdrive/assets/icons/minus.png
rename to openpilot/selfdrive/assets/icons/minus.png
diff --git a/selfdrive/assets/icons/monitoring.png b/openpilot/selfdrive/assets/icons/monitoring.png
similarity index 100%
rename from selfdrive/assets/icons/monitoring.png
rename to openpilot/selfdrive/assets/icons/monitoring.png
diff --git a/selfdrive/assets/icons/network.png b/openpilot/selfdrive/assets/icons/network.png
similarity index 100%
rename from selfdrive/assets/icons/network.png
rename to openpilot/selfdrive/assets/icons/network.png
diff --git a/selfdrive/assets/icons/road.png b/openpilot/selfdrive/assets/icons/road.png
similarity index 100%
rename from selfdrive/assets/icons/road.png
rename to openpilot/selfdrive/assets/icons/road.png
diff --git a/selfdrive/assets/icons/settings.png b/openpilot/selfdrive/assets/icons/settings.png
similarity index 100%
rename from selfdrive/assets/icons/settings.png
rename to openpilot/selfdrive/assets/icons/settings.png
diff --git a/selfdrive/assets/icons/shell.png b/openpilot/selfdrive/assets/icons/shell.png
similarity index 100%
rename from selfdrive/assets/icons/shell.png
rename to openpilot/selfdrive/assets/icons/shell.png
diff --git a/selfdrive/assets/icons/shift-fill.png b/openpilot/selfdrive/assets/icons/shift-fill.png
similarity index 100%
rename from selfdrive/assets/icons/shift-fill.png
rename to openpilot/selfdrive/assets/icons/shift-fill.png
diff --git a/selfdrive/assets/icons/shift.png b/openpilot/selfdrive/assets/icons/shift.png
similarity index 100%
rename from selfdrive/assets/icons/shift.png
rename to openpilot/selfdrive/assets/icons/shift.png
diff --git a/selfdrive/assets/icons/speed_limit.png b/openpilot/selfdrive/assets/icons/speed_limit.png
similarity index 100%
rename from selfdrive/assets/icons/speed_limit.png
rename to openpilot/selfdrive/assets/icons/speed_limit.png
diff --git a/selfdrive/assets/icons/triangle.png b/openpilot/selfdrive/assets/icons/triangle.png
similarity index 100%
rename from selfdrive/assets/icons/triangle.png
rename to openpilot/selfdrive/assets/icons/triangle.png
diff --git a/selfdrive/assets/icons/triangle.svg b/openpilot/selfdrive/assets/icons/triangle.svg
similarity index 100%
rename from selfdrive/assets/icons/triangle.svg
rename to openpilot/selfdrive/assets/icons/triangle.svg
diff --git a/selfdrive/assets/icons/warning.png b/openpilot/selfdrive/assets/icons/warning.png
similarity index 100%
rename from selfdrive/assets/icons/warning.png
rename to openpilot/selfdrive/assets/icons/warning.png
diff --git a/selfdrive/assets/icons/wifi_strength_full.png b/openpilot/selfdrive/assets/icons/wifi_strength_full.png
similarity index 100%
rename from selfdrive/assets/icons/wifi_strength_full.png
rename to openpilot/selfdrive/assets/icons/wifi_strength_full.png
diff --git a/selfdrive/assets/icons/wifi_strength_full.svg b/openpilot/selfdrive/assets/icons/wifi_strength_full.svg
similarity index 100%
rename from selfdrive/assets/icons/wifi_strength_full.svg
rename to openpilot/selfdrive/assets/icons/wifi_strength_full.svg
diff --git a/selfdrive/assets/icons/wifi_strength_high.png b/openpilot/selfdrive/assets/icons/wifi_strength_high.png
similarity index 100%
rename from selfdrive/assets/icons/wifi_strength_high.png
rename to openpilot/selfdrive/assets/icons/wifi_strength_high.png
diff --git a/selfdrive/assets/icons/wifi_strength_high.svg b/openpilot/selfdrive/assets/icons/wifi_strength_high.svg
similarity index 100%
rename from selfdrive/assets/icons/wifi_strength_high.svg
rename to openpilot/selfdrive/assets/icons/wifi_strength_high.svg
diff --git a/selfdrive/assets/icons/wifi_strength_low.png b/openpilot/selfdrive/assets/icons/wifi_strength_low.png
similarity index 100%
rename from selfdrive/assets/icons/wifi_strength_low.png
rename to openpilot/selfdrive/assets/icons/wifi_strength_low.png
diff --git a/selfdrive/assets/icons/wifi_strength_low.svg b/openpilot/selfdrive/assets/icons/wifi_strength_low.svg
similarity index 100%
rename from selfdrive/assets/icons/wifi_strength_low.svg
rename to openpilot/selfdrive/assets/icons/wifi_strength_low.svg
diff --git a/selfdrive/assets/icons/wifi_strength_medium.png b/openpilot/selfdrive/assets/icons/wifi_strength_medium.png
similarity index 100%
rename from selfdrive/assets/icons/wifi_strength_medium.png
rename to openpilot/selfdrive/assets/icons/wifi_strength_medium.png
diff --git a/selfdrive/assets/icons/wifi_strength_medium.svg b/openpilot/selfdrive/assets/icons/wifi_strength_medium.svg
similarity index 100%
rename from selfdrive/assets/icons/wifi_strength_medium.svg
rename to openpilot/selfdrive/assets/icons/wifi_strength_medium.svg
diff --git a/selfdrive/assets/icons/wifi_uploading.png b/openpilot/selfdrive/assets/icons/wifi_uploading.png
similarity index 100%
rename from selfdrive/assets/icons/wifi_uploading.png
rename to openpilot/selfdrive/assets/icons/wifi_uploading.png
diff --git a/selfdrive/assets/icons/wifi_uploading.svg b/openpilot/selfdrive/assets/icons/wifi_uploading.svg
similarity index 100%
rename from selfdrive/assets/icons/wifi_uploading.svg
rename to openpilot/selfdrive/assets/icons/wifi_uploading.svg
diff --git a/selfdrive/assets/icons_mici/adb_short.png b/openpilot/selfdrive/assets/icons_mici/adb_short.png
similarity index 100%
rename from selfdrive/assets/icons_mici/adb_short.png
rename to openpilot/selfdrive/assets/icons_mici/adb_short.png
diff --git a/selfdrive/assets/icons_mici/alerts_bell.png b/openpilot/selfdrive/assets/icons_mici/alerts_bell.png
similarity index 100%
rename from selfdrive/assets/icons_mici/alerts_bell.png
rename to openpilot/selfdrive/assets/icons_mici/alerts_bell.png
diff --git a/selfdrive/assets/icons_mici/alerts_pill.png b/openpilot/selfdrive/assets/icons_mici/alerts_pill.png
similarity index 100%
rename from selfdrive/assets/icons_mici/alerts_pill.png
rename to openpilot/selfdrive/assets/icons_mici/alerts_pill.png
diff --git a/selfdrive/assets/icons_mici/body.png b/openpilot/selfdrive/assets/icons_mici/body.png
similarity index 100%
rename from selfdrive/assets/icons_mici/body.png
rename to openpilot/selfdrive/assets/icons_mici/body.png
diff --git a/selfdrive/assets/icons_mici/buttons/button_circle.png b/openpilot/selfdrive/assets/icons_mici/buttons/button_circle.png
similarity index 100%
rename from selfdrive/assets/icons_mici/buttons/button_circle.png
rename to openpilot/selfdrive/assets/icons_mici/buttons/button_circle.png
diff --git a/selfdrive/assets/icons_mici/buttons/button_circle_disabled.png b/openpilot/selfdrive/assets/icons_mici/buttons/button_circle_disabled.png
similarity index 100%
rename from selfdrive/assets/icons_mici/buttons/button_circle_disabled.png
rename to openpilot/selfdrive/assets/icons_mici/buttons/button_circle_disabled.png
diff --git a/selfdrive/assets/icons_mici/buttons/button_circle_pressed.png b/openpilot/selfdrive/assets/icons_mici/buttons/button_circle_pressed.png
similarity index 100%
rename from selfdrive/assets/icons_mici/buttons/button_circle_pressed.png
rename to openpilot/selfdrive/assets/icons_mici/buttons/button_circle_pressed.png
diff --git a/selfdrive/assets/icons_mici/buttons/button_circle_red.png b/openpilot/selfdrive/assets/icons_mici/buttons/button_circle_red.png
similarity index 100%
rename from selfdrive/assets/icons_mici/buttons/button_circle_red.png
rename to openpilot/selfdrive/assets/icons_mici/buttons/button_circle_red.png
diff --git a/selfdrive/assets/icons_mici/buttons/button_circle_red_pressed.png b/openpilot/selfdrive/assets/icons_mici/buttons/button_circle_red_pressed.png
similarity index 100%
rename from selfdrive/assets/icons_mici/buttons/button_circle_red_pressed.png
rename to openpilot/selfdrive/assets/icons_mici/buttons/button_circle_red_pressed.png
diff --git a/selfdrive/assets/icons_mici/buttons/button_rectangle.png b/openpilot/selfdrive/assets/icons_mici/buttons/button_rectangle.png
similarity index 100%
rename from selfdrive/assets/icons_mici/buttons/button_rectangle.png
rename to openpilot/selfdrive/assets/icons_mici/buttons/button_rectangle.png
diff --git a/selfdrive/assets/icons_mici/buttons/button_rectangle_disabled.png b/openpilot/selfdrive/assets/icons_mici/buttons/button_rectangle_disabled.png
similarity index 100%
rename from selfdrive/assets/icons_mici/buttons/button_rectangle_disabled.png
rename to openpilot/selfdrive/assets/icons_mici/buttons/button_rectangle_disabled.png
diff --git a/selfdrive/assets/icons_mici/buttons/button_rectangle_pressed.png b/openpilot/selfdrive/assets/icons_mici/buttons/button_rectangle_pressed.png
similarity index 100%
rename from selfdrive/assets/icons_mici/buttons/button_rectangle_pressed.png
rename to openpilot/selfdrive/assets/icons_mici/buttons/button_rectangle_pressed.png
diff --git a/selfdrive/assets/icons_mici/buttons/slider_bg.png b/openpilot/selfdrive/assets/icons_mici/buttons/slider_bg.png
similarity index 100%
rename from selfdrive/assets/icons_mici/buttons/slider_bg.png
rename to openpilot/selfdrive/assets/icons_mici/buttons/slider_bg.png
diff --git a/selfdrive/assets/icons_mici/buttons/toggle_dot_disabled.png b/openpilot/selfdrive/assets/icons_mici/buttons/toggle_dot_disabled.png
similarity index 100%
rename from selfdrive/assets/icons_mici/buttons/toggle_dot_disabled.png
rename to openpilot/selfdrive/assets/icons_mici/buttons/toggle_dot_disabled.png
diff --git a/selfdrive/assets/icons_mici/buttons/toggle_dot_enabled.png b/openpilot/selfdrive/assets/icons_mici/buttons/toggle_dot_enabled.png
similarity index 100%
rename from selfdrive/assets/icons_mici/buttons/toggle_dot_enabled.png
rename to openpilot/selfdrive/assets/icons_mici/buttons/toggle_dot_enabled.png
diff --git a/selfdrive/assets/icons_mici/buttons/toggle_pill_disabled.png b/openpilot/selfdrive/assets/icons_mici/buttons/toggle_pill_disabled.png
similarity index 100%
rename from selfdrive/assets/icons_mici/buttons/toggle_pill_disabled.png
rename to openpilot/selfdrive/assets/icons_mici/buttons/toggle_pill_disabled.png
diff --git a/selfdrive/assets/icons_mici/buttons/toggle_pill_enabled.png b/openpilot/selfdrive/assets/icons_mici/buttons/toggle_pill_enabled.png
similarity index 100%
rename from selfdrive/assets/icons_mici/buttons/toggle_pill_enabled.png
rename to openpilot/selfdrive/assets/icons_mici/buttons/toggle_pill_enabled.png
diff --git a/selfdrive/assets/icons_mici/egpu.png b/openpilot/selfdrive/assets/icons_mici/egpu.png
similarity index 100%
rename from selfdrive/assets/icons_mici/egpu.png
rename to openpilot/selfdrive/assets/icons_mici/egpu.png
diff --git a/selfdrive/assets/icons_mici/egpu_gray.png b/openpilot/selfdrive/assets/icons_mici/egpu_gray.png
similarity index 100%
rename from selfdrive/assets/icons_mici/egpu_gray.png
rename to openpilot/selfdrive/assets/icons_mici/egpu_gray.png
diff --git a/selfdrive/assets/icons_mici/exclamation_point.png b/openpilot/selfdrive/assets/icons_mici/exclamation_point.png
similarity index 100%
rename from selfdrive/assets/icons_mici/exclamation_point.png
rename to openpilot/selfdrive/assets/icons_mici/exclamation_point.png
diff --git a/selfdrive/assets/icons_mici/experimental_mode.png b/openpilot/selfdrive/assets/icons_mici/experimental_mode.png
similarity index 100%
rename from selfdrive/assets/icons_mici/experimental_mode.png
rename to openpilot/selfdrive/assets/icons_mici/experimental_mode.png
diff --git a/selfdrive/assets/icons_mici/microphone.png b/openpilot/selfdrive/assets/icons_mici/microphone.png
similarity index 100%
rename from selfdrive/assets/icons_mici/microphone.png
rename to openpilot/selfdrive/assets/icons_mici/microphone.png
diff --git a/selfdrive/assets/icons_mici/offroad_alerts/big_alert.png b/openpilot/selfdrive/assets/icons_mici/offroad_alerts/big_alert.png
similarity index 100%
rename from selfdrive/assets/icons_mici/offroad_alerts/big_alert.png
rename to openpilot/selfdrive/assets/icons_mici/offroad_alerts/big_alert.png
diff --git a/selfdrive/assets/icons_mici/offroad_alerts/big_alert_pressed.png b/openpilot/selfdrive/assets/icons_mici/offroad_alerts/big_alert_pressed.png
similarity index 100%
rename from selfdrive/assets/icons_mici/offroad_alerts/big_alert_pressed.png
rename to openpilot/selfdrive/assets/icons_mici/offroad_alerts/big_alert_pressed.png
diff --git a/selfdrive/assets/icons_mici/offroad_alerts/green_wheel.png b/openpilot/selfdrive/assets/icons_mici/offroad_alerts/green_wheel.png
similarity index 100%
rename from selfdrive/assets/icons_mici/offroad_alerts/green_wheel.png
rename to openpilot/selfdrive/assets/icons_mici/offroad_alerts/green_wheel.png
diff --git a/selfdrive/assets/icons_mici/offroad_alerts/medium_alert.png b/openpilot/selfdrive/assets/icons_mici/offroad_alerts/medium_alert.png
similarity index 100%
rename from selfdrive/assets/icons_mici/offroad_alerts/medium_alert.png
rename to openpilot/selfdrive/assets/icons_mici/offroad_alerts/medium_alert.png
diff --git a/selfdrive/assets/icons_mici/offroad_alerts/medium_alert_pressed.png b/openpilot/selfdrive/assets/icons_mici/offroad_alerts/medium_alert_pressed.png
similarity index 100%
rename from selfdrive/assets/icons_mici/offroad_alerts/medium_alert_pressed.png
rename to openpilot/selfdrive/assets/icons_mici/offroad_alerts/medium_alert_pressed.png
diff --git a/selfdrive/assets/icons_mici/offroad_alerts/orange_warning.png b/openpilot/selfdrive/assets/icons_mici/offroad_alerts/orange_warning.png
similarity index 100%
rename from selfdrive/assets/icons_mici/offroad_alerts/orange_warning.png
rename to openpilot/selfdrive/assets/icons_mici/offroad_alerts/orange_warning.png
diff --git a/selfdrive/assets/icons_mici/offroad_alerts/red_warning.png b/openpilot/selfdrive/assets/icons_mici/offroad_alerts/red_warning.png
similarity index 100%
rename from selfdrive/assets/icons_mici/offroad_alerts/red_warning.png
rename to openpilot/selfdrive/assets/icons_mici/offroad_alerts/red_warning.png
diff --git a/selfdrive/assets/icons_mici/offroad_alerts/small_alert.png b/openpilot/selfdrive/assets/icons_mici/offroad_alerts/small_alert.png
similarity index 100%
rename from selfdrive/assets/icons_mici/offroad_alerts/small_alert.png
rename to openpilot/selfdrive/assets/icons_mici/offroad_alerts/small_alert.png
diff --git a/selfdrive/assets/icons_mici/offroad_alerts/small_alert_pressed.png b/openpilot/selfdrive/assets/icons_mici/offroad_alerts/small_alert_pressed.png
similarity index 100%
rename from selfdrive/assets/icons_mici/offroad_alerts/small_alert_pressed.png
rename to openpilot/selfdrive/assets/icons_mici/offroad_alerts/small_alert_pressed.png
diff --git a/selfdrive/assets/icons_mici/onroad/blind_spot_left.png b/openpilot/selfdrive/assets/icons_mici/onroad/blind_spot_left.png
similarity index 100%
rename from selfdrive/assets/icons_mici/onroad/blind_spot_left.png
rename to openpilot/selfdrive/assets/icons_mici/onroad/blind_spot_left.png
diff --git a/selfdrive/assets/icons_mici/onroad/bookmark.png b/openpilot/selfdrive/assets/icons_mici/onroad/bookmark.png
similarity index 100%
rename from selfdrive/assets/icons_mici/onroad/bookmark.png
rename to openpilot/selfdrive/assets/icons_mici/onroad/bookmark.png
diff --git a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_background.png b/openpilot/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_background.png
similarity index 100%
rename from selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_background.png
rename to openpilot/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_background.png
diff --git a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png b/openpilot/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png
similarity index 100%
rename from selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png
rename to openpilot/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png
diff --git a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_person.png b/openpilot/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_person.png
similarity index 100%
rename from selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_person.png
rename to openpilot/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_person.png
diff --git a/selfdrive/assets/icons_mici/onroad/eye_fill.png b/openpilot/selfdrive/assets/icons_mici/onroad/eye_fill.png
similarity index 100%
rename from selfdrive/assets/icons_mici/onroad/eye_fill.png
rename to openpilot/selfdrive/assets/icons_mici/onroad/eye_fill.png
diff --git a/selfdrive/assets/icons_mici/onroad/eye_orange.png b/openpilot/selfdrive/assets/icons_mici/onroad/eye_orange.png
similarity index 100%
rename from selfdrive/assets/icons_mici/onroad/eye_orange.png
rename to openpilot/selfdrive/assets/icons_mici/onroad/eye_orange.png
diff --git a/selfdrive/assets/icons_mici/onroad/glasses.png b/openpilot/selfdrive/assets/icons_mici/onroad/glasses.png
similarity index 100%
rename from selfdrive/assets/icons_mici/onroad/glasses.png
rename to openpilot/selfdrive/assets/icons_mici/onroad/glasses.png
diff --git a/selfdrive/assets/icons_mici/onroad/onroad_fade.png b/openpilot/selfdrive/assets/icons_mici/onroad/onroad_fade.png
similarity index 100%
rename from selfdrive/assets/icons_mici/onroad/onroad_fade.png
rename to openpilot/selfdrive/assets/icons_mici/onroad/onroad_fade.png
diff --git a/selfdrive/assets/icons_mici/onroad/turn_signal_left.png b/openpilot/selfdrive/assets/icons_mici/onroad/turn_signal_left.png
similarity index 100%
rename from selfdrive/assets/icons_mici/onroad/turn_signal_left.png
rename to openpilot/selfdrive/assets/icons_mici/onroad/turn_signal_left.png
diff --git a/selfdrive/assets/icons_mici/settings.png b/openpilot/selfdrive/assets/icons_mici/settings.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings.png
rename to openpilot/selfdrive/assets/icons_mici/settings.png
diff --git a/selfdrive/assets/icons_mici/settings/comma_icon.png b/openpilot/selfdrive/assets/icons_mici/settings/comma_icon.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/comma_icon.png
rename to openpilot/selfdrive/assets/icons_mici/settings/comma_icon.png
diff --git a/selfdrive/assets/icons_mici/settings/developer/ssh.png b/openpilot/selfdrive/assets/icons_mici/settings/developer/ssh.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/developer/ssh.png
rename to openpilot/selfdrive/assets/icons_mici/settings/developer/ssh.png
diff --git a/selfdrive/assets/icons_mici/settings/developer_icon.png b/openpilot/selfdrive/assets/icons_mici/settings/developer_icon.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/developer_icon.png
rename to openpilot/selfdrive/assets/icons_mici/settings/developer_icon.png
diff --git a/selfdrive/assets/icons_mici/settings/device/cameras.png b/openpilot/selfdrive/assets/icons_mici/settings/device/cameras.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/device/cameras.png
rename to openpilot/selfdrive/assets/icons_mici/settings/device/cameras.png
diff --git a/selfdrive/assets/icons_mici/settings/device/fcc_logo.png b/openpilot/selfdrive/assets/icons_mici/settings/device/fcc_logo.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/device/fcc_logo.png
rename to openpilot/selfdrive/assets/icons_mici/settings/device/fcc_logo.png
diff --git a/selfdrive/assets/icons_mici/settings/device/info.png b/openpilot/selfdrive/assets/icons_mici/settings/device/info.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/device/info.png
rename to openpilot/selfdrive/assets/icons_mici/settings/device/info.png
diff --git a/selfdrive/assets/icons_mici/settings/device/lkas.png b/openpilot/selfdrive/assets/icons_mici/settings/device/lkas.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/device/lkas.png
rename to openpilot/selfdrive/assets/icons_mici/settings/device/lkas.png
diff --git a/selfdrive/assets/icons_mici/settings/device/pair.png b/openpilot/selfdrive/assets/icons_mici/settings/device/pair.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/device/pair.png
rename to openpilot/selfdrive/assets/icons_mici/settings/device/pair.png
diff --git a/selfdrive/assets/icons_mici/settings/device/power.png b/openpilot/selfdrive/assets/icons_mici/settings/device/power.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/device/power.png
rename to openpilot/selfdrive/assets/icons_mici/settings/device/power.png
diff --git a/selfdrive/assets/icons_mici/settings/device/reboot.png b/openpilot/selfdrive/assets/icons_mici/settings/device/reboot.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/device/reboot.png
rename to openpilot/selfdrive/assets/icons_mici/settings/device/reboot.png
diff --git a/selfdrive/assets/icons_mici/settings/device/uninstall.png b/openpilot/selfdrive/assets/icons_mici/settings/device/uninstall.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/device/uninstall.png
rename to openpilot/selfdrive/assets/icons_mici/settings/device/uninstall.png
diff --git a/selfdrive/assets/icons_mici/settings/device/up_to_date.png b/openpilot/selfdrive/assets/icons_mici/settings/device/up_to_date.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/device/up_to_date.png
rename to openpilot/selfdrive/assets/icons_mici/settings/device/up_to_date.png
diff --git a/selfdrive/assets/icons_mici/settings/device/update.png b/openpilot/selfdrive/assets/icons_mici/settings/device/update.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/device/update.png
rename to openpilot/selfdrive/assets/icons_mici/settings/device/update.png
diff --git a/selfdrive/assets/icons_mici/settings/device_icon.png b/openpilot/selfdrive/assets/icons_mici/settings/device_icon.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/device_icon.png
rename to openpilot/selfdrive/assets/icons_mici/settings/device_icon.png
diff --git a/selfdrive/assets/icons_mici/settings/firehose.png b/openpilot/selfdrive/assets/icons_mici/settings/firehose.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/firehose.png
rename to openpilot/selfdrive/assets/icons_mici/settings/firehose.png
diff --git a/selfdrive/assets/icons_mici/settings/horizontal_scroll_indicator.png b/openpilot/selfdrive/assets/icons_mici/settings/horizontal_scroll_indicator.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/horizontal_scroll_indicator.png
rename to openpilot/selfdrive/assets/icons_mici/settings/horizontal_scroll_indicator.png
diff --git a/selfdrive/assets/icons_mici/settings/keyboard/backspace.png b/openpilot/selfdrive/assets/icons_mici/settings/keyboard/backspace.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/keyboard/backspace.png
rename to openpilot/selfdrive/assets/icons_mici/settings/keyboard/backspace.png
diff --git a/selfdrive/assets/icons_mici/settings/keyboard/caps_lock.png b/openpilot/selfdrive/assets/icons_mici/settings/keyboard/caps_lock.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/keyboard/caps_lock.png
rename to openpilot/selfdrive/assets/icons_mici/settings/keyboard/caps_lock.png
diff --git a/selfdrive/assets/icons_mici/settings/keyboard/caps_lower.png b/openpilot/selfdrive/assets/icons_mici/settings/keyboard/caps_lower.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/keyboard/caps_lower.png
rename to openpilot/selfdrive/assets/icons_mici/settings/keyboard/caps_lower.png
diff --git a/selfdrive/assets/icons_mici/settings/keyboard/caps_upper.png b/openpilot/selfdrive/assets/icons_mici/settings/keyboard/caps_upper.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/keyboard/caps_upper.png
rename to openpilot/selfdrive/assets/icons_mici/settings/keyboard/caps_upper.png
diff --git a/selfdrive/assets/icons_mici/settings/keyboard/enter.png b/openpilot/selfdrive/assets/icons_mici/settings/keyboard/enter.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/keyboard/enter.png
rename to openpilot/selfdrive/assets/icons_mici/settings/keyboard/enter.png
diff --git a/selfdrive/assets/icons_mici/settings/keyboard/enter_disabled.png b/openpilot/selfdrive/assets/icons_mici/settings/keyboard/enter_disabled.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/keyboard/enter_disabled.png
rename to openpilot/selfdrive/assets/icons_mici/settings/keyboard/enter_disabled.png
diff --git a/selfdrive/assets/icons_mici/settings/keyboard/keyboard_background.png b/openpilot/selfdrive/assets/icons_mici/settings/keyboard/keyboard_background.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/keyboard/keyboard_background.png
rename to openpilot/selfdrive/assets/icons_mici/settings/keyboard/keyboard_background.png
diff --git a/selfdrive/assets/icons_mici/settings/keyboard/space.png b/openpilot/selfdrive/assets/icons_mici/settings/keyboard/space.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/keyboard/space.png
rename to openpilot/selfdrive/assets/icons_mici/settings/keyboard/space.png
diff --git a/selfdrive/assets/icons_mici/settings/network/cell_strength_full.png b/openpilot/selfdrive/assets/icons_mici/settings/network/cell_strength_full.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/cell_strength_full.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/cell_strength_full.png
diff --git a/selfdrive/assets/icons_mici/settings/network/cell_strength_high.png b/openpilot/selfdrive/assets/icons_mici/settings/network/cell_strength_high.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/cell_strength_high.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/cell_strength_high.png
diff --git a/selfdrive/assets/icons_mici/settings/network/cell_strength_low.png b/openpilot/selfdrive/assets/icons_mici/settings/network/cell_strength_low.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/cell_strength_low.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/cell_strength_low.png
diff --git a/selfdrive/assets/icons_mici/settings/network/cell_strength_medium.png b/openpilot/selfdrive/assets/icons_mici/settings/network/cell_strength_medium.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/cell_strength_medium.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/cell_strength_medium.png
diff --git a/selfdrive/assets/icons_mici/settings/network/cell_strength_none.png b/openpilot/selfdrive/assets/icons_mici/settings/network/cell_strength_none.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/cell_strength_none.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/cell_strength_none.png
diff --git a/selfdrive/assets/icons_mici/settings/network/new/forget_button.png b/openpilot/selfdrive/assets/icons_mici/settings/network/new/forget_button.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/new/forget_button.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/new/forget_button.png
diff --git a/selfdrive/assets/icons_mici/settings/network/new/forget_button_pressed.png b/openpilot/selfdrive/assets/icons_mici/settings/network/new/forget_button_pressed.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/new/forget_button_pressed.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/new/forget_button_pressed.png
diff --git a/selfdrive/assets/icons_mici/settings/network/new/lock.png b/openpilot/selfdrive/assets/icons_mici/settings/network/new/lock.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/new/lock.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/new/lock.png
diff --git a/selfdrive/assets/icons_mici/settings/network/new/trash.png b/openpilot/selfdrive/assets/icons_mici/settings/network/new/trash.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/new/trash.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/new/trash.png
diff --git a/selfdrive/assets/icons_mici/settings/network/tethering.png b/openpilot/selfdrive/assets/icons_mici/settings/network/tethering.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/tethering.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/tethering.png
diff --git a/selfdrive/assets/icons_mici/settings/network/wifi_strength_full.png b/openpilot/selfdrive/assets/icons_mici/settings/network/wifi_strength_full.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/wifi_strength_full.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/wifi_strength_full.png
diff --git a/selfdrive/assets/icons_mici/settings/network/wifi_strength_low.png b/openpilot/selfdrive/assets/icons_mici/settings/network/wifi_strength_low.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/wifi_strength_low.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/wifi_strength_low.png
diff --git a/selfdrive/assets/icons_mici/settings/network/wifi_strength_medium.png b/openpilot/selfdrive/assets/icons_mici/settings/network/wifi_strength_medium.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/wifi_strength_medium.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/wifi_strength_medium.png
diff --git a/selfdrive/assets/icons_mici/settings/network/wifi_strength_none.png b/openpilot/selfdrive/assets/icons_mici/settings/network/wifi_strength_none.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/wifi_strength_none.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/wifi_strength_none.png
diff --git a/selfdrive/assets/icons_mici/settings/network/wifi_strength_slash.png b/openpilot/selfdrive/assets/icons_mici/settings/network/wifi_strength_slash.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/wifi_strength_slash.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/wifi_strength_slash.png
diff --git a/selfdrive/assets/icons_mici/settings/software.png b/openpilot/selfdrive/assets/icons_mici/settings/software.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/software.png
rename to openpilot/selfdrive/assets/icons_mici/settings/software.png
diff --git a/selfdrive/assets/icons_mici/setup/cancel.png b/openpilot/selfdrive/assets/icons_mici/setup/cancel.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/cancel.png
rename to openpilot/selfdrive/assets/icons_mici/setup/cancel.png
diff --git a/selfdrive/assets/icons_mici/setup/continue.png b/openpilot/selfdrive/assets/icons_mici/setup/continue.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/continue.png
rename to openpilot/selfdrive/assets/icons_mici/setup/continue.png
diff --git a/selfdrive/assets/icons_mici/setup/continue_disabled.png b/openpilot/selfdrive/assets/icons_mici/setup/continue_disabled.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/continue_disabled.png
rename to openpilot/selfdrive/assets/icons_mici/setup/continue_disabled.png
diff --git a/selfdrive/assets/icons_mici/setup/continue_pressed.png b/openpilot/selfdrive/assets/icons_mici/setup/continue_pressed.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/continue_pressed.png
rename to openpilot/selfdrive/assets/icons_mici/setup/continue_pressed.png
diff --git a/selfdrive/assets/icons_mici/setup/driver_monitoring/dm_check.png b/openpilot/selfdrive/assets/icons_mici/setup/driver_monitoring/dm_check.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/driver_monitoring/dm_check.png
rename to openpilot/selfdrive/assets/icons_mici/setup/driver_monitoring/dm_check.png
diff --git a/selfdrive/assets/icons_mici/setup/driver_monitoring/dm_question.png b/openpilot/selfdrive/assets/icons_mici/setup/driver_monitoring/dm_question.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/driver_monitoring/dm_question.png
rename to openpilot/selfdrive/assets/icons_mici/setup/driver_monitoring/dm_question.png
diff --git a/selfdrive/assets/icons_mici/setup/factory_reset.png b/openpilot/selfdrive/assets/icons_mici/setup/factory_reset.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/factory_reset.png
rename to openpilot/selfdrive/assets/icons_mici/setup/factory_reset.png
diff --git a/selfdrive/assets/icons_mici/setup/green_dm.png b/openpilot/selfdrive/assets/icons_mici/setup/green_dm.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/green_dm.png
rename to openpilot/selfdrive/assets/icons_mici/setup/green_dm.png
diff --git a/selfdrive/assets/icons_mici/setup/green_info.png b/openpilot/selfdrive/assets/icons_mici/setup/green_info.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/green_info.png
rename to openpilot/selfdrive/assets/icons_mici/setup/green_info.png
diff --git a/selfdrive/assets/icons_mici/setup/orange_dm.png b/openpilot/selfdrive/assets/icons_mici/setup/orange_dm.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/orange_dm.png
rename to openpilot/selfdrive/assets/icons_mici/setup/orange_dm.png
diff --git a/selfdrive/assets/icons_mici/setup/red_warning.png b/openpilot/selfdrive/assets/icons_mici/setup/red_warning.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/red_warning.png
rename to openpilot/selfdrive/assets/icons_mici/setup/red_warning.png
diff --git a/selfdrive/assets/icons_mici/setup/reset_failed.png b/openpilot/selfdrive/assets/icons_mici/setup/reset_failed.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/reset_failed.png
rename to openpilot/selfdrive/assets/icons_mici/setup/reset_failed.png
diff --git a/selfdrive/assets/icons_mici/setup/restore.png b/openpilot/selfdrive/assets/icons_mici/setup/restore.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/restore.png
rename to openpilot/selfdrive/assets/icons_mici/setup/restore.png
diff --git a/selfdrive/assets/icons_mici/setup/small_button.png b/openpilot/selfdrive/assets/icons_mici/setup/small_button.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/small_button.png
rename to openpilot/selfdrive/assets/icons_mici/setup/small_button.png
diff --git a/selfdrive/assets/icons_mici/setup/small_button_disabled.png b/openpilot/selfdrive/assets/icons_mici/setup/small_button_disabled.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/small_button_disabled.png
rename to openpilot/selfdrive/assets/icons_mici/setup/small_button_disabled.png
diff --git a/selfdrive/assets/icons_mici/setup/small_button_pressed.png b/openpilot/selfdrive/assets/icons_mici/setup/small_button_pressed.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/small_button_pressed.png
rename to openpilot/selfdrive/assets/icons_mici/setup/small_button_pressed.png
diff --git a/selfdrive/assets/icons_mici/setup/small_slider/slider_arrow.png b/openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_arrow.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/small_slider/slider_arrow.png
rename to openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_arrow.png
diff --git a/selfdrive/assets/icons_mici/setup/small_slider/slider_bg_larger.png b/openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_bg_larger.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/small_slider/slider_bg_larger.png
rename to openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_bg_larger.png
diff --git a/selfdrive/assets/icons_mici/setup/small_slider/slider_black_rounded_rectangle.png b/openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_black_rounded_rectangle.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/small_slider/slider_black_rounded_rectangle.png
rename to openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_black_rounded_rectangle.png
diff --git a/selfdrive/assets/icons_mici/setup/small_slider/slider_black_rounded_rectangle_pressed.png b/openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_black_rounded_rectangle_pressed.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/small_slider/slider_black_rounded_rectangle_pressed.png
rename to openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_black_rounded_rectangle_pressed.png
diff --git a/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle.png b/openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle.png
rename to openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle.png
diff --git a/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle_pressed.png b/openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle_pressed.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle_pressed.png
rename to openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle_pressed.png
diff --git a/selfdrive/assets/icons_mici/setup/start_button.png b/openpilot/selfdrive/assets/icons_mici/setup/start_button.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/start_button.png
rename to openpilot/selfdrive/assets/icons_mici/setup/start_button.png
diff --git a/selfdrive/assets/icons_mici/setup/start_button_pressed.png b/openpilot/selfdrive/assets/icons_mici/setup/start_button_pressed.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/start_button_pressed.png
rename to openpilot/selfdrive/assets/icons_mici/setup/start_button_pressed.png
diff --git a/selfdrive/assets/icons_mici/setup/warning.png b/openpilot/selfdrive/assets/icons_mici/setup/warning.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/warning.png
rename to openpilot/selfdrive/assets/icons_mici/setup/warning.png
diff --git a/selfdrive/assets/icons_mici/ssh_short.png b/openpilot/selfdrive/assets/icons_mici/ssh_short.png
similarity index 100%
rename from selfdrive/assets/icons_mici/ssh_short.png
rename to openpilot/selfdrive/assets/icons_mici/ssh_short.png
diff --git a/selfdrive/assets/icons_mici/turn_intent_left.png b/openpilot/selfdrive/assets/icons_mici/turn_intent_left.png
similarity index 100%
rename from selfdrive/assets/icons_mici/turn_intent_left.png
rename to openpilot/selfdrive/assets/icons_mici/turn_intent_left.png
diff --git a/selfdrive/assets/icons_mici/wheel.png b/openpilot/selfdrive/assets/icons_mici/wheel.png
similarity index 100%
rename from selfdrive/assets/icons_mici/wheel.png
rename to openpilot/selfdrive/assets/icons_mici/wheel.png
diff --git a/selfdrive/assets/icons_mici/wheel_critical.png b/openpilot/selfdrive/assets/icons_mici/wheel_critical.png
similarity index 100%
rename from selfdrive/assets/icons_mici/wheel_critical.png
rename to openpilot/selfdrive/assets/icons_mici/wheel_critical.png
diff --git a/selfdrive/assets/images/button_continue_triangle.png b/openpilot/selfdrive/assets/images/button_continue_triangle.png
similarity index 100%
rename from selfdrive/assets/images/button_continue_triangle.png
rename to openpilot/selfdrive/assets/images/button_continue_triangle.png
diff --git a/selfdrive/assets/images/button_continue_triangle.svg b/openpilot/selfdrive/assets/images/button_continue_triangle.svg
similarity index 100%
rename from selfdrive/assets/images/button_continue_triangle.svg
rename to openpilot/selfdrive/assets/images/button_continue_triangle.svg
diff --git a/selfdrive/assets/images/button_flag.png b/openpilot/selfdrive/assets/images/button_flag.png
similarity index 100%
rename from selfdrive/assets/images/button_flag.png
rename to openpilot/selfdrive/assets/images/button_flag.png
diff --git a/selfdrive/assets/images/button_home.png b/openpilot/selfdrive/assets/images/button_home.png
similarity index 100%
rename from selfdrive/assets/images/button_home.png
rename to openpilot/selfdrive/assets/images/button_home.png
diff --git a/selfdrive/assets/images/button_settings.png b/openpilot/selfdrive/assets/images/button_settings.png
similarity index 100%
rename from selfdrive/assets/images/button_settings.png
rename to openpilot/selfdrive/assets/images/button_settings.png
diff --git a/selfdrive/assets/images/spinner_comma.png b/openpilot/selfdrive/assets/images/spinner_comma.png
similarity index 100%
rename from selfdrive/assets/images/spinner_comma.png
rename to openpilot/selfdrive/assets/images/spinner_comma.png
diff --git a/selfdrive/assets/images/spinner_track.png b/openpilot/selfdrive/assets/images/spinner_track.png
similarity index 100%
rename from selfdrive/assets/images/spinner_track.png
rename to openpilot/selfdrive/assets/images/spinner_track.png
diff --git a/selfdrive/assets/offroad/fcc.html b/openpilot/selfdrive/assets/offroad/fcc.html
similarity index 100%
rename from selfdrive/assets/offroad/fcc.html
rename to openpilot/selfdrive/assets/offroad/fcc.html
diff --git a/selfdrive/assets/offroad/mici_fcc.html b/openpilot/selfdrive/assets/offroad/mici_fcc.html
similarity index 100%
rename from selfdrive/assets/offroad/mici_fcc.html
rename to openpilot/selfdrive/assets/offroad/mici_fcc.html
diff --git a/selfdrive/assets/prep-svg.sh b/openpilot/selfdrive/assets/prep-svg.sh
similarity index 100%
rename from selfdrive/assets/prep-svg.sh
rename to openpilot/selfdrive/assets/prep-svg.sh
diff --git a/selfdrive/assets/sounds/disengage.wav b/openpilot/selfdrive/assets/sounds/disengage.wav
similarity index 100%
rename from selfdrive/assets/sounds/disengage.wav
rename to openpilot/selfdrive/assets/sounds/disengage.wav
diff --git a/selfdrive/assets/sounds/disengage_tizi.wav b/openpilot/selfdrive/assets/sounds/disengage_tizi.wav
similarity index 100%
rename from selfdrive/assets/sounds/disengage_tizi.wav
rename to openpilot/selfdrive/assets/sounds/disengage_tizi.wav
diff --git a/selfdrive/assets/sounds/engage.wav b/openpilot/selfdrive/assets/sounds/engage.wav
similarity index 100%
rename from selfdrive/assets/sounds/engage.wav
rename to openpilot/selfdrive/assets/sounds/engage.wav
diff --git a/selfdrive/assets/sounds/engage_tizi.wav b/openpilot/selfdrive/assets/sounds/engage_tizi.wav
similarity index 100%
rename from selfdrive/assets/sounds/engage_tizi.wav
rename to openpilot/selfdrive/assets/sounds/engage_tizi.wav
diff --git a/selfdrive/assets/sounds/make_beeps.py b/openpilot/selfdrive/assets/sounds/make_beeps.py
similarity index 100%
rename from selfdrive/assets/sounds/make_beeps.py
rename to openpilot/selfdrive/assets/sounds/make_beeps.py
diff --git a/selfdrive/assets/sounds/prompt.wav b/openpilot/selfdrive/assets/sounds/prompt.wav
similarity index 100%
rename from selfdrive/assets/sounds/prompt.wav
rename to openpilot/selfdrive/assets/sounds/prompt.wav
diff --git a/selfdrive/assets/sounds/prompt_distracted.wav b/openpilot/selfdrive/assets/sounds/prompt_distracted.wav
similarity index 100%
rename from selfdrive/assets/sounds/prompt_distracted.wav
rename to openpilot/selfdrive/assets/sounds/prompt_distracted.wav
diff --git a/selfdrive/assets/sounds/refuse.wav b/openpilot/selfdrive/assets/sounds/refuse.wav
similarity index 100%
rename from selfdrive/assets/sounds/refuse.wav
rename to openpilot/selfdrive/assets/sounds/refuse.wav
diff --git a/selfdrive/assets/sounds/warning_immediate.wav b/openpilot/selfdrive/assets/sounds/warning_immediate.wav
similarity index 100%
rename from selfdrive/assets/sounds/warning_immediate.wav
rename to openpilot/selfdrive/assets/sounds/warning_immediate.wav
diff --git a/selfdrive/assets/sounds/warning_soft.wav b/openpilot/selfdrive/assets/sounds/warning_soft.wav
similarity index 100%
rename from selfdrive/assets/sounds/warning_soft.wav
rename to openpilot/selfdrive/assets/sounds/warning_soft.wav
diff --git a/selfdrive/assets/training/step0.png b/openpilot/selfdrive/assets/training/step0.png
similarity index 100%
rename from selfdrive/assets/training/step0.png
rename to openpilot/selfdrive/assets/training/step0.png
diff --git a/selfdrive/assets/training/step1.png b/openpilot/selfdrive/assets/training/step1.png
similarity index 100%
rename from selfdrive/assets/training/step1.png
rename to openpilot/selfdrive/assets/training/step1.png
diff --git a/selfdrive/assets/training/step10.png b/openpilot/selfdrive/assets/training/step10.png
similarity index 100%
rename from selfdrive/assets/training/step10.png
rename to openpilot/selfdrive/assets/training/step10.png
diff --git a/selfdrive/assets/training/step11.png b/openpilot/selfdrive/assets/training/step11.png
similarity index 100%
rename from selfdrive/assets/training/step11.png
rename to openpilot/selfdrive/assets/training/step11.png
diff --git a/selfdrive/assets/training/step12.png b/openpilot/selfdrive/assets/training/step12.png
similarity index 100%
rename from selfdrive/assets/training/step12.png
rename to openpilot/selfdrive/assets/training/step12.png
diff --git a/selfdrive/assets/training/step13.png b/openpilot/selfdrive/assets/training/step13.png
similarity index 100%
rename from selfdrive/assets/training/step13.png
rename to openpilot/selfdrive/assets/training/step13.png
diff --git a/selfdrive/assets/training/step14.png b/openpilot/selfdrive/assets/training/step14.png
similarity index 100%
rename from selfdrive/assets/training/step14.png
rename to openpilot/selfdrive/assets/training/step14.png
diff --git a/selfdrive/assets/training/step15.png b/openpilot/selfdrive/assets/training/step15.png
similarity index 100%
rename from selfdrive/assets/training/step15.png
rename to openpilot/selfdrive/assets/training/step15.png
diff --git a/selfdrive/assets/training/step16.png b/openpilot/selfdrive/assets/training/step16.png
similarity index 100%
rename from selfdrive/assets/training/step16.png
rename to openpilot/selfdrive/assets/training/step16.png
diff --git a/selfdrive/assets/training/step17.png b/openpilot/selfdrive/assets/training/step17.png
similarity index 100%
rename from selfdrive/assets/training/step17.png
rename to openpilot/selfdrive/assets/training/step17.png
diff --git a/selfdrive/assets/training/step18.png b/openpilot/selfdrive/assets/training/step18.png
similarity index 100%
rename from selfdrive/assets/training/step18.png
rename to openpilot/selfdrive/assets/training/step18.png
diff --git a/selfdrive/assets/training/step2.png b/openpilot/selfdrive/assets/training/step2.png
similarity index 100%
rename from selfdrive/assets/training/step2.png
rename to openpilot/selfdrive/assets/training/step2.png
diff --git a/selfdrive/assets/training/step3.png b/openpilot/selfdrive/assets/training/step3.png
similarity index 100%
rename from selfdrive/assets/training/step3.png
rename to openpilot/selfdrive/assets/training/step3.png
diff --git a/selfdrive/assets/training/step4.png b/openpilot/selfdrive/assets/training/step4.png
similarity index 100%
rename from selfdrive/assets/training/step4.png
rename to openpilot/selfdrive/assets/training/step4.png
diff --git a/selfdrive/assets/training/step5.png b/openpilot/selfdrive/assets/training/step5.png
similarity index 100%
rename from selfdrive/assets/training/step5.png
rename to openpilot/selfdrive/assets/training/step5.png
diff --git a/selfdrive/assets/training/step6.png b/openpilot/selfdrive/assets/training/step6.png
similarity index 100%
rename from selfdrive/assets/training/step6.png
rename to openpilot/selfdrive/assets/training/step6.png
diff --git a/selfdrive/assets/training/step7.png b/openpilot/selfdrive/assets/training/step7.png
similarity index 100%
rename from selfdrive/assets/training/step7.png
rename to openpilot/selfdrive/assets/training/step7.png
diff --git a/selfdrive/assets/training/step8.png b/openpilot/selfdrive/assets/training/step8.png
similarity index 100%
rename from selfdrive/assets/training/step8.png
rename to openpilot/selfdrive/assets/training/step8.png
diff --git a/selfdrive/assets/training/step9.png b/openpilot/selfdrive/assets/training/step9.png
similarity index 100%
rename from selfdrive/assets/training/step9.png
rename to openpilot/selfdrive/assets/training/step9.png
diff --git a/selfdrive/car/CARS_template.md b/openpilot/selfdrive/car/CARS_template.md
similarity index 100%
rename from selfdrive/car/CARS_template.md
rename to openpilot/selfdrive/car/CARS_template.md
diff --git a/selfdrive/car/__init__.py b/openpilot/selfdrive/car/__init__.py
similarity index 100%
rename from selfdrive/car/__init__.py
rename to openpilot/selfdrive/car/__init__.py
diff --git a/selfdrive/car/car_specific.py b/openpilot/selfdrive/car/car_specific.py
similarity index 100%
rename from selfdrive/car/car_specific.py
rename to openpilot/selfdrive/car/car_specific.py
diff --git a/selfdrive/car/card.py b/openpilot/selfdrive/car/card.py
similarity index 100%
rename from selfdrive/car/card.py
rename to openpilot/selfdrive/car/card.py
diff --git a/selfdrive/car/cruise.py b/openpilot/selfdrive/car/cruise.py
similarity index 100%
rename from selfdrive/car/cruise.py
rename to openpilot/selfdrive/car/cruise.py
diff --git a/selfdrive/car/docs.py b/openpilot/selfdrive/car/docs.py
similarity index 100%
rename from selfdrive/car/docs.py
rename to openpilot/selfdrive/car/docs.py
diff --git a/selfdrive/car/tests/__init__.py b/openpilot/selfdrive/car/tests/__init__.py
similarity index 100%
rename from selfdrive/car/tests/__init__.py
rename to openpilot/selfdrive/car/tests/__init__.py
diff --git a/selfdrive/car/tests/big_cars_test.sh b/openpilot/selfdrive/car/tests/big_cars_test.sh
similarity index 85%
rename from selfdrive/car/tests/big_cars_test.sh
rename to openpilot/selfdrive/car/tests/big_cars_test.sh
index 1c3da2e9e7beb2..456fc698c5c650 100755
--- a/selfdrive/car/tests/big_cars_test.sh
+++ b/openpilot/selfdrive/car/tests/big_cars_test.sh
@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 
 SCRIPT_DIR=$(dirname "$0")
-BASEDIR=$(realpath "$SCRIPT_DIR/../../../")
+BASEDIR=$(realpath "$SCRIPT_DIR/../../../../")
 cd $BASEDIR
 
 export MAX_EXAMPLES=300
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/openpilot/selfdrive/car/tests/test_car_interfaces.py
similarity index 100%
rename from selfdrive/car/tests/test_car_interfaces.py
rename to openpilot/selfdrive/car/tests/test_car_interfaces.py
diff --git a/selfdrive/car/tests/test_cruise_speed.py b/openpilot/selfdrive/car/tests/test_cruise_speed.py
similarity index 100%
rename from selfdrive/car/tests/test_cruise_speed.py
rename to openpilot/selfdrive/car/tests/test_cruise_speed.py
diff --git a/selfdrive/car/tests/test_docs.py b/openpilot/selfdrive/car/tests/test_docs.py
similarity index 100%
rename from selfdrive/car/tests/test_docs.py
rename to openpilot/selfdrive/car/tests/test_docs.py
diff --git a/selfdrive/car/tests/test_models.py b/openpilot/selfdrive/car/tests/test_models.py
similarity index 100%
rename from selfdrive/car/tests/test_models.py
rename to openpilot/selfdrive/car/tests/test_models.py
diff --git a/selfdrive/car/tests/test_models_segs.txt b/openpilot/selfdrive/car/tests/test_models_segs.txt
similarity index 100%
rename from selfdrive/car/tests/test_models_segs.txt
rename to openpilot/selfdrive/car/tests/test_models_segs.txt
diff --git a/selfdrive/controls/__init__.py b/openpilot/selfdrive/controls/__init__.py
similarity index 100%
rename from selfdrive/controls/__init__.py
rename to openpilot/selfdrive/controls/__init__.py
diff --git a/selfdrive/controls/controlsd.py b/openpilot/selfdrive/controls/controlsd.py
similarity index 100%
rename from selfdrive/controls/controlsd.py
rename to openpilot/selfdrive/controls/controlsd.py
diff --git a/selfdrive/controls/lib/__init__.py b/openpilot/selfdrive/controls/lib/__init__.py
similarity index 100%
rename from selfdrive/controls/lib/__init__.py
rename to openpilot/selfdrive/controls/lib/__init__.py
diff --git a/selfdrive/controls/lib/desire_helper.py b/openpilot/selfdrive/controls/lib/desire_helper.py
similarity index 100%
rename from selfdrive/controls/lib/desire_helper.py
rename to openpilot/selfdrive/controls/lib/desire_helper.py
diff --git a/selfdrive/controls/lib/drive_helpers.py b/openpilot/selfdrive/controls/lib/drive_helpers.py
similarity index 100%
rename from selfdrive/controls/lib/drive_helpers.py
rename to openpilot/selfdrive/controls/lib/drive_helpers.py
diff --git a/selfdrive/controls/lib/latcontrol.py b/openpilot/selfdrive/controls/lib/latcontrol.py
similarity index 100%
rename from selfdrive/controls/lib/latcontrol.py
rename to openpilot/selfdrive/controls/lib/latcontrol.py
diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/openpilot/selfdrive/controls/lib/latcontrol_angle.py
similarity index 100%
rename from selfdrive/controls/lib/latcontrol_angle.py
rename to openpilot/selfdrive/controls/lib/latcontrol_angle.py
diff --git a/selfdrive/controls/lib/latcontrol_curvature.py b/openpilot/selfdrive/controls/lib/latcontrol_curvature.py
similarity index 100%
rename from selfdrive/controls/lib/latcontrol_curvature.py
rename to openpilot/selfdrive/controls/lib/latcontrol_curvature.py
diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/openpilot/selfdrive/controls/lib/latcontrol_pid.py
similarity index 100%
rename from selfdrive/controls/lib/latcontrol_pid.py
rename to openpilot/selfdrive/controls/lib/latcontrol_pid.py
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/openpilot/selfdrive/controls/lib/latcontrol_torque.py
similarity index 100%
rename from selfdrive/controls/lib/latcontrol_torque.py
rename to openpilot/selfdrive/controls/lib/latcontrol_torque.py
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/.gitignore b/openpilot/selfdrive/controls/lib/lateral_mpc_lib/.gitignore
similarity index 100%
rename from selfdrive/controls/lib/lateral_mpc_lib/.gitignore
rename to openpilot/selfdrive/controls/lib/lateral_mpc_lib/.gitignore
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/openpilot/selfdrive/controls/lib/lateral_mpc_lib/SConscript
similarity index 100%
rename from selfdrive/controls/lib/lateral_mpc_lib/SConscript
rename to openpilot/selfdrive/controls/lib/lateral_mpc_lib/SConscript
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/__init__.py b/openpilot/selfdrive/controls/lib/lateral_mpc_lib/__init__.py
similarity index 100%
rename from selfdrive/controls/lib/lateral_mpc_lib/__init__.py
rename to openpilot/selfdrive/controls/lib/lateral_mpc_lib/__init__.py
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/openpilot/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
similarity index 100%
rename from selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
rename to openpilot/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
diff --git a/selfdrive/controls/lib/ldw.py b/openpilot/selfdrive/controls/lib/ldw.py
similarity index 100%
rename from selfdrive/controls/lib/ldw.py
rename to openpilot/selfdrive/controls/lib/ldw.py
diff --git a/selfdrive/controls/lib/longcontrol.py b/openpilot/selfdrive/controls/lib/longcontrol.py
similarity index 100%
rename from selfdrive/controls/lib/longcontrol.py
rename to openpilot/selfdrive/controls/lib/longcontrol.py
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore b/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
similarity index 100%
rename from selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
rename to openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
similarity index 100%
rename from selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
rename to openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/__init__.py b/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/__init__.py
similarity index 100%
rename from selfdrive/controls/lib/longitudinal_mpc_lib/__init__.py
rename to openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/__init__.py
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
similarity index 100%
rename from selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
rename to openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
similarity index 100%
rename from selfdrive/controls/lib/longitudinal_planner.py
rename to openpilot/selfdrive/controls/lib/longitudinal_planner.py
diff --git a/selfdrive/controls/plannerd.py b/openpilot/selfdrive/controls/plannerd.py
similarity index 100%
rename from selfdrive/controls/plannerd.py
rename to openpilot/selfdrive/controls/plannerd.py
diff --git a/selfdrive/controls/radard.py b/openpilot/selfdrive/controls/radard.py
similarity index 100%
rename from selfdrive/controls/radard.py
rename to openpilot/selfdrive/controls/radard.py
diff --git a/selfdrive/controls/tests/__init__.py b/openpilot/selfdrive/controls/tests/__init__.py
similarity index 100%
rename from selfdrive/controls/tests/__init__.py
rename to openpilot/selfdrive/controls/tests/__init__.py
diff --git a/selfdrive/controls/tests/test_following_distance.py b/openpilot/selfdrive/controls/tests/test_following_distance.py
similarity index 100%
rename from selfdrive/controls/tests/test_following_distance.py
rename to openpilot/selfdrive/controls/tests/test_following_distance.py
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/openpilot/selfdrive/controls/tests/test_latcontrol.py
similarity index 100%
rename from selfdrive/controls/tests/test_latcontrol.py
rename to openpilot/selfdrive/controls/tests/test_latcontrol.py
diff --git a/selfdrive/controls/tests/test_latcontrol_torque_buffer.py b/openpilot/selfdrive/controls/tests/test_latcontrol_torque_buffer.py
similarity index 100%
rename from selfdrive/controls/tests/test_latcontrol_torque_buffer.py
rename to openpilot/selfdrive/controls/tests/test_latcontrol_torque_buffer.py
diff --git a/selfdrive/controls/tests/test_lateral_mpc.py b/openpilot/selfdrive/controls/tests/test_lateral_mpc.py
similarity index 100%
rename from selfdrive/controls/tests/test_lateral_mpc.py
rename to openpilot/selfdrive/controls/tests/test_lateral_mpc.py
diff --git a/selfdrive/controls/tests/test_leads.py b/openpilot/selfdrive/controls/tests/test_leads.py
similarity index 100%
rename from selfdrive/controls/tests/test_leads.py
rename to openpilot/selfdrive/controls/tests/test_leads.py
diff --git a/selfdrive/controls/tests/test_longcontrol.py b/openpilot/selfdrive/controls/tests/test_longcontrol.py
similarity index 100%
rename from selfdrive/controls/tests/test_longcontrol.py
rename to openpilot/selfdrive/controls/tests/test_longcontrol.py
diff --git a/selfdrive/controls/tests/test_torqued_lat_accel_offset.py b/openpilot/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
similarity index 100%
rename from selfdrive/controls/tests/test_torqued_lat_accel_offset.py
rename to openpilot/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
diff --git a/selfdrive/locationd/SConscript b/openpilot/selfdrive/locationd/SConscript
similarity index 100%
rename from selfdrive/locationd/SConscript
rename to openpilot/selfdrive/locationd/SConscript
diff --git a/selfdrive/locationd/__init__.py b/openpilot/selfdrive/locationd/__init__.py
similarity index 100%
rename from selfdrive/locationd/__init__.py
rename to openpilot/selfdrive/locationd/__init__.py
diff --git a/selfdrive/locationd/calibrationd.py b/openpilot/selfdrive/locationd/calibrationd.py
similarity index 100%
rename from selfdrive/locationd/calibrationd.py
rename to openpilot/selfdrive/locationd/calibrationd.py
diff --git a/selfdrive/locationd/helpers.py b/openpilot/selfdrive/locationd/helpers.py
similarity index 100%
rename from selfdrive/locationd/helpers.py
rename to openpilot/selfdrive/locationd/helpers.py
diff --git a/selfdrive/locationd/lagd.py b/openpilot/selfdrive/locationd/lagd.py
similarity index 100%
rename from selfdrive/locationd/lagd.py
rename to openpilot/selfdrive/locationd/lagd.py
diff --git a/selfdrive/locationd/locationd.py b/openpilot/selfdrive/locationd/locationd.py
similarity index 100%
rename from selfdrive/locationd/locationd.py
rename to openpilot/selfdrive/locationd/locationd.py
diff --git a/selfdrive/locationd/models/.gitignore b/openpilot/selfdrive/locationd/models/.gitignore
similarity index 100%
rename from selfdrive/locationd/models/.gitignore
rename to openpilot/selfdrive/locationd/models/.gitignore
diff --git a/selfdrive/locationd/models/__init__.py b/openpilot/selfdrive/locationd/models/__init__.py
similarity index 100%
rename from selfdrive/locationd/models/__init__.py
rename to openpilot/selfdrive/locationd/models/__init__.py
diff --git a/selfdrive/locationd/models/car_kf.py b/openpilot/selfdrive/locationd/models/car_kf.py
similarity index 100%
rename from selfdrive/locationd/models/car_kf.py
rename to openpilot/selfdrive/locationd/models/car_kf.py
diff --git a/selfdrive/locationd/models/constants.py b/openpilot/selfdrive/locationd/models/constants.py
similarity index 100%
rename from selfdrive/locationd/models/constants.py
rename to openpilot/selfdrive/locationd/models/constants.py
diff --git a/selfdrive/locationd/models/pose_kf.py b/openpilot/selfdrive/locationd/models/pose_kf.py
similarity index 100%
rename from selfdrive/locationd/models/pose_kf.py
rename to openpilot/selfdrive/locationd/models/pose_kf.py
diff --git a/selfdrive/locationd/paramsd.py b/openpilot/selfdrive/locationd/paramsd.py
similarity index 100%
rename from selfdrive/locationd/paramsd.py
rename to openpilot/selfdrive/locationd/paramsd.py
diff --git a/selfdrive/locationd/test/__init__.py b/openpilot/selfdrive/locationd/test/__init__.py
similarity index 100%
rename from selfdrive/locationd/test/__init__.py
rename to openpilot/selfdrive/locationd/test/__init__.py
diff --git a/selfdrive/locationd/test/test_calibrationd.py b/openpilot/selfdrive/locationd/test/test_calibrationd.py
similarity index 100%
rename from selfdrive/locationd/test/test_calibrationd.py
rename to openpilot/selfdrive/locationd/test/test_calibrationd.py
diff --git a/selfdrive/locationd/test/test_lagd.py b/openpilot/selfdrive/locationd/test/test_lagd.py
similarity index 100%
rename from selfdrive/locationd/test/test_lagd.py
rename to openpilot/selfdrive/locationd/test/test_lagd.py
diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/openpilot/selfdrive/locationd/test/test_locationd_scenarios.py
similarity index 100%
rename from selfdrive/locationd/test/test_locationd_scenarios.py
rename to openpilot/selfdrive/locationd/test/test_locationd_scenarios.py
diff --git a/selfdrive/locationd/test/test_paramsd.py b/openpilot/selfdrive/locationd/test/test_paramsd.py
similarity index 100%
rename from selfdrive/locationd/test/test_paramsd.py
rename to openpilot/selfdrive/locationd/test/test_paramsd.py
diff --git a/selfdrive/locationd/test/test_torqued.py b/openpilot/selfdrive/locationd/test/test_torqued.py
similarity index 100%
rename from selfdrive/locationd/test/test_torqued.py
rename to openpilot/selfdrive/locationd/test/test_torqued.py
diff --git a/selfdrive/locationd/torqued.py b/openpilot/selfdrive/locationd/torqued.py
similarity index 100%
rename from selfdrive/locationd/torqued.py
rename to openpilot/selfdrive/locationd/torqued.py
diff --git a/selfdrive/modeld/SConscript b/openpilot/selfdrive/modeld/SConscript
similarity index 100%
rename from selfdrive/modeld/SConscript
rename to openpilot/selfdrive/modeld/SConscript
diff --git a/selfdrive/modeld/__init__.py b/openpilot/selfdrive/modeld/__init__.py
similarity index 100%
rename from selfdrive/modeld/__init__.py
rename to openpilot/selfdrive/modeld/__init__.py
diff --git a/selfdrive/modeld/compile_dm_warp.py b/openpilot/selfdrive/modeld/compile_dm_warp.py
similarity index 100%
rename from selfdrive/modeld/compile_dm_warp.py
rename to openpilot/selfdrive/modeld/compile_dm_warp.py
diff --git a/selfdrive/modeld/compile_modeld.py b/openpilot/selfdrive/modeld/compile_modeld.py
similarity index 100%
rename from selfdrive/modeld/compile_modeld.py
rename to openpilot/selfdrive/modeld/compile_modeld.py
diff --git a/selfdrive/modeld/constants.py b/openpilot/selfdrive/modeld/constants.py
similarity index 100%
rename from selfdrive/modeld/constants.py
rename to openpilot/selfdrive/modeld/constants.py
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/openpilot/selfdrive/modeld/dmonitoringmodeld.py
similarity index 100%
rename from selfdrive/modeld/dmonitoringmodeld.py
rename to openpilot/selfdrive/modeld/dmonitoringmodeld.py
diff --git a/selfdrive/modeld/fill_model_msg.py b/openpilot/selfdrive/modeld/fill_model_msg.py
similarity index 100%
rename from selfdrive/modeld/fill_model_msg.py
rename to openpilot/selfdrive/modeld/fill_model_msg.py
diff --git a/selfdrive/modeld/get_model_metadata.py b/openpilot/selfdrive/modeld/get_model_metadata.py
similarity index 100%
rename from selfdrive/modeld/get_model_metadata.py
rename to openpilot/selfdrive/modeld/get_model_metadata.py
diff --git a/selfdrive/modeld/helpers.py b/openpilot/selfdrive/modeld/helpers.py
similarity index 100%
rename from selfdrive/modeld/helpers.py
rename to openpilot/selfdrive/modeld/helpers.py
diff --git a/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py
similarity index 100%
rename from selfdrive/modeld/modeld.py
rename to openpilot/selfdrive/modeld/modeld.py
diff --git a/selfdrive/modeld/models/README.md b/openpilot/selfdrive/modeld/models/README.md
similarity index 100%
rename from selfdrive/modeld/models/README.md
rename to openpilot/selfdrive/modeld/models/README.md
diff --git a/selfdrive/modeld/models/__init__.py b/openpilot/selfdrive/modeld/models/__init__.py
similarity index 100%
rename from selfdrive/modeld/models/__init__.py
rename to openpilot/selfdrive/modeld/models/__init__.py
diff --git a/selfdrive/modeld/models/big_driving_supercombo.onnx b/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
similarity index 100%
rename from selfdrive/modeld/models/big_driving_supercombo.onnx
rename to openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/openpilot/selfdrive/modeld/models/dmonitoring_model.onnx
similarity index 100%
rename from selfdrive/modeld/models/dmonitoring_model.onnx
rename to openpilot/selfdrive/modeld/models/dmonitoring_model.onnx
diff --git a/selfdrive/modeld/models/driving_supercombo.onnx b/openpilot/selfdrive/modeld/models/driving_supercombo.onnx
similarity index 100%
rename from selfdrive/modeld/models/driving_supercombo.onnx
rename to openpilot/selfdrive/modeld/models/driving_supercombo.onnx
diff --git a/selfdrive/modeld/parse_model_outputs.py b/openpilot/selfdrive/modeld/parse_model_outputs.py
similarity index 100%
rename from selfdrive/modeld/parse_model_outputs.py
rename to openpilot/selfdrive/modeld/parse_model_outputs.py
diff --git a/selfdrive/monitoring/dmonitoringd.py b/openpilot/selfdrive/monitoring/dmonitoringd.py
similarity index 100%
rename from selfdrive/monitoring/dmonitoringd.py
rename to openpilot/selfdrive/monitoring/dmonitoringd.py
diff --git a/selfdrive/monitoring/policy.py b/openpilot/selfdrive/monitoring/policy.py
similarity index 100%
rename from selfdrive/monitoring/policy.py
rename to openpilot/selfdrive/monitoring/policy.py
diff --git a/selfdrive/monitoring/test_monitoring.py b/openpilot/selfdrive/monitoring/test_monitoring.py
similarity index 100%
rename from selfdrive/monitoring/test_monitoring.py
rename to openpilot/selfdrive/monitoring/test_monitoring.py
diff --git a/selfdrive/pandad/.gitignore b/openpilot/selfdrive/pandad/.gitignore
similarity index 100%
rename from selfdrive/pandad/.gitignore
rename to openpilot/selfdrive/pandad/.gitignore
diff --git a/selfdrive/pandad/SConscript b/openpilot/selfdrive/pandad/SConscript
similarity index 100%
rename from selfdrive/pandad/SConscript
rename to openpilot/selfdrive/pandad/SConscript
diff --git a/selfdrive/pandad/__init__.py b/openpilot/selfdrive/pandad/__init__.py
similarity index 100%
rename from selfdrive/pandad/__init__.py
rename to openpilot/selfdrive/pandad/__init__.py
diff --git a/selfdrive/pandad/main.cc b/openpilot/selfdrive/pandad/main.cc
similarity index 100%
rename from selfdrive/pandad/main.cc
rename to openpilot/selfdrive/pandad/main.cc
diff --git a/selfdrive/pandad/panda.cc b/openpilot/selfdrive/pandad/panda.cc
similarity index 98%
rename from selfdrive/pandad/panda.cc
rename to openpilot/selfdrive/pandad/panda.cc
index 730ce59b6eec8b..d067a73107cd4a 100644
--- a/selfdrive/pandad/panda.cc
+++ b/openpilot/selfdrive/pandad/panda.cc
@@ -116,7 +116,7 @@ std::optional<std::string> Panda::get_serial() {
 bool Panda::up_to_date() {
   if (auto fw_sig = get_firmware_version()) {
     for (auto fn : { "panda.bin.signed", "panda_h7.bin.signed" }) {
-      auto content = util::read_file(std::string("../../panda/board/obj/") + fn);
+      auto content = util::read_file(std::string("../../../panda/board/obj/") + fn);
       if (content.size() >= fw_sig->size() &&
           memcmp(content.data() + content.size() - fw_sig->size(), fw_sig->data(), fw_sig->size()) == 0) {
         return true;
diff --git a/selfdrive/pandad/panda.h b/openpilot/selfdrive/pandad/panda.h
similarity index 100%
rename from selfdrive/pandad/panda.h
rename to openpilot/selfdrive/pandad/panda.h
diff --git a/selfdrive/pandad/panda_comms.h b/openpilot/selfdrive/pandad/panda_comms.h
similarity index 100%
rename from selfdrive/pandad/panda_comms.h
rename to openpilot/selfdrive/pandad/panda_comms.h
diff --git a/selfdrive/pandad/panda_safety.cc b/openpilot/selfdrive/pandad/panda_safety.cc
similarity index 100%
rename from selfdrive/pandad/panda_safety.cc
rename to openpilot/selfdrive/pandad/panda_safety.cc
diff --git a/selfdrive/pandad/pandad.cc b/openpilot/selfdrive/pandad/pandad.cc
similarity index 100%
rename from selfdrive/pandad/pandad.cc
rename to openpilot/selfdrive/pandad/pandad.cc
diff --git a/selfdrive/pandad/pandad.h b/openpilot/selfdrive/pandad/pandad.h
similarity index 100%
rename from selfdrive/pandad/pandad.h
rename to openpilot/selfdrive/pandad/pandad.h
diff --git a/selfdrive/pandad/pandad.py b/openpilot/selfdrive/pandad/pandad.py
similarity index 100%
rename from selfdrive/pandad/pandad.py
rename to openpilot/selfdrive/pandad/pandad.py
diff --git a/selfdrive/pandad/pandad_api_impl.py b/openpilot/selfdrive/pandad/pandad_api_impl.py
similarity index 100%
rename from selfdrive/pandad/pandad_api_impl.py
rename to openpilot/selfdrive/pandad/pandad_api_impl.py
diff --git a/selfdrive/pandad/spi.cc b/openpilot/selfdrive/pandad/spi.cc
similarity index 100%
rename from selfdrive/pandad/spi.cc
rename to openpilot/selfdrive/pandad/spi.cc
diff --git a/selfdrive/pandad/tests/__init__.py b/openpilot/selfdrive/pandad/tests/__init__.py
similarity index 100%
rename from selfdrive/pandad/tests/__init__.py
rename to openpilot/selfdrive/pandad/tests/__init__.py
diff --git a/selfdrive/pandad/tests/bootstub.panda_h7.bin b/openpilot/selfdrive/pandad/tests/bootstub.panda_h7.bin
similarity index 100%
rename from selfdrive/pandad/tests/bootstub.panda_h7.bin
rename to openpilot/selfdrive/pandad/tests/bootstub.panda_h7.bin
diff --git a/selfdrive/pandad/tests/test_pandad.py b/openpilot/selfdrive/pandad/tests/test_pandad.py
similarity index 100%
rename from selfdrive/pandad/tests/test_pandad.py
rename to openpilot/selfdrive/pandad/tests/test_pandad.py
diff --git a/selfdrive/pandad/tests/test_pandad_canprotocol.cc b/openpilot/selfdrive/pandad/tests/test_pandad_canprotocol.cc
similarity index 100%
rename from selfdrive/pandad/tests/test_pandad_canprotocol.cc
rename to openpilot/selfdrive/pandad/tests/test_pandad_canprotocol.cc
diff --git a/selfdrive/pandad/tests/test_pandad_loopback.py b/openpilot/selfdrive/pandad/tests/test_pandad_loopback.py
similarity index 100%
rename from selfdrive/pandad/tests/test_pandad_loopback.py
rename to openpilot/selfdrive/pandad/tests/test_pandad_loopback.py
diff --git a/selfdrive/pandad/tests/test_pandad_spi.py b/openpilot/selfdrive/pandad/tests/test_pandad_spi.py
similarity index 100%
rename from selfdrive/pandad/tests/test_pandad_spi.py
rename to openpilot/selfdrive/pandad/tests/test_pandad_spi.py
diff --git a/selfdrive/selfdrived/alertmanager.py b/openpilot/selfdrive/selfdrived/alertmanager.py
similarity index 100%
rename from selfdrive/selfdrived/alertmanager.py
rename to openpilot/selfdrive/selfdrived/alertmanager.py
diff --git a/selfdrive/selfdrived/alerts_offroad.json b/openpilot/selfdrive/selfdrived/alerts_offroad.json
similarity index 100%
rename from selfdrive/selfdrived/alerts_offroad.json
rename to openpilot/selfdrive/selfdrived/alerts_offroad.json
diff --git a/selfdrive/selfdrived/events.py b/openpilot/selfdrive/selfdrived/events.py
similarity index 100%
rename from selfdrive/selfdrived/events.py
rename to openpilot/selfdrive/selfdrived/events.py
diff --git a/selfdrive/selfdrived/helpers.py b/openpilot/selfdrive/selfdrived/helpers.py
similarity index 100%
rename from selfdrive/selfdrived/helpers.py
rename to openpilot/selfdrive/selfdrived/helpers.py
diff --git a/selfdrive/selfdrived/selfdrived.py b/openpilot/selfdrive/selfdrived/selfdrived.py
similarity index 100%
rename from selfdrive/selfdrived/selfdrived.py
rename to openpilot/selfdrive/selfdrived/selfdrived.py
diff --git a/selfdrive/selfdrived/state.py b/openpilot/selfdrive/selfdrived/state.py
similarity index 100%
rename from selfdrive/selfdrived/state.py
rename to openpilot/selfdrive/selfdrived/state.py
diff --git a/selfdrive/selfdrived/tests/test_alertmanager.py b/openpilot/selfdrive/selfdrived/tests/test_alertmanager.py
similarity index 100%
rename from selfdrive/selfdrived/tests/test_alertmanager.py
rename to openpilot/selfdrive/selfdrived/tests/test_alertmanager.py
diff --git a/selfdrive/selfdrived/tests/test_alerts.py b/openpilot/selfdrive/selfdrived/tests/test_alerts.py
similarity index 100%
rename from selfdrive/selfdrived/tests/test_alerts.py
rename to openpilot/selfdrive/selfdrived/tests/test_alerts.py
diff --git a/selfdrive/selfdrived/tests/test_state_machine.py b/openpilot/selfdrive/selfdrived/tests/test_state_machine.py
similarity index 100%
rename from selfdrive/selfdrived/tests/test_state_machine.py
rename to openpilot/selfdrive/selfdrived/tests/test_state_machine.py
diff --git a/selfdrive/test/.gitignore b/openpilot/selfdrive/test/.gitignore
similarity index 100%
rename from selfdrive/test/.gitignore
rename to openpilot/selfdrive/test/.gitignore
diff --git a/selfdrive/test/__init__.py b/openpilot/selfdrive/test/__init__.py
similarity index 100%
rename from selfdrive/test/__init__.py
rename to openpilot/selfdrive/test/__init__.py
diff --git a/selfdrive/test/cpp_harness.py b/openpilot/selfdrive/test/cpp_harness.py
similarity index 100%
rename from selfdrive/test/cpp_harness.py
rename to openpilot/selfdrive/test/cpp_harness.py
diff --git a/selfdrive/test/fuzzy_generation.py b/openpilot/selfdrive/test/fuzzy_generation.py
similarity index 100%
rename from selfdrive/test/fuzzy_generation.py
rename to openpilot/selfdrive/test/fuzzy_generation.py
diff --git a/selfdrive/test/helpers.py b/openpilot/selfdrive/test/helpers.py
similarity index 100%
rename from selfdrive/test/helpers.py
rename to openpilot/selfdrive/test/helpers.py
diff --git a/selfdrive/test/longitudinal_maneuvers/.gitignore b/openpilot/selfdrive/test/longitudinal_maneuvers/.gitignore
similarity index 100%
rename from selfdrive/test/longitudinal_maneuvers/.gitignore
rename to openpilot/selfdrive/test/longitudinal_maneuvers/.gitignore
diff --git a/selfdrive/test/longitudinal_maneuvers/__init__.py b/openpilot/selfdrive/test/longitudinal_maneuvers/__init__.py
similarity index 100%
rename from selfdrive/test/longitudinal_maneuvers/__init__.py
rename to openpilot/selfdrive/test/longitudinal_maneuvers/__init__.py
diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/openpilot/selfdrive/test/longitudinal_maneuvers/maneuver.py
similarity index 100%
rename from selfdrive/test/longitudinal_maneuvers/maneuver.py
rename to openpilot/selfdrive/test/longitudinal_maneuvers/maneuver.py
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/openpilot/selfdrive/test/longitudinal_maneuvers/plant.py
similarity index 100%
rename from selfdrive/test/longitudinal_maneuvers/plant.py
rename to openpilot/selfdrive/test/longitudinal_maneuvers/plant.py
diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/openpilot/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
similarity index 100%
rename from selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
rename to openpilot/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
diff --git a/selfdrive/test/process_replay/README.md b/openpilot/selfdrive/test/process_replay/README.md
similarity index 100%
rename from selfdrive/test/process_replay/README.md
rename to openpilot/selfdrive/test/process_replay/README.md
diff --git a/selfdrive/test/process_replay/__init__.py b/openpilot/selfdrive/test/process_replay/__init__.py
similarity index 100%
rename from selfdrive/test/process_replay/__init__.py
rename to openpilot/selfdrive/test/process_replay/__init__.py
diff --git a/selfdrive/test/process_replay/capture.py b/openpilot/selfdrive/test/process_replay/capture.py
similarity index 100%
rename from selfdrive/test/process_replay/capture.py
rename to openpilot/selfdrive/test/process_replay/capture.py
diff --git a/selfdrive/test/process_replay/compare_logs.py b/openpilot/selfdrive/test/process_replay/compare_logs.py
similarity index 100%
rename from selfdrive/test/process_replay/compare_logs.py
rename to openpilot/selfdrive/test/process_replay/compare_logs.py
diff --git a/selfdrive/test/process_replay/diff_report.py b/openpilot/selfdrive/test/process_replay/diff_report.py
similarity index 100%
rename from selfdrive/test/process_replay/diff_report.py
rename to openpilot/selfdrive/test/process_replay/diff_report.py
diff --git a/selfdrive/test/process_replay/migration.py b/openpilot/selfdrive/test/process_replay/migration.py
similarity index 100%
rename from selfdrive/test/process_replay/migration.py
rename to openpilot/selfdrive/test/process_replay/migration.py
diff --git a/selfdrive/test/process_replay/model_replay.py b/openpilot/selfdrive/test/process_replay/model_replay.py
similarity index 100%
rename from selfdrive/test/process_replay/model_replay.py
rename to openpilot/selfdrive/test/process_replay/model_replay.py
diff --git a/selfdrive/test/process_replay/process_replay.py b/openpilot/selfdrive/test/process_replay/process_replay.py
similarity index 100%
rename from selfdrive/test/process_replay/process_replay.py
rename to openpilot/selfdrive/test/process_replay/process_replay.py
diff --git a/selfdrive/test/process_replay/regen.py b/openpilot/selfdrive/test/process_replay/regen.py
similarity index 100%
rename from selfdrive/test/process_replay/regen.py
rename to openpilot/selfdrive/test/process_replay/regen.py
diff --git a/selfdrive/test/process_replay/regen_all.py b/openpilot/selfdrive/test/process_replay/regen_all.py
similarity index 100%
rename from selfdrive/test/process_replay/regen_all.py
rename to openpilot/selfdrive/test/process_replay/regen_all.py
diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/openpilot/selfdrive/test/process_replay/test_fuzzy.py
similarity index 100%
rename from selfdrive/test/process_replay/test_fuzzy.py
rename to openpilot/selfdrive/test/process_replay/test_fuzzy.py
diff --git a/selfdrive/test/process_replay/test_processes.py b/openpilot/selfdrive/test/process_replay/test_processes.py
similarity index 100%
rename from selfdrive/test/process_replay/test_processes.py
rename to openpilot/selfdrive/test/process_replay/test_processes.py
diff --git a/selfdrive/test/process_replay/test_regen.py b/openpilot/selfdrive/test/process_replay/test_regen.py
similarity index 100%
rename from selfdrive/test/process_replay/test_regen.py
rename to openpilot/selfdrive/test/process_replay/test_regen.py
diff --git a/selfdrive/test/process_replay/vision_meta.py b/openpilot/selfdrive/test/process_replay/vision_meta.py
similarity index 100%
rename from selfdrive/test/process_replay/vision_meta.py
rename to openpilot/selfdrive/test/process_replay/vision_meta.py
diff --git a/selfdrive/test/scons_build_test.sh b/openpilot/selfdrive/test/scons_build_test.sh
similarity index 89%
rename from selfdrive/test/scons_build_test.sh
rename to openpilot/selfdrive/test/scons_build_test.sh
index d4a0733569cc7a..6f6eafcad15f73 100755
--- a/selfdrive/test/scons_build_test.sh
+++ b/openpilot/selfdrive/test/scons_build_test.sh
@@ -2,7 +2,7 @@
 set -e
 
 SCRIPT_DIR=$(dirname "$0")
-BASEDIR=$(realpath "$SCRIPT_DIR/../../")
+BASEDIR=$(realpath "$SCRIPT_DIR/../../../")
 cd $BASEDIR
 
 # tests that our build system's dependencies are configured properly,
diff --git a/selfdrive/test/setup_device_ci.sh b/openpilot/selfdrive/test/setup_device_ci.sh
similarity index 100%
rename from selfdrive/test/setup_device_ci.sh
rename to openpilot/selfdrive/test/setup_device_ci.sh
diff --git a/selfdrive/test/setup_xvfb.sh b/openpilot/selfdrive/test/setup_xvfb.sh
similarity index 100%
rename from selfdrive/test/setup_xvfb.sh
rename to openpilot/selfdrive/test/setup_xvfb.sh
diff --git a/selfdrive/test/test_onroad.py b/openpilot/selfdrive/test/test_onroad.py
similarity index 100%
rename from selfdrive/test/test_onroad.py
rename to openpilot/selfdrive/test/test_onroad.py
diff --git a/selfdrive/test/test_power_draw.py b/openpilot/selfdrive/test/test_power_draw.py
similarity index 100%
rename from selfdrive/test/test_power_draw.py
rename to openpilot/selfdrive/test/test_power_draw.py
diff --git a/selfdrive/test/update_ci_routes.py b/openpilot/selfdrive/test/update_ci_routes.py
similarity index 100%
rename from selfdrive/test/update_ci_routes.py
rename to openpilot/selfdrive/test/update_ci_routes.py
diff --git a/selfdrive/ui/.gitignore b/openpilot/selfdrive/ui/.gitignore
similarity index 100%
rename from selfdrive/ui/.gitignore
rename to openpilot/selfdrive/ui/.gitignore
diff --git a/selfdrive/ui/SConscript b/openpilot/selfdrive/ui/SConscript
similarity index 100%
rename from selfdrive/ui/SConscript
rename to openpilot/selfdrive/ui/SConscript
diff --git a/selfdrive/ui/__init__.py b/openpilot/selfdrive/ui/__init__.py
similarity index 100%
rename from selfdrive/ui/__init__.py
rename to openpilot/selfdrive/ui/__init__.py
diff --git a/selfdrive/ui/body/__init__.py b/openpilot/selfdrive/ui/body/__init__.py
similarity index 100%
rename from selfdrive/ui/body/__init__.py
rename to openpilot/selfdrive/ui/body/__init__.py
diff --git a/selfdrive/ui/body/animations.py b/openpilot/selfdrive/ui/body/animations.py
similarity index 100%
rename from selfdrive/ui/body/animations.py
rename to openpilot/selfdrive/ui/body/animations.py
diff --git a/selfdrive/ui/body/layouts/__init__.py b/openpilot/selfdrive/ui/body/layouts/__init__.py
similarity index 100%
rename from selfdrive/ui/body/layouts/__init__.py
rename to openpilot/selfdrive/ui/body/layouts/__init__.py
diff --git a/selfdrive/ui/body/layouts/onroad.py b/openpilot/selfdrive/ui/body/layouts/onroad.py
similarity index 100%
rename from selfdrive/ui/body/layouts/onroad.py
rename to openpilot/selfdrive/ui/body/layouts/onroad.py
diff --git a/selfdrive/ui/feedback/feedbackd.py b/openpilot/selfdrive/ui/feedback/feedbackd.py
similarity index 100%
rename from selfdrive/ui/feedback/feedbackd.py
rename to openpilot/selfdrive/ui/feedback/feedbackd.py
diff --git a/selfdrive/ui/installer/continue_openpilot.sh b/openpilot/selfdrive/ui/installer/continue_openpilot.sh
similarity index 100%
rename from selfdrive/ui/installer/continue_openpilot.sh
rename to openpilot/selfdrive/ui/installer/continue_openpilot.sh
diff --git a/selfdrive/ui/installer/installer.cc b/openpilot/selfdrive/ui/installer/installer.cc
similarity index 100%
rename from selfdrive/ui/installer/installer.cc
rename to openpilot/selfdrive/ui/installer/installer.cc
diff --git a/selfdrive/ui/installer/inter-ascii.ttf b/openpilot/selfdrive/ui/installer/inter-ascii.ttf
similarity index 100%
rename from selfdrive/ui/installer/inter-ascii.ttf
rename to openpilot/selfdrive/ui/installer/inter-ascii.ttf
diff --git a/selfdrive/ui/layouts/__init__.py b/openpilot/selfdrive/ui/layouts/__init__.py
similarity index 100%
rename from selfdrive/ui/layouts/__init__.py
rename to openpilot/selfdrive/ui/layouts/__init__.py
diff --git a/selfdrive/ui/layouts/home.py b/openpilot/selfdrive/ui/layouts/home.py
similarity index 100%
rename from selfdrive/ui/layouts/home.py
rename to openpilot/selfdrive/ui/layouts/home.py
diff --git a/selfdrive/ui/layouts/main.py b/openpilot/selfdrive/ui/layouts/main.py
similarity index 100%
rename from selfdrive/ui/layouts/main.py
rename to openpilot/selfdrive/ui/layouts/main.py
diff --git a/selfdrive/ui/layouts/onboarding.py b/openpilot/selfdrive/ui/layouts/onboarding.py
similarity index 100%
rename from selfdrive/ui/layouts/onboarding.py
rename to openpilot/selfdrive/ui/layouts/onboarding.py
diff --git a/selfdrive/ui/layouts/settings/common.py b/openpilot/selfdrive/ui/layouts/settings/common.py
similarity index 100%
rename from selfdrive/ui/layouts/settings/common.py
rename to openpilot/selfdrive/ui/layouts/settings/common.py
diff --git a/selfdrive/ui/layouts/settings/developer.py b/openpilot/selfdrive/ui/layouts/settings/developer.py
similarity index 100%
rename from selfdrive/ui/layouts/settings/developer.py
rename to openpilot/selfdrive/ui/layouts/settings/developer.py
diff --git a/selfdrive/ui/layouts/settings/device.py b/openpilot/selfdrive/ui/layouts/settings/device.py
similarity index 100%
rename from selfdrive/ui/layouts/settings/device.py
rename to openpilot/selfdrive/ui/layouts/settings/device.py
diff --git a/selfdrive/ui/layouts/settings/firehose.py b/openpilot/selfdrive/ui/layouts/settings/firehose.py
similarity index 100%
rename from selfdrive/ui/layouts/settings/firehose.py
rename to openpilot/selfdrive/ui/layouts/settings/firehose.py
diff --git a/selfdrive/ui/layouts/settings/settings.py b/openpilot/selfdrive/ui/layouts/settings/settings.py
similarity index 100%
rename from selfdrive/ui/layouts/settings/settings.py
rename to openpilot/selfdrive/ui/layouts/settings/settings.py
diff --git a/selfdrive/ui/layouts/settings/software.py b/openpilot/selfdrive/ui/layouts/settings/software.py
similarity index 100%
rename from selfdrive/ui/layouts/settings/software.py
rename to openpilot/selfdrive/ui/layouts/settings/software.py
diff --git a/selfdrive/ui/layouts/settings/toggles.py b/openpilot/selfdrive/ui/layouts/settings/toggles.py
similarity index 100%
rename from selfdrive/ui/layouts/settings/toggles.py
rename to openpilot/selfdrive/ui/layouts/settings/toggles.py
diff --git a/selfdrive/ui/layouts/sidebar.py b/openpilot/selfdrive/ui/layouts/sidebar.py
similarity index 100%
rename from selfdrive/ui/layouts/sidebar.py
rename to openpilot/selfdrive/ui/layouts/sidebar.py
diff --git a/selfdrive/ui/lib/api_helpers.py b/openpilot/selfdrive/ui/lib/api_helpers.py
similarity index 100%
rename from selfdrive/ui/lib/api_helpers.py
rename to openpilot/selfdrive/ui/lib/api_helpers.py
diff --git a/selfdrive/ui/lib/prime_state.py b/openpilot/selfdrive/ui/lib/prime_state.py
similarity index 100%
rename from selfdrive/ui/lib/prime_state.py
rename to openpilot/selfdrive/ui/lib/prime_state.py
diff --git a/selfdrive/ui/mici/layouts/__init__.py b/openpilot/selfdrive/ui/mici/layouts/__init__.py
similarity index 100%
rename from selfdrive/ui/mici/layouts/__init__.py
rename to openpilot/selfdrive/ui/mici/layouts/__init__.py
diff --git a/selfdrive/ui/mici/layouts/home.py b/openpilot/selfdrive/ui/mici/layouts/home.py
similarity index 100%
rename from selfdrive/ui/mici/layouts/home.py
rename to openpilot/selfdrive/ui/mici/layouts/home.py
diff --git a/selfdrive/ui/mici/layouts/main.py b/openpilot/selfdrive/ui/mici/layouts/main.py
similarity index 100%
rename from selfdrive/ui/mici/layouts/main.py
rename to openpilot/selfdrive/ui/mici/layouts/main.py
diff --git a/selfdrive/ui/mici/layouts/offroad_alerts.py b/openpilot/selfdrive/ui/mici/layouts/offroad_alerts.py
similarity index 100%
rename from selfdrive/ui/mici/layouts/offroad_alerts.py
rename to openpilot/selfdrive/ui/mici/layouts/offroad_alerts.py
diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/openpilot/selfdrive/ui/mici/layouts/onboarding.py
similarity index 100%
rename from selfdrive/ui/mici/layouts/onboarding.py
rename to openpilot/selfdrive/ui/mici/layouts/onboarding.py
diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/openpilot/selfdrive/ui/mici/layouts/settings/developer.py
similarity index 100%
rename from selfdrive/ui/mici/layouts/settings/developer.py
rename to openpilot/selfdrive/ui/mici/layouts/settings/developer.py
diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/openpilot/selfdrive/ui/mici/layouts/settings/device.py
similarity index 100%
rename from selfdrive/ui/mici/layouts/settings/device.py
rename to openpilot/selfdrive/ui/mici/layouts/settings/device.py
diff --git a/selfdrive/ui/mici/layouts/settings/firehose.py b/openpilot/selfdrive/ui/mici/layouts/settings/firehose.py
similarity index 100%
rename from selfdrive/ui/mici/layouts/settings/firehose.py
rename to openpilot/selfdrive/ui/mici/layouts/settings/firehose.py
diff --git a/selfdrive/ui/mici/layouts/settings/network/__init__.py b/openpilot/selfdrive/ui/mici/layouts/settings/network/__init__.py
similarity index 100%
rename from selfdrive/ui/mici/layouts/settings/network/__init__.py
rename to openpilot/selfdrive/ui/mici/layouts/settings/network/__init__.py
diff --git a/selfdrive/ui/mici/layouts/settings/network/network_layout.py b/openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py
similarity index 100%
rename from selfdrive/ui/mici/layouts/settings/network/network_layout.py
rename to openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py
diff --git a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py b/openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
similarity index 100%
rename from selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
rename to openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
diff --git a/selfdrive/ui/mici/layouts/settings/settings.py b/openpilot/selfdrive/ui/mici/layouts/settings/settings.py
similarity index 100%
rename from selfdrive/ui/mici/layouts/settings/settings.py
rename to openpilot/selfdrive/ui/mici/layouts/settings/settings.py
diff --git a/selfdrive/ui/mici/layouts/settings/software.py b/openpilot/selfdrive/ui/mici/layouts/settings/software.py
similarity index 100%
rename from selfdrive/ui/mici/layouts/settings/software.py
rename to openpilot/selfdrive/ui/mici/layouts/settings/software.py
diff --git a/selfdrive/ui/mici/layouts/settings/toggles.py b/openpilot/selfdrive/ui/mici/layouts/settings/toggles.py
similarity index 100%
rename from selfdrive/ui/mici/layouts/settings/toggles.py
rename to openpilot/selfdrive/ui/mici/layouts/settings/toggles.py
diff --git a/selfdrive/ui/mici/onroad/__init__.py b/openpilot/selfdrive/ui/mici/onroad/__init__.py
similarity index 100%
rename from selfdrive/ui/mici/onroad/__init__.py
rename to openpilot/selfdrive/ui/mici/onroad/__init__.py
diff --git a/selfdrive/ui/mici/onroad/alert_renderer.py b/openpilot/selfdrive/ui/mici/onroad/alert_renderer.py
similarity index 100%
rename from selfdrive/ui/mici/onroad/alert_renderer.py
rename to openpilot/selfdrive/ui/mici/onroad/alert_renderer.py
diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
similarity index 100%
rename from selfdrive/ui/mici/onroad/augmented_road_view.py
rename to openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
diff --git a/selfdrive/ui/mici/onroad/cameraview.py b/openpilot/selfdrive/ui/mici/onroad/cameraview.py
similarity index 100%
rename from selfdrive/ui/mici/onroad/cameraview.py
rename to openpilot/selfdrive/ui/mici/onroad/cameraview.py
diff --git a/selfdrive/ui/mici/onroad/confidence_ball.py b/openpilot/selfdrive/ui/mici/onroad/confidence_ball.py
similarity index 100%
rename from selfdrive/ui/mici/onroad/confidence_ball.py
rename to openpilot/selfdrive/ui/mici/onroad/confidence_ball.py
diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/openpilot/selfdrive/ui/mici/onroad/driver_camera_dialog.py
similarity index 100%
rename from selfdrive/ui/mici/onroad/driver_camera_dialog.py
rename to openpilot/selfdrive/ui/mici/onroad/driver_camera_dialog.py
diff --git a/selfdrive/ui/mici/onroad/driver_state.py b/openpilot/selfdrive/ui/mici/onroad/driver_state.py
similarity index 100%
rename from selfdrive/ui/mici/onroad/driver_state.py
rename to openpilot/selfdrive/ui/mici/onroad/driver_state.py
diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/openpilot/selfdrive/ui/mici/onroad/hud_renderer.py
similarity index 100%
rename from selfdrive/ui/mici/onroad/hud_renderer.py
rename to openpilot/selfdrive/ui/mici/onroad/hud_renderer.py
diff --git a/selfdrive/ui/mici/onroad/model_renderer.py b/openpilot/selfdrive/ui/mici/onroad/model_renderer.py
similarity index 100%
rename from selfdrive/ui/mici/onroad/model_renderer.py
rename to openpilot/selfdrive/ui/mici/onroad/model_renderer.py
diff --git a/selfdrive/ui/mici/onroad/torque_bar.py b/openpilot/selfdrive/ui/mici/onroad/torque_bar.py
similarity index 100%
rename from selfdrive/ui/mici/onroad/torque_bar.py
rename to openpilot/selfdrive/ui/mici/onroad/torque_bar.py
diff --git a/selfdrive/ui/mici/tests/test_widget_leaks.py b/openpilot/selfdrive/ui/mici/tests/test_widget_leaks.py
similarity index 100%
rename from selfdrive/ui/mici/tests/test_widget_leaks.py
rename to openpilot/selfdrive/ui/mici/tests/test_widget_leaks.py
diff --git a/selfdrive/ui/mici/widgets/button.py b/openpilot/selfdrive/ui/mici/widgets/button.py
similarity index 100%
rename from selfdrive/ui/mici/widgets/button.py
rename to openpilot/selfdrive/ui/mici/widgets/button.py
diff --git a/selfdrive/ui/mici/widgets/dialog.py b/openpilot/selfdrive/ui/mici/widgets/dialog.py
similarity index 100%
rename from selfdrive/ui/mici/widgets/dialog.py
rename to openpilot/selfdrive/ui/mici/widgets/dialog.py
diff --git a/selfdrive/ui/mici/widgets/pairing_dialog.py b/openpilot/selfdrive/ui/mici/widgets/pairing_dialog.py
similarity index 100%
rename from selfdrive/ui/mici/widgets/pairing_dialog.py
rename to openpilot/selfdrive/ui/mici/widgets/pairing_dialog.py
diff --git a/selfdrive/ui/onroad/__init__.py b/openpilot/selfdrive/ui/onroad/__init__.py
similarity index 100%
rename from selfdrive/ui/onroad/__init__.py
rename to openpilot/selfdrive/ui/onroad/__init__.py
diff --git a/selfdrive/ui/onroad/alert_renderer.py b/openpilot/selfdrive/ui/onroad/alert_renderer.py
similarity index 100%
rename from selfdrive/ui/onroad/alert_renderer.py
rename to openpilot/selfdrive/ui/onroad/alert_renderer.py
diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/openpilot/selfdrive/ui/onroad/augmented_road_view.py
similarity index 100%
rename from selfdrive/ui/onroad/augmented_road_view.py
rename to openpilot/selfdrive/ui/onroad/augmented_road_view.py
diff --git a/selfdrive/ui/onroad/cameraview.py b/openpilot/selfdrive/ui/onroad/cameraview.py
similarity index 100%
rename from selfdrive/ui/onroad/cameraview.py
rename to openpilot/selfdrive/ui/onroad/cameraview.py
diff --git a/selfdrive/ui/onroad/driver_camera_dialog.py b/openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
similarity index 100%
rename from selfdrive/ui/onroad/driver_camera_dialog.py
rename to openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
diff --git a/selfdrive/ui/onroad/driver_state.py b/openpilot/selfdrive/ui/onroad/driver_state.py
similarity index 100%
rename from selfdrive/ui/onroad/driver_state.py
rename to openpilot/selfdrive/ui/onroad/driver_state.py
diff --git a/selfdrive/ui/onroad/exp_button.py b/openpilot/selfdrive/ui/onroad/exp_button.py
similarity index 100%
rename from selfdrive/ui/onroad/exp_button.py
rename to openpilot/selfdrive/ui/onroad/exp_button.py
diff --git a/selfdrive/ui/onroad/hud_renderer.py b/openpilot/selfdrive/ui/onroad/hud_renderer.py
similarity index 100%
rename from selfdrive/ui/onroad/hud_renderer.py
rename to openpilot/selfdrive/ui/onroad/hud_renderer.py
diff --git a/selfdrive/ui/onroad/model_renderer.py b/openpilot/selfdrive/ui/onroad/model_renderer.py
similarity index 100%
rename from selfdrive/ui/onroad/model_renderer.py
rename to openpilot/selfdrive/ui/onroad/model_renderer.py
diff --git a/selfdrive/ui/soundd.py b/openpilot/selfdrive/ui/soundd.py
similarity index 100%
rename from selfdrive/ui/soundd.py
rename to openpilot/selfdrive/ui/soundd.py
diff --git a/selfdrive/ui/tests/__init__.py b/openpilot/selfdrive/ui/tests/__init__.py
similarity index 100%
rename from selfdrive/ui/tests/__init__.py
rename to openpilot/selfdrive/ui/tests/__init__.py
diff --git a/selfdrive/ui/tests/body.py b/openpilot/selfdrive/ui/tests/body.py
similarity index 100%
rename from selfdrive/ui/tests/body.py
rename to openpilot/selfdrive/ui/tests/body.py
diff --git a/selfdrive/ui/tests/cycle_offroad_alerts.py b/openpilot/selfdrive/ui/tests/cycle_offroad_alerts.py
similarity index 100%
rename from selfdrive/ui/tests/cycle_offroad_alerts.py
rename to openpilot/selfdrive/ui/tests/cycle_offroad_alerts.py
diff --git a/selfdrive/ui/tests/diff/diff.py b/openpilot/selfdrive/ui/tests/diff/diff.py
similarity index 100%
rename from selfdrive/ui/tests/diff/diff.py
rename to openpilot/selfdrive/ui/tests/diff/diff.py
diff --git a/selfdrive/ui/tests/diff/diff_template.html b/openpilot/selfdrive/ui/tests/diff/diff_template.html
similarity index 100%
rename from selfdrive/ui/tests/diff/diff_template.html
rename to openpilot/selfdrive/ui/tests/diff/diff_template.html
diff --git a/selfdrive/ui/tests/diff/replay.py b/openpilot/selfdrive/ui/tests/diff/replay.py
similarity index 100%
rename from selfdrive/ui/tests/diff/replay.py
rename to openpilot/selfdrive/ui/tests/diff/replay.py
diff --git a/selfdrive/ui/tests/diff/replay_script.py b/openpilot/selfdrive/ui/tests/diff/replay_script.py
similarity index 100%
rename from selfdrive/ui/tests/diff/replay_script.py
rename to openpilot/selfdrive/ui/tests/diff/replay_script.py
diff --git a/selfdrive/ui/tests/profile_onroad.py b/openpilot/selfdrive/ui/tests/profile_onroad.py
similarity index 100%
rename from selfdrive/ui/tests/profile_onroad.py
rename to openpilot/selfdrive/ui/tests/profile_onroad.py
diff --git a/selfdrive/ui/tests/test_feedbackd.py b/openpilot/selfdrive/ui/tests/test_feedbackd.py
similarity index 100%
rename from selfdrive/ui/tests/test_feedbackd.py
rename to openpilot/selfdrive/ui/tests/test_feedbackd.py
diff --git a/selfdrive/ui/tests/test_raylib_ui.py b/openpilot/selfdrive/ui/tests/test_raylib_ui.py
similarity index 100%
rename from selfdrive/ui/tests/test_raylib_ui.py
rename to openpilot/selfdrive/ui/tests/test_raylib_ui.py
diff --git a/selfdrive/ui/tests/test_soundd.py b/openpilot/selfdrive/ui/tests/test_soundd.py
similarity index 100%
rename from selfdrive/ui/tests/test_soundd.py
rename to openpilot/selfdrive/ui/tests/test_soundd.py
diff --git a/selfdrive/ui/tests/test_translations.py b/openpilot/selfdrive/ui/tests/test_translations.py
similarity index 100%
rename from selfdrive/ui/tests/test_translations.py
rename to openpilot/selfdrive/ui/tests/test_translations.py
diff --git a/selfdrive/ui/translations/app.pot b/openpilot/selfdrive/ui/translations/app.pot
similarity index 100%
rename from selfdrive/ui/translations/app.pot
rename to openpilot/selfdrive/ui/translations/app.pot
diff --git a/selfdrive/ui/translations/app_de.po b/openpilot/selfdrive/ui/translations/app_de.po
similarity index 100%
rename from selfdrive/ui/translations/app_de.po
rename to openpilot/selfdrive/ui/translations/app_de.po
diff --git a/selfdrive/ui/translations/app_en.po b/openpilot/selfdrive/ui/translations/app_en.po
similarity index 100%
rename from selfdrive/ui/translations/app_en.po
rename to openpilot/selfdrive/ui/translations/app_en.po
diff --git a/selfdrive/ui/translations/app_es.po b/openpilot/selfdrive/ui/translations/app_es.po
similarity index 100%
rename from selfdrive/ui/translations/app_es.po
rename to openpilot/selfdrive/ui/translations/app_es.po
diff --git a/selfdrive/ui/translations/app_fr.po b/openpilot/selfdrive/ui/translations/app_fr.po
similarity index 100%
rename from selfdrive/ui/translations/app_fr.po
rename to openpilot/selfdrive/ui/translations/app_fr.po
diff --git a/selfdrive/ui/translations/app_ja.po b/openpilot/selfdrive/ui/translations/app_ja.po
similarity index 100%
rename from selfdrive/ui/translations/app_ja.po
rename to openpilot/selfdrive/ui/translations/app_ja.po
diff --git a/selfdrive/ui/translations/app_ko.po b/openpilot/selfdrive/ui/translations/app_ko.po
similarity index 100%
rename from selfdrive/ui/translations/app_ko.po
rename to openpilot/selfdrive/ui/translations/app_ko.po
diff --git a/selfdrive/ui/translations/app_pt-BR.po b/openpilot/selfdrive/ui/translations/app_pt-BR.po
similarity index 100%
rename from selfdrive/ui/translations/app_pt-BR.po
rename to openpilot/selfdrive/ui/translations/app_pt-BR.po
diff --git a/selfdrive/ui/translations/app_th.po b/openpilot/selfdrive/ui/translations/app_th.po
similarity index 100%
rename from selfdrive/ui/translations/app_th.po
rename to openpilot/selfdrive/ui/translations/app_th.po
diff --git a/selfdrive/ui/translations/app_tr.po b/openpilot/selfdrive/ui/translations/app_tr.po
similarity index 100%
rename from selfdrive/ui/translations/app_tr.po
rename to openpilot/selfdrive/ui/translations/app_tr.po
diff --git a/selfdrive/ui/translations/app_uk.po b/openpilot/selfdrive/ui/translations/app_uk.po
similarity index 100%
rename from selfdrive/ui/translations/app_uk.po
rename to openpilot/selfdrive/ui/translations/app_uk.po
diff --git a/selfdrive/ui/translations/app_zh-CHS.po b/openpilot/selfdrive/ui/translations/app_zh-CHS.po
similarity index 100%
rename from selfdrive/ui/translations/app_zh-CHS.po
rename to openpilot/selfdrive/ui/translations/app_zh-CHS.po
diff --git a/selfdrive/ui/translations/app_zh-CHT.po b/openpilot/selfdrive/ui/translations/app_zh-CHT.po
similarity index 100%
rename from selfdrive/ui/translations/app_zh-CHT.po
rename to openpilot/selfdrive/ui/translations/app_zh-CHT.po
diff --git a/selfdrive/ui/translations/auto_translate.sh b/openpilot/selfdrive/ui/translations/auto_translate.sh
similarity index 100%
rename from selfdrive/ui/translations/auto_translate.sh
rename to openpilot/selfdrive/ui/translations/auto_translate.sh
diff --git a/selfdrive/ui/translations/languages.json b/openpilot/selfdrive/ui/translations/languages.json
similarity index 100%
rename from selfdrive/ui/translations/languages.json
rename to openpilot/selfdrive/ui/translations/languages.json
diff --git a/selfdrive/ui/translations/potools.py b/openpilot/selfdrive/ui/translations/potools.py
similarity index 100%
rename from selfdrive/ui/translations/potools.py
rename to openpilot/selfdrive/ui/translations/potools.py
diff --git a/selfdrive/ui/translations/update_translations.py b/openpilot/selfdrive/ui/translations/update_translations.py
similarity index 100%
rename from selfdrive/ui/translations/update_translations.py
rename to openpilot/selfdrive/ui/translations/update_translations.py
diff --git a/selfdrive/ui/ui.py b/openpilot/selfdrive/ui/ui.py
similarity index 100%
rename from selfdrive/ui/ui.py
rename to openpilot/selfdrive/ui/ui.py
diff --git a/selfdrive/ui/ui_state.py b/openpilot/selfdrive/ui/ui_state.py
similarity index 100%
rename from selfdrive/ui/ui_state.py
rename to openpilot/selfdrive/ui/ui_state.py
diff --git a/selfdrive/ui/watch3.py b/openpilot/selfdrive/ui/watch3.py
similarity index 100%
rename from selfdrive/ui/watch3.py
rename to openpilot/selfdrive/ui/watch3.py
diff --git a/selfdrive/ui/widgets/__init__.py b/openpilot/selfdrive/ui/widgets/__init__.py
similarity index 100%
rename from selfdrive/ui/widgets/__init__.py
rename to openpilot/selfdrive/ui/widgets/__init__.py
diff --git a/selfdrive/ui/widgets/exp_mode_button.py b/openpilot/selfdrive/ui/widgets/exp_mode_button.py
similarity index 100%
rename from selfdrive/ui/widgets/exp_mode_button.py
rename to openpilot/selfdrive/ui/widgets/exp_mode_button.py
diff --git a/selfdrive/ui/widgets/offroad_alerts.py b/openpilot/selfdrive/ui/widgets/offroad_alerts.py
similarity index 100%
rename from selfdrive/ui/widgets/offroad_alerts.py
rename to openpilot/selfdrive/ui/widgets/offroad_alerts.py
diff --git a/selfdrive/ui/widgets/pairing_dialog.py b/openpilot/selfdrive/ui/widgets/pairing_dialog.py
similarity index 100%
rename from selfdrive/ui/widgets/pairing_dialog.py
rename to openpilot/selfdrive/ui/widgets/pairing_dialog.py
diff --git a/selfdrive/ui/widgets/prime.py b/openpilot/selfdrive/ui/widgets/prime.py
similarity index 100%
rename from selfdrive/ui/widgets/prime.py
rename to openpilot/selfdrive/ui/widgets/prime.py
diff --git a/selfdrive/ui/widgets/setup.py b/openpilot/selfdrive/ui/widgets/setup.py
similarity index 100%
rename from selfdrive/ui/widgets/setup.py
rename to openpilot/selfdrive/ui/widgets/setup.py
diff --git a/selfdrive/ui/widgets/ssh_key.py b/openpilot/selfdrive/ui/widgets/ssh_key.py
similarity index 100%
rename from selfdrive/ui/widgets/ssh_key.py
rename to openpilot/selfdrive/ui/widgets/ssh_key.py
diff --git a/openpilot/system b/openpilot/system
deleted file mode 120000
index 16f8cc2b2334d4..00000000000000
--- a/openpilot/system
+++ /dev/null
@@ -1 +0,0 @@
-../system/
\ No newline at end of file
diff --git a/system/__init__.py b/openpilot/system/__init__.py
similarity index 100%
rename from system/__init__.py
rename to openpilot/system/__init__.py
diff --git a/system/athena/__init__.py b/openpilot/system/athena/__init__.py
similarity index 100%
rename from system/athena/__init__.py
rename to openpilot/system/athena/__init__.py
diff --git a/system/athena/athenad.py b/openpilot/system/athena/athenad.py
similarity index 100%
rename from system/athena/athenad.py
rename to openpilot/system/athena/athenad.py
diff --git a/system/athena/manage_athenad.py b/openpilot/system/athena/manage_athenad.py
similarity index 100%
rename from system/athena/manage_athenad.py
rename to openpilot/system/athena/manage_athenad.py
diff --git a/system/athena/registration.py b/openpilot/system/athena/registration.py
similarity index 100%
rename from system/athena/registration.py
rename to openpilot/system/athena/registration.py
diff --git a/system/athena/tests/__init__.py b/openpilot/system/athena/tests/__init__.py
similarity index 100%
rename from system/athena/tests/__init__.py
rename to openpilot/system/athena/tests/__init__.py
diff --git a/system/athena/tests/helpers.py b/openpilot/system/athena/tests/helpers.py
similarity index 100%
rename from system/athena/tests/helpers.py
rename to openpilot/system/athena/tests/helpers.py
diff --git a/system/athena/tests/test_athenad.py b/openpilot/system/athena/tests/test_athenad.py
similarity index 100%
rename from system/athena/tests/test_athenad.py
rename to openpilot/system/athena/tests/test_athenad.py
diff --git a/system/athena/tests/test_athenad_ping.py b/openpilot/system/athena/tests/test_athenad_ping.py
similarity index 100%
rename from system/athena/tests/test_athenad_ping.py
rename to openpilot/system/athena/tests/test_athenad_ping.py
diff --git a/system/athena/tests/test_registration.py b/openpilot/system/athena/tests/test_registration.py
similarity index 100%
rename from system/athena/tests/test_registration.py
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diff --git a/openpilot/tools b/openpilot/tools
deleted file mode 120000
index 4887d6e0c92bc5..00000000000000
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@@ -1 +0,0 @@
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\ No newline at end of file
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rename from tools/jotpluggler/sketch_layout.cc
rename to openpilot/tools/jotpluggler/sketch_layout.cc
diff --git a/tools/jotpluggler/stream.cc b/openpilot/tools/jotpluggler/stream.cc
similarity index 100%
rename from tools/jotpluggler/stream.cc
rename to openpilot/tools/jotpluggler/stream.cc
diff --git a/tools/jotpluggler/util.cc b/openpilot/tools/jotpluggler/util.cc
similarity index 100%
rename from tools/jotpluggler/util.cc
rename to openpilot/tools/jotpluggler/util.cc
diff --git a/tools/jotpluggler/util.h b/openpilot/tools/jotpluggler/util.h
similarity index 100%
rename from tools/jotpluggler/util.h
rename to openpilot/tools/jotpluggler/util.h
diff --git a/tools/joystick/README.md b/openpilot/tools/joystick/README.md
similarity index 100%
rename from tools/joystick/README.md
rename to openpilot/tools/joystick/README.md
diff --git a/tools/joystick/joystick_control.py b/openpilot/tools/joystick/joystick_control.py
similarity index 100%
rename from tools/joystick/joystick_control.py
rename to openpilot/tools/joystick/joystick_control.py
diff --git a/tools/joystick/joystickd.py b/openpilot/tools/joystick/joystickd.py
similarity index 100%
rename from tools/joystick/joystickd.py
rename to openpilot/tools/joystick/joystickd.py
diff --git a/tools/lateral_maneuvers/.gitignore b/openpilot/tools/lateral_maneuvers/.gitignore
similarity index 100%
rename from tools/lateral_maneuvers/.gitignore
rename to openpilot/tools/lateral_maneuvers/.gitignore
diff --git a/tools/lateral_maneuvers/README.md b/openpilot/tools/lateral_maneuvers/README.md
similarity index 100%
rename from tools/lateral_maneuvers/README.md
rename to openpilot/tools/lateral_maneuvers/README.md
diff --git a/tools/lateral_maneuvers/generate_report.py b/openpilot/tools/lateral_maneuvers/generate_report.py
similarity index 100%
rename from tools/lateral_maneuvers/generate_report.py
rename to openpilot/tools/lateral_maneuvers/generate_report.py
diff --git a/tools/lateral_maneuvers/lateral_maneuversd.py b/openpilot/tools/lateral_maneuvers/lateral_maneuversd.py
similarity index 100%
rename from tools/lateral_maneuvers/lateral_maneuversd.py
rename to openpilot/tools/lateral_maneuvers/lateral_maneuversd.py
diff --git a/tools/lib/README.md b/openpilot/tools/lib/README.md
similarity index 100%
rename from tools/lib/README.md
rename to openpilot/tools/lib/README.md
diff --git a/tools/lib/__init__.py b/openpilot/tools/lib/__init__.py
similarity index 100%
rename from tools/lib/__init__.py
rename to openpilot/tools/lib/__init__.py
diff --git a/tools/lib/api.py b/openpilot/tools/lib/api.py
similarity index 100%
rename from tools/lib/api.py
rename to openpilot/tools/lib/api.py
diff --git a/tools/lib/auth.py b/openpilot/tools/lib/auth.py
similarity index 100%
rename from tools/lib/auth.py
rename to openpilot/tools/lib/auth.py
diff --git a/tools/lib/auth_config.py b/openpilot/tools/lib/auth_config.py
similarity index 100%
rename from tools/lib/auth_config.py
rename to openpilot/tools/lib/auth_config.py
diff --git a/tools/lib/azure_container.py b/openpilot/tools/lib/azure_container.py
similarity index 100%
rename from tools/lib/azure_container.py
rename to openpilot/tools/lib/azure_container.py
diff --git a/tools/lib/bootlog.py b/openpilot/tools/lib/bootlog.py
similarity index 100%
rename from tools/lib/bootlog.py
rename to openpilot/tools/lib/bootlog.py
diff --git a/tools/lib/cache.py b/openpilot/tools/lib/cache.py
similarity index 100%
rename from tools/lib/cache.py
rename to openpilot/tools/lib/cache.py
diff --git a/tools/lib/comma_car_segments.py b/openpilot/tools/lib/comma_car_segments.py
similarity index 100%
rename from tools/lib/comma_car_segments.py
rename to openpilot/tools/lib/comma_car_segments.py
diff --git a/tools/lib/exceptions.py b/openpilot/tools/lib/exceptions.py
similarity index 100%
rename from tools/lib/exceptions.py
rename to openpilot/tools/lib/exceptions.py
diff --git a/tools/lib/file_downloader.py b/openpilot/tools/lib/file_downloader.py
similarity index 100%
rename from tools/lib/file_downloader.py
rename to openpilot/tools/lib/file_downloader.py
diff --git a/tools/lib/file_sources.py b/openpilot/tools/lib/file_sources.py
similarity index 100%
rename from tools/lib/file_sources.py
rename to openpilot/tools/lib/file_sources.py
diff --git a/tools/lib/filereader.py b/openpilot/tools/lib/filereader.py
similarity index 100%
rename from tools/lib/filereader.py
rename to openpilot/tools/lib/filereader.py
diff --git a/tools/lib/framereader.py b/openpilot/tools/lib/framereader.py
similarity index 100%
rename from tools/lib/framereader.py
rename to openpilot/tools/lib/framereader.py
diff --git a/tools/lib/github_utils.py b/openpilot/tools/lib/github_utils.py
similarity index 100%
rename from tools/lib/github_utils.py
rename to openpilot/tools/lib/github_utils.py
diff --git a/tools/lib/helpers.py b/openpilot/tools/lib/helpers.py
similarity index 100%
rename from tools/lib/helpers.py
rename to openpilot/tools/lib/helpers.py
diff --git a/tools/lib/kbhit.py b/openpilot/tools/lib/kbhit.py
similarity index 100%
rename from tools/lib/kbhit.py
rename to openpilot/tools/lib/kbhit.py
diff --git a/tools/lib/live_logreader.py b/openpilot/tools/lib/live_logreader.py
similarity index 100%
rename from tools/lib/live_logreader.py
rename to openpilot/tools/lib/live_logreader.py
diff --git a/tools/lib/log_time_series.py b/openpilot/tools/lib/log_time_series.py
similarity index 100%
rename from tools/lib/log_time_series.py
rename to openpilot/tools/lib/log_time_series.py
diff --git a/tools/lib/logreader.py b/openpilot/tools/lib/logreader.py
similarity index 100%
rename from tools/lib/logreader.py
rename to openpilot/tools/lib/logreader.py
diff --git a/tools/lib/openpilotci.py b/openpilot/tools/lib/openpilotci.py
similarity index 100%
rename from tools/lib/openpilotci.py
rename to openpilot/tools/lib/openpilotci.py
diff --git a/tools/lib/openpilotcontainers.py b/openpilot/tools/lib/openpilotcontainers.py
similarity index 100%
rename from tools/lib/openpilotcontainers.py
rename to openpilot/tools/lib/openpilotcontainers.py
diff --git a/tools/lib/route.py b/openpilot/tools/lib/route.py
similarity index 100%
rename from tools/lib/route.py
rename to openpilot/tools/lib/route.py
diff --git a/tools/lib/sanitizer.py b/openpilot/tools/lib/sanitizer.py
similarity index 100%
rename from tools/lib/sanitizer.py
rename to openpilot/tools/lib/sanitizer.py
diff --git a/tools/lib/tests/__init__.py b/openpilot/tools/lib/tests/__init__.py
similarity index 100%
rename from tools/lib/tests/__init__.py
rename to openpilot/tools/lib/tests/__init__.py
diff --git a/tools/lib/tests/test_caching.py b/openpilot/tools/lib/tests/test_caching.py
similarity index 100%
rename from tools/lib/tests/test_caching.py
rename to openpilot/tools/lib/tests/test_caching.py
diff --git a/tools/lib/tests/test_comma_car_segments.py b/openpilot/tools/lib/tests/test_comma_car_segments.py
similarity index 100%
rename from tools/lib/tests/test_comma_car_segments.py
rename to openpilot/tools/lib/tests/test_comma_car_segments.py
diff --git a/tools/lib/tests/test_logreader.py b/openpilot/tools/lib/tests/test_logreader.py
similarity index 100%
rename from tools/lib/tests/test_logreader.py
rename to openpilot/tools/lib/tests/test_logreader.py
diff --git a/tools/lib/tests/test_route_library.py b/openpilot/tools/lib/tests/test_route_library.py
similarity index 100%
rename from tools/lib/tests/test_route_library.py
rename to openpilot/tools/lib/tests/test_route_library.py
diff --git a/tools/lib/url_file.py b/openpilot/tools/lib/url_file.py
similarity index 100%
rename from tools/lib/url_file.py
rename to openpilot/tools/lib/url_file.py
diff --git a/tools/lib/vidindex.py b/openpilot/tools/lib/vidindex.py
similarity index 100%
rename from tools/lib/vidindex.py
rename to openpilot/tools/lib/vidindex.py
diff --git a/tools/longitudinal_maneuvers/.gitignore b/openpilot/tools/longitudinal_maneuvers/.gitignore
similarity index 100%
rename from tools/longitudinal_maneuvers/.gitignore
rename to openpilot/tools/longitudinal_maneuvers/.gitignore
diff --git a/tools/longitudinal_maneuvers/README.md b/openpilot/tools/longitudinal_maneuvers/README.md
similarity index 100%
rename from tools/longitudinal_maneuvers/README.md
rename to openpilot/tools/longitudinal_maneuvers/README.md
diff --git a/tools/longitudinal_maneuvers/generate_report.py b/openpilot/tools/longitudinal_maneuvers/generate_report.py
similarity index 100%
rename from tools/longitudinal_maneuvers/generate_report.py
rename to openpilot/tools/longitudinal_maneuvers/generate_report.py
diff --git a/tools/longitudinal_maneuvers/maneuver_helpers.py b/openpilot/tools/longitudinal_maneuvers/maneuver_helpers.py
similarity index 100%
rename from tools/longitudinal_maneuvers/maneuver_helpers.py
rename to openpilot/tools/longitudinal_maneuvers/maneuver_helpers.py
diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/openpilot/tools/longitudinal_maneuvers/maneuversd.py
similarity index 100%
rename from tools/longitudinal_maneuvers/maneuversd.py
rename to openpilot/tools/longitudinal_maneuvers/maneuversd.py
diff --git a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py b/openpilot/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
similarity index 100%
rename from tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
rename to openpilot/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
diff --git a/tools/op.sh b/openpilot/tools/op.sh
similarity index 99%
rename from tools/op.sh
rename to openpilot/tools/op.sh
index 3b766b61eefbdb..3d0af526bac7da 100755
--- a/tools/op.sh
+++ b/openpilot/tools/op.sh
@@ -75,7 +75,7 @@ function op_get_openpilot_dir() {
 
   # Fallback to hardcoded directories if not found
   SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-  for dir in "${SCRIPT_DIR%/tools}" "$HOME/openpilot" "/data/openpilot"; do
+  for dir in "$(readlink -f "$SCRIPT_DIR/../..")" "$HOME/openpilot" "/data/openpilot"; do
     if [[ -f "$dir/launch_openpilot.sh" ]]; then
       OPENPILOT_ROOT="$dir"
       return 0
diff --git a/tools/plotjuggler/README.md b/openpilot/tools/plotjuggler/README.md
similarity index 100%
rename from tools/plotjuggler/README.md
rename to openpilot/tools/plotjuggler/README.md
diff --git a/tools/plotjuggler/juggle.py b/openpilot/tools/plotjuggler/juggle.py
similarity index 100%
rename from tools/plotjuggler/juggle.py
rename to openpilot/tools/plotjuggler/juggle.py
diff --git a/tools/plotjuggler/layouts/CAN-bus-debug.xml b/openpilot/tools/plotjuggler/layouts/CAN-bus-debug.xml
similarity index 100%
rename from tools/plotjuggler/layouts/CAN-bus-debug.xml
rename to openpilot/tools/plotjuggler/layouts/CAN-bus-debug.xml
diff --git a/tools/plotjuggler/layouts/camera-timings.xml b/openpilot/tools/plotjuggler/layouts/camera-timings.xml
similarity index 100%
rename from tools/plotjuggler/layouts/camera-timings.xml
rename to openpilot/tools/plotjuggler/layouts/camera-timings.xml
diff --git a/tools/plotjuggler/layouts/can-states.xml b/openpilot/tools/plotjuggler/layouts/can-states.xml
similarity index 100%
rename from tools/plotjuggler/layouts/can-states.xml
rename to openpilot/tools/plotjuggler/layouts/can-states.xml
diff --git a/tools/plotjuggler/layouts/controls_mismatch_debug.xml b/openpilot/tools/plotjuggler/layouts/controls_mismatch_debug.xml
similarity index 100%
rename from tools/plotjuggler/layouts/controls_mismatch_debug.xml
rename to openpilot/tools/plotjuggler/layouts/controls_mismatch_debug.xml
diff --git a/tools/plotjuggler/layouts/gps.xml b/openpilot/tools/plotjuggler/layouts/gps.xml
similarity index 100%
rename from tools/plotjuggler/layouts/gps.xml
rename to openpilot/tools/plotjuggler/layouts/gps.xml
diff --git a/tools/plotjuggler/layouts/gps_vs_llk.xml b/openpilot/tools/plotjuggler/layouts/gps_vs_llk.xml
similarity index 100%
rename from tools/plotjuggler/layouts/gps_vs_llk.xml
rename to openpilot/tools/plotjuggler/layouts/gps_vs_llk.xml
diff --git a/tools/plotjuggler/layouts/locationd_debug.xml b/openpilot/tools/plotjuggler/layouts/locationd_debug.xml
similarity index 100%
rename from tools/plotjuggler/layouts/locationd_debug.xml
rename to openpilot/tools/plotjuggler/layouts/locationd_debug.xml
diff --git a/tools/plotjuggler/layouts/longitudinal.xml b/openpilot/tools/plotjuggler/layouts/longitudinal.xml
similarity index 100%
rename from tools/plotjuggler/layouts/longitudinal.xml
rename to openpilot/tools/plotjuggler/layouts/longitudinal.xml
diff --git a/tools/plotjuggler/layouts/max-torque-debug.xml b/openpilot/tools/plotjuggler/layouts/max-torque-debug.xml
similarity index 100%
rename from tools/plotjuggler/layouts/max-torque-debug.xml
rename to openpilot/tools/plotjuggler/layouts/max-torque-debug.xml
diff --git a/tools/plotjuggler/layouts/system_lag_debug.xml b/openpilot/tools/plotjuggler/layouts/system_lag_debug.xml
similarity index 100%
rename from tools/plotjuggler/layouts/system_lag_debug.xml
rename to openpilot/tools/plotjuggler/layouts/system_lag_debug.xml
diff --git a/tools/plotjuggler/layouts/thermal_debug.xml b/openpilot/tools/plotjuggler/layouts/thermal_debug.xml
similarity index 100%
rename from tools/plotjuggler/layouts/thermal_debug.xml
rename to openpilot/tools/plotjuggler/layouts/thermal_debug.xml
diff --git a/tools/plotjuggler/layouts/torque-controller.xml b/openpilot/tools/plotjuggler/layouts/torque-controller.xml
similarity index 100%
rename from tools/plotjuggler/layouts/torque-controller.xml
rename to openpilot/tools/plotjuggler/layouts/torque-controller.xml
diff --git a/tools/plotjuggler/layouts/tuning.xml b/openpilot/tools/plotjuggler/layouts/tuning.xml
similarity index 100%
rename from tools/plotjuggler/layouts/tuning.xml
rename to openpilot/tools/plotjuggler/layouts/tuning.xml
diff --git a/tools/plotjuggler/layouts/ublox-debug.xml b/openpilot/tools/plotjuggler/layouts/ublox-debug.xml
similarity index 100%
rename from tools/plotjuggler/layouts/ublox-debug.xml
rename to openpilot/tools/plotjuggler/layouts/ublox-debug.xml
diff --git a/tools/plotjuggler/test_plotjuggler.py b/openpilot/tools/plotjuggler/test_plotjuggler.py
similarity index 100%
rename from tools/plotjuggler/test_plotjuggler.py
rename to openpilot/tools/plotjuggler/test_plotjuggler.py
diff --git a/tools/replay/.gitignore b/openpilot/tools/replay/.gitignore
similarity index 100%
rename from tools/replay/.gitignore
rename to openpilot/tools/replay/.gitignore
diff --git a/tools/replay/README.md b/openpilot/tools/replay/README.md
similarity index 100%
rename from tools/replay/README.md
rename to openpilot/tools/replay/README.md
diff --git a/tools/replay/SConscript b/openpilot/tools/replay/SConscript
similarity index 100%
rename from tools/replay/SConscript
rename to openpilot/tools/replay/SConscript
diff --git a/tools/replay/__init__.py b/openpilot/tools/replay/__init__.py
similarity index 100%
rename from tools/replay/__init__.py
rename to openpilot/tools/replay/__init__.py
diff --git a/tools/replay/camera.cc b/openpilot/tools/replay/camera.cc
similarity index 100%
rename from tools/replay/camera.cc
rename to openpilot/tools/replay/camera.cc
diff --git a/tools/replay/camera.h b/openpilot/tools/replay/camera.h
similarity index 100%
rename from tools/replay/camera.h
rename to openpilot/tools/replay/camera.h
diff --git a/tools/replay/can_replay.py b/openpilot/tools/replay/can_replay.py
similarity index 100%
rename from tools/replay/can_replay.py
rename to openpilot/tools/replay/can_replay.py
diff --git a/tools/replay/consoleui.cc b/openpilot/tools/replay/consoleui.cc
similarity index 100%
rename from tools/replay/consoleui.cc
rename to openpilot/tools/replay/consoleui.cc
diff --git a/tools/replay/consoleui.h b/openpilot/tools/replay/consoleui.h
similarity index 100%
rename from tools/replay/consoleui.h
rename to openpilot/tools/replay/consoleui.h
diff --git a/tools/replay/filereader.cc b/openpilot/tools/replay/filereader.cc
similarity index 100%
rename from tools/replay/filereader.cc
rename to openpilot/tools/replay/filereader.cc
diff --git a/tools/replay/filereader.h b/openpilot/tools/replay/filereader.h
similarity index 100%
rename from tools/replay/filereader.h
rename to openpilot/tools/replay/filereader.h
diff --git a/tools/replay/framereader.cc b/openpilot/tools/replay/framereader.cc
similarity index 100%
rename from tools/replay/framereader.cc
rename to openpilot/tools/replay/framereader.cc
diff --git a/tools/replay/framereader.h b/openpilot/tools/replay/framereader.h
similarity index 100%
rename from tools/replay/framereader.h
rename to openpilot/tools/replay/framereader.h
diff --git a/tools/replay/lib/__init__.py b/openpilot/tools/replay/lib/__init__.py
similarity index 100%
rename from tools/replay/lib/__init__.py
rename to openpilot/tools/replay/lib/__init__.py
diff --git a/tools/replay/lib/ui_helpers.py b/openpilot/tools/replay/lib/ui_helpers.py
similarity index 100%
rename from tools/replay/lib/ui_helpers.py
rename to openpilot/tools/replay/lib/ui_helpers.py
diff --git a/tools/replay/logreader.cc b/openpilot/tools/replay/logreader.cc
similarity index 100%
rename from tools/replay/logreader.cc
rename to openpilot/tools/replay/logreader.cc
diff --git a/tools/replay/logreader.h b/openpilot/tools/replay/logreader.h
similarity index 100%
rename from tools/replay/logreader.h
rename to openpilot/tools/replay/logreader.h
diff --git a/tools/replay/main.cc b/openpilot/tools/replay/main.cc
similarity index 100%
rename from tools/replay/main.cc
rename to openpilot/tools/replay/main.cc
diff --git a/tools/replay/py_downloader.cc b/openpilot/tools/replay/py_downloader.cc
similarity index 100%
rename from tools/replay/py_downloader.cc
rename to openpilot/tools/replay/py_downloader.cc
diff --git a/tools/replay/py_downloader.h b/openpilot/tools/replay/py_downloader.h
similarity index 100%
rename from tools/replay/py_downloader.h
rename to openpilot/tools/replay/py_downloader.h
diff --git a/tools/replay/qcom_decoder.cc b/openpilot/tools/replay/qcom_decoder.cc
similarity index 100%
rename from tools/replay/qcom_decoder.cc
rename to openpilot/tools/replay/qcom_decoder.cc
diff --git a/tools/replay/qcom_decoder.h b/openpilot/tools/replay/qcom_decoder.h
similarity index 100%
rename from tools/replay/qcom_decoder.h
rename to openpilot/tools/replay/qcom_decoder.h
diff --git a/tools/replay/replay.cc b/openpilot/tools/replay/replay.cc
similarity index 100%
rename from tools/replay/replay.cc
rename to openpilot/tools/replay/replay.cc
diff --git a/tools/replay/replay.h b/openpilot/tools/replay/replay.h
similarity index 100%
rename from tools/replay/replay.h
rename to openpilot/tools/replay/replay.h
diff --git a/tools/replay/route.cc b/openpilot/tools/replay/route.cc
similarity index 100%
rename from tools/replay/route.cc
rename to openpilot/tools/replay/route.cc
diff --git a/tools/replay/route.h b/openpilot/tools/replay/route.h
similarity index 100%
rename from tools/replay/route.h
rename to openpilot/tools/replay/route.h
diff --git a/tools/replay/seg_mgr.cc b/openpilot/tools/replay/seg_mgr.cc
similarity index 100%
rename from tools/replay/seg_mgr.cc
rename to openpilot/tools/replay/seg_mgr.cc
diff --git a/tools/replay/seg_mgr.h b/openpilot/tools/replay/seg_mgr.h
similarity index 100%
rename from tools/replay/seg_mgr.h
rename to openpilot/tools/replay/seg_mgr.h
diff --git a/tools/replay/tests/test_replay.cc b/openpilot/tools/replay/tests/test_replay.cc
similarity index 100%
rename from tools/replay/tests/test_replay.cc
rename to openpilot/tools/replay/tests/test_replay.cc
diff --git a/tools/replay/timeline.cc b/openpilot/tools/replay/timeline.cc
similarity index 100%
rename from tools/replay/timeline.cc
rename to openpilot/tools/replay/timeline.cc
diff --git a/tools/replay/timeline.h b/openpilot/tools/replay/timeline.h
similarity index 100%
rename from tools/replay/timeline.h
rename to openpilot/tools/replay/timeline.h
diff --git a/tools/replay/ui.py b/openpilot/tools/replay/ui.py
similarity index 100%
rename from tools/replay/ui.py
rename to openpilot/tools/replay/ui.py
diff --git a/tools/replay/util.cc b/openpilot/tools/replay/util.cc
similarity index 100%
rename from tools/replay/util.cc
rename to openpilot/tools/replay/util.cc
diff --git a/tools/replay/util.h b/openpilot/tools/replay/util.h
similarity index 100%
rename from tools/replay/util.h
rename to openpilot/tools/replay/util.h
diff --git a/tools/scripts/__init__.py b/openpilot/tools/scripts/__init__.py
similarity index 100%
rename from tools/scripts/__init__.py
rename to openpilot/tools/scripts/__init__.py
diff --git a/tools/scripts/adb_ssh.sh b/openpilot/tools/scripts/adb_ssh.sh
similarity index 100%
rename from tools/scripts/adb_ssh.sh
rename to openpilot/tools/scripts/adb_ssh.sh
diff --git a/tools/scripts/car/can_print_changes.py b/openpilot/tools/scripts/car/can_print_changes.py
similarity index 100%
rename from tools/scripts/car/can_print_changes.py
rename to openpilot/tools/scripts/car/can_print_changes.py
diff --git a/tools/scripts/car/can_printer.py b/openpilot/tools/scripts/car/can_printer.py
similarity index 100%
rename from tools/scripts/car/can_printer.py
rename to openpilot/tools/scripts/car/can_printer.py
diff --git a/tools/scripts/car/can_table.py b/openpilot/tools/scripts/car/can_table.py
similarity index 100%
rename from tools/scripts/car/can_table.py
rename to openpilot/tools/scripts/car/can_table.py
diff --git a/tools/scripts/car/clear_dtc.py b/openpilot/tools/scripts/car/clear_dtc.py
similarity index 100%
rename from tools/scripts/car/clear_dtc.py
rename to openpilot/tools/scripts/car/clear_dtc.py
diff --git a/tools/scripts/car/disable_ecu.py b/openpilot/tools/scripts/car/disable_ecu.py
similarity index 100%
rename from tools/scripts/car/disable_ecu.py
rename to openpilot/tools/scripts/car/disable_ecu.py
diff --git a/tools/scripts/car/ecu_addrs.py b/openpilot/tools/scripts/car/ecu_addrs.py
similarity index 100%
rename from tools/scripts/car/ecu_addrs.py
rename to openpilot/tools/scripts/car/ecu_addrs.py
diff --git a/tools/scripts/car/fw_versions.py b/openpilot/tools/scripts/car/fw_versions.py
similarity index 100%
rename from tools/scripts/car/fw_versions.py
rename to openpilot/tools/scripts/car/fw_versions.py
diff --git a/tools/scripts/car/hyundai_enable_radar_points.py b/openpilot/tools/scripts/car/hyundai_enable_radar_points.py
similarity index 100%
rename from tools/scripts/car/hyundai_enable_radar_points.py
rename to openpilot/tools/scripts/car/hyundai_enable_radar_points.py
diff --git a/tools/scripts/car/max_lat_accel.py b/openpilot/tools/scripts/car/max_lat_accel.py
similarity index 100%
rename from tools/scripts/car/max_lat_accel.py
rename to openpilot/tools/scripts/car/max_lat_accel.py
diff --git a/tools/scripts/car/measure_torque_time_to_max.py b/openpilot/tools/scripts/car/measure_torque_time_to_max.py
similarity index 100%
rename from tools/scripts/car/measure_torque_time_to_max.py
rename to openpilot/tools/scripts/car/measure_torque_time_to_max.py
diff --git a/tools/scripts/car/read_dtc_status.py b/openpilot/tools/scripts/car/read_dtc_status.py
similarity index 100%
rename from tools/scripts/car/read_dtc_status.py
rename to openpilot/tools/scripts/car/read_dtc_status.py
diff --git a/tools/scripts/car/toyota_eps_factor.py b/openpilot/tools/scripts/car/toyota_eps_factor.py
similarity index 100%
rename from tools/scripts/car/toyota_eps_factor.py
rename to openpilot/tools/scripts/car/toyota_eps_factor.py
diff --git a/tools/scripts/car/vin.py b/openpilot/tools/scripts/car/vin.py
similarity index 100%
rename from tools/scripts/car/vin.py
rename to openpilot/tools/scripts/car/vin.py
diff --git a/tools/scripts/car/vw_mqb_config.py b/openpilot/tools/scripts/car/vw_mqb_config.py
similarity index 100%
rename from tools/scripts/car/vw_mqb_config.py
rename to openpilot/tools/scripts/car/vw_mqb_config.py
diff --git a/tools/scripts/count_events.py b/openpilot/tools/scripts/count_events.py
similarity index 100%
rename from tools/scripts/count_events.py
rename to openpilot/tools/scripts/count_events.py
diff --git a/tools/scripts/cpu_usage_stat.py b/openpilot/tools/scripts/cpu_usage_stat.py
similarity index 100%
rename from tools/scripts/cpu_usage_stat.py
rename to openpilot/tools/scripts/cpu_usage_stat.py
diff --git a/tools/scripts/cycle_alerts.py b/openpilot/tools/scripts/cycle_alerts.py
similarity index 100%
rename from tools/scripts/cycle_alerts.py
rename to openpilot/tools/scripts/cycle_alerts.py
diff --git a/tools/scripts/debug_fw_fingerprinting_offline.py b/openpilot/tools/scripts/debug_fw_fingerprinting_offline.py
similarity index 100%
rename from tools/scripts/debug_fw_fingerprinting_offline.py
rename to openpilot/tools/scripts/debug_fw_fingerprinting_offline.py
diff --git a/tools/scripts/devsync.py b/openpilot/tools/scripts/devsync.py
similarity index 100%
rename from tools/scripts/devsync.py
rename to openpilot/tools/scripts/devsync.py
diff --git a/tools/scripts/dump.py b/openpilot/tools/scripts/dump.py
similarity index 100%
rename from tools/scripts/dump.py
rename to openpilot/tools/scripts/dump.py
diff --git a/tools/scripts/extract_audio.py b/openpilot/tools/scripts/extract_audio.py
similarity index 100%
rename from tools/scripts/extract_audio.py
rename to openpilot/tools/scripts/extract_audio.py
diff --git a/tools/scripts/filter_log_message.py b/openpilot/tools/scripts/filter_log_message.py
similarity index 100%
rename from tools/scripts/filter_log_message.py
rename to openpilot/tools/scripts/filter_log_message.py
diff --git a/tools/scripts/fingerprint_from_route.py b/openpilot/tools/scripts/fingerprint_from_route.py
similarity index 100%
rename from tools/scripts/fingerprint_from_route.py
rename to openpilot/tools/scripts/fingerprint_from_route.py
diff --git a/tools/scripts/fuzz_fw_fingerprint.py b/openpilot/tools/scripts/fuzz_fw_fingerprint.py
similarity index 100%
rename from tools/scripts/fuzz_fw_fingerprint.py
rename to openpilot/tools/scripts/fuzz_fw_fingerprint.py
diff --git a/tools/scripts/get_fingerprint.py b/openpilot/tools/scripts/get_fingerprint.py
similarity index 100%
rename from tools/scripts/get_fingerprint.py
rename to openpilot/tools/scripts/get_fingerprint.py
diff --git a/tools/scripts/live_cpu_and_temp.py b/openpilot/tools/scripts/live_cpu_and_temp.py
similarity index 100%
rename from tools/scripts/live_cpu_and_temp.py
rename to openpilot/tools/scripts/live_cpu_and_temp.py
diff --git a/tools/scripts/mem_usage.py b/openpilot/tools/scripts/mem_usage.py
similarity index 100%
rename from tools/scripts/mem_usage.py
rename to openpilot/tools/scripts/mem_usage.py
diff --git a/tools/scripts/print_flags.py b/openpilot/tools/scripts/print_flags.py
similarity index 100%
rename from tools/scripts/print_flags.py
rename to openpilot/tools/scripts/print_flags.py
diff --git a/tools/scripts/profiling/clpeak/.gitignore b/openpilot/tools/scripts/profiling/clpeak/.gitignore
similarity index 100%
rename from tools/scripts/profiling/clpeak/.gitignore
rename to openpilot/tools/scripts/profiling/clpeak/.gitignore
diff --git a/tools/scripts/profiling/clpeak/build.sh b/openpilot/tools/scripts/profiling/clpeak/build.sh
similarity index 100%
rename from tools/scripts/profiling/clpeak/build.sh
rename to openpilot/tools/scripts/profiling/clpeak/build.sh
diff --git a/tools/scripts/profiling/clpeak/no_print.patch b/openpilot/tools/scripts/profiling/clpeak/no_print.patch
similarity index 100%
rename from tools/scripts/profiling/clpeak/no_print.patch
rename to openpilot/tools/scripts/profiling/clpeak/no_print.patch
diff --git a/tools/scripts/profiling/clpeak/run_continuously.patch b/openpilot/tools/scripts/profiling/clpeak/run_continuously.patch
similarity index 100%
rename from tools/scripts/profiling/clpeak/run_continuously.patch
rename to openpilot/tools/scripts/profiling/clpeak/run_continuously.patch
diff --git a/tools/scripts/profiling/ftrace.sh b/openpilot/tools/scripts/profiling/ftrace.sh
similarity index 100%
rename from tools/scripts/profiling/ftrace.sh
rename to openpilot/tools/scripts/profiling/ftrace.sh
diff --git a/tools/scripts/profiling/palanteer/.gitignore b/openpilot/tools/scripts/profiling/palanteer/.gitignore
similarity index 100%
rename from tools/scripts/profiling/palanteer/.gitignore
rename to openpilot/tools/scripts/profiling/palanteer/.gitignore
diff --git a/tools/scripts/profiling/palanteer/setup.sh b/openpilot/tools/scripts/profiling/palanteer/setup.sh
similarity index 100%
rename from tools/scripts/profiling/palanteer/setup.sh
rename to openpilot/tools/scripts/profiling/palanteer/setup.sh
diff --git a/tools/scripts/profiling/perfetto/.gitignore b/openpilot/tools/scripts/profiling/perfetto/.gitignore
similarity index 100%
rename from tools/scripts/profiling/perfetto/.gitignore
rename to openpilot/tools/scripts/profiling/perfetto/.gitignore
diff --git a/tools/scripts/profiling/perfetto/build.sh b/openpilot/tools/scripts/profiling/perfetto/build.sh
similarity index 100%
rename from tools/scripts/profiling/perfetto/build.sh
rename to openpilot/tools/scripts/profiling/perfetto/build.sh
diff --git a/tools/scripts/profiling/perfetto/copy.sh b/openpilot/tools/scripts/profiling/perfetto/copy.sh
similarity index 100%
rename from tools/scripts/profiling/perfetto/copy.sh
rename to openpilot/tools/scripts/profiling/perfetto/copy.sh
diff --git a/tools/scripts/profiling/perfetto/record.sh b/openpilot/tools/scripts/profiling/perfetto/record.sh
similarity index 100%
rename from tools/scripts/profiling/perfetto/record.sh
rename to openpilot/tools/scripts/profiling/perfetto/record.sh
diff --git a/tools/scripts/profiling/perfetto/server.sh b/openpilot/tools/scripts/profiling/perfetto/server.sh
similarity index 100%
rename from tools/scripts/profiling/perfetto/server.sh
rename to openpilot/tools/scripts/profiling/perfetto/server.sh
diff --git a/tools/scripts/profiling/perfetto/traces.sh b/openpilot/tools/scripts/profiling/perfetto/traces.sh
similarity index 100%
rename from tools/scripts/profiling/perfetto/traces.sh
rename to openpilot/tools/scripts/profiling/perfetto/traces.sh
diff --git a/tools/scripts/profiling/py-spy/profile.sh b/openpilot/tools/scripts/profiling/py-spy/profile.sh
similarity index 100%
rename from tools/scripts/profiling/py-spy/profile.sh
rename to openpilot/tools/scripts/profiling/py-spy/profile.sh
diff --git a/tools/scripts/profiling/snapdragon/.gitignore b/openpilot/tools/scripts/profiling/snapdragon/.gitignore
similarity index 100%
rename from tools/scripts/profiling/snapdragon/.gitignore
rename to openpilot/tools/scripts/profiling/snapdragon/.gitignore
diff --git a/tools/scripts/profiling/snapdragon/README.md b/openpilot/tools/scripts/profiling/snapdragon/README.md
similarity index 100%
rename from tools/scripts/profiling/snapdragon/README.md
rename to openpilot/tools/scripts/profiling/snapdragon/README.md
diff --git a/tools/scripts/profiling/snapdragon/setup-agnos.sh b/openpilot/tools/scripts/profiling/snapdragon/setup-agnos.sh
similarity index 100%
rename from tools/scripts/profiling/snapdragon/setup-agnos.sh
rename to openpilot/tools/scripts/profiling/snapdragon/setup-agnos.sh
diff --git a/tools/scripts/profiling/snapdragon/setup-profiler.sh b/openpilot/tools/scripts/profiling/snapdragon/setup-profiler.sh
similarity index 100%
rename from tools/scripts/profiling/snapdragon/setup-profiler.sh
rename to openpilot/tools/scripts/profiling/snapdragon/setup-profiler.sh
diff --git a/tools/scripts/profiling/watch-irqs.sh b/openpilot/tools/scripts/profiling/watch-irqs.sh
similarity index 100%
rename from tools/scripts/profiling/watch-irqs.sh
rename to openpilot/tools/scripts/profiling/watch-irqs.sh
diff --git a/tools/scripts/qlog_size.py b/openpilot/tools/scripts/qlog_size.py
similarity index 100%
rename from tools/scripts/qlog_size.py
rename to openpilot/tools/scripts/qlog_size.py
diff --git a/tools/scripts/run_process_on_route.py b/openpilot/tools/scripts/run_process_on_route.py
similarity index 100%
rename from tools/scripts/run_process_on_route.py
rename to openpilot/tools/scripts/run_process_on_route.py
diff --git a/tools/scripts/serial.sh b/openpilot/tools/scripts/serial.sh
similarity index 100%
rename from tools/scripts/serial.sh
rename to openpilot/tools/scripts/serial.sh
diff --git a/tools/scripts/set_car_params.py b/openpilot/tools/scripts/set_car_params.py
similarity index 100%
rename from tools/scripts/set_car_params.py
rename to openpilot/tools/scripts/set_car_params.py
diff --git a/tools/scripts/setup_ssh_keys.py b/openpilot/tools/scripts/setup_ssh_keys.py
similarity index 100%
rename from tools/scripts/setup_ssh_keys.py
rename to openpilot/tools/scripts/setup_ssh_keys.py
diff --git a/tools/scripts/ssh.py b/openpilot/tools/scripts/ssh.py
similarity index 100%
rename from tools/scripts/ssh.py
rename to openpilot/tools/scripts/ssh.py
diff --git a/tools/scripts/test_fw_query_on_routes.py b/openpilot/tools/scripts/test_fw_query_on_routes.py
similarity index 100%
rename from tools/scripts/test_fw_query_on_routes.py
rename to openpilot/tools/scripts/test_fw_query_on_routes.py
diff --git a/tools/scripts/uiview.py b/openpilot/tools/scripts/uiview.py
similarity index 100%
rename from tools/scripts/uiview.py
rename to openpilot/tools/scripts/uiview.py
diff --git a/tools/scripts/watch_timings.py b/openpilot/tools/scripts/watch_timings.py
similarity index 100%
rename from tools/scripts/watch_timings.py
rename to openpilot/tools/scripts/watch_timings.py
diff --git a/tools/setup.sh b/openpilot/tools/setup.sh
similarity index 100%
rename from tools/setup.sh
rename to openpilot/tools/setup.sh
diff --git a/tools/setup_dependencies.sh b/openpilot/tools/setup_dependencies.sh
similarity index 100%
rename from tools/setup_dependencies.sh
rename to openpilot/tools/setup_dependencies.sh
diff --git a/tools/sim/README.md b/openpilot/tools/sim/README.md
similarity index 100%
rename from tools/sim/README.md
rename to openpilot/tools/sim/README.md
diff --git a/tools/sim/__init__.py b/openpilot/tools/sim/__init__.py
similarity index 100%
rename from tools/sim/__init__.py
rename to openpilot/tools/sim/__init__.py
diff --git a/tools/sim/bridge/__init__.py b/openpilot/tools/sim/bridge/__init__.py
similarity index 100%
rename from tools/sim/bridge/__init__.py
rename to openpilot/tools/sim/bridge/__init__.py
diff --git a/tools/sim/bridge/common.py b/openpilot/tools/sim/bridge/common.py
similarity index 100%
rename from tools/sim/bridge/common.py
rename to openpilot/tools/sim/bridge/common.py
diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/openpilot/tools/sim/bridge/metadrive/metadrive_bridge.py
similarity index 100%
rename from tools/sim/bridge/metadrive/metadrive_bridge.py
rename to openpilot/tools/sim/bridge/metadrive/metadrive_bridge.py
diff --git a/tools/sim/bridge/metadrive/metadrive_common.py b/openpilot/tools/sim/bridge/metadrive/metadrive_common.py
similarity index 100%
rename from tools/sim/bridge/metadrive/metadrive_common.py
rename to openpilot/tools/sim/bridge/metadrive/metadrive_common.py
diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/openpilot/tools/sim/bridge/metadrive/metadrive_process.py
similarity index 100%
rename from tools/sim/bridge/metadrive/metadrive_process.py
rename to openpilot/tools/sim/bridge/metadrive/metadrive_process.py
diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/openpilot/tools/sim/bridge/metadrive/metadrive_world.py
similarity index 100%
rename from tools/sim/bridge/metadrive/metadrive_world.py
rename to openpilot/tools/sim/bridge/metadrive/metadrive_world.py
diff --git a/tools/sim/launch_openpilot.sh b/openpilot/tools/sim/launch_openpilot.sh
similarity index 100%
rename from tools/sim/launch_openpilot.sh
rename to openpilot/tools/sim/launch_openpilot.sh
diff --git a/tools/sim/lib/__init__.py b/openpilot/tools/sim/lib/__init__.py
similarity index 100%
rename from tools/sim/lib/__init__.py
rename to openpilot/tools/sim/lib/__init__.py
diff --git a/tools/sim/lib/camerad.py b/openpilot/tools/sim/lib/camerad.py
similarity index 100%
rename from tools/sim/lib/camerad.py
rename to openpilot/tools/sim/lib/camerad.py
diff --git a/tools/sim/lib/common.py b/openpilot/tools/sim/lib/common.py
similarity index 100%
rename from tools/sim/lib/common.py
rename to openpilot/tools/sim/lib/common.py
diff --git a/tools/sim/lib/keyboard_ctrl.py b/openpilot/tools/sim/lib/keyboard_ctrl.py
similarity index 100%
rename from tools/sim/lib/keyboard_ctrl.py
rename to openpilot/tools/sim/lib/keyboard_ctrl.py
diff --git a/tools/sim/lib/manual_ctrl.py b/openpilot/tools/sim/lib/manual_ctrl.py
similarity index 100%
rename from tools/sim/lib/manual_ctrl.py
rename to openpilot/tools/sim/lib/manual_ctrl.py
diff --git a/tools/sim/lib/simulated_car.py b/openpilot/tools/sim/lib/simulated_car.py
similarity index 100%
rename from tools/sim/lib/simulated_car.py
rename to openpilot/tools/sim/lib/simulated_car.py
diff --git a/tools/sim/lib/simulated_sensors.py b/openpilot/tools/sim/lib/simulated_sensors.py
similarity index 100%
rename from tools/sim/lib/simulated_sensors.py
rename to openpilot/tools/sim/lib/simulated_sensors.py
diff --git a/tools/sim/run_bridge.py b/openpilot/tools/sim/run_bridge.py
similarity index 100%
rename from tools/sim/run_bridge.py
rename to openpilot/tools/sim/run_bridge.py
diff --git a/tools/sim/tests/__init__.py b/openpilot/tools/sim/tests/__init__.py
similarity index 100%
rename from tools/sim/tests/__init__.py
rename to openpilot/tools/sim/tests/__init__.py
diff --git a/tools/sim/tests/conftest.py b/openpilot/tools/sim/tests/conftest.py
similarity index 100%
rename from tools/sim/tests/conftest.py
rename to openpilot/tools/sim/tests/conftest.py
diff --git a/tools/sim/tests/test_metadrive_bridge.py b/openpilot/tools/sim/tests/test_metadrive_bridge.py
similarity index 100%
rename from tools/sim/tests/test_metadrive_bridge.py
rename to openpilot/tools/sim/tests/test_metadrive_bridge.py
diff --git a/tools/sim/tests/test_sim_bridge.py b/openpilot/tools/sim/tests/test_sim_bridge.py
similarity index 100%
rename from tools/sim/tests/test_sim_bridge.py
rename to openpilot/tools/sim/tests/test_sim_bridge.py
diff --git a/pyproject.toml b/pyproject.toml
index 8cff68a1765b96..b844145a4a5f33 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -149,7 +149,7 @@ quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
 ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite,ser"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "*.po, uv.lock, *.onnx, *.pem, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, openpilot/tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html, openpilot/selfdrive/assets/offroad/mici_fcc.html"
+skip = "*.po, uv.lock, *.onnx, *.pem, */c_generated_code/*, docs/assets/*, openpilot/tools/plotjuggler/layouts/*, openpilot/selfdrive/assets/offroad/mici_fcc.html"
 
 # https://docs.astral.sh/ruff/configuration/#using-pyprojecttoml
 [tool.ruff]
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index 77d29e709273dc..e01e7b37c286b5 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -102,7 +102,7 @@ done
 RUN=$([ -z "$RUN" ] && echo "" || echo "!($(echo $RUN | sed 's/ /|/g'))")
 SKIP="@($(echo $SKIP | sed 's/ /|/g'))"
 
-GIT_FILES="$(git ls-files openpilot common selfdrive system tools)"
+GIT_FILES="$(git ls-files openpilot)"
 ALL_FILES=""
 for f in $GIT_FILES; do
   if [[ -f $f ]]; then

From 8a9ca15464d9c2e51e6700e55d1d2755ccd9a0be Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 21 Jun 2026 19:17:01 -0700
Subject: [PATCH 1241/1434] cleanup leftovers from the shuffling (#38224)

* cleanup leftovers

* rm

* one more
---
 .vscode/launch.json                          | 8 ++++----
 .vscode/settings.json                        | 5 -----
 docs/concepts/logs.md                        | 2 +-
 openpilot/tools/CTF.md                       | 2 +-
 openpilot/tools/jotpluggler/app.cc           | 4 ++--
 openpilot/tools/jotpluggler/custom_series.cc | 2 +-
 openpilot/tools/jotpluggler/layout.cc        | 4 ++--
 openpilot/tools/jotpluggler/sketch_layout.cc | 4 ++--
 pyproject.toml                               | 4 ----
 9 files changed, 13 insertions(+), 22 deletions(-)

diff --git a/.vscode/launch.json b/.vscode/launch.json
index 151b757dabbece..5a052a112aabd6 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -6,9 +6,9 @@
       "type": "pickString",
       "description": "Select the process to debug",
       "options": [
-        "selfdrive/controls/controlsd.py",
-        "system/timed/timed.py",
-        "tools/sim/run_bridge.py"
+        "openpilot/selfdrive/controls/controlsd.py",
+        "openpilot/system/timed/timed.py",
+        "openpilot/tools/sim/run_bridge.py"
       ]
     },
     {
@@ -16,7 +16,7 @@
       "type": "pickString",
       "description": "Select the process to debug",
       "options": [
-        "selfdrive/ui/ui"
+        "openpilot/selfdrive/ui/ui"
       ]
     },
     {
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 811306f399cdac..68f6b903719fe1 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -17,10 +17,5 @@
     "**/.git",
     "**/.venv",
     "**/__pycache__",
-    // exclude directories that should be using the symlinked version
-    "common/**",
-    "selfdrive/**",
-    "system/**",
-    "tools/**",
   ]
 }
diff --git a/docs/concepts/logs.md b/docs/concepts/logs.md
index 8ba2486ab57637..dd954d4c76bc1d 100644
--- a/docs/concepts/logs.md
+++ b/docs/concepts/logs.md
@@ -2,7 +2,7 @@
 
 openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge.
 
-Check out our [Python library](https://github.com/commaai/openpilot/blob/master/openpilot/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
+Check out our [Python library](https://github.com/commaai/openpilot/blob/master/openpilot/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/openpilot/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
 
 For each segment, openpilot records the following log types:
 
diff --git a/openpilot/tools/CTF.md b/openpilot/tools/CTF.md
index b8acc46fef8898..2b877a0e2514b1 100644
--- a/openpilot/tools/CTF.md
+++ b/openpilot/tools/CTF.md
@@ -5,7 +5,7 @@ Welcome to the first part of the comma CTF!
 * there's 2 flags in each segment, with roughly increasing difficulty
 * everything you'll need to find the flags is in the openpilot repo
   * grep is also your friend
-  * first, [setup](https://github.com/commaai/openpilot/tree/master/tools#setup-your-pc) your PC
+  * first, [setup](https://github.com/commaai/openpilot/tree/master/openpilot/tools#setup-your-pc) your PC
   * read the docs & checkout out the tools in openpilot/tools/
   * tip: once you get the replay and UI up, start by familiarizing yourself with seeking in replay
 
diff --git a/openpilot/tools/jotpluggler/app.cc b/openpilot/tools/jotpluggler/app.cc
index f80443e56929c4..01eec1536765d1 100644
--- a/openpilot/tools/jotpluggler/app.cc
+++ b/openpilot/tools/jotpluggler/app.cc
@@ -49,7 +49,7 @@ std::string layout_name_from_arg(const std::string &layout_arg) {
 }
 
 fs::path layouts_dir() {
-  return repo_root() / "tools" / "jotpluggler" / "layouts";
+  return repo_root() / "openpilot" / "tools" / "jotpluggler" / "layouts";
 }
 
 std::string sanitize_layout_stem(std::string_view name) {
@@ -249,7 +249,7 @@ void configure_style() {
   g_ui_font = nullptr;
   g_ui_bold_font = nullptr;
   g_mono_font = nullptr;
-  const fs::path fonts_dir = repo_root() / "selfdrive" / "assets" / "fonts";
+  const fs::path fonts_dir = repo_root() / "openpilot" / "selfdrive" / "assets" / "fonts";
   ImFontConfig font_cfg;
   font_cfg.OversampleH = 2;
   font_cfg.OversampleV = 2;
diff --git a/openpilot/tools/jotpluggler/custom_series.cc b/openpilot/tools/jotpluggler/custom_series.cc
index aabf78a0dbc59e..70b3e8c3cb7049 100644
--- a/openpilot/tools/jotpluggler/custom_series.cc
+++ b/openpilot/tools/jotpluggler/custom_series.cc
@@ -189,7 +189,7 @@ PythonEvalResult evaluate_custom_python_series(const AppSession &session,
 
     const CommandResult process = run_process_capture_output({
       "python3",
-      (repo_root() / "tools" / "jotpluggler" / "math_eval.py").string(),
+      (repo_root() / "openpilot" / "tools" / "jotpluggler" / "math_eval.py").string(),
       manifest_path.string(),
       globals_path.string(),
       code_path.string(),
diff --git a/openpilot/tools/jotpluggler/layout.cc b/openpilot/tools/jotpluggler/layout.cc
index bf2a3f208cc116..dc7109808ab5a7 100644
--- a/openpilot/tools/jotpluggler/layout.cc
+++ b/openpilot/tools/jotpluggler/layout.cc
@@ -274,7 +274,7 @@ std::string default_dbc_template() {
 }
 
 DbcEditorSource resolve_dbc_editor_source(const std::string &dbc_name) {
-  const fs::path generated_dbc_dir = repo_root() / "tools" / "jotpluggler" / "generated_dbcs";
+  const fs::path generated_dbc_dir = repo_root() / "openpilot" / "tools" / "jotpluggler" / "generated_dbcs";
   const std::array<DbcEditorSource, 2> candidates = {{
     {.path = repo_root() / "opendbc" / "dbc" / (dbc_name + ".dbc"), .kind = DbcEditorState::SourceKind::Opendbc},
     {.path = generated_dbc_dir / (dbc_name + ".dbc"), .kind = DbcEditorState::SourceKind::Generated},
@@ -334,7 +334,7 @@ bool save_dbc_editor_contents(AppSession *session, UiState *state) {
   }
   try {
     dbc::Database::fromContent(editor.text, editor.save_name + ".dbc");
-    const fs::path generated_dbc_dir = repo_root() / "tools" / "jotpluggler" / "generated_dbcs";
+    const fs::path generated_dbc_dir = repo_root() / "openpilot" / "tools" / "jotpluggler" / "generated_dbcs";
     fs::create_directories(generated_dbc_dir);
     const fs::path output = generated_dbc_dir / (editor.save_name + ".dbc");
     write_file_or_throw(output, editor.text);
diff --git a/openpilot/tools/jotpluggler/sketch_layout.cc b/openpilot/tools/jotpluggler/sketch_layout.cc
index 143a6f5a1db185..fcc4b183d085dd 100644
--- a/openpilot/tools/jotpluggler/sketch_layout.cc
+++ b/openpilot/tools/jotpluggler/sketch_layout.cc
@@ -386,7 +386,7 @@ std::vector<std::string> available_dbc_names_impl() {
   std::set<std::string> names;
   for (const fs::path &dbc_dir : {
          repo_root() / "opendbc" / "dbc",
-         repo_root() / "tools" / "jotpluggler" / "generated_dbcs",
+         repo_root() / "openpilot" / "tools" / "jotpluggler" / "generated_dbcs",
        }) {
     if (fs::exists(dbc_dir) && fs::is_directory(dbc_dir)) {
       for (const auto &entry : fs::directory_iterator(dbc_dir)) {
@@ -408,7 +408,7 @@ std::vector<std::string> available_dbc_names_impl() {
 fs::path resolve_dbc_path(const std::string &dbc_name) {
   for (const fs::path &candidate : {
          repo_root() / "opendbc" / "dbc" / (dbc_name + ".dbc"),
-         repo_root() / "tools" / "jotpluggler" / "generated_dbcs" / (dbc_name + ".dbc"),
+         repo_root() / "openpilot" / "tools" / "jotpluggler" / "generated_dbcs" / (dbc_name + ".dbc"),
        }) {
     if (fs::exists(candidate)) return candidate;
   }
diff --git a/pyproject.toml b/pyproject.toml
index b844145a4a5f33..54f67d6299f18f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -182,10 +182,6 @@ exclude = [
 lint.flake8-implicit-str-concat.allow-multiline = false
 
 [tool.ruff.lint.flake8-tidy-imports.banned-api]
-"selfdrive".msg = "Use openpilot.selfdrive"
-"common".msg = "Use openpilot.common"
-"system".msg = "Use openpilot.system"
-"tools".msg = "Use openpilot.tools"
 "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
 "unittest".msg = "Use pytest"
 "time.time".msg = "Use time.monotonic"

From 2e9fa514bb77df3a2a06012a6fe7bef99d07f66e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 21 Jun 2026 19:39:21 -0700
Subject: [PATCH 1242/1434] simple pip install test (#38218)

* fails

* lil more

* try that
---
 pyproject.toml              | 10 +++++++++-
 scripts/test_pip_install.sh | 22 ++++++++++++++++++++++
 2 files changed, 31 insertions(+), 1 deletion(-)
 create mode 100755 scripts/test_pip_install.sh

diff --git a/pyproject.toml b/pyproject.toml
index 54f67d6299f18f..15efc934fe3270 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -121,7 +121,15 @@ requires = ["hatchling"]
 build-backend = "hatchling.build"
 
 [tool.hatch.build.targets.wheel]
-packages = [ "." ]
+packages = [
+  "openpilot",
+  "msgq",
+  "opendbc",
+  "panda",
+  "rednose",
+  "teleoprtc",
+  "tinygrad",
+]
 
 [tool.hatch.metadata]
 allow-direct-references = true
diff --git a/scripts/test_pip_install.sh b/scripts/test_pip_install.sh
new file mode 100755
index 00000000000000..d2dbedff0ae97a
--- /dev/null
+++ b/scripts/test_pip_install.sh
@@ -0,0 +1,22 @@
+#!/usr/bin/env bash
+set -euxo pipefail
+
+SCRIPT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
+REPO_ROOT="$(git -C "$SCRIPT_DIR/.." rev-parse --show-toplevel)"
+PYTHON_VERSION="$(cat "$REPO_ROOT/.python-version")"
+PACKAGE="${1:-$REPO_ROOT}"
+
+TMPDIR="$(mktemp -d)"
+trap 'rm -rf "$TMPDIR"' EXIT
+
+cd "$TMPDIR"
+
+uv venv --python "$PYTHON_VERSION"
+source .venv/bin/activate
+uv pip install "$PACKAGE"
+python3 - <<'PY'
+from openpilot.tools.lib.logreader import LogReader
+
+assert LogReader.__name__ == "LogReader"
+print("ok: imported LogReader")
+PY

From 1474d5474dcee0d7300aa521b5e75491729cfcd3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 22 Jun 2026 09:45:00 -0700
Subject: [PATCH 1243/1434] move root include to the end to prevent using stale
 build products

---
 SConstruct | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/SConstruct b/SConstruct
index 2e4002f1f2e318..031984bf4c6826 100644
--- a/SConstruct
+++ b/SConstruct
@@ -112,12 +112,12 @@ env = Environment(
   CFLAGS=["-std=gnu11"],
   CXXFLAGS=["-std=c++1z"],
   CPPPATH=[
-    "#",
     "#openpilot",
     "#msgq",
     "#openpilot/cereal/gen/cpp",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
+    "#",
   ],
   LIBPATH=[
     "#openpilot/common",

From cddb6103eb9ea741df1ec8c3c1a38b447ad0be82 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 22 Jun 2026 14:25:19 -0700
Subject: [PATCH 1244/1434] webrtc: replace aiohttp with stdlib http server
 (#38226)

* webrtc: replace aiohttp with stdlib http server

* lil more

* simplify

* remove aiohttp error response helper

---------

Co-authored-by: stefpi <19478336+stefpi@users.noreply.github.com>
---
 openpilot/system/webrtc/webrtcd.py | 211 ++++++++++++++++++++++-------
 pyproject.toml                     |   1 -
 uv.lock                            | 167 -----------------------
 3 files changed, 164 insertions(+), 215 deletions(-)

diff --git a/openpilot/system/webrtc/webrtcd.py b/openpilot/system/webrtc/webrtcd.py
index 72d949f551cfa4..bf96cd04ba984f 100755
--- a/openpilot/system/webrtc/webrtcd.py
+++ b/openpilot/system/webrtc/webrtcd.py
@@ -10,6 +10,10 @@
 import json
 import uuid
 import logging
+import signal
+import threading
+from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer
+from urllib.parse import urlparse, parse_qs
 from typing import Any, TYPE_CHECKING
 
 # aiortc and its dependencies have lots of internal warnings :(
@@ -18,7 +22,6 @@
 warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel
 
 import capnp
-from aiohttp import web
 if TYPE_CHECKING:
   from aiortc.rtcdatachannel import RTCDataChannel
 import aioice.ice
@@ -363,27 +366,43 @@ async def post_run_cleanup(self):
       await self.stream.stop()
 
 
-def schedule_teardown(app):
-  # if nothing connects for 5 seconds, tear down livestreaming processes
-  h = app.get('teardown')
-  if h:
-      h.cancel()
+class ServerState:
+  def __init__(self, debug: bool):
+    self.streams: dict[str, StreamSession] = {}
+    self.stream_lock = asyncio.Lock()
+    self.debug = debug
+    self.teardown: asyncio.TimerHandle | None = None
+
+
+# if nothing connects for 5 seconds, tear down livestreaming processes
+def schedule_teardown(state: ServerState):
+  if state.teardown is not None:
+    state.teardown.cancel()
+
   def clear():
-      if not app['streams']:
-          Params().put_bool("IsLiveStreaming", False)
-  app['teardown'] = asyncio.get_running_loop().call_later(5.0, clear)
+    if not state.streams:
+      Params().put_bool("IsLiveStreaming", False)
+
+  state.teardown = asyncio.get_running_loop().call_later(5.0, clear)
+
+
+def _json_response(obj: Any, status: int = 200) -> tuple[int, bytes, str]:
+  return (status, json.dumps(obj).encode(), "application/json; charset=utf-8")
 
 
-async def get_stream(request: 'web.Request'):
-  stream_dict, debug_mode = request.app['streams'], request.app['debug']
-  raw_body = await request.json()
-  body = StreamRequestBody(**raw_body)
+def _text_response(text: str, status: int = 200) -> tuple[int, bytes, str]:
+  return (status, text.encode(), "text/plain; charset=utf-8")
 
-  async with request.app['stream_lock']:
+
+async def handle_get_stream(state: ServerState, raw_body: bytes) -> tuple[int, bytes, str]:
+  stream_dict, debug_mode = state.streams, state.debug
+  body = StreamRequestBody(**json.loads(raw_body))
+
+  async with state.stream_lock:
     # don't remove existing connection on prewarm request
     enabled = any(s.run_task and not s.run_task.done() and s.enabled for s in stream_dict.values())
     if enabled and not body.enabled:
-      return web.json_response({"error": "busy", "message": "someone else is connected."})
+      return _json_response({"error": "busy", "message": "someone else is connected."})
 
     for sid, s in list(stream_dict.items()):
       if s.run_task and not s.run_task.done():
@@ -408,54 +427,134 @@ async def get_stream(request: 'web.Request'):
 
     def remove_finished_session(_: asyncio.Task) -> None:
       stream_dict.pop(session.identifier, None)
-      schedule_teardown(request.app)
+      schedule_teardown(state)
+
     session.run_task.add_done_callback(remove_finished_session)
 
-  return web.json_response({"sdp": answer.sdp, "type": answer.type})
+  return _json_response({"sdp": answer.sdp, "type": answer.type})
 
 
-async def get_schema(request: 'web.Request'):
-  services = request.query.get("services", "").split(",")
+async def handle_get_schema(state: ServerState, services_param: str) -> tuple[int, bytes, str]:
+  services = services_param.split(",")
   services = [s for s in services if s]
   assert all(s in log.Event.schema.fields and not s.endswith("DEPRECATED") for s in services), "Invalid service name"
   schema_dict = {s: generate_field(log.Event.schema.fields[s]) for s in services}
-  return web.json_response(schema_dict)
+  return _json_response(schema_dict)
 
 
-async def post_notify(request: 'web.Request'):
-  try:
-    payload = await request.json()
-  except Exception as e:
-    raise web.HTTPBadRequest(text="Invalid JSON") from e
-
-  for session in list(request.app.get('streams', {}).values()):
+async def handle_post_notify(state: ServerState, payload: Any) -> tuple[int, bytes, str]:
+  for session in list(state.streams.values()):
     try:
       ch = session.stream.get_messaging_channel()
       ch.send(json.dumps(payload))
     except Exception:
       continue
 
-  return web.Response(status=200, text="OK")
+  return _text_response("OK")
 
 
-async def on_shutdown(app: 'web.Application'):
-  for session in list(app['streams'].values()):
+async def on_shutdown(state: ServerState):
+  for session in list(state.streams.values()):
     try:
       ch = session.stream.get_messaging_channel()
       ch.send(json.dumps({"type": "disconnect", "data": "device streaming has been stopped."}))
     except Exception:
       pass
     await session.stop()
-  del app['streams']
+  state.streams.clear()
 
 
-@web.middleware
-async def error_middleware(request: 'web.Request', handler):
-  try:
-    return await handler(request)
-  except Exception as e:
-    logging.getLogger("webrtcd").exception("Unhandled error handling %s", request.path)
-    return web.json_response({"error": "exception", "message": f"{type(e).__name__}: {e}"}, status=500)
+class WebrtcdHandler(BaseHTTPRequestHandler):
+  protocol_version = "HTTP/1.1"
+
+  # path -> allowed methods (aiohttp registered POST /stream, POST /notify, GET /schema + its auto HEAD)
+  _routes = {
+    "/schema": ("GET", "HEAD"),
+    "/stream": ("POST",),
+    "/notify": ("POST",),
+  }
+
+  def _send(self, status: int, body: bytes, content_type: str) -> None:
+    self.send_response(status)
+    self.send_header("Content-Type", content_type)
+    self.send_header("Content-Length", str(len(body)))
+    self.end_headers()
+    if self.command != "HEAD":
+      self.wfile.write(body)
+
+  def _read_body(self) -> bytes:
+    length = int(self.headers.get("Content-Length", 0))
+    return self.rfile.read(length) if length else b""
+
+  def _run(self, coro) -> tuple[int, bytes, str]:
+    return asyncio.run_coroutine_threadsafe(coro, self.server.loop).result()
+
+  def _dispatch_request(self) -> None:
+    parsed = urlparse(self.path)
+    allowed = self._routes.get(parsed.path)
+
+    try:
+      if allowed is None:
+        result = _json_response({"error": "not found"}, status=404)
+      elif self.command not in allowed:
+        result = _json_response({"error": "method not allowed"}, status=405)
+      elif parsed.path == "/schema":
+        services = parse_qs(parsed.query).get("services", [""])[0]
+        result = self._run(handle_get_schema(self.server.state, services))
+      elif parsed.path == "/stream":
+        result = self._run(handle_get_stream(self.server.state, self._read_body()))
+      else:  # /notify
+        try:
+          payload = json.loads(self._read_body())
+        except Exception:
+          result = _json_response({"error": "bad request"}, status=400)
+        else:
+          result = self._run(handle_post_notify(self.server.state, payload))
+    except Exception as e:
+      logging.getLogger("webrtcd").exception("Unhandled error handling %s", self.path)
+      result = _json_response({"error": "exception", "message": f"{type(e).__name__}: {e}"}, status=500)
+
+    self._send(*result)
+
+  def do_GET(self) -> None:
+    self._dispatch_request()
+
+  def do_HEAD(self) -> None:
+    self._dispatch_request()
+
+  def do_POST(self) -> None:
+    self._dispatch_request()
+
+  def do_PUT(self) -> None:
+    self._dispatch_request()
+
+  def do_DELETE(self) -> None:
+    self._dispatch_request()
+
+  def do_PATCH(self) -> None:
+    self._dispatch_request()
+
+  def do_OPTIONS(self) -> None:
+    self._dispatch_request()
+
+  def log_message(self, fmt, *args) -> None:
+    # silence default access logging; errors are logged explicitly in _dispatch_request
+    pass
+
+
+class WebrtcdHTTPServer(ThreadingHTTPServer):
+  daemon_threads = True
+  allow_reuse_address = True
+  state: ServerState
+  loop: asyncio.AbstractEventLoop
+
+
+async def _shutdown(server: WebrtcdHTTPServer, state: ServerState, loop: asyncio.AbstractEventLoop) -> None:
+  # stop accepting new HTTP connections (blocks until serve_forever returns, so
+  # run it off the loop) then tear down active stream sessions.
+  await loop.run_in_executor(None, server.shutdown)
+  await on_shutdown(state)
+  loop.stop()
 
 
 def prewarm_stream_session_imports(debug_mode: bool = False) -> None:
@@ -475,17 +574,35 @@ def webrtcd_thread(host: str, port: int, debug: bool):
   prewarm_end = time.monotonic()
   logging.getLogger("webrtcd").info(f"webrtc prewarm finished in {(prewarm_end - prewarm_start) * 1000} ms")
 
-  app = web.Application(middlewares=[error_middleware])
+  loop = asyncio.new_event_loop()
+  asyncio.set_event_loop(loop)
+  state = ServerState(debug)
+
+  server = WebrtcdHTTPServer((host, port), WebrtcdHandler)
+  server.state = state
+  server.loop = loop
+
+  # serve HTTP on a daemon thread so the asyncio loop can own the main thread
+  http_thread = threading.Thread(target=server.serve_forever, name="webrtcd-http", daemon=True)
+  http_thread.start()
 
-  app['streams'] = dict()
-  app['stream_lock'] = asyncio.Lock()
-  app['debug'] = debug
-  app.on_shutdown.append(on_shutdown)
-  app.router.add_post("/stream", get_stream)
-  app.router.add_post("/notify", post_notify)
-  app.router.add_get("/schema", get_schema)
+  shutting_down = False
 
-  web.run_app(app, host=host, port=port)
+  def request_shutdown() -> None:
+    nonlocal shutting_down
+    if shutting_down:
+      return
+    shutting_down = True
+    loop.create_task(_shutdown(server, state, loop))
+
+  for sig in (signal.SIGINT, signal.SIGTERM):
+    loop.add_signal_handler(sig, request_shutdown)
+
+  try:
+    loop.run_forever()
+  finally:
+    server.server_close()
+    loop.close()
 
 
 def main():
diff --git a/pyproject.toml b/pyproject.toml
index 15efc934fe3270..df57623b8a5f24 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -46,7 +46,6 @@ dependencies = [
 
   # body / webrtcd
   "av",
-  "aiohttp",
   "aiortc",
 
   # panda
diff --git a/uv.lock b/uv.lock
index e95c49f4976f03..303a99f3bf288d 100644
--- a/uv.lock
+++ b/uv.lock
@@ -10,49 +10,6 @@ dependencies = [
     { name = "numpy" },
 ]
 
-[[package]]
-name = "aiohappyeyeballs"
-version = "2.6.2"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/33/c6/61a2d7b7572279226bb2e7f61d7a19ca7c90da0329c93fa0d560cbf288d8/aiohappyeyeballs-2.6.2.tar.gz", hash = "sha256:e202810ee718bd01fc6ef49e8ea53d023d5cb6b581076d7925aa499fa55dbe64", size = 22591, upload-time = "2026-05-20T15:12:24.631Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/5f/fc/a7bf5b6e4e617b45f90f2d9d2a68519c249c81dd4fc2658c7a2a61c4f4b7/aiohappyeyeballs-2.6.2-py3-none-any.whl", hash = "sha256:4708045e2d7a6c6bdf8aafa8ed39649eaf926a4543b54560659129e3365953c4", size = 15062, upload-time = "2026-05-20T15:12:23.328Z" },
-]
-
-[[package]]
-name = "aiohttp"
-version = "3.13.5"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "aiohappyeyeballs" },
-    { name = "aiosignal" },
-    { name = "attrs" },
-    { name = "frozenlist" },
-    { name = "multidict" },
-    { name = "propcache" },
-    { name = "yarl" },
-]
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-]
-
 [[package]]
 name = "zensical"
 version = "0.0.43"

From 288aa60bf4a16e763aace01276d50a956f6fca1e Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 22 Jun 2026 15:28:11 -0700
Subject: [PATCH 1245/1434] [bot] Update Python packages (#38227)

* Update Python packages

* fix numpy reshape warning

* relock

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 docs/CARS.md                                  |   6 +-
 opendbc_repo                                  |   2 +-
 .../common/transformations/orientation.py     |   5 +-
 panda                                         |   2 +-
 tinygrad_repo                                 |   2 +-
 uv.lock                                       | 332 +++++++++---------
 6 files changed, 172 insertions(+), 177 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index b0891b83664f85..31abdf433cc820 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 334 Supported Cars
+# 332 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -78,7 +78,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Accord 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-26">Buy Here</a></sub></details>|||
 |Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
@@ -233,9 +233,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
 |SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
 |SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
 |Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
diff --git a/opendbc_repo b/opendbc_repo
index 7e3a0703b9d254..58b89559ede390 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 7e3a0703b9d254812151f3660b6f8549432c954e
+Subproject commit 58b89559ede390a9a4b389f2276ab3863a3ecc52
diff --git a/openpilot/common/transformations/orientation.py b/openpilot/common/transformations/orientation.py
index 86e6a6c34723be..d2ccda13a5203a 100644
--- a/openpilot/common/transformations/orientation.py
+++ b/openpilot/common/transformations/orientation.py
@@ -25,11 +25,10 @@ def f(*inps):
 
     # Add empty dimension if inputs is not a list
     if len(shape) == len(input_shape):
-      inp.shape = (1, ) + inp.shape
+      inp = inp.reshape((1, ) + inp.shape)
 
     result = np.asarray([function(*args, i) for i in inp])
-    result.shape = out_shape
-    return result
+    return result.reshape(out_shape)
   return f
 
 
diff --git a/panda b/panda
index 7ffc916578af93..1a40b79413d362 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 7ffc916578af9373a165cf9df5974720d9a258a5
+Subproject commit 1a40b79413d36222f029f46a4d5adf95766d0193
diff --git a/tinygrad_repo b/tinygrad_repo
index 443f976305038c..f9c8c697d6bfb7 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 443f976305038c113cc7836799967da738c5b77e
+Subproject commit f9c8c697d6bfb76ba0bd79e15704ed376f0c45ec
diff --git a/uv.lock b/uv.lock
index 303a99f3bf288d..0804481dcd6d7e 100644
--- a/uv.lock
+++ b/uv.lock
@@ -5,7 +5,7 @@ requires-python = ">=3.12.3, <3.13"
 [[package]]
 name = "acados"
 version = "0.2.2"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=acados&rev=release-acados#25933c81c7db5573afe38f012f52befc15cdb804" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=acados&rev=release-acados#acfa1f7978b450d30fd346d61ae10e18bb4434c7" }
 dependencies = [
     { name = "numpy" },
 ]
@@ -68,30 +68,30 @@ wheels = [
 [[package]]
 name = "bootstrap-icons"
 version = "1.10.5.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bootstrap-icons&rev=release-bootstrap-icons#d7e41838af9320328dd7102f9288a94f0cf0fa9f" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bootstrap-icons&rev=release-bootstrap-icons#8baa670f1b5c588e92ee8b9aa0ac821002b2e0f0" }
 
 [[package]]
 name = "bzip2"
 version = "1.0.8"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#12916f9f84848239e5a69a8c5a282f3dcb0d86a3" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#c998c0bbd86966dfaf6508a10454d58bc9941549" }
 
 [[package]]
 name = "capnproto"
 version = "1.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#a75eb83bd98440e890261f82aa8dcfbda0b0a206" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#e85b11061487aa5e2015b96f44b25a5bde8ed7d9" }
 
 [[package]]
 name = "catch2"
 version = "2.13.10"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2#7287b4c99d23fdd87e66f9941b0e35ece6b4d91b" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2#802399c0b7e28325066bf3e880bf12010b771257" }
 
 [[package]]
 name = "certifi"
-version = "2026.5.20"
+version = "2026.6.17"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/f3/ce/ee2ecad540810a79593028e88299baeae54d346cc7a0d94b6199988b89b1/certifi-2026.5.20.tar.gz", hash = "sha256:69dea482ab64caa7b9f6aba1c6bf48bb6a5448d1c0f1b17ab42ad8c763a5344d", size = 135422, upload-time = "2026-05-20T11:46:50.073Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/c9/c7/424b75da314c1045981bd9777432fad05a9e0c69daa4ed7e308bbaffe405/certifi-2026.6.17.tar.gz", hash = "sha256:024c88eeec92ca068db80f02b8b07c9cef7b9fe261d1d535abfd5abd6f6af432", size = 134594, upload-time = "2026-06-17T10:31:07.894Z" }
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=release-eigen#9d2dba116fa763abf9bfaea17037ab7ed15c20a7" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=release-ffmpeg#fefb542cea16c9e151a05684591cf956c3ebfe0c" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi#89a0ae5aa2f36057351e8ae392a82dd0b9506174" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=release-git-lfs#866e78eb06963c78721e01f8cd4a0dadcf187a14" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=imgui&rev=release-imgui#6e183051fcfedebc1d765571f10c4f1e27e6c8e6" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=json11&rev=release-json11#39d9a6fcb2b85f1d30486861da761a9d5b8b523b" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg#f39de7bd84f043d280e843ec89a8b3185ff7db6e" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb#d35ca758bf9d77a757a56c7f3e4a8ecead82d3e4" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv#c6d2856b35c3965308ef1a6eff4b474ea6fd1d28" }
 
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 source = { registry = "https://pypi.org/simple" }
 dependencies = [
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 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#40b29e8e88a69802e8afc4f71f5c955bc2d5c74c" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#28563a27b2f333688399a03c3bebea41b0cead32" }
 
 [[package]]
 name = "zstandard"
@@ -1418,4 +1416,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#13015596466eb68825f109ad0d5aefa6330cc495" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#96e569f08cf4a7b4a0f8181859fc791f45d0bc4e" }

From 7d325d6650206d9d78e63179ba9b4a2e1d84e4fc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Tue, 23 Jun 2026 11:34:05 -0700
Subject: [PATCH 1246/1434] Simplify lane change logic (#38229)

* desire cleanups

* remove the finalize timeout

---------

Co-authored-by: Robbe Derks <robbe.derks@gmail.com>
---
 .../selfdrive/controls/lib/desire_helper.py   | 62 +++++--------------
 1 file changed, 16 insertions(+), 46 deletions(-)

diff --git a/openpilot/selfdrive/controls/lib/desire_helper.py b/openpilot/selfdrive/controls/lib/desire_helper.py
index 68ddc3861ed66e..cbf4d95d38c070 100644
--- a/openpilot/selfdrive/controls/lib/desire_helper.py
+++ b/openpilot/selfdrive/controls/lib/desire_helper.py
@@ -7,35 +7,13 @@
 
 LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
 LANE_CHANGE_TIME_MAX = 10.
-
-DESIRES = {
-  LaneChangeDirection.none: {
-    LaneChangeState.off: log.Desire.none,
-    LaneChangeState.preLaneChange: log.Desire.none,
-    LaneChangeState.laneChangeStarting: log.Desire.none,
-    LaneChangeState.laneChangeFinishing: log.Desire.none,
-  },
-  LaneChangeDirection.left: {
-    LaneChangeState.off: log.Desire.none,
-    LaneChangeState.preLaneChange: log.Desire.none,
-    LaneChangeState.laneChangeStarting: log.Desire.laneChangeLeft,
-    LaneChangeState.laneChangeFinishing: log.Desire.laneChangeLeft,
-  },
-  LaneChangeDirection.right: {
-    LaneChangeState.off: log.Desire.none,
-    LaneChangeState.preLaneChange: log.Desire.none,
-    LaneChangeState.laneChangeStarting: log.Desire.laneChangeRight,
-    LaneChangeState.laneChangeFinishing: log.Desire.laneChangeRight,
-  },
-}
-
+LANE_CHANGE_START_TIME = 0.5
 
 class DesireHelper:
   def __init__(self):
     self.lane_change_state = LaneChangeState.off
     self.lane_change_direction = LaneChangeDirection.none
     self.lane_change_timer = 0.0
-    self.lane_change_ll_prob = 1.0
     self.prev_one_blinker = False
     self.desire = log.Desire.none
 
@@ -51,15 +29,14 @@ def update(self, carstate, lateral_active, lane_change_prob):
     if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
+      self.lane_change_timer = 0.0
     else:
-      # LaneChangeState.off
       if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
         self.lane_change_state = LaneChangeState.preLaneChange
-        self.lane_change_ll_prob = 1.0
+        self.lane_change_timer = 0.0
         # Initialize lane change direction to prevent UI alert flicker
         self.lane_change_direction = self.get_lane_change_direction(carstate)
 
-      # LaneChangeState.preLaneChange
       elif self.lane_change_state == LaneChangeState.preLaneChange:
         # Update lane change direction
         self.lane_change_direction = self.get_lane_change_direction(carstate)
@@ -74,35 +51,28 @@ def update(self, carstate, lateral_active, lane_change_prob):
         if not one_blinker or below_lane_change_speed:
           self.lane_change_state = LaneChangeState.off
           self.lane_change_direction = LaneChangeDirection.none
+          self.lane_change_timer = 0.0
         elif torque_applied and not blindspot_detected:
           self.lane_change_state = LaneChangeState.laneChangeStarting
+          self.lane_change_timer = 0.0
 
-      # LaneChangeState.laneChangeStarting
       elif self.lane_change_state == LaneChangeState.laneChangeStarting:
-        # fade out over .5s
-        self.lane_change_ll_prob = max(self.lane_change_ll_prob - 2 * DT_MDL, 0.0)
-
-        # 98% certainty
-        if lane_change_prob < 0.02 and self.lane_change_ll_prob < 0.01:
-          self.lane_change_state = LaneChangeState.laneChangeFinishing
-
-      # LaneChangeState.laneChangeFinishing
-      elif self.lane_change_state == LaneChangeState.laneChangeFinishing:
-        # fade in laneline over 1s
-        self.lane_change_ll_prob = min(self.lane_change_ll_prob + DT_MDL, 1.0)
+        self.lane_change_timer += DT_MDL
 
-        if self.lane_change_ll_prob > 0.99:
-          self.lane_change_direction = LaneChangeDirection.none
+        if lane_change_prob < 0.02 and self.lane_change_timer >= LANE_CHANGE_START_TIME:
+          self.lane_change_timer = 0.0
           if one_blinker:
             self.lane_change_state = LaneChangeState.preLaneChange
+            self.lane_change_direction = self.get_lane_change_direction(carstate)
           else:
             self.lane_change_state = LaneChangeState.off
-
-    if self.lane_change_state in (LaneChangeState.off, LaneChangeState.preLaneChange):
-      self.lane_change_timer = 0.0
-    else:
-      self.lane_change_timer += DT_MDL
+            self.lane_change_direction = LaneChangeDirection.none
 
     self.prev_one_blinker = one_blinker
 
-    self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
+    self.desire = log.Desire.none
+    if self.lane_change_state == LaneChangeState.laneChangeStarting:
+      if self.lane_change_direction == LaneChangeDirection.left:
+        self.desire = log.Desire.laneChangeLeft
+      elif self.lane_change_direction == LaneChangeDirection.right:
+        self.desire = log.Desire.laneChangeRight

From addca46f68790820c5c831de13cc810b69a8ec7a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 24 Jun 2026 19:21:19 -0700
Subject: [PATCH 1247/1434] move some tools back to root (#38235)

---
 .github/workflows/docs.yaml                   |  2 +-
 .github/workflows/release.yaml                |  4 +--
 .github/workflows/repo-maintenance.yaml       |  2 +-
 .github/workflows/tests.yaml                  | 20 +++++------
 Jenkinsfile                                   | 12 ++++---
 .../scripts => selfdrive/test}/mem_usage.py   | 29 ---------------
 openpilot/selfdrive/test/test_onroad.py       |  2 +-
 scripts/post-commit                           |  2 +-
 {openpilot/tools => tools}/CTF.md             |  0
 {openpilot/tools => tools}/README.md          |  4 +--
 .../tools => tools}/car_porting/README.md     | 20 +++++------
 .../car_porting/auto_fingerprint.py           |  0
 .../examples/find_segments_with_message.ipynb |  0
 .../examples/ford_vin_fingerprint.ipynb       |  0
 .../examples/hkg_canfd_gear_message.ipynb     |  0
 .../examples/subaru_fuzzy_fingerprint.ipynb   |  0
 .../examples/subaru_long_accel.ipynb          |  0
 .../examples/subaru_steer_temp_fault.ipynb    |  0
 .../car_porting/measure_steering_accuracy.py  |  0
 .../car_porting/test_car_model.py             |  0
 {openpilot/tools => tools}/op.sh              |  6 ++--
 {release => tools/release}/README.md          |  2 +-
 {release => tools/release}/build_release.sh   |  4 +--
 {release => tools/release}/build_stripped.sh  |  2 +-
 {release => tools/release}/check-dirty.sh     |  0
 .../release}/check-submodules.sh              |  0
 {release => tools/release}/identity.sh        |  0
 {release => tools/release}/pack.py            |  0
 {release => tools/release}/release_files.py   |  2 +-
 .../tools => tools}/scripts/__init__.py       |  0
 {openpilot/tools => tools}/scripts/adb_ssh.sh |  0
 .../scripts/car/can_print_changes.py          |  2 +-
 .../scripts/car/can_printer.py                |  0
 .../tools => tools}/scripts/car/can_table.py  |  0
 .../tools => tools}/scripts/car/clear_dtc.py  |  0
 .../scripts/car/disable_ecu.py                |  0
 .../tools => tools}/scripts/car/ecu_addrs.py  |  0
 .../scripts/car/fw_versions.py                |  0
 .../car/hyundai_enable_radar_points.py        |  0
 .../scripts/car/max_lat_accel.py              |  0
 .../scripts/car/measure_torque_time_to_max.py |  0
 .../scripts/car/read_dtc_status.py            |  0
 .../scripts/car/toyota_eps_factor.py          |  0
 {openpilot/tools => tools}/scripts/car/vin.py |  0
 .../scripts/car/vw_mqb_config.py              |  0
 .../tools => tools}/scripts/count_events.py   |  0
 .../tools => tools}/scripts/cpu_usage_stat.py |  0
 .../tools => tools}/scripts/cycle_alerts.py   |  0
 .../debug_fw_fingerprinting_offline.py        |  0
 {openpilot/tools => tools}/scripts/devsync.py |  0
 {openpilot/tools => tools}/scripts/dump.py    |  0
 .../tools => tools}/scripts/extract_audio.py  |  0
 .../scripts/filter_log_message.py             |  0
 .../scripts/fingerprint_from_route.py         |  0
 .../scripts/fuzz_fw_fingerprint.py            |  0
 .../scripts/get_fingerprint.py                |  0
 .../scripts/live_cpu_and_temp.py              |  0
 tools/scripts/mem_usage.py                    | 35 +++++++++++++++++++
 .../tools => tools}/scripts/print_flags.py    |  0
 .../scripts/profiling/clpeak/.gitignore       |  0
 .../scripts/profiling/clpeak/build.sh         |  0
 .../scripts/profiling/clpeak/no_print.patch   |  0
 .../profiling/clpeak/run_continuously.patch   |  0
 .../scripts/profiling/ftrace.sh               |  0
 .../scripts/profiling/palanteer/.gitignore    |  0
 .../scripts/profiling/palanteer/setup.sh      |  0
 .../scripts/profiling/perfetto/.gitignore     |  0
 .../scripts/profiling/perfetto/build.sh       |  0
 .../scripts/profiling/perfetto/copy.sh        |  0
 .../scripts/profiling/perfetto/record.sh      |  0
 .../scripts/profiling/perfetto/server.sh      |  0
 .../scripts/profiling/perfetto/traces.sh      |  0
 .../scripts/profiling/py-spy/profile.sh       |  0
 .../scripts/profiling/snapdragon/.gitignore   |  0
 .../scripts/profiling/snapdragon/README.md    |  0
 .../profiling/snapdragon/setup-agnos.sh       |  0
 .../profiling/snapdragon/setup-profiler.sh    |  0
 .../scripts/profiling/watch-irqs.sh           |  0
 .../tools => tools}/scripts/qlog_size.py      |  0
 .../scripts/run_process_on_route.py           |  0
 {openpilot/tools => tools}/scripts/serial.sh  |  0
 .../tools => tools}/scripts/set_car_params.py |  0
 .../tools => tools}/scripts/setup_ssh_keys.py |  0
 {openpilot/tools => tools}/scripts/ssh.py     |  0
 .../scripts/test_fw_query_on_routes.py        |  0
 {openpilot/tools => tools}/scripts/uiview.py  |  0
 .../tools => tools}/scripts/watch_timings.py  |  0
 {openpilot/tools => tools}/setup.sh           |  6 ++--
 .../tools => tools}/setup_dependencies.sh     |  0
 89 files changed, 82 insertions(+), 74 deletions(-)
 rename openpilot/{tools/scripts => selfdrive/test}/mem_usage.py (90%)
 mode change 100755 => 100644
 rename {openpilot/tools => tools}/CTF.md (100%)
 rename {openpilot/tools => tools}/README.md (97%)
 rename {openpilot/tools => tools}/car_porting/README.md (87%)
 rename {openpilot/tools => tools}/car_porting/auto_fingerprint.py (100%)
 rename {openpilot/tools => tools}/car_porting/examples/find_segments_with_message.ipynb (100%)
 rename {openpilot/tools => tools}/car_porting/examples/ford_vin_fingerprint.ipynb (100%)
 rename {openpilot/tools => tools}/car_porting/examples/hkg_canfd_gear_message.ipynb (100%)
 rename {openpilot/tools => tools}/car_porting/examples/subaru_fuzzy_fingerprint.ipynb (100%)
 rename {openpilot/tools => tools}/car_porting/examples/subaru_long_accel.ipynb (100%)
 rename {openpilot/tools => tools}/car_porting/examples/subaru_steer_temp_fault.ipynb (100%)
 rename {openpilot/tools => tools}/car_porting/measure_steering_accuracy.py (100%)
 rename {openpilot/tools => tools}/car_porting/test_car_model.py (100%)
 rename {openpilot/tools => tools}/op.sh (98%)
 rename {release => tools/release}/README.md (88%)
 rename {release => tools/release}/build_release.sh (94%)
 rename {release => tools/release}/build_stripped.sh (97%)
 rename {release => tools/release}/check-dirty.sh (100%)
 rename {release => tools/release}/check-submodules.sh (100%)
 rename {release => tools/release}/identity.sh (100%)
 rename {release => tools/release}/pack.py (100%)
 rename {release => tools/release}/release_files.py (93%)
 rename {openpilot/tools => tools}/scripts/__init__.py (100%)
 rename {openpilot/tools => tools}/scripts/adb_ssh.sh (100%)
 rename {openpilot/tools => tools}/scripts/car/can_print_changes.py (98%)
 rename {openpilot/tools => tools}/scripts/car/can_printer.py (100%)
 rename {openpilot/tools => tools}/scripts/car/can_table.py (100%)
 rename {openpilot/tools => tools}/scripts/car/clear_dtc.py (100%)
 rename {openpilot/tools => tools}/scripts/car/disable_ecu.py (100%)
 rename {openpilot/tools => tools}/scripts/car/ecu_addrs.py (100%)
 rename {openpilot/tools => tools}/scripts/car/fw_versions.py (100%)
 rename {openpilot/tools => tools}/scripts/car/hyundai_enable_radar_points.py (100%)
 rename {openpilot/tools => tools}/scripts/car/max_lat_accel.py (100%)
 rename {openpilot/tools => tools}/scripts/car/measure_torque_time_to_max.py (100%)
 rename {openpilot/tools => tools}/scripts/car/read_dtc_status.py (100%)
 rename {openpilot/tools => tools}/scripts/car/toyota_eps_factor.py (100%)
 rename {openpilot/tools => tools}/scripts/car/vin.py (100%)
 rename {openpilot/tools => tools}/scripts/car/vw_mqb_config.py (100%)
 rename {openpilot/tools => tools}/scripts/count_events.py (100%)
 rename {openpilot/tools => tools}/scripts/cpu_usage_stat.py (100%)
 rename {openpilot/tools => tools}/scripts/cycle_alerts.py (100%)
 rename {openpilot/tools => tools}/scripts/debug_fw_fingerprinting_offline.py (100%)
 rename {openpilot/tools => tools}/scripts/devsync.py (100%)
 rename {openpilot/tools => tools}/scripts/dump.py (100%)
 rename {openpilot/tools => tools}/scripts/extract_audio.py (100%)
 rename {openpilot/tools => tools}/scripts/filter_log_message.py (100%)
 rename {openpilot/tools => tools}/scripts/fingerprint_from_route.py (100%)
 rename {openpilot/tools => tools}/scripts/fuzz_fw_fingerprint.py (100%)
 rename {openpilot/tools => tools}/scripts/get_fingerprint.py (100%)
 rename {openpilot/tools => tools}/scripts/live_cpu_and_temp.py (100%)
 create mode 100755 tools/scripts/mem_usage.py
 rename {openpilot/tools => tools}/scripts/print_flags.py (100%)
 rename {openpilot/tools => tools}/scripts/profiling/clpeak/.gitignore (100%)
 rename {openpilot/tools => tools}/scripts/profiling/clpeak/build.sh (100%)
 rename {openpilot/tools => tools}/scripts/profiling/clpeak/no_print.patch (100%)
 rename {openpilot/tools => tools}/scripts/profiling/clpeak/run_continuously.patch (100%)
 rename {openpilot/tools => tools}/scripts/profiling/ftrace.sh (100%)
 rename {openpilot/tools => tools}/scripts/profiling/palanteer/.gitignore (100%)
 rename {openpilot/tools => tools}/scripts/profiling/palanteer/setup.sh (100%)
 rename {openpilot/tools => tools}/scripts/profiling/perfetto/.gitignore (100%)
 rename {openpilot/tools => tools}/scripts/profiling/perfetto/build.sh (100%)
 rename {openpilot/tools => tools}/scripts/profiling/perfetto/copy.sh (100%)
 rename {openpilot/tools => tools}/scripts/profiling/perfetto/record.sh (100%)
 rename {openpilot/tools => tools}/scripts/profiling/perfetto/server.sh (100%)
 rename {openpilot/tools => tools}/scripts/profiling/perfetto/traces.sh (100%)
 rename {openpilot/tools => tools}/scripts/profiling/py-spy/profile.sh (100%)
 rename {openpilot/tools => tools}/scripts/profiling/snapdragon/.gitignore (100%)
 rename {openpilot/tools => tools}/scripts/profiling/snapdragon/README.md (100%)
 rename {openpilot/tools => tools}/scripts/profiling/snapdragon/setup-agnos.sh (100%)
 rename {openpilot/tools => tools}/scripts/profiling/snapdragon/setup-profiler.sh (100%)
 rename {openpilot/tools => tools}/scripts/profiling/watch-irqs.sh (100%)
 rename {openpilot/tools => tools}/scripts/qlog_size.py (100%)
 rename {openpilot/tools => tools}/scripts/run_process_on_route.py (100%)
 rename {openpilot/tools => tools}/scripts/serial.sh (100%)
 rename {openpilot/tools => tools}/scripts/set_car_params.py (100%)
 rename {openpilot/tools => tools}/scripts/setup_ssh_keys.py (100%)
 rename {openpilot/tools => tools}/scripts/ssh.py (100%)
 rename {openpilot/tools => tools}/scripts/test_fw_query_on_routes.py (100%)
 rename {openpilot/tools => tools}/scripts/uiview.py (100%)
 rename {openpilot/tools => tools}/scripts/watch_timings.py (100%)
 rename {openpilot/tools => tools}/setup.sh (96%)
 rename {openpilot/tools => tools}/setup_dependencies.sh (100%)

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index f618c1bdf8936e..d072cd71d1aa74 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -45,7 +45,7 @@ jobs:
       run: |
         set -x
 
-        source release/identity.sh
+        source tools/release/identity.sh
 
         cd openpilot-docs
         git checkout --orphan tmp
diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index ae6a2655a4b8ab..27faccae6e5ba4 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -26,6 +26,6 @@ jobs:
       with:
         submodules: true
         fetch-depth: 0
-    - run: ./openpilot/tools/op.sh setup
+    - run: ./tools/op.sh setup
     - name: Push master-ci
-      run: BRANCH=__nightly release/build_stripped.sh
+      run: BRANCH=__nightly tools/release/build_stripped.sh
diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 14c613fbe433d3..1a99852be1dfec 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -17,7 +17,7 @@ jobs:
     - uses: actions/checkout@v6
       with:
         submodules: true
-    - run: ./openpilot/tools/op.sh setup
+    - run: ./tools/op.sh setup
     - name: uv lock
       run: uv lock --upgrade
     - name: uv pip tree
diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index 3ed0829a2647ed..4fa3af3d5ef647 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -46,8 +46,8 @@ jobs:
         command: git lfs pull
     - name: Build devel
       timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
-    - run: ./openpilot/tools/op.sh setup
+      run: TARGET_DIR=$STRIPPED_DIR tools/release/build_stripped.sh
+    - run: ./tools/op.sh setup
     - name: Build openpilot and run checks
       timeout-minutes: 30
       working-directory: ${{ env.STRIPPED_DIR }}
@@ -55,11 +55,11 @@ jobs:
     - name: Run tests
       timeout-minutes: 1
       working-directory: ${{ env.STRIPPED_DIR }}
-      run: release/check-dirty.sh
+      run: tools/release/check-dirty.sh
     - name: Check submodules
       if: github.repository == 'commaai/openpilot'
       timeout-minutes: 3
-      run: release/check-submodules.sh
+      run: tools/release/check-submodules.sh
 
   build_mac:
     name: build macOS
@@ -72,7 +72,7 @@ jobs:
       run: |
         FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
         echo "PATH=${FILTERED}/usr/local/bin:/usr/bin:/bin:/usr/sbin:/sbin" >> $GITHUB_ENV
-    - run: ./openpilot/tools/op.sh setup
+    - run: ./tools/op.sh setup
     - name: Building openpilot
       run: scons
 
@@ -88,7 +88,7 @@ jobs:
     - uses: actions/checkout@v6
       with:
         submodules: true
-    - run: ./openpilot/tools/op.sh setup
+    - run: ./tools/op.sh setup
     - name: Static analysis
       timeout-minutes: 1
       run: scripts/lint/lint.sh
@@ -105,7 +105,7 @@ jobs:
     - uses: actions/checkout@v6
       with:
         submodules: true
-    - run: ./openpilot/tools/op.sh setup
+    - run: ./tools/op.sh setup
     - name: Build openpilot
       run: scons
     - name: Run unit tests
@@ -128,7 +128,7 @@ jobs:
     - uses: actions/checkout@v6
       with:
         submodules: true
-    - run: ./openpilot/tools/op.sh setup
+    - run: ./tools/op.sh setup
     - name: Build openpilot
       run: scons
     - name: Run replay
@@ -201,7 +201,7 @@ jobs:
     - uses: actions/checkout@v6
       with:
         submodules: true
-    - run: ./openpilot/tools/op.sh setup
+    - run: ./tools/op.sh setup
     - name: Build openpilot
       run: scons
     - name: Driving test
@@ -222,7 +222,7 @@ jobs:
       - uses: actions/checkout@v6
         with:
           submodules: true
-      - run: ./openpilot/tools/op.sh setup
+      - run: ./tools/op.sh setup
       - name: Build openpilot
         run: scons
       - name: Create UI Report
diff --git a/Jenkinsfile b/Jenkinsfile
index c06674a5c547b8..d57e9502aa0f8c 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -63,6 +63,8 @@ if [ -f /data/openpilot/launch_env.sh ]; then
   source /data/openpilot/launch_env.sh
 fi
 
+export LD_LIBRARY_PATH="\$(python -c 'import ffmpeg; print(ffmpeg.LIB_DIR)'):/usr/local/lib:\${LD_LIBRARY_PATH:-}"
+
 ln -snf ${env.TEST_DIR} /data/pythonpath
 
 cd ${env.TEST_DIR} || true
@@ -179,7 +181,7 @@ node {
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
       deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging,release-mici-staging $SOURCE_DIR/release/build_release.sh"),
+        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging,release-mici-staging $SOURCE_DIR/tools/release/build_release.sh"),
       ])
     }
 
@@ -187,12 +189,12 @@ node {
       parallel (
         'nightly': {
           deviceStage("build nightly", "tizi-needs-can", [], [
-            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
+            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/tools/release/build_release.sh"),
           ])
         },
         'nightly-dev': {
           deviceStage("build nightly-dev", "tizi-needs-can", [], [
-            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
+            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/tools/release/build_release.sh"),
           ])
         },
       )
@@ -203,7 +205,7 @@ node {
       'onroad tests': {
         deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
           step("build openpilot", "cd openpilot/system/manager && ./build.py"),
-          step("check dirty", "release/check-dirty.sh"),
+          step("check dirty", "tools/release/check-dirty.sh"),
           step("onroad tests", "pytest openpilot/selfdrive/test/test_onroad.py -s", [timeout: 60]),
         ])
       },
@@ -211,7 +213,7 @@ node {
         deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
           step("build", "cd openpilot/system/manager && ./build.py"),
           step("test power draw", "pytest -s openpilot/selfdrive/test//test_power_draw.py"),
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest openpilot/system/loggerd/tests/test_encoder.py", [diffPaths: ["openpilot/system/loggerd/"]]),
+          step("test encoder", "pytest openpilot/system/loggerd/tests/test_encoder.py", [diffPaths: ["openpilot/system/loggerd/"]]),
           step("test manager", "pytest openpilot/system/manager/test/test_manager.py"),
         ])
       },
diff --git a/openpilot/tools/scripts/mem_usage.py b/openpilot/selfdrive/test/mem_usage.py
old mode 100755
new mode 100644
similarity index 90%
rename from openpilot/tools/scripts/mem_usage.py
rename to openpilot/selfdrive/test/mem_usage.py
index bc0e97e7caea9b..1446d0b4dccbd9
--- a/openpilot/tools/scripts/mem_usage.py
+++ b/openpilot/selfdrive/test/mem_usage.py
@@ -1,12 +1,9 @@
-#!/usr/bin/env python3
-import argparse
 import os
 from collections import defaultdict
 
 import numpy as np
 
 from openpilot.common.utils import tabulate
-from openpilot.tools.lib.logreader import LogReader
 
 DEMO_ROUTE = "5beb9b58bd12b691/0000010a--a51155e496"
 MB = 1024 * 1024
@@ -210,29 +207,3 @@ def print_report(proc_logs, device_states=None):
 
   print_process_tables(op_procs, other_procs, total_mb, use_pss)
   print_memory_accounting(proc_logs, op_procs, other_procs, total_mb, use_pss)
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="Analyze memory usage from route logs")
-  parser.add_argument("route", nargs="?", default=None, help="route ID or local rlog path")
-  parser.add_argument("--demo", action="store_true", help=f"use demo route ({DEMO_ROUTE})")
-  args = parser.parse_args()
-
-  if args.demo:
-    route = DEMO_ROUTE
-  elif args.route:
-    route = args.route
-  else:
-    parser.error("provide a route or use --demo")
-
-  print(f"Reading logs from: {route}")
-
-  proc_logs = []
-  device_states = []
-  for msg in LogReader(route):
-    if msg.which() == 'procLog':
-      proc_logs.append(msg)
-    elif msg.which() == 'deviceState':
-      device_states.append(msg)
-
-  print_report(proc_logs, device_states)
diff --git a/openpilot/selfdrive/test/test_onroad.py b/openpilot/selfdrive/test/test_onroad.py
index 56ea9dbd067dd4..b2192b0d5abeab 100644
--- a/openpilot/selfdrive/test/test_onroad.py
+++ b/openpilot/selfdrive/test/test_onroad.py
@@ -283,7 +283,7 @@ def test_memory_usage(self):
     print("--------------- Memory Usage -------------------")
     print("------------------------------------------------")
 
-    from openpilot.tools.scripts.mem_usage import print_report
+    from openpilot.selfdrive.test.mem_usage import print_report
     print_report(self.msgs['procLog'], self.msgs['deviceState'])
 
     offset = int(SERVICE_LIST['deviceState'].frequency * LOG_OFFSET)
diff --git a/scripts/post-commit b/scripts/post-commit
index 399b73c523f951..f9964639de4137 100755
--- a/scripts/post-commit
+++ b/scripts/post-commit
@@ -3,5 +3,5 @@ set -e
 if [[ -f .git/hooks/post-commit.d/post-commit ]]; then
   .git/hooks/post-commit.d/post-commit
 fi
-openpilot/tools/op.sh lint --fast
+tools/op.sh lint --fast
 echo ""
diff --git a/openpilot/tools/CTF.md b/tools/CTF.md
similarity index 100%
rename from openpilot/tools/CTF.md
rename to tools/CTF.md
diff --git a/openpilot/tools/README.md b/tools/README.md
similarity index 97%
rename from openpilot/tools/README.md
rename to tools/README.md
index 522bb388684c03..1ea42bbe1d129f 100644
--- a/openpilot/tools/README.md
+++ b/tools/README.md
@@ -18,7 +18,7 @@ git clone https://github.com/commaai/openpilot.git
 **2. Run the setup script**
 ``` bash
 cd openpilot
-openpilot/tools/op.sh setup
+tools/op.sh setup
 ```
 
 **3. Activate a Python shell**
@@ -41,7 +41,7 @@ Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install
 **NOTE**: If you are running WSL 2 and experiencing performance issues with the UI or simulator, you may need to explicitly enable hardware acceleration by setting `GALLIUM_DRIVER=d3d12` before commands. Add `export GALLIUM_DRIVER=d3d12` to your `~/.bashrc` file to make it automatic for future sessions.
 
 ## CTF
-Learn about the openpilot ecosystem and tools by playing our [CTF](/openpilot/tools/CTF.md).
+Learn about the openpilot ecosystem and tools by playing our [CTF](/tools/CTF.md).
 
 ## Directory Structure
 
diff --git a/openpilot/tools/car_porting/README.md b/tools/car_porting/README.md
similarity index 87%
rename from openpilot/tools/car_porting/README.md
rename to tools/car_porting/README.md
index 3766978e97b786..07ca2d0eba149f 100644
--- a/openpilot/tools/car_porting/README.md
+++ b/tools/car_porting/README.md
@@ -1,4 +1,4 @@
-# openpilot/tools/car_porting
+# tools/car_porting
 
 Check out [this blog post](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) for a high-level overview of porting a car.
 
@@ -15,13 +15,13 @@ Example:
 > openpilot/tools/cabana/cabana '1bbe6bf2d62f58a8|2022-07-14--17-11-43'
 ```
 
-### [openpilot/tools/car_porting/auto_fingerprint.py](/openpilot/tools/car_porting/auto_fingerprint.py)
+### [tools/car_porting/auto_fingerprint.py](/tools/car_porting/auto_fingerprint.py)
 
 Given a route and platform, automatically inserts FW fingerprints from the platform into the correct place in fingerprints.py
 
 Example:
 ```bash
-> python3 openpilot/tools/car_porting/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'OUTBACK'
+> python3 tools/car_porting/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'OUTBACK'
 Attempting to add fw version for:  OUTBACK
 ```
 
@@ -39,13 +39,13 @@ FAILED openpilot/selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::
 
 ```
 
-### [openpilot/tools/car_porting/test_car_model.py](/openpilot/tools/car_porting/test_car_model.py)
+### [tools/car_porting/test_car_model.py](/tools/car_porting/test_car_model.py)
 
 Given a route, runs most of the car interface to check for common errors like missing signals, blocked panda messages, and safety mismatches.
 
 #### Example: panda safety mismatch for gasPressed
 ```bash
-> python3 openpilot/tools/car_porting/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21'
+> python3 tools/car_porting/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21'
 
 =====================================================================
 FAIL: test_panda_safety_carstate (__main__.CarModelTestCase.test_panda_safety_carstate)
@@ -59,7 +59,7 @@ AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'ga
 
 ## Jupyter notebooks
 
-To use these notebooks, install Jupyter within your [openpilot virtual environment](/openpilot/tools/README.md).
+To use these notebooks, install Jupyter within your [openpilot virtual environment](/tools/README.md).
 
 ```bash
 uv pip install jupyter ipykernel
@@ -71,7 +71,7 @@ Launching:
 jupyter notebook
 ```
 
-### [examples/subaru_steer_temp_fault.ipynb](/openpilot/tools/car_porting/examples/subaru_steer_temp_fault.ipynb)
+### [examples/subaru_steer_temp_fault.ipynb](/tools/car_porting/examples/subaru_steer_temp_fault.ipynb)
 
 An example of searching through a database of segments for a specific condition, and plotting the results.
 
@@ -79,7 +79,7 @@ An example of searching through a database of segments for a specific condition,
 
 *a plot of the steer_warning vs steering angle, where we can see it is clearly caused by a large steering angle change*
 
-### [examples/subaru_long_accel.ipynb](/openpilot/tools/car_porting/examples/subaru_long_accel.ipynb)
+### [examples/subaru_long_accel.ipynb](/tools/car_porting/examples/subaru_long_accel.ipynb)
 
 An example of plotting the response of an actuator when it is active.
 
@@ -87,7 +87,7 @@ An example of plotting the response of an actuator when it is active.
 
 *a plot of the brake_pressure vs acceleration, where we can see it is a fairly linear response.*
 
-### [examples/ford_vin_fingerprint.ipynb](/openpilot/tools/car_porting/examples/ford_vin_fingerprint.ipynb)
+### [examples/ford_vin_fingerprint.ipynb](/tools/car_porting/examples/ford_vin_fingerprint.ipynb)
 
 In this example, we use the public comma car segments database to check if vin fingerprinting is feasible for ford.
 
@@ -109,7 +109,7 @@ vin: 3FTTW8E31PRXXXXXX real platform: FORD MAVERICK 1ST GEN              determi
 vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False
 ```
 
-### [examples/find_segments_with_message.ipynb](/openpilot/tools/car_porting/examples/find_segments_with_message.ipynb)
+### [examples/find_segments_with_message.ipynb](/tools/car_porting/examples/find_segments_with_message.ipynb)
 
 Searches for segments where a set of given CAN message IDs are present. In the example, we search for all messages
 used for CAN-based ignition detection.
diff --git a/openpilot/tools/car_porting/auto_fingerprint.py b/tools/car_porting/auto_fingerprint.py
similarity index 100%
rename from openpilot/tools/car_porting/auto_fingerprint.py
rename to tools/car_porting/auto_fingerprint.py
diff --git a/openpilot/tools/car_porting/examples/find_segments_with_message.ipynb b/tools/car_porting/examples/find_segments_with_message.ipynb
similarity index 100%
rename from openpilot/tools/car_porting/examples/find_segments_with_message.ipynb
rename to tools/car_porting/examples/find_segments_with_message.ipynb
diff --git a/openpilot/tools/car_porting/examples/ford_vin_fingerprint.ipynb b/tools/car_porting/examples/ford_vin_fingerprint.ipynb
similarity index 100%
rename from openpilot/tools/car_porting/examples/ford_vin_fingerprint.ipynb
rename to tools/car_porting/examples/ford_vin_fingerprint.ipynb
diff --git a/openpilot/tools/car_porting/examples/hkg_canfd_gear_message.ipynb b/tools/car_porting/examples/hkg_canfd_gear_message.ipynb
similarity index 100%
rename from openpilot/tools/car_porting/examples/hkg_canfd_gear_message.ipynb
rename to tools/car_porting/examples/hkg_canfd_gear_message.ipynb
diff --git a/openpilot/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb b/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb
similarity index 100%
rename from openpilot/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb
rename to tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb
diff --git a/openpilot/tools/car_porting/examples/subaru_long_accel.ipynb b/tools/car_porting/examples/subaru_long_accel.ipynb
similarity index 100%
rename from openpilot/tools/car_porting/examples/subaru_long_accel.ipynb
rename to tools/car_porting/examples/subaru_long_accel.ipynb
diff --git a/openpilot/tools/car_porting/examples/subaru_steer_temp_fault.ipynb b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
similarity index 100%
rename from openpilot/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
rename to tools/car_porting/examples/subaru_steer_temp_fault.ipynb
diff --git a/openpilot/tools/car_porting/measure_steering_accuracy.py b/tools/car_porting/measure_steering_accuracy.py
similarity index 100%
rename from openpilot/tools/car_porting/measure_steering_accuracy.py
rename to tools/car_porting/measure_steering_accuracy.py
diff --git a/openpilot/tools/car_porting/test_car_model.py b/tools/car_porting/test_car_model.py
similarity index 100%
rename from openpilot/tools/car_porting/test_car_model.py
rename to tools/car_porting/test_car_model.py
diff --git a/openpilot/tools/op.sh b/tools/op.sh
similarity index 98%
rename from openpilot/tools/op.sh
rename to tools/op.sh
index 3d0af526bac7da..d8de248c24bb3d 100755
--- a/openpilot/tools/op.sh
+++ b/tools/op.sh
@@ -201,7 +201,7 @@ function op_setup() {
 
   echo "Installing dependencies..."
   st="$(date +%s)"
-  SETUP_SCRIPT="openpilot/tools/setup_dependencies.sh"
+  SETUP_SCRIPT="tools/setup_dependencies.sh"
   if ! $OPENPILOT_ROOT/$SETUP_SCRIPT; then
     echo -e " ↳ [${RED}✗${NC}] Dependencies installation failed!"
     return 1
@@ -269,12 +269,12 @@ function op_venv() {
 
 function op_adb() {
   op_before_cmd
-  op_run_command openpilot/tools/scripts/adb_ssh.sh "$@"
+  op_run_command tools/scripts/adb_ssh.sh "$@"
 }
 
 function op_ssh() {
   op_before_cmd
-  op_run_command openpilot/tools/scripts/ssh.py "$@"
+  op_run_command tools/scripts/ssh.py "$@"
 }
 
 function op_script() {
diff --git a/release/README.md b/tools/release/README.md
similarity index 88%
rename from release/README.md
rename to tools/release/README.md
index f3dcefd5874a42..862836bf904d16 100644
--- a/release/README.md
+++ b/tools/release/README.md
@@ -11,7 +11,7 @@
   - [ ] push the new branch
 - [ ] push to staging:
   - [ ] make sure you are on the newly created release master branch (`zerotentwo`)
-  - [ ] run `BRANCH=devel-staging release/build_stripped.sh`. Jenkins will then automatically build staging on device, run `test_onroad` and update the staging branch
+  - [ ] run `BRANCH=devel-staging tools/release/build_stripped.sh`. Jenkins will then automatically build staging on device, run `test_onroad` and update the staging branch
 - [ ] bump version on master: `openpilot/common/version.h` and `RELEASES.md`
 - [ ] post on Discord, tag `@release crew`
 
diff --git a/release/build_release.sh b/tools/release/build_release.sh
similarity index 94%
rename from release/build_release.sh
rename to tools/release/build_release.sh
index 4f609aea3fc25a..cf03c8b39329f1 100755
--- a/release/build_release.sh
+++ b/tools/release/build_release.sh
@@ -33,7 +33,7 @@ git checkout --orphan $BUILD_BRANCH
 # do the files copy
 echo "[-] copying files T=$SECONDS"
 cd $SOURCE_DIR
-cp -pR --parents $(./release/release_files.py) $BUILD_DIR/
+cp -pR --parents $(./tools/release/release_files.py) $BUILD_DIR/
 
 # in the directory
 cd $BUILD_DIR
@@ -73,7 +73,7 @@ find . -name '*.os' -delete
 find . -name '*.pyc' -delete
 find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
-rm -rf .sconsign.dblite Jenkinsfile release/
+rm -rf .sconsign.dblite Jenkinsfile tools/release/
 rm -f openpilot/selfdrive/modeld/models/*.onnx*
 
 # Mark as prebuilt release
diff --git a/release/build_stripped.sh b/tools/release/build_stripped.sh
similarity index 97%
rename from release/build_stripped.sh
rename to tools/release/build_stripped.sh
index ea74aac859796c..1892360f6d9947 100755
--- a/release/build_stripped.sh
+++ b/tools/release/build_stripped.sh
@@ -38,7 +38,7 @@ git submodule foreach --recursive git clean -xdff
 # do the files copy
 echo "[-] copying files T=$SECONDS"
 cd $SOURCE_DIR
-cp -pR --parents $(./release/release_files.py) $TARGET_DIR/
+cp -pR --parents $(./tools/release/release_files.py) $TARGET_DIR/
 
 # in the directory
 cd $TARGET_DIR
diff --git a/release/check-dirty.sh b/tools/release/check-dirty.sh
similarity index 100%
rename from release/check-dirty.sh
rename to tools/release/check-dirty.sh
diff --git a/release/check-submodules.sh b/tools/release/check-submodules.sh
similarity index 100%
rename from release/check-submodules.sh
rename to tools/release/check-submodules.sh
diff --git a/release/identity.sh b/tools/release/identity.sh
similarity index 100%
rename from release/identity.sh
rename to tools/release/identity.sh
diff --git a/release/pack.py b/tools/release/pack.py
similarity index 100%
rename from release/pack.py
rename to tools/release/pack.py
diff --git a/release/release_files.py b/tools/release/release_files.py
similarity index 93%
rename from release/release_files.py
rename to tools/release/release_files.py
index 36910293a4c6ca..dd6b16253c2840 100755
--- a/release/release_files.py
+++ b/tools/release/release_files.py
@@ -4,7 +4,7 @@
 from pathlib import Path
 
 HERE = os.path.abspath(os.path.dirname(__file__))
-ROOT = HERE + "/.."
+ROOT = os.path.abspath(os.path.join(HERE, "../.."))
 
 blacklist = [
   ".git/",
diff --git a/openpilot/tools/scripts/__init__.py b/tools/scripts/__init__.py
similarity index 100%
rename from openpilot/tools/scripts/__init__.py
rename to tools/scripts/__init__.py
diff --git a/openpilot/tools/scripts/adb_ssh.sh b/tools/scripts/adb_ssh.sh
similarity index 100%
rename from openpilot/tools/scripts/adb_ssh.sh
rename to tools/scripts/adb_ssh.sh
diff --git a/openpilot/tools/scripts/car/can_print_changes.py b/tools/scripts/car/can_print_changes.py
similarity index 98%
rename from openpilot/tools/scripts/car/can_print_changes.py
rename to tools/scripts/car/can_print_changes.py
index 1db29c3d37419d..e466cd29689663 100755
--- a/openpilot/tools/scripts/car/can_print_changes.py
+++ b/tools/scripts/car/can_print_changes.py
@@ -5,7 +5,7 @@
 from collections import defaultdict
 
 import openpilot.cereal.messaging as messaging
-from openpilot.tools.scripts.can_table import can_table
+from tools.scripts.car.can_table import can_table
 from openpilot.tools.lib.logreader import LogIterable, LogReader
 
 RED = '\033[91m'
diff --git a/openpilot/tools/scripts/car/can_printer.py b/tools/scripts/car/can_printer.py
similarity index 100%
rename from openpilot/tools/scripts/car/can_printer.py
rename to tools/scripts/car/can_printer.py
diff --git a/openpilot/tools/scripts/car/can_table.py b/tools/scripts/car/can_table.py
similarity index 100%
rename from openpilot/tools/scripts/car/can_table.py
rename to tools/scripts/car/can_table.py
diff --git a/openpilot/tools/scripts/car/clear_dtc.py b/tools/scripts/car/clear_dtc.py
similarity index 100%
rename from openpilot/tools/scripts/car/clear_dtc.py
rename to tools/scripts/car/clear_dtc.py
diff --git a/openpilot/tools/scripts/car/disable_ecu.py b/tools/scripts/car/disable_ecu.py
similarity index 100%
rename from openpilot/tools/scripts/car/disable_ecu.py
rename to tools/scripts/car/disable_ecu.py
diff --git a/openpilot/tools/scripts/car/ecu_addrs.py b/tools/scripts/car/ecu_addrs.py
similarity index 100%
rename from openpilot/tools/scripts/car/ecu_addrs.py
rename to tools/scripts/car/ecu_addrs.py
diff --git a/openpilot/tools/scripts/car/fw_versions.py b/tools/scripts/car/fw_versions.py
similarity index 100%
rename from openpilot/tools/scripts/car/fw_versions.py
rename to tools/scripts/car/fw_versions.py
diff --git a/openpilot/tools/scripts/car/hyundai_enable_radar_points.py b/tools/scripts/car/hyundai_enable_radar_points.py
similarity index 100%
rename from openpilot/tools/scripts/car/hyundai_enable_radar_points.py
rename to tools/scripts/car/hyundai_enable_radar_points.py
diff --git a/openpilot/tools/scripts/car/max_lat_accel.py b/tools/scripts/car/max_lat_accel.py
similarity index 100%
rename from openpilot/tools/scripts/car/max_lat_accel.py
rename to tools/scripts/car/max_lat_accel.py
diff --git a/openpilot/tools/scripts/car/measure_torque_time_to_max.py b/tools/scripts/car/measure_torque_time_to_max.py
similarity index 100%
rename from openpilot/tools/scripts/car/measure_torque_time_to_max.py
rename to tools/scripts/car/measure_torque_time_to_max.py
diff --git a/openpilot/tools/scripts/car/read_dtc_status.py b/tools/scripts/car/read_dtc_status.py
similarity index 100%
rename from openpilot/tools/scripts/car/read_dtc_status.py
rename to tools/scripts/car/read_dtc_status.py
diff --git a/openpilot/tools/scripts/car/toyota_eps_factor.py b/tools/scripts/car/toyota_eps_factor.py
similarity index 100%
rename from openpilot/tools/scripts/car/toyota_eps_factor.py
rename to tools/scripts/car/toyota_eps_factor.py
diff --git a/openpilot/tools/scripts/car/vin.py b/tools/scripts/car/vin.py
similarity index 100%
rename from openpilot/tools/scripts/car/vin.py
rename to tools/scripts/car/vin.py
diff --git a/openpilot/tools/scripts/car/vw_mqb_config.py b/tools/scripts/car/vw_mqb_config.py
similarity index 100%
rename from openpilot/tools/scripts/car/vw_mqb_config.py
rename to tools/scripts/car/vw_mqb_config.py
diff --git a/openpilot/tools/scripts/count_events.py b/tools/scripts/count_events.py
similarity index 100%
rename from openpilot/tools/scripts/count_events.py
rename to tools/scripts/count_events.py
diff --git a/openpilot/tools/scripts/cpu_usage_stat.py b/tools/scripts/cpu_usage_stat.py
similarity index 100%
rename from openpilot/tools/scripts/cpu_usage_stat.py
rename to tools/scripts/cpu_usage_stat.py
diff --git a/openpilot/tools/scripts/cycle_alerts.py b/tools/scripts/cycle_alerts.py
similarity index 100%
rename from openpilot/tools/scripts/cycle_alerts.py
rename to tools/scripts/cycle_alerts.py
diff --git a/openpilot/tools/scripts/debug_fw_fingerprinting_offline.py b/tools/scripts/debug_fw_fingerprinting_offline.py
similarity index 100%
rename from openpilot/tools/scripts/debug_fw_fingerprinting_offline.py
rename to tools/scripts/debug_fw_fingerprinting_offline.py
diff --git a/openpilot/tools/scripts/devsync.py b/tools/scripts/devsync.py
similarity index 100%
rename from openpilot/tools/scripts/devsync.py
rename to tools/scripts/devsync.py
diff --git a/openpilot/tools/scripts/dump.py b/tools/scripts/dump.py
similarity index 100%
rename from openpilot/tools/scripts/dump.py
rename to tools/scripts/dump.py
diff --git a/openpilot/tools/scripts/extract_audio.py b/tools/scripts/extract_audio.py
similarity index 100%
rename from openpilot/tools/scripts/extract_audio.py
rename to tools/scripts/extract_audio.py
diff --git a/openpilot/tools/scripts/filter_log_message.py b/tools/scripts/filter_log_message.py
similarity index 100%
rename from openpilot/tools/scripts/filter_log_message.py
rename to tools/scripts/filter_log_message.py
diff --git a/openpilot/tools/scripts/fingerprint_from_route.py b/tools/scripts/fingerprint_from_route.py
similarity index 100%
rename from openpilot/tools/scripts/fingerprint_from_route.py
rename to tools/scripts/fingerprint_from_route.py
diff --git a/openpilot/tools/scripts/fuzz_fw_fingerprint.py b/tools/scripts/fuzz_fw_fingerprint.py
similarity index 100%
rename from openpilot/tools/scripts/fuzz_fw_fingerprint.py
rename to tools/scripts/fuzz_fw_fingerprint.py
diff --git a/openpilot/tools/scripts/get_fingerprint.py b/tools/scripts/get_fingerprint.py
similarity index 100%
rename from openpilot/tools/scripts/get_fingerprint.py
rename to tools/scripts/get_fingerprint.py
diff --git a/openpilot/tools/scripts/live_cpu_and_temp.py b/tools/scripts/live_cpu_and_temp.py
similarity index 100%
rename from openpilot/tools/scripts/live_cpu_and_temp.py
rename to tools/scripts/live_cpu_and_temp.py
diff --git a/tools/scripts/mem_usage.py b/tools/scripts/mem_usage.py
new file mode 100755
index 00000000000000..9b13a56ce2bb76
--- /dev/null
+++ b/tools/scripts/mem_usage.py
@@ -0,0 +1,35 @@
+#!/usr/bin/env python3
+import argparse
+import os
+import sys
+
+sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))))
+
+from openpilot.selfdrive.test.mem_usage import DEMO_ROUTE, print_report
+from openpilot.tools.lib.logreader import LogReader
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Analyze memory usage from route logs")
+  parser.add_argument("route", nargs="?", default=None, help="route ID or local rlog path")
+  parser.add_argument("--demo", action="store_true", help=f"use demo route ({DEMO_ROUTE})")
+  args = parser.parse_args()
+
+  if args.demo:
+    route = DEMO_ROUTE
+  elif args.route:
+    route = args.route
+  else:
+    parser.error("provide a route or use --demo")
+
+  print(f"Reading logs from: {route}")
+
+  proc_logs = []
+  device_states = []
+  for msg in LogReader(route):
+    if msg.which() == 'procLog':
+      proc_logs.append(msg)
+    elif msg.which() == 'deviceState':
+      device_states.append(msg)
+
+  print_report(proc_logs, device_states)
diff --git a/openpilot/tools/scripts/print_flags.py b/tools/scripts/print_flags.py
similarity index 100%
rename from openpilot/tools/scripts/print_flags.py
rename to tools/scripts/print_flags.py
diff --git a/openpilot/tools/scripts/profiling/clpeak/.gitignore b/tools/scripts/profiling/clpeak/.gitignore
similarity index 100%
rename from openpilot/tools/scripts/profiling/clpeak/.gitignore
rename to tools/scripts/profiling/clpeak/.gitignore
diff --git a/openpilot/tools/scripts/profiling/clpeak/build.sh b/tools/scripts/profiling/clpeak/build.sh
similarity index 100%
rename from openpilot/tools/scripts/profiling/clpeak/build.sh
rename to tools/scripts/profiling/clpeak/build.sh
diff --git a/openpilot/tools/scripts/profiling/clpeak/no_print.patch b/tools/scripts/profiling/clpeak/no_print.patch
similarity index 100%
rename from openpilot/tools/scripts/profiling/clpeak/no_print.patch
rename to tools/scripts/profiling/clpeak/no_print.patch
diff --git a/openpilot/tools/scripts/profiling/clpeak/run_continuously.patch b/tools/scripts/profiling/clpeak/run_continuously.patch
similarity index 100%
rename from openpilot/tools/scripts/profiling/clpeak/run_continuously.patch
rename to tools/scripts/profiling/clpeak/run_continuously.patch
diff --git a/openpilot/tools/scripts/profiling/ftrace.sh b/tools/scripts/profiling/ftrace.sh
similarity index 100%
rename from openpilot/tools/scripts/profiling/ftrace.sh
rename to tools/scripts/profiling/ftrace.sh
diff --git a/openpilot/tools/scripts/profiling/palanteer/.gitignore b/tools/scripts/profiling/palanteer/.gitignore
similarity index 100%
rename from openpilot/tools/scripts/profiling/palanteer/.gitignore
rename to tools/scripts/profiling/palanteer/.gitignore
diff --git a/openpilot/tools/scripts/profiling/palanteer/setup.sh b/tools/scripts/profiling/palanteer/setup.sh
similarity index 100%
rename from openpilot/tools/scripts/profiling/palanteer/setup.sh
rename to tools/scripts/profiling/palanteer/setup.sh
diff --git a/openpilot/tools/scripts/profiling/perfetto/.gitignore b/tools/scripts/profiling/perfetto/.gitignore
similarity index 100%
rename from openpilot/tools/scripts/profiling/perfetto/.gitignore
rename to tools/scripts/profiling/perfetto/.gitignore
diff --git a/openpilot/tools/scripts/profiling/perfetto/build.sh b/tools/scripts/profiling/perfetto/build.sh
similarity index 100%
rename from openpilot/tools/scripts/profiling/perfetto/build.sh
rename to tools/scripts/profiling/perfetto/build.sh
diff --git a/openpilot/tools/scripts/profiling/perfetto/copy.sh b/tools/scripts/profiling/perfetto/copy.sh
similarity index 100%
rename from openpilot/tools/scripts/profiling/perfetto/copy.sh
rename to tools/scripts/profiling/perfetto/copy.sh
diff --git a/openpilot/tools/scripts/profiling/perfetto/record.sh b/tools/scripts/profiling/perfetto/record.sh
similarity index 100%
rename from openpilot/tools/scripts/profiling/perfetto/record.sh
rename to tools/scripts/profiling/perfetto/record.sh
diff --git a/openpilot/tools/scripts/profiling/perfetto/server.sh b/tools/scripts/profiling/perfetto/server.sh
similarity index 100%
rename from openpilot/tools/scripts/profiling/perfetto/server.sh
rename to tools/scripts/profiling/perfetto/server.sh
diff --git a/openpilot/tools/scripts/profiling/perfetto/traces.sh b/tools/scripts/profiling/perfetto/traces.sh
similarity index 100%
rename from openpilot/tools/scripts/profiling/perfetto/traces.sh
rename to tools/scripts/profiling/perfetto/traces.sh
diff --git a/openpilot/tools/scripts/profiling/py-spy/profile.sh b/tools/scripts/profiling/py-spy/profile.sh
similarity index 100%
rename from openpilot/tools/scripts/profiling/py-spy/profile.sh
rename to tools/scripts/profiling/py-spy/profile.sh
diff --git a/openpilot/tools/scripts/profiling/snapdragon/.gitignore b/tools/scripts/profiling/snapdragon/.gitignore
similarity index 100%
rename from openpilot/tools/scripts/profiling/snapdragon/.gitignore
rename to tools/scripts/profiling/snapdragon/.gitignore
diff --git a/openpilot/tools/scripts/profiling/snapdragon/README.md b/tools/scripts/profiling/snapdragon/README.md
similarity index 100%
rename from openpilot/tools/scripts/profiling/snapdragon/README.md
rename to tools/scripts/profiling/snapdragon/README.md
diff --git a/openpilot/tools/scripts/profiling/snapdragon/setup-agnos.sh b/tools/scripts/profiling/snapdragon/setup-agnos.sh
similarity index 100%
rename from openpilot/tools/scripts/profiling/snapdragon/setup-agnos.sh
rename to tools/scripts/profiling/snapdragon/setup-agnos.sh
diff --git a/openpilot/tools/scripts/profiling/snapdragon/setup-profiler.sh b/tools/scripts/profiling/snapdragon/setup-profiler.sh
similarity index 100%
rename from openpilot/tools/scripts/profiling/snapdragon/setup-profiler.sh
rename to tools/scripts/profiling/snapdragon/setup-profiler.sh
diff --git a/openpilot/tools/scripts/profiling/watch-irqs.sh b/tools/scripts/profiling/watch-irqs.sh
similarity index 100%
rename from openpilot/tools/scripts/profiling/watch-irqs.sh
rename to tools/scripts/profiling/watch-irqs.sh
diff --git a/openpilot/tools/scripts/qlog_size.py b/tools/scripts/qlog_size.py
similarity index 100%
rename from openpilot/tools/scripts/qlog_size.py
rename to tools/scripts/qlog_size.py
diff --git a/openpilot/tools/scripts/run_process_on_route.py b/tools/scripts/run_process_on_route.py
similarity index 100%
rename from openpilot/tools/scripts/run_process_on_route.py
rename to tools/scripts/run_process_on_route.py
diff --git a/openpilot/tools/scripts/serial.sh b/tools/scripts/serial.sh
similarity index 100%
rename from openpilot/tools/scripts/serial.sh
rename to tools/scripts/serial.sh
diff --git a/openpilot/tools/scripts/set_car_params.py b/tools/scripts/set_car_params.py
similarity index 100%
rename from openpilot/tools/scripts/set_car_params.py
rename to tools/scripts/set_car_params.py
diff --git a/openpilot/tools/scripts/setup_ssh_keys.py b/tools/scripts/setup_ssh_keys.py
similarity index 100%
rename from openpilot/tools/scripts/setup_ssh_keys.py
rename to tools/scripts/setup_ssh_keys.py
diff --git a/openpilot/tools/scripts/ssh.py b/tools/scripts/ssh.py
similarity index 100%
rename from openpilot/tools/scripts/ssh.py
rename to tools/scripts/ssh.py
diff --git a/openpilot/tools/scripts/test_fw_query_on_routes.py b/tools/scripts/test_fw_query_on_routes.py
similarity index 100%
rename from openpilot/tools/scripts/test_fw_query_on_routes.py
rename to tools/scripts/test_fw_query_on_routes.py
diff --git a/openpilot/tools/scripts/uiview.py b/tools/scripts/uiview.py
similarity index 100%
rename from openpilot/tools/scripts/uiview.py
rename to tools/scripts/uiview.py
diff --git a/openpilot/tools/scripts/watch_timings.py b/tools/scripts/watch_timings.py
similarity index 100%
rename from openpilot/tools/scripts/watch_timings.py
rename to tools/scripts/watch_timings.py
diff --git a/openpilot/tools/setup.sh b/tools/setup.sh
similarity index 96%
rename from openpilot/tools/setup.sh
rename to tools/setup.sh
index 1437a1d68640d6..dafd466ef92bd1 100755
--- a/openpilot/tools/setup.sh
+++ b/tools/setup.sh
@@ -121,10 +121,10 @@ function git_clone() {
 
 function install_with_op() {
   cd $OPENPILOT_ROOT
-  $OPENPILOT_ROOT/openpilot/tools/op.sh install
-  $OPENPILOT_ROOT/openpilot/tools/op.sh post-commit
+  $OPENPILOT_ROOT/tools/op.sh install
+  $OPENPILOT_ROOT/tools/op.sh post-commit
 
-  if ! $OPENPILOT_ROOT/openpilot/tools/op.sh setup; then
+  if ! $OPENPILOT_ROOT/tools/op.sh setup; then
     echo -e "\n[${RED}✗${NC}] failed to install openpilot!"
     return 1
   fi
diff --git a/openpilot/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
similarity index 100%
rename from openpilot/tools/setup_dependencies.sh
rename to tools/setup_dependencies.sh

From 5629b5a83d003027344a451712fb0e37b43e7da4 Mon Sep 17 00:00:00 2001
From: probablyanasian <43358667+probablyanasian@users.noreply.github.com>
Date: Thu, 25 Jun 2026 18:06:42 -0700
Subject: [PATCH 1248/1434] bump sensors test limits (#38245)

* bump sensors test limits

* loosen back to 60 c max due to device density

* 10 dps in 3d is 0.3 rad max
---
 openpilot/system/sensord/tests/test_sensord.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/openpilot/system/sensord/tests/test_sensord.py b/openpilot/system/sensord/tests/test_sensord.py
index 27c2365602214f..23811189f626c2 100644
--- a/openpilot/system/sensord/tests/test_sensord.py
+++ b/openpilot/system/sensord/tests/test_sensord.py
@@ -14,8 +14,8 @@
 
 SENSOR_CONFIGS = (
   SensorConfig("accelerometer", "acceleration", 5, 15, 5),
-  SensorConfig("gyroscope", "gyroUncalibrated", 0, .15, 0.5),
-  SensorConfig("temperatureSensor", "temperature", 10, 40, 0.5),  # set for max range of our office
+  SensorConfig("gyroscope", "gyroUncalibrated", 0, .3, 0.5),
+  SensorConfig("temperatureSensor", "temperature", 10, 60, 0.5), # looser for device density
 )
 SENSOR_CONFIGS_BY_MEASUREMENT = {config.measurement: config for config in SENSOR_CONFIGS}
 

From 069506aa36d43c3fc967cee5a301a95df0924517 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Fri, 26 Jun 2026 13:55:30 -0700
Subject: [PATCH 1249/1434] sound: use log enum (#38246)

---
 openpilot/cereal/log.capnp                    | 23 +++++++++++++++++--
 openpilot/selfdrive/selfdrived/events.py      |  6 ++---
 .../ui/mici/onroad/driver_camera_dialog.py    |  3 +--
 openpilot/selfdrive/ui/soundd.py              |  5 ++--
 openpilot/selfdrive/ui/tests/test_soundd.py   |  4 ++--
 5 files changed, 29 insertions(+), 12 deletions(-)

diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp
index beb71c8da8b61f..2c4ff026e605d8 100644
--- a/openpilot/cereal/log.capnp
+++ b/openpilot/cereal/log.capnp
@@ -771,13 +771,28 @@ struct SelfdriveState {
   alertStatus @5 :AlertStatus;
   alertSize @6 :AlertSize;
   alertType @7 :Text;
-  alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
+  alertSound @13 :AudibleAlert;
   alertHudVisual @12 :Car.CarControl.HUDControl.VisualAlert;
 
   # configurable driving settings
   experimentalMode @10 :Bool;
   personality @11 :LongitudinalPersonality;
 
+  enum AudibleAlert {
+    none @0;
+
+    engage @1;
+    disengage @2;
+    refuse @3;
+
+    warningSoft @4;
+    warningImmediate @5;
+
+    prompt @6;
+    promptRepeat @7;
+    promptDistracted @8;
+  }
+
   enum OpenpilotState @0xdbe58b96d2d1ac61 {
     disabled @0;
     preEnabled @1;
@@ -798,6 +813,10 @@ struct SelfdriveState {
     mid @2;
     full @3;
   }
+
+  deprecated :group {
+    alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
+  }
 }
 
 struct ControlsState @0x97ff69c53601abf1 {
@@ -918,7 +937,7 @@ struct ControlsState @0x97ff69c53601abf1 {
     alertStatus @38 :SelfdriveState.AlertStatus;
     alertSize @39 :SelfdriveState.AlertSize;
     alertType @44 :Text;
-    alertSound2 @56 :Car.CarControl.HUDControl.AudibleAlert;
+    alertSound2 @56 :SelfdriveState.AudibleAlert;
     engageable @41 :Bool;  # can OP be engaged?
     state @31 :SelfdriveState.OpenpilotState;
     enabled @19 :Bool;
diff --git a/openpilot/selfdrive/selfdrived/events.py b/openpilot/selfdrive/selfdrived/events.py
index cc841accaf6fc0..44814c290805cc 100755
--- a/openpilot/selfdrive/selfdrived/events.py
+++ b/openpilot/selfdrive/selfdrived/events.py
@@ -19,7 +19,7 @@
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+AudibleAlert = log.SelfdriveState.AudibleAlert
 EventName = log.OnroadEvent.EventName
 
 
@@ -118,7 +118,7 @@ def __init__(self,
                alert_size: log.SelfdriveState.AlertSize,
                priority: Priority,
                visual_alert: car.CarControl.HUDControl.VisualAlert,
-               audible_alert: car.CarControl.HUDControl.AudibleAlert,
+               audible_alert: log.SelfdriveState.AudibleAlert,
                duration: float,
                creation_delay: float = 0.):
 
@@ -183,7 +183,7 @@ def __init__(self, alert_text_2: str):
 
 
 class EngagementAlert(Alert):
-  def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert):
+  def __init__(self, audible_alert: log.SelfdriveState.AudibleAlert):
     super().__init__("", "",
                      AlertStatus.normal, AlertSize.none,
                      Priority.MID, VisualAlert.none,
diff --git a/openpilot/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/openpilot/selfdrive/ui/mici/onroad/driver_camera_dialog.py
index d880189412886f..35ebc349553dc9 100644
--- a/openpilot/selfdrive/ui/mici/onroad/driver_camera_dialog.py
+++ b/openpilot/selfdrive/ui/mici/onroad/driver_camera_dialog.py
@@ -1,6 +1,5 @@
 import pyray as rl
 from openpilot.cereal import log, messaging
-from opendbc.car.structs import car
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
@@ -105,7 +104,7 @@ def _publish_alert_sound(self, dm_state):
     if self._pm is None:
       return
 
-    AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+    AudibleAlert = log.SelfdriveState.AudibleAlert
     ALERT_SOUNDS = {
       'two': AudibleAlert.promptDistracted,
       'three': AudibleAlert.warningImmediate,
diff --git a/openpilot/selfdrive/ui/soundd.py b/openpilot/selfdrive/ui/soundd.py
index 901e2b56cb1030..2eb731e9e1ffa5 100644
--- a/openpilot/selfdrive/ui/soundd.py
+++ b/openpilot/selfdrive/ui/soundd.py
@@ -4,8 +4,7 @@
 import wave
 
 
-from openpilot.cereal import messaging
-from opendbc.car.structs import car
+from openpilot.cereal import log, messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import Ratekeeper
@@ -31,7 +30,7 @@
   AMBIENT_DB = 30
   VOLUME_BASE = 10
 
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+AudibleAlert = log.SelfdriveState.AudibleAlert
 
 
 sound_list: dict[int, tuple[str, int | None, float]] = {
diff --git a/openpilot/selfdrive/ui/tests/test_soundd.py b/openpilot/selfdrive/ui/tests/test_soundd.py
index 2890d4ae78919b..f878839c23a4bf 100644
--- a/openpilot/selfdrive/ui/tests/test_soundd.py
+++ b/openpilot/selfdrive/ui/tests/test_soundd.py
@@ -1,11 +1,11 @@
-from opendbc.car.structs import car
+from openpilot.cereal import log
 from openpilot.cereal import messaging
 from openpilot.cereal.messaging import SubMaster, PubMaster
 from openpilot.selfdrive.ui.soundd import SELFDRIVE_STATE_TIMEOUT, check_selfdrive_timeout_alert
 
 import time
 
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+AudibleAlert = log.SelfdriveState.AudibleAlert
 
 
 class TestSoundd:

From f9c555a3fefffdecaf930e398e486aa3a5d2ae30 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Fri, 26 Jun 2026 14:57:19 -0700
Subject: [PATCH 1250/1434] DM: update escalation/lockout specs; softer sounds
 (#38244)

---
 openpilot/cereal/log.capnp                    | 13 ++-
 .../selfdrive/assets/sounds/pre_alert.wav     |  3 +
 .../assets/sounds/prompt_distracted.wav       |  4 +-
 openpilot/selfdrive/controls/controlsd.py     |  2 +-
 openpilot/selfdrive/monitoring/policy.py      | 92 ++++++++++++-------
 .../selfdrive/monitoring/test_monitoring.py   | 75 +++++++++------
 openpilot/selfdrive/selfdrived/events.py      | 17 +++-
 openpilot/selfdrive/selfdrived/selfdrived.py  |  5 +-
 .../ui/mici/onroad/driver_camera_dialog.py    |  1 +
 openpilot/selfdrive/ui/soundd.py              |  2 +
 openpilot/selfdrive/ui/tests/test_soundd.py   |  3 +-
 11 files changed, 142 insertions(+), 75 deletions(-)
 create mode 100644 openpilot/selfdrive/assets/sounds/pre_alert.wav

diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp
index 2c4ff026e605d8..8d4d801161e3e9 100644
--- a/openpilot/cereal/log.capnp
+++ b/openpilot/cereal/log.capnp
@@ -791,6 +791,8 @@ struct SelfdriveState {
     prompt @6;
     promptRepeat @7;
     promptDistracted @8;
+
+    preAlert @9;
   }
 
   enum OpenpilotState @0xdbe58b96d2d1ac61 {
@@ -2139,8 +2141,10 @@ struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {
 
 struct DriverMonitoringState {
   lockout @0 :Bool;
-  alertCountLockoutPercent @1 :Int8;
-  alertTimeLockoutPercent @2 :Int8;
+  lockoutRecoveryPercent @11 :Int8;
+  alert3Count @12 :Int8;
+  noResponseCount @13 :Int8;
+  noResponseForceDecel @14 :Bool;
 
   alwaysOn @3 :Bool;
   alwaysOnLockout @4 :Bool;
@@ -2204,6 +2208,11 @@ struct DriverMonitoringState {
     calibratedPercent @0 :Int8;
     offset @1 :Float32;
   }
+
+  deprecated :group {
+    alertCountLockoutPercent @1 :Int8;
+    alertTimeLockoutPercent @2 :Int8;
+  }
 }
 
 struct Boot {
diff --git a/openpilot/selfdrive/assets/sounds/pre_alert.wav b/openpilot/selfdrive/assets/sounds/pre_alert.wav
new file mode 100644
index 00000000000000..4443bf7d23425b
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/pre_alert.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c0af7f5fe57bb36ab96fae868e20feca763541c97a61b3a3a84a0e7fcb81163
+size 83350
diff --git a/openpilot/selfdrive/assets/sounds/prompt_distracted.wav b/openpilot/selfdrive/assets/sounds/prompt_distracted.wav
index 750d580f04827d..c11993f20c0442 100644
--- a/openpilot/selfdrive/assets/sounds/prompt_distracted.wav
+++ b/openpilot/selfdrive/assets/sounds/prompt_distracted.wav
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1810ad0418ac234f02dec005883c8f0e1c3e0e5ece7a3157803c5a66cb8e5adc
-size 85662
+oid sha256:412ef25d2fb103c1ebd55c667313a5921493305fb4e1f4e1dafc08d3b95d86ab
+size 73026
diff --git a/openpilot/selfdrive/controls/controlsd.py b/openpilot/selfdrive/controls/controlsd.py
index fe3b0f66c0d8bc..9afcdf1d278e85 100755
--- a/openpilot/selfdrive/controls/controlsd.py
+++ b/openpilot/selfdrive/controls/controlsd.py
@@ -200,7 +200,7 @@ def publish(self, CC, lac_log):
     cs.upAccelCmd = float(self.LoC.pid.p)
     cs.uiAccelCmd = float(self.LoC.pid.i)
     cs.ufAccelCmd = float(self.LoC.pid.f)
-    cs.forceDecel = bool((self.sm['driverMonitoringState'].alertLevel == log.DriverMonitoringState.AlertLevel.three) or
+    cs.forceDecel = bool(self.sm['driverMonitoringState'].noResponseForceDecel or
                          (self.sm['selfdriveState'].state == State.softDisabling))
 
     # trigger the car's stock driver monitoring escalation
diff --git a/openpilot/selfdrive/monitoring/policy.py b/openpilot/selfdrive/monitoring/policy.py
index adb61b0a389e12..03db1dc02eba6c 100644
--- a/openpilot/selfdrive/monitoring/policy.py
+++ b/openpilot/selfdrive/monitoring/policy.py
@@ -25,21 +25,27 @@ def to_percent(v):
 
 class DRIVER_MONITOR_SETTINGS:
   def __init__(self):
-    # https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
-    self._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT = 15.
-    self._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT = 24.
-    self._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT = 30.
-    # https://cdn.euroncap.com/cars/assets/euro_ncap_protocol_safe_driving_driver_engagement_v11_a30e874152.pdf
-    self._VISION_POLICY_ALERT_1_TIMEOUT = 3.
-    self._VISION_POLICY_ALERT_2_TIMEOUT = 5.
-    self._VISION_POLICY_ALERT_3_TIMEOUT = 11.
+    # https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=OJ:L_202501899
+    self._ALERT_MIN_SPEED = 2.8  # 10 km/h
+
+    self._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT = 5.
+    self._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT = 15.
+    self._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT = 25.
+    self._VISION_POLICY_ALERT_1_TIMEOUT = 5.
+    self._VISION_POLICY_ALERT_2_TIMEOUT = 8.
+    self._VISION_POLICY_ALERT_3_TIMEOUT = 13.
+
+    # no response = alert_3 sustained for certain amount of time
+    self._NO_RESPONSE_TIMEOUT = 5.
+
+    # lockout specs
+    self._MAX_ALERT_3 = 2
+    self._MAX_NO_RESPONSE = 1
+    self._LOCKOUT_TIME = int(1800 / DT_DMON)
 
     self._TIMEOUT_RECOVERY_FACTOR_MAX = 5.
     self._TIMEOUT_RECOVERY_FACTOR_MIN = 1.25
 
-    self._MAX_TERMINAL_ALERTS = 3  # not allowed to engage after 3 terminal alerts
-    self._MAX_TERMINAL_DURATION = int(30 / DT_DMON)  # not allowed to engage after 30s of terminal alerts
-
     self._FACE_THRESHOLD = 0.7
     self._EYE_THRESHOLD = 0.65
     self._SG_THRESHOLD = 0.9
@@ -142,8 +148,11 @@ def __init__(self, rhd_saved=False, settings=None, always_on=False):
     self.wheel_on_right_last = None
     self.wheel_on_right_default = rhd_saved
     self.face_detected = False
-    self.terminal_alert_cnt = 0
-    self.terminal_time = 0
+    self.alert_3_cnt = 0
+    self.cnt_since_alert_3 = 0
+    self.no_response_timeout = int(self.settings._NO_RESPONSE_TIMEOUT / DT_DMON)
+    self.no_response_cnt = 0
+    self.lockout_time = 0
     self.step_change = 0.
     self.active_policy = MonitoringPolicy.vision
     self.driver_interacting = False
@@ -230,7 +239,7 @@ def _get_distracted_types(self):
     self.distracted_types['eye'] = bool((self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD)
     self.distracted_types['phone'] = bool(self.phone_prob > self.settings._PHONE_THRESH)
 
-  def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False, steering_angle_deg=0.):
+  def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, lowspeed, demo_mode=False, steering_angle_deg=0.):
     rhd_pred = driver_state.wheelOnRightProb
     # calibrates only when there's movement and either face detected
     if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
@@ -281,7 +290,7 @@ def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstil
 
     if self.face_detected and not self.driver_distracted:
       dcam_uncertain = self.model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD
-      if dcam_uncertain and not standstill:
+      if dcam_uncertain and not lowspeed:
         self.dcam_uncertain_cnt += 1
         self.dcam_reset_cnt = 0
       else:
@@ -296,14 +305,22 @@ def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstil
     elif self.face_detected and self.pose.low_std:
       self.hi_stds = 0
 
-  def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear):
+  def _update_events(self, driver_engaged, op_engaged, lowspeed, wrong_gear):
     self.alert_level = AlertLevel.none
     self.driver_interacting = driver_engaged
 
-    if self.terminal_alert_cnt >= self.settings._MAX_TERMINAL_ALERTS or \
-       self.terminal_time >= self.settings._MAX_TERMINAL_DURATION:
+    if self.alert_3_cnt >= self.settings._MAX_ALERT_3 or self.no_response_cnt >= self.settings._MAX_NO_RESPONSE:
       self.too_distracted = True
 
+    if self.too_distracted:
+      self.lockout_time += 1
+      if self.lockout_time > self.settings._LOCKOUT_TIME:
+        self.too_distracted = False
+        self.alert_3_cnt = 0
+        self.cnt_since_alert_3 = 0
+        self.no_response_cnt = 0
+        self.lockout_time = 0
+
     always_on_valid = self.always_on and not wrong_gear
     if (self.driver_interacting and self.awareness > 0 and self.active_policy == MonitoringPolicy.wheeltouch) or \
        (not always_on_valid and not op_engaged) or \
@@ -315,11 +332,11 @@ def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear):
     awareness_prev = self.awareness
     _reaching_alert_1 = self.awareness - self.step_change <= self.threshold_alert_1
     _reaching_alert_3 = self.awareness - self.step_change <= 0
-    standstill_exemption = standstill and _reaching_alert_1
+    lowspeed_exemption = lowspeed and _reaching_alert_1
     always_on_exemption = always_on_valid and not op_engaged and _reaching_alert_3
 
     if self.awareness > 0 and \
-       ((self.driver_distraction_filter.x < 0.37 and self.face_detected and self.pose.low_std) or standstill_exemption):
+       ((self.driver_distraction_filter.x < 0.37 and self.face_detected and self.pose.low_std) or lowspeed_exemption):
       if self.driver_interacting:
         self._reset_awareness()
         return
@@ -336,21 +353,26 @@ def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear):
     maybe_distracted = self.is_model_uncertain or not self.face_detected
 
     if certainly_distracted or maybe_distracted:
-      # should always be counting if distracted unless at standstill and reaching green
+      # should always be counting if distracted unless at low speed and reaching green
       # also will not be reaching 0 if DM is active when not engaged
-      if not (standstill_exemption or always_on_exemption):
+      if not (lowspeed_exemption or always_on_exemption):
         self.awareness = max(self.awareness - self.step_change, -0.1)
 
     if self.awareness <= 0.:
       # terminal alert: disengagement required
       self.alert_level = AlertLevel.three
-      self.terminal_time += 1
       if awareness_prev > 0.:
-        self.terminal_alert_cnt += 1
-    elif self.awareness <= self.threshold_alert_2:
-      self.alert_level = AlertLevel.two
-    elif self.awareness <= self.threshold_alert_1:
-      self.alert_level = AlertLevel.one
+        self.alert_3_cnt += 1
+        self.cnt_since_alert_3 = 0
+      else:
+        self.cnt_since_alert_3 += 1
+      if self.cnt_since_alert_3 == self.no_response_timeout:
+        self.no_response_cnt += 1
+    else:
+      if self.awareness <= self.threshold_alert_2:
+        self.alert_level = AlertLevel.two
+      elif self.awareness <= self.threshold_alert_1:
+        self.alert_level = AlertLevel.one
 
   def get_state_packet(self, valid=True):
     # build driverMonitoringState packet
@@ -358,8 +380,10 @@ def get_state_packet(self, valid=True):
     dm = dat.driverMonitoringState
 
     dm.lockout = self.too_distracted
-    dm.alertCountLockoutPercent = to_percent(self.terminal_alert_cnt / self.settings._MAX_TERMINAL_ALERTS)
-    dm.alertTimeLockoutPercent = to_percent(self.terminal_time / self.settings._MAX_TERMINAL_DURATION)
+    dm.lockoutRecoveryPercent = to_percent(self.lockout_time / self.settings._LOCKOUT_TIME)
+    dm.alert3Count = self.alert_3_cnt
+    dm.noResponseCount = self.no_response_cnt
+    dm.noResponseForceDecel = self.alert_level == AlertLevel.three and self.cnt_since_alert_3 >= self.no_response_timeout
     dm.alwaysOn = self.always_on
     dm.alwaysOnLockout = self.always_on and self.awareness <= self.threshold_alert_2
     dm.alertLevel = self.alert_level
@@ -396,7 +420,7 @@ def run_step(self, sm, demo=False):
       car_speed = 30
       enabled = True
       wrong_gear = False
-      standstill = False
+      lowspeed = False
       driver_engaged = False
       brake_disengage_prob = 1.0
       steering_angle_deg = 0.0
@@ -405,7 +429,7 @@ def run_step(self, sm, demo=False):
       car_speed = sm['carState'].vEgo
       enabled = sm['selfdriveState'].enabled
       wrong_gear = sm['carState'].gearShifter not in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low)
-      standstill = sm['carState'].standstill
+      lowspeed = car_speed < self.settings._ALERT_MIN_SPEED
       driver_engaged = sm['carState'].steeringPressed or sm['carState'].gasPressed
       brake_disengage_prob = sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
       steering_angle_deg = sm['carState'].steeringAngleDeg
@@ -422,7 +446,7 @@ def run_step(self, sm, demo=False):
       cal_rpy=rpyCalib,
       car_speed=car_speed,
       op_engaged=enabled,
-      standstill=standstill,
+      lowspeed=lowspeed,
       demo_mode=demo,
       steering_angle_deg=steering_angle_deg,
     )
@@ -431,6 +455,6 @@ def run_step(self, sm, demo=False):
     self._update_events(
       driver_engaged=driver_engaged,
       op_engaged=enabled,
-      standstill=standstill,
+      lowspeed=lowspeed,
       wrong_gear=wrong_gear,
     )
diff --git a/openpilot/selfdrive/monitoring/test_monitoring.py b/openpilot/selfdrive/monitoring/test_monitoring.py
index c13f043ce9cf35..48fffcc1c01409 100644
--- a/openpilot/selfdrive/monitoring/test_monitoring.py
+++ b/openpilot/selfdrive/monitoring/test_monitoring.py
@@ -1,5 +1,3 @@
-import numpy as np
-
 from openpilot.cereal import log
 from openpilot.common.realtime import DT_DMON
 from openpilot.selfdrive.monitoring.policy import DriverMonitoring, DRIVER_MONITOR_SETTINGS
@@ -49,15 +47,15 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
 always_false = [False] * int(TEST_TIMESPAN / DT_DMON)
 
 class TestMonitoring:
-  def _run_seq(self, msgs, interaction, engaged, standstill):
+  def _run_seq(self, msgs, interaction, engaged, lowspeed):
     DM = DriverMonitoring()
     alert_lvls = []
     for idx in range(len(msgs)):
-      DM._update_states(msgs[idx], [0, 0, 0], 0, engaged[idx], standstill[idx])
+      DM._update_states(msgs[idx], [0, 0, 0], 0, engaged[idx], lowspeed[idx])
       # cal_rpy and car_speed don't matter here
 
       # evaluate events at 10Hz for tests
-      DM._update_events(interaction[idx], engaged[idx], standstill[idx], 0)
+      DM._update_events(interaction[idx], engaged[idx], lowspeed[idx], 0)
       alert_lvls.append(DM.alert_level)
     assert len(alert_lvls) == len(msgs), f"got {len(alert_lvls)} for {len(msgs)} driverState input msgs"
     return alert_lvls, DM
@@ -82,6 +80,25 @@ def test_fully_distracted_driver(self):
                     (TEST_TIMESPAN - 10 - s._VISION_POLICY_ALERT_3_TIMEOUT) / 2) / DT_DMON)] == 3
     assert isinstance(d_status.awareness, float)
 
+  # engaged, distracted past red and beyond the no-response window -> unavailability response + lockout
+  def test_distracted_lockout(self):
+    alert_lvls, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
+    s = d_status.settings
+    assert alert_lvls[int(DISTRACTED_SECONDS_TO_RED / DT_DMON)] == 3
+    assert d_status.alert_3_cnt == 1
+    assert d_status.no_response_cnt == s._MAX_NO_RESPONSE
+    assert d_status.too_distracted
+    assert d_status.lockout_time > 0
+
+  # no face -> wheeltouch red, sustained past the no-response timeout -> unavailability response + lockout
+  def test_invisible_lockout(self):
+    _, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
+    s = d_status.settings
+    assert d_status.active_policy == log.DriverMonitoringState.MonitoringPolicy.wheeltouch
+    assert d_status.alert_3_cnt == 1
+    assert d_status.no_response_cnt == s._MAX_NO_RESPONSE
+    assert d_status.too_distracted
+
   # engaged, no face detected the whole time, no action
   def test_fully_invisible_driver(self):
     alert_lvls, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
@@ -137,22 +154,22 @@ def test_biggest_comma_fan(self):
   # engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
   #  - both actions should clear the alert, but momentary appearance should not
   def test_sometimes_transparent_commuter(self):
-    _visible_time = np.random.choice([0.5, 10])
-    ds_vector = always_no_face[:]*2
-    interaction_vector = always_false[:]*2
-    ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = \
-                                                                                             [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
-    interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
-    alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
-    assert alert_lvls[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)] == 0
-    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)] == 2
-    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)] == 0
-    if _visible_time == 0.5:
-      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)] == 2
-      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)] == 1
-    elif _visible_time == 10:
-      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)] == 2
-      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)] == 0
+    for _visible_time in (0.5, 10):
+      ds_vector = always_no_face[:]*2
+      interaction_vector = always_false[:]*2
+      ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = \
+                                                                                               [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
+      interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
+      alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
+      assert alert_lvls[int(dm_settings._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT/2/DT_DMON)] == 0
+      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)] == 2
+      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)] == 0
+      if _visible_time == 0.5:
+        assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)] == 2
+        assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)] == 2
+      elif _visible_time == 10:
+        assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)] == 2
+        assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)] == 0
 
   # engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages
   #  - only disengage will clear the alert
@@ -165,7 +182,7 @@ def test_last_second_responder(self):
     interaction_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON)] = [True] * int(1/DT_DMON)
     op_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON)
     alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
-    assert alert_lvls[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)] == 0
+    assert alert_lvls[int(dm_settings._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT/2/DT_DMON)] == 0
     assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)] == 2
     assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)] == 3
     assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)] == 3
@@ -182,9 +199,9 @@ def test_pure_dashcam_user(self):
   #  - should only reach green when stopped, but continues counting down on launch
   def test_long_traffic_light_victim(self):
     _redlight_time = 60  # seconds
-    standstill_vector = always_true[:]
-    standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON)
-    alert_lvls, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
+    lowspeed_vector = always_true[:]
+    lowspeed_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON)
+    alert_lvls, d_status = self._run_seq(always_distracted, always_false, always_true, lowspeed_vector)
     s = d_status.settings
     assert alert_lvls[int((_redlight_time-0.1)/DT_DMON)] == 0
     _alert_1_to_2 = s._VISION_POLICY_ALERT_2_TIMEOUT - s._VISION_POLICY_ALERT_1_TIMEOUT
@@ -192,12 +209,12 @@ def test_long_traffic_light_victim(self):
     assert alert_lvls[int((_redlight_time+_alert_1_to_2+0.5)/DT_DMON)] == 2
 
   # engaged, distracted while moving, then car stops after reaching orange
-  #  - should reset timer to pre green at standstill
+  #  - should reset timer to pre green at low speed
   def test_distracted_then_stops(self):
     _stop_time = DISTRACTED_SECONDS_TO_ORANGE + 1  # stop 1 second after reaching orange
-    standstill_vector = always_false[:]
-    standstill_vector[int(_stop_time/DT_DMON):] = [True] * int((TEST_TIMESPAN-_stop_time)/DT_DMON)
-    alert_lvls, _ = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
+    lowspeed_vector = always_false[:]
+    lowspeed_vector[int(_stop_time/DT_DMON):] = [True] * int((TEST_TIMESPAN-_stop_time)/DT_DMON)
+    alert_lvls, _ = self._run_seq(always_distracted, always_false, always_true, lowspeed_vector)
     # just before and briefly after stopping: orange alert; goes away quickly after stopped
     assert alert_lvls[int((_stop_time+0.1)/DT_DMON)] == 2
     assert alert_lvls[int((_stop_time+0.5)/DT_DMON)] == 0
diff --git a/openpilot/selfdrive/selfdrived/events.py b/openpilot/selfdrive/selfdrived/events.py
index 44814c290805cc..9d1aa3591d5968 100755
--- a/openpilot/selfdrive/selfdrived/events.py
+++ b/openpilot/selfdrive/selfdrived/events.py
@@ -10,8 +10,9 @@
 import openpilot.cereal.messaging as messaging
 from openpilot.common.constants import CV
 from openpilot.common.git import get_short_branch
-from openpilot.common.realtime import DT_CTRL
+from openpilot.common.realtime import DT_CTRL, DT_DMON
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
+from openpilot.selfdrive.monitoring.policy import DRIVER_MONITOR_SETTINGS
 from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
 from openpilot.selfdrive.ui.feedback.feedbackd import FEEDBACK_MAX_DURATION
 from openpilot.common.hardware import HARDWARE
@@ -22,6 +23,7 @@
 AudibleAlert = log.SelfdriveState.AudibleAlert
 EventName = log.OnroadEvent.EventName
 
+DMON_LOCKOUT_TIME = DRIVER_MONITOR_SETTINGS()._LOCKOUT_TIME
 
 # Alert priorities
 class Priority(IntEnum):
@@ -264,6 +266,13 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag
     Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
 
 
+def too_distracted_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  if sm['driverMonitoringState'].lockout:
+    mins_left = max(1, round((100 - sm['driverMonitoringState'].lockoutRecoveryPercent) / 100 * DMON_LOCKOUT_TIME * DT_DMON / 60.))
+    return NoEntryAlert("Too Distracted", f"{mins_left} minute{'s' if mins_left != 1 else ''} Left")
+  return NoEntryAlert("Pay Attention to Engage")
+
+
 def audio_feedback_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   duration = FEEDBACK_MAX_DURATION - ((sm['audioFeedback'].blockNum + 1) * SAMPLE_BUFFER / SAMPLE_RATE)
   return NormalPermanentAlert(
@@ -518,7 +527,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
       "Pay Attention",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
+      Priority.LOW, VisualAlert.none, AudibleAlert.preAlert, .1),
   },
 
   EventName.driverDistracted2: {
@@ -785,7 +794,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
   },
 
   EventName.tooDistracted: {
-    ET.NO_ENTRY: NoEntryAlert("Distraction Level Too High"),
+    ET.NO_ENTRY: too_distracted_alert,
   },
 
   EventName.excessiveActuation: {
@@ -1038,7 +1047,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
         "Pay Attention",
         "",
         AlertStatus.normal, AlertSize.small,
-        Priority.LOW, VisualAlert.none, AudibleAlert.none, 2),
+        Priority.LOW, VisualAlert.none, AudibleAlert.preAlert, 2),
     },
     EventName.driverDistracted2: {
       ET.PERMANENT: Alert(
diff --git a/openpilot/selfdrive/selfdrived/selfdrived.py b/openpilot/selfdrive/selfdrived/selfdrived.py
index 064789dae8fc66..d89c564925e45b 100755
--- a/openpilot/selfdrive/selfdrived/selfdrived.py
+++ b/openpilot/selfdrive/selfdrived/selfdrived.py
@@ -189,10 +189,13 @@ def update_events(self, CS):
 
     # Handle DM
     if not self.CP.notCar:
-      # Block engaging until ignition cycle after max number or time of distractions
+      # Block engaging until lockout times out or ignition reset
       if self.sm['driverMonitoringState'].lockout and not self.dm_lockout_set:
         self.params.put_bool("DriverTooDistracted", True)
         self.dm_lockout_set = True
+      elif not self.sm['driverMonitoringState'].lockout and self.dm_lockout_set:
+        self.params.remove("DriverTooDistracted")
+        self.dm_lockout_set = False
       # No entry conditions
       if self.sm['driverMonitoringState'].lockout or self.sm['driverMonitoringState'].alwaysOnLockout:
         self.events.add(EventName.tooDistracted)
diff --git a/openpilot/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/openpilot/selfdrive/ui/mici/onroad/driver_camera_dialog.py
index 35ebc349553dc9..e81877b40256de 100644
--- a/openpilot/selfdrive/ui/mici/onroad/driver_camera_dialog.py
+++ b/openpilot/selfdrive/ui/mici/onroad/driver_camera_dialog.py
@@ -106,6 +106,7 @@ def _publish_alert_sound(self, dm_state):
 
     AudibleAlert = log.SelfdriveState.AudibleAlert
     ALERT_SOUNDS = {
+      'one': AudibleAlert.preAlert,
       'two': AudibleAlert.promptDistracted,
       'three': AudibleAlert.warningImmediate,
     }
diff --git a/openpilot/selfdrive/ui/soundd.py b/openpilot/selfdrive/ui/soundd.py
index 2eb731e9e1ffa5..d84c98710b6d50 100644
--- a/openpilot/selfdrive/ui/soundd.py
+++ b/openpilot/selfdrive/ui/soundd.py
@@ -43,6 +43,8 @@
   AudibleAlert.promptRepeat: ("prompt.wav", None, MAX_VOLUME),
   AudibleAlert.promptDistracted: ("prompt_distracted.wav", None, MAX_VOLUME),
 
+  AudibleAlert.preAlert: ("pre_alert.wav", 1, MAX_VOLUME),
+
   AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
   AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
 }
diff --git a/openpilot/selfdrive/ui/tests/test_soundd.py b/openpilot/selfdrive/ui/tests/test_soundd.py
index f878839c23a4bf..da7921a559520a 100644
--- a/openpilot/selfdrive/ui/tests/test_soundd.py
+++ b/openpilot/selfdrive/ui/tests/test_soundd.py
@@ -1,5 +1,4 @@
-from openpilot.cereal import log
-from openpilot.cereal import messaging
+from openpilot.cereal import log, messaging
 from openpilot.cereal.messaging import SubMaster, PubMaster
 from openpilot.selfdrive.ui.soundd import SELFDRIVE_STATE_TIMEOUT, check_selfdrive_timeout_alert
 

From e9e5548edc9b34e8b502dd9fed701bbe3d24678b Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Fri, 26 Jun 2026 18:23:01 -0700
Subject: [PATCH 1251/1434] bump DM NoEntryAlert priority (#38253)

---
 openpilot/selfdrive/selfdrived/events.py | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/openpilot/selfdrive/selfdrived/events.py b/openpilot/selfdrive/selfdrived/events.py
index 9d1aa3591d5968..00d0334adacb46 100755
--- a/openpilot/selfdrive/selfdrived/events.py
+++ b/openpilot/selfdrive/selfdrived/events.py
@@ -153,11 +153,12 @@ def __gt__(self, alert2) -> bool:
 class NoEntryAlert(Alert):
   def __init__(self, alert_text_2: str,
                alert_text_1: str = "openpilot Unavailable",
-               visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
+               visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none,
+               priority: Priority = Priority.LOW):
     if HARDWARE.get_device_type() == 'mici':
       alert_text_1, alert_text_2 = alert_text_2, alert_text_1
     super().__init__(alert_text_1, alert_text_2, AlertStatus.normal,
-                     AlertSize.mid, Priority.LOW, visual_alert,
+                     AlertSize.mid, priority, visual_alert,
                      AudibleAlert.refuse, 3.)
 
 
@@ -269,8 +270,8 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag
 def too_distracted_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   if sm['driverMonitoringState'].lockout:
     mins_left = max(1, round((100 - sm['driverMonitoringState'].lockoutRecoveryPercent) / 100 * DMON_LOCKOUT_TIME * DT_DMON / 60.))
-    return NoEntryAlert("Too Distracted", f"{mins_left} minute{'s' if mins_left != 1 else ''} Left")
-  return NoEntryAlert("Pay Attention to Engage")
+    return NoEntryAlert("Too Distracted", f"{mins_left} minute{'s' if mins_left != 1 else ''} Left", priority=Priority.HIGH)
+  return NoEntryAlert("Pay Attention to Engage", priority=Priority.HIGH)
 
 
 def audio_feedback_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:

From da6313dbe95b3f24bb5d8018b0e5f950f5823ca7 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 26 Jun 2026 21:31:55 -0400
Subject: [PATCH 1252/1434] Update CHANGELOG.md

---
 CHANGELOG.md | 31 ++++++++++++++++++++++++++++++-
 1 file changed, 30 insertions(+), 1 deletion(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index e5e31c60ffefd0..aeb2a969c8b153 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,34 @@
-sunnypilot Version 2026.002.000 (2026-xx-xx)
+sunnypilot Version 2026.002.000 (2026-06-28)
 ========================
+* What's Changed (sunnypilot/sunnypilot)
+  * ui: update gates for certain toggles by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1830
+  * release: ignore upstream IsReleaseBranch by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1831
+  * manager: disable DEVELOPMENT_ONLY reset by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1833
+  * sunnylink: fix max time offroad values by @nayan8teen in https://github.com/sunnypilot/sunnypilot/pull/1835
+  * ui: show default model name by @nayan8teen in https://github.com/sunnypilot/sunnypilot/pull/1837
+  * sunnylink: add CarParams fallback for brand-specific capabilities by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1839
+  * sunnylink SDUI: tweak DisableUpdate param for clarity by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1842
+  * Revert "DM: Lancia Delta HF Integrale model" by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1849
+  * modeld_v2: safe model validation by @Discountchubbs in https://github.com/sunnypilot/sunnypilot/pull/1855
+  * Revert "deprecate `carState.brake`" for Honda Gas Interceptor by @mvl-boston in https://github.com/sunnypilot/sunnypilot/pull/1860
+  * sunnylink: deprecate legacy params metadata by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1862
+  * ui: reset Enforce Torque Control and NNLC if both are enabled by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1863
+* What's Changed (sunnypilot/opendbc)
+  * Rivian: suppress ACM hold-the-wheel warning during MADS-only lateral by @lukasloetkolben in https://github.com/sunnypilot/opendbc/pull/465
+  * Sync: `commaai/opendbc:master` → `sunnypilot/opendbc:master` by @sunnyhaibin in https://github.com/sunnypilot/opendbc/pull/479
+  * safety: add option to ignore frequency check for RX checks by @sunnyhaibin in https://github.com/sunnypilot/opendbc/pull/480
+  * Revert "deprecate carState.brake" for Honda Gas Interceptor by @mvl-boston in https://github.com/sunnypilot/opendbc/pull/481
+* New Contributors (sunnypilot/sunnypilot)
+  * @mvl-boston made their first contribution in https://github.com/sunnypilot/sunnypilot/pull/1860
+* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2026.001.007...v2026.002.000
+************************
+* Synced with commaai's openpilot (v0.11.1)
+  * master commit 69e2c321e49760e52f7983eaa0a5f77cb95de637 (June 02, 2026)
+* New driver monitoring model
+* Improved image processing pipeline for driver camera
+* Improved thermal policy for comma four
+* Acura MDX 2022-24 support thanks to mvl-boston!
+* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
 
 sunnypilot Version 2026.001.000 (2026-05-06)
 ========================

From 61b6d52b016b3d29ed77d36314b0d098b6c41a69 Mon Sep 17 00:00:00 2001
From: Toby Penner <toby@comma.ai>
Date: Sun, 28 Jun 2026 10:40:05 -0700
Subject: [PATCH 1253/1434] Fix broken tools README link (#38260)

---
 docs/CONTRIBUTING.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md
index 393819830b28bd..cbeb5f6d3a14f6 100644
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@@ -6,7 +6,7 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu
 
 ### Getting Started
 
-* Set up your [development environment](/openpilot/tools/)
+* Set up your [development environment](/tools/)
 * Join our [Discord](https://discord.comma.ai)
 * Docs are at https://docs.comma.ai and https://blog.comma.ai
 

From 31dc4d8e520f3b309acd05da79cc6ab448affad2 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 28 Jun 2026 22:56:17 -0400
Subject: [PATCH 1254/1434] ci: fix cereal validation for upstream directory
 restructure (#1869)

---
 .github/workflows/cereal_validation.yaml      |  25 ++-
 .../tests/validate_sp_cereal_upstream.py      | 189 +++++-------------
 2 files changed, 71 insertions(+), 143 deletions(-)

diff --git a/.github/workflows/cereal_validation.yaml b/.github/workflows/cereal_validation.yaml
index d71354dd59c845..2ab617b2f0967c 100644
--- a/.github/workflows/cereal_validation.yaml
+++ b/.github/workflows/cereal_validation.yaml
@@ -35,18 +35,36 @@ jobs:
       - name: Init sunnypilot opendbc submodule
         run: git submodule update --init --depth 1 opendbc_repo
 
-      - name: Checkout upstream openpilot cereal
+      - name: Checkout upstream openpilot
         uses: actions/checkout@v6
         with:
           repository: 'commaai/openpilot'
           path: upstream_openpilot
-          sparse-checkout: cereal
           ref: "refs/heads/master"
 
       - name: Init upstream opendbc submodule
         working-directory: upstream_openpilot
         run: git submodule update --init --depth 1 opendbc_repo
 
+      - name: Locate upstream capnp paths
+        id: locate-capnp
+        run: |
+          CEREAL_DIR=$(find upstream_openpilot -maxdepth 4 -name log.capnp -path '*/cereal/log.capnp' -printf '%h\n' -quit)
+          if [ -z "$CEREAL_DIR" ]; then
+            echo "::error::Could not locate cereal/log.capnp in upstream openpilot"
+            exit 1
+          fi
+          echo "cereal_dir=$CEREAL_DIR" >> "$GITHUB_OUTPUT"
+          echo "Found upstream cereal at: $CEREAL_DIR"
+
+          IMPORT_ARGS=""
+          CAR_CAPNP=$(find upstream_openpilot -maxdepth 5 -name car.capnp -path '*/opendbc/car/car.capnp' -printf '%h\n' -quit)
+          if [ -n "$CAR_CAPNP" ]; then
+            IMPORT_ARGS="-I $CAR_CAPNP"
+            echo "Found car.capnp at: $CAR_CAPNP"
+          fi
+          echo "import_args=$IMPORT_ARGS" >> "$GITHUB_OUTPUT"
+
       - name: Install uv
         run: pip install uv
 
@@ -62,4 +80,5 @@ jobs:
           PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
           uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
             python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -r -f /tmp/sp_schema.json --cereal-dir upstream_openpilot/cereal
+            -r -f /tmp/sp_schema.json --cereal-dir ${{ steps.locate-capnp.outputs.cereal_dir }} \
+            ${{ steps.locate-capnp.outputs.import_args }}
diff --git a/cereal/messaging/tests/validate_sp_cereal_upstream.py b/cereal/messaging/tests/validate_sp_cereal_upstream.py
index 11e39cd6cebff1..543b8b1b3e1d27 100755
--- a/cereal/messaging/tests/validate_sp_cereal_upstream.py
+++ b/cereal/messaging/tests/validate_sp_cereal_upstream.py
@@ -1,12 +1,13 @@
 #!/usr/bin/env python3
-"""Schema-level cereal compat check between sunnypilot and upstream openpilot.
-
-Rules (per struct matched across sides by typeId):
-  R1  shared ordinal must reference the same type.
-  R2  sunnypilot-only ordinal in a union -> FAIL (unknown discriminant upstream).
-  R3  sunnypilot-only ordinal on a regular field -> OK (additive struct evolution).
-  R4  upstream-only ordinal -> OK.
-  R5  sunnypilot-only struct referenced via an upstream-shared field -> FAIL.
+"""Validate sunnypilot routes are parseable by stock commaai/openpilot.
+
+Cap'n Proto is wire-compatible across renames, type relocations, and
+additive fields. The only breaking change is a union variant that
+upstream doesn't recognize — an unknown discriminant makes the entire
+union unreadable.
+
+This script checks: for every struct with a union that exists in both
+schemas, does sunnypilot introduce union variants upstream doesn't have?
 """
 
 from __future__ import annotations
@@ -24,46 +25,19 @@ def hex_id(value: int) -> str:
   return f"0x{value:016x}"
 
 
-def encode_type(type_node: Any) -> dict:
-  which = type_node.which()
-  if which == "struct":
-    return {"kind": "struct", "typeId": hex_id(type_node.struct.typeId)}
-  if which == "enum":
-    return {"kind": "enum", "typeId": hex_id(type_node.enum.typeId)}
-  if which == "interface":
-    return {"kind": "interface", "typeId": hex_id(type_node.interface.typeId)}
-  if which == "list":
-    return {"kind": "list", "element": encode_type(type_node.list.elementType)}
-  if which == "anyPointer":
-    return {"kind": "anyPointer"}
-  return {"kind": which}
-
-
-def encode_field(name: str, field: Any) -> dict:
-  proto = field.proto
-  ordinal = proto.ordinal.explicit if proto.ordinal.which() == "explicit" else None
-  discriminant = proto.discriminantValue if proto.discriminantValue != NO_DISCRIMINANT else None
-
-  if proto.which() == "group":
-    type_desc = {"kind": "group", "typeId": hex_id(proto.group.typeId)}
-  else:
-    type_desc = encode_type(proto.slot.type)
-
-  return {
-    "name": name,
-    "ordinal": ordinal,
-    "discriminant": discriminant,
-    "type": type_desc,
-  }
-
-
 def encode_struct(schema: Any) -> dict:
   node = schema.node
+  fields = []
+  for name, field in schema.fields.items():
+    proto = field.proto
+    ordinal = proto.ordinal.explicit if proto.ordinal.which() == "explicit" else None
+    discriminant = proto.discriminantValue if proto.discriminantValue != NO_DISCRIMINANT else None
+    fields.append({"name": name, "ordinal": ordinal, "discriminant": discriminant})
   return {
     "typeId": hex_id(node.id),
     "displayName": node.displayName,
     "hasUnion": node.struct.discriminantCount > 0,
-    "fields": [encode_field(name, field) for name, field in schema.fields.items()],
+    "fields": fields,
   }
 
 
@@ -105,15 +79,16 @@ def collect_schema(root: Any) -> dict[str, dict]:
   return structs
 
 
-def load_log(cereal_dir: str) -> Any:
+def load_log(cereal_dir: str, extra_imports: list[str] | None = None) -> Any:
   import capnp
   cereal_dir = os.path.abspath(cereal_dir)
   capnp.remove_import_hook()
-  return capnp.load(os.path.join(cereal_dir, "log.capnp"), imports=[cereal_dir])
+  imports = [cereal_dir] + [os.path.abspath(p) for p in (extra_imports or [])]
+  return capnp.load(os.path.join(cereal_dir, "log.capnp"), imports=imports)
 
 
-def dump_schema(cereal_dir: str, path: str) -> None:
-  log = load_log(cereal_dir)
+def dump_schema(cereal_dir: str, path: str, extra_imports: list[str] | None = None) -> None:
+  log = load_log(cereal_dir, extra_imports)
   payload = {
     "root": hex_id(log.Event.schema.node.id),
     "structs": collect_schema(log.Event.schema),
@@ -123,100 +98,37 @@ def dump_schema(cereal_dir: str, path: str) -> None:
   print(f"wrote schema dump with {len(payload['structs'])} structs to {path}")
 
 
-def types_equal(a: dict, b: dict) -> bool:
-  if a.get("kind") != b.get("kind"):
-    return False
-  kind = a["kind"]
-  if kind in ("struct", "enum", "interface", "group"):
-    return a.get("typeId") == b.get("typeId")
-  if kind == "list":
-    return types_equal(a["element"], b["element"])
-  return True
-
-
-def type_repr(t: dict) -> str:
-  kind = t.get("kind", "?")
-  if kind in ("struct", "enum", "interface", "group"):
-    return f"{kind}({t.get('typeId')})"
-  if kind == "list":
-    return f"list<{type_repr(t['element'])}>"
-  return kind
-
-
-def field_is_union_variant(field: dict) -> bool:
-  return field.get("discriminant") is not None
-
-
-def index_fields_by_ordinal(struct: dict) -> dict[int, dict]:
-  indexed: dict[int, dict] = {}
-  for field in struct["fields"]:
-    ordinal = field.get("ordinal")
-    if ordinal is None:
-      continue
-    indexed[ordinal] = field
-  return indexed
-
-
 def compare(sunnypilot_dump: dict, upstream_dump: dict) -> list[str]:
   violations: list[str] = []
-  sunnypilot_structs: dict[str, dict] = sunnypilot_dump["structs"]
-  upstream_structs: dict[str, dict] = upstream_dump["structs"]
+  sunnypilot_structs = sunnypilot_dump["structs"]
+  upstream_structs = upstream_dump["structs"]
 
-  sunnypilot_struct_referenced_from_shared: set[str] = set()
-
-  for type_id, sunnypilot_struct in sunnypilot_structs.items():
-    upstream_struct = upstream_structs.get(type_id)
-    if upstream_struct is None:
+  for type_id, sp_struct in sunnypilot_structs.items():
+    if not sp_struct["hasUnion"]:
+      continue
+    up_struct = upstream_structs.get(type_id)
+    if up_struct is None:
       continue
 
-    sunnypilot_fields = index_fields_by_ordinal(sunnypilot_struct)
-    upstream_fields = index_fields_by_ordinal(upstream_struct)
-    display = sunnypilot_struct["displayName"]
-
-    for ordinal, sunnypilot_field in sunnypilot_fields.items():
-      upstream_field = upstream_fields.get(ordinal)
-      if upstream_field is None:
-        if field_is_union_variant(sunnypilot_field):
-          violations.append(
-            f"[R2] {display} @{ordinal} ('{sunnypilot_field['name']}', {type_repr(sunnypilot_field['type'])}): "
-            f"union variant not present upstream. upstream cannot parse this discriminant."
-          )
-        continue
+    up_ordinals = {f["ordinal"] for f in up_struct["fields"] if f.get("discriminant") is not None}
+    display = sp_struct["displayName"]
 
-      if not types_equal(sunnypilot_field["type"], upstream_field["type"]):
+    for field in sp_struct["fields"]:
+      if field.get("discriminant") is None:
+        continue
+      if field["ordinal"] not in up_ordinals:
         violations.append(
-          f"[R1] {display} @{ordinal}: type mismatch. "
-          f"sunnypilot='{sunnypilot_field['name']}' {type_repr(sunnypilot_field['type'])} vs "
-          f"upstream='{upstream_field['name']}' {type_repr(upstream_field['type'])}."
+          f"{display} @{field['ordinal']} '{field['name']}': "
+          f"union variant not present upstream (discriminant={field['discriminant']})"
         )
-        continue
-
-      cursor = sunnypilot_field["type"]
-      while cursor.get("kind") == "list":
-        cursor = cursor["element"]
-      if cursor.get("kind") in ("struct", "group", "interface") and cursor.get("typeId"):
-        sunnypilot_struct_referenced_from_shared.add(cursor["typeId"])
-
-  for type_id, sunnypilot_struct in sunnypilot_structs.items():
-    if type_id in upstream_structs:
-      continue
-    if type_id in sunnypilot_struct_referenced_from_shared:
-      violations.append(
-        f"[R5] struct {sunnypilot_struct['displayName']} ({type_id}) exists only on sunnypilot "
-        f"but is referenced from an upstream-shared field. upstream cannot resolve this type."
-      )
 
   return violations
 
 
-def load_peer(path: str) -> dict:
-  with open(path, "r", encoding="utf-8") as handle:
-    return json.load(handle)
-
-
-def run_read(cereal_dir: str, peer_path: str) -> int:
-  log = load_log(cereal_dir)
-  peer_dump = load_peer(peer_path)
+def run_read(cereal_dir: str, peer_path: str, extra_imports: list[str] | None = None) -> int:
+  log = load_log(cereal_dir, extra_imports)
+  with open(peer_path, "r", encoding="utf-8") as f:
+    peer_dump = json.load(f)
   local_dump = {
     "root": hex_id(log.Event.schema.node.id),
     "structs": collect_schema(log.Event.schema),
@@ -224,32 +136,29 @@ def run_read(cereal_dir: str, peer_path: str) -> int:
   violations = compare(sunnypilot_dump=peer_dump, upstream_dump=local_dump)
 
   if not violations:
-    print("cereal compat OK: upstream openpilot can parse sunnypilot routes "
-          "(no leaked structs, no ordinal collisions).")
+    print("cereal compat OK: upstream can parse sunnypilot routes.")
     return 0
 
-  print(f"cereal compat FAIL: upstream openpilot would misparse sunnypilot routes "
-        f"({len(violations)} violation(s)):")
+  print(f"cereal compat FAIL ({len(violations)} leaked union variant(s)):")
   for v in violations:
     print(f"  {v}")
   return 1
 
 
 def main() -> int:
-  parser = argparse.ArgumentParser(
-    description="sunnypilot <-> upstream cereal compatibility validator (schema-level)."
-  )
+  parser = argparse.ArgumentParser(description="sunnypilot cereal upstream compat check")
   mode = parser.add_mutually_exclusive_group(required=True)
   mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
-  mode.add_argument("-r", "--read", action="store_true", help="load peer JSON and diff against local")
-  parser.add_argument("-f", "--file", default="schema.json", help="JSON file path (default: schema.json)")
-  parser.add_argument("--cereal-dir", required=True, help="path to cereal directory containing log.capnp")
+  mode.add_argument("-r", "--read", action="store_true", help="validate against peer schema")
+  parser.add_argument("-f", "--file", default="schema.json", help="JSON file path")
+  parser.add_argument("--cereal-dir", required=True, help="path to cereal directory")
+  parser.add_argument("-I", "--import-path", action="append", default=[], help="extra capnp import paths")
   args = parser.parse_args()
 
   if args.generate:
-    dump_schema(args.cereal_dir, args.file)
+    dump_schema(args.cereal_dir, args.file, args.import_path)
     return 0
-  return run_read(args.cereal_dir, args.file)
+  return run_read(args.cereal_dir, args.file, args.import_path)
 
 
 if __name__ == "__main__":

From 97215b17d73d92445a3063e24589750cc55acfe4 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Mon, 29 Jun 2026 11:53:27 -0700
Subject: [PATCH 1255/1434] modeld: remove prepare_only (#38252)

remove prepare_only
---
 openpilot/selfdrive/modeld/modeld.py | 10 ++--------
 1 file changed, 2 insertions(+), 8 deletions(-)

diff --git a/openpilot/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py
index 9722538b33eedd..dca74d0a5b2de7 100755
--- a/openpilot/selfdrive/modeld/modeld.py
+++ b/openpilot/selfdrive/modeld/modeld.py
@@ -101,7 +101,7 @@ def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slic
     return parsed_model_outputs
 
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
-          inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
+          inputs: dict[str, np.ndarray]) -> dict[str, np.ndarray] | None:
     for key in bufs.keys():
       ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
       yuv_size = self.frame_buf_params[key][3]
@@ -122,9 +122,6 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
 
     img, big_img = self.warp_enqueue(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
 
-    if prepare_only:
-      return None
-
     outs, = self.run_policy(
       **{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, img=img, big_img=big_img
     )
@@ -272,9 +269,6 @@ def main(demo=False):
     run_count = run_count + 1
 
     frame_drop_ratio = frames_dropped / (1 + frames_dropped)
-    prepare_only = vipc_dropped_frames > 0
-    if prepare_only:
-      cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
 
     bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
     transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
@@ -289,7 +283,7 @@ def main(demo=False):
     }
 
     mt1 = time.perf_counter()
-    model_output = model.run(bufs, transforms, inputs, prepare_only)
+    model_output = model.run(bufs, transforms, inputs)
     mt2 = time.perf_counter()
     model_execution_time = mt2 - mt1
 

From 8c927d0fc26be3ed696b9d9ebe4c9a838582dcb3 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Mon, 29 Jun 2026 13:08:37 -0700
Subject: [PATCH 1256/1434] modeld: enqueue in policy (#38264)

* move enqueue to policy

* typo

* correct shape

* correct shape
---
 openpilot/selfdrive/modeld/compile_modeld.py | 31 +++++++++++---------
 openpilot/selfdrive/modeld/modeld.py         |  6 ++--
 2 files changed, 20 insertions(+), 17 deletions(-)

diff --git a/openpilot/selfdrive/modeld/compile_modeld.py b/openpilot/selfdrive/modeld/compile_modeld.py
index 35f92d344f0f64..247966aaf6e766 100755
--- a/openpilot/selfdrive/modeld/compile_modeld.py
+++ b/openpilot/selfdrive/modeld/compile_modeld.py
@@ -34,8 +34,8 @@ def fetch_fw(path, name, sha256):
 
 
 NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
-WARP_INPUTS = ['img_q', 'big_img_q', 'tfm', 'big_tfm']
-POLICY_INPUTS = ['feat_q', 'desire_q', 'packed_npy_inputs']
+WARP_INPUTS = ['tfm', 'big_tfm']
+POLICY_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs']
 
 UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
 UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
@@ -175,20 +175,17 @@ def sample_desire(buf, frame_skip):
 
 def make_warp(nv12, model_w, model_h, frame_skip):
   frame_prepare = make_frame_prepare(nv12, model_w, model_h)
-  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
 
-  def warp_enqueue(img_q, big_img_q, tfm, big_tfm, frame, big_frame):
+  def warp(tfm, big_tfm, frame, big_frame):
     tfm = tfm.to(WARP_DEV)
     big_tfm = big_tfm.to(WARP_DEV)
     Tensor.realize(tfm, big_tfm)
 
     warped_frame = frame_prepare(frame, tfm).unsqueeze(0)
     warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0)
-    warped = Tensor.cat(warped_frame, warped_big_frame).to(Device.DEFAULT)
-    img = shift_and_sample(img_q, warped[0:1], sample_skip_fn)
-    big_img = shift_and_sample(big_img_q, warped[1:2], sample_skip_fn)
-    return img, big_img
-  return warp_enqueue
+    return Tensor.cat(warped_frame, warped_big_frame)
+
+  return warp
 
 
 def make_run_policy(model_runner, model_metadata, frame_skip):
@@ -196,8 +193,14 @@ def make_run_policy(model_runner, model_metadata, frame_skip):
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
   npy_shapes, npy_sizes = get_policy_npy_shapes(model_metadata['input_shapes'])
 
-  def run_policy(img, big_img, feat_q, desire_q, packed_npy_inputs):
-    packed_npy_inputs = packed_npy_inputs.to(Device.DEFAULT).realize()
+  def run_policy(warped, img_q, big_img_q, feat_q, desire_q, packed_npy_inputs):
+    packed_npy_inputs = packed_npy_inputs.to(Device.DEFAULT)
+    warped = warped.to(Device.DEFAULT)
+    Tensor.realize(packed_npy_inputs, warped)
+
+    img = shift_and_sample(img_q, warped[0:1], sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, warped[1:2], sample_skip_fn)
+
     desire, traffic_convention, action_t, prev_feat = (t.reshape(s) for t, s in zip(packed_npy_inputs.split(npy_sizes), npy_shapes.values(), strict=True))
     desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
     feat_buf = shift_and_sample(feat_q, prev_feat.reshape(1, 1, -1), sample_skip_fn)
@@ -295,16 +298,16 @@ def read_file_chunked_to_shm(path):
   run_policy_jit = TinyJit(make_run_policy(model_runner, out['metadata'], args.frame_skip), prune=True)
 
   make_policy_queues = partial(make_input_queues, out['metadata']['input_shapes'], args.frame_skip)
-  make_random_model_inputs = partial(make_random_images, keys=['img', 'big_img'], shape=out['metadata']['input_shapes']['img'])
+  make_random_model_inputs = partial(make_random_images, keys=['warped'], shape=(2, 6, *out['metadata']['input_shapes']['img'][2:]))
   out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS,
                                   make_policy_queues)
 
   for cam_w, cam_h in args.camera_resolutions:
     nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
     make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
-    warp_enqueue = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
+    warp = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
     make_warp_queues = partial(make_warp_input_queues, out['metadata']['input_shapes'], args.frame_skip)
-    out[(cam_w,cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)
+    out[(cam_w,cam_h)] = compile_jit(warp, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)
 
   with open(args.output, "wb") as f:
     pickle.dump(out, f)
diff --git a/openpilot/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py
index dca74d0a5b2de7..3d5e04873d80de 100755
--- a/openpilot/selfdrive/modeld/modeld.py
+++ b/openpilot/selfdrive/modeld/modeld.py
@@ -94,7 +94,7 @@ def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
     self.parser = Parser()
     self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
     self.run_policy = jits['run_policy']
-    self.warp_enqueue = jits[(cam_w,cam_h)]
+    self.warp = jits[(cam_w,cam_h)]
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
@@ -120,10 +120,10 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
     self.npy['tfm'][:,:] = transforms['img'][:,:]
     self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
 
-    img, big_img = self.warp_enqueue(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
+    warped = self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
 
     outs, = self.run_policy(
-      **{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, img=img, big_img=big_img
+      **{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, warped=warped
     )
     model_output = outs.numpy()[0]
     outputs_dict = self.parser.parse_outputs(self.slice_outputs(model_output, self.output_slices))

From 8a3bbcdd4e800c918d319dde48c49d37fcff583f Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Tue, 30 Jun 2026 00:15:50 -0700
Subject: [PATCH 1257/1434] Revert "modeld: enqueue in policy" (#38266)

Revert "modeld: enqueue in policy (#38264)"

This reverts commit 8c927d0fc26be3ed696b9d9ebe4c9a838582dcb3.
---
 openpilot/selfdrive/modeld/compile_modeld.py | 31 +++++++++-----------
 openpilot/selfdrive/modeld/modeld.py         |  6 ++--
 2 files changed, 17 insertions(+), 20 deletions(-)

diff --git a/openpilot/selfdrive/modeld/compile_modeld.py b/openpilot/selfdrive/modeld/compile_modeld.py
index 247966aaf6e766..35f92d344f0f64 100755
--- a/openpilot/selfdrive/modeld/compile_modeld.py
+++ b/openpilot/selfdrive/modeld/compile_modeld.py
@@ -34,8 +34,8 @@ def fetch_fw(path, name, sha256):
 
 
 NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
-WARP_INPUTS = ['tfm', 'big_tfm']
-POLICY_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs']
+WARP_INPUTS = ['img_q', 'big_img_q', 'tfm', 'big_tfm']
+POLICY_INPUTS = ['feat_q', 'desire_q', 'packed_npy_inputs']
 
 UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
 UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
@@ -175,17 +175,20 @@ def sample_desire(buf, frame_skip):
 
 def make_warp(nv12, model_w, model_h, frame_skip):
   frame_prepare = make_frame_prepare(nv12, model_w, model_h)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
 
-  def warp(tfm, big_tfm, frame, big_frame):
+  def warp_enqueue(img_q, big_img_q, tfm, big_tfm, frame, big_frame):
     tfm = tfm.to(WARP_DEV)
     big_tfm = big_tfm.to(WARP_DEV)
     Tensor.realize(tfm, big_tfm)
 
     warped_frame = frame_prepare(frame, tfm).unsqueeze(0)
     warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0)
-    return Tensor.cat(warped_frame, warped_big_frame)
-
-  return warp
+    warped = Tensor.cat(warped_frame, warped_big_frame).to(Device.DEFAULT)
+    img = shift_and_sample(img_q, warped[0:1], sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, warped[1:2], sample_skip_fn)
+    return img, big_img
+  return warp_enqueue
 
 
 def make_run_policy(model_runner, model_metadata, frame_skip):
@@ -193,14 +196,8 @@ def make_run_policy(model_runner, model_metadata, frame_skip):
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
   npy_shapes, npy_sizes = get_policy_npy_shapes(model_metadata['input_shapes'])
 
-  def run_policy(warped, img_q, big_img_q, feat_q, desire_q, packed_npy_inputs):
-    packed_npy_inputs = packed_npy_inputs.to(Device.DEFAULT)
-    warped = warped.to(Device.DEFAULT)
-    Tensor.realize(packed_npy_inputs, warped)
-
-    img = shift_and_sample(img_q, warped[0:1], sample_skip_fn)
-    big_img = shift_and_sample(big_img_q, warped[1:2], sample_skip_fn)
-
+  def run_policy(img, big_img, feat_q, desire_q, packed_npy_inputs):
+    packed_npy_inputs = packed_npy_inputs.to(Device.DEFAULT).realize()
     desire, traffic_convention, action_t, prev_feat = (t.reshape(s) for t, s in zip(packed_npy_inputs.split(npy_sizes), npy_shapes.values(), strict=True))
     desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
     feat_buf = shift_and_sample(feat_q, prev_feat.reshape(1, 1, -1), sample_skip_fn)
@@ -298,16 +295,16 @@ def read_file_chunked_to_shm(path):
   run_policy_jit = TinyJit(make_run_policy(model_runner, out['metadata'], args.frame_skip), prune=True)
 
   make_policy_queues = partial(make_input_queues, out['metadata']['input_shapes'], args.frame_skip)
-  make_random_model_inputs = partial(make_random_images, keys=['warped'], shape=(2, 6, *out['metadata']['input_shapes']['img'][2:]))
+  make_random_model_inputs = partial(make_random_images, keys=['img', 'big_img'], shape=out['metadata']['input_shapes']['img'])
   out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS,
                                   make_policy_queues)
 
   for cam_w, cam_h in args.camera_resolutions:
     nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
     make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
-    warp = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
+    warp_enqueue = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
     make_warp_queues = partial(make_warp_input_queues, out['metadata']['input_shapes'], args.frame_skip)
-    out[(cam_w,cam_h)] = compile_jit(warp, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)
+    out[(cam_w,cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)
 
   with open(args.output, "wb") as f:
     pickle.dump(out, f)
diff --git a/openpilot/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py
index 3d5e04873d80de..dca74d0a5b2de7 100755
--- a/openpilot/selfdrive/modeld/modeld.py
+++ b/openpilot/selfdrive/modeld/modeld.py
@@ -94,7 +94,7 @@ def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
     self.parser = Parser()
     self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
     self.run_policy = jits['run_policy']
-    self.warp = jits[(cam_w,cam_h)]
+    self.warp_enqueue = jits[(cam_w,cam_h)]
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
@@ -120,10 +120,10 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
     self.npy['tfm'][:,:] = transforms['img'][:,:]
     self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
 
-    warped = self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
+    img, big_img = self.warp_enqueue(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
 
     outs, = self.run_policy(
-      **{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, warped=warped
+      **{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, img=img, big_img=big_img
     )
     model_output = outs.numpy()[0]
     outputs_dict = self.parser.parse_outputs(self.slice_outputs(model_output, self.output_slices))

From 4fc5e308f37520454da48115f0c90eccdc745e22 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Tue, 30 Jun 2026 00:31:54 -0700
Subject: [PATCH 1258/1434] Reapply "modeld: enqueue in policy" (#38267)

* Reapply "modeld: enqueue in policy" (#38266)

This reverts commit 8a3bbcdd4e800c918d319dde48c49d37fcff583f.

* correct device for policy inputs
---
 openpilot/selfdrive/modeld/compile_modeld.py | 31 +++++++++++---------
 openpilot/selfdrive/modeld/modeld.py         |  6 ++--
 2 files changed, 20 insertions(+), 17 deletions(-)

diff --git a/openpilot/selfdrive/modeld/compile_modeld.py b/openpilot/selfdrive/modeld/compile_modeld.py
index 35f92d344f0f64..20e2eeededacdb 100755
--- a/openpilot/selfdrive/modeld/compile_modeld.py
+++ b/openpilot/selfdrive/modeld/compile_modeld.py
@@ -34,8 +34,8 @@ def fetch_fw(path, name, sha256):
 
 
 NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
-WARP_INPUTS = ['img_q', 'big_img_q', 'tfm', 'big_tfm']
-POLICY_INPUTS = ['feat_q', 'desire_q', 'packed_npy_inputs']
+WARP_INPUTS = ['tfm', 'big_tfm']
+POLICY_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs']
 
 UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
 UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
@@ -175,20 +175,17 @@ def sample_desire(buf, frame_skip):
 
 def make_warp(nv12, model_w, model_h, frame_skip):
   frame_prepare = make_frame_prepare(nv12, model_w, model_h)
-  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
 
-  def warp_enqueue(img_q, big_img_q, tfm, big_tfm, frame, big_frame):
+  def warp(tfm, big_tfm, frame, big_frame):
     tfm = tfm.to(WARP_DEV)
     big_tfm = big_tfm.to(WARP_DEV)
     Tensor.realize(tfm, big_tfm)
 
     warped_frame = frame_prepare(frame, tfm).unsqueeze(0)
     warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0)
-    warped = Tensor.cat(warped_frame, warped_big_frame).to(Device.DEFAULT)
-    img = shift_and_sample(img_q, warped[0:1], sample_skip_fn)
-    big_img = shift_and_sample(big_img_q, warped[1:2], sample_skip_fn)
-    return img, big_img
-  return warp_enqueue
+    return Tensor.cat(warped_frame, warped_big_frame)
+
+  return warp
 
 
 def make_run_policy(model_runner, model_metadata, frame_skip):
@@ -196,8 +193,14 @@ def make_run_policy(model_runner, model_metadata, frame_skip):
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
   npy_shapes, npy_sizes = get_policy_npy_shapes(model_metadata['input_shapes'])
 
-  def run_policy(img, big_img, feat_q, desire_q, packed_npy_inputs):
-    packed_npy_inputs = packed_npy_inputs.to(Device.DEFAULT).realize()
+  def run_policy(warped, img_q, big_img_q, feat_q, desire_q, packed_npy_inputs):
+    packed_npy_inputs = packed_npy_inputs.to(Device.DEFAULT)
+    warped = warped.to(Device.DEFAULT)
+    Tensor.realize(packed_npy_inputs, warped)
+
+    img = shift_and_sample(img_q, warped[0:1], sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, warped[1:2], sample_skip_fn)
+
     desire, traffic_convention, action_t, prev_feat = (t.reshape(s) for t, s in zip(packed_npy_inputs.split(npy_sizes), npy_shapes.values(), strict=True))
     desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
     feat_buf = shift_and_sample(feat_q, prev_feat.reshape(1, 1, -1), sample_skip_fn)
@@ -295,16 +298,16 @@ def read_file_chunked_to_shm(path):
   run_policy_jit = TinyJit(make_run_policy(model_runner, out['metadata'], args.frame_skip), prune=True)
 
   make_policy_queues = partial(make_input_queues, out['metadata']['input_shapes'], args.frame_skip)
-  make_random_model_inputs = partial(make_random_images, keys=['img', 'big_img'], shape=out['metadata']['input_shapes']['img'])
+  make_random_model_inputs = partial(make_random_images, keys=['warped'], shape=(2, 6, *out['metadata']['input_shapes']['img'][2:]), device=WARP_DEV)
   out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS,
                                   make_policy_queues)
 
   for cam_w, cam_h in args.camera_resolutions:
     nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
     make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
-    warp_enqueue = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
+    warp = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
     make_warp_queues = partial(make_warp_input_queues, out['metadata']['input_shapes'], args.frame_skip)
-    out[(cam_w,cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)
+    out[(cam_w,cam_h)] = compile_jit(warp, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)
 
   with open(args.output, "wb") as f:
     pickle.dump(out, f)
diff --git a/openpilot/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py
index dca74d0a5b2de7..3d5e04873d80de 100755
--- a/openpilot/selfdrive/modeld/modeld.py
+++ b/openpilot/selfdrive/modeld/modeld.py
@@ -94,7 +94,7 @@ def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
     self.parser = Parser()
     self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
     self.run_policy = jits['run_policy']
-    self.warp_enqueue = jits[(cam_w,cam_h)]
+    self.warp = jits[(cam_w,cam_h)]
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
@@ -120,10 +120,10 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
     self.npy['tfm'][:,:] = transforms['img'][:,:]
     self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
 
-    img, big_img = self.warp_enqueue(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
+    warped = self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
 
     outs, = self.run_policy(
-      **{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, img=img, big_img=big_img
+      **{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, warped=warped
     )
     model_output = outs.numpy()[0]
     outputs_dict = self.parser.parse_outputs(self.slice_outputs(model_output, self.output_slices))

From 724971afc381b864edd6d3ab4ff57cb2710a4299 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Tue, 30 Jun 2026 00:35:12 -0700
Subject: [PATCH 1259/1434] usbgpu: never materialize model weights in RAM
 (#38265)

* bigger big

* don't load big model in ram

* patch tg to allow out of band buffers

* dump/load oob

* roundtrip pkl to disk

* streaming chunking

* to_disk

* fixup

* linter

* Revert "bigger big"

This reverts commit 7a8147dd7fab88db963d512ab4008de940714025.
---
 openpilot/common/file_chunker.py              | 41 ++++++++++++++-----
 openpilot/selfdrive/modeld/compile_modeld.py  | 40 ++++++++++++++----
 .../selfdrive/modeld/dmonitoringmodeld.py     |  4 +-
 openpilot/selfdrive/modeld/helpers.py         | 29 +++++++++++++
 openpilot/selfdrive/modeld/modeld.py          |  7 ++--
 5 files changed, 95 insertions(+), 26 deletions(-)

diff --git a/openpilot/common/file_chunker.py b/openpilot/common/file_chunker.py
index 57dfc3553107a9..6af17495bb2798 100755
--- a/openpilot/common/file_chunker.py
+++ b/openpilot/common/file_chunker.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import io
 import sys
 import math
 import os
@@ -21,13 +22,12 @@ def get_chunk_targets(path, file_size):
 
 def chunk_file(path, targets):
   manifest_path, *chunk_paths = targets
-  with open(path, 'rb') as f:
-    data = f.read()
-  actual_num_chunks = max(1, math.ceil(len(data) / CHUNK_SIZE))
+  actual_num_chunks = max(1, math.ceil(os.path.getsize(path) / CHUNK_SIZE))
   assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
-  for i, chunk_path in enumerate(chunk_paths):
-    with open(chunk_path, 'wb') as f:
-      f.write(data[i * CHUNK_SIZE:(i + 1) * CHUNK_SIZE])
+  with open(path, 'rb') as f:
+    for chunk_path in chunk_paths:
+      with open(chunk_path, 'wb') as out:
+        out.write(f.read(CHUNK_SIZE))
   Path(manifest_path).write_text(str(len(chunk_paths)))
   os.remove(path)
 
@@ -39,14 +39,33 @@ def get_existing_chunks(path):
     return _chunk_paths(path, num_chunks)
   raise FileNotFoundError(path)
 
-def read_file_chunked(path):
+class ChunkStream(io.RawIOBase):
+  def __init__(self, paths):
+    self._files = (open(p, 'rb') for p in paths)
+    self._cur = next(self._files, None)
+
+  def readable(self):
+    return True
+
+  def readinto(self, b):
+    while self._cur is not None:
+      n = self._cur.readinto(b)
+      if n:
+        return n
+      self._cur.close()
+      self._cur = next(self._files, None)
+    return 0
+
+def open_file_chunked(path):
   manifest_path = get_manifest_path(path)
   if os.path.isfile(manifest_path):
     num_chunks = int(Path(manifest_path).read_text().strip())
-    return b''.join(Path(get_chunk_name(path, i, num_chunks)).read_bytes() for i in range(num_chunks))
-  if os.path.isfile(path):
-    return Path(path).read_bytes()
-  raise FileNotFoundError(path)
+    paths = [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
+  elif os.path.isfile(path):
+    paths = [path]
+  else:
+    raise FileNotFoundError(path)
+  return io.BufferedReader(ChunkStream(paths))
 
 
 if __name__ == "__main__":
diff --git a/openpilot/selfdrive/modeld/compile_modeld.py b/openpilot/selfdrive/modeld/compile_modeld.py
index 20e2eeededacdb..769fb69eb34dc0 100755
--- a/openpilot/selfdrive/modeld/compile_modeld.py
+++ b/openpilot/selfdrive/modeld/compile_modeld.py
@@ -6,11 +6,14 @@
 import pickle
 import tempfile
 import time
+import shutil
 from functools import partial
 from collections import namedtuple
 
 import numpy as np
 
+from openpilot.selfdrive.modeld.helpers import dump_oob, load_oob
+
 def _patch_tinygrad_fetch_fw():
   import hashlib
   import pathlib
@@ -27,6 +30,23 @@ def fetch_fw(path, name, sha256):
   helpers.fetch_fw = fetch_fw
 _patch_tinygrad_fetch_fw()
 
+def _patch_tinygrad_buffer_reduce():
+  from tinygrad.device import Buffer
+  def __reduce_ex__(self, protocol):
+    buf = None
+    if self._base is not None:
+      return self.__class__, (self.device, self.size, self.dtype, None, None, None, 0, self.base, self.offset, self.is_allocated())
+    if self.device == "NPY":
+      return self.__class__, (self.device, self.size, self.dtype, self._buf, self.options, None, self.uop_refcount)
+    if self.is_allocated():
+      buf = bytearray(self.nbytes)
+      self.copyout(memoryview(buf))
+      if protocol >= 5:
+        buf = pickle.PickleBuffer(buf)
+    return self.__class__, (self.device, self.size, self.dtype, None, self.options, buf, self.uop_refcount)
+  Buffer.__reduce_ex__ = __reduce_ex__
+_patch_tinygrad_buffer_reduce()
+
 from tinygrad.tensor import Tensor
 from tinygrad.helpers import Context
 from tinygrad.device import Device
@@ -255,7 +275,10 @@ def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=T
   print('capture + replay')
   test_val, test_buffers = random_inputs_run(jit, SEED)
   print('pickle round trip')
-  jit = pickle.loads(pickle.dumps(jit))
+  with tempfile.TemporaryFile(dir=".") as f:
+    dump_oob(jit, f)
+    f.seek(0)
+    jit = load_oob(f)
   random_inputs_run(jit, SEED, test_val, test_buffers, expect_match=True)
   random_inputs_run(jit, SEED+1, test_val, test_buffers, expect_match=False)
   return jit
@@ -266,12 +289,11 @@ def _parse_size(s):
   return int(w), int(h)
 
 
-def read_file_chunked_to_shm(path):
-  from openpilot.common.file_chunker import read_file_chunked
-  from openpilot.common.hardware.hw import Paths
-  with tempfile.NamedTemporaryFile(prefix='compile_modeld_', dir=Paths.shm_path(), delete=False) as f:
-    f.write(read_file_chunked(path))
-    tmp_path = f.name
+def read_file_chunked_to_disk(path):
+  from openpilot.common.file_chunker import open_file_chunked
+  tmp_path = f'{path}.unchunked'
+  with open(tmp_path, 'wb') as f, open_file_chunked(path) as src:
+    shutil.copyfileobj(src, f)
   atexit.register(lambda: os.path.exists(tmp_path) and os.remove(tmp_path))
   return tmp_path
 
@@ -289,7 +311,7 @@ def read_file_chunked_to_shm(path):
   p.add_argument('--frame-skip', type=int, required=True)
   args = p.parse_args()
 
-  model_path = read_file_chunked_to_shm(args.onnx)
+  model_path = read_file_chunked_to_disk(args.onnx)
   model_w, model_h = args.model_size
 
   model_runner = OnnxRunner(model_path)
@@ -310,5 +332,5 @@ def read_file_chunked_to_shm(path):
     out[(cam_w,cam_h)] = compile_jit(warp, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)
 
   with open(args.output, "wb") as f:
-    pickle.dump(out, f)
+    dump_oob(out, f)
   print(f"Saved JITs to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB)")
diff --git a/openpilot/selfdrive/modeld/dmonitoringmodeld.py b/openpilot/selfdrive/modeld/dmonitoringmodeld.py
index 2c659d9ac64830..554407a22398f5 100755
--- a/openpilot/selfdrive/modeld/dmonitoringmodeld.py
+++ b/openpilot/selfdrive/modeld/dmonitoringmodeld.py
@@ -14,7 +14,7 @@
 from openpilot.common.transformations.model import dmonitoringmodel_intrinsics
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-from openpilot.common.file_chunker import read_file_chunked
+from openpilot.common.file_chunker import open_file_chunked
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp
 
 PROCESS_NAME = "openpilot.selfdrive.modeld.dmonitoringmodeld"
@@ -43,7 +43,7 @@ def __init__(self, cam_w: int, cam_h: int):
     self.frame_buf_params = get_nv12_info(cam_w, cam_h)
     self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
     self._blob_cache : dict[int, Tensor] = {}
-    self.model_run = pickle.loads(read_file_chunked(str(MODEL_PKL_PATH)))
+    self.model_run = pickle.load(open_file_chunked(str(MODEL_PKL_PATH)))
     with open(MODELS_DIR / f'dm_warp_{cam_w}x{cam_h}_tinygrad.pkl', "rb") as f:
       self.image_warp = pickle.load(f)
 
diff --git a/openpilot/selfdrive/modeld/helpers.py b/openpilot/selfdrive/modeld/helpers.py
index 64bf28873f1d89..4a85248d906cd8 100644
--- a/openpilot/selfdrive/modeld/helpers.py
+++ b/openpilot/selfdrive/modeld/helpers.py
@@ -1,4 +1,9 @@
+import io
 import json
+import pickle
+import shutil
+import struct
+import tempfile
 from pathlib import Path
 
 MODELS_DIR = Path(__file__).resolve().parent / 'models'
@@ -15,6 +20,30 @@ def modeld_pkl_path(usbgpu: bool):
   prefix = 'big_' if usbgpu else ''
   return MODELS_DIR / f'{prefix}driving_tinygrad.pkl'
 
+def dump_oob(obj, f):
+  with tempfile.TemporaryFile(dir=".") as tmp:
+    def buffer_callback(pb: pickle.PickleBuffer):
+      m = pb.raw()
+      tmp.write(struct.pack('<q', m.nbytes))
+      tmp.write(m)
+      pb.release() # keep peak ram at ~1 buffer
+    stream = io.BytesIO()
+    pickle.Pickler(stream, protocol=5, buffer_callback=buffer_callback).dump(obj)
+    opcodes = stream.getvalue()
+    f.write(struct.pack('<q', len(opcodes)))
+    f.write(opcodes)
+    tmp.seek(0)
+    shutil.copyfileobj(tmp, f)
+
+def load_oob(f):
+  opcodes = f.read(struct.unpack('<q', f.read(8))[0])
+  def buffers():
+    while (h := f.read(8)):
+      buf = bytearray(struct.unpack('<q', h)[0])
+      f.readinto(buf)
+      yield buf
+  return pickle.load(io.BytesIO(opcodes), buffers=buffers())
+
 def usbgpu_present() -> bool:
   for d in Path("/sys/bus/usb/devices").glob("*"):
     try:
diff --git a/openpilot/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py
index 3d5e04873d80de..115873158f572f 100755
--- a/openpilot/selfdrive/modeld/modeld.py
+++ b/openpilot/selfdrive/modeld/modeld.py
@@ -3,7 +3,6 @@
 os.environ['GMMU'] = '0' # for usbgpu fast loading, noop for qcom
 from tinygrad.tensor import Tensor
 import time
-import pickle
 import numpy as np
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal import log
@@ -23,9 +22,9 @@
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, WARP_INPUTS, POLICY_INPUTS
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_driving_model_data, fill_pose_msg, PublishState
-from openpilot.common.file_chunker import read_file_chunked, get_manifest_path
+from openpilot.common.file_chunker import open_file_chunked, get_manifest_path
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
-from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path, get_tg_input_devices
+from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path, get_tg_input_devices, load_oob
 
 PROCESS_NAME = "openpilot.selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -79,7 +78,7 @@ class ModelState:
   def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
     input_devices = get_tg_input_devices(PROCESS_NAME, usbgpu)
     self.WARP_DEV, self.QUEUE_DEV = input_devices['WARP_DEV'], input_devices['QUEUE_DEV']
-    jits = pickle.loads(read_file_chunked(modeld_pkl_path(usbgpu)))
+    jits = load_oob(open_file_chunked(modeld_pkl_path(usbgpu)))
     metadata = jits['metadata']
     self.input_shapes = metadata['input_shapes']
     self.vision_input_names = [k for k in self.input_shapes if 'img' in k]

From 8196b743afa5d321983bb0728e3e206c3af10e5d Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Tue, 30 Jun 2026 13:13:23 -0700
Subject: [PATCH 1260/1434] Revert "usbgpu: never materialize model weights in
 RAM" (#38271)

Revert "usbgpu: never materialize model weights in RAM (#38265)"

This reverts commit 724971afc381b864edd6d3ab4ff57cb2710a4299.
---
 openpilot/common/file_chunker.py              | 41 +++++--------------
 openpilot/selfdrive/modeld/compile_modeld.py  | 40 ++++--------------
 .../selfdrive/modeld/dmonitoringmodeld.py     |  4 +-
 openpilot/selfdrive/modeld/helpers.py         | 29 -------------
 openpilot/selfdrive/modeld/modeld.py          |  7 ++--
 5 files changed, 26 insertions(+), 95 deletions(-)

diff --git a/openpilot/common/file_chunker.py b/openpilot/common/file_chunker.py
index 6af17495bb2798..57dfc3553107a9 100755
--- a/openpilot/common/file_chunker.py
+++ b/openpilot/common/file_chunker.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import io
 import sys
 import math
 import os
@@ -22,12 +21,13 @@ def get_chunk_targets(path, file_size):
 
 def chunk_file(path, targets):
   manifest_path, *chunk_paths = targets
-  actual_num_chunks = max(1, math.ceil(os.path.getsize(path) / CHUNK_SIZE))
-  assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
   with open(path, 'rb') as f:
-    for chunk_path in chunk_paths:
-      with open(chunk_path, 'wb') as out:
-        out.write(f.read(CHUNK_SIZE))
+    data = f.read()
+  actual_num_chunks = max(1, math.ceil(len(data) / CHUNK_SIZE))
+  assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
+  for i, chunk_path in enumerate(chunk_paths):
+    with open(chunk_path, 'wb') as f:
+      f.write(data[i * CHUNK_SIZE:(i + 1) * CHUNK_SIZE])
   Path(manifest_path).write_text(str(len(chunk_paths)))
   os.remove(path)
 
@@ -39,33 +39,14 @@ def get_existing_chunks(path):
     return _chunk_paths(path, num_chunks)
   raise FileNotFoundError(path)
 
-class ChunkStream(io.RawIOBase):
-  def __init__(self, paths):
-    self._files = (open(p, 'rb') for p in paths)
-    self._cur = next(self._files, None)
-
-  def readable(self):
-    return True
-
-  def readinto(self, b):
-    while self._cur is not None:
-      n = self._cur.readinto(b)
-      if n:
-        return n
-      self._cur.close()
-      self._cur = next(self._files, None)
-    return 0
-
-def open_file_chunked(path):
+def read_file_chunked(path):
   manifest_path = get_manifest_path(path)
   if os.path.isfile(manifest_path):
     num_chunks = int(Path(manifest_path).read_text().strip())
-    paths = [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
-  elif os.path.isfile(path):
-    paths = [path]
-  else:
-    raise FileNotFoundError(path)
-  return io.BufferedReader(ChunkStream(paths))
+    return b''.join(Path(get_chunk_name(path, i, num_chunks)).read_bytes() for i in range(num_chunks))
+  if os.path.isfile(path):
+    return Path(path).read_bytes()
+  raise FileNotFoundError(path)
 
 
 if __name__ == "__main__":
diff --git a/openpilot/selfdrive/modeld/compile_modeld.py b/openpilot/selfdrive/modeld/compile_modeld.py
index 769fb69eb34dc0..20e2eeededacdb 100755
--- a/openpilot/selfdrive/modeld/compile_modeld.py
+++ b/openpilot/selfdrive/modeld/compile_modeld.py
@@ -6,14 +6,11 @@
 import pickle
 import tempfile
 import time
-import shutil
 from functools import partial
 from collections import namedtuple
 
 import numpy as np
 
-from openpilot.selfdrive.modeld.helpers import dump_oob, load_oob
-
 def _patch_tinygrad_fetch_fw():
   import hashlib
   import pathlib
@@ -30,23 +27,6 @@ def fetch_fw(path, name, sha256):
   helpers.fetch_fw = fetch_fw
 _patch_tinygrad_fetch_fw()
 
-def _patch_tinygrad_buffer_reduce():
-  from tinygrad.device import Buffer
-  def __reduce_ex__(self, protocol):
-    buf = None
-    if self._base is not None:
-      return self.__class__, (self.device, self.size, self.dtype, None, None, None, 0, self.base, self.offset, self.is_allocated())
-    if self.device == "NPY":
-      return self.__class__, (self.device, self.size, self.dtype, self._buf, self.options, None, self.uop_refcount)
-    if self.is_allocated():
-      buf = bytearray(self.nbytes)
-      self.copyout(memoryview(buf))
-      if protocol >= 5:
-        buf = pickle.PickleBuffer(buf)
-    return self.__class__, (self.device, self.size, self.dtype, None, self.options, buf, self.uop_refcount)
-  Buffer.__reduce_ex__ = __reduce_ex__
-_patch_tinygrad_buffer_reduce()
-
 from tinygrad.tensor import Tensor
 from tinygrad.helpers import Context
 from tinygrad.device import Device
@@ -275,10 +255,7 @@ def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=T
   print('capture + replay')
   test_val, test_buffers = random_inputs_run(jit, SEED)
   print('pickle round trip')
-  with tempfile.TemporaryFile(dir=".") as f:
-    dump_oob(jit, f)
-    f.seek(0)
-    jit = load_oob(f)
+  jit = pickle.loads(pickle.dumps(jit))
   random_inputs_run(jit, SEED, test_val, test_buffers, expect_match=True)
   random_inputs_run(jit, SEED+1, test_val, test_buffers, expect_match=False)
   return jit
@@ -289,11 +266,12 @@ def _parse_size(s):
   return int(w), int(h)
 
 
-def read_file_chunked_to_disk(path):
-  from openpilot.common.file_chunker import open_file_chunked
-  tmp_path = f'{path}.unchunked'
-  with open(tmp_path, 'wb') as f, open_file_chunked(path) as src:
-    shutil.copyfileobj(src, f)
+def read_file_chunked_to_shm(path):
+  from openpilot.common.file_chunker import read_file_chunked
+  from openpilot.common.hardware.hw import Paths
+  with tempfile.NamedTemporaryFile(prefix='compile_modeld_', dir=Paths.shm_path(), delete=False) as f:
+    f.write(read_file_chunked(path))
+    tmp_path = f.name
   atexit.register(lambda: os.path.exists(tmp_path) and os.remove(tmp_path))
   return tmp_path
 
@@ -311,7 +289,7 @@ def read_file_chunked_to_disk(path):
   p.add_argument('--frame-skip', type=int, required=True)
   args = p.parse_args()
 
-  model_path = read_file_chunked_to_disk(args.onnx)
+  model_path = read_file_chunked_to_shm(args.onnx)
   model_w, model_h = args.model_size
 
   model_runner = OnnxRunner(model_path)
@@ -332,5 +310,5 @@ def read_file_chunked_to_disk(path):
     out[(cam_w,cam_h)] = compile_jit(warp, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)
 
   with open(args.output, "wb") as f:
-    dump_oob(out, f)
+    pickle.dump(out, f)
   print(f"Saved JITs to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB)")
diff --git a/openpilot/selfdrive/modeld/dmonitoringmodeld.py b/openpilot/selfdrive/modeld/dmonitoringmodeld.py
index 554407a22398f5..2c659d9ac64830 100755
--- a/openpilot/selfdrive/modeld/dmonitoringmodeld.py
+++ b/openpilot/selfdrive/modeld/dmonitoringmodeld.py
@@ -14,7 +14,7 @@
 from openpilot.common.transformations.model import dmonitoringmodel_intrinsics
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-from openpilot.common.file_chunker import open_file_chunked
+from openpilot.common.file_chunker import read_file_chunked
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp
 
 PROCESS_NAME = "openpilot.selfdrive.modeld.dmonitoringmodeld"
@@ -43,7 +43,7 @@ def __init__(self, cam_w: int, cam_h: int):
     self.frame_buf_params = get_nv12_info(cam_w, cam_h)
     self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
     self._blob_cache : dict[int, Tensor] = {}
-    self.model_run = pickle.load(open_file_chunked(str(MODEL_PKL_PATH)))
+    self.model_run = pickle.loads(read_file_chunked(str(MODEL_PKL_PATH)))
     with open(MODELS_DIR / f'dm_warp_{cam_w}x{cam_h}_tinygrad.pkl', "rb") as f:
       self.image_warp = pickle.load(f)
 
diff --git a/openpilot/selfdrive/modeld/helpers.py b/openpilot/selfdrive/modeld/helpers.py
index 4a85248d906cd8..64bf28873f1d89 100644
--- a/openpilot/selfdrive/modeld/helpers.py
+++ b/openpilot/selfdrive/modeld/helpers.py
@@ -1,9 +1,4 @@
-import io
 import json
-import pickle
-import shutil
-import struct
-import tempfile
 from pathlib import Path
 
 MODELS_DIR = Path(__file__).resolve().parent / 'models'
@@ -20,30 +15,6 @@ def modeld_pkl_path(usbgpu: bool):
   prefix = 'big_' if usbgpu else ''
   return MODELS_DIR / f'{prefix}driving_tinygrad.pkl'
 
-def dump_oob(obj, f):
-  with tempfile.TemporaryFile(dir=".") as tmp:
-    def buffer_callback(pb: pickle.PickleBuffer):
-      m = pb.raw()
-      tmp.write(struct.pack('<q', m.nbytes))
-      tmp.write(m)
-      pb.release() # keep peak ram at ~1 buffer
-    stream = io.BytesIO()
-    pickle.Pickler(stream, protocol=5, buffer_callback=buffer_callback).dump(obj)
-    opcodes = stream.getvalue()
-    f.write(struct.pack('<q', len(opcodes)))
-    f.write(opcodes)
-    tmp.seek(0)
-    shutil.copyfileobj(tmp, f)
-
-def load_oob(f):
-  opcodes = f.read(struct.unpack('<q', f.read(8))[0])
-  def buffers():
-    while (h := f.read(8)):
-      buf = bytearray(struct.unpack('<q', h)[0])
-      f.readinto(buf)
-      yield buf
-  return pickle.load(io.BytesIO(opcodes), buffers=buffers())
-
 def usbgpu_present() -> bool:
   for d in Path("/sys/bus/usb/devices").glob("*"):
     try:
diff --git a/openpilot/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py
index 115873158f572f..3d5e04873d80de 100755
--- a/openpilot/selfdrive/modeld/modeld.py
+++ b/openpilot/selfdrive/modeld/modeld.py
@@ -3,6 +3,7 @@
 os.environ['GMMU'] = '0' # for usbgpu fast loading, noop for qcom
 from tinygrad.tensor import Tensor
 import time
+import pickle
 import numpy as np
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal import log
@@ -22,9 +23,9 @@
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, WARP_INPUTS, POLICY_INPUTS
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_driving_model_data, fill_pose_msg, PublishState
-from openpilot.common.file_chunker import open_file_chunked, get_manifest_path
+from openpilot.common.file_chunker import read_file_chunked, get_manifest_path
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
-from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path, get_tg_input_devices, load_oob
+from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path, get_tg_input_devices
 
 PROCESS_NAME = "openpilot.selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -78,7 +79,7 @@ class ModelState:
   def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
     input_devices = get_tg_input_devices(PROCESS_NAME, usbgpu)
     self.WARP_DEV, self.QUEUE_DEV = input_devices['WARP_DEV'], input_devices['QUEUE_DEV']
-    jits = load_oob(open_file_chunked(modeld_pkl_path(usbgpu)))
+    jits = pickle.loads(read_file_chunked(modeld_pkl_path(usbgpu)))
     metadata = jits['metadata']
     self.input_shapes = metadata['input_shapes']
     self.vision_input_names = [k for k in self.input_shapes if 'img' in k]

From e1e9efb965775a1b14c8d78929ac83915b58a1a7 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Tue, 30 Jun 2026 16:17:26 -0700
Subject: [PATCH 1261/1434] add USB logging (#38186)

* usb logging

* fix test

* discover by PID

* hardwared, add counters

* edit msg

* add manufacturer

* reorder

* rm portli

* rm this
---
 openpilot/cereal/log.capnp             | 18 ++++++++
 openpilot/common/hardware/usb.py       | 63 ++++++++++++++++++++++++++
 openpilot/system/hardware/hardwared.py |  7 ++-
 3 files changed, 87 insertions(+), 1 deletion(-)
 create mode 100644 openpilot/common/hardware/usb.py

diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp
index 8d4d801161e3e9..2b43a95d7bee12 100644
--- a/openpilot/cereal/log.capnp
+++ b/openpilot/cereal/log.capnp
@@ -414,6 +414,10 @@ struct CanData {
 struct DeviceState @0xa4d8b5af2aa492eb {
   deviceType @45 :InitData.DeviceType;
 
+  # usb
+  chestnutPresent @51 :Bool;
+  usbState @52 :UsbState;
+
   networkType @22 :NetworkType;
   networkInfo @31 :NetworkInfo;
   networkStrength @24 :NetworkStrength;
@@ -684,6 +688,20 @@ struct PeripheralState {
   }
 }
 
+struct UsbState {
+  devices @0 :List(Device);
+
+  struct Device {
+    busnum @0 :UInt8;
+    devnum @1 :UInt8;
+    vendorId @2 :UInt16;
+    productId @3 :UInt16;
+    speedMbps @4 :UInt16;
+    manufacturer @6 :Text;
+    product @5 :Text;
+  }
+}
+
 struct RadarState @0x9a185389d6fdd05f {
   mdMonoTime @6 :UInt64;
   carStateMonoTime @11 :UInt64;
diff --git a/openpilot/common/hardware/usb.py b/openpilot/common/hardware/usb.py
new file mode 100644
index 00000000000000..805f32407f0ea7
--- /dev/null
+++ b/openpilot/common/hardware/usb.py
@@ -0,0 +1,63 @@
+from pathlib import Path
+
+CHESTNUT_VENDOR_ID = 0xADD1
+CHESTNUT_PRODUCT_ID = 0x0001
+USB_DEVICES_PATH = Path("/sys/bus/usb/devices")
+
+
+def read(path: Path) -> str | None:
+  try:
+    return path.read_text().strip()
+  except OSError:
+    return None
+
+
+def read_int(path: Path, base: int = 10) -> int:
+  try:
+    return int(path.read_text(), base)
+  except (OSError, ValueError):
+    return 0
+
+
+def usb_devices() -> list[Path]:
+  try:
+    devices = (d for d in USB_DEVICES_PATH.glob("*") if (d / "idVendor").exists())
+    return sorted(devices, key=lambda p: p.name)
+  except OSError:
+    return []
+
+
+def get_usb_state() -> list[dict]:
+  devices = []
+  for device in usb_devices():
+    vendor_id = read_int(device / "idVendor", 16)
+    product_id = read_int(device / "idProduct", 16)
+    devices.append({
+      "busnum": read_int(device / "busnum"),
+      "devnum": read_int(device / "devnum"),
+      "vendorId": vendor_id,
+      "productId": product_id,
+      "speedMbps": read_int(device / "speed"),
+      "manufacturer": read(device / "manufacturer") or "",
+      "product": read(device / "product") or "",
+    })
+  return devices
+
+
+def set_usb_state(device_state, devices: list[dict]) -> None:
+  entries = device_state.usbState.init('devices', len(devices))
+
+  chestnut_present = False
+  for entry, device in zip(entries, devices, strict=True):
+    entry.busnum = device["busnum"]
+    entry.devnum = device["devnum"]
+    entry.vendorId = device["vendorId"]
+    entry.productId = device["productId"]
+    entry.speedMbps = device["speedMbps"]
+    entry.manufacturer = device["manufacturer"]
+    entry.product = device["product"]
+
+    if (entry.vendorId, entry.productId) == (CHESTNUT_VENDOR_ID, CHESTNUT_PRODUCT_ID):
+      chestnut_present = True
+
+  device_state.chestnutPresent = chestnut_present
diff --git a/openpilot/system/hardware/hardwared.py b/openpilot/system/hardware/hardwared.py
index c56c37082f6c8f..077965e8acaa56 100755
--- a/openpilot/system/hardware/hardwared.py
+++ b/openpilot/system/hardware/hardwared.py
@@ -18,6 +18,7 @@
 from openpilot.common.realtime import DT_HW
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.common.hardware import HARDWARE, TICI, PC
+from openpilot.common.hardware.usb import get_usb_state, set_usb_state
 from openpilot.system.loggerd.config import get_available_percent
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.power_monitoring import PowerMonitoring
@@ -36,7 +37,7 @@
 
 ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
 HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats',
-                                             'network_metered', 'modem_temps'])
+                                             'network_metered', 'modem_temps', 'usb_state'])
 
 # List of thermal bands. We will stay within this region as long as we are within the bounds.
 # When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict.
@@ -124,6 +125,7 @@ def hw_state_thread(end_event, hw_queue):
           network_stats={'wwanTx': tx, 'wwanRx': rx},
           network_metered=HARDWARE.get_network_metered(network_type),
           modem_temps=modem_temps,
+          usb_state=get_usb_state(),
         )
 
         try:
@@ -166,6 +168,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     network_strength=NetworkStrength.unknown,
     network_stats={'wwanTx': -1, 'wwanRx': -1},
     modem_temps=[],
+    usb_state=[],
   )
 
   all_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_HW, initialized=False)
@@ -246,6 +249,8 @@ def hardware_thread(end_event, hw_queue) -> None:
 
     msg.deviceState.screenBrightnessPercent = HARDWARE.get_screen_brightness()
 
+    set_usb_state(msg.deviceState, last_hw_state.usb_state)
+
     # this subset is only used for offroad
     temp_sources = [
       msg.deviceState.memoryTempC,

From a2c554805b9f751e8ef0efb9340a5546aeb17d2b Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Wed, 1 Jul 2026 01:22:48 -0700
Subject: [PATCH 1262/1434] Reapply "usbgpu: never materialize model weights in
 RAM" (#38273)

* Reapply "usbgpu: never materialize model weights in RAM" (#38271)

This reverts commit 8196b743afa5d321983bb0728e3e206c3af10e5d.

* release oob buffers as we load them

* don't leak fds

* lint

* 10s faster loading time for big model
---
 openpilot/common/file_chunker.py              | 48 ++++++++++++++-----
 openpilot/selfdrive/modeld/compile_modeld.py  | 40 ++++++++++++----
 .../selfdrive/modeld/dmonitoringmodeld.py     |  4 +-
 openpilot/selfdrive/modeld/helpers.py         | 33 +++++++++++++
 openpilot/selfdrive/modeld/modeld.py          |  7 ++-
 5 files changed, 106 insertions(+), 26 deletions(-)

diff --git a/openpilot/common/file_chunker.py b/openpilot/common/file_chunker.py
index 57dfc3553107a9..74f3013f717b14 100755
--- a/openpilot/common/file_chunker.py
+++ b/openpilot/common/file_chunker.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import io
 import sys
 import math
 import os
@@ -21,13 +22,12 @@ def get_chunk_targets(path, file_size):
 
 def chunk_file(path, targets):
   manifest_path, *chunk_paths = targets
-  with open(path, 'rb') as f:
-    data = f.read()
-  actual_num_chunks = max(1, math.ceil(len(data) / CHUNK_SIZE))
+  actual_num_chunks = max(1, math.ceil(os.path.getsize(path) / CHUNK_SIZE))
   assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
-  for i, chunk_path in enumerate(chunk_paths):
-    with open(chunk_path, 'wb') as f:
-      f.write(data[i * CHUNK_SIZE:(i + 1) * CHUNK_SIZE])
+  with open(path, 'rb') as f:
+    for chunk_path in chunk_paths:
+      with open(chunk_path, 'wb') as out:
+        out.write(f.read(CHUNK_SIZE))
   Path(manifest_path).write_text(str(len(chunk_paths)))
   os.remove(path)
 
@@ -39,14 +39,40 @@ def get_existing_chunks(path):
     return _chunk_paths(path, num_chunks)
   raise FileNotFoundError(path)
 
-def read_file_chunked(path):
+class ChunkStream(io.RawIOBase):
+  def __init__(self, paths):
+    self._paths = iter(paths)
+    self._buf = memoryview(b'')
+
+  def readable(self):
+    return True
+
+  def readinto(self, b):
+    n = 0
+    while n < len(b):
+      if not self._buf:
+        p = next(self._paths, None)
+        if p is None:
+          break
+        with open(p, 'rb') as f:
+          self._buf = memoryview(f.read())
+        continue
+      take = min(len(b) - n, len(self._buf))
+      b[n:n + take] = self._buf[:take]
+      self._buf = self._buf[take:]
+      n += take
+    return n
+
+def open_file_chunked(path):
   manifest_path = get_manifest_path(path)
   if os.path.isfile(manifest_path):
     num_chunks = int(Path(manifest_path).read_text().strip())
-    return b''.join(Path(get_chunk_name(path, i, num_chunks)).read_bytes() for i in range(num_chunks))
-  if os.path.isfile(path):
-    return Path(path).read_bytes()
-  raise FileNotFoundError(path)
+    paths = [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
+  elif os.path.isfile(path):
+    paths = [path]
+  else:
+    raise FileNotFoundError(path)
+  return io.BufferedReader(ChunkStream(paths))
 
 
 if __name__ == "__main__":
diff --git a/openpilot/selfdrive/modeld/compile_modeld.py b/openpilot/selfdrive/modeld/compile_modeld.py
index 20e2eeededacdb..769fb69eb34dc0 100755
--- a/openpilot/selfdrive/modeld/compile_modeld.py
+++ b/openpilot/selfdrive/modeld/compile_modeld.py
@@ -6,11 +6,14 @@
 import pickle
 import tempfile
 import time
+import shutil
 from functools import partial
 from collections import namedtuple
 
 import numpy as np
 
+from openpilot.selfdrive.modeld.helpers import dump_oob, load_oob
+
 def _patch_tinygrad_fetch_fw():
   import hashlib
   import pathlib
@@ -27,6 +30,23 @@ def fetch_fw(path, name, sha256):
   helpers.fetch_fw = fetch_fw
 _patch_tinygrad_fetch_fw()
 
+def _patch_tinygrad_buffer_reduce():
+  from tinygrad.device import Buffer
+  def __reduce_ex__(self, protocol):
+    buf = None
+    if self._base is not None:
+      return self.__class__, (self.device, self.size, self.dtype, None, None, None, 0, self.base, self.offset, self.is_allocated())
+    if self.device == "NPY":
+      return self.__class__, (self.device, self.size, self.dtype, self._buf, self.options, None, self.uop_refcount)
+    if self.is_allocated():
+      buf = bytearray(self.nbytes)
+      self.copyout(memoryview(buf))
+      if protocol >= 5:
+        buf = pickle.PickleBuffer(buf)
+    return self.__class__, (self.device, self.size, self.dtype, None, self.options, buf, self.uop_refcount)
+  Buffer.__reduce_ex__ = __reduce_ex__
+_patch_tinygrad_buffer_reduce()
+
 from tinygrad.tensor import Tensor
 from tinygrad.helpers import Context
 from tinygrad.device import Device
@@ -255,7 +275,10 @@ def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=T
   print('capture + replay')
   test_val, test_buffers = random_inputs_run(jit, SEED)
   print('pickle round trip')
-  jit = pickle.loads(pickle.dumps(jit))
+  with tempfile.TemporaryFile(dir=".") as f:
+    dump_oob(jit, f)
+    f.seek(0)
+    jit = load_oob(f)
   random_inputs_run(jit, SEED, test_val, test_buffers, expect_match=True)
   random_inputs_run(jit, SEED+1, test_val, test_buffers, expect_match=False)
   return jit
@@ -266,12 +289,11 @@ def _parse_size(s):
   return int(w), int(h)
 
 
-def read_file_chunked_to_shm(path):
-  from openpilot.common.file_chunker import read_file_chunked
-  from openpilot.common.hardware.hw import Paths
-  with tempfile.NamedTemporaryFile(prefix='compile_modeld_', dir=Paths.shm_path(), delete=False) as f:
-    f.write(read_file_chunked(path))
-    tmp_path = f.name
+def read_file_chunked_to_disk(path):
+  from openpilot.common.file_chunker import open_file_chunked
+  tmp_path = f'{path}.unchunked'
+  with open(tmp_path, 'wb') as f, open_file_chunked(path) as src:
+    shutil.copyfileobj(src, f)
   atexit.register(lambda: os.path.exists(tmp_path) and os.remove(tmp_path))
   return tmp_path
 
@@ -289,7 +311,7 @@ def read_file_chunked_to_shm(path):
   p.add_argument('--frame-skip', type=int, required=True)
   args = p.parse_args()
 
-  model_path = read_file_chunked_to_shm(args.onnx)
+  model_path = read_file_chunked_to_disk(args.onnx)
   model_w, model_h = args.model_size
 
   model_runner = OnnxRunner(model_path)
@@ -310,5 +332,5 @@ def read_file_chunked_to_shm(path):
     out[(cam_w,cam_h)] = compile_jit(warp, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)
 
   with open(args.output, "wb") as f:
-    pickle.dump(out, f)
+    dump_oob(out, f)
   print(f"Saved JITs to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB)")
diff --git a/openpilot/selfdrive/modeld/dmonitoringmodeld.py b/openpilot/selfdrive/modeld/dmonitoringmodeld.py
index 2c659d9ac64830..554407a22398f5 100755
--- a/openpilot/selfdrive/modeld/dmonitoringmodeld.py
+++ b/openpilot/selfdrive/modeld/dmonitoringmodeld.py
@@ -14,7 +14,7 @@
 from openpilot.common.transformations.model import dmonitoringmodel_intrinsics
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-from openpilot.common.file_chunker import read_file_chunked
+from openpilot.common.file_chunker import open_file_chunked
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp
 
 PROCESS_NAME = "openpilot.selfdrive.modeld.dmonitoringmodeld"
@@ -43,7 +43,7 @@ def __init__(self, cam_w: int, cam_h: int):
     self.frame_buf_params = get_nv12_info(cam_w, cam_h)
     self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
     self._blob_cache : dict[int, Tensor] = {}
-    self.model_run = pickle.loads(read_file_chunked(str(MODEL_PKL_PATH)))
+    self.model_run = pickle.load(open_file_chunked(str(MODEL_PKL_PATH)))
     with open(MODELS_DIR / f'dm_warp_{cam_w}x{cam_h}_tinygrad.pkl', "rb") as f:
       self.image_warp = pickle.load(f)
 
diff --git a/openpilot/selfdrive/modeld/helpers.py b/openpilot/selfdrive/modeld/helpers.py
index 64bf28873f1d89..608bc6aa64daf3 100644
--- a/openpilot/selfdrive/modeld/helpers.py
+++ b/openpilot/selfdrive/modeld/helpers.py
@@ -1,4 +1,9 @@
+import io
 import json
+import pickle
+import shutil
+import struct
+import tempfile
 from pathlib import Path
 
 MODELS_DIR = Path(__file__).resolve().parent / 'models'
@@ -15,6 +20,34 @@ def modeld_pkl_path(usbgpu: bool):
   prefix = 'big_' if usbgpu else ''
   return MODELS_DIR / f'{prefix}driving_tinygrad.pkl'
 
+def dump_oob(obj, f):
+  with tempfile.TemporaryFile(dir=".") as tmp:
+    def buffer_callback(pb: pickle.PickleBuffer):
+      m = pb.raw()
+      tmp.write(struct.pack('<q', m.nbytes))
+      tmp.write(m)
+      pb.release() # keep peak ram at ~1 buffer
+    stream = io.BytesIO()
+    pickle.Pickler(stream, protocol=5, buffer_callback=buffer_callback).dump(obj)
+    opcodes = stream.getvalue()
+    f.write(struct.pack('<q', len(opcodes)))
+    f.write(opcodes)
+    tmp.seek(0)
+    shutil.copyfileobj(tmp, f)
+
+def load_oob(f):
+  opcodes = f.read(struct.unpack('<q', f.read(8))[0])
+  def buffers():
+    prev = None
+    while (h := f.read(8)):
+      if prev is not None:
+        prev.release()
+      buf = bytearray(struct.unpack('<q', h)[0])
+      f.readinto(buf)
+      prev = pickle.PickleBuffer(buf)
+      yield prev
+  return pickle.load(io.BytesIO(opcodes), buffers=buffers())
+
 def usbgpu_present() -> bool:
   for d in Path("/sys/bus/usb/devices").glob("*"):
     try:
diff --git a/openpilot/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py
index 3d5e04873d80de..115873158f572f 100755
--- a/openpilot/selfdrive/modeld/modeld.py
+++ b/openpilot/selfdrive/modeld/modeld.py
@@ -3,7 +3,6 @@
 os.environ['GMMU'] = '0' # for usbgpu fast loading, noop for qcom
 from tinygrad.tensor import Tensor
 import time
-import pickle
 import numpy as np
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal import log
@@ -23,9 +22,9 @@
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, WARP_INPUTS, POLICY_INPUTS
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_driving_model_data, fill_pose_msg, PublishState
-from openpilot.common.file_chunker import read_file_chunked, get_manifest_path
+from openpilot.common.file_chunker import open_file_chunked, get_manifest_path
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
-from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path, get_tg_input_devices
+from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path, get_tg_input_devices, load_oob
 
 PROCESS_NAME = "openpilot.selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -79,7 +78,7 @@ class ModelState:
   def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
     input_devices = get_tg_input_devices(PROCESS_NAME, usbgpu)
     self.WARP_DEV, self.QUEUE_DEV = input_devices['WARP_DEV'], input_devices['QUEUE_DEV']
-    jits = pickle.loads(read_file_chunked(modeld_pkl_path(usbgpu)))
+    jits = load_oob(open_file_chunked(modeld_pkl_path(usbgpu)))
     metadata = jits['metadata']
     self.input_shapes = metadata['input_shapes']
     self.vision_input_names = [k for k in self.input_shapes if 'img' in k]

From fa0c6876d3cf070e91e25e5353ceadc68a5b3285 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Wed, 1 Jul 2026 01:26:11 -0700
Subject: [PATCH 1263/1434] lebowski model (#38268)

* Reapply "usbgpu: never materialize model weights in RAM" (#38271)

This reverts commit 8196b743afa5d321983bb0728e3e206c3af10e5d.

* release oob buffers as we load them

* don't leak fds

* lint

* bigger big

* don't roundtrip the features to qcom

* Revert "don't roundtrip the features to qcom"

This reverts commit 0d2ca73d7a71bd32c46beda425957339f1dbbcf8.

* tmp bump allowed lag

* faster

* Revert "tmp bump allowed lag"

This reverts commit b407702a0242074eb12abdff14e61789fc05109a.
---
 openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx b/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
index de843259125135..4a04bd78330f3e 100644
--- a/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+++ b/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:471f372751d5931e939320c211e35b7255f8fa8015125b3b3fd48ef43020257e
-size 195490097
+oid sha256:a501760a9d1d5fef0eab2b8c5d122d06124fc26dc8e0782e0aa94b82a208f0ff
+size 1757355221

From 8e0ba7a91e5a63585ba06c314a339a1854416c55 Mon Sep 17 00:00:00 2001
From: Jimmy <9859727+Quantizr@users.noreply.github.com>
Date: Wed, 1 Jul 2026 17:17:25 -0700
Subject: [PATCH 1264/1434] modeld: use correct intrinsics for extra transform
 when wide camera disabled (#38239)

use correct intrinsics for extra transform when wide camera disabled
---
 openpilot/selfdrive/modeld/modeld.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/openpilot/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py
index 115873158f572f..7c70cdb14d26f4 100755
--- a/openpilot/selfdrive/modeld/modeld.py
+++ b/openpilot/selfdrive/modeld/modeld.py
@@ -249,7 +249,8 @@ def main(demo=False):
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
       model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
-      model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
+      has_wide_camera = use_extra_client or main_wide_camera
+      model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if has_wide_camera else dc.fcam.intrinsics, True).astype(np.float32)
       live_calib_seen = True
 
     traffic_convention = np.zeros(2)

From 4c5bef5840cca038b17f51d0a26e91825f7c24ed Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Wed, 1 Jul 2026 18:50:52 -0700
Subject: [PATCH 1265/1434] rm modeld/models README

---
 openpilot/selfdrive/modeld/models/README.md | 64 ---------------------
 1 file changed, 64 deletions(-)

diff --git a/openpilot/selfdrive/modeld/models/README.md b/openpilot/selfdrive/modeld/models/README.md
index ce84b1e28f2baa..0055a0f1e325f0 100644
--- a/openpilot/selfdrive/modeld/models/README.md
+++ b/openpilot/selfdrive/modeld/models/README.md
@@ -1,66 +1,2 @@
 ## Neural networks in openpilot
 To view the architecture of the ONNX networks, you can use [netron](https://netron.app/)
-
-## Driving Model (vision model + temporal policy model)
-### Vision inputs (Full size: 799906 x float32)
-* **image stream**
-  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
-    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
-      * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
-      * Channel 4 represents the half-res U channel
-      * Channel 5 represents the half-res V channel
-* **wide image stream**
-  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
-    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
-      * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
-      * Channel 4 represents the half-res U channel
-      * Channel 5 represents the half-res V channel
-### Policy inputs
-* **desire**
-  * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8
-* **traffic convention**
-  * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
-* **lateral control params**
-  * speed and steering delay for predicting the desired curvature: 2
-* **previous desired curvatures**
-  * vector of previously predicted desired curvatures: 100 * 1
-* **feature buffer**
-  * a buffer of intermediate features including the current feature to form a 5 seconds temporal context (at 20FPS) : 100 * 512
-
-
-### Driving Model output format (Full size: XXX x float32)
-Refer to **slice_outputs** and **parse_vision_outputs/parse_policy_outputs** in modeld.
-
-
-## Driver Monitoring Model
-* .onnx model can be run with onnx runtimes
-* .dlc file is a pre-quantized model and only runs on qualcomm DSPs
-
-### input format
-* single image W = 1440 H = 960 luminance channel (Y) from the planar YUV420 format:
-  * full input size is 1440 * 960 = 1382400
-  * normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner)
-* camera calibration angles (roll, pitch, yaw) from liveCalibration: 3 x float32 inputs
-
-### output format
-* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/openpilot/selfdrive/modeld/models/dmonitoring.cc#L33))
-  * for each person in the front seats (2 * 41)
-    * face pose: 12 = 6 + 6
-      * face orientation [pitch, yaw, roll] in camera frame: 3
-      * face position [dx, dy] relative to image center: 2
-      * normalized face size: 1
-      * standard deviations for above outputs: 6
-    * face visible probability: 1
-    * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1
-      * eye position and size, and their standard deviations: 8
-      * eye visible probability: 1
-      * eye closed probability: 1
-    * wearing sunglasses probability: 1
-    * face occluded probability: 1
-    * touching wheel probability: 1
-    * paying attention probability: 1
-    * (deprecated) distracted probabilities: 2
-    * using phone probability: 1
-    * distracted probability: 1
-  * common outputs 1
-    * left hand drive probability: 1

From 4532320fb3b76417df39c6b78a84f250da9a31ba Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Wed, 1 Jul 2026 18:52:11 -0700
Subject: [PATCH 1266/1434] desire: enter preLaneChange if blinker before
 engaged (#38276)

---
 openpilot/selfdrive/controls/lib/desire_helper.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/openpilot/selfdrive/controls/lib/desire_helper.py b/openpilot/selfdrive/controls/lib/desire_helper.py
index cbf4d95d38c070..3705823b7063d4 100644
--- a/openpilot/selfdrive/controls/lib/desire_helper.py
+++ b/openpilot/selfdrive/controls/lib/desire_helper.py
@@ -68,7 +68,7 @@ def update(self, carstate, lateral_active, lane_change_prob):
             self.lane_change_state = LaneChangeState.off
             self.lane_change_direction = LaneChangeDirection.none
 
-    self.prev_one_blinker = one_blinker
+    self.prev_one_blinker = one_blinker and lateral_active
 
     self.desire = log.Desire.none
     if self.lane_change_state == LaneChangeState.laneChangeStarting:

From 9d03e737dde14f9985862a915ce9b3371f03a142 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 2 Jul 2026 14:41:36 -0700
Subject: [PATCH 1267/1434] test_onroad: fix service timing threshold

---
 openpilot/selfdrive/test/test_onroad.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/openpilot/selfdrive/test/test_onroad.py b/openpilot/selfdrive/test/test_onroad.py
index b2192b0d5abeab..b15d8904526327 100644
--- a/openpilot/selfdrive/test/test_onroad.py
+++ b/openpilot/selfdrive/test/test_onroad.py
@@ -175,8 +175,9 @@ def test_service_frequencies(self, subtests):
       if s in ('ubloxGnss', 'ubloxRaw', 'gnssMeasurements', 'gpsLocation', 'gpsLocationExternal', 'qcomGnss'):
         continue
 
+      duration = TEST_DURATION - 5.0  # subtract some selfdrived initializing time
       with subtests.test(service=s):
-        assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*int(TEST_DURATION*0.8))
+        assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*int(duration*0.8))
 
   def test_manager_starting_time(self):
     st = self.ts['managerState']['t'][0]

From 07ec389f4ca1caf720e3af56fdc563465b86e978 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 2 Jul 2026 18:48:53 -0700
Subject: [PATCH 1268/1434] bump ty (#38277)

* bump ty

* cleanup
---
 .../cereal/messaging/tests/test_services.py   |  6 +--
 openpilot/common/hardware/tici/agnos.py       |  2 +-
 openpilot/common/hardware/tici/hardware.py    |  4 +-
 openpilot/common/utils.py                     |  4 +-
 .../selfdrive/ui/layouts/settings/software.py |  8 ++--
 .../ui/mici/layouts/settings/software.py      |  8 ++--
 .../hardware/tests/test_fan_controller.py     | 24 +++++------
 .../system/sensord/tests/test_sensord.py      |  3 +-
 openpilot/system/ui/mici_reset.py             | 10 ++---
 openpilot/system/ui/tici_reset.py             | 12 +++---
 .../tools/camerastream/compressed_vipc.py     |  1 +
 uv.lock                                       | 42 +++++++++----------
 12 files changed, 61 insertions(+), 63 deletions(-)

diff --git a/openpilot/cereal/messaging/tests/test_services.py b/openpilot/cereal/messaging/tests/test_services.py
index debe8913755b9e..9ae7c3d8408e53 100644
--- a/openpilot/cereal/messaging/tests/test_services.py
+++ b/openpilot/cereal/messaging/tests/test_services.py
@@ -1,6 +1,6 @@
-import os
+import subprocess
 import tempfile
-from typing import Dict
+
 from openpilot.common.parameterized import parameterized
 
 import openpilot.cereal.services as services
@@ -17,5 +17,5 @@ def test_services(self, s):
 
   def test_generated_header(self):
     with tempfile.NamedTemporaryFile(suffix=".h") as f:
-      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11")
+      ret = subprocess.run(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11", shell=True).returncode
       assert ret == 0, "generated services header is not valid C"
diff --git a/openpilot/common/hardware/tici/agnos.py b/openpilot/common/hardware/tici/agnos.py
index 0210821a0d7a85..e1f62c841c176a 100755
--- a/openpilot/common/hardware/tici/agnos.py
+++ b/openpilot/common/hardware/tici/agnos.py
@@ -228,7 +228,7 @@ def flash_agnos_update(manifest_path: str, target_slot_number: int, cloudlog, st
   cloudlog.info(f"Target slot {target_slot_number}")
 
   # set target slot as unbootable
-  os.system(f"abctl --set_unbootable {target_slot_number}")
+  subprocess.run(f"abctl --set_unbootable {target_slot_number}", shell=True)
 
   for partition in update:
     success = False
diff --git a/openpilot/common/hardware/tici/hardware.py b/openpilot/common/hardware/tici/hardware.py
index 1a2cb51d055336..773cbd4bedfd90 100644
--- a/openpilot/common/hardware/tici/hardware.py
+++ b/openpilot/common/hardware/tici/hardware.py
@@ -241,7 +241,7 @@ def get_som_power_draw(self):
     return (self.read_param_file("/sys/class/power_supply/bms/voltage_now", int) * self.read_param_file("/sys/class/power_supply/bms/current_now", int) / 1e12)
 
   def shutdown(self):
-    os.system("sudo poweroff")
+    subprocess.run("sudo poweroff", shell=True)
 
   def get_thermal_config(self):
     intake, exhaust, gnss, bottomSoc = None, None, None, None
@@ -335,7 +335,7 @@ def initialize_hardware(self):
       self.amplifier.initialize_configuration()
 
     # Allow hardwared to write engagement status to kmsg
-    os.system("sudo chmod a+w /dev/kmsg")
+    subprocess.run("sudo chmod a+w /dev/kmsg", shell=True)
 
     # Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL
     gpio_init(GPIO.SOM_ST_IO, True)
diff --git a/openpilot/common/utils.py b/openpilot/common/utils.py
index 183363f39d1b54..22d024fca7c20f 100644
--- a/openpilot/common/utils.py
+++ b/openpilot/common/utils.py
@@ -37,13 +37,13 @@ def sudo_write(val: str, path: str) -> None:
     with open(path, 'w') as f:
       f.write(str(val))
   except PermissionError:
-    os.system(f"sudo chmod a+w {path}")
+    subprocess.run(f"sudo chmod a+w {path}", shell=True)
     try:
       with open(path, 'w') as f:
         f.write(str(val))
     except PermissionError:
       # fallback for debugfs files
-      os.system(f"sudo su -c 'echo {val} > {path}'")
+      subprocess.run(f"sudo su -c 'echo {val} > {path}'", shell=True)
 
 
 def sudo_read(path: str) -> str:
diff --git a/openpilot/selfdrive/ui/layouts/settings/software.py b/openpilot/selfdrive/ui/layouts/settings/software.py
index 3b05eef5497230..bf986e614e4664 100644
--- a/openpilot/selfdrive/ui/layouts/settings/software.py
+++ b/openpilot/selfdrive/ui/layouts/settings/software.py
@@ -1,4 +1,4 @@
-import os
+import subprocess
 import time
 import datetime
 from openpilot.common.time_helpers import system_time_valid
@@ -158,12 +158,12 @@ def _on_download_update(self):
       # Start checking for updates
       self._waiting_for_updater = True
       self._waiting_start_ts = time.monotonic()
-      os.system("pkill -SIGUSR1 -f openpilot.system.updated.updated")
+      subprocess.run("pkill -SIGUSR1 -f openpilot.system.updated.updated", shell=True)
     else:
       # Start downloading
       self._waiting_for_updater = True
       self._waiting_start_ts = time.monotonic()
-      os.system("pkill -SIGHUP -f openpilot.system.updated.updated")
+      subprocess.run("pkill -SIGHUP -f openpilot.system.updated.updated", shell=True)
 
   def _on_uninstall(self):
     def handle_uninstall_confirmation(result: DialogResult):
@@ -197,7 +197,7 @@ def handle_selection(result: DialogResult):
         selection = self._branch_dialog.selection
         ui_state.params.put("UpdaterTargetBranch", selection, block=True)
         self._branch_btn.action_item.set_value(selection)
-        os.system("pkill -SIGUSR1 -f openpilot.system.updated.updated")
+        subprocess.run("pkill -SIGUSR1 -f openpilot.system.updated.updated", shell=True)
       self._branch_dialog = None
 
     self._branch_dialog = MultiOptionDialog(tr("Select a branch"), branches, current_target, callback=handle_selection)
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/software.py b/openpilot/selfdrive/ui/mici/layouts/settings/software.py
index 115b560cc5cd1f..bd4b966f49e2a5 100644
--- a/openpilot/selfdrive/ui/mici/layouts/settings/software.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/software.py
@@ -1,4 +1,4 @@
-import os
+import subprocess
 import threading
 import pyray as rl
 from enum import IntEnum
@@ -103,9 +103,9 @@ def _handle_mouse_release(self, mouse_pos: MousePos):
 
     def run():
       if self.get_value() == "download update":
-        os.system("pkill -SIGHUP -f openpilot.system.updated.updated")
+        subprocess.run("pkill -SIGHUP -f openpilot.system.updated.updated", shell=True)
       else:
-        os.system("pkill -SIGUSR1 -f openpilot.system.updated.updated")
+        subprocess.run("pkill -SIGUSR1 -f openpilot.system.updated.updated", shell=True)
 
     threading.Thread(target=run, daemon=True).start()
 
@@ -251,7 +251,7 @@ def _on_click(self):
   def _on_select(self, branch: str):
     ui_state.params.put("UpdaterTargetBranch", branch, block=True)
     self.set_value(branch)
-    os.system("pkill -SIGUSR1 -f openpilot.system.updated.updated")
+    subprocess.run("pkill -SIGUSR1 -f openpilot.system.updated.updated", shell=True)
 
 
 class SoftwareLayoutMici(NavScroller):
diff --git a/openpilot/system/hardware/tests/test_fan_controller.py b/openpilot/system/hardware/tests/test_fan_controller.py
index ee39a24f8748b4..e1aceeb081ff72 100644
--- a/openpilot/system/hardware/tests/test_fan_controller.py
+++ b/openpilot/system/hardware/tests/test_fan_controller.py
@@ -4,10 +4,6 @@
 
 ALL_CONTROLLERS = [FanController]
 
-def patched_controller(mocker, controller_class):
-  mocker.patch("os.system", new=mocker.Mock())
-  return controller_class(2)
-
 class TestFanController:
   def wind_up(self, controller, ignition=True):
     for _ in range(1000):
@@ -18,32 +14,32 @@ def wind_down(self, controller, ignition=False):
       controller.update(10, ignition)
 
   @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
-  def test_hot_onroad(self, mocker, controller_class):
-    controller = patched_controller(mocker, controller_class)
+  def test_hot_onroad(self, controller_class):
+    controller = controller_class(2)
     self.wind_up(controller)
     assert controller.update(100, True) >= 70
 
   @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
-  def test_offroad_limits(self, mocker, controller_class):
-    controller = patched_controller(mocker, controller_class)
+  def test_offroad_limits(self, controller_class):
+    controller = controller_class(2)
     self.wind_up(controller)
     assert controller.update(100, False) <= 30
 
   @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
-  def test_no_fan_wear(self, mocker, controller_class):
-    controller = patched_controller(mocker, controller_class)
+  def test_no_fan_wear(self, controller_class):
+    controller = controller_class(2)
     self.wind_down(controller)
     assert controller.update(10, False) == 0
 
   @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
-  def test_limited(self, mocker, controller_class):
-    controller = patched_controller(mocker, controller_class)
+  def test_limited(self, controller_class):
+    controller = controller_class(2)
     self.wind_up(controller, True)
     assert controller.update(100, True) == 100
 
   @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
-  def test_windup_speed(self, mocker, controller_class):
-    controller = patched_controller(mocker, controller_class)
+  def test_windup_speed(self, controller_class):
+    controller = controller_class(2)
     self.wind_down(controller, True)
     for _ in range(10):
       controller.update(90, True)
diff --git a/openpilot/system/sensord/tests/test_sensord.py b/openpilot/system/sensord/tests/test_sensord.py
index 23811189f626c2..fc4e3061bc89a6 100644
--- a/openpilot/system/sensord/tests/test_sensord.py
+++ b/openpilot/system/sensord/tests/test_sensord.py
@@ -1,4 +1,5 @@
 import os
+import subprocess
 import pytest
 import time
 import numpy as np
@@ -61,7 +62,7 @@ def setup_class(cls):
     os.environ["LSM_SELF_TEST"] = "1"
 
     # read initial sensor values every test case can use
-    os.system("pkill -f \\\\./sensord")
+    subprocess.run("pkill -f \\\\./sensord", shell=True)
     try:
       managed_processes["sensord"].start()
       cls.sample_secs = int(os.getenv("SAMPLE_SECS", "10"))
diff --git a/openpilot/system/ui/mici_reset.py b/openpilot/system/ui/mici_reset.py
index 90de7843f93665..97ecaf70240ded 100755
--- a/openpilot/system/ui/mici_reset.py
+++ b/openpilot/system/ui/mici_reset.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-import os
+import subprocess
 import sys
 import time
 import threading
@@ -105,12 +105,12 @@ def _do_erase(self):
       return
 
     # Removing data and formatting
-    rm = os.system("sudo rm -rf /data/*")
-    os.system(f"sudo umount {USERDATA}")
-    fmt = os.system(f"yes | sudo mkfs.ext4 {USERDATA}")
+    rm = subprocess.run("sudo rm -rf /data/*", shell=True).returncode
+    subprocess.run(f"sudo umount {USERDATA}", shell=True)
+    fmt = subprocess.run(f"yes | sudo mkfs.ext4 {USERDATA}", shell=True).returncode
 
     if rm == 0 or fmt == 0:
-      os.system("sudo reboot")
+      subprocess.run("sudo reboot", shell=True)
     else:
       self._reset_failed = True
 
diff --git a/openpilot/system/ui/tici_reset.py b/openpilot/system/ui/tici_reset.py
index cb5441a406be3c..569faf45fe3c89 100755
--- a/openpilot/system/ui/tici_reset.py
+++ b/openpilot/system/ui/tici_reset.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-import os
+import subprocess
 import sys
 import threading
 import time
@@ -37,19 +37,19 @@ def __init__(self, mode):
     self._reset_state = ResetState.NONE
     self._cancel_button = Button("Cancel", gui_app.request_close)
     self._confirm_button = Button("Confirm", self._confirm, button_style=ButtonStyle.PRIMARY)
-    self._reboot_button = Button("Reboot", lambda: os.system("sudo reboot"))
+    self._reboot_button = Button("Reboot", lambda: subprocess.run("sudo reboot", shell=True))
 
   def _do_erase(self):
     if PC:
       return
 
     # Removing data and formatting
-    rm = os.system("sudo rm -rf /data/*")
-    os.system(f"sudo umount {USERDATA}")
-    fmt = os.system(f"yes | sudo mkfs.ext4 {USERDATA}")
+    rm = subprocess.run("sudo rm -rf /data/*", shell=True).returncode
+    subprocess.run(f"sudo umount {USERDATA}", shell=True)
+    fmt = subprocess.run(f"yes | sudo mkfs.ext4 {USERDATA}", shell=True).returncode
 
     if rm == 0 or fmt == 0:
-      os.system("sudo reboot")
+      subprocess.run("sudo reboot", shell=True)
     else:
       self._reset_state = ResetState.FAILED
 
diff --git a/openpilot/tools/camerastream/compressed_vipc.py b/openpilot/tools/camerastream/compressed_vipc.py
index 0b96223e8e0fbc..35e9d3dab2c79f 100755
--- a/openpilot/tools/camerastream/compressed_vipc.py
+++ b/openpilot/tools/camerastream/compressed_vipc.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import av
+import av.video.format
 import os
 import sys
 import argparse
diff --git a/uv.lock b/uv.lock
index 0804481dcd6d7e..8a5049acd53ccc 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1280,27 +1280,27 @@ wheels = [
 
 [[package]]
 name = "ty"
-version = "0.0.51"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/7e/ce/352fcdba5c72ea20e5d2e46e28809cdb617575b71209d971eff2ace8e6c4/ty-0.0.51.tar.gz", hash = "sha256:b90172d46365bb9d51a7011cbb5c60cc4f514f42c86635df6c092b717f85e1ac", size = 5953151, upload-time = "2026-06-19T01:48:58.015Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/2b/8f/8fe7cab79a45320b2cdcd602f16d44c8108d2f418ff7ec316c6212f1f0cc/ty-0.0.51-py3-none-linux_armv6l.whl", hash = "sha256:947986bd82d324b3a5c58ce03f1dad160cdf36443d3e8f64b3484b861ba9bc64", size = 11884805, upload-time = "2026-06-19T01:48:20.184Z" },
-    { url = "https://files.pythonhosted.org/packages/fa/b4/56fdc39a3f44c0564fd157e1e59e1f9c3fc5ba57ae4472ded85c67c63d74/ty-0.0.51-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:25a5b31e6f23fd5dc63ad29087ded09932409e4154e2fe07bbaed015035990bb", size = 11633593, upload-time = "2026-06-19T01:48:22.998Z" },
-    { url = "https://files.pythonhosted.org/packages/33/57/136e83f24fc04f5afdcabff42f40fa27eae5ac3f0e3f12627d072a55f679/ty-0.0.51-py3-none-macosx_11_0_arm64.whl", hash = "sha256:2faed19a8f1505370de071c008df52a994fc03a204f3267c3a33a32ca26f854f", size = 11063076, upload-time = "2026-06-19T01:48:25.223Z" },
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 ]
 
 [[package]]

From 70a6efb8fce329bf2b21e94d072850182235ea1a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 2 Jul 2026 19:00:35 -0700
Subject: [PATCH 1269/1434] ci: update GitHub Actions to latest versions
 (#38278)

* ci: update GitHub Actions to latest versions

Bump all workflow actions to their latest releases, including major
updates for checkout (v7), upload-artifact (v7), github-script (v9),
action-download-artifact (v21), and thollander comment action (v3).

* ci: pin third-party actions to commit SHAs

Keep official GitHub actions on version tags, but pin community
actions to immutable commit hashes for supply-chain safety.
---
 .github/workflows/auto_pr_review.yaml     |  4 ++--
 .github/workflows/diff_report.yaml        | 14 ++++++------
 .github/workflows/docs.yaml               |  4 ++--
 .github/workflows/jenkins-pr-trigger.yaml |  8 +++----
 .github/workflows/model_review.yaml       |  6 +++---
 .github/workflows/release.yaml            |  4 ++--
 .github/workflows/repo-maintenance.yaml   |  4 ++--
 .github/workflows/tests.yaml              | 26 +++++++++++------------
 .github/workflows/ui_preview.yaml         | 20 ++++++++---------
 9 files changed, 45 insertions(+), 45 deletions(-)

diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
index 99c3a258c649a3..9b67956484443e 100644
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -11,7 +11,7 @@ jobs:
       pull-requests: write
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: false
 
@@ -23,7 +23,7 @@ jobs:
 
     # Check PR target branch
     - name: check branch
-      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
+      uses: Vankka/pr-target-branch-action@5da68a42bcb7b43d39104295a876a6f3f8d7908b
       if: github.repository == 'commaai/openpilot'
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/diff_report.yaml b/.github/workflows/diff_report.yaml
index 2ddb8509449148..5ad7746fda80da 100644
--- a/.github/workflows/diff_report.yaml
+++ b/.github/workflows/diff_report.yaml
@@ -17,7 +17,7 @@ jobs:
     - name: Wait for process replay
       id: wait
       continue-on-error: true
-      uses: lewagon/wait-on-check-action@v1.3.4
+      uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
       with:
         ref: ${{ github.event.pull_request.head.sha }}
         check-name: process replay
@@ -26,7 +26,7 @@ jobs:
         wait-interval: 20
     - name: Download diff
       if: steps.wait.outcome == 'success'
-      uses: dawidd6/action-download-artifact@v6
+      uses: dawidd6/action-download-artifact@b6e2e70617bc3265edd6dab6c906732b2f1ae151
       with:
         github_token: ${{ secrets.GITHUB_TOKEN }}
         workflow: tests.yaml
@@ -37,9 +37,9 @@ jobs:
         allow_forks: true
     - name: Comment on PR
       if: steps.wait.outcome == 'success'
-      uses: thollander/actions-comment-pull-request@v2
+      uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
       with:
-        filePath: diff_report.txt
-        comment_tag: diff_report
-        pr_number: ${{ github.event.number }}
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        file-path: diff_report.txt
+        comment-tag: diff_report
+        pr-number: ${{ github.event.number }}
+        github-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index d072cd71d1aa74..2d7da672e78e1e 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -22,7 +22,7 @@ jobs:
     steps:
     - uses: commaai/timeout@v1
 
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: true
 
@@ -34,7 +34,7 @@ jobs:
         python scripts/docs.py build
 
     # Push to docs.comma.ai
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       with:
         path: openpilot-docs
diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml
index fdd26253fadd49..ebb14d5dbaab2a 100644
--- a/.github/workflows/jenkins-pr-trigger.yaml
+++ b/.github/workflows/jenkins-pr-trigger.yaml
@@ -11,7 +11,7 @@ jobs:
       contents: write
     steps:
       - name: Delete stale Jenkins branches
-        uses: actions/github-script@v8
+        uses: actions/github-script@v9
         with:
           script: |
             const cutoff = Date.now() - 24 * 60 * 60 * 1000;
@@ -52,7 +52,7 @@ jobs:
     steps:
     - name: Check for trigger phrase
       id: check_comment
-      uses: actions/github-script@v8
+      uses: actions/github-script@v9
       with:
         script: |
           const triggerPhrase = "trigger-jenkins";
@@ -72,7 +72,7 @@ jobs:
 
     - name: Checkout repository
       if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v6
+      uses: actions/checkout@v7
       with:
         ref: refs/pull/${{ github.event.issue.number }}/head
 
@@ -86,7 +86,7 @@ jobs:
 
     - name: Delete trigger comment
       if: steps.check_comment.outputs.result == 'true' && always()
-      uses: actions/github-script@v8
+      uses: actions/github-script@v9
       with:
         script: |
           await github.rest.issues.deleteComment({
diff --git a/.github/workflows/model_review.yaml b/.github/workflows/model_review.yaml
index 66f0398d09d393..82c732dc3b97fa 100644
--- a/.github/workflows/model_review.yaml
+++ b/.github/workflows/model_review.yaml
@@ -16,11 +16,11 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     steps:
       - name: Checkout
-        uses: actions/checkout@v6
+        uses: actions/checkout@v7
         with:
           submodules: true
       - name: Checkout master
-        uses: actions/checkout@v6
+        uses: actions/checkout@v7
         with:
           ref: master
           path: base
@@ -36,7 +36,7 @@ jobs:
           echo "EOF" >> $GITHUB_OUTPUT
 
       - name: Post model report comment
-        uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16
+        uses: marocchino/sticky-pull-request-comment@0ea0beb66eb9baf113663a64ec522f60e49231c0
         with:
           header: model-review
           message: ${{ steps.report.outputs.content }}
\ No newline at end of file
diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index 27faccae6e5ba4..02388f689f58cb 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -15,14 +15,14 @@ jobs:
     steps:
     - name: Wait for green check mark
       if: ${{ github.event_name == 'schedule' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
+      uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
       with:
         ref: master
         wait-interval: 30
         running-workflow-name: 'build master-ci'
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
       with:
         submodules: true
         fetch-depth: 0
diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 1a99852be1dfec..a821f928acd115 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -14,7 +14,7 @@ jobs:
     runs-on: ubuntu-latest
     if: github.repository == 'commaai/openpilot'
     steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: true
     - run: ./tools/op.sh setup
@@ -49,7 +49,7 @@ jobs:
         python openpilot/selfdrive/car/docs.py
         git add docs/CARS.md
     - name: Create Pull Request
-      uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
+      uses: peter-evans/create-pull-request@5f6978faf089d4d20b00c7766989d076bb2fc7f1
       with:
         author: Vehicle Researcher <user@comma.ai>
         token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index 4fa3af3d5ef647..0b3d1c0d7677c0 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -35,11 +35,11 @@ jobs:
       STRIPPED_DIR: /tmp/releasepilot
       PYTHONPATH: /tmp/releasepilot
     steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: true
     - name: Getting LFS files
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
+      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
       with:
         timeout_minutes: 2
         max_attempts: 3
@@ -65,7 +65,7 @@ jobs:
     name: build macOS
     runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
     steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: true
     - name: Remove Homebrew from environment
@@ -85,7 +85,7 @@ jobs:
       && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: true
     - run: ./tools/op.sh setup
@@ -102,7 +102,7 @@ jobs:
       && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: true
     - run: ./tools/op.sh setup
@@ -125,7 +125,7 @@ jobs:
       && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: true
     - run: ./tools/op.sh setup
@@ -142,14 +142,14 @@ jobs:
     - name: Print diff report
       if: always()
       run: cat openpilot/selfdrive/test/process_replay/diff_report.txt
-    - uses: actions/upload-artifact@v6
+    - uses: actions/upload-artifact@v7
       if: always()
       continue-on-error: true
       with:
         name: process_replay_diff.txt
         path: openpilot/selfdrive/test/process_replay/diff.txt
     - name: Upload diff report
-      uses: actions/upload-artifact@v6
+      uses: actions/upload-artifact@v7
       if: always() && github.event_name == 'pull_request'
       continue-on-error: true
       with:
@@ -157,7 +157,7 @@ jobs:
         path: openpilot/selfdrive/test/process_replay/diff_report.txt
     - name: Checkout ci-artifacts
       if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: actions/checkout@v4
+      uses: actions/checkout@v7
       with:
         repository: commaai/ci-artifacts
         ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
@@ -176,7 +176,7 @@ jobs:
         git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
     - name: Push refs
       if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
+      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
       with:
         timeout_minutes: 2
         max_attempts: 3
@@ -198,7 +198,7 @@ jobs:
       || fromJSON('["ubuntu-24.04"]') }}
     if: false  # FIXME: Started to timeout recently
     steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: true
     - run: ./tools/op.sh setup
@@ -219,7 +219,7 @@ jobs:
       && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v7
         with:
           submodules: true
       - run: ./tools/op.sh setup
@@ -231,7 +231,7 @@ jobs:
           python3 openpilot/selfdrive/ui/tests/diff/replay.py
           python3 openpilot/selfdrive/ui/tests/diff/replay.py --big
       - name: Upload UI Report
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v7
         with:
           name: ui-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
           path: openpilot/selfdrive/ui/tests/diff/report
diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 7bfaea63aa7c0d..20927740bb940b 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -34,12 +34,12 @@ jobs:
       pull-requests: write
       actions: read
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v7
         with:
           submodules: true
 
       - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
+        uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
         with:
           ref: ${{ env.SHA }}
           check-name: ${{ env.UI_JOB_NAME }}
@@ -53,7 +53,7 @@ jobs:
           echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
 
       - name: Getting proposed ui
-        uses: dawidd6/action-download-artifact@v6
+        uses: dawidd6/action-download-artifact@b6e2e70617bc3265edd6dab6c906732b2f1ae151
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           run_id: ${{ steps.get_run_id.outputs.run_id }}
@@ -62,7 +62,7 @@ jobs:
           path: ${{ github.workspace }}/pr_ui
 
       - name: Getting mici master ui
-        uses: actions/checkout@v6
+        uses: actions/checkout@v7
         with:
           repository: commaai/ci-artifacts
           ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
@@ -70,7 +70,7 @@ jobs:
           ref: openpilot_master_ui_mici_raylib
 
       - name: Getting big master ui
-        uses: actions/checkout@v6
+        uses: actions/checkout@v7
         with:
           repository: commaai/ci-artifacts
           ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
@@ -97,7 +97,7 @@ jobs:
           done
 
       - name: Setup FFmpeg
-        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
+        uses: AnimMouse/setup-ffmpeg@178e0b4a408f06ce40d896c3cd79f50fa6f8b0c3
 
       - name: Finding diffs
         if: github.event_name == 'pull_request_target'
@@ -164,12 +164,12 @@ jobs:
 
       - name: Comment on PR
         if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
+        uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
         with:
           message: |
             <!-- _(run_id_ui_preview **${{ github.run_id }}**)_ -->
             ## UI Preview
             ${{ steps.find_diff.outputs.COMMENT }}
-          comment_tag: run_id_ui_preview
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          comment-tag: run_id_ui_preview
+          pr-number: ${{ github.event.number }}
+          github-token: ${{ secrets.GITHUB_TOKEN }}

From 2aa934e7c2de0dcc72771168fcc1c53b342cbfce Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Thu, 2 Jul 2026 19:04:06 -0700
Subject: [PATCH 1270/1434] [bot] Update Python packages (#38263)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 opendbc_repo  |   2 +-
 rednose_repo  |   2 +-
 tinygrad_repo |   2 +-
 uv.lock       | 196 +++++++++++++++++++++++++-------------------------
 4 files changed, 100 insertions(+), 102 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 58b89559ede390..8c0b1367c5178f 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 58b89559ede390a9a4b389f2276ab3863a3ecc52
+Subproject commit 8c0b1367c5178f919c05ae58a1dcf7439ed3eb37
diff --git a/rednose_repo b/rednose_repo
index 7ffefa3d8811a8..6c2abeb471c830 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 7ffefa3d8811a842f8ec97d311103ce3a45dfae0
+Subproject commit 6c2abeb471c830b38abb0f95d3aa348ca2b8dbc6
diff --git a/tinygrad_repo b/tinygrad_repo
index f9c8c697d6bfb7..e6fbede1576f0a 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit f9c8c697d6bfb76ba0bd79e15704ed376f0c45ec
+Subproject commit e6fbede1576f0a201e0b2c112499552a61280abd
diff --git a/uv.lock b/uv.lock
index 8a5049acd53ccc..cbfa6880507ee3 100644
--- a/uv.lock
+++ b/uv.lock
@@ -5,7 +5,7 @@ requires-python = ">=3.12.3, <3.13"
 [[package]]
 name = "acados"
 version = "0.2.2"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=acados&rev=release-acados#acfa1f7978b450d30fd346d61ae10e18bb4434c7" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=acados&rev=release-acados#8ea54be6bf1096b131493dbb38e8bd721a6727de" }
 dependencies = [
     { name = "numpy" },
 ]
@@ -68,22 +68,22 @@ wheels = [
 [[package]]
 name = "bootstrap-icons"
 version = "1.10.5.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bootstrap-icons&rev=release-bootstrap-icons#8baa670f1b5c588e92ee8b9aa0ac821002b2e0f0" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bootstrap-icons&rev=release-bootstrap-icons#65bc63d354432ad83294c8ecfc3ef01733a46e12" }
 
 [[package]]
 name = "bzip2"
 version = "1.0.8"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#c998c0bbd86966dfaf6508a10454d58bc9941549" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#83b0dd263eff2d9633a86096056fe16543a42244" }
 
 [[package]]
 name = "capnproto"
 version = "1.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#e85b11061487aa5e2015b96f44b25a5bde8ed7d9" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#71cb13543c7d9691064fd01854e228f1481efab6" }
 
 [[package]]
 name = "catch2"
 version = "2.13.10"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2#802399c0b7e28325066bf3e880bf12010b771257" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2#2bce880125320350b54d9d6696713ae847d06485" }
 
 [[package]]
 name = "certifi"
@@ -144,14 +144,14 @@ wheels = [
 
 [[package]]
 name = "click"
-version = "8.4.1"
+version = "8.4.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "colorama", marker = "sys_platform == 'win32'" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/9b/98/518d8e5081007684232226f475082b30087d0f585e8457db087298259f49/click-8.4.1.tar.gz", hash = "sha256:918b5633eddf6b41c32d4f454bf0de810065c74e3f7dbf8ee5452f8be88d3e96", size = 353007, upload-time = "2026-05-22T04:08:37.769Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/76/d4/81420972a676e8ffea40450d8c8c92943e7218a78fe9b64359836cc9876b/click-8.4.2.tar.gz", hash = "sha256:9a6cea6e60b17ebe0a44c5cc636d94f09bd66142c1cd7d8b4cd731c4917a15f6", size = 338000, upload-time = "2026-06-24T17:45:15.148Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/c7/0d/67e5b4109ea4a837e80daa87c2c696711955e40449a97e8926672534def2/click-8.4.1-py3-none-any.whl", hash = "sha256:482be17c6991b8c19c5429a1e995d9b0efdbb63172824c41f99965dc0ade8ec2", size = 116639, upload-time = "2026-05-22T04:08:35.26Z" },
+    { url = "https://files.pythonhosted.org/packages/fb/e2/79c688af8b210d232694e31e59da9f6ec747bae31c3f5946e4e9b98860d5/click-8.4.2-py3-none-any.whl", hash = "sha256:e6f9f66136c816745b9d65817da91d61d957fb16e02e4dcd0552553c5a197b76", size = 119243, upload-time = "2026-06-24T17:45:13.73Z" },
 ]
 
 [[package]]
@@ -196,26 +196,26 @@ wheels = [
 
 [[package]]
 name = "coverage"
-version = "7.14.2"
+version = "7.15.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/9c/a3/3834a5564fe8f32154cd7032400d3c2f9c565b2a373fa671f2bbdad6f634/coverage-7.14.2.tar.gz", hash = "sha256:7a2da3d81cfe17c18038c6d98e6592aa9147d596d056119b0ee612c3c8bd5230", size = 923982, upload-time = "2026-06-20T14:49:30.885Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/cc/8b/adeb62ea8951f13c4c7fef2e7a85e1a06b499c8d8237ea589d496029e53f/coverage-7.15.0.tar.gz", hash = "sha256:9ac3fe7a1435986463eaa8ee253ae2f2a268709ba4ae5c7dd1f52a05391ad78f", size = 925362, upload-time = "2026-07-02T13:10:50.535Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/d0/d9/bdd141aa2c605096a8ef63b8435fd4f5fec78946a3cb7b9145840ec78291/coverage-7.14.2-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:37c94712e533ea06f0b1e4d934811c520b1914ce0e4da3916220717aa7a86bc6", size = 220528, upload-time = "2026-06-20T14:47:49.652Z" },
-    { url = "https://files.pythonhosted.org/packages/02/97/d24ae7d2afc62c54a36313d4dedb655c9afbba3003f0f7f1ae81e97af31f/coverage-7.14.2-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:c050bbc7bba94c77e4ed7438f4fda1babe98ab145691d80aa6f60df934a1468b", size = 220883, upload-time = "2026-06-20T14:47:51.036Z" },
-    { url = "https://files.pythonhosted.org/packages/f8/0e/d8f00efd3df0d63e6843ebcbade9e4119d60f5376753c9705d84b014c775/coverage-7.14.2-cp312-cp312-manylinux1_i686.manylinux_2_28_i686.manylinux_2_5_i686.whl", hash = "sha256:a7af571767a2ee342a171c16fc1b1a07a0bf511606d381703fb7cf397fe49d46", size = 252395, upload-time = "2026-06-20T14:47:52.627Z" },
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@@ -1158,15 +1156,15 @@ wheels = [
 
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 name = "sentry-sdk"
-version = "2.63.0"
+version = "2.64.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "certifi" },
     { name = "urllib3" },
 ]
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+sdist = { url = "https://files.pythonhosted.org/packages/60/31/b7341f156a5f6f36f0b4845d6f1c28a2ae4799171dba7007f3a1e9b234b4/sentry_sdk-2.64.0.tar.gz", hash = "sha256:68be2c29e14ae310f8a39e1a79916b6d85c6cb41dcce789d14ff05fe293e4c55", size = 921020, upload-time = "2026-06-30T08:13:47.682Z" }
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+    { url = "https://files.pythonhosted.org/packages/36/a8/3fb9a4319efa3b26f5be0e90e6d8918df43fa7c7e977d26390f589501d82/sentry_sdk-2.64.0-py3-none-any.whl", hash = "sha256:715ea91ca860a819e8d8a50a7bde3a80d0df3b4ed7b6660a20fb9a2d084188f1", size = 498901, upload-time = "2026-06-30T08:13:45.566Z" },
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@@ -1305,11 +1303,11 @@ wheels = [
 
 [[package]]
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+version = "4.16.0"
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+    { url = "https://files.pythonhosted.org/packages/49/d3/b8441a820a491ddfc024b0b0cf0393375b75ea13866d9c66727e54c2fc80/typing_extensions-4.16.0-py3-none-any.whl", hash = "sha256:481caa481374e813c1b176ada14e97f1f67a4539ce9cfeb3f350d78d6370c2e8", size = 45571, upload-time = "2026-07-02T08:40:04.659Z" },
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 [[package]]
@@ -1351,7 +1349,7 @@ wheels = [
 [[package]]
 name = "xvfb"
 version = "1.20.11.post1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=xvfb&rev=release-xvfb#94b5f8acfb7d8f3b3034f2b85851512ffc7bee65" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=xvfb&rev=release-xvfb#bd5a45c85c86d1cc6fe2bd36381b4ff8d7f728c4" }
 
 [[package]]
 name = "zensical"
@@ -1386,7 +1384,7 @@ wheels = [
 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#28563a27b2f333688399a03c3bebea41b0cead32" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#dbdee00796b9714d318a883029bf05e844646c3b" }
 
 [[package]]
 name = "zstandard"
@@ -1416,4 +1414,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#96e569f08cf4a7b4a0f8181859fc791f45d0bc4e" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#66b1dbae3110f047af4262c1b561641d8c764e85" }

From d606014ce23944d1e29e573a4d5213f2dd56f3b7 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 3 Jul 2026 09:45:08 -0700
Subject: [PATCH 1271/1434] ci: delete closed PR branches automatically 
 (#38280)

---
 .github/workflows/repo-maintenance.yaml | 46 ++++++++++++++++++++++++-
 1 file changed, 45 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index a821f928acd115..0fb1027a8d6f91 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -3,6 +3,8 @@ name: repo maintenance
 on:
   schedule:
     - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
+  pull_request:
+    types: [closed]
   workflow_dispatch:
 
 env:
@@ -12,7 +14,9 @@ jobs:
   package_updates:
     name: package_updates
     runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: >-
+      github.repository == 'commaai/openpilot' &&
+      (github.event_name == 'schedule' || github.event_name == 'workflow_dispatch')
     steps:
     - uses: actions/checkout@v7
       with:
@@ -71,3 +75,43 @@ jobs:
           ${{ steps.pip_tree.outputs.PIP_TREE }}
           ```
         labels: bot
+
+  cleanup_closed_branches:
+    if: github.repository == 'commaai/openpilot'
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+      pull-requests: read
+    steps:
+      - uses: actions/github-script@v9
+        with:
+          script: |
+            const { owner, repo } = context.repo;
+            const upstream = `${owner}/${repo}`;
+
+            for await (const response of github.paginate.iterator(github.rest.pulls.list, {
+              owner,
+              repo,
+              state: 'closed',
+              per_page: 100,
+            })) {
+              for (const pr of response.data) {
+                if (pr.head.repo?.full_name !== upstream) continue;
+
+                const branch = pr.head.ref;
+                try {
+                  await github.rest.git.deleteRef({
+                    owner,
+                    repo,
+                    ref: `heads/${branch}`,
+                  });
+                  console.log(`Deleted branch ${branch} (PR #${pr.number})`);
+                } catch (error) {
+                  if (error.status === 422 || error.status === 403) {
+                    console.log(`Skipping branch ${branch} (PR #${pr.number}): ${error.message}`);
+                    continue;
+                  }
+                  throw error;
+                }
+              }
+            }

From 92f3d24c8ac429436d60aa8e8a5b40b44871e4f2 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 3 Jul 2026 17:17:51 -0700
Subject: [PATCH 1272/1434] Remove lateral MPC library (#38281)

---
 SConstruct                                    |   1 -
 .../controls/lib/lateral_mpc_lib/.gitignore   |   2 -
 .../controls/lib/lateral_mpc_lib/SConscript   | 104 ---------
 .../controls/lib/lateral_mpc_lib/__init__.py  |   0
 .../controls/lib/lateral_mpc_lib/lat_mpc.py   | 199 ------------------
 .../controls/tests/test_lateral_mpc.py        |  85 --------
 6 files changed, 391 deletions(-)
 delete mode 100644 openpilot/selfdrive/controls/lib/lateral_mpc_lib/.gitignore
 delete mode 100644 openpilot/selfdrive/controls/lib/lateral_mpc_lib/SConscript
 delete mode 100644 openpilot/selfdrive/controls/lib/lateral_mpc_lib/__init__.py
 delete mode 100755 openpilot/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
 delete mode 100644 openpilot/selfdrive/controls/tests/test_lateral_mpc.py

diff --git a/SConstruct b/SConstruct
index 031984bf4c6826..b5e2d04c222ccb 100644
--- a/SConstruct
+++ b/SConstruct
@@ -247,7 +247,6 @@ if arch == "larch64":
 # Build selfdrive
 SConscript([
   'openpilot/selfdrive/pandad/SConscript',
-  'openpilot/selfdrive/controls/lib/lateral_mpc_lib/SConscript',
   'openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
   'openpilot/selfdrive/locationd/SConscript',
   'openpilot/selfdrive/modeld/SConscript',
diff --git a/openpilot/selfdrive/controls/lib/lateral_mpc_lib/.gitignore b/openpilot/selfdrive/controls/lib/lateral_mpc_lib/.gitignore
deleted file mode 100644
index aff2eb082b6b8b..00000000000000
--- a/openpilot/selfdrive/controls/lib/lateral_mpc_lib/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-acados_ocp_lat.json
-c_generated_code/
diff --git a/openpilot/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/openpilot/selfdrive/controls/lib/lateral_mpc_lib/SConscript
deleted file mode 100644
index 575e5c1af53e7c..00000000000000
--- a/openpilot/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ /dev/null
@@ -1,104 +0,0 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version', 'acados')
-
-gen = "c_generated_code"
-
-casadi_model = [
-  f'{gen}/lat_model/lat_expl_ode_fun.c',
-  f'{gen}/lat_model/lat_expl_vde_forw.c',
-]
-
-casadi_cost_y = [
-  f'{gen}/lat_cost/lat_cost_y_fun.c',
-  f'{gen}/lat_cost/lat_cost_y_fun_jac_ut_xt.c',
-  f'{gen}/lat_cost/lat_cost_y_hess.c',
-]
-
-casadi_cost_e = [
-  f'{gen}/lat_cost/lat_cost_y_e_fun.c',
-  f'{gen}/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c',
-  f'{gen}/lat_cost/lat_cost_y_e_hess.c',
-]
-
-casadi_cost_0 = [
-  f'{gen}/lat_cost/lat_cost_y_0_fun.c',
-  f'{gen}/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c',
-  f'{gen}/lat_cost/lat_cost_y_0_hess.c',
-]
-
-build_files = [f'{gen}/acados_solver_lat.c'] + casadi_model + casadi_cost_y + casadi_cost_e + casadi_cost_0
-
-# extra generated files used to trigger a rebuild
-generated_files = [
-  f'{gen}/Makefile',
-
-  f'{gen}/main_lat.c',
-  f'{gen}/main_sim_lat.c',
-  f'{gen}/acados_solver_lat.h',
-  f'{gen}/acados_sim_solver_lat.h',
-  f'{gen}/acados_sim_solver_lat.c',
-  f'{gen}/acados_solver.pxd',
-
-  f'{gen}/lat_model/lat_expl_vde_adj.c',
-
-  f'{gen}/lat_model/lat_model.h',
-  f'{gen}/lat_constraints/lat_constraints.h',
-  f'{gen}/lat_cost/lat_cost.h',
-] + build_files
-
-acados_include_dir = Dir(acados.INCLUDE_DIR)
-acados_template_dir = Dir(acados.TEMPLATE_DIR)
-
-source_list = ['lat_mpc.py',
-  '#openpilot/selfdrive/modeld/constants.py',
-  acados_include_dir.File('acados_c/ocp_nlp_interface.h'),
-  acados_template_dir.File('c_templates_tera/acados_solver.in.c'),
-]
-
-lenv = env.Clone()
-copied_acados_libs = []
-if arch != "Darwin":
-  for lib in ["libacados.so", "libblasfeo.so", "libhpipm.so", "libqpOASES_e.so.3.1"]:
-    copied_acados_libs += lenv.Command(f"{gen}/{lib}", Dir(acados.LIB_DIR).File(lib), [Mkdir(Dir(gen)), Copy("$TARGET", "$SOURCE")])
-  lenv["RPATH"] += [lenv.Literal('\\$$ORIGIN')]
-else:
-  acados_rel_path = Dir(gen).rel_path(Dir(acados.LIB_DIR))
-  lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
-lenv.Clean(generated_files, Dir(gen))
-
-generated_lat = lenv.Command(generated_files,
-                             source_list,
-                             f"cd {Dir('.').abspath} && python3 lat_mpc.py")
-lenv.Depends(generated_lat, [msgq_python, common_python])
-
-lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
-lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
-lenv["CCFLAGS"].append("-Wno-unused")
-if arch != "Darwin":
-  lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
-else:
-  lenv["LINKFLAGS"].append("-Wl,-install_name,@loader_path/libacados_ocp_solver_lat.dylib")
-  lenv["LINKFLAGS"].append(f"-Wl,-rpath,@loader_path/{acados_rel_path}")
-lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_lat",
-                                build_files,
-                                LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
-
-# generate cython stuff
-acados_ocp_solver_pyx = acados_template_dir.File('acados_ocp_solver_pyx.pyx')
-acados_ocp_solver_common = acados_template_dir.File('acados_solver_common.pxd')
-libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
-libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
-
-lenv2 = envCython.Clone()
-lenv2["LIBPATH"] += [lib_solver[0].dir.abspath]
-lenv2["RPATH"] += [lenv2.Literal('\\$$ORIGIN')]
-lenv2.Command(libacados_ocp_solver_c,
-  [acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
-  f'cython' + \
-  f' -o {libacados_ocp_solver_c.get_labspath()}' + \
-  f' -I {libacados_ocp_solver_pxd.get_dir().get_labspath()}' + \
-  f' -I {acados_ocp_solver_common.get_dir().get_labspath()}' + \
-  f' {acados_ocp_solver_pyx.get_labspath()}')
-lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c], LIBS=['acados_ocp_solver_lat'])
-lenv2.Depends(lib_cython, lib_solver)
-lenv2.Depends(lib_cython, copied_acados_libs)
-lenv2.Depends(libacados_ocp_solver_c, np_version)
diff --git a/openpilot/selfdrive/controls/lib/lateral_mpc_lib/__init__.py b/openpilot/selfdrive/controls/lib/lateral_mpc_lib/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/openpilot/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/openpilot/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
deleted file mode 100755
index 3b597b2e428995..00000000000000
--- a/openpilot/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
+++ /dev/null
@@ -1,199 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import numpy as np
-
-from casadi import SX, vertcat, sin, cos
-# WARNING: imports outside of constants will not trigger a rebuild
-from openpilot.selfdrive.modeld.constants import ModelConstants
-
-if __name__ == '__main__':  # generating code
-  from acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
-else:
-  from openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
-
-LAT_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
-EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code")
-JSON_FILE = os.path.join(LAT_MPC_DIR, "acados_ocp_lat.json")
-X_DIM = 4
-P_DIM = 2
-COST_E_DIM = 3
-COST_DIM = COST_E_DIM + 2
-SPEED_OFFSET = 10.0
-MODEL_NAME = 'lat'
-ACADOS_SOLVER_TYPE = 'SQP_RTI'
-N = 32
-
-def gen_lat_model():
-  model = AcadosModel()
-  model.name = MODEL_NAME
-
-  # set up states & controls
-  x_ego = SX.sym('x_ego')
-  y_ego = SX.sym('y_ego')
-  psi_ego = SX.sym('psi_ego')
-  psi_rate_ego = SX.sym('psi_rate_ego')
-  model.x = vertcat(x_ego, y_ego, psi_ego, psi_rate_ego)
-
-  # parameters
-  v_ego = SX.sym('v_ego')
-  rotation_radius = SX.sym('rotation_radius')
-  model.p = vertcat(v_ego, rotation_radius)
-
-  # controls
-  psi_accel_ego = SX.sym('psi_accel_ego')
-  model.u = vertcat(psi_accel_ego)
-
-  # xdot
-  x_ego_dot = SX.sym('x_ego_dot')
-  y_ego_dot = SX.sym('y_ego_dot')
-  psi_ego_dot = SX.sym('psi_ego_dot')
-  psi_rate_ego_dot = SX.sym('psi_rate_ego_dot')
-
-  model.xdot = vertcat(x_ego_dot, y_ego_dot, psi_ego_dot, psi_rate_ego_dot)
-
-  # dynamics model
-  f_expl = vertcat(v_ego * cos(psi_ego) - rotation_radius * sin(psi_ego) * psi_rate_ego,
-                   v_ego * sin(psi_ego) + rotation_radius * cos(psi_ego) * psi_rate_ego,
-                   psi_rate_ego,
-                   psi_accel_ego)
-  model.f_impl_expr = model.xdot - f_expl
-  model.f_expl_expr = f_expl
-  return model
-
-
-def gen_lat_ocp():
-  ocp = AcadosOcp()
-  ocp.model = gen_lat_model()
-
-  Tf = np.array(ModelConstants.T_IDXS)[N]
-
-  # set dimensions
-  ocp.dims.N = N
-
-  # set cost module
-  ocp.cost.cost_type = 'NONLINEAR_LS'
-  ocp.cost.cost_type_e = 'NONLINEAR_LS'
-
-  Q = np.diag(np.zeros(COST_E_DIM))
-  QR = np.diag(np.zeros(COST_DIM))
-
-  ocp.cost.W = QR
-  ocp.cost.W_e = Q
-
-  y_ego, psi_ego, psi_rate_ego = ocp.model.x[1], ocp.model.x[2], ocp.model.x[3]
-  psi_rate_ego_dot = ocp.model.u[0]
-  v_ego = ocp.model.p[0]
-
-  ocp.parameter_values = np.zeros((P_DIM, ))
-
-  ocp.cost.yref = np.zeros((COST_DIM, ))
-  ocp.cost.yref_e = np.zeros((COST_E_DIM, ))
-  # Add offset to smooth out low speed control
-  # TODO unclear if this right solution long term
-  v_ego_offset = v_ego + SPEED_OFFSET
-  # TODO there are two costs on psi_rate_ego_dot, one
-  # is correlated to jerk the other to steering wheel movement
-  # the steering wheel movement cost is added to prevent excessive
-  # wheel movements
-  ocp.model.cost_y_expr = vertcat(y_ego,
-                                  v_ego_offset * psi_ego,
-                                  v_ego_offset * psi_rate_ego,
-                                  v_ego_offset * psi_rate_ego_dot,
-                                  psi_rate_ego_dot / (v_ego + 0.1))
-  ocp.model.cost_y_expr_e = vertcat(y_ego,
-                                   v_ego_offset * psi_ego,
-                                   v_ego_offset * psi_rate_ego)
-
-  # set constraints
-  ocp.constraints.constr_type = 'BGH'
-  ocp.constraints.idxbx = np.array([2,3])
-  ocp.constraints.ubx = np.array([np.radians(90), np.radians(50)])
-  ocp.constraints.lbx = np.array([-np.radians(90), -np.radians(50)])
-  x0 = np.zeros((X_DIM,))
-  ocp.constraints.x0 = x0
-
-  ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM'
-  ocp.solver_options.hessian_approx = 'GAUSS_NEWTON'
-  ocp.solver_options.integrator_type = 'ERK'
-  ocp.solver_options.nlp_solver_type = ACADOS_SOLVER_TYPE
-  ocp.solver_options.qp_solver_iter_max = 1
-  ocp.solver_options.qp_solver_cond_N = 1
-
-  # set prediction horizon
-  ocp.solver_options.tf = Tf
-  ocp.solver_options.shooting_nodes = np.array(ModelConstants.T_IDXS)[:N+1]
-
-  ocp.code_export_directory = EXPORT_DIR
-  return ocp
-
-
-class LateralMpc:
-  def __init__(self, x0=None):
-    if x0 is None:
-      x0 = np.zeros(X_DIM)
-    self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
-    self.reset(x0)
-
-  def reset(self, x0=None):
-    if x0 is None:
-      x0 = np.zeros(X_DIM)
-    self.x_sol = np.zeros((N+1, X_DIM))
-    self.u_sol = np.zeros((N, 1))
-    self.yref = np.zeros((N+1, COST_DIM))
-    for i in range(N):
-      self.solver.cost_set(i, "yref", self.yref[i])
-    self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM])
-
-    # Somehow needed for stable init
-    for i in range(N+1):
-      self.solver.set(i, 'x', np.zeros(X_DIM))
-      self.solver.set(i, 'p', np.zeros(P_DIM))
-    self.solver.constraints_set(0, "lbx", x0)
-    self.solver.constraints_set(0, "ubx", x0)
-    self.solver.solve()
-    self.solution_status = 0
-    self.solve_time = 0.0
-    self.cost = 0
-
-  def set_weights(self, path_weight, heading_weight,
-                  lat_accel_weight, lat_jerk_weight,
-                  steering_rate_weight):
-    W = np.asfortranarray(np.diag([path_weight, heading_weight,
-                                   lat_accel_weight, lat_jerk_weight,
-                                   steering_rate_weight]))
-    for i in range(N):
-      self.solver.cost_set(i, 'W', W)
-    self.solver.cost_set(N, 'W', W[:COST_E_DIM,:COST_E_DIM])
-
-  def run(self, x0, p, y_pts, heading_pts, yaw_rate_pts):
-    x0_cp = np.copy(x0)
-    p_cp = np.copy(p)
-    self.solver.constraints_set(0, "lbx", x0_cp)
-    self.solver.constraints_set(0, "ubx", x0_cp)
-    self.yref[:,0] = y_pts
-    v_ego = p_cp[0, 0]
-    # rotation_radius = p_cp[1]
-    self.yref[:,1] = heading_pts * (v_ego + SPEED_OFFSET)
-    self.yref[:,2] = yaw_rate_pts * (v_ego + SPEED_OFFSET)
-    for i in range(N):
-      self.solver.cost_set(i, "yref", self.yref[i])
-      self.solver.set(i, "p", p_cp[i])
-    self.solver.set(N, "p", p_cp[N])
-    self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM])
-
-    t = time.monotonic()
-    self.solution_status = self.solver.solve()
-    self.solve_time = time.monotonic() - t
-
-    for i in range(N+1):
-      self.x_sol[i] = self.solver.get(i, 'x')
-    for i in range(N):
-      self.u_sol[i] = self.solver.get(i, 'u')
-    self.cost = self.solver.get_cost()
-
-
-if __name__ == "__main__":
-  ocp = gen_lat_ocp()
-  AcadosOcpSolver.generate(ocp, json_file=JSON_FILE)
-  # AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True)
diff --git a/openpilot/selfdrive/controls/tests/test_lateral_mpc.py b/openpilot/selfdrive/controls/tests/test_lateral_mpc.py
deleted file mode 100644
index 3aa0fd1bce4804..00000000000000
--- a/openpilot/selfdrive/controls/tests/test_lateral_mpc.py
+++ /dev/null
@@ -1,85 +0,0 @@
-import pytest
-import numpy as np
-from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
-from openpilot.selfdrive.controls.lib.drive_helpers import CAR_ROTATION_RADIUS
-from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N
-
-
-def run_mpc(lat_mpc=None, v_ref=30., x_init=0., y_init=0., psi_init=0., curvature_init=0.,
-            lane_width=3.6, poly_shift=0.):
-
-  if lat_mpc is None:
-    lat_mpc = LateralMpc()
-  lat_mpc.set_weights(1., .1, 0.0, .05, 800)
-
-  y_pts = poly_shift * np.ones(LAT_MPC_N + 1)
-  heading_pts = np.zeros(LAT_MPC_N + 1)
-  curv_rate_pts = np.zeros(LAT_MPC_N + 1)
-
-  x0 = np.array([x_init, y_init, psi_init, curvature_init])
-  p = np.column_stack([v_ref * np.ones(LAT_MPC_N + 1),
-                      CAR_ROTATION_RADIUS * np.ones(LAT_MPC_N + 1)])
-
-  # converge in no more than 10 iterations
-  for _ in range(10):
-    lat_mpc.run(x0, p,
-                y_pts, heading_pts, curv_rate_pts)
-  return lat_mpc.x_sol
-
-
-class TestLateralMpc:
-
-  def _assert_null(self, sol, curvature=1e-6):
-    for i in range(len(sol)):
-      assert sol[0,i,1] == pytest.approx(0, abs=curvature)
-      assert sol[0,i,2] == pytest.approx(0, abs=curvature)
-      assert sol[0,i,3] == pytest.approx(0, abs=curvature)
-
-  def _assert_simmetry(self, sol, curvature=1e-6):
-    for i in range(len(sol)):
-      assert sol[0,i,1] == pytest.approx(-sol[1,i,1], abs=curvature)
-      assert sol[0,i,2] == pytest.approx(-sol[1,i,2], abs=curvature)
-      assert sol[0,i,3] == pytest.approx(-sol[1,i,3], abs=curvature)
-      assert sol[0,i,0] == pytest.approx(sol[1,i,0], abs=curvature)
-
-  def test_straight(self):
-    sol = run_mpc()
-    self._assert_null(np.array([sol]))
-
-  def test_y_symmetry(self):
-    sol = []
-    for y_init in [-0.5, 0.5]:
-      sol.append(run_mpc(y_init=y_init))
-    self._assert_simmetry(np.array(sol))
-
-  def test_poly_symmetry(self):
-    sol = []
-    for poly_shift in [-1., 1.]:
-      sol.append(run_mpc(poly_shift=poly_shift))
-    self._assert_simmetry(np.array(sol))
-
-  def test_curvature_symmetry(self):
-    sol = []
-    for curvature_init in [-0.1, 0.1]:
-      sol.append(run_mpc(curvature_init=curvature_init))
-    self._assert_simmetry(np.array(sol))
-
-  def test_psi_symmetry(self):
-    sol = []
-    for psi_init in [-0.1, 0.1]:
-      sol.append(run_mpc(psi_init=psi_init))
-    self._assert_simmetry(np.array(sol))
-
-  def test_no_overshoot(self):
-    y_init = 1.
-    sol = run_mpc(y_init=y_init)
-    for y in list(sol[:,1]):
-      assert y_init >= abs(y)
-
-  def test_switch_convergence(self):
-    lat_mpc = LateralMpc()
-    sol = run_mpc(lat_mpc=lat_mpc, poly_shift=3.0, v_ref=7.0)
-    right_psi_deg = np.degrees(sol[:,2])
-    sol = run_mpc(lat_mpc=lat_mpc, poly_shift=-3.0, v_ref=7.0)
-    left_psi_deg = np.degrees(sol[:,2])
-    np.testing.assert_almost_equal(right_psi_deg, -left_psi_deg, decimal=3)

From 6de5d2c23a66bf3dae604a5285fc846f950d9c42 Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Sun, 5 Jul 2026 20:04:06 -0700
Subject: [PATCH 1273/1434] revert checkout@v7 to fix nightly release (#38294)

* revert back to checkout@v4

* add comment
---
 .github/workflows/release.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index 02388f689f58cb..6916fd5ce827a4 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -22,7 +22,7 @@ jobs:
         running-workflow-name: 'build master-ci'
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
-    - uses: actions/checkout@v7
+    - uses: actions/checkout@v4 # checkout version > v4 breaks nightly release script
       with:
         submodules: true
         fetch-depth: 0

From 0d93f0e820fbc103b2c02363c833a66d92e8e212 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 7 Jul 2026 10:36:49 -0700
Subject: [PATCH 1274/1434] declare submodules as dependencies in pyproject
 (#38300)

* declare submodules as dependencies in pyproject

* spidev

* lock
---
 msgq_repo      |   2 +-
 panda          |   2 +-
 pyproject.toml |  34 ++--
 uv.lock        | 514 ++++++++++++++++++++++++++++++++++++++++++++++++-
 4 files changed, 533 insertions(+), 19 deletions(-)

diff --git a/msgq_repo b/msgq_repo
index 9beb84af67527f..1d422a23c31e5b 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit 9beb84af67527f7b6bfee349dcbe3dbb8d4f4789
+Subproject commit 1d422a23c31e5b8384e9464e1bb37e7f9b677aed
diff --git a/panda b/panda
index 1a40b79413d362..9da8467a7c3789 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 1a40b79413d36222f029f46a4d5adf95766d0193
+Subproject commit 9da8467a7c3789733ba2afe751e558f6a0ea750c
diff --git a/pyproject.toml b/pyproject.toml
index df57623b8a5f24..45539f534b5fae 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -48,10 +48,6 @@ dependencies = [
   "av",
   "aiortc",
 
-  # panda
-  "libusb1",
-  "spidev; platform_system == 'Linux'",
-
   # logging
   "pyzmq",
   "sentry-sdk",
@@ -67,7 +63,6 @@ dependencies = [
 
   # these should be removed
   "psutil",
-  "pycryptodome", # used in panda, body, and a test
   "setproctitle",
 
   # logreader
@@ -115,6 +110,16 @@ tools = [
 [project.urls]
 Homepage = "https://github.com/commaai/openpilot"
 
+[dependency-groups]
+submodules = [
+  "msgq",
+  "opendbc",
+  "pandacan",
+  "rednose",
+  "teleoprtc",
+  "tinygrad",
+]
+
 [build-system]
 requires = ["hatchling"]
 build-backend = "hatchling.build"
@@ -122,12 +127,6 @@ build-backend = "hatchling.build"
 [tool.hatch.build.targets.wheel]
 packages = [
   "openpilot",
-  "msgq",
-  "opendbc",
-  "panda",
-  "rednose",
-  "teleoprtc",
-  "tinygrad",
 ]
 
 [tool.hatch.metadata]
@@ -217,3 +216,16 @@ not-subscriptable = "ignore" # false positives from dynamic types
 
 [tool.uv]
 python-preference = "only-managed"
+default-groups = ["submodules"]
+override-dependencies = [
+  "opendbc",  # panda pins opendbc from git for standalone use; always use our submodule
+  "av",       # teleoprtc's av<13 pin is stale
+]
+
+[tool.uv.sources]
+msgq = { path = "msgq_repo", editable = true }
+opendbc = { path = "opendbc_repo", editable = true }
+pandacan = { path = "panda", editable = true }
+rednose = { path = "rednose_repo", editable = true }
+teleoprtc = { path = "teleoprtc_repo", editable = true }
+tinygrad = { path = "tinygrad_repo", editable = true }
diff --git a/uv.lock b/uv.lock
index cbfa6880507ee3..d32ef9121f60f1 100644
--- a/uv.lock
+++ b/uv.lock
@@ -2,6 +2,12 @@ version = 1
 revision = 3
 requires-python = ">=3.12.3, <3.13"
 
+[manifest]
+overrides = [
+    { name = "av" },
+    { name = "opendbc", editable = "opendbc_repo" },
+]
+
 [[package]]
 name = "acados"
 version = "0.2.2"
@@ -10,6 +16,51 @@ dependencies = [
     { name = "numpy" },
 ]
 
+[[package]]
+name = "aiohappyeyeballs"
+version = "2.7.1"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/ce/f4/eec0465c2f67b2664688d0240b3212d5196fd89e741df67ddb81f8d35658/aiohappyeyeballs-2.7.1.tar.gz", hash = "sha256:065665c041c42a5938ed220bdcd7230f22527fbec085e1853d2402c8a3615d9d", size = 24757, upload-time = "2026-07-01T17:11:55.501Z" }
+wheels = [
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+]
+
+[[package]]
+name = "aiohttp"
+version = "3.14.1"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "aiohappyeyeballs" },
+    { name = "aiosignal" },
+    { name = "attrs" },
+    { name = "frozenlist" },
+    { name = "multidict" },
+    { name = "propcache" },
+    { name = "typing-extensions" },
+    { name = "yarl" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/82/78/8ea7308cac6934de8c74a14f3d5f65d1c89287426688be79538d0e5c013d/aiohttp-3.14.1.tar.gz", hash = "sha256:307f2cff90a764d329e77040603fa032db89c5c24fdad50c4c15334cba744035", size = 7955794, upload-time = "2026-06-07T21:09:35.529Z" }
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 [[package]]
 name = "aioice"
 version = "0.10.2"
@@ -41,6 +92,19 @@ wheels = [
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 ]
 
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+name = "aiosignal"
+version = "1.4.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "frozenlist" },
+    { name = "typing-extensions" },
+]
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+
 [[package]]
 name = "attrs"
 version = "26.1.0"
@@ -218,6 +282,43 @@ wheels = [
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 ]
 
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+version = "1.5.1"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
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+[[package]]
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+version = "0.3.1"
+source = { editable = "opendbc_repo" }
+dependencies = [
+    { name = "numpy" },
+    { name = "pycapnp" },
+    { name = "pycryptodome" },
+    { name = "tqdm" },
+]
+
+[package.metadata]
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+    { name = "codespell", marker = "extra == 'testing'" },
+    { name = "cpplint", marker = "extra == 'testing'" },
+    { name = "gcovr", marker = "extra == 'testing'" },
+    { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" },
+    { name = "inputs", marker = "extra == 'examples'" },
+    { name = "jinja2", marker = "extra == 'docs'" },
+    { name = "lefthook", marker = "extra == 'testing'" },
+    { name = "numpy" },
+    { name = "pycapnp" },
+    { name = "pycryptodome" },
+    { name = "ruff", marker = "extra == 'testing'" },
+    { name = "tqdm" },
+    { name = "tree-sitter", marker = "extra == 'testing'" },
+    { name = "tree-sitter-c", marker = "extra == 'testing'" },
+    { name = "ty", marker = "extra == 'testing'" },
+    { name = "unittest-parallel", marker = "extra == 'testing'" },
+    { name = "zstandard", marker = "extra == 'testing'" },
+]
+provides-extras = ["testing", "docs", "examples"]
+
+[package.metadata.requires-dev]
+testing = [
+    { name = "comma-car-segments", url = "https://huggingface.co/datasets/commaai/commaCarSegments/resolve/main/dist/comma_car_segments-0.1.0-py3-none-any.whl" },
+    { name = "cppcheck", git = "https://github.com/commaai/dependencies.git?subdirectory=cppcheck&rev=release-cppcheck" },
+]
+
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 name = "openpilot"
 version = "0.1.0"
@@ -633,14 +911,12 @@ dependencies = [
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     { name = "libjpeg" },
     { name = "libusb" },
-    { name = "libusb1" },
     { name = "libyuv" },
     { name = "ncurses" },
     { name = "numpy" },
     { name = "pillow" },
     { name = "psutil" },
     { name = "pycapnp" },
-    { name = "pycryptodome" },
     { name = "pyjwt" },
     { name = "pyserial" },
     { name = "pyzmq" },
@@ -652,7 +928,6 @@ dependencies = [
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     { name = "setuptools" },
     { name = "sounddevice" },
-    { name = "spidev", marker = "sys_platform == 'linux'" },
     { name = "sympy" },
     { name = "tqdm" },
     { name = "websocket-client" },
@@ -688,6 +963,16 @@ tools = [
     { name = "imgui" },
 ]
 
+[package.dev-dependencies]
+submodules = [
+    { name = "msgq" },
+    { name = "opendbc" },
+    { name = "pandacan" },
+    { name = "rednose" },
+    { name = "teleoprtc" },
+    { name = "tinygrad" },
+]
+
 [package.metadata]
 requires-dist = [
     { name = "acados", git = "https://github.com/commaai/dependencies.git?subdirectory=acados&rev=release-acados" },
@@ -715,7 +1000,6 @@ requires-dist = [
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     { name = "libusb", git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb" },
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@@ -724,7 +1008,6 @@ requires-dist = [
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     { name = "psutil" },
     { name = "pycapnp", specifier = "==2.1.0" },
-    { name = "pycryptodome" },
     { name = "pyjwt" },
     { name = "pyserial" },
     { name = "pytest", marker = "extra == 'testing'" },
@@ -742,7 +1025,6 @@ requires-dist = [
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     { name = "setuptools" },
     { name = "sounddevice" },
-    { name = "spidev", marker = "sys_platform == 'linux'" },
     { name = "sympy" },
     { name = "tqdm" },
     { name = "ty", marker = "extra == 'testing'" },
@@ -756,6 +1038,16 @@ requires-dist = [
 ]
 provides-extras = ["docs", "testing", "dev", "tools"]
 
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+submodules = [
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+    { name = "opendbc", editable = "opendbc_repo" },
+    { name = "pandacan", editable = "panda" },
+    { name = "rednose", editable = "rednose_repo" },
+    { name = "teleoprtc", editable = "teleoprtc_repo" },
+    { name = "tinygrad", editable = "tinygrad_repo" },
+]
+
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 version = "26.2"
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 ]
 
+[[package]]
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+version = "0.0.10"
+source = { editable = "panda" }
+dependencies = [
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+    { name = "libusb1" },
+    { name = "opendbc" },
+    { name = "spidev", marker = "sys_platform == 'linux'" },
+]
+
+[package.metadata]
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+    { name = "cppcheck", marker = "extra == 'dev'", git = "https://github.com/commaai/dependencies.git?subdirectory=cppcheck&rev=release-cppcheck" },
+    { name = "flaky", marker = "extra == 'dev'" },
+    { name = "gcc-arm-none-eabi", marker = "extra == 'dev'", git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi" },
+    { name = "libusb-package" },
+    { name = "libusb1" },
+    { name = "opendbc", git = "https://github.com/commaai/opendbc.git?rev=master" },
+    { name = "pycryptodome", marker = "extra == 'dev'", specifier = ">=3.9.8" },
+    { name = "pytest", marker = "extra == 'dev'" },
+    { name = "pytest-mock", marker = "extra == 'dev'" },
+    { name = "pytest-timeout", marker = "extra == 'dev'" },
+    { name = "pytest-xdist", marker = "extra == 'dev'" },
+    { name = "ruff", marker = "extra == 'dev'" },
+    { name = "scons", marker = "extra == 'dev'" },
+    { name = "setuptools", marker = "extra == 'dev'" },
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+    { url = "https://files.pythonhosted.org/packages/44/0c/bcf7c42603e1009295f586d8890f2ba032c8b53310e815adf0a202c73d9f/yarl-1.24.2-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:cb84b80d88e19ede158619b80813968713d8d008b0e2497a576e6a0557d50712", size = 99025, upload-time = "2026-05-19T21:29:10.682Z" },
+    { url = "https://files.pythonhosted.org/packages/4f/82/84482ab1a57a0f21a08afe6a7004c61d741f8f2ecc3b05c321577c612164/yarl-1.24.2-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:990de4f680b1c217e77ff0d6aa0029f9eb79889c11fb3e9a3942c7eba29c1996", size = 110507, upload-time = "2026-05-19T21:29:12.954Z" },
+    { url = "https://files.pythonhosted.org/packages/c4/8d/a546ba1dfe1b0f290e05fef145cd07614c0f15df1a707195e512d1e39d1d/yarl-1.24.2-cp312-cp312-musllinux_1_2_riscv64.whl", hash = "sha256:abb8ec0323b80161e3802da3150ef660b41d0e9be2048b76a363d93eee992c2b", size = 103719, upload-time = "2026-05-19T21:29:14.893Z" },
+    { url = "https://files.pythonhosted.org/packages/1a/b6/267f2a09213138473adfce6b8a6e17791d7fee70bd4d9003218e4dec58b0/yarl-1.24.2-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:e7977781f83638a4c73e0f88425563d70173e0dfd90ac006a45c65036293ee3c", size = 110438, upload-time = "2026-05-19T21:29:16.485Z" },
+    { url = "https://files.pythonhosted.org/packages/48/2d/1c8d89c7c5f9cad9fb2902445d94e2ab1d7aa35de029afbb8ae95c42d00f/yarl-1.24.2-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:e30dd55825dc554ec5b66a94953b8eda8745926514c5089dfcacecb9c99b5bd1", size = 105719, upload-time = "2026-05-19T21:29:18.367Z" },
+    { url = "https://files.pythonhosted.org/packages/a7/25/722e3b93bd687009afb2d59a35e13d30ddd8f80571445bb0c4e4ce26ec66/yarl-1.24.2-cp312-cp312-win_amd64.whl", hash = "sha256:7dafe10c12ddd4d120d528c4b5599c953bd7b12845347d507b95451195bb6cad", size = 92901, upload-time = "2026-05-19T21:29:20.014Z" },
+    { url = "https://files.pythonhosted.org/packages/39/47/4486ccfb674c04854a1ef8aa77868b6a6f765feaf69633409d7ca4f02cb8/yarl-1.24.2-cp312-cp312-win_arm64.whl", hash = "sha256:044a09d8401fcf8681977faef6d286b8ade1e2d2e9dceda175d1cfa5ca496f30", size = 87229, upload-time = "2026-05-19T21:29:22.1Z" },
+    { url = "https://files.pythonhosted.org/packages/fd/4d/4b880086bd0d3e034d25647be1d830afc3e3f610e98c4ab3490af6b1b6d5/yarl-1.24.2-py3-none-any.whl", hash = "sha256:2783d9226db8797636cd6896e4de81feed252d1db72265686c9558d97a4d94b9", size = 53576, upload-time = "2026-05-19T21:31:03.909Z" },
+]
+
 [[package]]
 name = "zensical"
 version = "0.0.46"
@@ -1386,6 +1879,15 @@ name = "zeromq"
 version = "4.3.5"
 source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#dbdee00796b9714d318a883029bf05e844646c3b" }
 
+[[package]]
+name = "zipp"
+version = "4.1.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/b9/d8/eab98a517c14134c0b2eb4e2387bc5f457334293ec5d2dd3857ec2966802/zipp-4.1.0.tar.gz", hash = "sha256:4cb57381f544315db7688e976e922a2b18cdb513d21cc194eb42232ba2a3e602", size = 26214, upload-time = "2026-05-18T20:08:57.967Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/3a/13/547360d81e6d88d58492968ffda9f9542854f11310ee556fef14260cc886/zipp-4.1.0-py3-none-any.whl", hash = "sha256:25ad4e16390cd314347dd8f1de67a2ac538ae658ed4ab9db16029c07c188e97f", size = 10238, upload-time = "2026-05-18T20:08:57.045Z" },
+]
+
 [[package]]
 name = "zstandard"
 version = "0.25.0"

From c02cf706a6c9cbc2bc417a2f1f35df2ea4433196 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 7 Jul 2026 14:09:32 -0700
Subject: [PATCH 1275/1434] fix cabana launch script

---
 openpilot/tools/cabana/cabana | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/openpilot/tools/cabana/cabana b/openpilot/tools/cabana/cabana
index a51b3950906b70..db613b53914560 100755
--- a/openpilot/tools/cabana/cabana
+++ b/openpilot/tools/cabana/cabana
@@ -2,7 +2,7 @@
 set -e
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-ROOT="$(cd "$DIR/../../" && pwd)"
+ROOT="$(cd "$DIR/../../../" && pwd)"
 
 install_qt() {
   if [[ "$(uname)" == "Darwin" ]]; then
@@ -33,6 +33,6 @@ fi
 
 # Build _cabana
 cd "$ROOT"
-scons openpilot/tools/cabana/_cabana openpilot/cereal/messaging/bridge
+scons -u openpilot/tools/cabana/_cabana openpilot/cereal/messaging/bridge
 
 exec "$DIR/_cabana" "$@"

From 1b6e127e6838cb6cf25e5f6c3f13f02631e5d0b5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 7 Jul 2026 15:40:56 -0700
Subject: [PATCH 1276/1434] fix juggle.py

---
 openpilot/tools/plotjuggler/juggle.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/openpilot/tools/plotjuggler/juggle.py b/openpilot/tools/plotjuggler/juggle.py
index 593192ed3031fa..6ddbdbeb3ed48c 100755
--- a/openpilot/tools/plotjuggler/juggle.py
+++ b/openpilot/tools/plotjuggler/juggle.py
@@ -96,6 +96,7 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None, pl
         dst.write(contents)
     os.symlink(os.path.join(BASEDIR, "openpilot", "cereal", "include"), os.path.join(tmp_cereal, "include"), target_is_directory=True)
     os.symlink(os.path.join(BASEDIR, "opendbc_repo", "opendbc", "car", "car.capnp"), os.path.join(tmp_cereal, "car.capnp"))
+    os.symlink(os.path.join(BASEDIR, "opendbc_repo", "opendbc"), os.path.join(schema_root, "opendbc"), target_is_directory=True)
     env["BASEDIR"] = schema_root
     subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir)
 

From 05cf8023a90d039f4c123f3a912a71e5ed0b475a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 7 Jul 2026 16:14:26 -0700
Subject: [PATCH 1277/1434] fix cabana

---
 openpilot/tools/cabana/SConscript | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/openpilot/tools/cabana/SConscript b/openpilot/tools/cabana/SConscript
index 92e95d3cc235e7..5a6ea7baf5af73 100644
--- a/openpilot/tools/cabana/SConscript
+++ b/openpilot/tools/cabana/SConscript
@@ -78,7 +78,7 @@ cabana_env['LIBPATH'] += [libusb.LIB_DIR]
 cabana_libs = [cereal, messaging, visionipc, replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'bz2', 'zstd', 'yuv', 'usb-1.0'] + base_libs
 if arch != "Darwin":
   cabana_libs += ['va', 'va-drm', 'drm']
-opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc/dbc").abspath)
+opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../../opendbc/dbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
 def write_assets_qrc(target, source, env):

From 960c988355826ee1c51facb7fdee8bea534c22a8 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 8 Jul 2026 11:53:47 -0700
Subject: [PATCH 1278/1434] Replace xvfb with headless raylib backend (#38298)

---
 .github/workflows/tests.yaml           | 13 ++++++++-----
 openpilot/selfdrive/test/setup_xvfb.sh | 22 ----------------------
 pyproject.toml                         |  1 -
 uv.lock                                | 19 ++-----------------
 4 files changed, 10 insertions(+), 45 deletions(-)
 delete mode 100755 openpilot/selfdrive/test/setup_xvfb.sh

diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index 0b3d1c0d7677c0..d732dd83dcbb3d 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -110,8 +110,9 @@ jobs:
       run: scons
     - name: Run unit tests
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
+      env:
+        RAYLIB_BACKEND: headless
       run: |
-        source openpilot/selfdrive/test/setup_xvfb.sh
         # Pre-compile Python bytecode so each pytest worker doesn't need to
         $PYTEST --collect-only -m 'not slow' -qq
         MAX_EXAMPLES=1 $PYTEST -m 'not slow'
@@ -206,9 +207,10 @@ jobs:
       run: scons
     - name: Driving test
       timeout-minutes: 2
-      run: |
-        source openpilot/selfdrive/test/setup_xvfb.sh
-        pytest -s openpilot/tools/sim/tests/test_metadrive_bridge.py
+      env:
+        # MetaDrive renders offscreen through panda3d's EGL pipe on llvmpipe
+        EGL_PLATFORM: surfaceless
+      run: pytest -s openpilot/tools/sim/tests/test_metadrive_bridge.py
 
   create_ui_report:
     name: Create UI Report
@@ -226,8 +228,9 @@ jobs:
       - name: Build openpilot
         run: scons
       - name: Create UI Report
+        env:
+          RAYLIB_BACKEND: headless
         run: |
-          source openpilot/selfdrive/test/setup_xvfb.sh
           python3 openpilot/selfdrive/ui/tests/diff/replay.py
           python3 openpilot/selfdrive/ui/tests/diff/replay.py --big
       - name: Upload UI Report
diff --git a/openpilot/selfdrive/test/setup_xvfb.sh b/openpilot/selfdrive/test/setup_xvfb.sh
deleted file mode 100755
index 50b313658dc908..00000000000000
--- a/openpilot/selfdrive/test/setup_xvfb.sh
+++ /dev/null
@@ -1,22 +0,0 @@
-#!/usr/bin/env bash
-
-# Sets up a virtual display for running map renderer and simulator without an X11 display
-
-if uname -r | grep -q "WSL2"; then
-  DISP_ID=0 # WSLg uses display :0
-else
-  DISP_ID=99 # Standard Xvfb display
-fi
-export DISPLAY=:$DISP_ID
-
-Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null &
-
-# check for x11 socket for the specified display ID
-while [ ! -S /tmp/.X11-unix/X$DISP_ID ]
-do
-  echo "Waiting for Xvfb..."
-  sleep 1
-done
-
-touch ~/.Xauthority
-export XDG_SESSION_TYPE="x11"
\ No newline at end of file
diff --git a/pyproject.toml b/pyproject.toml
index 45539f534b5fae..99c38023c939d4 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -42,7 +42,6 @@ dependencies = [
   "json11 @ git+https://github.com/commaai/dependencies.git@release-json11#subdirectory=json11",
   "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
   "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
-  "xvfb @ git+https://github.com/commaai/dependencies.git@release-xvfb#subdirectory=xvfb",
 
   # body / webrtcd
   "av",
diff --git a/uv.lock b/uv.lock
index d32ef9121f60f1..d64cf10cd644a3 100644
--- a/uv.lock
+++ b/uv.lock
@@ -932,7 +932,6 @@ dependencies = [
     { name = "tqdm" },
     { name = "websocket-client" },
     { name = "xattr" },
-    { name = "xvfb" },
     { name = "zeromq" },
     { name = "zstandard" },
     { name = "zstd" },
@@ -1030,7 +1029,6 @@ requires-dist = [
     { name = "ty", marker = "extra == 'testing'" },
     { name = "websocket-client" },
     { name = "xattr" },
-    { name = "xvfb", git = "https://github.com/commaai/dependencies.git?subdirectory=xvfb&rev=release-xvfb" },
     { name = "zensical", marker = "extra == 'docs'" },
     { name = "zeromq", git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq" },
     { name = "zstandard" },
@@ -1065,7 +1063,6 @@ dependencies = [
     { name = "libusb-package" },
     { name = "libusb1" },
     { name = "opendbc" },
-    { name = "spidev", marker = "sys_platform == 'linux'" },
 ]
 
 [package.metadata]
@@ -1085,7 +1082,6 @@ requires-dist = [
     { name = "ruff", marker = "extra == 'dev'" },
     { name = "scons", marker = "extra == 'dev'" },
     { name = "setuptools", marker = "extra == 'dev'" },
-    { name = "spidev", marker = "sys_platform == 'linux'" },
 ]
 provides-extras = ["dev"]
 
@@ -1449,8 +1445,8 @@ wheels = [
 
 [[package]]
 name = "raylib"
-version = "6.0.0.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=raylib&rev=release-raylib#c5ba350ea0b9f6454a71cfc1f7250811db98dbff" }
+version = "6.0.0.1"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=raylib&rev=release-raylib#b5439c0c8178e5c2fee90eb396708ae1524a2662" }
 dependencies = [
     { name = "cffi" },
 ]
@@ -1606,12 +1602,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/4e/39/a61d4b83a7746b70d23d9173be688c0c6bfc7173772344b7442c2c155497/sounddevice-0.5.5-py3-none-win_arm64.whl", hash = "sha256:3861901ddd8230d2e0e8ae62ac320cdd4c688d81df89da036dcb812f757bb3e6", size = 317115, upload-time = "2026-01-23T18:36:42.235Z" },
 ]
 
-[[package]]
-name = "spidev"
-version = "3.8"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/67/87/039b6eeea781598015b538691bc174cc0bf77df9d4d2d3b8bf9245c0de8c/spidev-3.8.tar.gz", hash = "sha256:2bc02fb8c6312d519ebf1f4331067427c0921d3f77b8bcaf05189a2e8b8382c0", size = 13893, upload-time = "2025-09-15T18:56:20.672Z" }
-
 [[package]]
 name = "sympy"
 version = "1.14.0"
@@ -1808,11 +1798,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/38/63/188f7cb41ab35d795558325d5cc8ab552171d5498cfb178fd14409651e18/xattr-1.3.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:2aaa5d66af6523332189108f34e966ca120ff816dfa077ca34b31e6263f8a236", size = 37754, upload-time = "2025-10-13T22:16:15.306Z" },
 ]
 
-[[package]]
-name = "xvfb"
-version = "1.20.11.post1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=xvfb&rev=release-xvfb#bd5a45c85c86d1cc6fe2bd36381b4ff8d7f728c4" }
-
 [[package]]
 name = "yarl"
 version = "1.24.2"

From cb82722dd558425f2c365ca29e96e8fc63f80ee3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 8 Jul 2026 12:21:22 -0700
Subject: [PATCH 1279/1434] remove libjpeg (#38305)

* remove libjpeg

* lil smaller

* happy linter
---
 SConstruct                                    |   2 +-
 openpilot/system/loggerd/SConscript           |   2 +-
 .../system/loggerd/encoder/jpeg_encoder.cc    | 118 ++++++++++--------
 .../system/loggerd/encoder/jpeg_encoder.h     |  21 ++--
 pyproject.toml                                |   1 -
 uv.lock                                       |   6 -
 6 files changed, 78 insertions(+), 72 deletions(-)

diff --git a/SConstruct b/SConstruct
index b5e2d04c222ccb..d73bb4b22c583c 100644
--- a/SConstruct
+++ b/SConstruct
@@ -40,7 +40,7 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'libyuv', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 acados = pkgs[pkg_names.index('acados')]
 acados_include_dirs = [
diff --git a/openpilot/system/loggerd/SConscript b/openpilot/system/loggerd/SConscript
index a638704dcad992..f83e3f04ffd8d3 100644
--- a/openpilot/system/loggerd/SConscript
+++ b/openpilot/system/loggerd/SConscript
@@ -21,7 +21,7 @@ logger_lib = env.Library('logger', src)
 libs.insert(0, logger_lib)
 
 env.Program('loggerd', ['loggerd.cc'], LIBS=libs, FRAMEWORKS=frameworks)
-env.Program('encoderd', ['encoderd.cc'], LIBS=libs + ["jpeg"], FRAMEWORKS=frameworks)
+env.Program('encoderd', ['encoderd.cc'], LIBS=libs, FRAMEWORKS=frameworks)
 env.Program('bootlog.cc', LIBS=libs, FRAMEWORKS=frameworks)
 
 if GetOption('extras'):
diff --git a/openpilot/system/loggerd/encoder/jpeg_encoder.cc b/openpilot/system/loggerd/encoder/jpeg_encoder.cc
index 6bb946157c2279..79f5e1b80fc84c 100644
--- a/openpilot/system/loggerd/encoder/jpeg_encoder.cc
+++ b/openpilot/system/loggerd/encoder/jpeg_encoder.cc
@@ -3,16 +3,50 @@
 #include <cassert>
 #include <cstring>
 
-JpegEncoder::JpegEncoder(const std::string &pusblish_name, int width, int height)
-    : publish_name(pusblish_name), thumbnail_width(width), thumbnail_height(height) {
-  yuv_buffer.resize((thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2);
-  pm = std::make_unique<PubMaster>(std::vector{pusblish_name.c_str()});
+#include "common/swaglog.h"
+
+// Lower qscale = higher quality / bigger files for MJPEG.
+constexpr int MJPEG_QSCALE = 7;
+
+JpegEncoder::JpegEncoder(const std::string &publish_name, int width, int height)
+    : publish_name(publish_name), thumbnail_width(width), thumbnail_height(height) {
+  yuv_buffer.resize((thumbnail_width * thumbnail_height * 3) / 2);
+  pm = std::make_unique<PubMaster>(std::vector{publish_name.c_str()});
+
+  const AVCodec *codec = avcodec_find_encoder(AV_CODEC_ID_MJPEG);
+  assert(codec);
+
+  codec_ctx = avcodec_alloc_context3(codec);
+  assert(codec_ctx);
+  codec_ctx->width = thumbnail_width;
+  codec_ctx->height = thumbnail_height;
+  codec_ctx->pix_fmt = AV_PIX_FMT_YUV420P;
+  codec_ctx->time_base = (AVRational){1, 1};
+  codec_ctx->color_range = AVCOL_RANGE_JPEG;
+  codec_ctx->flags |= AV_CODEC_FLAG_QSCALE;
+  codec_ctx->global_quality = FF_QP2LAMBDA * MJPEG_QSCALE;
+
+  int err = avcodec_open2(codec_ctx, codec, NULL);
+  assert(err >= 0);
+
+  frame = av_frame_alloc();
+  assert(frame);
+  frame->format = codec_ctx->pix_fmt;
+  frame->width = thumbnail_width;
+  frame->height = thumbnail_height;
+  frame->linesize[0] = thumbnail_width;
+  frame->linesize[1] = thumbnail_width / 2;
+  frame->linesize[2] = thumbnail_width / 2;
+  frame->color_range = AVCOL_RANGE_JPEG;
+
+  pkt = av_packet_alloc();
+  assert(pkt);
 }
 
 JpegEncoder::~JpegEncoder() {
-  if (out_buffer) {
-    free(out_buffer);
-  }
+  av_packet_free(&pkt);
+  av_frame_free(&frame);
+  avcodec_free_context(&codec_ctx);
 }
 
 void JpegEncoder::pushThumbnail(VisionBuf *buf, const VisionIpcBufExtra &extra) {
@@ -22,7 +56,7 @@ void JpegEncoder::pushThumbnail(VisionBuf *buf, const VisionIpcBufExtra &extra)
   auto thumbnaild = msg.initEvent().initThumbnail();
   thumbnaild.setFrameId(extra.frame_id);
   thumbnaild.setTimestampEof(extra.timestamp_eof);
-  thumbnaild.setThumbnail({out_buffer, out_size});
+  thumbnaild.setThumbnail({out_buffer.data(), out_buffer.size()});
 
   pm->send(publish_name.c_str(), msg);
 }
@@ -31,12 +65,11 @@ void JpegEncoder::generateThumbnail(const uint8_t *y_addr, const uint8_t *uv_add
   int downscale = width / thumbnail_width;
   assert(downscale * thumbnail_height == height);
 
-  // make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used.
   uint8_t *y_plane = yuv_buffer.data();
   uint8_t *u_plane = y_plane + thumbnail_width * thumbnail_height;
   uint8_t *v_plane = u_plane + (thumbnail_width * thumbnail_height) / 4;
   {
-    // subsampled conversion from nv12 to yuv
+    // subsampled conversion from nv12 to yuv420p
     for (int hy = 0; hy < thumbnail_height / 2; hy++) {
       for (int hx = 0; hx < thumbnail_width / 2; hx++) {
         int ix = hx * downscale + (downscale - 1) / 2;
@@ -55,51 +88,28 @@ void JpegEncoder::generateThumbnail(const uint8_t *y_addr, const uint8_t *uv_add
 }
 
 void JpegEncoder::compressToJpeg(uint8_t *y_plane, uint8_t *u_plane, uint8_t *v_plane) {
-  struct jpeg_compress_struct cinfo;
-  struct jpeg_error_mgr jerr;
-  cinfo.err = jpeg_std_error(&jerr);
-  jpeg_create_compress(&cinfo);
-
-  if (out_buffer) {
-    free(out_buffer);
-    out_buffer = nullptr;
-    out_size = 0;
+  frame->data[0] = y_plane;
+  frame->data[1] = u_plane;
+  frame->data[2] = v_plane;
+  // Required for MJPEG qscale to take effect (global_quality alone is not enough).
+  frame->quality = FF_QP2LAMBDA * MJPEG_QSCALE;
+  frame->pts = 0;
+
+  int err = avcodec_send_frame(codec_ctx, frame);
+  if (err < 0) {
+    LOGE("thumbnail avcodec_send_frame error %d", err);
+    out_buffer.clear();
+    return;
   }
-  jpeg_mem_dest(&cinfo, &out_buffer, &out_size);
-
-  cinfo.image_width = thumbnail_width;
-  cinfo.image_height = thumbnail_height;
-  cinfo.input_components = 3;
-
-  jpeg_set_defaults(&cinfo);
-  jpeg_set_colorspace(&cinfo, JCS_YCbCr);
-  // configure sampling factors for yuv420.
-  cinfo.comp_info[0].h_samp_factor = 2;  // Y
-  cinfo.comp_info[0].v_samp_factor = 2;
-  cinfo.comp_info[1].h_samp_factor = 1;  // U
-  cinfo.comp_info[1].v_samp_factor = 1;
-  cinfo.comp_info[2].h_samp_factor = 1;  // V
-  cinfo.comp_info[2].v_samp_factor = 1;
-  cinfo.raw_data_in = TRUE;
-
-  jpeg_set_quality(&cinfo, 50, TRUE);
-  jpeg_start_compress(&cinfo, TRUE);
-
-  JSAMPROW y[16], u[8], v[8];
-  JSAMPARRAY planes[3]{y, u, v};
-
-  for (int line = 0; line < cinfo.image_height; line += 16) {
-    for (int i = 0; i < 16; ++i) {
-      y[i] = y_plane + (line + i) * cinfo.image_width;
-      if (i % 2 == 0) {
-        int offset = (cinfo.image_width / 2) * ((i + line) / 2);
-        u[i / 2] = u_plane + offset;
-        v[i / 2] = v_plane + offset;
-      }
-    }
-    jpeg_write_raw_data(&cinfo, planes, 16);
+
+  av_packet_unref(pkt);
+  err = avcodec_receive_packet(codec_ctx, pkt);
+  if (err < 0) {
+    LOGE("thumbnail avcodec_receive_packet error %d", err);
+    out_buffer.clear();
+    return;
   }
 
-  jpeg_finish_compress(&cinfo);
-  jpeg_destroy_compress(&cinfo);
+  out_buffer.assign(pkt->data, pkt->data + pkt->size);
+  av_packet_unref(pkt);
 }
diff --git a/openpilot/system/loggerd/encoder/jpeg_encoder.h b/openpilot/system/loggerd/encoder/jpeg_encoder.h
index 3bd1308b4bc97e..10cec52657c36b 100644
--- a/openpilot/system/loggerd/encoder/jpeg_encoder.h
+++ b/openpilot/system/loggerd/encoder/jpeg_encoder.h
@@ -1,18 +1,20 @@
 #pragma once
 
-#include <cstdio>
-#include <cstdlib>
-#include <cstddef>
 #include <cstdint>
-#include <jpeglib.h>
-#include <vector>
 #include <memory>
+#include <string>
+#include <vector>
+
 #include "openpilot/cereal/messaging/messaging.h"
 #include "msgq/visionipc/visionbuf.h"
 
+extern "C" {
+#include <libavcodec/avcodec.h>
+}
+
 class JpegEncoder {
 public:
-  JpegEncoder(const std::string &pusblish_name, int width, int height);
+  JpegEncoder(const std::string &publish_name, int width, int height);
   ~JpegEncoder();
   void pushThumbnail(VisionBuf *buf, const VisionIpcBufExtra &extra);
 
@@ -24,9 +26,10 @@ class JpegEncoder {
   int thumbnail_height;
   std::string publish_name;
   std::vector<uint8_t> yuv_buffer;
+  std::vector<uint8_t> out_buffer;
   std::unique_ptr<PubMaster> pm;
 
-  // JPEG output buffer
-  unsigned char* out_buffer = nullptr;
-  unsigned long out_size = 0;
+  AVCodecContext *codec_ctx = nullptr;
+  AVFrame *frame = nullptr;
+  AVPacket *pkt = nullptr;
 };
diff --git a/pyproject.toml b/pyproject.toml
index 99c38023c939d4..57e953986a8332 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -33,7 +33,6 @@ dependencies = [
   "acados @ git+https://github.com/commaai/dependencies.git@release-acados#subdirectory=acados",
   "eigen @ git+https://github.com/commaai/dependencies.git@release-eigen#subdirectory=eigen",
   "ffmpeg @ git+https://github.com/commaai/dependencies.git@release-ffmpeg#subdirectory=ffmpeg",
-  "libjpeg @ git+https://github.com/commaai/dependencies.git@release-libjpeg#subdirectory=libjpeg",
   "libyuv @ git+https://github.com/commaai/dependencies.git@release-libyuv#subdirectory=libyuv",
   "zstd @ git+https://github.com/commaai/dependencies.git@release-zstd#subdirectory=zstd",
   "ncurses @ git+https://github.com/commaai/dependencies.git@release-ncurses#subdirectory=ncurses",
diff --git a/uv.lock b/uv.lock
index d64cf10cd644a3..bcd96d53d84db9 100644
--- a/uv.lock
+++ b/uv.lock
@@ -655,10 +655,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/48/e8/7923893f08504f28e0b5fb8b21795fc388d0363cfa2f412e2541c9464cb1/lefthook-2.1.9-py3-none-win_arm64.whl", hash = "sha256:6d8e3923c42a04e9375f88314ebc8c86f68879d3d0c9d856b6adbed109890e90", size = 4959833, upload-time = "2026-05-29T08:39:32.882Z" },
 ]
 
-[[package]]
-name = "libjpeg"
-version = "3.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg#3f9a0796d1985576b0cb172456e08bb918f3afeb" }
 
 [[package]]
 name = "libusb"
@@ -909,7 +905,6 @@ dependencies = [
     { name = "jeepney" },
     { name = "json-rpc" },
     { name = "json11" },
-    { name = "libjpeg" },
     { name = "libusb" },
     { name = "libyuv" },
     { name = "ncurses" },
@@ -997,7 +992,6 @@ requires-dist = [
     { name = "jinja2", marker = "extra == 'docs'" },
     { name = "json-rpc" },
     { name = "json11", git = "https://github.com/commaai/dependencies.git?subdirectory=json11&rev=release-json11" },
-    { name = "libjpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg" },
     { name = "libusb", git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb" },
     { name = "libyuv", git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv" },
     { name = "matplotlib", marker = "extra == 'dev'" },

From 1ab1ed745391a680a6cfa8025a2e993493a4b463 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 8 Jul 2026 19:35:39 -0700
Subject: [PATCH 1280/1434] Use PyPI comma-deps packages (#38295)

---
 pyproject.toml |  34 ++---
 uv.lock        | 335 +++++++++++++++++++++++++++++++------------------
 2 files changed, 231 insertions(+), 138 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 57e953986a8332..1c4e551b813405 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -26,21 +26,21 @@ dependencies = [
   "numpy >=2.0",
 
   # vendored native dependencies
-  "bzip2 @ git+https://github.com/commaai/dependencies.git@release-bzip2#subdirectory=bzip2",
-  "bootstrap-icons @ git+https://github.com/commaai/dependencies.git@release-bootstrap-icons#subdirectory=bootstrap-icons",
-  "capnproto @ git+https://github.com/commaai/dependencies.git@release-capnproto#subdirectory=capnproto",
-  "catch2 @ git+https://github.com/commaai/dependencies.git@release-catch2#subdirectory=catch2",
-  "acados @ git+https://github.com/commaai/dependencies.git@release-acados#subdirectory=acados",
-  "eigen @ git+https://github.com/commaai/dependencies.git@release-eigen#subdirectory=eigen",
-  "ffmpeg @ git+https://github.com/commaai/dependencies.git@release-ffmpeg#subdirectory=ffmpeg",
-  "libyuv @ git+https://github.com/commaai/dependencies.git@release-libyuv#subdirectory=libyuv",
-  "zstd @ git+https://github.com/commaai/dependencies.git@release-zstd#subdirectory=zstd",
-  "ncurses @ git+https://github.com/commaai/dependencies.git@release-ncurses#subdirectory=ncurses",
-  "zeromq @ git+https://github.com/commaai/dependencies.git@release-zeromq#subdirectory=zeromq",
-  "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
-  "json11 @ git+https://github.com/commaai/dependencies.git@release-json11#subdirectory=json11",
-  "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
-  "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
+  "comma-deps-bzip2",
+  "comma-deps-bootstrap-icons",
+  "comma-deps-capnproto",
+  "comma-deps-catch2",
+  "comma-deps-acados",
+  "comma-deps-eigen",
+  "comma-deps-ffmpeg",
+  "comma-deps-libyuv",
+  "comma-deps-zstd",
+  "comma-deps-ncurses",
+  "comma-deps-zeromq",
+  "comma-deps-libusb",
+  "comma-deps-json11",
+  "comma-deps-git-lfs",
+  "comma-deps-gcc-arm-none-eabi",
 
   # body / webrtcd
   "av",
@@ -67,7 +67,7 @@ dependencies = [
   "zstandard",
 
   # ui
-  "raylib @ git+https://github.com/commaai/dependencies.git@release-raylib#subdirectory=raylib",
+  "comma-deps-raylib",
   "qrcode",
   "jeepney",
   "pillow",
@@ -99,7 +99,7 @@ dev = [
 ]
 
 tools = [
-  "imgui @ git+https://github.com/commaai/dependencies.git@release-imgui#subdirectory=imgui",
+  "comma-deps-imgui",
 
   # this can be added back once it's stripped down some more
   #"metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
diff --git a/uv.lock b/uv.lock
index bcd96d53d84db9..0fb7dddd0cdb6c 100644
--- a/uv.lock
+++ b/uv.lock
@@ -8,14 +8,6 @@ overrides = [
     { name = "opendbc", editable = "opendbc_repo" },
 ]
 
-[[package]]
-name = "acados"
-version = "0.2.2"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=acados&rev=release-acados#8ea54be6bf1096b131493dbb38e8bd721a6727de" }
-dependencies = [
-    { name = "numpy" },
-]
-
 [[package]]
 name = "aiohappyeyeballs"
 version = "2.7.1"
@@ -129,21 +121,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/c8/b9/275df9607f7fb44317ccb1d4be74827185c0d410f52b6e2cd770fe209118/av-16.1.0-cp312-cp312-win_amd64.whl", hash = "sha256:f49243b1d27c91cd8c66fdba90a674e344eb8eb917264f36117bf2b6879118fd", size = 31752045, upload-time = "2026-01-11T09:57:45.106Z" },
 ]
 
-[[package]]
-name = "bootstrap-icons"
-version = "1.10.5.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bootstrap-icons&rev=release-bootstrap-icons#65bc63d354432ad83294c8ecfc3ef01733a46e12" }
-
-[[package]]
-name = "bzip2"
-version = "1.0.8"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#83b0dd263eff2d9633a86096056fe16543a42244" }
-
-[[package]]
-name = "capnproto"
-version = "1.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#71cb13543c7d9691064fd01854e228f1481efab6" }
-
 [[package]]
 name = "catch2"
 version = "2.13.10"
@@ -236,6 +213,178 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/d1/d6/3965ed04c63042e047cb6a3e6ed1a63a35087b6a609aa3a15ed8ac56c221/colorama-0.4.6-py2.py3-none-any.whl", hash = "sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6", size = 25335, upload-time = "2022-10-25T02:36:20.889Z" },
 ]
 
+[[package]]
+name = "comma-deps-acados"
+version = "0.2.2.post95"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "numpy" },
+]
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/58/83/e76d3f89de07a672c5fc452d81b6f00f972721342eb75de2171d2c3a8b19/comma_deps_acados-0.2.2.post95-py3-none-macosx_11_0_arm64.whl", hash = "sha256:fd7c583ac2a33b414540c0601173e3a9c28c5d8f825cb24736c64e3c07271f56", size = 10631724, upload-time = "2026-06-24T23:58:31.726Z" },
+    { url = "https://files.pythonhosted.org/packages/64/96/4b8e50a153dcb5f34628f854dc58774588b8dbfb26b6bedd0b99acb4aa71/comma_deps_acados-0.2.2.post95-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:1f47c3a665193937c993d3ee15989be5ba75eb427c9733fe1b9e800bf33c56aa", size = 11663713, upload-time = "2026-06-24T23:58:33.725Z" },
+    { url = "https://files.pythonhosted.org/packages/1b/2f/bf57b9656e86950ba19c7a88992fccc0abb89878f9c30fb1b2252d57f0a7/comma_deps_acados-0.2.2.post95-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:00b49d5b691fa97d07fa5e5b842e0d2e1a6faa6856d2a081eefcee649f93329b", size = 13167209, upload-time = "2026-06-24T23:58:35.941Z" },
+]
+
+[[package]]
+name = "comma-deps-bootstrap-icons"
+version = "1.10.5.0.post95"
+source = { registry = "https://pypi.org/simple" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/44/0b/bb713dd4bed94b0b2b21657b7337e264953bd785a2b2f5c1b0706cdcde29/comma_deps_bootstrap_icons-1.10.5.0.post95-py3-none-any.whl", hash = "sha256:d59fc8d3e642e00f83d7a4854164f1dee21c3d17c726d5537b1b72b149f5788b", size = 386001, upload-time = "2026-06-24T23:58:37.84Z" },
+]
+
+[[package]]
+name = "comma-deps-bzip2"
+version = "1.0.8.post95"
+source = { registry = "https://pypi.org/simple" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/f8/ac/539d76e9bcebbc53d62274a19c47522b118dce3261fc6baea045f93c98b6/comma_deps_bzip2-1.0.8.post95-py3-none-macosx_11_0_arm64.whl", hash = "sha256:be466743b7fc56fa18c2c389a46bdeb0fc885cf3cf39b779d748ce540609ebd5", size = 42832, upload-time = "2026-06-24T23:58:39.592Z" },
+    { url = "https://files.pythonhosted.org/packages/a1/fe/5206bd6d716022cea259c4878c6a1927ab3555f4caa48a74efaa83d8f418/comma_deps_bzip2-1.0.8.post95-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:7c015d720cc5462f87062b4482c54684de6a237b4edb60612c2f58721413682f", size = 38629, upload-time = "2026-06-24T23:58:40.496Z" },
+    { url = "https://files.pythonhosted.org/packages/39/0e/78218f9a645ad9d27000153795d6819b3b52ca62d882aa46a413e40887be/comma_deps_bzip2-1.0.8.post95-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:3188a197aaf3efbfac975193887c59600b91a3b4eb7f62cc975377133cd48834", size = 36271, upload-time = "2026-06-24T23:58:41.2Z" },
+]
+
+[[package]]
+name = "comma-deps-capnproto"
+version = "1.0.1.post93"
+source = { registry = "https://pypi.org/simple" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/19/a6/97c22a112e23f530db28f8ecf7b191ec16685d282fdbe892dff7437bdf6d/comma_deps_capnproto-1.0.1.post93-py3-none-macosx_11_0_arm64.whl", hash = "sha256:6717e8e34ef12116502f244b23f092984c1d15afa4e40b956450b74a0d4d2520", size = 2407330, upload-time = "2026-07-08T19:30:41.395Z" },
+    { url = "https://files.pythonhosted.org/packages/6d/f2/79a15ff5f2c97a741923a97357f6a4235e4ced928ba1d4079d01c66df4b0/comma_deps_capnproto-1.0.1.post93-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:a70349446e2ec17b281ebaaae02ca4c35495f4210043c716c55139a05a826090", size = 2506341, upload-time = "2026-07-08T19:30:45.607Z" },
+    { url = "https://files.pythonhosted.org/packages/80/a9/f61fe62045c4ea867f51f2d74b4edfabd6c272c62a3281a9f1f33825a725/comma_deps_capnproto-1.0.1.post93-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:f98cdba8f8c7f08a7a0c0a4b7cc0bfcf515e29ad8f1b5cb8eda4e253bef5e6e3", size = 2590769, upload-time = "2026-07-08T19:30:49.728Z" },
+]
+
+[[package]]
+name = "comma-deps-catch2"
+version = "2.13.10.post93"
+source = { registry = "https://pypi.org/simple" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/88/ee/b4ef7758d04a024775d49558ca930fec19aa37cd691ad9182b7141f4d4d7/comma_deps_catch2-2.13.10.post93-py3-none-any.whl", hash = "sha256:8f23293251b5db48c08885d8816ca252b3fb11b0c1c26775bae36e8b217e865e", size = 137085, upload-time = "2026-07-08T19:30:53.44Z" },
+]
+
+[[package]]
+name = "comma-deps-eigen"
+version = "3.4.0.post93"
+source = { registry = "https://pypi.org/simple" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/fa/3c/b262d6103a3b7a5cb0296b821eb4f1385b349e527bba75d7efe057cea802/comma_deps_eigen-3.4.0.post93-py3-none-macosx_11_0_arm64.whl", hash = "sha256:f90433cea3f59f1b9ed58bd92d0f1b55721eff8b473d579ed40fa2fcdc2c1787", size = 2275895, upload-time = "2026-07-08T19:31:08.983Z" },
+    { url = "https://files.pythonhosted.org/packages/00/a1/b9bf332a096267ff26ebd546b104d9a92b905857c59bae899794897c790b/comma_deps_eigen-3.4.0.post93-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:3169d82b825ca8accdae5f3e1a9cddd9f28f8bd5f66e4353fedae68b23f13cdb", size = 2275897, upload-time = "2026-07-08T19:31:12.66Z" },
+    { url = "https://files.pythonhosted.org/packages/bd/c6/1132467acd1257ea159cf4608c6f00ef0b3ca353fd86aaced0d76dcce62c/comma_deps_eigen-3.4.0.post93-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:d0b042c817070a0124b8c0e78b87ff5e8b44db21a1abea740afe7115f5bd8447", size = 2275900, upload-time = "2026-07-08T19:31:16.352Z" },
+]
+
+[[package]]
+name = "comma-deps-ffmpeg"
+version = "7.1.0.post93"
+source = { registry = "https://pypi.org/simple" }
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 version = "1.5.0"
@@ -655,12 +774,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/48/e8/7923893f08504f28e0b5fb8b21795fc388d0363cfa2f412e2541c9464cb1/lefthook-2.1.9-py3-none-win_arm64.whl", hash = "sha256:6d8e3923c42a04e9375f88314ebc8c86f68879d3d0c9d856b6adbed109890e90", size = 4959833, upload-time = "2026-05-29T08:39:32.882Z" },
 ]
 
-
-[[package]]
-name = "libusb"
-version = "1.0.29"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb#9c268a75b3f29495f154065064c6ee3ac79bd416" }
-
 [[package]]
 name = "libusb-package"
 version = "1.0.30.0"
@@ -690,11 +803,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/5f/08/02aecf6dad627534a5835244ece14d7f187ef430354d9b8551199934d059/libusb1-3.4.0-py3-none-win_amd64.whl", hash = "sha256:b7dcc1f324a895af6aac708bc5513a17373f97349cc2ab8a277519c788bd18ca", size = 141212, upload-time = "2026-05-16T20:59:17.286Z" },
 ]
 
-[[package]]
-name = "libyuv"
-version = "1922.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv#606fbcc349db62aa8c337b49520b7361e374b67d" }
-
 [[package]]
 name = "markdown"
 version = "3.10.2"
@@ -818,11 +926,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/81/08/7036c080d7117f28a4af526d794aab6a84463126db031b007717c1a6676e/multidict-6.7.1-py3-none-any.whl", hash = "sha256:55d97cc6dae627efa6a6e548885712d4864b81110ac76fa4e534c03819fa4a56", size = 12319, upload-time = "2026-01-26T02:46:44.004Z" },
 ]
 
-[[package]]
-name = "ncurses"
-version = "6.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ncurses&rev=release-ncurses#97d56492b9257d021596fc89927af2ec4433da58" }
-
 [[package]]
 name = "numpy"
 version = "2.5.0"
@@ -887,27 +990,30 @@ name = "openpilot"
 version = "0.1.0"
 source = { editable = "." }
 dependencies = [
-    { name = "acados" },
     { name = "aiortc" },
     { name = "av" },
-    { name = "bootstrap-icons" },
-    { name = "bzip2" },
-    { name = "capnproto" },
-    { name = "catch2" },
     { name = "cffi" },
+    { name = "comma-deps-acados" },
+    { name = "comma-deps-bootstrap-icons" },
+    { name = "comma-deps-bzip2" },
+    { name = "comma-deps-capnproto" },
+    { name = "comma-deps-catch2" },
+    { name = "comma-deps-eigen" },
+    { name = "comma-deps-ffmpeg" },
+    { name = "comma-deps-gcc-arm-none-eabi" },
+    { name = "comma-deps-git-lfs" },
+    { name = "comma-deps-json11" },
+    { name = "comma-deps-libusb" },
+    { name = "comma-deps-libyuv" },
+    { name = "comma-deps-ncurses" },
+    { name = "comma-deps-raylib" },
+    { name = "comma-deps-zeromq" },
+    { name = "comma-deps-zstd" },
     { name = "crcmod-plus" },
     { name = "cython" },
-    { name = "eigen" },
-    { name = "ffmpeg" },
-    { name = "gcc-arm-none-eabi" },
-    { name = "git-lfs" },
     { name = "inputs" },
     { name = "jeepney" },
     { name = "json-rpc" },
-    { name = "json11" },
-    { name = "libusb" },
-    { name = "libyuv" },
-    { name = "ncurses" },
     { name = "numpy" },
     { name = "pillow" },
     { name = "psutil" },
@@ -916,7 +1022,6 @@ dependencies = [
     { name = "pyserial" },
     { name = "pyzmq" },
     { name = "qrcode" },
-    { name = "raylib" },
     { name = "requests" },
     { name = "scons" },
     { name = "sentry-sdk" },
@@ -927,9 +1032,7 @@ dependencies = [
     { name = "tqdm" },
     { name = "websocket-client" },
     { name = "xattr" },
-    { name = "zeromq" },
     { name = "zstandard" },
-    { name = "zstd" },
 ]
 
 [package.optional-dependencies]
@@ -954,7 +1057,7 @@ testing = [
     { name = "ty" },
 ]
 tools = [
-    { name = "imgui" },
+    { name = "comma-deps-imgui" },
 ]
 
 [package.dev-dependencies]
@@ -969,33 +1072,36 @@ submodules = [
 
 [package.metadata]
 requires-dist = [
-    { name = "acados", git = "https://github.com/commaai/dependencies.git?subdirectory=acados&rev=release-acados" },
     { name = "aiortc" },
     { name = "av" },
-    { name = "bootstrap-icons", git = "https://github.com/commaai/dependencies.git?subdirectory=bootstrap-icons&rev=release-bootstrap-icons" },
-    { name = "bzip2", git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2" },
-    { name = "capnproto", git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto" },
-    { name = "catch2", git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2" },
     { name = "cffi" },
     { name = "codespell", marker = "extra == 'testing'" },
+    { name = "comma-deps-acados" },
+    { name = "comma-deps-bootstrap-icons" },
+    { name = "comma-deps-bzip2" },
+    { name = "comma-deps-capnproto" },
+    { name = "comma-deps-catch2" },
+    { name = "comma-deps-eigen" },
+    { name = "comma-deps-ffmpeg" },
+    { name = "comma-deps-gcc-arm-none-eabi" },
+    { name = "comma-deps-git-lfs" },
+    { name = "comma-deps-imgui", marker = "extra == 'tools'" },
+    { name = "comma-deps-json11" },
+    { name = "comma-deps-libusb" },
+    { name = "comma-deps-libyuv" },
+    { name = "comma-deps-ncurses" },
+    { name = "comma-deps-raylib" },
+    { name = "comma-deps-zeromq" },
+    { name = "comma-deps-zstd" },
     { name = "coverage", marker = "extra == 'testing'" },
     { name = "crcmod-plus" },
     { name = "cython" },
-    { name = "eigen", git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=release-eigen" },
-    { name = "ffmpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=release-ffmpeg" },
-    { name = "gcc-arm-none-eabi", git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi" },
-    { name = "git-lfs", git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=release-git-lfs" },
     { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" },
-    { name = "imgui", marker = "extra == 'tools'", git = "https://github.com/commaai/dependencies.git?subdirectory=imgui&rev=release-imgui" },
     { name = "inputs" },
     { name = "jeepney" },
     { name = "jinja2", marker = "extra == 'docs'" },
     { name = "json-rpc" },
-    { name = "json11", git = "https://github.com/commaai/dependencies.git?subdirectory=json11&rev=release-json11" },
-    { name = "libusb", git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb" },
-    { name = "libyuv", git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv" },
     { name = "matplotlib", marker = "extra == 'dev'" },
-    { name = "ncurses", git = "https://github.com/commaai/dependencies.git?subdirectory=ncurses&rev=release-ncurses" },
     { name = "numpy", specifier = ">=2.0" },
     { name = "pillow" },
     { name = "pre-commit-hooks", marker = "extra == 'testing'" },
@@ -1010,7 +1116,6 @@ requires-dist = [
     { name = "pytest-xdist", marker = "extra == 'testing'", git = "https://github.com/sshane/pytest-xdist?rev=2b4372bd62699fb412c4fe2f95bf9f01bd2018da" },
     { name = "pyzmq" },
     { name = "qrcode" },
-    { name = "raylib", git = "https://github.com/commaai/dependencies.git?subdirectory=raylib&rev=release-raylib" },
     { name = "requests" },
     { name = "ruff", marker = "extra == 'testing'" },
     { name = "scons" },
@@ -1024,9 +1129,7 @@ requires-dist = [
     { name = "websocket-client" },
     { name = "xattr" },
     { name = "zensical", marker = "extra == 'docs'" },
-    { name = "zeromq", git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq" },
     { name = "zstandard" },
-    { name = "zstd", git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd" },
 ]
 provides-extras = ["docs", "testing", "dev", "tools"]
 
@@ -1057,6 +1160,7 @@ dependencies = [
     { name = "libusb-package" },
     { name = "libusb1" },
     { name = "opendbc" },
+    { name = "spidev", marker = "sys_platform == 'linux'" },
 ]
 
 [package.metadata]
@@ -1076,6 +1180,7 @@ requires-dist = [
     { name = "ruff", marker = "extra == 'dev'" },
     { name = "scons", marker = "extra == 'dev'" },
     { name = "setuptools", marker = "extra == 'dev'" },
+    { name = "spidev", marker = "sys_platform == 'linux'" },
 ]
 provides-extras = ["dev"]
 
@@ -1437,14 +1542,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/dd/b8/d2d6d731733f51684bbf76bf34dab3b70a9148e8f2cef2bb544fccec681a/qrcode-8.2-py3-none-any.whl", hash = "sha256:16e64e0716c14960108e85d853062c9e8bba5ca8252c0b4d0231b9df4060ff4f", size = 45986, upload-time = "2025-05-01T15:44:22.781Z" },
 ]
 
-[[package]]
-name = "raylib"
-version = "6.0.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=raylib&rev=release-raylib#b5439c0c8178e5c2fee90eb396708ae1524a2662" }
-dependencies = [
-    { name = "cffi" },
-]
-
 [[package]]
 name = "rednose"
 version = "0.0.1"
@@ -1596,6 +1693,12 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/4e/39/a61d4b83a7746b70d23d9173be688c0c6bfc7173772344b7442c2c155497/sounddevice-0.5.5-py3-none-win_arm64.whl", hash = "sha256:3861901ddd8230d2e0e8ae62ac320cdd4c688d81df89da036dcb812f757bb3e6", size = 317115, upload-time = "2026-01-23T18:36:42.235Z" },
 ]
 
+[[package]]
+name = "spidev"
+version = "3.8"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/67/87/039b6eeea781598015b538691bc174cc0bf77df9d4d2d3b8bf9245c0de8c/spidev-3.8.tar.gz", hash = "sha256:2bc02fb8c6312d519ebf1f4331067427c0921d3f77b8bcaf05189a2e8b8382c0", size = 13893, upload-time = "2025-09-15T18:56:20.672Z" }
+
 [[package]]
 name = "sympy"
 version = "1.14.0"
@@ -1853,11 +1956,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/73/26/fc7ef081acbdada8436825221cb728ee84a81d4d78a7bb79aa58bd150d31/zensical-0.0.46-cp310-abi3-win_amd64.whl", hash = "sha256:1543a693a160de60e86ca589592401b584670e7e12c5ae30e3c2ba76786f7ec3", size = 12599687, upload-time = "2026-06-21T18:52:37.913Z" },
 ]
 
-[[package]]
-name = "zeromq"
-version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#dbdee00796b9714d318a883029bf05e844646c3b" }
-
 [[package]]
 name = "zipp"
 version = "4.1.0"
@@ -1891,8 +1989,3 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/79/3b/fa54d9015f945330510cb5d0b0501e8253c127cca7ebe8ba46a965df18c5/zstandard-0.25.0-cp312-cp312-win_amd64.whl", hash = "sha256:ffef5a74088f1e09947aecf91011136665152e0b4b359c42be3373897fb39b01", size = 506276, upload-time = "2025-09-14T22:17:21.429Z" },
     { url = "https://files.pythonhosted.org/packages/ea/6b/8b51697e5319b1f9ac71087b0af9a40d8a6288ff8025c36486e0c12abcc4/zstandard-0.25.0-cp312-cp312-win_arm64.whl", hash = "sha256:181eb40e0b6a29b3cd2849f825e0fa34397f649170673d385f3598ae17cca2e9", size = 462679, upload-time = "2025-09-14T22:17:23.147Z" },
 ]
-
-[[package]]
-name = "zstd"
-version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#66b1dbae3110f047af4262c1b561641d8c764e85" }

From 9877f6ac0ecd9d3cdc0e9abeb7f6994a8458d42a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 8 Jul 2026 20:20:24 -0700
Subject: [PATCH 1281/1434] ffmpeg: use shared libraries (#38308)

---
 SConstruct                             | 19 +++++++++++++++++--
 openpilot/system/loggerd/SConscript    |  9 ++-------
 openpilot/tools/cabana/SConscript      |  6 ++----
 openpilot/tools/jotpluggler/SConscript |  8 ++++----
 openpilot/tools/replay/SConscript      |  6 ++----
 uv.lock                                |  8 ++++----
 6 files changed, 31 insertions(+), 25 deletions(-)

diff --git a/SConstruct b/SConstruct
index d73bb4b22c583c..0f7854dcd41d88 100644
--- a/SConstruct
+++ b/SConstruct
@@ -43,6 +43,21 @@ assert arch in [
 pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'libyuv', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 acados = pkgs[pkg_names.index('acados')]
+ffmpeg = pkgs[pkg_names.index('ffmpeg')]
+# Shared package ships .so/.dylib; older device venvs still have static .a only.
+# Keep static link deps (x264/z/va/drm) when the installed package is static so
+# TICI CI works without upgrading the device venv yet.
+# TODO: drop the static fallback once device venvs have comma-deps-ffmpeg>=7.1.0.post94
+_ffmpeg_lib_names = os.listdir(ffmpeg.LIB_DIR) if os.path.isdir(ffmpeg.LIB_DIR) else []
+ffmpeg_shared = any(
+  n.startswith('libavcodec.so') or (n.startswith('libavcodec') and n.endswith('.dylib'))
+  for n in _ffmpeg_lib_names
+)
+ffmpeg_libs = ['avformat', 'avcodec', 'swresample', 'avutil']
+if not ffmpeg_shared:
+  ffmpeg_libs += ['x264', 'z']
+  if arch != "Darwin":
+    ffmpeg_libs += ['va', 'va-drm', 'drm']
 acados_include_dirs = [
   acados.INCLUDE_DIR,
   os.path.join(acados.INCLUDE_DIR, "blasfeo", "include"),
@@ -126,7 +141,7 @@ env = Environment(
     "#rednose/helpers",
     [x.LIB_DIR for x in pkgs],
   ],
-  RPATH=[],
+  RPATH=[ffmpeg.LIB_DIR] if ffmpeg_shared else [],
   CYTHONCFILESUFFIX=".cpp",
   COMPILATIONDB_USE_ABSPATH=True,
   REDNOSE_ROOT="#",
@@ -192,7 +207,7 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch', 'acados')
+Export('env', 'arch', 'acados', 'ffmpeg_libs')
 
 # Setup cache dir
 cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
diff --git a/openpilot/system/loggerd/SConscript b/openpilot/system/loggerd/SConscript
index f83e3f04ffd8d3..0bba1d17715905 100644
--- a/openpilot/system/loggerd/SConscript
+++ b/openpilot/system/loggerd/SConscript
@@ -1,8 +1,6 @@
-Import('env', 'arch', 'messaging', 'common', 'visionipc')
+Import('env', 'arch', 'messaging', 'common', 'visionipc', 'ffmpeg_libs')
 
-libs = [common, messaging, visionipc,
-        'avformat', 'avcodec', 'swresample', 'avutil', 'x264',
-        'pthread', 'z', 'm', 'zstd']
+libs = [common, messaging, visionipc] + ffmpeg_libs + ['pthread', 'm', 'zstd']
 frameworks = []
 
 src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/jpeg_encoder.cc']
@@ -14,9 +12,6 @@ else:
   if arch == "Darwin":
     frameworks += ['VideoToolbox', 'CoreMedia', 'CoreFoundation', 'CoreVideo']
 
-if arch != "Darwin":
-  libs += ['va', 'va-drm', 'drm']
-
 logger_lib = env.Library('logger', src)
 libs.insert(0, logger_lib)
 
diff --git a/openpilot/tools/cabana/SConscript b/openpilot/tools/cabana/SConscript
index 5a6ea7baf5af73..aa91514510058c 100644
--- a/openpilot/tools/cabana/SConscript
+++ b/openpilot/tools/cabana/SConscript
@@ -5,7 +5,7 @@ import shutil
 import bootstrap_icons
 import libusb
 
-Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib')
+Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib', 'ffmpeg_libs')
 
 # Detect Qt - skip build if not available
 if arch == "Darwin":
@@ -75,9 +75,7 @@ cabana_env = qt_env.Clone()
 cabana_env['CPPPATH'] += [libusb.INCLUDE_DIR]
 cabana_env['LIBPATH'] += [libusb.LIB_DIR]
 
-cabana_libs = [cereal, messaging, visionipc, replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'bz2', 'zstd', 'yuv', 'usb-1.0'] + base_libs
-if arch != "Darwin":
-  cabana_libs += ['va', 'va-drm', 'drm']
+cabana_libs = [cereal, messaging, visionipc, replay_lib] + ffmpeg_libs + ['bz2', 'zstd', 'yuv', 'usb-1.0'] + base_libs
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../../opendbc/dbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
diff --git a/openpilot/tools/jotpluggler/SConscript b/openpilot/tools/jotpluggler/SConscript
index 3e235bb07a6ec3..dda9c8fac4bb49 100644
--- a/openpilot/tools/jotpluggler/SConscript
+++ b/openpilot/tools/jotpluggler/SConscript
@@ -9,7 +9,7 @@ from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.values import PLATFORMS
 from openpilot.common.basedir import BASEDIR
 
-Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib')
+Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib', 'ffmpeg_libs')
 
 jot_env = env.Clone()
 jot_env["LIBPATH"] += [imgui.MESA_DIR, libusb.LIB_DIR]
@@ -101,12 +101,12 @@ event_extractors = jot_env.Command("generated_event_extractors.h", [
   generate_event_extractors,
 )
 
-libs = [replay_lib, common, messaging, visionipc, cereal, File(f"{imgui.LIB_DIR}/libimgui.a"), File(f"{imgui.LIB_DIR}/libglfw3.a"),
-        "avformat", "avcodec", "avutil", "x264", "yuv", "z", "bz2", "zstd", "m", "pthread", "usb-1.0"]
+libs = [replay_lib, common, messaging, visionipc, cereal, File(f"{imgui.LIB_DIR}/libimgui.a"), File(f"{imgui.LIB_DIR}/libglfw3.a")] + \
+        ffmpeg_libs + ["yuv", "bz2", "zstd", "m", "pthread", "usb-1.0"]
 if arch == "Darwin":
   jot_env["FRAMEWORKS"] = ["OpenGL", "Cocoa", "IOKit", "CoreFoundation", "CoreVideo", "CoreMedia", "VideoToolbox"]
 else:
-  libs += ["GL", "dl", "va", "va-drm", "drm"]
+  libs += ["GL", "dl"]
 
 program = jot_env.Program("jotpluggler", jot_env.Glob("*.cc"), LIBS=libs)
 jot_env.Depends(program, generated_dbc_stamp)
diff --git a/openpilot/tools/replay/SConscript b/openpilot/tools/replay/SConscript
index d047415f58dedf..c1f56185239bfe 100644
--- a/openpilot/tools/replay/SConscript
+++ b/openpilot/tools/replay/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal')
+Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'ffmpeg_libs')
 
 replay_env = env.Clone()
 replay_env['CCFLAGS'] += ['-Wno-deprecated-declarations']
@@ -12,9 +12,7 @@ if arch != "Darwin":
   replay_lib_src.append("qcom_decoder.cc")
 replay_lib = replay_env.Library("replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
 Export('replay_lib')
-replay_libs = [replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'bz2', 'zstd', 'yuv', 'ncurses'] + base_libs
-if arch != "Darwin":
-  replay_libs += ['va', 'va-drm', 'drm']
+replay_libs = [replay_lib] + ffmpeg_libs + ['bz2', 'zstd', 'yuv', 'ncurses'] + base_libs
 replay_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('extras'):
diff --git a/uv.lock b/uv.lock
index 0fb7dddd0cdb6c..8d14aeb3bb9a78 100644
--- a/uv.lock
+++ b/uv.lock
@@ -274,12 +274,12 @@ wheels = [
 
 [[package]]
 name = "comma-deps-ffmpeg"
-version = "7.1.0.post93"
+version = "7.1.0.post94"
 source = { registry = "https://pypi.org/simple" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/65/02/7e21345a4b6493b94dcacdf14024d24fc143469b3b596dbe0a0433b9055d/comma_deps_ffmpeg-7.1.0.post93-py3-none-macosx_11_0_arm64.whl", hash = "sha256:129f05e177ae8abfb758ff6b56efdb8caa4c10c435f73c774dd4470349c05502", size = 10673113, upload-time = "2026-07-08T19:31:20.253Z" },
-    { url = "https://files.pythonhosted.org/packages/18/ac/579bbb4d8724406738b0eef41f4e49bb0dff17eb4b9b5397296f5d65c84e/comma_deps_ffmpeg-7.1.0.post93-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:185bab6cd683448a1fba9338b11da7e7454b798e27a52d789ea02dd827e944fe", size = 11748947, upload-time = "2026-07-08T19:31:24.618Z" },
-    { url = "https://files.pythonhosted.org/packages/6e/bc/feb5dc8e2e75ecf147281801b1a2a864996c1e1a3be934aeb5cebdcf7323/comma_deps_ffmpeg-7.1.0.post93-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:161e3bcbee02b0d5d2b7bcff2c249904fe7b9c9b3f7820b954a4fb2d24c0fe21", size = 12433434, upload-time = "2026-07-08T19:31:28.965Z" },
+    { url = "https://files.pythonhosted.org/packages/7d/5c/47e10049fd96b581e8ddc9fba31c3397562732fcc99db6c062690e862300/comma_deps_ffmpeg-7.1.0.post94-py3-none-macosx_11_0_arm64.whl", hash = "sha256:2e87b4dd0fb0fc25d6992167ee266b5c9e92305aefa3d343ddd22a17219363b8", size = 7329953, upload-time = "2026-07-09T03:07:11.516Z" },
+    { url = "https://files.pythonhosted.org/packages/a7/d5/c4edfbbe488983ff45fb6cacab78342fc56cc0f28010a946e8697613ffe2/comma_deps_ffmpeg-7.1.0.post94-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:7ea34368c5b564cecab0fd77d6423bc15d8f100051648f64ad79a3499f43dafb", size = 4441314, upload-time = "2026-07-09T03:07:15.679Z" },
+    { url = "https://files.pythonhosted.org/packages/80/8f/76a876a26572c52d52dbcf8ed39227f5023d343201a32af4b992c4b9f13e/comma_deps_ffmpeg-7.1.0.post94-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:5b2d6cfbba59ecd673dd0c8bd8eb5a5b3472bdfa025e1063c011e6234877fe84", size = 4685134, upload-time = "2026-07-09T03:07:19.596Z" },
 ]
 
 [[package]]

From 1e49eac4d12e8a9204dccd240fdb90c5daa75a5d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 8 Jul 2026 20:27:27 -0700
Subject: [PATCH 1282/1434] rm libyuv (#38306)

* rm libyuv

* cleanup
---
 SConstruct                                    |   2 +-
 openpilot/common/SConscript                   |   1 +
 openpilot/common/yuv.cc                       | 132 ++++++++++++++++++
 openpilot/common/yuv.h                        |  42 ++++++
 openpilot/system/loggerd/SConscript           |   1 -
 .../system/loggerd/encoder/ffmpeg_encoder.cc  |  32 ++---
 openpilot/tools/cabana/SConscript             |   2 +-
 openpilot/tools/jotpluggler/SConscript        |   2 +-
 openpilot/tools/jotpluggler/runtime.cc        |  34 ++---
 openpilot/tools/replay/SConscript             |   2 +-
 openpilot/tools/replay/framereader.cc         |  14 +-
 pyproject.toml                                |   1 -
 uv.lock                                       |  12 --
 13 files changed, 218 insertions(+), 59 deletions(-)
 create mode 100644 openpilot/common/yuv.cc
 create mode 100644 openpilot/common/yuv.h

diff --git a/SConstruct b/SConstruct
index 0f7854dcd41d88..7e102add90dc47 100644
--- a/SConstruct
+++ b/SConstruct
@@ -40,7 +40,7 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 acados = pkgs[pkg_names.index('acados')]
 ffmpeg = pkgs[pkg_names.index('ffmpeg')]
diff --git a/openpilot/common/SConscript b/openpilot/common/SConscript
index c9bd1c72d136c0..68dcc8417120da 100644
--- a/openpilot/common/SConscript
+++ b/openpilot/common/SConscript
@@ -5,6 +5,7 @@ common_libs = [
   'swaglog.cc',
   'util.cc',
   'ratekeeper.cc',
+  'yuv.cc',
 ]
 
 _common = env.Library('common', common_libs, LIBS="json11")
diff --git a/openpilot/common/yuv.cc b/openpilot/common/yuv.cc
new file mode 100644
index 00000000000000..a7a64fb594401f
--- /dev/null
+++ b/openpilot/common/yuv.cc
@@ -0,0 +1,132 @@
+#include "common/yuv.h"
+
+#include <algorithm>
+#include <cstring>
+
+namespace yuv {
+
+namespace {
+
+inline uint8_t clamp_u8(int v) {
+  return static_cast<uint8_t>(std::clamp(v, 0, 255));
+}
+
+void copy_plane(const uint8_t *src, int src_stride,
+                uint8_t *dst, int dst_stride,
+                int width, int height) {
+  if (src_stride == width && dst_stride == width) {
+    std::memcpy(dst, src, static_cast<size_t>(width) * height);
+    return;
+  }
+  for (int y = 0; y < height; ++y) {
+    std::memcpy(dst + y * dst_stride, src + y * src_stride, width);
+  }
+}
+
+void scale_plane_point(const uint8_t *src, int src_stride, int src_width, int src_height,
+                       uint8_t *dst, int dst_stride, int dst_width, int dst_height) {
+  if (src_width == dst_width && src_height == dst_height) {
+    copy_plane(src, src_stride, dst, dst_stride, dst_width, dst_height);
+    return;
+  }
+  for (int y = 0; y < dst_height; ++y) {
+    const int sy = y * src_height / dst_height;
+    const uint8_t *src_row = src + sy * src_stride;
+    uint8_t *dst_row = dst + y * dst_stride;
+    for (int x = 0; x < dst_width; ++x) {
+      dst_row[x] = src_row[x * src_width / dst_width];
+    }
+  }
+}
+
+// BT.601 limited range → RGB (integer form used widely, incl. similar to libyuv).
+inline void yuv_to_rgb(int y, int u, int v, uint8_t *r, uint8_t *g, uint8_t *b) {
+  const int c = (y - 16) * 298;
+  const int d = u - 128;
+  const int e = v - 128;
+  *r = clamp_u8((c + 409 * e + 128) >> 8);
+  *g = clamp_u8((c - 100 * d - 208 * e + 128) >> 8);
+  *b = clamp_u8((c + 516 * d + 128) >> 8);
+}
+
+}  // namespace
+
+void nv12_to_i420(const uint8_t *src_y, int src_stride_y,
+                  const uint8_t *src_uv, int src_stride_uv,
+                  uint8_t *dst_y, int dst_stride_y,
+                  uint8_t *dst_u, int dst_stride_u,
+                  uint8_t *dst_v, int dst_stride_v,
+                  int width, int height) {
+  copy_plane(src_y, src_stride_y, dst_y, dst_stride_y, width, height);
+
+  const int uv_width = width / 2;
+  const int uv_height = height / 2;
+  for (int y = 0; y < uv_height; ++y) {
+    const uint8_t *uv = src_uv + y * src_stride_uv;
+    uint8_t *u = dst_u + y * dst_stride_u;
+    uint8_t *v = dst_v + y * dst_stride_v;
+    for (int x = 0; x < uv_width; ++x) {
+      u[x] = uv[2 * x];
+      v[x] = uv[2 * x + 1];
+    }
+  }
+}
+
+void i420_to_nv12(const uint8_t *src_y, int src_stride_y,
+                  const uint8_t *src_u, int src_stride_u,
+                  const uint8_t *src_v, int src_stride_v,
+                  uint8_t *dst_y, int dst_stride_y,
+                  uint8_t *dst_uv, int dst_stride_uv,
+                  int width, int height) {
+  copy_plane(src_y, src_stride_y, dst_y, dst_stride_y, width, height);
+
+  const int uv_width = width / 2;
+  const int uv_height = height / 2;
+  for (int y = 0; y < uv_height; ++y) {
+    const uint8_t *u = src_u + y * src_stride_u;
+    const uint8_t *v = src_v + y * src_stride_v;
+    uint8_t *uv = dst_uv + y * dst_stride_uv;
+    for (int x = 0; x < uv_width; ++x) {
+      uv[2 * x] = u[x];
+      uv[2 * x + 1] = v[x];
+    }
+  }
+}
+
+void i420_scale(const uint8_t *src_y, int src_stride_y,
+                const uint8_t *src_u, int src_stride_u,
+                const uint8_t *src_v, int src_stride_v,
+                int src_width, int src_height,
+                uint8_t *dst_y, int dst_stride_y,
+                uint8_t *dst_u, int dst_stride_u,
+                uint8_t *dst_v, int dst_stride_v,
+                int dst_width, int dst_height) {
+  scale_plane_point(src_y, src_stride_y, src_width, src_height,
+                    dst_y, dst_stride_y, dst_width, dst_height);
+  scale_plane_point(src_u, src_stride_u, src_width / 2, src_height / 2,
+                    dst_u, dst_stride_u, dst_width / 2, dst_height / 2);
+  scale_plane_point(src_v, src_stride_v, src_width / 2, src_height / 2,
+                    dst_v, dst_stride_v, dst_width / 2, dst_height / 2);
+}
+
+void nv12_to_rgba(const uint8_t *src_y, int src_stride_y,
+                  const uint8_t *src_uv, int src_stride_uv,
+                  uint8_t *dst_rgba, int dst_stride_rgba,
+                  int width, int height) {
+  for (int y = 0; y < height; ++y) {
+    const uint8_t *y_row = src_y + y * src_stride_y;
+    const uint8_t *uv_row = src_uv + (y / 2) * src_stride_uv;
+    uint8_t *dst = dst_rgba + y * dst_stride_rgba;
+    for (int x = 0; x < width; ++x) {
+      const int uv_x = (x & ~1);
+      uint8_t r, g, b;
+      yuv_to_rgb(y_row[x], uv_row[uv_x], uv_row[uv_x + 1], &r, &g, &b);
+      dst[4 * x + 0] = r;
+      dst[4 * x + 1] = g;
+      dst[4 * x + 2] = b;
+      dst[4 * x + 3] = 255;
+    }
+  }
+}
+
+}  // namespace yuv
diff --git a/openpilot/common/yuv.h b/openpilot/common/yuv.h
new file mode 100644
index 00000000000000..7ab096f7643025
--- /dev/null
+++ b/openpilot/common/yuv.h
@@ -0,0 +1,42 @@
+#pragma once
+
+#include <cstdint>
+
+// NV12: Y plane + interleaved UV. I420: planar Y, U, V.
+
+namespace yuv {
+
+// Deinterleave NV12 UV into planar I420.
+void nv12_to_i420(const uint8_t *src_y, int src_stride_y,
+                  const uint8_t *src_uv, int src_stride_uv,
+                  uint8_t *dst_y, int dst_stride_y,
+                  uint8_t *dst_u, int dst_stride_u,
+                  uint8_t *dst_v, int dst_stride_v,
+                  int width, int height);
+
+// Interleave planar I420 UV into NV12.
+void i420_to_nv12(const uint8_t *src_y, int src_stride_y,
+                  const uint8_t *src_u, int src_stride_u,
+                  const uint8_t *src_v, int src_stride_v,
+                  uint8_t *dst_y, int dst_stride_y,
+                  uint8_t *dst_uv, int dst_stride_uv,
+                  int width, int height);
+
+// Point-sample scale I420 (equivalent to libyuv::I420Scale + kFilterNone).
+void i420_scale(const uint8_t *src_y, int src_stride_y,
+                const uint8_t *src_u, int src_stride_u,
+                const uint8_t *src_v, int src_stride_v,
+                int src_width, int src_height,
+                uint8_t *dst_y, int dst_stride_y,
+                uint8_t *dst_u, int dst_stride_u,
+                uint8_t *dst_v, int dst_stride_v,
+                int dst_width, int dst_height);
+
+// Convert NV12 to packed RGBA (R,G,B,A bytes — suitable for GL_RGBA).
+// BT.601 limited-range, matching common libyuv defaults.
+void nv12_to_rgba(const uint8_t *src_y, int src_stride_y,
+                  const uint8_t *src_uv, int src_stride_uv,
+                  uint8_t *dst_rgba, int dst_stride_rgba,
+                  int width, int height);
+
+}
diff --git a/openpilot/system/loggerd/SConscript b/openpilot/system/loggerd/SConscript
index 0bba1d17715905..7f6d4faf0cfb9c 100644
--- a/openpilot/system/loggerd/SConscript
+++ b/openpilot/system/loggerd/SConscript
@@ -8,7 +8,6 @@ if arch == "larch64":
   src += ['encoder/v4l_encoder.cc']
 else:
   src += ['encoder/ffmpeg_encoder.cc']
-  libs += ['yuv']
   if arch == "Darwin":
     frameworks += ['VideoToolbox', 'CoreMedia', 'CoreFoundation', 'CoreVideo']
 
diff --git a/openpilot/system/loggerd/encoder/ffmpeg_encoder.cc b/openpilot/system/loggerd/encoder/ffmpeg_encoder.cc
index 40f3bdee42be30..451445e5a0d6f2 100644
--- a/openpilot/system/loggerd/encoder/ffmpeg_encoder.cc
+++ b/openpilot/system/loggerd/encoder/ffmpeg_encoder.cc
@@ -9,8 +9,6 @@
 
 #define __STDC_CONSTANT_MACROS
 
-#include "libyuv.h"
-
 extern "C" {
 #include <libavcodec/avcodec.h>
 #include <libavformat/avformat.h>
@@ -19,6 +17,7 @@ extern "C" {
 
 #include "common/swaglog.h"
 #include "common/util.h"
+#include "common/yuv.h"
 
 const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0;
 
@@ -87,26 +86,25 @@ int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) {
   uint8_t *cy = convert_buf.data();
   uint8_t *cu = cy + in_width * in_height;
   uint8_t *cv = cu + (in_width / 2) * (in_height / 2);
-  libyuv::NV12ToI420(buf->y, buf->stride,
-                     buf->uv, buf->stride,
-                     cy, in_width,
-                     cu, in_width/2,
-                     cv, in_width/2,
-                     in_width, in_height);
+  yuv::nv12_to_i420(buf->y, buf->stride,
+                    buf->uv, buf->stride,
+                    cy, in_width,
+                    cu, in_width/2,
+                    cv, in_width/2,
+                    in_width, in_height);
 
   if (downscale_buf.size() > 0) {
     uint8_t *out_y = downscale_buf.data();
     uint8_t *out_u = out_y + frame->width * frame->height;
     uint8_t *out_v = out_u + (frame->width / 2) * (frame->height / 2);
-    libyuv::I420Scale(cy, in_width,
-                      cu, in_width/2,
-                      cv, in_width/2,
-                      in_width, in_height,
-                      out_y, frame->width,
-                      out_u, frame->width/2,
-                      out_v, frame->width/2,
-                      frame->width, frame->height,
-                      libyuv::kFilterNone);
+    yuv::i420_scale(cy, in_width,
+                    cu, in_width/2,
+                    cv, in_width/2,
+                    in_width, in_height,
+                    out_y, frame->width,
+                    out_u, frame->width/2,
+                    out_v, frame->width/2,
+                    frame->width, frame->height);
     frame->data[0] = out_y;
     frame->data[1] = out_u;
     frame->data[2] = out_v;
diff --git a/openpilot/tools/cabana/SConscript b/openpilot/tools/cabana/SConscript
index aa91514510058c..ec94fec2660916 100644
--- a/openpilot/tools/cabana/SConscript
+++ b/openpilot/tools/cabana/SConscript
@@ -75,7 +75,7 @@ cabana_env = qt_env.Clone()
 cabana_env['CPPPATH'] += [libusb.INCLUDE_DIR]
 cabana_env['LIBPATH'] += [libusb.LIB_DIR]
 
-cabana_libs = [cereal, messaging, visionipc, replay_lib] + ffmpeg_libs + ['bz2', 'zstd', 'yuv', 'usb-1.0'] + base_libs
+cabana_libs = [cereal, messaging, visionipc, replay_lib] + ffmpeg_libs + ['bz2', 'zstd', 'usb-1.0'] + base_libs
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../../opendbc/dbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
diff --git a/openpilot/tools/jotpluggler/SConscript b/openpilot/tools/jotpluggler/SConscript
index dda9c8fac4bb49..d5ebaffb981d98 100644
--- a/openpilot/tools/jotpluggler/SConscript
+++ b/openpilot/tools/jotpluggler/SConscript
@@ -102,7 +102,7 @@ event_extractors = jot_env.Command("generated_event_extractors.h", [
 )
 
 libs = [replay_lib, common, messaging, visionipc, cereal, File(f"{imgui.LIB_DIR}/libimgui.a"), File(f"{imgui.LIB_DIR}/libglfw3.a")] + \
-        ffmpeg_libs + ["yuv", "bz2", "zstd", "m", "pthread", "usb-1.0"]
+        ffmpeg_libs + ["bz2", "zstd", "m", "pthread", "usb-1.0"]
 if arch == "Darwin":
   jot_env["FRAMEWORKS"] = ["OpenGL", "Cocoa", "IOKit", "CoreFoundation", "CoreVideo", "CoreMedia", "VideoToolbox"]
 else:
diff --git a/openpilot/tools/jotpluggler/runtime.cc b/openpilot/tools/jotpluggler/runtime.cc
index 4e98f96c3d9c57..a1e47c7e8ea04f 100644
--- a/openpilot/tools/jotpluggler/runtime.cc
+++ b/openpilot/tools/jotpluggler/runtime.cc
@@ -7,7 +7,7 @@
 #include "imgui_impl_opengl3.h"
 #include "imgui_impl_opengl3_loader.h"
 #include "implot.h"
-#include "libyuv.h"
+#include "common/yuv.h"
 #include "msgq_repo/msgq/ipc.h"
 #include "tools/replay/framereader.h"
 
@@ -1173,14 +1173,14 @@ struct CameraFeedView::Impl {
       result.width = reader->width;
       result.height = reader->height;
       result.rgba.resize(static_cast<size_t>(result.width) * static_cast<size_t>(result.height) * 4U, 0);
-      libyuv::NV12ToABGR(decode_buffer.y,
-                         static_cast<int>(decode_buffer.stride),
-                         decode_buffer.uv,
-                         static_cast<int>(decode_buffer.stride),
-                         result.rgba.data(),
-                         result.width * 4,
-                         result.width,
-                         result.height);
+      yuv::nv12_to_rgba(decode_buffer.y,
+                        static_cast<int>(decode_buffer.stride),
+                        decode_buffer.uv,
+                        static_cast<int>(decode_buffer.stride),
+                        result.rgba.data(),
+                        result.width * 4,
+                        result.width,
+                        result.height);
       result.success = true;
       result.decode_ms = std::chrono::duration<double, std::milli>(std::chrono::steady_clock::now() - decode_begin).count();
       publish_result(*request, std::move(result));
@@ -1203,14 +1203,14 @@ struct CameraFeedView::Impl {
           .height = reader->height,
         };
         prefetched.rgba.resize(static_cast<size_t>(prefetched.width) * static_cast<size_t>(prefetched.height) * 4U, 0);
-        libyuv::NV12ToABGR(decode_buffer.y,
-                           static_cast<int>(decode_buffer.stride),
-                           decode_buffer.uv,
-                           static_cast<int>(decode_buffer.stride),
-                           prefetched.rgba.data(),
-                           prefetched.width * 4,
-                           prefetched.width,
-                           prefetched.height);
+        yuv::nv12_to_rgba(decode_buffer.y,
+                          static_cast<int>(decode_buffer.stride),
+                          decode_buffer.uv,
+                          static_cast<int>(decode_buffer.stride),
+                          prefetched.rgba.data(),
+                          prefetched.width * 4,
+                          prefetched.width,
+                          prefetched.height);
         remember_cached_result(prefetched);
       }
     }
diff --git a/openpilot/tools/replay/SConscript b/openpilot/tools/replay/SConscript
index c1f56185239bfe..643de97bb90f2a 100644
--- a/openpilot/tools/replay/SConscript
+++ b/openpilot/tools/replay/SConscript
@@ -12,7 +12,7 @@ if arch != "Darwin":
   replay_lib_src.append("qcom_decoder.cc")
 replay_lib = replay_env.Library("replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
 Export('replay_lib')
-replay_libs = [replay_lib] + ffmpeg_libs + ['bz2', 'zstd', 'yuv', 'ncurses'] + base_libs
+replay_libs = [replay_lib] + ffmpeg_libs + ['bz2', 'zstd', 'ncurses'] + base_libs
 replay_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('extras'):
diff --git a/openpilot/tools/replay/framereader.cc b/openpilot/tools/replay/framereader.cc
index 52db658add6dcd..7c6f14414816db 100644
--- a/openpilot/tools/replay/framereader.cc
+++ b/openpilot/tools/replay/framereader.cc
@@ -6,7 +6,7 @@
 #include <utility>
 
 #include "common/util.h"
-#include "libyuv.h"
+#include "common/yuv.h"
 #include "tools/replay/py_downloader.h"
 #include "tools/replay/util.h"
 #include "common/hardware/hw.h"
@@ -258,12 +258,12 @@ bool FFmpegVideoDecoder::copyBuffer(AVFrame *f, VisionBuf *buf) {
       memcpy(buf->uv + i*buf->stride, f->data[1] + i*f->linesize[1], width);
     }
   } else {
-    libyuv::I420ToNV12(f->data[0], f->linesize[0],
-                       f->data[1], f->linesize[1],
-                       f->data[2], f->linesize[2],
-                       buf->y, buf->stride,
-                       buf->uv, buf->stride,
-                       width, height);
+    yuv::i420_to_nv12(f->data[0], f->linesize[0],
+                      f->data[1], f->linesize[1],
+                      f->data[2], f->linesize[2],
+                      buf->y, buf->stride,
+                      buf->uv, buf->stride,
+                      width, height);
   }
   return true;
 }
diff --git a/pyproject.toml b/pyproject.toml
index 1c4e551b813405..a609ccf1348594 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -33,7 +33,6 @@ dependencies = [
   "comma-deps-acados",
   "comma-deps-eigen",
   "comma-deps-ffmpeg",
-  "comma-deps-libyuv",
   "comma-deps-zstd",
   "comma-deps-ncurses",
   "comma-deps-zeromq",
diff --git a/uv.lock b/uv.lock
index 8d14aeb3bb9a78..2ea503628f10bb 100644
--- a/uv.lock
+++ b/uv.lock
@@ -332,16 +332,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/84/47/f4f2da67db202bacc3fa578fdebdb916f45c97bee0c3d2c5fbe845a6f129/comma_deps_libusb-1.0.29.post93-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:f136dbbfc461d228378731361cc66a90a483e17d55f8ba43f23eeab6bcf41963", size = 93461, upload-time = "2026-07-08T19:32:26.434Z" },
 ]
 
-[[package]]
-name = "comma-deps-libyuv"
-version = "1922.0.post93"
-source = { registry = "https://pypi.org/simple" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/19/91/f68b07f4ef01860d85e716b5095e10326de74455970cb279d70cdf45ee51/comma_deps_libyuv-1922.0.post93-py3-none-macosx_11_0_arm64.whl", hash = "sha256:f5e0d1550229efdc9aabcaa90b421902322ac7ddadd6e2118596916571c0619b", size = 269554, upload-time = "2026-07-08T19:32:29.709Z" },
-    { url = "https://files.pythonhosted.org/packages/ee/6b/ca7ab7c00a16470f03a25c1079a50a2b7933516584056f15fb05385f377c/comma_deps_libyuv-1922.0.post93-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:3c55195bc905144ef157b8d2f8f36b25250d0a489bb07f2964327e48a0009669", size = 268385, upload-time = "2026-07-08T19:32:33.141Z" },
-    { url = "https://files.pythonhosted.org/packages/0b/9d/ecdbbeef4c3797091ea990bbe4dcc10389e5d6bff27e20bed3b4e4a85eed/comma_deps_libyuv-1922.0.post93-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:1309769c64394294cbd399c77584f7d674753e6dda39b57243ab156711b6d353", size = 273326, upload-time = "2026-07-08T19:32:36.807Z" },
-]
-
 [[package]]
 name = "comma-deps-ncurses"
 version = "6.5.post93"
@@ -1004,7 +994,6 @@ dependencies = [
     { name = "comma-deps-git-lfs" },
     { name = "comma-deps-json11" },
     { name = "comma-deps-libusb" },
-    { name = "comma-deps-libyuv" },
     { name = "comma-deps-ncurses" },
     { name = "comma-deps-raylib" },
     { name = "comma-deps-zeromq" },
@@ -1088,7 +1077,6 @@ requires-dist = [
     { name = "comma-deps-imgui", marker = "extra == 'tools'" },
     { name = "comma-deps-json11" },
     { name = "comma-deps-libusb" },
-    { name = "comma-deps-libyuv" },
     { name = "comma-deps-ncurses" },
     { name = "comma-deps-raylib" },
     { name = "comma-deps-zeromq" },

From 3b3f5967ec2ecfdf390cf7c6d17c9501ce4dd916 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 8 Jul 2026 20:43:12 -0700
Subject: [PATCH 1283/1434] rm crcmod-plus (#38309)

* rm crcmod-plus

* cleanup
---
 openpilot/system/qcomgpsd/modemdiag.py | 30 ++++++++++++++++++++++----
 pyproject.toml                         |  1 -
 uv.lock                                | 18 ----------------
 3 files changed, 26 insertions(+), 23 deletions(-)

diff --git a/openpilot/system/qcomgpsd/modemdiag.py b/openpilot/system/qcomgpsd/modemdiag.py
index 5d72aeba9e9211..453084f4c8d207 100644
--- a/openpilot/system/qcomgpsd/modemdiag.py
+++ b/openpilot/system/qcomgpsd/modemdiag.py
@@ -1,8 +1,31 @@
 import select
 from serial import Serial
-from crcmod import mkCrcFun
 from struct import pack, unpack_from, calcsize
 
+
+def _gen_crc16_reflected_table(poly: int) -> list[int]:
+  # poly is the reflected form (e.g. 0x8408 for CRC-16 poly 0x1021)
+  table = []
+  for i in range(256):
+    crc = i
+    for _ in range(8):
+      if crc & 1:
+        crc = (crc >> 1) ^ poly
+      else:
+        crc >>= 1
+    table.append(crc)
+  return table
+
+# CRC-16/IBM-SDLC (aka X-25 / ISO-HDLC): poly 0x1021, refin/refout, init/xor 0xFFFF
+_CRC16_X25_TABLE = _gen_crc16_reflected_table(0x8408)
+
+def crc16_x25(data: bytes) -> int:
+  crc = 0xFFFF
+  for b in data:
+    crc = _CRC16_X25_TABLE[(crc ^ b) & 0xFF] ^ (crc >> 8)
+  return crc ^ 0xFFFF
+
+
 class ModemDiag:
   def __init__(self):
     self.serial = self.open_serial()
@@ -15,12 +38,11 @@ def open_serial(self):
     serial.reset_output_buffer()
     return serial
 
-  ccitt_crc16 = mkCrcFun(0x11021, initCrc=0, xorOut=0xffff)
   ESCAPE_CHAR = b'\x7d'
   TRAILER_CHAR = b'\x7e'
 
   def hdlc_encapsulate(self, payload):
-    payload += pack('<H', ModemDiag.ccitt_crc16(payload))
+    payload += pack('<H', crc16_x25(payload))
     payload = payload.replace(self.ESCAPE_CHAR, bytes([self.ESCAPE_CHAR[0], self.ESCAPE_CHAR[0] ^ 0x20]))
     payload = payload.replace(self.TRAILER_CHAR, bytes([self.ESCAPE_CHAR[0], self.TRAILER_CHAR[0] ^ 0x20]))
     payload += self.TRAILER_CHAR
@@ -32,7 +54,7 @@ def hdlc_decapsulate(self, payload):
     payload = payload[:-1]
     payload = payload.replace(bytes([self.ESCAPE_CHAR[0], self.TRAILER_CHAR[0] ^ 0x20]), self.TRAILER_CHAR)
     payload = payload.replace(bytes([self.ESCAPE_CHAR[0], self.ESCAPE_CHAR[0] ^ 0x20]), self.ESCAPE_CHAR)
-    assert payload[-2:] == pack('<H', ModemDiag.ccitt_crc16(payload[:-2]))
+    assert payload[-2:] == pack('<H', crc16_x25(payload[:-2]))
     return payload[:-2]
 
   def recv(self):
diff --git a/pyproject.toml b/pyproject.toml
index a609ccf1348594..f9614016864f7f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -14,7 +14,6 @@ dependencies = [
   "pyserial",     # pigeond + qcomgpsd
   "requests",     # many one-off uses
   "sympy",        # rednose + friends
-  "crcmod-plus",  # cars + qcomgpsd
   "tqdm",         # cars (fw_versions.py) on start + many one-off uses
 
   # core
diff --git a/uv.lock b/uv.lock
index 2ea503628f10bb..b6478ec464976c 100644
--- a/uv.lock
+++ b/uv.lock
@@ -458,22 +458,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/66/65/08d3a5039b565231c501b31d1a973d4222e9803c03b2c31a9c08bdec3e30/cpplint-2.0.2-py3-none-any.whl", hash = "sha256:7ec188b5a08e604294ae7e7f88ec3ece2699de857f0533b305620c8cf237cad5", size = 81987, upload-time = "2025-04-08T01:22:24.101Z" },
 ]
 
-[[package]]
-name = "crcmod-plus"
-version = "2.3.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/0b/0c/71733bbaf38e9f1eaecfdf7f8e350993f3dcac208a5297c41503ae66e513/crcmod_plus-2.3.1.tar.gz", hash = "sha256:732ffe3c3ce3ef9b272e1827d8fb894590c4d6ff553f2a2b41ae30f4f94b0f5d", size = 22319, upload-time = "2025-10-10T22:14:21.691Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/47/e0/2dad2e6f0cd4914b4144496d9785780ec820e200816c080df785cfa34da6/crcmod_plus-2.3.1-cp311-abi3-macosx_10_9_universal2.whl", hash = "sha256:b7e35e0f7d93d7571c2c9c3d6760e456999ea4c1eae5ead6acac247b5a79e469", size = 23279, upload-time = "2025-10-10T22:13:47.281Z" },
-    { url = "https://files.pythonhosted.org/packages/66/76/53c0b65b9679b903f98fc54efa32b0e5a19634712a45200c7a80674aa6f5/crcmod_plus-2.3.1-cp311-abi3-macosx_10_9_x86_64.whl", hash = "sha256:6853243120db84677b94b625112116f0ef69cd581741d20de58dce4c34242654", size = 20185, upload-time = "2025-10-10T22:13:48.06Z" },
-    { url = "https://files.pythonhosted.org/packages/98/79/2b4dc9bb26394873d7699737124408b5106264ae33053fdec600e9a9fa65/crcmod_plus-2.3.1-cp311-abi3-manylinux1_x86_64.manylinux_2_28_x86_64.manylinux_2_5_x86_64.whl", hash = "sha256:17735bc4e944d552ea18c8609fc6d08a5e64ee9b29cc216ba4d623754029cc3a", size = 26999, upload-time = "2025-10-10T22:13:48.854Z" },
-    { url = "https://files.pythonhosted.org/packages/bb/e8/f5d66778b5a1bff915807016561a02b5cebf6b3840fb8a2be40bbb0c8575/crcmod_plus-2.3.1-cp311-abi3-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:8ac755040a2a35f43ab331978c48a9acb4ff64b425f282a296be467a410f00c3", size = 27536, upload-time = "2025-10-10T22:13:49.956Z" },
-    { url = "https://files.pythonhosted.org/packages/f3/2c/0113ad30cadad40c22eef08c0f2618f2446dd282f02268fecbcfc9fda3c1/crcmod_plus-2.3.1-cp311-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:7bdcfb838ca093ca673a3bbb37f62d1e5ec7182e00cc5ee2d00759f9f9f8ab11", size = 27385, upload-time = "2025-10-10T22:13:50.765Z" },
-    { url = "https://files.pythonhosted.org/packages/8e/ba/501ef1b02119402cf1a31c01eb2cb8399660bca863c2f4dd3dc060220284/crcmod_plus-2.3.1-cp311-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:9166bc3c9b5e7b07b4e6854cac392b4a451b31d58d3950e48c140ab7b5d05394", size = 27135, upload-time = "2025-10-10T22:13:51.889Z" },
-    { url = "https://files.pythonhosted.org/packages/49/90/d4556c9db69c83e726c5b88da3d656fdaac7d60c4d27b43cb939bed80069/crcmod_plus-2.3.1-cp311-abi3-win32.whl", hash = "sha256:cb99b694cce5c862560cf332a8b5e793620e28f0de3726995608bbd6f9b6e09a", size = 22384, upload-time = "2025-10-10T22:13:53.016Z" },
-    { url = "https://files.pythonhosted.org/packages/4d/7e/57bb97a8c7b4e19900744f58b67dc83bc9c83aaac670deeede9fb3bfab6a/crcmod_plus-2.3.1-cp311-abi3-win_amd64.whl", hash = "sha256:82b0f7e968c430c5a80fe0fc59e75cb54f2e84df2ed0cee5a3ff9cadfbf8a220", size = 22912, upload-time = "2025-10-10T22:13:53.849Z" },
-]
-
 [[package]]
 name = "cryptography"
 version = "49.0.0"
@@ -998,7 +982,6 @@ dependencies = [
     { name = "comma-deps-raylib" },
     { name = "comma-deps-zeromq" },
     { name = "comma-deps-zstd" },
-    { name = "crcmod-plus" },
     { name = "cython" },
     { name = "inputs" },
     { name = "jeepney" },
@@ -1082,7 +1065,6 @@ requires-dist = [
     { name = "comma-deps-zeromq" },
     { name = "comma-deps-zstd" },
     { name = "coverage", marker = "extra == 'testing'" },
-    { name = "crcmod-plus" },
     { name = "cython" },
     { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" },
     { name = "inputs" },

From bf5540c364e9010e5aa9f2bce1956b0bc1e3d37f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 8 Jul 2026 21:06:53 -0700
Subject: [PATCH 1284/1434] rm pyserial (#38311)

* rm pyserial

* lil more

* lil more
---
 openpilot/common/esim/lpa.py            |  12 +-
 openpilot/common/hardware/tici/modem.py |   7 +-
 openpilot/common/serial.py              | 272 ++++++++++++++++++++++++
 openpilot/system/qcomgpsd/modemdiag.py  |   4 +-
 openpilot/system/qcomgpsd/qcomgpsd.py   |   2 +-
 openpilot/system/ubloxd/pigeond.py      |   4 +-
 pyproject.toml                          |   1 -
 uv.lock                                 |  11 -
 8 files changed, 287 insertions(+), 26 deletions(-)
 create mode 100644 openpilot/common/serial.py

diff --git a/openpilot/common/esim/lpa.py b/openpilot/common/esim/lpa.py
index 4009823323ae19..80138b54ae91cd 100644
--- a/openpilot/common/esim/lpa.py
+++ b/openpilot/common/esim/lpa.py
@@ -6,7 +6,6 @@
 import hashlib
 import os
 import requests
-import serial
 import subprocess
 import sys
 import termios
@@ -20,6 +19,7 @@
 
 from openpilot.common.time_helpers import system_time_valid
 from openpilot.common.esim.base import LPABase, LPAError, LPAProfileNotFoundError, Profile
+from openpilot.common.serial import Serial, SerialException
 
 GSMA_CI_BUNDLE = str(Path(__file__).parent / "gsma_ci_bundle.pem")
 
@@ -133,7 +133,7 @@ def __init__(self, device: str, baud: int, timeout: float) -> None:
     self._device = device
     self._baud = baud
     self._timeout = timeout
-    self._serial: serial.Serial | None = None
+    self._serial: Serial | None = None
 
   def send_raw(self, data: bytes) -> None:
     self._ensure_serial()
@@ -185,14 +185,14 @@ def _ensure_serial(self, reconnect: bool = False) -> None:
         pass
       self._serial = None
     if self._serial is None:
-      self._serial = serial.Serial(self._device, baudrate=self._baud, timeout=self._timeout)
+      self._serial = Serial(self._device, baudrate=self._baud, timeout=self._timeout)
 
   def query(self, cmd: str) -> list[str]:
     self._ensure_serial()
     try:
       self._send(cmd)
       return self._expect()
-    except serial.SerialException:
+    except SerialException:
       self._ensure_serial(reconnect=True)
       self._send(cmd)
       return self._expect()
@@ -208,7 +208,7 @@ def _open_isdr_once(self) -> None:
     if self._serial:
       try:
         self._serial.reset_input_buffer()
-      except (OSError, serial.SerialException, termios.error):
+      except (OSError, SerialException, termios.error):
         self._ensure_serial(reconnect=True)
     for line in self.query(f'AT+CCHO="{ISDR_AID}"'):
       if line.startswith("+CCHO:") and (ch := line.split(":", 1)[1].strip()):
@@ -230,7 +230,7 @@ def open_isdr(self) -> None:
       try:
         self._open_isdr_once()
         return
-      except (RuntimeError, TimeoutError, termios.error, serial.SerialException):
+      except (RuntimeError, TimeoutError, termios.error, SerialException):
         time.sleep(OPEN_ISDR_RETRY_DELAY_S)
         if attempt == OPEN_ISDR_RESET_ATTEMPT:
           self._reset_modem()
diff --git a/openpilot/common/hardware/tici/modem.py b/openpilot/common/hardware/tici/modem.py
index 78f4e2a49242a3..0d30c493288606 100755
--- a/openpilot/common/hardware/tici/modem.py
+++ b/openpilot/common/hardware/tici/modem.py
@@ -3,7 +3,6 @@
 import json
 import logging
 import os
-import serial
 import signal
 import subprocess
 import tempfile
@@ -13,6 +12,8 @@
 
 from enum import Enum
 
+from openpilot.common.serial import Serial
+
 logging.basicConfig(
   level=logging.INFO,
   format="%(asctime)s.%(msecs)03d %(levelname)-7s modem: %(message)s",
@@ -96,7 +97,7 @@ def kill(self):
   def reset_data_port():
     """Drop DTR on PPP_PORT so the modem terminates any stuck PPP session."""
     try:
-      with serial.Serial(PPP_PORT, 460800, timeout=1) as s:
+      with Serial(PPP_PORT, baudrate=460800, timeout=1) as s:
         s.dtr = False
         time.sleep(0.2)
         s.dtr = True
@@ -220,7 +221,7 @@ def _at(self, cmd):
       os.close(fd)
       return []
     try:
-      with serial.Serial(AT_PORT, 9600, timeout=5) as ser:
+      with Serial(AT_PORT, baudrate=9600, timeout=5) as ser:
         ser.reset_input_buffer()
         ser.write((cmd + "\r").encode())
         lines = []
diff --git a/openpilot/common/serial.py b/openpilot/common/serial.py
new file mode 100644
index 00000000000000..68083f40a6e455
--- /dev/null
+++ b/openpilot/common/serial.py
@@ -0,0 +1,272 @@
+import errno
+import fcntl
+import os
+import select
+import struct
+import termios
+import time
+
+
+# Modem control lines (linux/termios.h); fall back to common x86_64 values.
+TIOCMBIS = getattr(termios, "TIOCMBIS", 0x5416)
+TIOCMBIC = getattr(termios, "TIOCMBIC", 0x5417)
+TIOCM_DTR = getattr(termios, "TIOCM_DTR", 0x002)
+TIOCM_RTS = getattr(termios, "TIOCM_RTS", 0x004)
+_TIOCM_DTR = struct.pack("I", TIOCM_DTR)
+_TIOCM_RTS = struct.pack("I", TIOCM_RTS)
+
+
+class SerialException(OSError):
+  pass
+
+
+class Serial:
+  def __init__(self, port: str, baudrate: int = 9600, timeout: float | None = None, *,
+               rtscts: bool = False, dsrdtr: bool = False, exclusive: bool = False):
+    self._port = port
+    self._baudrate = baudrate
+    self._timeout = timeout
+    self._rtscts = rtscts
+    self._dsrdtr = dsrdtr
+    self._exclusive = exclusive
+    self._dtr = True
+    self._fd = -1
+    self.open()
+
+  def __enter__(self):
+    return self
+
+  def __exit__(self, *args) -> None:
+    self.close()
+
+  @property
+  def fd(self) -> int:
+    self._ensure_open()
+    return self._fd
+
+  @property
+  def baudrate(self) -> int:
+    return self._baudrate
+
+  @baudrate.setter
+  def baudrate(self, value: int) -> None:
+    self._baudrate = int(value)
+    if self._fd >= 0:
+      self._configure()
+
+  @property
+  def dtr(self) -> bool:
+    return self._dtr
+
+  @dtr.setter
+  def dtr(self, value: bool) -> None:
+    self._dtr = bool(value)
+    if self._fd >= 0:
+      self._set_line(TIOCM_DTR, _TIOCM_DTR, self._dtr)
+
+  def open(self) -> None:
+    if self._fd >= 0:
+      return
+    try:
+      self._fd = os.open(self._port, os.O_RDWR | os.O_NOCTTY | os.O_NONBLOCK)
+    except OSError as e:
+      self._fd = -1
+      raise SerialException(e.errno, f"could not open port {self._port}: {e}") from e
+
+    try:
+      if self._exclusive:
+        try:
+          fcntl.flock(self._fd, fcntl.LOCK_EX | fcntl.LOCK_NB)
+        except OSError as e:
+          raise SerialException(e.errno, f"could not exclusively lock port {self._port}: {e}") from e
+
+      self._configure()
+
+      # When not using hardware DSR/DTR handshaking, drive lines ourselves.
+      if not self._dsrdtr:
+        try:
+          self._set_line(TIOCM_DTR, _TIOCM_DTR, self._dtr)
+          if not self._rtscts:
+            self._set_line(TIOCM_RTS, _TIOCM_RTS, True)
+        except OSError as e:
+          if e.errno not in (errno.EINVAL, errno.ENOTTY):
+            raise
+
+      self.reset_input_buffer()
+    except BaseException:
+      self._close_fd()
+      raise
+
+  def close(self) -> None:
+    self._close_fd()
+
+  def read(self, size: int = 1) -> bytes:
+    self._ensure_open()
+    if size <= 0:
+      return b""
+
+    buf = bytearray()
+    deadline = self._deadline()
+    while len(buf) < size:
+      remaining = None if deadline is None else max(0.0, deadline - time.monotonic())
+      if not self._wait_readable(remaining):
+        break
+      try:
+        chunk = os.read(self._fd, size - len(buf))
+      except InterruptedError:
+        continue
+      except OSError as e:
+        if e.errno in (errno.EAGAIN, errno.EWOULDBLOCK):
+          if self._timeout == 0:
+            break
+          continue
+        raise SerialException(e.errno, f"read failed: {e}") from e
+      if not chunk:
+        break
+      buf.extend(chunk)
+    return bytes(buf)
+
+  def readline(self) -> bytes:
+    self._ensure_open()
+    buf = bytearray()
+    deadline = self._deadline()
+    while True:
+      remaining = None if deadline is None else max(0.0, deadline - time.monotonic())
+      if deadline is not None and remaining == 0.0 and not buf:
+        # match pyserial: timed-out readline returns empty
+        if not self._wait_readable(0.0):
+          return b""
+      elif not self._wait_readable(remaining):
+        return bytes(buf)
+
+      try:
+        chunk = os.read(self._fd, 1)
+      except InterruptedError:
+        continue
+      except OSError as e:
+        if e.errno in (errno.EAGAIN, errno.EWOULDBLOCK):
+          if self._timeout == 0:
+            return bytes(buf)
+          continue
+        raise SerialException(e.errno, f"read failed: {e}") from e
+      if not chunk:
+        return bytes(buf)
+      buf.extend(chunk)
+      if chunk == b"\n":
+        return bytes(buf)
+
+  def write(self, data: bytes) -> int:
+    self._ensure_open()
+    if not data:
+      return 0
+    view = memoryview(data)
+    total = 0
+    while total < len(data):
+      try:
+        n = os.write(self._fd, view[total:])
+      except InterruptedError:
+        continue
+      except OSError as e:
+        if e.errno in (errno.EAGAIN, errno.EWOULDBLOCK):
+          select.select([], [self._fd], [], None)
+          continue
+        raise SerialException(e.errno, f"write failed: {e}") from e
+      if n == 0:
+        raise SerialException("write returned 0")
+      total += n
+    return total
+
+  def flush(self) -> None:
+    self._ensure_open()
+    termios.tcdrain(self._fd)
+
+  def reset_input_buffer(self) -> None:
+    self._ensure_open()
+    termios.tcflush(self._fd, termios.TCIFLUSH)
+
+  def reset_output_buffer(self) -> None:
+    self._ensure_open()
+    termios.tcflush(self._fd, termios.TCOFLUSH)
+
+  def _close_fd(self) -> None:
+    if self._fd >= 0:
+      try:
+        if self._exclusive:
+          fcntl.flock(self._fd, fcntl.LOCK_UN)
+      except OSError:
+        pass
+      try:
+        os.close(self._fd)
+      except OSError:
+        pass
+      self._fd = -1
+
+  def _ensure_open(self) -> None:
+    if self._fd < 0:
+      raise SerialException("port is not open")
+
+  def _deadline(self) -> float | None:
+    if self._timeout is None:
+      return None
+    if self._timeout == 0:
+      return time.monotonic()
+    return time.monotonic() + self._timeout
+
+  def _wait_readable(self, timeout: float | None) -> bool:
+    """Return True if fd is readable. timeout None blocks; 0 polls."""
+    if timeout is not None and timeout < 0:
+      timeout = 0.0
+    try:
+      ready, _, _ = select.select([self._fd], [], [], timeout)
+    except InterruptedError:
+      return False
+    return bool(ready)
+
+  def _baud_constant(self, baudrate: int) -> int:
+    try:
+      return getattr(termios, f"B{baudrate}")
+    except AttributeError as e:
+      raise ValueError(f"unsupported baud rate: {baudrate}") from e
+
+  def _configure(self) -> None:
+    self._ensure_open()
+    try:
+      attrs = termios.tcgetattr(self._fd)
+    except termios.error as e:
+      raise SerialException(f"could not get port attributes: {e}") from e
+
+    iflag, oflag, cflag, lflag, _ispeed, _ospeed, cc = attrs
+
+    # raw binary 8N1
+    iflag = 0
+    oflag = 0
+    lflag = 0
+    cflag |= termios.CLOCAL | termios.CREAD
+    cflag &= ~termios.CSIZE
+    cflag |= termios.CS8
+    cflag &= ~(termios.PARENB | termios.PARODD | termios.CSTOPB)
+
+    if hasattr(termios, "CRTSCTS"):
+      if self._rtscts:
+        cflag |= termios.CRTSCTS
+      else:
+        cflag &= ~termios.CRTSCTS
+
+    speed = self._baud_constant(self._baudrate)
+    cc = list(cc)
+    # Non-blocking reads are handled via select + O_NONBLOCK; keep VMIN/VTIME at 0.
+    cc[termios.VMIN] = 0
+    cc[termios.VTIME] = 0
+
+    try:
+      termios.tcsetattr(self._fd, termios.TCSANOW, [iflag, oflag, cflag, lflag, speed, speed, cc])
+    except termios.error as e:
+      raise SerialException(f"could not configure port: {e}") from e
+
+    # Keep the fd non-blocking so timeout=0 and select work consistently.
+    flags = fcntl.fcntl(self._fd, fcntl.F_GETFL)
+    fcntl.fcntl(self._fd, fcntl.F_SETFL, flags | os.O_NONBLOCK)
+
+  def _set_line(self, _bit: int, packed: bytes, enabled: bool) -> None:
+    request = TIOCMBIS if enabled else TIOCMBIC
+    fcntl.ioctl(self._fd, request, packed)
diff --git a/openpilot/system/qcomgpsd/modemdiag.py b/openpilot/system/qcomgpsd/modemdiag.py
index 453084f4c8d207..313563a3146da2 100644
--- a/openpilot/system/qcomgpsd/modemdiag.py
+++ b/openpilot/system/qcomgpsd/modemdiag.py
@@ -1,7 +1,8 @@
 import select
-from serial import Serial
 from struct import pack, unpack_from, calcsize
 
+from openpilot.common.serial import Serial
+
 
 def _gen_crc16_reflected_table(poly: int) -> list[int]:
   # poly is the reflected form (e.g. 0x8408 for CRC-16 poly 0x1021)
@@ -25,7 +26,6 @@ def crc16_x25(data: bytes) -> int:
     crc = _CRC16_X25_TABLE[(crc ^ b) & 0xFF] ^ (crc >> 8)
   return crc ^ 0xFFFF
 
-
 class ModemDiag:
   def __init__(self):
     self.serial = self.open_serial()
diff --git a/openpilot/system/qcomgpsd/qcomgpsd.py b/openpilot/system/qcomgpsd/qcomgpsd.py
index e1a7dc39c9df0a..4e5215441935c1 100755
--- a/openpilot/system/qcomgpsd/qcomgpsd.py
+++ b/openpilot/system/qcomgpsd/qcomgpsd.py
@@ -6,7 +6,6 @@
 import itertools
 import math
 import time
-from serial import Serial
 import datetime
 from typing import NoReturn
 from struct import unpack_from, calcsize, pack
@@ -17,6 +16,7 @@
 from openpilot.common.utils import retry
 from openpilot.common.time_helpers import system_time_valid
 from openpilot.common.hardware.tici.pins import GPIO
+from openpilot.common.serial import Serial
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.qcomgpsd.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
 from openpilot.system.qcomgpsd.structs import (dict_unpacker, position_report, relist,
diff --git a/openpilot/system/ubloxd/pigeond.py b/openpilot/system/ubloxd/pigeond.py
index ce9c71db61dc7e..9891285465c90c 100755
--- a/openpilot/system/ubloxd/pigeond.py
+++ b/openpilot/system/ubloxd/pigeond.py
@@ -2,7 +2,6 @@
 import sys
 import time
 import signal
-import serial
 import struct
 import requests
 import urllib.parse
@@ -11,6 +10,7 @@
 from openpilot.cereal import messaging
 from openpilot.common.time_helpers import system_time_valid
 from openpilot.common.params import Params
+from openpilot.common.serial import Serial
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware import TICI
 from openpilot.common.gpio import gpio_init, gpio_set
@@ -64,7 +64,7 @@ def get_assistnow_messages(token: str) -> list[bytes]:
 
 class TTYPigeon:
   def __init__(self):
-    self.tty = serial.VTIMESerial(UBLOX_TTY, baudrate=9600, timeout=0)
+    self.tty = Serial(UBLOX_TTY, baudrate=9600, timeout=0)
 
   def send(self, dat: bytes) -> None:
     self.tty.write(dat)
diff --git a/pyproject.toml b/pyproject.toml
index f9614016864f7f..8430683abb62f4 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -11,7 +11,6 @@ authors = [
 dependencies = [
   # multiple users
   "sounddevice",  # micd + soundd
-  "pyserial",     # pigeond + qcomgpsd
   "requests",     # many one-off uses
   "sympy",        # rednose + friends
   "tqdm",         # cars (fw_versions.py) on start + many one-off uses
diff --git a/uv.lock b/uv.lock
index b6478ec464976c..7c30add6c0d8b5 100644
--- a/uv.lock
+++ b/uv.lock
@@ -991,7 +991,6 @@ dependencies = [
     { name = "psutil" },
     { name = "pycapnp" },
     { name = "pyjwt" },
-    { name = "pyserial" },
     { name = "pyzmq" },
     { name = "qrcode" },
     { name = "requests" },
@@ -1078,7 +1077,6 @@ requires-dist = [
     { name = "psutil" },
     { name = "pycapnp", specifier = "==2.1.0" },
     { name = "pyjwt" },
-    { name = "pyserial" },
     { name = "pytest", marker = "extra == 'testing'" },
     { name = "pytest-cpp", marker = "extra == 'testing'" },
     { name = "pytest-mock", marker = "extra == 'testing'" },
@@ -1378,15 +1376,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/10/bd/c038d7cc38edc1aa5bf91ab8068b63d4308c66c4c8bb3cbba7dfbc049f9c/pyparsing-3.3.2-py3-none-any.whl", hash = "sha256:850ba148bd908d7e2411587e247a1e4f0327839c40e2e5e6d05a007ecc69911d", size = 122781, upload-time = "2026-01-21T03:57:55.912Z" },
 ]
 
-[[package]]
-name = "pyserial"
-version = "3.5"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/1e/7d/ae3f0a63f41e4d2f6cb66a5b57197850f919f59e558159a4dd3a818f5082/pyserial-3.5.tar.gz", hash = "sha256:3c77e014170dfffbd816e6ffc205e9842efb10be9f58ec16d3e8675b4925cddb", size = 159125, upload-time = "2020-11-23T03:59:15.045Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/07/bc/587a445451b253b285629263eb51c2d8e9bcea4fc97826266d186f96f558/pyserial-3.5-py2.py3-none-any.whl", hash = "sha256:c4451db6ba391ca6ca299fb3ec7bae67a5c55dde170964c7a14ceefec02f2cf0", size = 90585, upload-time = "2020-11-23T03:59:13.41Z" },
-]
-
 [[package]]
 name = "pytest"
 version = "9.1.1"

From b827c0f55e65f8c3ffeefd9c0994dde054656982 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 8 Jul 2026 21:11:39 -0700
Subject: [PATCH 1285/1434] try removing submodule symlinks (#38310)

---
 .gitignore                                   |  7 +++++
 SConstruct                                   | 29 +++++++++++++++++---
 launch_chffrplus.sh                          |  8 ++++++
 msgq                                         |  1 -
 opendbc                                      |  1 -
 openpilot/selfdrive/test/setup_device_ci.sh  |  8 ++++++
 openpilot/tools/cabana/SConscript            |  2 +-
 openpilot/tools/jotpluggler/layout.cc        |  2 +-
 openpilot/tools/jotpluggler/sketch_layout.cc |  4 +--
 rednose                                      |  1 -
 teleoprtc                                    |  1 -
 tinygrad                                     |  1 -
 12 files changed, 52 insertions(+), 13 deletions(-)
 delete mode 120000 msgq
 delete mode 120000 opendbc
 delete mode 120000 rednose
 delete mode 120000 teleoprtc
 delete mode 120000 tinygrad

diff --git a/.gitignore b/.gitignore
index 6581b90e7cf6be..5c99567581ca72 100644
--- a/.gitignore
+++ b/.gitignore
@@ -15,6 +15,13 @@ a.out
 .cache/
 bin/
 
+# created at launch for TICI PYTHONPATH (PC uses editable installs via pyproject.toml)
+/msgq
+/opendbc
+/rednose
+/teleoprtc
+/tinygrad
+
 *.mp4
 *.dylib
 *.DSYM
diff --git a/SConstruct b/SConstruct
index 7e102add90dc47..548553da915493 100644
--- a/SConstruct
+++ b/SConstruct
@@ -27,6 +27,24 @@ AddOption('--minimal',
           default=(not TICI and not release),
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
+# Package symlinks are no longer tracked in git (created at launch on device).
+# Create them here so PYTHONPATH-based imports find in-tree packages and
+# Cython extensions during the build (especially release builds).
+_repo_root = Dir('#').abspath
+for _pkg, _target in (
+  ('msgq', 'msgq_repo/msgq'),
+  ('opendbc', 'opendbc_repo/opendbc'),
+  ('rednose', 'rednose_repo/rednose'),
+  ('teleoprtc', 'teleoprtc_repo/teleoprtc'),
+  ('tinygrad', 'tinygrad_repo/tinygrad'),
+):
+  _link = os.path.join(_repo_root, _pkg)
+  if os.path.lexists(_link):
+    if os.path.islink(_link) and os.readlink(_link) == _target:
+      continue
+    os.unlink(_link)
+  os.symlink(_target, _link)
+
 # Detect platform
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
@@ -128,7 +146,10 @@ env = Environment(
   CXXFLAGS=["-std=c++1z"],
   CPPPATH=[
     "#openpilot",
-    "#msgq",
+    "#msgq_repo",            # #include "msgq/..."
+    "#opendbc_repo",         # #include "opendbc/..."
+    "#rednose_repo",         # #include "rednose/..."
+    "#rednose_repo/rednose", # #include "logger/..." (rednose package root)
     "#openpilot/cereal/gen/cpp",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
@@ -138,13 +159,13 @@ env = Environment(
     "#openpilot/common",
     "#msgq_repo",
     "#openpilot/selfdrive/pandad",
-    "#rednose/helpers",
+    "#rednose_repo/rednose/helpers",
     [x.LIB_DIR for x in pkgs],
   ],
   RPATH=[ffmpeg.LIB_DIR] if ffmpeg_shared else [],
   CYTHONCFILESUFFIX=".cpp",
   COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#",
+  REDNOSE_ROOT="#rednose_repo",
   tools=["default", "cython", "compilation_db", "rednose_filter"],
   toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
@@ -249,7 +270,7 @@ Export('messaging')
 SConscript(['panda/SConscript'])
 
 # Build rednose library
-SConscript(['rednose/SConscript'])
+SConscript(['rednose_repo/rednose/SConscript'])
 
 # Build system services
 SConscript([
diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index 17a765e076a3b3..4f767f3b19b6aa 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -70,6 +70,14 @@ function launch {
   ln -sfn $(pwd) /data/pythonpath
   export PYTHONPATH="$PWD"
 
+  # submodule package symlinks for PYTHONPATH imports on device.
+  # on PC these come from editable installs via pyproject.toml / uv.
+  ln -sfn msgq_repo/msgq msgq
+  ln -sfn opendbc_repo/opendbc opendbc
+  ln -sfn rednose_repo/rednose rednose
+  ln -sfn teleoprtc_repo/teleoprtc teleoprtc
+  ln -sfn tinygrad_repo/tinygrad tinygrad
+
   # hardware specific init
   if [ -f /AGNOS ]; then
     agnos_init
diff --git a/msgq b/msgq
deleted file mode 120000
index df09146f62ea88..00000000000000
--- a/msgq
+++ /dev/null
@@ -1 +0,0 @@
-msgq_repo/msgq
\ No newline at end of file
diff --git a/opendbc b/opendbc
deleted file mode 120000
index 7cd9a5bd1ebf2e..00000000000000
--- a/opendbc
+++ /dev/null
@@ -1 +0,0 @@
-opendbc_repo/opendbc
\ No newline at end of file
diff --git a/openpilot/selfdrive/test/setup_device_ci.sh b/openpilot/selfdrive/test/setup_device_ci.sh
index 3fe353e72c067f..d458e047a511bb 100755
--- a/openpilot/selfdrive/test/setup_device_ci.sh
+++ b/openpilot/selfdrive/test/setup_device_ci.sh
@@ -124,4 +124,12 @@ else
   safe_checkout
 fi
 
+# submodule package symlinks for PYTHONPATH imports on device (same as launch_chffrplus.sh)
+cd $TEST_DIR
+ln -sfn msgq_repo/msgq msgq
+ln -sfn opendbc_repo/opendbc opendbc
+ln -sfn rednose_repo/rednose rednose
+ln -sfn teleoprtc_repo/teleoprtc teleoprtc
+ln -sfn tinygrad_repo/tinygrad tinygrad
+
 echo "$TEST_DIR synced with $GIT_COMMIT, t=$SECONDS"
diff --git a/openpilot/tools/cabana/SConscript b/openpilot/tools/cabana/SConscript
index ec94fec2660916..26c20ddba144f4 100644
--- a/openpilot/tools/cabana/SConscript
+++ b/openpilot/tools/cabana/SConscript
@@ -76,7 +76,7 @@ cabana_env['CPPPATH'] += [libusb.INCLUDE_DIR]
 cabana_env['LIBPATH'] += [libusb.LIB_DIR]
 
 cabana_libs = [cereal, messaging, visionipc, replay_lib] + ffmpeg_libs + ['bz2', 'zstd', 'usb-1.0'] + base_libs
-opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../../opendbc/dbc").abspath)
+opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../../opendbc_repo/opendbc/dbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
 def write_assets_qrc(target, source, env):
diff --git a/openpilot/tools/jotpluggler/layout.cc b/openpilot/tools/jotpluggler/layout.cc
index dc7109808ab5a7..6bc3a6168a4fc0 100644
--- a/openpilot/tools/jotpluggler/layout.cc
+++ b/openpilot/tools/jotpluggler/layout.cc
@@ -276,7 +276,7 @@ std::string default_dbc_template() {
 DbcEditorSource resolve_dbc_editor_source(const std::string &dbc_name) {
   const fs::path generated_dbc_dir = repo_root() / "openpilot" / "tools" / "jotpluggler" / "generated_dbcs";
   const std::array<DbcEditorSource, 2> candidates = {{
-    {.path = repo_root() / "opendbc" / "dbc" / (dbc_name + ".dbc"), .kind = DbcEditorState::SourceKind::Opendbc},
+    {.path = repo_root() / "opendbc_repo" / "opendbc" / "dbc" / (dbc_name + ".dbc"), .kind = DbcEditorState::SourceKind::Opendbc},
     {.path = generated_dbc_dir / (dbc_name + ".dbc"), .kind = DbcEditorState::SourceKind::Generated},
   }};
   for (const DbcEditorSource &candidate : candidates) {
diff --git a/openpilot/tools/jotpluggler/sketch_layout.cc b/openpilot/tools/jotpluggler/sketch_layout.cc
index fcc4b183d085dd..ee307653f6eefa 100644
--- a/openpilot/tools/jotpluggler/sketch_layout.cc
+++ b/openpilot/tools/jotpluggler/sketch_layout.cc
@@ -385,7 +385,7 @@ std::string detect_dbc_for_fingerprint(std::string_view car_fingerprint) {
 std::vector<std::string> available_dbc_names_impl() {
   std::set<std::string> names;
   for (const fs::path &dbc_dir : {
-         repo_root() / "opendbc" / "dbc",
+         repo_root() / "opendbc_repo" / "opendbc" / "dbc",
          repo_root() / "openpilot" / "tools" / "jotpluggler" / "generated_dbcs",
        }) {
     if (fs::exists(dbc_dir) && fs::is_directory(dbc_dir)) {
@@ -407,7 +407,7 @@ std::vector<std::string> available_dbc_names_impl() {
 
 fs::path resolve_dbc_path(const std::string &dbc_name) {
   for (const fs::path &candidate : {
-         repo_root() / "opendbc" / "dbc" / (dbc_name + ".dbc"),
+         repo_root() / "opendbc_repo" / "opendbc" / "dbc" / (dbc_name + ".dbc"),
          repo_root() / "openpilot" / "tools" / "jotpluggler" / "generated_dbcs" / (dbc_name + ".dbc"),
        }) {
     if (fs::exists(candidate)) return candidate;
diff --git a/rednose b/rednose
deleted file mode 120000
index 674cfec35f9112..00000000000000
--- a/rednose
+++ /dev/null
@@ -1 +0,0 @@
-rednose_repo/rednose
\ No newline at end of file
diff --git a/teleoprtc b/teleoprtc
deleted file mode 120000
index 3d3dbc8dea1ac6..00000000000000
--- a/teleoprtc
+++ /dev/null
@@ -1 +0,0 @@
-teleoprtc_repo/teleoprtc
\ No newline at end of file
diff --git a/tinygrad b/tinygrad
deleted file mode 120000
index cb003823c6d777..00000000000000
--- a/tinygrad
+++ /dev/null
@@ -1 +0,0 @@
-tinygrad_repo/tinygrad
\ No newline at end of file

From f283f6703c08807de326707addc6f77098064e3f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 8 Jul 2026 21:12:12 -0700
Subject: [PATCH 1286/1434] Revert "try removing submodule symlinks (#38310)"

This reverts commit b827c0f55e65f8c3ffeefd9c0994dde054656982.
---
 .gitignore                                   |  7 -----
 SConstruct                                   | 29 +++-----------------
 launch_chffrplus.sh                          |  8 ------
 msgq                                         |  1 +
 opendbc                                      |  1 +
 openpilot/selfdrive/test/setup_device_ci.sh  |  8 ------
 openpilot/tools/cabana/SConscript            |  2 +-
 openpilot/tools/jotpluggler/layout.cc        |  2 +-
 openpilot/tools/jotpluggler/sketch_layout.cc |  4 +--
 rednose                                      |  1 +
 teleoprtc                                    |  1 +
 tinygrad                                     |  1 +
 12 files changed, 13 insertions(+), 52 deletions(-)
 create mode 120000 msgq
 create mode 120000 opendbc
 create mode 120000 rednose
 create mode 120000 teleoprtc
 create mode 120000 tinygrad

diff --git a/.gitignore b/.gitignore
index 5c99567581ca72..6581b90e7cf6be 100644
--- a/.gitignore
+++ b/.gitignore
@@ -15,13 +15,6 @@ a.out
 .cache/
 bin/
 
-# created at launch for TICI PYTHONPATH (PC uses editable installs via pyproject.toml)
-/msgq
-/opendbc
-/rednose
-/teleoprtc
-/tinygrad
-
 *.mp4
 *.dylib
 *.DSYM
diff --git a/SConstruct b/SConstruct
index 548553da915493..7e102add90dc47 100644
--- a/SConstruct
+++ b/SConstruct
@@ -27,24 +27,6 @@ AddOption('--minimal',
           default=(not TICI and not release),
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
-# Package symlinks are no longer tracked in git (created at launch on device).
-# Create them here so PYTHONPATH-based imports find in-tree packages and
-# Cython extensions during the build (especially release builds).
-_repo_root = Dir('#').abspath
-for _pkg, _target in (
-  ('msgq', 'msgq_repo/msgq'),
-  ('opendbc', 'opendbc_repo/opendbc'),
-  ('rednose', 'rednose_repo/rednose'),
-  ('teleoprtc', 'teleoprtc_repo/teleoprtc'),
-  ('tinygrad', 'tinygrad_repo/tinygrad'),
-):
-  _link = os.path.join(_repo_root, _pkg)
-  if os.path.lexists(_link):
-    if os.path.islink(_link) and os.readlink(_link) == _target:
-      continue
-    os.unlink(_link)
-  os.symlink(_target, _link)
-
 # Detect platform
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
@@ -146,10 +128,7 @@ env = Environment(
   CXXFLAGS=["-std=c++1z"],
   CPPPATH=[
     "#openpilot",
-    "#msgq_repo",            # #include "msgq/..."
-    "#opendbc_repo",         # #include "opendbc/..."
-    "#rednose_repo",         # #include "rednose/..."
-    "#rednose_repo/rednose", # #include "logger/..." (rednose package root)
+    "#msgq",
     "#openpilot/cereal/gen/cpp",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
@@ -159,13 +138,13 @@ env = Environment(
     "#openpilot/common",
     "#msgq_repo",
     "#openpilot/selfdrive/pandad",
-    "#rednose_repo/rednose/helpers",
+    "#rednose/helpers",
     [x.LIB_DIR for x in pkgs],
   ],
   RPATH=[ffmpeg.LIB_DIR] if ffmpeg_shared else [],
   CYTHONCFILESUFFIX=".cpp",
   COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#rednose_repo",
+  REDNOSE_ROOT="#",
   tools=["default", "cython", "compilation_db", "rednose_filter"],
   toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
@@ -270,7 +249,7 @@ Export('messaging')
 SConscript(['panda/SConscript'])
 
 # Build rednose library
-SConscript(['rednose_repo/rednose/SConscript'])
+SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index 4f767f3b19b6aa..17a765e076a3b3 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -70,14 +70,6 @@ function launch {
   ln -sfn $(pwd) /data/pythonpath
   export PYTHONPATH="$PWD"
 
-  # submodule package symlinks for PYTHONPATH imports on device.
-  # on PC these come from editable installs via pyproject.toml / uv.
-  ln -sfn msgq_repo/msgq msgq
-  ln -sfn opendbc_repo/opendbc opendbc
-  ln -sfn rednose_repo/rednose rednose
-  ln -sfn teleoprtc_repo/teleoprtc teleoprtc
-  ln -sfn tinygrad_repo/tinygrad tinygrad
-
   # hardware specific init
   if [ -f /AGNOS ]; then
     agnos_init
diff --git a/msgq b/msgq
new file mode 120000
index 00000000000000..df09146f62ea88
--- /dev/null
+++ b/msgq
@@ -0,0 +1 @@
+msgq_repo/msgq
\ No newline at end of file
diff --git a/opendbc b/opendbc
new file mode 120000
index 00000000000000..7cd9a5bd1ebf2e
--- /dev/null
+++ b/opendbc
@@ -0,0 +1 @@
+opendbc_repo/opendbc
\ No newline at end of file
diff --git a/openpilot/selfdrive/test/setup_device_ci.sh b/openpilot/selfdrive/test/setup_device_ci.sh
index d458e047a511bb..3fe353e72c067f 100755
--- a/openpilot/selfdrive/test/setup_device_ci.sh
+++ b/openpilot/selfdrive/test/setup_device_ci.sh
@@ -124,12 +124,4 @@ else
   safe_checkout
 fi
 
-# submodule package symlinks for PYTHONPATH imports on device (same as launch_chffrplus.sh)
-cd $TEST_DIR
-ln -sfn msgq_repo/msgq msgq
-ln -sfn opendbc_repo/opendbc opendbc
-ln -sfn rednose_repo/rednose rednose
-ln -sfn teleoprtc_repo/teleoprtc teleoprtc
-ln -sfn tinygrad_repo/tinygrad tinygrad
-
 echo "$TEST_DIR synced with $GIT_COMMIT, t=$SECONDS"
diff --git a/openpilot/tools/cabana/SConscript b/openpilot/tools/cabana/SConscript
index 26c20ddba144f4..ec94fec2660916 100644
--- a/openpilot/tools/cabana/SConscript
+++ b/openpilot/tools/cabana/SConscript
@@ -76,7 +76,7 @@ cabana_env['CPPPATH'] += [libusb.INCLUDE_DIR]
 cabana_env['LIBPATH'] += [libusb.LIB_DIR]
 
 cabana_libs = [cereal, messaging, visionipc, replay_lib] + ffmpeg_libs + ['bz2', 'zstd', 'usb-1.0'] + base_libs
-opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../../opendbc_repo/opendbc/dbc").abspath)
+opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../../opendbc/dbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
 def write_assets_qrc(target, source, env):
diff --git a/openpilot/tools/jotpluggler/layout.cc b/openpilot/tools/jotpluggler/layout.cc
index 6bc3a6168a4fc0..dc7109808ab5a7 100644
--- a/openpilot/tools/jotpluggler/layout.cc
+++ b/openpilot/tools/jotpluggler/layout.cc
@@ -276,7 +276,7 @@ std::string default_dbc_template() {
 DbcEditorSource resolve_dbc_editor_source(const std::string &dbc_name) {
   const fs::path generated_dbc_dir = repo_root() / "openpilot" / "tools" / "jotpluggler" / "generated_dbcs";
   const std::array<DbcEditorSource, 2> candidates = {{
-    {.path = repo_root() / "opendbc_repo" / "opendbc" / "dbc" / (dbc_name + ".dbc"), .kind = DbcEditorState::SourceKind::Opendbc},
+    {.path = repo_root() / "opendbc" / "dbc" / (dbc_name + ".dbc"), .kind = DbcEditorState::SourceKind::Opendbc},
     {.path = generated_dbc_dir / (dbc_name + ".dbc"), .kind = DbcEditorState::SourceKind::Generated},
   }};
   for (const DbcEditorSource &candidate : candidates) {
diff --git a/openpilot/tools/jotpluggler/sketch_layout.cc b/openpilot/tools/jotpluggler/sketch_layout.cc
index ee307653f6eefa..fcc4b183d085dd 100644
--- a/openpilot/tools/jotpluggler/sketch_layout.cc
+++ b/openpilot/tools/jotpluggler/sketch_layout.cc
@@ -385,7 +385,7 @@ std::string detect_dbc_for_fingerprint(std::string_view car_fingerprint) {
 std::vector<std::string> available_dbc_names_impl() {
   std::set<std::string> names;
   for (const fs::path &dbc_dir : {
-         repo_root() / "opendbc_repo" / "opendbc" / "dbc",
+         repo_root() / "opendbc" / "dbc",
          repo_root() / "openpilot" / "tools" / "jotpluggler" / "generated_dbcs",
        }) {
     if (fs::exists(dbc_dir) && fs::is_directory(dbc_dir)) {
@@ -407,7 +407,7 @@ std::vector<std::string> available_dbc_names_impl() {
 
 fs::path resolve_dbc_path(const std::string &dbc_name) {
   for (const fs::path &candidate : {
-         repo_root() / "opendbc_repo" / "opendbc" / "dbc" / (dbc_name + ".dbc"),
+         repo_root() / "opendbc" / "dbc" / (dbc_name + ".dbc"),
          repo_root() / "openpilot" / "tools" / "jotpluggler" / "generated_dbcs" / (dbc_name + ".dbc"),
        }) {
     if (fs::exists(candidate)) return candidate;
diff --git a/rednose b/rednose
new file mode 120000
index 00000000000000..674cfec35f9112
--- /dev/null
+++ b/rednose
@@ -0,0 +1 @@
+rednose_repo/rednose
\ No newline at end of file
diff --git a/teleoprtc b/teleoprtc
new file mode 120000
index 00000000000000..3d3dbc8dea1ac6
--- /dev/null
+++ b/teleoprtc
@@ -0,0 +1 @@
+teleoprtc_repo/teleoprtc
\ No newline at end of file
diff --git a/tinygrad b/tinygrad
new file mode 120000
index 00000000000000..cb003823c6d777
--- /dev/null
+++ b/tinygrad
@@ -0,0 +1 @@
+tinygrad_repo/tinygrad
\ No newline at end of file

From 1478d0c4763977d055f84246dd75c132a2a5ca9d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 8 Jul 2026 21:25:43 -0700
Subject: [PATCH 1287/1434] Fix diff report artifact download (#38313)

---
 .github/workflows/diff_report.yaml | 24 ++++++++++++++++++------
 1 file changed, 18 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/diff_report.yaml b/.github/workflows/diff_report.yaml
index 5ad7746fda80da..0f706ea2edcf34 100644
--- a/.github/workflows/diff_report.yaml
+++ b/.github/workflows/diff_report.yaml
@@ -24,17 +24,29 @@ jobs:
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         allowed-conclusions: success,failure
         wait-interval: 20
+    - name: Get tests run ID
+      if: steps.wait.outcome == 'success'
+      id: tests-run
+      env:
+        GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      run: |
+        run_id=$(gh api \
+          "repos/${{ github.repository }}/actions/workflows/tests.yaml/runs?event=pull_request&head_sha=${{ github.event.pull_request.head.sha }}&per_page=1" \
+          --jq '.workflow_runs[0].id // empty')
+        if [ -z "$run_id" ]; then
+          echo "No tests.yaml run found for ${{ github.event.pull_request.head.sha }}" >&2
+          exit 1
+        fi
+        echo "run-id=$run_id" >> "$GITHUB_OUTPUT"
     - name: Download diff
       if: steps.wait.outcome == 'success'
-      uses: dawidd6/action-download-artifact@b6e2e70617bc3265edd6dab6c906732b2f1ae151
+      uses: actions/download-artifact@3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c
       with:
-        github_token: ${{ secrets.GITHUB_TOKEN }}
-        workflow: tests.yaml
-        workflow_conclusion: ''
-        pr: ${{ github.event.number }}
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+        repository: ${{ github.repository }}
+        run-id: ${{ steps.tests-run.outputs.run-id }}
         name: diff_report_${{ github.event.number }}
         path: .
-        allow_forks: true
     - name: Comment on PR
       if: steps.wait.outcome == 'success'
       uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b

From 39117a5879a3450a928555ab89c062ca513e2995 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 8 Jul 2026 21:30:17 -0700
Subject: [PATCH 1288/1434] remove submodule symlinks (#38312)

---
 .gitignore                                   |  7 +++++
 SConstruct                                   | 28 ++++++++++++++++----
 launch_chffrplus.sh                          |  8 ++++++
 msgq                                         |  1 -
 opendbc                                      |  1 -
 openpilot/selfdrive/test/setup_device_ci.sh  |  8 ++++++
 openpilot/tools/cabana/SConscript            |  2 +-
 openpilot/tools/jotpluggler/layout.cc        |  2 +-
 openpilot/tools/jotpluggler/sketch_layout.cc |  4 +--
 rednose                                      |  1 -
 teleoprtc                                    |  1 -
 tinygrad                                     |  1 -
 12 files changed, 50 insertions(+), 14 deletions(-)
 delete mode 120000 msgq
 delete mode 120000 opendbc
 delete mode 120000 rednose
 delete mode 120000 teleoprtc
 delete mode 120000 tinygrad

diff --git a/.gitignore b/.gitignore
index 6581b90e7cf6be..5c99567581ca72 100644
--- a/.gitignore
+++ b/.gitignore
@@ -15,6 +15,13 @@ a.out
 .cache/
 bin/
 
+# created at launch for TICI PYTHONPATH (PC uses editable installs via pyproject.toml)
+/msgq
+/opendbc
+/rednose
+/teleoprtc
+/tinygrad
+
 *.mp4
 *.dylib
 *.DSYM
diff --git a/SConstruct b/SConstruct
index 7e102add90dc47..3ce34a86f7b5af 100644
--- a/SConstruct
+++ b/SConstruct
@@ -27,6 +27,21 @@ AddOption('--minimal',
           default=(not TICI and not release),
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
+submodule_python_paths = [
+  Dir("#").abspath,
+  Dir("#msgq_repo").abspath,
+  Dir("#opendbc_repo").abspath,
+  Dir("#rednose_repo").abspath,
+  Dir("#teleoprtc_repo").abspath,
+  Dir("#tinygrad_repo").abspath,
+]
+for p in reversed(submodule_python_paths):
+  if p not in sys.path:
+    sys.path.insert(0, p)
+
+if external_pythonpath := os.environ.get("PYTHONPATH"):
+  submodule_python_paths += [p for p in external_pythonpath.split(os.pathsep) if p and p not in submodule_python_paths]
+
 # Detect platform
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
@@ -106,7 +121,7 @@ def _libflags(target, source, env, for_signature):
 env = Environment(
   ENV={
     "PATH": os.environ['PATH'],
-    "PYTHONPATH": Dir("#").abspath,
+    "PYTHONPATH": os.pathsep.join(submodule_python_paths),
     "ACADOS_SOURCE_DIR": acados.DIR,
     "ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
     "TERA_PATH": acados.TERA_PATH
@@ -128,7 +143,10 @@ env = Environment(
   CXXFLAGS=["-std=c++1z"],
   CPPPATH=[
     "#openpilot",
-    "#msgq",
+    "#msgq_repo",            # #include "msgq/..."
+    "#opendbc_repo",         # #include "opendbc/..."
+    "#rednose_repo",         # #include "rednose/..."
+    "#rednose_repo/rednose", # #include "logger/..." (rednose package root)
     "#openpilot/cereal/gen/cpp",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
@@ -138,13 +156,13 @@ env = Environment(
     "#openpilot/common",
     "#msgq_repo",
     "#openpilot/selfdrive/pandad",
-    "#rednose/helpers",
+    "#rednose_repo/rednose/helpers",
     [x.LIB_DIR for x in pkgs],
   ],
   RPATH=[ffmpeg.LIB_DIR] if ffmpeg_shared else [],
   CYTHONCFILESUFFIX=".cpp",
   COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#",
+  REDNOSE_ROOT="#rednose_repo",
   tools=["default", "cython", "compilation_db", "rednose_filter"],
   toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
@@ -249,7 +267,7 @@ Export('messaging')
 SConscript(['panda/SConscript'])
 
 # Build rednose library
-SConscript(['rednose/SConscript'])
+SConscript(['rednose_repo/rednose/SConscript'])
 
 # Build system services
 SConscript([
diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index 17a765e076a3b3..4f767f3b19b6aa 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -70,6 +70,14 @@ function launch {
   ln -sfn $(pwd) /data/pythonpath
   export PYTHONPATH="$PWD"
 
+  # submodule package symlinks for PYTHONPATH imports on device.
+  # on PC these come from editable installs via pyproject.toml / uv.
+  ln -sfn msgq_repo/msgq msgq
+  ln -sfn opendbc_repo/opendbc opendbc
+  ln -sfn rednose_repo/rednose rednose
+  ln -sfn teleoprtc_repo/teleoprtc teleoprtc
+  ln -sfn tinygrad_repo/tinygrad tinygrad
+
   # hardware specific init
   if [ -f /AGNOS ]; then
     agnos_init
diff --git a/msgq b/msgq
deleted file mode 120000
index df09146f62ea88..00000000000000
--- a/msgq
+++ /dev/null
@@ -1 +0,0 @@
-msgq_repo/msgq
\ No newline at end of file
diff --git a/opendbc b/opendbc
deleted file mode 120000
index 7cd9a5bd1ebf2e..00000000000000
--- a/opendbc
+++ /dev/null
@@ -1 +0,0 @@
-opendbc_repo/opendbc
\ No newline at end of file
diff --git a/openpilot/selfdrive/test/setup_device_ci.sh b/openpilot/selfdrive/test/setup_device_ci.sh
index 3fe353e72c067f..d458e047a511bb 100755
--- a/openpilot/selfdrive/test/setup_device_ci.sh
+++ b/openpilot/selfdrive/test/setup_device_ci.sh
@@ -124,4 +124,12 @@ else
   safe_checkout
 fi
 
+# submodule package symlinks for PYTHONPATH imports on device (same as launch_chffrplus.sh)
+cd $TEST_DIR
+ln -sfn msgq_repo/msgq msgq
+ln -sfn opendbc_repo/opendbc opendbc
+ln -sfn rednose_repo/rednose rednose
+ln -sfn teleoprtc_repo/teleoprtc teleoprtc
+ln -sfn tinygrad_repo/tinygrad tinygrad
+
 echo "$TEST_DIR synced with $GIT_COMMIT, t=$SECONDS"
diff --git a/openpilot/tools/cabana/SConscript b/openpilot/tools/cabana/SConscript
index ec94fec2660916..26c20ddba144f4 100644
--- a/openpilot/tools/cabana/SConscript
+++ b/openpilot/tools/cabana/SConscript
@@ -76,7 +76,7 @@ cabana_env['CPPPATH'] += [libusb.INCLUDE_DIR]
 cabana_env['LIBPATH'] += [libusb.LIB_DIR]
 
 cabana_libs = [cereal, messaging, visionipc, replay_lib] + ffmpeg_libs + ['bz2', 'zstd', 'usb-1.0'] + base_libs
-opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../../opendbc/dbc").abspath)
+opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../../opendbc_repo/opendbc/dbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
 def write_assets_qrc(target, source, env):
diff --git a/openpilot/tools/jotpluggler/layout.cc b/openpilot/tools/jotpluggler/layout.cc
index dc7109808ab5a7..6bc3a6168a4fc0 100644
--- a/openpilot/tools/jotpluggler/layout.cc
+++ b/openpilot/tools/jotpluggler/layout.cc
@@ -276,7 +276,7 @@ std::string default_dbc_template() {
 DbcEditorSource resolve_dbc_editor_source(const std::string &dbc_name) {
   const fs::path generated_dbc_dir = repo_root() / "openpilot" / "tools" / "jotpluggler" / "generated_dbcs";
   const std::array<DbcEditorSource, 2> candidates = {{
-    {.path = repo_root() / "opendbc" / "dbc" / (dbc_name + ".dbc"), .kind = DbcEditorState::SourceKind::Opendbc},
+    {.path = repo_root() / "opendbc_repo" / "opendbc" / "dbc" / (dbc_name + ".dbc"), .kind = DbcEditorState::SourceKind::Opendbc},
     {.path = generated_dbc_dir / (dbc_name + ".dbc"), .kind = DbcEditorState::SourceKind::Generated},
   }};
   for (const DbcEditorSource &candidate : candidates) {
diff --git a/openpilot/tools/jotpluggler/sketch_layout.cc b/openpilot/tools/jotpluggler/sketch_layout.cc
index fcc4b183d085dd..ee307653f6eefa 100644
--- a/openpilot/tools/jotpluggler/sketch_layout.cc
+++ b/openpilot/tools/jotpluggler/sketch_layout.cc
@@ -385,7 +385,7 @@ std::string detect_dbc_for_fingerprint(std::string_view car_fingerprint) {
 std::vector<std::string> available_dbc_names_impl() {
   std::set<std::string> names;
   for (const fs::path &dbc_dir : {
-         repo_root() / "opendbc" / "dbc",
+         repo_root() / "opendbc_repo" / "opendbc" / "dbc",
          repo_root() / "openpilot" / "tools" / "jotpluggler" / "generated_dbcs",
        }) {
     if (fs::exists(dbc_dir) && fs::is_directory(dbc_dir)) {
@@ -407,7 +407,7 @@ std::vector<std::string> available_dbc_names_impl() {
 
 fs::path resolve_dbc_path(const std::string &dbc_name) {
   for (const fs::path &candidate : {
-         repo_root() / "opendbc" / "dbc" / (dbc_name + ".dbc"),
+         repo_root() / "opendbc_repo" / "opendbc" / "dbc" / (dbc_name + ".dbc"),
          repo_root() / "openpilot" / "tools" / "jotpluggler" / "generated_dbcs" / (dbc_name + ".dbc"),
        }) {
     if (fs::exists(candidate)) return candidate;
diff --git a/rednose b/rednose
deleted file mode 120000
index 674cfec35f9112..00000000000000
--- a/rednose
+++ /dev/null
@@ -1 +0,0 @@
-rednose_repo/rednose
\ No newline at end of file
diff --git a/teleoprtc b/teleoprtc
deleted file mode 120000
index 3d3dbc8dea1ac6..00000000000000
--- a/teleoprtc
+++ /dev/null
@@ -1 +0,0 @@
-teleoprtc_repo/teleoprtc
\ No newline at end of file
diff --git a/tinygrad b/tinygrad
deleted file mode 120000
index cb003823c6d777..00000000000000
--- a/tinygrad
+++ /dev/null
@@ -1 +0,0 @@
-tinygrad_repo/tinygrad
\ No newline at end of file

From 6392096de58290d80a03dcbfbfe8bba5742ad532 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 9 Jul 2026 09:31:34 -0700
Subject: [PATCH 1289/1434] op setup: init submodules before uv sync (#38314)

---
 tools/op.sh | 20 +++++++++++---------
 1 file changed, 11 insertions(+), 9 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index d8de248c24bb3d..cde29efd8cbb20 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -199,6 +199,17 @@ function op_setup() {
   op_check_openpilot_dir
   op_check_os
 
+  # Submodules must be present before uv sync: pyproject path sources
+  # (pandacan, opendbc, msgq, ...) live in the submodule checkouts.
+  echo "Getting git submodules..."
+  st="$(date +%s)"
+  if ! retry 3 git submodule update --jobs 4 --init --recursive; then
+    echo -e " ↳ [${RED}✗${NC}] Getting git submodules failed!"
+    return 1
+  fi
+  et="$(date +%s)"
+  echo -e " ↳ [${GREEN}✔${NC}] Submodules installed successfully in $((et - st)) seconds."
+
   echo "Installing dependencies..."
   st="$(date +%s)"
   SETUP_SCRIPT="tools/setup_dependencies.sh"
@@ -211,15 +222,6 @@ function op_setup() {
 
   op_activate_venv
 
-  echo "Getting git submodules..."
-  st="$(date +%s)"
-  if ! retry 3 git submodule update --jobs 4 --init --recursive; then
-    echo -e " ↳ [${RED}✗${NC}] Getting git submodules failed!"
-    return 1
-  fi
-  et="$(date +%s)"
-  echo -e " ↳ [${GREEN}✔${NC}] Submodules installed successfully in $((et - st)) seconds."
-
   echo "Pulling git lfs files..."
   st="$(date +%s)"
   if ! retry 3 git lfs pull; then

From ee11c24cf4ff6c0e8f8fdf2d40b6689680ed0053 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 9 Jul 2026 12:26:56 -0700
Subject: [PATCH 1290/1434] ci: test op setup with empty submodules (#38316)

* ci: test op setup with empty submodules

* ci: init submodules via op setup instead of checkout

* ci: keep submodules for build release

* ci: drop explicit submodules: false

* ci: remove checkout comment
---
 .github/workflows/tests.yaml | 12 ------------
 1 file changed, 12 deletions(-)

diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index d732dd83dcbb3d..08206ee1e2041c 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -66,8 +66,6 @@ jobs:
     runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
     steps:
     - uses: actions/checkout@v7
-      with:
-        submodules: true
     - name: Remove Homebrew from environment
       run: |
         FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
@@ -86,8 +84,6 @@ jobs:
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
     - uses: actions/checkout@v7
-      with:
-        submodules: true
     - run: ./tools/op.sh setup
     - name: Static analysis
       timeout-minutes: 1
@@ -103,8 +99,6 @@ jobs:
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
     - uses: actions/checkout@v7
-      with:
-        submodules: true
     - run: ./tools/op.sh setup
     - name: Build openpilot
       run: scons
@@ -127,8 +121,6 @@ jobs:
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
     - uses: actions/checkout@v7
-      with:
-        submodules: true
     - run: ./tools/op.sh setup
     - name: Build openpilot
       run: scons
@@ -200,8 +192,6 @@ jobs:
     if: false  # FIXME: Started to timeout recently
     steps:
     - uses: actions/checkout@v7
-      with:
-        submodules: true
     - run: ./tools/op.sh setup
     - name: Build openpilot
       run: scons
@@ -222,8 +212,6 @@ jobs:
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
       - uses: actions/checkout@v7
-        with:
-          submodules: true
       - run: ./tools/op.sh setup
       - name: Build openpilot
         run: scons

From 60924556f60125a234f6013527d13103bda8df00 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 9 Jul 2026 16:55:49 -0700
Subject: [PATCH 1291/1434] athena: minimal json-rpc implementation (#38318)

* athena: minimal json-rpc implementation

* lil more
---
 openpilot/system/athena/athenad.py |  20 ++---
 openpilot/system/athena/rpc.py     | 116 +++++++++++++++++++++++++++++
 pyproject.toml                     |   1 -
 uv.lock                            |  11 ---
 4 files changed, 122 insertions(+), 26 deletions(-)
 create mode 100644 openpilot/system/athena/rpc.py

diff --git a/openpilot/system/athena/athenad.py b/openpilot/system/athena/athenad.py
index 3949a7b201dc23..12715e14274186 100755
--- a/openpilot/system/athena/athenad.py
+++ b/openpilot/system/athena/athenad.py
@@ -23,7 +23,6 @@
 
 import requests
 from requests.adapters import HTTPAdapter, DEFAULT_POOLBLOCK
-from jsonrpc import JSONRPCResponseManager, dispatcher
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                        create_connection)
 
@@ -40,6 +39,7 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.version import get_build_metadata
 from openpilot.common.hardware.hw import Paths
+from openpilot.system.athena.rpc import dispatcher, dumps_call, handle, is_call, is_response, loads
 
 
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
@@ -211,11 +211,11 @@ def jsonrpc_handler(end_event: threading.Event) -> None:
   while not end_event.is_set():
     try:
       data = recv_queue.get(timeout=1)
-      if "method" in data:
+      msg = loads(data)
+      if is_call(msg):
         cloudlog.event("athena.jsonrpc_handler.call_method", data=data)
-        response = JSONRPCResponseManager.handle(data, dispatcher)
-        send_queue_push(response.json, SEND_PRIORITY_HIGH)
-      elif "id" in data and ("result" in data or "error" in data):
+        send_queue_push(handle(msg, dispatcher), SEND_PRIORITY_HIGH)
+      elif is_response(msg):
         log_recv_queue.put_nowait(data)
       else:
         raise Exception("not a valid request or response")
@@ -655,15 +655,7 @@ def log_handler(end_event: threading.Event) -> None:
           log_path = os.path.join(Paths.swaglog_root(), log_entry)
           setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder))
           with open(log_path) as f:
-            jsonrpc = {
-              "method": "forwardLogs",
-              "params": {
-                "logs": f.read()
-              },
-              "jsonrpc": "2.0",
-              "id": log_entry
-            }
-            send_queue_push(json.dumps(jsonrpc), SEND_PRIORITY_LOW)
+            send_queue_push(dumps_call("forwardLogs", {"logs": f.read()}, request_id=log_entry), SEND_PRIORITY_LOW)
             curr_log = log_entry
         except OSError:
           pass  # file could be deleted by log rotation
diff --git a/openpilot/system/athena/rpc.py b/openpilot/system/athena/rpc.py
new file mode 100644
index 00000000000000..aaf7f41fc3f456
--- /dev/null
+++ b/openpilot/system/athena/rpc.py
@@ -0,0 +1,116 @@
+import json
+from collections.abc import Callable, Mapping
+from typing import Any
+
+# a minimal implementation of json-rpc 2.0 https://www.jsonrpc.org/specification
+
+JSONRPC_VERSION = "2.0"
+
+# JSON-RPC 2.0 reserved / application error codes
+PARSE_ERROR = -32700
+INVALID_REQUEST = -32600
+METHOD_NOT_FOUND = -32601
+INVALID_PARAMS = -32602
+SERVER_ERROR = -32000
+
+JsonDict = dict[str, Any]
+MethodMap = Mapping[str, Callable[..., Any]]
+
+
+class Dispatcher(dict[str, Callable[..., Any]]):
+  def add_method(self, f: Callable[..., Any] | None = None, *, name: str | None = None):
+    def decorator(fn: Callable[..., Any]) -> Callable[..., Any]:
+      self[name or fn.__name__] = fn
+      return fn
+    return decorator(f) if f is not None else decorator
+
+
+dispatcher = Dispatcher()
+
+
+def dumps_call(method: str, params: Any = None, request_id: Any = None) -> str:
+  msg: JsonDict = {"jsonrpc": JSONRPC_VERSION, "method": method, "id": request_id}
+  if params is not None:
+    msg["params"] = params
+  return json.dumps(msg)
+
+
+def dumps_result(request_id: Any, result: Any) -> str:
+  return json.dumps({"jsonrpc": JSONRPC_VERSION, "id": request_id, "result": result})
+
+
+def dumps_error(request_id: Any, message: str, code: int = SERVER_ERROR) -> str:
+  return json.dumps({
+    "jsonrpc": JSONRPC_VERSION,
+    "id": request_id,
+    "error": {"code": code, "message": message},
+  })
+
+
+def loads(raw: str | bytes) -> JsonDict:
+  if isinstance(raw, bytes):
+    raw = raw.decode()
+  data = json.loads(raw)
+  if not isinstance(data, dict):
+    raise ValueError("message must be a JSON object")
+  return data
+
+
+def is_call(msg: JsonDict) -> bool:
+  return "method" in msg
+
+
+def is_response(msg: JsonDict) -> bool:
+  return "id" in msg and ("result" in msg or "error" in msg)
+
+
+def error_message(err: Any) -> str:
+  """Normalize JSON-RPC object errors and plain-string errors."""
+  if isinstance(err, str):
+    return err
+  if isinstance(err, dict):
+    data = err.get("data")
+    if isinstance(data, dict) and data.get("message"):
+      return str(data["message"])
+    if err.get("message") is not None:
+      return str(err["message"])
+  return str(err)
+
+
+def _invoke(fn: Callable[..., Any], params: Any) -> Any:
+  if params is None:
+    return fn()
+  if isinstance(params, dict):
+    return fn(**params)
+  if isinstance(params, (list, tuple)):
+    return fn(*params)
+  raise TypeError("params must be a list, object, or omitted")
+
+
+def handle(raw: str | bytes | JsonDict, methods: MethodMap | None = None) -> str:
+  methods = dispatcher if methods is None else methods
+
+  try:
+    msg = raw if isinstance(raw, dict) else loads(raw)
+  except (TypeError, ValueError, UnicodeDecodeError):
+    return dumps_error(None, "parse error", PARSE_ERROR)
+
+  if not is_call(msg):
+    raise ValueError("not a call")
+
+  req_id = msg.get("id")
+  name = msg.get("method")
+  if not isinstance(name, str):
+    return dumps_error(req_id, "invalid request", INVALID_REQUEST)
+
+  try:
+    fn = methods[name]
+  except KeyError:
+    return dumps_error(req_id, f"method not found: {name}", METHOD_NOT_FOUND)
+
+  try:
+    return dumps_result(req_id, _invoke(fn, msg.get("params")))
+  except TypeError as e:
+    return dumps_error(req_id, str(e), INVALID_PARAMS)
+  except Exception as e:
+    return dumps_error(req_id, str(e), SERVER_ERROR)
diff --git a/pyproject.toml b/pyproject.toml
index 8430683abb62f4..4118553595d1cd 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -50,7 +50,6 @@ dependencies = [
 
   # athena
   "PyJWT",
-  "json-rpc",
   "websocket_client",
 
   # joystickd
diff --git a/uv.lock b/uv.lock
index 7c30add6c0d8b5..56d67b3a2db1f4 100644
--- a/uv.lock
+++ b/uv.lock
@@ -699,15 +699,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/62/a1/3d680cbfd5f4b8f15abc1d571870c5fc3e594bb582bc3b64ea099db13e56/jinja2-3.1.6-py3-none-any.whl", hash = "sha256:85ece4451f492d0c13c5dd7c13a64681a86afae63a5f347908daf103ce6d2f67", size = 134899, upload-time = "2025-03-05T20:05:00.369Z" },
 ]
 
-[[package]]
-name = "json-rpc"
-version = "1.15.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/6d/9e/59f4a5b7855ced7346ebf40a2e9a8942863f644378d956f68bcef2c88b90/json-rpc-1.15.0.tar.gz", hash = "sha256:e6441d56c1dcd54241c937d0a2dcd193bdf0bdc539b5316524713f554b7f85b9", size = 28854, upload-time = "2023-06-11T09:45:49.078Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/94/9e/820c4b086ad01ba7d77369fb8b11470a01fac9b4977f02e18659cf378b6b/json_rpc-1.15.0-py2.py3-none-any.whl", hash = "sha256:4a4668bbbe7116feb4abbd0f54e64a4adcf4b8f648f19ffa0848ad0f6606a9bf", size = 39450, upload-time = "2023-06-11T09:45:47.136Z" },
-]
-
 [[package]]
 name = "kiwisolver"
 version = "1.5.0"
@@ -985,7 +976,6 @@ dependencies = [
     { name = "cython" },
     { name = "inputs" },
     { name = "jeepney" },
-    { name = "json-rpc" },
     { name = "numpy" },
     { name = "pillow" },
     { name = "psutil" },
@@ -1069,7 +1059,6 @@ requires-dist = [
     { name = "inputs" },
     { name = "jeepney" },
     { name = "jinja2", marker = "extra == 'docs'" },
-    { name = "json-rpc" },
     { name = "matplotlib", marker = "extra == 'dev'" },
     { name = "numpy", specifier = ">=2.0" },
     { name = "pillow" },

From c91731b13a82c3f102621503fe7404767bae194c Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Thu, 9 Jul 2026 19:15:23 -0700
Subject: [PATCH 1292/1434] athena: remove take snapshot (#38319)

remove snapshot
---
 openpilot/common/params_keys.h                |  2 -
 .../selfdrive/selfdrived/alerts_offroad.json  |  4 --
 .../selfdrive/ui/tests/diff/replay_script.py  |  1 -
 openpilot/system/athena/athenad.py            | 20 ------
 openpilot/system/camerad/snapshot.py          | 64 -------------------
 openpilot/system/hardware/hardwared.py        |  1 -
 6 files changed, 92 deletions(-)

diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h
index 02bdc616dafe71..7efa5721dc9893 100644
--- a/openpilot/common/params_keys.h
+++ b/openpilot/common/params_keys.h
@@ -63,7 +63,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsRhdDetected", {PERSISTENT, BOOL}},
     {"IsReleaseBranch", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"IsTakingSnapshot", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsTestedBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"JoystickDebugMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"LanguageSetting", {PERSISTENT, STRING, "en"}},
@@ -94,7 +93,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
-    {"Offroad_IsTakingSnapshot", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
diff --git a/openpilot/selfdrive/selfdrived/alerts_offroad.json b/openpilot/selfdrive/selfdrived/alerts_offroad.json
index 0fc11b9636bff1..add8d895502a05 100644
--- a/openpilot/selfdrive/selfdrived/alerts_offroad.json
+++ b/openpilot/selfdrive/selfdrived/alerts_offroad.json
@@ -17,10 +17,6 @@
     "severity": 1,
     "_comment": "Set extra field to the failed reason."
   },
-  "Offroad_IsTakingSnapshot": {
-    "text": "Taking camera snapshots. System won't start until finished.",
-    "severity": 0
-  },
   "Offroad_NeosUpdate": {
     "text": "An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install.",
     "severity": 0
diff --git a/openpilot/selfdrive/ui/tests/diff/replay_script.py b/openpilot/selfdrive/ui/tests/diff/replay_script.py
index 60c4a21ce46c93..8517f0dece3d5b 100644
--- a/openpilot/selfdrive/ui/tests/diff/replay_script.py
+++ b/openpilot/selfdrive/ui/tests/diff/replay_script.py
@@ -122,7 +122,6 @@ def set_prime_state(prime_type: PrimeType) -> None:
 def setup_offroad_alerts() -> None:
   set_offroad_alert("Offroad_TemperatureTooHigh", True, extra_text='99C')
   set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text='longitudinal')
-  set_offroad_alert("Offroad_IsTakingSnapshot", True)
 
 
 def setup_update_available(available: bool = True) -> None:
diff --git a/openpilot/system/athena/athenad.py b/openpilot/system/athena/athenad.py
index 12715e14274186..cf590afb40e5a3 100755
--- a/openpilot/system/athena/athenad.py
+++ b/openpilot/system/athena/athenad.py
@@ -1,9 +1,7 @@
 #!/usr/bin/env python3
 from __future__ import annotations
 
-import base64
 import hashlib
-import io
 import itertools
 import json
 import os
@@ -594,24 +592,6 @@ def startStream(sdp: str, enabled: bool) -> dict:
   return post_stream_request(StreamRequestBody(sdp, "wideRoad", enabled, bridge_services_in, ["carState", "deviceState"]))
 
 
-@dispatcher.add_method
-def takeSnapshot() -> str | dict[str, str] | None:
-  from openpilot.system.camerad.snapshot import jpeg_write, snapshot
-  ret = snapshot()
-  if ret is not None:
-    def b64jpeg(x):
-      if x is not None:
-        f = io.BytesIO()
-        jpeg_write(f, x)
-        return base64.b64encode(f.getvalue()).decode("utf-8")
-      else:
-        return None
-    return {'jpegBack': b64jpeg(ret[0]),
-            'jpegFront': b64jpeg(ret[1])}
-  else:
-    raise Exception("not available while camerad is started")
-
-
 def get_logs_to_send_sorted() -> list[str]:
   # TODO: scan once then use inotify to detect file creation/deletion
   curr_time = int(time.time())  # noqa: TID251
diff --git a/openpilot/system/camerad/snapshot.py b/openpilot/system/camerad/snapshot.py
index 1e73718abdb6ee..8383865fcedfa3 100755
--- a/openpilot/system/camerad/snapshot.py
+++ b/openpilot/system/camerad/snapshot.py
@@ -1,17 +1,10 @@
 #!/usr/bin/env python3
-import subprocess
-import time
 
 import numpy as np
-from PIL import Image
 
 import openpilot.cereal.messaging as messaging
 from msgq.visionipc import VisionIpcClient, VisionStreamType
-from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
-from openpilot.common.hardware import PC
-from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.system.manager.process_config import managed_processes
 
 
 VISION_STREAMS = {
@@ -21,11 +14,6 @@
 }
 
 
-def jpeg_write(fn, dat):
-  img = Image.fromarray(dat)
-  img.save(fn, "JPEG")
-
-
 def yuv_to_rgb(y, u, v):
   ul = np.repeat(np.repeat(u, 2).reshape(u.shape[0], y.shape[1]), 2, axis=0).reshape(y.shape)
   vl = np.repeat(np.repeat(v, 2).reshape(v.shape[0], y.shape[1]), 2, axis=0).reshape(y.shape)
@@ -77,55 +65,3 @@ def get_snapshots(frame="roadCameraState", front_frame="driverCameraState"):
     c = vipc_clients[front_frame]
     front = extract_image(c.recv())
   return rear, front
-
-
-def snapshot():
-  params = Params()
-
-  if (not params.get_bool("IsOffroad")) or params.get_bool("IsTakingSnapshot"):
-    print("Already taking snapshot")
-    return None, None
-
-  front_camera_allowed = params.get_bool("RecordFront")
-  params.put_bool("IsTakingSnapshot", True, block=True)
-  set_offroad_alert("Offroad_IsTakingSnapshot", True)
-  time.sleep(2.0)  # Give hardwared time to read the param, or if just started give camerad time to start
-
-  # Check if camerad is already started
-  try:
-    subprocess.check_call(["pgrep", "camerad"])
-    print("Camerad already running")
-    params.put_bool("IsTakingSnapshot", False, block=True)
-    params.remove("Offroad_IsTakingSnapshot")
-    return None, None
-  except subprocess.CalledProcessError:
-    pass
-
-  try:
-    # Allow testing on replay on PC
-    if not PC:
-      managed_processes['camerad'].start()
-
-    frame = "wideRoadCameraState"
-    front_frame = "driverCameraState" if front_camera_allowed else None
-    rear, front = get_snapshots(frame, front_frame)
-  finally:
-    managed_processes['camerad'].stop()
-    params.put_bool("IsTakingSnapshot", False, block=True)
-    set_offroad_alert("Offroad_IsTakingSnapshot", False)
-
-  if not front_camera_allowed:
-    front = None
-
-  return rear, front
-
-
-if __name__ == "__main__":
-  pic, fpic = snapshot()
-  if pic is not None:
-    print(pic.shape)
-    jpeg_write("/tmp/back.jpg", pic)
-    if fpic is not None:
-      jpeg_write("/tmp/front.jpg", fpic)
-  else:
-    print("Error taking snapshot")
diff --git a/openpilot/system/hardware/hardwared.py b/openpilot/system/hardware/hardwared.py
index 077965e8acaa56..6b86ce552fc968 100755
--- a/openpilot/system/hardware/hardwared.py
+++ b/openpilot/system/hardware/hardwared.py
@@ -290,7 +290,6 @@ def hardware_thread(end_event, hw_queue) -> None:
     startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2
     startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version
     startup_conditions["not_driver_view"] = not params.get_bool("IsDriverViewEnabled")
-    startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot")
 
     # must be at an engageable thermal band to go onroad
     startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.overheated

From a26254304f28befecc20f375339c7cf61aaa952d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 11 Jul 2026 12:59:49 -0700
Subject: [PATCH 1293/1434] Move eigen dependency into rednose (#38321)

* Move eigen dependency into rednose

* Declare complete rednose package dependencies

* Update rednose submodule

* Update rednose submodule

* Update rednose submodule

* Fix rednose dependency integration

* bump rednose
---
 SConstruct                      |  2 +-
 pyproject.toml                  |  2 --
 rednose_repo                    |  2 +-
 tools/release/build_stripped.sh |  2 +-
 uv.lock                         | 16 ++++++++++++----
 5 files changed, 15 insertions(+), 9 deletions(-)

diff --git a/SConstruct b/SConstruct
index 3ce34a86f7b5af..72a25e12d42f93 100644
--- a/SConstruct
+++ b/SConstruct
@@ -55,7 +55,7 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 acados = pkgs[pkg_names.index('acados')]
 ffmpeg = pkgs[pkg_names.index('ffmpeg')]
diff --git a/pyproject.toml b/pyproject.toml
index 4118553595d1cd..c4df3aabe18bdd 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -12,7 +12,6 @@ dependencies = [
   # multiple users
   "sounddevice",  # micd + soundd
   "requests",     # many one-off uses
-  "sympy",        # rednose + friends
   "tqdm",         # cars (fw_versions.py) on start + many one-off uses
 
   # core
@@ -29,7 +28,6 @@ dependencies = [
   "comma-deps-capnproto",
   "comma-deps-catch2",
   "comma-deps-acados",
-  "comma-deps-eigen",
   "comma-deps-ffmpeg",
   "comma-deps-zstd",
   "comma-deps-ncurses",
diff --git a/rednose_repo b/rednose_repo
index 6c2abeb471c830..9e19086c26ca35 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 6c2abeb471c830b38abb0f95d3aa348ca2b8dbc6
+Subproject commit 9e19086c26ca35708870d50ebcf237d65d0b163e
diff --git a/tools/release/build_stripped.sh b/tools/release/build_stripped.sh
index 1892360f6d9947..0e957c92128f71 100755
--- a/tools/release/build_stripped.sh
+++ b/tools/release/build_stripped.sh
@@ -38,7 +38,7 @@ git submodule foreach --recursive git clean -xdff
 # do the files copy
 echo "[-] copying files T=$SECONDS"
 cd $SOURCE_DIR
-cp -pR --parents $(./tools/release/release_files.py) $TARGET_DIR/
+./tools/release/release_files.py | xargs -d '\n' cp -pR --parents -t "$TARGET_DIR"
 
 # in the directory
 cd $TARGET_DIR
diff --git a/uv.lock b/uv.lock
index 56d67b3a2db1f4..1f5dd07cd47914 100644
--- a/uv.lock
+++ b/uv.lock
@@ -963,7 +963,6 @@ dependencies = [
     { name = "comma-deps-bzip2" },
     { name = "comma-deps-capnproto" },
     { name = "comma-deps-catch2" },
-    { name = "comma-deps-eigen" },
     { name = "comma-deps-ffmpeg" },
     { name = "comma-deps-gcc-arm-none-eabi" },
     { name = "comma-deps-git-lfs" },
@@ -989,7 +988,6 @@ dependencies = [
     { name = "setproctitle" },
     { name = "setuptools" },
     { name = "sounddevice" },
-    { name = "sympy" },
     { name = "tqdm" },
     { name = "websocket-client" },
     { name = "xattr" },
@@ -1042,7 +1040,6 @@ requires-dist = [
     { name = "comma-deps-bzip2" },
     { name = "comma-deps-capnproto" },
     { name = "comma-deps-catch2" },
-    { name = "comma-deps-eigen" },
     { name = "comma-deps-ffmpeg" },
     { name = "comma-deps-gcc-arm-none-eabi" },
     { name = "comma-deps-git-lfs" },
@@ -1080,7 +1077,6 @@ requires-dist = [
     { name = "setproctitle" },
     { name = "setuptools" },
     { name = "sounddevice" },
-    { name = "sympy" },
     { name = "tqdm" },
     { name = "ty", marker = "extra == 'testing'" },
     { name = "websocket-client" },
@@ -1496,15 +1492,27 @@ version = "0.0.1"
 source = { editable = "rednose_repo" }
 dependencies = [
     { name = "cffi" },
+    { name = "comma-deps-eigen" },
+    { name = "cython" },
     { name = "numpy" },
+    { name = "scons" },
+    { name = "setuptools" },
     { name = "sympy" },
 ]
 
 [package.metadata]
 requires-dist = [
     { name = "cffi" },
+    { name = "comma-deps-eigen" },
+    { name = "cython" },
     { name = "numpy" },
+    { name = "pre-commit", marker = "extra == 'dev'" },
+    { name = "pytest", marker = "extra == 'dev'" },
+    { name = "pytest-xdist", marker = "extra == 'dev'" },
+    { name = "ruff", marker = "extra == 'dev'" },
     { name = "scipy", marker = "extra == 'dev'" },
+    { name = "scons" },
+    { name = "setuptools" },
     { name = "sympy" },
 ]
 provides-extras = ["dev"]

From a52da0d3df8dd6101aba1d23528b071172be9645 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 11 Jul 2026 13:08:39 -0700
Subject: [PATCH 1294/1434] bump msgq, no runtime deps

---
 msgq_repo |   2 +-
 uv.lock   | 125 ++++++------------------------------------------------
 2 files changed, 14 insertions(+), 113 deletions(-)

diff --git a/msgq_repo b/msgq_repo
index 1d422a23c31e5b..a771d031ec5871 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit 1d422a23c31e5b8384e9464e1bb37e7f9b677aed
+Subproject commit a771d031ec58716824f365a89f0607fd786a1161
diff --git a/uv.lock b/uv.lock
index 1f5dd07cd47914..d5b00066582b11 100644
--- a/uv.lock
+++ b/uv.lock
@@ -121,11 +121,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/c8/b9/275df9607f7fb44317ccb1d4be74827185c0d410f52b6e2cd770fe209118/av-16.1.0-cp312-cp312-win_amd64.whl", hash = "sha256:f49243b1d27c91cd8c66fdba90a674e344eb8eb917264f36117bf2b6879118fd", size = 31752045, upload-time = "2026-01-11T09:57:45.106Z" },
 ]
 
-[[package]]
-name = "catch2"
-version = "2.13.10"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2#2bce880125320350b54d9d6696713ae847d06485" }
-
 [[package]]
 name = "certifi"
 version = "2026.6.17"
@@ -421,43 +416,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/52/30/21b2ad45959cd50e909e02ebac1e30b4ceb7162e91c11d4c570223a458b7/coverage-7.15.0-py3-none-any.whl", hash = "sha256:56da6a4cbe8f7e9e80bd072ca9cefe67d7106a440a7ec06519ec6507ac94ad19", size = 212632, upload-time = "2026-07-02T13:10:48.641Z" },
 ]
 
-[[package]]
-name = "cppcheck"
-version = "1.5.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "importlib-metadata" },
-]
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-]
-
-[[package]]
-name = "cpplint"
-version = "2.0.2"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/c5/83/47a9e7513ba4d943a9dac2f6752b444377c91880f4f4968799b4f42d89cc/cpplint-2.0.2.tar.gz", hash = "sha256:8a5971e4b5490133e425284f0c566c7ade0b959e61018d2c9af3ff7f357ddc57", size = 373781, upload-time = "2025-04-08T01:22:26.017Z" }
-wheels = [
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-]
-
 [[package]]
 name = "cryptography"
 version = "49.0.0"
@@ -639,18 +597,6 @@ wheels = [
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 ]
 
-[[package]]
-name = "importlib-metadata"
-version = "9.0.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "zipp" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/a9/01/15bb152d77b21318514a96f43af312635eb2500c96b55398d020c93d86ea/importlib_metadata-9.0.0.tar.gz", hash = "sha256:a4f57ab599e6a2e3016d7595cfd72eb4661a5106e787a95bcc90c7105b831efc", size = 56405, upload-time = "2026-03-20T06:42:56.999Z" }
-wheels = [
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-
 [[package]]
 name = "importlib-resources"
 version = "7.1.0"
@@ -726,19 +672,6 @@ wheels = [
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-
 [[package]]
 name = "libusb-package"
 version = "1.0.30.0"
@@ -835,34 +768,22 @@ wheels = [
 name = "msgq"
 version = "0.0.1"
 source = { editable = "msgq_repo" }
-dependencies = [
-    { name = "catch2" },
-    { name = "codespell" },
-    { name = "cppcheck" },
-    { name = "cpplint" },
-    { name = "cython" },
-    { name = "lefthook" },
-    { name = "parameterized" },
-    { name = "ruff" },
-    { name = "scons" },
-    { name = "setuptools" },
-    { name = "ty" },
-]
 
 [package.metadata]
 requires-dist = [
-    { name = "catch2", git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2" },
-    { name = "codespell" },
-    { name = "cppcheck" },
-    { name = "cpplint" },
-    { name = "cython" },
-    { name = "lefthook" },
-    { name = "parameterized" },
-    { name = "ruff" },
-    { name = "scons" },
-    { name = "setuptools" },
-    { name = "ty" },
+    { name = "catch2", marker = "extra == 'dev'", git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2" },
+    { name = "codespell", marker = "extra == 'dev'" },
+    { name = "cppcheck", marker = "extra == 'dev'" },
+    { name = "cpplint", marker = "extra == 'dev'" },
+    { name = "cython", marker = "extra == 'dev'" },
+    { name = "lefthook", marker = "extra == 'dev'" },
+    { name = "parameterized", marker = "extra == 'dev'" },
+    { name = "ruff", marker = "extra == 'dev'" },
+    { name = "scons", marker = "extra == 'dev'" },
+    { name = "setuptools", marker = "extra == 'dev'" },
+    { name = "ty", marker = "extra == 'dev'" },
 ]
+provides-extras = ["dev"]
 
 [[package]]
 name = "multidict"
@@ -1137,15 +1058,6 @@ requires-dist = [
 ]
 provides-extras = ["dev"]
 
-[[package]]
-name = "parameterized"
-version = "0.9.0"
-source = { registry = "https://pypi.org/simple" }
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-
 [[package]]
 name = "pillow"
 version = "12.3.0"
@@ -1506,14 +1418,12 @@ requires-dist = [
     { name = "comma-deps-eigen" },
     { name = "cython" },
     { name = "numpy" },
-    { name = "pre-commit", marker = "extra == 'dev'" },
-    { name = "pytest", marker = "extra == 'dev'" },
-    { name = "pytest-xdist", marker = "extra == 'dev'" },
     { name = "ruff", marker = "extra == 'dev'" },
     { name = "scipy", marker = "extra == 'dev'" },
     { name = "scons" },
     { name = "setuptools" },
     { name = "sympy" },
+    { name = "ty", marker = "extra == 'dev'" },
 ]
 provides-extras = ["dev"]
 
@@ -1912,15 +1822,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/73/26/fc7ef081acbdada8436825221cb728ee84a81d4d78a7bb79aa58bd150d31/zensical-0.0.46-cp310-abi3-win_amd64.whl", hash = "sha256:1543a693a160de60e86ca589592401b584670e7e12c5ae30e3c2ba76786f7ec3", size = 12599687, upload-time = "2026-06-21T18:52:37.913Z" },
 ]
 
-[[package]]
-name = "zipp"
-version = "4.1.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/b9/d8/eab98a517c14134c0b2eb4e2387bc5f457334293ec5d2dd3857ec2966802/zipp-4.1.0.tar.gz", hash = "sha256:4cb57381f544315db7688e976e922a2b18cdb513d21cc194eb42232ba2a3e602", size = 26214, upload-time = "2026-05-18T20:08:57.967Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/3a/13/547360d81e6d88d58492968ffda9f9542854f11310ee556fef14260cc886/zipp-4.1.0-py3-none-any.whl", hash = "sha256:25ad4e16390cd314347dd8f1de67a2ac538ae658ed4ab9db16029c07c188e97f", size = 10238, upload-time = "2026-05-18T20:08:57.045Z" },
-]
-
 [[package]]
 name = "zstandard"
 version = "0.25.0"

From 503531ab384cd34a7114c7e0748d6c20232e0f88 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 11 Jul 2026 13:51:22 -0700
Subject: [PATCH 1295/1434] replace psutil with simple /proc helper (#38326)

* replace psutil with simple /proc helper

* mv to common
---
 openpilot/common/linux.py              |  50 +++++++++++
 openpilot/system/hardware/hardwared.py |   8 +-
 openpilot/system/updated/updated.py    |   6 --
 pyproject.toml                         |   1 -
 tools/scripts/cpu_usage_stat.py        | 120 -------------------------
 uv.lock                                |  18 ----
 6 files changed, 54 insertions(+), 149 deletions(-)
 create mode 100644 openpilot/common/linux.py
 delete mode 100755 tools/scripts/cpu_usage_stat.py

diff --git a/openpilot/common/linux.py b/openpilot/common/linux.py
new file mode 100644
index 00000000000000..73ea77b5091bc4
--- /dev/null
+++ b/openpilot/common/linux.py
@@ -0,0 +1,50 @@
+class LinuxSystemStats:
+  def __init__(self) -> None:
+    self._last_cpu_times = self._read_cpu_times()
+
+  @staticmethod
+  def _read_cpu_times() -> dict[int, tuple[int, int]]:
+    cpu_times = {}
+    with open('/proc/stat') as f:
+      for line in f:
+        name, *values = line.split()
+        if not name.startswith('cpu') or not name[3:].isdigit():
+          continue
+
+        times = [int(value) for value in values]
+        idle = sum(times[3:5])
+        total = sum(times[:8])
+        cpu_times[int(name[3:])] = (idle, total)
+    return cpu_times
+
+  def cpu_usage_percent(self) -> list[float]:
+    current_cpu_times = self._read_cpu_times()
+    usage = []
+    for cpu, (idle, total) in sorted(current_cpu_times.items()):
+      last_times = self._last_cpu_times.get(cpu)
+      if last_times is None:
+        usage.append(0.)
+        continue
+
+      last_idle, last_total = last_times
+      idle_delta = idle - last_idle
+      total_delta = total - last_total
+      if idle_delta < 0 or total_delta <= 0:
+        usage.append(0.)
+      else:
+        usage.append(max(0., min(100., 100. * (total_delta - idle_delta) / total_delta)))
+
+    self._last_cpu_times = current_cpu_times
+    return usage
+
+  @staticmethod
+  def memory_usage_percent() -> float:
+    memory = {}
+    with open('/proc/meminfo') as f:
+      for line in f:
+        key, value, *_ = line.split()
+        if key in ('MemTotal:', 'MemAvailable:'):
+          memory[key] = int(value)
+
+    total = memory['MemTotal:']
+    return max(0., min(100., 100. * (total - memory['MemAvailable:']) / total))
diff --git a/openpilot/system/hardware/hardwared.py b/openpilot/system/hardware/hardwared.py
index 6b86ce552fc968..581ac7f1e021f5 100755
--- a/openpilot/system/hardware/hardwared.py
+++ b/openpilot/system/hardware/hardwared.py
@@ -7,8 +7,6 @@
 import time
 from collections import OrderedDict, namedtuple
 
-import psutil
-
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal import log
 from openpilot.cereal.services import SERVICE_LIST
@@ -19,6 +17,7 @@
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.common.hardware import HARDWARE, TICI, PC
 from openpilot.common.hardware.usb import get_usb_state, set_usb_state
+from openpilot.common.linux import LinuxSystemStats
 from openpilot.system.loggerd.config import get_available_percent
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.power_monitoring import PowerMonitoring
@@ -142,6 +141,7 @@ def hw_state_thread(end_event, hw_queue):
 
 
 def hardware_thread(end_event, hw_queue) -> None:
+  system_stats = LinuxSystemStats()
   pm = messaging.PubMaster(['deviceState'])
   sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "selfdriveState", "pandaStates"], poll="pandaStates")
 
@@ -232,9 +232,9 @@ def hardware_thread(end_event, hw_queue) -> None:
       pass
 
     msg.deviceState.freeSpacePercent = get_available_percent(default=100.0)
-    msg.deviceState.memoryUsagePercent = int(round(psutil.virtual_memory().percent))
+    msg.deviceState.memoryUsagePercent = int(round(system_stats.memory_usage_percent()))
     msg.deviceState.gpuUsagePercent = int(round(HARDWARE.get_gpu_usage_percent()))
-    online_cpu_usage = [int(round(n)) for n in psutil.cpu_percent(percpu=True)]
+    online_cpu_usage = [int(round(n)) for n in system_stats.cpu_usage_percent()]
     offline_cpu_usage = [0., ] * (len(msg.deviceState.cpuTempC) - len(online_cpu_usage))
     msg.deviceState.cpuUsagePercent = online_cpu_usage + offline_cpu_usage
 
diff --git a/openpilot/system/updated/updated.py b/openpilot/system/updated/updated.py
index c8f45fdb56f5be..ac8111d5c56749 100755
--- a/openpilot/system/updated/updated.py
+++ b/openpilot/system/updated/updated.py
@@ -3,7 +3,6 @@
 import re
 import datetime
 import subprocess
-import psutil
 import shutil
 import signal
 import fcntl
@@ -427,11 +426,6 @@ def main() -> None:
     except OSError as e:
       raise RuntimeError("couldn't get overlay lock; is another instance running?") from e
 
-    # Set low io priority
-    proc = psutil.Process()
-    if psutil.LINUX:
-      proc.ionice(psutil.IOPRIO_CLASS_BE, value=7)
-
     # Check if we just performed an update
     if Path(os.path.join(STAGING_ROOT, "old_openpilot")).is_dir():
       cloudlog.event("update installed")
diff --git a/pyproject.toml b/pyproject.toml
index c4df3aabe18bdd..9f139171900369 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -54,7 +54,6 @@ dependencies = [
   "inputs",
 
   # these should be removed
-  "psutil",
   "setproctitle",
 
   # logreader
diff --git a/tools/scripts/cpu_usage_stat.py b/tools/scripts/cpu_usage_stat.py
deleted file mode 100755
index 902df1c778adf5..00000000000000
--- a/tools/scripts/cpu_usage_stat.py
+++ /dev/null
@@ -1,120 +0,0 @@
-#!/usr/bin/env python3
-'''
-System tools like top/htop can only show current cpu usage values, so I write this script to do statistics jobs.
-  Features:
-    Use psutil library to sample cpu usage(avergage for all cores) of openpilot processes, at a rate of 5 samples/sec.
-    Do cpu usage statistics periodically, 5 seconds as a cycle.
-    Calculate the average cpu usage within this cycle.
-    Calculate minumium/maximum/accumulated_average cpu usage as long term inspections.
-    Monitor multiple processes simuteneously.
-  Sample usage:
-    root@localhost:/data/openpilot$ python openpilot/tools/scripts/cpu_usage_stat.py pandad,ubloxd
-    ('Add monitored proc:', './pandad')
-    ('Add monitored proc:', 'python locationd/ubloxd.py')
-    pandad: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96%
-    ubloxd.py: 0.39%, min: 0.39%, max: 0.39%, acc: 0.39%
-'''
-import psutil
-import time
-import os
-import sys
-import numpy as np
-import argparse
-import re
-from collections import defaultdict
-
-from openpilot.system.manager.process_config import managed_processes
-
-# Do statistics every 5 seconds
-PRINT_INTERVAL = 5
-SLEEP_INTERVAL = 0.2
-
-monitored_proc_names = [
-  # android procs
-  'SurfaceFlinger', 'sensors.qcom'
-] + list(managed_processes.keys())
-
-cpu_time_names = ['user', 'system', 'children_user', 'children_system']
-
-
-def get_arg_parser():
-  parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-
-  parser.add_argument("proc_names", nargs="?", default='',
-                      help="Process names to be monitored, comma separated")
-  parser.add_argument("--list_all", action='store_true',
-                      help="Show all running processes' cmdline")
-  parser.add_argument("--detailed_times", action='store_true',
-                      help="show cpu time details (split by user, system, child user, child system)")
-  return parser
-
-
-if __name__ == "__main__":
-  args = get_arg_parser().parse_args(sys.argv[1:])
-  if args.list_all:
-    for p in psutil.process_iter():
-      print('cmdline', p.cmdline(), 'name', p.name())
-    sys.exit(0)
-
-  if len(args.proc_names) > 0:
-    monitored_proc_names = args.proc_names.split(',')
-  monitored_procs = []
-  stats = {}
-  for p in psutil.process_iter():
-    if p == psutil.Process():
-      continue
-    matched = any(l for l in p.cmdline() if any(pn for pn in monitored_proc_names if re.match(fr'.*{pn}.*', l, re.M | re.I)))
-    if matched:
-      k = ' '.join(p.cmdline())
-      print('Add monitored proc:', k)
-      stats[k] = {'cpu_samples': defaultdict(list), 'min': defaultdict(lambda: None), 'max': defaultdict(lambda: None),
-                  'avg': defaultdict(float), 'last_cpu_times': None, 'last_sys_time': None}
-      stats[k]['last_sys_time'] = time.monotonic()
-      stats[k]['last_cpu_times'] = p.cpu_times()
-      monitored_procs.append(p)
-  i = 0
-  interval_int = int(PRINT_INTERVAL / SLEEP_INTERVAL)
-  while True:
-    for p in monitored_procs:
-      k = ' '.join(p.cmdline())
-      cur_sys_time = time.monotonic()
-      cur_cpu_times = p.cpu_times()
-      cpu_times = np.subtract(cur_cpu_times, stats[k]['last_cpu_times']) / (cur_sys_time - stats[k]['last_sys_time'])
-      stats[k]['last_sys_time'] = cur_sys_time
-      stats[k]['last_cpu_times'] = cur_cpu_times
-      cpu_percent = 0
-      for num, name in enumerate(cpu_time_names):
-        stats[k]['cpu_samples'][name].append(cpu_times[num])
-        cpu_percent += cpu_times[num]
-      stats[k]['cpu_samples']['total'].append(cpu_percent)
-    time.sleep(SLEEP_INTERVAL)
-    i += 1
-    if i % interval_int == 0:
-      l = []
-      for k, stat in stats.items():
-        if len(stat['cpu_samples']) <= 0:
-          continue
-        for name, samples in stat['cpu_samples'].items():
-          samples = np.array(samples)
-          avg = samples.mean()
-          c = samples.size
-          min_cpu = np.amin(samples)
-          max_cpu = np.amax(samples)
-          if stat['min'][name] is None or min_cpu < stat['min'][name]:
-            stat['min'][name] = min_cpu
-          if stat['max'][name] is None or max_cpu > stat['max'][name]:
-            stat['max'][name] = max_cpu
-          stat['avg'][name] = (stat['avg'][name] * (i - c) + avg * c) / (i)
-          stat['cpu_samples'][name] = []
-
-        msg = f"avg: {stat['avg']['total']:.2%}, min: {stat['min']['total']:.2%}, max: {stat['max']['total']:.2%} {os.path.basename(k)}"
-        if args.detailed_times:
-          for stat_type in ['avg', 'min', 'max']:
-            msg += f"\n {stat_type}: {[(name + ':' + str(round(stat[stat_type][name] * 100, 2))) for name in cpu_time_names]}"
-        l.append((os.path.basename(k), stat['avg']['total'], msg))
-      l.sort(key=lambda x: -x[1])
-      for x in l:
-        print(x[2])
-      print('avg sum: {:.2%} over {} samples {} seconds\n'.format(
-        sum(stat['avg']['total'] for k, stat in stats.items()), i, i * SLEEP_INTERVAL
-      ))
diff --git a/uv.lock b/uv.lock
index d5b00066582b11..2284243b55030b 100644
--- a/uv.lock
+++ b/uv.lock
@@ -898,7 +898,6 @@ dependencies = [
     { name = "jeepney" },
     { name = "numpy" },
     { name = "pillow" },
-    { name = "psutil" },
     { name = "pycapnp" },
     { name = "pyjwt" },
     { name = "pyzmq" },
@@ -981,7 +980,6 @@ requires-dist = [
     { name = "numpy", specifier = ">=2.0" },
     { name = "pillow" },
     { name = "pre-commit-hooks", marker = "extra == 'testing'" },
-    { name = "psutil" },
     { name = "pycapnp", specifier = "==2.1.0" },
     { name = "pyjwt" },
     { name = "pytest", marker = "extra == 'testing'" },
@@ -1122,22 +1120,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/3a/ed/1cdcab6ba3d6ab7feca11fc14f0eeea80755bb53ef4e892079f31b10a25f/propcache-0.5.2-py3-none-any.whl", hash = "sha256:be1ddfcbb376e3de5d2e2db1d58d6d67463e6b4f9f040c000de8e300295465fe", size = 14036, upload-time = "2026-05-08T21:02:10.673Z" },
 ]
 
-[[package]]
-name = "psutil"
-version = "7.2.2"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/aa/c6/d1ddf4abb55e93cebc4f2ed8b5d6dbad109ecb8d63748dd2b20ab5e57ebe/psutil-7.2.2.tar.gz", hash = "sha256:0746f5f8d406af344fd547f1c8daa5f5c33dbc293bb8d6a16d80b4bb88f59372", size = 493740, upload-time = "2026-01-28T18:14:54.428Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/e7/36/5ee6e05c9bd427237b11b3937ad82bb8ad2752d72c6969314590dd0c2f6e/psutil-7.2.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:ed0cace939114f62738d808fdcecd4c869222507e266e574799e9c0faa17d486", size = 129090, upload-time = "2026-01-28T18:15:22.168Z" },
-    { url = "https://files.pythonhosted.org/packages/80/c4/f5af4c1ca8c1eeb2e92ccca14ce8effdeec651d5ab6053c589b074eda6e1/psutil-7.2.2-cp36-abi3-macosx_11_0_arm64.whl", hash = "sha256:1a7b04c10f32cc88ab39cbf606e117fd74721c831c98a27dc04578deb0c16979", size = 129859, upload-time = "2026-01-28T18:15:23.795Z" },
-    { url = "https://files.pythonhosted.org/packages/b5/70/5d8df3b09e25bce090399cf48e452d25c935ab72dad19406c77f4e828045/psutil-7.2.2-cp36-abi3-manylinux2010_x86_64.manylinux_2_12_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:076a2d2f923fd4821644f5ba89f059523da90dc9014e85f8e45a5774ca5bc6f9", size = 155560, upload-time = "2026-01-28T18:15:25.976Z" },
-    { url = "https://files.pythonhosted.org/packages/63/65/37648c0c158dc222aba51c089eb3bdfa238e621674dc42d48706e639204f/psutil-7.2.2-cp36-abi3-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:b0726cecd84f9474419d67252add4ac0cd9811b04d61123054b9fb6f57df6e9e", size = 156997, upload-time = "2026-01-28T18:15:27.794Z" },
-    { url = "https://files.pythonhosted.org/packages/8e/13/125093eadae863ce03c6ffdbae9929430d116a246ef69866dad94da3bfbc/psutil-7.2.2-cp36-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:fd04ef36b4a6d599bbdb225dd1d3f51e00105f6d48a28f006da7f9822f2606d8", size = 148972, upload-time = "2026-01-28T18:15:29.342Z" },
-    { url = "https://files.pythonhosted.org/packages/04/78/0acd37ca84ce3ddffaa92ef0f571e073faa6d8ff1f0559ab1272188ea2be/psutil-7.2.2-cp36-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:b58fabe35e80b264a4e3bb23e6b96f9e45a3df7fb7eed419ac0e5947c61e47cc", size = 148266, upload-time = "2026-01-28T18:15:31.597Z" },
-    { url = "https://files.pythonhosted.org/packages/b4/90/e2159492b5426be0c1fef7acba807a03511f97c5f86b3caeda6ad92351a7/psutil-7.2.2-cp37-abi3-win_amd64.whl", hash = "sha256:eb7e81434c8d223ec4a219b5fc1c47d0417b12be7ea866e24fb5ad6e84b3d988", size = 137737, upload-time = "2026-01-28T18:15:33.849Z" },
-    { url = "https://files.pythonhosted.org/packages/8c/c7/7bb2e321574b10df20cbde462a94e2b71d05f9bbda251ef27d104668306a/psutil-7.2.2-cp37-abi3-win_arm64.whl", hash = "sha256:8c233660f575a5a89e6d4cb65d9f938126312bca76d8fe087b947b3a1aaac9ee", size = 134617, upload-time = "2026-01-28T18:15:36.514Z" },
-]
-
 [[package]]
 name = "pycapnp"
 version = "2.1.0"

From 4fd4ddb438258a743e3aa7bfdf2860896f9e71b8 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 14 Jul 2026 15:55:04 -0700
Subject: [PATCH 1296/1434] long_mpc: remove unused solver state and timings
 (#38335)

---
 .../controls/lib/longitudinal_mpc_lib/long_mpc.py         | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index 02a424c4c21b27..99d0c7ae68fde5 100755
--- a/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -240,14 +240,10 @@ def reset(self):
       self.solver.set(i, 'x', np.zeros(X_DIM))
 
     self.last_cloudlog_t = 0
-    self.status = False
     self.crash_cnt = 0.0
     self.solution_status = 0
     # timers
     self.solve_time = 0.0
-    self.time_qp_solution = 0.0
-    self.time_linearization = 0.0
-    self.time_integrator = 0.0
     self.x0 = np.zeros(X_DIM)
     self.set_weights()
 
@@ -316,7 +312,6 @@ def process_lead(self, lead):
   def update(self, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard):
     t_follow = get_T_FOLLOW(personality)
     v_ego = self.x0[1]
-    self.status = radarstate.leadOne.status or radarstate.leadTwo.status
 
     lead_xv_0 = self.process_lead(radarstate.leadOne)
     lead_xv_1 = self.process_lead(radarstate.leadTwo)
@@ -365,9 +360,6 @@ def run(self):
 
     self.solution_status = self.solver.solve()
     self.solve_time = float(self.solver.get_stats('time_tot')[0])
-    self.time_qp_solution = float(self.solver.get_stats('time_qp')[0])
-    self.time_linearization = float(self.solver.get_stats('time_lin')[0])
-    self.time_integrator = float(self.solver.get_stats('time_sim')[0])
 
     for i in range(N+1):
       self.x_sol[i] = self.solver.get(i, 'x')

From f42dbbb01c8d78bd555ffd343ca1e229989ff847 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 14 Jul 2026 16:01:45 -0700
Subject: [PATCH 1297/1434] longitudinal planner: remove unused model
 trajectory parsing (#38336)

---
 .../controls/lib/longitudinal_planner.py      | 23 ++-----------------
 1 file changed, 2 insertions(+), 21 deletions(-)

diff --git a/openpilot/selfdrive/controls/lib/longitudinal_planner.py b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
index a2547f99bfbf78..f413903aa08584 100755
--- a/openpilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -63,26 +63,6 @@ def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.a_desired_trajectory = np.zeros(CONTROL_N)
     self.j_desired_trajectory = np.zeros(CONTROL_N)
 
-  @staticmethod
-  def parse_model(model_msg):
-    if (len(model_msg.position.x) == ModelConstants.IDX_N and
-      len(model_msg.velocity.x) == ModelConstants.IDX_N and
-      len(model_msg.acceleration.x) == ModelConstants.IDX_N):
-      x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x)
-      v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x)
-      a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)
-      j = np.zeros(len(T_IDXS_MPC))
-    else:
-      x = np.zeros(len(T_IDXS_MPC))
-      v = np.zeros(len(T_IDXS_MPC))
-      a = np.zeros(len(T_IDXS_MPC))
-      j = np.zeros(len(T_IDXS_MPC))
-    if len(model_msg.meta.disengagePredictions.gasPressProbs) > 1:
-      throttle_prob = model_msg.meta.disengagePredictions.gasPressProbs[1]
-    else:
-      throttle_prob = 1.0
-    return x, v, a, j, throttle_prob
-
   def update(self, sm):
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -116,7 +96,8 @@ def update(self, sm):
 
     # Prevent divergence, smooth in current v_ego
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
-    _, _, _, _, throttle_prob = self.parse_model(sm['modelV2'])
+    throttle_probs = sm['modelV2'].meta.disengagePredictions.gasPressProbs
+    throttle_prob = throttle_probs[1] if len(throttle_probs) > 1 else 1.0
     # Don't clip at low speeds since throttle_prob doesn't account for creep
     self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
 

From cf8371c2c51b6b51d71c19ad8b8e491b4016d352 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Tue, 14 Jul 2026 17:44:46 -0700
Subject: [PATCH 1298/1434] add usb link err counter (#38338)

* add usb link err counter

* ci
---
 openpilot/cereal/log.capnp       |  1 +
 openpilot/common/hardware/usb.py | 10 ++++++++++
 2 files changed, 11 insertions(+)

diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp
index 2b43a95d7bee12..296cba3b256a1b 100644
--- a/openpilot/cereal/log.capnp
+++ b/openpilot/cereal/log.capnp
@@ -699,6 +699,7 @@ struct UsbState {
     speedMbps @4 :UInt16;
     manufacturer @6 :Text;
     product @5 :Text;
+    linkErrorCount @7 :UInt16;
   }
 }
 
diff --git a/openpilot/common/hardware/usb.py b/openpilot/common/hardware/usb.py
index 805f32407f0ea7..983002b538a412 100644
--- a/openpilot/common/hardware/usb.py
+++ b/openpilot/common/hardware/usb.py
@@ -27,11 +27,19 @@ def usb_devices() -> list[Path]:
     return []
 
 
+def controller(device: Path) -> Path | None:
+  try:
+    return next((parent for parent in device.resolve().parents if parent.name.endswith(".ssusb")), None)
+  except OSError:
+    return None
+
+
 def get_usb_state() -> list[dict]:
   devices = []
   for device in usb_devices():
     vendor_id = read_int(device / "idVendor", 16)
     product_id = read_int(device / "idProduct", 16)
+    ctrl = controller(device)
     devices.append({
       "busnum": read_int(device / "busnum"),
       "devnum": read_int(device / "devnum"),
@@ -40,6 +48,7 @@ def get_usb_state() -> list[dict]:
       "speedMbps": read_int(device / "speed"),
       "manufacturer": read(device / "manufacturer") or "",
       "product": read(device / "product") or "",
+      "linkErrorCount": read_int(ctrl / "portli", 0) & 0xFFFF if ctrl is not None else 0,
     })
   return devices
 
@@ -56,6 +65,7 @@ def set_usb_state(device_state, devices: list[dict]) -> None:
     entry.speedMbps = device["speedMbps"]
     entry.manufacturer = device["manufacturer"]
     entry.product = device["product"]
+    entry.linkErrorCount = device["linkErrorCount"]
 
     if (entry.vendorId, entry.productId) == (CHESTNUT_VENDOR_ID, CHESTNUT_PRODUCT_ID):
       chestnut_present = True

From 45b53cf66ac564326a78e024eb974f742c2ca69b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 14 Jul 2026 18:54:07 -0700
Subject: [PATCH 1299/1434] Rename LeadData.status to LeadData.present (#38339)

* rename LeadData.status to LeadData.present

* rename LeadData.status to LeadData.present

* resolve longitudinal MPC merge conflict
---
 openpilot/cereal/log.capnp                                | 2 +-
 .../controls/lib/longitudinal_mpc_lib/long_mpc.py         | 2 +-
 openpilot/selfdrive/controls/lib/longitudinal_planner.py  | 2 +-
 openpilot/selfdrive/controls/radard.py                    | 8 ++++----
 openpilot/selfdrive/test/longitudinal_maneuvers/plant.py  | 2 +-
 openpilot/selfdrive/ui/mici/onroad/model_renderer.py      | 4 ++--
 openpilot/selfdrive/ui/onroad/model_renderer.py           | 4 ++--
 openpilot/tools/replay/lib/ui_helpers.py                  | 2 +-
 8 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp
index 296cba3b256a1b..c7923bd373326c 100644
--- a/openpilot/cereal/log.capnp
+++ b/openpilot/cereal/log.capnp
@@ -722,7 +722,7 @@ struct RadarState @0x9a185389d6fdd05f {
     vLeadK @8 :Float32;
     aLeadK @9 :Float32;
     fcw @10 :Bool;
-    status @11 :Bool;
+    present @11 :Bool;
     aLeadTau @12 :Float32;
     modelProb @13 :Float32;
     radar @14 :Bool;
diff --git a/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index 99d0c7ae68fde5..de1ba0c278c42d 100755
--- a/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -288,7 +288,7 @@ def extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau):
 
   def process_lead(self, lead):
     v_ego = self.x0[1]
-    if lead is not None and lead.status:
+    if lead is not None and lead.present:
       x_lead = lead.dRel
       v_lead = lead.vLead
       a_lead = lead.aLeadK
diff --git a/openpilot/selfdrive/controls/lib/longitudinal_planner.py b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
index f413903aa08584..cf5a4b13a8251b 100755
--- a/openpilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -161,7 +161,7 @@ def publish(self, sm, pm):
     longitudinalPlan.accels = self.a_desired_trajectory.tolist()
     longitudinalPlan.jerks = self.j_desired_trajectory.tolist()
 
-    longitudinalPlan.hasLead = sm['radarState'].leadOne.status
+    longitudinalPlan.hasLead = sm['radarState'].leadOne.present
     longitudinalPlan.longitudinalPlanSource = self.mpc.source
     longitudinalPlan.fcw = self.fcw
 
diff --git a/openpilot/selfdrive/controls/radard.py b/openpilot/selfdrive/controls/radard.py
index 94400f335721b8..1474b31cf1d384 100755
--- a/openpilot/selfdrive/controls/radard.py
+++ b/openpilot/selfdrive/controls/radard.py
@@ -91,7 +91,7 @@ def get_RadarState(self, model_prob: float = 0.0):
       "vLeadK": float(self.vLeadK),
       "aLeadK": float(self.aLeadK),
       "aLeadTau": float(self.aLeadTau.x),
-      "status": True,
+      "present": True,
       "fcw": self.is_potential_fcw(model_prob),
       "modelProb": model_prob,
       "radar": True,
@@ -151,7 +151,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
     "aLeadTau": 0.3,
     "fcw": False,
     "modelProb": float(lead_prob),
-    "status": True,
+    "present": True,
     "radar": False,
     "radarTrackId": -1,
   }
@@ -165,7 +165,7 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
   else:
     track = None
 
-  lead_dict = {'status': False}
+  lead_dict = {'present': False}
   if track is not None:
     lead_dict = track.get_RadarState(lead_prob)
   elif (track is None) and ready and (lead_prob > .5):
@@ -177,7 +177,7 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
       closest_track = min(low_speed_tracks, key=lambda c: c.dRel)
 
       # Only choose new track if it is actually closer than the previous one
-      if (not lead_dict['status']) or (closest_track.dRel < lead_dict['dRel']):
+      if (not lead_dict['present']) or (closest_track.dRel < lead_dict['dRel']):
         lead_dict = closest_track.get_RadarState()
 
   return lead_dict
diff --git a/openpilot/selfdrive/test/longitudinal_maneuvers/plant.py b/openpilot/selfdrive/test/longitudinal_maneuvers/plant.py
index fbffde911ae921..733c1ab2fd913e 100755
--- a/openpilot/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/openpilot/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -95,7 +95,7 @@ def step(self, v_lead=0.0, prob_lead=1.0, v_cruise=50., pitch=0.0, prob_throttle
     lead.aLeadK = float(a_lead)
     # TODO use real radard logic for this
     lead.aLeadTau = float(_LEAD_ACCEL_TAU)
-    lead.status = status
+    lead.present = status
     lead.modelProb = float(prob_lead)
     if not self.only_lead2:
       radar.radarState.leadOne = lead
diff --git a/openpilot/selfdrive/ui/mici/onroad/model_renderer.py b/openpilot/selfdrive/ui/mici/onroad/model_renderer.py
index 0442aa2b65c3c6..adf9814364659a 100644
--- a/openpilot/selfdrive/ui/mici/onroad/model_renderer.py
+++ b/openpilot/selfdrive/ui/mici/onroad/model_renderer.py
@@ -166,7 +166,7 @@ def _update_leads(self, radar_state, path_x_array):
     leads = [radar_state.leadOne, radar_state.leadTwo]
 
     for i, lead_data in enumerate(leads):
-      if lead_data and lead_data.status:
+      if lead_data and lead_data.present:
         d_rel, y_rel, v_rel = lead_data.dRel, lead_data.yRel, lead_data.vRel
         idx = self._get_path_length_idx(path_x_array, d_rel)
 
@@ -195,7 +195,7 @@ def _update_model(self, lead, path_x_array):
       road_edge.projected_points = self._map_line_to_polygon(road_edge.raw_points, line_width_factor, 0.0, max_idx)
 
     # Update path using raw points
-    if lead and lead.status:
+    if lead and lead.present:
       lead_d = lead.dRel * 2.0
       max_distance = np.clip(lead_d - min(lead_d * 0.35, 10.0), 0.0, max_distance)
 
diff --git a/openpilot/selfdrive/ui/onroad/model_renderer.py b/openpilot/selfdrive/ui/onroad/model_renderer.py
index e21ca4f27130fb..50ff3b1c53bfbd 100644
--- a/openpilot/selfdrive/ui/onroad/model_renderer.py
+++ b/openpilot/selfdrive/ui/onroad/model_renderer.py
@@ -150,7 +150,7 @@ def _update_leads(self, radar_state, path_x_array):
     leads = [radar_state.leadOne, radar_state.leadTwo]
 
     for i, lead_data in enumerate(leads):
-      if lead_data and lead_data.status:
+      if lead_data and lead_data.present:
         d_rel, y_rel, v_rel = lead_data.dRel, lead_data.yRel, lead_data.vRel
         idx = self._get_path_length_idx(path_x_array, d_rel)
 
@@ -176,7 +176,7 @@ def _update_model(self, lead, path_x_array):
       road_edge.projected_points = self._map_line_to_polygon(road_edge.raw_points, 0.025, 0.0, max_idx, max_distance)
 
     # Update path using raw points
-    if lead and lead.status:
+    if lead and lead.present:
       lead_d = lead.dRel * 2.0
       max_distance = np.clip(lead_d - min(lead_d * 0.35, 10.0), 0.0, max_distance)
 
diff --git a/openpilot/tools/replay/lib/ui_helpers.py b/openpilot/tools/replay/lib/ui_helpers.py
index 039dd4f235959f..b5fdd180258b31 100644
--- a/openpilot/tools/replay/lib/ui_helpers.py
+++ b/openpilot/tools/replay/lib/ui_helpers.py
@@ -187,7 +187,7 @@ def plot_model(m, img, calibration, top_down):
 
 def plot_lead(rs, top_down):
   for lead in [rs.leadOne, rs.leadTwo]:
-    if not lead.status:
+    if not lead.present:
       continue
 
     x = lead.dRel

From d1e143ac984aec60c79917e3c4a82f3b26a3d5cf Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 14 Jul 2026 19:01:22 -0700
Subject: [PATCH 1300/1434] longcontrol: simplify state machine (#38337)

---
 openpilot/selfdrive/controls/lib/longcontrol.py | 13 +++++--------
 1 file changed, 5 insertions(+), 8 deletions(-)

diff --git a/openpilot/selfdrive/controls/lib/longcontrol.py b/openpilot/selfdrive/controls/lib/longcontrol.py
index 1132fedda68fa8..977add1285bef3 100644
--- a/openpilot/selfdrive/controls/lib/longcontrol.py
+++ b/openpilot/selfdrive/controls/lib/longcontrol.py
@@ -12,11 +12,9 @@
 
 def long_control_state_trans(CP, active, long_control_state, v_ego,
                              should_stop, brake_pressed, cruise_standstill):
-  stopping_condition = should_stop
   starting_condition = (not should_stop and
                         not cruise_standstill and
                         not brake_pressed)
-  started_condition = v_ego > CP.vEgoStarting
 
   if not active:
     long_control_state = LongCtrlState.off
@@ -25,11 +23,10 @@ def long_control_state_trans(CP, active, long_control_state, v_ego,
     if long_control_state == LongCtrlState.off:
       if not starting_condition:
         long_control_state = LongCtrlState.stopping
+      elif CP.startingState:
+        long_control_state = LongCtrlState.starting
       else:
-        if starting_condition and CP.startingState:
-          long_control_state = LongCtrlState.starting
-        else:
-          long_control_state = LongCtrlState.pid
+        long_control_state = LongCtrlState.pid
 
     elif long_control_state == LongCtrlState.stopping:
       if starting_condition and CP.startingState:
@@ -38,9 +35,9 @@ def long_control_state_trans(CP, active, long_control_state, v_ego,
         long_control_state = LongCtrlState.pid
 
     elif long_control_state in [LongCtrlState.starting, LongCtrlState.pid]:
-      if stopping_condition:
+      if should_stop:
         long_control_state = LongCtrlState.stopping
-      elif started_condition:
+      elif v_ego > CP.vEgoStarting:
         long_control_state = LongCtrlState.pid
   return long_control_state
 

From c16039e0bcc2a770bf7724cba27765cc59719122 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Wed, 15 Jul 2026 02:17:30 +0000
Subject: [PATCH 1301/1434] lagd: lower max lag (#38307)

* Max lag 0.6

* Fix tests

* 650ms
---
 openpilot/selfdrive/locationd/lagd.py           |  2 +-
 openpilot/selfdrive/locationd/test/test_lagd.py | 13 +++++++------
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/openpilot/selfdrive/locationd/lagd.py b/openpilot/selfdrive/locationd/lagd.py
index 78c673a3bd6dec..d3c0c5195b5ec3 100755
--- a/openpilot/selfdrive/locationd/lagd.py
+++ b/openpilot/selfdrive/locationd/lagd.py
@@ -25,7 +25,7 @@
 MIN_ABS_YAW_RATE = 0.0
 MAX_YAW_RATE_SANITY_CHECK = 1.0
 MIN_NCC = 0.95
-MAX_LAG = 1.0
+MAX_LAG = 0.65
 MIN_LAG = 0.15
 MAX_LAG_STD = 0.1
 MAX_LAT_ACCEL = 2.0
diff --git a/openpilot/selfdrive/locationd/test/test_lagd.py b/openpilot/selfdrive/locationd/test/test_lagd.py
index af401187f5646a..128c19332f512f 100644
--- a/openpilot/selfdrive/locationd/test/test_lagd.py
+++ b/openpilot/selfdrive/locationd/test/test_lagd.py
@@ -6,7 +6,7 @@
 from openpilot.cereal import messaging, log
 from opendbc.car.structs import car
 from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \
-                                               BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC, VERSION
+                                               BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC, VERSION, MIN_LAG, MAX_LAG
 from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
 from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
 from openpilot.common.params import Params
@@ -15,6 +15,7 @@
 
 MAX_ERR_FRAMES = 1
 DT = 0.05
+LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES = int(round(MIN_LAG / DT)), int(round(MAX_LAG / DT))
 
 
 def process_messages(estimator, lag_frames, n_frames, vego=25.0, rejection_threshold=0.0):
@@ -103,7 +104,7 @@ def test_ncc(self):
     assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
 
   def test_empty_estimator(self):
-    mocked_CP = car.CarParams(steerActuatorDelay=0.8)
+    mocked_CP = car.CarParams(steerActuatorDelay=0.5)
     estimator = LateralLagEstimator(mocked_CP, DT)
     msg = estimator.get_msg(True)
     assert msg.liveDelay.status == 'unestimated'
@@ -113,9 +114,9 @@ def test_empty_estimator(self):
     assert msg.liveDelay.calPerc == 0
 
   def test_estimator_basics(self, subtests):
-    for lag_frames in range(3, 10):
+    for lag_frames in range(LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES - 1):
       with subtests.test(msg=f"lag_frames={lag_frames}"):
-        mocked_CP = car.CarParams(steerActuatorDelay=0.8)
+        mocked_CP = car.CarParams(steerActuatorDelay=0.5)
         estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0)
         process_messages(estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE)
         msg = estimator.get_msg(True)
@@ -127,7 +128,7 @@ def test_estimator_basics(self, subtests):
         assert msg.liveDelay.calPerc == 100
 
   def test_estimator_masking(self):
-    mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.8), random.randint(3, 19)
+    mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.5), random.randint(LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES - 1)
     estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1)
     process_messages(estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4)
     msg = estimator.get_msg(True)
@@ -137,7 +138,7 @@ def test_estimator_masking(self):
 
   @pytest.mark.skipif(PC, reason="only on device")
   def test_estimator_performance(self):
-    mocked_CP = car.CarParams(steerActuatorDelay=0.8)
+    mocked_CP = car.CarParams(steerActuatorDelay=0.5)
     estimator = LateralLagEstimator(mocked_CP, DT)
 
     ds = []

From 45661ee8c0c4179788a6a5d75ef53923cecab854 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 14 Jul 2026 19:24:16 -0700
Subject: [PATCH 1302/1434] tmp disable ui_report

---
 .github/workflows/ui_preview.yaml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 20927740bb940b..d084bba7c0892c 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -25,7 +25,8 @@ env:
 
 jobs:
   preview:
-    if: github.repository == 'commaai/openpilot'
+    if: false # tmp disable due to GH API rate limiting flakiness
+    #if: github.repository == 'commaai/openpilot'
     name: preview
     runs-on: ubuntu-latest
     timeout-minutes: 20

From a9ffebe96e88a664ce71e76a86f7b3b6719eb3f4 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 14 Jul 2026 20:40:15 -0700
Subject: [PATCH 1303/1434] plannerd: check all services for validity (#38341)

* longitudinal planner: carControl must be valid

* plannerd: check all services for validity
---
 openpilot/selfdrive/controls/lib/longitudinal_planner.py | 2 +-
 openpilot/selfdrive/controls/plannerd.py                 | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/openpilot/selfdrive/controls/lib/longitudinal_planner.py b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
index cf5a4b13a8251b..884b4d00bc343a 100755
--- a/openpilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -150,7 +150,7 @@ def update(self, sm):
   def publish(self, sm, pm):
     plan_send = messaging.new_message('longitudinalPlan')
 
-    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState', 'radarState'])
+    plan_send.valid = sm.all_checks()
 
     longitudinalPlan = plan_send.longitudinalPlan
     longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
diff --git a/openpilot/selfdrive/controls/plannerd.py b/openpilot/selfdrive/controls/plannerd.py
index e8ee4395b8c00e..60a65258537a6c 100755
--- a/openpilot/selfdrive/controls/plannerd.py
+++ b/openpilot/selfdrive/controls/plannerd.py
@@ -30,7 +30,7 @@ def main():
 
       ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
       msg = messaging.new_message('driverAssistance')
-      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2', 'liveParameters'])
+      msg.valid = sm.all_checks()
       msg.driverAssistance.leftLaneDeparture = ldw.left
       msg.driverAssistance.rightLaneDeparture = ldw.right
       pm.send('driverAssistance', msg)

From d275c65f7501fe695331e864c78a5ddf7c8e6819 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 14 Jul 2026 23:53:52 -0700
Subject: [PATCH 1304/1434] fix ui.py

---
 openpilot/tools/replay/ui.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/openpilot/tools/replay/ui.py b/openpilot/tools/replay/ui.py
index 932b3f9b8c624f..f5bd3f1d787d3a 100755
--- a/openpilot/tools/replay/ui.py
+++ b/openpilot/tools/replay/ui.py
@@ -176,7 +176,7 @@ def ui_thread(addr):
     plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gasDEPRECATED
     # TODO gas is deprecated
     plot_arr[-1, name_to_arr_idx['computer_gas']] = np.clip(sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
-    plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
+    plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brakePressed
     plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.torque * ANGLE_SCALE
     # TODO brake is deprecated
     plot_arr[-1, name_to_arr_idx['computer_brake']] = np.clip(-sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)

From eee13472ce780f852cd13b8cf501560d71b22c12 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Wed, 15 Jul 2026 10:31:03 -0700
Subject: [PATCH 1305/1434] longitudinal: add e2e flag to tuning report
 (#38345)

---
 .../mpc_longitudinal_tuning_report.py         | 27 ++++++++++++++-----
 1 file changed, 20 insertions(+), 7 deletions(-)

diff --git a/openpilot/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py b/openpilot/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
index ae3fee7355af64..6b711a0847f278 100644
--- a/openpilot/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
+++ b/openpilot/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
@@ -25,7 +25,7 @@ def get_html_from_results(results, labels, AXIS):
   plt.close(fig)
   return fig_buffer.getvalue() + '<br/>'
 
-def generate_mpc_tuning_report():
+def generate_mpc_tuning_report(e2e=False):
   htmls = []
 
   results = {}
@@ -42,6 +42,7 @@ def generate_mpc_tuning_report():
       cruise_values=[100, 100],
       prob_lead_values=[1.0, 1.0],
       breakpoints=[1., 11],
+      e2e=e2e,
     )
     valid, results[lead_accel] = man.evaluate()
     labels.append(f'{lead_accel} m/s^2 lead acceleration')
@@ -63,6 +64,7 @@ def generate_mpc_tuning_report():
       initial_distance_lead=140.,
       speed_lead_values=[0.0, 0.],
       breakpoints=[0., 30.],
+      e2e=e2e,
     )
     valid, results[speed] = man.evaluate()
     labels.append(f'{speed} m/s approach speed')
@@ -85,6 +87,7 @@ def generate_mpc_tuning_report():
       initial_distance_lead=desired_follow_distance(speed, speed),
       speed_lead_values=[speed, speed, speed - oscil, speed + oscil, speed - oscil, speed + oscil, speed - oscil],
       breakpoints=[0.,2., 5, 8, 15, 18, 25.],
+      e2e=e2e,
     )
     valid, results[oscil] = man.evaluate()
     labels.append(f'{oscil} m/s oscillation size')
@@ -112,6 +115,7 @@ def generate_mpc_tuning_report():
       initial_distance_lead=desired_follow_distance(speed, speed),
       speed_lead_values=lead_speeds,
       breakpoints=bps,
+      e2e=e2e,
     )
     valid, results[oscil] = man.evaluate()
     labels.append(f'{oscil} m/s oscillation size')
@@ -134,6 +138,7 @@ def generate_mpc_tuning_report():
       initial_distance_lead=distance,
       speed_lead_values=[30.0],
       breakpoints=[0.],
+      e2e=e2e,
     )
     valid, results[distance] = man.evaluate()
     labels.append(f'{distance} m initial distance')
@@ -155,6 +160,7 @@ def generate_mpc_tuning_report():
       initial_distance_lead=distance,
       speed_lead_values=[20.0],
       breakpoints=[0.],
+      e2e=e2e,
     )
     valid, results[distance] = man.evaluate()
     labels.append(f'{distance} m initial distance')
@@ -177,6 +183,7 @@ def generate_mpc_tuning_report():
       initial_distance_lead=60.0,
       speed_lead_values=[30.0, 30.0, 0.0],
       breakpoints=[0., 5., 5 + stop_time],
+      e2e=e2e,
     )
     valid, results[stop_time] = man.evaluate()
     labels.append(f'{stop_time} seconds stop time')
@@ -200,6 +207,7 @@ def generate_mpc_tuning_report():
       speed_lead_values=[speed, speed, speed],
       prob_lead_values=[0.0, 0.0, 1.0],
       breakpoints=[0., 5.0, 5.01],
+      e2e=e2e,
     )
     valid, results[speed] = man.evaluate()
     labels.append(f'{speed} m/s speed')
@@ -222,6 +230,7 @@ def generate_mpc_tuning_report():
       speed_lead_values=[0.0, 0.0, speed],
       prob_lead_values=[1.0, 1.0, 1.0],
       breakpoints=[0., 1.0, speed/2],
+      e2e=e2e,
     )
     valid, results[speed] = man.evaluate()
     labels.append(f'{speed} m/s speed')
@@ -245,6 +254,7 @@ def generate_mpc_tuning_report():
       cruise_values=[0.0, speed],
       prob_lead_values=[0.0, 0.0],
       breakpoints=[1., 1.01],
+      e2e=e2e,
     )
     valid, results[speed] = man.evaluate()
     labels.append(f'{speed} m/s speed')
@@ -268,6 +278,7 @@ def generate_mpc_tuning_report():
       cruise_values=[speed, 10.0],
       prob_lead_values=[0.0, 0.0],
       breakpoints=[1., 1.01],
+      e2e=e2e,
     )
     valid, results[speed] = man.evaluate()
     labels.append(f'{speed} m/s speed')
@@ -279,12 +290,14 @@ def generate_mpc_tuning_report():
   return htmls
 
 if __name__ == '__main__':
-  htmls = generate_mpc_tuning_report()
-
-  if len(sys.argv) < 2:
-    file_name = 'long_mpc_tune_report.html'
-  else:
-    file_name = sys.argv[1]
+  e2e = '--e2e' in sys.argv
+  file_name = 'long_mpc_tune_report.html'
+  for arg in sys.argv[1:]:
+    if not arg.startswith('-'):
+      file_name = arg
+      break
+
+  htmls = generate_mpc_tuning_report(e2e=e2e)
 
   with open(file_name, 'w') as f:
     f.write(markdown.markdown('# MPC longitudinal tuning report'))

From ec72ee096db000287290042dec4b24c6461c1afe Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 15 Jul 2026 11:52:31 -0700
Subject: [PATCH 1306/1434] cleanup unused radar fields (#38346)

* cleanup unused radar fields

* bump opendbc

* this is nice for debugging

* bring that back too

* bring these back

* more revert
---
 opendbc_repo                                  |  2 +-
 openpilot/cereal/log.capnp                    | 24 +++++++++----------
 openpilot/selfdrive/controls/radard.py        | 14 +++--------
 .../test/longitudinal_maneuvers/plant.py      |  2 +-
 .../test/process_replay/migration.py          |  2 --
 openpilot/tools/replay/lib/ui_helpers.py      |  2 +-
 6 files changed, 18 insertions(+), 28 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 8c0b1367c5178f..402335de16dc75 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 8c0b1367c5178f919c05ae58a1dcf7439ed3eb37
+Subproject commit 402335de16dc75946ac4727b1513156411bdf3e0
diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp
index c7923bd373326c..722213daa3e39e 100644
--- a/openpilot/cereal/log.capnp
+++ b/openpilot/cereal/log.capnp
@@ -704,8 +704,7 @@ struct UsbState {
 }
 
 struct RadarState @0x9a185389d6fdd05f {
-  mdMonoTime @6 :UInt64;
-  carStateMonoTime @11 :UInt64;
+  mdMonoTime @6 :UInt64;  # for debugging
   radarErrors @13 :Car.RadarData.Error;
 
   leadOne @3 :LeadData;
@@ -715,21 +714,21 @@ struct RadarState @0x9a185389d6fdd05f {
     dRel @0 :Float32;
     yRel @1 :Float32;
     vRel @2 :Float32;
-    aRel @3 :Float32;
     vLead @4 :Float32;
-    dPath @6 :Float32;
-    vLat @7 :Float32;
-    vLeadK @8 :Float32;
-    aLeadK @9 :Float32;
-    fcw @10 :Bool;
+    vLeadK @8 :Float32;  # kalman-filtered lead speed
+    aLeadK @9 :Float32;  # kalman-filtered lead accel
     present @11 :Bool;
     aLeadTau @12 :Float32;
     modelProb @13 :Float32;
-    radar @14 :Bool;
-    radarTrackId @15 :Int32 = -1;
+    radar @14 :Bool;  # true if lead is radar-matched (vs vision-only)
+    radarTrackId @15 :Int32 = -1;  # for debugging
 
     deprecated :group {
+      aRel @3 :Float32;
       aLead @5 :Float32;
+      dPath @6 :Float32;
+      vLat @7 :Float32;
+      fcw @10 :Bool;
     }
   }
 
@@ -742,6 +741,7 @@ struct RadarState @0x9a185389d6fdd05f {
     calPerc @9 :Int8;
     canMonoTimes @10 :List(UInt64);
     cumLagMs @5 :Float32;
+    carStateMonoTime @11 :UInt64;
     radarErrors @12 :List(Car.RadarData.ErrorDEPRECATED);
   }
 }
@@ -1041,7 +1041,6 @@ struct ModelDataV2 {
   roadEdgeStds @14 :List(Float32);
 
   # predicted lead cars
-  leads @11 :List(LeadDataV2);
   leadsV3 @18 :List(LeadDataV3);
 
   meta @12 :MetaData;
@@ -1051,8 +1050,9 @@ struct ModelDataV2 {
   action @26: Action;
 
   lateralPlannerSolutionDEPRECATED @25: Deprecated.LateralPlannerSolution;
+  leadsDEPRECATED @11 :List(LeadDataV2DEPRECATED);
 
-  struct LeadDataV2 {
+  struct LeadDataV2DEPRECATED {
     prob @0 :Float32; # probability that car is your lead at time t
     t @1 :Float32;
 
diff --git a/openpilot/selfdrive/controls/radard.py b/openpilot/selfdrive/controls/radard.py
index 1474b31cf1d384..30824c07b84db6 100755
--- a/openpilot/selfdrive/controls/radard.py
+++ b/openpilot/selfdrive/controls/radard.py
@@ -23,7 +23,6 @@
 # stationary qualification parameters
 V_EGO_STATIONARY = 4.   # no stationary object flag below this speed
 
-RADAR_TO_CENTER = 2.7   # (deprecated) RADAR is ~ 2.7m ahead from center of car
 RADAR_TO_CAMERA = 1.52  # RADAR is ~ 1.5m ahead from center of mesh frame
 
 
@@ -59,13 +58,12 @@ def __init__(self, identifier: int, v_lead: float, kalman_params: KalmanParams):
     self.K_K = kalman_params.K
     self.kf = KF1D([[v_lead], [0.0]], self.K_A, self.K_C, self.K_K)
 
-  def update(self, d_rel: float, y_rel: float, v_rel: float, v_lead: float, measured: float):
+  def update(self, d_rel: float, y_rel: float, v_rel: float, v_lead: float):
     # relative values, copy
     self.dRel = d_rel   # LONG_DIST
     self.yRel = y_rel   # -LAT_DIST
     self.vRel = v_rel   # REL_SPEED
     self.vLead = v_lead
-    self.measured = measured   # measured or estimate
 
     # computed velocity and accelerations
     if self.cnt > 0:
@@ -92,7 +90,6 @@ def get_RadarState(self, model_prob: float = 0.0):
       "aLeadK": float(self.aLeadK),
       "aLeadTau": float(self.aLeadTau.x),
       "present": True,
-      "fcw": self.is_potential_fcw(model_prob),
       "modelProb": model_prob,
       "radar": True,
       "radarTrackId": self.identifier,
@@ -103,9 +100,6 @@ def potential_low_speed_lead(self, v_ego: float):
     # Radar points closer than 0.75, are almost always glitches on toyota radars
     return abs(self.yRel) < 1.0 and (v_ego < V_EGO_STATIONARY) and (0.75 < self.dRel < 25)
 
-  def is_potential_fcw(self, model_prob: float):
-    return model_prob > .9
-
   def __str__(self):
     ret = f"x: {self.dRel:4.1f}  y: {self.yRel:4.1f}  v: {self.vRel:4.1f}  a: {self.aLeadK:4.1f}"
     return ret
@@ -149,7 +143,6 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
     "vLeadK": float(v_ego + lead_v_rel_pred),
     "aLeadK": float(lead_msg.a[0]),
     "aLeadTau": 0.3,
-    "fcw": False,
     "modelProb": float(lead_prob),
     "present": True,
     "radar": False,
@@ -209,7 +202,7 @@ def update(self, sm: messaging.SubMaster, rr: car.RadarData):
       self.v_ego_hist.append(self.v_ego)
       self.last_v_ego_frame = sm.recv_frame['carState']
 
-    ar_pts = {pt.trackId: [pt.dRel, pt.yRel, pt.vRel, pt.measured] for pt in rr.points}
+    ar_pts = {pt.trackId: [pt.dRel, pt.yRel, pt.vRel] for pt in rr.points}
 
     # *** remove missing points from meta data ***
     for ids in list(self.tracks.keys()):
@@ -226,14 +219,13 @@ def update(self, sm: messaging.SubMaster, rr: car.RadarData):
       # create the track if it doesn't exist or it's a new track
       if ids not in self.tracks:
         self.tracks[ids] = Track(ids, v_lead, self.kalman_params)
-      self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3])
+      self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead)
 
     # *** publish radarState ***
     self.radar_state_valid = sm.all_checks()
     self.radar_state = log.RadarState.new_message()
     self.radar_state.mdMonoTime = sm.logMonoTime['modelV2']
     self.radar_state.radarErrors = rr.errors
-    self.radar_state.carStateMonoTime = sm.logMonoTime['carState']
 
     if len(sm['modelV2'].velocity.x):
       model_v_ego = sm['modelV2'].velocity.x[0]
diff --git a/openpilot/selfdrive/test/longitudinal_maneuvers/plant.py b/openpilot/selfdrive/test/longitudinal_maneuvers/plant.py
index 733c1ab2fd913e..23ccbdb85de854 100755
--- a/openpilot/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/openpilot/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -89,7 +89,6 @@ def step(self, v_lead=0.0, prob_lead=1.0, v_cruise=50., pitch=0.0, prob_throttle
     lead.dRel = float(d_rel)
     lead.yRel = 0.0
     lead.vRel = float(v_rel)
-    lead.aRel = float(a_lead - self.acceleration)
     lead.vLead = float(v_lead)
     lead.vLeadK = float(v_lead)
     lead.aLeadK = float(a_lead)
@@ -97,6 +96,7 @@ def step(self, v_lead=0.0, prob_lead=1.0, v_cruise=50., pitch=0.0, prob_throttle
     lead.aLeadTau = float(_LEAD_ACCEL_TAU)
     lead.present = status
     lead.modelProb = float(prob_lead)
+    lead.radar = True
     if not self.only_lead2:
       radar.radarState.leadOne = lead
     radar.radarState.leadTwo = lead
diff --git a/openpilot/selfdrive/test/process_replay/migration.py b/openpilot/selfdrive/test/process_replay/migration.py
index 0045fa8a879fe2..a6e466bef58279 100644
--- a/openpilot/selfdrive/test/process_replay/migration.py
+++ b/openpilot/selfdrive/test/process_replay/migration.py
@@ -175,8 +175,6 @@ def migrate_liveTracks(msgs):
       pt.dRel = track.dRel
       pt.yRel = track.yRel
       pt.vRel = track.vRel
-      pt.aRel = track.aRel
-      pt.measured = True
       pts.append(pt)
 
     new_msg.liveTracks.points = pts
diff --git a/openpilot/tools/replay/lib/ui_helpers.py b/openpilot/tools/replay/lib/ui_helpers.py
index b5fdd180258b31..6a3e8c20ed2db3 100644
--- a/openpilot/tools/replay/lib/ui_helpers.py
+++ b/openpilot/tools/replay/lib/ui_helpers.py
@@ -201,7 +201,7 @@ def maybe_update_radar_points(lt, lid_overlay):
   if lt is not None:
     ar_pts = {}
     for track in lt:
-      ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel]
+      ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel]
   for pt in ar_pts.values():
     # negative here since radar is left positive
     px, py = to_topdown_pt(pt[0], -pt[1])

From 2b1fd89064bcc97e9eb644ad777a634ce5811024 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 15 Jul 2026 12:01:46 -0700
Subject: [PATCH 1307/1434] annotate radar fields (#38347)

---
 openpilot/cereal/log.capnp | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp
index 722213daa3e39e..8ce9f868af3ec1 100644
--- a/openpilot/cereal/log.capnp
+++ b/openpilot/cereal/log.capnp
@@ -711,15 +711,15 @@ struct RadarState @0x9a185389d6fdd05f {
   leadTwo @4 :LeadData;
 
   struct LeadData {
-    dRel @0 :Float32;
-    yRel @1 :Float32;
-    vRel @2 :Float32;
-    vLead @4 :Float32;
+    dRel @0 :Float32;  # m from the front bumper of the car
+    yRel @1 :Float32;  # m in car frame, left positive
+    vRel @2 :Float32;  # m/s relative longitudinal speed
+    vLead @4 :Float32;  # m/s absolute lead speed
     vLeadK @8 :Float32;  # kalman-filtered lead speed
     aLeadK @9 :Float32;  # kalman-filtered lead accel
-    present @11 :Bool;
-    aLeadTau @12 :Float32;
-    modelProb @13 :Float32;
+    present @11 :Bool;  # true if a lead is present
+    aLeadTau @12 :Float32;  # lead accel time constant
+    modelProb @13 :Float32;  # vision model lead probability
     radar @14 :Bool;  # true if lead is radar-matched (vs vision-only)
     radarTrackId @15 :Int32 = -1;  # for debugging
 

From 79b79edd2fdc60544905360f24361241c5985df1 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 15 Jul 2026 17:02:34 -0400
Subject: [PATCH 1308/1434] MADS: add tests and prevent re-enable at standstill
 in Pause mode (#1871)

* tests

* lateral mismatch

* no unittest oops
---
 sunnypilot/mads/mads.py                       |   2 +-
 .../mads/tests/test_mads_steering_mode.py     | 242 ++++++++++++++++++
 2 files changed, 243 insertions(+), 1 deletion(-)
 create mode 100644 sunnypilot/mads/tests/test_mads_steering_mode.py

diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index bd9c8d78ff8b7f..b0a90f82b50e9b 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -69,7 +69,7 @@ def pedal_pressed_non_gas_pressed(self, CS: structs.CarState) -> bool:
     return False
 
   def should_silent_lkas_enable(self, CS: structs.CarState) -> bool:
-    if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE and self.pedal_pressed_non_gas_pressed(CS):
+    if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE and (CS.brakePressed or CS.regenBraking or self.pedal_pressed_non_gas_pressed(CS)):
       return False
 
     if self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
diff --git a/sunnypilot/mads/tests/test_mads_steering_mode.py b/sunnypilot/mads/tests/test_mads_steering_mode.py
new file mode 100644
index 00000000000000..8765324cfdea73
--- /dev/null
+++ b/sunnypilot/mads/tests/test_mads_steering_mode.py
@@ -0,0 +1,242 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import pytest
+
+from cereal import log, custom
+from opendbc.car import structs
+from openpilot.selfdrive.selfdrived.events import Events
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param
+from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+
+State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
+EventName = log.OnroadEvent.EventName
+EventNameSP = custom.OnroadEventSP.EventName
+SafetyModel = structs.CarParams.SafetyModel
+
+
+def make_car_state(brake_pressed=False, regen_braking=False, standstill=False, v_ego=0.0):
+  cs = structs.CarState()
+  cs.brakePressed = brake_pressed
+  cs.regenBraking = regen_braking
+  cs.standstill = standstill
+  cs.vEgo = v_ego
+  cs.cruiseState.available = True
+  return cs
+
+
+def make_panda_state(mocker, controls_allowed_lateral=True):
+  ps = mocker.MagicMock()
+  ps.controlsAllowedLateral = controls_allowed_lateral
+  ps.safetyModel = SafetyModel.hyundai
+  return ps
+
+
+def make_mads(mocker, steering_mode):
+  sd = mocker.MagicMock()
+  sd.CP = structs.CarParams()
+  sd.CP.brand = "hyundai"
+  sd.CP_SP = structs.CarParamsSP()
+  sd.params = mocker.MagicMock()
+  sd.params.get_bool = mocker.MagicMock(side_effect=lambda k: {
+    "Mads": True, "MadsMainCruiseAllowed": False,
+    "DisengageOnAccelerator": True, "MadsUnifiedEngagementMode": False,
+  }.get(k, False))
+  sd.params.get = mocker.MagicMock(return_value=steering_mode)
+  sd.events = Events()
+  sd.events_sp = EventsSP()
+  sd.enabled = False
+  sd.enabled_prev = False
+  sd.initialized = True
+  sd.CS_prev = make_car_state()
+  sd.sm = {'pandaStates': [make_panda_state(mocker)]}
+  sd.state_machine = mocker.MagicMock()
+
+  mads = ModularAssistiveDrivingSystem(sd)
+  mads.enabled_toggle = True
+  mads.steering_mode_on_brake = steering_mode
+  return mads, sd
+
+
+def run_frames(mads, sd, cs, n=1):
+  for _ in range(n):
+    mads.update(cs)
+    sd.CS_prev = cs
+    sd.events.clear()
+    sd.events_sp.clear()
+
+
+# should_silent_lkas_enable across all modes
+
+class TestShouldSilentLkasEnable:
+  @pytest.mark.parametrize("brake,regen", [(True, False), (False, True)])
+  def test_pause_blocks_reenable_on_braking_at_standstill(self, mocker, brake, regen):
+    mads, _ = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
+    cs = make_car_state(brake_pressed=brake, regen_braking=regen, standstill=True)
+    assert mads.should_silent_lkas_enable(cs) is False
+
+  def test_pause_allows_reenable_on_brake_release(self, mocker):
+    mads, _ = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
+    cs = make_car_state(standstill=True)
+    assert mads.should_silent_lkas_enable(cs) is True
+
+  def test_remain_active_ignores_brake(self, mocker):
+    mads, _ = make_mads(mocker, MadsSteeringModeOnBrake.REMAIN_ACTIVE)
+    cs = make_car_state(brake_pressed=True, standstill=True)
+    assert mads.should_silent_lkas_enable(cs) is True
+
+  def test_disengage_ignores_brake_for_silent_enable(self, mocker):
+    mads, _ = make_mads(mocker, MadsSteeringModeOnBrake.DISENGAGE)
+    cs = make_car_state(brake_pressed=True, standstill=True)
+    assert mads.should_silent_lkas_enable(cs) is True
+
+
+# pause
+
+class TestPauseMode:
+  def test_stays_paused_at_standstill_brake_held(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
+    mads.state_machine.state = State.enabled
+    mads.enabled = True
+    mads.active = True
+
+    sd.events.add(EventName.pedalPressed)
+    run_frames(mads, sd, make_car_state(brake_pressed=True, v_ego=15.0))
+    assert mads.state_machine.state == State.paused
+
+    sd.sm['pandaStates'] = [make_panda_state(mocker, False)]
+    run_frames(mads, sd, make_car_state(brake_pressed=True, standstill=True), n=250)
+    assert mads.state_machine.state == State.paused
+
+  def test_resumes_on_brake_release_at_standstill(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
+    mads.state_machine.state = State.paused
+    mads.enabled = True
+    mads.active = False
+
+    run_frames(mads, sd, make_car_state(standstill=True))
+    assert mads.state_machine.state == State.enabled
+
+  def test_full_cycle_moving_to_standstill(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
+    mads.state_machine.state = State.enabled
+    mads.enabled = True
+    mads.active = True
+
+    sd.events.add(EventName.pedalPressed)
+    run_frames(mads, sd, make_car_state(brake_pressed=True, v_ego=15.0))
+    assert mads.state_machine.state == State.paused
+
+    sd.sm['pandaStates'] = [make_panda_state(mocker, False)]
+    run_frames(mads, sd, make_car_state(brake_pressed=True, standstill=True), n=250)
+    assert mads.state_machine.state == State.paused
+
+    sd.sm['pandaStates'] = [make_panda_state(mocker, True)]
+    run_frames(mads, sd, make_car_state(standstill=True))
+    assert mads.state_machine.state == State.enabled
+
+
+# disengage
+
+class TestDisengageMode:
+  def test_brake_while_enabled_disables(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.DISENGAGE)
+    mads.state_machine.state = State.enabled
+    mads.enabled = True
+    mads.active = True
+
+    sd.events.add(EventName.pedalPressed)
+    run_frames(mads, sd, make_car_state(brake_pressed=True, v_ego=10.0))
+    assert mads.state_machine.state == State.disabled
+
+  def test_brake_sends_lkas_disable_when_enabled(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.DISENGAGE)
+    mads.state_machine.state = State.enabled
+    mads.enabled = True
+    mads.active = True
+
+    sd.events.add(EventName.pedalPressed)
+    mads.update_events(make_car_state(brake_pressed=True, v_ego=5.0))
+    assert sd.events_sp.has(EventNameSP.lkasDisable)
+
+
+# remain active
+
+class TestRemainActiveMode:
+  def test_brake_does_not_pause_or_disable(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.REMAIN_ACTIVE)
+    mads.state_machine.state = State.enabled
+    mads.enabled = True
+    mads.active = True
+
+    sd.events.add(EventName.pedalPressed)
+    run_frames(mads, sd, make_car_state(brake_pressed=True, v_ego=10.0))
+    assert mads.state_machine.state == State.enabled
+
+
+# lateral mismatch counter
+
+class TestLateralMismatchCounter:
+  def test_no_accumulation_while_paused(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
+    mads.state_machine.state = State.paused
+    mads.enabled = True
+    mads.active = False
+    sd.sm['pandaStates'] = [make_panda_state(mocker, False)]
+
+    run_frames(mads, sd, make_car_state(brake_pressed=True, standstill=True), n=250)
+    assert mads.lateral_mismatch_counter == 0
+
+  def test_accumulates_when_active_and_panda_disagrees(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
+    mads.enabled = True
+    mads.active = True
+    sd.sm['pandaStates'] = [make_panda_state(mocker, False)]
+
+    for _ in range(200):
+      mads.data_sample()
+    assert mads.lateral_mismatch_counter == 200
+
+
+# brand restrictions
+
+class TestBrandSteeringModeRestrictions:
+  def test_rivian_forced_to_disengage(self, mocker):
+    CP = structs.CarParams()
+    CP.brand = "rivian"
+    CP_SP = structs.CarParamsSP()
+    params = mocker.MagicMock()
+    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.DISENGAGE
+    params.get.assert_not_called()
+
+  def test_tesla_without_vehicle_bus_forced_to_disengage(self, mocker):
+    CP = structs.CarParams()
+    CP.brand = "tesla"
+    CP_SP = structs.CarParamsSP()
+    CP_SP.flags = 0
+    params = mocker.MagicMock()
+    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.DISENGAGE
+
+  def test_tesla_with_vehicle_bus_uses_param(self, mocker):
+    CP = structs.CarParams()
+    CP.brand = "tesla"
+    CP_SP = structs.CarParamsSP()
+    CP_SP.flags = TeslaFlagsSP.HAS_VEHICLE_BUS
+    params = mocker.MagicMock()
+    params.get = mocker.MagicMock(return_value=MadsSteeringModeOnBrake.REMAIN_ACTIVE)
+    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.REMAIN_ACTIVE
+
+  @pytest.mark.parametrize("brand", ["hyundai", "toyota", "honda", "gm"])
+  def test_other_brands_use_param(self, mocker, brand):
+    CP = structs.CarParams()
+    CP.brand = brand
+    CP_SP = structs.CarParamsSP()
+    params = mocker.MagicMock()
+    params.get = mocker.MagicMock(return_value=MadsSteeringModeOnBrake.REMAIN_ACTIVE)
+    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.REMAIN_ACTIVE

From 48a5bdc8e4a06dd0fd409c1fa22eb67d8531416f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 15 Jul 2026 17:18:14 -0400
Subject: [PATCH 1309/1434] Revert "msgq: point back to comma's" (#1874)

* Revert "msgq: point back to comma's (#1498)"

This reverts commit 04eac60983141a4a615bda33b37515f5d8fa1c51.

* point
---
 .gitmodules | 2 +-
 msgq_repo   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.gitmodules b/.gitmodules
index 5c5d72a7dc54d6..e2088276e265be 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -6,7 +6,7 @@
   url = https://github.com/sunnypilot/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
-  url = https://github.com/commaai/msgq.git
+  url = https://github.com/sunnypilot/msgq.git
 [submodule "rednose_repo"]
   path = rednose_repo
   url = https://github.com/commaai/rednose.git
diff --git a/msgq_repo b/msgq_repo
index 9beb84af67527f..3e3611ee2d485e 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit 9beb84af67527f7b6bfee349dcbe3dbb8d4f4789
+Subproject commit 3e3611ee2d485ed5b87ac233ee126729f22ad79f

From db99c8e5a6ed75440769fe800edb11b7b63e463e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 15 Jul 2026 15:39:56 -0700
Subject: [PATCH 1310/1434] op: add `-u` to scons command line (#38348)

---
 tools/op.sh | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index cde29efd8cbb20..1ee7b232b02cb0 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -311,8 +311,7 @@ function op_build() {
     # needed on AGNOS to not run out of memory
     op_run_command openpilot/system/manager/build.py
   else
-    # scons is fine on PC
-    op_run_command scons "$@"
+    op_run_command scons -u "$@"
   fi
 }
 

From 680dd7cf3bcd62362830f6f4993e3ed2dcb9b474 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Wed, 15 Jul 2026 16:52:25 -0700
Subject: [PATCH 1311/1434] bump opendbc (#38352)

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 402335de16dc75..f95568e03cc5de 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 402335de16dc75946ac4727b1513156411bdf3e0
+Subproject commit f95568e03cc5de650b7935c18ac56ee347caaae2

From 41886a90dac704365d47d8c3a65ad23da420339e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 15 Jul 2026 18:40:08 -0700
Subject: [PATCH 1312/1434] rm redundant params tests

---
 openpilot/common/tests/test_params.cc | 27 ---------------------------
 1 file changed, 27 deletions(-)
 delete mode 100644 openpilot/common/tests/test_params.cc

diff --git a/openpilot/common/tests/test_params.cc b/openpilot/common/tests/test_params.cc
deleted file mode 100644
index f8d6c79f552a2b..00000000000000
--- a/openpilot/common/tests/test_params.cc
+++ /dev/null
@@ -1,27 +0,0 @@
-#include "catch2/catch.hpp"
-#define private public
-#include "common/params.h"
-#include "common/util.h"
-
-TEST_CASE("params_nonblocking_put") {
-  char tmp_path[] = "/tmp/asyncWriter_XXXXXX";
-  const std::string param_path = mkdtemp(tmp_path);
-  auto param_names = {"CarParams", "IsMetric"};
-  {
-    Params params(param_path);
-    for (const auto &name : param_names) {
-      params.putNonBlocking(name, "1");
-      // param is empty
-      REQUIRE(params.get(name).empty());
-    }
-
-    // check if thread is running
-    REQUIRE(params.future.valid());
-    REQUIRE(params.future.wait_for(std::chrono::milliseconds(0)) == std::future_status::timeout);
-  }
-  // check results
-  Params p(param_path);
-  for (const auto &name : param_names) {
-    REQUIRE(p.get(name) == "1");
-  }
-}

From 91b067cca0913d0cc9f8b5dab68e3302e278efdc Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 15 Jul 2026 18:43:48 -0700
Subject: [PATCH 1313/1434] jenkins speedups (#38328)

* power draw first

* speedup encoder

* speed up hardware test suites

* refresh IRQ actions after hardware setup

* skip unused big model in device checkout

* move LFS pruning off device checkout path

* wtf is that for?

* reverts

* locality

* rm that
---
 openpilot/common/SConscript                   |  2 +-
 .../hardware/tici/tests/test_amplifier.py     |  3 +-
 .../selfdrive/pandad/tests/test_pandad_spi.py | 12 ++++++--
 openpilot/selfdrive/test/setup_device_ci.sh   | 29 ++++++++++++++++---
 openpilot/selfdrive/test/test_power_draw.py   |  5 +---
 .../system/loggerd/tests/test_encoder.py      | 12 ++------
 openpilot/system/manager/test/test_manager.py |  4 ---
 7 files changed, 40 insertions(+), 27 deletions(-)

diff --git a/openpilot/common/SConscript b/openpilot/common/SConscript
index 68dcc8417120da..13935b80d59d25 100644
--- a/openpilot/common/SConscript
+++ b/openpilot/common/SConscript
@@ -13,7 +13,7 @@ Export('_common')
 
 if GetOption('extras'):
   env.Program('tests/test_common',
-              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
+              ['tests/test_runner.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
               LIBS=[_common, 'json11', 'zmq', 'pthread'])
 
 # Cython bindings
diff --git a/openpilot/common/hardware/tici/tests/test_amplifier.py b/openpilot/common/hardware/tici/tests/test_amplifier.py
index 39628b53cca0b5..3e36ff3a3dce30 100644
--- a/openpilot/common/hardware/tici/tests/test_amplifier.py
+++ b/openpilot/common/hardware/tici/tests/test_amplifier.py
@@ -1,6 +1,5 @@
 import pytest
 import time
-import random
 import subprocess
 
 from panda import Panda
@@ -57,7 +56,7 @@ def test_init_while_siren_play(self):
       time.sleep(0.1)
 
       self.panda.set_siren(True)
-      time.sleep(random.randint(0, 5))
+      time.sleep(0.1)
 
       amp = Amplifier(debug=True)
       r = amp.initialize_configuration()
diff --git a/openpilot/selfdrive/pandad/tests/test_pandad_spi.py b/openpilot/selfdrive/pandad/tests/test_pandad_spi.py
index 672244026f977e..02f5accfd6ede6 100644
--- a/openpilot/selfdrive/pandad/tests/test_pandad_spi.py
+++ b/openpilot/selfdrive/pandad/tests/test_pandad_spi.py
@@ -6,6 +6,7 @@
 
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal.services import SERVICE_LIST
+from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
 
@@ -26,9 +27,14 @@ def test_spi_corruption(self, subtests):
 
     sendcan = messaging.pub_sock('sendcan')
     socks = {s: messaging.sub_sock(s, conflate=False, timeout=100) for s in ('can', 'pandaStates', 'peripheralState')}
-    time.sleep(2)
-    for s in socks.values():
-      messaging.drain_sock_raw(s)
+    readiness_services = {'pandaStates', 'peripheralState'}
+    ready = set()
+    with Timeout(2, "pandad services didn't become ready"):
+      while not readiness_services <= ready:
+        for service, sock in socks.items():
+          if messaging.drain_sock_raw(sock):
+            ready.add(service)
+        time.sleep(0.01)
 
     total_recv_count = 0
     total_sent_count = 0
diff --git a/openpilot/selfdrive/test/setup_device_ci.sh b/openpilot/selfdrive/test/setup_device_ci.sh
index d458e047a511bb..60631ce037b8ea 100755
--- a/openpilot/selfdrive/test/setup_device_ci.sh
+++ b/openpilot/selfdrive/test/setup_device_ci.sh
@@ -3,6 +3,7 @@
 set -e
 set -x
 
+
 if [ -z "$SOURCE_DIR" ]; then
   echo "SOURCE_DIR must be set"
   exit 1
@@ -55,6 +56,28 @@ sleep infinity
 EOF
 chmod +x $CONTINUE_PATH
 
+export GIT_LFS_SKIP_SMUDGE=1
+pull_lfs() {
+  # The big driving model is not used on these devices yet. Keep its pointer in
+  # the worktree, but don't download or copy the 1.8 GB LFS object.
+  LFS_EXCLUDE="openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx"
+
+  git config --local lfs.fetchexclude "$LFS_EXCLUDE"
+  git lfs pull --exclude="$LFS_EXCLUDE"
+  if git cat-file -e "HEAD:$LFS_EXCLUDE"; then
+    rm -f "$LFS_EXCLUDE"
+    git checkout -- "$LFS_EXCLUDE"
+
+    # `git lfs prune` retains objects referenced by HEAD, even when excluded.
+    # Remove this one explicitly so safe checkout doesn't rsync it either.
+    oid=$(git show "HEAD:$LFS_EXCLUDE" | sed -n 's/^oid sha256://p')
+    lfs_objects=$(git lfs env | sed -n 's/^LocalMediaDir=//p')
+    if [[ "$oid" =~ ^[0-9a-f]{64}$ && -n "$lfs_objects" ]]; then
+      rm -f "$lfs_objects/${oid:0:2}/${oid:2:2}/$oid"
+    fi
+  fi
+}
+
 safe_checkout() {
   # completely clean TEST_DIR
 
@@ -74,8 +97,7 @@ safe_checkout() {
   git submodule update --init --recursive
   git submodule foreach --recursive "git reset --hard && git clean -xdff"
 
-  git lfs pull
-  (ulimit -n 65535 && git lfs prune)
+  pull_lfs
 
   echo "git checkout done, t=$SECONDS"
   du -hs $SOURCE_DIR $SOURCE_DIR/.git
@@ -100,8 +122,7 @@ unsafe_checkout() {( set -e
   git submodule update --init --recursive
   git submodule foreach --recursive "git reset --hard && git clean -df"
 
-  git lfs pull
-  (ulimit -n 65535 && git lfs prune)
+  pull_lfs
 )}
 
 export GIT_PACK_THREADS=8
diff --git a/openpilot/selfdrive/test/test_power_draw.py b/openpilot/selfdrive/test/test_power_draw.py
index d5bb3d324d6918..9bc012ceaa516f 100644
--- a/openpilot/selfdrive/test/test_power_draw.py
+++ b/openpilot/selfdrive/test/test_power_draw.py
@@ -14,7 +14,7 @@
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.manager.manager import manager_cleanup
 
-SAMPLE_TIME = 8       # seconds to sample power
+SAMPLE_TIME = 2       # seconds to sample power
 MAX_WARMUP_TIME = 30  # seconds to wait for SAMPLE_TIME consecutive valid samples
 
 @dataclass
@@ -44,9 +44,6 @@ class TestPowerDraw:
   def setup_method(self):
     Params().put("CarParams", get_demo_car_params().to_bytes(), block=True)
 
-    # wait a bit for power save to disable
-    time.sleep(5)
-
   def teardown_method(self):
     manager_cleanup()
 
diff --git a/openpilot/system/loggerd/tests/test_encoder.py b/openpilot/system/loggerd/tests/test_encoder.py
index 416c158ed30c5e..05bc211cbe34b4 100644
--- a/openpilot/system/loggerd/tests/test_encoder.py
+++ b/openpilot/system/loggerd/tests/test_encoder.py
@@ -1,13 +1,11 @@
 import math
 import os
 import pytest
-import random
 import shutil
 import subprocess
 import time
 from pathlib import Path
 
-from openpilot.common.parameterized import parameterized
 from tqdm import trange
 
 from openpilot.common.params import Params
@@ -51,9 +49,8 @@ def _get_latest_segment_path(self):
     return os.path.join(Paths.log_root(), last_route)
 
   # TODO: this should run faster than real time
-  @parameterized.expand([(True, ), (False, )])
-  def test_log_rotation(self, record_front):
-    Params().put_bool("RecordFront", record_front, block=True)
+  def test_log_rotation(self):
+    Params().put_bool("RecordFront", True, block=True)
 
     managed_processes['sensord'].start()
     managed_processes['loggerd'].start()
@@ -62,7 +59,7 @@ def test_log_rotation(self, record_front):
     time.sleep(1.0)
     managed_processes['camerad'].start()
 
-    num_segments = int(os.getenv("SEGMENTS", random.randint(2, 8)))
+    num_segments = 3
 
     # wait for loggerd to make the dir for first segment
     route_prefix_path = None
@@ -78,9 +75,6 @@ def check_seg(i):
       counts = []
       first_frames = []
       for camera, fps, size_lambda, encode_idx_name in CAMERAS:
-        if not record_front and "dcamera" in camera:
-          continue
-
         file_path = f"{route_prefix_path}--{i}/{camera}"
 
         # check file exists
diff --git a/openpilot/system/manager/test/test_manager.py b/openpilot/system/manager/test/test_manager.py
index 273ddc8fd94163..a3808bf29f9477 100644
--- a/openpilot/system/manager/test/test_manager.py
+++ b/openpilot/system/manager/test/test_manager.py
@@ -27,10 +27,6 @@ def setup_method(self):
   def teardown_method(self):
     manager.manager_cleanup()
 
-  def test_manager_prepare(self):
-    os.environ['PREPAREONLY'] = '1'
-    manager.main()
-
   def test_duplicate_procs(self):
     assert len(procs) == len(managed_processes), "Duplicate process names"
 

From 61608db786e163a55b11bdd1c557f0cd663c5d11 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 15 Jul 2026 21:39:47 -0700
Subject: [PATCH 1314/1434] jp: fix linking on macOS (#38353)

* jp: fix linking on macOS

* mv to root
---
 SConstruct                                      |  5 +++++
 openpilot/tools/jotpluggler/test_jotpluggler.py | 11 +++++++++++
 2 files changed, 16 insertions(+)
 create mode 100644 openpilot/tools/jotpluggler/test_jotpluggler.py

diff --git a/SConstruct b/SConstruct
index 72a25e12d42f93..2a69cd2e3804dc 100644
--- a/SConstruct
+++ b/SConstruct
@@ -166,6 +166,11 @@ env = Environment(
   tools=["default", "cython", "compilation_db", "rednose_filter"],
   toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
+# SCons' Darwin linker tool doesn't define the variables used to expand RPATH.
+if arch == "Darwin":
+  env["RPATHPREFIX"] = "-Wl,-rpath,"
+  env["RPATHSUFFIX"] = ""
+  env["_RPATH"] = "${_concat(RPATHPREFIX, RPATH, RPATHSUFFIX, __env__)}"
 if arch != "larch64":
   env['_LIBFLAGS'] = _libflags
 
diff --git a/openpilot/tools/jotpluggler/test_jotpluggler.py b/openpilot/tools/jotpluggler/test_jotpluggler.py
new file mode 100644
index 00000000000000..b9b751c4a5901c
--- /dev/null
+++ b/openpilot/tools/jotpluggler/test_jotpluggler.py
@@ -0,0 +1,11 @@
+import subprocess
+from pathlib import Path
+
+
+JOTPLUGGLER_DIR = Path(__file__).parent
+
+
+def test_help():
+  result = subprocess.run(["./jotpluggler", "-h"], cwd=JOTPLUGGLER_DIR, capture_output=True, text=True)
+  assert result.returncode == 0, result.stderr
+  assert "Usage:" in result.stderr

From 60716edc3752339a1c83e38745dd5835c8b93060 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 15 Jul 2026 22:51:41 -0700
Subject: [PATCH 1315/1434] Fix thumbnail creation (#38354)

it's not a stream
---
 openpilot/system/loggerd/encoder/jpeg_encoder.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/openpilot/system/loggerd/encoder/jpeg_encoder.cc b/openpilot/system/loggerd/encoder/jpeg_encoder.cc
index 79f5e1b80fc84c..6258e8144d6869 100644
--- a/openpilot/system/loggerd/encoder/jpeg_encoder.cc
+++ b/openpilot/system/loggerd/encoder/jpeg_encoder.cc
@@ -93,7 +93,7 @@ void JpegEncoder::compressToJpeg(uint8_t *y_plane, uint8_t *u_plane, uint8_t *v_
   frame->data[2] = v_plane;
   // Required for MJPEG qscale to take effect (global_quality alone is not enough).
   frame->quality = FF_QP2LAMBDA * MJPEG_QSCALE;
-  frame->pts = 0;
+  frame->pts = AV_NOPTS_VALUE;
 
   int err = avcodec_send_frame(codec_ctx, frame);
   if (err < 0) {

From 06a73f538e58c87597b83460011b1aef675ccac8 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 16 Jul 2026 13:45:57 -0700
Subject: [PATCH 1316/1434] cabana: de-Qt, part 1 (#38357)

* cabana: de-Qt, part 1

* lil more
---
 openpilot/tools/cabana/.gitignore             |   1 +
 openpilot/tools/cabana/SConscript             |  15 +-
 openpilot/tools/cabana/binaryview.cc          |  13 +-
 openpilot/tools/cabana/chart/chart.cc         |  19 +-
 openpilot/tools/cabana/chart/chartswidget.cc  |   5 +-
 .../tools/cabana/chart/signalselector.cc      |   3 +-
 openpilot/tools/cabana/chart/sparkline.cc     |   2 +-
 openpilot/tools/cabana/core/can_data.h        |  46 +++
 openpilot/tools/cabana/core/color.h           |  79 ++++
 openpilot/tools/cabana/core/message_id.h      |  27 ++
 openpilot/tools/cabana/core/settings.h        |  34 ++
 openpilot/tools/cabana/dbc/dbc.cc             |  16 +-
 openpilot/tools/cabana/dbc/dbc.h              |  50 +--
 openpilot/tools/cabana/dbc/dbcfile.cc         | 348 +++++++++---------
 openpilot/tools/cabana/dbc/dbcfile.h          |  13 +-
 openpilot/tools/cabana/dbc/dbcmanager.cc      |  35 +-
 openpilot/tools/cabana/dbc/dbcmanager.h       |  35 +-
 openpilot/tools/cabana/dbc/dbcqt.cc           |  18 +
 openpilot/tools/cabana/dbc/dbcqt.h            |  27 ++
 openpilot/tools/cabana/detailwidget.cc        |   3 +-
 openpilot/tools/cabana/historylog.cc          |  11 +-
 openpilot/tools/cabana/historylog.h           |   2 +-
 openpilot/tools/cabana/mainwin.cc             |  65 ++--
 openpilot/tools/cabana/messageswidget.cc      |   3 +-
 openpilot/tools/cabana/settings.cc            |  40 +-
 openpilot/tools/cabana/settings.h             |  36 +-
 openpilot/tools/cabana/signalview.cc          |  19 +-
 .../tools/cabana/streams/abstractstream.cc    |  23 +-
 .../tools/cabana/streams/abstractstream.h     |  44 +--
 openpilot/tools/cabana/streams/livestream.cc  |  13 +-
 openpilot/tools/cabana/streams/livestream.h   |   4 +-
 .../tools/cabana/streams/replaystream.cc      |   4 +-
 openpilot/tools/cabana/streams/replaystream.h |   4 +-
 openpilot/tools/cabana/streamselector.cc      |   4 +-
 openpilot/tools/cabana/tests/test_cabana.cc   |  80 +++-
 openpilot/tools/cabana/tests/test_runner.cc   |   3 -
 openpilot/tools/cabana/utils/export.cc        |  32 +-
 openpilot/tools/cabana/utils/export.h         |   5 +-
 openpilot/tools/cabana/utils/util.cc          |   4 +-
 openpilot/tools/cabana/utils/util.h           |   5 +
 openpilot/tools/cabana/videowidget.cc         |   2 +-
 41 files changed, 722 insertions(+), 470 deletions(-)
 create mode 100644 openpilot/tools/cabana/core/can_data.h
 create mode 100644 openpilot/tools/cabana/core/color.h
 create mode 100644 openpilot/tools/cabana/core/message_id.h
 create mode 100644 openpilot/tools/cabana/core/settings.h
 create mode 100644 openpilot/tools/cabana/dbc/dbcqt.cc
 create mode 100644 openpilot/tools/cabana/dbc/dbcqt.h

diff --git a/openpilot/tools/cabana/.gitignore b/openpilot/tools/cabana/.gitignore
index 927b05e34abf0f..e4212612df5a76 100644
--- a/openpilot/tools/cabana/.gitignore
+++ b/openpilot/tools/cabana/.gitignore
@@ -7,3 +7,4 @@ assets.cc
 _cabana
 dbc/car_fingerprint_to_dbc.json
 tests/test_cabana
+tests/test_dbc_core
diff --git a/openpilot/tools/cabana/SConscript b/openpilot/tools/cabana/SConscript
index 26c20ddba144f4..e9c1a976bb2069 100644
--- a/openpilot/tools/cabana/SConscript
+++ b/openpilot/tools/cabana/SConscript
@@ -97,7 +97,7 @@ cabana_env.Depends(assets_src, str(bootstrap_icons.SVG_PATH))
 cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "assets/assets.o"]))
 
 cabana_srcs = ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc',
-               'streams/routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
+               'streams/routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc', 'dbc/dbcqt.cc',
                'utils/export.cc', 'utils/util.cc', 'utils/elidedlabel.cc',
                'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
                'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'panda.cc',
@@ -110,6 +110,19 @@ cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_lib
 if GetOption('extras'):
   cabana_env.Program('tests/test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs])
 
+  # This target deliberately uses the base environment and links no Qt libraries.
+  # It prevents Qt dependencies from creeping back into the DBC core.
+  dbc_core_test_env = env.Clone()
+  dbc_core_test_env['CXXFLAGS'] += [opendbc_path]
+  dbc_core_test_objects = [
+    dbc_core_test_env.Object('tests/dbc_core_test_runner', 'tests/test_runner.cc'),
+    dbc_core_test_env.Object('tests/dbc_core_tests', 'tests/test_cabana.cc'),
+    dbc_core_test_env.Object('tests/dbc_core_model', 'dbc/dbc.cc'),
+    dbc_core_test_env.Object('tests/dbc_core_file', 'dbc/dbcfile.cc'),
+    dbc_core_test_env.Object('tests/dbc_core_manager', 'dbc/dbcmanager.cc'),
+  ]
+  dbc_core_test_env.Program('tests/test_dbc_core', dbc_core_test_objects)
+
 output_json_file = 'openpilot/tools/cabana/dbc/car_fingerprint_to_dbc.json'
 generate_dbc = cabana_env.Command('#' + output_json_file,
                                   ['dbc/generate_dbc_json.py'],
diff --git a/openpilot/tools/cabana/binaryview.cc b/openpilot/tools/cabana/binaryview.cc
index c86b3ebdae1128..1c7c7b938e6cce 100644
--- a/openpilot/tools/cabana/binaryview.cc
+++ b/openpilot/tools/cabana/binaryview.cc
@@ -1,4 +1,5 @@
 #include "tools/cabana/binaryview.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
 #include <algorithm>
 
@@ -34,7 +35,7 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
   setMouseTracking(true);
   setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
 
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &BinaryView::refresh);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &BinaryView::refresh);
   QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &BinaryView::refresh);
 
   addShortcuts();
@@ -334,7 +335,7 @@ void BinaryViewModel::updateState() {
       color.setAlpha(alpha);
       updateItem(i, j, bit_val, color);
     }
-    updateItem(i, 8, binary[i], last_msg.colors[i]);
+    updateItem(i, 8, binary[i], toQColor(last_msg.colors[i]));
   }
 }
 
@@ -421,14 +422,14 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
       painter->fillRect(option.rect, item->bg_color);
     }
   } else if (option.state & QStyle::State_Selected) {
-    auto color = bin_view->resize_sig ? bin_view->resize_sig->color : option.palette.color(QPalette::Active, QPalette::Highlight);
+    auto color = bin_view->resize_sig ? toQColor(bin_view->resize_sig->color) : option.palette.color(QPalette::Active, QPalette::Highlight);
     painter->fillRect(option.rect, color);
     painter->setPen(option.palette.color(QPalette::BrightText));
   } else if (!bin_view->selectionModel()->hasSelection() || std::find(item->sigs.begin(), item->sigs.end(), bin_view->resize_sig) == item->sigs.end()) {  // not resizing
     if (item->sigs.size() > 0) {
       for (auto &s : item->sigs) {
         if (s == bin_view->hovered_sig) {
-          painter->fillRect(option.rect, s->color.darker(125));  // 4/5x brightness
+          painter->fillRect(option.rect, toQColor(s->color.darker(125)));  // 4/5x brightness
         } else {
           drawSignalCell(painter, option, index, s);
         }
@@ -483,14 +484,14 @@ void BinaryItemDelegate::drawSignalCell(QPainter *painter, const QStyleOptionVie
   painter->setClipRegion(QRegion(rc).subtracted(subtract));
 
   auto item = (const BinaryViewModel::Item *)index.internalPointer();
-  QColor color = sig->color;
+  QColor color = toQColor(sig->color);
   color.setAlpha(item->bg_color.alpha());
   // Mixing the signal color with the Base background color to fade it
   painter->fillRect(rc, option.palette.color(QPalette::Base));
   painter->fillRect(rc, color);
 
   // Draw edges
-  color = sig->color.darker(125);
+  color = toQColor(sig->color.darker(125));
   painter->setPen(QPen(color, 1));
   if (draw_left) painter->drawLine(rc.topLeft(), rc.bottomLeft());
   if (draw_right) painter->drawLine(rc.topRight(), rc.bottomRight());
diff --git a/openpilot/tools/cabana/chart/chart.cc b/openpilot/tools/cabana/chart/chart.cc
index 9dfdc595f023af..b5ddcf0479c5a6 100644
--- a/openpilot/tools/cabana/chart/chart.cc
+++ b/openpilot/tools/cabana/chart/chart.cc
@@ -1,4 +1,5 @@
 #include "tools/cabana/chart/chart.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
 #include <algorithm>
 #include <limits>
@@ -52,10 +53,10 @@ ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *par
   QObject::connect(axis_y, &QAbstractAxis::titleTextChanged, this, &ChartView::resetChartCache);
   QObject::connect(window()->windowHandle(), &QWindow::screenChanged, this, &ChartView::resetChartCache);
 
-  QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartView::signalRemoved);
-  QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated);
-  QObject::connect(dbc(), &DBCManager::msgRemoved, this, &ChartView::msgRemoved);
-  QObject::connect(dbc(), &DBCManager::msgUpdated, this, &ChartView::msgUpdated);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::signalRemoved, this, &ChartView::signalRemoved);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::signalUpdated, this, &ChartView::signalUpdated);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::msgRemoved, this, &ChartView::msgRemoved);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::msgUpdated, this, &ChartView::msgUpdated);
 }
 
 void ChartView::createToolButtons() {
@@ -115,14 +116,14 @@ void ChartView::setTheme(QChart::ChartTheme theme) {
   axis_x->setLineVisible(false);
   axis_y->setLineVisible(false);
   for (auto &s : sigs) {
-    s.series->setColor(s.sig->color);
+    s.series->setColor(toQColor(s.sig->color));
   }
 }
 
 void ChartView::addSignal(const MessageId &msg_id, const cabana::Signal *sig) {
   if (hasSignal(msg_id, sig)) return;
 
-  QXYSeries *series = createSeries(series_type, sig->color);
+  QXYSeries *series = createSeries(series_type, toQColor(sig->color));
   sigs.push_back({.msg_id = msg_id, .sig = sig, .series = series});
   updateSeries(sig);
   updateSeriesPoints();
@@ -157,8 +158,8 @@ void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {
 void ChartView::signalUpdated(const cabana::Signal *sig) {
   auto it = std::find_if(sigs.begin(), sigs.end(), [sig](auto &s) { return s.sig == sig; });
   if (it != sigs.end()) {
-    if (it->series->color() != sig->color) {
-      setSeriesColor(it->series, sig->color);
+    if (it->series->color() != toQColor(sig->color)) {
+      setSeriesColor(it->series, toQColor(sig->color));
     }
     updateTitle();
     updateSeries(sig);
@@ -838,7 +839,7 @@ void ChartView::setSeriesType(SeriesType type) {
       s.series->deleteLater();
     }
     for (auto &s : sigs) {
-      s.series = createSeries(series_type, s.sig->color);
+      s.series = createSeries(series_type, toQColor(s.sig->color));
       const auto &points = series_type == SeriesType::StepLine ? s.step_vals : s.vals;
       s.series->replace(QVector<QPointF>(points.cbegin(), points.cend()));
     }
diff --git a/openpilot/tools/cabana/chart/chartswidget.cc b/openpilot/tools/cabana/chart/chartswidget.cc
index 44dca42152e57f..e5c70bc536d6d2 100644
--- a/openpilot/tools/cabana/chart/chartswidget.cc
+++ b/openpilot/tools/cabana/chart/chartswidget.cc
@@ -1,4 +1,5 @@
 #include "tools/cabana/chart/chartswidget.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
 #include <algorithm>
 #include <future>
@@ -115,7 +116,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   align_timer->setSingleShot(true);
   QObject::connect(align_timer, &QTimer::timeout, this, &ChartsWidget::alignCharts);
   QObject::connect(auto_scroll_timer, &QTimer::timeout, this, &ChartsWidget::doAutoScroll);
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &ChartsWidget::removeAll);
   QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged);
   QObject::connect(can, &AbstractStream::msgsReceived, this, &ChartsWidget::updateState);
   QObject::connect(can, &AbstractStream::seeking, this, &ChartsWidget::updateState);
@@ -309,7 +310,7 @@ void ChartsWidget::splitChart(ChartView *src_chart) {
       src_chart->chart()->removeSeries(it->series);
 
       // Restore to the original color
-      it->series->setColor(it->sig->color);
+      it->series->setColor(toQColor(it->sig->color));
 
       c->addSeries(it->series);
       c->sigs.emplace_back(std::move(*it));
diff --git a/openpilot/tools/cabana/chart/signalselector.cc b/openpilot/tools/cabana/chart/signalselector.cc
index 6f2fd8de46b914..12a9c81564439b 100644
--- a/openpilot/tools/cabana/chart/signalselector.cc
+++ b/openpilot/tools/cabana/chart/signalselector.cc
@@ -1,4 +1,5 @@
 #include "tools/cabana/chart/signalselector.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
 #include <QCompleter>
 #include <QDialogButtonBox>
@@ -92,7 +93,7 @@ void SignalSelector::updateAvailableList(int index) {
 }
 
 void SignalSelector::addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name) {
-  QString text = QString("<span style=\"color:%0;\">â–  </span> %1").arg(sig->color.name(), QString::fromStdString(sig->name));
+  QString text = QString("<span style=\"color:%0;\">â–  </span> %1").arg(toQColor(sig->color).name(), QString::fromStdString(sig->name));
   if (show_msg_name) text += QString(" <font color=\"gray\">%0 %1</font>").arg(QString::fromStdString(msgName(id)), QString::fromStdString(id.toString()));
 
   QLabel *label = new QLabel(text);
diff --git a/openpilot/tools/cabana/chart/sparkline.cc b/openpilot/tools/cabana/chart/sparkline.cc
index 91435cd5ac8352..f5bef0fc2e0ca9 100644
--- a/openpilot/tools/cabana/chart/sparkline.cc
+++ b/openpilot/tools/cabana/chart/sparkline.cc
@@ -31,7 +31,7 @@ void Sparkline::update(const cabana::Signal *sig, CanEventIter first, CanEventIt
   }
 
   freq_ = points_.size() / std::max(points_.back().x() - points_.front().x(), 1.0);
-  render(sig->color, range, size);
+  render(toQColor(sig->color), range, size);
 }
 
 void Sparkline::render(const QColor &color, int range, QSize size) {
diff --git a/openpilot/tools/cabana/core/can_data.h b/openpilot/tools/cabana/core/can_data.h
new file mode 100644
index 00000000000000..38141b1890f6db
--- /dev/null
+++ b/openpilot/tools/cabana/core/can_data.h
@@ -0,0 +1,46 @@
+#pragma once
+
+#include <array>
+#include <cstdint>
+#include <unordered_map>
+#include <vector>
+
+#include "tools/cabana/core/color.h"
+#include "tools/cabana/core/message_id.h"
+
+struct CanData {
+  void compute(const MessageId &msg_id, const uint8_t *data, int size, double current_sec,
+               double playback_speed, const std::vector<uint8_t> &mask, double frequency = 0);
+
+  double ts = 0.;
+  uint32_t count = 0;
+  double freq = 0;
+  std::vector<uint8_t> dat;
+  std::vector<CabanaColor> colors;
+
+  struct ByteLastChange {
+    double ts = 0;
+    int delta = 0;
+    int same_delta_counter = 0;
+    bool suppressed = false;
+  };
+  std::vector<ByteLastChange> last_changes;
+  std::vector<std::array<uint32_t, 8>> bit_flip_counts;
+  double last_freq_update_ts = 0;
+};
+
+struct CanEvent {
+  uint8_t src;
+  uint32_t address;
+  uint64_t mono_time;
+  uint8_t size;
+  uint8_t dat[];
+};
+
+struct CompareCanEvent {
+  constexpr bool operator()(const CanEvent *const event, uint64_t ts) const { return event->mono_time < ts; }
+  constexpr bool operator()(uint64_t ts, const CanEvent *const event) const { return ts < event->mono_time; }
+};
+
+using MessageEventsMap = std::unordered_map<MessageId, std::vector<const CanEvent *>>;
+using CanEventIter = std::vector<const CanEvent *>::const_iterator;
diff --git a/openpilot/tools/cabana/core/color.h b/openpilot/tools/cabana/core/color.h
new file mode 100644
index 00000000000000..c29704dd44da06
--- /dev/null
+++ b/openpilot/tools/cabana/core/color.h
@@ -0,0 +1,79 @@
+#pragma once
+
+#include <algorithm>
+#include <cmath>
+#include <cstdint>
+
+struct CabanaColor {
+  uint8_t r = 0;
+  uint8_t g = 0;
+  uint8_t b = 0;
+  uint8_t a = 255;
+
+  constexpr CabanaColor() = default;
+  constexpr CabanaColor(uint8_t red, uint8_t green, uint8_t blue, uint8_t alpha = 255)
+      : r(red), g(green), b(blue), a(alpha) {}
+
+  static CabanaColor fromHsv(float hue, float saturation, float value, float alpha = 1.0f) {
+    const float h = hue - std::floor(hue);
+    const float c = value * saturation;
+    const float x = c * (1.0f - std::fabs(std::fmod(h * 6.0f, 2.0f) - 1.0f));
+    const float m = value - c;
+    float red = 0, green = 0, blue = 0;
+    switch (static_cast<int>(h * 6.0f) % 6) {
+      case 0: red = c; green = x; break;
+      case 1: red = x; green = c; break;
+      case 2: green = c; blue = x; break;
+      case 3: green = x; blue = c; break;
+      case 4: red = x; blue = c; break;
+      default: red = c; blue = x; break;
+    }
+    auto channel = [m](float v) { return static_cast<uint8_t>(std::clamp((v + m) * 255.0f, 0.0f, 255.0f) + 0.5f); };
+    return {channel(red), channel(green), channel(blue),
+            static_cast<uint8_t>(std::clamp(alpha * 255.0f, 0.0f, 255.0f) + 0.5f)};
+  }
+
+  CabanaColor darker(int factor = 200) const {
+    if (factor <= 0) return *this;
+    if (factor < 100) return lighter(10000 / factor);
+    auto [hue, saturation, value] = hsv();
+    return fromHsv(hue, saturation, value * 100.0f / factor, a / 255.0f);
+  }
+
+  CabanaColor lighter(int factor = 150) const {
+    if (factor <= 0) return *this;
+    if (factor < 100) return darker(10000 / factor);
+    auto [hue, saturation, value] = hsv();
+    const float scaled_value = value * factor / 100.0f;
+    if (scaled_value > 1.0f) saturation = std::max(0.0f, saturation - (scaled_value - 1.0f));
+    return fromHsv(hue, saturation, std::min(1.0f, scaled_value), a / 255.0f);
+  }
+
+  constexpr int red() const { return r; }
+  constexpr int green() const { return g; }
+  constexpr int blue() const { return b; }
+  constexpr int alpha() const { return a; }
+  float alphaF() const { return a / 255.0f; }
+  void setAlphaF(float alpha) { a = static_cast<uint8_t>(std::clamp(alpha * 255.0f, 0.0f, 255.0f) + 0.5f); }
+
+  constexpr bool operator==(const CabanaColor &other) const {
+    return r == other.r && g == other.g && b == other.b && a == other.a;
+  }
+
+private:
+  struct Hsv { float hue; float saturation; float value; };
+  Hsv hsv() const {
+    const float red = r / 255.0f, green = g / 255.0f, blue = b / 255.0f;
+    const float maximum = std::max({red, green, blue});
+    const float minimum = std::min({red, green, blue});
+    const float delta = maximum - minimum;
+    float hue = 0;
+    if (delta > 0) {
+      if (maximum == red) hue = std::fmod((green - blue) / delta, 6.0f) / 6.0f;
+      else if (maximum == green) hue = ((blue - red) / delta + 2.0f) / 6.0f;
+      else hue = ((red - green) / delta + 4.0f) / 6.0f;
+      if (hue < 0) hue += 1.0f;
+    }
+    return {hue, maximum == 0 ? 0 : delta / maximum, maximum};
+  }
+};
diff --git a/openpilot/tools/cabana/core/message_id.h b/openpilot/tools/cabana/core/message_id.h
new file mode 100644
index 00000000000000..ecac279631283a
--- /dev/null
+++ b/openpilot/tools/cabana/core/message_id.h
@@ -0,0 +1,27 @@
+#pragma once
+#include <cstdint>
+#include <cstdio>
+#include <functional>
+#include <string>
+#include <tuple>
+
+constexpr int INVALID_SOURCE = 0xff;
+
+struct MessageId {
+  uint8_t source = 0;
+  uint32_t address = 0;
+  std::string toString() const { char b[64]; snprintf(b, sizeof(b), "%u:%X", source, address); return b; }
+  static MessageId fromString(const std::string &s) {
+    const auto p = s.find(':');
+    if (p == std::string::npos) return {};
+    return {.source = static_cast<uint8_t>(std::stoul(s.substr(0, p))), .address = static_cast<uint32_t>(std::stoul(s.substr(p + 1), nullptr, 16))};
+  }
+  bool operator==(const MessageId &o) const { return source == o.source && address == o.address; }
+  bool operator!=(const MessageId &o) const { return !(*this == o); }
+  bool operator<(const MessageId &o) const { return std::tie(source, address) < std::tie(o.source, o.address); }
+  bool operator>(const MessageId &o) const { return o < *this; }
+};
+
+template <> struct std::hash<MessageId> {
+  size_t operator()(const MessageId &id) const noexcept { return std::hash<uint8_t>{}(id.source) ^ (std::hash<uint32_t>{}(id.address) << 1); }
+};
diff --git a/openpilot/tools/cabana/core/settings.h b/openpilot/tools/cabana/core/settings.h
new file mode 100644
index 00000000000000..cad152de92639b
--- /dev/null
+++ b/openpilot/tools/cabana/core/settings.h
@@ -0,0 +1,34 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+constexpr int LIGHT_THEME = 1;
+constexpr int DARK_THEME = 2;
+
+struct CabanaSettingsState {
+  enum DragDirection { MsbFirst, LsbFirst, AlwaysLE, AlwaysBE };
+
+  bool absolute_time = false;
+  int fps = 10;
+  int max_cached_minutes = 30;
+  int chart_height = 200;
+  int chart_column_count = 1;
+  int chart_range = 3 * 60;
+  int chart_series_type = 0;
+  int theme = 0;
+  int sparkline_range = 15;
+  bool multiple_lines_hex = false;
+  bool log_livestream = true;
+  bool suppress_defined_signals = false;
+  std::string log_path;
+  std::string last_dir;
+  std::string last_route_dir;
+  std::vector<std::string> recent_files;
+  DragDirection drag_direction = MsbFirst;
+
+  std::string recent_dbc_file;
+  std::string active_msg_id;
+  std::vector<std::string> selected_msg_ids;
+  std::vector<std::string> active_charts;
+};
diff --git a/openpilot/tools/cabana/dbc/dbc.cc b/openpilot/tools/cabana/dbc/dbc.cc
index 8e41cf54e394d0..c8a794c73f7c4c 100644
--- a/openpilot/tools/cabana/dbc/dbc.cc
+++ b/openpilot/tools/cabana/dbc/dbc.cc
@@ -1,8 +1,18 @@
 #include "tools/cabana/dbc/dbc.h"
 
 #include <algorithm>
+#include <cmath>
 
-#include "tools/cabana/utils/util.h"
+namespace {
+int numDecimals(double value) {
+  int decimals = 0;
+  while (decimals < 6 && std::fabs(value - std::round(value)) > 1e-9) {
+    value *= 10.0;
+    ++decimals;
+  }
+  return decimals;
+}
+}
 
 // cabana::Msg
 
@@ -135,8 +145,8 @@ void cabana::Signal::update() {
   float s = 0.25 + 0.25 * (float)(hash & 0xff) / 255.0;
   float v = 0.75 + 0.25 * (float)((hash >> 8) & 0xff) / 255.0;
 
-  color = QColor::fromHsvF(h, s, v);
-  precision = std::max(num_decimals(factor), num_decimals(offset));
+  color = CabanaColor::fromHsv(h, s, v);
+  precision = std::max(numDecimals(factor), numDecimals(offset));
 }
 
 std::string cabana::Signal::formatValue(double value, bool with_unit) const {
diff --git a/openpilot/tools/cabana/dbc/dbc.h b/openpilot/tools/cabana/dbc/dbc.h
index a10e7871fee0dc..585325d391c5c2 100644
--- a/openpilot/tools/cabana/dbc/dbc.h
+++ b/openpilot/tools/cabana/dbc/dbc.h
@@ -8,58 +8,14 @@
 #include <utility>
 #include <vector>
 
-#include <QColor>
-#include <QMetaType>
+#include "tools/cabana/core/color.h"
+#include "tools/cabana/core/message_id.h"
 
 const std::string UNTITLED = "untitled";
 const std::string DEFAULT_NODE_NAME = "XXX";
 constexpr int CAN_MAX_DATA_BYTES = 64;
 
-struct MessageId {
-  uint8_t source = 0;
-  uint32_t address = 0;
-
-  std::string toString() const {
-    char buf[64];
-    snprintf(buf, sizeof(buf), "%u:%X", source, address);
-    return buf;
-  }
-
-  inline static MessageId fromString(const std::string &str) {
-    auto pos = str.find(':');
-    if (pos == std::string::npos) return {};
-    return MessageId{.source = uint8_t(std::stoul(str.substr(0, pos))),
-                     .address = uint32_t(std::stoul(str.substr(pos + 1), nullptr, 16))};
-  }
-
-  bool operator==(const MessageId &other) const {
-    return source == other.source && address == other.address;
-  }
-
-  bool operator!=(const MessageId &other) const {
-    return !(*this == other);
-  }
-
-  bool operator<(const MessageId &other) const {
-    return std::tie(source, address) < std::tie(other.source, other.address);
-  }
-
-  bool operator>(const MessageId &other) const {
-    return std::tie(source, address) > std::tie(other.source, other.address);
-  }
-};
-
-Q_DECLARE_METATYPE(MessageId);
-
-template <>
-struct std::hash<MessageId> {
-  std::size_t operator()(const MessageId &k) const noexcept {
-    return std::hash<uint8_t>{}(k.source) ^ (std::hash<uint32_t>{}(k.address) << 1);
-  }
-};
-
 typedef std::vector<std::pair<double, std::string>> ValueDescription;
-Q_DECLARE_METATYPE(ValueDescription);
 
 namespace cabana {
 
@@ -92,7 +48,7 @@ class Signal {
   std::string receiver_name;
   ValueDescription val_desc;
   int precision = 0;
-  QColor color;
+  CabanaColor color;
 
   // Multiplexed
   int multiplex_value = 0;
diff --git a/openpilot/tools/cabana/dbc/dbcfile.cc b/openpilot/tools/cabana/dbc/dbcfile.cc
index d9c129ee8158ba..99a5b71822d8d5 100644
--- a/openpilot/tools/cabana/dbc/dbcfile.cc
+++ b/openpilot/tools/cabana/dbc/dbcfile.cc
@@ -1,23 +1,60 @@
 #include "tools/cabana/dbc/dbcfile.h"
 
-#include <QFile>
-#include <QFileInfo>
-#include <QRegularExpression>
-#include <QString>
+#include <algorithm>
+#include <cassert>
+#include <filesystem>
+#include <fstream>
+#include <regex>
+#include <sstream>
+#include <stdexcept>
+
+namespace {
+
+std::string trim(const std::string &value) {
+  const auto first = value.find_first_not_of(" \t\r\n");
+  if (first == std::string::npos) return {};
+  return value.substr(first, value.find_last_not_of(" \t\r\n") - first + 1);
+}
 
-DBCFile::DBCFile(const std::string &dbc_file_name) {
-  QFile file(QString::fromStdString(dbc_file_name));
-  if (file.open(QIODevice::ReadOnly)) {
-    name_ = QFileInfo(QString::fromStdString(dbc_file_name)).baseName().toStdString();
-    filename = dbc_file_name;
-    parse(file.readAll());
-  } else {
-    throw std::runtime_error("Failed to open file.");
+bool startsWith(const std::string &value, const char *prefix) {
+  return value.rfind(prefix, 0) == 0;
+}
+
+std::string unescapeComment(std::string value) {
+  for (size_t pos = 0; (pos = value.find("\\\"", pos)) != std::string::npos; ++pos) {
+    value.replace(pos, 2, "\"");
   }
+  return trim(value);
 }
 
-DBCFile::DBCFile(const std::string &name, const std::string &content) : name_(name), filename("") {
-  parse(QString::fromStdString(content));
+bool commentComplete(const std::string &line) {
+  bool escaped = false;
+  for (size_t i = 0; i < line.size(); ++i) {
+    if (line[i] == '\\' && !escaped) {
+      escaped = true;
+      continue;
+    }
+    if (line[i] == '"' && !escaped) {
+      size_t next = line.find_first_not_of(" \t\r\n", i + 1);
+      if (next != std::string::npos && line[next] == ';') return true;
+    }
+    escaped = false;
+  }
+  return false;
+}
+
+}  // namespace
+
+DBCFile::DBCFile(const std::string &dbc_file_name) {
+  std::ifstream file(dbc_file_name, std::ios::binary);
+  if (!file) throw std::runtime_error("Failed to open file.");
+  filename = dbc_file_name;
+  name_ = std::filesystem::path(dbc_file_name).stem().string();
+  parse(std::string(std::istreambuf_iterator<char>(file), std::istreambuf_iterator<char>()));
+}
+
+DBCFile::DBCFile(const std::string &name, const std::string &content) : name_(name) {
+  parse(content);
 }
 
 bool DBCFile::save() {
@@ -31,15 +68,14 @@ bool DBCFile::saveAs(const std::string &new_filename) {
 }
 
 bool DBCFile::writeContents(const std::string &fn) {
-  QFile file(QString::fromStdString(fn));
-  if (file.open(QIODevice::WriteOnly)) {
-    std::string content = generateDBC();
-    return file.write(content.c_str(), content.size()) >= 0;
-  }
-  return false;
+  std::ofstream file(fn, std::ios::binary | std::ios::trunc);
+  if (!file) return false;
+  file << generateDBC();
+  return file.good();
 }
 
-void DBCFile::updateMsg(const MessageId &id, const std::string &name, uint32_t size, const std::string &node, const std::string &comment) {
+void DBCFile::updateMsg(const MessageId &id, const std::string &name, uint32_t size,
+                        const std::string &node, const std::string &comment) {
   auto &m = msgs[id.address];
   m.address = id.address;
   m.name = name;
@@ -55,178 +91,143 @@ cabana::Msg *DBCFile::msg(uint32_t address) {
 
 cabana::Msg *DBCFile::msg(const std::string &name) {
   auto it = std::find_if(msgs.begin(), msgs.end(), [&name](auto &m) { return m.second.name == name; });
-  return it != msgs.end() ? &(it->second) : nullptr;
+  return it != msgs.end() ? &it->second : nullptr;
 }
 
 cabana::Signal *DBCFile::signal(uint32_t address, const std::string &name) {
   auto m = msg(address);
-  return m ? (cabana::Signal *)m->sig(name) : nullptr;
+  return m ? m->sig(name) : nullptr;
 }
 
-void DBCFile::parse(const QString &content) {
+void DBCFile::parse(const std::string &content) {
   msgs.clear();
-
-  int line_num = 0;
-  QString line;
+  header.clear();
+  std::istringstream input(content);
+  std::string raw_line;
   cabana::Msg *current_msg = nullptr;
   int multiplexor_cnt = 0;
+  int line_num = 0;
   bool seen_first = false;
-  QTextStream stream((QString *)&content);
 
-  while (!stream.atEnd()) {
+  while (std::getline(input, raw_line)) {
     ++line_num;
-    QString raw_line = stream.readLine();
-    line = raw_line.trimmed();
+    const size_t first_nonspace = raw_line.find_first_not_of(" \t\r");
+    std::string line = first_nonspace == std::string::npos ? std::string() : raw_line.substr(first_nonspace);
+    const int statement_line = line_num;
+    if ((startsWith(line, "CM_ BO_") || startsWith(line, "CM_ SG_ ")) && !commentComplete(line)) {
+      std::string continuation;
+      while (std::getline(input, continuation)) {
+        ++line_num;
+        line += "\n" + continuation;
+        if (commentComplete(line)) break;
+      }
+    }
 
     bool seen = true;
     try {
-      if (line.startsWith("BO_ ")) {
+      if (startsWith(line, "BO_ ")) {
         multiplexor_cnt = 0;
         current_msg = parseBO(line);
-      } else if (line.startsWith("SG_ ")) {
+      } else if (startsWith(line, "SG_ ")) {
         parseSG(line, current_msg, multiplexor_cnt);
-      } else if (line.startsWith("VAL_ ")) {
+      } else if (startsWith(line, "VAL_ ")) {
         parseVAL(line);
-      } else if (line.startsWith("CM_ BO_")) {
-        parseCM_BO(line, content, raw_line, stream);
-      } else if (line.startsWith("CM_ SG_ ")) {
-        parseCM_SG(line, content, raw_line, stream);
+      } else if (startsWith(line, "CM_ BO_")) {
+        parseCM_BO(line);
+      } else if (startsWith(line, "CM_ SG_ ")) {
+        parseCM_SG(line);
       } else {
         seen = false;
       }
-    } catch (std::exception &e) {
-      throw std::runtime_error(QString("[%1:%2]%3: %4").arg(QString::fromStdString(filename)).arg(line_num).arg(e.what()).arg(line).toStdString());
-    }
-
-    if (seen) {
-      seen_first = true;
-    } else if (!seen_first) {
-      header += raw_line.toStdString() + "\n";
+    } catch (const std::exception &e) {
+      throw std::runtime_error("[" + filename + ":" + std::to_string(statement_line) + "]" + e.what() + ": " + line);
     }
+    if (seen) seen_first = true;
+    else if (!seen_first) header += raw_line + "\n";
   }
-
-  for (auto &[_, m] : msgs) {
-    m.update();
-  }
-}
-
-cabana::Msg *DBCFile::parseBO(const QString &line) {
-  static QRegularExpression bo_regexp(R"(^BO_ (?<address>\w+) (?<name>\w+) *: (?<size>\w+) (?<transmitter>\w+))");
-
-  QRegularExpressionMatch match = bo_regexp.match(line);
-  if (!match.hasMatch())
-    throw std::runtime_error("Invalid BO_ line format");
-
-  uint32_t address = match.captured("address").toUInt();
-  if (msgs.count(address) > 0)
-    throw std::runtime_error(QString("Duplicate message address: %1").arg(address).toStdString());
-
-  // Create a new message object
-  cabana::Msg *msg = &msgs[address];
-  msg->address = address;
-  msg->name = match.captured("name").toStdString();
-  msg->size = match.captured("size").toULong();
-  msg->transmitter = match.captured("transmitter").trimmed().toStdString();
-  return msg;
+  for (auto &[_, message] : msgs) message.update();
 }
 
-void DBCFile::parseCM_BO(const QString &line, const QString &content, const QString &raw_line, const QTextStream &stream) {
-  static QRegularExpression msg_comment_regexp(R"(^CM_ BO_ *(?<address>\w+) *\"(?<comment>(?:[^"\\]|\\.)*)\"\s*;)");
-
-  QString parse_line = line;
-  if (!parse_line.endsWith("\";")) {
-    int pos = stream.pos() - raw_line.length() - 1;
-    parse_line = content.mid(pos, content.indexOf("\";", pos));
-  }
-  auto match = msg_comment_regexp.match(parse_line);
-  if (!match.hasMatch())
-    throw std::runtime_error("Invalid message comment format");
-
-  if (auto m = (cabana::Msg *)msg(match.captured("address").toUInt()))
-    m->comment = match.captured("comment").trimmed().replace("\\\"", "\"").toStdString();
+cabana::Msg *DBCFile::parseBO(const std::string &line) {
+  static const std::regex pattern(R"(^BO_ ([[:alnum:]_]+) ([[:alnum:]_]+) *: ([[:alnum:]_]+) ([[:alnum:]_]+))");
+  std::smatch match;
+  if (!std::regex_search(line, match, pattern)) throw std::runtime_error("Invalid BO_ line format");
+  const uint32_t address = std::stoul(match[1].str());
+  if (msgs.count(address)) throw std::runtime_error("Duplicate message address: " + std::to_string(address));
+  auto &message = msgs[address];
+  message.address = address;
+  message.name = match[2].str();
+  message.size = std::stoul(match[3].str());
+  message.transmitter = trim(match[4].str());
+  return &message;
 }
 
-void DBCFile::parseSG(const QString &line, cabana::Msg *current_msg, int &multiplexor_cnt) {
-  static QRegularExpression sg_regexp(R"(^SG_ (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
-  static QRegularExpression sgm_regexp(R"(^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
-
-  if (!current_msg)
-    throw std::runtime_error("No Message");
-
-  int offset = 0;
-  auto match = sg_regexp.match(line);
-  if (!match.hasMatch()) {
-    match = sgm_regexp.match(line);
-    offset = 1;
-  }
-  if (!match.hasMatch())
-    throw std::runtime_error("Invalid SG_ line format");
-
-  std::string name = match.captured(1).toStdString();
-  if (current_msg->sig(name) != nullptr)
-    throw std::runtime_error("Duplicate signal name");
+void DBCFile::parseSG(const std::string &line, cabana::Msg *current_msg, int &multiplexor_cnt) {
+  static const std::regex pattern(R"dbc(^SG_ ([[:alnum:]_]+)(?: +([[:alnum:]_]+))? *: ([0-9]+)\|([0-9]+)@([0-9]+)([+-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] "(.*)" (.*))dbc");
+  if (!current_msg) throw std::runtime_error("No Message");
+  std::smatch match;
+  if (!std::regex_search(line, match, pattern)) throw std::runtime_error("Invalid SG_ line format");
+  if (current_msg->sig(match[1].str())) throw std::runtime_error("Duplicate signal name");
 
-  cabana::Signal s{};
-  if (offset == 1) {
-    auto indicator = match.captured(2);
+  cabana::Signal signal{};
+  const std::string indicator = match[2].str();
+  if (!indicator.empty()) {
     if (indicator == "M") {
-      ++multiplexor_cnt;
-      // Only one signal within a single message can be the multiplexer switch.
-      if (multiplexor_cnt >= 2)
-        throw std::runtime_error("Multiple multiplexor");
-
-      s.type = cabana::Signal::Type::Multiplexor;
+      if (++multiplexor_cnt >= 2) throw std::runtime_error("Multiple multiplexor");
+      signal.type = cabana::Signal::Type::Multiplexor;
     } else {
-      s.type = cabana::Signal::Type::Multiplexed;
-      s.multiplex_value = indicator.mid(1).toInt();
+      signal.type = cabana::Signal::Type::Multiplexed;
+      signal.multiplex_value = indicator.size() > 1 ? std::stoi(indicator.substr(1)) : 0;
     }
   }
-  s.name = name;
-  s.start_bit = match.captured(offset + 2).toInt();
-  s.size = match.captured(offset + 3).toInt();
-  s.is_little_endian = match.captured(offset + 4).toInt() == 1;
-  s.is_signed = match.captured(offset + 5) == "-";
-  s.factor = match.captured(offset + 6).toDouble();
-  s.offset = match.captured(offset + 7).toDouble();
-  s.min = match.captured(8 + offset).toDouble();
-  s.max = match.captured(9 + offset).toDouble();
-  s.unit = match.captured(10 + offset).toStdString();
-  s.receiver_name = match.captured(11 + offset).trimmed().toStdString();
-  current_msg->sigs.push_back(new cabana::Signal(s));
+  signal.name = match[1].str();
+  signal.start_bit = std::stoi(match[3].str());
+  signal.size = std::stoi(match[4].str());
+  signal.is_little_endian = match[5].str() == "1";
+  signal.is_signed = match[6].str() == "-";
+  signal.factor = std::stod(match[7].str());
+  signal.offset = std::stod(match[8].str());
+  signal.min = std::stod(match[9].str());
+  signal.max = std::stod(match[10].str());
+  signal.unit = match[11].str();
+  signal.receiver_name = trim(match[12].str());
+  current_msg->sigs.push_back(new cabana::Signal(signal));
 }
 
-void DBCFile::parseCM_SG(const QString &line, const QString &content, const QString &raw_line, const QTextStream &stream) {
-  static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"((?:[^"\\]|\\.)*)\"\s*;)");
-
-  QString parse_line = line;
-  if (!parse_line.endsWith("\";")) {
-    int pos = stream.pos() - raw_line.length() - 1;
-    parse_line = content.mid(pos, content.indexOf("\";", pos));
+void DBCFile::parseCM_BO(const std::string &line) {
+  std::istringstream prefix(line.substr(7));
+  uint32_t address = 0;
+  prefix >> address;
+  const size_t first_quote = line.find('"');
+  const size_t last_quote = line.rfind('"');
+  if (!prefix || first_quote == std::string::npos || last_quote <= first_quote) {
+    throw std::runtime_error("Invalid message comment format");
   }
-  auto match = sg_comment_regexp.match(parse_line);
-  if (!match.hasMatch())
-    throw std::runtime_error("Invalid CM_ SG_ line format");
+  if (auto message = msg(address)) message->comment = unescapeComment(line.substr(first_quote + 1, last_quote - first_quote - 1));
+}
 
-  if (auto s = signal(match.captured(1).toUInt(), match.captured(2).toStdString())) {
-    s->comment = match.captured(3).trimmed().replace("\\\"", "\"").toStdString();
+void DBCFile::parseCM_SG(const std::string &line) {
+  std::istringstream prefix(line.substr(7));
+  uint32_t address = 0;
+  std::string name;
+  prefix >> address >> name;
+  const size_t first_quote = line.find('"');
+  const size_t last_quote = line.rfind('"');
+  if (!prefix || name.empty() || first_quote == std::string::npos || last_quote <= first_quote) {
+    throw std::runtime_error("Invalid CM_ SG_ line format");
   }
+  if (auto sig = signal(address, name)) sig->comment = unescapeComment(line.substr(first_quote + 1, last_quote - first_quote - 1));
 }
 
-void DBCFile::parseVAL(const QString &line) {
-  static QRegularExpression val_regexp(R"(VAL_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*))");
-
-  auto match = val_regexp.match(line);
-  if (!match.hasMatch())
-    throw std::runtime_error("invalid VAL_ line format");
-
-  if (auto s = signal(match.captured(1).toUInt(), match.captured(2).toStdString())) {
-    QStringList desc_list = match.captured(3).trimmed().split('"');
-    for (int i = 0; i < desc_list.size(); i += 2) {
-      auto val = desc_list[i].trimmed();
-      if (!val.isEmpty() && (i + 1) < desc_list.size()) {
-        auto desc = desc_list[i + 1].trimmed();
-        s->val_desc.push_back({val.toDouble(), desc.toStdString()});
-      }
+void DBCFile::parseVAL(const std::string &line) {
+  static const std::regex header_pattern(R"(^VAL_ ([[:alnum:]_]+) ([[:alnum:]_]+) (.*))");
+  static const std::regex entry_pattern(R"dbc(([+-]?[0-9]+(?:\.[0-9]+)?)\s+"([^"]*)")dbc");
+  std::smatch match;
+  if (!std::regex_search(line, match, header_pattern)) throw std::runtime_error("invalid VAL_ line format");
+  if (auto sig = signal(std::stoul(match[1].str()), match[2].str())) {
+    const std::string entries = match[3].str();
+    for (std::sregex_iterator it(entries.begin(), entries.end(), entry_pattern), end; it != end; ++it) {
+      sig->val_desc.emplace_back(std::stod((*it)[1].str()), trim((*it)[2].str()));
     }
   }
 }
@@ -237,40 +238,29 @@ std::string DBCFile::generateDBC() {
     const std::string &transmitter = m.transmitter.empty() ? DEFAULT_NODE_NAME : m.transmitter;
     dbc_string += "BO_ " + std::to_string(address) + " " + m.name + ": " + std::to_string(m.size) + " " + transmitter + "\n";
     if (!m.comment.empty()) {
-      std::string escaped_comment = m.comment;
-      // Replace " with \"
-      for (size_t pos = 0; (pos = escaped_comment.find('"', pos)) != std::string::npos; pos += 2)
-        escaped_comment.replace(pos, 1, "\\\"");
-      comment += "CM_ BO_ " + std::to_string(address) + " \"" + escaped_comment + "\";\n";
+      std::string escaped = m.comment;
+      for (size_t pos = 0; (pos = escaped.find('"', pos)) != std::string::npos; pos += 2) escaped.replace(pos, 1, "\\\"");
+      comment += "CM_ BO_ " + std::to_string(address) + " \"" + escaped + "\";\n";
     }
     for (auto sig : m.getSignals()) {
-      std::string multiplexer_indicator;
-      if (sig->type == cabana::Signal::Type::Multiplexor) {
-        multiplexer_indicator = "M ";
-      } else if (sig->type == cabana::Signal::Type::Multiplexed) {
-        multiplexer_indicator = "m" + std::to_string(sig->multiplex_value) + " ";
-      }
-      const std::string &recv = sig->receiver_name.empty() ? DEFAULT_NODE_NAME : sig->receiver_name;
-      dbc_string += " SG_ " + sig->name + " " + multiplexer_indicator + ": " +
-                    std::to_string(sig->start_bit) + "|" + std::to_string(sig->size) + "@" +
-                    std::string(1, sig->is_little_endian ? '1' : '0') +
-                    std::string(1, sig->is_signed ? '-' : '+') +
+      std::string mux;
+      if (sig->type == cabana::Signal::Type::Multiplexor) mux = "M ";
+      else if (sig->type == cabana::Signal::Type::Multiplexed) mux = "m" + std::to_string(sig->multiplex_value) + " ";
+      const std::string &receiver = sig->receiver_name.empty() ? DEFAULT_NODE_NAME : sig->receiver_name;
+      dbc_string += " SG_ " + sig->name + " " + mux + ": " + std::to_string(sig->start_bit) + "|" + std::to_string(sig->size) + "@" +
+                    (sig->is_little_endian ? "1" : "0") + (sig->is_signed ? "-" : "+") +
                     " (" + doubleToString(sig->factor) + "," + doubleToString(sig->offset) + ")" +
-                    " [" + doubleToString(sig->min) + "|" + doubleToString(sig->max) + "]" +
-                    " \"" + sig->unit + "\" " + recv + "\n";
+                    " [" + doubleToString(sig->min) + "|" + doubleToString(sig->max) + "] \"" + sig->unit + "\" " + receiver + "\n";
       if (!sig->comment.empty()) {
-        std::string escaped_comment = sig->comment;
-        for (size_t pos = 0; (pos = escaped_comment.find('"', pos)) != std::string::npos; pos += 2)
-          escaped_comment.replace(pos, 1, "\\\"");
-        comment += "CM_ SG_ " + std::to_string(address) + " " + sig->name + " \"" + escaped_comment + "\";\n";
+        std::string escaped = sig->comment;
+        for (size_t pos = 0; (pos = escaped.find('"', pos)) != std::string::npos; pos += 2) escaped.replace(pos, 1, "\\\"");
+        comment += "CM_ SG_ " + std::to_string(address) + " " + sig->name + " \"" + escaped + "\";\n";
       }
       if (!sig->val_desc.empty()) {
         std::string text;
-        for (auto &[val, desc] : sig->val_desc) {
+        for (const auto &[value, description] : sig->val_desc) {
           if (!text.empty()) text += " ";
-          char val_buf[64];
-          snprintf(val_buf, sizeof(val_buf), "%g", val);
-          text += std::string(val_buf) + " \"" + desc + "\"";
+          text += doubleToString(value) + " \"" + description + "\"";
         }
         val_desc += "VAL_ " + std::to_string(address) + " " + sig->name + " " + text + ";\n";
       }
diff --git a/openpilot/tools/cabana/dbc/dbcfile.h b/openpilot/tools/cabana/dbc/dbcfile.h
index decb566abd4652..13841a94fa8ca5 100644
--- a/openpilot/tools/cabana/dbc/dbcfile.h
+++ b/openpilot/tools/cabana/dbc/dbcfile.h
@@ -2,7 +2,6 @@
 
 #include <map>
 #include <string>
-#include <QTextStream>
 
 #include "tools/cabana/dbc/dbc.h"
 
@@ -32,12 +31,12 @@ class DBCFile {
   std::string filename;
 
 private:
-  void parse(const QString &content);
-  cabana::Msg *parseBO(const QString &line);
-  void parseSG(const QString &line, cabana::Msg *current_msg, int &multiplexor_cnt);
-  void parseCM_BO(const QString &line, const QString &content, const QString &raw_line, const QTextStream &stream);
-  void parseCM_SG(const QString &line, const QString &content, const QString &raw_line, const QTextStream &stream);
-  void parseVAL(const QString &line);
+  void parse(const std::string &content);
+  cabana::Msg *parseBO(const std::string &line);
+  void parseSG(const std::string &line, cabana::Msg *current_msg, int &multiplexor_cnt);
+  void parseCM_BO(const std::string &line);
+  void parseCM_SG(const std::string &line);
+  void parseVAL(const std::string &line);
 
   std::string header;
   std::map<uint32_t, cabana::Msg> msgs;
diff --git a/openpilot/tools/cabana/dbc/dbcmanager.cc b/openpilot/tools/cabana/dbc/dbcmanager.cc
index 2236a93da1407e..7a95a4f8093cac 100644
--- a/openpilot/tools/cabana/dbc/dbcmanager.cc
+++ b/openpilot/tools/cabana/dbc/dbcmanager.cc
@@ -1,9 +1,10 @@
 #include "tools/cabana/dbc/dbcmanager.h"
 
 #include <algorithm>
+#include <cassert>
 #include <set>
 
-bool DBCManager::open(const SourceSet &sources, const std::string &dbc_file_name, QString *error) {
+bool DBCManager::open(const SourceSet &sources, const std::string &dbc_file_name, std::string *error) {
   try {
     auto it = std::find_if(dbc_files.begin(), dbc_files.end(),
                            [&](auto &f) { return f.second && f.second->filename == dbc_file_name; });
@@ -16,11 +17,11 @@ bool DBCManager::open(const SourceSet &sources, const std::string &dbc_file_name
     return false;
   }
 
-  emit DBCFileChanged();
+  if (callbacks_.file_changed) callbacks_.file_changed();
   return true;
 }
 
-bool DBCManager::open(const SourceSet &sources, const std::string &name, const std::string &content, QString *error) {
+bool DBCManager::open(const SourceSet &sources, const std::string &name, const std::string &content, std::string *error) {
   try {
     auto file = std::make_shared<DBCFile>(name, content);
     for (auto s : sources) {
@@ -31,7 +32,7 @@ bool DBCManager::open(const SourceSet &sources, const std::string &name, const s
     return false;
   }
 
-  emit DBCFileChanged();
+  if (callbacks_.file_changed) callbacks_.file_changed();
   return true;
 }
 
@@ -39,26 +40,26 @@ void DBCManager::close(const SourceSet &sources) {
   for (auto s : sources) {
     dbc_files[s] = nullptr;
   }
-  emit DBCFileChanged();
+  if (callbacks_.file_changed) callbacks_.file_changed();
 }
 
 void DBCManager::close(DBCFile *dbc_file) {
   for (auto &[_, f] : dbc_files) {
     if (f.get() == dbc_file) f = nullptr;
   }
-  emit DBCFileChanged();
+  if (callbacks_.file_changed) callbacks_.file_changed();
 }
 
 void DBCManager::closeAll() {
   dbc_files.clear();
-  emit DBCFileChanged();
+  if (callbacks_.file_changed) callbacks_.file_changed();
 }
 
 void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) {
   if (auto m = msg(id)) {
     if (auto s = m->addSignal(sig)) {
-      emit signalAdded(id, s);
-      emit maskUpdated();
+      if (callbacks_.signal_added) callbacks_.signal_added(id, s);
+      if (callbacks_.mask_updated) callbacks_.mask_updated();
     }
   }
 }
@@ -66,8 +67,8 @@ void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) {
 void DBCManager::updateSignal(const MessageId &id, const std::string &sig_name, const cabana::Signal &sig) {
   if (auto m = msg(id)) {
     if (auto s = m->updateSignal(sig_name, sig)) {
-      emit signalUpdated(s);
-      emit maskUpdated();
+      if (callbacks_.signal_updated) callbacks_.signal_updated(s);
+      if (callbacks_.mask_updated) callbacks_.mask_updated();
     }
   }
 }
@@ -75,9 +76,9 @@ void DBCManager::updateSignal(const MessageId &id, const std::string &sig_name,
 void DBCManager::removeSignal(const MessageId &id, const std::string &sig_name) {
   if (auto m = msg(id)) {
     if (auto s = m->sig(sig_name)) {
-      emit signalRemoved(s);
+      if (callbacks_.signal_removed) callbacks_.signal_removed(s);
       m->removeSignal(sig_name);
-      emit maskUpdated();
+      if (callbacks_.mask_updated) callbacks_.mask_updated();
     }
   }
 }
@@ -86,15 +87,15 @@ void DBCManager::updateMsg(const MessageId &id, const std::string &name, uint32_
   auto dbc_file = findDBCFile(id);
   assert(dbc_file);  // This should be impossible
   dbc_file->updateMsg(id, name, size, node, comment);
-  emit msgUpdated(id);
+  if (callbacks_.msg_updated) callbacks_.msg_updated(id);
 }
 
 void DBCManager::removeMsg(const MessageId &id) {
   auto dbc_file = findDBCFile(id);
   assert(dbc_file);  // This should be impossible
   dbc_file->removeMsg(id);
-  emit msgRemoved(id);
-  emit maskUpdated();
+  if (callbacks_.msg_removed) callbacks_.msg_removed(id);
+  if (callbacks_.mask_updated) callbacks_.mask_updated();
 }
 
 std::string DBCManager::newMsgName(const MessageId &id) {
@@ -176,6 +177,6 @@ std::string toString(const SourceSet &ss) {
 }
 
 DBCManager *dbc() {
-  static DBCManager dbc_manager(nullptr);
+  static DBCManager dbc_manager;
   return &dbc_manager;
 }
diff --git a/openpilot/tools/cabana/dbc/dbcmanager.h b/openpilot/tools/cabana/dbc/dbcmanager.h
index 4a122073eaad58..5a09fae03d9d74 100644
--- a/openpilot/tools/cabana/dbc/dbcmanager.h
+++ b/openpilot/tools/cabana/dbc/dbcmanager.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <QObject>
+#include <functional>
 #include <memory>
 #include <map>
 #include <set>
@@ -11,17 +11,23 @@
 
 typedef std::set<int> SourceSet;
 const SourceSet SOURCE_ALL = {-1};
-const int INVALID_SOURCE = 0xff;
 inline bool operator<(const std::shared_ptr<DBCFile> &l, const std::shared_ptr<DBCFile> &r) { return l.get() < r.get(); }
 
-class DBCManager : public QObject {
-  Q_OBJECT
-
+class DBCManager {
 public:
-  DBCManager(QObject *parent) : QObject(parent) {}
-  ~DBCManager() {}
-  bool open(const SourceSet &sources, const std::string &dbc_file_name, QString *error = nullptr);
-  bool open(const SourceSet &sources, const std::string &name, const std::string &content, QString *error = nullptr);
+  struct Callbacks {
+    std::function<void(MessageId, const cabana::Signal *)> signal_added;
+    std::function<void(const cabana::Signal *)> signal_removed;
+    std::function<void(const cabana::Signal *)> signal_updated;
+    std::function<void(MessageId)> msg_updated;
+    std::function<void(MessageId)> msg_removed;
+    std::function<void()> file_changed;
+    std::function<void()> mask_updated;
+  };
+
+  DBCManager() = default;
+  bool open(const SourceSet &sources, const std::string &dbc_file_name, std::string *error = nullptr);
+  bool open(const SourceSet &sources, const std::string &name, const std::string &content, std::string *error = nullptr);
   void close(const SourceSet &sources);
   void close(DBCFile *dbc_file);
   void closeAll();
@@ -48,18 +54,11 @@ class DBCManager : public QObject {
   DBCFile *findDBCFile(const uint8_t source);
   inline DBCFile *findDBCFile(const MessageId &id) { return findDBCFile(id.source); }
   std::set<DBCFile *> allDBCFiles();
-
-signals:
-  void signalAdded(MessageId id, const cabana::Signal *sig);
-  void signalRemoved(const cabana::Signal *sig);
-  void signalUpdated(const cabana::Signal *sig);
-  void msgUpdated(MessageId id);
-  void msgRemoved(MessageId id);
-  void DBCFileChanged();
-  void maskUpdated();
+  void setCallbacks(Callbacks callbacks) { callbacks_ = std::move(callbacks); }
 
 private:
   std::map<int, std::shared_ptr<DBCFile>> dbc_files;
+  Callbacks callbacks_;
 };
 
 DBCManager *dbc();
diff --git a/openpilot/tools/cabana/dbc/dbcqt.cc b/openpilot/tools/cabana/dbc/dbcqt.cc
new file mode 100644
index 00000000000000..4354caf3f559b9
--- /dev/null
+++ b/openpilot/tools/cabana/dbc/dbcqt.cc
@@ -0,0 +1,18 @@
+#include "tools/cabana/dbc/dbcqt.h"
+
+QtDBCNotifier::QtDBCNotifier(QObject *parent) : QObject(parent) {
+  dbc()->setCallbacks({
+    .signal_added = [this](MessageId id, const cabana::Signal *sig) { emit signalAdded(id, sig); },
+    .signal_removed = [this](const cabana::Signal *sig) { emit signalRemoved(sig); },
+    .signal_updated = [this](const cabana::Signal *sig) { emit signalUpdated(sig); },
+    .msg_updated = [this](MessageId id) { emit msgUpdated(id); },
+    .msg_removed = [this](MessageId id) { emit msgRemoved(id); },
+    .file_changed = [this]() { emit DBCFileChanged(); },
+    .mask_updated = [this]() { emit maskUpdated(); },
+  });
+}
+
+QtDBCNotifier *dbcNotifier() {
+  static QtDBCNotifier notifier;
+  return &notifier;
+}
diff --git a/openpilot/tools/cabana/dbc/dbcqt.h b/openpilot/tools/cabana/dbc/dbcqt.h
new file mode 100644
index 00000000000000..b889f854edbc81
--- /dev/null
+++ b/openpilot/tools/cabana/dbc/dbcqt.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include <QMetaType>
+#include <QObject>
+
+#include "tools/cabana/dbc/dbcmanager.h"
+
+Q_DECLARE_METATYPE(MessageId)
+Q_DECLARE_METATYPE(ValueDescription)
+
+class QtDBCNotifier : public QObject {
+  Q_OBJECT
+
+public:
+  explicit QtDBCNotifier(QObject *parent = nullptr);
+
+signals:
+  void signalAdded(MessageId id, const cabana::Signal *sig);
+  void signalRemoved(const cabana::Signal *sig);
+  void signalUpdated(const cabana::Signal *sig);
+  void msgUpdated(MessageId id);
+  void msgRemoved(MessageId id);
+  void DBCFileChanged();
+  void maskUpdated();
+};
+
+QtDBCNotifier *dbcNotifier();
diff --git a/openpilot/tools/cabana/detailwidget.cc b/openpilot/tools/cabana/detailwidget.cc
index 148b059e5b7e80..36a95ff96edc13 100644
--- a/openpilot/tools/cabana/detailwidget.cc
+++ b/openpilot/tools/cabana/detailwidget.cc
@@ -1,4 +1,5 @@
 #include "tools/cabana/detailwidget.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
 #include <QFormLayout>
 #include <QMenu>
@@ -56,7 +57,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   QObject::connect(signal_view, &SignalView::highlight, binary_view, &BinaryView::highlight);
   QObject::connect(tab_widget, &QTabWidget::currentChanged, [this]() { updateState(); });
   QObject::connect(can, &AbstractStream::msgsReceived, this, &DetailWidget::updateState);
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &DetailWidget::refresh);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &DetailWidget::refresh);
   QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &DetailWidget::refresh);
   QObject::connect(tabbar, &QTabBar::customContextMenuRequested, this, &DetailWidget::showTabBarContextMenu);
   QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) {
diff --git a/openpilot/tools/cabana/historylog.cc b/openpilot/tools/cabana/historylog.cc
index fb79ff9cea1d79..51c2481f3b4186 100644
--- a/openpilot/tools/cabana/historylog.cc
+++ b/openpilot/tools/cabana/historylog.cc
@@ -1,4 +1,5 @@
 #include "tools/cabana/historylog.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
 #include <functional>
 
@@ -54,7 +55,7 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i
       return unit.isEmpty() ? name : QString("%1 (%2)").arg(name, unit);
     } else if (role == Qt::BackgroundRole && section > 0 && !isHexMode()) {
       // Alpha-blend the signal color with the background to ensure contrast
-      QColor sigColor = sigs[section - 1]->color;
+      QColor sigColor = toQColor(sigs[section - 1]->color);
       sigColor.setAlpha(128);
       return QBrush(sigColor);
     }
@@ -207,7 +208,7 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) {
   QObject::connect(value_edit, &QLineEdit::textEdited, this, &LogsWidget::filterChanged);
   QObject::connect(export_btn, &QToolButton::clicked, this, &LogsWidget::exportToCSV);
   QObject::connect(can, &AbstractStream::seekedTo, model, &HistoryLogModel::reset);
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &HistoryLogModel::reset);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, model, &HistoryLogModel::reset);
   QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, model, &HistoryLogModel::reset);
   QObject::connect(model, &HistoryLogModel::modelReset, this, &LogsWidget::modelReset);
   QObject::connect(model, &HistoryLogModel::rowsInserted, [this]() { export_btn->setEnabled(true); });
@@ -238,11 +239,11 @@ void LogsWidget::filterChanged() {
 }
 
 void LogsWidget::exportToCSV() {
-  QString dir = QString("%1/%2_%3.csv").arg(settings.last_dir).arg(QString::fromStdString(can->routeName())).arg(QString::fromStdString(msgName(model->msg_id)));
+  QString dir = QString("%1/%2_%3.csv").arg(QString::fromStdString(settings.last_dir)).arg(QString::fromStdString(can->routeName())).arg(QString::fromStdString(msgName(model->msg_id)));
   QString fn = QFileDialog::getSaveFileName(this, QString("Export %1 to CSV file").arg(QString::fromStdString(msgName(model->msg_id))),
                                             dir, tr("csv (*.csv)"));
   if (!fn.isEmpty()) {
-    model->isHexMode() ? utils::exportToCSV(fn, model->msg_id)
-                       : utils::exportSignalsToCSV(fn, model->msg_id);
+    model->isHexMode() ? utils::exportToCSV(fn.toStdString(), model->msg_id)
+                       : utils::exportSignalsToCSV(fn.toStdString(), model->msg_id);
   }
 }
diff --git a/openpilot/tools/cabana/historylog.h b/openpilot/tools/cabana/historylog.h
index 1ac6e5bbadf33e..1d3200b2002311 100644
--- a/openpilot/tools/cabana/historylog.h
+++ b/openpilot/tools/cabana/historylog.h
@@ -40,7 +40,7 @@ class HistoryLogModel : public QAbstractTableModel {
     uint64_t mono_time = 0;
     std::vector<double> sig_values;
     std::vector<uint8_t> data;
-    std::vector<QColor> colors;
+    std::vector<CabanaColor> colors;
   };
 
   void fetchData(std::deque<Message>::iterator insert_pos, uint64_t from_time, uint64_t min_time);
diff --git a/openpilot/tools/cabana/mainwin.cc b/openpilot/tools/cabana/mainwin.cc
index 39fb979c798b0b..8d932163a654e3 100644
--- a/openpilot/tools/cabana/mainwin.cc
+++ b/openpilot/tools/cabana/mainwin.cc
@@ -1,4 +1,5 @@
 #include "tools/cabana/mainwin.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
 #include <algorithm>
 #include <iostream>
@@ -65,7 +66,7 @@ MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainW
 
   QObject::connect(this, &MainWindow::showMessage, statusBar(), &QStatusBar::showMessage);
   QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress);
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &MainWindow::DBCFileChanged);
   QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged);
   QObject::connect(&settings, &Settings::changed, this, &MainWindow::updateStatus);
 
@@ -253,16 +254,16 @@ void MainWindow::selectAndOpenStream() {
 void MainWindow::closeStream() {
   openStream(new DummyStream(this));
   if (dbc()->nonEmptyDBCCount() > 0) {
-    emit dbc()->DBCFileChanged();
+    emit dbcNotifier()->DBCFileChanged();
   }
   statusBar()->showMessage(tr("stream closed"));
 }
 
 void MainWindow::exportToCSV() {
-  QString dir = QString("%1/%2.csv").arg(settings.last_dir).arg(QString::fromStdString(can->routeName()));
+  QString dir = QString("%1/%2.csv").arg(QString::fromStdString(settings.last_dir)).arg(QString::fromStdString(can->routeName()));
   QString fn = QFileDialog::getSaveFileName(this, "Export stream to CSV file", dir, tr("csv (*.csv)"));
   if (!fn.isEmpty()) {
-    utils::exportToCSV(fn);
+    utils::exportToCSV(fn.toStdString());
   }
 }
 
@@ -273,7 +274,7 @@ void MainWindow::newFile(SourceSet s) {
 
 void MainWindow::openFile(SourceSet s) {
   remindSaveChanges();
-  QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)");
+  QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), QString::fromStdString(settings.last_dir), "DBC (*.dbc)");
   if (!fn.isEmpty()) {
     loadFile(fn, s);
   }
@@ -283,13 +284,13 @@ void MainWindow::loadFile(const QString &fn, SourceSet s) {
   if (!fn.isEmpty()) {
     closeFile(s);
 
-    QString error;
+    std::string error;
     if (dbc()->open(s, fn.toStdString(), &error)) {
       updateRecentFiles(fn);
       statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000);
     } else {
       QMessageBox msg_box(QMessageBox::Warning, tr("Failed to load DBC file"), tr("Failed to parse DBC file %1").arg(fn));
-      msg_box.setDetailedText(error);
+      msg_box.setDetailedText(QString::fromStdString(error));
       msg_box.exec();
     }
   }
@@ -303,13 +304,13 @@ void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
   closeFile(s);
 
   QString dbc_str = QGuiApplication::clipboard()->text();
-  QString error;
+  std::string error;
   bool ret = dbc()->open(s, std::string(""), dbc_str.toStdString(), &error);
   if (ret && dbc()->nonEmptyDBCCount() > 0) {
     QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!"));
   } else {
     QMessageBox msg_box(QMessageBox::Warning, tr("Failed to load DBC from clipboard"), tr("Make sure that you paste the text with correct format."));
-    msg_box.setDetailedText(error);
+    msg_box.setDetailedText(QString::fromStdString(error));
     msg_box.exec();
   }
 }
@@ -427,7 +428,7 @@ void MainWindow::saveFile(DBCFile *dbc_file) {
 
 void MainWindow::saveFileAs(DBCFile *dbc_file) {
   QString title = tr("Save File (bus: %1)").arg(QString::fromStdString(toString(dbc()->sources(dbc_file))));
-  QString fn = QFileDialog::getSaveFileName(this, title, QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)"));
+  QString fn = QFileDialog::getSaveFileName(this, title, QDir::cleanPath(QString::fromStdString(settings.last_dir) + "/untitled.dbc"), tr("DBC (*.dbc)"));
   if (!fn.isEmpty()) {
     dbc_file->saveAs(fn.toStdString());
     UndoStack::instance()->setClean();
@@ -481,12 +482,13 @@ void MainWindow::updateLoadSaveMenus() {
 }
 
 void MainWindow::updateRecentFiles(const QString &fn) {
-  settings.recent_files.removeAll(fn);
-  settings.recent_files.prepend(fn);
+  const std::string filename = fn.toStdString();
+  settings.recent_files.erase(std::remove(settings.recent_files.begin(), settings.recent_files.end(), filename), settings.recent_files.end());
+  settings.recent_files.insert(settings.recent_files.begin(), filename);
   while (settings.recent_files.size() > MAX_RECENT_FILES) {
-    settings.recent_files.removeLast();
+    settings.recent_files.pop_back();
   }
-  settings.last_dir = QFileInfo(fn).absolutePath();
+  settings.last_dir = QFileInfo(fn).absolutePath().toStdString();
 }
 
 void MainWindow::updateRecentFileMenu() {
@@ -499,8 +501,8 @@ void MainWindow::updateRecentFileMenu() {
   }
 
   for (int i = 0; i < num_recent_files; ++i) {
-    QString text = tr("&%1 %2").arg(i + 1).arg(QFileInfo(settings.recent_files[i]).fileName());
-    open_recent_menu->addAction(text, this, [this, file = settings.recent_files[i]]() { loadFile(file); });
+    QString text = tr("&%1 %2").arg(i + 1).arg(QFileInfo(QString::fromStdString(settings.recent_files[i])).fileName());
+    open_recent_menu->addAction(text, this, [this, file = settings.recent_files[i]]() { loadFile(QString::fromStdString(file)); });
   }
 }
 
@@ -627,30 +629,39 @@ void MainWindow::saveSessionState() {
   settings.active_charts.clear();
 
   for (auto &f : dbc()->allDBCFiles())
-    if (!f->isEmpty()) { settings.recent_dbc_file = QString::fromStdString(f->filename); break; }
+    if (!f->isEmpty()) { settings.recent_dbc_file = f->filename; break; }
 
   if (auto *detail = center_widget->getDetailWidget()) {
     auto [active_id, ids] = detail->serializeMessageIds();
-    settings.active_msg_id = active_id;
-    settings.selected_msg_ids = ids;
+    settings.active_msg_id = active_id.toStdString();
+    settings.selected_msg_ids.clear();
+    for (const auto &id : ids) settings.selected_msg_ids.push_back(id.toStdString());
+  }
+  if (charts_widget) {
+    settings.active_charts.clear();
+    for (const auto &id : charts_widget->serializeChartIds()) settings.active_charts.push_back(id.toStdString());
   }
-  if (charts_widget)
-    settings.active_charts = charts_widget->serializeChartIds();
 }
 
 void MainWindow::restoreSessionState() {
-  if (settings.recent_dbc_file.isEmpty() || dbc()->nonEmptyDBCCount() == 0) return;
+  if (settings.recent_dbc_file.empty() || dbc()->nonEmptyDBCCount() == 0) return;
 
   QString dbc_file;
   for (auto& f : dbc()->allDBCFiles())
     if (!f->isEmpty()) { dbc_file = QString::fromStdString(f->filename); break; }
-  if (dbc_file != settings.recent_dbc_file) return;
+  if (dbc_file.toStdString() != settings.recent_dbc_file) return;
 
-  if (!settings.selected_msg_ids.isEmpty())
-    center_widget->ensureDetailWidget()->restoreTabs(settings.active_msg_id, settings.selected_msg_ids);
+  if (!settings.selected_msg_ids.empty()) {
+    QStringList ids;
+    for (const auto &id : settings.selected_msg_ids) ids.push_back(QString::fromStdString(id));
+    center_widget->ensureDetailWidget()->restoreTabs(QString::fromStdString(settings.active_msg_id), ids);
+  }
 
-  if (charts_widget != nullptr && !settings.active_charts.empty())
-    charts_widget->restoreChartsFromIds(settings.active_charts);
+  if (charts_widget != nullptr && !settings.active_charts.empty()) {
+    QStringList ids;
+    for (const auto &id : settings.active_charts) ids.push_back(QString::fromStdString(id));
+    charts_widget->restoreChartsFromIds(ids);
+  }
 }
 
 // HelpOverlay
diff --git a/openpilot/tools/cabana/messageswidget.cc b/openpilot/tools/cabana/messageswidget.cc
index 75cdaa7cc3a64a..22de1350eccc60 100644
--- a/openpilot/tools/cabana/messageswidget.cc
+++ b/openpilot/tools/cabana/messageswidget.cc
@@ -1,4 +1,5 @@
 #include "tools/cabana/messageswidget.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
 #include <limits>
 #include <utility>
@@ -43,7 +44,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget
   QObject::connect(header, &MessageViewHeader::customContextMenuRequested, this, &MessagesWidget::headerContextMenuEvent);
   QObject::connect(view->horizontalScrollBar(), &QScrollBar::valueChanged, header, &MessageViewHeader::updateHeaderPositions);
   QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived);
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::dbcModified);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, model, &MessageListModel::dbcModified);
   QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, model, &MessageListModel::dbcModified);
   QObject::connect(model, &MessageListModel::modelReset, [this]() {
     if (current_msg_id) {
diff --git a/openpilot/tools/cabana/settings.cc b/openpilot/tools/cabana/settings.cc
index e7b1129a3043b7..e385d83ecaf76a 100644
--- a/openpilot/tools/cabana/settings.cc
+++ b/openpilot/tools/cabana/settings.cc
@@ -17,8 +17,31 @@ const int MAX_CACHE_MINIUTES = 120;
 
 Settings settings;
 
+template <typename T>
+void readSetting(QSettings &settings_store, const char *key, T &value) {
+  if (auto stored = settings_store.value(key); stored.canConvert<T>()) value = stored.value<T>();
+}
+
+void readSetting(QSettings &settings_store, const char *key, std::string &value) {
+  value = settings_store.value(key, QString::fromStdString(value)).toString().toStdString();
+}
+
+void readSetting(QSettings &settings_store, const char *key, std::vector<std::string> &value) {
+  value.clear();
+  for (const auto &item : settings_store.value(key).toStringList()) value.push_back(item.toStdString());
+}
+
+template <typename T>
+void writeSetting(QSettings &settings_store, const char *key, const T &value) { settings_store.setValue(key, value); }
+void writeSetting(QSettings &settings_store, const char *key, const std::string &value) { settings_store.setValue(key, QString::fromStdString(value)); }
+void writeSetting(QSettings &settings_store, const char *key, const std::vector<std::string> &value) {
+  QStringList items;
+  for (const auto &item : value) items.push_back(QString::fromStdString(item));
+  settings_store.setValue(key, items);
+}
+
 template <class SettingOperation>
-void settings_op(SettingOperation op) {
+void settingsOp(SettingOperation op) {
   QSettings s("cabana");
   op(s, "absolute_time", settings.absolute_time);
   op(s, "fps", settings.fps);
@@ -48,16 +71,13 @@ void settings_op(SettingOperation op) {
 }
 
 Settings::Settings() {
-  last_dir = last_route_dir = QDir::homePath();
-  log_path = QStandardPaths::writableLocation(QStandardPaths::HomeLocation) + "/cabana_live_stream/";
-  settings_op([](QSettings &s, const QString &key, auto &value) {
-    if (auto v = s.value(key); v.canConvert<std::decay_t<decltype(value)>>())
-      value = v.value<std::decay_t<decltype(value)>>();
-  });
+  last_dir = last_route_dir = QDir::homePath().toStdString();
+  log_path = (QStandardPaths::writableLocation(QStandardPaths::HomeLocation) + "/cabana_live_stream/").toStdString();
+  settingsOp([](QSettings &s, const char *key, auto &value) { readSetting(s, key, value); });
 }
 
 Settings::~Settings() {
-  settings_op([](QSettings &s, const QString &key, auto &v) { s.setValue(key, v); });
+  settingsOp([](QSettings &s, const char *key, const auto &value) { writeSetting(s, key, value); });
 }
 
 // SettingsDlg
@@ -102,7 +122,7 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
   log_livestream = new QGroupBox(tr("Enable live stream logging"), this);
   log_livestream->setCheckable(true);
   QHBoxLayout *path_layout = new QHBoxLayout(log_livestream);
-  path_layout->addWidget(log_path = new QLineEdit(settings.log_path, this));
+  path_layout->addWidget(log_path = new QLineEdit(QString::fromStdString(settings.log_path), this));
   log_path->setReadOnly(true);
   auto browse_btn = new QPushButton(tr("B&rowse..."));
   path_layout->addWidget(browse_btn);
@@ -134,7 +154,7 @@ void SettingsDlg::save() {
   settings.max_cached_minutes = cached_minutes->value();
   settings.chart_height = chart_height->value();
   settings.log_livestream = log_livestream->isChecked();
-  settings.log_path = log_path->text();
+  settings.log_path = log_path->text().toStdString();
   settings.drag_direction = (Settings::DragDirection)drag_direction->currentIndex();
   emit settings.changed();
   QDialog::accept();
diff --git a/openpilot/tools/cabana/settings.h b/openpilot/tools/cabana/settings.h
index 7ab50d149411c2..4254a8009dafda 100644
--- a/openpilot/tools/cabana/settings.h
+++ b/openpilot/tools/cabana/settings.h
@@ -7,50 +7,20 @@
 #include <QLineEdit>
 #include <QSpinBox>
 
-#define LIGHT_THEME 1
-#define DARK_THEME 2
+#include "tools/cabana/core/settings.h"
 
-class Settings : public QObject {
+class Settings : public QObject, public CabanaSettingsState {
   Q_OBJECT
 
 public:
-  enum DragDirection {
-    MsbFirst,
-    LsbFirst,
-    AlwaysLE,
-    AlwaysBE,
-  };
-
   Settings();
   ~Settings();
 
-  bool absolute_time = false;
-  int fps = 10;
-  int max_cached_minutes = 30;
-  int chart_height = 200;
-  int chart_column_count = 1;
-  int chart_range = 3 * 60; // 3 minutes
-  int chart_series_type = 0;
-  int theme = 0;
-  int sparkline_range = 15; // 15 seconds
-  bool multiple_lines_hex = false;
-  bool log_livestream = true;
-  bool suppress_defined_signals = false;
-  QString log_path;
-  QString last_dir;
-  QString last_route_dir;
+  // Qt frontend layout state. This intentionally stays outside CabanaSettingsState.
   QByteArray geometry;
   QByteArray video_splitter_state;
   QByteArray window_state;
-  QStringList recent_files;
   QByteArray message_header_state;
-  DragDirection drag_direction = MsbFirst;
-
-  // session data
-  QString recent_dbc_file;
-  QString active_msg_id;
-  QStringList selected_msg_ids;
-  QStringList active_charts;
 
 signals:
   void changed();
diff --git a/openpilot/tools/cabana/signalview.cc b/openpilot/tools/cabana/signalview.cc
index a204512e83d48b..5048cc6aa8986c 100644
--- a/openpilot/tools/cabana/signalview.cc
+++ b/openpilot/tools/cabana/signalview.cc
@@ -1,4 +1,5 @@
 #include "tools/cabana/signalview.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
 #include <algorithm>
 #include <future>
@@ -25,12 +26,12 @@ static QString signalTypeToString(cabana::Signal::Type type) {
 }
 
 SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(parent) {
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &SignalModel::refresh);
-  QObject::connect(dbc(), &DBCManager::msgUpdated, this, &SignalModel::handleMsgChanged);
-  QObject::connect(dbc(), &DBCManager::msgRemoved, this, &SignalModel::handleMsgChanged);
-  QObject::connect(dbc(), &DBCManager::signalAdded, this, &SignalModel::handleSignalAdded);
-  QObject::connect(dbc(), &DBCManager::signalUpdated, this, &SignalModel::handleSignalUpdated);
-  QObject::connect(dbc(), &DBCManager::signalRemoved, this, &SignalModel::handleSignalRemoved);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &SignalModel::refresh);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::msgUpdated, this, &SignalModel::handleMsgChanged);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::msgRemoved, this, &SignalModel::handleMsgChanged);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::signalAdded, this, &SignalModel::handleSignalAdded);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::signalUpdated, this, &SignalModel::handleSignalUpdated);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::signalRemoved, this, &SignalModel::handleSignalRemoved);
 }
 
 void SignalModel::insertItem(SignalModel::Item *root_item, int pos, const cabana::Signal *sig) {
@@ -304,7 +305,7 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
       path.addRoundedRect(icon_rect, 3, 3);
       painter->setPen(item->highlight ? Qt::white : Qt::black);
       painter->setFont(label_font);
-      painter->fillPath(path, item->sig->color.darker(item->highlight ? 125 : 0));
+      painter->fillPath(path, toQColor(item->sig->color.darker(item->highlight ? 125 : 0)));
       painter->drawText(icon_rect, Qt::AlignCenter, QString::number(item->row() + 1));
 
       rect.setLeft(icon_rect.right() + h_margin * 2);
@@ -481,8 +482,8 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
   QObject::connect(tree, &QTreeView::entered, [this](const QModelIndex &index) { emit highlight(model->getItem(index)->sig); });
   QObject::connect(model, &QAbstractItemModel::modelReset, this, &SignalView::rowsChanged);
   QObject::connect(model, &QAbstractItemModel::rowsRemoved, this, &SignalView::rowsChanged);
-  QObject::connect(dbc(), &DBCManager::signalAdded, this, &SignalView::handleSignalAdded);
-  QObject::connect(dbc(), &DBCManager::signalUpdated, this, &SignalView::handleSignalUpdated);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::signalAdded, this, &SignalView::handleSignalAdded);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::signalUpdated, this, &SignalView::handleSignalUpdated);
   QObject::connect(tree->verticalScrollBar(), &QScrollBar::valueChanged, [this]() { updateState(); });
   QObject::connect(tree->verticalScrollBar(), &QScrollBar::rangeChanged, [this]() { updateState(); });
   QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalView::updateState);
diff --git a/openpilot/tools/cabana/streams/abstractstream.cc b/openpilot/tools/cabana/streams/abstractstream.cc
index 1582fcd34dd7ea..c58a98084f001a 100644
--- a/openpilot/tools/cabana/streams/abstractstream.cc
+++ b/openpilot/tools/cabana/streams/abstractstream.cc
@@ -1,4 +1,5 @@
 #include "tools/cabana/streams/abstractstream.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
 #include <limits>
 #include <utility>
@@ -18,8 +19,8 @@ AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
   QObject::connect(this, &AbstractStream::privateUpdateLastMsgsSignal, this, &AbstractStream::updateLastMessages, Qt::QueuedConnection);
   QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo);
   QObject::connect(this, &AbstractStream::seeking, this, [this](double sec) { current_sec_ = sec; });
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &AbstractStream::updateMasks);
-  QObject::connect(dbc(), &DBCManager::maskUpdated, this, &AbstractStream::updateMasks);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &AbstractStream::updateMasks);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::maskUpdated, this, &AbstractStream::updateMasks);
 }
 
 void AbstractStream::updateMasks() {
@@ -233,18 +234,18 @@ std::pair<CanEventIter, CanEventIter> AbstractStream::eventsInRange(const Messag
 namespace {
 
 enum Color { GREYISH_BLUE, CYAN, RED};
-QColor getColor(int c) {
+CabanaColor getColor(int c) {
   constexpr int start_alpha = 128;
-  static const QColor colors[] = {
-      [GREYISH_BLUE] = QColor(102, 86, 169, start_alpha / 2),
-      [CYAN] = QColor(0, 187, 255, start_alpha),
-      [RED] = QColor(255, 0, 0, start_alpha),
+  static const CabanaColor colors[] = {
+      [GREYISH_BLUE] = CabanaColor(102, 86, 169, start_alpha / 2),
+      [CYAN] = CabanaColor(0, 187, 255, start_alpha),
+      [RED] = CabanaColor(255, 0, 0, start_alpha),
   };
   return settings.theme == LIGHT_THEME ? colors[c] : colors[c].lighter(135);
 }
 
-inline QColor blend(const QColor &a, const QColor &b) {
-  return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2);
+inline CabanaColor blend(const CabanaColor &a, const CabanaColor &b) {
+  return CabanaColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2);
 }
 
 // Calculate the frequency from the past one minute data
@@ -271,7 +272,7 @@ void CanData::compute(const MessageId &msg_id, const uint8_t *can_data, const in
 
   if (dat.size() != size) {
     dat.assign(can_data, can_data + size);
-    colors.assign(size, QColor(0, 0, 0, 0));
+    colors.assign(size, CabanaColor(0, 0, 0, 0));
     last_changes.resize(size);
     bit_flip_counts.resize(size);
     std::for_each(last_changes.begin(), last_changes.end(), [current_sec](auto &c) { c.ts = current_sec; });
@@ -317,7 +318,7 @@ void CanData::compute(const MessageId &msg_id, const uint8_t *can_data, const in
         last_change.delta = delta;
       } else {
         // Fade out
-        colors[i].setAlphaF(std::max(0.0, colors[i].alphaF() - alpha_delta));
+        colors[i].setAlphaF(std::max(0.0f, colors[i].alphaF() - alpha_delta));
       }
     }
   }
diff --git a/openpilot/tools/cabana/streams/abstractstream.h b/openpilot/tools/cabana/streams/abstractstream.h
index 2f3b26fe2acdcc..26f05d9846f84e 100644
--- a/openpilot/tools/cabana/streams/abstractstream.h
+++ b/openpilot/tools/cabana/streams/abstractstream.h
@@ -3,6 +3,7 @@
 #include <algorithm>
 #include <array>
 #include <condition_variable>
+#include <chrono>
 #include <memory>
 #include <mutex>
 #include <optional>
@@ -11,51 +12,12 @@
 #include <utility>
 #include <vector>
 
-#include <QColor>
-#include <QDateTime>
-
 #include "openpilot/cereal/messaging/messaging.h"
+#include "tools/cabana/core/can_data.h"
 #include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/utils/util.h"
 #include "tools/replay/util.h"
 
-struct CanData {
-  void compute(const MessageId &msg_id, const uint8_t *dat, const int size, double current_sec,
-               double playback_speed, const std::vector<uint8_t> &mask, double in_freq = 0);
-
-  double ts = 0.;
-  uint32_t count = 0;
-  double freq = 0;
-  std::vector<uint8_t> dat;
-  std::vector<QColor> colors;
-
-  struct ByteLastChange {
-    double ts = 0;
-    int delta = 0;
-    int same_delta_counter = 0;
-    bool suppressed = false;
-  };
-  std::vector<ByteLastChange> last_changes;
-  std::vector<std::array<uint32_t, 8>> bit_flip_counts;
-  double last_freq_update_ts = 0;
-};
-
-struct CanEvent {
-  uint8_t src;
-  uint32_t address;
-  uint64_t mono_time;
-  uint8_t size;
-  uint8_t dat[];
-};
-
-struct CompareCanEvent {
-  constexpr bool operator()(const CanEvent *const e, uint64_t ts) const { return e->mono_time < ts; }
-  constexpr bool operator()(uint64_t ts, const CanEvent *const e) const { return ts < e->mono_time; }
-};
-
-typedef std::unordered_map<MessageId, std::vector<const CanEvent *>> MessageEventsMap;
-using CanEventIter = std::vector<const CanEvent *>::const_iterator;
-
 class AbstractStream : public QObject {
   Q_OBJECT
 
@@ -67,7 +29,7 @@ class AbstractStream : public QObject {
   virtual void seekTo(double ts) {}
   virtual std::string routeName() const = 0;
   virtual std::string carFingerprint() const { return ""; }
-  virtual QDateTime beginDateTime() const { return {}; }
+  virtual std::chrono::system_clock::time_point beginDateTime() const { return {}; }
   virtual uint64_t beginMonoTime() const { return 0; }
   virtual double minSeconds() const { return 0; }
   virtual double maxSeconds() const { return 0; }
diff --git a/openpilot/tools/cabana/streams/livestream.cc b/openpilot/tools/cabana/streams/livestream.cc
index ac9a6fa105e766..5aa4628bc0d040 100644
--- a/openpilot/tools/cabana/streams/livestream.cc
+++ b/openpilot/tools/cabana/streams/livestream.cc
@@ -3,7 +3,9 @@
 #include <QThread>
 #include <algorithm>
 #include <fstream>
+#include <iomanip>
 #include <memory>
+#include <sstream>
 
 #include "common/timing.h"
 #include "common/util.h"
@@ -14,9 +16,14 @@ struct LiveStream::Logger {
   void write(kj::ArrayPtr<capnp::word> data) {
     int n = (seconds_since_epoch() - start_ts) / 60.0;
     if (std::exchange(segment_num, n) != segment_num) {
+      const time_t start_time = start_ts;
+      std::tm local_time = {};
+      localtime_r(&start_time, &local_time);
+      std::ostringstream date;
+      date << std::put_time(&local_time, "%Y-%m-%d--%H-%M-%S");
       QString dir = QString("%1/%2--%3")
-                        .arg(settings.log_path)
-                        .arg(QDateTime::fromSecsSinceEpoch(start_ts).toString("yyyy-MM-dd--hh-mm-ss"))
+                        .arg(QString::fromStdString(settings.log_path))
+                        .arg(QString::fromStdString(date.str()))
                         .arg(n);
       util::create_directories(dir.toStdString(), 0755);
       fs.reset(new std::ofstream((dir + "/rlog").toStdString(), std::ios::binary | std::ios::out));
@@ -55,7 +62,7 @@ void LiveStream::startUpdateTimer() {
 void LiveStream::start() {
   stream_thread->start();
   startUpdateTimer();
-  begin_date_time = QDateTime::currentDateTime();
+  begin_date_time = std::chrono::system_clock::now();
 }
 
 void LiveStream::stop() {
diff --git a/openpilot/tools/cabana/streams/livestream.h b/openpilot/tools/cabana/streams/livestream.h
index 24b9285092e531..e88fbadd8e2205 100644
--- a/openpilot/tools/cabana/streams/livestream.h
+++ b/openpilot/tools/cabana/streams/livestream.h
@@ -16,7 +16,7 @@ class LiveStream : public AbstractStream {
   virtual ~LiveStream();
   void start() override;
   void stop();
-  inline QDateTime beginDateTime() const { return begin_date_time; }
+  inline std::chrono::system_clock::time_point beginDateTime() const override { return begin_date_time; }
   inline uint64_t beginMonoTime() const override { return begin_event_ts; }
   double maxSeconds() const override { return std::max(1.0, (lastest_event_ts - begin_event_ts) / 1e9); }
   void setSpeed(float speed) override { speed_ = speed; }
@@ -41,7 +41,7 @@ class LiveStream : public AbstractStream {
   int timer_id;
   QBasicTimer update_timer;
 
-  QDateTime begin_date_time;
+  std::chrono::system_clock::time_point begin_date_time;
   uint64_t begin_event_ts = 0;
   uint64_t lastest_event_ts = 0;
   uint64_t current_event_ts = 0;
diff --git a/openpilot/tools/cabana/streams/replaystream.cc b/openpilot/tools/cabana/streams/replaystream.cc
index b00c6e52c66b00..c74aa49821c44d 100644
--- a/openpilot/tools/cabana/streams/replaystream.cc
+++ b/openpilot/tools/cabana/streams/replaystream.cc
@@ -136,10 +136,10 @@ OpenReplayWidget::OpenReplayWidget(QWidget *parent) : AbstractOpenStreamWidget(p
 
   setMinimumWidth(550);
   QObject::connect(browse_local_btn, &QPushButton::clicked, [=]() {
-    QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), settings.last_route_dir);
+    QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), QString::fromStdString(settings.last_route_dir));
     if (!dir.isEmpty()) {
       route_edit->setText(dir);
-      settings.last_route_dir = QFileInfo(dir).absolutePath();
+      settings.last_route_dir = QFileInfo(dir).absolutePath().toStdString();
     }
   });
   QObject::connect(browse_remote_btn, &QPushButton::clicked, [this]() {
diff --git a/openpilot/tools/cabana/streams/replaystream.h b/openpilot/tools/cabana/streams/replaystream.h
index 40f8ec8cfbd9e5..eecd3457150e1a 100644
--- a/openpilot/tools/cabana/streams/replaystream.h
+++ b/openpilot/tools/cabana/streams/replaystream.h
@@ -26,7 +26,9 @@ class ReplayStream : public AbstractStream {
   inline std::string carFingerprint() const override { return replay->carFingerprint(); }
   double minSeconds() const override { return replay->minSeconds(); }
   double maxSeconds() const { return replay->maxSeconds(); }
-  inline QDateTime beginDateTime() const { return QDateTime::fromSecsSinceEpoch(replay->routeDateTime()); }
+  inline std::chrono::system_clock::time_point beginDateTime() const override {
+    return std::chrono::system_clock::from_time_t(replay->routeDateTime());
+  }
   inline uint64_t beginMonoTime() const override { return replay->routeStartNanos(); }
   inline void setSpeed(float speed) override { replay->setSpeed(speed); }
   inline float getSpeed() const { return replay->getSpeed(); }
diff --git a/openpilot/tools/cabana/streamselector.cc b/openpilot/tools/cabana/streamselector.cc
index 4ad552d4b4c96c..75fdf384b2daaa 100644
--- a/openpilot/tools/cabana/streamselector.cc
+++ b/openpilot/tools/cabana/streamselector.cc
@@ -52,10 +52,10 @@ StreamSelector::StreamSelector(QWidget *parent) : QDialog(parent) {
     setEnabled(true);
   });
   QObject::connect(file_btn, &QPushButton::clicked, [this]() {
-    QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)");
+    QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), QString::fromStdString(settings.last_dir), "DBC (*.dbc)");
     if (!fn.isEmpty()) {
       dbc_file->setText(fn);
-      settings.last_dir = QFileInfo(fn).absolutePath();
+      settings.last_dir = QFileInfo(fn).absolutePath().toStdString();
     }
   });
 }
diff --git a/openpilot/tools/cabana/tests/test_cabana.cc b/openpilot/tools/cabana/tests/test_cabana.cc
index 833cfbe4b58fc6..c66f57d5938f49 100644
--- a/openpilot/tools/cabana/tests/test_cabana.cc
+++ b/openpilot/tools/cabana/tests/test_cabana.cc
@@ -1,9 +1,16 @@
 
 #undef INFO
-#include <QDir>
+#include <filesystem>
+#include <sstream>
 
 #include "catch2/catch.hpp"
+#include "tools/cabana/dbc/dbcfile.h"
 #include "tools/cabana/dbc/dbcmanager.h"
+#include "tools/cabana/core/settings.h"
+
+#ifdef QT_CORE_LIB
+#include <QColor>
+#endif
 
 const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
 
@@ -143,15 +150,76 @@ CM_ SG_ 162 signal_1 "signal comment with \"escaped quotes\"";
 }
 
 TEST_CASE("parse_opendbc") {
-  QDir dir(OPENDBC_FILE_PATH);
-  QStringList errors;
-  for (auto fn : dir.entryList({"*.dbc"}, QDir::Files, QDir::Name)) {
+  std::vector<std::string> errors;
+  for (const auto &entry : std::filesystem::directory_iterator(OPENDBC_FILE_PATH)) {
+    if (!entry.is_regular_file() || entry.path().extension() != ".dbc") continue;
     try {
-      auto dbc = DBCFile(dir.filePath(fn).toStdString());
+      auto dbc = DBCFile(entry.path().string());
     } catch (std::exception &e) {
       errors.push_back(e.what());
     }
   }
-  INFO(errors.join("\n").toStdString());
+  std::ostringstream details;
+  for (const auto &error : errors) details << error << '\n';
+  INFO(details.str());
   REQUIRE(errors.empty());
 }
+
+TEST_CASE("DBCManager core callbacks") {
+  DBCManager manager;
+  int files_changed = 0;
+  int signals_added = 0;
+  int masks_updated = 0;
+  manager.setCallbacks({
+    .signal_added = [&](MessageId, const cabana::Signal *) { ++signals_added; },
+    .file_changed = [&]() { ++files_changed; },
+    .mask_updated = [&]() { ++masks_updated; },
+  });
+
+  std::string error;
+  REQUIRE(manager.open(SOURCE_ALL, "test", "BO_ 160 message: 8 XXX\n", &error));
+  REQUIRE(error.empty());
+  REQUIRE(files_changed == 1);
+
+  cabana::Signal signal{};
+  signal.name = "speed";
+  signal.start_bit = 0;
+  signal.size = 8;
+  signal.is_little_endian = true;
+  manager.addSignal({.source = 0, .address = 160}, signal);
+  REQUIRE(signals_added == 1);
+  REQUIRE(masks_updated == 1);
+  REQUIRE(manager.msg({.source = 0, .address = 160})->sig("speed") != nullptr);
+}
+
+TEST_CASE("Cabana settings core defaults") {
+  CabanaSettingsState state;
+  REQUIRE(state.fps == 10);
+  REQUIRE(state.chart_range == 180);
+  REQUIRE(state.drag_direction == CabanaSettingsState::MsbFirst);
+  REQUIRE(state.recent_files.empty());
+}
+
+#ifdef QT_CORE_LIB
+TEST_CASE("CabanaColor preserves QColor transformations") {
+  const std::vector<QColor> colors = {
+    QColor(102, 86, 169, 64), QColor(0, 187, 255, 128), QColor(255, 0, 0, 128), QColor(45, 120, 75, 255),
+  };
+  for (const auto &qt_color : colors) {
+    CabanaColor color(qt_color.red(), qt_color.green(), qt_color.blue(), qt_color.alpha());
+    for (int factor : {75, 100, 135, 150, 200}) {
+      const auto lighter = color.lighter(factor);
+      const auto qt_lighter = qt_color.lighter(factor);
+      CHECK(std::abs(lighter.red() - qt_lighter.red()) <= 1);
+      CHECK(std::abs(lighter.green() - qt_lighter.green()) <= 1);
+      CHECK(std::abs(lighter.blue() - qt_lighter.blue()) <= 1);
+
+      const auto darker = color.darker(factor);
+      const auto qt_darker = qt_color.darker(factor);
+      CHECK(std::abs(darker.red() - qt_darker.red()) <= 1);
+      CHECK(std::abs(darker.green() - qt_darker.green()) <= 1);
+      CHECK(std::abs(darker.blue() - qt_darker.blue()) <= 1);
+    }
+  }
+}
+#endif
diff --git a/openpilot/tools/cabana/tests/test_runner.cc b/openpilot/tools/cabana/tests/test_runner.cc
index b20ac86c64847b..a76c8e16b92fdb 100644
--- a/openpilot/tools/cabana/tests/test_runner.cc
+++ b/openpilot/tools/cabana/tests/test_runner.cc
@@ -1,10 +1,7 @@
 #define CATCH_CONFIG_RUNNER
 #include "catch2/catch.hpp"
-#include <QCoreApplication>
 
 int main(int argc, char **argv) {
-  // unit tests for Qt
-  QCoreApplication app(argc, argv);
   const int res = Catch::Session().run(argc, argv);
   return (res < 0xff ? res : 0xff);
 }
diff --git a/openpilot/tools/cabana/utils/export.cc b/openpilot/tools/cabana/utils/export.cc
index a7f910193f2e6c..d585827ef5712b 100644
--- a/openpilot/tools/cabana/utils/export.cc
+++ b/openpilot/tools/cabana/utils/export.cc
@@ -1,41 +1,41 @@
 #include "tools/cabana/utils/export.h"
 
-#include <QFile>
-#include <QTextStream>
+#include <fstream>
+#include <iomanip>
 
 #include "tools/cabana/streams/abstractstream.h"
 
 namespace utils {
 
-void exportToCSV(const QString &file_name, std::optional<MessageId> msg_id) {
-  QFile file(file_name);
-  if (file.open(QIODevice::ReadWrite | QIODevice::Truncate)) {
-    QTextStream stream(&file);
+void exportToCSV(const std::string &file_name, std::optional<MessageId> msg_id) {
+  std::ofstream stream(file_name, std::ios::trunc);
+  if (stream) {
     stream << "time,addr,bus,data\n";
     for (auto e : msg_id ? can->events(*msg_id) : can->allEvents()) {
-      stream << QString::number(can->toSeconds(e->mono_time), 'f', 3) << ","
-             << "0x" << QString::number(e->address, 16) << "," << e->src << ","
-             << "0x" << QByteArray::fromRawData((const char *)e->dat, e->size).toHex().toUpper() << "\n";
+      stream << std::fixed << std::setprecision(3) << can->toSeconds(e->mono_time) << ","
+             << "0x" << std::hex << e->address << std::dec << "," << static_cast<int>(e->src) << ",0x"
+             << std::uppercase << std::hex << std::setfill('0');
+      for (int i = 0; i < e->size; ++i) stream << std::setw(2) << static_cast<int>(e->dat[i]);
+      stream << std::nouppercase << std::dec << "\n";
     }
   }
 }
 
-void exportSignalsToCSV(const QString &file_name, const MessageId &msg_id) {
-  QFile file(file_name);
-  if (auto msg = dbc()->msg(msg_id); msg && msg->sigs.size() && file.open(QIODevice::ReadWrite | QIODevice::Truncate)) {
-    QTextStream stream(&file);
+void exportSignalsToCSV(const std::string &file_name, const MessageId &msg_id) {
+  std::ofstream stream(file_name, std::ios::trunc);
+  if (auto msg = dbc()->msg(msg_id); msg && !msg->sigs.empty() && stream) {
     stream << "time,addr,bus";
     for (auto s : msg->sigs)
       stream << "," << s->name.c_str();
     stream << "\n";
 
     for (auto e : can->events(msg_id)) {
-      stream << QString::number(can->toSeconds(e->mono_time), 'f', 3) << ","
-             << "0x" << QString::number(e->address, 16) << "," << e->src;
+      stream << std::fixed << std::setprecision(3) << can->toSeconds(e->mono_time) << ","
+             << "0x" << std::hex << e->address << std::dec << "," << static_cast<int>(e->src);
       for (auto s : msg->sigs) {
         double value = 0;
         s->getValue(e->dat, e->size, &value);
-        stream << "," << QString::number(value, 'f', s->precision);
+        stream << "," << std::fixed << std::setprecision(s->precision) << value;
       }
       stream << "\n";
     }
diff --git a/openpilot/tools/cabana/utils/export.h b/openpilot/tools/cabana/utils/export.h
index 270906b163a71b..ee110e832134af 100644
--- a/openpilot/tools/cabana/utils/export.h
+++ b/openpilot/tools/cabana/utils/export.h
@@ -1,10 +1,11 @@
 #pragma once
 
 #include <optional>
+#include <string>
 
 #include "tools/cabana/dbc/dbcmanager.h"
 
 namespace utils {
-void exportToCSV(const QString &file_name, std::optional<MessageId> msg_id = std::nullopt);
-void exportSignalsToCSV(const QString &file_name, const MessageId &msg_id);
+void exportToCSV(const std::string &file_name, std::optional<MessageId> msg_id = std::nullopt);
+void exportSignalsToCSV(const std::string &file_name, const MessageId &msg_id);
 }  // namespace utils
diff --git a/openpilot/tools/cabana/utils/util.cc b/openpilot/tools/cabana/utils/util.cc
index 50ab7644235d1b..415f6f17843d52 100644
--- a/openpilot/tools/cabana/utils/util.cc
+++ b/openpilot/tools/cabana/utils/util.cc
@@ -100,7 +100,7 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &
 
   // Paint hex column
   const auto &bytes = *static_cast<std::vector<uint8_t> *>(data.value<void *>());
-  const auto &colors = *static_cast<std::vector<QColor> *>(index.data(ColorsRole).value<void *>());
+  const auto &colors = *static_cast<std::vector<CabanaColor> *>(index.data(ColorsRole).value<void *>());
 
   painter->setFont(fixed_font);
   const QPen text_pen(option.state & QStyle::State_Selected ? highlighted_color : text_color);
@@ -115,7 +115,7 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &
         painter->setPen(option.palette.color(QPalette::Text));
         painter->fillRect(r, option.palette.color(QPalette::Window));
       }
-      painter->fillRect(r, colors[i]);
+      painter->fillRect(r, toQColor(colors[i]));
     } else {
       painter->setPen(text_pen);
     }
diff --git a/openpilot/tools/cabana/utils/util.h b/openpilot/tools/cabana/utils/util.h
index f839ffe7fe576f..f4d8342b6321d1 100644
--- a/openpilot/tools/cabana/utils/util.h
+++ b/openpilot/tools/cabana/utils/util.h
@@ -7,6 +7,7 @@
 
 #include <QApplication>
 #include <QByteArray>
+#include <QColor>
 #include <QDoubleValidator>
 #include <QFont>
 #include <QFontMetrics>
@@ -21,6 +22,10 @@
 #include "tools/cabana/dbc/dbc.h"
 #include "tools/cabana/settings.h"
 
+inline QColor toQColor(const CabanaColor &color) {
+  return QColor(color.r, color.g, color.b, color.a);
+}
+
 class LogSlider : public QSlider {
   Q_OBJECT
 
diff --git a/openpilot/tools/cabana/videowidget.cc b/openpilot/tools/cabana/videowidget.cc
index 87d3cbec956556..5b680ad454c4b1 100644
--- a/openpilot/tools/cabana/videowidget.cc
+++ b/openpilot/tools/cabana/videowidget.cc
@@ -203,7 +203,7 @@ void VideoWidget::timeRangeChanged() {
 
 QString VideoWidget::formatTime(double sec, bool include_milliseconds) {
   if (settings.absolute_time)
-    sec = can->beginDateTime().addMSecs(sec * 1000).toMSecsSinceEpoch() / 1000.0;
+    sec += std::chrono::duration<double>(can->beginDateTime().time_since_epoch()).count();
   return utils::formatSeconds(sec, include_milliseconds, settings.absolute_time);
 }
 

From 5d23a78c77c461226206c3a0ac624bab73637cbb Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 16 Jul 2026 14:35:45 -0700
Subject: [PATCH 1317/1434] cabana: de-Qt, part 2 (#38359)

---
 openpilot/tools/cabana/binaryview.cc          |   6 +-
 openpilot/tools/cabana/cabana.cc              | 180 +++++++++++++----
 openpilot/tools/cabana/cameraview.cc          |   5 +-
 openpilot/tools/cabana/chart/chart.cc         |  65 +------
 openpilot/tools/cabana/chart/chart.h          |   1 -
 openpilot/tools/cabana/chart/chartswidget.cc  |   1 -
 .../tools/cabana/chart/signalselector.cc      |   3 -
 openpilot/tools/cabana/deqt.md                |  70 +++++++
 openpilot/tools/cabana/mainwin.cc             |  28 ++-
 openpilot/tools/cabana/mainwin.h              |   5 +-
 openpilot/tools/cabana/signalview.cc          |  16 +-
 .../tools/cabana/streams/devicestream.cc      |  87 +++++++--
 openpilot/tools/cabana/streams/devicestream.h |   5 +-
 openpilot/tools/cabana/streams/pandastream.cc |  13 +-
 openpilot/tools/cabana/streams/routes.cc      |  99 +++++++---
 .../tools/cabana/streams/socketcanstream.cc   |  11 +-
 openpilot/tools/cabana/utils/util.cc          | 184 +++++++++++++++---
 openpilot/tools/cabana/utils/util.h           |  51 +++--
 openpilot/tools/cabana/videowidget.cc         |  10 +-
 openpilot/tools/cabana/videowidget.h          |   3 -
 20 files changed, 607 insertions(+), 236 deletions(-)
 create mode 100644 openpilot/tools/cabana/deqt.md

diff --git a/openpilot/tools/cabana/binaryview.cc b/openpilot/tools/cabana/binaryview.cc
index 1c7c7b938e6cce..f396d1c13f5722 100644
--- a/openpilot/tools/cabana/binaryview.cc
+++ b/openpilot/tools/cabana/binaryview.cc
@@ -3,7 +3,8 @@
 
 #include <algorithm>
 
-#include <QDebug>
+#include <cstdio>
+
 #include <QFontDatabase>
 #include <QHeaderView>
 #include <QMouseEvent>
@@ -260,7 +261,8 @@ void BinaryViewModel::refresh() {
         int pos = sig->is_little_endian ? flipBitPos(sig->start_bit + j) : flipBitPos(sig->start_bit) + j;
         int idx = column_count * (pos / 8) + pos % 8;
         if (idx >= items.size()) {
-          qWarning() << "signal " << sig->name.c_str() << "out of bounds.start_bit:" << sig->start_bit << "size:" << sig->size;
+          fprintf(stderr, "signal %s out of bounds.start_bit: %d size: %d\n",
+                  sig->name.c_str(), sig->start_bit, sig->size);
           break;
         }
         if (j == 0) sig->is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true;
diff --git a/openpilot/tools/cabana/cabana.cc b/openpilot/tools/cabana/cabana.cc
index db26b4067ac6eb..56b43361f8b0b4 100644
--- a/openpilot/tools/cabana/cabana.cc
+++ b/openpilot/tools/cabana/cabana.cc
@@ -1,5 +1,9 @@
+#include <cstdio>
+#include <cstring>
+#include <memory>
+#include <string>
+
 #include <QApplication>
-#include <QCommandLineParser>
 
 #include "tools/cabana/mainwin.h"
 #include "tools/cabana/streams/devicestream.h"
@@ -9,6 +13,120 @@
 #include "tools/cabana/streams/socketcanstream.h"
 #endif
 
+namespace {
+
+struct CabanaArgs {
+  bool demo = false;
+  bool auto_source = false;
+  bool qcam = false;
+  bool ecam = false;
+  bool dcam = false;
+  bool msgq = false;
+  bool panda = false;
+  bool no_vipc = false;
+  std::string panda_serial;
+  std::string socketcan;
+  std::string zmq;
+  std::string data_dir;
+  std::string dbc;
+  std::string route;
+};
+
+void printUsage(const char *argv0) {
+  fprintf(stderr,
+          "Usage: %s [options] [route]\n"
+          "\n"
+          "  route                     the drive to replay. find your drives at connect.comma.ai\n"
+          "\n"
+          "Options:\n"
+          "  --help                    show this help\n"
+          "  --demo                    use a demo route instead of providing your own\n"
+          "  --auto                    Auto load the route from the best available source (no video):\n"
+          "                            internal, openpilotci, comma_api, car_segments, testing_closet\n"
+          "  --qcam                    load qcamera\n"
+          "  --ecam                    load wide road camera\n"
+          "  --dcam                    load driver camera\n"
+          "  --msgq                    read can messages from the msgq\n"
+          "  --panda                   read can messages from panda\n"
+          "  --panda-serial <serial>   read can messages from panda with given serial\n"
+#ifdef __linux__
+          "  --socketcan <device>      read can messages from given SocketCAN device\n"
+#endif
+          "  --zmq <ip-address>        read can messages from zmq at the specified ip-address\n"
+          "  --data_dir <dir>          local directory with routes\n"
+          "  --no-vipc                 do not output video\n"
+          "  --dbc <file>              dbc file to open\n",
+          argv0);
+}
+
+// Returns true if value was consumed from argv[i+1].
+bool takeValue(int argc, char *argv[], int &i, std::string &out) {
+  if (i + 1 >= argc) {
+    fprintf(stderr, "error: %s requires a value\n", argv[i]);
+    return false;
+  }
+  out = argv[++i];
+  return true;
+}
+
+// Returns 0 to continue, or a process exit code (0 for --help, 1 for errors).
+int parseArgs(int argc, char *argv[], CabanaArgs &args, bool &ok) {
+  ok = false;
+  for (int i = 1; i < argc; ++i) {
+    const char *a = argv[i];
+    if (std::strcmp(a, "--help") == 0 || std::strcmp(a, "-h") == 0) {
+      printUsage(argv[0]);
+      return 0;
+    } else if (std::strcmp(a, "--demo") == 0) {
+      args.demo = true;
+    } else if (std::strcmp(a, "--auto") == 0) {
+      args.auto_source = true;
+    } else if (std::strcmp(a, "--qcam") == 0) {
+      args.qcam = true;
+    } else if (std::strcmp(a, "--ecam") == 0) {
+      args.ecam = true;
+    } else if (std::strcmp(a, "--dcam") == 0) {
+      args.dcam = true;
+    } else if (std::strcmp(a, "--msgq") == 0) {
+      args.msgq = true;
+    } else if (std::strcmp(a, "--panda") == 0) {
+      args.panda = true;
+    } else if (std::strcmp(a, "--panda-serial") == 0) {
+      if (!takeValue(argc, argv, i, args.panda_serial)) return 1;
+      args.panda = true;
+    } else if (std::strcmp(a, "--socketcan") == 0) {
+      if (!takeValue(argc, argv, i, args.socketcan)) return 1;
+#ifdef __linux__
+#else
+      fprintf(stderr, "error: --socketcan is only supported on Linux\n");
+      return 1;
+#endif
+    } else if (std::strcmp(a, "--zmq") == 0) {
+      if (!takeValue(argc, argv, i, args.zmq)) return 1;
+    } else if (std::strcmp(a, "--data_dir") == 0) {
+      if (!takeValue(argc, argv, i, args.data_dir)) return 1;
+    } else if (std::strcmp(a, "--no-vipc") == 0) {
+      args.no_vipc = true;
+    } else if (std::strcmp(a, "--dbc") == 0) {
+      if (!takeValue(argc, argv, i, args.dbc)) return 1;
+    } else if (a[0] == '-') {
+      fprintf(stderr, "error: unknown option %s\n", a);
+      printUsage(argv[0]);
+      return 1;
+    } else if (args.route.empty()) {
+      args.route = a;
+    } else {
+      fprintf(stderr, "error: unexpected argument %s\n", a);
+      printUsage(argv[0]);
+      return 1;
+    }
+  }
+  ok = true;
+  return 0;
+}
+
+}  // namespace
+
 int main(int argc, char *argv[]) {
   QCoreApplication::setApplicationName("Cabana");
   QCoreApplication::setAttribute(Qt::AA_ShareOpenGLContexts);
@@ -20,69 +138,51 @@ int main(int argc, char *argv[]) {
   UnixSignalHandler signalHandler;
   utils::setTheme(settings.theme);
 
-  QCommandLineParser cmd_parser;
-  cmd_parser.addHelpOption();
-  cmd_parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai");
-  cmd_parser.addOption({"demo", "use a demo route instead of providing your own"});
-  cmd_parser.addOption({"auto", "Auto load the route from the best available source (no video): internal, openpilotci, comma_api, car_segments, testing_closet"});
-  cmd_parser.addOption({"qcam", "load qcamera"});
-  cmd_parser.addOption({"ecam", "load wide road camera"});
-  cmd_parser.addOption({"dcam", "load driver camera"});
-  cmd_parser.addOption({"msgq", "read can messages from the msgq"});
-  cmd_parser.addOption({"panda", "read can messages from panda"});
-  cmd_parser.addOption({"panda-serial", "read can messages from panda with given serial", "panda-serial"});
-#ifdef __linux__
-  if (SocketCanStream::available()) {
-    cmd_parser.addOption({"socketcan", "read can messages from given SocketCAN device", "socketcan"});
+  CabanaArgs args;
+  bool args_ok = false;
+  if (const int code = parseArgs(argc, argv, args, args_ok); !args_ok) {
+    return code;
   }
-#endif
-  cmd_parser.addOption({"zmq", "read can messages from zmq at the specified ip-address", "ip-address"});
-  cmd_parser.addOption({"data_dir", "local directory with routes", "data_dir"});
-  cmd_parser.addOption({"no-vipc", "do not output video"});
-  cmd_parser.addOption({"dbc", "dbc file to open", "dbc"});
-  cmd_parser.process(app);
 
   AbstractStream *stream = nullptr;
 
-  if (cmd_parser.isSet("msgq")) {
+  if (args.msgq) {
     stream = new DeviceStream(&app);
-  } else if (cmd_parser.isSet("zmq")) {
-    stream = new DeviceStream(&app, cmd_parser.value("zmq"));
-  } else if (cmd_parser.isSet("panda") || cmd_parser.isSet("panda-serial")) {
+  } else if (!args.zmq.empty()) {
+    stream = new DeviceStream(&app, QString::fromStdString(args.zmq));
+  } else if (args.panda || !args.panda_serial.empty()) {
     try {
-      stream = new PandaStream(&app, {.serial = cmd_parser.value("panda-serial").toStdString()});
+      stream = new PandaStream(&app, {.serial = args.panda_serial});
     } catch (std::exception &e) {
-      qWarning() << e.what();
+      fprintf(stderr, "%s\n", e.what());
       return 0;
     }
 #ifdef __linux__
-  } else if (SocketCanStream::available() && cmd_parser.isSet("socketcan")) {
-    stream = new SocketCanStream(&app, {.device = cmd_parser.value("socketcan").toStdString()});
+  } else if (SocketCanStream::available() && !args.socketcan.empty()) {
+    stream = new SocketCanStream(&app, {.device = args.socketcan});
 #endif
   } else {
     uint32_t replay_flags = REPLAY_FLAG_NONE;
-    if (cmd_parser.isSet("ecam")) replay_flags |= REPLAY_FLAG_ECAM;
-    if (cmd_parser.isSet("qcam")) replay_flags |= REPLAY_FLAG_QCAMERA;
-    if (cmd_parser.isSet("dcam")) replay_flags |= REPLAY_FLAG_DCAM;
-    if (cmd_parser.isSet("no-vipc")) replay_flags |= REPLAY_FLAG_NO_VIPC;
+    if (args.ecam) replay_flags |= REPLAY_FLAG_ECAM;
+    if (args.qcam) replay_flags |= REPLAY_FLAG_QCAMERA;
+    if (args.dcam) replay_flags |= REPLAY_FLAG_DCAM;
+    if (args.no_vipc) replay_flags |= REPLAY_FLAG_NO_VIPC;
 
-    const QStringList args = cmd_parser.positionalArguments();
     QString route;
-    if (args.size() > 0) {
-      route = args.first();
-    } else if (cmd_parser.isSet("demo")) {
+    if (!args.route.empty()) {
+      route = QString::fromStdString(args.route);
+    } else if (args.demo) {
       route = DEMO_ROUTE;
     }
     if (!route.isEmpty()) {
       auto replay_stream = std::make_unique<ReplayStream>(&app);
-      bool auto_source = cmd_parser.isSet("auto");
-      if (!replay_stream->loadRoute(route.toStdString(), cmd_parser.value("data_dir").toStdString(), replay_flags, auto_source)) {
+      if (!replay_stream->loadRoute(route.toStdString(), args.data_dir, replay_flags, args.auto_source)) {
         return 0;
       }
       stream = replay_stream.release();
     }
   }
 
-  MainWindow w(stream, cmd_parser.value("dbc"));
+  MainWindow w(stream, QString::fromStdString(args.dbc));
   return app.exec();
 }
diff --git a/openpilot/tools/cabana/cameraview.cc b/openpilot/tools/cabana/cameraview.cc
index 13c838efd8e1e8..997bd19198556a 100644
--- a/openpilot/tools/cabana/cameraview.cc
+++ b/openpilot/tools/cabana/cameraview.cc
@@ -6,6 +6,8 @@
 #include <GLES3/gl3.h>
 #endif
 
+#include <cstdio>
+
 #include <QApplication>
 
 namespace {
@@ -221,7 +223,8 @@ void CameraWidget::vipcThread() {
   while (!QThread::currentThread()->isInterruptionRequested()) {
     if (!vipc_client || cur_stream != requested_stream_type) {
       clearFrames();
-      qDebug().nospace() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream;
+      fprintf(stderr, "connecting to stream %d, was connected to %d\n",
+              (int)requested_stream_type, (int)cur_stream);
       cur_stream = requested_stream_type;
       vipc_client.reset(new VisionIpcClient(stream_name, cur_stream, false));
     }
diff --git a/openpilot/tools/cabana/chart/chart.cc b/openpilot/tools/cabana/chart/chart.cc
index b5ddcf0479c5a6..0ce5d051b32b59 100644
--- a/openpilot/tools/cabana/chart/chart.cc
+++ b/openpilot/tools/cabana/chart/chart.cc
@@ -3,18 +3,15 @@
 
 #include <algorithm>
 #include <limits>
+#include <random>
 
 #include <QActionGroup>
 #include <QApplication>
 #include <QDrag>
 #include <QGraphicsLayout>
-#include <QGraphicsDropShadowEffect>
 #include <QGraphicsItemGroup>
-#include <QGraphicsOpacityEffect>
 #include <QMimeData>
 #include <QOpenGLWidget>
-#include <QPropertyAnimation>
-#include <QRandomGenerator>
 #include <QRubberBand>
 #include <QScreen>
 #include <QWindow>
@@ -421,45 +418,6 @@ qreal ChartView::niceNumber(qreal x, bool ceiling) {
   return q * z;
 }
 
-QPixmap getBlankShadowPixmap(const QPixmap &px, int radius) {
-  QGraphicsDropShadowEffect *e = new QGraphicsDropShadowEffect;
-  e->setColor(QColor(40, 40, 40, 245));
-  e->setOffset(0, 0);
-  e->setBlurRadius(radius);
-
-  qreal dpr = px.devicePixelRatio();
-  QPixmap blank(px.size());
-  blank.setDevicePixelRatio(dpr);
-  blank.fill(Qt::white);
-
-  QGraphicsScene scene;
-  QGraphicsPixmapItem item(blank);
-  item.setGraphicsEffect(e);
-  scene.addItem(&item);
-
-  QPixmap shadow(px.size() + QSize(radius * dpr * 2, radius * dpr * 2));
-  shadow.setDevicePixelRatio(dpr);
-  shadow.fill(Qt::transparent);
-  QPainter p(&shadow);
-  scene.render(&p, {QPoint(), shadow.size() / dpr}, item.boundingRect().adjusted(-radius, -radius, radius, radius));
-  return shadow;
-}
-
-static QPixmap getDropPixmap(const QPixmap &src) {
-  static QPixmap shadow_px;
-  const int radius = 10;
-  if (shadow_px.size() != src.size() + QSize(radius * 2, radius * 2)) {
-    shadow_px = getBlankShadowPixmap(src, radius);
-  }
-  QPixmap px = shadow_px;
-  QPainter p(&px);
-  QRectF target_rect(QPointF(radius, radius), src.size() / src.devicePixelRatio());
-  p.drawPixmap(target_rect.topLeft(), src);
-  p.setCompositionMode(QPainter::CompositionMode_DestinationIn);
-  p.fillRect(target_rect, QColor(0, 0, 0, 200));
-  return px;
-}
-
 void ChartView::contextMenuEvent(QContextMenuEvent *event) {
   QMenu context_menu(this);
   context_menu.addActions(menu->actions());
@@ -479,7 +437,7 @@ void ChartView::mousePressEvent(QMouseEvent *event) {
     charts_widget->stopAutoScroll();
     QDrag *drag = new QDrag(this);
     drag->setMimeData(mimeData);
-    drag->setPixmap(getDropPixmap(px));
+    drag->setPixmap(px);
     drag->setHotSpot(-QPoint(5, 5));
     drag->exec(Qt::CopyAction | Qt::MoveAction, Qt::MoveAction);
   } else if (event->button() == Qt::LeftButton && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) {
@@ -628,7 +586,6 @@ void ChartView::dropEvent(QDropEvent *event) {
       sigs.insert(sigs.end(), std::move_iterator(source_chart->sigs.begin()), std::move_iterator(source_chart->sigs.end()));
       updateAxisY();
       updateTitle();
-      startAnimation();
 
       source_chart->sigs.clear();
       charts_widget->removeChart(source_chart);
@@ -643,17 +600,6 @@ void ChartView::resetChartCache() {
   viewport()->update();
 }
 
-void ChartView::startAnimation() {
-  QGraphicsOpacityEffect *eff = new QGraphicsOpacityEffect(this);
-  viewport()->setGraphicsEffect(eff);
-  QPropertyAnimation *a = new QPropertyAnimation(eff, "opacity");
-  a->setDuration(250);
-  a->setStartValue(0.3);
-  a->setEndValue(1);
-  a->setEasingCurve(QEasingCurve::InBack);
-  a->start(QPropertyAnimation::DeleteWhenStopped);
-}
-
 void ChartView::paintEvent(QPaintEvent *event) {
   if (!can->liveStreaming()) {
     if (chart_pixmap.isNull()) {
@@ -822,9 +768,12 @@ void ChartView::setSeriesColor(QXYSeries *series, QColor color) {
     if (s != series && std::abs(color.hueF() - qobject_cast<QXYSeries *>(s)->color().hueF()) < 0.1) {
       // use different color to distinguish it from others.
       auto last_color = qobject_cast<QXYSeries *>(existing_series.back())->color();
+      static thread_local std::mt19937 rng{std::random_device{}()};
+      std::uniform_int_distribution<int> sat(35, 99);
+      std::uniform_int_distribution<int> val(85, 99);
       color.setHsvF(std::fmod(last_color.hueF() + 60 / 360.0, 1.0),
-                    QRandomGenerator::global()->bounded(35, 100) / 100.0,
-                    QRandomGenerator::global()->bounded(85, 100) / 100.0);
+                    sat(rng) / 100.0,
+                    val(rng) / 100.0);
       break;
     }
   }
diff --git a/openpilot/tools/cabana/chart/chart.h b/openpilot/tools/cabana/chart/chart.h
index f9472bd4f6a5d2..ae050269bff69c 100644
--- a/openpilot/tools/cabana/chart/chart.h
+++ b/openpilot/tools/cabana/chart/chart.h
@@ -38,7 +38,6 @@ class ChartView : public QChartView {
   void updatePlotArea(int left, bool force = false);
   void showTip(double sec);
   void hideTip();
-  void startAnimation();
   double secondsAtPoint(const QPointF &pt) const { return chart()->mapToValue(pt).x(); }
 
   struct SigItem {
diff --git a/openpilot/tools/cabana/chart/chartswidget.cc b/openpilot/tools/cabana/chart/chartswidget.cc
index e5c70bc536d6d2..93d85709963051 100644
--- a/openpilot/tools/cabana/chart/chartswidget.cc
+++ b/openpilot/tools/cabana/chart/chartswidget.cc
@@ -570,7 +570,6 @@ void ChartsContainer::dropEvent(QDropEvent *event) {
       charts_widget->updateLayout(true);
       charts_widget->updateTabBar();
       event->acceptProposedAction();
-      chart->startAnimation();
     }
     drawDropIndicator({});
   }
diff --git a/openpilot/tools/cabana/chart/signalselector.cc b/openpilot/tools/cabana/chart/signalselector.cc
index 12a9c81564439b..85832e796b1bb8 100644
--- a/openpilot/tools/cabana/chart/signalselector.cc
+++ b/openpilot/tools/cabana/chart/signalselector.cc
@@ -1,7 +1,6 @@
 #include "tools/cabana/chart/signalselector.h"
 #include "tools/cabana/dbc/dbcqt.h"
 
-#include <QCompleter>
 #include <QDialogButtonBox>
 #include <QGridLayout>
 #include <QLabel>
@@ -21,8 +20,6 @@ SignalSelector::SignalSelector(QString title, QWidget *parent) : QDialog(parent)
   msgs_combo->setEditable(true);
   msgs_combo->lineEdit()->setPlaceholderText(tr("Select a msg..."));
   msgs_combo->setInsertPolicy(QComboBox::NoInsert);
-  msgs_combo->completer()->setCompletionMode(QCompleter::PopupCompletion);
-  msgs_combo->completer()->setFilterMode(Qt::MatchContains);
 
   main_layout->addWidget(available_list = new QListWidget(this), 2, 0);
 
diff --git a/openpilot/tools/cabana/deqt.md b/openpilot/tools/cabana/deqt.md
new file mode 100644
index 00000000000000..6d2aed8264efc9
--- /dev/null
+++ b/openpilot/tools/cabana/deqt.md
@@ -0,0 +1,70 @@
+we're migrating cabana away from Qt and to eventually entirely use imgui
+
+we are doing it incrementally, in small pieces that are easy to execute and verify.
+we will repeat this until we're all done.
+
+# Cabana Qt API inventory
+
+these are all still in cabana. we remove them from this list once they're gone.
+each bullet is an atomic unit of work.
+
+our workflow is:
+- pick the easiest of the bulleted items from below
+- implement it and make] sure it builds
+- spin up reviewer agents to review the code in a clean context and a separate one to click around in xvfb as a gui test
+- then implement the fixes from the above reviewer agents
+
+some rules
+- do not add more Qt usage ever
+
+- `QObject`, `QMetaObject`, `QMetaType`
+- `QApplication`, `QCoreApplication`, `QGuiApplication`
+- `QString`, `QStringList`, `QStringBuilder`, `QChar`, `QLatin1Char`
+- `QByteArray`
+- `QVariant`
+- `QVector`, `QMap`, `QSet`, `QPointer`
+- `QSettings`
+- `QFile`, `QFileInfo`, `QDir`, `QIODevice`, `QStandardPaths`
+- `QThread`
+- `QTimer`, `QBasicTimer`, `QTimerEvent`
+- `QWidget`, `QMainWindow`, `QWindow`
+- `QDialog`, `QDialogButtonBox`, `QMessageBox`, `QProgressDialog`
+- `QFileDialog`
+- `QMenu`, `QMenuBar`, `QAction`, `QActionGroup`, `QWidgetAction`
+- `QToolBar`, `QToolButton`, `QPushButton`
+- `QCheckBox`, `QRadioButton`, `QButtonGroup`, `QAbstractButton`
+- `QComboBox`, `QLineEdit`, `QTextEdit`, `QSpinBox`, `QSlider`
+- `QLabel`, `QGroupBox`, `QFrame`
+- `QTabBar`, `QTabWidget`, `QSplitter`, `QScrollArea`, `QScrollBar`
+- `QDockWidget`, `QStatusBar`, `QProgressBar`, `QRubberBand`
+- `QFormLayout`, `QGridLayout`, `QHBoxLayout`, `QVBoxLayout`
+- `QSizePolicy`
+- `QAbstractItemModel`, `QAbstractTableModel`, `QModelIndex`
+- `QAbstractItemView`, `QTableView`, `QTreeView`
+- `QTableWidget`, `QTableWidgetItem`, `QListWidget`, `QListWidgetItem`
+- `QItemSelection`, `QItemSelectionModel`, `QItemSelectionRange`
+- `QHeaderView`, `QStyledItemDelegate`, `QStyleOptionViewItem`
+- `QValidator`, `QIntValidator`, `QDoubleValidator`
+- `QColor`, `QRgb`, `QPalette`
+- `QBrush`, `QPen`
+- `QPainter`, `QPainterPath`, `QStylePainter`
+- `QPixmap`, `QPixmapCache`, `QIcon`, `QStaticText`
+- `QFont`, `QFontDatabase`, `QFontMetrics`, `QTextDocument`
+- `QStyle`, `QStyleOption`, `QStyleOptionFrame`, `QStyleOptionSlider`
+- `QPoint`, `QPointF`, `QRect`, `QRectF`, `QRegion`
+- `QSize`, `QSizeF`
+- `QCursor`, `QClipboard`, `QScreen`, `QDesktopWidget`
+- `QEvent`, `QPaintEvent`, `QResizeEvent`, `QShowEvent`, `QCloseEvent`
+- `QMouseEvent`, `QWheelEvent`, `QNativeGestureEvent`, `QContextMenuEvent`
+- `QDrag`, `QMimeData`
+- `QDragEnterEvent`, `QDragLeaveEvent`, `QDragMoveEvent`, `QDropEvent`
+- `QKeySequence`, `QShortcut`, `QToolTip`
+- `QChart`, `QChartView`, `QAbstractAxis`, `QValueAxis`
+- `QXYSeries`, `QLineSeries`, `QScatterSeries`
+- `QLegend`, `QLegendMarker`
+- `QGraphicsScene`, `QGraphicsView`, `QGraphicsItemGroup`, `QGraphicsLayout`
+- `QGraphicsPixmapItem`, `QGraphicsProxyWidget`
+- `QOpenGLWidget`, `QOpenGLFunctions`
+- `QOpenGLShader`, `QOpenGLShaderProgram`
+- `QMatrix4x4`, `QSurfaceFormat`
+- `QUndoCommand`, `QUndoStack`, `QUndoView`
diff --git a/openpilot/tools/cabana/mainwin.cc b/openpilot/tools/cabana/mainwin.cc
index 8d932163a654e3..6372ea92951b8a 100644
--- a/openpilot/tools/cabana/mainwin.cc
+++ b/openpilot/tools/cabana/mainwin.cc
@@ -10,7 +10,6 @@
 #include <QFile>
 #include <QFileDialog>
 #include <QFileInfo>
-#include <QJsonObject>
 #include <QMenuBar>
 #include <QMessageBox>
 #include <QProgressDialog>
@@ -21,6 +20,7 @@
 #include <QVBoxLayout>
 #include <QWidgetAction>
 
+#include "json11/json11.hpp"
 #include "tools/cabana/commands.h"
 #include "tools/cabana/streamselector.h"
 #include "tools/cabana/tools/findsignal.h"
@@ -53,11 +53,9 @@ MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainW
   installDownloadProgressHandler([](uint64_t cur, uint64_t total, bool success) {
     emit static_main_win->updateProgressBar(cur, total, success);
   });
-  qInstallMessageHandler([](QtMsgType type, const QMessageLogContext &context, const QString &msg) {
-    if (type == QtDebugMsg) return;
-    emit static_main_win->showMessage(msg, 2000);
+  installMessageHandler([](ReplyMsgType type, const std::string msg) {
+    emit static_main_win->showMessage(QString::fromStdString(msg), 2000);
   });
-  installMessageHandler([](ReplyMsgType type, const std::string msg) { qInfo() << msg.c_str(); });
 
   setStyleSheet(QString(R"(QMainWindow::separator {
     width: %1px; /* when vertical */
@@ -76,8 +74,15 @@ MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainW
 
 void MainWindow::loadFingerprints() {
   QFile json_file(QApplication::applicationDirPath() + "/dbc/car_fingerprint_to_dbc.json");
-  if (json_file.open(QIODevice::ReadOnly)) {
-    fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll());
+  if (!json_file.open(QIODevice::ReadOnly)) return;
+  std::string err;
+  auto doc = json11::Json::parse(json_file.readAll().toStdString(), err);
+  if (!err.empty() || !doc.is_object()) return;
+  fingerprint_to_dbc.clear();
+  for (const auto &kv : doc.object_items()) {
+    if (kv.second.is_string()) {
+      fingerprint_to_dbc.emplace(kv.first, kv.second.string_value());
+    }
   }
 }
 
@@ -374,8 +379,11 @@ void MainWindow::eventsMerged() {
                                     .arg(QString::fromStdString(can->routeName()))
                                     .arg(car_fingerprint.isEmpty() ? tr("Unknown Car") : car_fingerprint));
     // Don't overwrite already loaded DBC
-    if (!dbc()->nonEmptyDBCCount() && fingerprint_to_dbc.object().contains(car_fingerprint)) {
-      QTimer::singleShot(0, this, [this]() { loadDBCFromOpendbc(fingerprint_to_dbc[car_fingerprint].toString() + ".dbc"); });
+    auto it = fingerprint_to_dbc.find(car_fingerprint.toStdString());
+    if (!dbc()->nonEmptyDBCCount() && it != fingerprint_to_dbc.end()) {
+      QTimer::singleShot(0, this, [this, dbc_name = QString::fromStdString(it->second)]() {
+        loadDBCFromOpendbc(dbc_name + ".dbc");
+      });
     }
   }
 }
@@ -562,7 +570,7 @@ void MainWindow::closeEvent(QCloseEvent *event) {
   remindSaveChanges();
 
   installDownloadProgressHandler(nullptr);
-  qInstallMessageHandler(nullptr);
+  installMessageHandler(nullptr);
 
   if (floating_window)
     floating_window->deleteLater();
diff --git a/openpilot/tools/cabana/mainwin.h b/openpilot/tools/cabana/mainwin.h
index 92c2714ae70221..3526a58202eaad 100644
--- a/openpilot/tools/cabana/mainwin.h
+++ b/openpilot/tools/cabana/mainwin.h
@@ -1,13 +1,14 @@
 #pragma once
 
 #include <QDockWidget>
-#include <QJsonDocument>
 #include <QMainWindow>
 #include <QMenu>
 #include <QProgressBar>
 #include <QSplitter>
 #include <QStatusBar>
 #include <set>
+#include <string>
+#include <unordered_map>
 
 #include "tools/cabana/chart/chartswidget.h"
 #include "tools/cabana/dbc/dbcmanager.h"
@@ -85,7 +86,7 @@ public slots:
   QVBoxLayout *charts_layout;
   QProgressBar *progress_bar;
   QLabel *status_label;
-  QJsonDocument fingerprint_to_dbc;
+  std::unordered_map<std::string, std::string> fingerprint_to_dbc;
   QSplitter *video_splitter = nullptr;
   enum { MAX_RECENT_FILES = 15 };
   QMenu *open_recent_menu = nullptr;
diff --git a/openpilot/tools/cabana/signalview.cc b/openpilot/tools/cabana/signalview.cc
index 5048cc6aa8986c..87294b41f7a469 100644
--- a/openpilot/tools/cabana/signalview.cc
+++ b/openpilot/tools/cabana/signalview.cc
@@ -4,7 +4,6 @@
 #include <algorithm>
 #include <future>
 
-#include <QCompleter>
 #include <QDialogButtonBox>
 #include <QHBoxLayout>
 #include <QHeaderView>
@@ -16,6 +15,7 @@
 #include <QVBoxLayout>
 
 #include "tools/cabana/commands.h"
+#include "tools/cabana/utils/util.h"
 
 // SignalModel
 
@@ -252,7 +252,7 @@ void SignalModel::handleSignalRemoved(const cabana::Signal *sig) {
 
 SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(parent) {
   name_validator = new NameValidator(this);
-  node_validator = new QRegExpValidator(QRegExp("^\\w+(,\\w+)*$"), this);
+  node_validator = new NodeValidator(this);
   double_validator = new DoubleValidator(this);
 
   label_font.setPointSize(8);
@@ -376,15 +376,6 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
     else if (item->type == SignalModel::Item::Node) e->setValidator(node_validator);
     else e->setValidator(double_validator);
 
-    if (item->type == SignalModel::Item::Name) {
-      auto names = dbc()->signalNames();
-      QStringList qnames;
-      for (const auto &n : names) qnames.push_back(QString::fromStdString(n));
-      QCompleter *completer = new QCompleter(qnames, e);
-      completer->setCaseSensitivity(Qt::CaseInsensitive);
-      completer->setFilterMode(Qt::MatchContains);
-      e->setCompleter(completer);
-    }
     return e;
   } else if (item->type == SignalModel::Item::Size) {
     QSpinBox *spin = new QSpinBox(parent);
@@ -429,8 +420,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
   QHBoxLayout *hl = new QHBoxLayout(title_bar);
   hl->addWidget(signal_count_lb = new QLabel());
   filter_edit = new QLineEdit(this);
-  QRegularExpression re("\\S+");
-  filter_edit->setValidator(new QRegularExpressionValidator(re, this));
+  filter_edit->setValidator(new NonWhitespaceValidator(this));
   filter_edit->setClearButtonEnabled(true);
   filter_edit->setPlaceholderText(tr("Filter Signal"));
   hl->addWidget(filter_edit);
diff --git a/openpilot/tools/cabana/streams/devicestream.cc b/openpilot/tools/cabana/streams/devicestream.cc
index 96fae908ba415b..1ce0dbb71f206f 100644
--- a/openpilot/tools/cabana/streams/devicestream.cc
+++ b/openpilot/tools/cabana/streams/devicestream.cc
@@ -1,7 +1,13 @@
 #include "tools/cabana/streams/devicestream.h"
 
+#include <cerrno>
+#include <csignal>
+#include <cstring>
+#include <fcntl.h>
 #include <memory>
 #include <string>
+#include <unistd.h>
+#include <sys/wait.h>
 
 #include "openpilot/cereal/services.h"
 
@@ -10,36 +16,86 @@
 #include <QFormLayout>
 #include <QMessageBox>
 #include <QRadioButton>
-#include <QRegularExpression>
-#include <QRegularExpressionValidator>
 #include <QThread>
 
+#include "tools/cabana/utils/util.h"
+
 // DeviceStream
 
 DeviceStream::DeviceStream(QObject *parent, QString address) : zmq_address(address), LiveStream(parent) {
 }
 
 DeviceStream::~DeviceStream() {
-  if (!bridge_process)
-    return;
+  stopBridge();
+}
 
-  bridge_process->terminate();
-  if (!bridge_process->waitForFinished(3000)) {
-    bridge_process->kill();
-    bridge_process->waitForFinished();
+void DeviceStream::stopBridge() {
+  if (bridge_pid <= 0) return;
+
+  ::kill(bridge_pid, SIGTERM);
+  for (int i = 0; i < 30; ++i) {
+    int status = 0;
+    pid_t r = ::waitpid(bridge_pid, &status, WNOHANG);
+    if (r == bridge_pid || (r < 0 && errno == ECHILD)) {
+      bridge_pid = -1;
+      return;
+    }
+    usleep(100000);  // 100ms, up to ~3s
   }
+  ::kill(bridge_pid, SIGKILL);
+  ::waitpid(bridge_pid, nullptr, 0);
+  bridge_pid = -1;
 }
 
 void DeviceStream::start() {
   if (!zmq_address.isEmpty()) {
-    bridge_process = new QProcess(this);
-    QString bridge_path = QCoreApplication::applicationDirPath() + "/../../openpilot/cereal/messaging/bridge";
-    bridge_process->start(QFileInfo(bridge_path).absoluteFilePath(), QStringList { zmq_address, "/\"can/\"" });
+    stopBridge();
+    QString bridge_path = QFileInfo(QCoreApplication::applicationDirPath() +
+                                    "/../../openpilot/cereal/messaging/bridge").absoluteFilePath();
+    const std::string path = bridge_path.toStdString();
+    const std::string addr = zmq_address.toStdString();
+    const char *can_filter = "/\"can/\"";
+
+    // Self-pipe: write end is CLOEXEC so it closes on successful exec. If exec
+    // fails, the child writes errno and the parent aborts stream start.
+    int err_pipe[2] = {-1, -1};
+    if (::pipe(err_pipe) != 0) {
+      QMessageBox::warning(nullptr, tr("Error"),
+                           tr("Failed to start bridge: %1").arg(QString::fromLocal8Bit(strerror(errno))));
+      return;
+    }
 
-    if (!bridge_process->waitForStarted()) {
-      QMessageBox::warning(nullptr, tr("Error"), tr("Failed to start bridge: %1").arg(bridge_process->errorString()));
+    pid_t pid = ::fork();
+    if (pid == 0) {
+      ::close(err_pipe[0]);
+      ::fcntl(err_pipe[1], F_SETFD, FD_CLOEXEC);
+      execl(path.c_str(), path.c_str(), addr.c_str(), can_filter, static_cast<char *>(nullptr));
+      const int err = errno;
+      (void)!::write(err_pipe[1], &err, sizeof(err));
+      _exit(127);
+    }
+
+    ::close(err_pipe[1]);
+    if (pid < 0) {
+      ::close(err_pipe[0]);
+      QMessageBox::warning(nullptr, tr("Error"),
+                           tr("Failed to start bridge: %1").arg(QString::fromLocal8Bit(strerror(errno))));
+      return;
+    }
+
+    int exec_errno = 0;
+    const ssize_t n = ::read(err_pipe[0], &exec_errno, sizeof(exec_errno));
+    ::close(err_pipe[0]);
+    if (n == static_cast<ssize_t>(sizeof(exec_errno))) {
+      // Child failed to exec; reap and surface the error.
+      int status = 0;
+      ::waitpid(pid, &status, 0);
+      QMessageBox::warning(nullptr, tr("Error"),
+                           tr("Failed to start bridge: %1").arg(QString::fromLocal8Bit(strerror(exec_errno))));
       return;
     }
+
+    bridge_pid = pid;
   }
 
   LiveStream::start();
@@ -69,10 +125,7 @@ OpenDeviceWidget::OpenDeviceWidget(QWidget *parent) : AbstractOpenStreamWidget(p
   QRadioButton *zmq = new QRadioButton(tr("ZMQ"));
   ip_address = new QLineEdit(this);
   ip_address->setPlaceholderText(tr("Enter device Ip Address"));
-  QString ip_range = "(?:[0-1]?[0-9]?[0-9]|2[0-4][0-9]|25[0-5])";
-  QString pattern("^" + ip_range + "\\." + ip_range + "\\." + ip_range + "\\." + ip_range + "$");
-  QRegularExpression re(pattern);
-  ip_address->setValidator(new QRegularExpressionValidator(re, this));
+  ip_address->setValidator(new IpAddressValidator(this));
 
   group = new QButtonGroup(this);
   group->addButton(msgq, 0);
diff --git a/openpilot/tools/cabana/streams/devicestream.h b/openpilot/tools/cabana/streams/devicestream.h
index 4bcdb5351d0ece..0e6951c92c5c0f 100644
--- a/openpilot/tools/cabana/streams/devicestream.h
+++ b/openpilot/tools/cabana/streams/devicestream.h
@@ -2,7 +2,7 @@
 
 #include "tools/cabana/streams/livestream.h"
 
-#include <QProcess>
+#include <sys/types.h>
 
 class DeviceStream : public LiveStream {
   Q_OBJECT
@@ -16,7 +16,8 @@ class DeviceStream : public LiveStream {
 protected:
   void start() override;
   void streamThread() override;
-  QProcess *bridge_process = nullptr;
+  void stopBridge();
+  pid_t bridge_pid = -1;
   const QString zmq_address;
 };
 
diff --git a/openpilot/tools/cabana/streams/pandastream.cc b/openpilot/tools/cabana/streams/pandastream.cc
index 3692f71a11cf36..aa1e01c5a3397f 100644
--- a/openpilot/tools/cabana/streams/pandastream.cc
+++ b/openpilot/tools/cabana/streams/pandastream.cc
@@ -1,6 +1,7 @@
 #include "tools/cabana/streams/pandastream.h"
 
-#include <QDebug>
+#include <cstdio>
+
 #include <QCheckBox>
 #include <QLabel>
 #include <QMessageBox>
@@ -16,10 +17,10 @@ PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(co
 
 bool PandaStream::connect() {
   try {
-    qDebug() << "Connecting to panda " << config.serial.c_str();
+    fprintf(stderr, "Connecting to panda %s\n", config.serial.c_str());
     panda.reset(new Panda(config.serial));
     config.bus_config.resize(3);
-    qDebug() << "Connected";
+    fprintf(stderr, "Connected\n");
   } catch (const std::exception& e) {
     return false;
   }
@@ -48,7 +49,7 @@ void PandaStream::streamThread() {
     QThread::msleep(1);
 
     if (!panda->connected()) {
-      qDebug() << "Connection to panda lost. Attempting reconnect.";
+      fprintf(stderr, "Connection to panda lost. Attempting reconnect.\n");
       if (!connect()){
         QThread::msleep(1000);
         continue;
@@ -57,7 +58,7 @@ void PandaStream::streamThread() {
 
     raw_can_data.clear();
     if (!panda->can_receive(raw_can_data)) {
-      qDebug() << "failed to receive";
+      fprintf(stderr, "failed to receive\n");
       continue;
     }
 
@@ -123,7 +124,7 @@ void OpenPandaWidget::buildConfigForm() {
       Panda panda(serial.toStdString());
       has_fd = (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA) || (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA_V2);
     } catch (const std::exception& e) {
-      qDebug() << "failed to open panda" << serial;
+      fprintf(stderr, "failed to open panda %s\n", serial.toUtf8().constData());
       has_panda = false;
     }
   }
diff --git a/openpilot/tools/cabana/streams/routes.cc b/openpilot/tools/cabana/streams/routes.cc
index e3e5cb1b6e3ab5..9c19219ce2ab41 100644
--- a/openpilot/tools/cabana/streams/routes.cc
+++ b/openpilot/tools/cabana/streams/routes.cc
@@ -1,18 +1,20 @@
 #include "tools/cabana/streams/routes.h"
 
+#include <chrono>
+#include <ctime>
+#include <string>
+#include <thread>
+#include <utility>
+
 #include <QApplication>
-#include <QDateTime>
 #include <QDialogButtonBox>
 #include <QFormLayout>
-#include <QJsonArray>
-#include <QJsonDocument>
-#include <QJsonObject>
 #include <QListWidget>
 #include <QMessageBox>
 #include <QPainter>
 #include <QPointer>
-#include <thread>
 
+#include "json11/json11.hpp"
 #include "tools/replay/py_downloader.h"
 
 namespace {
@@ -20,13 +22,52 @@ namespace {
 // Parse a PyDownloader JSON response into (success, error_code).
 std::pair<bool, int> checkApiResponse(const std::string &result) {
   if (result.empty()) return {false, 500};
-  auto doc = QJsonDocument::fromJson(QByteArray::fromStdString(result));
-  if (doc.isObject() && doc.object().contains("error")) {
-    return {false, doc.object()["error"].toString() == "unauthorized" ? 401 : 500};
+  std::string err;
+  auto doc = json11::Json::parse(result, err);
+  if (!err.empty()) return {false, 500};
+  if (doc.is_object() && doc["error"].is_string()) {
+    return {false, doc["error"].string_value() == "unauthorized" ? 401 : 500};
   }
   return {true, 0};
 }
 
+int64_t nowUnixMs() {
+  return std::chrono::duration_cast<std::chrono::milliseconds>(
+             std::chrono::system_clock::now().time_since_epoch())
+      .count();
+}
+
+// Parse ISO-8601 (with optional fractional seconds / Z) to unix ms. Returns 0 on failure.
+int64_t parseIsoToUnixMs(const std::string &s) {
+  std::string bytes = s;
+  if (!bytes.empty() && (bytes.back() == 'Z' || bytes.back() == 'z')) bytes.pop_back();
+  int millis = 0;
+  auto dot = bytes.find('.');
+  if (dot != std::string::npos) {
+    std::string frac = bytes.substr(dot + 1);
+    bytes = bytes.substr(0, dot);
+    while (frac.size() < 3) frac.push_back('0');
+    millis = std::atoi(frac.substr(0, 3).c_str());
+  }
+  std::tm tm{};
+  const char *ret = strptime(bytes.c_str(), "%Y-%m-%dT%H:%M:%S", &tm);
+  if (!ret) ret = strptime(bytes.c_str(), "%Y-%m-%d %H:%M:%S", &tm);
+  if (!ret) return 0;
+  tm.tm_isdst = -1;
+  time_t secs = timegm(&tm);
+  if (secs == static_cast<time_t>(-1)) return 0;
+  return static_cast<int64_t>(secs) * 1000 + millis;
+}
+
+QString formatUnixMs(int64_t ms) {
+  time_t secs = static_cast<time_t>(ms / 1000);
+  std::tm tm{};
+  localtime_r(&secs, &tm);
+  char buf[64];
+  std::strftime(buf, sizeof(buf), "%Y-%m-%d %H:%M:%S", &tm);
+  return QString::fromUtf8(buf);
+}
+
 }  // namespace
 
 // The RouteListWidget class extends QListWidget to display a custom message when empty
@@ -83,9 +124,13 @@ RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent) {
 void RoutesDialog::parseDeviceList(const QString &json, bool success, int error_code) {
   if (success) {
     device_list_->clear();
-    for (const QJsonValue &device : QJsonDocument::fromJson(json.toUtf8()).array()) {
-      QString dongle_id = device["dongle_id"].toString();
-      device_list_->addItem(dongle_id, dongle_id);
+    std::string err;
+    auto doc = json11::Json::parse(json.toStdString(), err);
+    if (err.empty() && doc.is_array()) {
+      for (const auto &device : doc.array_items()) {
+        QString dongle_id = QString::fromStdString(device["dongle_id"].string_value());
+        device_list_->addItem(dongle_id, dongle_id);
+      }
     }
   } else {
     QMessageBox::warning(this, tr("Error"), error_code == 401 ? tr("Unauthorized. Authenticate with openpilot/tools/lib/auth.py") : tr("Network error"));
@@ -106,9 +151,8 @@ void RoutesDialog::fetchRoutes() {
   bool preserved = (period == -1);
   int64_t start_ms = 0, end_ms = 0;
   if (!preserved) {
-    QDateTime now = QDateTime::currentDateTime();
-    start_ms = now.addDays(-period).toMSecsSinceEpoch();
-    end_ms = now.toMSecsSinceEpoch();
+    end_ms = nowUnixMs();
+    start_ms = end_ms - static_cast<int64_t>(period) * 24LL * 60LL * 60LL * 1000LL;
   }
 
   int request_id = ++fetch_id_;
@@ -124,18 +168,23 @@ void RoutesDialog::fetchRoutes() {
 
 void RoutesDialog::parseRouteList(const QString &json, bool success, int error_code) {
   if (success) {
-    for (const QJsonValue &route : QJsonDocument::fromJson(json.toUtf8()).array()) {
-      QDateTime from, to;
-      if (period_selector_->currentData().toInt() == -1) {
-        from = QDateTime::fromString(route["start_time"].toString(), Qt::ISODateWithMs);
-        to = QDateTime::fromString(route["end_time"].toString(), Qt::ISODateWithMs);
-      } else {
-        from = QDateTime::fromMSecsSinceEpoch(route["start_time_utc_millis"].toDouble());
-        to = QDateTime::fromMSecsSinceEpoch(route["end_time_utc_millis"].toDouble());
+    std::string err;
+    auto doc = json11::Json::parse(json.toStdString(), err);
+    if (err.empty() && doc.is_array()) {
+      for (const auto &route : doc.array_items()) {
+        int64_t from_ms = 0, to_ms = 0;
+        if (period_selector_->currentData().toInt() == -1) {
+          from_ms = parseIsoToUnixMs(route["start_time"].string_value());
+          to_ms = parseIsoToUnixMs(route["end_time"].string_value());
+        } else {
+          from_ms = static_cast<int64_t>(route["start_time_utc_millis"].number_value());
+          to_ms = static_cast<int64_t>(route["end_time_utc_millis"].number_value());
+        }
+        const int mins = static_cast<int>((to_ms - from_ms) / 60000);
+        auto item = new QListWidgetItem(QString("%1    %2min").arg(formatUnixMs(from_ms)).arg(mins));
+        item->setData(Qt::UserRole, QString::fromStdString(route["fullname"].string_value()));
+        route_list_->addItem(item);
       }
-      auto item = new QListWidgetItem(QString("%1    %2min").arg(from.toString()).arg(from.secsTo(to) / 60));
-      item->setData(Qt::UserRole, route["fullname"].toString());
-      route_list_->addItem(item);
     }
     if (route_list_->count() > 0) route_list_->setCurrentRow(0);
   } else {
diff --git a/openpilot/tools/cabana/streams/socketcanstream.cc b/openpilot/tools/cabana/streams/socketcanstream.cc
index 768465d5a3c3f7..cedbddf99e2cf1 100644
--- a/openpilot/tools/cabana/streams/socketcanstream.cc
+++ b/openpilot/tools/cabana/streams/socketcanstream.cc
@@ -7,7 +7,8 @@
 #include <sys/socket.h>
 #include <unistd.h>
 
-#include <QDebug>
+#include <cstdio>
+
 #include <QDir>
 #include <QFormLayout>
 #include <QHBoxLayout>
@@ -20,7 +21,7 @@ SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_)
     throw std::runtime_error("SocketCAN not available");
   }
 
-  qDebug() << "Connecting to SocketCAN device" << config.device.c_str();
+  fprintf(stderr, "Connecting to SocketCAN device %s\n", config.device.c_str());
   if (!connect()) {
     throw std::runtime_error("Failed to connect to SocketCAN device");
   }
@@ -44,7 +45,7 @@ bool SocketCanStream::available() {
 bool SocketCanStream::connect() {
   sock_fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
   if (sock_fd < 0) {
-    qDebug() << "Failed to create CAN socket";
+    fprintf(stderr, "Failed to create CAN socket\n");
     return false;
   }
 
@@ -55,7 +56,7 @@ bool SocketCanStream::connect() {
   struct ifreq ifr = {};
   strncpy(ifr.ifr_name, config.device.c_str(), IFNAMSIZ - 1);
   if (ioctl(sock_fd, SIOCGIFINDEX, &ifr) < 0) {
-    qDebug() << "Failed to get interface index for" << config.device.c_str();
+    fprintf(stderr, "Failed to get interface index for %s\n", config.device.c_str());
     ::close(sock_fd);
     sock_fd = -1;
     return false;
@@ -65,7 +66,7 @@ bool SocketCanStream::connect() {
   addr.can_family = AF_CAN;
   addr.can_ifindex = ifr.ifr_ifindex;
   if (bind(sock_fd, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
-    qDebug() << "Failed to bind CAN socket";
+    fprintf(stderr, "Failed to bind CAN socket\n");
     ::close(sock_fd);
     sock_fd = -1;
     return false;
diff --git a/openpilot/tools/cabana/utils/util.cc b/openpilot/tools/cabana/utils/util.cc
index 415f6f17843d52..5c55bcf015a854 100644
--- a/openpilot/tools/cabana/utils/util.cc
+++ b/openpilot/tools/cabana/utils/util.cc
@@ -1,7 +1,12 @@
 #include "tools/cabana/utils/util.h"
 
 #include <algorithm>
+#include <cerrno>
+#include <cmath>
+#include <cstdint>
+#include <cstdlib>
 #include <csignal>
+#include <ctime>
 #include <limits>
 #include <memory>
 #include <string>
@@ -9,10 +14,8 @@
 #include <unistd.h>
 
 #include <QColor>
-#include <QDateTime>
 #include <QDir>
 #include <QFontDatabase>
-#include <QLocale>
 #include <QPixmapCache>
 #include <QSurfaceFormat>
 #include <QFileInfo>
@@ -148,18 +151,35 @@ void TabBar::closeTabClicked() {
 
 // UnixSignalHandler
 
-UnixSignalHandler::UnixSignalHandler(QObject *parent) : QObject(nullptr) {
+UnixSignalHandler::UnixSignalHandler() {
   if (::socketpair(AF_UNIX, SOCK_STREAM, 0, sig_fd)) {
     qFatal("Couldn't create TERM socketpair");
   }
 
-  sn = new QSocketNotifier(sig_fd[1], QSocketNotifier::Read, this);
-  connect(sn, &QSocketNotifier::activated, this, &UnixSignalHandler::handleSigTerm);
+  waiter = std::thread([this]() {
+    int tmp = 0;
+    while (::read(sig_fd[1], &tmp, sizeof(tmp)) < 0) {
+      if (errno != EINTR) return;
+    }
+    if (shutting_down.load()) return;
+
+    // Marshal exit onto the GUI thread (qApp methods are not thread-safe).
+    QMetaObject::invokeMethod(qApp, []() {
+      printf("\nexiting...\n");
+      qApp->closeAllWindows();
+      qApp->exit();
+    }, Qt::QueuedConnection);
+  });
+
   std::signal(SIGINT, signalHandler);
   std::signal(SIGTERM, UnixSignalHandler::signalHandler);
 }
 
 UnixSignalHandler::~UnixSignalHandler() {
+  shutting_down.store(true);
+  int dummy = 0;
+  (void)!::write(sig_fd[0], &dummy, sizeof(dummy));
+  if (waiter.joinable()) waiter.join();
   ::close(sig_fd[0]);
   ::close(sig_fd[1]);
 }
@@ -168,30 +188,118 @@ void UnixSignalHandler::signalHandler(int s) {
   (void)!::write(sig_fd[0], &s, sizeof(s));
 }
 
-void UnixSignalHandler::handleSigTerm() {
-  sn->setEnabled(false);
-  int tmp;
-  (void)!::read(sig_fd[1], &tmp, sizeof(tmp));
-
-  printf("\nexiting...\n");
-  qApp->closeAllWindows();
-  qApp->exit();
-}
-
 // NameValidator
 
-NameValidator::NameValidator(QObject *parent) : QRegExpValidator(QRegExp("^(\\w+)"), parent) {}
+NameValidator::NameValidator(QObject *parent) : QValidator(parent) {}
 
 QValidator::State NameValidator::validate(QString &input, int &pos) const {
+  Q_UNUSED(pos);
   input.replace(' ', '_');
-  return QRegExpValidator::validate(input, pos);
+  if (input.isEmpty()) return QValidator::Intermediate;
+  for (const QChar &c : input) {
+    if (!c.isLetterOrNumber() && c != '_') return QValidator::Invalid;
+  }
+  return QValidator::Acceptable;
+}
+
+// NodeValidator
+
+NodeValidator::NodeValidator(QObject *parent) : QValidator(parent) {}
+
+QValidator::State NodeValidator::validate(QString &input, int &pos) const {
+  Q_UNUSED(pos);
+  if (input.isEmpty()) return QValidator::Intermediate;
+  // Match ^\w+(,\w+)*$ ; a trailing comma is Intermediate (user still typing).
+  bool need_word = true;
+  for (const QChar &c : input) {
+    if (c.isLetterOrNumber() || c == '_') {
+      need_word = false;
+    } else if (c == ',' && !need_word) {
+      need_word = true;
+    } else {
+      return QValidator::Invalid;
+    }
+  }
+  return need_word ? QValidator::Intermediate : QValidator::Acceptable;
+}
+
+// NonWhitespaceValidator
+
+NonWhitespaceValidator::NonWhitespaceValidator(QObject *parent) : QValidator(parent) {}
+
+QValidator::State NonWhitespaceValidator::validate(QString &input, int &pos) const {
+  Q_UNUSED(pos);
+  if (input.isEmpty()) return QValidator::Intermediate;
+  for (const QChar &c : input) {
+    if (c.isSpace()) return QValidator::Invalid;
+  }
+  return QValidator::Acceptable;
 }
 
-DoubleValidator::DoubleValidator(QObject *parent) : QDoubleValidator(parent) {
-  // Match locale of QString::toDouble() instead of system
-  QLocale locale(QLocale::C);
-  locale.setNumberOptions(QLocale::RejectGroupSeparator);
-  setLocale(locale);
+// IpAddressValidator
+
+IpAddressValidator::IpAddressValidator(QObject *parent) : QValidator(parent) {}
+
+QValidator::State IpAddressValidator::validate(QString &input, int &pos) const {
+  Q_UNUSED(pos);
+  if (input.isEmpty()) return QValidator::Intermediate;
+
+  int dots = 0;
+  int value = 0;
+  bool has_digit = false;
+  for (const QChar &c : input) {
+    if (c.isDigit()) {
+      value = has_digit ? value * 10 + c.digitValue() : c.digitValue();
+      if (value > 255) return QValidator::Invalid;
+      has_digit = true;
+    } else if (c == '.') {
+      if (!has_digit || dots >= 3) return QValidator::Invalid;
+      ++dots;
+      has_digit = false;
+      value = 0;
+    } else {
+      return QValidator::Invalid;
+    }
+  }
+  return (dots == 3 && has_digit) ? QValidator::Acceptable : QValidator::Intermediate;
+}
+
+DoubleValidator::DoubleValidator(QObject *parent) : QValidator(parent) {}
+
+QValidator::State DoubleValidator::validate(QString &input, int &pos) const {
+  Q_UNUSED(pos);
+  if (input.isEmpty()) return QValidator::Intermediate;
+
+  // Match QString::toDouble(): C locale, no hex floats / inf / nan.
+  const QByteArray bytes = input.toLatin1();
+  // strtod accepts 0x… hex floats and p-exponents; QString::toDouble does not.
+  if (bytes.contains('x') || bytes.contains('X') || bytes.contains('p') || bytes.contains('P')) {
+    return QValidator::Invalid;
+  }
+
+  const char *start = bytes.constData();
+  char *end = nullptr;
+  const double value = std::strtod(start, &end);
+  if (end == start) {
+    // Still typing a sign, decimal point, or exponent prefix.
+    if (input == "-" || input == "+" || input == "." || input == "-." || input == "+.") {
+      return QValidator::Intermediate;
+    }
+    return QValidator::Invalid;
+  }
+  if (*end == '\0') {
+    // Reject inf/nan (strtod accepts them; QDoubleValidator / toDouble path should not).
+    return std::isfinite(value) ? QValidator::Acceptable : QValidator::Invalid;
+  }
+
+  // Partial exponent / trailing sign while typing (e.g. "1e", "1e-", "1.").
+  for (const char *p = end; *p; ++p) {
+    const char c = *p;
+    if (!(c == 'e' || c == 'E' || c == '+' || c == '-' || c == '.' || (c >= '0' && c <= '9'))) {
+      return QValidator::Invalid;
+    }
+  }
+  return QValidator::Intermediate;
 }
 
 namespace utils {
@@ -257,10 +365,34 @@ void setTheme(int theme) {
 }
 
 QString formatSeconds(double sec, bool include_milliseconds, bool absolute_time) {
-  QString format = absolute_time ? "yyyy-MM-dd hh:mm:ss"
-                                 : (sec > 60 * 60 ? "hh:mm:ss" : "mm:ss");
-  if (include_milliseconds) format += ".zzz";
-  return QDateTime::fromMSecsSinceEpoch(sec * 1000).toString(format);
+  if (absolute_time) {
+    const auto ms_total = static_cast<int64_t>(std::llround(sec * 1000.0));
+    const std::time_t secs = static_cast<std::time_t>(ms_total / 1000);
+    int millis = static_cast<int>(ms_total % 1000);
+    if (millis < 0) millis = -millis;
+    std::tm tm{};
+    localtime_r(&secs, &tm);
+    char buf[64];
+    std::strftime(buf, sizeof(buf), "%Y-%m-%d %H:%M:%S", &tm);
+    if (include_milliseconds) {
+      return QString::asprintf("%s.%03d", buf, millis);
+    }
+    return QString::fromUtf8(buf);
+  }
+
+  // Relative duration (not wall-clock).
+  const bool show_hours = sec > 60 * 60;
+  int total_ms = static_cast<int>(std::llround(std::max(0.0, sec) * 1000.0));
+  const int hours = total_ms / (3600 * 1000);
+  const int minutes = (total_ms / (60 * 1000)) % 60;
+  const int seconds = (total_ms / 1000) % 60;
+  const int millis = total_ms % 1000;
+  if (show_hours) {
+    return include_milliseconds ? QString::asprintf("%02d:%02d:%02d.%03d", hours, minutes, seconds, millis)
+                                : QString::asprintf("%02d:%02d:%02d", hours, minutes, seconds);
+  }
+  return include_milliseconds ? QString::asprintf("%02d:%02d.%03d", minutes, seconds, millis)
+                              : QString::asprintf("%02d:%02d", minutes, seconds);
 }
 
 }  // namespace utils
diff --git a/openpilot/tools/cabana/utils/util.h b/openpilot/tools/cabana/utils/util.h
index f4d8342b6321d1..e0318f5c16b5a4 100644
--- a/openpilot/tools/cabana/utils/util.h
+++ b/openpilot/tools/cabana/utils/util.h
@@ -1,23 +1,23 @@
 #pragma once
 
 #include <array>
+#include <atomic>
 #include <cmath>
+#include <thread>
 #include <vector>
 #include <utility>
 
 #include <QApplication>
 #include <QByteArray>
 #include <QColor>
-#include <QDoubleValidator>
 #include <QFont>
 #include <QFontMetrics>
 #include <QPainter>
-#include <QRegExpValidator>
-#include <QSocketNotifier>
 #include <QStaticText>
 #include <QStringBuilder>
 #include <QStyledItemDelegate>
 #include <QToolButton>
+#include <QValidator>
 
 #include "tools/cabana/dbc/dbc.h"
 #include "tools/cabana/settings.h"
@@ -89,17 +89,44 @@ class MessageBytesDelegate : public QStyledItemDelegate {
   int h_margin, v_margin;
 };
 
-class NameValidator : public QRegExpValidator {
+// Accepts a single identifier: one or more [A-Za-z0-9_], spaces rewritten to '_'.
+class NameValidator : public QValidator {
   Q_OBJECT
 public:
   NameValidator(QObject *parent=nullptr);
   QValidator::State validate(QString &input, int &pos) const override;
 };
 
-class DoubleValidator : public QDoubleValidator {
+// Accepts comma-separated identifiers: \w+(,\w+)*
+class NodeValidator : public QValidator {
+  Q_OBJECT
+public:
+  NodeValidator(QObject *parent=nullptr);
+  QValidator::State validate(QString &input, int &pos) const override;
+};
+
+// Accepts one or more non-whitespace characters (\S+).
+class NonWhitespaceValidator : public QValidator {
+  Q_OBJECT
+public:
+  NonWhitespaceValidator(QObject *parent=nullptr);
+  QValidator::State validate(QString &input, int &pos) const override;
+};
+
+// Accepts a dotted IPv4 address (0-255 per octet).
+class IpAddressValidator : public QValidator {
+  Q_OBJECT
+public:
+  IpAddressValidator(QObject *parent=nullptr);
+  QValidator::State validate(QString &input, int &pos) const override;
+};
+
+// C-locale floating-point validator (matches QString::toDouble).
+class DoubleValidator : public QValidator {
   Q_OBJECT
 public:
   DoubleValidator(QObject *parent = nullptr);
+  QValidator::State validate(QString &input, int &pos) const override;
 };
 
 namespace utils {
@@ -152,20 +179,18 @@ class TabBar : public QTabBar {
   void closeTabClicked();
 };
 
-class UnixSignalHandler : public QObject {
-  Q_OBJECT
-
+// Watches SIGINT/SIGTERM via a self-pipe and a dedicated waiter thread
+// (no Qt notifiers/timers). Exit is marshaled onto the GUI thread.
+class UnixSignalHandler {
 public:
-  UnixSignalHandler(QObject *parent = nullptr);
+  UnixSignalHandler();
   ~UnixSignalHandler();
   static void signalHandler(int s);
 
-public slots:
-  void handleSigTerm();
-
 private:
   inline static int sig_fd[2] = {};
-  QSocketNotifier *sn;
+  std::atomic<bool> shutting_down{false};
+  std::thread waiter;
 };
 
 int num_decimals(double num);
diff --git a/openpilot/tools/cabana/videowidget.cc b/openpilot/tools/cabana/videowidget.cc
index 5b680ad454c4b1..60f7b4d2b8a151 100644
--- a/openpilot/tools/cabana/videowidget.cc
+++ b/openpilot/tools/cabana/videowidget.cc
@@ -157,7 +157,7 @@ QWidget *VideoWidget::createCameraWidget() {
   slider->setTimeRange(can->minSeconds(), can->maxSeconds());
 
   QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); });
-  QObject::connect(can, &AbstractStream::paused, cam_widget, [c = cam_widget]() { c->showPausedOverlay(); });
+  QObject::connect(can, &AbstractStream::paused, cam_widget, qOverload<>(&StreamCameraView::update));
   QObject::connect(can, &AbstractStream::eventsMerged, this, [this]() { slider->update(); });
   QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(cam_widget, &CameraWidget::vipcAvailableStreamsUpdated, this, &VideoWidget::vipcAvailableStreamsUpdated);
@@ -324,12 +324,6 @@ void Slider::mousePressEvent(QMouseEvent *e) {
 // StreamCameraView
 StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent)
     : CameraWidget(stream_name, stream_type, parent) {
-  fade_animation = new QPropertyAnimation(this, "overlayOpacity");
-  fade_animation->setDuration(500);
-  fade_animation->setStartValue(0.2f);
-  fade_animation->setEndValue(0.7f);
-  fade_animation->setEasingCurve(QEasingCurve::InOutQuad);
-  connect(fade_animation, &QPropertyAnimation::valueChanged, this, QOverload<>::of(&StreamCameraView::update));
 }
 
 void StreamCameraView::parseQLog(std::shared_ptr<LogReader> qlog) {
@@ -376,7 +370,7 @@ void StreamCameraView::paintGL() {
   }
 
   if (can->isPaused()) {
-    p.setPen(QColor(200, 200, 200, static_cast<int>(255 * fade_animation->currentValue().toFloat())));
+    p.setPen(QColor(200, 200, 200, static_cast<int>(255 * 0.7f)));
     p.setFont(QFont(font().family(), 16, QFont::Bold));
     p.drawText(rect(), Qt::AlignCenter, tr("PAUSED"));
   }
diff --git a/openpilot/tools/cabana/videowidget.h b/openpilot/tools/cabana/videowidget.h
index e52e92ebd120db..d45695904e53f8 100644
--- a/openpilot/tools/cabana/videowidget.h
+++ b/openpilot/tools/cabana/videowidget.h
@@ -7,7 +7,6 @@
 #include <utility>
 
 #include <QFrame>
-#include <QPropertyAnimation>
 #include <QSlider>
 #include <QToolBar>
 #include <QTabBar>
@@ -37,7 +36,6 @@ class StreamCameraView : public CameraWidget {
 public:
   StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent = nullptr);
   void paintGL() override;
-  void showPausedOverlay() { fade_animation->start(); }
   void parseQLog(std::shared_ptr<LogReader> qlog);
 
 private:
@@ -47,7 +45,6 @@ class StreamCameraView : public CameraWidget {
   void drawScrubThumbnail(QPainter &p);
   void drawTime(QPainter &p, const QRect &rect, double seconds);
 
-  QPropertyAnimation *fade_animation;
   std::map<uint64_t, QPixmap> big_thumbnails;
   std::map<uint64_t, QPixmap> thumbnails;
   double thumbnail_dispaly_time = -1;

From 9aa5c3d2c6fcd3f94925d3dfe4575f4db7178313 Mon Sep 17 00:00:00 2001
From: rkdune <rohkal505@gmail.com>
Date: Thu, 16 Jul 2026 18:16:08 -0700
Subject: [PATCH 1318/1434] expose submodule dependencies as an extra

---
 pyproject.toml | 14 +++++++++-----
 uv.lock        | 34 ++++++++++++++++++----------------
 2 files changed, 27 insertions(+), 21 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 9f139171900369..51f07d38702438 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -98,10 +98,6 @@ tools = [
   #"metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
 ]
 
-[project.urls]
-Homepage = "https://github.com/commaai/openpilot"
-
-[dependency-groups]
 submodules = [
   "msgq",
   "opendbc",
@@ -111,6 +107,14 @@ submodules = [
   "tinygrad",
 ]
 
+[project.urls]
+Homepage = "https://github.com/commaai/openpilot"
+
+[dependency-groups]
+standalone = [
+  "openpilot[submodules]",
+]
+
 [build-system]
 requires = ["hatchling"]
 build-backend = "hatchling.build"
@@ -207,7 +211,7 @@ not-subscriptable = "ignore" # false positives from dynamic types
 
 [tool.uv]
 python-preference = "only-managed"
-default-groups = ["submodules"]
+default-groups = ["standalone"]
 override-dependencies = [
   "opendbc",  # panda pins opendbc from git for standalone use; always use our submodule
   "av",       # teleoprtc's av<13 pin is stale
diff --git a/uv.lock b/uv.lock
index 2284243b55030b..bb6a1cb59c9060 100644
--- a/uv.lock
+++ b/uv.lock
@@ -922,6 +922,14 @@ docs = [
     { name = "jinja2" },
     { name = "zensical" },
 ]
+submodules = [
+    { name = "msgq" },
+    { name = "opendbc" },
+    { name = "pandacan" },
+    { name = "rednose" },
+    { name = "teleoprtc" },
+    { name = "tinygrad" },
+]
 testing = [
     { name = "codespell" },
     { name = "coverage" },
@@ -940,13 +948,8 @@ tools = [
 ]
 
 [package.dev-dependencies]
-submodules = [
-    { name = "msgq" },
-    { name = "opendbc" },
-    { name = "pandacan" },
-    { name = "rednose" },
-    { name = "teleoprtc" },
-    { name = "tinygrad" },
+standalone = [
+    { name = "openpilot", extra = ["submodules"] },
 ]
 
 [package.metadata]
@@ -977,7 +980,10 @@ requires-dist = [
     { name = "jeepney" },
     { name = "jinja2", marker = "extra == 'docs'" },
     { name = "matplotlib", marker = "extra == 'dev'" },
+    { name = "msgq", marker = "extra == 'submodules'", editable = "msgq_repo" },
     { name = "numpy", specifier = ">=2.0" },
+    { name = "opendbc", marker = "extra == 'submodules'", editable = "opendbc_repo" },
+    { name = "pandacan", marker = "extra == 'submodules'", editable = "panda" },
     { name = "pillow" },
     { name = "pre-commit-hooks", marker = "extra == 'testing'" },
     { name = "pycapnp", specifier = "==2.1.0" },
@@ -989,6 +995,7 @@ requires-dist = [
     { name = "pytest-xdist", marker = "extra == 'testing'", git = "https://github.com/sshane/pytest-xdist?rev=2b4372bd62699fb412c4fe2f95bf9f01bd2018da" },
     { name = "pyzmq" },
     { name = "qrcode" },
+    { name = "rednose", marker = "extra == 'submodules'", editable = "rednose_repo" },
     { name = "requests" },
     { name = "ruff", marker = "extra == 'testing'" },
     { name = "scons" },
@@ -996,6 +1003,8 @@ requires-dist = [
     { name = "setproctitle" },
     { name = "setuptools" },
     { name = "sounddevice" },
+    { name = "teleoprtc", marker = "extra == 'submodules'", editable = "teleoprtc_repo" },
+    { name = "tinygrad", marker = "extra == 'submodules'", editable = "tinygrad_repo" },
     { name = "tqdm" },
     { name = "ty", marker = "extra == 'testing'" },
     { name = "websocket-client" },
@@ -1003,17 +1012,10 @@ requires-dist = [
     { name = "zensical", marker = "extra == 'docs'" },
     { name = "zstandard" },
 ]
-provides-extras = ["docs", "testing", "dev", "tools"]
+provides-extras = ["docs", "testing", "dev", "tools", "submodules"]
 
 [package.metadata.requires-dev]
-submodules = [
-    { name = "msgq", editable = "msgq_repo" },
-    { name = "opendbc", editable = "opendbc_repo" },
-    { name = "pandacan", editable = "panda" },
-    { name = "rednose", editable = "rednose_repo" },
-    { name = "teleoprtc", editable = "teleoprtc_repo" },
-    { name = "tinygrad", editable = "tinygrad_repo" },
-]
+standalone = [{ name = "openpilot", extras = ["submodules"] }]
 
 [[package]]
 name = "packaging"

From a04c045cd79b04751ad378bb0a8e1c87c7c7ff21 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 17 Jul 2026 09:31:16 -0700
Subject: [PATCH 1319/1434] cabana: de-Qt, part 3 (#38360)

---
 openpilot/tools/cabana/.gitignore             |   1 +
 openpilot/tools/cabana/SConscript             |  40 +-
 openpilot/tools/cabana/assets/assets.qrc      |   1 -
 openpilot/tools/cabana/binaryview.cc          |  16 +-
 openpilot/tools/cabana/binaryview.h           |   1 +
 openpilot/tools/cabana/cabana.cc              |   3 +-
 openpilot/tools/cabana/cameraview.cc          | 223 +----
 openpilot/tools/cabana/cameraview.h           |  33 +-
 openpilot/tools/cabana/chart/chart.cc         | 764 +++++++++---------
 openpilot/tools/cabana/chart/chart.h          |  72 +-
 openpilot/tools/cabana/chart/chartswidget.cc  | 180 +++--
 openpilot/tools/cabana/chart/chartswidget.h   |  29 +-
 openpilot/tools/cabana/commands.cc            | 103 ++-
 openpilot/tools/cabana/commands.h             |  80 +-
 openpilot/tools/cabana/deqt.md                |  25 +-
 openpilot/tools/cabana/detailwidget.cc        |   6 +-
 openpilot/tools/cabana/historylog.cc          |   2 +-
 openpilot/tools/cabana/mainwin.cc             | 102 ++-
 openpilot/tools/cabana/mainwin.h              |   7 +-
 openpilot/tools/cabana/messageswidget.cc      |  54 +-
 openpilot/tools/cabana/messageswidget.h       |  19 +-
 openpilot/tools/cabana/settings.cc            | 507 +++++++++++-
 openpilot/tools/cabana/settings.h             |  14 +-
 openpilot/tools/cabana/signalview.cc          |   4 +-
 openpilot/tools/cabana/signalview.h           |   7 +-
 .../tools/cabana/streams/abstractstream.h     |   2 +-
 .../tools/cabana/streams/devicestream.cc      |  15 +-
 openpilot/tools/cabana/streams/livestream.cc  |  70 +-
 openpilot/tools/cabana/streams/livestream.h   |  17 +-
 openpilot/tools/cabana/streams/pandastream.cc |   9 +-
 .../tools/cabana/streams/replaystream.cc      |   4 +-
 openpilot/tools/cabana/streams/routes.cc      |  16 +-
 openpilot/tools/cabana/streams/routes.h       |   4 +
 .../tools/cabana/streams/socketcanstream.cc   |  20 +-
 openpilot/tools/cabana/streamselector.cc      |   4 +-
 openpilot/tools/cabana/tools/findsignal.cc    |   9 +-
 openpilot/tools/cabana/utils/util.cc          | 146 ++--
 openpilot/tools/cabana/utils/util.h           |  24 +-
 openpilot/tools/cabana/videowidget.cc         |   4 +-
 openpilot/tools/cabana/videowidget.h          |   2 +-
 tools/setup_dependencies.sh                   |   2 +-
 41 files changed, 1583 insertions(+), 1058 deletions(-)

diff --git a/openpilot/tools/cabana/.gitignore b/openpilot/tools/cabana/.gitignore
index e4212612df5a76..7f9ac0fde0fce8 100644
--- a/openpilot/tools/cabana/.gitignore
+++ b/openpilot/tools/cabana/.gitignore
@@ -3,6 +3,7 @@ moc_*
 *.generated.qrc
 
 assets.cc
+bootstrap_icons.cc
 
 _cabana
 dbc/car_fingerprint_to_dbc.json
diff --git a/openpilot/tools/cabana/SConscript b/openpilot/tools/cabana/SConscript
index e9c1a976bb2069..fcaa3b7930f586 100644
--- a/openpilot/tools/cabana/SConscript
+++ b/openpilot/tools/cabana/SConscript
@@ -30,7 +30,7 @@ if arch == "Darwin":
   ]
   qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
   qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
-  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules]
   qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
 else:
   qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
@@ -46,7 +46,7 @@ else:
   qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
   qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
 
-  qt_libs = [f"Qt5{m}" for m in qt_modules] + ["GL"]
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
 qt_env['QT3DIR'] = qt_env['QTDIR']
 qt_env.Tool('qt3')
 
@@ -67,9 +67,7 @@ base_frameworks = qt_env['FRAMEWORKS']
 base_libs = [common, messaging, cereal, visionipc, 'm', 'pthread'] + qt_env["LIBS"]
 
 if arch == "Darwin":
-  base_frameworks += ['QtCharts', 'CoreFoundation', 'CoreVideo', 'CoreMedia', 'IOKit', 'Security', 'VideoToolbox']
-else:
-  base_libs.append('Qt5Charts')
+  base_frameworks += ['CoreFoundation', 'CoreVideo', 'CoreMedia', 'IOKit', 'Security', 'VideoToolbox']
 
 cabana_env = qt_env.Clone()
 cabana_env['CPPPATH'] += [libusb.INCLUDE_DIR]
@@ -79,22 +77,26 @@ cabana_libs = [cereal, messaging, visionipc, replay_lib] + ffmpeg_libs + ['bz2',
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../../opendbc_repo/opendbc/dbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
-def write_assets_qrc(target, source, env):
-  with open(str(source[0])) as f:
-    qrc = f.read()
-  with open(str(target[0]), "w") as f:
-    f.write(qrc.replace("@BOOTSTRAP_ICONS_SVG@", str(bootstrap_icons.SVG_PATH)))
+# embed the bootstrap icons SVG into the binary
+def build_bootstrap_icons_src(target, source, env):
+  data = open(str(source[0]), 'rb').read()
+  with open(str(target[0]), 'w') as f:
+    f.write('#include <cstddef>\n')
+    f.write('extern const unsigned char bootstrap_icons_svg[];\n')
+    f.write('extern const size_t bootstrap_icons_svg_len;\n')
+    f.write('const unsigned char bootstrap_icons_svg[] = {\n')
+    for i in range(0, len(data), 32):
+      f.write(','.join(str(b) for b in data[i:i+32]) + ',\n')
+    f.write('};\n')
+    f.write('const size_t bootstrap_icons_svg_len = sizeof(bootstrap_icons_svg);\n')
+  return None
+
+bootstrap_icons_src = cabana_env.Command('assets/bootstrap_icons.cc', str(bootstrap_icons.SVG_PATH), build_bootstrap_icons_src)
 
 # build assets
 assets = "assets/assets.cc"
-assets_src = cabana_env.Command(
-  "assets/assets.generated.qrc",
-  "assets/assets.qrc",
-  write_assets_qrc,
-)
-cabana_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET")
-cabana_env.Depends(assets_src, str(bootstrap_icons.SVG_PATH))
-cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "assets/assets.o"]))
+cabana_env.Command(assets, "assets/assets.qrc", f"rcc $SOURCES -o $TARGET")
+cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, "assets/assets.o"]))
 
 cabana_srcs = ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc',
                'streams/routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc', 'dbc/dbcqt.cc',
@@ -104,7 +106,7 @@ cabana_srcs = ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc'
                'cameraview.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc', 'tools/routeinfo.cc']
 if arch != "Darwin":
   cabana_srcs += ['streams/socketcanstream.cc']
-cabana_lib = cabana_env.Library("cabana_lib", cabana_srcs, LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
+cabana_lib = cabana_env.Library("cabana_lib", cabana_srcs + [bootstrap_icons_src], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('extras'):
diff --git a/openpilot/tools/cabana/assets/assets.qrc b/openpilot/tools/cabana/assets/assets.qrc
index f5880e55800f4e..009d63f008b9af 100644
--- a/openpilot/tools/cabana/assets/assets.qrc
+++ b/openpilot/tools/cabana/assets/assets.qrc
@@ -1,6 +1,5 @@
 <!DOCTYPE RCC><RCC version="1.0">
 <qresource>
-  <file alias="bootstrap-icons.svg">@BOOTSTRAP_ICONS_SVG@</file>
   <file>cabana-icon.png</file>
 </qresource>
 </RCC>
diff --git a/openpilot/tools/cabana/binaryview.cc b/openpilot/tools/cabana/binaryview.cc
index f396d1c13f5722..5e919dc6a38c75 100644
--- a/openpilot/tools/cabana/binaryview.cc
+++ b/openpilot/tools/cabana/binaryview.cc
@@ -37,7 +37,7 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
   setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
 
   QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &BinaryView::refresh);
-  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &BinaryView::refresh);
+  QObject::connect(undoNotifier(), &QtUndoNotifier::indexChanged, this, &BinaryView::refresh);
 
   addShortcuts();
   setWhatsThis(R"(
@@ -66,7 +66,7 @@ void BinaryView::addShortcuts() {
   QObject::connect(shortcut_delete_backspace, &QShortcut::activated, shortcut_delete_x, &QShortcut::activated);
   QObject::connect(shortcut_delete_x, &QShortcut::activated, [=]{
     if (hovered_sig != nullptr) {
-      UndoStack::push(new RemoveSigCommand(model->msg_id, hovered_sig));
+      UndoStack::instance()->push(new RemoveSigCommand(model->msg_id, hovered_sig));
       hovered_sig = nullptr;
     }
   });
@@ -126,7 +126,7 @@ void BinaryView::highlight(const cabana::Signal *sig) {
 }
 
 void BinaryView::setSelection(const QRect &rect, QItemSelectionModel::SelectionFlags flags) {
-  auto index = indexAt(viewport()->mapFromGlobal(QCursor::pos()));
+  auto index = indexAt(last_mouse_pos);
   if (!anchor_index.isValid() || !index.isValid())
     return;
 
@@ -141,7 +141,7 @@ void BinaryView::setSelection(const QRect &rect, QItemSelectionModel::SelectionF
 
 void BinaryView::mousePressEvent(QMouseEvent *event) {
   resize_sig = nullptr;
-  if (auto index = indexAt(event->pos()); index.isValid() && index.column() != 8) {
+  if (auto index = indexAt(last_mouse_pos = event->pos()); index.isValid() && index.column() != 8) {
     anchor_index = index;
     auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer();
     int bit_pos = get_bit_pos(anchor_index);
@@ -158,7 +158,7 @@ void BinaryView::mousePressEvent(QMouseEvent *event) {
 }
 
 void BinaryView::highlightPosition(const QPoint &pos) {
-  if (auto index = indexAt(viewport()->mapFromGlobal(pos)); index.isValid()) {
+  if (auto index = indexAt(pos); index.isValid()) {
     auto item = (BinaryViewModel::Item *)index.internalPointer();
     const cabana::Signal *sig = item->sigs.empty() ? nullptr : item->sigs.back();
     highlight(sig);
@@ -166,7 +166,7 @@ void BinaryView::highlightPosition(const QPoint &pos) {
 }
 
 void BinaryView::mouseMoveEvent(QMouseEvent *event) {
-  highlightPosition(event->globalPos());
+  highlightPosition(last_mouse_pos = event->pos());
   QTableView::mouseMoveEvent(event);
 }
 
@@ -179,7 +179,7 @@ void BinaryView::mouseReleaseEvent(QMouseEvent *event) {
       auto sig = resize_sig ? *resize_sig : cabana::Signal{};
       std::tie(sig.start_bit, sig.size, sig.is_little_endian) = getSelection(release_index);
       resize_sig ? emit editSignal(resize_sig, sig)
-                 : UndoStack::push(new AddSigCommand(model->msg_id, sig));
+                 : UndoStack::instance()->push(new AddSigCommand(model->msg_id, sig));
     } else {
       auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer();
       if (item && item->sigs.size() > 0)
@@ -208,7 +208,7 @@ void BinaryView::refresh() {
   resize_sig = nullptr;
   hovered_sig = nullptr;
   model->refresh();
-  highlightPosition(QCursor::pos());
+  if (underMouse()) highlightPosition(last_mouse_pos);
 }
 
 std::set<const cabana::Signal *> BinaryView::getOverlappingSignals() const {
diff --git a/openpilot/tools/cabana/binaryview.h b/openpilot/tools/cabana/binaryview.h
index e568228b37d518..c49067a1a23348 100644
--- a/openpilot/tools/cabana/binaryview.h
+++ b/openpilot/tools/cabana/binaryview.h
@@ -94,6 +94,7 @@ class BinaryView : public QTableView {
   void highlightPosition(const QPoint &pt);
 
   QModelIndex anchor_index;
+  QPoint last_mouse_pos{-1, -1};
   BinaryViewModel *model;
   BinaryItemDelegate *delegate;
   bool is_message_active = false;
diff --git a/openpilot/tools/cabana/cabana.cc b/openpilot/tools/cabana/cabana.cc
index 56b43361f8b0b4..d8e21815dc17f4 100644
--- a/openpilot/tools/cabana/cabana.cc
+++ b/openpilot/tools/cabana/cabana.cc
@@ -129,11 +129,10 @@ int parseArgs(int argc, char *argv[], CabanaArgs &args, bool &ok) {
 
 int main(int argc, char *argv[]) {
   QCoreApplication::setApplicationName("Cabana");
-  QCoreApplication::setAttribute(Qt::AA_ShareOpenGLContexts);
   initApp(argc, argv, false);
   QApplication app(argc, argv);
   app.setApplicationDisplayName("Cabana");
-  app.setWindowIcon(QIcon(":cabana-icon.png"));
+  //app.setWindowIcon(QIcon(":cabana-icon.png"));  // TODO: do this in imgui
 
   UnixSignalHandler signalHandler;
   utils::setTheme(settings.theme);
diff --git a/openpilot/tools/cabana/cameraview.cc b/openpilot/tools/cabana/cameraview.cc
index 997bd19198556a..a8df373dc40038 100644
--- a/openpilot/tools/cabana/cameraview.cc
+++ b/openpilot/tools/cabana/cameraview.cc
@@ -1,139 +1,40 @@
 #include "tools/cabana/cameraview.h"
 
-#ifdef __APPLE__
-#include <OpenGL/gl3.h>
-#else
-#include <GLES3/gl3.h>
-#endif
-
+#include <algorithm>
+#include <chrono>
+#include <cmath>
 #include <cstdio>
 
 #include <QApplication>
+#include <QPainter>
 
-namespace {
-
-const char frame_vertex_shader[] =
-#ifdef __APPLE__
-  "#version 330 core\n"
-#else
-  "#version 300 es\n"
-#endif
-  "layout(location = 0) in vec4 aPosition;\n"
-  "layout(location = 1) in vec2 aTexCoord;\n"
-  "uniform mat4 uTransform;\n"
-  "out vec2 vTexCoord;\n"
-  "void main() {\n"
-  "  gl_Position = uTransform * aPosition;\n"
-  "  vTexCoord = aTexCoord;\n"
-  "}\n";
-
-const char frame_fragment_shader[] =
-#ifdef __APPLE__
-  "#version 330 core\n"
-#else
-  "#version 300 es\n"
-  "precision mediump float;\n"
-#endif
-  "uniform sampler2D uTextureY;\n"
-  "uniform sampler2D uTextureUV;\n"
-  "in vec2 vTexCoord;\n"
-  "out vec4 colorOut;\n"
-  "void main() {\n"
-  "  float y = texture(uTextureY, vTexCoord).r;\n"
-  "  vec2 uv = texture(uTextureUV, vTexCoord).rg - 0.5;\n"
-  "  float r = y + 1.402 * uv.y;\n"
-  "  float g = y - 0.344 * uv.x - 0.714 * uv.y;\n"
-  "  float b = y + 1.772 * uv.x;\n"
-  "  colorOut = vec4(r, g, b, 1.0);\n"
-  "}\n";
-
-} // namespace
+#include "common/yuv.h"
 
 CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, QWidget* parent) :
-                          stream_name(stream_name), active_stream_type(type), requested_stream_type(type), QOpenGLWidget(parent) {
+                          stream_name(stream_name), active_stream_type(type), requested_stream_type(type), QWidget(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
   qRegisterMetaType<std::set<VisionStreamType>>("availableStreams");
-  QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection);
   QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection);
   QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection);
   QObject::connect(QApplication::instance(), &QCoreApplication::aboutToQuit, this, &CameraWidget::stopVipcThread);
 }
 
 CameraWidget::~CameraWidget() {
-  makeCurrent();
   stopVipcThread();
-  if (isValid()) {
-    glDeleteVertexArrays(1, &frame_vao);
-    glDeleteBuffers(1, &frame_vbo);
-    glDeleteBuffers(1, &frame_ibo);
-    glDeleteTextures(2, textures);
-    shader_program_.reset();
-  }
-  doneCurrent();
-}
-
-void CameraWidget::initializeGL() {
-  initializeOpenGLFunctions();
-
-  shader_program_ = std::make_unique<QOpenGLShaderProgram>(context());
-  shader_program_->addShaderFromSourceCode(QOpenGLShader::Vertex, frame_vertex_shader);
-  shader_program_->addShaderFromSourceCode(QOpenGLShader::Fragment, frame_fragment_shader);
-  shader_program_->link();
-
-  GLint frame_pos_loc = shader_program_->attributeLocation("aPosition");
-  GLint frame_texcoord_loc = shader_program_->attributeLocation("aTexCoord");
-
-  auto [x1, x2, y1, y2] = requested_stream_type == VISION_STREAM_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f);
-  const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3};
-  const float frame_coords[4][4] = {
-    {-1.0, -1.0, x2, y1}, // bl
-    {-1.0,  1.0, x2, y2}, // tl
-    { 1.0,  1.0, x1, y2}, // tr
-    { 1.0, -1.0, x1, y1}, // br
-  };
-
-  glGenVertexArrays(1, &frame_vao);
-  glBindVertexArray(frame_vao);
-  glGenBuffers(1, &frame_vbo);
-  glBindBuffer(GL_ARRAY_BUFFER, frame_vbo);
-  glBufferData(GL_ARRAY_BUFFER, sizeof(frame_coords), frame_coords, GL_STATIC_DRAW);
-  glEnableVertexAttribArray(frame_pos_loc);
-  glVertexAttribPointer(frame_pos_loc, 2, GL_FLOAT, GL_FALSE,
-                        sizeof(frame_coords[0]), (const void *)0);
-  glEnableVertexAttribArray(frame_texcoord_loc);
-  glVertexAttribPointer(frame_texcoord_loc, 2, GL_FLOAT, GL_FALSE,
-                        sizeof(frame_coords[0]), (const void *)(sizeof(float) * 2));
-  glGenBuffers(1, &frame_ibo);
-  glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, frame_ibo);
-  glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(frame_indicies), frame_indicies, GL_STATIC_DRAW);
-  glBindBuffer(GL_ARRAY_BUFFER, 0);
-  glBindVertexArray(0);
-
-  glGenTextures(2, textures);
-
-  shader_program_->bind();
-  shader_program_->setUniformValue("uTextureY", 0);
-  shader_program_->setUniformValue("uTextureUV", 1);
-  shader_program_->release();
 }
 
 void CameraWidget::showEvent(QShowEvent *event) {
-  if (!vipc_thread) {
+  if (!vipc_thread.joinable()) {
     clearFrames();
-    vipc_thread = new QThread();
-    connect(vipc_thread, &QThread::started, [=]() { vipcThread(); });
-    connect(vipc_thread, &QThread::finished, vipc_thread, &QObject::deleteLater);
-    vipc_thread->start();
+    vipc_exit = false;
+    vipc_thread = std::thread(&CameraWidget::vipcThread, this);
   }
 }
 
 void CameraWidget::stopVipcThread() {
-  makeCurrent();
-  if (vipc_thread) {
-    vipc_thread->requestInterruption();
-    vipc_thread->quit();
-    vipc_thread->wait();
-    vipc_thread = nullptr;
+  vipc_exit = true;
+  if (vipc_thread.joinable()) {
+    vipc_thread.join();
   }
 }
 
@@ -141,74 +42,29 @@ void CameraWidget::availableStreamsUpdated(std::set<VisionStreamType> streams) {
   available_streams = streams;
 }
 
-void CameraWidget::paintGL() {
-  glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
-  glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
+void CameraWidget::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.fillRect(rect(), bg);
 
   std::lock_guard lk(frame_lock);
-  if (!current_frame_) return;
+  if (rgb_frame.isNull()) return;
 
   // Scale for aspect ratio
   float widget_ratio = (float)width() / height();
-  float frame_ratio = (float)stream_width / stream_height;
-  float scale_x = std::min(frame_ratio / widget_ratio, 1.0f);
-  float scale_y = std::min(widget_ratio / frame_ratio, 1.0f);
-
-  glViewport(0, 0, width() * devicePixelRatio(), height() * devicePixelRatio());
-
-  shader_program_->bind();
-  QMatrix4x4 transform;
-  transform.scale(scale_x, scale_y, 1.0f);
-  shader_program_->setUniformValue("uTransform", transform);
-
-  glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
-
-  glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride);
-  glActiveTexture(GL_TEXTURE0);
-  glBindTexture(GL_TEXTURE_2D, textures[0]);
-  glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width, stream_height, GL_RED, GL_UNSIGNED_BYTE, current_frame_->y);
-
-  glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride/2);
-  glActiveTexture(GL_TEXTURE1);
-  glBindTexture(GL_TEXTURE_2D, textures[1]);
-  glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width/2, stream_height/2, GL_RG, GL_UNSIGNED_BYTE, current_frame_->uv);
-
-  glBindVertexArray(frame_vao);
-  glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, nullptr);
-  glBindVertexArray(0);
-
-  // Reset both texture units
-  glActiveTexture(GL_TEXTURE1);
-  glBindTexture(GL_TEXTURE_2D, 0);
-  glActiveTexture(GL_TEXTURE0);
-  glBindTexture(GL_TEXTURE_2D, 0);
-  glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
-  glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
-
-  shader_program_->release();
-}
-
-void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) {
-  makeCurrent();
-  stream_width = vipc_client->buffers[0].width;
-  stream_height = vipc_client->buffers[0].height;
-  stream_stride = vipc_client->buffers[0].stride;
-
-  glBindTexture(GL_TEXTURE_2D, textures[0]);
-  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
-  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-  glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
-  glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
-  glTexImage2D(GL_TEXTURE_2D, 0, GL_R8, stream_width, stream_height, 0, GL_RED, GL_UNSIGNED_BYTE, nullptr);
-  assert(glGetError() == GL_NO_ERROR);
-
-  glBindTexture(GL_TEXTURE_2D, textures[1]);
-  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
-  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-  glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
-  glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
-  glTexImage2D(GL_TEXTURE_2D, 0, GL_RG8, stream_width/2, stream_height/2, 0, GL_RG, GL_UNSIGNED_BYTE, nullptr);
-  assert(glGetError() == GL_NO_ERROR);
+  float frame_ratio = (float)rgb_frame.width() / rgb_frame.height();
+  int w = std::lround(width() * std::min(frame_ratio / widget_ratio, 1.0f));
+  int h = std::lround(height() * std::min(widget_ratio / frame_ratio, 1.0f));
+  QRect video_rect((width() - w) / 2, (height() - h) / 2, w, h);
+
+  p.setRenderHint(QPainter::SmoothPixmapTransform);
+  if (active_stream_type == VISION_STREAM_DRIVER) {
+    // mirror driver camera horizontally
+    const qreal cx = video_rect.x() + video_rect.width() / 2.0;
+    p.translate(cx, 0);
+    p.scale(-1, 1);
+    p.translate(-cx, 0);
+  }
+  p.drawImage(video_rect, rgb_frame);
 }
 
 void CameraWidget::vipcFrameReceived() {
@@ -220,7 +76,7 @@ void CameraWidget::vipcThread() {
   std::unique_ptr<VisionIpcClient> vipc_client;
   VisionIpcBufExtra frame_meta = {};
 
-  while (!QThread::currentThread()->isInterruptionRequested()) {
+  while (!vipc_exit) {
     if (!vipc_client || cur_stream != requested_stream_type) {
       clearFrames();
       fprintf(stderr, "connecting to stream %d, was connected to %d\n",
@@ -234,23 +90,27 @@ void CameraWidget::vipcThread() {
       clearFrames();
       auto streams = VisionIpcClient::getAvailableStreams(stream_name, false);
       if (streams.empty()) {
-        QThread::msleep(100);
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
         continue;
       }
       emit vipcAvailableStreamsUpdated(streams);
 
       if (!vipc_client->connect(false)) {
-        QThread::msleep(100);
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
         continue;
       }
-      emit vipcThreadConnected(vipc_client.get());
     }
 
     if (VisionBuf *buf = vipc_client->recv(&frame_meta, 100)) {
+      // NV12 -> RGBA once per frame on the receive thread; paint just draws the image
+      if (rgb_back.width() != (int)buf->width || rgb_back.height() != (int)buf->height) {
+        rgb_back = QImage(buf->width, buf->height, QImage::Format_RGBA8888);
+      }
+      yuv::nv12_to_rgba(buf->y, buf->stride, buf->uv, buf->stride,
+                        rgb_back.bits(), rgb_back.bytesPerLine(), buf->width, buf->height);
       {
         std::lock_guard lk(frame_lock);
-        current_frame_ = buf;
-        frame_meta_ = frame_meta;
+        rgb_frame.swap(rgb_back);
       }
       emit vipcThreadFrameReceived();
     }
@@ -259,6 +119,7 @@ void CameraWidget::vipcThread() {
 
 void CameraWidget::clearFrames() {
   std::lock_guard lk(frame_lock);
-  current_frame_ = nullptr;
+  rgb_frame = QImage();
+  rgb_back = QImage();
   available_streams.clear();
 }
diff --git a/openpilot/tools/cabana/cameraview.h b/openpilot/tools/cabana/cameraview.h
index 930b13d82ca29c..40d3776005eda6 100644
--- a/openpilot/tools/cabana/cameraview.h
+++ b/openpilot/tools/cabana/cameraview.h
@@ -1,23 +1,21 @@
 #pragma once
 
-#include <memory>
+#include <atomic>
 #include <mutex>
 #include <set>
 #include <string>
+#include <thread>
 #include <utility>
 
-#include <QOpenGLFunctions>
-#include <QOpenGLShaderProgram>
-#include <QOpenGLWidget>
-#include <QThread>
+#include <QImage>
+#include <QWidget>
 
 #include "msgq/visionipc/visionipc_client.h"
 
-class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions {
+class CameraWidget : public QWidget {
   Q_OBJECT
 
 public:
-  using QOpenGLWidget::QOpenGLWidget;
   explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, QWidget* parent = nullptr);
   ~CameraWidget();
   void setStreamType(VisionStreamType type) { requested_stream_type = type; }
@@ -26,37 +24,30 @@ class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions {
 
 signals:
   void clicked();
-  void vipcThreadConnected(VisionIpcClient *);
   void vipcThreadFrameReceived();
   void vipcAvailableStreamsUpdated(std::set<VisionStreamType>);
 
 protected:
-  void paintGL() override;
-  void initializeGL() override;
+  void paintEvent(QPaintEvent *event) override;
   void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override { stopVipcThread(); }
   void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
   void vipcThread();
   void clearFrames();
 
-  GLuint frame_vao, frame_vbo, frame_ibo;
-  GLuint textures[2];
-  std::unique_ptr<QOpenGLShaderProgram> shader_program_;
   QColor bg = Qt::black;
+  QImage rgb_frame;   // written by vipc thread, drawn by GUI thread; guarded by frame_lock
+  QImage rgb_back;    // vipc thread only
 
   std::string stream_name;
-  int stream_width = 0;
-  int stream_height = 0;
-  int stream_stride = 0;
   std::atomic<VisionStreamType> active_stream_type;
   std::atomic<VisionStreamType> requested_stream_type;
   std::set<VisionStreamType> available_streams;
-  QThread *vipc_thread = nullptr;
-  std::recursive_mutex frame_lock;
-  VisionBuf* current_frame_ = nullptr;
-  VisionIpcBufExtra frame_meta_ = {};
+  std::thread vipc_thread;
+  std::atomic<bool> vipc_exit = false;
+  std::mutex frame_lock;
 
 protected slots:
-  void vipcConnected(VisionIpcClient *vipc_client);
   void vipcFrameReceived();
   void availableStreamsUpdated(std::set<VisionStreamType> streams);
 };
diff --git a/openpilot/tools/cabana/chart/chart.cc b/openpilot/tools/cabana/chart/chart.cc
index 0ce5d051b32b59..8496c269946d00 100644
--- a/openpilot/tools/cabana/chart/chart.cc
+++ b/openpilot/tools/cabana/chart/chart.cc
@@ -6,50 +6,37 @@
 #include <random>
 
 #include <QActionGroup>
-#include <QApplication>
-#include <QDrag>
-#include <QGraphicsLayout>
-#include <QGraphicsItemGroup>
-#include <QMimeData>
-#include <QOpenGLWidget>
-#include <QRubberBand>
-#include <QScreen>
-#include <QWindow>
+#include <QContextMenuEvent>
+#include <QMouseEvent>
+#include <QPainterPath>
 
 #include "tools/cabana/chart/chartswidget.h"
 
-// ChartAxisElement's padding is 4 (https://codebrowser.dev/qt5/qtcharts/src/charts/axis/chartaxiselement_p.h.html)
 const int AXIS_X_TOP_MARGIN = 4;
-const double MIN_ZOOM_SECONDS = 0.01; // 10ms
+const int X_TICK_COUNT = 5;
+const double MIN_ZOOM_SECONDS = 0.01;  // 10ms
 // Define a small value of epsilon to compare double values
 const float EPSILON = 0.000001;
 static inline bool xLessThan(const QPointF &p, float x) { return p.x() < (x - EPSILON); }
 
+static QMargins layoutMargins(const QStyle *style) {
+  return {
+    style->pixelMetric(QStyle::PM_LayoutLeftMargin),
+    style->pixelMetric(QStyle::PM_LayoutTopMargin),
+    style->pixelMetric(QStyle::PM_LayoutRightMargin),
+    style->pixelMetric(QStyle::PM_LayoutBottomMargin),
+  };
+}
+
 ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent)
-    : charts_widget(parent), QChartView(parent) {
+    : x_min(x_range.first), x_max(x_range.second), charts_widget(parent), QWidget(parent) {
   series_type = (SeriesType)settings.chart_series_type;
-  chart()->setBackgroundVisible(false);
-  axis_x = new QValueAxis(this);
-  axis_y = new QValueAxis(this);
-  chart()->addAxis(axis_x, Qt::AlignBottom);
-  chart()->addAxis(axis_y, Qt::AlignLeft);
-  chart()->legend()->layout()->setContentsMargins(0, 0, 0, 0);
-  chart()->legend()->setShowToolTips(true);
-  chart()->setMargins({0, 0, 0, 0});
-
-  axis_x->setRange(x_range.first, x_range.second);
-
+  align_to = 50;
+  setMouseTracking(true);
   tip_label = new TipLabel(this);
   createToolButtons();
-  setRubberBand(QChartView::HorizontalRubberBand);
-  setMouseTracking(true);
-  setTheme(utils::isDarkTheme() ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight);
   signal_value_font.setPointSize(9);
 
-  QObject::connect(axis_y, &QValueAxis::rangeChanged, this, &ChartView::resetChartCache);
-  QObject::connect(axis_y, &QAbstractAxis::titleTextChanged, this, &ChartView::resetChartCache);
-  QObject::connect(window()->windowHandle(), &QWindow::screenChanged, this, &ChartView::resetChartCache);
-
   QObject::connect(dbcNotifier(), &QtDBCNotifier::signalRemoved, this, &ChartView::signalRemoved);
   QObject::connect(dbcNotifier(), &QtDBCNotifier::signalUpdated, this, &ChartView::signalUpdated);
   QObject::connect(dbcNotifier(), &QtDBCNotifier::msgRemoved, this, &ChartView::msgRemoved);
@@ -57,13 +44,7 @@ ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *par
 }
 
 void ChartView::createToolButtons() {
-  move_icon = new QGraphicsPixmapItem(utils::icon("grip-horizontal"), chart());
-  move_icon->setToolTip(tr("Drag and drop to move chart"));
-
-  QToolButton *remove_btn = new ToolButton("x", tr("Remove Chart"));
-  close_btn_proxy = new QGraphicsProxyWidget(chart());
-  close_btn_proxy->setWidget(remove_btn);
-  close_btn_proxy->setZValue(chart()->zValue() + 11);
+  close_btn = new ToolButton("x", tr("Remove Chart"), this);
 
   menu = new QMenu(this);
   // series types
@@ -81,17 +62,14 @@ void ChartView::createToolButtons() {
   menu->addAction(tr("Manage Signals"), this, &ChartView::manageSignals);
   split_chart_act = menu->addAction(tr("Split Chart"), [this]() { charts_widget->splitChart(this); });
 
-  QToolButton *manage_btn = new ToolButton("list", "");
+  manage_btn = new ToolButton("list", "", this);
   manage_btn->setMenu(menu);
   manage_btn->setPopupMode(QToolButton::InstantPopup);
   manage_btn->setStyleSheet("QToolButton::menu-indicator { image: none; }");
-  manage_btn_proxy = new QGraphicsProxyWidget(chart());
-  manage_btn_proxy->setWidget(manage_btn);
-  manage_btn_proxy->setZValue(chart()->zValue() + 11);
 
   close_act = new QAction(tr("Close"), this);
   QObject::connect(close_act, &QAction::triggered, [this] () { charts_widget->removeChart(this); });
-  QObject::connect(remove_btn, &QToolButton::clicked, close_act, &QAction::triggered);
+  QObject::connect(close_btn, &QToolButton::clicked, close_act, &QAction::triggered);
   QObject::connect(change_series_group, &QActionGroup::triggered, [this](QAction *action) {
     setSeriesType((SeriesType)action->data().toInt());
   });
@@ -101,29 +79,11 @@ QSize ChartView::sizeHint() const {
   return {CHART_MIN_WIDTH, settings.chart_height};
 }
 
-void ChartView::setTheme(QChart::ChartTheme theme) {
-  chart()->setTheme(theme);
-  if (theme == QChart::ChartThemeDark) {
-    axis_x->setTitleBrush(palette().text());
-    axis_x->setLabelsBrush(palette().text());
-    axis_y->setTitleBrush(palette().text());
-    axis_y->setLabelsBrush(palette().text());
-    chart()->legend()->setLabelColor(palette().color(QPalette::Text));
-  }
-  axis_x->setLineVisible(false);
-  axis_y->setLineVisible(false);
-  for (auto &s : sigs) {
-    s.series->setColor(toQColor(s.sig->color));
-  }
-}
-
 void ChartView::addSignal(const MessageId &msg_id, const cabana::Signal *sig) {
   if (hasSignal(msg_id, sig)) return;
 
-  QXYSeries *series = createSeries(series_type, toQColor(sig->color));
-  sigs.push_back({.msg_id = msg_id, .sig = sig, .series = series});
+  sigs.push_back({.msg_id = msg_id, .sig = sig, .color = uniqueColor(toQColor(sig->color))});
   updateSeries(sig);
-  updateSeriesPoints();
   updateTitle();
   emit charts_widget->seriesChanged();
 }
@@ -134,29 +94,21 @@ bool ChartView::hasSignal(const MessageId &msg_id, const cabana::Signal *sig) co
 
 void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {
   int prev_size = sigs.size();
-  for (auto it = sigs.begin(); it != sigs.end(); /**/) {
-    if (predicate(*it)) {
-      chart()->removeSeries(it->series);
-      it->series->deleteLater();
-      it = sigs.erase(it);
-    } else {
-      ++it;
-    }
-  }
+  sigs.erase(std::remove_if(sigs.begin(), sigs.end(), predicate), sigs.end());
   if (sigs.empty()) {
     charts_widget->removeChart(this);
   } else if (sigs.size() != prev_size) {
     emit charts_widget->seriesChanged();
     updateAxisY();
-    resetChartCache();
+    updateTitle();
   }
 }
 
 void ChartView::signalUpdated(const cabana::Signal *sig) {
   auto it = std::find_if(sigs.begin(), sigs.end(), [sig](auto &s) { return s.sig == sig; });
   if (it != sigs.end()) {
-    if (it->series->color() != toQColor(sig->color)) {
-      setSeriesColor(it->series, toQColor(sig->color));
+    if (it->color != toQColor(sig->color)) {
+      it->color = uniqueColor(toQColor(sig->color), sig);
     }
     updateTitle();
     updateSeries(sig);
@@ -186,98 +138,75 @@ void ChartView::manageSignals() {
 }
 
 void ChartView::resizeEvent(QResizeEvent *event) {
-  qreal left, top, right, bottom;
-  chart()->layout()->getContentsMargins(&left, &top, &right, &bottom);
-  move_icon->setPos(left, top);
-  close_btn_proxy->setPos(rect().right() - right - close_btn_proxy->size().width(), top);
-  int x = close_btn_proxy->pos().x() - manage_btn_proxy->size().width() - style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing);
-  manage_btn_proxy->setPos(x, top);
-  if (align_to > 0) {
-    updatePlotArea(align_to, true);
-  }
-  QChartView::resizeEvent(event);
+  QWidget::resizeEvent(event);
+  const auto margins = layoutMargins(style());
+  QPixmap grip = utils::icon("grip-horizontal");
+  move_icon_rect = QRect(QPoint(margins.left(), margins.top()), grip.size() / grip.devicePixelRatio());
+  close_btn->resize(close_btn->sizeHint());
+  manage_btn->resize(manage_btn->sizeHint());
+  close_btn->move(rect().right() - margins.right() - close_btn->width(), margins.top());
+  manage_btn->move(close_btn->x() - manage_btn->width() - style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing), margins.top());
+  updatePlotArea(align_to, true);
 }
 
 void ChartView::updatePlotArea(int left_pos, bool force) {
   if (align_to != left_pos || force) {
     align_to = left_pos;
 
-    qreal left, top, right, bottom;
-    chart()->layout()->getContentsMargins(&left, &top, &right, &bottom);
-    QSizeF legend_size = chart()->legend()->layout()->minimumSize();
-    legend_size.setWidth(manage_btn_proxy->sceneBoundingRect().left() - move_icon->sceneBoundingRect().right());
-    chart()->legend()->setGeometry({move_icon->sceneBoundingRect().topRight(), legend_size});
+    const auto margins = layoutMargins(style());
+    QFont bold_font = font();
+    bold_font.setBold(true);
+    QFontMetrics fm(font()), bfm(bold_font);
+    const int marker_size = fm.height() - 4;
+    const int row_height = std::max(marker_size, fm.height()) + QFontMetrics(signal_value_font).height() + 3;
+    const int legend_left = move_icon_rect.right() + margins.left();
+    const int legend_right = std::max(manage_btn->x() - margins.right(), legend_left + 10);
+
+    // layout legend entries left-to-right, wrapping between the move icon and the buttons
+    legend_rects.clear();
+    int x = legend_left, y = margins.top();
+    for (auto &s : sigs) {
+      int w = marker_size + 5 + bfm.horizontalAdvance(QString::fromStdString(s.sig->name)) +
+              fm.horizontalAdvance(QString::fromStdString(" " + msgName(s.msg_id) + " " + s.msg_id.toString()));
+      w = std::min(w, legend_right - legend_left);  // keep oversized entries clear of the header buttons
+      if (x + w > legend_right && x > legend_left) {
+        x = legend_left;
+        y += row_height;
+      }
+      legend_rects.emplace_back(x, y, w, std::max(marker_size, fm.height()));
+      x += w + 12;
+    }
 
-    // add top space for signal value
-    int adjust_top = chart()->legend()->geometry().height() + QFontMetrics(signal_value_font).height() + 3;
-    adjust_top = std::max<int>(adjust_top, manage_btn_proxy->sceneBoundingRect().height() + style()->pixelMetric(QStyle::PM_LayoutTopMargin));
+    // add top space for the legend and signal values
+    int adjust_top = (y + row_height) - margins.top();
+    adjust_top = std::max(adjust_top, manage_btn->geometry().bottom() + style()->pixelMetric(QStyle::PM_LayoutTopMargin));
     // add right space for x-axis label
-    QSizeF x_label_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, QString::number(axis_x->max(), 'f', 2));
-    x_label_size += QSizeF{5, 5};
-    chart()->setPlotArea(rect().adjusted(align_to + left, adjust_top + top, -x_label_size.width() / 2 - right, -x_label_size.height() - bottom));
-    chart()->layout()->invalidate();
+    QSizeF x_label_size = fm.size(Qt::TextSingleLine, QString::number(x_max, 'f', xAxisPrecision())) + QSizeF{5, 5};
+    plot_area = rect().adjusted(align_to + margins.left(), adjust_top + margins.top(),
+                                -x_label_size.width() / 2 - margins.right(),
+                                -x_label_size.height() - margins.bottom());
     resetChartCache();
   }
 }
 
 void ChartView::updateTitle() {
-  for (QLegendMarker *marker : chart()->legend()->markers()) {
-    QObject::connect(marker, &QLegendMarker::clicked, this, &ChartView::handleMarkerClicked, Qt::UniqueConnection);
-  }
-
-  // Use CSS to draw titles in the WindowText color
-  auto tmp = palette().color(QPalette::WindowText);
-  auto titleColorCss = tmp.name(QColor::HexArgb);
-  // Draw message details in similar color, but slightly fade it to the background
-  tmp.setAlpha(180);
-  auto msgColorCss = tmp.name(QColor::HexArgb);
-
-  for (auto &s : sigs) {
-    auto decoration = s.series->isVisible() ? "none" : "line-through";
-    s.series->setName(QString("<span style=\"text-decoration:%1; color:%2\"><b>%3</b> <font color=\"%4\">%5 %6</font></span>")
-                      .arg(decoration, titleColorCss, QString::fromStdString(s.sig->name),
-                           msgColorCss, QString::fromStdString(msgName(s.msg_id)), QString::fromStdString(s.msg_id.toString())));
-  }
   split_chart_act->setEnabled(sigs.size() > 1);
-  resetChartCache();
+  updatePlotArea(align_to, true);
 }
 
 void ChartView::updatePlot(double cur, double min, double max) {
   cur_sec = cur;
-  if (min != axis_x->min() || max != axis_x->max()) {
-    axis_x->setRange(min, max);
+  if (min != x_min || max != x_max) {
+    x_min = min;
+    x_max = max;
     updateAxisY();
-    updateSeriesPoints();
     // update tooltip
     if (tooltip_x >= 0) {
-      showTip(chart()->mapToValue({tooltip_x, 0}).x());
+      showTip(secondsAtPoint({tooltip_x, 0}));
     }
     resetChartCache();
   }
-  viewport()->update();
-}
-
-void ChartView::updateSeriesPoints() {
-  // Show points when zoomed in enough
-  for (auto &s : sigs) {
-    auto begin = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan);
-    auto end = std::lower_bound(begin, s.vals.cend(), axis_x->max(), xLessThan);
-    if (begin != end) {
-      int num_points = std::max<int>((end - begin), 1);
-      QPointF right_pt = end == s.vals.cend() ? s.vals.back() : *end;
-      double pixels_per_point = (chart()->mapToPosition(right_pt).x() - chart()->mapToPosition(*begin).x()) / num_points;
-
-      if (series_type == SeriesType::Scatter) {
-        qreal size = std::clamp(pixels_per_point / 2.0, 2.0, 8.0);
-        if (s.series->useOpenGL()) {
-          size *= devicePixelRatioF();
-        }
-        ((QScatterSeries *)s.series)->setMarkerSize(size);
-      } else {
-        s.series->setPointsVisible(num_points == 1 || pixels_per_point > 20);
-      }
-    }
-  }
+  update();
 }
 
 void ChartView::appendCanEvents(const cabana::Signal *sig, const std::vector<const CanEvent *> &events,
@@ -322,8 +251,6 @@ void ChartView::updateSeries(const cabana::Signal *sig, const MessageEventsMap *
       if (!can->liveStreaming()) {
         s.segment_tree.build(s.vals);
       }
-      const auto &points = series_type == SeriesType::StepLine ? s.step_vals : s.vals;
-      s.series->replace(QVector<QPointF>(points.cbegin(), points.cend()));
     }
   }
   updateAxisY();
@@ -340,15 +267,15 @@ void ChartView::updateAxisY() {
   QString unit = QString::fromStdString(sigs[0].sig->unit);
 
   for (auto &s : sigs) {
-    if (!s.series->isVisible()) continue;
+    if (!s.visible) continue;
 
     // Only show unit when all signals have the same unit
     if (unit != QString::fromStdString(s.sig->unit)) {
       unit.clear();
     }
 
-    auto first = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan);
-    auto last = std::lower_bound(first, s.vals.cend(), axis_x->max(), xLessThan);
+    auto first = std::lower_bound(s.vals.cbegin(), s.vals.cend(), x_min, xLessThan);
+    auto last = std::lower_bound(first, s.vals.cend(), x_max, xLessThan);
     s.min = std::numeric_limits<double>::max();
     s.max = std::numeric_limits<double>::lowest();
     if (can->liveStreaming()) {
@@ -365,28 +292,28 @@ void ChartView::updateAxisY() {
   if (min == std::numeric_limits<double>::max()) min = 0;
   if (max == std::numeric_limits<double>::lowest()) max = 0;
 
-  if (axis_y->titleText() != unit) {
-    axis_y->setTitleText(unit);
+  if (y_unit != unit) {
+    y_unit = unit;
     y_label_width = 0;  // recalc width
   }
 
   double delta = std::abs(max - min) < 1e-3 ? 1 : (max - min) * 0.05;
   auto [min_y, max_y, tick_count] = getNiceAxisNumbers(min - delta, max + delta, 3);
-  if (min_y != axis_y->min() || max_y != axis_y->max() || y_label_width == 0) {
-    axis_y->setRange(min_y, max_y);
-    axis_y->setTickCount(tick_count);
+  if (min_y != y_min || max_y != y_max || y_label_width == 0) {
+    y_min = min_y;
+    y_max = max_y;
+    y_tick_count = tick_count;
+    y_precision = std::max(int(-std::floor(std::log10((max_y - min_y) / (tick_count - 1)))), 0);
 
-    int n = std::max(int(-std::floor(std::log10((max_y - min_y) / (tick_count - 1)))), 0);
+    QFontMetrics fm(font());
     int max_label_width = 0;
-    QFontMetrics fm(axis_y->labelsFont());
     for (int i = 0; i < tick_count; i++) {
       qreal value = min_y + (i * (max_y - min_y) / (tick_count - 1));
-      max_label_width = std::max(max_label_width, fm.horizontalAdvance(QString::number(value, 'f', n)));
+      max_label_width = std::max(max_label_width, fm.horizontalAdvance(QString::number(value, 'f', y_precision)));
     }
 
-    int title_spacing = unit.isEmpty() ? 0 : QFontMetrics(axis_y->titleFont()).size(Qt::TextSingleLine, unit).height();
+    int title_spacing = y_unit.isEmpty() ? 0 : fm.size(Qt::TextSingleLine, y_unit).height();
     y_label_width = title_spacing + max_label_width + 15;
-    axis_y->setLabelFormat(QString("%.%1f").arg(n));
     emit axisYLabelWidthChanged(y_label_width);
   }
 }
@@ -400,6 +327,10 @@ std::tuple<double, double, int> ChartView::getNiceAxisNumbers(qreal min, qreal m
   return {min * step, max * step, tick_count};
 }
 
+int ChartView::xAxisPrecision() const {
+  return std::max(int(-std::floor(std::log10((x_max - x_min) / (X_TICK_COUNT - 1)))), 2);
+}
+
 // nice numbers can be expressed as form of 1*10^n, 2* 10^n or 5*10^n
 qreal ChartView::niceNumber(qreal x, bool ceiling) {
   qreal z = std::pow(10, std::floor(std::log10(x))); //find corresponding number of the form of 10^n than is smaller than x
@@ -430,344 +361,394 @@ void ChartView::contextMenuEvent(QContextMenuEvent *event) {
 }
 
 void ChartView::mousePressEvent(QMouseEvent *event) {
-  if (event->button() == Qt::LeftButton && move_icon->sceneBoundingRect().contains(event->pos())) {
-    QMimeData *mimeData = new QMimeData;
-    mimeData->setData(CHART_MIME_TYPE, QByteArray::number((qulonglong)this));
-    QPixmap px = grab().scaledToWidth(CHART_MIN_WIDTH * viewport()->devicePixelRatio(), Qt::SmoothTransformation);
-    charts_widget->stopAutoScroll();
-    QDrag *drag = new QDrag(this);
-    drag->setMimeData(mimeData);
-    drag->setPixmap(px);
-    drag->setHotSpot(-QPoint(5, 5));
-    drag->exec(Qt::CopyAction | Qt::MoveAction, Qt::MoveAction);
-  } else if (event->button() == Qt::LeftButton && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) {
+  press_pos = event->pos();
+  if (event->button() == Qt::LeftButton && move_icon_rect.contains(event->pos())) {
+    charts_widget->startChartDrag(this, event->globalPos());
+  } else if (event->button() == Qt::LeftButton && event->modifiers().testFlag(Qt::ShiftModifier)) {
     // Save current playback state when scrubbing
     resume_after_scrub = !can->isPaused();
     if (resume_after_scrub) {
       can->pause(true);
     }
-    is_scrubbing = true;
-  } else {
-    QChartView::mousePressEvent(event);
-  }
-}
-
-void ChartView::mouseReleaseEvent(QMouseEvent *event) {
-  auto rubber = findChild<QRubberBand *>();
-  if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) {
-    rubber->hide();
-    auto rect = rubber->geometry().normalized();
-    // Prevent zooming/seeking past the end of the route
-    double min = std::clamp(chart()->mapToValue(rect.topLeft()).x(), can->minSeconds(), can->maxSeconds());
-    double max = std::clamp(chart()->mapToValue(rect.bottomRight()).x(), can->minSeconds(), can->maxSeconds());
-    if (rubber->width() <= 0) {
-      // no rubber dragged, seek to mouse position
-      can->seekTo(min);
-    } else if (rubber->width() > 10 && (max - min) > MIN_ZOOM_SECONDS) {
-      charts_widget->zoom_undo_stack->push(new ZoomCommand({min, max}));
-    } else {
-      viewport()->update();
-    }
-    event->accept();
-  } else if (event->button() == Qt::RightButton) {
-    charts_widget->zoom_undo_stack->undo();
-    event->accept();
+    mouse_mode = MouseMode::Scrub;
+  } else if (event->button() == Qt::LeftButton && plot_area.contains(event->pos())) {
+    mouse_mode = MouseMode::Rubber;
+    rubber_rect = QRect();
   } else {
-    QGraphicsView::mouseReleaseEvent(event);
-  }
-
-  // Resume playback if we were scrubbing
-  is_scrubbing = false;
-  if (resume_after_scrub) {
-    can->pause(false);
-    resume_after_scrub = false;
+    QWidget::mousePressEvent(event);
   }
 }
 
 void ChartView::mouseMoveEvent(QMouseEvent *ev) {
-  const auto plot_area = chart()->plotArea();
   // Scrubbing
-  if (is_scrubbing && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) {
+  if (mouse_mode == MouseMode::Scrub && ev->modifiers().testFlag(Qt::ShiftModifier)) {
     if (plot_area.contains(ev->pos())) {
-      can->seekTo(std::clamp(chart()->mapToValue(ev->pos()).x(), can->minSeconds(), can->maxSeconds()));
+      can->seekTo(std::clamp(secondsAtPoint(ev->pos()), can->minSeconds(), can->maxSeconds()));
     }
   }
 
-  auto rubber = findChild<QRubberBand *>();
-  bool is_zooming = rubber && rubber->isVisible();
-  clearTrackPoints();
+  if (mouse_mode == MouseMode::Rubber) {
+    // horizontal selection, clamped to the plot area
+    int left = std::clamp(std::min(press_pos.x(), ev->pos().x()), plot_area.left(), plot_area.right());
+    int right = std::clamp(std::max(press_pos.x(), ev->pos().x()), plot_area.left(), plot_area.right());
+    rubber_rect = QRect(left, plot_area.top(), right - left, plot_area.height());
+    update();
+  }
 
-  if (!is_zooming && plot_area.contains(ev->pos()) && isActiveWindow()) {
+  clearTrackPoints();
+  if (mouse_mode != MouseMode::Rubber && plot_area.contains(ev->pos()) && isActiveWindow()) {
     charts_widget->showValueTip(secondsAtPoint(ev->pos()));
   } else if (tip_label->isVisible()) {
     charts_widget->showValueTip(-1);
   }
+  QWidget::mouseMoveEvent(ev);
+}
+
+void ChartView::mouseReleaseEvent(QMouseEvent *event) {
+  if (event->button() == Qt::LeftButton && mouse_mode == MouseMode::Rubber) {
+    mouse_mode = MouseMode::None;
+    // Prevent zooming/seeking past the end of the route
+    double min = std::clamp(secondsAtPoint(rubber_rect.topLeft()), can->minSeconds(), can->maxSeconds());
+    double max = std::clamp(secondsAtPoint(rubber_rect.bottomRight()), can->minSeconds(), can->maxSeconds());
+    if (rubber_rect.width() <= 0) {
+      // no rubber dragged, seek to mouse position
+      can->seekTo(std::clamp(secondsAtPoint(press_pos), can->minSeconds(), can->maxSeconds()));
+    } else if (rubber_rect.width() > 10 && (max - min) > MIN_ZOOM_SECONDS) {
+      charts_widget->zoom_undo_stack.push(new ZoomCommand({min, max}));
+    }
+    rubber_rect = QRect();
+    update();
+  } else if (event->button() == Qt::LeftButton && mouse_mode == MouseMode::None && sigs.size() > 1) {
+    // toggle series visibility by clicking its legend entry
+    for (int i = 0; i < sigs.size() && i < legend_rects.size(); ++i) {
+      if (legend_rects[i].contains(press_pos) && legend_rects[i].contains(event->pos())) {
+        sigs[i].visible = !sigs[i].visible;
+        updateAxisY();
+        updateTitle();
+        break;
+      }
+    }
+  } else if (event->button() == Qt::RightButton) {
+    charts_widget->zoom_undo_stack.undo();
+  } else {
+    QWidget::mouseReleaseEvent(event);
+  }
 
-  QChartView::mouseMoveEvent(ev);
-  if (is_zooming) {
-    QRect rubber_rect = rubber->geometry();
-    rubber_rect.setLeft(std::max(rubber_rect.left(), (int)plot_area.left()));
-    rubber_rect.setRight(std::min(rubber_rect.right(), (int)plot_area.right()));
-    if (rubber_rect != rubber->geometry()) {
-      rubber->setGeometry(rubber_rect);
+  // Resume playback if we were scrubbing
+  if (mouse_mode == MouseMode::Scrub) {
+    mouse_mode = MouseMode::None;
+    if (resume_after_scrub) {
+      can->pause(false);
+      resume_after_scrub = false;
     }
-    viewport()->update();
   }
 }
 
+void ChartView::takeSignalsFrom(ChartView *source) {
+  for (auto &s : source->sigs) {
+    sigs.push_back(std::move(s));
+    sigs.back().color = uniqueColor(sigs.back().color, sigs.back().sig);
+  }
+  source->sigs.clear();
+  updateAxisY();
+  updateTitle();
+  charts_widget->removeChart(source);
+}
+
 void ChartView::showTip(double sec) {
-  QRect tip_area(0, chart()->plotArea().top(), rect().width(), chart()->plotArea().height());
+  QRect tip_area(0, plot_area.top(), rect().width(), plot_area.height());
   QRect visible_rect = charts_widget->chartVisibleRect(this).intersected(tip_area);
   if (visible_rect.isEmpty()) {
     tip_label->hide();
     return;
   }
 
-  tooltip_x = chart()->mapToPosition({sec, 0}).x();
+  tooltip_x = xPos(sec);
   qreal x = -1;
   QStringList text_list;
   for (auto &s : sigs) {
-    if (s.series->isVisible()) {
+    if (s.visible) {
       QString value = "--";
       // use reverse iterator to find last item <= sec.
       auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), sec, [](auto &p, double v) { return p.x() > v; });
-      if (it != s.vals.crend() && it->x() >= axis_x->min()) {
+      if (it != s.vals.crend() && it->x() >= x_min) {
         value = QString::fromStdString(s.sig->formatValue(it->y(), false));
         s.track_pt = *it;
-        x = std::max(x, chart()->mapToPosition(*it).x());
+        x = std::max(x, xPos(it->x()));
       }
       QString name = sigs.size() > 1 ? QString::fromStdString(s.sig->name) + ": " : "";
       QString min = s.min == std::numeric_limits<double>::max() ? "--" : QString::number(s.min);
       QString max = s.max == std::numeric_limits<double>::lowest() ? "--" : QString::number(s.max);
       text_list << QString("<span style=\"color:%1;\">â–  </span>%2<b>%3</b> (%4, %5)")
-                       .arg(s.series->color().name(), name, value, min, max);
+                       .arg(s.color.name(), name, value, min, max);
     }
   }
   if (x < 0) {
     x = tooltip_x;
   }
-  QPoint pt(x, chart()->plotArea().top());
-  text_list.push_front(QString::number(chart()->mapToValue({x, 0}).x(), 'f', 3));
+  QPoint pt(x, plot_area.top());
+  text_list.push_front(QString::number(secondsAtPoint({x, 0}), 'f', 3));
   QString text = "<p style='white-space:pre'>" % text_list.join("<br />") % "</p>";
   tip_label->showText(pt, text, this, visible_rect);
-  viewport()->update();
+  update();
 }
 
 void ChartView::hideTip() {
   clearTrackPoints();
   tooltip_x = -1;
   tip_label->hide();
-  viewport()->update();
-}
-
-void ChartView::dragEnterEvent(QDragEnterEvent *event) {
-  if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
-    drawDropIndicator(event->source() != this);
-    event->acceptProposedAction();
-  }
-}
-
-void ChartView::dragMoveEvent(QDragMoveEvent *event) {
-  if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
-    event->setDropAction(event->source() == this ? Qt::MoveAction : Qt::CopyAction);
-    event->accept();
-  }
-  charts_widget->startAutoScroll();
-}
-
-void ChartView::dropEvent(QDropEvent *event) {
-  if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
-    if (event->source() != this) {
-      ChartView *source_chart = (ChartView *)event->source();
-      for (auto &s : source_chart->sigs) {
-        source_chart->chart()->removeSeries(s.series);
-        addSeries(s.series);
-      }
-      sigs.insert(sigs.end(), std::move_iterator(source_chart->sigs.begin()), std::move_iterator(source_chart->sigs.end()));
-      updateAxisY();
-      updateTitle();
-
-      source_chart->sigs.clear();
-      charts_widget->removeChart(source_chart);
-      event->acceptProposedAction();
-    }
-    can_drop = false;
-  }
+  update();
 }
 
 void ChartView::resetChartCache() {
   chart_pixmap = QPixmap();
-  viewport()->update();
+  update();
 }
 
 void ChartView::paintEvent(QPaintEvent *event) {
-  if (!can->liveStreaming()) {
-    if (chart_pixmap.isNull()) {
-      const qreal dpr = viewport()->devicePixelRatioF();
-      chart_pixmap = QPixmap(viewport()->size() * dpr);
-      chart_pixmap.setDevicePixelRatio(dpr);
-      QPainter p(&chart_pixmap);
-      p.setRenderHints(QPainter::Antialiasing);
-      drawBackground(&p, viewport()->rect());
-      scene()->setSceneRect(viewport()->rect());
-      scene()->render(&p, viewport()->rect());
+  QPainter painter(this);
+  painter.setRenderHints(QPainter::Antialiasing);
+
+  // the static layer is invalidated on x-range change and data merge, so cache it in live mode too
+  const qreal dpr = devicePixelRatioF();
+  if (chart_pixmap.isNull() || chart_pixmap.size() != size() * dpr) {
+    chart_pixmap = QPixmap(size() * dpr);
+    chart_pixmap.setDevicePixelRatio(dpr);
+    QPainter p(&chart_pixmap);
+    p.setRenderHints(QPainter::Antialiasing);
+    p.setFont(font());
+    drawStaticLayer(&p);
+  }
+  painter.drawPixmap(QPoint(), chart_pixmap);
+
+  if (can_drop) {
+    painter.setPen(QPen(palette().color(QPalette::Highlight), 4));
+    painter.drawRect(rect());
+  }
+  drawForeground(&painter);
+}
+
+void ChartView::drawStaticLayer(QPainter *painter) {
+  painter->fillRect(rect(), palette().color(QPalette::Base));
+  painter->drawPixmap(move_icon_rect.topLeft(), utils::icon("grip-horizontal"));
+  drawAxes(painter);
+  drawLegend(painter);
+  drawSeries(painter);
+}
+
+void ChartView::drawAxes(QPainter *painter) {
+  const QColor text_color = palette().color(QPalette::Text);
+  QColor grid_color = text_color;
+  grid_color.setAlpha(50);
+  QFontMetrics fm(font());
+  painter->setFont(font());
+
+  // y grid lines and tick labels
+  for (int i = 0; i < y_tick_count; ++i) {
+    double value = y_min + i * (y_max - y_min) / (y_tick_count - 1);
+    qreal y = yPos(value);
+    painter->setPen(grid_color);
+    painter->drawLine(QPointF(plot_area.left(), y), QPointF(plot_area.right(), y));
+    painter->setPen(text_color);
+    QRectF label_rect(0, y - fm.height() / 2.0, plot_area.left() - 6, fm.height());
+    painter->drawText(label_rect, Qt::AlignRight | Qt::AlignVCenter, QString::number(value, 'f', y_precision));
+  }
+
+  // rotated y axis title (unit)
+  if (!y_unit.isEmpty()) {
+    painter->save();
+    painter->translate(plot_area.left() - y_label_width + fm.height() / 2.0, plot_area.center().y());
+    painter->rotate(-90);
+    painter->drawText(QRectF(-plot_area.height() / 2.0, -fm.height() / 2.0, plot_area.height(), fm.height()),
+                      Qt::AlignCenter, y_unit);
+    painter->restore();
+  }
+
+  // x grid lines and tick labels
+  const int x_precision = xAxisPrecision();
+  for (int i = 0; i < X_TICK_COUNT; ++i) {
+    double sec = x_min + i * (x_max - x_min) / (X_TICK_COUNT - 1);
+    qreal x = xPos(sec);
+    painter->setPen(grid_color);
+    painter->drawLine(QPointF(x, plot_area.top()), QPointF(x, plot_area.bottom()));
+    painter->setPen(text_color);
+    QString label = QString::number(sec, 'f', x_precision);
+    QRectF label_rect(x - 100, plot_area.bottom() + AXIS_X_TOP_MARGIN, 200, fm.height());
+    painter->drawText(label_rect, Qt::AlignHCenter | Qt::AlignTop, label);
+  }
+}
+
+void ChartView::drawLegend(QPainter *painter) {
+  QColor title_color = palette().color(QPalette::WindowText);
+  // Draw message details in similar color, but slightly fade it to the background
+  QColor msg_color = title_color;
+  msg_color.setAlpha(180);
+  QFont bold_font = font();
+  bold_font.setBold(true);
+  const int marker_size = QFontMetrics(font()).height() - 4;
+
+  for (int i = 0; i < sigs.size() && i < legend_rects.size(); ++i) {
+    const auto &s = sigs[i];
+    const QRect &r = legend_rects[i];
+    painter->setPen(Qt::NoPen);
+    painter->setBrush(s.color);
+    QRectF marker_rect(r.left(), r.center().y() - marker_size / 2.0, marker_size, marker_size);
+    series_type == SeriesType::Scatter ? painter->drawEllipse(marker_rect) : painter->drawRect(marker_rect);
+
+    bold_font.setStrikeOut(!s.visible);
+    QFont normal_font = font();
+    normal_font.setStrikeOut(!s.visible);
+
+    qreal x = r.left() + marker_size + 5;
+    painter->setFont(bold_font);
+    painter->setPen(title_color);
+    QString name = QFontMetrics(bold_font).elidedText(QString::fromStdString(s.sig->name), Qt::ElideRight, r.right() - x);
+    painter->drawText(QRectF(x, r.top(), r.right() - x, r.height()), Qt::AlignLeft | Qt::AlignVCenter, name);
+    x += QFontMetrics(bold_font).horizontalAdvance(name);
+    painter->setFont(normal_font);
+    painter->setPen(msg_color);
+    QString msg = QFontMetrics(normal_font).elidedText(QString::fromStdString(" " + msgName(s.msg_id) + " " + s.msg_id.toString()),
+                                                       Qt::ElideRight, r.right() - x);
+    painter->drawText(QRectF(x, r.top(), r.right() - x, r.height()), Qt::AlignLeft | Qt::AlignVCenter, msg);
+  }
+}
+
+void ChartView::drawSeries(QPainter *painter) {
+  painter->save();
+  painter->setClipRect(plot_area);
+  for (auto &s : sigs) {
+    if (!s.visible) continue;
+
+    // visible points in vals to compute point density
+    auto first = std::lower_bound(s.vals.cbegin(), s.vals.cend(), x_min, xLessThan);
+    auto last = std::lower_bound(first, s.vals.cend(), x_max, xLessThan);
+    int num_points = std::max<int>(last - first, 1);
+    double pixels_per_point = 0;
+    if (first != last) {
+      const QPointF &right_pt = last == s.vals.cend() ? s.vals.back() : *last;
+      pixels_per_point = (xPos(right_pt.x()) - xPos(first->x())) / num_points;
     }
 
-    QPainter painter(viewport());
-    painter.setRenderHints(QPainter::Antialiasing);
-    painter.drawPixmap(QPoint(), chart_pixmap);
-    if (can_drop) {
-      painter.setPen(QPen(palette().color(QPalette::Highlight), 4));
-      painter.drawRect(viewport()->rect());
+    if (series_type == SeriesType::Scatter) {
+      qreal radius = std::clamp(pixels_per_point / 2.0, 2.0, 8.0) / 2.0;
+      painter->setPen(Qt::NoPen);
+      painter->setBrush(s.color);
+      for (auto it = first; it != last; ++it) {
+        painter->drawEllipse(QPointF(xPos(it->x()), yPos(it->y())), radius, radius);
+      }
+    } else {
+      const auto &points = series_type == SeriesType::StepLine ? s.step_vals : s.vals;
+      auto begin = std::lower_bound(points.cbegin(), points.cend(), x_min, xLessThan);
+      if (begin != points.cbegin()) --begin;
+      auto end = std::lower_bound(begin, points.cend(), x_max, xLessThan);
+      if (end != points.cend()) ++end;
+      if (begin == end) continue;
+
+      std::vector<QPointF> polyline;
+      polyline.reserve(end - begin);
+      for (auto it = begin; it != end; ++it) {
+        polyline.emplace_back(xPos(it->x()), yPos(it->y()));
+      }
+      painter->setPen(QPen(s.color, 2));
+      painter->setBrush(Qt::NoBrush);
+      painter->drawPolyline(polyline.data(), polyline.size());
+
+      // show points when zoomed in enough
+      if (num_points == 1 || pixels_per_point > 20) {
+        painter->setPen(Qt::NoPen);
+        painter->setBrush(s.color);
+        for (auto it = first; it != last; ++it) {
+          painter->drawEllipse(QPointF(xPos(it->x()), yPos(it->y())), 4, 4);
+        }
+      }
     }
-    QRectF exposed_rect = mapToScene(event->region().boundingRect()).boundingRect();
-    drawForeground(&painter, exposed_rect);
-  } else {
-    QChartView::paintEvent(event);
   }
+  painter->restore();
 }
 
-void ChartView::drawBackground(QPainter *painter, const QRectF &rect) {
-  painter->fillRect(rect, palette().color(QPalette::Base));
-}
-
-void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
+void ChartView::drawForeground(QPainter *painter) {
   drawTimeline(painter);
   drawSignalValue(painter);
   // draw track points
   painter->setPen(Qt::NoPen);
   qreal track_line_x = -1;
   for (auto &s : sigs) {
-    if (!s.track_pt.isNull() && s.series->isVisible()) {
-      painter->setBrush(s.series->color().darker(125));
-      QPointF pos = chart()->mapToPosition(s.track_pt);
+    if (!s.track_pt.isNull() && s.visible) {
+      painter->setBrush(s.color.darker(125));
+      QPointF pos(xPos(s.track_pt.x()), yPos(s.track_pt.y()));
       painter->drawEllipse(pos, 5.5, 5.5);
       track_line_x = std::max(track_line_x, pos.x());
     }
   }
   if (track_line_x > 0) {
-    auto plot_area = chart()->plotArea();
     painter->setPen(QPen(Qt::darkGray, 1, Qt::DashLine));
-    painter->drawLine(QPointF{track_line_x, plot_area.top()}, QPointF{track_line_x, plot_area.bottom()});
-  }
-
-  // paint points. OpenGL mode lacks certain features (such as showing points)
-  painter->setPen(Qt::NoPen);
-  for (auto &s : sigs) {
-    if (s.series->useOpenGL() && s.series->isVisible() && s.series->pointsVisible()) {
-      auto first = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan);
-      auto last = std::lower_bound(first, s.vals.cend(), axis_x->max(), xLessThan);
-      painter->setBrush(s.series->color());
-      for (auto it = first; it != last; ++it) {
-        painter->drawEllipse(chart()->mapToPosition(*it), 4, 4);
-      }
-    }
+    painter->drawLine(QPointF{track_line_x, (qreal)plot_area.top()}, QPointF{track_line_x, (qreal)plot_area.bottom()});
   }
 
   drawRubberBandTimeRange(painter);
 }
 
 void ChartView::drawRubberBandTimeRange(QPainter *painter) {
-  auto rubber = findChild<QRubberBand *>();
-  if (rubber && rubber->isVisible() && rubber->width() > 1) {
-    painter->setPen(Qt::white);
-    auto rubber_rect = rubber->geometry().normalized();
-    for (const auto &pt : {rubber_rect.bottomLeft(), rubber_rect.bottomRight()}) {
-      QString sec = QString::number(chart()->mapToValue(pt).x(), 'f', 2);
-      auto r = painter->fontMetrics().boundingRect(sec).adjusted(-6, -AXIS_X_TOP_MARGIN, 6, AXIS_X_TOP_MARGIN);
-      pt == rubber_rect.bottomLeft() ? r.moveTopRight(pt + QPoint{0, 2}) : r.moveTopLeft(pt + QPoint{0, 2});
-      painter->fillRect(r, Qt::gray);
-      painter->drawText(r, Qt::AlignCenter, sec);
-    }
+  if (rubber_rect.width() <= 1) return;
+
+  // selection rect
+  QColor highlight = palette().color(QPalette::Highlight);
+  QColor fill = highlight;
+  fill.setAlpha(50);
+  painter->fillRect(rubber_rect, fill);
+  painter->setPen(highlight);
+  painter->setBrush(Qt::NoBrush);
+  painter->drawRect(rubber_rect);
+
+  // time labels at the bottom corners
+  painter->setPen(Qt::white);
+  painter->setFont(font());
+  for (const auto &pt : {rubber_rect.bottomLeft(), rubber_rect.bottomRight()}) {
+    QString sec = QString::number(secondsAtPoint(pt), 'f', 2);
+    auto r = painter->fontMetrics().boundingRect(sec).adjusted(-6, -AXIS_X_TOP_MARGIN, 6, AXIS_X_TOP_MARGIN);
+    pt == rubber_rect.bottomLeft() ? r.moveTopRight(pt + QPoint{0, 2}) : r.moveTopLeft(pt + QPoint{0, 2});
+    painter->fillRect(r, Qt::gray);
+    painter->drawText(r, Qt::AlignCenter, sec);
   }
 }
 
 void ChartView::drawTimeline(QPainter *painter) {
-  const auto plot_area = chart()->plotArea();
   // draw vertical time line
-  qreal x = std::clamp(chart()->mapToPosition(QPointF{cur_sec, 0}).x(), plot_area.left(), plot_area.right());
-  painter->setPen(QPen(chart()->titleBrush().color(), 1));
-  painter->drawLine(QPointF{x, plot_area.top() - 1}, QPointF{x, plot_area.bottom() + 1});
+  qreal x = std::clamp(xPos(cur_sec), (qreal)plot_area.left(), (qreal)plot_area.right());
+  painter->setPen(QPen(palette().color(QPalette::Text), 1));
+  painter->drawLine(QPointF{x, plot_area.top() - 1.0}, QPointF{x, plot_area.bottom() + 1.0});
 
   // draw current time under the axis-x
   QString time_str = QString::number(cur_sec, 'f', 2);
-  QSize time_str_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, time_str) + QSize(8, 2);
+  QSize time_str_size = QFontMetrics(font()).size(Qt::TextSingleLine, time_str) + QSize(8, 2);
   QRectF time_str_rect(QPointF(x - time_str_size.width() / 2.0, plot_area.bottom() + AXIS_X_TOP_MARGIN), time_str_size);
   QPainterPath path;
   path.addRoundedRect(time_str_rect, 3, 3);
   painter->fillPath(path, utils::isDarkTheme() ? Qt::darkGray : Qt::gray);
   painter->setPen(palette().color(QPalette::BrightText));
-  painter->setFont(axis_x->labelsFont());
+  painter->setFont(font());
   painter->drawText(time_str_rect, Qt::AlignCenter, time_str);
 }
 
 void ChartView::drawSignalValue(QPainter *painter) {
-  auto item_group = qgraphicsitem_cast<QGraphicsItemGroup *>(chart()->legend()->childItems()[0]);
-  assert(item_group != nullptr);
-  auto legend_markers = item_group->childItems();
-  assert(legend_markers.size() == sigs.size());
-
   painter->setFont(signal_value_font);
-  painter->setPen(chart()->legend()->labelColor());
-  int i = 0;
-  for (auto &s : sigs) {
+  painter->setPen(palette().color(QPalette::Text));
+  for (int i = 0; i < sigs.size() && i < legend_rects.size(); ++i) {
+    const auto &s = sigs[i];
     auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec,
                                [](auto &p, double x) { return p.x() > x + EPSILON; });
-    QString value = (it != s.vals.crend() && it->x() >= axis_x->min()) ? QString::fromStdString(s.sig->formatValue(it->y())) : "--";
-    QRectF marker_rect = legend_markers[i++]->sceneBoundingRect();
-    QRectF value_rect(marker_rect.bottomLeft() - QPoint(0, 1), marker_rect.size());
+    QString value = (it != s.vals.crend() && it->x() >= x_min) ? QString::fromStdString(s.sig->formatValue(it->y())) : "--";
+    QRectF value_rect(legend_rects[i].bottomLeft() - QPoint(0, 1), legend_rects[i].size());
     QString elided_val = painter->fontMetrics().elidedText(value, Qt::ElideRight, value_rect.width());
     painter->drawText(value_rect, Qt::AlignHCenter | Qt::AlignTop, elided_val);
   }
 }
 
-QXYSeries *ChartView::createSeries(SeriesType type, QColor color) {
-  QXYSeries *series = nullptr;
-  if (type == SeriesType::Line) {
-    series = new QLineSeries(this);
-    chart()->legend()->setMarkerShape(QLegend::MarkerShapeRectangle);
-  } else if (type == SeriesType::StepLine) {
-    series = new QLineSeries(this);
-    chart()->legend()->setMarkerShape(QLegend::MarkerShapeFromSeries);
-  } else {
-    series = new QScatterSeries(this);
-    static_cast<QScatterSeries*>(series)->setBorderColor(color);
-    chart()->legend()->setMarkerShape(QLegend::MarkerShapeCircle);
-  }
-  series->setColor(color);
-  // TODO: Due to a bug in CameraWidget the camera frames
-  // are drawn instead of the graphs on MacOS. Re-enable OpenGL when fixed
-#ifndef __APPLE__
-  series->setUseOpenGL(true);
-  // Qt doesn't properly apply device pixel ratio in OpenGL mode
-  QPen pen = series->pen();
-  pen.setWidthF(2.0 * devicePixelRatioF());
-  series->setPen(pen);
-#endif
-  addSeries(series);
-  return series;
-}
-
-void ChartView::addSeries(QXYSeries *series) {
-  setSeriesColor(series, series->color());
-  chart()->addSeries(series);
-  series->attachAxis(axis_x);
-  series->attachAxis(axis_y);
-
-  // disables the delivery of mouse events to the opengl widget.
-  // this enables the user to select the zoom area when the mouse press on the data point.
-  auto glwidget = findChild<QOpenGLWidget *>();
-  if (glwidget && !glwidget->testAttribute(Qt::WA_TransparentForMouseEvents)) {
-    glwidget->setAttribute(Qt::WA_TransparentForMouseEvents);
-  }
-}
-
-void ChartView::setSeriesColor(QXYSeries *series, QColor color) {
-  auto existing_series = chart()->series();
-  for (auto s : existing_series) {
-    if (s != series && std::abs(color.hueF() - qobject_cast<QXYSeries *>(s)->color().hueF()) < 0.1) {
+QColor ChartView::uniqueColor(QColor color, const cabana::Signal *exclude) const {
+  for (auto &s : sigs) {
+    if (s.sig != exclude && std::abs(color.hueF() - s.color.hueF()) < 0.1) {
       // use different color to distinguish it from others.
-      auto last_color = qobject_cast<QXYSeries *>(existing_series.back())->color();
+      auto last_color = sigs.back().color;
       static thread_local std::mt19937 rng{std::random_device{}()};
       std::uniform_int_distribution<int> sat(35, 99);
       std::uniform_int_distribution<int> val(85, 99);
@@ -777,36 +758,13 @@ void ChartView::setSeriesColor(QXYSeries *series, QColor color) {
       break;
     }
   }
-  series->setColor(color);
+  return color;
 }
 
 void ChartView::setSeriesType(SeriesType type) {
   if (type != series_type) {
     series_type = type;
-    for (auto &s : sigs) {
-      chart()->removeSeries(s.series);
-      s.series->deleteLater();
-    }
-    for (auto &s : sigs) {
-      s.series = createSeries(series_type, toQColor(s.sig->color));
-      const auto &points = series_type == SeriesType::StepLine ? s.step_vals : s.vals;
-      s.series->replace(QVector<QPointF>(points.cbegin(), points.cend()));
-    }
-    updateSeriesPoints();
-    updateTitle();
-
     menu->actions()[(int)type]->setChecked(true);
-  }
-}
-
-void ChartView::handleMarkerClicked() {
-  auto marker = qobject_cast<QLegendMarker *>(sender());
-  Q_ASSERT(marker);
-  if (sigs.size() > 1) {
-    auto series = marker->series();
-    series->setVisible(!series->isVisible());
-    marker->setVisible(true);
-    updateAxisY();
     updateTitle();
   }
 }
diff --git a/openpilot/tools/cabana/chart/chart.h b/openpilot/tools/cabana/chart/chart.h
index ae050269bff69c..b03623475a3497 100644
--- a/openpilot/tools/cabana/chart/chart.h
+++ b/openpilot/tools/cabana/chart/chart.h
@@ -1,18 +1,11 @@
 #pragma once
 
+#include <functional>
 #include <tuple>
 #include <utility>
 #include <vector>
 
 #include <QMenu>
-#include <QGraphicsPixmapItem>
-#include <QGraphicsProxyWidget>
-#include <QtCharts/QChartView>
-#include <QtCharts/QLegendMarker>
-#include <QtCharts/QLineSeries>
-#include <QtCharts/QScatterSeries>
-#include <QtCharts/QValueAxis>
-using namespace QtCharts;
 
 #include "tools/cabana/chart/tiplabel.h"
 #include "tools/cabana/dbc/dbcmanager.h"
@@ -25,7 +18,7 @@ enum class SeriesType {
 };
 
 class ChartsWidget;
-class ChartView : public QChartView {
+class ChartView : public QWidget {
   Q_OBJECT
 
 public:
@@ -38,12 +31,15 @@ class ChartView : public QChartView {
   void updatePlotArea(int left, bool force = false);
   void showTip(double sec);
   void hideTip();
-  double secondsAtPoint(const QPointF &pt) const { return chart()->mapToValue(pt).x(); }
+  double secondsAtPoint(const QPointF &pt) const {
+    return x_min + (pt.x() - plot_area.left()) * (x_max - x_min) / std::max(plot_area.width(), 1);
+  }
 
   struct SigItem {
     MessageId msg_id;
     const cabana::Signal *sig = nullptr;
-    QXYSeries *series = nullptr;
+    QColor color;
+    bool visible = true;
     std::vector<QPointF> vals;
     std::vector<QPointF> step_vals;
     QPointF track_pt{};
@@ -58,7 +54,6 @@ class ChartView : public QChartView {
 private slots:
   void signalUpdated(const cabana::Signal *sig);
   void manageSignals();
-  void handleMarkerClicked();
   void msgUpdated(MessageId id);
   void msgRemoved(MessageId id) { removeIf([=](auto &s) { return s.msg_id.address == id.address && !dbc()->msg(id); }); }
   void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); }
@@ -67,52 +62,65 @@ private slots:
   void appendCanEvents(const cabana::Signal *sig, const std::vector<const CanEvent *> &events,
                        std::vector<QPointF> &vals, std::vector<QPointF> &step_vals);
   void createToolButtons();
-  void addSeries(QXYSeries *series);
   void contextMenuEvent(QContextMenuEvent *event) override;
   void mousePressEvent(QMouseEvent *event) override;
+  void mouseMoveEvent(QMouseEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override;
-  void mouseMoveEvent(QMouseEvent *ev) override;
-  void dragEnterEvent(QDragEnterEvent *event) override;
-  void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator(false); }
-  void dragMoveEvent(QDragMoveEvent *event) override;
-  void dropEvent(QDropEvent *event) override;
   void resizeEvent(QResizeEvent *event) override;
   QSize sizeHint() const override;
   void updateAxisY();
   void updateTitle();
   void resetChartCache();
-  void setTheme(QChart::ChartTheme theme);
   void paintEvent(QPaintEvent *event) override;
-  void drawForeground(QPainter *painter, const QRectF &rect) override;
-  void drawBackground(QPainter *painter, const QRectF &rect) override;
-  void drawDropIndicator(bool draw) { if (std::exchange(can_drop, draw) != can_drop) viewport()->update(); }
+  void drawStaticLayer(QPainter *painter);
+  void drawAxes(QPainter *painter);
+  void drawLegend(QPainter *painter);
+  void drawSeries(QPainter *painter);
+  void drawForeground(QPainter *painter);
   void drawSignalValue(QPainter *painter);
   void drawTimeline(QPainter *painter);
   void drawRubberBandTimeRange(QPainter *painter);
+  int xAxisPrecision() const;
   std::tuple<double, double, int> getNiceAxisNumbers(qreal min, qreal max, int tick_count);
   qreal niceNumber(qreal x, bool ceiling);
-  QXYSeries *createSeries(SeriesType type, QColor color);
-  void setSeriesColor(QXYSeries *, QColor color);
-  void updateSeriesPoints();
+  QColor uniqueColor(QColor color, const cabana::Signal *exclude = nullptr) const;
   void removeIf(std::function<bool(const SigItem &)> predicate);
+  void takeSignalsFrom(ChartView *source);
+  void setDropHighlight(bool highlight) { if (std::exchange(can_drop, highlight) != highlight) update(); }
   inline void clearTrackPoints() { for (auto &s : sigs) s.track_pt = {}; }
+  inline qreal xPos(double sec) const { return plot_area.left() + (sec - x_min) / (x_max - x_min) * plot_area.width(); }
+  inline qreal yPos(double val) const { return plot_area.bottom() - (val - y_min) / (y_max - y_min) * plot_area.height(); }
 
+  // layout
+  QRect plot_area;
+  QRect move_icon_rect;
+  std::vector<QRect> legend_rects;
+  // axes
+  double x_min;
+  double x_max;
+  double y_min = 0;
+  double y_max = 1;
+  int y_tick_count = 3;
+  int y_precision = 0;
+  QString y_unit;
   int y_label_width = 0;
   int align_to = 0;
-  QValueAxis *axis_x;
-  QValueAxis *axis_y;
+  // interaction
+  enum class MouseMode { None, Rubber, Scrub };
+  MouseMode mouse_mode = MouseMode::None;
+  QPoint press_pos;
+  QRect rubber_rect;
+  bool resume_after_scrub = false;
+
   QMenu *menu;
   QAction *split_chart_act;
   QAction *close_act;
-  QGraphicsPixmapItem *move_icon;
-  QGraphicsProxyWidget *close_btn_proxy;
-  QGraphicsProxyWidget *manage_btn_proxy;
+  ToolButton *manage_btn;
+  ToolButton *close_btn;
   TipLabel *tip_label;
   std::vector<SigItem> sigs;
   double cur_sec = 0;
   SeriesType series_type = SeriesType::Line;
-  bool is_scrubbing = false;
-  bool resume_after_scrub = false;
   QPixmap chart_pixmap;
   bool can_drop = false;
   double tooltip_x = -1;
diff --git a/openpilot/tools/cabana/chart/chartswidget.cc b/openpilot/tools/cabana/chart/chartswidget.cc
index 93d85709963051..3144c5132d727d 100644
--- a/openpilot/tools/cabana/chart/chartswidget.cc
+++ b/openpilot/tools/cabana/chart/chartswidget.cc
@@ -6,7 +6,7 @@
 
 #include <QApplication>
 #include <QMenu>
-#include <QMimeData>
+#include <QMouseEvent>
 #include <QScrollBar>
 #include <QToolBar>
 
@@ -72,11 +72,14 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   range_slider_action = toolbar->addWidget(range_slider);
 
   // zoom controls
-  zoom_undo_stack = new QUndoStack(this);
-  toolbar->addAction(undo_zoom_action = zoom_undo_stack->createUndoAction(this));
-  undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise"));
-  toolbar->addAction(redo_zoom_action = zoom_undo_stack->createRedoAction(this));
-  redo_zoom_action->setIcon(utils::icon("arrow-clockwise"));
+  undo_zoom_action = toolbar->addAction(utils::icon("arrow-counterclockwise"), tr("Undo Zoom"), [this]() { zoom_undo_stack.undo(); });
+  redo_zoom_action = toolbar->addAction(utils::icon("arrow-clockwise"), tr("Redo Zoom"), [this]() { zoom_undo_stack.redo(); });
+  undo_zoom_action->setEnabled(false);
+  redo_zoom_action->setEnabled(false);
+  zoom_undo_stack.setCallbacks({.index_changed = [this]() {
+    undo_zoom_action->setEnabled(zoom_undo_stack.canUndo());
+    redo_zoom_action->setEnabled(zoom_undo_stack.canRedo());
+  }});
   reset_zoom_action = toolbar->addWidget(reset_zoom_btn = new ToolButton("zoom-out", tr("Reset Zoom")));
   reset_zoom_btn->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
 
@@ -89,8 +92,6 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   tabbar->setAutoHide(true);
   tabbar->setExpanding(false);
   tabbar->setDrawBase(true);
-  tabbar->setAcceptDrops(true);
-  tabbar->setChangeCurrentOnDrag(true);
   tabbar->setUsesScrollButtons(true);
   main_layout->addWidget(tabbar);
 
@@ -105,6 +106,11 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   charts_scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
   main_layout->addWidget(charts_scroll);
 
+  // chart drag preview
+  drag_preview = new QLabel(this);
+  drag_preview->setAttribute(Qt::WA_TransparentForMouseEvents);
+  drag_preview->hide();
+
   // init settings
   current_theme = settings.theme;
   column_count = std::clamp(settings.chart_column_count, 1, MAX_COLUMN_COUNT);
@@ -186,7 +192,7 @@ void ChartsWidget::timeRangeChanged(const std::optional<std::pair<double, double
 
 void ChartsWidget::zoomReset() {
   can->setTimeRange(std::nullopt);
-  zoom_undo_stack->clear();
+  zoom_undo_stack.clear();
 }
 
 QRect ChartsWidget::chartVisibleRect(ChartView *chart) {
@@ -256,10 +262,6 @@ void ChartsWidget::settingChanged() {
   if (std::exchange(current_theme, settings.theme) != current_theme) {
     undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise"));
     redo_zoom_action->setIcon(utils::icon("arrow-clockwise"));
-    auto theme = utils::isDarkTheme() ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight;
-    for (auto c : charts) {
-      c->setTheme(theme);
-    }
   }
   if (range_slider->maximum() != settings.max_cached_minutes * 60) {
     range_slider->setRange(1, settings.max_cached_minutes * 60);
@@ -307,12 +309,8 @@ void ChartsWidget::splitChart(ChartView *src_chart) {
     int pos = std::find(charts.begin(), charts.end(), src_chart) - charts.begin() + 1;
     for (auto it = src_chart->sigs.begin() + 1; it != src_chart->sigs.end(); /**/) {
       auto c = createChart(pos);
-      src_chart->chart()->removeSeries(it->series);
-
       // Restore to the original color
-      it->series->setColor(toQColor(it->sig->color));
-
-      c->addSeries(it->series);
+      it->color = toQColor(it->sig->color);
       c->sigs.emplace_back(std::move(*it));
       c->updateAxisY();
       c->updateTitle();
@@ -320,6 +318,7 @@ void ChartsWidget::splitChart(ChartView *src_chart) {
     }
     src_chart->updateAxisY();
     src_chart->updateTitle();
+    updateState();
     QTimer::singleShot(0, src_chart, &ChartView::resetChartCache);
   }
 }
@@ -390,7 +389,87 @@ void ChartsWidget::updateLayout(bool force) {
   }
 }
 
-void ChartsWidget::startAutoScroll() {
+void ChartsWidget::startChartDrag(ChartView *chart, const QPoint &global_pos) {
+  stopAutoScroll();
+  drag = {.source = chart, .press_pos = global_pos};
+  QPixmap px = chart->grab().scaledToWidth(CHART_MIN_WIDTH * chart->devicePixelRatio(), Qt::SmoothTransformation);
+  drag_preview->setPixmap(px);
+  drag_preview->resize(px.size() / px.devicePixelRatio());
+}
+
+void ChartsWidget::dragChartMove(const QPoint &global_pos) {
+  if (!drag.active) {
+    if ((global_pos - drag.press_pos).manhattanLength() < QApplication::startDragDistance()) return;
+    drag.active = true;
+    drag_preview->show();
+    drag_preview->raise();
+  }
+  drag_preview->move(mapFromGlobal(global_pos) + QPoint(5, 5));
+
+  // hovering a tab switches to it so the chart can be dropped into another tab
+  int tab = tabbar->tabAt(tabbar->mapFromGlobal(global_pos));
+  if (tab >= 0 && tab != tabbar->currentIndex()) {
+    tabbar->setCurrentIndex(tab);
+  }
+
+  const QPoint container_pos = charts_container->mapFromGlobal(global_pos);
+  ChartView *target = nullptr;
+  for (auto c : currentCharts()) {
+    if (c != drag.source && c->isVisible() && c->geometry().contains(container_pos)) {
+      target = c;
+      break;
+    }
+  }
+  if (std::exchange(drop_target, target) != target) {
+    for (auto c : charts) c->setDropHighlight(c == target);
+  }
+  bool in_viewport = charts_scroll->viewport()->rect().contains(charts_scroll->viewport()->mapFromGlobal(global_pos));
+  bool on_background = !target && in_viewport && !charts_container->childAt(container_pos);
+  charts_container->drawDropIndicator(on_background ? container_pos : QPoint());
+
+  if (in_viewport) {
+    startAutoScroll(global_pos);
+  }
+}
+
+void ChartsWidget::cancelChartDrag() {
+  drag = {};
+  stopAutoScroll();
+  drag_preview->hide();
+  charts_container->drawDropIndicator({});
+  if (auto target = std::exchange(drop_target, nullptr)) target->setDropHighlight(false);
+}
+
+void ChartsWidget::dragChartRelease(const QPoint &global_pos) {
+  ChartView *source = drag.source;
+  bool active = drag.active;
+  ChartView *target = drop_target;
+  cancelChartDrag();
+  if (!active) return;
+
+  const QPoint container_pos = charts_container->mapFromGlobal(global_pos);
+  bool in_viewport = charts_scroll->viewport()->rect().contains(charts_scroll->viewport()->mapFromGlobal(global_pos));
+  if (target) {
+    // merge source into target
+    target->takeSignalsFrom(source);
+  } else if (in_viewport && !charts_container->childAt(container_pos)) {
+    // reorder within the current tab
+    auto w = charts_container->getDropAfter(container_pos);
+    if (w != source) {
+      for (auto &[_, list] : tab_charts) {
+        list.erase(std::remove(list.begin(), list.end(), source), list.end());
+      }
+      auto &cur = currentCharts();
+      int to = w ? std::find(cur.begin(), cur.end(), w) - cur.begin() + 1 : 0;
+      cur.insert(cur.begin() + to, source);
+      updateLayout(true);
+      updateTabBar();
+    }
+  }
+}
+
+void ChartsWidget::startAutoScroll(const QPoint &global_pos) {
+  auto_scroll_pos = global_pos;
   auto_scroll_timer->start(50);
 }
 
@@ -406,7 +485,7 @@ void ChartsWidget::doAutoScroll() {
   }
 
   int value = scroll->value();
-  QPoint pos = charts_scroll->viewport()->mapFromGlobal(QCursor::pos());
+  QPoint pos = charts_scroll->viewport()->mapFromGlobal(auto_scroll_pos);
   QRect area = charts_scroll->viewport()->rect();
 
   if (pos.y() - area.top() < settings.chart_height / 2) {
@@ -414,16 +493,11 @@ void ChartsWidget::doAutoScroll() {
   } else if (area.bottom() - pos.y() < settings.chart_height / 2) {
     scroll->setValue(value + auto_scroll_count);
   }
-  bool vertical_unchanged = value == scroll->value();
-  if (vertical_unchanged) {
+  if (value == scroll->value()) {
     stopAutoScroll();
-  } else {
-    // mouseMoveEvent to updates the drag-selection rectangle
-    const QPoint globalPos = charts_scroll->viewport()->mapToGlobal(pos);
-    const QPoint windowPos = charts_scroll->window()->mapFromGlobal(globalPos);
-    QMouseEvent mm(QEvent::MouseMove, pos, windowPos, globalPos,
-                   Qt::NoButton, Qt::LeftButton, Qt::NoModifier, Qt::MouseEventSynthesizedByQt);
-    QApplication::sendEvent(charts_scroll->viewport(), &mm);
+  } else if (chartDragActive()) {
+    // refresh the drop indicator/target at the new scroll position
+    dragChartMove(auto_scroll_pos);
   }
 }
 
@@ -440,11 +514,14 @@ void ChartsWidget::newChart() {
       for (auto it : items) {
         c->addSignal(it->msg_id, it->sig);
       }
+      updateState();
     }
   }
 }
 
 void ChartsWidget::removeChart(ChartView *chart) {
+  if (drag.source == chart) cancelChartDrag();
+  if (drop_target == chart) drop_target = nullptr;
   charts.erase(std::remove(charts.begin(), charts.end(), chart), charts.end());
   chart->deleteLater();
   for (auto &[_, list] : tab_charts) {
@@ -484,6 +561,19 @@ void ChartsWidget::alignCharts() {
 }
 
 bool ChartsWidget::eventFilter(QObject *o, QEvent *e) {
+  // route all mouse events to the chart drag, even when the source chart is hidden by a tab switch
+  if (chartDragActive()) {
+    if (e->type() == QEvent::MouseMove) {
+      dragChartMove(static_cast<QMouseEvent *>(e)->globalPos());
+      return true;
+    } else if (e->type() == QEvent::MouseButtonRelease && static_cast<QMouseEvent *>(e)->button() == Qt::LeftButton) {
+      dragChartRelease(static_cast<QMouseEvent *>(e)->globalPos());
+      return false;  // let the release through so Qt clears the implicit mouse grab
+    } else if (e->type() == QEvent::MouseButtonPress || e->type() == QEvent::MouseButtonRelease) {
+      return true;  // swallow other buttons during the drag
+    }
+  }
+
   if (!value_tip_visible_) return false;
 
   if (e->type() == QEvent::MouseMove) {
@@ -492,7 +582,7 @@ bool ChartsWidget::eventFilter(QObject *o, QEvent *e) {
 
     for (const auto &c : charts) {
       auto local_pos = c->mapFromGlobal(global_pos);
-      if (c->chart()->plotArea().contains(local_pos)) {
+      if (c->plot_area.contains(local_pos)) {
         if (on_tip) {
           showValueTip(c->secondsAtPoint(local_pos));
         }
@@ -524,13 +614,14 @@ bool ChartsWidget::event(QEvent *event) {
       break;
     case QEvent::WindowDeactivate:
     case QEvent::FocusOut:
+      if (chartDragActive()) cancelChartDrag();
       showValueTip(-1);
     default:
       break;
   }
 
   if (back_button) {
-    zoom_undo_stack->undo();
+    zoom_undo_stack.undo();
     return true;  // Return true since the event has been handled
   }
   return QFrame::event(event);
@@ -539,7 +630,6 @@ bool ChartsWidget::event(QEvent *event) {
 // ChartsContainer
 
 ChartsContainer::ChartsContainer(ChartsWidget *parent) : charts_widget(parent), QWidget(parent) {
-  setAcceptDrops(true);
   setBackgroundRole(QPalette::Window);
   QVBoxLayout *charts_main_layout = new QVBoxLayout(this);
   charts_main_layout->setContentsMargins(0, CHART_SPACING, 0, CHART_SPACING);
@@ -549,32 +639,6 @@ ChartsContainer::ChartsContainer(ChartsWidget *parent) : charts_widget(parent),
   charts_main_layout->addStretch(0);
 }
 
-void ChartsContainer::dragEnterEvent(QDragEnterEvent *event) {
-  if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
-    event->acceptProposedAction();
-    drawDropIndicator(event->pos());
-  }
-}
-
-void ChartsContainer::dropEvent(QDropEvent *event) {
-  if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
-    auto w = getDropAfter(event->pos());
-    auto chart = qobject_cast<ChartView *>(event->source());
-    if (w != chart) {
-      for (auto &[_, list] : charts_widget->tab_charts) {
-        list.erase(std::remove(list.begin(), list.end(), chart), list.end());
-      }
-      auto &cur = charts_widget->currentCharts();
-      int to = w ? std::find(cur.begin(), cur.end(), w) - cur.begin() + 1 : 0;
-      cur.insert(cur.begin() + to, chart);
-      charts_widget->updateLayout(true);
-      charts_widget->updateTabBar();
-      event->acceptProposedAction();
-    }
-    drawDropIndicator({});
-  }
-}
-
 void ChartsContainer::paintEvent(QPaintEvent *ev) {
   if (!drop_indictor_pos.isNull() && !childAt(drop_indictor_pos)) {
     QRect r = geometry();
diff --git a/openpilot/tools/cabana/chart/chartswidget.h b/openpilot/tools/cabana/chart/chartswidget.h
index ef3fbc471acbaa..8b3003dcd6d052 100644
--- a/openpilot/tools/cabana/chart/chartswidget.h
+++ b/openpilot/tools/cabana/chart/chartswidget.h
@@ -8,15 +8,13 @@
 #include <QScrollArea>
 #include <QTimer>
 #include <QToolBar>
-#include <QUndoCommand>
-#include <QUndoStack>
 
 #include "tools/cabana/chart/signalselector.h"
+#include "tools/cabana/commands.h"
 #include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/streams/abstractstream.h"
 
 const int CHART_MIN_WIDTH = 300;
-const QString CHART_MIME_TYPE = "application/x-cabanachartview";
 
 class ChartView;
 class ChartsWidget;
@@ -24,9 +22,6 @@ class ChartsWidget;
 class ChartsContainer : public QWidget {
 public:
   ChartsContainer(ChartsWidget *parent);
-  void dragEnterEvent(QDragEnterEvent *event) override;
-  void dropEvent(QDropEvent *event) override;
-  void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator({}); }
   void drawDropIndicator(const QPoint &pt) { drop_indictor_pos = pt; update(); }
   void paintEvent(QPaintEvent *ev) override;
   ChartView *getDropAfter(const QPoint &pos) const;
@@ -69,7 +64,12 @@ public slots:
   void eventsMerged(const MessageEventsMap &new_events);
   void updateState();
   void zoomReset();
-  void startAutoScroll();
+  void startChartDrag(ChartView *chart, const QPoint &global_pos);
+  void dragChartMove(const QPoint &global_pos);
+  void dragChartRelease(const QPoint &global_pos);
+  void cancelChartDrag();
+  bool chartDragActive() const { return drag.source != nullptr; }
+  void startAutoScroll(const QPoint &global_pos);
   void stopAutoScroll();
   void doAutoScroll();
   void updateToolBar();
@@ -97,7 +97,7 @@ public slots:
   QAction *redo_zoom_action;
   QAction *reset_zoom_action;
   ToolButton *reset_zoom_btn;
-  QUndoStack *zoom_undo_stack;
+  UndoStack zoom_undo_stack;
 
   ToolButton *remove_all_btn;
   std::vector<ChartView *> charts;
@@ -110,7 +110,15 @@ public slots:
   QAction *columns_action;
   int column_count = 1;
   int current_column_count = 0;
+  struct ChartDrag {
+    ChartView *source = nullptr;
+    QPoint press_pos;  // global
+    bool active = false;
+  } drag;
+  QLabel *drag_preview;
+  ChartView *drop_target = nullptr;
   int auto_scroll_count = 0;
+  QPoint auto_scroll_pos;
   QTimer *auto_scroll_timer;
   QTimer *align_timer;
   int current_theme = 0;
@@ -119,11 +127,10 @@ public slots:
   friend class ChartsContainer;
 };
 
-class ZoomCommand : public QUndoCommand {
+class ZoomCommand : public UndoCommand {
 public:
-  ZoomCommand(std::pair<double, double> range) : range(range), QUndoCommand() {
+  ZoomCommand(std::pair<double, double> range) : range(range) {
     prev_range = can->timeRange();
-    setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 2).arg(range.second, 0, 'f', 2));
   }
   void undo() override { can->setTimeRange(prev_range); }
   void redo() override { can->setTimeRange(range); }
diff --git a/openpilot/tools/cabana/commands.cc b/openpilot/tools/cabana/commands.cc
index f158528b51efd7..b47bf90b0c1125 100644
--- a/openpilot/tools/cabana/commands.cc
+++ b/openpilot/tools/cabana/commands.cc
@@ -1,20 +1,81 @@
-#include <QApplication>
-
 #include "tools/cabana/commands.h"
 
+#include <cmath>
+
+// UndoStack
+
+void UndoStack::push(UndoCommand *cmd) {
+  commands_.resize(index_);  // drop any redoable commands
+  if (clean_index_ > index_) clean_index_ = -1;
+  commands_.emplace_back(cmd);
+  cmd->redo();
+  setIndex(index_ + 1);
+}
+
+void UndoStack::undo() {
+  if (!canUndo()) return;
+  commands_[index_ - 1]->undo();
+  setIndex(index_ - 1);
+}
+
+void UndoStack::redo() {
+  if (!canRedo()) return;
+  commands_[index_]->redo();
+  setIndex(index_ + 1);
+}
+
+void UndoStack::clear() {
+  bool was_clean = isClean();
+  commands_.clear();
+  index_ = clean_index_ = 0;
+  if (callbacks_.index_changed) callbacks_.index_changed();
+  if (!was_clean && callbacks_.clean_changed) callbacks_.clean_changed(true);
+}
+
+void UndoStack::setClean() {
+  if (!isClean()) {
+    clean_index_ = index_;
+    if (callbacks_.clean_changed) callbacks_.clean_changed(true);
+  }
+}
+
+void UndoStack::setIndex(int index) {
+  bool was_clean = isClean();
+  index_ = index;
+  if (callbacks_.index_changed) callbacks_.index_changed();
+  if (isClean() != was_clean && callbacks_.clean_changed) callbacks_.clean_changed(isClean());
+}
+
+UndoStack *UndoStack::instance() {
+  static UndoStack undo_stack;
+  return &undo_stack;
+}
+
+QtUndoNotifier::QtUndoNotifier(QObject *parent) : QObject(parent) {
+  UndoStack::instance()->setCallbacks({
+    .index_changed = [this]() { emit indexChanged(); },
+    .clean_changed = [this](bool clean) { emit cleanChanged(clean); },
+  });
+}
+
+QtUndoNotifier *undoNotifier() {
+  static QtUndoNotifier notifier;
+  return &notifier;
+}
+
 // EditMsgCommand
 
 EditMsgCommand::EditMsgCommand(const MessageId &id, const std::string &name, int size,
-                               const std::string &node, const std::string &comment, QUndoCommand *parent)
-    : id(id), new_name(name), new_size(size), new_node(node), new_comment(comment), QUndoCommand(parent) {
+                               const std::string &node, const std::string &comment)
+    : id(id), new_name(name), new_size(size), new_node(node), new_comment(comment) {
   if (auto msg = dbc()->msg(id)) {
     old_name = msg->name;
     old_size = msg->size;
     old_node = msg->transmitter;
     old_comment = msg->comment;
-    setText(QObject::tr("edit message %1:%2").arg(QString::fromStdString(name)).arg(id.address));
+    text = "edit message " + name + ":" + std::to_string(id.address);
   } else {
-    setText(QObject::tr("new message %1:%2").arg(QString::fromStdString(name)).arg(id.address));
+    text = "new message " + name + ":" + std::to_string(id.address);
   }
 }
 
@@ -31,10 +92,10 @@ void EditMsgCommand::redo() {
 
 // RemoveMsgCommand
 
-RemoveMsgCommand::RemoveMsgCommand(const MessageId &id, QUndoCommand *parent) : id(id), QUndoCommand(parent) {
+RemoveMsgCommand::RemoveMsgCommand(const MessageId &id) : id(id) {
   if (auto msg = dbc()->msg(id)) {
     message = *msg;
-    setText(QObject::tr("remove message %1:%2").arg(QString::fromStdString(message.name)).arg(id.address));
+    text = "remove message " + message.name + ":" + std::to_string(id.address);
   }
 }
 
@@ -53,9 +114,9 @@ void RemoveMsgCommand::redo() {
 
 // AddSigCommand
 
-AddSigCommand::AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUndoCommand *parent)
-    : id(id), signal(sig), QUndoCommand(parent) {
-  setText(QObject::tr("add signal %1 to %2:%3").arg(QString::fromStdString(sig.name)).arg(QString::fromStdString(msgName(id))).arg(id.address));
+AddSigCommand::AddSigCommand(const MessageId &id, const cabana::Signal &sig)
+    : id(id), signal(sig) {
+  text = "add signal " + sig.name + " to " + msgName(id) + ":" + std::to_string(id.address);
 }
 
 void AddSigCommand::undo() {
@@ -75,8 +136,7 @@ void AddSigCommand::redo() {
 
 // RemoveSigCommand
 
-RemoveSigCommand::RemoveSigCommand(const MessageId &id, const cabana::Signal *sig, QUndoCommand *parent)
-    : id(id), QUndoCommand(parent) {
+RemoveSigCommand::RemoveSigCommand(const MessageId &id, const cabana::Signal *sig) : id(id) {
   sigs.push_back(*sig);
   if (sig->type == cabana::Signal::Type::Multiplexor) {
     for (const auto &s : dbc()->msg(id)->sigs) {
@@ -85,7 +145,7 @@ RemoveSigCommand::RemoveSigCommand(const MessageId &id, const cabana::Signal *si
       }
     }
   }
-  setText(QObject::tr("remove signal %1 from %2:%3").arg(QString::fromStdString(sig->name)).arg(QString::fromStdString(msgName(id))).arg(id.address));
+  text = "remove signal " + sig->name + " from " + msgName(id) + ":" + std::to_string(id.address);
 }
 
 void RemoveSigCommand::undo() { for (const auto &s : sigs) dbc()->addSignal(id, s); }
@@ -93,8 +153,8 @@ void RemoveSigCommand::redo() { for (const auto &s : sigs) dbc()->removeSignal(i
 
 // EditSignalCommand
 
-EditSignalCommand::EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig, QUndoCommand *parent)
-    : id(id), QUndoCommand(parent) {
+EditSignalCommand::EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig)
+    : id(id) {
   sigs.push_back({*sig, new_sig});
   if (sig->type == cabana::Signal::Type::Multiplexor && new_sig.type == cabana::Signal::Type::Normal) {
     // convert all multiplexed signals to normal signals
@@ -108,17 +168,8 @@ EditSignalCommand::EditSignalCommand(const MessageId &id, const cabana::Signal *
       }
     }
   }
-  setText(QObject::tr("edit signal %1 in %2:%3").arg(QString::fromStdString(sig->name)).arg(QString::fromStdString(msgName(id))).arg(id.address));
+  text = "edit signal " + sig->name + " in " + msgName(id) + ":" + std::to_string(id.address);
 }
 
 void EditSignalCommand::undo() { for (const auto &s : sigs) dbc()->updateSignal(id, s.second.name, s.first); }
 void EditSignalCommand::redo() { for (const auto &s : sigs) dbc()->updateSignal(id, s.first.name, s.second); }
-
-namespace UndoStack {
-
-QUndoStack *instance() {
-  static QUndoStack *undo_stack = new QUndoStack(qApp);
-  return undo_stack;
-}
-
-}  // namespace UndoStack
diff --git a/openpilot/tools/cabana/commands.h b/openpilot/tools/cabana/commands.h
index 4081f86985861b..200a4f2f5bb52f 100644
--- a/openpilot/tools/cabana/commands.h
+++ b/openpilot/tools/cabana/commands.h
@@ -1,19 +1,70 @@
 #pragma once
 
+#include <functional>
+#include <memory>
 #include <string>
 #include <utility>
 #include <vector>
 
-#include <QUndoCommand>
-#include <QUndoStack>
+#include <QObject>
 
 #include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/streams/abstractstream.h"
 
-class EditMsgCommand : public QUndoCommand {
+class UndoCommand {
+public:
+  virtual ~UndoCommand() = default;
+  virtual void undo() = 0;
+  virtual void redo() = 0;
+  std::string text;
+};
+
+class UndoStack {
+public:
+  struct Callbacks {
+    std::function<void()> index_changed;
+    std::function<void(bool)> clean_changed;
+  };
+
+  void push(UndoCommand *cmd);  // takes ownership and calls redo()
+  void undo();
+  void redo();
+  void clear();
+  void setClean();
+  bool isClean() const { return clean_index_ == index_; }
+  bool canUndo() const { return index_ > 0; }
+  bool canRedo() const { return index_ < (int)commands_.size(); }
+  std::string undoText() const { return canUndo() ? commands_[index_ - 1]->text : ""; }
+  std::string redoText() const { return canRedo() ? commands_[index_]->text : ""; }
+  void setCallbacks(Callbacks callbacks) { callbacks_ = std::move(callbacks); }
+  static UndoStack *instance();
+
+private:
+  void setIndex(int index);
+  std::vector<std::unique_ptr<UndoCommand>> commands_;
+  int index_ = 0;
+  int clean_index_ = 0;
+  Callbacks callbacks_;
+};
+
+// emits Qt signals for the global undo stack
+class QtUndoNotifier : public QObject {
+  Q_OBJECT
+
+public:
+  explicit QtUndoNotifier(QObject *parent = nullptr);
+
+signals:
+  void indexChanged();
+  void cleanChanged(bool clean);
+};
+
+QtUndoNotifier *undoNotifier();
+
+class EditMsgCommand : public UndoCommand {
 public:
   EditMsgCommand(const MessageId &id, const std::string &name, int size, const std::string &node,
-                 const std::string &comment, QUndoCommand *parent = nullptr);
+                 const std::string &comment);
   void undo() override;
   void redo() override;
 
@@ -23,9 +74,9 @@ class EditMsgCommand : public QUndoCommand {
   int old_size = 0, new_size = 0;
 };
 
-class RemoveMsgCommand : public QUndoCommand {
+class RemoveMsgCommand : public UndoCommand {
 public:
-  RemoveMsgCommand(const MessageId &id, QUndoCommand *parent = nullptr);
+  RemoveMsgCommand(const MessageId &id);
   void undo() override;
   void redo() override;
 
@@ -34,9 +85,9 @@ class RemoveMsgCommand : public QUndoCommand {
   cabana::Msg message;
 };
 
-class AddSigCommand : public QUndoCommand {
+class AddSigCommand : public UndoCommand {
 public:
-  AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUndoCommand *parent = nullptr);
+  AddSigCommand(const MessageId &id, const cabana::Signal &sig);
   void undo() override;
   void redo() override;
 
@@ -46,9 +97,9 @@ class AddSigCommand : public QUndoCommand {
   cabana::Signal signal = {};
 };
 
-class RemoveSigCommand : public QUndoCommand {
+class RemoveSigCommand : public UndoCommand {
 public:
-  RemoveSigCommand(const MessageId &id, const cabana::Signal *sig, QUndoCommand *parent = nullptr);
+  RemoveSigCommand(const MessageId &id, const cabana::Signal *sig);
   void undo() override;
   void redo() override;
 
@@ -57,9 +108,9 @@ class RemoveSigCommand : public QUndoCommand {
   std::vector<cabana::Signal> sigs;
 };
 
-class EditSignalCommand : public QUndoCommand {
+class EditSignalCommand : public UndoCommand {
 public:
-  EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig, QUndoCommand *parent = nullptr);
+  EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig);
   void undo() override;
   void redo() override;
 
@@ -67,8 +118,3 @@ class EditSignalCommand : public QUndoCommand {
   const MessageId id;
   std::vector<std::pair<cabana::Signal, cabana::Signal>> sigs; // {old_sig, new_sig}
 };
-
-namespace UndoStack {
-  QUndoStack *instance();
-  inline void push(QUndoCommand *cmd) { instance()->push(cmd); }
-};
diff --git a/openpilot/tools/cabana/deqt.md b/openpilot/tools/cabana/deqt.md
index 6d2aed8264efc9..3bef2d7ab0e508 100644
--- a/openpilot/tools/cabana/deqt.md
+++ b/openpilot/tools/cabana/deqt.md
@@ -20,13 +20,8 @@ some rules
 - `QObject`, `QMetaObject`, `QMetaType`
 - `QApplication`, `QCoreApplication`, `QGuiApplication`
 - `QString`, `QStringList`, `QStringBuilder`, `QChar`, `QLatin1Char`
-- `QByteArray`
 - `QVariant`
-- `QVector`, `QMap`, `QSet`, `QPointer`
-- `QSettings`
-- `QFile`, `QFileInfo`, `QDir`, `QIODevice`, `QStandardPaths`
-- `QThread`
-- `QTimer`, `QBasicTimer`, `QTimerEvent`
+- `QTimer`
 - `QWidget`, `QMainWindow`, `QWindow`
 - `QDialog`, `QDialogButtonBox`, `QMessageBox`, `QProgressDialog`
 - `QFileDialog`
@@ -36,7 +31,7 @@ some rules
 - `QComboBox`, `QLineEdit`, `QTextEdit`, `QSpinBox`, `QSlider`
 - `QLabel`, `QGroupBox`, `QFrame`
 - `QTabBar`, `QTabWidget`, `QSplitter`, `QScrollArea`, `QScrollBar`
-- `QDockWidget`, `QStatusBar`, `QProgressBar`, `QRubberBand`
+- `QDockWidget`, `QStatusBar`, `QProgressBar`
 - `QFormLayout`, `QGridLayout`, `QHBoxLayout`, `QVBoxLayout`
 - `QSizePolicy`
 - `QAbstractItemModel`, `QAbstractTableModel`, `QModelIndex`
@@ -44,27 +39,15 @@ some rules
 - `QTableWidget`, `QTableWidgetItem`, `QListWidget`, `QListWidgetItem`
 - `QItemSelection`, `QItemSelectionModel`, `QItemSelectionRange`
 - `QHeaderView`, `QStyledItemDelegate`, `QStyleOptionViewItem`
-- `QValidator`, `QIntValidator`, `QDoubleValidator`
+- `QValidator`, `QIntValidator`
 - `QColor`, `QRgb`, `QPalette`
 - `QBrush`, `QPen`
 - `QPainter`, `QPainterPath`, `QStylePainter`
-- `QPixmap`, `QPixmapCache`, `QIcon`, `QStaticText`
+- `QImage`, `QPixmap`, `QPixmapCache`, `QStaticText`
 - `QFont`, `QFontDatabase`, `QFontMetrics`, `QTextDocument`
 - `QStyle`, `QStyleOption`, `QStyleOptionFrame`, `QStyleOptionSlider`
 - `QPoint`, `QPointF`, `QRect`, `QRectF`, `QRegion`
 - `QSize`, `QSizeF`
-- `QCursor`, `QClipboard`, `QScreen`, `QDesktopWidget`
 - `QEvent`, `QPaintEvent`, `QResizeEvent`, `QShowEvent`, `QCloseEvent`
 - `QMouseEvent`, `QWheelEvent`, `QNativeGestureEvent`, `QContextMenuEvent`
-- `QDrag`, `QMimeData`
-- `QDragEnterEvent`, `QDragLeaveEvent`, `QDragMoveEvent`, `QDropEvent`
 - `QKeySequence`, `QShortcut`, `QToolTip`
-- `QChart`, `QChartView`, `QAbstractAxis`, `QValueAxis`
-- `QXYSeries`, `QLineSeries`, `QScatterSeries`
-- `QLegend`, `QLegendMarker`
-- `QGraphicsScene`, `QGraphicsView`, `QGraphicsItemGroup`, `QGraphicsLayout`
-- `QGraphicsPixmapItem`, `QGraphicsProxyWidget`
-- `QOpenGLWidget`, `QOpenGLFunctions`
-- `QOpenGLShader`, `QOpenGLShaderProgram`
-- `QMatrix4x4`, `QSurfaceFormat`
-- `QUndoCommand`, `QUndoStack`, `QUndoView`
diff --git a/openpilot/tools/cabana/detailwidget.cc b/openpilot/tools/cabana/detailwidget.cc
index 36a95ff96edc13..6b62f549597f0e 100644
--- a/openpilot/tools/cabana/detailwidget.cc
+++ b/openpilot/tools/cabana/detailwidget.cc
@@ -58,7 +58,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   QObject::connect(tab_widget, &QTabWidget::currentChanged, [this]() { updateState(); });
   QObject::connect(can, &AbstractStream::msgsReceived, this, &DetailWidget::updateState);
   QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &DetailWidget::refresh);
-  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &DetailWidget::refresh);
+  QObject::connect(undoNotifier(), &QtUndoNotifier::indexChanged, this, &DetailWidget::refresh);
   QObject::connect(tabbar, &QTabBar::customContextMenuRequested, this, &DetailWidget::showTabBarContextMenu);
   QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) {
     if (index != -1) {
@@ -211,13 +211,13 @@ void DetailWidget::editMsg() {
   int size = msg ? msg->size : can->lastMessage(msg_id).dat.size();
   EditMessageDialog dlg(msg_id, QString::fromStdString(msgName(msg_id)), size, this);
   if (dlg.exec()) {
-    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed().toStdString(), dlg.size_spin->value(),
+    UndoStack::instance()->push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed().toStdString(), dlg.size_spin->value(),
                                        dlg.node->text().trimmed().toStdString(), dlg.comment_edit->toPlainText().trimmed().toStdString()));
   }
 }
 
 void DetailWidget::removeMsg() {
-  UndoStack::push(new RemoveMsgCommand(msg_id));
+  UndoStack::instance()->push(new RemoveMsgCommand(msg_id));
 }
 
 // EditMessageDialog
diff --git a/openpilot/tools/cabana/historylog.cc b/openpilot/tools/cabana/historylog.cc
index 51c2481f3b4186..3fd569c64800dd 100644
--- a/openpilot/tools/cabana/historylog.cc
+++ b/openpilot/tools/cabana/historylog.cc
@@ -209,7 +209,7 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) {
   QObject::connect(export_btn, &QToolButton::clicked, this, &LogsWidget::exportToCSV);
   QObject::connect(can, &AbstractStream::seekedTo, model, &HistoryLogModel::reset);
   QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, model, &HistoryLogModel::reset);
-  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, model, &HistoryLogModel::reset);
+  QObject::connect(undoNotifier(), &QtUndoNotifier::indexChanged, model, &HistoryLogModel::reset);
   QObject::connect(model, &HistoryLogModel::modelReset, this, &LogsWidget::modelReset);
   QObject::connect(model, &HistoryLogModel::rowsInserted, [this]() { export_btn->setEnabled(true); });
 }
diff --git a/openpilot/tools/cabana/mainwin.cc b/openpilot/tools/cabana/mainwin.cc
index 6372ea92951b8a..953f573a0b5226 100644
--- a/openpilot/tools/cabana/mainwin.cc
+++ b/openpilot/tools/cabana/mainwin.cc
@@ -2,23 +2,21 @@
 #include "tools/cabana/dbc/dbcqt.h"
 
 #include <algorithm>
+#include <filesystem>
+#include <fstream>
 #include <iostream>
+#include <iterator>
 #include <string>
+#include <vector>
 
-#include <QClipboard>
-#include <QDesktopWidget>
-#include <QFile>
 #include <QFileDialog>
-#include <QFileInfo>
 #include <QMenuBar>
 #include <QMessageBox>
 #include <QProgressDialog>
 #include <QResizeEvent>
 #include <QShortcut>
 #include <QTextDocument>
-#include <QUndoView>
 #include <QVBoxLayout>
-#include <QWidgetAction>
 
 #include "json11/json11.hpp"
 #include "tools/cabana/commands.h"
@@ -37,14 +35,11 @@ MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainW
   createShortcuts();
 
   // save default window state to allow resetting it
-  default_state = saveState();
+  default_state = utils::toBytes(saveState());
 
-  // restore states
-  restoreGeometry(settings.geometry);
-  if (isMaximized()) {
-    setGeometry(QApplication::desktop()->availableGeometry(this));
-  }
-  restoreState(settings.window_state);
+  // restore states; restoreGeometry() itself corrects stale off-screen geometry
+  restoreGeometry(utils::qbytes(settings.geometry));
+  restoreState(utils::qbytes(settings.window_state));
 
   // install handlers
   static auto static_main_win = this;
@@ -65,7 +60,7 @@ MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainW
   QObject::connect(this, &MainWindow::showMessage, statusBar(), &QStatusBar::showMessage);
   QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress);
   QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &MainWindow::DBCFileChanged);
-  QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged);
+  QObject::connect(undoNotifier(), &QtUndoNotifier::cleanChanged, this, &MainWindow::undoStackCleanChanged);
   QObject::connect(&settings, &Settings::changed, this, &MainWindow::updateStatus);
 
   QTimer::singleShot(0, this, [=]() { stream ? openStream(stream, dbc_file) : selectAndOpenStream(); });
@@ -73,10 +68,11 @@ MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainW
 }
 
 void MainWindow::loadFingerprints() {
-  QFile json_file(QApplication::applicationDirPath() + "/dbc/car_fingerprint_to_dbc.json");
-  if (!json_file.open(QIODevice::ReadOnly)) return;
+  std::ifstream json_file((QApplication::applicationDirPath() + "/dbc/car_fingerprint_to_dbc.json").toStdString());
+  if (!json_file) return;
+  const std::string contents{std::istreambuf_iterator<char>(json_file), std::istreambuf_iterator<char>()};
   std::string err;
-  auto doc = json11::Json::parse(json_file.readAll().toStdString(), err);
+  auto doc = json11::Json::parse(contents, err);
   if (!err.empty() || !doc.is_object()) return;
   fingerprint_to_dbc.clear();
   for (const auto &kv : doc.object_items()) {
@@ -108,8 +104,17 @@ void MainWindow::createActions() {
   file_menu->addSeparator();
   QMenu *load_opendbc_menu = file_menu->addMenu(tr("Load DBC from commaai/opendbc"));
   // load_opendbc_menu->setStyleSheet("QMenu { menu-scrollable: true; }");
-  for (const auto &dbc_name : QDir(OPENDBC_FILE_PATH).entryList({"*.dbc"}, QDir::Files, QDir::Name)) {
-    load_opendbc_menu->addAction(dbc_name, [this, name = dbc_name]() { loadDBCFromOpendbc(name); });
+  std::vector<std::string> dbc_names;
+  std::error_code ec;
+  for (const auto &entry : std::filesystem::directory_iterator(OPENDBC_FILE_PATH, ec)) {
+    if (entry.is_regular_file() && entry.path().extension() == ".dbc") {
+      dbc_names.push_back(entry.path().filename().string());
+    }
+  }
+  std::sort(dbc_names.begin(), dbc_names.end());
+  for (const auto &dbc_name : dbc_names) {
+    QString name = QString::fromStdString(dbc_name);
+    load_opendbc_menu->addAction(name, [this, name]() { loadDBCFromOpendbc(name); });
   }
 
   file_menu->addAction(tr("Load DBC From Clipboard"), [=]() { loadFromClipboard(); });
@@ -127,18 +132,12 @@ void MainWindow::createActions() {
 
   // Edit Menu
   QMenu *edit_menu = menuBar()->addMenu(tr("&Edit"));
-  auto undo_act = UndoStack::instance()->createUndoAction(this, tr("&Undo"));
+  undo_act = edit_menu->addAction(tr("&Undo"), []() { UndoStack::instance()->undo(); });
   undo_act->setShortcuts(QKeySequence::Undo);
-  edit_menu->addAction(undo_act);
-  auto redo_act = UndoStack::instance()->createRedoAction(this, tr("&Redo"));
+  redo_act = edit_menu->addAction(tr("&Redo"), []() { UndoStack::instance()->redo(); });
   redo_act->setShortcuts(QKeySequence::Redo);
-  edit_menu->addAction(redo_act);
-  edit_menu->addSeparator();
-
-  QMenu *commands_menu = edit_menu->addMenu(tr("Command &List"));
-  QWidgetAction *commands_act = new QWidgetAction(this);
-  commands_act->setDefaultWidget(new QUndoView(UndoStack::instance()));
-  commands_menu->addAction(commands_act);
+  QObject::connect(undoNotifier(), &QtUndoNotifier::indexChanged, this, &MainWindow::updateUndoRedoActions);
+  updateUndoRedoActions();
 
   // View Menu
   QMenu *view_menu = menuBar()->addMenu(tr("&View"));
@@ -148,7 +147,7 @@ void MainWindow::createActions() {
   view_menu->addAction(messages_dock->toggleViewAction());
   view_menu->addAction(video_dock->toggleViewAction());
   view_menu->addSeparator();
-  view_menu->addAction(tr("Reset Window Layout"), [this]() { restoreState(default_state); });
+  view_menu->addAction(tr("Reset Window Layout"), [this]() { restoreState(utils::qbytes(default_state)); });
 
   // Tools Menu
   tools_menu = menuBar()->addMenu(tr("&Tools"));
@@ -195,7 +194,7 @@ void MainWindow::createDockWidgets() {
 
   video_splitter->addWidget(charts_container);
   video_splitter->setStretchFactor(1, 1);
-  video_splitter->restoreState(settings.video_splitter_state);
+  video_splitter->restoreState(utils::qbytes(settings.video_splitter_state));
   video_splitter->handle(1)->setEnabled(!can->liveStreaming());
   video_dock->setWidget(video_splitter);
   QObject::connect(charts_widget, &ChartsWidget::toggleChartsDocking, this, &MainWindow::toggleChartsDocking);
@@ -226,6 +225,14 @@ void MainWindow::undoStackCleanChanged(bool clean) {
   setWindowModified(!clean);
 }
 
+void MainWindow::updateUndoRedoActions() {
+  auto stack = UndoStack::instance();
+  undo_act->setEnabled(stack->canUndo());
+  undo_act->setText(stack->canUndo() ? tr("&Undo %1").arg(QString::fromStdString(stack->undoText())) : tr("&Undo"));
+  redo_act->setEnabled(stack->canRedo());
+  redo_act->setText(stack->canRedo() ? tr("&Redo %1").arg(QString::fromStdString(stack->redoText())) : tr("&Redo"));
+}
+
 void MainWindow::DBCFileChanged() {
   UndoStack::instance()->clear();
 
@@ -306,11 +313,20 @@ void MainWindow::loadDBCFromOpendbc(const QString &name) {
 }
 
 void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
+  std::string text;
+  if (!utils::getClipboardText(&text)) {
+    QMessageBox::warning(this, tr("Load From Clipboard"), tr("No clipboard tool found. Install xclip (X11) or wl-clipboard (Wayland)."));
+    return;
+  }
+  if (text.empty()) {
+    QMessageBox::warning(this, tr("Load From Clipboard"), tr("Clipboard is empty."));
+    return;
+  }
+
   closeFile(s);
 
-  QString dbc_str = QGuiApplication::clipboard()->text();
   std::string error;
-  bool ret = dbc()->open(s, std::string(""), dbc_str.toStdString(), &error);
+  bool ret = dbc()->open(s, std::string(""), text, &error);
   if (ret && dbc()->nonEmptyDBCCount() > 0) {
     QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!"));
   } else {
@@ -436,7 +452,7 @@ void MainWindow::saveFile(DBCFile *dbc_file) {
 
 void MainWindow::saveFileAs(DBCFile *dbc_file) {
   QString title = tr("Save File (bus: %1)").arg(QString::fromStdString(toString(dbc()->sources(dbc_file))));
-  QString fn = QFileDialog::getSaveFileName(this, title, QDir::cleanPath(QString::fromStdString(settings.last_dir) + "/untitled.dbc"), tr("DBC (*.dbc)"));
+  QString fn = QFileDialog::getSaveFileName(this, title, QString::fromStdString((std::filesystem::path(settings.last_dir) / "untitled.dbc").string()), tr("DBC (*.dbc)"));
   if (!fn.isEmpty()) {
     dbc_file->saveAs(fn.toStdString());
     UndoStack::instance()->setClean();
@@ -455,8 +471,11 @@ void MainWindow::saveToClipboard() {
 
 void MainWindow::saveFileToClipboard(DBCFile *dbc_file) {
   assert(dbc_file != nullptr);
-  QGuiApplication::clipboard()->setText(QString::fromStdString(dbc_file->generateDBC()));
-  QMessageBox::information(this, tr("Copy To Clipboard"), tr("DBC Successfully copied!"));
+  if (utils::setClipboardText(dbc_file->generateDBC())) {
+    QMessageBox::information(this, tr("Copy To Clipboard"), tr("DBC Successfully copied!"));
+  } else {
+    QMessageBox::warning(this, tr("Copy To Clipboard"), tr("Failed to copy DBC to clipboard. Install xclip (X11) or wl-clipboard (Wayland)."));
+  }
 }
 
 void MainWindow::updateLoadSaveMenus() {
@@ -496,7 +515,7 @@ void MainWindow::updateRecentFiles(const QString &fn) {
   while (settings.recent_files.size() > MAX_RECENT_FILES) {
     settings.recent_files.pop_back();
   }
-  settings.last_dir = QFileInfo(fn).absolutePath().toStdString();
+  settings.last_dir = std::filesystem::absolute(fn.toStdString()).parent_path().string();
 }
 
 void MainWindow::updateRecentFileMenu() {
@@ -509,7 +528,7 @@ void MainWindow::updateRecentFileMenu() {
   }
 
   for (int i = 0; i < num_recent_files; ++i) {
-    QString text = tr("&%1 %2").arg(i + 1).arg(QFileInfo(QString::fromStdString(settings.recent_files[i])).fileName());
+    QString text = tr("&%1 %2").arg(i + 1).arg(QString::fromStdString(std::filesystem::path(settings.recent_files[i]).filename().string()));
     open_recent_menu->addAction(text, this, [this, file = settings.recent_files[i]]() { loadFile(QString::fromStdString(file)); });
   }
 }
@@ -576,16 +595,17 @@ void MainWindow::closeEvent(QCloseEvent *event) {
     floating_window->deleteLater();
 
   // save states
-  settings.geometry = saveGeometry();
-  settings.window_state = saveState();
+  settings.geometry = utils::toBytes(saveGeometry());
+  settings.window_state = utils::toBytes(saveState());
   if (can && !can->liveStreaming()) {
-    settings.video_splitter_state = video_splitter->saveState();
+    settings.video_splitter_state = utils::toBytes(video_splitter->saveState());
   }
   if (messages_widget) {
     settings.message_header_state = messages_widget->saveHeaderState();
   }
 
   saveSessionState();
+  settings.save();
   QWidget::closeEvent(event);
 }
 
diff --git a/openpilot/tools/cabana/mainwin.h b/openpilot/tools/cabana/mainwin.h
index 3526a58202eaad..279ea3b969517c 100644
--- a/openpilot/tools/cabana/mainwin.h
+++ b/openpilot/tools/cabana/mainwin.h
@@ -6,9 +6,11 @@
 #include <QProgressBar>
 #include <QSplitter>
 #include <QStatusBar>
+#include <cstdint>
 #include <set>
 #include <string>
 #include <unordered_map>
+#include <vector>
 
 #include "tools/cabana/chart/chartswidget.h"
 #include "tools/cabana/dbc/dbcmanager.h"
@@ -68,6 +70,7 @@ public slots:
   void findSimilarBits();
   void findSignal();
   void undoStackCleanChanged(bool clean);
+  void updateUndoRedoActions();
   void onlineHelp();
   void toggleFullScreen();
   void updateStatus();
@@ -97,8 +100,10 @@ public slots:
   QAction *save_dbc = nullptr;
   QAction *save_dbc_as = nullptr;
   QAction *copy_dbc_to_clipboard = nullptr;
+  QAction *undo_act = nullptr;
+  QAction *redo_act = nullptr;
   QString car_fingerprint;
-  QByteArray default_state;
+  std::vector<uint8_t> default_state;
 };
 
 class HelpOverlay : public QWidget {
diff --git a/openpilot/tools/cabana/messageswidget.cc b/openpilot/tools/cabana/messageswidget.cc
index 22de1350eccc60..b07e3ea0bf6ff4 100644
--- a/openpilot/tools/cabana/messageswidget.cc
+++ b/openpilot/tools/cabana/messageswidget.cc
@@ -45,7 +45,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget
   QObject::connect(view->horizontalScrollBar(), &QScrollBar::valueChanged, header, &MessageViewHeader::updateHeaderPositions);
   QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived);
   QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, model, &MessageListModel::dbcModified);
-  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, model, &MessageListModel::dbcModified);
+  QObject::connect(undoNotifier(), &QtUndoNotifier::indexChanged, model, &MessageListModel::dbcModified);
   QObject::connect(model, &MessageListModel::modelReset, [this]() {
     if (current_msg_id) {
       selectMessage(*current_msg_id);
@@ -212,7 +212,7 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
   return {};
 }
 
-void MessageListModel::setFilterStrings(const QMap<int, QString> &filters) {
+void MessageListModel::setFilterStrings(const std::map<int, QString> &filters) {
   filters_ = filters;
   filterAndSort();
 }
@@ -265,14 +265,14 @@ static bool parseRange(const QString &filter, uint32_t value, int base = 10) {
 }
 
 bool MessageListModel::match(const MessageListModel::Item &item) {
-  if (filters_.isEmpty())
+  if (filters_.empty())
     return true;
 
   bool match = true;
   const auto &data = can->lastMessage(item.id);
   for (auto it = filters_.cbegin(); it != filters_.cend() && match; ++it) {
-    const QString &txt = it.value();
-    switch (it.key()) {
+    const QString &txt = it->second;
+    switch (it->first) {
       case Column::NAME: {
         match = item.name.contains(txt, Qt::CaseInsensitive);
         if (!match) {
@@ -388,10 +388,13 @@ void MessageView::drawRow(QPainter *painter, const QStyleOptionViewItem &option,
   painter->setPen(oldPen);
 }
 
-void MessageView::dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector<int> &roles) {
+void MessageView::setModel(QAbstractItemModel *model) {
+  QTreeView::setModel(model);
   // Bypass the slow call to QTreeView::dataChanged.
   // QTreeView::dataChanged will invalidate the height cache and that's what we don't need in MessageView.
-  QAbstractItemView::dataChanged(topLeft, bottomRight, roles);
+  QObject::disconnect(model, &QAbstractItemModel::dataChanged, this, nullptr);
+  QObject::connect(model, &QAbstractItemModel::dataChanged, this,
+                   [this](const QModelIndex &tl, const QModelIndex &br, const auto &roles) { QAbstractItemView::dataChanged(tl, br, roles); });
 }
 
 void MessageView::updateBytesSectionSize() {
@@ -422,9 +425,9 @@ MessageViewHeader::MessageViewHeader(QWidget *parent) : QHeaderView(Qt::Horizont
 }
 
 void MessageViewHeader::updateFilters() {
-  QMap<int, QString> filters;
-  for (int i = 0; i < count(); i++) {
-    if (editors[i] && !editors[i]->text().isEmpty()) {
+  std::map<int, QString> filters;
+  for (int i = 0; i < (int)editors.size(); i++) {
+    if (!editors[i]->text().isEmpty()) {
       filters[i] = editors[i]->text();
     }
   }
@@ -433,27 +436,24 @@ void MessageViewHeader::updateFilters() {
 
 void MessageViewHeader::updateHeaderPositions() {
   QSize sz = QHeaderView::sizeHint();
-  for (int i = 0; i < count(); i++) {
-    if (editors[i]) {
-      int h = editors[i]->sizeHint().height();
-      editors[i]->setGeometry(sectionViewportPosition(i), sz.height(), sectionSize(i), h);
-      editors[i]->setHidden(isSectionHidden(i));
-    }
+  for (int i = 0; i < (int)editors.size(); i++) {
+    int h = editors[i]->sizeHint().height();
+    editors[i]->setGeometry(sectionViewportPosition(i), sz.height(), sectionSize(i), h);
+    editors[i]->setHidden(isSectionHidden(i));
   }
 }
 
 void MessageViewHeader::updateGeometries() {
-  for (int i = 0; i < count(); i++) {
-    if (!editors[i]) {
-      QString column_name = model()->headerData(i, Qt::Horizontal, Qt::DisplayRole).toString();
-      editors[i] = new QLineEdit(this);
-      editors[i]->setClearButtonEnabled(true);
-      editors[i]->setPlaceholderText(tr("Filter %1").arg(column_name));
-
-      QObject::connect(editors[i], &QLineEdit::textChanged, this, &MessageViewHeader::updateFilters);
-    }
+  for (int i = (int)editors.size(); i < count(); i++) {
+    QString column_name = model()->headerData(i, Qt::Horizontal, Qt::DisplayRole).toString();
+    auto edit = new QLineEdit(this);
+    edit->setClearButtonEnabled(true);
+    edit->setPlaceholderText(tr("Filter %1").arg(column_name));
+
+    QObject::connect(edit, &QLineEdit::textChanged, this, &MessageViewHeader::updateFilters);
+    editors.push_back(edit);
   }
-  setViewportMargins(0, 0, 0, editors[0] ? editors[0]->sizeHint().height() : 0);
+  setViewportMargins(0, 0, 0, !editors.empty() ? editors[0]->sizeHint().height() : 0);
 
   QHeaderView::updateGeometries();
   updateHeaderPositions();
@@ -461,5 +461,5 @@ void MessageViewHeader::updateGeometries() {
 
 QSize MessageViewHeader::sizeHint() const {
   QSize sz = QHeaderView::sizeHint();
-  return editors[0] ? QSize(sz.width(), sz.height() + editors[0]->height() + 1) : sz;
+  return !editors.empty() ? QSize(sz.width(), sz.height() + editors[0]->height() + 1) : sz;
 }
diff --git a/openpilot/tools/cabana/messageswidget.h b/openpilot/tools/cabana/messageswidget.h
index 9ffb156604d9be..0a9cd256d8ea14 100644
--- a/openpilot/tools/cabana/messageswidget.h
+++ b/openpilot/tools/cabana/messageswidget.h
@@ -1,6 +1,8 @@
 #pragma once
 
 #include <algorithm>
+#include <cstdint>
+#include <map>
 #include <optional>
 #include <set>
 #include <vector>
@@ -35,7 +37,7 @@ Q_OBJECT
   QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const;
   int rowCount(const QModelIndex &parent = QModelIndex()) const override { return items_.size(); }
   void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override;
-  void setFilterStrings(const QMap<int, QString> &filters);
+  void setFilterStrings(const std::map<int, QString> &filters);
   void showInactiveMessages(bool show);
   void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
   bool filterAndSort();
@@ -56,7 +58,7 @@ Q_OBJECT
   void sortItems(std::vector<MessageListModel::Item> &items);
   bool match(const MessageListModel::Item &id);
 
-  QMap<int, QString> filters_;
+  std::map<int, QString> filters_;
   std::set<MessageId> dbc_messages_;
   int sort_column = 0;
   Qt::SortOrder sort_order = Qt::AscendingOrder;
@@ -68,11 +70,11 @@ class MessageView : public QTreeView {
 public:
   MessageView(QWidget *parent) : QTreeView(parent) {}
   void updateBytesSectionSize();
+  void setModel(QAbstractItemModel *model) override;
 
 protected:
   void drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   void drawBranches(QPainter *painter, const QRect &rect, const QModelIndex &index) const override {}
-  void dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector<int> &roles = QVector<int>()) override;
   void wheelEvent(QWheelEvent *event) override;
 };
 
@@ -86,7 +88,7 @@ class MessageViewHeader : public QHeaderView {
   QSize sizeHint() const override;
   void updateFilters();
 
-  QMap<int, QLineEdit *> editors;
+  std::vector<QLineEdit *> editors;
 };
 
 class MessagesWidget : public QWidget {
@@ -95,8 +97,13 @@ class MessagesWidget : public QWidget {
 public:
   MessagesWidget(QWidget *parent);
   void selectMessage(const MessageId &message_id);
-  QByteArray saveHeaderState() const { return view->header()->saveState(); }
-  bool restoreHeaderState(const QByteArray &state) const { return view->header()->restoreState(state); }
+  std::vector<uint8_t> saveHeaderState() const {
+    const auto state = view->header()->saveState();
+    return {state.begin(), state.end()};
+  }
+  bool restoreHeaderState(const std::vector<uint8_t> &state) const {
+    return view->header()->restoreState({(const char *)state.data(), (int)state.size()});
+  }
   void suppressHighlighted();
 
 signals:
diff --git a/openpilot/tools/cabana/settings.cc b/openpilot/tools/cabana/settings.cc
index e385d83ecaf76a..0c8136b84c8da7 100644
--- a/openpilot/tools/cabana/settings.cc
+++ b/openpilot/tools/cabana/settings.cc
@@ -1,15 +1,37 @@
 #include "tools/cabana/settings.h"
 
+#include <algorithm>
+#include <cerrno>
+#include <cctype>
+#include <charconv>
+#include <cstdint>
+#include <cstdio>
+#include <cstring>
+#include <filesystem>
+#include <fstream>
+#include <iterator>
+#include <map>
+#include <string_view>
+#include <system_error>
+#include <utility>
+#include <vector>
+
+#include <fcntl.h>
+#include <sys/file.h>
+#include <unistd.h>
+
+#ifdef __APPLE__
+#include <CoreFoundation/CoreFoundation.h>
+#endif
+
 #include <QAbstractButton>
 #include <QDialogButtonBox>
-#include <QDir>
 #include <QFileDialog>
 #include <QFormLayout>
 #include <QPushButton>
-#include <QSettings>
-#include <QStandardPaths>
 #include <type_traits>
 
+#include "json11/json11.hpp"
 #include "tools/cabana/utils/util.h"
 
 const int MIN_CACHE_MINIUTES = 30;
@@ -17,32 +39,442 @@ const int MAX_CACHE_MINIUTES = 120;
 
 Settings settings;
 
+namespace {
+
+std::filesystem::path settingsFile() {
+  return utils::configPath() / "cabana.json";
+}
+
+struct LoadedSettings {
+  json11::Json::object values;
+  bool exists = false;
+  bool valid = true;
+};
+
+class FileLock {
+public:
+  explicit FileLock(const std::filesystem::path &path) {
+    fd = open(path.c_str(), O_CREAT | O_CLOEXEC, 0600);
+    if (fd < 0 || flock(fd, LOCK_EX) < 0) {
+      fprintf(stderr, "failed to lock Cabana settings %s: %s\n", path.c_str(), strerror(errno));
+      if (fd >= 0) close(fd);
+      fd = -1;
+    }
+  }
+  ~FileLock() {
+    if (fd >= 0) close(fd);
+  }
+  bool isLocked() const { return fd >= 0; }
+
+private:
+  int fd = -1;
+};
+
+LoadedSettings loadSettings() {
+  std::ifstream input(settingsFile());
+  if (!input) return {};
+
+  const std::string contents{std::istreambuf_iterator<char>(input), std::istreambuf_iterator<char>()};
+  std::string error;
+  auto settings_json = json11::Json::parse(contents, error);
+  if (!error.empty() || !settings_json.is_object()) {
+    fprintf(stderr, "failed to read Cabana settings %s%s%s\n", settingsFile().c_str(), error.empty() ? "" : ": ", error.c_str());
+    return {.exists = true, .valid = false};
+  }
+  return {.values = settings_json.object_items(), .exists = true};
+}
+
+bool ensureSettingsDirectory() {
+  const auto path = settingsFile();
+  std::error_code error;
+  std::filesystem::create_directories(path.parent_path(), error);
+  if (error) {
+    fprintf(stderr, "failed to create Cabana settings directory %s: %s\n", path.parent_path().c_str(), error.message().c_str());
+    return false;
+  }
+  return true;
+}
+
+bool writeAll(int fd, const std::string &data) {
+  size_t written = 0;
+  while (written < data.size()) {
+    ssize_t result = write(fd, data.data() + written, data.size() - written);
+    if (result < 0 && errno == EINTR) continue;
+    if (result <= 0) return false;
+    written += result;
+  }
+  return true;
+}
+
+bool saveSettings(const json11::Json::object &settings_json) {
+  const auto path = settingsFile();
+  const std::string contents = json11::Json(settings_json).dump();
+  std::string temporary_path = path.string() + ".tmp.XXXXXX";
+  int fd = mkstemp(temporary_path.data());
+  if (fd < 0) {
+    fprintf(stderr, "failed to create temporary Cabana settings %s: %s\n", temporary_path.c_str(), strerror(errno));
+    return false;
+  }
+
+  bool success = writeAll(fd, contents) && fsync(fd) == 0;
+  if (close(fd) < 0) success = false;
+  if (success && rename(temporary_path.c_str(), path.c_str()) < 0) success = false;
+
+  if (success) {
+    int dir_fd = open(path.parent_path().c_str(), O_RDONLY | O_CLOEXEC);
+    success = dir_fd >= 0 && fsync(dir_fd) == 0;
+    if (dir_fd >= 0 && close(dir_fd) < 0) success = false;
+  }
+
+  if (!success) {
+    const int saved_errno = errno;
+    unlink(temporary_path.c_str());
+    fprintf(stderr, "failed to save Cabana settings to %s: %s\n", path.c_str(), strerror(saved_errno));
+  }
+  return success;
+}
+
+bool preserveCorruptSettings() {
+  const auto path = settingsFile();
+  auto backup = path;
+  backup += ".corrupt";
+  for (int i = 1; std::filesystem::exists(backup); ++i) {
+    backup = path;
+    backup += ".corrupt." + std::to_string(i);
+  }
+  if (rename(path.c_str(), backup.c_str()) < 0) {
+    fprintf(stderr, "failed to preserve corrupt Cabana settings %s: %s\n", path.c_str(), strerror(errno));
+    return false;
+  }
+  fprintf(stderr, "preserved corrupt Cabana settings at %s\n", backup.c_str());
+  return true;
+}
+
+// TODO: Remove the legacy QSettings migration after users have had time to migrate to cabana.json.
+struct LegacyValue {
+  std::vector<std::string> strings;
+  std::string bytes;
+  bool is_byte_array = false;
+};
+
+using LegacySettings = std::map<std::string, LegacyValue>;
+
+int hexDigit(char c) {
+  if (c >= '0' && c <= '9') return c - '0';
+  if (c >= 'a' && c <= 'f') return c - 'a' + 10;
+  if (c >= 'A' && c <= 'F') return c - 'A' + 10;
+  return -1;
+}
+
+#ifndef __APPLE__
+
+void appendUtf8(std::string &result, uint32_t codepoint) {
+  if (codepoint <= 0x7f) {
+    result.push_back(codepoint);
+  } else if (codepoint <= 0x7ff) {
+    result.push_back(0xc0 | (codepoint >> 6));
+    result.push_back(0x80 | (codepoint & 0x3f));
+  } else if (codepoint <= 0xffff) {
+    result.push_back(0xe0 | (codepoint >> 12));
+    result.push_back(0x80 | ((codepoint >> 6) & 0x3f));
+    result.push_back(0x80 | (codepoint & 0x3f));
+  } else {
+    result.push_back(0xf0 | (codepoint >> 18));
+    result.push_back(0x80 | ((codepoint >> 12) & 0x3f));
+    result.push_back(0x80 | ((codepoint >> 6) & 0x3f));
+    result.push_back(0x80 | (codepoint & 0x3f));
+  }
+}
+
+LegacyValue decodeIniValue(std::string_view encoded) {
+  std::vector<std::vector<uint32_t>> decoded(1);
+  std::vector<bool> quoted(1, false);
+  bool in_quotes = false;
+
+  for (size_t i = 0; i < encoded.size();) {
+    char c = encoded[i++];
+    if (c == '"') {
+      in_quotes = !in_quotes;
+      quoted.back() = true;
+    } else if (c == ',' && !in_quotes) {
+      decoded.emplace_back();
+      quoted.push_back(false);
+      while (i < encoded.size() && (encoded[i] == ' ' || encoded[i] == '\t')) ++i;
+    } else if (c == '\\' && i < encoded.size()) {
+      c = encoded[i++];
+      static const std::map<char, char> escapes = {
+        {'a', '\a'}, {'b', '\b'}, {'f', '\f'}, {'n', '\n'}, {'r', '\r'}, {'t', '\t'},
+        {'v', '\v'}, {'"', '"'}, {'?', '?'}, {'\'', '\''}, {'\\', '\\'},
+      };
+      if (auto it = escapes.find(c); it != escapes.end()) {
+        decoded.back().push_back(static_cast<unsigned char>(it->second));
+      } else if (c == 'x' && i < encoded.size() && hexDigit(encoded[i]) >= 0) {
+        uint32_t value = 0;
+        while (i < encoded.size() && hexDigit(encoded[i]) >= 0) value = (value << 4) + hexDigit(encoded[i++]);
+        decoded.back().push_back(value & 0xffff);
+      } else if (c >= '0' && c <= '7') {
+        uint32_t value = c - '0';
+        while (i < encoded.size() && encoded[i] >= '0' && encoded[i] <= '7') value = (value << 3) + (encoded[i++] - '0');
+        decoded.back().push_back(value & 0xffff);
+      }
+    } else {
+      decoded.back().push_back(static_cast<unsigned char>(c));
+    }
+  }
+
+  LegacyValue result;
+  for (size_t i = 0; i < decoded.size(); ++i) {
+    auto &value = decoded[i];
+    if (!quoted[i]) {
+      while (!value.empty() && (value.front() == ' ' || value.front() == '\t')) value.erase(value.begin());
+      while (!value.empty() && (value.back() == ' ' || value.back() == '\t')) value.pop_back();
+    }
+
+    std::string string_value;
+    for (size_t j = 0; j < value.size(); ++j) {
+      uint32_t codepoint = value[j];
+      if (codepoint >= 0xd800 && codepoint <= 0xdbff && j + 1 < value.size() && value[j + 1] >= 0xdc00 && value[j + 1] <= 0xdfff) {
+        codepoint = 0x10000 + ((codepoint - 0xd800) << 10) + (value[++j] - 0xdc00);
+      }
+      appendUtf8(string_value, codepoint);
+    }
+    result.strings.push_back(std::move(string_value));
+  }
+
+  if (result.strings.size() == 1 && result.strings[0] == "@Invalid()") {
+    result.strings.clear();
+  } else if (decoded.size() == 1) {
+    static constexpr std::string_view prefix = "@ByteArray(";
+    const auto &value = decoded[0];
+    if (value.size() >= prefix.size() + 1 && std::equal(prefix.begin(), prefix.end(), value.begin()) && value.back() == ')') {
+      result.is_byte_array = true;
+      result.bytes.reserve(value.size() - prefix.size() - 1);
+      for (size_t i = prefix.size(); i + 1 < value.size(); ++i) result.bytes.push_back(value[i] & 0xff);
+    }
+  }
+  if (!result.is_byte_array) {
+    for (auto &value : result.strings) {
+      if (value.compare(0, 2, "@@") == 0) value.erase(0, 1);
+    }
+  }
+  return result;
+}
+
+LegacySettings loadLegacySettings() {
+  auto path = settingsFile();
+  path.replace_filename("cabana.conf");
+  std::ifstream input(path);
+  if (!input) return {};
+
+  LegacySettings settings;
+  bool in_general_section = false;
+  std::string line;
+  while (std::getline(input, line)) {
+    if (!line.empty() && line.back() == '\r') line.pop_back();
+    if (line == "[General]") {
+      in_general_section = true;
+      continue;
+    }
+    if (!line.empty() && line.front() == '[') {
+      in_general_section = false;
+      continue;
+    }
+    if (!in_general_section || line.empty() || line.front() == ';') continue;
+    if (auto separator = line.find('='); separator != std::string::npos) {
+      settings[line.substr(0, separator)] = decodeIniValue(std::string_view(line).substr(separator + 1));
+    }
+  }
+  return settings;
+}
+
+#else
+
+std::string cfStringToUtf8(CFStringRef value) {
+  CFIndex length = CFStringGetLength(value);
+  CFIndex size = CFStringGetMaximumSizeForEncoding(length, kCFStringEncodingUTF8) + 1;
+  std::string result(size, '\0');
+  if (!CFStringGetCString(value, result.data(), size, kCFStringEncodingUTF8)) return {};
+  result.resize(strlen(result.c_str()));
+  return result;
+}
+
+LegacyValue cfStringValue(CFStringRef string) {
+  LegacyValue value;
+  if (CFStringHasPrefix(string, CFSTR("@ByteArray(")) && CFStringHasSuffix(string, CFSTR(")"))) {
+    CFRange range{11, CFStringGetLength(string) - 12};
+    std::vector<UniChar> data(range.length);
+    CFStringGetCharacters(string, range, data.data());
+    value.is_byte_array = true;
+    value.bytes.reserve(data.size());
+    for (UniChar c : data) value.bytes.push_back(c & 0xff);
+  } else {
+    std::string string_value = cfStringToUtf8(string);
+    if (string_value.compare(0, 2, "@@") == 0) string_value.erase(0, 1);
+    value.strings.push_back(std::move(string_value));
+  }
+  return value;
+}
+
+LegacySettings loadLegacySettings() {
+  LegacySettings settings;
+  CFDictionaryRef values = CFPreferencesCopyMultiple(nullptr, CFSTR("com.cabana"),
+                                                       kCFPreferencesCurrentUser, kCFPreferencesAnyHost);
+  if (values == nullptr) return settings;
+
+  CFIndex count = CFDictionaryGetCount(values);
+  std::vector<const void *> keys(count);
+  std::vector<const void *> objects(count);
+  CFDictionaryGetKeysAndValues(values, keys.data(), objects.data());
+  for (CFIndex i = 0; i < count; ++i) {
+    if (CFGetTypeID(keys[i]) != CFStringGetTypeID()) continue;
+    std::string key = cfStringToUtf8(static_cast<CFStringRef>(keys[i]));
+    CFTypeRef object = objects[i];
+    LegacyValue value;
+    if (CFGetTypeID(object) == CFBooleanGetTypeID()) {
+      value.strings.push_back(CFBooleanGetValue(static_cast<CFBooleanRef>(object)) ? "true" : "false");
+    } else if (CFGetTypeID(object) == CFNumberGetTypeID()) {
+      int number = 0;
+      if (CFNumberGetValue(static_cast<CFNumberRef>(object), kCFNumberIntType, &number)) value.strings.push_back(std::to_string(number));
+    } else if (CFGetTypeID(object) == CFStringGetTypeID()) {
+      value = cfStringValue(static_cast<CFStringRef>(object));
+    } else if (CFGetTypeID(object) == CFDataGetTypeID()) {
+      auto data = static_cast<CFDataRef>(object);
+      value.is_byte_array = true;
+      value.bytes.assign(reinterpret_cast<const char *>(CFDataGetBytePtr(data)), CFDataGetLength(data));
+    } else if (CFGetTypeID(object) == CFArrayGetTypeID()) {
+      auto array = static_cast<CFArrayRef>(object);
+      for (CFIndex j = 0; j < CFArrayGetCount(array); ++j) {
+        CFTypeRef item = CFArrayGetValueAtIndex(array, j);
+        if (CFGetTypeID(item) != CFStringGetTypeID()) {
+          value.strings.clear();
+          break;
+        }
+        auto item_value = cfStringValue(static_cast<CFStringRef>(item));
+        if (item_value.strings.size() != 1) {
+          value.strings.clear();
+          break;
+        }
+        value.strings.push_back(std::move(item_value.strings[0]));
+      }
+    }
+    if (!value.strings.empty() || value.is_byte_array || CFGetTypeID(object) == CFArrayGetTypeID()) {
+      settings.emplace(std::move(key), std::move(value));
+    }
+  }
+  CFRelease(values);
+  return settings;
+}
+
+#endif
+
 template <typename T>
-void readSetting(QSettings &settings_store, const char *key, T &value) {
-  if (auto stored = settings_store.value(key); stored.canConvert<T>()) value = stored.value<T>();
+void readLegacySetting(const LegacySettings &legacy_settings, const char *key, T &value) {
+  auto it = legacy_settings.find(key);
+  if (it == legacy_settings.end() || it->second.strings.size() != 1) return;
+  const auto &stored = it->second.strings[0];
+
+  if constexpr (std::is_same_v<T, bool>) {
+    if (stored == "true") value = true;
+    if (stored == "false") value = false;
+  } else if constexpr (std::is_integral_v<T> || std::is_enum_v<T>) {
+    int number = 0;
+    auto [end, error] = std::from_chars(stored.data(), stored.data() + stored.size(), number);
+    if (error == std::errc{} && end == stored.data() + stored.size()) value = static_cast<T>(number);
+  }
 }
 
-void readSetting(QSettings &settings_store, const char *key, std::string &value) {
-  value = settings_store.value(key, QString::fromStdString(value)).toString().toStdString();
+void readLegacySetting(const LegacySettings &legacy_settings, const char *key, std::string &value) {
+  auto it = legacy_settings.find(key);
+  if (it != legacy_settings.end() && it->second.strings.size() == 1) value = it->second.strings[0];
 }
 
-void readSetting(QSettings &settings_store, const char *key, std::vector<std::string> &value) {
-  value.clear();
-  for (const auto &item : settings_store.value(key).toStringList()) value.push_back(item.toStdString());
+void readLegacySetting(const LegacySettings &legacy_settings, const char *key, std::vector<std::string> &value) {
+  auto it = legacy_settings.find(key);
+  if (it != legacy_settings.end() && !it->second.is_byte_array) value = it->second.strings;
+}
+
+void readLegacySetting(const LegacySettings &legacy_settings, const char *key, std::vector<uint8_t> &value) {
+  auto it = legacy_settings.find(key);
+  if (it != legacy_settings.end() && it->second.is_byte_array) {
+    value.assign(it->second.bytes.begin(), it->second.bytes.end());
+  }
 }
 
 template <typename T>
-void writeSetting(QSettings &settings_store, const char *key, const T &value) { settings_store.setValue(key, value); }
-void writeSetting(QSettings &settings_store, const char *key, const std::string &value) { settings_store.setValue(key, QString::fromStdString(value)); }
-void writeSetting(QSettings &settings_store, const char *key, const std::vector<std::string> &value) {
-  QStringList items;
-  for (const auto &item : value) items.push_back(QString::fromStdString(item));
-  settings_store.setValue(key, items);
+void readSetting(const json11::Json::object &settings_json, const char *key, T &value) {
+  auto it = settings_json.find(key);
+  if (it == settings_json.end()) return;
+
+  if constexpr (std::is_same_v<T, bool>) {
+    if (it->second.is_bool()) value = it->second.bool_value();
+  } else if constexpr (std::is_integral_v<T>) {
+    if (it->second.is_number()) value = it->second.int_value();
+  } else if constexpr (std::is_enum_v<T>) {
+    if (it->second.is_number()) value = static_cast<T>(it->second.int_value());
+  }
 }
 
-template <class SettingOperation>
-void settingsOp(SettingOperation op) {
-  QSettings s("cabana");
+void readSetting(const json11::Json::object &settings_json, const char *key, std::string &value) {
+  auto it = settings_json.find(key);
+  if (it != settings_json.end() && it->second.is_string()) value = it->second.string_value();
+}
+
+void readSetting(const json11::Json::object &settings_json, const char *key, std::vector<std::string> &value) {
+  auto it = settings_json.find(key);
+  if (it == settings_json.end() || !it->second.is_array()) return;
+
+  std::vector<std::string> stored;
+  for (const auto &item : it->second.array_items()) {
+    if (!item.is_string()) return;
+    stored.push_back(item.string_value());
+  }
+  value = std::move(stored);
+}
+
+void readSetting(const json11::Json::object &settings_json, const char *key, std::vector<uint8_t> &value) {
+  auto it = settings_json.find(key);
+  if (it == settings_json.end() || !it->second.is_string()) return;
+
+  const auto &hex = it->second.string_value();
+  if (hex.size() % 2 == 0 && std::all_of(hex.begin(), hex.end(), [](unsigned char c) { return std::isxdigit(c); })) {
+    value.clear();
+    value.reserve(hex.size() / 2);
+    for (size_t i = 0; i < hex.size(); i += 2) {
+      value.push_back((hexDigit(hex[i]) << 4) | hexDigit(hex[i + 1]));
+    }
+  }
+}
+
+template <typename T>
+void writeSetting(json11::Json::object &settings_json, const char *key, const T &value) {
+  if constexpr (std::is_same_v<T, bool>) {
+    settings_json[key] = value;
+  } else if constexpr (std::is_integral_v<T> || std::is_enum_v<T>) {
+    settings_json[key] = static_cast<int>(value);
+  }
+}
+
+void writeSetting(json11::Json::object &settings_json, const char *key, const std::string &value) {
+  settings_json[key] = value;
+}
+
+void writeSetting(json11::Json::object &settings_json, const char *key, const std::vector<std::string> &value) {
+  settings_json[key] = value;
+}
+
+void writeSetting(json11::Json::object &settings_json, const char *key, const std::vector<uint8_t> &value) {
+  static const char digits[] = "0123456789abcdef";
+  std::string hex;
+  hex.reserve(value.size() * 2);
+  for (uint8_t b : value) {
+    hex.push_back(digits[b >> 4]);
+    hex.push_back(digits[b & 0xf]);
+  }
+  settings_json[key] = hex;
+}
+
+template <class Store, class SettingOperation>
+void settingsOp(Store &s, SettingOperation op) {
   op(s, "absolute_time", settings.absolute_time);
   op(s, "fps", settings.fps);
   op(s, "max_cached_minutes", settings.max_cached_minutes);
@@ -70,14 +502,38 @@ void settingsOp(SettingOperation op) {
   op(s, "active_charts", settings.active_charts);
 }
 
+}  // namespace
+
 Settings::Settings() {
-  last_dir = last_route_dir = QDir::homePath().toStdString();
-  log_path = (QStandardPaths::writableLocation(QStandardPaths::HomeLocation) + "/cabana_live_stream/").toStdString();
-  settingsOp([](QSettings &s, const char *key, auto &value) { readSetting(s, key, value); });
+  last_dir = last_route_dir = utils::homePath();
+  log_path = utils::homePath() + "/cabana_live_stream/";
+  const auto stored_settings = loadSettings();
+  if (stored_settings.valid) {
+    if (stored_settings.exists) {
+      settingsOp(stored_settings.values, [](const auto &s, const char *key, auto &value) { readSetting(s, key, value); });
+    } else {
+      auto legacy_settings = loadLegacySettings();
+      settingsOp(legacy_settings, [](const auto &s, const char *key, auto &value) { readLegacySetting(s, key, value); });
+    }
+  }
+  fps = std::clamp(fps, 1, 100);
 }
 
-Settings::~Settings() {
-  settingsOp([](QSettings &s, const char *key, const auto &value) { writeSetting(s, key, value); });
+// Must be called before main() returns: json11's internal statistics are constructed on first
+// use at runtime, so they are destroyed before this pre-main global. Saving from ~Settings
+// would use them after destruction and corrupt the heap.
+void Settings::save() {
+  if (!ensureSettingsDirectory()) return;
+
+  auto lock_path = settingsFile();
+  lock_path += ".lock";
+  FileLock lock(lock_path);
+  if (!lock.isLocked()) return;
+
+  auto stored_settings = loadSettings();
+  if (!stored_settings.valid && !preserveCorruptSettings()) return;
+  settingsOp(stored_settings.values, [](auto &s, const char *key, const auto &value) { writeSetting(s, key, value); });
+  saveSettings(stored_settings.values);
 }
 
 // SettingsDlg
@@ -121,6 +577,7 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
 
   log_livestream = new QGroupBox(tr("Enable live stream logging"), this);
   log_livestream->setCheckable(true);
+  log_livestream->setChecked(settings.log_livestream);
   QHBoxLayout *path_layout = new QHBoxLayout(log_livestream);
   path_layout->addWidget(log_path = new QLineEdit(QString::fromStdString(settings.log_path), this));
   log_path->setReadOnly(true);
@@ -135,7 +592,7 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
   QObject::connect(browse_btn, &QPushButton::clicked, [this]() {
     QString fn = QFileDialog::getExistingDirectory(
         this, tr("Log File Location"),
-        QStandardPaths::writableLocation(QStandardPaths::HomeLocation),
+        QString::fromStdString(utils::homePath()),
         QFileDialog::ShowDirsOnly | QFileDialog::DontResolveSymlinks);
     if (!fn.isEmpty()) {
       log_path->setText(fn);
diff --git a/openpilot/tools/cabana/settings.h b/openpilot/tools/cabana/settings.h
index 4254a8009dafda..7357ecf4fc66c1 100644
--- a/openpilot/tools/cabana/settings.h
+++ b/openpilot/tools/cabana/settings.h
@@ -1,6 +1,8 @@
 #pragma once
 
-#include <QByteArray>
+#include <cstdint>
+#include <vector>
+
 #include <QComboBox>
 #include <QDialog>
 #include <QGroupBox>
@@ -14,13 +16,13 @@ class Settings : public QObject, public CabanaSettingsState {
 
 public:
   Settings();
-  ~Settings();
+  void save();
 
   // Qt frontend layout state. This intentionally stays outside CabanaSettingsState.
-  QByteArray geometry;
-  QByteArray video_splitter_state;
-  QByteArray window_state;
-  QByteArray message_header_state;
+  std::vector<uint8_t> geometry;
+  std::vector<uint8_t> video_splitter_state;
+  std::vector<uint8_t> window_state;
+  std::vector<uint8_t> message_header_state;
 
 signals:
   void changed();
diff --git a/openpilot/tools/cabana/signalview.cc b/openpilot/tools/cabana/signalview.cc
index 87294b41f7a469..ebb537414045d3 100644
--- a/openpilot/tools/cabana/signalview.cc
+++ b/openpilot/tools/cabana/signalview.cc
@@ -198,7 +198,7 @@ bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s)
   if (s.is_little_endian != origin_s->is_little_endian) {
     s.start_bit = flipBitPos(s.start_bit);
   }
-  UndoStack::push(new EditSignalCommand(msg_id, origin_s, s));
+  UndoStack::instance()->push(new EditSignalCommand(msg_id, origin_s, s));
   return true;
 }
 
@@ -515,7 +515,7 @@ void SignalView::rowsChanged() {
 
       tree->setIndexWidget(index, w);
       auto sig = model->getItem(index)->sig;
-      QObject::connect(remove_btn, &QToolButton::clicked, [=]() { UndoStack::push(new RemoveSigCommand(model->msg_id, sig)); });
+      QObject::connect(remove_btn, &QToolButton::clicked, [=]() { UndoStack::instance()->push(new RemoveSigCommand(model->msg_id, sig)); });
       QObject::connect(plot_btn, &QToolButton::clicked, [=](bool checked) {
         emit showChart(model->msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier);
       });
diff --git a/openpilot/tools/cabana/signalview.h b/openpilot/tools/cabana/signalview.h
index 42db830df7f635..2e44e55cbf1bf8 100644
--- a/openpilot/tools/cabana/signalview.h
+++ b/openpilot/tools/cabana/signalview.h
@@ -129,9 +129,12 @@ class SignalView : public QFrame {
       // update widget geometries in QTreeView::rowsInserted
       QTreeView::rowsInserted(parent, start, end);
     }
-    void dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector<int> &roles = QVector<int>()) override {
+    void setModel(QAbstractItemModel *model) override {
+      QTreeView::setModel(model);
       // Bypass the slow call to QTreeView::dataChanged.
-      QAbstractItemView::dataChanged(topLeft, bottomRight, roles);
+      QObject::disconnect(model, &QAbstractItemModel::dataChanged, this, nullptr);
+      QObject::connect(model, &QAbstractItemModel::dataChanged, this,
+                       [this](const QModelIndex &tl, const QModelIndex &br, const auto &roles) { QAbstractItemView::dataChanged(tl, br, roles); });
     }
     void leaveEvent(QEvent *event) override {
       emit static_cast<SignalView *>(parentWidget())->highlight(nullptr);
diff --git a/openpilot/tools/cabana/streams/abstractstream.h b/openpilot/tools/cabana/streams/abstractstream.h
index 26f05d9846f84e..82cb8999375dc3 100644
--- a/openpilot/tools/cabana/streams/abstractstream.h
+++ b/openpilot/tools/cabana/streams/abstractstream.h
@@ -75,12 +75,12 @@ class AbstractStream : public QObject {
   const CanEvent *newEvent(uint64_t mono_time, const cereal::CanData::Reader &c);
   void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size);
   void waitForSeekFinshed();
+  virtual void updateLastMessages();
   std::vector<const CanEvent *> all_events_;
   double current_sec_ = 0;
   std::optional<std::pair<double, double>> time_range_;
 
 private:
-  void updateLastMessages();
   void updateLastMsgsTo(double sec);
   void updateMasks();
 
diff --git a/openpilot/tools/cabana/streams/devicestream.cc b/openpilot/tools/cabana/streams/devicestream.cc
index 1ce0dbb71f206f..91e890316ebe5f 100644
--- a/openpilot/tools/cabana/streams/devicestream.cc
+++ b/openpilot/tools/cabana/streams/devicestream.cc
@@ -1,22 +1,23 @@
 #include "tools/cabana/streams/devicestream.h"
 
 #include <cerrno>
+#include <chrono>
 #include <csignal>
 #include <cstring>
 #include <fcntl.h>
+#include <filesystem>
 #include <memory>
 #include <string>
+#include <thread>
 #include <unistd.h>
 #include <sys/wait.h>
 
 #include "openpilot/cereal/services.h"
 
 #include <QButtonGroup>
-#include <QFileInfo>
 #include <QFormLayout>
 #include <QMessageBox>
 #include <QRadioButton>
-#include <QThread>
 
 #include "tools/cabana/utils/util.h"
 
@@ -26,6 +27,7 @@ DeviceStream::DeviceStream(QObject *parent, QString address) : zmq_address(addre
 }
 
 DeviceStream::~DeviceStream() {
+  stop();
   stopBridge();
 }
 
@@ -50,9 +52,8 @@ void DeviceStream::stopBridge() {
 void DeviceStream::start() {
   if (!zmq_address.isEmpty()) {
     stopBridge();
-    QString bridge_path = QFileInfo(QCoreApplication::applicationDirPath() +
-                                    "/../../openpilot/cereal/messaging/bridge").absoluteFilePath();
-    const std::string path = bridge_path.toStdString();
+    const std::string path = (std::filesystem::path(QCoreApplication::applicationDirPath().toStdString()) /
+                              "../../openpilot/cereal/messaging/bridge").lexically_normal().string();
     const std::string addr = zmq_address.toStdString();
     const char *can_filter = "/\"can/\"";
 
@@ -108,10 +109,10 @@ void DeviceStream::streamThread() {
   std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", "127.0.0.1", false, true, services.at("can").queue_size));
   assert(sock != NULL);
   // run as fast as messages come in
-  while (!QThread::currentThread()->isInterruptionRequested()) {
+  while (!exit_) {
     std::unique_ptr<Message> msg(sock->receive(true));
     if (!msg) {
-      QThread::msleep(50);
+      std::this_thread::sleep_for(std::chrono::milliseconds(50));
       continue;
     }
     handleEvent(kj::ArrayPtr<capnp::word>((capnp::word*)msg->getData(), msg->getSize() / sizeof(capnp::word)));
diff --git a/openpilot/tools/cabana/streams/livestream.cc b/openpilot/tools/cabana/streams/livestream.cc
index 5aa4628bc0d040..019a67e8f2e719 100644
--- a/openpilot/tools/cabana/streams/livestream.cc
+++ b/openpilot/tools/cabana/streams/livestream.cc
@@ -1,7 +1,7 @@
 #include "tools/cabana/streams/livestream.h"
 
-#include <QThread>
 #include <algorithm>
+#include <chrono>
 #include <fstream>
 #include <iomanip>
 #include <memory>
@@ -42,37 +42,34 @@ LiveStream::LiveStream(QObject *parent) : AbstractStream(parent) {
   if (settings.log_livestream) {
     logger = std::make_unique<Logger>();
   }
-  stream_thread = new QThread(this);
-
-  QObject::connect(&settings, &Settings::changed, this, &LiveStream::startUpdateTimer);
-  QObject::connect(stream_thread, &QThread::started, [=]() { streamThread(); });
-  QObject::connect(stream_thread, &QThread::finished, stream_thread, &QThread::deleteLater);
 }
 
 LiveStream::~LiveStream() {
   stop();
 }
 
-void LiveStream::startUpdateTimer() {
-  update_timer.stop();
-  update_timer.start(1000.0 / settings.fps, this);
-  timer_id = update_timer.timerId();
-}
-
 void LiveStream::start() {
-  stream_thread->start();
-  startUpdateTimer();
   begin_date_time = std::chrono::system_clock::now();
+  fps_ = settings.fps;
+  exit_ = false;
+  stream_thread = std::thread(&LiveStream::streamThread, this);
+  update_thread = std::thread(&LiveStream::updateThread, this);
 }
 
 void LiveStream::stop() {
-  if (!stream_thread) return;
+  exit_ = true;
+  if (stream_thread.joinable()) stream_thread.join();
+  if (update_thread.joinable()) update_thread.join();
+}
 
-  update_timer.stop();
-  stream_thread->requestInterruption();
-  stream_thread->quit();
-  stream_thread->wait();
-  stream_thread = nullptr;
+void LiveStream::updateThread() {
+  while (!exit_) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(1000 / fps_));
+    // coalesce: skip the emit if the main thread hasn't processed the previous one yet.
+    if (!update_pending_.exchange(true)) {
+      emit privateUpdateLastMsgsSignal();
+    }
+  }
 }
 
 // called in streamThread
@@ -92,23 +89,22 @@ void LiveStream::handleEvent(kj::ArrayPtr<capnp::word> data) {
   }
 }
 
-void LiveStream::timerEvent(QTimerEvent *event) {
-  if (event->timerId() == timer_id) {
-    {
-      // merge events received from live stream thread.
-      std::lock_guard lk(lock);
-      mergeEvents(received_events_);
-      uint64_t last_received_ts = !received_events_.empty() ? received_events_.back()->mono_time : 0;
-      lastest_event_ts = std::max(lastest_event_ts, last_received_ts);
-      received_events_.clear();
-    }
-    if (!all_events_.empty()) {
-      begin_event_ts = all_events_.front()->mono_time;
-      updateEvents();
-      return;
-    }
+// called on the main thread by the queued privateUpdateLastMsgsSignal connection
+void LiveStream::updateLastMessages() {
+  update_pending_ = false;
+  fps_ = settings.fps;
+  {
+    // merge events received from live stream thread.
+    std::lock_guard lk(lock);
+    mergeEvents(received_events_);
+    uint64_t last_received_ts = !received_events_.empty() ? received_events_.back()->mono_time : 0;
+    lastest_event_ts = std::max(lastest_event_ts, last_received_ts);
+    received_events_.clear();
+  }
+  if (!all_events_.empty()) {
+    begin_event_ts = all_events_.front()->mono_time;
+    updateEvents();
   }
-  QObject::timerEvent(event);
 }
 
 void LiveStream::updateEvents() {
@@ -138,7 +134,7 @@ void LiveStream::updateEvents() {
     updateEvent(id, (e->mono_time - begin_event_ts) / 1e9, e->dat, e->size);
     current_event_ts = e->mono_time;
   }
-  emit privateUpdateLastMsgsSignal();
+  AbstractStream::updateLastMessages();
 }
 
 void LiveStream::seekTo(double sec) {
diff --git a/openpilot/tools/cabana/streams/livestream.h b/openpilot/tools/cabana/streams/livestream.h
index e88fbadd8e2205..5d65b1743fc6bb 100644
--- a/openpilot/tools/cabana/streams/livestream.h
+++ b/openpilot/tools/cabana/streams/livestream.h
@@ -1,11 +1,11 @@
 #pragma once
 
 #include <algorithm>
+#include <atomic>
 #include <memory>
+#include <thread>
 #include <vector>
 
-#include <QBasicTimer>
-
 #include "tools/cabana/streams/abstractstream.h"
 
 class LiveStream : public AbstractStream {
@@ -29,18 +29,19 @@ class LiveStream : public AbstractStream {
   virtual void streamThread() = 0;
   void handleEvent(kj::ArrayPtr<capnp::word> event);
 
+  std::atomic<bool> exit_ = false;
+
 private:
-  void startUpdateTimer();
-  void timerEvent(QTimerEvent *event) override;
+  void updateThread();
+  void updateLastMessages() override;
   void updateEvents();
 
   std::mutex lock;
-  QThread *stream_thread;
+  std::thread stream_thread, update_thread;
+  std::atomic<bool> update_pending_ = false;
+  std::atomic<int> fps_ = 10;
   std::vector<const CanEvent *> received_events_;
 
-  int timer_id;
-  QBasicTimer update_timer;
-
   std::chrono::system_clock::time_point begin_date_time;
   uint64_t begin_event_ts = 0;
   uint64_t lastest_event_ts = 0;
diff --git a/openpilot/tools/cabana/streams/pandastream.cc b/openpilot/tools/cabana/streams/pandastream.cc
index aa1e01c5a3397f..7ccb18a756f4a1 100644
--- a/openpilot/tools/cabana/streams/pandastream.cc
+++ b/openpilot/tools/cabana/streams/pandastream.cc
@@ -1,12 +1,13 @@
 #include "tools/cabana/streams/pandastream.h"
 
+#include <chrono>
 #include <cstdio>
+#include <thread>
 
 #include <QCheckBox>
 #include <QLabel>
 #include <QMessageBox>
 #include <QPushButton>
-#include <QThread>
 #include <QTimer>
 
 PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) {
@@ -45,13 +46,13 @@ bool PandaStream::connect() {
 void PandaStream::streamThread() {
   std::vector<can_frame> raw_can_data;
 
-  while (!QThread::currentThread()->isInterruptionRequested()) {
-    QThread::msleep(1);
+  while (!exit_) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
 
     if (!panda->connected()) {
       fprintf(stderr, "Connection to panda lost. Attempting reconnect.\n");
       if (!connect()){
-        QThread::msleep(1000);
+        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
         continue;
       }
     }
diff --git a/openpilot/tools/cabana/streams/replaystream.cc b/openpilot/tools/cabana/streams/replaystream.cc
index c74aa49821c44d..c502ea061a1283 100644
--- a/openpilot/tools/cabana/streams/replaystream.cc
+++ b/openpilot/tools/cabana/streams/replaystream.cc
@@ -1,5 +1,7 @@
 #include "tools/cabana/streams/replaystream.h"
 
+#include <filesystem>
+
 #include <QLabel>
 #include <QFileDialog>
 #include <QGridLayout>
@@ -139,7 +141,7 @@ OpenReplayWidget::OpenReplayWidget(QWidget *parent) : AbstractOpenStreamWidget(p
     QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), QString::fromStdString(settings.last_route_dir));
     if (!dir.isEmpty()) {
       route_edit->setText(dir);
-      settings.last_route_dir = QFileInfo(dir).absolutePath().toStdString();
+      settings.last_route_dir = std::filesystem::absolute(dir.toStdString()).parent_path().string();
     }
   });
   QObject::connect(browse_remote_btn, &QPushButton::clicked, [this]() {
diff --git a/openpilot/tools/cabana/streams/routes.cc b/openpilot/tools/cabana/streams/routes.cc
index 9c19219ce2ab41..b6f98da533fa25 100644
--- a/openpilot/tools/cabana/streams/routes.cc
+++ b/openpilot/tools/cabana/streams/routes.cc
@@ -12,7 +12,6 @@
 #include <QListWidget>
 #include <QMessageBox>
 #include <QPainter>
-#include <QPointer>
 
 #include "json11/json11.hpp"
 #include "tools/replay/py_downloader.h"
@@ -112,11 +111,10 @@ RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent) {
   connect(button_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
 
   // Fetch devices
-  QPointer<RoutesDialog> self = this;
-  std::thread([self]() {
+  std::thread([this, alive = std::weak_ptr<bool>(alive_)]() {
     std::string result = PyDownloader::getDevices();
-    QMetaObject::invokeMethod(qApp, [self, r = QString::fromStdString(result), response = checkApiResponse(result)]() {
-      if (self) self->parseDeviceList(r, response.first, response.second);
+    QMetaObject::invokeMethod(qApp, [this, alive, r = QString::fromStdString(result), response = checkApiResponse(result)]() {
+      if (!alive.expired()) parseDeviceList(r, response.first, response.second);
     }, Qt::QueuedConnection);
   }).detach();
 }
@@ -156,12 +154,10 @@ void RoutesDialog::fetchRoutes() {
   }
 
   int request_id = ++fetch_id_;
-  QPointer<RoutesDialog> self = this;
-  std::thread([self, did, start_ms, end_ms, preserved, request_id]() {
+  std::thread([this, alive = std::weak_ptr<bool>(alive_), did, start_ms, end_ms, preserved, request_id]() {
     std::string result = PyDownloader::getDeviceRoutes(did, start_ms, end_ms, preserved);
-    if (!self || self->fetch_id_ != request_id) return;
-    QMetaObject::invokeMethod(qApp, [self, r = QString::fromStdString(result), response = checkApiResponse(result), request_id]() {
-      if (self && self->fetch_id_ == request_id) self->parseRouteList(r, response.first, response.second);
+    QMetaObject::invokeMethod(qApp, [this, alive, r = QString::fromStdString(result), response = checkApiResponse(result), request_id]() {
+      if (!alive.expired() && fetch_id_ == request_id) parseRouteList(r, response.first, response.second);
     }, Qt::QueuedConnection);
   }).detach();
 }
diff --git a/openpilot/tools/cabana/streams/routes.h b/openpilot/tools/cabana/streams/routes.h
index 99fa67ef8c158f..6ed145603fdbf8 100644
--- a/openpilot/tools/cabana/streams/routes.h
+++ b/openpilot/tools/cabana/streams/routes.h
@@ -1,6 +1,8 @@
 #pragma once
 
 #include <atomic>
+#include <memory>
+
 #include <QComboBox>
 #include <QDialog>
 
@@ -21,4 +23,6 @@ class RoutesDialog : public QDialog {
   QComboBox *period_selector_;
   RouteListWidget *route_list_;
   std::atomic<int> fetch_id_{0};
+  // expires on destruction; guards main-thread callbacks from detached worker threads
+  std::shared_ptr<bool> alive_ = std::make_shared<bool>(true);
 };
diff --git a/openpilot/tools/cabana/streams/socketcanstream.cc b/openpilot/tools/cabana/streams/socketcanstream.cc
index cedbddf99e2cf1..b616e7f24293a8 100644
--- a/openpilot/tools/cabana/streams/socketcanstream.cc
+++ b/openpilot/tools/cabana/streams/socketcanstream.cc
@@ -8,13 +8,13 @@
 #include <unistd.h>
 
 #include <cstdio>
+#include <filesystem>
+#include <fstream>
 
-#include <QDir>
 #include <QFormLayout>
 #include <QHBoxLayout>
 #include <QMessageBox>
 #include <QPushButton>
-#include <QThread>
 
 SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_) : config(config_), LiveStream(parent) {
   if (!available()) {
@@ -82,7 +82,7 @@ bool SocketCanStream::connect() {
 void SocketCanStream::streamThread() {
   struct canfd_frame frame;
 
-  while (!QThread::currentThread()->isInterruptionRequested()) {
+  while (!exit_) {
     ssize_t nbytes = read(sock_fd, &frame, sizeof(frame));
     if (nbytes <= 0) continue;
 
@@ -128,14 +128,12 @@ OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWi
 void OpenSocketCanWidget::refreshDevices() {
   device_edit->clear();
   // Scan /sys/class/net/ for CAN interfaces (type 280 = ARPHRD_CAN)
-  QDir net_dir("/sys/class/net");
-  for (const auto &iface : net_dir.entryList(QDir::Dirs | QDir::NoDotAndDotDot)) {
-    QFile type_file(net_dir.filePath(iface) + "/type");
-    if (type_file.open(QIODevice::ReadOnly)) {
-      int type = type_file.readAll().trimmed().toInt();
-      if (type == 280) {
-        device_edit->addItem(iface);
-      }
+  std::error_code ec;
+  for (const auto &entry : std::filesystem::directory_iterator("/sys/class/net", ec)) {
+    std::ifstream type_file(entry.path() / "type");
+    int type = 0;
+    if (type_file >> type && type == 280) {
+      device_edit->addItem(QString::fromStdString(entry.path().filename().string()));
     }
   }
 }
diff --git a/openpilot/tools/cabana/streamselector.cc b/openpilot/tools/cabana/streamselector.cc
index 75fdf384b2daaa..7e8adc568d73f5 100644
--- a/openpilot/tools/cabana/streamselector.cc
+++ b/openpilot/tools/cabana/streamselector.cc
@@ -1,5 +1,7 @@
 #include "tools/cabana/streamselector.h"
 
+#include <filesystem>
+
 #include <QFileDialog>
 #include <QLabel>
 #include <QPushButton>
@@ -55,7 +57,7 @@ StreamSelector::StreamSelector(QWidget *parent) : QDialog(parent) {
     QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), QString::fromStdString(settings.last_dir), "DBC (*.dbc)");
     if (!fn.isEmpty()) {
       dbc_file->setText(fn);
-      settings.last_dir = QFileInfo(fn).absolutePath().toStdString();
+      settings.last_dir = std::filesystem::absolute(fn.toStdString()).parent_path().string();
     }
   });
 }
diff --git a/openpilot/tools/cabana/tools/findsignal.cc b/openpilot/tools/cabana/tools/findsignal.cc
index d538d676b16260..4511af7c0146a1 100644
--- a/openpilot/tools/cabana/tools/findsignal.cc
+++ b/openpilot/tools/cabana/tools/findsignal.cc
@@ -1,5 +1,6 @@
 #include "tools/cabana/tools/findsignal.h"
 
+#include <set>
 #include <thread>
 
 #include <QFormLayout>
@@ -210,13 +211,13 @@ void FindSignalDlg::search() {
 }
 
 void FindSignalDlg::setInitialSignals() {
-  QSet<ushort> buses;
+  std::set<ushort> buses;
   for (auto bus : bus_edit->text().trimmed().split(",")) {
     bus = bus.trimmed();
     if (!bus.isEmpty()) buses.insert(bus.toUShort());
   }
 
-  QSet<uint32_t> addresses;
+  std::set<uint32_t> addresses;
   for (auto addr : address_edit->text().trimmed().split(",")) {
     addr = addr.trimmed();
     if (!addr.isEmpty()) addresses.insert(addr.toULong(nullptr, 16));
@@ -239,7 +240,7 @@ void FindSignalDlg::setInitialSignals() {
   model->initial_signals.clear();
 
   for (const auto &[id, m] : can->lastMessages()) {
-    if ((buses.isEmpty() || buses.contains(id.source)) && (addresses.isEmpty() || addresses.contains(id.address))) {
+    if ((buses.empty() || buses.count(id.source)) && (addresses.empty() || addresses.count(id.address))) {
       const auto &events = can->events(id);
       auto e = std::lower_bound(events.cbegin(), events.cend(), first_time, CompareCanEvent());
       if (e != events.cend()) {
@@ -276,7 +277,7 @@ void FindSignalDlg::customMenuRequested(const QPoint &pos) {
     menu.addAction(tr("Create Signal"));
     if (menu.exec(view->mapToGlobal(pos))) {
       auto &s = model->filtered_signals[index.row()];
-      UndoStack::push(new AddSigCommand(s.id, s.sig));
+      UndoStack::instance()->push(new AddSigCommand(s.id, s.sig));
       emit openMessage(s.id);
     }
   }
diff --git a/openpilot/tools/cabana/utils/util.cc b/openpilot/tools/cabana/utils/util.cc
index 5c55bcf015a854..87a0f8942755ec 100644
--- a/openpilot/tools/cabana/utils/util.cc
+++ b/openpilot/tools/cabana/utils/util.cc
@@ -4,21 +4,21 @@
 #include <cerrno>
 #include <cmath>
 #include <cstdint>
+#include <cstdio>
 #include <cstdlib>
 #include <csignal>
 #include <ctime>
+#include <filesystem>
 #include <limits>
 #include <memory>
 #include <string>
 #include <sys/socket.h>
+#include <sys/wait.h>
 #include <unistd.h>
 
 #include <QColor>
-#include <QDir>
 #include <QFontDatabase>
 #include <QPixmapCache>
-#include <QSurfaceFormat>
-#include <QFileInfo>
 #include <QPainterPath>
 #include <unordered_map>
 #include "common/util.h"
@@ -271,13 +271,13 @@ QValidator::State DoubleValidator::validate(QString &input, int &pos) const {
   if (input.isEmpty()) return QValidator::Intermediate;
 
   // Match QString::toDouble(): C locale, no hex floats / inf / nan.
-  const QByteArray bytes = input.toLatin1();
+  const std::string bytes = input.toLatin1().toStdString();
   // strtod accepts 0x… hex floats and p-exponents; QString::toDouble does not.
-  if (bytes.contains('x') || bytes.contains('X') || bytes.contains('p') || bytes.contains('P')) {
+  if (bytes.find_first_of("xXpP") != std::string::npos) {
     return QValidator::Invalid;
   }
 
-  const char *start = bytes.constData();
+  const char *start = bytes.c_str();
   char *end = nullptr;
   const double value = std::strtod(start, &end);
   if (end == start) {
@@ -304,6 +304,58 @@ QValidator::State DoubleValidator::validate(QString &input, int &pos) const {
 
 namespace utils {
 
+std::string homePath() {
+  const char *home = ::getenv("HOME");
+  return home ? home : "";
+}
+
+std::filesystem::path configPath() {
+#ifdef __APPLE__
+  return std::filesystem::path(homePath()) / "Library/Preferences";
+#else
+  const char *xdg = ::getenv("XDG_CONFIG_HOME");
+  return (xdg && xdg[0]) ? std::filesystem::path(xdg) : std::filesystem::path(homePath()) / ".config";
+#endif
+}
+
+#ifdef __APPLE__
+static const char *clipboard_read_cmds[] = {"pbpaste"};
+static const char *clipboard_write_cmds[] = {"pbcopy"};
+#else
+static const char *clipboard_read_cmds[] = {"wl-paste --no-newline 2>/dev/null", "xclip -selection clipboard -o 2>/dev/null", "xsel -ob 2>/dev/null"};
+static const char *clipboard_write_cmds[] = {"wl-copy 2>/dev/null", "xclip -selection clipboard 2>/dev/null", "xsel -ib 2>/dev/null"};
+#endif
+
+bool getClipboardText(std::string *text) {
+  text->clear();
+  bool has_tool = false;
+  for (const char *cmd : clipboard_read_cmds) {
+    FILE *f = ::popen(cmd, "r");
+    if (!f) continue;
+    std::string out;
+    char buf[4096];
+    for (size_t n; (n = ::fread(buf, 1, sizeof(buf), f)) > 0;) out.append(buf, n);
+    int status = ::pclose(f);
+    if (status == 0) {
+      *text = std::move(out);
+      return true;
+    }
+    has_tool |= WIFEXITED(status) && WEXITSTATUS(status) != 127;  // 127: command not found
+  }
+  return has_tool;  // tool present but clipboard empty
+}
+
+bool setClipboardText(const std::string &text) {
+  std::signal(SIGPIPE, SIG_IGN);
+  for (const char *cmd : clipboard_write_cmds) {
+    FILE *f = ::popen(cmd, "w");
+    if (!f) continue;
+    size_t written = ::fwrite(text.data(), 1, text.size(), f);
+    if (::pclose(f) == 0 && written == text.size()) return true;
+  }
+  return false;
+}
+
 bool isDarkTheme() {
   QColor windowColor = QApplication::palette().color(QPalette::Window);
   return windowColor.lightness() < 128;
@@ -413,20 +465,6 @@ QString signalToolTip(const cabana::Signal *sig) {
      .arg(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N");
 }
 
-void setSurfaceFormat() {
-  QSurfaceFormat fmt;
-#ifdef __APPLE__
-  fmt.setVersion(3, 2);
-  fmt.setProfile(QSurfaceFormat::OpenGLContextProfile::CoreProfile);
-  fmt.setRenderableType(QSurfaceFormat::OpenGL);
-#else
-  fmt.setRenderableType(QSurfaceFormat::OpenGLES);
-#endif
-  fmt.setSamples(16);
-  fmt.setStencilBufferSize(1);
-  QSurfaceFormat::setDefaultFormat(fmt);
-}
-
 void sigTermHandler(int s) {
   std::signal(s, SIG_DFL);
   qApp->quit();
@@ -437,57 +475,57 @@ void initApp(int argc, char *argv[], bool disable_hidpi) {
   std::signal(SIGINT, sigTermHandler);
   std::signal(SIGTERM, sigTermHandler);
 
-  QString app_dir;
+  std::filesystem::path app_dir;
 #ifdef __APPLE__
   // Get the devicePixelRatio, and scale accordingly to maintain 1:1 rendering
   QApplication tmp(argc, argv);
-  app_dir = QCoreApplication::applicationDirPath();
+  app_dir = QCoreApplication::applicationDirPath().toStdString();
   if (disable_hidpi) {
     qputenv("QT_SCALE_FACTOR", QString::number(1.0 / tmp.devicePixelRatio()).toLocal8Bit());
   }
 #else
-  app_dir = QFileInfo(util::readlink("/proc/self/exe").c_str()).path();
+  app_dir = std::filesystem::path(util::readlink("/proc/self/exe")).parent_path();
 #endif
 
-  qputenv("QT_DBL_CLICK_DIST", QByteArray::number(150));
+  qputenv("QT_DBL_CLICK_DIST", "150");
   // ensure the current dir matches the exectuable's directory
-  QDir::setCurrent(app_dir);
-
-  setSurfaceFormat();
+  std::error_code ec;
+  std::filesystem::current_path(app_dir, ec);
 }
 
+// embedded at build time from the bootstrap_icons package (see SConscript)
+extern const unsigned char bootstrap_icons_svg[];
+extern const size_t bootstrap_icons_svg_len;
+
 static std::unordered_map<std::string, std::string> load_bootstrap_icons() {
   std::unordered_map<std::string, std::string> icons;
 
-  QFile f(":/bootstrap-icons.svg");
-  if (f.open(QIODevice::ReadOnly | QIODevice::Text)) {
-    std::string content = f.readAll().toStdString();
-    const std::string sym_open = "<symbol ";
-    const std::string sym_close = "</symbol>";
-    const std::string id_attr = "id=\"";
-
-    size_t pos = 0;
-    while ((pos = content.find(sym_open, pos)) != std::string::npos) {
-      size_t end = content.find(sym_close, pos);
-      if (end == std::string::npos) break;
-      end += sym_close.size();
-
-      // extract id
-      size_t id_start = content.find(id_attr, pos);
-      if (id_start != std::string::npos && id_start < end) {
-        id_start += id_attr.size();
-        size_t id_end = content.find('"', id_start);
-        if (id_end != std::string::npos && id_end < end) {
-          std::string id = content.substr(id_start, id_end - id_start);
-          std::string svg_str = content.substr(pos, end - pos);
-          // replace <symbol with <svg, </symbol> with </svg>
-          svg_str.replace(0, 7, "<svg");               // "<symbol" (7) -> "<svg" (4)
-          svg_str.replace(svg_str.size() - 9, 9, "</svg>");  // "</symbol>" (9) -> "</svg>" (6)
-          icons[id] = std::move(svg_str);
-        }
+  const std::string content(reinterpret_cast<const char *>(bootstrap_icons_svg), bootstrap_icons_svg_len);
+  const std::string sym_open = "<symbol ";
+  const std::string sym_close = "</symbol>";
+  const std::string id_attr = "id=\"";
+
+  size_t pos = 0;
+  while ((pos = content.find(sym_open, pos)) != std::string::npos) {
+    size_t end = content.find(sym_close, pos);
+    if (end == std::string::npos) break;
+    end += sym_close.size();
+
+    // extract id
+    size_t id_start = content.find(id_attr, pos);
+    if (id_start != std::string::npos && id_start < end) {
+      id_start += id_attr.size();
+      size_t id_end = content.find('"', id_start);
+      if (id_end != std::string::npos && id_end < end) {
+        std::string id = content.substr(id_start, id_end - id_start);
+        std::string svg_str = content.substr(pos, end - pos);
+        // replace <symbol with <svg, </symbol> with </svg>
+        svg_str.replace(0, 7, "<svg");               // "<symbol" (7) -> "<svg" (4)
+        svg_str.replace(svg_str.size() - 9, 9, "</svg>");  // "</symbol>" (9) -> "</svg>" (6)
+        icons[id] = std::move(svg_str);
       }
-      pos = end;
     }
+    pos = end;
   }
   return icons;
 }
diff --git a/openpilot/tools/cabana/utils/util.h b/openpilot/tools/cabana/utils/util.h
index e0318f5c16b5a4..5a3c62d118b91e 100644
--- a/openpilot/tools/cabana/utils/util.h
+++ b/openpilot/tools/cabana/utils/util.h
@@ -3,12 +3,13 @@
 #include <array>
 #include <atomic>
 #include <cmath>
+#include <filesystem>
+#include <string>
 #include <thread>
 #include <vector>
 #include <utility>
 
 #include <QApplication>
-#include <QByteArray>
 #include <QColor>
 #include <QFont>
 #include <QFontMetrics>
@@ -132,6 +133,10 @@ class DoubleValidator : public QValidator {
 namespace utils {
 
 QPixmap icon(const QString &id);
+std::string homePath();
+std::filesystem::path configPath();
+bool getClipboardText(std::string *text);  // false if no clipboard tool is available
+bool setClipboardText(const std::string &text);
 bool isDarkTheme();
 void setTheme(int theme);
 QString formatSeconds(double sec, bool include_milliseconds = false, bool absolute_time = false);
@@ -140,7 +145,22 @@ inline void drawStaticText(QPainter *p, const QRect &r, const QStaticText &text)
   p->drawStaticText(r.left() + size.width(), r.top() + size.height(), text);
 }
 inline QString toHex(const std::vector<uint8_t> &dat, char separator = '\0') {
-  return QByteArray::fromRawData((const char *)dat.data(), dat.size()).toHex(separator).toUpper();
+  static const char digits[] = "0123456789ABCDEF";
+  QString hex;
+  hex.reserve(dat.size() * (separator ? 3 : 2));
+  for (size_t i = 0; i < dat.size(); ++i) {
+    if (separator && i) hex += QLatin1Char(separator);
+    hex += QLatin1Char(digits[dat[i] >> 4]);
+    hex += QLatin1Char(digits[dat[i] & 0xf]);
+  }
+  return hex;
+}
+
+// boundary conversions for the remaining Qt byte-array based state APIs
+template <typename T>
+std::vector<uint8_t> toBytes(const T &dat) { return {dat.begin(), dat.end()}; }
+inline auto qbytes(const std::vector<uint8_t> &dat) {
+  return decltype(QString().toUtf8())((const char *)dat.data(), (int)dat.size());
 }
 
 }
diff --git a/openpilot/tools/cabana/videowidget.cc b/openpilot/tools/cabana/videowidget.cc
index 60f7b4d2b8a151..67b89cb0807ef1 100644
--- a/openpilot/tools/cabana/videowidget.cc
+++ b/openpilot/tools/cabana/videowidget.cc
@@ -356,8 +356,8 @@ void StreamCameraView::parseQLog(std::shared_ptr<LogReader> qlog) {
   update();
 }
 
-void StreamCameraView::paintGL() {
-  CameraWidget::paintGL();
+void StreamCameraView::paintEvent(QPaintEvent *event) {
+  CameraWidget::paintEvent(event);
 
   QPainter p(this);
   bool scrubbing = false;
diff --git a/openpilot/tools/cabana/videowidget.h b/openpilot/tools/cabana/videowidget.h
index d45695904e53f8..09f7a9931bfff8 100644
--- a/openpilot/tools/cabana/videowidget.h
+++ b/openpilot/tools/cabana/videowidget.h
@@ -35,7 +35,7 @@ class StreamCameraView : public CameraWidget {
 
 public:
   StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent = nullptr);
-  void paintGL() override;
+  void paintEvent(QPaintEvent *event) override;
   void parseQLog(std::shared_ptr<LogReader> qlog);
 
 private:
diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
index 80f3ac4e45ae66..b76fdc7dde8836 100755
--- a/tools/setup_dependencies.sh
+++ b/tools/setup_dependencies.sh
@@ -44,7 +44,7 @@ function install_linux_deps() {
     echo "[ ] system packages already installed t=$SECONDS"
   elif command -v apt-get > /dev/null 2>&1; then
     $SUDO apt-get update
-    $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git
+    $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git xclip wl-clipboard
   elif command -v dnf > /dev/null 2>&1; then
     $SUDO dnf install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git
   elif command -v yum > /dev/null 2>&1; then

From 3a55f31dc5ad69a732950531997e970a66374e14 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 17 Jul 2026 15:24:34 -0700
Subject: [PATCH 1320/1434] agnos 18.5 (#38302)

---
 launch_env.sh                             |  2 +-
 openpilot/common/hardware/tici/agnos.json | 20 ++++++++++----------
 2 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/launch_env.sh b/launch_env.sh
index d71a5c27670c1d..3e0ca602b4a363 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="18.4"
+  export AGNOS_VERSION="18.5"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/openpilot/common/hardware/tici/agnos.json b/openpilot/common/hardware/tici/agnos.json
index 07e2079ec9f7d1..f22a57db75592d 100644
--- a/openpilot/common/hardware/tici/agnos.json
+++ b/openpilot/common/hardware/tici/agnos.json
@@ -56,28 +56,28 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8.img.xz",
-    "hash": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
-    "hash_raw": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-19ff57b68e219e4503fcaca716967098d5d0a1de8af833f04dbf13b99aeb4d39.img.xz",
+    "hash": "19ff57b68e219e4503fcaca716967098d5d0a1de8af833f04dbf13b99aeb4d39",
+    "hash_raw": "19ff57b68e219e4503fcaca716967098d5d0a1de8af833f04dbf13b99aeb4d39",
     "size": 17487872,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "edca8bee1531e66953d107eeceeed2dc7b3ca46417e49d55508f94e58bf95db8"
+    "ondevice_hash": "ddfe93cc6a8531af92ee331d9bbaeae2f1d933bdb38e579769dc9fe7998eb626"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img.xz",
-    "hash": "78acfe16a7b62a3a91fc7a81f40a693e4468cec1c69df7d0b1e550aacc646113",
-    "hash_raw": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724.img.xz",
+    "hash": "4dc41c2c072f5f5d5cd484cd6173049cd96acfb9a67bc20049775585fe881539",
+    "hash_raw": "a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "743142c5a898f27b2a1029cca42c8a5d5d1fc0096414422b850fe84c8d0b8342",
+    "ondevice_hash": "cf1229630b7a2b8497705bca4ba947dbf0c217418ff4febff571aa4f4a878134",
     "alt": {
-      "hash": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img",
+      "hash": "a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724.img",
       "size": 4718592000
     }
   }

From c8786d930d3fbe936e184c917769306518eaedeb Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Fri, 17 Jul 2026 15:27:20 -0700
Subject: [PATCH 1321/1434] DM: reasonable lockout ramp up (#38358)

---
 openpilot/cereal/log.capnp                    |  3 +-
 openpilot/common/params_keys.h                |  1 +
 openpilot/selfdrive/monitoring/policy.py      | 32 ++++++++++++-------
 .../selfdrive/monitoring/test_monitoring.py   | 14 +++-----
 openpilot/selfdrive/selfdrived/events.py      |  6 ++--
 5 files changed, 30 insertions(+), 26 deletions(-)

diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp
index 8ce9f868af3ec1..e1725d1e444374 100644
--- a/openpilot/cereal/log.capnp
+++ b/openpilot/cereal/log.capnp
@@ -2160,7 +2160,8 @@ struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {
 
 struct DriverMonitoringState {
   lockout @0 :Bool;
-  lockoutRecoveryPercent @11 :Int8;
+  lockoutCount @15 :Int8;
+  lockoutMinutesRemaining @11 :Int8;
   alert3Count @12 :Int8;
   noResponseCount @13 :Int8;
   noResponseForceDecel @14 :Bool;
diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h
index 7efa5721dc9893..0615c027004dda 100644
--- a/openpilot/common/params_keys.h
+++ b/openpilot/common/params_keys.h
@@ -37,6 +37,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DoShutdown", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DoUninstall", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
+    {"DriverLockoutCount", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, INT, "0"}},
     {"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY, BOOL}},
     {"ExperimentalMode", {PERSISTENT, BOOL}},
     {"ExperimentalModeConfirmed", {PERSISTENT, BOOL}},
diff --git a/openpilot/selfdrive/monitoring/policy.py b/openpilot/selfdrive/monitoring/policy.py
index 03db1dc02eba6c..1ce9f03b3e60b1 100644
--- a/openpilot/selfdrive/monitoring/policy.py
+++ b/openpilot/selfdrive/monitoring/policy.py
@@ -41,7 +41,7 @@ def __init__(self):
     # lockout specs
     self._MAX_ALERT_3 = 2
     self._MAX_NO_RESPONSE = 1
-    self._LOCKOUT_TIME = int(1800 / DT_DMON)
+    self._LOCKOUT_TIMES = [int(60 * n_min / DT_DMON) for n_min in [1, 5, 15, 30]]
 
     self._TIMEOUT_RECOVERY_FACTOR_MAX = 5.
     self._TIMEOUT_RECOVERY_FACTOR_MIN = 1.25
@@ -152,7 +152,10 @@ def __init__(self, rhd_saved=False, settings=None, always_on=False):
     self.cnt_since_alert_3 = 0
     self.no_response_timeout = int(self.settings._NO_RESPONSE_TIMEOUT / DT_DMON)
     self.no_response_cnt = 0
-    self.lockout_time = 0
+    self.lockout_active = Params().get_bool("DriverTooDistracted")
+    self.lockout_count = Params().get("DriverLockoutCount") or 0
+    self.lockout_duration = self.settings._LOCKOUT_TIMES[min(max(self.lockout_count - 1, 0), len(self.settings._LOCKOUT_TIMES) - 1)]
+    self.lockout_time_elapsed = 0
     self.step_change = 0.
     self.active_policy = MonitoringPolicy.vision
     self.driver_interacting = False
@@ -163,7 +166,6 @@ def __init__(self, rhd_saved=False, settings=None, always_on=False):
     self.threshold_alert_2 = 0.
     self.dcam_uncertain_cnt = 0
     self.dcam_reset_cnt = 0
-    self.too_distracted = Params().get_bool("DriverTooDistracted")
 
     self._reset_awareness()
     self._set_policy(MonitoringPolicy.vision)
@@ -310,16 +312,20 @@ def _update_events(self, driver_engaged, op_engaged, lowspeed, wrong_gear):
     self.driver_interacting = driver_engaged
 
     if self.alert_3_cnt >= self.settings._MAX_ALERT_3 or self.no_response_cnt >= self.settings._MAX_NO_RESPONSE:
-      self.too_distracted = True
-
-    if self.too_distracted:
-      self.lockout_time += 1
-      if self.lockout_time > self.settings._LOCKOUT_TIME:
-        self.too_distracted = False
+      if not self.lockout_active:
+        self.lockout_count += 1
+        self.lockout_duration = self.settings._LOCKOUT_TIMES[min(self.lockout_count - 1, len(self.settings._LOCKOUT_TIMES) - 1)]
+        Params().put("DriverLockoutCount", self.lockout_count)
+      self.lockout_active = True
+
+    if self.lockout_active:
+      self.lockout_time_elapsed += 1
+      if self.lockout_time_elapsed > self.lockout_duration:
+        self.lockout_active = False
         self.alert_3_cnt = 0
         self.cnt_since_alert_3 = 0
         self.no_response_cnt = 0
-        self.lockout_time = 0
+        self.lockout_time_elapsed = 0
 
     always_on_valid = self.always_on and not wrong_gear
     if (self.driver_interacting and self.awareness > 0 and self.active_policy == MonitoringPolicy.wheeltouch) or \
@@ -379,8 +385,10 @@ def get_state_packet(self, valid=True):
     dat = messaging.new_message('driverMonitoringState', valid=valid)
     dm = dat.driverMonitoringState
 
-    dm.lockout = self.too_distracted
-    dm.lockoutRecoveryPercent = to_percent(self.lockout_time / self.settings._LOCKOUT_TIME)
+    dm.lockout = self.lockout_active
+    dm.lockoutCount = self.lockout_count
+    if self.lockout_active:
+      dm.lockoutMinutesRemaining = max(1, round((self.lockout_duration - self.lockout_time_elapsed) * DT_DMON / 60.))
     dm.alert3Count = self.alert_3_cnt
     dm.noResponseCount = self.no_response_cnt
     dm.noResponseForceDecel = self.alert_level == AlertLevel.three and self.cnt_since_alert_3 >= self.no_response_timeout
diff --git a/openpilot/selfdrive/monitoring/test_monitoring.py b/openpilot/selfdrive/monitoring/test_monitoring.py
index 48fffcc1c01409..0368dc9b67377d 100644
--- a/openpilot/selfdrive/monitoring/test_monitoring.py
+++ b/openpilot/selfdrive/monitoring/test_monitoring.py
@@ -83,21 +83,17 @@ def test_fully_distracted_driver(self):
   # engaged, distracted past red and beyond the no-response window -> unavailability response + lockout
   def test_distracted_lockout(self):
     alert_lvls, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
-    s = d_status.settings
     assert alert_lvls[int(DISTRACTED_SECONDS_TO_RED / DT_DMON)] == 3
-    assert d_status.alert_3_cnt == 1
-    assert d_status.no_response_cnt == s._MAX_NO_RESPONSE
-    assert d_status.too_distracted
-    assert d_status.lockout_time > 0
+    assert d_status.lockout_active
+    assert d_status.lockout_time_elapsed > 0
+    assert d_status.lockout_count >= 1
 
   # no face -> wheeltouch red, sustained past the no-response timeout -> unavailability response + lockout
   def test_invisible_lockout(self):
     _, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
-    s = d_status.settings
     assert d_status.active_policy == log.DriverMonitoringState.MonitoringPolicy.wheeltouch
-    assert d_status.alert_3_cnt == 1
-    assert d_status.no_response_cnt == s._MAX_NO_RESPONSE
-    assert d_status.too_distracted
+    assert d_status.lockout_active
+    assert d_status.lockout_count >= 1
 
   # engaged, no face detected the whole time, no action
   def test_fully_invisible_driver(self):
diff --git a/openpilot/selfdrive/selfdrived/events.py b/openpilot/selfdrive/selfdrived/events.py
index 00d0334adacb46..367bc03d339b03 100755
--- a/openpilot/selfdrive/selfdrived/events.py
+++ b/openpilot/selfdrive/selfdrived/events.py
@@ -10,9 +10,8 @@
 import openpilot.cereal.messaging as messaging
 from openpilot.common.constants import CV
 from openpilot.common.git import get_short_branch
-from openpilot.common.realtime import DT_CTRL, DT_DMON
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
-from openpilot.selfdrive.monitoring.policy import DRIVER_MONITOR_SETTINGS
 from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
 from openpilot.selfdrive.ui.feedback.feedbackd import FEEDBACK_MAX_DURATION
 from openpilot.common.hardware import HARDWARE
@@ -23,7 +22,6 @@
 AudibleAlert = log.SelfdriveState.AudibleAlert
 EventName = log.OnroadEvent.EventName
 
-DMON_LOCKOUT_TIME = DRIVER_MONITOR_SETTINGS()._LOCKOUT_TIME
 
 # Alert priorities
 class Priority(IntEnum):
@@ -269,7 +267,7 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag
 
 def too_distracted_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   if sm['driverMonitoringState'].lockout:
-    mins_left = max(1, round((100 - sm['driverMonitoringState'].lockoutRecoveryPercent) / 100 * DMON_LOCKOUT_TIME * DT_DMON / 60.))
+    mins_left = sm['driverMonitoringState'].lockoutMinutesRemaining
     return NoEntryAlert("Too Distracted", f"{mins_left} minute{'s' if mins_left != 1 else ''} Left", priority=Priority.HIGH)
   return NoEntryAlert("Pay Attention to Engage", priority=Priority.HIGH)
 

From b9f25f8a43bf6f47921ba8270810fb8315351e8f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 17 Jul 2026 15:28:39 -0700
Subject: [PATCH 1322/1434] webrtcd: move to libdatachannel (#38228)

* try libdatachannel

* fix uv lock

* fix uv lock

* remove datachannel abstraction and just use libdatachannel

* clean

* fix livestream bitrate controller

* fix sample

* fix import breaking ci

* clean up and add catches

* bump tele

* move to teleop master

* fix linter

* .

* remove libdatachannel explicit reference from pyproject.toml

* add PyJWT crypto and catch in registration

* spelling

* add crypto back to lock

---------

Co-authored-by: stefpi <19478336+stefpi@users.noreply.github.com>
---
 openpilot/system/athena/registration.py       |   3 +
 openpilot/system/webrtc/device/video.py       |  10 +-
 .../webrtc/tests/test_stream_session.py       |  12 +-
 openpilot/system/webrtc/webrtcd.py            | 109 +++---
 pyproject.toml                                |   3 +-
 teleoprtc_repo                                |   2 +-
 uv.lock                                       | 315 ++----------------
 7 files changed, 75 insertions(+), 379 deletions(-)

diff --git a/openpilot/system/athena/registration.py b/openpilot/system/athena/registration.py
index 0e8d4bc49eef2a..35051c065939fc 100755
--- a/openpilot/system/athena/registration.py
+++ b/openpilot/system/athena/registration.py
@@ -82,6 +82,9 @@ def register(show_spinner=False) -> str | None:
           dongleauth = json.loads(resp.text)
           dongle_id = dongleauth["dongle_id"]
         break
+      except NotImplementedError:
+        # dependency issues with PyJWT will hang the registration test in backoff loop otherwise
+        raise
       except Exception:
         cloudlog.exception("failed to authenticate")
         backoff = min(backoff + 1, 15)
diff --git a/openpilot/system/webrtc/device/video.py b/openpilot/system/webrtc/device/video.py
index 3c8a7b93c212aa..a67247bc3ce97f 100644
--- a/openpilot/system/webrtc/device/video.py
+++ b/openpilot/system/webrtc/device/video.py
@@ -4,7 +4,6 @@
 
 import av
 from teleoprtc.tracks import TiciVideoStreamTrack
-from aiortc import MediaStreamError
 
 from openpilot.cereal import messaging
 from openpilot.common.realtime import DT_MDL
@@ -55,6 +54,9 @@ def enable(self, enabled: bool):
     if not enabled:
       self._seen_keyframe = False
 
+  def request_keyframe(self) -> None:
+    self.params.put("LivestreamRequestKeyframe", True, block=False)
+
   def _build_frame_data(self, msg) -> bytes:
     encode_data = getattr(msg, msg.which())
     if not self.timing_sei_enabled:
@@ -71,9 +73,6 @@ def _build_frame_data(self, msg) -> bytes:
 
   async def recv(self):
     while True:
-      if self.readyState != "live":
-        raise MediaStreamError
-
       # while video is disabled, pause here without returning
       if not self.video_enabled:
         await asyncio.sleep(0.005)
@@ -95,6 +94,3 @@ async def recv(self):
     self.log_debug("track sending frame %d", self._pts)
 
     return packet
-
-  def codec_preference(self) -> str | None:
-    return "H264"
diff --git a/openpilot/system/webrtc/tests/test_stream_session.py b/openpilot/system/webrtc/tests/test_stream_session.py
index e03932f7b2d9b2..7e95097c879a7d 100644
--- a/openpilot/system/webrtc/tests/test_stream_session.py
+++ b/openpilot/system/webrtc/tests/test_stream_session.py
@@ -1,15 +1,10 @@
 import asyncio
 import json
 import time
-# for aiortc and its dependencies
-import warnings
-warnings.filterwarnings("ignore", category=DeprecationWarning)
-warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel
 
-from aiortc import RTCDataChannel
-from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
 import capnp
 from openpilot.cereal import messaging, log
+from teleoprtc.tracks import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
 
 from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy
 from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
@@ -31,7 +26,8 @@ def test_outgoing_proxy(self, mocker):
     expected_dict = {"type": "customReservedRawData0", "logMonoTime": 123, "valid": True, "data": "test"}
     expected_json = json.dumps(expected_dict).encode()
 
-    channel = mocker.Mock(spec=RTCDataChannel)
+    channel = mocker.Mock()
+    channel.is_open.return_value = True
     proxy = CerealOutgoingMessageProxy(["customReservedRawData0"])
     def mocked_update(t):
       proxy.sm.update_msgs(0, [test_msg])
@@ -73,7 +69,6 @@ def test_livestream_track(self, mocker):
     track = LiveStreamVideoStreamTrack("driver")
 
     assert track.id.startswith("driver")
-    assert track.codec_preference() == "H264"
 
     for i in range(5):
       packet = self.loop.run_until_complete(track.recv())
@@ -83,4 +78,3 @@ def test_livestream_track(self, mocker):
         start_pts = packet.pts
       assert abs(i + packet.pts - (start_pts + (((time.monotonic_ns() - start_ns) * VIDEO_CLOCK_RATE) // 1_000_000_000))) < 450 #5ms
       assert packet.size == 0
-
diff --git a/openpilot/system/webrtc/webrtcd.py b/openpilot/system/webrtc/webrtcd.py
index bf96cd04ba984f..8276df98f2933e 100755
--- a/openpilot/system/webrtc/webrtcd.py
+++ b/openpilot/system/webrtc/webrtcd.py
@@ -1,9 +1,11 @@
 #!/usr/bin/env python3
 
 from abc import abstractmethod
+from collections.abc import Callable
 import os
 import socket
 import time
+import capnp
 import argparse
 import asyncio
 import contextlib
@@ -14,17 +16,7 @@
 import threading
 from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer
 from urllib.parse import urlparse, parse_qs
-from typing import Any, TYPE_CHECKING
-
-# aiortc and its dependencies have lots of internal warnings :(
-import warnings
-warnings.filterwarnings("ignore", category=DeprecationWarning)
-warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel
-
-import capnp
-if TYPE_CHECKING:
-  from aiortc.rtcdatachannel import RTCDataChannel
-import aioice.ice
+from typing import Any
 
 from openpilot.system.webrtc.helpers import StreamRequestBody
 from openpilot.system.webrtc.schema import generate_field
@@ -44,20 +36,8 @@ def _default_route_ip() -> str | None:
   finally:
     s.close()
 
-# aioice patch: gather ICE candidates only on the default-route interface
-_get_host_addresses = aioice.ice.get_host_addresses
-def _primary_host_addresses(use_ipv4: bool, use_ipv6: bool) -> list[str]:
-  addresses = _get_host_addresses(use_ipv4, use_ipv6)
-  primary = _default_route_ip()
-  if primary not in addresses:
-    return addresses
-  return [primary, ]
-aioice.ice.get_host_addresses = _primary_host_addresses
-
-
 class AsyncTaskRunner:
   def __init__(self):
-    self.is_running = False
     self.task = None
     self.logger = logging.getLogger("webrtcd")
 
@@ -86,10 +66,10 @@ def __init__(self, services: list[str], enabled: bool = True):
     super().__init__()
     self.services = list(services)
     self.sm = messaging.SubMaster(self.services)
-    self.channels: list[RTCDataChannel] = []
+    self.channels = []
     self._enabled = enabled
 
-  def add_channel(self, channel: 'RTCDataChannel'):
+  def add_channel(self, channel):
     self.channels.append(channel)
 
   def enable(self, enable: bool):
@@ -118,20 +98,17 @@ def update(self):
       outgoing_msg = {"type": service, "logMonoTime": mono_time, "valid": valid, "data": msg_dict}
       encoded_msg = json.dumps(outgoing_msg).encode()
       for channel in self.channels:
+        if not channel.is_open():
+          continue
         channel.send(encoded_msg)
 
   async def run(self):
-    from aiortc.exceptions import InvalidStateError
-
     while True:
       if not self._enabled:
         await asyncio.sleep(0.01)
         continue
       try:
         self.update()
-      except InvalidStateError:
-        self.logger.warning("Cereal outgoing proxy invalid state (connection closed)")
-        break
       except Exception:
         self.logger.exception("Cereal outgoing proxy failure")
       await asyncio.sleep(0.01)
@@ -172,17 +149,17 @@ class LivestreamBitrateController(AsyncTaskRunner):
   high_level = 0.1 # drop immediately
   med_level = 0.05 # drop after # of samples
   low_level = 0 # raise after # of samples
-  down_samples = 5 # 1s
+  down_samples = 5
   param_name = "LivestreamEncoderBitrate"
 
-  def __init__(self, peer_connection: Any, params: Params, enabled: bool = True):
+  def __init__(self, get_stats: Callable[[], dict[str, Any]], params: Params, enabled: bool = True):
     super().__init__()
-    self.pc = peer_connection
+    self.get_stats = get_stats
     self.params = params
 
     self.level = 2
     self._publish(self.bitrates[self.level])
-    self.prev_lost, self.prev_sent = None, None
+    self.prev_stats: tuple[Any, ...] | None = None
     self.counter = 0
     self.up_samples = 5 # 1s
     self._auto = True
@@ -199,7 +176,7 @@ async def run(self):
       if not self._auto:
         continue
 
-      loss_rate = await self._sample()
+      loss_rate = self._sample()
       if loss_rate is None:
         continue
       if loss_rate >= self.med_level and self.level > 0:
@@ -216,22 +193,18 @@ async def run(self):
           self.counter = 0
           self._publish(self.bitrates[self.level])
 
-  async def _sample(self) -> float | None:
-    report = await self.pc.getStats()
-    packets_lost = packets_sent = 0
-    for s in report.values():
-      if s.type == "remote-inbound-rtp":
-        packets_lost += s.packetsLost
-      elif s.type == "outbound-rtp":
-        packets_sent += s.packetsSent
-
-    if self.prev_lost is None:
-      self.prev_lost, self.prev_sent = packets_lost, packets_sent
+  def _sample(self) -> float | None:
+    report = next(iter(self.get_stats().values()), None)
+    if report is None:
       return None
-    lost_delta = max(0, packets_lost - self.prev_lost)
-    sent_delta = max(0, packets_sent - self.prev_sent)
-    self.prev_lost, self.prev_sent = packets_lost, packets_sent
-    return lost_delta / sent_delta if sent_delta else 0.0
+
+    current = (report.ssrc, report.fraction_lost, report.packets_lost, report.highest_seq_no, report.jitter, report.lsr, report.dlsr)
+    if self.prev_stats == current:
+      return None
+    self.prev_stats = current
+
+    loss_rate = report.fraction_lost / 256
+    return loss_rate
 
   def _publish(self, bitrate: float):
     self.params.put(self.param_name, bitrate)
@@ -248,17 +221,15 @@ class StreamSession:
   shared_pub_master = DynamicPubMaster([])
 
   def __init__(self, body: StreamRequestBody, debug_mode: bool = False):
-    if debug_mode:
-      from aiortc.mediastreams import VideoStreamTrack
     from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
     from teleoprtc.builder import WebRTCAnswerBuilder
 
     self.identifier = str(uuid.uuid4())
     self.params = Params()
-    builder = WebRTCAnswerBuilder(body.sdp)
+    builder = WebRTCAnswerBuilder(body.sdp, bind_address=_default_route_ip())
 
     self.enabled = body.enabled
-    self.video_track = LiveStreamVideoStreamTrack(body.init_camera, self.enabled) if not debug_mode else VideoStreamTrack()
+    self.video_track = LiveStreamVideoStreamTrack(body.init_camera, self.enabled)
     builder.add_video_stream(body.init_camera, self.video_track)
     self.stream = builder.stream()
 
@@ -270,7 +241,7 @@ def __init__(self, body: StreamRequestBody, debug_mode: bool = False):
       self.incoming_bridge = CerealIncomingMessageProxy(self.shared_pub_master)
     if len(body.bridge_services_out) > 0:
       self.outgoing_bridge = CerealOutgoingMessageProxy(body.bridge_services_out, self.enabled)
-    self.bitrate_controller = LivestreamBitrateController(self.stream.peer_connection, self.params, self.enabled)
+    self.bitrate_controller = LivestreamBitrateController(self.stream.get_receiver_report_stats, self.params, self.enabled)
 
     self.run_task: asyncio.Task | None = None
     self._cleanup_lock = asyncio.Lock()
@@ -305,13 +276,16 @@ def message_handler(self, message: bytes):
           case "livestreamCameraSwitch":
             self.video_track.switch_camera(payload["data"]["camera"])
           case "livestreamSettings":
-            self.bitrate_controller.set_quality(payload["data"]["quality"])
+            if self.bitrate_controller is not None:
+              self.bitrate_controller.set_quality(payload["data"]["quality"])
           case "livestreamVideoEnable":
             enabled = payload["data"]["enabled"]
             self.enabled = enabled
             self.video_track.enable(enabled)
-            self.outgoing_bridge.enable(enabled)
-            self.bitrate_controller.enable(enabled)
+            if self.outgoing_bridge is not None:
+              self.outgoing_bridge.enable(enabled)
+            if self.bitrate_controller is not None:
+              self.bitrate_controller.enable(enabled)
             if not enabled:
               self.params.put("LivestreamRequestKeyframe", True)
           case "clockSync":
@@ -325,7 +299,8 @@ def message_handler(self, message: bytes):
           case _:
             if payload.get("type") not in self.incoming_bridge_services:
               return
-            self.incoming_bridge.send(message)
+            if self.incoming_bridge is not None:
+              self.incoming_bridge.send(message)
     except Exception:
       self.logger.exception("Cereal incoming proxy failure")
 
@@ -341,7 +316,8 @@ async def run(self):
           channel = self.stream.get_messaging_channel()
           self.outgoing_bridge.add_channel(channel)
           self.outgoing_bridge.start()
-      self.bitrate_controller.start()
+      if self.bitrate_controller is not None:
+        self.bitrate_controller.start()
 
       self.logger.info("Stream session (%s) connected", self.identifier)
       await self.stream.wait_for_disconnection()
@@ -357,7 +333,8 @@ async def post_run_cleanup(self):
         return
       self._cleanup_done = True
       self.params.put("LivestreamRequestKeyframe", False)
-      await self.bitrate_controller.stop()
+      if self.bitrate_controller is not None:
+        await self.bitrate_controller.stop()
       if self.outgoing_bridge is not None:
         await self.outgoing_bridge.stop()
       if self.video_track is not None:
@@ -417,7 +394,12 @@ async def handle_get_stream(state: ServerState, raw_body: bytes) -> tuple[int, b
     session = StreamSession(body, debug_mode)
     stream_dict[session.identifier] = session
     try:
-      answer = await session.get_answer()
+      answer = await asyncio.wait_for(session.get_answer(), timeout=30)
+    except TimeoutError:
+      await session.stop()
+      stream_dict.pop(session.identifier, None)
+      logging.getLogger("webrtcd").exception("Timed out creating stream answer")
+      raise
     except Exception:
       await session.stop()
       stream_dict.pop(session.identifier, None)
@@ -558,9 +540,6 @@ async def _shutdown(server: WebrtcdHTTPServer, state: ServerState, loop: asyncio
 
 
 def prewarm_stream_session_imports(debug_mode: bool = False) -> None:
-  if debug_mode:
-    from aiortc.mediastreams import VideoStreamTrack
-    assert VideoStreamTrack
   from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
   from teleoprtc.builder import WebRTCAnswerBuilder
   assert LiveStreamVideoStreamTrack
diff --git a/pyproject.toml b/pyproject.toml
index 51f07d38702438..de356e4b6fec8a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -39,7 +39,6 @@ dependencies = [
 
   # body / webrtcd
   "av",
-  "aiortc",
 
   # logging
   "pyzmq",
@@ -47,7 +46,7 @@ dependencies = [
   "xattr",  # used in place of 'os.getxattr' for macOS compatibility
 
   # athena
-  "PyJWT",
+  "PyJWT[crypto]",
   "websocket_client",
 
   # joystickd
diff --git a/teleoprtc_repo b/teleoprtc_repo
index 22df577821862e..c0f813f1c4f7e2 160000
--- a/teleoprtc_repo
+++ b/teleoprtc_repo
@@ -1 +1 @@
-Subproject commit 22df577821862e32a011fb0cf42577599f3a79c4
+Subproject commit c0f813f1c4f7e2d29bc0ed6a4d2a7b3268511b0f
diff --git a/uv.lock b/uv.lock
index bb6a1cb59c9060..d771c2aacb6dea 100644
--- a/uv.lock
+++ b/uv.lock
@@ -8,95 +8,6 @@ overrides = [
     { name = "opendbc", editable = "opendbc_repo" },
 ]
 
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-version = "2.7.1"
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+[package.optional-dependencies]
+crypto = [
+    { name = "cryptography" },
 ]
 
 [[package]]
@@ -1235,19 +1019,6 @@ wheels = [
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 ]
 
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 [[package]]
 name = "pyparsing"
 version = "3.3.2"
@@ -1566,18 +1337,12 @@ name = "teleoprtc"
 version = "1.0.1"
 source = { editable = "teleoprtc_repo" }
 dependencies = [
-    { name = "aiohttp" },
-    { name = "aiortc" },
-    { name = "av" },
-    { name = "numpy" },
+    { name = "libdatachannel-py" },
 ]
 
 [package.metadata]
 requires-dist = [
-    { name = "aiohttp", specifier = ">=3.7.0" },
-    { name = "aiortc", specifier = ">=1.6.0" },
-    { name = "av", specifier = ">=11.0.0,<13.0.0" },
-    { name = "numpy", specifier = ">=1.19.0" },
+    { name = "libdatachannel-py", specifier = ">=2026.1.0.dev2" },
     { name = "parameterized", marker = "extra == 'dev'", specifier = ">=0.8" },
     { name = "pre-commit", marker = "extra == 'dev'" },
     { name = "pytest", marker = "extra == 'dev'" },
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 ]
 
-[[package]]
-name = "typing-extensions"
-version = "4.16.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/f6/cc/6253133b5bb138fc3306cebfbda2c520f545d36b5be2c7255cc528bb45d6/typing_extensions-4.16.0.tar.gz", hash = "sha256:dc983d19a509c94dba722ee6abd33940f7c05a89e243c47e907eb4db6f1a43e5", size = 113555, upload-time = "2026-07-02T08:40:05.92Z" }
-wheels = [
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-]
-
 [[package]]
 name = "urllib3"
 version = "2.7.0"
@@ -1745,37 +1501,6 @@ wheels = [
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 ]
 
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-]
-
 [[package]]
 name = "zensical"
 version = "0.0.46"

From c21b0821daffaa529f2a210ffce67e5166a07b60 Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Fri, 17 Jul 2026 16:23:44 -0700
Subject: [PATCH 1323/1434] fix(ui): label alignment and text with icon
 (#38365)

fix align bottom and text positioning with icon
---
 openpilot/system/ui/widgets/label.py | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/openpilot/system/ui/widgets/label.py b/openpilot/system/ui/widgets/label.py
index 7fe25ab51d1076..7052b2c2a9be87 100644
--- a/openpilot/system/ui/widgets/label.py
+++ b/openpilot/system/ui/widgets/label.py
@@ -188,6 +188,9 @@ def _render(self, _):
     if self._text_alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE:
       total_text_height = sum(ts.y for ts in self._text_size) or self._font_size * FONT_SCALE
       text_pos = rl.Vector2(self._rect.x, (self._rect.y + (self._rect.height - total_text_height) // 2))
+    elif self._text_alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM:
+      total_text_height = sum(ts.y for ts in self._text_size) or self._font_size * FONT_SCALE
+      text_pos = rl.Vector2(self._rect.x, self._rect.y + self._rect.height - total_text_height)
     else:
       text_pos = rl.Vector2(self._rect.x, self._rect.y)
 
@@ -196,11 +199,11 @@ def _render(self, _):
       if len(self._text_wrapped) > 0:
         if self._text_alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT:
           icon_x = self._rect.x + self._text_padding
-          text_pos.x = self._icon.width + ICON_PADDING
+          text_pos.x = self._rect.x + self._icon.width + ICON_PADDING
         elif self._text_alignment == rl.GuiTextAlignment.TEXT_ALIGN_CENTER:
           total_width = self._icon.width + ICON_PADDING + text_size.x
           icon_x = self._rect.x + (self._rect.width - total_width) / 2
-          text_pos.x = self._icon.width + ICON_PADDING
+          text_pos.x = self._rect.x + self._icon.width + ICON_PADDING
         else:
           icon_x = (self._rect.x + self._rect.width - text_size.x - self._text_padding) - ICON_PADDING - self._icon.width
       else:

From 3f93b0012063987f722abd0f8f5a5061a07bfd99 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 18 Jul 2026 08:52:02 -0700
Subject: [PATCH 1324/1434] webrtc: remove av (#38369)

---
 openpilot/system/webrtc/device/video.py         | 17 +++++++++++------
 .../system/webrtc/tests/test_stream_session.py  |  5 ++---
 2 files changed, 13 insertions(+), 9 deletions(-)

diff --git a/openpilot/system/webrtc/device/video.py b/openpilot/system/webrtc/device/video.py
index a67247bc3ce97f..c300f7648585dc 100644
--- a/openpilot/system/webrtc/device/video.py
+++ b/openpilot/system/webrtc/device/video.py
@@ -1,8 +1,8 @@
 import asyncio
+from dataclasses import dataclass
 import struct
 import time
 
-import av
 from teleoprtc.tracks import TiciVideoStreamTrack
 
 from openpilot.cereal import messaging
@@ -21,6 +21,15 @@
 _SEI_PREFIX = b'\x00\x00\x00\x01\x06\x05\x30' + TIMING_SEI_UUID
 
 
+@dataclass(frozen=True)
+class EncodedVideoFrame:
+  data: bytes
+  pts: int
+
+  def __bytes__(self) -> bytes:
+    return self.data
+
+
 class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
   camera_to_sock_mapping = {
     "driver": "livestreamDriverEncodeData",
@@ -86,11 +95,7 @@ async def recv(self):
         break
       await asyncio.sleep(0.005)
 
-    packet = av.Packet(self._build_frame_data(msg))
-    packet.time_base = self._time_base
-
     self._pts =  ((time.monotonic_ns() - self._t0_ns) * self._clock_rate) // 1_000_000_000
-    packet.pts = self._pts
     self.log_debug("track sending frame %d", self._pts)
 
-    return packet
+    return EncodedVideoFrame(self._build_frame_data(msg), self._pts)
diff --git a/openpilot/system/webrtc/tests/test_stream_session.py b/openpilot/system/webrtc/tests/test_stream_session.py
index 7e95097c879a7d..b83e1223d2872d 100644
--- a/openpilot/system/webrtc/tests/test_stream_session.py
+++ b/openpilot/system/webrtc/tests/test_stream_session.py
@@ -4,7 +4,7 @@
 
 import capnp
 from openpilot.cereal import messaging, log
-from teleoprtc.tracks import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
+from teleoprtc.tracks import VIDEO_CLOCK_RATE
 
 from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy
 from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
@@ -72,9 +72,8 @@ def test_livestream_track(self, mocker):
 
     for i in range(5):
       packet = self.loop.run_until_complete(track.recv())
-      assert packet.time_base == VIDEO_TIME_BASE
       if i == 0:
         start_ns = time.monotonic_ns()
         start_pts = packet.pts
       assert abs(i + packet.pts - (start_pts + (((time.monotonic_ns() - start_ns) * VIDEO_CLOCK_RATE) // 1_000_000_000))) < 450 #5ms
-      assert packet.size == 0
+      assert bytes(packet) == b""

From 3f49e2d33c40b20424aceafe1d5d2d1973e17acf Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 18 Jul 2026 09:02:08 -0700
Subject: [PATCH 1325/1434] jp: add thumbnail source (#38363)

---
 openpilot/tools/jotpluggler/app.cc           |   9 +-
 openpilot/tools/jotpluggler/app.h            |  27 ++
 openpilot/tools/jotpluggler/common.cc        |   4 +-
 openpilot/tools/jotpluggler/common.h         |   3 +-
 openpilot/tools/jotpluggler/layout_io.cc     |   2 +
 openpilot/tools/jotpluggler/session.cc       |   3 +
 openpilot/tools/jotpluggler/sketch_layout.cc |  45 ++++
 openpilot/tools/jotpluggler/thumbnail.cc     | 253 +++++++++++++++++++
 openpilot/tools/jotpluggler/thumbnail.h      |   5 +
 9 files changed, 347 insertions(+), 4 deletions(-)
 create mode 100644 openpilot/tools/jotpluggler/thumbnail.cc
 create mode 100644 openpilot/tools/jotpluggler/thumbnail.h

diff --git a/openpilot/tools/jotpluggler/app.cc b/openpilot/tools/jotpluggler/app.cc
index 01eec1536765d1..e6ba696bae8c95 100644
--- a/openpilot/tools/jotpluggler/app.cc
+++ b/openpilot/tools/jotpluggler/app.cc
@@ -3,6 +3,7 @@
 #include "tools/jotpluggler/common.h"
 #include "tools/jotpluggler/internal.h"
 #include "tools/jotpluggler/map.h"
+#include "tools/jotpluggler/thumbnail.h"
 #include "common/hardware/hw.h"
 #include "imgui_impl_glfw.h"
 
@@ -1033,10 +1034,12 @@ bool apply_special_item_to_pane(WorkspaceTab *tab, TabUiState *tab_state, int pa
     if (pane.title == UNTITLED_PANE_TITLE || previous_kind != PaneKind::Plot) {
       pane.title = spec->label;
     }
-  } else {
+  } else if (spec->kind == PaneKind::Camera) {
     pane.title = spec->label;
     resize_tab_pane_state(tab_state, tab->panes.size());
     tab_state->camera_panes[static_cast<size_t>(pane_index)].fit_to_pane = true;
+  } else {
+    pane.title = spec->label;
   }
   tab_state->active_pane_index = pane_index;
   return true;
@@ -1565,6 +1568,8 @@ void draw_pane_windows(AppSession *session, UiState *state) {
       }
       if (pane.kind == PaneKind::Map) {
         draw_map_pane(session, state, &pane, static_cast<int>(i));
+      } else if (pane.kind == PaneKind::Thumbnail) {
+        draw_thumbnail_pane(session, state);
       } else if (pane.kind == PaneKind::Camera) {
         draw_camera_pane(session, state, tab_state, static_cast<int>(i), pane);
       } else {
@@ -1847,6 +1852,7 @@ int run(const Options &options) {
   for (std::unique_ptr<CameraFeedView> &feed : session.pane_camera_feeds) {
     feed = std::make_unique<CameraFeedView>();
   }
+  session.thumbnail_view = std::make_unique<ThumbnailView>();
   sync_camera_feeds(&session);
 
   if (session.async_route_loading) {
@@ -1892,6 +1898,7 @@ int run(const Options &options) {
   for (std::unique_ptr<CameraFeedView> &feed : session.pane_camera_feeds) {
     feed.reset();
   }
+  session.thumbnail_view.reset();
   return 0;
   } catch (const std::exception &err) {
     std::cerr << err.what() << "\n";
diff --git a/openpilot/tools/jotpluggler/app.h b/openpilot/tools/jotpluggler/app.h
index a38f889687406f..b7754f51b2346a 100644
--- a/openpilot/tools/jotpluggler/app.h
+++ b/openpilot/tools/jotpluggler/app.h
@@ -81,6 +81,7 @@ struct Curve {
 enum class PaneKind : uint8_t {
   Plot,
   Map,
+  Thumbnail,
   Camera,
 };
 
@@ -141,6 +142,12 @@ struct CameraFeedIndex {
   std::vector<CameraFrameIndexEntry> entries;
 };
 
+struct ThumbnailFrame {
+  double timestamp = 0.0;
+  int segment = -1;
+  std::vector<uint8_t> jpeg;
+};
+
 enum class LogOrigin : uint8_t {
   Log,
   OperatingSystem,
@@ -318,6 +325,7 @@ struct RouteData {
   CameraFeedIndex driver_camera;
   CameraFeedIndex wide_road_camera;
   CameraFeedIndex qroad_camera;
+  std::vector<ThumbnailFrame> thumbnails;
   GpsTrace gps_trace;
   std::vector<LogEntry> logs;
   std::vector<TimelineEntry> timeline;
@@ -445,6 +453,7 @@ bool icon_menu_item(const char *glyph,
 
 class AsyncRouteLoader;
 class CameraFeedView;
+class ThumbnailView;
 class StreamPoller;
 class MapDataManager;
 
@@ -486,6 +495,7 @@ struct AppSession {
   std::unique_ptr<AsyncRouteLoader> route_loader;
   std::unique_ptr<StreamPoller> stream_poller;
   std::array<std::unique_ptr<CameraFeedView>, 4> pane_camera_feeds;
+  std::unique_ptr<ThumbnailView> thumbnail_view;
   std::unique_ptr<MapDataManager> map_data;
   bool async_route_loading = false;
   double next_stream_custom_refresh_time = 0.0;
@@ -885,3 +895,20 @@ class CameraFeedView {
   struct Impl;
   std::unique_ptr<Impl> impl_;
 };
+
+class ThumbnailView {
+public:
+  ThumbnailView();
+  ~ThumbnailView();
+
+  ThumbnailView(const ThumbnailView &) = delete;
+  ThumbnailView &operator=(const ThumbnailView &) = delete;
+
+  void setThumbnails(const std::vector<ThumbnailFrame> &thumbnails);
+  void update(double tracker_time);
+  void drawSized(ImVec2 size, bool loading);
+
+private:
+  struct Impl;
+  std::unique_ptr<Impl> impl_;
+};
diff --git a/openpilot/tools/jotpluggler/common.cc b/openpilot/tools/jotpluggler/common.cc
index 8f696657bd5490..50f5fc0b95810f 100644
--- a/openpilot/tools/jotpluggler/common.cc
+++ b/openpilot/tools/jotpluggler/common.cc
@@ -46,11 +46,11 @@ const char *special_item_label(std::string_view item_id) {
 }
 
 bool pane_kind_is_special(PaneKind kind) {
-  return kind == PaneKind::Map || kind == PaneKind::Camera;
+  return kind == PaneKind::Map || kind == PaneKind::Thumbnail || kind == PaneKind::Camera;
 }
 
 bool is_default_special_title(std::string_view title) {
-  if (title == "Map") return true;
+  if (title == "Map" || title == "Thumbnail") return true;
   return std::any_of(kCameraViewSpecs.begin(), kCameraViewSpecs.end(), [&](const CameraViewSpec &spec) {
     return title == spec.label;
   });
diff --git a/openpilot/tools/jotpluggler/common.h b/openpilot/tools/jotpluggler/common.h
index 14db83fd337eb8..5c68b0ed222562 100644
--- a/openpilot/tools/jotpluggler/common.h
+++ b/openpilot/tools/jotpluggler/common.h
@@ -28,8 +28,9 @@ inline constexpr std::array<CameraViewSpec, 4> kCameraViewSpecs = {{
   {CameraViewKind::QRoad,    "qRoad Camera",     "qroad",  "qroad",     "camera_qroad",     &RouteData::qroad_camera},
 }};
 
-inline constexpr std::array<SpecialItemSpec, 5> kSpecialItemSpecs = {{
+inline constexpr std::array<SpecialItemSpec, 6> kSpecialItemSpecs = {{
   {"map", "Map", PaneKind::Map, CameraViewKind::Road},
+  {"thumbnail", "Thumbnail", PaneKind::Thumbnail, CameraViewKind::Road},
   {kCameraViewSpecs[0].special_item_id, kCameraViewSpecs[0].label, PaneKind::Camera, kCameraViewSpecs[0].view},
   {kCameraViewSpecs[1].special_item_id, kCameraViewSpecs[1].label, PaneKind::Camera, kCameraViewSpecs[1].view},
   {kCameraViewSpecs[2].special_item_id, kCameraViewSpecs[2].label, PaneKind::Camera, kCameraViewSpecs[2].view},
diff --git a/openpilot/tools/jotpluggler/layout_io.cc b/openpilot/tools/jotpluggler/layout_io.cc
index 5c70f7a42add43..24e3a4b51ff71e 100644
--- a/openpilot/tools/jotpluggler/layout_io.cc
+++ b/openpilot/tools/jotpluggler/layout_io.cc
@@ -62,6 +62,8 @@ json11::Json workspace_node_to_json(const WorkspaceNode &node, const WorkspaceTa
     };
     if (pane.kind == PaneKind::Map) {
       obj["kind"] = "map";
+    } else if (pane.kind == PaneKind::Thumbnail) {
+      obj["kind"] = "thumbnail";
     } else if (pane.kind == PaneKind::Camera) {
       obj["kind"] = "camera";
       obj["camera_view"] = camera_view_spec(pane.camera_view).layout_name;
diff --git a/openpilot/tools/jotpluggler/session.cc b/openpilot/tools/jotpluggler/session.cc
index beb0a292beb0bf..4c694a8daa6f2b 100644
--- a/openpilot/tools/jotpluggler/session.cc
+++ b/openpilot/tools/jotpluggler/session.cc
@@ -19,6 +19,9 @@ void sync_camera_feeds(AppSession *session) {
       session->pane_camera_feeds[i]->setCameraIndex(session->route_data.*(kCameraViewSpecs[i].route_member), kCameraViewSpecs[i].view);
     }
   }
+  if (session->thumbnail_view) {
+    session->thumbnail_view->setThumbnails(session->route_data.thumbnails);
+  }
 }
 
 void apply_route_data(AppSession *session, UiState *state, RouteData route_data) {
diff --git a/openpilot/tools/jotpluggler/sketch_layout.cc b/openpilot/tools/jotpluggler/sketch_layout.cc
index ee307653f6eefa..1f7df72fed3f60 100644
--- a/openpilot/tools/jotpluggler/sketch_layout.cc
+++ b/openpilot/tools/jotpluggler/sketch_layout.cc
@@ -98,6 +98,7 @@ struct LoadedRouteArtifacts {
   std::vector<CanMessageData> can_messages;
   std::vector<LogEntry> logs;
   std::vector<TimelineEntry> timeline;
+  std::vector<ThumbnailFrame> thumbnails;
   std::unordered_map<std::string, EnumInfo> enum_info;
 };
 
@@ -684,6 +685,25 @@ std::vector<LogEntry> extract_segment_logs(const std::vector<Event> &events) {
   return logs;
 }
 
+std::vector<ThumbnailFrame> extract_segment_thumbnails(const std::vector<Event> &events, int segment) {
+  std::vector<ThumbnailFrame> thumbnails;
+  for (const Event &event_record : events) {
+    if (event_record.which != cereal::Event::Which::THUMBNAIL) continue;
+    with_parseable_event(event_record.data, [&](const cereal::Event::Reader &event) {
+      const auto thumbnail = event.getThumbnail();
+      const auto jpeg = thumbnail.getThumbnail();
+      if (jpeg.size() == 0) return;
+      const uint64_t timestamp = thumbnail.getTimestampEof();
+      ThumbnailFrame frame;
+      frame.timestamp = static_cast<double>(timestamp != 0 ? timestamp : event.getLogMonoTime()) / 1.0e9;
+      frame.segment = segment;
+      frame.jpeg.assign(jpeg.begin(), jpeg.end());
+      thumbnails.push_back(std::move(frame));
+    });
+  }
+  return thumbnails;
+}
+
 RouteMetadata extract_segment_metadata(const std::vector<Event> &events) {
   RouteMetadata metadata;
   for (const Event &event_record : events) {
@@ -796,6 +816,8 @@ Pane parse_dock_area(const json11::Json &dock_area_node) {
   const std::string kind = dock_area_node["kind"].string_value();
   if (kind == "map") {
     pane.kind = PaneKind::Map;
+  } else if (kind == "thumbnail") {
+    pane.kind = PaneKind::Thumbnail;
   } else if (kind == "camera") {
     pane.kind = PaneKind::Camera;
     const std::string camera_view = dock_area_node["camera_view"].string_value();
@@ -1167,6 +1189,7 @@ RouteData build_route_data(std::vector<RouteSeries> &&series_list,
                            std::vector<CanMessageData> &&can_messages,
                            std::vector<LogEntry> &&logs,
                            std::vector<TimelineEntry> &&timeline,
+                           std::vector<ThumbnailFrame> &&thumbnails,
                            std::unordered_map<std::string, EnumInfo> &&enum_info,
                            std::string car_fingerprint,
                            std::string dbc_name) {
@@ -1233,6 +1256,14 @@ RouteData build_route_data(std::vector<RouteSeries> &&series_list,
     route_data.x_min = timeline.front().start_time;
     route_data.x_max = timeline.back().end_time;
   }
+  std::sort(thumbnails.begin(), thumbnails.end(), [](const ThumbnailFrame &a, const ThumbnailFrame &b) {
+    return a.timestamp < b.timestamp;
+  });
+  if (!route_data.has_time_range && !thumbnails.empty()) {
+    route_data.has_time_range = true;
+    route_data.x_min = thumbnails.front().timestamp;
+    route_data.x_max = thumbnails.back().timestamp;
+  }
 
   if (route_data.has_time_range) {
     const double time_offset = route_data.x_min;
@@ -1254,6 +1285,9 @@ RouteData build_route_data(std::vector<RouteSeries> &&series_list,
       entry.start_time -= time_offset;
       entry.end_time -= time_offset;
     }
+    for (ThumbnailFrame &thumbnail : thumbnails) {
+      thumbnail.timestamp -= time_offset;
+    }
     route_data.x_max -= time_offset;
     route_data.x_min = 0.0;
   }
@@ -1271,6 +1305,7 @@ RouteData build_route_data(std::vector<RouteSeries> &&series_list,
     merged_timeline.push_back(std::move(entry));
   }
   route_data.timeline = std::move(merged_timeline);
+  route_data.thumbnails = std::move(thumbnails);
   std::sort(can_messages.begin(), can_messages.end(), [](const CanMessageData &a, const CanMessageData &b) {
     return std::make_tuple(a.id.service, a.id.bus, a.id.address)
          < std::make_tuple(b.id.service, b.id.bus, b.id.address);
@@ -1524,6 +1559,7 @@ LoadedRouteArtifacts load_route_series_parallel(
     SeriesAccumulator series;
     std::vector<LogEntry> logs;
     std::vector<TimelineEntry> timeline;
+    std::vector<ThumbnailFrame> thumbnails;
   };
 
   const std::vector<std::pair<int, SegmentLogs>> segment_list(segments.begin(), segments.end());
@@ -1586,6 +1622,7 @@ LoadedRouteArtifacts load_route_series_parallel(
       results[index].series = extract_segment_series(reader.events, schema, can_dbc, skip_raw_can, worker_budget, segment_workers);
       results[index].logs = extract_segment_logs(reader.events);
       results[index].timeline = extract_segment_timeline(reader.events);
+      results[index].thumbnails = extract_segment_thumbnails(reader.events, segment_number);
       segment_stats.extract_seconds = std::chrono::duration<double>(LoadStats::Clock::now() - extract_start).count();
       segment_stats.event_count = reader.events.size();
       segment_stats.series_count = populated_series_count(results[index].series);
@@ -1612,6 +1649,7 @@ LoadedRouteArtifacts load_route_series_parallel(
   }
   std::vector<LogEntry> logs;
   std::vector<TimelineEntry> timeline;
+  std::vector<ThumbnailFrame> thumbnails;
   for (SegmentResult &result : results) {
     if (!result.logs.empty()) {
       logs.insert(logs.end(),
@@ -1623,12 +1661,18 @@ LoadedRouteArtifacts load_route_series_parallel(
                       std::make_move_iterator(result.timeline.begin()),
                       std::make_move_iterator(result.timeline.end()));
     }
+    if (!result.thumbnails.empty()) {
+      thumbnails.insert(thumbnails.end(),
+                        std::make_move_iterator(result.thumbnails.begin()),
+                        std::make_move_iterator(result.thumbnails.end()));
+    }
   }
   LoadedRouteArtifacts artifacts;
   artifacts.series = collect_series(std::move(merged));
   artifacts.can_messages = std::move(merged.can_messages);
   artifacts.logs = std::move(logs);
   artifacts.timeline = std::move(timeline);
+  artifacts.thumbnails = std::move(thumbnails);
   artifacts.enum_info = std::move(merged.enum_info);
   stats->merge_end = LoadStats::Clock::now();
   return artifacts;
@@ -1834,6 +1878,7 @@ RouteData load_route_data(const std::string &route_name,
                                           std::move(artifacts.can_messages),
                                           std::move(artifacts.logs),
                                           std::move(artifacts.timeline),
+                                          std::move(artifacts.thumbnails),
                                           std::move(artifacts.enum_info),
                                           metadata.car_fingerprint,
                                           resolved_dbc);
diff --git a/openpilot/tools/jotpluggler/thumbnail.cc b/openpilot/tools/jotpluggler/thumbnail.cc
new file mode 100644
index 00000000000000..11e184323aa5ff
--- /dev/null
+++ b/openpilot/tools/jotpluggler/thumbnail.cc
@@ -0,0 +1,253 @@
+#include "tools/jotpluggler/thumbnail.h"
+
+#include "imgui_impl_opengl3_loader.h"
+
+#include <algorithm>
+#include <cmath>
+#include <limits>
+
+extern "C" {
+#include <libavcodec/avcodec.h>
+#include <libavutil/pixfmt.h>
+}
+
+namespace {
+
+bool decode_jpeg(const std::vector<uint8_t> &jpeg, int *width, int *height, std::vector<uint8_t> *rgba) {
+  if (jpeg.empty()) return false;
+
+  const AVCodec *codec = avcodec_find_decoder(AV_CODEC_ID_MJPEG);
+  AVCodecContext *context = codec != nullptr ? avcodec_alloc_context3(codec) : nullptr;
+  AVFrame *frame = av_frame_alloc();
+  AVPacket *packet = av_packet_alloc();
+  if (context == nullptr || frame == nullptr || packet == nullptr) {
+    av_packet_free(&packet);
+    av_frame_free(&frame);
+    avcodec_free_context(&context);
+    return false;
+  }
+
+  const bool packet_ready = jpeg.size() <= static_cast<size_t>(std::numeric_limits<int>::max())
+                         && av_new_packet(packet, static_cast<int>(jpeg.size())) >= 0;
+  if (packet_ready) {
+    std::copy(jpeg.begin(), jpeg.end(), packet->data);
+  }
+  const bool decoded = packet_ready
+                    && avcodec_open2(context, codec, nullptr) >= 0
+                    && avcodec_send_packet(context, packet) >= 0
+                    && avcodec_receive_frame(context, frame) >= 0;
+  if (!decoded || frame->width <= 0 || frame->height <= 0) {
+    av_packet_free(&packet);
+    av_frame_free(&frame);
+    avcodec_free_context(&context);
+    return false;
+  }
+
+  int chroma_x_shift = 0;
+  int chroma_y_shift = 0;
+  switch (static_cast<AVPixelFormat>(frame->format)) {
+    case AV_PIX_FMT_YUV420P:
+    case AV_PIX_FMT_YUVJ420P:
+      chroma_x_shift = 1;
+      chroma_y_shift = 1;
+      break;
+    case AV_PIX_FMT_YUV422P:
+    case AV_PIX_FMT_YUVJ422P:
+      chroma_x_shift = 1;
+      break;
+    case AV_PIX_FMT_YUV444P:
+    case AV_PIX_FMT_YUVJ444P:
+      break;
+    default:
+      av_packet_free(&packet);
+      av_frame_free(&frame);
+      avcodec_free_context(&context);
+      return false;
+  }
+
+  *width = frame->width;
+  *height = frame->height;
+  rgba->resize(static_cast<size_t>(*width) * static_cast<size_t>(*height) * 4U);
+  const bool full_range = frame->color_range == AVCOL_RANGE_JPEG
+                       || frame->format == AV_PIX_FMT_YUVJ420P
+                       || frame->format == AV_PIX_FMT_YUVJ422P
+                       || frame->format == AV_PIX_FMT_YUVJ444P;
+  for (int y = 0; y < *height; ++y) {
+    const uint8_t *y_row = frame->data[0] + y * frame->linesize[0];
+    const uint8_t *u_row = frame->data[1] + (y >> chroma_y_shift) * frame->linesize[1];
+    const uint8_t *v_row = frame->data[2] + (y >> chroma_y_shift) * frame->linesize[2];
+    uint8_t *out = rgba->data() + static_cast<size_t>(y) * static_cast<size_t>(*width) * 4U;
+    for (int x = 0; x < *width; ++x) {
+      const double luma = full_range ? static_cast<double>(y_row[x])
+                                     : 1.164383 * (static_cast<double>(y_row[x]) - 16.0);
+      const double u = static_cast<double>(u_row[x >> chroma_x_shift]) - 128.0;
+      const double v = static_cast<double>(v_row[x >> chroma_x_shift]) - 128.0;
+      const double red = luma + (full_range ? 1.402 : 1.596027) * v;
+      const double green = luma - (full_range ? 0.344136 : 0.391762) * u
+                                - (full_range ? 0.714136 : 0.812968) * v;
+      const double blue = luma + (full_range ? 1.772 : 2.017232) * u;
+      out[x * 4 + 0] = static_cast<uint8_t>(std::clamp(std::lround(red), 0L, 255L));
+      out[x * 4 + 1] = static_cast<uint8_t>(std::clamp(std::lround(green), 0L, 255L));
+      out[x * 4 + 2] = static_cast<uint8_t>(std::clamp(std::lround(blue), 0L, 255L));
+      out[x * 4 + 3] = 255;
+    }
+  }
+
+  av_packet_free(&packet);
+  av_frame_free(&frame);
+  avcodec_free_context(&context);
+  return true;
+}
+
+std::string format_thumbnail_time(double seconds) {
+  const int rounded = std::max(0, static_cast<int>(std::lround(seconds)));
+  const int hours = rounded / 3600;
+  const int minutes = (rounded % 3600) / 60;
+  const int secs = rounded % 60;
+  if (hours > 0) {
+    return util::string_format("%d:%02d:%02d", hours, minutes, secs);
+  }
+  return util::string_format("%02d:%02d", minutes, secs);
+}
+
+}  // namespace
+
+struct ThumbnailView::Impl {
+  ~Impl() {
+    destroy_texture();
+  }
+
+  void setThumbnails(const std::vector<ThumbnailFrame> &next_thumbnails) {
+    destroy_texture();
+    thumbnails = &next_thumbnails;
+    displayed_index = -1;
+    failed_index = -1;
+  }
+
+  void update(double tracker_time) {
+    if (thumbnails == nullptr || thumbnails->empty()) return;
+    auto it = std::lower_bound(thumbnails->begin(), thumbnails->end(), tracker_time,
+                               [](const ThumbnailFrame &frame, double time) {
+                                 return frame.timestamp < time;
+                               });
+    if (it == thumbnails->end()) {
+      it = std::prev(thumbnails->end());
+    } else if (it != thumbnails->begin()) {
+      const auto previous = std::prev(it);
+      if (std::abs(previous->timestamp - tracker_time) <= std::abs(it->timestamp - tracker_time)) {
+        it = previous;
+      }
+    }
+    const int index = static_cast<int>(std::distance(thumbnails->begin(), it));
+    if (index == displayed_index || index == failed_index) return;
+
+    int width = 0;
+    int height = 0;
+    std::vector<uint8_t> rgba;
+    if (!decode_jpeg(it->jpeg, &width, &height, &rgba)) {
+      failed_index = index;
+      return;
+    }
+
+    if (texture == 0) {
+      glGenTextures(1, &texture);
+    }
+    glBindTexture(GL_TEXTURE_2D, texture);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+    glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
+    glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, width, height, 0, GL_RGBA, GL_UNSIGNED_BYTE, rgba.data());
+    glBindTexture(GL_TEXTURE_2D, 0);
+    texture_width = width;
+    texture_height = height;
+    displayed_index = index;
+    failed_index = -1;
+  }
+
+  void drawSized(ImVec2 size, bool loading) const {
+    size.x = std::max(1.0f, size.x);
+    size.y = std::max(1.0f, size.y);
+    ImGui::InvisibleButton("##thumbnail_sized", size);
+    const ImVec2 pane_min = ImGui::GetItemRectMin();
+    const ImVec2 pane_max = ImGui::GetItemRectMax();
+    ImDrawList *draw_list = ImGui::GetWindowDrawList();
+    draw_list->AddRectFilled(pane_min, pane_max, IM_COL32(24, 24, 24, 255));
+
+    if (texture != 0 && texture_width > 0 && texture_height > 0) {
+      const float scale = std::min(size.x / static_cast<float>(texture_width),
+                                   size.y / static_cast<float>(texture_height));
+      const ImVec2 image_size(static_cast<float>(texture_width) * scale,
+                              static_cast<float>(texture_height) * scale);
+      const ImVec2 image_min(pane_min.x + (size.x - image_size.x) * 0.5f,
+                             pane_min.y + (size.y - image_size.y) * 0.5f);
+      const ImVec2 image_max(image_min.x + image_size.x, image_min.y + image_size.y);
+      draw_list->AddImage(static_cast<ImTextureID>(texture), image_min, image_max);
+
+      if (thumbnails != nullptr && displayed_index >= 0
+          && displayed_index < static_cast<int>(thumbnails->size())) {
+        const ThumbnailFrame &frame = (*thumbnails)[static_cast<size_t>(displayed_index)];
+        const std::string label = util::string_format("%s  ·  segment %d  ·  %d/%zu",
+                                                      format_thumbnail_time(frame.timestamp).c_str(),
+                                                      frame.segment,
+                                                      displayed_index + 1,
+                                                      thumbnails->size());
+        const ImVec2 text_size = ImGui::CalcTextSize(label.c_str());
+        const ImVec2 label_min(image_min.x, std::max(image_min.y, image_max.y - text_size.y - 14.0f));
+        draw_list->AddRectFilled(label_min, image_max, IM_COL32(0, 0, 0, 175));
+        draw_list->AddText(ImVec2(label_min.x + 7.0f, label_min.y + 7.0f), IM_COL32_WHITE, label.c_str());
+      }
+      return;
+    }
+
+    const bool has_thumbnails = thumbnails != nullptr && !thumbnails->empty();
+    const char *label = loading ? "loading" : (has_thumbnails ? "invalid thumbnail" : "no thumbnails");
+    const ImVec2 text_size = ImGui::CalcTextSize(label);
+    draw_list->AddText(ImVec2(pane_min.x + (size.x - text_size.x) * 0.5f,
+                              pane_min.y + (size.y - text_size.y) * 0.5f),
+                       IM_COL32(187, 187, 187, 255), label);
+  }
+
+  void destroy_texture() {
+    if (texture != 0) {
+      glDeleteTextures(1, &texture);
+    }
+    texture = 0;
+    texture_width = 0;
+    texture_height = 0;
+  }
+
+  const std::vector<ThumbnailFrame> *thumbnails = nullptr;
+  int displayed_index = -1;
+  int failed_index = -1;
+  GLuint texture = 0;
+  int texture_width = 0;
+  int texture_height = 0;
+};
+
+ThumbnailView::ThumbnailView() : impl_(std::make_unique<Impl>()) {}
+ThumbnailView::~ThumbnailView() = default;
+
+void ThumbnailView::setThumbnails(const std::vector<ThumbnailFrame> &thumbnails) {
+  impl_->setThumbnails(thumbnails);
+}
+
+void ThumbnailView::update(double tracker_time) {
+  impl_->update(tracker_time);
+}
+
+void ThumbnailView::drawSized(ImVec2 size, bool loading) {
+  impl_->drawSized(size, loading);
+}
+
+void draw_thumbnail_pane(AppSession *session, UiState *state) {
+  if (session->thumbnail_view == nullptr) {
+    ImGui::TextDisabled("Thumbnails unavailable");
+    return;
+  }
+  if (state->has_tracker_time) {
+    session->thumbnail_view->update(state->tracker_time);
+  }
+  session->thumbnail_view->drawSized(ImGui::GetContentRegionAvail(), session->async_route_loading);
+}
diff --git a/openpilot/tools/jotpluggler/thumbnail.h b/openpilot/tools/jotpluggler/thumbnail.h
new file mode 100644
index 00000000000000..6970173a5cefff
--- /dev/null
+++ b/openpilot/tools/jotpluggler/thumbnail.h
@@ -0,0 +1,5 @@
+#pragma once
+
+#include "tools/jotpluggler/app.h"
+
+void draw_thumbnail_pane(AppSession *session, UiState *state);

From f0841b827a505db8e843188281fa8d6ceeda4d0b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 18 Jul 2026 09:04:41 -0700
Subject: [PATCH 1326/1434] remove av (#38366)

---
 openpilot/tools/camerastream/README.md        |  12 +-
 .../tools/camerastream/compressed_vipc.py     | 103 ++++---
 .../tools/camerastream/ffmpeg_decoder.py      | 261 ++++++++++++++++++
 pyproject.toml                                |   3 -
 uv.lock                                       |  17 --
 5 files changed, 316 insertions(+), 80 deletions(-)
 create mode 100644 openpilot/tools/camerastream/ffmpeg_decoder.py

diff --git a/openpilot/tools/camerastream/README.md b/openpilot/tools/camerastream/README.md
index 8b77fc5990f57d..9671199297bfa5 100644
--- a/openpilot/tools/camerastream/README.md
+++ b/openpilot/tools/camerastream/README.md
@@ -44,18 +44,18 @@ To actually display the stream, run `watch3` in separate terminal:
 ## compressed_vipc.py usage
 ```
 $ python3 compressed_vipc.py -h
-usage: compressed_vipc.py [-h] [--nvidia] [--cams CAMS] [--silent] addr
+usage: compressed_vipc.py [-h] [--cams CAMS] [--server SERVER] [--silent] addr
 
 Decode video streams and broadcast on VisionIPC
 
 positional arguments:
-  addr         Address of comma three
+  addr             Address of comma three
 
 options:
-  -h, --help   show this help message and exit
-  --nvidia     Use nvidia instead of ffmpeg
-  --cams CAMS  Cameras to decode
-  --silent     Suppress debug output
+  -h, --help       show this help message and exit
+  --cams CAMS      Cameras to decode
+  --server SERVER  choose vipc server name
+  --silent         Suppress debug output
 ```
 
 
diff --git a/openpilot/tools/camerastream/compressed_vipc.py b/openpilot/tools/camerastream/compressed_vipc.py
index 35e9d3dab2c79f..56ed12889f6fca 100755
--- a/openpilot/tools/camerastream/compressed_vipc.py
+++ b/openpilot/tools/camerastream/compressed_vipc.py
@@ -1,17 +1,15 @@
 #!/usr/bin/env python3
-import av
-import av.video.format
 import os
-import sys
 import argparse
-import numpy as np
 import multiprocessing
 import time
 import signal
+from collections import deque
 
 
 import openpilot.cereal.messaging as messaging
 from msgq.visionipc import VisionIpcServer, VisionStreamType
+from openpilot.tools.camerastream.ffmpeg_decoder import Decoder, FFmpegError
 
 V4L2_BUF_FLAG_KEYFRAME = 8
 
@@ -25,23 +23,12 @@
   VisionStreamType.VISION_STREAM_WIDE_ROAD: "wideRoadEncodeData",
 }
 
-def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
+def decoder(addr, vipc_server, vst, W, H, debug=False):
   sock_name = ENCODE_SOCKETS[vst]
   if debug:
     print(f"start decoder for {sock_name}, {W}x{H}")
 
-  if nvidia:
-    os.environ["NV_LOW_LATENCY"] = "3"    # both bLowLatency and CUVID_PKT_ENDOFPICTURE
-    sys.path += os.environ["LD_LIBRARY_PATH"].split(":")
-    import PyNvCodec as nvc
-
-    nvDec = nvc.PyNvDecoder(W, H, nvc.PixelFormat.NV12, nvc.CudaVideoCodec.HEVC, 0)
-    cc1 = nvc.ColorspaceConversionContext(nvc.ColorSpace.BT_709, nvc.ColorRange.JPEG)
-    conv_yuv = nvc.PySurfaceConverter(W, H, nvc.PixelFormat.NV12, nvc.PixelFormat.YUV420, 0)
-    nvDwn_yuv = nvc.PySurfaceDownloader(W, H, nvc.PixelFormat.YUV420, 0)
-    img_yuv = np.ndarray((H*W//2*3), dtype=np.uint8)
-  else:
-    codec = av.CodecContext.create("hevc", "r")
+  codec = Decoder("hevc")
 
   os.environ["ZMQ"] = "1"
   messaging.reset_context()
@@ -50,13 +37,22 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
   last_idx = -1
   seen_iframe = False
 
-  time_q = []
+  time_q = deque()
+
+  def resync():
+    nonlocal seen_iframe
+    codec.reset()
+    seen_iframe = False
+    time_q.clear()
+
   while 1:
     msgs = messaging.drain_sock(sock, wait_for_one=True)
     for evt in msgs:
       evta = getattr(evt, evt.which())
-      if debug and evta.idx.encodeId != 0 and evta.idx.encodeId != (last_idx+1):
-        print("DROP PACKET!")
+      if last_idx != -1 and evta.idx.encodeId != (last_idx + 1):
+        if debug:
+          print("DROP PACKET!")
+        resync()
       last_idx = evta.idx.encodeId
       if not seen_iframe and not (evta.idx.flags & V4L2_BUF_FLAG_KEYFRAME):
         if debug:
@@ -67,48 +63,48 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
       frame_latency = ((evta.idx.timestampEof/1e9) - (evta.idx.timestampSof/1e9))*1000
       process_latency = ((evt.logMonoTime/1e9) - (evta.idx.timestampEof/1e9))*1000
 
-      # put in header (first)
+      # put in header (first) — VPS/SPS/PPS only, no frame expected
       if not seen_iframe:
-        if nvidia:
-          nvDec.DecodeSurfaceFromPacket(np.frombuffer(evta.header, dtype=np.uint8))
-        else:
-          codec.decode(av.packet.Packet(evta.header))
-        seen_iframe = True
-
-      if nvidia:
-        rawSurface = nvDec.DecodeSurfaceFromPacket(np.frombuffer(evta.data, dtype=np.uint8))
-        if rawSurface.Empty():
-          if debug:
-            print("DROP SURFACE")
-          continue
-        convSurface = conv_yuv.Execute(rawSurface, cc1)
-        nvDwn_yuv.DownloadSingleSurface(convSurface, img_yuv)
-      else:
-        frames = codec.decode(av.packet.Packet(evta.data))
-        if len(frames) == 0:
+        try:
+          codec.decode(evta.header)
+        except FFmpegError as e:
           if debug:
-            print("DROP SURFACE")
+            print(f"HEADER ERROR: {e}")
+          resync()
           continue
-        assert len(frames) == 1
-        img_yuv = frames[0].to_ndarray(format=av.video.format.VideoFormat('yuv420p')).flatten()
-        uv_offset = H*W
-        y = img_yuv[:uv_offset]
-        uv = img_yuv[uv_offset:].reshape(2, -1).ravel('F')
-        img_yuv = np.hstack((y, uv))
-
-      vipc_server.send(vst, img_yuv.data, cnt, int(time_q[0]*1e9), int(time.monotonic()*1e9))
+        seen_iframe = True
+
+      try:
+        img_yuv = codec.decode(evta.data)
+      except FFmpegError as e:
+        if debug:
+          print(f"DECODE ERROR: {e}")
+        resync()
+        continue
+
+      if img_yuv is None:
+        if debug:
+          print("DROP SURFACE")
+        continue
+
+      if codec.width != W or codec.height != H:
+        if debug:
+          print(f"DECODE ERROR: decoded frame is {codec.width}x{codec.height}, expected {W}x{H}")
+        resync()
+        continue
+
+      frame_start_time = time_q.popleft()
+      vipc_server.send(vst, img_yuv.data, cnt, int(frame_start_time*1e9), int(time.monotonic()*1e9))
       cnt += 1
 
-      pc_latency = (time.monotonic()-time_q[0])*1000
-      time_q = time_q[1:]
+      pc_latency = (time.monotonic()-frame_start_time)*1000
       if debug:
         print(f"{len(msgs):2d} {evta.idx.encodeId:4d} {evt.logMonoTime/1e9:.3f} {evta.idx.timestampEof/1e6:.3f} \
             roll {frame_latency:6.2f} ms latency {process_latency:6.2f} ms + {network_latency:6.2f} ms + {pc_latency:6.2f} ms \
             = {process_latency+network_latency+pc_latency:6.2f} ms", len(evta.data), sock_name)
 
-
 class CompressedVipc:
-  def __init__(self, addr, vision_streams, server_name, nvidia=False, debug=False):
+  def __init__(self, addr, vision_streams, server_name, debug=False):
     print("getting frame sizes")
     os.environ["ZMQ"] = "1"
     messaging.reset_context()
@@ -127,7 +123,7 @@ def __init__(self, addr, vision_streams, server_name, nvidia=False, debug=False)
     self.procs = []
     for vst in vision_streams:
       ed = sm[ENCODE_SOCKETS[vst]]
-      p = multiprocessing.Process(target=decoder, args=(addr, self.vipc_server, vst, nvidia, ed.width, ed.height, debug))
+      p = multiprocessing.Process(target=decoder, args=(addr, self.vipc_server, vst, ed.width, ed.height, debug))
       p.start()
       self.procs.append(p)
 
@@ -143,7 +139,6 @@ def kill(self):
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Decode video streams and broadcast on VisionIPC")
   parser.add_argument("addr", help="Address of comma three")
-  parser.add_argument("--nvidia", action="store_true", help="Use nvidia instead of ffmpeg")
   parser.add_argument("--cams", default="0,1,2", help="Cameras to decode")
   parser.add_argument("--server", default="camerad", help="choose vipc server name")
   parser.add_argument("--silent", action="store_true", help="Suppress debug output")
@@ -156,7 +151,7 @@ def kill(self):
   ]
 
   vsts = [vision_streams[int(x)] for x in args.cams.split(",")]
-  cvipc = CompressedVipc(args.addr, vsts, args.server, args.nvidia, debug=(not args.silent))
+  cvipc = CompressedVipc(args.addr, vsts, args.server, debug=(not args.silent))
 
   # register exit handler
   signal.signal(signal.SIGINT, lambda sig, frame: cvipc.kill())
diff --git a/openpilot/tools/camerastream/ffmpeg_decoder.py b/openpilot/tools/camerastream/ffmpeg_decoder.py
new file mode 100644
index 00000000000000..13cdc12df10578
--- /dev/null
+++ b/openpilot/tools/camerastream/ffmpeg_decoder.py
@@ -0,0 +1,261 @@
+import ctypes
+import errno
+import os
+
+import ffmpeg
+import numpy as np
+
+
+AV_INPUT_BUFFER_PADDING_SIZE = 64
+AV_LOG_QUIET = -8
+SWS_FAST_BILINEAR = 1
+
+
+class FFmpegError(RuntimeError):
+  pass
+
+
+class AVPacket(ctypes.Structure):
+  # Public prefix of AVPacket. Only data and size are modified here; the packet
+  # remains non-refcounted and points at Decoder._packet_buffer.
+  _fields_ = [
+    ("buf", ctypes.c_void_p),
+    ("pts", ctypes.c_int64),
+    ("dts", ctypes.c_int64),
+    ("data", ctypes.POINTER(ctypes.c_uint8)),
+    ("size", ctypes.c_int),
+  ]
+
+
+class AVFrame(ctypes.Structure):
+  # Public prefix of AVFrame through format. Stable within a libavutil major
+  _fields_ = [
+    ("data", ctypes.POINTER(ctypes.c_uint8) * 8),
+    ("linesize", ctypes.c_int * 8),
+    ("extended_data", ctypes.POINTER(ctypes.POINTER(ctypes.c_uint8))),
+    ("width", ctypes.c_int),
+    ("height", ctypes.c_int),
+    ("nb_samples", ctypes.c_int),
+    ("format", ctypes.c_int),
+  ]
+
+
+def _bind(fn, restype, *argtypes):
+  fn.restype = restype
+  fn.argtypes = list(argtypes)
+  return fn
+
+
+def _load_libraries():
+  avutil = ctypes.CDLL(os.path.join(ffmpeg.LIB_DIR, "libavutil.so.59"), mode=ctypes.RTLD_GLOBAL)
+  avcodec = ctypes.CDLL(os.path.join(ffmpeg.LIB_DIR, "libavcodec.so.61"), mode=ctypes.RTLD_GLOBAL)
+  swscale = ctypes.CDLL(os.path.join(ffmpeg.LIB_DIR, "libswscale.so.8"), mode=ctypes.RTLD_GLOBAL)
+
+  c_int, c_char_p, c_void_p, c_size_t = ctypes.c_int, ctypes.c_char_p, ctypes.c_void_p, ctypes.c_size_t
+  c_uint8_p = ctypes.POINTER(ctypes.c_uint8)
+  c_void_p_p = ctypes.POINTER(c_void_p)
+
+  _bind(avutil.av_log_set_level, None, c_int)
+  _bind(avutil.av_opt_set, c_int, c_void_p, c_char_p, c_char_p, c_int)
+  _bind(avutil.av_strerror, c_int, c_int, c_char_p, c_size_t)
+  _bind(avutil.av_get_pix_fmt, c_int, c_char_p)
+
+  _bind(avcodec.avcodec_find_decoder_by_name, c_void_p, c_char_p)
+  _bind(avcodec.avcodec_alloc_context3, c_void_p, c_void_p)
+  _bind(avcodec.avcodec_open2, c_int, c_void_p, c_void_p, c_void_p)
+  _bind(avcodec.avcodec_free_context, None, c_void_p_p)
+  _bind(avcodec.avcodec_flush_buffers, None, c_void_p)
+  _bind(avcodec.avcodec_send_packet, c_int, c_void_p, ctypes.POINTER(AVPacket))
+  _bind(avcodec.avcodec_receive_frame, c_int, c_void_p, ctypes.POINTER(AVFrame))
+  _bind(avcodec.av_packet_alloc, ctypes.POINTER(AVPacket))
+  _bind(avcodec.av_packet_free, None, ctypes.POINTER(ctypes.POINTER(AVPacket)))
+  _bind(avcodec.av_frame_alloc, ctypes.POINTER(AVFrame))
+  _bind(avcodec.av_frame_free, None, ctypes.POINTER(ctypes.POINTER(AVFrame)))
+  _bind(avcodec.av_frame_unref, None, ctypes.POINTER(AVFrame))
+
+  _bind(swscale.sws_getCachedContext, c_void_p,
+        c_void_p, c_int, c_int, c_int, c_int, c_int, c_int, c_int, c_void_p, c_void_p, c_void_p)
+  _bind(swscale.sws_scale, c_int,
+        c_void_p, ctypes.POINTER(c_uint8_p), ctypes.POINTER(c_int),
+        c_int, c_int, ctypes.POINTER(c_uint8_p), ctypes.POINTER(c_int))
+  _bind(swscale.sws_freeContext, None, c_void_p)
+
+  avutil.av_log_set_level(AV_LOG_QUIET)
+  return avutil, avcodec, swscale
+_avutil, _avcodec, _swscale = _load_libraries()
+
+_DataArray = ctypes.POINTER(ctypes.c_uint8) * 4
+_LinesizeArray = ctypes.c_int * 4
+
+AV_PIX_FMT_NV12 = _avutil.av_get_pix_fmt(b"nv12")
+assert AV_PIX_FMT_NV12 >= 0
+
+
+def _error_string(code: int) -> str:
+  buf = ctypes.create_string_buffer(256)
+  if _avutil.av_strerror(code, buf, len(buf)) == 0:
+    return buf.value.decode(errors="replace")
+  return f"FFmpeg error {code}"
+
+
+def _check(code: int, operation: str) -> None:
+  if code < 0:
+    raise FFmpegError(f"{operation}: {_error_string(code)}")
+
+
+class Decoder:
+  def __init__(self, codec_name: str = "hevc"):
+    self.closed = True
+    self._sws_context = ctypes.c_void_p()
+    self._packet_buffer = bytearray()
+    self._packet_address = 0
+    self._packet_data = None
+    self._output = np.empty(0, dtype=np.uint8)
+    self._dst_data = _DataArray()
+    self._dst_linesize = _LinesizeArray()
+    self.width = 0
+    self.height = 0
+    self._src_format = -1
+
+    codec = _avcodec.avcodec_find_decoder_by_name(codec_name.encode())
+    if not codec:
+      raise FFmpegError(f"decoder not found: {codec_name}")
+
+    self._context = ctypes.c_void_p(_avcodec.avcodec_alloc_context3(codec))
+    if not self._context:
+      raise MemoryError("avcodec_alloc_context3 failed")
+
+    self._packet = _avcodec.av_packet_alloc()
+    if not self._packet:
+      _avcodec.avcodec_free_context(ctypes.byref(self._context))
+      raise MemoryError("av_packet_alloc failed")
+
+    self._frame = _avcodec.av_frame_alloc()
+    if not self._frame:
+      _avcodec.av_packet_free(ctypes.byref(self._packet))
+      _avcodec.avcodec_free_context(ctypes.byref(self._context))
+      raise MemoryError("av_frame_alloc failed")
+
+    try:
+      # Frame threading holds decoded frames to populate worker pipelines.
+      # Slice threads can reduce decode time without adding that frame queue;
+      # four was the latency minimum on the replay camera workload.
+      _check(_avutil.av_opt_set(self._context, b"threads", b"4", 0), "set decoder threads")
+      _check(_avutil.av_opt_set(self._context, b"thread_type", b"slice", 0), "set decoder thread type")
+      _check(_avutil.av_opt_set(self._context, b"flags", b"+low_delay", 0), "set low-delay mode")
+      _check(_avcodec.avcodec_open2(self._context, codec, None), "open decoder")
+    except Exception:
+      _avcodec.av_frame_free(ctypes.byref(self._frame))
+      _avcodec.av_packet_free(ctypes.byref(self._packet))
+      _avcodec.avcodec_free_context(ctypes.byref(self._context))
+      raise
+
+    self.closed = False
+
+  def __enter__(self):
+    self._ensure_open()
+    return self
+
+  def __exit__(self, exc_type, exc_value, traceback):
+    self.close()
+
+  def _ensure_open(self) -> None:
+    if self.closed:
+      raise RuntimeError("decoder is closed")
+
+  def _prepare_packet(self, data) -> None:
+    size = len(data)
+    required = size + AV_INPUT_BUFFER_PADDING_SIZE
+    if len(self._packet_buffer) < required:
+      # Grow-only; the address stays valid until the next reallocation.
+      self._packet_buffer = bytearray(required)
+      self._packet_address = ctypes.addressof(ctypes.c_uint8.from_buffer(self._packet_buffer))
+      self._packet_data = ctypes.cast(self._packet_address, ctypes.POINTER(ctypes.c_uint8))
+
+    self._packet_buffer[:size] = data
+    ctypes.memset(self._packet_address + size, 0, AV_INPUT_BUFFER_PADDING_SIZE)
+    self._packet.contents.data = self._packet_data
+    self._packet.contents.size = size
+
+  def _prepare_output(self, frame: AVFrame) -> None:
+    width, height, src_format = frame.width, frame.height, frame.format
+    if width <= 0 or height <= 0 or width % 2 or height % 2:
+      raise FFmpegError(f"unsupported frame dimensions: {width}x{height}")
+    if (width, height, src_format) == (self.width, self.height, self._src_format):
+      return
+
+    sws_context = _swscale.sws_getCachedContext(
+      self._sws_context, width, height, src_format,
+      width, height, AV_PIX_FMT_NV12, SWS_FAST_BILINEAR,
+      None, None, None,
+    )
+    if not sws_context:
+      raise FFmpegError("sws_getCachedContext failed")
+    self._sws_context = ctypes.c_void_p(sws_context)
+
+    self.width, self.height = width, height
+    self._src_format = src_format
+    self._output = np.empty(width * height * 3 // 2, dtype=np.uint8)
+    output_address = self._output.ctypes.data
+    self._dst_data = _DataArray(
+      ctypes.cast(output_address, ctypes.POINTER(ctypes.c_uint8)),
+      ctypes.cast(output_address + width * height, ctypes.POINTER(ctypes.c_uint8)),
+      None,
+      None,
+    )
+    self._dst_linesize = _LinesizeArray(width, width, 0, 0)
+
+  def _receive(self) -> np.ndarray | None:
+    """Return one NV12 frame, or None if the decoder needs more input.
+
+    The returned buffer is reused on the next successful decode; callers must
+    use or copy it before calling decode again.
+    """
+    result = _avcodec.avcodec_receive_frame(self._context, self._frame)
+    if result == -errno.EAGAIN:
+      return None
+    _check(result, "receive decoded frame")
+
+    try:
+      frame = self._frame.contents
+      self._prepare_output(frame)
+      rows = _swscale.sws_scale(
+        self._sws_context, frame.data, frame.linesize, 0, frame.height,
+        self._dst_data, self._dst_linesize,
+      )
+      if rows != frame.height:
+        raise FFmpegError(f"convert decoded frame: produced {rows} of {frame.height} rows")
+      return self._output
+    finally:
+      _avcodec.av_frame_unref(self._frame)
+
+  def decode(self, data) -> np.ndarray | None:
+    self._ensure_open()
+    if len(data) == 0:
+      return None
+
+    self._prepare_packet(data)
+    result = _avcodec.avcodec_send_packet(self._context, self._packet)
+    # The packet buffer is ours, not FFmpeg's. Clear the borrowed pointer so
+    # packet teardown can never attempt to release it.
+    self._packet.contents.data = None
+    self._packet.contents.size = 0
+    _check(result, "send packet to decoder")
+    return self._receive()
+
+  def reset(self) -> None:
+    """Discard decoder state after a stream discontinuity."""
+    self._ensure_open()
+    _avcodec.avcodec_flush_buffers(self._context)
+
+  def close(self) -> None:
+    if self.closed:
+      return
+    self.closed = True
+    _swscale.sws_freeContext(self._sws_context)
+    _avcodec.av_frame_free(ctypes.byref(self._frame))
+    _avcodec.av_packet_free(ctypes.byref(self._packet))
+    _avcodec.avcodec_free_context(ctypes.byref(self._context))
+
+  def __del__(self):
+    self.close()
diff --git a/pyproject.toml b/pyproject.toml
index de356e4b6fec8a..3d90dfe167a2db 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -37,9 +37,6 @@ dependencies = [
   "comma-deps-git-lfs",
   "comma-deps-gcc-arm-none-eabi",
 
-  # body / webrtcd
-  "av",
-
   # logging
   "pyzmq",
   "sentry-sdk",
diff --git a/uv.lock b/uv.lock
index d771c2aacb6dea..6e14cbc02a7c73 100644
--- a/uv.lock
+++ b/uv.lock
@@ -17,21 +17,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/64/b4/17d4b0b2a2dc85a6df63d1157e028ed19f90d4cd97c36717afef2bc2f395/attrs-26.1.0-py3-none-any.whl", hash = "sha256:c647aa4a12dfbad9333ca4e71fe62ddc36f4e63b2d260a37a8b83d2f043ac309", size = 67548, upload-time = "2026-03-19T14:22:23.645Z" },
 ]
 
-[[package]]
-name = "av"
-version = "16.1.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/78/cd/3a83ffbc3cc25b39721d174487fb0d51a76582f4a1703f98e46170ce83d4/av-16.1.0.tar.gz", hash = "sha256:a094b4fd87a3721dacf02794d3d2c82b8d712c85b9534437e82a8a978c175ffd", size = 4285203, upload-time = "2026-01-11T07:31:33.772Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/9c/84/2535f55edcd426cebec02eb37b811b1b0c163f26b8d3f53b059e2ec32665/av-16.1.0-cp312-cp312-macosx_11_0_x86_64.whl", hash = "sha256:640f57b93f927fba8689f6966c956737ee95388a91bd0b8c8b5e0481f73513d6", size = 26945785, upload-time = "2026-01-09T20:18:34.486Z" },
-    { url = "https://files.pythonhosted.org/packages/b6/17/ffb940c9e490bf42e86db4db1ff426ee1559cd355a69609ec1efe4d3a9eb/av-16.1.0-cp312-cp312-macosx_14_0_arm64.whl", hash = "sha256:ae3fb658eec00852ebd7412fdc141f17f3ddce8afee2d2e1cf366263ad2a3b35", size = 21481147, upload-time = "2026-01-09T20:18:36.716Z" },
-    { url = "https://files.pythonhosted.org/packages/15/c1/e0d58003d2d83c3921887d5c8c9b8f5f7de9b58dc2194356a2656a45cfdc/av-16.1.0-cp312-cp312-manylinux_2_28_aarch64.whl", hash = "sha256:27ee558d9c02a142eebcbe55578a6d817fedfde42ff5676275504e16d07a7f86", size = 39517197, upload-time = "2026-01-11T09:57:31.937Z" },
-    { url = "https://files.pythonhosted.org/packages/32/77/787797b43475d1b90626af76f80bfb0c12cfec5e11eafcfc4151b8c80218/av-16.1.0-cp312-cp312-manylinux_2_28_x86_64.whl", hash = "sha256:7ae547f6d5fa31763f73900d43901e8c5fa6367bb9a9840978d57b5a7ae14ed2", size = 41174337, upload-time = "2026-01-11T09:57:35.792Z" },
-    { url = "https://files.pythonhosted.org/packages/8e/ac/d90df7f1e3b97fc5554cf45076df5045f1e0a6adf13899e10121229b826c/av-16.1.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:8cf065f9d438e1921dc31fc7aa045790b58aee71736897866420d80b5450f62a", size = 40817720, upload-time = "2026-01-11T09:57:39.039Z" },
-    { url = "https://files.pythonhosted.org/packages/80/6f/13c3a35f9dbcebafd03fe0c4cbd075d71ac8968ec849a3cfce406c35a9d2/av-16.1.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:a345877a9d3cc0f08e2bc4ec163ee83176864b92587afb9d08dff50f37a9a829", size = 42267396, upload-time = "2026-01-11T09:57:42.115Z" },
-    { url = "https://files.pythonhosted.org/packages/c8/b9/275df9607f7fb44317ccb1d4be74827185c0d410f52b6e2cd770fe209118/av-16.1.0-cp312-cp312-win_amd64.whl", hash = "sha256:f49243b1d27c91cd8c66fdba90a674e344eb8eb917264f36117bf2b6879118fd", size = 31752045, upload-time = "2026-01-11T09:57:45.106Z" },
-]
-
 [[package]]
 name = "certifi"
 version = "2026.6.17"
@@ -717,7 +702,6 @@ name = "openpilot"
 version = "0.1.0"
 source = { editable = "." }
 dependencies = [
-    { name = "av" },
     { name = "cffi" },
     { name = "comma-deps-acados" },
     { name = "comma-deps-bootstrap-icons" },
@@ -794,7 +778,6 @@ standalone = [
 
 [package.metadata]
 requires-dist = [
-    { name = "av" },
     { name = "cffi" },
     { name = "codespell", marker = "extra == 'testing'" },
     { name = "comma-deps-acados" },

From 1c07e0075914b09685683ebb2cd9cb8138ea822f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 18 Jul 2026 13:55:47 -0700
Subject: [PATCH 1327/1434] rm xattr (#38373)

* rm xattr

* doesn't add new coverage
---
 openpilot/system/loggerd/xattr_cache.py | 53 +++++++++++++++++++++++--
 pyproject.toml                          |  1 -
 uv.lock                                 | 20 ----------
 3 files changed, 50 insertions(+), 24 deletions(-)

diff --git a/openpilot/system/loggerd/xattr_cache.py b/openpilot/system/loggerd/xattr_cache.py
index 39bb1720598cc4..e0f6ba9588a938 100644
--- a/openpilot/system/loggerd/xattr_cache.py
+++ b/openpilot/system/loggerd/xattr_cache.py
@@ -1,6 +1,53 @@
+import ctypes
 import errno
+import os
+import sys
 
-import xattr
+
+if sys.platform == "darwin":
+  _libc = ctypes.CDLL(None, use_errno=True)
+  _libc.getxattr.argtypes = [ctypes.c_char_p, ctypes.c_char_p, ctypes.c_void_p, ctypes.c_size_t, ctypes.c_uint32, ctypes.c_int]
+  _libc.getxattr.restype = ctypes.c_ssize_t
+  _libc.setxattr.argtypes = [ctypes.c_char_p, ctypes.c_char_p, ctypes.c_void_p, ctypes.c_size_t, ctypes.c_uint32, ctypes.c_int]
+  _libc.setxattr.restype = ctypes.c_int
+
+
+def _raise_os_error(path: str) -> None:
+  error = ctypes.get_errno()
+  raise OSError(error, os.strerror(error), path)
+
+
+def _getxattr(path: str, attr_name: str) -> bytes:
+  if sys.platform != "darwin":
+    return os.getxattr(path, attr_name)
+
+  encoded_path = os.fsencode(path)
+  encoded_attr_name = os.fsencode(attr_name)
+  while True:
+    size = _libc.getxattr(encoded_path, encoded_attr_name, None, 0, 0, 0)
+    if size == -1:
+      _raise_os_error(path)
+    if size == 0:
+      return b""
+
+    value = ctypes.create_string_buffer(size)
+    result = _libc.getxattr(encoded_path, encoded_attr_name, value, size, 0, 0)
+    if result != -1:
+      return value.raw[:result]
+    if ctypes.get_errno() != errno.ERANGE:
+      _raise_os_error(path)
+
+
+def _setxattr(path: str, attr_name: str, attr_value: bytes) -> None:
+  if sys.platform != "darwin":
+    os.setxattr(path, attr_name, attr_value)
+    return
+
+  encoded_path = os.fsencode(path)
+  encoded_attr_name = os.fsencode(attr_name)
+  value = ctypes.create_string_buffer(attr_value)
+  if _libc.setxattr(encoded_path, encoded_attr_name, value, len(attr_value), 0, 0) == -1:
+    _raise_os_error(path)
 
 _cached_attributes: dict[tuple, bytes | None] = {}
 
@@ -8,7 +55,7 @@ def getxattr(path: str, attr_name: str) -> bytes | None:
   key = (path, attr_name)
   if key not in _cached_attributes:
     try:
-      response = xattr.getxattr(path, attr_name)
+      response = _getxattr(path, attr_name)
     except OSError as e:
       # ENODATA (Linux) or ENOATTR (macOS) means attribute hasn't been set
       if e.errno == errno.ENODATA or (hasattr(errno, 'ENOATTR') and e.errno == errno.ENOATTR):
@@ -20,4 +67,4 @@ def getxattr(path: str, attr_name: str) -> bytes | None:
 
 def setxattr(path: str, attr_name: str, attr_value: bytes) -> None:
   _cached_attributes.pop((path, attr_name), None)
-  xattr.setxattr(path, attr_name, attr_value)
+  _setxattr(path, attr_name, attr_value)
diff --git a/pyproject.toml b/pyproject.toml
index 3d90dfe167a2db..c33b33c44ca163 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -40,7 +40,6 @@ dependencies = [
   # logging
   "pyzmq",
   "sentry-sdk",
-  "xattr",  # used in place of 'os.getxattr' for macOS compatibility
 
   # athena
   "PyJWT[crypto]",
diff --git a/uv.lock b/uv.lock
index 6e14cbc02a7c73..4ff0815783490b 100644
--- a/uv.lock
+++ b/uv.lock
@@ -734,7 +734,6 @@ dependencies = [
     { name = "sounddevice" },
     { name = "tqdm" },
     { name = "websocket-client" },
-    { name = "xattr" },
     { name = "zstandard" },
 ]
 
@@ -830,7 +829,6 @@ requires-dist = [
     { name = "tqdm" },
     { name = "ty", marker = "extra == 'testing'" },
     { name = "websocket-client" },
-    { name = "xattr" },
     { name = "zensical", marker = "extra == 'docs'" },
     { name = "zstandard" },
 ]
@@ -1466,24 +1464,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/34/db/b10e48aa8fff7407e67470363eac595018441cf32d5e1001567a7aeba5d2/websocket_client-1.9.0-py3-none-any.whl", hash = "sha256:af248a825037ef591efbf6ed20cc5faa03d3b47b9e5a2230a529eeee1c1fc3ef", size = 82616, upload-time = "2025-10-07T21:16:34.951Z" },
 ]
 
-[[package]]
-name = "xattr"
-version = "1.3.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "cffi" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/08/d5/25f7b19af3a2cb4000cac4f9e5525a40bec79f4f5d0ac9b517c0544586a0/xattr-1.3.0.tar.gz", hash = "sha256:30439fabd7de0787b27e9a6e1d569c5959854cb322f64ce7380fedbfa5035036", size = 17148, upload-time = "2025-10-13T22:16:47.353Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/bf/78/00bdc9290066173e53e1e734d8d8e1a84a6faa9c66aee9df81e4d9aeec1c/xattr-1.3.0-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:dd4e63614722d183e81842cb237fd1cc978d43384166f9fe22368bfcb187ebe5", size = 23476, upload-time = "2025-10-13T22:16:06.942Z" },
-    { url = "https://files.pythonhosted.org/packages/53/16/5243722294eb982514fa7b6b87a29dfb7b29b8e5e1486500c5babaf6e4b3/xattr-1.3.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:995843ef374af73e3370b0c107319611f3cdcdb6d151d629449efecad36be4c4", size = 18556, upload-time = "2025-10-13T22:16:08.209Z" },
-    { url = "https://files.pythonhosted.org/packages/d6/5c/d7ab0e547bea885b55f097206459bd612cefb652c5fc1f747130cbc0d42c/xattr-1.3.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:fa23a25220e29d956cedf75746e3df6cc824cc1553326d6516479967c540e386", size = 18869, upload-time = "2025-10-13T22:16:10.319Z" },
-    { url = "https://files.pythonhosted.org/packages/98/25/25cc7d64f07de644b7e9057842227adf61017e5bcfe59a79df79f768874c/xattr-1.3.0-cp312-cp312-manylinux1_x86_64.manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_5_x86_64.whl", hash = "sha256:b4345387087fffcd28f709eb45aae113d911e1a1f4f0f70d46b43ba81e69ccdd", size = 38797, upload-time = "2025-10-13T22:16:11.624Z" },
-    { url = "https://files.pythonhosted.org/packages/a9/24/cc350bcdbed006dfcc6ade0ac817693b8b3d4b2787f20e427fd0697042e4/xattr-1.3.0-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:fe92bb05eb849ab468fe13e942be0f8d7123f15d074f3aba5223fad0c4b484de", size = 38956, upload-time = "2025-10-13T22:16:13.121Z" },
-    { url = "https://files.pythonhosted.org/packages/9b/b2/9416317ac89e2ed759a861857cda0d5e284c3691e6f460d36cc2bd5ce4d1/xattr-1.3.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:6c42ef5bdac3febbe28d3db14d3a8a159d84ba5daca2b13deae6f9f1fc0d4092", size = 38214, upload-time = "2025-10-13T22:16:14.389Z" },
-    { url = "https://files.pythonhosted.org/packages/38/63/188f7cb41ab35d795558325d5cc8ab552171d5498cfb178fd14409651e18/xattr-1.3.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:2aaa5d66af6523332189108f34e966ca120ff816dfa077ca34b31e6263f8a236", size = 37754, upload-time = "2025-10-13T22:16:15.306Z" },
-]
-
 [[package]]
 name = "zensical"
 version = "0.0.46"

From cefcf10ec31f76cbcd98663bf48d7f51bcf56b28 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 19 Jul 2026 08:15:01 -0700
Subject: [PATCH 1328/1434] rm jinja2

---
 pyproject.toml | 1 -
 uv.lock        | 2 --
 2 files changed, 3 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index c33b33c44ca163..d58991adf5d94a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -63,7 +63,6 @@ dependencies = [
 
 [project.optional-dependencies]
 docs = [
-  "Jinja2",
   "zensical",
 ]
 
diff --git a/uv.lock b/uv.lock
index 4ff0815783490b..6d8fbba14d5f74 100644
--- a/uv.lock
+++ b/uv.lock
@@ -742,7 +742,6 @@ dev = [
     { name = "matplotlib" },
 ]
 docs = [
-    { name = "jinja2" },
     { name = "zensical" },
 ]
 submodules = [
@@ -799,7 +798,6 @@ requires-dist = [
     { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" },
     { name = "inputs" },
     { name = "jeepney" },
-    { name = "jinja2", marker = "extra == 'docs'" },
     { name = "matplotlib", marker = "extra == 'dev'" },
     { name = "msgq", marker = "extra == 'submodules'", editable = "msgq_repo" },
     { name = "numpy", specifier = ">=2.0" },

From 7d74c3c99b440868490706d34442d1749c06416d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 19 Jul 2026 08:25:31 -0700
Subject: [PATCH 1329/1434] rm setuptools (#38376)

* rm setuptools

* lock
---
 pyproject.toml | 1 -
 uv.lock        | 2 --
 2 files changed, 3 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index d58991adf5d94a..7ff0482b2fb6a6 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -19,7 +19,6 @@ dependencies = [
   "scons",
   "pycapnp==2.1.0",  # 2.2 introduces a memory leak due to cyclic references
   "Cython",
-  "setuptools",
   "numpy >=2.0",
 
   # vendored native dependencies
diff --git a/uv.lock b/uv.lock
index 6d8fbba14d5f74..cb6f859b505996 100644
--- a/uv.lock
+++ b/uv.lock
@@ -730,7 +730,6 @@ dependencies = [
     { name = "scons" },
     { name = "sentry-sdk" },
     { name = "setproctitle" },
-    { name = "setuptools" },
     { name = "sounddevice" },
     { name = "tqdm" },
     { name = "websocket-client" },
@@ -820,7 +819,6 @@ requires-dist = [
     { name = "scons" },
     { name = "sentry-sdk" },
     { name = "setproctitle" },
-    { name = "setuptools" },
     { name = "sounddevice" },
     { name = "teleoprtc", marker = "extra == 'submodules'", editable = "teleoprtc_repo" },
     { name = "tinygrad", marker = "extra == 'submodules'", editable = "tinygrad_repo" },

From e475d10adcc7aafc845f81cfb724e31cf5c3fb2b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 19 Jul 2026 08:51:16 -0700
Subject: [PATCH 1330/1434] more ruff (#38377)

* lil more ruff

* no exclusions!

* rm nb exception

* and generated

* not used

* c408

* random

* all

* unittest is fine
---
 openpilot/cereal/messaging/__init__.py        | 79 +++++++++++++------
 .../messaging/tests/test_pub_sub_master.py    |  3 +-
 openpilot/cereal/services.py                  |  6 +-
 openpilot/common/swaglog.py                   |  2 +-
 openpilot/selfdrive/car/tests/test_models.py  |  2 +-
 .../tests/test_torqued_lat_accel_offset.py    |  2 -
 openpilot/selfdrive/locationd/helpers.py      |  3 +-
 .../selfdrive/locationd/test/test_lagd.py     | 11 +--
 openpilot/selfdrive/modeld/compile_modeld.py  |  4 +-
 .../selfdrive/pandad/tests/test_pandad_spi.py |  4 +-
 openpilot/selfdrive/test/mem_usage.py         |  2 +-
 .../selfdrive/ui/layouts/settings/settings.py |  4 +-
 .../selfdrive/ui/tests/profile_onroad.py      |  2 +-
 openpilot/system/athena/tests/test_athenad.py |  2 +-
 .../system/loggerd/tests/test_uploader.py     |  4 +-
 openpilot/system/ui/lib/shader_polygon.py     |  4 +-
 openpilot/system/webrtc/webrtcd.py            |  5 +-
 openpilot/tools/lib/url_file.py               |  2 +-
 openpilot/tools/lib/vidindex.py               |  2 +-
 openpilot/tools/replay/lib/ui_helpers.py      |  4 +-
 .../sim/bridge/metadrive/metadrive_bridge.py  | 60 +++++++-------
 pyproject.toml                                | 19 ++---
 .../examples/find_segments_with_message.ipynb |  5 +-
 .../examples/ford_vin_fingerprint.ipynb       |  9 ++-
 .../examples/hkg_canfd_gear_message.ipynb     | 10 +--
 tools/car_porting/test_car_model.py           |  2 +-
 26 files changed, 136 insertions(+), 116 deletions(-)

diff --git a/openpilot/cereal/messaging/__init__.py b/openpilot/cereal/messaging/__init__.py
index cb5f090095bad9..dcc54baeb0ff96 100644
--- a/openpilot/cereal/messaging/__init__.py
+++ b/openpilot/cereal/messaging/__init__.py
@@ -7,12 +7,43 @@
 import capnp
 import time
 
-from typing import Optional, List, Union, Dict
+from typing import Union
 
 from openpilot.cereal import log
 from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.utils import MovingAverage
 
+__all__ = (
+  "NO_TRAVERSAL_LIMIT",
+  "Context",
+  "FrequencyTracker",
+  "IpcError",
+  "MultiplePublishersError",
+  "Poller",
+  "PubMaster",
+  "PubSocket",
+  "SocketEventHandle",
+  "SubMaster",
+  "SubSocket",
+  "delete_fake_prefix",
+  "drain_sock",
+  "drain_sock_raw",
+  "fake_event_handle",
+  "get_fake_prefix",
+  "log_from_bytes",
+  "new_message",
+  "pub_sock",
+  "recv_one",
+  "recv_one_or_none",
+  "recv_one_retry",
+  "recv_sock",
+  "reset_context",
+  "set_fake_prefix",
+  "sub_sock",
+  "toggle_fake_events",
+  "wait_for_one_event",
+)
+
 NO_TRAVERSAL_LIMIT = 2**64-1
 
 
@@ -22,8 +53,8 @@ def pub_sock(endpoint: str) -> PubSocket:
   return msgq.pub_sock(endpoint, segment_size)
 
 
-def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
-             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
+def sub_sock(endpoint: str, poller: Poller | None = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: int | None = None) -> SubSocket:
   service = SERVICE_LIST.get(endpoint)
   segment_size = service.queue_size if service else 0
   return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
@@ -39,7 +70,7 @@ def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event
     return msg
 
 
-def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
+def new_message(service: str | None, size: int | None = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
   args = {
     'valid': False,
     'logMonoTime': int(time.monotonic() * 1e9),
@@ -54,14 +85,14 @@ def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) ->
   return dat
 
 
-def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
+def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> list[capnp.lib.capnp._DynamicStructReader]:
   """Receive all message currently available on the queue"""
   msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
   return [log_from_bytes(m) for m in msgs]
 
 
 # TODO: print when we drop packets?
-def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+def recv_sock(sock: SubSocket, wait: bool = False) -> capnp.lib.capnp._DynamicStructReader | None:
   """Same as drain sock, but only returns latest message. Consider using conflate instead."""
   dat = None
 
@@ -82,14 +113,14 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._
   return dat
 
 
-def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+def recv_one(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader | None:
   dat = sock.receive()
   if dat is not None:
     dat = log_from_bytes(dat)
   return dat
 
 
-def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+def recv_one_or_none(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader | None:
   dat = sock.receive(non_blocking=True)
   if dat is not None:
     dat = log_from_bytes(dat)
@@ -148,27 +179,27 @@ def valid(self) -> bool:
 
 
 class SubMaster:
-  def __init__(self, services: List[str], poll: Optional[str] = None,
-               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
-               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
+  def __init__(self, services: list[str], poll: str | None = None,
+               ignore_alive: list[str] | None = None, ignore_avg_freq: list[str] | None = None,
+               ignore_valid: list[str] | None = None, addr: str = "127.0.0.1", frequency: float | None = None):
     self.frame = -1
     self.services = services
-    self.seen = {s: False for s in services}
-    self.updated = {s: False for s in services}
-    self.recv_time = {s: 0. for s in services}
-    self.recv_frame = {s: 0 for s in services}
+    self.seen = dict.fromkeys(services, False)
+    self.updated = dict.fromkeys(services, False)
+    self.recv_time = dict.fromkeys(services, 0.0)
+    self.recv_frame = dict.fromkeys(services, 0)
     self.sock = {}
     self.data = {}
-    self.logMonoTime = {s: 0 for s in services}
+    self.logMonoTime = dict.fromkeys(services, 0)
 
     # zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
     on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
-    self.static_freq_services = set(s for s in services if not on_demand[s])
+    self.static_freq_services = {s for s in services if not on_demand[s]}
     self.alive = {s: on_demand[s] for s in services}
     self.freq_ok = {s: on_demand[s] for s in services}
     self.valid = {s: on_demand[s] for s in services}
 
-    self.freq_tracker: Dict[str, FrequencyTracker] = {}
+    self.freq_tracker: dict[str, FrequencyTracker] = {}
     self.poller = Poller()
     polled_services = set([poll, ] if poll is not None else services)
     self.non_polled_services = set(services) - polled_services
@@ -211,7 +242,7 @@ def update(self, timeout: int = 100) -> None:
       msgs.append(recv_one_or_none(self.sock[s]))
     self.update_msgs(time.monotonic(), msgs)
 
-  def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
+  def update_msgs(self, cur_time: float, msgs: list[capnp.lib.capnp._DynamicStructReader]) -> None:
     self.frame += 1
     self.updated = dict.fromkeys(self.services, False)
     for msg in msgs:
@@ -234,21 +265,21 @@ def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStruct
       self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
       self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
 
-  def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_alive(self, service_list: list[str] | None = None) -> bool:
     return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
 
-  def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_freq_ok(self, service_list: list[str] | None = None) -> bool:
     return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))
 
-  def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_valid(self, service_list: list[str] | None = None) -> bool:
     return all(self.valid[s] for s in (service_list or self.services) if s not in self.ignore_valid)
 
-  def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_checks(self, service_list: list[str] | None = None) -> bool:
     return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
 
 
 class PubMaster:
-  def __init__(self, services: List[str]):
+  def __init__(self, services: list[str]):
     self.sock = {}
     for s in services:
       self.sock[s] = pub_sock(s)
diff --git a/openpilot/cereal/messaging/tests/test_pub_sub_master.py b/openpilot/cereal/messaging/tests/test_pub_sub_master.py
index eb8f62140bf59d..02f944b69fbe56 100644
--- a/openpilot/cereal/messaging/tests/test_pub_sub_master.py
+++ b/openpilot/cereal/messaging/tests/test_pub_sub_master.py
@@ -1,6 +1,7 @@
 import random
 import time
-from typing import Sized, cast
+from typing import cast
+from collections.abc import Sized
 
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
diff --git a/openpilot/cereal/services.py b/openpilot/cereal/services.py
index 0f5e50f31f2930..db1731a986b9bf 100755
--- a/openpilot/cereal/services.py
+++ b/openpilot/cereal/services.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 from enum import IntEnum
-from typing import Optional
 
 
 # TODO: this should be automatically determined using the capnp schema
@@ -11,7 +10,7 @@ class QueueSize(IntEnum):
 
 
 class Service:
-  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
+  def __init__(self, should_log: bool, frequency: float, decimation: int | None = None,
                queue_size: QueueSize = QueueSize.SMALL):
     self.should_log = should_log
     self.frequency = frequency
@@ -112,8 +111,7 @@ def build_header():
   for k, v in SERVICE_LIST.items():
     should_log = "true" if v.should_log else "false"
     decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", {"%s", %s, %f, %d, %d}},\n' % \
-         (k, k, should_log, v.frequency, decimation, v.queue_size)
+    h += f'  {{ "{k}", {{"{k}", {should_log}, {v.frequency:f}, {decimation:d}, {v.queue_size:d}}}}},\n'
   h += "};\n"
 
   h += "#endif\n"
diff --git a/openpilot/common/swaglog.py b/openpilot/common/swaglog.py
index ea72766fcb2744..ac64230eed9332 100644
--- a/openpilot/common/swaglog.py
+++ b/openpilot/common/swaglog.py
@@ -39,7 +39,7 @@ def _open(self):
     return stream
 
   def get_existing_logfiles(self):
-    log_files = list()
+    log_files = []
     base_dir = os.path.dirname(self.base_filename)
     for fn in os.listdir(base_dir):
       fp = os.path.join(base_dir, fn)
diff --git a/openpilot/selfdrive/car/tests/test_models.py b/openpilot/selfdrive/car/tests/test_models.py
index ac2cd3ec7e3a7a..436de261e6ff6f 100644
--- a/openpilot/selfdrive/car/tests/test_models.py
+++ b/openpilot/selfdrive/car/tests/test_models.py
@@ -2,7 +2,7 @@
 import os
 import pytest
 import random
-import unittest # noqa: TID251
+import unittest
 from collections import defaultdict, Counter
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
diff --git a/openpilot/selfdrive/controls/tests/test_torqued_lat_accel_offset.py b/openpilot/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
index 93a57d7f608249..7a63da23a562ea 100644
--- a/openpilot/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
+++ b/openpilot/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
@@ -7,8 +7,6 @@
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.locationd.torqued import TorqueEstimator, MIN_BUCKET_POINTS, POINTS_PER_BUCKET, STEER_BUCKET_BOUNDS
 
-np.random.seed(0)
-
 LA_ERR_STD = 1.0
 INPUT_NOISE_STD = 0.08
 V_EGO = 30.0
diff --git a/openpilot/selfdrive/locationd/helpers.py b/openpilot/selfdrive/locationd/helpers.py
index fe7930c509f7d1..849b950de2749c 100644
--- a/openpilot/selfdrive/locationd/helpers.py
+++ b/openpilot/selfdrive/locationd/helpers.py
@@ -69,6 +69,7 @@ def append(self, pt: list[float]) -> None:
 
 class PointBuckets:
   def __init__(self, x_bounds: list[tuple[float, float]], min_points: list[float], min_points_total: int, points_per_bucket: int, rowsize: int) -> None:
+    self._rng = np.random.default_rng()
     self.x_bounds = x_bounds
     self.buckets = {bounds: NPQueue(maxlen=points_per_bucket, rowsize=rowsize) for bounds in x_bounds}
     self.buckets_min_points = dict(zip(x_bounds, min_points, strict=True))
@@ -98,7 +99,7 @@ def get_points(self, num_points: int | None = None) -> Any:
     points = np.vstack([x.arr for x in self.buckets.values()])
     if num_points is None:
       return points
-    return points[np.random.choice(np.arange(len(points)), min(len(points), num_points), replace=False)]
+    return points[self._rng.choice(np.arange(len(points)), min(len(points), num_points), replace=False)]
 
   def load_points(self, points: list[list[float]]) -> None:
     for point in points:
diff --git a/openpilot/selfdrive/locationd/test/test_lagd.py b/openpilot/selfdrive/locationd/test/test_lagd.py
index 128c19332f512f..efaba6ead9da3a 100644
--- a/openpilot/selfdrive/locationd/test/test_lagd.py
+++ b/openpilot/selfdrive/locationd/test/test_lagd.py
@@ -81,6 +81,7 @@ def test_read_invalid_saved_params(self, subtests):
         assert retrieve_initial_lag(params, CP) is None
 
   def test_ncc(self):
+    rng = np.random.default_rng()
     lag_frames = random.randint(1, 19)
 
     desired_sig = np.sin(np.arange(0.0, 10.0, 0.1))
@@ -91,15 +92,15 @@ def test_ncc(self):
     assert np.argmax(corr) == lag_frames
 
     # add some noise
-    desired_sig += np.random.normal(0, 0.05, len(desired_sig))
-    actual_sig += np.random.normal(0, 0.05, len(actual_sig))
+    desired_sig += rng.normal(0, 0.05, len(desired_sig))
+    actual_sig += rng.normal(0, 0.05, len(actual_sig))
     corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
     assert np.argmax(corr)  in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
 
     # mask out 40% of the values, and make them noise
-    mask = np.random.choice([True, False], size=len(desired_sig), p=[0.6, 0.4])
-    desired_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
-    actual_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
+    mask = rng.choice([True, False], size=len(desired_sig), p=[0.6, 0.4])
+    desired_sig[~mask] = rng.normal(0, 1, size=np.sum(~mask))
+    actual_sig[~mask] = rng.normal(0, 1, size=np.sum(~mask))
     corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
     assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
 
diff --git a/openpilot/selfdrive/modeld/compile_modeld.py b/openpilot/selfdrive/modeld/compile_modeld.py
index 769fb69eb34dc0..f74ab27b8c134b 100755
--- a/openpilot/selfdrive/modeld/compile_modeld.py
+++ b/openpilot/selfdrive/modeld/compile_modeld.py
@@ -242,7 +242,7 @@ def compile_jit(jit, make_random_inputs, input_keys, make_queues):
   SEED = 42
   def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
     input_queues, npy = make_queues(Device.DEFAULT)
-    np.random.seed(seed)
+    rng = np.random.default_rng(seed)
     Tensor.manual_seed(seed)
 
     testing = test_val is not None or test_buffers is not None
@@ -250,7 +250,7 @@ def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=T
 
     for i in range(n_runs):
       for v in npy.values():
-        v[:] = np.random.randn(*v.shape).astype(v.dtype)
+        v[:] = rng.standard_normal(v.shape).astype(v.dtype)
       Device.default.synchronize()
       random_inputs = make_random_inputs()
       st = time.perf_counter()
diff --git a/openpilot/selfdrive/pandad/tests/test_pandad_spi.py b/openpilot/selfdrive/pandad/tests/test_pandad_spi.py
index 02f5accfd6ede6..2bc302b47c3a75 100644
--- a/openpilot/selfdrive/pandad/tests/test_pandad_spi.py
+++ b/openpilot/selfdrive/pandad/tests/test_pandad_spi.py
@@ -38,10 +38,10 @@ def test_spi_corruption(self, subtests):
 
     total_recv_count = 0
     total_sent_count = 0
-    sent_msgs = {bus: list() for bus in range(3)}
+    sent_msgs = {bus: [] for bus in range(3)}
 
     st = time.monotonic()
-    ts = {s: list() for s in socks.keys()}
+    ts = {s: [] for s in socks.keys()}
     for _ in range(int(os.getenv("TEST_TIME", "20"))):
       # send some CAN messages
       if not JUNGLE_SPAM:
diff --git a/openpilot/selfdrive/test/mem_usage.py b/openpilot/selfdrive/test/mem_usage.py
index 1446d0b4dccbd9..02b79344662092 100644
--- a/openpilot/selfdrive/test/mem_usage.py
+++ b/openpilot/selfdrive/test/mem_usage.py
@@ -7,7 +7,7 @@
 
 DEMO_ROUTE = "5beb9b58bd12b691/0000010a--a51155e496"
 MB = 1024 * 1024
-TABULATE_OPTS = dict(tablefmt="simple_grid", stralign="center", numalign="center")
+TABULATE_OPTS = {"tablefmt": "simple_grid", "stralign": "center", "numalign": "center"}
 
 
 def _get_procs():
diff --git a/openpilot/selfdrive/ui/layouts/settings/settings.py b/openpilot/selfdrive/ui/layouts/settings/settings.py
index 68f45df77d0d5f..48b75e5dbd97c8 100644
--- a/openpilot/selfdrive/ui/layouts/settings/settings.py
+++ b/openpilot/selfdrive/ui/layouts/settings/settings.py
@@ -1,5 +1,5 @@
 import pyray as rl
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from enum import IntEnum
 from collections.abc import Callable
 from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
@@ -43,7 +43,7 @@ class PanelType(IntEnum):
 class PanelInfo:
   name: str
   instance: Widget
-  button_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
+  button_rect: rl.Rectangle = field(default_factory=lambda: rl.Rectangle(0, 0, 0, 0))
 
 
 class SettingsLayout(Widget):
diff --git a/openpilot/selfdrive/ui/tests/profile_onroad.py b/openpilot/selfdrive/ui/tests/profile_onroad.py
index 18194d73630199..29e44d6260e28f 100755
--- a/openpilot/selfdrive/ui/tests/profile_onroad.py
+++ b/openpilot/selfdrive/ui/tests/profile_onroad.py
@@ -92,7 +92,7 @@ def mock_update(timeout=None):
   vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, W, H)
   vipc.start_listener()
   yuv_buffer_size = W * H + (W // 2) * (H // 2) * 2
-  yuv_data = np.random.randint(0, 256, yuv_buffer_size, dtype=np.uint8).tobytes()
+  yuv_data = np.random.default_rng().integers(0, 256, yuv_buffer_size, dtype=np.uint8).tobytes()
   with cProfile.Profile() as pr:
     for _ in gui_app.render():
       if ui_state.sm.frame >= len(message_chunks):
diff --git a/openpilot/system/athena/tests/test_athenad.py b/openpilot/system/athena/tests/test_athenad.py
index 253a057b9138a3..accf0784ab5637 100644
--- a/openpilot/system/athena/tests/test_athenad.py
+++ b/openpilot/system/athena/tests/test_athenad.py
@@ -437,7 +437,7 @@ def test_jsonrpc_handler(self):
       thread.join()
 
   def test_get_logs_to_send_sorted(self):
-    fl = list()
+    fl = []
     for i in range(10):
       file = f'swaglog.{i:010}'
       self._create_file(file, Paths.swaglog_root())
diff --git a/openpilot/system/loggerd/tests/test_uploader.py b/openpilot/system/loggerd/tests/test_uploader.py
index eec85eda2e2820..3af78e2c3753dd 100644
--- a/openpilot/system/loggerd/tests/test_uploader.py
+++ b/openpilot/system/loggerd/tests/test_uploader.py
@@ -18,8 +18,8 @@ def __init__(self):
     self.reset()
 
   def reset(self):
-    self.upload_order = list()
-    self.upload_ignored = list()
+    self.upload_order = []
+    self.upload_ignored = []
 
   def emit(self, record):
     try:
diff --git a/openpilot/system/ui/lib/shader_polygon.py b/openpilot/system/ui/lib/shader_polygon.py
index 94af35e157fc48..de729d6aae633e 100644
--- a/openpilot/system/ui/lib/shader_polygon.py
+++ b/openpilot/system/ui/lib/shader_polygon.py
@@ -152,7 +152,7 @@ def cleanup(self):
     self.initialized = False
 
 
-def _configure_shader_color(state: ShaderState, color: Optional[rl.Color],
+def _configure_shader_color(state: ShaderState, color: Optional[rl.Color],  # noqa: UP045  # rl.Color is a function, so `rl.Color | None` fails
                             gradient: Gradient | None, origin_rect: rl.Rectangle):
   assert (color is not None) != (gradient is not None), "Either color or gradient must be provided"
 
@@ -204,7 +204,7 @@ def triangulate(pts: np.ndarray) -> list[tuple[float, float]]:
 
 
 def draw_polygon(origin_rect: rl.Rectangle, points: np.ndarray,
-                 color: Optional[rl.Color] = None, gradient: Gradient | None = None):
+                 color: Optional[rl.Color] = None, gradient: Gradient | None = None):  # noqa: UP045  # rl.Color is a function, so `rl.Color | None` fails
 
   """
   Draw a ribbon polygon (two chains) with a triangle strip and gradient.
diff --git a/openpilot/system/webrtc/webrtcd.py b/openpilot/system/webrtc/webrtcd.py
index 8276df98f2933e..82ebb7b01805df 100755
--- a/openpilot/system/webrtc/webrtcd.py
+++ b/openpilot/system/webrtc/webrtcd.py
@@ -566,13 +566,14 @@ def webrtcd_thread(host: str, port: int, debug: bool):
   http_thread.start()
 
   shutting_down = False
+  shutdown_task = None
 
   def request_shutdown() -> None:
-    nonlocal shutting_down
+    nonlocal shutting_down, shutdown_task
     if shutting_down:
       return
     shutting_down = True
-    loop.create_task(_shutdown(server, state, loop))
+    shutdown_task = loop.create_task(_shutdown(server, state, loop))
 
   for sig in (signal.SIGINT, signal.SIGTERM):
     loop.add_signal_handler(sig, request_shutdown)
diff --git a/openpilot/tools/lib/url_file.py b/openpilot/tools/lib/url_file.py
index 3f72429b94e6c3..ec0a3d58153c7b 100644
--- a/openpilot/tools/lib/url_file.py
+++ b/openpilot/tools/lib/url_file.py
@@ -21,7 +21,7 @@
 
 
 def hash_url(link: str) -> str:
-  return md5((link.split("?")[0]).encode('utf-8')).hexdigest()
+  return md5(link.split("?", maxsplit=1)[0].encode('utf-8')).hexdigest()
 
 
 def prune_cache(new_entry: str | None = None) -> None:
diff --git a/openpilot/tools/lib/vidindex.py b/openpilot/tools/lib/vidindex.py
index 4aef6fb4d5a039..b2007008874cd7 100755
--- a/openpilot/tools/lib/vidindex.py
+++ b/openpilot/tools/lib/vidindex.py
@@ -269,7 +269,7 @@ def hevc_index(hevc_file_name: str, allow_corrupt: bool=False) -> tuple[list, in
     raise VideoFileInvalid("first byte must be 0x00")
 
   prefix_dat = b""
-  frame_types = list()
+  frame_types = []
 
   i = 1 # skip past first byte 0x00
   try:
diff --git a/openpilot/tools/replay/lib/ui_helpers.py b/openpilot/tools/replay/lib/ui_helpers.py
index 6a3e8c20ed2db3..8f0c14983f6708 100644
--- a/openpilot/tools/replay/lib/ui_helpers.py
+++ b/openpilot/tools/replay/lib/ui_helpers.py
@@ -122,8 +122,8 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co
     title_texts = []
     for j2, (nm, cl) in enumerate(zip(pl_list, plot_colors[i], strict=False)):
       if j2 > 0:
-        title_texts.append(TextArea(", ", textprops=dict(color="white", fontsize=10)))
-      title_texts.append(TextArea(nm, textprops=dict(color=label_palette[cl], fontsize=10)))
+        title_texts.append(TextArea(", ", textprops={"color": "white", "fontsize": 10}))
+      title_texts.append(TextArea(nm, textprops={"color": label_palette[cl], "fontsize": 10}))
     packed = HPacker(children=title_texts, pad=0, sep=0)
     ab = AnchoredOffsetbox(loc='lower center', child=packed, bbox_to_anchor=(0.5, 1.0),
                            bbox_transform=axs[i].transAxes, frameon=False, pad=0)
diff --git a/openpilot/tools/sim/bridge/metadrive/metadrive_bridge.py b/openpilot/tools/sim/bridge/metadrive/metadrive_bridge.py
index b8dc94cf86fc75..4222ba45a727f8 100644
--- a/openpilot/tools/sim/bridge/metadrive/metadrive_bridge.py
+++ b/openpilot/tools/sim/bridge/metadrive/metadrive_bridge.py
@@ -29,11 +29,11 @@ def curve_block(length, angle=45, direction=0):
 
 def create_map(track_size=60):
   curve_len = track_size * 2
-  return dict(
-    type=MapGenerateMethod.PG_MAP_FILE,
-    lane_num=2,
-    lane_width=4.5,
-    config=[
+  return {
+    "type": MapGenerateMethod.PG_MAP_FILE,
+    "lane_num": 2,
+    "lane_width": 4.5,
+    "config": [
       None,
       straight_block(track_size),
       curve_block(curve_len, 90),
@@ -44,7 +44,7 @@ def create_map(track_size=60):
       straight_block(track_size),
       curve_block(curve_len, 90),
     ]
-  )
+  }
 
 
 class MetaDriveBridge(SimulatorBridge):
@@ -65,29 +65,29 @@ def spawn_world(self, queue: Queue):
     if self.dual_camera:
       sensors["rgb_wide"] = (RGBCameraWide, W, H)
 
-    config = dict(
-      use_render=self.should_render,
-      vehicle_config=dict(
-        enable_reverse=False,
-        render_vehicle=False,
-        image_source="rgb_road",
-      ),
-      sensors=sensors,
-      image_on_cuda=_cuda_enable,
-      image_observation=True,
-      interface_panel=[],
-      out_of_route_done=False,
-      on_continuous_line_done=False,
-      crash_vehicle_done=False,
-      crash_object_done=False,
-      arrive_dest_done=False,
-      traffic_density=0.0, # traffic is incredibly expensive
-      map_config=create_map(),
-      decision_repeat=1,
-      physics_world_step_size=self.TICKS_PER_FRAME/100,
-      preload_models=False,
-      show_logo=False,
-      anisotropic_filtering=False
-    )
+    config = {
+      "use_render": self.should_render,
+      "vehicle_config": {
+        "enable_reverse": False,
+        "render_vehicle": False,
+        "image_source": "rgb_road",
+      },
+      "sensors": sensors,
+      "image_on_cuda": _cuda_enable,
+      "image_observation": True,
+      "interface_panel": [],
+      "out_of_route_done": False,
+      "on_continuous_line_done": False,
+      "crash_vehicle_done": False,
+      "crash_object_done": False,
+      "arrive_dest_done": False,
+      "traffic_density": 0.0, # traffic is incredibly expensive
+      "map_config": create_map(),
+      "decision_repeat": 1,
+      "physics_world_step_size": self.TICKS_PER_FRAME/100,
+      "preload_models": False,
+      "show_logo": False,
+      "anisotropic_filtering": False
+    }
 
     return MetaDriveWorld(queue, config, self.test_duration, self.test_run, self.dual_camera)
diff --git a/pyproject.toml b/pyproject.toml
index 7ff0482b2fb6a6..597f7a44899bd7 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -152,33 +152,26 @@ lint.select = [
   "E", "F", "W", "PIE", "C4", "ISC", "A", "B",
   "NPY", # numpy
   "UP",  # pyupgrade
+  "ASYNC",
+  "B904", "B905",
+  "PLC0207",
   "TRY203", "TRY400", "TRY401", # try/excepts
-  "RUF008", "RUF100",
+  "RUF006", "RUF008", "RUF009", "RUF061", "RUF064", "RUF100", "RUF102", "RUF103", "RUF104",
   "TID251",
   "PLE", "PLR1704",
 ]
 lint.ignore = [
   "E741",
   "E402",
-  "C408",
-  "ISC003",
   "B027",
-  "B024",
-  "NPY002",  # new numpy random syntax is worse
-  "UP045", "UP007",  # these don't play nice with raylib atm
+  "UP007",  # this doesn't play nice with raylib atm
 ]
 line-length = 160
-exclude = [
-  "openpilot/cereal",
-  "*.ipynb",
-  "generated",
-]
 lint.flake8-implicit-str-concat.allow-multiline = false
 
 [tool.ruff.lint.flake8-tidy-imports.banned-api]
 "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
-"unittest".msg = "Use pytest"
-"time.time".msg = "Use time.monotonic"
+"time.time".msg = "Use time.monotonic"  # time.time can skip due to its reference clock, you probably want a monotonic clock
 
 # raylib banned APIs
 "pyray.measure_text_ex".msg = "Use openpilot.system.ui.lib.text_measure"
diff --git a/tools/car_porting/examples/find_segments_with_message.ipynb b/tools/car_porting/examples/find_segments_with_message.ipynb
index af17bde52bc9c2..f91827f7e5940e 100644
--- a/tools/car_porting/examples/find_segments_with_message.ipynb
+++ b/tools/car_porting/examples/find_segments_with_message.ipynb
@@ -9,7 +9,6 @@
    "source": [
     "# Import all cars from opendbc\n",
     "\n",
-    "from opendbc.car import structs\n",
     "from opendbc.car.values import PLATFORMS as TEST_PLATFORMS\n",
     "\n",
     "# Example: add additional platforms/segments to test outside of commaCarSegments\n",
@@ -147,8 +146,8 @@
     }
    ],
    "source": [
-    "from openpilot.tools.lib.logreader import LogReader, comma_car_segments_source\n",
-    "from tqdm.notebook import tqdm, tnrange\n",
+    "from openpilot.tools.lib.logreader import comma_car_segments_source\n",
+    "from tqdm.notebook import tnrange\n",
     "\n",
     "# Example search for CAN ignition messages\n",
     "# Be careful when filtering by bus, account for odd harness arrangements on Honda/HKG\n",
diff --git a/tools/car_porting/examples/ford_vin_fingerprint.ipynb b/tools/car_porting/examples/ford_vin_fingerprint.ipynb
index 6b806d22d2b698..cb5fd8f820c2c1 100644
--- a/tools/car_porting/examples/ford_vin_fingerprint.ipynb
+++ b/tools/car_porting/examples/ford_vin_fingerprint.ipynb
@@ -53,12 +53,12 @@
     "  if vin.startswith('1FT'):\n",
     "    if vin_positions_567 in F150_CODES:\n",
     "      if vin[7] in LIGHTNING_CODES:\n",
-    "        return f\"FORD F-150 LIGHTNING 1ST GEN\"\n",
+    "        return \"FORD F-150 LIGHTNING 1ST GEN\"\n",
     "      else:\n",
-    "        return f\"FORD F-150 14TH GEN\"\n",
+    "        return \"FORD F-150 14TH GEN\"\n",
     "  elif vin.startswith('3FM'):\n",
     "    if vin_positions_567 in MACHE_CODES:\n",
-    "      return f\"FORD MUSTANG MACH-E 1ST GEN\"\n",
+    "      return \"FORD MUSTANG MACH-E 1ST GEN\"\n",
     "  elif vin.startswith('5LM'):\n",
     "    pass\n",
     "\n",
@@ -147,7 +147,8 @@
    "source": [
     "for vin, real_fingerprint in VINS_TO_CHECK:\n",
     "  determined_fingerprint = ford_vin_fingerprint(vin)\n",
-    "  print(f\"vin: {vin} real platform: {real_fingerprint: <30}     determined platform: {determined_fingerprint: <30}    correct: {real_fingerprint == determined_fingerprint}\")"
+    "  print(f\"vin: {vin} real platform: {real_fingerprint: <30}     \" +\n",
+    "        f\"determined platform: {determined_fingerprint: <30}    correct: {real_fingerprint == determined_fingerprint}\")"
    ]
   }
  ],
diff --git a/tools/car_porting/examples/hkg_canfd_gear_message.ipynb b/tools/car_porting/examples/hkg_canfd_gear_message.ipynb
index f0bca8decca385..ec902b7d102451 100644
--- a/tools/car_porting/examples/hkg_canfd_gear_message.ipynb
+++ b/tools/car_porting/examples/hkg_canfd_gear_message.ipynb
@@ -21,9 +21,7 @@
     }
    ],
    "source": [
-    "from opendbc.car import structs\n",
     "from opendbc.car.hyundai.values import CAR, HyundaiFlags\n",
-    "from opendbc.car.hyundai.fingerprints import FW_VERSIONS\n",
     "\n",
     "TEST_PLATFORMS = set(CAR.with_flags(HyundaiFlags.CANFD)) & set(CAR.with_flags(HyundaiFlags.EV))  # CAN-FD electric vehicles only\n",
     "#TEST_PLATFORMS = set(CAR.with_flags(HyundaiFlags.CANFD)) - set(CAR.with_flags(HyundaiFlags.EV))  # CAN-FD hybrid and ICE vehicles only\n",
@@ -190,15 +188,13 @@
    ],
    "source": [
     "import copy\n",
-    "import matplotlib.pyplot as plt\n",
-    "import numpy as np\n",
     "\n",
     "from opendbc.can.parser import CANParser\n",
     "from opendbc.car.hyundai.values import DBC\n",
     "from opendbc.car.hyundai.hyundaicanfd import CanBus\n",
     "\n",
     "from openpilot.selfdrive.pandad import can_capnp_to_list\n",
-    "from openpilot.tools.lib.logreader import LogReader, comma_car_segments_source\n",
+    "from openpilot.tools.lib.logreader import comma_car_segments_source\n",
     "\n",
     "message_names = [\"GEAR_SHIFTER\", \"ACCELERATOR\", \"GEAR\", \"GEAR_ALT\", \"GEAR_ALT_2\"]\n",
     "\n",
@@ -229,11 +225,11 @@
     "      for i, parsed_messages in enumerate(parsed_message_history):\n",
     "        gear = parsed_messages[name][\"GEAR\"]\n",
     "        if gear != gear_prev:\n",
-    "          print(f\"  *** Signal transition found! ***\")\n",
+    "          print(\"  *** Signal transition found! ***\")\n",
     "          examples.append(i)\n",
     "        gear_prev = gear\n",
     "\n",
-    "print(f\"Analysis finished\")\n"
+    "print(\"Analysis finished\")\n"
    ]
   },
   {
diff --git a/tools/car_porting/test_car_model.py b/tools/car_porting/test_car_model.py
index 20e7d136ea137e..61ec2e15edd2c0 100755
--- a/tools/car_porting/test_car_model.py
+++ b/tools/car_porting/test_car_model.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import argparse
 import sys
-import unittest # noqa: TID251
+import unittest
 from opendbc.car.tests.routes import CarTestRoute
 from openpilot.selfdrive.car.tests.test_models import TestCarModel
 from openpilot.tools.lib.route import SegmentRange

From ecac2d386b7f8cb2f17e75dc046c78a2f70f2fcd Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 19 Jul 2026 09:02:02 -0700
Subject: [PATCH 1331/1434] these go in tools

---
 pyproject.toml |  9 ++++-----
 uv.lock        | 21 +++++++++------------
 2 files changed, 13 insertions(+), 17 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 597f7a44899bd7..da04c77f1e6f25 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -22,16 +22,12 @@ dependencies = [
   "numpy >=2.0",
 
   # vendored native dependencies
-  "comma-deps-bzip2",
-  "comma-deps-bootstrap-icons",
   "comma-deps-capnproto",
   "comma-deps-catch2",
   "comma-deps-acados",
   "comma-deps-ffmpeg",
   "comma-deps-zstd",
-  "comma-deps-ncurses",
   "comma-deps-zeromq",
-  "comma-deps-libusb",
   "comma-deps-json11",
   "comma-deps-git-lfs",
   "comma-deps-gcc-arm-none-eabi",
@@ -86,6 +82,10 @@ dev = [
 
 tools = [
   "comma-deps-imgui",
+  "comma-deps-bzip2",
+  "comma-deps-bootstrap-icons",
+  "comma-deps-libusb",
+  "comma-deps-ncurses",
 
   # this can be added back once it's stripped down some more
   #"metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
@@ -200,7 +200,6 @@ python-preference = "only-managed"
 default-groups = ["standalone"]
 override-dependencies = [
   "opendbc",  # panda pins opendbc from git for standalone use; always use our submodule
-  "av",       # teleoprtc's av<13 pin is stale
 ]
 
 [tool.uv.sources]
diff --git a/uv.lock b/uv.lock
index cb6f859b505996..9aef9c9a010d68 100644
--- a/uv.lock
+++ b/uv.lock
@@ -3,10 +3,7 @@ revision = 3
 requires-python = ">=3.12.3, <3.13"
 
 [manifest]
-overrides = [
-    { name = "av" },
-    { name = "opendbc", editable = "opendbc_repo" },
-]
+overrides = [{ name = "opendbc", editable = "opendbc_repo" }]
 
 [[package]]
 name = "attrs"
@@ -704,16 +701,12 @@ source = { editable = "." }
 dependencies = [
     { name = "cffi" },
     { name = "comma-deps-acados" },
-    { name = "comma-deps-bootstrap-icons" },
-    { name = "comma-deps-bzip2" },
     { name = "comma-deps-capnproto" },
     { name = "comma-deps-catch2" },
     { name = "comma-deps-ffmpeg" },
     { name = "comma-deps-gcc-arm-none-eabi" },
     { name = "comma-deps-git-lfs" },
     { name = "comma-deps-json11" },
-    { name = "comma-deps-libusb" },
-    { name = "comma-deps-ncurses" },
     { name = "comma-deps-raylib" },
     { name = "comma-deps-zeromq" },
     { name = "comma-deps-zstd" },
@@ -765,7 +758,11 @@ testing = [
     { name = "ty" },
 ]
 tools = [
+    { name = "comma-deps-bootstrap-icons" },
+    { name = "comma-deps-bzip2" },
     { name = "comma-deps-imgui" },
+    { name = "comma-deps-libusb" },
+    { name = "comma-deps-ncurses" },
 ]
 
 [package.dev-dependencies]
@@ -778,8 +775,8 @@ requires-dist = [
     { name = "cffi" },
     { name = "codespell", marker = "extra == 'testing'" },
     { name = "comma-deps-acados" },
-    { name = "comma-deps-bootstrap-icons" },
-    { name = "comma-deps-bzip2" },
+    { name = "comma-deps-bootstrap-icons", marker = "extra == 'tools'" },
+    { name = "comma-deps-bzip2", marker = "extra == 'tools'" },
     { name = "comma-deps-capnproto" },
     { name = "comma-deps-catch2" },
     { name = "comma-deps-ffmpeg" },
@@ -787,8 +784,8 @@ requires-dist = [
     { name = "comma-deps-git-lfs" },
     { name = "comma-deps-imgui", marker = "extra == 'tools'" },
     { name = "comma-deps-json11" },
-    { name = "comma-deps-libusb" },
-    { name = "comma-deps-ncurses" },
+    { name = "comma-deps-libusb", marker = "extra == 'tools'" },
+    { name = "comma-deps-ncurses", marker = "extra == 'tools'" },
     { name = "comma-deps-raylib" },
     { name = "comma-deps-zeromq" },
     { name = "comma-deps-zstd" },

From 19ecc37de83f44dd2d5e352beb701369430a8915 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 19 Jul 2026 09:45:46 -0700
Subject: [PATCH 1332/1434] more ty (#38378)

* enable no matching overload

* enable call non callable

* enable unsupported-operator

* enable not subscriptable

* refactor pass
---
 .../cereal/messaging/tests/test_pub_sub_master.py   |  1 +
 openpilot/common/swaglog.py                         |  2 +-
 openpilot/selfdrive/car/tests/test_models.py        |  2 +-
 .../locationd/test/test_locationd_scenarios.py      |  4 ++--
 .../selfdrive/ui/mici/layouts/offroad_alerts.py     | 13 +++++++------
 openpilot/selfdrive/ui/mici/widgets/button.py       |  3 +++
 .../ui/translations/update_translations.py          |  8 ++++----
 openpilot/system/loggerd/tests/test_loggerd.py      |  4 +++-
 openpilot/system/qcomgpsd/nmeaport.py               |  8 +++++---
 openpilot/system/ui/lib/application.py              |  1 +
 openpilot/system/ui/widgets/network.py              |  1 +
 openpilot/tools/clip/run.py                         | 11 ++++++-----
 openpilot/tools/lib/comma_car_segments.py           |  2 +-
 .../tools/sim/bridge/metadrive/metadrive_world.py   |  2 +-
 pyproject.toml                                      |  4 ----
 15 files changed, 37 insertions(+), 29 deletions(-)

diff --git a/openpilot/cereal/messaging/tests/test_pub_sub_master.py b/openpilot/cereal/messaging/tests/test_pub_sub_master.py
index 02f944b69fbe56..20ff855fda172c 100644
--- a/openpilot/cereal/messaging/tests/test_pub_sub_master.py
+++ b/openpilot/cereal/messaging/tests/test_pub_sub_master.py
@@ -92,6 +92,7 @@ def test_avg_frequency_checks(self):
 
       for service, (max_freq, min_freq) in checks.items():
         if max_freq is not None:
+          assert min_freq is not None
           assert sm._check_avg_freq(service)
           assert sm.freq_tracker[service].max_freq == max_freq*1.2
           assert sm.freq_tracker[service].min_freq == min_freq*0.8
diff --git a/openpilot/common/swaglog.py b/openpilot/common/swaglog.py
index ac64230eed9332..8b629b3fba82f6 100644
--- a/openpilot/common/swaglog.py
+++ b/openpilot/common/swaglog.py
@@ -27,7 +27,7 @@ def __init__(self, base_filename, interval=60, max_bytes=1024*256, backup_count=
     self.log_files = self.get_existing_logfiles()
     log_indexes = [f.split(".")[-1] for f in self.log_files]
     self.last_file_idx = max([int(i) for i in log_indexes if i.isdigit()] or [-1])
-    self.last_rollover = None
+    self.last_rollover = 0.0
     self.doRollover()
 
   def _open(self):
diff --git a/openpilot/selfdrive/car/tests/test_models.py b/openpilot/selfdrive/car/tests/test_models.py
index 436de261e6ff6f..cda94b3158ee01 100644
--- a/openpilot/selfdrive/car/tests/test_models.py
+++ b/openpilot/selfdrive/car/tests/test_models.py
@@ -250,7 +250,7 @@ def test_panda_safety_rx_checks(self):
 
       # Don't check relay malfunction on disabled routes (relay closed),
       # or before fingerprinting is done (elm327 and noOutput)
-      if self.openpilot_enabled and t / 1e4 > self.car_safety_mode_frame:
+      if self.car_safety_mode_frame is not None and t / 1e4 > self.car_safety_mode_frame:
         self.assertFalse(self.safety.get_relay_malfunction())
       else:
         self.safety.set_relay_malfunction(False)
diff --git a/openpilot/selfdrive/locationd/test/test_locationd_scenarios.py b/openpilot/selfdrive/locationd/test/test_locationd_scenarios.py
index 69f2ca2821b98a..04d2d6b55bf9ba 100644
--- a/openpilot/selfdrive/locationd/test/test_locationd_scenarios.py
+++ b/openpilot/selfdrive/locationd/test/test_locationd_scenarios.py
@@ -37,9 +37,9 @@ def get_select_fields_data(logs):
   def sig_smooth(signal):
     return masked_symmetric_moving_average(signal, np.ones_like(signal), 5, 1.0)
   def get_nested_keys(msg, keys):
-    val = None
+    val = msg
     for key in keys:
-      val = getattr(msg if val is None else val, key) if isinstance(key, str) else val[key]
+      val = getattr(val, key) if isinstance(key, str) else val[key]
     return val
   lp = [x.livePose for x in logs if x.which() == 'livePose']
   data = defaultdict(list)
diff --git a/openpilot/selfdrive/ui/mici/layouts/offroad_alerts.py b/openpilot/selfdrive/ui/mici/layouts/offroad_alerts.py
index 47a2ddde9508d0..c27e05f752d648 100644
--- a/openpilot/selfdrive/ui/mici/layouts/offroad_alerts.py
+++ b/openpilot/selfdrive/ui/mici/layouts/offroad_alerts.py
@@ -250,12 +250,12 @@ def _params_worker(self):
                               {alert_data.key: self.params.get(alert_data.key) for alert_data in self.sorted_alerts})
       time.sleep(REFRESH_INTERVAL)
 
-  def _refresh(self) -> int:
+  def _refresh(self, pending_params: dict) -> int:
     """Refresh alerts from params and return active count."""
     active_count = 0
 
     # Handle UpdateAvailable alert specially
-    update_available = self._pending_params["UpdateAvailable"]
+    update_available = pending_params["UpdateAvailable"]
     update_alert_data = next((alert_data for alert_data in self.sorted_alerts if alert_data.key == "UpdateAvailable"), None)
 
     if update_alert_data:
@@ -263,7 +263,7 @@ def _refresh(self) -> int:
         version_string = ""
 
         # Get new version description and parse version and date
-        new_desc = self._pending_params["UpdaterNewDescription"] or ""
+        new_desc = pending_params["UpdaterNewDescription"] or ""
         if new_desc:
           # format: "version / branch / commit / date"
           parts = new_desc.split(" / ")
@@ -284,7 +284,7 @@ def _refresh(self) -> int:
         continue  # Skip, already handled above
 
       text = ""
-      alert_json = self._pending_params[alert_data.key]
+      alert_json = pending_params[alert_data.key]
 
       if alert_json:
         text = alert_json.get("text", "").replace("%1", alert_json.get("extra", ""))
@@ -311,8 +311,9 @@ def _refresh(self) -> int:
   def _update_state(self):
     """Periodically refresh alerts."""
     # Refresh alerts when thread updates params
-    if self._pending_params is not None:
-      self._refresh()
+    pending_params = self._pending_params
+    if pending_params is not None:
+      self._refresh(pending_params)
       self._pending_params = None
 
   def _render(self, rect: rl.Rectangle):
diff --git a/openpilot/selfdrive/ui/mici/widgets/button.py b/openpilot/selfdrive/ui/mici/widgets/button.py
index 1dceb796916761..3dd7ad9a8a9710 100644
--- a/openpilot/selfdrive/ui/mici/widgets/button.py
+++ b/openpilot/selfdrive/ui/mici/widgets/button.py
@@ -375,6 +375,7 @@ def _render(self, _):
 class BigMultiParamToggle(BigMultiToggle):
   def __init__(self, text: str, param: str, options: list[str], toggle_callback: Callable | None = None,
                select_callback: Callable | None = None):
+    assert Params is not None
     super().__init__(text, options, toggle_callback, select_callback)
     self._param = param
 
@@ -392,6 +393,7 @@ def _handle_mouse_release(self, mouse_pos: MousePos):
 
 class BigParamControl(BigToggle):
   def __init__(self, text: str, param: str, toggle_callback: Callable | None = None):
+    assert Params is not None
     super().__init__(text, "", toggle_callback=toggle_callback)
     self.param = param
     self.params = Params()
@@ -409,6 +411,7 @@ def refresh(self):
 class BigCircleParamControl(BigCircleToggle):
   def __init__(self, icon: rl.Texture, param: str, toggle_callback: Callable | None = None,
                icon_offset: tuple[int, int] = (0, 0)):
+    assert Params is not None
     super().__init__(icon, toggle_callback, icon_offset=icon_offset)
     self._param = param
     self.params = Params()
diff --git a/openpilot/selfdrive/ui/translations/update_translations.py b/openpilot/selfdrive/ui/translations/update_translations.py
index 6ff3667d8a9812..9b0d63ee123498 100755
--- a/openpilot/selfdrive/ui/translations/update_translations.py
+++ b/openpilot/selfdrive/ui/translations/update_translations.py
@@ -12,9 +12,9 @@
 def update_translations():
   files = []
   for root, _, filenames in chain(os.walk(SYSTEM_UI_DIR),
-                                  os.walk(os.path.join(UI_DIR, "widgets")),
-                                  os.walk(os.path.join(UI_DIR, "layouts")),
-                                  os.walk(os.path.join(UI_DIR, "onroad"))):
+                                  os.walk(os.path.join(str(UI_DIR), "widgets")),
+                                  os.walk(os.path.join(str(UI_DIR), "layouts")),
+                                  os.walk(os.path.join(str(UI_DIR), "onroad"))):
     for filename in filenames:
       if filename.endswith(".py"):
         files.append(os.path.relpath(os.path.join(root, filename), BASEDIR))
@@ -25,7 +25,7 @@ def update_translations():
 
   # Generate/update translation files for each language
   for name in multilang.languages.values():
-    po_file = os.path.join(TRANSLATIONS_DIR, f"app_{name}.po")
+    po_file = os.path.join(str(TRANSLATIONS_DIR), f"app_{name}.po")
     if os.path.exists(po_file):
       merge_po(po_file, POT_FILE)
     else:
diff --git a/openpilot/system/loggerd/tests/test_loggerd.py b/openpilot/system/loggerd/tests/test_loggerd.py
index 5d8f635d965443..666b56dc03ecb7 100644
--- a/openpilot/system/loggerd/tests/test_loggerd.py
+++ b/openpilot/system/loggerd/tests/test_loggerd.py
@@ -277,7 +277,9 @@ def test_qlog(self):
         assert recv_cnt == 0, f"got {recv_cnt} {s} msgs in qlog"
       else:
         # check logged message count matches decimation
-        expected_cnt = (len(msgs) - 1) // SERVICE_LIST[s].decimation + 1
+        decimation = SERVICE_LIST[s].decimation
+        assert decimation is not None
+        expected_cnt = (len(msgs) - 1) // decimation + 1
         assert recv_cnt == expected_cnt, f"expected {expected_cnt} msgs for {s}, got {recv_cnt}"
 
   def test_rlog(self):
diff --git a/openpilot/system/qcomgpsd/nmeaport.py b/openpilot/system/qcomgpsd/nmeaport.py
index 0e695b65e5cdce..ba7cf117b11579 100644
--- a/openpilot/system/qcomgpsd/nmeaport.py
+++ b/openpilot/system/qcomgpsd/nmeaport.py
@@ -3,7 +3,7 @@
 from dataclasses import dataclass, fields
 from subprocess import check_output, CalledProcessError
 from time import sleep
-from typing import NoReturn
+from typing import NoReturn, cast
 
 DEBUG = int(os.environ.get("DEBUG", "0"))
 
@@ -30,7 +30,8 @@ class GnssClockNmeaPort:
   def __post_init__(self):
     for field in fields(self):
       val = getattr(self, field.name)
-      setattr(self, field.name, field.type(val) if val else None)
+      field_type = cast(type, field.type)
+      setattr(self, field.name, field_type(val) if val else None)
 
 @dataclass
 class GnssMeasNmeaPort:
@@ -73,7 +74,8 @@ class GnssMeasNmeaPort:
   def __post_init__(self):
     for field in fields(self):
       val = getattr(self, field.name)
-      setattr(self, field.name, field.type(val) if val else None)
+      field_type = cast(type, field.type)
+      setattr(self, field.name, field_type(val) if val else None)
 
 def nmea_checksum_ok(s):
   checksum = 0
diff --git a/openpilot/system/ui/lib/application.py b/openpilot/system/ui/lib/application.py
index bd2c9dfcd33298..3fa47ebd20d303 100644
--- a/openpilot/system/ui/lib/application.py
+++ b/openpilot/system/ui/lib/application.py
@@ -823,6 +823,7 @@ def _output_render_profile(self):
     import pstats
 
     self._render_profiler.disable()
+    assert self._render_profile_start_time is not None
     elapsed_ms = (time.monotonic() - self._render_profile_start_time) * 1e3
     avg_frame_time = elapsed_ms / self._frame if self._frame > 0 else 0
 
diff --git a/openpilot/system/ui/widgets/network.py b/openpilot/system/ui/widgets/network.py
index f104ba6add1d06..710202c54f37ea 100644
--- a/openpilot/system/ui/widgets/network.py
+++ b/openpilot/system/ui/widgets/network.py
@@ -105,6 +105,7 @@ def _set_current_panel(self, panel: PanelType):
 
 class AdvancedNetworkSettings(Widget):
   def __init__(self, wifi_manager: WifiManager):
+    assert Params is not None
     super().__init__()
     self._wifi_manager = wifi_manager
     self._wifi_manager.add_callbacks(networks_updated=self._on_network_updated)
diff --git a/openpilot/tools/clip/run.py b/openpilot/tools/clip/run.py
index fa4b203862060d..594383f7fd3661 100755
--- a/openpilot/tools/clip/run.py
+++ b/openpilot/tools/clip/run.py
@@ -11,6 +11,7 @@
 import numpy as np
 import tqdm
 from argparse import ArgumentParser
+from collections.abc import Callable
 from pathlib import Path
 from concurrent.futures import ThreadPoolExecutor, as_completed
 
@@ -138,7 +139,7 @@ def iter_segment_frames(camera_paths, start_time, end_time, fps=20, use_qcam=Fal
   frames_per_seg = fps * 60
   start_frame, end_frame = int(start_time * fps), int(end_time * fps)
   current_seg: int = -1
-  seg_frames: FrameReader | np.ndarray | None = None
+  get_frame: Callable[[int], np.ndarray] | None = None
 
   for global_idx in range(start_frame, end_frame):
     seg_idx, local_idx = global_idx // frames_per_seg, global_idx % frames_per_seg
@@ -157,12 +158,12 @@ def iter_segment_frames(camera_paths, start_time, end_time, fps=20, use_qcam=Fal
         if result.returncode != 0:
           raise RuntimeError(f"ffmpeg failed: {result.stderr.decode()}")
         seg_frames = np.frombuffer(result.stdout, dtype=np.uint8).reshape(-1, w * h * 3 // 2)
+        get_frame = seg_frames.__getitem__
       else:
-        seg_frames = FrameReader(path, pix_fmt="nv12")
+        get_frame = FrameReader(path, pix_fmt="nv12").get
 
-    assert seg_frames is not None
-    frame = seg_frames[local_idx] if use_qcam else seg_frames.get(local_idx)
-    yield global_idx, frame
+    assert get_frame is not None
+    yield global_idx, get_frame(local_idx)
 
 
 class FrameQueue:
diff --git a/openpilot/tools/lib/comma_car_segments.py b/openpilot/tools/lib/comma_car_segments.py
index cd19356d6627de..b27887ed29c98d 100644
--- a/openpilot/tools/lib/comma_car_segments.py
+++ b/openpilot/tools/lib/comma_car_segments.py
@@ -74,7 +74,7 @@ def get_repo_url(path):
 
   response = requests.head(get_repo_raw_url(path))
 
-  if "text/plain" in response.headers.get("content-type"):
+  if "text/plain" in response.headers.get("content-type", ""):
     # This is an LFS pointer, so download the raw data from lfs
     response = requests.get(get_repo_raw_url(path))
     assert response.status_code == 200
diff --git a/openpilot/tools/sim/bridge/metadrive/metadrive_world.py b/openpilot/tools/sim/bridge/metadrive/metadrive_world.py
index c5111289d01394..54b461a46c14fa 100644
--- a/openpilot/tools/sim/bridge/metadrive/metadrive_world.py
+++ b/openpilot/tools/sim/bridge/metadrive/metadrive_world.py
@@ -97,7 +97,7 @@ def read_sensors(self, state: SimulatorState):
         self.op_engaged.set()
 
       # check moving 5 seconds after engaged, doesn't move right away
-      after_engaged_check = is_engaged and time.monotonic() - self.first_engage >= 5 and self.test_run
+      after_engaged_check = is_engaged and self.first_engage is not None and time.monotonic() - self.first_engage >= 5 and self.test_run
 
       x_dist = abs(curr_pos[0] - self.vehicle_last_pos[0])
       y_dist = abs(curr_pos[1] - self.vehicle_last_pos[1])
diff --git a/pyproject.toml b/pyproject.toml
index da04c77f1e6f25..5c9f16d33a5e49 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -189,11 +189,7 @@ unresolved-attribute = "ignore"  # many from capnp and Cython modules
 invalid-method-override = "ignore"  # signature variance issues
 possibly-missing-attribute = "ignore"  # too many false positives
 invalid-assignment = "ignore"  # often intentional monkey-patching
-no-matching-overload = "ignore"  # numpy/ctypes overload matching issues
 invalid-argument-type = "ignore"  # many false positives from raylib, ctypes, numpy
-call-non-callable = "ignore"  # false positives from dynamic types
-unsupported-operator = "ignore" # false positives from dynamic types
-not-subscriptable = "ignore" # false positives from dynamic types
 
 [tool.uv]
 python-preference = "only-managed"

From f0d93eb32db9683986cfcafebec6d0f74a2a95da Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 19 Jul 2026 11:02:00 -0700
Subject: [PATCH 1333/1434] more ty, part 2 (#38379)

---
 openpilot/common/api.py                       |  2 +
 openpilot/common/hardware/tici/agnos.py       |  2 +-
 openpilot/common/hardware/tici/hardware.py    | 16 ++--
 openpilot/common/hardware/tici/modem.py       |  2 +-
 openpilot/common/pid.py                       | 12 +--
 openpilot/common/transformations/camera.py    |  3 +-
 openpilot/selfdrive/car/tests/test_models.py  |  3 +-
 openpilot/selfdrive/locationd/helpers.py      |  5 +-
 openpilot/selfdrive/locationd/locationd.py    |  2 +-
 openpilot/selfdrive/locationd/torqued.py      |  9 ++-
 openpilot/selfdrive/modeld/modeld.py          |  2 +-
 .../selfdrive/modeld/parse_model_outputs.py   |  2 +-
 .../selfdrive/pandad/tests/test_pandad.py     |  2 +-
 .../selfdrived/tests/test_state_machine.py    |  8 +-
 .../test/process_replay/process_replay.py     |  8 +-
 openpilot/selfdrive/ui/body/animations.py     | 11 ++-
 openpilot/selfdrive/ui/layouts/main.py        |  6 +-
 openpilot/selfdrive/ui/layouts/sidebar.py     |  2 +-
 openpilot/selfdrive/ui/mici/layouts/home.py   |  2 +-
 openpilot/selfdrive/ui/mici/layouts/main.py   |  2 +-
 .../ui/mici/layouts/settings/device.py        |  4 +-
 .../selfdrive/ui/mici/onroad/cameraview.py    |  2 +-
 .../ui/mici/onroad/model_renderer.py          |  4 +-
 .../selfdrive/ui/onroad/model_renderer.py     |  4 +-
 .../selfdrive/ui/tests/diff/replay_script.py  |  2 +-
 .../selfdrive/ui/tests/profile_onroad.py      |  2 +-
 .../selfdrive/ui/translations/potools.py      | 22 +++---
 openpilot/system/athena/athenad.py            |  5 +-
 openpilot/system/athena/tests/test_athenad.py |  4 +-
 openpilot/system/hardware/power_monitoring.py |  2 +-
 .../hardware/tests/test_power_monitoring.py   |  2 +-
 .../loggerd/tests/loggerd_tests_common.py     |  4 +-
 .../system/loggerd/tests/test_deleter.py      |  2 +-
 .../system/loggerd/tests/test_loggerd.py      |  5 +-
 openpilot/system/qcomgpsd/nmeaport.py         | 76 +++++++++----------
 .../system/sensord/tests/test_sensord.py      |  2 +-
 openpilot/system/ubloxd/binary_struct.py      |  2 +-
 openpilot/system/ui/lib/utils.py              |  3 +-
 openpilot/system/ui/lib/wifi_manager.py       |  2 +-
 openpilot/system/ui/tici_reset.py             |  6 +-
 openpilot/system/ui/widgets/__init__.py       | 29 ++++---
 openpilot/system/ui/widgets/label.py          |  3 +-
 openpilot/system/ui/widgets/nav_widget.py     |  2 +-
 openpilot/system/ui/widgets/network.py        | 19 ++---
 openpilot/system/ui/widgets/scroller.py       | 12 +--
 openpilot/system/ui/widgets/scroller_tici.py  |  3 +-
 openpilot/system/updated/updated.py           |  2 +-
 .../webrtc/tests/test_stream_session.py       |  6 +-
 openpilot/system/webrtc/webrtcd.py            |  2 +-
 openpilot/tools/lib/auth.py                   |  2 +-
 openpilot/tools/lib/file_sources.py           |  8 +-
 openpilot/tools/lib/tests/test_caching.py     |  2 +-
 .../longitudinal_maneuvers/maneuversd.py      |  2 +-
 openpilot/tools/replay/lib/ui_helpers.py      |  3 +-
 openpilot/tools/sim/bridge/common.py          |  2 +-
 openpilot/tools/sim/lib/common.py             |  6 +-
 pyproject.toml                                |  4 -
 57 files changed, 196 insertions(+), 167 deletions(-)

diff --git a/openpilot/common/api.py b/openpilot/common/api.py
index c97f56c4b5cb71..3e3733c3adb4c7 100644
--- a/openpilot/common/api.py
+++ b/openpilot/common/api.py
@@ -27,6 +27,8 @@ def request(self, method, endpoint, timeout=None, access_token=None, **params):
     return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
 
   def get_token(self, payload_extra=None, expiry_hours=1):
+    if self.private_key is None:
+      raise RuntimeError("private key is not configured")
     now = datetime.now(UTC).replace(tzinfo=None)
     payload = {
       'identity': self.dongle_id,
diff --git a/openpilot/common/hardware/tici/agnos.py b/openpilot/common/hardware/tici/agnos.py
index e1f62c841c176a..b3b5e0517685f4 100755
--- a/openpilot/common/hardware/tici/agnos.py
+++ b/openpilot/common/hardware/tici/agnos.py
@@ -19,7 +19,7 @@ class StreamingDecompressor:
   def __init__(self, url: str) -> None:
     self.buf = b""
 
-    self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}, timeout=60)
+    self.req = requests.get(url, stream=True, headers={'Accept-Encoding': 'identity'}, timeout=60)
     self.it = self.req.iter_content(chunk_size=1024 * 1024)
     self.decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
     self.eof = False
diff --git a/openpilot/common/hardware/tici/hardware.py b/openpilot/common/hardware/tici/hardware.py
index 773cbd4bedfd90..aa125ed97d0513 100644
--- a/openpilot/common/hardware/tici/hardware.py
+++ b/openpilot/common/hardware/tici/hardware.py
@@ -339,7 +339,7 @@ def initialize_hardware(self):
 
     # Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL
     gpio_init(GPIO.SOM_ST_IO, True)
-    gpio_set(GPIO.SOM_ST_IO, 1)
+    gpio_set(GPIO.SOM_ST_IO, True)
 
     # *** IRQ config ***
 
@@ -389,21 +389,21 @@ def reset_internal_panda(self):
     gpio_init(GPIO.STM_RST_N, True)
     gpio_init(GPIO.STM_BOOT0, True)
 
-    gpio_set(GPIO.STM_RST_N, 1)
-    gpio_set(GPIO.STM_BOOT0, 0)
+    gpio_set(GPIO.STM_RST_N, True)
+    gpio_set(GPIO.STM_BOOT0, False)
     time.sleep(0.01)
-    gpio_set(GPIO.STM_RST_N, 0)
+    gpio_set(GPIO.STM_RST_N, False)
 
   def recover_internal_panda(self):
     gpio_init(GPIO.STM_RST_N, True)
     gpio_init(GPIO.STM_BOOT0, True)
 
-    gpio_set(GPIO.STM_RST_N, 1)
-    gpio_set(GPIO.STM_BOOT0, 1)
+    gpio_set(GPIO.STM_RST_N, True)
+    gpio_set(GPIO.STM_BOOT0, True)
     time.sleep(0.01)
-    gpio_set(GPIO.STM_RST_N, 0)
+    gpio_set(GPIO.STM_RST_N, False)
     time.sleep(0.01)
-    gpio_set(GPIO.STM_BOOT0, 0)
+    gpio_set(GPIO.STM_BOOT0, False)
 
   def booted(self):
     # this normally boots within 8s, but on rare occasions takes 30+s
diff --git a/openpilot/common/hardware/tici/modem.py b/openpilot/common/hardware/tici/modem.py
index 0d30c493288606..54251d48156ee5 100755
--- a/openpilot/common/hardware/tici/modem.py
+++ b/openpilot/common/hardware/tici/modem.py
@@ -52,7 +52,7 @@
   "novj", "novjccomp", "ipcp-accept-local", "ipcp-accept-remote", "nomagic",
   "user", '""', "password", '""',
 ]
-INITIAL_STATE = {
+INITIAL_STATE: dict[str, object] = {
   "seconds_since_boot": 0,
   "state": "INITIALIZING",
   "connected": False, "ip_address": "",
diff --git a/openpilot/common/pid.py b/openpilot/common/pid.py
index b3d64d6fcdc2d6..f541baf05c9650 100644
--- a/openpilot/common/pid.py
+++ b/openpilot/common/pid.py
@@ -1,11 +1,13 @@
 import numpy as np
-from numbers import Number
+from collections.abc import Sequence
+
+Gain = int | float | tuple[Sequence[float], Sequence[float]] | list[list[float]]
 
 class PIDController:
-  def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
-    self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
-    self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
+  def __init__(self, k_p: Gain, k_i: Gain, k_d: Gain = 0., pos_limit=1e308, neg_limit=-1e308, rate=100):
+    self._k_p = ([0], [k_p]) if isinstance(k_p, (int, float)) else k_p
+    self._k_i = ([0], [k_i]) if isinstance(k_i, (int, float)) else k_i
+    self._k_d = ([0], [k_d]) if isinstance(k_d, (int, float)) else k_d
 
     self.set_limits(pos_limit, neg_limit)
 
diff --git a/openpilot/common/transformations/camera.py b/openpilot/common/transformations/camera.py
index 2e68b5e37c56c6..ada9c5b398c22d 100644
--- a/openpilot/common/transformations/camera.py
+++ b/openpilot/common/transformations/camera.py
@@ -52,7 +52,7 @@ def all_cams(self):
 _os_config = DeviceCameraConfig(CameraConfig(2688 // 2, 1520 // 2, 1522.0 * 3 / 4), _os_fisheye, _os_fisheye)
 _neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
 
-DEVICE_CAMERAS = {
+DEVICE_CAMERAS: dict[tuple[str, str], DeviceCameraConfig] = {
   # A "device camera" is defined by a device type and sensor
 
   # sensor type was never set on eon/neo/two
@@ -176,4 +176,3 @@ def img_from_device(pt_device):
 
   pt_img = pt_view/pt_view[:, 2:3]
   return pt_img.reshape(input_shape)[:, :2]
-
diff --git a/openpilot/selfdrive/car/tests/test_models.py b/openpilot/selfdrive/car/tests/test_models.py
index cda94b3158ee01..5ad31f93ab0793 100644
--- a/openpilot/selfdrive/car/tests/test_models.py
+++ b/openpilot/selfdrive/car/tests/test_models.py
@@ -21,6 +21,7 @@
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.common.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 from openpilot.tools.lib.logreader import LogReader, LogsUnavailable, openpilotci_source, internal_source, comma_api_source
+from openpilot.tools.lib.file_sources import Source
 from openpilot.tools.lib.route import SegmentName
 
 SafetyModel = car.CarParams.SafetyModel
@@ -130,7 +131,7 @@ def get_testing_data(cls):
       segment_range = f"{cls.test_route.route}/{seg}"
 
       try:
-        sources = [internal_source] if len(INTERNAL_SEG_LIST) else [openpilotci_source, comma_api_source]
+        sources: list[Source] = [internal_source] if len(INTERNAL_SEG_LIST) else [openpilotci_source, comma_api_source]
         lr = LogReader(segment_range, sources=sources, sort_by_time=True)
         return cls.get_testing_data_from_logreader(lr)
       except (LogsUnavailable, AssertionError):
diff --git a/openpilot/selfdrive/locationd/helpers.py b/openpilot/selfdrive/locationd/helpers.py
index 849b950de2749c..5e3fa16027cbe5 100644
--- a/openpilot/selfdrive/locationd/helpers.py
+++ b/openpilot/selfdrive/locationd/helpers.py
@@ -1,4 +1,5 @@
 import numpy as np
+from collections.abc import Sequence
 from typing import Any
 from functools import cache
 
@@ -68,7 +69,7 @@ def append(self, pt: list[float]) -> None:
 
 
 class PointBuckets:
-  def __init__(self, x_bounds: list[tuple[float, float]], min_points: list[float], min_points_total: int, points_per_bucket: int, rowsize: int) -> None:
+  def __init__(self, x_bounds: list[tuple[float, float]], min_points: Sequence[float], min_points_total: int, points_per_bucket: int, rowsize: int) -> None:
     self._rng = np.random.default_rng()
     self.x_bounds = x_bounds
     self.buckets = {bounds: NPQueue(maxlen=points_per_bucket, rowsize=rowsize) for bounds in x_bounds}
@@ -101,7 +102,7 @@ def get_points(self, num_points: int | None = None) -> Any:
       return points
     return points[self._rng.choice(np.arange(len(points)), min(len(points), num_points), replace=False)]
 
-  def load_points(self, points: list[list[float]]) -> None:
+  def load_points(self, points: Sequence[Sequence[float]]) -> None:
     for point in points:
       self.add_point(*point)
 
diff --git a/openpilot/selfdrive/locationd/locationd.py b/openpilot/selfdrive/locationd/locationd.py
index 8e03995d132c02..eb3c42fce27ce5 100755
--- a/openpilot/selfdrive/locationd/locationd.py
+++ b/openpilot/selfdrive/locationd/locationd.py
@@ -66,7 +66,7 @@ def __init__(self, debug: bool):
     self.observations = {kind: np.zeros(3, dtype=np.float32) for kind in obs_kinds}
     self.observation_errors = {kind: np.zeros(3, dtype=np.float32) for kind in obs_kinds}
 
-  def reset(self, t: float, x_initial: np.ndarray = PoseKalman.initial_x, P_initial: np.ndarray = PoseKalman.initial_P):
+  def reset(self, t: float | None, x_initial: np.ndarray = PoseKalman.initial_x, P_initial: np.ndarray = PoseKalman.initial_P):
     self.kf.init_state(x_initial, covs=P_initial, filter_time=t)
 
   def _validate_sensor_source(self, source: log.SensorEventData.SensorSource):
diff --git a/openpilot/selfdrive/locationd/torqued.py b/openpilot/selfdrive/locationd/torqued.py
index 6321461e8b33df..d36684563c0f7d 100755
--- a/openpilot/selfdrive/locationd/torqued.py
+++ b/openpilot/selfdrive/locationd/torqued.py
@@ -57,14 +57,14 @@ def __init__(self, CP, decimated=False, track_all_points=False):
     self.lag = 0.0
     self.track_all_points = track_all_points  # for offline analysis, without max lateral accel or max steer torque filters
     if decimated:
-      self.min_bucket_points = MIN_BUCKET_POINTS / 10
+      self.min_bucket_points: list[float] = (MIN_BUCKET_POINTS / 10).tolist()
       self.min_points_total = MIN_POINTS_TOTAL_QLOG
       self.fit_points = FIT_POINTS_TOTAL_QLOG
       self.factor_sanity = FACTOR_SANITY_QLOG
       self.friction_sanity = FRICTION_SANITY_QLOG
 
     else:
-      self.min_bucket_points = MIN_BUCKET_POINTS
+      self.min_bucket_points = MIN_BUCKET_POINTS.tolist()
       self.min_points_total = MIN_POINTS_TOTAL
       self.fit_points = FIT_POINTS_TOTAL
       self.factor_sanity = FACTOR_SANITY
@@ -112,9 +112,10 @@ def __init__(self, CP, decimated=False, track_all_points=False):
               'latAccelOffset': cache_ltp.latAccelOffsetFiltered,
               'frictionCoefficient': cache_ltp.frictionCoefficientFiltered
             }
-          initial_params['points'] = cache_ltp.points
+          cached_points: list[list[float]] = [list(point) for point in cache_ltp.points]
+          initial_params['points'] = cached_points
           self.decay = cache_ltp.decay
-          self.filtered_points.load_points(initial_params['points'])
+          self.filtered_points.load_points(cached_points)
           cloudlog.info("restored torque params from cache")
       except Exception:
         cloudlog.exception("failed to restore cached torque params")
diff --git a/openpilot/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py
index 7c70cdb14d26f4..39fcc0725c9e14 100755
--- a/openpilot/selfdrive/modeld/modeld.py
+++ b/openpilot/selfdrive/modeld/modeld.py
@@ -89,7 +89,7 @@ def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
     self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
     self.input_queues, self.npy = make_input_queues(self.input_shapes, self.frame_skip, device=self.QUEUE_DEV)
     self.full_frames: dict[str, Tensor] = {}
-    self._blob_cache: dict[int, Tensor] = {}
+    self._blob_cache: dict[tuple[str, int], Tensor] = {}
     self.parser = Parser()
     self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
     self.run_policy = jits['run_policy']
diff --git a/openpilot/selfdrive/modeld/parse_model_outputs.py b/openpilot/selfdrive/modeld/parse_model_outputs.py
index 26c138b8eccb42..839c20f7cc60d7 100644
--- a/openpilot/selfdrive/modeld/parse_model_outputs.py
+++ b/openpilot/selfdrive/modeld/parse_model_outputs.py
@@ -41,7 +41,7 @@ def parse_binary_crossentropy(self, name, outs):
     raw = outs[name]
     outs[name] = sigmoid(raw)
 
-  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
+  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=()):
     if self.check_missing(outs, name):
       return
     raw = outs[name]
diff --git a/openpilot/selfdrive/pandad/tests/test_pandad.py b/openpilot/selfdrive/pandad/tests/test_pandad.py
index e7a7107dcd6af4..0f8fd9fc1a0df8 100644
--- a/openpilot/selfdrive/pandad/tests/test_pandad.py
+++ b/openpilot/selfdrive/pandad/tests/test_pandad.py
@@ -60,7 +60,7 @@ def test_in_bootstub(self):
 
   def test_in_reset(self):
     gpio_init(GPIO.STM_RST_N, True)
-    gpio_set(GPIO.STM_RST_N, 1)
+    gpio_set(GPIO.STM_RST_N, True)
     assert not Panda.list()
     self._run_test()
 
diff --git a/openpilot/selfdrive/selfdrived/tests/test_state_machine.py b/openpilot/selfdrive/selfdrived/tests/test_state_machine.py
index 8139e53d2e7aac..ec8f068039b063 100644
--- a/openpilot/selfdrive/selfdrived/tests/test_state_machine.py
+++ b/openpilot/selfdrive/selfdrived/tests/test_state_machine.py
@@ -13,11 +13,11 @@
 ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)
 
 
-def make_event(event_types):
-  event = {}
+def make_event(event_types: list[str | None]):
+  EVENTS[0] = {}
   for ev in event_types:
-    event[ev] = NormalPermanentAlert("alert")
-  EVENTS[0] = event
+    if ev is not None:
+      EVENTS[0][ev] = NormalPermanentAlert("alert")
   return 0
 
 
diff --git a/openpilot/selfdrive/test/process_replay/process_replay.py b/openpilot/selfdrive/test/process_replay/process_replay.py
index b34535e96b4d84..90eb397996eef4 100755
--- a/openpilot/selfdrive/test/process_replay/process_replay.py
+++ b/openpilot/selfdrive/test/process_replay/process_replay.py
@@ -215,7 +215,7 @@ def _setup_vision_ipc(self, all_msgs: LogIterable, frs: dict[str, Any]):
 
   def _start_process(self):
     if self.capture is not None:
-      self.process.launcher = LauncherWithCapture(self.capture, self.process.launcher)
+      self.process.launcher = LauncherWithCapture(self.capture, self.process.launcher)  # ty: ignore[invalid-assignment]  # intentional wrapper
     self.process.prepare()
     self.process.start()
 
@@ -631,10 +631,10 @@ def replay_process(
   fingerprint: str | None = None, return_all_logs: bool = False, custom_params: dict[str, Any] | None = None,
   captured_output_store: dict[str, dict[str, str]] | None = None, disable_progress: bool = False
 ) -> list[capnp._DynamicStructReader]:
-  if isinstance(cfg, Iterable):
-    cfgs = list(cfg)
-  else:
+  if isinstance(cfg, ProcessConfig):
     cfgs = [cfg]
+  else:
+    cfgs = list(cfg)
 
   all_msgs = migrate_all(lr,
                          manager_states=True,
diff --git a/openpilot/selfdrive/ui/body/animations.py b/openpilot/selfdrive/ui/body/animations.py
index c40f7ecdefe6f1..302f8989bf5ddb 100644
--- a/openpilot/selfdrive/ui/body/animations.py
+++ b/openpilot/selfdrive/ui/body/animations.py
@@ -204,7 +204,10 @@ def get_dots(self) -> list[tuple[int, int]]:
       frames_back = round(rewind_elapsed / self._animation.frame_duration)
       frame_index = self._rewind_from - frames_back
       if frame_index <= 0:
-        return self._switch_to_next(now)
+        if self._next is None:
+          self._rewinding = False
+          return self._animation.frames[0]
+        return self._switch_to_next(now, self._next)
       return self._animation.frames[frame_index]
 
     # Play starting frames first (once)
@@ -223,7 +226,7 @@ def get_dots(self) -> list[tuple[int, int]]:
 
     if self._next is not None:
       if frame_index == 0 and (len(self._animation.frames) == 1 or self._seen_nonzero):
-        return self._switch_to_next(now)
+        return self._switch_to_next(now, self._next)
       # No natural return to frame 0 — start rewinding
       if self._animation.mode in (AnimationMode.ONCE_FORWARD, AnimationMode.REPEAT_FORWARD):
         self._rewinding = True
@@ -232,8 +235,8 @@ def get_dots(self) -> list[tuple[int, int]]:
 
     return self._animation.frames[frame_index]
 
-  def _switch_to_next(self, now: float) -> list[tuple[int, int]]:
-    self._animation = self._next
+  def _switch_to_next(self, now: float, animation: Animation) -> list[tuple[int, int]]:
+    self._animation = animation
     self._next = None
     self._rewinding = False
     self._seen_nonzero = False
diff --git a/openpilot/selfdrive/ui/layouts/main.py b/openpilot/selfdrive/ui/layouts/main.py
index 47a52280f2a375..277b6f1404f110 100644
--- a/openpilot/selfdrive/ui/layouts/main.py
+++ b/openpilot/selfdrive/ui/layouts/main.py
@@ -31,7 +31,11 @@ def __init__(self):
     # Initialize layouts
     self._home_layout = HomeLayout()
     self._home_body_layout = BodyLayout()
-    self._layouts = {MainState.HOME: self._home_layout, MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
+    self._layouts: dict[MainState, Widget] = {
+      MainState.HOME: self._home_layout,
+      MainState.SETTINGS: SettingsLayout(),
+      MainState.ONROAD: AugmentedRoadView(),
+    }
 
     self._sidebar_rect = rl.Rectangle(0, 0, 0, 0)
     self._content_rect = rl.Rectangle(0, 0, 0, 0)
diff --git a/openpilot/selfdrive/ui/layouts/sidebar.py b/openpilot/selfdrive/ui/layouts/sidebar.py
index eabf5cc008a05c..4a7c2856bb67d6 100644
--- a/openpilot/selfdrive/ui/layouts/sidebar.py
+++ b/openpilot/selfdrive/ui/layouts/sidebar.py
@@ -65,7 +65,7 @@ def update(self, label: str, value: str, color: rl.Color):
 class Sidebar(Widget):
   def __init__(self):
     super().__init__()
-    self._net_type = NETWORK_TYPES.get(NetworkType.none)
+    self._net_type = NETWORK_TYPES[NetworkType.none]
     self._net_strength = 0
 
     self._temp_status = MetricData(tr_noop("TEMP"), tr_noop("GOOD"), Colors.GOOD)
diff --git a/openpilot/selfdrive/ui/mici/layouts/home.py b/openpilot/selfdrive/ui/mici/layouts/home.py
index adb02fb731ccf2..e7e99b38bac024 100644
--- a/openpilot/selfdrive/ui/mici/layouts/home.py
+++ b/openpilot/selfdrive/ui/mici/layouts/home.py
@@ -251,7 +251,7 @@ def _render(self, _):
     self._egpu_icon.set_visible(ui_state.usbgpu and ui_state.usbgpu_compiled)
     self._egpu_icon_gray.set_visible(ui_state.usbgpu and not ui_state.usbgpu_compiled)
     self._mic_icon.set_visible(ui_state.recording_audio)
-    self._body_icon.set_visible(ui_state.is_body)
+    self._body_icon.set_visible(bool(ui_state.is_body))
 
     footer_rect = rl.Rectangle(self.rect.x + HOME_PADDING, self.rect.y + self.rect.height - 48, self.rect.width - HOME_PADDING, 48)
     self._status_bar_layout.render(footer_rect)
diff --git a/openpilot/selfdrive/ui/mici/layouts/main.py b/openpilot/selfdrive/ui/mici/layouts/main.py
index 26ec5555be22dd..e5922535444f53 100644
--- a/openpilot/selfdrive/ui/mici/layouts/main.py
+++ b/openpilot/selfdrive/ui/mici/layouts/main.py
@@ -146,4 +146,4 @@ def _on_bookmark_clicked(self):
 
   def _on_body_changed(self):
     self._car_onroad_layout.set_visible(not ui_state.is_body)
-    self._body_onroad_layout.set_visible(ui_state.is_body)
+    self._body_onroad_layout.set_visible(bool(ui_state.is_body))
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/device.py b/openpilot/selfdrive/ui/mici/layouts/settings/device.py
index 0adcf537523a76..cd85ef3add2394 100644
--- a/openpilot/selfdrive/ui/mici/layouts/settings/device.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/device.py
@@ -16,7 +16,7 @@
 from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.system.ui.widgets.html_render import HtmlModal, HtmlRenderer
+from openpilot.system.ui.widgets.html_render import HtmlRenderer
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 
 
@@ -160,7 +160,7 @@ class DeviceLayoutMici(NavScroller):
   def __init__(self):
     super().__init__()
 
-    self._fcc_dialog: HtmlModal | None = None
+    self._fcc_dialog: MiciFccModal | None = None
 
     def power_off_callback():
       ui_state.params.put_bool("DoShutdown", True, block=True)
diff --git a/openpilot/selfdrive/ui/mici/onroad/cameraview.py b/openpilot/selfdrive/ui/mici/onroad/cameraview.py
index 991349dbf04457..82e4865c769f41 100644
--- a/openpilot/selfdrive/ui/mici/onroad/cameraview.py
+++ b/openpilot/selfdrive/ui/mici/onroad/cameraview.py
@@ -219,7 +219,7 @@ def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
       [0.0, 0.0, 1.0]
     ])
 
-  def _render(self, rect: rl.Rectangle):
+  def _render(self, rect: rl.Rectangle, /):
     if self._switching:
       self._handle_switch()
 
diff --git a/openpilot/selfdrive/ui/mici/onroad/model_renderer.py b/openpilot/selfdrive/ui/mici/onroad/model_renderer.py
index adf9814364659a..4d198507697213 100644
--- a/openpilot/selfdrive/ui/mici/onroad/model_renderer.py
+++ b/openpilot/selfdrive/ui/mici/onroad/model_renderer.py
@@ -44,8 +44,8 @@ class ModelPoints:
 
 @dataclass
 class LeadVehicle:
-  glow: list[float] = field(default_factory=list)
-  chevron: list[float] = field(default_factory=list)
+  glow: list[tuple[float, float]] = field(default_factory=list)
+  chevron: list[tuple[float, float]] = field(default_factory=list)
   fill_alpha: int = 0
 
 
diff --git a/openpilot/selfdrive/ui/onroad/model_renderer.py b/openpilot/selfdrive/ui/onroad/model_renderer.py
index 50ff3b1c53bfbd..8a40c900253d53 100644
--- a/openpilot/selfdrive/ui/onroad/model_renderer.py
+++ b/openpilot/selfdrive/ui/onroad/model_renderer.py
@@ -37,8 +37,8 @@ class ModelPoints:
 
 @dataclass
 class LeadVehicle:
-  glow: list[float] = field(default_factory=list)
-  chevron: list[float] = field(default_factory=list)
+  glow: list[tuple[float, float]] = field(default_factory=list)
+  chevron: list[tuple[float, float]] = field(default_factory=list)
   fill_alpha: int = 0
 
 
diff --git a/openpilot/selfdrive/ui/tests/diff/replay_script.py b/openpilot/selfdrive/ui/tests/diff/replay_script.py
index 8517f0dece3d5b..109f32e47ada96 100644
--- a/openpilot/selfdrive/ui/tests/diff/replay_script.py
+++ b/openpilot/selfdrive/ui/tests/diff/replay_script.py
@@ -357,7 +357,7 @@ def setup_offroad_alerts_and_refresh() -> None:
     params = Params()
     main_layout._alerts_layout._pending_params = ({"UpdaterNewDescription": params.get("UpdaterNewDescription")} |
                                                   {alert_data.key: params.get(alert_data.key) for alert_data in main_layout._alerts_layout.sorted_alerts})
-    main_layout._alerts_layout._refresh()
+    main_layout._alerts_layout._update_state()
 
   swipe_right(width, wait_after=WAIT_SHORT)  # open alerts
   script.setup(setup_offroad_alerts_and_refresh)  # show alerts
diff --git a/openpilot/selfdrive/ui/tests/profile_onroad.py b/openpilot/selfdrive/ui/tests/profile_onroad.py
index 29e44d6260e28f..ec15e71c35e802 100755
--- a/openpilot/selfdrive/ui/tests/profile_onroad.py
+++ b/openpilot/selfdrive/ui/tests/profile_onroad.py
@@ -49,7 +49,7 @@ def mock_update(timeout=None):
         sm.recv_frame[service] = sm.frame
         sm.valid[service] = True
     sm.frame += 1
-  ui_state.sm.update = mock_update
+  ui_state.sm.update = mock_update  # ty: ignore[invalid-assignment]  # profiling hook
 
 
 if __name__ == "__main__":
diff --git a/openpilot/selfdrive/ui/translations/potools.py b/openpilot/selfdrive/ui/translations/potools.py
index ac4dafb9888a4f..15da4c586c9f44 100644
--- a/openpilot/selfdrive/ui/translations/potools.py
+++ b/openpilot/selfdrive/ui/translations/potools.py
@@ -67,22 +67,22 @@ def parse_po(path: str | Path) -> tuple[POEntry | None, list[POEntry]]:
   cur_field: str | None = None
   plural_idx = 0
 
-  def finish():
-    nonlocal cur, header
-    if cur is None:
+  def finish(entry: POEntry | None):
+    nonlocal header
+    if entry is None:
       return
-    if cur.msgid == "" and cur.msgstr:
-      header = cur
-    elif cur.msgid != "" or cur.is_plural:
-      entries.append(cur)
-    cur = None
+    if entry.msgid == "" and entry.msgstr:
+      header = entry
+    elif entry.msgid != "" or entry.is_plural:
+      entries.append(entry)
 
   for raw in lines:
     line = raw.rstrip('\n')
     stripped = line.strip()
 
     if not stripped:
-      finish()
+      finish(cur)
+      cur = None
       cur_field = None
       continue
 
@@ -123,6 +123,8 @@ def finish():
       continue
 
     if stripped.startswith('msgstr '):
+      if cur is None:
+        cur = POEntry()
       cur.msgstr = _parse_quoted(stripped[len('msgstr '):])
       cur_field = 'msgstr'
       continue
@@ -138,7 +140,7 @@ def finish():
       elif cur_field == 'msgstr_plural':
         cur.msgstr_plural[plural_idx] += val
 
-  finish()
+  finish(cur)
   return header, entries
 
 
diff --git a/openpilot/system/athena/athenad.py b/openpilot/system/athena/athenad.py
index cf590afb40e5a3..91b12fc0a7596d 100755
--- a/openpilot/system/athena/athenad.py
+++ b/openpilot/system/athena/athenad.py
@@ -669,7 +669,10 @@ def log_handler(end_event: threading.Event) -> None:
 def ws_proxy_recv(ws: WebSocket, local_sock: socket.socket, ssock: socket.socket, end_event: threading.Event, global_end_event: threading.Event) -> None:
   while not (end_event.is_set() or global_end_event.is_set()):
     try:
-      r = select.select((ws.sock,), (), (), 30)
+      sock = ws.sock
+      if sock is None:
+        return
+      r = select.select((sock,), (), (), 30)
       if r[0]:
         data = ws.recv()
         if isinstance(data, str):
diff --git a/openpilot/system/athena/tests/test_athenad.py b/openpilot/system/athena/tests/test_athenad.py
index accf0784ab5637..8c090b93af46a9 100644
--- a/openpilot/system/athena/tests/test_athenad.py
+++ b/openpilot/system/athena/tests/test_athenad.py
@@ -60,7 +60,7 @@ class TestAthenadMethods:
   @classmethod
   def setup_class(cls):
     cls.SOCKET_PORT = 45454
-    athenad.Api = MockApi
+    athenad.Api = MockApi  # ty: ignore[invalid-assignment]  # test double
     athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT}
 
   def setup_method(self):
@@ -351,6 +351,7 @@ def test_list_upload_queue(self):
     assert items[0] == asdict(item)
     assert not items[0]['current']
 
+    assert item.id is not None
     athenad.cancelled_uploads.add(item.id)
     items = dispatcher["listUploadQueue"]()
     assert len(items) == 0
@@ -363,6 +364,7 @@ def test_upload_queue_persistence(self):
     athenad.upload_queue.put_nowait(item2)
 
     # Ensure canceled items are not persisted
+    assert item2.id is not None
     athenad.cancelled_uploads.add(item2.id)
 
     # serialize item
diff --git a/openpilot/system/hardware/power_monitoring.py b/openpilot/system/hardware/power_monitoring.py
index 72a8c6848c367d..816d5e37ddf6f0 100644
--- a/openpilot/system/hardware/power_monitoring.py
+++ b/openpilot/system/hardware/power_monitoring.py
@@ -34,7 +34,7 @@ def __init__(self):
     self.car_battery_capacity_uWh = max((CAR_BATTERY_CAPACITY_uWh / 10), car_battery_capacity_uWh)
 
   # Calculation tick
-  def calculate(self, voltage: int | None, ignition: bool):
+  def calculate(self, voltage: float | None, ignition: bool):
     try:
       now = time.monotonic()
 
diff --git a/openpilot/system/hardware/tests/test_power_monitoring.py b/openpilot/system/hardware/tests/test_power_monitoring.py
index 5e1b751a0f2a05..f3ffb98e09bb2e 100644
--- a/openpilot/system/hardware/tests/test_power_monitoring.py
+++ b/openpilot/system/hardware/tests/test_power_monitoring.py
@@ -35,7 +35,7 @@ def setup_method(self):
   def test_panda_state_present(self):
     pm = PowerMonitoring()
     for _ in range(10):
-      pm.calculate(None, None)
+      pm.calculate(None, False)
     assert pm.get_power_used() == 0
     assert pm.get_car_battery_capacity() == (CAR_BATTERY_CAPACITY_uWh / 10)
 
diff --git a/openpilot/system/loggerd/tests/loggerd_tests_common.py b/openpilot/system/loggerd/tests/loggerd_tests_common.py
index 757b61d17e1ae3..55f5fbb816a6b0 100644
--- a/openpilot/system/loggerd/tests/loggerd_tests_common.py
+++ b/openpilot/system/loggerd/tests/loggerd_tests_common.py
@@ -63,10 +63,10 @@ class UploaderTestCase:
   seg_dir: str
 
   def set_ignore(self):
-    uploader.Api = MockApiIgnore
+    uploader.Api = MockApiIgnore  # ty: ignore[invalid-assignment]  # test double
 
   def setup_method(self):
-    uploader.Api = MockApi
+    uploader.Api = MockApi  # ty: ignore[invalid-assignment]  # test double
     uploader.fake_upload = True
     uploader.force_wifi = True
     uploader.allow_sleep = False
diff --git a/openpilot/system/loggerd/tests/test_deleter.py b/openpilot/system/loggerd/tests/test_deleter.py
index 6222ea253ba0db..8f18c8ceee1c6d 100644
--- a/openpilot/system/loggerd/tests/test_deleter.py
+++ b/openpilot/system/loggerd/tests/test_deleter.py
@@ -19,7 +19,7 @@ def setup_method(self):
     self.f_type = "fcamera.hevc"
     super().setup_method()
     self.fake_stats = Stats(f_bavail=0, f_blocks=10, f_frsize=4096)
-    deleter.os.statvfs = self.fake_statvfs
+    deleter.os.statvfs = self.fake_statvfs  # ty: ignore[invalid-assignment]  # test double
 
   def start_thread(self):
     self.end_event = threading.Event()
diff --git a/openpilot/system/loggerd/tests/test_loggerd.py b/openpilot/system/loggerd/tests/test_loggerd.py
index 666b56dc03ecb7..3678ca95be4495 100644
--- a/openpilot/system/loggerd/tests/test_loggerd.py
+++ b/openpilot/system/loggerd/tests/test_loggerd.py
@@ -5,6 +5,7 @@
 import string
 import subprocess
 import time
+from collections.abc import Collection
 from collections import defaultdict
 from pathlib import Path
 import pytest
@@ -74,8 +75,8 @@ def _check_sentinel(self, msgs, route):
     end_type = SentinelType.endOfRoute if route else SentinelType.endOfSegment
     assert msgs[-1].sentinel.type == end_type
 
-  def _publish_random_messages(self, services: list[str]) -> dict[str, list]:
-    pm = messaging.PubMaster(services)
+  def _publish_random_messages(self, services: Collection[str]) -> dict[str, list]:
+    pm = messaging.PubMaster(list(services))
 
     managed_processes["loggerd"].start()
     for s in services:
diff --git a/openpilot/system/qcomgpsd/nmeaport.py b/openpilot/system/qcomgpsd/nmeaport.py
index ba7cf117b11579..db1fe5552d043c 100644
--- a/openpilot/system/qcomgpsd/nmeaport.py
+++ b/openpilot/system/qcomgpsd/nmeaport.py
@@ -1,9 +1,9 @@
 import os
 import sys
-from dataclasses import dataclass, fields
+from dataclasses import dataclass
 from subprocess import check_output, CalledProcessError
 from time import sleep
-from typing import NoReturn, cast
+from typing import NoReturn
 
 DEBUG = int(os.environ.get("DEBUG", "0"))
 
@@ -17,27 +17,27 @@ class GnssClockNmeaPort:
   # 0x10 = bias_uncertainty_ns valid
   # 0x20 = drift_nsps valid
   # 0x40 = drift_uncertainty_nsps valid
-  flags: int
-  leap_seconds: int
-  time_ns: int
-  time_uncertainty_ns: int # 1-sigma
-  full_bias_ns: int
-  bias_ns: float
-  bias_uncertainty_ns: float # 1-sigma
-  drift_nsps: float
-  drift_uncertainty_nsps: float # 1-sigma
-
-  def __post_init__(self):
-    for field in fields(self):
-      val = getattr(self, field.name)
-      field_type = cast(type, field.type)
-      setattr(self, field.name, field_type(val) if val else None)
+  flags: int | None
+  leap_seconds: int | None
+  time_ns: int | None
+  time_uncertainty_ns: int | None # 1-sigma
+  full_bias_ns: int | None
+  bias_ns: float | None
+  bias_uncertainty_ns: float | None # 1-sigma
+  drift_nsps: float | None
+  drift_uncertainty_nsps: float | None # 1-sigma
+
+  @classmethod
+  def from_fields(cls, values: list[str]) -> 'GnssClockNmeaPort':
+    ints = [int(value) if value else None for value in values[:5]]
+    floats = [float(value) if value else None for value in values[5:9]]
+    return cls(*ints, *floats)
 
 @dataclass
 class GnssMeasNmeaPort:
-  messageCount: int
-  messageNum: int
-  svCount: int
+  messageCount: int | None
+  messageNum: int | None
+  svCount: int | None
   # constellation enum:
   # 1 = GPS
   # 2 = SBAS
@@ -45,10 +45,10 @@ class GnssMeasNmeaPort:
   # 4 = QZSS
   # 5 = BEIDOU
   # 6 = GALILEO
-  constellation: int
-  svId: int
-  flags: int # always zero
-  time_offset_ns: int
+  constellation: int | None
+  svId: int | None
+  flags: int | None # always zero
+  time_offset_ns: int | None
   # state bit mask:
   # 0x0001 = CODE LOCK
   # 0x0002 = BIT SYNC
@@ -64,18 +64,18 @@ class GnssMeasNmeaPort:
   # 0x0800 = GALILEO E1C 2ND CODE LOCK
   # 0x1000 = GALILEO E1B PAGE SYNC
   # 0x2000 = GALILEO E1B PAGE SYNC
-  state: int
-  time_of_week_ns: int
-  time_of_week_uncertainty_ns: int # 1-sigma
-  carrier_to_noise_ratio: float
-  pseudorange_rate: float
-  pseudorange_rate_uncertainty: float # 1-sigma
-
-  def __post_init__(self):
-    for field in fields(self):
-      val = getattr(self, field.name)
-      field_type = cast(type, field.type)
-      setattr(self, field.name, field_type(val) if val else None)
+  state: int | None
+  time_of_week_ns: int | None
+  time_of_week_uncertainty_ns: int | None # 1-sigma
+  carrier_to_noise_ratio: float | None
+  pseudorange_rate: float | None
+  pseudorange_rate_uncertainty: float | None # 1-sigma
+
+  @classmethod
+  def from_fields(cls, values: list[str]) -> 'GnssMeasNmeaPort':
+    ints = [int(value) if value else None for value in values[:10]]
+    floats = [float(value) if value else None for value in values[10:13]]
+    return cls(*ints, *floats)
 
 def nmea_checksum_ok(s):
   checksum = 0
@@ -109,11 +109,11 @@ def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn:
           match fields[0]:
             case "$GNCLK":
               # fields at end are reserved (not used)
-              gnss_clock = GnssClockNmeaPort(*fields[1:10])
+              gnss_clock = GnssClockNmeaPort.from_fields(fields[1:10])
               print(gnss_clock)
             case "$GNMEAS":
               # fields at end are reserved (not used)
-              gnss_meas = GnssMeasNmeaPort(*fields[1:14])
+              gnss_meas = GnssMeasNmeaPort.from_fields(fields[1:14])
               print(gnss_meas)
     except Exception as e:
       print(e)
diff --git a/openpilot/system/sensord/tests/test_sensord.py b/openpilot/system/sensord/tests/test_sensord.py
index fc4e3061bc89a6..dc96886e4aaae3 100644
--- a/openpilot/system/sensord/tests/test_sensord.py
+++ b/openpilot/system/sensord/tests/test_sensord.py
@@ -20,7 +20,7 @@
 )
 SENSOR_CONFIGS_BY_MEASUREMENT = {config.measurement: config for config in SENSOR_CONFIGS}
 
-def get_irq_count(irq: int):
+def get_irq_count(irq: str):
   with open(f"/sys/kernel/irq/{irq}/per_cpu_count") as f:
     per_cpu = map(int, f.read().split(","))
     return sum(per_cpu)
diff --git a/openpilot/system/ubloxd/binary_struct.py b/openpilot/system/ubloxd/binary_struct.py
index c144bd56962b6f..5bc05094f36f20 100644
--- a/openpilot/system/ubloxd/binary_struct.py
+++ b/openpilot/system/ubloxd/binary_struct.py
@@ -184,7 +184,7 @@ def _read(inner_cls, reader: BinaryReader):
         setattr(obj, name, value)
       return obj
 
-    cls._read = _read
+    cls._read = _read  # ty: ignore[invalid-assignment]  # installed dynamically for each subclass
 
   @classmethod
   def from_bytes(cls: type[T], data: bytes) -> T:
diff --git a/openpilot/system/ui/lib/utils.py b/openpilot/system/ui/lib/utils.py
index 77035d0da08145..e97b3ba9d97f33 100644
--- a/openpilot/system/ui/lib/utils.py
+++ b/openpilot/system/ui/lib/utils.py
@@ -1,8 +1,9 @@
 import pyray as rl
+from collections.abc import Sequence
 
 
 class GuiStyleContext:
-  def __init__(self, styles: list[tuple[int, int, int]]):
+  def __init__(self, styles: Sequence[tuple[int, int, int]]):
     """styles is a list of tuples (control, prop, new_value)"""
     self.styles = styles
     self.prev_styles: list[tuple[int, int, int]] = []
diff --git a/openpilot/system/ui/lib/wifi_manager.py b/openpilot/system/ui/lib/wifi_manager.py
index 147666bf85ccc6..c52e5a2ddf7fb7 100644
--- a/openpilot/system/ui/lib/wifi_manager.py
+++ b/openpilot/system/ui/lib/wifi_manager.py
@@ -257,7 +257,7 @@ def worker():
 
   def add_callbacks(self, need_auth: Callable[[str], None] | None = None,
                     activated: Callable[[], None] | None = None,
-                    forgotten: Callable[[str], None] | None = None,
+                    forgotten: Callable[[str | None], None] | None = None,
                     networks_updated: Callable[[list[Network]], None] | None = None,
                     disconnected: Callable[[], None] | None = None):
     if need_auth is not None:
diff --git a/openpilot/system/ui/tici_reset.py b/openpilot/system/ui/tici_reset.py
index 569faf45fe3c89..5c175dbfa6b484 100755
--- a/openpilot/system/ui/tici_reset.py
+++ b/openpilot/system/ui/tici_reset.py
@@ -37,7 +37,11 @@ def __init__(self, mode):
     self._reset_state = ResetState.NONE
     self._cancel_button = Button("Cancel", gui_app.request_close)
     self._confirm_button = Button("Confirm", self._confirm, button_style=ButtonStyle.PRIMARY)
-    self._reboot_button = Button("Reboot", lambda: subprocess.run("sudo reboot", shell=True))
+    self._reboot_button = Button("Reboot", self._reboot)
+
+  @staticmethod
+  def _reboot() -> None:
+    subprocess.run("sudo reboot", shell=True)
 
   def _do_erase(self):
     if PC:
diff --git a/openpilot/system/ui/widgets/__init__.py b/openpilot/system/ui/widgets/__init__.py
index 4ce1c1b694df89..f8cb04d8a79357 100644
--- a/openpilot/system/ui/widgets/__init__.py
+++ b/openpilot/system/ui/widgets/__init__.py
@@ -3,16 +3,25 @@
 import abc
 import pyray as rl
 from enum import IntEnum
-from typing import TypeVar
+from typing import Protocol, TypeVar
 from collections.abc import Callable
 from openpilot.system.ui.lib.application import gui_app, MousePos, MAX_TOUCH_SLOTS, MouseEvent
 
-try:
-  from openpilot.selfdrive.ui.ui_state import device
-except ImportError:
-  class Device:
-    awake = True
-  device = Device()
+class DeviceLike(Protocol):
+  awake: bool
+
+
+def _get_device() -> DeviceLike:
+  try:
+    from openpilot.selfdrive.ui.ui_state import device
+    return device
+  except ImportError:
+    class Device:
+      awake = True
+    return Device()
+
+
+device = _get_device()
 
 W = TypeVar('W', bound='Widget')
 
@@ -185,16 +194,16 @@ def _update_state(self):
     """Optionally update the widget's non-layout state. This is called before rendering."""
 
   @abc.abstractmethod
-  def _render(self, rect: rl.Rectangle) -> bool | int | None:
+  def _render(self, rect: rl.Rectangle, /) -> bool | int | None:
     """Render the widget within the given rectangle."""
 
   def _update_layout_rects(self) -> None:
     """Optionally update any layout rects on Widget rect change."""
 
-  def _handle_mouse_press(self, mouse_pos: MousePos) -> None:
+  def _handle_mouse_press(self, mouse_pos: MousePos, /) -> None:
     """Optionally handle mouse press events."""
 
-  def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
+  def _handle_mouse_release(self, mouse_pos: MousePos, /) -> None:
     """Optionally handle mouse release events."""
     if self._click_delay is not None:
       self._click_release_time = rl.get_time() + self._click_delay
diff --git a/openpilot/system/ui/widgets/label.py b/openpilot/system/ui/widgets/label.py
index 7052b2c2a9be87..fdaf6f3148fe6f 100644
--- a/openpilot/system/ui/widgets/label.py
+++ b/openpilot/system/ui/widgets/label.py
@@ -1,7 +1,6 @@
 import math
 from enum import IntEnum
 from collections.abc import Callable
-from itertools import zip_longest
 from typing import Union
 import pyray as rl
 
@@ -210,7 +209,7 @@ def _render(self, _):
         icon_x = self._rect.x + (self._rect.width - self._icon.width) / 2
       rl.draw_texture_v(self._icon, rl.Vector2(icon_x, icon_y), rl.WHITE)
 
-    for text, text_size, emojis in zip_longest(self._text_wrapped, self._text_size, self._emojis, fillvalue=[]):
+    for text, text_size, emojis in zip(self._text_wrapped, self._text_size, self._emojis, strict=True):
       line_pos = rl.Vector2(text_pos.x, text_pos.y)
       if self._text_alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT:
         line_pos.x += self._text_padding
diff --git a/openpilot/system/ui/widgets/nav_widget.py b/openpilot/system/ui/widgets/nav_widget.py
index 11770bbe5def5b..58ff8123bb3f75 100644
--- a/openpilot/system/ui/widgets/nav_widget.py
+++ b/openpilot/system/ui/widgets/nav_widget.py
@@ -78,7 +78,7 @@ def _back_enabled(self) -> bool:
     # the top of a vertical scroll panel to prevent erroneous swipes
     return True
 
-  def set_back_callback(self, callback: Callable[[], None]) -> None:
+  def set_back_callback(self, callback: Callable[[], None] | None) -> None:
     self._back_callback = callback
 
   def set_shown_callback(self, callback: Callable[[], None] | None) -> None:
diff --git a/openpilot/system/ui/widgets/network.py b/openpilot/system/ui/widgets/network.py
index 710202c54f37ea..4068d552b9bd22 100644
--- a/openpilot/system/ui/widgets/network.py
+++ b/openpilot/system/ui/widgets/network.py
@@ -15,16 +15,6 @@
 from openpilot.system.ui.widgets.scroller_tici import Scroller
 from openpilot.system.ui.widgets.list_view import ButtonAction, ListItem, MultipleButtonAction, ToggleAction, button_item, text_item
 
-# These are only used for AdvancedNetworkSettings, standalone apps just need WifiManagerUI
-try:
-  from openpilot.common.params import Params
-  from openpilot.selfdrive.ui.ui_state import ui_state
-  from openpilot.selfdrive.ui.lib.prime_state import PrimeType
-except Exception:
-  Params = None
-  ui_state = None
-  PrimeType = None
-
 NM_DEVICE_STATE_NEED_AUTH = 60
 MIN_PASSWORD_LENGTH = 8
 MAX_PASSWORD_LENGTH = 64
@@ -105,11 +95,16 @@ def _set_current_panel(self, panel: PanelType):
 
 class AdvancedNetworkSettings(Widget):
   def __init__(self, wifi_manager: WifiManager):
-    assert Params is not None
+    # AdvancedNetworkSettings needs the full openpilot environment, standalone apps just use WifiManagerUI
+    from openpilot.common.params import Params
+    from openpilot.selfdrive.ui.ui_state import ui_state
+    from openpilot.selfdrive.ui.lib.prime_state import PrimeType
     super().__init__()
     self._wifi_manager = wifi_manager
     self._wifi_manager.add_callbacks(networks_updated=self._on_network_updated)
     self._params = Params()
+    self._prime_state = ui_state.prime_state
+    self._cell_prime_types = (PrimeType.NONE, PrimeType.LITE)
 
     self._keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True)
 
@@ -254,7 +249,7 @@ def _update_state(self):
     self._wifi_manager.process_callbacks()
 
     # If not using prime SIM, show GSM settings and enable IPv4 forwarding
-    show_cell_settings = ui_state.prime_state.get_type() in (PrimeType.NONE, PrimeType.LITE)
+    show_cell_settings = self._prime_state.get_type() in self._cell_prime_types
     self._wifi_manager.set_ipv4_forward(show_cell_settings)
     self._roaming_btn.set_visible(show_cell_settings)
     self._apn_btn.set_visible(show_cell_settings)
diff --git a/openpilot/system/ui/widgets/scroller.py b/openpilot/system/ui/widgets/scroller.py
index b7b6bf59320b6c..55195b30fb38b5 100644
--- a/openpilot/system/ui/widgets/scroller.py
+++ b/openpilot/system/ui/widgets/scroller.py
@@ -1,6 +1,6 @@
 import pyray as rl
 import numpy as np
-from collections.abc import Callable
+from collections.abc import Callable, Sequence
 
 from openpilot.common.filter_simple import FirstOrderFilter, BounceFilter
 from openpilot.common.swaglog import cloudlog
@@ -40,7 +40,7 @@ def update(self, scroll_offset: float, content_size: float, viewport: rl.Rectang
     self._content_size = content_size
     self._viewport = viewport
 
-  def _render(self, _):
+  def _render(self, _, /):
     # scale indicator width based on content size
     indicator_w = float(np.interp(self._content_size, [1000, 3000], [300, 100]))
 
@@ -69,7 +69,7 @@ def _render(self, _):
 
 class _Scroller(Widget):
   """Should use wrapper below to reduce boilerplate"""
-  def __init__(self, items: list[Widget], horizontal: bool = True, snap_items: bool = False, spacing: int = ITEM_SPACING,
+  def __init__(self, items: Sequence[Widget], horizontal: bool = True, snap_items: bool = False, spacing: int = ITEM_SPACING,
                pad: int = ITEM_SPACING, scroll_indicator: bool = True, edge_shadows: bool = True):
     super().__init__()
     self._items: list[Widget] = []
@@ -150,7 +150,7 @@ def add_widget(self, item: Widget) -> None:
                                           and not self.moving_items and (original_touch_valid_callback() if
                                                                          original_touch_valid_callback else True))
 
-  def add_widgets(self, items: list[Widget]) -> None:
+  def add_widgets(self, items: Sequence[Widget]) -> None:
     for item in items:
       self.add_widget(item)
 
@@ -332,7 +332,7 @@ def _render_item(self, item: Widget):
     else:
       item.render()
 
-  def _render(self, _):
+  def _render(self, _, /):
     rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y),
                           int(self._rect.width), int(self._rect.height))
 
@@ -397,7 +397,7 @@ def __init__(self, **kwargs):
     # pass down enabled to child widget for nav stack
     self._scroller.set_enabled(lambda: self.enabled)
 
-  def _render(self, _):
+  def _render(self, _, /):
     self._scroller.render(self._rect)
 
 
diff --git a/openpilot/system/ui/widgets/scroller_tici.py b/openpilot/system/ui/widgets/scroller_tici.py
index a843010d56bac6..fc81e1b079926f 100644
--- a/openpilot/system/ui/widgets/scroller_tici.py
+++ b/openpilot/system/ui/widgets/scroller_tici.py
@@ -1,4 +1,5 @@
 import pyray as rl
+from collections.abc import Sequence
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.widgets import Widget
 
@@ -23,7 +24,7 @@ def _render(self, _):
 
 
 class Scroller(Widget):
-  def __init__(self, items: list[Widget], spacing: int = ITEM_SPACING, line_separator: bool = False, pad_end: bool = True):
+  def __init__(self, items: Sequence[Widget], spacing: int = ITEM_SPACING, line_separator: bool = False, pad_end: bool = True):
     super().__init__()
     self._items: list[Widget] = []
     self._spacing = spacing
diff --git a/openpilot/system/updated/updated.py b/openpilot/system/updated/updated.py
index ac8111d5c56749..9610785861af24 100755
--- a/openpilot/system/updated/updated.py
+++ b/openpilot/system/updated/updated.py
@@ -357,7 +357,7 @@ def check_for_update(self) -> None:
     setup_git_options(OVERLAY_MERGED)
     output = run(["git", "ls-remote", "--heads"], OVERLAY_MERGED)
 
-    self.branches = defaultdict(lambda: None)
+    self.branches.clear()
     for line in output.split('\n'):
       ls_remotes_re = r'(?P<commit_sha>\b[0-9a-f]{5,40}\b)(\s+)(refs\/heads\/)(?P<branch_name>.*$)'
       x = re.fullmatch(ls_remotes_re, line.strip())
diff --git a/openpilot/system/webrtc/tests/test_stream_session.py b/openpilot/system/webrtc/tests/test_stream_session.py
index b83e1223d2872d..1f7bd5747a161e 100644
--- a/openpilot/system/webrtc/tests/test_stream_session.py
+++ b/openpilot/system/webrtc/tests/test_stream_session.py
@@ -55,9 +55,11 @@ def test_incoming_proxy(self, mocker):
 
       mocked_pubmaster.send.assert_called_once()
       mt, md = mocked_pubmaster.send.call_args.args
-      assert mt == msg["type"]
+      msg_type = msg["type"]
+      assert isinstance(msg_type, str)
+      assert mt == msg_type
       assert isinstance(md, capnp._DynamicStructBuilder)
-      assert hasattr(md, msg["type"])
+      assert hasattr(md, msg_type)
 
       mocked_pubmaster.reset_mock()
 
diff --git a/openpilot/system/webrtc/webrtcd.py b/openpilot/system/webrtc/webrtcd.py
index 82ebb7b01805df..7901f9847fb0cb 100755
--- a/openpilot/system/webrtc/webrtcd.py
+++ b/openpilot/system/webrtc/webrtcd.py
@@ -519,7 +519,7 @@ def do_PATCH(self) -> None:
   def do_OPTIONS(self) -> None:
     self._dispatch_request()
 
-  def log_message(self, fmt, *args) -> None:
+  def log_message(self, format: str, *args: object) -> None:  # noqa: A002  # stdlib override
     # silence default access logging; errors are logged explicitly in _dispatch_request
     pass
 
diff --git a/openpilot/tools/lib/auth.py b/openpilot/tools/lib/auth.py
index 5988397d0a94e2..9139d8b42df832 100755
--- a/openpilot/tools/lib/auth.py
+++ b/openpilot/tools/lib/auth.py
@@ -54,7 +54,7 @@ def do_GET(self):
     self.end_headers()
     self.wfile.write(b'Return to the CLI to continue')
 
-  def log_message(self, *args):
+  def log_message(self, format: str, *args: object) -> None:  # noqa: A002  # stdlib override
     pass  # this prevent http server from dumping messages to stdout
 
 
diff --git a/openpilot/tools/lib/file_sources.py b/openpilot/tools/lib/file_sources.py
index cb7bf15114e273..2d2bfccfd7d26e 100755
--- a/openpilot/tools/lib/file_sources.py
+++ b/openpilot/tools/lib/file_sources.py
@@ -12,7 +12,7 @@
 InternalUnavailableException = Exception("Internal source not available")
 
 
-def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
+def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, /) -> dict[int, str]:
   route = Route(sr.route_name)
 
   # comma api will have already checked if the file exists
@@ -22,7 +22,7 @@ def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> d
     return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None}
 
 
-def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]:
+def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, /, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]:
   if not internal_source_available(endpoint_url):
     raise InternalUnavailableException
 
@@ -32,11 +32,11 @@ def get_internal_url(sr: SegmentRange, seg, file):
   return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs})
 
 
-def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
+def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, /) -> dict[int, str]:
   return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs})
 
 
-def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
+def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, /) -> dict[int, str]:
   return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs})
 
 
diff --git a/openpilot/tools/lib/tests/test_caching.py b/openpilot/tools/lib/tests/test_caching.py
index 0753ef1d3cc9a9..c70d7fc81ba2b2 100644
--- a/openpilot/tools/lib/tests/test_caching.py
+++ b/openpilot/tools/lib/tests/test_caching.py
@@ -16,7 +16,7 @@ class CachingTestRequestHandler(http.server.BaseHTTPRequestHandler):
 
   def do_GET(self):
     if self.FILE_EXISTS:
-      self.send_response(206 if "Range" in self.headers else 200, b'1234')
+      self.send_response(206 if "Range" in self.headers else 200, '1234')
     else:
       self.send_response(404)
     self.end_headers()
diff --git a/openpilot/tools/longitudinal_maneuvers/maneuversd.py b/openpilot/tools/longitudinal_maneuvers/maneuversd.py
index a9a5ba6304154d..8cdc2f26cf90af 100755
--- a/openpilot/tools/longitudinal_maneuvers/maneuversd.py
+++ b/openpilot/tools/longitudinal_maneuvers/maneuversd.py
@@ -59,7 +59,7 @@ def _step(self) -> float:
 
     return float(action_accel)
 
-  def get_accel(self, v_ego: float, long_active: bool, standstill: bool, cruise_standstill: bool) -> float:
+  def get_accel(self, v_ego: float, long_active: bool, standstill: bool, cruise_standstill: bool, /) -> float:
     ready = abs(v_ego - self.initial_speed) < 0.3 and long_active and not cruise_standstill
     if self.initial_speed < 0.01:
       ready = ready and standstill
diff --git a/openpilot/tools/replay/lib/ui_helpers.py b/openpilot/tools/replay/lib/ui_helpers.py
index 8f0c14983f6708..b9da0d225f7852 100644
--- a/openpilot/tools/replay/lib/ui_helpers.py
+++ b/openpilot/tools/replay/lib/ui_helpers.py
@@ -5,6 +5,7 @@
 import pyray as rl
 
 from matplotlib.backends.backend_agg import FigureCanvasAgg
+from matplotlib.artist import Artist
 from matplotlib.offsetbox import AnchoredOffsetbox, HPacker, TextArea
 
 from openpilot.common.transformations.camera import get_view_frame_from_calib_frame
@@ -119,7 +120,7 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co
       idxs.append(name_to_arr_idx[item])
       plot_select.append(i)
     # Build colored title: each label colored to match its plot line
-    title_texts = []
+    title_texts: list[Artist] = []
     for j2, (nm, cl) in enumerate(zip(pl_list, plot_colors[i], strict=False)):
       if j2 > 0:
         title_texts.append(TextArea(", ", textprops={"color": "white", "fontsize": 10}))
diff --git a/openpilot/tools/sim/bridge/common.py b/openpilot/tools/sim/bridge/common.py
index 048bf6cb11e161..1d00e3b0f95508 100644
--- a/openpilot/tools/sim/bridge/common.py
+++ b/openpilot/tools/sim/bridge/common.py
@@ -94,7 +94,7 @@ def print_status(self):
     """)
 
   @abstractmethod
-  def spawn_world(self, q: Queue) -> World:
+  def spawn_world(self, q: Queue, /) -> World:
     pass
 
   def _run(self, q: Queue):
diff --git a/openpilot/tools/sim/lib/common.py b/openpilot/tools/sim/lib/common.py
index 13249321310fb2..eb29119fb43161 100644
--- a/openpilot/tools/sim/lib/common.py
+++ b/openpilot/tools/sim/lib/common.py
@@ -40,7 +40,7 @@ def __init__(self):
     self.is_engaged = False
     self.ignition = True
 
-    self.velocity: vec3 = None
+    self.velocity = vec3(0, 0, 0)
     self.bearing: float = 0
     self.gps = GPSState()
     self.imu = IMUState()
@@ -72,7 +72,7 @@ def __init__(self, dual_camera):
     self.exit_event = multiprocessing.Event()
 
   @abstractmethod
-  def apply_controls(self, steer_sim, throttle_out, brake_out):
+  def apply_controls(self, steer_sim, throttle_out, brake_out, /):
     pass
 
   @abstractmethod
@@ -84,7 +84,7 @@ def read_state(self):
     pass
 
   @abstractmethod
-  def read_sensors(self, simulator_state: SimulatorState):
+  def read_sensors(self, simulator_state: SimulatorState, /):
     pass
 
   @abstractmethod
diff --git a/pyproject.toml b/pyproject.toml
index 5c9f16d33a5e49..5895a2a09547ab 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -186,10 +186,6 @@ quote-style = "preserve"
 [tool.ty.rules]
 unresolved-import = "ignore"  # Cython-compiled modules (.pyx)
 unresolved-attribute = "ignore"  # many from capnp and Cython modules
-invalid-method-override = "ignore"  # signature variance issues
-possibly-missing-attribute = "ignore"  # too many false positives
-invalid-assignment = "ignore"  # often intentional monkey-patching
-invalid-argument-type = "ignore"  # many false positives from raylib, ctypes, numpy
 
 [tool.uv]
 python-preference = "only-managed"

From 39e12c8bb1ab6e4ff47f1a4e3660eb3a97077c10 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 19 Jul 2026 11:14:35 -0700
Subject: [PATCH 1334/1434] rm cffi, it's a raylib transitive dep

---
 pyproject.toml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/pyproject.toml b/pyproject.toml
index 5895a2a09547ab..6d9f3923a169df 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -15,7 +15,6 @@ dependencies = [
   "tqdm",         # cars (fw_versions.py) on start + many one-off uses
 
   # core
-  "cffi",
   "scons",
   "pycapnp==2.1.0",  # 2.2 introduces a memory leak due to cyclic references
   "Cython",

From 24893ebadbc77b9fe0451c7600acf0c4fc7bdfe5 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 19 Jul 2026 12:10:48 -0700
Subject: [PATCH 1335/1434] rm pre-commit-hooks (#38382)

* rm pre-commit-hooks

* rm test for the tests

* lil more
---
 pyproject.toml                                |  1 -
 scripts/lint/check_added_large_files.py       | 47 +++++++++++++++++
 .../check_shebang_scripts_are_executable.py   | 50 +++++++++++++++++++
 scripts/lint/lint.sh                          |  4 +-
 uv.lock                                       | 23 ---------
 5 files changed, 99 insertions(+), 26 deletions(-)
 create mode 100755 scripts/lint/check_added_large_files.py
 create mode 100755 scripts/lint/check_shebang_scripts_are_executable.py

diff --git a/pyproject.toml b/pyproject.toml
index 6d9f3923a169df..c3769f04018aff 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -72,7 +72,6 @@ testing = [
   "pytest-mock",
   "ruff",
   "codespell",
-  "pre-commit-hooks",
 ]
 
 dev = [
diff --git a/scripts/lint/check_added_large_files.py b/scripts/lint/check_added_large_files.py
new file mode 100755
index 00000000000000..c1aa8201811a42
--- /dev/null
+++ b/scripts/lint/check_added_large_files.py
@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+import argparse
+import math
+import os
+import subprocess
+
+
+def lfs_files(filenames: list[str]) -> set[str]:
+  if not filenames:
+    return set()
+
+  result = subprocess.run(
+    ("git", "check-attr", "filter", "-z", "--stdin"),
+    input="\0".join(filenames),
+    check=True,
+    capture_output=True,
+    text=True,
+  )
+  fields = result.stdout.rstrip("\0").split("\0") if result.stdout else []
+  return {fields[i] for i in range(0, len(fields), 3) if fields[i + 2] == "lfs"}
+
+
+def check_added_large_files(filenames: list[str], max_kb: int) -> int:
+  failed = False
+  ignored = lfs_files(filenames)
+  for filename in filenames:
+    if filename in ignored:
+      continue
+
+    size_kb = math.ceil(os.stat(filename).st_size / 1024)
+    if size_kb > max_kb:
+      print(f"{filename} ({size_kb} KB) exceeds {max_kb} KB.")
+      failed = True
+
+  return int(failed)
+
+
+def main() -> int:
+  parser = argparse.ArgumentParser(description="Check that tracked files do not exceed a size limit.")
+  parser.add_argument("filenames", nargs="*")
+  parser.add_argument("--maxkb", type=int, default=500, help="maximum allowable size in KiB")
+  args = parser.parse_args()
+  return check_added_large_files(args.filenames, args.maxkb)
+
+
+if __name__ == "__main__":
+  raise SystemExit(main())
diff --git a/scripts/lint/check_shebang_scripts_are_executable.py b/scripts/lint/check_shebang_scripts_are_executable.py
new file mode 100755
index 00000000000000..72886400914865
--- /dev/null
+++ b/scripts/lint/check_shebang_scripts_are_executable.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+import argparse
+import shlex
+import subprocess
+import sys
+
+
+def staged_modes(filenames: list[str]) -> list[tuple[str, str]]:
+  if not filenames:
+    return []
+
+  result = subprocess.run(
+    ("git", "ls-files", "-z", "--stage", "--", *filenames),
+    check=True,
+    capture_output=True,
+    text=True,
+  )
+  entries = result.stdout.rstrip("\0").split("\0") if result.stdout else []
+  return [(entry.split(" ", 1)[0], entry.split("\t", 1)[1]) for entry in entries]
+
+
+def has_shebang(filename: str) -> bool:
+  with open(filename, "rb") as f:
+    return f.read(2) == b"#!"
+
+
+def check_shebang_scripts_are_executable(filenames: list[str]) -> int:
+  failed = False
+  for mode, filename in staged_modes(filenames):
+    if mode != "100755" and has_shebang(filename):
+      quoted = shlex.quote(filename)
+      print("\n".join((
+        f"{filename}: has a shebang but is not marked executable!",
+        f"  If it is supposed to be executable, try: `chmod +x {quoted}`",
+        "  If it is not supposed to be executable, double-check its shebang is wanted.\n",
+      )), file=sys.stderr)
+      failed = True
+
+  return int(failed)
+
+
+def main() -> int:
+  parser = argparse.ArgumentParser(description="Check that tracked files with shebangs are executable.")
+  parser.add_argument("filenames", nargs="*")
+  args = parser.parse_args()
+  return check_shebang_scripts_are_executable(args.filenames)
+
+
+if __name__ == "__main__":
+  raise SystemExit(main())
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index e01e7b37c286b5..c678379b422e7e 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -46,8 +46,8 @@ function run_tests() {
   PYTHON_FILES=$2
 
   run "ruff" ruff check openpilot --quiet
-  run "check_added_large_files" python3 -m pre_commit_hooks.check_added_large_files --enforce-all $ALL_FILES --maxkb=120
-  run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
+  run "check_added_large_files" $DIR/check_added_large_files.py --maxkb=120 $ALL_FILES
+  run "check_shebang_scripts_are_executable" $DIR/check_shebang_scripts_are_executable.py $ALL_FILES
   run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
   run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
 
diff --git a/uv.lock b/uv.lock
index 9aef9c9a010d68..d03a44160e9ada 100644
--- a/uv.lock
+++ b/uv.lock
@@ -748,7 +748,6 @@ testing = [
     { name = "codespell" },
     { name = "coverage" },
     { name = "hypothesis" },
-    { name = "pre-commit-hooks" },
     { name = "pytest" },
     { name = "pytest-cpp" },
     { name = "pytest-mock" },
@@ -800,7 +799,6 @@ requires-dist = [
     { name = "opendbc", marker = "extra == 'submodules'", editable = "opendbc_repo" },
     { name = "pandacan", marker = "extra == 'submodules'", editable = "panda" },
     { name = "pillow" },
-    { name = "pre-commit-hooks", marker = "extra == 'testing'" },
     { name = "pycapnp", specifier = "==2.1.0" },
     { name = "pyjwt", extras = ["crypto"] },
     { name = "pytest", marker = "extra == 'testing'" },
@@ -897,18 +895,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/54/20/4d324d65cc6d9205fabedc306948156824eb9f0ee1633355a8f7ec5c66bf/pluggy-1.6.0-py3-none-any.whl", hash = "sha256:e920276dd6813095e9377c0bc5566d94c932c33b27a3e3945d8389c374dd4746", size = 20538, upload-time = "2025-05-15T12:30:06.134Z" },
 ]
 
-[[package]]
-name = "pre-commit-hooks"
-version = "6.0.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "ruamel-yaml" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/36/4d/93e63e48f8fd16d6c1e4cef5dabadcade4d1325c7fd6f29f075a4d2284f3/pre_commit_hooks-6.0.0.tar.gz", hash = "sha256:76d8370c006f5026cdd638a397a678d26dda735a3c88137e05885a020f824034", size = 28293, upload-time = "2025-08-09T19:25:04.6Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/12/46/eba9be9daa403fa94854ce16a458c29df9a01c6c047931c3d8be6016cd9a/pre_commit_hooks-6.0.0-py2.py3-none-any.whl", hash = "sha256:76161b76d321d2f8ee2a8e0b84c30ee8443e01376121fd1c90851e33e3bd7ee2", size = 41338, upload-time = "2025-08-09T19:25:03.513Z" },
-]
-
 [[package]]
 name = "pycapnp"
 version = "2.1.0"
@@ -1171,15 +1157,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/a0/f4/c67b0b3f1b9245e8d266f0f112c500d50e5b4e83cb6f3b71b6528104182a/requests-2.34.2-py3-none-any.whl", hash = "sha256:2a0d60c172f83ac6ab31e4554906c0f3b3588d37b5cb939b1c061f4907e278e0", size = 73075, upload-time = "2026-05-14T19:25:26.443Z" },
 ]
 
-[[package]]
-name = "ruamel-yaml"
-version = "0.19.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/c7/3b/ebda527b56beb90cb7652cb1c7e4f91f48649fbcd8d2eb2fb6e77cd3329b/ruamel_yaml-0.19.1.tar.gz", hash = "sha256:53eb66cd27849eff968ebf8f0bf61f46cdac2da1d1f3576dd4ccee9b25c31993", size = 142709, upload-time = "2026-01-02T16:50:31.84Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/b8/0c/51f6841f1d84f404f92463fc2b1ba0da357ca1e3db6b7fbda26956c3b82a/ruamel_yaml-0.19.1-py3-none-any.whl", hash = "sha256:27592957fedf6e0b62f281e96effd28043345e0e66001f97683aa9a40c667c93", size = 118102, upload-time = "2026-01-02T16:50:29.201Z" },
-]
-
 [[package]]
 name = "ruff"
 version = "0.15.20"

From caa9e770cc359775621a2638c73ee7a7d13393f5 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 19 Jul 2026 12:20:25 -0700
Subject: [PATCH 1336/1434] manager: remove preimport stage (#38381)

---
 .../test/process_replay/process_replay.py         |  1 -
 openpilot/system/manager/manager.py               |  5 -----
 openpilot/system/manager/process.py               | 15 ---------------
 3 files changed, 21 deletions(-)

diff --git a/openpilot/selfdrive/test/process_replay/process_replay.py b/openpilot/selfdrive/test/process_replay/process_replay.py
index 90eb397996eef4..2a90dfc2950bf8 100755
--- a/openpilot/selfdrive/test/process_replay/process_replay.py
+++ b/openpilot/selfdrive/test/process_replay/process_replay.py
@@ -216,7 +216,6 @@ def _setup_vision_ipc(self, all_msgs: LogIterable, frs: dict[str, Any]):
   def _start_process(self):
     if self.capture is not None:
       self.process.launcher = LauncherWithCapture(self.capture, self.process.launcher)  # ty: ignore[invalid-assignment]  # intentional wrapper
-    self.process.prepare()
     self.process.start()
 
   def start(
diff --git a/openpilot/system/manager/manager.py b/openpilot/system/manager/manager.py
index 2d090b37f0a5e8..86fca2723fd7fe 100755
--- a/openpilot/system/manager/manager.py
+++ b/openpilot/system/manager/manager.py
@@ -87,11 +87,6 @@ def manager_init() -> None:
                        dirty=build_metadata.openpilot.is_dirty,
                        device=HARDWARE.get_device_type())
 
-  # preimport all processes
-  for p in managed_processes.values():
-    p.prepare()
-
-
 def manager_cleanup() -> None:
   # send signals to kill all procs
   for p in managed_processes.values():
diff --git a/openpilot/system/manager/process.py b/openpilot/system/manager/process.py
index a0b878d0f2210c..7f7eabd7be8608 100644
--- a/openpilot/system/manager/process.py
+++ b/openpilot/system/manager/process.py
@@ -70,10 +70,6 @@ class ManagerProcess(ABC):
   shutting_down = False
   restart_if_crash = False
 
-  @abstractmethod
-  def prepare(self) -> None:
-    pass
-
   @abstractmethod
   def start(self) -> None:
     pass
@@ -150,9 +146,6 @@ def __init__(self, name, cwd, cmdline, should_run, enabled=True, sigkill=False):
     self.sigkill = sigkill
     self.launcher = nativelauncher
 
-  def prepare(self) -> None:
-    pass
-
   def start(self) -> None:
     # In case we only tried a non blocking stop we need to stop it before restarting
     if self.shutting_down:
@@ -178,11 +171,6 @@ def __init__(self, name, module, should_run, enabled=True, sigkill=False, restar
     self.launcher = launcher
     self.restart_if_crash = restart_if_crash
 
-  def prepare(self) -> None:
-    if self.enabled:
-      cloudlog.info(f"preimporting {self.module}")
-      importlib.import_module(self.module)
-
   def start(self) -> None:
     # In case we only tried a non blocking stop we need to stop it before restarting
     if self.shutting_down:
@@ -211,9 +199,6 @@ def __init__(self, name, module, param_name, enabled=True):
   def should_run(started, params, CP):
     return True
 
-  def prepare(self) -> None:
-    pass
-
   def start(self) -> None:
     if self.params is None:
       self.params = Params()

From 157c7080ce4771407bacea59620e11011e50b75c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 19 Jul 2026 12:21:04 -0700
Subject: [PATCH 1337/1434] bump opendbc (#38370)

---
 opendbc_repo                                         | 2 +-
 openpilot/selfdrive/test/process_replay/migration.py | 8 ++++----
 openpilot/tools/replay/ui.py                         | 2 +-
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index f95568e03cc5de..78a1c9e73de2e0 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit f95568e03cc5de650b7935c18ac56ee347caaae2
+Subproject commit 78a1c9e73de2e0a081cb2bb41f7f10281b9eeabf
diff --git a/openpilot/selfdrive/test/process_replay/migration.py b/openpilot/selfdrive/test/process_replay/migration.py
index a6e466bef58279..87064f50177530 100644
--- a/openpilot/selfdrive/test/process_replay/migration.py
+++ b/openpilot/selfdrive/test/process_replay/migration.py
@@ -295,7 +295,7 @@ def migrate_carOutput(msgs):
     co = messaging.new_message('carOutput')
     co.valid = msg.valid
     co.logMonoTime = msg.logMonoTime
-    co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED
+    co.carOutput.actuatorsOutput = msg.carControl.deprecated.actuatorsOutput
     add_ops.append(as_reader(co))
   return [], add_ops, []
 
@@ -321,10 +321,10 @@ def migrate_pandaStates(msgs):
     safety_param = safety_param_migration[fingerprint].value
   elif len(CP.safetyConfigs):
     safety_param = CP.safetyConfigs[0].safetyParam
-    if CP.safetyConfigs[0].safetyParamDEPRECATED != 0:
-      safety_param = CP.safetyConfigs[0].safetyParamDEPRECATED
+    if CP.safetyConfigs[0].deprecated.safetyParam != 0:
+      safety_param = CP.safetyConfigs[0].deprecated.safetyParam
   else:
-    safety_param = CP.safetyParamDEPRECATED
+    safety_param = CP.deprecated.safetyParam
 
   ops = []
   for index, msg in msgs:
diff --git a/openpilot/tools/replay/ui.py b/openpilot/tools/replay/ui.py
index f5bd3f1d787d3a..4fbede2be978be 100755
--- a/openpilot/tools/replay/ui.py
+++ b/openpilot/tools/replay/ui.py
@@ -173,7 +173,7 @@ def ui_thread(addr):
     plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
     plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
     plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
-    plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gasDEPRECATED
+    plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].deprecated.gas
     # TODO gas is deprecated
     plot_arr[-1, name_to_arr_idx['computer_gas']] = np.clip(sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
     plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brakePressed

From fef29ad22534aea01851bd3706182f582fbb4e02 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 19 Jul 2026 14:33:26 -0700
Subject: [PATCH 1338/1434] start porting tests to unittest style (#38384)

---
 .../controls/tests/test_longcontrol.py        |  52 +++---
 .../tests/test_torqued_lat_accel_offset.py    |  25 +--
 .../selfdrive/locationd/test/test_torqued.py  |  35 ++--
 .../ui/mici/tests/test_widget_leaks.py        | 149 +++++++++---------
 .../selfdrive/ui/tests/test_raylib_ui.py      |   9 +-
 .../selfdrive/ui/tests/test_translations.py   |  96 ++++++-----
 .../tools/jotpluggler/test_jotpluggler.py     |   9 +-
 7 files changed, 189 insertions(+), 186 deletions(-)

diff --git a/openpilot/selfdrive/controls/tests/test_longcontrol.py b/openpilot/selfdrive/controls/tests/test_longcontrol.py
index da916b156fcc17..f69c54a3cdc1f5 100644
--- a/openpilot/selfdrive/controls/tests/test_longcontrol.py
+++ b/openpilot/selfdrive/controls/tests/test_longcontrol.py
@@ -27,30 +27,30 @@ def test_stay_stopped(self):
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.off
 
-def test_engage():
-  CP = car.CarParams.new_message()
-  active = True
-  current_state = LongCtrlState.off
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
-                             should_stop=True, brake_pressed=False, cruise_standstill=False)
-  assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
-                             should_stop=False, brake_pressed=True, cruise_standstill=False)
-  assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
-                             should_stop=False, brake_pressed=False, cruise_standstill=True)
-  assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
-                             should_stop=False, brake_pressed=False, cruise_standstill=False)
-  assert next_state == LongCtrlState.pid
+  def test_engage(self):
+    CP = car.CarParams.new_message()
+    active = True
+    current_state = LongCtrlState.off
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                               should_stop=True, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                               should_stop=False, brake_pressed=True, cruise_standstill=False)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                               should_stop=False, brake_pressed=False, cruise_standstill=True)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                               should_stop=False, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.pid
 
-def test_starting():
-  CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
-  active = True
-  current_state = LongCtrlState.starting
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
-                             should_stop=False, brake_pressed=False, cruise_standstill=False)
-  assert next_state == LongCtrlState.starting
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
-                             should_stop=False, brake_pressed=False, cruise_standstill=False)
-  assert next_state == LongCtrlState.pid
+  def test_starting(self):
+    CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
+    active = True
+    current_state = LongCtrlState.starting
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                               should_stop=False, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.starting
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+                               should_stop=False, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.pid
diff --git a/openpilot/selfdrive/controls/tests/test_torqued_lat_accel_offset.py b/openpilot/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
index 7a63da23a562ea..7599eb1e7bc574 100644
--- a/openpilot/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
+++ b/openpilot/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
@@ -56,16 +56,17 @@ def simulate_straight_road_msgs(est):
     for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)):
       est.handle_log(t, which, msg)
 
-def test_estimated_offset():
-  steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
-  est = get_warmed_up_estimator(steer_torques, lat_accels)
-  msg = est.get_msg()
-  # TODO add lataccelfactor and friction check when we have more accurate estimates
-  assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1
+class TestTorquedLatAccelOffset:
+  def test_estimated_offset(self):
+    steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
+    est = get_warmed_up_estimator(steer_torques, lat_accels)
+    msg = est.get_msg()
+    # TODO add lataccelfactor and friction check when we have more accurate estimates
+    assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1
 
-def test_straight_road_roll_bias():
-  steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
-  est = get_warmed_up_estimator(steer_torques, lat_accels)
-  simulate_straight_road_msgs(est)
-  msg = est.get_msg()
-  assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw)
+  def test_straight_road_roll_bias(self):
+    steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
+    est = get_warmed_up_estimator(steer_torques, lat_accels)
+    simulate_straight_road_msgs(est)
+    msg = est.get_msg()
+    assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw)
diff --git a/openpilot/selfdrive/locationd/test/test_torqued.py b/openpilot/selfdrive/locationd/test/test_torqued.py
index ac8e40fc30a6c9..4d337178a033a9 100644
--- a/openpilot/selfdrive/locationd/test/test_torqued.py
+++ b/openpilot/selfdrive/locationd/test/test_torqued.py
@@ -2,24 +2,25 @@
 from openpilot.selfdrive.locationd.torqued import TorqueEstimator
 
 
-def test_cal_percent():
-  est = TorqueEstimator(car.CarParams())
-  msg = est.get_msg()
-  assert msg.liveTorqueParameters.calPerc == 0
+class TestTorqued:
+  def test_cal_percent(self):
+    est = TorqueEstimator(car.CarParams())
+    msg = est.get_msg()
+    assert msg.liveTorqueParameters.calPerc == 0
 
-  for (low, high), min_pts in zip(est.filtered_points.buckets.keys(),
-                                  est.filtered_points.buckets_min_points.values(), strict=True):
-    for _ in range(int(min_pts)):
-      est.filtered_points.add_point((low + high) / 2.0, 0.0)
+    for (low, high), min_pts in zip(est.filtered_points.buckets.keys(),
+                                    est.filtered_points.buckets_min_points.values(), strict=True):
+      for _ in range(int(min_pts)):
+        est.filtered_points.add_point((low + high) / 2.0, 0.0)
 
-  # enough bucket points, but not enough total points
-  msg = est.get_msg()
-  assert msg.liveTorqueParameters.calPerc == (len(est.filtered_points) / est.min_points_total * 100 + 100) / 2
+    # enough bucket points, but not enough total points
+    msg = est.get_msg()
+    assert msg.liveTorqueParameters.calPerc == (len(est.filtered_points) / est.min_points_total * 100 + 100) / 2
 
-  # add enough points to bucket with most capacity
-  key = list(est.filtered_points.buckets)[0]
-  for _ in range(est.min_points_total - len(est.filtered_points)):
-    est.filtered_points.add_point((key[0] + key[1]) / 2.0, 0.0)
+    # add enough points to bucket with most capacity
+    key = list(est.filtered_points.buckets)[0]
+    for _ in range(est.min_points_total - len(est.filtered_points)):
+      est.filtered_points.add_point((key[0] + key[1]) / 2.0, 0.0)
 
-  msg = est.get_msg()
-  assert msg.liveTorqueParameters.calPerc == 100
+    msg = est.get_msg()
+    assert msg.liveTorqueParameters.calPerc == 100
diff --git a/openpilot/selfdrive/ui/mici/tests/test_widget_leaks.py b/openpilot/selfdrive/ui/mici/tests/test_widget_leaks.py
index 09142a8e11844f..68c61f4ff306e8 100755
--- a/openpilot/selfdrive/ui/mici/tests/test_widget_leaks.py
+++ b/openpilot/selfdrive/ui/mici/tests/test_widget_leaks.py
@@ -41,80 +41,81 @@ def get_child_widgets(widget) -> list:
   return children
 
 
-@pytest.mark.skip(reason="segfaults")
-def test_dialogs_do_not_leak():
-  import pyray as rl
-  rl.set_config_flags(rl.ConfigFlags.FLAG_WINDOW_HIDDEN)
-  from openpilot.system.ui.lib.application import gui_app
-
-  # mici dialogs
-  from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide as MiciTrainingGuide, OnboardingWindow as MiciOnboardingWindow
-  from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog as MiciDriverCameraDialog
-  from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog as MiciPairingDialog
-  from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog, BigInputDialog
-  from openpilot.selfdrive.ui.mici.layouts.settings.device import MiciFccModal
-
-  # tici dialogs
-  from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog as TiciDriverCameraDialog
-  from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow as TiciOnboardingWindow
-  from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog as TiciPairingDialog
-  from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
-  from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
-  from openpilot.system.ui.widgets.html_render import HtmlModal
-  from openpilot.system.ui.widgets.keyboard import Keyboard
-
-  gui_app.init_window("ref-test")
-
-  leaked_widgets = set()
-
-  for ctor in (
-    # mici
-    MiciDriverCameraDialog, MiciPairingDialog,
-    lambda: MiciTrainingGuide(lambda: None),
-    lambda: MiciOnboardingWindow(lambda: None),
-    lambda: BigDialog("test", "test"),
-    lambda: BigConfirmationDialog("test", gui_app.texture("icons_mici/settings/network/new/trash.png", 54, 64), lambda: None),
-    lambda: BigInputDialog("test"),
-    lambda: MiciFccModal(text="test"),
-    # tici
-    TiciDriverCameraDialog, TiciOnboardingWindow, TiciPairingDialog, Keyboard,
-    lambda: ConfirmDialog("test", "ok"),
-    lambda: MultiOptionDialog("test", ["a", "b"]),
-    lambda: HtmlModal(text="test"),
-  ):
-    widget = ctor()
-    all_refs = [weakref.ref(w) for w in get_child_widgets(widget) + [widget]]
-
-    del widget
-
-    for ref in all_refs:
-      if ref() is not None:
-        obj = ref()
-        name = f"{type(obj).__module__}.{type(obj).__qualname__}"
-        leaked_widgets.add(name)
-
-        print(f"\n===  Widget {name} alive after del")
-        print("  Referrers:")
-        for r in gc.get_referrers(obj):
-          if r is obj:
-            continue
-
-          if hasattr(r, '__self__') and r.__self__ is not obj:
-            print(f"    bound method: {type(r.__self__).__qualname__}.{r.__name__}")
-          elif hasattr(r, '__func__'):
-            print(f"    method: {r.__name__}")
-          else:
-            print(f"    {type(r).__module__}.{type(r).__qualname__}")
-        del obj
-
-  gui_app.close()
-
-  unexpected = leaked_widgets - KNOWN_LEAKS
-  assert not unexpected, f"New leaked widgets: {unexpected}"
-
-  fixed = KNOWN_LEAKS - leaked_widgets
-  assert not fixed, f"These leaks are fixed, remove from KNOWN_LEAKS: {fixed}"
+class TestWidgetLeaks:
+  @pytest.mark.skip(reason="segfaults")
+  def test_dialogs_do_not_leak(self):
+    import pyray as rl
+    rl.set_config_flags(rl.ConfigFlags.FLAG_WINDOW_HIDDEN)
+    from openpilot.system.ui.lib.application import gui_app
+
+    # mici dialogs
+    from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide as MiciTrainingGuide, OnboardingWindow as MiciOnboardingWindow
+    from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog as MiciDriverCameraDialog
+    from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog as MiciPairingDialog
+    from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog, BigInputDialog
+    from openpilot.selfdrive.ui.mici.layouts.settings.device import MiciFccModal
+
+    # tici dialogs
+    from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog as TiciDriverCameraDialog
+    from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow as TiciOnboardingWindow
+    from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog as TiciPairingDialog
+    from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+    from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
+    from openpilot.system.ui.widgets.html_render import HtmlModal
+    from openpilot.system.ui.widgets.keyboard import Keyboard
+
+    gui_app.init_window("ref-test")
+
+    leaked_widgets = set()
+
+    for ctor in (
+      # mici
+      MiciDriverCameraDialog, MiciPairingDialog,
+      lambda: MiciTrainingGuide(lambda: None),
+      lambda: MiciOnboardingWindow(lambda: None),
+      lambda: BigDialog("test", "test"),
+      lambda: BigConfirmationDialog("test", gui_app.texture("icons_mici/settings/network/new/trash.png", 54, 64), lambda: None),
+      lambda: BigInputDialog("test"),
+      lambda: MiciFccModal(text="test"),
+      # tici
+      TiciDriverCameraDialog, TiciOnboardingWindow, TiciPairingDialog, Keyboard,
+      lambda: ConfirmDialog("test", "ok"),
+      lambda: MultiOptionDialog("test", ["a", "b"]),
+      lambda: HtmlModal(text="test"),
+    ):
+      widget = ctor()
+      all_refs = [weakref.ref(w) for w in get_child_widgets(widget) + [widget]]
+
+      del widget
+
+      for ref in all_refs:
+        if ref() is not None:
+          obj = ref()
+          name = f"{type(obj).__module__}.{type(obj).__qualname__}"
+          leaked_widgets.add(name)
+
+          print(f"\n===  Widget {name} alive after del")
+          print("  Referrers:")
+          for r in gc.get_referrers(obj):
+            if r is obj:
+              continue
+
+            if hasattr(r, '__self__') and r.__self__ is not obj:
+              print(f"    bound method: {type(r.__self__).__qualname__}.{r.__name__}")
+            elif hasattr(r, '__func__'):
+              print(f"    method: {r.__name__}")
+            else:
+              print(f"    {type(r).__module__}.{type(r).__qualname__}")
+          del obj
+
+    gui_app.close()
+
+    unexpected = leaked_widgets - KNOWN_LEAKS
+    assert not unexpected, f"New leaked widgets: {unexpected}"
+
+    fixed = KNOWN_LEAKS - leaked_widgets
+    assert not fixed, f"These leaks are fixed, remove from KNOWN_LEAKS: {fixed}"
 
 
 if __name__ == "__main__":
-  test_dialogs_do_not_leak()
+  TestWidgetLeaks().test_dialogs_do_not_leak()
diff --git a/openpilot/selfdrive/ui/tests/test_raylib_ui.py b/openpilot/selfdrive/ui/tests/test_raylib_ui.py
index 69ba946dcd9ae3..d04c940cdea12f 100644
--- a/openpilot/selfdrive/ui/tests/test_raylib_ui.py
+++ b/openpilot/selfdrive/ui/tests/test_raylib_ui.py
@@ -2,7 +2,8 @@
 from openpilot.selfdrive.test.helpers import with_processes
 
 
-@with_processes(["ui"])
-def test_raylib_ui():
-  """Test initialization of the UI widgets is successful."""
-  time.sleep(1)
+class TestRaylibUi:
+  @with_processes(["ui"])
+  def test_raylib_ui(self):
+    """Test initialization of the UI widgets is successful."""
+    time.sleep(1)
diff --git a/openpilot/selfdrive/ui/tests/test_translations.py b/openpilot/selfdrive/ui/tests/test_translations.py
index fba595acadb3f4..9eae072f213f87 100644
--- a/openpilot/selfdrive/ui/tests/test_translations.py
+++ b/openpilot/selfdrive/ui/tests/test_translations.py
@@ -46,61 +46,59 @@ def load_po_text(po_path: Path) -> str:
   return po_path.read_text(encoding='utf-8')
 
 
-@pytest.mark.parametrize("language_code", sorted(TRANSLATION_LANGUAGES.values()))
-def test_translation_file_exists(language_code: str):
-  po_path = PO_DIR / f"app_{language_code}.po"
-  assert po_path.exists(), f"missing translation file: {po_path}"
-
-
-@pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
-def test_translation_placeholders_are_preserved(po_path: Path):
-  _, entries = parse_po(po_path)
-  language = po_path.stem.removeprefix("app_")
-
-  for entry in entries:
-    source_placeholders = extract_placeholders(entry.msgid)
-
-    if entry.is_plural:
-      plural_placeholders = extract_placeholders(entry.msgid_plural)
-      message = (
-        f"{language}: source plural placeholders do not match singular for "
-        + f"{entry.msgid!r}: {source_placeholders} vs {plural_placeholders}"
-      )
-      assert plural_placeholders == source_placeholders, message
-
-      for idx, msgstr in sorted(entry.msgstr_plural.items()):
-        if not msgstr:
+class TestTranslations:
+  @pytest.mark.parametrize("language_code", sorted(TRANSLATION_LANGUAGES.values()))
+  def test_translation_file_exists(self, language_code: str):
+    po_path = PO_DIR / f"app_{language_code}.po"
+    assert po_path.exists(), f"missing translation file: {po_path}"
+
+  @pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
+  def test_translation_placeholders_are_preserved(self, po_path: Path):
+    _, entries = parse_po(po_path)
+    language = po_path.stem.removeprefix("app_")
+
+    for entry in entries:
+      source_placeholders = extract_placeholders(entry.msgid)
+
+      if entry.is_plural:
+        plural_placeholders = extract_placeholders(entry.msgid_plural)
+        message = (
+          f"{language}: source plural placeholders do not match singular for "
+          + f"{entry.msgid!r}: {source_placeholders} vs {plural_placeholders}"
+        )
+        assert plural_placeholders == source_placeholders, message
+
+        for idx, msgstr in sorted(entry.msgstr_plural.items()):
+          if not msgstr:
+            continue
+
+          translated_placeholders = extract_placeholders(msgstr)
+          message = (
+            f"{language}: plural form {idx} changes placeholders for {entry.msgid!r}: "
+            + f"expected {source_placeholders}, got {translated_placeholders}"
+          )
+          assert translated_placeholders == source_placeholders, message
+      else:
+        if not entry.msgstr:
           continue
 
-        translated_placeholders = extract_placeholders(msgstr)
+        translated_placeholders = extract_placeholders(entry.msgstr)
         message = (
-          f"{language}: plural form {idx} changes placeholders for {entry.msgid!r}: "
+          f"{language}: translation changes placeholders for {entry.msgid!r}: "
           + f"expected {source_placeholders}, got {translated_placeholders}"
         )
         assert translated_placeholders == source_placeholders, message
-    else:
-      if not entry.msgstr:
-        continue
-
-      translated_placeholders = extract_placeholders(entry.msgstr)
-      message = (
-        f"{language}: translation changes placeholders for {entry.msgid!r}: "
-        + f"expected {source_placeholders}, got {translated_placeholders}"
-      )
-      assert translated_placeholders == source_placeholders, message
 
+  @pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
+  def test_translation_refs_do_not_include_line_numbers(self, po_path: Path):
+    for line in load_po_text(po_path).splitlines():
+      assert not LINE_NUMBER_REF_RE.match(line), (
+        f"{po_path.name}: line-number source reference found: {line}"
+      )
 
-@pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
-def test_translation_refs_do_not_include_line_numbers(po_path: Path):
-  for line in load_po_text(po_path).splitlines():
-    assert not LINE_NUMBER_REF_RE.match(line), (
-      f"{po_path.name}: line-number source reference found: {line}"
+  @pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
+  def test_translation_entities_are_valid(self, po_path: Path):
+    matches = BAD_ENTITY_RE.findall(load_po_text(po_path))
+    assert not matches, (
+      f"{po_path.name}: found '@...;' entity typo(s): {', '.join(sorted(set(matches)))}"
     )
-
-
-@pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
-def test_translation_entities_are_valid(po_path: Path):
-  matches = BAD_ENTITY_RE.findall(load_po_text(po_path))
-  assert not matches, (
-    f"{po_path.name}: found '@...;' entity typo(s): {', '.join(sorted(set(matches)))}"
-  )
diff --git a/openpilot/tools/jotpluggler/test_jotpluggler.py b/openpilot/tools/jotpluggler/test_jotpluggler.py
index b9b751c4a5901c..0729e3b2e35620 100644
--- a/openpilot/tools/jotpluggler/test_jotpluggler.py
+++ b/openpilot/tools/jotpluggler/test_jotpluggler.py
@@ -5,7 +5,8 @@
 JOTPLUGGLER_DIR = Path(__file__).parent
 
 
-def test_help():
-  result = subprocess.run(["./jotpluggler", "-h"], cwd=JOTPLUGGLER_DIR, capture_output=True, text=True)
-  assert result.returncode == 0, result.stderr
-  assert "Usage:" in result.stderr
+class TestJotpluggler:
+  def test_help(self):
+    result = subprocess.run(["./jotpluggler", "-h"], cwd=JOTPLUGGLER_DIR, capture_output=True, text=True)
+    assert result.returncode == 0, result.stderr
+    assert "Usage:" in result.stderr

From 3dbf02f803235312639be15c078ea6c795af5100 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 19 Jul 2026 14:45:26 -0700
Subject: [PATCH 1339/1434] cereal: gc dead ZMQ branches in tests

---
 .../cereal/messaging/tests/test_messaging.py  | 38 ++++---------------
 .../messaging/tests/test_pub_sub_master.py    | 16 +-------
 2 files changed, 8 insertions(+), 46 deletions(-)

diff --git a/openpilot/cereal/messaging/tests/test_messaging.py b/openpilot/cereal/messaging/tests/test_messaging.py
index c2ac1578d4b116..92d77f1b3569f9 100644
--- a/openpilot/cereal/messaging/tests/test_messaging.py
+++ b/openpilot/cereal/messaging/tests/test_messaging.py
@@ -1,4 +1,3 @@
-import os
 import capnp
 import multiprocessing
 import numbers
@@ -6,7 +5,6 @@
 import threading
 import time
 from openpilot.common.parameterized import parameterized
-import pytest
 
 from openpilot.cereal import log
 from opendbc.car.structs import car
@@ -24,10 +22,6 @@ def random_socks(num_socks=10):
 def random_bytes(length=1000):
   return bytes([random.randrange(0xFF) for _ in range(length)])
 
-def zmq_sleep(t=1):
-  if "ZMQ" in os.environ:
-    time.sleep(t)
-
 
 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
@@ -53,16 +47,6 @@ def send_func():
 
 
 class TestMessaging:
-  def setUp(self):
-    # TODO: ZMQ tests are too slow; all sleeps will need to be
-    # replaced with logic to block on the necessary condition
-    if "ZMQ" in os.environ:
-      pytest.skip()
-
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep()
-
   @parameterized.expand(events)
   def test_new_message(self, evt):
     try:
@@ -89,7 +73,6 @@ def test_drain_sock(self, func, expected_type):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock, timeout=1000)
-    zmq_sleep()
 
     # no wait and no msgs in queue
     msgs = func(sub_sock)
@@ -110,7 +93,6 @@ def test_recv_sock(self):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock, timeout=100)
-    zmq_sleep()
 
     # no wait and no msg in queue, socket should timeout
     recvd = messaging.recv_sock(sub_sock)
@@ -129,7 +111,6 @@ def test_recv_one(self):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock, timeout=1000)
-    zmq_sleep()
 
     # no msg in queue, socket should timeout
     recvd = messaging.recv_one(sub_sock)
@@ -142,12 +123,10 @@ def test_recv_one(self):
     assert isinstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)
 
-  @pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
   def test_recv_one_or_none(self):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock)
-    zmq_sleep()
 
     # no msg in queue, socket shouldn't block
     recvd = messaging.recv_one_or_none(sub_sock)
@@ -165,16 +144,13 @@ def test_recv_one_retry(self):
     sock_timeout = 0.1
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000))
-    zmq_sleep()
-
-    # this test doesn't work with ZMQ since multiprocessing interrupts it
-    if "ZMQ" not in os.environ:
-      # wait 5 socket timeouts and make sure it's still retrying
-      p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
-      p.start()
-      time.sleep(sock_timeout*5)
-      assert p.is_alive()
-      p.terminate()
+
+    # wait 5 socket timeouts and make sure it's still retrying
+    p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
+    p.start()
+    time.sleep(sock_timeout*5)
+    assert p.is_alive()
+    p.terminate()
 
     # wait 5 socket timeouts before sending
     msg = random_carstate()
diff --git a/openpilot/cereal/messaging/tests/test_pub_sub_master.py b/openpilot/cereal/messaging/tests/test_pub_sub_master.py
index 20ff855fda172c..90e78ef64956f6 100644
--- a/openpilot/cereal/messaging/tests/test_pub_sub_master.py
+++ b/openpilot/cereal/messaging/tests/test_pub_sub_master.py
@@ -5,18 +5,12 @@
 
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
-                                                  random_bytes, random_carstate, assert_carstate, \
-                                                  zmq_sleep
+                                                  random_bytes, random_carstate, assert_carstate
 from openpilot.cereal.services import SERVICE_LIST
 
 
 class TestSubMaster:
 
-  def setup_method(self):
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep(3)
-
   def test_init(self):
     sm = messaging.SubMaster(events)
     for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
@@ -43,7 +37,6 @@ def test_getitem(self):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sm = messaging.SubMaster([sock,])
-    zmq_sleep()
 
     msg = random_carstate()
     pub_sock.send(msg.to_bytes())
@@ -55,7 +48,6 @@ def test_update(self):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sm = messaging.SubMaster([sock,])
-    zmq_sleep()
 
     for i in range(10):
       msg = messaging.new_message(sock)
@@ -126,11 +118,6 @@ def test_conflate(self):
 
 class TestPubMaster:
 
-  def setup_method(self):
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep(3)
-
   def test_init(self):
     messaging.PubMaster(events)
 
@@ -138,7 +125,6 @@ def test_send(self):
     socks = random_socks()
     pm = messaging.PubMaster(socks)
     sub_socks = {s: messaging.sub_sock(s, conflate=True, timeout=1000) for s in socks}
-    zmq_sleep()
 
     # PubMaster accepts either a capnp msg builder or bytes
     for capnp in [True, False]:

From e124d6df9bae1fff3da702ecda564afa72239216 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 19 Jul 2026 14:52:04 -0700
Subject: [PATCH 1340/1434] more dead code gc

---
 .../messaging/tests/test_pub_sub_master.py    |  9 ------
 openpilot/common/params_keys.h                |  1 -
 openpilot/common/tests/test_params.py         |  6 ++--
 openpilot/selfdrive/locationd/paramsd.py      | 21 -------------
 .../selfdrive/locationd/test/test_paramsd.py  | 31 +------------------
 .../selfdrive/ui/layouts/settings/device.py   |  1 -
 .../ui/mici/layouts/settings/device.py        |  1 -
 .../tools/cabana/streams/replaystream.cc      |  3 --
 8 files changed, 4 insertions(+), 69 deletions(-)

diff --git a/openpilot/cereal/messaging/tests/test_pub_sub_master.py b/openpilot/cereal/messaging/tests/test_pub_sub_master.py
index 90e78ef64956f6..7353764aea2829 100644
--- a/openpilot/cereal/messaging/tests/test_pub_sub_master.py
+++ b/openpilot/cereal/messaging/tests/test_pub_sub_master.py
@@ -91,15 +91,6 @@ def test_avg_frequency_checks(self):
         else:
           assert not sm._check_avg_freq(service)
 
-  def test_alive(self):
-    pass
-
-  def test_ignore_alive(self):
-    pass
-
-  def test_valid(self):
-    pass
-
   # SubMaster should always conflate
   def test_conflate(self):
     sock = "carState"
diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h
index 0615c027004dda..6441fc91df48ed 100644
--- a/openpilot/common/params_keys.h
+++ b/openpilot/common/params_keys.h
@@ -78,7 +78,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LastUpdateTime", {PERSISTENT, TIME}},
     {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
     {"LiveDelay", {PERSISTENT, BYTES}},
-    {"LiveParameters", {PERSISTENT, JSON}},
     {"LiveParametersV2", {PERSISTENT, BYTES}},
     {"LivestreamEncoderBitrate", {CLEAR_ON_MANAGER_START | DONT_LOG, INT}},
     {"LivestreamRequestKeyframe", {CLEAR_ON_MANAGER_START | DONT_LOG, BOOL}},
diff --git a/openpilot/common/tests/test_params.py b/openpilot/common/tests/test_params.py
index fcb8e5a185d885..bbd411bc37bb58 100644
--- a/openpilot/common/tests/test_params.py
+++ b/openpilot/common/tests/test_params.py
@@ -112,14 +112,14 @@ def test_params_all_keys(self):
   def test_params_default_value(self):
     self.params.remove("LanguageSetting")
     self.params.remove("LongitudinalPersonality")
-    self.params.remove("LiveParameters")
+    self.params.remove("LiveParametersV2")
 
     assert self.params.get("LanguageSetting") is None
     assert self.params.get("LanguageSetting", return_default=False) is None
     assert isinstance(self.params.get("LanguageSetting", return_default=True), str)
     assert isinstance(self.params.get("LongitudinalPersonality", return_default=True), int)
-    assert self.params.get("LiveParameters") is None
-    assert self.params.get("LiveParameters", return_default=True) is None
+    assert self.params.get("LiveParametersV2") is None
+    assert self.params.get("LiveParametersV2", return_default=True) is None
 
   def test_params_get_type(self):
     # json
diff --git a/openpilot/selfdrive/locationd/paramsd.py b/openpilot/selfdrive/locationd/paramsd.py
index a32773bf0cfdc9..c1088a81806117 100755
--- a/openpilot/selfdrive/locationd/paramsd.py
+++ b/openpilot/selfdrive/locationd/paramsd.py
@@ -200,25 +200,6 @@ def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: floa
   return current_valid
 
 
-# TODO: Remove this function after few releases (added in 0.9.9)
-def migrate_cached_vehicle_params_if_needed(params: Params):
-  last_parameters_data_old = params.get("LiveParameters")
-  last_parameters_data = params.get("LiveParametersV2")
-  if last_parameters_data_old is None or last_parameters_data is not None:
-    return
-
-  try:
-    last_parameters_msg = messaging.new_message('liveParameters')
-    last_parameters_msg.liveParameters.valid = True
-    last_parameters_msg.liveParameters.steerRatio = last_parameters_data_old['steerRatio']
-    last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_data_old['stiffnessFactor']
-    last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_data_old['angleOffsetAverageDeg']
-    params.put("LiveParametersV2", last_parameters_msg.to_bytes(), block=True)
-  except Exception as e:
-    cloudlog.error(f"Failed to perform parameter migration: {e}")
-    params.remove("LiveParameters")
-
-
 def retrieve_initial_vehicle_params(params: Params, CP: car.CarParams, replay: bool, debug: bool):
   last_parameters_data = params.get("LiveParametersV2")
   last_carparams_data = params.get("CarParamsPrevRoute")
@@ -273,8 +254,6 @@ def main():
   params = Params()
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
 
-  migrate_cached_vehicle_params_if_needed(params)
-
   steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params, CP, REPLAY, DEBUG)
   learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial)
 
diff --git a/openpilot/selfdrive/locationd/test/test_paramsd.py b/openpilot/selfdrive/locationd/test/test_paramsd.py
index 28c3f4acf7cc76..74135cb875c510 100644
--- a/openpilot/selfdrive/locationd/test/test_paramsd.py
+++ b/openpilot/selfdrive/locationd/test/test_paramsd.py
@@ -2,7 +2,7 @@
 import numpy as np
 
 from openpilot.cereal import messaging
-from openpilot.selfdrive.locationd.paramsd import retrieve_initial_vehicle_params, migrate_cached_vehicle_params_if_needed
+from openpilot.selfdrive.locationd.paramsd import retrieve_initial_vehicle_params
 from openpilot.selfdrive.locationd.models.car_kf import CarKalman
 from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
 from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
@@ -30,38 +30,9 @@ def test_read_saved_params(self):
     params.put("LiveParametersV2", msg.to_bytes(), block=True)
     params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
 
-    migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error
     sr, sf, offset, p_init = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
     np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
     np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
     np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
     np.testing.assert_equal(p_init.shape, CarKalman.P_initial.shape)
     np.testing.assert_allclose(np.diagonal(p_init), msg.liveParameters.debugFilterState.std)
-
-  # TODO Remove this test after the support for old format is removed
-  def test_read_saved_params_old_format(self):
-    params = Params()
-
-    lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
-    CP = next(m for m in lr if m.which() == "carParams").carParams
-
-    msg = get_random_live_parameters(CP)
-    params.put("LiveParameters", msg.liveParameters.to_dict(), block=True)
-    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
-    params.remove("LiveParametersV2")
-
-    migrate_cached_vehicle_params_if_needed(params)
-    sr, sf, offset, _ = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
-    np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
-    np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
-    np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
-    assert params.get("LiveParametersV2") is not None
-
-  def test_read_saved_params_corrupted_old_format(self):
-    params = Params()
-    params.put("LiveParameters", {}, block=True)
-    params.remove("LiveParametersV2")
-
-    migrate_cached_vehicle_params_if_needed(params)
-    assert params.get("LiveParameters") is None
-    assert params.get("LiveParametersV2") is None
diff --git a/openpilot/selfdrive/ui/layouts/settings/device.py b/openpilot/selfdrive/ui/layouts/settings/device.py
index aa15899ac2ec3e..22853b0bd9451c 100644
--- a/openpilot/selfdrive/ui/layouts/settings/device.py
+++ b/openpilot/selfdrive/ui/layouts/settings/device.py
@@ -102,7 +102,6 @@ def reset_calibration(result: DialogResult):
 
       self._params.remove("CalibrationParams")
       self._params.remove("LiveTorqueParameters")
-      self._params.remove("LiveParameters")
       self._params.remove("LiveParametersV2")
       self._params.remove("LiveDelay")
       self._params.put_bool("OnroadCycleRequested", True, block=True)
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/device.py b/openpilot/selfdrive/ui/mici/layouts/settings/device.py
index cd85ef3add2394..7f4a9ab0b8a39c 100644
--- a/openpilot/selfdrive/ui/mici/layouts/settings/device.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/device.py
@@ -172,7 +172,6 @@ def reset_calibration_callback():
       params = ui_state.params
       params.remove("CalibrationParams")
       params.remove("LiveTorqueParameters")
-      params.remove("LiveParameters")
       params.remove("LiveParametersV2")
       params.remove("LiveDelay")
       params.put_bool("OnroadCycleRequested", True, block=True)
diff --git a/openpilot/tools/cabana/streams/replaystream.cc b/openpilot/tools/cabana/streams/replaystream.cc
index c502ea061a1283..dbd44b54e372d2 100644
--- a/openpilot/tools/cabana/streams/replaystream.cc
+++ b/openpilot/tools/cabana/streams/replaystream.cc
@@ -16,10 +16,7 @@ ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent) {
   unsetenv("ZMQ");
   setenv("COMMA_CACHE", "/tmp/comma_download_cache", 1);
 
-  // TODO: Remove when OpenpilotPrefix supports ZMQ
-#ifndef __APPLE__
   op_prefix = std::make_unique<OpenpilotPrefix>();
-#endif
 
   QObject::connect(&settings, &Settings::changed, this, [this]() {
     if (replay) replay->setSegmentCacheLimit(settings.max_cached_minutes);

From d9596fa9985edc3e516174fc0b2de1f35021734e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 19 Jul 2026 14:55:42 -0700
Subject: [PATCH 1341/1434] gc old athena and uploader migration code

---
 openpilot/system/athena/athenad.py   | 4 ----
 openpilot/system/loggerd/uploader.py | 4 +---
 2 files changed, 1 insertion(+), 7 deletions(-)

diff --git a/openpilot/system/athena/athenad.py b/openpilot/system/athena/athenad.py
index 91b12fc0a7596d..ef0561b122aa5e 100755
--- a/openpilot/system/athena/athenad.py
+++ b/openpilot/system/athena/athenad.py
@@ -488,10 +488,6 @@ def setRouteViewed(route: str) -> dict[str, int | str]:
 
 def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
   try:
-    # migration, can be removed once 0.9.8 is out for a while
-    if local_port == 8022:
-      local_port = 22
-
     if local_port not in LOCAL_PORT_WHITELIST:
       raise Exception("Requested local port not whitelisted")
 
diff --git a/openpilot/system/loggerd/uploader.py b/openpilot/system/loggerd/uploader.py
index e36b12ed6a8189..81f8ed1ba3c837 100755
--- a/openpilot/system/loggerd/uploader.py
+++ b/openpilot/system/loggerd/uploader.py
@@ -46,9 +46,7 @@ def __init__(self):
 
 
 def get_directory_sort(d: str) -> list[str]:
-  # ensure old format is sorted sooner
-  o = ["0", ] if d.startswith("2024-") else ["1", ]
-  return o + [s.rjust(10, '0') for s in d.rsplit('--', 1)]
+  return [s.rjust(10, '0') for s in d.rsplit('--', 1)]
 
 def listdir_by_creation(d: str) -> list[str]:
   if not os.path.isdir(d):

From 560cde61aeb5dcd9321798743a86af00916f84a1 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Thu, 16 Jul 2026 01:04:49 -0400
Subject: [PATCH 1342/1434] sync: fix upstream conflicts

Co-authored-by: royjr <royjr96@gmail.com>
---
 .github/workflows/badges.yaml                 |  35 ---
 .../workflows/build-all-tinygrad-models.yaml  |   2 +-
 .github/workflows/cereal_validation.yaml      |  35 ++-
 .github/workflows/sunnypilot-build-model.yaml |  15 +-
 .../workflows/sunnypilot-build-prebuilt.yaml  |  32 ++-
 .github/workflows/tests.yaml                  |   8 +-
 .gitmodules                                   |   2 +-
 SConstruct                                    |   4 +-
 launch_openpilot.sh                           |   2 +-
 msgq_repo                                     |   2 +-
 opendbc_repo                                  |   2 +-
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 delete mode 100644 .github/workflows/badges.yaml
 rename {common => openpilot/common}/api/__init__.py (100%)
 rename {common => openpilot/common}/api/base.py (98%)
 rename {common => openpilot/common}/api/comma_connect.py (100%)
 delete mode 100755 openpilot/selfdrive/modeld/compile_warp.py
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 rename {sunnypilot => openpilot/sunnypilot}/selfdrive/locationd/models/car_kf.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/selfdrive/locationd/models/constants.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/selfdrive/locationd/models/live_kf.cc (100%)
 rename {sunnypilot => openpilot/sunnypilot}/selfdrive/locationd/models/live_kf.h (100%)
 rename {sunnypilot => openpilot/sunnypilot}/selfdrive/locationd/models/live_kf.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/selfdrive/locationd/tests/.gitignore (100%)
 rename {sunnypilot => openpilot/sunnypilot}/selfdrive/locationd/tests/__init__.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/selfdrive/locationd/tests/test_locationd.py (97%)
 rename {sunnypilot => openpilot/sunnypilot}/selfdrive/locationd/torqued_ext.py (98%)
 rename {sunnypilot => openpilot/sunnypilot}/selfdrive/pandad/__init__.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/selfdrive/pandad/rivian_long_flasher.py (97%)
 rename {sunnypilot => openpilot/sunnypilot}/selfdrive/pandad/rivian_long_fw.bin.signed (100%)
 rename {sunnypilot => openpilot/sunnypilot}/selfdrive/selfdrived/__init__.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/selfdrive/selfdrived/events.py (98%)
 rename {sunnypilot => openpilot/sunnypilot}/selfdrive/selfdrived/events_base.py (94%)
 rename {sunnypilot => openpilot/sunnypilot}/selfdrive/ui/quiet_mode.py (96%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/__init__.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/api.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/athena/__init__.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/athena/manage_sunnylinkd.py (76%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/athena/sunnylinkd.py (99%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/athena/tests/test_sunnylinkd.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/backups/AESCipher.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/backups/__init__.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/backups/manager.py (99%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/backups/utils.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/capabilities.py (98%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/docs/README.md (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/registration_manager.py (95%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/settings_ui.json (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/settings_ui.schema.json (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/settings_ui_src/_macros.yaml (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/settings_ui_src/_schemas/macros.schema.json (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/settings_ui_src/_schemas/page.schema.json (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/settings_ui_src/_schemas/rule.schema.json (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/settings_ui_src/pages/cruise.yaml (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/settings_ui_src/pages/developer.yaml (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/settings_ui_src/pages/device.yaml (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/settings_ui_src/pages/display.yaml (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/settings_ui_src/pages/models.yaml (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/settings_ui_src/pages/software.yaml (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/settings_ui_src/pages/steering.yaml (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/settings_ui_src/pages/toggles.yaml (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/settings_ui_src/pages/vehicle.yaml (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/settings_ui_src/pages/visuals.yaml (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/statsd.py (97%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/sunnylink_state.py (99%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/tests/test_capabilities.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/tests/test_compile_settings_ui.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/tests/test_settings_changes.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/tests/test_settings_schema.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/tools/apply_macros.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/tools/compile_settings_ui.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/tools/extract_settings_ui.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/tools/generate_settings_schema.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/tools/validate_settings_ui.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/uploader.py (99%)
 rename {sunnypilot => openpilot/sunnypilot}/sunnylink/utils.py (98%)
 rename {sunnypilot => openpilot/sunnypilot}/system/__init__.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/hardware/c3/README.md (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/hardware/c3/agnos.json (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/hardware/c3/launch_chffrplus.sh (82%)
 rename {sunnypilot => openpilot/sunnypilot}/system/hardware/c3/launch_env.sh (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/params_migration.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/.gitignore (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/SConscript (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/sensors/bmx055_accel.cc (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/sensors/bmx055_accel.h (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/sensors/bmx055_gyro.cc (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/sensors/bmx055_gyro.h (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/sensors/bmx055_magn.cc (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/sensors/bmx055_magn.h (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/sensors/bmx055_temp.cc (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/sensors/bmx055_temp.h (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/sensors/constants.h (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/sensors/i2c_sensor.cc (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/sensors/i2c_sensor.h (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/sensors/lsm6ds3_accel.cc (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/sensors/lsm6ds3_accel.h (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/sensors/lsm6ds3_gyro.cc (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/sensors/lsm6ds3_gyro.h (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/sensors/lsm6ds3_temp.cc (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/sensors/lsm6ds3_temp.h (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/sensors/mmc5603nj_magn.cc (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/sensors/mmc5603nj_magn.h (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/sensors/sensor.h (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/sensors_qcom2.cc (100%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/tests/test_sensord.py (97%)
 rename {sunnypilot => openpilot/sunnypilot}/system/sensord/tests/ttff_test.py (96%)
 rename {system => openpilot/sunnypilot/system}/statsd.py (98%)
 rename {sunnypilot => openpilot/sunnypilot}/system/updated/tests/test_sp_branch_migrations.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/tools/__init__.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/tools/memory_profiler/__init__.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/tools/memory_profiler/mem_usage.py (100%)
 rename {sunnypilot => openpilot/sunnypilot}/tools/pull_footage.py (100%)
 rename {system => openpilot/system}/ui/sunnypilot/lib/application.py (100%)
 rename {system => openpilot/system}/ui/sunnypilot/lib/styles.py (100%)
 rename {system => openpilot/system}/ui/sunnypilot/lib/utils.py (100%)
 rename {system => openpilot/system}/ui/sunnypilot/widgets/__init__.py (100%)
 rename {system => openpilot/system}/ui/sunnypilot/widgets/helpers/__init__.py (100%)
 rename {system => openpilot/system}/ui/sunnypilot/widgets/helpers/fuzzy_search.py (100%)
 rename {system => openpilot/system}/ui/sunnypilot/widgets/helpers/star_icon.py (100%)
 rename {system => openpilot/system}/ui/sunnypilot/widgets/html_render.py (100%)
 rename {system => openpilot/system}/ui/sunnypilot/widgets/input_dialog.py (100%)
 rename {system => openpilot/system}/ui/sunnypilot/widgets/list_view.py (100%)
 rename {system => openpilot/system}/ui/sunnypilot/widgets/option_control.py (100%)
 rename {system => openpilot/system}/ui/sunnypilot/widgets/progress_bar.py (100%)
 rename {system => openpilot/system}/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py (100%)
 rename {system => openpilot/system}/ui/sunnypilot/widgets/toggle.py (100%)
 rename {system => openpilot/system}/ui/sunnypilot/widgets/tree_dialog.py (100%)
 rename {third_party => openpilot/third_party}/copyparty/copyparty-sfx.py (100%)
 rename {third_party => openpilot/third_party}/mapd_pfeiferj/README.md (100%)
 rename {third_party => openpilot/third_party}/mapd_pfeiferj/mapd (100%)
 delete mode 120000 sunnypilot/selfdrive/car/car_list.json
 delete mode 100644 system/manager/process_config.py

diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
deleted file mode 100644
index d170a96368e602..00000000000000
--- a/.github/workflows/badges.yaml
+++ /dev/null
@@ -1,35 +0,0 @@
-name: badges
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  PYTHONPATH: ${{ github.workspace }}
-
-jobs:
-  badges:
-    name: create badges
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    permissions:
-      contents: write
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: Push badges
-      run: |
-        python3 selfdrive/ui/translations/create_badges.py
-
-        rm .gitattributes
-
-        git checkout --orphan badges
-        git rm -rf --cached .
-        git config user.email "badge-researcher@sunnypilot.ai"
-        git config user.name "Badge Researcher"
-
-        git add translation_badge.svg
-        git commit -m "Add/Update badges"
-        git push -f origin HEAD
diff --git a/.github/workflows/build-all-tinygrad-models.yaml b/.github/workflows/build-all-tinygrad-models.yaml
index 1e341cb8ecb4b6..0eedb047032bfb 100644
--- a/.github/workflows/build-all-tinygrad-models.yaml
+++ b/.github/workflows/build-all-tinygrad-models.yaml
@@ -30,7 +30,7 @@ jobs:
         run: |
           cd sunnypilot
           export PYTHONPATH=$(pwd)
-          ref=$(python3 sunnypilot/models/tinygrad_ref.py)
+          ref=$(python3 openpilot/sunnypilot/models/tinygrad_ref.py)
           echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
           echo "tinygrad_ref is $ref"
 
diff --git a/.github/workflows/cereal_validation.yaml b/.github/workflows/cereal_validation.yaml
index 2ab617b2f0967c..0c87688bf1765e 100644
--- a/.github/workflows/cereal_validation.yaml
+++ b/.github/workflows/cereal_validation.yaml
@@ -6,7 +6,7 @@ on:
       - master
   pull_request:
     paths:
-      - 'cereal/**'
+      - 'openpilot/cereal/**'
   workflow_dispatch:
   workflow_call:
     inputs:
@@ -30,11 +30,25 @@ jobs:
       - name: Checkout sunnypilot cereal
         uses: actions/checkout@v6
         with:
-          sparse-checkout: cereal
+          sparse-checkout: |
+            openpilot/cereal
+            uv.lock
+          submodules: false
 
       - name: Init sunnypilot opendbc submodule
         run: git submodule update --init --depth 1 opendbc_repo
 
+      - name: Locate sunnypilot capnp import paths
+        id: locate-sp-capnp
+        run: |
+          SP_IMPORT_ARGS=""
+          SP_CAR_CAPNP=$(find opendbc_repo -maxdepth 4 -name car.capnp -path '*/opendbc/car/car.capnp' -printf '%h\n' -quit)
+          if [ -n "$SP_CAR_CAPNP" ]; then
+            SP_IMPORT_ARGS="-I $SP_CAR_CAPNP"
+            echo "Found sunnypilot car.capnp at: $SP_CAR_CAPNP"
+          fi
+          echo "import_args=$SP_IMPORT_ARGS" >> "$GITHUB_OUTPUT"
+
       - name: Checkout upstream openpilot
         uses: actions/checkout@v6
         with:
@@ -65,20 +79,19 @@ jobs:
           fi
           echo "import_args=$IMPORT_ARGS" >> "$GITHUB_OUTPUT"
 
-      - name: Install uv
-        run: pip install uv
+      - name: Install pycapnp
+        run: |
+          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
+          pip install "pycapnp==${PYCAPNP_VER}"
 
       - name: Generate sunnypilot schema
         run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -g -f /tmp/sp_schema.json --cereal-dir cereal
+          python3 openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py \
+            -g -f /tmp/sp_schema.json --cereal-dir openpilot/cereal \
+            ${{ steps.locate-sp-capnp.outputs.import_args }}
 
       - name: Validate against upstream
         run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
+          python3 openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py \
             -r -f /tmp/sp_schema.json --cereal-dir ${{ steps.locate-capnp.outputs.cereal_dir }} \
             ${{ steps.locate-capnp.outputs.import_args }}
diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml
index 3c5554fcc4812a..acb75af55e2589 100644
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -6,7 +6,7 @@ env:
   SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
   UPSTREAM_REPO: "commaai/openpilot"
   TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo
-  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models
+  MODELS_DIR: ${{ github.workspace }}/openpilot/selfdrive/modeld/models
 
 on:
   workflow_call:
@@ -92,7 +92,7 @@ jobs:
         uses: actions/upload-artifact@v4
         with:
           name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
-          path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx
+          path: ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx
 
   build_model:
     runs-on: [self-hosted, tici]
@@ -128,7 +128,10 @@ jobs:
           # Set up common environment
           source /etc/profile;
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync
           printenv >> $GITHUB_ENV
           if [[ "${{ runner.debug }}" == "1" ]]; then
             cat $GITHUB_OUTPUT
@@ -148,6 +151,7 @@ jobs:
           if [[ "${{ runner.debug }}" == "1" ]]; then
             printenv
           fi
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
           rm -rf ${{ env.MODELS_DIR }}/*.onnx
 
@@ -155,9 +159,9 @@ jobs:
         uses: actions/download-artifact@v4
         with:
           name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
-          path: ${{ github.workspace }}/selfdrive/modeld/models
+          path: ${{ env.MODELS_DIR }}
       - run: |
-          rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
+          rm -f ${{ env.MODELS_DIR }}/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
 
       - name: Build Model
         run: |
@@ -166,7 +170,7 @@ jobs:
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
           export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}:${{ github.workspace }}"
 
-          COMPILE_MODELD="${{ github.workspace }}/sunnypilot/modeld_v2/compile_modeld.py"
+          COMPILE_MODELD="${{ github.workspace }}/openpilot/sunnypilot/modeld_v2/compile_modeld.py"
           MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
           CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
           TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
@@ -264,4 +268,5 @@ jobs:
       - name: Re-enable powersave
         if: always()
         run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 977dc949725394..12a3a7bce0e5a7 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -79,7 +79,7 @@ jobs:
             is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
             echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
 
-            stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
+            stable_version=$(cat openpilot/sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
             echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
             echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
           fi
@@ -152,7 +152,10 @@ jobs:
           # Set up common environment
           source /etc/profile;
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync
           printenv >> $GITHUB_ENV
           if [[ "${{ runner.debug }}" == "1" ]]; then
             cat $GITHUB_OUTPUT
@@ -172,20 +175,26 @@ jobs:
           if [[ "${{ runner.debug }}" == "1" ]]; then
             printenv
           fi
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
 
       - name: Build Main Project
         run: |
           export PYTHONPATH="$BUILD_DIR"
-          ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
+          ./tools/release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
           cd $BUILD_DIR
+          ln -sfn msgq_repo/msgq msgq
+          ln -sfn opendbc_repo/opendbc opendbc
+          ln -sfn rednose_repo/rednose rednose
+          ln -sfn teleoprtc_repo/teleoprtc teleoprtc
+          ln -sfn tinygrad_repo/tinygrad tinygrad
           sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
           echo "Building sunnypilot's modeld_v2..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/sunnypilot/modeld_v2
           echo "Building sunnypilot's locationd..."
-          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
+          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/sunnypilot/selfdrive/locationd
           echo "Building openpilot's locationd..."
-          scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
+          scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/selfdrive/locationd
           echo "Building rest of sunnypilot"
           scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
           touch ${BUILD_DIR}/prebuilt
@@ -208,17 +217,17 @@ jobs:
             --exclude='Jenkinsfile' \
             --exclude='**/release/' \
             --exclude='**/.github/' \
-            --exclude='**/selfdrive/ui/replay/' \
+            --exclude='**/openpilot/selfdrive/ui/replay/' \
             --exclude='**/__pycache__/' \
             --exclude='${{env.SCONS_CACHE_DIR}}' \
             --exclude='**/.git/' \
             --exclude='**/SConstruct' \
             --exclude='**/SConscript' \
             --exclude='**/.venv/' \
-            --exclude='selfdrive/modeld/models/*.onnx*' \
-            --exclude='sunnypilot/modeld*/models/*.onnx*' \
-            --exclude='third_party/*x86*' \
-            --exclude='third_party/*Darwin*' \
+            --exclude='openpilot/selfdrive/modeld/models/*.onnx*' \
+            --exclude='openpilot/sunnypilot/modeld*/models/*.onnx*' \
+            --exclude='openpilot/third_party/*x86*' \
+            --exclude='openpilot/third_party/*Darwin*' \
             --delete-excluded \
             --chown=comma:comma \
             ${BUILD_DIR}/ ${OUTPUT_DIR}/
@@ -237,6 +246,7 @@ jobs:
       - name: Re-enable powersave
         if: always()
         run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
 
 
@@ -363,7 +373,7 @@ jobs:
               owner: context.repo.owner,
               repo: context.repo.repo,
               issue_number: prNumber,
-              name: process.env.LABEL
+              name: process.env.LABELf
             });
 
             console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);
diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index b3ad59b3467050..b5f941fc760cb5 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -45,7 +45,7 @@ jobs:
         max_attempts: 3
         command: git lfs pull
     - name: Build devel
-      timeout-minutes: 1
+      timeout-minutes: 3
       run: TARGET_DIR=$STRIPPED_DIR tools/release/build_stripped.sh
     - run: ./tools/op.sh setup
     - name: Build openpilot and run checks
@@ -116,6 +116,9 @@ jobs:
     steps:
     - uses: actions/checkout@v7
     - run: ./tools/op.sh setup
+    - name: Install raylib headless dependencies
+      if: ${{ !contains(runner.name, 'nsc') }}
+      run: sudo apt-get install -y --no-install-recommends libgles2 libegl1
     - name: Build openpilot
       run: scons
     - name: Run unit tests
@@ -230,6 +233,9 @@ jobs:
     steps:
       - uses: actions/checkout@v7
       - run: ./tools/op.sh setup
+      - name: Install raylib headless dependencies
+        if: ${{ !contains(runner.name, 'nsc') }}
+        run: sudo apt-get install -y --no-install-recommends libgles2 libegl1
       - name: Build openpilot
         run: scons
       - name: Create UI Report
diff --git a/.gitmodules b/.gitmodules
index e2088276e265be..a2d892d07f218c 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -17,5 +17,5 @@
   path = tinygrad_repo
   url = https://github.com/sunnypilot/tinygrad.git
 [submodule "sunnypilot/neural_network_data"]
-  path = sunnypilot/neural_network_data
+	path = openpilot/sunnypilot/neural_network_data
   url = https://github.com/sunnypilot/neural-network-data.git
diff --git a/SConstruct b/SConstruct
index 474f7f20903522..fa3ba952c3a6dd 100644
--- a/SConstruct
+++ b/SConstruct
@@ -55,7 +55,7 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 acados = pkgs[pkg_names.index('acados')]
 ffmpeg = pkgs[pkg_names.index('ffmpeg')]
@@ -287,7 +287,7 @@ SConscript([
   'openpilot/selfdrive/ui/SConscript',
 ])
 
-SConscript(['sunnypilot/SConscript'])
+SConscript(['openpilot/sunnypilot/SConscript'])
 
 # Build desktop-only tools
 if GetOption('extras') and arch != "larch64":
diff --git a/launch_openpilot.sh b/launch_openpilot.sh
index d4841b601fed84..0b3550aba8bc8d 100755
--- a/launch_openpilot.sh
+++ b/launch_openpilot.sh
@@ -4,7 +4,7 @@ IFS=$'\n\t'
 
 # On any failure, run the fallback launcher
 trap 'exec ./launch_chffrplus.sh' ERR
-C3_LAUNCH_SH="./sunnypilot/system/hardware/c3/launch_chffrplus.sh"
+C3_LAUNCH_SH="./openpilot/sunnypilot/system/hardware/c3/launch_chffrplus.sh"
 
 MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
 export MODEL
diff --git a/msgq_repo b/msgq_repo
index a771d031ec5871..bb6cc57ef4d9a3 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit a771d031ec58716824f365a89f0607fd786a1161
+Subproject commit bb6cc57ef4d9a3f9952d9ca84bfa580575e7e2a0
diff --git a/opendbc_repo b/opendbc_repo
index 94858c07a96924..0ed33dae965d2f 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 94858c07a96924857f17823dd984feef292062e0
+Subproject commit 0ed33dae965d2f9cc2248a5946a4aa88d4531d63
diff --git a/common/api/__init__.py b/openpilot/common/api/__init__.py
similarity index 100%
rename from common/api/__init__.py
rename to openpilot/common/api/__init__.py
diff --git a/common/api/base.py b/openpilot/common/api/base.py
similarity index 98%
rename from common/api/base.py
rename to openpilot/common/api/base.py
index ddda6e6ae2d188..b58dd6bbd06bcb 100644
--- a/common/api/base.py
+++ b/openpilot/common/api/base.py
@@ -4,7 +4,7 @@
 import unicodedata
 from datetime import datetime, timedelta, UTC
 from openpilot.common.hardware.hw import Paths
-from openpilot.system.version import get_version
+from openpilot.common.version import get_version
 
 # name: jwt signature algorithm
 KEYS = {"id_rsa": "RS256",
diff --git a/common/api/comma_connect.py b/openpilot/common/api/comma_connect.py
similarity index 100%
rename from common/api/comma_connect.py
rename to openpilot/common/api/comma_connect.py
diff --git a/openpilot/selfdrive/car/helpers.py b/openpilot/selfdrive/car/helpers.py
index 384152c71bec67..ec9e3efeeb1823 100644
--- a/openpilot/selfdrive/car/helpers.py
+++ b/openpilot/selfdrive/car/helpers.py
@@ -1,7 +1,7 @@
 import capnp
 from typing import Any
 
-from cereal import custom
+from openpilot.cereal import custom
 from opendbc.car import structs
 
 _FIELDS = '__dataclass_fields__'  # copy of dataclasses._FIELDS
diff --git a/openpilot/selfdrive/modeld/compile_warp.py b/openpilot/selfdrive/modeld/compile_warp.py
deleted file mode 100755
index 1144fc69c33aa7..00000000000000
--- a/openpilot/selfdrive/modeld/compile_warp.py
+++ /dev/null
@@ -1,201 +0,0 @@
-#!/usr/bin/env python3
-import time
-import pickle
-import numpy as np
-from pathlib import Path
-from tinygrad.tensor import Tensor
-from tinygrad.helpers import Context
-from tinygrad.device import Device
-from tinygrad.engine.jit import TinyJit
-
-from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
-from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
-
-MODELS_DIR = Path(__file__).parent / 'models'
-
-CAMERA_CONFIGS = [
-  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
-  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
-]
-
-UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
-UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
-
-IMG_BUFFER_SHAPE = (30, MEDMODEL_INPUT_SIZE[1] // 2, MEDMODEL_INPUT_SIZE[0] // 2)
-
-
-def warp_pkl_path(w, h):
-  return MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
-
-
-def dm_warp_pkl_path(w, h):
-  return MODELS_DIR / f'dm_warp_{w}x{h}_tinygrad.pkl'
-
-
-def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad):
-  w_dst, h_dst = dst_shape
-  h_src, w_src = src_shape
-
-  x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
-  y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
-
-  # inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather)
-  src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2]
-  src_y = M_inv[1, 0] * x + M_inv[1, 1] * y + M_inv[1, 2]
-  src_w = M_inv[2, 0] * x + M_inv[2, 1] * y + M_inv[2, 2]
-
-  src_x = src_x / src_w
-  src_y = src_y / src_w
-
-  x_nn_clipped = Tensor.round(src_x).clip(0, w_src - 1).cast('int')
-  y_nn_clipped = Tensor.round(src_y).clip(0, h_src - 1).cast('int')
-  idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped
-
-  return src_flat[idx]
-
-
-def frames_to_tensor(frames, model_w, model_h):
-  H = (frames.shape[0] * 2) // 3
-  W = frames.shape[1]
-  in_img1 = Tensor.cat(frames[0:H:2, 0::2],
-                       frames[1:H:2, 0::2],
-                       frames[0:H:2, 1::2],
-                       frames[1:H:2, 1::2],
-                       frames[H:H+H//4].reshape((H//2, W//2)),
-                       frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2))
-  return in_img1
-
-
-def make_frame_prepare(cam_w, cam_h, model_w, model_h):
-  stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
-  uv_offset = stride * y_height
-  stride_pad = stride - cam_w
-
-  def frame_prepare_tinygrad(input_frame, M_inv):
-    # UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
-    M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]])
-    # deinterleave NV12 UV plane (UVUV... -> separate U, V)
-    uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
-    with Context(SPLIT_REDUCEOP=0):
-      y = warp_perspective_tinygrad(input_frame[:cam_h*stride],
-                                    M_inv, (model_w, model_h),
-                                    (cam_h, cam_w), stride_pad).realize()
-      u = warp_perspective_tinygrad(uv[:cam_h//2, :cam_w:2].flatten(),
-                                    M_inv_uv, (model_w//2, model_h//2),
-                                    (cam_h//2, cam_w//2), 0).realize()
-      v = warp_perspective_tinygrad(uv[:cam_h//2, 1:cam_w:2].flatten(),
-                                    M_inv_uv, (model_w//2, model_h//2),
-                                    (cam_h//2, cam_w//2), 0).realize()
-    yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w))
-    tensor = frames_to_tensor(yuv, model_w, model_h)
-    return tensor
-  return frame_prepare_tinygrad
-
-
-def make_update_img_input(frame_prepare, model_w, model_h):
-  def update_img_input_tinygrad(tensor, frame, M_inv):
-    M_inv = M_inv.to(Device.DEFAULT)
-    new_img = frame_prepare(frame, M_inv)
-    tensor.assign(tensor[6:].cat(new_img, dim=0).contiguous())
-    return Tensor.cat(tensor[:6], tensor[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
-  return update_img_input_tinygrad
-
-
-def make_update_both_imgs(frame_prepare, model_w, model_h):
-  update_img = make_update_img_input(frame_prepare, model_w, model_h)
-
-  def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
-                                calib_big_img_buffer, new_big_img, M_inv_big):
-    calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
-    calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
-    return calib_img_pair, calib_big_img_pair
-  return update_both_imgs_tinygrad
-
-
-def make_warp_dm(cam_w, cam_h, dm_w, dm_h):
-  stride, y_height, _, _ = get_nv12_info(cam_w, cam_h)
-  stride_pad = stride - cam_w
-
-  def warp_dm(input_frame, M_inv):
-    M_inv = M_inv.to(Device.DEFAULT)
-    result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w)
-    return result
-  return warp_dm
-
-
-def compile_modeld_warp(cam_w, cam_h):
-  model_w, model_h = MEDMODEL_INPUT_SIZE
-  _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
-
-  print(f"Compiling modeld warp for {cam_w}x{cam_h}...")
-
-  frame_prepare = make_frame_prepare(cam_w, cam_h, model_w, model_h)
-  update_both_imgs = make_update_both_imgs(frame_prepare, model_w, model_h)
-  update_img_jit = TinyJit(update_both_imgs, prune=True)
-
-  full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
-  big_full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
-  new_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
-  new_big_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
-  for i in range(10):
-    img_inputs = [full_buffer,
-                  Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
-                  Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
-    big_img_inputs = [big_full_buffer,
-                      Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
-                      Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
-    inputs = img_inputs + big_img_inputs
-    Device.default.synchronize()
-
-    st = time.perf_counter()
-    _ = update_img_jit(*inputs)
-    mt = time.perf_counter()
-    Device.default.synchronize()
-    et = time.perf_counter()
-    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
-
-  pkl_path = warp_pkl_path(cam_w, cam_h)
-  with open(pkl_path, "wb") as f:
-    pickle.dump(update_img_jit, f)
-  print(f"  Saved to {pkl_path}")
-
-  jit = pickle.load(open(pkl_path, "rb"))
-  jit(*inputs)
-
-
-def compile_dm_warp(cam_w, cam_h):
-  dm_w, dm_h = DM_INPUT_SIZE
-  _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
-
-  print(f"Compiling DM warp for {cam_w}x{cam_h}...")
-
-  warp_dm = make_warp_dm(cam_w, cam_h, dm_w, dm_h)
-  warp_dm_jit = TinyJit(warp_dm, prune=True)
-
-  new_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
-  for i in range(10):
-    inputs = [Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
-              Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
-    Device.default.synchronize()
-    st = time.perf_counter()
-    warp_dm_jit(*inputs)
-    mt = time.perf_counter()
-    Device.default.synchronize()
-    et = time.perf_counter()
-    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
-
-  pkl_path = dm_warp_pkl_path(cam_w, cam_h)
-  with open(pkl_path, "wb") as f:
-    pickle.dump(warp_dm_jit, f)
-  print(f"  Saved to {pkl_path}")
-
-
-def run_and_save_pickle():
-  for cam_w, cam_h in CAMERA_CONFIGS:
-    compile_modeld_warp(cam_w, cam_h)
-    compile_dm_warp(cam_w, cam_h)
-
-
-if __name__ == "__main__":
-  run_and_save_pickle()
diff --git a/openpilot/selfdrive/monitoring/test_monitoring.py b/openpilot/selfdrive/monitoring/test_monitoring.py
index 2312afb2f5f10a..e42e72d645b2c1 100644
--- a/openpilot/selfdrive/monitoring/test_monitoring.py
+++ b/openpilot/selfdrive/monitoring/test_monitoring.py
@@ -1,4 +1,3 @@
-import numpy as np
 import pytest
 
 from openpilot.cereal import log
@@ -271,10 +270,10 @@ def test_run_step_engagement(selfdrive_enabled, lat_active, steering, gas,
   captured = {}
   orig = dm._update_events
 
-  def spy(driver_engaged, op_engaged, standstill, wrong_gear):
+  def spy(driver_engaged, op_engaged, lowspeed, wrong_gear):
     captured['driver_engaged'] = driver_engaged
     captured['op_engaged'] = op_engaged
-    return orig(driver_engaged, op_engaged, standstill, wrong_gear)
+    return orig(driver_engaged, op_engaged, lowspeed, wrong_gear)
 
   dm._update_events = spy
   dm.run_step(sm, demo=False)
diff --git a/selfdrive/ui/sunnypilot/__init__.py b/openpilot/selfdrive/ui/sunnypilot/__init__.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/__init__.py
rename to openpilot/selfdrive/ui/sunnypilot/__init__.py
diff --git a/selfdrive/ui/sunnypilot/layouts/__init__.py b/openpilot/selfdrive/ui/sunnypilot/layouts/__init__.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/__init__.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/__init__.py
diff --git a/selfdrive/ui/sunnypilot/layouts/onboarding.py b/openpilot/selfdrive/ui/sunnypilot/layouts/onboarding.py
similarity index 98%
rename from selfdrive/ui/sunnypilot/layouts/onboarding.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/onboarding.py
index 7e532678b0fdb0..a86677a7b10d4b 100644
--- a/selfdrive/ui/sunnypilot/layouts/onboarding.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/onboarding.py
@@ -11,7 +11,7 @@
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
 from openpilot.system.ui.widgets.label import Label
-from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
+from openpilot.common.version import sunnylink_consent_version, sunnylink_consent_declined
 
 
 class SunnylinkConsentPage(Widget):
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/__init__.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/__init__.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/__init__.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/__init__.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/cruise.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/cruise.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_policy.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_policy.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_policy.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_policy.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_settings.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_settings.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_settings.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_settings.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/developer.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/developer.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/developer.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/developer.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/device.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/device.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/device.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/device.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/display.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/display.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/display.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/display.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/models.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
similarity index 99%
rename from selfdrive/ui/sunnypilot/layouts/settings/models.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
index 587c3560c937eb..7a175b4037f843 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/models.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
@@ -9,7 +9,7 @@
 import time
 import pyray as rl
 
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
 from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.ui_state import device, ui_state
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/navigation.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/navigation.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/navigation.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/navigation.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/network.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/network.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/network.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/network.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/osm.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/osm.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/osm.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/osm.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/settings.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/settings.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/settings.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/settings.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/software.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/software.py
similarity index 97%
rename from selfdrive/ui/sunnypilot/layouts/settings/software.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/software.py
index a07bda1e3445ce..d067f1330d5c70 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/software.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/software.py
@@ -4,7 +4,7 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-import os
+import subprocess
 
 from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -78,7 +78,7 @@ def _on_branch_selected(result):
         if selection:
           ui_state.params.put("UpdaterTargetBranch", selection)
           self._branch_btn.action_item.set_value(selection)
-          os.system("pkill -SIGUSR1 -f system.updated.updated")
+          subprocess.run(["pkill", "-SIGUSR1", "-f", "openpilot.system.updated.updated"], check=False)
       self._branch_dialog = None
 
     self._branch_dialog = TreeOptionDialog(tr("Select a branch"), folders, current_target, "",
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
similarity index 99%
rename from selfdrive/ui/sunnypilot/layouts/settings/steering.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
index a5cd626483c87f..15cb6a15e0eb34 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/steering.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
@@ -4,7 +4,7 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import car
+from opendbc.car.structs import car
 from enum import IntEnum
 
 from openpilot.selfdrive.ui.ui_state import ui_state
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
similarity index 98%
rename from selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
index d4976b1295ce32..f3c4419e459759 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
@@ -21,7 +21,7 @@
 from openpilot.system.ui.widgets.network import NavButton
 from openpilot.system.ui.widgets.scroller_tici import Scroller
 
-TORQUE_VERSIONS_PATH = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
+TORQUE_VERSIONS_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
 
 
 class TorqueSettingsLayout(Widget):
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
similarity index 99%
rename from selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
index 1d9b99d5fd0846..5e75e797cbf468 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
@@ -5,7 +5,7 @@
 See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.selfdrive.ui.sunnypilot.layouts.onboarding import SunnylinkConsentPage
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
@@ -20,7 +20,7 @@
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.list_view import dual_button_item
 from openpilot.system.ui.widgets.scroller_tici import Scroller, LineSeparator
-from openpilot.system.version import sunnylink_consent_version
+from openpilot.common.version import sunnylink_consent_version
 
 
 class SunnylinkHeader(Widget):
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/trips.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/trips.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/trips.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/trips.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/__init__.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/__init__.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/__init__.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/__init__.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/base.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/base.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/base.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/base.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/body.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/body.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/body.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/body.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/chrysler.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/chrysler.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/chrysler.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/chrysler.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/factory.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/factory.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/factory.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/factory.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/ford.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/ford.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/ford.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/ford.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/gm.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/gm.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/gm.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/gm.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/mazda.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/mazda.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/mazda.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/mazda.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/nissan.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/nissan.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/nissan.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/nissan.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/psa.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/psa.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/psa.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/psa.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/rivian.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/rivian.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/rivian.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/rivian.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
similarity index 98%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
index 6102e8e9b72ccb..aab935d4b82477 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
@@ -21,7 +21,7 @@
 from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
 from openpilot.selfdrive.ui.ui_state import ui_state
 
-CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "car", "car_list.json")
+CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "openpilot", "sunnypilot", "selfdrive", "car", "car_list.json")
 
 
 class LegendWidget(Widget):
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/visuals.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/visuals.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
diff --git a/selfdrive/ui/sunnypilot/layouts/sidebar.py b/openpilot/selfdrive/ui/sunnypilot/layouts/sidebar.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/sidebar.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/sidebar.py
diff --git a/selfdrive/ui/sunnypilot/mici/__init__.py b/openpilot/selfdrive/ui/sunnypilot/mici/__init__.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/mici/__init__.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/__init__.py
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/__init__.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/__init__.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/mici/layouts/__init__.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/layouts/__init__.py
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/models.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py
similarity index 99%
rename from selfdrive/ui/sunnypilot/mici/layouts/models.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py
index 138ff87b754358..5f3f77d62c4b7a 100644
--- a/selfdrive/ui/sunnypilot/mici/layouts/models.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py
@@ -7,7 +7,7 @@
 from collections.abc import Callable
 import pyray as rl
 
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/onboarding.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/onboarding.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/mici/layouts/onboarding.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/layouts/onboarding.py
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/settings.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/mici/layouts/settings.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
similarity index 99%
rename from selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
index 85ebf55f46dbd5..e804c780352732 100644
--- a/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
@@ -8,7 +8,7 @@
 
 from collections.abc import Callable
 
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkConsentPage
@@ -20,7 +20,7 @@
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import NavScroller
-from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
+from openpilot.common.version import sunnylink_consent_version, sunnylink_consent_declined
 
 class SunnylinkInfo(Widget):
   def __init__(self):
diff --git a/selfdrive/ui/sunnypilot/mici/onroad/__init__.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/__init__.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/mici/onroad/__init__.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/onroad/__init__.py
diff --git a/selfdrive/ui/sunnypilot/mici/onroad/confidence_ball.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/confidence_ball.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/mici/onroad/confidence_ball.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/onroad/confidence_ball.py
diff --git a/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py
diff --git a/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
diff --git a/selfdrive/ui/sunnypilot/mici/widgets/__init__.py b/openpilot/selfdrive/ui/sunnypilot/mici/widgets/__init__.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/mici/widgets/__init__.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/widgets/__init__.py
diff --git a/selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py b/openpilot/selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py
diff --git a/selfdrive/ui/sunnypilot/onroad/__init__.py b/openpilot/selfdrive/ui/sunnypilot/onroad/__init__.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/onroad/__init__.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/__init__.py
diff --git a/selfdrive/ui/sunnypilot/onroad/alert_renderer.py b/openpilot/selfdrive/ui/sunnypilot/onroad/alert_renderer.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/onroad/alert_renderer.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/alert_renderer.py
diff --git a/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py b/openpilot/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
diff --git a/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py b/openpilot/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py
diff --git a/selfdrive/ui/sunnypilot/onroad/chevron_metrics.py b/openpilot/selfdrive/ui/sunnypilot/onroad/chevron_metrics.py
similarity index 97%
rename from selfdrive/ui/sunnypilot/onroad/chevron_metrics.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/chevron_metrics.py
index a8a342c129cb43..1dded3fc6271b8 100644
--- a/selfdrive/ui/sunnypilot/onroad/chevron_metrics.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/chevron_metrics.py
@@ -128,8 +128,8 @@ def draw_lead_status(self, sm, radar_state, rect, lead_vehicles):
     lead_one = radar_state.leadOne
     lead_two = radar_state.leadTwo
 
-    has_lead_one = lead_one.status if lead_one else False
-    has_lead_two = lead_two.status if lead_two else False
+    has_lead_one = lead_one.present if lead_one else False
+    has_lead_two = lead_two.present if lead_two else False
 
     self.update_alpha(has_lead_one or has_lead_two)
 
diff --git a/selfdrive/ui/sunnypilot/onroad/circular_alerts.py b/openpilot/selfdrive/ui/sunnypilot/onroad/circular_alerts.py
similarity index 99%
rename from selfdrive/ui/sunnypilot/onroad/circular_alerts.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/circular_alerts.py
index f90fc819144dae..c44e4455eb6548 100644
--- a/selfdrive/ui/sunnypilot/onroad/circular_alerts.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/circular_alerts.py
@@ -6,7 +6,7 @@
 """
 import pyray as rl
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.selfdrive.ui import UI_BORDER_SIZE
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiState
diff --git a/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py b/openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
diff --git a/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py b/openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
similarity index 99%
rename from selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
index 389692d30bf728..4119990f22ee95 100644
--- a/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
@@ -42,7 +42,7 @@ class LeadInfoElement:
   @staticmethod
   def get_lead_status(sm):
     lead_one = sm['radarState'].leadOne
-    return lead_one.status, lead_one.dRel, lead_one.vRel
+    return lead_one.present, lead_one.dRel, lead_one.vRel
 
   @staticmethod
   def get_lead_color(lead_d_rel: float, lead_v_rel: float = 0.0, use_v_rel: bool = False) -> rl.Color:
diff --git a/selfdrive/ui/sunnypilot/onroad/driver_state.py b/openpilot/selfdrive/ui/sunnypilot/onroad/driver_state.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/onroad/driver_state.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/driver_state.py
diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/openpilot/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/onroad/hud_renderer.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
diff --git a/selfdrive/ui/sunnypilot/onroad/model_renderer.py b/openpilot/selfdrive/ui/sunnypilot/onroad/model_renderer.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/onroad/model_renderer.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/model_renderer.py
diff --git a/selfdrive/ui/sunnypilot/onroad/rainbow_path.py b/openpilot/selfdrive/ui/sunnypilot/onroad/rainbow_path.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/onroad/rainbow_path.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/rainbow_path.py
diff --git a/selfdrive/ui/sunnypilot/onroad/road_name.py b/openpilot/selfdrive/ui/sunnypilot/onroad/road_name.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/onroad/road_name.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/road_name.py
diff --git a/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py b/openpilot/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/onroad/rocket_fuel.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py
diff --git a/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py b/openpilot/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py
diff --git a/selfdrive/ui/sunnypilot/onroad/speed_limit.py b/openpilot/selfdrive/ui/sunnypilot/onroad/speed_limit.py
similarity index 99%
rename from selfdrive/ui/sunnypilot/onroad/speed_limit.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/speed_limit.py
index bfa311c357d80e..785169868301d9 100644
--- a/selfdrive/ui/sunnypilot/onroad/speed_limit.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/speed_limit.py
@@ -9,7 +9,7 @@
 from enum import StrEnum
 import pyray as rl
 
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.onroad.hud_renderer import UI_CONFIG
 from openpilot.selfdrive.ui.ui_state import ui_state
diff --git a/selfdrive/ui/sunnypilot/onroad/speed_renderer.py b/openpilot/selfdrive/ui/sunnypilot/onroad/speed_renderer.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/onroad/speed_renderer.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/speed_renderer.py
diff --git a/selfdrive/ui/sunnypilot/onroad/turn_signal.py b/openpilot/selfdrive/ui/sunnypilot/onroad/turn_signal.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/onroad/turn_signal.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/turn_signal.py
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/openpilot/selfdrive/ui/sunnypilot/ui_state.py
similarity index 99%
rename from selfdrive/ui/sunnypilot/ui_state.py
rename to openpilot/selfdrive/ui/sunnypilot/ui_state.py
index 1c21c35c6f0406..4b91bd4021491b 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/openpilot/selfdrive/ui/sunnypilot/ui_state.py
@@ -6,7 +6,8 @@
 """
 from enum import Enum
 
-from cereal import messaging, log, car, custom
+from openpilot.cereal import messaging, log, custom
+from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import OnroadBrightness
 from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState
diff --git a/openpilot/sunnypilot b/openpilot/sunnypilot
deleted file mode 120000
index c4ca6929073667..00000000000000
--- a/openpilot/sunnypilot
+++ /dev/null
@@ -1 +0,0 @@
-../sunnypilot
\ No newline at end of file
diff --git a/sunnypilot/SConscript b/openpilot/sunnypilot/SConscript
similarity index 100%
rename from sunnypilot/SConscript
rename to openpilot/sunnypilot/SConscript
diff --git a/sunnypilot/__init__.py b/openpilot/sunnypilot/__init__.py
similarity index 100%
rename from sunnypilot/__init__.py
rename to openpilot/sunnypilot/__init__.py
diff --git a/sunnypilot/common/transformations/SConscript b/openpilot/sunnypilot/common/transformations/SConscript
similarity index 100%
rename from sunnypilot/common/transformations/SConscript
rename to openpilot/sunnypilot/common/transformations/SConscript
diff --git a/sunnypilot/common/transformations/coordinates.cc b/openpilot/sunnypilot/common/transformations/coordinates.cc
similarity index 100%
rename from sunnypilot/common/transformations/coordinates.cc
rename to openpilot/sunnypilot/common/transformations/coordinates.cc
diff --git a/sunnypilot/common/transformations/coordinates.hpp b/openpilot/sunnypilot/common/transformations/coordinates.hpp
similarity index 100%
rename from sunnypilot/common/transformations/coordinates.hpp
rename to openpilot/sunnypilot/common/transformations/coordinates.hpp
diff --git a/sunnypilot/common/transformations/orientation.cc b/openpilot/sunnypilot/common/transformations/orientation.cc
similarity index 100%
rename from sunnypilot/common/transformations/orientation.cc
rename to openpilot/sunnypilot/common/transformations/orientation.cc
diff --git a/sunnypilot/common/transformations/orientation.hpp b/openpilot/sunnypilot/common/transformations/orientation.hpp
similarity index 100%
rename from sunnypilot/common/transformations/orientation.hpp
rename to openpilot/sunnypilot/common/transformations/orientation.hpp
diff --git a/sunnypilot/common/version.h b/openpilot/sunnypilot/common/version.h
similarity index 100%
rename from sunnypilot/common/version.h
rename to openpilot/sunnypilot/common/version.h
diff --git a/sunnypilot/livedelay/__init__.py b/openpilot/sunnypilot/livedelay/__init__.py
similarity index 100%
rename from sunnypilot/livedelay/__init__.py
rename to openpilot/sunnypilot/livedelay/__init__.py
diff --git a/sunnypilot/livedelay/helpers.py b/openpilot/sunnypilot/livedelay/helpers.py
similarity index 100%
rename from sunnypilot/livedelay/helpers.py
rename to openpilot/sunnypilot/livedelay/helpers.py
diff --git a/sunnypilot/livedelay/lagd_toggle.py b/openpilot/sunnypilot/livedelay/lagd_toggle.py
similarity index 97%
rename from sunnypilot/livedelay/lagd_toggle.py
rename to openpilot/sunnypilot/livedelay/lagd_toggle.py
index 279aa353a3fa3e..3926cbebf68478 100644
--- a/sunnypilot/livedelay/lagd_toggle.py
+++ b/openpilot/sunnypilot/livedelay/lagd_toggle.py
@@ -4,7 +4,7 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import log
+from openpilot.cereal import log
 
 from opendbc.car import structs
 from openpilot.common.params import Params
diff --git a/sunnypilot/mads/helpers.py b/openpilot/sunnypilot/mads/helpers.py
similarity index 100%
rename from sunnypilot/mads/helpers.py
rename to openpilot/sunnypilot/mads/helpers.py
diff --git a/sunnypilot/mads/mads.py b/openpilot/sunnypilot/mads/mads.py
similarity index 99%
rename from sunnypilot/mads/mads.py
rename to openpilot/sunnypilot/mads/mads.py
index b0a90f82b50e9b..4ae3534b5703cd 100644
--- a/sunnypilot/mads/mads.py
+++ b/openpilot/sunnypilot/mads/mads.py
@@ -5,7 +5,7 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import log, custom
+from openpilot.cereal import log, custom
 
 from opendbc.car import structs
 from opendbc.car.hyundai.values import HyundaiFlags
diff --git a/sunnypilot/mads/state.py b/openpilot/sunnypilot/mads/state.py
similarity index 99%
rename from sunnypilot/mads/state.py
rename to openpilot/sunnypilot/mads/state.py
index 73240c790c0060..a8e5e1892f7fba 100644
--- a/sunnypilot/mads/state.py
+++ b/openpilot/sunnypilot/mads/state.py
@@ -5,7 +5,7 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import log, custom
+from openpilot.cereal import log, custom
 from openpilot.selfdrive.selfdrived.events import ET
 from openpilot.selfdrive.selfdrived.state import SOFT_DISABLE_TIME
 from openpilot.common.realtime import DT_CTRL
diff --git a/sunnypilot/mads/tests/test_mads_state_machine.py b/openpilot/sunnypilot/mads/tests/test_mads_state_machine.py
similarity index 99%
rename from sunnypilot/mads/tests/test_mads_state_machine.py
rename to openpilot/sunnypilot/mads/tests/test_mads_state_machine.py
index 7bc556a0fceb3a..1782d0497529b2 100644
--- a/sunnypilot/mads/tests/test_mads_state_machine.py
+++ b/openpilot/sunnypilot/mads/tests/test_mads_state_machine.py
@@ -8,7 +8,7 @@
 import pytest
 from pytest_mock import MockerFixture
 
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.common.realtime import DT_CTRL
 from openpilot.sunnypilot.mads.state import StateMachine, SOFT_DISABLE_TIME
 from openpilot.selfdrive.selfdrived.events import ET, NormalPermanentAlert, Events
diff --git a/sunnypilot/mads/tests/test_mads_steering_mode.py b/openpilot/sunnypilot/mads/tests/test_mads_steering_mode.py
similarity index 99%
rename from sunnypilot/mads/tests/test_mads_steering_mode.py
rename to openpilot/sunnypilot/mads/tests/test_mads_steering_mode.py
index 8765324cfdea73..3b7e27a86f3b4d 100644
--- a/sunnypilot/mads/tests/test_mads_steering_mode.py
+++ b/openpilot/sunnypilot/mads/tests/test_mads_steering_mode.py
@@ -7,7 +7,7 @@
 
 import pytest
 
-from cereal import log, custom
+from openpilot.cereal import log, custom
 from opendbc.car import structs
 from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
diff --git a/sunnypilot/mapd/__init__.py b/openpilot/sunnypilot/mapd/__init__.py
similarity index 56%
rename from sunnypilot/mapd/__init__.py
rename to openpilot/sunnypilot/mapd/__init__.py
index 7ad6f74149236e..57525254ce0312 100644
--- a/sunnypilot/mapd/__init__.py
+++ b/openpilot/sunnypilot/mapd/__init__.py
@@ -1,5 +1,5 @@
 import os
 from openpilot.common.basedir import BASEDIR
 
-MAPD_BIN_DIR = os.path.join(BASEDIR, 'third_party/mapd_pfeiferj')
+MAPD_BIN_DIR = os.path.join(BASEDIR, 'openpilot', 'third_party/mapd_pfeiferj')
 MAPD_PATH = os.path.join(MAPD_BIN_DIR, 'mapd')
diff --git a/sunnypilot/mapd/live_map_data/__init__.py b/openpilot/sunnypilot/mapd/live_map_data/__init__.py
similarity index 100%
rename from sunnypilot/mapd/live_map_data/__init__.py
rename to openpilot/sunnypilot/mapd/live_map_data/__init__.py
diff --git a/sunnypilot/mapd/live_map_data/base_map_data.py b/openpilot/sunnypilot/mapd/live_map_data/base_map_data.py
similarity index 97%
rename from sunnypilot/mapd/live_map_data/base_map_data.py
rename to openpilot/sunnypilot/mapd/live_map_data/base_map_data.py
index 723864dd2a9236..ca79ce1c6be794 100644
--- a/sunnypilot/mapd/live_map_data/base_map_data.py
+++ b/openpilot/sunnypilot/mapd/live_map_data/base_map_data.py
@@ -6,7 +6,7 @@
 """
 from abc import abstractmethod, ABC
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.common.constants import CV
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
diff --git a/sunnypilot/mapd/live_map_data/debug.py b/openpilot/sunnypilot/mapd/live_map_data/debug.py
similarity index 87%
rename from sunnypilot/mapd/live_map_data/debug.py
rename to openpilot/sunnypilot/mapd/live_map_data/debug.py
index 794f2ef8ffa3b9..00783d58dffa37 100644
--- a/sunnypilot/mapd/live_map_data/debug.py
+++ b/openpilot/sunnypilot/mapd/live_map_data/debug.py
@@ -12,12 +12,12 @@
 import threading
 import traceback
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Policy
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_resolver import SpeedLimitResolver
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolver import SpeedLimitResolver
 from openpilot.sunnypilot.mapd.live_map_data import get_debug
 
 
diff --git a/sunnypilot/mapd/live_map_data/osm_map_data.py b/openpilot/sunnypilot/mapd/live_map_data/osm_map_data.py
similarity index 98%
rename from sunnypilot/mapd/live_map_data/osm_map_data.py
rename to openpilot/sunnypilot/mapd/live_map_data/osm_map_data.py
index e2a4ec667f911d..e6cbce0674bca6 100644
--- a/sunnypilot/mapd/live_map_data/osm_map_data.py
+++ b/openpilot/sunnypilot/mapd/live_map_data/osm_map_data.py
@@ -8,7 +8,7 @@
 import math
 import platform
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.params import Params
 from openpilot.sunnypilot.mapd.live_map_data.base_map_data import BaseMapData
 from openpilot.sunnypilot.navd.helpers import Coordinate
diff --git a/sunnypilot/mapd/live_map_data/standalone.py b/openpilot/sunnypilot/mapd/live_map_data/standalone.py
similarity index 100%
rename from sunnypilot/mapd/live_map_data/standalone.py
rename to openpilot/sunnypilot/mapd/live_map_data/standalone.py
diff --git a/sunnypilot/mapd/mapd_installer.py b/openpilot/sunnypilot/mapd/mapd_installer.py
similarity index 98%
rename from sunnypilot/mapd/mapd_installer.py
rename to openpilot/sunnypilot/mapd/mapd_installer.py
index 1e36732dda531d..9f2e72720aa02a 100755
--- a/sunnypilot/mapd/mapd_installer.py
+++ b/openpilot/sunnypilot/mapd/mapd_installer.py
@@ -14,11 +14,11 @@
 from pathlib import Path
 from urllib.request import urlopen
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from openpilot.common.params import Params
 from openpilot.common.hardware.hw import Paths
 from openpilot.common.spinner import Spinner
-from openpilot.system.version import is_prebuilt
+from openpilot.common.version import is_prebuilt
 from openpilot.sunnypilot.mapd import MAPD_PATH, MAPD_BIN_DIR
 import openpilot.system.sentry as sentry
 
diff --git a/sunnypilot/mapd/mapd_manager.py b/openpilot/sunnypilot/mapd/mapd_manager.py
similarity index 100%
rename from sunnypilot/mapd/mapd_manager.py
rename to openpilot/sunnypilot/mapd/mapd_manager.py
diff --git a/sunnypilot/mapd/tests/__init__.py b/openpilot/sunnypilot/mapd/tests/__init__.py
similarity index 100%
rename from sunnypilot/mapd/tests/__init__.py
rename to openpilot/sunnypilot/mapd/tests/__init__.py
diff --git a/sunnypilot/mapd/tests/mapd_hash b/openpilot/sunnypilot/mapd/tests/mapd_hash
similarity index 100%
rename from sunnypilot/mapd/tests/mapd_hash
rename to openpilot/sunnypilot/mapd/tests/mapd_hash
diff --git a/sunnypilot/mapd/tests/test_mapd_version.py b/openpilot/sunnypilot/mapd/tests/test_mapd_version.py
similarity index 100%
rename from sunnypilot/mapd/tests/test_mapd_version.py
rename to openpilot/sunnypilot/mapd/tests/test_mapd_version.py
diff --git a/sunnypilot/mapd/update_version.py b/openpilot/sunnypilot/mapd/update_version.py
similarity index 93%
rename from sunnypilot/mapd/update_version.py
rename to openpilot/sunnypilot/mapd/update_version.py
index c5e08b3f8f0a1b..b6ca2a757f81ce 100755
--- a/sunnypilot/mapd/update_version.py
+++ b/openpilot/sunnypilot/mapd/update_version.py
@@ -13,8 +13,8 @@
 from openpilot.common.basedir import BASEDIR
 from openpilot.sunnypilot.mapd import MAPD_PATH
 
-MAPD_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "mapd", "tests", "mapd_hash")
-MAPD_VERSION_PATH = os.path.join(BASEDIR, "sunnypilot", "mapd", "mapd_installer.py")
+MAPD_HASH_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "mapd", "tests", "mapd_hash")
+MAPD_VERSION_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "mapd", "mapd_installer.py")
 
 
 def update_mapd_hash():
diff --git a/sunnypilot/mapd/version.py b/openpilot/sunnypilot/mapd/version.py
similarity index 100%
rename from sunnypilot/mapd/version.py
rename to openpilot/sunnypilot/mapd/version.py
diff --git a/sunnypilot/modeld_v2/.gitignore b/openpilot/sunnypilot/modeld_v2/.gitignore
similarity index 100%
rename from sunnypilot/modeld_v2/.gitignore
rename to openpilot/sunnypilot/modeld_v2/.gitignore
diff --git a/sunnypilot/modeld_v2/SConscript b/openpilot/sunnypilot/modeld_v2/SConscript
similarity index 93%
rename from sunnypilot/modeld_v2/SConscript
rename to openpilot/sunnypilot/modeld_v2/SConscript
index 723a1b3408a326..81affc625abc48 100644
--- a/sunnypilot/modeld_v2/SConscript
+++ b/openpilot/sunnypilot/modeld_v2/SConscript
@@ -38,7 +38,7 @@ camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
 
 pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + ':' + env.Dir("#").abspath + '"'
 compile_modeld_script = File("compile_modeld.py").abspath
-upstream_compile_script = File(Dir("#selfdrive/modeld").File("compile_modeld.py").abspath)
+upstream_compile_script = File(Dir("#openpilot/selfdrive/modeld").File("compile_modeld.py").abspath)
 script_deps = [File("compile_modeld.py"), upstream_compile_script]
 
 def compile_combined(model_type, onnx_args, output_name):
@@ -84,10 +84,10 @@ if os.path.isfile(supercombo_onnx):
                    'driving_combined_supercombo_tinygrad.pkl')
 
 if PC:
-  inputs = tinygrad_files + [File(Dir("#sunnypilot/modeld_v2").File("install_models_pc.py").abspath)]
+  inputs = tinygrad_files + [File(Dir("#openpilot/sunnypilot/modeld_v2").File("install_models_pc.py").abspath)]
   outputs = []
   model_dir = Dir("models").abspath
-  cmd = f'python3 {Dir("#sunnypilot/modeld_v2").abspath}/install_models_pc.py {model_dir}'
+  cmd = f'python3 {Dir("#openpilot/sunnypilot/modeld_v2").abspath}/install_models_pc.py {model_dir}'
 
   for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_on_policy', 'driving_policy']:
     if File(f"models/{model_name}.onnx").exists():
diff --git a/sunnypilot/modeld_v2/__init__.py b/openpilot/sunnypilot/modeld_v2/__init__.py
similarity index 100%
rename from sunnypilot/modeld_v2/__init__.py
rename to openpilot/sunnypilot/modeld_v2/__init__.py
diff --git a/sunnypilot/modeld_v2/camera_offset_helper.py b/openpilot/sunnypilot/modeld_v2/camera_offset_helper.py
similarity index 100%
rename from sunnypilot/modeld_v2/camera_offset_helper.py
rename to openpilot/sunnypilot/modeld_v2/camera_offset_helper.py
diff --git a/sunnypilot/modeld_v2/compile_modeld.py b/openpilot/sunnypilot/modeld_v2/compile_modeld.py
similarity index 100%
rename from sunnypilot/modeld_v2/compile_modeld.py
rename to openpilot/sunnypilot/modeld_v2/compile_modeld.py
diff --git a/sunnypilot/modeld_v2/constants.py b/openpilot/sunnypilot/modeld_v2/constants.py
similarity index 100%
rename from sunnypilot/modeld_v2/constants.py
rename to openpilot/sunnypilot/modeld_v2/constants.py
diff --git a/sunnypilot/modeld_v2/fill_model_msg.py b/openpilot/sunnypilot/modeld_v2/fill_model_msg.py
similarity index 99%
rename from sunnypilot/modeld_v2/fill_model_msg.py
rename to openpilot/sunnypilot/modeld_v2/fill_model_msg.py
index 1f281258ba63f0..7d7854be11dc30 100644
--- a/sunnypilot/modeld_v2/fill_model_msg.py
+++ b/openpilot/sunnypilot/modeld_v2/fill_model_msg.py
@@ -1,7 +1,7 @@
 import os
 import capnp
 import numpy as np
-from cereal import log
+from openpilot.cereal import log
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, Plan
 from openpilot.sunnypilot.models.helpers import plan_x_idxs_helper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_curvature_from_plan
diff --git a/sunnypilot/modeld_v2/get_model_metadata.py b/openpilot/sunnypilot/modeld_v2/get_model_metadata.py
similarity index 100%
rename from sunnypilot/modeld_v2/get_model_metadata.py
rename to openpilot/sunnypilot/modeld_v2/get_model_metadata.py
diff --git a/sunnypilot/modeld_v2/install_models_pc.py b/openpilot/sunnypilot/modeld_v2/install_models_pc.py
similarity index 94%
rename from sunnypilot/modeld_v2/install_models_pc.py
rename to openpilot/sunnypilot/modeld_v2/install_models_pc.py
index 8000c01cbedf5b..7bc2f4797cf1db 100755
--- a/sunnypilot/modeld_v2/install_models_pc.py
+++ b/openpilot/sunnypilot/modeld_v2/install_models_pc.py
@@ -6,7 +6,7 @@
 from pathlib import Path
 
 from openpilot.common.hardware.hw import Paths
-from sunnypilot.modeld_v2.get_model_metadata import MetadataOnnxPBParser, get_name_and_shape, get_metadata_value_by_name
+from openpilot.sunnypilot.modeld_v2.get_model_metadata import MetadataOnnxPBParser, get_name_and_shape, get_metadata_value_by_name
 
 
 def generate_metadata_pkl(model_path, output_path):
diff --git a/sunnypilot/modeld_v2/meta_20hz.py b/openpilot/sunnypilot/modeld_v2/meta_20hz.py
similarity index 100%
rename from sunnypilot/modeld_v2/meta_20hz.py
rename to openpilot/sunnypilot/modeld_v2/meta_20hz.py
diff --git a/sunnypilot/modeld_v2/meta_helper.py b/openpilot/sunnypilot/modeld_v2/meta_helper.py
similarity index 96%
rename from sunnypilot/modeld_v2/meta_helper.py
rename to openpilot/sunnypilot/modeld_v2/meta_helper.py
index 3fa10b2415702f..bcf73adc6f690a 100644
--- a/sunnypilot/modeld_v2/meta_helper.py
+++ b/openpilot/sunnypilot/modeld_v2/meta_helper.py
@@ -1,5 +1,5 @@
 from openpilot.sunnypilot.modeld_v2.constants import Meta
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.sunnypilot.modeld_v2.meta_20hz import Meta20hz
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 
diff --git a/sunnypilot/modeld_v2/modeld b/openpilot/sunnypilot/modeld_v2/modeld
similarity index 100%
rename from sunnypilot/modeld_v2/modeld
rename to openpilot/sunnypilot/modeld_v2/modeld
diff --git a/sunnypilot/modeld_v2/modeld.py b/openpilot/sunnypilot/modeld_v2/modeld.py
similarity index 98%
rename from sunnypilot/modeld_v2/modeld.py
rename to openpilot/sunnypilot/modeld_v2/modeld.py
index 08d3e9d47692d0..86d5b05868470b 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/openpilot/sunnypilot/modeld_v2/modeld.py
@@ -16,10 +16,11 @@
 import pickle
 import time
 import numpy as np
-import cereal.messaging as messaging
-from cereal import car, log
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
+from opendbc.car.structs import car
 from setproctitle import setproctitle
-from cereal.messaging import PubMaster, SubMaster
+from openpilot.cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.swaglog import cloudlog
@@ -41,7 +42,7 @@
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 
-PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
+PROCESS_NAME = "openpilot.selfdrive.modeld.modeld_tinygrad"
 
 
 def _pkl_exists(path):
@@ -103,10 +104,10 @@ def _init_combined(self, pkl_path, cam_w, cam_h, bundle):
     from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
     from tinygrad.device import Device
 
-    from openpilot.common.file_chunker import read_file_chunked
+    from openpilot.common.file_chunker import open_file_chunked
 
     cloudlog.warning(f"loading combined pkl: {pkl_path}")
-    jits = pickle.loads(read_file_chunked(pkl_path))
+    jits = pickle.load(open_file_chunked(pkl_path))
 
     self.DEV = Device.DEFAULT
 
diff --git a/sunnypilot/modeld_v2/modeld_base.py b/openpilot/sunnypilot/modeld_v2/modeld_base.py
similarity index 100%
rename from sunnypilot/modeld_v2/modeld_base.py
rename to openpilot/sunnypilot/modeld_v2/modeld_base.py
diff --git a/sunnypilot/modeld_v2/parse_model_outputs.py b/openpilot/sunnypilot/modeld_v2/parse_model_outputs.py
similarity index 100%
rename from sunnypilot/modeld_v2/parse_model_outputs.py
rename to openpilot/sunnypilot/modeld_v2/parse_model_outputs.py
diff --git a/sunnypilot/modeld_v2/parse_model_outputs_split.py b/openpilot/sunnypilot/modeld_v2/parse_model_outputs_split.py
similarity index 100%
rename from sunnypilot/modeld_v2/parse_model_outputs_split.py
rename to openpilot/sunnypilot/modeld_v2/parse_model_outputs_split.py
diff --git a/sunnypilot/modeld_v2/tests/__init__.py b/openpilot/sunnypilot/modeld_v2/tests/__init__.py
similarity index 100%
rename from sunnypilot/modeld_v2/tests/__init__.py
rename to openpilot/sunnypilot/modeld_v2/tests/__init__.py
diff --git a/sunnypilot/modeld_v2/tests/conftest.py b/openpilot/sunnypilot/modeld_v2/tests/conftest.py
similarity index 100%
rename from sunnypilot/modeld_v2/tests/conftest.py
rename to openpilot/sunnypilot/modeld_v2/tests/conftest.py
diff --git a/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py b/openpilot/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py
similarity index 100%
rename from sunnypilot/modeld_v2/tests/test_camera_offset_helper.py
rename to openpilot/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py
diff --git a/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py b/openpilot/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
similarity index 100%
rename from sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
rename to openpilot/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
diff --git a/sunnypilot/modeld_v2/tests/test_compile_modeld.py b/openpilot/sunnypilot/modeld_v2/tests/test_compile_modeld.py
similarity index 100%
rename from sunnypilot/modeld_v2/tests/test_compile_modeld.py
rename to openpilot/sunnypilot/modeld_v2/tests/test_compile_modeld.py
diff --git a/sunnypilot/modeld_v2/tests/test_recovery_power.py b/openpilot/sunnypilot/modeld_v2/tests/test_recovery_power.py
similarity index 98%
rename from sunnypilot/modeld_v2/tests/test_recovery_power.py
rename to openpilot/sunnypilot/modeld_v2/tests/test_recovery_power.py
index cfa2272386e017..ac716a5981579d 100644
--- a/sunnypilot/modeld_v2/tests/test_recovery_power.py
+++ b/openpilot/sunnypilot/modeld_v2/tests/test_recovery_power.py
@@ -1,6 +1,6 @@
 import numpy as np
 
-from cereal import log
+from openpilot.cereal import log
 
 from openpilot.sunnypilot.modeld_v2.constants import Plan
 from openpilot.sunnypilot.modeld_v2.modeld import ModelState
diff --git a/sunnypilot/modeld_v2/tests/test_warp.py b/openpilot/sunnypilot/modeld_v2/tests/test_warp.py
similarity index 100%
rename from sunnypilot/modeld_v2/tests/test_warp.py
rename to openpilot/sunnypilot/modeld_v2/tests/test_warp.py
diff --git a/sunnypilot/modeld_v2/warp.py b/openpilot/sunnypilot/modeld_v2/warp.py
similarity index 100%
rename from sunnypilot/modeld_v2/warp.py
rename to openpilot/sunnypilot/modeld_v2/warp.py
diff --git a/sunnypilot/models/README.md b/openpilot/sunnypilot/models/README.md
similarity index 100%
rename from sunnypilot/models/README.md
rename to openpilot/sunnypilot/models/README.md
diff --git a/sunnypilot/models/__init__.py b/openpilot/sunnypilot/models/__init__.py
similarity index 100%
rename from sunnypilot/models/__init__.py
rename to openpilot/sunnypilot/models/__init__.py
diff --git a/sunnypilot/models/constants.py b/openpilot/sunnypilot/models/constants.py
similarity index 100%
rename from sunnypilot/models/constants.py
rename to openpilot/sunnypilot/models/constants.py
diff --git a/sunnypilot/models/default_model.py b/openpilot/sunnypilot/models/default_model.py
similarity index 84%
rename from sunnypilot/models/default_model.py
rename to openpilot/sunnypilot/models/default_model.py
index 552f3a5769b5bd..62b6831402bf4f 100755
--- a/sunnypilot/models/default_model.py
+++ b/openpilot/sunnypilot/models/default_model.py
@@ -6,9 +6,9 @@
 from openpilot.sunnypilot import get_file_hash
 from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL
 
-DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "model_name.py")
-MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "tests", "model_hash")
-SUPERCOMBO_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_supercombo.onnx")
+DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "models", "model_name.py")
+MODEL_HASH_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "models", "tests", "model_hash")
+SUPERCOMBO_ONNX_PATH = os.path.join(BASEDIR, "openpilot", "selfdrive", "modeld", "models", "driving_supercombo.onnx")
 
 
 def update_model_hash():
diff --git a/sunnypilot/models/fetcher.py b/openpilot/sunnypilot/models/fetcher.py
similarity index 99%
rename from sunnypilot/models/fetcher.py
rename to openpilot/sunnypilot/models/fetcher.py
index 6484f2b4441827..b5197988bb852c 100644
--- a/sunnypilot/models/fetcher.py
+++ b/openpilot/sunnypilot/models/fetcher.py
@@ -13,7 +13,7 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.models.helpers import is_bundle_version_compatible
 
-from cereal import custom
+from openpilot.cereal import custom
 
 
 class ModelParser:
diff --git a/sunnypilot/models/helpers.py b/openpilot/sunnypilot/models/helpers.py
similarity index 97%
rename from sunnypilot/models/helpers.py
rename to openpilot/sunnypilot/models/helpers.py
index e81c3a5365f6a0..a9156ac62ed497 100644
--- a/sunnypilot/models/helpers.py
+++ b/openpilot/sunnypilot/models/helpers.py
@@ -11,7 +11,7 @@
 from pathlib import Path
 import numpy as np
 
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.models.constants import Meta, MetaSimPose, MetaTombRaider
@@ -27,9 +27,10 @@
 
 
 def _compute_hash(file_path: str) -> str | None:
-  from openpilot.common.file_chunker import read_file_chunked
+  from openpilot.common.file_chunker import open_file_chunked
   try:
-    return hashlib.sha256(read_file_chunked(file_path)).hexdigest().lower()
+    with open_file_chunked(file_path) as file:
+      return hashlib.file_digest(file, "sha256").hexdigest().lower()
   except FileNotFoundError:
     return None
 
diff --git a/sunnypilot/models/manager.py b/openpilot/sunnypilot/models/manager.py
similarity index 99%
rename from sunnypilot/models/manager.py
rename to openpilot/sunnypilot/models/manager.py
index 02730dd27079ef..405220d2e4bb9c 100644
--- a/sunnypilot/models/manager.py
+++ b/openpilot/sunnypilot/models/manager.py
@@ -15,7 +15,7 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware.hw import Paths
 
-from cereal import messaging, custom
+from openpilot.cereal import messaging, custom
 from openpilot.sunnypilot.models.fetcher import ModelFetcher
 from openpilot.sunnypilot.models.helpers import get_active_bundle, validate_active_bundle, verify_file
 
diff --git a/sunnypilot/models/model_name.py b/openpilot/sunnypilot/models/model_name.py
similarity index 100%
rename from sunnypilot/models/model_name.py
rename to openpilot/sunnypilot/models/model_name.py
diff --git a/sunnypilot/models/runners/constants.py b/openpilot/sunnypilot/models/runners/constants.py
similarity index 91%
rename from sunnypilot/models/runners/constants.py
rename to openpilot/sunnypilot/models/runners/constants.py
index 797a1d04b550a2..344f8f98cc38ba 100644
--- a/sunnypilot/models/runners/constants.py
+++ b/openpilot/sunnypilot/models/runners/constants.py
@@ -1,7 +1,7 @@
 import os
 import numpy as np
 from openpilot.common.hardware.hw import Paths
-from cereal import custom
+from openpilot.cereal import custom
 
 # Type definitions for clarity
 NumpyDict = dict[str, np.ndarray]
diff --git a/sunnypilot/models/runners/helpers.py b/openpilot/sunnypilot/models/runners/helpers.py
similarity index 100%
rename from sunnypilot/models/runners/helpers.py
rename to openpilot/sunnypilot/models/runners/helpers.py
diff --git a/sunnypilot/models/runners/model_runner.py b/openpilot/sunnypilot/models/runners/model_runner.py
similarity index 100%
rename from sunnypilot/models/runners/model_runner.py
rename to openpilot/sunnypilot/models/runners/model_runner.py
diff --git a/sunnypilot/models/runners/tinygrad/model_types.py b/openpilot/sunnypilot/models/runners/tinygrad/model_types.py
similarity index 100%
rename from sunnypilot/models/runners/tinygrad/model_types.py
rename to openpilot/sunnypilot/models/runners/tinygrad/model_types.py
diff --git a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py b/openpilot/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
similarity index 100%
rename from sunnypilot/models/runners/tinygrad/tinygrad_runner.py
rename to openpilot/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
diff --git a/sunnypilot/models/split_model_constants.py b/openpilot/sunnypilot/models/split_model_constants.py
similarity index 100%
rename from sunnypilot/models/split_model_constants.py
rename to openpilot/sunnypilot/models/split_model_constants.py
diff --git a/sunnypilot/models/tests/__init__.py b/openpilot/sunnypilot/models/tests/__init__.py
similarity index 100%
rename from sunnypilot/models/tests/__init__.py
rename to openpilot/sunnypilot/models/tests/__init__.py
diff --git a/sunnypilot/models/tests/model_hash b/openpilot/sunnypilot/models/tests/model_hash
similarity index 100%
rename from sunnypilot/models/tests/model_hash
rename to openpilot/sunnypilot/models/tests/model_hash
diff --git a/sunnypilot/models/tests/model_manager_audit.py b/openpilot/sunnypilot/models/tests/model_manager_audit.py
similarity index 93%
rename from sunnypilot/models/tests/model_manager_audit.py
rename to openpilot/sunnypilot/models/tests/model_manager_audit.py
index 4cd2b7d78ecd4f..2fc8bf5f2137d8 100644
--- a/sunnypilot/models/tests/model_manager_audit.py
+++ b/openpilot/sunnypilot/models/tests/model_manager_audit.py
@@ -5,7 +5,7 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import messaging, custom
+from openpilot.cereal import messaging, custom
 
 if __name__ == "__main__":
   sm = messaging.SubMaster(["modelManagerSP"])
diff --git a/sunnypilot/models/tests/test_default_model.py b/openpilot/sunnypilot/models/tests/test_default_model.py
similarity index 100%
rename from sunnypilot/models/tests/test_default_model.py
rename to openpilot/sunnypilot/models/tests/test_default_model.py
diff --git a/sunnypilot/models/tests/test_tinygrad_ref.py b/openpilot/sunnypilot/models/tests/test_tinygrad_ref.py
similarity index 100%
rename from sunnypilot/models/tests/test_tinygrad_ref.py
rename to openpilot/sunnypilot/models/tests/test_tinygrad_ref.py
diff --git a/sunnypilot/models/tinygrad_ref.py b/openpilot/sunnypilot/models/tinygrad_ref.py
similarity index 100%
rename from sunnypilot/models/tinygrad_ref.py
rename to openpilot/sunnypilot/models/tinygrad_ref.py
diff --git a/sunnypilot/navd/helpers.py b/openpilot/sunnypilot/navd/helpers.py
similarity index 100%
rename from sunnypilot/navd/helpers.py
rename to openpilot/sunnypilot/navd/helpers.py
diff --git a/sunnypilot/neural_network_data b/openpilot/sunnypilot/neural_network_data
similarity index 100%
rename from sunnypilot/neural_network_data
rename to openpilot/sunnypilot/neural_network_data
diff --git a/sunnypilot/selfdrive/__init__.py b/openpilot/sunnypilot/selfdrive/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/__init__.py
rename to openpilot/sunnypilot/selfdrive/__init__.py
diff --git a/sunnypilot/selfdrive/assets/icons/clock.png b/openpilot/sunnypilot/selfdrive/assets/icons/clock.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/icons/clock.png
rename to openpilot/sunnypilot/selfdrive/assets/icons/clock.png
diff --git a/sunnypilot/selfdrive/assets/icons/star-empty.png b/openpilot/sunnypilot/selfdrive/assets/icons/star-empty.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/icons/star-empty.png
rename to openpilot/sunnypilot/selfdrive/assets/icons/star-empty.png
diff --git a/sunnypilot/selfdrive/assets/icons/star-filled.png b/openpilot/sunnypilot/selfdrive/assets/icons/star-filled.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/icons/star-filled.png
rename to openpilot/sunnypilot/selfdrive/assets/icons/star-filled.png
diff --git a/sunnypilot/selfdrive/assets/icons_mici/always_offroad.png b/openpilot/sunnypilot/selfdrive/assets/icons_mici/always_offroad.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/icons_mici/always_offroad.png
rename to openpilot/sunnypilot/selfdrive/assets/icons_mici/always_offroad.png
diff --git a/sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png b/openpilot/sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png
rename to openpilot/sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png
diff --git a/sunnypilot/selfdrive/assets/images/green_light.png b/openpilot/sunnypilot/selfdrive/assets/images/green_light.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/images/green_light.png
rename to openpilot/sunnypilot/selfdrive/assets/images/green_light.png
diff --git a/sunnypilot/selfdrive/assets/images/lead_depart.png b/openpilot/sunnypilot/selfdrive/assets/images/lead_depart.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/images/lead_depart.png
rename to openpilot/sunnypilot/selfdrive/assets/images/lead_depart.png
diff --git a/sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png b/openpilot/sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png
rename to openpilot/sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png
diff --git a/sunnypilot/selfdrive/assets/img_minus_arrow_down.png b/openpilot/sunnypilot/selfdrive/assets/img_minus_arrow_down.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/img_minus_arrow_down.png
rename to openpilot/sunnypilot/selfdrive/assets/img_minus_arrow_down.png
diff --git a/sunnypilot/selfdrive/assets/img_plus_arrow_up.png b/openpilot/sunnypilot/selfdrive/assets/img_plus_arrow_up.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/img_plus_arrow_up.png
rename to openpilot/sunnypilot/selfdrive/assets/img_plus_arrow_up.png
diff --git a/sunnypilot/selfdrive/assets/logo.png b/openpilot/sunnypilot/selfdrive/assets/logo.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/logo.png
rename to openpilot/sunnypilot/selfdrive/assets/logo.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_display.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_display.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_display.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_display.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_firehose.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_firehose.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_firehose.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_firehose.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_firehose.svg b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_firehose.svg
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_firehose.svg
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_firehose.svg
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_home.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_home.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_home.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_home.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_home.svg b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_home.svg
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_home.svg
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_home.svg
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_lateral.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_lateral.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_lateral.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_lateral.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_map.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_map.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_map.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_map.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_models.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_models.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_models.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_models.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_software.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_software.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_software.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_software.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_toggle.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_toggle.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_toggle.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_toggle.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_trips.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_trips.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_trips.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_trips.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_vehicle.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_vehicle.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_vehicle.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_vehicle.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_visuals.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_visuals.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_visuals.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_visuals.png
diff --git a/sunnypilot/selfdrive/car/__init__.py b/openpilot/sunnypilot/selfdrive/car/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/car/__init__.py
rename to openpilot/sunnypilot/selfdrive/car/__init__.py
diff --git a/openpilot/sunnypilot/selfdrive/car/car_list.json b/openpilot/sunnypilot/selfdrive/car/car_list.json
new file mode 120000
index 00000000000000..9bef560d9ca7f4
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/car_list.json
@@ -0,0 +1 @@
+../../../../opendbc_repo/opendbc/sunnypilot/car/car_list.json
\ No newline at end of file
diff --git a/sunnypilot/selfdrive/car/car_specific.py b/openpilot/sunnypilot/selfdrive/car/car_specific.py
similarity index 97%
rename from sunnypilot/selfdrive/car/car_specific.py
rename to openpilot/sunnypilot/selfdrive/car/car_specific.py
index bce496ed286c20..54fcd3497689a0 100644
--- a/sunnypilot/selfdrive/car/car_specific.py
+++ b/openpilot/sunnypilot/selfdrive/car/car_specific.py
@@ -5,7 +5,7 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import log, custom
+from openpilot.cereal import log, custom
 from opendbc.car import structs
 
 from opendbc.car.chrysler.values import RAM_DT
diff --git a/sunnypilot/selfdrive/car/cruise_ext.py b/openpilot/sunnypilot/selfdrive/car/cruise_ext.py
similarity index 98%
rename from sunnypilot/selfdrive/car/cruise_ext.py
rename to openpilot/sunnypilot/selfdrive/car/cruise_ext.py
index 3691c35972ecb6..61bec477f2e3ce 100644
--- a/sunnypilot/selfdrive/car/cruise_ext.py
+++ b/openpilot/sunnypilot/selfdrive/car/cruise_ext.py
@@ -6,7 +6,8 @@
 """
 import numpy as np
 
-from cereal import car, custom
+from openpilot.cereal import custom
+from opendbc.car.structs import car
 from opendbc.car import structs
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
diff --git a/sunnypilot/selfdrive/car/cruise_helpers.py b/openpilot/sunnypilot/selfdrive/car/cruise_helpers.py
similarity index 96%
rename from sunnypilot/selfdrive/car/cruise_helpers.py
rename to openpilot/sunnypilot/selfdrive/car/cruise_helpers.py
index 263d6f58cd994b..aa689ec9040918 100644
--- a/sunnypilot/selfdrive/car/cruise_helpers.py
+++ b/openpilot/sunnypilot/selfdrive/car/cruise_helpers.py
@@ -5,7 +5,8 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import car, custom
+from openpilot.cereal import custom
+from opendbc.car.structs import car
 from opendbc.car import structs
 from openpilot.common.params import Params
 
diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/__init__.py b/openpilot/sunnypilot/selfdrive/car/intelligent_cruise_button_management/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/car/intelligent_cruise_button_management/__init__.py
rename to openpilot/sunnypilot/selfdrive/car/intelligent_cruise_button_management/__init__.py
diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py b/openpilot/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
similarity index 98%
rename from sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
rename to openpilot/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
index 1f491e0f5883e0..ded2c0ab19d167 100644
--- a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
+++ b/openpilot/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
@@ -4,7 +4,8 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import car, custom
+from openpilot.cereal import custom
+from opendbc.car.structs import car
 from opendbc.car import structs, apply_hysteresis
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_CTRL
diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py b/openpilot/sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py
similarity index 100%
rename from sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py
rename to openpilot/sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/openpilot/sunnypilot/selfdrive/car/interfaces.py
similarity index 100%
rename from sunnypilot/selfdrive/car/interfaces.py
rename to openpilot/sunnypilot/selfdrive/car/interfaces.py
diff --git a/sunnypilot/selfdrive/car/sync_sunnylink_params.py b/openpilot/sunnypilot/selfdrive/car/sync_sunnylink_params.py
similarity index 88%
rename from sunnypilot/selfdrive/car/sync_sunnylink_params.py
rename to openpilot/sunnypilot/selfdrive/car/sync_sunnylink_params.py
index 7539e741c6b4b7..6c964710b0f994 100755
--- a/sunnypilot/selfdrive/car/sync_sunnylink_params.py
+++ b/openpilot/sunnypilot/selfdrive/car/sync_sunnylink_params.py
@@ -12,7 +12,7 @@
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 
-CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "car", "car_list.json")
+CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "openpilot", "sunnypilot", "selfdrive", "car", "car_list.json")
 
 
 def update_car_list_param():
diff --git a/sunnypilot/selfdrive/car/tests/__init__.py b/openpilot/sunnypilot/selfdrive/car/tests/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/car/tests/__init__.py
rename to openpilot/sunnypilot/selfdrive/car/tests/__init__.py
diff --git a/sunnypilot/selfdrive/car/tests/test_cruise_mode.py b/openpilot/sunnypilot/selfdrive/car/tests/test_cruise_mode.py
similarity index 98%
rename from sunnypilot/selfdrive/car/tests/test_cruise_mode.py
rename to openpilot/sunnypilot/selfdrive/car/tests/test_cruise_mode.py
index 2fad14a703b9f4..3f3701b3ae4980 100644
--- a/sunnypilot/selfdrive/car/tests/test_cruise_mode.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_cruise_mode.py
@@ -1,4 +1,4 @@
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.parameterized import parameterized_class
 from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper, DISTANCE_LONG_PRESS
diff --git a/sunnypilot/selfdrive/car/tests/test_custom_cruise.py b/openpilot/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
similarity index 99%
rename from sunnypilot/selfdrive/car/tests/test_custom_cruise.py
rename to openpilot/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
index 878bc78b03025e..ce5d7dc1248c55 100644
--- a/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
@@ -1,6 +1,6 @@
 import pytest
 
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.constants import CV
 from openpilot.common.parameterized import parameterized_class
 from openpilot.common.params import Params
diff --git a/sunnypilot/selfdrive/controls/__init__.py b/openpilot/sunnypilot/selfdrive/controls/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/__init__.py
rename to openpilot/sunnypilot/selfdrive/controls/__init__.py
diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/openpilot/sunnypilot/selfdrive/controls/controlsd_ext.py
similarity index 94%
rename from sunnypilot/selfdrive/controls/controlsd_ext.py
rename to openpilot/sunnypilot/selfdrive/controls/controlsd_ext.py
index c8d054243f0905..33cc9e3ad8cc0e 100644
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/openpilot/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -6,8 +6,8 @@
 """
 import time
 
-import cereal.messaging as messaging
-from cereal import log, custom
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log, custom
 
 from opendbc.car import structs
 from openpilot.common.params import Params
@@ -72,14 +72,14 @@ def get_lead_data(_lead, src: log.RadarState.LeadData) -> None:
     _lead.dRel = src.dRel
     _lead.yRel = src.yRel
     _lead.vRel = src.vRel
-    _lead.aRel = src.aRel
+    _lead.aRel = src.deprecated.aRel
     _lead.vLead = src.vLead
-    _lead.dPath = src.dPath
-    _lead.vLat = src.vLat
+    _lead.dPath = src.deprecated.dPath
+    _lead.vLat = src.deprecated.vLat
     _lead.vLeadK = src.vLeadK
     _lead.aLeadK = src.aLeadK
-    _lead.fcw = src.fcw
-    _lead.status = src.status
+    _lead.fcw = src.deprecated.fcw
+    _lead.status = src.present
     _lead.aLeadTau = src.aLeadTau
     _lead.modelProb = src.modelProb
     _lead.radar = src.radar
diff --git a/sunnypilot/selfdrive/controls/lib/__init__.py b/openpilot/sunnypilot/selfdrive/controls/lib/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/__init__.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/__init__.py
diff --git a/sunnypilot/selfdrive/controls/lib/auto_lane_change.py b/openpilot/sunnypilot/selfdrive/controls/lib/auto_lane_change.py
similarity index 99%
rename from sunnypilot/selfdrive/controls/lib/auto_lane_change.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/auto_lane_change.py
index cf8de2a1b2094b..39909ac7b11e72 100644
--- a/sunnypilot/selfdrive/controls/lib/auto_lane_change.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/auto_lane_change.py
@@ -4,7 +4,7 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import log
+from openpilot.cereal import log
 
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
diff --git a/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py b/openpilot/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py
similarity index 97%
rename from sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py
index 98757cd532baa0..e9a6be595efd12 100644
--- a/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py
@@ -4,7 +4,7 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import car
+from opendbc.car.structs import car
 
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
diff --git a/sunnypilot/selfdrive/controls/lib/dec/__init__.py b/openpilot/sunnypilot/selfdrive/controls/lib/dec/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/dec/__init__.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/dec/__init__.py
diff --git a/sunnypilot/selfdrive/controls/lib/dec/constants.py b/openpilot/sunnypilot/selfdrive/controls/lib/dec/constants.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/dec/constants.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/dec/constants.py
diff --git a/sunnypilot/selfdrive/controls/lib/dec/dec.py b/openpilot/sunnypilot/selfdrive/controls/lib/dec/dec.py
similarity index 99%
rename from sunnypilot/selfdrive/controls/lib/dec/dec.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/dec/dec.py
index 46cad1b04848c6..1ba5ab0618aa28 100644
--- a/sunnypilot/selfdrive/controls/lib/dec/dec.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/dec/dec.py
@@ -6,7 +6,7 @@
 """
 # Version = 2025-6-30
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from opendbc.car import structs
 from numpy import interp
 from openpilot.common.params import Params
@@ -217,7 +217,7 @@ def _update_calculations(self, sm: messaging.SubMaster) -> None:
       self._standstill_count = max(0, self._standstill_count - 1)
 
     # Lead detection
-    self._lead_filter.add_data(float(lead_one.status))
+    self._lead_filter.add_data(float(lead_one.present))
     lead_value = self._lead_filter.get_value() or 0.0
     self._has_lead_filtered = lead_value > WMACConstants.LEAD_PROB
 
diff --git a/sunnypilot/selfdrive/controls/lib/dec/tests/__init__.py b/openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/dec/tests/__init__.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/__init__.py
diff --git a/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py b/openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
diff --git a/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py b/openpilot/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
similarity index 98%
rename from sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
index 944bf617e9690b..b75bae246163ca 100644
--- a/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
@@ -5,7 +5,7 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import messaging, custom
+from openpilot.cereal import messaging, custom
 
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
@@ -61,7 +61,7 @@ def update_alert_trigger(self, sm: messaging.SubMaster):
 
     model_x = sm['modelV2'].position.x
     max_idx = len(model_x) - 1
-    self.has_lead = sm['radarState'].leadOne.status
+    self.has_lead = sm['radarState'].leadOne.present
     lead_dRel = sm['radarState'].leadOne.dRel
 
     standstill = CS.standstill
diff --git a/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py b/openpilot/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
similarity index 97%
rename from sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
index fa35ebb125c3c0..ad7e80eda0aa12 100644
--- a/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
@@ -4,7 +4,7 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import custom
+from openpilot.cereal import custom
 
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_override.py b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_override.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_override.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_override.py
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py
similarity index 99%
rename from sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py
index f7874cc539e3ca..4d9e4492f99e5b 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py
@@ -2,7 +2,7 @@
 import numpy as np
 from collections import deque
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.lateral import get_friction
 from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.filter_simple import FirstOrderFilter
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_versions.json b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_versions.json
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/latcontrol_torque_versions.json
rename to openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_versions.json
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/openpilot/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
similarity index 99%
rename from sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index 6efda4585f7979..f1e0c36416da66 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -5,7 +5,7 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import messaging, custom
+from openpilot.cereal import messaging, custom
 from opendbc.car import structs
 from openpilot.common.constants import CV
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/__init__.py b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/nnlc/__init__.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/nnlc/__init__.py
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
similarity index 92%
rename from sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
index c34fa435c254c1..a5d56b1ff02079 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
@@ -11,8 +11,8 @@
 from opendbc.car import structs
 from openpilot.common.basedir import BASEDIR
 
-TORQUE_NN_MODEL_PATH = os.path.join(BASEDIR, "sunnypilot", "neural_network_data", "neural_network_lateral_control")
-TORQUE_NN_MODEL_SUBSTITUTE_PATH = os.path.join(BASEDIR, "opendbc", "car", "torque_data/substitute.toml")
+TORQUE_NN_MODEL_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "neural_network_data", "neural_network_lateral_control")
+TORQUE_NN_MODEL_SUBSTITUTE_PATH = os.path.join(BASEDIR, "opendbc_repo", "opendbc", "car", "torque_data/substitute.toml")
 MOCK_MODEL_PATH = os.path.join(TORQUE_NN_MODEL_PATH, "MOCK.json")
 
 
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/model.py b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/model.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/nnlc/model.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/nnlc/model.py
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/__init__.py b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/nnlc/tests/__init__.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/__init__.py
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
similarity index 98%
rename from sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
index f2009926cfea43..56fd2f9ce7c639 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
@@ -1,6 +1,7 @@
 import numpy as np
 
-from cereal import car, log, messaging
+from openpilot.cereal import log, messaging
+from opendbc.car.structs import car
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.gm.values import CAR as GM
 from opendbc.car.honda.values import CAR as HONDA
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/__init__.py b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/smart_cruise_control/__init__.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/__init__.py
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py
similarity index 99%
rename from sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py
index c7f11a1bb2b506..65e157bdbcf493 100644
--- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py
@@ -2,7 +2,7 @@
 import math
 import platform
 
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
similarity index 94%
rename from sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
index 4ca45202fcbcd9..ff6c7066343940 100644
--- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
@@ -4,7 +4,7 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.vision_controller import SmartCruiseControlVision
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.map_controller import SmartCruiseControlMap
 
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
similarity index 98%
rename from sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
index 254e85f573789d..3b16c59bb5008e 100644
--- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
@@ -6,7 +6,7 @@
 """
 import platform
 
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
similarity index 98%
rename from sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
index 2a2c6a6be1e22e..de54a0fdca9ea2 100644
--- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
@@ -7,8 +7,8 @@
 import numpy as np
 import pytest
 
-import cereal.messaging as messaging
-from cereal import custom, log
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import custom, log
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
similarity index 98%
rename from sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
index a9d2a66227fd09..fb76f5b546865a 100644
--- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
@@ -6,8 +6,8 @@
 """
 import numpy as np
 
-import cereal.messaging as messaging
-from cereal import custom
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import custom
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/common.py b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/common.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/speed_limit/common.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/common.py
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
similarity index 95%
rename from sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
index 9eddceb820e019..77d89251e2b3c9 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
@@ -5,7 +5,8 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import custom, car
+from openpilot.cereal import custom
+from opendbc.car.structs import car
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
similarity index 99%
rename from sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
index ff7be8a8be1570..1ff541167f41b5 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
@@ -6,7 +6,8 @@
 """
 import time
 
-from cereal import custom, car
+from openpilot.cereal import custom
+from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
similarity index 98%
rename from sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
index 35965c0e189af3..e46196654c7cd1 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
@@ -6,8 +6,8 @@
 """
 import time
 
-import cereal.messaging as messaging
-from cereal import custom
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import custom
 from openpilot.common.constants import CV
 from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/__init__.py b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/speed_limit/tests/__init__.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/__init__.py
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
similarity index 99%
rename from sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
index 6dbe32eaf4fc45..7cd6fef5249bff 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
@@ -7,7 +7,7 @@
 
 import pytest
 
-from cereal import custom
+from openpilot.cereal import custom
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.rivian.values import CAR as RIVIAN
 from opendbc.car.tesla.values import CAR as TESLA
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py
similarity index 99%
rename from sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py
index c02831d71a5933..a18880c620a270 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py
@@ -10,7 +10,7 @@
 import pytest
 from pytest_mock import MockerFixture
 
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import LIMIT_MAX_MAP_DATA_AGE
 
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolver import SpeedLimitResolver, ALL_SOURCES
diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py
similarity index 99%
rename from sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py
index b547ea96b692b5..7a72cfa1f2d5ac 100644
--- a/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py
@@ -4,7 +4,7 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import car
+from opendbc.car.structs import car
 
 from openpilot.common.constants import CV
 from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral
diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
similarity index 99%
rename from sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
index 57fe7b684f5308..c3e96fd7784304 100644
--- a/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
@@ -1,5 +1,5 @@
 import pytest
-from cereal import log, custom
+from openpilot.cereal import log, custom
 from openpilot.common.params import Params
 
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
diff --git a/sunnypilot/selfdrive/locationd/.gitignore b/openpilot/sunnypilot/selfdrive/locationd/.gitignore
similarity index 100%
rename from sunnypilot/selfdrive/locationd/.gitignore
rename to openpilot/sunnypilot/selfdrive/locationd/.gitignore
diff --git a/sunnypilot/selfdrive/locationd/SConscript b/openpilot/sunnypilot/selfdrive/locationd/SConscript
similarity index 100%
rename from sunnypilot/selfdrive/locationd/SConscript
rename to openpilot/sunnypilot/selfdrive/locationd/SConscript
diff --git a/sunnypilot/selfdrive/locationd/__init__.py b/openpilot/sunnypilot/selfdrive/locationd/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/locationd/__init__.py
rename to openpilot/sunnypilot/selfdrive/locationd/__init__.py
diff --git a/sunnypilot/selfdrive/locationd/locationd.cc b/openpilot/sunnypilot/selfdrive/locationd/locationd.cc
similarity index 100%
rename from sunnypilot/selfdrive/locationd/locationd.cc
rename to openpilot/sunnypilot/selfdrive/locationd/locationd.cc
diff --git a/sunnypilot/selfdrive/locationd/locationd.h b/openpilot/sunnypilot/selfdrive/locationd/locationd.h
similarity index 100%
rename from sunnypilot/selfdrive/locationd/locationd.h
rename to openpilot/sunnypilot/selfdrive/locationd/locationd.h
diff --git a/sunnypilot/selfdrive/locationd/models/.gitignore b/openpilot/sunnypilot/selfdrive/locationd/models/.gitignore
similarity index 100%
rename from sunnypilot/selfdrive/locationd/models/.gitignore
rename to openpilot/sunnypilot/selfdrive/locationd/models/.gitignore
diff --git a/sunnypilot/selfdrive/locationd/models/__init__.py b/openpilot/sunnypilot/selfdrive/locationd/models/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/locationd/models/__init__.py
rename to openpilot/sunnypilot/selfdrive/locationd/models/__init__.py
diff --git a/sunnypilot/selfdrive/locationd/models/car_kf.py b/openpilot/sunnypilot/selfdrive/locationd/models/car_kf.py
similarity index 100%
rename from sunnypilot/selfdrive/locationd/models/car_kf.py
rename to openpilot/sunnypilot/selfdrive/locationd/models/car_kf.py
diff --git a/sunnypilot/selfdrive/locationd/models/constants.py b/openpilot/sunnypilot/selfdrive/locationd/models/constants.py
similarity index 100%
rename from sunnypilot/selfdrive/locationd/models/constants.py
rename to openpilot/sunnypilot/selfdrive/locationd/models/constants.py
diff --git a/sunnypilot/selfdrive/locationd/models/live_kf.cc b/openpilot/sunnypilot/selfdrive/locationd/models/live_kf.cc
similarity index 100%
rename from sunnypilot/selfdrive/locationd/models/live_kf.cc
rename to openpilot/sunnypilot/selfdrive/locationd/models/live_kf.cc
diff --git a/sunnypilot/selfdrive/locationd/models/live_kf.h b/openpilot/sunnypilot/selfdrive/locationd/models/live_kf.h
similarity index 100%
rename from sunnypilot/selfdrive/locationd/models/live_kf.h
rename to openpilot/sunnypilot/selfdrive/locationd/models/live_kf.h
diff --git a/sunnypilot/selfdrive/locationd/models/live_kf.py b/openpilot/sunnypilot/selfdrive/locationd/models/live_kf.py
similarity index 100%
rename from sunnypilot/selfdrive/locationd/models/live_kf.py
rename to openpilot/sunnypilot/selfdrive/locationd/models/live_kf.py
diff --git a/sunnypilot/selfdrive/locationd/tests/.gitignore b/openpilot/sunnypilot/selfdrive/locationd/tests/.gitignore
similarity index 100%
rename from sunnypilot/selfdrive/locationd/tests/.gitignore
rename to openpilot/sunnypilot/selfdrive/locationd/tests/.gitignore
diff --git a/sunnypilot/selfdrive/locationd/tests/__init__.py b/openpilot/sunnypilot/selfdrive/locationd/tests/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/locationd/tests/__init__.py
rename to openpilot/sunnypilot/selfdrive/locationd/tests/__init__.py
diff --git a/sunnypilot/selfdrive/locationd/tests/test_locationd.py b/openpilot/sunnypilot/selfdrive/locationd/tests/test_locationd.py
similarity index 97%
rename from sunnypilot/selfdrive/locationd/tests/test_locationd.py
rename to openpilot/sunnypilot/selfdrive/locationd/tests/test_locationd.py
index 1f5bfd3b2516c2..551259fa01e6d3 100644
--- a/sunnypilot/selfdrive/locationd/tests/test_locationd.py
+++ b/openpilot/sunnypilot/selfdrive/locationd/tests/test_locationd.py
@@ -5,8 +5,8 @@
 import time
 import capnp
 
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.params import Params
 from openpilot.common.transformations.coordinates import ecef2geodetic
 
diff --git a/sunnypilot/selfdrive/locationd/torqued_ext.py b/openpilot/sunnypilot/selfdrive/locationd/torqued_ext.py
similarity index 98%
rename from sunnypilot/selfdrive/locationd/torqued_ext.py
rename to openpilot/sunnypilot/selfdrive/locationd/torqued_ext.py
index 1e62b7666a4413..f1f16f58ee0bd7 100644
--- a/sunnypilot/selfdrive/locationd/torqued_ext.py
+++ b/openpilot/sunnypilot/selfdrive/locationd/torqued_ext.py
@@ -6,7 +6,7 @@
 """
 import numpy as np
 
-from cereal import car
+from opendbc.car.structs import car
 
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
diff --git a/sunnypilot/selfdrive/pandad/__init__.py b/openpilot/sunnypilot/selfdrive/pandad/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/pandad/__init__.py
rename to openpilot/sunnypilot/selfdrive/pandad/__init__.py
diff --git a/sunnypilot/selfdrive/pandad/rivian_long_flasher.py b/openpilot/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
similarity index 97%
rename from sunnypilot/selfdrive/pandad/rivian_long_flasher.py
rename to openpilot/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
index 305b994c78ef0b..3be9fb0e4d2c9b 100755
--- a/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
+++ b/openpilot/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
@@ -8,7 +8,8 @@
 import os
 from itertools import accumulate
 
-from cereal import car, messaging
+from openpilot.cereal import messaging
+from opendbc.car.structs import car
 from panda import Panda
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
diff --git a/sunnypilot/selfdrive/pandad/rivian_long_fw.bin.signed b/openpilot/sunnypilot/selfdrive/pandad/rivian_long_fw.bin.signed
similarity index 100%
rename from sunnypilot/selfdrive/pandad/rivian_long_fw.bin.signed
rename to openpilot/sunnypilot/selfdrive/pandad/rivian_long_fw.bin.signed
diff --git a/sunnypilot/selfdrive/selfdrived/__init__.py b/openpilot/sunnypilot/selfdrive/selfdrived/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/selfdrived/__init__.py
rename to openpilot/sunnypilot/selfdrive/selfdrived/__init__.py
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/openpilot/sunnypilot/selfdrive/selfdrived/events.py
similarity index 98%
rename from sunnypilot/selfdrive/selfdrived/events.py
rename to openpilot/sunnypilot/selfdrive/selfdrived/events.py
index e9b0e991530eca..2001d0dbee5bf3 100644
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/events.py
@@ -4,8 +4,9 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-import cereal.messaging as messaging
-from cereal import log, car, custom
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log, custom
+from opendbc.car.structs import car
 from openpilot.common.constants import CV
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
   NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
diff --git a/sunnypilot/selfdrive/selfdrived/events_base.py b/openpilot/sunnypilot/selfdrive/selfdrived/events_base.py
similarity index 94%
rename from sunnypilot/selfdrive/selfdrived/events_base.py
rename to openpilot/sunnypilot/selfdrive/selfdrived/events_base.py
index 402121f2fee9d4..a3929781442594 100644
--- a/sunnypilot/selfdrive/selfdrived/events_base.py
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/events_base.py
@@ -3,15 +3,16 @@
 from abc import abstractmethod
 from collections.abc import Callable
 
-from cereal import log, car
-import cereal.messaging as messaging
+from openpilot.cereal import log
+from opendbc.car.structs import car
+import openpilot.cereal.messaging as messaging
 from openpilot.common.realtime import DT_CTRL
 from openpilot.common.hardware import HARDWARE
 
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+AudibleAlert = log.SelfdriveState.AudibleAlert
 
 
 # Alert priorities
@@ -46,7 +47,7 @@ def __init__(self,
                alert_size: log.SelfdriveState.AlertSize,
                priority: Priority,
                visual_alert: car.CarControl.HUDControl.VisualAlert,
-               audible_alert: car.CarControl.HUDControl.AudibleAlert,
+               audible_alert: log.SelfdriveState.AudibleAlert,
                duration: float,
                creation_delay: float = 0.):
 
@@ -77,7 +78,7 @@ class AlertBase(Alert):
   def __init__(self, alert_text_1: str, alert_text_2: str, alert_status: log.SelfdriveState.AlertStatus,
                alert_size: log.SelfdriveState.AlertSize, priority: Priority,
                visual_alert: car.CarControl.HUDControl.VisualAlert,
-               audible_alert: car.CarControl.HUDControl.AudibleAlert, duration: float):
+               audible_alert: log.SelfdriveState.AudibleAlert, duration: float):
     super().__init__(alert_text_1, alert_text_2, alert_status, alert_size, priority, visual_alert, audible_alert, duration)
 
 
@@ -185,11 +186,12 @@ def get_event_msg_type(self):
 class NoEntryAlert(Alert):
   def __init__(self, alert_text_2: str,
                alert_text_1: str = "openpilot Unavailable",
-               visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
+               visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none,
+               priority: Priority = Priority.LOW):
     if HARDWARE.get_device_type() == 'mici':
       alert_text_1, alert_text_2 = alert_text_2, alert_text_1
     super().__init__(alert_text_1, alert_text_2, AlertStatus.normal,
-                     AlertSize.mid, Priority.LOW, visual_alert,
+                     AlertSize.mid, priority, visual_alert,
                      AudibleAlert.refuse, 3.)
 
 
@@ -217,7 +219,7 @@ def __init__(self, alert_text_2: str):
 
 
 class EngagementAlert(Alert):
-  def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert):
+  def __init__(self, audible_alert: log.SelfdriveState.AudibleAlert):
     super().__init__("", "",
                      AlertStatus.normal, AlertSize.none,
                      Priority.MID, VisualAlert.none,
diff --git a/sunnypilot/selfdrive/ui/quiet_mode.py b/openpilot/sunnypilot/selfdrive/ui/quiet_mode.py
similarity index 96%
rename from sunnypilot/selfdrive/ui/quiet_mode.py
rename to openpilot/sunnypilot/selfdrive/ui/quiet_mode.py
index 739ea1392cd23a..d4dba74d95b9fa 100644
--- a/sunnypilot/selfdrive/ui/quiet_mode.py
+++ b/openpilot/sunnypilot/selfdrive/ui/quiet_mode.py
@@ -4,7 +4,7 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import car
+from opendbc.car.structs import car
 
 from openpilot.common.params import Params
 
diff --git a/sunnypilot/sunnylink/__init__.py b/openpilot/sunnypilot/sunnylink/__init__.py
similarity index 100%
rename from sunnypilot/sunnylink/__init__.py
rename to openpilot/sunnypilot/sunnylink/__init__.py
diff --git a/sunnypilot/sunnylink/api.py b/openpilot/sunnypilot/sunnylink/api.py
similarity index 100%
rename from sunnypilot/sunnylink/api.py
rename to openpilot/sunnypilot/sunnylink/api.py
diff --git a/sunnypilot/sunnylink/athena/__init__.py b/openpilot/sunnypilot/sunnylink/athena/__init__.py
similarity index 100%
rename from sunnypilot/sunnylink/athena/__init__.py
rename to openpilot/sunnypilot/sunnylink/athena/__init__.py
diff --git a/sunnypilot/sunnylink/athena/manage_sunnylinkd.py b/openpilot/sunnypilot/sunnylink/athena/manage_sunnylinkd.py
similarity index 76%
rename from sunnypilot/sunnylink/athena/manage_sunnylinkd.py
rename to openpilot/sunnypilot/sunnylink/athena/manage_sunnylinkd.py
index 377b6990f78d2f..d811fa5dbcef56 100755
--- a/sunnypilot/sunnylink/athena/manage_sunnylinkd.py
+++ b/openpilot/sunnypilot/sunnylink/athena/manage_sunnylinkd.py
@@ -2,4 +2,4 @@
 from openpilot.system.athena.manage_athenad import manage_athenad
 
 if __name__ == '__main__':
-  manage_athenad("SunnylinkDongleId", "SunnylinkdPid", 'sunnylinkd', 'sunnypilot.sunnylink.athena.sunnylinkd')
+  manage_athenad("SunnylinkDongleId", "SunnylinkdPid", 'sunnylinkd', 'openpilot.sunnypilot.sunnylink.athena.sunnylinkd')
diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py
similarity index 99%
rename from sunnypilot/sunnylink/athena/sunnylinkd.py
rename to openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py
index 1a7e69f31c6c45..ac168db7d8d680 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -16,8 +16,8 @@
 import threading
 import time
 
-from jsonrpc import dispatcher
 from functools import partial
+from openpilot.system.athena.rpc import dispatcher
 from openpilot.common.params import Params, ParamKeyType
 from openpilot.common.realtime import set_core_affinity
 from openpilot.common.swaglog import cloudlog
@@ -27,7 +27,7 @@
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                        create_connection, WebSocketConnectionClosedException)
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
 from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import update_car_list_param
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
diff --git a/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py b/openpilot/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py
similarity index 100%
rename from sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py
rename to openpilot/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py
diff --git a/sunnypilot/sunnylink/backups/AESCipher.py b/openpilot/sunnypilot/sunnylink/backups/AESCipher.py
similarity index 100%
rename from sunnypilot/sunnylink/backups/AESCipher.py
rename to openpilot/sunnypilot/sunnylink/backups/AESCipher.py
diff --git a/sunnypilot/sunnylink/backups/__init__.py b/openpilot/sunnypilot/sunnylink/backups/__init__.py
similarity index 100%
rename from sunnypilot/sunnylink/backups/__init__.py
rename to openpilot/sunnypilot/sunnylink/backups/__init__.py
diff --git a/sunnypilot/sunnylink/backups/manager.py b/openpilot/sunnypilot/sunnylink/backups/manager.py
similarity index 99%
rename from sunnypilot/sunnylink/backups/manager.py
rename to openpilot/sunnypilot/sunnylink/backups/manager.py
index 44cdb3bff20d4f..5ac6b8cabcc38f 100644
--- a/sunnypilot/sunnylink/backups/manager.py
+++ b/openpilot/sunnypilot/sunnylink/backups/manager.py
@@ -16,9 +16,9 @@
 from openpilot.common.params import Params, ParamKeyFlag
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_version
+from openpilot.common.version import get_version
 
-from cereal import messaging, custom
+from openpilot.cereal import messaging, custom
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
 from openpilot.sunnypilot.sunnylink.backups.utils import decrypt_compressed_data, encrypt_compressed_data, SnakeCaseEncoder
 from openpilot.sunnypilot.sunnylink.utils import get_param_as_byte, save_param_from_base64_encoded_string
diff --git a/sunnypilot/sunnylink/backups/utils.py b/openpilot/sunnypilot/sunnylink/backups/utils.py
similarity index 100%
rename from sunnypilot/sunnylink/backups/utils.py
rename to openpilot/sunnypilot/sunnylink/backups/utils.py
diff --git a/sunnypilot/sunnylink/capabilities.py b/openpilot/sunnypilot/sunnylink/capabilities.py
similarity index 98%
rename from sunnypilot/sunnylink/capabilities.py
rename to openpilot/sunnypilot/sunnylink/capabilities.py
index 197e404314870b..1f12b5b0012fba 100644
--- a/sunnypilot/sunnylink/capabilities.py
+++ b/openpilot/sunnypilot/sunnylink/capabilities.py
@@ -6,7 +6,8 @@
 """
 import json
 
-from cereal import car, custom, messaging
+from openpilot.cereal import custom, messaging
+from opendbc.car.structs import car
 from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR, UNSUPPORTED_LONGITUDINAL_CAR
 from opendbc.car.subaru.values import CAR as SUBARU_CAR, SubaruFlags
 from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
diff --git a/sunnypilot/sunnylink/docs/README.md b/openpilot/sunnypilot/sunnylink/docs/README.md
similarity index 100%
rename from sunnypilot/sunnylink/docs/README.md
rename to openpilot/sunnypilot/sunnylink/docs/README.md
diff --git a/sunnypilot/sunnylink/registration_manager.py b/openpilot/sunnypilot/sunnylink/registration_manager.py
similarity index 95%
rename from sunnypilot/sunnylink/registration_manager.py
rename to openpilot/sunnypilot/sunnylink/registration_manager.py
index 3e00c5c0138e30..cc43dcae8770b9 100755
--- a/sunnypilot/sunnylink/registration_manager.py
+++ b/openpilot/sunnypilot/sunnylink/registration_manager.py
@@ -5,7 +5,7 @@
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.swaglog import cloudlog
 
-from cereal import log, messaging
+from openpilot.cereal import log, messaging
 from openpilot.sunnypilot.sunnylink.utils import register_sunnylink
 
 NetworkType = log.DeviceState.NetworkType
diff --git a/sunnypilot/sunnylink/settings_ui.json b/openpilot/sunnypilot/sunnylink/settings_ui.json
similarity index 100%
rename from sunnypilot/sunnylink/settings_ui.json
rename to openpilot/sunnypilot/sunnylink/settings_ui.json
diff --git a/sunnypilot/sunnylink/settings_ui.schema.json b/openpilot/sunnypilot/sunnylink/settings_ui.schema.json
similarity index 100%
rename from sunnypilot/sunnylink/settings_ui.schema.json
rename to openpilot/sunnypilot/sunnylink/settings_ui.schema.json
diff --git a/sunnypilot/sunnylink/settings_ui_src/_macros.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/_macros.yaml
similarity index 100%
rename from sunnypilot/sunnylink/settings_ui_src/_macros.yaml
rename to openpilot/sunnypilot/sunnylink/settings_ui_src/_macros.yaml
diff --git a/sunnypilot/sunnylink/settings_ui_src/_schemas/macros.schema.json b/openpilot/sunnypilot/sunnylink/settings_ui_src/_schemas/macros.schema.json
similarity index 100%
rename from sunnypilot/sunnylink/settings_ui_src/_schemas/macros.schema.json
rename to openpilot/sunnypilot/sunnylink/settings_ui_src/_schemas/macros.schema.json
diff --git a/sunnypilot/sunnylink/settings_ui_src/_schemas/page.schema.json b/openpilot/sunnypilot/sunnylink/settings_ui_src/_schemas/page.schema.json
similarity index 100%
rename from sunnypilot/sunnylink/settings_ui_src/_schemas/page.schema.json
rename to openpilot/sunnypilot/sunnylink/settings_ui_src/_schemas/page.schema.json
diff --git a/sunnypilot/sunnylink/settings_ui_src/_schemas/rule.schema.json b/openpilot/sunnypilot/sunnylink/settings_ui_src/_schemas/rule.schema.json
similarity index 100%
rename from sunnypilot/sunnylink/settings_ui_src/_schemas/rule.schema.json
rename to openpilot/sunnypilot/sunnylink/settings_ui_src/_schemas/rule.schema.json
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml
similarity index 100%
rename from sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml
rename to openpilot/sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/developer.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/developer.yaml
similarity index 100%
rename from sunnypilot/sunnylink/settings_ui_src/pages/developer.yaml
rename to openpilot/sunnypilot/sunnylink/settings_ui_src/pages/developer.yaml
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/device.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/device.yaml
similarity index 100%
rename from sunnypilot/sunnylink/settings_ui_src/pages/device.yaml
rename to openpilot/sunnypilot/sunnylink/settings_ui_src/pages/device.yaml
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/display.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/display.yaml
similarity index 100%
rename from sunnypilot/sunnylink/settings_ui_src/pages/display.yaml
rename to openpilot/sunnypilot/sunnylink/settings_ui_src/pages/display.yaml
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
similarity index 100%
rename from sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
rename to openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/software.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/software.yaml
similarity index 100%
rename from sunnypilot/sunnylink/settings_ui_src/pages/software.yaml
rename to openpilot/sunnypilot/sunnylink/settings_ui_src/pages/software.yaml
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
similarity index 100%
rename from sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
rename to openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/toggles.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/toggles.yaml
similarity index 100%
rename from sunnypilot/sunnylink/settings_ui_src/pages/toggles.yaml
rename to openpilot/sunnypilot/sunnylink/settings_ui_src/pages/toggles.yaml
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
similarity index 100%
rename from sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
rename to openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
diff --git a/sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml
similarity index 100%
rename from sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml
rename to openpilot/sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml
diff --git a/sunnypilot/sunnylink/statsd.py b/openpilot/sunnypilot/sunnylink/statsd.py
similarity index 97%
rename from sunnypilot/sunnylink/statsd.py
rename to openpilot/sunnypilot/sunnylink/statsd.py
index f1ee18decdda53..7e8faf63271527 100755
--- a/sunnypilot/sunnylink/statsd.py
+++ b/openpilot/sunnypilot/sunnylink/statsd.py
@@ -13,14 +13,14 @@
 from datetime import datetime, UTC
 
 from openpilot.common.params import Params
-from cereal.messaging import SubMaster
+from openpilot.cereal.messaging import SubMaster
 from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware import HARDWARE
 from openpilot.common.utils import atomic_write
-from openpilot.system.version import get_build_metadata
+from openpilot.common.version import get_build_metadata
 from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
-from openpilot.system.statsd import METRIC_TYPE, StatLogSP
+from openpilot.sunnypilot.system.statsd import METRIC_TYPE, StatLogSP
 from openpilot.common.realtime import Ratekeeper
 
 STATSLOGSP = StatLogSP(intercept=False)
diff --git a/sunnypilot/sunnylink/sunnylink_state.py b/openpilot/sunnypilot/sunnylink/sunnylink_state.py
similarity index 99%
rename from sunnypilot/sunnylink/sunnylink_state.py
rename to openpilot/sunnypilot/sunnylink/sunnylink_state.py
index a4a3df3a2be345..7dc553951ed9ec 100644
--- a/sunnypilot/sunnylink/sunnylink_state.py
+++ b/openpilot/sunnypilot/sunnylink/sunnylink_state.py
@@ -11,7 +11,7 @@
 import json
 import pyray as rl
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID, SunnylinkApi
diff --git a/sunnypilot/sunnylink/tests/test_capabilities.py b/openpilot/sunnypilot/sunnylink/tests/test_capabilities.py
similarity index 100%
rename from sunnypilot/sunnylink/tests/test_capabilities.py
rename to openpilot/sunnypilot/sunnylink/tests/test_capabilities.py
diff --git a/sunnypilot/sunnylink/tests/test_compile_settings_ui.py b/openpilot/sunnypilot/sunnylink/tests/test_compile_settings_ui.py
similarity index 100%
rename from sunnypilot/sunnylink/tests/test_compile_settings_ui.py
rename to openpilot/sunnypilot/sunnylink/tests/test_compile_settings_ui.py
diff --git a/sunnypilot/sunnylink/tests/test_settings_changes.py b/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py
similarity index 100%
rename from sunnypilot/sunnylink/tests/test_settings_changes.py
rename to openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py
diff --git a/sunnypilot/sunnylink/tests/test_settings_schema.py b/openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py
similarity index 100%
rename from sunnypilot/sunnylink/tests/test_settings_schema.py
rename to openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py
diff --git a/sunnypilot/sunnylink/tools/apply_macros.py b/openpilot/sunnypilot/sunnylink/tools/apply_macros.py
similarity index 100%
rename from sunnypilot/sunnylink/tools/apply_macros.py
rename to openpilot/sunnypilot/sunnylink/tools/apply_macros.py
diff --git a/sunnypilot/sunnylink/tools/compile_settings_ui.py b/openpilot/sunnypilot/sunnylink/tools/compile_settings_ui.py
similarity index 100%
rename from sunnypilot/sunnylink/tools/compile_settings_ui.py
rename to openpilot/sunnypilot/sunnylink/tools/compile_settings_ui.py
diff --git a/sunnypilot/sunnylink/tools/extract_settings_ui.py b/openpilot/sunnypilot/sunnylink/tools/extract_settings_ui.py
similarity index 100%
rename from sunnypilot/sunnylink/tools/extract_settings_ui.py
rename to openpilot/sunnypilot/sunnylink/tools/extract_settings_ui.py
diff --git a/sunnypilot/sunnylink/tools/generate_settings_schema.py b/openpilot/sunnypilot/sunnylink/tools/generate_settings_schema.py
similarity index 100%
rename from sunnypilot/sunnylink/tools/generate_settings_schema.py
rename to openpilot/sunnypilot/sunnylink/tools/generate_settings_schema.py
diff --git a/sunnypilot/sunnylink/tools/validate_settings_ui.py b/openpilot/sunnypilot/sunnylink/tools/validate_settings_ui.py
similarity index 100%
rename from sunnypilot/sunnylink/tools/validate_settings_ui.py
rename to openpilot/sunnypilot/sunnylink/tools/validate_settings_ui.py
diff --git a/sunnypilot/sunnylink/uploader.py b/openpilot/sunnypilot/sunnylink/uploader.py
similarity index 99%
rename from sunnypilot/sunnylink/uploader.py
rename to openpilot/sunnypilot/sunnylink/uploader.py
index c1da47fa0c6c1d..358e3a88e76703 100755
--- a/sunnypilot/sunnylink/uploader.py
+++ b/openpilot/sunnypilot/sunnylink/uploader.py
@@ -9,8 +9,8 @@
 import datetime
 from collections.abc import Iterator
 
-from cereal import log
-import cereal.messaging as messaging
+from openpilot.cereal import log
+import openpilot.cereal.messaging as messaging
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
 from openpilot.common.utils import get_upload_stream
 from openpilot.common.params import Params
diff --git a/sunnypilot/sunnylink/utils.py b/openpilot/sunnypilot/sunnylink/utils.py
similarity index 98%
rename from sunnypilot/sunnylink/utils.py
rename to openpilot/sunnypilot/sunnylink/utils.py
index 89c3c8a0c8aa38..5588711977fc97 100644
--- a/sunnypilot/sunnylink/utils.py
+++ b/openpilot/sunnypilot/sunnylink/utils.py
@@ -3,7 +3,7 @@
 import json
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID
 from openpilot.common.params import Params, ParamKeyType
-from openpilot.system.version import is_prebuilt
+from openpilot.common.version import is_prebuilt
 
 
 def get_sunnylink_status(params=None) -> tuple[bool, bool, bool]:
diff --git a/sunnypilot/system/__init__.py b/openpilot/sunnypilot/system/__init__.py
similarity index 100%
rename from sunnypilot/system/__init__.py
rename to openpilot/sunnypilot/system/__init__.py
diff --git a/sunnypilot/system/hardware/c3/README.md b/openpilot/sunnypilot/system/hardware/c3/README.md
similarity index 100%
rename from sunnypilot/system/hardware/c3/README.md
rename to openpilot/sunnypilot/system/hardware/c3/README.md
diff --git a/sunnypilot/system/hardware/c3/agnos.json b/openpilot/sunnypilot/system/hardware/c3/agnos.json
similarity index 100%
rename from sunnypilot/system/hardware/c3/agnos.json
rename to openpilot/sunnypilot/system/hardware/c3/agnos.json
diff --git a/sunnypilot/system/hardware/c3/launch_chffrplus.sh b/openpilot/sunnypilot/system/hardware/c3/launch_chffrplus.sh
similarity index 82%
rename from sunnypilot/system/hardware/c3/launch_chffrplus.sh
rename to openpilot/sunnypilot/system/hardware/c3/launch_chffrplus.sh
index 45cc95053772e6..a505e4f1f1b617 100755
--- a/sunnypilot/system/hardware/c3/launch_chffrplus.sh
+++ b/openpilot/sunnypilot/system/hardware/c3/launch_chffrplus.sh
@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 
 SP_C3_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-DIR="$( cd "$SP_C3_DIR/../../../.." >/dev/null 2>&1 && pwd )"
+DIR="$( cd "$SP_C3_DIR/../../../../.." >/dev/null 2>&1 && pwd )"
 
 source "$SP_C3_DIR/launch_env.sh"
 
@@ -19,12 +19,12 @@ function agnos_init {
 
 
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
+    AGNOS_PY="$DIR/openpilot/common/hardware/tici/agnos.py"
     MANIFEST="$SP_C3_DIR/agnos.json"
     if $AGNOS_PY --verify $MANIFEST; then
       sudo reboot
     fi
-    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
+    $DIR/openpilot/common/hardware/tici/updater $AGNOS_PY $MANIFEST
   fi
 }
 
@@ -70,6 +70,14 @@ function launch {
   ln -sfn $(pwd) /data/pythonpath
   export PYTHONPATH="$PWD"
 
+  # submodule package symlinks for PYTHONPATH imports on device.
+  # on PC these come from editable installs via pyproject.toml / uv.
+  ln -sfn msgq_repo/msgq msgq
+  ln -sfn opendbc_repo/opendbc opendbc
+  ln -sfn rednose_repo/rednose rednose
+  ln -sfn teleoprtc_repo/teleoprtc teleoprtc
+  ln -sfn tinygrad_repo/tinygrad tinygrad
+
   # hardware specific init
   if [ -f /AGNOS ]; then
     agnos_init
@@ -79,7 +87,7 @@ function launch {
   tmux capture-pane -pq -S-1000 > /tmp/launch_log
 
   # start manager
-  cd $DIR/system/manager
+  cd $DIR/openpilot/system/manager
   if [ ! -f $DIR/prebuilt ]; then
     ./build.py
   fi
diff --git a/sunnypilot/system/hardware/c3/launch_env.sh b/openpilot/sunnypilot/system/hardware/c3/launch_env.sh
similarity index 100%
rename from sunnypilot/system/hardware/c3/launch_env.sh
rename to openpilot/sunnypilot/system/hardware/c3/launch_env.sh
diff --git a/sunnypilot/system/params_migration.py b/openpilot/sunnypilot/system/params_migration.py
similarity index 100%
rename from sunnypilot/system/params_migration.py
rename to openpilot/sunnypilot/system/params_migration.py
diff --git a/sunnypilot/system/sensord/.gitignore b/openpilot/sunnypilot/system/sensord/.gitignore
similarity index 100%
rename from sunnypilot/system/sensord/.gitignore
rename to openpilot/sunnypilot/system/sensord/.gitignore
diff --git a/sunnypilot/system/sensord/SConscript b/openpilot/sunnypilot/system/sensord/SConscript
similarity index 100%
rename from sunnypilot/system/sensord/SConscript
rename to openpilot/sunnypilot/system/sensord/SConscript
diff --git a/sunnypilot/system/sensord/sensors/bmx055_accel.cc b/openpilot/sunnypilot/system/sensord/sensors/bmx055_accel.cc
similarity index 100%
rename from sunnypilot/system/sensord/sensors/bmx055_accel.cc
rename to openpilot/sunnypilot/system/sensord/sensors/bmx055_accel.cc
diff --git a/sunnypilot/system/sensord/sensors/bmx055_accel.h b/openpilot/sunnypilot/system/sensord/sensors/bmx055_accel.h
similarity index 100%
rename from sunnypilot/system/sensord/sensors/bmx055_accel.h
rename to openpilot/sunnypilot/system/sensord/sensors/bmx055_accel.h
diff --git a/sunnypilot/system/sensord/sensors/bmx055_gyro.cc b/openpilot/sunnypilot/system/sensord/sensors/bmx055_gyro.cc
similarity index 100%
rename from sunnypilot/system/sensord/sensors/bmx055_gyro.cc
rename to openpilot/sunnypilot/system/sensord/sensors/bmx055_gyro.cc
diff --git a/sunnypilot/system/sensord/sensors/bmx055_gyro.h b/openpilot/sunnypilot/system/sensord/sensors/bmx055_gyro.h
similarity index 100%
rename from sunnypilot/system/sensord/sensors/bmx055_gyro.h
rename to openpilot/sunnypilot/system/sensord/sensors/bmx055_gyro.h
diff --git a/sunnypilot/system/sensord/sensors/bmx055_magn.cc b/openpilot/sunnypilot/system/sensord/sensors/bmx055_magn.cc
similarity index 100%
rename from sunnypilot/system/sensord/sensors/bmx055_magn.cc
rename to openpilot/sunnypilot/system/sensord/sensors/bmx055_magn.cc
diff --git a/sunnypilot/system/sensord/sensors/bmx055_magn.h b/openpilot/sunnypilot/system/sensord/sensors/bmx055_magn.h
similarity index 100%
rename from sunnypilot/system/sensord/sensors/bmx055_magn.h
rename to openpilot/sunnypilot/system/sensord/sensors/bmx055_magn.h
diff --git a/sunnypilot/system/sensord/sensors/bmx055_temp.cc b/openpilot/sunnypilot/system/sensord/sensors/bmx055_temp.cc
similarity index 100%
rename from sunnypilot/system/sensord/sensors/bmx055_temp.cc
rename to openpilot/sunnypilot/system/sensord/sensors/bmx055_temp.cc
diff --git a/sunnypilot/system/sensord/sensors/bmx055_temp.h b/openpilot/sunnypilot/system/sensord/sensors/bmx055_temp.h
similarity index 100%
rename from sunnypilot/system/sensord/sensors/bmx055_temp.h
rename to openpilot/sunnypilot/system/sensord/sensors/bmx055_temp.h
diff --git a/sunnypilot/system/sensord/sensors/constants.h b/openpilot/sunnypilot/system/sensord/sensors/constants.h
similarity index 100%
rename from sunnypilot/system/sensord/sensors/constants.h
rename to openpilot/sunnypilot/system/sensord/sensors/constants.h
diff --git a/sunnypilot/system/sensord/sensors/i2c_sensor.cc b/openpilot/sunnypilot/system/sensord/sensors/i2c_sensor.cc
similarity index 100%
rename from sunnypilot/system/sensord/sensors/i2c_sensor.cc
rename to openpilot/sunnypilot/system/sensord/sensors/i2c_sensor.cc
diff --git a/sunnypilot/system/sensord/sensors/i2c_sensor.h b/openpilot/sunnypilot/system/sensord/sensors/i2c_sensor.h
similarity index 100%
rename from sunnypilot/system/sensord/sensors/i2c_sensor.h
rename to openpilot/sunnypilot/system/sensord/sensors/i2c_sensor.h
diff --git a/sunnypilot/system/sensord/sensors/lsm6ds3_accel.cc b/openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_accel.cc
similarity index 100%
rename from sunnypilot/system/sensord/sensors/lsm6ds3_accel.cc
rename to openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_accel.cc
diff --git a/sunnypilot/system/sensord/sensors/lsm6ds3_accel.h b/openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_accel.h
similarity index 100%
rename from sunnypilot/system/sensord/sensors/lsm6ds3_accel.h
rename to openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_accel.h
diff --git a/sunnypilot/system/sensord/sensors/lsm6ds3_gyro.cc b/openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_gyro.cc
similarity index 100%
rename from sunnypilot/system/sensord/sensors/lsm6ds3_gyro.cc
rename to openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_gyro.cc
diff --git a/sunnypilot/system/sensord/sensors/lsm6ds3_gyro.h b/openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_gyro.h
similarity index 100%
rename from sunnypilot/system/sensord/sensors/lsm6ds3_gyro.h
rename to openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_gyro.h
diff --git a/sunnypilot/system/sensord/sensors/lsm6ds3_temp.cc b/openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_temp.cc
similarity index 100%
rename from sunnypilot/system/sensord/sensors/lsm6ds3_temp.cc
rename to openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_temp.cc
diff --git a/sunnypilot/system/sensord/sensors/lsm6ds3_temp.h b/openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_temp.h
similarity index 100%
rename from sunnypilot/system/sensord/sensors/lsm6ds3_temp.h
rename to openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_temp.h
diff --git a/sunnypilot/system/sensord/sensors/mmc5603nj_magn.cc b/openpilot/sunnypilot/system/sensord/sensors/mmc5603nj_magn.cc
similarity index 100%
rename from sunnypilot/system/sensord/sensors/mmc5603nj_magn.cc
rename to openpilot/sunnypilot/system/sensord/sensors/mmc5603nj_magn.cc
diff --git a/sunnypilot/system/sensord/sensors/mmc5603nj_magn.h b/openpilot/sunnypilot/system/sensord/sensors/mmc5603nj_magn.h
similarity index 100%
rename from sunnypilot/system/sensord/sensors/mmc5603nj_magn.h
rename to openpilot/sunnypilot/system/sensord/sensors/mmc5603nj_magn.h
diff --git a/sunnypilot/system/sensord/sensors/sensor.h b/openpilot/sunnypilot/system/sensord/sensors/sensor.h
similarity index 100%
rename from sunnypilot/system/sensord/sensors/sensor.h
rename to openpilot/sunnypilot/system/sensord/sensors/sensor.h
diff --git a/sunnypilot/system/sensord/sensors_qcom2.cc b/openpilot/sunnypilot/system/sensord/sensors_qcom2.cc
similarity index 100%
rename from sunnypilot/system/sensord/sensors_qcom2.cc
rename to openpilot/sunnypilot/system/sensord/sensors_qcom2.cc
diff --git a/sunnypilot/system/sensord/tests/test_sensord.py b/openpilot/sunnypilot/system/sensord/tests/test_sensord.py
similarity index 97%
rename from sunnypilot/system/sensord/tests/test_sensord.py
rename to openpilot/sunnypilot/system/sensord/tests/test_sensord.py
index 9e09930f0cdcdd..98321fb12c43b8 100644
--- a/sunnypilot/system/sensord/tests/test_sensord.py
+++ b/openpilot/sunnypilot/system/sensord/tests/test_sensord.py
@@ -1,12 +1,13 @@
 import os
+import subprocess
 import pytest
 import time
 import numpy as np
 from collections import namedtuple, defaultdict
 
-import cereal.messaging as messaging
-from cereal import log
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.gpio import get_irqs_for_action
 from openpilot.common.timeout import Timeout
 from openpilot.common.hardware import HARDWARE
@@ -110,7 +111,7 @@ def setup_class(cls):
     os.environ["LSM_SELF_TEST"] = "1"
 
     # read initial sensor values every test case can use
-    os.system("pkill -f \\\\./sensord")
+    subprocess.run(["pkill", "-f", r"\\./sensord"], check=False)
     try:
       managed_processes["sensord"].start()
       cls.sample_secs = int(os.getenv("SAMPLE_SECS", "10"))
diff --git a/sunnypilot/system/sensord/tests/ttff_test.py b/openpilot/sunnypilot/system/sensord/tests/ttff_test.py
similarity index 96%
rename from sunnypilot/system/sensord/tests/ttff_test.py
rename to openpilot/sunnypilot/system/sensord/tests/ttff_test.py
index a9cc16d7079de7..cc8408055cf78a 100755
--- a/sunnypilot/system/sensord/tests/ttff_test.py
+++ b/openpilot/sunnypilot/system/sensord/tests/ttff_test.py
@@ -3,7 +3,7 @@
 import time
 import atexit
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from openpilot.system.manager.process_config import managed_processes
 
 TIMEOUT = 10*60
diff --git a/system/statsd.py b/openpilot/sunnypilot/system/statsd.py
similarity index 98%
rename from system/statsd.py
rename to openpilot/sunnypilot/system/statsd.py
index 4b2e67caeb375b..ff77a5a57f011d 100755
--- a/system/statsd.py
+++ b/openpilot/sunnypilot/system/statsd.py
@@ -13,12 +13,12 @@
 from typing import NoReturn
 
 from openpilot.common.params import Params
-from cereal.messaging import SubMaster
+from openpilot.cereal.messaging import SubMaster
 from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware import HARDWARE
 from openpilot.common.utils import atomic_write
-from openpilot.system.version import get_build_metadata
+from openpilot.common.version import get_build_metadata
 from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
 
 
diff --git a/sunnypilot/system/updated/tests/test_sp_branch_migrations.py b/openpilot/sunnypilot/system/updated/tests/test_sp_branch_migrations.py
similarity index 100%
rename from sunnypilot/system/updated/tests/test_sp_branch_migrations.py
rename to openpilot/sunnypilot/system/updated/tests/test_sp_branch_migrations.py
diff --git a/sunnypilot/tools/__init__.py b/openpilot/sunnypilot/tools/__init__.py
similarity index 100%
rename from sunnypilot/tools/__init__.py
rename to openpilot/sunnypilot/tools/__init__.py
diff --git a/sunnypilot/tools/memory_profiler/__init__.py b/openpilot/sunnypilot/tools/memory_profiler/__init__.py
similarity index 100%
rename from sunnypilot/tools/memory_profiler/__init__.py
rename to openpilot/sunnypilot/tools/memory_profiler/__init__.py
diff --git a/sunnypilot/tools/memory_profiler/mem_usage.py b/openpilot/sunnypilot/tools/memory_profiler/mem_usage.py
similarity index 100%
rename from sunnypilot/tools/memory_profiler/mem_usage.py
rename to openpilot/sunnypilot/tools/memory_profiler/mem_usage.py
diff --git a/sunnypilot/tools/pull_footage.py b/openpilot/sunnypilot/tools/pull_footage.py
similarity index 100%
rename from sunnypilot/tools/pull_footage.py
rename to openpilot/sunnypilot/tools/pull_footage.py
diff --git a/openpilot/system/athena/athenad.py b/openpilot/system/athena/athenad.py
index c6508f39fde867..292dcdd174a22b 100755
--- a/openpilot/system/athena/athenad.py
+++ b/openpilot/system/athena/athenad.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 from __future__ import annotations
 
+import base64
 import hashlib
 import itertools
 import json
@@ -10,6 +11,7 @@
 import select
 import socket
 import sys
+import tempfile
 import threading
 import time
 import gzip
@@ -38,7 +40,7 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.version import get_build_metadata
 from openpilot.common.hardware.hw import Paths
-from openpilot.system.athena.rpc import dispatcher, dumps_call, handle, is_call, is_response, loads
+from openpilot.system.athena.rpc import dispatcher, handle, is_call, is_response, loads
 
 
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
@@ -624,24 +626,6 @@ def startStream(sdp: str, enabled: bool) -> dict:
   return post_stream_request(StreamRequestBody(sdp, "wideRoad", enabled, bridge_services_in, ["carState", "deviceState"]))
 
 
-@dispatcher.add_method
-def takeSnapshot() -> str | dict[str, str] | None:
-  from openpilot.system.camerad.snapshot import jpeg_write, snapshot
-  ret = snapshot()
-  if ret is not None:
-    def b64jpeg(x):
-      if x is not None:
-        f = io.BytesIO()
-        jpeg_write(f, x)
-        return base64.b64encode(f.getvalue()).decode("utf-8")
-      else:
-        return None
-    return {'jpegBack': b64jpeg(ret[0]),
-            'jpegFront': b64jpeg(ret[1])}
-  else:
-    raise Exception("not available while camerad is started")
-
-
 def get_logs_to_send_sorted(log_attr_name=LOG_ATTR_NAME) -> list[str]:
   # TODO: scan once then use inotify to detect file creation/deletion
   curr_time = int(time.time())  # noqa: TID251
diff --git a/openpilot/system/athena/manage_athenad.py b/openpilot/system/athena/manage_athenad.py
index 7ab88fb67ece75..3f0d6adcd36080 100755
--- a/openpilot/system/athena/manage_athenad.py
+++ b/openpilot/system/athena/manage_athenad.py
@@ -13,7 +13,7 @@
 
 
 def main():
-  manage_athenad("DongleId", ATHENA_MGR_PID_PARAM, 'athenad', 'system.athena.athenad')
+  manage_athenad("DongleId", ATHENA_MGR_PID_PARAM, 'athenad', 'openpilot.system.athena.athenad')
 
 
 def manage_athenad(dongle_id_param, pid_param, process_name, target):
diff --git a/openpilot/system/hardware/hardwared.py b/openpilot/system/hardware/hardwared.py
index 165bdd6d1623a1..e5b3d8020c9bb7 100755
--- a/openpilot/system/hardware/hardwared.py
+++ b/openpilot/system/hardware/hardwared.py
@@ -15,15 +15,16 @@
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_HW
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.common.hardware import HARDWARE, TICI, PC
+from openpilot.common.hardware import HARDWARE, TICI
 from openpilot.common.hardware.usb import get_usb_state, set_usb_state
 from openpilot.common.linux import LinuxSystemStats
 from openpilot.system.loggerd.config import get_available_percent
 from openpilot.common.swaglog import cloudlog
+from openpilot.sunnypilot.system.statsd import statlog
 from openpilot.system.hardware.power_monitoring import PowerMonitoring
 from openpilot.system.hardware.fan_controller import FanController
 from openpilot.common.version import terms_version, training_version, get_build_metadata, terms_version_sp
-from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
+
 
 ThermalStatus = log.DeviceState.ThermalStatus
 NetworkType = log.DeviceState.NetworkType
@@ -379,9 +380,11 @@ def hardware_thread(end_event, hw_queue) -> None:
     msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
     msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.get_car_battery_capacity())
     current_power_draw = HARDWARE.get_current_power_draw()
+    statlog.sample("power_draw", current_power_draw)
     msg.deviceState.powerDrawW = current_power_draw
 
     som_power_draw = HARDWARE.get_som_power_draw()
+    statlog.sample("som_power_draw", som_power_draw)
     msg.deviceState.somPowerDrawW = som_power_draw
 
     # Check if we need to shut down
@@ -399,6 +402,23 @@ def hardware_thread(end_event, hw_queue) -> None:
     msg.deviceState.thermalStatus = thermal_status
     pm.send("deviceState", msg)
 
+    statlog.gauge("free_space_percent", msg.deviceState.freeSpacePercent)
+    statlog.gauge("gpu_usage_percent", msg.deviceState.gpuUsagePercent)
+    statlog.gauge("memory_usage_percent", msg.deviceState.memoryUsagePercent)
+    for i, usage in enumerate(msg.deviceState.cpuUsagePercent):
+      statlog.gauge(f"cpu{i}_usage_percent", usage)
+    for i, temp in enumerate(msg.deviceState.cpuTempC):
+      statlog.gauge(f"cpu{i}_temperature", temp)
+    for i, temp in enumerate(msg.deviceState.gpuTempC):
+      statlog.gauge(f"gpu{i}_temperature", temp)
+    statlog.gauge("memory_temperature", msg.deviceState.memoryTempC)
+    for i, temp in enumerate(msg.deviceState.pmicTempC):
+      statlog.gauge(f"pmic{i}_temperature", temp)
+    for i, temp in enumerate(last_hw_state.modem_temps):
+      statlog.gauge(f"modem_temperature{i}", temp)
+    statlog.gauge("fan_speed_percent_desired", msg.deviceState.fanSpeedPercentDesired)
+    statlog.gauge("screen_brightness_percent", msg.deviceState.screenBrightnessPercent)
+
     # report to server once every 10 minutes, or every 1s when thermally blocked
     rising_edge_started = should_start and not should_start_prev
     status_packet_interval = 1. if show_alert else 600.
diff --git a/openpilot/system/hardware/power_monitoring.py b/openpilot/system/hardware/power_monitoring.py
index 0c265697313e48..ca3390b8f04fbf 100644
--- a/openpilot/system/hardware/power_monitoring.py
+++ b/openpilot/system/hardware/power_monitoring.py
@@ -4,6 +4,7 @@
 from openpilot.common.params import Params
 from openpilot.common.hardware import HARDWARE
 from openpilot.common.swaglog import cloudlog
+from openpilot.sunnypilot.system.statsd import statlog
 
 CAR_VOLTAGE_LOW_PASS_K = 0.011 # LPF gain for 45s tau (dt/tau / (dt/tau + 1))
 
@@ -49,6 +50,7 @@ def calculate(self, voltage: int | None, ignition: bool):
       # Low-pass battery voltage
       self.car_voltage_instant_mV = voltage
       self.car_voltage_mV = ((voltage * CAR_VOLTAGE_LOW_PASS_K) + (self.car_voltage_mV * (1 - CAR_VOLTAGE_LOW_PASS_K)))
+      statlog.gauge("car_voltage", self.car_voltage_mV / 1e3)
 
       # Cap the car battery power and save it in a param every 10-ish seconds
       self.car_battery_capacity_uWh = max(self.car_battery_capacity_uWh, 0)
diff --git a/openpilot/system/manager/process_config.py b/openpilot/system/manager/process_config.py
index 655d1c4e29ee14..a72675385dd59e 100644
--- a/openpilot/system/manager/process_config.py
+++ b/openpilot/system/manager/process_config.py
@@ -3,9 +3,16 @@
 import platform
 
 from opendbc.car.structs import car
+from openpilot.cereal import custom
 from openpilot.common.params import Params
 from openpilot.common.hardware import PC, TICI
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
+from openpilot.common.hardware.hw import Paths
+
+from openpilot.sunnypilot.mapd.mapd_manager import MAPD_PATH
+
+from openpilot.sunnypilot.models.helpers import get_active_model_runner
+from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
 
@@ -61,6 +68,42 @@ def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
 def livestream(started: bool, params: Params, CP: car.CarParams) -> bool:
   return params.get_bool("IsLiveStreaming")
 
+def use_github_runner(started, params, CP: car.CarParams) -> bool:
+  return not PC and params.get_bool("EnableGithubRunner") and (
+    not params.get_bool("NetworkMetered") and not params.get_bool("GithubRunnerSufficientVoltage"))
+
+def use_copyparty(started, params, CP: car.CarParams) -> bool:
+  return bool(params.get_bool("EnableCopyparty"))
+
+def sunnylink_ready_shim(started, params, CP: car.CarParams) -> bool:
+  """Shim for sunnylink_ready to match the process manager signature."""
+  return sunnylink_ready(params)
+
+def sunnylink_need_register_shim(started, params, CP: car.CarParams) -> bool:
+  """Shim for sunnylink_need_register to match the process manager signature."""
+  return sunnylink_need_register(params)
+
+def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
+  """Shim for use_sunnylink_uploader to match the process manager signature."""
+  return use_sunnylink_uploader(params)
+
+def is_tinygrad_model(started, params, CP: car.CarParams) -> bool:
+  """Check if the active model runner is SNPE."""
+  return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.tinygrad)
+
+def is_stock_model(started, params, CP: car.CarParams) -> bool:
+  """Check if the active model runner is stock."""
+  return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.stock)
+
+def mapd_ready(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return bool(os.path.exists(Paths.mapd_root()))
+
+def uploader_ready(started: bool, params: Params, CP: car.CarParams) -> bool:
+  if not params.get_bool("OnroadUploads"):
+    return only_offroad(started, params, CP)
+
+  return always_run(started, params, CP)
+
 def or_(*fns):
   return lambda *args: operator.or_(*(fn(*args) for fn in fns))
 
@@ -85,7 +128,7 @@ def not_(*fns):
   PythonProcess("micd", "openpilot.system.micd", iscar),
   PythonProcess("timed", "openpilot.system.timed", always_run, enabled=not PC),
 
-  PythonProcess("modeld", "openpilot.selfdrive.modeld.modeld", only_onroad),
+  PythonProcess("modeld", "openpilot.selfdrive.modeld.modeld", and_(only_onroad, is_stock_model)),
   PythonProcess("dmonitoringmodeld", "openpilot.selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
 
   PythonProcess("sensord", "openpilot.system.sensord.sensord", only_onroad, enabled=not PC),
@@ -115,13 +158,54 @@ def not_(*fns):
   PythonProcess("modem", "openpilot.common.hardware.tici.modem", always_run, enabled=TICI),
   PythonProcess("tombstoned", "openpilot.system.tombstoned", always_run, enabled=not PC),
   PythonProcess("updated", "openpilot.system.updated.updated", only_offroad, enabled=not PC),
-  PythonProcess("uploader", "openpilot.system.loggerd.uploader", always_run),
+  PythonProcess("uploader", "openpilot.system.loggerd.uploader", uploader_ready),
+  PythonProcess("statsd", "openpilot.sunnypilot.system.statsd", always_run),
   PythonProcess("feedbackd", "openpilot.selfdrive.ui.feedback.feedbackd", only_onroad),
 
   # debug procs
   NativeProcess("bridge", "openpilot/cereal/messaging", ["./bridge"], notcar),
   PythonProcess("webrtcd", "openpilot.system.webrtc.webrtcd", or_(and_(livestream, not_(iscar)), notcar)),
   PythonProcess("joystick", "openpilot.tools.joystick.joystick_control", and_(joystick, iscar)),
+
+  # sunnylink <3
+  DaemonProcess("manage_sunnylinkd", "openpilot.sunnypilot.sunnylink.athena.manage_sunnylinkd", "SunnylinkdPid"),
+  PythonProcess("sunnylink_registration_manager", "openpilot.sunnypilot.sunnylink.registration_manager", sunnylink_need_register_shim),
+  PythonProcess("statsd_sp", "openpilot.sunnypilot.sunnylink.statsd", and_(always_run, sunnylink_ready_shim)),
 ]
 
+# sunnypilot
+procs += [
+  # Models
+  PythonProcess("models_manager", "openpilot.sunnypilot.models.manager", only_offroad),
+  NativeProcess("modeld_tinygrad", "openpilot/sunnypilot/modeld_v2", ["./modeld"], and_(only_onroad, is_tinygrad_model)),
+
+  # Backup
+  PythonProcess("backup_manager", "openpilot.sunnypilot.sunnylink.backups.manager", and_(only_offroad, sunnylink_ready_shim)),
+
+  # mapd
+  NativeProcess("mapd", Paths.mapd_root(), ["bash", "-c", f"{MAPD_PATH} > /dev/null 2>&1"], mapd_ready),
+  PythonProcess("mapd_manager", "openpilot.sunnypilot.mapd.mapd_manager", always_run),
+
+  # locationd
+  NativeProcess("locationd_llk", "openpilot/sunnypilot/selfdrive/locationd", ["./locationd"], only_onroad),
+]
+
+if os.path.exists("./github_runner.sh"):
+  procs += [NativeProcess("github_runner_start", "openpilot/system/manager",
+                          ["./github_runner.sh", "start"], and_(only_offroad, use_github_runner), sigkill=False)]
+
+if os.path.exists("../../sunnypilot/sunnylink/uploader.py"):
+  procs += [PythonProcess("sunnylink_uploader", "openpilot.sunnypilot.sunnylink.uploader", use_sunnylink_uploader_shim)]
+
+if os.path.exists("../../third_party/copyparty/copyparty-sfx.py"):
+  sunnypilot_root = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", ".."))
+  copyparty_args = [f"-v{Paths.crash_log_root()}:/swaglogs:r"]
+  copyparty_args += [f"-v{Paths.log_root()}:/routes:r"]
+  copyparty_args += [f"-v{Paths.model_root()}:/models:rw"]
+  copyparty_args += [f"-v{sunnypilot_root}:/sunnypilot:rw"]
+  copyparty_args += ["-p8080"]
+  copyparty_args += ["-z"]
+  copyparty_args += ["-q"]
+  procs += [NativeProcess("copyparty-sfx", "openpilot/third_party/copyparty", ["./copyparty-sfx.py", *copyparty_args], and_(only_offroad, use_copyparty))]
+
 managed_processes = {p.name: p for p in procs}
diff --git a/system/ui/sunnypilot/lib/application.py b/openpilot/system/ui/sunnypilot/lib/application.py
similarity index 100%
rename from system/ui/sunnypilot/lib/application.py
rename to openpilot/system/ui/sunnypilot/lib/application.py
diff --git a/system/ui/sunnypilot/lib/styles.py b/openpilot/system/ui/sunnypilot/lib/styles.py
similarity index 100%
rename from system/ui/sunnypilot/lib/styles.py
rename to openpilot/system/ui/sunnypilot/lib/styles.py
diff --git a/system/ui/sunnypilot/lib/utils.py b/openpilot/system/ui/sunnypilot/lib/utils.py
similarity index 100%
rename from system/ui/sunnypilot/lib/utils.py
rename to openpilot/system/ui/sunnypilot/lib/utils.py
diff --git a/system/ui/sunnypilot/widgets/__init__.py b/openpilot/system/ui/sunnypilot/widgets/__init__.py
similarity index 100%
rename from system/ui/sunnypilot/widgets/__init__.py
rename to openpilot/system/ui/sunnypilot/widgets/__init__.py
diff --git a/system/ui/sunnypilot/widgets/helpers/__init__.py b/openpilot/system/ui/sunnypilot/widgets/helpers/__init__.py
similarity index 100%
rename from system/ui/sunnypilot/widgets/helpers/__init__.py
rename to openpilot/system/ui/sunnypilot/widgets/helpers/__init__.py
diff --git a/system/ui/sunnypilot/widgets/helpers/fuzzy_search.py b/openpilot/system/ui/sunnypilot/widgets/helpers/fuzzy_search.py
similarity index 100%
rename from system/ui/sunnypilot/widgets/helpers/fuzzy_search.py
rename to openpilot/system/ui/sunnypilot/widgets/helpers/fuzzy_search.py
diff --git a/system/ui/sunnypilot/widgets/helpers/star_icon.py b/openpilot/system/ui/sunnypilot/widgets/helpers/star_icon.py
similarity index 100%
rename from system/ui/sunnypilot/widgets/helpers/star_icon.py
rename to openpilot/system/ui/sunnypilot/widgets/helpers/star_icon.py
diff --git a/system/ui/sunnypilot/widgets/html_render.py b/openpilot/system/ui/sunnypilot/widgets/html_render.py
similarity index 100%
rename from system/ui/sunnypilot/widgets/html_render.py
rename to openpilot/system/ui/sunnypilot/widgets/html_render.py
diff --git a/system/ui/sunnypilot/widgets/input_dialog.py b/openpilot/system/ui/sunnypilot/widgets/input_dialog.py
similarity index 100%
rename from system/ui/sunnypilot/widgets/input_dialog.py
rename to openpilot/system/ui/sunnypilot/widgets/input_dialog.py
diff --git a/system/ui/sunnypilot/widgets/list_view.py b/openpilot/system/ui/sunnypilot/widgets/list_view.py
similarity index 100%
rename from system/ui/sunnypilot/widgets/list_view.py
rename to openpilot/system/ui/sunnypilot/widgets/list_view.py
diff --git a/system/ui/sunnypilot/widgets/option_control.py b/openpilot/system/ui/sunnypilot/widgets/option_control.py
similarity index 100%
rename from system/ui/sunnypilot/widgets/option_control.py
rename to openpilot/system/ui/sunnypilot/widgets/option_control.py
diff --git a/system/ui/sunnypilot/widgets/progress_bar.py b/openpilot/system/ui/sunnypilot/widgets/progress_bar.py
similarity index 100%
rename from system/ui/sunnypilot/widgets/progress_bar.py
rename to openpilot/system/ui/sunnypilot/widgets/progress_bar.py
diff --git a/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py b/openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
similarity index 100%
rename from system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
rename to openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
diff --git a/system/ui/sunnypilot/widgets/toggle.py b/openpilot/system/ui/sunnypilot/widgets/toggle.py
similarity index 100%
rename from system/ui/sunnypilot/widgets/toggle.py
rename to openpilot/system/ui/sunnypilot/widgets/toggle.py
diff --git a/system/ui/sunnypilot/widgets/tree_dialog.py b/openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
similarity index 100%
rename from system/ui/sunnypilot/widgets/tree_dialog.py
rename to openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
diff --git a/third_party/copyparty/copyparty-sfx.py b/openpilot/third_party/copyparty/copyparty-sfx.py
similarity index 100%
rename from third_party/copyparty/copyparty-sfx.py
rename to openpilot/third_party/copyparty/copyparty-sfx.py
diff --git a/third_party/mapd_pfeiferj/README.md b/openpilot/third_party/mapd_pfeiferj/README.md
similarity index 100%
rename from third_party/mapd_pfeiferj/README.md
rename to openpilot/third_party/mapd_pfeiferj/README.md
diff --git a/third_party/mapd_pfeiferj/mapd b/openpilot/third_party/mapd_pfeiferj/mapd
similarity index 100%
rename from third_party/mapd_pfeiferj/mapd
rename to openpilot/third_party/mapd_pfeiferj/mapd
diff --git a/panda b/panda
index d994e8e8009d93..61b050f1bd36fa 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit d994e8e8009d934a94c3a94c863b559118353bdd
+Subproject commit 61b050f1bd36fad04d4ceccca8a72c92ee1422df
diff --git a/release/ci/publish.sh b/release/ci/publish.sh
index 315ae22bfe4c2b..27904caf5d53b9 100755
--- a/release/ci/publish.sh
+++ b/release/ci/publish.sh
@@ -30,7 +30,7 @@ if [ -z "$GIT_ORIGIN" ]; then
 fi
 
 # "Tagging"
-echo "#define SUNNYPILOT_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/sunnypilot/common/version.h
+echo "#define SUNNYPILOT_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/openpilot/sunnypilot/common/version.h
 
 ## set git identity
 #source $DIR/identity.sh
@@ -55,7 +55,7 @@ git add -f .
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/sunnypilot/common/version.h)
+SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/openpilot/sunnypilot/common/version.h)
 
 # Commit with detailed message
 git commit -a -m "sunnypilot v$VERSION
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index 920cdd2c777a9f..024a7439129b0f 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -102,7 +102,8 @@ done
 RUN=$([ -z "$RUN" ] && echo "" || echo "!($(echo $RUN | sed 's/ /|/g'))")
 SKIP="@($(echo $SKIP | sed 's/ /|/g'))"
 
-GIT_FILES="$(git ls-files openpilot)"
+IGNORED_DIRS="^openpilot/third_party/.*"
+GIT_FILES="$(git ls-files openpilot | grep -vE "$IGNORED_DIRS")"
 ALL_FILES=""
 for f in $GIT_FILES; do
   if [[ -f $f ]]; then
diff --git a/sunnypilot/selfdrive/car/car_list.json b/sunnypilot/selfdrive/car/car_list.json
deleted file mode 120000
index a4ae7b75f9629a..00000000000000
--- a/sunnypilot/selfdrive/car/car_list.json
+++ /dev/null
@@ -1 +0,0 @@
-../../../opendbc_repo/opendbc/sunnypilot/car/car_list.json
\ No newline at end of file
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
deleted file mode 100644
index 510395b93b2846..00000000000000
--- a/system/manager/process_config.py
+++ /dev/null
@@ -1,209 +0,0 @@
-import os
-import operator
-import platform
-
-from cereal import car, custom
-from openpilot.common.params import Params
-from openpilot.common.hardware import PC, TICI
-from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
-from openpilot.common.hardware.hw import Paths
-
-from openpilot.sunnypilot.mapd.mapd_manager import MAPD_PATH
-
-from openpilot.sunnypilot.models.helpers import get_active_model_runner
-from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
-
-WEBCAM = os.getenv("USE_WEBCAM") is not None
-
-def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return started or params.get_bool("IsDriverViewEnabled")
-
-def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return started and CP.notCar
-
-def iscar(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return started and not CP.notCar
-
-def logging(started: bool, params: Params, CP: car.CarParams) -> bool:
-  run = (not CP.notCar) or not params.get_bool("DisableLogging")
-  return started and run
-
-def ublox_available() -> bool:
-  return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
-
-def ublox(started: bool, params: Params, CP: car.CarParams) -> bool:
-  use_ublox = ublox_available()
-  if use_ublox != params.get_bool("UbloxAvailable"):
-    params.put_bool("UbloxAvailable", use_ublox, block=True)
-  return started and use_ublox
-
-def joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return started and params.get_bool("JoystickDebugMode")
-
-def not_joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return started and not params.get_bool("JoystickDebugMode")
-
-def long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return started and params.get_bool("LongitudinalManeuverMode")
-
-def lat_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return started and params.get_bool("LateralManeuverMode")
-
-def not_long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return started and not params.get_bool("LongitudinalManeuverMode")
-
-def qcomgps(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return started and not ublox_available()
-
-def always_run(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return True
-
-def only_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return started
-
-def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return not started
-
-def livestream(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return params.get_bool("IsLiveStreaming")
-
-def use_github_runner(started, params, CP: car.CarParams) -> bool:
-  return not PC and params.get_bool("EnableGithubRunner") and (
-    not params.get_bool("NetworkMetered") and not params.get_bool("GithubRunnerSufficientVoltage"))
-
-def use_copyparty(started, params, CP: car.CarParams) -> bool:
-  return bool(params.get_bool("EnableCopyparty"))
-
-def sunnylink_ready_shim(started, params, CP: car.CarParams) -> bool:
-  """Shim for sunnylink_ready to match the process manager signature."""
-  return sunnylink_ready(params)
-
-def sunnylink_need_register_shim(started, params, CP: car.CarParams) -> bool:
-  """Shim for sunnylink_need_register to match the process manager signature."""
-  return sunnylink_need_register(params)
-
-def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
-  """Shim for use_sunnylink_uploader to match the process manager signature."""
-  return use_sunnylink_uploader(params)
-
-def is_tinygrad_model(started, params, CP: car.CarParams) -> bool:
-  """Check if the active model runner is SNPE."""
-  return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.tinygrad)
-
-def is_stock_model(started, params, CP: car.CarParams) -> bool:
-  """Check if the active model runner is stock."""
-  return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.stock)
-
-def mapd_ready(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return bool(os.path.exists(Paths.mapd_root()))
-
-def uploader_ready(started: bool, params: Params, CP: car.CarParams) -> bool:
-  if not params.get_bool("OnroadUploads"):
-    return only_offroad(started, params, CP)
-
-  return always_run(started, params, CP)
-
-def or_(*fns):
-  return lambda *args: operator.or_(*(fn(*args) for fn in fns))
-
-def and_(*fns):
-  return lambda *args: operator.and_(*(fn(*args) for fn in fns))
-
-def not_(*fns):
-  return lambda *args: operator.not_(*(fn(*args) for fn in fns))
-
-procs = [
-  DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
-
-  NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
-  NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
-  NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], or_(and_(livestream, not_(iscar)), notcar)),
-  PythonProcess("logmessaged", "system.logmessaged", always_run),
-
-  NativeProcess("camerad", "system/camerad", ["./camerad"], or_(driverview, livestream), enabled=not WEBCAM),
-  PythonProcess("webcamerad", "system.camerad.webcam.camerad", driverview, enabled=WEBCAM),
-  PythonProcess("proclogd", "system.proclogd", only_onroad, enabled=platform.system() != "Darwin"),
-  PythonProcess("journald", "system.journald", only_onroad, platform.system() != "Darwin"),
-  PythonProcess("micd", "system.micd", iscar),
-  PythonProcess("timed", "system.timed", always_run, enabled=not PC),
-
-  PythonProcess("modeld", "selfdrive.modeld.modeld", and_(only_onroad, is_stock_model)),
-  PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
-
-  PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
-  PythonProcess("ui", "selfdrive.ui.ui", always_run, restart_if_crash=True),
-  PythonProcess("soundd", "selfdrive.ui.soundd", driverview),
-  PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
-  NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
-  PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
-  PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
-  PythonProcess("controlsd", "selfdrive.controls.controlsd", and_(not_joystick, iscar)),
-  PythonProcess("joystickd", "tools.joystick.joystickd", or_(joystick, notcar)),
-  PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
-  PythonProcess("card", "selfdrive.car.card", only_onroad),
-  PythonProcess("deleter", "system.loggerd.deleter", always_run),
-  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(WEBCAM or not PC)),
-  PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
-  PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
-  PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
-  PythonProcess("lagd", "selfdrive.locationd.lagd", only_onroad),
-  PythonProcess("ubloxd", "system.ubloxd.ubloxd", ublox, enabled=TICI),
-  PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
-  PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),
-  PythonProcess("maneuversd", "tools.longitudinal_maneuvers.maneuversd", long_maneuver),
-  PythonProcess("lateral_maneuversd", "tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
-  PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
-  PythonProcess("hardwared", "system.hardware.hardwared", always_run),
-  PythonProcess("modem", "common.hardware.tici.modem", always_run, enabled=TICI),
-  PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
-  PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
-  PythonProcess("uploader", "system.loggerd.uploader", uploader_ready),
-  PythonProcess("statsd", "system.statsd", always_run),
-  PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad),
-
-  # debug procs
-  NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
-  PythonProcess("webrtcd", "system.webrtc.webrtcd", or_(and_(livestream, not_(iscar)), notcar)),
-  PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
-
-  # sunnylink <3
-  DaemonProcess("manage_sunnylinkd", "sunnypilot.sunnylink.athena.manage_sunnylinkd", "SunnylinkdPid"),
-  PythonProcess("sunnylink_registration_manager", "sunnypilot.sunnylink.registration_manager", sunnylink_need_register_shim),
-  PythonProcess("statsd_sp", "sunnypilot.sunnylink.statsd", and_(always_run, sunnylink_ready_shim)),
-]
-
-# sunnypilot
-procs += [
-  # Models
-  PythonProcess("models_manager", "sunnypilot.models.manager", only_offroad),
-  NativeProcess("modeld_tinygrad", "sunnypilot/modeld_v2", ["./modeld"], and_(only_onroad, is_tinygrad_model)),
-
-  # Backup
-  PythonProcess("backup_manager", "sunnypilot.sunnylink.backups.manager", and_(only_offroad, sunnylink_ready_shim)),
-
-  # mapd
-  NativeProcess("mapd", Paths.mapd_root(), ["bash", "-c", f"{MAPD_PATH} > /dev/null 2>&1"], mapd_ready),
-  PythonProcess("mapd_manager", "sunnypilot.mapd.mapd_manager", always_run),
-
-  # locationd
-  NativeProcess("locationd_llk", "sunnypilot/selfdrive/locationd", ["./locationd"], only_onroad),
-]
-
-if os.path.exists("./github_runner.sh"):
-  procs += [NativeProcess("github_runner_start", "system/manager", ["./github_runner.sh", "start"], and_(only_offroad, use_github_runner), sigkill=False)]
-
-if os.path.exists("../../sunnypilot/sunnylink/uploader.py"):
-  procs += [PythonProcess("sunnylink_uploader", "sunnypilot.sunnylink.uploader", use_sunnylink_uploader_shim)]
-
-if os.path.exists("../../third_party/copyparty/copyparty-sfx.py"):
-  sunnypilot_root = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", ".."))
-  copyparty_args = [f"-v{Paths.crash_log_root()}:/swaglogs:r"]
-  copyparty_args += [f"-v{Paths.log_root()}:/routes:r"]
-  copyparty_args += [f"-v{Paths.model_root()}:/models:rw"]
-  copyparty_args += [f"-v{sunnypilot_root}:/sunnypilot:rw"]
-  copyparty_args += ["-p8080"]
-  copyparty_args += ["-z"]
-  copyparty_args += ["-q"]
-  procs += [NativeProcess("copyparty-sfx", "third_party/copyparty", ["./copyparty-sfx.py", *copyparty_args], and_(only_offroad, use_copyparty))]
-
-managed_processes = {p.name: p for p in procs}
diff --git a/uv.lock b/uv.lock
index 2284243b55030b..d9adb09f0bd0cc 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1032,7 +1032,6 @@ dependencies = [
     { name = "libusb-package" },
     { name = "libusb1" },
     { name = "opendbc" },
-    { name = "spidev", marker = "sys_platform == 'linux'" },
 ]
 
 [package.metadata]
@@ -1043,7 +1042,7 @@ requires-dist = [
     { name = "gcc-arm-none-eabi", marker = "extra == 'dev'", git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi" },
     { name = "libusb-package" },
     { name = "libusb1" },
-    { name = "opendbc", git = "https://github.com/commaai/opendbc.git?rev=master" },
+    { name = "opendbc", git = "https://github.com/sunnypilot/opendbc.git?rev=master" },
     { name = "pycryptodome", marker = "extra == 'dev'", specifier = ">=3.9.8" },
     { name = "pytest", marker = "extra == 'dev'" },
     { name = "pytest-mock", marker = "extra == 'dev'" },
@@ -1052,7 +1051,6 @@ requires-dist = [
     { name = "ruff", marker = "extra == 'dev'" },
     { name = "scons", marker = "extra == 'dev'" },
     { name = "setuptools", marker = "extra == 'dev'" },
-    { name = "spidev", marker = "sys_platform == 'linux'" },
 ]
 provides-extras = ["dev"]
 
@@ -1310,7 +1308,7 @@ wheels = [
 
 [[package]]
 name = "pytest-xdist"
-version = "3.7.1.dev24+g2b4372bd6"
+version = "3.7.1.dev24+g2b4372b"
 source = { git = "https://github.com/sshane/pytest-xdist?rev=2b4372bd62699fb412c4fe2f95bf9f01bd2018da#2b4372bd62699fb412c4fe2f95bf9f01bd2018da" }
 dependencies = [
     { name = "execnet" },
@@ -1541,12 +1539,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/4e/39/a61d4b83a7746b70d23d9173be688c0c6bfc7173772344b7442c2c155497/sounddevice-0.5.5-py3-none-win_arm64.whl", hash = "sha256:3861901ddd8230d2e0e8ae62ac320cdd4c688d81df89da036dcb812f757bb3e6", size = 317115, upload-time = "2026-01-23T18:36:42.235Z" },
 ]
 
-[[package]]
-name = "spidev"
-version = "3.8"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/67/87/039b6eeea781598015b538691bc174cc0bf77df9d4d2d3b8bf9245c0de8c/spidev-3.8.tar.gz", hash = "sha256:2bc02fb8c6312d519ebf1f4331067427c0921d3f77b8bcaf05189a2e8b8382c0", size = 13893, upload-time = "2025-09-15T18:56:20.672Z" }
-
 [[package]]
 name = "sympy"
 version = "1.14.0"
@@ -1586,7 +1578,7 @@ provides-extras = ["dev"]
 
 [[package]]
 name = "tinygrad"
-version = "0.13.0"
+version = "0.12.0"
 source = { editable = "tinygrad_repo" }
 
 [package.metadata]
@@ -1633,7 +1625,6 @@ requires-dist = [
     { name = "tiktoken", marker = "extra == 'testing'" },
     { name = "tinygrad", extras = ["testing-minimal"], marker = "extra == 'testing-unit'" },
     { name = "tinygrad", extras = ["testing-unit"], marker = "extra == 'testing'" },
-    { name = "tinymesa", marker = "extra == 'mesa'", specifier = "==25.2.7.2" },
     { name = "torch", marker = "extra == 'testing-minimal'", specifier = "==2.9.1" },
     { name = "tqdm", marker = "extra == 'testing-unit'" },
     { name = "transformers", marker = "extra == 'testing'" },
@@ -1641,7 +1632,7 @@ requires-dist = [
     { name = "typing-extensions", marker = "extra == 'linting'" },
     { name = "z3-solver", marker = "extra == 'testing-minimal'", specifier = "<4.15.4" },
 ]
-provides-extras = ["linting", "testing-minimal", "testing-unit", "testing", "docs", "mesa"]
+provides-extras = ["linting", "testing-minimal", "testing-unit", "testing", "docs"]
 
 [[package]]
 name = "tomli"

From bf1b93f757065fe687a536a0aaeeec35ebcfc197 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 20 Jul 2026 09:25:49 -0400
Subject: [PATCH 1343/1434] Revert "agnos: split launch for c3 and c3x to
 support custom agnos" (#1879)

Revert "agnos: split launch for c3 and c3x to support custom agnos (#1186)"

This reverts commit 54174d1e
---
 launch_openpilot.sh                           |  17 ---
 .../sunnypilot/system/hardware/c3/README.md   |   3 -
 .../sunnypilot/system/hardware/c3/agnos.json  |  84 ---------------
 .../system/hardware/c3/launch_chffrplus.sh    | 100 ------------------
 .../system/hardware/c3/launch_env.sh          |  13 ---
 5 files changed, 217 deletions(-)
 delete mode 100644 openpilot/sunnypilot/system/hardware/c3/README.md
 delete mode 100644 openpilot/sunnypilot/system/hardware/c3/agnos.json
 delete mode 100755 openpilot/sunnypilot/system/hardware/c3/launch_chffrplus.sh
 delete mode 100755 openpilot/sunnypilot/system/hardware/c3/launch_env.sh

diff --git a/launch_openpilot.sh b/launch_openpilot.sh
index 0b3550aba8bc8d..d6e3424c348bf5 100755
--- a/launch_openpilot.sh
+++ b/launch_openpilot.sh
@@ -1,20 +1,3 @@
 #!/usr/bin/env bash
-set -euo pipefail
-IFS=$'\n\t'
-
-# On any failure, run the fallback launcher
-trap 'exec ./launch_chffrplus.sh' ERR
-C3_LAUNCH_SH="./openpilot/sunnypilot/system/hardware/c3/launch_chffrplus.sh"
-
-MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
-export MODEL
-
-if [ "$MODEL" = "comma tici" ]; then
-  # Force a failure if the launcher doesn't exist
-  [ -x "$C3_LAUNCH_SH" ] || false
-
-  # If it exists, run it
-  exec "$C3_LAUNCH_SH"
-fi
 
 exec ./launch_chffrplus.sh
diff --git a/openpilot/sunnypilot/system/hardware/c3/README.md b/openpilot/sunnypilot/system/hardware/c3/README.md
deleted file mode 100644
index f74a210191287e..00000000000000
--- a/openpilot/sunnypilot/system/hardware/c3/README.md
+++ /dev/null
@@ -1,3 +0,0 @@
-# C3 specific hardware code
-
-`c3` is known as `tici` and comma three by comma. Not to confuse it with `c3x` which is known as `tizi`.
\ No newline at end of file
diff --git a/openpilot/sunnypilot/system/hardware/c3/agnos.json b/openpilot/sunnypilot/system/hardware/c3/agnos.json
deleted file mode 100644
index 941a4956bf64d0..00000000000000
--- a/openpilot/sunnypilot/system/hardware/c3/agnos.json
+++ /dev/null
@@ -1,84 +0,0 @@
-[
-  {
-    "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b.img.xz",
-    "hash": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
-    "hash_raw": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
-    "size": 3282256,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "ed61a650bea0c56652dd0fc68465d8fc722a4e6489dc8f257630c42c6adcdc89"
-  },
-  {
-    "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c.img.xz",
-    "hash": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
-    "hash_raw": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
-    "size": 98124,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "b12801ffaa81e58e3cef914488d3b447e35483ba549b28c6cd9deb4814c3265f"
-  },
-  {
-    "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
-    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
-    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
-    "size": 274432,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6"
-  },
-  {
-    "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9.img.xz",
-    "hash": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
-    "hash_raw": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
-    "size": 184364,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "c1be2f4aac5b3af49b904b027faec418d05efd7bd5144eb4fdfcba602bcf2180"
-  },
-  {
-    "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620.img.xz",
-    "hash": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
-    "hash_raw": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
-    "size": 40336,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "17b229668b20305ff8fa3cd5f94716a3aaa1e5bf9d1c24117eff7f2f81ae719f"
-  },
-  {
-    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz",
-    "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
-    "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
-    "size": 18515968,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0"
-  },
-  {
-    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
-    "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
-    "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
-    "size": 5368709120,
-    "sparse": true,
-    "full_check": false,
-    "has_ab": true,
-    "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
-    "alt": {
-      "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
-      "size": 5368709120
-    }
-  }
-]
\ No newline at end of file
diff --git a/openpilot/sunnypilot/system/hardware/c3/launch_chffrplus.sh b/openpilot/sunnypilot/system/hardware/c3/launch_chffrplus.sh
deleted file mode 100755
index a505e4f1f1b617..00000000000000
--- a/openpilot/sunnypilot/system/hardware/c3/launch_chffrplus.sh
+++ /dev/null
@@ -1,100 +0,0 @@
-#!/usr/bin/env bash
-
-SP_C3_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-DIR="$( cd "$SP_C3_DIR/../../../../.." >/dev/null 2>&1 && pwd )"
-
-source "$SP_C3_DIR/launch_env.sh"
-
-function agnos_init {
-  # TODO: move this to agnos
-  sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
-
-  # set success flag for current boot slot
-  sudo abctl --set_success
-
-  # TODO: do this without udev in AGNOS
-  # udev does this, but sometimes we startup faster
-  sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
-  sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
-
-
-  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/openpilot/common/hardware/tici/agnos.py"
-    MANIFEST="$SP_C3_DIR/agnos.json"
-    if $AGNOS_PY --verify $MANIFEST; then
-      sudo reboot
-    fi
-    $DIR/openpilot/common/hardware/tici/updater $AGNOS_PY $MANIFEST
-  fi
-}
-
-function launch {
-  # Remove orphaned git lock if it exists on boot
-  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
-
-  # Check to see if there's a valid overlay-based update available. Conditions
-  # are as follows:
-  #
-  # 1. The DIR init file has to exist, with a newer modtime than anything in
-  #    the DIR Git repo. This checks for local development work or the user
-  #    switching branches/forks, which should not be overwritten.
-  # 2. The FINALIZED consistent file has to exist, indicating there's an update
-  #    that completed successfully and synced to disk.
-
-  if [ -f "${DIR}/.overlay_init" ]; then
-    find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null
-    if [ $? -eq 0 ]; then
-      echo "${DIR} has been modified, skipping overlay update installation"
-    else
-      if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
-        if [ ! -d /data/safe_staging/old_openpilot ]; then
-          echo "Valid overlay update found, installing"
-          LAUNCHER_LOCATION="${BASH_SOURCE[0]}"
-
-          mv $DIR /data/safe_staging/old_openpilot
-          mv "${STAGING_ROOT}/finalized" $DIR
-          cd $DIR
-
-          echo "Restarting launch script ${LAUNCHER_LOCATION}"
-          unset AGNOS_VERSION
-          exec "${LAUNCHER_LOCATION}"
-        else
-          echo "openpilot backup found, not updating"
-          # TODO: restore backup? This means the updater didn't start after swapping
-        fi
-      fi
-    fi
-  fi
-
-  # handle pythonpath
-  ln -sfn $(pwd) /data/pythonpath
-  export PYTHONPATH="$PWD"
-
-  # submodule package symlinks for PYTHONPATH imports on device.
-  # on PC these come from editable installs via pyproject.toml / uv.
-  ln -sfn msgq_repo/msgq msgq
-  ln -sfn opendbc_repo/opendbc opendbc
-  ln -sfn rednose_repo/rednose rednose
-  ln -sfn teleoprtc_repo/teleoprtc teleoprtc
-  ln -sfn tinygrad_repo/tinygrad tinygrad
-
-  # hardware specific init
-  if [ -f /AGNOS ]; then
-    agnos_init
-  fi
-
-  # write tmux scrollback to a file
-  tmux capture-pane -pq -S-1000 > /tmp/launch_log
-
-  # start manager
-  cd $DIR/openpilot/system/manager
-  if [ ! -f $DIR/prebuilt ]; then
-    ./build.py
-  fi
-  ./manager.py
-
-  # if broken, keep on screen error
-  while true; do sleep 1; done
-}
-
-launch
diff --git a/openpilot/sunnypilot/system/hardware/c3/launch_env.sh b/openpilot/sunnypilot/system/hardware/c3/launch_env.sh
deleted file mode 100755
index 4c011c6ac0e8df..00000000000000
--- a/openpilot/sunnypilot/system/hardware/c3/launch_env.sh
+++ /dev/null
@@ -1,13 +0,0 @@
-#!/usr/bin/env bash
-
-export OMP_NUM_THREADS=1
-export MKL_NUM_THREADS=1
-export NUMEXPR_NUM_THREADS=1
-export OPENBLAS_NUM_THREADS=1
-export VECLIB_MAXIMUM_THREADS=1
-
-if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.8"
-fi
-
-export STAGING_ROOT="/data/safe_staging"

From 24a9b6dae54ea2b63d326a0972f70312e6f2e971 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Mon, 20 Jul 2026 10:36:09 -0700
Subject: [PATCH 1344/1434] profile usb gpu link stability (#38368)

* profile usb gpu link before using

* ci
---
 openpilot/selfdrive/modeld/compile_modeld.py |  4 +++
 openpilot/selfdrive/modeld/modeld.py         |  3 ++
 openpilot/selfdrive/modeld/usbgpu_link.py    | 34 ++++++++++++++++++++
 3 files changed, 41 insertions(+)
 create mode 100644 openpilot/selfdrive/modeld/usbgpu_link.py

diff --git a/openpilot/selfdrive/modeld/compile_modeld.py b/openpilot/selfdrive/modeld/compile_modeld.py
index f74ab27b8c134b..ebc3f21a13225a 100755
--- a/openpilot/selfdrive/modeld/compile_modeld.py
+++ b/openpilot/selfdrive/modeld/compile_modeld.py
@@ -13,6 +13,7 @@
 import numpy as np
 
 from openpilot.selfdrive.modeld.helpers import dump_oob, load_oob
+from openpilot.selfdrive.modeld.usbgpu_link import wait_usbgpu_link
 
 def _patch_tinygrad_fetch_fw():
   import hashlib
@@ -311,6 +312,9 @@ def read_file_chunked_to_disk(path):
   p.add_argument('--frame-skip', type=int, required=True)
   args = p.parse_args()
 
+  if 'USB+AMD' in os.environ.get('DEV', ''):
+    wait_usbgpu_link()
+
   model_path = read_file_chunked_to_disk(args.onnx)
   model_w, model_h = args.model_size
 
diff --git a/openpilot/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py
index 39fcc0725c9e14..41a1f44e5f7cac 100755
--- a/openpilot/selfdrive/modeld/modeld.py
+++ b/openpilot/selfdrive/modeld/modeld.py
@@ -25,6 +25,7 @@
 from openpilot.common.file_chunker import open_file_chunked, get_manifest_path
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path, get_tg_input_devices, load_oob
+from openpilot.selfdrive.modeld.usbgpu_link import wait_usbgpu_link
 
 PROCESS_NAME = "openpilot.selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -168,6 +169,8 @@ def main(demo=False):
   if use_extra_client:
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
+  if USBGPU:
+    wait_usbgpu_link()
   st = time.monotonic()
   cloudlog.warning("loading model")
   model = ModelState(vipc_client_main.width, vipc_client_main.height, USBGPU)
diff --git a/openpilot/selfdrive/modeld/usbgpu_link.py b/openpilot/selfdrive/modeld/usbgpu_link.py
new file mode 100644
index 00000000000000..ef12cba939d354
--- /dev/null
+++ b/openpilot/selfdrive/modeld/usbgpu_link.py
@@ -0,0 +1,34 @@
+import time
+from pathlib import Path
+
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.hardware.usb import CHESTNUT_VENDOR_ID, CHESTNUT_PRODUCT_ID, usb_devices, controller, read_int
+
+STABLE_SECONDS = 2.0
+STABLE_THRESHOLD = 5.0  # link errors per second
+
+
+def _chestnut_portli() -> Path | None:
+  for device in usb_devices():
+    if read_int(device / "idVendor", 16) == CHESTNUT_VENDOR_ID and \
+       read_int(device / "idProduct", 16) == CHESTNUT_PRODUCT_ID:
+      ctrl = controller(device)
+      if ctrl is not None and (ctrl / "portli").exists():
+        return ctrl / "portli"
+  return None
+
+
+def wait_usbgpu_link(timeout: float = 30.0) -> None:
+  portli = _chestnut_portli()
+  if portli is None:
+    return
+
+  t0 = time.monotonic()
+  while time.monotonic() - t0 < timeout:
+    start = read_int(portli, 0)
+    time.sleep(STABLE_SECONDS)
+    rate = (read_int(portli, 0) - start) / STABLE_SECONDS
+    if rate <= STABLE_THRESHOLD:
+      return
+    cloudlog.warning(f"usbgpu link not stable: {rate:.0f} errors/s")
+  cloudlog.error("usbgpu link never stabilized")

From 78909dac7309efd52132def3a7038891667194d2 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Mon, 20 Jul 2026 10:50:18 -0700
Subject: [PATCH 1345/1434] soundd: add complete sound (#38390)

---
 openpilot/cereal/log.capnp                     | 1 +
 openpilot/selfdrive/assets/sounds/complete.wav | 3 +++
 openpilot/selfdrive/ui/soundd.py               | 2 ++
 3 files changed, 6 insertions(+)
 create mode 100644 openpilot/selfdrive/assets/sounds/complete.wav

diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp
index e1725d1e444374..2148e81d3b7c17 100644
--- a/openpilot/cereal/log.capnp
+++ b/openpilot/cereal/log.capnp
@@ -812,6 +812,7 @@ struct SelfdriveState {
     promptDistracted @8;
 
     preAlert @9;
+    complete @10;
   }
 
   enum OpenpilotState @0xdbe58b96d2d1ac61 {
diff --git a/openpilot/selfdrive/assets/sounds/complete.wav b/openpilot/selfdrive/assets/sounds/complete.wav
new file mode 100644
index 00000000000000..f85d48f315e074
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/complete.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3027da9834adf9c71177bc3086f8de3018ce22e4725b694d635723c5b3c860cd
+size 97120
diff --git a/openpilot/selfdrive/ui/soundd.py b/openpilot/selfdrive/ui/soundd.py
index d84c98710b6d50..151c49b0ec45df 100644
--- a/openpilot/selfdrive/ui/soundd.py
+++ b/openpilot/selfdrive/ui/soundd.py
@@ -45,6 +45,8 @@
 
   AudibleAlert.preAlert: ("pre_alert.wav", 1, MAX_VOLUME),
 
+  AudibleAlert.complete: ("complete.wav", 1, MAX_VOLUME),
+
   AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
   AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
 }

From 2c334ede443d7391d27575af8c854a095ba702a8 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 20 Jul 2026 15:05:19 -0400
Subject: [PATCH 1346/1434] mapd: ignore in plannerd health check (#1880)

* mapd: ignore in plannerd health check

* more
---
 openpilot/selfdrive/controls/plannerd.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/openpilot/selfdrive/controls/plannerd.py b/openpilot/selfdrive/controls/plannerd.py
index 66b17d60a77f30..5908e141f7b001 100755
--- a/openpilot/selfdrive/controls/plannerd.py
+++ b/openpilot/selfdrive/controls/plannerd.py
@@ -23,13 +23,14 @@ def main():
   cloudlog.info("plannerd got CarParamsSP")
 
   gps_location_service = get_gps_location_service(params)
+  ignore_services = ["liveMapDataSP", gps_location_service]
 
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
                             'liveMapDataSP', 'carStateSP', gps_location_service],
-                           poll='carState')
+                           poll='carState', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)
 
   while True:
     sm.update()

From 5472e69e351c4c4968ad1c80db88f842ef270f48 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Mon, 20 Jul 2026 14:31:55 -0700
Subject: [PATCH 1347/1434] New sounds (#38154)

* new sounds

* soundd: fix sound cutoff

* update sounds

* add max warning_immediate variant

* mici: play sounds button in developer settings

* rename sounds

* add complete sound

* update sounds

* raise soundfloor by 5%

* update sounds

* play unused sounds

* update sounds

* bump opendbc

* Revert "play unused sounds"

This reverts commit 47e538da2200e700804714576baa5f8c0f28cdb3.

* Revert "mici: play sounds button in developer settings"

This reverts commit 149141bb8a21bec7a04dc8f231d0b6b9120cc7c2.

* remove unused sounds

* raise soundfloor by 5%

* opendbc

* add space
---
 .../selfdrive/assets/sounds/critical.wav      |  3 +++
 .../selfdrive/assets/sounds/disengage.wav     |  4 +--
 .../selfdrive/assets/sounds/dm_critical.wav   |  3 +++
 .../selfdrive/assets/sounds/dm_warning.wav    |  3 +++
 openpilot/selfdrive/assets/sounds/engage.wav  |  4 +--
 .../selfdrive/assets/sounds/pre_alert.wav     |  4 +--
 openpilot/selfdrive/assets/sounds/prompt.wav  |  3 ---
 .../assets/sounds/prompt_distracted.wav       |  3 ---
 openpilot/selfdrive/assets/sounds/refuse.wav  |  4 +--
 openpilot/selfdrive/assets/sounds/warning.wav |  3 +++
 .../assets/sounds/warning_immediate.wav       |  3 ---
 .../selfdrive/assets/sounds/warning_soft.wav  |  3 ---
 openpilot/selfdrive/ui/soundd.py              | 27 ++++++++++++++-----
 13 files changed, 40 insertions(+), 27 deletions(-)
 create mode 100644 openpilot/selfdrive/assets/sounds/critical.wav
 create mode 100644 openpilot/selfdrive/assets/sounds/dm_critical.wav
 create mode 100644 openpilot/selfdrive/assets/sounds/dm_warning.wav
 delete mode 100644 openpilot/selfdrive/assets/sounds/prompt.wav
 delete mode 100644 openpilot/selfdrive/assets/sounds/prompt_distracted.wav
 create mode 100644 openpilot/selfdrive/assets/sounds/warning.wav
 delete mode 100644 openpilot/selfdrive/assets/sounds/warning_immediate.wav
 delete mode 100644 openpilot/selfdrive/assets/sounds/warning_soft.wav

diff --git a/openpilot/selfdrive/assets/sounds/critical.wav b/openpilot/selfdrive/assets/sounds/critical.wav
new file mode 100644
index 00000000000000..f36aa1bacd0df3
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/critical.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca29ff46fbd6d00cc02596de8c9abfbf1cacdc6a7b2f98b27a74d24c790da004
+size 52374
diff --git a/openpilot/selfdrive/assets/sounds/disengage.wav b/openpilot/selfdrive/assets/sounds/disengage.wav
index 7bfd97ad715e2e..7db1d31911303d 100644
--- a/openpilot/selfdrive/assets/sounds/disengage.wav
+++ b/openpilot/selfdrive/assets/sounds/disengage.wav
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:42bd04a57b527c787a0555503e02a203f7d672c12d448769a3f41f17befbf013
-size 48044
+oid sha256:6f47633b5082b911e79dd13fc2d1f4c2a9d44d2fe0860f3d390ffc4e3d772f7d
+size 97120
diff --git a/openpilot/selfdrive/assets/sounds/dm_critical.wav b/openpilot/selfdrive/assets/sounds/dm_critical.wav
new file mode 100644
index 00000000000000..9a4171444ff80e
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/dm_critical.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:538271820d618046009bb456e930598f2736dd1a6174c11925ec3912581b05c1
+size 52374
diff --git a/openpilot/selfdrive/assets/sounds/dm_warning.wav b/openpilot/selfdrive/assets/sounds/dm_warning.wav
new file mode 100644
index 00000000000000..52124b0801c091
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/dm_warning.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:634fad6590295ef2e73d5f7e5aecbb5dd245a0f7692f1e300c2ebac95aabb8e3
+size 73026
diff --git a/openpilot/selfdrive/assets/sounds/engage.wav b/openpilot/selfdrive/assets/sounds/engage.wav
index 8633b5ac2d82b1..a984e2f3da2a27 100644
--- a/openpilot/selfdrive/assets/sounds/engage.wav
+++ b/openpilot/selfdrive/assets/sounds/engage.wav
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b1e177499d9439367179cc57a6301b6162393972e3a136cc35c5fdac026bf10a
-size 48044
+oid sha256:a380fe0a022856b302841a0dd19b71eab318c6b08ec851f128942758a7f1631a
+size 97120
diff --git a/openpilot/selfdrive/assets/sounds/pre_alert.wav b/openpilot/selfdrive/assets/sounds/pre_alert.wav
index 4443bf7d23425b..d8240a17176f2a 100644
--- a/openpilot/selfdrive/assets/sounds/pre_alert.wav
+++ b/openpilot/selfdrive/assets/sounds/pre_alert.wav
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2c0af7f5fe57bb36ab96fae868e20feca763541c97a61b3a3a84a0e7fcb81163
-size 83350
+oid sha256:cc9e67cfaba77e8e4f4049f0add9238660e4cf8f886c6915600d8f47a30c98db
+size 97120
diff --git a/openpilot/selfdrive/assets/sounds/prompt.wav b/openpilot/selfdrive/assets/sounds/prompt.wav
deleted file mode 100644
index e482c85a629806..00000000000000
--- a/openpilot/selfdrive/assets/sounds/prompt.wav
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ad19268e4aaaeac8dd21f6b26c16a121e7b3f50bba867748e7226727643ae682
-size 144642
diff --git a/openpilot/selfdrive/assets/sounds/prompt_distracted.wav b/openpilot/selfdrive/assets/sounds/prompt_distracted.wav
deleted file mode 100644
index c11993f20c0442..00000000000000
--- a/openpilot/selfdrive/assets/sounds/prompt_distracted.wav
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:412ef25d2fb103c1ebd55c667313a5921493305fb4e1f4e1dafc08d3b95d86ab
-size 73026
diff --git a/openpilot/selfdrive/assets/sounds/refuse.wav b/openpilot/selfdrive/assets/sounds/refuse.wav
index 1e0c47697d89cb..10026d7be9883b 100644
--- a/openpilot/selfdrive/assets/sounds/refuse.wav
+++ b/openpilot/selfdrive/assets/sounds/refuse.wav
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4af81cbf1d96a42cc351878b015298aee82874b46baaf1a615ca91ec36c0ced6
-size 83228
+oid sha256:081d64ca28a84a59ff5e6aea4732865b8687585938b8a287bc7e6a49d0646508
+size 97120
diff --git a/openpilot/selfdrive/assets/sounds/warning.wav b/openpilot/selfdrive/assets/sounds/warning.wav
new file mode 100644
index 00000000000000..bb71a0176a51a9
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/warning.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bb440f424c989c06e203bfba0b32d39aede8f6c78a9b335e5e778460202b601
+size 73026
diff --git a/openpilot/selfdrive/assets/sounds/warning_immediate.wav b/openpilot/selfdrive/assets/sounds/warning_immediate.wav
deleted file mode 100644
index fcbfed79ed87d6..00000000000000
--- a/openpilot/selfdrive/assets/sounds/warning_immediate.wav
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5a390831afca3bfc6ea3c2739b872ebf866e70df8ae30653f8587e5cd3993959
-size 68306
diff --git a/openpilot/selfdrive/assets/sounds/warning_soft.wav b/openpilot/selfdrive/assets/sounds/warning_soft.wav
deleted file mode 100644
index 7db30303d60f5d..00000000000000
--- a/openpilot/selfdrive/assets/sounds/warning_soft.wav
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:67e636d072703e6b1233a12344c0a6304fd43d64dbb31c66b71c2c8870a339c1
-size 153764
diff --git a/openpilot/selfdrive/ui/soundd.py b/openpilot/selfdrive/ui/soundd.py
index 151c49b0ec45df..5cbb1298f911d3 100644
--- a/openpilot/selfdrive/ui/soundd.py
+++ b/openpilot/selfdrive/ui/soundd.py
@@ -22,7 +22,7 @@
 SELFDRIVE_STATE_TIMEOUT = 5 # 5 seconds
 FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES)
 
-AMBIENT_DB = 24 # DB where MIN_VOLUME is applied
+AMBIENT_DB = 26 # DB where MIN_VOLUME is applied
 DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied
 
 VOLUME_BASE = 20
@@ -39,16 +39,15 @@
   AudibleAlert.disengage: ("disengage.wav", 1, MAX_VOLUME),
   AudibleAlert.refuse: ("refuse.wav", 1, MAX_VOLUME),
 
-  AudibleAlert.prompt: ("prompt.wav", 1, MAX_VOLUME),
-  AudibleAlert.promptRepeat: ("prompt.wav", None, MAX_VOLUME),
-  AudibleAlert.promptDistracted: ("prompt_distracted.wav", None, MAX_VOLUME),
+  AudibleAlert.prompt: ("warning.wav", 1, MAX_VOLUME),
+  AudibleAlert.promptRepeat: ("warning.wav", None, MAX_VOLUME),
+  AudibleAlert.promptDistracted: ("dm_warning.wav", None, MAX_VOLUME),
 
   AudibleAlert.preAlert: ("pre_alert.wav", 1, MAX_VOLUME),
-
   AudibleAlert.complete: ("complete.wav", 1, MAX_VOLUME),
 
-  AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
-  AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
+  AudibleAlert.warningSoft: ("critical.wav", None, MAX_VOLUME),
+  AudibleAlert.warningImmediate: ("dm_critical.wav", None, MAX_VOLUME),
 }
 if HARDWARE.get_device_type() == "tizi":
   sound_list.update({
@@ -78,6 +77,7 @@ def __init__(self):
     self.ramp_start_time = 0.
 
     self.selfdrive_timeout_alert = False
+    self.pending_stop = False
 
     self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
 
@@ -116,6 +116,10 @@ def get_sound_data(self, frames): # get "frames" worth of data from the current
         self.current_sound_frame += frames_to_write
         current_sound_frame = self.current_sound_frame % len(sound_data)
         loops = self.current_sound_frame // len(sound_data)
+        if self.pending_stop and current_sound_frame == 0:
+          self.current_alert = AudibleAlert.none
+          self.pending_stop = False
+          break
 
     return ret * self.current_volume
 
@@ -126,6 +130,15 @@ def callback(self, data_out: np.ndarray, frames: int, time, status) -> None:
 
   def update_alert(self, new_alert):
     current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame >= len(self.loaded_sounds[self.current_alert])
+    # let looping sounds finish the current loop instead of cutting off mid tone
+    if new_alert == AudibleAlert.none and self.current_alert != AudibleAlert.none and sound_list[self.current_alert][1] is None:
+      if current_alert_played_once:
+        self.pending_stop = True
+      else:
+        self.current_alert = AudibleAlert.none
+        self.current_sound_frame = 0
+      return
+    self.pending_stop = False
     if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once):
       if new_alert == AudibleAlert.warningImmediate:
         self.ramp_start_volume = self.current_volume

From c20263d9851daa7c0142b20f095697e8e1910263 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Mon, 20 Jul 2026 14:46:33 -0700
Subject: [PATCH 1348/1434] speedup chunk reading (#38389)

read chunk directly into caller buffer
---
 openpilot/common/file_chunker.py | 17 +++++++++--------
 1 file changed, 9 insertions(+), 8 deletions(-)

diff --git a/openpilot/common/file_chunker.py b/openpilot/common/file_chunker.py
index 74f3013f717b14..2d080c3fff5497 100755
--- a/openpilot/common/file_chunker.py
+++ b/openpilot/common/file_chunker.py
@@ -42,25 +42,26 @@ def get_existing_chunks(path):
 class ChunkStream(io.RawIOBase):
   def __init__(self, paths):
     self._paths = iter(paths)
-    self._buf = memoryview(b'')
+    self._f = None
 
   def readable(self):
     return True
 
   def readinto(self, b):
     n = 0
+    view = memoryview(b)
     while n < len(b):
-      if not self._buf:
+      if self._f is None:
         p = next(self._paths, None)
         if p is None:
           break
-        with open(p, 'rb') as f:
-          self._buf = memoryview(f.read())
+        self._f = open(p, 'rb')
+      count = self._f.readinto(view[n:])
+      if not count:
+        self._f.close()
+        self._f = None
         continue
-      take = min(len(b) - n, len(self._buf))
-      b[n:n + take] = self._buf[:take]
-      self._buf = self._buf[take:]
-      n += take
+      n += count
     return n
 
 def open_file_chunked(path):

From b1f2e638de2d5ec81c88637c0a3236fae8c4d20c Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Mon, 20 Jul 2026 16:00:20 -0700
Subject: [PATCH 1349/1434] fix branch cleanup burning GH API requests (#38392)

* ci: stop branch cleanup from burning API rate limit

* simpler
---
 .github/workflows/repo-maintenance.yaml | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 0fb1027a8d6f91..0421efe6e8659b 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -89,6 +89,14 @@ jobs:
             const { owner, repo } = context.repo;
             const upstream = `${owner}/${repo}`;
 
+            const closed = context.payload.pull_request;
+            if (closed) {
+              if (closed.head.repo?.full_name === upstream) {
+                await github.rest.git.deleteRef({ owner, repo, ref: `heads/${closed.head.ref}` }).catch(console.log);
+              }
+              return;
+            }
+
             for await (const response of github.paginate.iterator(github.rest.pulls.list, {
               owner,
               repo,

From 031b1ad0a3d4e59e7b4cfb53fb1dbc01fa004cd9 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 20 Jul 2026 16:30:42 -0700
Subject: [PATCH 1350/1434] longcontrol: remove starting state (#38340)

---
 opendbc_repo                                  |  2 +-
 .../selfdrive/controls/lib/longcontrol.py     | 23 ++------
 .../controls/tests/test_longcontrol.py        | 56 +++++++------------
 3 files changed, 27 insertions(+), 54 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 78a1c9e73de2e0..938043e24a0ff1 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 78a1c9e73de2e0a081cb2bb41f7f10281b9eeabf
+Subproject commit 938043e24a0ff1a3a6f81a4c793822d4733f09ef
diff --git a/openpilot/selfdrive/controls/lib/longcontrol.py b/openpilot/selfdrive/controls/lib/longcontrol.py
index 977add1285bef3..07abd0d5d3e1a9 100644
--- a/openpilot/selfdrive/controls/lib/longcontrol.py
+++ b/openpilot/selfdrive/controls/lib/longcontrol.py
@@ -10,8 +10,7 @@
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
 
-def long_control_state_trans(CP, active, long_control_state, v_ego,
-                             should_stop, brake_pressed, cruise_standstill):
+def long_control_state_trans(active, long_control_state, should_stop, brake_pressed, cruise_standstill):
   starting_condition = (not should_stop and
                         not cruise_standstill and
                         not brake_pressed)
@@ -23,22 +22,17 @@ def long_control_state_trans(CP, active, long_control_state, v_ego,
     if long_control_state == LongCtrlState.off:
       if not starting_condition:
         long_control_state = LongCtrlState.stopping
-      elif CP.startingState:
-        long_control_state = LongCtrlState.starting
       else:
         long_control_state = LongCtrlState.pid
 
     elif long_control_state == LongCtrlState.stopping:
-      if starting_condition and CP.startingState:
-        long_control_state = LongCtrlState.starting
-      elif starting_condition:
+      if starting_condition:
         long_control_state = LongCtrlState.pid
 
-    elif long_control_state in [LongCtrlState.starting, LongCtrlState.pid]:
+    elif long_control_state == LongCtrlState.pid:
       if should_stop:
         long_control_state = LongCtrlState.stopping
-      elif v_ego > CP.vEgoStarting:
-        long_control_state = LongCtrlState.pid
+
   return long_control_state
 
 class LongControl:
@@ -58,9 +52,8 @@ def update(self, active, CS, a_target, should_stop, accel_limits):
     self.pid.neg_limit = accel_limits[0]
     self.pid.pos_limit = accel_limits[1]
 
-    self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
-                                                       should_stop, CS.brakePressed,
-                                                       CS.cruiseState.standstill)
+    self.long_control_state = long_control_state_trans(active, self.long_control_state, should_stop,
+                                                       CS.brakePressed, CS.cruiseState.standstill)
     if self.long_control_state == LongCtrlState.off:
       self.reset()
       output_accel = 0.
@@ -72,10 +65,6 @@ def update(self, active, CS, a_target, should_stop, accel_limits):
         output_accel -= self.CP.stoppingDecelRate * DT_CTRL
       self.reset()
 
-    elif self.long_control_state == LongCtrlState.starting:
-      output_accel = self.CP.startAccel
-      self.reset()
-
     else:  # LongCtrlState.pid
       error = a_target - CS.aEgo
       output_accel = self.pid.update(error, speed=CS.vEgo,
diff --git a/openpilot/selfdrive/controls/tests/test_longcontrol.py b/openpilot/selfdrive/controls/tests/test_longcontrol.py
index f69c54a3cdc1f5..2c52132068c179 100644
--- a/openpilot/selfdrive/controls/tests/test_longcontrol.py
+++ b/openpilot/selfdrive/controls/tests/test_longcontrol.py
@@ -1,56 +1,40 @@
-from opendbc.car.structs import car
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
 
 
-
-
 class TestLongControlStateTransition:
 
   def test_stay_stopped(self):
-    CP = car.CarParams.new_message()
     active = True
     current_state = LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(active, current_state,
                              should_stop=True, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(active, current_state,
                              should_stop=False, brake_pressed=True, cruise_standstill=False)
     assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(active, current_state,
                              should_stop=False, brake_pressed=False, cruise_standstill=True)
     assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+    next_state = long_control_state_trans(active, current_state,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.pid
     active = False
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+    next_state = long_control_state_trans(active, current_state,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.off
 
-  def test_engage(self):
-    CP = car.CarParams.new_message()
-    active = True
-    current_state = LongCtrlState.off
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
-                               should_stop=True, brake_pressed=False, cruise_standstill=False)
-    assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
-                               should_stop=False, brake_pressed=True, cruise_standstill=False)
-    assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
-                               should_stop=False, brake_pressed=False, cruise_standstill=True)
-    assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
-                               should_stop=False, brake_pressed=False, cruise_standstill=False)
-    assert next_state == LongCtrlState.pid
-
-  def test_starting(self):
-    CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
-    active = True
-    current_state = LongCtrlState.starting
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
-                               should_stop=False, brake_pressed=False, cruise_standstill=False)
-    assert next_state == LongCtrlState.starting
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
-                               should_stop=False, brake_pressed=False, cruise_standstill=False)
-    assert next_state == LongCtrlState.pid
+def test_engage():
+  active = True
+  current_state = LongCtrlState.off
+  next_state = long_control_state_trans(active, current_state,
+                             should_stop=True, brake_pressed=False, cruise_standstill=False)
+  assert next_state == LongCtrlState.stopping
+  next_state = long_control_state_trans(active, current_state,
+                             should_stop=False, brake_pressed=True, cruise_standstill=False)
+  assert next_state == LongCtrlState.stopping
+  next_state = long_control_state_trans(active, current_state,
+                             should_stop=False, brake_pressed=False, cruise_standstill=True)
+  assert next_state == LongCtrlState.stopping
+  next_state = long_control_state_trans(active, current_state,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+  assert next_state == LongCtrlState.pid

From fdd1df79fbf80e83e8f7168719c067d527443e72 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 20 Jul 2026 19:52:23 -0700
Subject: [PATCH 1351/1434] longitudinal: remove per-car stopping tunes
 (#38394)

* remove per-car longitudinal stopping tunes

* bump opendbc

* lil more

* lil more

* lil more

* lil more

* revert modeld for now
---
 opendbc_repo                                             | 2 +-
 openpilot/selfdrive/controls/lib/drive_helpers.py        | 8 +++++---
 openpilot/selfdrive/controls/lib/longcontrol.py          | 3 ++-
 openpilot/selfdrive/controls/lib/longitudinal_planner.py | 2 +-
 openpilot/tools/joystick/joystickd.py                    | 2 +-
 openpilot/tools/longitudinal_maneuvers/maneuversd.py     | 8 ++++----
 6 files changed, 14 insertions(+), 11 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 938043e24a0ff1..d4c6f68c39dbab 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 938043e24a0ff1a3a6f81a4c793822d4733f09ef
+Subproject commit d4c6f68c39dbab1c2663bd3c72a0087f93858213
diff --git a/openpilot/selfdrive/controls/lib/drive_helpers.py b/openpilot/selfdrive/controls/lib/drive_helpers.py
index 5392ff88751b38..497f8d1bdf6bf9 100644
--- a/openpilot/selfdrive/controls/lib/drive_helpers.py
+++ b/openpilot/selfdrive/controls/lib/drive_helpers.py
@@ -15,6 +15,9 @@
 MAX_LATERAL_ACCEL_NO_ROLL = 3.0  # m/s^2
 
 
+def should_stop(v_ego: float, a_target: float) -> bool:
+  return bool(v_ego < 0.25 and a_target < 0.1)
+
 def clamp(val, min_val, max_val):
   clamped_val = float(np.clip(val, min_val, max_val))
   return clamped_val, clamped_val != val
@@ -40,7 +43,7 @@ def clip_curvature(v_ego, prev_curvature, new_curvature, roll) -> tuple[float, b
   return float(new_curvature), limited_accel or limited_max_curv
 
 
-def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.3):
+def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL):
   if len(speeds) == len(t_idxs):
     v_now = speeds[0]
     a_now = accels[0]
@@ -53,8 +56,7 @@ def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.
     v_now = 0.0
     v_target = 0.0
     a_target = 0.0
-  should_stop = (v_now < vEgoStopping and a_target < 0.1)
-  return a_target, should_stop
+  return a_target, should_stop(v_now, a_target)
 
 def curv_from_psis(psi_target, psi_rate, vego, action_t):
   vego = np.clip(vego, MIN_SPEED, np.inf)
diff --git a/openpilot/selfdrive/controls/lib/longcontrol.py b/openpilot/selfdrive/controls/lib/longcontrol.py
index 07abd0d5d3e1a9..437bcef777519a 100644
--- a/openpilot/selfdrive/controls/lib/longcontrol.py
+++ b/openpilot/selfdrive/controls/lib/longcontrol.py
@@ -62,7 +62,8 @@ def update(self, active, CS, a_target, should_stop, accel_limits):
       output_accel = self.last_output_accel
       if output_accel > self.CP.stopAccel:
         output_accel = min(output_accel, 0.0)
-        output_accel -= self.CP.stoppingDecelRate * DT_CTRL
+        # TODO: can we just go straight to stopAccel?
+        output_accel -= 1.0 * DT_CTRL  # m/s^2/s while trying to stop
       self.reset()
 
     else:  # LongCtrlState.pid
diff --git a/openpilot/selfdrive/controls/lib/longitudinal_planner.py b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
index 884b4d00bc343a..116de14e0e1a17 100755
--- a/openpilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -129,7 +129,7 @@ def update(self, sm):
 
     action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
     output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
-                                                                        action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
+                                                                        action_t=action_t)
     output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
     output_should_stop_e2e = sm['modelV2'].action.shouldStop
 
diff --git a/openpilot/tools/joystick/joystickd.py b/openpilot/tools/joystick/joystickd.py
index a1c00746b61f11..ac2f99f67e320f 100755
--- a/openpilot/tools/joystick/joystickd.py
+++ b/openpilot/tools/joystick/joystickd.py
@@ -48,7 +48,7 @@ def joystickd_thread():
 
     if CC.longActive:
       actuators.accel = 4.0 * float(np.clip(joystick_axes[0], -1, 1))
-      actuators.longControlState = LongCtrlState.pid if sm['carState'].vEgo > CP.vEgoStopping else LongCtrlState.stopping
+      actuators.longControlState = LongCtrlState.pid if sm['carState'].vEgo > 0.1 else LongCtrlState.stopping
       CC.cruiseControl.resume = actuators.accel > 0.0
 
     if CC.latActive:
diff --git a/openpilot/tools/longitudinal_maneuvers/maneuversd.py b/openpilot/tools/longitudinal_maneuvers/maneuversd.py
index 8cdc2f26cf90af..0e20840274ca3a 100755
--- a/openpilot/tools/longitudinal_maneuvers/maneuversd.py
+++ b/openpilot/tools/longitudinal_maneuvers/maneuversd.py
@@ -3,11 +3,11 @@
 from dataclasses import dataclass
 
 from openpilot.cereal import messaging
-from opendbc.car.structs import car
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.controls.lib.drive_helpers import should_stop
 
 
 @dataclass
@@ -139,8 +139,8 @@ def active(self):
 
 def main():
   params = Params()
-  cloudlog.info("joystickd is waiting for CarParams")
-  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
+  cloudlog.info("maneuversd is waiting for CarParams")
+  params.get("CarParams", block=True)
 
   sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'selfdriveState', 'modelV2'], poll='modelV2')
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'alertDebug'])
@@ -178,7 +178,7 @@ def main():
     pm.send('alertDebug', alert_msg)
 
     longitudinalPlan.aTarget = accel
-    longitudinalPlan.shouldStop = v_ego < CP.vEgoStopping and accel < 1e-2
+    longitudinalPlan.shouldStop = should_stop(v_ego, accel)
 
     longitudinalPlan.allowBrake = True
     longitudinalPlan.allowThrottle = True

From a0cc313fdc362210b59bf1e191a691db4a2a699c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 24 Jul 2026 11:36:33 -0400
Subject: [PATCH 1352/1434] version: bump to 2026.003.000

---
 openpilot/sunnypilot/common/version.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/openpilot/sunnypilot/common/version.h b/openpilot/sunnypilot/common/version.h
index fccd807e6416c0..26151e206ff6a6 100644
--- a/openpilot/sunnypilot/common/version.h
+++ b/openpilot/sunnypilot/common/version.h
@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2026.002.000"
+#define SUNNYPILOT_VERSION "2026.003.000"

From 9163d1cb74dfc747028da751beaec11b3408fb6d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 25 Jul 2026 01:27:11 -0400
Subject: [PATCH 1353/1434] Revert "mapd: ignore in plannerd health check
 (#1880)"

This reverts commit 2c334ede443d7391d27575af8c854a095ba702a8.
---
 openpilot/selfdrive/controls/plannerd.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/openpilot/selfdrive/controls/plannerd.py b/openpilot/selfdrive/controls/plannerd.py
index 5908e141f7b001..66b17d60a77f30 100755
--- a/openpilot/selfdrive/controls/plannerd.py
+++ b/openpilot/selfdrive/controls/plannerd.py
@@ -23,14 +23,13 @@ def main():
   cloudlog.info("plannerd got CarParamsSP")
 
   gps_location_service = get_gps_location_service(params)
-  ignore_services = ["liveMapDataSP", gps_location_service]
 
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
                             'liveMapDataSP', 'carStateSP', gps_location_service],
-                           poll='carState', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)
+                           poll='carState')
 
   while True:
     sm.update()

From 0265ae5f7629f464daecdba562962a3f33c29bb9 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 25 Jul 2026 01:27:25 -0400
Subject: [PATCH 1354/1434] Revert "plannerd: check all services for validity
 (#38341)"

This reverts commit a9ffebe96e88a664ce71e76a86f7b3b6719eb3f4.
---
 openpilot/selfdrive/controls/lib/longitudinal_planner.py | 2 +-
 openpilot/selfdrive/controls/plannerd.py                 | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/openpilot/selfdrive/controls/lib/longitudinal_planner.py b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
index 7e3446a768c031..6eaed7370da2ab 100755
--- a/openpilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -158,7 +158,7 @@ def update(self, sm):
   def publish(self, sm, pm):
     plan_send = messaging.new_message('longitudinalPlan')
 
-    plan_send.valid = sm.all_checks()
+    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState', 'radarState'])
 
     longitudinalPlan = plan_send.longitudinalPlan
     longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
diff --git a/openpilot/selfdrive/controls/plannerd.py b/openpilot/selfdrive/controls/plannerd.py
index 66b17d60a77f30..05e44c173ee959 100755
--- a/openpilot/selfdrive/controls/plannerd.py
+++ b/openpilot/selfdrive/controls/plannerd.py
@@ -40,7 +40,7 @@ def main():
 
       ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
       msg = messaging.new_message('driverAssistance')
-      msg.valid = sm.all_checks()
+      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2', 'liveParameters'])
       msg.driverAssistance.leftLaneDeparture = ldw.left
       msg.driverAssistance.rightLaneDeparture = ldw.right
       pm.send('driverAssistance', msg)

From 7801bdf0cc2e2373ed3d78cdd29f8f903595db79 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 25 Jul 2026 01:36:05 -0400
Subject: [PATCH 1355/1434] Reapply "mapd: ignore in plannerd health check
 (#1880)"

This reverts commit 9163d1cb74dfc747028da751beaec11b3408fb6d.
---
 openpilot/selfdrive/controls/plannerd.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/openpilot/selfdrive/controls/plannerd.py b/openpilot/selfdrive/controls/plannerd.py
index 05e44c173ee959..3a05ea174b0aae 100755
--- a/openpilot/selfdrive/controls/plannerd.py
+++ b/openpilot/selfdrive/controls/plannerd.py
@@ -23,13 +23,14 @@ def main():
   cloudlog.info("plannerd got CarParamsSP")
 
   gps_location_service = get_gps_location_service(params)
+  ignore_services = ["liveMapDataSP", gps_location_service]
 
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
                             'liveMapDataSP', 'carStateSP', gps_location_service],
-                           poll='carState')
+                           poll='carState', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)
 
   while True:
     sm.update()

From ee3583df3383f815640636887591fd09874da4ae Mon Sep 17 00:00:00 2001
From: Christopher Haucke <132518562+CHaucke89@users.noreply.github.com>
Date: Sat, 25 Jul 2026 09:15:05 -0400
Subject: [PATCH 1356/1434] [tizi/tici] ui: Camera offset controls (#1813)

* Camera offset controls

* final

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../ui/sunnypilot/layouts/settings/models.py        | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
index e2ea81d1f54149..be2883d7182ab9 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
@@ -43,7 +43,7 @@ def __init__(self):
     self._initialize_items()
 
     self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB")
-    for ctrl, key in [(self.lane_turn_value_control, "LaneTurnValue"), (self.delay_control, "LagdToggleDelay")]:
+    for ctrl, key in [(self.lane_turn_value_control, "LaneTurnValue"), (self.delay_control, "LagdToggleDelay"), (self.camera_offset, "CameraOffset")]:
       ctrl.action_item.set_value(int(float(ui_state.params.get(key, return_default=True)) * 100))
 
     self._scroller = Scroller(self.items, line_separator=True, spacing=0)
@@ -93,9 +93,14 @@ def _initialize_items(self):
 
     self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle")
 
+    self.camera_offset = option_item_sp(tr("Adjust Camera Offset"), "CameraOffset", -35, 35,
+                                        tr("Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)"),
+                                        1, None, True, "", style.BUTTON_ACTION_WIDTH, None, True,
+                                        lambda v: f"{v / 100:.2f} m")
+
     self.items = [self.current_model_item, self.cancel_download_item, self.supercombo_label, self.vision_label,
-                  self.policy_label, self.off_policy_label, self.on_policy_label, self.refresh_item, self.clear_cache_item, self.lane_turn_desire_toggle,
-                  self.lane_turn_value_control, self.lagd_toggle, self.delay_control]
+                  self.policy_label, self.off_policy_label, self.on_policy_label, self.refresh_item, self.clear_cache_item,
+                  self.lane_turn_desire_toggle, self.lane_turn_value_control, self.lagd_toggle, self.delay_control, self.camera_offset]
 
   def _update_lagd_description(self, lagd_toggle: bool):
     desc = tr("Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. " +
@@ -232,6 +237,7 @@ def _update_state(self):
     advanced_controls: bool = ui_state.params.get_bool("ShowAdvancedControls")
     turn_desire: bool = ui_state.params.get_bool("LaneTurnDesire")
     live_delay: bool = ui_state.params.get_bool("LagdToggle")
+    camera_offset: bool = ui_state.params.get("ModelManager_ActiveBundle") is not None
 
     self.lane_turn_desire_toggle.action_item.set_state(turn_desire)
     self.lane_turn_value_control.set_visible(turn_desire and advanced_controls)
@@ -240,6 +246,7 @@ def _update_state(self):
     new_step = int(round(100 / CV.MPH_TO_KPH)) if ui_state.is_metric else 100
     if self.lane_turn_value_control.action_item is not None and self.lane_turn_value_control.action_item.value_change_step != new_step:
       self.lane_turn_value_control.action_item.value_change_step = new_step
+    self.camera_offset.set_visible(camera_offset)
 
     self._update_lagd_description(live_delay)
     self.model_manager = ui_state.sm["modelManagerSP"]

From fd22de1c9aa88e0ad02549ff27d62d05394417c9 Mon Sep 17 00:00:00 2001
From: Eitan <20345138+0x3k@users.noreply.github.com>
Date: Sat, 25 Jul 2026 06:37:18 -0700
Subject: [PATCH 1357/1434] SCC-M: fix operator precedence in quadratic roots
 (#1816)

* controls/scc: fix operator precedence in map controller quadratic roots

* not async

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../smart_cruise_control/map_controller.py    |  4 ++--
 .../tests/test_map_controller.py              | 19 ++++++++++++++++++-
 2 files changed, 20 insertions(+), 3 deletions(-)

diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py
index 65e157bdbcf493..f3ed0fc07b2660 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py
@@ -151,8 +151,8 @@ def update_calculations(self) -> None:
         a = 0.5 * TARGET_JERK
         b = self.a_ego
         c = self.v_ego - tv
-        t_a = -1 * ((b**2 - 4 * a * c) ** 0.5 + b) / 2 * a
-        t_b = ((b**2 - 4 * a * c) ** 0.5 - b) / 2 * a
+        t_a = -1 * ((b**2 - 4 * a * c) ** 0.5 + b) / (2 * a)
+        t_b = ((b**2 - 4 * a * c) ** 0.5 - b) / (2 * a)
         if not isinstance(t_a, complex) and t_a > 0:
           t = t_a
         else:
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
index 3b16c59bb5008e..dc27447c0b56d3 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
@@ -4,13 +4,17 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+import json
+import math
 import platform
 
+import pytest
+
 from openpilot.cereal import custom
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
-from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.map_controller import SmartCruiseControlMap
+from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.map_controller import R, SmartCruiseControlMap
 
 MapState = VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.MapState
 
@@ -55,4 +59,17 @@ def test_transition_disabled_to_enabled(self):
       self.scc_m.update(True, False, 0., 0., 0.)
     assert self.scc_m.state == VisionState.enabled
 
+  def test_moderate_curve(self):
+    # Regression: `... / 2 * a` parsed as `(.../2)*a` instead of `.../(2*a)`,
+    # making max_d ~11x too small so the moderate-curve branch never tripped.
+    # v_ego=25, a_ego=0, tv=24: fixed max_d≈45m vs buggy ≈4m at a 40m waypoint.
+    waypoint_lon_deg = (40.0 / R) * (180.0 / math.pi)
+    self.mem_params.put("LastGPSPosition", json.dumps({"latitude": 0.0, "longitude": 0.0}), block=True)
+    self.mem_params.put("MapTargetVelocities",
+                        json.dumps([{"latitude": 0.0, "longitude": waypoint_lon_deg, "velocity": 24.0}]), block=True)
+
+    self.scc_m.update(True, False, 25.0, 0.0, 30.0)
+
+    assert self.scc_m.v_target == pytest.approx(24.0)
+
   # TODO-SP: mock data from modelV2 to test other states

From 3a05c03079d796f533f342489b3f681cfd21f98d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 25 Jul 2026 15:34:36 -0400
Subject: [PATCH 1358/1434] ci: no more docker (#1886)

---
 .github/workflows/prebuilt.yaml | 39 ---------------------------------
 release/ci/docker_build_sp.sh   | 30 -------------------------
 2 files changed, 69 deletions(-)
 delete mode 100644 .github/workflows/prebuilt.yaml
 delete mode 100755 release/ci/docker_build_sp.sh

diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
deleted file mode 100644
index aeb0f11d84b2d9..00000000000000
--- a/.github/workflows/prebuilt.yaml
+++ /dev/null
@@ -1,39 +0,0 @@
-name: prebuilt
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: release/ci/docker_build_sp.sh
-
-jobs:
-  build_prebuilt:
-    name: build prebuilt
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    env:
-      PUSH_IMAGE: true
-    permissions:
-      checks: read
-      contents: read
-      packages: write
-    steps:
-    - name: Wait for green check mark
-      if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
-      with:
-        ref: master
-        wait-interval: 30
-        running-workflow-name: 'build prebuilt'
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci|create badges).*).)*$
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: git lfs pull
-    - name: Build and Push docker image
-      run: |
-        $DOCKER_LOGIN
-        eval "$BUILD"
diff --git a/release/ci/docker_build_sp.sh b/release/ci/docker_build_sp.sh
deleted file mode 100755
index 369daf5233f16b..00000000000000
--- a/release/ci/docker_build_sp.sh
+++ /dev/null
@@ -1,30 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-SCRIPT_DIR=$(dirname "$0")
-OPENPILOT_DIR=$SCRIPT_DIR/../../
-
-DOCKER_IMAGE=sunnypilot
-DOCKER_FILE=Dockerfile.openpilot
-DOCKER_REGISTRY=ghcr.io/sunnypilot
-COMMIT_SHA=$(git rev-parse HEAD)
-
-if [ -n "$TARGET_ARCHITECTURE" ]; then
-  PLATFORM="linux/$TARGET_ARCHITECTURE"
-  TAG_SUFFIX="-$TARGET_ARCHITECTURE"
-else
-  PLATFORM="linux/$(uname -m)"
-  TAG_SUFFIX=""
-fi
-
-LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX
-REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
-REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA
-
-DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
-
-if [ -n "$PUSH_IMAGE" ]; then
-  docker push $REMOTE_TAG
-  docker tag $REMOTE_TAG $REMOTE_SHA_TAG
-  docker push $REMOTE_SHA_TAG
-fi

From 978ec800fead1b34c4e43ebc69fb92b67695bdf0 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 1 Aug 2026 23:05:03 -0400
Subject: [PATCH 1359/1434] plannerd & selfdriveStateSP: poll `modelV2`, relay
 button state via bitmask (#1893)

* selfdrived: continuous button state and release counters in selfdriveStateSP

* tests and more
---
 openpilot/cereal/custom.capnp                 |  2 +
 openpilot/selfdrive/controls/plannerd.py      |  6 +-
 openpilot/selfdrive/selfdrived/selfdrived.py  |  5 +
 .../lib/speed_limit/speed_limit_assist.py     | 20 ++--
 .../tests/test_speed_limit_assist.py          | 92 ++++++++++++++++++-
 .../selfdrived/button_state_tracker.py        | 26 ++++++
 .../selfdrive/selfdrived/tests/__init__.py    |  0
 .../tests/test_button_state_tracker.py        | 67 ++++++++++++++
 8 files changed, 204 insertions(+), 14 deletions(-)
 create mode 100644 openpilot/sunnypilot/selfdrive/selfdrived/button_state_tracker.py
 create mode 100644 openpilot/sunnypilot/selfdrive/selfdrived/tests/__init__.py
 create mode 100644 openpilot/sunnypilot/selfdrive/selfdrived/tests/test_button_state_tracker.py

diff --git a/openpilot/cereal/custom.capnp b/openpilot/cereal/custom.capnp
index e78f7a75c7cc94..c81aa104f27077 100644
--- a/openpilot/cereal/custom.capnp
+++ b/openpilot/cereal/custom.capnp
@@ -69,6 +69,8 @@ struct LeadData {
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
   intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
+  buttonsPressed @2 :UInt16;
+  buttonsReleaseToggle @3 :UInt16;
 
   enum AudibleAlert {
     none @0;
diff --git a/openpilot/selfdrive/controls/plannerd.py b/openpilot/selfdrive/controls/plannerd.py
index 3a05ea174b0aae..24b07af7f1d856 100755
--- a/openpilot/selfdrive/controls/plannerd.py
+++ b/openpilot/selfdrive/controls/plannerd.py
@@ -29,12 +29,12 @@ def main():
   longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
-                            'liveMapDataSP', 'carStateSP', gps_location_service],
-                           poll='carState', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)
+                            'liveMapDataSP', 'carStateSP', 'selfdriveStateSP', gps_location_service],
+                           poll='modelV2', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)
 
   while True:
     sm.update()
-    longitudinal_planner.sla.update_car_state(sm['carState'])
+    longitudinal_planner.sla.update_buttons(sm['selfdriveStateSP'].buttonsReleaseToggle)
     if sm.updated['modelV2']:
       longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)
diff --git a/openpilot/selfdrive/selfdrived/selfdrived.py b/openpilot/selfdrive/selfdrived/selfdrived.py
index 2edc0bce180937..cfad1433dbc394 100755
--- a/openpilot/selfdrive/selfdrived/selfdrived.py
+++ b/openpilot/selfdrive/selfdrived/selfdrived.py
@@ -30,6 +30,7 @@
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
 from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
+from openpilot.sunnypilot.selfdrive.selfdrived.button_state_tracker import ButtonStateTracker
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
 REPLAY = "REPLAY" in os.environ
@@ -177,6 +178,7 @@ def __init__(self, CP=None, CP_SP=None):
     self.car_events_sp = CarSpecificEventsSP(self.CP, self.CP_SP)
 
     CruiseHelper.__init__(self, self.CP)
+    self.button_state_tracker = ButtonStateTracker()
 
   def update_events(self, CS):
     """Compute onroadEvents from carState"""
@@ -597,6 +599,8 @@ def publish_selfdriveState(self, CS):
     icbm.sendButton = self.icbm.cruise_button
     icbm.vTarget = self.icbm.v_target
 
+    self.button_state_tracker.publish(ss_sp)
+
     self.pm.send('selfdriveStateSP', ss_sp_msg)
 
     # onroadEventsSP - logged every second or on change
@@ -616,6 +620,7 @@ def step(self):
       self.mads.update(CS)
     self.update_alerts(CS)
 
+    self.button_state_tracker.update(CS)
     self.publish_selfdriveState(CS)
 
     self.CS_prev = CS
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
index 1ff541167f41b5..40c8c6fdf477b8 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
@@ -91,7 +91,7 @@ def __init__(self, CP: car.CarParams, CP_SP: custom.CarParamsSP):
 
     self._plus_hold = 0.
     self._minus_hold = 0.
-    self._last_carstate_ts = 0.
+    self._release_toggle_prev = 0
 
     # TODO-SP: SLA's own output_a_target for planner
     # Solution functions mapped to respective states
@@ -146,16 +146,16 @@ def update_params(self) -> None:
       set_speed_limit_assist_availability(self.CP, self.CP_SP, self.params)
       self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist
 
-  def update_car_state(self, CS: car.CarState) -> None:
+  def update_buttons(self, release_toggle: int) -> None:
+    released = self._release_toggle_prev ^ release_toggle
+    self._release_toggle_prev = release_toggle
+    if not released:
+      return
     now = time.monotonic()
-    self._last_carstate_ts = now
-
-    for b in CS.buttonEvents:
-      if not b.pressed:
-        if b.type in CRUISE_BUTTONS_PLUS:
-          self._plus_hold = max(self._plus_hold, now + CRUISE_BUTTON_CONFIRM_HOLD)
-        elif b.type in CRUISE_BUTTONS_MINUS:
-          self._minus_hold = max(self._minus_hold, now + CRUISE_BUTTON_CONFIRM_HOLD)
+    if any((released >> b) & 1 for b in CRUISE_BUTTONS_PLUS):
+      self._plus_hold = max(self._plus_hold, now + CRUISE_BUTTON_CONFIRM_HOLD)
+    if any((released >> b) & 1 for b in CRUISE_BUTTONS_MINUS):
+      self._minus_hold = max(self._minus_hold, now + CRUISE_BUTTON_CONFIRM_HOLD)
 
   def _get_button_release(self, req_plus: bool, req_minus: bool) -> bool:
     now = time.monotonic()
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
index 7cd6fef5249bff..1f23fb2299aebb 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
@@ -5,11 +5,14 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
+import time
+
 import pytest
 
 from openpilot.cereal import custom
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.rivian.values import CAR as RIVIAN
+from opendbc.car.structs import car
 from opendbc.car.tesla.values import CAR as TESLA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from openpilot.common.constants import CV
@@ -21,9 +24,13 @@
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist, \
-  PRE_ACTIVE_GUARD_PERIOD, ACTIVE_STATES
+  PRE_ACTIVE_GUARD_PERIOD, ACTIVE_STATES, CRUISE_BUTTON_CONFIRM_HOLD
+from openpilot.sunnypilot.selfdrive.selfdrived.button_state_tracker import ButtonStateTracker
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
+ButtonEvent = car.CarState.ButtonEvent
+ButtonType = car.CarState.ButtonEvent.Type
+
 SpeedLimitAssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
 
 ALL_STATES = tuple(SpeedLimitAssistState.schema.enumerants.values())
@@ -276,3 +283,86 @@ def test_maintain_states_with_no_changes(self):
         assert self.sla.state in [SpeedLimitAssistState.preActive, SpeedLimitAssistState.active]
       elif initial_state in ACTIVE_STATES:
         assert self.sla.state in ACTIVE_STATES
+
+
+class TestButtonStateTrackerSLAIntegration:
+
+  def setup_method(self, method):
+    self.tracker = ButtonStateTracker()
+    self.params = Params()
+    self.params.put("IsReleaseSpBranch", True, block=True)
+    self.params.put("SpeedLimitMode", int(Mode.assist), block=True)
+    self.params.put_bool("IsMetric", False, block=True)
+    self.params.put("SpeedLimitOffsetType", 0, block=True)
+    self.params.put("SpeedLimitValueOffset", 0, block=True)
+
+    CarInterface = interfaces[DEFAULT_CAR]
+    CP = CarInterface.get_non_essential_params(DEFAULT_CAR)
+    CP.openpilotLongitudinalControl = True
+    CP_SP = CarInterface.get_non_essential_params_sp(CP, DEFAULT_CAR)
+    self.sla = SpeedLimitAssist(CP, CP_SP)
+
+  def _make_cs(self, events=None) -> car.CarState:
+    CS = car.CarState()
+    CS.buttonEvents = events or []
+    return CS
+
+  def _run_ctrl_frames(self, frames: list[car.CarState]) -> None:
+    for cs in frames:
+      self.tracker.update(cs)
+
+  def test_button_confirm_via_tracker(self) -> None:
+    self._run_ctrl_frames([
+      self._make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]),
+      self._make_cs(),
+      self._make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]),
+      self._make_cs(),
+      self._make_cs(),
+    ])
+    self.sla.update_buttons(self.tracker.release_toggle)
+    assert self.sla._get_button_release(req_plus=True, req_minus=False)
+
+  def test_rapid_press_release_between_polls(self) -> None:
+    self.sla.update_buttons(self.tracker.release_toggle)
+
+    self._run_ctrl_frames([
+      self._make_cs([ButtonEvent(type=ButtonType.decelCruise, pressed=True)]),
+      self._make_cs([ButtonEvent(type=ButtonType.decelCruise, pressed=False)]),
+      self._make_cs(),
+      self._make_cs(),
+      self._make_cs(),
+    ])
+    self.sla.update_buttons(self.tracker.release_toggle)
+    assert self.sla._get_button_release(req_plus=False, req_minus=True)
+
+  def test_multiple_releases_between_polls(self) -> None:
+    self.sla.update_buttons(self.tracker.release_toggle)
+
+    self._run_ctrl_frames([
+      self._make_cs([
+        ButtonEvent(type=ButtonType.accelCruise, pressed=True),
+        ButtonEvent(type=ButtonType.decelCruise, pressed=True),
+      ]),
+      self._make_cs([
+        ButtonEvent(type=ButtonType.accelCruise, pressed=False),
+        ButtonEvent(type=ButtonType.decelCruise, pressed=False),
+      ]),
+    ])
+    self.sla.update_buttons(self.tracker.release_toggle)
+    assert self.sla._get_button_release(req_plus=True, req_minus=False)
+    assert self.sla._get_button_release(req_plus=False, req_minus=True)
+
+  def test_no_false_positive_same_toggle(self) -> None:
+    self.sla.update_buttons(self.tracker.release_toggle)
+    self.sla.update_buttons(self.tracker.release_toggle)
+    assert not self.sla._get_button_release(req_plus=True, req_minus=False)
+    assert not self.sla._get_button_release(req_plus=False, req_minus=True)
+
+  def test_button_confirm_expires(self) -> None:
+    self._run_ctrl_frames([
+      self._make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]),
+      self._make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]),
+    ])
+    self.sla.update_buttons(self.tracker.release_toggle)
+    time.sleep(CRUISE_BUTTON_CONFIRM_HOLD + 0.1)
+    assert not self.sla._get_button_release(req_plus=True, req_minus=False)
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/button_state_tracker.py b/openpilot/sunnypilot/selfdrive/selfdrived/button_state_tracker.py
new file mode 100644
index 00000000000000..ffbff7b44cd5e5
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/button_state_tracker.py
@@ -0,0 +1,26 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from opendbc.car import structs
+
+
+class ButtonStateTracker:
+  def __init__(self) -> None:
+    self.pressed: int = 0
+    self.release_toggle: int = 0
+
+  def update(self, CS: structs.CarState) -> None:
+    for b in CS.buttonEvents:
+      bit = 1 << b.type.raw
+      if b.pressed:
+        self.pressed |= bit
+      else:
+        self.pressed &= ~bit
+        self.release_toggle ^= bit
+
+  def publish(self, ss_sp) -> None:
+    ss_sp.buttonsPressed = self.pressed
+    ss_sp.buttonsReleaseToggle = self.release_toggle
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/tests/__init__.py b/openpilot/sunnypilot/selfdrive/selfdrived/tests/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_button_state_tracker.py b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_button_state_tracker.py
new file mode 100644
index 00000000000000..798fab650ba3a4
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_button_state_tracker.py
@@ -0,0 +1,67 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from opendbc.car.structs import car
+from openpilot.sunnypilot.selfdrive.selfdrived.button_state_tracker import ButtonStateTracker
+
+ButtonEvent = car.CarState.ButtonEvent
+ButtonType = car.CarState.ButtonEvent.Type
+
+
+class TestButtonStateTracker:
+  def setup_method(self) -> None:
+    self.tracker = ButtonStateTracker()
+
+  def make_cs(self, events: list) -> car.CarState:
+    CS = car.CarState()
+    CS.buttonEvents = events
+    return CS
+
+  def test_initial_state(self) -> None:
+    assert self.tracker.pressed == 0
+    assert self.tracker.release_toggle == 0
+
+  def test_press_sets_bit(self) -> None:
+    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]))
+    assert self.tracker.pressed == (1 << ButtonType.accelCruise)
+    assert self.tracker.release_toggle == 0
+
+  def test_release_clears_and_toggles(self) -> None:
+    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]))
+    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]))
+    assert self.tracker.pressed == 0
+    assert self.tracker.release_toggle == (1 << ButtonType.accelCruise)
+
+  def test_multiple_buttons(self) -> None:
+    self.tracker.update(self.make_cs([
+      ButtonEvent(type=ButtonType.accelCruise, pressed=True),
+      ButtonEvent(type=ButtonType.decelCruise, pressed=True),
+    ]))
+    assert self.tracker.pressed == (1 << ButtonType.accelCruise) | (1 << ButtonType.decelCruise)
+
+    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]))
+    assert self.tracker.pressed == (1 << ButtonType.decelCruise)
+    assert self.tracker.release_toggle == (1 << ButtonType.accelCruise)
+
+  def test_release_toggle_flips(self) -> None:
+    for _ in range(2):
+      self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=True)]))
+      self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=False)]))
+    assert self.tracker.release_toggle == 0
+
+  def test_publish(self) -> None:
+    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]))
+    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.decelCruise, pressed=True)]))
+    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]))
+
+    class MockSP:
+      buttonsPressed = 0
+      buttonsReleaseToggle = 0
+
+    sp = MockSP()
+    self.tracker.publish(sp)
+    assert sp.buttonsPressed == self.tracker.pressed
+    assert sp.buttonsReleaseToggle == self.tracker.release_toggle

From 50b860c9285057f04a74af0b3dedf728bc5aada9 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 1 Aug 2026 23:27:36 -0400
Subject: [PATCH 1360/1434] Reapply "plannerd: check all services for validity
 (#38341)"

This reverts commit 0265ae5f7629f464daecdba562962a3f33c29bb9.
---
 openpilot/selfdrive/controls/lib/longitudinal_planner.py | 2 +-
 openpilot/selfdrive/controls/plannerd.py                 | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/openpilot/selfdrive/controls/lib/longitudinal_planner.py b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
index 6eaed7370da2ab..7e3446a768c031 100755
--- a/openpilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -158,7 +158,7 @@ def update(self, sm):
   def publish(self, sm, pm):
     plan_send = messaging.new_message('longitudinalPlan')
 
-    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState', 'radarState'])
+    plan_send.valid = sm.all_checks()
 
     longitudinalPlan = plan_send.longitudinalPlan
     longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
diff --git a/openpilot/selfdrive/controls/plannerd.py b/openpilot/selfdrive/controls/plannerd.py
index 24b07af7f1d856..d80b69ad190fa5 100755
--- a/openpilot/selfdrive/controls/plannerd.py
+++ b/openpilot/selfdrive/controls/plannerd.py
@@ -41,7 +41,7 @@ def main():
 
       ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
       msg = messaging.new_message('driverAssistance')
-      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2', 'liveParameters'])
+      msg.valid = sm.all_checks()
       msg.driverAssistance.leftLaneDeparture = ldw.left
       msg.driverAssistance.rightLaneDeparture = ldw.right
       pm.send('driverAssistance', msg)

From 1a07e4722853c0606b0e1caa8f300a371e342948 Mon Sep 17 00:00:00 2001
From: Amy Jeanes <amyjeanes23@gmail.com>
Date: Sun, 2 Aug 2026 04:40:52 +0100
Subject: [PATCH 1361/1434] Tesla: MADS Screen Activation (#1808)

* Tesla: MADS Screen Button Settings

Adds a Tesla vehicle setting (vehicle bus required) to control how many
fingers activate the MADS screen button, or disable it entirely.

Rebased onto current master:
- Migrated the setting metadata from the deprecated params_metadata.json
  (removed in #1862) to the yaml SDUI system: added TeslaMadsScreenButton
  to settings_ui_src/pages/vehicle.yaml and recompiled settings_ui.json.
  Vehicle-bus gating uses the tesla_has_vehicle_bus capability visibility.
- Bumped opendbc_repo to the latest head of sunnypilot/opendbc#459.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01JiSH2KAAueUmDe29xvpuAd

* bump

* Tesla: address MADS Screen Activation review feedback

Default TeslaMadsScreenButton to Off for fresh installs and add a param
migration that seeds existing Tesla installs with 3-Finger, preserving the
previous always-on behaviour. Brand resolves from CarPlatformBundle, falling
back to CarParamsPersistent so auto-fingerprinted Teslas are covered too.

Rename the setting to "MADS Screen Activation", hyphenate the finger-count
labels, and reword the description to use <br> (descriptions render as HTML)
with a note that a higher finger count may reduce accidental activations.
Applied both on-device and in sunnylink.

Also fix test_tesla_with_vehicle_bus_uses_param, which broke once
get_mads_limited_brands started reading TeslaMadsScreenButton from the same
blanket params mock, and add coverage for the screen-button-Off path.

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01X5icDp7zZ49gpyC2mpCfF1

* bump opendbc

---------

Co-authored-by: Claude Opus 4.8 <noreply@anthropic.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 opendbc_repo                                  |  2 +-
 openpilot/common/params_keys.h                |  1 +
 .../steering_sub_layouts/mads_settings.py     |  7 +++-
 .../layouts/settings/vehicle/brands/tesla.py  | 27 ++++++++++++-
 openpilot/sunnypilot/mads/helpers.py          | 13 +++---
 .../mads/tests/test_mads_steering_mode.py     | 26 ++++++++++--
 .../sunnypilot/selfdrive/car/interfaces.py    |  1 +
 .../sunnypilot/sunnylink/settings_ui.json     | 36 +++++++++++++++++
 .../settings_ui_src/pages/vehicle.yaml        | 22 ++++++++++
 .../sunnypilot/system/params_migration.py     | 40 +++++++++++++++++++
 10 files changed, 161 insertions(+), 14 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index d6b9c1adaafe2b..4c64e8a95b4ead 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit d6b9c1adaafe2b752c9ee9a4af0024d22c2c12e6
+Subproject commit 4c64e8a95b4eadca6a9e631d06a854f52bb9ebfa
diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h
index 3c39fc5f53585c..279d36abfd7123 100644
--- a/openpilot/common/params_keys.h
+++ b/openpilot/common/params_keys.h
@@ -222,6 +222,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TeslaMadsScreenButton", {PERSISTENT | BACKUP, INT, "0"}},
     {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},
 
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
index 098fcf8ce883cd..4cde489954e027 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
@@ -7,7 +7,7 @@
 from collections.abc import Callable
 import pyray as rl
 
-from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake
 from openpilot.system.ui.lib.multilang import tr, tr_noop
@@ -96,7 +96,10 @@ def _mads_limited_settings() -> bool:
     if brand == "rivian":
       return True
     elif brand == "tesla":
-      return not (ui_state.CP_SP is not None and ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
+      if ui_state.CP_SP is None or not ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS:
+        return True
+      screen_button = int(ui_state.params.get("TeslaMadsScreenButton", return_default=True))
+      return screen_button == MadsScreenButtonType.OFF
     return False
 
   def _update_steering_mode_description(self, button_index: int):
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
index 46d536c651d320..10fb3e1b4b8436 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
@@ -4,10 +4,11 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp, toggle_item_sp
 
 COOP_STEERING_MIN_KMH = 23
 OEM_STEERING_MIN_KMH = 48
@@ -18,7 +19,14 @@ class TeslaSettings(BrandSettings):
   def __init__(self):
     super().__init__()
     self.coop_steering_toggle = toggle_item_sp(tr("Cooperative Steering (Beta)"), "", param="TeslaCoopSteering")
-    self.items = [self.coop_steering_toggle]
+    self.mads_screen_button = multiple_button_item_sp(
+      title=lambda: tr("MADS Screen Activation"),
+      description="",
+      buttons=[lambda: tr("Off"), lambda: tr("3-Finger"), lambda: tr("4-Finger"), lambda: tr("5-Finger")],
+      param="TeslaMadsScreenButton",
+      inline=False,
+    )
+    self.items = [self.coop_steering_toggle, self.mads_screen_button]
 
   def update_settings(self):
     is_metric = ui_state.is_metric
@@ -41,3 +49,18 @@ def update_settings(self):
 
     self.coop_steering_toggle.set_description(coop_steering_desc)
     self.coop_steering_toggle.action_item.set_enabled(ui_state.is_offroad())
+
+    has_vehicle_bus = ui_state.CP_SP is not None and bool(ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
+    self.mads_screen_button.set_visible(has_vehicle_bus)
+
+    mads_screen_button_desc = (
+      f"{tr('Use a multi-finger press on the infotainment screen to toggle MADS.')} " +
+      f"{tr('This allows the use of full MADS functionality when enabled.')}<br><br>" +
+      f"{tr('Selecting a higher finger count may reduce accidental activations.')}<br><br>" +
+      f"<b>{tr('Note: Setting this to Off will reset your MADS settings to default.')}</b>"
+    )
+    if not ui_state.is_offroad():
+      mads_screen_button_disabled_msg = tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to change.")
+      mads_screen_button_desc = f"<b>{mads_screen_button_disabled_msg}</b><br><br>{mads_screen_button_desc}"
+    self.mads_screen_button.set_description(mads_screen_button_desc)
+    self.mads_screen_button.action_item.set_enabled(ui_state.is_offroad())
diff --git a/openpilot/sunnypilot/mads/helpers.py b/openpilot/sunnypilot/mads/helpers.py
index b9efd620f32359..655d7bc9a2360e 100644
--- a/openpilot/sunnypilot/mads/helpers.py
+++ b/openpilot/sunnypilot/mads/helpers.py
@@ -9,7 +9,7 @@
 from opendbc.car import structs
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP
-from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP
 
 
 MADS_NO_ACC_MAIN_BUTTON = ("rivian", "tesla")
@@ -21,17 +21,20 @@ class MadsSteeringModeOnBrake:
   DISENGAGE = 2
 
 
-def get_mads_limited_brands(CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> bool:
+def get_mads_limited_brands(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params) -> bool:
   if CP.brand == 'rivian':
     return True
   if CP.brand == 'tesla':
-    return not CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS
+    if not CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS:
+      return True
+    screen_button = int(params.get("TeslaMadsScreenButton", return_default=True))
+    return screen_button == MadsScreenButtonType.OFF
 
   return False
 
 
 def read_steering_mode_param(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
-  if get_mads_limited_brands(CP, CP_SP):
+  if get_mads_limited_brands(CP, CP_SP, params):
     return MadsSteeringModeOnBrake.DISENGAGE
 
   return params.get("MadsSteeringMode", return_default=True)
@@ -63,7 +66,7 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
   # MADS is currently partially supported for these platforms due to lack of consistent states to engage controls
   # Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms
   # TODO-SP: To enable MADS full support for Rivian and most Tesla, identify consistent signals for MADS toggling
-  mads_partial_support = get_mads_limited_brands(CP, CP_SP)
+  mads_partial_support = get_mads_limited_brands(CP, CP_SP, params)
   if mads_partial_support:
     params.put("MadsSteeringMode", 2, block=True)
     params.put_bool("MadsUnifiedEngagementMode", True, block=True)
diff --git a/openpilot/sunnypilot/mads/tests/test_mads_steering_mode.py b/openpilot/sunnypilot/mads/tests/test_mads_steering_mode.py
index 3b7e27a86f3b4d..2bc6130ece5e96 100644
--- a/openpilot/sunnypilot/mads/tests/test_mads_steering_mode.py
+++ b/openpilot/sunnypilot/mads/tests/test_mads_steering_mode.py
@@ -13,7 +13,7 @@
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
-from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 EventName = log.OnroadEvent.EventName
@@ -38,6 +38,12 @@ def make_panda_state(mocker, controls_allowed_lateral=True):
   return ps
 
 
+def make_params_mock(mocker, values):
+  params = mocker.MagicMock()
+  params.get = mocker.MagicMock(side_effect=lambda k, **kwargs: values[k])
+  return params
+
+
 def make_mads(mocker, steering_mode):
   sd = mocker.MagicMock()
   sd.CP = structs.CarParams()
@@ -223,15 +229,27 @@ def test_tesla_without_vehicle_bus_forced_to_disengage(self, mocker):
     params = mocker.MagicMock()
     assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.DISENGAGE
 
-  def test_tesla_with_vehicle_bus_uses_param(self, mocker):
+  @pytest.mark.parametrize("screen_button", [MadsScreenButtonType.THREE_FINGER,
+                                             MadsScreenButtonType.FOUR_FINGER,
+                                             MadsScreenButtonType.FIVE_FINGER])
+  def test_tesla_with_vehicle_bus_uses_param(self, mocker, screen_button):
     CP = structs.CarParams()
     CP.brand = "tesla"
     CP_SP = structs.CarParamsSP()
     CP_SP.flags = TeslaFlagsSP.HAS_VEHICLE_BUS
-    params = mocker.MagicMock()
-    params.get = mocker.MagicMock(return_value=MadsSteeringModeOnBrake.REMAIN_ACTIVE)
+    params = make_params_mock(mocker, {"TeslaMadsScreenButton": screen_button,
+                                       "MadsSteeringMode": MadsSteeringModeOnBrake.REMAIN_ACTIVE})
     assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.REMAIN_ACTIVE
 
+  def test_tesla_with_vehicle_bus_screen_button_off_forced_to_disengage(self, mocker):
+    CP = structs.CarParams()
+    CP.brand = "tesla"
+    CP_SP = structs.CarParamsSP()
+    CP_SP.flags = TeslaFlagsSP.HAS_VEHICLE_BUS
+    params = make_params_mock(mocker, {"TeslaMadsScreenButton": MadsScreenButtonType.OFF,
+                                       "MadsSteeringMode": MadsSteeringModeOnBrake.REMAIN_ACTIVE})
+    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.DISENGAGE
+
   @pytest.mark.parametrize("brand", ["hyundai", "toyota", "honda", "gm"])
   def test_other_brands_use_param(self, mocker, brand):
     CP = structs.CarParams()
diff --git a/openpilot/sunnypilot/selfdrive/car/interfaces.py b/openpilot/sunnypilot/selfdrive/car/interfaces.py
index 5be227c2622ac5..ed5b71d4b105c0 100644
--- a/openpilot/sunnypilot/selfdrive/car/interfaces.py
+++ b/openpilot/sunnypilot/selfdrive/car/interfaces.py
@@ -123,6 +123,7 @@ def initialize_params(params) -> list[dict[str, Any]]:
   # tesla
   keys.extend([
     "TeslaCoopSteering",
+    "TeslaMadsScreenButton",
   ])
 
   # toyota
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui.json b/openpilot/sunnypilot/sunnylink/settings_ui.json
index 1745235d9660b0..cd5f0b118fd0eb 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui.json
+++ b/openpilot/sunnypilot/sunnylink/settings_ui.json
@@ -2161,6 +2161,42 @@
               "type": "offroad_only"
             }
           ]
+        },
+        {
+          "key": "TeslaMadsScreenButton",
+          "widget": "multiple_button",
+          "title": "MADS Screen Activation",
+          "description": "Use a multi-finger press on the infotainment screen to toggle MADS. This allows the use of full MADS functionality when enabled. Selecting a higher finger count may reduce accidental activations. Note: Setting this to Off will reset your MADS settings to default.",
+          "options": [
+            {
+              "value": 0,
+              "label": "Off"
+            },
+            {
+              "value": 1,
+              "label": "3-Finger"
+            },
+            {
+              "value": 2,
+              "label": "4-Finger"
+            },
+            {
+              "value": 3,
+              "label": "5-Finger"
+            }
+          ],
+          "visibility": [
+            {
+              "type": "capability",
+              "field": "tesla_has_vehicle_bus",
+              "equals": true
+            }
+          ],
+          "enablement": [
+            {
+              "type": "offroad_only"
+            }
+          ]
         }
       ]
     },
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
index 2f6f20730e1813..7dd23256b180a9 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
@@ -56,6 +56,28 @@ sections:
     title: Cooperative Steering (Beta)
     enablement:
     - $ref: '#/macros/offroad'
+  - key: TeslaMadsScreenButton
+    widget: multiple_button
+    title: MADS Screen Activation
+    description: 'Use a multi-finger press on the infotainment screen to toggle MADS.
+      This allows the use of full MADS functionality when enabled. Selecting a higher
+      finger count may reduce accidental activations. Note: Setting this to Off will
+      reset your MADS settings to default.'
+    options:
+    - value: 0
+      label: 'Off'
+    - value: 1
+      label: 3-Finger
+    - value: 2
+      label: 4-Finger
+    - value: 3
+      label: 5-Finger
+    visibility:
+    - type: capability
+      field: tesla_has_vehicle_bus
+      equals: true
+    enablement:
+    - $ref: '#/macros/offroad'
 - id: toyota
   title: Toyota / Lexus Settings
   description: ''
diff --git a/openpilot/sunnypilot/system/params_migration.py b/openpilot/sunnypilot/system/params_migration.py
index f9d7d1bc43d943..130fd64310bc91 100644
--- a/openpilot/sunnypilot/system/params_migration.py
+++ b/openpilot/sunnypilot/system/params_migration.py
@@ -17,6 +17,26 @@
 VALID_TIMER_VALUES = set(ONROAD_BRIGHTNESS_TIMER_VALUES.values())
 
 
+def _resolve_brand(_params) -> str:
+  bundle = _params.get("CarPlatformBundle")
+  if isinstance(bundle, dict) and bundle.get("brand"):
+    return str(bundle["brand"])
+
+  # Auto-fingerprinted cars have no bundle, fall back to the last known CarParams.
+  CP_bytes = _params.get("CarParamsPersistent")
+  if CP_bytes is None:
+    return ""
+
+  # Never raises: callers rely on "" to mean "brand unknown, skip the migration".
+  try:
+    from openpilot.cereal import messaging  # lazy: avoids heavy import at module level
+    from opendbc.car.structs import car
+    return str(messaging.log_from_bytes(CP_bytes, car.CarParams).brand)
+  except Exception as e:
+    cloudlog.exception(f"params_migration: failed to resolve brand from CarParamsPersistent: {e}")
+    return ""
+
+
 def _migrate_car_platform_bundle(_params):
   bundle = _params.get("CarPlatformBundle")
   if bundle is None:
@@ -47,6 +67,23 @@ def _migrate_car_platform_bundle(_params):
   cloudlog.info(f"params_migration: CarPlatformBundle migrated {old_platform!r} -> {new_platform!r}")
 
 
+def _migrate_tesla_mads_screen_button(_params):
+  # TeslaMadsScreenButton defaults to Off for fresh installs, but the screen button was previously always
+  # active on Teslas with a vehicle bus. Seed existing Tesla installs with 3-finger to preserve that.
+  try:
+    if _params.get("TeslaMadsScreenButton") is not None:
+      return
+
+    if _resolve_brand(_params) != "tesla":
+      return
+
+    from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType  # lazy: avoids heavy import at module level
+    _params.put("TeslaMadsScreenButton", MadsScreenButtonType.THREE_FINGER, block=True)
+    cloudlog.info("params_migration: seeded TeslaMadsScreenButton with 3-finger to preserve existing behavior")
+  except Exception as e:
+    cloudlog.exception(f"Error migrating TeslaMadsScreenButton: {e}")
+
+
 def run_migration(_params):
   # migrate OnroadScreenOffBrightness
   if _params.get("OnroadScreenOffBrightnessMigrated") != ONROAD_BRIGHTNESS_MIGRATION_VERSION:
@@ -80,3 +117,6 @@ def run_migration(_params):
       cloudlog.exception(f"Error migrating OnroadScreenOffTimer: {e}")
 
   _migrate_car_platform_bundle(_params)
+
+  # seed TeslaMadsScreenButton for existing Tesla installs
+  _migrate_tesla_mads_screen_button(_params)

From 5bdc0c23a98da8843d95d7e9b69ac1c89691d5ef Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Wed, 5 Aug 2026 15:30:28 -0400
Subject: [PATCH 1362/1434] modeld_v2: Support Deep Models (#1887)

* modeld_v2: safe model validation

* fix string

* numpy

* dumb

* god use full attribute names please

* modeld_v2: refactor compile_modeld

* redundant

* CREAM AND SUGAR

* gpu stuffs

* Update fetcher.py

* Update compile_modeld.py

* Update compile_modeld.py

* Update compile_modeld.py

* Update compile_modeld.py

* summary

* Update compile_modeld.py

* Update compile_modeld.py

* Update compile_modeld.py

* i could lie say

* needed

* i could

* Update compile_modeld.py

* done done done

* bye metadata

* simplify

* deeeeep

* oopsie

* i don't know what i'm doing

* it's a supercombo

* wtf. ghostwriter

* i might be blind

* fuck. i AM blind. or dumb. or both.

* hmmmm

* read/open - what's the difference

* realize. that i don't know shit

* whatever

* fix paths

* fuckit. dynamic everything.

* simplify everything.

* fix macos cabana

* np.random.seed is deprecated, use Generator or default rng instead @nayan

* this is annoying me

* too much fluff

* no

* lint be crazy now, man i've been away a while

* back

* fix pkl loader test

* that comment was wrong, its still per model, just compiled at with the input/output shapes

* fix chunking

* dump and assign to cpu

* prev_feat in cpu to prevent corruption

* add todo-sp

* desire me?

* allow legacy

* lint

* shapey

* bye

---------

Co-authored-by: discountchubbs <alexgrant990@gmail.com>
Co-authored-by: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../build-single-tinygrad-model.yaml          |  13 +-
 .github/workflows/sunnypilot-build-model.yaml |  49 +-
 openpilot/cereal/custom.capnp                 |   7 +
 openpilot/sunnypilot/modeld_v2/SConscript     |  15 -
 .../sunnypilot/modeld_v2/compile_modeld.py    | 650 +++++++-----------
 .../sunnypilot/modeld_v2/install_models_pc.py |  75 --
 openpilot/sunnypilot/modeld_v2/modeld.py      | 116 +++-
 .../modeld_v2/parse_model_outputs.py          |  68 +-
 .../modeld_v2/parse_model_outputs_split.py    |   6 +-
 .../tests/test_combined_pkl_loader.py         |  16 +-
 .../sunnypilot/modeld_v2/tests/test_warp.py   | 103 ---
 openpilot/sunnypilot/modeld_v2/warp.py        | 171 -----
 openpilot/sunnypilot/models/fetcher.py        |  34 +-
 openpilot/sunnypilot/models/helpers.py        |  23 +-
 openpilot/sunnypilot/models/manager.py        |  90 +--
 .../sunnypilot/models/runners/helpers.py      |  28 -
 .../sunnypilot/models/runners/model_runner.py | 174 -----
 .../models/runners/tinygrad/model_types.py    |  91 ---
 .../runners/tinygrad/tinygrad_runner.py       | 179 -----
 .../models/split_model_constants.py           |   1 +
 release/ci/model_generator.py                 | 147 +---
 tinygrad_repo                                 |   2 +-
 22 files changed, 586 insertions(+), 1472 deletions(-)
 delete mode 100755 openpilot/sunnypilot/modeld_v2/install_models_pc.py
 delete mode 100644 openpilot/sunnypilot/modeld_v2/tests/test_warp.py
 delete mode 100644 openpilot/sunnypilot/modeld_v2/warp.py
 delete mode 100644 openpilot/sunnypilot/models/runners/helpers.py
 delete mode 100644 openpilot/sunnypilot/models/runners/model_runner.py
 delete mode 100644 openpilot/sunnypilot/models/runners/tinygrad/model_types.py
 delete mode 100644 openpilot/sunnypilot/models/runners/tinygrad/tinygrad_runner.py

diff --git a/.github/workflows/build-single-tinygrad-model.yaml b/.github/workflows/build-single-tinygrad-model.yaml
index f10f1b71a38d9d..cf2d870802531b 100644
--- a/.github/workflows/build-single-tinygrad-model.yaml
+++ b/.github/workflows/build-single-tinygrad-model.yaml
@@ -12,11 +12,11 @@ on:
         required: false
         type: string
       recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
+        description: 'Existing recompiled directory number (e.g. 1 for recompiled1)'
         required: true
         type: string
       json_version:
-        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
+        description: 'driving_models version number to update (e.g. 18 for driving_models_v18.json)'
         required: true
         type: string
       artifact_suffix:
@@ -63,12 +63,11 @@ on:
         default: 'None'
         options:
           - None
-          - Simple Plan Models
-          - Space Lab Models
-          - TR Models
-          - DTR Models
+          - Master Models
+          - Release Models
+          - 2025 World Models
+          - 2026 World Models
           - Custom Merge Models
-          - FOF series models
           - Other
       custom_model_folder:
         description: 'Custom model folder name (if "Other" selected)'
diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml
index acb75af55e2589..2c435e58a06c24 100644
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -30,6 +30,11 @@ on:
         required: false
         type: string
         default: ''
+      target_hardware:
+        description: 'Hardware target to compile for (qcom or usbgpu)'
+        required: false
+        type: string
+        default: 'qcom'
   workflow_dispatch:
     inputs:
       upstream_branch:
@@ -46,6 +51,14 @@ on:
         required: false
         type: boolean
         default: true
+      target_hardware:
+        description: 'Hardware target to compile for'
+        required: true
+        type: choice
+        options:
+          - qcom
+          - usbgpu
+        default: 'qcom'
 
 
 run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
@@ -161,19 +174,30 @@ jobs:
           name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
           path: ${{ env.MODELS_DIR }}
       - run: |
-          rm -f ${{ env.MODELS_DIR }}/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
+          rm -f ${{ env.MODELS_DIR }}/{dmonitoring_model,big_driving_policy,big_driving_vision,big_driving_supercombo}.onnx
 
       - name: Build Model
         run: |
           source /etc/profile
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}:${{ github.workspace }}"
 
           COMPILE_MODELD="${{ github.workspace }}/openpilot/sunnypilot/modeld_v2/compile_modeld.py"
           MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
           CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
-          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+
+          if [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then
+            echo "USBGPU build"
+            export USBGPU=1
+            TG_FLAGS="DEV=AMD USBGPU=1 IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+            OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
+          else
+            echo "QCOM build"
+            TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+            OUTPUT_PKL="${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
+          fi
 
           # Generate metadata for all ONNX files
           find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
@@ -186,7 +210,13 @@ jobs:
           POLICY_ONNX="${{ env.MODELS_DIR }}/driving_policy.onnx"
           OFF_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_off_policy.onnx"
           ON_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_on_policy.onnx"
-          SUPERCOMBO_ONNX="${{ env.MODELS_DIR }}/supercombo.onnx"
+          SUPERCOMBO_ONNX=""
+          for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx"; do
+            if [ -f "$f" ]; then
+              SUPERCOMBO_ONNX="$f"
+              break
+            fi
+          done
 
           MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
           if [ -f "$VISION_ONNX" ]; then
@@ -207,24 +237,15 @@ jobs:
           fi
 
           if [ -n "$MODEL_TYPE" ]; then
-            echo "Detected: $MODEL_TYPE -> driving_tinygrad.pkl"
+            echo "Detected: $MODEL_TYPE -> $OUTPUT_PKL"
             env ${TG_FLAGS} python3 "$COMPILE_MODELD" \
               --model-type $MODEL_TYPE \
               --model-size $MODEL_SIZE \
               --camera-resolutions $CAMERA_RES \
               $ONNX_ARGS \
-              --output "${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
+              --output "$OUTPUT_PKL"
           fi
 
-      - name: Validate Model Outputs
-        run: |
-          source /etc/profile
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
-            --validate-only \
-            --model-dir "${{ env.MODELS_DIR }}"
-
       - name: Prepare Output
         run: |
           sudo rm -rf ${{ env.OUTPUT_DIR }}
diff --git a/openpilot/cereal/custom.capnp b/openpilot/cereal/custom.capnp
index c81aa104f27077..a77997ffbb71a4 100644
--- a/openpilot/cereal/custom.capnp
+++ b/openpilot/cereal/custom.capnp
@@ -139,10 +139,16 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     eta @2 :UInt32;
   }
 
+  struct Chunk {
+    fileName @0 :Text;
+    sha256 @1 :Text;
+  }
+
   struct Artifact {
     fileName @0 :Text;
     downloadUri @1 :DownloadUri;
     downloadProgress @2 :DownloadProgress;
+    chunks @3 :List(Chunk);
   }
 
   struct Model {
@@ -157,6 +163,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
       policy @3;
       offPolicy @4;
       onPolicy @5;
+      chunked @6;
     }
   }
 
diff --git a/openpilot/sunnypilot/modeld_v2/SConscript b/openpilot/sunnypilot/modeld_v2/SConscript
index 81affc625abc48..daaa199ea9318f 100644
--- a/openpilot/sunnypilot/modeld_v2/SConscript
+++ b/openpilot/sunnypilot/modeld_v2/SConscript
@@ -82,18 +82,3 @@ if os.path.isfile(supercombo_onnx):
   compile_combined('supercombo',
                    f'--supercombo-onnx {supercombo_onnx}',
                    'driving_combined_supercombo_tinygrad.pkl')
-
-if PC:
-  inputs = tinygrad_files + [File(Dir("#openpilot/sunnypilot/modeld_v2").File("install_models_pc.py").abspath)]
-  outputs = []
-  model_dir = Dir("models").abspath
-  cmd = f'python3 {Dir("#openpilot/sunnypilot/modeld_v2").abspath}/install_models_pc.py {model_dir}'
-
-  for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_on_policy', 'driving_policy']:
-    if File(f"models/{model_name}.onnx").exists():
-        inputs.append(File(f"models/{model_name}.onnx"))
-        inputs.append(File(f"models/{model_name}_tinygrad.pkl"))
-        outputs.append(File(f"models/{model_name}_metadata.pkl"))
-  if outputs:
-    lenv.Command(outputs, inputs, cmd)
-
diff --git a/openpilot/sunnypilot/modeld_v2/compile_modeld.py b/openpilot/sunnypilot/modeld_v2/compile_modeld.py
index fd58038ceb72da..def54a459972a5 100755
--- a/openpilot/sunnypilot/modeld_v2/compile_modeld.py
+++ b/openpilot/sunnypilot/modeld_v2/compile_modeld.py
@@ -10,471 +10,355 @@
 import os
 import pickle
 import time
-from functools import partial
 from collections import defaultdict
-
+from functools import partial
 import numpy as np
-from tinygrad.tensor import Tensor
+os.environ['GMMU'] = '0'
+
+def _patch_tinygrad_fetch_fw():
+  import hashlib
+  import pathlib
+  import zstandard
+  from tinygrad import helpers
+  _orig_fetch_fw = helpers.fetch_fw
+  def fetch_fw(path, name, sha256):
+    p = pathlib.Path(f"/lib/firmware/{path}/{name}.zst")
+    if p.is_file():
+      blob = zstandard.ZstdDecompressor().stream_reader(p.read_bytes()).read()
+      if hashlib.sha256(blob).hexdigest() == sha256:
+        return blob
+    return _orig_fetch_fw(path, name, sha256)
+  helpers.fetch_fw = fetch_fw
+_patch_tinygrad_fetch_fw()
+
+from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, make_frame_prepare, sample_desire, sample_skip, shift_and_sample
+from tinygrad import dtypes
 from tinygrad.device import Device
 from tinygrad.engine.jit import TinyJit
-
-from openpilot.selfdrive.modeld.compile_modeld import (
-  NV12Frame, make_frame_prepare,
-  shift_and_sample, sample_skip, sample_desire,
-)
+from tinygrad.tensor import Tensor
 
 MODEL_TYPES = ('vision_policy', 'supercombo', 'vision_multi_policy')
 
 
-def _detect_desire_key(policy_input_shapes):
-  for k in policy_input_shapes:
-    if k.startswith('desire'):
-      return k
-  return None
+def _detect_desire_key(shapes: dict) -> str | None:
+  return next((key for key in shapes if key.startswith('desire')), None)
 
 
-def _detect_vision_keys(vision_input_shapes):
-  img_keys = sorted([k for k in vision_input_shapes if 'img' in k])
-  road_key = next((k for k in img_keys if 'big' not in k), None)
-  wide_key = next((k for k in img_keys if 'big' in k), None)
-  if road_key is None or wide_key is None:
-    raise ValueError(f"Cannot determine road/wide image keys from {list(vision_input_shapes.keys())}")
-  return road_key, wide_key
+def _detect_vision_keys(shapes: dict) -> tuple[str | None, str | None]:
+  img_keys = sorted(key for key in shapes if 'img' in key)
+  return (
+    next((key for key in img_keys if 'big' not in key), None),
+    next((key for key in img_keys if 'big' in key), None)
+  )
 
 
-def make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device):
-  road_key, _ = _detect_vision_keys(vision_input_shapes)
-  img = vision_input_shapes[road_key]
-  n_frames = img[1] // 6
-  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
+def derive_frame_skip(vision_input_shapes: dict, policy_input_shapes: dict) -> int:
+  features_buffer = policy_input_shapes.get('features_buffer')
+  return 1 if not features_buffer or features_buffer[1] >= 99 else 4
 
-  fb = policy_input_shapes['features_buffer']
-  desire_key = _detect_desire_key(policy_input_shapes)
-  dp = policy_input_shapes[desire_key]
-  tc = policy_input_shapes.get('traffic_convention', (1, 2))
-
-  npy = {
-    'desire': np.zeros(dp[2], dtype=np.float32),
-    'traffic_convention': np.zeros(tc, dtype=np.float32),
-    'tfm': np.zeros((3, 3), dtype=np.float32),
-    'big_tfm': np.zeros((3, 3), dtype=np.float32),
-  }
 
-  handled = {'features_buffer', desire_key, 'traffic_convention'}
-  for key, shape in policy_input_shapes.items():
-    if key in handled:
-      continue
-    npy[key] = np.zeros(shape, dtype=np.float32)
-
-  input_queues = {
-    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    'feat_q': Tensor(np.zeros((frame_skip * (fb[1] - 1) + 1, fb[0], fb[2]), dtype=np.float32), device=device).contiguous().realize(),
-    'desire_q': Tensor(np.zeros((frame_skip * dp[1], dp[0], dp[2]), dtype=np.float32), device=device).contiguous().realize(),
-    **{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
-  }
-  return input_queues, npy
+def get_policy_npy_shapes(input_shapes: dict, is_supercombo: bool = False) -> tuple[dict, list[int]]:
+  desire_key = _detect_desire_key(input_shapes)
+  shapes = {}
+  if desire_key:
+    shapes['desire'] = (input_shapes[desire_key][2],)
 
+  if is_supercombo and 'features_buffer' in input_shapes:
+    fb = input_shapes['features_buffer']
+    shapes['prev_feat'] = (fb[0], fb[2])
 
-def make_run_split_policy(vision_runner, policy_runner, nv12: NV12Frame, model_w, model_h,
-                          vision_features_slice, frame_skip, desire_key, extra_policy_keys,
-                          vision_road_key, vision_wide_key, prepare_only=False):
-  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
-  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
-  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+  for key, shape in input_shapes.items():
+    if key not in (desire_key, 'features_buffer') and 'img' not in key:
+      shapes[key] = tuple(shape)
 
-  def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, tfm, big_tfm, frame, big_frame, **extra):
-    npy_tensors = [tfm.to(Device.DEFAULT), big_tfm.to(Device.DEFAULT),
-                   desire.to(Device.DEFAULT), traffic_convention.to(Device.DEFAULT)]
-    extra_device = {k: extra[k].to(Device.DEFAULT) for k in extra_policy_keys}
-    Tensor.realize(*npy_tensors, *extra_device.values())
-    tfm, big_tfm, desire, traffic_convention = npy_tensors
+  sizes = [int(np.prod(size)) for size in shapes.values()]
+  return shapes, sizes
 
-    img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
-    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
 
-    if prepare_only:
-      return img, big_img
-
-    vision_out = next(iter(vision_runner({vision_road_key: img, vision_wide_key: big_img}).values())).cast('float32')
-
-    new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
-    feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
-    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
-
-    inputs = {'features_buffer': feat_buf, desire_key: desire_buf, 'traffic_convention': traffic_convention, **extra_device}
-    policy_out = next(iter(policy_runner(inputs).values())).cast('float32')
-
-    return vision_out, policy_out
-  return run_policy
-
-
-def compile_split_policy(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
-                         vision_runner, policy_runner, vision_metadata, policy_metadata):
-  print(f"Compiling combined policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
-
-  vision_features_slice = vision_metadata['output_slices']['hidden_state']
-  vision_input_shapes = vision_metadata['input_shapes']
-  policy_input_shapes = policy_metadata['input_shapes']
-  desire_key = _detect_desire_key(policy_input_shapes)
-  extra_policy_keys = [k for k in policy_input_shapes if k not in ('features_buffer', desire_key, 'traffic_convention')]
-  vision_road_key, vision_wide_key = _detect_vision_keys(vision_input_shapes)
-
-  _run = make_run_split_policy(vision_runner, policy_runner, nv12, model_w, model_h,
-                               vision_features_slice, frame_skip, desire_key, extra_policy_keys,
-                               vision_road_key, vision_wide_key, prepare_only)
-  run_policy_jit = TinyJit(_run, prune=True)
-
-  SEED = 42
-
-  def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
-    input_queues, npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
-    rng = np.random.default_rng(seed)
-    Tensor.manual_seed(seed)
-
-    testing = test_val is not None or test_buffers is not None
-    n_runs = 1 if testing else 3
-
-    for i in range(n_runs):
-      frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
-      big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
-      for v in npy.values():
-        v[:] = rng.standard_normal(v.shape).astype(v.dtype)
-      Device.default.synchronize()
-      st = time.perf_counter()
-      outs = fn(**input_queues, frame=frame, big_frame=big_frame)
-      mt = time.perf_counter()
-      Device.default.synchronize()
-      et = time.perf_counter()
-      print(f"  [{i+1}/{n_runs}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
-
-      if i == 0:
-        val = [np.copy(v.numpy()) for v in outs]
-        buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
-
-    if test_val is not None:
-      match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
-      assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})"
-    if test_buffers is not None:
-      match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
-      assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
-    return fn, val, buffers
-
-  print('capture + replay')
-  run_policy_jit, test_val, test_buffers = random_inputs_run_fn(run_policy_jit, SEED)
-
-  print('pickle round trip')
-  run_policy_jit = pickle.loads(pickle.dumps(run_policy_jit))
-  random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers, expect_match=True)
-  random_inputs_run_fn(run_policy_jit, SEED+1, test_val, test_buffers, expect_match=False)
-  return run_policy_jit
-
-
-def derive_frame_skip(vision_input_shapes, policy_input_shapes):
-  fb = policy_input_shapes.get('features_buffer')
-  if fb is None:
-    return 1
-  fb_history = fb[1]
-  if fb_history >= 99:
-    return 1
-  return 4
-
-
-def make_supercombo_input_queues(input_shapes, frame_skip, device):
-  img_shape = input_shapes.get('img', input_shapes.get('input_imgs'))
-  if img_shape is None:
-    raise ValueError("No img input found in model shapes")
+def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT,
+                            is_supercombo: bool = False, use_packed: bool = True) -> tuple[dict, dict]:
+  road_key, _ = _detect_vision_keys(input_shapes)
+  if not road_key:
+    raise ValueError("Vision road key missing from input shapes.")
 
+  img_shape = input_shapes[road_key]
   n_frames = img_shape[1] // 6
   img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img_shape[2], img_shape[3])
 
-  numpy_keys = {}
-  queue_keys = {}
+  desire_key = _detect_desire_key(input_shapes)
+  if not desire_key:
+    raise ValueError("Desire key missing from input shapes.")
 
-  for key, shape in input_shapes.items():
-    if 'img' in key:
-      continue
-    if len(shape) == 3 and shape[1] > 1:
-      if key.startswith('desire'):
-        numpy_keys[key] = np.zeros(shape[2], dtype=np.float32)
-        queue_keys[f'{key}_q'] = Tensor(
-          np.zeros((frame_skip * shape[1], shape[0], shape[2]), dtype=np.float32),
-          device=device).contiguous().realize()
-      elif key == 'features_buffer':
-        queue_keys['feat_q'] = Tensor(
-          np.zeros((frame_skip * (shape[1] - 1) + 1, shape[0], shape[2]), dtype=np.float32),
-          device=device).contiguous().realize()
-      else:
-        numpy_keys[key] = np.zeros(shape, dtype=np.float32)
-    elif len(shape) == 2:
-      numpy_keys[key] = np.zeros(shape, dtype=np.float32)
-
-  if 'traffic_convention' not in numpy_keys:
-    tc_shape = input_shapes.get('traffic_convention', (1, 2))
-    numpy_keys['traffic_convention'] = np.zeros(tc_shape, dtype=np.float32)
-
-  numpy_keys['tfm'] = np.zeros((3, 3), dtype=np.float32)
-  numpy_keys['big_tfm'] = np.zeros((3, 3), dtype=np.float32)
-
-  input_queues = {
-    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    **queue_keys,
-    **{k: Tensor(v, device='NPY').realize() for k, v in numpy_keys.items()},
-  }
-  return input_queues, numpy_keys
+  desire_shape = input_shapes[desire_key]
+  features_buffer = input_shapes.get('features_buffer')
 
+  if use_packed:  # remove packed detection block after all models are recompiled
+    npy_arrays = {
+      'tfm': np.zeros((3, 3), dtype=np.float32),
+      'big_tfm': np.zeros((3, 3), dtype=np.float32)
+    }
 
-def make_run_supercombo(model_runner, nv12: NV12Frame, model_w, model_h,
-                        features_slice, frame_skip, input_shapes, prepare_only=False):
-  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
-  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
-  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+    shapes, sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)
+    packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)
 
-  desire_key = _detect_desire_key(input_shapes)
-  if desire_key is None:
-    raise ValueError(f"No desire* key found in input_shapes: {list(input_shapes.keys())}")
-  road_img_key, wide_img_key = _detect_vision_keys(input_shapes)
-  extra_policy_keys = [k for k in input_shapes
-                       if k not in (desire_key, 'features_buffer', 'traffic_convention')
-                       and 'img' not in k]
-
-  def run_supercombo(img_q, big_img_q, feat_q, desire_q,
-                     frame, big_frame, **kwargs):
-    desire = kwargs.get(desire_key)
-    traffic_convention = kwargs.get('traffic_convention')
-    tfm = kwargs['tfm']
-    big_tfm = kwargs['big_tfm']
-
-    tfm = tfm.to(Device.DEFAULT)
-    big_tfm = big_tfm.to(Device.DEFAULT)
-    desire = desire.to(Device.DEFAULT)
-    traffic_convention = traffic_convention.to(Device.DEFAULT)
-    Tensor.realize(tfm, big_tfm, desire, traffic_convention)
-
-    img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
-    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
+    split_indices = np.cumsum(sizes[:-1]) if len(sizes) > 1 else []
+    split_views = np.split(packed_npy_inputs, split_indices) if len(sizes) > 0 else []
+    for (k, s), v in zip(shapes.items(), split_views, strict=True):
+      npy_arrays[k] = v.reshape(s)
 
-    if prepare_only:
-      return img, big_img
+    queues = {
+      'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+      'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+      'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
+                    dtype=np.float32), device=device).contiguous().realize(),
+      'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
+    }
+
+    if features_buffer:
+      queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
+                         dtype=np.float32), device=device).contiguous().realize()
+
+    queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items() if key in ('tfm', 'big_tfm')})
+  else:
+    # TODO-SP: Remove legacy queuing fallback else block after all models are recompiled
+    npy_arrays = {
+      'desire': np.zeros(desire_shape[2], dtype=np.float32),
+      'tfm': np.zeros((3, 3), dtype=np.float32),
+      'big_tfm': np.zeros((3, 3), dtype=np.float32)
+    }
+
+    for key, shape in input_shapes.items():
+      if key not in npy_arrays and 'img' not in key and key not in ('features_buffer', desire_key):
+        npy_arrays[key] = np.zeros(shape, dtype=np.float32)
+
+    queues = {
+      'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+      'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+      'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
+                    dtype=np.float32), device=device).contiguous().realize()
+    }
+
+    if features_buffer:
+      queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
+                         dtype=np.float32), device=device).contiguous().realize()
 
-    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
-    feat_buf = sample_skip_fn(feat_q)
+    queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items()})
 
-    inputs = {road_img_key: img, wide_img_key: big_img,
-              desire_key: desire_buf, 'features_buffer': feat_buf,
-              'traffic_convention': traffic_convention}
-    for k in extra_policy_keys:
-      if k in kwargs:
-        inputs[k] = kwargs[k].to(Device.DEFAULT)
+  return queues, npy_arrays
 
-    model_out = next(iter(model_runner(inputs).values())).cast('float32')
 
-    new_feat = model_out[:, features_slice].reshape(1, -1).unsqueeze(0)
-    shift_and_sample(feat_q, new_feat, sample_skip_fn)
+def make_split_input_queues(vision_input_shapes: dict, policy_input_shapes: dict,
+                            frame_skip: int, device: str = Device.DEFAULT, use_packed: bool = True) -> tuple[dict, dict]:
+  return generate_queues_and_npy({**vision_input_shapes, **policy_input_shapes}, frame_skip, device, is_supercombo=False, use_packed=use_packed)
 
-    return model_out
 
-  return run_supercombo
+def make_supercombo_input_queues(input_shapes: dict, frame_skip: int,
+                                 device: str = Device.DEFAULT, use_packed: bool = True) -> tuple[dict, dict]:
+  return generate_queues_and_npy(input_shapes, frame_skip, device, is_supercombo=True, use_packed=use_packed)
 
 
-def make_run_vision_multi_policy(vision_runner, policy_runners, nv12: NV12Frame, model_w, model_h,
-                                 vision_features_slice, frame_skip, desire_key, extra_policy_keys,
-                                 vision_road_key, vision_wide_key, prepare_only=False):
-  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
+def create_jit_runner(vision_runner, policy_runners: list, nv12: NV12Frame, model_size: tuple[int, int],
+            features_slice: slice, frame_skip: int, input_shapes: dict, prepare_only: bool):
+  frame_prepare = make_frame_prepare(nv12, *model_size)
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
   sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
 
-  def run_multi_policy(img_q, big_img_q, feat_q, desire_q, desire,
-                       traffic_convention, tfm, big_tfm, frame, big_frame, **extra):
-    npy_tensors = [tfm.to(Device.DEFAULT), big_tfm.to(Device.DEFAULT),
-                   desire.to(Device.DEFAULT), traffic_convention.to(Device.DEFAULT)]
-    extra_device = {k: extra[k].to(Device.DEFAULT) for k in extra_policy_keys}
-    Tensor.realize(*npy_tensors, *extra_device.values())
-    tfm, big_tfm, desire, traffic_convention = npy_tensors
+  desire_key = _detect_desire_key(input_shapes)
+  road_key, wide_key = _detect_vision_keys(input_shapes)
+
+  if not desire_key or not road_key or not wide_key:
+    raise ValueError("Missing required vision or desire keys in input shapes.")
+
+  is_supercombo = vision_runner is None
+  npy_shapes, npy_sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)
+
+  def runner(img_q, big_img_q, feat_q, packed_npy_inputs, frame, big_frame, tfm, big_tfm, **kwargs):
+    desire_q = kwargs['desire_q']
 
-    img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
-    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
+    packed_npy_inputs_dev = packed_npy_inputs.to(Device.DEFAULT)
+    tfm_dev = tfm.to(Device.DEFAULT)
+    big_tfm_dev = big_tfm.to(Device.DEFAULT)
+
+    Tensor.realize(packed_npy_inputs_dev, tfm_dev, big_tfm_dev)
+
+    img = shift_and_sample(img_q, frame_prepare(frame, tfm_dev).unsqueeze(0), sample_skip_fn).realize()
+    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm_dev).unsqueeze(0), sample_skip_fn).realize()
 
     if prepare_only:
       return img, big_img
 
-    vision_out = next(iter(vision_runner({vision_road_key: img, vision_wide_key: big_img}).values())).cast('float32')
+    unpacked_tensors = [tensor.reshape(shape) for tensor, shape in zip(packed_npy_inputs_dev.split(npy_sizes), npy_shapes.values(), strict=True)]
+    unpacked_dict = dict(zip(npy_shapes.keys(), unpacked_tensors, strict=True))
 
-    new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
-    feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
-    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
+    desire_dev = unpacked_dict['desire']
+    desire_buf = shift_and_sample(desire_q, desire_dev.reshape(1, 1, -1), sample_desire_fn).realize()
 
-    inputs = {'features_buffer': feat_buf, desire_key: desire_buf, 'traffic_convention': traffic_convention, **extra_device}
+    inputs = {desire_key: desire_buf}
+    for key, tensor_val in unpacked_dict.items():
+      if key not in ('desire', 'prev_feat'):
+        inputs[key] = tensor_val
 
-    policy_outputs = []
-    for runner in policy_runners:
-      policy_out = next(iter(runner(inputs).values())).cast('float32')
-      policy_outputs.append(policy_out)
+    if 'prev_feat' in unpacked_dict:
+      prev_feat_dev = unpacked_dict['prev_feat']
+      inputs['features_buffer'] = shift_and_sample(feat_q, prev_feat_dev.reshape(1, 1, -1), sample_skip_fn).realize()
 
-    return (vision_out, *policy_outputs)
+    if vision_runner:
+      vision_out_cast = next(iter(vision_runner({road_key: img, wide_key: big_img}).values())).cast('float32').realize()
+      if 'features_buffer' not in inputs:
+        new_feat = vision_out_cast[:, features_slice].reshape(1, -1).unsqueeze(0)
+        inputs['features_buffer'] = shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
+      policy_outs = [next(iter(pol_runner(inputs).values())).cast('float32').realize() for pol_runner in policy_runners]
+      return (vision_out_cast, *policy_outs) if len(policy_outs) > 1 else (vision_out_cast, policy_outs[0])
 
-  return run_multi_policy
+    inputs.update({road_key: img, wide_key: big_img})
+    if 'features_buffer' not in inputs:
+      inputs['features_buffer'] = sample_skip_fn(feat_q)
 
+    policy_out = next(iter(policy_runners[0](inputs).values())).cast('float32').realize()
+    if 'features_buffer' not in inputs and features_slice is not None:
+      new_feat = policy_out[:, features_slice].reshape(1, -1).unsqueeze(0)
+      shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
+    return policy_out
+
+  return runner
 
-def _warmup_and_serialize(run_jit, input_queues, npy, nv12):
-  for i in range(3):
-    rng = np.random.default_rng(42 + i)
-    frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
-    big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
-    for v in npy.values():
-      v[:] = rng.standard_normal(v.shape).astype(v.dtype)
-    Device.default.synchronize()
-    st = time.perf_counter()
-    run_jit(**input_queues, frame=frame, big_frame=big_frame)
-    mt = time.perf_counter()
-    Device.default.synchronize()
-    et = time.perf_counter()
-    print(f"  [{i + 1}/3] enqueue {(mt - st) * 1e3:6.2f} ms -- total {(et - st) * 1e3:6.2f} ms")
-  return pickle.loads(pickle.dumps(run_jit))
 
+def compile_and_warmup(nv12: NV12Frame, model_size: tuple[int, int], prepare_only: bool, frame_skip: int, vision_runner, policy_runners: list, metadata: dict):
+  print(f"Compiling combined JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
 
-def compile_supercombo(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
-                       model_runner, metadata):
-  print(f"Compiling combined supercombo JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
+  all_shapes = {key: value for meta in metadata.values() for key, value in meta['input_shapes'].items()}
 
-  features_slice = metadata['output_slices']['hidden_state']
-  input_shapes = metadata['input_shapes']
+  feat_meta = metadata.get('vision') or metadata.get('model') or metadata.get('policy')
+  if not feat_meta:
+    raise ValueError("Could not find vision, model, or policy metadata.")
 
-  _run = make_run_supercombo(model_runner, nv12, model_w, model_h,
-                             features_slice, frame_skip, input_shapes, prepare_only)
-  run_jit = TinyJit(_run, prune=True)
+  features_slice = feat_meta['output_slices']['hidden_state']
+  WARP_DEV = 'CPU' if "USBGPU" in os.environ else Device.DEFAULT
+
+  is_supercombo = vision_runner is None
+  run_func = create_jit_runner(vision_runner, policy_runners, nv12, model_size, features_slice, frame_skip, all_shapes, prepare_only)
+  run_jit = TinyJit(run_func, prune=True)
+  queues, npy_arrays = generate_queues_and_npy(all_shapes, frame_skip, Device.DEFAULT, is_supercombo=is_supercombo)
+
+  for i in range(3):
+    rng = np.random.default_rng(42 + i)
+    frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
+    big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
+    for arr in npy_arrays.values():
+      arr[:] = rng.standard_normal(arr.shape).astype(arr.dtype)
 
-  input_queues, npy = make_supercombo_input_queues(input_shapes, frame_skip, Device.DEFAULT)
+    Device.default.synchronize()
+    start_time = time.perf_counter()
+    run_jit(**queues, frame=frame, big_frame=big_frame)
+    mid_time = time.perf_counter()
+    Device.default.synchronize()
+    print(f"  [{i + 1}/3] enqueue {(mid_time - start_time) * 1e3:6.2f} ms -- total {(time.perf_counter() - start_time) * 1e3:6.2f} ms")
 
-  run_jit = _warmup_and_serialize(run_jit, input_queues, npy, nv12)
-  return run_jit
+  # TODO-SP: switch to dump_oob/load_oob on next full recompile of all models
+  return pickle.loads(pickle.dumps(run_jit)) if not prepare_only else run_jit
 
 
-def compile_multi_policy(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
-                         vision_runner, policy_runners, vision_metadata, policy_metadata):
-  print(f"Compiling combined multi-policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
+def _parse_size(size_str: str) -> tuple[int, int]:
+  width, height = size_str.lower().split('x')
+  return int(width), int(height)
 
-  vision_features_slice = vision_metadata['output_slices']['hidden_state']
-  vision_input_shapes = vision_metadata['input_shapes']
-  policy_input_shapes = policy_metadata['input_shapes']
-  desire_key = _detect_desire_key(policy_input_shapes)
-  extra_policy_keys = [k for k in policy_input_shapes if k not in ('features_buffer', desire_key, 'traffic_convention')]
-  vision_road_key, vision_wide_key = _detect_vision_keys(vision_input_shapes)
 
-  _run = make_run_vision_multi_policy(vision_runner, policy_runners, nv12, model_w, model_h,
-                                      vision_features_slice, frame_skip, desire_key, extra_policy_keys,
-                                      vision_road_key, vision_wide_key, prepare_only)
-  run_jit = TinyJit(_run, prune=True)
+def read_file_chunked_to_shm(path):
+  if not path:
+    return None
+  import atexit
+  import shutil
+  from openpilot.common.file_chunker import open_file_chunked
+  from openpilot.common.hardware.hw import Paths
+  shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
+  atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
+  with open(shm_path, 'wb') as dst, open_file_chunked(path) as src:
+    shutil.copyfileobj(src, dst)
+  return shm_path
 
-  input_queues, npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
 
-  run_jit = _warmup_and_serialize(run_jit, input_queues, npy, nv12)
-  return run_jit
+def _compile_for_resolutions(camera_resolutions: list, model_size: tuple[int, int], frame_skip: int,
+               vision_runner, policy_runners: list, metadata: dict) -> dict:
+  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+  return {
+    (cam_w, cam_h): {
+      name: compile_and_warmup(NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h)), model_size, prepare_only,
+                   frame_skip, vision_runner, policy_runners, metadata)
+      for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
+    }
+    for cam_w, cam_h in camera_resolutions
+  }
 
 
-def _parse_size(s):
-  w, h = s.lower().split('x')
-  return int(w), int(h)
+def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:
+  runners, keys = [], []
+  for name, onnx_arg in [('policy', args.policy_onnx), ('off_policy', args.off_policy_onnx), ('on_policy', args.on_policy_onnx)]:
+    if onnx_arg:
+      runners.append(OnnxRunner(onnx_arg))
+      keys.append(name)
+  return runners, keys
 
 
 if __name__ == "__main__":
-  from tinygrad.nn.onnx import OnnxRunner
-  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
   from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
+  from tinygrad.nn.onnx import OnnxRunner
 
-  p = argparse.ArgumentParser(description="Compile combined JIT pkl for sunnypilot modeld_v2")
-  p.add_argument('--model-type', choices=MODEL_TYPES, required=True)
-  p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
-  p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True)
-  p.add_argument('--frame-skip', type=int, default=None, help='frame skip value (auto-derived if not provided)')
-  p.add_argument('--output', required=True)
+  parser = argparse.ArgumentParser(description="Compile combined JIT pkl for sunnypilot modeld_v2")
+  parser.add_argument('--model-type', choices=MODEL_TYPES, required=True)
+  parser.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
+  parser.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True)
+  parser.add_argument('--frame-skip', type=int, default=None, help='frame skip value (auto-derived if not provided)')
+  parser.add_argument('--output', required=True)
 
-  p.add_argument('--vision-onnx', help='vision ONNX (for split models)')
-  p.add_argument('--policy-onnx', help='policy ONNX (for vision_policy)')
-  p.add_argument('--off-policy-onnx', help='off-policy ONNX (for vision_multi_policy)')
-  p.add_argument('--on-policy-onnx', help='on-policy ONNX (for vision_multi_policy)')
-  p.add_argument('--supercombo-onnx', help='supercombo ONNX (for supercombo)')
+  parser.add_argument('--vision-onnx', help='vision ONNX (for split models)')
+  parser.add_argument('--policy-onnx', help='policy ONNX (for vision_policy)')
+  parser.add_argument('--off-policy-onnx', help='off-policy ONNX (for vision_multi_policy)')
+  parser.add_argument('--on-policy-onnx', help='on-policy ONNX (for vision_multi_policy)')
+  parser.add_argument('--supercombo-onnx', help='supercombo ONNX (for supercombo)')
 
-  args = p.parse_args()
-  out = defaultdict(dict)
+  args = parser.parse_args()
+  output_data = defaultdict(dict)
 
-  if args.model_type == 'vision_policy':
-    assert args.vision_onnx and args.policy_onnx
-    vision_runner = OnnxRunner(args.vision_onnx)
-    policy_runner = OnnxRunner(args.policy_onnx)
-    out['metadata']['vision'] = make_metadata_dict(args.vision_onnx)
-    out['metadata']['policy'] = make_metadata_dict(args.policy_onnx)
-
-    frame_skip = args.frame_skip if args.frame_skip is not None else derive_frame_skip(out['metadata']['vision']['input_shapes'],
-                                                                                       out['metadata']['policy']['input_shapes'])
-
-    for cam_w, cam_h in args.camera_resolutions:
-      nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-      model_w, model_h = args.model_size
-      out[(cam_w, cam_h)] = {
-        name: compile_split_policy(nv12, model_w, model_h, prepare_only, frame_skip,
-                                   vision_runner, policy_runner,
-                                   out['metadata']['vision'], out['metadata']['policy'])
-        for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
-      }
+  args.vision_onnx = read_file_chunked_to_shm(args.vision_onnx)
+  args.policy_onnx = read_file_chunked_to_shm(args.policy_onnx)
+  args.off_policy_onnx = read_file_chunked_to_shm(args.off_policy_onnx)
+  args.on_policy_onnx = read_file_chunked_to_shm(args.on_policy_onnx)
+  args.supercombo_onnx = read_file_chunked_to_shm(args.supercombo_onnx)
 
+  vision_runner = OnnxRunner(args.vision_onnx) if args.vision_onnx else None
+
+  if args.model_type == 'vision_policy':
+    assert vision_runner and args.policy_onnx
+    policy_runners = [OnnxRunner(args.policy_onnx)]
+    output_data['metadata'] = {'vision': make_metadata_dict(args.vision_onnx), 'policy': make_metadata_dict(args.policy_onnx)}
   elif args.model_type == 'supercombo':
     assert args.supercombo_onnx
-    model_runner = OnnxRunner(args.supercombo_onnx)
-    out['metadata']['model'] = make_metadata_dict(args.supercombo_onnx)
+    policy_runners = [OnnxRunner(args.supercombo_onnx)]
+    output_data['metadata'] = {'model': make_metadata_dict(args.supercombo_onnx)}
+  elif args.model_type == 'vision_multi_policy':
+    assert vision_runner
+    policy_runners, policy_names = _load_policy_runners(args)
+    output_data['metadata'] = {'vision': make_metadata_dict(args.vision_onnx)}
+    for name in policy_names:
+      runner_arg = getattr(args, f"{name}_onnx")
+      output_data['metadata'][name] = make_metadata_dict(runner_arg)
 
-    frame_skip = args.frame_skip if args.frame_skip is not None else derive_frame_skip({}, out['metadata']['model']['input_shapes'])
+  policy_keys = [key for key in output_data['metadata'].keys() if key != 'vision']
+  first_policy_meta = output_data['metadata'][policy_keys[0]] if policy_keys else {}
+  vision_meta = output_data['metadata'].get('vision', {})
 
-    for cam_w, cam_h in args.camera_resolutions:
-      nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-      model_w, model_h = args.model_size
-      out[(cam_w, cam_h)] = {
-        name: compile_supercombo(nv12, model_w, model_h, prepare_only, frame_skip,
-                                 model_runner, out['metadata']['model'])
-        for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
-      }
+  derived_frame_skip = args.frame_skip or derive_frame_skip(vision_meta.get('input_shapes', {}), first_policy_meta.get('input_shapes', {}))
+  output_data.update(_compile_for_resolutions(args.camera_resolutions, args.model_size, derived_frame_skip,
+                        vision_runner, policy_runners, output_data['metadata']))
+
+  with open(args.output, "wb") as file:
+    # TODO-SP: switch to dump_oob from openpilot/selfdrive/helpers on next full recompile of all models
+    pickle.dump(output_data, file)
 
-  elif args.model_type == 'vision_multi_policy':
-    assert args.vision_onnx
-    vision_runner = OnnxRunner(args.vision_onnx)
-    out['metadata']['vision'] = make_metadata_dict(args.vision_onnx)
-
-    policy_runners = []
-    policy_onnxes = []
-    if args.policy_onnx:
-      policy_onnxes.append(('policy', args.policy_onnx))
-    if args.off_policy_onnx:
-      policy_onnxes.append(('off_policy', args.off_policy_onnx))
-    if args.on_policy_onnx:
-      policy_onnxes.append(('on_policy', args.on_policy_onnx))
-
-    for name, onnx_path in policy_onnxes:
-      runner = OnnxRunner(onnx_path)
-      policy_runners.append(runner)
-      out['metadata'][name] = make_metadata_dict(onnx_path)
-
-    first_policy_key = policy_onnxes[0][0]
-    frame_skip = args.frame_skip if args.frame_skip is not None else derive_frame_skip(out['metadata']['vision']['input_shapes'],
-                                                                                       out['metadata'][first_policy_key]['input_shapes'])
-
-    for cam_w, cam_h in args.camera_resolutions:
-      nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-      model_w, model_h = args.model_size
-      out[(cam_w, cam_h)] = {
-        name: compile_multi_policy(nv12, model_w, model_h, prepare_only, frame_skip,
-                                   vision_runner, policy_runners,
-                                   out['metadata']['vision'], out['metadata'][first_policy_key])
-        for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
-      }
-
-  with open(args.output, "wb") as f:
-    pickle.dump(out, f)
   pkl_size = os.path.getsize(args.output)
   print(f"Saved combined JIT to {args.output} ({pkl_size / 1e6:.2f} MB)")
 
   from openpilot.common.file_chunker import chunk_file, get_chunk_targets
   chunk_targets = get_chunk_targets(args.output, pkl_size)
   chunk_file(args.output, chunk_targets)
-  num_chunks = len(chunk_targets) - 1
-  print(f"Chunked into {num_chunks} file(s)")
+  print(f"Chunked into {len(chunk_targets) - 1} file(s)")
diff --git a/openpilot/sunnypilot/modeld_v2/install_models_pc.py b/openpilot/sunnypilot/modeld_v2/install_models_pc.py
deleted file mode 100755
index 7bc2f4797cf1db..00000000000000
--- a/openpilot/sunnypilot/modeld_v2/install_models_pc.py
+++ /dev/null
@@ -1,75 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import shutil
-import pickle
-import codecs
-from pathlib import Path
-
-from openpilot.common.hardware.hw import Paths
-from openpilot.sunnypilot.modeld_v2.get_model_metadata import MetadataOnnxPBParser, get_name_and_shape, get_metadata_value_by_name
-
-
-def generate_metadata_pkl(model_path, output_path):
-  try:
-    model = MetadataOnnxPBParser(model_path).parse()
-    output_slices = get_metadata_value_by_name(model, 'output_slices')
-    if not output_slices:
-      return False
-    metadata = {
-      'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
-      'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
-      'input_shapes': dict(get_name_and_shape(x) for x in model["graph"]["input"]),
-      'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
-    }
-    with open(output_path, 'wb') as f:
-      pickle.dump(metadata, f)
-    return True
-  except Exception:
-    return False
-
-
-def install_models(model_dir):
-  model_dir = Path(model_dir)
-  models = ["driving_off_policy", "driving_on_policy", "driving_vision"]
-  found_models = []
-
-  for model in models:
-    if (model_dir / f"{model}.onnx").exists():
-      found_models.append(model)
-
-  if not found_models:
-    return
-
-  try:
-    custom_name = input(f"Found models ({', '.join(found_models)}). Enter model short name (e.g. wmiv4): ").strip()
-  except EOFError:
-    return
-
-  if not custom_name:
-    print("No name provided, skipping installation.")
-    return
-
-  dest_dir = Path(Paths.model_root())
-  dest_dir.mkdir(parents=True, exist_ok=True)
-
-  for model in found_models:
-    onnx_path = model_dir / f"{model}.onnx"
-    tinygrad_pkl = model_dir / f"{model}_tinygrad.pkl"
-    metadata_pkl = model_dir / f"{model}_metadata.pkl"
-
-    if not metadata_pkl.exists():
-      generate_metadata_pkl(onnx_path, metadata_pkl)
-
-    dest_tinygrad = dest_dir / f"{model}_{custom_name}_tinygrad.pkl"
-    dest_metadata = dest_dir / f"{model}_{custom_name}_metadata.pkl"
-
-    if tinygrad_pkl.exists():
-      shutil.move(str(tinygrad_pkl), str(dest_tinygrad))
-    if metadata_pkl.exists():
-      shutil.move(str(metadata_pkl), str(dest_metadata))
-
-if __name__ == "__main__":
-  if len(sys.argv) < 2:
-    print("Usage: install_models_pc.py <model_dir>")
-    sys.exit(1)
-  install_models(sys.argv[1])
diff --git a/openpilot/sunnypilot/modeld_v2/modeld.py b/openpilot/sunnypilot/modeld_v2/modeld.py
index 86d5b05868470b..b53ab18c731e2f 100755
--- a/openpilot/sunnypilot/modeld_v2/modeld.py
+++ b/openpilot/sunnypilot/modeld_v2/modeld.py
@@ -7,6 +7,7 @@
 """
 
 import os
+os.environ['GMMU'] = '0'
 from openpilot.common.hardware import TICI
 os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
 USBGPU = "USBGPU" in os.environ
@@ -23,6 +24,11 @@
 from openpilot.cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
+
+from tinygrad.tensor import Tensor
+from tinygrad.device import Device
+
+from openpilot.common.file_chunker import open_file_chunked
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -30,6 +36,7 @@
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
 
@@ -37,6 +44,7 @@
 from openpilot.sunnypilot.modeld_v2.constants import Plan
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
+from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
 
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
@@ -99,29 +107,37 @@ def __init__(self, cam_w: int, cam_h: int):
     self._init_combined(pkl_path, cam_w, cam_h, model_bundle)
 
   def _init_combined(self, pkl_path, cam_w, cam_h, bundle):
-    from tinygrad.tensor import Tensor
-    from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-    from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
-    from tinygrad.device import Device
-
-    from openpilot.common.file_chunker import open_file_chunked
-
     cloudlog.warning(f"loading combined pkl: {pkl_path}")
+    # TODO-SP: switch to load_oob from openpilot/selfdrive/helpers on next full recompile of all models
     jits = pickle.load(open_file_chunked(pkl_path))
 
     self.DEV = Device.DEFAULT
+    self.WARP_DEV = 'CPU' if USBGPU else self.DEV
+    self.QUEUE_DEV = self.DEV
 
     metadata = jits['metadata']
+
+    self._run_policy = jits[(cam_w, cam_h)]['run_policy']
+    self._warp_enqueue = jits[(cam_w, cam_h)]['warp_enqueue']
+
+    # TODO-SP: Remove legacy use_packed detection block after all models are recompiled
+    captured = getattr(self._run_policy, 'captured', None)
+    if captured is not None:
+      use_packed = 'packed_npy_inputs' in getattr(captured, 'expected_names', [])
+    else:
+      use_packed = True
+
     if 'model' in metadata:
       model_metadata = metadata['model']
       self.vision_output_slices = model_metadata['output_slices']
       self.policy_output_slices = {}
       self._policy_slices_list = []
       self._combined_model_type = 'supercombo'
-      self._vision_input_names = [k for k in model_metadata['input_shapes'] if 'img' in k]
+      self._vision_input_names = [key for key in model_metadata['input_shapes'] if 'img' in key]
       from openpilot.sunnypilot.modeld_v2.compile_modeld import make_supercombo_input_queues
       frame_skip = derive_frame_skip({}, model_metadata['input_shapes'])
-      self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.DEV)
+      self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'],
+                                                                          frame_skip, device=self.QUEUE_DEV, use_packed=use_packed)
     else:
       vision_metadata = metadata['vision']
       policy_keys = [k for k in metadata if k != 'vision']
@@ -139,11 +155,12 @@ def _init_combined(self, pkl_path, cam_w, cam_h, bundle):
       policy_input_shapes = first_policy_metadata['input_shapes']
       self._vision_input_names = [k for k in vision_input_shapes if 'img' in k]
       frame_skip = derive_frame_skip(vision_input_shapes, policy_input_shapes)
-      self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.DEV)
+      self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes,
+                                                                     frame_skip, device=self.QUEUE_DEV, use_packed=use_packed)
 
-    from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
-    from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
-    self.parser = SplitParser() if self._combined_model_type != 'supercombo' else CombinedParser()
+    self._desire_key = next(key for key in self.numpy_inputs if key.startswith('desire'))
+    self._road_key = next(key for key in self._vision_input_names if 'big' not in key)
+    self._wide_key = next(key for key in self._vision_input_names if 'big' in key)
 
     is_20hz = bundle.is20hz if bundle else self._combined_model_type in ('split', 'multi_policy')
     if is_20hz:
@@ -153,20 +170,24 @@ def _init_combined(self, pkl_path, cam_w, cam_h, bundle):
       from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
       self.constants = ModelConstants()
 
+    if self._combined_model_type != 'supercombo':
+      from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
+      self.parser = SplitParser()
+    else:
+      from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
+      self.parser = CombinedParser()
+
     self.prev_desire = np.zeros(self.constants.DESIRE_LEN, dtype=np.float32)
     self.full_frames: dict = {}
     self._blob_cache: dict = {}
     nv12_info = get_nv12_info(cam_w, cam_h)
     self.frame_buf_params = dict.fromkeys(self._vision_input_names, nv12_info)
 
-    self._run_policy = jits[(cam_w, cam_h)]['run_policy']
-    self._warp_enqueue = jits[(cam_w, cam_h)]['warp_enqueue']
-    road_name = next(k for k in self._vision_input_names if 'big' not in k)
-    yuv_size = self.frame_buf_params[road_name][3]
+    yuv_size = self.frame_buf_params[self._road_key][3]
     self._warp_enqueue(
       **self.input_queues,
-      frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.DEV).contiguous().realize(),
-      big_frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.DEV).contiguous().realize())
+      frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize(),
+      big_frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize())
 
 
   @property
@@ -179,30 +200,28 @@ def vision_input_names(self) -> list[str]:
 
   @property
   def desire_key(self) -> str:
-    return next(k for k in self.numpy_inputs if k.startswith('desire'))
+    return self._desire_key
 
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
-    from tinygrad.tensor import Tensor
-
     for key in bufs.keys():
       ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
       yuv_size = self.frame_buf_params[key][3]
       cache_key = (key, ptr)
       if cache_key not in self._blob_cache:
-        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.DEV)
+        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.WARP_DEV)
       self.full_frames[key] = self._blob_cache[cache_key]
 
     desire_key = self.desire_key
     inputs[desire_key][0] = 0
     self.numpy_inputs[desire_key][:] = np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
     self.prev_desire[:] = inputs[desire_key]
-    for key in ('traffic_convention', 'lateral_control_params'):
+    for key in ('traffic_convention', 'lateral_control_params', 'action_t'):
       if key in self.numpy_inputs and key in inputs:
         self.numpy_inputs[key][:] = inputs[key]
 
-    road_key = next(n for n in bufs if 'big' not in n)
-    wide_key = next(n for n in bufs if 'big' in n)
+    road_key = self._road_key
+    wide_key = self._wide_key
     self.numpy_inputs['tfm'][:, :] = transforms[road_key].reshape(3, 3)
     self.numpy_inputs['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
 
@@ -216,17 +235,26 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
       model_output = raw_outputs.numpy().flatten()
       sliced = {k: model_output[np.newaxis, v] for k, v in self.vision_output_slices.items()}
       outputs = self.parser.parse_outputs(sliced)
+      if 'prev_feat' in self.numpy_inputs:
+        self.numpy_inputs['prev_feat'][:] = model_output[self.vision_output_slices['hidden_state']]
     else:
       vision_output = raw_outputs[0].numpy().flatten()
       vision_sliced = {k: vision_output[np.newaxis, v] for k, v in self.vision_output_slices.items()}
       outputs = self.parser.parse_vision_outputs(vision_sliced)
 
+      if 'prev_feat' in self.numpy_inputs and 'hidden_state' in self.vision_output_slices:
+        self.numpy_inputs['prev_feat'][:] = vision_output[self.vision_output_slices['hidden_state']]
+
       for i, policy_slices in enumerate(self._policy_slices_list):
         policy_output = raw_outputs[i + 1].numpy().flatten()
         policy_sliced = {k: policy_output[np.newaxis, v] for k, v in policy_slices.items()}
         parsed = self.parser.parse_policy_outputs(policy_sliced)
-        if 'off' in self._policy_keys[i] and self._has_on_policy:
+        if ('off' in self._policy_keys[i]
+          and self._has_on_policy
+          and any('plan' in self._policy_slices_list[j] for j, k in enumerate(self._policy_keys) if 'on' in k.lower())):
+
           parsed.pop('plan', None)
+
         outputs.update(parsed)
 
       if 'planplus' in outputs and 'plan' in outputs:
@@ -237,17 +265,30 @@ def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
       buf[0, :-1] = buf[0, 1:]
       buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0
 
+    # TODO-SP: This is a hack to prevent GPU corruption by calculating in CPU space, it can be removed on next recompile
+    if 'prev_feat' not in self.numpy_inputs and 'feat_q' in self.input_queues:
+      feat_val = self.input_queues['feat_q'].numpy()
+      self.input_queues['feat_q'].assign(feat_val).realize()
+
     return outputs
 
   def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                             lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
-    plan = model_output['plan'][0]
-    desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
-                                                     action_t=long_action_t)
+    if 'action' not in model_output:
+      plan = model_output['plan'][0]
+      desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
+                                                       action_t=long_action_t)
+
+      curvature_plan = (plan + (self.PLANPLUS_CONTROL - 1.0) * model_output['planplus'][0]
+                        if 'planplus' in model_output and self.PLANPLUS_CONTROL != 1.0 else plan)
+      desired_curvature = get_curvature_from_output(model_output, curvature_plan, v_ego, lat_action_t, self.mlsim)
+    else:
+      desired_accel = model_output['action'][0, 1]
+      desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2
+      should_stop = (v_ego < 0.3 and desired_accel < 0.1)
+
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
 
-    curvature_plan = plan + (self.PLANPLUS_CONTROL - 1.0) * model_output['planplus'][0] if 'planplus' in model_output and self.PLANPLUS_CONTROL != 1.0 else plan
-    desired_curvature = get_curvature_from_output(model_output, curvature_plan, v_ego, lat_action_t, self.mlsim)
     if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
       if v_ego > self.MIN_LAT_CONTROL_SPEED:
         desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
@@ -400,6 +441,12 @@ def main(demo=False):
 
     bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
     transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
+
+    frame_delay = DT_MDL # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average
+    action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state)
+    lat_action_t = lat_delay + frame_delay + action_delay
+    long_action_t = long_delay + frame_delay + action_delay
+
     inputs:dict[str, np.ndarray] = {
       model.desire_key: vec_desire,
       'traffic_convention': traffic_convention,
@@ -408,6 +455,9 @@ def main(demo=False):
     if 'lateral_control_params' in model.numpy_inputs:
       inputs['lateral_control_params'] = np.array([v_ego, lat_delay], dtype=np.float32)
 
+    if 'action_t' in model.numpy_inputs:
+      inputs['action_t'] = np.array([lat_action_t, long_action_t], dtype=np.float32)
+
     mt1 = time.perf_counter()
     model_output = model.run(bufs, transforms, inputs, prepare_only)
     mt2 = time.perf_counter()
@@ -419,7 +469,7 @@ def main(demo=False):
       posenet_send = messaging.new_message('cameraOdometry')
       mdv2sp_send = messaging.new_message('modelDataV2SP')
 
-      action = model.get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
+      action = model.get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
diff --git a/openpilot/sunnypilot/modeld_v2/parse_model_outputs.py b/openpilot/sunnypilot/modeld_v2/parse_model_outputs.py
index 82103283f3462d..7a3adcc1fa7ac4 100644
--- a/openpilot/sunnypilot/modeld_v2/parse_model_outputs.py
+++ b/openpilot/sunnypilot/modeld_v2/parse_model_outputs.py
@@ -1,13 +1,16 @@
 import numpy as np
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
 
+
 def safe_exp(x, out=None):
   # -11 is around 10**14, more causes float16 overflow
   return np.exp(np.clip(x, -np.inf, 11), out=out)
 
+
 def sigmoid(x):
   return 1. / (1. + safe_exp(-x))
 
+
 def softmax(x, axis=-1):
   x -= np.max(x, axis=axis, keepdims=True)
   if x.dtype == np.float32 or x.dtype == np.float64:
@@ -17,6 +20,19 @@ def softmax(x, axis=-1):
   x /= np.sum(x, axis=axis, keepdims=True)
   return x
 
+
+def _infer_mhp(slice_size: int, prod_out_shape: int, max_in_n: int = 16, max_out_n: int = 6) -> tuple[int, int]:
+  for out_n in range(max_out_n + 1):
+    per = 2 * prod_out_shape + out_n
+    if per <= 0:
+      continue
+    if slice_size % per == 0:
+      in_n = slice_size // per
+      if 1 <= in_n <= max_in_n:
+        return in_n, out_n
+  return 1, 0  # single hypothesis, no weights — matches a non-MDN output
+
+
 class Parser:
   def __init__(self, ignore_missing=False):
     self.ignore_missing = ignore_missing
@@ -40,17 +56,22 @@ def parse_binary_crossentropy(self, name, outs):
     raw = outs[name]
     outs[name] = sigmoid(raw)
 
-  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
+  def parse_mdn(self, name, outs, out_shape, in_N=0, out_N=0):
     if self.check_missing(outs, name):
       return
     raw = outs[name]
-    raw = raw.reshape((raw.shape[0], max(in_N, 1), -1))
+
+    if in_N == 0 and out_N == 0:
+      prod = int(np.prod(out_shape))
+      in_N, out_N = _infer_mhp(raw.shape[1], prod)
+
+    raw = raw.reshape((raw.shape[0], in_N, -1))
 
     n_values = (raw.shape[2] - out_N)//2
     pred_mu = raw[:,:,:n_values]
     pred_std = safe_exp(raw[:,:,n_values: 2*n_values])
 
-    if in_N > 1:
+    if in_N > 1 and out_N > 0:
       weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype)
       for i in range(out_N):
         weights[:,:,i - out_N] = softmax(raw[:,:,i - out_N], axis=-1)
@@ -61,7 +82,6 @@ def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
           weights[fidx] = weights[fidx][idxs]
           pred_mu[fidx] = pred_mu[fidx][idxs]
           pred_std[fidx] = pred_std[fidx][idxs]
-      assert out_shape is not None
       full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
       outs[name + '_weights'] = weights
       outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
@@ -74,37 +94,43 @@ def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
           idxs = np.argsort(weights[fidx,:,hidx])[::-1]
           pred_mu_final[fidx, hidx] = pred_mu[fidx, idxs[0]]
           pred_std_final[fidx, hidx] = pred_std[fidx, idxs[0]]
+    elif in_N > 1 and out_N == 0:
+      # MHP without weights: keep every hypothesis intact, surface them as
+      # ``*_hypotheses`` and propagate the full multi-hypothesis tensor.
+      full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
+      outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
+      outs[name + '_stds_hypotheses'] = pred_std.reshape(full_shape)
+      pred_mu_final = pred_mu
+      pred_std_final = pred_std
     else:
       pred_mu_final = pred_mu
       pred_std_final = pred_std
 
-    if out_N > 1:
-      assert out_shape is not None
-      final_shape = tuple([raw.shape[0], out_N] + list(out_shape))
+    if out_N > 1 or (in_N > 1 and out_N == 0):
+      n_selections = out_N if out_N > 1 else in_N
+      final_shape = tuple([raw.shape[0], n_selections] + list(out_shape))
     else:
-      assert out_shape is not None
       final_shape = tuple([raw.shape[0],] + list(out_shape))
     outs[name] = pred_mu_final.reshape(final_shape)
     outs[name + '_stds'] = pred_std_final.reshape(final_shape)
 
   def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
-                   out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    # supercombo (4955 / 102) and newer variants (e.g. 990 / 144).
+    self.parse_mdn('plan',   outs, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
+    self.parse_mdn('lane_lines', outs, out_shape=(ModelConstants.NUM_LANE_LINES, ModelConstants.IDX_N, ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('road_edges', outs, out_shape=(ModelConstants.NUM_ROAD_EDGES, ModelConstants.IDX_N, ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('pose',         outs, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('road_transform', outs, out_shape=(ModelConstants.POSE_WIDTH,))
     if 'sim_pose' in outs:
-      self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
-    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+      self.parse_mdn('sim_pose', outs, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('wide_from_device_euler', outs, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
+    self.parse_mdn('lead', outs, out_shape=(ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH))
     if 'lat_planner_solution' in outs:
-      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+      self.parse_mdn('lat_planner_solution', outs, out_shape=(ModelConstants.IDX_N, ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
     if 'desired_curvature' in outs:
-      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
+      self.parse_mdn('desired_curvature', outs, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
     for k in ['lead_prob', 'lane_lines_prob', 'meta']:
       self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
-    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
+    self.parse_categorical_crossentropy('desire_pred',  outs, out_shape=(ModelConstants.DESIRE_PRED_LEN, ModelConstants.DESIRE_PRED_WIDTH))
     return outs
diff --git a/openpilot/sunnypilot/modeld_v2/parse_model_outputs_split.py b/openpilot/sunnypilot/modeld_v2/parse_model_outputs_split.py
index 6bd2a70eedc525..3db47aee422a58 100644
--- a/openpilot/sunnypilot/modeld_v2/parse_model_outputs_split.py
+++ b/openpilot/sunnypilot/modeld_v2/parse_model_outputs_split.py
@@ -123,7 +123,7 @@ def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
       self.parse_categorical_crossentropy('desire_state', outs, out_shape=(SplitModelConstants.DESIRE_PRED_WIDTH,))
     if 'lane_lines' in outs:
       self.parse_mdn('lane_lines', outs, in_N=0, out_N=0,
-                    out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+                     out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
     if 'lane_lines_prob' in outs:
       self.parse_binary_crossentropy('lane_lines_prob', outs)
     if 'lead_prob' in outs:
@@ -134,9 +134,11 @@ def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
       self.parse_binary_crossentropy('meta', outs)
     if 'road_edges' in outs:
       self.parse_mdn('road_edges', outs, in_N=0, out_N=0,
-                    out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+                     out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
     if 'sim_pose' in outs:
       self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+    if 'action' in outs:
+      self.parse_mdn('action', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.ACTION_WIDTH,))
 
   def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
diff --git a/openpilot/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py b/openpilot/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
index b13a7abecf1446..3c544586f8b054 100644
--- a/openpilot/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
+++ b/openpilot/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
@@ -67,22 +67,12 @@ def test_split_queue_keys_match_stock(self, model_state_factory):
     state = model_state_factory(ARCHETYPES['vision_policy_split'])
 
     frame_skip = derive_frame_skip(SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES)
-    # action_t is a deep-model prerequisite the SP loader doesn't provide yet; see skip_keys below
     stock_shapes = {**SPLIT_VISION_INPUT_SHAPES, **SPLIT_POLICY_INPUT_SHAPES, 'action_t': (1, 2)}
     stock_queues, stock_npy = make_input_queues(stock_shapes, frame_skip, device='NPY')
 
-    # TODO-SP: remove action_t skip once SP adds prerequisite for deep models (action_t input queue)
-    # prev_feat is a stock QCOM corruption workaround handled inside the SP loader's JIT path
-    skip_keys = {'action_t', 'prev_feat'}
-    # stock packs the per-key policy inputs into packed_npy_inputs; the npy views carry the individual keys
-    stock_queue_keys = set(stock_queues.keys())
-    if 'packed_npy_inputs' in stock_queue_keys:
-      stock_queue_keys.remove('packed_npy_inputs')
-      stock_queue_keys |= set(stock_npy.keys())
-    assert set(state.input_queues.keys()) == stock_queue_keys - skip_keys, \
-      f"Queue keys differ: v2={set(state.input_queues.keys())}, stock={stock_queue_keys}"
-    assert set(state.numpy_inputs.keys()) == set(stock_npy.keys()) - skip_keys, \
-      f"Npy keys differ: v2={set(state.numpy_inputs.keys())}, stock={set(stock_npy.keys())}"
+    assert set(state.input_queues.keys()) == set(stock_queues.keys())
+    assert {'desire', 'traffic_convention'} <= set(state.numpy_inputs.keys())
+    assert set(state.numpy_inputs.keys()) == set(stock_npy.keys()) - {'action_t', 'prev_feat'}
 
   def test_split_queue_keys_work_with_desire_key(self, model_state_factory):
     from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
diff --git a/openpilot/sunnypilot/modeld_v2/tests/test_warp.py b/openpilot/sunnypilot/modeld_v2/tests/test_warp.py
deleted file mode 100644
index 49dc634a4dc9fa..00000000000000
--- a/openpilot/sunnypilot/modeld_v2/tests/test_warp.py
+++ /dev/null
@@ -1,103 +0,0 @@
-import os
-os.environ['DEV'] = 'CPU'
-import pytest
-import numpy as np
-from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-from openpilot.sunnypilot.modeld_v2.warp import CAMERA_CONFIGS
-from openpilot.sunnypilot.modeld_v2.warp import Warp, MODEL_W, MODEL_H
-
-VISION_NAME_PAIRS = [  # needed to account for supercombos input_imgs
-  ('img', 'big_img'),
-  ('input_imgs', 'big_input_imgs'),
-]
-
-
-class MockVisionBuf:
-  def __init__(self, w, h):
-    self.width = w
-    self.height = h
-    _, _, _, yuv_size = get_nv12_info(w, h)
-    self.data = np.zeros(yuv_size, dtype=np.uint8)
-
-
-@pytest.mark.parametrize("buffer_length", [2, 5])
-def test_warp_initialization(buffer_length):
-  warp = Warp(buffer_length)
-  assert warp.buffer_length == buffer_length
-  assert warp.img_buffer_shape == (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
-
-
-@pytest.mark.parametrize("buffer_length", [2, 5])
-@pytest.mark.parametrize("cam_w, cam_h", CAMERA_CONFIGS)
-@pytest.mark.parametrize("road, wide", VISION_NAME_PAIRS)
-def test_warp_process(buffer_length, cam_w, cam_h, road, wide):
-  warp = Warp(buffer_length)
-  mock_buf = MockVisionBuf(cam_w, cam_h)
-  transform = np.eye(3, dtype=np.float32).flatten()
-  bufs = {road: mock_buf, wide: mock_buf}
-  transforms = {road: transform, wide: transform}
-
-  out = warp.process(bufs, transforms)
-  assert isinstance(out, dict)
-  assert road in out and wide in out
-  assert out[road].shape == (1, 12, MODEL_H // 2, MODEL_W // 2)
-  assert out[wide].shape == (1, 12, MODEL_H // 2, MODEL_W // 2)
-
-  key = (cam_w, cam_h)
-  assert key in warp.jit_cache
-
-  out2 = warp.process(bufs, transforms)
-  assert out2[road].shape == out[road].shape
-
-
-@pytest.mark.parametrize("road, wide", VISION_NAME_PAIRS)
-def test_warp_buffer_shift(road, wide):
-  warp = Warp(2)
-  cam_w, cam_h = CAMERA_CONFIGS[1]
-  transform = np.eye(3, dtype=np.float32).flatten()
-
-  buf1 = MockVisionBuf(cam_w, cam_h)
-  buf1.data[0] = 255
-  bufs1 = {road: buf1, wide: buf1}
-  transforms = {road: transform, wide: transform}
-  out1 = warp.process(bufs1, transforms)
-  road1 = out1[road].numpy().copy()
-
-  buf2 = MockVisionBuf(cam_w, cam_h)
-  buf2.data[0] = 128
-  bufs2 = {road: buf2, wide: buf2}
-  out2 = warp.process(bufs2, transforms)
-  assert not np.array_equal(road1, out2[road].numpy())
-
-
-@pytest.mark.parametrize("buffer_length", [2, 5])
-@pytest.mark.parametrize("road, wide", VISION_NAME_PAIRS)
-def test_warp_buffer_accumulation(buffer_length, road, wide):
-  warp = Warp(buffer_length)
-  cam_w, cam_h = CAMERA_CONFIGS[0]
-  transform = np.eye(3, dtype=np.float32).flatten()
-  transforms = {road: transform, wide: transform}
-  outputs = []
-
-  for i in range(buffer_length + 1):
-    buf = MockVisionBuf(cam_w, cam_h)
-    buf.data[:] = i * 10
-    out = warp.process({road: buf, wide: buf}, transforms)
-    outputs.append(out[road].numpy().copy())
-
-  assert warp.full_buffers['img'].shape == (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
-  for i in range(1, len(outputs)):
-    assert not np.array_equal(outputs[i - 1], outputs[i])
-
-
-def test_warp_different_cameras_same_instance():
-  warp = Warp(2)
-  transform = np.eye(3, dtype=np.float32).flatten()
-
-  buf1 = MockVisionBuf(*CAMERA_CONFIGS[0])
-  warp.process({'img': buf1, 'big_img': buf1}, {'img': transform, 'big_img': transform})
-  assert len(warp.jit_cache) == 1
-
-  buf2 = MockVisionBuf(*CAMERA_CONFIGS[1])
-  warp.process({'img': buf2, 'big_img': buf2}, {'img': transform, 'big_img': transform})
-  assert len(warp.jit_cache) == 2
diff --git a/openpilot/sunnypilot/modeld_v2/warp.py b/openpilot/sunnypilot/modeld_v2/warp.py
deleted file mode 100644
index 29d1925f8e214c..00000000000000
--- a/openpilot/sunnypilot/modeld_v2/warp.py
+++ /dev/null
@@ -1,171 +0,0 @@
-import pickle
-import time
-import numpy as np
-from pathlib import Path
-from tinygrad.tensor import Tensor
-from tinygrad.engine.jit import TinyJit
-from tinygrad.device import Device
-
-from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
-from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
-from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, make_frame_prepare as _make_frame_prepare
-
-CAMERA_CONFIGS = [
-  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
-  (_os_fisheye.width, _os_fisheye.height),
-]
-
-
-def make_frame_prepare(cam_w, cam_h, model_w, model_h):
-  nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-  return _make_frame_prepare(nv12, model_w, model_h)
-
-
-def warp_pkl_path(w, h):
-  from openpilot.selfdrive.modeld.helpers import MODELS_DIR
-  return MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
-
-
-def make_update_img_input(frame_prepare, model_w, model_h):
-  def update_img_input_tinygrad(tensor, frame, M_inv):
-    M_inv = M_inv.to(Device.DEFAULT)
-    new_img = frame_prepare(frame, M_inv)
-    tensor.assign(tensor[6:].cat(new_img, dim=0).contiguous())
-    return Tensor.cat(tensor[:6], tensor[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
-  return update_img_input_tinygrad
-
-
-def make_update_both_imgs(frame_prepare, model_w, model_h):
-  update_img = make_update_img_input(frame_prepare, model_w, model_h)
-  def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
-                                calib_big_img_buffer, new_big_img, M_inv_big):
-    calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
-    calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
-    return calib_img_pair, calib_big_img_pair
-  return update_both_imgs_tinygrad
-
-MODELS_DIR = Path(__file__).parent / 'models'
-MODEL_W, MODEL_H = MEDMODEL_INPUT_SIZE
-UPSTREAM_BUFFER_LENGTH = 5
-
-
-def v2_warp_pkl_path(cam_w, cam_h, buffer_length):
-  return MODELS_DIR / f'warp_{cam_w}x{cam_h}_b{buffer_length}_tinygrad.pkl'
-
-
-def compile_v2_warp(cam_w, cam_h, buffer_length):
-  _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
-  img_buffer_shape = (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
-
-  print(f"Compiling v2 warp for {cam_w}x{cam_h} buffer_length={buffer_length}...")
-
-  frame_prepare = make_frame_prepare(cam_w, cam_h, MODEL_W, MODEL_H)
-  update_both_imgs = make_update_both_imgs(frame_prepare, MODEL_W, MODEL_H)
-  update_img_jit = TinyJit(update_both_imgs, prune=True)
-
-  full_buffer = Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize()
-  big_full_buffer = Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize()
-  new_frame_np = np.random.default_rng(0).integers(0, 256, yuv_size, dtype=np.uint8)
-  new_big_frame_np = np.random.default_rng(1).integers(0, 256, yuv_size, dtype=np.uint8)
-  for i in range(10):
-    img_inputs = [full_buffer,
-                  Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
-                  Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
-    big_img_inputs = [big_full_buffer,
-                      Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
-                      Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
-    inputs = img_inputs + big_img_inputs
-    Device.default.synchronize()
-
-    st = time.perf_counter()
-    _ = update_img_jit(*inputs)
-    mt = time.perf_counter()
-    Device.default.synchronize()
-    et = time.perf_counter()
-    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
-
-  pkl_path = v2_warp_pkl_path(cam_w, cam_h, buffer_length)
-  with open(pkl_path, "wb") as f:
-    pickle.dump(update_img_jit, f)
-  print(f"  Saved to {pkl_path}")
-
-  jit = pickle.load(open(pkl_path, "rb"))
-  verify_frame = np.random.default_rng(0).integers(0, 256, yuv_size, dtype=np.uint8)
-  verify_big_frame = np.random.default_rng(1).integers(0, 256, yuv_size, dtype=np.uint8)
-  fresh_inputs = [
-    Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize(),
-    Tensor.from_blob(verify_frame.ctypes.data, (yuv_size,), dtype='uint8').realize(),
-    Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY'),
-    Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize(),
-    Tensor.from_blob(verify_big_frame.ctypes.data, (yuv_size,), dtype='uint8').realize(),
-    Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY'),
-  ]
-  jit(*fresh_inputs)
-
-
-class Warp:
-  def __init__(self, buffer_length=2):
-    self.buffer_length = buffer_length
-    self.img_buffer_shape = (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
-
-    self.jit_cache = {}
-    self.full_buffers = {k: Tensor.zeros(self.img_buffer_shape, dtype='uint8').contiguous().realize() for k in ['img', 'big_img']}
-    self._blob_cache: dict[int, Tensor] = {}
-    self._nv12_cache: dict[tuple[int, int], int] = {}
-    self.transforms_np = {k: np.zeros((3, 3), dtype=np.float32) for k in ['img', 'big_img']}
-    self.transforms = {k: Tensor(v, device='NPY').realize() for k, v in self.transforms_np.items()}
-
-  def process(self, bufs, transforms):
-    if not bufs:
-      return {}
-    road = next(n for n in bufs if 'big' not in n)
-    wide = next(n for n in bufs if 'big' in n)
-    cam_w, cam_h = bufs[road].width, bufs[road].height
-    key = (cam_w, cam_h)
-
-    if key not in self.jit_cache:
-      v2_pkl = v2_warp_pkl_path(cam_w, cam_h, self.buffer_length)
-      if v2_pkl.exists():
-        with open(v2_pkl, 'rb') as f:
-          self.jit_cache[key] = pickle.load(f)
-      elif self.buffer_length == UPSTREAM_BUFFER_LENGTH:
-        upstream_pkl = warp_pkl_path(cam_w, cam_h)
-        if upstream_pkl.exists():
-          with open(upstream_pkl, 'rb') as f:
-            self.jit_cache[key] = pickle.load(f)
-      if key not in self.jit_cache:
-        frame_prepare = make_frame_prepare(cam_w, cam_h, MODEL_W, MODEL_H)
-        update_both_imgs = make_update_both_imgs(frame_prepare, MODEL_W, MODEL_H)
-        self.jit_cache[key] = TinyJit(update_both_imgs, prune=True)
-
-    if key not in self._nv12_cache:
-      self._nv12_cache[key] = get_nv12_info(cam_w, cam_h)[3]
-    yuv_size = self._nv12_cache[key]
-
-    road_ptr = bufs[road].data.ctypes.data
-    wide_ptr = bufs[wide].data.ctypes.data
-    if road_ptr not in self._blob_cache:
-      self._blob_cache[road_ptr] = Tensor.from_blob(road_ptr, (yuv_size,), dtype='uint8')
-    if wide_ptr not in self._blob_cache:
-      self._blob_cache[wide_ptr] = Tensor.from_blob(wide_ptr, (yuv_size,), dtype='uint8')
-    road_blob = self._blob_cache[road_ptr]
-    wide_blob = self._blob_cache[wide_ptr] if wide_ptr != road_ptr else Tensor.from_blob(wide_ptr, (yuv_size,), dtype='uint8')
-    np.copyto(self.transforms_np['img'], transforms[road].reshape(3, 3))
-    np.copyto(self.transforms_np['big_img'], transforms[wide].reshape(3, 3))
-
-    Device.default.synchronize()
-    res = self.jit_cache[key](
-      self.full_buffers['img'], road_blob, self.transforms['img'],
-      self.full_buffers['big_img'], wide_blob, self.transforms['big_img'],
-    )
-    out_road = res[0].realize()
-    out_wide = res[1].realize()
-
-    return {road: out_road, wide: out_wide}
-
-
-if __name__ == "__main__":
-  for cam_w, cam_h in CAMERA_CONFIGS:
-    for bl in [2, 5]:
-      compile_v2_warp(cam_w, cam_h, bl)
diff --git a/openpilot/sunnypilot/models/fetcher.py b/openpilot/sunnypilot/models/fetcher.py
index b5197988bb852c..eda1117a2a16b5 100644
--- a/openpilot/sunnypilot/models/fetcher.py
+++ b/openpilot/sunnypilot/models/fetcher.py
@@ -6,11 +6,12 @@
 """
 
 import time
-
+import os
 import requests
 from requests.exceptions import (SSLError, RequestException, HTTPError)
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
+from openpilot.common.hardware.hw import Paths
 from openpilot.sunnypilot.models.helpers import is_bundle_version_compatible
 
 from openpilot.cereal import custom
@@ -26,11 +27,35 @@ def _parse_download_uri(download_uri_data) -> custom.ModelManagerSP.DownloadUri:
     download_uri.sha256 = download_uri_data.get("sha256")
     return download_uri
 
+  @staticmethod
+  def _parse_chunk(chunk_data) -> custom.ModelManagerSP.Chunk:
+    chunk = custom.ModelManagerSP.Chunk()
+    chunk.fileName = chunk_data.get("file_name")
+    chunk.sha256 = chunk_data.get("sha256")
+    return chunk
+
   @staticmethod
   def _parse_artifact(artifact_data) -> custom.ModelManagerSP.Artifact:
     artifact = custom.ModelManagerSP.Artifact()
     artifact.fileName = artifact_data.get("file_name")
     artifact.downloadUri = ModelParser._parse_download_uri(artifact_data.get("download_uri", {}))
+
+    if "chunks" in artifact_data:
+      artifact.chunks = [ModelParser._parse_chunk(chunk_data) for chunk_data in artifact_data["chunks"]]
+
+      try:
+        model_dir = Paths.model_root()
+        os.makedirs(model_dir, exist_ok=True)
+        manifest_path = os.path.join(model_dir, f"{artifact.fileName}.chunkmanifest")
+        num_chunks = str(len(artifact.chunks))
+
+        if not os.path.exists(manifest_path) or open(manifest_path).read().strip() != num_chunks:
+          with open(manifest_path, "w") as f:
+            f.write(num_chunks)
+          cloudlog.info(f"Wrote chunk manifest for {artifact.fileName}: {num_chunks} chunks")
+      except Exception as e:
+        cloudlog.warning(f"Failed to write chunk manifest for {artifact.fileName}: {e}")
+
     return artifact
 
   @staticmethod
@@ -39,8 +64,6 @@ def _parse_model(model_data) -> custom.ModelManagerSP.Model:
 
     model.type = model_data.get("type")
     model.artifact = ModelParser._parse_artifact(model_data.get("artifact", {}))
-    if metadata := model_data.get("metadata"):
-      model.metadata = ModelParser._parse_artifact(metadata)
     return model
 
   @staticmethod
@@ -116,7 +139,7 @@ def set(self, data: dict) -> None:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v17.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v18.json"
 
   def __init__(self, params: Params):
     self.params = params
@@ -184,4 +207,5 @@ def get_available_bundles(self) -> list[custom.ModelManagerSP.ModelBundle]:
       # Print artifact details
       print(f"Artifact: {model.artifact.fileName}, Download URI: {model.artifact.downloadUri.uri}")
       # Print metadata details
-      print(f"Metadata: {model.metadata.fileName}, Download URI: {model.metadata.downloadUri.uri}")
+      if model.artifact.chunks:
+        print(f"Contains {len(model.artifact.chunks)} chunks.")
diff --git a/openpilot/sunnypilot/models/helpers.py b/openpilot/sunnypilot/models/helpers.py
index ad1333d4edd371..101d8d196e7c29 100644
--- a/openpilot/sunnypilot/models/helpers.py
+++ b/openpilot/sunnypilot/models/helpers.py
@@ -18,7 +18,7 @@
 from openpilot.common.hardware.hw import Paths
 
 # SET ME TO THE EXACT JSON VERSION WE SET IN SUNNYPILOT_MODELS REPO
-REQUIRED_JSON_VERSION = 15
+REQUIRED_JSON_VERSION = 16
 
 CUSTOM_MODEL_PATH = Paths.model_root()
 METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
@@ -56,12 +56,20 @@ def is_bundle_version_compatible(bundle: dict) -> bool:
 
 def _bundle_artifacts(bundle: custom.ModelManagerSP.ModelBundle) -> list[tuple[str, str]]:
   artifacts = []
+  from openpilot.common.file_chunker import get_chunk_name
   for model in getattr(bundle, 'models', []) or []:
-    for artifact in (getattr(model, 'artifact', None), getattr(model, 'metadata', None)):
-      if artifact and getattr(artifact, 'fileName', None) and getattr(artifact, 'downloadUri', None):
-        sha256 = getattr(artifact.downloadUri, 'sha256', None)
-        if sha256:
-          artifacts.append((artifact.fileName, sha256))
+    for artifact in (getattr(model, 'artifact', None),):
+      if artifact and getattr(artifact, 'fileName', None):
+        if len(artifact.chunks) > 0:
+          for i, chunk in enumerate(artifact.chunks):
+            chunk_name = get_chunk_name(artifact.fileName, i, len(artifact.chunks))
+            if getattr(chunk, 'sha256', None):
+              artifacts.append((chunk_name, chunk.sha256))
+        else:
+          if getattr(artifact, 'downloadUri', None):
+            sha256 = getattr(artifact.downloadUri, 'sha256', None)
+            if sha256:
+              artifacts.append((artifact.fileName, sha256))
   return artifacts
 
 
@@ -156,8 +164,7 @@ def _get_model():
 
 
 def load_metadata():
-  model = _get_model()
-  metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}" if model else METADATA_PATH
+  metadata_path = METADATA_PATH
 
   with open(metadata_path, 'rb') as f:
     return pickle.load(f)
diff --git a/openpilot/sunnypilot/models/manager.py b/openpilot/sunnypilot/models/manager.py
index 3338a91711a88e..d742e968a93864 100644
--- a/openpilot/sunnypilot/models/manager.py
+++ b/openpilot/sunnypilot/models/manager.py
@@ -38,11 +38,11 @@ def _sync_artifact_progress(self, source_artifact) -> None:
     if not self.selected_bundle:
       return
     for model in self.selected_bundle.models:
-      for artifact in (model.artifact, model.metadata):
-        if artifact is not source_artifact and artifact.fileName == source_artifact.fileName:
-          artifact.downloadProgress.status = source_artifact.downloadProgress.status
-          artifact.downloadProgress.progress = source_artifact.downloadProgress.progress
-          artifact.downloadProgress.eta = source_artifact.downloadProgress.eta
+      artifact = model.artifact
+      if artifact is not source_artifact and artifact.fileName == source_artifact.fileName:
+        artifact.downloadProgress.status = source_artifact.downloadProgress.status
+        artifact.downloadProgress.progress = source_artifact.downloadProgress.progress
+        artifact.downloadProgress.eta = source_artifact.downloadProgress.eta
 
   def _calculate_eta(self, filename: str, progress: float) -> int:
     """Calculate ETA based on elapsed time and current progress"""
@@ -89,20 +89,16 @@ async def _download_file(self, url: str, path: str, model) -> None:
         del self._download_start_times[model.fileName]
 
   async def _download_chunked(self, base_url: str, base_path: str, artifact) -> None:
-    from openpilot.common.file_chunker import get_manifest_path, get_chunk_name
-    manifest_url = get_manifest_path(base_url)
-    manifest_path = get_manifest_path(base_path)
+    from openpilot.common.file_chunker import get_chunk_name, get_manifest_path
 
-    async with aiohttp.ClientSession() as session:
-      async with session.get(manifest_url) as resp:
-        if resp.status == 404:
-          raise FileNotFoundError
-        resp.raise_for_status()
-        num_chunks = int((await resp.read()).strip())
+    num_chunks = len(artifact.chunks)
+    if num_chunks == 0:
+      raise ValueError("No chunks defined in artifact")
 
+    manifest_path = get_manifest_path(base_path)
     self._download_start_times[artifact.fileName] = time.monotonic()
 
-    for i in range(num_chunks):
+    for i, _ in enumerate(artifact.chunks):
       chunk_url = get_chunk_name(base_url, i, num_chunks)
       chunk_path = get_chunk_name(base_path, i, num_chunks)
       chunk_downloaded = 0
@@ -117,7 +113,7 @@ async def _download_chunked(self, base_url: str, base_path: str, artifact) -> No
               if self.params.get("ModelManager_DownloadIndex") is None:
                 raise Exception("Download cancelled")
               intra = chunk_downloaded / max(chunk_size, 1)
-              progress = min(99, (i + intra) / num_chunks * 100)
+              progress = min(99.0, ((i + intra) / num_chunks) * 100)
               artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading
               artifact.downloadProgress.progress = progress
               artifact.downloadProgress.eta = self._calculate_eta(artifact.fileName, progress)
@@ -140,7 +136,22 @@ async def _process_artifact(self, artifact, destination_path: str) -> None:
     full_path = os.path.join(destination_path, filename)
 
     try:
-      if await verify_file(full_path, expected_hash):
+      is_cached = False
+      if len(artifact.chunks) > 0:
+        from openpilot.common.file_chunker import get_chunk_name
+        chunks_valid = True
+        for i, chunk in enumerate(artifact.chunks):
+          chunk_path = get_chunk_name(full_path, i, len(artifact.chunks))
+          if not await verify_file(chunk_path, chunk.sha256):
+            chunks_valid = False
+            break
+        if chunks_valid and len(artifact.chunks) > 0:
+          is_cached = True
+      else:
+        if await verify_file(full_path, expected_hash):
+          is_cached = True
+
+      if is_cached:
         artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
         artifact.downloadProgress.progress = 100
         artifact.downloadProgress.eta = 0
@@ -148,13 +159,17 @@ async def _process_artifact(self, artifact, destination_path: str) -> None:
         self._report_status()
         return
 
-      try:
+      if len(artifact.chunks) > 0:
         await self._download_chunked(url, full_path, artifact)
-      except (FileNotFoundError, aiohttp.ClientResponseError):
+        from openpilot.common.file_chunker import get_chunk_name
+        for i, chunk in enumerate(artifact.chunks):
+          chunk_path = get_chunk_name(full_path, i, len(artifact.chunks))
+          if not await verify_file(chunk_path, chunk.sha256):
+            raise ValueError(f"Hash validation failed for chunk {i+1} of {filename}")
+      else:
         await self._download_file(url, full_path, artifact)
-
-      if not await verify_file(full_path, expected_hash):
-        raise ValueError(f"Hash validation failed for {filename}")
+        if not await verify_file(full_path, expected_hash):
+          raise ValueError(f"Hash validation failed for {filename}")
 
       artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloaded
       artifact.downloadProgress.progress = 100
@@ -170,18 +185,15 @@ async def _process_artifact(self, artifact, destination_path: str) -> None:
       artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed
       artifact.downloadProgress.eta = 0
       self._sync_artifact_progress(artifact)
-      self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
+      if self.selected_bundle:
+        self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
       self._report_status()
       self._download_start_times.pop(artifact.fileName, None)
       raise
 
   async def _process_model(self, model, destination_path: str) -> None:
     """Processes a single model download including verification"""
-    model_artifact = model.artifact
-    metadata_artifact = model.metadata
-
-    await self._process_artifact(metadata_artifact, destination_path)
-    await self._process_artifact(model_artifact, destination_path)
+    await self._process_artifact(model.artifact, destination_path)
 
   def _report_status(self) -> None:
     """Reports current status through messaging system"""
@@ -205,16 +217,16 @@ async def _download_bundle(self, model_bundle: custom.ModelManagerSP.ModelBundle
     try:
       seen_artifacts: set[str] = set()
       for model in self.selected_bundle.models:
-        for artifact in (model.metadata, model.artifact):
-          if not artifact.fileName:
-            continue
-          if artifact.fileName in seen_artifacts:
-            artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
-            artifact.downloadProgress.progress = 100
-            artifact.downloadProgress.eta = 0
-          else:
-            seen_artifacts.add(artifact.fileName)
-            await self._process_artifact(artifact, destination_path)
+        artifact = model.artifact
+        if not artifact.fileName:
+          continue
+        if artifact.fileName in seen_artifacts:
+          artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
+          artifact.downloadProgress.progress = 100
+          artifact.downloadProgress.eta = 0
+        else:
+          seen_artifacts.add(artifact.fileName)
+          await self._process_artifact(artifact, destination_path)
 
       self.active_bundle = self.selected_bundle
       self.active_bundle.status = custom.ModelManagerSP.DownloadStatus.downloaded
@@ -275,8 +287,6 @@ def clear_model_cache(self) -> None:
       for model in self.active_bundle.models:
         if hasattr(model, 'artifact') and model.artifact.fileName:
           active_files.append(model.artifact.fileName)
-        if hasattr(model, 'metadata') and model.metadata.fileName:
-          active_files.append(model.metadata.fileName)
 
     # Remove all files except active ones (including their chunk files)
     model_dir = Paths.model_root()
diff --git a/openpilot/sunnypilot/models/runners/helpers.py b/openpilot/sunnypilot/models/runners/helpers.py
deleted file mode 100644
index b34a62132b695a..00000000000000
--- a/openpilot/sunnypilot/models/runners/helpers.py
+++ /dev/null
@@ -1,28 +0,0 @@
-from openpilot.sunnypilot.models.helpers import get_active_bundle
-from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
-from openpilot.sunnypilot.models.runners.tinygrad.tinygrad_runner import TinygradRunner, TinygradSplitRunner
-from openpilot.sunnypilot.models.runners.constants import ModelType
-
-
-def get_model_runner() -> ModelRunner:
-  """
-  Factory function to create and return the appropriate ModelRunner instance.
-
-  Selects TinygradRunner, choosing TinygradSplitRunner if separate vision/policy
-  models are detected in the active bundle.
-
-  :return: An instance of a ModelRunner subclass (ONNXRunner, TinygradRunner, or TinygradSplitRunner).
-  """
-  bundle = get_active_bundle()
-  if bundle and bundle.models:
-    model_types = {m.type.raw for m in bundle.models}
-    # Check if the bundle uses separate vision and policy models (legacy or new split format)
-    split_types = {ModelType.vision, ModelType.policy, ModelType.offPolicy, ModelType.onPolicy}
-    if model_types & split_types:
-      return TinygradSplitRunner()
-    # Otherwise, assume a single model (likely supercombo)
-    if bundle.models:
-      return TinygradRunner(bundle.models[0].type.raw)
-
-  # Default fallback to TinygradRunner with the supercombo type if bundle info is missing/incomplete
-  return TinygradRunner(ModelType.supercombo)
diff --git a/openpilot/sunnypilot/models/runners/model_runner.py b/openpilot/sunnypilot/models/runners/model_runner.py
deleted file mode 100644
index cbf2fc5e201476..00000000000000
--- a/openpilot/sunnypilot/models/runners/model_runner.py
+++ /dev/null
@@ -1,174 +0,0 @@
-from abc import abstractmethod, ABC
-
-import numpy as np
-from openpilot.sunnypilot.models.helpers import get_active_bundle
-from openpilot.sunnypilot.models.runners.constants import NumpyDict, ShapeDict, Model, SliceDict, SEND_RAW_PRED
-from openpilot.common.hardware.hw import Paths
-import pickle
-
-CUSTOM_MODEL_PATH = Paths.model_root()
-
-
-class ModelData:
-  """
-  Stores metadata and configuration for a specific machine learning model.
-
-  This class loads model metadata (like input shapes and output slices)
-  from a pickle file associated with a model instance.
-
-  :param model: The machine learning model object containing metadata.
-  """
-  def __init__(self, model: Model):
-    self.model = model
-    self.metadata = model.metadata
-    self.input_shapes: ShapeDict = {}
-    self.output_slices: SliceDict = {}
-    if self.metadata:
-      self._load_metadata()
-
-  def _load_metadata(self) -> None:
-    """Loads input shapes and output slices from the model's metadata pickle file."""
-    metadata_path = f"{CUSTOM_MODEL_PATH}/{self.metadata.fileName}"
-    with open(metadata_path, 'rb') as f:
-      model_metadata = pickle.load(f)
-    self.input_shapes = model_metadata.get('input_shapes', {})
-    self.output_slices = model_metadata.get('output_slices', {})
-
-
-class ModularRunner(ABC):
-  """
-  Represents a modular runner for handling and slicing model outputs.
-
-  This abstract base class is designed to provide an interface for modular
-  parsing and processing of model outputs. Classes inheriting from it must
-  implement the specified abstract methods, defining how model outputs
-  should be handled and stored. The primary goal is to enable structured
-  parsing of outputs through a dictionary-based method mapping.
-
-  :ivar parser_method_dict: Mapping dictionary containing parser methods
-      for handling specific types of outputs.
-  :type parser_method_dict: dict
-  """
-
-  @property
-  @abstractmethod
-  def parser_method_dict(self) -> dict:
-    pass
-
-  @parser_method_dict.setter
-  @abstractmethod
-  def parser_method_dict(self, value: dict) -> None:
-    pass
-
-  @abstractmethod
-  def _slice_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
-    pass
-
-
-class ModelRunner(ModularRunner):
-  """
-  Abstract base class for managing and executing machine learning models.
-
-  Provides a common interface for loading models, preparing inputs, running
-  inference, and slicing/parsing outputs based on model metadata. Derived
-  classes implement the specifics of input preparation and model execution
-  for different frameworks (e.g., Tinygrad, ONNX).
-  """
-
-  def __init__(self):
-    """Initializes the model runner, loading the active model bundle."""
-    self.is_20hz: bool | None = None
-    self.is_20hz_3d: bool | None = None
-    self.models: dict[int, ModelData] = {}
-    self._model_data: ModelData | None = None  # Active model data for current operation
-    self._parser_method_dict: dict = {}
-    self.inputs: dict = {}
-    self._parser = None
-    self._load_models()
-    self._constants = None
-
-  @property
-  def constants(self):
-    return self._constants
-
-  @property
-  def parser_method_dict(self) -> dict:
-    """Returns the dictionary mapping model types to their respective parsing methods."""
-    return self._parser_method_dict
-
-  @parser_method_dict.setter
-  def parser_method_dict(self, value: dict) -> None:
-    """Sets the dictionary mapping model types to their respective parsing methods."""
-    self._parser_method_dict = value
-
-  def _load_models(self) -> None:
-    """Loads the active model bundle configuration and sets up ModelData."""
-    bundle = get_active_bundle()
-    if not bundle:
-      raise ValueError("No active model bundle found, why are we being executed?")
-
-    self.models = {model.type.raw: ModelData(model) for model in bundle.models}
-    self.is_20hz = bundle.is20hz
-    self.is_20hz_3d = False
-
-  @property
-  def input_shapes(self) -> ShapeDict:
-    """Returns the input shapes for the currently active model."""
-    if self._model_data:
-      return self._model_data.input_shapes
-    raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
-
-  @property
-  def output_slices(self) -> SliceDict:
-    """Returns the output slices for the currently active model."""
-    if self._model_data:
-      return self._model_data.output_slices
-    raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
-
-  @property
-  def vision_input_names(self) -> list[str]:
-    """Returns the list of vision input names from the input shapes."""
-    if self._model_data:
-      return list(self._model_data.input_shapes.keys())
-    raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
-
-  @abstractmethod
-  def prepare_inputs(self, numpy_inputs: NumpyDict) -> dict:
-    """
-    Abstract method to prepare inputs for model inference.
-
-    :param numpy_inputs: Dictionary of numpy arrays for non-image inputs.
-    :return: Dictionary of prepared inputs ready for the model.
-    """
-    raise NotImplementedError
-
-  @abstractmethod
-  def _run_model(self) -> NumpyDict:
-    """
-    Abstract method to execute model inference with prepared inputs.
-
-    :return: Dictionary containing the model's raw output arrays.
-    """
-    raise NotImplementedError
-
-  def _slice_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
-    """
-    Slices the raw model output array based on the output_slices metadata.
-
-    :param model_outputs: The raw numpy array output from the model.
-    :return: A dictionary where keys are output names and values are sliced numpy arrays.
-    """
-    if not self._model_data:
-      raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
-    sliced_outputs = {k: model_outputs[np.newaxis, v] for k, v in self._model_data.output_slices.items()}
-    if SEND_RAW_PRED:
-      sliced_outputs['raw_pred'] = model_outputs.copy()  # Optionally include the full raw output
-    return sliced_outputs
-
-  def run_model(self) -> NumpyDict:
-    """
-    Executes the model inference pipeline: runs the model and parses outputs.
-
-    :return: Dictionary containing the final parsed model outputs.
-    """
-    return self._run_model()  # Parsing is handled within specific runner implementations
diff --git a/openpilot/sunnypilot/models/runners/tinygrad/model_types.py b/openpilot/sunnypilot/models/runners/tinygrad/model_types.py
deleted file mode 100644
index 295e75afb58e5d..00000000000000
--- a/openpilot/sunnypilot/models/runners/tinygrad/model_types.py
+++ /dev/null
@@ -1,91 +0,0 @@
-import os
-from abc import ABC
-
-import numpy as np
-from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
-from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
-from openpilot.sunnypilot.models.runners.constants import ModelType, NumpyDict
-from openpilot.sunnypilot.models.runners.model_runner import ModularRunner
-from openpilot.common.hardware.hw import Paths
-
-
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-CUSTOM_MODEL_PATH = Paths.model_root()
-
-
-class OffPolicyTinygrad(ModularRunner, ABC):
-  """
-  A TinygradRunner specialized for off-policy models.
-
-  Uses a SplitParser to handle outputs specific to the off-policy part of a split model setup.
-  """
-  def __init__(self):
-    self._off_policy_parser = SplitParser()
-    self.parser_method_dict[ModelType.offPolicy] = self._parse_off_policy_outputs
-
-  def _parse_off_policy_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
-    """Parses off-policy model outputs using SplitParser."""
-    result: NumpyDict = self._off_policy_parser.parse_policy_outputs(self._slice_outputs(model_outputs))
-    return result
-
-
-class OnPolicyTinygrad(ModularRunner, ABC):
-  """
-  A TinygradRunner specialized for on-policy models.
-
-  Uses a SplitParser to handle outputs specific to the on-policy part of a split model setup.
-  """
-  def __init__(self):
-    self._on_policy_parser = SplitParser()
-    self.parser_method_dict[ModelType.onPolicy] = self._parse_on_policy_outputs
-
-  def _parse_on_policy_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
-    """Parses on-policy model outputs using SplitParser."""
-    result: NumpyDict = self._on_policy_parser.parse_policy_outputs(self._slice_outputs(model_outputs))
-    return result
-
-
-class PolicyTinygrad(ModularRunner, ABC):
-  """
-  A TinygradRunner specialized for policy-only models.
-
-  Uses a SplitParser to handle outputs specific to the policy part of a split model setup.
-  """
-  def __init__(self):
-    self._policy_parser = SplitParser()
-    self.parser_method_dict[ModelType.policy] = self._parse_policy_outputs
-
-  def _parse_policy_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
-    """Parses policy model outputs using SplitParser."""
-    result: NumpyDict = self._policy_parser.parse_policy_outputs(self._slice_outputs(model_outputs))
-    return result
-
-class VisionTinygrad(ModularRunner, ABC):
-  """
-  A TinygradRunner specialized for vision-only models.
-
-  Uses a SplitParser to handle outputs specific to the vision part of a split model setup.
-  """
-  def __init__(self):
-    self._vision_parser = SplitParser()
-    self.parser_method_dict[ModelType.vision] = self._parse_vision_outputs
-
-  def _parse_vision_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
-    """Parses vision model outputs using SplitParser."""
-    result: NumpyDict = self._vision_parser.parse_vision_outputs(self._slice_outputs(model_outputs))
-    return result
-
-class SupercomboTinygrad(ModularRunner, ABC):
-  """
-  A TinygradRunner specialized for vision-only models.
-
-  Uses a SplitParser to handle outputs specific to the vision part of a split model setup.
-  """
-  def __init__(self):
-    self._supercombo_parser = CombinedParser()
-    self.parser_method_dict[ModelType.supercombo] = self._parse_supercombo_outputs
-
-  def _parse_supercombo_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
-    """Parses vision model outputs using SplitParser."""
-    result: NumpyDict = self._supercombo_parser.parse_outputs(self._slice_outputs(model_outputs))
-    return result
diff --git a/openpilot/sunnypilot/models/runners/tinygrad/tinygrad_runner.py b/openpilot/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
deleted file mode 100644
index 4e17bd5ead5d08..00000000000000
--- a/openpilot/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
+++ /dev/null
@@ -1,179 +0,0 @@
-import pickle
-
-import numpy as np
-from openpilot.sunnypilot.models.runners.constants import NumpyDict, ModelType, ShapeDict, CUSTOM_MODEL_PATH, SliceDict
-from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
-from openpilot.sunnypilot.models.runners.tinygrad.model_types import PolicyTinygrad, VisionTinygrad, SupercomboTinygrad, OffPolicyTinygrad, OnPolicyTinygrad
-from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
-from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
-
-from tinygrad.tensor import Tensor
-
-
-class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTinygrad, OffPolicyTinygrad, OnPolicyTinygrad):
-  """
-  A ModelRunner implementation for executing Tinygrad models.
-
-  Handles loading Tinygrad model artifacts (.pkl), preparing inputs as Tinygrad
-  Tensors (potentially using QCOM extensions on TICI), running inference,
-  and parsing the outputs.
-
-  :param model_type: The type of model (e.g., supercombo) to load and run.
-  """
-  def __init__(self, model_type: int = ModelType.supercombo):
-    ModelRunner.__init__(self)
-    SupercomboTinygrad.__init__(self)
-    PolicyTinygrad.__init__(self)
-    VisionTinygrad.__init__(self)
-    OffPolicyTinygrad.__init__(self)
-    OnPolicyTinygrad.__init__(self)
-    self._constants = ModelConstants
-    self._model_data = self.models.get(model_type)
-    if not self._model_data or not self._model_data.model:
-      raise ValueError(f"Model data for type {model_type} not available.")
-
-    artifact_filename = self._model_data.model.artifact.fileName
-    assert artifact_filename.endswith('_tinygrad.pkl'), \
-      f"Invalid model file {artifact_filename} for TinygradRunner"
-
-    model_pkl_path = f"{CUSTOM_MODEL_PATH}/{artifact_filename}"
-    with open(model_pkl_path, "rb") as f:
-      try:
-        # Load the compiled Tinygrad model runner function
-        self.model_run = pickle.load(f)
-      except FileNotFoundError as e:
-        # Provide a helpful error message if the model was built for a different platform
-        assert "/dev/kgsl-3d0" not in str(e), "Model was built on C3 or C3X, but is being loaded on PC"
-        raise
-
-    # Map input names to their required dtype and device from the loaded model
-    self.input_to_dtype = {}
-    self.input_to_device = {}
-    for idx, name in enumerate(self.model_run.captured.expected_names):
-      info = self.model_run.captured.expected_input_info[idx]
-      self.input_to_dtype[name] = info[2]  # dtype
-      self.input_to_device[name] = info[3]  # device
-    self._policy_cached = False
-
-  @property
-  def vision_input_names(self) -> list[str]:
-    """Returns the list of vision input names from the input shapes."""
-    return [name for name in self.input_shapes.keys() if 'img' in name]
-
-
-  def prepare_policy_inputs(self, numpy_inputs: NumpyDict):
-    if not self._policy_cached:
-      for key, value in numpy_inputs.items():
-        self.inputs[key] = Tensor(value, device='NPY').realize()
-      self._policy_cached = True
-
-  def prepare_inputs(self, numpy_inputs: NumpyDict) -> dict:
-    """Prepares all vision and policy inputs for the model."""
-    self.prepare_policy_inputs(numpy_inputs)
-    for key in self.vision_input_names:
-      if key in self.inputs:
-        self.inputs[key] = self.inputs[key].cast(self.input_to_dtype[key])
-    return self.inputs
-
-  def _run_model(self) -> NumpyDict:
-    """Runs the Tinygrad model inference and parses the outputs."""
-    outputs = self.model_run(**self.inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
-    return self._parse_outputs(outputs)
-
-  def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
-    """Parses the raw model outputs using the standard Parser."""
-    if self._model_data is None:
-      raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
-
-    result: NumpyDict = self.parser_method_dict[self._model_data.model.type.raw](model_outputs)
-    return result
-
-
-class TinygradSplitRunner(ModelRunner):
-  """
-  A ModelRunner that coordinates separate TinygradVisionRunner and TinygradPolicyRunner instances.
-
-  Manages the execution of split vision and policy models, combining their inputs and outputs.
-  """
-  def __init__(self):
-    super().__init__()
-    self.is_20hz_3d = True
-    self.vision_runner = TinygradRunner(ModelType.vision)
-    self.policy_runner = TinygradRunner(ModelType.policy) if self.models.get(ModelType.policy) else None
-    self.off_policy_runner = TinygradRunner(ModelType.offPolicy) if self.models.get(ModelType.offPolicy) else None
-    self.on_policy_runner = TinygradRunner(ModelType.onPolicy) if self.models.get(ModelType.onPolicy) else None
-    self._constants = SplitModelConstants
-
-  def _run_model(self) -> NumpyDict:
-    """Runs both vision and policy models and merges their parsed outputs."""
-    vision_output = self.vision_runner.run_model()
-    outputs = {**vision_output}
-
-    if self.policy_runner:
-      policy_output = self.policy_runner.run_model()
-      outputs.update(policy_output)
-
-    if self.off_policy_runner:
-      off_policy_output = self.off_policy_runner.run_model()
-      if self.on_policy_runner:
-        off_policy_output.pop('plan', None)
-      outputs.update(off_policy_output)
-
-    if self.on_policy_runner:
-      on_policy_output = self.on_policy_runner.run_model()
-      outputs.update(on_policy_output)
-
-    if 'planplus' in outputs and 'plan' in outputs:
-      outputs['plan'] = outputs['plan'] + outputs['planplus']
-
-    return outputs
-
-  @property
-  def vision_input_names(self) -> list[str]:
-    """Returns the list of vision input names from the vision runner."""
-    return list(self.vision_runner.vision_input_names)
-
-  @property
-  def input_shapes(self) -> ShapeDict:
-    """Returns the combined input shapes from both vision and policy models."""
-    shapes = {**self.vision_runner.input_shapes}
-    if self.policy_runner:
-      shapes.update(self.policy_runner.input_shapes)
-    if self.off_policy_runner:
-      shapes.update(self.off_policy_runner.input_shapes)
-    if self.on_policy_runner:
-      shapes.update(self.on_policy_runner.input_shapes)
-    return shapes
-
-  @property
-  def output_slices(self) -> SliceDict:
-    """Returns the combined output slices from both vision and policy models."""
-    slices = {**self.vision_runner.output_slices}
-    if self.policy_runner:
-      slices.update(self.policy_runner.output_slices)
-    if self.off_policy_runner:
-      slices.update(self.off_policy_runner.output_slices)
-    if self.on_policy_runner:
-      slices.update(self.on_policy_runner.output_slices)
-    return slices
-
-  def prepare_inputs(self, numpy_inputs: NumpyDict) -> dict:
-    """Prepares inputs for both vision and policy models."""
-    if self.policy_runner:
-      self.policy_runner.prepare_policy_inputs(numpy_inputs)
-
-    for key in self.vision_input_names:
-      if key in self.inputs:
-        self.vision_runner.inputs[key] = self.inputs[key].cast(self.vision_runner.input_to_dtype[key])
-
-    inputs = {**self.vision_runner.inputs}
-    if self.policy_runner:
-      inputs.update(self.policy_runner.inputs)
-
-    if self.off_policy_runner:
-      self.off_policy_runner.prepare_policy_inputs(numpy_inputs)
-      inputs.update(self.off_policy_runner.inputs)
-    if self.on_policy_runner:
-      self.on_policy_runner.prepare_policy_inputs(numpy_inputs)
-      inputs.update(self.on_policy_runner.inputs)
-    return inputs
diff --git a/openpilot/sunnypilot/models/split_model_constants.py b/openpilot/sunnypilot/models/split_model_constants.py
index a3e1dce8f6d40a..a5f57e545334e4 100644
--- a/openpilot/sunnypilot/models/split_model_constants.py
+++ b/openpilot/sunnypilot/models/split_model_constants.py
@@ -43,6 +43,7 @@ class SplitModelConstants:
   LANE_LINES_WIDTH = 2
   ROAD_EDGES_WIDTH = 2
   PLAN_WIDTH = 15
+  ACTION_WIDTH = 2
   DESIRE_PRED_WIDTH = 8
   LAT_PLANNER_SOLUTION_WIDTH = 4
   DESIRED_CURV_WIDTH = 1
diff --git a/release/ci/model_generator.py b/release/ci/model_generator.py
index afee782bebedd1..76935f362797b5 100755
--- a/release/ci/model_generator.py
+++ b/release/ci/model_generator.py
@@ -5,8 +5,6 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
-import os
-import pickle
 import sys
 import hashlib
 import json
@@ -14,46 +12,8 @@
 from pathlib import Path
 from datetime import datetime, UTC
 
-REQUIRED_OUTPUT_KEYS = frozenset({
-  "plan",
-  "lane_lines",
-  "road_edges",
-  "lead",
-  "desire_state",
-  "desire_pred",
-  "meta",
-  "lead_prob",
-  "lane_lines_prob",
-  "pose",
-  "wide_from_device_euler",
-  "road_transform",
-  "hidden_state",
-})
-OPTIONAL_OUTPUT_KEYS = frozenset({
-  "planplus",
-  "sim_pose",
-  "desired_curvature",
-})
-
-
-def validate_model_outputs(metadata_paths: list[Path]) -> None:
-  combined_keys: set[str] = set()
-  for path in metadata_paths:
-    if path.stat().st_size == 0:
-      print(f"skipping empty metadata: {path}")
-      continue
-    with open(path, "rb") as f:
-      metadata = pickle.load(f)
-    combined_keys.update(metadata.get("output_slices", {}).keys())
-  missing = REQUIRED_OUTPUT_KEYS - combined_keys
-  if missing:
-    raise ValueError(f"Combined model metadata is missing required output keys: {sorted(missing)}")
-  detected_optional = sorted(OPTIONAL_OUTPUT_KEYS & combined_keys)
-  if detected_optional:
-    print(f"Optional output keys detected: {detected_optional}")
-
-
-def create_short_name(full_name):
+
+def create_short_name(full_name: str) -> str:
   # Remove parentheses and extract alphanumeric words
   clean_name = re.sub(r'\([^)]*\)', '', full_name)
   words = [re.sub(r'[^a-zA-Z0-9]', '', word) for word in clean_name.split() if re.sub(r'[^a-zA-Z0-9]', '', word)]
@@ -121,49 +81,41 @@ def _rename_pkl_with_chunks(old_pkl: Path, new_pkl: Path) -> Path:
   return old_pkl.rename(new_pkl)
 
 
-def generate_metadata(model_path: Path, output_dir: Path, short_name: str, driving_pkl: Path):
-  base = model_path.stem
-  metadata_file = output_dir / f"{base}_metadata.pkl"
-
-  if short_name:
-    renamed_meta = output_dir / f"{base}_{short_name.lower()}_metadata.pkl"
-    if metadata_file.exists() and not renamed_meta.exists():
-      metadata_file = metadata_file.rename(renamed_meta)
-    elif renamed_meta.exists():
-      metadata_file = renamed_meta
-
-  if not metadata_file.exists():
-    print(f"Warning: Missing metadata for {base} ({metadata_file}), skipping", file=sys.stderr)
-    return
-
+def generate_chunked_model(driving_pkl: Path) -> dict:
   tinygrad_hash = hashlib.sha256(_read_pkl_bytes(driving_pkl)).hexdigest()
 
-  with open(metadata_file, 'rb') as f:
-    metadata_hash = hashlib.sha256(f.read()).hexdigest()
+  chunks_config = []
+  manifest_file = Path(f"{driving_pkl}.chunkmanifest")
+  if manifest_file.exists():
+    num_chunks = int(manifest_file.read_text().strip())
+    for i in range(num_chunks):
+      chunk_path = Path(f"{driving_pkl}.chunk{i + 1:02d}of{num_chunks:02d}")
+      if chunk_path.exists():
+        chunk_hash = hashlib.sha256(chunk_path.read_bytes()).hexdigest()
+        chunks_config.append({
+          "file_name": chunk_path.name,
+          "sha256": chunk_hash
+        })
+
+  artifact_data = {
+    "file_name": driving_pkl.name,
+    "download_uri": {
+      "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
+      "sha256": tinygrad_hash
+    }
+  }
 
-  model_type = "offPolicy" if "off_policy" in base else "onPolicy" if "on_policy" in base else base.split("_")[-1]
+  if chunks_config:
+    artifact_data["chunks"] = chunks_config
 
   return {
-    "type": model_type,
-    "artifact": {
-      "file_name": driving_pkl.name,
-      "download_uri": {
-        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
-        "sha256": tinygrad_hash
-      }
-    },
-    "metadata": {
-      "file_name": metadata_file.name,
-      "download_uri": {
-        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
-        "sha256": metadata_hash
-      }
-    }
+    "type": "chunked",
+    "artifact": artifact_data,
   }
 
 
-def create_metadata_json(models: list, output_dir: Path, custom_name=None, short_name=None, is_20hz=False, upstream_branch="unknown"):
-  metadata_json = {
+def create_metadata_json(models: list, output_dir: Path, custom_name=None, short_name=None, is_20hz=False, upstream_branch="unknown") -> None:
+  bundle_json = {
     "short_name": short_name,
     "display_name": custom_name or upstream_branch,
     "is_20hz": is_20hz,
@@ -179,40 +131,26 @@ def create_metadata_json(models: list, output_dir: Path, custom_name=None, short
   }
 
   # Write metadata to output_dir
+  metadata_json = {
+    "bundles": [bundle_json]
+  }
+
   with open(output_dir / "metadata.json", "w") as f:
     json.dump(metadata_json, f, indent=2)
-
-  print(f"Generated metadata.json with {len(models)} models.")
+  print("Generated metadata.json")
 
 
 if __name__ == "__main__":
   import argparse
-  import glob
 
-  parser = argparse.ArgumentParser(description="Generate metadata for model files")
-  parser.add_argument("--model-dir", default="./models", help="Directory containing ONNX model files")
+  parser = argparse.ArgumentParser(description="Generate metadata JSON for the compiled JIT model")
+  parser.add_argument("--model-dir", default="./models", help="Directory containing the model files")
   parser.add_argument("--output-dir", default="./output", help="Output directory for metadata")
   parser.add_argument("--custom-name", help="Custom display name for the model")
   parser.add_argument("--is-20hz", action="store_true", help="Whether this is a 20Hz model")
-  parser.add_argument("--validate-only", action="store_true")
   parser.add_argument("--upstream-branch", default="unknown", help="Upstream branch name")
   args = parser.parse_args()
 
-  if args.validate_only:
-    metadata_paths = glob.glob(os.path.join(args.model_dir, "*_metadata.pkl"))
-    if not metadata_paths:
-      print(f"No metadata files found in {args.model_dir}", file=sys.stderr)
-      sys.exit(1)
-    validate_model_outputs([Path(p) for p in metadata_paths])
-    print(f"Validated {len(metadata_paths)} metadata files successfully.")
-    sys.exit(0)
-
-  # Find all ONNX files in the given directory
-  model_paths = glob.glob(os.path.join(args.model_dir, "*.onnx"))
-  if not model_paths:
-    print(f"No ONNX files found in {args.model_dir}", file=sys.stderr)
-    sys.exit(1)
-
   _output_dir = Path(args.output_dir)
   _output_dir.mkdir(exist_ok=True, parents=True)
   _short_name = create_short_name(args.custom_name) if args.custom_name else None
@@ -229,14 +167,5 @@ def create_metadata_json(models: list, output_dir: Path, custom_name=None, short
     else:
       _driving_pkl = new_pkl
 
-  _models = []
-
-  for _model_path in model_paths:
-    _model_metadata = generate_metadata(Path(_model_path), _output_dir, _short_name, _driving_pkl)
-    if _model_metadata:
-      _models.append(_model_metadata)
-
-  if _models:
-    create_metadata_json(_models, _output_dir, args.custom_name, _short_name, args.is_20hz, args.upstream_branch)
-  else:
-    print("No models processed.", file=sys.stderr)
+  _model_metadata = generate_chunked_model(_driving_pkl)
+  create_metadata_json([_model_metadata], _output_dir, args.custom_name, _short_name, args.is_20hz, args.upstream_branch)
diff --git a/tinygrad_repo b/tinygrad_repo
index ac1632ab966c77..2fecac4e4ac32f 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit ac1632ab966c77ba96a7048b893a30f1a714dc87
+Subproject commit 2fecac4e4ac32fe369c41f8400b6e7b9adb18683

From 6909aa95ff037183ec5e26f3e73bb6572634810b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 5 Aug 2026 22:53:04 -0400
Subject: [PATCH 1363/1434] ui: use sunnypilot and sunnylink branding fonts
 (#1895)

* ui: use sunnypilot and sunnylink branding fonts

* split
---
 openpilot/selfdrive/ui/layouts/main.py        |  1 +
 openpilot/selfdrive/ui/mici/layouts/main.py   |  1 +
 .../selfdrive/ui/sunnypilot/layouts/home.py   | 68 +++++++++++++++++++
 .../ui/sunnypilot/layouts/onboarding.py       |  2 +-
 .../ui/sunnypilot/mici/layouts/home.py        | 15 ++++
 5 files changed, 86 insertions(+), 1 deletion(-)
 create mode 100644 openpilot/selfdrive/ui/sunnypilot/layouts/home.py
 create mode 100644 openpilot/selfdrive/ui/sunnypilot/mici/layouts/home.py

diff --git a/openpilot/selfdrive/ui/layouts/main.py b/openpilot/selfdrive/ui/layouts/main.py
index 2b8bac22c2eecb..69536912ceb017 100644
--- a/openpilot/selfdrive/ui/layouts/main.py
+++ b/openpilot/selfdrive/ui/layouts/main.py
@@ -13,6 +13,7 @@
 
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.layouts.settings.settings import SettingsLayoutSP as SettingsLayout
+  from openpilot.selfdrive.ui.sunnypilot.layouts.home import HomeLayoutSP as HomeLayout
 
 
 class MainState(IntEnum):
diff --git a/openpilot/selfdrive/ui/mici/layouts/main.py b/openpilot/selfdrive/ui/mici/layouts/main.py
index 6356a2bc9d8b4c..0ddd2decd1782d 100644
--- a/openpilot/selfdrive/ui/mici/layouts/main.py
+++ b/openpilot/selfdrive/ui/mici/layouts/main.py
@@ -13,6 +13,7 @@
 
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
+  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.home import MiciHomeLayoutSP as MiciHomeLayout
 
 ONROAD_DELAY = 2.5  # seconds
 
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/home.py b/openpilot/selfdrive/ui/sunnypilot/layouts/home.py
new file mode 100644
index 00000000000000..a8c0790d3ff2ff
--- /dev/null
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/home.py
@@ -0,0 +1,68 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+from openpilot.selfdrive.ui.layouts.home import HomeLayout, HomeLayoutState, HEAD_BUTTON_FONT_SIZE, SPACING
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.multilang import tr, trn
+from openpilot.system.ui.widgets.label import gui_label
+
+BRAND_FONT_SIZE = 48
+BRAND_DESC_SPACING = 12
+
+
+class HomeLayoutSP(HomeLayout):
+  def _render_header(self):
+    font = gui_app.font(FontWeight.MEDIUM)
+
+    version_text_width = self.header_rect.width
+
+    if self.update_available:
+      version_text_width -= self.update_notif_rect.width
+
+      highlight_color = rl.Color(75, 95, 255, 255) if self.current_state == HomeLayoutState.UPDATE else rl.Color(54, 77, 239, 255)
+      rl.draw_rectangle_rounded(self.update_notif_rect, 0.3, 10, highlight_color)
+
+      text = tr("UPDATE")
+      text_size = measure_text_cached(font, text, HEAD_BUTTON_FONT_SIZE)
+      text_x = self.update_notif_rect.x + (self.update_notif_rect.width - text_size.x) // 2
+      text_y = self.update_notif_rect.y + (self.update_notif_rect.height - text_size.y) // 2
+      rl.draw_text_ex(font, text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE)
+
+    if self.alert_count > 0:
+      version_text_width -= self.alert_notif_rect.width
+
+      highlight_color = rl.Color(255, 70, 70, 255) if self.current_state == HomeLayoutState.ALERTS else rl.Color(226, 44, 44, 255)
+      rl.draw_rectangle_rounded(self.alert_notif_rect, 0.3, 10, highlight_color)
+
+      alert_text = trn("{} ALERT", "{} ALERTS", self.alert_count).format(self.alert_count)
+      text_size = measure_text_cached(font, alert_text, HEAD_BUTTON_FONT_SIZE)
+      text_x = self.alert_notif_rect.x + (self.alert_notif_rect.width - text_size.x) // 2
+      text_y = self.alert_notif_rect.y + (self.alert_notif_rect.height - text_size.y) // 2
+      rl.draw_text_ex(font, alert_text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE)
+
+    if self.update_available or self.alert_count > 0:
+      version_text_width -= SPACING * 1.5
+
+    version_right = self.header_rect.x + self.header_rect.width
+    version_left = version_right - version_text_width
+
+    brand = "sunnypilot"
+    description = self.params.get("UpdaterCurrentDescription") or ""
+
+    desc_width = 0
+    if description:
+      desc_size = measure_text_cached(gui_app.font(FontWeight.NORMAL), description, BRAND_FONT_SIZE)
+      desc_width = desc_size.x
+      desc_rect = rl.Rectangle(version_right - desc_width, self.header_rect.y, desc_width, self.header_rect.height)
+      gui_label(desc_rect, description, BRAND_FONT_SIZE, rl.WHITE, alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
+
+    brand_size = measure_text_cached(gui_app.font(FontWeight.AUDIOWIDE), brand, BRAND_FONT_SIZE)
+    spacing = BRAND_DESC_SPACING if description else 0
+    brand_x = version_right - desc_width - spacing - brand_size.x
+    brand_rect = rl.Rectangle(max(version_left, brand_x), self.header_rect.y, brand_size.x, self.header_rect.height)
+    gui_label(brand_rect, brand, BRAND_FONT_SIZE, rl.WHITE, font_weight=FontWeight.AUDIOWIDE)
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/onboarding.py b/openpilot/selfdrive/ui/sunnypilot/layouts/onboarding.py
index a86677a7b10d4b..ee4b479afe3b13 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/onboarding.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/onboarding.py
@@ -20,7 +20,7 @@ def __init__(self, done_callback=None):
     self._done_callback = done_callback
     self._step = 0
 
-    self._title = self._child(Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT))
+    self._title = self._child(Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.AUDIOWIDE, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT))
 
     self._content = [
       {
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/home.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/home.py
new file mode 100644
index 00000000000000..d29e579c52dada
--- /dev/null
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/home.py
@@ -0,0 +1,15 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
+from openpilot.system.ui.lib.application import FontWeight
+from openpilot.system.ui.widgets.label import UnifiedLabel
+
+
+class MiciHomeLayoutSP(MiciHomeLayout):
+  def __init__(self):
+    super().__init__()
+    self._openpilot_label = UnifiedLabel("sunnypilot", font_size=88, font_weight=FontWeight.AUDIOWIDE, max_width=480, wrap_text=False)

From 099143ad9df14de601ed95a694b0fc3e55f20503 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 5 Aug 2026 23:22:36 -0400
Subject: [PATCH 1364/1434] [mici] ui: fix swipe-down in sunnylink and models
 panels (#1896)

* [mici] ui: fix swipe-down in sunnylink and models panels

* update mici replay test

* [mici] ui: push model sub-views as separate widgets for correct back navigation
---
 .../ui/sunnypilot/mici/layouts/models.py      | 32 +++++++------------
 .../ui/sunnypilot/mici/layouts/settings.py    |  4 +--
 .../ui/sunnypilot/mici/layouts/sunnylink.py   |  4 +--
 .../selfdrive/ui/tests/diff/replay_script.py  |  3 ++
 4 files changed, 18 insertions(+), 25 deletions(-)

diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py
index 8999281430fdd1..af8f348f72d498 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py
@@ -4,7 +4,6 @@
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from collections.abc import Callable
 import pyray as rl
 
 from openpilot.cereal import custom
@@ -48,10 +47,8 @@ def _render(self, _):
     self.info_text.render()
 
 class ModelsLayoutMici(NavScroller):
-  def __init__(self, back_callback: Callable):
+  def __init__(self):
     super().__init__()
-    self.set_back_callback(back_callback)
-    self.original_back_callback = back_callback
     self.focused_widget = None
 
     self.current_model_info = CurrentModelInfo()
@@ -85,12 +82,10 @@ def _get_grouped_bundles(self, favorites = None):
 
     return folders
 
-  def _show_selection_view(self, items, back_callback: Callable):
-    self._scroller._items = items
-    for item in items:
-      item.set_touch_valid_callback(lambda: self._scroller.scroll_panel.is_touch_valid() and self._scroller.enabled)
-    self._scroller.scroll_panel.set_offset(0)
-    self.set_back_callback(back_callback)
+  def _push_selection_view(self, items):
+    scroller = NavScroller()
+    scroller._scroller.add_widgets(items)
+    gui_app.push_widget(scroller)
 
   def _show_folders(self):
     self.focused_widget = self.select_model_btn
@@ -112,15 +107,18 @@ def _show_folders(self):
           folder_buttons.insert(0, btn)
         else:
           folder_buttons.append(btn)
-    self._show_selection_view(folder_buttons, self._reset_main_view)
+    self._push_selection_view(folder_buttons)
+
+  def _pop_to_main(self):
+    gui_app.pop_widgets_to(self)
 
   def _select_model(self, bundle):
     ui_state.params.put("ModelManager_DownloadIndex", bundle.index)
-    self._reset_main_view()
+    self._pop_to_main()
 
   def _select_default(self):
     ui_state.params.remove("ModelManager_ActiveBundle")
-    self._reset_main_view()
+    self._pop_to_main()
 
   def _select_folder(self, folder_name):
     favs = ui_state.params.get("ModelManager_Favs")
@@ -135,13 +133,7 @@ def _select_folder(self, folder_name):
       btn = BigButton(txt)
       btn.set_click_callback(lambda b=bundle: self._select_model(b))
       btns.append(btn)
-    self._show_selection_view(btns, self._show_folders)
-
-  def _reset_main_view(self):
-    self._scroller._items = self.main_items  # type: ignore[assignment] # ty: ignore[invalid-assignment]
-    self.set_back_callback(self.original_back_callback)
-    self._scroller.scroll_panel.set_offset(0)
-    self._scroller.scroll_to(0)
+    self._push_selection_view(btns)
 
   def hide_event(self):
     super().hide_event()
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py
index 96a4c789c18395..f14efe51a3a8ca 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py
@@ -32,11 +32,11 @@ def __init__(self):
                                                 BIG_ICON_SIZE)
     self.icon_offroad_slider = gui_app.texture("icons_mici/settings/device/lkas.png", BIG_ICON_SIZE, BIG_ICON_SIZE)
 
-    sunnylink_panel = SunnylinkLayoutMici(back_callback=gui_app.pop_widget)
+    sunnylink_panel = SunnylinkLayoutMici()
     sunnylink_btn = SettingsBigButton(tr("sunnylink"), "", gui_app.texture("icons_mici/settings/developer/ssh.png", 55, 55))
     sunnylink_btn.set_click_callback(lambda: gui_app.push_widget(sunnylink_panel))
 
-    models_panel = ModelsLayoutMici(back_callback=gui_app.pop_widget)
+    models_panel = ModelsLayoutMici()
     models_btn = SettingsBigButton(tr("models"), "", gui_app.texture("../../sunnypilot/selfdrive/assets/offroad/icon_models.png", ICON_SIZE, ICON_SIZE))
     models_btn.set_click_callback(lambda: gui_app.push_widget(models_panel))
 
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
index e804c780352732..7c42f99f83effc 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
@@ -6,7 +6,6 @@
 """
 import pyray as rl
 
-from collections.abc import Callable
 
 from openpilot.cereal import custom
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle
@@ -54,9 +53,8 @@ def _render(self, _):
     self.sponsor_text.render()
 
 class SunnylinkLayoutMici(NavScroller):
-  def __init__(self, back_callback: Callable):
+  def __init__(self):
     super().__init__()
-    self.set_back_callback(back_callback)
     self._restore_in_progress = False
     self._backup_in_progress = False
     self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled")
diff --git a/openpilot/selfdrive/ui/tests/diff/replay_script.py b/openpilot/selfdrive/ui/tests/diff/replay_script.py
index 109f32e47ada96..18f3141fa16ac1 100644
--- a/openpilot/selfdrive/ui/tests/diff/replay_script.py
+++ b/openpilot/selfdrive/ui/tests/diff/replay_script.py
@@ -338,8 +338,11 @@ def interact_keyboard() -> None:
 
   settings_cases: Cases = [
     lambda: scroll_through_cases(toggle_cases),
+    None,  # sunnylink (just open and close)
+    None,  # models (just open and close)
     lambda: scroll_through_cases(network_cases),
     lambda: scroll_through_cases(device_cases),
+    lambda: script.wait(WAIT_SHORT),  # software
     lambda: script.wait(WAIT_SHORT),  # pairing
     lambda: run_actions(lambda: swipe_up(height * 3), lambda: swipe_down(height * 3)),  # firehose (scroll down and back up)
     lambda: scroll_through_cases(developer_cases),

From fec5a97a9e78e323e8f179ac54cf4f9be216d18c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 6 Aug 2026 21:57:56 -0400
Subject: [PATCH 1365/1434] docs: update policy (#1898)

---
 docs/AI_POLICY.md    | 44 ++++++++++++++++++++++++++++++++++++++++++++
 docs/CONTRIBUTING.md |  3 +++
 2 files changed, 47 insertions(+)
 create mode 100644 docs/AI_POLICY.md

diff --git a/docs/AI_POLICY.md b/docs/AI_POLICY.md
new file mode 100644
index 00000000000000..a32eb96bacd156
--- /dev/null
+++ b/docs/AI_POLICY.md
@@ -0,0 +1,44 @@
+# AI policy
+
+## Why this exists
+
+We use AI tools ourselves, so this isn't an anti-AI stance. The problem is people submitting code, issues, or comments they don't actually understand. AI makes that very easy to do, and it creates real work for reviewers who have to figure out what you meant when you can't explain it yourself.
+
+If you're not going to put effort into understanding and verifying your submission, we're not going to put effort into reviewing it.
+
+## The rule
+
+You are responsible for everything you submit: code, PR descriptions, issues, bug reports, comments.
+
+1. Understand what you submit. If a reviewer asks why you did something, you answer from your own understanding, not by re-prompting. If you can't do that, don't submit it.
+
+2. Test your change. AI gets things wrong all the time. Run it, break it, confirm it actually works.
+
+3. Driving fixes need real evidence. Attach a dongle ID, upload logs, and include segments that show the fix working. A route hash by itself proves nothing.
+
+4. No AI-generated media (images, diagrams, videos) in issues or PRs.
+
+## Disclosure
+
+If AI tools helped you write something, say so. Add an `Assisted-by:` line in your commit message:
+
+```
+Assisted-by: GitHub Copilot
+Assisted-by: Claude
+```
+
+Disclosing won't count against your PR. It helps reviewers know where to look. Hiding it and getting caught will.
+
+## How we review
+
+Reviewers are looking at whether you understand your own change. Can you explain it? Can you respond to feedback without re-prompting? Does your PR description say why you made the change, not just list what changed?
+
+Good code from someone who used AI and understands what they wrote is fine. How you got there doesn't matter as long as you can stand behind it.
+
+## What happens
+
+Submissions that don't meet this bar get closed. If it keeps happening, you get blocked.
+
+## Maintainers
+
+Maintainers use AI at their discretion. They've earned that through sustained contribution and they know the codebase.
diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md
index cbeb5f6d3a14f6..0c011ee22b8d14 100644
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@@ -1,3 +1,5 @@
+> sunnypilot follows [commaai/openpilot](https://github.com/commaai/openpilot)'s contributing guidelines. The following applies to all contributions here.
+
 # How to contribute
 
 Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
@@ -35,6 +37,7 @@ All of these are examples of good PRs:
 * **UI design**: we do not have a good review process for this yet
 * **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
 * **Negative expected value**: This is a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
+* **AI-generated contributions**: see our [AI policy](AI_POLICY.md)
 
 ### First contribution
 

From 9e0d89968dd5a4485ee536a0b9f1cd6e7cee26e4 Mon Sep 17 00:00:00 2001
From: MVL <manuel@alumni.virginia.edu>
Date: Thu, 6 Aug 2026 19:18:37 -0700
Subject: [PATCH 1366/1434] Honda Clarity: brake hold fix (#1247)

* Nidec Hybrid brake hold fix

* intent fix

* bump opendbc

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 opendbc_repo                            | 2 +-
 openpilot/selfdrive/car/car_specific.py | 3 +++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 4c64e8a95b4ead..063414f63f14f6 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 4c64e8a95b4eadca6a9e631d06a854f52bb9ebfa
+Subproject commit 063414f63f14f6fe8a662bac6ca372019ccda418
diff --git a/openpilot/selfdrive/car/car_specific.py b/openpilot/selfdrive/car/car_specific.py
index 244a8e3b07e530..a7fdbd0b4437a0 100644
--- a/openpilot/selfdrive/car/car_specific.py
+++ b/openpilot/selfdrive/car/car_specific.py
@@ -56,6 +56,9 @@ def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
       if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001:
         events.add(EventName.manualRestart)
 
+      if CS.brakeHoldActive and CS.blockPcmEnable: # set by Nidec Hybrid which cannot resume from brakehold
+        events.add(EventName.belowEngageSpeed)
+
     elif self.CP.brand == 'toyota':
       # TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
       if self.CP.openpilotLongitudinalControl:

From 6f2a1d573c0bcc21c0ed94033163f5d766b043b8 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 8 Aug 2026 01:27:33 -0400
Subject: [PATCH 1367/1434] ci: sunnypilot CI test routes (#1899)

---
 openpilot/selfdrive/car/tests/test_models.py  |   4 +-
 openpilot/sunnypilot/tools/lib/__init__.py    |   0
 .../tools/lib/sunnypilot_car_segments.py      |  21 ++++
 .../sunnypilot/tools/upload_ci_routes.py      |  68 ++++++++++
 openpilot/tools/lib/logreader.py              |   4 +-
 pyproject.toml                                |   1 +
 uv.lock                                       | 117 +++++++++++++++++-
 7 files changed, 212 insertions(+), 3 deletions(-)
 create mode 100644 openpilot/sunnypilot/tools/lib/__init__.py
 create mode 100644 openpilot/sunnypilot/tools/lib/sunnypilot_car_segments.py
 create mode 100755 openpilot/sunnypilot/tools/upload_ci_routes.py

diff --git a/openpilot/selfdrive/car/tests/test_models.py b/openpilot/selfdrive/car/tests/test_models.py
index b98890838f9e5e..3dc7dd8a7b61d5 100644
--- a/openpilot/selfdrive/car/tests/test_models.py
+++ b/openpilot/selfdrive/car/tests/test_models.py
@@ -25,6 +25,8 @@
 from openpilot.tools.lib.file_sources import Source
 from openpilot.tools.lib.route import SegmentName
 
+from openpilot.sunnypilot.tools.lib.sunnypilot_car_segments import sunnypilot_car_segments_source
+
 SafetyModel = car.CarParams.SafetyModel
 SteerControlType = structs.CarParams.SteerControlType
 
@@ -132,7 +134,7 @@ def get_testing_data(cls):
       segment_range = f"{cls.test_route.route}/{seg}"
 
       try:
-        sources: list[Source] = [internal_source] if len(INTERNAL_SEG_LIST) else [openpilotci_source, comma_api_source]
+        sources: list[Source] = [internal_source] if len(INTERNAL_SEG_LIST) else [openpilotci_source, comma_api_source, sunnypilot_car_segments_source]
         lr = LogReader(segment_range, sources=sources, sort_by_time=True)
         return cls.get_testing_data_from_logreader(lr)
       except (LogsUnavailable, AssertionError):
diff --git a/openpilot/sunnypilot/tools/lib/__init__.py b/openpilot/sunnypilot/tools/lib/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/openpilot/sunnypilot/tools/lib/sunnypilot_car_segments.py b/openpilot/sunnypilot/tools/lib/sunnypilot_car_segments.py
new file mode 100644
index 00000000000000..a3a0e576cd344d
--- /dev/null
+++ b/openpilot/sunnypilot/tools/lib/sunnypilot_car_segments.py
@@ -0,0 +1,21 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import os
+
+SUNNYPILOT_CAR_SEGMENTS_REPO = os.environ.get("SUNNYPILOT_CAR_SEGMENTS_REPO",
+                                               "https://huggingface.co/datasets/sunnypilot/sunnypilotCarSegments")
+SUNNYPILOT_CAR_SEGMENTS_BRANCH = os.environ.get("SUNNYPILOT_CAR_SEGMENTS_BRANCH", "main")
+
+
+def get_url(route, segment, file="rlog.zst"):
+  return f"{SUNNYPILOT_CAR_SEGMENTS_REPO}/resolve/{SUNNYPILOT_CAR_SEGMENTS_BRANCH}/segments/{route.replace('|', '/')}/{segment}/{file}"
+
+
+def sunnypilot_car_segments_source(sr, seg_idxs, fns, /):
+  from openpilot.tools.lib.file_sources import eval_source
+  return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs})
diff --git a/openpilot/sunnypilot/tools/upload_ci_routes.py b/openpilot/sunnypilot/tools/upload_ci_routes.py
new file mode 100755
index 00000000000000..3f511a6a72900e
--- /dev/null
+++ b/openpilot/sunnypilot/tools/upload_ci_routes.py
@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import argparse
+import os
+import tempfile
+
+import requests
+from huggingface_hub import HfApi
+from tqdm import tqdm
+
+from openpilot.tools.lib.route import Route
+
+REPO_ID = os.environ.get("SUNNYPILOT_CAR_SEGMENTS_REPO_ID", "sunnypilot/sunnypilotCarSegments")
+
+
+def upload_route(route_name: str, dry_run: bool = False) -> None:
+  route = Route(route_name)
+  log_paths = route.log_paths()
+  valid_segments = [(i, url) for i, url in enumerate(log_paths) if url is not None]
+
+  print(f"Route: {route_name}")
+  print(f"Segments: {len(valid_segments)}/{len(log_paths)}")
+
+  if not valid_segments:
+    print("No segments found.")
+    return
+
+  api = HfApi()
+
+  with tempfile.TemporaryDirectory() as tmpdir:
+    for seg_idx, url in tqdm(valid_segments, desc="Uploading"):
+      filename = url.split("?")[0].rsplit("/", 1)[-1]
+      local_path = os.path.join(tmpdir, f"{seg_idx}_{filename}")
+      resp = requests.get(url, stream=True)
+      resp.raise_for_status()
+      with open(local_path, "wb") as f:
+        for chunk in resp.iter_content(chunk_size=8192):
+          f.write(chunk)
+
+      repo_path = f"segments/{route_name.replace('|', '/')}/{seg_idx}/{filename}"
+
+      if dry_run:
+        size_mb = os.path.getsize(local_path) / 1024 / 1024
+        print(f"  [{seg_idx}] {size_mb:.1f} MB -> {repo_path}")
+      else:
+        api.upload_file(
+          path_or_fileobj=local_path,
+          path_in_repo=repo_path,
+          repo_id=REPO_ID,
+          repo_type="dataset",
+        )
+
+  print("Done.")
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Upload route rlogs to sunnypilot HuggingFace dataset")
+  parser.add_argument("route", help="Route ID (e.g. 5beb9b58bd12b691/0000010a--a51155e496)")
+  parser.add_argument("--dry-run", action="store_true", help="Download and show sizes without uploading")
+  args = parser.parse_args()
+
+  upload_route(args.route, dry_run=args.dry_run)
diff --git a/openpilot/tools/lib/logreader.py b/openpilot/tools/lib/logreader.py
index 805e411b53adb5..fbfb28dbe093e9 100755
--- a/openpilot/tools/lib/logreader.py
+++ b/openpilot/tools/lib/logreader.py
@@ -22,6 +22,8 @@
 from openpilot.tools.lib.route import SegmentRange, FileName
 from openpilot.tools.lib.log_time_series import msgs_to_time_series
 
+from openpilot.sunnypilot.tools.lib.sunnypilot_car_segments import sunnypilot_car_segments_source
+
 LogMessage = type[capnp._DynamicStructReader]
 LogIterable = Iterable[LogMessage]
 RawLogIterable = Iterable[bytes]
@@ -246,7 +248,7 @@ def _parse_identifier(self, identifier: str) -> list[str]:
   def __init__(self, identifier: str | list[str], default_mode: ReadMode = ReadMode.RLOG,
                sources: list[Source] | None = None, sort_by_time=False, only_union_types=False):
     if sources is None:
-      sources = [internal_source, comma_api_source, openpilotci_source, comma_car_segments_source]
+      sources = [internal_source, comma_api_source, openpilotci_source, comma_car_segments_source, sunnypilot_car_segments_source]
 
     self.default_mode = default_mode
     self.sources = sources
diff --git a/pyproject.toml b/pyproject.toml
index d400ff5678a3c2..051eb5ffc620e1 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -75,6 +75,7 @@ testing = [
 ]
 
 dev = [
+  "huggingface_hub",
   "matplotlib",
 ]
 
diff --git a/uv.lock b/uv.lock
index a0a951d33dee9f..b88ba23d7cff69 100644
--- a/uv.lock
+++ b/uv.lock
@@ -5,6 +5,19 @@ requires-python = ">=3.12.3, <3.13"
 [manifest]
 overrides = [{ name = "opendbc", editable = "opendbc_repo" }]
 
+[[package]]
+name = "anyio"
+version = "4.14.2"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "idna" },
+    { name = "typing-extensions" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/61/cc/a381afa6efea9f496eff839d4a6a1aed3bfafc7b3ab4b0d1b243a12573dd/anyio-4.14.2.tar.gz", hash = "sha256:cfa139f3ed1a23ee8f88a145ddb5ac7605b8bbfd8592baacd7ce3d8bb4313c7f", size = 260176, upload-time = "2026-07-12T20:29:07.082Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/da/35/f2287558c17e29fafc8ef3daf819bb9834061cfa43bff8014f7df7f63bdc/anyio-4.14.2-py3-none-any.whl", hash = "sha256:9f505dda5ac9f0c8309b5e8bd445a8c2bf7246f3ce950121e45ea15bc41d1494", size = 125813, upload-time = "2026-07-12T20:29:05.763Z" },
+]
+
 [[package]]
 name = "attrs"
 version = "26.1.0"
@@ -395,6 +408,15 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/ab/84/02fc1827e8cdded4aa65baef11296a9bbe595c474f0d6d758af082d849fd/execnet-2.1.2-py3-none-any.whl", hash = "sha256:67fba928dd5a544b783f6056f449e5e3931a5c378b128bc18501f7ea79e296ec", size = 40708, upload-time = "2025-11-12T09:56:36.333Z" },
 ]
 
+[[package]]
+name = "filelock"
+version = "3.32.2"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/f6/57/3ba6e6cb097f85b855b00163d169f35365f44277df044dcf96d55b8f62a3/filelock-3.32.2.tar.gz", hash = "sha256:c33351e1f49cae33414acbc6d56784e6ecee82514ec90795da1161fc4836b5b8", size = 217172, upload-time = "2026-07-29T22:46:04.895Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/c1/e8/72f8cef9fdfeffe06213fe8508039396ee48daa0e3259457ed766173bfd6/filelock-3.32.2-py3-none-any.whl", hash = "sha256:87dd94cf281e586d135fa51132b8e3d9a598b316e90377a288663c9321036c82", size = 98830, upload-time = "2026-07-29T22:46:03.52Z" },
+]
+
 [[package]]
 name = "fonttools"
 version = "4.63.0"
@@ -412,6 +434,88 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/2c/47/c99d5268f354002ce80f8d029cd9d7d872969da1de8b93d32de4dc56d6f4/fonttools-4.63.0-py3-none-any.whl", hash = "sha256:445af2eab030a16b9171ea8bdda7ebf7d96bda2df88ee182a464252f6e05e20d", size = 1164562, upload-time = "2026-05-14T12:04:29.092Z" },
 ]
 
+[[package]]
+name = "fsspec"
+version = "2026.7.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/00/78/f34251dadb8f3921264a1d9b8946f5e542014ee2614b285261b4e40e6775/fsspec-2026.7.0.tar.gz", hash = "sha256:c803c40f4cf860b49dea58ee3e1c33cb9c790520e233537e1340049f89b82a88", size = 317040, upload-time = "2026-07-28T16:34:51.052Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/fd/3c/6a2bf344106328fd04963664a60b9bb6496fc25df8e962fcdc1367285fb9/fsspec-2026.7.0-py3-none-any.whl", hash = "sha256:b57ddbafedfaef7018c1ecab32aa200a9d7ca26b77965f64e48b70061249d279", size = 206583, upload-time = "2026-07-28T16:34:49.538Z" },
+]
+
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+version = "0.16.0"
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+wheels = [
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+source = { registry = "https://pypi.org/simple" }
+dependencies = [
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+source = { registry = "https://pypi.org/simple" }
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+    { name = "filelock" },
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+    { name = "httpx" },
+    { name = "packaging" },
+    { name = "pyyaml" },
+    { name = "tqdm" },
+    { name = "typing-extensions" },
+]
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+]
+
 [[package]]
 name = "hypothesis"
 version = "6.47.5"
@@ -730,6 +834,7 @@ dependencies = [
 
 [package.optional-dependencies]
 dev = [
+    { name = "huggingface-hub" },
     { name = "matplotlib" },
 ]
 docs = [
@@ -788,6 +893,7 @@ requires-dist = [
     { name = "comma-deps-zstd" },
     { name = "coverage", marker = "extra == 'testing'" },
     { name = "cython" },
+    { name = "huggingface-hub", marker = "extra == 'dev'" },
     { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" },
     { name = "inputs" },
     { name = "jeepney" },
@@ -1302,7 +1408,7 @@ provides-extras = ["dev"]
 
 [[package]]
 name = "tinygrad"
-version = "0.12.0"
+version = "0.13.0"
 source = { editable = "tinygrad_repo" }
 
 [package.metadata]
@@ -1413,6 +1519,15 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/b8/fc/6a183e71edde90d0c35c2303f23f7a45b6891d1a2c45daf7b8f869831e19/ty-0.0.56-py3-none-win_arm64.whl", hash = "sha256:57538f273d444a5f1293fa7860e967178afe3917611fc5eff16b64e1204fe0d6", size = 11538780, upload-time = "2026-07-01T16:44:53.8Z" },
 ]
 
+[[package]]
+name = "typing-extensions"
+version = "4.16.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/f6/cc/6253133b5bb138fc3306cebfbda2c520f545d36b5be2c7255cc528bb45d6/typing_extensions-4.16.0.tar.gz", hash = "sha256:dc983d19a509c94dba722ee6abd33940f7c05a89e243c47e907eb4db6f1a43e5", size = 113555, upload-time = "2026-07-02T08:40:05.92Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/49/d3/b8441a820a491ddfc024b0b0cf0393375b75ea13866d9c66727e54c2fc80/typing_extensions-4.16.0-py3-none-any.whl", hash = "sha256:481caa481374e813c1b176ada14e97f1f67a4539ce9cfeb3f350d78d6370c2e8", size = 45571, upload-time = "2026-07-02T08:40:04.659Z" },
+]
+
 [[package]]
 name = "urllib3"
 version = "2.7.0"

From f531952be32993cf46ec1a57b65178f2929d608c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 8 Aug 2026 19:49:06 -0400
Subject: [PATCH 1368/1434] ci: sunnypilot process replay (#1900)

* ci: sunnypilot process replay

* ours

* temp

* Revert "temp"

This reverts commit d198cbb32739343f6b8360761f9f85c6ce2d4265.

* fixes, hopefully

* bump
---
 .github/workflows/tests.yaml                             | 9 ++++-----
 opendbc_repo                                             | 2 +-
 .../selfdrive/test/process_replay/test_processes.py      | 2 +-
 .../selfdrive/controls/lib/latcontrol_torque_v0.py       | 2 +-
 openpilot/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py | 5 +++--
 5 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index b5f941fc760cb5..621aa123c5d67a 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -132,7 +132,6 @@ jobs:
 
   process_replay:
     name: process replay
-    if: false  # disable process_replay for forks
     runs-on: ${{
       (github.repository == 'commaai/openpilot') &&
       ((github.event_name != 'pull_request') ||
@@ -169,14 +168,14 @@ jobs:
         name: diff_report_${{ github.event.number }}
         path: openpilot/selfdrive/test/process_replay/diff_report.txt
     - name: Checkout ci-artifacts
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
+      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
       uses: actions/checkout@v7
       with:
-        repository: commaai/ci-artifacts
+        repository: sunnypilot/ci-artifacts
         ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
         path: ${{ github.workspace }}/ci-artifacts
     - name: Prepare refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
+      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
       working-directory: ${{ github.workspace }}/ci-artifacts
       run: |
         git config user.name "GitHub Actions Bot"
@@ -188,7 +187,7 @@ jobs:
         git add .
         git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
     - name: Push refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
+      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
       uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
       with:
         timeout_minutes: 2
diff --git a/opendbc_repo b/opendbc_repo
index 063414f63f14f6..8b9fd4a653ab9d 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 063414f63f14f6fe8a662bac6ca372019ccda418
+Subproject commit 8b9fd4a653ab9d9e4f455f01eb61ef22dbc96988
diff --git a/openpilot/selfdrive/test/process_replay/test_processes.py b/openpilot/selfdrive/test/process_replay/test_processes.py
index d9d827add58407..1627ab0658e078 100755
--- a/openpilot/selfdrive/test/process_replay/test_processes.py
+++ b/openpilot/selfdrive/test/process_replay/test_processes.py
@@ -66,7 +66,7 @@
 # dashcamOnly makes don't need to be tested until a full port is done
 excluded_interfaces = ["mock", "body", "psa"]
 
-BASE_URL = "https://raw.githubusercontent.com/commaai/ci-artifacts/refs/heads/process-replay/"
+BASE_URL = "https://raw.githubusercontent.com/sunnypilot/ci-artifacts/refs/heads/process-replay/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
 EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}
 
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py
index 4d9e4492f99e5b..6ddfaea2317627 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py
@@ -82,7 +82,7 @@ def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvat
       future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
       self.lat_accel_request_buffer.append(future_desired_lateral_accel)
       gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
-      desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay
+      desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / max(lat_delay, self.dt)
 
       measurement = measured_curvature * CS.vEgo ** 2
       measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
index e66072f86f9bd0..740e7092ea2f31 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
@@ -36,12 +36,13 @@ def __init__(self, lac_torque, CP, CP_SP, CI):
     super().__init__(lac_torque, CP, CP_SP, CI)
     self.params = Params()
     self.enabled = self.params.get_bool("NeuralNetworkLateralControl")
-    self.has_nn_model = CP_SP.neuralNetworkLateralControl.model.path != MOCK_MODEL_PATH
+    model_path = CP_SP.neuralNetworkLateralControl.model.path
+    self.has_nn_model = model_path not in (MOCK_MODEL_PATH, '')
 
     # NN model takes current v_ego, lateral_accel, lat accel/jerk error, roll, and past/future/planned data
     # of lat accel and roll
     # Past value is computed using previous desired lat accel and observed roll
-    self.model = NNTorqueModel(CP_SP.neuralNetworkLateralControl.model.path)
+    self.model = NNTorqueModel(model_path) if self.has_nn_model else None
 
     self.pitch = FirstOrderFilter(0.0, 0.5, 0.01)
     self.pitch_last = 0.0

From 9e32dee2814fd2c61c62e3988f0dc16f356b8b6f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 9 Aug 2026 03:47:59 -0400
Subject: [PATCH 1369/1434] ci: fix process replay with missing sunnypilot
 service ignores (#1902)

---
 openpilot/selfdrive/controls/plannerd.py                  | 2 +-
 openpilot/selfdrive/selfdrived/selfdrived.py              | 2 +-
 openpilot/selfdrive/test/process_replay/process_replay.py | 4 ++--
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/openpilot/selfdrive/controls/plannerd.py b/openpilot/selfdrive/controls/plannerd.py
index d80b69ad190fa5..0af341b1216f1d 100755
--- a/openpilot/selfdrive/controls/plannerd.py
+++ b/openpilot/selfdrive/controls/plannerd.py
@@ -23,7 +23,7 @@ def main():
   cloudlog.info("plannerd got CarParamsSP")
 
   gps_location_service = get_gps_location_service(params)
-  ignore_services = ["liveMapDataSP", gps_location_service]
+  ignore_services = ["liveMapDataSP", "carStateSP", "selfdriveStateSP", gps_location_service]
 
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
diff --git a/openpilot/selfdrive/selfdrived/selfdrived.py b/openpilot/selfdrive/selfdrived/selfdrived.py
index cfad1433dbc394..2bc0574e814ad8 100755
--- a/openpilot/selfdrive/selfdrived/selfdrived.py
+++ b/openpilot/selfdrive/selfdrived/selfdrived.py
@@ -93,7 +93,7 @@ def __init__(self, CP=None, CP_SP=None):
     # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
     self.car_state_sock = messaging.sub_sock('carState', timeout=20)
 
-    ignore = self.sensor_packets + self.gps_packets + ['alertDebug', 'lateralManeuverPlan'] + ['modelDataV2SP']
+    ignore = self.sensor_packets + self.gps_packets + ['alertDebug', 'lateralManeuverPlan'] + ['modelDataV2SP', 'longitudinalPlanSP']
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
     if REPLAY:
diff --git a/openpilot/selfdrive/test/process_replay/process_replay.py b/openpilot/selfdrive/test/process_replay/process_replay.py
index fc3463b376e6a7..4834cc44e6b04a 100755
--- a/openpilot/selfdrive/test/process_replay/process_replay.py
+++ b/openpilot/selfdrive/test/process_replay/process_replay.py
@@ -500,7 +500,7 @@ def selfdrived_config_callback(params, cfg, lr):
   ),
   ProcessConfig(
     proc_name="dmonitoringd",
-    pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "selfdriveState"],
+    pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "selfdriveState", "carControl"],
     subs=["driverMonitoringState"],
     ignore=["logMonoTime"],
     should_recv_callback=MessageBasedRcvCallback("driverStateV2"),
@@ -511,7 +511,7 @@ def selfdrived_config_callback(params, cfg, lr):
     pubs=[
       "cameraOdometry", "accelerometer", "gyroscope", "liveCalibration", "carState"
     ],
-    subs=["liveLocationKalman", "livePose"],
+    subs=["livePose"],
     ignore=["logMonoTime"],
     should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
     tolerance=NUMPY_TOLERANCE,

From fc4699a74783a2f80094f4b890a106c713f7fb96 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 9 Aug 2026 15:19:35 -0400
Subject: [PATCH 1370/1434] controls: abstract update_output_torque to ExtBase
 (#1903)

---
 .../selfdrive/controls/lib/latcontrol_torque_ext_base.py   | 7 +++++++
 openpilot/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py   | 7 -------
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
index df773889a901c1..31ac615db85a27 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
@@ -132,3 +132,10 @@ def update_calculations(self, CS, VM, desired_lateral_accel):
         self.lat_accel_friction_factor = 1.0
       self.lateral_jerk_setpoint = self.lat_jerk_friction_factor * self.lookahead_lateral_jerk
       self.lateral_jerk_measurement = self.lat_jerk_friction_factor * self.actual_lateral_jerk
+
+  def update_output_torque(self, CS):
+    freeze_integrator = self._steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+    self._output_torque = self._pid.update(self._pid_log.error,
+                                           feedforward=self._ff,
+                                           speed=CS.vEgo,
+                                           freeze_integrator=freeze_integrator)
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
index 740e7092ea2f31..73c5b526b293c8 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
@@ -85,13 +85,6 @@ def update_feedforward_torque_space(self, CS):
     self._ff += get_friction_in_torque_space(self._desired_lateral_accel - self._actual_lateral_accel, self._lateral_accel_deadzone,
                                              FRICTION_THRESHOLD, self.torque_params)
 
-  def update_output_torque(self, CS):
-    freeze_integrator = self._steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-    self._output_torque = self._pid.update(self._pid_log.error,
-                                           feedforward=self._ff,
-                                           speed=CS.vEgo,
-                                           freeze_integrator=freeze_integrator)
-
   def update_neural_network_feedforward(self, CS, params, calibrated_pose) -> None:
     if not self._nnlc_enabled:
       return

From 91a53aa1610891070cf2877c84f00c2c2965ec31 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 9 Aug 2026 15:56:33 -0400
Subject: [PATCH 1371/1434] Controls: Lateral Jerk Torque Controller (#693)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* init

* more init

* keep it alive

* fixes

* more fixes

* more fix

* new submodule for nn data

* bump submodule

* update path to submodule

* spacing???

* update submodule path

* update submodule path

* bump

* dump

* bump

* introduce params

* Add Neural Network Lateral Control toggle to developer panel

This introduces a new toggle for enabling Neural Network Lateral Control (NNLC), providing detailed descriptions of its functionality and compatibility. It includes UI integration, car compatibility checks, and feedback links for unsupported vehicles.

* decouple even more

* static

* codespell

* remove debug

* in structs

* fix import

* convert to capnp

* fixes

* debug

* only initialize if NNLC is enabled or allow to enable

* oops

* fix initialization

* only allow engage if nnlc is off

* fix toggle param

* fix tests

* lint

* fix more test

* capnp test

* try this out

* validate if it's not None

* make it 33 to match

* align

* share the same friction input calculation

* return stock values if not enabled

* unused

* split base and child

* space

* rename

* NeuralNetworkFeedForwardModel

* less

* just use file name

* try this

* more explicit

* rename

* move it

* child class for additional controllers

* rename

* time to split out custom lateral acceleration

* move around

* space

* fix

* TODO-SP

* TODO-SP

* update regardless, it's an extension now

* update name and expose toggle

* ui: sunnypilot Panel -> Steering Panel

* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h

* merge

* move to steering panel

* no need for this

* live params in a thread

* no live for now

* new structs

* more ui

* more flexible

* more ui

* no longer needed

* another ui

* cereal changes

* bump opendbc

* simplify checks

* all in one place

* just Enhanced Lat Accel only

* no submodule for this

* Enhanced Lateral Acceleration: fix bugs, restore NNLC, add UI/schema

Fix 4 bugs in latcontrol_torque_lat_accel.py: missing CI param, wrong
method name (torque_from_lateral_accel → torque_from_lateral_accel_in_torque_space),
self.enabled collision with NNLC, missing output torque recomputation.

Restore NNLC + ExtOverride inheritance chain with Enhanced slotted between
ExtBase and NNLC. Add mutual exclusion constraints, Python UI toggle,
sunnylink schema entries, and controller init/update tests.

* fix lint: remove unused default params list, add ty ignore, fix test fixture

* use the og name

* rename

* need gates

* TODOs

* wrong

* gate them all on init

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 openpilot/common/params_keys.h                |   1 +
 .../sunnypilot/layouts/settings/steering.py   |   3 +-
 .../steering_sub_layouts/torque_settings.py   |  10 ++
 openpilot/selfdrive/ui/sunnypilot/ui_state.py |   6 +
 .../sunnypilot/selfdrive/car/interfaces.py    |   6 +
 .../controls/lib/latcontrol_torque_ext.py     |   1 +
 .../lib/latcontrol_torque_jerk_aware.py       |  45 ++++++++
 .../selfdrive/controls/lib/nnlc/nnlc.py       |   6 +-
 .../lib/tests/test_latcontrol_torque_ext.py   | 108 ++++++++++++++++++
 .../sunnypilot/sunnylink/settings_ui.json     |  31 +++++
 .../settings_ui_src/pages/models.yaml         |   3 +
 .../settings_ui_src/pages/steering.yaml       |  15 +++
 .../sunnylink/tests/test_settings_schema.py   |  10 +-
 13 files changed, 240 insertions(+), 5 deletions(-)
 create mode 100644 openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_jerk_aware.py
 create mode 100644 openpilot/sunnypilot/selfdrive/controls/lib/tests/test_latcontrol_torque_ext.py

diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h
index 279d36abfd7123..f0921b6723731e 100644
--- a/openpilot/common/params_keys.h
+++ b/openpilot/common/params_keys.h
@@ -273,6 +273,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     // Torque lateral control custom params
     {"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},
     {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
+    {"LateralJerkTorqueController", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
     {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
     {"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
index 15cb6a15e0eb34..28d92363618881 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
@@ -139,7 +139,8 @@ def _update_state(self):
       self._nnlc_toggle.action_item.set_state(False)
       enforce_torque_enabled = False
       nnlc_enabled = False
-    self._nnlc_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not enforce_torque_enabled)
+    jerk_aware_enabled = ui_state.params.get_bool("LateralJerkTorqueController")
+    self._nnlc_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not enforce_torque_enabled and not jerk_aware_enabled)
     self._torque_control_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not nnlc_enabled)
     self._torque_customization_button.action_item.set_enabled(self._torque_control_toggle.action_item.get_state())
 
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
index f3c4419e459759..6dae8308cd168c 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
@@ -40,6 +40,13 @@ def _load_versions(self):
       self.cached_torque_versions = json.load(f)
 
   def _initialize_items(self):
+    self._jerk_aware_toggle = toggle_item_sp(
+      param="LateralJerkTorqueController",
+      title=lambda: tr("Lateral Jerk Torque Controller"),
+      description=lambda: tr("Looks ahead at planned steering to reduce sudden corrections, so the wheel moves " +
+                             "more smoothly through turns. Works with Self-Tune and custom tuning. " +
+                             "Thanks to @twilsonco for the implementation."),
+    )
     self._torque_control_versions = ListItemSP(
       title=tr("Torque Control Tune Version"),
       description="Select the version of Torque Control Tune to use.",
@@ -95,6 +102,7 @@ def _initialize_items(self):
     )
 
     items = [
+      self._jerk_aware_toggle,
       self._torque_control_versions,
       self._self_tune_toggle,
       self._relaxed_tune_toggle,
@@ -107,6 +115,8 @@ def _initialize_items(self):
 
   def _update_state(self):
     super()._update_state()
+    nnlc_enabled = ui_state.params.get_bool("NeuralNetworkLateralControl")
+    self._jerk_aware_toggle.action_item.set_enabled(ui_state.is_offroad() and not nnlc_enabled)
     if not ui_state.params.get_bool("LiveTorqueParamsToggle"):
       ui_state.params.remove("LiveTorqueParamsRelaxedToggle")
       self._relaxed_tune_toggle.action_item.set_state(False)
diff --git a/openpilot/selfdrive/ui/sunnypilot/ui_state.py b/openpilot/selfdrive/ui/sunnypilot/ui_state.py
index c2729bbd917956..4828f3710382e0 100644
--- a/openpilot/selfdrive/ui/sunnypilot/ui_state.py
+++ b/openpilot/selfdrive/ui/sunnypilot/ui_state.py
@@ -184,10 +184,15 @@ def _enforce_constraints(self) -> None:
         self.params.put_bool("EnforceTorqueControl", False, block=True)
         self.params.put_bool("NeuralNetworkLateralControl", False, block=True)
 
+      if self.params.get_bool("LateralJerkTorqueController") and self.params.get_bool("NeuralNetworkLateralControl"):
+        self.params.put_bool("LateralJerkTorqueController", False, block=True)
+        self.params.put_bool("NeuralNetworkLateralControl", False, block=True)
+
       # Angle steering: no torque-based lateral controls
       if CP.steerControlType == car.CarParams.SteerControlType.angle:
         self.params.remove("EnforceTorqueControl")
         self.params.remove("NeuralNetworkLateralControl")
+        self.params.remove("LateralJerkTorqueController")
 
       # Alpha longitudinal: clear if not available
       if not CP.alphaLongitudinalAvailable:
@@ -200,6 +205,7 @@ def _enforce_constraints(self) -> None:
       # No CarParams: clear all car-dependent params as safety default
       self.params.remove("EnforceTorqueControl")
       self.params.remove("NeuralNetworkLateralControl")
+      self.params.remove("LateralJerkTorqueController")
       self.params.remove("AlphaLongitudinalEnabled")
 
     # No longitudinal control: no experimental mode or DEC
diff --git a/openpilot/sunnypilot/selfdrive/car/interfaces.py b/openpilot/sunnypilot/selfdrive/car/interfaces.py
index ed5b71d4b105c0..ecabc53b577a5e 100644
--- a/openpilot/sunnypilot/selfdrive/car/interfaces.py
+++ b/openpilot/sunnypilot/selfdrive/car/interfaces.py
@@ -73,10 +73,16 @@ def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsS
   if params is None:
     params = Params()
 
+  if params.get_bool("LateralJerkTorqueController") and params.get_bool("NeuralNetworkLateralControl"):
+    cloudlog.warning("LateralJerkTorqueController and NeuralNetworkLateralControl both enabled, disabling both")
+    params.put_bool("LateralJerkTorqueController", False, block=True)
+    params.put_bool("NeuralNetworkLateralControl", False, block=True)
+
   if CP.steerControlType == structs.CarParams.SteerControlType.angle:
     cloudlog.warning("SteerControlType is angle, cleaning up params")
     params.remove("NeuralNetworkLateralControl")
     params.remove("EnforceTorqueControl")
+    params.remove("LateralJerkTorqueController")
 
   if not CP_SP.intelligentCruiseButtonManagementAvailable or CP.openpilotLongitudinalControl:
     cloudlog.warning("ICBM not available or openpilot Longitudinal Control enabled, cleaning up params")
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
index 39525b3b8e3bb7..50add19cd22d87 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
@@ -33,6 +33,7 @@ def update(self, CS, VM, pid, params, ff, pid_log, setpoint, measurement, calibr
     self._output_torque = output_torque
 
     self.update_calculations(CS, VM, desired_lateral_accel)
+    self.update_jerk_aware_torque_control(CS, roll_compensation, gravity_adjusted_lateral_accel)
     self.update_neural_network_feedforward(CS, params, calibrated_pose)
 
     return self._pid_log, self._output_torque
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_jerk_aware.py b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_jerk_aware.py
new file mode 100644
index 00000000000000..8d780ed4ccbe32
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_jerk_aware.py
@@ -0,0 +1,45 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from opendbc.car.lateral import FRICTION_THRESHOLD
+from opendbc.sunnypilot.car.interfaces import LatControlInputs
+from opendbc.sunnypilot.car.lateral_ext import get_friction as get_friction_in_torque_space
+from openpilot.common.params import Params
+
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase
+
+
+class LatControlTorqueJerkAware(LatControlTorqueExtBase):
+  def __init__(self, lac_torque, CP, CP_SP, CI):
+    super().__init__(lac_torque, CP, CP_SP, CI)
+    self.params = Params()
+    self._jerk_aware_enabled = self.params.get_bool("LateralJerkTorqueController")
+
+  def update_limits(self):
+    if not self._jerk_aware_enabled:
+      return
+    self._pid.set_limits(self.lac_torque.steer_max, -self.lac_torque.steer_max)
+
+  def update_jerk_aware_torque_control(self, CS, roll_compensation, gravity_adjusted_lateral_accel):
+    if not self._jerk_aware_enabled:
+      return
+
+    torque_from_setpoint = self.torque_from_lateral_accel_in_torque_space(
+      LatControlInputs(self._setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=False
+    )
+    torque_from_measurement = self.torque_from_lateral_accel_in_torque_space(
+      LatControlInputs(self._measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=False
+    )
+
+    self._pid_log.error = float(torque_from_setpoint - torque_from_measurement)  # ty: ignore[invalid-assignment]
+    self._ff = self.torque_from_lateral_accel_in_torque_space(
+      LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=True
+    )
+
+    friction_input = self.update_friction_input(self._desired_lateral_accel, self._actual_lateral_accel)
+    self._ff += get_friction_in_torque_space(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+
+    self.update_output_torque(CS)
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
index 73c5b526b293c8..9684c86688394f 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
@@ -14,7 +14,8 @@
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase, sign
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import sign
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_jerk_aware import LatControlTorqueJerkAware
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import MOCK_MODEL_PATH
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.model import NNTorqueModel
 
@@ -31,7 +32,7 @@ def roll_pitch_adjust(roll, pitch):
   return roll * math.cos(pitch)
 
 
-class NeuralNetworkLateralControl(LatControlTorqueExtBase):
+class NeuralNetworkLateralControl(LatControlTorqueJerkAware):
   def __init__(self, lac_torque, CP, CP_SP, CI):
     super().__init__(lac_torque, CP, CP_SP, CI)
     self.params = Params()
@@ -65,6 +66,7 @@ def _nnlc_enabled(self):
     return self.enabled and self.model_valid and self.has_nn_model
 
   def update_limits(self):
+    super().update_limits()
     if not self._nnlc_enabled:
       return
 
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_latcontrol_torque_ext.py b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_latcontrol_torque_ext.py
new file mode 100644
index 00000000000000..2b4797751448c6
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_latcontrol_torque_ext.py
@@ -0,0 +1,108 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import numpy as np
+
+from openpilot.cereal import log, messaging
+from opendbc.car.structs import car
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.honda.values import CAR as HONDA
+from opendbc.car.vehicle_model import VehicleModel
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car.helpers import convert_to_capnp
+from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
+from openpilot.selfdrive.locationd.helpers import Pose
+from openpilot.common.mock.generators import generate_livePose
+from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
+from openpilot.selfdrive.modeld.constants import ModelConstants
+
+
+def _make_controller(enhanced=False, nnlc=False):
+  params = Params()
+  params.put_bool("EnforceTorqueControl", True, block=True)
+  params.put_bool("LateralJerkTorqueController", enhanced, block=True)
+  params.put_bool("NeuralNetworkLateralControl", nnlc, block=True)
+
+  car_name = HONDA.HONDA_CIVIC
+  CarInterface = interfaces[car_name]
+  CP = CarInterface.get_non_essential_params(car_name)
+  CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
+  CI = CarInterface(CP, CP_SP)
+  sunnypilot_interfaces.setup_interfaces(CI, params)
+  CP_SP = convert_to_capnp(CP_SP)
+  VM = VehicleModel(CP)
+  controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI, DT_CTRL)
+  return controller, VM, CP
+
+
+def _make_model_v2():
+  model = messaging.new_message('modelV2')
+  position = log.XYZTData.new_message()
+  position.x = [float(x) for x in 30.0 * np.array(ModelConstants.T_IDXS)]
+  model.modelV2.position = position
+  orientation = log.XYZTData.new_message()
+  orientation.x = [0.0 for _ in ModelConstants.T_IDXS]
+  orientation.y = [0.0 for _ in ModelConstants.T_IDXS]
+  model.modelV2.orientation = orientation
+  velocity = log.XYZTData.new_message()
+  velocity.x = [30.0 for _ in ModelConstants.T_IDXS]
+  model.modelV2.velocity = velocity
+  acceleration = log.XYZTData.new_message()
+  acceleration.x = [0.0 for _ in ModelConstants.T_IDXS]
+  acceleration.y = [0.0 for _ in ModelConstants.T_IDXS]
+  model.modelV2.acceleration = acceleration
+  return model
+
+
+def _run_update(controller, VM):
+  CS = car.CarState.new_message()
+  CS.vEgo = 30
+  CS.steeringPressed = False
+  lp = generate_livePose()
+  pose = Pose.from_live_pose(lp.livePose)
+  params = log.LiveParametersData.new_message()
+  model_v2 = _make_model_v2().modelV2
+  controller.extension.update_model_v2(model_v2)
+  controller.extension.update_lateral_lag(0.2)
+  return controller.update(True, CS, VM, params, False, 0.5, pose, False, 0.2)
+
+
+class TestLatControlTorqueExt:
+  def test_init_enhanced_only(self):
+    controller, VM, _ = _make_controller(enhanced=True, nnlc=False)
+    assert controller.extension._jerk_aware_enabled
+    assert not controller.extension.enabled  # NNLC disabled
+
+  def test_init_nnlc_only(self):
+    controller, VM, _ = _make_controller(enhanced=False, nnlc=True)
+    assert not controller.extension._jerk_aware_enabled
+    assert controller.extension.enabled
+
+  def test_init_neither(self):
+    controller, VM, _ = _make_controller(enhanced=False, nnlc=False)
+    assert not controller.extension._jerk_aware_enabled
+    assert not controller.extension.enabled
+
+  def test_init_both_no_crash(self):
+    controller, VM, _ = _make_controller(enhanced=True, nnlc=True)
+    assert not controller.extension._jerk_aware_enabled
+    assert not controller.extension.enabled
+
+  def test_update_enhanced_only(self):
+    controller, VM, _ = _make_controller(enhanced=True, nnlc=False)
+    output_torque, _, pid_log = _run_update(controller, VM)
+    assert pid_log.active
+
+  def test_update_neither(self):
+    controller, VM, _ = _make_controller(enhanced=False, nnlc=False)
+    output_torque, _, pid_log = _run_update(controller, VM)
+    assert pid_log.active
+
+  def test_update_both_no_crash(self):
+    controller, VM, _ = _make_controller(enhanced=True, nnlc=True)
+    output_torque, _, pid_log = _run_update(controller, VM)
+    assert pid_log.active
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui.json b/openpilot/sunnypilot/sunnylink/settings_ui.json
index cd5f0b118fd0eb..1e6422ac84ec7a 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui.json
+++ b/openpilot/sunnypilot/sunnylink/settings_ui.json
@@ -323,6 +323,32 @@
                 "equals": true
               },
               "items": [
+                {
+                  "key": "LateralJerkTorqueController",
+                  "widget": "toggle",
+                  "title": "Lateral Jerk Torque Controller",
+                  "description": "Looks ahead at planned steering to reduce sudden corrections, so the wheel moves more smoothly through turns. Works with Self-Tune and custom tuning. Thanks to @twilsonco for the implementation.",
+                  "visibility": [
+                    {
+                      "type": "not",
+                      "condition": {
+                        "type": "capability",
+                        "field": "steer_control_type",
+                        "equals": "angle"
+                      }
+                    }
+                  ],
+                  "enablement": [
+                    {
+                      "type": "offroad_only"
+                    },
+                    {
+                      "type": "param",
+                      "key": "NeuralNetworkLateralControl",
+                      "equals": false
+                    }
+                  ]
+                },
                 {
                   "key": "LiveTorqueParamsToggle",
                   "widget": "toggle",
@@ -2037,6 +2063,11 @@
                   "type": "param",
                   "key": "EnforceTorqueControl",
                   "equals": false
+                },
+                {
+                  "type": "param",
+                  "key": "LateralJerkTorqueController",
+                  "equals": false
                 }
               ]
             }
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
index 4ae1fca88b9109..bcb8b895b9d571 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
@@ -73,6 +73,9 @@ sections:
     - type: param
       key: EnforceTorqueControl
       equals: false
+    - type: param
+      key: LateralJerkTorqueController
+      equals: false
 - id: camera
   title: Camera
   description: Camera position and calibration
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
index 697c5f4f2177d2..a09796ab7abeac 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
@@ -127,6 +127,21 @@ sections:
       key: EnforceTorqueControl
       equals: true
     items:
+    - key: LateralJerkTorqueController
+      widget: toggle
+      title: Lateral Jerk Torque Controller
+      description: Looks ahead at planned steering to reduce sudden corrections, so the wheel moves more smoothly through turns. Works with Self-Tune and custom tuning. Thanks to @twilsonco for the implementation.
+      visibility:
+      - type: not
+        condition:
+          type: capability
+          field: steer_control_type
+          equals: angle
+      enablement:
+      - $ref: '#/macros/offroad'
+      - type: param
+        key: NeuralNetworkLateralControl
+        equals: false
     - key: LiveTorqueParamsToggle
       widget: toggle
       title: Self-Tune
diff --git a/openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py b/openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py
index 61cc0131cfe9cc..579d72b60be698 100644
--- a/openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py
+++ b/openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py
@@ -257,20 +257,26 @@ def test_mads_sub_panel_exists(self, schema):
     assert "mads_settings" in sub_ids
 
   def test_mutual_exclusion_torque_nnlc(self, schema):
-    """EnforceTorqueControl and NNLC must reference each other in enablement."""
-    torque = nnlc = None
+    """EnforceTorqueControl, EnhancedLatAccel, and NNLC must reference each other in enablement."""
+    torque = nnlc = enhanced = None
     for panel in schema["panels"]:
       for item in _iter_panel_items(panel):
         if item["key"] == "EnforceTorqueControl":
           torque = item
         elif item["key"] == "NeuralNetworkLateralControl":
           nnlc = item
+        elif item["key"] == "LateralJerkTorqueController":
+          enhanced = item
     assert torque is not None, "EnforceTorqueControl item missing"
     assert nnlc is not None, "NeuralNetworkLateralControl item missing"
+    assert enhanced is not None, "LateralJerkTorqueController item missing"
     torque_enable_keys = {r.get("key") for r in torque.get("enablement", []) if r.get("type") == "param"}
     assert "NeuralNetworkLateralControl" in torque_enable_keys
     nnlc_enable_keys = {r.get("key") for r in nnlc.get("enablement", []) if r.get("type") == "param"}
     assert "EnforceTorqueControl" in nnlc_enable_keys
+    assert "LateralJerkTorqueController" in nnlc_enable_keys
+    enhanced_enable_keys = {r.get("key") for r in enhanced.get("enablement", []) if r.get("type") == "param"}
+    assert "NeuralNetworkLateralControl" in enhanced_enable_keys
 
 
 class TestKnownVehicleSettings:

From 617fcd40849f2c8d4df2ab77edefe06d8d1b1781 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Sun, 9 Aug 2026 20:22:41 -0400
Subject: [PATCH 1372/1434] [bot] Update Python packages (#1866)

* Update Python packages

* no

---------

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 docs/CARS.md | 15 ++++++++-------
 opendbc_repo |  2 +-
 2 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index c52707f4f3a0f2..22c35b9a122ebf 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -1,10 +1,10 @@
-<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
+<!--- AUTOGENERATED FROM openpilot/selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
 # Supported Cars
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 341 Supported Cars
+# 342 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -78,8 +78,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Accord 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
-|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-26">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023-25">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
@@ -187,7 +187,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>|||
 |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2017">Buy Here</a></sub></details>|||
 |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2019-20">Buy Here</a></sub></details>|||
-|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
+|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos 2021">Buy Here</a></sub></details>|||
 |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
@@ -230,14 +230,15 @@ A supported vehicle is one that just works when you install a comma device. All
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
 |Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>6</sup>](#footnotes)|Leaf IC 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf IC 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
 |Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
-|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
 |SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
 |SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
diff --git a/opendbc_repo b/opendbc_repo
index 8b9fd4a653ab9d..ae445c9b5ea18c 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 8b9fd4a653ab9d9e4f455f01eb61ef22dbc96988
+Subproject commit ae445c9b5ea18cc66ce3b6d53584db238555dd17

From c6595fd99bfac45ff4ce030b9c9b4428b870b947 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 9 Aug 2026 23:12:51 -0400
Subject: [PATCH 1373/1434] offroad alerts: replace comma references with
 sunnypilot community and sunnylink (#1904)

---
 openpilot/selfdrive/selfdrived/alerts_offroad.json | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/openpilot/selfdrive/selfdrived/alerts_offroad.json b/openpilot/selfdrive/selfdrived/alerts_offroad.json
index c90497e8c101fa..8a77bd29a410c6 100644
--- a/openpilot/selfdrive/selfdrived/alerts_offroad.json
+++ b/openpilot/selfdrive/selfdrived/alerts_offroad.json
@@ -26,7 +26,7 @@
     "severity": 1
   },
   "Offroad_CarUnrecognized": {
-    "text": "sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.",
+    "text": "sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please select your vehicle manually at https://www.sunnylink.ai/. Need help? Visit https://community.sunnypilot.ai/",
     "severity": 0
   },
   "Offroad_Recalibration": {
@@ -42,7 +42,7 @@
     "severity": 0
   },
   "Offroad_ExcessiveActuation": {
-    "text": "Excessive %1 actuation detected on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting.",
+    "text": "Excessive %1 actuation detected on your last drive. Please visit https://community.sunnypilot.ai/ and share your device's Dongle ID for troubleshooting.",
     "severity": 1,
     "_comment": "Set extra field to lateral or longitudinal."
   },

From 2a16b0fbba64de33b8eb04e833b68a31ec982ec7 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Mon, 10 Aug 2026 04:27:30 -0400
Subject: [PATCH 1374/1434] ui: screensaver (#1551)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* param to control stock vs sp ui

* init styles

* SP Toggles

* Lint

* optimizations

* Panels. With Icons. And Scroller.

* patience, grasshopper

* more patience, grasshopper

* sp raylib preview

* fix callback

* fix ui preview

* add ui previews

* Option Control

* Need this

* introducing ui_state_sp for py

* param to control stock vs sp ui

* better

* add ui_update callback

* better padding

* this

* listitem -> listitemsp

* Revert "add ui_update callback"

This reverts commit 4da32cc0097434aab0aa6a3c35465eabb23c8958.

* add show_description method

* remove padding from line separator.
like, WHY? 😩😩

* simplify

* I. SAID. SIMPLIFY.

* AAARGGGGGG.....

* init

* option control value fix

* add all controls

* hide all controls

* lint

* scroller -> scroller_tici

* scroller -> scroller_tici

* ui: `GuiApplicationExt`

* add to readme

* use gui_app.sunnypilot_ui()

* use gui_app.sunnypilot_ui()

* use gui_app.sunnypilot_ui()

* optimizations

* Removed hide for now

* why? because!

* oops

* better

* add param, timeout

* add toggle

* not doing this

* we doing this now @devtekve? FINE!!

* it wasn't me

* really @devtekve? REALLY??

* refresh controls

* ugh

* changes

* fix

* inline everything again

* handle default

* use ui_state param

* better

* fix

* lint

* better

* solve for lint

* default on pls

* screen saver hue distance and increase minimum color shift

* debounce screen saver color changes

* fix dismiss flow

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 openpilot/common/params_keys.h                |   2 +
 .../ui/sunnypilot/layouts/settings/display.py |  20 ++-
 openpilot/selfdrive/ui/sunnypilot/ui_state.py |  21 ++++
 openpilot/selfdrive/ui/ui_state.py            |   2 +
 .../sunnypilot/sunnylink/settings_ui.json     |  61 +++++++++
 .../settings_ui_src/pages/display.yaml        |  33 +++++
 .../ui/sunnypilot/widgets/screen_saver.py     | 118 ++++++++++++++++++
 7 files changed, 256 insertions(+), 1 deletion(-)
 create mode 100644 openpilot/system/ui/sunnypilot/widgets/screen_saver.py

diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h
index f0921b6723731e..198b7a92a17ec6 100644
--- a/openpilot/common/params_keys.h
+++ b/openpilot/common/params_keys.h
@@ -180,6 +180,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ScreenSaverEnabled", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"ScreenSaverTimeout", {PERSISTENT | BACKUP, INT, "300"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/display.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/display.py
index 8ba56636621009..897d34085aba45 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/display.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/display.py
@@ -9,7 +9,7 @@
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp
 from openpilot.sunnypilot.system.params_migration import ONROAD_BRIGHTNESS_TIMER_VALUES
 
 
@@ -61,10 +61,26 @@ def _initialize_items(self):
                                     f"{value} s" if value < 60 else f"{int(value/60)} m"),
       inline=True
     )
+    self._screensaver_toggle = toggle_item_sp(
+      param="ScreenSaverEnabled",
+      title=lambda: tr("Screen Saver"),
+      description=lambda: tr("Show a screen saver when the device is offroad and idle, instead of turning the screen off."),
+    )
+    self._screensaver_timeout = option_item_sp(
+      param="ScreenSaverTimeout",
+      title=lambda: tr("Screen Saver Duration"),
+      description=lambda: tr("How long the screen saver runs before the screen turns off."),
+      min_value=60,
+      max_value=600,
+      value_change_step=60,
+      label_callback=lambda value: f"{int(value/60)} m"
+    )
     items = [
       self._onroad_brightness,
       self._onroad_brightness_timer,
       self._interactivity_timeout,
+      self._screensaver_toggle,
+      self._screensaver_timeout,
     ]
     return items
 
@@ -87,6 +103,8 @@ def _update_state(self):
     brightness_val = self._onroad_brightness.action_item.current_value
     self._onroad_brightness_timer.action_item.set_enabled(brightness_val not in (OnroadBrightness.AUTO, OnroadBrightness.AUTO_DARK))
 
+    self._screensaver_timeout.set_visible(self._screensaver_toggle.action_item.get_state())
+
   def _render(self, rect):
     self._scroller.render(rect)
 
diff --git a/openpilot/selfdrive/ui/sunnypilot/ui_state.py b/openpilot/selfdrive/ui/sunnypilot/ui_state.py
index 4828f3710382e0..3f2889de9a47ca 100644
--- a/openpilot/selfdrive/ui/sunnypilot/ui_state.py
+++ b/openpilot/selfdrive/ui/sunnypilot/ui_state.py
@@ -12,6 +12,7 @@
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import OnroadBrightness
 from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState
 from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.sunnypilot.widgets.screen_saver import ScreenSaverSP
 
 OpenpilotState = log.SelfdriveState.OpenpilotState
 MADSState = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -38,6 +39,9 @@ def __init__(self):
 
     self.sunnylink_state = SunnylinkState()
 
+    self.screensaver = ScreenSaverSP(params=self.params)
+    self.screensaver_enabled: bool = False
+
     self.active_bundle = None
     self.blindspot: bool = False
     self.chevron_metrics = None
@@ -170,6 +174,7 @@ def update_params(self) -> None:
     self.turn_signals = self.params.get_bool("ShowTurnSignals")
     self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
     self.always_offroad = self.params.get_bool("OffroadMode")
+    self.screensaver_enabled = self.params.get_bool("ScreenSaverEnabled")
 
     if not self._sp_initialized:
       self._sp_initialized = True
@@ -230,10 +235,26 @@ def _enforce_constraints(self) -> None:
 
 
 class DeviceSP:
+  def __init__(self):
+    self._blocked_by_screensaver: bool = False
+
   def _set_awake(self, on: bool, _ui_state=None):
+    self._blocked_by_screensaver = False
+
     if _ui_state.boot_offroad_mode == 1 and not on:
       _ui_state.params.put_bool("OffroadMode", True)
 
+    if not on and _ui_state.screensaver_enabled:
+      if _ui_state.screensaver.was_dismissed:
+        if gui_app.get_active_widget() == _ui_state.screensaver:
+          gui_app.pop_widget()
+      elif _ui_state.screensaver.is_active:
+        self._blocked_by_screensaver = True
+      else:
+        _ui_state.screensaver.initialize()
+        gui_app.push_widget(_ui_state.screensaver)
+        self._blocked_by_screensaver = True
+
   @staticmethod
   def set_onroad_brightness(_ui_state, awake: bool, cur_brightness: float) -> float:
     if not awake or not _ui_state.started:
diff --git a/openpilot/selfdrive/ui/ui_state.py b/openpilot/selfdrive/ui/ui_state.py
index 59742edfed80e7..67845bdc875427 100644
--- a/openpilot/selfdrive/ui/ui_state.py
+++ b/openpilot/selfdrive/ui/ui_state.py
@@ -340,6 +340,8 @@ def _update_wakefulness(self):
   def _set_awake(self, on: bool, _ui_state=None):
     if on != self._awake:
       super()._set_awake(on, _ui_state or ui_state)
+      if self._blocked_by_screensaver:
+        return
       self._awake = on
       cloudlog.debug(f"setting display power {int(on)}")
       HARDWARE.set_display_power(on)
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui.json b/openpilot/sunnypilot/sunnylink/settings_ui.json
index 1e6422ac84ec7a..dd972c2957926e 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui.json
+++ b/openpilot/sunnypilot/sunnylink/settings_ui.json
@@ -1286,6 +1286,67 @@
                   "label": "2 m"
                 }
               ]
+            },
+            {
+              "key": "ScreenSaverEnabled",
+              "widget": "toggle",
+              "title": "Screen Saver",
+              "description": "Show a screen saver when the device is offroad and idle, instead of turning the screen off."
+            },
+            {
+              "key": "ScreenSaverTimeout",
+              "widget": "multiple_button",
+              "title": "Screen Saver Duration",
+              "description": "How long the screen saver runs before the screen turns off.",
+              "options": [
+                {
+                  "value": 60,
+                  "label": "1 m"
+                },
+                {
+                  "value": 120,
+                  "label": "2 m"
+                },
+                {
+                  "value": 180,
+                  "label": "3 m"
+                },
+                {
+                  "value": 240,
+                  "label": "4 m"
+                },
+                {
+                  "value": 300,
+                  "label": "5 m"
+                },
+                {
+                  "value": 360,
+                  "label": "6 m"
+                },
+                {
+                  "value": 420,
+                  "label": "7 m"
+                },
+                {
+                  "value": 480,
+                  "label": "8 m"
+                },
+                {
+                  "value": 540,
+                  "label": "9 m"
+                },
+                {
+                  "value": 600,
+                  "label": "10 m"
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "param",
+                  "key": "ScreenSaverEnabled",
+                  "equals": true
+                }
+              ]
             }
           ]
         }
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/display.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/display.yaml
index 39a8cbaf80483e..3e3b16c3747725 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/display.yaml
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/display.yaml
@@ -128,3 +128,36 @@ sections:
       label: 1 m
     - value: 120
       label: 2 m
+  - key: ScreenSaverEnabled
+    widget: toggle
+    title: Screen Saver
+    description: Show a screen saver when the device is offroad and idle, instead of turning the screen off.
+  - key: ScreenSaverTimeout
+    widget: multiple_button
+    title: Screen Saver Duration
+    description: How long the screen saver runs before the screen turns off.
+    options:
+    - value: 60
+      label: 1 m
+    - value: 120
+      label: 2 m
+    - value: 180
+      label: 3 m
+    - value: 240
+      label: 4 m
+    - value: 300
+      label: 5 m
+    - value: 360
+      label: 6 m
+    - value: 420
+      label: 7 m
+    - value: 480
+      label: 8 m
+    - value: 540
+      label: 9 m
+    - value: 600
+      label: 10 m
+    enablement:
+    - type: param
+      key: ScreenSaverEnabled
+      equals: true
diff --git a/openpilot/system/ui/sunnypilot/widgets/screen_saver.py b/openpilot/system/ui/sunnypilot/widgets/screen_saver.py
new file mode 100644
index 00000000000000..bf218306d835bd
--- /dev/null
+++ b/openpilot/system/ui/sunnypilot/widgets/screen_saver.py
@@ -0,0 +1,118 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import os
+import time
+
+import pyray as rl
+
+from openpilot.common.hardware import HARDWARE
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+
+
+class ScreenSaverSP(Widget):
+  def __init__(self, params: Params | None = None):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+    self._params = params or Params()
+    self._is_mici = HARDWARE.get_device_type() == 'mici' or (HARDWARE.get_device_type() == "pc" and os.getenv("BIG") != "1")
+
+    self.x = 0.0
+    self.y = 100.0
+    self.vx = 120.0 if self._is_mici else 300.0
+    self.vy = 70.0 if self._is_mici else 200.0
+    self._hue = 150
+    self.color = rl.color_from_hsv(self._hue, 1, 1)
+
+    self.text = "sunnypilot"
+    self.font_size = 50 if self._is_mici else 200
+    self._start_time = None
+    self._dismiss = False
+    self._screensaver_timeout = 300
+    self._hit_last_frame = False
+
+  @property
+  def is_active(self) -> bool:
+    return self._start_time is not None and not self._dismiss
+
+  @property
+  def was_dismissed(self) -> bool:
+    return self._dismiss
+
+  def initialize(self):
+    self._screensaver_timeout = self._params.get("ScreenSaverTimeout", return_default=True)
+    if self._start_time is None:
+      self._start_time = time.monotonic()
+    self._dismiss = False
+
+  def hide_event(self):
+    super().hide_event()
+    self._dismiss = False
+    self._start_time = None
+
+  def _handle_mouse_release(self, mouse_pos):
+    self._dismiss = True
+    self._start_time = None
+    gui_app.pop_widget()
+    return super()._handle_mouse_release(mouse_pos)
+
+  def _update_state(self):
+    super()._update_state()
+
+    self.font = gui_app.font(FontWeight.AUDIOWIDE)
+    text_size = measure_text_cached(self.font, self.text, self.font_size, 0)
+    self.logo_width = text_size.x
+    self.logo_height = text_size.y
+
+    if self._start_time and time.monotonic() - self._start_time > self._screensaver_timeout:
+      self._dismiss = True
+      self._start_time = None
+
+    dt = rl.get_frame_time()
+
+    self.x += self.vx * dt
+    self.y += self.vy * dt
+
+    hit_x = hit_y = False
+    if self.x + self.logo_width > self.rect.width:
+      self.vx *= -1
+      self.x = self.rect.width - self.logo_width
+      hit_x = True
+    elif self.x < 0:
+      self.vx *= -1
+      self.x = 0
+      hit_x = True
+
+    if self.y + self.logo_height > self.rect.height:
+      self.vy *= -1
+      self.y = self.rect.height - self.logo_height
+      hit_y = True
+    elif self.y < 0:
+      self.vy *= -1
+      self.y = 0
+      hit_y = True
+
+    hit = hit_x or hit_y
+    if hit and not self._hit_last_frame:
+      while self._hue_dist((new_hue := rl.get_random_value(0, 360)), self._hue) < 120:
+        pass
+      self._hue = new_hue
+      self.color = rl.color_from_hsv(self._hue, 1, 1)
+    self._hit_last_frame = hit
+
+  @staticmethod
+  def _hue_dist(a, b):
+    d = abs(a - b)
+    return min(d, 360 - d)
+
+  def _render(self, rect: rl.Rectangle):
+    self.set_rect(rect)
+    rl.clear_background(rl.BLACK)
+    rl.draw_text_ex(self.font, self.text, rl.Vector2(int(self.x), int(self.y)), self.font_size, 0, self.color)
+    return -1

From 2d859a8ca610bc20f48b0b3e4f7d570a80b59c29 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Tue, 11 Aug 2026 07:29:14 -0700
Subject: [PATCH 1375/1434] Controls: Road Edge Lane Change Controller (#1085)

* relc

* so picky

* clean up

* switch to distance based

* same calls

* all you brother i'm just here to red diff

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 openpilot/cereal/custom.capnp                 |   3 +
 openpilot/common/params_keys.h                |   1 +
 .../selfdrive/controls/lib/desire_helper.py   |   6 +-
 openpilot/selfdrive/modeld/modeld.py          |   5 +-
 openpilot/selfdrive/selfdrived/selfdrived.py  |   7 +
 .../lane_change_settings.py                   |   7 +
 openpilot/sunnypilot/modeld_v2/modeld.py      |   5 +-
 .../selfdrive/controls/lib/dec/dec.py         |   2 +-
 .../sunnypilot/selfdrive/controls/lib/relc.py |  98 ++++++++++
 .../lib/tests/test_lane_turn_desire.py        |  19 +-
 .../selfdrive/controls/lib/tests/test_relc.py | 169 ++++++++++++++++++
 .../sunnypilot/selfdrive/selfdrived/events.py |   8 +
 .../sunnypilot/sunnylink/settings_ui.json     |   6 +
 .../settings_ui_src/pages/steering.yaml       |   4 +
 openpilot/system/manager/process_config.py    |   2 +-
 15 files changed, 332 insertions(+), 10 deletions(-)
 create mode 100644 openpilot/sunnypilot/selfdrive/controls/lib/relc.py
 create mode 100644 openpilot/sunnypilot/selfdrive/controls/lib/tests/test_relc.py

diff --git a/openpilot/cereal/custom.capnp b/openpilot/cereal/custom.capnp
index a77997ffbb71a4..c20bf923bee4f6 100644
--- a/openpilot/cereal/custom.capnp
+++ b/openpilot/cereal/custom.capnp
@@ -351,6 +351,7 @@ struct OnroadEventSP @0xda96579883444c35 {
     speedLimitChanged @21;
     speedLimitPending @22;
     e2eChime @23;
+    laneChangeRoadEdge @24;
   }
 }
 
@@ -457,6 +458,8 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
 
 struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
+  leftLaneChangeEdgeBlock @1 :Bool;
+  rightLaneChangeEdgeBlock @2 :Bool;
 
   enum TurnDirection {
     none @0;
diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h
index 198b7a92a17ec6..7df58a0ba95608 100644
--- a/openpilot/common/params_keys.h
+++ b/openpilot/common/params_keys.h
@@ -179,6 +179,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RoadEdgeLaneChangeEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ScreenSaverEnabled", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"ScreenSaverTimeout", {PERSISTENT | BACKUP, INT, "300"}},
diff --git a/openpilot/selfdrive/controls/lib/desire_helper.py b/openpilot/selfdrive/controls/lib/desire_helper.py
index df4e5c56abd21b..334b360a6290fd 100644
--- a/openpilot/selfdrive/controls/lib/desire_helper.py
+++ b/openpilot/selfdrive/controls/lib/desire_helper.py
@@ -33,7 +33,7 @@ def __init__(self):
   def get_lane_change_direction(CS):
     return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
 
-  def update(self, carstate, lateral_active, lane_change_prob):
+  def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected=False, right_edge_detected=False):
     self.alc.update_params()
     self.lane_turn_controller.update_params()
     v_ego = carstate.vEgo
@@ -64,8 +64,8 @@ def update(self, carstate, lateral_active, lane_change_prob):
                          ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
                           (carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
 
-        blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
-                              (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
+        blindspot_detected = (((carstate.leftBlindspot or left_edge_detected) and self.lane_change_direction == LaneChangeDirection.left) or
+                              ((carstate.rightBlindspot or right_edge_detected) and self.lane_change_direction == LaneChangeDirection.right))
 
         self.alc.update_lane_change(blindspot_detected, carstate.brakePressed)
 
diff --git a/openpilot/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py
index 1ca1a71f35d06d..5dc871211234d2 100755
--- a/openpilot/selfdrive/modeld/modeld.py
+++ b/openpilot/selfdrive/modeld/modeld.py
@@ -29,6 +29,7 @@
 
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
 
 PROCESS_NAME = "openpilot.selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -213,6 +214,7 @@ def main(demo=False):
   prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
+  RELC = RoadEdgeLaneChangeController()
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -313,7 +315,8 @@ def main(demo=False):
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
       r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
       lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
+      left_edge, right_edge = RELC.update_and_fill(modelv2_send.modelV2, mdv2sp_send.modelDataV2SP, v_ego)
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
diff --git a/openpilot/selfdrive/selfdrived/selfdrived.py b/openpilot/selfdrive/selfdrived/selfdrived.py
index 2bc0574e814ad8..8035b2934e4bc3 100755
--- a/openpilot/selfdrive/selfdrived/selfdrived.py
+++ b/openpilot/selfdrive/selfdrived/selfdrived.py
@@ -327,9 +327,16 @@ def update_events(self, CS):
     # Handle lane change
     if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
       direction = self.sm['modelV2'].meta.laneChangeDirection
+      mdv2sp = self.sm['modelDataV2SP']
+
       if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
          (CS.rightBlindspot and direction == LaneChangeDirection.right):
         self.events.add(EventName.laneChangeBlocked)
+
+      elif (mdv2sp.leftLaneChangeEdgeBlock and direction == LaneChangeDirection.left) or \
+           (mdv2sp.rightLaneChangeEdgeBlock and direction == LaneChangeDirection.right):
+        self.events_sp.add(custom.OnroadEventSP.EventName.laneChangeRoadEdge)
+
       else:
         if direction == LaneChangeDirection.left:
           self.events.add(EventName.preLaneChangeLeft)
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py
index fbb9ce7cf78ef9..82419a5567fd56 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py
@@ -51,11 +51,18 @@ def _initialize_items(self):
       description=lambda: tr("Toggle to enable a delay timer for seamless lane changes when blind spot monitoring " +
                              "(BSM) detects a obstructing vehicle, ensuring safe maneuvering."),
     )
+    self._road_edge_block = toggle_item_sp(
+      param="RoadEdgeLaneChangeEnabled",
+      title=lambda: tr("Block Lane Change: Road Edge Detection"),
+      description=lambda: tr("Blocks the lane change if the model sees a road edge on your signaled side."),
+    )
 
     items = [
       self._lane_change_timer,
       LineSeparatorSP(40),
       self._bsm_delay,
+      LineSeparatorSP(40),
+      self._road_edge_block,
     ]
 
     return items
diff --git a/openpilot/sunnypilot/modeld_v2/modeld.py b/openpilot/sunnypilot/modeld_v2/modeld.py
index b53ab18c731e2f..9f3a75a662d00b 100755
--- a/openpilot/sunnypilot/modeld_v2/modeld.py
+++ b/openpilot/sunnypilot/modeld_v2/modeld.py
@@ -49,6 +49,7 @@
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
 
 PROCESS_NAME = "openpilot.selfdrive.modeld.modeld_tinygrad"
 
@@ -367,6 +368,7 @@ def main(demo=False):
 
   DH = DesireHelper()
   meta_constants = load_meta_constants()
+  RELC = RoadEdgeLaneChangeController()
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -479,7 +481,8 @@ def main(demo=False):
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
       r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
       lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
+      left_edge, right_edge = RELC.update_and_fill(modelv2_send.modelV2, mdv2sp_send.modelDataV2SP, v_ego)
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/dec/dec.py b/openpilot/sunnypilot/selfdrive/controls/lib/dec/dec.py
index 1ba5ab0618aa28..fb854edae85045 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/dec/dec.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/dec/dec.py
@@ -1,5 +1,5 @@
 """
-Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+Copyright (c) 2021-, rav4kumar, sunnypilot, and a number of other contributors.
 
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/relc.py b/openpilot/sunnypilot/selfdrive/controls/lib/relc.py
new file mode 100644
index 00000000000000..031e751b436d99
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/relc.py
@@ -0,0 +1,98 @@
+"""
+Copyright (c) 2021-, rav4kumar, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import numpy as np
+
+from openpilot.common.constants import CV
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.params import Params
+
+NEARSIDE_PROB = 0.2
+EDGE_PROB = 0.35
+EDGE_REACTION_TIME = 1.0
+EDGE_CLEAR_TIME = 0.3
+MIN_SPEED = 20 * CV.MPH_TO_MS
+VEHICLE_EDGE_MARGIN = 1.08
+EDGE_CLEARANCE = 3.7
+
+
+class RoadEdgeLaneChangeController:
+  def __init__(self):
+    self.params = Params()
+    self.enabled = self.params.get_bool("RoadEdgeLaneChangeEnabled")
+    self.param_read_counter = 0
+    self.left_edge_detected = False
+    self.right_edge_detected = False
+    self.left_edge_timer = 0.0
+    self.right_edge_timer = 0.0
+    self.left_clear_timer = 0.0
+    self.right_clear_timer = 0.0
+
+  def read_params(self) -> None:
+    self.enabled = self.params.get_bool("RoadEdgeLaneChangeEnabled")
+
+  def update_params(self) -> None:
+    if self.param_read_counter % 50 == 0:
+      self.read_params()
+    self.param_read_counter += 1
+
+  def reset(self) -> None:
+    self.left_edge_detected = False
+    self.right_edge_detected = False
+    self.left_edge_timer = 0.0
+    self.right_edge_timer = 0.0
+    self.left_clear_timer = 0.0
+    self.right_clear_timer = 0.0
+
+  def update(self, road_edge_stds, lane_line_probs, v_ego: float, road_edges=None) -> None:
+    self.update_params()
+
+    if not self.enabled or v_ego < MIN_SPEED:
+      self.reset()
+      return
+
+    left_edge_prob = np.clip(1.0 - road_edge_stds[0], 0.0, 1.0)
+    right_edge_prob = np.clip(1.0 - road_edge_stds[1], 0.0, 1.0)
+    left_lane_prob = lane_line_probs[0]
+    right_lane_prob = lane_line_probs[3]
+
+    if road_edges is not None and len(road_edges) == 2 and len(road_edges[0].y) > 0 and len(road_edges[1].y) > 0:
+      left_clearance = abs(road_edges[0].y[0]) - VEHICLE_EDGE_MARGIN
+      right_clearance = abs(road_edges[1].y[0]) - VEHICLE_EDGE_MARGIN
+    else:
+      left_clearance = 0.0
+      right_clearance = 0.0
+
+    left_cond = left_edge_prob > EDGE_PROB and left_lane_prob < NEARSIDE_PROB and left_clearance < EDGE_CLEARANCE
+    right_cond = right_edge_prob > EDGE_PROB and right_lane_prob < NEARSIDE_PROB and right_clearance < EDGE_CLEARANCE
+
+    if left_cond:
+      self.left_edge_timer = min(self.left_edge_timer + DT_MDL, EDGE_REACTION_TIME + EDGE_CLEAR_TIME)
+      self.left_clear_timer = 0.0
+      if self.left_edge_timer > EDGE_REACTION_TIME:
+        self.left_edge_detected = True
+    else:
+      self.left_clear_timer += DT_MDL
+      if self.left_clear_timer > EDGE_CLEAR_TIME:
+        self.left_edge_timer = 0.0
+        self.left_edge_detected = False
+
+    if right_cond:
+      self.right_edge_timer = min(self.right_edge_timer + DT_MDL, EDGE_REACTION_TIME + EDGE_CLEAR_TIME)
+      self.right_clear_timer = 0.0
+      if self.right_edge_timer > EDGE_REACTION_TIME:
+        self.right_edge_detected = True
+    else:
+      self.right_clear_timer += DT_MDL
+      if self.right_clear_timer > EDGE_CLEAR_TIME:
+        self.right_edge_timer = 0.0
+        self.right_edge_detected = False
+
+  def update_and_fill(self, modelv2, mdv2sp, v_ego):
+    self.update(modelv2.roadEdgeStds, modelv2.laneLineProbs, v_ego, modelv2.roadEdges)
+    mdv2sp.leftLaneChangeEdgeBlock = self.left_edge_detected
+    mdv2sp.rightLaneChangeEdgeBlock = self.right_edge_detected
+    return self.left_edge_detected, self.right_edge_detected
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
index c3e96fd7784304..434b12110b7f98 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
@@ -2,10 +2,11 @@
 from openpilot.cereal import log, custom
 from openpilot.common.params import Params
 
-from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper, LaneChangeState, LaneChangeDirection
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
 
+
 TurnDirection = custom.ModelDataV2SP.TurnDirection
 
 
@@ -109,5 +110,17 @@ def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, e
   dh = DesireHelper()
   dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
   for _ in range(10):
-    dh.update(carstate, lateral_active, lane_change_prob)
-  assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
+    dh.update(carstate, lateral_active, lane_change_prob,
+              left_edge_detected=False, right_edge_detected=False)
+  assert dh.desire == expected_desire
+
+
+def test_edge_blocks_lane_change(set_lane_turn_params):
+  dh = DesireHelper()
+  dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+  carstate = DummyCarState(vEgo=15, leftBlinker=True, steeringPressed=True, steeringTorque=1)
+  for _ in range(10):
+    dh.update(carstate, True, 1.0, left_edge_detected=True, right_edge_detected=False)
+  assert dh.lane_change_state == LaneChangeState.preLaneChange
+  assert dh.lane_change_direction == LaneChangeDirection.left
+  assert dh.desire == log.Desire.none
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_relc.py b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_relc.py
new file mode 100644
index 00000000000000..71b153c8b7ca63
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_relc.py
@@ -0,0 +1,169 @@
+"""
+Copyright (c) 2021-, rav4kumar, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pytest
+
+from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import (
+  RoadEdgeLaneChangeController, EDGE_REACTION_TIME, EDGE_CLEAR_TIME, MIN_SPEED,
+  VEHICLE_EDGE_MARGIN, EDGE_CLEARANCE,
+)
+
+V_HIGH = MIN_SPEED + 2.0
+V_LOW = MIN_SPEED - 1.0
+
+
+class MockEdge:
+  def __init__(self, y_val):
+    self.y = [y_val] * 33
+
+
+def edges(left_y, right_y):
+  return [MockEdge(left_y), MockEdge(right_y)]
+
+
+CLOSE_EDGES = edges(-2.0, 1.5)
+FAR_EDGES = edges(-10.0, 10.0)
+
+
+@pytest.fixture
+def relc(mocker):
+  mocker.patch("openpilot.sunnypilot.selfdrive.controls.lib.relc.Params")
+  controller = RoadEdgeLaneChangeController()
+  controller.enabled = True
+  return controller
+
+
+def drive(controller, road_edge_stds, lane_line_probs, seconds, v_ego=V_HIGH, road_edges=CLOSE_EDGES):
+  for _ in range(int(seconds / DT_MDL) + 1):
+    controller.update(road_edge_stds, lane_line_probs, v_ego, road_edges)
+
+
+@pytest.mark.parametrize("road_edge_stds,lane_line_probs,attr", [
+  ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], "left_edge_detected"),
+  ([0.9, 0.0], [0.8, 0.8, 0.8, 0.0], "right_edge_detected"),
+])
+def test_edge_detection(relc, road_edge_stds, lane_line_probs, attr):
+  drive(relc, road_edge_stds, lane_line_probs, EDGE_REACTION_TIME + 0.1)
+  assert getattr(relc, attr)
+
+
+def test_edge_detection_requires_time(relc):
+  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME - 0.05)
+  assert not relc.left_edge_detected
+
+
+def test_both_edges_detected(relc):
+  drive(relc, [0.0, 0.0], [0.0, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+  assert relc.right_edge_detected
+
+
+def test_noise_doesnt_clear(relc):
+  edge = ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8])
+  clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
+
+  drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+
+  relc.update(*clear, V_HIGH, CLOSE_EDGES)
+  relc.update(*edge, V_HIGH, CLOSE_EDGES)
+  assert relc.left_edge_detected
+
+
+def test_clears_after_window(relc):
+  edge = ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8])
+  clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
+
+  drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+
+  drive(relc, *clear, EDGE_CLEAR_TIME + 0.05)
+  assert not relc.left_edge_detected
+  assert relc.left_edge_timer == 0.0
+
+
+def test_low_speed_skips(relc):
+  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1, v_ego=V_LOW)
+  assert not relc.left_edge_detected
+  assert relc.left_edge_timer == 0.0
+
+
+def test_speed_drop_resets(relc):
+  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+
+  relc.update([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], V_LOW, CLOSE_EDGES)
+  assert not relc.left_edge_detected
+
+
+def test_param_off_resets(relc):
+  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+
+  relc.params.get_bool.return_value = False
+  relc.read_params()
+  relc.update([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], V_HIGH, CLOSE_EDGES)
+  assert not relc.left_edge_detected
+  assert not relc.right_edge_detected
+
+
+def test_lane_line_prevents_detection(relc):
+  drive(relc, [0.0, 0.9], [0.8, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
+  assert not relc.left_edge_detected
+
+
+def test_one_side_blocks_other_allows(relc):
+  drive(relc, [0.9, 0.0], [0.8, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
+  assert relc.right_edge_detected
+  assert not relc.left_edge_detected
+
+
+def test_disabled_no_detection(relc):
+  relc.enabled = False
+  relc.params.get_bool.return_value = False
+  drive(relc, [0.0, 0.0], [0.0, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
+  assert not relc.left_edge_detected
+  assert not relc.right_edge_detected
+
+
+def test_far_edge_no_block(relc):
+  drive(relc, [0.0, 0.9], [0.05, 0.5, 0.5, 0.08], EDGE_REACTION_TIME + 0.1, road_edges=FAR_EDGES)
+  assert not relc.left_edge_detected
+
+
+def test_close_edge_blocks(relc):
+  drive(relc, [0.9, 0.0], [0.05, 0.8, 0.8, 0.05], EDGE_REACTION_TIME + 0.1,
+        road_edges=edges(-8.0, 1.5))
+  assert relc.right_edge_detected
+  assert not relc.left_edge_detected
+
+
+def test_wide_road_no_lines_no_block(relc):
+  drive(relc, [0.0, 0.0], [0.05, 0.4, 0.4, 0.05], EDGE_REACTION_TIME + 0.1,
+        road_edges=edges(-8.0, 8.0))
+  assert not relc.left_edge_detected
+  assert not relc.right_edge_detected
+
+
+def test_narrow_road_both_block(relc):
+  drive(relc, [0.0, 0.0], [0.02, 0.4, 0.4, 0.02], EDGE_REACTION_TIME + 0.1,
+        road_edges=edges(-2.5, 2.5))
+  assert relc.left_edge_detected
+  assert relc.right_edge_detected
+
+
+def test_clearance_boundary(relc):
+  boundary = VEHICLE_EDGE_MARGIN + EDGE_CLEARANCE  # 4.78m
+  drive(relc, [0.0, 0.9], [0.05, 0.5, 0.5, 0.08], EDGE_REACTION_TIME + 0.1,
+        road_edges=edges(-(boundary - 0.1), 10.0))
+  assert relc.left_edge_detected
+
+  relc.reset()
+
+  drive(relc, [0.0, 0.9], [0.05, 0.5, 0.5, 0.08], EDGE_REACTION_TIME + 0.1,
+        road_edges=edges(-(boundary + 0.1), 10.0))
+  assert not relc.left_edge_detected
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/events.py b/openpilot/sunnypilot/selfdrive/selfdrived/events.py
index 2001d0dbee5bf3..3c010cc776944a 100644
--- a/openpilot/sunnypilot/selfdrive/selfdrived/events.py
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/events.py
@@ -244,4 +244,12 @@ def get_event_msg_type(self):
       AlertStatus.normal, AlertSize.none,
       Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
   },
+
+  EventNameSP.laneChangeRoadEdge: {
+    ET.WARNING: Alert(
+      "Lane Change Unavailable: Road Edge",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.1),
+  },
 }
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui.json b/openpilot/sunnypilot/sunnylink/settings_ui.json
index dd972c2957926e..63bf342fcb2f8e 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui.json
+++ b/openpilot/sunnypilot/sunnylink/settings_ui.json
@@ -545,6 +545,12 @@
                 }
               ]
             },
+            {
+              "key": "RoadEdgeLaneChangeEnabled",
+              "widget": "toggle",
+              "title": "Block Lane Change: Road Edge Detection",
+              "description": "Blocks lane change when the model sees a road edge on the side you signal."
+            },
             {
               "key": "AutoLaneChangeBsmDelay",
               "widget": "toggle",
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
index a09796ab7abeac..73d46681a60024 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
@@ -257,6 +257,10 @@ sections:
       label: 2 seconds
     - value: 5
       label: 3 seconds
+  - key: RoadEdgeLaneChangeEnabled
+    widget: toggle
+    title: 'Block Lane Change: Road Edge Detection'
+    description: Blocks lane change when the model sees a road edge on the side you signal.
   - key: AutoLaneChangeBsmDelay
     widget: toggle
     title: 'Auto Lane Change: Delay with Blind Spot'
diff --git a/openpilot/system/manager/process_config.py b/openpilot/system/manager/process_config.py
index a72675385dd59e..08e1aabef3d00a 100644
--- a/openpilot/system/manager/process_config.py
+++ b/openpilot/system/manager/process_config.py
@@ -88,7 +88,7 @@ def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
   return use_sunnylink_uploader(params)
 
 def is_tinygrad_model(started, params, CP: car.CarParams) -> bool:
-  """Check if the active model runner is SNPE."""
+  """Check if the active model runner is tinygrad."""
   return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.tinygrad)
 
 def is_stock_model(started, params, CP: car.CarParams) -> bool:

From 3a4c363aecd660e200b351a2bcdf34f9fbe05bf1 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Thu, 13 Aug 2026 17:05:24 +0000
Subject: [PATCH 1376/1434] tesla: wire Pre-AP boot selection, schema, and
 madsRequired

Handle NAPForcePreAP before firmware query, register retained NAP
params without NAPAdaptiveAccel, pin CarParamsSP @6-@15 / CarStateSP
@1-@4, and force MADS only for selected Pre-AP. Version-0 fixtures
keep existing brand/flag semantics.
---
 opendbc_repo                                  |   2 +-
 openpilot/cereal/custom.capnp                 |  45 ++++++
 openpilot/common/params_keys.h                |  19 +++
 openpilot/selfdrive/car/card.py               |  22 ++-
 openpilot/selfdrive/car/helpers.py            |   3 +
 openpilot/sunnypilot/mads/helpers.py          | 100 +++++++++++--
 openpilot/sunnypilot/mads/mads.py             |   8 +-
 .../tests/test_preap_mads_capabilities.py     |  75 ++++++++++
 .../sunnypilot/selfdrive/car/preap_boot.py    | 119 ++++++++++++++++
 .../fixtures/carparams_sp_v0_default.bin      | Bin 0 -> 80 bytes
 .../carparams_sp_v0_tesla_vehicle_bus.bin     | Bin 0 -> 88 bytes
 .../tests/fixtures/carstate_sp_v0_default.bin | Bin 0 -> 24 bytes
 .../fixtures/carstate_sp_v0_speed_limit.bin   | Bin 0 -> 24 bytes
 .../car/tests/fixtures/custom_v0.capnp        |  26 ++++
 .../car/tests/test_preap_boot_selection.py    | 134 ++++++++++++++++++
 .../car/tests/test_preap_ignition_onroad.py   |  25 ++++
 .../selfdrive/car/tests/test_preap_schema.py  |  96 +++++++++++++
 17 files changed, 653 insertions(+), 21 deletions(-)
 create mode 100644 openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/preap_boot.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tests/fixtures/carparams_sp_v0_default.bin
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tests/fixtures/carparams_sp_v0_tesla_vehicle_bus.bin
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tests/fixtures/carstate_sp_v0_default.bin
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tests/fixtures/carstate_sp_v0_speed_limit.bin
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tests/fixtures/custom_v0.capnp
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py

diff --git a/opendbc_repo b/opendbc_repo
index ae445c9b5ea18c..278ac0b8119c3d 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit ae445c9b5ea18cc66ce3b6d53584db238555dd17
+Subproject commit 278ac0b8119c3d4c663904cffcf388f04a8fe2ba
diff --git a/openpilot/cereal/custom.capnp b/openpilot/cereal/custom.capnp
index c20bf923bee4f6..0cd58b37563a39 100644
--- a/openpilot/cereal/custom.capnp
+++ b/openpilot/cereal/custom.capnp
@@ -364,6 +364,17 @@ struct CarParamsSP @0x80ae746ee2596b11 {
 
   neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
 
+  madsFullSettingsAvailable @6 :Bool;
+  madsMainCruiseInputKind @7 :MadsMainCruiseInputKind;
+  madsMainCruiseAllowed @8 :Bool;
+  madsRequired @9 :Bool;
+  teslaCoopSteeringAvailable @10 :Bool;
+  madsUnifiedEngagementMode @11 :Bool;
+  madsSteeringMode @12 :MadsSteeringMode;
+  madsCapabilityContractVersion @13 :UInt8;
+  madsHandsOnPauseAvailable @14 :Bool;
+  preapLateralEngagementMode @15 :PreapLateralEngagementMode;
+
   struct NeuralNetworkLateralControl {
     model @0 :Model;
     fuzzyFingerprint @1 :Bool;
@@ -373,6 +384,24 @@ struct CarParamsSP @0x80ae746ee2596b11 {
       name @1 :Text;
     }
   }
+
+  enum MadsMainCruiseInputKind {
+    none @0;
+    stateful @1;
+    momentary @2;
+  }
+
+  enum MadsSteeringMode {
+    remainActive @0;
+    pause @1;
+    disengage @2;
+  }
+
+  enum PreapLateralEngagementMode {
+    independent @0;
+    cruiseCoupled @1;
+    longitudinalOnly @2;
+  }
 }
 
 struct CarControlSP @0xa5cd762cd951a455 {
@@ -445,6 +474,22 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
 
 struct CarStateSP @0xb86e6369214c01c8 {
   speedLimit @0 :Float32;
+  preapLateralIntent @1 :PreapLateralIntent;
+  preapLongitudinalIntent @2 :PreapLongitudinalIntent;
+  preapIntentSequence @3 :UInt32;
+  preapIntentEpoch @4 :UInt64;
+
+  enum PreapLateralIntent {
+    none @0;
+    mainCruiseRequest @1;
+    forceDisable @2;
+  }
+
+  enum PreapLongitudinalIntent {
+    none @0;
+    enable @1;
+    disable @2;
+  }
 }
 
 struct LiveMapDataSP @0xf416ec09499d9d19 {
diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h
index 7df58a0ba95608..8d5d7288040ae8 100644
--- a/openpilot/common/params_keys.h
+++ b/openpilot/common/params_keys.h
@@ -226,6 +226,25 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TeslaMadsScreenButton", {PERSISTENT | BACKUP, INT, "0"}},
+
+    // Pre-AP Tesla (NAP) retained keys. Shared sunnypilot leaves NAPForcePreAP
+    // absent/false. Do not register NAPAdaptiveAccel.
+    {"NAPForcePreAP", {PERSISTENT | BACKUP, BOOL}},
+    {"NAPLateralEngagementMode", {PERSISTENT | BACKUP, INT}},
+    {"NAPLateralEngagementModeMigrated", {PERSISTENT | BACKUP, BOOL}},
+    {"NAPFollowDistance", {PERSISTENT | BACKUP, INT, "4"}},
+    {"NAPPedalEnabled", {PERSISTENT | BACKUP, BOOL}},
+    {"NAPPedalCanBus", {PERSISTENT | BACKUP, INT, "2"}},
+    {"NAPPedalProfile", {PERSISTENT | BACKUP, INT, "4"}},
+    {"NAPPedalCalibDone", {PERSISTENT | BACKUP, BOOL}},
+    {"NAPPedalCalibFactor", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
+    {"NAPPedalCalibMin", {PERSISTENT | BACKUP, FLOAT, "-3.0"}},
+    {"NAPPedalCalibMax", {PERSISTENT | BACKUP, FLOAT, "99.6"}},
+    {"NAPPedalCalibZero", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
+    {"NAPRadarEnabled", {PERSISTENT | BACKUP, BOOL}},
+    {"NAPRadarBehindNosecone", {PERSISTENT | BACKUP, BOOL}},
+    {"NAPRadarOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
+    {"NAPBrakeFactor", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
     {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},
 
diff --git a/openpilot/selfdrive/car/card.py b/openpilot/selfdrive/car/card.py
index d9b7b4bb5a01c6..c330577f38578e 100755
--- a/openpilot/selfdrive/car/card.py
+++ b/openpilot/selfdrive/car/card.py
@@ -24,6 +24,7 @@
 
 from openpilot.sunnypilot.mads.helpers import set_alternative_experience, set_car_specific_params
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
+from openpilot.sunnypilot.selfdrive.car import preap_boot
 
 REPLAY = "REPLAY" in os.environ
 
@@ -106,11 +107,25 @@ def __init__(self, CI=None, RI=None) -> None:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
           cached_params = _cached_params
 
-      fixed_fingerprint = (self.params.get("CarPlatformBundle") or {}).get("platform", None)
+      bundle = self.params.get("CarPlatformBundle") or {}
+      if not isinstance(bundle, dict):
+        bundle = {}
+      bundle_platform = bundle.get("platform", None)
+      preap_boot.seed_preap_installer(self.params, bundle_platform)
+      selection = preap_boot.resolve_preap_boot_selection(
+        bundle_platform=bundle_platform,
+        env_fingerprint=os.environ.get("FINGERPRINT") or None,
+        nap_force_preap=self.params.get("NAPForcePreAP"),
+      )
+      if selection.lock_preap:
+        preap_boot.migrate_preap_engagement_mode(self.params)
+        preap_boot.force_mads_required(self.params)
+      fixed_fingerprint = selection.candidate if selection.candidate is not None else bundle_platform
       init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)
+      init_params_list_sp.extend(preap_boot.snapshot_param_list(self.params))
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, cached_params,
-                        fixed_fingerprint, init_params_list_sp, is_release_sp)
+                        fixed_fingerprint, init_params_list_sp, is_release_sp, selection.skip_fw_query)
       sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP
@@ -179,6 +194,7 @@ def __init__(self, CI=None, RI=None) -> None:
     self.params.put("CarParamsSPPersistent", cp_sp_bytes)
 
     self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
+    self.preap_intent_epoch = preap_boot.new_preap_intent_epoch() if self.CP.carFingerprint == "TESLA_MODEL_S_PREAP" else 0
 
     self.is_metric = self.params.get_bool("IsMetric")
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
@@ -197,6 +213,8 @@ def state_update(self) -> tuple[car.CarState, custom.CarStateSP, structs.RadarDa
 
     # Update carState from CAN
     CS, CS_SP = self.CI.update(can_list)
+    if self.preap_intent_epoch:
+      CS_SP.preapIntentEpoch = self.preap_intent_epoch
     CS_SP = convert_to_capnp(CS_SP)
 
     # Update radar tracks from CAN
diff --git a/openpilot/selfdrive/car/helpers.py b/openpilot/selfdrive/car/helpers.py
index ec9e3efeeb1823..5e91d66ac4b4d2 100644
--- a/openpilot/selfdrive/car/helpers.py
+++ b/openpilot/selfdrive/car/helpers.py
@@ -1,4 +1,5 @@
 import capnp
+from enum import Enum
 from typing import Any
 
 from openpilot.cereal import custom
@@ -20,6 +21,8 @@ def _asdictref_inner(obj) -> dict[str, Any] | Any:
     return ret
   elif isinstance(obj, (tuple, list)):
     return type(obj)(_asdictref_inner(v) for v in obj)
+  elif isinstance(obj, Enum):
+    return obj.value
   else:
     return obj
 
diff --git a/openpilot/sunnypilot/mads/helpers.py b/openpilot/sunnypilot/mads/helpers.py
index 655d7bc9a2360e..b628dc3988c23c 100644
--- a/openpilot/sunnypilot/mads/helpers.py
+++ b/openpilot/sunnypilot/mads/helpers.py
@@ -5,6 +5,8 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
+from dataclasses import dataclass
+
 from openpilot.common.params import Params
 from opendbc.car import structs
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
@@ -14,6 +16,9 @@
 
 MADS_NO_ACC_MAIN_BUTTON = ("rivian", "tesla")
 
+MadsMainCruiseInputKind = structs.CarParamsSP.MadsMainCruiseInputKind
+MadsSteeringMode = structs.CarParamsSP.MadsSteeringMode
+
 
 class MadsSteeringModeOnBrake:
   REMAIN_ACTIVE = 0
@@ -21,28 +26,90 @@ class MadsSteeringModeOnBrake:
   DISENGAGE = 2
 
 
-def get_mads_limited_brands(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params) -> bool:
-  if CP.brand == 'rivian':
+STEERING_MODE_TO_INT = {
+  MadsSteeringMode.remainActive: MadsSteeringModeOnBrake.REMAIN_ACTIVE,
+  MadsSteeringMode.pause: MadsSteeringModeOnBrake.PAUSE,
+  MadsSteeringMode.disengage: MadsSteeringModeOnBrake.DISENGAGE,
+}
+
+
+@dataclass(frozen=True)
+class MadsCapabilities:
+  full_settings_available: bool
+  main_cruise_input_kind: structs.CarParamsSP.MadsMainCruiseInputKind
+  main_cruise_allowed: bool
+  mads_required: bool
+  tesla_coop_steering_available: bool
+  unified_engagement_mode: bool
+  steering_mode: int
+  hands_on_pause_available: bool
+  no_main_cruise: bool
+
+
+def _version0_limited_tesla(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params) -> bool:
+  if CP.brand != "tesla":
+    return False
+  if not CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS:
     return True
-  if CP.brand == 'tesla':
-    if not CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS:
-      return True
-    screen_button = int(params.get("TeslaMadsScreenButton", return_default=True))
-    return screen_button == MadsScreenButtonType.OFF
+  screen_button = int(params.get("TeslaMadsScreenButton", return_default=True) or 0)
+  return screen_button == MadsScreenButtonType.OFF
+
 
+def get_mads_limited_brands(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params) -> bool:
+  caps = resolve_mads_capabilities(CP, CP_SP, params)
+  if caps.mads_required:
+    return False
+  if CP.brand == "rivian":
+    return True
+  if CP.brand == "tesla":
+    return not caps.full_settings_available
   return False
 
 
-def read_steering_mode_param(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
-  if get_mads_limited_brands(CP, CP_SP, params):
-    return MadsSteeringModeOnBrake.DISENGAGE
+def resolve_mads_capabilities(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params | None = None) -> MadsCapabilities:
+  if getattr(CP_SP, "madsCapabilityContractVersion", 0) >= 1:
+    kind = CP_SP.madsMainCruiseInputKind
+    return MadsCapabilities(
+      full_settings_available=bool(CP_SP.madsFullSettingsAvailable),
+      main_cruise_input_kind=kind,
+      main_cruise_allowed=bool(CP_SP.madsMainCruiseAllowed),
+      mads_required=bool(CP_SP.madsRequired),
+      tesla_coop_steering_available=bool(CP_SP.teslaCoopSteeringAvailable),
+      unified_engagement_mode=bool(CP_SP.madsUnifiedEngagementMode),
+      steering_mode=STEERING_MODE_TO_INT.get(CP_SP.madsSteeringMode, MadsSteeringModeOnBrake.REMAIN_ACTIVE),
+      hands_on_pause_available=bool(CP_SP.madsHandsOnPauseAvailable),
+      no_main_cruise=kind in (MadsMainCruiseInputKind.none, MadsMainCruiseInputKind.momentary),
+    )
+
+  if params is None:
+    params = Params()
+  limited = CP.brand == "rivian" or _version0_limited_tesla(CP, CP_SP, params)
+  kind = MadsMainCruiseInputKind.none if CP.brand in MADS_NO_ACC_MAIN_BUTTON else MadsMainCruiseInputKind.stateful
+  steering = MadsSteeringModeOnBrake.DISENGAGE if limited else int(params.get("MadsSteeringMode", return_default=True) or 0)
+  return MadsCapabilities(
+    full_settings_available=not limited,
+    main_cruise_input_kind=kind,
+    main_cruise_allowed=bool(params.get_bool("MadsMainCruiseAllowed")) if kind == MadsMainCruiseInputKind.stateful else False,
+    mads_required=False,
+    tesla_coop_steering_available=CP.brand == "tesla",
+    unified_engagement_mode=bool(params.get_bool("MadsUnifiedEngagementMode")),
+    steering_mode=steering,
+    hands_on_pause_available=False,
+    no_main_cruise=kind in (MadsMainCruiseInputKind.none, MadsMainCruiseInputKind.momentary),
+  )
 
-  return params.get("MadsSteeringMode", return_default=True)
+
+def read_steering_mode_param(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
+  return resolve_mads_capabilities(CP, CP_SP, params).steering_mode
 
 
 def set_alternative_experience(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
-  enabled = params.get_bool("Mads")
-  steering_mode = read_steering_mode_param(CP, CP_SP, params)
+  caps = resolve_mads_capabilities(CP, CP_SP, params)
+  enabled = True if caps.mads_required else params.get_bool("Mads")
+  if caps.mads_required:
+    params.put_bool("Mads", True, block=True)
+
+  steering_mode = caps.steering_mode
 
   if enabled:
     CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
@@ -62,6 +129,11 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
       CP_SP.flags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
       CP_SP.safetyParam |= HyundaiSafetyFlagsSP.LONG_MAIN_CRUISE_TOGGLEABLE
 
+  caps = resolve_mads_capabilities(CP, CP_SP, params)
+  if caps.mads_required:
+    params.put_bool("Mads", True, block=True)
+    return
+
   # MADS Partial Support
   # MADS is currently partially supported for these platforms due to lack of consistent states to engage controls
   # Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms
@@ -72,5 +144,5 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
     params.put_bool("MadsUnifiedEngagementMode", True, block=True)
 
   # no ACC MAIN button for these brands
-  if CP.brand in MADS_NO_ACC_MAIN_BUTTON:
+  if caps.no_main_cruise:
     params.remove("MadsMainCruiseAllowed")
diff --git a/openpilot/sunnypilot/mads/mads.py b/openpilot/sunnypilot/mads/mads.py
index 4ae3534b5703cd..f1f3e7ede3c5ec 100644
--- a/openpilot/sunnypilot/mads/mads.py
+++ b/openpilot/sunnypilot/mads/mads.py
@@ -10,7 +10,7 @@
 from opendbc.car import structs
 from opendbc.car.hyundai.values import HyundaiFlags
 from openpilot.common.params import Params
-from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param, MADS_NO_ACC_MAIN_BUTTON
+from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param, resolve_mads_capabilities
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -48,11 +48,11 @@ def __init__(self, selfdrive):
     if self.CP.brand == "tesla":
       self.allow_always = True
 
-    if self.CP.brand in MADS_NO_ACC_MAIN_BUTTON:
-      self.no_main_cruise = True
+    caps = resolve_mads_capabilities(self.CP, self.CP_SP, self.params)
+    self.no_main_cruise = caps.no_main_cruise
 
     # read params on init
-    self.enabled_toggle = self.params.get_bool("Mads")
+    self.enabled_toggle = True if caps.mads_required else self.params.get_bool("Mads")
     self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
     self.steering_mode_on_brake = read_steering_mode_param(self.CP, self.CP_SP, self.params)
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
diff --git a/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py b/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py
new file mode 100644
index 00000000000000..23f74c10a7efc3
--- /dev/null
+++ b/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py
@@ -0,0 +1,75 @@
+import unittest
+from unittest.mock import MagicMock
+
+from opendbc.car import structs
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+from openpilot.sunnypilot.mads.helpers import (
+  MadsSteeringModeOnBrake,
+  resolve_mads_capabilities,
+  set_alternative_experience,
+  set_car_specific_params,
+)
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
+
+
+class TestPreAPMadsCapabilities(unittest.TestCase):
+  def test_preap_version1_forces_mads_and_rejects_coop(self):
+    CP = structs.CarParams()
+    CP.brand = "tesla"
+    CP.carFingerprint = "TESLA_MODEL_S_PREAP"
+    CP_SP = structs.CarParamsSP()
+    CP_SP.madsCapabilityContractVersion = 1
+    CP_SP.madsRequired = True
+    CP_SP.madsFullSettingsAvailable = True
+    CP_SP.madsMainCruiseInputKind = structs.CarParamsSP.MadsMainCruiseInputKind.momentary
+    CP_SP.teslaCoopSteeringAvailable = False
+    CP_SP.madsSteeringMode = structs.CarParamsSP.MadsSteeringMode.pause
+    CP_SP.madsHandsOnPauseAvailable = True
+
+    params = MagicMock()
+    params.get_bool.return_value = False
+    caps = resolve_mads_capabilities(CP, CP_SP, params)
+    self.assertTrue(caps.mads_required)
+    self.assertTrue(caps.no_main_cruise)
+    self.assertTrue(caps.full_settings_available)
+    self.assertFalse(caps.tesla_coop_steering_available)
+    self.assertEqual(caps.steering_mode, MadsSteeringModeOnBrake.PAUSE)
+
+    set_alternative_experience(CP, CP_SP, params)
+    params.put_bool.assert_any_call("Mads", True, block=True)
+    self.assertTrue(CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.ENABLE_MADS)
+    self.assertTrue(CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.MADS_PAUSE_LATERAL_ON_BRAKE)
+
+    params.reset_mock()
+    CP_SP.flags |= TeslaFlagsSP.COOP_STEERING
+    set_car_specific_params(CP, CP_SP, params)
+    params.put_bool.assert_any_call("Mads", True, block=True)
+
+  def test_version0_tesla_and_rivian_unchanged(self):
+    params = MagicMock()
+    params.get_bool.side_effect = lambda k: {"Mads": True, "MadsMainCruiseAllowed": True, "MadsUnifiedEngagementMode": True}.get(k, False)
+    params.get.return_value = 0
+
+    tesla = structs.CarParams()
+    tesla.brand = "tesla"
+    tesla_sp = structs.CarParamsSP()
+    caps = resolve_mads_capabilities(tesla, tesla_sp, params)
+    self.assertFalse(caps.mads_required)
+    self.assertTrue(caps.no_main_cruise)
+    self.assertFalse(caps.full_settings_available)
+    self.assertEqual(caps.steering_mode, MadsSteeringModeOnBrake.DISENGAGE)
+
+    tesla_sp.flags |= TeslaFlagsSP.HAS_VEHICLE_BUS
+    params.get.return_value = 1  # 3-finger screen button
+    caps = resolve_mads_capabilities(tesla, tesla_sp, params)
+    self.assertTrue(caps.full_settings_available)
+
+    rivian = structs.CarParams()
+    rivian.brand = "rivian"
+    caps = resolve_mads_capabilities(rivian, structs.CarParamsSP(), params)
+    self.assertTrue(caps.no_main_cruise)
+    self.assertFalse(caps.mads_required)
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/sunnypilot/selfdrive/car/preap_boot.py b/openpilot/sunnypilot/selfdrive/car/preap_boot.py
new file mode 100644
index 00000000000000..b901e0ac72d5fa
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/preap_boot.py
@@ -0,0 +1,119 @@
+"""Pre-AP boot selection, installer seeding, and one-time mode migration.
+
+Params live here (openpilot), never in opendbc vehicle modules.
+"""
+from __future__ import annotations
+
+from dataclasses import dataclass
+import os
+from typing import Any
+
+from opendbc.car.tesla.preap.boot import PREAP_PLATFORM, parse_engagement_mode
+from opendbc.car.tesla.preap.constants import STALK_DOUBLE_PULL_MS
+
+assert STALK_DOUBLE_PULL_MS == 400
+
+
+@dataclass(frozen=True)
+class PreAPBootSelection:
+  candidate: str | None
+  skip_fw_query: bool
+  source: str
+  lock_preap: bool
+
+
+def _truthy_force_preap(value) -> bool:
+  return value in (True, 1, "1", b"1")
+
+
+def resolve_preap_boot_selection(
+  *,
+  bundle_platform: str | None = None,
+  env_fingerprint: str | None = None,
+  nap_force_preap=None,
+) -> PreAPBootSelection:
+  """Card-boundary precedence before firmware query.
+
+  1. explicit CarPlatformBundle / FINGERPRINT environment override
+  2. persisted NAPForcePreAP = true
+  3. normal fingerprint / FW flow
+  """
+  explicit = (bundle_platform or None) or (env_fingerprint or None) or None
+  if explicit:
+    lock = explicit == PREAP_PLATFORM
+    return PreAPBootSelection(candidate=explicit, skip_fw_query=lock, source="explicit", lock_preap=lock)
+  if _truthy_force_preap(nap_force_preap):
+    return PreAPBootSelection(candidate=PREAP_PLATFORM, skip_fw_query=True, source="nap_force_preap", lock_preap=True)
+  return PreAPBootSelection(candidate=None, skip_fw_query=False, source="normal", lock_preap=False)
+
+
+def seed_preap_installer(params, bundle_platform: str | None) -> bool:
+  """Fresh Pre-AP installer/platform bundle seeds NAPForcePreAP=true. Shared SP stays absent/false."""
+  if bundle_platform != PREAP_PLATFORM:
+    return False
+  if params.get("NAPForcePreAP") is not None:
+    return False
+  params.put_bool("NAPForcePreAP", True, block=True)
+  return True
+
+
+def migrate_preap_engagement_mode(params) -> int:
+  """Migrate Main/UEM once. Canonical write must succeed before the pair is considered retired."""
+  canonical = params.get("NAPLateralEngagementMode")
+  if canonical is not None:
+    return parse_engagement_mode(canonical)
+
+  main = params.get("MadsMainCruiseAllowed")
+  uem = params.get("MadsUnifiedEngagementMode")
+  # Absent legacy pair is not an explicit "both off" — default independent.
+  if main is None and uem is None:
+    mode = 0
+  else:
+    main_on = main not in (None, False, 0, "0", b"0", "")
+    uem_on = uem not in (None, False, 0, "0", b"0", "")
+    if main_on:
+      mode = 0  # independent
+    elif uem_on:
+      mode = 1  # cruiseCoupled
+    else:
+      mode = 2  # longitudinalOnly
+
+  params.put("NAPLateralEngagementMode", int(mode), block=True)
+  written = params.get("NAPLateralEngagementMode")
+  if parse_engagement_mode(written) != mode:
+    return 0
+  params.put_bool("NAPLateralEngagementModeMigrated", True, block=True)
+  return mode
+
+
+def force_mads_required(params) -> None:
+  params.put_bool("Mads", True, block=True)
+
+
+def snapshot_param_list(params) -> list[dict[str, Any]]:
+  keys = [
+    "NAPForcePreAP",
+    "NAPLateralEngagementMode",
+    "NAPPedalEnabled",
+    "NAPPedalCanBus",
+    "NAPPedalCalibDone",
+    "NAPPedalCalibFactor",
+    "NAPPedalCalibMin",
+    "NAPPedalCalibMax",
+    "NAPPedalCalibZero",
+    "NAPPedalProfile",
+    "NAPRadarEnabled",
+    "NAPRadarBehindNosecone",
+    "NAPRadarOffset",
+    "NAPFollowDistance",
+    "Mads",
+    "MadsMainCruiseAllowed",
+    "MadsUnifiedEngagementMode",
+    "MadsSteeringMode",
+  ]
+  return [{k: params.get(k)} for k in keys]
+
+
+def new_preap_intent_epoch() -> int:
+  value = int.from_bytes(os.urandom(8), "little")
+  return value or 1
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/fixtures/carparams_sp_v0_default.bin b/openpilot/sunnypilot/selfdrive/car/tests/fixtures/carparams_sp_v0_default.bin
new file mode 100644
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diff --git a/openpilot/sunnypilot/selfdrive/car/tests/fixtures/carparams_sp_v0_tesla_vehicle_bus.bin b/openpilot/sunnypilot/selfdrive/car/tests/fixtures/carparams_sp_v0_tesla_vehicle_bus.bin
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diff --git a/openpilot/sunnypilot/selfdrive/car/tests/fixtures/carstate_sp_v0_default.bin b/openpilot/sunnypilot/selfdrive/car/tests/fixtures/carstate_sp_v0_default.bin
new file mode 100644
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literal 0
HcmV?d00001

diff --git a/openpilot/sunnypilot/selfdrive/car/tests/fixtures/carstate_sp_v0_speed_limit.bin b/openpilot/sunnypilot/selfdrive/car/tests/fixtures/carstate_sp_v0_speed_limit.bin
new file mode 100644
index 0000000000000000000000000000000000000000..b8d947d7439fdca50885ad46e8b9df54a6031051
GIT binary patch
literal 24
VcmZQzU|?VZVh~^ilP4TO6aWT60Sy2E

literal 0
HcmV?d00001

diff --git a/openpilot/sunnypilot/selfdrive/car/tests/fixtures/custom_v0.capnp b/openpilot/sunnypilot/selfdrive/car/tests/fixtures/custom_v0.capnp
new file mode 100644
index 00000000000000..3e5e12de7d3cac
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tests/fixtures/custom_v0.capnp
@@ -0,0 +1,26 @@
+# Minimal version-0 CarParamsSP/CarStateSP schema for cross-version fixtures.
+# Unique file ID so this can be loaded beside current custom.capnp.
+@0xce11a00000000001;
+
+struct CarParamsSP {
+  flags @0 :UInt32;
+  safetyParam @1 :Int16;
+  neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
+  pcmCruiseSpeed @3 :Bool;
+  intelligentCruiseButtonManagementAvailable @4 :Bool;
+  enableGasInterceptor @5 :Bool;
+
+  struct NeuralNetworkLateralControl {
+    model @0 :Model;
+    fuzzyFingerprint @1 :Bool;
+
+    struct Model {
+      path @0 :Text;
+      name @1 :Text;
+    }
+  }
+}
+
+struct CarStateSP {
+  speedLimit @0 :Float32;
+}
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
new file mode 100644
index 00000000000000..b961e88c53d3dc
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
@@ -0,0 +1,134 @@
+import unittest
+from pathlib import Path
+from unittest.mock import MagicMock
+
+from openpilot.sunnypilot.selfdrive.car.preap_boot import (
+  PREAP_PLATFORM,
+  migrate_preap_engagement_mode,
+  resolve_preap_boot_selection,
+  seed_preap_installer,
+  snapshot_param_list,
+)
+
+
+class TestPreAPBootSelection(unittest.TestCase):
+  def test_explicit_bundle_wins_over_force(self):
+    sel = resolve_preap_boot_selection(
+      bundle_platform="TESLA_MODEL_3",
+      env_fingerprint=None,
+      nap_force_preap=True,
+    )
+    self.assertEqual(sel.candidate, "TESLA_MODEL_3")
+    self.assertEqual(sel.source, "explicit")
+    self.assertFalse(sel.lock_preap)
+    self.assertFalse(sel.skip_fw_query)
+
+  def test_env_override_locks_preap_and_skips_fw(self):
+    sel = resolve_preap_boot_selection(
+      bundle_platform=None,
+      env_fingerprint=PREAP_PLATFORM,
+      nap_force_preap=False,
+    )
+    self.assertEqual(sel.candidate, PREAP_PLATFORM)
+    self.assertTrue(sel.lock_preap)
+    self.assertTrue(sel.skip_fw_query)
+
+  def test_persisted_force_true(self):
+    sel = resolve_preap_boot_selection(nap_force_preap=True)
+    self.assertEqual(sel.candidate, PREAP_PLATFORM)
+    self.assertEqual(sel.source, "nap_force_preap")
+    self.assertTrue(sel.skip_fw_query)
+
+  def test_absent_or_false_uses_normal_flow(self):
+    for value in (None, False, 0, "0", ""):
+      sel = resolve_preap_boot_selection(nap_force_preap=value)
+      self.assertIsNone(sel.candidate)
+      self.assertEqual(sel.source, "normal")
+      self.assertFalse(sel.lock_preap)
+      self.assertFalse(sel.skip_fw_query)
+
+  def test_installer_seeds_only_when_absent(self):
+    params = MagicMock()
+    params.get.return_value = None
+    self.assertTrue(seed_preap_installer(params, PREAP_PLATFORM))
+    params.put_bool.assert_called_once_with("NAPForcePreAP", True, block=True)
+
+    params = MagicMock()
+    params.get.return_value = False
+    self.assertFalse(seed_preap_installer(params, PREAP_PLATFORM))
+
+    params = MagicMock()
+    params.get.return_value = None
+    self.assertFalse(seed_preap_installer(params, "TESLA_MODEL_3"))
+
+  def test_migrate_main_uem_once(self):
+    stored = {}
+
+    def get(key):
+      return stored.get(key)
+
+    def put(key, value, block=True):
+      stored[key] = value
+
+    params = MagicMock()
+    params.get.side_effect = get
+    params.put.side_effect = put
+    params.put_bool.side_effect = lambda k, v, block=True: stored.__setitem__(k, v)
+
+    stored["MadsMainCruiseAllowed"] = True
+    stored["MadsUnifiedEngagementMode"] = False
+    self.assertEqual(migrate_preap_engagement_mode(params), 0)
+    self.assertEqual(stored["NAPLateralEngagementMode"], 0)
+    self.assertTrue(stored["NAPLateralEngagementModeMigrated"])
+
+    stored["MadsMainCruiseAllowed"] = False
+    stored["MadsUnifiedEngagementMode"] = True
+    # canonical already present: do not reread pair
+    self.assertEqual(migrate_preap_engagement_mode(params), 0)
+
+    stored.pop("NAPLateralEngagementMode")
+    stored.pop("NAPLateralEngagementModeMigrated")
+    self.assertEqual(migrate_preap_engagement_mode(params), 1)
+
+    stored.pop("NAPLateralEngagementMode")
+    stored["MadsMainCruiseAllowed"] = False
+    stored["MadsUnifiedEngagementMode"] = False
+    self.assertEqual(migrate_preap_engagement_mode(params), 2)
+
+    stored.clear()
+    self.assertEqual(migrate_preap_engagement_mode(params), 0)
+
+  def test_napadaptiveaccel_not_registered(self):
+    keys = Path("openpilot/common/params_keys.h").read_text() if Path("openpilot/common/params_keys.h").exists() else \
+      Path("/home/jack/projects/personal/notautopilot/.worktrees/naponsp-port/openpilot/common/params_keys.h").read_text()
+    self.assertNotIn('{"NAPAdaptiveAccel"', keys)
+    self.assertIn('{"NAPForcePreAP"', keys)
+    self.assertIn('{"NAPLateralEngagementMode"', keys)
+
+
+class TestPreAPCardWiring(unittest.TestCase):
+  def test_card_wires_selection_before_fw_query(self):
+    card = Path("/home/jack/projects/personal/notautopilot/.worktrees/naponsp-port/openpilot/selfdrive/car/card.py").read_text()
+    helpers = Path("/home/jack/projects/personal/notautopilot/.worktrees/naponsp-port/opendbc_repo/opendbc/car/car_helpers.py").read_text()
+    self.assertIn("preap_boot.seed_preap_installer", card)
+    self.assertIn("preap_boot.resolve_preap_boot_selection", card)
+    self.assertIn("selection.skip_fw_query", card)
+    self.assertLess(card.index("preap_boot.resolve_preap_boot_selection"), card.index("get_car("))
+    self.assertLess(card.index("seed_preap_installer"), card.index("resolve_preap_boot_selection"))
+    self.assertIn("skip_fw_query: bool | None = None", helpers)
+    self.assertNotIn("candidate=PREAP_PLATFORM", card.split("get_car")[1][:400])
+
+
+class TestPreAPSnapshotKeys(unittest.TestCase):
+  def test_snapshot_does_not_include_adaptive_accel(self):
+    params = MagicMock()
+    params.get.return_value = None
+    blob = snapshot_param_list(params)
+    keys = {k for d in blob for k in d}
+    self.assertNotIn("NAPAdaptiveAccel", keys)
+    self.assertIn("NAPForcePreAP", keys)
+    self.assertIn("NAPLateralEngagementMode", keys)
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py
new file mode 100644
index 00000000000000..33fae2987cdfc7
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py
@@ -0,0 +1,25 @@
+import unittest
+
+from pathlib import Path
+
+
+class TestPreAPIgnitionOnroadContract(unittest.TestCase):
+  def test_pandad_and_manager_treat_ignition_can_as_onroad(self):
+    root = Path("/home/jack/projects/personal/notautopilot/.worktrees/naponsp-port/openpilot")
+    pandad = (root / "selfdrive/pandad/pandad.cc").read_text()
+    manager = (root / "system/manager/manager.py").read_text()
+    self.assertIn("health.ignition_can_pkt", pandad)
+    self.assertIn("ignition_line_pkt", pandad)
+    self.assertIn("ps.ignitionLine or ps.ignitionCan", manager)
+
+    def harness_onroad(ignition_line: bool, ignition_can: bool, always_offroad: bool = False) -> bool:
+      return ((ignition_line or ignition_can) and not always_offroad)
+
+    self.assertTrue(harness_onroad(False, True))
+    self.assertFalse(harness_onroad(False, False))
+    self.assertTrue(harness_onroad(True, False))
+    self.assertFalse(harness_onroad(True, True, always_offroad=True))
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py
new file mode 100644
index 00000000000000..5ac1584a4df211
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py
@@ -0,0 +1,96 @@
+import unittest
+from pathlib import Path
+
+from openpilot.cereal import custom
+from openpilot.selfdrive.car.helpers import convert_to_capnp
+from opendbc.car import structs
+
+
+FIXTURES = Path(__file__).parent / "fixtures"
+
+
+class TestPreAPSchemaContract(unittest.TestCase):
+  def test_enum_numeric_pins(self):
+    self.assertEqual(int(custom.CarParamsSP.MadsMainCruiseInputKind.none), 0)
+    self.assertEqual(int(custom.CarParamsSP.MadsMainCruiseInputKind.stateful), 1)
+    self.assertEqual(int(custom.CarParamsSP.MadsMainCruiseInputKind.momentary), 2)
+    self.assertEqual(int(custom.CarParamsSP.MadsSteeringMode.remainActive), 0)
+    self.assertEqual(int(custom.CarParamsSP.MadsSteeringMode.pause), 1)
+    self.assertEqual(int(custom.CarParamsSP.MadsSteeringMode.disengage), 2)
+    self.assertEqual(int(custom.CarParamsSP.PreapLateralEngagementMode.independent), 0)
+    self.assertEqual(int(custom.CarParamsSP.PreapLateralEngagementMode.cruiseCoupled), 1)
+    self.assertEqual(int(custom.CarParamsSP.PreapLateralEngagementMode.longitudinalOnly), 2)
+    self.assertEqual(int(custom.CarStateSP.PreapLateralIntent.none), 0)
+    self.assertEqual(int(custom.CarStateSP.PreapLateralIntent.mainCruiseRequest), 1)
+    self.assertEqual(int(custom.CarStateSP.PreapLateralIntent.forceDisable), 2)
+    self.assertEqual(int(custom.CarStateSP.PreapLongitudinalIntent.none), 0)
+    self.assertEqual(int(custom.CarStateSP.PreapLongitudinalIntent.enable), 1)
+    self.assertEqual(int(custom.CarStateSP.PreapLongitudinalIntent.disable), 2)
+
+  def test_version0_bytes_keep_old_fields(self):
+    raw = (FIXTURES / "carparams_sp_v0_tesla_vehicle_bus.bin").read_bytes()
+    with custom.CarParamsSP.from_bytes(raw) as msg:
+      self.assertEqual(msg.flags, 1)
+      self.assertEqual(msg.safetyParam, 1)
+      self.assertTrue(msg.pcmCruiseSpeed)
+      self.assertEqual(msg.neuralNetworkLateralControl.model.name, "FOO")
+      self.assertEqual(msg.madsCapabilityContractVersion, 0)
+      self.assertFalse(msg.madsRequired)
+      self.assertEqual(msg.madsMainCruiseInputKind, custom.CarParamsSP.MadsMainCruiseInputKind.none)
+
+    raw_cs = (FIXTURES / "carstate_sp_v0_speed_limit.bin").read_bytes()
+    with custom.CarStateSP.from_bytes(raw_cs) as msg:
+      self.assertAlmostEqual(msg.speedLimit, 25.0, places=4)
+      self.assertEqual(msg.preapLateralIntent, custom.CarStateSP.PreapLateralIntent.none)
+      self.assertEqual(msg.preapIntentSequence, 0)
+
+  def test_version1_round_trip_and_old_schema_reads_old_fields(self):
+    cp = structs.CarParamsSP()
+    cp.flags = 7
+    cp.safetyParam = 2
+    cp.pcmCruiseSpeed = False
+    cp.madsCapabilityContractVersion = 1
+    cp.madsRequired = True
+    cp.madsMainCruiseInputKind = structs.CarParamsSP.MadsMainCruiseInputKind.momentary
+    cp.preapLateralEngagementMode = structs.CarParamsSP.PreapLateralEngagementMode.cruiseCoupled
+    cp.neuralNetworkLateralControl.model.name = "BAR"
+    raw = convert_to_capnp(cp).to_bytes()
+    with custom.CarParamsSP.from_bytes(raw) as msg:
+      self.assertEqual(msg.flags, 7)
+      self.assertEqual(msg.safetyParam, 2)
+      self.assertFalse(msg.pcmCruiseSpeed)
+      self.assertEqual(msg.madsCapabilityContractVersion, 1)
+      self.assertTrue(msg.madsRequired)
+      self.assertEqual(msg.neuralNetworkLateralControl.model.name, "BAR")
+
+    # Old schema fixture must still see @0-@5.
+    import capnp
+    capnp.remove_import_hook()
+    old = capnp.load(str(FIXTURES / "custom_v0.capnp"), imports=["/usr/local/include", str(Path(__file__).resolve().parents[4] / "cereal")])
+    try:
+      with old.CarParamsSP.from_bytes(raw) as old_msg:
+        self.assertEqual(old_msg.flags, 7)
+        self.assertEqual(old_msg.safetyParam, 2)
+        self.assertFalse(old_msg.pcmCruiseSpeed)
+        self.assertEqual(old_msg.neuralNetworkLateralControl.model.name, "BAR")
+        self.assertFalse(hasattr(old_msg, "madsRequired") and old_msg.schema.fields.get("madsRequired") is not None or False)
+    except Exception as exc:
+      # Include path can fail in some environments; the current-schema parse above still
+      # proves old ordinals are intact. Re-raise only if old fields themselves broke.
+      if "flags" in str(exc).lower():
+        raise
+
+    cs = structs.CarStateSP()
+    cs.speedLimit = 11.0
+    cs.preapLateralIntent = structs.CarStateSP.PreapLateralIntent.forceDisable
+    cs.preapIntentSequence = 9
+    cs.preapIntentEpoch = 99
+    raw_cs = convert_to_capnp(cs).to_bytes()
+    with custom.CarStateSP.from_bytes(raw_cs) as msg:
+      self.assertAlmostEqual(msg.speedLimit, 11.0, places=4)
+      self.assertEqual(msg.preapIntentSequence, 9)
+      self.assertEqual(msg.preapIntentEpoch, 99)
+
+
+if __name__ == "__main__":
+  unittest.main()

From 5d355b87541142cc5c2c82a7fbad01f58b6aa3e2 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Thu, 13 Aug 2026 17:19:47 +0000
Subject: [PATCH 1377/1434] tesla: default NAP boot params and pin opendbc
 leftover

---
 opendbc_repo                                     | 2 +-
 openpilot/common/params_keys.h                   | 6 +++---
 openpilot/sunnypilot/selfdrive/car/interfaces.py | 3 +++
 3 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 278ac0b8119c3d..3695c2e829d92f 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 278ac0b8119c3d4c663904cffcf388f04a8fe2ba
+Subproject commit 3695c2e829d92fa0ba3163b05830e63e2fff54b4
diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h
index 8d5d7288040ae8..ce717ec5c9c58a 100644
--- a/openpilot/common/params_keys.h
+++ b/openpilot/common/params_keys.h
@@ -229,9 +229,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
 
     // Pre-AP Tesla (NAP) retained keys. Shared sunnypilot leaves NAPForcePreAP
     // absent/false. Do not register NAPAdaptiveAccel.
-    {"NAPForcePreAP", {PERSISTENT | BACKUP, BOOL}},
-    {"NAPLateralEngagementMode", {PERSISTENT | BACKUP, INT}},
-    {"NAPLateralEngagementModeMigrated", {PERSISTENT | BACKUP, BOOL}},
+    {"NAPForcePreAP", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"NAPLateralEngagementMode", {PERSISTENT | BACKUP, INT, "0"}},
+    {"NAPLateralEngagementModeMigrated", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"NAPFollowDistance", {PERSISTENT | BACKUP, INT, "4"}},
     {"NAPPedalEnabled", {PERSISTENT | BACKUP, BOOL}},
     {"NAPPedalCanBus", {PERSISTENT | BACKUP, INT, "2"}},
diff --git a/openpilot/sunnypilot/selfdrive/car/interfaces.py b/openpilot/sunnypilot/selfdrive/car/interfaces.py
index ecabc53b577a5e..4d93d3110fab47 100644
--- a/openpilot/sunnypilot/selfdrive/car/interfaces.py
+++ b/openpilot/sunnypilot/selfdrive/car/interfaces.py
@@ -130,6 +130,9 @@ def initialize_params(params) -> list[dict[str, Any]]:
   keys.extend([
     "TeslaCoopSteering",
     "TeslaMadsScreenButton",
+    "NAPForcePreAP",
+    "NAPLateralEngagementMode",
+    "NAPLateralEngagementModeMigrated",
   ])
 
   # toyota

From bce4682901f72cd3da95be7d324b6741c8d96c8f Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Thu, 13 Aug 2026 18:23:13 +0000
Subject: [PATCH 1378/1434] tesla: prove Task2 schema ordinals and boot
 migration contracts

Pin CarParamsSP @6-@15 / CarStateSP @1-@4 / turnSignalStalkState @61,
read version-1 bytes through the v0 schema, and map Main+UEM to independent.
---
 opendbc_repo                                  |  2 +-
 .../car/tests/test_preap_boot_selection.py    | 16 +++++
 .../selfdrive/car/tests/test_preap_schema.py  | 63 ++++++++++++++-----
 3 files changed, 65 insertions(+), 16 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 3695c2e829d92f..8523e373f5e027 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 3695c2e829d92fa0ba3163b05830e63e2fff54b4
+Subproject commit 8523e373f5e027e07490ffe54fb2e50f446c4726
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
index b961e88c53d3dc..bc9de18a94c9fa 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
@@ -95,6 +95,12 @@ def put(key, value, block=True):
     stored["MadsUnifiedEngagementMode"] = False
     self.assertEqual(migrate_preap_engagement_mode(params), 2)
 
+    stored.pop("NAPLateralEngagementMode")
+    stored.pop("NAPLateralEngagementModeMigrated")
+    stored["MadsMainCruiseAllowed"] = True
+    stored["MadsUnifiedEngagementMode"] = True
+    self.assertEqual(migrate_preap_engagement_mode(params), 0)
+
     stored.clear()
     self.assertEqual(migrate_preap_engagement_mode(params), 0)
 
@@ -128,6 +134,16 @@ def test_snapshot_does_not_include_adaptive_accel(self):
     self.assertNotIn("NAPAdaptiveAccel", keys)
     self.assertIn("NAPForcePreAP", keys)
     self.assertIn("NAPLateralEngagementMode", keys)
+    self.assertIn("NAPPedalEnabled", keys)
+    self.assertIn("NAPRadarEnabled", keys)
+    self.assertIn("NAPFollowDistance", keys)
+    self.assertIn("MadsSteeringMode", keys)
+
+  def test_intent_epoch_is_nonzero(self):
+    from openpilot.sunnypilot.selfdrive.car.preap_boot import new_preap_intent_epoch
+    epochs = {new_preap_intent_epoch() for _ in range(8)}
+    self.assertTrue(all(value != 0 for value in epochs))
+    self.assertGreaterEqual(len(epochs), 7)
 
 
 if __name__ == "__main__":
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py
index 5ac1584a4df211..5c1448248bf745 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py
@@ -1,3 +1,4 @@
+import capnp
 import unittest
 from pathlib import Path
 
@@ -9,6 +10,10 @@
 FIXTURES = Path(__file__).parent / "fixtures"
 
 
+def _ordinals(schema):
+  return {field.proto.name: getattr(field.proto.ordinal, field.proto.ordinal.which()) for field in schema.fields_list}
+
+
 class TestPreAPSchemaContract(unittest.TestCase):
   def test_enum_numeric_pins(self):
     self.assertEqual(int(custom.CarParamsSP.MadsMainCruiseInputKind.none), 0)
@@ -27,6 +32,35 @@ def test_enum_numeric_pins(self):
     self.assertEqual(int(custom.CarStateSP.PreapLongitudinalIntent.enable), 1)
     self.assertEqual(int(custom.CarStateSP.PreapLongitudinalIntent.disable), 2)
 
+  def test_field_ordinal_pins(self):
+    cp = _ordinals(custom.CarParamsSP.schema)
+    self.assertEqual(cp["flags"], 0)
+    self.assertEqual(cp["safetyParam"], 1)
+    self.assertEqual(cp["neuralNetworkLateralControl"], 2)
+    self.assertEqual(cp["pcmCruiseSpeed"], 3)
+    self.assertEqual(cp["intelligentCruiseButtonManagementAvailable"], 4)
+    self.assertEqual(cp["enableGasInterceptor"], 5)
+    self.assertEqual(cp["madsFullSettingsAvailable"], 6)
+    self.assertEqual(cp["madsMainCruiseInputKind"], 7)
+    self.assertEqual(cp["madsMainCruiseAllowed"], 8)
+    self.assertEqual(cp["madsRequired"], 9)
+    self.assertEqual(cp["teslaCoopSteeringAvailable"], 10)
+    self.assertEqual(cp["madsUnifiedEngagementMode"], 11)
+    self.assertEqual(cp["madsSteeringMode"], 12)
+    self.assertEqual(cp["madsCapabilityContractVersion"], 13)
+    self.assertEqual(cp["madsHandsOnPauseAvailable"], 14)
+    self.assertEqual(cp["preapLateralEngagementMode"], 15)
+
+    cs = _ordinals(custom.CarStateSP.schema)
+    self.assertEqual(cs["speedLimit"], 0)
+    self.assertEqual(cs["preapLateralIntent"], 1)
+    self.assertEqual(cs["preapLongitudinalIntent"], 2)
+    self.assertEqual(cs["preapIntentSequence"], 3)
+    self.assertEqual(cs["preapIntentEpoch"], 4)
+
+    car_state = _ordinals(structs.CarState.schema)
+    self.assertEqual(car_state["turnSignalStalkState"], 61)
+
   def test_version0_bytes_keep_old_fields(self):
     raw = (FIXTURES / "carparams_sp_v0_tesla_vehicle_bus.bin").read_bytes()
     with custom.CarParamsSP.from_bytes(raw) as msg:
@@ -63,34 +97,33 @@ def test_version1_round_trip_and_old_schema_reads_old_fields(self):
       self.assertTrue(msg.madsRequired)
       self.assertEqual(msg.neuralNetworkLateralControl.model.name, "BAR")
 
-    # Old schema fixture must still see @0-@5.
-    import capnp
     capnp.remove_import_hook()
-    old = capnp.load(str(FIXTURES / "custom_v0.capnp"), imports=["/usr/local/include", str(Path(__file__).resolve().parents[4] / "cereal")])
-    try:
-      with old.CarParamsSP.from_bytes(raw) as old_msg:
-        self.assertEqual(old_msg.flags, 7)
-        self.assertEqual(old_msg.safetyParam, 2)
-        self.assertFalse(old_msg.pcmCruiseSpeed)
-        self.assertEqual(old_msg.neuralNetworkLateralControl.model.name, "BAR")
-        self.assertFalse(hasattr(old_msg, "madsRequired") and old_msg.schema.fields.get("madsRequired") is not None or False)
-    except Exception as exc:
-      # Include path can fail in some environments; the current-schema parse above still
-      # proves old ordinals are intact. Re-raise only if old fields themselves broke.
-      if "flags" in str(exc).lower():
-        raise
+    old = capnp.load(str(FIXTURES / "custom_v0.capnp"))
+    with old.CarParamsSP.from_bytes(raw) as old_msg:
+      self.assertEqual(old_msg.flags, 7)
+      self.assertEqual(old_msg.safetyParam, 2)
+      self.assertFalse(old_msg.pcmCruiseSpeed)
+      self.assertEqual(old_msg.neuralNetworkLateralControl.model.name, "BAR")
+      self.assertFalse(hasattr(old_msg, "madsRequired"))
 
     cs = structs.CarStateSP()
     cs.speedLimit = 11.0
     cs.preapLateralIntent = structs.CarStateSP.PreapLateralIntent.forceDisable
+    cs.preapLongitudinalIntent = structs.CarStateSP.PreapLongitudinalIntent.disable
     cs.preapIntentSequence = 9
     cs.preapIntentEpoch = 99
     raw_cs = convert_to_capnp(cs).to_bytes()
     with custom.CarStateSP.from_bytes(raw_cs) as msg:
       self.assertAlmostEqual(msg.speedLimit, 11.0, places=4)
+      self.assertEqual(msg.preapLateralIntent, custom.CarStateSP.PreapLateralIntent.forceDisable)
+      self.assertEqual(msg.preapLongitudinalIntent, custom.CarStateSP.PreapLongitudinalIntent.disable)
       self.assertEqual(msg.preapIntentSequence, 9)
       self.assertEqual(msg.preapIntentEpoch, 99)
 
+    with old.CarStateSP.from_bytes(raw_cs) as old_cs:
+      self.assertAlmostEqual(old_cs.speedLimit, 11.0, places=4)
+      self.assertFalse(hasattr(old_cs, "preapLateralIntent"))
+
 
 if __name__ == "__main__":
   unittest.main()

From 654846e6a577a11d421e5cfe78ed424c6bb1579d Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Thu, 13 Aug 2026 19:27:35 +0000
Subject: [PATCH 1379/1434] tesla: freeze v1 MADS snapshot and Pre-AP boot
 selection

---
 opendbc_repo                                  |   2 +-
 openpilot/selfdrive/car/card.py               |  15 +-
 .../tests/test_preap_ignition_pandastate.py   |  49 ++++
 openpilot/sunnypilot/mads/mads.py             |  16 +-
 .../tests/test_preap_mads_capabilities.py     |  81 +++++++
 .../sunnypilot/selfdrive/car/preap_boot.py    |  46 +++-
 .../car/tests/test_preap_boot_selection.py    | 228 ++++++++++--------
 .../car/tests/test_preap_ignition_onroad.py   |  82 +++++--
 openpilot/system/manager/tests/__init__.py    |   0
 .../manager/tests/test_preap_ignition_card.py |  29 +++
 panda                                         |   2 +-
 11 files changed, 414 insertions(+), 136 deletions(-)
 create mode 100644 openpilot/selfdrive/pandad/tests/test_preap_ignition_pandastate.py
 create mode 100644 openpilot/system/manager/tests/__init__.py
 create mode 100644 openpilot/system/manager/tests/test_preap_ignition_card.py

diff --git a/opendbc_repo b/opendbc_repo
index 8523e373f5e027..ebc03d08aae133 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 8523e373f5e027e07490ffe54fb2e50f446c4726
+Subproject commit ebc03d08aae133dc454338f7c92db587b5b679d1
diff --git a/openpilot/selfdrive/car/card.py b/openpilot/selfdrive/car/card.py
index c330577f38578e..e3231a265ee356 100755
--- a/openpilot/selfdrive/car/card.py
+++ b/openpilot/selfdrive/car/card.py
@@ -107,20 +107,7 @@ def __init__(self, CI=None, RI=None) -> None:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
           cached_params = _cached_params
 
-      bundle = self.params.get("CarPlatformBundle") or {}
-      if not isinstance(bundle, dict):
-        bundle = {}
-      bundle_platform = bundle.get("platform", None)
-      preap_boot.seed_preap_installer(self.params, bundle_platform)
-      selection = preap_boot.resolve_preap_boot_selection(
-        bundle_platform=bundle_platform,
-        env_fingerprint=os.environ.get("FINGERPRINT") or None,
-        nap_force_preap=self.params.get("NAPForcePreAP"),
-      )
-      if selection.lock_preap:
-        preap_boot.migrate_preap_engagement_mode(self.params)
-        preap_boot.force_mads_required(self.params)
-      fixed_fingerprint = selection.candidate if selection.candidate is not None else bundle_platform
+      selection, fixed_fingerprint = preap_boot.resolve_card_boot(self.params)
       init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)
       init_params_list_sp.extend(preap_boot.snapshot_param_list(self.params))
 
diff --git a/openpilot/selfdrive/pandad/tests/test_preap_ignition_pandastate.py b/openpilot/selfdrive/pandad/tests/test_preap_ignition_pandastate.py
new file mode 100644
index 00000000000000..0df448bfb061bb
--- /dev/null
+++ b/openpilot/selfdrive/pandad/tests/test_preap_ignition_pandastate.py
@@ -0,0 +1,49 @@
+import unittest
+
+from openpilot.cereal import log
+from opendbc.car import structs
+from opendbc.safety.tests.common import CANPackerSafety
+from opendbc.safety.tests.libsafety import libsafety_py
+from openpilot.system.manager.process_config import only_onroad, procs
+
+try:
+  libsafety_py.ffi.cdef("void ignition_can_1hz_tick(void);")
+except Exception:
+  pass
+
+
+def _panda_state(ignition_can):
+  ps = log.PandaState.new_message()
+  ps.ignitionCan = ignition_can
+  ps.ignitionLine = False
+  ps.pandaType = log.PandaState.PandaType.uno
+  return ps
+
+
+class TestPreAPIgnitionPandaState(unittest.TestCase):
+  def setUp(self):
+    self.safety = libsafety_py.libsafety
+    self.safety.init_tests()
+    for _ in range(4):
+      self.safety.ignition_can_1hz_tick()
+    self.safety.init_tests()
+    self.packer = CANPackerSafety("tesla_preap")
+
+  def _msg(self, counter, drive_rail, bus=0):
+    return self.packer.make_can_msg_safety(
+      "GTW_status", bus, {"GTW_statusCounter": counter, "GTW_driveRailReq": int(drive_rail)},
+    )
+
+  def test_ignition_can_pkt_feeds_pandastate_ignitionCan(self):
+    self.safety.ignition_can_hook(self._msg(0, 1))
+    self.safety.ignition_can_hook(self._msg(1, 1))
+    ps = _panda_state(bool(self.safety.get_ignition_can()))
+    self.assertTrue(ps.ignitionCan)
+    started = any(p.ignitionLine or p.ignitionCan for p in [ps] if p.pandaType != log.PandaState.PandaType.unknown)
+    card = next(proc for proc in procs if proc.name == "card")
+    self.assertTrue(only_onroad(started, None, structs.CarParams()))
+    self.assertIs(card.should_run, only_onroad)
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/sunnypilot/mads/mads.py b/openpilot/sunnypilot/mads/mads.py
index f1f3e7ede3c5ec..980e3930031256 100644
--- a/openpilot/sunnypilot/mads/mads.py
+++ b/openpilot/sunnypilot/mads/mads.py
@@ -50,14 +50,21 @@ def __init__(self, selfdrive):
 
     caps = resolve_mads_capabilities(self.CP, self.CP_SP, self.params)
     self.no_main_cruise = caps.no_main_cruise
+    self._freeze_mads_snapshot = getattr(self.CP_SP, "madsCapabilityContractVersion", 0) >= 1
 
-    # read params on init
+    # read params on init. Version-1 / required-MADS consume only the frozen typed snapshot.
     self.enabled_toggle = True if caps.mads_required else self.params.get_bool("Mads")
-    self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
     self.steering_mode_on_brake = read_steering_mode_param(self.CP, self.CP_SP, self.params)
-    self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
+    if self._freeze_mads_snapshot:
+      self.main_enabled_toggle = caps.main_cruise_allowed
+      self.unified_engagement_mode = caps.unified_engagement_mode
+    else:
+      self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
+      self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def read_params(self):
+    if self._freeze_mads_snapshot:
+      return
     self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
@@ -163,7 +170,8 @@ def update_events(self, CS: structs.CarState):
         self.events.remove(EventName.pcmEnable)
         self.events.remove(EventName.buttonEnable)
     else:
-      if self.main_enabled_toggle:
+      # Stateful MAIN only. Momentary Pre-AP must not treat cruiseState.available as a stalk.
+      if self.main_enabled_toggle and not self.no_main_cruise:
         if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available:
           self.events_sp.add(EventNameSP.lkasEnable)
 
diff --git a/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py b/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py
index 23f74c10a7efc3..0bc6faca70c6f2 100644
--- a/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py
+++ b/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py
@@ -10,6 +10,9 @@
   set_car_specific_params,
 )
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
+from openpilot.cereal import custom
+
+EventNameSP = custom.OnroadEventSP.EventName
 
 
 class TestPreAPMadsCapabilities(unittest.TestCase):
@@ -71,5 +74,83 @@ def test_version0_tesla_and_rivian_unchanged(self):
     self.assertFalse(caps.mads_required)
 
 
+  def test_version1_preap_does_not_emit_lkas_from_cruise_available(self):
+    from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+    from openpilot.selfdrive.selfdrived.events import Events
+    from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+
+    CP = structs.CarParams()
+    CP.brand = "tesla"
+    CP.carFingerprint = "TESLA_MODEL_S_PREAP"
+    CP_SP = structs.CarParamsSP()
+    CP_SP.madsCapabilityContractVersion = 1
+    CP_SP.madsRequired = True
+    CP_SP.madsMainCruiseInputKind = structs.CarParamsSP.MadsMainCruiseInputKind.momentary
+    CP_SP.madsMainCruiseAllowed = True
+    CP_SP.madsUnifiedEngagementMode = False
+    CP_SP.madsSteeringMode = structs.CarParamsSP.MadsSteeringMode.remainActive
+
+    params = MagicMock()
+    params.get_bool.side_effect = lambda k: {"Mads": False, "MadsMainCruiseAllowed": True}.get(k, False)
+    sd = MagicMock()
+    sd.CP = CP
+    sd.CP_SP = CP_SP
+    sd.params = params
+    sd.events = Events()
+    sd.events_sp = EventsSP()
+    sd.enabled = False
+    sd.enabled_prev = False
+    sd.initialized = True
+    prev = structs.CarState()
+    prev.cruiseState.available = False
+    sd.CS_prev = prev
+    sd.sm = {"pandaStates": []}
+
+    mads = ModularAssistiveDrivingSystem(sd)
+    self.assertTrue(mads.no_main_cruise)
+    self.assertTrue(mads.enabled_toggle)
+    cs = structs.CarState()
+    cs.cruiseState.available = True
+    mads.update(cs)
+    self.assertFalse(sd.events_sp.has(EventNameSP.lkasEnable))
+
+    frozen_main = mads.main_enabled_toggle
+    params.get_bool.side_effect = lambda k: False
+    mads.read_params()
+    self.assertEqual(mads.main_enabled_toggle, frozen_main)
+
+  def test_version0_stateful_main_still_uses_params(self):
+    from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+    from openpilot.selfdrive.selfdrived.events import Events
+    from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+
+    CP = structs.CarParams()
+    CP.brand = "hyundai"
+    CP_SP = structs.CarParamsSP()
+    params = MagicMock()
+    params.get_bool.side_effect = lambda k: {"Mads": True, "MadsMainCruiseAllowed": True}.get(k, False)
+    params.get.return_value = 0
+    sd = MagicMock()
+    sd.CP = CP
+    sd.CP_SP = CP_SP
+    sd.params = params
+    sd.events = Events()
+    sd.events_sp = EventsSP()
+    sd.enabled = False
+    sd.enabled_prev = False
+    sd.initialized = True
+    prev = structs.CarState()
+    prev.cruiseState.available = False
+    sd.CS_prev = prev
+    sd.sm = {"pandaStates": []}
+    mads = ModularAssistiveDrivingSystem(sd)
+    self.assertFalse(mads.no_main_cruise)
+    cs = structs.CarState()
+    cs.cruiseState.available = True
+    mads.update(cs)
+    self.assertTrue(sd.events_sp.has(EventNameSP.lkasEnable))
+
+
+
 if __name__ == "__main__":
   unittest.main()
diff --git a/openpilot/sunnypilot/selfdrive/car/preap_boot.py b/openpilot/sunnypilot/selfdrive/car/preap_boot.py
index b901e0ac72d5fa..f918090152bab8 100644
--- a/openpilot/sunnypilot/selfdrive/car/preap_boot.py
+++ b/openpilot/sunnypilot/selfdrive/car/preap_boot.py
@@ -1,6 +1,6 @@
 """Pre-AP boot selection, installer seeding, and one-time mode migration.
 
-Params live here (openpilot), never in opendbc vehicle modules.
+Card-boundary helpers. Opendbc vehicle modules must not import Params.
 """
 from __future__ import annotations
 
@@ -17,7 +17,7 @@
 @dataclass(frozen=True)
 class PreAPBootSelection:
   candidate: str | None
-  skip_fw_query: bool
+  skip_fw_query: bool | None
   source: str
   lock_preap: bool
 
@@ -37,14 +37,17 @@ def resolve_preap_boot_selection(
   1. explicit CarPlatformBundle / FINGERPRINT environment override
   2. persisted NAPForcePreAP = true
   3. normal fingerprint / FW flow
+
+  Locked Pre-AP skips FW. Every other path leaves skip_fw_query unspecified so
+  fingerprint retains the existing SKIP_FW_QUERY environment fallback.
   """
   explicit = (bundle_platform or None) or (env_fingerprint or None) or None
   if explicit:
     lock = explicit == PREAP_PLATFORM
-    return PreAPBootSelection(candidate=explicit, skip_fw_query=lock, source="explicit", lock_preap=lock)
+    return PreAPBootSelection(candidate=explicit, skip_fw_query=True if lock else None, source="explicit", lock_preap=lock)
   if _truthy_force_preap(nap_force_preap):
     return PreAPBootSelection(candidate=PREAP_PLATFORM, skip_fw_query=True, source="nap_force_preap", lock_preap=True)
-  return PreAPBootSelection(candidate=None, skip_fw_query=False, source="normal", lock_preap=False)
+  return PreAPBootSelection(candidate=None, skip_fw_query=None, source="normal", lock_preap=False)
 
 
 def seed_preap_installer(params, bundle_platform: str | None) -> bool:
@@ -57,6 +60,16 @@ def seed_preap_installer(params, bundle_platform: str | None) -> bool:
   return True
 
 
+def _canonical_mode_readback_matches(written, mode: int) -> bool:
+  """Require an actually present exact raw readback. Enum-zero parsing must not mask absence."""
+  if written is None or written == "" or written == b"":
+    return False
+  try:
+    return int(written) == int(mode)
+  except (TypeError, ValueError):
+    return parse_engagement_mode(written) == mode and written not in (None, "", b"")
+
+
 def migrate_preap_engagement_mode(params) -> int:
   """Migrate Main/UEM once. Canonical write must succeed before the pair is considered retired."""
   canonical = params.get("NAPLateralEngagementMode")
@@ -80,7 +93,7 @@ def migrate_preap_engagement_mode(params) -> int:
 
   params.put("NAPLateralEngagementMode", int(mode), block=True)
   written = params.get("NAPLateralEngagementMode")
-  if parse_engagement_mode(written) != mode:
+  if not _canonical_mode_readback_matches(written, mode):
     return 0
   params.put_bool("NAPLateralEngagementModeMigrated", True, block=True)
   return mode
@@ -110,10 +123,33 @@ def snapshot_param_list(params) -> list[dict[str, Any]]:
     "MadsMainCruiseAllowed",
     "MadsUnifiedEngagementMode",
     "MadsSteeringMode",
+    "TeslaMadsScreenButton",
+    "TeslaCoopSteering",
   ]
   return [{k: params.get(k)} for k in keys]
 
 
+def resolve_card_boot(params, environ=None) -> tuple[PreAPBootSelection, str | None]:
+  """Production card fingerprinting inputs. Does not inject a final get_car candidate."""
+  if environ is None:
+    environ = os.environ
+  bundle = params.get("CarPlatformBundle") or {}
+  if not isinstance(bundle, dict):
+    bundle = {}
+  bundle_platform = bundle.get("platform", None)
+  seed_preap_installer(params, bundle_platform)
+  selection = resolve_preap_boot_selection(
+    bundle_platform=bundle_platform,
+    env_fingerprint=environ.get("FINGERPRINT") or None,
+    nap_force_preap=params.get("NAPForcePreAP"),
+  )
+  if selection.lock_preap:
+    migrate_preap_engagement_mode(params)
+    force_mads_required(params)
+  fixed_fingerprint = selection.candidate if selection.candidate is not None else bundle_platform
+  return selection, fixed_fingerprint
+
+
 def new_preap_intent_epoch() -> int:
   value = int.from_bytes(os.urandom(8), "little")
   return value or 1
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
index bc9de18a94c9fa..53dfa091c213c6 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
@@ -1,149 +1,187 @@
+import os
 import unittest
-from pathlib import Path
-from unittest.mock import MagicMock
+from unittest.mock import MagicMock, patch
 
+from opendbc.car import structs
+from opendbc.car.car_helpers import get_car
+from opendbc.car.tesla.preap.boot import PREAP_PLATFORM
 from openpilot.sunnypilot.selfdrive.car.preap_boot import (
-  PREAP_PLATFORM,
   migrate_preap_engagement_mode,
-  resolve_preap_boot_selection,
-  seed_preap_installer,
+  resolve_card_boot,
   snapshot_param_list,
 )
 
 
+class FakeParams:
+  def __init__(self, initial=None):
+    self.store = dict(initial or {})
+
+  def get(self, key, return_default=False):
+    return self.store.get(key)
+
+  def put(self, key, value, block=True):
+    self.store[key] = value
+
+  def put_bool(self, key, value, block=True):
+    self.store[key] = bool(value)
+
+
+def _idle_can(wait_for_one=False):
+  return [[]]
+
+
+def _send(_msgs):
+  return None
+
+
+def _obd(_enabled):
+  return None
+
+
+def _get_car(selection, params, extra_params=None):
+  init = snapshot_param_list(params)
+  if extra_params:
+    init.extend(extra_params)
+  return get_car(_idle_can, _send, _obd, False, False, None,
+                 selection.candidate if selection.candidate is not None else None,
+                 init, False, selection.skip_fw_query)
+
+
 class TestPreAPBootSelection(unittest.TestCase):
   def test_explicit_bundle_wins_over_force(self):
-    sel = resolve_preap_boot_selection(
-      bundle_platform="TESLA_MODEL_3",
-      env_fingerprint=None,
-      nap_force_preap=True,
-    )
+    params = FakeParams({"CarPlatformBundle": {"platform": "TESLA_MODEL_3"}, "NAPForcePreAP": True})
+    sel, fingerprint = resolve_card_boot(params, environ={})
     self.assertEqual(sel.candidate, "TESLA_MODEL_3")
+    self.assertEqual(fingerprint, "TESLA_MODEL_3")
     self.assertEqual(sel.source, "explicit")
     self.assertFalse(sel.lock_preap)
-    self.assertFalse(sel.skip_fw_query)
+    self.assertIsNone(sel.skip_fw_query)
 
   def test_env_override_locks_preap_and_skips_fw(self):
-    sel = resolve_preap_boot_selection(
-      bundle_platform=None,
-      env_fingerprint=PREAP_PLATFORM,
-      nap_force_preap=False,
-    )
+    params = FakeParams()
+    sel, fingerprint = resolve_card_boot(params, environ={"FINGERPRINT": PREAP_PLATFORM})
     self.assertEqual(sel.candidate, PREAP_PLATFORM)
+    self.assertEqual(fingerprint, PREAP_PLATFORM)
     self.assertTrue(sel.lock_preap)
     self.assertTrue(sel.skip_fw_query)
 
   def test_persisted_force_true(self):
-    sel = resolve_preap_boot_selection(nap_force_preap=True)
+    params = FakeParams({"NAPForcePreAP": True})
+    sel, fingerprint = resolve_card_boot(params, environ={})
     self.assertEqual(sel.candidate, PREAP_PLATFORM)
     self.assertEqual(sel.source, "nap_force_preap")
     self.assertTrue(sel.skip_fw_query)
 
   def test_absent_or_false_uses_normal_flow(self):
     for value in (None, False, 0, "0", ""):
-      sel = resolve_preap_boot_selection(nap_force_preap=value)
+      params = FakeParams({} if value is None else {"NAPForcePreAP": value})
+      sel, fingerprint = resolve_card_boot(params, environ={})
       self.assertIsNone(sel.candidate)
+      self.assertIsNone(fingerprint)
       self.assertEqual(sel.source, "normal")
       self.assertFalse(sel.lock_preap)
-      self.assertFalse(sel.skip_fw_query)
+      self.assertIsNone(sel.skip_fw_query)
 
   def test_installer_seeds_only_when_absent(self):
-    params = MagicMock()
-    params.get.return_value = None
-    self.assertTrue(seed_preap_installer(params, PREAP_PLATFORM))
-    params.put_bool.assert_called_once_with("NAPForcePreAP", True, block=True)
+    params = FakeParams({"CarPlatformBundle": {"platform": PREAP_PLATFORM}})
+    sel, fingerprint = resolve_card_boot(params, environ={})
+    self.assertTrue(params.get("NAPForcePreAP"))
+    self.assertEqual(sel.candidate, PREAP_PLATFORM)
+    self.assertTrue(sel.lock_preap)
 
-    params = MagicMock()
-    params.get.return_value = False
-    self.assertFalse(seed_preap_installer(params, PREAP_PLATFORM))
+    params = FakeParams({"CarPlatformBundle": {"platform": PREAP_PLATFORM}, "NAPForcePreAP": False})
+    sel, fingerprint = resolve_card_boot(params, environ={})
+    self.assertFalse(params.get("NAPForcePreAP"))
+    # Explicit Pre-AP bundle still locks before FW; False only blocks installer reseeding.
+    self.assertEqual(sel.candidate, PREAP_PLATFORM)
+    self.assertEqual(sel.source, "explicit")
+    self.assertTrue(sel.lock_preap)
 
-    params = MagicMock()
-    params.get.return_value = None
-    self.assertFalse(seed_preap_installer(params, "TESLA_MODEL_3"))
+    params = FakeParams({"CarPlatformBundle": {"platform": "TESLA_MODEL_3"}})
+    sel, fingerprint = resolve_card_boot(params, environ={})
+    self.assertIsNone(params.get("NAPForcePreAP"))
+    self.assertEqual(sel.candidate, "TESLA_MODEL_3")
+    self.assertFalse(sel.lock_preap)
 
   def test_migrate_main_uem_once(self):
+    params = FakeParams({"MadsMainCruiseAllowed": True, "MadsUnifiedEngagementMode": False})
+    self.assertEqual(migrate_preap_engagement_mode(params), 0)
+    self.assertEqual(params.get("NAPLateralEngagementMode"), 0)
+    self.assertTrue(params.get("NAPLateralEngagementModeMigrated"))
+
+    params.store["MadsMainCruiseAllowed"] = False
+    params.store["MadsUnifiedEngagementMode"] = True
+    self.assertEqual(migrate_preap_engagement_mode(params), 0)
+
+    params.store.pop("NAPLateralEngagementMode")
+    params.store.pop("NAPLateralEngagementModeMigrated", None)
+    self.assertEqual(migrate_preap_engagement_mode(params), 1)
+
+    params.store.pop("NAPLateralEngagementMode")
+    params.store["MadsMainCruiseAllowed"] = False
+    params.store["MadsUnifiedEngagementMode"] = False
+    self.assertEqual(migrate_preap_engagement_mode(params), 2)
+
+    params.store.pop("NAPLateralEngagementMode")
+    params.store.pop("NAPLateralEngagementModeMigrated", None)
+    params.store["MadsMainCruiseAllowed"] = True
+    params.store["MadsUnifiedEngagementMode"] = True
+    self.assertEqual(migrate_preap_engagement_mode(params), 0)
+
+    params = FakeParams()
+    self.assertEqual(migrate_preap_engagement_mode(params), 0)
+    self.assertTrue(params.get("NAPLateralEngagementModeMigrated"))
+
+  def test_mode0_migration_requires_present_readback(self):
     stored = {}
 
     def get(key):
       return stored.get(key)
 
     def put(key, value, block=True):
+      # Simulate a failed canonical persist: write is attempted but not readable.
+      if key == "NAPLateralEngagementMode":
+        return
       stored[key] = value
 
     params = MagicMock()
     params.get.side_effect = get
     params.put.side_effect = put
     params.put_bool.side_effect = lambda k, v, block=True: stored.__setitem__(k, v)
-
-    stored["MadsMainCruiseAllowed"] = True
-    stored["MadsUnifiedEngagementMode"] = False
-    self.assertEqual(migrate_preap_engagement_mode(params), 0)
-    self.assertEqual(stored["NAPLateralEngagementMode"], 0)
-    self.assertTrue(stored["NAPLateralEngagementModeMigrated"])
-
-    stored["MadsMainCruiseAllowed"] = False
-    stored["MadsUnifiedEngagementMode"] = True
-    # canonical already present: do not reread pair
     self.assertEqual(migrate_preap_engagement_mode(params), 0)
+    self.assertNotIn("NAPLateralEngagementModeMigrated", stored)
+    self.assertNotIn("NAPLateralEngagementMode", stored)
 
-    stored.pop("NAPLateralEngagementMode")
-    stored.pop("NAPLateralEngagementModeMigrated")
-    self.assertEqual(migrate_preap_engagement_mode(params), 1)
-
-    stored.pop("NAPLateralEngagementMode")
-    stored["MadsMainCruiseAllowed"] = False
-    stored["MadsUnifiedEngagementMode"] = False
-    self.assertEqual(migrate_preap_engagement_mode(params), 2)
-
-    stored.pop("NAPLateralEngagementMode")
-    stored.pop("NAPLateralEngagementModeMigrated")
-    stored["MadsMainCruiseAllowed"] = True
-    stored["MadsUnifiedEngagementMode"] = True
-    self.assertEqual(migrate_preap_engagement_mode(params), 0)
-
-    stored.clear()
-    self.assertEqual(migrate_preap_engagement_mode(params), 0)
-
-  def test_napadaptiveaccel_not_registered(self):
-    keys = Path("openpilot/common/params_keys.h").read_text() if Path("openpilot/common/params_keys.h").exists() else \
-      Path("/home/jack/projects/personal/notautopilot/.worktrees/naponsp-port/openpilot/common/params_keys.h").read_text()
-    self.assertNotIn('{"NAPAdaptiveAccel"', keys)
-    self.assertIn('{"NAPForcePreAP"', keys)
-    self.assertIn('{"NAPLateralEngagementMode"', keys)
-
-
-class TestPreAPCardWiring(unittest.TestCase):
-  def test_card_wires_selection_before_fw_query(self):
-    card = Path("/home/jack/projects/personal/notautopilot/.worktrees/naponsp-port/openpilot/selfdrive/car/card.py").read_text()
-    helpers = Path("/home/jack/projects/personal/notautopilot/.worktrees/naponsp-port/opendbc_repo/opendbc/car/car_helpers.py").read_text()
-    self.assertIn("preap_boot.seed_preap_installer", card)
-    self.assertIn("preap_boot.resolve_preap_boot_selection", card)
-    self.assertIn("selection.skip_fw_query", card)
-    self.assertLess(card.index("preap_boot.resolve_preap_boot_selection"), card.index("get_car("))
-    self.assertLess(card.index("seed_preap_installer"), card.index("resolve_preap_boot_selection"))
-    self.assertIn("skip_fw_query: bool | None = None", helpers)
-    self.assertNotIn("candidate=PREAP_PLATFORM", card.split("get_car")[1][:400])
-
-
-class TestPreAPSnapshotKeys(unittest.TestCase):
-  def test_snapshot_does_not_include_adaptive_accel(self):
-    params = MagicMock()
-    params.get.return_value = None
-    blob = snapshot_param_list(params)
-    keys = {k for d in blob for k in d}
+  def test_napadaptiveaccel_not_in_boot_snapshot(self):
+    keys = {k for d in snapshot_param_list(FakeParams()) for k in d}
     self.assertNotIn("NAPAdaptiveAccel", keys)
-    self.assertIn("NAPForcePreAP", keys)
     self.assertIn("NAPLateralEngagementMode", keys)
-    self.assertIn("NAPPedalEnabled", keys)
-    self.assertIn("NAPRadarEnabled", keys)
-    self.assertIn("NAPFollowDistance", keys)
-    self.assertIn("MadsSteeringMode", keys)
-
-  def test_intent_epoch_is_nonzero(self):
-    from openpilot.sunnypilot.selfdrive.car.preap_boot import new_preap_intent_epoch
-    epochs = {new_preap_intent_epoch() for _ in range(8)}
-    self.assertTrue(all(value != 0 for value in epochs))
-    self.assertGreaterEqual(len(epochs), 7)
+    self.assertIn("NAPForcePreAP", keys)
+
+  def test_get_car_from_raw_bundle_and_params(self):
+    params = FakeParams({"CarPlatformBundle": {"platform": PREAP_PLATFORM}})
+    sel, fingerprint = resolve_card_boot(params, environ={})
+    CI = _get_car(sel, params)
+    self.assertEqual(CI.CP.carFingerprint, PREAP_PLATFORM)
+    self.assertEqual(fingerprint, PREAP_PLATFORM)
+    self.assertEqual(CI.CP.safetyConfigs[0].safetyModel, structs.CarParams.SafetyModel.noOutput)
+
+    params = FakeParams({"CarPlatformBundle": {"platform": "TESLA_MODEL_3"}})
+    sel, fingerprint = resolve_card_boot(params, environ={})
+    CI = _get_car(sel, params)
+    self.assertEqual(CI.CP.carFingerprint, "TESLA_MODEL_3")
+    self.assertNotEqual(CI.CP.carFingerprint, PREAP_PLATFORM)
+
+  def test_normal_skip_fw_query_environment_fallback(self):
+    params = FakeParams()
+    sel, _fingerprint = resolve_card_boot(params, environ={})
+    self.assertIsNone(sel.skip_fw_query)
+    with patch.dict(os.environ, {"SKIP_FW_QUERY": "1"}, clear=False):
+      with patch("opendbc.car.car_helpers.get_vin") as get_vin:
+        CI = get_car(_idle_can, _send, _obd, False, False, None, "TESLA_MODEL_3",
+                     snapshot_param_list(params), False, sel.skip_fw_query)
+        get_vin.assert_not_called()
+        self.assertEqual(CI.CP.carFingerprint, "TESLA_MODEL_3")
 
 
 if __name__ == "__main__":
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py
index 33fae2987cdfc7..27cec628894300 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py
@@ -1,24 +1,74 @@
 import unittest
 
-from pathlib import Path
+from openpilot.cereal import log
+from opendbc.car import structs
+from opendbc.safety.tests.common import CANPackerSafety
+from opendbc.safety.tests.libsafety import libsafety_py
+from openpilot.system.manager.process_config import only_onroad, procs
+
+try:
+  libsafety_py.ffi.cdef("void ignition_can_1hz_tick(void);")
+except Exception:
+  pass
+
+
+def _panda_state(*, ignition_can=False, ignition_line=False, panda_type=None):
+  ps = log.PandaState.new_message()
+  ps.ignitionCan = ignition_can
+  ps.ignitionLine = ignition_line
+  ps.pandaType = log.PandaState.PandaType.uno if panda_type is None else panda_type
+  return ps
+
+
+def _ignition_from_panda_states(panda_states):
+  # Production hardwared/manager predicate: any non-unknown panda with line or CAN ignition.
+  return any(ps.ignitionLine or ps.ignitionCan for ps in panda_states if ps.pandaType != log.PandaState.PandaType.unknown)
 
 
 class TestPreAPIgnitionOnroadContract(unittest.TestCase):
-  def test_pandad_and_manager_treat_ignition_can_as_onroad(self):
-    root = Path("/home/jack/projects/personal/notautopilot/.worktrees/naponsp-port/openpilot")
-    pandad = (root / "selfdrive/pandad/pandad.cc").read_text()
-    manager = (root / "system/manager/manager.py").read_text()
-    self.assertIn("health.ignition_can_pkt", pandad)
-    self.assertIn("ignition_line_pkt", pandad)
-    self.assertIn("ps.ignitionLine or ps.ignitionCan", manager)
-
-    def harness_onroad(ignition_line: bool, ignition_can: bool, always_offroad: bool = False) -> bool:
-      return ((ignition_line or ignition_can) and not always_offroad)
-
-    self.assertTrue(harness_onroad(False, True))
-    self.assertFalse(harness_onroad(False, False))
-    self.assertTrue(harness_onroad(True, False))
-    self.assertFalse(harness_onroad(True, True, always_offroad=True))
+  def setUp(self):
+    self.safety = libsafety_py.libsafety
+    self.safety.init_tests()
+    for _ in range(4):
+      self.safety.ignition_can_1hz_tick()
+    self.safety.init_tests()
+    self.packer = CANPackerSafety("tesla_preap")
+
+  def _msg(self, counter, drive_rail, bus=0):
+    return self.packer.make_can_msg_safety(
+      "GTW_status", bus, {"GTW_statusCounter": counter, "GTW_driveRailReq": int(drive_rail)},
+    )
+
+  def test_valid_0x348_sets_pandastate_and_starts_card(self):
+    self.safety.ignition_can_hook(self._msg(0, 1))
+    self.safety.ignition_can_hook(self._msg(1, 1))
+    self.assertTrue(self.safety.get_ignition_can())
+
+    ps = _panda_state(ignition_can=bool(self.safety.get_ignition_can()))
+    started = _ignition_from_panda_states([ps])
+    self.assertTrue(started)
+
+    card = next(proc for proc in procs if proc.name == "card")
+    self.assertIs(card.should_run, only_onroad)
+    self.assertTrue(only_onroad(started, None, structs.CarParams()))
+
+  def test_ignition_off_stops_card(self):
+    self.safety.ignition_can_hook(self._msg(0, 1))
+    self.safety.ignition_can_hook(self._msg(1, 1))
+    self.safety.ignition_can_hook(self._msg(2, 0))
+    self.safety.ignition_can_hook(self._msg(3, 0))
+    self.assertFalse(self.safety.get_ignition_can())
+    ps = _panda_state(ignition_can=bool(self.safety.get_ignition_can()))
+    started = _ignition_from_panda_states([ps])
+    card = next(proc for proc in procs if proc.name == "card")
+    self.assertFalse(only_onroad(started, None, structs.CarParams()))
+    self.assertIs(card.should_run, only_onroad)
+
+  def test_unknown_panda_cannot_start_card(self):
+    ps = _panda_state(ignition_can=True, panda_type=log.PandaState.PandaType.unknown)
+    started = _ignition_from_panda_states([ps])
+    self.assertFalse(started)
+    self.assertFalse(only_onroad(started, None, structs.CarParams()))
 
 
 if __name__ == "__main__":
diff --git a/openpilot/system/manager/tests/__init__.py b/openpilot/system/manager/tests/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/openpilot/system/manager/tests/test_preap_ignition_card.py b/openpilot/system/manager/tests/test_preap_ignition_card.py
new file mode 100644
index 00000000000000..45ff591359250c
--- /dev/null
+++ b/openpilot/system/manager/tests/test_preap_ignition_card.py
@@ -0,0 +1,29 @@
+import unittest
+
+from openpilot.cereal import log
+from opendbc.car import structs
+from openpilot.system.manager.process_config import only_onroad, procs
+
+
+class TestPreAPIgnitionCardStart(unittest.TestCase):
+  def test_card_is_onroad_only(self):
+    card = next(proc for proc in procs if proc.name == "card")
+    self.assertEqual(card.module, "openpilot.selfdrive.car.card")
+    self.assertIs(card.should_run, only_onroad)
+    self.assertTrue(only_onroad(True, None, structs.CarParams()))
+    self.assertFalse(only_onroad(False, None, structs.CarParams()))
+
+  def test_manager_ignition_uses_pandaState_ignitionCan(self):
+    ps = log.PandaState.new_message()
+    ps.ignitionCan = True
+    ps.ignitionLine = False
+    ps.pandaType = log.PandaState.PandaType.uno
+    ignition = any(p.ignitionLine or p.ignitionCan for p in [ps] if p.pandaType != log.PandaState.PandaType.unknown)
+    self.assertTrue(ignition)
+    ps.ignitionCan = False
+    ignition = any(p.ignitionLine or p.ignitionCan for p in [ps] if p.pandaType != log.PandaState.PandaType.unknown)
+    self.assertFalse(ignition)
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/panda b/panda
index 61b050f1bd36fa..1661caabb65380 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 61b050f1bd36fad04d4ceccca8a72c92ee1422df
+Subproject commit 1661caabb6538001fea3f4fcf9148fa3c29ca9b4

From edbf83bef6f0466d353ad9329b378c3e84274de7 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Thu, 13 Aug 2026 19:36:54 +0000
Subject: [PATCH 1380/1434] Update opendbc safety test harness

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index ebc03d08aae133..421cc1e6609e6a 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit ebc03d08aae133dc454338f7c92db587b5b679d1
+Subproject commit 421cc1e6609e6a9d3ca03eef6b683bae6b3858c8

From 35b1ddaabcea52a579abaf80fe702f859bf51997 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Thu, 13 Aug 2026 19:44:07 +0000
Subject: [PATCH 1381/1434] tesla: use central ignition tick cdef in Pre-AP
 tests

Drop per-file try/except cdef now that libsafety_py exposes
ignition_can_1hz_tick, and point opendbc at the 1Hz isolation fix.
---
 opendbc_repo                                                 | 2 +-
 .../selfdrive/pandad/tests/test_preap_ignition_pandastate.py | 5 -----
 .../selfdrive/car/tests/test_preap_ignition_onroad.py        | 5 -----
 3 files changed, 1 insertion(+), 11 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 421cc1e6609e6a..ad6ead4fdd901a 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 421cc1e6609e6a9d3ca03eef6b683bae6b3858c8
+Subproject commit ad6ead4fdd901aee6e1f2e6c0ea24a66fa7bef55
diff --git a/openpilot/selfdrive/pandad/tests/test_preap_ignition_pandastate.py b/openpilot/selfdrive/pandad/tests/test_preap_ignition_pandastate.py
index 0df448bfb061bb..c958a96fe9960d 100644
--- a/openpilot/selfdrive/pandad/tests/test_preap_ignition_pandastate.py
+++ b/openpilot/selfdrive/pandad/tests/test_preap_ignition_pandastate.py
@@ -6,11 +6,6 @@
 from opendbc.safety.tests.libsafety import libsafety_py
 from openpilot.system.manager.process_config import only_onroad, procs
 
-try:
-  libsafety_py.ffi.cdef("void ignition_can_1hz_tick(void);")
-except Exception:
-  pass
-
 
 def _panda_state(ignition_can):
   ps = log.PandaState.new_message()
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py
index 27cec628894300..4bbe32fe61a086 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py
@@ -6,11 +6,6 @@
 from opendbc.safety.tests.libsafety import libsafety_py
 from openpilot.system.manager.process_config import only_onroad, procs
 
-try:
-  libsafety_py.ffi.cdef("void ignition_can_1hz_tick(void);")
-except Exception:
-  pass
-
 
 def _panda_state(*, ignition_can=False, ignition_line=False, panda_type=None):
   ps = log.PandaState.new_message()

From 751c0686d40e243bf5bcb6935778efdad2fa0119 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Thu, 13 Aug 2026 19:47:38 +0000
Subject: [PATCH 1382/1434] Update opendbc ignition test cleanup

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index ad6ead4fdd901a..63967d4af7b899 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit ad6ead4fdd901aee6e1f2e6c0ea24a66fa7bef55
+Subproject commit 63967d4af7b8990611b05e4fe99b0a04e295adfd

From 6b05648898031c472230cccdb54e28edaa01f6d7 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Thu, 13 Aug 2026 21:10:48 +0000
Subject: [PATCH 1383/1434] tesla_preap: close boot authority gaps

---
 opendbc_repo                                  |  2 +-
 openpilot/cereal/custom.capnp                 |  1 +
 .../tests/test_preap_ignition_pandastate.py   |  3 ++-
 openpilot/sunnypilot/mads/helpers.py          |  2 ++
 openpilot/sunnypilot/mads/mads.py             |  6 ++++--
 .../tests/test_preap_mads_capabilities.py     | 20 ++++++++++++++-----
 .../car/tests/test_preap_ignition_onroad.py   | 10 ++++------
 .../selfdrive/car/tests/test_preap_schema.py  |  3 +++
 openpilot/system/hardware/hardwared.py        | 10 +++++++++-
 9 files changed, 41 insertions(+), 16 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 63967d4af7b899..7bb5e9de9cff91 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 63967d4af7b8990611b05e4fe99b0a04e295adfd
+Subproject commit 7bb5e9de9cff912c37b333b1d7709eb070d6ebfa
diff --git a/openpilot/cereal/custom.capnp b/openpilot/cereal/custom.capnp
index 0cd58b37563a39..5a05319c197fdd 100644
--- a/openpilot/cereal/custom.capnp
+++ b/openpilot/cereal/custom.capnp
@@ -374,6 +374,7 @@ struct CarParamsSP @0x80ae746ee2596b11 {
   madsCapabilityContractVersion @13 :UInt8;
   madsHandsOnPauseAvailable @14 :Bool;
   preapLateralEngagementMode @15 :PreapLateralEngagementMode;
+  radarOffset @16 :Float32;
 
   struct NeuralNetworkLateralControl {
     model @0 :Model;
diff --git a/openpilot/selfdrive/pandad/tests/test_preap_ignition_pandastate.py b/openpilot/selfdrive/pandad/tests/test_preap_ignition_pandastate.py
index c958a96fe9960d..1b4b556d37283c 100644
--- a/openpilot/selfdrive/pandad/tests/test_preap_ignition_pandastate.py
+++ b/openpilot/selfdrive/pandad/tests/test_preap_ignition_pandastate.py
@@ -5,6 +5,7 @@
 from opendbc.safety.tests.common import CANPackerSafety
 from opendbc.safety.tests.libsafety import libsafety_py
 from openpilot.system.manager.process_config import only_onroad, procs
+from openpilot.system.hardware.hardwared import ignition_from_panda_states
 
 
 def _panda_state(ignition_can):
@@ -34,7 +35,7 @@ def test_ignition_can_pkt_feeds_pandastate_ignitionCan(self):
     self.safety.ignition_can_hook(self._msg(1, 1))
     ps = _panda_state(bool(self.safety.get_ignition_can()))
     self.assertTrue(ps.ignitionCan)
-    started = any(p.ignitionLine or p.ignitionCan for p in [ps] if p.pandaType != log.PandaState.PandaType.unknown)
+    started = ignition_from_panda_states([ps])
     card = next(proc for proc in procs if proc.name == "card")
     self.assertTrue(only_onroad(started, None, structs.CarParams()))
     self.assertIs(card.should_run, only_onroad)
diff --git a/openpilot/sunnypilot/mads/helpers.py b/openpilot/sunnypilot/mads/helpers.py
index b628dc3988c23c..caa3d6d4ab11b2 100644
--- a/openpilot/sunnypilot/mads/helpers.py
+++ b/openpilot/sunnypilot/mads/helpers.py
@@ -142,6 +142,8 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
   if mads_partial_support:
     params.put("MadsSteeringMode", 2, block=True)
     params.put_bool("MadsUnifiedEngagementMode", True, block=True)
+    CP_SP.madsUnifiedEngagementMode = True
+    CP_SP.madsSteeringMode = structs.CarParamsSP.MadsSteeringMode.disengage
 
   # no ACC MAIN button for these brands
   if caps.no_main_cruise:
diff --git a/openpilot/sunnypilot/mads/mads.py b/openpilot/sunnypilot/mads/mads.py
index 980e3930031256..6f133a5abc6229 100644
--- a/openpilot/sunnypilot/mads/mads.py
+++ b/openpilot/sunnypilot/mads/mads.py
@@ -50,9 +50,11 @@ def __init__(self, selfdrive):
 
     caps = resolve_mads_capabilities(self.CP, self.CP_SP, self.params)
     self.no_main_cruise = caps.no_main_cruise
-    self._freeze_mads_snapshot = getattr(self.CP_SP, "madsCapabilityContractVersion", 0) >= 1
+    self._freeze_mads_snapshot = (
+      caps.mads_required and getattr(self.CP_SP, "madsCapabilityContractVersion", 0) >= 1
+    )
 
-    # read params on init. Version-1 / required-MADS consume only the frozen typed snapshot.
+    # Required-MADS platforms consume only the frozen typed snapshot.
     self.enabled_toggle = True if caps.mads_required else self.params.get_bool("Mads")
     self.steering_mode_on_brake = read_steering_mode_param(self.CP, self.CP_SP, self.params)
     if self._freeze_mads_snapshot:
diff --git a/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py b/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py
index 0bc6faca70c6f2..6151c555eff3bc 100644
--- a/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py
+++ b/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py
@@ -119,7 +119,7 @@ def test_version1_preap_does_not_emit_lkas_from_cruise_available(self):
     mads.read_params()
     self.assertEqual(mads.main_enabled_toggle, frozen_main)
 
-  def test_version0_stateful_main_still_uses_params(self):
+  def test_nonrequired_version1_keeps_live_params(self):
     from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
     from openpilot.selfdrive.selfdrived.events import Events
     from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
@@ -127,8 +127,11 @@ def test_version0_stateful_main_still_uses_params(self):
     CP = structs.CarParams()
     CP.brand = "hyundai"
     CP_SP = structs.CarParamsSP()
+    CP_SP.madsCapabilityContractVersion = 1
+    CP_SP.madsRequired = False
+    values = {"Mads": True, "MadsMainCruiseAllowed": True, "MadsUnifiedEngagementMode": False}
     params = MagicMock()
-    params.get_bool.side_effect = lambda k: {"Mads": True, "MadsMainCruiseAllowed": True}.get(k, False)
+    params.get_bool.side_effect = lambda key: values.get(key, False)
     params.get.return_value = 0
     sd = MagicMock()
     sd.CP = CP
@@ -144,12 +147,19 @@ def test_version0_stateful_main_still_uses_params(self):
     sd.CS_prev = prev
     sd.sm = {"pandaStates": []}
     mads = ModularAssistiveDrivingSystem(sd)
-    self.assertFalse(mads.no_main_cruise)
+    self.assertTrue(mads.main_enabled_toggle)
+    self.assertFalse(mads.unified_engagement_mode)
+
+    values["MadsMainCruiseAllowed"] = False
+    values["MadsUnifiedEngagementMode"] = True
+    mads.read_params()
+    self.assertFalse(mads.main_enabled_toggle)
+    self.assertTrue(mads.unified_engagement_mode)
+
     cs = structs.CarState()
     cs.cruiseState.available = True
     mads.update(cs)
-    self.assertTrue(sd.events_sp.has(EventNameSP.lkasEnable))
-
+    self.assertFalse(sd.events_sp.has(EventNameSP.lkasEnable))
 
 
 if __name__ == "__main__":
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py
index 4bbe32fe61a086..89f0474e958982 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py
@@ -5,6 +5,7 @@
 from opendbc.safety.tests.common import CANPackerSafety
 from opendbc.safety.tests.libsafety import libsafety_py
 from openpilot.system.manager.process_config import only_onroad, procs
+from openpilot.system.hardware.hardwared import ignition_from_panda_states
 
 
 def _panda_state(*, ignition_can=False, ignition_line=False, panda_type=None):
@@ -15,9 +16,6 @@ def _panda_state(*, ignition_can=False, ignition_line=False, panda_type=None):
   return ps
 
 
-def _ignition_from_panda_states(panda_states):
-  # Production hardwared/manager predicate: any non-unknown panda with line or CAN ignition.
-  return any(ps.ignitionLine or ps.ignitionCan for ps in panda_states if ps.pandaType != log.PandaState.PandaType.unknown)
 
 
 class TestPreAPIgnitionOnroadContract(unittest.TestCase):
@@ -40,7 +38,7 @@ def test_valid_0x348_sets_pandastate_and_starts_card(self):
     self.assertTrue(self.safety.get_ignition_can())
 
     ps = _panda_state(ignition_can=bool(self.safety.get_ignition_can()))
-    started = _ignition_from_panda_states([ps])
+    started = ignition_from_panda_states([ps])
     self.assertTrue(started)
 
     card = next(proc for proc in procs if proc.name == "card")
@@ -54,14 +52,14 @@ def test_ignition_off_stops_card(self):
     self.safety.ignition_can_hook(self._msg(3, 0))
     self.assertFalse(self.safety.get_ignition_can())
     ps = _panda_state(ignition_can=bool(self.safety.get_ignition_can()))
-    started = _ignition_from_panda_states([ps])
+    started = ignition_from_panda_states([ps])
     card = next(proc for proc in procs if proc.name == "card")
     self.assertFalse(only_onroad(started, None, structs.CarParams()))
     self.assertIs(card.should_run, only_onroad)
 
   def test_unknown_panda_cannot_start_card(self):
     ps = _panda_state(ignition_can=True, panda_type=log.PandaState.PandaType.unknown)
-    started = _ignition_from_panda_states([ps])
+    started = ignition_from_panda_states([ps])
     self.assertFalse(started)
     self.assertFalse(only_onroad(started, None, structs.CarParams()))
 
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py
index 5c1448248bf745..2c040f93cfd3f4 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py
@@ -50,6 +50,7 @@ def test_field_ordinal_pins(self):
     self.assertEqual(cp["madsCapabilityContractVersion"], 13)
     self.assertEqual(cp["madsHandsOnPauseAvailable"], 14)
     self.assertEqual(cp["preapLateralEngagementMode"], 15)
+    self.assertEqual(cp["radarOffset"], 16)
 
     cs = _ordinals(custom.CarStateSP.schema)
     self.assertEqual(cs["speedLimit"], 0)
@@ -87,6 +88,7 @@ def test_version1_round_trip_and_old_schema_reads_old_fields(self):
     cp.madsRequired = True
     cp.madsMainCruiseInputKind = structs.CarParamsSP.MadsMainCruiseInputKind.momentary
     cp.preapLateralEngagementMode = structs.CarParamsSP.PreapLateralEngagementMode.cruiseCoupled
+    cp.radarOffset = 1.25
     cp.neuralNetworkLateralControl.model.name = "BAR"
     raw = convert_to_capnp(cp).to_bytes()
     with custom.CarParamsSP.from_bytes(raw) as msg:
@@ -96,6 +98,7 @@ def test_version1_round_trip_and_old_schema_reads_old_fields(self):
       self.assertEqual(msg.madsCapabilityContractVersion, 1)
       self.assertTrue(msg.madsRequired)
       self.assertEqual(msg.neuralNetworkLateralControl.model.name, "BAR")
+      self.assertAlmostEqual(msg.radarOffset, 1.25, places=4)
 
     capnp.remove_import_hook()
     old = capnp.load(str(FIXTURES / "custom_v0.capnp"))
diff --git a/openpilot/system/hardware/hardwared.py b/openpilot/system/hardware/hardwared.py
index e5b3d8020c9bb7..923a6486a0ace5 100755
--- a/openpilot/system/hardware/hardwared.py
+++ b/openpilot/system/hardware/hardwared.py
@@ -141,6 +141,14 @@ def hw_state_thread(end_event, hw_queue):
     time.sleep(DT_HW)
 
 
+def ignition_from_panda_states(panda_states) -> bool:
+  return any(
+    panda_state.ignitionLine or panda_state.ignitionCan
+    for panda_state in panda_states
+    if panda_state.pandaType != log.PandaState.PandaType.unknown
+  )
+
+
 def hardware_thread(end_event, hw_queue) -> None:
   system_stats = LinuxSystemStats()
   pm = messaging.PubMaster(['deviceState'])
@@ -207,7 +215,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     if sm.updated['pandaStates'] and len(pandaStates) > 0:
 
       # Set ignition based on any panda connected
-      onroad_conditions["ignition"] = any(ps.ignitionLine or ps.ignitionCan for ps in pandaStates if ps.pandaType != log.PandaState.PandaType.unknown)
+      onroad_conditions["ignition"] = ignition_from_panda_states(pandaStates)
 
       pandaState = pandaStates[0]
 

From e4e7b67b2854d73d042e5e916c30fd6b86270f56 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Thu, 13 Aug 2026 21:46:29 +0000
Subject: [PATCH 1384/1434] tesla_preap: preserve boot migration state

---
 opendbc_repo                                  |  2 +-
 openpilot/common/params_keys.h                |  4 +--
 .../tests/test_preap_ignition_pandastate.py   | 16 +++++++++---
 .../sunnypilot/selfdrive/car/preap_boot.py    | 25 ++++++++++--------
 .../car/tests/test_preap_boot_selection.py    | 26 +++++++++++++++++++
 .../car/tests/test_preap_ignition_onroad.py   | 22 +++++++++++-----
 6 files changed, 72 insertions(+), 23 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 7bb5e9de9cff91..b650e26ef26bfc 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 7bb5e9de9cff912c37b333b1d7709eb070d6ebfa
+Subproject commit b650e26ef26bfc238ff581a275a99a34e931c302
diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h
index ce717ec5c9c58a..f8057d3ed8c2db 100644
--- a/openpilot/common/params_keys.h
+++ b/openpilot/common/params_keys.h
@@ -229,8 +229,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
 
     // Pre-AP Tesla (NAP) retained keys. Shared sunnypilot leaves NAPForcePreAP
     // absent/false. Do not register NAPAdaptiveAccel.
-    {"NAPForcePreAP", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"NAPLateralEngagementMode", {PERSISTENT | BACKUP, INT, "0"}},
+    {"NAPForcePreAP", {PERSISTENT | BACKUP, BOOL}},
+    {"NAPLateralEngagementMode", {PERSISTENT | BACKUP, INT}},
     {"NAPLateralEngagementModeMigrated", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"NAPFollowDistance", {PERSISTENT | BACKUP, INT, "4"}},
     {"NAPPedalEnabled", {PERSISTENT | BACKUP, BOOL}},
diff --git a/openpilot/selfdrive/pandad/tests/test_preap_ignition_pandastate.py b/openpilot/selfdrive/pandad/tests/test_preap_ignition_pandastate.py
index 1b4b556d37283c..d9ffdaca2e19a3 100644
--- a/openpilot/selfdrive/pandad/tests/test_preap_ignition_pandastate.py
+++ b/openpilot/selfdrive/pandad/tests/test_preap_ignition_pandastate.py
@@ -1,5 +1,7 @@
 import unittest
 
+from panda import Panda
+
 from openpilot.cereal import log
 from opendbc.car import structs
 from opendbc.safety.tests.common import CANPackerSafety
@@ -8,9 +10,17 @@
 from openpilot.system.hardware.hardwared import ignition_from_panda_states
 
 
-def _panda_state(ignition_can):
+HEALTH_STRUCT = Panda.HEALTH_STRUCT
+IGNITION_CAN_INDEX = 9
+
+
+def _panda_state_from_health(ignition_can):
+  health_fields = [0] * len(HEALTH_STRUCT.unpack(bytes(HEALTH_STRUCT.size)))
+  health_fields[IGNITION_CAN_INDEX] = int(ignition_can)
+  health = HEALTH_STRUCT.unpack(HEALTH_STRUCT.pack(*health_fields))
+
   ps = log.PandaState.new_message()
-  ps.ignitionCan = ignition_can
+  ps.ignitionCan = bool(health[IGNITION_CAN_INDEX])
   ps.ignitionLine = False
   ps.pandaType = log.PandaState.PandaType.uno
   return ps
@@ -33,7 +43,7 @@ def _msg(self, counter, drive_rail, bus=0):
   def test_ignition_can_pkt_feeds_pandastate_ignitionCan(self):
     self.safety.ignition_can_hook(self._msg(0, 1))
     self.safety.ignition_can_hook(self._msg(1, 1))
-    ps = _panda_state(bool(self.safety.get_ignition_can()))
+    ps = _panda_state_from_health(self.safety.get_ignition_can())
     self.assertTrue(ps.ignitionCan)
     started = ignition_from_panda_states([ps])
     card = next(proc for proc in procs if proc.name == "card")
diff --git a/openpilot/sunnypilot/selfdrive/car/preap_boot.py b/openpilot/sunnypilot/selfdrive/car/preap_boot.py
index f918090152bab8..261f36b7db802a 100644
--- a/openpilot/sunnypilot/selfdrive/car/preap_boot.py
+++ b/openpilot/sunnypilot/selfdrive/car/preap_boot.py
@@ -76,20 +76,23 @@ def migrate_preap_engagement_mode(params) -> int:
   if canonical is not None:
     return parse_engagement_mode(canonical)
 
-  main = params.get("MadsMainCruiseAllowed")
-  uem = params.get("MadsUnifiedEngagementMode")
-  # Absent legacy pair is not an explicit "both off" — default independent.
-  if main is None and uem is None:
+  if _truthy_force_preap(params.get("NAPLateralEngagementModeMigrated")):
     mode = 0
   else:
-    main_on = main not in (None, False, 0, "0", b"0", "")
-    uem_on = uem not in (None, False, 0, "0", b"0", "")
-    if main_on:
-      mode = 0  # independent
-    elif uem_on:
-      mode = 1  # cruiseCoupled
+    main = params.get("MadsMainCruiseAllowed")
+    uem = params.get("MadsUnifiedEngagementMode")
+    # Absent legacy pair is not an explicit "both off" — default independent.
+    if main is None and uem is None:
+      mode = 0
     else:
-      mode = 2  # longitudinalOnly
+      main_on = main not in (None, False, 0, "0", b"0", "")
+      uem_on = uem not in (None, False, 0, "0", b"0", "")
+      if main_on:
+        mode = 0  # independent
+      elif uem_on:
+        mode = 1  # cruiseCoupled
+      else:
+        mode = 2  # longitudinalOnly
 
   params.put("NAPLateralEngagementMode", int(mode), block=True)
   written = params.get("NAPLateralEngagementMode")
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
index 53dfa091c213c6..53072f94db517b 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
@@ -1,12 +1,14 @@
 import os
 import unittest
 from unittest.mock import MagicMock, patch
+from openpilot.common.params import Params
 
 from opendbc.car import structs
 from opendbc.car.car_helpers import get_car
 from opendbc.car.tesla.preap.boot import PREAP_PLATFORM
 from openpilot.sunnypilot.selfdrive.car.preap_boot import (
   migrate_preap_engagement_mode,
+  seed_preap_installer,
   resolve_card_boot,
   snapshot_param_list,
 )
@@ -48,6 +50,19 @@ def _get_car(selection, params, extra_params=None):
 
 
 class TestPreAPBootSelection(unittest.TestCase):
+  def test_selection_and_mode_have_no_manager_defaults(self):
+    params = Params()
+    self.assertIsNone(params.get_default_value("NAPForcePreAP"))
+    self.assertIsNone(params.get_default_value("NAPLateralEngagementMode"))
+
+    params.put_bool("MadsMainCruiseAllowed", False, block=True)
+    params.put_bool("MadsUnifiedEngagementMode", True, block=True)
+    self.assertEqual(migrate_preap_engagement_mode(params), 1)
+
+    params.remove("NAPForcePreAP")
+    self.assertTrue(seed_preap_installer(params, PREAP_PLATFORM))
+    self.assertTrue(params.get("NAPForcePreAP"))
+
   def test_explicit_bundle_wins_over_force(self):
     params = FakeParams({"CarPlatformBundle": {"platform": "TESLA_MODEL_3"}, "NAPForcePreAP": True})
     sel, fingerprint = resolve_card_boot(params, environ={})
@@ -118,6 +133,7 @@ def test_migrate_main_uem_once(self):
     self.assertEqual(migrate_preap_engagement_mode(params), 1)
 
     params.store.pop("NAPLateralEngagementMode")
+    params.store.pop("NAPLateralEngagementModeMigrated", None)
     params.store["MadsMainCruiseAllowed"] = False
     params.store["MadsUnifiedEngagementMode"] = False
     self.assertEqual(migrate_preap_engagement_mode(params), 2)
@@ -132,6 +148,16 @@ def test_migrate_main_uem_once(self):
     self.assertEqual(migrate_preap_engagement_mode(params), 0)
     self.assertTrue(params.get("NAPLateralEngagementModeMigrated"))
 
+  def test_completed_migration_never_rereads_legacy_pair(self):
+    params = FakeParams({
+      "NAPLateralEngagementModeMigrated": True,
+      "MadsMainCruiseAllowed": False,
+      "MadsUnifiedEngagementMode": True,
+    })
+    self.assertEqual(migrate_preap_engagement_mode(params), 0)
+    self.assertEqual(params.get("NAPLateralEngagementMode"), 0)
+    self.assertTrue(params.get("NAPLateralEngagementModeMigrated"))
+
   def test_mode0_migration_requires_present_readback(self):
     stored = {}
 
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py
index 89f0474e958982..226cc8c6fd3fae 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py
@@ -1,5 +1,7 @@
 import unittest
 
+from panda import Panda
+
 from openpilot.cereal import log
 from opendbc.car import structs
 from opendbc.safety.tests.common import CANPackerSafety
@@ -8,10 +10,18 @@
 from openpilot.system.hardware.hardwared import ignition_from_panda_states
 
 
-def _panda_state(*, ignition_can=False, ignition_line=False, panda_type=None):
+HEALTH_STRUCT = Panda.HEALTH_STRUCT
+IGNITION_CAN_INDEX = 9
+
+
+def _panda_state_from_health(ignition_can, *, panda_type=None):
+  health_fields = [0] * len(HEALTH_STRUCT.unpack(bytes(HEALTH_STRUCT.size)))
+  health_fields[IGNITION_CAN_INDEX] = int(ignition_can)
+  health = HEALTH_STRUCT.unpack(HEALTH_STRUCT.pack(*health_fields))
+
   ps = log.PandaState.new_message()
-  ps.ignitionCan = ignition_can
-  ps.ignitionLine = ignition_line
+  ps.ignitionCan = bool(health[IGNITION_CAN_INDEX])
+  ps.ignitionLine = False
   ps.pandaType = log.PandaState.PandaType.uno if panda_type is None else panda_type
   return ps
 
@@ -37,7 +47,7 @@ def test_valid_0x348_sets_pandastate_and_starts_card(self):
     self.safety.ignition_can_hook(self._msg(1, 1))
     self.assertTrue(self.safety.get_ignition_can())
 
-    ps = _panda_state(ignition_can=bool(self.safety.get_ignition_can()))
+    ps = _panda_state_from_health(self.safety.get_ignition_can())
     started = ignition_from_panda_states([ps])
     self.assertTrue(started)
 
@@ -51,14 +61,14 @@ def test_ignition_off_stops_card(self):
     self.safety.ignition_can_hook(self._msg(2, 0))
     self.safety.ignition_can_hook(self._msg(3, 0))
     self.assertFalse(self.safety.get_ignition_can())
-    ps = _panda_state(ignition_can=bool(self.safety.get_ignition_can()))
+    ps = _panda_state_from_health(self.safety.get_ignition_can())
     started = ignition_from_panda_states([ps])
     card = next(proc for proc in procs if proc.name == "card")
     self.assertFalse(only_onroad(started, None, structs.CarParams()))
     self.assertIs(card.should_run, only_onroad)
 
   def test_unknown_panda_cannot_start_card(self):
-    ps = _panda_state(ignition_can=True, panda_type=log.PandaState.PandaType.unknown)
+    ps = _panda_state_from_health(True, panda_type=log.PandaState.PandaType.unknown)
     started = ignition_from_panda_states([ps])
     self.assertFalse(started)
     self.assertFalse(only_onroad(started, None, structs.CarParams()))

From 3938a284505e20b6f34ca4bedd407da207724ad9 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Thu, 13 Aug 2026 22:52:17 +0000
Subject: [PATCH 1385/1434] tesla_preap: integrate safety health state

---
 opendbc_repo                                                   | 2 +-
 openpilot/cereal/log.capnp                                     | 3 +++
 openpilot/selfdrive/pandad/pandad.cc                           | 3 +++
 .../selfdrive/car/tests/test_preap_boot_selection.py           | 2 +-
 panda                                                          | 2 +-
 5 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index b650e26ef26bfc..1509a8778c8bae 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit b650e26ef26bfc238ff581a275a99a34e931c302
+Subproject commit 1509a8778c8bae1e205f4cb8e6f31d2d6516cd56
diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp
index 1eaaa3098b1fb5..d6653df978856a 100644
--- a/openpilot/cereal/log.capnp
+++ b/openpilot/cereal/log.capnp
@@ -567,6 +567,9 @@ struct PandaState @0xa7649e2575e4591e {
   # reserved for forks building alternate experiences.
   controlsAllowedLateral @38 :Bool;
   controlsAllowedLongitudinal @39 :Bool;
+  steeringControlInhibited @40 :Bool;
+  stockCcReengageCounter @41 :UInt8;
+  stockCcReengageConfirmed @42 :Bool;
 
   enum FaultStatus {
     none @0;
diff --git a/openpilot/selfdrive/pandad/pandad.cc b/openpilot/selfdrive/pandad/pandad.cc
index 250ad5a481e305..812980fc9b37f9 100644
--- a/openpilot/selfdrive/pandad/pandad.cc
+++ b/openpilot/selfdrive/pandad/pandad.cc
@@ -145,6 +145,9 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
   ps.setSoundOutputLevel(health.sound_output_level_pkt);
   ps.setControlsAllowedLateral(health.controls_allowed_lateral_pkt);
   ps.setControlsAllowedLongitudinal(health.controls_allowed_longitudinal_pkt);
+  ps.setSteeringControlInhibited(health.steering_control_inhibited_pkt);
+  ps.setStockCcReengageCounter(health.stock_cc_reengage_counter_pkt);
+  ps.setStockCcReengageConfirmed(health.stock_cc_reengage_confirmed_pkt);
 }
 
 void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const can_health_t &can_health) {
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
index 53072f94db517b..438a43c275942a 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
@@ -190,7 +190,7 @@ def test_get_car_from_raw_bundle_and_params(self):
     CI = _get_car(sel, params)
     self.assertEqual(CI.CP.carFingerprint, PREAP_PLATFORM)
     self.assertEqual(fingerprint, PREAP_PLATFORM)
-    self.assertEqual(CI.CP.safetyConfigs[0].safetyModel, structs.CarParams.SafetyModel.noOutput)
+    self.assertEqual(CI.CP.safetyConfigs[0].safetyModel, structs.CarParams.SafetyModel.teslaPreap)
 
     params = FakeParams({"CarPlatformBundle": {"platform": "TESLA_MODEL_3"}})
     sel, fingerprint = resolve_card_boot(params, environ={})
diff --git a/panda b/panda
index 1661caabb65380..649a6281f4ce9b 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 1661caabb6538001fea3f4fcf9148fa3c29ca9b4
+Subproject commit 649a6281f4ce9b25cf5572b6de7829a7f17df7a0

From 58178e4a9a6c5a0302cca3b9a4d45c121ae9b454 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Thu, 13 Aug 2026 23:55:09 +0000
Subject: [PATCH 1386/1434] tesla preap: integrate intent with MADS

---
 opendbc_repo                                  |   2 +-
 openpilot/selfdrive/car/card.py               |  14 +-
 .../selfdrive/controls/lib/desire_helper.py   |  17 +-
 openpilot/selfdrive/selfdrived/selfdrived.py  |  13 +-
 .../test/process_replay/process_replay.py     |   6 +-
 .../sunnypilot/layouts/settings/steering.py   |   7 +-
 openpilot/sunnypilot/mads/helpers.py          |  49 ++++-
 openpilot/sunnypilot/mads/mads.py             | 117 ++++++++++-
 .../mads/tests/test_preap_hands_on_pause.py   | 198 ++++++++++++++++++
 .../tests/test_preap_mads_capabilities.py     |   6 +
 .../tests/test_preap_mads_required_writes.py  | 110 ++++++++++
 .../sunnypilot/selfdrive/car/car_specific.py  |  11 +-
 .../sunnypilot/selfdrive/car/preap_intent.py  | 102 +++++++++
 .../car/tests/test_preap_card_epoch.py        |  32 +++
 .../selfdrive/car/tests/test_preap_intent.py  |  76 +++++++
 .../car/tests/test_preap_intent_consumer.py   | 159 ++++++++++++++
 .../selfdrive/car/tests/test_preap_schema.py  |   1 +
 .../lib/tests/test_preap_lane_change_tap.py   |  51 +++++
 .../sunnypilot/sunnylink/athena/sunnylinkd.py |   9 +
 .../sunnylink/athena/tests/test_sunnylinkd.py |  10 +
 openpilot/sunnypilot/sunnylink/utils.py       |   2 +
 .../system/ui/sunnypilot/widgets/toggle.py    |   6 +-
 22 files changed, 977 insertions(+), 21 deletions(-)
 create mode 100644 openpilot/sunnypilot/mads/tests/test_preap_hands_on_pause.py
 create mode 100644 openpilot/sunnypilot/mads/tests/test_preap_mads_required_writes.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/preap_intent.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tests/test_preap_card_epoch.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent_consumer.py
 create mode 100644 openpilot/sunnypilot/selfdrive/controls/lib/tests/test_preap_lane_change_tap.py

diff --git a/opendbc_repo b/opendbc_repo
index 1509a8778c8bae..a54be33d78bd96 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 1509a8778c8bae1e205f4cb8e6f31d2d6516cd56
+Subproject commit a54be33d78bd96b812f67b1b9f26939b21d04ef1
diff --git a/openpilot/selfdrive/car/card.py b/openpilot/selfdrive/car/card.py
index e3231a265ee356..3788a7b7dc66de 100755
--- a/openpilot/selfdrive/car/card.py
+++ b/openpilot/selfdrive/car/card.py
@@ -182,6 +182,7 @@ def __init__(self, CI=None, RI=None) -> None:
 
     self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
     self.preap_intent_epoch = preap_boot.new_preap_intent_epoch() if self.CP.carFingerprint == "TESLA_MODEL_S_PREAP" else 0
+    self.preap_intent_seed_pending = self.preap_intent_epoch != 0
 
     self.is_metric = self.params.get_bool("IsMetric")
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
@@ -192,6 +193,16 @@ def __init__(self, CI=None, RI=None) -> None:
     # log fingerprint in sentry
     sunnypilot_interfaces.log_fingerprint(self.CP)
 
+  def stamp_preap_intent_epoch(self, CS_SP: structs.CarStateSP) -> None:
+    if not self.preap_intent_epoch:
+      return
+    if self.preap_intent_seed_pending:
+      CS_SP.preapLateralIntent = structs.CarStateSP.PreapLateralIntent.none
+      CS_SP.preapLongitudinalIntent = structs.CarStateSP.PreapLongitudinalIntent.none
+      CS_SP.preapIntentSequence = 0
+      self.preap_intent_seed_pending = False
+    CS_SP.preapIntentEpoch = self.preap_intent_epoch
+
   def state_update(self) -> tuple[car.CarState, custom.CarStateSP, structs.RadarDataT | None]:
     """carState update loop, driven by can"""
 
@@ -200,8 +211,7 @@ def state_update(self) -> tuple[car.CarState, custom.CarStateSP, structs.RadarDa
 
     # Update carState from CAN
     CS, CS_SP = self.CI.update(can_list)
-    if self.preap_intent_epoch:
-      CS_SP.preapIntentEpoch = self.preap_intent_epoch
+    self.stamp_preap_intent_epoch(CS_SP)
     CS_SP = convert_to_capnp(CS_SP)
 
     # Update radar tracks from CAN
diff --git a/openpilot/selfdrive/controls/lib/desire_helper.py b/openpilot/selfdrive/controls/lib/desire_helper.py
index 334b360a6290fd..b0cb52c2b50784 100644
--- a/openpilot/selfdrive/controls/lib/desire_helper.py
+++ b/openpilot/selfdrive/controls/lib/desire_helper.py
@@ -25,6 +25,7 @@ def __init__(self):
     self.lane_change_timer = 0.0
     self.prev_one_blinker = False
     self.desire = log.Desire.none
+    self.prev_turn_lever = 0
     self.alc = AutoLaneChangeController(self)
     self.lane_turn_controller = LaneTurnController(self)
     self.lane_turn_direction = TurnDirection.none
@@ -40,6 +41,16 @@ def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected=
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
     below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
 
+    lever = getattr(carstate, "turnSignalStalkState", 0)
+    left_tap = lever == 1 and self.prev_turn_lever != 1
+    right_tap = lever == 2 and self.prev_turn_lever != 2
+    self.prev_turn_lever = lever
+
+    opposite_tap = (
+      (self.lane_change_direction == LaneChangeDirection.left and right_tap) or
+      (self.lane_change_direction == LaneChangeDirection.right and left_tap)
+    )
+
     # Lane turn controller update
     self.lane_turn_controller.update_lane_turn(blindspot_left=carstate.leftBlindspot, blindspot_right=carstate.rightBlindspot,
                                                left_blinker=carstate.leftBlinker, right_blinker=carstate.rightBlinker, v_ego=v_ego)
@@ -50,7 +61,11 @@ def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected=
       self.lane_change_direction = LaneChangeDirection.none
       self.lane_change_timer = 0.0
     else:
-      if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
+      if self.lane_change_state != LaneChangeState.off and opposite_tap:
+        self.lane_change_state = LaneChangeState.off
+        self.lane_change_direction = LaneChangeDirection.none
+        self.lane_change_timer = 0.0
+      elif self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
         self.lane_change_state = LaneChangeState.preLaneChange
         self.lane_change_timer = 0.0
         # Initialize lane change direction to prevent UI alert flicker
diff --git a/openpilot/selfdrive/selfdrived/selfdrived.py b/openpilot/selfdrive/selfdrived/selfdrived.py
index 8035b2934e4bc3..cd97e2a4127d6d 100755
--- a/openpilot/selfdrive/selfdrived/selfdrived.py
+++ b/openpilot/selfdrive/selfdrived/selfdrived.py
@@ -92,6 +92,11 @@ def __init__(self, CP=None, CP_SP=None):
 
     # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
     self.car_state_sock = messaging.sub_sock('carState', timeout=20)
+    # Intent records are latched and sequence-numbered, so the newest record
+    # can be consumed even when its companion carState arrives first.
+    self.car_state_sp_sock = messaging.sub_sock('carStateSP', conflate=True)
+    self.cs_fresh = False
+    self.cs_sp_fresh = False
 
     ignore = self.sensor_packets + self.gps_packets + ['alertDebug', 'lateralManeuverPlan'] + ['modelDataV2SP', 'longitudinalPlanSP']
     if SIMULATION:
@@ -122,6 +127,7 @@ def __init__(self, CP=None, CP_SP=None):
       self.params.remove("ExperimentalMode")
 
     self.CS_prev = car.CarState.new_message()
+    self.CS_SP = custom.CarStateSP.new_message()
     self.AM = AlertManager()
     self.events = Events()
 
@@ -254,7 +260,7 @@ def update_events(self, CS):
       car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg()
       self.events.add_from_msg(car_events)
 
-      car_events_sp = self.car_events_sp.update(CS, self.events).to_msg()
+      car_events_sp = self.car_events_sp.update(CS, self.events, self.CS_SP if self.cs_sp_fresh else None).to_msg()
       self.events_sp.add_from_msg(car_events_sp)
 
       if self.CP.notCar:
@@ -500,6 +506,11 @@ def update_events(self, CS):
   def data_sample(self):
     _car_state = messaging.recv_one(self.car_state_sock)
     CS = _car_state.carState if _car_state else self.CS_prev
+    self.cs_fresh = _car_state is not None
+    _car_state_sp = messaging.recv_one_or_none(self.car_state_sp_sock)
+    self.cs_sp_fresh = _car_state_sp is not None
+    if self.cs_sp_fresh:
+      self.CS_SP = _car_state_sp.carStateSP
 
     self.sm.update(0)
 
diff --git a/openpilot/selfdrive/test/process_replay/process_replay.py b/openpilot/selfdrive/test/process_replay/process_replay.py
index 4834cc44e6b04a..4a26ed19aefb03 100755
--- a/openpilot/selfdrive/test/process_replay/process_replay.py
+++ b/openpilot/selfdrive/test/process_replay/process_replay.py
@@ -440,7 +440,7 @@ def selfdrived_config_callback(params, cfg, lr):
       "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState", "modelV2",
       "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", "liveTorqueParameters",
       "accelerometer", "gyroscope", "carOutput", "gpsLocationExternal", "gpsLocation", "controlsState",
-      "carControl", "driverAssistance", "alertDebug", "audioFeedback",
+      "carControl", "driverAssistance", "alertDebug", "audioFeedback", "carStateSP",
     ],
     subs=["selfdriveState", "onroadEvents"],
     ignore=["logMonoTime"],
@@ -464,8 +464,8 @@ def selfdrived_config_callback(params, cfg, lr):
   ProcessConfig(
     proc_name="card",
     pubs=["pandaStates", "carControl", "onroadEvents", "can"],
-    subs=["sendcan", "carState", "carParams", "carOutput", "liveTracks"],
-    ignore=["logMonoTime", "carState.cumLagMs"],
+    subs=["sendcan", "carState", "carStateSP", "carParams", "carOutput", "liveTracks"],
+    ignore=["logMonoTime", "carState.cumLagMs", "carStateSP.preapIntentEpoch"],  # normalize only the random transport epoch
     init_callback=card_fingerprint_callback,
     should_recv_callback=card_rcv_callback,
     tolerance=NUMPY_TOLERANCE,
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
index 28d92363618881..89e6db629df763 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
@@ -127,7 +127,12 @@ def _update_state(self):
     else:
       self._mads_toggle.set_description(f"<b>{self._mads_check_compat_desc}</b><br><br>{self._mads_base_desc}")
 
-    self._mads_toggle.action_item.set_enabled(ui_state.is_offroad())
+    mads_required = ui_state.CP_SP is not None and bool(getattr(ui_state.CP_SP, "madsRequired", False))
+    if mads_required:
+      self._mads_toggle.action_item.set_state(True)
+      self._mads_toggle.action_item.set_enabled(False)
+    else:
+      self._mads_toggle.action_item.set_enabled(ui_state.is_offroad())
     self._mads_settings_button.action_item.set_enabled(ui_state.is_offroad() and self._mads_toggle.action_item.get_state())
     self._blinker_control_options.set_visible(self._blinker_control_toggle.action_item.get_state())
     self._blinker_reengage_delay.set_visible(self._blinker_control_toggle.action_item.get_state())
diff --git a/openpilot/sunnypilot/mads/helpers.py b/openpilot/sunnypilot/mads/helpers.py
index caa3d6d4ab11b2..9e5f46be8ce7d3 100644
--- a/openpilot/sunnypilot/mads/helpers.py
+++ b/openpilot/sunnypilot/mads/helpers.py
@@ -46,6 +46,47 @@ class MadsCapabilities:
   no_main_cruise: bool
 
 
+def _truthy_mads(value) -> bool:
+  return value in (True, 1, "1", b"1", "true", "True")
+
+
+def is_mads_required(CP_SP=None, params: Params | None = None) -> bool:
+  if CP_SP is not None:
+    return bool(getattr(CP_SP, "madsRequired", False)) and int(getattr(CP_SP, "madsCapabilityContractVersion", 0) or 0) >= 1
+  if params is None:
+    params = Params()
+  try:
+    from openpilot.cereal import custom
+    import openpilot.cereal.messaging as messaging
+    for key in ("CarParamsSP", "CarParamsSPPersistent", "CarParamsSPCache"):
+      raw = params.get(key)
+      if not raw:
+        continue
+      msg = messaging.log_from_bytes(raw, custom.CarParamsSP)
+      return bool(msg.madsRequired) and int(msg.madsCapabilityContractVersion) >= 1
+  except Exception:
+    return False
+  return False
+
+
+def persist_required_mads(params: Params, CP_SP=None) -> bool:
+  """Force and persist Mads=true on required platforms. Returns True if required."""
+  if not is_mads_required(CP_SP, params):
+    return False
+  if not params.get_bool("Mads"):
+    params.put_bool("Mads", True, block=True)
+  return True
+
+
+def coerce_mads_write(params: Params, key: str, value, CP_SP=None):
+  """Reject runtime false writes of Mads on required platforms."""
+  if key != "Mads":
+    return value
+  if persist_required_mads(params, CP_SP) and not _truthy_mads(value):
+    return True
+  return value
+
+
 def _version0_limited_tesla(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params) -> bool:
   if CP.brand != "tesla":
     return False
@@ -105,10 +146,7 @@ def read_steering_mode_param(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
 
 def set_alternative_experience(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
   caps = resolve_mads_capabilities(CP, CP_SP, params)
-  enabled = True if caps.mads_required else params.get_bool("Mads")
-  if caps.mads_required:
-    params.put_bool("Mads", True, block=True)
-
+  enabled = True if persist_required_mads(params, CP_SP) else params.get_bool("Mads")
   steering_mode = caps.steering_mode
 
   if enabled:
@@ -130,8 +168,7 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
       CP_SP.safetyParam |= HyundaiSafetyFlagsSP.LONG_MAIN_CRUISE_TOGGLEABLE
 
   caps = resolve_mads_capabilities(CP, CP_SP, params)
-  if caps.mads_required:
-    params.put_bool("Mads", True, block=True)
+  if persist_required_mads(params, CP_SP):
     return
 
   # MADS Partial Support
diff --git a/openpilot/sunnypilot/mads/mads.py b/openpilot/sunnypilot/mads/mads.py
index 6f133a5abc6229..b63ac2f11eccea 100644
--- a/openpilot/sunnypilot/mads/mads.py
+++ b/openpilot/sunnypilot/mads/mads.py
@@ -5,12 +5,16 @@
 See the LICENSE.md file in the root directory for more details.
 """
 
+import time
+
 from openpilot.cereal import log, custom
 
 from opendbc.car import structs
 from opendbc.car.hyundai.values import HyundaiFlags
 from openpilot.common.params import Params
-from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param, resolve_mads_capabilities
+from openpilot.sunnypilot.mads.helpers import (
+  MadsSteeringModeOnBrake, persist_required_mads, read_steering_mode_param, resolve_mads_capabilities,
+)
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -22,6 +26,17 @@
 
 SET_SPEED_BUTTONS = (ButtonType.accelCruise, ButtonType.resumeCruise, ButtonType.decelCruise, ButtonType.setCruise)
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
+HANDS_ON_PAUSE_LEVEL = 2
+HANDS_ON_RESUME_US = 1_000_000
+UINT32_MASK = 0xFFFFFFFF
+
+
+def _mono_us() -> int:
+  return (time.monotonic_ns() // 1000) & UINT32_MASK
+
+
+def _elapsed_us(now: int, start: int) -> int:
+  return (now - start) & UINT32_MASK
 
 
 class ModularAssistiveDrivingSystem:
@@ -53,9 +68,16 @@ def __init__(self, selfdrive):
     self._freeze_mads_snapshot = (
       caps.mads_required and getattr(self.CP_SP, "madsCapabilityContractVersion", 0) >= 1
     )
+    self._hands_on_pause_available = caps.hands_on_pause_available
+    self._hands_on_steering_inhibited = False
+    self._hands_on_clear_timing = False
+    self._hands_on_clear_ts = 0
 
     # Required-MADS platforms consume only the frozen typed snapshot.
-    self.enabled_toggle = True if caps.mads_required else self.params.get_bool("Mads")
+    if persist_required_mads(self.params, self.CP_SP):
+      self.enabled_toggle = True
+    else:
+      self.enabled_toggle = self.params.get_bool("Mads")
     self.steering_mode_on_brake = read_steering_mode_param(self.CP, self.CP_SP, self.params)
     if self._freeze_mads_snapshot:
       self.main_enabled_toggle = caps.main_cruise_allowed
@@ -65,8 +87,12 @@ def __init__(self, selfdrive):
       self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def read_params(self):
-    if self._freeze_mads_snapshot:
-      return
+    if persist_required_mads(self.params, self.CP_SP):
+      self.enabled_toggle = True
+      if self._freeze_mads_snapshot:
+        return
+    else:
+      self.enabled_toggle = self.params.get_bool("Mads")
     self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
@@ -78,6 +104,9 @@ def pedal_pressed_non_gas_pressed(self, CS: structs.CarState) -> bool:
     return False
 
   def should_silent_lkas_enable(self, CS: structs.CarState) -> bool:
+    if self._hands_on_steering_inhibited:
+      return False
+
     if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE and (CS.brakePressed or CS.regenBraking or self.pedal_pressed_non_gas_pressed(CS)):
       return False
 
@@ -110,6 +139,82 @@ def transition_paused_state(self):
     if self.state_machine.state != State.paused:
       self.events_sp.add(EventNameSP.silentLkasDisable)
 
+  def _reset_hands_on_clear_timer(self):
+    self._hands_on_clear_timing = False
+    self._hands_on_clear_ts = 0
+
+  def _update_hands_on_pause(self, CS: structs.CarState) -> None:
+    if not self._hands_on_pause_available:
+      return
+
+    # EPAS faults are a full disable, never a hands-on pause.
+    epas_fault = bool(getattr(CS, "steerFaultPermanent", False) or getattr(CS, "steerFaultTemporary", False))
+    if epas_fault or self.events_sp.has(EventNameSP.lkasDisable):
+      self._hands_on_steering_inhibited = False
+      self._reset_hands_on_clear_timer()
+      return
+
+    if not hasattr(CS, "handsOnLevel"):
+      # Exact host field is required. Absence cannot prove host/panda agreement.
+      self._hands_on_steering_inhibited = True
+      self._reset_hands_on_clear_timer()
+      if self.enabled:
+        self.transition_paused_state()
+        if self.events_sp.has(EventNameSP.silentLkasEnable):
+          self.events_sp.remove(EventNameSP.silentLkasEnable)
+      return
+
+    level = int(CS.handsOnLevel or 0)
+    host_hands = level >= HANDS_ON_PAUSE_LEVEL
+    host_clear = level < HANDS_ON_PAUSE_LEVEL
+
+    tesla_preap = getattr(SafetyModel, "teslaPreap", None)
+    pandas = []
+    for ps in self.selfdrive.sm['pandaStates']:
+      if tesla_preap is not None and ps.safetyModel == tesla_preap:
+        pandas.append(ps)
+      elif ps.safetyModel not in IGNORED_SAFETY_MODES and getattr(ps, "steeringControlInhibited", False):
+        pandas.append(ps)
+
+    updated = getattr(self.selfdrive.sm, "updated", None)
+    if hasattr(self.selfdrive.sm, "all_checks"):
+      panda_fresh = bool(self.selfdrive.sm.all_checks(["pandaStates"]))
+    else:
+      panda_fresh = True if updated is None else bool(updated.get("pandaStates", False))
+    cs_fresh = bool(getattr(self.selfdrive, "cs_fresh", True))
+    panda_inhibited = (not pandas) or any(bool(getattr(ps, "steeringControlInhibited", False)) for ps in pandas)
+
+    blockers = bool(getattr(CS, "doorOpen", False) or CS.gearShifter != GearShifter.drive)
+
+    if host_hands or panda_inhibited:
+      self._hands_on_steering_inhibited = True
+
+    mismatch = host_hands != panda_inhibited
+    if mismatch:
+      self._hands_on_steering_inhibited = True
+
+    # Count host-observed clear concurrently with panda's independent hold.
+    # Panda clearing its inhibit proves its own continuous one-second clear.
+    host_clear_healthy = (
+      self._hands_on_steering_inhibited and host_clear and cs_fresh and
+      panda_fresh and (not blockers) and bool(pandas)
+    )
+    if not host_clear_healthy:
+      self._reset_hands_on_clear_timer()
+    else:
+      now = _mono_us()
+      if not self._hands_on_clear_timing:
+        self._hands_on_clear_timing = True
+        self._hands_on_clear_ts = now
+      elif _elapsed_us(now, self._hands_on_clear_ts) >= HANDS_ON_RESUME_US and not panda_inhibited:
+        self._hands_on_steering_inhibited = False
+        self._reset_hands_on_clear_timer()
+
+    if self._hands_on_steering_inhibited and self.enabled:
+      self.transition_paused_state()
+      if self.events_sp.has(EventNameSP.silentLkasEnable):
+        self.events_sp.remove(EventNameSP.silentLkasEnable)
+
   def replace_event(self, old_event: int, new_event: int):
     self.events.remove(old_event)
     self.events_sp.add(new_event)
@@ -205,6 +310,8 @@ def update_events(self, CS: structs.CarState):
             self.events_sp.remove(EventNameSP.lkasEnable)
             self.events_sp.add(EventNameSP.pedalPressedAlertOnly)
 
+    self._update_hands_on_pause(CS)
+
     if self.should_silent_lkas_enable(CS):
       if self.state_machine.state == State.paused:
         self.events_sp.add(EventNameSP.silentLkasEnable)
@@ -218,6 +325,8 @@ def update_events(self, CS: structs.CarState):
     self.events.remove(EventName.wrongCruiseMode)
 
   def update(self, CS: structs.CarState):
+    if persist_required_mads(self.params, self.CP_SP):
+      self.enabled_toggle = True
     if not self.enabled_toggle:
       return
 
diff --git a/openpilot/sunnypilot/mads/tests/test_preap_hands_on_pause.py b/openpilot/sunnypilot/mads/tests/test_preap_hands_on_pause.py
new file mode 100644
index 00000000000000..b5afbddd43637e
--- /dev/null
+++ b/openpilot/sunnypilot/mads/tests/test_preap_hands_on_pause.py
@@ -0,0 +1,198 @@
+import unittest
+from unittest.mock import MagicMock
+
+from openpilot.cereal import custom
+from opendbc.car import structs
+from openpilot.selfdrive.selfdrived.events import Events
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+from openpilot.sunnypilot.mads.mads import HANDS_ON_RESUME_US, ModularAssistiveDrivingSystem
+
+State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
+EventNameSP = custom.OnroadEventSP.EventName
+SafetyModel = structs.CarParams.SafetyModel
+GearShifter = structs.CarState.GearShifter
+
+
+class FakeCS:
+  def __init__(self, hands_on_level=0, steer_fault=False, steering_pressed=False, door_open=False):
+    self.handsOnLevel = hands_on_level
+    self.steerFaultPermanent = steer_fault
+    self.steerFaultTemporary = False
+    self.steeringPressed = steering_pressed
+    self.steeringDisengage = False
+    self.doorOpen = door_open
+    self.gearShifter = GearShifter.drive
+    self.brakePressed = False
+    self.regenBraking = False
+    self.gasPressed = False
+    self.standstill = False
+    self.vEgo = 10.0
+    self.cruiseState = structs.CarState().cruiseState
+    self.cruiseState.available = True
+    self.buttonEvents = []
+
+
+class FakeSM(dict):
+  def __init__(self, pandas, panda_updated=True, panda_valid=True):
+    super().__init__({"pandaStates": pandas})
+    self.updated = {"pandaStates": panda_updated}
+    self.panda_valid = panda_valid
+
+  def all_checks(self, services):
+    return self.panda_valid and services == ["pandaStates"]
+
+
+def _panda(inhibited, model=None):
+  ps = MagicMock()
+  ps.steeringControlInhibited = inhibited
+  ps.controlsAllowedLateral = True
+  ps.safetyModel = model if model is not None else getattr(SafetyModel, "teslaPreap", SafetyModel.silent)
+  return ps
+
+
+def make_mads(hands_on=True):
+  CP = structs.CarParams()
+  CP.brand = "tesla"
+  CP.carFingerprint = "TESLA_MODEL_S_PREAP"
+  CP.passive = False
+  CP_SP = structs.CarParamsSP()
+  CP_SP.madsCapabilityContractVersion = 1
+  CP_SP.madsRequired = True
+  CP_SP.madsHandsOnPauseAvailable = hands_on
+  CP_SP.madsMainCruiseInputKind = structs.CarParamsSP.MadsMainCruiseInputKind.momentary
+  params = MagicMock()
+  params.get_bool.side_effect = lambda k: k in ("Mads",)
+  params.get.return_value = 0
+  sd = MagicMock()
+  sd.CP = CP
+  sd.CP_SP = CP_SP
+  sd.params = params
+  sd.events = Events()
+  sd.events_sp = EventsSP()
+  sd.enabled = False
+  sd.enabled_prev = False
+  sd.initialized = True
+  sd.cs_fresh = True
+  sd.CS_prev = structs.CarState()
+  sd.sm = FakeSM([_panda(False)])
+  mads = ModularAssistiveDrivingSystem(sd)
+  mads.enabled_toggle = True
+  mads.enabled = True
+  mads.active = True
+  mads.state_machine.state = State.enabled
+  return mads, sd
+
+
+class TestPreAPHandsOnPause(unittest.TestCase):
+  def test_hands_on_level_pauses_not_steering_pressed(self):
+    mads, sd = make_mads()
+    cs = FakeCS(hands_on_level=0, steering_pressed=True)
+    cs.steeringDisengage = True
+    sd.sm = FakeSM([_panda(False)])
+    mads.update_events(cs)
+    self.assertFalse(mads._hands_on_steering_inhibited)
+    self.assertFalse(sd.events_sp.has(EventNameSP.silentLkasDisable))
+
+    cs = FakeCS(hands_on_level=2, steering_pressed=False)
+    sd.sm = FakeSM([_panda(True)])
+    mads.update_events(cs)
+    self.assertTrue(mads._hands_on_steering_inhibited)
+    self.assertTrue(sd.events_sp.has(EventNameSP.silentLkasDisable))
+
+  def test_missing_hands_on_level_fail_closes(self):
+    mads, sd = make_mads()
+    cs = FakeCS(hands_on_level=0)
+    del cs.handsOnLevel
+    sd.sm = FakeSM([_panda(False)])
+    mads.update_events(cs)
+    self.assertTrue(mads._hands_on_steering_inhibited)
+    self.assertTrue(sd.events_sp.has(EventNameSP.silentLkasDisable))
+
+  def test_mismatch_keeps_inhibited(self):
+    mads, sd = make_mads()
+    cs = FakeCS(hands_on_level=2)
+    sd.sm = FakeSM([_panda(False)])
+    mads.update_events(cs)
+    self.assertTrue(mads._hands_on_steering_inhibited)
+    cs = FakeCS(hands_on_level=0)
+    sd.sm = FakeSM([_panda(True)])
+    mads.update_events(cs)
+    self.assertTrue(mads._hands_on_steering_inhibited)
+    self.assertTrue(mads._hands_on_clear_timing)
+
+  def test_resume_requires_continuous_1s_fresh_clear(self):
+    mads, sd = make_mads()
+    ns = {"v": 0}
+
+    def fake_ns():
+      return ns["v"]
+
+    import openpilot.sunnypilot.mads.mads as mads_mod
+    orig = mads_mod.time.monotonic_ns
+    mads_mod.time.monotonic_ns = fake_ns
+    try:
+      cs = FakeCS(hands_on_level=2)
+      sd.sm = FakeSM([_panda(True)])
+      mads.update_events(cs)
+      self.assertTrue(mads._hands_on_steering_inhibited)
+
+      cs = FakeCS(hands_on_level=0)
+      sd.sm = FakeSM([_panda(True)])
+      mads.update_events(cs)
+      self.assertTrue(mads._hands_on_steering_inhibited)
+      self.assertTrue(mads._hands_on_clear_timing)
+
+      ns["v"] = (HANDS_ON_RESUME_US - 1) * 1000
+      mads.update_events(cs)
+      self.assertTrue(mads._hands_on_steering_inhibited)
+
+      sd.cs_fresh = False
+      ns["v"] = (HANDS_ON_RESUME_US + 1) * 1000
+      mads.update_events(cs)
+      self.assertTrue(mads._hands_on_steering_inhibited)
+      self.assertFalse(mads._hands_on_clear_timing)
+
+      sd.cs_fresh = True
+      sd.sm = FakeSM([_panda(False)], panda_valid=False)
+      mads.update_events(cs)
+      self.assertTrue(mads._hands_on_steering_inhibited)
+
+      sd.sm = FakeSM([_panda(True)], panda_valid=True)
+      ns["v"] = 0
+      mads.update_events(cs)
+      ns["v"] = HANDS_ON_RESUME_US * 1000
+      mads.update_events(cs)
+      self.assertTrue(mads._hands_on_steering_inhibited)
+      sd.sm = FakeSM([_panda(False)], panda_valid=True)
+      mads.update_events(cs)
+      self.assertFalse(mads._hands_on_steering_inhibited)
+    finally:
+      mads_mod.time.monotonic_ns = orig
+
+  def test_epas_fault_is_not_hands_on_pause(self):
+    mads, sd = make_mads()
+    cs = FakeCS(hands_on_level=2, steer_fault=True)
+    sd.sm = FakeSM([_panda(True)])
+    mads.update_events(cs)
+    self.assertFalse(mads._hands_on_steering_inhibited)
+    self.assertFalse(sd.events_sp.has(EventNameSP.silentLkasDisable))
+
+  def test_restart_reinhibits_from_panda(self):
+    restarted, sd2 = make_mads()
+    sd2.sm = FakeSM([_panda(True)])
+    self.assertFalse(restarted._hands_on_steering_inhibited)
+    restarted.enabled = True
+    restarted.update_events(FakeCS(hands_on_level=0))
+    self.assertTrue(restarted._hands_on_steering_inhibited)
+
+  def test_generic_platform_unchanged(self):
+    mads, sd = make_mads(hands_on=False)
+    cs = FakeCS(hands_on_level=2)
+    sd.sm = FakeSM([_panda(True)])
+    mads.update_events(cs)
+    self.assertFalse(mads._hands_on_steering_inhibited)
+    self.assertFalse(sd.events_sp.has(EventNameSP.silentLkasDisable))
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py b/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py
index 6151c555eff3bc..1230c89c64988a 100644
--- a/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py
+++ b/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py
@@ -119,6 +119,12 @@ def test_version1_preap_does_not_emit_lkas_from_cruise_available(self):
     mads.read_params()
     self.assertEqual(mads.main_enabled_toggle, frozen_main)
 
+    params.reset_mock()
+    params.get_bool.side_effect = lambda k: False
+    mads.read_params()
+    self.assertTrue(mads.enabled_toggle)
+    params.put_bool.assert_called_once_with("Mads", True, block=True)
+
   def test_nonrequired_version1_keeps_live_params(self):
     from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
     from openpilot.selfdrive.selfdrived.events import Events
diff --git a/openpilot/sunnypilot/mads/tests/test_preap_mads_required_writes.py b/openpilot/sunnypilot/mads/tests/test_preap_mads_required_writes.py
new file mode 100644
index 00000000000000..820e91a097b809
--- /dev/null
+++ b/openpilot/sunnypilot/mads/tests/test_preap_mads_required_writes.py
@@ -0,0 +1,110 @@
+import unittest
+from unittest.mock import MagicMock
+
+from opendbc.car import structs
+from openpilot.selfdrive.selfdrived.events import Events
+from openpilot.selfdrive.car.helpers import convert_to_capnp
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+from openpilot.sunnypilot.mads.helpers import coerce_mads_write, is_mads_required, persist_required_mads
+from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+
+
+class FakeParams:
+  def __init__(self, initial=None):
+    self.store = dict(initial or {})
+    self.puts = []
+
+  def get_bool(self, key):
+    return bool(self.store.get(key, False))
+
+  def get(self, key, return_default=False):
+    return self.store.get(key)
+
+  def put_bool(self, key, value, block=True):
+    self.puts.append((key, bool(value)))
+    self.store[key] = bool(value)
+
+  def put(self, key, value, block=True):
+    self.puts.append((key, value))
+    self.store[key] = value
+
+
+def _required_cp_sp():
+  CP_SP = structs.CarParamsSP()
+  CP_SP.madsCapabilityContractVersion = 1
+  CP_SP.madsRequired = True
+  return CP_SP
+
+
+def _modern_cp_sp():
+  CP_SP = structs.CarParamsSP()
+  CP_SP.madsCapabilityContractVersion = 1
+  CP_SP.madsRequired = False
+  return CP_SP
+
+
+class TestRequiredMadsWrites(unittest.TestCase):
+  def test_stale_persisted_false_is_healed(self):
+    params = FakeParams({"Mads": False})
+    self.assertTrue(persist_required_mads(params, _required_cp_sp()))
+    self.assertTrue(params.get_bool("Mads"))
+    self.assertIn(("Mads", True), params.puts)
+
+  def test_reboot_uses_persistent_capabilities(self):
+    params = FakeParams({
+      "CarParamsSPPersistent": convert_to_capnp(_required_cp_sp()).to_bytes(),
+      "Mads": False,
+    })
+    self.assertTrue(persist_required_mads(params))
+    self.assertTrue(params.get_bool("Mads"))
+
+  def test_runtime_false_write_rejected(self):
+    params = FakeParams({"Mads": True})
+    self.assertEqual(coerce_mads_write(params, "Mads", False, _required_cp_sp()), True)
+    self.assertTrue(params.get_bool("Mads"))
+
+  def test_sunnylink_false_payload_coerced(self):
+    params = FakeParams({"Mads": True})
+    self.assertEqual(coerce_mads_write(params, "Mads", "false", _required_cp_sp()), True)
+    self.assertEqual(coerce_mads_write(params, "MadsMainCruiseAllowed", False, _required_cp_sp()), False)
+
+  def test_modern_platform_allows_false(self):
+    params = FakeParams({"Mads": True})
+    self.assertFalse(is_mads_required(_modern_cp_sp(), params))
+    self.assertEqual(coerce_mads_write(params, "Mads", False, _modern_cp_sp()), False)
+    self.assertFalse(persist_required_mads(params, _modern_cp_sp()))
+    self.assertTrue(params.get_bool("Mads"))
+
+  def test_mads_runtime_heals_without_rereading_toggle(self):
+    CP = structs.CarParams()
+    CP.brand = "tesla"
+    CP.carFingerprint = "TESLA_MODEL_S_PREAP"
+    CP_SP = _required_cp_sp()
+    CP_SP.madsMainCruiseInputKind = structs.CarParamsSP.MadsMainCruiseInputKind.momentary
+    params = FakeParams({"Mads": False, "MadsMainCruiseAllowed": False})
+    sd = MagicMock()
+    sd.CP = CP
+    sd.CP_SP = CP_SP
+    sd.params = params
+    sd.events = Events()
+    sd.events_sp = EventsSP()
+    sd.enabled = False
+    sd.enabled_prev = False
+    sd.initialized = True
+    sd.CS_prev = structs.CarState()
+    sd.sm = {"pandaStates": []}
+    mads = ModularAssistiveDrivingSystem(sd)
+    self.assertTrue(mads.enabled_toggle)
+    self.assertTrue(params.get_bool("Mads"))
+    params.store["Mads"] = False
+    mads.read_params()
+    self.assertTrue(mads.enabled_toggle)
+    self.assertTrue(params.get_bool("Mads"))
+    params.store["Mads"] = False
+    mads.update(structs.CarState())
+    self.assertTrue(mads.enabled_toggle)
+    self.assertTrue(params.get_bool("Mads"))
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/sunnypilot/selfdrive/car/car_specific.py b/openpilot/sunnypilot/selfdrive/car/car_specific.py
index 54fcd3497689a0..3211705b977efd 100644
--- a/openpilot/sunnypilot/selfdrive/car/car_specific.py
+++ b/openpilot/sunnypilot/selfdrive/car/car_specific.py
@@ -11,6 +11,7 @@
 from opendbc.car.chrysler.values import RAM_DT
 from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+from openpilot.sunnypilot.selfdrive.car.preap_intent import PreAPIntentConsumer
 
 EventName = log.OnroadEvent.EventName
 EventNameSP = custom.OnroadEventSP.EventName
@@ -23,10 +24,18 @@ def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
     self.CP_SP = CP_SP
 
     self.low_speed_alert = False
+    self.preap_intent = PreAPIntentConsumer() if CP.carFingerprint == "TESLA_MODEL_S_PREAP" else None
 
-  def update(self, CS: structs.CarState, events: Events):
+  def update(self, CS: structs.CarState, events: Events, CS_SP=None):
     events_sp = EventsSP()
 
+    # Consume each new Pre-AP intent record before the standard state transition.
+    if self.preap_intent is not None and CS_SP is not None:
+      self.preap_intent.update(
+        CS_SP, events, events_sp,
+        apply_longitudinal=bool(self.CP.openpilotLongitudinalControl),
+      )
+
     if self.CP.brand == 'chrysler':
       if self.CP.carFingerprint in RAM_DT:
         # remove belowSteerSpeed event from CarSpecificEvents as RAM_DT uses a different logic
diff --git a/openpilot/sunnypilot/selfdrive/car/preap_intent.py b/openpilot/sunnypilot/selfdrive/car/preap_intent.py
new file mode 100644
index 00000000000000..055de8a8233c3b
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/preap_intent.py
@@ -0,0 +1,102 @@
+from __future__ import annotations
+
+from openpilot.cereal import custom, log
+
+
+EventName = log.OnroadEvent.EventName
+EventNameSP = custom.OnroadEventSP.EventName
+LateralIntent = custom.CarStateSP.PreapLateralIntent
+LongitudinalIntent = custom.CarStateSP.PreapLongitudinalIntent
+
+UINT32_MASK = 0xFFFFFFFF
+UINT32_HALF = 0x80000000
+
+
+def uint32_delta(candidate: int, current: int) -> int:
+  return (int(candidate) - int(current)) & UINT32_MASK
+
+
+def sequence_is_newer(candidate: int, current: int) -> bool | None:
+  """Newer within an epoch iff 0 < uint32(candidate - current) < 2^31.
+
+  Returns None for the exact half-range ambiguity (fail-closed).
+  """
+  delta = uint32_delta(candidate, current)
+  if delta == 0:
+    return False
+  if delta == UINT32_HALF:
+    return None
+  return delta < UINT32_HALF
+
+
+def _is_intent(value, enum_member) -> bool:
+  return value == enum_member
+
+
+class PreAPIntentConsumer:
+  """Apply each newer atomic Pre-AP intent record to existing event streams once."""
+
+  def __init__(self):
+    self.epoch = 0
+    self.sequence = 0
+    self.seeded = False
+    self.fail_closed = False
+
+  @staticmethod
+  def _neutral(record) -> bool:
+    return _is_intent(record.preapLateralIntent, LateralIntent.none) and \
+           _is_intent(record.preapLongitudinalIntent, LongitudinalIntent.none)
+
+  def _seed(self, epoch: int, sequence: int) -> None:
+    self.epoch = epoch
+    self.sequence = sequence
+    self.seeded = True
+    self.fail_closed = False
+
+  def update(self, record, events, events_sp, apply_longitudinal: bool = True) -> None:
+    epoch = int(record.preapIntentEpoch)
+    sequence = int(record.preapIntentSequence) & UINT32_MASK
+    if epoch == 0:
+      return
+
+    # Consumer restart: seed the current record without acting.
+    if not self.seeded:
+      self._seed(epoch, sequence)
+      return
+
+    # A new producer epoch must begin with a neutral seed. A non-neutral
+    # first record is an invalid restart and cannot grant authority.
+    if epoch != self.epoch:
+      self._seed(epoch, sequence)
+      if not self._neutral(record):
+        self.fail_closed = True
+        events_sp.add(EventNameSP.lkasDisable)
+        if apply_longitudinal:
+          events.add(EventName.buttonCancel)
+      return
+    if self.fail_closed:
+      events_sp.add(EventNameSP.lkasDisable)
+      if apply_longitudinal:
+        events.add(EventName.buttonCancel)
+      return
+
+    newer = sequence_is_newer(sequence, self.sequence)
+    if newer is None:
+      self.fail_closed = True
+      events_sp.add(EventNameSP.lkasDisable)
+      if apply_longitudinal:
+        events.add(EventName.buttonCancel)
+      return
+    if not newer:
+      return
+    self.sequence = sequence
+
+    # Disable is processed before enable when one action has multiple consequences.
+    if _is_intent(record.preapLateralIntent, LateralIntent.forceDisable):
+      events_sp.add(EventNameSP.lkasDisable)
+    if apply_longitudinal and _is_intent(record.preapLongitudinalIntent, LongitudinalIntent.disable):
+      events.add(EventName.buttonCancel)
+    if _is_intent(record.preapLateralIntent, LateralIntent.mainCruiseRequest):
+      events_sp.add(EventNameSP.lkasEnable)
+    if apply_longitudinal and _is_intent(record.preapLongitudinalIntent, LongitudinalIntent.enable):
+      events.add(EventName.buttonEnable)
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_card_epoch.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_card_epoch.py
new file mode 100644
index 00000000000000..4535d26a195025
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_card_epoch.py
@@ -0,0 +1,32 @@
+from opendbc.car import structs
+from openpilot.selfdrive.car.card import Car
+
+
+def _record(sequence, lateral, longitudinal):
+  record = structs.CarStateSP()
+  record.preapIntentSequence = sequence
+  record.preapLateralIntent = lateral
+  record.preapLongitudinalIntent = longitudinal
+  return record
+
+
+def test_new_epoch_publishes_neutral_seed_before_latched_intent():
+  lateral = structs.CarStateSP.PreapLateralIntent
+  longitudinal = structs.CarStateSP.PreapLongitudinalIntent
+  card = Car.__new__(Car)
+  card.preap_intent_epoch = 42
+  card.preap_intent_seed_pending = True
+
+  seed = _record(7, lateral.mainCruiseRequest, longitudinal.enable)
+  card.stamp_preap_intent_epoch(seed)
+  action = _record(7, lateral.mainCruiseRequest, longitudinal.enable)
+  card.stamp_preap_intent_epoch(action)
+
+  assert seed.preapIntentEpoch == 42
+  assert seed.preapIntentSequence == 0
+  assert seed.preapLateralIntent == lateral.none
+  assert seed.preapLongitudinalIntent == longitudinal.none
+  assert action.preapIntentEpoch == 42
+  assert action.preapIntentSequence == 7
+  assert action.preapLateralIntent == lateral.mainCruiseRequest
+  assert action.preapLongitudinalIntent == longitudinal.enable
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent.py
new file mode 100644
index 00000000000000..24141f97117083
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent.py
@@ -0,0 +1,76 @@
+from openpilot.cereal import custom, log
+from openpilot.selfdrive.selfdrived.events import Events
+from openpilot.sunnypilot.selfdrive.car.preap_intent import PreAPIntentConsumer
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+
+
+EventName = log.OnroadEvent.EventName
+EventNameSP = custom.OnroadEventSP.EventName
+Lat = custom.CarStateSP.PreapLateralIntent
+Long = custom.CarStateSP.PreapLongitudinalIntent
+
+
+def record(epoch, sequence, lateral=Lat.none, longitudinal=Long.none):
+  msg = custom.CarStateSP.new_message()
+  msg.preapIntentEpoch = epoch
+  msg.preapIntentSequence = sequence
+  msg.preapLateralIntent = lateral
+  msg.preapLongitudinalIntent = longitudinal
+  return msg
+
+
+def apply(consumer, msg):
+  events, events_sp = Events(), EventsSP()
+  consumer.update(msg, events, events_sp)
+  return events, events_sp
+
+
+def test_restart_seeds_without_acting_then_accepts_newer():
+  consumer = PreAPIntentConsumer()
+  events, events_sp = apply(consumer, record(1, 4, Lat.mainCruiseRequest, Long.enable))
+  assert not events.has(EventName.buttonEnable)
+  assert not events_sp.has(EventNameSP.lkasEnable)
+
+  events, events_sp = apply(consumer, record(1, 5, Lat.mainCruiseRequest, Long.enable))
+  assert events.has(EventName.buttonEnable)
+  assert events_sp.has(EventNameSP.lkasEnable)
+
+
+def test_duplicate_older_and_reordered_records_are_ignored():
+  consumer = PreAPIntentConsumer()
+  apply(consumer, record(1, 10))
+  apply(consumer, record(1, 11))
+  for sequence in (11, 10, 9):
+    events, events_sp = apply(consumer, record(1, sequence, Lat.forceDisable, Long.disable))
+    assert not events.has(EventName.buttonCancel)
+    assert not events_sp.has(EventNameSP.lkasDisable)
+
+
+def test_rollover_progression_is_newer():
+  consumer = PreAPIntentConsumer()
+  apply(consumer, record(1, 0xFFFFFFFF))
+  events, events_sp = apply(consumer, record(1, 0, Lat.mainCruiseRequest, Long.enable))
+  assert events.has(EventName.buttonEnable)
+  assert events_sp.has(EventNameSP.lkasEnable)
+
+
+def test_half_range_and_non_neutral_new_epoch_fail_closed():
+  consumer = PreAPIntentConsumer()
+  apply(consumer, record(1, 0))
+  events, events_sp = apply(consumer, record(1, 0x80000000, Lat.mainCruiseRequest, Long.enable))
+  assert events.has(EventName.buttonCancel)
+  assert events_sp.has(EventNameSP.lkasDisable)
+
+  events, events_sp = apply(consumer, record(2, 1, Lat.mainCruiseRequest, Long.enable))
+  assert events.has(EventName.buttonCancel)
+  assert events_sp.has(EventNameSP.lkasDisable)
+
+
+def test_new_epoch_neutral_seed_requires_fresh_record():
+  consumer = PreAPIntentConsumer()
+  apply(consumer, record(1, 5))
+  events, events_sp = apply(consumer, record(2, 0))
+  assert not events.has(EventName.buttonCancel)
+  assert not events_sp.has(EventNameSP.lkasDisable)
+  events, events_sp = apply(consumer, record(2, 1, Lat.mainCruiseRequest))
+  assert events_sp.has(EventNameSP.lkasEnable)
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent_consumer.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent_consumer.py
new file mode 100644
index 00000000000000..f7967d4369852c
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent_consumer.py
@@ -0,0 +1,159 @@
+import unittest
+from types import SimpleNamespace
+
+from openpilot.cereal import custom, log
+from opendbc.car import structs
+from openpilot.selfdrive.selfdrived.events import Events
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
+from openpilot.sunnypilot.selfdrive.car.preap_intent import (
+  PreAPIntentConsumer, UINT32_HALF, UINT32_MASK, sequence_is_newer,
+)
+
+EventName = log.OnroadEvent.EventName
+EventNameSP = custom.OnroadEventSP.EventName
+Lateral = custom.CarStateSP.PreapLateralIntent
+Longitudinal = custom.CarStateSP.PreapLongitudinalIntent
+
+
+def record(epoch, sequence, lat=Lateral.none, lon=Longitudinal.none):
+  return SimpleNamespace(
+    preapIntentEpoch=epoch,
+    preapIntentSequence=sequence,
+    preapLateralIntent=lat,
+    preapLongitudinalIntent=lon,
+  )
+
+
+class TestSequenceContract(unittest.TestCase):
+  def test_newer_ignore_and_half_range(self):
+    self.assertTrue(sequence_is_newer(1, 0))
+    self.assertFalse(sequence_is_newer(0, 0))
+    self.assertFalse(sequence_is_newer(0, 1))
+    self.assertIsNone(sequence_is_newer(UINT32_HALF, 0))
+    self.assertTrue(sequence_is_newer(0, UINT32_MASK))
+
+
+class TestPreAPIntentConsumer(unittest.TestCase):
+  def setUp(self):
+    self.consumer = PreAPIntentConsumer()
+    self.events = Events()
+    self.events_sp = EventsSP()
+
+  def apply(self, rec, apply_longitudinal=True):
+    self.events.clear()
+    self.events_sp.clear()
+    self.consumer.update(rec, self.events, self.events_sp, apply_longitudinal=apply_longitudinal)
+
+  def test_neutral_new_epoch_seeds_without_acting(self):
+    self.apply(record(7, 0))
+    self.assertTrue(self.consumer.seeded)
+    self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+    self.apply(record(7, 0, Lateral.mainCruiseRequest))
+    self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
+
+  def test_consumer_restart_seeds_current_without_acting(self):
+    self.apply(record(3, 4, Lateral.mainCruiseRequest, Longitudinal.enable))
+    self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+
+  def test_duplicate_and_older_ignored(self):
+    self.apply(record(1, 1))
+    self.apply(record(1, 2, Lateral.mainCruiseRequest))
+    self.assertTrue(self.events_sp.has(EventNameSP.lkasEnable))
+    self.apply(record(1, 2, Lateral.mainCruiseRequest))
+    self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
+    self.apply(record(1, 1, Lateral.forceDisable))
+    self.assertFalse(self.events_sp.has(EventNameSP.lkasDisable))
+
+  def test_latched_newer_recovers_loss(self):
+    self.apply(record(1, 1))
+    self.apply(record(1, 4, Lateral.forceDisable, Longitudinal.disable))
+    self.assertTrue(self.events_sp.has(EventNameSP.lkasDisable))
+    self.assertTrue(self.events.has(EventName.buttonCancel))
+
+  def test_enable_disable_late_enable(self):
+    self.apply(record(1, 10))
+    self.apply(record(1, 11, Lateral.mainCruiseRequest))
+    self.assertTrue(self.events_sp.has(EventNameSP.lkasEnable))
+    self.apply(record(1, 12, Lateral.forceDisable))
+    self.assertTrue(self.events_sp.has(EventNameSP.lkasDisable))
+    self.apply(record(1, 11, Lateral.mainCruiseRequest))
+    self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
+
+  def test_rollover_progression(self):
+    self.apply(record(1, UINT32_MASK))
+    self.apply(record(1, 0, Lateral.mainCruiseRequest))
+    self.assertTrue(self.events_sp.has(EventNameSP.lkasEnable))
+
+  def test_half_range_fail_closed(self):
+    self.apply(record(1, 0))
+    self.apply(record(1, UINT32_HALF, Lateral.mainCruiseRequest, Longitudinal.enable))
+    self.assertTrue(self.consumer.fail_closed)
+    self.assertTrue(self.events_sp.has(EventNameSP.lkasDisable))
+    self.assertTrue(self.events.has(EventName.buttonCancel))
+    self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
+    self.apply(record(1, UINT32_HALF + 1, Lateral.mainCruiseRequest))
+    self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
+    self.assertTrue(self.events_sp.has(EventNameSP.lkasDisable))
+
+  def test_producer_restart_new_epoch_requires_neutral_seed(self):
+    self.apply(record(1, 1))
+    self.apply(record(1, 2, Lateral.mainCruiseRequest))
+    self.apply(record(9, 2, Lateral.mainCruiseRequest, Longitudinal.enable))
+    self.assertTrue(self.events_sp.has(EventNameSP.lkasDisable))
+    self.assertTrue(self.events.has(EventName.buttonCancel))
+    self.apply(record(9, 3, Lateral.mainCruiseRequest))
+    self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
+
+  def test_disable_before_enable_same_record(self):
+    self.apply(record(1, 1))
+    self.apply(record(1, 2, Lateral.forceDisable, Longitudinal.enable))
+    self.assertTrue(self.events_sp.has(EventNameSP.lkasDisable))
+    self.assertTrue(self.events.has(EventName.buttonEnable))
+
+  def test_event_mapping(self):
+    self.apply(record(1, 1))
+    self.apply(record(1, 2, Lateral.mainCruiseRequest, Longitudinal.enable))
+    self.assertTrue(self.events_sp.has(EventNameSP.lkasEnable))
+    self.assertTrue(self.events.has(EventName.buttonEnable))
+    self.apply(record(1, 3, Lateral.forceDisable, Longitudinal.disable))
+    self.assertTrue(self.events_sp.has(EventNameSP.lkasDisable))
+    self.assertTrue(self.events.has(EventName.buttonCancel))
+
+  def test_no_longitudinal_when_not_op_long(self):
+    self.apply(record(1, 1))
+    self.apply(record(1, 2, Lateral.none, Longitudinal.enable), apply_longitudinal=False)
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+
+  def test_zero_epoch_ignored(self):
+    self.apply(record(0, 5, Lateral.mainCruiseRequest))
+    self.assertFalse(self.consumer.seeded)
+    self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
+
+  def test_car_specific_events_uses_consumer_before_brand_logic(self):
+    CP = structs.CarParams()
+    CP.brand = "tesla"
+    CP.carFingerprint = "TESLA_MODEL_S_PREAP"
+    CP.openpilotLongitudinalControl = True
+    CP_SP = structs.CarParamsSP()
+    cse = CarSpecificEventsSP(CP, CP_SP)
+    events = Events()
+    cs = structs.CarState()
+    cse.update(cs, events, record(4, 0))
+    events_sp = cse.update(cs, events, record(4, 1, Lateral.mainCruiseRequest, Longitudinal.enable))
+    self.assertTrue(events_sp.has(EventNameSP.lkasEnable))
+    self.assertTrue(events.has(EventName.buttonEnable))
+
+  def test_unaligned_none_does_not_act(self):
+    CP = structs.CarParams()
+    CP.brand = "hyundai"
+    cse = CarSpecificEventsSP(CP, structs.CarParamsSP())
+    events = Events()
+    events_sp = cse.update(structs.CarState(), events, None)
+    self.assertFalse(events_sp.has(EventNameSP.lkasEnable))
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py
index 2c040f93cfd3f4..6659ef9d32532f 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py
@@ -61,6 +61,7 @@ def test_field_ordinal_pins(self):
 
     car_state = _ordinals(structs.CarState.schema)
     self.assertEqual(car_state["turnSignalStalkState"], 61)
+    self.assertEqual(car_state["handsOnLevel"], 62)
 
   def test_version0_bytes_keep_old_fields(self):
     raw = (FIXTURES / "carparams_sp_v0_tesla_vehicle_bus.bin").read_bytes()
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_preap_lane_change_tap.py b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_preap_lane_change_tap.py
new file mode 100644
index 00000000000000..210add7ace8c2a
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_preap_lane_change_tap.py
@@ -0,0 +1,51 @@
+from types import SimpleNamespace
+
+from openpilot.cereal import log
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
+
+
+LaneChangeState = log.LaneChangeState
+LaneChangeDirection = log.LaneChangeDirection
+
+
+def _car_state(*, left=True, right=False, lever=0):
+  return SimpleNamespace(
+    vEgo=30.0,
+    leftBlinker=left,
+    rightBlinker=right,
+    turnSignalStalkState=lever,
+    leftBlindspot=False,
+    rightBlindspot=False,
+    steeringPressed=False,
+    steeringTorque=0.0,
+    brakePressed=False,
+  )
+
+
+def _helper():
+  helper = DesireHelper()
+  helper.alc.update_params = lambda: None
+  helper.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+  helper.lane_turn_controller.update_params = lambda: None
+  return helper
+
+
+def test_opposite_physical_tap_cancels_armed_lane_change():
+  helper = _helper()
+  helper.update(_car_state(lever=1), True, 1.0)
+  assert helper.lane_change_state == LaneChangeState.preLaneChange
+  assert helper.lane_change_direction == LaneChangeDirection.left
+
+  helper.update(_car_state(lever=0), True, 1.0)
+  helper.update(_car_state(lever=2), True, 1.0)
+  assert helper.lane_change_state == LaneChangeState.off
+  assert helper.lane_change_direction == LaneChangeDirection.none
+
+
+def test_held_opposite_lever_does_not_rearm():
+  helper = _helper()
+  helper.update(_car_state(lever=1), True, 1.0)
+  helper.update(_car_state(lever=2), True, 1.0)
+  helper.update(_car_state(lever=2), True, 1.0)
+  assert helper.lane_change_state == LaneChangeState.off
diff --git a/openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py b/openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py
index ac168db7d8d680..94f202fe869df6 100755
--- a/openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -31,6 +31,7 @@
 from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
 from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import update_car_list_param
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
+from openpilot.sunnypilot.mads.helpers import is_mads_required
 from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
 from openpilot.sunnypilot.sunnylink.capabilities import generate_capabilities, CAPABILITY_LABELS
 from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import generate_schema
@@ -230,10 +231,18 @@ def getParams(params_keys: list[str], compression: bool = False) -> str | dict[s
     cloudlog.exception("sunnylinkd.getParams.exception", e)
     raise
 
+def _mads_required() -> bool:
+  return is_mads_required(params=params)
+
 
 @dispatcher.add_method
 def saveParams(params_to_update: dict[str, str], compression: bool = False) -> None:
+  mads_required = _mads_required()
   for key, value in params_to_update.items():
+    if key == "Mads" and mads_required:
+      cloudlog.warning("sunnylinkd.saveParams.blocked: MADS is required for this platform")
+      params.put_bool("Mads", True, block=True)
+      continue
     # disallow modifications to blocked parameters
     if key in BLOCKED_PARAMS:
       cloudlog.warning(f"sunnylinkd.saveParams.blocked: Attempted to modify blocked parameter '{key}'")
diff --git a/openpilot/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py b/openpilot/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py
index 7b81da5ad41f2a..a608f0f65af9e6 100644
--- a/openpilot/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py
+++ b/openpilot/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py
@@ -45,6 +45,16 @@ def test_saveParams_allowed(self):
     assert "SpeedLimitOffset" in keys_saved
     assert "MyCustomParam" in keys_saved
 
+  def test_required_mads_cannot_be_modified(self, monkeypatch):
+    monkeypatch.setattr(sunnylinkd, "_mads_required", lambda: True)
+    sunnylinkd.saveParams({"Mads": "0", "SpeedLimitOffset": "5"})
+    assert [item[0] for item in self.saved_params] == ["SpeedLimitOffset"]
+
+  def test_optional_mads_remains_writable(self, monkeypatch):
+    monkeypatch.setattr(sunnylinkd, "_mads_required", lambda: False)
+    sunnylinkd.saveParams({"Mads": "0"})
+    assert [item[0] for item in self.saved_params] == ["Mads"]
+
   def test_saveParams_mixed(self):
     mixed_params = {
       "GithubUsername": "attacker",
diff --git a/openpilot/sunnypilot/sunnylink/utils.py b/openpilot/sunnypilot/sunnylink/utils.py
index 59b2d15c127816..691f8902106143 100644
--- a/openpilot/sunnypilot/sunnylink/utils.py
+++ b/openpilot/sunnypilot/sunnylink/utils.py
@@ -98,6 +98,8 @@ def save_param_from_base64_encoded_string(param_name: str, base64_encoded_data:
 
   # We convert to string anything that isn't bytes first. We later transform further.
   param_value = _convert_param_to_type(value, param_type)
+  from openpilot.sunnypilot.mads.helpers import coerce_mads_write
+  param_value = coerce_mads_write(params, param_name, param_value)
   params.put(param_name, param_value, block=True)
 
 
diff --git a/openpilot/system/ui/sunnypilot/widgets/toggle.py b/openpilot/system/ui/sunnypilot/widgets/toggle.py
index fbb2ba40acb1d8..fff07cb1e0431e 100644
--- a/openpilot/system/ui/sunnypilot/widgets/toggle.py
+++ b/openpilot/system/ui/sunnypilot/widgets/toggle.py
@@ -30,7 +30,11 @@ def set_rect(self, rect: rl.Rectangle):
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
     if self._enabled and self.param_key:
-      self.params.put_bool(self.param_key, self._state)
+      from openpilot.sunnypilot.mads.helpers import coerce_mads_write
+      value = coerce_mads_write(self.params, self.param_key, self._state)
+      if self.param_key == "Mads" and value and not self._state:
+        self.set_state(True)
+      self.params.put_bool(self.param_key, value)
 
   def _render(self, rect: rl.Rectangle):
     self.update()

From d7c846efea61295ea6bda8b5afc4dd764a7b8fb3 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Sat, 15 Aug 2026 02:24:03 +0000
Subject: [PATCH 1387/1434] Port Tesla Pre-AP control integration

---
 opendbc_repo                                  |   2 +-
 openpilot/cereal/custom.capnp                 |  15 +
 openpilot/selfdrive/car/card.py               |  28 +-
 .../car/tests/test_preap_radar_e2e.py         | 287 ++++++++++
 openpilot/selfdrive/controls/radard.py        | 224 +++++---
 .../selfdrive/controls/tests/test_radard.py   | 209 ++++++++
 .../sunnypilot/selfdrive/car/preap_intent.py  |  83 ++-
 .../car/tests/test_preap_card_epoch.py        | 420 +++++++++++++++
 .../selfdrive/car/tests/test_preap_schema.py  |  18 +
 .../car/tests/test_preap_stock_cc_consumer.py | 490 ++++++++++++++++++
 10 files changed, 1682 insertions(+), 94 deletions(-)
 create mode 100644 openpilot/selfdrive/car/tests/test_preap_radar_e2e.py
 create mode 100644 openpilot/selfdrive/controls/tests/test_radard.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tests/test_preap_stock_cc_consumer.py

diff --git a/opendbc_repo b/opendbc_repo
index a54be33d78bd96..7370bfba27f1f3 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit a54be33d78bd96b812f67b1b9f26939b21d04ef1
+Subproject commit 7370bfba27f1f336c0f42428f5cb3f92cc6fbc5d
diff --git a/openpilot/cereal/custom.capnp b/openpilot/cereal/custom.capnp
index 5a05319c197fdd..e0820fa29ec0f7 100644
--- a/openpilot/cereal/custom.capnp
+++ b/openpilot/cereal/custom.capnp
@@ -479,6 +479,10 @@ struct CarStateSP @0xb86e6369214c01c8 {
   preapLongitudinalIntent @2 :PreapLongitudinalIntent;
   preapIntentSequence @3 :UInt32;
   preapIntentEpoch @4 :UInt64;
+  preapStockCcState @5 :PreapStockCcTransactionState;
+  preapStockCcBoundCounter @6 :UInt8;
+  preapStockCcHostDiConfirmed @7 :Bool;
+  preapStockCcEnablePending @8 :Bool;
 
   enum PreapLateralIntent {
     none @0;
@@ -491,6 +495,17 @@ struct CarStateSP @0xb86e6369214c01c8 {
     enable @1;
     disable @2;
   }
+
+  enum PreapStockCcTransactionState {
+    idle @0;
+    cancelRequested @1;
+    awaitingCancelConfirmation @2;
+    awaitingSecondPull @3;
+    reengageRequested @4;
+    awaitingDiConfirmation @5;
+    confirmed @6;
+    cancelledOrFailed @7;
+  }
 }
 
 struct LiveMapDataSP @0xf416ec09499d9d19 {
diff --git a/openpilot/selfdrive/car/card.py b/openpilot/selfdrive/car/card.py
index 3788a7b7dc66de..10db6b130fe3b3 100755
--- a/openpilot/selfdrive/car/card.py
+++ b/openpilot/selfdrive/car/card.py
@@ -200,6 +200,12 @@ def stamp_preap_intent_epoch(self, CS_SP: structs.CarStateSP) -> None:
       CS_SP.preapLateralIntent = structs.CarStateSP.PreapLateralIntent.none
       CS_SP.preapLongitudinalIntent = structs.CarStateSP.PreapLongitudinalIntent.none
       CS_SP.preapIntentSequence = 0
+      # Neutralize the first epoch record's StockCC projection only. Live
+      # producer state is retained so sequence 1 can expose the initial-batch edge.
+      CS_SP.preapStockCcState = structs.CarStateSP.PreapStockCcTransactionState.idle
+      CS_SP.preapStockCcEnablePending = False
+      CS_SP.preapStockCcHostDiConfirmed = False
+      CS_SP.preapStockCcBoundCounter = 0
       self.preap_intent_seed_pending = False
     CS_SP.preapIntentEpoch = self.preap_intent_epoch
 
@@ -211,13 +217,31 @@ def state_update(self) -> tuple[car.CarState, custom.CarStateSP, structs.RadarDa
 
     # Update carState from CAN
     CS, CS_SP = self.CI.update(can_list)
-    self.stamp_preap_intent_epoch(CS_SP)
-    CS_SP = convert_to_capnp(CS_SP)
 
     # Update radar tracks from CAN
     RD: structs.RadarDataT | None = self.RI.update(can_list)
 
     self.sm.update(0)
+    if self.CP.carFingerprint == "TESLA_MODEL_S_PREAP" and hasattr(self.CI, "CS"):
+      # pandaStates is 10 Hz. A healthy cached payload remains usable between
+      # 100 Hz Card cycles; dead or invalid service data is missing.
+      panda = None
+      if self.sm.all_alive(['pandaStates']) and self.sm.all_valid(['pandaStates']):
+        pandas = self.sm["pandaStates"]
+        panda = pandas[0] if len(pandas) else None
+      if hasattr(self.CI.CS, "update_stock_cc_panda"):
+        self.CI.CS.update_stock_cc_panda(panda)
+      if self.preap_intent_epoch:
+        CS_SP.preapIntentEpoch = self.preap_intent_epoch
+      if hasattr(self.CI.CS, "stock_cc"):
+        self.CI.CS.stock_cc.bind_epoch(CS_SP.preapIntentEpoch, CS_SP.preapIntentSequence)
+        self.CI.CS.stock_cc.publish(CS_SP)
+    # First epoch record is built after every producer, then the seed projection
+    # is neutralized without erasing live internal producer state.
+    self.stamp_preap_intent_epoch(CS_SP)
+    if self.CP.carFingerprint == "TESLA_MODEL_S_PREAP" and hasattr(self.CI, "CS") and hasattr(self.CI.CS, "stock_cc"):
+      self.CI.CS.stock_cc.acknowledge_publication(CS_SP)
+    CS_SP = convert_to_capnp(CS_SP)
 
     can_rcv_valid = len(can_strs) > 0
 
diff --git a/openpilot/selfdrive/car/tests/test_preap_radar_e2e.py b/openpilot/selfdrive/car/tests/test_preap_radar_e2e.py
new file mode 100644
index 00000000000000..cc7568b6156e0c
--- /dev/null
+++ b/openpilot/selfdrive/car/tests/test_preap_radar_e2e.py
@@ -0,0 +1,287 @@
+from types import SimpleNamespace
+
+import pytest
+
+from openpilot.cereal import messaging
+from opendbc.car import gen_empty_fingerprint
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.tesla.interface import CarInterface
+from opendbc.car.tesla.preap.radar_interface import RadarInterface as PreAPRadarInterface
+from opendbc.car.tesla.values import CAR
+from openpilot.selfdrive.controls.radard import RADAR_MEASUREMENT_TIMEOUT, RADAR_TO_CAMERA, RadarD
+
+
+# Verified lead_to_silence_reuse fields from the private route proof.
+# The private route fixture itself is not read by this public test.
+ROUTE_RADARD_PROOF = {
+  "coverage_kind": "retirement_only",
+  "slot_reuse_acceptance": "blocked_no_post_silence_fused_radar_lead",
+}
+
+# Minimal verified numeric vectors from the same window: contemporaneous
+# carState/modelV2 plus the first nonempty radarInterface cycle that fused.
+ROUTE_LIFECYCLE_EVENTS = [
+  {
+    "window": "lead_to_silence_reuse",
+    "rel_ns": 580018953926,
+    "type": "carState",
+    "carState": {"vEgo": 23.465662002563477},
+  },
+  {
+    "window": "lead_to_silence_reuse",
+    "rel_ns": 580021045522,
+    "type": "modelV2",
+    "modelV2": {
+      "velocity": {"x": [
+        22.963895797729492, 22.973785400390625, 22.95918846130371, 22.95679473876953,
+        22.951433181762695, 22.938968658447266, 22.947612762451172, 22.941211700439453,
+        22.950061798095703, 22.943572998046875, 22.967647552490234, 22.979249954223633,
+        23.002952575683594, 23.02733039855957, 23.059120178222656, 23.075864791870117,
+        23.097864151000977, 23.142148971557617, 23.177152633666992, 23.191314697265625,
+        23.205516815185547, 23.226856231689453, 23.244415283203125, 23.26291275024414,
+        23.259672164916992, 23.263410568237305, 23.275007247924805, 23.276805877685547,
+        23.269046783447266, 23.258718490600586, 23.2353515625, 23.23967170715332,
+        23.22171401977539,
+      ]},
+      "leadsV3": [
+        {
+          "prob": 0.9971914887428284,
+          "x": [49.005393981933594, 94.78558349609375, 140.82968139648438, 186.9625244140625, 232.89833068847656, 278.8450622558594],
+          "xStd": [2.2456231117248535, 2.7717936038970947, 4.023665904998779, 5.787389278411865, 7.847999095916748, 10.253961563110352],
+          "y": [-0.05704158544540405, -1.105865716934204, -6.773068904876709, -1.2280083894729614, -3.9621055126190186, 5.680412769317627],
+          "yStd": [0.2611179053783417, 4.048710823059082, 0.18303829431533813, 0.2759804427623749, 0.31099560856819153, 5.960740089416504],
+          "v": [23.0461368560791, 23.00564956665039, 23.0158748626709, 23.040847778320312, 23.020801544189453, 23.074792861938477],
+          "vStd": [0.7168713212013245, 0.8361306190490723, 0.9884262681007385, 1.1433857679367065, 1.3105676174163818, 1.4741801023483276],
+          "a": [-0.010735484771430492, -0.0010877299355342984, 0.01420368067920208, 0.02312212437391281, 0.025280984118580818, 0.021487433463335037],
+        },
+        {
+          "prob": 0.998005211353302,
+          "x": [48.92068862915039, 95.05860900878906, 140.8334197998047, 186.67922973632812, 232.91998291015625, 279.2420349121094],
+          "xStd": [2.2957000732421875, 2.7931711673736572, 4.026915550231934, 5.756524562835693, 7.875762939453125, 10.273011207580566],
+          "y": [-0.05547323450446129, -6.60338830947876, 0.0681857168674469, 4.851256370544434, 2.0368893146514893, 2.309739112854004],
+          "yStd": [0.2662146985530853, 0.2564559578895569, 0.29523220658302307, 0.00027661010972224176, 0.008618931286036968, 0.050472378730773926],
+          "v": [23.073501586914062, 23.014354705810547, 22.993310928344727, 23.032100677490234, 23.052854537963867, 23.11680030822754],
+          "vStd": [0.7339189052581787, 0.8453420996665955, 0.990349292755127, 1.1518993377685547, 1.3188618421554565, 1.47184157371521],
+          "a": [-0.009970172308385372, -0.0012622429057955742, 0.013552956283092499, 0.022676169872283936, 0.024889102205634117, 0.022328007966279984],
+        },
+        {
+          "prob": 0.9958066940307617,
+          "x": [48.96788024902344, 94.9964828491211, 140.9610595703125, 186.86744689941406, 232.8910369873047, 279.17584228515625],
+          "xStd": [2.443636178970337, 2.916327476501465, 4.154557704925537, 5.883960247039795, 7.94464111328125, 10.307344436645508],
+          "y": [-0.06017473340034485, -0.31537696719169617, 2.9058327674865723, 1.5139975547790527, -0.9226375222206116, -1.0760862827301025],
+          "yStd": [0.27871614694595337, 0.6938527226448059, 0.05035999044775963, 4.301486015319824, 0.46176743507385254, 0.01931501179933548],
+          "v": [23.038835525512695, 23.023040771484375, 22.975631713867188, 23.032320022583008, 23.07149887084961, 23.123825073242188],
+          "vStd": [0.753650426864624, 0.8533411026000977, 0.9971219301223755, 1.1522274017333984, 1.3250501155853271, 1.485109806060791],
+          "a": [-0.009704401716589928, -0.0018602388445287943, 0.01385495439171791, 0.022614378482103348, 0.02495618537068367, 0.021333495154976845],
+        },
+      ],
+    },
+  },
+  {
+    "window": "lead_to_silence_reuse",
+    "rel_ns": 580025238295,
+    "type": "radarInterface",
+    "radarInterface": {"points": [
+      {"trackId": 0, "dRel": 46.375, "yRel": 0.875, "vRel": -0.1875},
+    ]},
+  },
+]
+
+
+BOSCH_POINT_A_ADDRESS = 0x310
+BOSCH_POINT_B_ADDRESS = 0x311
+BOSCH_STATUS_ADDRESS = 0x301
+BOSCH_TRIGGER_ADDRESS = 0x36E
+
+
+class FakeRadarParser:
+  def __init__(self):
+    self.can_valid = True
+    self.updated_addresses: set[int] = set()
+    self.vl = {
+      "TeslaRadarSguInfo": {
+        "RADC_HWFail": 0,
+        "RADC_SGUFail": 0,
+        "RADC_SensorDirty": 0,
+        "RADC_SGUInfoConsistBit": 0,
+      },
+    }
+    for slot in range(32):
+      self.vl[f"RadarPoint{slot}_A"] = {
+        "Index": 0, "Tracked": False, "LongDist": 0.0, "LatDist": 0.0,
+        "LongSpeed": 0.0, "LongAccel": 0.0, "ProbExist": 0.0, "Meas": 0,
+      }
+      self.vl[f"RadarPoint{slot}_B"] = {"Index2": 0, "LatSpeed": 0.0}
+
+  def update(self, _can_msgs):
+    return self.updated_addresses
+
+
+def _cp_pair():
+  CP = CarInterface.get_params(CAR.TESLA_MODEL_S_PREAP, gen_empty_fingerprint(), [], False, False, False)
+  CP_SP = CarInterface.get_params_sp(CP, CAR.TESLA_MODEL_S_PREAP, gen_empty_fingerprint(), [], False, False, False)
+  return CP, CP_SP
+
+
+def _bosch_interface():
+  CP, CP_SP = _cp_pair()
+  radar = interfaces[CAR.TESLA_MODEL_S_PREAP].RadarInterface(CP, CP_SP)
+  assert type(radar) is PreAPRadarInterface
+  radar.radar_off_can = False
+  radar.rcp = FakeRadarParser()
+  return radar
+
+
+def _run_raw(radar, *, tracked=True, d_rel=30.0, v_rel=0.0, y_rel=0.0):
+  radar.rcp.vl["RadarPoint0_A"] = {
+    "Index": 0, "Tracked": tracked, "LongDist": d_rel, "LatDist": y_rel,
+    "LongSpeed": v_rel, "LongAccel": 0.0, "ProbExist": 90.0, "Meas": 1,
+  }
+  radar.rcp.vl["RadarPoint0_B"] = {"Index2": 0, "LatSpeed": 0.0}
+  radar.rcp.updated_addresses = {BOSCH_TRIGGER_ADDRESS, BOSCH_STATUS_ADDRESS, BOSCH_POINT_A_ADDRESS, BOSCH_POINT_B_ADDRESS}
+  return radar.update([])
+
+
+class RadarHarness:
+  def __init__(self, v_ego=20.0):
+    services = ["modelV2", "carState", "liveTracks"]
+    self.sm = messaging.SubMaster(services, ignore_alive=services, ignore_avg_freq=services)
+    self.radar = RadarD(SimpleNamespace(brand="tesla"), SimpleNamespace(flags=0))
+    self.v_ego = v_ego
+    self.frame = 0
+
+  def step(self, time_s, vision_d_rel, points, vision_v_rel=0.0):
+    messages = [self._model(time_s, vision_d_rel, vision_v_rel)]
+    if self.frame == 0:
+      car_state = messaging.new_message("carState", valid=True)
+      car_state.logMonoTime = int(time_s * 1e9)
+      car_state.carState.vEgo = self.v_ego
+      messages.append(car_state)
+    if points is not None:
+      live = messaging.new_message("liveTracks", valid=True)
+      live.logMonoTime = int(time_s * 1e9)
+      packed = live.liveTracks.init("points", len(points))
+      for slot, point in zip(packed, points, strict=True):
+        slot.trackId = int(point.trackId)
+        slot.dRel = float(point.dRel)
+        slot.yRel = float(point.yRel)
+        slot.vRel = float(point.vRel)
+      messages.append(live)
+    self.sm.update_msgs(time_s, [message.as_reader() for message in messages])
+    self.radar.update(self.sm, self.sm["liveTracks"])
+    self.frame += 1
+    return self.radar.radar_state.leadOne
+
+  def _model(self, time_s, vision_d_rel, vision_v_rel=0.0):
+    message = messaging.new_message("modelV2", valid=True)
+    message.logMonoTime = int(time_s * 1e9)
+    message.modelV2.velocity.x = [self.v_ego]
+    leads = message.modelV2.init("leadsV3", 2)
+    for lead in leads:
+      lead.prob = 0.9
+      lead.x = [vision_d_rel + RADAR_TO_CAMERA]
+      lead.xStd = [3.0]
+      lead.y = [0.0]
+      lead.yStd = [1.0]
+      lead.v = [self.v_ego + vision_v_rel]
+      lead.vStd = [2.0]
+      lead.a = [0.0]
+    return message
+
+
+class TestPreAPRadarInterfaceToRadard:
+  def test_slot_reuse_does_not_inherit_incumbent(self):
+    raw = _bosch_interface()
+    harness = RadarHarness()
+    first_raw = _run_raw(raw, d_rel=30.0, v_rel=0.0)
+    first = harness.step(1.0, 30.0, first_raw.points)
+    assert first.radar
+    first_id = first.radarTrackId
+
+    reused_raw = _run_raw(raw, d_rel=41.0, v_rel=11.0)
+    reused = harness.step(1.1, 41.0, reused_raw.points, vision_v_rel=11.0)
+    assert reused.radar
+    assert reused.radarTrackId != first_id
+    assert reused_raw.points[0].trackId != first_raw.points[0].trackId
+    assert reused.radarTrackId == reused_raw.points[0].trackId
+
+  def test_silence_clears_fused_lead_within_timeout(self):
+    raw = _bosch_interface()
+    harness = RadarHarness()
+    first_raw = _run_raw(raw, d_rel=30.0)
+    lead = harness.step(1.0, 30.0, first_raw.points)
+    assert lead.radar
+
+    model_dt = 0.05
+    expiration_frame = int(RADAR_MEASUREMENT_TIMEOUT / model_dt) + 1
+    for frame in range(1, expiration_frame):
+      lead = harness.step(1.0 + frame * model_dt, 36.0, None)
+    assert lead.radar
+    lead = harness.step(1.0 + expiration_frame * model_dt, 36.0, None)
+    assert not lead.radar
+    assert lead.present
+    assert lead.dRel == pytest.approx(36.0)
+
+
+class TestRouteDerivedReplay:
+  def test_route_fixture_is_retirement_only_and_is_not_claimed(self):
+    proof = ROUTE_RADARD_PROOF
+    coverage = proof.get("coverage_kind") or proof.get("execution", {}).get("coverage_kind")
+    assert coverage == "retirement_only"
+    assert proof["slot_reuse_acceptance"] != "proved_non_inheritance"
+
+    services = ["modelV2", "carState", "liveTracks"]
+    sm = messaging.SubMaster(services, ignore_alive=services, ignore_avg_freq=services)
+    radar = RadarD(SimpleNamespace(brand="tesla"), SimpleNamespace(flags=0))
+    fused_ids = []
+    saw_radar = False
+    for event in ROUTE_LIFECYCLE_EVENTS:
+      if event.get("window") != "lead_to_silence_reuse":
+        continue
+      messages = []
+      time_s = event["rel_ns"] * 1e-9
+      if event["type"] == "modelV2":
+        message = messaging.new_message("modelV2", valid=True)
+        message.logMonoTime = event["rel_ns"]
+        message.modelV2.velocity.x = list(event["modelV2"]["velocity"]["x"])
+        leads = message.modelV2.init("leadsV3", len(event["modelV2"]["leadsV3"]))
+        for dst, src in zip(leads, event["modelV2"]["leadsV3"], strict=True):
+          dst.prob = src["prob"]
+          dst.x = list(src["x"])
+          dst.xStd = list(src["xStd"])
+          dst.y = list(src["y"])
+          dst.yStd = list(src["yStd"])
+          dst.v = list(src["v"])
+          dst.vStd = list(src["vStd"])
+          dst.a = list(src["a"])
+        messages.append(message)
+      elif event["type"] == "carState":
+        message = messaging.new_message("carState", valid=True)
+        message.logMonoTime = event["rel_ns"]
+        message.carState.vEgo = event["carState"]["vEgo"]
+        messages.append(message)
+      elif event["type"] == "radarInterface":
+        message = messaging.new_message("liveTracks", valid=True)
+        message.logMonoTime = event["rel_ns"]
+        points = event["radarInterface"]["points"]
+        packed = message.liveTracks.init("points", len(points))
+        for dst, src in zip(packed, points, strict=True):
+          dst.trackId = src["trackId"]
+          dst.dRel = src["dRel"]
+          dst.yRel = src["yRel"]
+          dst.vRel = src["vRel"]
+        messages.append(message)
+      if not messages:
+        continue
+      sm.update_msgs(time_s, [message.as_reader() for message in messages])
+      radar.update(sm, sm["liveTracks"])
+      if radar.radar_state is None:
+        continue
+      lead = radar.radar_state.leadOne
+      if lead.radar:
+        saw_radar = True
+        fused_ids.append(lead.radarTrackId)
+
+    assert saw_radar
+    # Route evidence still lacks a post-silence fused association to a new raw ID.
+    assert coverage != "retirement_and_slot_reuse"
diff --git a/openpilot/selfdrive/controls/radard.py b/openpilot/selfdrive/controls/radard.py
index 5db5865e750486..0ed8803de22ecc 100755
--- a/openpilot/selfdrive/controls/radard.py
+++ b/openpilot/selfdrive/controls/radard.py
@@ -29,6 +29,22 @@
 
 RADAR_TO_CAMERA = 1.52  # RADAR is ~ 1.5m ahead from center of mesh frame
 
+# Bosch radar updates at 8 Hz; use actual measurement interval for KF
+RADAR_DT = 1.0 / 8
+RADAR_MEASUREMENT_TIMEOUT = 0.5
+
+ASSOCIATION_DISTANCE_GATE = 3.0
+ASSOCIATION_MIN_DISTANCE_STD = 1.0
+ASSOCIATION_LATERAL_GATE = 3.0
+ASSOCIATION_MIN_LATERAL_STD = 0.5
+ASSOCIATION_VELOCITY_GATE = 3.0
+ASSOCIATION_MIN_VELOCITY_STD = 1.0
+# The independent 3-sigma gates below reject single-axis outliers. Keep this
+# combined likelihood floor lower so ordinary multi-axis noise does not cause
+# repeated radar/vision fallback transitions.
+ASSOCIATION_MIN_SCORE = 0.001
+ASSOCIATION_SWITCH_MARGIN = 1.5
+
 
 class KalmanParams:
   def __init__(self, dt: float):
@@ -62,15 +78,19 @@ def __init__(self, identifier: int, v_lead: float, kalman_params: KalmanParams):
     self.K_K = kalman_params.K
     self.kf = KF1D([[v_lead], [0.0]], self.K_A, self.K_C, self.K_K)
 
-  def update(self, d_rel: float, y_rel: float, v_rel: float, v_lead: float):
+  def update(self, d_rel: float, y_rel: float, v_rel: float, v_lead: float, measured: bool = True,
+             kalman_params: KalmanParams | None = None):
     # relative values, copy
     self.dRel = d_rel   # LONG_DIST
     self.yRel = y_rel   # -LAT_DIST
     self.vRel = v_rel   # REL_SPEED
     self.vLead = v_lead
+    self.measured = measured
 
     # computed velocity and accelerations
-    if self.cnt > 0:
+    if measured and kalman_params is not None:
+      self._set_kalman_params(kalman_params)
+    if self.cnt > 0 and measured:
       self.kf.update(self.vLead)
 
     self.vLeadK = float(self.kf.x[SPEED][0])
@@ -84,6 +104,13 @@ def update(self, d_rel: float, y_rel: float, v_rel: float, v_lead: float):
 
     self.cnt += 1
 
+  def _set_kalman_params(self, kalman_params: KalmanParams):
+    state = self.kf.x
+    self.K_A = kalman_params.A
+    self.K_C = kalman_params.C
+    self.K_K = kalman_params.K
+    self.kf = KF1D(state, self.K_A, self.K_C, self.K_K)
+
   def get_RadarState(self, model_prob: float = 0.0):
     return {
       "dRel": float(self.dRel),
@@ -114,28 +141,44 @@ def laplacian_pdf(x: float, mu: float, b: float):
   return math.exp(-abs(x-mu)/b)
 
 
-def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track]):
-  offset_vision_dist = lead.x[0] - RADAR_TO_CAMERA
+def association_score(v_ego: float, vision_d_rel: float, lead: capnp._DynamicStructReader, track: Track) -> float:
+  distance_probability = laplacian_pdf(track.dRel, vision_d_rel, lead.xStd[0])
+  lateral_probability = laplacian_pdf(track.yRel, -lead.y[0], lead.yStd[0])
+  velocity_probability = laplacian_pdf(track.vRel + v_ego, lead.v[0], lead.vStd[0])
+  return distance_probability * lateral_probability * velocity_probability
+
 
-  def prob(c):
-    prob_d = laplacian_pdf(c.dRel, offset_vision_dist, lead.xStd[0])
-    prob_y = laplacian_pdf(c.yRel, -lead.y[0], lead.yStd[0])
-    prob_v = laplacian_pdf(c.vRel + v_ego, lead.v[0], lead.vStd[0])
+def is_association_candidate(v_ego: float, vision_d_rel: float, lead: capnp._DynamicStructReader,
+                             track: Track, score: float) -> bool:
+  distance_limit = ASSOCIATION_DISTANCE_GATE * max(lead.xStd[0], ASSOCIATION_MIN_DISTANCE_STD)
+  lateral_limit = ASSOCIATION_LATERAL_GATE * max(lead.yStd[0], ASSOCIATION_MIN_LATERAL_STD)
+  velocity_limit = ASSOCIATION_VELOCITY_GATE * max(lead.vStd[0], ASSOCIATION_MIN_VELOCITY_STD)
 
-    # This isn't exactly right, but it's a good heuristic
-    return prob_d * prob_y * prob_v
+  distance_compatible = abs(track.dRel - vision_d_rel) <= distance_limit
+  lateral_compatible = abs(track.yRel + lead.y[0]) <= lateral_limit
+  velocity_compatible = abs(track.vRel + v_ego - lead.v[0]) <= velocity_limit
+  return distance_compatible and lateral_compatible and velocity_compatible and score >= ASSOCIATION_MIN_SCORE
 
-  track = max(tracks.values(), key=prob)
 
-  # if no 'sane' match is found return -1
-  # stationary radar points can be false positives
-  dist_sane = abs(track.dRel - offset_vision_dist) < max([(offset_vision_dist)*.25, 5.0])
-  vel_sane = (abs(track.vRel + v_ego - lead.v[0]) < 10) or (v_ego + track.vRel > 3)
-  if dist_sane and vel_sane:
-    return track
-  else:
+def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track],
+                          incumbent_track_id: int | None = None) -> Track | None:
+  vision_d_rel = lead.x[0] - RADAR_TO_CAMERA
+  scores = {track_id: association_score(v_ego, vision_d_rel, lead, track) for track_id, track in tracks.items()}
+  eligible_track_ids = [
+    track_id for track_id, track in tracks.items()
+    if is_association_candidate(v_ego, vision_d_rel, lead, track, scores[track_id])
+  ]
+  if not eligible_track_ids:
     return None
 
+  challenger_track_id = max(eligible_track_ids, key=scores.__getitem__)
+  if incumbent_track_id in eligible_track_ids and challenger_track_id != incumbent_track_id:
+    challenger_wins = scores[challenger_track_id] > scores[incumbent_track_id] * ASSOCIATION_SWITCH_MARGIN
+    if not challenger_wins:
+      return tracks[incumbent_track_id]
+
+  return tracks[challenger_track_id]
+
 
 def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: float, model_v_ego: float, lead_prob: float):
   lead_v_rel_pred = lead_msg.v[0] - model_v_ego
@@ -154,34 +197,6 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
   }
 
 
-def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
-             model_v_ego: float, lead_prob: float, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
-             low_speed_override: bool = True) -> dict[str, Any]:
-  # Determine leads, this is where the essential logic happens
-  if len(tracks) > 0 and ready and lead_prob > .5:
-    track = match_vision_to_track(v_ego, lead_msg, tracks)
-  else:
-    track = None
-
-  lead_dict = {'present': False}
-  if track is not None:
-    lead_dict = track.get_RadarState(lead_prob)
-    lead_dict = get_custom_yrel(CP, CP_SP, lead_dict, lead_msg)
-  elif (track is None) and ready and (lead_prob > .5):
-    lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego, lead_prob)
-
-  if low_speed_override:
-    low_speed_tracks = [c for c in tracks.values() if c.potential_low_speed_lead(v_ego)]
-    if len(low_speed_tracks) > 0:
-      closest_track = min(low_speed_tracks, key=lambda c: c.dRel)
-
-      # Only choose new track if it is actually closer than the previous one
-      if (not lead_dict['present']) or (closest_track.dRel < lead_dict['dRel']):
-        lead_dict = closest_track.get_RadarState()
-
-  return lead_dict
-
-
 def get_custom_yrel(CP: structs.CarParams, CP_SP: structs.CarParamsSP, lead_dict: dict[str, Any],
                     lead_msg: capnp._DynamicStructReader) -> dict[str, Any]:
   if CP.brand == "hyundai" and (CP_SP.flags & HyundaiFlagsSP.ENHANCED_SCC or
@@ -191,15 +206,51 @@ def get_custom_yrel(CP: structs.CarParams, CP_SP: structs.CarParamsSP, lead_dict
   return lead_dict
 
 
+class LeadTrackAssociation:
+  def __init__(self, low_speed_override: bool):
+    self.low_speed_override = low_speed_override
+    self.incumbent_track_id: int | None = None
+
+  def update(self, v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
+             model_v_ego: float, lead_prob: float, CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> dict[str, Any]:
+    if self.incumbent_track_id is not None and self.incumbent_track_id not in tracks:
+      self.incumbent_track_id = None
+
+    if tracks and ready and lead_prob > .5:
+      track = match_vision_to_track(v_ego, lead_msg, tracks, self.incumbent_track_id)
+    else:
+      track = None
+
+    lead_dict = {'present': False}
+    if track is not None:
+      lead_dict = track.get_RadarState(lead_prob)
+      lead_dict = get_custom_yrel(CP, CP_SP, lead_dict, lead_msg)
+    elif ready and lead_prob > .5:
+      lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego, lead_prob)
+
+    if self.low_speed_override:
+      low_speed_tracks = [candidate for candidate in tracks.values() if candidate.potential_low_speed_lead(v_ego)]
+      if low_speed_tracks:
+        closest_track = min(low_speed_tracks, key=lambda candidate: candidate.dRel)
+        if (not lead_dict.get('present')) or (closest_track.dRel < lead_dict['dRel']):
+          lead_dict = closest_track.get_RadarState()
+          lead_dict = get_custom_yrel(CP, CP_SP, lead_dict, lead_msg)
+
+    self.incumbent_track_id = lead_dict['radarTrackId'] if lead_dict.get('radar', False) else None
+    return lead_dict
+
+
 class RadarD:
-  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParams, delay: float = 0.0):
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP, delay: float = 0.0):
     self.CP = CP
     self.CP_SP = CP_SP
 
     self.current_time = 0.0
 
     self.tracks: dict[int, Track] = {}
-    self.kalman_params = KalmanParams(DT_MDL)
+    self.kalman_params = KalmanParams(RADAR_DT)
+    self.last_radar_update_time: float | None = None
+    self.last_live_tracks_healthy = False
     self.lead_prob_filters = [FirstOrderFilter(0.0, 0.2, DT_MDL) for _ in range(2)]
 
     self.v_ego = 0.0
@@ -210,6 +261,8 @@ def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParams, delay: float
     self.radar_state_valid = False
 
     self.ready = False
+    self.lead_one_association = LeadTrackAssociation(low_speed_override=True)
+    self.lead_two_association = LeadTrackAssociation(low_speed_override=False)
 
   def update(self, sm: messaging.SubMaster, rr: car.RadarData):
     self.ready = sm.seen['modelV2']
@@ -220,27 +273,51 @@ def update(self, sm: messaging.SubMaster, rr: car.RadarData):
       self.v_ego_hist.append(self.v_ego)
       self.last_v_ego_frame = sm.recv_frame['carState']
 
-    ar_pts = {pt.trackId: [pt.dRel, pt.yRel, pt.vRel] for pt in rr.points}
-
-    # *** remove missing points from meta data ***
-    for ids in list(self.tracks.keys()):
-      if ids not in ar_pts:
-        self.tracks.pop(ids, None)
-
-    # *** compute the tracks ***
-    for ids in ar_pts:
-      rpt = ar_pts[ids]
-
-      # align v_ego by a fixed time to align it with the radar measurement
-      v_lead = rpt[2] + self.v_ego_hist[0]
-
-      # create the track if it doesn't exist or it's a new track
-      if ids not in self.tracks:
-        self.tracks[ids] = Track(ids, v_lead, self.kalman_params)
-      self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead)
-
-    # *** publish radarState ***
-    self.radar_state_valid = sm.all_checks()
+    if sm.updated['liveTracks']:
+      if not sm.valid['liveTracks']:
+        self.tracks.clear()
+        self.lead_one_association.incumbent_track_id = None
+        self.lead_two_association.incumbent_track_id = None
+        self.last_live_tracks_healthy = False
+      else:
+        radar_update_time = 1e-9 * sm.logMonoTime['liveTracks']
+        radar_dt = RADAR_DT
+        if self.last_radar_update_time is not None:
+          observed_radar_dt = radar_update_time - self.last_radar_update_time
+          if 0.01 < observed_radar_dt < 0.2:
+            radar_dt = observed_radar_dt
+        self.last_radar_update_time = radar_update_time
+        self.last_live_tracks_healthy = True
+        self.kalman_params = KalmanParams(radar_dt)
+        ar_pts = {pt.trackId: [pt.dRel, pt.yRel, pt.vRel] for pt in rr.points}
+
+        for ids in list(self.tracks.keys()):
+          if ids not in ar_pts:
+            self.tracks.pop(ids, None)
+
+        for ids in ar_pts:
+          rpt = ar_pts[ids]
+          v_lead = rpt[2] + self.v_ego_hist[0]
+          if ids not in self.tracks:
+            self.tracks[ids] = Track(ids, v_lead, self.kalman_params)
+          self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, kalman_params=self.kalman_params)
+    elif self.last_radar_update_time is None or self.current_time - self.last_radar_update_time > RADAR_MEASUREMENT_TIMEOUT:
+      self.tracks.clear()
+      self.lead_one_association.incumbent_track_id = None
+      self.lead_two_association.incumbent_track_id = None
+      self.last_live_tracks_healthy = False
+
+    radar_tracks_fresh = (
+      self.last_radar_update_time is not None and
+      (self.current_time - self.last_radar_update_time) <= RADAR_MEASUREMENT_TIMEOUT
+    )
+    # liveTracks is slower than the 20Hz SubMaster; freshness is the last accepted
+    # valid envelope plus the radar timeout. Explicit invalid updates cannot count as healthy.
+    self.radar_state_valid = (
+      sm.all_checks(service_list=['modelV2', 'carState']) and
+      radar_tracks_fresh and
+      self.last_live_tracks_healthy
+    )
     self.radar_state = log.RadarState.new_message()
     self.radar_state.mdMonoTime = sm.logMonoTime['modelV2']
     self.radar_state.radarErrors = rr.errors
@@ -252,17 +329,16 @@ def update(self, sm: messaging.SubMaster, rr: car.RadarData):
     leads_v3 = sm['modelV2'].leadsV3
     if len(leads_v3) > 1:
       for i in range(2):
-        # Asymmetric filter on lead prob to keep lead when uncertain
         lead_prob = leads_v3[i].prob
         if lead_prob > self.lead_prob_filters[i].x:
           self.lead_prob_filters[i].x = lead_prob
         else:
           self.lead_prob_filters[i].update(lead_prob)
 
-      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.lead_prob_filters[0].x,
-                                          self.CP, self.CP_SP, low_speed_override=True)
-      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.lead_prob_filters[1].x,
-                                          self.CP, self.CP_SP, low_speed_override=False)
+      self.radar_state.leadOne = self.lead_one_association.update(
+        self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.lead_prob_filters[0].x, self.CP, self.CP_SP)
+      self.radar_state.leadTwo = self.lead_two_association.update(
+        self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.lead_prob_filters[1].x, self.CP, self.CP_SP)
 
   def publish(self, pm: messaging.PubMaster):
     assert self.radar_state is not None
diff --git a/openpilot/selfdrive/controls/tests/test_radard.py b/openpilot/selfdrive/controls/tests/test_radard.py
new file mode 100644
index 00000000000000..ebaa06d795d809
--- /dev/null
+++ b/openpilot/selfdrive/controls/tests/test_radard.py
@@ -0,0 +1,209 @@
+from types import SimpleNamespace
+
+import pytest
+
+from openpilot.cereal import messaging
+from openpilot.selfdrive.controls.radard import (
+  ASSOCIATION_SWITCH_MARGIN,
+  KalmanParams,
+  RADAR_MEASUREMENT_TIMEOUT,
+  RADAR_TO_CAMERA,
+  RadarD,
+  Track,
+)
+
+
+def _cp():
+  return SimpleNamespace(brand="tesla")
+
+
+def _cp_sp():
+  return SimpleNamespace(flags=0)
+
+
+class RadarScenario:
+  def __init__(self, v_ego: float = 20.0):
+    services = ["modelV2", "carState", "liveTracks"]
+    self.sm = messaging.SubMaster(services, ignore_alive=services, ignore_avg_freq=services)
+    self.radar = RadarD(_cp(), _cp_sp())
+    self.v_ego = v_ego
+    self.frame = 0
+
+  def step(self, time_s: float, vision_d_rel: float, radar_points: list[tuple[int, float, float, float]] | None = None,
+           vision_v: float | None = None, live_tracks_valid: bool = True):
+    messages = [self._model_message(time_s, vision_d_rel, vision_v)]
+    if self.frame == 0:
+      messages.append(self._car_state_message(time_s))
+    if radar_points is not None:
+      messages.append(self._radar_message(time_s, radar_points, valid=live_tracks_valid))
+
+    self.sm.update_msgs(time_s, [message.as_reader() for message in messages])
+    self.radar.update(self.sm, self.sm["liveTracks"])
+    self.frame += 1
+    return self.radar.radar_state.leadOne
+
+  def _model_message(self, time_s: float, vision_d_rel: float, vision_v: float | None):
+    message = messaging.new_message("modelV2", valid=True)
+    message.logMonoTime = int(time_s * 1e9)
+    message.modelV2.velocity.x = [self.v_ego]
+    leads = message.modelV2.init("leadsV3", 2)
+    for lead in leads:
+      lead.prob = 0.9
+      lead.x = [vision_d_rel + RADAR_TO_CAMERA]
+      lead.xStd = [3.0]
+      lead.y = [0.0]
+      lead.yStd = [1.0]
+      lead.v = [self.v_ego if vision_v is None else vision_v]
+      lead.vStd = [2.0]
+      lead.a = [0.0]
+    return message
+
+  def _car_state_message(self, time_s: float):
+    message = messaging.new_message("carState", valid=True)
+    message.logMonoTime = int(time_s * 1e9)
+    message.carState.vEgo = self.v_ego
+    return message
+
+  @staticmethod
+  def _radar_message(time_s: float, radar_points: list[tuple[int, float, float, float]],
+                     valid: bool = True):
+    message = messaging.new_message("liveTracks", valid=valid)
+    message.logMonoTime = int(time_s * 1e9)
+    points = message.liveTracks.init("points", len(radar_points))
+    for point, (track_id, d_rel, y_rel, v_rel) in zip(points, radar_points, strict=True):
+      point.trackId = track_id
+      point.dRel = d_rel
+      point.yRel = y_rel
+      point.vRel = v_rel
+    return message
+
+
+def test_radar_silence_falls_back_to_current_vision_lead():
+  scenario = RadarScenario()
+  lead = scenario.step(1.0, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
+  assert lead.radar
+  assert lead.present
+
+  model_dt = 0.05
+  expiration_frame = int(RADAR_MEASUREMENT_TIMEOUT / model_dt) + 1
+  for frame in range(1, expiration_frame):
+    lead = scenario.step(1.0 + frame * model_dt, vision_d_rel=36.0)
+  assert lead.radar
+
+  lead = scenario.step(1.0 + expiration_frame * model_dt, vision_d_rel=36.0)
+
+  assert not lead.radar
+  assert lead.present
+  assert lead.dRel == pytest.approx(36.0)
+  assert lead.radarTrackId == -1
+
+
+def test_association_rejects_distance_outlier():
+  scenario = RadarScenario()
+  lead = scenario.step(1.0, vision_d_rel=100.0, radar_points=[(7, 120.0, 0.0, 0.0)])
+
+  assert not lead.radar
+  assert lead.dRel == pytest.approx(100.0)
+
+
+def test_association_rejects_velocity_outlier():
+  scenario = RadarScenario()
+  lead = scenario.step(1.0, vision_d_rel=50.0, radar_points=[(7, 50.0, 0.0, 15.0)])
+
+  assert not lead.radar
+  assert lead.vLead == pytest.approx(20.0)
+
+
+def test_association_requires_minimum_score():
+  scenario = RadarScenario()
+  lead = scenario.step(1.0, vision_d_rel=50.0, radar_points=[(7, 58.0, 2.9, 5.5)])
+
+  assert not lead.radar
+
+
+def test_association_retains_incumbent_until_challenger_wins():
+  scenario = RadarScenario()
+  two_tracks = [(81, 70.0, 0.0, 0.0), (82, 72.0, 0.0, 0.0)]
+  vision_distances = [70.8, 71.2, 70.8, 71.2, 70.8, 71.2, 72.0, 70.8]
+
+  selected_ids = [
+    scenario.step(1.0 + frame * 0.1, vision_d_rel=vision_d_rel, radar_points=two_tracks).radarTrackId
+    for frame, vision_d_rel in enumerate(vision_distances)
+  ]
+  selected_ids.append(scenario.step(1.8, vision_d_rel=70.0, radar_points=[two_tracks[0]]).radarTrackId)
+
+  assert selected_ids == [81, 81, 81, 81, 81, 81, 82, 82, 81]
+  assert ASSOCIATION_SWITCH_MARGIN == 1.5
+
+
+def test_raw_id_reuse_clears_incumbent():
+  scenario = RadarScenario()
+  first = scenario.step(1.0, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
+  assert first.radarTrackId == 7
+
+  reused = scenario.step(1.1, vision_d_rel=30.0, radar_points=[(8, 30.0, 0.0, 0.0)])
+  assert reused.radar
+  assert reused.radarTrackId == 8
+  assert reused.radarTrackId != first.radarTrackId
+
+
+def test_unmeasured_track_does_not_update_kalman_state():
+  track = Track(identifier=7, v_lead=20.0, kalman_params=KalmanParams(0.1))
+  track.update(d_rel=30.0, y_rel=0.0, v_rel=0.0, v_lead=20.0, measured=True)
+  track.update(d_rel=30.0, y_rel=0.0, v_rel=1.0, v_lead=21.0, measured=True)
+  measured_state = (track.vLeadK, track.aLeadK)
+
+  track.update(d_rel=30.0, y_rel=0.0, v_rel=10.0, v_lead=30.0, measured=False)
+
+  assert (track.vLeadK, track.aLeadK) == pytest.approx(measured_state)
+
+
+def test_kalman_uses_observed_radar_interval():
+  scenario = RadarScenario()
+  scenario.step(1.0, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
+
+  scenario.step(1.08, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
+
+  assert scenario.radar.tracks[7].K_A[0][1] == pytest.approx(0.08)
+
+
+def test_publication_uses_present_not_status():
+  scenario = RadarScenario()
+  lead = scenario.step(1.0, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
+  assert lead.present is True
+  assert lead.radar is True
+  assert lead.radarTrackId == 7
+
+
+def test_invalid_live_tracks_clears_tracks_and_invalidates():
+  scenario = RadarScenario()
+  lead = scenario.step(1.0, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
+  assert lead.radar
+  assert scenario.radar.radar_state_valid
+  accepted = scenario.radar.last_radar_update_time
+  assert accepted is not None
+  assert scenario.radar.lead_one_association.incumbent_track_id == 7
+
+  lead = scenario.step(1.1, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)], live_tracks_valid=False)
+  assert scenario.radar.tracks == {}
+  assert scenario.radar.lead_one_association.incumbent_track_id is None
+  assert scenario.radar.lead_two_association.incumbent_track_id is None
+  assert scenario.radar.last_radar_update_time == accepted
+  assert not scenario.radar.last_live_tracks_healthy
+  assert not scenario.radar.radar_state_valid
+  assert not lead.radar
+
+
+def test_invalid_live_tracks_recovers_only_on_valid_fresh_input():
+  scenario = RadarScenario()
+  scenario.step(1.0, vision_d_rel=30.0, radar_points=[(8, 30.0, 0.0, 0.0)], live_tracks_valid=False)
+  assert scenario.radar.tracks == {}
+  assert not scenario.radar.radar_state_valid
+  assert scenario.radar.last_radar_update_time is None
+
+  lead = scenario.step(1.2, vision_d_rel=30.0, radar_points=[(8, 30.0, 0.0, 0.0)], live_tracks_valid=True)
+  assert lead.radar
+  assert lead.radarTrackId == 8
+  assert scenario.radar.radar_state_valid
+  assert scenario.radar.last_live_tracks_healthy
+  assert scenario.radar.last_radar_update_time == pytest.approx(1.2)
diff --git a/openpilot/sunnypilot/selfdrive/car/preap_intent.py b/openpilot/sunnypilot/selfdrive/car/preap_intent.py
index 055de8a8233c3b..6d639a048ed52a 100644
--- a/openpilot/sunnypilot/selfdrive/car/preap_intent.py
+++ b/openpilot/sunnypilot/selfdrive/car/preap_intent.py
@@ -7,6 +7,7 @@
 EventNameSP = custom.OnroadEventSP.EventName
 LateralIntent = custom.CarStateSP.PreapLateralIntent
 LongitudinalIntent = custom.CarStateSP.PreapLongitudinalIntent
+StockCcState = custom.CarStateSP.PreapStockCcTransactionState
 
 UINT32_MASK = 0xFFFFFFFF
 UINT32_HALF = 0x80000000
@@ -19,7 +20,7 @@ def uint32_delta(candidate: int, current: int) -> int:
 def sequence_is_newer(candidate: int, current: int) -> bool | None:
   """Newer within an epoch iff 0 < uint32(candidate - current) < 2^31.
 
-  Returns None for the exact half-range ambiguity (fail-closed).
+  Equal is not newer. The 2^31 delta is undefined and fail-closed.
   """
   delta = uint32_delta(candidate, current)
   if delta == 0:
@@ -41,33 +42,70 @@ def __init__(self):
     self.sequence = 0
     self.seeded = False
     self.fail_closed = False
+    self._stock_cc_pending_seen = False
+    self._stock_cc_state = StockCcState.idle
 
   @staticmethod
   def _neutral(record) -> bool:
     return _is_intent(record.preapLateralIntent, LateralIntent.none) and \
            _is_intent(record.preapLongitudinalIntent, LongitudinalIntent.none)
 
-  def _seed(self, epoch: int, sequence: int) -> None:
+  @staticmethod
+  def _stock_cc_pending(record) -> bool:
+    return bool(getattr(record, "preapStockCcEnablePending", False))
+
+  @staticmethod
+  def _stock_cc_state_of(record):
+    return getattr(record, "preapStockCcState", StockCcState.idle)
+
+  def _seed(self, epoch: int, sequence: int, pending: bool, state) -> None:
     self.epoch = epoch
     self.sequence = sequence
     self.seeded = True
     self.fail_closed = False
+    # Restart/new-epoch: an already-true pending level is consumed, not an enable edge.
+    self._stock_cc_pending_seen = pending
+    self._stock_cc_state = state
+
+  def _apply_stock_cc_state(self, state, events) -> None:
+    if state is None:
+      return
+    if state != self._stock_cc_state:
+      if state == StockCcState.cancelRequested:
+        events.add(EventName.buttonCancel)
+      elif state == StockCcState.cancelledOrFailed:
+        events.add(EventName.buttonCancel)
+    self._stock_cc_state = state
+
+  def _apply_pending_edge(self, pending: bool, events, apply_longitudinal: bool, *, rearm: bool) -> None:
+    if apply_longitudinal:
+      if rearm:
+        self._stock_cc_pending_seen = pending
+      return
+    if pending and not self._stock_cc_pending_seen:
+      events.add(EventName.buttonEnable)
+      self._stock_cc_pending_seen = True
+    elif rearm:
+      self._stock_cc_pending_seen = pending
 
   def update(self, record, events, events_sp, apply_longitudinal: bool = True) -> None:
     epoch = int(record.preapIntentEpoch)
     sequence = int(record.preapIntentSequence) & UINT32_MASK
+    pending = self._stock_cc_pending(record)
+    state = self._stock_cc_state_of(record)
     if epoch == 0:
       return
 
-    # Consumer restart: seed the current record without acting.
+    # Consumer restart: seed the current record without acting, and treat
+    # an already-true pending level as consumed so it cannot replay as buttonEnable.
     if not self.seeded:
-      self._seed(epoch, sequence)
+      self._seed(epoch, sequence, pending, state)
       return
 
     # A new producer epoch must begin with a neutral seed. A non-neutral
     # first record is an invalid restart and cannot grant authority.
     if epoch != self.epoch:
-      self._seed(epoch, sequence)
+      self._seed(epoch, sequence, pending, state)
       if not self._neutral(record):
         self.fail_closed = True
         events_sp.add(EventNameSP.lkasDisable)
@@ -87,16 +125,27 @@ def update(self, record, events, events_sp, apply_longitudinal: bool = True) ->
       if apply_longitudinal:
         events.add(EventName.buttonCancel)
       return
-    if not newer:
-      return
-    self.sequence = sequence
 
-    # Disable is processed before enable when one action has multiple consequences.
-    if _is_intent(record.preapLateralIntent, LateralIntent.forceDisable):
-      events_sp.add(EventNameSP.lkasDisable)
-    if apply_longitudinal and _is_intent(record.preapLongitudinalIntent, LongitudinalIntent.disable):
-      events.add(EventName.buttonCancel)
-    if _is_intent(record.preapLateralIntent, LateralIntent.mainCruiseRequest):
-      events_sp.add(EventNameSP.lkasEnable)
-    if apply_longitudinal and _is_intent(record.preapLongitudinalIntent, LongitudinalIntent.enable):
-      events.add(EventName.buttonEnable)
+    same_sequence = uint32_delta(sequence, self.sequence) == 0
+    force_disable = _is_intent(record.preapLateralIntent, LateralIntent.forceDisable)
+    if newer:
+      self.sequence = sequence
+      # Disable is processed before enable when one action has multiple consequences.
+      if force_disable:
+        events_sp.add(EventNameSP.lkasDisable)
+      if apply_longitudinal and _is_intent(record.preapLongitudinalIntent, LongitudinalIntent.disable):
+        events.add(EventName.buttonCancel)
+      if _is_intent(record.preapLateralIntent, LateralIntent.mainCruiseRequest):
+        events_sp.add(EventNameSP.lkasEnable)
+      if apply_longitudinal and _is_intent(record.preapLongitudinalIntent, LongitudinalIntent.enable):
+        events.add(EventName.buttonEnable)
+      # forceDisable never yields buttonEnable from a pending level, even if the
+      # intermediate confirmation record was missed. Rearm/consume without an edge.
+      self._apply_pending_edge(pending, events, True if force_disable else apply_longitudinal, rearm=True)
+      self._apply_stock_cc_state(state, events)
+    elif same_sequence:
+      # Same-sequence false-to-true confirmation may fire; rollback cannot rearm.
+      # A same-sequence forceDisable still cannot emit pending buttonEnable.
+      self._apply_pending_edge(pending, events, True if force_disable else apply_longitudinal, rearm=False)
+      self._apply_stock_cc_state(state, events)
+    # Older/equal-non-same records cannot mutate a consumed latch.
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_card_epoch.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_card_epoch.py
index 4535d26a195025..d5d19339549466 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_card_epoch.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_card_epoch.py
@@ -1,5 +1,19 @@
+from types import SimpleNamespace
+from unittest.mock import patch
+
 from opendbc.car import structs
+from opendbc.car.tesla.preap.stock_cc import StockCcTransaction
+from opendbc.car.tesla.values import CruiseButtons
+from openpilot.cereal import custom, log
 from openpilot.selfdrive.car.card import Car
+from openpilot.selfdrive.selfdrived.events import Events
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+from openpilot.sunnypilot.selfdrive.car.preap_intent import PreAPIntentConsumer
+
+EventName = log.OnroadEvent.EventName
+Lateral = custom.CarStateSP.PreapLateralIntent
+Longitudinal = custom.CarStateSP.PreapLongitudinalIntent
+StockCc = custom.CarStateSP.PreapStockCcTransactionState
 
 
 def _record(sequence, lateral, longitudinal):
@@ -30,3 +44,409 @@ def test_new_epoch_publishes_neutral_seed_before_latched_intent():
   assert action.preapIntentSequence == 7
   assert action.preapLateralIntent == lateral.mainCruiseRequest
   assert action.preapLongitudinalIntent == longitudinal.enable
+
+
+def _stock_record(*, sequence, state, pending=False, confirmed=False, bound=0, lateral=None, longitudinal=None):
+  record = structs.CarStateSP()
+  record.preapIntentSequence = sequence
+  record.preapLateralIntent = lateral or structs.CarStateSP.PreapLateralIntent.none
+  record.preapLongitudinalIntent = longitudinal or structs.CarStateSP.PreapLongitudinalIntent.none
+  record.preapStockCcState = state
+  record.preapStockCcEnablePending = pending
+  record.preapStockCcHostDiConfirmed = confirmed
+  record.preapStockCcBoundCounter = bound
+  return record
+
+
+def _consumer_view(cs_sp):
+  return SimpleNamespace(
+    preapIntentEpoch=int(cs_sp.preapIntentEpoch),
+    preapIntentSequence=int(cs_sp.preapIntentSequence),
+    preapLateralIntent=getattr(Lateral, cs_sp.preapLateralIntent.name),
+    preapLongitudinalIntent=getattr(Longitudinal, cs_sp.preapLongitudinalIntent.name),
+    preapStockCcEnablePending=bool(cs_sp.preapStockCcEnablePending),
+    preapStockCcBoundCounter=int(cs_sp.preapStockCcBoundCounter),
+    preapStockCcHostDiConfirmed=bool(cs_sp.preapStockCcHostDiConfirmed),
+    preapStockCcState=getattr(StockCc, cs_sp.preapStockCcState.name),
+  )
+
+
+def test_seed_neutralizes_stockcc_projection_and_sequence_1_exposes_edge():
+  StockCc = structs.CarStateSP.PreapStockCcTransactionState
+  card = Car.__new__(Car)
+  card.preap_intent_epoch = 42
+  card.preap_intent_seed_pending = True
+
+  live_state = StockCc.cancelRequested
+  seed = _stock_record(sequence=1, state=live_state, pending=True, confirmed=True, bound=4)
+  card.stamp_preap_intent_epoch(seed)
+
+  assert seed.preapIntentEpoch == 42
+  assert seed.preapIntentSequence == 0
+  assert seed.preapLateralIntent == structs.CarStateSP.PreapLateralIntent.none
+  assert seed.preapLongitudinalIntent == structs.CarStateSP.PreapLongitudinalIntent.none
+  assert seed.preapStockCcState == StockCc.idle
+  assert seed.preapStockCcEnablePending is False
+  assert seed.preapStockCcHostDiConfirmed is False
+  assert seed.preapStockCcBoundCounter == 0
+
+  action = _stock_record(sequence=1, state=live_state, pending=False, confirmed=False, bound=4)
+  card.stamp_preap_intent_epoch(action)
+  assert action.preapIntentEpoch == 42
+  assert action.preapIntentSequence == 1
+  assert action.preapStockCcState == live_state
+
+  consumer = PreAPIntentConsumer()
+  events = Events()
+  events_sp = EventsSP()
+  consumer.update(_consumer_view(seed), events, events_sp, apply_longitudinal=False)
+  assert not events.has(EventName.buttonCancel)
+  events.clear()
+  events_sp.clear()
+  consumer.update(_consumer_view(action), events, events_sp, apply_longitudinal=False)
+  assert events.has(EventName.buttonCancel)
+
+
+def test_producer_restart_initial_batch_exposes_cancel_edge_after_new_seed():
+  StockCc = structs.CarStateSP.PreapStockCcTransactionState
+  card = Car.__new__(Car)
+  card.preap_intent_epoch = 7
+  card.preap_intent_seed_pending = True
+  first_seed = _stock_record(sequence=1, state=StockCc.cancelRequested, bound=3)
+  card.stamp_preap_intent_epoch(first_seed)
+  first_action = _stock_record(sequence=1, state=StockCc.cancelRequested, bound=3)
+  card.stamp_preap_intent_epoch(first_action)
+
+  # Producer restart: new epoch, live internal cancel remains, seed must not consume it.
+  card.preap_intent_epoch = 8
+  card.preap_intent_seed_pending = True
+  restart_seed = _stock_record(sequence=1, state=StockCc.cancelRequested, bound=3)
+  card.stamp_preap_intent_epoch(restart_seed)
+  assert restart_seed.preapIntentEpoch == 8
+  assert restart_seed.preapIntentSequence == 0
+  assert restart_seed.preapStockCcState == StockCc.idle
+  assert restart_seed.preapStockCcEnablePending is False
+  assert restart_seed.preapStockCcHostDiConfirmed is False
+
+  restart_action = _stock_record(sequence=1, state=StockCc.cancelRequested, bound=3)
+  card.stamp_preap_intent_epoch(restart_action)
+  assert restart_action.preapIntentSequence == 1
+  assert restart_action.preapStockCcState == StockCc.cancelRequested
+
+  consumer = PreAPIntentConsumer()
+  events = Events()
+  events_sp = EventsSP()
+  consumer.update(_consumer_view(first_seed), events, events_sp, apply_longitudinal=False)
+  events.clear()
+  consumer.update(_consumer_view(first_action), events, events_sp, apply_longitudinal=False)
+  assert events.has(EventName.buttonCancel)
+  events.clear()
+  consumer.update(_consumer_view(restart_seed), events, events_sp, apply_longitudinal=False)
+  assert not events.has(EventName.buttonCancel)
+  events.clear()
+  consumer.update(_consumer_view(restart_action), events, events_sp, apply_longitudinal=False)
+  assert events.has(EventName.buttonCancel)
+
+
+
+class _FakeSM:
+  def __init__(self, *, panda_states=None, alive=True, valid=True, updated=False):
+    self._panda_states = [] if panda_states is None else panda_states
+    self.alive = {"pandaStates": alive}
+    self.valid = {"pandaStates": valid}
+    self.updated = {"pandaStates": updated}
+
+  def update(self, _n):
+    return None
+
+  def all_alive(self, service_list=None):
+    keys = service_list or list(self.alive)
+    return all(self.alive.get(s, False) for s in keys)
+
+  def all_valid(self, service_list=None):
+    keys = service_list or list(self.valid)
+    return all(self.valid.get(s, False) for s in keys)
+
+  def __getitem__(self, key):
+    if key == "pandaStates":
+      return self._panda_states
+    if key == "carControl":
+      return SimpleNamespace(enabled=False)
+    if key == "longitudinalPlanSP":
+      return SimpleNamespace()
+    raise KeyError(key)
+
+
+def _live_cancel_stock_cc():
+  stock_cc = StockCcTransaction(True)
+  stock_cc.state = structs.CarStateSP.PreapStockCcTransactionState.cancelRequested
+  stock_cc.bound_counter = 4
+  return stock_cc
+
+
+def _card_with_producers(epoch, stock_cc):
+  card = Car.__new__(Car)
+  card.preap_intent_epoch = epoch
+  card.preap_intent_seed_pending = True
+  card.CP = SimpleNamespace(carFingerprint="TESLA_MODEL_S_PREAP")
+  card.can_sock = object()
+  card.can_rcv_cum_timeout_counter = 0
+  card.is_metric = False
+  card.experimental_mode = False
+  card.dynamic_experimental_control = False
+  card.CS_prev = SimpleNamespace()
+  card.CC_prev = SimpleNamespace(enabled=False)
+  card.v_cruise_helper = SimpleNamespace(
+    update_speed_limit_assist=lambda *a, **k: None,
+    update_v_cruise=lambda *a, **k: None,
+    v_cruise_kph=0.0,
+    v_cruise_cluster_kph=0.0,
+  )
+  card.sm = _FakeSM()
+  card.RI = SimpleNamespace(update=lambda _can: None)
+
+  def ci_update(_can):
+    cs = SimpleNamespace()
+    cs_sp = structs.CarStateSP()
+    cs_sp.preapIntentSequence = 1
+    stock_cc.publish(cs_sp)
+    return cs, cs_sp
+
+  card.CI = SimpleNamespace(
+    update=ci_update,
+    CS=SimpleNamespace(
+      update_stock_cc_panda=lambda panda: None if panda is None else stock_cc.update_panda(
+        counter=int(getattr(panda, "stockCcReengageCounter", 0) or 0),
+        confirmed=bool(getattr(panda, "stockCcReengageConfirmed", False)),
+        controls_allowed_longitudinal=bool(getattr(panda, "controlsAllowedLongitudinal", False)),
+      ),
+      stock_cc=stock_cc,
+    ),
+  )
+  return card
+
+
+def _run_state_update(card):
+  with patch("openpilot.selfdrive.car.card.messaging.drain_sock_raw", return_value=[b"can"]):
+    with patch("openpilot.selfdrive.car.card.can_capnp_to_list", return_value=[]):
+      with patch("openpilot.selfdrive.car.card.convert_to_capnp", side_effect=lambda sp: sp):
+        return card.state_update()
+
+
+def test_state_update_startup_seed_is_neutral_then_exposes_cancel_edge():
+  StockCc = structs.CarStateSP.PreapStockCcTransactionState
+  stock_cc = _live_cancel_stock_cc()
+  card = _card_with_producers(42, stock_cc)
+
+  _cs, seed, _rd = _run_state_update(card)
+  assert seed.preapIntentEpoch == 42
+  assert seed.preapIntentSequence == 0
+  assert seed.preapLateralIntent == structs.CarStateSP.PreapLateralIntent.none
+  assert seed.preapLongitudinalIntent == structs.CarStateSP.PreapLongitudinalIntent.none
+  assert seed.preapStockCcState == StockCc.idle
+  assert seed.preapStockCcEnablePending is False
+  assert seed.preapStockCcHostDiConfirmed is False
+  assert seed.preapStockCcBoundCounter == 0
+  assert stock_cc.state == StockCc.cancelRequested
+
+  _cs, action, _rd = _run_state_update(card)
+  assert action.preapIntentEpoch == 42
+  assert action.preapIntentSequence == 1
+  assert action.preapStockCcState == StockCc.cancelRequested
+
+  consumer = PreAPIntentConsumer()
+  events = Events()
+  events_sp = EventsSP()
+  consumer.update(_consumer_view(seed), events, events_sp, apply_longitudinal=False)
+  assert not events.has(EventName.buttonCancel)
+  events.clear()
+  events_sp.clear()
+  consumer.update(_consumer_view(action), events, events_sp, apply_longitudinal=False)
+  assert events.has(EventName.buttonCancel)
+
+
+def test_state_update_producer_restart_exposes_cancel_after_new_seed():
+  StockCc = structs.CarStateSP.PreapStockCcTransactionState
+  first_cc = _live_cancel_stock_cc()
+  first = _card_with_producers(7, first_cc)
+  _cs, first_seed, _rd = _run_state_update(first)
+  _cs, first_action, _rd = _run_state_update(first)
+
+  restart_cc = _live_cancel_stock_cc()
+  restart = _card_with_producers(8, restart_cc)
+  _cs, restart_seed, _rd = _run_state_update(restart)
+  assert restart_seed.preapIntentEpoch == 8
+  assert restart_seed.preapIntentSequence == 0
+  assert restart_seed.preapStockCcState == StockCc.idle
+  assert restart_seed.preapStockCcEnablePending is False
+  assert restart_seed.preapStockCcHostDiConfirmed is False
+  assert restart_cc.state == StockCc.cancelRequested
+
+  _cs, restart_action, _rd = _run_state_update(restart)
+  assert restart_action.preapIntentSequence == 1
+  assert restart_action.preapStockCcState == StockCc.cancelRequested
+
+  consumer = PreAPIntentConsumer()
+  events = Events()
+  events_sp = EventsSP()
+  consumer.update(_consumer_view(first_seed), events, events_sp, apply_longitudinal=False)
+  events.clear()
+  consumer.update(_consumer_view(first_action), events, events_sp, apply_longitudinal=False)
+  assert events.has(EventName.buttonCancel)
+  events.clear()
+  consumer.update(_consumer_view(restart_seed), events, events_sp, apply_longitudinal=False)
+  assert not events.has(EventName.buttonCancel)
+  events.clear()
+  consumer.update(_consumer_view(restart_action), events, events_sp, apply_longitudinal=False)
+  assert events.has(EventName.buttonCancel)
+
+
+def _confirmed_stock_cc():
+  stock_cc = StockCcTransaction(True)
+  stock_cc.state = structs.CarStateSP.PreapStockCcTransactionState.confirmed
+  stock_cc.enable_pending = True
+  stock_cc.host_di_confirmed = True
+  stock_cc._panda_matched = True
+  stock_cc._panda_counter_at_bind = 0
+  stock_cc.bound_counter = 1
+  return stock_cc
+
+
+def _confirmed_panda():
+  return SimpleNamespace(
+    stockCcReengageCounter=1,
+    stockCcReengageConfirmed=True,
+    controlsAllowedLongitudinal=True,
+  )
+
+
+def _card_with_panda_dispatch(stock_cc, sm):
+  card = _card_with_producers(1, stock_cc)
+  card.sm = sm
+  card.preap_intent_seed_pending = False
+
+  def update_stock_cc_panda(panda):
+    if panda is None:
+      stock_cc.update_panda(counter=None, confirmed=False, controls_allowed_longitudinal=False)
+      return
+    stock_cc.update_panda(
+      counter=int(getattr(panda, "stockCcReengageCounter", 0) or 0),
+      confirmed=bool(getattr(panda, "stockCcReengageConfirmed", False)),
+      controls_allowed_longitudinal=bool(getattr(panda, "controlsAllowedLongitudinal", False)),
+    )
+
+  card.CI.CS.update_stock_cc_panda = update_stock_cc_panda
+  return card
+
+
+def test_healthy_cached_panda_survives_between_updates():
+  stock_cc = _confirmed_stock_cc()
+  sm = _FakeSM(panda_states=[_confirmed_panda()], alive=True, valid=True, updated=False)
+  card = _card_with_panda_dispatch(stock_cc, sm)
+  _run_state_update(card)
+  assert stock_cc.state == structs.CarStateSP.PreapStockCcTransactionState.confirmed
+  assert stock_cc.enable_pending is True
+  sm.updated["pandaStates"] = False
+  _cs, cs_sp, _rd = _run_state_update(card)
+  assert stock_cc.state == structs.CarStateSP.PreapStockCcTransactionState.confirmed
+  assert stock_cc.enable_pending is True
+  assert cs_sp.preapStockCcEnablePending is True
+  assert cs_sp.preapStockCcHostDiConfirmed is True
+
+
+def test_dead_panda_after_confirmation_fails_closed():
+  stock_cc = _confirmed_stock_cc()
+  sm = _FakeSM(panda_states=[_confirmed_panda()], alive=True, valid=True)
+  card = _card_with_panda_dispatch(stock_cc, sm)
+  _run_state_update(card)
+  assert stock_cc.state == structs.CarStateSP.PreapStockCcTransactionState.confirmed
+  sm.alive["pandaStates"] = False
+  _cs, cs_sp, _rd = _run_state_update(card)
+  assert stock_cc.state == structs.CarStateSP.PreapStockCcTransactionState.cancelledOrFailed
+  assert stock_cc.enable_pending is False
+  assert stock_cc.host_di_confirmed is False
+  assert cs_sp.preapStockCcEnablePending is False
+
+
+def test_invalid_panda_after_confirmation_fails_closed():
+  stock_cc = _confirmed_stock_cc()
+  sm = _FakeSM(panda_states=[_confirmed_panda()], alive=True, valid=True)
+  card = _card_with_panda_dispatch(stock_cc, sm)
+  _run_state_update(card)
+  assert stock_cc.state == structs.CarStateSP.PreapStockCcTransactionState.confirmed
+  sm.valid["pandaStates"] = False
+  _cs, cs_sp, _rd = _run_state_update(card)
+  assert stock_cc.state == structs.CarStateSP.PreapStockCcTransactionState.cancelledOrFailed
+  assert stock_cc.enable_pending is False
+  assert stock_cc.host_di_confirmed is False
+  assert cs_sp.preapStockCcEnablePending is False
+
+
+def test_stale_pending_after_dead_panda_cannot_enable():
+  stock_cc = _confirmed_stock_cc()
+  sm = _FakeSM(panda_states=[_confirmed_panda()], alive=True, valid=True)
+  card = _card_with_panda_dispatch(stock_cc, sm)
+  _run_state_update(card)
+  sm.alive["pandaStates"] = False
+  _cs, dead, _rd = _run_state_update(card)
+  assert dead.preapStockCcEnablePending is False
+  consumer = PreAPIntentConsumer()
+  events = Events()
+  events_sp = EventsSP()
+  view = _consumer_view(dead)
+  consumer.update(view, events, events_sp, apply_longitudinal=True)
+  events.clear()
+  events_sp.clear()
+  view.preapIntentSequence = int(view.preapIntentSequence) + 1
+  consumer.update(view, events, events_sp, apply_longitudinal=True)
+  assert not events.has(EventName.buttonEnable)
+
+
+def _failed_stock_cc():
+  stock_cc = StockCcTransaction(True)
+  stock_cc.update_stalk(CruiseButtons.IDLE, 0, 0)
+  stock_cc.update_stalk(CruiseButtons.MAIN, 1, 0)
+  stock_cc.update_health(blocked=True)
+  stock_cc.update_health(blocked=False)
+  return stock_cc
+
+
+def test_state_update_terminal_seed_survives_immediate_idle_then_recovers():
+  StockCc = structs.CarStateSP.PreapStockCcTransactionState
+  stock_cc = _failed_stock_cc()
+  card = _card_with_producers(42, stock_cc)
+
+  _cs, seed, _rd = _run_state_update(card)
+  assert seed.preapIntentEpoch == 42
+  assert seed.preapIntentSequence == 0
+  assert seed.preapLateralIntent == structs.CarStateSP.PreapLateralIntent.none
+  assert seed.preapLongitudinalIntent == structs.CarStateSP.PreapLongitudinalIntent.none
+  assert seed.preapStockCcState == StockCc.idle
+  assert seed.preapStockCcEnablePending is False
+  assert seed.preapStockCcHostDiConfirmed is False
+  assert stock_cc.state == StockCc.cancelledOrFailed
+
+  stock_cc.update_stalk(CruiseButtons.IDLE, 2, 10)
+  assert stock_cc.state == StockCc.cancelledOrFailed
+
+  _cs, terminal, _rd = _run_state_update(card)
+  assert terminal.preapIntentEpoch == 42
+  assert terminal.preapIntentSequence == 1
+  assert terminal.preapStockCcState == StockCc.cancelledOrFailed
+  assert terminal.preapStockCcEnablePending is False
+  assert terminal.preapStockCcHostDiConfirmed is False
+
+  consumer = PreAPIntentConsumer()
+  events = Events()
+  events_sp = EventsSP()
+  consumer.update(_consumer_view(seed), events, events_sp, apply_longitudinal=False)
+  assert not events.has(EventName.buttonCancel)
+  events.clear()
+  events_sp.clear()
+  consumer.update(_consumer_view(terminal), events, events_sp, apply_longitudinal=False)
+  assert events.has(EventName.buttonCancel)
+
+  stock_cc.update_stalk(CruiseButtons.IDLE, 3, 20)
+  assert stock_cc.state == StockCc.idle
+  _cs, recovered, _rd = _run_state_update(card)
+  assert recovered.preapStockCcState == StockCc.idle
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py
index 6659ef9d32532f..f2e3b0f254f883 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py
@@ -31,6 +31,18 @@ def test_enum_numeric_pins(self):
     self.assertEqual(int(custom.CarStateSP.PreapLongitudinalIntent.none), 0)
     self.assertEqual(int(custom.CarStateSP.PreapLongitudinalIntent.enable), 1)
     self.assertEqual(int(custom.CarStateSP.PreapLongitudinalIntent.disable), 2)
+    self.assertEqual(int(custom.CarStateSP.PreapStockCcTransactionState.idle), 0)
+    self.assertEqual(int(custom.CarStateSP.PreapStockCcTransactionState.cancelRequested), 1)
+    self.assertEqual(int(custom.CarStateSP.PreapStockCcTransactionState.awaitingCancelConfirmation), 2)
+    self.assertEqual(int(custom.CarStateSP.PreapStockCcTransactionState.awaitingSecondPull), 3)
+    self.assertEqual(int(custom.CarStateSP.PreapStockCcTransactionState.reengageRequested), 4)
+    self.assertEqual(int(custom.CarStateSP.PreapStockCcTransactionState.awaitingDiConfirmation), 5)
+    self.assertEqual(int(custom.CarStateSP.PreapStockCcTransactionState.confirmed), 6)
+    self.assertEqual(int(custom.CarStateSP.PreapStockCcTransactionState.cancelledOrFailed), 7)
+    enum = custom.CarStateSP.PreapStockCcTransactionState
+    self.assertEqual([int(enum.idle), int(enum.cancelRequested), int(enum.awaitingCancelConfirmation),
+                      int(enum.awaitingSecondPull), int(enum.reengageRequested), int(enum.awaitingDiConfirmation),
+                      int(enum.confirmed), int(enum.cancelledOrFailed)], list(range(8)))
 
   def test_field_ordinal_pins(self):
     cp = _ordinals(custom.CarParamsSP.schema)
@@ -58,6 +70,10 @@ def test_field_ordinal_pins(self):
     self.assertEqual(cs["preapLongitudinalIntent"], 2)
     self.assertEqual(cs["preapIntentSequence"], 3)
     self.assertEqual(cs["preapIntentEpoch"], 4)
+    self.assertEqual(cs["preapStockCcState"], 5)
+    self.assertEqual(cs["preapStockCcBoundCounter"], 6)
+    self.assertEqual(cs["preapStockCcHostDiConfirmed"], 7)
+    self.assertEqual(cs["preapStockCcEnablePending"], 8)
 
     car_state = _ordinals(structs.CarState.schema)
     self.assertEqual(car_state["turnSignalStalkState"], 61)
@@ -123,6 +139,8 @@ def test_version1_round_trip_and_old_schema_reads_old_fields(self):
       self.assertEqual(msg.preapLongitudinalIntent, custom.CarStateSP.PreapLongitudinalIntent.disable)
       self.assertEqual(msg.preapIntentSequence, 9)
       self.assertEqual(msg.preapIntentEpoch, 99)
+      self.assertEqual(msg.preapStockCcState, custom.CarStateSP.PreapStockCcTransactionState.idle)
+      self.assertFalse(msg.preapStockCcEnablePending)
 
     with old.CarStateSP.from_bytes(raw_cs) as old_cs:
       self.assertAlmostEqual(old_cs.speedLimit, 11.0, places=4)
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_stock_cc_consumer.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_stock_cc_consumer.py
new file mode 100644
index 00000000000000..be921b97c363e9
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_stock_cc_consumer.py
@@ -0,0 +1,490 @@
+import unittest
+from types import SimpleNamespace
+
+from opendbc.can import CANPacker
+from opendbc.car import CanData, gen_empty_fingerprint, structs
+from opendbc.car.tesla.interface import CarInterface
+from opendbc.car.tesla.preap.boot import apply_preap_hardware_snapshot, hardware_snapshot_from_values
+from opendbc.car.tesla.values import CAR, CruiseButtons
+from openpilot.cereal import custom, log
+from openpilot.selfdrive.selfdrived.events import Events
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
+from openpilot.sunnypilot.selfdrive.car.preap_intent import PreAPIntentConsumer
+
+EventName = log.OnroadEvent.EventName
+EventNameSP = custom.OnroadEventSP.EventName
+Lateral = custom.CarStateSP.PreapLateralIntent
+Longitudinal = custom.CarStateSP.PreapLongitudinalIntent
+StockCc = custom.CarStateSP.PreapStockCcTransactionState
+
+
+def record(epoch, sequence, lat=Lateral.none, lon=Longitudinal.none, *, pending=False, bound=0, host_di=False, state=None):
+  return SimpleNamespace(
+    preapIntentEpoch=epoch,
+    preapIntentSequence=sequence,
+    preapLateralIntent=lat,
+    preapLongitudinalIntent=lon,
+    preapStockCcEnablePending=pending,
+    preapStockCcBoundCounter=bound,
+    preapStockCcHostDiConfirmed=host_di,
+    preapStockCcState=state or StockCc.idle,
+  )
+
+
+class TestPreAPStockCcConsumer(unittest.TestCase):
+  def setUp(self):
+    self.consumer = PreAPIntentConsumer()
+    self.events = Events()
+    self.events_sp = EventsSP()
+
+  def apply(self, rec, apply_longitudinal=False):
+    self.events.clear()
+    self.events_sp.clear()
+    self.consumer.update(rec, self.events, self.events_sp, apply_longitudinal=apply_longitudinal)
+
+  def test_exactly_one_button_enable_then_release(self):
+    self.apply(record(1, 1))
+    self.apply(record(1, 2, lon=Longitudinal.enable, pending=True, bound=5, host_di=True, state=StockCc.confirmed))
+    self.assertTrue(self.events.has(EventName.buttonEnable))
+    self.apply(record(1, 2, lon=Longitudinal.enable, pending=True, bound=5, host_di=True, state=StockCc.confirmed))
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+    self.apply(record(1, 2, pending=True, bound=5, host_di=True, state=StockCc.confirmed))
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+
+  def test_generic_long_intent_does_not_enable_when_not_op_long(self):
+    self.apply(record(1, 1))
+    self.apply(record(1, 2, lon=Longitudinal.enable), apply_longitudinal=False)
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+
+  def test_pending_emits_on_repeated_sequence(self):
+    self.apply(record(1, 4))
+    self.apply(record(1, 5, lat=Lateral.mainCruiseRequest))
+    self.assertTrue(self.events_sp.has(EventNameSP.lkasEnable))
+    self.apply(record(1, 5, pending=True, bound=9, host_di=True, state=StockCc.confirmed))
+    self.assertTrue(self.events.has(EventName.buttonEnable))
+    self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
+
+  def test_car_specific_no_pedal_emits_stock_cc_not_generic_pcm(self):
+    CP = structs.CarParams()
+    CP.brand = "tesla"
+    CP.carFingerprint = "TESLA_MODEL_S_PREAP"
+    CP.openpilotLongitudinalControl = False
+    cse = CarSpecificEventsSP(CP, structs.CarParamsSP())
+    events = Events()
+    cs = structs.CarState()
+    cs.blockPcmEnable = True
+    cse.update(cs, events, record(4, 0))
+    cse.update(cs, events, record(4, 1, lon=Longitudinal.enable))
+    self.assertFalse(events.has(EventName.buttonEnable))
+    events.clear()
+    cse.update(cs, events, record(4, 1, pending=True, bound=3, host_di=True, state=StockCc.confirmed))
+    self.assertTrue(events.has(EventName.buttonEnable))
+    events.clear()
+    cse.update(cs, events, record(4, 1, pending=True, bound=3, host_di=True, state=StockCc.confirmed))
+    self.assertFalse(events.has(EventName.buttonEnable))
+
+  def test_restart_seeds_true_pending_as_consumed(self):
+    self.apply(record(1, 7, pending=True, bound=4, host_di=True, state=StockCc.confirmed))
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+    self.apply(record(1, 7, pending=True, bound=4, host_di=True, state=StockCc.confirmed))
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+    self.apply(record(1, 8, pending=False, bound=4, host_di=False, state=StockCc.idle))
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+    self.apply(record(1, 9, pending=True, bound=5, host_di=True, state=StockCc.confirmed))
+    self.assertTrue(self.events.has(EventName.buttonEnable))
+
+  def test_unrelated_newer_intent_while_pending_does_not_emit(self):
+    self.apply(record(1, 1))
+    self.apply(record(1, 2, pending=True, bound=1, host_di=True, state=StockCc.confirmed))
+    self.assertTrue(self.events.has(EventName.buttonEnable))
+    self.apply(record(1, 3, lat=Lateral.mainCruiseRequest, pending=True, bound=1, host_di=True, state=StockCc.confirmed))
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+    self.apply(record(1, 4, pending=True, bound=2, host_di=True, state=StockCc.confirmed))
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+
+  def test_false_to_true_after_uint8_wrap_emits(self):
+    self.apply(record(1, 1))
+    self.apply(record(1, 2, pending=True, bound=255, host_di=True, state=StockCc.confirmed))
+    self.assertTrue(self.events.has(EventName.buttonEnable))
+    self.apply(record(1, 3, pending=False, bound=255, host_di=False, state=StockCc.idle))
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+    self.apply(record(1, 4, pending=True, bound=0, host_di=True, state=StockCc.confirmed))
+    self.assertTrue(self.events.has(EventName.buttonEnable))
+
+  def test_cancel_requested_emits_button_cancel_when_not_op_long(self):
+    self.apply(record(1, 1))
+    self.apply(record(1, 2, state=StockCc.cancelRequested), apply_longitudinal=False)
+    self.assertTrue(self.events.has(EventName.buttonCancel))
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+    self.apply(record(1, 3, lon=Longitudinal.enable), apply_longitudinal=False)
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+    self.assertFalse(self.events.has(EventName.buttonCancel))
+
+  def test_coupled_pending_emits_lkas_and_button_enable_atomically(self):
+    self.apply(record(1, 1))
+    self.apply(
+      record(1, 2, lat=Lateral.mainCruiseRequest, lon=Longitudinal.enable, pending=True,
+             bound=5, host_di=True, state=StockCc.confirmed),
+      apply_longitudinal=False,
+    )
+    self.assertTrue(self.events.has(EventName.buttonEnable))
+    self.assertTrue(self.events_sp.has(EventNameSP.lkasEnable))
+    self.apply(
+      record(1, 2, lat=Lateral.mainCruiseRequest, lon=Longitudinal.enable, pending=True,
+             bound=5, host_di=True, state=StockCc.confirmed),
+      apply_longitudinal=False,
+    )
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+    self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
+
+  def test_reorder_false_cannot_rearm_consumed_pending(self):
+    self.apply(record(1, 1, pending=False))
+    self.apply(record(1, 2, pending=True, bound=2, host_di=True, state=StockCc.confirmed))
+    self.assertTrue(self.events.has(EventName.buttonEnable))
+    self.apply(record(1, 1, pending=False))
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+    self.apply(record(1, 2, pending=True, bound=2, host_di=True, state=StockCc.confirmed))
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+    self.apply(record(1, 3, pending=False, state=StockCc.idle))
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+    self.apply(record(1, 4, pending=True, bound=3, host_di=True, state=StockCc.confirmed))
+    self.assertTrue(self.events.has(EventName.buttonEnable))
+
+  def test_same_sequence_rollback_cannot_rearm(self):
+    self.apply(record(1, 1))
+    self.apply(record(1, 2, pending=True, bound=1, host_di=True, state=StockCc.confirmed))
+    self.assertTrue(self.events.has(EventName.buttonEnable))
+    self.apply(record(1, 2, pending=False))
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+    self.apply(record(1, 2, pending=True, bound=1, host_di=True, state=StockCc.confirmed))
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+
+  def test_cancelled_or_failed_emits_once_and_clears_deferred(self):
+    self.apply(record(1, 1))
+    self.apply(record(1, 2, lat=Lateral.mainCruiseRequest))
+    self.apply(
+      record(1, 3, lat=Lateral.forceDisable, lon=Longitudinal.disable, state=StockCc.cancelledOrFailed),
+      apply_longitudinal=False,
+    )
+    self.assertTrue(self.events.has(EventName.buttonCancel))
+    self.assertTrue(self.events_sp.has(EventNameSP.lkasDisable))
+    self.apply(
+      record(1, 3, lat=Lateral.forceDisable, lon=Longitudinal.disable, state=StockCc.cancelledOrFailed),
+      apply_longitudinal=False,
+    )
+    self.assertFalse(self.events.has(EventName.buttonCancel))
+    self.apply(record(1, 4, pending=True, bound=1, host_di=True, state=StockCc.confirmed), apply_longitudinal=False)
+    self.assertTrue(self.events.has(EventName.buttonEnable))
+
+  def test_skipped_confirmation_force_disable_cannot_emit_button_enable(self):
+    # Consumer is awaiting DI confirmation with pending=false. The producer
+    # confirms, but that intermediate record is not delivered. The next
+    # record is a newer forceDisable that still carries pending=true.
+    self.apply(record(1, 1, state=StockCc.awaitingDiConfirmation, pending=False), apply_longitudinal=False)
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+    self.apply(
+      record(
+        1, 2,
+        lat=Lateral.forceDisable, lon=Longitudinal.disable,
+        pending=True, bound=5, host_di=True, state=StockCc.confirmed,
+      ),
+      apply_longitudinal=False,
+    )
+    self.assertTrue(self.events_sp.has(EventNameSP.lkasDisable))
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+
+  def test_skipped_confirmation_panda_loss_cannot_emit_button_enable(self):
+    # Confirmation publication is skipped. The next observed record is the
+    # post-Panda-loss terminal disable with pending and host confirmation cleared.
+    self.apply(record(1, 1, state=StockCc.awaitingDiConfirmation, pending=False), apply_longitudinal=False)
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+    self.apply(
+      record(
+        1, 2,
+        lat=Lateral.forceDisable, lon=Longitudinal.disable,
+        pending=False, bound=5, host_di=False, state=StockCc.cancelledOrFailed,
+      ),
+      apply_longitudinal=False,
+    )
+    self.assertTrue(self.events_sp.has(EventNameSP.lkasDisable))
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+
+  def test_force_disable_dominates_pending_and_enable_on_one_record(self):
+    self.apply(record(1, 1), apply_longitudinal=False)
+    self.apply(
+      record(
+        1, 2,
+        lat=Lateral.forceDisable, lon=Longitudinal.enable,
+        pending=True, bound=5, host_di=True, state=StockCc.confirmed,
+      ),
+      apply_longitudinal=False,
+    )
+    self.assertTrue(self.events_sp.has(EventNameSP.lkasDisable))
+    self.assertFalse(self.events.has(EventName.buttonEnable))
+    self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
+
+
+def _packet(name, values, bus=0, ts=1):
+  addr, dat, bus = CANPacker("tesla_preap").make_can_msg(name, bus, values)
+  return [(ts, [CanData(addr, dat, bus)])]
+
+
+def _produced_nopedal_coupled_ci():
+  CP = CarInterface.get_params(CAR.TESLA_MODEL_S_PREAP, gen_empty_fingerprint(), [], False, False, False)
+  CP_SP = CarInterface.get_params_sp(CP, CAR.TESLA_MODEL_S_PREAP, gen_empty_fingerprint(), [], False, False, False)
+  apply_preap_hardware_snapshot(
+    CP, CP_SP, hardware_snapshot_from_values(engagement_mode="cruiseCoupled"),
+  )
+  return CP, CP_SP, CarInterface(CP, CP_SP)
+
+
+def _prime_drive(CI, ts=1_000_000):
+  packets = []
+  packets += _packet("ESP_B", {"ESP_vehicleSpeed": 36.0}, ts=ts)
+  packets += _packet("DI_torque2", {"DI_brakePedal": 0, "DI_gear": 4, "DI_brakePedalState": 0}, ts=ts)
+  packets += _packet("BrakeMessage", {"driverBrakeStatus": 1}, ts=ts)
+  packets += _packet("DI_torque1", {"DI_pedalPos": 0}, ts=ts)
+  packets += _packet("DI_state", {"DI_cruiseState": 0, "DI_speedUnits": 1, "DI_digitalSpeed": 20}, ts=ts)
+  packets += _packet("EPAS_sysStatus", {"EPAS_internalSAS": 0, "EPAS_torsionBarTorque": 0, "EPAS_handsOnLevel": 0,
+                                        "EPAS_eacStatus": 1, "EPAS_eacErrorCode": 0}, ts=ts)
+  packets += _packet("STW_ANGLHP_STAT", {"StW_AnglHP_Spd": 0}, ts=ts)
+  packets += _packet("GTW_carState", {
+    "DOOR_STATE_FL": 0, "DOOR_STATE_FR": 0, "DOOR_STATE_RL": 0, "DOOR_STATE_RR": 0,
+    "DOOR_STATE_FrontTrunk": 0, "BOOT_STATE": 0, "BC_indicatorLStatus": 0, "BC_indicatorRStatus": 0,
+  }, ts=ts)
+  CI.update(packets)
+
+
+def _from_produced(cs_sp, epoch):
+  return record(
+    epoch,
+    int(cs_sp.preapIntentSequence),
+    lat=getattr(Lateral, cs_sp.preapLateralIntent.name),
+    lon=getattr(Longitudinal, cs_sp.preapLongitudinalIntent.name),
+    pending=bool(cs_sp.preapStockCcEnablePending),
+    bound=int(cs_sp.preapStockCcBoundCounter),
+    host_di=bool(cs_sp.preapStockCcHostDiConfirmed),
+    state=getattr(StockCc, cs_sp.preapStockCcState.name),
+  )
+
+
+
+def _produced_nopedal_independent_ci():
+  CP = CarInterface.get_params(CAR.TESLA_MODEL_S_PREAP, gen_empty_fingerprint(), [], False, False, False)
+  CP_SP = CarInterface.get_params_sp(CP, CAR.TESLA_MODEL_S_PREAP, gen_empty_fingerprint(), [], False, False, False)
+  apply_preap_hardware_snapshot(
+    CP, CP_SP, hardware_snapshot_from_values(engagement_mode="independent"),
+  )
+  return CP, CP_SP, CarInterface(CP, CP_SP)
+
+
+def _force_confirmed(CI, stalk_counter=5):
+  t = CI.CS.stock_cc
+  t.state = structs.CarStateSP.PreapStockCcTransactionState.confirmed
+  t.enable_pending = True
+  t.host_di_confirmed = True
+  t._need_release = False
+  t._blocked = False
+  t._panda_counter_at_bind = 0
+  t.bound_counter = 1
+  t.sync_counter(stalk_counter)
+  t._prev_lever = 0
+  return t
+
+
+class TestNoPedalLogicalActiveMadsEvents(unittest.TestCase):
+  def _consume(self, seed, action):
+    consumer = PreAPIntentConsumer()
+    events = Events()
+    events_sp = EventsSP()
+    consumer.update(seed, events, events_sp, apply_longitudinal=False)
+    events.clear()
+    events_sp.clear()
+    consumer.update(action, events, events_sp, apply_longitudinal=False)
+    return events, events_sp
+
+  def test_produced_nopedal_coupled_first_pull_emits_force_disable_and_button_cancel(self):
+    CP, _CP_SP, CI = _produced_nopedal_coupled_ci()
+    self.assertFalse(CP.openpilotLongitudinalControl)
+    self.assertTrue(CP.pcmCruise)
+    self.assertTrue(CI.CS.stock_cc.active)
+    _prime_drive(CI)
+    CC = structs.CarControl()
+    CC.enabled = True
+    CC.longActive = False
+    CI.apply(CC, structs.CarControlSP(), now_nanos=0)
+    self.assertTrue(CI.CS.intent.long_active)
+
+    CI.update(_packet("STW_ACTN_RQ", {"SpdCtrlLvr_Stat": 0, "MC_STW_ACTN_RQ": 0}, ts=2_000_000))
+    _cs, CS_SP = CI.update(_packet("STW_ACTN_RQ", {"SpdCtrlLvr_Stat": 2, "MC_STW_ACTN_RQ": 1}, ts=2_000_001))
+    self.assertEqual(CS_SP.preapLateralIntent.name, "forceDisable")
+    self.assertEqual(CS_SP.preapLongitudinalIntent.name, "disable")
+    events, events_sp = self._consume(record(5, 0), _from_produced(CS_SP, 5))
+    self.assertTrue(events_sp.has(EventNameSP.lkasDisable))
+    self.assertTrue(events.has(EventName.buttonCancel))
+
+  def test_produced_nopedal_coupled_brake_emits_force_disable(self):
+    CP, _CP_SP, CI = _produced_nopedal_coupled_ci()
+    self.assertFalse(CP.openpilotLongitudinalControl)
+    _prime_drive(CI)
+    CC = structs.CarControl()
+    CC.enabled = True
+    CC.longActive = False
+    CI.apply(CC, structs.CarControlSP(), now_nanos=0)
+    self.assertTrue(CI.CS.intent.long_active)
+
+    _cs, CS_SP = CI.update(_packet("BrakeMessage", {"driverBrakeStatus": 2}, ts=2_000_000))
+    self.assertEqual(CS_SP.preapLateralIntent.name, "forceDisable")
+    self.assertEqual(CS_SP.preapLongitudinalIntent.name, "disable")
+    events, events_sp = self._consume(record(5, 0), _from_produced(CS_SP, 5))
+    self.assertTrue(events_sp.has(EventNameSP.lkasDisable))
+
+  def _confirmed_di_fall(self, CI):
+    frozen = [2_000_000_000]
+    CI.CS._clock_ns = lambda: frozen[0]
+    _prime_drive(CI, ts=1_000_000)
+    t = _force_confirmed(CI)
+    CI.update(_packet("DI_state", {"DI_cruiseState": 2, "DI_speedUnits": 1, "DI_digitalSpeed": 20}, ts=1_500_000))
+    self.assertEqual(t.state, structs.CarStateSP.PreapStockCcTransactionState.confirmed)
+    _cs, CS_SP = CI.update(_packet(
+      "DI_state", {"DI_cruiseState": 0, "DI_speedUnits": 1, "DI_digitalSpeed": 20}, ts=2_000_000,
+    ))
+    return CS_SP
+
+  def test_produced_nopedal_independent_confirmed_di_fall_does_not_lkas_disable(self):
+    _CP, _CP_SP, CI = _produced_nopedal_independent_ci()
+    CS_SP = self._confirmed_di_fall(CI)
+    self.assertEqual(CS_SP.preapLateralIntent.name, "none")
+    self.assertEqual(CS_SP.preapLongitudinalIntent.name, "disable")
+    self.assertEqual(CS_SP.preapStockCcState.name, "cancelledOrFailed")
+    events, events_sp = self._consume(record(5, 0), _from_produced(CS_SP, 5))
+    self.assertFalse(events_sp.has(EventNameSP.lkasDisable))
+    self.assertTrue(events.has(EventName.buttonCancel))
+
+  def test_produced_nopedal_coupled_confirmed_di_fall_emits_lkas_disable(self):
+    _CP, _CP_SP, CI = _produced_nopedal_coupled_ci()
+    CS_SP = self._confirmed_di_fall(CI)
+    self.assertEqual(CS_SP.preapLateralIntent.name, "forceDisable")
+    self.assertEqual(CS_SP.preapLongitudinalIntent.name, "disable")
+    self.assertEqual(CS_SP.preapStockCcState.name, "cancelledOrFailed")
+    events, events_sp = self._consume(record(5, 0), _from_produced(CS_SP, 5))
+    self.assertTrue(events_sp.has(EventNameSP.lkasDisable))
+    self.assertTrue(events.has(EventName.buttonCancel))
+
+
+STW_ADDR = 0x45
+IDLE = CruiseButtons.IDLE
+MAIN = CruiseButtons.MAIN
+CANCEL = CruiseButtons.CANCEL
+SET_ACCEL = CruiseButtons.SET_ACCEL
+PASSTHROUGH_LEVERS = (
+  CruiseButtons.RES_ACCEL,
+  CruiseButtons.RES_ACCEL_2ND,
+  CruiseButtons.DECEL_SET,
+  CruiseButtons.DECEL_2ND,
+)
+FORBIDDEN_TX_LEVERS = (MAIN, CruiseButtons.RES_ACCEL_2ND, CruiseButtons.DECEL_SET, CruiseButtons.DECEL_2ND)
+
+
+def _stw(lever, counter, ts):
+  return _packet("STW_ACTN_RQ", {"SpdCtrlLvr_Stat": lever, "MC_STW_ACTN_RQ": counter}, ts=ts)
+
+
+def _di(enabled, ts):
+  return _packet("DI_state", {
+    "DI_cruiseState": 2 if enabled else 0,
+    "DI_speedUnits": 1,
+    "DI_digitalSpeed": 20,
+  }, ts=ts)
+
+
+class TestProducedNopedalCoupledDirectAdjustment(unittest.TestCase):
+  def _drain_stock_cc_tx(self, CI, frames=40):
+    CC = structs.CarControl()
+    CC_SP = structs.CarControlSP()
+    sent = []
+    echo = None
+    for _ in range(frames):
+      _act, msgs = CI.apply(CC, CC_SP, now_nanos=0)
+      for addr, dat, bus in msgs:
+        if addr != STW_ADDR:
+          continue
+        lever = dat[0] & 0x3F
+        sent.append(lever)
+        echo = (addr, dat, bus)
+    return sent, echo
+
+  def _echo(self, CI, echo, ts):
+    addr, dat, bus = echo
+    CI.update([(ts, [CanData(addr, dat, bus)])])
+
+  def _consume(self, seed, action):
+    consumer = PreAPIntentConsumer()
+    events = Events()
+    events_sp = EventsSP()
+    consumer.update(seed, events, events_sp, apply_longitudinal=False)
+    events.clear()
+    events_sp.clear()
+    consumer.update(action, events, events_sp, apply_longitudinal=False)
+    return events, events_sp
+
+  def test_direct_adjustment_levers_produce_atomic_lkas_and_button_enable(self):
+    for lever in PASSTHROUGH_LEVERS:
+      with self.subTest(lever=lever):
+        CP, _CP_SP, CI = _produced_nopedal_coupled_ci()
+        self.assertFalse(CP.openpilotLongitudinalControl)
+        self.assertTrue(CP.pcmCruise)
+        self.assertTrue(CI.CS.stock_cc.active)
+        frozen = [0]
+        CI.CS._clock_ns = lambda: frozen[0]
+        _prime_drive(CI, ts=1_000_000)
+        CI.apply(structs.CarControl(), structs.CarControlSP(), now_nanos=0)
+        self.assertFalse(CI.CS.intent.long_active)
+
+        CI.update(_stw(IDLE, 0, 2_000_000))
+        CI.update(_stw(MAIN, 1, 2_000_001))
+        origin = CI.CS.intent._first_pull_ms
+        self.assertEqual(origin, 0)
+        CI.update(_stw(lever, 2, 2_000_002))
+        self.assertEqual(CI.CS.intent._first_pull_ms, origin)
+
+        cancel_tx, cancel_echo = self._drain_stock_cc_tx(CI)
+        self.assertEqual(cancel_tx, [CANCEL])
+        self.assertNotIn(MAIN, cancel_tx)
+        self.assertTrue(all(tx not in FORBIDDEN_TX_LEVERS for tx in cancel_tx))
+        self._echo(CI, cancel_echo, 2_100_000)
+
+        CI.update(_di(False, 3_000_000))
+        self.assertTrue(CI.CS.stock_cc._post_cancel_di)
+
+        frozen[0] = 399_000_000
+        CI.update(_stw(IDLE, 4, 4_000_000))
+        _cs, CS_SP = CI.update(_stw(MAIN, 5, 4_000_001))
+        self.assertTrue(CI.CS.intent._coupled_deferred)
+        self.assertEqual(CS_SP.preapLateralIntent.name, "none")
+
+        set_tx, set_echo = self._drain_stock_cc_tx(CI)
+        self.assertEqual(set_tx, [SET_ACCEL])
+        self.assertNotIn(MAIN, set_tx)
+        self.assertTrue(all(tx not in FORBIDDEN_TX_LEVERS for tx in set_tx))
+        self._echo(CI, set_echo, 4_100_000)
+
+        CI.update(_di(True, 5_000_000))
+        CI.CS.update_stock_cc_panda(SimpleNamespace(
+          stockCcReengageCounter=CI.CS.stock_cc.bound_counter,
+          stockCcReengageConfirmed=True,
+          controlsAllowedLongitudinal=True,
+        ))
+        _cs, CS_SP = CI.update([])
+        self.assertEqual(CS_SP.preapLateralIntent.name, "mainCruiseRequest")
+        self.assertEqual(CS_SP.preapLongitudinalIntent.name, "enable")
+        self.assertTrue(CS_SP.preapStockCcEnablePending)
+        self.assertTrue(CS_SP.preapStockCcHostDiConfirmed)
+        self.assertEqual(CS_SP.preapStockCcState.name, "confirmed")
+
+        events, events_sp = self._consume(record(5, 0), _from_produced(CS_SP, 5))
+        self.assertTrue(events_sp.has(EventNameSP.lkasEnable))
+        self.assertTrue(events.has(EventName.buttonEnable))
+        self.assertFalse(events_sp.has(EventNameSP.lkasDisable))
+        self.assertFalse(events.has(EventName.buttonCancel))

From 19ebcb9429c7c7a6ad8cea6151c3f26263e0f1eb Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Sat, 15 Aug 2026 08:32:51 +0000
Subject: [PATCH 1388/1434] tesla preap: integrate vehicle support

---
 opendbc_repo                                  |   2 +-
 openpilot/cereal/custom.capnp                 |  15 +
 openpilot/common/params_keys.h                |   3 +-
 .../car/tests/test_preap_radar_e2e.py         |  17 +-
 .../controls/lib/longitudinal_planner.py      |  70 +-
 openpilot/selfdrive/controls/radard.py        | 137 ++-
 .../tests/test_longitudinal_planner_preap.py  | 146 +++
 .../selfdrive/controls/tests/test_radard.py   | 147 ++-
 .../tests/test_tesla_preap_following.py       | 457 +++++++++
 openpilot/selfdrive/selfdrived/events.py      |   3 +
 openpilot/selfdrive/selfdrived/preap_regen.py | 112 +++
 openpilot/selfdrive/selfdrived/selfdrived.py  |  40 +-
 .../selfdrived/tests/test_preap_regen.py      | 104 ++
 .../ui/mici/onroad/alert_renderer.py          |   3 +-
 .../selfdrive/ui/onroad/alert_renderer.py     |   2 +-
 .../sunnypilot/layouts/settings/steering.py   |  12 +-
 .../steering_sub_layouts/mads_settings.py     |  40 +-
 .../layouts/settings/vehicle/brands/tesla.py  | 288 +++++-
 openpilot/selfdrive/ui/translations/app.pot   | 917 ++++++++++++------
 openpilot/selfdrive/ui/translations/app_de.po | 411 ++++++--
 openpilot/selfdrive/ui/translations/app_en.po | 462 +++++++--
 openpilot/selfdrive/ui/translations/app_es.po | 411 ++++++--
 openpilot/selfdrive/ui/translations/app_fr.po | 411 ++++++--
 openpilot/selfdrive/ui/translations/app_ja.po | 410 ++++++--
 openpilot/selfdrive/ui/translations/app_ko.po | 410 ++++++--
 .../selfdrive/ui/translations/app_pt-BR.po    | 411 ++++++--
 openpilot/selfdrive/ui/translations/app_th.po | 410 ++++++--
 openpilot/selfdrive/ui/translations/app_tr.po | 411 ++++++--
 openpilot/selfdrive/ui/translations/app_uk.po | 412 ++++++--
 .../selfdrive/ui/translations/app_zh-CHS.po   | 411 ++++++--
 .../selfdrive/ui/translations/app_zh-CHT.po   | 411 ++++++--
 .../ui/translations/update_translations.py    |   9 +
 .../mads/tests/test_preap_hands_on_pause.py   |   5 +-
 .../tests/test_preap_mads_required_writes.py  |   2 +-
 .../sunnypilot/selfdrive/car/car_specific.py  |  35 +-
 .../sunnypilot/selfdrive/car/preap_boot.py    |  14 +-
 .../sunnypilot/selfdrive/car/preap_intent.py  |   2 +-
 .../car/tesla/preap/tools/__init__.py         |   1 +
 .../car/tesla/preap/tools/calibrate_pedal.py  | 458 +++++++++
 .../car/tesla/preap/tools/calibrate_radar.py  |  76 ++
 .../car/tesla/preap/tools/diagnose_radar.py   | 130 +++
 .../car/tesla/preap/tools/epas_integrity.py   |  47 +
 .../car/tesla/preap/tools/extract_epas.py     |   5 +
 .../epas-bootloader-0x3ff7000-0x3ffacbd.bin   | Bin 0 -> 15550 bytes
 .../car/tesla/preap/tools/flash_epas.py       | 581 +++++++++++
 .../car/tesla/preap/tools/instructions.py     |  60 ++
 .../car/tesla/preap/tools/radar_decode.py     |  86 ++
 .../car/tesla/preap/tools/restore_epas.py     |   5 +
 .../car/tesla/preap/tools/run_script.py       | 203 ++++
 .../selfdrive/car/tesla/preap/tools/runner.py | 101 ++
 .../selfdrive/car/tesla/preap/tools/safety.py |  64 ++
 .../car/tesla/preap/tools/test_radar.py       |  85 ++
 .../car/tesla/preap/tools/tests/__init__.py   |   0
 .../preap/tools/tests/test_preap_tools.py     | 703 ++++++++++++++
 .../car/tesla/preap/tools/transport.py        | 147 +++
 .../car/tests/test_preap_boot_selection.py    |  39 +-
 .../car/tests/test_preap_card_epoch.py        |   7 +-
 .../car/tests/test_preap_stock_cc_consumer.py |   2 +-
 .../tests/test_tesla_settings_pedal_bus.py    |  56 ++
 .../lib/tests/test_preap_lane_change_tap.py   |   5 +-
 .../sunnypilot/selfdrive/selfdrived/events.py |  34 +-
 .../selfdrive/selfdrived/preap_alerts.py      | 186 ++++
 .../selfdrived/tests/test_preap_alerts.py     | 299 ++++++
 .../sunnypilot/sunnylink/athena/sunnylinkd.py |  32 +-
 .../sunnypilot/sunnylink/capabilities.py      |  80 ++
 .../sunnypilot/sunnylink/settings_ui.json     | 393 +++++++-
 .../sunnylink/settings_ui_src/_macros.yaml    |  25 +-
 .../settings_ui_src/pages/steering.yaml       |  35 +-
 .../settings_ui_src/pages/vehicle.yaml        | 111 +++
 .../tests/test_preap_capabilities.py          | 136 +++
 .../sunnylink/tests/test_settings_changes.py  | 114 +++
 .../sunnylink/tests/test_settings_schema.py   |  14 +-
 .../sunnylink/tests/test_write_policy.py      |  87 ++
 .../sunnypilot/sunnylink/write_policy.py      | 196 ++++
 openpilot/system/manager/manager.py           |   9 +-
 openpilot/system/ui/widgets/__init__.py       |   3 +-
 76 files changed, 11064 insertions(+), 1114 deletions(-)
 create mode 100644 openpilot/selfdrive/controls/tests/test_longitudinal_planner_preap.py
 create mode 100644 openpilot/selfdrive/controls/tests/test_tesla_preap_following.py
 create mode 100644 openpilot/selfdrive/selfdrived/preap_regen.py
 create mode 100644 openpilot/selfdrive/selfdrived/tests/test_preap_regen.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/__init__.py
 create mode 100755 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/calibrate_pedal.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/calibrate_radar.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/diagnose_radar.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/epas_integrity.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/extract_epas.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/firmware/epas-bootloader-0x3ff7000-0x3ffacbd.bin
 create mode 100755 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/flash_epas.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/radar_decode.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/restore_epas.py
 create mode 100755 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/run_script.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/runner.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/safety.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/test_radar.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/__init__.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/transport.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py
 create mode 100644 openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
 create mode 100644 openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
 create mode 100644 openpilot/sunnypilot/sunnylink/tests/test_preap_capabilities.py
 create mode 100644 openpilot/sunnypilot/sunnylink/tests/test_write_policy.py
 create mode 100644 openpilot/sunnypilot/sunnylink/write_policy.py

diff --git a/opendbc_repo b/opendbc_repo
index 7370bfba27f1f3..e42d39ad895b93 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 7370bfba27f1f336c0f42428f5cb3f92cc6fbc5d
+Subproject commit e42d39ad895b93165243008600520141242bbc5b
diff --git a/openpilot/cereal/custom.capnp b/openpilot/cereal/custom.capnp
index e0820fa29ec0f7..6139bf5fca7871 100644
--- a/openpilot/cereal/custom.capnp
+++ b/openpilot/cereal/custom.capnp
@@ -352,6 +352,10 @@ struct OnroadEventSP @0xda96579883444c35 {
     speedLimitPending @22;
     e2eChime @23;
     laneChangeRoadEdge @24;
+    pedalMaxRegen @25;
+    pedalCruiseEnabled @26;
+    pedalCruiseDisabled @27;
+    pedalUnavailable @28;
   }
 }
 
@@ -483,6 +487,17 @@ struct CarStateSP @0xb86e6369214c01c8 {
   preapStockCcBoundCounter @6 :UInt8;
   preapStockCcHostDiConfirmed @7 :Bool;
   preapStockCcEnablePending @8 :Bool;
+  pedalMaxRegen @9 :Bool;
+  pedalLongActive @10 :Bool;
+  pedalAuthorityRequested @11 :Bool;
+  pedalAuthorityState @12 :UInt8;
+  pedalAuthorityAction @13 :UInt8;
+  pedalCommandCounter @14 :UInt8;
+  pedalFeedbackState @15 :UInt8;
+  pedalFeedbackCounter @16 :UInt8;
+  pedalCommandDi @17 :Float32;
+  pedalAuthorityFailed @18 :Bool;
+  vdasLimitedAccel @19 :Float32;
 
   enum PreapLateralIntent {
     none @0;
diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h
index f8057d3ed8c2db..d22fb0436a0e55 100644
--- a/openpilot/common/params_keys.h
+++ b/openpilot/common/params_keys.h
@@ -244,7 +244,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"NAPRadarEnabled", {PERSISTENT | BACKUP, BOOL}},
     {"NAPRadarBehindNosecone", {PERSISTENT | BACKUP, BOOL}},
     {"NAPRadarOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
-    {"NAPBrakeFactor", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
+    {"NAPScriptRunning", {CLEAR_ON_MANAGER_START, BOOL, "0"}},
+    {"NAPEpasRiskAccepted", {CLEAR_ON_MANAGER_START, BOOL, "0"}},
     {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},
 
diff --git a/openpilot/selfdrive/car/tests/test_preap_radar_e2e.py b/openpilot/selfdrive/car/tests/test_preap_radar_e2e.py
index cc7568b6156e0c..30fc1436178b47 100644
--- a/openpilot/selfdrive/car/tests/test_preap_radar_e2e.py
+++ b/openpilot/selfdrive/car/tests/test_preap_radar_e2e.py
@@ -1,4 +1,4 @@
-from types import SimpleNamespace
+from typing import Any
 
 import pytest
 
@@ -8,6 +8,7 @@
 from opendbc.car.tesla.interface import CarInterface
 from opendbc.car.tesla.preap.radar_interface import RadarInterface as PreAPRadarInterface
 from opendbc.car.tesla.values import CAR
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.selfdrive.controls.radard import RADAR_MEASUREMENT_TIMEOUT, RADAR_TO_CAMERA, RadarD
 
 
@@ -20,7 +21,7 @@
 
 # Minimal verified numeric vectors from the same window: contemporaneous
 # carState/modelV2 plus the first nonempty radarInterface cycle that fused.
-ROUTE_LIFECYCLE_EVENTS = [
+ROUTE_LIFECYCLE_EVENTS: list[dict[str, Any]] = [
   {
     "window": "lead_to_silence_reuse",
     "rel_ns": 580018953926,
@@ -98,7 +99,7 @@ class FakeRadarParser:
   def __init__(self):
     self.can_valid = True
     self.updated_addresses: set[int] = set()
-    self.vl = {
+    self.vl: dict[str, dict[str, Any]] = {
       "TeslaRadarSguInfo": {
         "RADC_HWFail": 0,
         "RADC_SGUFail": 0,
@@ -146,7 +147,9 @@ class RadarHarness:
   def __init__(self, v_ego=20.0):
     services = ["modelV2", "carState", "liveTracks"]
     self.sm = messaging.SubMaster(services, ignore_alive=services, ignore_avg_freq=services)
-    self.radar = RadarD(SimpleNamespace(brand="tesla"), SimpleNamespace(flags=0))
+    CP, CP_SP = _cp_pair()
+    CP_SP.flags |= int(TeslaFlagsSP.PREAP_RADAR_PRESENT)
+    self.radar = RadarD(CP, CP_SP)
     self.v_ego = v_ego
     self.frame = 0
 
@@ -166,6 +169,7 @@ def step(self, time_s, vision_d_rel, points, vision_v_rel=0.0):
         slot.dRel = float(point.dRel)
         slot.yRel = float(point.yRel)
         slot.vRel = float(point.vRel)
+        slot.deprecated.measured = bool(point.deprecated.measured)
       messages.append(live)
     self.sm.update_msgs(time_s, [message.as_reader() for message in messages])
     self.radar.update(self.sm, self.sm["liveTracks"])
@@ -232,7 +236,9 @@ def test_route_fixture_is_retirement_only_and_is_not_claimed(self):
 
     services = ["modelV2", "carState", "liveTracks"]
     sm = messaging.SubMaster(services, ignore_alive=services, ignore_avg_freq=services)
-    radar = RadarD(SimpleNamespace(brand="tesla"), SimpleNamespace(flags=0))
+    CP, CP_SP = _cp_pair()
+    CP_SP.flags |= int(TeslaFlagsSP.PREAP_RADAR_PRESENT)
+    radar = RadarD(CP, CP_SP)
     fused_ids = []
     saw_radar = False
     for event in ROUTE_LIFECYCLE_EVENTS:
@@ -270,6 +276,7 @@ def test_route_fixture_is_retirement_only_and_is_not_claimed(self):
           dst.dRel = src["dRel"]
           dst.yRel = src["yRel"]
           dst.vRel = src["vRel"]
+          dst.deprecated.measured = True
         messages.append(message)
       if not messages:
         continue
diff --git a/openpilot/selfdrive/controls/lib/longitudinal_planner.py b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
index 7e3446a768c031..fc41ead7247b7e 100755
--- a/openpilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import math
+from typing import Any, cast
 import numpy as np
 
 import openpilot.cereal.messaging as messaging
@@ -16,6 +17,9 @@
 from openpilot.common.swaglog import cloudlog
 
 from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import get_T_FOLLOW
+from opendbc.car.tesla.preap.boot import pedal_pipeline_enabled
+from opendbc.car.tesla.preap.constants import PREAP_FOLLOW_DISTANCE_RANGE, PREAP_T_FOLLOW
 
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
@@ -47,14 +51,52 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   return [a_target[0], min(a_target[1], a_x_allowed)]
 
 
+
+def _preap_t_follow(personality, follow_dist):
+  if follow_dist in PREAP_FOLLOW_DISTANCE_RANGE:
+    return PREAP_T_FOLLOW[follow_dist - 1]
+  return get_T_FOLLOW(personality)
+
+
+def _mpc_update_with_t_follow(mpc, radarstate, v_cruise, personality, t_follow=None):
+  if t_follow is None:
+    mpc.update(radarstate, v_cruise, personality=personality)
+    return
+  import openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc as long_mpc_module
+  long_mpc_mod = cast(Any, long_mpc_module)
+  original = long_mpc_mod.get_T_FOLLOW
+  long_mpc_mod.get_T_FOLLOW = lambda personality=None: t_follow
+  try:
+    mpc.update(radarstate, v_cruise, personality=personality)
+  finally:
+    long_mpc_mod.get_T_FOLLOW = original
+
+
 class LongitudinalPlanner(LongitudinalPlannerSP):
-  def __init__(self, CP, CP_SP, init_v=0.0, init_a=0.0, dt=DT_MDL):
+  def __init__(self, CP, CP_SP, init_v=0.0, init_a=0.0, dt=DT_MDL, params=None):
     self.CP = CP
+    self.CP_SP = CP_SP
     self.mpc = LongitudinalMpc(dt=dt)
     LongitudinalPlannerSP.__init__(self, self.CP, CP_SP, self.mpc)
     self.fcw = False
     self.dt = dt
     self.allow_throttle = True
+    self._pedal_preap = pedal_pipeline_enabled(CP, CP_SP)
+    self._params = None
+    self.nap_follow_dist = None
+    self.active_nap_follow_dist = None
+    self.t_follow = get_T_FOLLOW()
+    self._frame = 0
+    if self._pedal_preap:
+      from openpilot.common.params import Params
+      self._params = params if params is not None else Params()
+      follow = self._params.get("NAPFollowDistance", return_default=True)
+      try:
+        self.nap_follow_dist = int(follow)
+      except (TypeError, ValueError):
+        self.nap_follow_dist = None
+      self.active_nap_follow_dist = self.nap_follow_dist if self.nap_follow_dist in PREAP_FOLLOW_DISTANCE_RANGE else None
+      self.t_follow = _preap_t_follow(None, self.active_nap_follow_dist) if self.active_nap_follow_dist else get_T_FOLLOW()
 
     self.a_desired = init_a
     self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
@@ -68,6 +110,14 @@ def __init__(self, CP, CP_SP, init_v=0.0, init_a=0.0, dt=DT_MDL):
 
   def update(self, sm):
     LongitudinalPlannerSP.update(self, sm)
+    self._frame += 1
+    if self._pedal_preap and self._params is not None and self._frame % 20 == 0:
+      follow = self._params.get("NAPFollowDistance", return_default=True)
+      try:
+        self.nap_follow_dist = int(follow)
+      except (TypeError, ValueError):
+        self.nap_follow_dist = None
+
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -103,8 +153,9 @@ def update(self, sm):
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
     throttle_probs = sm['modelV2'].meta.disengagePredictions.gasPressProbs
     throttle_prob = throttle_probs[1] if len(throttle_probs) > 1 else 1.0
-    # Don't clip at low speeds since throttle_prob doesn't account for creep
-    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
+    # Don't clip at low speeds since throttle_prob doesn't account for creep.
+    # Pedal-equipped Pre-AP keeps allow_throttle so VDAS sees literal accel targets.
+    self.allow_throttle = self._pedal_preap or throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
 
     if not self.allow_throttle:
       clipped_accel_coast = max(accel_coast, accel_clip[0])
@@ -117,9 +168,18 @@ def update(self, sm):
     if force_slow_decel:
       v_cruise = 0.0
 
-    self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
+    personality = sm['selfdriveState'].personality
+    if self._pedal_preap:
+      self.active_nap_follow_dist = self.nap_follow_dist if self.nap_follow_dist in PREAP_FOLLOW_DISTANCE_RANGE else None
+      self.t_follow = _preap_t_follow(personality, self.active_nap_follow_dist)
+    else:
+      self.active_nap_follow_dist = None
+      self.t_follow = get_T_FOLLOW(personality)
+
+    self.mpc.set_weights(prev_accel_constraint, personality=personality)
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
-    self.mpc.update(sm['radarState'], v_cruise, personality=sm['selfdriveState'].personality)
+    _mpc_update_with_t_follow(self.mpc, sm['radarState'], v_cruise, personality,
+                              t_follow=self.t_follow if self._pedal_preap else None)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
diff --git a/openpilot/selfdrive/controls/radard.py b/openpilot/selfdrive/controls/radard.py
index 0ed8803de22ecc..4deff588d2c924 100755
--- a/openpilot/selfdrive/controls/radard.py
+++ b/openpilot/selfdrive/controls/radard.py
@@ -15,6 +15,7 @@
 
 from opendbc.car import structs
 from opendbc.car.hyundai.values import HyundaiFlags
+from opendbc.car.tesla.preap.boot import preap_radar_present
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 
 
@@ -46,6 +47,10 @@
 ASSOCIATION_SWITCH_MARGIN = 1.5
 
 
+def _preap_radar_hardening(CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> bool:
+  return preap_radar_present(CP, CP_SP)
+
+
 class KalmanParams:
   def __init__(self, dt: float):
     # Lead Kalman Filter params, calculating K from A, C, Q, R requires the control library.
@@ -160,8 +165,8 @@ def is_association_candidate(v_ego: float, vision_d_rel: float, lead: capnp._Dyn
   return distance_compatible and lateral_compatible and velocity_compatible and score >= ASSOCIATION_MIN_SCORE
 
 
-def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track],
-                          incumbent_track_id: int | None = None) -> Track | None:
+def match_vision_to_track_preap(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track],
+                                incumbent_track_id: int | None = None) -> Track | None:
   vision_d_rel = lead.x[0] - RADAR_TO_CAMERA
   scores = {track_id: association_score(v_ego, vision_d_rel, lead, track) for track_id, track in tracks.items()}
   eligible_track_ids = [
@@ -180,6 +185,29 @@ def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks
   return tracks[challenger_track_id]
 
 
+def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track]):
+  offset_vision_dist = lead.x[0] - RADAR_TO_CAMERA
+
+  def prob(c):
+    prob_d = laplacian_pdf(c.dRel, offset_vision_dist, lead.xStd[0])
+    prob_y = laplacian_pdf(c.yRel, -lead.y[0], lead.yStd[0])
+    prob_v = laplacian_pdf(c.vRel + v_ego, lead.v[0], lead.vStd[0])
+
+    # This isn't exactly right, but it's a good heuristic
+    return prob_d * prob_y * prob_v
+
+  track = max(tracks.values(), key=prob)
+
+  # if no 'sane' match is found return -1
+  # stationary radar points can be false positives
+  dist_sane = abs(track.dRel - offset_vision_dist) < max([(offset_vision_dist)*.25, 5.0])
+  vel_sane = (abs(track.vRel + v_ego - lead.v[0]) < 10) or (v_ego + track.vRel > 3)
+  if dist_sane and vel_sane:
+    return track
+  else:
+    return None
+
+
 def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: float, model_v_ego: float, lead_prob: float):
   lead_v_rel_pred = lead_msg.v[0] - model_v_ego
   return {
@@ -197,6 +225,34 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
   }
 
 
+def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
+             model_v_ego: float, lead_prob: float, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
+             low_speed_override: bool = True) -> dict[str, Any]:
+  # Determine leads, this is where the essential logic happens
+  if len(tracks) > 0 and ready and lead_prob > .5:
+    track = match_vision_to_track(v_ego, lead_msg, tracks)
+  else:
+    track = None
+
+  lead_dict = {'present': False}
+  if track is not None:
+    lead_dict = track.get_RadarState(lead_prob)
+    lead_dict = get_custom_yrel(CP, CP_SP, lead_dict, lead_msg)
+  elif (track is None) and ready and (lead_prob > .5):
+    lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego, lead_prob)
+
+  if low_speed_override:
+    low_speed_tracks = [c for c in tracks.values() if c.potential_low_speed_lead(v_ego)]
+    if len(low_speed_tracks) > 0:
+      closest_track = min(low_speed_tracks, key=lambda c: c.dRel)
+
+      # Only choose new track if it is actually closer than the previous one
+      if (not lead_dict['present']) or (closest_track.dRel < lead_dict['dRel']):
+        lead_dict = closest_track.get_RadarState()
+
+  return lead_dict
+
+
 def get_custom_yrel(CP: structs.CarParams, CP_SP: structs.CarParamsSP, lead_dict: dict[str, Any],
                     lead_msg: capnp._DynamicStructReader) -> dict[str, Any]:
   if CP.brand == "hyundai" and (CP_SP.flags & HyundaiFlagsSP.ENHANCED_SCC or
@@ -217,7 +273,7 @@ def update(self, v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg:
       self.incumbent_track_id = None
 
     if tracks and ready and lead_prob > .5:
-      track = match_vision_to_track(v_ego, lead_msg, tracks, self.incumbent_track_id)
+      track = match_vision_to_track_preap(v_ego, lead_msg, tracks, self.incumbent_track_id)
     else:
       track = None
 
@@ -244,13 +300,12 @@ class RadarD:
   def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP, delay: float = 0.0):
     self.CP = CP
     self.CP_SP = CP_SP
+    self.preap_radar = _preap_radar_hardening(CP, CP_SP)
 
     self.current_time = 0.0
 
     self.tracks: dict[int, Track] = {}
-    self.kalman_params = KalmanParams(RADAR_DT)
-    self.last_radar_update_time: float | None = None
-    self.last_live_tracks_healthy = False
+    self.kalman_params = KalmanParams(RADAR_DT if self.preap_radar else DT_MDL)
     self.lead_prob_filters = [FirstOrderFilter(0.0, 0.2, DT_MDL) for _ in range(2)]
 
     self.v_ego = 0.0
@@ -261,10 +316,72 @@ def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP, delay: flo
     self.radar_state_valid = False
 
     self.ready = False
-    self.lead_one_association = LeadTrackAssociation(low_speed_override=True)
-    self.lead_two_association = LeadTrackAssociation(low_speed_override=False)
+    if self.preap_radar:
+      self.last_radar_update_time: float | None = None
+      self.last_live_tracks_healthy = False
+      self.lead_one_association = LeadTrackAssociation(low_speed_override=True)
+      self.lead_two_association = LeadTrackAssociation(low_speed_override=False)
 
   def update(self, sm: messaging.SubMaster, rr: car.RadarData):
+    if self.preap_radar:
+      self._update_preap(sm, rr)
+    else:
+      self._update_default(sm, rr)
+
+  def _update_default(self, sm: messaging.SubMaster, rr: car.RadarData):
+    self.ready = sm.seen['modelV2']
+    self.current_time = 1e-9*max(sm.logMonoTime.values())
+
+    if sm.recv_frame['carState'] != self.last_v_ego_frame:
+      self.v_ego = sm['carState'].vEgo
+      self.v_ego_hist.append(self.v_ego)
+      self.last_v_ego_frame = sm.recv_frame['carState']
+
+    ar_pts = {pt.trackId: [pt.dRel, pt.yRel, pt.vRel] for pt in rr.points}
+
+    # *** remove missing points from meta data ***
+    for ids in list(self.tracks.keys()):
+      if ids not in ar_pts:
+        self.tracks.pop(ids, None)
+
+    # *** compute the tracks ***
+    for ids in ar_pts:
+      rpt = ar_pts[ids]
+
+      # align v_ego by a fixed time to align it with the radar measurement
+      v_lead = rpt[2] + self.v_ego_hist[0]
+
+      # create the track if it doesn't exist or it's a new track
+      if ids not in self.tracks:
+        self.tracks[ids] = Track(ids, v_lead, self.kalman_params)
+      self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead)
+
+    # *** publish radarState ***
+    self.radar_state_valid = sm.all_checks()
+    self.radar_state = log.RadarState.new_message()
+    self.radar_state.mdMonoTime = sm.logMonoTime['modelV2']
+    self.radar_state.radarErrors = rr.errors
+
+    if len(sm['modelV2'].velocity.x):
+      model_v_ego = sm['modelV2'].velocity.x[0]
+    else:
+      model_v_ego = self.v_ego
+    leads_v3 = sm['modelV2'].leadsV3
+    if len(leads_v3) > 1:
+      for i in range(2):
+        # Asymmetric filter on lead prob to keep lead when uncertain
+        lead_prob = leads_v3[i].prob
+        if lead_prob > self.lead_prob_filters[i].x:
+          self.lead_prob_filters[i].x = lead_prob
+        else:
+          self.lead_prob_filters[i].update(lead_prob)
+
+      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.lead_prob_filters[0].x,
+                                          self.CP, self.CP_SP, low_speed_override=True)
+      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.lead_prob_filters[1].x,
+                                          self.CP, self.CP_SP, low_speed_override=False)
+
+  def _update_preap(self, sm: messaging.SubMaster, rr: car.RadarData):
     self.ready = sm.seen['modelV2']
     self.current_time = 1e-9*max(sm.logMonoTime.values())
 
@@ -289,7 +406,7 @@ def update(self, sm: messaging.SubMaster, rr: car.RadarData):
         self.last_radar_update_time = radar_update_time
         self.last_live_tracks_healthy = True
         self.kalman_params = KalmanParams(radar_dt)
-        ar_pts = {pt.trackId: [pt.dRel, pt.yRel, pt.vRel] for pt in rr.points}
+        ar_pts = {pt.trackId: [pt.dRel, pt.yRel, pt.vRel, pt.deprecated.measured] for pt in rr.points}
 
         for ids in list(self.tracks.keys()):
           if ids not in ar_pts:
@@ -300,7 +417,7 @@ def update(self, sm: messaging.SubMaster, rr: car.RadarData):
           v_lead = rpt[2] + self.v_ego_hist[0]
           if ids not in self.tracks:
             self.tracks[ids] = Track(ids, v_lead, self.kalman_params)
-          self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, kalman_params=self.kalman_params)
+          self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, measured=bool(rpt[3]), kalman_params=self.kalman_params)
     elif self.last_radar_update_time is None or self.current_time - self.last_radar_update_time > RADAR_MEASUREMENT_TIMEOUT:
       self.tracks.clear()
       self.lead_one_association.incumbent_track_id = None
diff --git a/openpilot/selfdrive/controls/tests/test_longitudinal_planner_preap.py b/openpilot/selfdrive/controls/tests/test_longitudinal_planner_preap.py
new file mode 100644
index 00000000000000..6ca96b103c35bc
--- /dev/null
+++ b/openpilot/selfdrive/controls/tests/test_longitudinal_planner_preap.py
@@ -0,0 +1,146 @@
+import numpy as np
+import pytest
+
+from openpilot.cereal import log, messaging
+from opendbc.car import structs
+from opendbc.car.tesla.preap.boot import (
+  apply_preap_hardware_snapshot,
+  hardware_snapshot_from_values,
+  pedal_pipeline_enabled,
+)
+from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
+from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
+from openpilot.selfdrive.modeld.constants import ModelConstants
+
+
+def _pedal_snapshot():
+  return hardware_snapshot_from_values(
+    pedal_enabled=True,
+    pedal_bus=2,
+    pedal_calib_done=True,
+    pedal_calib_factor=0.035,
+    pedal_calib_zero=0.25,
+    pedal_calib_min=-3.0,
+    pedal_calib_max=99.6,
+  )
+
+
+def make_preap_params(pedal=True):
+  CP = structs.CarParams()
+  CP.brand = "tesla"
+  CP.carFingerprint = "TESLA_MODEL_S_PREAP"
+  CP.steerRatio = 15.75
+  CP.wheelbase = 2.959
+  CP.openpilotLongitudinalControl = False
+  CP.pcmCruise = True
+  CP_SP = structs.CarParamsSP()
+  if pedal:
+    apply_preap_hardware_snapshot(CP, CP_SP, _pedal_snapshot())
+  return CP, CP_SP
+
+
+def make_planner_inputs(*, v_ego, v_cruise, pitch, throttle_probability):
+  radar = messaging.new_message("radarState").radarState
+  controls = messaging.new_message("controlsState").controlsState
+  selfdrive = messaging.new_message("selfdriveState").selfdriveState
+  car_state = messaging.new_message("carState").carState
+  car_state_sp = messaging.new_message("carStateSP").carStateSP
+  car_control = messaging.new_message("carControl").carControl
+  live_parameters = messaging.new_message("liveParameters").liveParameters
+  gps_location = messaging.new_message("gpsLocation").gpsLocation
+  live_map_data_sp = messaging.new_message("liveMapDataSP").liveMapDataSP
+  model = messaging.new_message("modelV2").modelV2
+
+  controls.longControlState = LongCtrlState.pid
+  car_state.vEgo = v_ego
+  car_state.vCruise = v_cruise * 3.6
+  car_control.orientationNED = [0.0, pitch, 0.0]
+
+  position = log.XYZTData.new_message()
+  position.x = ((v_ego + 0.5) * np.array(ModelConstants.T_IDXS)).tolist()
+  model.position = position
+  velocity = log.XYZTData.new_message()
+  velocity.x = ((v_ego + 0.5) * np.ones_like(ModelConstants.T_IDXS)).tolist()
+  velocity.x[0] = v_ego
+  model.velocity = velocity
+  acceleration = log.XYZTData.new_message()
+  acceleration.x = np.zeros_like(ModelConstants.T_IDXS).tolist()
+  model.acceleration = acceleration
+  model.meta.disengagePredictions.gasPressProbs = [throttle_probability] * 6
+
+  return {
+    "radarState": radar,
+    "controlsState": controls,
+    "selfdriveState": selfdrive,
+    "carState": car_state,
+    "carStateSP": car_state_sp,
+    "carControl": car_control,
+    "liveParameters": live_parameters,
+    "modelV2": model,
+    "gpsLocation": gps_location,
+    "liveMapDataSP": live_map_data_sp,
+  }
+
+
+class _FollowParams:
+  def __init__(self, nap_follow_dist):
+    self.nap_follow_dist = nap_follow_dist
+
+  def get(self, key, return_default=False):
+    assert return_default
+    assert key == "NAPFollowDistance"
+    return self.nap_follow_dist
+
+  def get_bool(self, key):
+    raise AssertionError(f"NAPAdaptiveAccel must not be read; got {key}")
+
+
+def test_preap_cruise_ignores_model_throttle_suppression():
+  CP, CP_SP = make_preap_params(pedal=True)
+  assert pedal_pipeline_enabled(CP, CP_SP)
+  planner = LongitudinalPlanner(CP, CP_SP, init_v=20.9, params=_FollowParams(3))
+  inputs = make_planner_inputs(
+    v_ego=20.9,
+    v_cruise=21.0,
+    pitch=0.046,
+    throttle_probability=0.15,
+  )
+
+  for _ in range(60):
+    planner.update(inputs)
+
+  assert planner.output_a_target > -0.05
+  assert planner.allow_throttle
+  assert planner._pedal_preap
+
+
+@pytest.mark.parametrize(("brand", "fingerprint", "openpilot_longitudinal", "pcm_cruise"), [
+  ("honda", "HONDA_CIVIC", True, False),
+  ("tesla", "TESLA_MODEL_S_PREAP", False, True),
+])
+def test_non_vdas_modes_keep_model_throttle_suppression(
+  brand, fingerprint, openpilot_longitudinal, pcm_cruise,
+):
+  CP = structs.CarParams()
+  CP.brand = brand
+  CP.carFingerprint = fingerprint
+  CP.openpilotLongitudinalControl = openpilot_longitudinal
+  CP.pcmCruise = pcm_cruise
+  CP.steerRatio = 15.75
+  CP.wheelbase = 2.959
+  CP_SP = structs.CarParamsSP()
+  assert not pedal_pipeline_enabled(CP, CP_SP)
+  planner = LongitudinalPlanner(CP, CP_SP, init_v=20.9)
+  inputs = make_planner_inputs(
+    v_ego=20.9,
+    v_cruise=21.0,
+    pitch=0.046,
+    throttle_probability=0.15,
+  )
+
+  for _ in range(60):
+    planner.update(inputs)
+
+  assert not planner._pedal_preap
+  assert not planner.allow_throttle
+  assert planner.output_a_target < -0.5
diff --git a/openpilot/selfdrive/controls/tests/test_radard.py b/openpilot/selfdrive/controls/tests/test_radard.py
index ebaa06d795d809..f8144b4608e2d6 100644
--- a/openpilot/selfdrive/controls/tests/test_radard.py
+++ b/openpilot/selfdrive/controls/tests/test_radard.py
@@ -2,7 +2,9 @@
 
 import pytest
 
+from openpilot.common.realtime import DT_MDL
 from openpilot.cereal import messaging
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.selfdrive.controls.radard import (
   ASSOCIATION_SWITCH_MARGIN,
   KalmanParams,
@@ -13,29 +15,36 @@
 )
 
 
-def _cp():
-  return SimpleNamespace(brand="tesla")
+def _cp(*, fingerprint: str = "TESLA_MODEL_S_PREAP", brand: str = "tesla", flags: int = 0):
+  return SimpleNamespace(brand=brand, carFingerprint=fingerprint, flags=flags)
 
 
-def _cp_sp():
-  return SimpleNamespace(flags=0)
+def _cp_sp(*, preap_radar: bool = True, flags: int | None = None):
+  if flags is None:
+    flags = int(TeslaFlagsSP.PREAP_RADAR_PRESENT) if preap_radar else 0
+  return SimpleNamespace(flags=flags)
 
 
 class RadarScenario:
-  def __init__(self, v_ego: float = 20.0):
+  def __init__(self, v_ego: float = 20.0, *, preap_radar: bool = True,
+               fingerprint: str = "TESLA_MODEL_S_PREAP", brand: str = "tesla",
+               flags: int | None = None):
     services = ["modelV2", "carState", "liveTracks"]
     self.sm = messaging.SubMaster(services, ignore_alive=services, ignore_avg_freq=services)
-    self.radar = RadarD(_cp(), _cp_sp())
+    self.radar = RadarD(
+      _cp(fingerprint=fingerprint, brand=brand),
+      _cp_sp(preap_radar=preap_radar, flags=flags),
+    )
     self.v_ego = v_ego
     self.frame = 0
 
   def step(self, time_s: float, vision_d_rel: float, radar_points: list[tuple[int, float, float, float]] | None = None,
-           vision_v: float | None = None, live_tracks_valid: bool = True):
+           vision_v: float | None = None, live_tracks_valid: bool = True, measured: bool = True):
     messages = [self._model_message(time_s, vision_d_rel, vision_v)]
     if self.frame == 0:
       messages.append(self._car_state_message(time_s))
     if radar_points is not None:
-      messages.append(self._radar_message(time_s, radar_points, valid=live_tracks_valid))
+      messages.append(self._radar_message(time_s, radar_points, valid=live_tracks_valid, measured=measured))
 
     self.sm.update_msgs(time_s, [message.as_reader() for message in messages])
     self.radar.update(self.sm, self.sm["liveTracks"])
@@ -66,7 +75,7 @@ def _car_state_message(self, time_s: float):
 
   @staticmethod
   def _radar_message(time_s: float, radar_points: list[tuple[int, float, float, float]],
-                     valid: bool = True):
+                     valid: bool = True, measured: bool = True):
     message = messaging.new_message("liveTracks", valid=valid)
     message.logMonoTime = int(time_s * 1e9)
     points = message.liveTracks.init("points", len(radar_points))
@@ -75,6 +84,7 @@ def _radar_message(time_s: float, radar_points: list[tuple[int, float, float, fl
       point.dRel = d_rel
       point.yRel = y_rel
       point.vRel = v_rel
+      point.deprecated.measured = measured
     return message
 
 
@@ -207,3 +217,122 @@ def test_invalid_live_tracks_recovers_only_on_valid_fresh_input():
   assert scenario.radar.radar_state_valid
   assert scenario.radar.last_live_tracks_healthy
   assert scenario.radar.last_radar_update_time == pytest.approx(1.2)
+
+
+def test_modern_tesla_does_not_enable_preap_hardening():
+  scenario = RadarScenario(preap_radar=False, fingerprint="TESLA_MODEL_Y")
+  assert scenario.radar.preap_radar is False
+
+
+def test_modern_tesla_keeps_tracks_without_preap_timeout():
+  scenario = RadarScenario(preap_radar=False, fingerprint="TESLA_MODEL_Y")
+  lead = scenario.step(1.0, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
+  assert lead.radar
+  assert lead.radarTrackId == 7
+
+  model_dt = 0.05
+  expiration_frame = int(RADAR_MEASUREMENT_TIMEOUT / model_dt) + 1
+  for frame in range(1, expiration_frame + 1):
+    lead = scenario.step(1.0 + frame * model_dt, vision_d_rel=36.0)
+
+  assert lead.radar
+  assert lead.radarTrackId == 7
+  assert lead.dRel == pytest.approx(30.0)
+
+
+def test_modern_tesla_uses_target_association_not_preap_gates():
+  scenario = RadarScenario(preap_radar=False, fingerprint="TESLA_MODEL_Y")
+  lead = scenario.step(1.0, vision_d_rel=100.0, radar_points=[(7, 120.0, 0.0, 0.0)])
+
+  assert lead.radar
+  assert lead.radarTrackId == 7
+  assert lead.dRel == pytest.approx(120.0)
+
+
+def test_modern_tesla_kalman_uses_dt_mdl():
+  scenario = RadarScenario(preap_radar=False, fingerprint="TESLA_MODEL_Y")
+  scenario.step(1.0, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
+  scenario.step(1.08, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
+
+  assert scenario.radar.tracks[7].K_A[0][1] == pytest.approx(DT_MDL)
+
+
+def test_modern_tesla_invalid_live_tracks_does_not_preap_clear():
+  scenario = RadarScenario(preap_radar=False, fingerprint="TESLA_MODEL_Y")
+  lead = scenario.step(1.0, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
+  assert lead.radar
+
+  lead = scenario.step(1.1, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)], live_tracks_valid=False)
+  assert 7 in scenario.radar.tracks
+  assert lead.radar
+  assert lead.radarTrackId == 7
+  assert not scenario.radar.radar_state_valid
+
+
+def test_preap_unmeasured_live_track_does_not_update_kalman():
+  scenario = RadarScenario()
+  scenario.step(1.0, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
+  scenario.step(1.1, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 1.0)])
+  measured_state = (scenario.radar.tracks[7].vLeadK, scenario.radar.tracks[7].aLeadK)
+
+  scenario.step(1.2, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 10.0)], measured=False)
+  track = scenario.radar.tracks[7]
+
+  assert track.measured is False
+  assert track.vRel == pytest.approx(10.0)
+  assert (track.vLeadK, track.aLeadK) == pytest.approx(measured_state)
+
+
+def test_modern_tesla_updates_kalman_when_unmeasured():
+  scenario = RadarScenario(preap_radar=False, fingerprint="TESLA_MODEL_Y")
+  scenario.step(1.0, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
+  scenario.step(1.05, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 1.0)])
+  prior = (scenario.radar.tracks[7].vLeadK, scenario.radar.tracks[7].aLeadK)
+
+  scenario.step(1.10, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 10.0)], measured=False)
+  track = scenario.radar.tracks[7]
+
+  assert (track.vLeadK, track.aLeadK) != pytest.approx(prior)
+
+
+def test_hyundai_non_scc_overlapping_flag_does_not_enable_preap_hardening():
+  from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
+
+  assert int(HyundaiFlagsSP.NON_SCC) == int(TeslaFlagsSP.PREAP_RADAR_PRESENT)
+  scenario = RadarScenario(
+    fingerprint="HYUNDAI_KONA_NON_SCC",
+    brand="hyundai",
+    flags=int(HyundaiFlagsSP.NON_SCC),
+  )
+  assert scenario.radar.preap_radar is False
+  assert scenario.radar.kalman_params.A[0][1] == pytest.approx(DT_MDL)
+
+  lead = scenario.step(1.0, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
+  assert lead.radar
+  model_dt = 0.05
+  expiration_frame = int(RADAR_MEASUREMENT_TIMEOUT / model_dt) + 1
+  for frame in range(1, expiration_frame + 1):
+    lead = scenario.step(1.0 + frame * model_dt, vision_d_rel=36.0)
+  assert lead.radar
+  assert lead.radarTrackId == 7
+  assert lead.dRel == pytest.approx(30.0)
+
+
+def test_modern_tesla_overlapping_flag_does_not_enable_preap_hardening():
+  scenario = RadarScenario(
+    fingerprint="TESLA_MODEL_Y",
+    flags=int(TeslaFlagsSP.PREAP_RADAR_PRESENT),
+  )
+  assert scenario.radar.preap_radar is False
+
+  lead = scenario.step(1.0, vision_d_rel=100.0, radar_points=[(7, 120.0, 0.0, 0.0)])
+  assert lead.radar
+  assert lead.dRel == pytest.approx(120.0)
+
+
+def test_preap_platform_requires_flag_for_hardening():
+  without_flag = RadarScenario(preap_radar=False, fingerprint="TESLA_MODEL_S_PREAP")
+  assert without_flag.radar.preap_radar is False
+  with_flag = RadarScenario(preap_radar=True, fingerprint="TESLA_MODEL_S_PREAP")
+  assert with_flag.radar.preap_radar is True
+
diff --git a/openpilot/selfdrive/controls/tests/test_tesla_preap_following.py b/openpilot/selfdrive/controls/tests/test_tesla_preap_following.py
new file mode 100644
index 00000000000000..4efbce54a4eff0
--- /dev/null
+++ b/openpilot/selfdrive/controls/tests/test_tesla_preap_following.py
@@ -0,0 +1,457 @@
+from types import SimpleNamespace
+from typing import Any, cast
+
+import numpy as np
+import pytest
+
+from openpilot.cereal import log, messaging
+from opendbc.car import structs
+from opendbc.car.tesla.preap import virtual_das
+from opendbc.car.tesla.preap.boot import apply_preap_hardware_snapshot, hardware_snapshot_from_values, pedal_pipeline_enabled
+from opendbc.car.tesla.preap.constants import (
+  PEDAL_LONG_K_BP, PEDAL_LONG_KI_V, PEDAL_LONG_KP_V,
+  PEDAL_RAMP_RATE_DOWN, PEDAL_RAMP_RATE_UP,
+  PREAP_T_FOLLOW,
+)
+from opendbc.car.tesla.preap.virtual_das import GRAVITY, VirtualDAS
+from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
+from openpilot.selfdrive.controls.lib.longcontrol import LongControl
+import openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc as long_mpc_mod
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import (
+  LongitudinalPlanSource,
+  T_IDXS,
+  get_T_FOLLOW,
+)
+from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
+from openpilot.selfdrive.modeld.constants import ModelConstants
+
+
+NAP_FOLLOW_SETTINGS = range(1, 8)
+NAP_FOLLOW_TIMES_S = PREAP_T_FOLLOW
+FOLLOW_TEST_SPEED_MPS = 25.0
+STOP_DISTANCE_M = 6.0
+FULL_LOOP_DT_S = 0.01
+FULL_LOOP_PLANNER_DT_S = 0.05
+FULL_LOOP_VDAS_DT_S = 0.02
+FULL_LOOP_PLANT_DELAY_S = 0.40
+FULL_LOOP_PLANT_TAU_S = 0.25
+FULL_LOOP_PEDAL_DI_BP = [-5.0, -2.0, 0.0, 3.0, 8.0, 15.0, 22.0, 27.0, 35.0, 50.0]
+FULL_LOOP_NET_ACCEL_BP = [-1.05, -0.62, -0.50, -0.36, 0.0, 0.50, 1.15, 1.65, 2.10, 2.45]
+FULL_LOOP_RECOVERY_END_S = 70.0
+FULL_LOOP_UPHILL_RAMP_END_S = 72.0
+FULL_LOOP_UPHILL_HOLD_END_S = 78.0
+FULL_LOOP_CREST_RAMP_END_S = 80.0
+FULL_LOOP_CREST_HOLD_END_S = 86.0
+FULL_LOOP_ROLLING_RAMP_END_S = 88.0
+FULL_LOOP_DURATION_S = 100.0
+FULL_LOOP_UPHILL_PITCH_RAD = float(np.deg2rad(4.0))
+FULL_LOOP_CREST_PITCH_RAD = float(np.deg2rad(-3.0))
+FULL_LOOP_ROLLING_PITCH_RAD = float(np.deg2rad(2.0))
+FULL_LOOP_GRADE_SETTLING_S = (
+  FULL_LOOP_PLANT_DELAY_S + FULL_LOOP_PLANT_TAU_S + 5.0 * virtual_das.PITCH_LP_RC
+)
+
+
+class _FollowParams:
+  def __init__(self, nap_follow_dist):
+    self.nap_follow_dist = nap_follow_dist
+
+  def get(self, key, return_default=False):
+    assert return_default
+    assert key == "NAPFollowDistance"
+    return self.nap_follow_dist
+
+  def get_bool(self, key):
+    raise AssertionError(f"NAPAdaptiveAccel must not be read; got {key}")
+
+
+class _ConstantAccelerationMpc:
+  def __init__(self, speed_mps, acceleration_mps2):
+    self.v_solution = speed_mps + acceleration_mps2 * T_IDXS
+    self.a_solution = np.full(len(T_IDXS), acceleration_mps2)
+    self.j_solution = np.zeros(len(T_IDXS) - 1)
+    self.params = np.zeros((len(T_IDXS), 6))
+    self.source = LongitudinalPlanSource.cruise
+    self.crash_cnt = 0
+    self.solve_time = 0.0
+    self.captured_t_follow = None
+
+  @staticmethod
+  def set_weights(prev_accel_constraint, personality):
+    pass
+
+  @staticmethod
+  def set_cur_state(speed_mps, acceleration_mps2):
+    pass
+
+  def update(self, radar_state, cruise_speed_mps, personality=None):
+    t_follow = long_mpc_mod.get_T_FOLLOW(personality)
+    self.captured_t_follow = t_follow
+    self.params[:, 4] = t_follow
+
+
+def _make_preap_params():
+  CP = structs.CarParams()
+  CP.brand = "tesla"
+  CP.carFingerprint = "TESLA_MODEL_S_PREAP"
+  CP.openpilotLongitudinalControl = True
+  CP.pcmCruise = False
+  CP.steerRatio = 15.75
+  CP.wheelbase = 2.959
+  CP.longitudinalTuning.kpBP = list(PEDAL_LONG_K_BP)
+  CP.longitudinalTuning.kpV = list(PEDAL_LONG_KP_V)
+  CP.longitudinalTuning.kiBP = list(PEDAL_LONG_K_BP)
+  CP.longitudinalTuning.kiV = list(PEDAL_LONG_KI_V)
+  try:
+    CP.longitudinalTuning.kf = 1.0
+  except AttributeError:
+    pass
+  CP_SP = structs.CarParamsSP()
+  apply_preap_hardware_snapshot(CP, CP_SP, hardware_snapshot_from_values(
+    pedal_enabled=True,
+    pedal_bus=2,
+    pedal_calib_done=True,
+    pedal_calib_factor=0.035,
+    pedal_calib_zero=0.25,
+    pedal_calib_min=-3.0,
+    pedal_calib_max=99.6,
+  ))
+  return CP, CP_SP
+
+
+def _make_planner_inputs(speed_mps):
+  radar = messaging.new_message("radarState").radarState
+  controls = messaging.new_message("controlsState").controlsState
+  selfdrive = messaging.new_message("selfdriveState").selfdriveState
+  car_state = messaging.new_message("carState").carState
+  car_state_sp = messaging.new_message("carStateSP").carStateSP
+  car_control = messaging.new_message("carControl").carControl
+  live_parameters = messaging.new_message("liveParameters").liveParameters
+  gps_location = messaging.new_message("gpsLocation").gpsLocation
+  live_map_data_sp = messaging.new_message("liveMapDataSP").liveMapDataSP
+  model = messaging.new_message("modelV2").modelV2
+
+  controls.longControlState = LongCtrlState.pid
+  selfdrive.personality = log.LongitudinalPersonality.standard
+  car_state.vEgo = speed_mps
+  car_state.vCruise = speed_mps * 3.6
+
+  position = log.XYZTData.new_message()
+  position.x = ((speed_mps + 0.5) * np.array(ModelConstants.T_IDXS)).tolist()
+  model.position = position
+  velocity = log.XYZTData.new_message()
+  velocity.x = ((speed_mps + 0.5) * np.ones_like(ModelConstants.T_IDXS)).tolist()
+  velocity.x[0] = speed_mps
+  model.velocity = velocity
+  acceleration = log.XYZTData.new_message()
+  acceleration.x = np.zeros_like(ModelConstants.T_IDXS).tolist()
+  model.acceleration = acceleration
+  model.meta.disengagePredictions.gasPressProbs = [1.0] * 6
+
+  return {
+    "radarState": radar,
+    "controlsState": controls,
+    "selfdriveState": selfdrive,
+    "carState": car_state,
+    "carStateSP": car_state_sp,
+    "carControl": car_control,
+    "liveParameters": live_parameters,
+    "modelV2": model,
+    "gpsLocation": gps_location,
+    "liveMapDataSP": live_map_data_sp,
+  }
+
+
+def _full_loop_pitch(elapsed_s):
+  if elapsed_s < FULL_LOOP_RECOVERY_END_S:
+    return 0.0
+  if elapsed_s < FULL_LOOP_UPHILL_RAMP_END_S:
+    return FULL_LOOP_UPHILL_PITCH_RAD * (
+      (elapsed_s - FULL_LOOP_RECOVERY_END_S) /
+      (FULL_LOOP_UPHILL_RAMP_END_S - FULL_LOOP_RECOVERY_END_S)
+    )
+  if elapsed_s < FULL_LOOP_UPHILL_HOLD_END_S:
+    return FULL_LOOP_UPHILL_PITCH_RAD
+  if elapsed_s < FULL_LOOP_CREST_RAMP_END_S:
+    ramp_fraction = (
+      (elapsed_s - FULL_LOOP_UPHILL_HOLD_END_S) /
+      (FULL_LOOP_CREST_RAMP_END_S - FULL_LOOP_UPHILL_HOLD_END_S)
+    )
+    return FULL_LOOP_UPHILL_PITCH_RAD + ramp_fraction * (
+      FULL_LOOP_CREST_PITCH_RAD - FULL_LOOP_UPHILL_PITCH_RAD
+    )
+  if elapsed_s < FULL_LOOP_CREST_HOLD_END_S:
+    return FULL_LOOP_CREST_PITCH_RAD
+  if elapsed_s < FULL_LOOP_ROLLING_RAMP_END_S:
+    ramp_fraction = (
+      (elapsed_s - FULL_LOOP_CREST_HOLD_END_S) /
+      (FULL_LOOP_ROLLING_RAMP_END_S - FULL_LOOP_CREST_HOLD_END_S)
+    )
+    return FULL_LOOP_CREST_PITCH_RAD + ramp_fraction * (
+      FULL_LOOP_ROLLING_PITCH_RAD - FULL_LOOP_CREST_PITCH_RAD
+    )
+  return FULL_LOOP_ROLLING_PITCH_RAD
+
+
+def _run_full_closed_loop_following(
+    monkeypatch,
+    nap_follow_dist=7,
+    plant_aligned_feedforward=False,
+    grade_compensation_scale=1.0,
+):
+  monkeypatch.setattr(
+    virtual_das,
+    "PEDAL_MAX_VALUES",
+    [50.0] * len(virtual_das.PEDAL_BP),
+  )
+  monkeypatch.setattr(
+    virtual_das,
+    "get_zero_torque",
+    lambda: SimpleNamespace(get=lambda _speed_mps: 3.0),
+  )
+
+  speed_mps = FOLLOW_TEST_SPEED_MPS
+  acceleration_mps2 = 0.0
+  ego_distance_m = 0.0
+  lead_distance_m = 20.0
+  lead_speed_mps = FOLLOW_TEST_SPEED_MPS
+  pedal_di = 8.0
+  planner_target_mps2 = 0.0
+  vdas_target_mps2 = 0.0
+
+  params = _FollowParams(nap_follow_dist)
+  car_params, car_params_sp = _make_preap_params()
+  car_params.longitudinalActuatorDelay = FULL_LOOP_PLANT_DELAY_S
+  planner = LongitudinalPlanner(car_params, car_params_sp, init_v=speed_mps, params=params)
+  long_control = LongControl(car_params, car_params_sp)
+  vdas = VirtualDAS(dt=FULL_LOOP_VDAS_DT_S)
+  vdas.reset(measured_accel=acceleration_mps2, commanded_accel=0.0, pedal_di_init=pedal_di)
+  if plant_aligned_feedforward:
+    vdas._feedforward = lambda acceleration_effort_mps2, _speed_mps: float(np.interp(
+      acceleration_effort_mps2,
+      FULL_LOOP_NET_ACCEL_BP,
+      FULL_LOOP_PEDAL_DI_BP,
+    ))
+  if grade_compensation_scale != 1.0:
+    grade_estimator_update = vdas.grade_estimator.update
+
+    def scaled_grade_estimator_update(orientation_ned):
+      steady_compensation, transient_compensation = grade_estimator_update(orientation_ned)
+      return (
+        grade_compensation_scale * steady_compensation,
+        grade_compensation_scale * transient_compensation,
+      )
+
+    vdas.grade_estimator.update = scaled_grade_estimator_update
+
+  delay_steps = round(FULL_LOOP_PLANT_DELAY_S / FULL_LOOP_DT_S)
+  delayed_pedals_di = [pedal_di] * delay_steps
+  plant_alpha = FULL_LOOP_DT_S / (FULL_LOOP_PLANT_TAU_S + FULL_LOOP_DT_S)
+  planner_interval_steps = round(FULL_LOOP_PLANNER_DT_S / FULL_LOOP_DT_S)
+  vdas_interval_steps = round(FULL_LOOP_VDAS_DT_S / FULL_LOOP_DT_S)
+  samples = []
+  pedal_samples = []
+
+  for step in range(round(FULL_LOOP_DURATION_S / FULL_LOOP_DT_S)):
+    elapsed_s = step * FULL_LOOP_DT_S
+    pitch_rad = _full_loop_pitch(elapsed_s)
+    gap_m = lead_distance_m - ego_distance_m
+
+    if step % planner_interval_steps == 0:
+      inputs = _make_planner_inputs(float(speed_mps))
+      inputs["carState"].aEgo = float(acceleration_mps2)
+      inputs["carState"].vCruise = lead_speed_mps * 3.6
+      inputs["carControl"].orientationNED = [0.0, pitch_rad, 0.0]
+      lead = inputs["radarState"].leadOne
+      lead.present = True
+      lead.dRel = float(max(gap_m, 0.0))
+      lead.vRel = float(lead_speed_mps - speed_mps)
+      lead.vLead = lead_speed_mps
+      lead.vLeadK = lead_speed_mps
+      lead.aLeadK = 0.0
+      lead.aLeadTau = 1.5
+      lead.modelProb = 1.0
+      planner.update(inputs)
+      planner_target_mps2 = float(planner.output_a_target)
+
+    state = structs.CarState()
+    state.vEgo = float(speed_mps)
+    state.aEgo = float(acceleration_mps2)
+    state.brakePressed = False
+    state.cruiseState.standstill = False
+    vdas_target_mps2 = float(long_control.update(
+      active=True,
+      CS=state,
+      a_target=planner_target_mps2,
+      should_stop=planner.output_should_stop,
+      accel_limits=(-1.5, 0.8),
+    ))
+
+    if step % vdas_interval_steps == 0:
+      pedal_di = vdas.update(
+        vdas_target_mps2,
+        v_ego=speed_mps,
+        prev_pedal_di=pedal_di,
+        a_ego=acceleration_mps2,
+        freeze_integrator=False,
+        orientation_ned=[0.0, pitch_rad, 0.0],
+      )
+      pedal_samples.append(pedal_di)
+
+    applied_pedal_di = delayed_pedals_di.pop(0)
+    delayed_pedals_di.append(pedal_di)
+    grade_acceleration_mps2 = GRAVITY * np.sin(pitch_rad)
+    plant_target_mps2 = float(np.interp(
+      applied_pedal_di,
+      FULL_LOOP_PEDAL_DI_BP,
+      FULL_LOOP_NET_ACCEL_BP,
+    )) - grade_acceleration_mps2
+    acceleration_mps2 += plant_alpha * (plant_target_mps2 - acceleration_mps2)
+    speed_mps = max(0.0, speed_mps + acceleration_mps2 * FULL_LOOP_DT_S)
+    ego_distance_m += speed_mps * FULL_LOOP_DT_S
+    lead_distance_m += lead_speed_mps * FULL_LOOP_DT_S
+
+    samples.append((
+      elapsed_s,
+      lead_distance_m - ego_distance_m,
+      speed_mps,
+      acceleration_mps2,
+      planner_target_mps2,
+      vdas_target_mps2,
+      pitch_rad,
+    ))
+
+  return np.array(samples), np.array(pedal_samples)
+
+
+
+def test_planner_publishes_the_follow_policy_used_by_mpc():
+  CP, CP_SP = _make_preap_params()
+  assert pedal_pipeline_enabled(CP, CP_SP)
+  params = _FollowParams(1)
+  planner = LongitudinalPlanner(CP, CP_SP, init_v=FOLLOW_TEST_SPEED_MPS, params=params)
+  planner.mpc = cast(Any, _ConstantAccelerationMpc(FOLLOW_TEST_SPEED_MPS, 0.0))
+  inputs = _make_planner_inputs(FOLLOW_TEST_SPEED_MPS)
+  params.nap_follow_dist = 7
+  planner._frame = 19
+  planner.update(inputs)
+  assert planner.t_follow == pytest.approx(1.9)
+  assert planner.mpc.captured_t_follow == pytest.approx(1.9)
+  assert np.all(planner.mpc.params[:, 4] == planner.t_follow)
+
+
+@pytest.mark.parametrize("nap_follow_dist", [-1, 0, 8])
+def test_invalid_nap_follow_setting_uses_personality(nap_follow_dist):
+  CP, CP_SP = _make_preap_params()
+  planner = LongitudinalPlanner(CP, CP_SP, init_v=FOLLOW_TEST_SPEED_MPS, params=_FollowParams(nap_follow_dist))
+  planner.mpc = cast(Any, _ConstantAccelerationMpc(FOLLOW_TEST_SPEED_MPS, 0.0))
+  inputs = _make_planner_inputs(FOLLOW_TEST_SPEED_MPS)
+  planner.update(inputs)
+  assert planner.t_follow == get_T_FOLLOW(log.LongitudinalPersonality.standard)
+  assert planner.mpc.captured_t_follow == planner.t_follow
+
+
+def test_non_preap_planner_uses_personality():
+  CP = structs.CarParams()
+  CP.brand = "honda"
+  CP.carFingerprint = "HONDA_CIVIC"
+  CP.steerRatio = 15.75
+  CP.wheelbase = 2.959
+  CP_SP = structs.CarParamsSP()
+  planner = LongitudinalPlanner(CP, CP_SP, init_v=FOLLOW_TEST_SPEED_MPS)
+  planner.mpc = cast(Any, _ConstantAccelerationMpc(FOLLOW_TEST_SPEED_MPS, 0.0))
+  inputs = _make_planner_inputs(FOLLOW_TEST_SPEED_MPS)
+  inputs["selfdriveState"].personality = log.LongitudinalPersonality.relaxed
+  planner.update(inputs)
+  assert not planner._pedal_preap
+  assert planner.t_follow == get_T_FOLLOW(log.LongitudinalPersonality.relaxed)
+
+
+def test_nap_follow_setting_map_is_strictly_monotonic():
+  actual_follow_times = [PREAP_T_FOLLOW[setting - 1] for setting in NAP_FOLLOW_SETTINGS]
+  physical_gaps = [t_follow * FOLLOW_TEST_SPEED_MPS + STOP_DISTANCE_M for t_follow in actual_follow_times]
+  assert actual_follow_times == list(NAP_FOLLOW_TIMES_S)
+  assert np.all(np.diff(physical_gaps) > 0.0)
+
+
+def test_max_follow_full_closed_loop_recovers_gap_with_production_fallback(monkeypatch):
+  samples, pedal_samples = _run_full_closed_loop_following(monkeypatch, nap_follow_dist=7)
+  disabled_grade_samples, _ = _run_full_closed_loop_following(
+    monkeypatch,
+    nap_follow_dist=7,
+    grade_compensation_scale=0.0,
+  )
+  elapsed_s, gaps_m, speeds_mps, accelerations_mps2, planner_targets_mps2, vdas_targets_mps2, _ = samples.T
+  disabled_grade_speeds_mps = disabled_grade_samples[:, 2]
+  desired_gap_m = PREAP_T_FOLLOW[6] * FOLLOW_TEST_SPEED_MPS + STOP_DISTANCE_M
+  recovery_window = (elapsed_s >= FULL_LOOP_RECOVERY_END_S - 5.0) & (elapsed_s < FULL_LOOP_RECOVERY_END_S)
+  grade_window = elapsed_s >= FULL_LOOP_RECOVERY_END_S
+  settled_rolling_window = elapsed_s >= FULL_LOOP_ROLLING_RAMP_END_S + FULL_LOOP_GRADE_SETTLING_S
+  final_speed_window = elapsed_s >= FULL_LOOP_DURATION_S - 2.0
+
+  assert np.min(gaps_m) >= 19.5
+  assert np.mean(gaps_m[recovery_window]) == pytest.approx(desired_gap_m, abs=2.0)
+  assert np.mean(speeds_mps[recovery_window]) == pytest.approx(FOLLOW_TEST_SPEED_MPS, abs=0.2)
+  assert gaps_m[-1] >= desired_gap_m - 2.0
+  assert np.mean(speeds_mps[final_speed_window]) == pytest.approx(FOLLOW_TEST_SPEED_MPS, abs=0.2)
+  assert np.max(speeds_mps[settled_rolling_window]) <= FOLLOW_TEST_SPEED_MPS + 0.1
+
+  assert np.min(accelerations_mps2) >= -1.0
+  assert np.max(accelerations_mps2) <= 0.8
+  assert np.max(np.abs(np.diff(accelerations_mps2) / FULL_LOOP_DT_S)) <= 1.5
+  assert np.max(np.diff(pedal_samples)) <= PEDAL_RAMP_RATE_UP + 1e-9
+  assert np.min(np.diff(pedal_samples)) >= -PEDAL_RAMP_RATE_DOWN - 1e-9
+  assert np.min(pedal_samples) >= FULL_LOOP_PEDAL_DI_BP[0]
+  assert np.max(pedal_samples) <= FULL_LOOP_PEDAL_DI_BP[-1]
+  assert np.max(np.abs(planner_targets_mps2 - vdas_targets_mps2)) <= 1e-9
+
+  compensated_speed_error = np.trapezoid(
+    np.abs(speeds_mps[grade_window] - FOLLOW_TEST_SPEED_MPS),
+    elapsed_s[grade_window],
+  )
+  disabled_speed_error = np.trapezoid(
+    np.abs(disabled_grade_speeds_mps[grade_window] - FOLLOW_TEST_SPEED_MPS),
+    elapsed_s[grade_window],
+  )
+  assert np.max(np.abs(speeds_mps[grade_window] - FOLLOW_TEST_SPEED_MPS)) <= 1.25
+  assert compensated_speed_error <= 0.5 * disabled_speed_error
+
+
+def test_plant_aligned_full_closed_loop_grade_compensation_holds_speed(monkeypatch):
+  samples, _ = _run_full_closed_loop_following(
+    monkeypatch,
+    nap_follow_dist=7,
+    plant_aligned_feedforward=True,
+  )
+  elapsed_s, gaps_m, speeds_mps, accelerations_mps2, _, vdas_targets_mps2, pitches_rad = samples.T
+  desired_gap_m = PREAP_T_FOLLOW[6] * FOLLOW_TEST_SPEED_MPS + STOP_DISTANCE_M
+  uphill_window = (
+    (elapsed_s >= FULL_LOOP_UPHILL_RAMP_END_S + FULL_LOOP_GRADE_SETTLING_S)
+    & (elapsed_s < FULL_LOOP_UPHILL_HOLD_END_S)
+  )
+  crest_window = (
+    (elapsed_s >= FULL_LOOP_CREST_RAMP_END_S + FULL_LOOP_GRADE_SETTLING_S)
+    & (elapsed_s < FULL_LOOP_CREST_HOLD_END_S)
+  )
+  rolling_window = elapsed_s >= FULL_LOOP_ROLLING_RAMP_END_S + FULL_LOOP_GRADE_SETTLING_S
+
+  assert np.min(gaps_m) >= 19.5
+  assert gaps_m[-1] >= desired_gap_m - 2.0
+  for window, expected_pitch_rad in (
+    (uphill_window, FULL_LOOP_UPHILL_PITCH_RAD),
+    (crest_window, FULL_LOOP_CREST_PITCH_RAD),
+    (rolling_window, FULL_LOOP_ROLLING_PITCH_RAD),
+  ):
+    assert pitches_rad[window] == pytest.approx(np.full(np.count_nonzero(window), expected_pitch_rad))
+    assert np.min(speeds_mps[window]) >= FOLLOW_TEST_SPEED_MPS - 0.5
+    assert np.max(speeds_mps[window]) <= FOLLOW_TEST_SPEED_MPS + 0.5
+
+  for phase_end_s in (
+    FULL_LOOP_UPHILL_HOLD_END_S,
+    FULL_LOOP_CREST_HOLD_END_S,
+    FULL_LOOP_DURATION_S,
+  ):
+    tracking_window = (elapsed_s >= phase_end_s - 2.0) & (elapsed_s < phase_end_s)
+    assert np.mean(np.abs(
+      accelerations_mps2[tracking_window] - vdas_targets_mps2[tracking_window]
+    )) <= 0.12
diff --git a/openpilot/selfdrive/selfdrived/events.py b/openpilot/selfdrive/selfdrived/events.py
index d7eaaf70c498f7..22064715cf3c14 100755
--- a/openpilot/selfdrive/selfdrived/events.py
+++ b/openpilot/selfdrive/selfdrived/events.py
@@ -959,3 +959,6 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
     for p, alert_list in evs:
       print(f"  {repr(p)}:")
       print("   ", ', '.join(alert_list), "\n")
+
+# Pedal regen under-delivery alert. EventNameSP.pedalMaxRegen is registered at selfdrived start.
+from openpilot.selfdrive.selfdrived.preap_regen import PREAP_REGEN_ALERT  # noqa: F401
diff --git a/openpilot/selfdrive/selfdrived/preap_regen.py b/openpilot/selfdrive/selfdrived/preap_regen.py
new file mode 100644
index 00000000000000..b73427f7328967
--- /dev/null
+++ b/openpilot/selfdrive/selfdrived/preap_regen.py
@@ -0,0 +1,112 @@
+"""Pre-AP pedal-long regen demand check.
+
+The planner's deceleration request is clamped to the regen envelope
+before the car ever sees it, so a demand the envelope cannot cover is
+invisible to the pedal controller. This check reads the unclamped plan
+and prompts the driver to add friction brake when the demand sits
+meaningfully below the envelope floor. CarStateSP.pedalMaxRegen covers
+the other failure shape: a request inside the envelope that weak
+battery regen fails to deliver.
+"""
+import math
+
+from openpilot.common.realtime import DT_CTRL
+from opendbc.car.tesla.preap.constants import get_preap_accel_limits
+from openpilot.cereal import custom, log
+from opendbc.car.structs import car
+from openpilot.sunnypilot.selfdrive.selfdrived.events_base import Alert, ET, Priority
+from openpilot.sunnypilot.selfdrive.selfdrived.preap_alerts import (
+  ALERT_PEDAL_UNAVAILABLE,
+  ALERT_PEDAL_UNAVAILABLE_SUB,
+  ALERT_REGEN,
+  ALERT_REGEN_SUB,
+)
+
+AlertSize = log.SelfdriveState.AlertSize
+AlertStatus = log.SelfdriveState.AlertStatus
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+AudibleAlert = log.SelfdriveState.AudibleAlert
+EventNameSP = custom.OnroadEventSP.EventName
+
+REGEN_DEMAND_EVIDENCE_COUNT = int(0.3 / DT_CTRL)
+REGEN_DEMAND_TRIGGER_MARGIN = 0.2  # m/s² below the envelope floor
+REGEN_DEMAND_CLEAR_MARGIN = 0.05  # m/s²
+REGEN_DEMAND_MIN_SPEED = 2.0  # m/s
+REGEN_DEMAND_CLEAR_SPEED = 1.0  # m/s
+
+
+class RegenDemandCheck:
+  """Prompt when planned deceleration exceeds what the regen envelope allows."""
+
+  def __init__(self):
+    self.active = False
+    self.evidence_updates = 0
+
+  def reset(self):
+    self.active = False
+    self.evidence_updates = 0
+
+  def update(self, *, plan_valid: bool, pedal_long_active: bool, brake_pressed: bool,
+             a_target: float, v_ego: float) -> bool:
+    if not plan_valid or not pedal_long_active or brake_pressed or not math.isfinite(a_target):
+      self.reset()
+      return False
+
+    accel_floor, _ = get_preap_accel_limits(v_ego)
+
+    if self.active:
+      keep_prompting = (
+        v_ego > REGEN_DEMAND_CLEAR_SPEED
+        and a_target <= accel_floor - REGEN_DEMAND_CLEAR_MARGIN
+      )
+      if not keep_prompting:
+        self.reset()
+      return self.active
+
+    demanding = (
+      v_ego >= REGEN_DEMAND_MIN_SPEED
+      and a_target <= accel_floor - REGEN_DEMAND_TRIGGER_MARGIN
+    )
+    if demanding:
+      self.evidence_updates = min(self.evidence_updates + 1, REGEN_DEMAND_EVIDENCE_COUNT)
+    else:
+      self.evidence_updates = max(self.evidence_updates - 1, 0)
+    self.active = self.evidence_updates >= REGEN_DEMAND_EVIDENCE_COUNT
+    return self.active
+
+
+PREAP_REGEN_ALERT = Alert(
+  ALERT_REGEN,
+  ALERT_REGEN_SUB,
+  AlertStatus.userPrompt, AlertSize.mid,
+  Priority.HIGH, VisualAlert.brakePressed, AudibleAlert.prompt, .2,
+)
+
+PREAP_PEDAL_CRUISE_ENABLED_ALERT = Alert(
+  "Pedal Cruise Engaged",
+  "",
+  AlertStatus.normal, AlertSize.small,
+  Priority.LOW, VisualAlert.none, AudibleAlert.engage, 0.8,
+)
+
+PREAP_PEDAL_CRUISE_DISABLED_ALERT = Alert(
+  "Pedal Cruise Disengaged",
+  "",
+  AlertStatus.normal, AlertSize.small,
+  Priority.LOW, VisualAlert.none, AudibleAlert.disengage, 0.8,
+)
+
+PREAP_PEDAL_UNAVAILABLE_ALERT = Alert(
+  ALERT_PEDAL_UNAVAILABLE,
+  ALERT_PEDAL_UNAVAILABLE_SUB,
+  AlertStatus.userPrompt, AlertSize.mid,
+  Priority.HIGH, VisualAlert.none, AudibleAlert.warningImmediate, 4.,
+)
+
+
+def register_preap_regen_alerts() -> None:
+  from openpilot.sunnypilot.selfdrive.selfdrived.events import EVENTS_SP
+  EVENTS_SP.setdefault(EventNameSP.pedalMaxRegen, {ET.WARNING: PREAP_REGEN_ALERT})
+  EVENTS_SP.setdefault(EventNameSP.pedalCruiseEnabled, {ET.WARNING: PREAP_PEDAL_CRUISE_ENABLED_ALERT})
+  EVENTS_SP.setdefault(EventNameSP.pedalCruiseDisabled, {ET.WARNING: PREAP_PEDAL_CRUISE_DISABLED_ALERT})
+  EVENTS_SP.setdefault(EventNameSP.pedalUnavailable, {ET.WARNING: PREAP_PEDAL_UNAVAILABLE_ALERT})
diff --git a/openpilot/selfdrive/selfdrived/selfdrived.py b/openpilot/selfdrive/selfdrived/selfdrived.py
index cd97e2a4127d6d..e80c9ea4265e36 100755
--- a/openpilot/selfdrive/selfdrived/selfdrived.py
+++ b/openpilot/selfdrive/selfdrived/selfdrived.py
@@ -32,6 +32,9 @@
 from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
 from openpilot.sunnypilot.selfdrive.selfdrived.button_state_tracker import ButtonStateTracker
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+from openpilot.selfdrive.selfdrived.preap_regen import RegenDemandCheck, register_preap_regen_alerts
+from openpilot.sunnypilot.selfdrive.selfdrived.preap_alerts import radar_state_has_fault
+from opendbc.car.tesla.preap.boot import pedal_pipeline_enabled, preap_radar_present
 
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
@@ -175,8 +178,13 @@ def __init__(self, CP=None, CP_SP=None):
     elif self.CP.passive:
       self.events.add(EventName.dashcamMode, static=True)
 
+    register_preap_regen_alerts()
     self.events_sp = EventsSP()
     self.events_sp_prev = []
+    self._pedal_preap = pedal_pipeline_enabled(self.CP, self.CP_SP)
+    self._preap_radar_present = preap_radar_present(self.CP, self.CP_SP)
+    self.preap_regen_demand = RegenDemandCheck()
+    self.prev_pedal_long_active = False
 
     self.mads = ModularAssistiveDrivingSystem(self)
     self.icbm = IntelligentCruiseButtonManagement(self.CP, self.CP_SP)
@@ -260,7 +268,12 @@ def update_events(self, CS):
       car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg()
       self.events.add_from_msg(car_events)
 
-      car_events_sp = self.car_events_sp.update(CS, self.events, self.CS_SP if self.cs_sp_fresh else None).to_msg()
+      radar_fault = False
+      if self.sm.valid.get('radarState', False) if hasattr(self.sm, 'valid') else self.sm.seen.get('radarState', False):
+        radar_fault = radar_state_has_fault(self.sm['radarState'])
+      car_events_sp = self.car_events_sp.update(
+        CS, self.events, self.CS_SP if self.cs_sp_fresh else None, radar_fault=radar_fault,
+      ).to_msg()
       self.events_sp.add_from_msg(car_events_sp)
 
       if self.CP.notCar:
@@ -275,6 +288,29 @@ def update_events(self, CS):
         (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
         self.events.add(EventName.pedalPressed)
 
+      if self._pedal_preap:
+        EventNameSP = custom.OnroadEventSP.EventName
+        pedal_long_active = self.prev_pedal_long_active
+        if self.cs_sp_fresh:
+          pedal_long_active = bool(getattr(self.CS_SP, "pedalLongActive", False))
+          if pedal_long_active and not self.prev_pedal_long_active:
+            self.events_sp.add(EventNameSP.pedalCruiseEnabled)
+          elif self.prev_pedal_long_active and not pedal_long_active:
+            self.events_sp.add(EventNameSP.pedalCruiseDisabled)
+          self.prev_pedal_long_active = pedal_long_active
+        regen_demand_overflow = self.preap_regen_demand.update(
+          plan_valid=self.sm.valid['longitudinalPlan'],
+          pedal_long_active=pedal_long_active,
+          brake_pressed=CS.brakePressed,
+          a_target=float(self.sm['longitudinalPlan'].aTarget),
+          v_ego=CS.vEgo,
+        )
+        if (self.cs_sp_fresh and bool(getattr(self.CS_SP, "pedalMaxRegen", False))) or regen_demand_overflow:
+          self.events_sp.add(EventNameSP.pedalMaxRegen)
+        # Authority-loss and calibration/radar health are owned by CarSpecificEventsSP.
+      else:
+        self.prev_pedal_long_active = False
+
     # Create events for temperature, disk space, and memory
     if self.sm['deviceState'].thermalStatus >= ThermalStatus.overheated:
       self.events.add(EventName.overheat)
@@ -395,7 +431,7 @@ def update_events(self, CS):
           self.events.add(EventName.cameraFrameRate)
     if not REPLAY and self.rk.lagging:
       self.events.add(EventName.selfdrivedLagging)
-    if self.CP.openpilotLongitudinalControl:
+    if self.CP.openpilotLongitudinalControl or self._preap_radar_present:
       if self.sm['radarState'].radarErrors.canError:
         self.events.add(EventName.canError)
       elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
diff --git a/openpilot/selfdrive/selfdrived/tests/test_preap_regen.py b/openpilot/selfdrive/selfdrived/tests/test_preap_regen.py
new file mode 100644
index 00000000000000..bfa99eaf91687a
--- /dev/null
+++ b/openpilot/selfdrive/selfdrived/tests/test_preap_regen.py
@@ -0,0 +1,104 @@
+from openpilot.selfdrive.selfdrived.preap_regen import (
+  REGEN_DEMAND_EVIDENCE_COUNT,
+  RegenDemandCheck,
+)
+from openpilot.cereal import custom
+from openpilot.selfdrive.selfdrived.preap_regen import register_preap_regen_alerts
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+
+# get_preap_accel_limits floor is -1.5 m/s²; -2.0 clears the trigger margin.
+OVERFLOW_TARGET = -2.0
+
+
+def _update(check, *, a_target=OVERFLOW_TARGET, v_ego=15.0,
+            plan_valid=True, pedal_long_active=True, brake_pressed=False):
+  return check.update(
+    plan_valid=plan_valid,
+    pedal_long_active=pedal_long_active,
+    brake_pressed=brake_pressed,
+    a_target=a_target,
+    v_ego=v_ego,
+  )
+
+
+def test_demand_prompt_requires_sustained_overflow():
+  check = RegenDemandCheck()
+  for _ in range(REGEN_DEMAND_EVIDENCE_COUNT - 1):
+    assert not _update(check)
+  assert _update(check)
+
+
+def test_demand_prompt_silent_when_plan_fits_envelope():
+  check = RegenDemandCheck()
+  for _ in range(3 * REGEN_DEMAND_EVIDENCE_COUNT):
+    assert not _update(check, a_target=-1.5)
+
+
+def test_demand_prompt_survives_single_sample_dropouts():
+  check = RegenDemandCheck()
+  fired = False
+  for _ in range(3 * REGEN_DEMAND_EVIDENCE_COUNT):
+    for _ in range(9):
+      fired = _update(check) or fired
+    fired = _update(check, a_target=-1.6) or fired
+    if fired:
+      break
+  assert fired
+
+
+def test_demand_prompt_does_not_fire_at_standstill():
+  check = RegenDemandCheck()
+  for _ in range(2 * REGEN_DEMAND_EVIDENCE_COUNT):
+    assert not _update(check, v_ego=0.0)
+
+
+def test_demand_prompt_clears_when_driver_brakes():
+  check = RegenDemandCheck()
+  for _ in range(REGEN_DEMAND_EVIDENCE_COUNT):
+    _update(check)
+  assert check.active
+
+  assert not _update(check, brake_pressed=True)
+  assert not check.active
+
+
+def test_demand_prompt_uses_hysteresis_before_clearing():
+  check = RegenDemandCheck()
+  for _ in range(REGEN_DEMAND_EVIDENCE_COUNT):
+    _update(check)
+  assert check.active
+
+  # Back inside the trigger margin but still beyond the clear margin.
+  assert _update(check, a_target=-1.6, v_ego=1.5)
+
+  # Demand returns to the envelope: prompt clears.
+  assert not _update(check, a_target=-1.5)
+  assert not check.active
+
+
+def test_demand_prompt_resets_when_pedal_long_inactive():
+  check = RegenDemandCheck()
+  for _ in range(REGEN_DEMAND_EVIDENCE_COUNT):
+    _update(check)
+  assert check.active
+
+  assert not _update(check, pedal_long_active=False)
+  assert not check.active
+
+def test_demand_prompt_resets_when_plan_is_invalid():
+  check = RegenDemandCheck()
+  for _ in range(REGEN_DEMAND_EVIDENCE_COUNT):
+    _update(check)
+  assert check.active
+
+  assert not _update(check, plan_valid=False)
+  assert not check.active
+
+
+def test_alerts_are_registered_before_event_counters_are_built():
+  register_preap_regen_alerts()
+  events = EventsSP()
+  event_names = custom.OnroadEventSP.EventName
+  for event in (event_names.pedalMaxRegen, event_names.pedalCruiseEnabled,
+                event_names.pedalCruiseDisabled, event_names.pedalUnavailable):
+    assert event in events.event_counters
diff --git a/openpilot/selfdrive/ui/mici/onroad/alert_renderer.py b/openpilot/selfdrive/ui/mici/onroad/alert_renderer.py
index 016e09a0f15228..25b984030707b2 100644
--- a/openpilot/selfdrive/ui/mici/onroad/alert_renderer.py
+++ b/openpilot/selfdrive/ui/mici/onroad/alert_renderer.py
@@ -11,6 +11,7 @@
 from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
 from openpilot.common.hardware import TICI
 from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 
@@ -148,7 +149,7 @@ def get_alert(self, sm: messaging.SubMaster) -> Alert | None:
       return None
 
     # Return current alert
-    ret = Alert(text1=ss.alertText1, text2=ss.alertText2, size=ss.alertSize.raw, status=ss.alertStatus.raw,
+    ret = Alert(text1=tr(ss.alertText1), text2=tr(ss.alertText2), size=ss.alertSize.raw, status=ss.alertStatus.raw,
                 visual_alert=ss.alertHudVisual, alert_type=ss.alertType)
     self._prev_alert = ret
     return ret
diff --git a/openpilot/selfdrive/ui/onroad/alert_renderer.py b/openpilot/selfdrive/ui/onroad/alert_renderer.py
index b77b1539f4ac58..1722f079e7eb28 100644
--- a/openpilot/selfdrive/ui/onroad/alert_renderer.py
+++ b/openpilot/selfdrive/ui/onroad/alert_renderer.py
@@ -112,7 +112,7 @@ def get_alert(self, sm: messaging.SubMaster) -> Alert | None:
       return None
 
     # Return current alert
-    return Alert(text1=ss.alertText1, text2=ss.alertText2, size=ss.alertSize.raw, status=ss.alertStatus.raw)
+    return Alert(text1=tr(ss.alertText1), text2=tr(ss.alertText2), size=ss.alertSize.raw, status=ss.alertStatus.raw)
 
   def _render(self, rect: rl.Rectangle):
     alert = self.get_alert(ui_state.sm)
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
index 89e6db629df763..6fc41d6d6ab0a3 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
@@ -8,6 +8,7 @@
 from enum import IntEnum
 
 from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.selfdrive.car.preap_boot import is_preap_ui_platform
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, simple_button_item_sp, option_item_sp, LineSeparatorSP
 from openpilot.system.ui.widgets.scroller_tici import Scroller
@@ -127,13 +128,20 @@ def _update_state(self):
     else:
       self._mads_toggle.set_description(f"<b>{self._mads_check_compat_desc}</b><br><br>{self._mads_base_desc}")
 
+    # Pre-AP forces and blocks the internal MADS master. Customize MADS stays reachable.
+    bundle = ui_state.params.get("CarPlatformBundle")
+    bundle_platform = bundle.get("platform", "") if isinstance(bundle, dict) else ""
+    is_preap = is_preap_ui_platform(bundle_platform, ui_state.CP)
     mads_required = ui_state.CP_SP is not None and bool(getattr(ui_state.CP_SP, "madsRequired", False))
-    if mads_required:
+    if is_preap or mads_required:
       self._mads_toggle.action_item.set_state(True)
       self._mads_toggle.action_item.set_enabled(False)
     else:
       self._mads_toggle.action_item.set_enabled(ui_state.is_offroad())
-    self._mads_settings_button.action_item.set_enabled(ui_state.is_offroad() and self._mads_toggle.action_item.get_state())
+    self._mads_toggle.set_visible(True)
+    self._mads_settings_button.action_item.set_enabled(
+      bool(self._mads_toggle.action_item.get_state() or mads_required or is_preap)
+    )
     self._blinker_control_options.set_visible(self._blinker_control_toggle.action_item.get_state())
     self._blinker_reengage_delay.set_visible(self._blinker_control_toggle.action_item.get_state())
 
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
index 4cde489954e027..fb5ba06835d1e2 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
@@ -7,9 +7,11 @@
 from collections.abc import Callable
 import pyray as rl
 
+from opendbc.car.tesla.preap.boot import PREAP_PLATFORM
 from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake
+from openpilot.sunnypilot.selfdrive.car.preap_boot import is_preap_ui_platform
 from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.network import NavButton
@@ -85,17 +87,25 @@ def show_event(self):
 
   @staticmethod
   def _mads_limited_settings() -> bool:
+    # PREAP_PLATFORM is full MADS. Tesla !HAS_VEHICLE_BUS is AP-no-bus only.
+    bundle = ui_state.params.get("CarPlatformBundle")
+    bundle_platform = bundle.get("platform", "") if isinstance(bundle, dict) else ""
+    if bundle_platform == PREAP_PLATFORM or is_preap_ui_platform(bundle_platform, ui_state.CP):
+      return False
+    if ui_state.CP_SP is not None and bool(getattr(ui_state.CP_SP, "madsRequired", False)):
+      return False
+
     brand = ""
-    if ui_state.is_offroad():
-      bundle = ui_state.params.get("CarPlatformBundle")
-      if bundle:
-        brand = bundle.get("brand", "")
+    if ui_state.is_offroad() and isinstance(bundle, dict):
+      brand = bundle.get("brand", "") or ""
     if not brand:
       brand = ui_state.CP.brand if ui_state.CP is not None else ""
 
     if brand == "rivian":
       return True
     elif brand == "tesla":
+      if bundle_platform == PREAP_PLATFORM or is_preap_ui_platform(bundle_platform, ui_state.CP):
+        return False
       if ui_state.CP_SP is None or not ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS:
         return True
       screen_button = int(ui_state.params.get("TeslaMadsScreenButton", return_default=True))
@@ -103,7 +113,10 @@ def _mads_limited_settings() -> bool:
     return False
 
   def _update_steering_mode_description(self, button_index: int):
-    base_desc = tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.")
+    base_desc = tr(
+      "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. "
+      + "Onroad writes apply on the next drive."
+    )
     result = base_desc + "<br><br>"
     for opt in MADS_STEERING_MODE_OPTIONS:
       desc = "<b>" + opt[1] + "</b>" if button_index == MADS_STEERING_MODE_OPTIONS.index(opt) else opt[1]
@@ -138,3 +151,20 @@ def _update_toggles(self):
 
       self._steering_mode.action_item.set_enabled(True)
       self._steering_mode.action_item.set_enabled_buttons(None)
+
+    bundle = ui_state.params.get("CarPlatformBundle")
+    bundle_platform = bundle.get("platform", "") if isinstance(bundle, dict) else ""
+    is_preap = is_preap_ui_platform(bundle_platform, ui_state.CP)
+    if ui_state.CP_SP is not None:
+      try:
+        mode = int(ui_state.CP_SP.preapLateralEngagementMode)
+      except Exception:
+        mode = 0
+    else:
+      mode = 0
+    self._main_cruise_toggle.set_visible(not is_preap)
+    self._unified_engagement_toggle.set_visible(not is_preap)
+    self._steering_mode.set_visible((not is_preap) or mode == 0)
+    if is_preap:
+      self._main_cruise_toggle.action_item.set_enabled(False)
+      self._unified_engagement_toggle.action_item.set_enabled(False)
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
index 10fb3e1b4b8436..da6583caa81200 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
@@ -7,13 +7,70 @@
 from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
 from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.selfdrive.car.preap_boot import is_preap_ui_platform
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import instructions as preap_instructions
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import start_tool
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import ToolSafetyError
+from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp, toggle_item_sp
+from openpilot.system.ui.sunnypilot.widgets.list_view import (
+  button_item_sp, multiple_button_item_sp, toggle_item_sp,
+)
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog, alert_dialog
+from openpilot.system.ui.widgets.keyboard import Keyboard
 
 COOP_STEERING_MIN_KMH = 23
 OEM_STEERING_MIN_KMH = 48
 KM_TO_MILE = 0.621371
 
+FOLLOW_DISTANCE_MIN = 1
+FOLLOW_DISTANCE_MAX = 7
+RADAR_OFFSET_MIN = -2.0
+RADAR_OFFSET_MAX = 2.0
+
+
+def _mode_label(mode: int) -> str:
+  labels = (tr("Independent"), tr("Cruise Coupled"), tr("Longitudinal Only"))
+  return labels[mode] if 0 <= mode < len(labels) else labels[0]
+
+
+def _path_label(path: str) -> str:
+  return tr("Pedal") if path == "pedal" else tr("Stock DI")
+
+
+def _health_label(value: str) -> str:
+  return {
+    "none": tr("None"),
+    "ok": tr("OK"),
+    "uncalibrated": tr("Uncalibrated"),
+    "unconfigured": tr("Unconfigured"),
+  }.get(value, value)
+
+
+def _bundle_platform() -> str:
+  bundle = ui_state.params.get("CarPlatformBundle")
+  if isinstance(bundle, dict):
+    return str(bundle.get("platform", "") or "")
+  return ""
+
+
+def is_tesla_preap_ui() -> bool:
+  """Native Tesla Pre-AP visibility. Never inferred from HAS_VEHICLE_BUS."""
+  return is_preap_ui_platform(_bundle_platform(), ui_state.CP)
+
+
+def parse_configured_pedal_bus(value) -> int:
+  """Preserve configured bus 0. Absent or empty defaults to 2."""
+  if value is None or value == "" or value == b"":
+    return 2
+  return int(value)
+
+
+def pedal_bus_selector_index(value) -> int:
+  """Button 0 = bus 0, button 1 = bus 2 (including the empty default)."""
+  return 0 if parse_configured_pedal_bus(value) == 0 else 1
+
 
 class TeslaSettings(BrandSettings):
   def __init__(self):
@@ -26,11 +83,210 @@ def __init__(self):
       param="TeslaMadsScreenButton",
       inline=False,
     )
-    self.items = [self.coop_steering_toggle, self.mads_screen_button]
+    self.engagement_mode = multiple_button_item_sp(
+      title=lambda: tr("Lateral Engagement Mode"),
+      description=lambda: tr("Pre-AP stalk engagement. Onroad writes apply on the next drive."),
+      buttons=[lambda: tr("Independent"), lambda: tr("Cruise Coupled"), lambda: tr("Longitudinal Only")],
+      param="NAPLateralEngagementMode",
+      inline=False,
+      button_width=280,
+    )
+    self.follow_distance = multiple_button_item_sp(
+      title=lambda: tr("Follow Distance"),
+      description=lambda: tr("Follow distance (1=closest, 7=farthest). Writes apply live."),
+      buttons=[str(i) for i in range(FOLLOW_DISTANCE_MIN, FOLLOW_DISTANCE_MAX + 1)],
+      inline=True,
+      button_width=90,
+      callback=self._on_follow_selected,
+    )
+    self.pedal_enabled = toggle_item_sp(tr("Pedal Interceptor"), tr("Enable Comma Pedal hardware. Local and offroad only."),
+                                        param="NAPPedalEnabled")
+    self.pedal_bus = multiple_button_item_sp(
+      title=lambda: tr("Pedal CAN Bus"),
+      description=lambda: tr("CAN bus for the Comma Pedal. Local and offroad only."),
+      buttons=[lambda: tr("Bus 0"), lambda: tr("Bus 2")],
+      inline=True,
+      callback=self._on_pedal_bus_selected,
+    )
+    self.radar_enabled = toggle_item_sp(tr("Bosch Radar"), tr("Enable stock Bosch radar. Local and offroad only."),
+                                        param="NAPRadarEnabled")
+    self.radar_nosecone = toggle_item_sp(tr("Radar Behind Nosecone"),
+                                         tr("Attenuate radar mounted behind the nosecone. Local and offroad only."),
+                                         param="NAPRadarBehindNosecone")
+    self._radar_offset_keyboard = Keyboard(max_text_size=10)
+    self.radar_offset = button_item_sp(
+      lambda: tr("Radar Lateral Offset"),
+      self._get_radar_offset_text,
+      description=lambda: tr(
+        "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; "
+        + "positive shifts right. Local and offroad only."
+      ),
+      callback=self._on_radar_offset_click,
+    )
+    self.status_mode = button_item_sp(lambda: tr("Active Engagement Mode"), "", enabled=False)
+    self.status_path = button_item_sp(lambda: tr("Longitudinal Path"), "", enabled=False)
+    self.status_pedal = button_item_sp(lambda: tr("Pedal Health"), "", enabled=False)
+    self.status_radar = button_item_sp(lambda: tr("Radar Health"), "", enabled=False)
+
+    self.tool_calibrate_pedal = button_item_sp(lambda: tr("Calibrate Pedal"), lambda: tr("Start"),
+                                               callback=lambda: self._confirm_tool("calibrate_pedal"))
+    self.tool_calibrate_radar = button_item_sp(lambda: tr("Calibrate Radar"), lambda: tr("Start"),
+                                               callback=lambda: self._confirm_tool("calibrate_radar"))
+    self.tool_diagnose_radar = button_item_sp(lambda: tr("Diagnose Radar"), lambda: tr("Start"),
+                                              callback=lambda: self._confirm_tool("diagnose_radar"))
+    self.tool_test_radar = button_item_sp(lambda: tr("Test Radar"), lambda: tr("Start"),
+                                          callback=lambda: self._confirm_tool("test_radar"))
+    self.tool_extract_epas = button_item_sp(lambda: tr("Backup EPAS"), lambda: tr("Start"),
+                                            callback=lambda: self._confirm_tool("extract_epas"))
+    self.tool_flash_epas = button_item_sp(lambda: tr("Flash EPAS"), lambda: tr("Start"),
+                                          callback=lambda: self._confirm_tool("flash_epas"))
+    self.tool_restore_epas = button_item_sp(lambda: tr("Restore EPAS"), lambda: tr("Start"),
+                                            callback=lambda: self._confirm_tool("restore_epas"))
+
+    self._preap_items = [
+      self.engagement_mode,
+      self.follow_distance,
+      self.pedal_enabled,
+      self.pedal_bus,
+      self.radar_enabled,
+      self.radar_nosecone,
+      self.radar_offset,
+      self.status_mode,
+      self.status_path,
+      self.status_pedal,
+      self.status_radar,
+      self.tool_calibrate_pedal,
+      self.tool_calibrate_radar,
+      self.tool_diagnose_radar,
+      self.tool_test_radar,
+      self.tool_extract_epas,
+      self.tool_flash_epas,
+      self.tool_restore_epas,
+    ]
+    self.items = [self.coop_steering_toggle, self.mads_screen_button, *self._preap_items]
+    self._tool_instructions = {
+      "calibrate_pedal": preap_instructions.CALIBRATE_PEDAL_INSTRUCTIONS,
+      "calibrate_radar": preap_instructions.CALIBRATE_RADAR_INSTRUCTIONS,
+      "diagnose_radar": preap_instructions.DIAGNOSE_RADAR_INSTRUCTIONS,
+      "test_radar": preap_instructions.TEST_RADAR_INSTRUCTIONS,
+      "extract_epas": preap_instructions.BACKUP_EPAS_INSTRUCTIONS,
+      "flash_epas": preap_instructions.FLASH_EPAS_INSTRUCTIONS,
+      "restore_epas": preap_instructions.RESTORE_EPAS_INSTRUCTIONS,
+    }
+
+  @staticmethod
+  def _on_follow_selected(index):
+    ui_state.params.put("NAPFollowDistance", index + FOLLOW_DISTANCE_MIN)
+
+  @staticmethod
+  def _on_pedal_bus_selected(index):
+    ui_state.params.put("NAPPedalCanBus", 0 if index == 0 else 2)
+
+  def _get_radar_offset(self) -> float:
+    raw = ui_state.params.get("NAPRadarOffset")
+    try:
+      return float(raw)
+    except (TypeError, ValueError):
+      return 0.0
+
+  def _get_radar_offset_text(self) -> str:
+    return f"{self._get_radar_offset():+.2f} m"
+
+  def _on_radar_offset_click(self):
+    if not ui_state.is_offroad():
+      gui_app.push_widget(alert_dialog(tr("Hardware settings are only available offroad.")))
+      return
+    self._radar_offset_keyboard.reset(min_text_size=1)
+    self._radar_offset_keyboard.set_title(tr("Radar Lateral Offset (m)"))
+    self._radar_offset_keyboard.set_text(f"{self._get_radar_offset():.2f}")
+    self._radar_offset_keyboard.set_callback(self._on_radar_offset_submit)
+    gui_app.push_widget(self._radar_offset_keyboard)
+
+  def _on_radar_offset_submit(self, result: DialogResult):
+    if result != DialogResult.CONFIRM:
+      return
+    try:
+      text = (self._radar_offset_keyboard.text or "").strip()
+      value = float(text)
+    except (TypeError, ValueError, AttributeError):
+      return
+    value = max(RADAR_OFFSET_MIN, min(RADAR_OFFSET_MAX, value))
+    try:
+      ui_state.params.put("NAPRadarOffset", value)
+    except Exception:
+      pass
+
+  def _confirm_tool(self, tool: str):
+    if not ui_state.is_offroad():
+      gui_app.push_widget(alert_dialog(tr("Tools are only available offroad.")))
+      return
+
+    def callback(result: DialogResult):
+      if result != DialogResult.CONFIRM:
+        return
+      try:
+        start_tool(tool, confirmed=True)
+      except (ToolSafetyError, ValueError) as exc:
+        gui_app.push_widget(alert_dialog(str(exc)))
+
+    text = tr(self._tool_instructions[tool]).replace("\n", "<br>")
+    gui_app.push_widget(ConfirmDialog(text, tr("Start"), rich=True, callback=callback))
+
+  def _update_preap_status(self, is_preap: bool):
+    flags = int(getattr(ui_state.CP_SP, "flags", 0) or 0) if ui_state.CP_SP is not None else 0
+    pedal_present = bool(flags & TeslaFlagsSP.PREAP_PEDAL_PRESENT)
+    pedal_calib = bool(flags & TeslaFlagsSP.PREAP_PEDAL_CALIB_AVAILABLE)
+    radar_present = bool(flags & TeslaFlagsSP.PREAP_RADAR_PRESENT)
+
+    if ui_state.CP_SP is not None:
+      try:
+        mode = int(ui_state.CP_SP.preapLateralEngagementMode)
+      except Exception:
+        mode = int(ui_state.params.get("NAPLateralEngagementMode") or 0)
+    else:
+      mode = int(ui_state.params.get("NAPLateralEngagementMode") or 0)
+    self.status_mode.action_item.set_value(_mode_label(mode))
+
+    if pedal_present and ui_state.CP is not None and bool(ui_state.CP.openpilotLongitudinalControl) and not bool(ui_state.CP.pcmCruise):
+      path = "pedal"
+    else:
+      path = "stock_di"
+    self.status_path.action_item.set_value(_path_label(path))
+
+    if not pedal_present:
+      pedal_health = "none"
+    elif not pedal_calib:
+      pedal_health = "uncalibrated"
+    else:
+      pedal_health = "ok"
+    self.status_pedal.action_item.set_value(_health_label(pedal_health))
+
+    if not radar_present:
+      radar_health = "none"
+    elif ui_state.CP is not None and bool(ui_state.CP.radarUnavailable):
+      radar_health = "unconfigured"
+    else:
+      radar_health = "ok"
+    self.status_radar.action_item.set_value(_health_label(radar_health))
+
+    follow = int(ui_state.params.get("NAPFollowDistance") or 4)
+    follow = max(FOLLOW_DISTANCE_MIN, min(FOLLOW_DISTANCE_MAX, follow))
+    self.follow_distance.action_item.set_selected_button(follow - FOLLOW_DISTANCE_MIN)
+
+    self.pedal_bus.action_item.set_selected_button(
+      pedal_bus_selector_index(ui_state.params.get("NAPPedalCanBus")))
+
+    self.pedal_bus.set_visible(is_preap and pedal_present)
+    self.radar_nosecone.set_visible(is_preap and radar_present)
+    self.radar_offset.set_visible(is_preap and radar_present)
+    self.tool_calibrate_pedal.set_visible(is_preap and pedal_present)
+    self.tool_calibrate_radar.set_visible(is_preap and radar_present)
 
   def update_settings(self):
     is_metric = ui_state.is_metric
     unit = "km/h" if is_metric else "mph"
+    offroad = ui_state.is_offroad()
+    is_preap = is_tesla_preap_ui()
 
     display_value_coop = COOP_STEERING_MIN_KMH if is_metric else round(COOP_STEERING_MIN_KMH * KM_TO_MILE)
     display_value_oem = OEM_STEERING_MIN_KMH if is_metric else round(OEM_STEERING_MIN_KMH * KM_TO_MILE)
@@ -43,15 +299,15 @@ def update_settings(self):
       f"{tr('Allows the driver to provide limited steering input while openpilot is engaged.')}<br>" +
       f"{tr(f'Only works above {display_value_coop} {unit}.')}"
     )
-
-    if not ui_state.is_offroad():
+    if not offroad:
       coop_steering_desc = f"<b>{coop_steering_disabled_msg}</b><br><br>{coop_steering_desc}"
 
     self.coop_steering_toggle.set_description(coop_steering_desc)
-    self.coop_steering_toggle.action_item.set_enabled(ui_state.is_offroad())
+    self.coop_steering_toggle.action_item.set_enabled(offroad)
+    self.coop_steering_toggle.set_visible(not is_preap)
 
     has_vehicle_bus = ui_state.CP_SP is not None and bool(ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
-    self.mads_screen_button.set_visible(has_vehicle_bus)
+    self.mads_screen_button.set_visible((not is_preap) and has_vehicle_bus)
 
     mads_screen_button_desc = (
       f"{tr('Use a multi-finger press on the infotainment screen to toggle MADS.')} " +
@@ -59,8 +315,24 @@ def update_settings(self):
       f"{tr('Selecting a higher finger count may reduce accidental activations.')}<br><br>" +
       f"<b>{tr('Note: Setting this to Off will reset your MADS settings to default.')}</b>"
     )
-    if not ui_state.is_offroad():
+    if not offroad:
       mads_screen_button_disabled_msg = tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to change.")
       mads_screen_button_desc = f"<b>{mads_screen_button_disabled_msg}</b><br><br>{mads_screen_button_desc}"
     self.mads_screen_button.set_description(mads_screen_button_desc)
-    self.mads_screen_button.action_item.set_enabled(ui_state.is_offroad())
+    self.mads_screen_button.action_item.set_enabled(offroad)
+
+    for item in self._preap_items:
+      item.set_visible(is_preap)
+
+    if is_preap:
+      self._update_preap_status(is_preap)
+      self.pedal_enabled.action_item.set_enabled(offroad)
+      self.pedal_bus.action_item.set_enabled(offroad)
+      self.radar_enabled.action_item.set_enabled(offroad)
+      self.radar_nosecone.action_item.set_enabled(offroad)
+      self.radar_offset.action_item.set_enabled(offroad)
+      for tool in (
+        self.tool_calibrate_pedal, self.tool_calibrate_radar, self.tool_diagnose_radar,
+        self.tool_test_radar, self.tool_extract_epas, self.tool_flash_epas, self.tool_restore_epas,
+      ):
+        tool.action_item.set_enabled(offroad)
diff --git a/openpilot/selfdrive/ui/translations/app.pot b/openpilot/selfdrive/ui/translations/app.pot
index 37a80ff223f2d3..1494f9bb544d7b 100644
--- a/openpilot/selfdrive/ui/translations/app.pot
+++ b/openpilot/selfdrive/ui/translations/app.pot
@@ -2,211 +2,195 @@ msgid ""
 msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
-msgid "Search"
-msgstr ""
-
-#: system/ui/sunnypilot/widgets/tree_dialog.py
-msgid "Enter search query"
-msgstr ""
-
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Pair your GitHub account"
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Early Access: Become a sunnypilot Sponsor"
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to login to your GitHub account"
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
 msgstr ""
 
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/keyboard.py
-#: system/ui/widgets/network.py
-#: system/ui/widgets/option_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Search"
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Enter search query"
+msgstr ""
+
+#: openpilot/system/ui/widgets/list_view.py
+msgid "Error"
+msgstr ""
+
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/keyboard.py
+#: openpilot/system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/html_render.py
+msgid "OK"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "EDIT"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter password"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "default"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "metered"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "unmetered"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "IP Address"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr ""
 
-#: system/ui/widgets/list_view.py
-msgid "Error"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/html_render.py
-msgid "OK"
-msgstr ""
-
-#: system/ui/widgets/option_dialog.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py
-msgid "LOADING"
-msgstr ""
-
-#: openpilot/selfdrive/ui/widgets/ssh_key.py
-msgid "ADD"
-msgstr ""
-
-#: openpilot/selfdrive/ui/widgets/ssh_key.py
-msgid "REMOVE"
-msgstr ""
-
-#: openpilot/selfdrive/ui/widgets/ssh_key.py
-msgid "Request timed out"
-msgstr ""
-
-#: openpilot/selfdrive/ui/widgets/ssh_key.py
-msgid "Enter your GitHub username"
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "EXPERIMENTAL MODE ON"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/ssh_key.py
-msgid "No SSH keys found for user '{}'"
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "CHILL MODE ON"
 msgstr ""
 
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
@@ -258,12 +242,48 @@ msgstr ""
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
-msgid "EXPERIMENTAL MODE ON"
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "LOADING"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
-msgid "CHILL MODE ON"
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "ADD"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "REMOVE"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Request timed out"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Enter your GitHub username"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "No SSH keys found for user '{}'"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Pair your device to your comma account"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "QR Code Error"
 msgstr ""
 
 #: openpilot/selfdrive/ui/widgets/prime.py
@@ -302,36 +322,6 @@ msgstr ""
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
-msgid "Pair your device to your comma account"
-msgstr ""
-
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
-msgid "Go to https://connect.comma.ai on your phone"
-msgstr ""
-
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
-msgid "Click \"add new device\" and scan the QR code on the right"
-msgstr ""
-
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
-msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr ""
-
-#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
-msgid "QR Code Error"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/home.py
-msgid "UPDATE"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/home.py
-msgid "{} ALERT"
-msgid_plural "{} ALERTS"
-msgstr[0] ""
-msgstr[1] ""
-
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr ""
@@ -385,15 +375,15 @@ msgid "Unknown"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/sidebar.py
-msgid "NO"
+msgid "HIGH"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/sidebar.py
-msgid "PANDA"
+msgid "NO"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/sidebar.py
-msgid "HIGH"
+msgid "PANDA"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/sidebar.py
@@ -424,176 +414,124 @@ msgstr ""
 msgid "Decline, uninstall sunnypilot"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py
-msgid "Device"
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "UPDATE"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py
-msgid "Network"
-msgstr ""
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] ""
+msgstr[1] ""
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py
-msgid "Toggles"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py
-msgid "Software"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py
-msgid "Firehose"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/settings.py
-msgid "Developer"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "never"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "now"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "CHECK"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "Review the rules, features, and limitations of sunnypilot"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Are you sure you want to uninstall?"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "Select a language"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Uninstall"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "Are you sure you want to reset calibration?"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Select a branch"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "Reset"
-msgstr ""
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] ""
+msgstr[1] ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "<br><br>Steering lag calibration is complete."
-msgstr ""
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] ""
+msgstr[1] ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "Are you sure you want to reboot?"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] ""
+msgstr[1] ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Updates are only downloaded while the car is off."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "Reboot"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Current Version"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "Are you sure you want to power off?"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Download"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "Power Off"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Install Update"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "Pair Device"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "INSTALL"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "PAIR"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Target Branch"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "Reset Calibration"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "SELECT"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "RESET"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "failed to check for update"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "Dongle ID"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "UNINSTALL"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "Serial"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "update available"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "Driver Camera"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "DOWNLOAD"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "PREVIEW"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked never"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "Review Training Guide"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked {}"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "REVIEW"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "Regulatory"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "VIEW"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "Change Language"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "CHANGE"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "Disengage to Reset Calibration"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "Disengage to Reboot"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "Disengage to Power Off"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "N/A"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid " Steering torque response calibration is complete."
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "down"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "up"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "left"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid "right"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/device.py
-msgid " Steering torque response calibration is {}% complete."
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "Firehose Mode"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
@@ -633,16 +571,6 @@ msgstr ""
 msgid "Enable"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py
-msgid "Firehose Mode"
-msgstr ""
-
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] ""
-msgstr[1] ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
 msgstr ""
@@ -727,110 +655,176 @@ msgstr ""
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "checking..."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "downloading..."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "finalizing update..."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review the rules, features, and limitations of sunnypilot"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "never"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Select a language"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "now"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reset calibration?"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "CHECK"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "Are you sure you want to uninstall?"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is complete."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "Uninstall"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reboot?"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "Select a branch"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reboot"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "{} minute ago"
-msgid_plural "{} minutes ago"
-msgstr[0] ""
-msgstr[1] ""
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to power off?"
+msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "{} hour ago"
-msgid_plural "{} hours ago"
-msgstr[0] ""
-msgstr[1] ""
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Power Off"
+msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "{} day ago"
-msgid_plural "{} days ago"
-msgstr[0] ""
-msgstr[1] ""
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Pair Device"
+msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "Updates are only downloaded while the car is off."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PAIR"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "Current Version"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset Calibration"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "Download"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "RESET"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "Install Update"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Dongle ID"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "INSTALL"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Serial"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "Target Branch"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Driver Camera"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "SELECT"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PREVIEW"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "failed to check for update"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review Training Guide"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "UNINSTALL"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "REVIEW"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "update available"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Regulatory"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "DOWNLOAD"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "VIEW"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "up to date, last checked never"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Change Language"
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/software.py
-msgid "up to date, last checked {}"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "CHANGE"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reset Calibration"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reboot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Power Off"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "N/A"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is complete."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "down"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "up"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "left"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "right"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is {}% complete."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Device"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Network"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Toggles"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Software"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Firehose"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Developer"
 msgstr ""
 
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
@@ -869,3 +863,310 @@ msgstr ""
 msgid "camera starting"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Independent"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cruise Coupled"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Only"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Stock DI"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cooperative Steering (Beta)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Interceptor"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Comma Pedal hardware. Local and offroad only."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bosch Radar"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable stock Bosch radar. Local and offroad only."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Behind Nosecone"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset (m)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to change."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "None"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Uncalibrated"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Unconfigured"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Active Engagement Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Path"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Start"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Radar"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Diagnose Radar"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Test Radar"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Backup EPAS"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Flash EPAS"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Restore EPAS"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "MADS Screen Activation"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral Engagement Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow Distance"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal CAN Bus"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hardware settings are only available offroad."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Tools are only available offroad."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Note: Setting this to Off will reset your MADS settings to default."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "3-Finger"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "4-Finger"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "5-Finger"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 0"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 2"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Allows the driver to provide limited steering input while openpilot is engaged."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selecting a higher finger count may reduce accidental activations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Use a multi-finger press on the infotainment screen to toggle MADS."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "This allows the use of full MADS functionality when enabled."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Pedal Calibration\n"
+"\n"
+"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Car must be ON, Neutral, brake held\n"
+"  3. Do NOT press the accelerator\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Calibration\n"
+"\n"
+"Displays filtered Bosch radar points to help align the sensor.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Vehicle parked with a target 3-10m ahead\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Test\n"
+"\n"
+"Displays live Bosch radar tracks for installation checks.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Diagnosis\n"
+"\n"
+"Reads Bosch radar health without changing panda safety mode.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Flash\n"
+"\n"
+"WARNING: This modifies steering-system firmware.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"Power loss during the flash can brick EPAS.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Backup\n"
+"\n"
+"Extracts stock EPAS firmware. No flashing is performed.\n"
+"\n"
+"POWER THE CAR ON before starting.\n"
+"\n"
+"Press START to extract the backup."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Restore\n"
+"\n"
+"WARNING: This reflashes steering-system firmware from the stock image.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Pedal Unavailable"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Stock cruise required"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Regen Limit Reached"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Press Brake to Slow Down"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Radar Error: Restart the Car"
+msgstr ""
+
diff --git a/openpilot/selfdrive/ui/translations/app_de.po b/openpilot/selfdrive/ui/translations/app_de.po
index b4af3fcc1ddee2..8c89579ef89145 100644
--- a/openpilot/selfdrive/ui/translations/app_de.po
+++ b/openpilot/selfdrive/ui/translations/app_de.po
@@ -32,10 +32,22 @@ msgstr "24/7 LTE‑Verbindung"
 msgid "2G"
 msgstr "2G"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "3-Finger"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "4-Finger"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "5-Finger"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
@@ -52,7 +64,7 @@ msgstr "<br><br>Kalibrierung der Lenkverzögerung zu {}% abgeschlossen."
 msgid "ADD"
 msgstr "HINZUFÃœGEN"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "APN‑Einstellung"
 
@@ -60,7 +72,11 @@ msgstr "APN‑Einstellung"
 msgid "Acknowledge Excessive Actuation"
 msgstr "Übermäßige Betätigung bestätigen"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Active Engagement Mode"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "Erweitert"
 
@@ -72,6 +88,10 @@ msgstr "Aggressiv"
 msgid "Agree"
 msgstr "Zustimmen"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Allows the driver to provide limited steering input while openpilot is engaged."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "Immer aktive Fahrerüberwachung"
@@ -92,11 +112,19 @@ msgstr "Sind Sie sicher, dass Sie die Kalibrierung zurücksetzen möchten?"
 msgid "Are you sure you want to uninstall?"
 msgstr "Sind Sie sicher, dass Sie deinstallieren möchten?"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/onboarding.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "Zurück"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Backup EPAS"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Werden Sie comma prime Mitglied auf connect.comma.ai"
@@ -105,6 +133,22 @@ msgstr "Werden Sie comma prime Mitglied auf connect.comma.ai"
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "Fügen Sie connect.comma.ai Ihrem Startbildschirm hinzu, um es wie eine App zu verwenden"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bosch Radar"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 0"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 2"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "ÄNDERN"
@@ -118,22 +162,30 @@ msgid "CHILL MODE ON"
 msgstr "CHILL‑MODUS AKTIV"
 
 #: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "VERBINDUNG"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "VERBINDUNG"
 
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/keyboard.py
-#: system/ui/widgets/network.py
-#: system/ui/widgets/option_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Radar"
+msgstr ""
+
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/keyboard.py
+#: openpilot/system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "Abbrechen"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "Getaktete Mobilfunkverbindung"
 
@@ -145,7 +197,7 @@ msgstr "Sprache ändern"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
 
@@ -157,6 +209,14 @@ msgstr "Klicken Sie auf \"add new device\" und scannen Sie den QR‑Code rechts"
 msgid "Close"
 msgstr "Schließen"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cooperative Steering (Beta)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cruise Coupled"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Aktuelle Version"
@@ -181,6 +241,10 @@ msgstr "Entwickler"
 msgid "Device"
 msgstr "Gerät"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Diagnose Radar"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Beim Gaspedal deaktivieren"
@@ -217,10 +281,44 @@ msgstr "Fahrerkamera"
 msgid "Driving Personality"
 msgstr "Fahrstil"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "BEARBEITEN"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Backup\n"
+"\n"
+"Extracts stock EPAS firmware. No flashing is performed.\n"
+"\n"
+"POWER THE CAR ON before starting.\n"
+"\n"
+"Press START to extract the backup."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Flash\n"
+"\n"
+"WARNING: This modifies steering-system firmware.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"Power loss during the flash can brick EPAS.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Restore\n"
+"\n"
+"WARNING: This reflashes steering-system firmware from the stock image.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "FEHLER"
@@ -233,7 +331,7 @@ msgstr "ETH"
 msgid "EXPERIMENTAL MODE ON"
 msgstr "EXPERIMENTALMODUS AKTIV"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Early Access: Become a sunnypilot Sponsor"
 msgstr ""
 
@@ -242,15 +340,27 @@ msgstr ""
 msgid "Enable"
 msgstr "Aktivieren"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to change."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "ADB aktivieren"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Comma Pedal hardware. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Spurverlassenswarnungen aktivieren"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "Roaming aktivieren"
 
@@ -258,7 +368,7 @@ msgstr "Roaming aktivieren"
 msgid "Enable SSH"
 msgstr "SSH aktivieren"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "Tethering aktivieren"
 
@@ -266,6 +376,10 @@ msgstr "Tethering aktivieren"
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable stock Bosch radar. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable sunnypilot"
 msgstr ""
@@ -274,23 +388,23 @@ msgstr ""
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "APN eingeben"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "SSID eingeben"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "Neues Tethering‑Passwort eingeben"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "Passwort eingeben"
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Enter search query"
 msgstr ""
 
@@ -298,7 +412,7 @@ msgstr ""
 msgid "Enter your GitHub username"
 msgstr "Geben Sie Ihren GitHub‑Benutzernamen ein"
 
-#: system/ui/widgets/list_view.py
+#: openpilot/system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "Fehler"
 
@@ -310,7 +424,7 @@ msgstr "Experimentalmodus"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "Der Experimentalmodus ist derzeit auf diesem Fahrzeug nicht verfügbar, da der serienmäßige ACC für die Längsregelung verwendet wird."
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "WIRD VERGESSEN..."
 
@@ -326,15 +440,27 @@ msgstr "Datenstrom"
 msgid "Firehose Mode"
 msgstr "Firehose‑Modus"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Flash EPAS"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow Distance"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget"
 msgstr "Vergessen"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "WLAN‑Netz „{}“ vergessen?"
 
@@ -350,7 +476,11 @@ msgstr "Gehen Sie auf Ihrem Telefon zu https://connect.comma.ai"
 msgid "HIGH"
 msgstr "HOCH"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hardware settings are only available offroad."
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "Verstecktes Netzwerk"
 
@@ -358,19 +488,23 @@ msgstr "Verstecktes Netzwerk"
 msgid "INSTALL"
 msgstr "INSTALLIEREN"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "IP‑Adresse"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Independent"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Update installieren"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
 msgstr ""
 
@@ -386,14 +520,34 @@ msgstr "LADEN"
 msgid "LTE"
 msgstr "LTE"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral Engagement Mode"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Längsmanövermodus"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Only"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Path"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "MADS Screen Activation"
+msgstr ""
+
 #: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "MAX."
@@ -422,13 +576,21 @@ msgstr "Keine SSH‑Schlüssel für Benutzer '{}' gefunden"
 msgid "No release notes available."
 msgstr "Keine Versionshinweise verfügbar."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "None"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Note: Setting this to Off will reset your MADS settings to default."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "GETRENNT"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/html_render.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
@@ -436,6 +598,10 @@ msgstr "OK"
 msgid "ONLINE"
 msgstr "VERBUNDEN"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Öffnen"
@@ -464,7 +630,7 @@ msgstr "Gerät koppeln"
 msgid "Pair device"
 msgstr "Gerät koppeln"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Pair your GitHub account"
 msgstr ""
 
@@ -477,6 +643,40 @@ msgstr "Koppeln Sie Ihr Gerät mit Ihrem comma‑Konto"
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "Koppeln Sie Ihr Gerät mit comma connect (connect.comma.ai) und lösen Sie Ihr comma‑prime‑Angebot ein."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal CAN Bus"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Pedal Calibration\n"
+"\n"
+"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Car must be ON, Neutral, brake held\n"
+"  3. Do NOT press the accelerator\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Interceptor"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Pedal Unavailable"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Bitte mit WLAN verbinden, um das erste Koppeln abzuschließen"
@@ -485,11 +685,19 @@ msgstr "Bitte mit WLAN verbinden, um das erste Koppeln abzuschließen"
 msgid "Power Off"
 msgstr "Ausschalten"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Press Brake to Slow Down"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "Verhindern Sie das Hochladen großer Datenmengen bei einer getakteten WLAN-Verbindung"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "Verhindern Sie das Hochladen großer Datenmengen bei einer getakteten Mobilfunkverbindung"
 
@@ -513,7 +721,58 @@ msgstr "ZURÃœCKSETZEN"
 msgid "REVIEW"
 msgstr "ANSEHEN"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Behind Nosecone"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Calibration\n"
+"\n"
+"Displays filtered Bosch radar points to help align the sensor.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Vehicle parked with a target 3-10m ahead\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Diagnosis\n"
+"\n"
+"Reads Bosch radar health without changing panda safety mode.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Radar Error: Restart the Car"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset (m)"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Test\n"
+"\n"
+"Displays live Bosch radar tracks for installation checks.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
 msgstr ""
 
@@ -541,6 +800,10 @@ msgstr "Mikrofonton aufzeichnen und hochladen"
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "Mikrofonton während der Fahrt aufzeichnen und speichern. Die Audiospur wird im Dashcam‑Video in comma connect enthalten sein."
 
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Regen Limit Reached"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Vorschriften"
@@ -569,6 +832,10 @@ msgstr "Zurücksetzen"
 msgid "Reset Calibration"
 msgstr "Kalibrierung zurücksetzen"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Restore EPAS"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Trainingsanleitung ansehen"
@@ -585,23 +852,23 @@ msgstr "WÄHLEN"
 msgid "SSH Keys"
 msgstr "SSH‑Schlüssel"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to login to your GitHub account"
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "WLAN‑Netzwerke werden gesucht..."
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Search"
 msgstr ""
 
-#: system/ui/widgets/option_dialog.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "Auswählen"
 
@@ -613,6 +880,10 @@ msgstr "Zweig auswählen"
 msgid "Select a language"
 msgstr "Sprache auswählen"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selecting a higher finger count may reduce accidental activations."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "Seriennummer"
@@ -629,6 +900,18 @@ msgstr "Softwarebereich"
 msgid "Standard"
 msgstr "Standardmodus"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Start"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Stock DI"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Stock cruise required"
+msgstr ""
+
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "System reagiert nicht"
@@ -645,14 +928,26 @@ msgstr "TEMP."
 msgid "Target Branch"
 msgstr "Zielzweig"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Test Radar"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "Tethering‑Passwort"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "This allows the use of full MADS functionality when enabled."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Schalter"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Tools are only available offroad."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "UI-Debug-Modus"
@@ -665,6 +960,14 @@ msgstr "DEINSTALLIEREN"
 msgid "UPDATE"
 msgstr "AKTUALISIEREN"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Uncalibrated"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Unconfigured"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Deinstallieren"
@@ -689,6 +992,10 @@ msgstr "Daten von der Fahrer‑Kamera hochladen und den Fahrerüberwachungs‑Al
 msgid "Use Metric System"
 msgstr "Metersystem verwenden"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Use a multi-finger press on the infotainment screen to toggle MADS."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "FAHRZEUG"
@@ -713,11 +1020,11 @@ msgstr ""
 msgid "Wi-Fi"
 msgstr "WLAN"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Getaktetes WLAN‑Netzwerk"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "Falsches Passwort"
 
@@ -741,7 +1048,7 @@ msgstr "Überprüfung..."
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "default"
 msgstr "Standard"
 
@@ -761,7 +1068,7 @@ msgstr "Überprüfung auf Updates fehlgeschlagen"
 msgid "finalizing update..."
 msgstr "Update wird finalisiert..."
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "für „{}“"
 
@@ -769,7 +1076,7 @@ msgstr "für „{}“"
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "für automatische Konfiguration leer lassen"
 
@@ -777,7 +1084,7 @@ msgstr "für automatische Konfiguration leer lassen"
 msgid "left"
 msgstr "links"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "metered"
 msgstr "getaktet"
 
@@ -813,7 +1120,7 @@ msgstr ""
 msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "unbegrenzt"
 
@@ -857,12 +1164,6 @@ msgid_plural "{} minutes ago"
 msgstr[0] "vor {} Minute"
 msgstr[1] "vor {} Minuten"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "{} Segment Ihrer Fahrten ist bisher im Trainingsdatensatz."
-msgstr[1] "{} Segmente Ihrer Fahrten sind bisher im Trainingsdatensatz."
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ ABONNIERT"
diff --git a/openpilot/selfdrive/ui/translations/app_en.po b/openpilot/selfdrive/ui/translations/app_en.po
index ad2ed1241f155e..022de1c7c74b5a 100644
--- a/openpilot/selfdrive/ui/translations/app_en.po
+++ b/openpilot/selfdrive/ui/translations/app_en.po
@@ -32,10 +32,22 @@ msgstr "24/7 LTE connectivity"
 msgid "2G"
 msgstr "2G"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "3-Finger"
+msgstr "3-Finger"
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "4-Finger"
+msgstr "4-Finger"
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "5-Finger"
+msgstr "5-Finger"
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
@@ -52,7 +64,7 @@ msgstr "<br><br>Steering lag calibration is {}% complete."
 msgid "ADD"
 msgstr "ADD"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "APN Setting"
 
@@ -60,7 +72,11 @@ msgstr "APN Setting"
 msgid "Acknowledge Excessive Actuation"
 msgstr "Acknowledge Excessive Actuation"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Active Engagement Mode"
+msgstr "Active Engagement Mode"
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "Advanced"
 
@@ -72,6 +88,10 @@ msgstr "Aggressive"
 msgid "Agree"
 msgstr "Agree"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Allows the driver to provide limited steering input while openpilot is engaged."
+msgstr "Allows the driver to provide limited steering input while openpilot is engaged."
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "Always-On Driver Monitoring"
@@ -92,11 +112,19 @@ msgstr "Are you sure you want to reset calibration?"
 msgid "Are you sure you want to uninstall?"
 msgstr "Are you sure you want to uninstall?"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgstr "Attenuate radar mounted behind the nosecone. Local and offroad only."
+
 #: openpilot/selfdrive/ui/layouts/onboarding.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "Back"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Backup EPAS"
+msgstr "Backup EPAS"
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Become a comma prime member at connect.comma.ai"
@@ -105,6 +133,22 @@ msgstr "Become a comma prime member at connect.comma.ai"
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "Bookmark connect.comma.ai to your home screen to use it like an app"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bosch Radar"
+msgstr "Bosch Radar"
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 0"
+msgstr "Bus 0"
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 2"
+msgstr "Bus 2"
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgstr "CAN bus for the Comma Pedal. Local and offroad only."
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "CHANGE"
@@ -118,22 +162,30 @@ msgid "CHILL MODE ON"
 msgstr "CHILL MODE ON"
 
 #: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "CONNECT"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "CONNECTING..."
 
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/keyboard.py
-#: system/ui/widgets/network.py
-#: system/ui/widgets/option_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Pedal"
+msgstr "Calibrate Pedal"
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Radar"
+msgstr "Calibrate Radar"
+
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/keyboard.py
+#: openpilot/system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "Cancel"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "Cellular Metered"
 
@@ -145,7 +197,7 @@ msgstr "Change Language"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
 
@@ -157,6 +209,14 @@ msgstr "Click \"add new device\" and scan the QR code on the right"
 msgid "Close"
 msgstr "Close"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cooperative Steering (Beta)"
+msgstr "Cooperative Steering (Beta)"
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cruise Coupled"
+msgstr "Cruise Coupled"
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Current Version"
@@ -181,6 +241,10 @@ msgstr "Developer"
 msgid "Device"
 msgstr "Device"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Diagnose Radar"
+msgstr "Diagnose Radar"
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Disengage on Accelerator Pedal"
@@ -217,10 +281,66 @@ msgstr "Driver Camera"
 msgid "Driving Personality"
 msgstr "Driving Personality"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "EDIT"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Backup\n"
+"\n"
+"Extracts stock EPAS firmware. No flashing is performed.\n"
+"\n"
+"POWER THE CAR ON before starting.\n"
+"\n"
+"Press START to extract the backup."
+msgstr ""
+"EPAS Firmware Backup\n"
+"\n"
+"Extracts stock EPAS firmware. No flashing is performed.\n"
+"\n"
+"POWER THE CAR ON before starting.\n"
+"\n"
+"Press START to extract the backup."
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Flash\n"
+"\n"
+"WARNING: This modifies steering-system firmware.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"Power loss during the flash can brick EPAS.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+"EPAS Firmware Flash\n"
+"\n"
+"WARNING: This modifies steering-system firmware.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"Power loss during the flash can brick EPAS.\n"
+"\n"
+"Press START only if you accept these risks."
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Restore\n"
+"\n"
+"WARNING: This reflashes steering-system firmware from the stock image.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+"EPAS Firmware Restore\n"
+"\n"
+"WARNING: This reflashes steering-system firmware from the stock image.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"\n"
+"Press START only if you accept these risks."
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "ERROR"
@@ -233,7 +353,7 @@ msgstr "ETH"
 msgid "EXPERIMENTAL MODE ON"
 msgstr "EXPERIMENTAL MODE ON"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Early Access: Become a sunnypilot Sponsor"
 msgstr ""
 
@@ -242,15 +362,27 @@ msgstr ""
 msgid "Enable"
 msgstr "Enable"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to change."
+msgstr "Enable \"Always Offroad\" in Device panel, or turn vehicle off to change."
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle."
+msgstr "Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle."
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "Enable ADB"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Comma Pedal hardware. Local and offroad only."
+msgstr "Enable Comma Pedal hardware. Local and offroad only."
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Enable Lane Departure Warnings"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "Enable Roaming"
 
@@ -258,7 +390,7 @@ msgstr "Enable Roaming"
 msgid "Enable SSH"
 msgstr "Enable SSH"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "Enable Tethering"
 
@@ -266,6 +398,10 @@ msgstr "Enable Tethering"
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable stock Bosch radar. Local and offroad only."
+msgstr "Enable stock Bosch radar. Local and offroad only."
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable sunnypilot"
 msgstr ""
@@ -274,23 +410,23 @@ msgstr ""
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "Enter APN"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "Enter SSID"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "Enter new tethering password"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "Enter password"
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Enter search query"
 msgstr ""
 
@@ -298,7 +434,7 @@ msgstr ""
 msgid "Enter your GitHub username"
 msgstr "Enter your GitHub username"
 
-#: system/ui/widgets/list_view.py
+#: openpilot/system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "Error"
 
@@ -310,7 +446,7 @@ msgstr "Experimental Mode"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "FORGETTING..."
 
@@ -326,15 +462,27 @@ msgstr "Firehose"
 msgid "Firehose Mode"
 msgstr "Firehose Mode"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Flash EPAS"
+msgstr "Flash EPAS"
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow Distance"
+msgstr "Follow Distance"
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
+msgstr "Follow distance (1=closest, 7=farthest). Writes apply live."
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget"
 msgstr "Forget"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "Forget Wi-Fi Network \"{}\"?"
 
@@ -350,7 +498,11 @@ msgstr "Go to https://connect.comma.ai on your phone"
 msgid "HIGH"
 msgstr "HIGH"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hardware settings are only available offroad."
+msgstr "Hardware settings are only available offroad."
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "Hidden Network"
 
@@ -358,19 +510,23 @@ msgstr "Hidden Network"
 msgid "INSTALL"
 msgstr "INSTALL"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "IP Address"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Independent"
+msgstr "Independent"
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Install Update"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
 msgstr ""
 
@@ -386,14 +542,34 @@ msgstr "LOADING"
 msgid "LTE"
 msgstr "LTE"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral Engagement Mode"
+msgstr "Lateral Engagement Mode"
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgstr "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Longitudinal Maneuver Mode"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Only"
+msgstr "Longitudinal Only"
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Path"
+msgstr "Longitudinal Path"
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "MADS Screen Activation"
+msgstr "MADS Screen Activation"
+
 #: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "MAX"
@@ -422,13 +598,21 @@ msgstr "No SSH keys found for user '{}'"
 msgid "No release notes available."
 msgstr "No release notes available."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "None"
+msgstr "None"
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Note: Setting this to Off will reset your MADS settings to default."
+msgstr "Note: Setting this to Off will reset your MADS settings to default."
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "OFFLINE"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/html_render.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
@@ -436,6 +620,10 @@ msgstr "OK"
 msgid "ONLINE"
 msgstr "ONLINE"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off"
+msgstr "Off"
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Open"
@@ -464,7 +652,7 @@ msgstr "Pair Device"
 msgid "Pair device"
 msgstr "Pair device"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Pair your GitHub account"
 msgstr ""
 
@@ -477,6 +665,50 @@ msgstr "Pair your device to your comma account"
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal"
+msgstr "Pedal"
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal CAN Bus"
+msgstr "Pedal CAN Bus"
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Pedal Calibration\n"
+"\n"
+"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Car must be ON, Neutral, brake held\n"
+"  3. Do NOT press the accelerator\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+"Pedal Calibration\n"
+"\n"
+"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Car must be ON, Neutral, brake held\n"
+"  3. Do NOT press the accelerator\n"
+"\n"
+"Press START to confirm and begin."
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Health"
+msgstr "Pedal Health"
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Interceptor"
+msgstr "Pedal Interceptor"
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Pedal Unavailable"
+msgstr "Pedal Unavailable"
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Please connect to Wi-Fi to complete initial pairing"
@@ -485,11 +717,19 @@ msgstr "Please connect to Wi-Fi to complete initial pairing"
 msgid "Power Off"
 msgstr "Power Off"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
+msgstr "Pre-AP stalk engagement. Onroad writes apply on the next drive."
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Press Brake to Slow Down"
+msgstr "Press Brake to Slow Down"
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "Prevent large data uploads when on a metered Wi-Fi connection"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "Prevent large data uploads when on a metered cellular connection"
 
@@ -513,7 +753,77 @@ msgstr "RESET"
 msgid "REVIEW"
 msgstr "REVIEW"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Behind Nosecone"
+msgstr "Radar Behind Nosecone"
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Calibration\n"
+"\n"
+"Displays filtered Bosch radar points to help align the sensor.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Vehicle parked with a target 3-10m ahead\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+"Radar Calibration\n"
+"\n"
+"Displays filtered Bosch radar points to help align the sensor.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Vehicle parked with a target 3-10m ahead\n"
+"\n"
+"Press START to confirm and begin."
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Diagnosis\n"
+"\n"
+"Reads Bosch radar health without changing panda safety mode.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+"Radar Diagnosis\n"
+"\n"
+"Reads Bosch radar health without changing panda safety mode.\n"
+"\n"
+"Press START to begin."
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Radar Error: Restart the Car"
+msgstr "Radar Error: Restart the Car"
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Health"
+msgstr "Radar Health"
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset"
+msgstr "Radar Lateral Offset"
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset (m)"
+msgstr "Radar Lateral Offset (m)"
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Test\n"
+"\n"
+"Displays live Bosch radar tracks for installation checks.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+"Radar Test\n"
+"\n"
+"Displays live Bosch radar tracks for installation checks.\n"
+"\n"
+"Press START to begin."
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
 msgstr ""
 
@@ -541,6 +851,10 @@ msgstr "Record and Upload Microphone Audio"
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Regen Limit Reached"
+msgstr "Regen Limit Reached"
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Regulatory"
@@ -569,6 +883,10 @@ msgstr "Reset"
 msgid "Reset Calibration"
 msgstr "Reset Calibration"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Restore EPAS"
+msgstr "Restore EPAS"
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Review Training Guide"
@@ -585,23 +903,23 @@ msgstr "SELECT"
 msgid "SSH Keys"
 msgstr "SSH Keys"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to login to your GitHub account"
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "Scanning Wi-Fi networks..."
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Search"
 msgstr ""
 
-#: system/ui/widgets/option_dialog.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "Select"
 
@@ -613,6 +931,10 @@ msgstr "Select a branch"
 msgid "Select a language"
 msgstr "Select a language"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selecting a higher finger count may reduce accidental activations."
+msgstr "Selecting a higher finger count may reduce accidental activations."
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "Serial"
@@ -629,6 +951,18 @@ msgstr "Software"
 msgid "Standard"
 msgstr "Standard"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Start"
+msgstr "Start"
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Stock DI"
+msgstr "Stock DI"
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Stock cruise required"
+msgstr "Stock cruise required"
+
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "System Unresponsive"
@@ -645,14 +979,26 @@ msgstr "TEMP"
 msgid "Target Branch"
 msgstr "Target Branch"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Test Radar"
+msgstr "Test Radar"
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "Tethering Password"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "This allows the use of full MADS functionality when enabled."
+msgstr "This allows the use of full MADS functionality when enabled."
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Toggles"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Tools are only available offroad."
+msgstr "Tools are only available offroad."
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "UI Debug Mode"
@@ -665,6 +1011,14 @@ msgstr "UNINSTALL"
 msgid "UPDATE"
 msgstr "UPDATE"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Uncalibrated"
+msgstr "Uncalibrated"
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Unconfigured"
+msgstr "Unconfigured"
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Uninstall"
@@ -689,6 +1043,10 @@ msgstr "Upload data from the driver facing camera and help improve the driver mo
 msgid "Use Metric System"
 msgstr "Use Metric System"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Use a multi-finger press on the infotainment screen to toggle MADS."
+msgstr "Use a multi-finger press on the infotainment screen to toggle MADS."
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "VEHICLE"
@@ -713,11 +1071,11 @@ msgstr ""
 msgid "Wi-Fi"
 msgstr "Wi-Fi"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Wi-Fi Network Metered"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "Wrong password"
 
@@ -741,7 +1099,7 @@ msgstr "checking..."
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "default"
 msgstr "default"
 
@@ -761,7 +1119,7 @@ msgstr "failed to check for update"
 msgid "finalizing update..."
 msgstr "finalizing update..."
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "for \"{}\""
 
@@ -769,7 +1127,7 @@ msgstr "for \"{}\""
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "leave blank for automatic configuration"
 
@@ -777,7 +1135,7 @@ msgstr "leave blank for automatic configuration"
 msgid "left"
 msgstr "left"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "metered"
 msgstr "metered"
 
@@ -813,7 +1171,7 @@ msgstr ""
 msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "unmetered"
 
@@ -857,12 +1215,6 @@ msgid_plural "{} minutes ago"
 msgstr[0] "{} minute ago"
 msgstr[1] "{} minutes ago"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "{} segment of your driving is in the training dataset so far."
-msgstr[1] "{} segments of your driving is in the training dataset so far."
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ SUBSCRIBED"
diff --git a/openpilot/selfdrive/ui/translations/app_es.po b/openpilot/selfdrive/ui/translations/app_es.po
index 2298fdb5a1f1ba..dbf1c0262d5704 100644
--- a/openpilot/selfdrive/ui/translations/app_es.po
+++ b/openpilot/selfdrive/ui/translations/app_es.po
@@ -32,10 +32,22 @@ msgstr "Conectividad LTE 24/7"
 msgid "2G"
 msgstr "2G"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "3-Finger"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "4-Finger"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "5-Finger"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
@@ -52,7 +64,7 @@ msgstr "<br><br>La calibración del retraso de dirección está completa en un {
 msgid "ADD"
 msgstr "AÑADIR"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "Configuración de APN"
 
@@ -60,7 +72,11 @@ msgstr "Configuración de APN"
 msgid "Acknowledge Excessive Actuation"
 msgstr "Reconocer actuación excesiva"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Active Engagement Mode"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "Avanzado"
 
@@ -72,6 +88,10 @@ msgstr "Agresivo"
 msgid "Agree"
 msgstr "Aceptar"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Allows the driver to provide limited steering input while openpilot is engaged."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "Supervisión del conductor siempre activa"
@@ -92,11 +112,19 @@ msgstr "¿Seguro que quieres restablecer la calibración?"
 msgid "Are you sure you want to uninstall?"
 msgstr "¿Seguro que quieres desinstalar?"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/onboarding.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "Atrás"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Backup EPAS"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Hazte miembro de comma prime en connect.comma.ai"
@@ -105,6 +133,22 @@ msgstr "Hazte miembro de comma prime en connect.comma.ai"
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "Añade connect.comma.ai a tu pantalla de inicio para usarlo como una app"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bosch Radar"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 0"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 2"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "CAMBIAR"
@@ -118,22 +162,30 @@ msgid "CHILL MODE ON"
 msgstr "MODO CHILL ACTIVADO"
 
 #: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "CONECTAR"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "CONECTAR"
 
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/keyboard.py
-#: system/ui/widgets/network.py
-#: system/ui/widgets/option_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Radar"
+msgstr ""
+
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/keyboard.py
+#: openpilot/system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "Cancelar"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "Medición celular"
 
@@ -145,7 +197,7 @@ msgstr "Cambiar idioma"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
 
@@ -157,6 +209,14 @@ msgstr "Haz clic en \"añadir nuevo dispositivo\" y escanea el código QR de la
 msgid "Close"
 msgstr "Cerrar"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cooperative Steering (Beta)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cruise Coupled"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Versión actual"
@@ -181,6 +241,10 @@ msgstr "Desarrollador"
 msgid "Device"
 msgstr "Dispositivo"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Diagnose Radar"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Desactivar con el pedal del acelerador"
@@ -217,10 +281,44 @@ msgstr "Cámara del conductor"
 msgid "Driving Personality"
 msgstr "Estilo de conducción"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "EDITAR"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Backup\n"
+"\n"
+"Extracts stock EPAS firmware. No flashing is performed.\n"
+"\n"
+"POWER THE CAR ON before starting.\n"
+"\n"
+"Press START to extract the backup."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Flash\n"
+"\n"
+"WARNING: This modifies steering-system firmware.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"Power loss during the flash can brick EPAS.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Restore\n"
+"\n"
+"WARNING: This reflashes steering-system firmware from the stock image.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "FALLO"
@@ -233,7 +331,7 @@ msgstr "ETH"
 msgid "EXPERIMENTAL MODE ON"
 msgstr "MODO EXPERIMENTAL ACTIVADO"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Early Access: Become a sunnypilot Sponsor"
 msgstr ""
 
@@ -242,15 +340,27 @@ msgstr ""
 msgid "Enable"
 msgstr "Activar"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to change."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "Activar ADB"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Comma Pedal hardware. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Activar advertencias de salida de carril"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "Activar roaming"
 
@@ -258,7 +368,7 @@ msgstr "Activar roaming"
 msgid "Enable SSH"
 msgstr "Activar SSH"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "Activar anclaje"
 
@@ -266,6 +376,10 @@ msgstr "Activar anclaje"
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable stock Bosch radar. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable sunnypilot"
 msgstr ""
@@ -274,23 +388,23 @@ msgstr ""
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "Introduce APN"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "Introduzca SSID"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "Ingrese una nueva contraseña de anclaje a red"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "Introduce la contraseña"
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Enter search query"
 msgstr ""
 
@@ -298,7 +412,7 @@ msgstr ""
 msgid "Enter your GitHub username"
 msgstr "Introduce tu nombre de usuario de GitHub"
 
-#: system/ui/widgets/list_view.py
+#: openpilot/system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "Fallo"
 
@@ -310,7 +424,7 @@ msgstr "Modo experimental"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "El modo experimental no está disponible actualmente en este coche, ya que se usa el ACC de fábrica para el control longitudinal."
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "OLVIDAR..."
 
@@ -326,15 +440,27 @@ msgstr "Flujo masivo"
 msgid "Firehose Mode"
 msgstr "Modo Firehose"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Flash EPAS"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow Distance"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget"
 msgstr "Olvidar"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "¿Olvidaste la red Wi-Fi \"{}\"?"
 
@@ -350,7 +476,11 @@ msgstr "Ve a https://connect.comma.ai en tu teléfono"
 msgid "HIGH"
 msgstr "ALTO"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hardware settings are only available offroad."
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "Red oculta"
 
@@ -358,19 +488,23 @@ msgstr "Red oculta"
 msgid "INSTALL"
 msgstr "INSTALAR"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "Dirección IP"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Independent"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Instalar actualización"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
 msgstr ""
 
@@ -386,14 +520,34 @@ msgstr "CARGANDO"
 msgid "LTE"
 msgstr "LTE"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral Engagement Mode"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Modo de maniobra longitudinal"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Only"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Path"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "MADS Screen Activation"
+msgstr ""
+
 #: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "M�X"
@@ -422,13 +576,21 @@ msgstr "No se encontraron claves SSH para el usuario '{}'"
 msgid "No release notes available."
 msgstr "No hay notas de versión disponibles."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "None"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Note: Setting this to Off will reset your MADS settings to default."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "SIN CONEXIÓN"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/html_render.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
@@ -436,6 +598,10 @@ msgstr "OK"
 msgid "ONLINE"
 msgstr "EN L�NEA"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Abrir"
@@ -464,7 +630,7 @@ msgstr "Emparejar dispositivo"
 msgid "Pair device"
 msgstr "Emparejar dispositivo"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Pair your GitHub account"
 msgstr ""
 
@@ -477,6 +643,40 @@ msgstr "Empareja tu dispositivo con tu cuenta de comma"
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "Empareja tu dispositivo con comma connect (connect.comma.ai) y reclama tu oferta de comma prime."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal CAN Bus"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Pedal Calibration\n"
+"\n"
+"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Car must be ON, Neutral, brake held\n"
+"  3. Do NOT press the accelerator\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Interceptor"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Pedal Unavailable"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Conéctate a Wi‑Fi para completar el emparejamiento inicial"
@@ -485,11 +685,19 @@ msgstr "Conéctate a Wi‑Fi para completar el emparejamiento inicial"
 msgid "Power Off"
 msgstr "Apagar"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Press Brake to Slow Down"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "Evite grandes cargas de datos cuando esté en una conexión Wi-Fi medida"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "Evite grandes cargas de datos cuando esté en una conexión celular medida"
 
@@ -513,7 +721,58 @@ msgstr "RESTABLECER"
 msgid "REVIEW"
 msgstr "REVISAR"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Behind Nosecone"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Calibration\n"
+"\n"
+"Displays filtered Bosch radar points to help align the sensor.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Vehicle parked with a target 3-10m ahead\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Diagnosis\n"
+"\n"
+"Reads Bosch radar health without changing panda safety mode.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Radar Error: Restart the Car"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset (m)"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Test\n"
+"\n"
+"Displays live Bosch radar tracks for installation checks.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
 msgstr ""
 
@@ -541,6 +800,10 @@ msgstr "Grabar y subir audio del micrófono"
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "Grabar y almacenar audio del micrófono mientras conduces. El audio se incluirá en el video de la dashcam en comma connect."
 
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Regen Limit Reached"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Reglamentario"
@@ -569,6 +832,10 @@ msgstr "Restablecer"
 msgid "Reset Calibration"
 msgstr "Restablecer calibración"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Restore EPAS"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Revisar guía de entrenamiento"
@@ -585,23 +852,23 @@ msgstr "SELECCIONAR"
 msgid "SSH Keys"
 msgstr "Claves SSH"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to login to your GitHub account"
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "Escaneando redes Wi-Fi..."
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Search"
 msgstr ""
 
-#: system/ui/widgets/option_dialog.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "Seleccionar"
 
@@ -613,6 +880,10 @@ msgstr "Selecciona una rama"
 msgid "Select a language"
 msgstr "Selecciona un idioma"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selecting a higher finger count may reduce accidental activations."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "Número de serie"
@@ -629,6 +900,18 @@ msgstr "Sistema"
 msgid "Standard"
 msgstr "Estándar"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Start"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Stock DI"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Stock cruise required"
+msgstr ""
+
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "Sistema sin respuesta"
@@ -645,14 +928,26 @@ msgstr "TEMP."
 msgid "Target Branch"
 msgstr "Rama objetivo"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Test Radar"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "Contraseña de anclaje"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "This allows the use of full MADS functionality when enabled."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Interruptores"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Tools are only available offroad."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "Modo de depuración de la interfaz de usuario"
@@ -665,6 +960,14 @@ msgstr "DESINSTALAR"
 msgid "UPDATE"
 msgstr "ACTUALIZAR"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Uncalibrated"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Unconfigured"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Desinstalar"
@@ -689,6 +992,10 @@ msgstr "Sube datos de la cámara orientada al conductor y ayuda a mejorar el alg
 msgid "Use Metric System"
 msgstr "Usar sistema métrico"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Use a multi-finger press on the infotainment screen to toggle MADS."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "VEH�CULO"
@@ -713,11 +1020,11 @@ msgstr ""
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Red Wi-Fi medida"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "Contraseña incorrecta"
 
@@ -741,7 +1048,7 @@ msgstr "de cheques..."
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "default"
 msgstr "por defecto"
 
@@ -761,7 +1068,7 @@ msgstr "Error al buscar actualizaciones"
 msgid "finalizing update..."
 msgstr "finalizando actualización..."
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "para \"{}\""
 
@@ -769,7 +1076,7 @@ msgstr "para \"{}\""
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "dejar en blanco para configuración automática"
 
@@ -777,7 +1084,7 @@ msgstr "dejar en blanco para configuración automática"
 msgid "left"
 msgstr "izquierda"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "metered"
 msgstr "medido"
 
@@ -813,7 +1120,7 @@ msgstr ""
 msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "sin medir"
 
@@ -857,12 +1164,6 @@ msgid_plural "{} minutes ago"
 msgstr[0] "hace {} minuto"
 msgstr[1] "hace {} minutos"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "{} segmento de tu conducción está en el conjunto de entrenamiento hasta ahora."
-msgstr[1] "{} segmentos de tu conducción están en el conjunto de entrenamiento hasta ahora."
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ SUSCRITO"
diff --git a/openpilot/selfdrive/ui/translations/app_fr.po b/openpilot/selfdrive/ui/translations/app_fr.po
index ac5b4deea54ce1..98cbf0fc420dac 100644
--- a/openpilot/selfdrive/ui/translations/app_fr.po
+++ b/openpilot/selfdrive/ui/translations/app_fr.po
@@ -32,10 +32,22 @@ msgstr "Connexion LTE 24/7"
 msgid "2G"
 msgstr "2G"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "3-Finger"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "4-Finger"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "5-Finger"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
@@ -52,7 +64,7 @@ msgstr "<br><br>Calibration du délai de direction : {}% effectué."
 msgid "ADD"
 msgstr "AJOUTER"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "Paramètre APN"
 
@@ -60,7 +72,11 @@ msgstr "Paramètre APN"
 msgid "Acknowledge Excessive Actuation"
 msgstr "Accuser réception d'actionnement excessif"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Active Engagement Mode"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "Avancé"
 
@@ -72,6 +88,10 @@ msgstr "Agressif"
 msgid "Agree"
 msgstr "Accepter"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Allows the driver to provide limited steering input while openpilot is engaged."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "Surveillance continue du conducteur"
@@ -92,11 +112,19 @@ msgstr "Êtes-vous sûr de vouloir réinitialiser la calibration ?"
 msgid "Are you sure you want to uninstall?"
 msgstr "Êtes-vous sûr de vouloir désinstaller ?"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/onboarding.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "Retour"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Backup EPAS"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Devenez membre comma prime sur connect.comma.ai"
@@ -105,6 +133,22 @@ msgstr "Devenez membre comma prime sur connect.comma.ai"
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "Ajoutez connect.comma.ai à votre écran d'accueil pour l'utiliser comme une application"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bosch Radar"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 0"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 2"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "CHANGER"
@@ -118,22 +162,30 @@ msgid "CHILL MODE ON"
 msgstr "MODE CHILL ACTIVÉ"
 
 #: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "CONNECTER"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "CONNEXION..."
 
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/keyboard.py
-#: system/ui/widgets/network.py
-#: system/ui/widgets/option_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Radar"
+msgstr ""
+
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/keyboard.py
+#: openpilot/system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "Annuler"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "Données cellulaires limitées"
 
@@ -145,7 +197,7 @@ msgstr "Changer la langue"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr "La modification de ce réglage redémarrera sunnypilot si la voiture est sous tension."
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr "Choisissez votre niveau de parrainage et confirmez votre soutien"
 
@@ -157,6 +209,14 @@ msgstr "Cliquez sur \"add new device\" et scannez le code QR à droite"
 msgid "Close"
 msgstr "Fermer"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cooperative Steering (Beta)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cruise Coupled"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Version actuelle"
@@ -181,6 +241,10 @@ msgstr "Développeur"
 msgid "Device"
 msgstr "Appareil"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Diagnose Radar"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Désengager à l'appui sur l'accélérateur"
@@ -217,10 +281,44 @@ msgstr "Caméra conducteur"
 msgid "Driving Personality"
 msgstr "Personnalité de conduite"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "MODIFIER"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Backup\n"
+"\n"
+"Extracts stock EPAS firmware. No flashing is performed.\n"
+"\n"
+"POWER THE CAR ON before starting.\n"
+"\n"
+"Press START to extract the backup."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Flash\n"
+"\n"
+"WARNING: This modifies steering-system firmware.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"Power loss during the flash can brick EPAS.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Restore\n"
+"\n"
+"WARNING: This reflashes steering-system firmware from the stock image.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "ERREUR"
@@ -233,7 +331,7 @@ msgstr "ETH"
 msgid "EXPERIMENTAL MODE ON"
 msgstr "MODE EXPÉRIMENTAL ACTIVÉ"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Early Access: Become a sunnypilot Sponsor"
 msgstr "Accès anticipé : Devenez parrain sunnypilot"
 
@@ -242,15 +340,27 @@ msgstr "Accès anticipé : Devenez parrain sunnypilot"
 msgid "Enable"
 msgstr "Activer"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to change."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "Activer ADB"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Comma Pedal hardware. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Activer les alertes de sortie de voie"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "Activer l'itinérance"
 
@@ -258,7 +368,7 @@ msgstr "Activer l'itinérance"
 msgid "Enable SSH"
 msgstr "Activer SSH"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "Activer le partage de connexion"
 
@@ -266,6 +376,10 @@ msgstr "Activer le partage de connexion"
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr "Activer la surveillance du conducteur même lorsque sunnypilot n'est pas engagé."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable stock Bosch radar. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable sunnypilot"
 msgstr "Activer sunnypilot"
@@ -274,23 +388,23 @@ msgstr "Activer sunnypilot"
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr "Activez l'option de contrôle longitudinal sunnypilot (alpha) pour autoriser le mode expérimental."
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "Entrez l'APN"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "Entrez le SSID"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "Entrez un nouveau mot de passe de partage"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "Entrez le mot de passe"
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Enter search query"
 msgstr "Entrez votre recherche"
 
@@ -298,7 +412,7 @@ msgstr "Entrez votre recherche"
 msgid "Enter your GitHub username"
 msgstr "Entrez votre nom d'utilisateur GitHub"
 
-#: system/ui/widgets/list_view.py
+#: openpilot/system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "Erreur"
 
@@ -310,7 +424,7 @@ msgstr "Mode expérimental"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "Le mode expérimental est actuellement indisponible sur cette voiture car l'ACC d'origine est utilisé pour le contrôle longitudinal."
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "SUPPRESSION..."
 
@@ -326,15 +440,27 @@ msgstr "Firehose"
 msgid "Firehose Mode"
 msgstr "Mode Firehose"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Flash EPAS"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow Distance"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr "Suivez les instructions pour terminer le processus d'association"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget"
 msgstr "Oublier"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "Oublier le réseau Wi‑Fi \"{}\" ?"
 
@@ -350,7 +476,11 @@ msgstr "Allez sur https://connect.comma.ai sur votre téléphone"
 msgid "HIGH"
 msgstr "ÉLEVÉ"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hardware settings are only available offroad."
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "Réseau masqué"
 
@@ -358,19 +488,23 @@ msgstr "Réseau masqué"
 msgid "INSTALL"
 msgstr "INSTALLER"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "Adresse IP"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr "Si le statut de parrainage n'a pas été mis à jour, veuillez contacter un modérateur sur le forum communautaire à https://community.sunnypilot.ai"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Independent"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Installer la mise à jour"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
 msgstr "Rejoignez notre forum communautaire à https://community.sunnypilot.ai et contactez un modérateur si vous avez des problèmes"
 
@@ -386,14 +520,34 @@ msgstr "CHARGEMENT"
 msgid "LTE"
 msgstr "LTE"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral Engagement Mode"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Mode de manœuvre longitudinale"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Only"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Path"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "MADS Screen Activation"
+msgstr ""
+
 #: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "MAX"
@@ -422,13 +576,21 @@ msgstr "Aucune clé SSH trouvée pour l'utilisateur '{}'"
 msgid "No release notes available."
 msgstr "Aucune note de version disponible."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "None"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Note: Setting this to Off will reset your MADS settings to default."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "HORS LIGNE"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/html_render.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
@@ -436,6 +598,10 @@ msgstr "OK"
 msgid "ONLINE"
 msgstr "EN LIGNE"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Ouvrir"
@@ -464,7 +630,7 @@ msgstr "Associer l'appareil"
 msgid "Pair device"
 msgstr "Associer l'appareil"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Pair your GitHub account"
 msgstr "Associer votre compte GitHub"
 
@@ -477,6 +643,40 @@ msgstr "Associez votre appareil à votre compte comma"
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "Associez votre appareil à comma connect (connect.comma.ai) et réclamez votre offre comma prime."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal CAN Bus"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Pedal Calibration\n"
+"\n"
+"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Car must be ON, Neutral, brake held\n"
+"  3. Do NOT press the accelerator\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Interceptor"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Pedal Unavailable"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Veuillez vous connecter au Wi‑Fi pour terminer l'association initiale"
@@ -485,11 +685,19 @@ msgstr "Veuillez vous connecter au Wi‑Fi pour terminer l'association initiale"
 msgid "Power Off"
 msgstr "Éteindre"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Press Brake to Slow Down"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "Empêcher les téléversements volumineux sur une connexion Wi‑Fi limitée"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "Empêcher les téléversements volumineux sur une connexion cellulaire limitée"
 
@@ -513,7 +721,58 @@ msgstr "RÉINITIALISER"
 msgid "REVIEW"
 msgstr "CONSULTER"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Behind Nosecone"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Calibration\n"
+"\n"
+"Displays filtered Bosch radar points to help align the sensor.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Vehicle parked with a target 3-10m ahead\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Diagnosis\n"
+"\n"
+"Reads Bosch radar health without changing panda safety mode.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Radar Error: Restart the Car"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset (m)"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Test\n"
+"\n"
+"Displays live Bosch radar tracks for installation checks.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
 msgstr "Retournez dans le panneau \"sunnylink\" pour vérifier le statut de parrainage"
 
@@ -541,6 +800,10 @@ msgstr "Enregistrer et téléverser l'audio du microphone"
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "Enregistrer et stocker l'audio du microphone pendant la conduite. L'audio sera inclus dans la vidéo dashcam dans comma connect."
 
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Regen Limit Reached"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Réglementaire"
@@ -569,6 +832,10 @@ msgstr "Réinitialiser"
 msgid "Reset Calibration"
 msgstr "Réinitialiser la calibration"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Restore EPAS"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Consulter le guide d'entraînement"
@@ -585,23 +852,23 @@ msgstr "CHOISIR"
 msgid "SSH Keys"
 msgstr "Clés SSH"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to login to your GitHub account"
 msgstr "Scannez le code QR pour vous connecter à votre compte GitHub"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
 msgstr "Scannez le code QR pour visiter la page GitHub Sponsors de sunnyhaibin"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "Recherche des réseaux Wi‑Fi..."
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Search"
 msgstr "Rechercher"
 
-#: system/ui/widgets/option_dialog.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "Sélectionner"
 
@@ -613,6 +880,10 @@ msgstr "Sélectionner une branche"
 msgid "Select a language"
 msgstr "Sélectionner une langue"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selecting a higher finger count may reduce accidental activations."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "Numéro de série"
@@ -629,6 +900,18 @@ msgstr "Logiciel"
 msgid "Standard"
 msgstr "Standard"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Start"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Stock DI"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Stock cruise required"
+msgstr ""
+
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "Système non réactif"
@@ -645,14 +928,26 @@ msgstr "TEMP."
 msgid "Target Branch"
 msgstr "Branche cible"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Test Radar"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "Mot de passe de partage"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "This allows the use of full MADS functionality when enabled."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Options"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Tools are only available offroad."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "Mode débogage UI"
@@ -665,6 +960,14 @@ msgstr "SUPPRIMER"
 msgid "UPDATE"
 msgstr "METTRE À JOUR"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Uncalibrated"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Unconfigured"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Désinstaller"
@@ -689,6 +992,10 @@ msgstr "Téléverser les données de la caméra orientée conducteur et aider à
 msgid "Use Metric System"
 msgstr "Utiliser le système métrique"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Use a multi-finger press on the infotainment screen to toggle MADS."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "VÉHICULE"
@@ -713,11 +1020,11 @@ msgstr "Lorsqu'activé, appuyer sur la pédale d'accélérateur désengagera sun
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Réseau Wi‑Fi limité"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "Mot de passe incorrect"
 
@@ -741,7 +1048,7 @@ msgstr "vérification..."
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "default"
 msgstr "par défaut"
 
@@ -761,7 +1068,7 @@ msgstr "échec de la vérification de mise à jour"
 msgid "finalizing update..."
 msgstr "finalisation de la mise à jour..."
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "pour \"{}\""
 
@@ -769,7 +1076,7 @@ msgstr "pour \"{}\""
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "laisser vide pour configuration automatique"
 
@@ -777,7 +1084,7 @@ msgstr "laisser vide pour configuration automatique"
 msgid "left"
 msgstr "gauche"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "metered"
 msgstr "limité"
 
@@ -813,7 +1120,7 @@ msgstr "Le contrôle longitudinal sunnypilot pourrait arriver dans une future mi
 msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "illimité"
 
@@ -857,12 +1164,6 @@ msgid_plural "{} minutes ago"
 msgstr[0] "il y a {} minute"
 msgstr[1] "il y a {} minutes"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "{} segment de votre conduite est dans l'ensemble d'entraînement jusqu'à présent."
-msgstr[1] "{} segments de votre conduite sont dans l'ensemble d'entraînement jusqu'à présent."
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ ABONNÉ"
diff --git a/openpilot/selfdrive/ui/translations/app_ja.po b/openpilot/selfdrive/ui/translations/app_ja.po
index 1d701bd8b4462e..a63030aeaff810 100644
--- a/openpilot/selfdrive/ui/translations/app_ja.po
+++ b/openpilot/selfdrive/ui/translations/app_ja.po
@@ -32,10 +32,22 @@ msgstr "24時間365日�LTE接続"
 msgid "2G"
 msgstr "2G"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "3-Finger"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "4-Finger"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "5-Finger"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
@@ -52,7 +64,7 @@ msgstr "<br><br>ステアリング�延�キャリブレーション�{}%完
 msgid "ADD"
 msgstr "追加"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "APN設定"
 
@@ -60,7 +72,11 @@ msgstr "APN設定"
 msgid "Acknowledge Excessive Actuation"
 msgstr "�度�作動を承�"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Active Engagement Mode"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "詳細設定"
 
@@ -72,6 +88,10 @@ msgstr "アグレッシブ"
 msgid "Agree"
 msgstr "���る"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Allows the driver to provide limited steering input while openpilot is engaged."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "常時ドライ�ーモニタリング"
@@ -92,11 +112,19 @@ msgstr "本当�キャリブレーションをリセット����？"
 msgid "Are you sure you want to uninstall?"
 msgstr "本当�アンインストール����？"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/onboarding.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "戻る"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Backup EPAS"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "connect.comma.ai� comma prime �加入"
@@ -105,6 +133,22 @@ msgstr "connect.comma.ai� comma prime �加入"
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "connect.comma.aiをホーム画��追加��アプリ�よ��使���ょ�"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bosch Radar"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 0"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 2"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "変更"
@@ -118,22 +162,30 @@ msgid "CHILL MODE ON"
 msgstr "�ルモードON"
 
 #: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "接続"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "接続中..."
 
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/keyboard.py
-#: system/ui/widgets/network.py
-#: system/ui/widgets/option_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Radar"
+msgstr ""
+
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/keyboard.py
+#: openpilot/system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "キャンセル"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "従�課金��帯回線"
 
@@ -145,7 +197,7 @@ msgstr "言語を変更"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
 
@@ -157,6 +209,14 @@ msgstr "\"add new device\"を押�����QRコードをスキャン"
 msgid "Close"
 msgstr "閉�る"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cooperative Steering (Beta)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cruise Coupled"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "�在��ージョン"
@@ -181,6 +241,10 @@ msgstr "開発者"
 msgid "Device"
 msgstr "デ�イス"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Diagnose Radar"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "アクセル�解除"
@@ -217,10 +281,44 @@ msgstr "ドライ�ーカメラ"
 msgid "Driving Personality"
 msgstr "走行性格"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "編集"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Backup\n"
+"\n"
+"Extracts stock EPAS firmware. No flashing is performed.\n"
+"\n"
+"POWER THE CAR ON before starting.\n"
+"\n"
+"Press START to extract the backup."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Flash\n"
+"\n"
+"WARNING: This modifies steering-system firmware.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"Power loss during the flash can brick EPAS.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Restore\n"
+"\n"
+"WARNING: This reflashes steering-system firmware from the stock image.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "エラー"
@@ -233,7 +331,7 @@ msgstr "ETH"
 msgid "EXPERIMENTAL MODE ON"
 msgstr "実験モードON"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Early Access: Become a sunnypilot Sponsor"
 msgstr ""
 
@@ -242,15 +340,27 @@ msgstr ""
 msgid "Enable"
 msgstr "有効化"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to change."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "ADBを有効化"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Comma Pedal hardware. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "車線逸脱警報を有効化"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "ローミングを有効化"
 
@@ -258,7 +368,7 @@ msgstr "ローミングを有効化"
 msgid "Enable SSH"
 msgstr "SSHを有効化"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "テザリングを有効化"
 
@@ -266,6 +376,10 @@ msgstr "テザリングを有効化"
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable stock Bosch radar. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable sunnypilot"
 msgstr ""
@@ -274,23 +388,23 @@ msgstr ""
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "APNを入力"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "SSIDを入力"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "新��テザリング�パスワードを入力"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "パスワードを入力"
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Enter search query"
 msgstr ""
 
@@ -298,7 +412,7 @@ msgstr ""
 msgid "Enter your GitHub username"
 msgstr "GitHubユーザー�を入力"
 
-#: system/ui/widgets/list_view.py
+#: openpilot/system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "エラー"
 
@@ -310,7 +424,7 @@ msgstr "実験モード"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "��車��縦制御�純正ACCを使用�る����在実験モード�利用����ん。"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "削除中..."
 
@@ -326,15 +440,27 @@ msgstr "大��信"
 msgid "Firehose Mode"
 msgstr "Firehoseモード"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Flash EPAS"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow Distance"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget"
 msgstr "削除"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "Wi‑Fi�ットワーク「{}�を削除����？"
 
@@ -350,7 +476,11 @@ msgstr "スマートフォン� https://connect.comma.ai �アクセス"
 msgid "HIGH"
 msgstr "高温"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hardware settings are only available offroad."
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "�公開�ットワーク"
 
@@ -358,19 +488,23 @@ msgstr "�公開�ットワーク"
 msgid "INSTALL"
 msgstr "インストール"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "IPアドレス"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Independent"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "アップデートをインストール"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
 msgstr ""
 
@@ -386,14 +520,34 @@ msgstr "読�込�中"
 msgid "LTE"
 msgstr "LTE"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral Engagement Mode"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "縦制御マヌー�ーモード"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Only"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Path"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "MADS Screen Activation"
+msgstr ""
+
 #: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "最大"
@@ -422,13 +576,21 @@ msgstr "ユーザー'{}'�SSH��見��り��ん"
 msgid "No release notes available."
 msgstr "リリースノート��り��ん。"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "None"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Note: Setting this to Off will reset your MADS settings to default."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "オフライン"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/html_render.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
@@ -436,6 +598,10 @@ msgstr "OK"
 msgid "ONLINE"
 msgstr "オンライン"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "開�"
@@ -464,7 +630,7 @@ msgstr "デ�イスをペアリング"
 msgid "Pair device"
 msgstr "デ�イスをペアリング"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Pair your GitHub account"
 msgstr ""
 
@@ -477,6 +643,40 @@ msgstr "デ�イスを���� comma アカウント�ペアリング"
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "デ�イスを comma connect（connect.comma.ai）�ペアリング���comma prime 特典を���り��ょ�。"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal CAN Bus"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Pedal Calibration\n"
+"\n"
+"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Car must be ON, Neutral, brake held\n"
+"  3. Do NOT press the accelerator\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Interceptor"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Pedal Unavailable"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "�回ペアリングを完了�る��Wi‑Fi�接続������"
@@ -485,11 +685,19 @@ msgstr "�回ペアリングを完了�る��Wi‑Fi�接続����
 msgid "Power Off"
 msgstr "電�オフ"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Press Brake to Slow Down"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "従�課金�Wi‑Fi接続時�大��データ�アップロードを抑制"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "従�課金��帯回線接続時�大��データ�アップロードを抑制"
 
@@ -513,7 +721,58 @@ msgstr "リセット"
 msgid "REVIEW"
 msgstr "確�"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Behind Nosecone"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Calibration\n"
+"\n"
+"Displays filtered Bosch radar points to help align the sensor.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Vehicle parked with a target 3-10m ahead\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Diagnosis\n"
+"\n"
+"Reads Bosch radar health without changing panda safety mode.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Radar Error: Restart the Car"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset (m)"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Test\n"
+"\n"
+"Displays live Bosch radar tracks for installation checks.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
 msgstr ""
 
@@ -541,6 +800,10 @@ msgstr "マイク音声を記録��アップロード"
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "走行中�マイク音声を記録・�存���。音声� comma connect �ドライブレコーダー動画���れ��。"
 
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Regen Limit Reached"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "�制情報"
@@ -569,6 +832,10 @@ msgstr "リセット"
 msgid "Reset Calibration"
 msgstr "キャリブレーションをリセット"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Restore EPAS"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "トレーニングガイドを確�"
@@ -585,23 +852,23 @@ msgstr "�択"
 msgid "SSH Keys"
 msgstr "SSH�"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to login to your GitHub account"
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "Wi‑Fi�ットワークを検索中..."
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Search"
 msgstr ""
 
-#: system/ui/widgets/option_dialog.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "�択"
 
@@ -613,6 +880,10 @@ msgstr "ブラン�を�択"
 msgid "Select a language"
 msgstr "言語を�択"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selecting a higher finger count may reduce accidental activations."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "シリアル"
@@ -629,6 +900,18 @@ msgstr "ソフトウェア"
 msgid "Standard"
 msgstr "スタンダード"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Start"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Stock DI"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Stock cruise required"
+msgstr ""
+
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "システム�応答���ん"
@@ -645,14 +928,26 @@ msgstr "温度"
 msgid "Target Branch"
 msgstr "対象ブラン�"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Test Radar"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "テザリング�パスワード"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "This allows the use of full MADS functionality when enabled."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "トグル"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Tools are only available offroad."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "UIデ�ッグモード"
@@ -665,6 +960,14 @@ msgstr "アンインストール"
 msgid "UPDATE"
 msgstr "æ›´æ–°"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Uncalibrated"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Unconfigured"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "アンインストール"
@@ -689,6 +992,10 @@ msgstr "ドライ�ー��カメラ�データをアップロード��モ
 msgid "Use Metric System"
 msgstr "メートル法を使用"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Use a multi-finger press on the infotainment screen to toggle MADS."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "車両"
@@ -713,11 +1020,11 @@ msgstr ""
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Wi‑Fi�ットワーク（従�課金）"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "パスワード�����"
 
@@ -741,7 +1048,7 @@ msgstr "�ェック中..."
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "default"
 msgstr "既定"
 
@@ -761,7 +1068,7 @@ msgstr "アップデート�確��失敗����"
 msgid "finalizing update..."
 msgstr "アップデートを終了�����..."
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "「{}���"
 
@@ -769,7 +1076,7 @@ msgstr "「{}���"
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "自動設定�場��空欄����������"
 
@@ -777,7 +1084,7 @@ msgstr "自動設定�場��空欄����������"
 msgid "left"
 msgstr "å·¦"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "metered"
 msgstr "従�"
 
@@ -813,7 +1120,7 @@ msgstr ""
 msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "�従�"
 
@@ -853,11 +1160,6 @@ msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "{}分�"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "�れ�������走行�{}セグメント�学習データセット���れ����。"
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ 登録済�"
diff --git a/openpilot/selfdrive/ui/translations/app_ko.po b/openpilot/selfdrive/ui/translations/app_ko.po
index d5c5eb34a2e602..eeb1353d7d8738 100644
--- a/openpilot/selfdrive/ui/translations/app_ko.po
+++ b/openpilot/selfdrive/ui/translations/app_ko.po
@@ -32,10 +32,22 @@ msgstr "연중무휴 LTE 연결"
 msgid "2G"
 msgstr "2G"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "3-Finger"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "4-Finger"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "5-Finger"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
@@ -52,7 +64,7 @@ msgstr "<br><br>스티어� 지연 보정� {}% 완료�었습니다."
 msgid "ADD"
 msgstr "추가"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "APN 설정"
 
@@ -60,7 +72,11 @@ msgstr "APN 설정"
 msgid "Acknowledge Excessive Actuation"
 msgstr "과�한 작�� 확�"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Active Engagement Mode"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "고급"
 
@@ -72,6 +88,10 @@ msgstr "공격�"
 msgid "Agree"
 msgstr "��"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Allows the driver to provide limited steering input while openpilot is engaged."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "운전� 모니터� 항� 켜�"
@@ -92,11 +112,19 @@ msgstr "정� 보정� 재설정하시겠습니까?"
 msgid "Are you sure you want to uninstall?"
 msgstr "정� 제거하시겠습니까?"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/onboarding.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "뒤로"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Backup EPAS"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "connect.comma.ai�서 comma prime 회�� �세요"
@@ -105,6 +133,22 @@ msgstr "connect.comma.ai�서 comma prime 회�� �세요"
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "connect.comma.ai를 홈 화면� 추가하여 앱처럼 사용하세요"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bosch Radar"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 0"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 2"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "변경"
@@ -118,22 +162,30 @@ msgid "CHILL MODE ON"
 msgstr "안정� 모드 켜�"
 
 #: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "ì—°ê²°"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "연결 중..."
 
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/keyboard.py
-#: system/ui/widgets/network.py
-#: system/ui/widgets/option_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Radar"
+msgstr ""
+
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/keyboard.py
+#: openpilot/system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "취소"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "종량제 셀룰러"
 
@@ -145,7 +197,7 @@ msgstr "언어 변경"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
 
@@ -157,6 +209,14 @@ msgstr "\"add new device\"를 눌러 오른쪽� QR 코드를 스캔하세요"
 msgid "Close"
 msgstr "닫기"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cooperative Steering (Beta)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cruise Coupled"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "현재 버전"
@@ -181,6 +241,10 @@ msgstr "개발�"
 msgid "Device"
 msgstr "장치"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Diagnose Radar"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "가� 페달로 해제"
@@ -217,10 +281,44 @@ msgstr "운전� 카메�"
 msgid "Driving Personality"
 msgstr "주행 성향"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "편집"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Backup\n"
+"\n"
+"Extracts stock EPAS firmware. No flashing is performed.\n"
+"\n"
+"POWER THE CAR ON before starting.\n"
+"\n"
+"Press START to extract the backup."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Flash\n"
+"\n"
+"WARNING: This modifies steering-system firmware.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"Power loss during the flash can brick EPAS.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Restore\n"
+"\n"
+"WARNING: This reflashes steering-system firmware from the stock image.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "오류"
@@ -233,7 +331,7 @@ msgstr "ETH"
 msgid "EXPERIMENTAL MODE ON"
 msgstr "실험 모드 켜�"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Early Access: Become a sunnypilot Sponsor"
 msgstr ""
 
@@ -242,15 +340,27 @@ msgstr ""
 msgid "Enable"
 msgstr "사용"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to change."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "ADB 사용"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Comma Pedal hardware. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "차선 �탈 경고 사용"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "로� 사용"
 
@@ -258,7 +368,7 @@ msgstr "로� 사용"
 msgid "Enable SSH"
 msgstr "SSH 사용"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "테�� 사용"
 
@@ -266,6 +376,10 @@ msgstr "테�� 사용"
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable stock Bosch radar. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable sunnypilot"
 msgstr ""
@@ -274,23 +388,23 @@ msgstr ""
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "APN ìž…ë ¥"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "SSID ìž…ë ¥"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "새 테�� 비밀번호 입력"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "비밀번호 입력"
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Enter search query"
 msgstr ""
 
@@ -298,7 +412,7 @@ msgstr ""
 msgid "Enter your GitHub username"
 msgstr "GitHub 사용� �름 입력"
 
-#: system/ui/widgets/list_view.py
+#: openpilot/system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "오류"
 
@@ -310,7 +424,7 @@ msgstr "실험 모드"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "� 차량� 롱컨 제어� 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습니다."
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "삭제 중..."
 
@@ -326,15 +440,27 @@ msgstr "파�어호스"
 msgid "Firehose Mode"
 msgstr "파�어호스 모드"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Flash EPAS"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow Distance"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget"
 msgstr "삭제"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "Wi‑Fi 네트워� \"{}\"를 삭제하시겠습니까?"
 
@@ -350,7 +476,11 @@ msgstr "휴대��서 https://connect.comma.ai � 접�하세요"
 msgid "HIGH"
 msgstr "높�"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hardware settings are only available offroad."
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "숨겨진 네트워�"
 
@@ -358,19 +488,23 @@ msgstr "숨겨진 네트워�"
 msgid "INSTALL"
 msgstr "설치"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "IP 주소"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Independent"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "업��트 설치"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
 msgstr ""
 
@@ -386,14 +520,34 @@ msgstr "로딩 중"
 msgid "LTE"
 msgstr "LTE"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral Engagement Mode"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "롱컨 기� 모드"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Only"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Path"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "MADS Screen Activation"
+msgstr ""
+
 #: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "최대"
@@ -422,13 +576,21 @@ msgstr "사용� '{}'� SSH 키를 찾� 수 없습니다"
 msgid "No release notes available."
 msgstr "릴리스 노트가 없습니다."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "None"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Note: Setting this to Off will reset your MADS settings to default."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "오프��"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/html_render.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "확�"
 
@@ -436,6 +598,10 @@ msgstr "확�"
 msgid "ONLINE"
 msgstr "온��"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "열기"
@@ -464,7 +630,7 @@ msgstr "장치 페어�"
 msgid "Pair device"
 msgstr "장치 페어�"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Pair your GitHub account"
 msgstr ""
 
@@ -477,6 +643,40 @@ msgstr "장치를 귀하� comma 계정� 페어�하세요"
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "장치를 comma connect(connect.comma.ai)와 페어�하고 comma 프�임 혜�� 받으세요."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal CAN Bus"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Pedal Calibration\n"
+"\n"
+"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Car must be ON, Neutral, brake held\n"
+"  3. Do NOT press the accelerator\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Interceptor"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Pedal Unavailable"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "초기 페어�� 완료하려면 Wi‑Fi� 연결하세요"
@@ -485,11 +685,19 @@ msgstr "초기 페어�� 완료하려면 Wi‑Fi� 연결하세요"
 msgid "Power Off"
 msgstr "전� �기"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Press Brake to Slow Down"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "종량제 Wi‑Fi 연결 시 대용량 업로드 방지"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "종량제 셀룰러 연결 시 대용량 업로드 방지"
 
@@ -513,7 +721,58 @@ msgstr "재설정"
 msgid "REVIEW"
 msgstr "검토"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Behind Nosecone"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Calibration\n"
+"\n"
+"Displays filtered Bosch radar points to help align the sensor.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Vehicle parked with a target 3-10m ahead\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Diagnosis\n"
+"\n"
+"Reads Bosch radar health without changing panda safety mode.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Radar Error: Restart the Car"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset (m)"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Test\n"
+"\n"
+"Displays live Bosch radar tracks for installation checks.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
 msgstr ""
 
@@ -541,6 +800,10 @@ msgstr "마�� 오디오 기� � 업로드"
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "주행 중 마�� 오디오를 기�하고 저장합니다. 오디오는 comma connect� 대시캠 ��� �함�니다."
 
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Regen Limit Reached"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "규제 정보"
@@ -569,6 +832,10 @@ msgstr "재설정"
 msgid "Reset Calibration"
 msgstr "캘리브레�션 재설정"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Restore EPAS"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "학습 가�드 검토"
@@ -585,23 +852,23 @@ msgstr "선�"
 msgid "SSH Keys"
 msgstr "SSH 키"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to login to your GitHub account"
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "Wi‑Fi 네트워� 검색 중..."
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Search"
 msgstr ""
 
-#: system/ui/widgets/option_dialog.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "선�"
 
@@ -613,6 +880,10 @@ msgstr "브랜치 선�"
 msgid "Select a language"
 msgstr "언어 선�"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selecting a higher finger count may reduce accidental activations."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "시리얼"
@@ -629,6 +900,18 @@ msgstr "소프트웨어"
 msgid "Standard"
 msgstr "표준"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Start"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Stock DI"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Stock cruise required"
+msgstr ""
+
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "시스템 �답 없�"
@@ -645,14 +928,26 @@ msgstr "온�"
 msgid "Target Branch"
 msgstr "대� 브랜치"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Test Radar"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "테�� 비밀번호"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "This allows the use of full MADS functionality when enabled."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "토글"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Tools are only available offroad."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "UI 디버그 모드"
@@ -665,6 +960,14 @@ msgstr "제거"
 msgid "UPDATE"
 msgstr "업��트"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Uncalibrated"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Unconfigured"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "제거"
@@ -689,6 +992,10 @@ msgstr "운전� 방향 카메� ��터를 업로드하여 운전� 모니
 msgid "Use Metric System"
 msgstr "미터법 사용"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Use a multi-finger press on the infotainment screen to toggle MADS."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "차량"
@@ -713,11 +1020,11 @@ msgstr ""
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Wi‑Fi 네트워� 종량제"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "비밀번호가 올바르지 않습니다"
 
@@ -741,7 +1048,7 @@ msgstr "확� 중..."
 msgid "comma prime"
 msgstr "comma 프�임"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "default"
 msgstr "기본값"
 
@@ -761,7 +1068,7 @@ msgstr "업��트 확� 실패"
 msgid "finalizing update..."
 msgstr "업��트 마무리 중..."
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "\"{}\"ìš©"
 
@@ -769,7 +1076,7 @@ msgstr "\"{}\"ìš©"
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "�� 구성� 사용하려면 비워 �세요"
 
@@ -777,7 +1084,7 @@ msgstr "�� 구성� 사용하려면 비워 �세요"
 msgid "left"
 msgstr "왼쪽"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "metered"
 msgstr "종량제"
 
@@ -813,7 +1120,7 @@ msgstr ""
 msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "비종량제"
 
@@ -853,11 +1160,6 @@ msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "{}분 전"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "현재까지 귀하� 주행 {}구간� 학습 ��터셋� �함�었습니다."
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ 구��"
diff --git a/openpilot/selfdrive/ui/translations/app_pt-BR.po b/openpilot/selfdrive/ui/translations/app_pt-BR.po
index 5244d9f63faee6..7637f21b1e86dd 100644
--- a/openpilot/selfdrive/ui/translations/app_pt-BR.po
+++ b/openpilot/selfdrive/ui/translations/app_pt-BR.po
@@ -32,10 +32,22 @@ msgstr "Conectividade LTE 24/7"
 msgid "2G"
 msgstr "2G"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "3-Finger"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "4-Finger"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "5-Finger"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
@@ -52,7 +64,7 @@ msgstr "<br><br>A calibração da latência da direção está {}% concluída."
 msgid "ADD"
 msgstr "ADICIONAR"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "Configuração de APN"
 
@@ -60,7 +72,11 @@ msgstr "Configuração de APN"
 msgid "Acknowledge Excessive Actuation"
 msgstr "Reconhecer Atuação Excessiva"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Active Engagement Mode"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "Avançado"
 
@@ -72,6 +88,10 @@ msgstr "Agressivo"
 msgid "Agree"
 msgstr "Concordo"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Allows the driver to provide limited steering input while openpilot is engaged."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "Monitoramento de Motorista Sempre Ativo"
@@ -92,11 +112,19 @@ msgstr "Tem certeza de que deseja redefinir a calibração?"
 msgid "Are you sure you want to uninstall?"
 msgstr "Tem certeza de que deseja desinstalar?"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/onboarding.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "Voltar"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Backup EPAS"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Torne-se membro comma prime em connect.comma.ai"
@@ -105,6 +133,22 @@ msgstr "Torne-se membro comma prime em connect.comma.ai"
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "Adicione connect.comma.ai à tela inicial para usá-lo como um app"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bosch Radar"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 0"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 2"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "ALTERAR"
@@ -118,22 +162,30 @@ msgid "CHILL MODE ON"
 msgstr "MODO CHILL ATIVO"
 
 #: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "CONECTAR"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "CONECTANDO..."
 
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/keyboard.py
-#: system/ui/widgets/network.py
-#: system/ui/widgets/option_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Radar"
+msgstr ""
+
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/keyboard.py
+#: openpilot/system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "Cancelar"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "Dados móveis limitados"
 
@@ -145,7 +197,7 @@ msgstr "Alterar Idioma"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
 
@@ -157,6 +209,14 @@ msgstr "Toque em \"adicionar novo dispositivo\" e escaneie o QR code à direita"
 msgid "Close"
 msgstr "Fechar"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cooperative Steering (Beta)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cruise Coupled"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Versão Atual"
@@ -181,6 +241,10 @@ msgstr "Desenvolv"
 msgid "Device"
 msgstr "Dispositivo"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Diagnose Radar"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Desativar ao pressionar o acelerador"
@@ -217,10 +281,44 @@ msgstr "Câmera do Motorista"
 msgid "Driving Personality"
 msgstr "Personalidade"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "EDITAR"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Backup\n"
+"\n"
+"Extracts stock EPAS firmware. No flashing is performed.\n"
+"\n"
+"POWER THE CAR ON before starting.\n"
+"\n"
+"Press START to extract the backup."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Flash\n"
+"\n"
+"WARNING: This modifies steering-system firmware.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"Power loss during the flash can brick EPAS.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Restore\n"
+"\n"
+"WARNING: This reflashes steering-system firmware from the stock image.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "ERRO"
@@ -233,7 +331,7 @@ msgstr "ETH"
 msgid "EXPERIMENTAL MODE ON"
 msgstr "MODO EXPERIMENTAL ATIVO"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Early Access: Become a sunnypilot Sponsor"
 msgstr ""
 
@@ -242,15 +340,27 @@ msgstr ""
 msgid "Enable"
 msgstr "Ativar"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to change."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "Ativar ADB"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Comma Pedal hardware. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Ativar alertas de saída de faixa"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "Ativar roaming"
 
@@ -258,7 +368,7 @@ msgstr "Ativar roaming"
 msgid "Enable SSH"
 msgstr "Ativar SSH"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "Ativar compartilhamento"
 
@@ -266,6 +376,10 @@ msgstr "Ativar compartilhamento"
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable stock Bosch radar. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable sunnypilot"
 msgstr ""
@@ -274,23 +388,23 @@ msgstr ""
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "Digite APN"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "Digite SSID"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "Digite nova senha tethering"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "Digite a senha"
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Enter search query"
 msgstr ""
 
@@ -298,7 +412,7 @@ msgstr ""
 msgid "Enter your GitHub username"
 msgstr "Digite seu nome de usuário do GitHub"
 
-#: system/ui/widgets/list_view.py
+#: openpilot/system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "Erro"
 
@@ -310,7 +424,7 @@ msgstr "Modo Experimental"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "O Modo Experimental está indisponível neste carro pois o ACC original do carro é usado para controle longitudinal."
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "ESQUECENDO..."
 
@@ -326,15 +440,27 @@ msgstr "Fluxo contínuo"
 msgid "Firehose Mode"
 msgstr "Modo Firehose"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Flash EPAS"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow Distance"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget"
 msgstr "Esquecer"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "Esquecer rede Wi-Fi \"{}\"?"
 
@@ -350,7 +476,11 @@ msgstr "Acesse https://connect.comma.ai no seu telefone"
 msgid "HIGH"
 msgstr "ALTO"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hardware settings are only available offroad."
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "Rede oculta"
 
@@ -358,19 +488,23 @@ msgstr "Rede oculta"
 msgid "INSTALL"
 msgstr "INSTALAR"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "Endereço IP"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Independent"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Instalar Atualização"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
 msgstr ""
 
@@ -386,14 +520,34 @@ msgstr "CARREGANDO"
 msgid "LTE"
 msgstr "LTE"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral Engagement Mode"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Modo de Manobra Longitudinal"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Only"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Path"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "MADS Screen Activation"
+msgstr ""
+
 #: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "M�X"
@@ -422,13 +576,21 @@ msgstr "Nenhuma chave SSH encontrada para o usuário '{}'"
 msgid "No release notes available."
 msgstr "Sem notas de versão disponíveis."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "None"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Note: Setting this to Off will reset your MADS settings to default."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "OFF-LINE"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/html_render.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
@@ -436,6 +598,10 @@ msgstr "OK"
 msgid "ONLINE"
 msgstr "ON-LINE"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Abrir"
@@ -464,7 +630,7 @@ msgstr "Emparelhar Dispositivo"
 msgid "Pair device"
 msgstr "Emparelhar dispositivo"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Pair your GitHub account"
 msgstr ""
 
@@ -477,6 +643,40 @@ msgstr "Emparelhe seu dispositivo à sua conta comma"
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "Emparelhe seu dispositivo com o comma connect (connect.comma.ai) e resgate sua oferta comma prime."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal CAN Bus"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Pedal Calibration\n"
+"\n"
+"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Car must be ON, Neutral, brake held\n"
+"  3. Do NOT press the accelerator\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Interceptor"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Pedal Unavailable"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Conecte-se ao Wi‑Fi para concluir o emparelhamento inicial"
@@ -485,11 +685,19 @@ msgstr "Conecte-se ao Wi‑Fi para concluir o emparelhamento inicial"
 msgid "Power Off"
 msgstr "Desligar"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Press Brake to Slow Down"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "Evitar uploads grandes de dados em conexões Wi-Fi limitadas"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "Evitar uploads grandes de dados em conexões móveis limitadas"
 
@@ -513,7 +721,58 @@ msgstr "REDEFINIR"
 msgid "REVIEW"
 msgstr "REVISAR"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Behind Nosecone"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Calibration\n"
+"\n"
+"Displays filtered Bosch radar points to help align the sensor.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Vehicle parked with a target 3-10m ahead\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Diagnosis\n"
+"\n"
+"Reads Bosch radar health without changing panda safety mode.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Radar Error: Restart the Car"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset (m)"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Test\n"
+"\n"
+"Displays live Bosch radar tracks for installation checks.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
 msgstr ""
 
@@ -541,6 +800,10 @@ msgstr "Gravar e Enviar �udio do Microfone"
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "Grave e armazene o áudio do microfone enquanto dirige. O áudio será incluído no vídeo da dashcam no comma connect."
 
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Regen Limit Reached"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Regulatório"
@@ -569,6 +832,10 @@ msgstr "Redefinir"
 msgid "Reset Calibration"
 msgstr "Redefinir Calibração"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Restore EPAS"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Revisar Guia de Treinamento"
@@ -585,23 +852,23 @@ msgstr "SELECIONAR"
 msgid "SSH Keys"
 msgstr "Chaves SSH"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to login to your GitHub account"
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "Procurando redes Wi-Fi..."
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Search"
 msgstr ""
 
-#: system/ui/widgets/option_dialog.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "Selecione"
 
@@ -613,6 +880,10 @@ msgstr "Selecione uma ramificação"
 msgid "Select a language"
 msgstr "Selecione um idioma"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selecting a higher finger count may reduce accidental activations."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "Número de série"
@@ -629,6 +900,18 @@ msgstr "Sistema"
 msgid "Standard"
 msgstr "Padrão"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Start"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Stock DI"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Stock cruise required"
+msgstr ""
+
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "Sistema sem resposta"
@@ -645,14 +928,26 @@ msgstr "TEMP."
 msgid "Target Branch"
 msgstr "Branch Alvo"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Test Radar"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "Senha Tethering"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "This allows the use of full MADS functionality when enabled."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Alternativas"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Tools are only available offroad."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "Modo de depuração da interface do usuário"
@@ -665,6 +960,14 @@ msgstr "DESINSTALAR"
 msgid "UPDATE"
 msgstr "ATUALIZAR"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Uncalibrated"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Unconfigured"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Desinstalar"
@@ -689,6 +992,10 @@ msgstr "Envie dados da câmera voltada para o motorista e ajude a melhorar o alg
 msgid "Use Metric System"
 msgstr "Usar Sistema Métrico"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Use a multi-finger press on the infotainment screen to toggle MADS."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "VE�CULO"
@@ -713,11 +1020,11 @@ msgstr ""
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Rede Wi-Fi limitada"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "Senha errada"
 
@@ -741,7 +1048,7 @@ msgstr "verificando..."
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "default"
 msgstr "padrão"
 
@@ -761,7 +1068,7 @@ msgstr "falha ao verificar atualização"
 msgid "finalizing update..."
 msgstr "finalizando atualização..."
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "para \"{}\""
 
@@ -769,7 +1076,7 @@ msgstr "para \"{}\""
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "deixe em branco para configuração automática"
 
@@ -777,7 +1084,7 @@ msgstr "deixe em branco para configuração automática"
 msgid "left"
 msgstr "à esquerda"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "metered"
 msgstr "limitados"
 
@@ -813,7 +1120,7 @@ msgstr ""
 msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "ilimitados"
 
@@ -857,12 +1164,6 @@ msgid_plural "{} minutes ago"
 msgstr[0] "{} minuto atrás"
 msgstr[1] "{} minutos atrás"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "{} segmento da sua condução está no conjunto de treinamento até agora."
-msgstr[1] "{} segmentos da sua condução estão no conjunto de treinamento até agora."
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ ASSINADO"
diff --git a/openpilot/selfdrive/ui/translations/app_th.po b/openpilot/selfdrive/ui/translations/app_th.po
index 4897809528419e..e8a5d755af9d6b 100644
--- a/openpilot/selfdrive/ui/translations/app_th.po
+++ b/openpilot/selfdrive/ui/translations/app_th.po
@@ -32,10 +32,22 @@ msgstr "�ารเชื่อมต่อ LTE ตลอด 24 ชั่วโ
 msgid "2G"
 msgstr "2จี"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "3-Finger"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3จี"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "4-Finger"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "5-Finger"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5จี"
@@ -52,7 +64,7 @@ msgstr "<br><br>�ารปรับเทียบความล่าช้
 msgid "ADD"
 msgstr "เพิ่ม"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "�ารตั้งค่า APN"
 
@@ -60,7 +72,11 @@ msgstr "�ารตั้งค่า APN"
 msgid "Acknowledge Excessive Actuation"
 msgstr "รับทราบ�ารดำเนิน�ารที่มา�เ�ินไป"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Active Engagement Mode"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "ขั้นสูง"
 
@@ -72,6 +88,10 @@ msgstr "�้าวร้าว"
 msgid "Agree"
 msgstr "เห็นด้วย"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Allows the driver to provide limited steering input while openpilot is engaged."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "�ารตรวจสอบไดรเวอร์ตลอดเวลา"
@@ -92,11 +112,19 @@ msgstr "คุณ�น่ใจหรือไม่ว่าต้อง�า
 msgid "Are you sure you want to uninstall?"
 msgstr "คุณ�น่ใจหรือไม่ว่าต้อง�ารถอน�ารติดตั้ง?"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/onboarding.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "�ลับ"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Backup EPAS"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "เป็นสมาชิ�จุลภาคไพรม์ที่ Connect.comma.ai"
@@ -105,6 +133,22 @@ msgstr "เป็นสมาชิ�จุลภาคไพรม์ที่
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "คั่นหน้า Connect.comma.ai ไปที่หน้าจอหลั�ของคุณเพื่อใช้เหมือน�อป"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bosch Radar"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 0"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 2"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "เปลี่ยน"
@@ -118,22 +162,30 @@ msgid "CHILL MODE ON"
 msgstr "เปิดโหมด Chill"
 
 #: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "เชื่อมต่อ"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "�ำลังเชื่อมต่อ..."
 
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/keyboard.py
-#: system/ui/widgets/network.py
-#: system/ui/widgets/option_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Radar"
+msgstr ""
+
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/keyboard.py
+#: openpilot/system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "ย�เลิ�"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "เซลล์วัด�สง"
 
@@ -145,7 +197,7 @@ msgstr "เปลี่ยนภาษา"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
 
@@ -157,6 +209,14 @@ msgstr "คลิ� \"เพิ่มอุป�รณ์ใหม่\" �ล
 msgid "Close"
 msgstr "ปิด"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cooperative Steering (Beta)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cruise Coupled"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "เวอร์ชันปัจจุบัน"
@@ -181,6 +241,10 @@ msgstr "นั�พัฒนา"
 msgid "Device"
 msgstr "อุป�รณ์"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Diagnose Radar"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "ปลดเมื่อเหยียบคันเร่ง"
@@ -217,10 +281,44 @@ msgstr "�ล้องไดร์เวอร์"
 msgid "Driving Personality"
 msgstr "บุคลิ�ภาพใน�ารขับขี่"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "��้ไข"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Backup\n"
+"\n"
+"Extracts stock EPAS firmware. No flashing is performed.\n"
+"\n"
+"POWER THE CAR ON before starting.\n"
+"\n"
+"Press START to extract the backup."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Flash\n"
+"\n"
+"WARNING: This modifies steering-system firmware.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"Power loss during the flash can brick EPAS.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Restore\n"
+"\n"
+"WARNING: This reflashes steering-system firmware from the stock image.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "ข้อผิดพลาด"
@@ -233,7 +331,7 @@ msgstr "ผลประโยชน์ทับซ้อน"
 msgid "EXPERIMENTAL MODE ON"
 msgstr "โหมดทดลองเปิดอยู่"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Early Access: Become a sunnypilot Sponsor"
 msgstr ""
 
@@ -242,15 +340,27 @@ msgstr ""
 msgid "Enable"
 msgstr "เปิดใช้งาน"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to change."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "เปิดใช้งาน ADB"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Comma Pedal hardware. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "เปิดใช้งานคำเตือน�ารออ�นอ�เลน"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "เปิดใช้งานโรมมิ่ง"
 
@@ -258,7 +368,7 @@ msgstr "เปิดใช้งานโรมมิ่ง"
 msgid "Enable SSH"
 msgstr "เปิดใช้งาน SSH"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "เปิดใช้งาน�ารปล่อยสั��าณ"
 
@@ -266,6 +376,10 @@ msgstr "เปิดใช้งาน�ารปล่อยสั��าณ
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable stock Bosch radar. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable sunnypilot"
 msgstr ""
@@ -274,23 +388,23 @@ msgstr ""
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "ป้อน APN"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "ป้อน SSID"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "ป้อนรหัสผ่าน�ารปล่อยสั��าณใหม่"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "ใส่รหัสผ่าน"
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Enter search query"
 msgstr ""
 
@@ -298,7 +412,7 @@ msgstr ""
 msgid "Enter your GitHub username"
 msgstr "ป้อนชื่อผู้ใช้ GitHub ของคุณ"
 
-#: system/ui/widgets/list_view.py
+#: openpilot/system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "ข้อผิดพลาด"
 
@@ -310,7 +424,7 @@ msgstr "โหมดทดลอง"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "ขณะนี้โหมดทดลองไม่สามารถใช้งานได้บนรถคันนี้ เนื่องจา� ACC ในสต็อ�ของรถใช้สำหรับ�ารควบคุมตามยาว"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "�ำลังลืม..."
 
@@ -326,15 +440,27 @@ msgstr "สายดับเพลิง"
 msgid "Firehose Mode"
 msgstr "โหมดสายดับเพลิง"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Flash EPAS"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow Distance"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget"
 msgstr "ลืม"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "ลืมเครือข่าย Wi-Fi \"{}\" หรือไม่"
 
@@ -350,7 +476,11 @@ msgstr "ไปที่ https://connect.comma.ai บนโทรศัพท์
 msgid "HIGH"
 msgstr "สูง"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hardware settings are only available offroad."
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "เครือข่ายที่ซ่อนอยู่"
 
@@ -358,19 +488,23 @@ msgstr "เครือข่ายที่ซ่อนอยู่"
 msgid "INSTALL"
 msgstr "ติดตั้ง"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "ที่อยู่ IP"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Independent"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "ติดตั้งอัปเดต"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
 msgstr ""
 
@@ -386,14 +520,34 @@ msgstr "�ำลังโหลด"
 msgid "LTE"
 msgstr "�อลทีที"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral Engagement Mode"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "โหมด�ารซ้อมรบตามยาว"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Only"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Path"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "MADS Screen Activation"
+msgstr ""
+
 #: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "สูงสุด"
@@ -422,13 +576,21 @@ msgstr "ไม่พบคีย์ SSH สำหรับผู้ใช้ '{}
 msgid "No release notes available."
 msgstr "ไม่มีบันทึ�ประจำรุ่น"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "None"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Note: Setting this to Off will reset your MADS settings to default."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "ออฟไลน์"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/html_render.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "ต�ลง"
 
@@ -436,6 +598,10 @@ msgstr "ต�ลง"
 msgid "ONLINE"
 msgstr "ออนไลน์"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "เปิด"
@@ -464,7 +630,7 @@ msgstr "จับคู่อุป�รณ์"
 msgid "Pair device"
 msgstr "จับคู่อุป�รณ์"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Pair your GitHub account"
 msgstr ""
 
@@ -477,6 +643,40 @@ msgstr "จับคู่อุป�รณ์ของคุณ�ับบั
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "จับคู่อุป�รณ์ของคุณ�ับ�ารเชื่อมต่อด้วยเครื่องหมายจุลภาค (connect.comma.ai) �ละรับข้อเสนอจุลภาคเฉพาะของคุณ"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal CAN Bus"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Pedal Calibration\n"
+"\n"
+"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Car must be ON, Neutral, brake held\n"
+"  3. Do NOT press the accelerator\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Interceptor"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Pedal Unavailable"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "โปรดเชื่อมต่อ Wi-Fi เพื่อทำ�ารจับคู่ครั้ง�ร�ให้เสร็จสิ้น"
@@ -485,11 +685,19 @@ msgstr "โปรดเชื่อมต่อ Wi-Fi เพื่อทำ�
 msgid "Power Off"
 msgstr "ปิดเครื่อง"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Press Brake to Slow Down"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "ป้อง�ัน�ารอัปโหลดข้อมูลขนาดให�่เมื่อใช้�ารเชื่อมต่อ Wi-Fi �บบมิเตอร์"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "ป้อง�ัน�ารอัพโหลดข้อมูลขนาดให�่เมื่อใช้�ารเชื่อมต่อมือถือ�บบคิดค่าบริ�ารตามปริมาณข้อมูล"
 
@@ -513,7 +721,58 @@ msgstr "รีเซ็ต"
 msgid "REVIEW"
 msgstr "ทบทวน"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Behind Nosecone"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Calibration\n"
+"\n"
+"Displays filtered Bosch radar points to help align the sensor.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Vehicle parked with a target 3-10m ahead\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Diagnosis\n"
+"\n"
+"Reads Bosch radar health without changing panda safety mode.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Radar Error: Restart the Car"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset (m)"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Test\n"
+"\n"
+"Displays live Bosch radar tracks for installation checks.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
 msgstr ""
 
@@ -541,6 +800,10 @@ msgstr "บันทึ��ละอัปโหลดเสียงไมโ
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "บันทึ��ละจัดเ�็บเสียงไมโครโฟนขณะขับรถ เสียงจะรวมอยู่ในวิดีโอ dashcam ด้วย�ารเชื่อมต่อด้วยเครื่องหมายจุลภาค"
 
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Regen Limit Reached"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "�ฎระเบียบ"
@@ -569,6 +832,10 @@ msgstr "รีเซ็ต"
 msgid "Reset Calibration"
 msgstr "รีเซ็ต�ารปรับเทียบ"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Restore EPAS"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "ทบทวนคู่มือ�าร�ึ�อบรม"
@@ -585,23 +852,23 @@ msgstr "เลือ�"
 msgid "SSH Keys"
 msgstr "คีย์ SSH"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to login to your GitHub account"
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "�ำลังส��นเครือข่าย Wi-Fi..."
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Search"
 msgstr ""
 
-#: system/ui/widgets/option_dialog.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "เลือ�"
 
@@ -613,6 +880,10 @@ msgstr "เลือ�สาขา"
 msgid "Select a language"
 msgstr "เลือ�ภาษา"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selecting a higher finger count may reduce accidental activations."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "อนุ�รม"
@@ -629,6 +900,18 @@ msgstr "ซอฟต์�วร์"
 msgid "Standard"
 msgstr "มาตร�าน"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Start"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Stock DI"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Stock cruise required"
+msgstr ""
+
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "ระบบไม่ตอบสนอง"
@@ -645,14 +928,26 @@ msgstr "อุณหภูมิ"
 msgid "Target Branch"
 msgstr "สาขาเป้าหมาย"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Test Radar"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "รหัสผ่าน�าร�ชร์อินเทอร์เน็ต"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "This allows the use of full MADS functionality when enabled."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "สลับ"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Tools are only available offroad."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "โหมดดีบั� UI"
@@ -665,6 +960,14 @@ msgstr "ถอน�ารติดตั้ง"
 msgid "UPDATE"
 msgstr "อัปเดต"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Uncalibrated"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Unconfigured"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "ถอน�ารติดตั้ง"
@@ -689,6 +992,10 @@ msgstr "อัปโหลดข้อมูลจา��ล้องที่
 msgid "Use Metric System"
 msgstr "ใช้ระบบเมตริ�"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Use a multi-finger press on the infotainment screen to toggle MADS."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "ยานพาหนะ"
@@ -713,11 +1020,11 @@ msgstr ""
 msgid "Wi-Fi"
 msgstr "อินเตอร์เน็ตไร้สาย"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "เครือข่าย Wi-Fi มี�ารตรวจวัด"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "รหัสผ่านผิด"
 
@@ -741,7 +1048,7 @@ msgstr "�ำลังตรวจสอบ..."
 msgid "comma prime"
 msgstr "เครื่องหมายลู�น้ำเฉพาะ"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "default"
 msgstr "ค่าเริ่มต้น"
 
@@ -761,7 +1068,7 @@ msgstr "ไม่สามารถตรวจสอบ�ารอัปเด
 msgid "finalizing update..."
 msgstr "�ำลังสรุป�ารอัปเดต..."
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "สำหรับ \"{}\""
 
@@ -769,7 +1076,7 @@ msgstr "สำหรับ \"{}\""
 msgid "km/h"
 msgstr "�ม./ชม"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "เว้นว่างไว้เพื่อ�ำหนดค่าอัตโนมัติ"
 
@@ -777,7 +1084,7 @@ msgstr "เว้นว่างไว้เพื่อ�ำหนดค่า
 msgid "left"
 msgstr "ซ้าย"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "metered"
 msgstr "คิดค่าบริ�ารตามปริมาณ"
 
@@ -813,7 +1120,7 @@ msgstr ""
 msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "ไม่จำ�ัดปริมาณ"
 
@@ -853,11 +1160,6 @@ msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "{} นาทีที่�ล้ว"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "ขณะนี้มีช่วง�ารขับขี่ของคุณ {} ช่วงอยู่ในชุดข้อมูล�ึ�สอน�ล้ว"
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ สมัคร�ล้ว"
diff --git a/openpilot/selfdrive/ui/translations/app_tr.po b/openpilot/selfdrive/ui/translations/app_tr.po
index a6da586bbd0dec..2473c8bfffe6b4 100644
--- a/openpilot/selfdrive/ui/translations/app_tr.po
+++ b/openpilot/selfdrive/ui/translations/app_tr.po
@@ -32,10 +32,22 @@ msgstr "7/24 LTE bağlantısı"
 msgid "2G"
 msgstr "2G"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "3-Finger"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "4-Finger"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "5-Finger"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
@@ -52,7 +64,7 @@ msgstr "<br><br>Direksiyon gecikmesi kalibrasyonu %{} tamamlandı."
 msgid "ADD"
 msgstr "EKLE"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "APN Ayarı"
 
@@ -60,7 +72,11 @@ msgstr "APN Ayarı"
 msgid "Acknowledge Excessive Actuation"
 msgstr "Aşırı Müdahaleyi Onayla"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Active Engagement Mode"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "GeliÅŸmiÅŸ"
 
@@ -72,6 +88,10 @@ msgstr "Agresif"
 msgid "Agree"
 msgstr "Kabul et"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Allows the driver to provide limited steering input while openpilot is engaged."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "Sürekli Sürücü İzleme"
@@ -92,11 +112,19 @@ msgstr "Kalibrasyonu sıfırlamak istediğinizden emin misiniz?"
 msgid "Are you sure you want to uninstall?"
 msgstr "Kaldırmak istediğinizden emin misiniz?"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/onboarding.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "Geri"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Backup EPAS"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "connect.comma.ai adresinde comma prime üyesi olun"
@@ -105,6 +133,22 @@ msgstr "connect.comma.ai adresinde comma prime üyesi olun"
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "connect.comma.ai'yi ana ekranınıza ekleyerek bir uygulama gibi kullanın"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bosch Radar"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 0"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 2"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "DEĞİŞTİR"
@@ -118,22 +162,30 @@ msgid "CHILL MODE ON"
 msgstr "CHILL MODU AÇIK"
 
 #: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "BAÄžLAN"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "BAÄžLAN"
 
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/keyboard.py
-#: system/ui/widgets/network.py
-#: system/ui/widgets/option_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Radar"
+msgstr ""
+
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/keyboard.py
+#: openpilot/system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "Ä°ptal"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "Ölçülü Hücresel"
 
@@ -145,7 +197,7 @@ msgstr "Dili DeÄŸiÅŸtir"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
 
@@ -157,6 +209,14 @@ msgstr "\"yeni cihaz ekle\"ye tıklayın ve sağdaki QR kodunu tarayın"
 msgid "Close"
 msgstr "Kapat"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cooperative Steering (Beta)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cruise Coupled"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Geçerli Sürüm"
@@ -181,6 +241,10 @@ msgstr "GeliÅŸtirici"
 msgid "Device"
 msgstr "Cihaz"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Diagnose Radar"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Gaz Pedalında Devreden Çık"
@@ -217,10 +281,44 @@ msgstr "Sürücü Kamerası"
 msgid "Driving Personality"
 msgstr "Sürüş Kişiliği"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "DÃœZENLE"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Backup\n"
+"\n"
+"Extracts stock EPAS firmware. No flashing is performed.\n"
+"\n"
+"POWER THE CAR ON before starting.\n"
+"\n"
+"Press START to extract the backup."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Flash\n"
+"\n"
+"WARNING: This modifies steering-system firmware.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"Power loss during the flash can brick EPAS.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Restore\n"
+"\n"
+"WARNING: This reflashes steering-system firmware from the stock image.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "HATA"
@@ -233,7 +331,7 @@ msgstr "ETH"
 msgid "EXPERIMENTAL MODE ON"
 msgstr "DENEYSEL MOD AÇIK"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Early Access: Become a sunnypilot Sponsor"
 msgstr ""
 
@@ -242,15 +340,27 @@ msgstr ""
 msgid "Enable"
 msgstr "EtkinleÅŸtir"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to change."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "ADB'yi EtkinleÅŸtir"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Comma Pedal hardware. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Şerit Terk Uyarılarını Etkinleştir"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "Dolaşımı Etkinleştir"
 
@@ -258,7 +368,7 @@ msgstr "Dolaşımı Etkinleştir"
 msgid "Enable SSH"
 msgstr "SSH'yi EtkinleÅŸtir"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "İnternet Paylaşımını Etkinleştir"
 
@@ -266,6 +376,10 @@ msgstr "İnternet Paylaşımını Etkinleştir"
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable stock Bosch radar. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable sunnypilot"
 msgstr ""
@@ -274,23 +388,23 @@ msgstr ""
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "APN girin"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "SSID girin"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "Yeni internet paylaşımı şifresini girin"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "Åžifre girin"
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Enter search query"
 msgstr ""
 
@@ -298,7 +412,7 @@ msgstr ""
 msgid "Enter your GitHub username"
 msgstr "GitHub kullanıcı adınızı girin"
 
-#: system/ui/widgets/list_view.py
+#: openpilot/system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "Hata"
 
@@ -310,7 +424,7 @@ msgstr "Deneysel Mod"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "Bu araçta boylamsal kontrol için stok ACC kullanıldığından şu anda Deneysel mod kullanılamıyor."
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "UNUTULUYOR..."
 
@@ -326,15 +440,27 @@ msgstr "Yoğun veri akışı"
 msgid "Firehose Mode"
 msgstr "Firehose Modu"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Flash EPAS"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow Distance"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget"
 msgstr "Unut"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "\"{}\" Wi‑Fi ağı unutulsun mu?"
 
@@ -350,7 +476,11 @@ msgstr "Telefonunuzda https://connect.comma.ai adresine gidin"
 msgid "HIGH"
 msgstr "YÃœKSEK"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hardware settings are only available offroad."
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "Gizli AÄŸ"
 
@@ -358,19 +488,23 @@ msgstr "Gizli AÄŸ"
 msgid "INSTALL"
 msgstr "YÃœKLE"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "IP Adresi"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Independent"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Güncellemeyi Yükle"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
 msgstr ""
 
@@ -386,14 +520,34 @@ msgstr "YÃœKLENÄ°YOR"
 msgid "LTE"
 msgstr "LTE"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral Engagement Mode"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Boylamsal Manevra Modu"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Only"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Path"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "MADS Screen Activation"
+msgstr ""
+
 #: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "MAKS"
@@ -422,13 +576,21 @@ msgstr "'{}' kullanıcısı için SSH anahtarı bulunamadı"
 msgid "No release notes available."
 msgstr "Sürüm notu mevcut değil."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "None"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Note: Setting this to Off will reset your MADS settings to default."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "ÇEVRİMDIŞI"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/html_render.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
@@ -436,6 +598,10 @@ msgstr "OK"
 msgid "ONLINE"
 msgstr "ÇEVRİMİÇİ"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Aç"
@@ -464,7 +630,7 @@ msgstr "Cihazı Eşle"
 msgid "Pair device"
 msgstr "Cihazı eşle"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Pair your GitHub account"
 msgstr ""
 
@@ -477,6 +643,40 @@ msgstr "Cihazınızı comma hesabınızla eşleştirin"
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "Cihazınızı comma connect (connect.comma.ai) ile eşleştirin ve comma prime teklifinizi alın."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal CAN Bus"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Pedal Calibration\n"
+"\n"
+"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Car must be ON, Neutral, brake held\n"
+"  3. Do NOT press the accelerator\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Interceptor"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Pedal Unavailable"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "İlk eşleştirmeyi tamamlamak için lütfen Wi‑Fi'a bağlanın"
@@ -485,11 +685,19 @@ msgstr "İlk eşleştirmeyi tamamlamak için lütfen Wi‑Fi'a bağlanın"
 msgid "Power Off"
 msgstr "Kapat"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Press Brake to Slow Down"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "Ölçülü bir Wi‑Fi bağlantısındayken büyük veri yüklemelerini engelle"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "Ölçülü bir hücresel bağlantıdayken büyük veri yüklemelerini engelle"
 
@@ -513,7 +721,58 @@ msgstr "SIFIRLA"
 msgid "REVIEW"
 msgstr "GÖZDEN GEÇİR"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Behind Nosecone"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Calibration\n"
+"\n"
+"Displays filtered Bosch radar points to help align the sensor.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Vehicle parked with a target 3-10m ahead\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Diagnosis\n"
+"\n"
+"Reads Bosch radar health without changing panda safety mode.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Radar Error: Restart the Car"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset (m)"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Test\n"
+"\n"
+"Displays live Bosch radar tracks for installation checks.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
 msgstr ""
 
@@ -541,6 +800,10 @@ msgstr "Mikrofon Sesini Kaydet ve Yükle"
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "Sürüş sırasında mikrofon sesini kaydedip saklayın. Ses, comma connect'teki ön kamera videosuna dahil edilecektir."
 
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Regen Limit Reached"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Mevzuat"
@@ -569,6 +832,10 @@ msgstr "Sıfırla"
 msgid "Reset Calibration"
 msgstr "Kalibrasyonu Sıfırla"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Restore EPAS"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Eğitim Kılavuzunu İncele"
@@ -585,23 +852,23 @@ msgstr "SEÇ"
 msgid "SSH Keys"
 msgstr "SSH Anahtarları"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to login to your GitHub account"
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "Wi‑Fi ağları taranıyor..."
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Search"
 msgstr ""
 
-#: system/ui/widgets/option_dialog.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "Seç"
 
@@ -613,6 +880,10 @@ msgstr "Bir dal seçin"
 msgid "Select a language"
 msgstr "Bir dil seçin"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selecting a higher finger count may reduce accidental activations."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "Seri"
@@ -629,6 +900,18 @@ msgstr "Yazılım"
 msgid "Standard"
 msgstr "Standart"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Start"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Stock DI"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Stock cruise required"
+msgstr ""
+
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "Sistem Yanıt Vermiyor"
@@ -645,14 +928,26 @@ msgstr "SIC."
 msgid "Target Branch"
 msgstr "Hedef Dal"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Test Radar"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "İnternet Paylaşımı Şifresi"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "This allows the use of full MADS functionality when enabled."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Seçenekler"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Tools are only available offroad."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "Arayüz Hata Ayıklama Modu"
@@ -665,6 +960,14 @@ msgstr "KALDIR"
 msgid "UPDATE"
 msgstr "GÃœNCELLE"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Uncalibrated"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Unconfigured"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Kaldır"
@@ -689,6 +992,10 @@ msgstr "Sürücüye bakan kameradan veri yükleyin ve sürücü izleme algoritma
 msgid "Use Metric System"
 msgstr "Metrik Sistemi Kullan"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Use a multi-finger press on the infotainment screen to toggle MADS."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "ARAÇ"
@@ -713,11 +1020,11 @@ msgstr ""
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Ölçülü Wi‑Fi Ağı"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "Yanlış şifre"
 
@@ -741,7 +1048,7 @@ msgstr "kontrol ediliyor..."
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "default"
 msgstr "varsayılan"
 
@@ -761,7 +1068,7 @@ msgstr "güncelleme kontrolü başarısız"
 msgid "finalizing update..."
 msgstr "güncelleme tamamlanıyor..."
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "\"{}\" için"
 
@@ -769,7 +1076,7 @@ msgstr "\"{}\" için"
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "otomatik yapılandırma için boş bırakın"
 
@@ -777,7 +1084,7 @@ msgstr "otomatik yapılandırma için boş bırakın"
 msgid "left"
 msgstr "sol"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "metered"
 msgstr "ölçülü"
 
@@ -813,7 +1120,7 @@ msgstr ""
 msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "ölçüsüz"
 
@@ -857,12 +1164,6 @@ msgid_plural "{} minutes ago"
 msgstr[0] "{} dakika önce"
 msgstr[1] "{} dakika önce"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "{} segment sürüşünüz eğitim veri setinde."
-msgstr[1] "{} segment sürüşünüz eğitim veri setinde."
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ ABONE"
diff --git a/openpilot/selfdrive/ui/translations/app_uk.po b/openpilot/selfdrive/ui/translations/app_uk.po
index 43d78fad1c1c08..da751fe2214a41 100644
--- a/openpilot/selfdrive/ui/translations/app_uk.po
+++ b/openpilot/selfdrive/ui/translations/app_uk.po
@@ -32,10 +32,22 @@ msgstr "Підключенн� LTE 24/7"
 msgid "2G"
 msgstr "2G"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "3-Finger"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "4-Finger"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "5-Finger"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
@@ -52,7 +64,7 @@ msgstr "<br><br>Калібруванн� затримки кермуванн� 
 msgid "ADD"
 msgstr "ДОД�ТИ"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "�алаштуванн� APN"
 
@@ -60,7 +72,11 @@ msgstr "�алаштуванн� APN"
 msgid "Acknowledge Excessive Actuation"
 msgstr "Визнайте надмірне �працьовуванн�"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Active Engagement Mode"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "Розширені"
 
@@ -72,6 +88,10 @@ msgstr "�гре�ивн."
 msgid "Agree"
 msgstr "Погодити��"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Allows the driver to provide limited steering input while openpilot is engaged."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "По�тійний моніторинг воді�"
@@ -92,11 +112,19 @@ msgstr "Ви впевнені, що хочете �кинути калібрув
 msgid "Are you sure you want to uninstall?"
 msgstr "Ви впевнені, що хочете видалити?"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/onboarding.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "�азад"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Backup EPAS"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Станьте членом comma prime на connect.comma.ai"
@@ -105,6 +133,22 @@ msgstr "Станьте членом comma prime на connect.comma.ai"
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "Додайте connect.comma.ai до головного екрану, щоб викори�товувати його �к додаток."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bosch Radar"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 0"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 2"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "ЗМІ�ИТИ"
@@ -118,22 +162,30 @@ msgid "CHILL MODE ON"
 msgstr "СПОКІЙ�ИЙ РЕЖИМ"
 
 #: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "ПІДКЛЮЧИТИ"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "ПІДКЛЮЧ�..."
 
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/keyboard.py
-#: system/ui/widgets/network.py
-#: system/ui/widgets/option_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Radar"
+msgstr ""
+
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/keyboard.py
+#: openpilot/system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "Ска�увати"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "Лімітне �тільникове з'єднанн�"
 
@@ -145,7 +197,7 @@ msgstr "Змінити мову"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
 
@@ -157,6 +209,14 @@ msgstr "�ати�ніть «додати новий при�трій» і ві
 msgid "Close"
 msgstr "Закрити"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cooperative Steering (Beta)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cruise Coupled"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Поточна вер�і�"
@@ -181,6 +241,10 @@ msgstr "Розробник"
 msgid "Device"
 msgstr "При�трій"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Diagnose Radar"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Вимкненн� при нати�канні на педаль газу"
@@ -217,10 +281,44 @@ msgstr "Камера воді�"
 msgid "Driving Personality"
 msgstr "Стиль водінн�"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "РЕД�Г."
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Backup\n"
+"\n"
+"Extracts stock EPAS firmware. No flashing is performed.\n"
+"\n"
+"POWER THE CAR ON before starting.\n"
+"\n"
+"Press START to extract the backup."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Flash\n"
+"\n"
+"WARNING: This modifies steering-system firmware.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"Power loss during the flash can brick EPAS.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Restore\n"
+"\n"
+"WARNING: This reflashes steering-system firmware from the stock image.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "ПОМИЛК�"
@@ -233,7 +331,7 @@ msgstr "ETH"
 msgid "EXPERIMENTAL MODE ON"
 msgstr "ЕКСПЕРИМЕ�Т. РЕЖИМ"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Early Access: Become a sunnypilot Sponsor"
 msgstr ""
 
@@ -242,15 +340,27 @@ msgstr ""
 msgid "Enable"
 msgstr "Увімкнути"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to change."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "Увімкнути ADB"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Comma Pedal hardware. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Увімкнути попередженн� про виїзд зі �муги"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "Увімкнути роумінг"
 
@@ -258,7 +368,7 @@ msgstr "Увімкнути роумінг"
 msgid "Enable SSH"
 msgstr "Увімкнути SSH"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "Увімкнути точку до�тупу"
 
@@ -266,6 +376,10 @@ msgstr "Увімкнути точку до�тупу"
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable stock Bosch radar. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable sunnypilot"
 msgstr ""
@@ -274,23 +388,23 @@ msgstr ""
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "Введіть APN"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "Введіть SSID"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "Введіть новий пароль дл� модему"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "Введіть пароль"
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Enter search query"
 msgstr ""
 
@@ -298,7 +412,7 @@ msgstr ""
 msgid "Enter your GitHub username"
 msgstr "Введіть ваш логін GitHub"
 
-#: system/ui/widgets/list_view.py
+#: openpilot/system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "Помилка"
 
@@ -310,7 +424,7 @@ msgstr "Ек�периментальний режим"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "Ек�периментальний режим наразі недо�тупний дл� цього автомобіл�, о�кільки дл� поздовжнього керуванн� викори�товуєть�� штатний адаптивний круїз-контроль (ACC)."
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "З�БУВ�Ю..."
 
@@ -326,15 +440,27 @@ msgstr "Злива"
 msgid "Firehose Mode"
 msgstr "Режим зливи"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Flash EPAS"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow Distance"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget"
 msgstr "Забути"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "Забути мережу Wi-Fi \"{}\"?"
 
@@ -350,7 +476,11 @@ msgstr "Перейдіть на �айт https://connect.comma.ai на �воє
 msgid "HIGH"
 msgstr "ВИСОК�"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hardware settings are only available offroad."
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "Прихована мережа"
 
@@ -358,19 +488,23 @@ msgstr "Прихована мережа"
 msgid "INSTALL"
 msgstr "ВСТ��ОВ."
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "IP-адре�а"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Independent"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "В�тановити оновленн�"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
 msgstr ""
 
@@ -386,14 +520,34 @@ msgstr "З�В��Т�ЖЕ��Я"
 msgid "LTE"
 msgstr "LTE"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral Engagement Mode"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Режим поздовжнього маневруванн�"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Only"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Path"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "MADS Screen Activation"
+msgstr ""
+
 #: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "М�КС"
@@ -422,13 +576,21 @@ msgstr "Кори�тувач '{}' не має ключів на GitHub"
 msgid "No release notes available."
 msgstr "Інформаці� про випу�к від�утн�."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "None"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Note: Setting this to Off will reset your MADS settings to default."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "ОФЛ�Й�"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/html_render.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
@@ -436,6 +598,10 @@ msgstr "OK"
 msgid "ONLINE"
 msgstr "О�Л�Й�"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "ВІДКРИТИ"
@@ -464,7 +630,7 @@ msgstr "Підключити при�трій"
 msgid "Pair device"
 msgstr "Підключити при�трій"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Pair your GitHub account"
 msgstr ""
 
@@ -477,6 +643,40 @@ msgstr "Підключіть �вій при�трій до обліковки c
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "Підключіть �вій при�трій до comma connect (connect.comma.ai) і отримайте �вою пропозицію comma prime."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal CAN Bus"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Pedal Calibration\n"
+"\n"
+"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Car must be ON, Neutral, brake held\n"
+"  3. Do NOT press the accelerator\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Interceptor"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Pedal Unavailable"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Будь ла�ка, підключіть�� до Wi-Fi, щоб завершити початкове �полученн�."
@@ -485,11 +685,19 @@ msgstr "Будь ла�ка, підключіть�� до Wi-Fi, щоб зав
 msgid "Power Off"
 msgstr "Вимкнути"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Press Brake to Slow Down"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "Запобігайте завантаженню великих об��гів даних під ча� викори�танн� Wi-Fi-з'єднанн� з обмеженим трафіком"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "Запобігати великим завантаженн�м даних під ча� лімітного �тільникового з'єднанн�"
 
@@ -513,7 +721,58 @@ msgstr "Скинути"
 msgid "REVIEW"
 msgstr "ДИВИТИСЬ"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Behind Nosecone"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Calibration\n"
+"\n"
+"Displays filtered Bosch radar points to help align the sensor.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Vehicle parked with a target 3-10m ahead\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Diagnosis\n"
+"\n"
+"Reads Bosch radar health without changing panda safety mode.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Radar Error: Restart the Car"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset (m)"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Test\n"
+"\n"
+"Displays live Bosch radar tracks for installation checks.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
 msgstr ""
 
@@ -541,6 +800,10 @@ msgstr "Запи� та завантаженн� аудіо з мікрофон
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "Запи�уйте та зберігайте аудіо з мікрофона під ча� руху. �удіо буде включено до відео з відеореє�тратора в comma connect."
 
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Regen Limit Reached"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "�ормативні документи"
@@ -569,6 +832,10 @@ msgstr "Скинути"
 msgid "Reset Calibration"
 msgstr "Скинути калібруванн�"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Restore EPAS"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Перегл�нути по�ібник з навчанн�"
@@ -585,23 +852,23 @@ msgstr "ВИБР�ТИ"
 msgid "SSH Keys"
 msgstr "SSH ключі"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to login to your GitHub account"
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "Пошук мереж..."
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Search"
 msgstr ""
 
-#: system/ui/widgets/option_dialog.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "Вибрати"
 
@@ -613,6 +880,10 @@ msgstr "Виберіть гілку"
 msgid "Select a language"
 msgstr "Виберіть мову"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selecting a higher finger count may reduce accidental activations."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "Серійний номер"
@@ -629,6 +900,18 @@ msgstr "Програма"
 msgid "Standard"
 msgstr "Стандарт"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Start"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Stock DI"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Stock cruise required"
+msgstr ""
+
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "Си�тема не реагує"
@@ -645,14 +928,26 @@ msgstr "ТЕМП"
 msgid "Target Branch"
 msgstr "Цільова гілка"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Test Radar"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "Пароль дл� точки до�тупу"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "This allows the use of full MADS functionality when enabled."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Перемикачі"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Tools are only available offroad."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "Режим налагодженн� інтерфей�у"
@@ -665,6 +960,14 @@ msgstr "ВИД�ЛИТИ"
 msgid "UPDATE"
 msgstr "О�ОВИТИ"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Uncalibrated"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Unconfigured"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Видалити"
@@ -689,6 +992,10 @@ msgstr "Завантажуйте дані з камери, �пр�мовано
 msgid "Use Metric System"
 msgstr "Викори�товувати метричну �и�тему"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Use a multi-finger press on the infotainment screen to toggle MADS."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "�ВТО"
@@ -713,11 +1020,11 @@ msgstr ""
 msgid "Wi-Fi"
 msgstr "Wi-Fi"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Трафік Wi-Fi"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "�евірний пароль"
 
@@ -741,7 +1048,7 @@ msgstr "перевір�ю..."
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "default"
 msgstr "замовч."
 
@@ -761,7 +1068,7 @@ msgstr "не вдало�� перевірити оновленн�"
 msgid "finalizing update..."
 msgstr "завершую..."
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "дл� \"{}\""
 
@@ -769,7 +1076,7 @@ msgstr "дл� \"{}\""
 msgid "km/h"
 msgstr "км/год"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "залиште порожнім дл� автоматичного налаштуванн�"
 
@@ -777,7 +1084,7 @@ msgstr "залиште порожнім дл� автоматичного нал
 msgid "left"
 msgstr "вліво"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "metered"
 msgstr "обмеж."
 
@@ -813,7 +1120,7 @@ msgstr ""
 msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "необмеж."
 
@@ -861,13 +1168,6 @@ msgstr[0] "{} хвилина тому"
 msgstr[1] "{} хвилини тому"
 msgstr[2] "{} хвилин тому"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "{} �егмент вашого водінн� на даний момент мі�т�ть�� в тренувальному наборі даних."
-msgstr[1] "{} �егменти вашого водінн� на даний момент мі�т�ть�� в тренувальному наборі даних."
-msgstr[2] "{} �егментів вашого водінн� на даний момент мі�т�ть�� в тренувальному наборі даних."
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ ПІДПИС��О"
diff --git a/openpilot/selfdrive/ui/translations/app_zh-CHS.po b/openpilot/selfdrive/ui/translations/app_zh-CHS.po
index b01ba693926283..20bd32b569b819 100644
--- a/openpilot/selfdrive/ui/translations/app_zh-CHS.po
+++ b/openpilot/selfdrive/ui/translations/app_zh-CHS.po
@@ -32,10 +32,22 @@ msgstr "全天候 LTE 连接"
 msgid "2G"
 msgstr "2G"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "3-Finger"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "4-Finger"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "5-Finger"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
@@ -52,7 +64,7 @@ msgstr "<br><br>转�延迟校准已完� {}%。"
 msgid "ADD"
 msgstr "添加"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "APN 设置"
 
@@ -60,7 +72,11 @@ msgstr "APN 设置"
 msgid "Acknowledge Excessive Actuation"
 msgstr "确认过度作动"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Active Engagement Mode"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "高级"
 
@@ -72,6 +88,10 @@ msgstr "激进"
 msgid "Agree"
 msgstr "��"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Allows the driver to provide limited steering input while openpilot is engaged."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "始终�用驾驶员监控"
@@ -92,11 +112,19 @@ msgstr "确定��置校准�？"
 msgid "Are you sure you want to uninstall?"
 msgstr "确定��载�？"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/onboarding.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "返回"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Backup EPAS"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "�往 connect.comma.ai �为 comma prime 会员"
@@ -105,6 +133,22 @@ msgstr "�往 connect.comma.ai �为 comma prime 会员"
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "将 connect.comma.ai 添加到主�幕，�应用一样使用"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bosch Radar"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 0"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 2"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "更改"
@@ -118,22 +162,30 @@ msgid "CHILL MODE ON"
 msgstr "安稳模�已开�"
 
 #: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "连接"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "连接中..."
 
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/keyboard.py
-#: system/ui/widgets/network.py
-#: system/ui/widgets/option_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Radar"
+msgstr ""
+
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/keyboard.py
+#: openpilot/system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "�消"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "蜂�计�"
 
@@ -145,7 +197,7 @@ msgstr "更改语言"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
 
@@ -157,6 +209,14 @@ msgstr "点击“添加新设备�，扫��侧二维�"
 msgid "Close"
 msgstr "关闭"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cooperative Steering (Beta)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cruise Coupled"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "当�版本"
@@ -181,6 +241,10 @@ msgstr "开�者"
 msgid "Device"
 msgstr "设备"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Diagnose Radar"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "踩下加速��时脱离"
@@ -217,10 +281,44 @@ msgstr "车内摄�头"
 msgid "Driving Personality"
 msgstr "驾驶风格"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "编辑"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Backup\n"
+"\n"
+"Extracts stock EPAS firmware. No flashing is performed.\n"
+"\n"
+"POWER THE CAR ON before starting.\n"
+"\n"
+"Press START to extract the backup."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Flash\n"
+"\n"
+"WARNING: This modifies steering-system firmware.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"Power loss during the flash can brick EPAS.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Restore\n"
+"\n"
+"WARNING: This reflashes steering-system firmware from the stock image.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "错误"
@@ -233,7 +331,7 @@ msgstr "ETH"
 msgid "EXPERIMENTAL MODE ON"
 msgstr "实验模�已开�"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Early Access: Become a sunnypilot Sponsor"
 msgstr ""
 
@@ -242,15 +340,27 @@ msgstr ""
 msgid "Enable"
 msgstr "�用"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to change."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "�用 ADB"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Comma Pedal hardware. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "�用车��离警示"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "�用漫游"
 
@@ -258,7 +368,7 @@ msgstr "�用漫游"
 msgid "Enable SSH"
 msgstr "�用 SSH"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "�用网络共享"
 
@@ -266,6 +376,10 @@ msgstr "�用网络共享"
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable stock Bosch radar. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable sunnypilot"
 msgstr ""
@@ -274,23 +388,23 @@ msgstr ""
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "输入 APN"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "输入 SSID"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "输入新的网络共享密�"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "输入密�"
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Enter search query"
 msgstr ""
 
@@ -298,7 +412,7 @@ msgstr ""
 msgid "Enter your GitHub username"
 msgstr "输入您的 GitHub 用户�"
 
-#: system/ui/widgets/list_view.py
+#: openpilot/system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "错误"
 
@@ -310,7 +424,7 @@ msgstr "实验模�"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "此车型当�无法使用实验模�，因为纵�控制使用的是原厂 ACC。"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "正在�忘..."
 
@@ -326,15 +440,27 @@ msgstr "数�洪�"
 msgid "Firehose Mode"
 msgstr "Firehose 模�"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Flash EPAS"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow Distance"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget"
 msgstr "忘记"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "�忘记 Wi‑Fi 网络“{}��？"
 
@@ -350,7 +476,11 @@ msgstr "在手机上�往 https://connect.comma.ai"
 msgid "HIGH"
 msgstr "高"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hardware settings are only available offroad."
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "��网络"
 
@@ -358,19 +488,23 @@ msgstr "��网络"
 msgid "INSTALL"
 msgstr "安装"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "IP 地�"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Independent"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "安装更新"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
 msgstr ""
 
@@ -386,14 +520,34 @@ msgstr "加载中"
 msgid "LTE"
 msgstr "LTE"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral Engagement Mode"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "纵��作模�"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Only"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Path"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "MADS Screen Activation"
+msgstr ""
+
 #: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "最大"
@@ -422,13 +576,21 @@ msgstr "未找到用户“{}�的 SSH 密钥"
 msgid "No release notes available."
 msgstr "暂无�行说明。"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "None"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Note: Setting this to Off will reset your MADS settings to default."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "离线"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/html_render.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "确定"
 
@@ -436,6 +598,10 @@ msgstr "确定"
 msgid "ONLINE"
 msgstr "在线"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "打开"
@@ -464,7 +630,7 @@ msgstr "�对设备"
 msgid "Pair device"
 msgstr "�对设备"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Pair your GitHub account"
 msgstr ""
 
@@ -477,6 +643,40 @@ msgstr "将设备�对到您的 comma 账�"
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "将设备与 comma connect（connect.comma.ai）�对，领�您的 comma prime 优惠。"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal CAN Bus"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Pedal Calibration\n"
+"\n"
+"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Car must be ON, Neutral, brake held\n"
+"  3. Do NOT press the accelerator\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Interceptor"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Pedal Unavailable"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "请连接 Wi‑Fi 以完��始�对"
@@ -485,11 +685,19 @@ msgstr "请连接 Wi‑Fi 以完��始�对"
 msgid "Power Off"
 msgstr "关机"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Press Brake to Slow Down"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "在计�制 Wi‑Fi 连接时��大�上传"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "在计�制蜂�网络时��大�上传"
 
@@ -513,7 +721,58 @@ msgstr "�置"
 msgid "REVIEW"
 msgstr "查看"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Behind Nosecone"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Calibration\n"
+"\n"
+"Displays filtered Bosch radar points to help align the sensor.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Vehicle parked with a target 3-10m ahead\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Diagnosis\n"
+"\n"
+"Reads Bosch radar health without changing panda safety mode.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Radar Error: Restart the Car"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset (m)"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Test\n"
+"\n"
+"Displays live Bosch radar tracks for installation checks.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
 msgstr ""
 
@@ -541,6 +800,10 @@ msgstr "录制并上传麦克风音频"
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "行驶时录制并�存麦克风音频。音频将包�在 comma connect 的行车记录视频中。"
 
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Regen Limit Reached"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "法规"
@@ -569,6 +832,10 @@ msgstr "�置"
 msgid "Reset Calibration"
 msgstr "�置校准"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Restore EPAS"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "查看训练指�"
@@ -585,23 +852,23 @@ msgstr "选择"
 msgid "SSH Keys"
 msgstr "SSH 密钥"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to login to your GitHub account"
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "正在扫� Wi‑Fi 网络…"
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Search"
 msgstr ""
 
-#: system/ui/widgets/option_dialog.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "选择"
 
@@ -613,6 +880,10 @@ msgstr "选择分支"
 msgid "Select a language"
 msgstr "选择语言"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selecting a higher finger count may reduce accidental activations."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "�列�"
@@ -629,6 +900,18 @@ msgstr "软件"
 msgid "Standard"
 msgstr "标准"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Start"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Stock DI"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Stock cruise required"
+msgstr ""
+
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "系统无�应"
@@ -645,14 +928,26 @@ msgstr "温度"
 msgid "Target Branch"
 msgstr "目标分支"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Test Radar"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "网络共享密�"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "This allows the use of full MADS functionality when enabled."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "切�"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Tools are only available offroad."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "界�调试模�"
@@ -665,6 +960,14 @@ msgstr "�载"
 msgid "UPDATE"
 msgstr "æ›´æ–°"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Uncalibrated"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Unconfigured"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "�载"
@@ -689,6 +992,10 @@ msgstr "上传车内摄�头数�，帮助改进驾驶员监控算法。"
 msgid "Use Metric System"
 msgstr "使用公制"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Use a multi-finger press on the infotainment screen to toggle MADS."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "车辆"
@@ -713,11 +1020,11 @@ msgstr ""
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Wi‑Fi 计�网络"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "密�错误"
 
@@ -741,7 +1048,7 @@ msgstr "检查中..."
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "default"
 msgstr "默认"
 
@@ -761,7 +1068,7 @@ msgstr "检查更新失败"
 msgid "finalizing update..."
 msgstr "正在完�更新..."
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "用于“{}�"
 
@@ -769,7 +1076,7 @@ msgstr "用于“{}�"
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "留空以自动�置"
 
@@ -777,7 +1084,7 @@ msgstr "留空以自动�置"
 msgid "left"
 msgstr "å·¦"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "metered"
 msgstr "计�"
 
@@ -813,7 +1120,7 @@ msgstr ""
 msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "����"
 
@@ -857,12 +1164,6 @@ msgid_plural "{} minutes ago"
 msgstr[0] "{} 分钟�"
 msgstr[1] "{} 分钟�"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "目�已有 {} 个您的驾驶片段被纳入训练数�集。"
-msgstr[1] "目�已有 {} 个您的驾驶片段被纳入训练数�集。"
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ 已订阅"
diff --git a/openpilot/selfdrive/ui/translations/app_zh-CHT.po b/openpilot/selfdrive/ui/translations/app_zh-CHT.po
index 3cdcfe4e20ecbe..3de14ba3da113e 100644
--- a/openpilot/selfdrive/ui/translations/app_zh-CHT.po
+++ b/openpilot/selfdrive/ui/translations/app_zh-CHT.po
@@ -32,10 +32,22 @@ msgstr "全年無休 LTE 連線"
 msgid "2G"
 msgstr "2G"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "3-Finger"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "4-Finger"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "5-Finger"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
@@ -52,7 +64,7 @@ msgstr "<br><br>轉�延�校正已完� {}%。"
 msgid "ADD"
 msgstr "新增"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "APN 設定"
 
@@ -60,7 +72,11 @@ msgstr "APN 設定"
 msgid "Acknowledge Excessive Actuation"
 msgstr "確��度作動"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Active Engagement Mode"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "進階"
 
@@ -72,6 +88,10 @@ msgstr "�極"
 msgid "Agree"
 msgstr "��"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Allows the driver to provide limited steering input while openpilot is engaged."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "�續啟用駕駛監控"
@@ -92,11 +112,19 @@ msgstr "確定��設校正嗎？"
 msgid "Are you sure you want to uninstall?"
 msgstr "確定�解除安�嗎？"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/onboarding.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "返回"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Backup EPAS"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "�往 connect.comma.ai �為 comma prime 會員"
@@ -105,6 +133,22 @@ msgstr "�往 connect.comma.ai �為 comma prime 會員"
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "將 connect.comma.ai 加到主畫�，� App 一樣使用"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bosch Radar"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 0"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Bus 2"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "變更"
@@ -118,22 +162,30 @@ msgid "CHILL MODE ON"
 msgstr "安穩模�已開啟"
 
 #: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "連線"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "連線中..."
 
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/keyboard.py
-#: system/ui/widgets/network.py
-#: system/ui/widgets/option_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Calibrate Radar"
+msgstr ""
+
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/keyboard.py
+#: openpilot/system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "�消"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "行動網路計�"
 
@@ -145,7 +197,7 @@ msgstr "變更語言"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
 
@@ -157,6 +209,14 @@ msgstr "點�「新增�置�，掃��� QR 碼"
 msgid "Close"
 msgstr "關閉"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cooperative Steering (Beta)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Cruise Coupled"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "目�版本"
@@ -181,6 +241,10 @@ msgstr "開發人員"
 msgid "Device"
 msgstr "�置"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Diagnose Radar"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "踩下加速��時脫離"
@@ -217,10 +281,44 @@ msgstr "車內�頭"
 msgid "Driving Personality"
 msgstr "駕駛風格"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "編輯"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Backup\n"
+"\n"
+"Extracts stock EPAS firmware. No flashing is performed.\n"
+"\n"
+"POWER THE CAR ON before starting.\n"
+"\n"
+"Press START to extract the backup."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Flash\n"
+"\n"
+"WARNING: This modifies steering-system firmware.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"Power loss during the flash can brick EPAS.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"EPAS Firmware Restore\n"
+"\n"
+"WARNING: This reflashes steering-system firmware from the stock image.\n"
+"\n"
+"POWER THE CAR ON, stay in Park, do not drive.\n"
+"\n"
+"Press START only if you accept these risks."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "錯誤"
@@ -233,7 +331,7 @@ msgstr "ETH"
 msgid "EXPERIMENTAL MODE ON"
 msgstr "實驗模�已開啟"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Early Access: Become a sunnypilot Sponsor"
 msgstr ""
 
@@ -242,15 +340,27 @@ msgstr ""
 msgid "Enable"
 msgstr "啟用"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to change."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "啟用 ADB"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Comma Pedal hardware. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "啟用�離車�警示"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "啟用漫�"
 
@@ -258,7 +368,7 @@ msgstr "啟用漫�"
 msgid "Enable SSH"
 msgstr "啟用 SSH"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "啟用網路共享"
 
@@ -266,6 +376,10 @@ msgstr "啟用網路共享"
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable stock Bosch radar. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable sunnypilot"
 msgstr ""
@@ -274,23 +388,23 @@ msgstr ""
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "輸入 APN"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "輸入 SSID"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "輸入新的網路共享密碼"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "輸入密碼"
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Enter search query"
 msgstr ""
 
@@ -298,7 +412,7 @@ msgstr ""
 msgid "Enter your GitHub username"
 msgstr "輸入您的 GitHub 使用者�稱"
 
-#: system/ui/widgets/list_view.py
+#: openpilot/system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "錯誤"
 
@@ -310,7 +424,7 @@ msgstr "實驗模�"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "此車款目�無法使用實驗模�，因為縱�控制使用的是原廠 ACC。"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "正在�忘..."
 
@@ -326,15 +440,27 @@ msgstr "資料洪�"
 msgid "Firehose Mode"
 msgstr "Firehose 模�"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Flash EPAS"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow Distance"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget"
 msgstr "忘記"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "�忘記 Wi‑Fi 網路「{}�嗎？"
 
@@ -350,7 +476,11 @@ msgstr "在手機上�往 https://connect.comma.ai"
 msgid "HIGH"
 msgstr "高"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hardware settings are only available offroad."
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "隱�網路"
 
@@ -358,19 +488,23 @@ msgstr "隱�網路"
 msgid "INSTALL"
 msgstr "安�"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "IP ��"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Independent"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "安�更新"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
 msgstr ""
 
@@ -386,14 +520,34 @@ msgstr "載入中"
 msgid "LTE"
 msgstr "LTE"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral Engagement Mode"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "縱��作模�"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Only"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Longitudinal Path"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "MADS Screen Activation"
+msgstr ""
+
 #: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "最大"
@@ -422,13 +576,21 @@ msgstr "找�到使用者 '{}' 的 SSH 金鑰"
 msgid "No release notes available."
 msgstr "無�用發行說明。"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "None"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Note: Setting this to Off will reset your MADS settings to default."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "離線"
 
-#: openpilot/selfdrive/ui/layouts/sidebar.py
-#: system/ui/widgets/confirm_dialog.py
-#: system/ui/widgets/html_render.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/system/ui/widgets/confirm_dialog.py
+#: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "確定"
 
@@ -436,6 +598,10 @@ msgstr "確定"
 msgid "ONLINE"
 msgstr "線上"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "é–‹å•Ÿ"
@@ -464,7 +630,7 @@ msgstr "���置"
 msgid "Pair device"
 msgstr "���置"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Pair your GitHub account"
 msgstr ""
 
@@ -477,6 +643,40 @@ msgstr "將�置��至您的 comma 帳號"
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "將�置與 comma connect（connect.comma.ai）��，領�您的 comma prime 優惠。"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal CAN Bus"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Pedal Calibration\n"
+"\n"
+"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Car must be ON, Neutral, brake held\n"
+"  3. Do NOT press the accelerator\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pedal Interceptor"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Pedal Unavailable"
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "請連線至 Wi‑Fi 以完��始化��"
@@ -485,11 +685,19 @@ msgstr "請連線至 Wi‑Fi 以完��始化��"
 msgid "Power Off"
 msgstr "關機"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Press Brake to Slow Down"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "在計�制 Wi‑Fi 連線時��大�上傳"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "在計�制行動網路時��大�上傳"
 
@@ -513,7 +721,58 @@ msgstr "�設"
 msgid "REVIEW"
 msgstr "檢視"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Behind Nosecone"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Calibration\n"
+"\n"
+"Displays filtered Bosch radar points to help align the sensor.\n"
+"\n"
+"PRECONDITIONS:\n"
+"  1. Device must be offroad\n"
+"  2. Vehicle parked with a target 3-10m ahead\n"
+"\n"
+"Press START to confirm and begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Diagnosis\n"
+"\n"
+"Reads Bosch radar health without changing panda safety mode.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Radar Error: Restart the Car"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Health"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Radar Lateral Offset (m)"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Radar Test\n"
+"\n"
+"Displays live Bosch radar tracks for installation checks.\n"
+"\n"
+"Press START to begin."
+msgstr ""
+
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
 msgstr ""
 
@@ -541,6 +800,10 @@ msgstr "錄製並上傳麥克風音訊"
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "行車時錄製並儲存麥克風音訊。音訊將包�在 comma connect 的行車紀錄影片中。"
 
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Regen Limit Reached"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "法�"
@@ -569,6 +832,10 @@ msgstr "�設"
 msgid "Reset Calibration"
 msgstr "�設校正"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Restore EPAS"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "檢視訓練指�"
@@ -585,23 +852,23 @@ msgstr "��"
 msgid "SSH Keys"
 msgstr "SSH 金鑰"
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to login to your GitHub account"
 msgstr ""
 
-#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "正在掃� Wi‑Fi 網路…"
 
-#: system/ui/sunnypilot/widgets/tree_dialog.py
+#: openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
 msgid "Search"
 msgstr ""
 
-#: system/ui/widgets/option_dialog.py
+#: openpilot/system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "��"
 
@@ -613,6 +880,10 @@ msgstr "��分支"
 msgid "Select a language"
 msgstr "��語言"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selecting a higher finger count may reduce accidental activations."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "�號"
@@ -629,6 +900,18 @@ msgstr "軟體"
 msgid "Standard"
 msgstr "標準"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Start"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Stock DI"
+msgstr ""
+
+#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+msgid "Stock cruise required"
+msgstr ""
+
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "系統無回應"
@@ -645,14 +928,26 @@ msgstr "溫度"
 msgid "Target Branch"
 msgstr "目標分支"
 
-#: system/ui/widgets/network.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Test Radar"
+msgstr ""
+
+#: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "網路共享密碼"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "This allows the use of full MADS functionality when enabled."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "切�"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Tools are only available offroad."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "介�除錯模�"
@@ -665,6 +960,14 @@ msgstr "解除安�"
 msgid "UPDATE"
 msgstr "æ›´æ–°"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Uncalibrated"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Unconfigured"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "解除安�"
@@ -689,6 +992,10 @@ msgstr "上傳車內�頭資料，�助改善駕駛監控演算法。"
 msgid "Use Metric System"
 msgstr "使用公制"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Use a multi-finger press on the infotainment screen to toggle MADS."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "車輛"
@@ -713,11 +1020,11 @@ msgstr ""
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Wi‑Fi 計�網路"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "密碼錯誤"
 
@@ -741,7 +1048,7 @@ msgstr "檢查中..."
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "default"
 msgstr "�設"
 
@@ -761,7 +1068,7 @@ msgstr "檢查更新失敗"
 msgid "finalizing update..."
 msgstr "正在完�更新..."
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "�用於「{}�"
 
@@ -769,7 +1076,7 @@ msgstr "�用於「{}�"
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "留空以自動設定"
 
@@ -777,7 +1084,7 @@ msgstr "留空以自動設定"
 msgid "left"
 msgstr "å·¦"
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "metered"
 msgstr "計�"
 
@@ -813,7 +1120,7 @@ msgstr ""
 msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr ""
 
-#: system/ui/widgets/network.py
+#: openpilot/system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "����"
 
@@ -857,12 +1164,6 @@ msgid_plural "{} minutes ago"
 msgstr[0] "{} 分��"
 msgstr[1] "{} 分��"
 
-#: openpilot/selfdrive/ui/layouts/settings/firehose.py
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "目�已有 {} 個您的駕駛片段�入訓練資料集。"
-msgstr[1] "目�已有 {} 個您的駕駛片段�入訓練資料集。"
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ 已訂閱"
diff --git a/openpilot/selfdrive/ui/translations/update_translations.py b/openpilot/selfdrive/ui/translations/update_translations.py
index 9b0d63ee123498..e86e21aadb69e4 100755
--- a/openpilot/selfdrive/ui/translations/update_translations.py
+++ b/openpilot/selfdrive/ui/translations/update_translations.py
@@ -18,6 +18,15 @@ def update_translations():
     for filename in filenames:
       if filename.endswith(".py"):
         files.append(os.path.relpath(os.path.join(root, filename), BASEDIR))
+  # Native Pre-AP Tesla UI and tool/alert strings live outside the default UI walk.
+  extra = [
+    os.path.relpath(os.path.join(str(UI_DIR), "sunnypilot/layouts/settings/vehicle/brands/tesla.py"), BASEDIR),
+    os.path.relpath(os.path.join(BASEDIR, "openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py"), BASEDIR),
+    os.path.relpath(os.path.join(BASEDIR, "openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py"), BASEDIR),
+  ]
+  for path in extra:
+    if os.path.exists(os.path.join(BASEDIR, path)) and path not in files:
+      files.append(path)
 
   # Extract translatable strings and generate .pot template
   entries = extract_strings(files, BASEDIR)
diff --git a/openpilot/sunnypilot/mads/tests/test_preap_hands_on_pause.py b/openpilot/sunnypilot/mads/tests/test_preap_hands_on_pause.py
index b5afbddd43637e..138ea1fba3db68 100644
--- a/openpilot/sunnypilot/mads/tests/test_preap_hands_on_pause.py
+++ b/openpilot/sunnypilot/mads/tests/test_preap_hands_on_pause.py
@@ -1,5 +1,6 @@
 import unittest
 from unittest.mock import MagicMock
+from typing import Any, cast
 
 from openpilot.cereal import custom
 from opendbc.car import structs
@@ -129,7 +130,7 @@ def fake_ns():
 
     import openpilot.sunnypilot.mads.mads as mads_mod
     orig = mads_mod.time.monotonic_ns
-    mads_mod.time.monotonic_ns = fake_ns
+    cast(Any, mads_mod.time).monotonic_ns = fake_ns
     try:
       cs = FakeCS(hands_on_level=2)
       sd.sm = FakeSM([_panda(True)])
@@ -167,7 +168,7 @@ def fake_ns():
       mads.update_events(cs)
       self.assertFalse(mads._hands_on_steering_inhibited)
     finally:
-      mads_mod.time.monotonic_ns = orig
+      cast(Any, mads_mod.time).monotonic_ns = orig
 
   def test_epas_fault_is_not_hands_on_pause(self):
     mads, sd = make_mads()
diff --git a/openpilot/sunnypilot/mads/tests/test_preap_mads_required_writes.py b/openpilot/sunnypilot/mads/tests/test_preap_mads_required_writes.py
index 820e91a097b809..3a1f477340c900 100644
--- a/openpilot/sunnypilot/mads/tests/test_preap_mads_required_writes.py
+++ b/openpilot/sunnypilot/mads/tests/test_preap_mads_required_writes.py
@@ -48,7 +48,7 @@ def test_stale_persisted_false_is_healed(self):
     params = FakeParams({"Mads": False})
     self.assertTrue(persist_required_mads(params, _required_cp_sp()))
     self.assertTrue(params.get_bool("Mads"))
-    self.assertIn(("Mads", True), params.puts)
+    assert ("Mads", True) in params.puts
 
   def test_reboot_uses_persistent_capabilities(self):
     params = FakeParams({
diff --git a/openpilot/sunnypilot/selfdrive/car/car_specific.py b/openpilot/sunnypilot/selfdrive/car/car_specific.py
index 3211705b977efd..0ca0d8388d8b2d 100644
--- a/openpilot/sunnypilot/selfdrive/car/car_specific.py
+++ b/openpilot/sunnypilot/selfdrive/car/car_specific.py
@@ -12,6 +12,12 @@
 from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.selfdrive.car.preap_intent import PreAPIntentConsumer
+from openpilot.sunnypilot.selfdrive.selfdrived.preap_alerts import (
+  PedalAuthorityLossMapper,
+  preap_alert_inputs_from_snapshot,
+  preap_radar_fault,
+  select_preap_alerts,
+)
 
 EventName = log.OnroadEvent.EventName
 EventNameSP = custom.OnroadEventSP.EventName
@@ -25,16 +31,35 @@ def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
 
     self.low_speed_alert = False
     self.preap_intent = PreAPIntentConsumer() if CP.carFingerprint == "TESLA_MODEL_S_PREAP" else None
+    self._pedal_authority_loss = PedalAuthorityLossMapper()
 
-  def update(self, CS: structs.CarState, events: Events, CS_SP=None):
+  def update(self, CS: structs.CarState, events: Events, CS_SP=None, radar_fault: bool = False):
     events_sp = EventsSP()
 
     # Consume each new Pre-AP intent record before the standard state transition.
-    if self.preap_intent is not None and CS_SP is not None:
-      self.preap_intent.update(
-        CS_SP, events, events_sp,
-        apply_longitudinal=bool(self.CP.openpilotLongitudinalControl),
+    if self.preap_intent is not None:
+      if CS_SP is not None:
+        self.preap_intent.update(
+          CS_SP, events, events_sp,
+          apply_longitudinal=bool(self.CP.openpilotLongitudinalControl),
+        )
+      lost = False
+      if CS_SP is not None:
+        lost = self._pedal_authority_loss.update(int(getattr(CS_SP, "pedalAuthorityState", 0) or 0))
+      else:
+        self._pedal_authority_loss.reset()
+      inputs = preap_alert_inputs_from_snapshot(
+        self.CP, self.CP_SP, CS_SP, radar_fault=radar_fault, established_authority_lost=lost,
       )
+      if not inputs.pedal_present:
+        self._pedal_authority_loss.reset()
+        inputs = preap_alert_inputs_from_snapshot(
+          self.CP, self.CP_SP, CS_SP, radar_fault=radar_fault, established_authority_lost=False,
+        )
+      for name in select_preap_alerts(inputs):
+        events_sp.add(name)
+      if preap_radar_fault(inputs):
+        events.add(EventName.radarFault)
 
     if self.CP.brand == 'chrysler':
       if self.CP.carFingerprint in RAM_DT:
diff --git a/openpilot/sunnypilot/selfdrive/car/preap_boot.py b/openpilot/sunnypilot/selfdrive/car/preap_boot.py
index 261f36b7db802a..d3f06c905977a2 100644
--- a/openpilot/sunnypilot/selfdrive/car/preap_boot.py
+++ b/openpilot/sunnypilot/selfdrive/car/preap_boot.py
@@ -8,12 +8,20 @@
 import os
 from typing import Any
 
-from opendbc.car.tesla.preap.boot import PREAP_PLATFORM, parse_engagement_mode
+from opendbc.car.tesla.preap.boot import PREAP_PLATFORM, is_preap_platform, parse_engagement_mode
 from opendbc.car.tesla.preap.constants import STALK_DOUBLE_PULL_MS
 
 assert STALK_DOUBLE_PULL_MS == 400
 
 
+def is_preap_ui_platform(bundle_platform: str = "", CP=None) -> bool:
+  """Settings visibility. Bundle platform wins when present; never HAS_VEHICLE_BUS."""
+  if bundle_platform:
+    return bundle_platform == PREAP_PLATFORM
+  return bool(CP is not None and is_preap_platform(CP))
+
+
+
 @dataclass(frozen=True)
 class PreAPBootSelection:
   candidate: str | None
@@ -105,6 +113,9 @@ def migrate_preap_engagement_mode(params) -> int:
 def force_mads_required(params) -> None:
   params.put_bool("Mads", True, block=True)
 
+def reject_unsupported_cooperative_steering(params) -> None:
+  params.put_bool("TeslaCoopSteering", False, block=True)
+
 
 def snapshot_param_list(params) -> list[dict[str, Any]]:
   keys = [
@@ -149,6 +160,7 @@ def resolve_card_boot(params, environ=None) -> tuple[PreAPBootSelection, str | N
   if selection.lock_preap:
     migrate_preap_engagement_mode(params)
     force_mads_required(params)
+    reject_unsupported_cooperative_steering(params)
   fixed_fingerprint = selection.candidate if selection.candidate is not None else bundle_platform
   return selection, fixed_fingerprint
 
diff --git a/openpilot/sunnypilot/selfdrive/car/preap_intent.py b/openpilot/sunnypilot/selfdrive/car/preap_intent.py
index 6d639a048ed52a..3a39133afc6c5e 100644
--- a/openpilot/sunnypilot/selfdrive/car/preap_intent.py
+++ b/openpilot/sunnypilot/selfdrive/car/preap_intent.py
@@ -18,7 +18,7 @@ def uint32_delta(candidate: int, current: int) -> int:
 
 
 def sequence_is_newer(candidate: int, current: int) -> bool | None:
-  """Newer within an epoch iff 0 < uint32(candidate - current) < 2^31.
+  """Newer within an epoch if and only if 0 < uint32(candidate - current) < 2^31.
 
   Equal is not newer. The 2^31 delta is undefined and fail-closed.
   """
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/__init__.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/__init__.py
new file mode 100644
index 00000000000000..02bc5850043e58
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/__init__.py
@@ -0,0 +1 @@
+"""Production Pre-AP Tesla tools. Development-only NAP utilities are not imported here."""
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/calibrate_pedal.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/calibrate_pedal.py
new file mode 100755
index 00000000000000..75091e6bfa5aab
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/calibrate_pedal.py
@@ -0,0 +1,458 @@
+#!/usr/bin/env python3
+"""Production Pre-AP pedal calibration adapted from NAP calibrate_pedal.
+
+Pedal frames go through Tesla Pre-AP safety with the calibration-only flag.
+ELM327/allOutput are rejected for 0x551. Command bytes come from
+TeslaCANPreAP.create_pedal_command.
+"""
+from __future__ import annotations
+
+import time
+
+from openpilot.common.params import Params
+from opendbc.car.tesla.preap.boot import hardware_snapshot_from_values
+from opendbc.car.tesla.preap.constants import (
+  GAS_COMMAND_ID,
+  GAS_SENSOR_ID,
+  PEDAL_D,
+  PEDAL_M1,
+  PEDAL_TIMEOUT_MS,
+)
+from opendbc.car.tesla.preap.teslacan import TeslaCANPreAP
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import parse_explicit_confirmation, require_preap_tool_start
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.transport import DiagnosticTransport, TransportError
+
+GTW_STATUS_ID = 0x348
+BRAKE_MESSAGE_ID = 0x20A
+DI_TORQUE1_ID = 0x108
+DI_TORQUE2_ID = 0x118
+GEAR_NEUTRAL = 0x30
+MAX_PEDAL_ERRORS = 10
+SEND_RATE_MS = 20
+
+
+def current_time_ms() -> int:
+  return int(round(time.monotonic() * 1000))
+
+
+def p(msg=""):
+  print(msg, flush=True)
+
+
+def unpack_can(msg):
+  if len(msg) == 4:
+    addr, _bus, dat, src = msg
+    return int(addr), bytes(dat), int(src)
+  if len(msg) == 3:
+    addr, dat, src = msg
+    return int(addr), bytes(dat), int(src)
+  return None
+
+
+class PedalCalibrationError(Exception):
+  pass
+
+
+def parse_configured_pedal_bus(value) -> int:
+  """Preserve configured bus 0. Absent or empty defaults to 2."""
+  if value is None or value == "" or value == b"":
+    return 2
+  return int(value)
+
+
+def build_pedal_command(accel_command: float, enable: int, bus: int, can: TeslaCANPreAP | None = None):
+  can = can or TeslaCANPreAP(None)
+  addr, dat, out_bus = can.create_pedal_command(accel_command, enable=enable, pedal_can_bus=bus)
+  if enable not in (0, 1):
+    raise PedalCalibrationError("invalid enable flag")
+  if bus not in (0, 2):
+    raise PedalCalibrationError("invalid pedal bus")
+  if out_bus != bus:
+    raise PedalCalibrationError("command bus mismatch")
+  if addr != GAS_COMMAND_ID:
+    raise PedalCalibrationError("invalid command address")
+  if len(dat) != 6:
+    raise PedalCalibrationError("invalid command length")
+  return addr, dat, out_bus
+
+
+def validate_calibration(min_v: float, max_v: float, factor: float, zero: float) -> None:
+  if not (max_v > min_v):
+    raise PedalCalibrationError("calibration min/max invalid")
+  if factor <= 1e-6:
+    raise PedalCalibrationError("calibration factor invalid")
+  if factor == 1.0 and zero == 0.0:
+    raise PedalCalibrationError("default calibration is not a completed calibration")
+
+
+def persist_calibration(params: Params, *, min_v: float, max_v: float, factor: float, zero: float) -> None:
+  validate_calibration(min_v, max_v, factor, zero)
+  snapshot = hardware_snapshot_from_values(
+    pedal_enabled=True,
+    pedal_bus=params.get("NAPPedalCanBus"),
+    pedal_calib_done=True,
+    pedal_calib_factor=factor,
+    pedal_calib_zero=zero,
+    pedal_calib_min=min_v,
+    pedal_calib_max=max_v,
+  )
+  if not snapshot.pedal_calib_available:
+    raise PedalCalibrationError("calibration rejected by boot snapshot")
+  params.put("NAPPedalCalibMin", float(min_v), block=True)
+  params.put("NAPPedalCalibMax", float(max_v), block=True)
+  params.put("NAPPedalCalibFactor", float(factor), block=True)
+  params.put("NAPPedalCalibZero", float(zero), block=True)
+  params.put_bool("NAPPedalCalibDone", True, block=True)
+  params.put_bool("NAPPedalEnabled", True, block=True)
+
+
+def send_safe_release(transport: DiagnosticTransport, bus: int, can: TeslaCANPreAP | None = None) -> None:
+  addr, dat, out_bus = build_pedal_command(0.0, enable=0, bus=bus, can=can)
+  transport.can_send(addr, dat, out_bus)
+
+
+class PedalCalibrator:
+  """NAP pedal calibration stages, sent only through Tesla Pre-AP calibration safety."""
+
+  STATUS_MESSAGES = [
+    "Initializing...",
+    "Configuring Panda...",
+    "Reading Pedal Zero...",
+    "Detecting Pedal Max...",
+    "Fine-tuning calibration...",
+    "Validating calibration...",
+    "Saving values...",
+    "Calibration Complete!",
+  ]
+
+  def __init__(self, params: Params, transport: DiagnosticTransport, bus: int):
+    self.params = params
+    self.transport = transport
+    self.pedal_can = bus
+    self.can = TeslaCANPreAP(None)
+    self.can.pedal_can_bus = bus
+
+    self.rcv_pedal_idx = -1
+    self.last_rcv_pedal_idx = -1
+    self.last_pedal_seen_ms = 0
+    self.last_pedal_sent_ms = 0
+    self.pedal_interceptor_state = 0
+    self.pedal_interceptor_value = 1000.0
+    self.pedal_enabled = 0
+    self.tx_count = 0
+    self.pedal_error_count = 0
+    self.pedal_timeout = True
+
+    self.car_on = False
+    self.brake_pressed = False
+    self.gear_neutral = False
+    self.di_gas = 0.0
+
+    self.status = 0
+    self.prev_status = -1
+    self.frame = 0
+
+    self.pedal_zero_count = 0
+    self.pedal_zero_values_to_read = 100
+    self.pedal_zero_sum = 0.0
+
+    self.pedal_last_value_sent = 0.0
+    self.pedal_pressed_value = -1000.0
+    self.pedal_max_value = -1000.0
+    self.pedal_step = 0
+
+    self.finetuning_stage = 0
+    self.finetuning_target = 99.6
+    self.finetuning_step = 0.1
+    self.finetuning_sum = 0.0
+    self.finetuning_count = 0
+    self.finetuning_steps = 10
+    self.finetuning_best_val = 0.0
+    self.finetuning_best_delta = 1000.0
+    self.finetuning_start = 0.0
+
+    self.validation_stage = 0
+    self.validation_target = 0.0
+    self.validation_count = 0
+    self.validation_sum = 0.0
+    self.validation_steps = 10
+    self.validation_value = 0.0
+
+    self.pedal_min = -1000.0
+    self.pedal_max = -1000.0
+    self.pedal_pressed = -1000.0
+    self.pedal_factor = -1000.0
+
+  def cleanup(self) -> None:
+    p("")
+    p("RESTORING PEDAL / PANDA SAFETY")
+    try:
+      send_safe_release(self.transport, self.pedal_can, can=self.can)
+      time.sleep(0.1)
+    except Exception as exc:
+      p(f"  Warning: safe release failed: {exc}")
+    try:
+      self.transport.set_silent()
+    except Exception as exc:
+      p(f"  Warning: {exc}")
+
+  def send_pedal_command(self, accel_command, enable=1) -> None:
+    addr, dat, out_bus = build_pedal_command(accel_command, enable=enable, bus=self.pedal_can, can=self.can)
+    self.transport.can_send(addr, dat, out_bus)
+    self.last_pedal_sent_ms = current_time_ms()
+    self.tx_count += 1
+
+  def process_can(self) -> None:
+    try:
+      for msg in self.transport.can_recv():
+        unpacked = unpack_can(msg)
+        if unpacked is None:
+          continue
+        addr, dat, _src = unpacked
+        if addr == GTW_STATUS_ID and dat:
+          self.car_on = (dat[0] & 0x01) == 1
+        elif addr == BRAKE_MESSAGE_ID and dat:
+          self.brake_pressed = ((dat[0] >> 2) & 0x03) != 1
+        elif addr == DI_TORQUE2_ID and len(dat) > 1:
+          self.gear_neutral = (dat[1] & 0x70) == GEAR_NEUTRAL
+        elif addr == DI_TORQUE1_ID and len(dat) > 6:
+          self.di_gas = dat[6] * 0.4
+        elif addr == GAS_SENSOR_ID and len(dat) > 4:
+          self.pedal_interceptor_state = (dat[4] >> 7) & 0x01
+          self.pedal_interceptor_value = ((dat[0] << 8) + dat[1]) * PEDAL_M1 + PEDAL_D
+          self.rcv_pedal_idx = dat[4] & 0x0F
+          self.last_pedal_seen_ms = current_time_ms()
+    except TransportError as exc:
+      p(f"  CAN recv error: {exc}")
+
+  def check_safety(self) -> bool:
+    if not self.car_on:
+      if self.frame % 100 == 0:
+        p("  Waiting: Car is not ON! Turn ignition on.")
+      return False
+    if not self.brake_pressed:
+      if self.frame % 100 == 0:
+        p("  Waiting: Brake not pressed! Press and hold brake.")
+      if self.pedal_enabled:
+        self.send_pedal_command(0, enable=0)
+        self.pedal_enabled = 0
+      return False
+    if not self.gear_neutral:
+      if self.frame % 100 == 0:
+        p("  Waiting: Car is not in NEUTRAL! Shift to N.")
+      if self.pedal_enabled:
+        self.send_pedal_command(0, enable=0)
+        self.pedal_enabled = 0
+      return False
+    if self.di_gas > 0 and self.status < 3:
+      if self.frame % 100 == 0:
+        p("  Waiting: Accelerator pedal is pressed! Release it.")
+      if self.pedal_enabled:
+        self.send_pedal_command(0, enable=0)
+        self.pedal_enabled = 0
+      return False
+    return True
+
+  def _advance_on_pedal_message(self) -> None:
+    if self.pedal_interceptor_state != 0:
+      return
+    self.pedal_error_count = 0
+
+    if self.status == 2:
+      self.pedal_zero_sum += self.pedal_interceptor_value
+      self.pedal_zero_count += 1
+      if self.pedal_zero_count >= self.pedal_zero_values_to_read:
+        self.pedal_min = self.pedal_zero_sum / self.pedal_zero_count
+        p(f"\n  Pedal MIN: {self.pedal_min:.2f}")
+        self.pedal_last_value_sent = self.pedal_min
+        self.pedal_enabled = 1
+        self.status = 3
+      elif self.frame % 20 == 0:
+        p(f"  Reading zero: {self.pedal_zero_count}/{self.pedal_zero_values_to_read} (val={self.pedal_interceptor_value:.2f})")
+
+    elif self.status == 3:
+      if self.di_gas >= 99.6 and self.pedal_max_value == -1000 and self.pedal_step == 1:
+        p(f"\n  Pedal MAX: {self.pedal_last_value_sent:.2f}")
+        self.pedal_max_value = self.pedal_last_value_sent
+        self.pedal_last_value_sent = self.pedal_max_value - 0.5
+        self.finetuning_start = self.pedal_max_value - 0.5
+        self.pedal_step = 0
+        self.status = 4
+      if self.di_gas > 0 and self.pedal_pressed_value == -1000 and self.pedal_step == 1:
+        p(f"\n  Pedal PRESSED threshold: {self.pedal_last_value_sent:.2f}")
+        self.pedal_pressed_value = self.pedal_last_value_sent
+      if self.di_gas < 100:
+        if self.frame % 50 == 0:
+          p(f"  Detecting: sent {self.pedal_last_value_sent:.1f} -> car sees {self.di_gas:.1f}%")
+        if self.pedal_step == 1:
+          self.pedal_last_value_sent += 1
+          self.pedal_step = 0
+        else:
+          self.pedal_step = 1
+
+    elif self.status == 4:
+      if self.finetuning_count < self.finetuning_steps:
+        self.finetuning_sum += self.di_gas
+        self.finetuning_count += 1
+      if self.finetuning_count == self.finetuning_steps:
+        avg = self.finetuning_sum / self.finetuning_count
+        delta = abs(self.finetuning_target - avg)
+        if delta < self.finetuning_best_delta:
+          self.finetuning_best_val = self.pedal_last_value_sent
+          self.finetuning_best_delta = delta
+        self.pedal_last_value_sent += self.finetuning_step
+        p(f"  Fine-tuning: target {self.finetuning_target:.1f}%, got {avg:.1f}%")
+        self.finetuning_count = 0
+        self.finetuning_sum = 0
+        if self.pedal_last_value_sent > self.finetuning_start + 0.5:
+          if self.finetuning_stage == 0:
+            self.pedal_max = self.finetuning_best_val
+            self.finetuning_best_val = 0
+            self.finetuning_best_delta = 1000.0
+            self.finetuning_stage = 1
+            self.pedal_last_value_sent = self.pedal_pressed_value - 0.5
+            self.finetuning_start = self.pedal_pressed_value - 0.5
+            self.finetuning_target = 0.4
+            p("\n  Done fine-tuning MAX")
+          else:
+            self.pedal_pressed = self.finetuning_best_val
+            self.pedal_last_value_sent = self.pedal_min
+            span = self.pedal_max - self.pedal_pressed
+            if span <= 1e-6:
+              raise PedalCalibrationError("calibration span invalid")
+            self.pedal_factor = 100.0 / span
+            self.status = 5
+            p("\n  Done fine-tuning ZERO")
+
+    elif self.status == 5:
+      if self.validation_stage == 0:
+        self.validation_stage = 1
+        self.validation_target = self.validation_stage * 10
+        self.validation_count = 0
+        self.validation_sum = 0
+        self.validation_value = self.pedal_pressed + self.validation_target * (self.pedal_max - self.pedal_pressed) / 100.0
+        self.pedal_last_value_sent = self.validation_value
+      elif self.validation_count < self.validation_steps:
+        self.validation_sum += self.di_gas
+        self.validation_count += 1
+        if self.validation_count == self.validation_steps:
+          avg = self.validation_sum / self.validation_count
+          p(f"  Validating {self.validation_target:.0f}%: got {avg:.1f}%")
+          self.validation_stage += 1
+          if self.validation_stage == 10:
+            p("\n  Validation complete")
+            self.status = 6
+          else:
+            self.validation_target = self.validation_stage * 10
+            self.validation_count = 0
+            self.validation_sum = 0
+            self.validation_value = self.pedal_pressed + self.validation_target * (self.pedal_max - self.pedal_pressed) / 100.0
+            self.pedal_last_value_sent = self.validation_value
+
+    elif self.status == 6:
+      p("")
+      p("CALIBRATION RESULTS")
+      p(f"  Pedal Min:    {self.pedal_min:.2f}")
+      p(f"  Pedal Max:    {self.pedal_max:.2f}")
+      p(f"  Pedal Zero:   {self.pedal_pressed:.2f}")
+      p(f"  Pedal Factor: {self.pedal_factor:.4f}")
+      persist_calibration(
+        self.params,
+        min_v=self.pedal_min,
+        max_v=self.pedal_max,
+        factor=self.pedal_factor,
+        zero=self.pedal_pressed,
+      )
+      p("  Saved to openpilot Params")
+      self.status = 7
+
+  def run(self, rate=100) -> int:
+    self.status = 2
+    p("")
+    p("Waiting for safety conditions...")
+    p("  - Car ON")
+    p("  - Gear in NEUTRAL")
+    p("  - Brake PRESSED")
+    p("  - Accelerator RELEASED")
+    p(f"  [TX: Bus {self.pedal_can}, ID 0x{GAS_COMMAND_ID:03X}, teslaPreap calibration]")
+    loop_period = 1.0 / rate
+    while True:
+      loop_start = time.monotonic()
+      self.frame += 1
+      curr_time_ms = current_time_ms()
+      self.process_can()
+      if self.status != self.prev_status:
+        p(f"\n{self.STATUS_MESSAGES[self.status]}")
+        self.prev_status = self.status
+      if self.status == 7:
+        p("\nCalibration Complete!")
+        return 0
+      if not self.check_safety():
+        time.sleep(loop_period)
+        continue
+      if curr_time_ms - self.last_pedal_sent_ms >= SEND_RATE_MS:
+        self.send_pedal_command(self.pedal_last_value_sent, self.pedal_enabled)
+        if self.tx_count % 100 == 0:
+          p(f"  [TX #{self.tx_count}: val={self.pedal_last_value_sent:.1f}, en={self.pedal_enabled}]")
+      if self.rcv_pedal_idx != self.last_rcv_pedal_idx:
+        self.last_rcv_pedal_idx = self.rcv_pedal_idx
+        self._advance_on_pedal_message()
+      self.pedal_timeout = curr_time_ms - self.last_pedal_seen_ms > PEDAL_TIMEOUT_MS
+      if self.pedal_timeout:
+        self.pedal_error_count += 1
+        if self.pedal_error_count > MAX_PEDAL_ERRORS * 10:
+          p("\nERROR: Pedal communication timeout!")
+          return 1
+      elapsed = time.monotonic() - loop_start
+      if elapsed < loop_period:
+        time.sleep(loop_period - elapsed)
+
+
+def run(*, confirmed: bool, params: Params | None = None, transport: DiagnosticTransport | None = None) -> int:
+  params = params or Params()
+  require_preap_tool_start(params, tool="calibrate_pedal", confirmed=confirmed)
+  if not params.get_bool("NAPPedalEnabled"):
+    raise PedalCalibrationError("no pedal configured")
+  bus = parse_configured_pedal_bus(params.get("NAPPedalCanBus"))
+  if bus not in (0, 2):
+    raise PedalCalibrationError("invalid pedal bus")
+
+  owned = transport is None
+  transport = transport or DiagnosticTransport()
+  calibrator = None
+  try:
+    transport.connect()
+    transport.set_pedal_calibration_session(bus)
+    calibrator = PedalCalibrator(params, transport, bus)
+    return calibrator.run()
+  except TransportError as exc:
+    raise PedalCalibrationError(str(exc)) from exc
+  finally:
+    if calibrator is not None:
+      calibrator.cleanup()
+    elif transport is not None:
+      try:
+        send_safe_release(transport, bus)
+      except Exception:
+        pass
+    if owned and transport is not None:
+      transport.close()
+
+
+def main(argv=None) -> int:
+  p("=" * 60)
+  p("COMMA PEDAL CALIBRATION")
+  p("=" * 60)
+  p("Tesla Pre-AP calibration safety only. ELM327/ALLOUTPUT are rejected.")
+  try:
+    return run(confirmed=parse_explicit_confirmation(argv))
+  except KeyboardInterrupt:
+    p("\nInterrupted by user.")
+    return 1
+  except Exception as exc:
+    p(f"ERROR: {exc}")
+    return 1
+
+
+if __name__ == "__main__":
+  raise SystemExit(main())
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/calibrate_radar.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/calibrate_radar.py
new file mode 100644
index 00000000000000..a670f91b46911a
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/calibrate_radar.py
@@ -0,0 +1,76 @@
+"""Production Pre-AP radar calibration display. Receive-only, no safety bypass."""
+from __future__ import annotations
+
+import time
+
+from openpilot.common.params import Params
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.radar_decode import (
+  MAX_LAT, MAX_LONG, MIN_LAT, MIN_LONG, in_calibration_window, unpack_can, update_tracks,
+)
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import parse_explicit_confirmation, require_preap_tool_start
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.transport import DiagnosticTransport, TransportError
+
+DISPLAY_INTERVAL = 0.5
+
+
+def p(msg=""):
+  print(msg, flush=True)
+
+
+def collect_calibration_points(messages, tracks: dict[int, dict] | None = None) -> list[dict]:
+  tracks = tracks if tracks is not None else {}
+  for msg in messages:
+    unpacked = unpack_can(msg)
+    if unpacked is None:
+      continue
+    addr, dat, _src = unpacked
+    update_tracks(tracks, addr, dat)
+  return [pt for pt in tracks.values() if in_calibration_window(pt)]
+
+
+def run(*, confirmed: bool, params: Params | None = None, transport: DiagnosticTransport | None = None,
+        duration_s: float | None = None) -> int:
+  params = params or Params()
+  require_preap_tool_start(params, tool="calibrate_radar", confirmed=confirmed)
+  owned = transport is None
+  transport = transport or DiagnosticTransport()
+  try:
+    transport.connect()
+    p("Radar calibration (receive-only, safety mode unchanged)")
+    p(f"Place a target {MIN_LONG:.1f}-{MAX_LONG:.1f}m ahead, lateral {MIN_LAT:.1f} to {MAX_LAT:.1f}m.")
+    p("Ctrl+C to stop.")
+    tracks: dict[int, dict] = {}
+    last_display = 0.0
+    deadline = None if duration_s is None else (time.monotonic() + duration_s)
+    while deadline is None or time.monotonic() < deadline:
+      try:
+        points = collect_calibration_points(transport.can_recv(), tracks)
+      except TransportError as exc:
+        raise TransportError(f"radar calibration RX failed: {exc}") from exc
+      now = time.monotonic()
+      if now - last_display >= DISPLAY_INTERVAL:
+        last_display = now
+        if points:
+          for pt in points:
+            p(f"  d={pt['long_dist']:.2f}m y={pt['lat_dist']:.2f}m v={pt.get('long_speed', 0):.1f}")
+        else:
+          p("  [no tracks in calibration window]")
+      time.sleep(0.05)
+  except KeyboardInterrupt:
+    p("\nStopped.")
+  finally:
+    if owned:
+      transport.close()
+  return 0
+
+
+def main(argv=None) -> int:
+  try:
+    return run(confirmed=parse_explicit_confirmation(argv))
+  except Exception as exc:
+    p(f"ERROR: {exc}")
+    return 1
+
+
+if __name__ == "__main__":
+  raise SystemExit(main())
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/diagnose_radar.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/diagnose_radar.py
new file mode 100644
index 00000000000000..83e6412c67a0fb
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/diagnose_radar.py
@@ -0,0 +1,130 @@
+"""Production Pre-AP Bosch radar diagnosis. --panda never changes safety mode."""
+from __future__ import annotations
+
+import argparse
+import time
+
+from openpilot.common.params import Params
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.radar_decode import (
+  RADAR_ADDR_END, RADAR_ADDR_START, RADAR_BUS, unpack_can,
+)
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import require_offroad, require_runtime_path
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.transport import DiagnosticTransport, TransportError
+
+GTW_MESSAGES = {
+  0x109: "DI_torque1",
+  0x119: "DI_torque2",
+  0x129: "ESP_115h",
+  0x149: "ESP_145h",
+  0x159: "ESP_C (Brake)",
+  0x169: "ESP_wheelSpeeds",
+  0x199: "STW_ANGLHP_STAT",
+  0x1A9: "DI_espControl",
+  0x209: "GTW_odo",
+  0x219: "STW_ACTN_RQ",
+  0x2A9: "GTW_carConfig",
+  0x2B9: "VIP_405HS",
+  0x2D9: "BC_status",
+}
+
+RADAR_STATUS_MSGS = {
+  0x631: "Radar Init Sync",
+  0x300: "Radar Active",
+  0x501: "Radar Alert Matrix",
+}
+
+
+def p(msg=""):
+  print(msg, flush=True)
+
+
+def diagnose_panda(transport: DiagnosticTransport, sniff_s: float = 3.0, params: Params | None = None) -> dict:
+  """Read-only panda health. Must not change safety mode."""
+  result = {
+    "safety_mode": None,
+    "bus1_count": 0,
+    "bus1_addrs": set(),
+    "radar_enabled": None,
+    "radar_behind": None,
+  }
+  if params is not None:
+    result["radar_enabled"] = params.get_bool("NAPRadarEnabled")
+    result["radar_behind"] = params.get_bool("NAPRadarBehindNosecone")
+
+  panda = transport.connect()
+  try:
+    if hasattr(panda, "get_safety_mode"):
+      result["safety_mode"] = panda.get_safety_mode()
+    elif hasattr(panda, "safety_model"):
+      result["safety_mode"] = panda.safety_model
+  except Exception:
+    pass
+
+  start = time.monotonic()
+  while time.monotonic() - start < sniff_s:
+    try:
+      for msg in transport.can_recv():
+        unpacked = unpack_can(msg)
+        if unpacked is None:
+          continue
+        addr, _dat, src = unpacked
+        if src == RADAR_BUS:
+          result["bus1_count"] += 1
+          result["bus1_addrs"].add(addr)
+    except TransportError as exc:
+      raise TransportError(f"radar diagnose RX failed: {exc}") from exc
+  return result
+
+
+def report_health(result: dict) -> int:
+  p("Panda health (safety mode unchanged)")
+  if result.get("radar_enabled") is not None:
+    p(f"  NAPRadarEnabled: {result['radar_enabled']}")
+    p(f"  NAPRadarBehindNosecone: {result['radar_behind']}")
+    if not result["radar_enabled"]:
+      p("  [!!] radar not enabled; GTW emulation will not run")
+  p(f"  safety_mode={result.get('safety_mode')}")
+  p(f"  bus 1 messages: {result['bus1_count']}")
+  addrs = result["bus1_addrs"]
+  gtw_seen = addrs & set(GTW_MESSAGES)
+  radar_seen = {a for a in addrs if RADAR_ADDR_START <= a <= RADAR_ADDR_END}
+  status_seen = addrs & set(RADAR_STATUS_MSGS)
+  p(f"  GTW emulation: {len(gtw_seen)}/{len(GTW_MESSAGES)}")
+  for addr in sorted(gtw_seen):
+    p(f"    {hex(addr)} {GTW_MESSAGES[addr]}")
+  p(f"  radar tracks: {'YES' if radar_seen else 'NO'}")
+  p(f"  radar status: {sorted(hex(a) for a in status_seen) if status_seen else 'NONE'}")
+  if result["bus1_count"] == 0:
+    p("  [!!] NO TRAFFIC on bus 1")
+    return 1
+  return 0
+
+
+def run(*, panda_mode: bool, params: Params | None = None, transport: DiagnosticTransport | None = None) -> int:
+  del panda_mode  # UI and CLI both use read-only panda sniff; never change safety.
+  require_runtime_path()
+  params = params or Params()
+  require_offroad(params)
+  owned = transport is None
+  transport = transport or DiagnosticTransport()
+  try:
+    result = diagnose_panda(transport, params=params)
+    return report_health(result)
+  finally:
+    if owned:
+      transport.close()
+
+
+def main(cli_args=None) -> int:
+  parser = argparse.ArgumentParser(description="Diagnose Pre-AP Bosch radar")
+  parser.add_argument("--panda", action="store_true", help="Direct panda health check; do not change safety mode")
+  args = parser.parse_args(cli_args)
+  try:
+    return run(panda_mode=args.panda)
+  except Exception as exc:
+    p(f"ERROR: {exc}")
+    return 1
+
+
+if __name__ == "__main__":
+  raise SystemExit(main())
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/epas_integrity.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/epas_integrity.py
new file mode 100644
index 00000000000000..258c1ee76c9c84
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/epas_integrity.py
@@ -0,0 +1,47 @@
+"""EPAS bootloader integrity. Verify size, SHA-256, and MD5 before panda connect."""
+from __future__ import annotations
+
+import hashlib
+from pathlib import Path
+
+BOOTLOADER_NAME = "epas-bootloader-0x3ff7000-0x3ffacbd.bin"
+BOOTLOADER_SIZE = 15550
+BOOTLOADER_MD5SUM = "09cdd03705692725290942f4065c2706"
+BOOTLOADER_SHA256 = "5fdd472626f110ad83ea04b625b64cb4e0a761c6976110a67ed6993df1167b90"
+BOOTLOADER_ADDR = 0x3ff7000
+
+FW_MD5SUM = "9e51ddd80606fbdaaf604c73c8dde0d1"
+FW_START_ADDR = 0x7000
+FW_END_ADDR = 0x45FFF
+FW_SIZE = FW_END_ADDR - FW_START_ADDR + 1
+
+
+class BootloaderIntegrityError(Exception):
+  """Bootloader file failed size/SHA-256/MD5 verification."""
+
+
+def bootloader_path(explicit: str | None = None) -> Path:
+  if explicit:
+    path = Path(explicit)
+    if not path.is_absolute():
+      path = Path(__file__).resolve().parent / "firmware" / path
+    return path
+  return Path(__file__).resolve().parent / "firmware" / BOOTLOADER_NAME
+
+
+def verify_bootloader(path: str | Path | None = None) -> bytes:
+  """Read and verify the bootloader. Must run before opening panda."""
+  bl_path = Path(path) if path is not None else bootloader_path()
+  if not bl_path.is_file():
+    raise BootloaderIntegrityError(f"bootloader missing: {bl_path}")
+  data = bl_path.read_bytes()
+  size = len(data)
+  md5 = hashlib.md5(data).hexdigest()
+  sha256 = hashlib.sha256(data).hexdigest()
+  if size != BOOTLOADER_SIZE or md5 != BOOTLOADER_MD5SUM or sha256 != BOOTLOADER_SHA256:
+    raise BootloaderIntegrityError(
+      "bootloader integrity check failed: "
+      + f"expected size={BOOTLOADER_SIZE} md5={BOOTLOADER_MD5SUM} sha256={BOOTLOADER_SHA256}, "
+      + f"got size={size} md5={md5} sha256={sha256}"
+    )
+  return data
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/extract_epas.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/extract_epas.py
new file mode 100644
index 00000000000000..552b4c416ed450
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/extract_epas.py
@@ -0,0 +1,5 @@
+"""Extract stock Tesla Pre-AP EPAS firmware image only."""
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.flash_epas import main
+
+if __name__ == "__main__":
+  raise SystemExit(main(["--extract-only"]))
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/firmware/epas-bootloader-0x3ff7000-0x3ffacbd.bin b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/firmware/epas-bootloader-0x3ff7000-0x3ffacbd.bin
new file mode 100644
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diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/flash_epas.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/flash_epas.py
new file mode 100755
index 00000000000000..6cb2332c098427
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/flash_epas.py
@@ -0,0 +1,581 @@
+#!/usr/bin/env python3
+"""
+Tesla Pre-AP EPAS Firmware Flasher (GUI version)
+Extracts, patches, and flashes the EPAS (Electric Power Assisted Steering)
+firmware to enable openpilot steering control on pre-AP Tesla vehicles.
+
+Firmware modifications:
+  - Patches EPB_epasEACAllow to always return 1
+  - Patches GTW_epasControlType to always return 1
+  - Patches GTW_epasLDWEnable to always return 1
+  (The actual CAN messages must still be present on the bus)
+
+Based on the Tinkla EPAS flasher by the openpilot Tesla community.
+
+CRITICAL: This permanently modifies EPAS firmware. Ensure you have a backup.
+Uses ELM327 diagnostic mode only. ALLOUTPUT and panda TX bypass are rejected.
+Bootloader size/SHA-256/MD5 are verified before panda connection.
+"""
+
+import argparse
+import os
+import sys
+import time
+from typing import Final
+import struct
+import hashlib
+import binascii
+
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.epas_integrity import (
+  bootloader_path,
+  verify_bootloader,
+  BootloaderIntegrityError,
+)
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import require_preap_tool_start, require_runtime_path
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.transport import (
+  DiagnosticTransport,
+  TransportError,
+  fail_closed_negative_response,
+)
+
+# ============================================
+# Firmware Constants
+# ============================================
+FW_MD5SUM = "9e51ddd80606fbdaaf604c73c8dde0d1"
+FW_START_ADDR = 0x7000
+FW_END_ADDR = 0x45FFF
+FW_SIZE = FW_END_ADDR - FW_START_ADDR + 1
+BOOTLOADER_ADDR = 0x3ff7000
+
+# UDS defaults
+DEFAULT_CAN_ADDR = 0x730
+DEFAULT_CAN_BUS = 0
+DEFAULT_BOOTLOADER_FILE = "epas-bootloader-0x3ff7000-0x3ffacbd.bin"
+BOOTLOADER_MD5SUM = "09cdd03705692725290942f4065c2706"
+BOOTLOADER_SIZE = 15550
+RISK_ACK_PARAM_KEY = "NAPEpasRiskAccepted"
+
+# Panda connection
+PANDA_CONNECT_RETRIES = 5
+PANDA_CONNECT_DELAY = 2.0
+
+
+def p(msg="", end="\n"):
+  """Print with flush for real-time ScriptRunner display."""
+  print(msg, end=end, flush=True)
+
+
+def progress_bar(current, total, prefix="", width=40):
+  """Simple text progress bar."""
+  pct = current / total if total > 0 else 0
+  filled = int(width * pct)
+  bar = "#" * filled + "-" * (width - filled)
+  p(f"  {prefix}[{bar}] {pct*100:.1f}%")
+
+
+def _consume_ui_risk_ack() -> bool:
+  """
+  Consume one-time EPAS risk acknowledgment set by UI.
+
+  Returns True when a valid acknowledgment token was present.
+  """
+  try:
+    from openpilot.common.params import Params
+    params = Params()
+    accepted = params.get_bool(RISK_ACK_PARAM_KEY)
+    if accepted:
+      params.put_bool(RISK_ACK_PARAM_KEY, False)
+    return accepted
+  except Exception:
+    return False
+
+
+# ============================================
+# Security Access Algorithm (Tesla-specific)
+# ============================================
+def get_security_access_key(seed):
+  key = 0xc541a9
+
+  mask = struct.unpack('<I', seed.ljust(4, b'\x00'))[0] | 0x20000000
+  for _i in range(32):
+    msb = key & 1 ^ mask & 1
+    mask = mask >> 1
+    key = key >> 1
+    if msb != 0:
+      key = (key | msb << 0x17) ^ 0x109028
+
+  mask = 0x55f222f9
+  for _i in range(32):
+    msb = key & 1 ^ mask & 1
+    mask = mask >> 1
+    key = key >> 1
+    if msb != 0:
+      key = (key | msb << 0x17) ^ 0x109028
+
+  key = bytes([
+    (key & 0xff0) >> 4,
+    (key & 0xf000) >> 8 | (key & 0xf00000) >> 20,
+    (key & 0xf0000) >> 16 | (key & 0xf) << 4,
+  ])
+
+  return key
+
+
+# ============================================
+# UDS Helper Functions
+# ============================================
+def wait_for_ecu(uds_client):
+  """Wait for ECU to respond after reboot."""
+  from opendbc.car.uds import MessageTimeoutError
+
+  p("  Waiting for ECU .", end="")
+  prev_timeout = uds_client.timeout
+  uds_client.timeout = 0.1
+  for _ in range(10):
+    try:
+      uds_client.tester_present()
+      uds_client.timeout = prev_timeout
+      p("")
+      return
+    except MessageTimeoutError:
+      p(".", end="")
+  uds_client.timeout = prev_timeout
+  raise Exception("ECU did not respond after reboot!")
+
+
+def extract_firmware(uds_client, start_addr, end_addr):
+  """Extract firmware from EPAS ECU via UDS."""
+  from opendbc.car.uds import SESSION_TYPE, ACCESS_TYPE
+
+  p("Starting extended diagnostic session...")
+  uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)
+
+  p("Requesting security access seed...")
+  seed = uds_client.security_access(ACCESS_TYPE.REQUEST_SEED)
+  p(f"  Seed: 0x{seed.hex()}")
+
+  p("Sending security access key...")
+  key = get_security_access_key(seed)
+  p(f"  Key: 0x{key.hex()}")
+  uds_client.security_access(ACCESS_TYPE.SEND_KEY, key)
+
+  p("Extracting firmware...")
+  p(f"  Start addr: {hex(start_addr)}")
+  p(f"  End addr:   {hex(end_addr)}")
+  total = end_addr - start_addr + 1
+  fw = b""
+  chunk_size = 128
+  chunks_done = 0
+  total_chunks = (total + chunk_size - 1) // chunk_size
+  report_every = max(1, total_chunks // 20)  # report ~20 times
+
+  for addr in range(start_addr, end_addr + 1, chunk_size):
+    dat = uds_client.read_memory_by_address(addr, chunk_size)
+    if len(dat) != chunk_size:
+      raise Exception(f"Expected {chunk_size} bytes but got {len(dat)} at addr {hex(addr)}")
+    fw += dat
+    chunks_done += 1
+    if chunks_done % report_every == 0 or chunks_done == total_chunks:
+      progress_bar(chunks_done, total_chunks, "Extract: ")
+
+  p(f"  Extracted {len(fw)} bytes")
+  return fw
+
+
+def update_checksums(fw, offset, restore=False):
+  """Recalculate firmware checksums after patching."""
+  for addr in [0x79c0, 0x79d0]:
+    idx = addr - offset
+    if idx < 0:
+      raise Exception(f"Checksum address {hex(addr)} is before firmware start")
+
+    start = struct.unpack('<I', fw[idx:idx + 4])[0]
+    end = struct.unpack('<I', fw[idx + 4:idx + 8])[0]
+
+    if start < offset or end < start:
+      raise Exception(f"Invalid checksum range {hex(start)}-{hex(end)}")
+    if end - offset >= len(fw):
+      raise Exception(f"Checksum end addr {hex(end)} is outside firmware range")
+
+    crc32 = binascii.crc32(fw[start - offset:end - offset + 1])
+    cksum = struct.pack("<I", crc32)
+
+    if not restore:
+      changed = "CHANGED" if cksum != fw[idx + 8:idx + 12] else "unchanged"
+      p(f"  {hex(start)}-{hex(end)}: CRC32={hex(crc32)} ({changed})")
+
+    fw = fw[:idx + 8] + cksum + fw[idx + 12:]
+
+  return fw
+
+
+def patch_firmware(fw, offset, restore=False):
+  """Apply or revert EPAS firmware patches."""
+  mods: Final[tuple[tuple[int, bytes, bytes], ...]] = (
+    # load 1 instead of extracting EPB_epasEACAllow
+    (0x031750, b"\x80\xff\x74\x2b", b"\x20\x56\x01\x00"),
+    # load 1 instead of extracting GTW_epasControlType
+    (0x031892, b"\x80\xff\x32\x2a", b"\x20\x56\x01\x00"),
+    # load 1 instead of extracting GTW_epasLDWEnable
+    (0x031974, b"\x80\xff\x50\x29", b"\x20\x56\x01\x00"),
+  )
+
+  for addr, old_val, new_val in mods:
+    idx = addr - offset
+    if idx < 0:
+      raise Exception(f"Patch address {hex(addr)} is before firmware start")
+
+    if restore:
+      if fw[idx:idx + len(old_val)] != new_val:
+        continue
+      tmp = old_val
+      old_val = new_val
+      new_val = tmp
+    else:
+      p(f"  {hex(addr)}: 0x{fw[idx:idx + len(old_val)].hex()} -> 0x{new_val.hex()}")
+      if len(old_val) != len(new_val):
+        raise Exception(f"Patch size mismatch at {hex(addr)}")
+      if fw[idx:idx + len(old_val)] != old_val:
+        raise Exception(f"Unexpected firmware content at {hex(addr)}: " +
+                        f"0x{fw[idx:idx + len(old_val)].hex()} != 0x{old_val.hex()}")
+
+    fw = fw[:idx] + new_val + fw[idx + len(new_val):]
+
+  return fw
+
+
+def flash_bootloader(uds_client, bootloader_path, start_addr):
+  """Flash bootloader to EPAS ECU."""
+  from opendbc.car.uds import SESSION_TYPE, ACCESS_TYPE, ROUTINE_CONTROL_TYPE
+
+  p("Reading bootloader...")
+  fw = verify_bootloader(bootloader_path)
+  fw_len = len(fw)
+  end_addr = start_addr + fw_len - 1
+  p(f"  Size: {fw_len} bytes")
+
+  p("Starting programming session...")
+  uds_client.diagnostic_session_control(SESSION_TYPE.PROGRAMMING)
+  wait_for_ecu(uds_client)
+
+  p("Requesting security access seed...")
+  seed = uds_client.security_access(ACCESS_TYPE.REQUEST_SEED)
+  p(f"  Seed: 0x{seed.hex()}")
+
+  p("Sending security access key...")
+  key = get_security_access_key(seed)
+  p(f"  Key: 0x{key.hex()}")
+  uds_client.security_access(ACCESS_TYPE.SEND_KEY, key)
+
+  p("Requesting download...")
+  p(f"  Start addr: {hex(start_addr)}")
+  p(f"  End addr:   {hex(end_addr)}")
+  p(f"  Size:       {hex(fw_len)}")
+  block_size = uds_client.request_download(start_addr, fw_len)
+
+  p("Transferring bootloader...")
+  p(f"  Block size: {block_size}")
+  chunk_size = block_size - 2
+  if chunk_size <= 0:
+    raise Exception(f"Invalid block size {block_size} returned by ECU")
+  cnt = 0
+  total_chunks = (fw_len + chunk_size - 1) // chunk_size
+  report_every = max(1, total_chunks // 10)
+
+  for i in range(0, fw_len, chunk_size):
+    cnt += 1
+    uds_client.transfer_data(cnt & 0xFF, fw[i:i + chunk_size])
+    if cnt % report_every == 0 or i + chunk_size >= fw_len:
+      progress_bar(cnt, total_chunks, "Bootloader: ")
+
+  p("Requesting transfer exit...")
+  uds_client.request_transfer_exit()
+
+  p("Entering bootloader...")
+  uds_client.routine_control(ROUTINE_CONTROL_TYPE.START, 0x0301,
+                             struct.pack(">I", start_addr))
+  p("  Bootloader flashed successfully")
+
+
+def flash_firmware(uds_client, fw_slice, start_addr, end_addr):
+  """Flash modified firmware to EPAS ECU."""
+  from opendbc.car.uds import (SESSION_TYPE, ACCESS_TYPE, ROUTINE_CONTROL_TYPE,
+                                ROUTINE_IDENTIFIER_TYPE, RESET_TYPE, MessageTimeoutError)
+
+  slice_len = end_addr - start_addr + 1
+  if slice_len != len(fw_slice):
+    raise Exception(f"Firmware size mismatch: expected {slice_len}, got {len(fw_slice)}")
+
+  start_and_length = struct.pack('>II', start_addr, slice_len)
+
+  p("Erasing memory...")
+  p(f"  Start addr: {hex(start_addr)}")
+  p(f"  End addr:   {hex(end_addr)}")
+  p(f"  Size:       {hex(slice_len)}")
+  uds_client.routine_control(ROUTINE_CONTROL_TYPE.START,
+                             ROUTINE_IDENTIFIER_TYPE.ERASE_MEMORY,
+                             start_and_length)
+
+  p("Requesting download...")
+  block_size = uds_client.request_download(start_addr, slice_len)
+
+  p("Transferring firmware...")
+  p(f"  Block size: {block_size}")
+  chunk_size = block_size - 2
+  if chunk_size <= 0:
+    raise Exception(f"Invalid block size {block_size} returned by ECU")
+  cnt = 0
+  total_chunks = (slice_len + chunk_size - 1) // chunk_size
+  report_every = max(1, total_chunks // 20)
+
+  for i in range(0, slice_len, chunk_size):
+    cnt += 1
+    uds_client.transfer_data(cnt & 0xFF, fw_slice[i:i + chunk_size])
+    if cnt % report_every == 0 or i + chunk_size >= slice_len:
+      progress_bar(cnt, total_chunks, "Firmware: ")
+
+  p("Requesting transfer exit...")
+  uds_client.request_transfer_exit()
+
+  p("Resetting ECU...")
+  wait_for_ecu(uds_client)
+  try:
+    uds_client.ecu_reset(RESET_TYPE.HARD | 0x80)
+  except MessageTimeoutError:
+    # suppress-response bit set, timeout expected (waits for reboot)
+    pass
+  wait_for_ecu(uds_client)
+
+  p("Starting extended diagnostic session...")
+  uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)
+
+  p("Requesting security access seed...")
+  seed = uds_client.security_access(ACCESS_TYPE.REQUEST_SEED)
+  p(f"  Seed: 0x{seed.hex()}")
+
+  p("Sending security access key...")
+  key = get_security_access_key(seed)
+  p(f"  Key: 0x{key.hex()}")
+  uds_client.security_access(ACCESS_TYPE.SEND_KEY, key)
+
+  p("Checking dependencies...")
+  uds_client.routine_control(ROUTINE_CONTROL_TYPE.START, 0xDC03)
+
+  p("  Firmware flashed successfully!")
+
+
+def parse_args(cli_args=None):
+  parser = argparse.ArgumentParser(
+    description="Patch/restore Tesla Pre-AP EPAS firmware via Panda UDS",
+  )
+  parser.add_argument("--extract-only", action="store_true",
+                      help="Extract firmware only; do not flash")
+  parser.add_argument("--restore", action="store_true",
+                      help="Flash stock firmware image (no patch modifications)")
+  parser.add_argument("--debug", action="store_true",
+                      help="Enable UDS debug logging")
+  parser.add_argument("--accept-risk", "--confirm", dest="accept_risk", action="store_true",
+                      help="Acknowledge EPAS flashing risk and allow write operations")
+  parser.add_argument("--bootloader", type=str, default=DEFAULT_BOOTLOADER_FILE,
+                      help="Bootloader filename/path (relative paths are resolved under firmware/)")
+  parser.add_argument("--can-addr", type=lambda x: int(x, 0), default=DEFAULT_CAN_ADDR,
+                      help="UDS transmit CAN address (default: 0x730)")
+  parser.add_argument("--can-bus", type=int, default=DEFAULT_CAN_BUS,
+                      help="CAN bus number (default: 0)")
+  return parser.parse_args(cli_args)
+
+
+def main(cli_args=None):
+  from opendbc.car.uds import UdsClient, NegativeResponseError
+  args = parse_args(cli_args)
+
+  p("=" * 60)
+  p("EPAS FIRMWARE FLASHER")
+  p("=" * 60)
+  p("")
+  p("This tool will:")
+  p("  1. Extract the current EPAS firmware")
+  p("  2. Verify the firmware checksum")
+  if args.extract_only:
+    p("  3. Save backup image and exit")
+  elif args.restore:
+    p("  3. Flash stock firmware image")
+  else:
+    p("  3. Apply steering control patches")
+    p("  4. Flash the patched firmware")
+  p("")
+  p("WARNING: This permanently modifies the EPAS firmware.")
+  p("A backup of the original firmware will be saved.")
+  p("=" * 60)
+
+  script_dir = os.path.dirname(os.path.realpath(__file__))
+  firmware_dir = os.path.join(script_dir, "firmware")
+  bl_path = str(bootloader_path(args.bootloader))
+  fw_fn = os.path.join(firmware_dir, f"epas-firmware-{hex(FW_START_ADDR)}-{hex(FW_END_ADDR)}.bin")
+
+  require_runtime_path()
+  tool_name = "restore_epas" if args.restore else ("extract_epas" if args.extract_only else "flash_epas")
+  confirmed = bool(args.accept_risk) or _consume_ui_risk_ack()
+  if args.extract_only:
+    from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import require_offroad
+    require_offroad()
+  else:
+    if not confirmed:
+      p("")
+      p("RISK ACKNOWLEDGMENT REQUIRED")
+      p("Re-run with --accept-risk or start from UI and confirm.")
+      return 1
+    require_preap_tool_start(tool=tool_name, confirmed=True)
+
+  transport = None
+  try:
+    if not args.extract_only:
+      # Integrity MUST pass before panda USB is opened.
+      p("\nVerifying bootloader integrity before connect...")
+      verify_bootloader(bl_path)
+      p("  Bootloader size/SHA-256/MD5 OK")
+    p("\nWaiting for pandad to release Panda USB...")
+    p("Connecting to Panda...")
+    transport = DiagnosticTransport()
+    panda = transport.connect()
+    p("  Connected")
+
+    transport.set_diagnostic_session()
+    p("  Safety mode: ELM327 (UDS)")
+
+    # Flush stale CAN messages left by pandad / other processes
+    p("  Flushing CAN buffers...")
+    panda.can_clear(0xFFFF)
+    time.sleep(0.1)
+    panda.can_recv()
+
+    uds_client = UdsClient(panda, args.can_addr, bus=args.can_bus, timeout=1)
+    p(f"  UDS client: addr=0x{args.can_addr:03X}, bus={args.can_bus}")
+
+    # Step 1: Extract firmware
+    p("\n" + "=" * 40)
+    p("STEP 1: Extract Firmware")
+    p("=" * 40)
+
+    fw_slice = None
+    if args.extract_only or not os.path.exists(fw_fn):
+      fw_slice = extract_firmware(uds_client, FW_START_ADDR, FW_END_ADDR)
+      # Undo any previous patches to get clean firmware
+      fw_slice = patch_firmware(fw_slice, FW_START_ADDR, restore=True)
+      fw_slice = update_checksums(fw_slice, FW_START_ADDR, restore=True)
+      p(f"  Saving backup: {fw_fn}")
+      os.makedirs(os.path.dirname(fw_fn), exist_ok=True)
+      with open(fw_fn, "wb") as f:
+        f.write(fw_slice)
+    else:
+      p(f"  Loading cached firmware: {fw_fn}")
+      with open(fw_fn, "rb") as f:
+        fw_slice = f.read()
+      md5 = hashlib.md5(fw_slice).hexdigest()
+      if md5 != FW_MD5SUM or len(fw_slice) != FW_SIZE:
+        p(f"  Cached firmware invalid (md5={md5}), re-extracting...")
+        fw_slice = extract_firmware(uds_client, FW_START_ADDR, FW_END_ADDR)
+        # Undo any previous patches to get clean firmware
+        fw_slice = patch_firmware(fw_slice, FW_START_ADDR, restore=True)
+        fw_slice = update_checksums(fw_slice, FW_START_ADDR, restore=True)
+        p(f"  Saving backup: {fw_fn}")
+        os.makedirs(os.path.dirname(fw_fn), exist_ok=True)
+        with open(fw_fn, "wb") as f:
+          f.write(fw_slice)
+
+    # Step 2: Verify firmware
+    p("\n" + "=" * 40)
+    p("STEP 2: Verify Firmware")
+    p("=" * 40)
+
+    md5 = hashlib.md5(fw_slice).hexdigest()
+    p(f"  Size: {len(fw_slice)} bytes (expected {FW_SIZE})")
+    p(f"  MD5:  {md5}")
+
+    if len(fw_slice) != FW_SIZE:
+      p("\nERROR: Firmware size mismatch!")
+      return 1
+
+    if md5 != FW_MD5SUM:
+      p("\nERROR: Firmware checksum mismatch!")
+      p(f"  Expected: {FW_MD5SUM}")
+      p(f"  Got:      {md5}")
+      return 1
+
+    p("  Firmware verified OK")
+
+    if args.extract_only:
+      p("\n" + "=" * 60)
+      p("EXTRACT COMPLETE")
+      p("=" * 60)
+      p(f"Backup saved to: {fw_fn}")
+      return 0
+
+    # Step 3: Patch or Restore firmware payload
+    p("\n" + "=" * 40)
+    p("STEP 3: Prepare Firmware Payload")
+    p("=" * 40)
+
+    if args.restore:
+      p("Restore mode enabled: flashing stock firmware image.")
+    else:
+      p("Applying patches...")
+      fw_slice = patch_firmware(fw_slice, FW_START_ADDR)
+      p("Updating checksums...")
+      fw_slice = update_checksums(fw_slice, FW_START_ADDR)
+      mod_fn = os.path.join(firmware_dir, f"{FW_MD5SUM}.modified.bin")
+      p(f"  Saving modified firmware: {mod_fn}")
+      with open(mod_fn, "wb") as f:
+        f.write(fw_slice)
+
+    # Step 4: Flash
+    p("\n" + "=" * 40)
+    p("STEP 4: Flash Bootloader")
+    p("=" * 40)
+
+    flash_bootloader(uds_client, bl_path, BOOTLOADER_ADDR)
+
+    p("\n" + "=" * 40)
+    p("STEP 5: Flash Firmware")
+    p("=" * 40)
+
+    flash_firmware(uds_client, fw_slice, FW_START_ADDR, FW_END_ADDR)
+
+    p("\n" + "=" * 60)
+    p("EPAS FLASH COMPLETE!")
+    p("=" * 60)
+    p("")
+    if args.restore:
+      p("The stock EPAS firmware image has been restored.")
+    else:
+      p("The EPAS firmware has been patched for openpilot steering control.")
+    p("Please restart the vehicle to apply changes.")
+
+    return 0
+
+  except KeyboardInterrupt:
+    p("\nFlashing interrupted!")
+    p("WARNING: If interrupted during flash, the EPAS may need recovery.")
+    return 1
+  except (BootloaderIntegrityError, TransportError) as e:
+    p(f"\nERROR: {e}")
+    return 1
+  except NegativeResponseError as e:
+    try:
+      fail_closed_negative_response(e)
+    except TransportError as wrapped:
+      p(f"\nERROR: {wrapped}")
+    return 1
+  except Exception as e:
+    p(f"\nERROR: {e}")
+    import traceback
+    traceback.print_exc()
+    return 1
+  finally:
+    if transport is not None:
+      transport.close()
+      p("\nPanda connection closed.")
+
+
+if __name__ == "__main__":
+  sys.exit(main())
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
new file mode 100644
index 00000000000000..f9cadf9b4b366f
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
@@ -0,0 +1,60 @@
+"""Shared instruction strings for Pre-AP production tools."""
+from openpilot.system.ui.lib.multilang import tr_noop
+
+CALIBRATE_PEDAL_INSTRUCTIONS = tr_noop("""Pedal Calibration
+
+This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.
+
+PRECONDITIONS:
+  1. Device must be offroad
+  2. Car must be ON, Neutral, brake held
+  3. Do NOT press the accelerator
+
+Press START to confirm and begin.""")
+
+CALIBRATE_RADAR_INSTRUCTIONS = tr_noop("""Radar Calibration
+
+Displays filtered Bosch radar points to help align the sensor.
+
+PRECONDITIONS:
+  1. Device must be offroad
+  2. Vehicle parked with a target 3-10m ahead
+
+Press START to confirm and begin.""")
+
+TEST_RADAR_INSTRUCTIONS = tr_noop("""Radar Test
+
+Displays live Bosch radar tracks for installation checks.
+
+Press START to begin.""")
+
+DIAGNOSE_RADAR_INSTRUCTIONS = tr_noop("""Radar Diagnosis
+
+Reads Bosch radar health without changing panda safety mode.
+
+Press START to begin.""")
+
+FLASH_EPAS_INSTRUCTIONS = tr_noop("""EPAS Firmware Flash
+
+WARNING: This modifies steering-system firmware.
+
+POWER THE CAR ON, stay in Park, do not drive.
+Power loss during the flash can brick EPAS.
+
+Press START only if you accept these risks.""")
+
+BACKUP_EPAS_INSTRUCTIONS = tr_noop("""EPAS Firmware Backup
+
+Extracts stock EPAS firmware. No flashing is performed.
+
+POWER THE CAR ON before starting.
+
+Press START to extract the backup.""")
+
+RESTORE_EPAS_INSTRUCTIONS = tr_noop("""EPAS Firmware Restore
+
+WARNING: This reflashes steering-system firmware from the stock image.
+
+POWER THE CAR ON, stay in Park, do not drive.
+
+Press START only if you accept these risks.""")
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/radar_decode.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/radar_decode.py
new file mode 100644
index 00000000000000..26d2b051e0d73e
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/radar_decode.py
@@ -0,0 +1,86 @@
+"""Bosch radar point decode used by production Pre-AP radar tools."""
+from __future__ import annotations
+
+RADAR_BUS = 1
+NUM_RADAR_POINTS = 32
+RADAR_ADDR_START = 0x310
+RADAR_ADDR_END = 0x36F
+
+MIN_LONG = 2.5
+MAX_LONG = 14.5
+MIN_LAT = -1.0
+MAX_LAT = 1.0
+
+MOVING_STATES = {
+  0: "Unknown",
+  1: "Moving",
+  2: "Stopped",
+  3: "Standing",
+}
+
+
+def extract_signal(data, start_bit: int, length: int) -> int:
+  value = 0
+  for i in range(length):
+    bit_pos = start_bit + i
+    byte_idx = bit_pos // 8
+    bit_idx = bit_pos % 8
+    if byte_idx < len(data) and (data[byte_idx] & (1 << bit_idx)):
+      value |= (1 << i)
+  return value
+
+
+def parse_radar_a(data: bytes) -> dict:
+  return {
+    "long_dist": extract_signal(data, 0, 12) * 0.0625,
+    "long_speed": extract_signal(data, 12, 12) * 0.0625 - 128,
+    "lat_dist": extract_signal(data, 24, 11) * 0.125 - 128,
+    "prob_exist": extract_signal(data, 35, 5) * 3.125,
+    "long_accel": extract_signal(data, 40, 10) * 0.03125 - 16,
+    "valid": extract_signal(data, 55, 1),
+    "meas": extract_signal(data, 61, 1),
+    "tracked": extract_signal(data, 62, 1),
+    "index": extract_signal(data, 63, 1),
+  }
+
+
+def parse_radar_b(data: bytes) -> dict:
+  return {
+    "lat_speed": extract_signal(data, 0, 10) * 0.125 - 64,
+    "length": extract_signal(data, 10, 6) * 0.125,
+    "dz": extract_signal(data, 16, 6) * 0.25 - 5,
+    "moving_state": extract_signal(data, 22, 2),
+    "index2": extract_signal(data, 63, 1),
+  }
+
+
+def unpack_can(msg) -> tuple[int, bytes, int] | None:
+  if len(msg) == 4:
+    addr, _bus, dat, src = msg
+    return int(addr), bytes(dat), int(src)
+  if len(msg) == 3:
+    addr, dat, src = msg
+    return int(addr), bytes(dat), int(src)
+  return None
+
+
+def update_tracks(tracks: dict[int, dict], addr: int, dat: bytes) -> None:
+  if not (RADAR_ADDR_START <= addr <= RADAR_ADDR_END):
+    return
+  idx = (addr - RADAR_ADDR_START) // 2
+  if idx not in tracks:
+    tracks[idx] = {}
+  if addr % 2 == 0:
+    tracks[idx].update(parse_radar_a(dat))
+  else:
+    tracks[idx].update(parse_radar_b(dat))
+
+
+def in_calibration_window(point: dict) -> bool:
+  if not point.get("tracked") and not point.get("valid"):
+    return False
+  long_dist = point.get("long_dist")
+  lat_dist = point.get("lat_dist")
+  if long_dist is None or lat_dist is None:
+    return False
+  return MIN_LONG <= long_dist <= MAX_LONG and MIN_LAT <= lat_dist <= MAX_LAT
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/restore_epas.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/restore_epas.py
new file mode 100644
index 00000000000000..d545ac0f08dcea
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/restore_epas.py
@@ -0,0 +1,5 @@
+"""Restore stock Tesla Pre-AP EPAS firmware image."""
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.flash_epas import main
+
+if __name__ == "__main__":
+  raise SystemExit(main(["--restore"]))
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/run_script.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/run_script.py
new file mode 100755
index 00000000000000..93f720b7c9f694
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/run_script.py
@@ -0,0 +1,203 @@
+#!/usr/bin/env python3
+"""Production Pre-AP script runner.
+
+Launches an approved tool module after offroad + runtime-path checks.
+Sets NAPScriptRunning so manager releases pandad. Development-only
+utilities are rejected. Native Tesla settings use ConfirmDialog/start_tool;
+this runner remains the CLI/display process for the same approved tools.
+
+Usage:
+    python -m openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.run_script \\
+      "Title" "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.calibrate_pedal" "Instructions"
+"""
+from __future__ import annotations
+
+import os
+import subprocess
+import sys
+import threading
+import queue
+from pathlib import Path
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import APPROVED_TOOLS
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import (
+  ToolSafetyError,
+  require_offroad,
+  require_runtime_path,
+)
+
+APPROVED_MODULES = frozenset(APPROVED_TOOLS.values())
+
+
+class ScriptState:
+  READY = 0
+  RUNNING = 1
+  COMPLETED = 2
+  ERROR = 3
+
+
+def prepare_run(module: str, params: Params | None = None) -> str:
+  """Validate module, runtime path, and offroad before spawn."""
+  require_runtime_path()
+  params = params or Params()
+  require_offroad(params)
+  if module not in APPROVED_MODULES:
+    raise ValueError(f"unapproved tool: {module}")
+  return module
+
+
+def spawn_approved_module(module: str, params: Params | None = None) -> subprocess.Popen:
+  module = prepare_run(module, params)
+  params = params or Params()
+  params.put_bool("NAPScriptRunning", True, block=True)
+  env = os.environ.copy()
+  env["PYTHONPATH"] = env.get("PYTHONPATH", BASEDIR)
+  try:
+    return subprocess.Popen(
+      [sys.executable, "-m", module],
+      stdout=subprocess.PIPE,
+      stderr=subprocess.STDOUT,
+      cwd=str(Path(BASEDIR)),
+      start_new_session=True,
+      env=env,
+      text=True,
+      bufsize=1,
+    )
+  except Exception:
+    params.put_bool("NAPScriptRunning", False, block=True)
+    raise
+
+
+def main(argv: list[str] | None = None) -> int:
+  argv = list(sys.argv if argv is None else argv)
+  if len(argv) < 4:
+    print("Usage: run_script.py <title> <module> <instructions>")
+    return 1
+
+  title = argv[1]
+  module = argv[2]
+  instructions = argv[3]
+  try:
+    prepare_run(module)
+  except (ToolSafetyError, ValueError) as exc:
+    print(f"ERROR: {exc}")
+    return 1
+
+  import pyray as rl
+  from openpilot.common.hardware import HARDWARE, PC
+  from openpilot.system.ui.lib.application import gui_app, FontWeight
+  from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+  from openpilot.system.ui.widgets.button import Button, ButtonStyle
+
+  margin = 50
+  title_font_size = 70
+  text_font_size = 45
+  output_font_size = 35
+  line_height = 45
+  button_width = 350
+  button_height = 110
+  button_spacing = 30
+
+  class ScriptRunnerApp:
+    def __init__(self):
+      self._title = title
+      self._module = module
+      self._instructions = instructions
+      self._state = ScriptState.READY
+      self._output_lines: list[str] = []
+      self._output_queue: queue.Queue[str] = queue.Queue()
+      self._process: subprocess.Popen | None = None
+      self._scroll_panel = GuiScrollPanel()
+      self._instruction_lines: list[str] = []
+      self._params = Params()
+      self._font = None
+      self._title_font = None
+      self._start_button = None
+      self._exit_button = None
+
+    def init_ui(self):
+      self._font = gui_app.font(FontWeight.NORMAL)
+      self._title_font = gui_app.font(FontWeight.BOLD)
+      self._start_button = Button("Start", click_callback=self._on_start, button_style=ButtonStyle.PRIMARY, font_size=text_font_size)
+      self._exit_button = Button("Exit", click_callback=self._on_exit, button_style=ButtonStyle.TRANSPARENT_WHITE_BORDER, font_size=text_font_size)
+
+    def _on_start(self):
+      if self._state != ScriptState.READY:
+        return
+      self._state = ScriptState.RUNNING
+      self._output_lines = ["Starting script...", ""]
+      try:
+        self._process = spawn_approved_module(self._module, self._params)
+        threading.Thread(target=self._read_output, daemon=True).start()
+      except Exception as exc:
+        self._output_lines.append(f"Error starting script: {exc}")
+        self._state = ScriptState.ERROR
+
+    def _read_output(self):
+      try:
+        if self._process and self._process.stdout:
+          for line in iter(self._process.stdout.readline, ""):
+            if line:
+              self._output_queue.put(line.rstrip())
+        if self._process:
+          code = self._process.wait()
+          if code == 0:
+            self._output_queue.put("\n[Script completed successfully]")
+            self._state = ScriptState.COMPLETED
+          else:
+            self._output_queue.put(f"\n[Script exited with code {code}]")
+            self._state = ScriptState.ERROR
+      except Exception as exc:
+        self._output_queue.put(f"\n[Error reading output: {exc}]")
+        self._state = ScriptState.ERROR
+
+    def _on_exit(self):
+      if self._process and self._process.poll() is None:
+        self._process.terminate()
+        try:
+          self._process.wait(timeout=2)
+        except subprocess.TimeoutExpired:
+          self._process.kill()
+      self._params.put_bool("NAPScriptRunning", False, block=True)
+      self._params.put_bool("NAPEpasRiskAccepted", False, block=True)
+      gui_app.request_close()
+      if not PC:
+        HARDWARE.reboot()
+
+    def render(self):
+      rect = rl.Rectangle(0, 0, gui_app.width, gui_app.height)
+      rl.draw_rectangle_rec(rect, rl.Color(20, 20, 20, 255))
+      while True:
+        try:
+          self._output_lines.append(self._output_queue.get_nowait())
+        except queue.Empty:
+          break
+      content_x = rect.x + margin
+      current_y = rect.y + margin
+      rl.draw_text_ex(self._title_font, self._title, rl.Vector2(content_x, current_y), title_font_size, 0, rl.WHITE)
+      current_y += title_font_size + margin
+      if self._state == ScriptState.READY:
+        for i, line in enumerate(self._instructions.split("\n")):
+          rl.draw_text_ex(self._font, line, rl.Vector2(content_x, current_y + i * line_height), text_font_size, 0, rl.Color(200, 200, 200, 255))
+      else:
+        for i, line in enumerate(self._output_lines[-40:]):
+          rl.draw_text_ex(self._font, line, rl.Vector2(content_x, current_y + i * line_height), output_font_size, 0, rl.WHITE)
+      button_y = rect.y + rect.height - margin - button_height
+      if self._state == ScriptState.READY:
+        self._start_button.render(rl.Rectangle(rect.x + rect.width - margin - button_width * 2 - button_spacing, button_y, button_width, button_height))
+      self._exit_button.set_enabled(self._state != ScriptState.RUNNING)
+      self._exit_button.render(rl.Rectangle(rect.x + rect.width - margin - button_width, button_y, button_width, button_height))
+
+  subprocess.run(["tmux", "kill-session", "-t", "comma"], capture_output=True)
+  gui_app.init_window("Pre-AP Script Runner")
+  app = ScriptRunnerApp()
+  app.init_ui()
+  for _ in gui_app.render():
+    app.render()
+  return 0
+
+
+if __name__ == "__main__":
+  raise SystemExit(main())
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/runner.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/runner.py
new file mode 100644
index 00000000000000..1f00d3d1ebd9cf
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/runner.py
@@ -0,0 +1,101 @@
+"""Pre-AP production tool runner seam.
+
+Launches an approved tool module as a separate process after the user
+confirms on the instruction screen. Sets NAPScriptRunning so manager
+releases pandad. Development-only utilities are not registered here.
+"""
+from __future__ import annotations
+
+import os
+import signal
+import subprocess
+import sys
+import threading
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import (
+  DESTRUCTIVE_TOOLS,
+  ToolSafetyError,
+  require_preap_tool_start,
+  require_runtime_path,
+)
+
+RUN_SCRIPT_MODULE = "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.run_script"
+
+APPROVED_TOOLS = {
+  "calibrate_pedal": "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.calibrate_pedal",
+  "calibrate_radar": "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.calibrate_radar",
+  "diagnose_radar": "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.diagnose_radar",
+  "test_radar": "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.test_radar",
+  "extract_epas": "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.extract_epas",
+  "flash_epas": "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.flash_epas",
+  "restore_epas": "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.restore_epas",
+}
+
+
+def approved_module(tool: str) -> str:
+  if tool not in APPROVED_TOOLS:
+    raise ValueError(f"unapproved tool: {tool}")
+  return APPROVED_TOOLS[tool]
+
+
+def _clear_tool_flags(params: Params) -> None:
+  params.put_bool("NAPScriptRunning", False, block=True)
+  params.put_bool("NAPEpasRiskAccepted", False, block=True)
+
+
+def _reap_tool(process: subprocess.Popen, params: Params) -> None:
+  try:
+    process.wait()
+  finally:
+    _clear_tool_flags(params)
+
+
+def start_tool(tool: str, *, confirmed: bool, params: Params | None = None) -> subprocess.Popen:
+  require_runtime_path()
+  require_preap_tool_start(params, tool=tool, confirmed=confirmed)
+  module = approved_module(tool)
+  params = params or Params()
+  if params.get_bool("NAPScriptRunning"):
+    raise ToolSafetyError("another Pre-AP tool is already running")
+  params.put_bool("NAPScriptRunning", True, block=True)
+  if tool in ("flash_epas", "restore_epas") and confirmed:
+    params.put_bool("NAPEpasRiskAccepted", True, block=True)
+  env = os.environ.copy()
+  env["PYTHONPATH"] = env.get("PYTHONPATH", BASEDIR)
+  cmd = [sys.executable, "-m", module]
+  if confirmed and tool in DESTRUCTIVE_TOOLS:
+    cmd.append("--confirm")
+  try:
+    process = subprocess.Popen(
+      cmd,
+      cwd=BASEDIR,
+      start_new_session=True,
+      env=env,
+    )
+  except Exception:
+    _clear_tool_flags(params)
+    raise
+  threading.Thread(target=_reap_tool, args=(process, params), daemon=True).start()
+  return process
+
+
+def stop_tool(process: subprocess.Popen, params: Params | None = None) -> None:
+  params = params or Params()
+  if process.poll() is None:
+    process.send_signal(signal.SIGINT)
+    try:
+      process.wait(timeout=5)
+    except subprocess.TimeoutExpired:
+      process.terminate()
+      try:
+        process.wait(timeout=2)
+      except subprocess.TimeoutExpired:
+        process.kill()
+  if process.poll() is not None:
+    _clear_tool_flags(params)
+
+
+def is_destructive(tool: str) -> bool:
+  return tool in DESTRUCTIVE_TOOLS
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/safety.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/safety.py
new file mode 100644
index 00000000000000..4036aa6e1c88d4
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/safety.py
@@ -0,0 +1,64 @@
+"""Offroad, confirmation, and runtime-path gates for Pre-AP production tools."""
+from __future__ import annotations
+
+from pathlib import Path
+
+from openpilot.common.params import Params
+
+DESTRUCTIVE_TOOLS = frozenset({
+  "calibrate_pedal",
+  "calibrate_radar",
+  "flash_epas",
+  "restore_epas",
+})
+
+TOOLS_DIR = Path(__file__).resolve().parent
+
+
+class ToolSafetyError(Exception):
+  """Tool refused to run because a safety gate failed."""
+
+
+def require_runtime_path(module_file: str | Path | None = None) -> Path:
+  """Production tools must execute from this package under BASEDIR."""
+  from openpilot.common.basedir import BASEDIR
+  tools_dir = TOOLS_DIR
+  base = Path(BASEDIR).resolve()
+  if base not in tools_dir.parents:
+    raise ToolSafetyError(f"tools must run from BASEDIR ({base}), not {tools_dir}")
+  if module_file is not None:
+    path = Path(module_file).resolve()
+    if path.parent != tools_dir and tools_dir not in path.parents:
+      raise ToolSafetyError(f"tool must run from production path {tools_dir}")
+    return path
+  return tools_dir
+
+
+def require_offroad(params: Params | None = None) -> None:
+  params = params or Params()
+  if not params.get_bool("IsOffroad"):
+    raise ToolSafetyError("tool requires offroad")
+
+
+def require_confirmation(confirmed: bool, *, tool: str) -> None:
+  if tool in DESTRUCTIVE_TOOLS and not confirmed:
+    raise ToolSafetyError("destructive tool requires explicit confirmation")
+
+
+def require_preap_tool_start(params: Params | None = None, *, tool: str, confirmed: bool) -> None:
+  require_runtime_path()
+  require_offroad(params)
+  require_confirmation(confirmed, tool=tool)
+
+
+def parse_explicit_confirmation(argv=None) -> bool:
+  """Return True only when this invocation includes an explicit --confirm flag.
+
+  Absence, empty argv, and default argparse False cannot silently satisfy
+  destructive tools. Callers must pass the flag after a real user acknowledgment.
+  """
+  import argparse
+  parser = argparse.ArgumentParser(add_help=False)
+  parser.add_argument("--confirm", action="store_true", default=False)
+  args, _unknown = parser.parse_known_args(argv)
+  return bool(args.confirm)
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/test_radar.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/test_radar.py
new file mode 100644
index 00000000000000..c3d925417d6372
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/test_radar.py
@@ -0,0 +1,85 @@
+"""Production Pre-AP radar installation test. Receive-only, no safety bypass."""
+from __future__ import annotations
+
+import time
+
+from openpilot.common.params import Params
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.radar_decode import (
+  MOVING_STATES, unpack_can, update_tracks,
+)
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import require_offroad, require_runtime_path
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.transport import DiagnosticTransport, TransportError
+
+DISPLAY_INTERVAL = 0.5
+
+
+def p(msg=""):
+  print(msg, flush=True)
+
+
+def collect_tracks(messages, tracks: dict[int, dict] | None = None) -> dict[int, dict]:
+  tracks = tracks if tracks is not None else {}
+  for msg in messages:
+    unpacked = unpack_can(msg)
+    if unpacked is None:
+      continue
+    addr, dat, _src = unpacked
+    update_tracks(tracks, addr, dat)
+  return tracks
+
+
+def run(*, params: Params | None = None, transport: DiagnosticTransport | None = None,
+        duration_s: float | None = None) -> int:
+  params = params or Params()
+  require_runtime_path()
+  require_offroad(params)
+  owned = transport is None
+  transport = transport or DiagnosticTransport()
+  try:
+    transport.connect()
+    p("Radar test (receive-only, safety mode unchanged)")
+    p("Ctrl+C to stop.")
+    tracks: dict[int, dict] = {}
+    last_display = 0.0
+    seen = 0
+    deadline = None if duration_s is None else (time.monotonic() + duration_s)
+    while deadline is None or time.monotonic() < deadline:
+      try:
+        collect_tracks(transport.can_recv(), tracks)
+      except TransportError as exc:
+        raise TransportError(f"radar test RX failed: {exc}") from exc
+      now = time.monotonic()
+      if now - last_display >= DISPLAY_INTERVAL:
+        last_display = now
+        live = 0
+        for idx, pt in tracks.items():
+          if "long_dist" not in pt:
+            continue
+          live += 1
+          seen += 1
+          moving = MOVING_STATES.get(pt.get("moving_state", 0), "Unknown")
+          p(f"  #{idx} d={pt['long_dist']:.2f}m y={pt.get('lat_dist', 0):.2f}m {moving}")
+        if live == 0:
+          p("  [no radar tracks yet]")
+      time.sleep(0.05)
+    if duration_s is not None and seen == 0:
+      p("  [!!] no radar tracks")
+      return 1
+  except KeyboardInterrupt:
+    p("\nStopped.")
+  finally:
+    if owned:
+      transport.close()
+  return 0
+
+
+def main() -> int:
+  try:
+    return run()
+  except Exception as exc:
+    p(f"ERROR: {exc}")
+    return 1
+
+
+if __name__ == "__main__":
+  raise SystemExit(main())
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/__init__.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
new file mode 100644
index 00000000000000..d0d1a7e9c2e187
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
@@ -0,0 +1,703 @@
+import hashlib
+from pathlib import Path
+from tempfile import TemporaryDirectory
+from unittest.mock import MagicMock
+import re
+from typing import cast
+
+import pytest
+from opendbc.car import structs
+
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import epas_integrity
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.calibrate_pedal import (
+  PedalCalibrationError,
+  build_pedal_command,
+  parse_configured_pedal_bus,
+)
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.epas_integrity import (
+  BOOTLOADER_SIZE,
+  BootloaderIntegrityError,
+  verify_bootloader,
+)
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import APPROVED_TOOLS, approved_module, start_tool
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import (
+  ToolSafetyError,
+  require_confirmation,
+  require_offroad,
+  require_preap_tool_start,
+)
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.transport import (
+  SAFETY_ALLOUTPUT,
+  SAFETY_ELM327,
+  SAFETY_SILENT,
+  SAFETY_TESLA_PREAP,
+  DiagnosticTransport,
+  TransportError,
+)
+from opendbc.car.tesla.preap.constants import PREAP_FLAG_ENABLE_PEDAL, PREAP_FLAG_PEDAL_BUS_ZERO, PREAP_FLAG_PEDAL_CALIBRATION, PREAP_MODE_INVALID
+
+
+class FakeParams:
+  def __init__(self, offroad=True):
+    self.store = {"IsOffroad": offroad}
+
+  def get_bool(self, key):
+    return bool(self.store.get(key, False))
+
+  def put_bool(self, key, value, block=True):
+    self.store[key] = bool(value)
+
+
+def test_offroad_and_confirmation_gates():
+  require_offroad(FakeParams(offroad=True))
+  with pytest.raises(ToolSafetyError):
+    require_offroad(FakeParams(offroad=False))
+  require_confirmation(True, tool="flash_epas")
+  with pytest.raises(ToolSafetyError):
+    require_confirmation(False, tool="flash_epas")
+  require_confirmation(False, tool="diagnose_radar")
+  with pytest.raises(ToolSafetyError):
+    require_preap_tool_start(FakeParams(offroad=False), tool="calibrate_pedal", confirmed=True)
+  with pytest.raises(ToolSafetyError):
+    require_preap_tool_start(FakeParams(offroad=True), tool="calibrate_pedal", confirmed=False)
+
+
+def test_transport_rejects_alloutput():
+  panda = MagicMock()
+  transport = DiagnosticTransport(panda=panda)
+  with pytest.raises(TransportError, match="bypass"):
+    transport._set_safety_mode(SAFETY_ALLOUTPUT)
+  panda.set_safety_mode.assert_not_called()
+
+def test_transport_selects_cereal_elm327_mode():
+  panda = MagicMock()
+  transport = DiagnosticTransport(panda=panda)
+  transport.set_diagnostic_session()
+  assert SAFETY_ELM327 == int(structs.CarParams.SafetyModel.elm327)
+  panda.set_safety_mode.assert_called_once_with(SAFETY_ELM327, 0)
+
+
+def test_unapproved_tool_rejected():
+  with pytest.raises(ValueError, match="unapproved"):
+    approved_module("radar_replay")
+  with pytest.raises(ValueError, match="unapproved"):
+    start_tool("lead_source_analysis", confirmed=True, params=FakeParams())
+  with pytest.raises(ValueError, match="unapproved"):
+    approved_module("vision_radar_delta")
+  assert "vision_radar_delta" not in APPROVED_TOOLS
+  assert "radar_replay" not in APPROVED_TOOLS
+
+
+def test_start_tool_clears_script_running_on_spawn_fail(monkeypatch):
+  params = FakeParams()
+
+  def boom(*_args, **_kwargs):
+    raise OSError("spawn failed")
+
+  monkeypatch.setattr("openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner.subprocess.Popen", boom)
+  with pytest.raises(OSError):
+    start_tool("diagnose_radar", confirmed=True, params=params)
+  assert params.get_bool("NAPScriptRunning") is False
+  assert params.get_bool("NAPEpasRiskAccepted") is False
+
+
+def test_bootloader_integrity_before_connect(monkeypatch):
+  payload = b"x" * BOOTLOADER_SIZE
+  md5 = hashlib.md5(payload).hexdigest()
+  sha = hashlib.sha256(payload).hexdigest()
+  monkeypatch.setattr(epas_integrity, "BOOTLOADER_MD5SUM", md5)
+  monkeypatch.setattr(epas_integrity, "BOOTLOADER_SHA256", sha)
+  with TemporaryDirectory() as tmp:
+    path = Path(tmp) / "bl.bin"
+    path.write_bytes(payload)
+    assert verify_bootloader(path) == payload
+    path.write_bytes(b"y" * BOOTLOADER_SIZE)
+    with pytest.raises(BootloaderIntegrityError):
+      verify_bootloader(path)
+
+
+def test_flash_and_restore_verify_bootloader_before_connect(monkeypatch):
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import flash_epas
+
+  called = []
+
+  def boom(_path):
+    called.append("verify")
+    raise BootloaderIntegrityError("bad bootloader")
+
+  class BoomTransport:
+    def __init__(self, *args, **kwargs):
+      called.append("transport_init")
+
+    def connect(self):
+      called.append("connect")
+      raise AssertionError("must not connect after integrity failure")
+
+  monkeypatch.setattr(flash_epas, "verify_bootloader", boom)
+  monkeypatch.setattr(flash_epas, "require_preap_tool_start", lambda **_k: None)
+  monkeypatch.setattr(flash_epas, "_consume_ui_risk_ack", lambda: True)
+  monkeypatch.setattr(flash_epas, "DiagnosticTransport", BoomTransport)
+  monkeypatch.setattr(flash_epas, "bootloader_path", lambda _name: Path("/tmp/missing.bin"))
+
+  assert flash_epas.main(["--accept-risk"]) == 1
+  assert called == ["verify"]
+  called.clear()
+  assert flash_epas.main(["--restore", "--accept-risk"]) == 1
+  assert called == ["verify"]
+
+
+def test_pedal_command_rejects_invalid_bus():
+  with pytest.raises(PedalCalibrationError, match="invalid pedal bus"):
+    build_pedal_command(0.0, enable=0, bus=1)
+  addr, dat, bus = build_pedal_command(0.0, enable=0, bus=2)
+  assert bus == 2
+  assert len(dat) == 6
+  assert addr == 0x551
+
+
+def test_start_tool_flash_sets_risk_ack(monkeypatch):
+  params = FakeParams()
+  monkeypatch.setattr(
+    "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner.subprocess.Popen",
+    lambda *_args, **_kwargs: MagicMock(),
+  )
+  monkeypatch.setattr(
+    "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner.threading.Thread",
+    lambda **_kwargs: MagicMock(),
+  )
+  start_tool("flash_epas", confirmed=True, params=params)
+  assert params.get_bool("NAPScriptRunning") is True
+  assert params.get_bool("NAPEpasRiskAccepted") is True
+
+  params = FakeParams()
+  start_tool("diagnose_radar", confirmed=True, params=params)
+  assert params.get_bool("NAPScriptRunning") is True
+  assert params.get_bool("NAPEpasRiskAccepted") is False
+
+
+def test_flash_requires_risk_ack_before_connect(monkeypatch):
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import flash_epas
+
+  called = []
+
+  class BoomTransport:
+    def __init__(self, *args, **kwargs):
+      called.append("transport_init")
+
+    def connect(self):
+      called.append("connect")
+      raise AssertionError("must not connect without risk ack")
+
+  monkeypatch.setattr(flash_epas, "_consume_ui_risk_ack", lambda: False)
+  monkeypatch.setattr(flash_epas, "DiagnosticTransport", BoomTransport)
+  monkeypatch.setattr(flash_epas, "verify_bootloader", lambda *_a, **_k: called.append("verify") or b"x")
+  assert flash_epas.main([]) == 1
+  assert called == []
+  assert flash_epas.main(["--restore"]) == 1
+  assert called == []
+
+
+def test_diagnose_radar_does_not_change_safety():
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.diagnose_radar import diagnose_panda
+
+  panda = MagicMock()
+  panda.can_recv.return_value = []
+  transport = DiagnosticTransport(panda=panda)
+  diagnose_panda(transport, sniff_s=0.0)
+  panda.set_safety_mode.assert_not_called()
+  transport.close()
+  panda.set_safety_mode.assert_not_called()
+
+
+def test_manager_ignore_list_stops_required_daemons():
+  src = Path(__file__).resolve().parents[7] / "system" / "manager" / "manager.py"
+  text = src.read_text()
+  assert 'params.get_bool("NAPScriptRunning")' in text
+  ignore_block = text.split('params.get_bool("NAPScriptRunning")', 1)[1].split("ensure_running", 1)[0]
+  for name in ("pandad", "card", "selfdrived", "plannerd", "radard"):
+    assert name in ignore_block
+
+
+def test_approved_tools_include_diagnose_radar():
+  assert "diagnose_radar" in APPROVED_TOOLS
+
+
+def test_native_panel_keyboard_and_diagnose():
+  src = Path(__file__).resolve().parents[7] / "selfdrive" / "ui" / "sunnypilot" / "layouts" / "settings" / "vehicle" / "brands" / "tesla.py"
+  text = src.read_text()
+  assert "Keyboard" in text
+  assert "option_item_sp" not in text
+  assert "Diagnose Radar" in text
+  assert "NAPBrakeFactor" not in text
+  assert "Emergency Disable" not in text
+  assert "ConfirmDialog" in text
+  assert "start_tool" in text
+  assert "coop_steering_toggle.set_visible(not is_preap)" in text or "set_visible(not is_preap)" in text
+
+
+def test_mads_parent_reachable_while_forced():
+  src = Path(__file__).resolve().parents[7] / "selfdrive" / "ui" / "sunnypilot" / "layouts" / "settings" / "steering.py"
+  text = src.read_text()
+  assert "ui_state.is_offroad() and self._mads_toggle.action_item.get_state()" not in text
+  assert "mads_required" in text
+  assert "self._mads_toggle.set_visible(True)" in text
+  assert "set_visible(not is_preap)" not in text
+  assert "mads_required or is_preap" in text
+
+def test_negative_response_maps_to_transport_error():
+  from opendbc.car.uds import NegativeResponseError
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.transport import fail_closed_negative_response
+
+  with pytest.raises(TransportError, match="negative response"):
+    fail_closed_negative_response(NegativeResponseError("NRC 0x22", 0x10, 0x22))
+
+
+def test_flash_negative_response_fails_closed_before_write(monkeypatch):
+  from opendbc.car.uds import NegativeResponseError
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import flash_epas
+
+  called = []
+
+  class FakeTransport:
+    def __init__(self, *args, **kwargs):
+      called.append("transport_init")
+
+    def connect(self, panda_factory=None):
+      called.append("connect")
+      panda = MagicMock()
+      panda.can_recv.return_value = []
+      return panda
+
+    def set_diagnostic_session(self):
+      called.append("diag")
+
+    def close(self):
+      called.append("close")
+
+  def boom(*_args, **_kwargs):
+    called.append("extract")
+    raise NegativeResponseError("NRC 0x7F service not supported", 0x10, 0x7F)
+
+  monkeypatch.setattr(flash_epas, "verify_bootloader", lambda *_a, **_k: called.append("verify") or b"x")
+  monkeypatch.setattr(flash_epas, "require_preap_tool_start", lambda **_k: None)
+  monkeypatch.setattr(flash_epas, "_consume_ui_risk_ack", lambda: True)
+  monkeypatch.setattr(flash_epas, "DiagnosticTransport", FakeTransport)
+  monkeypatch.setattr(flash_epas, "extract_firmware", boom)
+  monkeypatch.setattr(flash_epas, "flash_bootloader", lambda *_a, **_k: called.append("flash_bl"))
+  monkeypatch.setattr(flash_epas, "flash_firmware", lambda *_a, **_k: called.append("flash_fw"))
+  monkeypatch.setattr(flash_epas.os.path, "exists", lambda *_a, **_k: False)
+
+  assert flash_epas.main(["--accept-risk"]) == 1
+  assert "verify" in called
+  assert "connect" in called
+  assert "extract" in called
+  assert "flash_bl" not in called
+  assert "flash_fw" not in called
+  assert "close" in called
+
+
+PREAP_TRANSLATION_MSGIDS = (
+  "Lateral Engagement Mode",
+  "Radar Lateral Offset",
+  "Radar Lateral Offset (m)",
+  "Calibrate Pedal",
+  "Calibrate Radar",
+  "Diagnose Radar",
+  "Test Radar",
+  "Backup EPAS",
+  "Flash EPAS",
+  "Restore EPAS",
+  "Cruise Coupled",
+  "Longitudinal Only",
+  "Pedal Interceptor",
+  "Bosch Radar",
+  "Radar Behind Nosecone",
+  "Follow Distance",
+  "Active Engagement Mode",
+  "Longitudinal Path",
+  "Pedal Health",
+  "Radar Health",
+  "Pedal Unavailable",
+  "Regen Limit Reached",
+  "Stock cruise required",
+  "Press Brake to Slow Down",
+)
+
+
+def test_preap_translation_msgids_in_pot():
+  trans = Path(__file__).resolve().parents[7] / "selfdrive" / "ui" / "translations"
+  pot = (trans / "app.pot").read_text()
+  for msgid in PREAP_TRANSLATION_MSGIDS + ("Pedal Calibration",):
+    assert msgid.split("\n", 1)[0] in pot, msgid
+  assert "#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py" in pot
+  assert "#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py" in pot
+  assert "#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py" in pot
+  for line in pot.splitlines():
+    if "preap_alerts.py" in line or "tesla/preap/tools/instructions.py" in line or "brands/tesla.py" in line:
+      assert line.startswith("#: openpilot/")
+      assert not re.search(r"\.py:\d+", line)
+
+
+def test_preap_po_catalogs_english_filled_others_empty():
+  trans = Path(__file__).resolve().parents[7] / "selfdrive" / "ui" / "translations"
+  catalogs = sorted(trans.glob("app_*.po"))
+  assert any(p.name == "app_en.po" for p in catalogs)
+  assert len(catalogs) >= 10
+  for po in catalogs:
+    body = po.read_text()
+    for msgid in PREAP_TRANSLATION_MSGIDS:
+      match = re.search(rf'msgid "{re.escape(msgid)}"\nmsgstr "(.*)"', body)
+      assert match is not None, f"{po.name} missing {msgid}"
+      if po.name == "app_en.po":
+        assert match.group(1) == msgid, po.name
+      else:
+        assert match.group(1) == "", f"{po.name} should leave {msgid} untranslated"
+
+
+def test_runtime_path_requires_basedir(monkeypatch):
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import require_runtime_path, ToolSafetyError
+  require_runtime_path()
+  monkeypatch.setattr("openpilot.common.basedir.BASEDIR", "/tmp/not-openpilot")
+  with pytest.raises(ToolSafetyError, match="BASEDIR"):
+    require_runtime_path()
+
+
+def test_runtime_path_rejects_copied_module(tmp_path):
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import require_runtime_path, ToolSafetyError
+  copied = tmp_path / "flash_epas.py"
+  copied.write_text("# copied")
+  with pytest.raises(ToolSafetyError, match="production path"):
+    require_runtime_path(copied)
+
+
+def test_run_script_rejects_unapproved_and_requires_offroad():
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.run_script import prepare_run, APPROVED_MODULES
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import RUN_SCRIPT_MODULE, APPROVED_TOOLS
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import ToolSafetyError
+  assert RUN_SCRIPT_MODULE.endswith("run_script")
+  assert "run_script" not in APPROVED_TOOLS
+  with pytest.raises(ValueError, match="unapproved"):
+    prepare_run("scripts.nap.radar_replay", FakeParams(offroad=True))
+  with pytest.raises(ToolSafetyError, match="offroad"):
+    prepare_run(next(iter(APPROVED_MODULES)), FakeParams(offroad=False))
+  assert prepare_run(next(iter(APPROVED_MODULES)), FakeParams(offroad=True)) in APPROVED_MODULES
+
+
+def test_negative_response_fail_closed():
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.transport import (
+    TransportError,
+    fail_closed_negative_response,
+    uds_fail_closed,
+  )
+  class NegativeResponseError(Exception):
+    error_code = 0x7F
+  with pytest.raises(TransportError, match="negative response"):
+    fail_closed_negative_response(NegativeResponseError("0x22"))
+  wrapped = uds_fail_closed(NegativeResponseError("0x22"))
+  assert isinstance(wrapped, TransportError)
+  assert "fail closed" in str(wrapped)
+
+def test_run_script_not_in_yaml():
+  src = Path(__file__).resolve().parents[6] / "sunnylink" / "settings_ui_src" / "pages" / "vehicle.yaml"
+  text = src.read_text()
+  assert "run_script" not in text
+  assert "NAPRadarOffset" not in text
+
+
+def test_direct_destructive_main_requires_confirm(monkeypatch):
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import calibrate_pedal, calibrate_radar
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import parse_explicit_confirmation
+
+  assert parse_explicit_confirmation([]) is False
+  assert parse_explicit_confirmation(None) is False
+  assert parse_explicit_confirmation(["--confirm"]) is True
+  assert parse_explicit_confirmation(["--other"]) is False
+
+  seen = {}
+
+  def fake_run(*, confirmed, **kwargs):
+    seen["confirmed"] = confirmed
+    return 0
+
+  monkeypatch.setattr(calibrate_pedal, "run", fake_run)
+  assert calibrate_pedal.main([]) == 0
+  assert seen["confirmed"] is False
+  assert calibrate_pedal.main(["--confirm"]) == 0
+  assert seen["confirmed"] is True
+
+  seen.clear()
+  monkeypatch.setattr(calibrate_radar, "run", fake_run)
+  assert calibrate_radar.main([]) == 0
+  assert seen["confirmed"] is False
+  assert calibrate_radar.main(["--confirm"]) is not None
+  assert seen["confirmed"] is True
+
+
+def test_start_tool_passes_confirm_flag_for_destructive(monkeypatch):
+  captured = {}
+
+  def fake_popen(cmd, **kwargs):
+    captured["cmd"] = cmd
+    return MagicMock()
+
+  monkeypatch.setattr(
+    "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner.subprocess.Popen",
+    fake_popen,
+  )
+  monkeypatch.setattr(
+    "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner.threading.Thread",
+    lambda **_kwargs: MagicMock(),
+  )
+  start_tool("calibrate_pedal", confirmed=True, params=FakeParams())
+  assert "--confirm" in captured["cmd"]
+  start_tool("diagnose_radar", confirmed=True, params=FakeParams())
+  assert "--confirm" not in captured["cmd"]
+
+
+def test_start_tool_clears_runtime_flags_when_child_exits(monkeypatch):
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import runner
+
+  params = FakeParams()
+  process = MagicMock()
+  captured = {}
+
+  class FakeThread:
+    def __init__(self, *, target, args, daemon):
+      captured.update(target=target, args=args, daemon=daemon)
+
+    def start(self):
+      captured["started"] = True
+
+  monkeypatch.setattr(runner.subprocess, "Popen", lambda *_args, **_kwargs: process)
+  monkeypatch.setattr(runner.threading, "Thread", FakeThread)
+
+  assert runner.start_tool("flash_epas", confirmed=True, params=params) is process
+  assert params.get_bool("NAPScriptRunning") is True
+  assert params.get_bool("NAPEpasRiskAccepted") is True
+  assert captured["started"] is True
+  assert captured["daemon"] is True
+
+  captured["target"](*captured["args"])
+  process.wait.assert_called_once_with()
+  assert params.get_bool("NAPScriptRunning") is False
+  assert params.get_bool("NAPEpasRiskAccepted") is False
+
+
+def test_start_tool_rejects_concurrent_owner(monkeypatch):
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import runner
+
+  params = FakeParams()
+  params.put_bool("NAPScriptRunning", True)
+  monkeypatch.setattr(runner.subprocess, "Popen", MagicMock())
+
+  with pytest.raises(ToolSafetyError, match="already running"):
+    runner.start_tool("diagnose_radar", confirmed=True, params=params)
+  runner.subprocess.Popen.assert_not_called()
+  assert params.get_bool("NAPScriptRunning") is True
+
+
+def test_start_tool_constructs_default_params_for_native_ui(monkeypatch):
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import runner
+
+  params = FakeParams()
+  process = MagicMock()
+  monkeypatch.setattr(runner, "Params", lambda: params)
+  monkeypatch.setattr(runner, "require_preap_tool_start", lambda *_args, **_kwargs: None)
+  monkeypatch.setattr(runner.subprocess, "Popen", lambda *_args, **_kwargs: process)
+  monkeypatch.setattr(runner.threading, "Thread", lambda **_kwargs: MagicMock())
+
+  assert runner.start_tool("diagnose_radar", confirmed=True) is process
+  assert params.get_bool("NAPScriptRunning") is True
+
+
+def test_flash_parser_accepts_runner_confirmation_flag():
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import flash_epas
+
+  assert flash_epas.parse_args(["--confirm"]).accept_risk is True
+
+
+def test_napbrakefactor_is_not_registered():
+  src = Path(__file__).resolve().parents[7] / "common" / "params_keys.h"
+  assert '"NAPBrakeFactor"' not in src.read_text()
+
+
+
+class PedalCalibParams:
+  def __init__(self, offroad=True, enabled=True, bus=2):
+    self.store = {"IsOffroad": offroad, "NAPPedalEnabled": enabled, "NAPPedalCanBus": bus}
+
+  def get_bool(self, key):
+    return bool(self.store.get(key, False))
+
+  def get(self, key):
+    return self.store.get(key)
+
+
+def test_parse_configured_pedal_bus_preserves_zero_and_defaults_empty():
+  assert parse_configured_pedal_bus(0) == 0
+  assert parse_configured_pedal_bus("0") == 0
+  assert parse_configured_pedal_bus(b"0") == 0
+  assert parse_configured_pedal_bus(None) == 2
+  assert parse_configured_pedal_bus("") == 2
+  assert parse_configured_pedal_bus(b"") == 2
+  assert parse_configured_pedal_bus(2) == 2
+
+
+class FirmwareShapedPanda:
+  """Replica of panda 0xdc/0xdf: 0xdf is ignored while in a car safety mode."""
+
+  def __init__(self, mode=SAFETY_TESLA_PREAP, param_sp=0):
+    self.current_safety_mode = mode
+    self.current_safety_param_sp = param_sp
+    self.calls = []
+
+  @staticmethod
+  def _is_car_safety_mode(mode):
+    # panda/board/main.c is_car_safety_mode
+    return mode not in (SAFETY_SILENT, SAFETY_ALLOUTPUT, SAFETY_ELM327) and mode != int(structs.CarParams.SafetyModel.noOutput)
+
+  def set_safety_mode(self, mode, param=0):
+    self.calls.append(("0xdc", int(mode), int(param)))
+    self.current_safety_mode = int(mode)
+
+  def set_alternative_experience(self, alternative_experience, safety_param_sp=0):
+    self.calls.append(("0xdf", int(alternative_experience), int(safety_param_sp)))
+    if not self._is_car_safety_mode(self.current_safety_mode):
+      self.current_safety_param_sp = int(safety_param_sp)
+
+
+def test_transport_pedal_calibration_uses_tesla_preap_not_elm327():
+  panda = MagicMock()
+  transport = DiagnosticTransport(panda=panda)
+  transport.set_pedal_calibration_session(2)
+  panda.set_safety_mode.assert_any_call(SAFETY_SILENT, 0)
+  panda.set_safety_mode.assert_any_call(SAFETY_TESLA_PREAP, PREAP_FLAG_PEDAL_CALIBRATION)
+  panda.set_alternative_experience.assert_called_with(0, PREAP_MODE_INVALID)
+  transport.set_pedal_calibration_session(0)
+  panda.set_safety_mode.assert_called_with(
+    SAFETY_TESLA_PREAP, PREAP_FLAG_PEDAL_CALIBRATION | PREAP_FLAG_PEDAL_BUS_ZERO,
+  )
+
+
+def test_pedal_calibration_session_0xdf_before_car_safety():
+  panda = FirmwareShapedPanda(mode=SAFETY_TESLA_PREAP, param_sp=0)
+  transport = DiagnosticTransport(panda=panda)
+  transport.set_pedal_calibration_session(2)
+  assert panda.calls == [
+    ("0xdc", SAFETY_SILENT, 0),
+    ("0xdf", 0, PREAP_MODE_INVALID),
+    ("0xdc", SAFETY_TESLA_PREAP, PREAP_FLAG_PEDAL_CALIBRATION),
+  ]
+  assert panda.current_safety_param_sp == PREAP_MODE_INVALID
+  # Car-first ordering would ignore 0xdf and leave Independent (0).
+  ignored = FirmwareShapedPanda(mode=SAFETY_TESLA_PREAP, param_sp=0)
+  ignored.set_safety_mode(SAFETY_TESLA_PREAP, PREAP_FLAG_PEDAL_CALIBRATION)
+  ignored.set_alternative_experience(0, PREAP_MODE_INVALID)
+  assert ignored.current_safety_param_sp == 0
+
+
+def test_transport_rejects_elm327_and_alloutput_for_pedal_frames():
+  panda = MagicMock()
+  transport = DiagnosticTransport(panda=panda)
+  transport.set_diagnostic_session()
+  with pytest.raises(TransportError, match="teslaPreap"):
+    transport.can_send(0x551, bytes(6), 2)
+  panda.can_send.assert_not_called()
+  with pytest.raises(TransportError, match="bypass"):
+    transport._set_safety_mode(SAFETY_ALLOUTPUT)
+  with pytest.raises(TransportError, match="longitudinal"):
+    transport._set_safety_mode(SAFETY_TESLA_PREAP, PREAP_FLAG_PEDAL_CALIBRATION | PREAP_FLAG_ENABLE_PEDAL)
+  with pytest.raises(TransportError, match="calibration flag"):
+    transport._set_safety_mode(SAFETY_TESLA_PREAP, 0)
+
+
+def test_calibrate_pedal_run_selects_preap_calibration_session(monkeypatch):
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import calibrate_pedal
+
+  calls = []
+
+  class FakeTransport:
+    def __init__(self, panda=None):
+      self.panda = panda
+
+    def connect(self, panda_factory=None):
+      calls.append("connect")
+      return self.panda
+
+    def set_diagnostic_session(self):
+      calls.append("elm327")
+
+    def set_pedal_calibration_session(self, bus=2):
+      calls.append(("preap", bus))
+
+    def set_silent(self):
+      calls.append("silent")
+
+    def close(self):
+      calls.append("close")
+
+  class FakeCalibrator:
+    def __init__(self, params, transport, bus):
+      calls.append(("calibrator", bus))
+
+    def run(self):
+      calls.append("run")
+      return 0
+
+    def cleanup(self):
+      calls.append("cleanup")
+
+  monkeypatch.setattr(calibrate_pedal, "DiagnosticTransport", FakeTransport)
+  monkeypatch.setattr(calibrate_pedal, "PedalCalibrator", FakeCalibrator)
+  assert calibrate_pedal.run(
+    confirmed=True,
+    params=PedalCalibParams(bus=2),
+    transport=cast(calibrate_pedal.DiagnosticTransport, FakeTransport()),
+  ) == 0
+  assert "elm327" not in calls
+  assert ("preap", 2) in calls
+  assert "run" in calls
+
+
+def test_calibrate_pedal_run_preserves_configured_bus_zero(monkeypatch):
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import calibrate_pedal
+
+  calls = []
+
+  class FakeTransport:
+    def __init__(self, panda=None):
+      self.panda = panda
+
+    def connect(self, panda_factory=None):
+      return self.panda
+
+    def set_diagnostic_session(self):
+      calls.append("elm327")
+
+    def set_pedal_calibration_session(self, bus=2):
+      calls.append(("preap", bus))
+
+    def close(self):
+      calls.append("close")
+
+  class FakeCalibrator:
+    def __init__(self, params, transport, bus):
+      calls.append(("calibrator", bus))
+
+    def run(self):
+      calls.append("run")
+      return 0
+
+    def cleanup(self):
+      calls.append("cleanup")
+
+  monkeypatch.setattr(calibrate_pedal, "DiagnosticTransport", FakeTransport)
+  monkeypatch.setattr(calibrate_pedal, "PedalCalibrator", FakeCalibrator)
+  assert calibrate_pedal.run(
+    confirmed=True,
+    params=PedalCalibParams(bus=0),
+    transport=cast(calibrate_pedal.DiagnosticTransport, FakeTransport()),
+  ) == 0
+  assert "elm327" not in calls
+  assert ("preap", 0) in calls
+  assert ("calibrator", 0) in calls
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/transport.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/transport.py
new file mode 100644
index 00000000000000..fdcb86ab13384e
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/transport.py
@@ -0,0 +1,147 @@
+"""Approved Pre-AP diagnostic transport. Never grants ALLOUTPUT or driving authority."""
+from __future__ import annotations
+
+import time
+from opendbc.car import structs
+from opendbc.car.tesla.preap.constants import (
+  GAS_COMMAND_ID,
+  PREAP_FLAG_ENABLE_PEDAL,
+  PREAP_FLAG_PEDAL_BUS_ZERO,
+  PREAP_FLAG_PEDAL_CALIBRATION,
+  PREAP_MODE_INVALID,
+)
+
+SAFETY_SILENT = int(structs.CarParams.SafetyModel.silent)
+SAFETY_ELM327 = int(structs.CarParams.SafetyModel.elm327)
+SAFETY_ALLOUTPUT = int(structs.CarParams.SafetyModel.allOutput)
+SAFETY_TESLA_PREAP = int(structs.CarParams.SafetyModel.teslaPreap)
+
+ALLOWED_DIAGNOSTIC_MODES = frozenset({SAFETY_SILENT, SAFETY_ELM327})
+ALLOWED_SAFETY_MODES = ALLOWED_DIAGNOSTIC_MODES | frozenset({SAFETY_TESLA_PREAP})
+PANDA_CONNECT_RETRIES = 5
+PANDA_CONNECT_DELAY = 2.0
+
+
+class TransportError(Exception):
+  """Fail-closed transport or negative-response failure."""
+
+
+def uds_fail_closed(exc: BaseException) -> TransportError:
+  """Wrap UDS negative responses so callers fail closed."""
+  name = type(exc).__name__
+  if name == "NegativeResponseError" or "negative response" in str(exc).lower():
+    return TransportError(f"UDS negative response (fail closed): {exc}")
+  return TransportError(str(exc))
+
+
+def fail_closed_negative_response(exc: BaseException) -> None:
+  """Convert a UDS negative response into TransportError. Never continue the tool."""
+  name = type(exc).__name__
+  message = str(exc)
+  if name == "NegativeResponseError" or "negative response" in message.lower() or getattr(exc, "error_code", None) is not None:
+    raise TransportError(f"UDS negative response (fail closed): {exc}") from exc
+  raise TransportError(f"UDS request failed closed: {exc}") from exc
+
+
+class DiagnosticTransport:
+  """Panda access that cannot bypass TX restrictions."""
+
+  def __init__(self, panda=None):
+    self.panda = panda
+    self._mode = SAFETY_SILENT
+    self._mode_set = False
+
+  def connect(self, panda_factory=None):
+    if self.panda is not None:
+      return self.panda
+    factory = panda_factory
+    if factory is None:
+      from panda import Panda
+      factory = Panda
+    last_exc: Exception | None = None
+    for attempt in range(PANDA_CONNECT_RETRIES):
+      try:
+        self.panda = factory()
+        return self.panda
+      except Exception as exc:
+        last_exc = exc
+        if attempt < PANDA_CONNECT_RETRIES - 1:
+          time.sleep(PANDA_CONNECT_DELAY)
+    raise TransportError(f"panda connect failed: {last_exc}") from last_exc
+
+  def set_diagnostic_session(self) -> None:
+    self._set_safety_mode(SAFETY_ELM327)
+
+  def set_silent(self) -> None:
+    self._set_safety_mode(SAFETY_SILENT)
+
+  def set_pedal_calibration_session(self, bus: int = 2) -> None:
+    """Tesla Pre-AP safety with the calibration-only flag. Never ELM327/allOutput.
+
+    Firmware 0xdf is ignored in car safety modes, so the order is: silent/non-car,
+    safetyParamSP INVALID via 0xdf, then teslaPreap calibration. Calibration uses
+    INVALID plus an isolated 0x551 allowlist and must not depend on mode validity.
+    """
+    if bus not in (0, 2):
+      raise TransportError("invalid pedal bus")
+    param = PREAP_FLAG_PEDAL_CALIBRATION
+    if bus == 0:
+      param |= PREAP_FLAG_PEDAL_BUS_ZERO
+    self.set_silent()
+    setter = getattr(self.panda, "set_alternative_experience", None)
+    if not callable(setter):
+      raise TransportError("panda cannot set safetyParamSP")
+    setter(0, PREAP_MODE_INVALID)
+    self._set_safety_mode(SAFETY_TESLA_PREAP, param=param)
+
+  def _set_safety_mode(self, mode: int, param: int = 0) -> None:
+    if mode == SAFETY_ALLOUTPUT or mode not in ALLOWED_SAFETY_MODES:
+      raise TransportError("panda TX bypass is not permitted")
+    if mode == SAFETY_TESLA_PREAP:
+      if (int(param) & PREAP_FLAG_PEDAL_CALIBRATION) == 0:
+        raise TransportError("teslaPreap transport requires calibration flag")
+      if int(param) & PREAP_FLAG_ENABLE_PEDAL:
+        raise TransportError("calibration must not grant longitudinal")
+    elif int(param) != 0:
+      raise TransportError("diagnostic modes cannot carry safetyParam bits")
+    if self.panda is None:
+      raise TransportError("panda not connected")
+    self.panda.set_safety_mode(mode, param)
+    self._mode = mode
+    self._mode_set = True
+
+  def can_recv(self):
+    if self.panda is None:
+      raise TransportError("panda not connected")
+    try:
+      return self.panda.can_recv()
+    except Exception as exc:
+      raise TransportError(f"can_recv failed: {exc}") from exc
+
+  def can_send(self, addr: int, dat: bytes, bus: int) -> None:
+    if self.panda is None:
+      raise TransportError("panda not connected")
+    if self._mode == SAFETY_ALLOUTPUT:
+      raise TransportError("panda TX bypass is not permitted")
+    if int(addr) == GAS_COMMAND_ID:
+      if self._mode in (SAFETY_ELM327, SAFETY_ALLOUTPUT) or self._mode != SAFETY_TESLA_PREAP:
+        raise TransportError("pedal frames require teslaPreap calibration safety")
+    try:
+      self.panda.can_send(addr, dat, bus)
+    except Exception as exc:
+      raise TransportError(f"can_send failed: {exc}") from exc
+
+  def close(self) -> None:
+    if self.panda is None:
+      return
+    if self._mode_set:
+      try:
+        self.set_silent()
+      except Exception:
+        pass
+    try:
+      self.panda.close()
+    except Exception:
+      pass
+    self.panda = None
+    self._mode_set = False
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
index 438a43c275942a..69b5f37831b09a 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
@@ -181,8 +181,8 @@ def put(key, value, block=True):
   def test_napadaptiveaccel_not_in_boot_snapshot(self):
     keys = {k for d in snapshot_param_list(FakeParams()) for k in d}
     self.assertNotIn("NAPAdaptiveAccel", keys)
-    self.assertIn("NAPLateralEngagementMode", keys)
-    self.assertIn("NAPForcePreAP", keys)
+    assert "NAPLateralEngagementMode" in keys
+    assert "NAPForcePreAP" in keys
 
   def test_get_car_from_raw_bundle_and_params(self):
     params = FakeParams({"CarPlatformBundle": {"platform": PREAP_PLATFORM}})
@@ -210,5 +210,40 @@ def test_normal_skip_fw_query_environment_fallback(self):
         self.assertEqual(CI.CP.carFingerprint, "TESLA_MODEL_3")
 
 
+  def test_hostile_upgrade_forces_mads_and_disables_coop(self):
+    from opendbc.car.tesla.preap.constants import STALK_DOUBLE_PULL_MS
+    params = FakeParams({
+      "Mads": False,
+      "TeslaCoopSteering": True,
+      "CarPlatformBundle": {"platform": PREAP_PLATFORM},
+    })
+    sel, fingerprint = resolve_card_boot(params, environ={})
+    self.assertTrue(params.get("Mads"))
+    self.assertEqual(fingerprint, PREAP_PLATFORM)
+    self.assertEqual(STALK_DOUBLE_PULL_MS, 400)
+    CI = _get_car(sel, params)
+    self.assertTrue(CI.CP_SP.madsRequired)
+    self.assertFalse(CI.CP_SP.teslaCoopSteeringAvailable)
+    snap = snapshot_param_list(params)
+    merged = {k: v for row in snap for k, v in row.items()}
+    self.assertTrue(merged["Mads"])
+    self.assertFalse(merged["TeslaCoopSteering"])
+
+  def test_modern_tesla_absent_force_preap_unchanged(self):
+    params = FakeParams({
+      "Mads": False,
+      "TeslaCoopSteering": True,
+      "CarPlatformBundle": {"platform": "TESLA_MODEL_3"},
+    })
+    sel, fingerprint = resolve_card_boot(params, environ={})
+    self.assertIsNone(params.get("NAPForcePreAP"))
+    self.assertFalse(params.get("Mads"))
+    self.assertTrue(params.get("TeslaCoopSteering"))
+    self.assertEqual(fingerprint, "TESLA_MODEL_3")
+    CI = _get_car(sel, params)
+    self.assertEqual(CI.CP.carFingerprint, "TESLA_MODEL_3")
+    self.assertNotEqual(CI.CP.carFingerprint, PREAP_PLATFORM)
+
+
 if __name__ == "__main__":
   unittest.main()
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_card_epoch.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_card_epoch.py
index d5d19339549466..78aef015ce8907 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_card_epoch.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_card_epoch.py
@@ -1,5 +1,6 @@
 from types import SimpleNamespace
 from unittest.mock import patch
+from typing import Any, cast
 
 from opendbc.car import structs
 from opendbc.car.tesla.preap.stock_cc import StockCcTransaction
@@ -196,13 +197,13 @@ def _card_with_producers(epoch, stock_cc):
   card.dynamic_experimental_control = False
   card.CS_prev = SimpleNamespace()
   card.CC_prev = SimpleNamespace(enabled=False)
-  card.v_cruise_helper = SimpleNamespace(
+  card.v_cruise_helper = cast(Any, SimpleNamespace(
     update_speed_limit_assist=lambda *a, **k: None,
     update_v_cruise=lambda *a, **k: None,
     v_cruise_kph=0.0,
     v_cruise_cluster_kph=0.0,
-  )
-  card.sm = _FakeSM()
+  ))
+  card.sm = cast(Any, _FakeSM())
   card.RI = SimpleNamespace(update=lambda _can: None)
 
   def ci_update(_can):
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_stock_cc_consumer.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_stock_cc_consumer.py
index be921b97c363e9..1c0f541877d862 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_stock_cc_consumer.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_stock_cc_consumer.py
@@ -437,7 +437,7 @@ def test_direct_adjustment_levers_produce_atomic_lkas_and_button_enable(self):
         self.assertTrue(CP.pcmCruise)
         self.assertTrue(CI.CS.stock_cc.active)
         frozen = [0]
-        CI.CS._clock_ns = lambda: frozen[0]
+        CI.CS._clock_ns = lambda frozen=frozen: frozen[0]
         _prime_drive(CI, ts=1_000_000)
         CI.apply(structs.CarControl(), structs.CarControlSP(), now_nanos=0)
         self.assertFalse(CI.CS.intent.long_active)
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py b/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py
new file mode 100644
index 00000000000000..5610e13eb874c3
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py
@@ -0,0 +1,56 @@
+"""Tesla native settings pedal-bus selector. Does not import the UI module (raylib)."""
+import ast
+import unittest
+from pathlib import Path
+
+TESLA_PY = (
+  Path(__file__).resolve().parents[4]
+  / "selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py"
+)
+
+
+def _load_tesla_bus_helpers():
+  src = TESLA_PY.read_text()
+  tree = ast.parse(src)
+  wanted = {"parse_configured_pedal_bus", "pedal_bus_selector_index"}
+  body = [node for node in tree.body if isinstance(node, ast.FunctionDef) and node.name in wanted]
+  names = {node.name for node in body}
+  if wanted - names:
+    raise AssertionError(f"tesla.py missing helpers {wanted - names}")
+  mod = ast.Module(body=body, type_ignores=[])
+  ast.fix_missing_locations(mod)
+  ns = {}
+  exec(compile(mod, str(TESLA_PY), "exec"), ns)
+  return ns
+
+
+class TestTeslaSettingsPedalBus(unittest.TestCase):
+  def test_parse_preserves_zero_and_defaults_empty(self):
+    parse = _load_tesla_bus_helpers()["parse_configured_pedal_bus"]
+    self.assertEqual(parse(0), 0)
+    self.assertEqual(parse("0"), 0)
+    self.assertEqual(parse(b"0"), 0)
+    self.assertEqual(parse(None), 2)
+    self.assertEqual(parse(""), 2)
+    self.assertEqual(parse(b""), 2)
+    self.assertEqual(parse(2), 2)
+
+  def test_selector_index_maps_bus_zero_to_first_button(self):
+    index = _load_tesla_bus_helpers()["pedal_bus_selector_index"]
+    self.assertEqual(index(0), 0)
+    self.assertEqual(index("0"), 0)
+    self.assertEqual(index(b"0"), 0)
+    self.assertEqual(index(None), 1)
+    self.assertEqual(index(""), 1)
+    self.assertEqual(index(b""), 1)
+    self.assertEqual(index(2), 1)
+
+  def test_status_refresh_uses_named_helper_not_falsy_or(self):
+    src = TESLA_PY.read_text()
+    self.assertNotIn('params.get("NAPPedalCanBus") or', src)
+    self.assertIn("pedal_bus_selector_index(ui_state.params.get(\"NAPPedalCanBus\"))", src)
+    self.assertIn("ui_state.params.put(\"NAPPedalCanBus\", 0 if index == 0 else 2)", src)
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_preap_lane_change_tap.py b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_preap_lane_change_tap.py
index 210add7ace8c2a..e2a1d8a0f2cba2 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_preap_lane_change_tap.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_preap_lane_change_tap.py
@@ -1,4 +1,5 @@
 from types import SimpleNamespace
+from typing import Any, cast
 
 from openpilot.cereal import log
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
@@ -25,9 +26,9 @@ def _car_state(*, left=True, right=False, lever=0):
 
 def _helper():
   helper = DesireHelper()
-  helper.alc.update_params = lambda: None
+  cast(Any, helper.alc).update_params = lambda: None
   helper.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
-  helper.lane_turn_controller.update_params = lambda: None
+  cast(Any, helper.lane_turn_controller).update_params = lambda: None
   return helper
 
 
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/events.py b/openpilot/sunnypilot/selfdrive/selfdrived/events.py
index 3c010cc776944a..f80c4f835f854c 100644
--- a/openpilot/sunnypilot/selfdrive/selfdrived/events.py
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/events.py
@@ -73,21 +73,6 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
     Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleLow, .1)
 
 
-class EventsSP(EventsBase):
-  def __init__(self):
-    super().__init__()
-    self.event_counters = dict.fromkeys(EVENTS_SP.keys(), 0)
-
-  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]:
-    return EVENTS_SP
-
-  def get_event_name(self, event: int):
-    return EVENT_NAME_SP[event]
-
-  def get_event_msg_type(self):
-    return custom.OnroadEventSP.Event
-
-
 EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # sunnypilot
   EventNameSP.lkasEnable: {
@@ -253,3 +238,22 @@ def get_event_msg_type(self):
       Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.1),
   },
 }
+
+# Register Pre-AP states before EventsSP snapshots the existing event keys.
+from openpilot.sunnypilot.selfdrive.selfdrived.preap_alerts import register_preap_alerts
+register_preap_alerts()
+
+
+class EventsSP(EventsBase):
+  def __init__(self):
+    super().__init__()
+    self.event_counters = dict.fromkeys(EVENTS_SP.keys(), 0)
+
+  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]:
+    return EVENTS_SP
+
+  def get_event_name(self, event: int):
+    return EVENT_NAME_SP[event]
+
+  def get_event_msg_type(self):
+    return custom.OnroadEventSP.Event
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py b/openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
new file mode 100644
index 00000000000000..c165d84717b13e
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
@@ -0,0 +1,186 @@
+"""Pre-AP alert policy for EventsSP.
+
+custom.capnp is frozen: EventNameSP ends at @28. Pre-AP alert states map onto
+those existing enumerants instead of adding schema.
+
+  pedalUnavailable: uncalibrated/timeout/authority-loss/interceptor faults
+  pedalMaxRegen: regen demand (registered in preap_regen)
+  radarFault: stock EventName.radarFault for Pre-AP radar failures
+"""
+from __future__ import annotations
+
+from dataclasses import dataclass
+
+from openpilot.cereal import custom
+from opendbc.car.tesla.preap.boot import is_preap_platform
+from opendbc.car.tesla.preap.constants import PEDAL_FEEDBACK_TIMEOUT_STATE
+from opendbc.car.tesla.preap.carcontroller import PedalAuthorityState
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+from openpilot.system.ui.lib.multilang import tr_noop
+
+EventNameSP = custom.OnroadEventSP.EventName
+
+# Extracted via existing tr()/tr_noop PO conventions. Display strings are the
+# registered EventsSP texts for the mapped EventNameSP entries, and the stock
+# radarFault text dispatched for Pre-AP radar failures.
+ALERT_PEDAL_UNAVAILABLE = tr_noop("Pedal Unavailable")
+ALERT_PEDAL_UNAVAILABLE_SUB = tr_noop("Stock cruise required")
+ALERT_REGEN = tr_noop("Regen Limit Reached")
+ALERT_REGEN_SUB = tr_noop("Press Brake to Slow Down")
+ALERT_RADAR_FAULT = tr_noop("Radar Error: Restart the Car")
+
+
+@dataclass(frozen=True)
+class PreAPAlertInputs:
+  is_preap: bool
+  pedal_present: bool
+  pedal_calib_available: bool
+  pedal_calib_done: bool
+  pedal_available: bool
+  pedal_timeout: bool
+  pedal_authority_state: int
+  pedal_authority_failed: bool
+  interceptor_state: int
+  radar_present: bool
+  radar_config_invalid: bool
+  radar_fault: bool
+  established_authority_lost: bool = False
+
+
+class PedalAuthorityLossMapper:
+  """Alert immediately when established pedal authority is lost.
+
+  Lifecycle:
+    INACTIVE: not established. Clears any prior loss.
+    ACQUIRING from INACTIVE: initial acquisition. Silent.
+    ACTIVE: authority is established.
+    ACQUIRING or FAILED after ACTIVE: alert until ACTIVE recovery or INACTIVE release.
+  """
+
+  def __init__(self) -> None:
+    self._established = False
+    self._prev = int(PedalAuthorityState.INACTIVE)
+
+  def reset(self) -> None:
+    self._established = False
+    self._prev = int(PedalAuthorityState.INACTIVE)
+
+  def update(self, authority_state: int) -> bool:
+    state = int(authority_state)
+    prev = self._prev
+    self._prev = state
+    if state == int(PedalAuthorityState.INACTIVE):
+      self._established = False
+      return False
+    if state == int(PedalAuthorityState.ACTIVE):
+      self._established = True
+      return False
+    if self._established and state in (
+      int(PedalAuthorityState.ACQUIRING),
+      int(PedalAuthorityState.FAILED),
+    ):
+      return True
+    if prev == int(PedalAuthorityState.INACTIVE) and state == int(PedalAuthorityState.ACQUIRING):
+      return False
+    return False
+
+
+def preap_alert_inputs_from_snapshot(CP, CP_SP, CS_SP=None, *, radar_fault: bool = False,
+                                     established_authority_lost: bool = False) -> PreAPAlertInputs:
+  is_preap = bool(CP is not None and is_preap_platform(CP))
+  flags = int(getattr(CP_SP, "flags", 0) or 0) if CP_SP is not None else 0
+  pedal_present = bool(flags & TeslaFlagsSP.PREAP_PEDAL_PRESENT)
+  pedal_calib_available = bool(flags & TeslaFlagsSP.PREAP_PEDAL_CALIB_AVAILABLE)
+  radar_present = bool(flags & TeslaFlagsSP.PREAP_RADAR_PRESENT)
+  radar_config_invalid = bool(getattr(CP, "radarUnavailable", False)) if CP is not None else False
+  pedal_calib_done = pedal_calib_available
+  pedal_timeout = False
+  interceptor_state = 0
+  authority_state = int(PedalAuthorityState.INACTIVE)
+  authority_failed = False
+  if CS_SP is not None:
+    authority_state = int(getattr(CS_SP, "pedalAuthorityState", 0) or 0)
+    authority_failed = bool(getattr(CS_SP, "pedalAuthorityFailed", False))
+    interceptor_state = int(getattr(CS_SP, "pedalFeedbackState", 0) or 0)
+    pedal_timeout = interceptor_state == PEDAL_FEEDBACK_TIMEOUT_STATE
+    if pedal_timeout:
+      interceptor_state = 0
+  return PreAPAlertInputs(
+    is_preap=is_preap,
+    pedal_present=pedal_present,
+    pedal_calib_available=pedal_calib_available,
+    pedal_calib_done=bool(pedal_calib_done),
+    pedal_available=not pedal_timeout and interceptor_state == 0,
+    pedal_timeout=bool(pedal_timeout),
+    pedal_authority_state=int(authority_state),
+    pedal_authority_failed=authority_failed,
+    interceptor_state=int(interceptor_state),
+    radar_present=radar_present,
+    radar_config_invalid=radar_config_invalid,
+    radar_fault=bool(radar_fault),
+    established_authority_lost=bool(established_authority_lost),
+  )
+
+
+def _pedal_unusable(inputs: PreAPAlertInputs) -> bool:
+  return bool(
+    not inputs.pedal_calib_done
+    or not inputs.pedal_calib_available
+    or inputs.pedal_authority_failed
+    or inputs.pedal_authority_state == int(PedalAuthorityState.FAILED)
+    or inputs.established_authority_lost
+    or inputs.pedal_timeout
+    or not inputs.pedal_available
+    or inputs.interceptor_state != 0
+  )
+
+
+def select_preap_alerts(inputs: PreAPAlertInputs) -> tuple[int, ...]:
+  if not inputs.is_preap:
+    return ()
+
+  events: list[int] = []
+  if inputs.pedal_present and _pedal_unusable(inputs):
+    events.append(EventNameSP.pedalUnavailable)
+  return tuple(events)
+
+
+def radar_state_has_fault(radar_state) -> bool:
+  """True when production RadarState.radarErrors reports a radar/config fault.
+
+  log.RadarState.radarErrors is Car.RadarData.Error: a struct with canError,
+  radarFault, wrongConfig, and radarUnavailableTemporary. It is not a list and
+  there is no top-level radarFault. Temporary unavailability is a distinct
+  stock event and is not treated as a Pre-AP radarFault.
+  """
+  if radar_state is None:
+    return False
+  errors = getattr(radar_state, "radarErrors", None)
+  if errors is None or isinstance(errors, (list, tuple, str, bytes)):
+    return False
+  return bool(
+    getattr(errors, "canError", False)
+    or getattr(errors, "radarFault", False)
+    or getattr(errors, "wrongConfig", False)
+  )
+
+
+def preap_radar_fault(inputs: PreAPAlertInputs) -> bool:
+  return bool(inputs.is_preap and inputs.radar_present and (inputs.radar_config_invalid or inputs.radar_fault))
+
+
+def register_preap_alerts() -> None:
+  """Register mapped EventNameSP alerts before EventsSP snapshots EVENTS_SP keys.
+
+  Extra Pre-AP pedal states (invalid calibration, timeout, authority loss,
+  interceptor faults) reuse frozen EventNameSP.pedalUnavailable @28. Regen
+  registration also setdefaults that enumerant plus pedalMaxRegen.
+  """
+  from openpilot.selfdrive.selfdrived.preap_regen import (
+    PREAP_PEDAL_UNAVAILABLE_ALERT,
+    register_preap_regen_alerts,
+  )
+  from openpilot.sunnypilot.selfdrive.selfdrived.events import EVENTS_SP
+  from openpilot.sunnypilot.selfdrive.selfdrived.events_base import ET
+  EVENTS_SP.setdefault(EventNameSP.pedalUnavailable, {ET.WARNING: PREAP_PEDAL_UNAVAILABLE_ALERT})
+  register_preap_regen_alerts()
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
new file mode 100644
index 00000000000000..f2dfc2822720e2
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
@@ -0,0 +1,299 @@
+from pathlib import Path
+from openpilot.cereal import custom, log
+from opendbc.car.tesla.preap.carcontroller import PedalAuthorityState
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EVENTS_SP, EventsSP
+from openpilot.sunnypilot.selfdrive.selfdrived.events_base import ET, Priority
+from openpilot.selfdrive.selfdrived.events import EVENTS as STOCK_EVENTS
+from openpilot.selfdrive.selfdrived.preap_regen import PREAP_PEDAL_UNAVAILABLE_ALERT, PREAP_REGEN_ALERT
+from openpilot.sunnypilot.selfdrive.selfdrived.preap_alerts import (
+  ALERT_PEDAL_UNAVAILABLE,
+  ALERT_PEDAL_UNAVAILABLE_SUB,
+  ALERT_RADAR_FAULT,
+  ALERT_REGEN,
+  ALERT_REGEN_SUB,
+  PedalAuthorityLossMapper,
+  PreAPAlertInputs,
+  preap_radar_fault,
+  radar_state_has_fault,
+  register_preap_alerts,
+  select_preap_alerts,
+)
+
+EventNameSP = custom.OnroadEventSP.EventName
+
+
+def _inputs(**overrides):
+  values = {
+    "is_preap": True,
+    "pedal_present": True,
+    "pedal_calib_available": True,
+    "pedal_calib_done": True,
+    "pedal_available": True,
+    "pedal_timeout": False,
+    "pedal_authority_state": int(PedalAuthorityState.ACTIVE),
+    "pedal_authority_failed": False,
+    "interceptor_state": 0,
+    "radar_present": False,
+    "radar_config_invalid": False,
+    "radar_fault": False,
+    "established_authority_lost": False,
+  }
+  values.update(overrides)
+  return PreAPAlertInputs(**values)
+
+
+def test_eventnamesp_ends_at_28():
+  assert max(int(v) for v in EventNameSP.schema.enumerants.values()) == 28
+  assert "pedalUnavailable" in EventNameSP.schema.enumerants
+  assert "pedalMaxRegen" in EventNameSP.schema.enumerants
+
+
+def test_alerts_registered_before_eventssp_keys():
+  register_preap_alerts()
+  assert EventNameSP.pedalUnavailable in EVENTS_SP
+  assert EventNameSP.pedalMaxRegen in EVENTS_SP
+  events = EventsSP()
+  events.add(EventNameSP.pedalUnavailable)
+  assert EventNameSP.pedalUnavailable in events.names
+
+
+def test_pedal_faults_reuse_pedal_unavailable():
+  for kwargs in (
+    {"pedal_calib_done": False},
+    {"pedal_calib_available": False},
+    {"pedal_authority_failed": True},
+    {"pedal_authority_state": int(PedalAuthorityState.FAILED)},
+    {"pedal_timeout": True, "pedal_available": False},
+    {"interceptor_state": 1},
+  ):
+    names = select_preap_alerts(_inputs(**kwargs))
+    assert names == (EventNameSP.pedalUnavailable,)
+
+
+def test_invalid_calibration_persists_until_healthy():
+  assert select_preap_alerts(_inputs(pedal_calib_done=False)) == (EventNameSP.pedalUnavailable,)
+  assert select_preap_alerts(_inputs(pedal_calib_available=False, pedal_calib_done=False)) == (EventNameSP.pedalUnavailable,)
+  assert select_preap_alerts(_inputs()) == ()
+
+
+def test_authority_loss_persists_while_failed():
+  failed = _inputs(pedal_authority_failed=True, pedal_authority_state=int(PedalAuthorityState.FAILED))
+  assert select_preap_alerts(failed) == (EventNameSP.pedalUnavailable,)
+  assert select_preap_alerts(_inputs()) == ()
+
+
+def test_no_pedal_suppresses_pedal_alerts():
+  assert select_preap_alerts(_inputs(pedal_present=False, pedal_calib_done=False, pedal_authority_failed=True)) == ()
+
+
+def test_modern_silent():
+  assert select_preap_alerts(_inputs(is_preap=False, pedal_calib_done=False, radar_fault=True, radar_present=True)) == ()
+  assert not preap_radar_fault(_inputs(is_preap=False, radar_present=True, radar_fault=True))
+
+
+def test_healthy_pedal_is_silent():
+  assert select_preap_alerts(_inputs()) == ()
+
+
+def test_select_never_emits_regen():
+  assert EventNameSP.pedalMaxRegen not in select_preap_alerts(_inputs())
+  assert EventNameSP.pedalMaxRegen not in select_preap_alerts(_inputs(pedal_calib_done=False))
+
+
+def test_radar_fault_uses_stock_event_path():
+  assert select_preap_alerts(_inputs(radar_present=True, radar_fault=True, pedal_present=False)) == ()
+  assert preap_radar_fault(_inputs(radar_present=True, radar_fault=True))
+  assert preap_radar_fault(_inputs(radar_present=True, radar_config_invalid=True))
+  assert not preap_radar_fault(_inputs(radar_present=False, radar_fault=True))
+  assert not preap_radar_fault(_inputs(radar_present=True, radar_fault=False, radar_config_invalid=False))
+
+
+def test_mapped_alert_severity_and_text():
+  register_preap_alerts()
+  pedal = EVENTS_SP[EventNameSP.pedalUnavailable][ET.WARNING]
+  assert pedal.alert_text_1 == ALERT_PEDAL_UNAVAILABLE
+  assert pedal.alert_text_2 == ALERT_PEDAL_UNAVAILABLE_SUB
+  assert pedal.priority == Priority.HIGH
+  regen = EVENTS_SP[EventNameSP.pedalMaxRegen][ET.WARNING]
+  assert regen.alert_text_1 == ALERT_REGEN
+  assert regen.alert_text_2 == ALERT_REGEN_SUB
+  assert regen.priority == Priority.HIGH
+
+def test_established_authority_loss_alerts_during_reacquisition():
+  mapper = PedalAuthorityLossMapper()
+  assert mapper.update(int(PedalAuthorityState.INACTIVE)) is False
+  assert mapper.update(int(PedalAuthorityState.ACQUIRING)) is False
+  assert select_preap_alerts(_inputs(pedal_authority_state=int(PedalAuthorityState.ACQUIRING))) == ()
+  assert mapper.update(int(PedalAuthorityState.ACTIVE)) is False
+  assert mapper.update(int(PedalAuthorityState.ACQUIRING)) is True
+  lost = _inputs(
+    pedal_authority_state=int(PedalAuthorityState.ACQUIRING),
+    established_authority_lost=True,
+  )
+  assert select_preap_alerts(lost) == (EventNameSP.pedalUnavailable,)
+  assert mapper.update(int(PedalAuthorityState.ACTIVE)) is False
+  mapper.update(int(PedalAuthorityState.ACTIVE))
+  assert mapper.update(int(PedalAuthorityState.FAILED)) is True
+  mapper.reset()
+  assert mapper.update(int(PedalAuthorityState.ACQUIRING)) is False
+
+
+def test_no_pedal_suppresses_established_authority_loss():
+  assert select_preap_alerts(_inputs(
+    pedal_present=False,
+    pedal_authority_state=int(PedalAuthorityState.ACQUIRING),
+    established_authority_lost=True,
+  )) == ()
+
+
+def test_dispatched_alert_text_is_translation_marked():
+  register_preap_alerts()
+  assert PREAP_PEDAL_UNAVAILABLE_ALERT.alert_text_1 == ALERT_PEDAL_UNAVAILABLE
+  assert PREAP_PEDAL_UNAVAILABLE_ALERT.alert_text_2 == ALERT_PEDAL_UNAVAILABLE_SUB
+  assert PREAP_REGEN_ALERT.alert_text_1 == ALERT_REGEN
+  assert PREAP_REGEN_ALERT.alert_text_2 == ALERT_REGEN_SUB
+  assert ALERT_RADAR_FAULT == "Radar Error: Restart the Car"
+  events_src = Path(__file__).resolve().parents[4] / "selfdrive" / "selfdrived" / "events.py"
+  assert f'soft_disable_alert("{ALERT_RADAR_FAULT}")' in events_src.read_text()
+  from openpilot.sunnypilot.selfdrive.selfdrived.events_base import NoEntryAlert
+  radar_no_entry = STOCK_EVENTS[log.OnroadEvent.EventName.radarFault][ET.NO_ENTRY]
+  assert isinstance(radar_no_entry, NoEntryAlert)
+  assert ALERT_RADAR_FAULT in (radar_no_entry.alert_text_1, radar_no_entry.alert_text_2)
+
+
+def test_alert_renderer_translates_dispatched_text():
+  src = Path(__file__).resolve().parents[4] / "selfdrive" / "ui" / "onroad" / "alert_renderer.py"
+  text = src.read_text()
+  assert "text1=tr(ss.alertText1)" in text
+  assert "text2=tr(ss.alertText2)" in text
+  mici = Path(__file__).resolve().parents[4] / "selfdrive" / "ui" / "mici" / "onroad" / "alert_renderer.py"
+  mici_text = mici.read_text()
+  assert "text1=tr(ss.alertText1)" in mici_text
+  assert "text2=tr(ss.alertText2)" in mici_text
+
+
+def test_radar_state_has_fault_reads_real_radarerrors_struct():
+  from types import SimpleNamespace
+
+  healthy = SimpleNamespace(radarErrors=SimpleNamespace(
+    canError=False, radarFault=False, wrongConfig=False, radarUnavailableTemporary=False,
+  ))
+  assert radar_state_has_fault(healthy) is False
+  assert radar_state_has_fault(SimpleNamespace(radarErrors=SimpleNamespace(
+    canError=False, radarFault=True, wrongConfig=False, radarUnavailableTemporary=False,
+  ))) is True
+  assert radar_state_has_fault(SimpleNamespace(radarErrors=SimpleNamespace(
+    canError=False, radarFault=False, wrongConfig=True, radarUnavailableTemporary=False,
+  ))) is True
+  assert radar_state_has_fault(SimpleNamespace(radarErrors=SimpleNamespace(
+    canError=True, radarFault=False, wrongConfig=False, radarUnavailableTemporary=False,
+  ))) is True
+  assert radar_state_has_fault(SimpleNamespace(radarErrors=SimpleNamespace(
+    canError=False, radarFault=False, wrongConfig=False, radarUnavailableTemporary=True,
+  ))) is False
+  assert radar_state_has_fault(SimpleNamespace(
+    radarFault=True, errors=SimpleNamespace(canError=True), radarErrors=None,
+  )) is False
+  assert radar_state_has_fault(SimpleNamespace(radarErrors=["fault"])) is False
+  assert preap_radar_fault(_inputs(
+    pedal_present=False, radar_present=True, radar_fault=True,
+  )) is True
+
+
+
+def test_from_snapshot_no_pedal_radar_fault_reaches_alerts():
+  from types import SimpleNamespace
+  from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+  from openpilot.sunnypilot.selfdrive.selfdrived.preap_alerts import preap_alert_inputs_from_snapshot
+
+  CP = SimpleNamespace(carFingerprint="TESLA_MODEL_S_PREAP", radarUnavailable=False)
+  CP_SP = SimpleNamespace(flags=int(TeslaFlagsSP.PREAP_RADAR_PRESENT))
+  inputs = preap_alert_inputs_from_snapshot(CP, CP_SP, None, radar_fault=True)
+  assert inputs.pedal_present is False
+  assert inputs.radar_present is True
+  assert preap_radar_fault(inputs) is True
+  assert select_preap_alerts(inputs) == ()
+
+def test_selfdrived_uses_radar_state_helper():
+  src = Path(__file__).resolve().parents[4] / "selfdrive" / "selfdrived" / "selfdrived.py"
+  text = src.read_text()
+  assert "radar_state_has_fault" in text
+  assert "getattr(rs, 'radarFault'" not in text
+
+
+
+
+def test_from_snapshot_uses_published_feedback_timeout():
+  from types import SimpleNamespace
+  from opendbc.car.tesla.preap.constants import PEDAL_FEEDBACK_TIMEOUT_STATE
+  from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+  from openpilot.sunnypilot.selfdrive.selfdrived.preap_alerts import preap_alert_inputs_from_snapshot
+
+  CP = SimpleNamespace(carFingerprint="TESLA_MODEL_S_PREAP", radarUnavailable=True)
+  flags = int(TeslaFlagsSP.PREAP_PEDAL_PRESENT | TeslaFlagsSP.PREAP_PEDAL_CALIB_AVAILABLE)
+  CP_SP = SimpleNamespace(flags=flags)
+  healthy = SimpleNamespace(pedalFeedbackState=0, pedalFeedbackCounter=3, pedalAuthorityState=0, pedalAuthorityFailed=False)
+  timed_out = SimpleNamespace(
+    pedalFeedbackState=PEDAL_FEEDBACK_TIMEOUT_STATE, pedalFeedbackCounter=3,
+    pedalAuthorityState=0, pedalAuthorityFailed=False,
+  )
+  healthy_inputs = preap_alert_inputs_from_snapshot(CP, CP_SP, healthy)
+  assert healthy_inputs.pedal_timeout is False
+  assert healthy_inputs.pedal_available is True
+  assert select_preap_alerts(healthy_inputs) == ()
+
+  timeout_inputs = preap_alert_inputs_from_snapshot(CP, CP_SP, timed_out)
+  assert timeout_inputs.pedal_timeout is True
+  assert timeout_inputs.pedal_available is False
+  assert select_preap_alerts(timeout_inputs) == (EventNameSP.pedalUnavailable,)
+
+
+def test_from_snapshot_inactive_configured_pedal_timeout_alerts():
+  from types import SimpleNamespace
+  from opendbc.car.tesla.preap.constants import PEDAL_FEEDBACK_TIMEOUT_STATE
+  from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+  from openpilot.sunnypilot.selfdrive.selfdrived.preap_alerts import preap_alert_inputs_from_snapshot
+
+  CP = SimpleNamespace(carFingerprint="TESLA_MODEL_S_PREAP", radarUnavailable=True)
+  CP_SP = SimpleNamespace(flags=int(TeslaFlagsSP.PREAP_PEDAL_PRESENT))
+  cs_sp = SimpleNamespace(
+    pedalFeedbackState=PEDAL_FEEDBACK_TIMEOUT_STATE, pedalFeedbackCounter=0,
+    pedalAuthorityState=0, pedalAuthorityFailed=False,
+  )
+  inputs = preap_alert_inputs_from_snapshot(CP, CP_SP, cs_sp)
+  assert inputs.pedal_present is True
+  assert inputs.pedal_calib_available is False
+  assert inputs.pedal_timeout is True
+  assert select_preap_alerts(inputs) == (EventNameSP.pedalUnavailable,)
+
+
+def test_hyundai_non_scc_does_not_take_preap_radar_error_path():
+  from types import SimpleNamespace
+  from opendbc.car.tesla.preap.boot import preap_radar_present
+  from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
+  from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+
+  overlapping = int(HyundaiFlagsSP.NON_SCC)
+  assert overlapping == int(TeslaFlagsSP.PREAP_RADAR_PRESENT)
+
+  hyundai = SimpleNamespace(carFingerprint="HYUNDAI_KONA_NON_SCC", openpilotLongitudinalControl=False)
+  modern = SimpleNamespace(carFingerprint="TESLA_MODEL_Y", openpilotLongitudinalControl=False)
+  preap = SimpleNamespace(carFingerprint="TESLA_MODEL_S_PREAP", openpilotLongitudinalControl=False)
+  flags = SimpleNamespace(flags=overlapping)
+
+  assert preap_radar_present(hyundai, flags) is False
+  assert preap_radar_present(modern, flags) is False
+  assert preap_radar_present(preap, flags) is True
+  assert preap_radar_present(preap, SimpleNamespace(flags=0)) is False
+
+  assert not (hyundai.openpilotLongitudinalControl or preap_radar_present(hyundai, flags))
+  assert not (modern.openpilotLongitudinalControl or preap_radar_present(modern, flags))
+  assert preap.openpilotLongitudinalControl or preap_radar_present(preap, flags)
+
+
+def test_selfdrived_radar_error_path_requires_preap_identity():
+  src = Path(__file__).resolve().parents[4] / "selfdrive" / "selfdrived" / "selfdrived.py"
+  text = src.read_text()
+  assert "preap_radar_present(self.CP, self.CP_SP)" in text
+  assert "TeslaFlagsSP.PREAP_RADAR_PRESENT" not in text
+
diff --git a/openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py b/openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py
index 94f202fe869df6..514c5796c82d73 100755
--- a/openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -34,6 +34,7 @@
 from openpilot.sunnypilot.mads.helpers import is_mads_required
 from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
 from openpilot.sunnypilot.sunnylink.capabilities import generate_capabilities, CAPABILITY_LABELS
+from openpilot.sunnypilot.sunnylink.write_policy import DEVICE_OWNED_IDENTITY_KEYS, evaluate_ordered_writes
 from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import generate_schema
 
 SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://athena.sunnylink.ai')
@@ -56,7 +57,7 @@
   "HasAcceptedTermsSP",
   "OnroadCycleRequested",      # Prevent remote cycle trigger
   "ParamsVersion",         # Device-managed version counter
-}
+} | set(DEVICE_OWNED_IDENTITY_KEYS)
 
 
 def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
@@ -235,9 +236,22 @@ def _mads_required() -> bool:
   return is_mads_required(params=params)
 
 
+def _decoded_save_value(key: str, value: str, compression: bool):
+  try:
+    from openpilot.sunnypilot.sunnylink.utils import _convert_param_to_type
+    raw = base64.b64decode(value)
+    if compression:
+      raw = gzip.decompress(raw)
+    return _convert_param_to_type(raw, params.get_type(key))
+  except Exception:
+    return value
+
+
 @dispatcher.add_method
 def saveParams(params_to_update: dict[str, str], compression: bool = False) -> None:
   mads_required = _mads_required()
+  caps = generate_capabilities(params)
+  decoded_items = []
   for key, value in params_to_update.items():
     if key == "Mads" and mads_required:
       cloudlog.warning("sunnylinkd.saveParams.blocked: MADS is required for this platform")
@@ -247,9 +261,23 @@ def saveParams(params_to_update: dict[str, str], compression: bool = False) -> N
     if key in BLOCKED_PARAMS:
       cloudlog.warning(f"sunnylinkd.saveParams.blocked: Attempted to modify blocked parameter '{key}'")
       continue
+    decoded_items.append((key, _decoded_save_value(key, value, compression), value))
 
+  decisions = evaluate_ordered_writes(
+    [(key, decoded) for key, decoded, _encoded in decoded_items],
+    caps,
+    mads_required=mads_required,
+    staged_mode=None,
+  )
+  encoded_by_key = {key: encoded for key, _decoded, encoded in decoded_items}
+  for key, _decoded, decision in decisions:
+    if not decision.allow:
+      cloudlog.warning(f"sunnylinkd.saveParams.blocked: {key} rejected ({decision.reason})")
+      if key == "Mads" and mads_required:
+        params.put_bool("Mads", True, block=True)
+      continue
     try:
-      save_param_from_base64_encoded_string(key, value, compression)
+      save_param_from_base64_encoded_string(key, encoded_by_key[key], compression)
     except Exception as e:
       cloudlog.error(f"sunnylinkd.saveParams.exception {e}")
 
diff --git a/openpilot/sunnypilot/sunnylink/capabilities.py b/openpilot/sunnypilot/sunnylink/capabilities.py
index 1f12b5b0012fba..002caff4d1c7b9 100644
--- a/openpilot/sunnypilot/sunnylink/capabilities.py
+++ b/openpilot/sunnypilot/sunnylink/capabilities.py
@@ -14,6 +14,7 @@
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware import HARDWARE
+from openpilot.sunnypilot.selfdrive.car.preap_boot import is_preap_ui_platform
 
 
 # Wire-protocol version for the capabilities payload. Bump on breaking changes
@@ -37,6 +38,15 @@
   "is_sp_release",
   "is_development",
   "tesla_has_vehicle_bus",
+  "tesla_preap",
+  "tesla_preap_pedal",
+  "tesla_preap_radar",
+  "tesla_preap_pedal_calib",
+  "tesla_preap_independent_brake",
+  "tesla_preap_active_mode",
+  "tesla_preap_longitudinal_path",
+  "tesla_preap_pedal_health",
+  "tesla_preap_radar_health",
   "has_stop_and_go",
   "stock_longitudinal",
   "device_type",
@@ -59,6 +69,15 @@
   "is_sp_release": "SP release branch",
   "is_development": "Development branch",
   "tesla_has_vehicle_bus": "Tesla vehicle bus",
+  "tesla_preap": "Tesla Pre-AP platform",
+  "tesla_preap_pedal": "Tesla Pre-AP pedal interceptor",
+  "tesla_preap_radar": "Tesla Pre-AP Bosch radar",
+  "tesla_preap_pedal_calib": "Tesla Pre-AP pedal calibration available",
+  "tesla_preap_independent_brake": "Tesla Pre-AP independent brake-mode settings",
+  "tesla_preap_active_mode": "Tesla Pre-AP active engagement mode",
+  "tesla_preap_longitudinal_path": "Tesla Pre-AP physical longitudinal path",
+  "tesla_preap_pedal_health": "Tesla Pre-AP pedal health",
+  "tesla_preap_radar_health": "Tesla Pre-AP radar health",
   "has_stop_and_go": "Stop and Go",
   "stock_longitudinal": "stock longitudinal",
   "device_type": "Device type",
@@ -72,6 +91,16 @@
   "steer_control_type": "",
   "device_type": "",
   "protocol_version": PROTOCOL_VERSION,
+  "tesla_preap_active_mode": "",
+  "tesla_preap_longitudinal_path": "",
+  "tesla_preap_pedal_health": "none",
+  "tesla_preap_radar_health": "none",
+}
+
+PREAP_MODE_NAMES = {
+  0: "independent",
+  1: "cruiseCoupled",
+  2: "longitudinalOnly",
 }
 
 
@@ -111,6 +140,52 @@ def _resolve_brand_capabilities(caps: dict, bundle_platform: str, CP) -> None:
       caps["has_stop_and_go"] = caps["subaru_has_sng"]
 
 
+def _is_tesla_preap(CP, bundle_platform: str) -> bool:
+  """Typed Pre-AP discriminator from PREAP_PLATFORM bundle/fingerprint. Never HAS_VEHICLE_BUS."""
+  return is_preap_ui_platform(bundle_platform, CP)
+
+
+def _resolve_tesla_preap_capabilities(caps: dict, CP, CP_SP, params=None) -> None:
+  del params  # boot snapshot only; staged Params do not change active brake visibility
+  if not caps["tesla_preap"]:
+    return
+
+  flags = int(getattr(CP_SP, "flags", 0) or 0) if CP_SP is not None else 0
+  caps["tesla_preap_pedal"] = bool(flags & TeslaFlagsSP.PREAP_PEDAL_PRESENT)
+  caps["tesla_preap_radar"] = bool(flags & TeslaFlagsSP.PREAP_RADAR_PRESENT)
+  caps["tesla_preap_pedal_calib"] = bool(flags & TeslaFlagsSP.PREAP_PEDAL_CALIB_AVAILABLE)
+
+  boot_mode = 0
+  if CP_SP is not None:
+    try:
+      boot_mode = int(CP_SP.preapLateralEngagementMode)
+    except Exception:
+      boot_mode = 0
+  caps["tesla_preap_active_mode"] = PREAP_MODE_NAMES.get(boot_mode, "independent")
+  # Brake-mode applicability follows the immutable CP_SP boot snapshot, not
+  # the staged next-drive Param. Onroad writes still persist for next boot.
+  caps["tesla_preap_independent_brake"] = PREAP_MODE_NAMES.get(boot_mode, "independent") == "independent"
+
+  if caps["tesla_preap_pedal"] and CP is not None and bool(CP.openpilotLongitudinalControl) and not bool(CP.pcmCruise):
+    caps["tesla_preap_longitudinal_path"] = "pedal"
+  else:
+    caps["tesla_preap_longitudinal_path"] = "stock_di"
+
+  if not caps["tesla_preap_pedal"]:
+    caps["tesla_preap_pedal_health"] = "none"
+  elif not caps["tesla_preap_pedal_calib"]:
+    caps["tesla_preap_pedal_health"] = "uncalibrated"
+  else:
+    caps["tesla_preap_pedal_health"] = "ok"
+
+  if not caps["tesla_preap_radar"]:
+    caps["tesla_preap_radar_health"] = "none"
+  elif CP is not None and bool(CP.radarUnavailable):
+    caps["tesla_preap_radar_health"] = "unconfigured"
+  else:
+    caps["tesla_preap_radar_health"] = "ok"
+
+
 def generate_capabilities(params: Params | None = None) -> dict:
   """Generate a SettingsCapabilities dict from CarParams + boolean params.
 
@@ -167,6 +242,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
       cloudlog.exception("capabilities: failed to deserialize CarParamsPersistent")
 
   # CarParamsSP-derived capabilities
+  CP_SP = None
   CP_SP_bytes = params.get("CarParamsSPPersistent")
   if CP_SP_bytes is not None:
     try:
@@ -175,8 +251,12 @@ def generate_capabilities(params: Params | None = None) -> dict:
       caps["has_icbm"] = bool(CP_SP.intelligentCruiseButtonManagementAvailable) and params.get_bool("IntelligentCruiseButtonManagement")
       caps["tesla_has_vehicle_bus"] = bool(CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
     except Exception:
+      CP_SP = None
       cloudlog.exception("capabilities: failed to deserialize CarParamsSPPersistent")
 
+  caps["tesla_preap"] = _is_tesla_preap(CP, bundle_platform)
+  _resolve_tesla_preap_capabilities(caps, CP, CP_SP, params)
+
   _resolve_brand_capabilities(caps, bundle_platform, CP)
 
   return caps
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui.json b/openpilot/sunnypilot/sunnylink/settings_ui.json
index 63bf342fcb2f8e..2231d6c14cdfd3 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui.json
+++ b/openpilot/sunnypilot/sunnylink/settings_ui.json
@@ -33,9 +33,19 @@
               "label": "MADS Settings",
               "trigger_key": "Mads",
               "trigger_condition": {
-                "type": "param",
-                "key": "Mads",
-                "equals": true
+                "type": "any",
+                "conditions": [
+                  {
+                    "type": "param",
+                    "key": "Mads",
+                    "equals": true
+                  },
+                  {
+                    "type": "capability",
+                    "field": "tesla_preap",
+                    "equals": true
+                  }
+                ]
               },
               "items": [
                 {
@@ -43,6 +53,16 @@
                   "widget": "toggle",
                   "title": "Toggle with Main Cruise",
                   "description": "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.",
+                  "visibility": [
+                    {
+                      "type": "not",
+                      "condition": {
+                        "type": "capability",
+                        "field": "tesla_preap",
+                        "equals": true
+                      }
+                    }
+                  ],
                   "enablement": [
                     {
                       "type": "offroad_only"
@@ -85,6 +105,16 @@
                   "widget": "toggle",
                   "title": "Unified Engagement Mode (UEM)",
                   "description": "Engage lateral and longitudinal control with cruise control engagement. Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.",
+                  "visibility": [
+                    {
+                      "type": "not",
+                      "condition": {
+                        "type": "capability",
+                        "field": "tesla_preap",
+                        "equals": true
+                      }
+                    }
+                  ],
                   "enablement": [
                     {
                       "type": "offroad_only"
@@ -125,43 +155,54 @@
                 {
                   "key": "MadsSteeringMode",
                   "widget": "multiple_button",
+                  "needs_onroad_cycle": true,
                   "title": "Steering Mode on Brake Pedal",
-                  "description": "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.",
+                  "description": "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive.",
                   "options": [
                     {
                       "value": 0,
                       "label": "Remain Active",
                       "enablement": [
                         {
-                          "type": "not",
-                          "condition": {
-                            "type": "any",
-                            "conditions": [
-                              {
-                                "type": "capability",
-                                "field": "brand",
-                                "equals": "rivian"
-                              },
-                              {
-                                "type": "all",
+                          "type": "any",
+                          "conditions": [
+                            {
+                              "type": "not",
+                              "condition": {
+                                "type": "any",
                                 "conditions": [
                                   {
                                     "type": "capability",
                                     "field": "brand",
-                                    "equals": "tesla"
+                                    "equals": "rivian"
                                   },
                                   {
-                                    "type": "not",
-                                    "condition": {
-                                      "type": "capability",
-                                      "field": "tesla_has_vehicle_bus",
-                                      "equals": true
-                                    }
+                                    "type": "all",
+                                    "conditions": [
+                                      {
+                                        "type": "capability",
+                                        "field": "brand",
+                                        "equals": "tesla"
+                                      },
+                                      {
+                                        "type": "not",
+                                        "condition": {
+                                          "type": "capability",
+                                          "field": "tesla_has_vehicle_bus",
+                                          "equals": true
+                                        }
+                                      }
+                                    ]
                                   }
                                 ]
                               }
-                            ]
-                          }
+                            },
+                            {
+                              "type": "capability",
+                              "field": "tesla_preap",
+                              "equals": true
+                            }
+                          ]
                         }
                       ]
                     },
@@ -170,35 +211,45 @@
                       "label": "Pause",
                       "enablement": [
                         {
-                          "type": "not",
-                          "condition": {
-                            "type": "any",
-                            "conditions": [
-                              {
-                                "type": "capability",
-                                "field": "brand",
-                                "equals": "rivian"
-                              },
-                              {
-                                "type": "all",
+                          "type": "any",
+                          "conditions": [
+                            {
+                              "type": "not",
+                              "condition": {
+                                "type": "any",
                                 "conditions": [
                                   {
                                     "type": "capability",
                                     "field": "brand",
-                                    "equals": "tesla"
+                                    "equals": "rivian"
                                   },
                                   {
-                                    "type": "not",
-                                    "condition": {
-                                      "type": "capability",
-                                      "field": "tesla_has_vehicle_bus",
-                                      "equals": true
-                                    }
+                                    "type": "all",
+                                    "conditions": [
+                                      {
+                                        "type": "capability",
+                                        "field": "brand",
+                                        "equals": "tesla"
+                                      },
+                                      {
+                                        "type": "not",
+                                        "condition": {
+                                          "type": "capability",
+                                          "field": "tesla_has_vehicle_bus",
+                                          "equals": true
+                                        }
+                                      }
+                                    ]
                                   }
                                 ]
                               }
-                            ]
-                          }
+                            },
+                            {
+                              "type": "capability",
+                              "field": "tesla_preap",
+                              "equals": true
+                            }
+                          ]
                         }
                       ]
                     },
@@ -207,9 +258,24 @@
                       "label": "Disengage"
                     }
                   ],
-                  "enablement": [
+                  "visibility": [
                     {
-                      "type": "offroad_only"
+                      "type": "any",
+                      "conditions": [
+                        {
+                          "type": "not",
+                          "condition": {
+                            "type": "capability",
+                            "field": "tesla_preap",
+                            "equals": true
+                          }
+                        },
+                        {
+                          "type": "capability",
+                          "field": "tesla_preap_independent_brake",
+                          "equals": true
+                        }
+                      ]
                     }
                   ]
                 }
@@ -2254,6 +2320,16 @@
           "key": "TeslaCoopSteering",
           "widget": "toggle",
           "title": "Cooperative Steering (Beta)",
+          "visibility": [
+            {
+              "type": "not",
+              "condition": {
+                "type": "capability",
+                "field": "tesla_preap",
+                "equals": true
+              }
+            }
+          ],
           "enablement": [
             {
               "type": "offroad_only"
@@ -2288,6 +2364,231 @@
               "type": "capability",
               "field": "tesla_has_vehicle_bus",
               "equals": true
+            },
+            {
+              "type": "not",
+              "condition": {
+                "type": "capability",
+                "field": "tesla_preap",
+                "equals": true
+              }
+            }
+          ],
+          "enablement": [
+            {
+              "type": "offroad_only"
+            }
+          ]
+        },
+        {
+          "key": "NAPLateralEngagementMode",
+          "widget": "multiple_button",
+          "needs_onroad_cycle": true,
+          "title": "Lateral Engagement Mode",
+          "description": "Pre-AP stalk engagement. Onroad writes apply on the next drive.",
+          "options": [
+            {
+              "value": 0,
+              "label": "Independent"
+            },
+            {
+              "value": 1,
+              "label": "Cruise Coupled"
+            },
+            {
+              "value": 2,
+              "label": "Longitudinal Only"
+            }
+          ],
+          "visibility": [
+            {
+              "type": "capability",
+              "field": "tesla_preap",
+              "equals": true
+            }
+          ]
+        },
+        {
+          "key": "NAPFollowDistance",
+          "widget": "multiple_button",
+          "title": "Follow Distance",
+          "description": "Follow distance (1=closest, 7=farthest). Writes apply live.",
+          "options": [
+            {
+              "value": 1,
+              "label": "1"
+            },
+            {
+              "value": 2,
+              "label": "2"
+            },
+            {
+              "value": 3,
+              "label": "3"
+            },
+            {
+              "value": 4,
+              "label": "4"
+            },
+            {
+              "value": 5,
+              "label": "5"
+            },
+            {
+              "value": 6,
+              "label": "6"
+            },
+            {
+              "value": 7,
+              "label": "7"
+            }
+          ],
+          "visibility": [
+            {
+              "type": "capability",
+              "field": "tesla_preap",
+              "equals": true
+            }
+          ]
+        },
+        {
+          "key": "tesla_preap_active_mode",
+          "widget": "info",
+          "blocked": true,
+          "title": "Active Engagement Mode",
+          "description": "Read-only active boot snapshot. Onroad mode writes stage the next drive.",
+          "visibility": [
+            {
+              "type": "capability",
+              "field": "tesla_preap",
+              "equals": true
+            }
+          ]
+        },
+        {
+          "key": "tesla_preap_longitudinal_path",
+          "widget": "info",
+          "blocked": true,
+          "title": "Longitudinal Path",
+          "description": "Read-only physical longitudinal path from the active CP snapshot.",
+          "visibility": [
+            {
+              "type": "capability",
+              "field": "tesla_preap",
+              "equals": true
+            }
+          ]
+        },
+        {
+          "key": "tesla_preap_pedal_health",
+          "widget": "info",
+          "blocked": true,
+          "title": "Pedal Health",
+          "description": "Read-only pedal interceptor health from the active snapshot.",
+          "visibility": [
+            {
+              "type": "capability",
+              "field": "tesla_preap",
+              "equals": true
+            }
+          ]
+        },
+        {
+          "key": "tesla_preap_radar_health",
+          "widget": "info",
+          "blocked": true,
+          "title": "Radar Health",
+          "description": "Read-only Bosch radar health from the active snapshot.",
+          "visibility": [
+            {
+              "type": "capability",
+              "field": "tesla_preap",
+              "equals": true
+            }
+          ]
+        },
+        {
+          "key": "NAPPedalEnabled",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "blocked": true,
+          "title": "Pedal Interceptor",
+          "description": "Enable Comma Pedal hardware. Local and offroad only.",
+          "visibility": [
+            {
+              "type": "capability",
+              "field": "tesla_preap",
+              "equals": true
+            }
+          ],
+          "enablement": [
+            {
+              "type": "offroad_only"
+            }
+          ]
+        },
+        {
+          "key": "NAPPedalCanBus",
+          "widget": "multiple_button",
+          "needs_onroad_cycle": true,
+          "blocked": true,
+          "title": "Pedal CAN Bus",
+          "description": "CAN bus for the Comma Pedal. Local and offroad only.",
+          "options": [
+            {
+              "value": 0,
+              "label": "Bus 0"
+            },
+            {
+              "value": 2,
+              "label": "Bus 2"
+            }
+          ],
+          "visibility": [
+            {
+              "type": "capability",
+              "field": "tesla_preap_pedal",
+              "equals": true
+            }
+          ],
+          "enablement": [
+            {
+              "type": "offroad_only"
+            }
+          ]
+        },
+        {
+          "key": "NAPRadarEnabled",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "blocked": true,
+          "title": "Bosch Radar",
+          "description": "Enable stock Bosch radar. Local and offroad only.",
+          "visibility": [
+            {
+              "type": "capability",
+              "field": "tesla_preap",
+              "equals": true
+            }
+          ],
+          "enablement": [
+            {
+              "type": "offroad_only"
+            }
+          ]
+        },
+        {
+          "key": "NAPRadarBehindNosecone",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "blocked": true,
+          "title": "Radar Behind Nosecone",
+          "description": "Attenuate radar mounted behind the nosecone. Local and offroad only.",
+          "visibility": [
+            {
+              "type": "capability",
+              "field": "tesla_preap_radar",
+              "equals": true
             }
           ],
           "enablement": [
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/_macros.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/_macros.yaml
index a771720831411e..9c44b78393a6d6 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui_src/_macros.yaml
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/_macros.yaml
@@ -32,9 +32,8 @@ macros:
       condition: {type: capability, field: device_type, equals: mici}
 
   # Mirrors selfdrive/ui/sunnypilot/layouts/.../mads_settings.py:_mads_limited_settings()
-  # Rivian + Tesla-without-vehicle-bus get the limited MADS UI (3-toggle subset).
-  # On those platforms these toggles are disabled — full MADS settings are
-  # only writable on platforms NOT in the limited-set.
+  # Rivian + Tesla-without-vehicle-bus (AP) get the limited MADS UI (Disengage/UEM).
+  # tesla_preap is not listed here; native _mads_limited_settings() carves PREAP_PLATFORM.
   mads_full_platforms:
     - type: not
       condition:
@@ -47,8 +46,7 @@ macros:
               - type: not
                 condition: {type: capability, field: tesla_has_vehicle_bus, equals: true}
 
-  # Inverse of mads_full_platforms: present only on the limited platforms.
-  # Useful for "show this only on rivian/tesla-no-bus" toggles.
+  # Inverse of mads_full_platforms: Rivian / Tesla-no-bus AP. Pre-AP carve is native-only.
   mads_limited_platforms:
     - type: any
       conditions:
@@ -59,6 +57,23 @@ macros:
             - type: not
               condition: {type: capability, field: tesla_has_vehicle_bus, equals: true}
 
+  tesla_preap:
+    - {type: capability, field: tesla_preap, equals: true}
+
+  not_tesla_preap:
+    - type: not
+      condition: {type: capability, field: tesla_preap, equals: true}
+
+  tesla_preap_pedal:
+    - {type: capability, field: tesla_preap_pedal, equals: true}
+
+  tesla_preap_radar:
+    - {type: capability, field: tesla_preap_radar, equals: true}
+
+  tesla_preap_independent_brake:
+    - {type: capability, field: tesla_preap, equals: true}
+    - {type: capability, field: tesla_preap_independent_brake, equals: true}
+
   # Hide on sunnypilot release branches (is_release is hardcoded False everywhere; is_sp_release is the active gate).
   release_branches_hide:
     - type: not
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
index 73d46681a60024..016462b66b8455 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
@@ -22,14 +22,21 @@ sections:
     label: MADS Settings
     trigger_key: Mads
     trigger_condition:
-      type: param
-      key: Mads
-      equals: true
+      type: any
+      conditions:
+      - type: param
+        key: Mads
+        equals: true
+      - type: capability
+        field: tesla_preap
+        equals: true
     items:
     - key: MadsMainCruiseAllowed
       widget: toggle
       title: Toggle with Main Cruise
       description: 'Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.'
+      visibility:
+      - $ref: '#/macros/not_tesla_preap'
       enablement:
       - $ref: '#/macros/offroad'
       - $ref: '#/macros/mads_full_platforms'
@@ -38,26 +45,38 @@ sections:
       title: Unified Engagement Mode (UEM)
       description: 'Engage lateral and longitudinal control with cruise control engagement. Note: Once lateral control is
         engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.'
+      visibility:
+      - $ref: '#/macros/not_tesla_preap'
       enablement:
       - $ref: '#/macros/offroad'
       - $ref: '#/macros/mads_full_platforms'
     - key: MadsSteeringMode
       widget: multiple_button
+      needs_onroad_cycle: true
       title: Steering Mode on Brake Pedal
-      description: Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
+      visibility:
+      - type: any
+        conditions:
+        - $ref: '#/macros/not_tesla_preap'
+        - {type: capability, field: tesla_preap_independent_brake, equals: true}
+      description: Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive.
       options:
       - value: 0
         label: Remain Active
         enablement:
-        - $ref: '#/macros/mads_full_platforms'
+        - type: any
+          conditions:
+          - $ref: '#/macros/mads_full_platforms'
+          - $ref: '#/macros/tesla_preap'
       - value: 1
         label: Pause
         enablement:
-        - $ref: '#/macros/mads_full_platforms'
+        - type: any
+          conditions:
+          - $ref: '#/macros/mads_full_platforms'
+          - $ref: '#/macros/tesla_preap'
       - value: 2
         label: Disengage
-      enablement:
-      - $ref: '#/macros/offroad'
 - id: blinker
   title: Blinker Control
   description: Lateral pause behavior during turn signals
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
index 7dd23256b180a9..4845c654fa425a 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
@@ -54,6 +54,8 @@ sections:
   - key: TeslaCoopSteering
     widget: toggle
     title: Cooperative Steering (Beta)
+    visibility:
+    - $ref: '#/macros/not_tesla_preap'
     enablement:
     - $ref: '#/macros/offroad'
   - key: TeslaMadsScreenButton
@@ -76,6 +78,115 @@ sections:
     - type: capability
       field: tesla_has_vehicle_bus
       equals: true
+    - $ref: '#/macros/not_tesla_preap'
+    enablement:
+    - $ref: '#/macros/offroad'
+  - key: NAPLateralEngagementMode
+    widget: multiple_button
+    needs_onroad_cycle: true
+    title: Lateral Engagement Mode
+    description: Pre-AP stalk engagement. Onroad writes apply on the next drive.
+    options:
+    - value: 0
+      label: Independent
+    - value: 1
+      label: Cruise Coupled
+    - value: 2
+      label: Longitudinal Only
+    visibility:
+    - $ref: '#/macros/tesla_preap'
+  - key: NAPFollowDistance
+    widget: multiple_button
+    title: Follow Distance
+    description: Follow distance (1=closest, 7=farthest). Writes apply live.
+    options:
+    - value: 1
+      label: '1'
+    - value: 2
+      label: '2'
+    - value: 3
+      label: '3'
+    - value: 4
+      label: '4'
+    - value: 5
+      label: '5'
+    - value: 6
+      label: '6'
+    - value: 7
+      label: '7'
+    visibility:
+    - $ref: '#/macros/tesla_preap'
+  - key: tesla_preap_active_mode
+    widget: info
+    blocked: true
+    title: Active Engagement Mode
+    description: Read-only active boot snapshot. Onroad mode writes stage the next drive.
+    visibility:
+    - $ref: '#/macros/tesla_preap'
+  - key: tesla_preap_longitudinal_path
+    widget: info
+    blocked: true
+    title: Longitudinal Path
+    description: Read-only physical longitudinal path from the active CP snapshot.
+    visibility:
+    - $ref: '#/macros/tesla_preap'
+  - key: tesla_preap_pedal_health
+    widget: info
+    blocked: true
+    title: Pedal Health
+    description: Read-only pedal interceptor health from the active snapshot.
+    visibility:
+    - $ref: '#/macros/tesla_preap'
+  - key: tesla_preap_radar_health
+    widget: info
+    blocked: true
+    title: Radar Health
+    description: Read-only Bosch radar health from the active snapshot.
+    visibility:
+    - $ref: '#/macros/tesla_preap'
+  - key: NAPPedalEnabled
+    widget: toggle
+    blocked: true
+    needs_onroad_cycle: true
+    title: Pedal Interceptor
+    description: Enable Comma Pedal hardware. Local and offroad only.
+    visibility:
+    - $ref: '#/macros/tesla_preap'
+    enablement:
+    - $ref: '#/macros/offroad'
+  - key: NAPPedalCanBus
+    widget: multiple_button
+    blocked: true
+    needs_onroad_cycle: true
+    title: Pedal CAN Bus
+    description: CAN bus for the Comma Pedal. Local and offroad only.
+    options:
+    - value: 0
+      label: Bus 0
+    - value: 2
+      label: Bus 2
+    visibility:
+    - $ref: '#/macros/tesla_preap_pedal'
+    enablement:
+    - $ref: '#/macros/offroad'
+  - key: NAPRadarEnabled
+    widget: toggle
+    blocked: true
+    needs_onroad_cycle: true
+    title: Bosch Radar
+    description: Enable stock Bosch radar. Local and offroad only.
+    visibility:
+    - $ref: '#/macros/tesla_preap'
+    enablement:
+    - $ref: '#/macros/offroad'
+  - key: NAPRadarBehindNosecone
+    widget: toggle
+    blocked: true
+    needs_onroad_cycle: true
+    title: Radar Behind Nosecone
+    description: Attenuate radar mounted behind the nosecone. Local and offroad only.
+    visibility:
+    - $ref: '#/macros/tesla_preap_radar'
     enablement:
     - $ref: '#/macros/offroad'
 - id: toyota
diff --git a/openpilot/sunnypilot/sunnylink/tests/test_preap_capabilities.py b/openpilot/sunnypilot/sunnylink/tests/test_preap_capabilities.py
new file mode 100644
index 00000000000000..74b4e45254bf38
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/tests/test_preap_capabilities.py
@@ -0,0 +1,136 @@
+from types import SimpleNamespace
+
+from opendbc.car.tesla.preap.boot import PREAP_PLATFORM
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+from openpilot.sunnypilot.sunnylink.capabilities import (
+  CAPABILITY_FIELDS,
+  PROTOCOL_VERSION,
+  _is_tesla_preap,
+  _resolve_tesla_preap_capabilities,
+)
+from openpilot.sunnypilot.selfdrive.car.preap_boot import is_preap_ui_platform
+
+
+def _caps(**overrides):
+  caps = {
+    "tesla_preap": True,
+    "tesla_preap_pedal": False,
+    "tesla_preap_radar": False,
+    "tesla_preap_pedal_calib": False,
+    "tesla_preap_independent_brake": False,
+    "tesla_preap_active_mode": "",
+    "tesla_preap_longitudinal_path": "",
+    "tesla_preap_pedal_health": "none",
+    "tesla_preap_radar_health": "none",
+  }
+  caps.update(overrides)
+  return caps
+
+
+def test_protocol_version_stays_one():
+  assert PROTOCOL_VERSION == 1
+
+
+def test_capability_fields_include_tesla_preap():
+  for field in (
+    "tesla_preap",
+    "tesla_preap_pedal",
+    "tesla_preap_radar",
+    "tesla_preap_pedal_calib",
+    "tesla_preap_independent_brake",
+    "tesla_preap_active_mode",
+    "tesla_preap_longitudinal_path",
+    "tesla_preap_pedal_health",
+    "tesla_preap_radar_health",
+  ):
+    assert field in CAPABILITY_FIELDS
+
+
+def test_preap_from_fingerprint_not_vehicle_bus():
+  cp = SimpleNamespace(carFingerprint=PREAP_PLATFORM)
+  assert _is_tesla_preap(cp, "")
+  assert not _is_tesla_preap(cp, "TESLA_MODEL_3")
+  modern = SimpleNamespace(carFingerprint="TESLA_MODEL_3")
+  assert not _is_tesla_preap(modern, "")
+  assert _is_tesla_preap(modern, PREAP_PLATFORM)
+  no_bus = SimpleNamespace(carFingerprint="TESLA_MODEL_3")
+  assert not _is_tesla_preap(no_bus, "")
+  assert _is_tesla_preap(None, PREAP_PLATFORM)
+  assert not _is_tesla_preap(None, "TESLA_MODEL_3")
+
+
+def test_ui_helper_bundle_wins_and_ignores_vehicle_bus():
+  cp = SimpleNamespace(carFingerprint="TESLA_MODEL_3")
+  assert is_preap_ui_platform(PREAP_PLATFORM, cp)
+  assert not is_preap_ui_platform("TESLA_MODEL_3", SimpleNamespace(carFingerprint=PREAP_PLATFORM))
+  assert is_preap_ui_platform("", SimpleNamespace(carFingerprint=PREAP_PLATFORM))
+  assert not is_preap_ui_platform("", SimpleNamespace(carFingerprint="TESLA_MODEL_3"))
+
+
+def test_pedal_capabilities():
+  caps = _caps()
+  cp = SimpleNamespace(openpilotLongitudinalControl=True, pcmCruise=False, radarUnavailable=True)
+  cp_sp = SimpleNamespace(
+    flags=TeslaFlagsSP.PREAP_PEDAL_PRESENT | TeslaFlagsSP.PREAP_PEDAL_CALIB_AVAILABLE,
+    preapLateralEngagementMode=0,
+  )
+  _resolve_tesla_preap_capabilities(caps, cp, cp_sp)
+  assert caps["tesla_preap_pedal"] is True
+  assert caps["tesla_preap_pedal_calib"] is True
+  assert caps["tesla_preap_independent_brake"] is True
+  assert caps["tesla_preap_longitudinal_path"] == "pedal"
+  assert caps["tesla_preap_pedal_health"] == "ok"
+
+
+def test_no_pedal_capabilities():
+  caps = _caps()
+  cp = SimpleNamespace(openpilotLongitudinalControl=False, pcmCruise=True, radarUnavailable=True)
+  cp_sp = SimpleNamespace(flags=0, preapLateralEngagementMode=1)
+  _resolve_tesla_preap_capabilities(caps, cp, cp_sp)
+  assert caps["tesla_preap_pedal"] is False
+  assert caps["tesla_preap_independent_brake"] is False
+  assert caps["tesla_preap_active_mode"] == "cruiseCoupled"
+  assert caps["tesla_preap_longitudinal_path"] == "stock_di"
+  assert caps["tesla_preap_pedal_health"] == "none"
+
+
+def test_modern_skips_preap_fields():
+  caps = _caps(tesla_preap=False)
+  _resolve_tesla_preap_capabilities(caps, SimpleNamespace(), SimpleNamespace(flags=TeslaFlagsSP.HAS_VEHICLE_BUS))
+  assert caps["tesla_preap_pedal"] is False
+  assert caps["tesla_preap_radar"] is False
+
+
+class _FakeParams:
+  def __init__(self, store=None):
+    self.store = dict(store or {})
+
+  def get(self, key, return_default=False):
+    return self.store.get(key)
+
+
+def test_brake_follows_active_cp_sp_not_staged_param():
+  caps = _caps()
+  cp = SimpleNamespace(openpilotLongitudinalControl=True, pcmCruise=False, radarUnavailable=False)
+  cp_sp = SimpleNamespace(flags=TeslaFlagsSP.PREAP_PEDAL_PRESENT, preapLateralEngagementMode=0)
+  params = _FakeParams({"NAPLateralEngagementMode": 1})
+  _resolve_tesla_preap_capabilities(caps, cp, cp_sp, params)
+  assert caps["tesla_preap_active_mode"] == "independent"
+  assert caps["tesla_preap_independent_brake"] is True
+
+  cp_sp.preapLateralEngagementMode = 1
+  _resolve_tesla_preap_capabilities(caps, cp, cp_sp, params)
+  assert caps["tesla_preap_active_mode"] == "cruiseCoupled"
+  assert caps["tesla_preap_independent_brake"] is False
+
+
+def test_radar_health_matrix():
+  caps = _caps()
+  cp = SimpleNamespace(openpilotLongitudinalControl=False, pcmCruise=True, radarUnavailable=True)
+  cp_sp = SimpleNamespace(flags=TeslaFlagsSP.PREAP_RADAR_PRESENT, preapLateralEngagementMode=0)
+  _resolve_tesla_preap_capabilities(caps, cp, cp_sp)
+  assert caps["tesla_preap_radar"] is True
+  assert caps["tesla_preap_radar_health"] == "unconfigured"
+  cp.radarUnavailable = False
+  _resolve_tesla_preap_capabilities(caps, cp, cp_sp)
+  assert caps["tesla_preap_radar_health"] == "ok"
diff --git a/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py b/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py
index 07b05d4ac45219..3292cda95b1d57 100644
--- a/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py
+++ b/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py
@@ -217,3 +217,117 @@ def test_offroad_only_replaced_with_not_engaged(self, schema, key):
     rule_types = _flatten_rule_types(item.get("enablement"))
     assert "offroad_only" not in rule_types, f"{key} still uses offroad_only"
     assert "not_engaged" in rule_types, f"{key} missing not_engaged"
+
+
+class TestTeslaPreAPSettings:
+  def test_preap_vehicle_keys_present(self, schema):
+    vs = schema["vehicle_settings"]["tesla"]
+    keys = {item["key"] for item in vs.get("items", [])}
+    assert "NAPLateralEngagementMode" in keys
+    assert "NAPFollowDistance" in keys
+    assert "NAPPedalEnabled" in keys
+    assert "NAPPedalCanBus" in keys
+    assert "NAPRadarEnabled" in keys
+    assert "NAPRadarBehindNosecone" in keys
+    assert "tesla_preap_active_mode" in keys
+    assert "tesla_preap_longitudinal_path" in keys
+    assert "tesla_preap_pedal_health" in keys
+    assert "tesla_preap_radar_health" in keys
+    assert "MadsSteeringMode" not in keys
+    assert "NAPRadarOffset" not in keys
+    assert "NAPAdaptiveAccel" not in keys
+    assert "NAPForcePreAP" not in keys
+    assert "NAPPedalProfile" not in keys
+    assert "NAPBrakeFactor" not in keys
+    assert "calibrate_pedal" not in keys
+    assert "flash_epas" not in keys
+    assert "diagnose_radar" not in keys
+
+  def test_follow_is_live_hardware_needs_cycle(self, schema):
+    follow = _find_item(schema, "NAPFollowDistance")
+    assert follow is not None
+    assert not follow.get("needs_onroad_cycle")
+    for key in ("NAPPedalEnabled", "NAPPedalCanBus", "NAPRadarEnabled", "NAPRadarBehindNosecone"):
+      item = _find_item(schema, key)
+      assert item is not None, key
+      assert item.get("needs_onroad_cycle") is True
+      assert "offroad_only" in _flatten_rule_types(item.get("enablement"))
+    assert _find_item(schema, "NAPRadarOffset") is None
+
+  def test_tools_are_not_schema_keys(self, schema):
+    from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import collect_all_keys
+    keys = collect_all_keys(schema)
+    for tool in ("calibrate_pedal", "calibrate_radar", "diagnose_radar", "test_radar",
+                 "flash_epas", "extract_epas", "restore_epas", "run_script"):
+      assert tool not in keys
+
+  def test_coop_and_mads_screen_hidden_on_preap(self, schema):
+    vs = schema["vehicle_settings"]["tesla"]
+    coop = next(item for item in vs.get("items", []) if item["key"] == "TeslaCoopSteering")
+    vis = str(coop.get("visibility"))
+    assert "tesla_preap" in vis
+    assert "not" in vis
+    screen = next(item for item in vs.get("items", []) if item["key"] == "TeslaMadsScreenButton")
+    screen_vis = str(screen.get("visibility"))
+    assert "tesla_preap" in screen_vis
+    assert "not" in screen_vis
+
+  def test_mads_parent_visible_but_blocked_on_preap(self, schema):
+    item = _find_item(schema, "Mads")
+    assert item is not None
+    vis = item.get("visibility") or []
+    assert vis == [] or "not_tesla_preap" not in json.dumps(vis)
+    enablement = json.dumps(item.get("enablement") or [])
+    assert "tesla_preap" not in enablement
+    assert "offroad_only" in _flatten_rule_types(item.get("enablement"))
+
+  def test_mads_steering_mode_only_in_steering(self, schema):
+    vs_keys = {item["key"] for item in schema["vehicle_settings"]["tesla"].get("items", [])}
+    assert "MadsSteeringMode" not in vs_keys
+    item = _find_item(schema, "MadsSteeringMode")
+    assert item is not None
+    vis = json.dumps(item.get("visibility"))
+    assert "tesla_preap_independent_brake" in vis
+    assert "tesla_preap" in vis
+    assert "not" in vis
+    assert '"type": "any"' in vis or "'type': 'any'" in vis or '"any"' in vis
+    assert item.get("needs_onroad_cycle") is True
+    assert "offroad_only" not in _flatten_rule_types(item.get("enablement"))
+
+  def test_mads_settings_reachable_when_preap(self, schema):
+    section = _find_section(schema, "steering", "mads")
+    assert section is not None
+    sp = next(s for s in section["sub_panels"] if s["id"] == "mads_settings")
+    cond = json.dumps(sp.get("trigger_condition"))
+    assert "tesla_preap" in cond
+    assert "Mads" in cond
+
+  def test_engagement_mode_is_next_drive(self, schema):
+    item = _find_item(schema, "NAPLateralEngagementMode")
+    assert item is not None
+    assert item.get("needs_onroad_cycle") is True
+    assert "offroad_only" not in _flatten_rule_types(item.get("enablement"))
+
+  def test_mads_full_platforms_excludes_preap_key(self):
+    import yaml
+    from pathlib import Path
+    macros = yaml.safe_load((Path(__file__).resolve().parents[1] / "settings_ui_src" / "_macros.yaml").read_text())["macros"]
+    full = json.dumps(macros["mads_full_platforms"])
+    limited = json.dumps(macros["mads_limited_platforms"])
+    assert "tesla_has_vehicle_bus" in full
+    assert "tesla_preap" not in full
+    assert "tesla_has_vehicle_bus" in limited
+    assert "tesla_preap" not in limited
+
+
+
+  def test_preap_readonly_status_info_widgets(self, schema):
+    vs = schema["vehicle_settings"]["tesla"]
+    items = {item["key"]: item for item in vs.get("items", [])}
+    for key in ("tesla_preap_active_mode", "tesla_preap_longitudinal_path",
+                "tesla_preap_pedal_health", "tesla_preap_radar_health"):
+      item = items[key]
+      assert item["widget"] == "info"
+      assert item.get("blocked") is True
+      vis = json.dumps(item.get("visibility"))
+      assert "tesla_preap" in vis
diff --git a/openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py b/openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py
index 579d72b60be698..182a2810285995 100644
--- a/openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py
+++ b/openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py
@@ -152,9 +152,19 @@ def test_no_duplicate_keys_across_panels(self, schema):
 
 class TestSchemaCoverage:
   def test_all_schema_keys_exist_in_params(self, schema, all_param_keys):
-    """Schema keys must exist in Params().all_keys()."""
+    """Schema keys must exist in Params().all_keys().
+
+    Blocked info widgets whose keys are declared capability fields are the
+    existing read-only status pattern and are not Params.
+    """
     schema_keys = collect_all_keys(schema)
-    missing = schema_keys - all_param_keys
+    preap_status_info_keys = {
+      "tesla_preap_active_mode",
+      "tesla_preap_longitudinal_path",
+      "tesla_preap_pedal_health",
+      "tesla_preap_radar_health",
+    }
+    missing = schema_keys - all_param_keys - preap_status_info_keys
     assert not missing, f"Schema references keys not in Params: {missing}"
 
   def test_all_capability_fields_are_declared(self, schema):
diff --git a/openpilot/sunnypilot/sunnylink/tests/test_write_policy.py b/openpilot/sunnypilot/sunnylink/tests/test_write_policy.py
new file mode 100644
index 00000000000000..0f37101e4b902b
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/tests/test_write_policy.py
@@ -0,0 +1,87 @@
+from openpilot.sunnypilot.sunnylink.write_policy import (
+  DEVICE_OWNED_IDENTITY_KEYS,
+  evaluate_ordered_writes,
+  evaluate_param_write,
+)
+
+
+PREAP = {"tesla_preap": True, "tesla_preap_independent_brake": True}
+PREAP_COUPLED = {"tesla_preap": True, "tesla_preap_independent_brake": False}
+MODERN = {"tesla_preap": False}
+
+
+def test_live_follow_distance():
+  assert evaluate_param_write("NAPFollowDistance", 4, PREAP).allow
+  assert evaluate_param_write("NAPFollowDistance", 1, PREAP).allow
+  assert evaluate_param_write("NAPFollowDistance", 7, PREAP).allow
+  assert not evaluate_param_write("NAPFollowDistance", 0, PREAP).allow
+  assert not evaluate_param_write("NAPFollowDistance", 8, PREAP).allow
+
+
+def test_next_drive_engagement_and_brake():
+  assert evaluate_param_write("NAPLateralEngagementMode", 0, PREAP).allow
+  assert evaluate_param_write("NAPLateralEngagementMode", 2, PREAP).allow
+  assert not evaluate_param_write("NAPLateralEngagementMode", 3, PREAP).allow
+  assert evaluate_param_write("MadsSteeringMode", 1, PREAP).allow
+  assert not evaluate_param_write("MadsSteeringMode", 1, PREAP_COUPLED).allow
+
+
+def test_rejects_hardware_and_hidden_preap_keys():
+  for key in ("NAPPedalEnabled", "NAPRadarOffset", "NAPForcePreAP", "NAPPedalCalibFactor",
+              "NAPAdaptiveAccel", "NAPBrakeFactor", "NAPScriptRunning", "NAPEpasRiskAccepted"):
+    assert not evaluate_param_write(key, 1, PREAP).allow
+  for key in ("TeslaCoopSteering", "TeslaMadsScreenButton", "Mads", "MadsMainCruiseAllowed", "MadsUnifiedEngagementMode"):
+    assert not evaluate_param_write(key, True, PREAP).allow
+
+
+def test_modern_tesla_unchanged_for_coop_and_mads():
+  assert evaluate_param_write("TeslaCoopSteering", True, MODERN).allow
+  assert evaluate_param_write("Mads", True, MODERN, mads_required=False).allow
+  assert not evaluate_param_write("Mads", False, MODERN, mads_required=True).allow
+
+
+def test_preap_only_keys_rejected_on_modern():
+  assert not evaluate_param_write("NAPFollowDistance", 4, MODERN).allow
+  assert not evaluate_param_write("NAPLateralEngagementMode", 0, MODERN).allow
+  assert evaluate_param_write("MadsSteeringMode", 1, MODERN).allow
+
+
+def test_hardware_rejected_on_modern_and_preap():
+  for caps in (PREAP, MODERN):
+    assert not evaluate_param_write("NAPRadarOffset", 0.1, caps).allow
+    assert not evaluate_param_write("NAPPedalEnabled", True, caps).allow
+
+
+def test_hostile_batch_mode_then_brake_fails_closed():
+  results = evaluate_ordered_writes(
+    [("NAPLateralEngagementMode", 1), ("MadsSteeringMode", 1)],
+    PREAP,
+    staged_mode=0,
+  )
+  assert results[0][2].allow
+  assert not results[1][2].allow
+  assert results[1][2].reason == "brake_mode_not_independent"
+
+
+def test_hostile_batch_brake_then_mode_is_order_independent():
+  results = evaluate_ordered_writes(
+    [("MadsSteeringMode", 1), ("NAPLateralEngagementMode", 1)],
+    PREAP,
+    staged_mode=0,
+  )
+  assert not results[0][2].allow
+  assert results[0][2].reason == "brake_mode_not_independent"
+  assert results[1][2].allow
+
+
+def test_device_owned_identity_keys_are_rejected():
+  for key in DEVICE_OWNED_IDENTITY_KEYS:
+    decision = evaluate_param_write(key, b"spoof", PREAP)
+    assert not decision.allow, key
+    assert decision.reason == "device_owned_identity"
+
+
+def test_read_only_status_keys_are_local_only():
+  for key in ("tesla_preap_active_mode", "tesla_preap_longitudinal_path",
+              "tesla_preap_pedal_health", "tesla_preap_radar_health"):
+    assert not evaluate_param_write(key, "ok", PREAP).allow
diff --git a/openpilot/sunnypilot/sunnylink/write_policy.py b/openpilot/sunnypilot/sunnylink/write_policy.py
new file mode 100644
index 00000000000000..7c5ff4529fa029
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/write_policy.py
@@ -0,0 +1,196 @@
+"""Remote write policy for sunnylink Param updates.
+
+Local UI remains the only writer for hardware/calibration. Sunnylink may write
+follow distance live and stage next-drive engagement/brake values. Conflicting
+or unsupported Pre-AP writes are rejected. The active boot snapshot is not
+mutated here; card/interface freeze it at boot.
+"""
+from __future__ import annotations
+
+from dataclasses import dataclass
+from typing import Any
+from collections.abc import Iterable
+
+from openpilot.sunnypilot.mads.helpers import is_mads_required
+
+
+FOLLOW_DISTANCE_MIN = 1
+FOLLOW_DISTANCE_MAX = 7
+ENGAGEMENT_MODE_MIN = 0
+ENGAGEMENT_MODE_MAX = 2
+STEERING_MODE_MIN = 0
+STEERING_MODE_MAX = 2
+PREAP_MODE_INDEPENDENT = 0
+
+# Hardware/calibration/radar and boot-lock keys stay local.
+# NAPBrakeFactor is not registered; keep the name here so hostile remote
+# writes still fail closed.
+PREAP_LOCAL_ONLY_KEYS = frozenset({
+  "NAPPedalEnabled",
+  "NAPPedalCanBus",
+  "NAPPedalProfile",
+  "NAPPedalCalibDone",
+  "NAPPedalCalibFactor",
+  "NAPPedalCalibMin",
+  "NAPPedalCalibMax",
+  "NAPPedalCalibZero",
+  "NAPRadarEnabled",
+  "NAPRadarBehindNosecone",
+  "NAPRadarOffset",
+  "NAPForcePreAP",
+  "NAPLateralEngagementModeMigrated",
+  "NAPEpasRiskAccepted",
+  "NAPScriptRunning",
+  "NAPBrakeFactor",
+  "NAPiBoosterEnabled",
+  "NAPAdaptiveAccel",
+  "tesla_preap_active_mode",
+  "tesla_preap_longitudinal_path",
+  "tesla_preap_pedal_health",
+  "tesla_preap_radar_health",
+})
+
+# Device-owned identity/cache snapshots. Remote writes would spoof capabilities.
+DEVICE_OWNED_IDENTITY_KEYS = frozenset({
+  "CarParams",
+  "CarParamsCache",
+  "CarParamsPersistent",
+  "CarParamsPrevRoute",
+  "CarParamsSP",
+  "CarParamsSPCache",
+  "CarParamsSPPersistent",
+  "CarPlatformBundle",
+  "DongleId",
+  "SunnylinkDongleId",
+})
+
+# Pre-AP hides these controls; remote writes are capability-conflicting.
+PREAP_UNSUPPORTED_KEYS = frozenset({
+  "TeslaCoopSteering",
+  "TeslaMadsScreenButton",
+  "Mads",
+  "MadsMainCruiseAllowed",
+  "MadsUnifiedEngagementMode",
+})
+
+PREAP_LIVE_KEYS = frozenset({
+  "NAPFollowDistance",
+})
+
+PREAP_NEXT_DRIVE_KEYS = frozenset({
+  "NAPLateralEngagementMode",
+  "MadsSteeringMode",
+})
+
+# Pre-AP-only remote keys. MadsSteeringMode remains a modern Tesla setting.
+PREAP_ONLY_REMOTE_KEYS = frozenset({
+  "NAPFollowDistance",
+  "NAPLateralEngagementMode",
+})
+
+
+@dataclass(frozen=True)
+class WriteDecision:
+  allow: bool
+  reason: str = ""
+
+
+def _as_int(value) -> int | None:
+  if isinstance(value, bool):
+    return int(value)
+  try:
+    return int(value)
+  except (TypeError, ValueError):
+    return None
+
+
+def _as_bool(value) -> bool:
+  return value in (True, 1, "1", b"1", "true", "True")
+
+
+def _staged_independent(caps: dict, staged_mode: int | None) -> bool:
+  """Brake writes follow the evolving staged next-drive mode when present."""
+  if staged_mode is not None:
+    return int(staged_mode) == PREAP_MODE_INDEPENDENT
+  return bool(caps.get("tesla_preap_independent_brake"))
+
+
+def evaluate_param_write(key: str, value, caps: dict | None = None, *,
+                         mads_required: bool | None = None,
+                         staged_mode: int | None = None) -> WriteDecision:
+  """Return whether a sunnylink saveParams write may proceed."""
+  caps = caps or {}
+  tesla_preap = bool(caps.get("tesla_preap"))
+
+  if key in DEVICE_OWNED_IDENTITY_KEYS:
+    return WriteDecision(False, "device_owned_identity")
+
+  if key in PREAP_LOCAL_ONLY_KEYS:
+    return WriteDecision(False, "local_only")
+
+  if tesla_preap and key in PREAP_UNSUPPORTED_KEYS:
+    return WriteDecision(False, "unsupported_on_preap")
+
+  if key == "Mads" and (mads_required if mads_required is not None else is_mads_required()):
+    if not _as_bool(value):
+      return WriteDecision(False, "mads_required")
+
+  if not tesla_preap:
+    if key in PREAP_ONLY_REMOTE_KEYS:
+      return WriteDecision(False, "unsupported_on_modern")
+    return WriteDecision(True)
+
+  if key == "NAPFollowDistance":
+    parsed = _as_int(value)
+    if parsed is None or not (FOLLOW_DISTANCE_MIN <= parsed <= FOLLOW_DISTANCE_MAX):
+      return WriteDecision(False, "invalid_follow_distance")
+    return WriteDecision(True)
+
+  if key == "NAPLateralEngagementMode":
+    parsed = _as_int(value)
+    if parsed is None or not (ENGAGEMENT_MODE_MIN <= parsed <= ENGAGEMENT_MODE_MAX):
+      return WriteDecision(False, "invalid_engagement_mode")
+    return WriteDecision(True)
+
+  if key == "MadsSteeringMode":
+    if not _staged_independent(caps, staged_mode):
+      return WriteDecision(False, "brake_mode_not_independent")
+    parsed = _as_int(value)
+    if parsed is None or not (STEERING_MODE_MIN <= parsed <= STEERING_MODE_MAX):
+      return WriteDecision(False, "invalid_steering_mode")
+    return WriteDecision(True)
+
+  if key in PREAP_LIVE_KEYS or key in PREAP_NEXT_DRIVE_KEYS:
+    return WriteDecision(True)
+
+  return WriteDecision(True)
+
+
+def evaluate_ordered_writes(items: Iterable[tuple[str, Any]], caps: dict | None = None, *,
+                            mads_required: bool | None = None,
+                            staged_mode: int | None = None) -> list[tuple[str, Any, WriteDecision]]:
+  """Evaluate a batch against its final staged engagement mode.
+
+  Brake-mode authorization is order-independent: a batch cannot write the
+  brake mode before a later coupled-mode write to bypass applicability.
+  Invalid engagement-mode writes do not alter the existing staged mode.
+  """
+  caps = caps or {}
+  items = list(items)
+  final_mode = staged_mode
+  for key, value in items:
+    if key == "NAPLateralEngagementMode":
+      parsed = _as_int(value)
+      if parsed is not None and ENGAGEMENT_MODE_MIN <= parsed <= ENGAGEMENT_MODE_MAX:
+        final_mode = parsed
+
+  return [
+    (
+      key,
+      value,
+      evaluate_param_write(
+        key, value, caps, mads_required=mads_required, staged_mode=final_mode,
+      ),
+    )
+    for key, value in items
+  ]
diff --git a/openpilot/system/manager/manager.py b/openpilot/system/manager/manager.py
index 7befb7f4aedf09..6fd0d6c23c0f59 100755
--- a/openpilot/system/manager/manager.py
+++ b/openpilot/system/manager/manager.py
@@ -160,7 +160,14 @@ def manager_thread() -> None:
     started_prev = started
     ignition_prev = ignition
 
-    ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
+    # Production Pre-AP tools take exclusive panda/UDS access. Do not add the
+    # tools themselves as managed processes.
+    script_ignore = []
+    if params.get_bool("NAPScriptRunning"):
+      script_ignore = ["pandad", "card", "controlsd", "selfdrived", "plannerd", "radard",
+                       "calibrationd", "torqued", "locationd", "modeld", "dmonitoringmodeld"]
+
+    ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore + script_ignore)
 
     running = ' '.join("{}{}\u001b[0m".format("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
                        for p in managed_processes.values() if p.proc)
diff --git a/openpilot/system/ui/widgets/__init__.py b/openpilot/system/ui/widgets/__init__.py
index f8cb04d8a79357..9904dfde2cdc12 100644
--- a/openpilot/system/ui/widgets/__init__.py
+++ b/openpilot/system/ui/widgets/__init__.py
@@ -8,7 +8,8 @@
 from openpilot.system.ui.lib.application import gui_app, MousePos, MAX_TOUCH_SLOTS, MouseEvent
 
 class DeviceLike(Protocol):
-  awake: bool
+  @property
+  def awake(self) -> bool: ...
 
 
 def _get_device() -> DeviceLike:

From e015d22cefc760177ea3157e028e154988ea3222 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Sat, 15 Aug 2026 08:34:27 +0000
Subject: [PATCH 1389/1434] tesla preap: update fail-closed controls

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index e42d39ad895b93..05093842f79b59 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit e42d39ad895b93165243008600520141242bbc5b
+Subproject commit 05093842f79b59befa5538238a2b9a829a7589f5

From 90ed72f58168a87223e1ba634a346ab376600b0f Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Sat, 15 Aug 2026 08:34:48 +0000
Subject: [PATCH 1390/1434] tesla preap: update controller tests

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 05093842f79b59..2f5d79d8ca7284 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 05093842f79b59befa5538238a2b9a829a7589f5
+Subproject commit 2f5d79d8ca728468f0fe7ad1608a8a59c7d2ee45

From 86260777ee5eb42d32d3e5aaa475504771755119 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Sat, 15 Aug 2026 14:35:16 +0000
Subject: [PATCH 1391/1434] tesla preap: surface active pedal timeout

---
 opendbc_repo                                  |  2 +-
 .../selfdrived/tests/test_preap_alerts.py     | 20 +++++++++++++++++++
 2 files changed, 21 insertions(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 2f5d79d8ca7284..b31e189150ff0b 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 2f5d79d8ca728468f0fe7ad1608a8a59c7d2ee45
+Subproject commit b31e189150ff0bb5eb8e710efbbe2e05dd16a8bf
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
index f2dfc2822720e2..ba40a9b9ba46a9 100644
--- a/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
@@ -267,6 +267,26 @@ def test_from_snapshot_inactive_configured_pedal_timeout_alerts():
   assert select_preap_alerts(inputs) == (EventNameSP.pedalUnavailable,)
 
 
+def test_from_snapshot_active_configured_pedal_timeout_alerts():
+  from types import SimpleNamespace
+  from opendbc.car.tesla.preap.constants import PEDAL_FEEDBACK_TIMEOUT_STATE
+  from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+  from openpilot.sunnypilot.selfdrive.selfdrived.preap_alerts import preap_alert_inputs_from_snapshot
+
+  CP = SimpleNamespace(carFingerprint="TESLA_MODEL_S_PREAP", radarUnavailable=False)
+  flags = int(TeslaFlagsSP.PREAP_PEDAL_PRESENT | TeslaFlagsSP.PREAP_PEDAL_CALIB_AVAILABLE)
+  CP_SP = SimpleNamespace(flags=flags)
+  cs_sp = SimpleNamespace(
+    pedalFeedbackState=PEDAL_FEEDBACK_TIMEOUT_STATE, pedalFeedbackCounter=3,
+    pedalAuthorityState=int(PedalAuthorityState.ACTIVE), pedalAuthorityFailed=False,
+  )
+  inputs = preap_alert_inputs_from_snapshot(CP, CP_SP, cs_sp)
+  assert inputs.pedal_timeout is True
+  assert inputs.pedal_available is False
+  assert inputs.pedal_authority_state == int(PedalAuthorityState.ACTIVE)
+  assert select_preap_alerts(inputs) == (EventNameSP.pedalUnavailable,)
+
+
 def test_hyundai_non_scc_does_not_take_preap_radar_error_path():
   from types import SimpleNamespace
   from opendbc.car.tesla.preap.boot import preap_radar_present

From d25abb029379f0cdf3ecfd6c5091db06c17abbd5 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Sat, 15 Aug 2026 15:15:22 +0000
Subject: [PATCH 1392/1434] point opendbc at personal port fork

---
 .gitmodules | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.gitmodules b/.gitmodules
index a2d892d07f218c..d1d56b2799c5e8 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -3,7 +3,7 @@
   url = https://github.com/sunnyhaibin/panda.git
 [submodule "opendbc"]
   path = opendbc_repo
-  url = https://github.com/sunnypilot/opendbc.git
+  url = https://github.com/daggerhashjack/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
   url = https://github.com/sunnypilot/msgq.git

From 332da7a9d4209d6abbda9c958375c2a8c7067866 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Sat, 15 Aug 2026 15:29:38 +0000
Subject: [PATCH 1393/1434] point opendbc at NotAutopilot port fork

---
 .gitmodules | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.gitmodules b/.gitmodules
index d1d56b2799c5e8..4e4469333cc75f 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -3,7 +3,7 @@
   url = https://github.com/sunnyhaibin/panda.git
 [submodule "opendbc"]
   path = opendbc_repo
-  url = https://github.com/daggerhashjack/opendbc.git
+  url = https://github.com/NotAutopilot/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
   url = https://github.com/sunnypilot/msgq.git

From 0e807238e723a707ba7308c55d78857f63ddc439 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Sun, 16 Aug 2026 22:24:11 +0000
Subject: [PATCH 1394/1434] point panda at published port history

---
 .gitmodules | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.gitmodules b/.gitmodules
index 4e4469333cc75f..5aac9620ba980e 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,6 +1,6 @@
 [submodule "panda"]
   path = panda
-  url = https://github.com/sunnyhaibin/panda.git
+  url = https://github.com/NotAutopilot/panda.git
 [submodule "opendbc"]
   path = opendbc_repo
   url = https://github.com/NotAutopilot/opendbc.git

From 63c93ffa629149a469b6514132f734ac01c2b3c2 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Mon, 17 Aug 2026 00:41:36 +0000
Subject: [PATCH 1395/1434] restore legacy AGNOS updater path

---
 system/hardware/tici/agnos.json | 84 +++++++++++++++++++++++++++++++++
 1 file changed, 84 insertions(+)
 create mode 100644 system/hardware/tici/agnos.json

diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
new file mode 100644
index 00000000000000..f22a57db75592d
--- /dev/null
+++ b/system/hardware/tici/agnos.json
@@ -0,0 +1,84 @@
+[
+  {
+    "name": "xbl",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb.img.xz",
+    "hash": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
+    "hash_raw": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
+    "size": 3282256,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "bea7f1a24428c3ededf672fa4fc78baf180cfbd8aafb77c974655b38517283e3"
+  },
+  {
+    "name": "xbl_config",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85.img.xz",
+    "hash": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
+    "hash_raw": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
+    "size": 98124,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "fb18cde08a98a168961ecd357e92474823046752b94e112f59fe51a6acd7197d"
+  },
+  {
+    "name": "abl",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c.img.xz",
+    "hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
+    "hash_raw": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
+    "size": 274432,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c"
+  },
+  {
+    "name": "aop",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1.img.xz",
+    "hash": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
+    "hash_raw": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
+    "size": 184364,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "6c9135446bd3fc075fcee59b887a12e49029ab1f98ed8d6d1e32c73569d47de3"
+  },
+  {
+    "name": "devcfg",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc.img.xz",
+    "hash": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
+    "hash_raw": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
+    "size": 40336,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "2a67971602012c1b43544964709da13c322786b456a8e78568b117e8b1540ce3"
+  },
+  {
+    "name": "boot",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-19ff57b68e219e4503fcaca716967098d5d0a1de8af833f04dbf13b99aeb4d39.img.xz",
+    "hash": "19ff57b68e219e4503fcaca716967098d5d0a1de8af833f04dbf13b99aeb4d39",
+    "hash_raw": "19ff57b68e219e4503fcaca716967098d5d0a1de8af833f04dbf13b99aeb4d39",
+    "size": 17487872,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "ddfe93cc6a8531af92ee331d9bbaeae2f1d933bdb38e579769dc9fe7998eb626"
+  },
+  {
+    "name": "system",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724.img.xz",
+    "hash": "4dc41c2c072f5f5d5cd484cd6173049cd96acfb9a67bc20049775585fe881539",
+    "hash_raw": "a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724",
+    "size": 4718592000,
+    "sparse": true,
+    "full_check": false,
+    "has_ab": true,
+    "ondevice_hash": "cf1229630b7a2b8497705bca4ba947dbf0c217418ff4febff571aa4f4a878134",
+    "alt": {
+      "hash": "a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724.img",
+      "size": 4718592000
+    }
+  }
+]
\ No newline at end of file

From 8e3b0ae829a5310f833df2db2ae02d90d11ddaa4 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Mon, 17 Aug 2026 00:45:26 +0000
Subject: [PATCH 1396/1434] Revert "restore legacy AGNOS updater path"

This reverts commit 63c93ffa629149a469b6514132f734ac01c2b3c2.
---
 system/hardware/tici/agnos.json | 84 ---------------------------------
 1 file changed, 84 deletions(-)
 delete mode 100644 system/hardware/tici/agnos.json

diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
deleted file mode 100644
index f22a57db75592d..00000000000000
--- a/system/hardware/tici/agnos.json
+++ /dev/null
@@ -1,84 +0,0 @@
-[
-  {
-    "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb.img.xz",
-    "hash": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
-    "hash_raw": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
-    "size": 3282256,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "bea7f1a24428c3ededf672fa4fc78baf180cfbd8aafb77c974655b38517283e3"
-  },
-  {
-    "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85.img.xz",
-    "hash": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
-    "hash_raw": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
-    "size": 98124,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "fb18cde08a98a168961ecd357e92474823046752b94e112f59fe51a6acd7197d"
-  },
-  {
-    "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c.img.xz",
-    "hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
-    "hash_raw": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
-    "size": 274432,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c"
-  },
-  {
-    "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1.img.xz",
-    "hash": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
-    "hash_raw": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
-    "size": 184364,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "6c9135446bd3fc075fcee59b887a12e49029ab1f98ed8d6d1e32c73569d47de3"
-  },
-  {
-    "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc.img.xz",
-    "hash": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
-    "hash_raw": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
-    "size": 40336,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "2a67971602012c1b43544964709da13c322786b456a8e78568b117e8b1540ce3"
-  },
-  {
-    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-19ff57b68e219e4503fcaca716967098d5d0a1de8af833f04dbf13b99aeb4d39.img.xz",
-    "hash": "19ff57b68e219e4503fcaca716967098d5d0a1de8af833f04dbf13b99aeb4d39",
-    "hash_raw": "19ff57b68e219e4503fcaca716967098d5d0a1de8af833f04dbf13b99aeb4d39",
-    "size": 17487872,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "ddfe93cc6a8531af92ee331d9bbaeae2f1d933bdb38e579769dc9fe7998eb626"
-  },
-  {
-    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724.img.xz",
-    "hash": "4dc41c2c072f5f5d5cd484cd6173049cd96acfb9a67bc20049775585fe881539",
-    "hash_raw": "a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724",
-    "size": 4718592000,
-    "sparse": true,
-    "full_check": false,
-    "has_ab": true,
-    "ondevice_hash": "cf1229630b7a2b8497705bca4ba947dbf0c217418ff4febff571aa4f4a878134",
-    "alt": {
-      "hash": "a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724.img",
-      "size": 4718592000
-    }
-  }
-]
\ No newline at end of file

From e42aa791396d4e28952b71616ffba8478ff1429c Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Mon, 17 Aug 2026 02:17:17 +0000
Subject: [PATCH 1397/1434] Route Tesla Pre-AP vehicle selections

---
 opendbc_repo                                  |  2 +-
 .../settings/vehicle/platform_selector.py     |  9 +++-----
 .../selfdrive/car/sync_sunnylink_params.py    |  5 +++++
 .../car/tests/test_preap_boot_selection.py    | 22 +++++++++++++++++++
 4 files changed, 31 insertions(+), 7 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index b31e189150ff0b..f9cb67343b339c 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit b31e189150ff0bb5eb8e710efbbe2e05dd16a8bf
+Subproject commit f9cb67343b339ca540cc4b42ef67ae6a95ef4fda
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
index aab935d4b82477..72f0a4f00526a3 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
@@ -5,12 +5,11 @@
 See the LICENSE.md file in the root directory for more details.
 """
 import json
-import os
 import pyray as rl
 from collections.abc import Callable
 from functools import partial
 
-from openpilot.common.basedir import BASEDIR
+from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import CAR_LIST_JSON_OUT, build_platform_bundle
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import DialogResult, Widget
@@ -21,8 +20,6 @@
 from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
 from openpilot.selfdrive.ui.ui_state import ui_state
 
-CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "openpilot", "sunnypilot", "selfdrive", "car", "car_list.json")
-
 
 class LegendWidget(Widget):
   def __init__(self, platform_selector):
@@ -84,8 +81,8 @@ def _on_clicked(self):
       self._show_platform_dialog()
 
   def _set_platform(self, platform_name):
-    if data := self._platforms.get(platform_name):
-      ui_state.params.put("CarPlatformBundle", {**data, "name": platform_name})
+    if bundle := build_platform_bundle(self._platforms, platform_name):
+      ui_state.params.put("CarPlatformBundle", bundle)
       self.refresh()
       if self._on_platform_change:
         self._on_platform_change()
diff --git a/openpilot/sunnypilot/selfdrive/car/sync_sunnylink_params.py b/openpilot/sunnypilot/selfdrive/car/sync_sunnylink_params.py
index 6c964710b0f994..2628583cf6b64b 100755
--- a/openpilot/sunnypilot/selfdrive/car/sync_sunnylink_params.py
+++ b/openpilot/sunnypilot/selfdrive/car/sync_sunnylink_params.py
@@ -15,6 +15,11 @@
 CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "openpilot", "sunnypilot", "selfdrive", "car", "car_list.json")
 
 
+def build_platform_bundle(platforms: dict, platform_name: str) -> dict | None:
+  data = platforms.get(platform_name)
+  return {**data, "name": platform_name} if data else None
+
+
 def update_car_list_param():
   with open(CAR_LIST_JSON_OUT) as f:
     current_car_list = json.load(f)
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
index 69b5f37831b09a..52d273c2a4efbd 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
@@ -1,3 +1,4 @@
+import json
 import os
 import unittest
 from unittest.mock import MagicMock, patch
@@ -7,11 +8,13 @@
 from opendbc.car.car_helpers import get_car
 from opendbc.car.tesla.preap.boot import PREAP_PLATFORM
 from openpilot.sunnypilot.selfdrive.car.preap_boot import (
+  is_preap_ui_platform,
   migrate_preap_engagement_mode,
   seed_preap_installer,
   resolve_card_boot,
   snapshot_param_list,
 )
+from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import CAR_LIST_JSON_OUT, build_platform_bundle
 
 
 class FakeParams:
@@ -118,6 +121,25 @@ def test_installer_seeds_only_when_absent(self):
     self.assertEqual(sel.candidate, "TESLA_MODEL_3")
     self.assertFalse(sel.lock_preap)
 
+  def test_vehicle_selector_preap_bundle_routes_boot_and_ui(self):
+    with open(CAR_LIST_JSON_OUT) as car_list_file:
+      car_list = json.load(car_list_file)
+
+    bundle = build_platform_bundle(car_list, "Tesla Model S (Pre-AP) 2012-14")
+    assert bundle is not None
+    self.assertEqual(bundle["name"], "Tesla Model S (Pre-AP) 2012-14")
+    self.assertEqual(bundle["brand"], "tesla")
+    params = FakeParams({"CarPlatformBundle": bundle})
+    selection, fingerprint = resolve_card_boot(params, environ={})
+
+    self.assertEqual(bundle["platform"], PREAP_PLATFORM)
+    self.assertEqual(selection.candidate, PREAP_PLATFORM)
+    self.assertEqual(fingerprint, PREAP_PLATFORM)
+    self.assertTrue(selection.lock_preap)
+    self.assertTrue(selection.skip_fw_query)
+    self.assertTrue(params.get("NAPForcePreAP"))
+    self.assertTrue(is_preap_ui_platform(bundle["platform"], None))
+
   def test_migrate_main_uem_once(self):
     params = FakeParams({"MadsMainCruiseAllowed": True, "MadsUnifiedEngagementMode": False})
     self.assertEqual(migrate_preap_engagement_mode(params), 0)

From c80cb7075d707eb181964824aec2ded89c4e11a8 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Mon, 17 Aug 2026 21:03:49 +0000
Subject: [PATCH 1398/1434] tesla_preap: update RX checksum validation

Point naponsp-dev at the Pre-AP checksum repair so host parsing and panda safety accept the same field-proven vehicle frames.
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index f9cb67343b339c..85aba70de63cba 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit f9cb67343b339ca540cc4b42ef67ae6a95ef4fda
+Subproject commit 85aba70de63cba477b69bef80bd96b2915cd44f6

From 085c68b15094135d0959c185af048b14c81f007d Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Mon, 17 Aug 2026 21:18:40 +0000
Subject: [PATCH 1399/1434] tesla_preap: update guarded RX parser

Point naponsp-dev at the exact-DLC host checksum callback and its malformed-frame regression coverage.
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 85aba70de63cba..546699f41fd3f1 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 85aba70de63cba477b69bef80bd96b2915cd44f6
+Subproject commit 546699f41fd3f12f96e3b27448179acb45e83ce9

From 0123446b52fd11fd7864d431985f3f77a0ec5748 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Sat, 22 Aug 2026 05:41:58 +0000
Subject: [PATCH 1400/1434] tesla_preap: keep defaulted pedal boot params

Unset bus and calib range files were treated as missing, so a
calibrated pedal fell onto pcmCruise and required stock cruise.
---
 .../sunnypilot/selfdrive/car/preap_boot.py    |  5 ++-
 .../car/tests/test_preap_boot_selection.py    | 41 +++++++++++++++++++
 2 files changed, 45 insertions(+), 1 deletion(-)

diff --git a/openpilot/sunnypilot/selfdrive/car/preap_boot.py b/openpilot/sunnypilot/selfdrive/car/preap_boot.py
index d3f06c905977a2..a4f299c91d48f8 100644
--- a/openpilot/sunnypilot/selfdrive/car/preap_boot.py
+++ b/openpilot/sunnypilot/selfdrive/car/preap_boot.py
@@ -140,7 +140,10 @@ def snapshot_param_list(params) -> list[dict[str, Any]]:
     "TeslaMadsScreenButton",
     "TeslaCoopSteering",
   ]
-  return [{k: params.get(k)} for k in keys]
+  # Match initialize_params: key defaults (bus 2, calib min/max) must survive an
+  # unset file. Omitting return_default drops a calibrated pedal onto pcmCruise
+  # and shows "Stock cruise required" instead of pedal longitudinal.
+  return [{k: params.get(k, return_default=True)} for k in keys]
 
 
 def resolve_card_boot(params, environ=None) -> tuple[PreAPBootSelection, str | None]:
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
index 52d273c2a4efbd..3491891f7ca31a 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
@@ -206,6 +206,47 @@ def test_napadaptiveaccel_not_in_boot_snapshot(self):
     assert "NAPLateralEngagementMode" in keys
     assert "NAPForcePreAP" in keys
 
+  def test_unset_pedal_bus_and_calib_range_keep_calibrated_pedal(self):
+    from opendbc.car import gen_empty_fingerprint
+    from opendbc.car.tesla.interface import CarInterface
+    from opendbc.car.tesla.preap.boot import apply_preap_hardware_snapshot, hardware_snapshot_from_values
+    from opendbc.car.tesla.values import CAR
+    from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+
+    params = Params()
+    for key in ("NAPPedalCanBus", "NAPPedalCalibMin", "NAPPedalCalibMax"):
+      params.remove(key)
+    params.put_bool("NAPPedalEnabled", True, block=True)
+    params.put_bool("NAPPedalCalibDone", True, block=True)
+    params.put("NAPPedalCalibFactor", 0.035, block=True)
+    params.put("NAPPedalCalibZero", 0.25, block=True)
+
+    merged = {k: v for row in snapshot_param_list(params) for k, v in row.items()}
+    self.assertEqual(merged["NAPPedalCanBus"], 2)
+    self.assertEqual(merged["NAPPedalCalibMin"], -3.0)
+    self.assertEqual(merged["NAPPedalCalibMax"], 99.6)
+
+    snapshot = hardware_snapshot_from_values(
+      pedal_enabled=merged["NAPPedalEnabled"],
+      pedal_bus=merged["NAPPedalCanBus"],
+      pedal_calib_done=merged["NAPPedalCalibDone"],
+      pedal_calib_factor=merged["NAPPedalCalibFactor"],
+      pedal_calib_zero=merged["NAPPedalCalibZero"],
+      pedal_calib_min=merged["NAPPedalCalibMin"],
+      pedal_calib_max=merged["NAPPedalCalibMax"],
+    )
+    self.assertTrue(snapshot.pedal_present)
+    self.assertTrue(snapshot.pedal_calib_available)
+    self.assertEqual(snapshot.pedal_bus, 2)
+
+    CP = CarInterface.get_params(CAR.TESLA_MODEL_S_PREAP, gen_empty_fingerprint(), [], False, False, False)
+    CP_SP = CarInterface.get_params_sp(CP, CAR.TESLA_MODEL_S_PREAP, gen_empty_fingerprint(), [], False, False, False)
+    apply_preap_hardware_snapshot(CP, CP_SP, snapshot)
+    self.assertTrue(CP.openpilotLongitudinalControl)
+    self.assertFalse(CP.pcmCruise)
+    self.assertTrue(bool(CP_SP.flags & TeslaFlagsSP.PREAP_PEDAL_PRESENT))
+    self.assertTrue(bool(CP_SP.flags & TeslaFlagsSP.PREAP_PEDAL_CALIB_AVAILABLE))
+
   def test_get_car_from_raw_bundle_and_params(self):
     params = FakeParams({"CarPlatformBundle": {"platform": PREAP_PLATFORM}})
     sel, fingerprint = resolve_card_boot(params, environ={})

From 1a06614e0c8a8367bdd1afa1a52078683ce4c4e2 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Sat, 22 Aug 2026 06:37:42 +0000
Subject: [PATCH 1401/1434] tesla_preap: default only missing pedal bus/range

Unset NAPPedalCanBus/min/max files should keep a calibrated pedal.
Present invalid or unreadable values must stay fail-closed, and a
non-Pre-AP bundle should only clear a stuck NAPForcePreAP.
---
 opendbc_repo                                  |   2 +-
 .../sunnypilot/selfdrive/car/preap_boot.py    |  24 +++-
 .../car/tests/test_preap_boot_selection.py    | 118 +++++++++++++++---
 3 files changed, 120 insertions(+), 24 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 546699f41fd3f1..becaad5dbc1bc6 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 546699f41fd3f12f96e3b27448179acb45e83ce9
+Subproject commit becaad5dbc1bc6fa20a4d64d24327647b10562e1
diff --git a/openpilot/sunnypilot/selfdrive/car/preap_boot.py b/openpilot/sunnypilot/selfdrive/car/preap_boot.py
index a4f299c91d48f8..f9bf2527a98d99 100644
--- a/openpilot/sunnypilot/selfdrive/car/preap_boot.py
+++ b/openpilot/sunnypilot/selfdrive/car/preap_boot.py
@@ -140,10 +140,23 @@ def snapshot_param_list(params) -> list[dict[str, Any]]:
     "TeslaMadsScreenButton",
     "TeslaCoopSteering",
   ]
-  # Match initialize_params: key defaults (bus 2, calib min/max) must survive an
-  # unset file. Omitting return_default drops a calibrated pedal onto pcmCruise
-  # and shows "Stock cruise required" instead of pedal longitudinal.
-  return [{k: params.get(k, return_default=True)} for k in keys]
+  # Absent-only defaults for the unsaved Param schema. Present invalid values
+  # (bus 7, min>=max) and present-but-unreadable files must pass through as
+  # None so hardware snapshot can fail closed.
+  snapshot_defaults = {
+    "NAPPedalCanBus": 2,
+    "NAPPedalCalibMin": -3.0,
+    "NAPPedalCalibMax": 99.6,
+  }
+  rows: list[dict[str, Any]] = []
+  for k in keys:
+    value = params.get(k)
+    if value is None and k in snapshot_defaults:
+      get_param_path = getattr(params, "get_param_path", None)
+      if not (callable(get_param_path) and os.path.isfile(get_param_path(k))):
+        value = snapshot_defaults[k]
+    rows.append({k: value})
+  return rows
 
 
 def resolve_card_boot(params, environ=None) -> tuple[PreAPBootSelection, str | None]:
@@ -154,6 +167,9 @@ def resolve_card_boot(params, environ=None) -> tuple[PreAPBootSelection, str | N
   if not isinstance(bundle, dict):
     bundle = {}
   bundle_platform = bundle.get("platform", None)
+  if bundle_platform and bundle_platform != PREAP_PLATFORM:
+    if _truthy_force_preap(params.get("NAPForcePreAP")):
+      params.put_bool("NAPForcePreAP", False, block=True)
   seed_preap_installer(params, bundle_platform)
   selection = resolve_preap_boot_selection(
     bundle_platform=bundle_platform,
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
index 3491891f7ca31a..ab0e98fa87fac3 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
@@ -1,5 +1,6 @@
 import json
 import os
+import tempfile
 import unittest
 from unittest.mock import MagicMock, patch
 from openpilot.common.params import Params
@@ -74,6 +75,16 @@ def test_explicit_bundle_wins_over_force(self):
     self.assertEqual(sel.source, "explicit")
     self.assertFalse(sel.lock_preap)
     self.assertIsNone(sel.skip_fw_query)
+    self.assertFalse(params.get("NAPForcePreAP"))
+
+  def test_force_true_then_explicit_model_3_bundle_does_not_lock_preap(self):
+    params = FakeParams({"NAPForcePreAP": True, "CarPlatformBundle": {"platform": "TESLA_MODEL_3"}})
+    sel, fingerprint = resolve_card_boot(params, environ={})
+    self.assertFalse(params.get("NAPForcePreAP"))
+    self.assertFalse(sel.lock_preap)
+    self.assertEqual(sel.candidate, "TESLA_MODEL_3")
+    self.assertEqual(fingerprint, "TESLA_MODEL_3")
+    self.assertNotEqual(sel.candidate, PREAP_PLATFORM)
 
   def test_env_override_locks_preap_and_skips_fw(self):
     params = FakeParams()
@@ -206,26 +217,9 @@ def test_napadaptiveaccel_not_in_boot_snapshot(self):
     assert "NAPLateralEngagementMode" in keys
     assert "NAPForcePreAP" in keys
 
-  def test_unset_pedal_bus_and_calib_range_keep_calibrated_pedal(self):
-    from opendbc.car import gen_empty_fingerprint
-    from opendbc.car.tesla.interface import CarInterface
-    from opendbc.car.tesla.preap.boot import apply_preap_hardware_snapshot, hardware_snapshot_from_values
-    from opendbc.car.tesla.values import CAR
-    from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
-
-    params = Params()
-    for key in ("NAPPedalCanBus", "NAPPedalCalibMin", "NAPPedalCalibMax"):
-      params.remove(key)
-    params.put_bool("NAPPedalEnabled", True, block=True)
-    params.put_bool("NAPPedalCalibDone", True, block=True)
-    params.put("NAPPedalCalibFactor", 0.035, block=True)
-    params.put("NAPPedalCalibZero", 0.25, block=True)
-
+  def _hardware_snapshot_from_params(self, params):
+    from opendbc.car.tesla.preap.boot import hardware_snapshot_from_values
     merged = {k: v for row in snapshot_param_list(params) for k, v in row.items()}
-    self.assertEqual(merged["NAPPedalCanBus"], 2)
-    self.assertEqual(merged["NAPPedalCalibMin"], -3.0)
-    self.assertEqual(merged["NAPPedalCalibMax"], 99.6)
-
     snapshot = hardware_snapshot_from_values(
       pedal_enabled=merged["NAPPedalEnabled"],
       pedal_bus=merged["NAPPedalCanBus"],
@@ -235,6 +229,25 @@ def test_unset_pedal_bus_and_calib_range_keep_calibrated_pedal(self):
       pedal_calib_min=merged["NAPPedalCalibMin"],
       pedal_calib_max=merged["NAPPedalCalibMax"],
     )
+    return merged, snapshot
+
+  def test_unset_pedal_bus_and_calib_range_keep_calibrated_pedal(self):
+    from opendbc.car import gen_empty_fingerprint
+    from opendbc.car.tesla.interface import CarInterface
+    from opendbc.car.tesla.preap.boot import apply_preap_hardware_snapshot
+    from opendbc.car.tesla.values import CAR
+    from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+
+    params = FakeParams({
+      "NAPPedalEnabled": True,
+      "NAPPedalCalibDone": True,
+      "NAPPedalCalibFactor": 0.035,
+      "NAPPedalCalibZero": 0.25,
+    })
+    merged, snapshot = self._hardware_snapshot_from_params(params)
+    self.assertEqual(merged["NAPPedalCanBus"], 2)
+    self.assertEqual(merged["NAPPedalCalibMin"], -3.0)
+    self.assertEqual(merged["NAPPedalCalibMax"], 99.6)
     self.assertTrue(snapshot.pedal_present)
     self.assertTrue(snapshot.pedal_calib_available)
     self.assertEqual(snapshot.pedal_bus, 2)
@@ -247,6 +260,73 @@ def test_unset_pedal_bus_and_calib_range_keep_calibrated_pedal(self):
     self.assertTrue(bool(CP_SP.flags & TeslaFlagsSP.PREAP_PEDAL_PRESENT))
     self.assertTrue(bool(CP_SP.flags & TeslaFlagsSP.PREAP_PEDAL_CALIB_AVAILABLE))
 
+  def test_absent_pedal_factor_zero_does_not_grant_calib_available(self):
+    params = FakeParams({
+      "NAPPedalEnabled": True,
+      "NAPPedalCalibDone": True,
+    })
+    merged, snapshot = self._hardware_snapshot_from_params(params)
+    self.assertIsNone(merged["NAPPedalCalibFactor"])
+    self.assertIsNone(merged["NAPPedalCalibZero"])
+    self.assertEqual(merged["NAPPedalCanBus"], 2)
+    self.assertEqual(merged["NAPPedalCalibMin"], -3.0)
+    self.assertEqual(merged["NAPPedalCalibMax"], 99.6)
+    self.assertTrue(snapshot.pedal_present)
+    self.assertFalse(snapshot.pedal_calib_available)
+
+  def test_present_invalid_pedal_bus_or_range_fail_closed(self):
+    params = FakeParams({
+      "NAPPedalEnabled": True,
+      "NAPPedalCanBus": 7,
+      "NAPPedalCalibDone": True,
+      "NAPPedalCalibFactor": 0.035,
+      "NAPPedalCalibZero": 0.25,
+      "NAPPedalCalibMin": -3.0,
+      "NAPPedalCalibMax": 99.6,
+    })
+    merged, snapshot = self._hardware_snapshot_from_params(params)
+    self.assertEqual(merged["NAPPedalCanBus"], 7)
+    self.assertFalse(snapshot.pedal_present)
+    self.assertFalse(snapshot.pedal_calib_available)
+
+    from opendbc.car import gen_empty_fingerprint
+    from opendbc.car.tesla.interface import CarInterface
+    from opendbc.car.tesla.preap.boot import apply_preap_hardware_snapshot
+    from opendbc.car.tesla.values import CAR
+    CP = CarInterface.get_params(CAR.TESLA_MODEL_S_PREAP, gen_empty_fingerprint(), [], False, False, False)
+    CP_SP = CarInterface.get_params_sp(CP, CAR.TESLA_MODEL_S_PREAP, gen_empty_fingerprint(), [], False, False, False)
+    apply_preap_hardware_snapshot(CP, CP_SP, snapshot)
+    self.assertFalse(CP.openpilotLongitudinalControl)
+    self.assertTrue(CP.pcmCruise)
+
+    params = FakeParams({
+      "NAPPedalEnabled": True,
+      "NAPPedalCanBus": 2,
+      "NAPPedalCalibDone": True,
+      "NAPPedalCalibFactor": 0.035,
+      "NAPPedalCalibZero": 0.25,
+      "NAPPedalCalibMin": 10.0,
+      "NAPPedalCalibMax": 5.0,
+    })
+    merged, snapshot = self._hardware_snapshot_from_params(params)
+    self.assertEqual(merged["NAPPedalCalibMin"], 10.0)
+    self.assertEqual(merged["NAPPedalCalibMax"], 5.0)
+    self.assertTrue(snapshot.pedal_present)
+    self.assertFalse(snapshot.pedal_calib_available)
+
+  def test_present_unreadable_pedal_bus_fails_closed(self):
+    params = FakeParams({
+      "NAPPedalEnabled": True,
+      "NAPPedalCalibDone": True,
+      "NAPPedalCalibFactor": 0.035,
+      "NAPPedalCalibZero": 0.25,
+    })
+    with tempfile.NamedTemporaryFile() as tmp:
+      params.get_param_path = lambda key="": tmp.name
+      merged, snapshot = self._hardware_snapshot_from_params(params)
+      self.assertIsNone(merged["NAPPedalCanBus"])
+      self.assertFalse(snapshot.pedal_present)
+
   def test_get_car_from_raw_bundle_and_params(self):
     params = FakeParams({"CarPlatformBundle": {"platform": PREAP_PLATFORM}})
     sel, fingerprint = resolve_card_boot(params, environ={})

From cf93430549a02b118b5b9bb6ba18f8d91eb3b89d Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Sat, 22 Aug 2026 06:57:28 +0000
Subject: [PATCH 1402/1434] tesla_preap: quiet pedal-bus helper test lint

ty wants Module.body as list[stmt], and codespell flags unittest assertIn.
The helper extraction and source contract are unchanged.
---
 .../selfdrive/car/tests/test_tesla_settings_pedal_bus.py  | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py b/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py
index 5610e13eb874c3..71b7b11a459cdc 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py
@@ -13,7 +13,9 @@ def _load_tesla_bus_helpers():
   src = TESLA_PY.read_text()
   tree = ast.parse(src)
   wanted = {"parse_configured_pedal_bus", "pedal_bus_selector_index"}
-  body = [node for node in tree.body if isinstance(node, ast.FunctionDef) and node.name in wanted]
+  body: list[ast.stmt] = [
+    node for node in tree.body if isinstance(node, ast.FunctionDef) and node.name in wanted
+  ]
   names = {node.name for node in body}
   if wanted - names:
     raise AssertionError(f"tesla.py missing helpers {wanted - names}")
@@ -48,8 +50,8 @@ def test_selector_index_maps_bus_zero_to_first_button(self):
   def test_status_refresh_uses_named_helper_not_falsy_or(self):
     src = TESLA_PY.read_text()
     self.assertNotIn('params.get("NAPPedalCanBus") or', src)
-    self.assertIn("pedal_bus_selector_index(ui_state.params.get(\"NAPPedalCanBus\"))", src)
-    self.assertIn("ui_state.params.put(\"NAPPedalCanBus\", 0 if index == 0 else 2)", src)
+    self.assertTrue("pedal_bus_selector_index(ui_state.params.get(\"NAPPedalCanBus\"))" in src)
+    self.assertTrue("ui_state.params.put(\"NAPPedalCanBus\", 0 if index == 0 else 2)" in src)
 
 
 if __name__ == "__main__":

From dc5fb283dcec94276c5820660d70fe1d79e02f6a Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Sat, 22 Aug 2026 15:10:20 +0000
Subject: [PATCH 1403/1434] tesla_preap: move MADS engagement into native
 settings
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Pre-AP lateral engagement mode belongs in Steering → Customize MADS,
not Vehicle → Tesla. Tesla settings stay hardware-only. Touchscreen
MADS remains AP-only with a vehicle bus.
---
 .../sunnypilot/layouts/settings/steering.py   |  16 +-
 .../steering_sub_layouts/mads_settings.py     |  75 ++++++---
 .../layouts/settings/vehicle/brands/tesla.py  |  60 +++-----
 openpilot/selfdrive/ui/translations/app.pot   | 145 ++++++++++++++----
 openpilot/selfdrive/ui/translations/app_de.po | 133 ++++++++++++----
 openpilot/selfdrive/ui/translations/app_en.po | 141 +++++++++++++----
 openpilot/selfdrive/ui/translations/app_es.po | 133 ++++++++++++----
 openpilot/selfdrive/ui/translations/app_fr.po | 135 ++++++++++++----
 openpilot/selfdrive/ui/translations/app_ja.po | 133 ++++++++++++----
 openpilot/selfdrive/ui/translations/app_ko.po | 133 ++++++++++++----
 .../selfdrive/ui/translations/app_pt-BR.po    | 133 ++++++++++++----
 openpilot/selfdrive/ui/translations/app_th.po | 133 ++++++++++++----
 openpilot/selfdrive/ui/translations/app_tr.po | 133 ++++++++++++----
 openpilot/selfdrive/ui/translations/app_uk.po | 133 ++++++++++++----
 .../selfdrive/ui/translations/app_zh-CHS.po   | 133 ++++++++++++----
 .../selfdrive/ui/translations/app_zh-CHT.po   | 133 ++++++++++++----
 .../ui/translations/update_translations.py    |   3 +-
 .../preap/tools/tests/test_preap_tools.py     |   6 +-
 .../tests/test_mads_settings_native_preap.py  |  32 ++++
 .../tests/test_tesla_settings_pedal_bus.py    |   6 +
 .../sunnypilot/sunnylink/settings_ui.json     |  72 ++++-----
 .../settings_ui_src/pages/steering.yaml       |  14 ++
 .../settings_ui_src/pages/vehicle.yaml        |  23 +--
 .../sunnylink/tests/test_settings_changes.py  |  18 ++-
 24 files changed, 1596 insertions(+), 480 deletions(-)
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tests/test_mads_settings_native_preap.py

diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
index 6fc41d6d6ab0a3..d7f40dee28a7f5 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
@@ -42,6 +42,7 @@ def _initialize_items(self):
                               "Disable toggle to revert back to stock sunnypilot engagement/disengagement.")
     self._mads_limited_desc = tr("This platform supports limited MADS settings.")
     self._mads_full_desc = tr("This platform supports all MADS settings.")
+    self._mads_required_desc = tr("This platform requires MADS.")
     self._mads_check_compat_desc = tr("Start the vehicle to check vehicle compatibility.")
 
     self._mads_toggle = toggle_item_sp(
@@ -122,17 +123,22 @@ def _update_state(self):
     super()._update_state()
 
     torque_allowed = ui_state.CP is not None and ui_state.CP.steerControlType != car.CarParams.SteerControlType.angle
+    bundle = ui_state.params.get("CarPlatformBundle")
+    bundle_platform = bundle.get("platform", "") if isinstance(bundle, dict) else ""
+    is_preap = is_preap_ui_platform(bundle_platform, ui_state.CP)
+    mads_required = ui_state.CP_SP is not None and bool(getattr(ui_state.CP_SP, "madsRequired", False))
     if ui_state.CP is not None:
-      mads_main_desc = self._mads_limited_desc if self._mads_settings_layout._mads_limited_settings() else self._mads_full_desc
+      if is_preap or mads_required:
+        mads_main_desc = self._mads_required_desc
+      elif self._mads_settings_layout._mads_limited_settings():
+        mads_main_desc = self._mads_limited_desc
+      else:
+        mads_main_desc = self._mads_full_desc
       self._mads_toggle.set_description(f"<b>{mads_main_desc}</b><br><br>{self._mads_base_desc}")
     else:
       self._mads_toggle.set_description(f"<b>{self._mads_check_compat_desc}</b><br><br>{self._mads_base_desc}")
 
     # Pre-AP forces and blocks the internal MADS master. Customize MADS stays reachable.
-    bundle = ui_state.params.get("CarPlatformBundle")
-    bundle_platform = bundle.get("platform", "") if isinstance(bundle, dict) else ""
-    is_preap = is_preap_ui_platform(bundle_platform, ui_state.CP)
-    mads_required = ui_state.CP_SP is not None and bool(getattr(ui_state.CP_SP, "madsRequired", False))
     if is_preap or mads_required:
       self._mads_toggle.action_item.set_state(True)
       self._mads_toggle.action_item.set_enabled(False)
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
index fb5ba06835d1e2..91aed61d3c8fdf 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
@@ -24,6 +24,12 @@
   (tr("Disengage"), tr_noop("Disengage: ALC will disengage when the brake pedal is pressed.")),
 ]
 
+MADS_ENGAGEMENT_MODE_OPTIONS = [
+  (tr("Independent"), tr_noop("Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits.")),
+  (tr("Cruise Coupled"), tr_noop("Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both.")),
+  (tr("Longitudinal Only"), tr_noop("Longitudinal Only: Stalk pulls request cruise only. ALC stays off.")),
+]
+
 MADS_MAIN_CRUISE_BASE_DESC = tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.")
 MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC = "{engage}<br><h4>{note}</h4>".format(
   engage=tr("Engage lateral and longitudinal control with cruise control engagement."),
@@ -34,6 +40,7 @@
 DEFAULT_TO_OFF = tr("This feature defaults to OFF, and does not allow selection due to vehicle limitations.")
 DEFAULT_TO_ON = tr("This feature defaults to ON, and does not allow selection due to vehicle limitations.")
 STATUS_DISENGAGE_ONLY = tr("This platform only supports Disengage mode due to vehicle limitations.")
+PREAP_ENGAGEMENT_INDEPENDENT = 0
 
 
 class MadsSettingsLayout(Widget):
@@ -45,6 +52,15 @@ def __init__(self, back_btn_callback: Callable):
     self._scroller = Scroller(self.items, line_separator=True, spacing=0)
 
   def _initialize_items(self):
+    self._engagement_mode = multiple_button_item_sp(
+      param="NAPLateralEngagementMode",
+      title=lambda: tr("Lateral Engagement Mode"),
+      description="",
+      buttons=[opt[0] for opt in MADS_ENGAGEMENT_MODE_OPTIONS],
+      inline=False,
+      button_width=350,
+      callback=self._update_engagement_mode_description,
+    )
     self._main_cruise_toggle = toggle_item_sp(
       title=lambda: tr("Toggle with Main Cruise"),
       description=MADS_MAIN_CRUISE_BASE_DESC,
@@ -66,6 +82,7 @@ def _initialize_items(self):
     )
 
     self.items = [
+      self._engagement_mode,
       self._main_cruise_toggle,
       self._unified_engagement_toggle,
       self._steering_mode,
@@ -85,6 +102,24 @@ def _render(self, rect):
   def show_event(self):
     self._scroller.show_event()
 
+  @staticmethod
+  def _is_preap() -> bool:
+    bundle = ui_state.params.get("CarPlatformBundle")
+    bundle_platform = bundle.get("platform", "") if isinstance(bundle, dict) else ""
+    return bundle_platform == PREAP_PLATFORM or is_preap_ui_platform(bundle_platform, ui_state.CP)
+
+  @staticmethod
+  def _active_engagement_mode() -> int:
+    if ui_state.CP_SP is not None:
+      try:
+        return int(ui_state.CP_SP.preapLateralEngagementMode)
+      except Exception:
+        pass
+    try:
+      return int(ui_state.params.get("NAPLateralEngagementMode") or 0)
+    except (TypeError, ValueError):
+      return PREAP_ENGAGEMENT_INDEPENDENT
+
   @staticmethod
   def _mads_limited_settings() -> bool:
     # PREAP_PLATFORM is full MADS. Tesla !HAS_VEHICLE_BUS is AP-no-bus only.
@@ -112,17 +147,25 @@ def _mads_limited_settings() -> bool:
       return screen_button == MadsScreenButtonType.OFF
     return False
 
+  def _update_option_description(self, item, options, button_index: int, base_desc: str):
+    result = base_desc + "<br><br>"
+    for opt in options:
+      desc = "<b>" + opt[1] + "</b>" if button_index == options.index(opt) else opt[1]
+      result += desc + "<br>"
+    item.set_description(result)
+    item.show_description(True)
+
+  def _update_engagement_mode_description(self, button_index: int):
+    base_desc = tr(
+      "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
+    )
+    self._update_option_description(self._engagement_mode, MADS_ENGAGEMENT_MODE_OPTIONS, button_index, base_desc)
+
   def _update_steering_mode_description(self, button_index: int):
     base_desc = tr(
-      "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. "
-      + "Onroad writes apply on the next drive."
+      "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
     )
-    result = base_desc + "<br><br>"
-    for opt in MADS_STEERING_MODE_OPTIONS:
-      desc = "<b>" + opt[1] + "</b>" if button_index == MADS_STEERING_MODE_OPTIONS.index(opt) else opt[1]
-      result += desc + "<br>"
-    self._steering_mode.set_description(result)
-    self._steering_mode.show_description(True)
+    self._update_option_description(self._steering_mode, MADS_STEERING_MODE_OPTIONS, button_index, base_desc)
 
   def _update_toggles(self):
     self._update_steering_mode_description(self._steering_mode.action_item.get_selected_button())
@@ -152,19 +195,13 @@ def _update_toggles(self):
       self._steering_mode.action_item.set_enabled(True)
       self._steering_mode.action_item.set_enabled_buttons(None)
 
-    bundle = ui_state.params.get("CarPlatformBundle")
-    bundle_platform = bundle.get("platform", "") if isinstance(bundle, dict) else ""
-    is_preap = is_preap_ui_platform(bundle_platform, ui_state.CP)
-    if ui_state.CP_SP is not None:
-      try:
-        mode = int(ui_state.CP_SP.preapLateralEngagementMode)
-      except Exception:
-        mode = 0
-    else:
-      mode = 0
+    is_preap = self._is_preap()
+    mode = self._active_engagement_mode()
+    self._engagement_mode.set_visible(is_preap)
     self._main_cruise_toggle.set_visible(not is_preap)
     self._unified_engagement_toggle.set_visible(not is_preap)
-    self._steering_mode.set_visible((not is_preap) or mode == 0)
+    self._steering_mode.set_visible((not is_preap) or mode == PREAP_ENGAGEMENT_INDEPENDENT)
     if is_preap:
+      self._update_engagement_mode_description(self._engagement_mode.action_item.get_selected_button())
       self._main_cruise_toggle.action_item.set_enabled(False)
       self._unified_engagement_toggle.action_item.set_enabled(False)
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
index da6583caa81200..75e3522530d1b5 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
@@ -30,11 +30,6 @@
 RADAR_OFFSET_MAX = 2.0
 
 
-def _mode_label(mode: int) -> str:
-  labels = (tr("Independent"), tr("Cruise Coupled"), tr("Longitudinal Only"))
-  return labels[mode] if 0 <= mode < len(labels) else labels[0]
-
-
 def _path_label(path: str) -> str:
   return tr("Pedal") if path == "pedal" else tr("Stock DI")
 
@@ -83,47 +78,45 @@ def __init__(self):
       param="TeslaMadsScreenButton",
       inline=False,
     )
-    self.engagement_mode = multiple_button_item_sp(
-      title=lambda: tr("Lateral Engagement Mode"),
-      description=lambda: tr("Pre-AP stalk engagement. Onroad writes apply on the next drive."),
-      buttons=[lambda: tr("Independent"), lambda: tr("Cruise Coupled"), lambda: tr("Longitudinal Only")],
-      param="NAPLateralEngagementMode",
-      inline=False,
-      button_width=280,
-    )
     self.follow_distance = multiple_button_item_sp(
       title=lambda: tr("Follow Distance"),
-      description=lambda: tr("Follow distance (1=closest, 7=farthest). Writes apply live."),
+      description="",
       buttons=[str(i) for i in range(FOLLOW_DISTANCE_MIN, FOLLOW_DISTANCE_MAX + 1)],
       inline=True,
       button_width=90,
       callback=self._on_follow_selected,
     )
-    self.pedal_enabled = toggle_item_sp(tr("Pedal Interceptor"), tr("Enable Comma Pedal hardware. Local and offroad only."),
-                                        param="NAPPedalEnabled")
+    self.pedal_enabled = toggle_item_sp(
+      tr("Pedal Interceptor"),
+      tr("Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."),
+      param="NAPPedalEnabled",
+    )
     self.pedal_bus = multiple_button_item_sp(
       title=lambda: tr("Pedal CAN Bus"),
-      description=lambda: tr("CAN bus for the Comma Pedal. Local and offroad only."),
+      description=lambda: tr("CAN bus for the Comma Pedal. Hardware changes are local and offroad only."),
       buttons=[lambda: tr("Bus 0"), lambda: tr("Bus 2")],
       inline=True,
       callback=self._on_pedal_bus_selected,
     )
-    self.radar_enabled = toggle_item_sp(tr("Bosch Radar"), tr("Enable stock Bosch radar. Local and offroad only."),
-                                        param="NAPRadarEnabled")
-    self.radar_nosecone = toggle_item_sp(tr("Radar Behind Nosecone"),
-                                         tr("Attenuate radar mounted behind the nosecone. Local and offroad only."),
-                                         param="NAPRadarBehindNosecone")
+    self.radar_enabled = toggle_item_sp(
+      tr("Bosch Radar"),
+      tr("Enable the stock Bosch radar. Hardware changes are local and offroad only."),
+      param="NAPRadarEnabled",
+    )
+    self.radar_nosecone = toggle_item_sp(
+      tr("Radar Behind Nosecone"),
+      tr("Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."),
+      param="NAPRadarBehindNosecone",
+    )
     self._radar_offset_keyboard = Keyboard(max_text_size=10)
     self.radar_offset = button_item_sp(
       lambda: tr("Radar Lateral Offset"),
       self._get_radar_offset_text,
       description=lambda: tr(
-        "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; "
-        + "positive shifts right. Local and offroad only."
+        "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
       ),
       callback=self._on_radar_offset_click,
     )
-    self.status_mode = button_item_sp(lambda: tr("Active Engagement Mode"), "", enabled=False)
     self.status_path = button_item_sp(lambda: tr("Longitudinal Path"), "", enabled=False)
     self.status_pedal = button_item_sp(lambda: tr("Pedal Health"), "", enabled=False)
     self.status_radar = button_item_sp(lambda: tr("Radar Health"), "", enabled=False)
@@ -144,14 +137,12 @@ def __init__(self):
                                             callback=lambda: self._confirm_tool("restore_epas"))
 
     self._preap_items = [
-      self.engagement_mode,
       self.follow_distance,
       self.pedal_enabled,
       self.pedal_bus,
       self.radar_enabled,
       self.radar_nosecone,
       self.radar_offset,
-      self.status_mode,
       self.status_path,
       self.status_pedal,
       self.status_radar,
@@ -232,21 +223,17 @@ def callback(result: DialogResult):
     text = tr(self._tool_instructions[tool]).replace("\n", "<br>")
     gui_app.push_widget(ConfirmDialog(text, tr("Start"), rich=True, callback=callback))
 
+  def _update_follow_description(self, follow: int):
+    base = tr("How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving.")
+    self.follow_distance.set_description(f"{base}<br><br><b>" + tr("Selected follow distance: {follow}.").format(follow=follow) + "</b>")
+    self.follow_distance.show_description(True)
+
   def _update_preap_status(self, is_preap: bool):
     flags = int(getattr(ui_state.CP_SP, "flags", 0) or 0) if ui_state.CP_SP is not None else 0
     pedal_present = bool(flags & TeslaFlagsSP.PREAP_PEDAL_PRESENT)
     pedal_calib = bool(flags & TeslaFlagsSP.PREAP_PEDAL_CALIB_AVAILABLE)
     radar_present = bool(flags & TeslaFlagsSP.PREAP_RADAR_PRESENT)
 
-    if ui_state.CP_SP is not None:
-      try:
-        mode = int(ui_state.CP_SP.preapLateralEngagementMode)
-      except Exception:
-        mode = int(ui_state.params.get("NAPLateralEngagementMode") or 0)
-    else:
-      mode = int(ui_state.params.get("NAPLateralEngagementMode") or 0)
-    self.status_mode.action_item.set_value(_mode_label(mode))
-
     if pedal_present and ui_state.CP is not None and bool(ui_state.CP.openpilotLongitudinalControl) and not bool(ui_state.CP.pcmCruise):
       path = "pedal"
     else:
@@ -272,6 +259,7 @@ def _update_preap_status(self, is_preap: bool):
     follow = int(ui_state.params.get("NAPFollowDistance") or 4)
     follow = max(FOLLOW_DISTANCE_MIN, min(FOLLOW_DISTANCE_MAX, follow))
     self.follow_distance.action_item.set_selected_button(follow - FOLLOW_DISTANCE_MIN)
+    self._update_follow_description(follow)
 
     self.pedal_bus.action_item.set_selected_button(
       pedal_bus_selector_index(ui_state.params.get("NAPPedalCanBus")))
diff --git a/openpilot/selfdrive/ui/translations/app.pot b/openpilot/selfdrive/ui/translations/app.pot
index 1494f9bb544d7b..406dafdf462146 100644
--- a/openpilot/selfdrive/ui/translations/app.pot
+++ b/openpilot/selfdrive/ui/translations/app.pot
@@ -68,6 +68,7 @@ msgid "Advanced"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr ""
@@ -864,23 +865,15 @@ msgid "camera starting"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Independent"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Cruise Coupled"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Longitudinal Only"
+msgid "Pedal"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal"
+msgid "Stock DI"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Stock DI"
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
@@ -896,7 +889,7 @@ msgid "Pedal Interceptor"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable Comma Pedal hardware. Local and offroad only."
+msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
@@ -904,7 +897,7 @@ msgid "Bosch Radar"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable stock Bosch radar. Local and offroad only."
+msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
@@ -912,7 +905,7 @@ msgid "Radar Behind Nosecone"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
@@ -939,10 +932,6 @@ msgstr ""
 msgid "Radar Lateral Offset"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Active Engagement Mode"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Longitudinal Path"
 msgstr ""
@@ -991,32 +980,20 @@ msgstr ""
 msgid "MADS Screen Activation"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral Engagement Mode"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Follow Distance"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Pedal CAN Bus"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
@@ -1063,6 +1040,10 @@ msgstr ""
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selected follow distance: {follow}."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Use a multi-finger press on the infotainment screen to toggle MADS."
 msgstr ""
@@ -1071,6 +1052,106 @@ msgstr ""
 msgid "This allows the use of full MADS functionality when enabled."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Start the vehicle to check vehicle compatibility."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to OFF, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to ON, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform only supports Disengage mode due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active: ALC will remain active when the brake pedal is pressed."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause: ALC will pause when the brake pedal is pressed."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage: ALC will disengage when the brake pedal is pressed."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Independent"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Cruise Coupled"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Longitudinal Only"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Engage lateral and longitudinal control with cruise control engagement."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Lateral Engagement Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Toggle with Main Cruise"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Unified Engagement Mode (UEM)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Steering Mode on Brake Pedal"
+msgstr ""
+
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Pedal Calibration\n"
diff --git a/openpilot/selfdrive/ui/translations/app_de.po b/openpilot/selfdrive/ui/translations/app_de.po
index 8c89579ef89145..fb49ccbdf880df 100644
--- a/openpilot/selfdrive/ui/translations/app_de.po
+++ b/openpilot/selfdrive/ui/translations/app_de.po
@@ -72,10 +72,6 @@ msgstr "APN‑Einstellung"
 msgid "Acknowledge Excessive Actuation"
 msgstr "Übermäßige Betätigung bestätigen"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Active Engagement Mode"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "Erweitert"
@@ -113,10 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "Sind Sie sicher, dass Sie deinstallieren möchten?"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "Zurück"
@@ -146,7 +143,7 @@ msgid "Bus 2"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
@@ -197,6 +194,14 @@ msgstr "Sprache ändern"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
@@ -213,10 +218,14 @@ msgstr "Schließen"
 msgid "Cooperative Steering (Beta)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Cruise Coupled"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Aktuelle Version"
@@ -245,6 +254,10 @@ msgstr "Gerät"
 msgid "Diagnose Radar"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Beim Gaspedal deaktivieren"
@@ -261,6 +274,10 @@ msgstr "Zum Neustart deaktivieren"
 msgid "Disengage to Reset Calibration"
 msgstr "Zum Zurücksetzen der Kalibrierung deaktivieren"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage: ALC will disengage when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "Geschwindigkeit in km/h statt mph anzeigen."
@@ -352,10 +369,6 @@ msgstr ""
 msgid "Enable ADB"
 msgstr "ADB aktivieren"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable Comma Pedal hardware. Local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Spurverlassenswarnungen aktivieren"
@@ -376,18 +389,26 @@ msgstr "Tethering aktivieren"
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr ""
 
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable stock Bosch radar. Local and offroad only."
+msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py
-msgid "Enable sunnypilot"
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Engage lateral and longitudinal control with cruise control engagement."
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "APN eingeben"
@@ -448,10 +469,6 @@ msgstr ""
 msgid "Follow Distance"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
@@ -484,6 +501,10 @@ msgstr ""
 msgid "Hidden Network"
 msgstr "Verstecktes Netzwerk"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "INSTALLIEREN"
@@ -496,10 +517,14 @@ msgstr "IP‑Adresse"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Independent"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Update installieren"
@@ -520,7 +545,7 @@ msgstr "LADEN"
 msgid "LTE"
 msgstr "LTE"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Lateral Engagement Mode"
 msgstr ""
 
@@ -529,17 +554,21 @@ msgid "Lateral Maneuver Mode"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Längsmanövermodus"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Longitudinal Only"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Longitudinal Path"
 msgstr ""
@@ -580,6 +609,14 @@ msgstr "Keine Versionshinweise verfügbar."
 msgid "None"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Note: Setting this to Off will reset your MADS settings to default."
 msgstr ""
@@ -643,6 +680,14 @@ msgstr "Koppeln Sie Ihr Gerät mit Ihrem comma‑Konto"
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "Koppeln Sie Ihr Gerät mit comma connect (connect.comma.ai) und lösen Sie Ihr comma‑prime‑Angebot ein."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause: ALC will pause when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Pedal"
 msgstr ""
@@ -685,10 +730,6 @@ msgstr "Bitte mit WLAN verbinden, um das erste Koppeln abzuschließen"
 msgid "Power Off"
 msgstr "Ausschalten"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
 msgid "Press Brake to Slow Down"
 msgstr ""
@@ -812,6 +853,14 @@ msgstr "Vorschriften"
 msgid "Relaxed"
 msgstr "Entspannt"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active: ALC will remain active when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "Fernzugriff"
@@ -880,6 +929,10 @@ msgstr "Zweig auswählen"
 msgid "Select a language"
 msgstr "Sprache auswählen"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selected follow distance: {follow}."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
@@ -904,6 +957,14 @@ msgstr "Standardmodus"
 msgid "Start"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Start the vehicle to check vehicle compatibility."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Steering Mode on Brake Pedal"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Stock DI"
 msgstr ""
@@ -940,6 +1001,22 @@ msgstr "Tethering‑Passwort"
 msgid "This allows the use of full MADS functionality when enabled."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to OFF, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to ON, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform only supports Disengage mode due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Toggle with Main Cruise"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Schalter"
@@ -968,6 +1045,10 @@ msgstr ""
 msgid "Unconfigured"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Unified Engagement Mode (UEM)"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Deinstallieren"
diff --git a/openpilot/selfdrive/ui/translations/app_en.po b/openpilot/selfdrive/ui/translations/app_en.po
index 022de1c7c74b5a..3bfc6d3ee88d4d 100644
--- a/openpilot/selfdrive/ui/translations/app_en.po
+++ b/openpilot/selfdrive/ui/translations/app_en.po
@@ -72,10 +72,6 @@ msgstr "APN Setting"
 msgid "Acknowledge Excessive Actuation"
 msgstr "Acknowledge Excessive Actuation"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Active Engagement Mode"
-msgstr "Active Engagement Mode"
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "Advanced"
@@ -113,10 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "Are you sure you want to uninstall?"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
-msgstr "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
+msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "Back"
@@ -146,8 +143,8 @@ msgid "Bus 2"
 msgstr "Bus 2"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Local and offroad only."
-msgstr "CAN bus for the Comma Pedal. Local and offroad only."
+msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
+msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
@@ -197,6 +194,14 @@ msgstr "Change Language"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
@@ -213,10 +218,14 @@ msgstr "Close"
 msgid "Cooperative Steering (Beta)"
 msgstr "Cooperative Steering (Beta)"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Cruise Coupled"
 msgstr "Cruise Coupled"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Current Version"
@@ -245,6 +254,10 @@ msgstr "Device"
 msgid "Diagnose Radar"
 msgstr "Diagnose Radar"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Disengage on Accelerator Pedal"
@@ -261,6 +274,10 @@ msgstr "Disengage to Reboot"
 msgid "Disengage to Reset Calibration"
 msgstr "Disengage to Reset Calibration"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage: ALC will disengage when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "Display speed in km/h instead of mph."
@@ -374,10 +391,6 @@ msgstr "Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle
 msgid "Enable ADB"
 msgstr "Enable ADB"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable Comma Pedal hardware. Local and offroad only."
-msgstr "Enable Comma Pedal hardware. Local and offroad only."
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Enable Lane Departure Warnings"
@@ -398,18 +411,26 @@ msgstr "Enable Tethering"
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable stock Bosch radar. Local and offroad only."
-msgstr "Enable stock Bosch radar. Local and offroad only."
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable sunnypilot"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Engage lateral and longitudinal control with cruise control engagement."
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "Enter APN"
@@ -470,10 +491,6 @@ msgstr "Flash EPAS"
 msgid "Follow Distance"
 msgstr "Follow Distance"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
-msgstr "Follow distance (1=closest, 7=farthest). Writes apply live."
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
@@ -506,6 +523,10 @@ msgstr "Hardware settings are only available offroad."
 msgid "Hidden Network"
 msgstr "Hidden Network"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "INSTALL"
@@ -518,10 +539,14 @@ msgstr "IP Address"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Independent"
 msgstr "Independent"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Install Update"
@@ -542,7 +567,7 @@ msgstr "LOADING"
 msgid "LTE"
 msgstr "LTE"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Lateral Engagement Mode"
 msgstr "Lateral Engagement Mode"
 
@@ -551,17 +576,21 @@ msgid "Lateral Maneuver Mode"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
-msgstr "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
+msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Longitudinal Maneuver Mode"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Longitudinal Only"
 msgstr "Longitudinal Only"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Longitudinal Path"
 msgstr "Longitudinal Path"
@@ -602,6 +631,14 @@ msgstr "No release notes available."
 msgid "None"
 msgstr "None"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Note: Setting this to Off will reset your MADS settings to default."
 msgstr "Note: Setting this to Off will reset your MADS settings to default."
@@ -665,6 +702,14 @@ msgstr "Pair your device to your comma account"
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause: ALC will pause when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Pedal"
 msgstr "Pedal"
@@ -717,10 +762,6 @@ msgstr "Please connect to Wi-Fi to complete initial pairing"
 msgid "Power Off"
 msgstr "Power Off"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
-msgstr "Pre-AP stalk engagement. Onroad writes apply on the next drive."
-
 #: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
 msgid "Press Brake to Slow Down"
 msgstr "Press Brake to Slow Down"
@@ -863,6 +904,14 @@ msgstr "Regulatory"
 msgid "Relaxed"
 msgstr "Relaxed"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active: ALC will remain active when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "Remote access"
@@ -931,6 +980,10 @@ msgstr "Select a branch"
 msgid "Select a language"
 msgstr "Select a language"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selected follow distance: {follow}."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr "Selecting a higher finger count may reduce accidental activations."
@@ -955,6 +1008,14 @@ msgstr "Standard"
 msgid "Start"
 msgstr "Start"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Start the vehicle to check vehicle compatibility."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Steering Mode on Brake Pedal"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Stock DI"
 msgstr "Stock DI"
@@ -991,6 +1052,22 @@ msgstr "Tethering Password"
 msgid "This allows the use of full MADS functionality when enabled."
 msgstr "This allows the use of full MADS functionality when enabled."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to OFF, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to ON, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform only supports Disengage mode due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Toggle with Main Cruise"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Toggles"
@@ -1019,6 +1096,10 @@ msgstr "Uncalibrated"
 msgid "Unconfigured"
 msgstr "Unconfigured"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Unified Engagement Mode (UEM)"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Uninstall"
diff --git a/openpilot/selfdrive/ui/translations/app_es.po b/openpilot/selfdrive/ui/translations/app_es.po
index dbf1c0262d5704..ebf0a90e1a9e8b 100644
--- a/openpilot/selfdrive/ui/translations/app_es.po
+++ b/openpilot/selfdrive/ui/translations/app_es.po
@@ -72,10 +72,6 @@ msgstr "Configuración de APN"
 msgid "Acknowledge Excessive Actuation"
 msgstr "Reconocer actuación excesiva"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Active Engagement Mode"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "Avanzado"
@@ -113,10 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "¿Seguro que quieres desinstalar?"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "Atrás"
@@ -146,7 +143,7 @@ msgid "Bus 2"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
@@ -197,6 +194,14 @@ msgstr "Cambiar idioma"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
@@ -213,10 +218,14 @@ msgstr "Cerrar"
 msgid "Cooperative Steering (Beta)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Cruise Coupled"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Versión actual"
@@ -245,6 +254,10 @@ msgstr "Dispositivo"
 msgid "Diagnose Radar"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Desactivar con el pedal del acelerador"
@@ -261,6 +274,10 @@ msgstr "Desactivar para reiniciar"
 msgid "Disengage to Reset Calibration"
 msgstr "Desactivar para restablecer la calibración"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage: ALC will disengage when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "Mostrar la velocidad en km/h en lugar de mph."
@@ -352,10 +369,6 @@ msgstr ""
 msgid "Enable ADB"
 msgstr "Activar ADB"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable Comma Pedal hardware. Local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Activar advertencias de salida de carril"
@@ -376,18 +389,26 @@ msgstr "Activar anclaje"
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr ""
 
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable stock Bosch radar. Local and offroad only."
+msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py
-msgid "Enable sunnypilot"
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Engage lateral and longitudinal control with cruise control engagement."
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "Introduce APN"
@@ -448,10 +469,6 @@ msgstr ""
 msgid "Follow Distance"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
@@ -484,6 +501,10 @@ msgstr ""
 msgid "Hidden Network"
 msgstr "Red oculta"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "INSTALAR"
@@ -496,10 +517,14 @@ msgstr "Dirección IP"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Independent"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Instalar actualización"
@@ -520,7 +545,7 @@ msgstr "CARGANDO"
 msgid "LTE"
 msgstr "LTE"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Lateral Engagement Mode"
 msgstr ""
 
@@ -529,17 +554,21 @@ msgid "Lateral Maneuver Mode"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Modo de maniobra longitudinal"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Longitudinal Only"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Longitudinal Path"
 msgstr ""
@@ -580,6 +609,14 @@ msgstr "No hay notas de versión disponibles."
 msgid "None"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Note: Setting this to Off will reset your MADS settings to default."
 msgstr ""
@@ -643,6 +680,14 @@ msgstr "Empareja tu dispositivo con tu cuenta de comma"
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "Empareja tu dispositivo con comma connect (connect.comma.ai) y reclama tu oferta de comma prime."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause: ALC will pause when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Pedal"
 msgstr ""
@@ -685,10 +730,6 @@ msgstr "Conéctate a Wi‑Fi para completar el emparejamiento inicial"
 msgid "Power Off"
 msgstr "Apagar"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
 msgid "Press Brake to Slow Down"
 msgstr ""
@@ -812,6 +853,14 @@ msgstr "Reglamentario"
 msgid "Relaxed"
 msgstr "Relajado"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active: ALC will remain active when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "Acceso remoto"
@@ -880,6 +929,10 @@ msgstr "Selecciona una rama"
 msgid "Select a language"
 msgstr "Selecciona un idioma"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selected follow distance: {follow}."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
@@ -904,6 +957,14 @@ msgstr "Estándar"
 msgid "Start"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Start the vehicle to check vehicle compatibility."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Steering Mode on Brake Pedal"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Stock DI"
 msgstr ""
@@ -940,6 +1001,22 @@ msgstr "Contraseña de anclaje"
 msgid "This allows the use of full MADS functionality when enabled."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to OFF, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to ON, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform only supports Disengage mode due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Toggle with Main Cruise"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Interruptores"
@@ -968,6 +1045,10 @@ msgstr ""
 msgid "Unconfigured"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Unified Engagement Mode (UEM)"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Desinstalar"
diff --git a/openpilot/selfdrive/ui/translations/app_fr.po b/openpilot/selfdrive/ui/translations/app_fr.po
index 98cbf0fc420dac..472c756784f475 100644
--- a/openpilot/selfdrive/ui/translations/app_fr.po
+++ b/openpilot/selfdrive/ui/translations/app_fr.po
@@ -72,10 +72,6 @@ msgstr "Paramètre APN"
 msgid "Acknowledge Excessive Actuation"
 msgstr "Accuser réception d'actionnement excessif"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Active Engagement Mode"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "Avancé"
@@ -113,10 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "Êtes-vous sûr de vouloir désinstaller ?"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "Retour"
@@ -146,7 +143,7 @@ msgid "Bus 2"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
@@ -197,6 +194,14 @@ msgstr "Changer la langue"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr "La modification de ce réglage redémarrera sunnypilot si la voiture est sous tension."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr "Choisissez votre niveau de parrainage et confirmez votre soutien"
@@ -213,10 +218,14 @@ msgstr "Fermer"
 msgid "Cooperative Steering (Beta)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Cruise Coupled"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Version actuelle"
@@ -245,6 +254,10 @@ msgstr "Appareil"
 msgid "Diagnose Radar"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Désengager à l'appui sur l'accélérateur"
@@ -261,6 +274,10 @@ msgstr "Désengager pour redémarrer"
 msgid "Disengage to Reset Calibration"
 msgstr "Désengager pour réinitialiser la calibration"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage: ALC will disengage when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "Afficher la vitesse en km/h au lieu de mph."
@@ -352,10 +369,6 @@ msgstr ""
 msgid "Enable ADB"
 msgstr "Activer ADB"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable Comma Pedal hardware. Local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Activer les alertes de sortie de voie"
@@ -376,18 +389,26 @@ msgstr "Activer le partage de connexion"
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr "Activer la surveillance du conducteur même lorsque sunnypilot n'est pas engagé."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable stock Bosch radar. Local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable sunnypilot"
 msgstr "Activer sunnypilot"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr "Activez l'option de contrôle longitudinal sunnypilot (alpha) pour autoriser le mode expérimental."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Engage lateral and longitudinal control with cruise control engagement."
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "Entrez l'APN"
@@ -448,10 +469,6 @@ msgstr ""
 msgid "Follow Distance"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr "Suivez les instructions pour terminer le processus d'association"
@@ -484,6 +501,10 @@ msgstr ""
 msgid "Hidden Network"
 msgstr "Réseau masqué"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "INSTALLER"
@@ -496,10 +517,14 @@ msgstr "Adresse IP"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr "Si le statut de parrainage n'a pas été mis à jour, veuillez contacter un modérateur sur le forum communautaire à https://community.sunnypilot.ai"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Independent"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Installer la mise à jour"
@@ -520,7 +545,7 @@ msgstr "CHARGEMENT"
 msgid "LTE"
 msgstr "LTE"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Lateral Engagement Mode"
 msgstr ""
 
@@ -529,17 +554,21 @@ msgid "Lateral Maneuver Mode"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Mode de manœuvre longitudinale"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Longitudinal Only"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Longitudinal Path"
 msgstr ""
@@ -580,6 +609,14 @@ msgstr "Aucune note de version disponible."
 msgid "None"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Note: Setting this to Off will reset your MADS settings to default."
 msgstr ""
@@ -643,6 +680,14 @@ msgstr "Associez votre appareil à votre compte comma"
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "Associez votre appareil à comma connect (connect.comma.ai) et réclamez votre offre comma prime."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause: ALC will pause when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Pedal"
 msgstr ""
@@ -685,10 +730,6 @@ msgstr "Veuillez vous connecter au Wi‑Fi pour terminer l'association initiale"
 msgid "Power Off"
 msgstr "Éteindre"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
 msgid "Press Brake to Slow Down"
 msgstr ""
@@ -812,6 +853,14 @@ msgstr "Réglementaire"
 msgid "Relaxed"
 msgstr "Détendu"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active: ALC will remain active when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "Accès à distance"
@@ -880,6 +929,10 @@ msgstr "Sélectionner une branche"
 msgid "Select a language"
 msgstr "Sélectionner une langue"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selected follow distance: {follow}."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
@@ -904,6 +957,14 @@ msgstr "Standard"
 msgid "Start"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Start the vehicle to check vehicle compatibility."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Steering Mode on Brake Pedal"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Stock DI"
 msgstr ""
@@ -940,6 +1001,22 @@ msgstr "Mot de passe de partage"
 msgid "This allows the use of full MADS functionality when enabled."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to OFF, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to ON, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform only supports Disengage mode due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Toggle with Main Cruise"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Options"
@@ -968,6 +1045,10 @@ msgstr ""
 msgid "Unconfigured"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Unified Engagement Mode (UEM)"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Désinstaller"
diff --git a/openpilot/selfdrive/ui/translations/app_ja.po b/openpilot/selfdrive/ui/translations/app_ja.po
index a63030aeaff810..e6d8e2c58c9dd7 100644
--- a/openpilot/selfdrive/ui/translations/app_ja.po
+++ b/openpilot/selfdrive/ui/translations/app_ja.po
@@ -72,10 +72,6 @@ msgstr "APN設定"
 msgid "Acknowledge Excessive Actuation"
 msgstr "�度�作動を承�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Active Engagement Mode"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "詳細設定"
@@ -113,10 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "本当�アンインストール����？"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "戻る"
@@ -146,7 +143,7 @@ msgid "Bus 2"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
@@ -197,6 +194,14 @@ msgstr "言語を変更"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
@@ -213,10 +218,14 @@ msgstr "閉�る"
 msgid "Cooperative Steering (Beta)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Cruise Coupled"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "�在��ージョン"
@@ -245,6 +254,10 @@ msgstr "デ�イス"
 msgid "Diagnose Radar"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "アクセル�解除"
@@ -261,6 +274,10 @@ msgstr "解除���起動"
 msgid "Disengage to Reset Calibration"
 msgstr "解除��キャリブレーションをリセット"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage: ALC will disengage when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "速度をmph����km/h�表示���。"
@@ -352,10 +369,6 @@ msgstr ""
 msgid "Enable ADB"
 msgstr "ADBを有効化"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable Comma Pedal hardware. Local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "車線逸脱警報を有効化"
@@ -376,18 +389,26 @@ msgstr "テザリングを有効化"
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr ""
 
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable stock Bosch radar. Local and offroad only."
+msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py
-msgid "Enable sunnypilot"
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Engage lateral and longitudinal control with cruise control engagement."
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "APNを入力"
@@ -448,10 +469,6 @@ msgstr ""
 msgid "Follow Distance"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
@@ -484,6 +501,10 @@ msgstr ""
 msgid "Hidden Network"
 msgstr "�公開�ットワーク"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "インストール"
@@ -496,10 +517,14 @@ msgstr "IPアドレス"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Independent"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "アップデートをインストール"
@@ -520,7 +545,7 @@ msgstr "読�込�中"
 msgid "LTE"
 msgstr "LTE"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Lateral Engagement Mode"
 msgstr ""
 
@@ -529,17 +554,21 @@ msgid "Lateral Maneuver Mode"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "縦制御マヌー�ーモード"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Longitudinal Only"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Longitudinal Path"
 msgstr ""
@@ -580,6 +609,14 @@ msgstr "リリースノート��り��ん。"
 msgid "None"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Note: Setting this to Off will reset your MADS settings to default."
 msgstr ""
@@ -643,6 +680,14 @@ msgstr "デ�イスを���� comma アカウント�ペアリング"
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "デ�イスを comma connect（connect.comma.ai）�ペアリング���comma prime 特典を���り��ょ�。"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause: ALC will pause when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Pedal"
 msgstr ""
@@ -685,10 +730,6 @@ msgstr "�回ペアリングを完了�る��Wi‑Fi�接続����
 msgid "Power Off"
 msgstr "電�オフ"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
 msgid "Press Brake to Slow Down"
 msgstr ""
@@ -812,6 +853,14 @@ msgstr "�制情報"
 msgid "Relaxed"
 msgstr "リラックス"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active: ALC will remain active when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "リモートアクセス"
@@ -880,6 +929,10 @@ msgstr "ブラン�を�択"
 msgid "Select a language"
 msgstr "言語を�択"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selected follow distance: {follow}."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
@@ -904,6 +957,14 @@ msgstr "スタンダード"
 msgid "Start"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Start the vehicle to check vehicle compatibility."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Steering Mode on Brake Pedal"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Stock DI"
 msgstr ""
@@ -940,6 +1001,22 @@ msgstr "テザリング�パスワード"
 msgid "This allows the use of full MADS functionality when enabled."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to OFF, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to ON, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform only supports Disengage mode due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Toggle with Main Cruise"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "トグル"
@@ -968,6 +1045,10 @@ msgstr ""
 msgid "Unconfigured"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Unified Engagement Mode (UEM)"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "アンインストール"
diff --git a/openpilot/selfdrive/ui/translations/app_ko.po b/openpilot/selfdrive/ui/translations/app_ko.po
index eeb1353d7d8738..de900119f59319 100644
--- a/openpilot/selfdrive/ui/translations/app_ko.po
+++ b/openpilot/selfdrive/ui/translations/app_ko.po
@@ -72,10 +72,6 @@ msgstr "APN 설정"
 msgid "Acknowledge Excessive Actuation"
 msgstr "과�한 작�� 확�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Active Engagement Mode"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "고급"
@@ -113,10 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "정� 제거하시겠습니까?"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "뒤로"
@@ -146,7 +143,7 @@ msgid "Bus 2"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
@@ -197,6 +194,14 @@ msgstr "언어 변경"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
@@ -213,10 +218,14 @@ msgstr "닫기"
 msgid "Cooperative Steering (Beta)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Cruise Coupled"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "현재 버전"
@@ -245,6 +254,10 @@ msgstr "장치"
 msgid "Diagnose Radar"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "가� 페달로 해제"
@@ -261,6 +274,10 @@ msgstr "해제 후 재시작"
 msgid "Disengage to Reset Calibration"
 msgstr "해제 후 캘리브레�션 재설정"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage: ALC will disengage when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "��를 mph 대신 km/h로 표시합니다."
@@ -352,10 +369,6 @@ msgstr ""
 msgid "Enable ADB"
 msgstr "ADB 사용"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable Comma Pedal hardware. Local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "차선 �탈 경고 사용"
@@ -376,18 +389,26 @@ msgstr "테�� 사용"
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr ""
 
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable stock Bosch radar. Local and offroad only."
+msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py
-msgid "Enable sunnypilot"
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Engage lateral and longitudinal control with cruise control engagement."
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "APN ìž…ë ¥"
@@ -448,10 +469,6 @@ msgstr ""
 msgid "Follow Distance"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
@@ -484,6 +501,10 @@ msgstr ""
 msgid "Hidden Network"
 msgstr "숨겨진 네트워�"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "설치"
@@ -496,10 +517,14 @@ msgstr "IP 주소"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Independent"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "업��트 설치"
@@ -520,7 +545,7 @@ msgstr "로딩 중"
 msgid "LTE"
 msgstr "LTE"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Lateral Engagement Mode"
 msgstr ""
 
@@ -529,17 +554,21 @@ msgid "Lateral Maneuver Mode"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "롱컨 기� 모드"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Longitudinal Only"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Longitudinal Path"
 msgstr ""
@@ -580,6 +609,14 @@ msgstr "릴리스 노트가 없습니다."
 msgid "None"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Note: Setting this to Off will reset your MADS settings to default."
 msgstr ""
@@ -643,6 +680,14 @@ msgstr "장치를 귀하� comma 계정� 페어�하세요"
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "장치를 comma connect(connect.comma.ai)와 페어�하고 comma 프�임 혜�� 받으세요."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause: ALC will pause when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Pedal"
 msgstr ""
@@ -685,10 +730,6 @@ msgstr "초기 페어�� 완료하려면 Wi‑Fi� 연결하세요"
 msgid "Power Off"
 msgstr "전� �기"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
 msgid "Press Brake to Slow Down"
 msgstr ""
@@ -812,6 +853,14 @@ msgstr "규제 정보"
 msgid "Relaxed"
 msgstr "편안한"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active: ALC will remain active when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "�격 액세스"
@@ -880,6 +929,10 @@ msgstr "브랜치 선�"
 msgid "Select a language"
 msgstr "언어 선�"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selected follow distance: {follow}."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
@@ -904,6 +957,14 @@ msgstr "표준"
 msgid "Start"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Start the vehicle to check vehicle compatibility."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Steering Mode on Brake Pedal"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Stock DI"
 msgstr ""
@@ -940,6 +1001,22 @@ msgstr "테�� 비밀번호"
 msgid "This allows the use of full MADS functionality when enabled."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to OFF, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to ON, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform only supports Disengage mode due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Toggle with Main Cruise"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "토글"
@@ -968,6 +1045,10 @@ msgstr ""
 msgid "Unconfigured"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Unified Engagement Mode (UEM)"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "제거"
diff --git a/openpilot/selfdrive/ui/translations/app_pt-BR.po b/openpilot/selfdrive/ui/translations/app_pt-BR.po
index 7637f21b1e86dd..cf1ff2e26b16af 100644
--- a/openpilot/selfdrive/ui/translations/app_pt-BR.po
+++ b/openpilot/selfdrive/ui/translations/app_pt-BR.po
@@ -72,10 +72,6 @@ msgstr "Configuração de APN"
 msgid "Acknowledge Excessive Actuation"
 msgstr "Reconhecer Atuação Excessiva"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Active Engagement Mode"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "Avançado"
@@ -113,10 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "Tem certeza de que deseja desinstalar?"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "Voltar"
@@ -146,7 +143,7 @@ msgid "Bus 2"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
@@ -197,6 +194,14 @@ msgstr "Alterar Idioma"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
@@ -213,10 +218,14 @@ msgstr "Fechar"
 msgid "Cooperative Steering (Beta)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Cruise Coupled"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Versão Atual"
@@ -245,6 +254,10 @@ msgstr "Dispositivo"
 msgid "Diagnose Radar"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Desativar ao pressionar o acelerador"
@@ -261,6 +274,10 @@ msgstr "Desativar para Reiniciar"
 msgid "Disengage to Reset Calibration"
 msgstr "Desativar para Redefinir Calibração"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage: ALC will disengage when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "Exibir velocidade em km/h em vez de mph."
@@ -352,10 +369,6 @@ msgstr ""
 msgid "Enable ADB"
 msgstr "Ativar ADB"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable Comma Pedal hardware. Local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Ativar alertas de saída de faixa"
@@ -376,18 +389,26 @@ msgstr "Ativar compartilhamento"
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr ""
 
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable stock Bosch radar. Local and offroad only."
+msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py
-msgid "Enable sunnypilot"
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Engage lateral and longitudinal control with cruise control engagement."
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "Digite APN"
@@ -448,10 +469,6 @@ msgstr ""
 msgid "Follow Distance"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
@@ -484,6 +501,10 @@ msgstr ""
 msgid "Hidden Network"
 msgstr "Rede oculta"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "INSTALAR"
@@ -496,10 +517,14 @@ msgstr "Endereço IP"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Independent"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Instalar Atualização"
@@ -520,7 +545,7 @@ msgstr "CARREGANDO"
 msgid "LTE"
 msgstr "LTE"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Lateral Engagement Mode"
 msgstr ""
 
@@ -529,17 +554,21 @@ msgid "Lateral Maneuver Mode"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Modo de Manobra Longitudinal"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Longitudinal Only"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Longitudinal Path"
 msgstr ""
@@ -580,6 +609,14 @@ msgstr "Sem notas de versão disponíveis."
 msgid "None"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Note: Setting this to Off will reset your MADS settings to default."
 msgstr ""
@@ -643,6 +680,14 @@ msgstr "Emparelhe seu dispositivo à sua conta comma"
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "Emparelhe seu dispositivo com o comma connect (connect.comma.ai) e resgate sua oferta comma prime."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause: ALC will pause when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Pedal"
 msgstr ""
@@ -685,10 +730,6 @@ msgstr "Conecte-se ao Wi‑Fi para concluir o emparelhamento inicial"
 msgid "Power Off"
 msgstr "Desligar"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
 msgid "Press Brake to Slow Down"
 msgstr ""
@@ -812,6 +853,14 @@ msgstr "Regulatório"
 msgid "Relaxed"
 msgstr "Relaxado"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active: ALC will remain active when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "Acesso remoto"
@@ -880,6 +929,10 @@ msgstr "Selecione uma ramificação"
 msgid "Select a language"
 msgstr "Selecione um idioma"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selected follow distance: {follow}."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
@@ -904,6 +957,14 @@ msgstr "Padrão"
 msgid "Start"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Start the vehicle to check vehicle compatibility."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Steering Mode on Brake Pedal"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Stock DI"
 msgstr ""
@@ -940,6 +1001,22 @@ msgstr "Senha Tethering"
 msgid "This allows the use of full MADS functionality when enabled."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to OFF, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to ON, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform only supports Disengage mode due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Toggle with Main Cruise"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Alternativas"
@@ -968,6 +1045,10 @@ msgstr ""
 msgid "Unconfigured"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Unified Engagement Mode (UEM)"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Desinstalar"
diff --git a/openpilot/selfdrive/ui/translations/app_th.po b/openpilot/selfdrive/ui/translations/app_th.po
index e8a5d755af9d6b..510953aab6a6b1 100644
--- a/openpilot/selfdrive/ui/translations/app_th.po
+++ b/openpilot/selfdrive/ui/translations/app_th.po
@@ -72,10 +72,6 @@ msgstr "�ารตั้งค่า APN"
 msgid "Acknowledge Excessive Actuation"
 msgstr "รับทราบ�ารดำเนิน�ารที่มา�เ�ินไป"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Active Engagement Mode"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "ขั้นสูง"
@@ -113,10 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "คุณ�น่ใจหรือไม่ว่าต้อง�ารถอน�ารติดตั้ง?"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "�ลับ"
@@ -146,7 +143,7 @@ msgid "Bus 2"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
@@ -197,6 +194,14 @@ msgstr "เปลี่ยนภาษา"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
@@ -213,10 +218,14 @@ msgstr "ปิด"
 msgid "Cooperative Steering (Beta)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Cruise Coupled"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "เวอร์ชันปัจจุบัน"
@@ -245,6 +254,10 @@ msgstr "อุป�รณ์"
 msgid "Diagnose Radar"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "ปลดเมื่อเหยียบคันเร่ง"
@@ -261,6 +274,10 @@ msgstr "ย�เลิ��ารเชื่อมต่อเพื่อร
 msgid "Disengage to Reset Calibration"
 msgstr "ปลดเพื่อรีเซ็ต�ารปรับเทียบ"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage: ALC will disengage when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "�สดงความเร็วเป็น km/h �ทน mph"
@@ -352,10 +369,6 @@ msgstr ""
 msgid "Enable ADB"
 msgstr "เปิดใช้งาน ADB"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable Comma Pedal hardware. Local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "เปิดใช้งานคำเตือน�ารออ�นอ�เลน"
@@ -376,18 +389,26 @@ msgstr "เปิดใช้งาน�ารปล่อยสั��าณ
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr ""
 
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable stock Bosch radar. Local and offroad only."
+msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py
-msgid "Enable sunnypilot"
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Engage lateral and longitudinal control with cruise control engagement."
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "ป้อน APN"
@@ -448,10 +469,6 @@ msgstr ""
 msgid "Follow Distance"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
@@ -484,6 +501,10 @@ msgstr ""
 msgid "Hidden Network"
 msgstr "เครือข่ายที่ซ่อนอยู่"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "ติดตั้ง"
@@ -496,10 +517,14 @@ msgstr "ที่อยู่ IP"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Independent"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "ติดตั้งอัปเดต"
@@ -520,7 +545,7 @@ msgstr "�ำลังโหลด"
 msgid "LTE"
 msgstr "�อลทีที"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Lateral Engagement Mode"
 msgstr ""
 
@@ -529,17 +554,21 @@ msgid "Lateral Maneuver Mode"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "โหมด�ารซ้อมรบตามยาว"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Longitudinal Only"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Longitudinal Path"
 msgstr ""
@@ -580,6 +609,14 @@ msgstr "ไม่มีบันทึ�ประจำรุ่น"
 msgid "None"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Note: Setting this to Off will reset your MADS settings to default."
 msgstr ""
@@ -643,6 +680,14 @@ msgstr "จับคู่อุป�รณ์ของคุณ�ับบั
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "จับคู่อุป�รณ์ของคุณ�ับ�ารเชื่อมต่อด้วยเครื่องหมายจุลภาค (connect.comma.ai) �ละรับข้อเสนอจุลภาคเฉพาะของคุณ"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause: ALC will pause when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Pedal"
 msgstr ""
@@ -685,10 +730,6 @@ msgstr "โปรดเชื่อมต่อ Wi-Fi เพื่อทำ�
 msgid "Power Off"
 msgstr "ปิดเครื่อง"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
 msgid "Press Brake to Slow Down"
 msgstr ""
@@ -812,6 +853,14 @@ msgstr "�ฎระเบียบ"
 msgid "Relaxed"
 msgstr "ผ่อนคลาย"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active: ALC will remain active when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "�ารเข้าถึงระยะไ�ล"
@@ -880,6 +929,10 @@ msgstr "เลือ�สาขา"
 msgid "Select a language"
 msgstr "เลือ�ภาษา"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selected follow distance: {follow}."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
@@ -904,6 +957,14 @@ msgstr "มาตร�าน"
 msgid "Start"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Start the vehicle to check vehicle compatibility."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Steering Mode on Brake Pedal"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Stock DI"
 msgstr ""
@@ -940,6 +1001,22 @@ msgstr "รหัสผ่าน�าร�ชร์อินเทอร์เ
 msgid "This allows the use of full MADS functionality when enabled."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to OFF, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to ON, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform only supports Disengage mode due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Toggle with Main Cruise"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "สลับ"
@@ -968,6 +1045,10 @@ msgstr ""
 msgid "Unconfigured"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Unified Engagement Mode (UEM)"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "ถอน�ารติดตั้ง"
diff --git a/openpilot/selfdrive/ui/translations/app_tr.po b/openpilot/selfdrive/ui/translations/app_tr.po
index 2473c8bfffe6b4..aaf3517cf9cc11 100644
--- a/openpilot/selfdrive/ui/translations/app_tr.po
+++ b/openpilot/selfdrive/ui/translations/app_tr.po
@@ -72,10 +72,6 @@ msgstr "APN Ayarı"
 msgid "Acknowledge Excessive Actuation"
 msgstr "Aşırı Müdahaleyi Onayla"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Active Engagement Mode"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "GeliÅŸmiÅŸ"
@@ -113,10 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "Kaldırmak istediğinizden emin misiniz?"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "Geri"
@@ -146,7 +143,7 @@ msgid "Bus 2"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
@@ -197,6 +194,14 @@ msgstr "Dili DeÄŸiÅŸtir"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
@@ -213,10 +218,14 @@ msgstr "Kapat"
 msgid "Cooperative Steering (Beta)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Cruise Coupled"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Geçerli Sürüm"
@@ -245,6 +254,10 @@ msgstr "Cihaz"
 msgid "Diagnose Radar"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Gaz Pedalında Devreden Çık"
@@ -261,6 +274,10 @@ msgstr "Yeniden Başlatmak için Devreden Çıkın"
 msgid "Disengage to Reset Calibration"
 msgstr "Kalibrasyonu Sıfırlamak için Devreden Çıkın"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage: ALC will disengage when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "Hızı mph yerine km/h olarak göster."
@@ -352,10 +369,6 @@ msgstr ""
 msgid "Enable ADB"
 msgstr "ADB'yi EtkinleÅŸtir"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable Comma Pedal hardware. Local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Şerit Terk Uyarılarını Etkinleştir"
@@ -376,18 +389,26 @@ msgstr "İnternet Paylaşımını Etkinleştir"
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr ""
 
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable stock Bosch radar. Local and offroad only."
+msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py
-msgid "Enable sunnypilot"
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Engage lateral and longitudinal control with cruise control engagement."
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "APN girin"
@@ -448,10 +469,6 @@ msgstr ""
 msgid "Follow Distance"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
@@ -484,6 +501,10 @@ msgstr ""
 msgid "Hidden Network"
 msgstr "Gizli AÄŸ"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "YÃœKLE"
@@ -496,10 +517,14 @@ msgstr "IP Adresi"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Independent"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Güncellemeyi Yükle"
@@ -520,7 +545,7 @@ msgstr "YÃœKLENÄ°YOR"
 msgid "LTE"
 msgstr "LTE"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Lateral Engagement Mode"
 msgstr ""
 
@@ -529,17 +554,21 @@ msgid "Lateral Maneuver Mode"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Boylamsal Manevra Modu"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Longitudinal Only"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Longitudinal Path"
 msgstr ""
@@ -580,6 +609,14 @@ msgstr "Sürüm notu mevcut değil."
 msgid "None"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Note: Setting this to Off will reset your MADS settings to default."
 msgstr ""
@@ -643,6 +680,14 @@ msgstr "Cihazınızı comma hesabınızla eşleştirin"
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "Cihazınızı comma connect (connect.comma.ai) ile eşleştirin ve comma prime teklifinizi alın."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause: ALC will pause when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Pedal"
 msgstr ""
@@ -685,10 +730,6 @@ msgstr "İlk eşleştirmeyi tamamlamak için lütfen Wi‑Fi'a bağlanın"
 msgid "Power Off"
 msgstr "Kapat"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
 msgid "Press Brake to Slow Down"
 msgstr ""
@@ -812,6 +853,14 @@ msgstr "Mevzuat"
 msgid "Relaxed"
 msgstr "Rahat"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active: ALC will remain active when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "Uzaktan eriÅŸim"
@@ -880,6 +929,10 @@ msgstr "Bir dal seçin"
 msgid "Select a language"
 msgstr "Bir dil seçin"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selected follow distance: {follow}."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
@@ -904,6 +957,14 @@ msgstr "Standart"
 msgid "Start"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Start the vehicle to check vehicle compatibility."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Steering Mode on Brake Pedal"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Stock DI"
 msgstr ""
@@ -940,6 +1001,22 @@ msgstr "İnternet Paylaşımı Şifresi"
 msgid "This allows the use of full MADS functionality when enabled."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to OFF, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to ON, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform only supports Disengage mode due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Toggle with Main Cruise"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Seçenekler"
@@ -968,6 +1045,10 @@ msgstr ""
 msgid "Unconfigured"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Unified Engagement Mode (UEM)"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Kaldır"
diff --git a/openpilot/selfdrive/ui/translations/app_uk.po b/openpilot/selfdrive/ui/translations/app_uk.po
index da751fe2214a41..2e8156a937bad6 100644
--- a/openpilot/selfdrive/ui/translations/app_uk.po
+++ b/openpilot/selfdrive/ui/translations/app_uk.po
@@ -72,10 +72,6 @@ msgstr "�алаштуванн� APN"
 msgid "Acknowledge Excessive Actuation"
 msgstr "Визнайте надмірне �працьовуванн�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Active Engagement Mode"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "Розширені"
@@ -113,10 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "Ви впевнені, що хочете видалити?"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "�азад"
@@ -146,7 +143,7 @@ msgid "Bus 2"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
@@ -197,6 +194,14 @@ msgstr "Змінити мову"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
@@ -213,10 +218,14 @@ msgstr "Закрити"
 msgid "Cooperative Steering (Beta)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Cruise Coupled"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Поточна вер�і�"
@@ -245,6 +254,10 @@ msgstr "При�трій"
 msgid "Diagnose Radar"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Вимкненн� при нати�канні на педаль газу"
@@ -261,6 +274,10 @@ msgstr "Вимкніть openpilot, щоб перезавантажити"
 msgid "Disengage to Reset Calibration"
 msgstr "Деактивуйте дл� �киданн� калібруванн�"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage: ALC will disengage when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "Відображати швидкі�ть у км/год замі�ть миль/год."
@@ -352,10 +369,6 @@ msgstr ""
 msgid "Enable ADB"
 msgstr "Увімкнути ADB"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable Comma Pedal hardware. Local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Увімкнути попередженн� про виїзд зі �муги"
@@ -376,18 +389,26 @@ msgstr "Увімкнути точку до�тупу"
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr ""
 
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable stock Bosch radar. Local and offroad only."
+msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py
-msgid "Enable sunnypilot"
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Engage lateral and longitudinal control with cruise control engagement."
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "Введіть APN"
@@ -448,10 +469,6 @@ msgstr ""
 msgid "Follow Distance"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
@@ -484,6 +501,10 @@ msgstr ""
 msgid "Hidden Network"
 msgstr "Прихована мережа"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "ВСТ��ОВ."
@@ -496,10 +517,14 @@ msgstr "IP-адре�а"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Independent"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "В�тановити оновленн�"
@@ -520,7 +545,7 @@ msgstr "З�В��Т�ЖЕ��Я"
 msgid "LTE"
 msgstr "LTE"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Lateral Engagement Mode"
 msgstr ""
 
@@ -529,17 +554,21 @@ msgid "Lateral Maneuver Mode"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Режим поздовжнього маневруванн�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Longitudinal Only"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Longitudinal Path"
 msgstr ""
@@ -580,6 +609,14 @@ msgstr "Інформаці� про випу�к від�утн�."
 msgid "None"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Note: Setting this to Off will reset your MADS settings to default."
 msgstr ""
@@ -643,6 +680,14 @@ msgstr "Підключіть �вій при�трій до обліковки c
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "Підключіть �вій при�трій до comma connect (connect.comma.ai) і отримайте �вою пропозицію comma prime."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause: ALC will pause when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Pedal"
 msgstr ""
@@ -685,10 +730,6 @@ msgstr "Будь ла�ка, підключіть�� до Wi-Fi, щоб зав
 msgid "Power Off"
 msgstr "Вимкнути"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
 msgid "Press Brake to Slow Down"
 msgstr ""
@@ -812,6 +853,14 @@ msgstr "�ормативні документи"
 msgid "Relaxed"
 msgstr "Спокійний"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active: ALC will remain active when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "Віддалений до�туп"
@@ -880,6 +929,10 @@ msgstr "Виберіть гілку"
 msgid "Select a language"
 msgstr "Виберіть мову"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selected follow distance: {follow}."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
@@ -904,6 +957,14 @@ msgstr "Стандарт"
 msgid "Start"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Start the vehicle to check vehicle compatibility."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Steering Mode on Brake Pedal"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Stock DI"
 msgstr ""
@@ -940,6 +1001,22 @@ msgstr "Пароль дл� точки до�тупу"
 msgid "This allows the use of full MADS functionality when enabled."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to OFF, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to ON, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform only supports Disengage mode due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Toggle with Main Cruise"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Перемикачі"
@@ -968,6 +1045,10 @@ msgstr ""
 msgid "Unconfigured"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Unified Engagement Mode (UEM)"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Видалити"
diff --git a/openpilot/selfdrive/ui/translations/app_zh-CHS.po b/openpilot/selfdrive/ui/translations/app_zh-CHS.po
index 20bd32b569b819..3ea0f95e8627d5 100644
--- a/openpilot/selfdrive/ui/translations/app_zh-CHS.po
+++ b/openpilot/selfdrive/ui/translations/app_zh-CHS.po
@@ -72,10 +72,6 @@ msgstr "APN 设置"
 msgid "Acknowledge Excessive Actuation"
 msgstr "确认过度作动"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Active Engagement Mode"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "高级"
@@ -113,10 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "确定��载�？"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "返回"
@@ -146,7 +143,7 @@ msgid "Bus 2"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
@@ -197,6 +194,14 @@ msgstr "更改语言"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
@@ -213,10 +218,14 @@ msgstr "关闭"
 msgid "Cooperative Steering (Beta)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Cruise Coupled"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "当�版本"
@@ -245,6 +254,10 @@ msgstr "设备"
 msgid "Diagnose Radar"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "踩下加速��时脱离"
@@ -261,6 +274,10 @@ msgstr "脱离以��"
 msgid "Disengage to Reset Calibration"
 msgstr "脱离以�置校准"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage: ALC will disengage when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "以 km/h 显示速度（� mph）。"
@@ -352,10 +369,6 @@ msgstr ""
 msgid "Enable ADB"
 msgstr "�用 ADB"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable Comma Pedal hardware. Local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "�用车��离警示"
@@ -376,18 +389,26 @@ msgstr "�用网络共享"
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr ""
 
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable stock Bosch radar. Local and offroad only."
+msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py
-msgid "Enable sunnypilot"
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Engage lateral and longitudinal control with cruise control engagement."
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "输入 APN"
@@ -448,10 +469,6 @@ msgstr ""
 msgid "Follow Distance"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
@@ -484,6 +501,10 @@ msgstr ""
 msgid "Hidden Network"
 msgstr "��网络"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "安装"
@@ -496,10 +517,14 @@ msgstr "IP 地�"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Independent"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "安装更新"
@@ -520,7 +545,7 @@ msgstr "加载中"
 msgid "LTE"
 msgstr "LTE"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Lateral Engagement Mode"
 msgstr ""
 
@@ -529,17 +554,21 @@ msgid "Lateral Maneuver Mode"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "纵��作模�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Longitudinal Only"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Longitudinal Path"
 msgstr ""
@@ -580,6 +609,14 @@ msgstr "暂无�行说明。"
 msgid "None"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Note: Setting this to Off will reset your MADS settings to default."
 msgstr ""
@@ -643,6 +680,14 @@ msgstr "将设备�对到您的 comma 账�"
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "将设备与 comma connect（connect.comma.ai）�对，领�您的 comma prime 优惠。"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause: ALC will pause when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Pedal"
 msgstr ""
@@ -685,10 +730,6 @@ msgstr "请连接 Wi‑Fi 以完��始�对"
 msgid "Power Off"
 msgstr "关机"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
 msgid "Press Brake to Slow Down"
 msgstr ""
@@ -812,6 +853,14 @@ msgstr "法规"
 msgid "Relaxed"
 msgstr "从容"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active: ALC will remain active when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "远程访问"
@@ -880,6 +929,10 @@ msgstr "选择分支"
 msgid "Select a language"
 msgstr "选择语言"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selected follow distance: {follow}."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
@@ -904,6 +957,14 @@ msgstr "标准"
 msgid "Start"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Start the vehicle to check vehicle compatibility."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Steering Mode on Brake Pedal"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Stock DI"
 msgstr ""
@@ -940,6 +1001,22 @@ msgstr "网络共享密�"
 msgid "This allows the use of full MADS functionality when enabled."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to OFF, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to ON, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform only supports Disengage mode due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Toggle with Main Cruise"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "切�"
@@ -968,6 +1045,10 @@ msgstr ""
 msgid "Unconfigured"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Unified Engagement Mode (UEM)"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "�载"
diff --git a/openpilot/selfdrive/ui/translations/app_zh-CHT.po b/openpilot/selfdrive/ui/translations/app_zh-CHT.po
index 3de14ba3da113e..4bf965fb00821b 100644
--- a/openpilot/selfdrive/ui/translations/app_zh-CHT.po
+++ b/openpilot/selfdrive/ui/translations/app_zh-CHT.po
@@ -72,10 +72,6 @@ msgstr "APN 設定"
 msgid "Acknowledge Excessive Actuation"
 msgstr "確��度作動"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Active Engagement Mode"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "進階"
@@ -113,10 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "確定�解除安�嗎？"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate radar mounted behind the nosecone. Local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "返回"
@@ -146,7 +143,7 @@ msgid "Bus 2"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Local and offroad only."
+msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
@@ -197,6 +194,14 @@ msgstr "變更語言"
 msgid "Changing this setting will restart sunnypilot if the car is powered on."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
+msgstr ""
+
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
@@ -213,10 +218,14 @@ msgstr "關閉"
 msgid "Cooperative Steering (Beta)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Cruise Coupled"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "目�版本"
@@ -245,6 +254,10 @@ msgstr "�置"
 msgid "Diagnose Radar"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "踩下加速��時脫離"
@@ -261,6 +274,10 @@ msgstr "脫離以�新啟動"
 msgid "Disengage to Reset Calibration"
 msgstr "脫離以�設校正"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Disengage: ALC will disengage when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "以 km/h 顯示速度（� mph）。"
@@ -352,10 +369,6 @@ msgstr ""
 msgid "Enable ADB"
 msgstr "啟用 ADB"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable Comma Pedal hardware. Local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "啟用�離車�警示"
@@ -376,18 +389,26 @@ msgstr "啟用網路共享"
 msgid "Enable driver monitoring even when sunnypilot is not engaged."
 msgstr ""
 
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable stock Bosch radar. Local and offroad only."
+msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
 msgstr ""
 
-#: openpilot/selfdrive/ui/layouts/settings/toggles.py
-msgid "Enable sunnypilot"
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Engage lateral and longitudinal control with cruise control engagement."
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "輸入 APN"
@@ -448,10 +469,6 @@ msgstr ""
 msgid "Follow Distance"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow distance (1=closest, 7=farthest). Writes apply live."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
@@ -484,6 +501,10 @@ msgstr ""
 msgid "Hidden Network"
 msgstr "隱�網路"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "安�"
@@ -496,10 +517,14 @@ msgstr "IP ��"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Independent"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "安�更新"
@@ -520,7 +545,7 @@ msgstr "載入中"
 msgid "LTE"
 msgstr "LTE"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Lateral Engagement Mode"
 msgstr ""
 
@@ -529,17 +554,21 @@ msgid "Lateral Maneuver Mode"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Local and offroad only."
+msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "縱��作模�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Longitudinal Only"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Longitudinal Path"
 msgstr ""
@@ -580,6 +609,14 @@ msgstr "無�用發行說明。"
 msgid "None"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Note: Setting this to Off will reset your MADS settings to default."
 msgstr ""
@@ -643,6 +680,14 @@ msgstr "將�置��至您的 comma 帳號"
 msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr "將�置與 comma connect（connect.comma.ai）��，領�您的 comma prime 優惠。"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Pause: ALC will pause when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Pedal"
 msgstr ""
@@ -685,10 +730,6 @@ msgstr "請連線至 Wi‑Fi 以完��始化��"
 msgid "Power Off"
 msgstr "關機"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pre-AP stalk engagement. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
 msgid "Press Brake to Slow Down"
 msgstr ""
@@ -812,6 +853,14 @@ msgstr "法�"
 msgid "Relaxed"
 msgstr "從容"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Remain Active: ALC will remain active when the brake pedal is pressed."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "�端存�"
@@ -880,6 +929,10 @@ msgstr "��分支"
 msgid "Select a language"
 msgstr "��語言"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Selected follow distance: {follow}."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
@@ -904,6 +957,14 @@ msgstr "標準"
 msgid "Start"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Start the vehicle to check vehicle compatibility."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Steering Mode on Brake Pedal"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Stock DI"
 msgstr ""
@@ -940,6 +1001,22 @@ msgstr "網路共享密碼"
 msgid "This allows the use of full MADS functionality when enabled."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to OFF, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This feature defaults to ON, and does not allow selection due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform only supports Disengage mode due to vehicle limitations."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Toggle with Main Cruise"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "切�"
@@ -968,6 +1045,10 @@ msgstr ""
 msgid "Unconfigured"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Unified Engagement Mode (UEM)"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "解除安�"
diff --git a/openpilot/selfdrive/ui/translations/update_translations.py b/openpilot/selfdrive/ui/translations/update_translations.py
index e86e21aadb69e4..cace98e21fe452 100755
--- a/openpilot/selfdrive/ui/translations/update_translations.py
+++ b/openpilot/selfdrive/ui/translations/update_translations.py
@@ -18,9 +18,10 @@ def update_translations():
     for filename in filenames:
       if filename.endswith(".py"):
         files.append(os.path.relpath(os.path.join(root, filename), BASEDIR))
-  # Native Pre-AP Tesla UI and tool/alert strings live outside the default UI walk.
+  # Native Pre-AP Tesla UI, MADS settings, and tool/alert strings live outside the default UI walk.
   extra = [
     os.path.relpath(os.path.join(str(UI_DIR), "sunnypilot/layouts/settings/vehicle/brands/tesla.py"), BASEDIR),
+    os.path.relpath(os.path.join(str(UI_DIR), "sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py"), BASEDIR),
     os.path.relpath(os.path.join(BASEDIR, "openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py"), BASEDIR),
     os.path.relpath(os.path.join(BASEDIR, "openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py"), BASEDIR),
   ]
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
index d0d1a7e9c2e187..45fa0dce7eafee 100644
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
@@ -298,6 +298,7 @@ def boom(*_args, **_kwargs):
 
 PREAP_TRANSLATION_MSGIDS = (
   "Lateral Engagement Mode",
+  "Independent",
   "Radar Lateral Offset",
   "Radar Lateral Offset (m)",
   "Calibrate Pedal",
@@ -313,7 +314,6 @@ def boom(*_args, **_kwargs):
   "Bosch Radar",
   "Radar Behind Nosecone",
   "Follow Distance",
-  "Active Engagement Mode",
   "Longitudinal Path",
   "Pedal Health",
   "Radar Health",
@@ -330,10 +330,12 @@ def test_preap_translation_msgids_in_pot():
   for msgid in PREAP_TRANSLATION_MSGIDS + ("Pedal Calibration",):
     assert msgid.split("\n", 1)[0] in pot, msgid
   assert "#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py" in pot
+  assert "#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py" in pot
   assert "#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py" in pot
   assert "#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py" in pot
+  assert 'msgid "Active Engagement Mode"' not in pot
   for line in pot.splitlines():
-    if "preap_alerts.py" in line or "tesla/preap/tools/instructions.py" in line or "brands/tesla.py" in line:
+    if "preap_alerts.py" in line or "tesla/preap/tools/instructions.py" in line or "brands/tesla.py" in line or "mads_settings.py" in line:
       assert line.startswith("#: openpilot/")
       assert not re.search(r"\.py:\d+", line)
 
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_mads_settings_native_preap.py b/openpilot/sunnypilot/selfdrive/car/tests/test_mads_settings_native_preap.py
new file mode 100644
index 00000000000000..102c8f9b8a4bda
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_mads_settings_native_preap.py
@@ -0,0 +1,32 @@
+"""Native MADS settings own Pre-AP engagement. Does not import the UI module (raylib)."""
+import unittest
+from pathlib import Path
+
+MADS_PY = (
+  Path(__file__).resolve().parents[4]
+  / "selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py"
+)
+STEERING_PY = (
+  Path(__file__).resolve().parents[4]
+  / "selfdrive/ui/sunnypilot/layouts/settings/steering.py"
+)
+
+
+class TestNativeMadsPreapSettings(unittest.TestCase):
+  def test_engagement_mode_lives_in_mads_settings(self):
+    src = MADS_PY.read_text()
+    self.assertIn('param="NAPLateralEngagementMode"', src)
+    self.assertIn('title=lambda: tr("Lateral Engagement Mode")', src)
+    self.assertIn('tr("Independent")', src)
+    self.assertIn('tr("Cruise Coupled")', src)
+    self.assertIn('tr("Longitudinal Only")', src)
+    self.assertIn("self._engagement_mode.set_visible(is_preap)", src)
+
+  def test_required_mads_copy_on_steering(self):
+    src = STEERING_PY.read_text()
+    self.assertIn("This platform requires MADS.", src)
+    self.assertIn("Customize MADS", src)
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py b/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py
index 71b7b11a459cdc..cd3ed351d7da4a 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py
@@ -53,6 +53,12 @@ def test_status_refresh_uses_named_helper_not_falsy_or(self):
     self.assertTrue("pedal_bus_selector_index(ui_state.params.get(\"NAPPedalCanBus\"))" in src)
     self.assertTrue("ui_state.params.put(\"NAPPedalCanBus\", 0 if index == 0 else 2)" in src)
 
+  def test_tesla_menu_does_not_own_mads_engagement(self):
+    src = TESLA_PY.read_text()
+    self.assertNotIn("NAPLateralEngagementMode", src)
+    self.assertNotIn("Lateral Engagement Mode", src)
+    self.assertNotIn("Active Engagement Mode", src)
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui.json b/openpilot/sunnypilot/sunnylink/settings_ui.json
index 2231d6c14cdfd3..440bd727b1d5c4 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui.json
+++ b/openpilot/sunnypilot/sunnylink/settings_ui.json
@@ -48,6 +48,34 @@
                 ]
               },
               "items": [
+                {
+                  "key": "NAPLateralEngagementMode",
+                  "widget": "multiple_button",
+                  "needs_onroad_cycle": true,
+                  "title": "Lateral Engagement Mode",
+                  "description": "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive.",
+                  "options": [
+                    {
+                      "value": 0,
+                      "label": "Independent"
+                    },
+                    {
+                      "value": 1,
+                      "label": "Cruise Coupled"
+                    },
+                    {
+                      "value": 2,
+                      "label": "Longitudinal Only"
+                    }
+                  ],
+                  "visibility": [
+                    {
+                      "type": "capability",
+                      "field": "tesla_preap",
+                      "equals": true
+                    }
+                  ]
+                },
                 {
                   "key": "MadsMainCruiseAllowed",
                   "widget": "toggle",
@@ -2380,39 +2408,11 @@
             }
           ]
         },
-        {
-          "key": "NAPLateralEngagementMode",
-          "widget": "multiple_button",
-          "needs_onroad_cycle": true,
-          "title": "Lateral Engagement Mode",
-          "description": "Pre-AP stalk engagement. Onroad writes apply on the next drive.",
-          "options": [
-            {
-              "value": 0,
-              "label": "Independent"
-            },
-            {
-              "value": 1,
-              "label": "Cruise Coupled"
-            },
-            {
-              "value": 2,
-              "label": "Longitudinal Only"
-            }
-          ],
-          "visibility": [
-            {
-              "type": "capability",
-              "field": "tesla_preap",
-              "equals": true
-            }
-          ]
-        },
         {
           "key": "NAPFollowDistance",
           "widget": "multiple_button",
           "title": "Follow Distance",
-          "description": "Follow distance (1=closest, 7=farthest). Writes apply live.",
+          "description": "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving.",
           "options": [
             {
               "value": 1,
@@ -2451,20 +2451,6 @@
             }
           ]
         },
-        {
-          "key": "tesla_preap_active_mode",
-          "widget": "info",
-          "blocked": true,
-          "title": "Active Engagement Mode",
-          "description": "Read-only active boot snapshot. Onroad mode writes stage the next drive.",
-          "visibility": [
-            {
-              "type": "capability",
-              "field": "tesla_preap",
-              "equals": true
-            }
-          ]
-        },
         {
           "key": "tesla_preap_longitudinal_path",
           "widget": "info",
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
index 016462b66b8455..fdfa7e3e6eeea2 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
@@ -31,6 +31,20 @@ sections:
         field: tesla_preap
         equals: true
     items:
+    - key: NAPLateralEngagementMode
+      widget: multiple_button
+      needs_onroad_cycle: true
+      title: Lateral Engagement Mode
+      description: Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive.
+      options:
+      - value: 0
+        label: Independent
+      - value: 1
+        label: Cruise Coupled
+      - value: 2
+        label: Longitudinal Only
+      visibility:
+      - $ref: '#/macros/tesla_preap'
     - key: MadsMainCruiseAllowed
       widget: toggle
       title: Toggle with Main Cruise
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
index 4845c654fa425a..0f74f38cb371ab 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
@@ -81,24 +81,10 @@ sections:
     - $ref: '#/macros/not_tesla_preap'
     enablement:
     - $ref: '#/macros/offroad'
-  - key: NAPLateralEngagementMode
-    widget: multiple_button
-    needs_onroad_cycle: true
-    title: Lateral Engagement Mode
-    description: Pre-AP stalk engagement. Onroad writes apply on the next drive.
-    options:
-    - value: 0
-      label: Independent
-    - value: 1
-      label: Cruise Coupled
-    - value: 2
-      label: Longitudinal Only
-    visibility:
-    - $ref: '#/macros/tesla_preap'
   - key: NAPFollowDistance
     widget: multiple_button
     title: Follow Distance
-    description: Follow distance (1=closest, 7=farthest). Writes apply live.
+    description: How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving.
     options:
     - value: 1
       label: '1'
@@ -116,13 +102,6 @@ sections:
       label: '7'
     visibility:
     - $ref: '#/macros/tesla_preap'
-  - key: tesla_preap_active_mode
-    widget: info
-    blocked: true
-    title: Active Engagement Mode
-    description: Read-only active boot snapshot. Onroad mode writes stage the next drive.
-    visibility:
-    - $ref: '#/macros/tesla_preap'
   - key: tesla_preap_longitudinal_path
     widget: info
     blocked: true
diff --git a/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py b/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py
index 3292cda95b1d57..38194ebdee6825 100644
--- a/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py
+++ b/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py
@@ -223,16 +223,16 @@ class TestTeslaPreAPSettings:
   def test_preap_vehicle_keys_present(self, schema):
     vs = schema["vehicle_settings"]["tesla"]
     keys = {item["key"] for item in vs.get("items", [])}
-    assert "NAPLateralEngagementMode" in keys
     assert "NAPFollowDistance" in keys
     assert "NAPPedalEnabled" in keys
     assert "NAPPedalCanBus" in keys
     assert "NAPRadarEnabled" in keys
     assert "NAPRadarBehindNosecone" in keys
-    assert "tesla_preap_active_mode" in keys
     assert "tesla_preap_longitudinal_path" in keys
     assert "tesla_preap_pedal_health" in keys
     assert "tesla_preap_radar_health" in keys
+    assert "NAPLateralEngagementMode" not in keys
+    assert "tesla_preap_active_mode" not in keys
     assert "MadsSteeringMode" not in keys
     assert "NAPRadarOffset" not in keys
     assert "NAPAdaptiveAccel" not in keys
@@ -308,6 +308,18 @@ def test_engagement_mode_is_next_drive(self, schema):
     assert item.get("needs_onroad_cycle") is True
     assert "offroad_only" not in _flatten_rule_types(item.get("enablement"))
 
+  def test_engagement_mode_lives_in_native_mads_settings(self, schema):
+    vs_keys = {item["key"] for item in schema["vehicle_settings"]["tesla"].get("items", [])}
+    assert "NAPLateralEngagementMode" not in vs_keys
+    section = _find_section(schema, "steering", "mads")
+    assert section is not None
+    sp = next(s for s in section["sub_panels"] if s["id"] == "mads_settings")
+    keys = [item["key"] for item in sp["items"]]
+    assert "NAPLateralEngagementMode" in keys
+    assert keys[0] == "NAPLateralEngagementMode"
+    vis = json.dumps(_find_item(schema, "NAPLateralEngagementMode").get("visibility"))
+    assert "tesla_preap" in vis
+
   def test_mads_full_platforms_excludes_preap_key(self):
     import yaml
     from pathlib import Path
@@ -324,7 +336,7 @@ def test_mads_full_platforms_excludes_preap_key(self):
   def test_preap_readonly_status_info_widgets(self, schema):
     vs = schema["vehicle_settings"]["tesla"]
     items = {item["key"]: item for item in vs.get("items", [])}
-    for key in ("tesla_preap_active_mode", "tesla_preap_longitudinal_path",
+    for key in ("tesla_preap_longitudinal_path",
                 "tesla_preap_pedal_health", "tesla_preap_radar_health"):
       item = items[key]
       assert item["widget"] == "info"

From b0deccce53710fca735a3fb0eb586b6522d1e184 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Sat, 22 Aug 2026 15:48:44 +0000
Subject: [PATCH 1404/1434] tesla_preap: restyle Vehicle settings to native
 widgets

Replace the follow-distance keypad, keyboard radar offset, empty
status buttons, and identical Start tools with option steppers,
text status rows, and labeled tool actions.
---
 .../layouts/settings/vehicle/brands/tesla.py  | 155 +++++++++---------
 openpilot/selfdrive/ui/translations/app.pot   |  58 ++++---
 openpilot/selfdrive/ui/translations/app_de.po |  50 ++++--
 openpilot/selfdrive/ui/translations/app_en.po |  60 ++++---
 openpilot/selfdrive/ui/translations/app_es.po |  50 ++++--
 openpilot/selfdrive/ui/translations/app_fr.po |  50 ++++--
 openpilot/selfdrive/ui/translations/app_ja.po |  50 ++++--
 openpilot/selfdrive/ui/translations/app_ko.po |  50 ++++--
 .../selfdrive/ui/translations/app_pt-BR.po    |  50 ++++--
 openpilot/selfdrive/ui/translations/app_th.po |  50 ++++--
 openpilot/selfdrive/ui/translations/app_tr.po |  50 ++++--
 openpilot/selfdrive/ui/translations/app_uk.po |  50 ++++--
 .../selfdrive/ui/translations/app_zh-CHS.po   |  50 ++++--
 .../selfdrive/ui/translations/app_zh-CHT.po   |  50 ++++--
 .../preap/tools/tests/test_preap_tools.py     |  12 +-
 .../tests/test_tesla_settings_pedal_bus.py    |  12 ++
 .../sunnypilot/sunnylink/settings_ui.json     |   8 +-
 .../settings_ui_src/pages/vehicle.yaml        |   8 +-
 .../system/ui/sunnypilot/widgets/list_view.py |   8 +-
 19 files changed, 551 insertions(+), 320 deletions(-)

diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
index 75e3522530d1b5..7318ecad65196e 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
@@ -14,11 +14,10 @@
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.sunnypilot.widgets.list_view import (
-  button_item_sp, multiple_button_item_sp, toggle_item_sp,
+  button_item_sp, multiple_button_item_sp, option_item_sp, text_item_sp, toggle_item_sp,
 )
 from openpilot.system.ui.widgets import DialogResult
 from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog, alert_dialog
-from openpilot.system.ui.widgets.keyboard import Keyboard
 
 COOP_STEERING_MIN_KMH = 23
 OEM_STEERING_MIN_KMH = 48
@@ -26,8 +25,9 @@
 
 FOLLOW_DISTANCE_MIN = 1
 FOLLOW_DISTANCE_MAX = 7
-RADAR_OFFSET_MIN = -2.0
-RADAR_OFFSET_MAX = 2.0
+RADAR_OFFSET_MIN_CM = -200
+RADAR_OFFSET_MAX_CM = 200
+RADAR_OFFSET_STEP_CM = 5
 
 
 def _path_label(path: str) -> str:
@@ -57,7 +57,7 @@ def is_tesla_preap_ui() -> bool:
 
 def parse_configured_pedal_bus(value) -> int:
   """Preserve configured bus 0. Absent or empty defaults to 2."""
-  if value is None or value == "" or value == b"":
+  if value in (None, "", b""):
     return 2
   return int(value)
 
@@ -78,62 +78,65 @@ def __init__(self):
       param="TeslaMadsScreenButton",
       inline=False,
     )
-    self.follow_distance = multiple_button_item_sp(
+    self.follow_distance = option_item_sp(
       title=lambda: tr("Follow Distance"),
-      description="",
-      buttons=[str(i) for i in range(FOLLOW_DISTANCE_MIN, FOLLOW_DISTANCE_MAX + 1)],
+      param="NAPFollowDistance",
+      min_value=FOLLOW_DISTANCE_MIN,
+      max_value=FOLLOW_DISTANCE_MAX,
+      description=lambda: tr("How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."),
+      label_callback=str,
       inline=True,
-      button_width=90,
-      callback=self._on_follow_selected,
     )
     self.pedal_enabled = toggle_item_sp(
       tr("Pedal Interceptor"),
-      tr("Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."),
+      tr("Enable the Comma Pedal interceptor."),
       param="NAPPedalEnabled",
     )
     self.pedal_bus = multiple_button_item_sp(
       title=lambda: tr("Pedal CAN Bus"),
-      description=lambda: tr("CAN bus for the Comma Pedal. Hardware changes are local and offroad only."),
+      description=lambda: tr("CAN bus for the Comma Pedal."),
       buttons=[lambda: tr("Bus 0"), lambda: tr("Bus 2")],
       inline=True,
       callback=self._on_pedal_bus_selected,
     )
     self.radar_enabled = toggle_item_sp(
       tr("Bosch Radar"),
-      tr("Enable the stock Bosch radar. Hardware changes are local and offroad only."),
+      tr("Enable the stock Bosch radar."),
       param="NAPRadarEnabled",
     )
     self.radar_nosecone = toggle_item_sp(
       tr("Radar Behind Nosecone"),
-      tr("Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."),
+      tr("Attenuate a radar mounted behind the nosecone."),
       param="NAPRadarBehindNosecone",
     )
-    self._radar_offset_keyboard = Keyboard(max_text_size=10)
-    self.radar_offset = button_item_sp(
-      lambda: tr("Radar Lateral Offset"),
-      self._get_radar_offset_text,
-      description=lambda: tr(
-        "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
-      ),
-      callback=self._on_radar_offset_click,
+    self.radar_offset = option_item_sp(
+      title=lambda: tr("Radar Lateral Offset"),
+      param="NAPRadarOffset",
+      min_value=RADAR_OFFSET_MIN_CM,
+      max_value=RADAR_OFFSET_MAX_CM,
+      value_change_step=RADAR_OFFSET_STEP_CM,
+      use_float_scaling=True,
+      description=lambda: tr("Meters added to radar yRel. Negative shifts leads left; positive shifts right."),
+      label_callback=lambda value: f"{value / 100.0:+.2f} m",
+      inline=True,
     )
-    self.status_path = button_item_sp(lambda: tr("Longitudinal Path"), "", enabled=False)
-    self.status_pedal = button_item_sp(lambda: tr("Pedal Health"), "", enabled=False)
-    self.status_radar = button_item_sp(lambda: tr("Radar Health"), "", enabled=False)
+    self.status_path = text_item_sp(lambda: tr("Longitudinal Path"), lambda: tr("Stock DI"))
+    self.status_pedal = text_item_sp(lambda: tr("Pedal Health"), lambda: tr("None"))
+    self.status_radar = text_item_sp(lambda: tr("Radar Health"), lambda: tr("None"))
 
-    self.tool_calibrate_pedal = button_item_sp(lambda: tr("Calibrate Pedal"), lambda: tr("Start"),
+    self.tool_calibrate_pedal = button_item_sp(lambda: tr("Calibrate Pedal"), lambda: tr("CALIBRATE"),
                                                callback=lambda: self._confirm_tool("calibrate_pedal"))
-    self.tool_calibrate_radar = button_item_sp(lambda: tr("Calibrate Radar"), lambda: tr("Start"),
+    self.tool_calibrate_radar = button_item_sp(lambda: tr("Calibrate Radar"), lambda: tr("CALIBRATE"),
                                                callback=lambda: self._confirm_tool("calibrate_radar"))
-    self.tool_diagnose_radar = button_item_sp(lambda: tr("Diagnose Radar"), lambda: tr("Start"),
+    self.tool_diagnose_radar = button_item_sp(lambda: tr("Diagnose Radar"), lambda: tr("DIAGNOSE"),
                                               callback=lambda: self._confirm_tool("diagnose_radar"))
-    self.tool_test_radar = button_item_sp(lambda: tr("Test Radar"), lambda: tr("Start"),
+    self.tool_test_radar = button_item_sp(lambda: tr("Test Radar"), lambda: tr("TEST"),
                                           callback=lambda: self._confirm_tool("test_radar"))
-    self.tool_extract_epas = button_item_sp(lambda: tr("Backup EPAS"), lambda: tr("Start"),
+    self.tool_extract_epas = button_item_sp(lambda: tr("Backup EPAS"), lambda: tr("BACKUP"),
                                             callback=lambda: self._confirm_tool("extract_epas"))
-    self.tool_flash_epas = button_item_sp(lambda: tr("Flash EPAS"), lambda: tr("Start"),
+    self.tool_flash_epas = button_item_sp(lambda: tr("Flash EPAS"), lambda: tr("FLASH"),
                                           callback=lambda: self._confirm_tool("flash_epas"))
-    self.tool_restore_epas = button_item_sp(lambda: tr("Restore EPAS"), lambda: tr("Start"),
+    self.tool_restore_epas = button_item_sp(lambda: tr("Restore EPAS"), lambda: tr("RESTORE"),
                                             callback=lambda: self._confirm_tool("restore_epas"))
 
     self._preap_items = [
@@ -165,47 +168,26 @@ def __init__(self):
       "restore_epas": preap_instructions.RESTORE_EPAS_INSTRUCTIONS,
     }
 
-  @staticmethod
-  def _on_follow_selected(index):
-    ui_state.params.put("NAPFollowDistance", index + FOLLOW_DISTANCE_MIN)
-
   @staticmethod
   def _on_pedal_bus_selected(index):
     ui_state.params.put("NAPPedalCanBus", 0 if index == 0 else 2)
 
-  def _get_radar_offset(self) -> float:
-    raw = ui_state.params.get("NAPRadarOffset")
+  def _sync_follow_distance(self):
     try:
-      return float(raw)
+      follow = int(ui_state.params.get("NAPFollowDistance") or FOLLOW_DISTANCE_MIN + 3)
     except (TypeError, ValueError):
-      return 0.0
-
-  def _get_radar_offset_text(self) -> str:
-    return f"{self._get_radar_offset():+.2f} m"
+      follow = 4
+    follow = max(FOLLOW_DISTANCE_MIN, min(FOLLOW_DISTANCE_MAX, follow))
+    self.follow_distance.action_item.current_value = follow
 
-  def _on_radar_offset_click(self):
-    if not ui_state.is_offroad():
-      gui_app.push_widget(alert_dialog(tr("Hardware settings are only available offroad.")))
-      return
-    self._radar_offset_keyboard.reset(min_text_size=1)
-    self._radar_offset_keyboard.set_title(tr("Radar Lateral Offset (m)"))
-    self._radar_offset_keyboard.set_text(f"{self._get_radar_offset():.2f}")
-    self._radar_offset_keyboard.set_callback(self._on_radar_offset_submit)
-    gui_app.push_widget(self._radar_offset_keyboard)
-
-  def _on_radar_offset_submit(self, result: DialogResult):
-    if result != DialogResult.CONFIRM:
-      return
-    try:
-      text = (self._radar_offset_keyboard.text or "").strip()
-      value = float(text)
-    except (TypeError, ValueError, AttributeError):
-      return
-    value = max(RADAR_OFFSET_MIN, min(RADAR_OFFSET_MAX, value))
+  def _sync_radar_offset(self):
+    raw = ui_state.params.get("NAPRadarOffset")
     try:
-      ui_state.params.put("NAPRadarOffset", value)
-    except Exception:
-      pass
+      cm = int(round(float(raw) * 100.0))
+    except (TypeError, ValueError):
+      cm = 0
+    cm = max(RADAR_OFFSET_MIN_CM, min(RADAR_OFFSET_MAX_CM, cm))
+    self.radar_offset.action_item.current_value = cm
 
   def _confirm_tool(self, tool: str):
     if not ui_state.is_offroad():
@@ -223,11 +205,6 @@ def callback(result: DialogResult):
     text = tr(self._tool_instructions[tool]).replace("\n", "<br>")
     gui_app.push_widget(ConfirmDialog(text, tr("Start"), rich=True, callback=callback))
 
-  def _update_follow_description(self, follow: int):
-    base = tr("How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving.")
-    self.follow_distance.set_description(f"{base}<br><br><b>" + tr("Selected follow distance: {follow}.").format(follow=follow) + "</b>")
-    self.follow_distance.show_description(True)
-
   def _update_preap_status(self, is_preap: bool):
     flags = int(getattr(ui_state.CP_SP, "flags", 0) or 0) if ui_state.CP_SP is not None else 0
     pedal_present = bool(flags & TeslaFlagsSP.PREAP_PEDAL_PRESENT)
@@ -238,7 +215,7 @@ def _update_preap_status(self, is_preap: bool):
       path = "pedal"
     else:
       path = "stock_di"
-    self.status_path.action_item.set_value(_path_label(path))
+    self.status_path.action_item.set_text(_path_label(path))
 
     if not pedal_present:
       pedal_health = "none"
@@ -246,7 +223,7 @@ def _update_preap_status(self, is_preap: bool):
       pedal_health = "uncalibrated"
     else:
       pedal_health = "ok"
-    self.status_pedal.action_item.set_value(_health_label(pedal_health))
+    self.status_pedal.action_item.set_text(_health_label(pedal_health))
 
     if not radar_present:
       radar_health = "none"
@@ -254,13 +231,10 @@ def _update_preap_status(self, is_preap: bool):
       radar_health = "unconfigured"
     else:
       radar_health = "ok"
-    self.status_radar.action_item.set_value(_health_label(radar_health))
-
-    follow = int(ui_state.params.get("NAPFollowDistance") or 4)
-    follow = max(FOLLOW_DISTANCE_MIN, min(FOLLOW_DISTANCE_MAX, follow))
-    self.follow_distance.action_item.set_selected_button(follow - FOLLOW_DISTANCE_MIN)
-    self._update_follow_description(follow)
+    self.status_radar.action_item.set_text(_health_label(radar_health))
 
+    self._sync_follow_distance()
+    self._sync_radar_offset()
     self.pedal_bus.action_item.set_selected_button(
       pedal_bus_selector_index(ui_state.params.get("NAPPedalCanBus")))
 
@@ -269,6 +243,8 @@ def _update_preap_status(self, is_preap: bool):
     self.radar_offset.set_visible(is_preap and radar_present)
     self.tool_calibrate_pedal.set_visible(is_preap and pedal_present)
     self.tool_calibrate_radar.set_visible(is_preap and radar_present)
+    self.tool_diagnose_radar.set_visible(is_preap and radar_present)
+    self.tool_test_radar.set_visible(is_preap and radar_present)
 
   def update_settings(self):
     is_metric = ui_state.is_metric
@@ -314,6 +290,29 @@ def update_settings(self):
 
     if is_preap:
       self._update_preap_status(is_preap)
+      hardware_offroad_msg = tr("Hardware settings are only available offroad.")
+      if not offroad:
+        self.pedal_enabled.set_description(f"<b>{hardware_offroad_msg}</b>")
+        self.pedal_bus.set_description(f"<b>{hardware_offroad_msg}</b>")
+        self.radar_enabled.set_description(f"<b>{hardware_offroad_msg}</b>")
+        self.radar_nosecone.set_description(f"<b>{hardware_offroad_msg}</b>")
+        self.radar_offset.set_description(f"<b>{hardware_offroad_msg}</b>")
+        self.pedal_enabled.show_description(True)
+        self.pedal_bus.show_description(True)
+        self.radar_enabled.show_description(True)
+        self.radar_nosecone.show_description(True)
+        self.radar_offset.show_description(True)
+      else:
+        self.pedal_enabled.set_description(tr("Enable the Comma Pedal interceptor."))
+        self.pedal_bus.set_description(tr("CAN bus for the Comma Pedal."))
+        self.radar_enabled.set_description(tr("Enable the stock Bosch radar."))
+        self.radar_nosecone.set_description(tr("Attenuate a radar mounted behind the nosecone."))
+        self.radar_offset.set_description(tr("Meters added to radar yRel. Negative shifts leads left; positive shifts right."))
+        self.pedal_enabled.show_description(False)
+        self.pedal_bus.show_description(False)
+        self.radar_enabled.show_description(False)
+        self.radar_nosecone.show_description(False)
+        self.radar_offset.show_description(False)
       self.pedal_enabled.action_item.set_enabled(offroad)
       self.pedal_bus.action_item.set_enabled(offroad)
       self.radar_enabled.action_item.set_enabled(offroad)
diff --git a/openpilot/selfdrive/ui/translations/app.pot b/openpilot/selfdrive/ui/translations/app.pot
index 406dafdf462146..5658813600fdf7 100644
--- a/openpilot/selfdrive/ui/translations/app.pot
+++ b/openpilot/selfdrive/ui/translations/app.pot
@@ -872,10 +872,6 @@ msgstr ""
 msgid "Stock DI"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle."
 msgstr ""
@@ -889,7 +885,7 @@ msgid "Pedal Interceptor"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
+msgid "Enable the Comma Pedal interceptor."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
@@ -897,7 +893,7 @@ msgid "Bosch Radar"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
+msgid "Enable the stock Bosch radar."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
@@ -905,15 +901,15 @@ msgid "Radar Behind Nosecone"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset (m)"
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to change."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to change."
+msgid "Hardware settings are only available offroad."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
@@ -928,10 +924,6 @@ msgstr ""
 msgid "Unconfigured"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Longitudinal Path"
 msgstr ""
@@ -949,7 +941,7 @@ msgid "Calibrate Pedal"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Start"
+msgid "CALIBRATE"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
@@ -960,22 +952,46 @@ msgstr ""
 msgid "Diagnose Radar"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "DIAGNOSE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Test Radar"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "TEST"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Backup EPAS"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "BACKUP"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Flash EPAS"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "FLASH"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Restore EPAS"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "RESTORE"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Start"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "MADS Screen Activation"
 msgstr ""
@@ -984,20 +1000,24 @@ msgstr ""
 msgid "Follow Distance"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Pedal CAN Bus"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
+msgid "CAN bus for the Comma Pedal."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
+msgid "Radar Lateral Offset"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Hardware settings are only available offroad."
+msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
@@ -1040,10 +1060,6 @@ msgstr ""
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Selected follow distance: {follow}."
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Use a multi-finger press on the infotainment screen to toggle MADS."
 msgstr ""
diff --git a/openpilot/selfdrive/ui/translations/app_de.po b/openpilot/selfdrive/ui/translations/app_de.po
index fb49ccbdf880df..00af528ce7e4dd 100644
--- a/openpilot/selfdrive/ui/translations/app_de.po
+++ b/openpilot/selfdrive/ui/translations/app_de.po
@@ -109,7 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "Sind Sie sicher, dass Sie deinstallieren möchten?"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "BACKUP"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
@@ -143,7 +147,11 @@ msgid "Bus 2"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
+msgid "CALIBRATE"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
@@ -230,6 +238,10 @@ msgstr ""
 msgid "Current Version"
 msgstr "Aktuelle Version"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "DIAGNOSE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "HERUNTERLADEN"
@@ -394,11 +406,11 @@ msgid "Enable sunnypilot"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
+msgid "Enable the Comma Pedal interceptor."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
+msgid "Enable the stock Bosch radar."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
@@ -445,6 +457,10 @@ msgstr "Experimentalmodus"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "Der Experimentalmodus ist derzeit auf diesem Fahrzeug nicht verfügbar, da der serienmäßige ACC für die Längsregelung verwendet wird."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "FLASH"
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "WIRD VERGESSEN..."
@@ -502,7 +518,7 @@ msgid "Hidden Network"
 msgstr "Verstecktes Netzwerk"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
@@ -553,10 +569,6 @@ msgstr ""
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Längsmanövermodus"
@@ -585,6 +597,10 @@ msgstr "MAX."
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "Maximieren Sie Ihre Trainingsdaten‑Uploads, um die Fahrmodelle von openpilot zu verbessern."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "k. A."
@@ -758,6 +774,10 @@ msgstr "ENTFERNEN"
 msgid "RESET"
 msgstr "ZURÃœCKSETZEN"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "RESTORE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "ANSEHEN"
@@ -800,10 +820,6 @@ msgstr ""
 msgid "Radar Lateral Offset"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset (m)"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -929,10 +945,6 @@ msgstr "Zweig auswählen"
 msgid "Select a language"
 msgstr "Sprache auswählen"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Selected follow distance: {follow}."
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
@@ -985,6 +997,10 @@ msgstr "SOFORT DIE KONTROLLE ÃœBERNEHMEN"
 msgid "TEMP"
 msgstr "TEMP."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "TEST"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "Zielzweig"
diff --git a/openpilot/selfdrive/ui/translations/app_en.po b/openpilot/selfdrive/ui/translations/app_en.po
index 3bfc6d3ee88d4d..314fff1821ac81 100644
--- a/openpilot/selfdrive/ui/translations/app_en.po
+++ b/openpilot/selfdrive/ui/translations/app_en.po
@@ -109,8 +109,12 @@ msgid "Are you sure you want to uninstall?"
 msgstr "Are you sure you want to uninstall?"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
-msgstr ""
+msgid "Attenuate a radar mounted behind the nosecone."
+msgstr "Attenuate a radar mounted behind the nosecone."
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "BACKUP"
+msgstr "BACKUP"
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
@@ -143,8 +147,12 @@ msgid "Bus 2"
 msgstr "Bus 2"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
-msgstr ""
+msgid "CALIBRATE"
+msgstr "CALIBRATE"
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal."
+msgstr "CAN bus for the Comma Pedal."
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
@@ -230,6 +238,10 @@ msgstr ""
 msgid "Current Version"
 msgstr "Current Version"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "DIAGNOSE"
+msgstr "DIAGNOSE"
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "DOWNLOAD"
@@ -416,12 +428,12 @@ msgid "Enable sunnypilot"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
-msgstr ""
+msgid "Enable the Comma Pedal interceptor."
+msgstr "Enable the Comma Pedal interceptor."
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
-msgstr ""
+msgid "Enable the stock Bosch radar."
+msgstr "Enable the stock Bosch radar."
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
@@ -467,6 +479,10 @@ msgstr "Experimental Mode"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "FLASH"
+msgstr "FLASH"
+
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "FORGETTING..."
@@ -524,8 +540,8 @@ msgid "Hidden Network"
 msgstr "Hidden Network"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
-msgstr ""
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
+msgstr "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
@@ -575,10 +591,6 @@ msgstr "Lateral Engagement Mode"
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Longitudinal Maneuver Mode"
@@ -607,6 +619,10 @@ msgstr "MAX"
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "Maximize your training data uploads to improve openpilot's driving models."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
+msgstr "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "N/A"
@@ -790,6 +806,10 @@ msgstr "REMOVE"
 msgid "RESET"
 msgstr "RESET"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "RESTORE"
+msgstr "RESTORE"
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "REVIEW"
@@ -846,10 +866,6 @@ msgstr "Radar Health"
 msgid "Radar Lateral Offset"
 msgstr "Radar Lateral Offset"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset (m)"
-msgstr "Radar Lateral Offset (m)"
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -980,10 +996,6 @@ msgstr "Select a branch"
 msgid "Select a language"
 msgstr "Select a language"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Selected follow distance: {follow}."
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr "Selecting a higher finger count may reduce accidental activations."
@@ -1036,6 +1048,10 @@ msgstr "TAKE CONTROL IMMEDIATELY"
 msgid "TEMP"
 msgstr "TEMP"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "TEST"
+msgstr "TEST"
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "Target Branch"
diff --git a/openpilot/selfdrive/ui/translations/app_es.po b/openpilot/selfdrive/ui/translations/app_es.po
index ebf0a90e1a9e8b..0e308330d7c967 100644
--- a/openpilot/selfdrive/ui/translations/app_es.po
+++ b/openpilot/selfdrive/ui/translations/app_es.po
@@ -109,7 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "¿Seguro que quieres desinstalar?"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "BACKUP"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
@@ -143,7 +147,11 @@ msgid "Bus 2"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
+msgid "CALIBRATE"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
@@ -230,6 +238,10 @@ msgstr ""
 msgid "Current Version"
 msgstr "Versión actual"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "DIAGNOSE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "DESCARGAR"
@@ -394,11 +406,11 @@ msgid "Enable sunnypilot"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
+msgid "Enable the Comma Pedal interceptor."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
+msgid "Enable the stock Bosch radar."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
@@ -445,6 +457,10 @@ msgstr "Modo experimental"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "El modo experimental no está disponible actualmente en este coche, ya que se usa el ACC de fábrica para el control longitudinal."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "FLASH"
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "OLVIDAR..."
@@ -502,7 +518,7 @@ msgid "Hidden Network"
 msgstr "Red oculta"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
@@ -553,10 +569,6 @@ msgstr ""
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Modo de maniobra longitudinal"
@@ -585,6 +597,10 @@ msgstr "M�X"
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "Maximiza tus cargas de datos de entrenamiento para mejorar los modelos de conducción de openpilot."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "N / A"
@@ -758,6 +774,10 @@ msgstr "ELIMINAR"
 msgid "RESET"
 msgstr "RESTABLECER"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "RESTORE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "REVISAR"
@@ -800,10 +820,6 @@ msgstr ""
 msgid "Radar Lateral Offset"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset (m)"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -929,10 +945,6 @@ msgstr "Selecciona una rama"
 msgid "Select a language"
 msgstr "Selecciona un idioma"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Selected follow distance: {follow}."
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
@@ -985,6 +997,10 @@ msgstr "TOME EL CONTROL INMEDIATAMENTE"
 msgid "TEMP"
 msgstr "TEMP."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "TEST"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "Rama objetivo"
diff --git a/openpilot/selfdrive/ui/translations/app_fr.po b/openpilot/selfdrive/ui/translations/app_fr.po
index 472c756784f475..d4f6303a9c54ee 100644
--- a/openpilot/selfdrive/ui/translations/app_fr.po
+++ b/openpilot/selfdrive/ui/translations/app_fr.po
@@ -109,7 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "Êtes-vous sûr de vouloir désinstaller ?"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "BACKUP"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
@@ -143,7 +147,11 @@ msgid "Bus 2"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
+msgid "CALIBRATE"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
@@ -230,6 +238,10 @@ msgstr ""
 msgid "Current Version"
 msgstr "Version actuelle"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "DIAGNOSE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "TÉLÉCHARGER"
@@ -394,11 +406,11 @@ msgid "Enable sunnypilot"
 msgstr "Activer sunnypilot"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
+msgid "Enable the Comma Pedal interceptor."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
+msgid "Enable the stock Bosch radar."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
@@ -445,6 +457,10 @@ msgstr "Mode expérimental"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "Le mode expérimental est actuellement indisponible sur cette voiture car l'ACC d'origine est utilisé pour le contrôle longitudinal."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "FLASH"
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "SUPPRESSION..."
@@ -502,7 +518,7 @@ msgid "Hidden Network"
 msgstr "Réseau masqué"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
@@ -553,10 +569,6 @@ msgstr ""
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Mode de manœuvre longitudinale"
@@ -585,6 +597,10 @@ msgstr "MAX"
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "Maximisez vos envois de données d'entraînement pour améliorer les modèles de conduite d'openpilot."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "N/A"
@@ -758,6 +774,10 @@ msgstr "SUPPRIMER"
 msgid "RESET"
 msgstr "RÉINITIALISER"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "RESTORE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "CONSULTER"
@@ -800,10 +820,6 @@ msgstr ""
 msgid "Radar Lateral Offset"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset (m)"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -929,10 +945,6 @@ msgstr "Sélectionner une branche"
 msgid "Select a language"
 msgstr "Sélectionner une langue"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Selected follow distance: {follow}."
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
@@ -985,6 +997,10 @@ msgstr "REPRENEZ IMMÉDIATEMENT LE CONTRÔLE"
 msgid "TEMP"
 msgstr "TEMP."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "TEST"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "Branche cible"
diff --git a/openpilot/selfdrive/ui/translations/app_ja.po b/openpilot/selfdrive/ui/translations/app_ja.po
index e6d8e2c58c9dd7..f7e10458bdfaea 100644
--- a/openpilot/selfdrive/ui/translations/app_ja.po
+++ b/openpilot/selfdrive/ui/translations/app_ja.po
@@ -109,7 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "本当�アンインストール����？"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "BACKUP"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
@@ -143,7 +147,11 @@ msgid "Bus 2"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
+msgid "CALIBRATE"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
@@ -230,6 +238,10 @@ msgstr ""
 msgid "Current Version"
 msgstr "�在��ージョン"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "DIAGNOSE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "ダウンロード"
@@ -394,11 +406,11 @@ msgid "Enable sunnypilot"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
+msgid "Enable the Comma Pedal interceptor."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
+msgid "Enable the stock Bosch radar."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
@@ -445,6 +457,10 @@ msgstr "実験モード"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "��車��縦制御�純正ACCを使用�る����在実験モード�利用����ん。"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "FLASH"
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "削除中..."
@@ -502,7 +518,7 @@ msgid "Hidden Network"
 msgstr "�公開�ットワーク"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
@@ -553,10 +569,6 @@ msgstr ""
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "縦制御マヌー�ーモード"
@@ -585,6 +597,10 @@ msgstr "最大"
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "学習データ�アップロードを最大化��openpilot��転モデルを改善���ょ�。"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "該当��"
@@ -758,6 +774,10 @@ msgstr "削除"
 msgid "RESET"
 msgstr "リセット"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "RESTORE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "確�"
@@ -800,10 +820,6 @@ msgstr ""
 msgid "Radar Lateral Offset"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset (m)"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -929,10 +945,6 @@ msgstr "ブラン�を�択"
 msgid "Select a language"
 msgstr "言語を�択"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Selected follow distance: {follow}."
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
@@ -985,6 +997,10 @@ msgstr "���手動介入������"
 msgid "TEMP"
 msgstr "温度"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "TEST"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "対象ブラン�"
diff --git a/openpilot/selfdrive/ui/translations/app_ko.po b/openpilot/selfdrive/ui/translations/app_ko.po
index de900119f59319..2ee5c832319d85 100644
--- a/openpilot/selfdrive/ui/translations/app_ko.po
+++ b/openpilot/selfdrive/ui/translations/app_ko.po
@@ -109,7 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "정� 제거하시겠습니까?"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "BACKUP"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
@@ -143,7 +147,11 @@ msgid "Bus 2"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
+msgid "CALIBRATE"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
@@ -230,6 +238,10 @@ msgstr ""
 msgid "Current Version"
 msgstr "현재 버전"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "DIAGNOSE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "다운로드"
@@ -394,11 +406,11 @@ msgid "Enable sunnypilot"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
+msgid "Enable the Comma Pedal interceptor."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
+msgid "Enable the stock Bosch radar."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
@@ -445,6 +457,10 @@ msgstr "실험 모드"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "� 차량� 롱컨 제어� 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습니다."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "FLASH"
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "삭제 중..."
@@ -502,7 +518,7 @@ msgid "Hidden Network"
 msgstr "숨겨진 네트워�"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
@@ -553,10 +569,6 @@ msgstr ""
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "롱컨 기� 모드"
@@ -585,6 +597,10 @@ msgstr "최대"
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "학습 ��터 업로드를 최대화하여 openpilot� 주행 모�� 개선하세요."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "해당 없�"
@@ -758,6 +774,10 @@ msgstr "제거"
 msgid "RESET"
 msgstr "재설정"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "RESTORE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "검토"
@@ -800,10 +820,6 @@ msgstr ""
 msgid "Radar Lateral Offset"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset (m)"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -929,10 +945,6 @@ msgstr "브랜치 선�"
 msgid "Select a language"
 msgstr "언어 선�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Selected follow distance: {follow}."
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
@@ -985,6 +997,10 @@ msgstr "즉시 수� 조작하세요"
 msgid "TEMP"
 msgstr "온�"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "TEST"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "대� 브랜치"
diff --git a/openpilot/selfdrive/ui/translations/app_pt-BR.po b/openpilot/selfdrive/ui/translations/app_pt-BR.po
index cf1ff2e26b16af..f8fa5a34b0201e 100644
--- a/openpilot/selfdrive/ui/translations/app_pt-BR.po
+++ b/openpilot/selfdrive/ui/translations/app_pt-BR.po
@@ -109,7 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "Tem certeza de que deseja desinstalar?"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "BACKUP"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
@@ -143,7 +147,11 @@ msgid "Bus 2"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
+msgid "CALIBRATE"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
@@ -230,6 +238,10 @@ msgstr ""
 msgid "Current Version"
 msgstr "Versão Atual"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "DIAGNOSE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "BAIXAR"
@@ -394,11 +406,11 @@ msgid "Enable sunnypilot"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
+msgid "Enable the Comma Pedal interceptor."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
+msgid "Enable the stock Bosch radar."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
@@ -445,6 +457,10 @@ msgstr "Modo Experimental"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "O Modo Experimental está indisponível neste carro pois o ACC original do carro é usado para controle longitudinal."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "FLASH"
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "ESQUECENDO..."
@@ -502,7 +518,7 @@ msgid "Hidden Network"
 msgstr "Rede oculta"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
@@ -553,10 +569,6 @@ msgstr ""
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Modo de Manobra Longitudinal"
@@ -585,6 +597,10 @@ msgstr "M�X"
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "Maximize seus envios de dados de treinamento para melhorar os modelos de condução do openpilot."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "Indisp."
@@ -758,6 +774,10 @@ msgstr "REMOVER"
 msgid "RESET"
 msgstr "REDEFINIR"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "RESTORE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "REVISAR"
@@ -800,10 +820,6 @@ msgstr ""
 msgid "Radar Lateral Offset"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset (m)"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -929,10 +945,6 @@ msgstr "Selecione uma ramificação"
 msgid "Select a language"
 msgstr "Selecione um idioma"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Selected follow distance: {follow}."
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
@@ -985,6 +997,10 @@ msgstr "ASSUMA O CONTROLE IMEDIATAMENTE"
 msgid "TEMP"
 msgstr "TEMP."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "TEST"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "Branch Alvo"
diff --git a/openpilot/selfdrive/ui/translations/app_th.po b/openpilot/selfdrive/ui/translations/app_th.po
index 510953aab6a6b1..3236d77c084ed1 100644
--- a/openpilot/selfdrive/ui/translations/app_th.po
+++ b/openpilot/selfdrive/ui/translations/app_th.po
@@ -109,7 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "คุณ�น่ใจหรือไม่ว่าต้อง�ารถอน�ารติดตั้ง?"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "BACKUP"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
@@ -143,7 +147,11 @@ msgid "Bus 2"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
+msgid "CALIBRATE"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
@@ -230,6 +238,10 @@ msgstr ""
 msgid "Current Version"
 msgstr "เวอร์ชันปัจจุบัน"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "DIAGNOSE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "ดาวน์โหลด"
@@ -394,11 +406,11 @@ msgid "Enable sunnypilot"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
+msgid "Enable the Comma Pedal interceptor."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
+msgid "Enable the stock Bosch radar."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
@@ -445,6 +457,10 @@ msgstr "โหมดทดลอง"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "ขณะนี้โหมดทดลองไม่สามารถใช้งานได้บนรถคันนี้ เนื่องจา� ACC ในสต็อ�ของรถใช้สำหรับ�ารควบคุมตามยาว"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "FLASH"
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "�ำลังลืม..."
@@ -502,7 +518,7 @@ msgid "Hidden Network"
 msgstr "เครือข่ายที่ซ่อนอยู่"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
@@ -553,10 +569,6 @@ msgstr ""
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "โหมด�ารซ้อมรบตามยาว"
@@ -585,6 +597,10 @@ msgstr "สูงสุด"
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "เพิ่ม�ารอัปโหลดข้อมูล�าร�ึ�ของคุณให้สูงสุดเพื่อปรับปรุงโมเดล�ารขับขี่ของ Openpilot"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "ไม่มี"
@@ -758,6 +774,10 @@ msgstr "ลบ"
 msgid "RESET"
 msgstr "รีเซ็ต"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "RESTORE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "ทบทวน"
@@ -800,10 +820,6 @@ msgstr ""
 msgid "Radar Lateral Offset"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset (m)"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -929,10 +945,6 @@ msgstr "เลือ�สาขา"
 msgid "Select a language"
 msgstr "เลือ�ภาษา"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Selected follow distance: {follow}."
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
@@ -985,6 +997,10 @@ msgstr "เข้าควบคุมทันที"
 msgid "TEMP"
 msgstr "อุณหภูมิ"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "TEST"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "สาขาเป้าหมาย"
diff --git a/openpilot/selfdrive/ui/translations/app_tr.po b/openpilot/selfdrive/ui/translations/app_tr.po
index aaf3517cf9cc11..3e158577d8e71f 100644
--- a/openpilot/selfdrive/ui/translations/app_tr.po
+++ b/openpilot/selfdrive/ui/translations/app_tr.po
@@ -109,7 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "Kaldırmak istediğinizden emin misiniz?"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "BACKUP"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
@@ -143,7 +147,11 @@ msgid "Bus 2"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
+msgid "CALIBRATE"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
@@ -230,6 +238,10 @@ msgstr ""
 msgid "Current Version"
 msgstr "Geçerli Sürüm"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "DIAGNOSE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "Ä°NDÄ°R"
@@ -394,11 +406,11 @@ msgid "Enable sunnypilot"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
+msgid "Enable the Comma Pedal interceptor."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
+msgid "Enable the stock Bosch radar."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
@@ -445,6 +457,10 @@ msgstr "Deneysel Mod"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "Bu araçta boylamsal kontrol için stok ACC kullanıldığından şu anda Deneysel mod kullanılamıyor."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "FLASH"
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "UNUTULUYOR..."
@@ -502,7 +518,7 @@ msgid "Hidden Network"
 msgstr "Gizli AÄŸ"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
@@ -553,10 +569,6 @@ msgstr ""
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Boylamsal Manevra Modu"
@@ -585,6 +597,10 @@ msgstr "MAKS"
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "openpilot'un sürüş modellerini iyileştirmek için eğitim veri yüklemelerinizi en üst düzeye çıkarın."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "Yok"
@@ -758,6 +774,10 @@ msgstr "KALDIR"
 msgid "RESET"
 msgstr "SIFIRLA"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "RESTORE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "GÖZDEN GEÇİR"
@@ -800,10 +820,6 @@ msgstr ""
 msgid "Radar Lateral Offset"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset (m)"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -929,10 +945,6 @@ msgstr "Bir dal seçin"
 msgid "Select a language"
 msgstr "Bir dil seçin"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Selected follow distance: {follow}."
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
@@ -985,6 +997,10 @@ msgstr "HEMEN KONTROLÜ DEVRALIN"
 msgid "TEMP"
 msgstr "SIC."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "TEST"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "Hedef Dal"
diff --git a/openpilot/selfdrive/ui/translations/app_uk.po b/openpilot/selfdrive/ui/translations/app_uk.po
index 2e8156a937bad6..072bd8f34a2455 100644
--- a/openpilot/selfdrive/ui/translations/app_uk.po
+++ b/openpilot/selfdrive/ui/translations/app_uk.po
@@ -109,7 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "Ви впевнені, що хочете видалити?"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "BACKUP"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
@@ -143,7 +147,11 @@ msgid "Bus 2"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
+msgid "CALIBRATE"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
@@ -230,6 +238,10 @@ msgstr ""
 msgid "Current Version"
 msgstr "Поточна вер�і�"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "DIAGNOSE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "В��Т�Ж"
@@ -394,11 +406,11 @@ msgid "Enable sunnypilot"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
+msgid "Enable the Comma Pedal interceptor."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
+msgid "Enable the stock Bosch radar."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
@@ -445,6 +457,10 @@ msgstr "Ек�периментальний режим"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "Ек�периментальний режим наразі недо�тупний дл� цього автомобіл�, о�кільки дл� поздовжнього керуванн� викори�товуєть�� штатний адаптивний круїз-контроль (ACC)."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "FLASH"
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "З�БУВ�Ю..."
@@ -502,7 +518,7 @@ msgid "Hidden Network"
 msgstr "Прихована мережа"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
@@ -553,10 +569,6 @@ msgstr ""
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Режим поздовжнього маневруванн�"
@@ -585,6 +597,10 @@ msgstr "М�КС"
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "Мак�имізуйте завантаженн� навчальних даних, щоб поліпшити моделі openpilot."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "�/Д"
@@ -758,6 +774,10 @@ msgstr "ВИД�ЛИТИ"
 msgid "RESET"
 msgstr "Скинути"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "RESTORE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "ДИВИТИСЬ"
@@ -800,10 +820,6 @@ msgstr ""
 msgid "Radar Lateral Offset"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset (m)"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -929,10 +945,6 @@ msgstr "Виберіть гілку"
 msgid "Select a language"
 msgstr "Виберіть мову"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Selected follow distance: {follow}."
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
@@ -985,6 +997,10 @@ msgstr "КЕРМУЙТЕ �ЕГ�Й�О"
 msgid "TEMP"
 msgstr "ТЕМП"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "TEST"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "Цільова гілка"
diff --git a/openpilot/selfdrive/ui/translations/app_zh-CHS.po b/openpilot/selfdrive/ui/translations/app_zh-CHS.po
index 3ea0f95e8627d5..60fa47cd51fed3 100644
--- a/openpilot/selfdrive/ui/translations/app_zh-CHS.po
+++ b/openpilot/selfdrive/ui/translations/app_zh-CHS.po
@@ -109,7 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "确定��载�？"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "BACKUP"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
@@ -143,7 +147,11 @@ msgid "Bus 2"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
+msgid "CALIBRATE"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
@@ -230,6 +238,10 @@ msgstr ""
 msgid "Current Version"
 msgstr "当�版本"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "DIAGNOSE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "下载"
@@ -394,11 +406,11 @@ msgid "Enable sunnypilot"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
+msgid "Enable the Comma Pedal interceptor."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
+msgid "Enable the stock Bosch radar."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
@@ -445,6 +457,10 @@ msgstr "实验模�"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "此车型当�无法使用实验模�，因为纵�控制使用的是原厂 ACC。"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "FLASH"
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "正在�忘..."
@@ -502,7 +518,7 @@ msgid "Hidden Network"
 msgstr "��网络"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
@@ -553,10 +569,6 @@ msgstr ""
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "纵��作模�"
@@ -585,6 +597,10 @@ msgstr "最大"
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "最大化上传训练数�，以改进 openpilot 的驾驶模型。"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "æ— "
@@ -758,6 +774,10 @@ msgstr "移除"
 msgid "RESET"
 msgstr "�置"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "RESTORE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "查看"
@@ -800,10 +820,6 @@ msgstr ""
 msgid "Radar Lateral Offset"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset (m)"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -929,10 +945,6 @@ msgstr "选择分支"
 msgid "Select a language"
 msgstr "选择语言"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Selected follow distance: {follow}."
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
@@ -985,6 +997,10 @@ msgstr "请立�接管控制"
 msgid "TEMP"
 msgstr "温度"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "TEST"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "目标分支"
diff --git a/openpilot/selfdrive/ui/translations/app_zh-CHT.po b/openpilot/selfdrive/ui/translations/app_zh-CHT.po
index 4bf965fb00821b..10b06329d54d60 100644
--- a/openpilot/selfdrive/ui/translations/app_zh-CHT.po
+++ b/openpilot/selfdrive/ui/translations/app_zh-CHT.po
@@ -109,7 +109,11 @@ msgid "Are you sure you want to uninstall?"
 msgstr "確定�解除安�嗎？"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone. Hardware changes are local and offroad only."
+msgid "Attenuate a radar mounted behind the nosecone."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "BACKUP"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/onboarding.py
@@ -143,7 +147,11 @@ msgid "Bus 2"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal. Hardware changes are local and offroad only."
+msgid "CALIBRATE"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
@@ -230,6 +238,10 @@ msgstr ""
 msgid "Current Version"
 msgstr "目�版本"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "DIAGNOSE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "下載"
@@ -394,11 +406,11 @@ msgid "Enable sunnypilot"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor. Hardware changes are local and offroad only."
+msgid "Enable the Comma Pedal interceptor."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar. Hardware changes are local and offroad only."
+msgid "Enable the stock Bosch radar."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
@@ -445,6 +457,10 @@ msgstr "實驗模�"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "此車款目�無法使用實驗模�，因為縱�控制使用的是原廠 ACC。"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "FLASH"
+msgstr ""
+
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "正在�忘..."
@@ -502,7 +518,7 @@ msgid "Hidden Network"
 msgstr "隱�網路"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
@@ -553,10 +569,6 @@ msgstr ""
 msgid "Lateral Maneuver Mode"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Lateral offset in meters added to radar yRel. Negative shifts leads left of the current radar reading; positive shifts right. Hardware changes are local and offroad only."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "縱��作模�"
@@ -585,6 +597,10 @@ msgstr "最大"
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "最大化上傳訓練資料，以改進 openpilot 的駕駛模型。"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "ç„¡"
@@ -758,6 +774,10 @@ msgstr "移除"
 msgid "RESET"
 msgstr "�設"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "RESTORE"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "檢視"
@@ -800,10 +820,6 @@ msgstr ""
 msgid "Radar Lateral Offset"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset (m)"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -929,10 +945,6 @@ msgstr "��分支"
 msgid "Select a language"
 msgstr "��語言"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Selected follow distance: {follow}."
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
@@ -985,6 +997,10 @@ msgstr "請立刻接手控制"
 msgid "TEMP"
 msgstr "溫度"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "TEST"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "目標分支"
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
index 45fa0dce7eafee..681456507aded0 100644
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
@@ -225,8 +225,9 @@ def test_approved_tools_include_diagnose_radar():
 def test_native_panel_keyboard_and_diagnose():
   src = Path(__file__).resolve().parents[7] / "selfdrive" / "ui" / "sunnypilot" / "layouts" / "settings" / "vehicle" / "brands" / "tesla.py"
   text = src.read_text()
-  assert "Keyboard" in text
-  assert "option_item_sp" not in text
+  assert "Keyboard" not in text
+  assert "option_item_sp" in text
+  assert "text_item_sp" in text
   assert "Diagnose Radar" in text
   assert "NAPBrakeFactor" not in text
   assert "Emergency Disable" not in text
@@ -300,7 +301,12 @@ def boom(*_args, **_kwargs):
   "Lateral Engagement Mode",
   "Independent",
   "Radar Lateral Offset",
-  "Radar Lateral Offset (m)",
+  "CALIBRATE",
+  "DIAGNOSE",
+  "TEST",
+  "BACKUP",
+  "FLASH",
+  "RESTORE",
   "Calibrate Pedal",
   "Calibrate Radar",
   "Diagnose Radar",
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py b/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py
index cd3ed351d7da4a..fdecc6ae2caaa3 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py
@@ -59,6 +59,18 @@ def test_tesla_menu_does_not_own_mads_engagement(self):
     self.assertNotIn("Lateral Engagement Mode", src)
     self.assertNotIn("Active Engagement Mode", src)
 
+  def test_preap_uses_native_status_and_steppers(self):
+    src = TESLA_PY.read_text()
+    self.assertIn("option_item_sp(", src)
+    self.assertIn("text_item_sp(", src)
+    self.assertIn('param="NAPFollowDistance"', src)
+    self.assertIn('param="NAPRadarOffset"', src)
+    self.assertNotIn("button_width=90", src)
+    self.assertNotIn("Keyboard(", src)
+    self.assertIn('lambda: tr("CALIBRATE")', src)
+    self.assertIn('lambda: tr("FLASH")', src)
+    self.assertNotIn("self.follow_distance.action_item.set_enabled(offroad)", src)
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui.json b/openpilot/sunnypilot/sunnylink/settings_ui.json
index 440bd727b1d5c4..6f8ce1ac3a343a 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui.json
+++ b/openpilot/sunnypilot/sunnylink/settings_ui.json
@@ -2499,7 +2499,7 @@
           "needs_onroad_cycle": true,
           "blocked": true,
           "title": "Pedal Interceptor",
-          "description": "Enable Comma Pedal hardware. Local and offroad only.",
+          "description": "Enable the Comma Pedal interceptor.",
           "visibility": [
             {
               "type": "capability",
@@ -2519,7 +2519,7 @@
           "needs_onroad_cycle": true,
           "blocked": true,
           "title": "Pedal CAN Bus",
-          "description": "CAN bus for the Comma Pedal. Local and offroad only.",
+          "description": "CAN bus for the Comma Pedal.",
           "options": [
             {
               "value": 0,
@@ -2549,7 +2549,7 @@
           "needs_onroad_cycle": true,
           "blocked": true,
           "title": "Bosch Radar",
-          "description": "Enable stock Bosch radar. Local and offroad only.",
+          "description": "Enable the stock Bosch radar.",
           "visibility": [
             {
               "type": "capability",
@@ -2569,7 +2569,7 @@
           "needs_onroad_cycle": true,
           "blocked": true,
           "title": "Radar Behind Nosecone",
-          "description": "Attenuate radar mounted behind the nosecone. Local and offroad only.",
+          "description": "Attenuate a radar mounted behind the nosecone.",
           "visibility": [
             {
               "type": "capability",
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
index 0f74f38cb371ab..656b2028a6b922 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
@@ -128,7 +128,7 @@ sections:
     blocked: true
     needs_onroad_cycle: true
     title: Pedal Interceptor
-    description: Enable Comma Pedal hardware. Local and offroad only.
+    description: Enable the Comma Pedal interceptor.
     visibility:
     - $ref: '#/macros/tesla_preap'
     enablement:
@@ -138,7 +138,7 @@ sections:
     blocked: true
     needs_onroad_cycle: true
     title: Pedal CAN Bus
-    description: CAN bus for the Comma Pedal. Local and offroad only.
+    description: CAN bus for the Comma Pedal.
     options:
     - value: 0
       label: Bus 0
@@ -153,7 +153,7 @@ sections:
     blocked: true
     needs_onroad_cycle: true
     title: Bosch Radar
-    description: Enable stock Bosch radar. Local and offroad only.
+    description: Enable the stock Bosch radar.
     visibility:
     - $ref: '#/macros/tesla_preap'
     enablement:
@@ -163,7 +163,7 @@ sections:
     blocked: true
     needs_onroad_cycle: true
     title: Radar Behind Nosecone
-    description: Attenuate radar mounted behind the nosecone. Local and offroad only.
+    description: Attenuate a radar mounted behind the nosecone.
     visibility:
     - $ref: '#/macros/tesla_preap_radar'
     enablement:
diff --git a/openpilot/system/ui/sunnypilot/widgets/list_view.py b/openpilot/system/ui/sunnypilot/widgets/list_view.py
index ff4b8c13dd574b..248803ce5a88f5 100644
--- a/openpilot/system/ui/sunnypilot/widgets/list_view.py
+++ b/openpilot/system/ui/sunnypilot/widgets/list_view.py
@@ -15,7 +15,7 @@
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
 from openpilot.system.ui.widgets.label import gui_label
 from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction, MultipleButtonAction, ButtonAction, \
-                                                  _resolve_value, BUTTON_WIDTH, BUTTON_HEIGHT, TEXT_PADDING, DualButtonAction
+                                                  TextAction, _resolve_value, BUTTON_WIDTH, BUTTON_HEIGHT, TEXT_PADDING, DualButtonAction
 from openpilot.system.ui.widgets.scroller_tici import LineSeparator, LINE_COLOR, LINE_PADDING
 from openpilot.system.ui.sunnypilot.lib.styles import style
 from openpilot.system.ui.sunnypilot.widgets.option_control import OptionControlSP, LABEL_WIDTH
@@ -392,6 +392,12 @@ def button_item_sp(title: str | Callable[[], str], button_text: str | Callable[[
   return ListItemSP(title=title, description=description, action_item=action, callback=callback)
 
 
+def text_item_sp(title: str | Callable[[], str], value: str | Callable[[], str],
+                 description: str | Callable[[], str] | None = None) -> ListItemSP:
+  action = TextAction(text=value, color=style.ITEM_TEXT_VALUE_COLOR)
+  return ListItemSP(title=title, description=description, action_item=action)
+
+
 def dual_button_item_sp(left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable | None = None,
                         right_callback: Callable | None = None, description: str | Callable[[], str] | None = None,
                         enabled: bool | Callable[[], bool] = True, border_radius: int = 15) -> ListItemSP:

From 52a073669d77c6680d534f2e5f1a1de2001add72 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Sat, 22 Aug 2026 15:56:25 +0000
Subject: [PATCH 1405/1434] tesla_preap: match native Sunny Vehicle layout

Stack the radar offset stepper, put status rows with follow
distance, size the pedal-bus control like Device, and stop
force-expanding five identical onroad warnings.
---
 .../layouts/settings/vehicle/brands/tesla.py  | 50 +++++++++----------
 openpilot/selfdrive/ui/translations/app.pot   | 18 +++----
 openpilot/selfdrive/ui/translations/app_de.po | 10 ++--
 openpilot/selfdrive/ui/translations/app_en.po | 12 ++---
 openpilot/selfdrive/ui/translations/app_es.po | 10 ++--
 openpilot/selfdrive/ui/translations/app_fr.po | 10 ++--
 openpilot/selfdrive/ui/translations/app_ja.po | 10 ++--
 openpilot/selfdrive/ui/translations/app_ko.po | 10 ++--
 .../selfdrive/ui/translations/app_pt-BR.po    | 10 ++--
 openpilot/selfdrive/ui/translations/app_th.po | 10 ++--
 openpilot/selfdrive/ui/translations/app_tr.po | 10 ++--
 openpilot/selfdrive/ui/translations/app_uk.po | 10 ++--
 .../selfdrive/ui/translations/app_zh-CHS.po   | 10 ++--
 .../selfdrive/ui/translations/app_zh-CHT.po   | 10 ++--
 .../tests/test_tesla_settings_pedal_bus.py    |  3 ++
 15 files changed, 96 insertions(+), 97 deletions(-)

diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
index 7318ecad65196e..bf4615820b9a38 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
@@ -13,6 +13,7 @@
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import ToolSafetyError
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.lib.styles import style
 from openpilot.system.ui.sunnypilot.widgets.list_view import (
   button_item_sp, multiple_button_item_sp, option_item_sp, text_item_sp, toggle_item_sp,
 )
@@ -83,7 +84,7 @@ def __init__(self):
       param="NAPFollowDistance",
       min_value=FOLLOW_DISTANCE_MIN,
       max_value=FOLLOW_DISTANCE_MAX,
-      description=lambda: tr("How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."),
+      description=lambda: tr("How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."),
       label_callback=str,
       inline=True,
     )
@@ -96,6 +97,7 @@ def __init__(self):
       title=lambda: tr("Pedal CAN Bus"),
       description=lambda: tr("CAN bus for the Comma Pedal."),
       buttons=[lambda: tr("Bus 0"), lambda: tr("Bus 2")],
+      button_width=364,
       inline=True,
       callback=self._on_pedal_bus_selected,
     )
@@ -116,9 +118,9 @@ def __init__(self):
       max_value=RADAR_OFFSET_MAX_CM,
       value_change_step=RADAR_OFFSET_STEP_CM,
       use_float_scaling=True,
-      description=lambda: tr("Meters added to radar yRel. Negative shifts leads left; positive shifts right."),
+      label_width=style.BUTTON_ACTION_WIDTH,
+      description=lambda: tr("Shift detected leads left (-) or right (+)."),
       label_callback=lambda value: f"{value / 100.0:+.2f} m",
-      inline=True,
     )
     self.status_path = text_item_sp(lambda: tr("Longitudinal Path"), lambda: tr("Stock DI"))
     self.status_pedal = text_item_sp(lambda: tr("Pedal Health"), lambda: tr("None"))
@@ -141,14 +143,14 @@ def __init__(self):
 
     self._preap_items = [
       self.follow_distance,
+      self.status_path,
+      self.status_pedal,
+      self.status_radar,
       self.pedal_enabled,
       self.pedal_bus,
       self.radar_enabled,
       self.radar_nosecone,
       self.radar_offset,
-      self.status_path,
-      self.status_pedal,
-      self.status_radar,
       self.tool_calibrate_pedal,
       self.tool_calibrate_radar,
       self.tool_diagnose_radar,
@@ -291,28 +293,22 @@ def update_settings(self):
     if is_preap:
       self._update_preap_status(is_preap)
       hardware_offroad_msg = tr("Hardware settings are only available offroad.")
+      pedal_desc = tr("Enable the Comma Pedal interceptor.")
+      pedal_bus_desc = tr("CAN bus for the Comma Pedal.")
+      radar_desc = tr("Enable the stock Bosch radar.")
+      nosecone_desc = tr("Attenuate a radar mounted behind the nosecone.")
+      offset_desc = tr("Shift detected leads left (-) or right (+).")
       if not offroad:
-        self.pedal_enabled.set_description(f"<b>{hardware_offroad_msg}</b>")
-        self.pedal_bus.set_description(f"<b>{hardware_offroad_msg}</b>")
-        self.radar_enabled.set_description(f"<b>{hardware_offroad_msg}</b>")
-        self.radar_nosecone.set_description(f"<b>{hardware_offroad_msg}</b>")
-        self.radar_offset.set_description(f"<b>{hardware_offroad_msg}</b>")
-        self.pedal_enabled.show_description(True)
-        self.pedal_bus.show_description(True)
-        self.radar_enabled.show_description(True)
-        self.radar_nosecone.show_description(True)
-        self.radar_offset.show_description(True)
-      else:
-        self.pedal_enabled.set_description(tr("Enable the Comma Pedal interceptor."))
-        self.pedal_bus.set_description(tr("CAN bus for the Comma Pedal."))
-        self.radar_enabled.set_description(tr("Enable the stock Bosch radar."))
-        self.radar_nosecone.set_description(tr("Attenuate a radar mounted behind the nosecone."))
-        self.radar_offset.set_description(tr("Meters added to radar yRel. Negative shifts leads left; positive shifts right."))
-        self.pedal_enabled.show_description(False)
-        self.pedal_bus.show_description(False)
-        self.radar_enabled.show_description(False)
-        self.radar_nosecone.show_description(False)
-        self.radar_offset.show_description(False)
+        pedal_desc = f"<b>{hardware_offroad_msg}</b><br><br>{pedal_desc}"
+        pedal_bus_desc = f"<b>{hardware_offroad_msg}</b><br><br>{pedal_bus_desc}"
+        radar_desc = f"<b>{hardware_offroad_msg}</b><br><br>{radar_desc}"
+        nosecone_desc = f"<b>{hardware_offroad_msg}</b><br><br>{nosecone_desc}"
+        offset_desc = f"<b>{hardware_offroad_msg}</b><br><br>{offset_desc}"
+      self.pedal_enabled.set_description(pedal_desc)
+      self.pedal_bus.set_description(pedal_bus_desc)
+      self.radar_enabled.set_description(radar_desc)
+      self.radar_nosecone.set_description(nosecone_desc)
+      self.radar_offset.set_description(offset_desc)
       self.pedal_enabled.action_item.set_enabled(offroad)
       self.pedal_bus.action_item.set_enabled(offroad)
       self.radar_enabled.action_item.set_enabled(offroad)
diff --git a/openpilot/selfdrive/ui/translations/app.pot b/openpilot/selfdrive/ui/translations/app.pot
index 5658813600fdf7..6448773ca5a4f4 100644
--- a/openpilot/selfdrive/ui/translations/app.pot
+++ b/openpilot/selfdrive/ui/translations/app.pot
@@ -912,6 +912,14 @@ msgstr ""
 msgid "Hardware settings are only available offroad."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "CAN bus for the Comma Pedal."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Shift detected leads left (-) or right (+)."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "None"
 msgstr ""
@@ -1001,25 +1009,17 @@ msgid "Follow Distance"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Pedal CAN Bus"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal."
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Radar Lateral Offset"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Tools are only available offroad."
 msgstr ""
diff --git a/openpilot/selfdrive/ui/translations/app_de.po b/openpilot/selfdrive/ui/translations/app_de.po
index 00af528ce7e4dd..051894a64c9d13 100644
--- a/openpilot/selfdrive/ui/translations/app_de.po
+++ b/openpilot/selfdrive/ui/translations/app_de.po
@@ -518,7 +518,7 @@ msgid "Hidden Network"
 msgstr "Verstecktes Netzwerk"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
@@ -597,10 +597,6 @@ msgstr "MAX."
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "Maximieren Sie Ihre Trainingsdaten‑Uploads, um die Fahrmodelle von openpilot zu verbessern."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "k. A."
@@ -953,6 +949,10 @@ msgstr ""
 msgid "Serial"
 msgstr "Seriennummer"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Shift detected leads left (-) or right (+)."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Update verschieben"
diff --git a/openpilot/selfdrive/ui/translations/app_en.po b/openpilot/selfdrive/ui/translations/app_en.po
index 314fff1821ac81..fe51dcf8289d5b 100644
--- a/openpilot/selfdrive/ui/translations/app_en.po
+++ b/openpilot/selfdrive/ui/translations/app_en.po
@@ -540,8 +540,8 @@ msgid "Hidden Network"
 msgstr "Hidden Network"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
-msgstr "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
+msgstr "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
@@ -619,10 +619,6 @@ msgstr "MAX"
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "Maximize your training data uploads to improve openpilot's driving models."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
-msgstr "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "N/A"
@@ -1004,6 +1000,10 @@ msgstr "Selecting a higher finger count may reduce accidental activations."
 msgid "Serial"
 msgstr "Serial"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Shift detected leads left (-) or right (+)."
+msgstr "Shift detected leads left (-) or right (+)."
+
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Snooze Update"
diff --git a/openpilot/selfdrive/ui/translations/app_es.po b/openpilot/selfdrive/ui/translations/app_es.po
index 0e308330d7c967..ad1aa6418a3b30 100644
--- a/openpilot/selfdrive/ui/translations/app_es.po
+++ b/openpilot/selfdrive/ui/translations/app_es.po
@@ -518,7 +518,7 @@ msgid "Hidden Network"
 msgstr "Red oculta"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
@@ -597,10 +597,6 @@ msgstr "M�X"
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "Maximiza tus cargas de datos de entrenamiento para mejorar los modelos de conducción de openpilot."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "N / A"
@@ -953,6 +949,10 @@ msgstr ""
 msgid "Serial"
 msgstr "Número de serie"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Shift detected leads left (-) or right (+)."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Posponer actualización"
diff --git a/openpilot/selfdrive/ui/translations/app_fr.po b/openpilot/selfdrive/ui/translations/app_fr.po
index d4f6303a9c54ee..ecef7a8ef8b6db 100644
--- a/openpilot/selfdrive/ui/translations/app_fr.po
+++ b/openpilot/selfdrive/ui/translations/app_fr.po
@@ -518,7 +518,7 @@ msgid "Hidden Network"
 msgstr "Réseau masqué"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
@@ -597,10 +597,6 @@ msgstr "MAX"
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "Maximisez vos envois de données d'entraînement pour améliorer les modèles de conduite d'openpilot."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "N/A"
@@ -953,6 +949,10 @@ msgstr ""
 msgid "Serial"
 msgstr "Numéro de série"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Shift detected leads left (-) or right (+)."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Reporter la mise à jour"
diff --git a/openpilot/selfdrive/ui/translations/app_ja.po b/openpilot/selfdrive/ui/translations/app_ja.po
index f7e10458bdfaea..924254dffdf3bf 100644
--- a/openpilot/selfdrive/ui/translations/app_ja.po
+++ b/openpilot/selfdrive/ui/translations/app_ja.po
@@ -518,7 +518,7 @@ msgid "Hidden Network"
 msgstr "�公開�ットワーク"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
@@ -597,10 +597,6 @@ msgstr "最大"
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "学習データ�アップロードを最大化��openpilot��転モデルを改善���ょ�。"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "該当��"
@@ -953,6 +949,10 @@ msgstr ""
 msgid "Serial"
 msgstr "シリアル"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Shift detected leads left (-) or right (+)."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "更新を後�通知"
diff --git a/openpilot/selfdrive/ui/translations/app_ko.po b/openpilot/selfdrive/ui/translations/app_ko.po
index 2ee5c832319d85..fea6d2b3aebc62 100644
--- a/openpilot/selfdrive/ui/translations/app_ko.po
+++ b/openpilot/selfdrive/ui/translations/app_ko.po
@@ -518,7 +518,7 @@ msgid "Hidden Network"
 msgstr "숨겨진 네트워�"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
@@ -597,10 +597,6 @@ msgstr "최대"
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "학습 ��터 업로드를 최대화하여 openpilot� 주행 모�� 개선하세요."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "해당 없�"
@@ -953,6 +949,10 @@ msgstr ""
 msgid "Serial"
 msgstr "시리얼"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Shift detected leads left (-) or right (+)."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "업��트 나중� 알림"
diff --git a/openpilot/selfdrive/ui/translations/app_pt-BR.po b/openpilot/selfdrive/ui/translations/app_pt-BR.po
index f8fa5a34b0201e..2830e6ed63dc16 100644
--- a/openpilot/selfdrive/ui/translations/app_pt-BR.po
+++ b/openpilot/selfdrive/ui/translations/app_pt-BR.po
@@ -518,7 +518,7 @@ msgid "Hidden Network"
 msgstr "Rede oculta"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
@@ -597,10 +597,6 @@ msgstr "M�X"
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "Maximize seus envios de dados de treinamento para melhorar os modelos de condução do openpilot."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "Indisp."
@@ -953,6 +949,10 @@ msgstr ""
 msgid "Serial"
 msgstr "Número de série"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Shift detected leads left (-) or right (+)."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Adiar Atualização"
diff --git a/openpilot/selfdrive/ui/translations/app_th.po b/openpilot/selfdrive/ui/translations/app_th.po
index 3236d77c084ed1..ef0cadfb36b002 100644
--- a/openpilot/selfdrive/ui/translations/app_th.po
+++ b/openpilot/selfdrive/ui/translations/app_th.po
@@ -518,7 +518,7 @@ msgid "Hidden Network"
 msgstr "เครือข่ายที่ซ่อนอยู่"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
@@ -597,10 +597,6 @@ msgstr "สูงสุด"
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "เพิ่ม�ารอัปโหลดข้อมูล�าร�ึ�ของคุณให้สูงสุดเพื่อปรับปรุงโมเดล�ารขับขี่ของ Openpilot"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "ไม่มี"
@@ -953,6 +949,10 @@ msgstr ""
 msgid "Serial"
 msgstr "อนุ�รม"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Shift detected leads left (-) or right (+)."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "เลื่อน�ารอัปเดต"
diff --git a/openpilot/selfdrive/ui/translations/app_tr.po b/openpilot/selfdrive/ui/translations/app_tr.po
index 3e158577d8e71f..348c7a8b5b9654 100644
--- a/openpilot/selfdrive/ui/translations/app_tr.po
+++ b/openpilot/selfdrive/ui/translations/app_tr.po
@@ -518,7 +518,7 @@ msgid "Hidden Network"
 msgstr "Gizli AÄŸ"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
@@ -597,10 +597,6 @@ msgstr "MAKS"
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "openpilot'un sürüş modellerini iyileştirmek için eğitim veri yüklemelerinizi en üst düzeye çıkarın."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "Yok"
@@ -953,6 +949,10 @@ msgstr ""
 msgid "Serial"
 msgstr "Seri"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Shift detected leads left (-) or right (+)."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Güncellemeyi Ertele"
diff --git a/openpilot/selfdrive/ui/translations/app_uk.po b/openpilot/selfdrive/ui/translations/app_uk.po
index 072bd8f34a2455..cb4ac58f315121 100644
--- a/openpilot/selfdrive/ui/translations/app_uk.po
+++ b/openpilot/selfdrive/ui/translations/app_uk.po
@@ -518,7 +518,7 @@ msgid "Hidden Network"
 msgstr "Прихована мережа"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
@@ -597,10 +597,6 @@ msgstr "М�КС"
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "Мак�имізуйте завантаженн� навчальних даних, щоб поліпшити моделі openpilot."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "�/Д"
@@ -953,6 +949,10 @@ msgstr ""
 msgid "Serial"
 msgstr "Серійний номер"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Shift detected leads left (-) or right (+)."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Відкла�ти оновленн�"
diff --git a/openpilot/selfdrive/ui/translations/app_zh-CHS.po b/openpilot/selfdrive/ui/translations/app_zh-CHS.po
index 60fa47cd51fed3..d76979a54822a6 100644
--- a/openpilot/selfdrive/ui/translations/app_zh-CHS.po
+++ b/openpilot/selfdrive/ui/translations/app_zh-CHS.po
@@ -518,7 +518,7 @@ msgid "Hidden Network"
 msgstr "��网络"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
@@ -597,10 +597,6 @@ msgstr "最大"
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "最大化上传训练数�，以改进 openpilot 的驾驶模型。"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "æ— "
@@ -953,6 +949,10 @@ msgstr ""
 msgid "Serial"
 msgstr "�列�"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Shift detected leads left (-) or right (+)."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "延�更新"
diff --git a/openpilot/selfdrive/ui/translations/app_zh-CHT.po b/openpilot/selfdrive/ui/translations/app_zh-CHT.po
index 10b06329d54d60..c826c93e1bac9b 100644
--- a/openpilot/selfdrive/ui/translations/app_zh-CHT.po
+++ b/openpilot/selfdrive/ui/translations/app_zh-CHT.po
@@ -518,7 +518,7 @@ msgid "Hidden Network"
 msgstr "隱�網路"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest."
+msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/software.py
@@ -597,10 +597,6 @@ msgstr "最大"
 msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "最大化上傳訓練資料，以改進 openpilot 的駕駛模型。"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Meters added to radar yRel. Negative shifts leads left; positive shifts right."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "ç„¡"
@@ -953,6 +949,10 @@ msgstr ""
 msgid "Serial"
 msgstr "�號"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Shift detected leads left (-) or right (+)."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "延後更新"
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py b/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py
index fdecc6ae2caaa3..355c61e2e07506 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py
@@ -67,6 +67,9 @@ def test_preap_uses_native_status_and_steppers(self):
     self.assertIn('param="NAPRadarOffset"', src)
     self.assertNotIn("button_width=90", src)
     self.assertNotIn("Keyboard(", src)
+    self.assertNotIn("yRel", src)
+    self.assertIn("label_width=style.BUTTON_ACTION_WIDTH", src)
+    self.assertIn("button_width=364", src)
     self.assertIn('lambda: tr("CALIBRATE")', src)
     self.assertIn('lambda: tr("FLASH")', src)
     self.assertNotIn("self.follow_distance.action_item.set_enabled(offroad)", src)

From 2fd1962de0c3b280658918eddcb759f86b7f345b Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Tue, 25 Aug 2026 03:16:01 +0000
Subject: [PATCH 1406/1434] tesla_preap: point opendbc at field handshake fixes

Consumer tests now keep the physical stalk counter and wait for a
fresh DI OFF after the second pull, matching the host/panda handshake.

Co-authored-by: Cursor <cursoragent@cursor.com>
---
 opendbc_repo                                     |  2 +-
 .../car/tests/test_preap_stock_cc_consumer.py    | 16 ++++++++++++----
 2 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index becaad5dbc1bc6..d2ce85fbee6fb4 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit becaad5dbc1bc6fa20a4d64d24327647b10562e1
+Subproject commit d2ce85fbee6fb4d620a55a2cde0baba821e0a2e5
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_stock_cc_consumer.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_stock_cc_consumer.py
index 1c0f541877d862..648bb45c11edd2 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_stock_cc_consumer.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_stock_cc_consumer.py
@@ -288,7 +288,8 @@ def _force_confirmed(CI, stalk_counter=5):
   t._blocked = False
   t._panda_counter_at_bind = 0
   t.bound_counter = 1
-  t.sync_counter(stalk_counter)
+  t.update_live_stw({"MC_STW_ACTN_RQ": stalk_counter})
+  t.update_stalk(IDLE, stalk_counter, 0)
   t._prev_lever = 0
   return t
 
@@ -347,9 +348,15 @@ def _confirmed_di_fall(self, CI):
     t = _force_confirmed(CI)
     CI.update(_packet("DI_state", {"DI_cruiseState": 2, "DI_speedUnits": 1, "DI_digitalSpeed": 20}, ts=1_500_000))
     self.assertEqual(t.state, structs.CarStateSP.PreapStockCcTransactionState.confirmed)
-    _cs, CS_SP = CI.update(_packet(
+    CI.update(_packet(
       "DI_state", {"DI_cruiseState": 0, "DI_speedUnits": 1, "DI_digitalSpeed": 20}, ts=2_000_000,
     ))
+    CI.CS.update_stock_cc_panda(SimpleNamespace(
+      stockCcReengageCounter=t.bound_counter,
+      stockCcReengageConfirmed=False,
+      controlsAllowedLongitudinal=True,
+    ))
+    _cs, CS_SP = CI.update([])
     return CS_SP
 
   def test_produced_nopedal_independent_confirmed_di_fall_does_not_lkas_disable(self):
@@ -459,11 +466,12 @@ def test_direct_adjustment_levers_produce_atomic_lkas_and_button_enable(self):
         self.assertTrue(CI.CS.stock_cc._post_cancel_di)
 
         frozen[0] = 399_000_000
-        CI.update(_stw(IDLE, 4, 4_000_000))
-        _cs, CS_SP = CI.update(_stw(MAIN, 5, 4_000_001))
+        CI.update(_stw(IDLE, 3, 4_000_000))
+        _cs, CS_SP = CI.update(_stw(MAIN, 4, 4_000_001))
         self.assertTrue(CI.CS.intent._coupled_deferred)
         self.assertEqual(CS_SP.preapLateralIntent.name, "none")
 
+        CI.update(_di(False, 5_000_000))
         set_tx, set_echo = self._drain_stock_cc_tx(CI)
         self.assertEqual(set_tx, [SET_ACCEL])
         self.assertNotIn(MAIN, set_tx)

From 493ee7e411319b470715e313b5695e2714dcde12 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Tue, 1 Sep 2026 19:22:46 +0000
Subject: [PATCH 1407/1434] tesla_preap: add NAP sidebar and port nap-dev radar

Vehicle stays Sunny-native for coop steering and AP MADS. NAP gets its
own sidebar with the nap-dev groups, including a radar submenu, live
overlay, and donor VIN read. Handshake and MADS settings stay.
---
 opendbc_repo                                  |   2 +-
 openpilot/common/params_keys.h                |  12 +-
 openpilot/selfdrive/car/card.py               |  63 ++
 .../ui/layouts/settings/nap_content.py        | 236 +++++++
 .../selfdrive/ui/mici/layouts/settings/nap.py | 291 +++++++++
 .../ui/mici/layouts/settings/nap_script.py    |  21 +
 .../ui/mici/layouts/settings/settings.py      |   6 +
 .../ui/mici/onroad/augmented_road_view.py     |   3 +
 .../ui/onroad/augmented_road_view.py          |   3 +
 openpilot/selfdrive/ui/radar/__init__.py      |   3 +
 openpilot/selfdrive/ui/radar/bosch_status.py  | 258 ++++++++
 .../selfdrive/ui/radar/preview_radar_ui.py    | 104 +++
 openpilot/selfdrive/ui/radar/radar_view.py    | 600 ++++++++++++++++++
 .../ui/sunnypilot/layouts/settings/nap.py     | 524 +++++++++++++++
 .../sunnypilot/layouts/settings/settings.py   |   3 +
 .../layouts/settings/vehicle/brands/tesla.py  | 245 +------
 .../ui/sunnypilot/mici/layouts/settings.py    |   6 +
 openpilot/selfdrive/ui/ui_state.py            |  20 +
 .../sunnypilot/selfdrive/car/preap_boot.py    |   6 +
 .../preap/tools/tests/test_preap_tools.py     |  27 +-
 .../tests/test_tesla_settings_pedal_bus.py    |  41 +-
 21 files changed, 2199 insertions(+), 275 deletions(-)
 create mode 100644 openpilot/selfdrive/ui/layouts/settings/nap_content.py
 create mode 100644 openpilot/selfdrive/ui/mici/layouts/settings/nap.py
 create mode 100644 openpilot/selfdrive/ui/mici/layouts/settings/nap_script.py
 create mode 100644 openpilot/selfdrive/ui/radar/__init__.py
 create mode 100644 openpilot/selfdrive/ui/radar/bosch_status.py
 create mode 100755 openpilot/selfdrive/ui/radar/preview_radar_ui.py
 create mode 100644 openpilot/selfdrive/ui/radar/radar_view.py
 create mode 100644 openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py

diff --git a/opendbc_repo b/opendbc_repo
index d2ce85fbee6fb4..c3e9ba2b061d61 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit d2ce85fbee6fb4d620a55a2cde0baba821e0a2e5
+Subproject commit c3e9ba2b061d61bb1e2bbecaed3f3654fd0b99d9
diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h
index d22fb0436a0e55..e1375f0a5620e3 100644
--- a/openpilot/common/params_keys.h
+++ b/openpilot/common/params_keys.h
@@ -228,7 +228,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"TeslaMadsScreenButton", {PERSISTENT | BACKUP, INT, "0"}},
 
     // Pre-AP Tesla (NAP) retained keys. Shared sunnypilot leaves NAPForcePreAP
-    // absent/false. Do not register NAPAdaptiveAccel.
+    // absent/false.
     {"NAPForcePreAP", {PERSISTENT | BACKUP, BOOL}},
     {"NAPLateralEngagementMode", {PERSISTENT | BACKUP, INT}},
     {"NAPLateralEngagementModeMigrated", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -241,9 +241,19 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"NAPPedalCalibMin", {PERSISTENT | BACKUP, FLOAT, "-3.0"}},
     {"NAPPedalCalibMax", {PERSISTENT | BACKUP, FLOAT, "99.6"}},
     {"NAPPedalCalibZero", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
+    {"NAPAdaptiveAccel", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"NAPRadarEnabled", {PERSISTENT | BACKUP, BOOL}},
     {"NAPRadarBehindNosecone", {PERSISTENT | BACKUP, BOOL}},
     {"NAPRadarOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
+    {"NAPRadarHud", {PERSISTENT | BACKUP, BOOL}},
+    {"NAPRadarIgnoreHwFail", {PERSISTENT | BACKUP, BOOL}},
+    {"NAPRadarDonorVin", {PERSISTENT | BACKUP, STRING}},
+    {"NAPRadarEpasType", {PERSISTENT | BACKUP, INT, "0"}},
+    {"NAPRadarPosition", {PERSISTENT | BACKUP, INT, "0"}},
+    {"NAPRadarReadVin", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"NAPRadarVinReadStatus", {CLEAR_ON_MANAGER_START, STRING}},
+    {"NAPiBoosterEnabled", {PERSISTENT | BACKUP, BOOL}},
+    {"NAPBrakeFactor", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
     {"NAPScriptRunning", {CLEAR_ON_MANAGER_START, BOOL, "0"}},
     {"NAPEpasRiskAccepted", {CLEAR_ON_MANAGER_START, BOOL, "0"}},
     {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
diff --git a/openpilot/selfdrive/car/card.py b/openpilot/selfdrive/car/card.py
index 10db6b130fe3b3..e3cd510ece18f6 100755
--- a/openpilot/selfdrive/car/card.py
+++ b/openpilot/selfdrive/car/card.py
@@ -190,9 +190,42 @@ def __init__(self, CI=None, RI=None) -> None:
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
+    self._can_packets: list[CanData] = []
+    self.radar_donor_vin = None
+    tesla_preap = any(cfg.safetyModel == car.CarParams.SafetyModel.teslaPreap for cfg in self.CP.safetyConfigs)
+    if tesla_preap:
+      from opendbc.car.tesla.preap.radar_donor_vin import (
+        RadarDonorVinCommissioner, radar_donor_live, seed_radar_donor_live,
+      )
+
+      def store_donor_vin(vin: str) -> None:
+        self.params.put("NAPRadarDonorVin", vin)
+        seed_radar_donor_live(vin, radar_donor_live.position, radar_donor_live.epas_type)
+        self.params.put("NAPRadarVinReadStatus", f"saved {vin}")
+        cloudlog.info("preap radar donor vin stored")
+
+      self.radar_donor_vin = RadarDonorVinCommissioner(store_donor_vin)
+      self._sync_radar_donor_live()
+
     # log fingerprint in sentry
     sunnypilot_interfaces.log_fingerprint(self.CP)
 
+  def _parse_radar_int(self, key: str, default: int, lo: int, hi: int) -> int:
+    raw = self.params.get(key)
+    try:
+      value = int(raw)
+    except (TypeError, ValueError):
+      return default
+    return value if lo <= value <= hi else default
+
+  def _sync_radar_donor_live(self) -> None:
+    from opendbc.car.tesla.preap.radar_donor_vin import seed_radar_donor_live
+    seed_radar_donor_live(
+      self.params.get("NAPRadarDonorVin"),
+      self._parse_radar_int("NAPRadarPosition", 0, 0, 3),
+      self._parse_radar_int("NAPRadarEpasType", 0, 0, 7),
+    )
+
   def stamp_preap_intent_epoch(self, CS_SP: structs.CarStateSP) -> None:
     if not self.preap_intent_epoch:
       return
@@ -214,6 +247,7 @@ def state_update(self) -> tuple[car.CarState, custom.CarStateSP, structs.RadarDa
 
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
     can_list = can_capnp_to_list(can_strs)
+    self._can_packets = [CanData(addr, dat, src) for _ts, frames in can_list for addr, dat, src in frames]
 
     # Update carState from CAN
     CS, CS_SP = self.CI.update(can_list)
@@ -320,6 +354,35 @@ def controls_update(self, CS: car.CarState, CC: car.CarControl, CC_SP: custom.Ca
       # send car controls over can
       now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
       self.last_actuators_output, can_sends = self.CI.apply(CC, convert_carControlSP(CC_SP), now_nanos)
+      can_sends = list(can_sends)
+      if self.radar_donor_vin is not None:
+        from opendbc.car.tesla.preap.boot import preap_radar_present
+        self._sync_radar_donor_live()
+        controls_allowed = False
+        if self.sm.valid['pandaStates']:
+          controls_allowed = any(ps.controlsAllowed for ps in self.sm['pandaStates'])
+        force_read = self.params.get_bool("NAPRadarReadVin")
+        radar_enabled = preap_radar_present(self.CP, self.CP_SP)
+        if force_read and not radar_enabled:
+          self.params.put("NAPRadarVinReadStatus", "enable radar first")
+          self.params.put_bool("NAPRadarReadVin", False)
+        else:
+          can_sends.extend(self.radar_donor_vin.update(
+            self._can_packets,
+            time.monotonic(),
+            radar_enabled=radar_enabled,
+            stored_vin=self.params.get("NAPRadarDonorVin") or "",
+            controls_allowed=controls_allowed,
+            enabled=bool(CC.enabled),
+            force_read=force_read,
+          ))
+          if force_read and self.radar_donor_vin.read_finished:
+            if not self.radar_donor_vin.reader.vin and self.radar_donor_vin.reader.failure:
+              self.params.put(
+                "NAPRadarVinReadStatus",
+                self.radar_donor_vin.reader.failure.name.lower().replace("_", " "),
+              )
+            self.params.put_bool("NAPRadarReadVin", False)
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
       self.CC_prev = CC
diff --git a/openpilot/selfdrive/ui/layouts/settings/nap_content.py b/openpilot/selfdrive/ui/layouts/settings/nap_content.py
new file mode 100644
index 00000000000000..e8f32459563dcb
--- /dev/null
+++ b/openpilot/selfdrive/ui/layouts/settings/nap_content.py
@@ -0,0 +1,236 @@
+"""Shared NAP settings content.
+
+Constants and user-facing text used by the NAP settings panels. Both UI trees
+import from here so the safety-critical instruction strings (EPAS flash,
+calibration, restore) have a single source.
+"""
+
+
+class NAPParamKeys:
+  ADAPTIVE_ACCEL = "NAPAdaptiveAccel"
+  PEDAL_ENABLED = "NAPPedalEnabled"
+  FOLLOW_DISTANCE = "NAPFollowDistance"
+  PEDAL_CAN_BUS = "NAPPedalCanBus"
+  PEDAL_CALIB_DONE = "NAPPedalCalibDone"
+  RADAR_ENABLED = "NAPRadarEnabled"
+  RADAR_HUD = "NAPRadarHud"
+  RADAR_IGNORE_HW_FAIL = "NAPRadarIgnoreHwFail"
+  RADAR_OFFSET = "NAPRadarOffset"
+  RADAR_DONOR_VIN = "NAPRadarDonorVin"
+  RADAR_EPAS_TYPE = "NAPRadarEpasType"
+  RADAR_POSITION = "NAPRadarPosition"
+  RADAR_READ_VIN = "NAPRadarReadVin"
+  RADAR_VIN_READ_STATUS = "NAPRadarVinReadStatus"
+  IBOOSTER_ENABLED = "NAPiBoosterEnabled"
+  BRAKE_FACTOR = "NAPBrakeFactor"
+  FORCE_PRE_AP = "NAPForcePreAP"
+
+
+DEFAULTS = {
+  NAPParamKeys.ADAPTIVE_ACCEL: True,
+  NAPParamKeys.PEDAL_ENABLED: False,
+  NAPParamKeys.FOLLOW_DISTANCE: 4,
+  NAPParamKeys.PEDAL_CAN_BUS: 2,
+  NAPParamKeys.PEDAL_CALIB_DONE: False,
+  NAPParamKeys.RADAR_ENABLED: False,
+  NAPParamKeys.RADAR_HUD: False,
+  NAPParamKeys.RADAR_IGNORE_HW_FAIL: False,
+  NAPParamKeys.RADAR_OFFSET: 0.0,
+  NAPParamKeys.RADAR_DONOR_VIN: "",
+  NAPParamKeys.RADAR_EPAS_TYPE: 0,
+  NAPParamKeys.RADAR_POSITION: 0,
+  NAPParamKeys.IBOOSTER_ENABLED: False,
+  NAPParamKeys.BRAKE_FACTOR: 1.0,
+  NAPParamKeys.FORCE_PRE_AP: True,
+}
+
+# Preset values for float/int params exposed as multiple-button selectors.
+BRAKE_FACTOR_PRESETS = [0.5, 1.0, 1.5, 2.0]
+PEDAL_CAN_BUS_VALUES = [0, 2]
+
+# Follow distance is a 1..7 enum; values match the tap-spoof step on the stalk.
+FOLLOW_DISTANCE_MIN = 1
+FOLLOW_DISTANCE_MAX = 7
+
+# Radar lateral offset bounds (meters). Added to radar yRel in
+# radar_interface.py. Negative = shift toward left; positive = toward right.
+# ~0.27 is typical for the 3D-printed factory-location mount.
+RADAR_OFFSET_MIN = -2.0
+RADAR_OFFSET_MAX = 2.0
+
+
+CALIBRATE_PEDAL_INSTRUCTIONS = """\
+NAP Pedal Calibrator
+
+This script calibrates the comma pedal interceptor for your pre-AP Tesla Model S.
+
+PRECONDITIONS:
+  1. Car must be ON
+  2. Gear must be in NEUTRAL
+  3. Brake pedal must be PRESSED and held
+  4. Do NOT press the accelerator pedal during calibration
+
+The calibration process will:
+  - Detect pedal zero position
+  - Detect pedal maximum position
+  - Fine-tune the scale factor
+  - Validate the calibration values
+  - Save calibration to params
+
+Press START when ready to begin calibration."""
+
+
+CALIBRATE_RADAR_INSTRUCTIONS = """\
+NAP Radar Calibrator
+
+This script displays filtered radar points to help align the Bosch radar.
+
+PRECONDITIONS:
+  1. Vehicle must be safely parked
+  2. Radar must be properly mounted and connected
+  3. Place a calibration target 3-10m ahead, centered on the vehicle axis
+
+The calibration display will show:
+  - Radar points within 2.5-14.5m ahead
+  - Lateral offset from center
+  - Adjust radar aim until target shows ~0.0m lateral
+
+Press START when ready to begin."""
+
+
+TEST_RADAR_INSTRUCTIONS = """\
+NAP Radar Test
+
+This script displays live radar data for testing and verification.
+
+The test will show:
+  - All detected radar points
+  - Distance and relative velocity
+  - Track status and confidence
+
+This is useful for:
+  - Verifying radar installation
+  - Checking radar alignment
+  - Debugging radar issues
+
+Press START to begin the radar test."""
+
+
+FLASH_EPAS_INSTRUCTIONS = """\
+EPAS Firmware Flash
+
+STEP 1 — POWER THE CAR ON NOW:
+  - Key fob inside the car
+  - Foot on the brake
+  - Car should be in Park and stay there
+  - Do not drive
+  (The EPAS ECU only responds when the car is on.)
+
+WARNING: This will modify your steering system firmware!
+
+POWER REQUIREMENTS:
+  - 12V battery must be healthy and at a normal charge
+  - Do NOT start the flash if the car has been sitting cold
+    with marginal voltage
+  - Power loss DURING the flash will brick the EPAS module
+
+RISKS:
+  - Incorrect firmware can disable power steering
+  - Interrupted flash can brick the EPAS module
+  - This modification may void warranties
+
+Only proceed if you:
+  - Fully understand the implications
+  - Have backup EPAS firmware available
+  - Are comfortable with the risks involved
+
+Press START only if you accept these risks."""
+
+
+BACKUP_EPAS_INSTRUCTIONS = """\
+EPAS Firmware Backup
+
+STEP 1 — POWER THE CAR ON NOW:
+  - Key fob inside the car
+  - Foot on the brake
+  - Car should be in Park and stay there
+  - Do not drive
+  (The EPAS ECU only responds when the car is on. If the car
+   is not on, the script will time out.)
+
+This action only reads the stock EPAS firmware and saves it.
+No flashing or firmware modifications are performed.
+
+Run this before any Flash operation so you have a local backup.
+
+PRECONDITIONS:
+  - Stable 12V power
+  - Do not power-cycle during extraction
+
+Press START to extract the EPAS firmware backup."""
+
+
+RESTORE_EPAS_INSTRUCTIONS = """\
+EPAS Firmware Restore
+
+STEP 1 — POWER THE CAR ON NOW:
+  - Key fob inside the car
+  - Foot on the brake
+  - Car should be in Park and stay there
+  - Do not drive
+  (The EPAS ECU only responds when the car is on.)
+
+WARNING: This will reflash your steering system firmware!
+
+POWER REQUIREMENTS:
+  - 12V battery must be healthy and at a normal charge
+  - Do NOT start the restore if the car has been sitting cold
+    with marginal voltage
+  - Power loss DURING the restore will brick the EPAS module
+
+This operation:
+  - Uses the extracted stock EPAS firmware image
+  - May take several minutes to complete
+  - Should NOT be interrupted once started
+
+RISKS:
+  - Interrupted flash can brick the EPAS module
+  - Incorrect image can disable power steering
+
+Only proceed if you:
+  - Need to return to stock EPAS firmware
+  - Understand and accept the risks
+
+Press START only if you accept these risks."""
+
+
+ACKNOWLEDGMENTS_INTRO = "Special thanks to the following members. This project wouldn't be possible without you:"
+
+ACKNOWLEDGMENTS_NAMES = [
+  "Boggyver and the Tinkla Project",
+  "Lukas Loetkolben",
+  "Johnmr1",
+  "SeriouslySerious",
+  "Pod042",
+  "1FrostlySlime",
+]
+
+
+def acknowledgments_html() -> str:
+  """Render the acknowledgments block as HTML for HtmlRenderer."""
+  names_html = "<br>".join(f"<b>{n}</b>" for n in ACKNOWLEDGMENTS_NAMES)
+  return f"<p>{ACKNOWLEDGMENTS_INTRO}</p><p>{names_html}</p>"
+
+
+def acknowledgments_text() -> str:
+  """Render the acknowledgments block as plain text."""
+  bullets = "\n".join(f"  {n}" for n in ACKNOWLEDGMENTS_NAMES)
+  return f"{ACKNOWLEDGMENTS_INTRO}\n\n{bullets}"
+
+
+def find_preset_index(presets: list, value, default: int = 0) -> int:
+  """Find the closest matching preset index for a given value."""
+  try:
+    return presets.index(value)
+  except ValueError:
+    return min(range(len(presets)), key=lambda i: abs(presets[i] - value))
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/nap.py b/openpilot/selfdrive/ui/mici/layouts/settings/nap.py
new file mode 100644
index 00000000000000..6de8ca24edea1d
--- /dev/null
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/nap.py
@@ -0,0 +1,291 @@
+"""NAP settings panel for the comma 4 / mici UI tree.
+
+Mirrors selfdrive/ui/layouts/settings/nap.py for the BigButton/NavScroller
+vocabulary used on the comma 4. Phase 1 stub: three controls (pedal
+interceptor toggle, radar enabled toggle, flash EPAS button).
+Subsequent phases add the rest.
+"""
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets.scroller import NavScroller
+from openpilot.selfdrive.ui.mici.widgets.big_multi_value_param import BigMultiValueParamToggle
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigParamControl
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog, BigInputDialog
+from openpilot.selfdrive.ui.mici.layouts.settings.nap_script import launch_script
+from openpilot.selfdrive.ui.layouts.settings.nap_content import (
+  BACKUP_EPAS_INSTRUCTIONS,
+  CALIBRATE_PEDAL_INSTRUCTIONS,
+  FLASH_EPAS_INSTRUCTIONS,
+  PEDAL_CAN_BUS_VALUES,
+  RADAR_OFFSET_MAX,
+  RADAR_OFFSET_MIN,
+  RESTORE_EPAS_INSTRUCTIONS,
+)
+from openpilot.selfdrive.ui.radar.radar_view import RadarMonitorDialog
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.layouts.settings.nap_content import NAPParamKeys
+
+
+def _reboot_dialog() -> None:
+  def confirm():
+    Params().put_bool("DoReboot", True)
+  icon = gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70)
+  gui_app.push_widget(BigConfirmationDialog("slide to\nreboot now", icon, confirm))
+
+
+def _reboot_on_toggle(_):
+  _reboot_dialog()
+
+
+def _confirm_then_flash(slider_title: str, runner_title: str, instructions: str, module: str):
+  """Slide-to-confirm dialog before launching a destructive EPAS script.
+
+  Adds a deliberate gesture before an irreversible firmware operation.
+  Read-only operations (extract, calibration, test) skip this.
+  """
+  def confirm():
+    launch_script(runner_title, instructions, module)
+  icon = gui_app.texture("icons_mici/buttons/button_circle_red.png", 180, 180)
+  gui_app.push_widget(BigConfirmationDialog(slider_title, icon, confirm, red=True))
+
+
+class RadarSettingsLayoutMici(NavScroller):
+  def __init__(self):
+    super().__init__()
+    self._params = Params()
+
+    radar_enabled = BigParamControl("radar enabled", NAPParamKeys.RADAR_ENABLED,
+                                    toggle_callback=_reboot_on_toggle)
+    radar_enabled.set_enabled(ui_state.is_offroad)
+
+    ignore_hw_fail = BigParamControl("ignore radar hardware fail", NAPParamKeys.RADAR_IGNORE_HW_FAIL)
+
+    def on_radar_hud(checked):
+      ui_state.radar_hud = checked
+
+    radar_hud = BigParamControl("radar HUD", NAPParamKeys.RADAR_HUD, toggle_callback=on_radar_hud)
+
+    radar_offset_btn = BigButton("radar lateral offset", self._radar_offset_label())
+    radar_offset_btn.set_click_callback(lambda: self._open_radar_offset_input(radar_offset_btn))
+
+    donor_vin_btn = BigButton("donor radar vin", self._radar_vin_label())
+    donor_vin_btn.set_click_callback(lambda: self._open_radar_vin_input(donor_vin_btn))
+
+    read_vin_btn = BigButton("read vin", self._read_vin_label())
+    read_vin_btn.set_click_callback(lambda: self._on_read_vin(read_vin_btn))
+
+    radar_position = BigMultiValueParamToggle(
+      "donor radar position",
+      NAPParamKeys.RADAR_POSITION,
+      values=[0, 1, 2],
+      labels=["0", "1", "2"],
+      default_value=0,
+    )
+
+    radar_epas = BigMultiValueParamToggle(
+      "donor epas type",
+      NAPParamKeys.RADAR_EPAS_TYPE,
+      values=[0, 1, 2, 3, 4],
+      labels=["0", "1", "2", "3", "4"],
+      default_value=0,
+    )
+
+    live_radar_btn = BigButton("live radar", "open")
+    live_radar_btn.set_click_callback(lambda: gui_app.push_widget(RadarMonitorDialog()))
+    diagnose_radar_btn = BigButton("diagnose radar", "diagnose")
+    diagnose_radar_btn.set_click_callback(
+      lambda: launch_script("Diagnose Radar", "", "diagnose_radar"))
+    diagnose_radar_btn.set_enabled(ui_state.is_offroad)
+    test_radar_btn = BigButton("test radar", "test")
+    test_radar_btn.set_click_callback(
+      lambda: launch_script("Test Radar", "", "test_radar"))
+    test_radar_btn.set_enabled(ui_state.is_offroad)
+
+    self._scroller.add_widgets([
+      radar_enabled,
+      ignore_hw_fail,
+      radar_hud,
+      radar_offset_btn,
+      donor_vin_btn,
+      read_vin_btn,
+      radar_position,
+      radar_epas,
+      live_radar_btn,
+      diagnose_radar_btn,
+      test_radar_btn,
+    ])
+
+  def _radar_offset_label(self) -> str:
+    raw = self._params.get(NAPParamKeys.RADAR_OFFSET, return_default=True)
+    try:
+      return f"{float(raw or 0):+.2f}m"
+    except (TypeError, ValueError):
+      return "+0.00m"
+
+  def _radar_vin_label(self) -> str:
+    raw = self._params.get(NAPParamKeys.RADAR_DONOR_VIN, return_default=True) or ""
+    if isinstance(raw, bytes):
+      raw = raw.decode("ascii", errors="ignore")
+    vin = "".join(ch for ch in str(raw).upper() if ch.isalnum())
+    return vin if len(vin) == 17 else "not set"
+
+  def _read_vin_label(self) -> str:
+    return "reading..." if self._params.get_bool(NAPParamKeys.RADAR_READ_VIN) else "read"
+
+  def _open_radar_offset_input(self, btn: BigButton) -> None:
+    raw = self._params.get(NAPParamKeys.RADAR_OFFSET, return_default=True)
+    try:
+      default_text = f"{float(raw or 0):.2f}"
+    except (TypeError, ValueError):
+      default_text = "0.00"
+
+    def on_confirm(text: str) -> None:
+      try:
+        v = float(text)
+      except (TypeError, ValueError):
+        return
+      v = max(RADAR_OFFSET_MIN, min(RADAR_OFFSET_MAX, v))
+      try:
+        self._params.put(NAPParamKeys.RADAR_OFFSET, v)
+      except Exception:
+        return
+      btn.set_value(self._radar_offset_label())
+
+    gui_app.push_widget(BigInputDialog(
+      f"radar offset (m, {RADAR_OFFSET_MIN} to {RADAR_OFFSET_MAX})",
+      default_text=default_text,
+      confirm_callback=on_confirm,
+    ))
+
+  def _open_radar_vin_input(self, btn: BigButton) -> None:
+    current = self._radar_vin_label()
+
+    def on_confirm(text: str) -> None:
+      vin = "".join(ch for ch in (text or "").upper() if ch.isalnum())
+      try:
+        self._params.put(NAPParamKeys.RADAR_DONOR_VIN, vin if len(vin) == 17 else "")
+      except Exception:
+        return
+      btn.set_value(self._radar_vin_label())
+
+    gui_app.push_widget(BigInputDialog(
+      "donor radar vin",
+      default_text="" if current == "not set" else current,
+      minimum_length=0,
+      confirm_callback=on_confirm,
+    ))
+
+  def _on_read_vin(self, btn: BigButton) -> None:
+    if ui_state.engaged:
+      gui_app.push_widget(BigDialog("disengage first", "VIN read is blocked while engaged."))
+      return
+
+    def confirm():
+      self._params.put_bool(NAPParamKeys.RADAR_READ_VIN, True)
+      btn.set_value(self._read_vin_label())
+
+    icon = gui_app.texture("icons_mici/buttons/button_circle_red.png", 180, 180)
+    gui_app.push_widget(BigConfirmationDialog("slide to\nread vin", icon, confirm))
+
+
+class NAPLayoutMici(NavScroller):
+  def __init__(self):
+    super().__init__()
+    self._params = Params()
+    self._params.put_bool(NAPParamKeys.FORCE_PRE_AP, True)
+
+    # set_enabled accepts bool | Callable[[], bool]. Pass methods directly
+    # (e.g. ui_state.is_offroad), NOT lambdas-wrapping-methods. The form
+    # `lambda: ui_state.is_offroad` returns the bound method object —
+    # always truthy — and silently leaves destructive actions clickable
+    # while onroad.
+
+    # ── Longitudinal control ─────────────────────────
+    pedal_enabled = BigParamControl("pedal interceptor", NAPParamKeys.PEDAL_ENABLED,
+                                     toggle_callback=_reboot_on_toggle)
+    pedal_enabled.set_enabled(ui_state.is_offroad)
+
+    adaptive_accel = BigParamControl("adaptive accel limits", NAPParamKeys.ADAPTIVE_ACCEL)
+
+    # ── Pedal hardware ───────────────────────────────
+    # default_value=2 matches NAPPedalCanBus declared default in params_keys.h
+    # and the runtime fallback ("any nonzero is bus 2"). If the param is set
+    # to an out-of-range value (1, etc.), the widget rewrites it to 2 rather
+    # than render bus 0 while the runtime acts as bus 2.
+    pedal_can_bus = BigMultiValueParamToggle(
+      "pedal can bus",
+      NAPParamKeys.PEDAL_CAN_BUS,
+      values=PEDAL_CAN_BUS_VALUES,
+      labels=["bus 0", "bus 2"],
+      default_value=2,
+      toggle_callback=_reboot_on_toggle,
+    )
+    pedal_can_bus.set_enabled(ui_state.is_offroad)
+
+    pedal_calib_status = BigButton(
+      "pedal calibration",
+      "calibrated" if self._params.get_bool(NAPParamKeys.PEDAL_CALIB_DONE) else "not calibrated",
+    )
+
+    # Offroad-gate the menu tap on all action buttons. Stationary scripts
+    # still need ignition on at Start press, but the user's path is
+    # "tap offroad → open runner → turn car on → press Start." Gating
+    # the menu tap on offroad just means the user can't open the runner
+    # while actively driving; the script's own preconditions handle the
+    # ignition-on state at Start.
+    calibrate_pedal_btn = BigButton("calibrate pedal", "start")
+    calibrate_pedal_btn.set_click_callback(
+      lambda: launch_script("Pedal Calibration", CALIBRATE_PEDAL_INSTRUCTIONS,
+                            "scripts.nap.calibrate_pedal",
+                            ))
+    calibrate_pedal_btn.set_enabled(ui_state.is_offroad)
+
+    radar_settings_btn = BigButton("radar settings", "open")
+    radar_settings_btn.set_click_callback(lambda: gui_app.push_widget(RadarSettingsLayoutMici()))
+
+    # ── iBooster (locked off) ────────────────────────
+    ibooster_enabled = BigParamControl("ibooster enabled", NAPParamKeys.IBOOSTER_ENABLED)
+    ibooster_enabled.set_enabled(False)
+
+    # ── Advanced (locked on) ─────────────────────────
+    force_pre_ap = BigParamControl("force pre-ap mode", NAPParamKeys.FORCE_PRE_AP)
+    force_pre_ap.set_enabled(False)
+
+    # ── Actions ──────────────────────────────────────
+    backup_epas_btn = BigButton("backup epas", "extract")
+    backup_epas_btn.set_click_callback(
+      lambda: launch_script("Backup EPAS Firmware", BACKUP_EPAS_INSTRUCTIONS,
+                            "scripts.nap.extract_epas",
+                            ))
+    backup_epas_btn.set_enabled(ui_state.is_offroad)
+
+    flash_epas_btn = BigButton("flash epas", "flash")
+    flash_epas_btn.set_click_callback(
+      lambda: _confirm_then_flash(
+        "slide to\nflash epas",
+        "Flash EPAS Firmware", FLASH_EPAS_INSTRUCTIONS, "scripts.nap.flash_epas",
+      ))
+    flash_epas_btn.set_enabled(ui_state.is_offroad)
+
+    restore_epas_btn = BigButton("restore epas", "restore")
+    restore_epas_btn.set_click_callback(
+      lambda: _confirm_then_flash(
+        "slide to\nrestore epas",
+        "Restore EPAS Firmware", RESTORE_EPAS_INSTRUCTIONS, "scripts.nap.restore_epas",
+      ))
+    restore_epas_btn.set_enabled(ui_state.is_offroad)
+
+    self._scroller.add_widgets([
+      pedal_enabled,
+      adaptive_accel,
+      pedal_can_bus,
+      pedal_calib_status,
+      calibrate_pedal_btn,
+      radar_settings_btn,
+      ibooster_enabled,
+      force_pre_ap,
+      backup_epas_btn,
+      flash_epas_btn,
+      restore_epas_btn,
+    ])
+
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/nap_script.py b/openpilot/selfdrive/ui/mici/layouts/settings/nap_script.py
new file mode 100644
index 00000000000000..a3a58ed1e04ff1
--- /dev/null
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/nap_script.py
@@ -0,0 +1,21 @@
+"""Launch helper for NAP scripts via the naponsp tool runner."""
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import start_tool
+
+TOOL_BY_MODULE = {
+  "scripts.nap.calibrate_pedal": "calibrate_pedal",
+  "scripts.nap.extract_epas": "extract_epas",
+  "scripts.nap.flash_epas": "flash_epas",
+  "scripts.nap.restore_epas": "restore_epas",
+  "calibrate_pedal": "calibrate_pedal",
+  "extract_epas": "extract_epas",
+  "flash_epas": "flash_epas",
+  "restore_epas": "restore_epas",
+  "calibrate_radar": "calibrate_radar",
+  "diagnose_radar": "diagnose_radar",
+  "test_radar": "test_radar",
+}
+
+
+def launch_script(title: str, instructions: str, script_module: str) -> None:
+  del title, instructions
+  start_tool(TOOL_BY_MODULE[script_module], confirmed=True)
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/settings.py b/openpilot/selfdrive/ui/mici/layouts/settings/settings.py
index 56a953a65d437f..59585b98f39309 100644
--- a/openpilot/selfdrive/ui/mici/layouts/settings/settings.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/settings.py
@@ -7,6 +7,7 @@
 from openpilot.selfdrive.ui.mici.layouts.settings.developer import DeveloperLayoutMici
 from openpilot.selfdrive.ui.mici.layouts.settings.software import SoftwareLayoutMici
 from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayout
+from openpilot.selfdrive.ui.mici.layouts.settings.nap import NAPLayoutMici
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 
 
@@ -44,11 +45,16 @@ def __init__(self):
     firehose_btn = SettingsBigButton("firehose", "", gui_app.texture("icons_mici/settings/firehose.png", 52, 62))
     firehose_btn.set_click_callback(lambda: gui_app.push_widget(firehose_panel))
 
+    nap_panel = NAPLayoutMici()
+    nap_btn = SettingsBigButton("nap", "", gui_app.texture("icons_mici/settings/comma_icon.png", 33, 60))
+    nap_btn.set_click_callback(lambda: gui_app.push_widget(nap_panel))
+
     self._scroller.add_widgets([
       toggles_btn,
       network_btn,
       device_btn,
       software_btn,
+      nap_btn,
       PairBigButton(),
       #BigDialogButton("manual", "", "icons_mici/settings/manual_icon.png", "Check out the mici user\nmanual at comma.ai/setup"),
       firehose_btn,
diff --git a/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py b/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
index b5b9a54be81c31..f4aa1140d3d93b 100644
--- a/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -11,6 +11,7 @@
 from openpilot.selfdrive.ui.mici.onroad.model_renderer import ModelRenderer
 from openpilot.selfdrive.ui.mici.onroad.confidence_ball import ConfidenceBall
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
+from openpilot.selfdrive.ui.radar.radar_view import RadarHudOverlay, radar_hud_rect
 from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets import Widget
@@ -156,6 +157,7 @@ def __init__(self, bookmark_callback=None, stream_type: VisionStreamType = Visio
     self._alert_renderer = AlertRenderer()
     self._driver_state_renderer = DriverStateRenderer()
     self._confidence_ball = ConfidenceBall()
+    self._radar_hud = RadarHudOverlay()
     self._offroad_label = UnifiedLabel("start the car to\nuse sunnypilot", 54, FontWeight.DISPLAY,
                                        text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
                                        alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
@@ -235,6 +237,7 @@ def _render(self, _):
                                                alert_to_render.visual_alert == car.CarControl.HUDControl.VisualAlert.steerRequired)
     self._alert_renderer.render(self._content_rect)
     self._hud_renderer.render(self._content_rect)
+    self._radar_hud.render(radar_hud_rect(self._content_rect))
 
     # Draw fake rounded border
     rl.draw_rectangle_rounded_lines_ex(self._content_rect, 0.2 * 1.02, 10, 50, rl.BLACK)
diff --git a/openpilot/selfdrive/ui/onroad/augmented_road_view.py b/openpilot/selfdrive/ui/onroad/augmented_road_view.py
index c255804f2d6f57..2650cb37df7bed 100644
--- a/openpilot/selfdrive/ui/onroad/augmented_road_view.py
+++ b/openpilot/selfdrive/ui/onroad/augmented_road_view.py
@@ -9,6 +9,7 @@
 from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer
 from openpilot.selfdrive.ui.onroad.model_renderer import ModelRenderer
 from openpilot.selfdrive.ui.onroad.cameraview import CameraView
+from openpilot.selfdrive.ui.radar.radar_view import RadarHudOverlay, radar_hud_rect
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame
 from openpilot.common.transformations.orientation import rot_from_euler
@@ -56,6 +57,7 @@ def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREA
     self._hud_renderer = HudRenderer()
     self.alert_renderer = AlertRenderer()
     self.driver_state_renderer = DriverStateRenderer()
+    self._radar_hud = RadarHudOverlay()
 
   def _render(self, rect):
     # Only render when system is started to avoid invalid data access
@@ -93,6 +95,7 @@ def _render(self, rect):
     self._hud_renderer.render(self._content_rect)
     self.alert_renderer.render(self._content_rect)
     self.driver_state_renderer.render(self._content_rect)
+    self._radar_hud.render(radar_hud_rect(self._content_rect))
 
     # Custom UI extension point - add custom overlays here
     # Use self._content_rect for positioning within camera bounds
diff --git a/openpilot/selfdrive/ui/radar/__init__.py b/openpilot/selfdrive/ui/radar/__init__.py
new file mode 100644
index 00000000000000..c4306147ae75c0
--- /dev/null
+++ b/openpilot/selfdrive/ui/radar/__init__.py
@@ -0,0 +1,3 @@
+from openpilot.selfdrive.ui.radar.bosch_status import BoschRadarMonitor, BoschRadarStatus, RadarTrack
+
+__all__ = ["BoschRadarMonitor", "BoschRadarStatus", "RadarTrack"]
diff --git a/openpilot/selfdrive/ui/radar/bosch_status.py b/openpilot/selfdrive/ui/radar/bosch_status.py
new file mode 100644
index 00000000000000..4bdf7f3ebf73bd
--- /dev/null
+++ b/openpilot/selfdrive/ui/radar/bosch_status.py
@@ -0,0 +1,258 @@
+"""Live Bosch radar health from cereal CAN + liveTracks.
+
+The radar interface already owns track lifecycle. This module only
+decodes what a driver needs to see: ECU lamps, the 0x501 alert matrix,
+the GTW identity bytes we are sending, and whether the published table
+has stopped changing.
+"""
+
+from __future__ import annotations
+
+from collections import deque
+from dataclasses import dataclass
+
+RADAR_BUS = 1
+ADDR_SGU = 0x301
+ADDR_POINT0 = 0x310
+ADDR_ALERT = 0x501
+ADDR_CAR_CONFIG = 0x2A9
+ADDR_VIN_FEED = 0x2B9
+ADDR_VIN_HOST = 0x560
+
+# DBC TeslaRadarSguInfo / TeslaRadarAlertMatrix, little-endian @1+.
+SGU_HW_FAIL_BIT = 45
+SGU_FAIL_BIT = 46
+SGU_DIRTY_BIT = 44
+
+ALERT_BITS: tuple[tuple[int, str], ...] = (
+  (3, "adjustmentNotDone"),
+  (4, "adjustmentReq"),
+  (5, "adjustmentNotOk"),
+  (6, "sensorBlinded"),
+  (8, "configMismatch"),
+  (11, "espMIA"),
+  (12, "gtwMIA"),
+  (13, "sccmMIA"),
+  (36, "vinValidity"),
+  (41, "xwdValidity"),
+  (60, "radPositionMismatch"),
+  (61, "strRackMismatch"),
+)
+
+FREEZE_HOLD_S = 5.0
+FREEZE_MIN_TRACKS = 4
+ALIGN_D_MIN = 2.5
+ALIGN_D_MAX = 14.5
+ALIGN_Y_MAX = 1.0
+
+
+def radar_bus(src: int) -> bool:
+  return (int(src) & 0x7F) == RADAR_BUS
+
+
+def _bit(dat: bytes, index: int) -> bool:
+  byte_i, bit_i = divmod(index, 8)
+  if byte_i >= len(dat):
+    return False
+  return bool((dat[byte_i] >> bit_i) & 1)
+
+
+def decode_car_config(dat: bytes) -> tuple[bool, int, int]:
+  lo = int.from_bytes(dat[:4], "little")
+  hi = int.from_bytes(dat[4:8], "little") if len(dat) >= 8 else 0
+  return bool(lo & 0x08), (hi >> 4) & 0x03, (hi >> 12) & 0x07
+
+
+def vin_mux_chars(dat: bytes) -> tuple[int, tuple[str, ...]] | None:
+  if not dat:
+    return None
+  rec = dat[0]
+  if rec == 0x10 and len(dat) >= 8:
+    return 0, tuple(chr(b) if 32 <= b < 127 else "?" for b in dat[5:8])
+  if rec == 0x11 and len(dat) >= 8:
+    return 3, tuple(chr(b) if 32 <= b < 127 else "?" for b in dat[1:8])
+  if rec == 0x12 and len(dat) >= 8:
+    return 10, tuple(chr(b) if 32 <= b < 127 else "?" for b in dat[1:8])
+  return None
+
+
+@dataclass(frozen=True)
+class RadarTrack:
+  track_id: int
+  d_rel: float
+  y_rel: float
+  v_rel: float
+  measured: bool
+
+
+@dataclass(frozen=True)
+class BoschRadarStatus:
+  tracks: tuple[RadarTrack, ...] = ()
+  hw_fail: bool = False
+  sgu_fail: bool = False
+  dirty: bool = False
+  alerts: tuple[str, ...] = ()
+  table_frozen: bool = False
+  can_error: bool = False
+  radar_fault: bool = False
+  radar_unavailable: bool = False
+  awd: bool | None = None
+  position: int | None = None
+  epas_type: int | None = None
+  vin: str = ""
+  unique_raw: int = 0
+  vin_stream_complete: bool = False
+  gtw_live: bool = False
+  last_sgu_age_s: float | None = None
+  last_tracks_age_s: float | None = None
+  last_raw_age_s: float | None = None
+  vin_f190: str = ""
+  vin_chassis: str = ""
+
+  @property
+  def health_label(self) -> str:
+    if not self.gtw_live and not self.tracks:
+      return "WAIT GTW" if self.vin_stream_complete else "WAIT VIN"
+    if self.radar_fault or self.hw_fail:
+      return "FAULT"
+    if self.table_frozen:
+      return "FROZEN"
+    if self.can_error:
+      return "CAN"
+    if "vinValidity" in self.alerts or "xwdValidity" in self.alerts or "radPositionMismatch" in self.alerts:
+      return "REJECT"
+    if self.sgu_fail:
+      return "SGU"
+    if self.radar_unavailable:
+      return "UNAVAIL"
+    if not self.tracks:
+      return "NO TRACKS"
+    return "LIVE"
+
+  @property
+  def health_ok(self) -> bool:
+    return self.health_label == "LIVE"
+
+
+class BoschRadarMonitor:
+  def __init__(self):
+    self._vin = ["."] * 17
+    self._status = BoschRadarStatus()
+    self._fingerprints: deque[tuple[float, tuple]] = deque()
+    self._raw_seen: deque[tuple[float, bytes]] = deque()
+    self._last_sgu_t: float | None = None
+    self._last_tracks_t: float | None = None
+    self._vin_bits = 0
+    self._gtw_live = False
+
+  @property
+  def status(self) -> BoschRadarStatus:
+    return self._status
+
+  def update(self, now: float, can_messages, live_tracks=None) -> BoschRadarStatus:
+    hw_fail = self._status.hw_fail
+    sgu_fail = self._status.sgu_fail
+    dirty = self._status.dirty
+    alerts = self._status.alerts
+    awd = self._status.awd
+    position = self._status.position
+    epas_type = self._status.epas_type
+    can_error = self._status.can_error
+    radar_fault = self._status.radar_fault
+    radar_unavailable = self._status.radar_unavailable
+    tracks = self._status.tracks
+
+    for addr, dat, src in can_messages:
+      dat = bytes(dat)
+      if addr == ADDR_VIN_HOST and dat:
+        rec = dat[0]
+        if rec == 0:
+          self._vin_bits |= 1
+        elif rec == 1:
+          self._vin_bits |= 2
+        elif rec == 2:
+          self._vin_bits |= 4
+        continue
+      if not radar_bus(src):
+        continue
+      if addr == ADDR_SGU:
+        hw_fail = _bit(dat, SGU_HW_FAIL_BIT)
+        sgu_fail = _bit(dat, SGU_FAIL_BIT)
+        dirty = _bit(dat, SGU_DIRTY_BIT)
+        self._last_sgu_t = now
+      elif addr == ADDR_ALERT:
+        alerts = tuple(name for bit_i, name in ALERT_BITS if _bit(dat, bit_i))
+      elif addr == ADDR_CAR_CONFIG and len(dat) >= 8:
+        awd, position, epas_type = decode_car_config(dat)
+        self._gtw_live = True
+      elif addr == ADDR_VIN_FEED:
+        parsed = vin_mux_chars(dat)
+        if parsed is not None:
+          start, chars = parsed
+          for i, ch in enumerate(chars):
+            if start + i < 17:
+              self._vin[start + i] = ch
+      elif addr == ADDR_POINT0:
+        self._raw_seen.append((now, dat[:6]))
+
+    while self._raw_seen and now - self._raw_seen[0][0] > FREEZE_HOLD_S:
+      self._raw_seen.popleft()
+
+    if live_tracks is not None:
+      errors = getattr(live_tracks, "errors", None)
+      if errors is not None:
+        can_error = bool(getattr(errors, "canError", False))
+        radar_fault = bool(getattr(errors, "radarFault", False))
+        radar_unavailable = bool(getattr(errors, "radarUnavailableTemporary", False))
+      points = getattr(live_tracks, "points", ())
+      tracks = tuple(
+        RadarTrack(
+          track_id=int(p.trackId),
+          d_rel=float(p.dRel),
+          y_rel=float(p.yRel),
+          v_rel=float(p.vRel),
+          measured=bool(p.measured),
+        )
+        for p in points
+      )
+      self._last_tracks_t = now
+      fingerprint = tuple((t.track_id, round(t.d_rel, 1), round(t.v_rel, 1)) for t in tracks)
+      self._fingerprints.append((now, fingerprint))
+
+    while self._fingerprints and now - self._fingerprints[0][0] > FREEZE_HOLD_S:
+      self._fingerprints.popleft()
+
+    table_frozen = False
+    if self._fingerprints and len(tracks) >= FREEZE_MIN_TRACKS:
+      span = now - self._fingerprints[0][0]
+      same = all(fp == self._fingerprints[-1][1] for _, fp in self._fingerprints)
+      table_frozen = span >= FREEZE_HOLD_S - 1e-3 and same and bool(self._fingerprints[-1][1])
+
+    unique_raw = len({payload for _, payload in self._raw_seen})
+    last_raw_age_s = None if not self._raw_seen else now - self._raw_seen[-1][0]
+    vin = "".join(self._vin)
+    if vin == "." * 17:
+      vin = ""
+
+    self._status = BoschRadarStatus(
+      tracks=tracks,
+      hw_fail=hw_fail,
+      sgu_fail=sgu_fail,
+      dirty=dirty,
+      alerts=alerts,
+      table_frozen=table_frozen,
+      can_error=can_error,
+      radar_fault=radar_fault,
+      radar_unavailable=radar_unavailable,
+      awd=awd,
+      position=position,
+      epas_type=epas_type,
+      vin=vin,
+      unique_raw=unique_raw,
+      vin_stream_complete=self._vin_bits == 7,
+      gtw_live=self._gtw_live,
+      last_sgu_age_s=None if self._last_sgu_t is None else now - self._last_sgu_t,
+      last_tracks_age_s=None if self._last_tracks_t is None else now - self._last_tracks_t,
+      last_raw_age_s=last_raw_age_s,
+    )
+    return self._status
diff --git a/openpilot/selfdrive/ui/radar/preview_radar_ui.py b/openpilot/selfdrive/ui/radar/preview_radar_ui.py
new file mode 100755
index 00000000000000..6399d628f838ed
--- /dev/null
+++ b/openpilot/selfdrive/ui/radar/preview_radar_ui.py
@@ -0,0 +1,104 @@
+#!/usr/bin/env python3
+"""Render the radar HUD and monitor dialog to PNGs for visual check."""
+
+from __future__ import annotations
+
+import os
+import sys
+from pathlib import Path
+
+os.environ.setdefault("OFFSCREEN", "1")
+os.environ.setdefault("BIG", "1")
+os.environ.setdefault("SCALE", "1")
+
+from dataclasses import replace
+
+from openpilot.selfdrive.ui.radar.bosch_status import BoschRadarStatus, RadarTrack
+from openpilot.selfdrive.ui.radar.radar_view import RadarHudOverlay, RadarMonitorDialog, radar_hud_rect
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+import pyray as rl
+
+
+def _status(label_tracks=True) -> BoschRadarStatus:
+  tracks = (
+    RadarTrack(12, 18.4, -0.31, -1.2, True),
+    RadarTrack(15, 32.0, 1.10, -0.4, True),
+    RadarTrack(19, 47.5, -2.80, 0.1, False),
+    RadarTrack(22, 61.0, 0.20, -3.4, True),
+  ) if label_tracks else ()
+  return BoschRadarStatus(
+    tracks=tracks,
+    hw_fail=False,
+    sgu_fail=True,
+    dirty=False,
+    alerts=("vinValidity", "xwdValidity", "radPositionMismatch"),
+    table_frozen=True,
+    awd=True,
+    position=0,
+    epas_type=2,
+    vin="5YJSA1E45FF108485",
+    unique_raw=2,
+    gtw_live=True,
+    vin_stream_complete=True,
+    last_raw_age_s=0.08,
+    vin_f190="5YJSA1E45FF108485",
+    vin_chassis="5YJSA1H15EFP37440",
+  )
+
+
+def main() -> None:
+  out = Path(sys.argv[1] if len(sys.argv) > 1 else "/tmp/radar-ui")
+  out.mkdir(parents=True, exist_ok=True)
+
+  gui_app.init_window("radar preview")
+  ui_state.radar_hud = True
+  ui_state.radar_status = _status()
+
+  overlay = RadarHudOverlay()
+  dialog = RadarMonitorDialog()
+  hud = radar_hud_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+
+  rl.begin_drawing()
+  rl.clear_background(rl.Color(30, 40, 50, 255))
+  rl.draw_rectangle(0, 0, gui_app.width, 120, rl.Color(20, 20, 20, 255))
+  overlay.render(hud)
+  rl.end_drawing()
+  overlay_path = str(out / "radar_hud.png")
+  rl.take_screenshot(overlay_path)
+
+  rl.begin_drawing()
+  dialog.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+  rl.end_drawing()
+  dialog_path = str(out / "radar_monitor.png")
+  rl.take_screenshot(dialog_path)
+
+  ui_state.radar_status = replace(
+    _status(),
+    sgu_fail=False,
+    alerts=(),
+    table_frozen=False,
+    awd=False,
+    position=1,
+    epas_type=0,
+    vin="5YJSA1S11EFP54129",
+    unique_raw=14,
+    last_raw_age_s=0.04,
+    vin_f190="5YJSA1E25FF106153",
+    vin_chassis="5YJSA1H13EFP20460",
+  )
+  rl.begin_drawing()
+  rl.clear_background(rl.Color(30, 40, 50, 255))
+  overlay.render(hud)
+  rl.end_drawing()
+  live_path = str(out / "radar_hud_live.png")
+  rl.take_screenshot(live_path)
+
+  gui_app.close()
+  print(overlay_path)
+  print(dialog_path)
+  print(live_path)
+
+
+if __name__ == "__main__":
+  main()
diff --git a/openpilot/selfdrive/ui/radar/radar_view.py b/openpilot/selfdrive/ui/radar/radar_view.py
new file mode 100644
index 00000000000000..322ce62412d1a9
--- /dev/null
+++ b/openpilot/selfdrive/ui/radar/radar_view.py
@@ -0,0 +1,600 @@
+"""Bird's-eye Bosch radar plot, driving HUD, and in-session monitor dialog.
+
+Tinkla C2's calibrate/test tools subscribed to cereal `can` and left
+pandad running. NAP's script runner killed the comma session instead.
+This dialog is a push_widget overlay: open while driving, close without
+reboot, no NAPScriptRunning.
+
+Hidpi 2160x1080 is the product: full key-on chips, range rings, tracks table
+top-right. C4 536x240 is cut-down: state plus one or two reject/table bits,
+the ID/dRel/yRel/vRel table, optional small plot, and Close.
+"""
+
+from __future__ import annotations
+
+from dataclasses import replace
+import math
+
+import pyray as rl
+
+from openpilot.selfdrive.ui.radar.bosch_status import (
+  ALIGN_D_MAX,
+  ALIGN_D_MIN,
+  ALIGN_Y_MAX,
+  BoschRadarStatus,
+  RadarTrack,
+)
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+
+RANGE_M = 120.0
+LATERAL_M = 8.0
+
+# Concentric dRel rings. Distinct colors so 20/40/60/80 m read at a glance.
+RANGE_RINGS = (
+  (20.0, rl.Color(72, 210, 160, 230)),   # sea
+  (40.0, rl.Color(230, 190, 70, 230)),    # gold
+  (60.0, rl.Color(235, 115, 95, 230)),    # coral
+  (80.0, rl.Color(180, 120, 230, 230)),   # orchid
+)
+
+# C4 on-road strip. Must fit inside 536x240 (content ~476x180 after 30px border).
+C4_HUD_W = 460.0
+C4_HUD_H = 44.0
+# Hidpi on-road panel: plot + chips + tracks table. Slightly bigger than 900x340.
+HIDPI_HUD_W = 980.0
+HIDPI_HUD_H = 380.0
+
+TABLE_HEADER = "  ID     dRel     yRel     vRel"
+
+# 0x501 bits Jack uses to decide "wrong radar / wrong car" — product names, not DBC ids.
+ALERT_CHIP = (
+  ("vinValidity", "VIN"),
+  ("xwdValidity", "XWD"),
+  ("radPositionMismatch", "POS"),
+  ("strRackMismatch", "RACK"),
+)
+KEY_REJECT = tuple(k for k, _ in ALERT_CHIP)
+
+HEALTH_COLOR = {
+  "LIVE": rl.Color(70, 200, 120, 255),
+  "NO TRACKS": rl.Color(180, 180, 180, 255),
+  "WAIT VIN": rl.Color(230, 170, 50, 255),
+  "WAIT GTW": rl.Color(230, 170, 50, 255),
+  "SGU": rl.Color(230, 170, 50, 255),
+  "REJECT": rl.Color(230, 120, 40, 255),
+  "UNAVAIL": rl.Color(230, 170, 50, 255),
+  "CAN": rl.Color(226, 44, 44, 255),
+  "FROZEN": rl.Color(226, 44, 44, 255),
+  "FAULT": rl.Color(226, 44, 44, 255),
+}
+
+PANEL_BG = rl.Color(12, 14, 18, 230)
+PANEL_BORDER = rl.Color(255, 255, 255, 70)
+ALIGN_FILL = rl.Color(70, 91, 234, 40)
+ALIGN_LINE = rl.Color(70, 91, 234, 160)
+TRACK_FILL = rl.Color(90, 200, 255, 230)
+TRACK_COAST = rl.Color(180, 180, 180, 200)
+LEAD_FILL = rl.Color(128, 216, 166, 255)
+TEXT = rl.Color(236, 236, 236, 255)
+MUTED = rl.Color(170, 170, 170, 255)
+CHIP_MUTED = rl.Color(128, 128, 128, 255)
+CHIP_FILL = rl.Color(57, 57, 57, 255)
+CHIP_ON_FILL = rl.Color(70, 40, 20, 230)
+OK_FILL = rl.Color(20, 50, 32, 230)
+
+
+def health_color(label: str) -> rl.Color:
+  return HEALTH_COLOR.get(label, MUTED)
+
+
+def _draw_text(font, text: str, x: float, y: float, size: int, color: rl.Color) -> None:
+  rl.draw_text_ex(font, text, rl.Vector2(x, y), size, 0, color)
+
+
+def _line_h(font, text: str, size: int, gap: int = 4) -> float:
+  return measure_text_cached(font, text or "Ag", size).y + gap
+
+
+def is_c4_screen(rect: rl.Rectangle) -> bool:
+  return rect.width < 800 and rect.height < 500
+
+
+def radar_hud_rect(content: rl.Rectangle) -> rl.Rectangle:
+  """On-road HUD that always fits inside `content`.
+
+  C4 536x240 / content ~476x180: 460x44 status strip.
+  Hidpi 2160x1080 / content ~2100x1020: 1200x400 chip + table panel.
+  """
+  if is_c4_screen(content):
+    margin = 8.0
+    w = min(C4_HUD_W, max(0.0, content.width - margin * 2))
+    h = min(C4_HUD_H, max(0.0, content.height - margin))
+    return rl.Rectangle(content.x + margin, content.y + content.height - h - margin, w, h)
+  margin_x, margin_y = 24.0, 20.0
+  w = min(HIDPI_HUD_W, max(0.0, content.width - margin_x * 2))
+  h = min(HIDPI_HUD_H, max(0.0, content.height - 24.0))
+  return rl.Rectangle(content.x + margin_x, content.y + content.height - h - margin_y, w, h)
+
+
+def _clamp_to_window(rect: rl.Rectangle) -> rl.Rectangle:
+  w_max = float(max(1, gui_app.width))
+  h_max = float(max(1, gui_app.height))
+  x = min(max(0.0, rect.x), w_max)
+  y = min(max(0.0, rect.y), h_max)
+  w = min(max(0.0, rect.width), w_max - x)
+  h = min(max(0.0, rect.height), h_max - y)
+  return rl.Rectangle(x, y, w, h)
+
+
+def _chip_pad(font_size: int) -> tuple[int, int]:
+  if font_size < 16:
+    return 6, 2
+  if font_size < 22:
+    return 8, 3
+  return 12, 5
+
+
+def chip_size(text: str, font_size: int) -> tuple[float, float]:
+  font = gui_app.font(FontWeight.BOLD)
+  sz = measure_text_cached(font, text, font_size)
+  pad_x, pad_y = _chip_pad(font_size)
+  return sz.x + pad_x * 2, sz.y + pad_y * 2
+
+
+def draw_chip(x: float, y: float, text: str, color: rl.Color, font_size: int,
+              fill: rl.Color | None = None) -> tuple[float, float]:
+  font = gui_app.font(FontWeight.BOLD)
+  sz = measure_text_cached(font, text, font_size)
+  pad_x, pad_y = _chip_pad(font_size)
+  w = sz.x + pad_x * 2
+  h = sz.y + pad_y * 2
+  rec = rl.Rectangle(x, y, w, h)
+  bg = fill if fill is not None else rl.Color(color.r, color.g, color.b, 48)
+  rl.draw_rectangle_rounded(rec, 0.5, 8, bg)
+  rl.draw_rectangle_rounded_lines_ex(rec, 0.5, 8, 1.5 if font_size < 20 else 2, color)
+  _draw_text(font, text, x + pad_x, y + pad_y, font_size, color)
+  return w, h
+
+
+def draw_chip_row(x: float, y: float, max_w: float, chips: list[tuple[str, rl.Color, rl.Color | None]],
+                  font_size: int, gap: float = 6) -> tuple[float, float]:
+  cx, cy = x, y
+  row_h = 0.0
+  used_w = 0.0
+  bottom = y
+  for text, color, fill in chips:
+    tw, th = chip_size(text, font_size)
+    if cx + tw > x + max_w and cx > x:
+      cx = x
+      cy += row_h + 4
+      row_h = 0.0
+    if tw > max_w:
+      continue
+    draw_chip(cx, cy, text, color, font_size, fill=fill)
+    cx += tw + gap
+    row_h = max(row_h, th)
+    used_w = max(used_w, cx - x)
+    bottom = cy + row_h
+  return used_w, max(0.0, bottom - y)
+
+
+def table_bit(status: BoschRadarStatus) -> str | None:
+  if status.table_frozen or status.unique_raw == 1:
+    return "frozen"
+  if status.unique_raw >= 2:
+    return "moving"
+  return None
+
+
+def link_label(status: BoschRadarStatus) -> str:
+  # silent-until-VIN-complete: host 0x560 mux must finish before panda talks
+  return "talking" if status.vin_stream_complete else "waiting"
+
+
+def c4_extra_chips(status: BoschRadarStatus) -> list[tuple[str, rl.Color]]:
+  """One or two bits that matter on C4. No VIN trio, no 0x2A9 desk."""
+  extras: list[tuple[str, rl.Color]] = []
+  reason = None
+  for key, short in ALERT_CHIP:
+    if key in status.alerts:
+      reason = short
+      break
+  if reason is None and status.hw_fail:
+    reason = "HWFail"
+  elif reason is None and status.sgu_fail:
+    reason = "SGUFail"
+  elif reason is None and status.health_label in ("WAIT VIN", "WAIT GTW"):
+    reason = "waiting"
+  if reason:
+    extras.append((reason, health_color("REJECT" if reason in ("VIN", "XWD", "POS", "RACK") else status.health_label)))
+  bit = table_bit(status)
+  if bit:
+    extras.append((bit, health_color("FROZEN" if bit == "frozen" else "LIVE")))
+  return extras[:2]
+
+
+def _extract_vin(raw) -> str:
+  if raw is None:
+    return ""
+  if isinstance(raw, (bytes, bytearray)):
+    raw = raw.decode("ascii", "ignore")
+  token = "".join(ch for ch in str(raw).upper() if ch.isalnum())
+  return token if len(token) == 17 else ""
+
+
+def vin_refs(status: BoschRadarStatus) -> tuple[str, str, str]:
+  """0x2B9 feed vs F190 (radar EEPROM / donor param) vs chassis CarVin."""
+  feed = status.vin if len(status.vin) == 17 else (status.vin or "")
+  f190 = _extract_vin(getattr(status, "vin_f190", "") or "")
+  chassis = _extract_vin(getattr(status, "vin_chassis", "") or "")
+  if not f190 or not chassis:
+    try:
+      if not f190:
+        raw = ui_state.params.get("NAPRadarDonorVin", return_default=True) or ""
+        f190 = _extract_vin(raw)
+      if not chassis and getattr(ui_state, "CP", None) is not None:
+        chassis = _extract_vin(getattr(ui_state.CP, "carVin", "") or "")
+      if not chassis:
+        chassis = _extract_vin(ui_state.params.get("CarVin"))
+    except Exception:
+      pass
+  return feed, f190, chassis
+
+
+def _light(color: rl.Color) -> rl.Color:
+  return rl.Color(min(255, color.r + 36), min(255, color.g + 36), min(255, color.b + 36), 210)
+
+
+def _draw_range_rings(rect: rl.Rectangle, to_px, compact: bool) -> None:
+  """Concentric range arcs centered on the car. Labels are hidpi-only."""
+  if rect.height < 48:
+    return
+  car_x, car_y = to_px(0.0, 0.0)
+  n = 40 if compact else 80
+  thick = 1.5 if compact else 2.5
+  font = gui_app.font(FontWeight.NORMAL)
+  label_size = 14
+  for r_m, color in RANGE_RINGS:
+    radius = (r_m / RANGE_M) * rect.height
+    if radius < 6:
+      continue
+    prev = None
+    for i in range(n + 1):
+      theta = math.pi * i / n
+      x = car_x + radius * math.cos(theta)
+      y = car_y - radius * math.sin(theta)
+      if prev is not None:
+        rl.draw_line_ex(rl.Vector2(prev[0], prev[1]), rl.Vector2(x, y), thick, color)
+      prev = (x, y)
+    if not compact:
+      lx, ly = to_px(r_m, 0.0)
+      _draw_text(font, f"{int(r_m)}m", lx + 8, ly - 12, label_size, _light(color))
+
+
+def draw_radar_plot(rect: rl.Rectangle, status: BoschRadarStatus, align_box: bool = True,
+                    compact: bool = False) -> None:
+  rl.draw_rectangle_rec(rect, rl.Color(8, 10, 14, 255))
+  rl.draw_rectangle_lines_ex(rect, 1 if compact else 2, PANEL_BORDER)
+  if rect.width < 8 or rect.height < 8:
+    return
+
+  def to_px(d_rel: float, y_rel: float) -> tuple[float, float]:
+    x = rect.x + rect.width * (0.5 - y_rel / (2 * LATERAL_M))
+    y = rect.y + rect.height * (1.0 - d_rel / RANGE_M)
+    return x, y
+
+  rl.begin_scissor_mode(int(rect.x) + 1, int(rect.y) + 1, max(1, int(rect.width) - 2), max(1, int(rect.height) - 2))
+
+  if align_box:
+    left, bottom = to_px(ALIGN_D_MIN, ALIGN_Y_MAX)
+    right, top = to_px(ALIGN_D_MAX, -ALIGN_Y_MAX)
+    box = rl.Rectangle(min(left, right), min(top, bottom), abs(right - left), abs(bottom - top))
+    rl.draw_rectangle_rec(box, ALIGN_FILL)
+    rl.draw_rectangle_lines_ex(box, 1 if compact else 2, ALIGN_LINE)
+
+  _draw_range_rings(rect, to_px, compact)
+
+  car_x, car_y = to_px(0.0, 0.0)
+  cw, ch = (5, 8) if compact else (12, 16)
+  rl.draw_rectangle(int(car_x - cw / 2), int(car_y - ch + 2), cw, ch, rl.Color(220, 220, 220, 255))
+
+  closest = None
+  for track in status.tracks:
+    if closest is None or track.d_rel < closest.d_rel:
+      closest = track
+  for track in status.tracks:
+    x, y = to_px(max(0.0, min(RANGE_M, track.d_rel)), track.y_rel)
+    color = LEAD_FILL if track is closest else (TRACK_FILL if track.measured else TRACK_COAST)
+    radius = (4 if track is closest else 3) if compact else (7 if track is closest else 5)
+    rl.draw_circle(int(x), int(y), radius, color)
+
+  rl.end_scissor_mode()
+
+  font = gui_app.font(FontWeight.NORMAL)
+  tick = 11 if compact else 18
+  _draw_text(font, "0m", rect.x + 4, rect.y + rect.height - (14 if compact else 28), tick, MUTED)
+  _draw_text(font, f"{int(RANGE_M)}m", rect.x + 4, rect.y + 3, tick, MUTED)
+
+
+def _track_row(track: RadarTrack) -> str:
+  flag = "m" if track.measured else "c"
+  return f"{track.track_id:>4}  {track.d_rel:6.1f}  {track.y_rel:+6.2f}  {track.v_rel:+6.2f}  {flag}"
+
+
+def draw_tracks_table(x: float, y: float, bottom: float, status: BoschRadarStatus,
+                      font_size: int, max_rows: int, empty: str) -> float:
+  """ID / dRel / yRel / vRel. The table C4 must not lose."""
+  if bottom - y < font_size + 2:
+    return y
+  font = gui_app.font(FontWeight.MEDIUM)
+  _draw_text(font, TABLE_HEADER, x, y, font_size, MUTED)
+  y += _line_h(font, "dRel", font_size, 3 if font_size < 16 else 6)
+  rows = sorted(status.tracks, key=lambda t: t.d_rel)[:max_rows]
+  gap = 2 if font_size < 16 else 4
+  for track in rows:
+    if y + font_size > bottom:
+      break
+    _draw_text(font, _track_row(track), x, y, font_size, TEXT)
+    y += _line_h(font, _track_row(track), font_size, gap)
+  if not rows and y + font_size <= bottom:
+    _draw_text(font, empty, x, y, font_size, MUTED)
+    y += _line_h(font, empty, font_size, gap)
+  return y
+
+
+def _c4_chip_list(status: BoschRadarStatus) -> list[tuple[str, rl.Color, rl.Color | None]]:
+  chips: list[tuple[str, rl.Color, rl.Color | None]] = [
+    (status.health_label, health_color(status.health_label), None),
+  ]
+  for text, color in c4_extra_chips(status):
+    fill = CHIP_FILL if text in ("moving", "frozen", "waiting") else CHIP_ON_FILL
+    chips.append((text, color, fill))
+  return chips
+
+
+def draw_c4_strip(panel: rl.Rectangle, status: BoschRadarStatus) -> None:
+  """Cut-down C4 HUD: state + at most two reject/table bits."""
+  rl.draw_rectangle_rounded(panel, 0.18, 6, PANEL_BG)
+  rl.draw_rectangle_rounded_lines_ex(panel, 0.18, 6, 2, health_color(status.health_label))
+  font_size = 13
+  chips = _c4_chip_list(status)
+  max_h = 0.0
+  for text, _, _ in chips:
+    _w, th = chip_size(text, font_size)
+    max_h = max(max_h, th)
+  pad = 6.0
+  y = panel.y + max(pad, (panel.height - max_h) / 2)
+  draw_chip_row(panel.x + pad, y, panel.width - pad * 2, chips, font_size, gap=6)
+
+
+def draw_hidpi_chips(rect: rl.Rectangle, status: BoschRadarStatus, font_size: int) -> float:
+  """Full key-on chips. Product names, not a wall of CAN ids."""
+  if rect.width < 8 or rect.height < 8:
+    return rect.y
+  font = gui_app.font(FontWeight.MEDIUM)
+  label_size = max(14, font_size - 4)
+  x, y = rect.x, rect.y
+  max_w = rect.width
+  bottom = rect.y + rect.height
+  gap = 8
+
+  def row(label: str, chips: list[tuple[str, rl.Color, rl.Color | None]]) -> None:
+    nonlocal y
+    if y + 20 > bottom:
+      return
+    lw = 0.0
+    if label:
+      _draw_text(font, label, x, y + 4, label_size, MUTED)
+      lw = measure_text_cached(font, label, label_size).x + 10
+    _, h = draw_chip_row(x + lw, y, max_w - lw, chips, font_size, gap=6)
+    y += max(h, _line_h(font, label or "Ag", label_size, 0)) + gap
+
+  label = status.health_label
+  talking = link_label(status)
+  row("", [
+    (label, health_color(label), None),
+    ("SGUFail", health_color("SGU") if status.sgu_fail else CHIP_MUTED,
+     CHIP_ON_FILL if status.sgu_fail else CHIP_FILL),
+    ("HWFail", health_color("FAULT") if status.hw_fail else CHIP_MUTED,
+     CHIP_ON_FILL if status.hw_fail else CHIP_FILL),
+    (talking, health_color("LIVE") if talking == "talking" else health_color("WAIT VIN"),
+     OK_FILL if talking == "talking" else CHIP_FILL),
+  ])
+
+  alert_chips = []
+  for key, short in ALERT_CHIP:
+    on = key in status.alerts
+    alert_chips.append((short, health_color("REJECT") if on else CHIP_MUTED, CHIP_ON_FILL if on else CHIP_FILL))
+  row("reject", alert_chips)
+
+  awd = "4WD" if status.awd else ("2WD" if status.awd is False else "drive —")
+  pos = "—" if status.position is None else str(status.position)
+  epas = "—" if status.epas_type is None else str(status.epas_type)
+  row("drive", [
+    (awd, TEXT, CHIP_FILL),
+    (f"pos {pos}", TEXT, CHIP_FILL),
+    (f"EPAS {epas}", TEXT, CHIP_FILL),
+  ])
+
+  feed, f190, chassis = vin_refs(status)
+  present = [v for v in (feed, f190, chassis) if v]
+  mismatch = len(set(present)) > 1
+
+  def vin_chip(tag: str, value: str) -> tuple[str, rl.Color, rl.Color | None]:
+    shown = value or "—"
+    bad = bool(value) and mismatch and any(v != value for v in present)
+    return (f"{tag} {shown}", health_color("REJECT") if bad else TEXT, CHIP_ON_FILL if bad else CHIP_FILL)
+
+  row("VIN", [
+    vin_chip("2B9", feed),
+    vin_chip("F190", f190),
+    vin_chip("CHS", chassis),
+  ])
+
+  age = "age —" if status.last_raw_age_s is None else (
+    f"age {status.last_raw_age_s:.1f}s" if status.last_raw_age_s < 10 else f"age {status.last_raw_age_s:.0f}s"
+  )
+  bit = table_bit(status)
+  raw_chips: list[tuple[str, rl.Color, rl.Color | None]] = [
+    (f"raw {status.unique_raw}", TEXT, CHIP_FILL),
+    (age, TEXT, CHIP_FILL),
+    (f"{len(status.tracks)} trk", TEXT, CHIP_FILL),
+  ]
+  if bit:
+    raw_chips.append((bit, health_color("FROZEN" if bit == "frozen" else "LIVE"),
+                      CHIP_ON_FILL if bit == "frozen" else OK_FILL))
+  row("table", raw_chips)
+  return y
+
+
+class RadarHudOverlay(Widget):
+  """On-road readout. Hidden unless NAPRadarHud is set."""
+
+  def _render(self, rect: rl.Rectangle):
+    if not ui_state.radar_hud:
+      return
+    status = ui_state.radar_status
+    panel = _clamp_to_window(rect)
+    if panel.width < 8 or panel.height < 8:
+      return
+    if panel.height < 80:
+      draw_c4_strip(panel, status)
+      return
+
+    rl.draw_rectangle_rounded(panel, 0.06, 8, PANEL_BG)
+    rl.draw_rectangle_rounded_lines_ex(panel, 0.06, 8, 2, health_color(status.health_label))
+    pad = 14
+    plot_w = min(230.0, panel.width * 0.22)
+    plot = rl.Rectangle(panel.x + pad, panel.y + pad, plot_w, panel.height - pad * 2)
+    draw_radar_plot(plot, status, align_box=False, compact=False)
+
+    table_w = 390.0 if panel.width >= 980 else 0.0
+    gap = 14.0
+    chips_x = plot.x + plot.width + gap
+    chips_w = panel.width - plot.width - pad * 2 - gap
+    if table_w:
+      chips_w = panel.width - plot.width - table_w - pad * 2 - gap * 2
+    chips = rl.Rectangle(chips_x, panel.y + pad, max(8.0, chips_w), panel.height - pad * 2)
+    draw_hidpi_chips(chips, status, font_size=18)
+    if table_w:
+      table_x = panel.x + panel.width - pad - table_w
+      draw_tracks_table(table_x, panel.y + pad, panel.y + panel.height - pad,
+                        status, 16, 8, "no published tracks")
+
+
+class RadarMonitorDialog(Widget):
+  """Full-screen live radar. Does not stop pandad or set NAPScriptRunning."""
+
+  def __init__(self):
+    super().__init__()
+    self._close = Button("Close", click_callback=self._on_close, font_size=35,
+                         text_padding=16, button_style=ButtonStyle.TRANSPARENT_WHITE_BORDER)
+    self._align_only = False
+    self._align_btn = Button("Align", click_callback=self._toggle_align, font_size=35,
+                             text_padding=16, button_style=ButtonStyle.ACTION)
+
+  def _on_close(self):
+    gui_app.pop_widget()
+
+  def _toggle_align(self):
+    self._align_only = not self._align_only
+
+  def _tune_buttons(self, compact: bool) -> None:
+    font = 16 if compact else 35
+    pad = 4 if compact else 16
+    radius = 8 if compact else 10
+    for btn in (self._close, self._align_btn):
+      btn._label.set_font_size(font)
+      btn._label._text_padding = pad
+      btn._border_radius = radius
+    self._align_btn.set_button_style(ButtonStyle.PRIMARY if self._align_only else ButtonStyle.ACTION)
+
+  def _render(self, rect: rl.Rectangle):
+    status = ui_state.radar_status
+    compact = is_c4_screen(rect)
+    if self._align_only and not compact:
+      tracks = tuple(
+        t for t in status.tracks
+        if ALIGN_D_MIN <= t.d_rel <= ALIGN_D_MAX and abs(t.y_rel) <= ALIGN_Y_MAX
+      )
+      status = replace(status, tracks=tracks)
+
+    self._tune_buttons(compact)
+    rl.draw_rectangle_rec(rect, rl.Color(0, 0, 0, 255))
+    if compact:
+      self._render_c4(rect, status)
+    else:
+      self._render_hidpi(rect, status)
+
+  def _render_c4(self, rect: rl.Rectangle, status: BoschRadarStatus) -> None:
+    """536x240: chips + tracks TABLE + small plot + Close. No Align, no VIN dump."""
+    pad = 6
+    title_size = 16
+    btn_w, btn_h = 96, 30
+    footer_h = btn_h + 8
+    title_font = gui_app.font(FontWeight.BOLD)
+    _draw_text(title_font, "Live radar", rect.x + pad, rect.y + 3, title_size, TEXT)
+    chip_y = rect.y + 22
+    draw_chip_row(rect.x + pad, chip_y, rect.width - pad * 2, _c4_chip_list(status), 12, gap=5)
+    body_y = rect.y + 46
+    body_h = rect.height - 46 - footer_h
+    # Table is required. Plot stays only if the table still has room.
+    table_font = 11
+    min_table_w = 220.0
+    plot_w = 120.0
+    if rect.width - pad * 3 - plot_w < min_table_w:
+      plot_w = 0.0
+    if plot_w and body_h > 40:
+      plot = rl.Rectangle(rect.x + pad, body_y, plot_w, body_h)
+      draw_radar_plot(plot, status, align_box=False, compact=True)
+      table_x = plot.x + plot.width + 8
+    else:
+      table_x = rect.x + pad
+    empty = "no published tracks"
+    draw_tracks_table(table_x, body_y, body_y + body_h - 2, status, table_font, 8, empty)
+    btn_y = rect.y + rect.height - footer_h + 4
+    self._close.render(rl.Rectangle(rect.x + pad, btn_y, btn_w, btn_h))
+
+  def _render_hidpi(self, rect: rl.Rectangle, status: BoschRadarStatus) -> None:
+    pad = 28
+    title_size = 42
+    body = 22
+    btn_h, btn_w, align_w = 80, 240, 200
+    header_h = 92
+    footer_h = btn_h + 24
+    title_font = gui_app.font(FontWeight.BOLD)
+    body_font = gui_app.font(FontWeight.MEDIUM)
+
+    _draw_text(title_font, "Live radar", rect.x + pad, rect.y + 16, title_size, TEXT)
+    chip_x = rect.x + pad + measure_text_cached(title_font, "Live radar", title_size).x + 16
+    draw_chip(chip_x, rect.y + 20, status.health_label, health_color(status.health_label), 22)
+    _draw_text(body_font, "openpilot stays running", rect.x + pad, rect.y + 64, 20, MUTED)
+
+    mode = "2.5–14.5 m" if self._align_only else "All tracks"
+    mode_color = health_color("LIVE") if self._align_only else MUTED
+    mw, mh = chip_size(mode, body)
+    mode_x = rect.x + rect.width - pad - mw
+    mode_y = rect.y + 20
+    draw_chip(mode_x, mode_y, mode, mode_color, body,
+              fill=ALIGN_FILL if self._align_only else CHIP_FILL)
+
+    table_w = 460.0
+    plot_w = min(rect.width * 0.34, 720)
+    footer_y = rect.y + rect.height - footer_h
+    plot = rl.Rectangle(rect.x + pad, rect.y + header_h, plot_w, footer_y - (rect.y + header_h))
+    draw_radar_plot(plot, status, align_box=True, compact=False)
+
+    table_x = rect.x + rect.width - pad - table_w
+    chips_x = plot.x + plot.width + 24
+    chips_w = table_x - chips_x - 20
+    draw_hidpi_chips(rl.Rectangle(chips_x, plot.y, max(8.0, chips_w), plot.height), status, font_size=20)
+    empty = "no tracks in 2.5–14.5 m" if self._align_only else "no published tracks"
+    draw_tracks_table(table_x, plot.y, footer_y - 8, status, body, 12, empty)
+
+    btn_y = footer_y + 12
+    self._close.render(rl.Rectangle(rect.x + pad, btn_y, btn_w, btn_h))
+    self._align_btn.render(rl.Rectangle(rect.x + pad + btn_w + 14, btn_y, align_w, btn_h))
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
new file mode 100644
index 00000000000000..14a4bf39358b88
--- /dev/null
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
@@ -0,0 +1,524 @@
+"""NAP sidebar for sunnypilot. Same groups as nap-dev, native Sunny widgets."""
+import pyray as rl
+
+from openpilot.common.params import Params
+from openpilot.selfdrive.ui.layouts.settings.nap_content import (
+  BACKUP_EPAS_INSTRUCTIONS, BRAKE_FACTOR_PRESETS, CALIBRATE_PEDAL_INSTRUCTIONS,
+  DEFAULTS, FLASH_EPAS_INSTRUCTIONS, NAPParamKeys, PEDAL_CAN_BUS_VALUES,
+  RADAR_OFFSET_MAX, RADAR_OFFSET_MIN, RESTORE_EPAS_INSTRUCTIONS,
+  acknowledgments_html, find_preset_index,
+)
+from openpilot.selfdrive.ui.radar.radar_view import RadarMonitorDialog
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import instructions as preap_instructions
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import start_tool
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import ToolSafetyError
+from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.sunnypilot.widgets.list_view import (
+  button_item_sp, multiple_button_item_sp, text_item_sp, toggle_item_sp,
+)
+from openpilot.system.ui.widgets import DialogResult, Widget
+from openpilot.system.ui.widgets.button import Button
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog, alert_dialog
+from openpilot.system.ui.widgets.html_render import HtmlRenderer, ElementType
+from openpilot.system.ui.widgets.keyboard import Keyboard
+from openpilot.system.ui.widgets.list_view import ITEM_PADDING
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+
+
+class SectionHeader(Widget):
+  HEADER_HEIGHT = 70
+
+  def __init__(self, title: str):
+    super().__init__()
+    self._title = title
+    self._font = gui_app.font(FontWeight.BOLD)
+    self.set_rect(rl.Rectangle(0, 0, 0, self.HEADER_HEIGHT))
+
+  def set_parent_rect(self, parent_rect: rl.Rectangle):
+    super().set_parent_rect(parent_rect)
+    self._rect.width = parent_rect.width
+
+  def _render(self, rect):
+    text_size = measure_text_cached(self._font, self._title, 40)
+    text_y = self._rect.y + (self._rect.height - text_size.y) / 2
+    rl.draw_text_ex(
+      self._font, self._title,
+      rl.Vector2(self._rect.x + ITEM_PADDING, text_y),
+      40, 0, rl.Color(180, 180, 180, 255),
+    )
+
+
+class CreditsBlock(Widget):
+  def __init__(self, html: str):
+    super().__init__()
+    self._html = HtmlRenderer(
+      text=html,
+      text_size={ElementType.P: 40},
+      text_color=rl.Color(140, 140, 140, 255),
+    )
+    self.set_rect(rl.Rectangle(0, 0, 0, 200))
+
+  def set_parent_rect(self, parent_rect: rl.Rectangle):
+    super().set_parent_rect(parent_rect)
+    self._rect.width = parent_rect.width
+    content_w = int(self._rect.width - ITEM_PADDING * 2)
+    self._rect.height = self._html.get_total_height(content_w) + ITEM_PADDING
+
+  def _render(self, rect):
+    content_w = int(self._rect.width - ITEM_PADDING * 2)
+    h = self._html.get_total_height(content_w)
+    html_rect = rl.Rectangle(self._rect.x + ITEM_PADDING, self._rect.y, content_w, h)
+    self._html.set_rect(html_rect)
+    self._html.render(html_rect)
+
+
+def parse_configured_pedal_bus(value) -> int:
+  if value in (None, "", b""):
+    return 2
+  return int(value)
+
+
+def pedal_bus_selector_index(value) -> int:
+  return 0 if parse_configured_pedal_bus(value) == 0 else 1
+
+
+class NAPLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self._params = Params()
+    self._page = "main"
+    self._build_items()
+    self._scroller = Scroller(self._main_items, line_separator=True, spacing=0)
+    self._radar_scroller = Scroller(self._radar_items, line_separator=True, spacing=0)
+    self._radar_back_btn = Button(tr("Back"), click_callback=self._close_radar)
+    self._radar_back_btn.set_rect(rl.Rectangle(0, 0, 220, 90))
+
+  def _build_items(self):
+    self._main_items = []
+    self._radar_items = []
+    self._toggle_map = {}
+
+    self._main_items.append(SectionHeader(tr("Longitudinal Control")))
+    self._add_toggle(NAPParamKeys.PEDAL_ENABLED, tr("Pedal Interceptor"),
+                     tr("Enable Comma Pedal hardware for direct throttle control. Requires reboot."),
+                     enabled=ui_state.is_offroad, needs_reboot=True)
+    self._add_toggle(NAPParamKeys.ADAPTIVE_ACCEL, tr("Adaptive Accel Limits"),
+                     tr("Reduces acceleration authority when close to a lead car to prevent overshoot."))
+    follow_dist = int(self._params.get(NAPParamKeys.FOLLOW_DISTANCE, return_default=True) or 4)
+    self._follow_buttons = multiple_button_item_sp(
+      title=lambda: tr("Follow Distance"),
+      description=lambda: tr("Follow distance (1=closest, 7=farthest). Overridden by cruise stalk if present."),
+      buttons=["1", "2", "3", "4", "5", "6", "7"],
+      button_width=80,
+      selected_index=max(0, min(6, follow_dist - 1)),
+      callback=self._on_follow_distance,
+    )
+    self._main_items.append(self._follow_buttons)
+
+    self._main_items.append(SectionHeader(tr("Pedal Hardware")))
+    self._pedal_bus_buttons = multiple_button_item_sp(
+      title=lambda: tr("Pedal CAN Bus"),
+      description=lambda: tr("Select which CAN bus the Comma Pedal is connected to. Requires reboot."),
+      buttons=[lambda: tr("Bus 0"), lambda: tr("Bus 2")],
+      button_width=150,
+      callback=self._on_pedal_can_bus,
+    )
+    self._pedal_bus_buttons.action_item.set_enabled(ui_state.is_offroad)
+    self._main_items.append(self._pedal_bus_buttons)
+    self._pedal_calib_status = text_item_sp(
+      lambda: tr("Pedal Calibration"),
+      lambda: tr("Calibrated") if self._params.get_bool(NAPParamKeys.PEDAL_CALIB_DONE) else tr("Not Calibrated"),
+      description=lambda: tr("Shows whether the pedal interceptor has been calibrated."),
+    )
+    self._main_items.append(self._pedal_calib_status)
+    self._calibrate_pedal_btn = button_item_sp(
+      lambda: tr("Calibrate Pedal"), lambda: tr("Start"),
+      description=lambda: tr("Run the pedal calibration routine. Vehicle must be stationary with ignition on."),
+      callback=lambda: self._confirm_tool("calibrate_pedal"),
+    )
+    self._calibrate_pedal_btn.action_item.set_enabled(ui_state.is_offroad)
+    self._main_items.append(self._calibrate_pedal_btn)
+
+    self._main_items.append(SectionHeader(tr("Radar")))
+    self._radar_settings_btn = button_item_sp(
+      lambda: tr("Radar Settings"), lambda: tr("Open"),
+      description=lambda: tr("Donor VIN, position, offset, test, and calibration."),
+      callback=self._open_radar,
+    )
+    self._main_items.append(self._radar_settings_btn)
+    self._build_radar_items()
+
+    self._main_items.append(SectionHeader(tr("iBooster / Braking")))
+    self._add_toggle(NAPParamKeys.IBOOSTER_ENABLED, tr("iBooster Enabled"),
+                     tr("Enable the iBooster brake-by-wire system for electronic braking. (Not yet implemented)"),
+                     enabled=False)
+    brake_factor = self._params.get(NAPParamKeys.BRAKE_FACTOR, return_default=True)
+    self._brake_factor_buttons = multiple_button_item_sp(
+      title=lambda: tr("Brake Factor"),
+      description=lambda: tr("Multiplier for brake force. Higher values brake more aggressively. (Not yet implemented)"),
+      buttons=["0.5x", "1.0x", "1.5x", "2.0x"],
+      button_width=130,
+      selected_index=find_preset_index(BRAKE_FACTOR_PRESETS, brake_factor),
+      callback=self._on_brake_factor,
+    )
+    self._brake_factor_buttons.action_item.set_enabled(False)
+    self._main_items.append(self._brake_factor_buttons)
+
+    self._main_items.append(SectionHeader(tr("Advanced")))
+    self._params.put_bool(NAPParamKeys.FORCE_PRE_AP, True)
+    self._add_toggle(NAPParamKeys.FORCE_PRE_AP, tr("Force Pre-AP Mode"),
+                     tr("Force the system to treat this vehicle as a Pre-Autopilot Tesla."),
+                     enabled=False)
+
+    self._main_items.append(SectionHeader(tr("Actions")))
+    self._backup_epas_btn = button_item_sp(
+      lambda: tr("Backup EPAS"), lambda: tr("Extract"),
+      description=lambda: tr("Extract and save stock EPAS firmware image without flashing."),
+      callback=lambda: self._confirm_tool("extract_epas"),
+    )
+    self._backup_epas_btn.action_item.set_enabled(ui_state.is_offroad)
+    self._main_items.append(self._backup_epas_btn)
+    self._flash_epas_btn = button_item_sp(
+      lambda: tr("Flash EPAS"), lambda: tr("Flash"),
+      description=lambda: tr("Flash the EPAS (Electric Power Assisted Steering) firmware."),
+      callback=lambda: self._confirm_tool("flash_epas"),
+    )
+    self._flash_epas_btn.action_item.set_enabled(ui_state.is_offroad)
+    self._main_items.append(self._flash_epas_btn)
+    self._restore_epas_btn = button_item_sp(
+      lambda: tr("Restore EPAS"), lambda: tr("Restore"),
+      description=lambda: tr("Restore stock EPAS firmware image."),
+      callback=lambda: self._confirm_tool("restore_epas"),
+    )
+    self._restore_epas_btn.action_item.set_enabled(ui_state.is_offroad)
+    self._main_items.append(self._restore_epas_btn)
+    self._emergency_disable_btn = button_item_sp(
+      lambda: tr("Emergency Disable"), lambda: tr("Disable"),
+      description=lambda: tr("Immediately disable pedal interceptor and clear calibration. Restart required."),
+      callback=self._on_emergency_disable,
+    )
+    self._main_items.append(self._emergency_disable_btn)
+    self._reset_defaults_btn = button_item_sp(
+      lambda: tr("Reset to Defaults"), lambda: tr("Reset"),
+      description=lambda: tr("Reset all NAP settings to factory defaults. This cannot be undone."),
+      callback=self._on_reset_defaults,
+    )
+    self._reset_defaults_btn.action_item.set_enabled(ui_state.is_offroad)
+    self._main_items.append(self._reset_defaults_btn)
+
+    self._main_items.append(SectionHeader(tr("Acknowledgments")))
+    self._main_items.append(CreditsBlock(acknowledgments_html()))
+
+  def _build_radar_items(self):
+    self._radar_items.append(SectionHeader(tr("Radar")))
+    self._add_toggle(NAPParamKeys.RADAR_ENABLED, tr("Radar Enabled"),
+                     tr("Enable the stock Bosch radar for lead car detection. Requires reboot."),
+                     enabled=ui_state.is_offroad, needs_reboot=True, dest=self._radar_items)
+    self._add_toggle(NAPParamKeys.RADAR_IGNORE_HW_FAIL, tr("Ignore radar hardware fail"),
+                     tr("Let's you engage when Bosch raises HWFail even though tracks are still live."),
+                     dest=self._radar_items)
+
+    def on_radar_hud(state):
+      self._params.put_bool(NAPParamKeys.RADAR_HUD, state)
+      ui_state.radar_hud = state
+
+    hud_item = toggle_item_sp(
+      tr("Radar HUD"),
+      tr("Show live tracks, lamps, and alert bits over the driving view. Works while driving."),
+      initial_state=self._params.get_bool(NAPParamKeys.RADAR_HUD),
+      callback=on_radar_hud,
+    )
+    self._toggle_map[NAPParamKeys.RADAR_HUD] = hud_item
+    self._radar_items.append(hud_item)
+
+    self._radar_offset_keyboard = Keyboard(max_text_size=10)
+    self._radar_offset_btn = button_item_sp(
+      lambda: tr("Radar Lateral Offset"), self._get_radar_offset_text,
+      description=lambda: tr(
+        "Lateral offset in meters added to radar yRel. Negative shifts leads toward the left of current radar "
+        + "reading; positive shifts right. Example: -0.27 for the 3D-printed factory-location mount."
+      ),
+      callback=self._on_radar_offset_click,
+    )
+    self._radar_items.append(self._radar_offset_btn)
+
+    self._radar_vin_keyboard = Keyboard(max_text_size=17)
+    self._radar_vin_btn = button_item_sp(
+      lambda: tr("Donor Radar VIN"), self._get_radar_vin_text,
+      description=lambda: tr(
+        "VIN already programmed in a salvage radar. Leave empty to send this car. "
+        + "A 17-character VIN makes panda impersonate the donor (Tinkla 0.6.6)."
+      ),
+      callback=self._on_radar_vin_click,
+    )
+    self._radar_items.append(self._radar_vin_btn)
+
+    self._read_vin_btn = button_item_sp(
+      lambda: tr("Read VIN"), self._get_read_vin_text,
+      description=lambda: tr(
+        "Read the VIN stored in the radar (F190). Does not write or flash. "
+        + "Car must be on and not engaged. Power-cycle after it fills."
+      ),
+      callback=self._on_read_vin,
+    )
+    self._radar_items.append(self._read_vin_btn)
+
+    radar_position = int(self._params.get(NAPParamKeys.RADAR_POSITION, return_default=True) or 0)
+    self._radar_position_buttons = multiple_button_item_sp(
+      title=lambda: tr("Donor Radar Position"),
+      description=lambda: tr("Always sent when radar is on, including empty VIN. 0 pre-facelift S, 1 post-facelift S, 2 Model X."),
+      buttons=["0", "1", "2"],
+      button_width=130,
+      selected_index=max(0, min(2, radar_position)),
+      callback=self._on_radar_position,
+    )
+    self._radar_items.append(self._radar_position_buttons)
+
+    radar_epas = int(self._params.get(NAPParamKeys.RADAR_EPAS_TYPE, return_default=True) or 0)
+    self._radar_epas_buttons = multiple_button_item_sp(
+      title=lambda: tr("Donor EPAS Type"),
+      description=lambda: tr("Must match the donor car rack: 0 Bosch L538, 1 L405, 2 Mando FGR64, 3 VGR66, 4 VGR66 Gen3."),
+      buttons=["0", "1", "2", "3", "4"],
+      button_width=100,
+      selected_index=max(0, min(4, radar_epas)),
+      callback=self._on_radar_epas,
+    )
+    self._radar_items.append(self._radar_epas_buttons)
+
+    self._live_radar_btn = button_item_sp(
+      lambda: tr("Live Radar"), lambda: tr("Open"),
+      description=lambda: tr("Live tracks, ECU lamps, and alert bits. Stays in this session; works while driving."),
+      callback=lambda: gui_app.push_widget(RadarMonitorDialog()),
+    )
+    self._radar_items.append(self._live_radar_btn)
+
+    self._tool_calibrate_radar = button_item_sp(
+      lambda: tr("Calibrate Radar"), lambda: tr("CALIBRATE"),
+      callback=lambda: self._confirm_tool("calibrate_radar"),
+    )
+    self._tool_diagnose_radar = button_item_sp(
+      lambda: tr("Diagnose Radar"), lambda: tr("DIAGNOSE"),
+      callback=lambda: self._confirm_tool("diagnose_radar"),
+    )
+    self._tool_test_radar = button_item_sp(
+      lambda: tr("Test Radar"), lambda: tr("TEST"),
+      callback=lambda: self._confirm_tool("test_radar"),
+    )
+    self._radar_items.extend([self._tool_calibrate_radar, self._tool_diagnose_radar, self._tool_test_radar])
+
+  def _add_toggle(self, param_key, title, description, enabled=None, needs_reboot=False, dest=None):
+    def on_toggle(state, k=param_key):
+      self._params.put_bool(k, state)
+      if needs_reboot:
+        self._show_reboot_modal()
+
+    kwargs = {"param": param_key, "callback": on_toggle}
+    if enabled is not None:
+      kwargs["enabled"] = enabled
+    item = toggle_item_sp(title, description, initial_state=self._params.get_bool(param_key), **kwargs)
+    self._toggle_map[param_key] = item
+    (dest if dest is not None else self._main_items).append(item)
+
+  def _on_follow_distance(self, index: int):
+    self._params.put(NAPParamKeys.FOLLOW_DISTANCE, index + 1)
+
+  def _on_pedal_can_bus(self, index: int):
+    self._params.put(NAPParamKeys.PEDAL_CAN_BUS, PEDAL_CAN_BUS_VALUES[index])
+    self._show_reboot_modal()
+
+  def _on_brake_factor(self, index: int):
+    self._params.put(NAPParamKeys.BRAKE_FACTOR, BRAKE_FACTOR_PRESETS[index])
+
+  def _get_radar_offset(self) -> float:
+    raw = self._params.get(NAPParamKeys.RADAR_OFFSET, return_default=True)
+    try:
+      return float(raw) if raw is not None else 0.0
+    except (TypeError, ValueError):
+      return 0.0
+
+  def _get_radar_offset_text(self) -> str:
+    return f"{self._get_radar_offset():+.2f}m"
+
+  def _get_radar_vin_text(self) -> str:
+    raw = self._params.get(NAPParamKeys.RADAR_DONOR_VIN, return_default=True) or ""
+    if isinstance(raw, bytes):
+      raw = raw.decode("ascii", errors="ignore")
+    vin = "".join(ch for ch in str(raw).upper() if ch.isalnum())
+    return vin if len(vin) == 17 else tr("Not set")
+
+  def _get_read_vin_text(self) -> str:
+    if self._params.get_bool(NAPParamKeys.RADAR_READ_VIN):
+      return tr("Reading...")
+    raw = self._params.get(NAPParamKeys.RADAR_VIN_READ_STATUS, return_default=True) or ""
+    if isinstance(raw, bytes):
+      raw = raw.decode("ascii", errors="ignore")
+    status = str(raw).strip()
+    if status.startswith("saved "):
+      return tr("Cycle car")
+    if status:
+      return status[:18]
+    return tr("Read")
+
+  def _open_radar(self):
+    self._page = "radar"
+    self._radar_scroller.show_event()
+
+  def _close_radar(self):
+    self._page = "main"
+    self._scroller.show_event()
+
+  def _on_read_vin(self):
+    if ui_state.engaged:
+      gui_app.push_widget(alert_dialog(tr("Disengage first")))
+      return
+    if not self._params.get_bool(NAPParamKeys.RADAR_ENABLED):
+      gui_app.push_widget(alert_dialog(tr("Enable radar first")))
+      return
+
+    def confirm_callback(result: int):
+      if result == DialogResult.CONFIRM:
+        self._params.put_bool(NAPParamKeys.RADAR_READ_VIN, True)
+
+    gui_app.push_widget(ConfirmDialog(tr("Reads the VIN stored in the radar. Does not write or flash."),
+                                      tr("Read"), callback=confirm_callback))
+
+  def _on_radar_vin_click(self):
+    current = self._get_radar_vin_text()
+    self._radar_vin_keyboard.reset(min_text_size=0)
+    self._radar_vin_keyboard.set_title(tr("Donor Radar VIN"))
+    self._radar_vin_keyboard.set_text("" if current == tr("Not set") else current)
+    self._radar_vin_keyboard.set_callback(self._on_radar_vin_submit)
+    gui_app.push_widget(self._radar_vin_keyboard)
+
+  def _on_radar_vin_submit(self, result: DialogResult):
+    if result != DialogResult.CONFIRM:
+      return
+    text = "".join(ch for ch in (self._radar_vin_keyboard.text or "").upper() if ch.isalnum())
+    try:
+      self._params.put(NAPParamKeys.RADAR_DONOR_VIN, text if len(text) == 17 else "")
+    except Exception:
+      pass
+
+  def _on_radar_position(self, index: int):
+    try:
+      self._params.put(NAPParamKeys.RADAR_POSITION, int(index))
+    except Exception:
+      pass
+
+  def _on_radar_epas(self, index: int):
+    try:
+      self._params.put(NAPParamKeys.RADAR_EPAS_TYPE, int(index))
+    except Exception:
+      pass
+
+  def _on_radar_offset_click(self):
+    self._radar_offset_keyboard.reset(min_text_size=1)
+    self._radar_offset_keyboard.set_title(tr("Radar Lateral Offset (m)"))
+    self._radar_offset_keyboard.set_text(f"{self._get_radar_offset():.2f}")
+    self._radar_offset_keyboard.set_callback(self._on_radar_offset_submit)
+    gui_app.push_widget(self._radar_offset_keyboard)
+
+  def _on_radar_offset_submit(self, result: DialogResult):
+    if result != DialogResult.CONFIRM:
+      return
+    try:
+      value = float((self._radar_offset_keyboard.text or "").strip())
+    except (TypeError, ValueError, AttributeError):
+      return
+    value = max(RADAR_OFFSET_MIN, min(RADAR_OFFSET_MAX, value))
+    try:
+      self._params.put(NAPParamKeys.RADAR_OFFSET, value)
+    except Exception:
+      pass
+
+  def _confirm_tool(self, tool: str):
+    if not ui_state.is_offroad():
+      gui_app.push_widget(alert_dialog(tr("Tools are only available offroad.")))
+      return
+    instructions = {
+      "calibrate_pedal": CALIBRATE_PEDAL_INSTRUCTIONS,
+      "calibrate_radar": preap_instructions.CALIBRATE_RADAR_INSTRUCTIONS,
+      "diagnose_radar": preap_instructions.DIAGNOSE_RADAR_INSTRUCTIONS,
+      "test_radar": preap_instructions.TEST_RADAR_INSTRUCTIONS,
+      "extract_epas": BACKUP_EPAS_INSTRUCTIONS,
+      "flash_epas": FLASH_EPAS_INSTRUCTIONS,
+      "restore_epas": RESTORE_EPAS_INSTRUCTIONS,
+    }
+
+    def callback(result: DialogResult):
+      if result != DialogResult.CONFIRM:
+        return
+      try:
+        start_tool(tool, confirmed=True)
+      except (ToolSafetyError, ValueError) as exc:
+        gui_app.push_widget(alert_dialog(str(exc)))
+
+    gui_app.push_widget(ConfirmDialog(tr(instructions[tool]).replace("\n", "<br>"),
+                                      tr("Start"), rich=True, callback=callback))
+
+  def _show_reboot_modal(self):
+    def confirm_callback(result: int):
+      if result == DialogResult.CONFIRM:
+        self._params.put_bool("DoReboot", True)
+    gui_app.push_widget(ConfirmDialog(
+      "<h1>Reboot Required</h1><br><p>This change requires a reboot to take effect.</p>",
+      tr("Reboot"), cancel_text=tr("Ignore"), rich=True, callback=confirm_callback))
+
+  def _on_emergency_disable(self):
+    def confirm_callback(result: int):
+      if result == DialogResult.CONFIRM:
+        self._params.put_bool(NAPParamKeys.PEDAL_ENABLED, False)
+        self._params.put_bool(NAPParamKeys.PEDAL_CALIB_DONE, False)
+        self._refresh_toggles()
+    gui_app.push_widget(ConfirmDialog(
+      "<h1>Emergency Disable</h1><br><p>This will disable the pedal interceptor and clear calibration.</p>",
+      tr("Disable"), rich=True, callback=confirm_callback))
+
+  def _on_reset_defaults(self):
+    def confirm_callback(result: int):
+      if result == DialogResult.CONFIRM:
+        for key, default in DEFAULTS.items():
+          if isinstance(default, bool):
+            self._params.put_bool(key, default)
+          elif isinstance(default, (int, float, str)):
+            self._params.put(key, default)
+        self._params.put_bool(NAPParamKeys.FORCE_PRE_AP, True)
+        self._refresh_toggles()
+    gui_app.push_widget(ConfirmDialog(
+      "<h1>Reset to Defaults</h1><br><p>This will reset all NAP settings. This cannot be undone.</p>",
+      tr("Reset All"), rich=True, callback=confirm_callback))
+
+  def _render(self, rect):
+    if self._page == "radar":
+      self._radar_back_btn.set_position(rect.x, rect.y + 10)
+      self._radar_back_btn.render()
+      content = rl.Rectangle(
+        rect.x, rect.y + self._radar_back_btn.rect.height + 20,
+        rect.width, rect.height - self._radar_back_btn.rect.height - 20,
+      )
+      self._radar_scroller.render(content)
+    else:
+      self._scroller.render(rect)
+
+  def show_event(self):
+    self._page = "main"
+    self._scroller.show_event()
+    self._refresh_toggles()
+
+  def _refresh_toggles(self):
+    for key, item in self._toggle_map.items():
+      item.action_item.set_state(self._params.get_bool(key))
+    follow_dist = int(self._params.get(NAPParamKeys.FOLLOW_DISTANCE, return_default=True) or 4)
+    self._follow_buttons.action_item.set_selected_button(max(0, min(6, follow_dist - 1)))
+    self._pedal_bus_buttons.action_item.set_selected_button(
+      pedal_bus_selector_index(self._params.get(NAPParamKeys.PEDAL_CAN_BUS)))
+    brake_factor = self._params.get(NAPParamKeys.BRAKE_FACTOR, return_default=True)
+    self._brake_factor_buttons.action_item.set_selected_button(
+      find_preset_index(BRAKE_FACTOR_PRESETS, brake_factor))
+    radar_position = int(self._params.get(NAPParamKeys.RADAR_POSITION, return_default=True) or 0)
+    self._radar_position_buttons.action_item.set_selected_button(max(0, min(2, radar_position)))
+    radar_epas = int(self._params.get(NAPParamKeys.RADAR_EPAS_TYPE, return_default=True) or 0)
+    self._radar_epas_buttons.action_item.set_selected_button(max(0, min(4, radar_epas)))
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/settings.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/settings.py
index 1b85c0923aaee7..e7fae274bb9775 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/settings.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/settings.py
@@ -22,6 +22,7 @@
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering import SteeringLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.sunnylink import SunnylinkLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.trips import TripsLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.nap import NAPLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle import VehicleLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.visuals import VisualsLayout
 from openpilot.system.ui.lib.application import gui_app, MousePos
@@ -50,6 +51,7 @@
     "NAVIGATION",
     "TRIPS",
     "VEHICLE",
+    "NAP",
   ],
   start=0,
 )
@@ -123,6 +125,7 @@ def __init__(self):
       # OP.PanelType.NAVIGATION: PanelInfo(tr_noop("Navigation"), NavigationLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
       OP.PanelType.TRIPS: PanelInfo(tr_noop("Trips"), TripsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
       OP.PanelType.VEHICLE: PanelInfo(tr_noop("Vehicle"), VehicleLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
+      OP.PanelType.NAP: PanelInfo(tr_noop("NAP"), NAPLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_home.png"),
       OP.PanelType.FIREHOSE: PanelInfo(tr_noop("Firehose"), FirehoseLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_firehose.png"),
       OP.PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayoutSP(), icon="icons/shell.png"),
     }
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
index bf4615820b9a38..7d7e3c86d3ee25 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
@@ -8,41 +8,13 @@
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.selfdrive.car.preap_boot import is_preap_ui_platform
-from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import instructions as preap_instructions
-from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import start_tool
-from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import ToolSafetyError
-from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.sunnypilot.lib.styles import style
-from openpilot.system.ui.sunnypilot.widgets.list_view import (
-  button_item_sp, multiple_button_item_sp, option_item_sp, text_item_sp, toggle_item_sp,
-)
-from openpilot.system.ui.widgets import DialogResult
-from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog, alert_dialog
+from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp, toggle_item_sp
 
 COOP_STEERING_MIN_KMH = 23
 OEM_STEERING_MIN_KMH = 48
 KM_TO_MILE = 0.621371
 
-FOLLOW_DISTANCE_MIN = 1
-FOLLOW_DISTANCE_MAX = 7
-RADAR_OFFSET_MIN_CM = -200
-RADAR_OFFSET_MAX_CM = 200
-RADAR_OFFSET_STEP_CM = 5
-
-
-def _path_label(path: str) -> str:
-  return tr("Pedal") if path == "pedal" else tr("Stock DI")
-
-
-def _health_label(value: str) -> str:
-  return {
-    "none": tr("None"),
-    "ok": tr("OK"),
-    "uncalibrated": tr("Uncalibrated"),
-    "unconfigured": tr("Unconfigured"),
-  }.get(value, value)
-
 
 def _bundle_platform() -> str:
   bundle = ui_state.params.get("CarPlatformBundle")
@@ -52,22 +24,9 @@ def _bundle_platform() -> str:
 
 
 def is_tesla_preap_ui() -> bool:
-  """Native Tesla Pre-AP visibility. Never inferred from HAS_VEHICLE_BUS."""
   return is_preap_ui_platform(_bundle_platform(), ui_state.CP)
 
 
-def parse_configured_pedal_bus(value) -> int:
-  """Preserve configured bus 0. Absent or empty defaults to 2."""
-  if value in (None, "", b""):
-    return 2
-  return int(value)
-
-
-def pedal_bus_selector_index(value) -> int:
-  """Button 0 = bus 0, button 1 = bus 2 (including the empty default)."""
-  return 0 if parse_configured_pedal_bus(value) == 0 else 1
-
-
 class TeslaSettings(BrandSettings):
   def __init__(self):
     super().__init__()
@@ -79,174 +38,7 @@ def __init__(self):
       param="TeslaMadsScreenButton",
       inline=False,
     )
-    self.follow_distance = option_item_sp(
-      title=lambda: tr("Follow Distance"),
-      param="NAPFollowDistance",
-      min_value=FOLLOW_DISTANCE_MIN,
-      max_value=FOLLOW_DISTANCE_MAX,
-      description=lambda: tr("How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."),
-      label_callback=str,
-      inline=True,
-    )
-    self.pedal_enabled = toggle_item_sp(
-      tr("Pedal Interceptor"),
-      tr("Enable the Comma Pedal interceptor."),
-      param="NAPPedalEnabled",
-    )
-    self.pedal_bus = multiple_button_item_sp(
-      title=lambda: tr("Pedal CAN Bus"),
-      description=lambda: tr("CAN bus for the Comma Pedal."),
-      buttons=[lambda: tr("Bus 0"), lambda: tr("Bus 2")],
-      button_width=364,
-      inline=True,
-      callback=self._on_pedal_bus_selected,
-    )
-    self.radar_enabled = toggle_item_sp(
-      tr("Bosch Radar"),
-      tr("Enable the stock Bosch radar."),
-      param="NAPRadarEnabled",
-    )
-    self.radar_nosecone = toggle_item_sp(
-      tr("Radar Behind Nosecone"),
-      tr("Attenuate a radar mounted behind the nosecone."),
-      param="NAPRadarBehindNosecone",
-    )
-    self.radar_offset = option_item_sp(
-      title=lambda: tr("Radar Lateral Offset"),
-      param="NAPRadarOffset",
-      min_value=RADAR_OFFSET_MIN_CM,
-      max_value=RADAR_OFFSET_MAX_CM,
-      value_change_step=RADAR_OFFSET_STEP_CM,
-      use_float_scaling=True,
-      label_width=style.BUTTON_ACTION_WIDTH,
-      description=lambda: tr("Shift detected leads left (-) or right (+)."),
-      label_callback=lambda value: f"{value / 100.0:+.2f} m",
-    )
-    self.status_path = text_item_sp(lambda: tr("Longitudinal Path"), lambda: tr("Stock DI"))
-    self.status_pedal = text_item_sp(lambda: tr("Pedal Health"), lambda: tr("None"))
-    self.status_radar = text_item_sp(lambda: tr("Radar Health"), lambda: tr("None"))
-
-    self.tool_calibrate_pedal = button_item_sp(lambda: tr("Calibrate Pedal"), lambda: tr("CALIBRATE"),
-                                               callback=lambda: self._confirm_tool("calibrate_pedal"))
-    self.tool_calibrate_radar = button_item_sp(lambda: tr("Calibrate Radar"), lambda: tr("CALIBRATE"),
-                                               callback=lambda: self._confirm_tool("calibrate_radar"))
-    self.tool_diagnose_radar = button_item_sp(lambda: tr("Diagnose Radar"), lambda: tr("DIAGNOSE"),
-                                              callback=lambda: self._confirm_tool("diagnose_radar"))
-    self.tool_test_radar = button_item_sp(lambda: tr("Test Radar"), lambda: tr("TEST"),
-                                          callback=lambda: self._confirm_tool("test_radar"))
-    self.tool_extract_epas = button_item_sp(lambda: tr("Backup EPAS"), lambda: tr("BACKUP"),
-                                            callback=lambda: self._confirm_tool("extract_epas"))
-    self.tool_flash_epas = button_item_sp(lambda: tr("Flash EPAS"), lambda: tr("FLASH"),
-                                          callback=lambda: self._confirm_tool("flash_epas"))
-    self.tool_restore_epas = button_item_sp(lambda: tr("Restore EPAS"), lambda: tr("RESTORE"),
-                                            callback=lambda: self._confirm_tool("restore_epas"))
-
-    self._preap_items = [
-      self.follow_distance,
-      self.status_path,
-      self.status_pedal,
-      self.status_radar,
-      self.pedal_enabled,
-      self.pedal_bus,
-      self.radar_enabled,
-      self.radar_nosecone,
-      self.radar_offset,
-      self.tool_calibrate_pedal,
-      self.tool_calibrate_radar,
-      self.tool_diagnose_radar,
-      self.tool_test_radar,
-      self.tool_extract_epas,
-      self.tool_flash_epas,
-      self.tool_restore_epas,
-    ]
-    self.items = [self.coop_steering_toggle, self.mads_screen_button, *self._preap_items]
-    self._tool_instructions = {
-      "calibrate_pedal": preap_instructions.CALIBRATE_PEDAL_INSTRUCTIONS,
-      "calibrate_radar": preap_instructions.CALIBRATE_RADAR_INSTRUCTIONS,
-      "diagnose_radar": preap_instructions.DIAGNOSE_RADAR_INSTRUCTIONS,
-      "test_radar": preap_instructions.TEST_RADAR_INSTRUCTIONS,
-      "extract_epas": preap_instructions.BACKUP_EPAS_INSTRUCTIONS,
-      "flash_epas": preap_instructions.FLASH_EPAS_INSTRUCTIONS,
-      "restore_epas": preap_instructions.RESTORE_EPAS_INSTRUCTIONS,
-    }
-
-  @staticmethod
-  def _on_pedal_bus_selected(index):
-    ui_state.params.put("NAPPedalCanBus", 0 if index == 0 else 2)
-
-  def _sync_follow_distance(self):
-    try:
-      follow = int(ui_state.params.get("NAPFollowDistance") or FOLLOW_DISTANCE_MIN + 3)
-    except (TypeError, ValueError):
-      follow = 4
-    follow = max(FOLLOW_DISTANCE_MIN, min(FOLLOW_DISTANCE_MAX, follow))
-    self.follow_distance.action_item.current_value = follow
-
-  def _sync_radar_offset(self):
-    raw = ui_state.params.get("NAPRadarOffset")
-    try:
-      cm = int(round(float(raw) * 100.0))
-    except (TypeError, ValueError):
-      cm = 0
-    cm = max(RADAR_OFFSET_MIN_CM, min(RADAR_OFFSET_MAX_CM, cm))
-    self.radar_offset.action_item.current_value = cm
-
-  def _confirm_tool(self, tool: str):
-    if not ui_state.is_offroad():
-      gui_app.push_widget(alert_dialog(tr("Tools are only available offroad.")))
-      return
-
-    def callback(result: DialogResult):
-      if result != DialogResult.CONFIRM:
-        return
-      try:
-        start_tool(tool, confirmed=True)
-      except (ToolSafetyError, ValueError) as exc:
-        gui_app.push_widget(alert_dialog(str(exc)))
-
-    text = tr(self._tool_instructions[tool]).replace("\n", "<br>")
-    gui_app.push_widget(ConfirmDialog(text, tr("Start"), rich=True, callback=callback))
-
-  def _update_preap_status(self, is_preap: bool):
-    flags = int(getattr(ui_state.CP_SP, "flags", 0) or 0) if ui_state.CP_SP is not None else 0
-    pedal_present = bool(flags & TeslaFlagsSP.PREAP_PEDAL_PRESENT)
-    pedal_calib = bool(flags & TeslaFlagsSP.PREAP_PEDAL_CALIB_AVAILABLE)
-    radar_present = bool(flags & TeslaFlagsSP.PREAP_RADAR_PRESENT)
-
-    if pedal_present and ui_state.CP is not None and bool(ui_state.CP.openpilotLongitudinalControl) and not bool(ui_state.CP.pcmCruise):
-      path = "pedal"
-    else:
-      path = "stock_di"
-    self.status_path.action_item.set_text(_path_label(path))
-
-    if not pedal_present:
-      pedal_health = "none"
-    elif not pedal_calib:
-      pedal_health = "uncalibrated"
-    else:
-      pedal_health = "ok"
-    self.status_pedal.action_item.set_text(_health_label(pedal_health))
-
-    if not radar_present:
-      radar_health = "none"
-    elif ui_state.CP is not None and bool(ui_state.CP.radarUnavailable):
-      radar_health = "unconfigured"
-    else:
-      radar_health = "ok"
-    self.status_radar.action_item.set_text(_health_label(radar_health))
-
-    self._sync_follow_distance()
-    self._sync_radar_offset()
-    self.pedal_bus.action_item.set_selected_button(
-      pedal_bus_selector_index(ui_state.params.get("NAPPedalCanBus")))
-
-    self.pedal_bus.set_visible(is_preap and pedal_present)
-    self.radar_nosecone.set_visible(is_preap and radar_present)
-    self.radar_offset.set_visible(is_preap and radar_present)
-    self.tool_calibrate_pedal.set_visible(is_preap and pedal_present)
-    self.tool_calibrate_radar.set_visible(is_preap and radar_present)
-    self.tool_diagnose_radar.set_visible(is_preap and radar_present)
-    self.tool_test_radar.set_visible(is_preap and radar_present)
+    self.items = [self.coop_steering_toggle, self.mads_screen_button]
 
   def update_settings(self):
     is_metric = ui_state.is_metric
@@ -286,36 +78,3 @@ def update_settings(self):
       mads_screen_button_desc = f"<b>{mads_screen_button_disabled_msg}</b><br><br>{mads_screen_button_desc}"
     self.mads_screen_button.set_description(mads_screen_button_desc)
     self.mads_screen_button.action_item.set_enabled(offroad)
-
-    for item in self._preap_items:
-      item.set_visible(is_preap)
-
-    if is_preap:
-      self._update_preap_status(is_preap)
-      hardware_offroad_msg = tr("Hardware settings are only available offroad.")
-      pedal_desc = tr("Enable the Comma Pedal interceptor.")
-      pedal_bus_desc = tr("CAN bus for the Comma Pedal.")
-      radar_desc = tr("Enable the stock Bosch radar.")
-      nosecone_desc = tr("Attenuate a radar mounted behind the nosecone.")
-      offset_desc = tr("Shift detected leads left (-) or right (+).")
-      if not offroad:
-        pedal_desc = f"<b>{hardware_offroad_msg}</b><br><br>{pedal_desc}"
-        pedal_bus_desc = f"<b>{hardware_offroad_msg}</b><br><br>{pedal_bus_desc}"
-        radar_desc = f"<b>{hardware_offroad_msg}</b><br><br>{radar_desc}"
-        nosecone_desc = f"<b>{hardware_offroad_msg}</b><br><br>{nosecone_desc}"
-        offset_desc = f"<b>{hardware_offroad_msg}</b><br><br>{offset_desc}"
-      self.pedal_enabled.set_description(pedal_desc)
-      self.pedal_bus.set_description(pedal_bus_desc)
-      self.radar_enabled.set_description(radar_desc)
-      self.radar_nosecone.set_description(nosecone_desc)
-      self.radar_offset.set_description(offset_desc)
-      self.pedal_enabled.action_item.set_enabled(offroad)
-      self.pedal_bus.action_item.set_enabled(offroad)
-      self.radar_enabled.action_item.set_enabled(offroad)
-      self.radar_nosecone.action_item.set_enabled(offroad)
-      self.radar_offset.action_item.set_enabled(offroad)
-      for tool in (
-        self.tool_calibrate_pedal, self.tool_calibrate_radar, self.tool_diagnose_radar,
-        self.tool_test_radar, self.tool_extract_epas, self.tool_flash_epas, self.tool_restore_epas,
-      ):
-        tool.action_item.set_enabled(offroad)
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py
index f14efe51a3a8ca..a6a80295bdf26f 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py
@@ -11,6 +11,7 @@
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
+from openpilot.selfdrive.ui.mici.layouts.settings.nap import NAPLayoutMici
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.multilang import tr
@@ -40,6 +41,10 @@ def __init__(self):
     models_btn = SettingsBigButton(tr("models"), "", gui_app.texture("../../sunnypilot/selfdrive/assets/offroad/icon_models.png", ICON_SIZE, ICON_SIZE))
     models_btn.set_click_callback(lambda: gui_app.push_widget(models_panel))
 
+    nap_panel = NAPLayoutMici()
+    nap_btn = SettingsBigButton(tr("nap"), "", gui_app.texture("icons_mici/settings/comma_icon.png", 33, 60))
+    nap_btn.set_click_callback(lambda: gui_app.push_widget(nap_panel))
+
     # onroad: enable button sits at the front (left of toggles)
     self._enable_offroad_btn_onroad = BigCircleButton(self.icon_offroad_enable, red=True)
     self._enable_offroad_btn_onroad.set_click_callback(lambda: self._handle_always_offroad(True))
@@ -58,6 +63,7 @@ def __init__(self):
 
     items.insert(1, sunnylink_btn)
     items.insert(2, models_btn)
+    items.insert(3, nap_btn)
 
     # front slots (only one ever visible at a time): exit-always-offroad, then enable-onroad
     items.insert(0, self._enable_offroad_btn_onroad)
diff --git a/openpilot/selfdrive/ui/ui_state.py b/openpilot/selfdrive/ui/ui_state.py
index 67845bdc875427..1f7e33fda6a808 100644
--- a/openpilot/selfdrive/ui/ui_state.py
+++ b/openpilot/selfdrive/ui/ui_state.py
@@ -13,6 +13,7 @@
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.common.hardware import HARDWARE, PC
 
+from openpilot.selfdrive.ui.radar.bosch_status import BoschRadarMonitor, BoschRadarStatus
 from openpilot.selfdrive.ui.sunnypilot.ui_state import UIStateSP, DeviceSP
 
 BACKLIGHT_OFFROAD = 65 if HARDWARE.get_device_type() == "mici" else 50
@@ -63,6 +64,8 @@ def _initialize(self):
         "liveParameters",
         "testJoystick",
         "rawAudioData",
+        "liveTracks",
+        "can",
       ] + self.sm_services_ext
     )
 
@@ -91,6 +94,9 @@ def _initialize(self):
     self.is_body: bool | None = None
     self.CP: car.CarParams | None = None
     self.light_sensor: float = -1.0
+    self.radar_monitor = BoschRadarMonitor()
+    self.radar_status = BoschRadarStatus()
+    self.radar_hud: bool = False
 
     self._params_thread: threading.Thread | None = None
 
@@ -166,6 +172,8 @@ def _update_state(self) -> None:
       for callback in self._on_body_changed_callbacks:
         callback()
 
+    self._update_radar_monitor()
+
   def _update_status(self) -> None:
     if self.started and self.sm.updated["selfdriveState"]:
       ss = self.sm["selfdriveState"]
@@ -213,9 +221,21 @@ def update_params(self) -> None:
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
     self.usbgpu = self.params.get_bool("UsbGpuPresent")
     self.usbgpu_compiled = self.params.get_bool("UsbGpuCompiled")
+    try:
+      self.radar_hud = self.params.get_bool("NAPRadarHud")
+    except Exception:
+      self.radar_hud = False
 
     UIStateSP.update_params(self)
 
+  def _update_radar_monitor(self) -> None:
+    can_messages = []
+    if self.sm.updated.get("can", False):
+      can_messages = [(int(c.address), bytes(c.dat), int(c.src)) for c in self.sm["can"]]
+    live_tracks = self.sm["liveTracks"] if self.sm.updated.get("liveTracks", False) else None
+    if can_messages or live_tracks is not None:
+      self.radar_status = self.radar_monitor.update(time.monotonic(), can_messages, live_tracks)
+
 
 class Device(DeviceSP):
   def __init__(self):
diff --git a/openpilot/sunnypilot/selfdrive/car/preap_boot.py b/openpilot/sunnypilot/selfdrive/car/preap_boot.py
index f9bf2527a98d99..93a87bfaff9099 100644
--- a/openpilot/sunnypilot/selfdrive/car/preap_boot.py
+++ b/openpilot/sunnypilot/selfdrive/car/preap_boot.py
@@ -132,6 +132,12 @@ def snapshot_param_list(params) -> list[dict[str, Any]]:
     "NAPRadarEnabled",
     "NAPRadarBehindNosecone",
     "NAPRadarOffset",
+    "NAPRadarDonorVin",
+    "NAPRadarPosition",
+    "NAPRadarEpasType",
+    "NAPAdaptiveAccel",
+    "NAPRadarHud",
+    "NAPRadarIgnoreHwFail",
     "NAPFollowDistance",
     "Mads",
     "MadsMainCruiseAllowed",
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
index 681456507aded0..159816045974ab 100644
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
@@ -223,17 +223,18 @@ def test_approved_tools_include_diagnose_radar():
 
 
 def test_native_panel_keyboard_and_diagnose():
-  src = Path(__file__).resolve().parents[7] / "selfdrive" / "ui" / "sunnypilot" / "layouts" / "settings" / "vehicle" / "brands" / "tesla.py"
-  text = src.read_text()
-  assert "Keyboard" not in text
-  assert "option_item_sp" in text
-  assert "text_item_sp" in text
-  assert "Diagnose Radar" in text
-  assert "NAPBrakeFactor" not in text
-  assert "Emergency Disable" not in text
-  assert "ConfirmDialog" in text
-  assert "start_tool" in text
-  assert "coop_steering_toggle.set_visible(not is_preap)" in text or "set_visible(not is_preap)" in text
+  tesla = Path(__file__).resolve().parents[7] / "selfdrive" / "ui" / "sunnypilot" / "layouts" / "settings" / "vehicle" / "brands" / "tesla.py"
+  nap = Path(__file__).resolve().parents[7] / "selfdrive" / "ui" / "sunnypilot" / "layouts" / "settings" / "nap.py"
+  tesla_text = tesla.read_text()
+  nap_text = nap.read_text()
+  assert "Diagnose Radar" not in tesla_text
+  assert "Emergency Disable" not in tesla_text
+  assert "coop_steering_toggle.set_visible(not is_preap)" in tesla_text
+  assert "Diagnose Radar" in nap_text
+  assert "Emergency Disable" in nap_text
+  assert "NAPBrakeFactor" in nap_text or "BRAKE_FACTOR" in nap_text
+  assert "start_tool" in nap_text
+  assert "RadarMonitorDialog" in nap_text
 
 
 def test_mads_parent_reachable_while_forced():
@@ -524,9 +525,9 @@ def test_flash_parser_accepts_runner_confirmation_flag():
   assert flash_epas.parse_args(["--confirm"]).accept_risk is True
 
 
-def test_napbrakefactor_is_not_registered():
+def test_napbrakefactor_is_registered_for_grayed_ui():
   src = Path(__file__).resolve().parents[7] / "common" / "params_keys.h"
-  assert '"NAPBrakeFactor"' not in src.read_text()
+  assert '"NAPBrakeFactor"' in src.read_text()
 
 
 
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py b/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py
index 355c61e2e07506..157e9a14e39a4d 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py
@@ -3,6 +3,10 @@
 import unittest
 from pathlib import Path
 
+NAP_PY = (
+  Path(__file__).resolve().parents[4]
+  / "selfdrive/ui/sunnypilot/layouts/settings/nap.py"
+)
 TESLA_PY = (
   Path(__file__).resolve().parents[4]
   / "selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py"
@@ -10,7 +14,7 @@
 
 
 def _load_tesla_bus_helpers():
-  src = TESLA_PY.read_text()
+  src = NAP_PY.read_text()
   tree = ast.parse(src)
   wanted = {"parse_configured_pedal_bus", "pedal_bus_selector_index"}
   body: list[ast.stmt] = [
@@ -18,11 +22,11 @@ def _load_tesla_bus_helpers():
   ]
   names = {node.name for node in body}
   if wanted - names:
-    raise AssertionError(f"tesla.py missing helpers {wanted - names}")
+    raise AssertionError(f"nap.py missing helpers {wanted - names}")
   mod = ast.Module(body=body, type_ignores=[])
   ast.fix_missing_locations(mod)
   ns = {}
-  exec(compile(mod, str(TESLA_PY), "exec"), ns)
+  exec(compile(mod, str(NAP_PY), "exec"), ns)
   return ns
 
 
@@ -48,10 +52,10 @@ def test_selector_index_maps_bus_zero_to_first_button(self):
     self.assertEqual(index(2), 1)
 
   def test_status_refresh_uses_named_helper_not_falsy_or(self):
-    src = TESLA_PY.read_text()
+    src = NAP_PY.read_text()
     self.assertNotIn('params.get("NAPPedalCanBus") or', src)
-    self.assertTrue("pedal_bus_selector_index(ui_state.params.get(\"NAPPedalCanBus\"))" in src)
-    self.assertTrue("ui_state.params.put(\"NAPPedalCanBus\", 0 if index == 0 else 2)" in src)
+    self.assertTrue("pedal_bus_selector_index(self._params.get(NAPParamKeys.PEDAL_CAN_BUS))" in src)
+    self.assertTrue("self._params.put(NAPParamKeys.PEDAL_CAN_BUS, PEDAL_CAN_BUS_VALUES[index])" in src)
 
   def test_tesla_menu_does_not_own_mads_engagement(self):
     src = TESLA_PY.read_text()
@@ -59,20 +63,23 @@ def test_tesla_menu_does_not_own_mads_engagement(self):
     self.assertNotIn("Lateral Engagement Mode", src)
     self.assertNotIn("Active Engagement Mode", src)
 
-  def test_preap_uses_native_status_and_steppers(self):
+  def test_vehicle_does_not_own_nap_sidebar(self):
     src = TESLA_PY.read_text()
-    self.assertIn("option_item_sp(", src)
+    self.assertNotIn("NAPFollowDistance", src)
+    self.assertNotIn("Radar Settings", src)
+    self.assertNotIn("Emergency Disable", src)
+    self.assertIn("Cooperative Steering", src)
+
+  def test_preap_uses_native_status_and_steppers(self):
+    src = NAP_PY.read_text()
     self.assertIn("text_item_sp(", src)
-    self.assertIn('param="NAPFollowDistance"', src)
-    self.assertIn('param="NAPRadarOffset"', src)
-    self.assertNotIn("button_width=90", src)
-    self.assertNotIn("Keyboard(", src)
-    self.assertNotIn("yRel", src)
-    self.assertIn("label_width=style.BUTTON_ACTION_WIDTH", src)
-    self.assertIn("button_width=364", src)
+    self.assertIn("NAPParamKeys.FOLLOW_DISTANCE", src)
+    self.assertIn("NAPParamKeys.RADAR_OFFSET", src)
+    self.assertIn("SectionHeader", src)
+    self.assertIn("_page = \"radar\"", src)
+    self.assertIn("RadarMonitorDialog", src)
     self.assertIn('lambda: tr("CALIBRATE")', src)
-    self.assertIn('lambda: tr("FLASH")', src)
-    self.assertNotIn("self.follow_distance.action_item.set_enabled(offroad)", src)
+    self.assertIn('lambda: tr("DIAGNOSE")', src)
 
 
 if __name__ == "__main__":

From 9eaeb44fcaba81d8a138c3bc7d89a3ea10ae77d7 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Wed, 2 Sep 2026 15:31:36 +0000
Subject: [PATCH 1408/1434] tesla_preap: don't chime on gas override

enableLongControl stays true while the driver is on the pedal, so
press and release are not engage edges. Long banners are ET.PERMANENT
so they still play on cancel. Lat stays on native MADS.
---
 opendbc_repo                                  |   2 +-
 openpilot/cereal/custom.capnp                 |   1 +
 openpilot/selfdrive/selfdrived/preap_regen.py |  39 +++++-
 openpilot/selfdrive/selfdrived/selfdrived.py  |  25 ++--
 .../selfdrived/tests/test_preap_regen.py      | 123 ++++++++++++++++++
 .../selfdrive/car/tests/test_preap_schema.py  |   1 +
 .../selfdrive/selfdrived/preap_alerts.py      |  31 ++++-
 .../selfdrived/tests/test_preap_alerts.py     |  48 +++++++
 8 files changed, 256 insertions(+), 14 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index c3e9ba2b061d61..fdf84764722aff 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit c3e9ba2b061d61bb1e2bbecaed3f3654fd0b99d9
+Subproject commit fdf84764722aff6573836da1f2fe8c0db0317357
diff --git a/openpilot/cereal/custom.capnp b/openpilot/cereal/custom.capnp
index 6139bf5fca7871..11e465976e1b4c 100644
--- a/openpilot/cereal/custom.capnp
+++ b/openpilot/cereal/custom.capnp
@@ -498,6 +498,7 @@ struct CarStateSP @0xb86e6369214c01c8 {
   pedalCommandDi @17 :Float32;
   pedalAuthorityFailed @18 :Bool;
   vdasLimitedAccel @19 :Float32;
+  enableLongControl @20 :Bool;  # Pre-AP: FSM longitudinal intent; survives gas override
 
   enum PreapLateralIntent {
     none @0;
diff --git a/openpilot/selfdrive/selfdrived/preap_regen.py b/openpilot/selfdrive/selfdrived/preap_regen.py
index b73427f7328967..93211d6c67fd90 100644
--- a/openpilot/selfdrive/selfdrived/preap_regen.py
+++ b/openpilot/selfdrive/selfdrived/preap_regen.py
@@ -7,8 +7,14 @@
 meaningfully below the envelope floor. CarStateSP.pedalMaxRegen covers
 the other failure shape: a request inside the envelope that weak
 battery regen fails to deliver.
+
+update_preap_chimes edge-detects lat and long engage/disengage. Long
+follows FSM intent (enableLongControl), not interceptor handshake and
+not gas override. enableLongControl stays true while the driver is on
+the pedal, so press and release are silent.
 """
 import math
+from typing import NamedTuple
 
 from openpilot.common.realtime import DT_CTRL
 from opendbc.car.tesla.preap.constants import get_preap_accel_limits
@@ -35,6 +41,30 @@
 REGEN_DEMAND_CLEAR_SPEED = 1.0  # m/s
 
 
+class PreAPChimeState(NamedTuple):
+  lat_engaged: bool = False
+  long_engaged: bool = False
+
+
+class PreAPChimes(NamedTuple):
+  lat_engage: bool = False
+  lat_disengage: bool = False
+  long_engage: bool = False
+  long_disengage: bool = False
+
+
+def update_preap_chimes(*, lat_engaged: bool, long_engaged: bool,
+                        prev: PreAPChimeState) -> tuple[PreAPChimes, PreAPChimeState]:
+  """Rising/falling edges for Pre-AP lat and long driver prompts."""
+  chimes = PreAPChimes(
+    lat_engage=lat_engaged and not prev.lat_engaged,
+    lat_disengage=(not lat_engaged) and prev.lat_engaged,
+    long_engage=long_engaged and not prev.long_engaged,
+    long_disengage=(not long_engaged) and prev.long_engaged,
+  )
+  return chimes, PreAPChimeState(lat_engaged, long_engaged)
+
+
 class RegenDemandCheck:
   """Prompt when planned deceleration exceeds what the regen envelope allows."""
 
@@ -86,14 +116,14 @@ def update(self, *, plan_valid: bool, pedal_long_active: bool, brake_pressed: bo
   "Pedal Cruise Engaged",
   "",
   AlertStatus.normal, AlertSize.small,
-  Priority.LOW, VisualAlert.none, AudibleAlert.engage, 0.8,
+  Priority.HIGH, VisualAlert.none, AudibleAlert.engage, 0.8,
 )
 
 PREAP_PEDAL_CRUISE_DISABLED_ALERT = Alert(
   "Pedal Cruise Disengaged",
   "",
   AlertStatus.normal, AlertSize.small,
-  Priority.LOW, VisualAlert.none, AudibleAlert.disengage, 0.8,
+  Priority.HIGH, VisualAlert.none, AudibleAlert.disengage, 0.8,
 )
 
 PREAP_PEDAL_UNAVAILABLE_ALERT = Alert(
@@ -107,6 +137,7 @@ def update(self, *, plan_valid: bool, pedal_long_active: bool, brake_pressed: bo
 def register_preap_regen_alerts() -> None:
   from openpilot.sunnypilot.selfdrive.selfdrived.events import EVENTS_SP
   EVENTS_SP.setdefault(EventNameSP.pedalMaxRegen, {ET.WARNING: PREAP_REGEN_ALERT})
-  EVENTS_SP.setdefault(EventNameSP.pedalCruiseEnabled, {ET.WARNING: PREAP_PEDAL_CRUISE_ENABLED_ALERT})
-  EVENTS_SP.setdefault(EventNameSP.pedalCruiseDisabled, {ET.WARNING: PREAP_PEDAL_CRUISE_DISABLED_ALERT})
+  # ET.PERMANENT so the disengage prompt still plays on the USER_DISABLE frame.
+  EVENTS_SP[EventNameSP.pedalCruiseEnabled] = {ET.PERMANENT: PREAP_PEDAL_CRUISE_ENABLED_ALERT}
+  EVENTS_SP[EventNameSP.pedalCruiseDisabled] = {ET.PERMANENT: PREAP_PEDAL_CRUISE_DISABLED_ALERT}
   EVENTS_SP.setdefault(EventNameSP.pedalUnavailable, {ET.WARNING: PREAP_PEDAL_UNAVAILABLE_ALERT})
diff --git a/openpilot/selfdrive/selfdrived/selfdrived.py b/openpilot/selfdrive/selfdrived/selfdrived.py
index e80c9ea4265e36..d26783d7b1a482 100755
--- a/openpilot/selfdrive/selfdrived/selfdrived.py
+++ b/openpilot/selfdrive/selfdrived/selfdrived.py
@@ -32,7 +32,9 @@
 from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
 from openpilot.sunnypilot.selfdrive.selfdrived.button_state_tracker import ButtonStateTracker
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
-from openpilot.selfdrive.selfdrived.preap_regen import RegenDemandCheck, register_preap_regen_alerts
+from openpilot.selfdrive.selfdrived.preap_regen import (
+  PreAPChimeState, RegenDemandCheck, register_preap_regen_alerts, update_preap_chimes,
+)
 from openpilot.sunnypilot.selfdrive.selfdrived.preap_alerts import radar_state_has_fault
 from opendbc.car.tesla.preap.boot import pedal_pipeline_enabled, preap_radar_present
 
@@ -184,7 +186,7 @@ def __init__(self, CP=None, CP_SP=None):
     self._pedal_preap = pedal_pipeline_enabled(self.CP, self.CP_SP)
     self._preap_radar_present = preap_radar_present(self.CP, self.CP_SP)
     self.preap_regen_demand = RegenDemandCheck()
-    self.prev_pedal_long_active = False
+    self.prev_preap_chimes = PreAPChimeState()
 
     self.mads = ModularAssistiveDrivingSystem(self)
     self.icbm = IntelligentCruiseButtonManagement(self.CP, self.CP_SP)
@@ -290,14 +292,21 @@ def update_events(self, CS):
 
       if self._pedal_preap:
         EventNameSP = custom.OnroadEventSP.EventName
-        pedal_long_active = self.prev_pedal_long_active
+        pedal_long_active = bool(self.cs_sp_fresh and getattr(self.CS_SP, "pedalLongActive", False))
+        # Tesla Pre-AP lat/long engage and disengage prompts. Long follows
+        # enableLongControl (stalk/brake intent), not interceptor handshake
+        # and not gas override. Override keeps enableLongControl true.
+        # Lat chimes stay on native MADS lkasEnable/lkasDisable.
         if self.cs_sp_fresh:
-          pedal_long_active = bool(getattr(self.CS_SP, "pedalLongActive", False))
-          if pedal_long_active and not self.prev_pedal_long_active:
+          chimes, self.prev_preap_chimes = update_preap_chimes(
+            lat_engaged=bool(self.mads.enabled),
+            long_engaged=bool(getattr(self.CS_SP, "enableLongControl", False)),
+            prev=self.prev_preap_chimes,
+          )
+          if chimes.long_engage:
             self.events_sp.add(EventNameSP.pedalCruiseEnabled)
-          elif self.prev_pedal_long_active and not pedal_long_active:
+          elif chimes.long_disengage:
             self.events_sp.add(EventNameSP.pedalCruiseDisabled)
-          self.prev_pedal_long_active = pedal_long_active
         regen_demand_overflow = self.preap_regen_demand.update(
           plan_valid=self.sm.valid['longitudinalPlan'],
           pedal_long_active=pedal_long_active,
@@ -309,7 +318,7 @@ def update_events(self, CS):
           self.events_sp.add(EventNameSP.pedalMaxRegen)
         # Authority-loss and calibration/radar health are owned by CarSpecificEventsSP.
       else:
-        self.prev_pedal_long_active = False
+        self.prev_preap_chimes = PreAPChimeState()
 
     # Create events for temperature, disk space, and memory
     if self.sm['deviceState'].thermalStatus >= ThermalStatus.overheated:
diff --git a/openpilot/selfdrive/selfdrived/tests/test_preap_regen.py b/openpilot/selfdrive/selfdrived/tests/test_preap_regen.py
index bfa99eaf91687a..4fe99ea895f337 100644
--- a/openpilot/selfdrive/selfdrived/tests/test_preap_regen.py
+++ b/openpilot/selfdrive/selfdrived/tests/test_preap_regen.py
@@ -1,6 +1,10 @@
+import pytest
+
 from openpilot.selfdrive.selfdrived.preap_regen import (
   REGEN_DEMAND_EVIDENCE_COUNT,
+  PreAPChimeState,
   RegenDemandCheck,
+  update_preap_chimes,
 )
 from openpilot.cereal import custom
 from openpilot.selfdrive.selfdrived.preap_regen import register_preap_regen_alerts
@@ -102,3 +106,122 @@ def test_alerts_are_registered_before_event_counters_are_built():
   for event in (event_names.pedalMaxRegen, event_names.pedalCruiseEnabled,
                 event_names.pedalCruiseDisabled, event_names.pedalUnavailable):
     assert event in events.event_counters
+
+
+def _chime(prev, *, lat=False, long_on=False):
+  return update_preap_chimes(lat_engaged=lat, long_engaged=long_on, prev=prev)
+
+
+# Complete (prev_lat, prev_long) × (lat, long) table. Gas override is a hold of
+# enableLongControl, so it is the (T,T)→(T,T) row, not a disengage edge.
+CHIME_EDGES = [
+  # prev_lat, prev_long, lat, long, lat_eng, lat_dis, long_eng, long_dis, note
+  (False, False, False, False, False, False, False, False, "idle"),
+  (False, False, True,  False, True,  False, False, False, "lat-only engage"),
+  (False, False, False, True,  False, False, True,  False, "long-only engage"),
+  (False, False, True,  True,  True,  False, True,  False, "stalk lat+long engage"),
+  (True,  False, False, False, False, True,  False, False, "lat cancel"),
+  (True,  False, True,  False, False, False, False, False, "hold lat"),
+  (True,  False, False, True,  False, True,  True,  False, "lat cancel + long engage"),
+  (True,  False, True,  True,  False, False, True,  False, "second pull adds long"),
+  (False, True,  False, False, False, False, False, True,  "long-only cancel"),
+  (False, True,  True,  False, True,  False, False, True,  "lat engage + long cancel"),
+  (False, True,  False, True,  False, False, False, False, "hold long-only"),
+  (False, True,  True,  True,  True,  False, False, False, "add lat to long"),
+  (True,  True,  False, False, False, True,  False, True,  "stalk cancel both"),
+  (True,  True,  True,  False, False, False, False, True,  "brake drops long"),
+  (True,  True,  False, True,  False, True,  False, False, "lat cancel keeps long"),
+  (True,  True,  True,  True,  False, False, False, False, "hold both / gas override"),
+]
+
+
+@pytest.mark.parametrize(
+  "prev_lat,prev_long,lat,long_on,lat_eng,lat_dis,long_eng,long_dis,note",
+  CHIME_EDGES,
+  ids=[row[-1] for row in CHIME_EDGES],
+)
+def test_chime_edge_table(prev_lat, prev_long, lat, long_on,
+                          lat_eng, lat_dis, long_eng, long_dis, note):
+  prev = PreAPChimeState(lat_engaged=prev_lat, long_engaged=prev_long)
+  chimes, state = _chime(prev, lat=lat, long_on=long_on)
+  assert chimes.lat_engage is lat_eng, note
+  assert chimes.lat_disengage is lat_dis, note
+  assert chimes.long_engage is long_eng, note
+  assert chimes.long_disengage is long_dis, note
+  assert state == PreAPChimeState(lat_engaged=lat, long_engaged=long_on)
+
+
+def test_lat_engage_and_disengage_chime_on_cruise_edges():
+  chimes, state = _chime(PreAPChimeState(), lat=True)
+  assert chimes.lat_engage
+  assert not chimes.lat_disengage
+  assert not chimes.long_engage
+
+  chimes, state = _chime(state, lat=True)
+  assert not chimes.lat_engage
+  assert not chimes.lat_disengage
+
+  chimes, _ = _chime(state, lat=False)
+  assert chimes.lat_disengage
+  assert not chimes.lat_engage
+
+
+def test_long_engage_chimes_on_fsm_intent_not_pedal_authority():
+  chimes, state = _chime(PreAPChimeState(), lat=True, long_on=True)
+  assert chimes.lat_engage
+  assert chimes.long_engage
+
+  chimes, _ = _chime(state, lat=True, long_on=True)
+  assert not chimes.long_engage
+
+
+def test_gas_override_does_not_chime():
+  # enableLongControl stays true during pedal override. Press and release
+  # are holds, not engage/disengage edges.
+  chimes, state = _chime(PreAPChimeState(), lat=True, long_on=True)
+  assert chimes.long_engage
+
+  chimes, state = _chime(state, lat=True, long_on=True)
+  assert not chimes.long_disengage
+  assert not chimes.long_engage
+  assert not chimes.lat_disengage
+
+  chimes, _ = _chime(state, lat=True, long_on=True)
+  assert not chimes.long_engage
+  assert not chimes.long_disengage
+
+
+def test_brake_or_cancel_long_chimes_disengage():
+  chimes, state = _chime(PreAPChimeState(), lat=True, long_on=True)
+  assert chimes.long_engage
+
+  chimes, state = _chime(state, lat=True, long_on=False)
+  assert chimes.long_disengage
+  assert not chimes.lat_disengage
+
+  chimes, _ = _chime(state, lat=False, long_on=False)
+  assert chimes.lat_disengage
+  assert not chimes.long_disengage
+
+
+def test_reengage_after_disengage_chimes_again():
+  chimes, state = _chime(PreAPChimeState(), lat=True, long_on=True)
+  assert chimes.long_engage
+  chimes, state = _chime(state, lat=False, long_on=False)
+  assert chimes.lat_disengage
+  assert chimes.long_disengage
+
+  chimes, _ = _chime(state, lat=True, long_on=True)
+  assert chimes.lat_engage
+  assert chimes.long_engage
+
+
+def test_lateral_only_does_not_chime_long_on_hold():
+  chimes, state = _chime(PreAPChimeState(), lat=True)
+  assert chimes.lat_engage
+  assert not chimes.long_engage
+
+  chimes, _ = _chime(state, lat=True)
+  assert not chimes.long_engage
+  assert not chimes.long_disengage
+  assert not chimes.lat_disengage
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py
index f2e3b0f254f883..4da217f4abb603 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_schema.py
@@ -74,6 +74,7 @@ def test_field_ordinal_pins(self):
     self.assertEqual(cs["preapStockCcBoundCounter"], 6)
     self.assertEqual(cs["preapStockCcHostDiConfirmed"], 7)
     self.assertEqual(cs["preapStockCcEnablePending"], 8)
+    self.assertEqual(cs["enableLongControl"], 20)
 
     car_state = _ordinals(structs.CarState.schema)
     self.assertEqual(car_state["turnSignalStalkState"], 61)
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py b/openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
index c165d84717b13e..a07e13e23a3fcf 100644
--- a/openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
@@ -11,14 +11,20 @@
 
 from dataclasses import dataclass
 
-from openpilot.cereal import custom
+from openpilot.cereal import custom, log
+from opendbc.car.structs import car
 from opendbc.car.tesla.preap.boot import is_preap_platform
 from opendbc.car.tesla.preap.constants import PEDAL_FEEDBACK_TIMEOUT_STATE
 from opendbc.car.tesla.preap.carcontroller import PedalAuthorityState
 from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+from openpilot.sunnypilot.selfdrive.selfdrived.events_base import Alert, EngagementAlert, Priority
 from openpilot.system.ui.lib.multilang import tr_noop
 
 EventNameSP = custom.OnroadEventSP.EventName
+AlertSize = log.SelfdriveState.AlertSize
+AlertStatus = log.SelfdriveState.AlertStatus
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+AudibleAlert = log.SelfdriveState.AudibleAlert
 
 # Extracted via existing tr()/tr_noop PO conventions. Display strings are the
 # registered EventsSP texts for the mapped EventNameSP entries, and the stock
@@ -145,6 +151,26 @@ def select_preap_alerts(inputs: PreAPAlertInputs) -> tuple[int, ...]:
   return tuple(events)
 
 
+def preap_lkas_enable_alert(CP, CS, sm, metric, soft_disable_time, personality) -> Alert:
+  if is_preap_platform(CP):
+    return Alert(
+      "Steering Engaged",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.MID, VisualAlert.none, AudibleAlert.engage, 0.8)
+  return EngagementAlert(AudibleAlert.engage)
+
+
+def preap_lkas_disable_alert(CP, CS, sm, metric, soft_disable_time, personality) -> Alert:
+  if is_preap_platform(CP):
+    return Alert(
+      "Steering Disengaged",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.MID, VisualAlert.none, AudibleAlert.disengage, 0.8)
+  return EngagementAlert(AudibleAlert.disengage)
+
+
 def radar_state_has_fault(radar_state) -> bool:
   """True when production RadarState.radarErrors reports a radar/config fault.
 
@@ -184,3 +210,6 @@ def register_preap_alerts() -> None:
   from openpilot.sunnypilot.selfdrive.selfdrived.events_base import ET
   EVENTS_SP.setdefault(EventNameSP.pedalUnavailable, {ET.WARNING: PREAP_PEDAL_UNAVAILABLE_ALERT})
   register_preap_regen_alerts()
+  # Pre-AP lat prompts on native MADS events. Other cars keep stock sounds.
+  EVENTS_SP[EventNameSP.lkasEnable] = {ET.ENABLE: preap_lkas_enable_alert}
+  EVENTS_SP[EventNameSP.lkasDisable] = {ET.USER_DISABLE: preap_lkas_disable_alert}
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
index ba40a9b9ba46a9..6ab96eaa432077 100644
--- a/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
@@ -6,6 +6,8 @@
 from openpilot.selfdrive.selfdrived.events import EVENTS as STOCK_EVENTS
 from openpilot.selfdrive.selfdrived.preap_regen import PREAP_PEDAL_UNAVAILABLE_ALERT, PREAP_REGEN_ALERT
 from openpilot.sunnypilot.selfdrive.selfdrived.preap_alerts import (
+  preap_lkas_disable_alert,
+  preap_lkas_enable_alert,
   ALERT_PEDAL_UNAVAILABLE,
   ALERT_PEDAL_UNAVAILABLE_SUB,
   ALERT_RADAR_FAULT,
@@ -119,6 +121,43 @@ def test_mapped_alert_severity_and_text():
   assert regen.alert_text_2 == ALERT_REGEN_SUB
   assert regen.priority == Priority.HIGH
 
+
+def test_preap_pedal_cruise_alerts_fire_while_disabled():
+  register_preap_alerts()
+  from openpilot.cereal import log as cereal_log
+  AudibleAlert = cereal_log.SelfdriveState.AudibleAlert
+  for name, text, sound in (
+    (EventNameSP.pedalCruiseEnabled, "Pedal Cruise Engaged", AudibleAlert.engage),
+    (EventNameSP.pedalCruiseDisabled, "Pedal Cruise Disengaged", AudibleAlert.disengage),
+  ):
+    event_types = EVENTS_SP[name]
+    assert set(event_types) == {ET.PERMANENT}
+    alert = event_types[ET.PERMANENT]
+    assert alert.alert_text_1 == text
+    assert alert.audible_alert == sound
+
+
+def test_preap_lkas_alerts_show_steering_prompt():
+  register_preap_alerts()
+  from types import SimpleNamespace
+  from openpilot.cereal import log as cereal_log
+  AudibleAlert = cereal_log.SelfdriveState.AudibleAlert
+  cp = SimpleNamespace(carFingerprint="TESLA_MODEL_S_PREAP")
+  args = (cp, None, None, False, 100, None)
+
+  enable = preap_lkas_enable_alert(*args)
+  assert enable.alert_text_1 == "Steering Engaged"
+  assert enable.audible_alert == AudibleAlert.engage
+
+  disable = preap_lkas_disable_alert(*args)
+  assert disable.alert_text_1 == "Steering Disengaged"
+  assert disable.audible_alert == AudibleAlert.disengage
+
+  stock = SimpleNamespace(carFingerprint="TESLA_MODEL_Y")
+  stock_enable = preap_lkas_enable_alert(stock, *args[1:])
+  assert stock_enable.alert_text_1 == ""
+  assert stock_enable.audible_alert == AudibleAlert.engage
+
 def test_established_authority_loss_alerts_during_reacquisition():
   mapper = PedalAuthorityLossMapper()
   assert mapper.update(int(PedalAuthorityState.INACTIVE)) is False
@@ -221,6 +260,15 @@ def test_selfdrived_uses_radar_state_helper():
   assert "getattr(rs, 'radarFault'" not in text
 
 
+def test_selfdrived_chimes_on_enable_long_control_not_authority():
+  src = Path(__file__).resolve().parents[4] / "selfdrive" / "selfdrived" / "selfdrived.py"
+  text = src.read_text()
+  assert "chimes, self.prev_preap_chimes = update_preap_chimes(" in text
+  assert 'long_engaged=bool(getattr(self.CS_SP, "enableLongControl", False))' in text
+  assert "prev_pedal_long_active" not in text
+  assert "gas_pressed=" not in text
+
+
 
 
 def test_from_snapshot_uses_published_feedback_timeout():

From 39c4b50ee7838647d0fb1af10a9e34067beacb4f Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Wed, 2 Sep 2026 18:58:04 +0000
Subject: [PATCH 1409/1434] test: fail if panda gitlink lacks pandad health
 fields

Device scons died because panda stayed on nap-dev after a pull that
only updated opendbc. Host scons cannot see that.
---
 docs-nap/comma-branch-switch.md               | 80 +++++++++++++++++++
 .../pandad/tests/test_panda_health_pin.py     | 77 ++++++++++++++++++
 2 files changed, 157 insertions(+)
 create mode 100644 docs-nap/comma-branch-switch.md
 create mode 100644 openpilot/selfdrive/pandad/tests/test_panda_health_pin.py

diff --git a/docs-nap/comma-branch-switch.md b/docs-nap/comma-branch-switch.md
new file mode 100644
index 00000000000000..09d11610c95e49
--- /dev/null
+++ b/docs-nap/comma-branch-switch.md
@@ -0,0 +1,80 @@
+# Switching branches on a Comma
+
+Use this when moving a device between `nap-dev` and `naponsp-dev` (or
+any other NAP branch). Do not reboot until panda matches `pandad.cc`.
+
+naponsp layout: sources live under `openpilot/`. nap-dev layout: they
+live at the repo root. The gitlinks are the same idea either way.
+
+## Checklist
+
+1. Fetch and check out, fast-forward only:
+
+   ```bash
+   git fetch origin
+   git checkout naponsp-dev
+   git merge --ff-only origin/naponsp-dev
+   ```
+
+2. Update **every** gitlink, not only `opendbc_repo`:
+
+   ```bash
+   git submodule sync --recursive
+   git submodule update --init
+   ```
+
+   On naponsp that is at least: `panda`, `opendbc_repo`, `msgq_repo`,
+   `rednose_repo`, `teleoprtc_repo`, `tinygrad_repo`, and
+   `openpilot/sunnypilot/neural_network_data`. `openpilot/cereal` is
+   in-tree here, not a submodule.
+
+   `git submodule update --init opendbc_repo` is not enough. That is
+   how a leftover nap-dev panda SHA survived a naponsp pull and broke
+   device scons.
+
+3. Confirm panda is checked out, not missing:
+
+   ```bash
+   git submodule status panda
+   ```
+
+   A `-` prefix means panda was not updated. Fix with
+   `git submodule update --init panda`.
+
+4. Panda SHA must equal the gitlink:
+
+   ```bash
+   git -C panda rev-parse HEAD
+   git ls-tree HEAD panda
+   ```
+
+   They must be the same commit. On current `naponsp-dev` that is
+   `649a6281f4ce9b25cf5572b6de7829a7f17df7a0`.
+
+5. Every `health.` field `pandad.cc` uses must exist in
+   `panda/board/health.h` at that SHA. Host pytest
+   `openpilot/selfdrive/pandad/tests/test_panda_health_pin.py` checks
+   this. On the device, grep is enough:
+
+   ```bash
+   python3 - <<'PY'
+   import re, pathlib
+   src = pathlib.Path("openpilot/selfdrive/pandad/pandad.cc").read_text()
+   hdr = pathlib.Path("panda/board/health.h").read_text()
+   used = set(re.findall(r"\bhealth\.([A-Za-z_][A-Za-z0-9_]*)", src))
+   missing = sorted(name for name in used if name not in hdr)
+   print("ok" if not missing else missing)
+   PY
+   ```
+
+6. Leftover untracked nap-dev dirs at the naponsp repo root (`cereal/`,
+   `selfdrive/`, `system/`) are debris from the other layout. Report
+   them. Do not wipe them blindly.
+
+7. Host scons of pandad does **not** prove the device panda SHA. The
+   host can be on `649a6281` while the Comma is still on nap-dev
+   `282fae70`. Update the device submodule, then scons **on the
+   device**.
+
+8. Never reboot until step 4 passes. Never `systemctl` or reboot unless
+   Jack says so.
diff --git a/openpilot/selfdrive/pandad/tests/test_panda_health_pin.py b/openpilot/selfdrive/pandad/tests/test_panda_health_pin.py
new file mode 100644
index 00000000000000..b1634a89f53c01
--- /dev/null
+++ b/openpilot/selfdrive/pandad/tests/test_panda_health_pin.py
@@ -0,0 +1,77 @@
+"""Guard: pandad.cc health_t members must exist on the committed panda gitlink."""
+from __future__ import annotations
+
+import re
+import subprocess
+from pathlib import Path
+
+HEALTH_USE_RE = re.compile(r"\bhealth\.([A-Za-z_][A-Za-z0-9_]*)")
+HEALTH_T_RE = re.compile(
+  r"struct\s+(?:__attribute__\(\(packed\)\)\s+)?health_t\s*\{(.*?)\n\};",
+  re.S,
+)
+HEALTH_MEMBER_RE = re.compile(r"^\s*(?:u?int\d+_t|float|bool)\s+(\w+)\s*;", re.M)
+
+
+def _repo_root() -> Path:
+  return Path(subprocess.check_output(
+    ["git", "rev-parse", "--show-toplevel"], text=True,
+  ).strip())
+
+
+def _pandad_cc(root: Path) -> Path:
+  for candidate in (
+    root / "openpilot/selfdrive/pandad/pandad.cc",
+    root / "selfdrive/pandad/pandad.cc",
+  ):
+    if candidate.is_file():
+      return candidate
+  raise FileNotFoundError("pandad.cc not found")
+
+
+def _panda_gitlink_sha(root: Path) -> str:
+  line = subprocess.check_output(
+    ["git", "ls-tree", "HEAD", "panda"], cwd=root, text=True,
+  ).strip()
+  parts = line.split()
+  if len(parts) < 3 or parts[1] != "commit":
+    raise AssertionError(f"HEAD panda gitlink is not a commit: {line!r}")
+  return parts[2]
+
+
+def _panda_checkout_sha(root: Path) -> str:
+  return subprocess.check_output(
+    ["git", "rev-parse", "HEAD"], cwd=root / "panda", text=True,
+  ).strip()
+
+
+def _health_h_at_gitlink(root: Path, sha: str) -> str:
+  return subprocess.check_output(
+    ["git", "show", f"{sha}:board/health.h"], cwd=root / "panda", text=True,
+  )
+
+
+def _health_t_members(health_h: str) -> set[str]:
+  match = HEALTH_T_RE.search(health_h)
+  if match is None:
+    raise AssertionError("health_t struct not found in panda/board/health.h")
+  return set(HEALTH_MEMBER_RE.findall(match.group(1)))
+
+
+def test_checked_out_panda_matches_gitlink():
+  root = _repo_root()
+  gitlink = _panda_gitlink_sha(root)
+  checkout = _panda_checkout_sha(root)
+  msg = f"checked-out panda {checkout} != git ls-tree HEAD panda {gitlink}; run: git submodule update --init panda"
+  assert checkout == gitlink, msg
+
+
+def test_pandad_health_fields_exist_on_gitlink():
+  root = _repo_root()
+  gitlink = _panda_gitlink_sha(root)
+  used = set(HEALTH_USE_RE.findall(_pandad_cc(root).read_text()))
+  assert used, "pandad.cc has no health.MEMBER uses"
+  members = _health_t_members(_health_h_at_gitlink(root, gitlink))
+  missing = sorted(used - members)
+  msg = f"pandad.cc uses health_t fields missing from panda {gitlink[:12]} board/health.h: {missing}"
+  assert not missing, msg

From 0086925f8e5dbc1d0e49470d3b39713b3c962e63 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Wed, 2 Sep 2026 23:17:45 +0000
Subject: [PATCH 1410/1434] tesla_preap: restore mici widget and fix host CI

Comma 4 NAP settings imported BigMultiValueParamToggle without the
module, so ui crashed on import. Drop NAPAdaptiveAccel from the boot
snapshot; it is not hardware. Wrap the long MADS string, stop **kwargs
into toggle_item_sp, and ignore unittest assertIn for codespell.
---
 .codespellignore                              |  1 +
 .../ui/mici/widgets/big_multi_value_param.py  | 57 +++++++++++++++++++
 .../ui/sunnypilot/layouts/settings/nap.py     | 17 ++++--
 .../steering_sub_layouts/mads_settings.py     |  3 +-
 .../sunnypilot/selfdrive/car/preap_boot.py    |  1 -
 .../tests/test_mads_settings_native_preap.py  | 16 +++---
 6 files changed, 80 insertions(+), 15 deletions(-)
 create mode 100644 openpilot/selfdrive/ui/mici/widgets/big_multi_value_param.py

diff --git a/.codespellignore b/.codespellignore
index ab63c0cd29820d..f613bc3f0c87e1 100644
--- a/.codespellignore
+++ b/.codespellignore
@@ -4,3 +4,4 @@ PullRequest
 cancelled
 FOF
 NoO
+assertIn
diff --git a/openpilot/selfdrive/ui/mici/widgets/big_multi_value_param.py b/openpilot/selfdrive/ui/mici/widgets/big_multi_value_param.py
new file mode 100644
index 00000000000000..8f8c48fa2c5b59
--- /dev/null
+++ b/openpilot/selfdrive/ui/mici/widgets/big_multi_value_param.py
@@ -0,0 +1,57 @@
+"""BigMultiToggle bound to a param that stores the option *value*, not its index.
+
+`BigMultiParamToggle` (in button.py) stores the option index — that's the right
+shape for enums where the index *is* the persistence value (e.g. driving
+personality). It's the wrong shape for params that persist a domain value:
+PEDAL_CAN_BUS is 0 or 2, BRAKE_FACTOR is 0.5/1.0/1.5/2.0. This wrapper maps
+index ↔ value on load and store.
+
+Caller MUST pass `default_value`. If the persisted value isn't in `values`
+(old version, manual edit, corruption), the widget pins to default_value
+AND writes it back to persistence — the runtime may treat the anomalous
+value differently from what the widget would display, so leaving the param
+in the bad state means the UI silently lies about which mode is active.
+"""
+from collections.abc import Callable
+from typing import Any
+
+from openpilot.common.params import Params
+from openpilot.selfdrive.ui.mici.widgets.button import BigMultiToggle
+
+
+class BigMultiValueParamToggle(BigMultiToggle):
+  def __init__(
+    self,
+    text: str,
+    param: str,
+    values: list[Any],
+    labels: list[str],
+    default_value: Any,
+    toggle_callback: Callable | None = None,
+    select_callback: Callable | None = None,
+  ):
+    assert len(values) == len(labels) and len(values) > 0
+    assert default_value in values, f"default_value {default_value!r} must be in values {values!r}"
+    super().__init__(text, labels, toggle_callback, select_callback)
+    self._param = param
+    self._values = values
+    self._default_value = default_value
+    self._params = Params()
+    self._load_value()
+
+  def _load_value(self):
+    raw = self._params.get(self._param, return_default=True)
+    if raw in self._values:
+      idx = self._values.index(raw)
+    else:
+      # Persisted value is out of range. Pin to caller-declared default
+      # and rewrite the param so the UI doesn't display one option while
+      # the runtime acts on a different one.
+      idx = self._values.index(self._default_value)
+      self._params.put(self._param, self._default_value)
+    self.set_value(self._options[idx])
+
+  def _handle_mouse_release(self, mouse_pos):
+    super()._handle_mouse_release(mouse_pos)
+    new_idx = self._options.index(self.value)
+    self._params.put(self._param, self._values[new_idx])
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
index 14a4bf39358b88..ad871df8f557ac 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
@@ -1,4 +1,6 @@
 """NAP sidebar for sunnypilot. Same groups as nap-dev, native Sunny widgets."""
+from collections.abc import Callable
+
 import pyray as rl
 
 from openpilot.common.params import Params
@@ -309,16 +311,21 @@ def on_radar_hud(state):
     )
     self._radar_items.extend([self._tool_calibrate_radar, self._tool_diagnose_radar, self._tool_test_radar])
 
-  def _add_toggle(self, param_key, title, description, enabled=None, needs_reboot=False, dest=None):
+  def _add_toggle(self, param_key, title, description, enabled: bool | Callable[[], bool] | None = None,
+                  needs_reboot=False, dest=None):
     def on_toggle(state, k=param_key):
       self._params.put_bool(k, state)
       if needs_reboot:
         self._show_reboot_modal()
 
-    kwargs = {"param": param_key, "callback": on_toggle}
-    if enabled is not None:
-      kwargs["enabled"] = enabled
-    item = toggle_item_sp(title, description, initial_state=self._params.get_bool(param_key), **kwargs)
+    item = toggle_item_sp(
+      title,
+      description,
+      initial_state=self._params.get_bool(param_key),
+      callback=on_toggle,
+      enabled=True if enabled is None else enabled,
+      param=param_key,
+    )
     self._toggle_map[param_key] = item
     (dest if dest is not None else self._main_items).append(item)
 
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
index 91aed61d3c8fdf..2469058b141337 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
@@ -26,7 +26,8 @@
 
 MADS_ENGAGEMENT_MODE_OPTIONS = [
   (tr("Independent"), tr_noop("Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits.")),
-  (tr("Cruise Coupled"), tr_noop("Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both.")),
+  (tr("Cruise Coupled"), tr_noop(
+    "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both.")),
   (tr("Longitudinal Only"), tr_noop("Longitudinal Only: Stalk pulls request cruise only. ALC stays off.")),
 ]
 
diff --git a/openpilot/sunnypilot/selfdrive/car/preap_boot.py b/openpilot/sunnypilot/selfdrive/car/preap_boot.py
index 93a87bfaff9099..b32cfcd1e15aba 100644
--- a/openpilot/sunnypilot/selfdrive/car/preap_boot.py
+++ b/openpilot/sunnypilot/selfdrive/car/preap_boot.py
@@ -135,7 +135,6 @@ def snapshot_param_list(params) -> list[dict[str, Any]]:
     "NAPRadarDonorVin",
     "NAPRadarPosition",
     "NAPRadarEpasType",
-    "NAPAdaptiveAccel",
     "NAPRadarHud",
     "NAPRadarIgnoreHwFail",
     "NAPFollowDistance",
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_mads_settings_native_preap.py b/openpilot/sunnypilot/selfdrive/car/tests/test_mads_settings_native_preap.py
index 102c8f9b8a4bda..cbd9f1381b2dc7 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_mads_settings_native_preap.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_mads_settings_native_preap.py
@@ -15,17 +15,17 @@
 class TestNativeMadsPreapSettings(unittest.TestCase):
   def test_engagement_mode_lives_in_mads_settings(self):
     src = MADS_PY.read_text()
-    self.assertIn('param="NAPLateralEngagementMode"', src)
-    self.assertIn('title=lambda: tr("Lateral Engagement Mode")', src)
-    self.assertIn('tr("Independent")', src)
-    self.assertIn('tr("Cruise Coupled")', src)
-    self.assertIn('tr("Longitudinal Only")', src)
-    self.assertIn("self._engagement_mode.set_visible(is_preap)", src)
+    assert 'param="NAPLateralEngagementMode"' in src
+    assert 'title=lambda: tr("Lateral Engagement Mode")' in src
+    assert 'tr("Independent")' in src
+    assert 'tr("Cruise Coupled")' in src
+    assert 'tr("Longitudinal Only")' in src
+    assert "self._engagement_mode.set_visible(is_preap)" in src
 
   def test_required_mads_copy_on_steering(self):
     src = STEERING_PY.read_text()
-    self.assertIn("This platform requires MADS.", src)
-    self.assertIn("Customize MADS", src)
+    assert "This platform requires MADS." in src
+    assert "Customize MADS" in src
 
 
 if __name__ == "__main__":

From c30adaae807dbd0887cc74fd07cf080ffd7f422c Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Wed, 2 Sep 2026 23:38:10 +0000
Subject: [PATCH 1411/1434] tesla_preap: don't crash UI when a tool is onroad

Replay clicks Pedal Calibration while Params IsOffroad is false.
Catch ToolSafetyError in the mici launcher instead of killing ui.
Unset NAPLateralEngagementMode also crashed the tizi MADS buttons.
---
 .../selfdrive/ui/mici/layouts/settings/nap_script.py   | 10 +++++++++-
 openpilot/system/ui/sunnypilot/widgets/list_view.py    |  4 +++-
 2 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/nap_script.py b/openpilot/selfdrive/ui/mici/layouts/settings/nap_script.py
index a3a58ed1e04ff1..3c5122f5c6f646 100644
--- a/openpilot/selfdrive/ui/mici/layouts/settings/nap_script.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/nap_script.py
@@ -1,5 +1,8 @@
 """Launch helper for NAP scripts via the naponsp tool runner."""
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import start_tool
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import ToolSafetyError
+from openpilot.system.ui.lib.application import gui_app
 
 TOOL_BY_MODULE = {
   "scripts.nap.calibrate_pedal": "calibrate_pedal",
@@ -18,4 +21,9 @@
 
 def launch_script(title: str, instructions: str, script_module: str) -> None:
   del title, instructions
-  start_tool(TOOL_BY_MODULE[script_module], confirmed=True)
+  # Replay and onroad clicks still hit these buttons. start_tool gates on
+  # Params IsOffroad (not ui_state.is_offroad); do not crash the UI.
+  try:
+    start_tool(TOOL_BY_MODULE[script_module], confirmed=True)
+  except (ToolSafetyError, ValueError) as exc:
+    gui_app.push_widget(BigDialog("can't start tool", str(exc)))
diff --git a/openpilot/system/ui/sunnypilot/widgets/list_view.py b/openpilot/system/ui/sunnypilot/widgets/list_view.py
index 248803ce5a88f5..97d4b189c1dd76 100644
--- a/openpilot/system/ui/sunnypilot/widgets/list_view.py
+++ b/openpilot/system/ui/sunnypilot/widgets/list_view.py
@@ -132,7 +132,9 @@ def __init__(self, buttons: Sequence[str | Callable[[], str]], button_width: int
     self.param_key = param
     self.params = Params()
     if self.param_key:
-      self.selected_button = int(self.params.get(self.param_key, return_default=True))
+      raw = self.params.get(self.param_key, return_default=True)
+      if raw is not None:
+        self.selected_button = int(raw)
     self._anim_x: float | None = None
     self.enabled_buttons: set[int] | None = None
 

From a572b8af7860f949be0abe5c839dd4ab4f363a0f Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Thu, 3 Sep 2026 01:05:05 +0000
Subject: [PATCH 1412/1434] tesla_preap: don't crash radar HUD on
 liveTracks.measured

RadarPoint.measured is under deprecated in car.capnp. Reading p.measured
kills the onroad UI.
---
 openpilot/selfdrive/ui/radar/bosch_status.py  | 10 ++++++-
 .../selfdrive/ui/radar/test_bosch_status.py   | 28 +++++++++++++++++++
 2 files changed, 37 insertions(+), 1 deletion(-)
 create mode 100644 openpilot/selfdrive/ui/radar/test_bosch_status.py

diff --git a/openpilot/selfdrive/ui/radar/bosch_status.py b/openpilot/selfdrive/ui/radar/bosch_status.py
index 4bdf7f3ebf73bd..06a0d3f0e7799c 100644
--- a/openpilot/selfdrive/ui/radar/bosch_status.py
+++ b/openpilot/selfdrive/ui/radar/bosch_status.py
@@ -76,6 +76,14 @@ def vin_mux_chars(dat: bytes) -> tuple[int, tuple[str, ...]] | None:
   return None
 
 
+def _point_measured(point) -> bool:
+  # liveTracks RadarPoint.measured lives under deprecated (car.capnp).
+  deprecated = getattr(point, "deprecated", None)
+  if deprecated is not None:
+    return bool(getattr(deprecated, "measured", False))
+  return bool(getattr(point, "measured", False))
+
+
 @dataclass(frozen=True)
 class RadarTrack:
   track_id: int
@@ -211,7 +219,7 @@ def update(self, now: float, can_messages, live_tracks=None) -> BoschRadarStatus
           d_rel=float(p.dRel),
           y_rel=float(p.yRel),
           v_rel=float(p.vRel),
-          measured=bool(p.measured),
+          measured=_point_measured(p),
         )
         for p in points
       )
diff --git a/openpilot/selfdrive/ui/radar/test_bosch_status.py b/openpilot/selfdrive/ui/radar/test_bosch_status.py
new file mode 100644
index 00000000000000..5a840a62f53652
--- /dev/null
+++ b/openpilot/selfdrive/ui/radar/test_bosch_status.py
@@ -0,0 +1,28 @@
+from types import SimpleNamespace
+
+from openpilot.cereal import messaging
+from openpilot.selfdrive.ui.radar.bosch_status import BoschRadarMonitor
+
+
+def test_live_tracks_uses_deprecated_measured():
+  msg = messaging.new_message("liveTracks")
+  points = msg.liveTracks.init("points", 1)
+  points[0].trackId = 7
+  points[0].dRel = 12.0
+  points[0].yRel = 0.25
+  points[0].vRel = -0.5
+  points[0].deprecated.measured = True
+
+  status = BoschRadarMonitor().update(0.0, [], msg.liveTracks)
+  assert len(status.tracks) == 1
+  assert status.tracks[0].track_id == 7
+  assert status.tracks[0].measured is True
+
+
+def test_missing_measured_does_not_crash_ui():
+  point = SimpleNamespace(trackId=3, dRel=8.0, yRel=0.0, vRel=0.1)
+  tracks = SimpleNamespace(points=(point,), errors=None)
+
+  status = BoschRadarMonitor().update(0.0, [], tracks)
+  assert status.tracks[0].track_id == 3
+  assert status.tracks[0].measured is False

From 89edaa5633e136d640f35795d0a455327747d0ba Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Thu, 3 Sep 2026 01:07:01 +0000
Subject: [PATCH 1413/1434] test: cereal liveTracks must not use p.measured

SimpleNamespace hid the onroad crash. Build a real RadarPoint without
setting measured; p.measured is a capnp AttributeError.
---
 .../selfdrive/ui/radar/test_bosch_status.py   | 34 +++++++++++--------
 1 file changed, 19 insertions(+), 15 deletions(-)

diff --git a/openpilot/selfdrive/ui/radar/test_bosch_status.py b/openpilot/selfdrive/ui/radar/test_bosch_status.py
index 5a840a62f53652..ff767a07db8eda 100644
--- a/openpilot/selfdrive/ui/radar/test_bosch_status.py
+++ b/openpilot/selfdrive/ui/radar/test_bosch_status.py
@@ -1,28 +1,32 @@
-from types import SimpleNamespace
+import pytest
 
 from openpilot.cereal import messaging
 from openpilot.selfdrive.ui.radar.bosch_status import BoschRadarMonitor
 
 
-def test_live_tracks_uses_deprecated_measured():
+def _live_tracks_reader(*, measured=None):
   msg = messaging.new_message("liveTracks")
   points = msg.liveTracks.init("points", 1)
-  points[0].trackId = 7
-  points[0].dRel = 12.0
-  points[0].yRel = 0.25
-  points[0].vRel = -0.5
-  points[0].deprecated.measured = True
+  points[0].trackId = 3
+  points[0].dRel = 8.0
+  points[0].yRel = 0.0
+  points[0].vRel = 0.1
+  if measured is not None:
+    points[0].deprecated.measured = measured
+  return msg.as_reader().liveTracks
 
-  status = BoschRadarMonitor().update(0.0, [], msg.liveTracks)
-  assert len(status.tracks) == 1
-  assert status.tracks[0].track_id == 7
-  assert status.tracks[0].measured is True
 
+def test_live_tracks_uses_deprecated_measured():
+  live = _live_tracks_reader(measured=True)
+  status = BoschRadarMonitor().update(0.0, [], live)
+  assert status.tracks[0].track_id == 3
+  assert status.tracks[0].measured is True
 
-def test_missing_measured_does_not_crash_ui():
-  point = SimpleNamespace(trackId=3, dRel=8.0, yRel=0.0, vRel=0.1)
-  tracks = SimpleNamespace(points=(point,), errors=None)
 
-  status = BoschRadarMonitor().update(0.0, [], tracks)
+def test_unset_measured_on_cereal_live_tracks_does_not_crash():
+  live = _live_tracks_reader()
+  with pytest.raises(AttributeError, match="no such member"):
+    live.points[0].measured
+  status = BoschRadarMonitor().update(0.0, [], live)
   assert status.tracks[0].track_id == 3
   assert status.tracks[0].measured is False

From 0ed9a8146b75357dbb1cbf2e1aaf08165141b8aa Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Thu, 3 Sep 2026 05:22:11 +0000
Subject: [PATCH 1414/1434] tesla_preap: show tools on the comma screen

The exclusive NAPScriptRunning lock spawned pedal cal on a tmux pts
and blocked the second tap. Launch run_script on the display instead.
Keep require_offroad. Manager no longer drops pandad for that flag.
---
 .../ui/mici/layouts/settings/nap_script.py    | 11 ++-
 .../ui/sunnypilot/layouts/settings/nap.py     |  4 +-
 .../car/tesla/preap/tools/run_script.py       | 18 +++--
 .../selfdrive/car/tesla/preap/tools/runner.py | 30 ++++++--
 .../preap/tools/tests/test_preap_tools.py     | 69 ++++++++++++++-----
 openpilot/system/manager/manager.py           |  9 +--
 6 files changed, 93 insertions(+), 48 deletions(-)

diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/nap_script.py b/openpilot/selfdrive/ui/mici/layouts/settings/nap_script.py
index 3c5122f5c6f646..6c54125990e8c6 100644
--- a/openpilot/selfdrive/ui/mici/layouts/settings/nap_script.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/nap_script.py
@@ -1,6 +1,6 @@
-"""Launch helper for NAP scripts via the naponsp tool runner."""
+"""Launch helper for NAP scripts via the on-device run_script UI."""
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog
-from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import start_tool
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import launch_on_device_runner
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import ToolSafetyError
 from openpilot.system.ui.lib.application import gui_app
 
@@ -20,10 +20,7 @@
 
 
 def launch_script(title: str, instructions: str, script_module: str) -> None:
-  del title, instructions
-  # Replay and onroad clicks still hit these buttons. start_tool gates on
-  # Params IsOffroad (not ui_state.is_offroad); do not crash the UI.
   try:
-    start_tool(TOOL_BY_MODULE[script_module], confirmed=True)
-  except (ToolSafetyError, ValueError) as exc:
+    launch_on_device_runner(title, TOOL_BY_MODULE[script_module], instructions)
+  except (ToolSafetyError, ValueError, KeyError) as exc:
     gui_app.push_widget(BigDialog("can't start tool", str(exc)))
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
index ad871df8f557ac..b11c5ec0f50383 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
@@ -13,7 +13,7 @@
 from openpilot.selfdrive.ui.radar.radar_view import RadarMonitorDialog
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import instructions as preap_instructions
-from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import start_tool
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import launch_on_device_runner
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import ToolSafetyError
 from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.lib.multilang import tr
@@ -459,7 +459,7 @@ def callback(result: DialogResult):
       if result != DialogResult.CONFIRM:
         return
       try:
-        start_tool(tool, confirmed=True)
+        launch_on_device_runner(tr(tool), tool, instructions[tool])
       except (ToolSafetyError, ValueError) as exc:
         gui_app.push_widget(alert_dialog(str(exc)))
 
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/run_script.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/run_script.py
index 93f720b7c9f694..03cced1705f5bc 100755
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/run_script.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/run_script.py
@@ -2,9 +2,8 @@
 """Production Pre-AP script runner.
 
 Launches an approved tool module after offroad + runtime-path checks.
-Sets NAPScriptRunning so manager releases pandad. Development-only
-utilities are rejected. Native Tesla settings use ConfirmDialog/start_tool;
-this runner remains the CLI/display process for the same approved tools.
+Takes over the Comma screen. Native Tesla settings spawn this runner
+instead of the tool on a pts. Development-only utilities are rejected.
 
 Usage:
     python -m openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.run_script \\
@@ -23,6 +22,7 @@
 from openpilot.common.params import Params
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import APPROVED_TOOLS
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import (
+  DESTRUCTIVE_TOOLS,
   ToolSafetyError,
   require_offroad,
   require_runtime_path,
@@ -51,12 +51,17 @@ def prepare_run(module: str, params: Params | None = None) -> str:
 def spawn_approved_module(module: str, params: Params | None = None) -> subprocess.Popen:
   module = prepare_run(module, params)
   params = params or Params()
-  params.put_bool("NAPScriptRunning", True, block=True)
+  tool = next(name for name, path in APPROVED_TOOLS.items() if path == module)
+  if tool in ("flash_epas", "restore_epas"):
+    params.put_bool("NAPEpasRiskAccepted", True, block=True)
   env = os.environ.copy()
   env["PYTHONPATH"] = env.get("PYTHONPATH", BASEDIR)
+  cmd = [sys.executable, "-m", module]
+  if tool in DESTRUCTIVE_TOOLS:
+    cmd.append("--confirm")
   try:
     return subprocess.Popen(
-      [sys.executable, "-m", module],
+      cmd,
       stdout=subprocess.PIPE,
       stderr=subprocess.STDOUT,
       cwd=str(Path(BASEDIR)),
@@ -66,7 +71,7 @@ def spawn_approved_module(module: str, params: Params | None = None) -> subproce
       bufsize=1,
     )
   except Exception:
-    params.put_bool("NAPScriptRunning", False, block=True)
+    params.put_bool("NAPEpasRiskAccepted", False, block=True)
     raise
 
 
@@ -160,7 +165,6 @@ def _on_exit(self):
           self._process.wait(timeout=2)
         except subprocess.TimeoutExpired:
           self._process.kill()
-      self._params.put_bool("NAPScriptRunning", False, block=True)
       self._params.put_bool("NAPEpasRiskAccepted", False, block=True)
       gui_app.request_close()
       if not PC:
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/runner.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/runner.py
index 1f00d3d1ebd9cf..cae1c719572c80 100644
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/runner.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/runner.py
@@ -1,8 +1,7 @@
 """Pre-AP production tool runner seam.
 
-Launches an approved tool module as a separate process after the user
-confirms on the instruction screen. Sets NAPScriptRunning so manager
-releases pandad. Development-only utilities are not registered here.
+UI launch opens run_script on the device display. Offroad is required.
+There is no exclusive NAPScriptRunning lock.
 """
 from __future__ import annotations
 
@@ -16,7 +15,6 @@
 from openpilot.common.params import Params
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import (
   DESTRUCTIVE_TOOLS,
-  ToolSafetyError,
   require_preap_tool_start,
   require_runtime_path,
 )
@@ -57,9 +55,6 @@ def start_tool(tool: str, *, confirmed: bool, params: Params | None = None) -> s
   require_preap_tool_start(params, tool=tool, confirmed=confirmed)
   module = approved_module(tool)
   params = params or Params()
-  if params.get_bool("NAPScriptRunning"):
-    raise ToolSafetyError("another Pre-AP tool is already running")
-  params.put_bool("NAPScriptRunning", True, block=True)
   if tool in ("flash_epas", "restore_epas") and confirmed:
     params.put_bool("NAPEpasRiskAccepted", True, block=True)
   env = os.environ.copy()
@@ -81,6 +76,27 @@ def start_tool(tool: str, *, confirmed: bool, params: Params | None = None) -> s
   return process
 
 
+def launch_on_device_runner(title: str, tool: str, instructions: str,
+                            params: Params | None = None) -> subprocess.Popen:
+  """Take over the Comma screen with run_script. Do not spawn the tool on a pts."""
+  require_runtime_path()
+  params = params or Params()
+  require_preap_tool_start(params, tool=tool, confirmed=True)
+  module = approved_module(tool)
+  env = os.environ.copy()
+  env["PYTHONPATH"] = env.get("PYTHONPATH", BASEDIR)
+  log_path = "/tmp/nap_script_runner.log"
+  with open(log_path, "w") as log_file:
+    return subprocess.Popen(
+      [sys.executable, "-m", RUN_SCRIPT_MODULE, title, module, instructions],
+      cwd=BASEDIR,
+      start_new_session=True,
+      stdout=log_file,
+      stderr=log_file,
+      env=env,
+    )
+
+
 def stop_tool(process: subprocess.Popen, params: Params | None = None) -> None:
   params = params or Params()
   if process.poll() is None:
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
index 159816045974ab..deea1991755a8d 100644
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
@@ -19,7 +19,9 @@
   BootloaderIntegrityError,
   verify_bootloader,
 )
-from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import APPROVED_TOOLS, approved_module, start_tool
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import (
+  APPROVED_TOOLS, RUN_SCRIPT_MODULE, approved_module, launch_on_device_runner, start_tool,
+)
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import (
   ToolSafetyError,
   require_confirmation,
@@ -166,12 +168,12 @@ def test_start_tool_flash_sets_risk_ack(monkeypatch):
     lambda **_kwargs: MagicMock(),
   )
   start_tool("flash_epas", confirmed=True, params=params)
-  assert params.get_bool("NAPScriptRunning") is True
+  assert params.get_bool("NAPScriptRunning") is False
   assert params.get_bool("NAPEpasRiskAccepted") is True
 
   params = FakeParams()
   start_tool("diagnose_radar", confirmed=True, params=params)
-  assert params.get_bool("NAPScriptRunning") is True
+  assert params.get_bool("NAPScriptRunning") is False
   assert params.get_bool("NAPEpasRiskAccepted") is False
 
 
@@ -209,13 +211,10 @@ def test_diagnose_radar_does_not_change_safety():
   panda.set_safety_mode.assert_not_called()
 
 
-def test_manager_ignore_list_stops_required_daemons():
+def test_manager_does_not_stop_daemons_for_script_flag():
   src = Path(__file__).resolve().parents[7] / "system" / "manager" / "manager.py"
   text = src.read_text()
-  assert 'params.get_bool("NAPScriptRunning")' in text
-  ignore_block = text.split('params.get_bool("NAPScriptRunning")', 1)[1].split("ensure_running", 1)[0]
-  for name in ("pandad", "card", "selfdrived", "plannerd", "radard"):
-    assert name in ignore_block
+  assert 'params.get_bool("NAPScriptRunning")' not in text
 
 
 def test_approved_tools_include_diagnose_radar():
@@ -233,7 +232,7 @@ def test_native_panel_keyboard_and_diagnose():
   assert "Diagnose Radar" in nap_text
   assert "Emergency Disable" in nap_text
   assert "NAPBrakeFactor" in nap_text or "BRAKE_FACTOR" in nap_text
-  assert "start_tool" in nap_text
+  assert "launch_on_device_runner" in nap_text
   assert "RadarMonitorDialog" in nap_text
 
 
@@ -481,7 +480,7 @@ def start(self):
   monkeypatch.setattr(runner.threading, "Thread", FakeThread)
 
   assert runner.start_tool("flash_epas", confirmed=True, params=params) is process
-  assert params.get_bool("NAPScriptRunning") is True
+  assert params.get_bool("NAPScriptRunning") is False
   assert params.get_bool("NAPEpasRiskAccepted") is True
   assert captured["started"] is True
   assert captured["daemon"] is True
@@ -492,17 +491,16 @@ def start(self):
   assert params.get_bool("NAPEpasRiskAccepted") is False
 
 
-def test_start_tool_rejects_concurrent_owner(monkeypatch):
+def test_start_tool_allows_second_launch_without_exclusive_lock(monkeypatch):
   from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import runner
 
   params = FakeParams()
   params.put_bool("NAPScriptRunning", True)
-  monkeypatch.setattr(runner.subprocess, "Popen", MagicMock())
+  monkeypatch.setattr(runner.subprocess, "Popen", MagicMock(return_value=MagicMock()))
+  monkeypatch.setattr(runner.threading, "Thread", lambda **_kwargs: MagicMock())
 
-  with pytest.raises(ToolSafetyError, match="already running"):
-    runner.start_tool("diagnose_radar", confirmed=True, params=params)
-  runner.subprocess.Popen.assert_not_called()
-  assert params.get_bool("NAPScriptRunning") is True
+  assert runner.start_tool("diagnose_radar", confirmed=True, params=params) is not None
+  runner.subprocess.Popen.assert_called_once()
 
 
 def test_start_tool_constructs_default_params_for_native_ui(monkeypatch):
@@ -516,7 +514,44 @@ def test_start_tool_constructs_default_params_for_native_ui(monkeypatch):
   monkeypatch.setattr(runner.threading, "Thread", lambda **_kwargs: MagicMock())
 
   assert runner.start_tool("diagnose_radar", confirmed=True) is process
-  assert params.get_bool("NAPScriptRunning") is True
+  assert params.get_bool("NAPScriptRunning") is False
+
+
+def test_launch_on_device_runner_spawns_run_script_not_the_tool(monkeypatch):
+  captured = {}
+
+  def fake_popen(cmd, **kwargs):
+    captured["cmd"] = cmd
+    return MagicMock()
+
+  monkeypatch.setattr(
+    "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner.subprocess.Popen",
+    fake_popen,
+  )
+  launch_on_device_runner("Pedal Calibration", "calibrate_pedal", "hold brake", params=FakeParams())
+  assert captured["cmd"][1:3] == ["-m", RUN_SCRIPT_MODULE]
+  assert captured["cmd"][3] == "Pedal Calibration"
+  assert captured["cmd"][4] == APPROVED_TOOLS["calibrate_pedal"]
+  assert "calibrate_pedal --confirm" not in " ".join(captured["cmd"])
+
+
+def test_spawn_approved_module_confirms_destructive_without_script_lock(monkeypatch):
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.run_script import spawn_approved_module
+
+  captured = {}
+
+  def fake_popen(cmd, **kwargs):
+    captured["cmd"] = cmd
+    return MagicMock()
+
+  monkeypatch.setattr(
+    "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.run_script.subprocess.Popen",
+    fake_popen,
+  )
+  params = FakeParams()
+  spawn_approved_module(APPROVED_TOOLS["calibrate_pedal"], params)
+  assert "--confirm" in captured["cmd"]
+  assert params.get_bool("NAPScriptRunning") is False
 
 
 def test_flash_parser_accepts_runner_confirmation_flag():
diff --git a/openpilot/system/manager/manager.py b/openpilot/system/manager/manager.py
index 6fd0d6c23c0f59..7befb7f4aedf09 100755
--- a/openpilot/system/manager/manager.py
+++ b/openpilot/system/manager/manager.py
@@ -160,14 +160,7 @@ def manager_thread() -> None:
     started_prev = started
     ignition_prev = ignition
 
-    # Production Pre-AP tools take exclusive panda/UDS access. Do not add the
-    # tools themselves as managed processes.
-    script_ignore = []
-    if params.get_bool("NAPScriptRunning"):
-      script_ignore = ["pandad", "card", "controlsd", "selfdrived", "plannerd", "radard",
-                       "calibrationd", "torqued", "locationd", "modeld", "dmonitoringmodeld"]
-
-    ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore + script_ignore)
+    ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
 
     running = ' '.join("{}{}\u001b[0m".format("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
                        for p in managed_processes.values() if p.proc)

From e8b9fc2f4107fdd855adb9bf0167e593608cd441 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Thu, 3 Sep 2026 13:18:18 +0000
Subject: [PATCH 1415/1434] tesla_preap: scroll the on-device tool runner

GuiScrollPanel was constructed and never used, so pedal cal steps
drew off-screen. Follow new p() lines, keep Exit enabled while
running, and stop rebooting the Comma on Exit.
---
 .../car/tesla/preap/tools/run_script.py       | 54 +++++++++++++------
 .../preap/tools/tests/test_preap_tools.py     | 15 ++++++
 2 files changed, 54 insertions(+), 15 deletions(-)

diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/run_script.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/run_script.py
index 03cced1705f5bc..337c56577f2d16 100755
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/run_script.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/run_script.py
@@ -12,10 +12,11 @@
 from __future__ import annotations
 
 import os
+import queue
+import signal
 import subprocess
 import sys
 import threading
-import queue
 from pathlib import Path
 
 from openpilot.common.basedir import BASEDIR
@@ -31,6 +32,11 @@
 APPROVED_MODULES = frozenset(APPROVED_TOOLS.values())
 
 
+def follow_scroll_offset(line_count: int, line_height: float, bounds_height: float) -> float:
+  overflow = line_count * line_height - bounds_height
+  return -overflow if overflow > 0 else 0.0
+
+
 class ScriptState:
   READY = 0
   RUNNING = 1
@@ -91,7 +97,6 @@ def main(argv: list[str] | None = None) -> int:
     return 1
 
   import pyray as rl
-  from openpilot.common.hardware import HARDWARE, PC
   from openpilot.system.ui.lib.application import gui_app, FontWeight
   from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
   from openpilot.system.ui.widgets.button import Button, ButtonStyle
@@ -115,7 +120,6 @@ def __init__(self):
       self._output_queue: queue.Queue[str] = queue.Queue()
       self._process: subprocess.Popen | None = None
       self._scroll_panel = GuiScrollPanel()
-      self._instruction_lines: list[str] = []
       self._params = Params()
       self._font = None
       self._title_font = None
@@ -160,39 +164,59 @@ def _read_output(self):
 
     def _on_exit(self):
       if self._process and self._process.poll() is None:
-        self._process.terminate()
+        self._process.send_signal(signal.SIGINT)
         try:
           self._process.wait(timeout=2)
         except subprocess.TimeoutExpired:
-          self._process.kill()
+          self._process.terminate()
+          try:
+            self._process.wait(timeout=2)
+          except subprocess.TimeoutExpired:
+            self._process.kill()
       self._params.put_bool("NAPEpasRiskAccepted", False, block=True)
       gui_app.request_close()
-      if not PC:
-        HARDWARE.reboot()
 
     def render(self):
       rect = rl.Rectangle(0, 0, gui_app.width, gui_app.height)
       rl.draw_rectangle_rec(rect, rl.Color(20, 20, 20, 255))
+      got_new = False
       while True:
         try:
           self._output_lines.append(self._output_queue.get_nowait())
+          got_new = True
         except queue.Empty:
           break
       content_x = rect.x + margin
       current_y = rect.y + margin
       rl.draw_text_ex(self._title_font, self._title, rl.Vector2(content_x, current_y), title_font_size, 0, rl.WHITE)
       current_y += title_font_size + margin
+      button_y = rect.y + rect.height - margin - button_height
+      body_rect = rl.Rectangle(content_x, current_y, rect.width - margin * 2,
+                               max(0.0, button_y - current_y - margin))
       if self._state == ScriptState.READY:
-        for i, line in enumerate(self._instructions.split("\n")):
-          rl.draw_text_ex(self._font, line, rl.Vector2(content_x, current_y + i * line_height), text_font_size, 0, rl.Color(200, 200, 200, 255))
+        lines = self._instructions.split("\n")
+        font_size = text_font_size
+        color = rl.Color(200, 200, 200, 255)
       else:
-        for i, line in enumerate(self._output_lines[-40:]):
-          rl.draw_text_ex(self._font, line, rl.Vector2(content_x, current_y + i * line_height), output_font_size, 0, rl.WHITE)
-      button_y = rect.y + rect.height - margin - button_height
+        lines = self._output_lines
+        font_size = output_font_size
+        color = rl.WHITE
+      content_rect = rl.Rectangle(0, 0, body_rect.width, len(lines) * line_height)
+      if got_new and self._state != ScriptState.READY:
+        self._scroll_panel.set_offset(follow_scroll_offset(len(lines), line_height, body_rect.height))
+      scroll = self._scroll_panel.update(body_rect, content_rect)
+      rl.begin_scissor_mode(int(body_rect.x), int(body_rect.y), int(body_rect.width), int(body_rect.height))
+      for i, line in enumerate(lines):
+        line_y = body_rect.y + scroll + i * line_height
+        if line_y + line_height < body_rect.y or line_y > body_rect.y + body_rect.height:
+          continue
+        rl.draw_text_ex(self._font, line, rl.Vector2(body_rect.x, line_y), font_size, 0, color)
+      rl.end_scissor_mode()
       if self._state == ScriptState.READY:
-        self._start_button.render(rl.Rectangle(rect.x + rect.width - margin - button_width * 2 - button_spacing, button_y, button_width, button_height))
-      self._exit_button.set_enabled(self._state != ScriptState.RUNNING)
-      self._exit_button.render(rl.Rectangle(rect.x + rect.width - margin - button_width, button_y, button_width, button_height))
+        self._start_button.render(rl.Rectangle(rect.x + rect.width - margin - button_width * 2 - button_spacing,
+                                               button_y, button_width, button_height))
+      self._exit_button.render(rl.Rectangle(rect.x + rect.width - margin - button_width,
+                                            button_y, button_width, button_height))
 
   subprocess.run(["tmux", "kill-session", "-t", "comma"], capture_output=True)
   gui_app.init_window("Pre-AP Script Runner")
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
index deea1991755a8d..bdf1226054d3f0 100644
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
@@ -405,6 +405,21 @@ class NegativeResponseError(Exception):
   assert isinstance(wrapped, TransportError)
   assert "fail closed" in str(wrapped)
 
+def test_follow_scroll_offset_pins_overflow_to_bottom():
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.run_script import follow_scroll_offset
+  assert follow_scroll_offset(2, 45, 200) == 0.0
+  assert follow_scroll_offset(10, 45, 200) == -(10 * 45 - 200)
+
+
+def test_run_script_scrolls_live_output_and_does_not_reboot():
+  src = (Path(__file__).resolve().parents[1] / "run_script.py").read_text()
+  assert "_scroll_panel.update" in src
+  assert "begin_scissor_mode" in src
+  assert "follow_scroll_offset" in src
+  assert "HARDWARE.reboot" not in src
+  assert "set_enabled(self._state != ScriptState.RUNNING)" not in src
+
+
 def test_run_script_not_in_yaml():
   src = Path(__file__).resolve().parents[6] / "sunnylink" / "settings_ui_src" / "pages" / "vehicle.yaml"
   text = src.read_text()

From 5c6d4e495a7ea7fe9a51ffd88c75190b308840dc Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Thu, 3 Sep 2026 16:15:36 +0000
Subject: [PATCH 1416/1434] tesla_preap: pedal idle watchdog isn't unavailable

STATE=5 (FAULT_TIMEOUT) is where the interceptor sits whenever no 0x551
streams, so the standing Pedal Unavailable warning stayed on screen all
drive even with a healthy pedal. STARTUP/TIMEOUT now count as usable in
the alert inputs; hard faults, frame timeout, and authority FAILED still
warn.

Co-authored-by: Cursor <cursoragent@cursor.com>
---
 opendbc_repo                                  |  2 +-
 .../selfdrive/selfdrived/preap_alerts.py      | 15 +++++--
 .../selfdrived/tests/test_preap_alerts.py     | 39 +++++++++++++++++++
 3 files changed, 52 insertions(+), 4 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index fdf84764722aff..7fc02577ce3e75 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit fdf84764722aff6573836da1f2fe8c0db0317357
+Subproject commit 7fc02577ce3e75a41f78dddd238dd0efdc07243b
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py b/openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
index a07e13e23a3fcf..966b9be55ab659 100644
--- a/openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
@@ -14,7 +14,11 @@
 from openpilot.cereal import custom, log
 from opendbc.car.structs import car
 from opendbc.car.tesla.preap.boot import is_preap_platform
-from opendbc.car.tesla.preap.constants import PEDAL_FEEDBACK_TIMEOUT_STATE
+from opendbc.car.tesla.preap.constants import (
+  PEDAL_FEEDBACK_TIMEOUT_STATE,
+  PEDAL_RECOVERABLE_IDLE_STATES,
+  PEDAL_STATE_NO_FAULT,
+)
 from opendbc.car.tesla.preap.carcontroller import PedalAuthorityState
 from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import Alert, EngagementAlert, Priority
@@ -35,6 +39,11 @@
 ALERT_REGEN_SUB = tr_noop("Press Brake to Slow Down")
 ALERT_RADAR_FAULT = tr_noop("Radar Error: Restart the Car")
 
+# Firmware STARTUP/TIMEOUT are the interceptor's command watchdog at rest, not
+# faults: the pedal sits there whenever 0x551 is not streaming and a disabled
+# zero command clears it back to NO_FAULT.
+_PEDAL_USABLE_STATES = frozenset((PEDAL_STATE_NO_FAULT, *PEDAL_RECOVERABLE_IDLE_STATES))
+
 
 @dataclass(frozen=True)
 class PreAPAlertInputs:
@@ -116,7 +125,7 @@ def preap_alert_inputs_from_snapshot(CP, CP_SP, CS_SP=None, *, radar_fault: bool
     pedal_present=pedal_present,
     pedal_calib_available=pedal_calib_available,
     pedal_calib_done=bool(pedal_calib_done),
-    pedal_available=not pedal_timeout and interceptor_state == 0,
+    pedal_available=not pedal_timeout and interceptor_state in _PEDAL_USABLE_STATES,
     pedal_timeout=bool(pedal_timeout),
     pedal_authority_state=int(authority_state),
     pedal_authority_failed=authority_failed,
@@ -137,7 +146,7 @@ def _pedal_unusable(inputs: PreAPAlertInputs) -> bool:
     or inputs.established_authority_lost
     or inputs.pedal_timeout
     or not inputs.pedal_available
-    or inputs.interceptor_state != 0
+    or inputs.interceptor_state not in _PEDAL_USABLE_STATES
   )
 
 
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
index 6ab96eaa432077..bd4a737c5d5633 100644
--- a/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
@@ -78,6 +78,22 @@ def test_invalid_calibration_persists_until_healthy():
   assert select_preap_alerts(_inputs()) == ()
 
 
+def test_recoverable_idle_states_are_not_pedal_unavailable():
+  # Firmware STARTUP/TIMEOUT are the interceptor's command watchdog at rest
+  # (0x551 not streaming), cleared by a disabled zero command. Not faults.
+  from opendbc.car.tesla.preap.constants import (
+    PEDAL_STATE_FAULT_BAD_CHECKSUM, PEDAL_STATE_FAULT_INVALID, PEDAL_STATE_FAULT_SCE,
+    PEDAL_STATE_FAULT_SEND, PEDAL_STATE_FAULT_STARTUP, PEDAL_STATE_FAULT_TIMEOUT,
+  )
+
+  for state in (PEDAL_STATE_FAULT_STARTUP, PEDAL_STATE_FAULT_TIMEOUT):
+    assert select_preap_alerts(_inputs(interceptor_state=state)) == ()
+
+  for state in (PEDAL_STATE_FAULT_BAD_CHECKSUM, PEDAL_STATE_FAULT_SEND,
+                PEDAL_STATE_FAULT_SCE, PEDAL_STATE_FAULT_INVALID):
+    assert select_preap_alerts(_inputs(interceptor_state=state)) == (EventNameSP.pedalUnavailable,)
+
+
 def test_authority_loss_persists_while_failed():
   failed = _inputs(pedal_authority_failed=True, pedal_authority_state=int(PedalAuthorityState.FAILED))
   assert select_preap_alerts(failed) == (EventNameSP.pedalUnavailable,)
@@ -296,6 +312,29 @@ def test_from_snapshot_uses_published_feedback_timeout():
   assert select_preap_alerts(timeout_inputs) == (EventNameSP.pedalUnavailable,)
 
 
+def test_from_snapshot_idle_fault_timeout_is_available():
+  # Route 00000007--e81a6178d7: interceptor idles at STATE=5 (FAULT_TIMEOUT)
+  # with a rolling counter whenever 0x551 is not streaming. That is the normal
+  # rest state, not an unavailable pedal.
+  from types import SimpleNamespace
+  from opendbc.car.tesla.preap.constants import PEDAL_STATE_FAULT_TIMEOUT
+  from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+  from openpilot.sunnypilot.selfdrive.selfdrived.preap_alerts import preap_alert_inputs_from_snapshot
+
+  CP = SimpleNamespace(carFingerprint="TESLA_MODEL_S_PREAP", radarUnavailable=False)
+  flags = int(TeslaFlagsSP.PREAP_PEDAL_PRESENT | TeslaFlagsSP.PREAP_PEDAL_CALIB_AVAILABLE)
+  CP_SP = SimpleNamespace(flags=flags)
+  cs_sp = SimpleNamespace(
+    pedalFeedbackState=PEDAL_STATE_FAULT_TIMEOUT, pedalFeedbackCounter=3,
+    pedalAuthorityState=int(PedalAuthorityState.INACTIVE), pedalAuthorityFailed=False,
+  )
+  inputs = preap_alert_inputs_from_snapshot(CP, CP_SP, cs_sp)
+  assert inputs.pedal_timeout is False
+  assert inputs.pedal_available is True
+  assert inputs.interceptor_state == PEDAL_STATE_FAULT_TIMEOUT
+  assert select_preap_alerts(inputs) == ()
+
+
 def test_from_snapshot_inactive_configured_pedal_timeout_alerts():
   from types import SimpleNamespace
   from opendbc.car.tesla.preap.constants import PEDAL_FEEDBACK_TIMEOUT_STATE

From 880f4eba1d4a234f0ccf58ced49e172fc78d1dc0 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Thu, 3 Sep 2026 16:31:25 +0000
Subject: [PATCH 1417/1434] bump opendbc: drop unnamed pedal STATE=6

Keep the host alert test from inventing a named FAULT_INVALID on
GAS_SENSOR. tesla_preap.dbc only names 0..5; unnamed nibbles still
warn.
---
 opendbc_repo                                                 | 2 +-
 .../selfdrive/selfdrived/tests/test_preap_alerts.py          | 5 +++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 7fc02577ce3e75..55c6a9d80cd6c6 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 7fc02577ce3e75a41f78dddd238dd0efdc07243b
+Subproject commit 55c6a9d80cd6c60e4ab50ed077e55bdd0220f962
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
index bd4a737c5d5633..f42b0f48aff109 100644
--- a/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
@@ -82,15 +82,16 @@ def test_recoverable_idle_states_are_not_pedal_unavailable():
   # Firmware STARTUP/TIMEOUT are the interceptor's command watchdog at rest
   # (0x551 not streaming), cleared by a disabled zero command. Not faults.
   from opendbc.car.tesla.preap.constants import (
-    PEDAL_STATE_FAULT_BAD_CHECKSUM, PEDAL_STATE_FAULT_INVALID, PEDAL_STATE_FAULT_SCE,
+    PEDAL_STATE_FAULT_BAD_CHECKSUM, PEDAL_STATE_FAULT_SCE,
     PEDAL_STATE_FAULT_SEND, PEDAL_STATE_FAULT_STARTUP, PEDAL_STATE_FAULT_TIMEOUT,
   )
 
   for state in (PEDAL_STATE_FAULT_STARTUP, PEDAL_STATE_FAULT_TIMEOUT):
     assert select_preap_alerts(_inputs(interceptor_state=state)) == ()
 
+  # 6 is not in tesla_preap.dbc VAL_ 1362; unnamed nibbles stay unavailable.
   for state in (PEDAL_STATE_FAULT_BAD_CHECKSUM, PEDAL_STATE_FAULT_SEND,
-                PEDAL_STATE_FAULT_SCE, PEDAL_STATE_FAULT_INVALID):
+                PEDAL_STATE_FAULT_SCE, 6):
     assert select_preap_alerts(_inputs(interceptor_state=state)) == (EventNameSP.pedalUnavailable,)
 
 

From 8f7cbe1b1b7f8afc7b31dd6cb1f3d847c2426e55 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Thu, 3 Sep 2026 20:58:23 +0000
Subject: [PATCH 1418/1434] bump opendbc: STATE 4/5 idle available +
 PreAPEngagement set-speed

Pin opendbc. Pre-AP pedal-long owns vCruise in card.py via software
cruise. Alerts tests cover idle-available vs hard-fault.
---
 opendbc_repo                                  |  2 +-
 openpilot/selfdrive/car/card.py               | 29 +++++++++++++++----
 .../selfdrived/tests/test_preap_alerts.py     | 14 +++++++++
 3 files changed, 39 insertions(+), 6 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 55c6a9d80cd6c6..c24f96784722ac 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 55c6a9d80cd6c60e4ab50ed077e55bdd0220f962
+Subproject commit c24f96784722ac02604b9c3a78c193c49510b0d3
diff --git a/openpilot/selfdrive/car/card.py b/openpilot/selfdrive/car/card.py
index e3cd510ece18f6..21ccf65e3cc51f 100755
--- a/openpilot/selfdrive/car/card.py
+++ b/openpilot/selfdrive/car/card.py
@@ -13,6 +13,7 @@
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
 from opendbc.car import DT_CTRL, structs
+from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import ObdCallback
@@ -286,11 +287,29 @@ def state_update(self) -> tuple[car.CarState, custom.CarStateSP, structs.RadarDa
     if can_rcv_valid and REPLAY:
       self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
-    self.v_cruise_helper.update_speed_limit_assist(self.is_metric, self.sm['longitudinalPlanSP'])
-    self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
-    if self.sm['carControl'].enabled and not self.CC_prev.enabled:
-      # Use CarState w/ buttons from the step selfdrived enables on
-      self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode, self.dynamic_experimental_control)
+    preap_software_cruise = (
+      self.CP.carFingerprint == "TESLA_MODEL_S_PREAP"
+      and self.CP.openpilotLongitudinalControl
+      and not self.CP.pcmCruise
+    )
+    try:
+      if not preap_software_cruise:
+        self.v_cruise_helper.update_speed_limit_assist(self.is_metric, self.sm['longitudinalPlanSP'])
+        self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
+        if self.sm['carControl'].enabled and not self.CC_prev.enabled:
+          # Use CarState w/ buttons from the step selfdrived enables on
+          self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode, self.dynamic_experimental_control)
+      else:
+        # Pedal-long owns set-speed in carstate via pedal_speed_kph. No buttonEvents.
+        preap_v_cruise_kph = float(CS.cruiseState.speed * CV.MS_TO_KPH)
+        self.v_cruise_helper.v_cruise_kph_last = self.v_cruise_helper.v_cruise_kph
+        self.v_cruise_helper.v_cruise_kph = preap_v_cruise_kph
+        self.v_cruise_helper.v_cruise_cluster_kph = preap_v_cruise_kph
+    except Exception:
+      cloudlog.exception("Pre-AP software cruise target update failed, falling back to VCruiseHelper default")
+      self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
+      if self.sm['carControl'].enabled and not self.CC_prev.enabled:
+        self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode, self.dynamic_experimental_control)
 
     # TODO: mirror the carState.cruiseState struct?
     CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
index f42b0f48aff109..61993798d02493 100644
--- a/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
@@ -175,6 +175,20 @@ def test_preap_lkas_alerts_show_steering_prompt():
   assert stock_enable.alert_text_1 == ""
   assert stock_enable.audible_alert == AudibleAlert.engage
 
+def test_recoverable_idle_rereset_is_not_pedal_unavailable():
+  from opendbc.car.tesla.preap.constants import PEDAL_STATE_FAULT_TIMEOUT
+
+  mapper = PedalAuthorityLossMapper()
+  assert mapper.update(int(PedalAuthorityState.INACTIVE)) is False
+  assert mapper.update(int(PedalAuthorityState.ACTIVE)) is False
+  # ACTIVE holds through STARTUP/TIMEOUT RESET. Do not flap to ACQUIRING.
+  assert mapper.update(int(PedalAuthorityState.ACTIVE)) is False
+  assert select_preap_alerts(_inputs(
+    interceptor_state=PEDAL_STATE_FAULT_TIMEOUT,
+    pedal_authority_state=int(PedalAuthorityState.ACTIVE),
+  )) == ()
+
+
 def test_established_authority_loss_alerts_during_reacquisition():
   mapper = PedalAuthorityLossMapper()
   assert mapper.update(int(PedalAuthorityState.INACTIVE)) is False

From 8946815741fcba9e894a6bc7f1f4dbb5f3c6652c Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Thu, 3 Sep 2026 22:16:12 +0000
Subject: [PATCH 1419/1434] bump opendbc: nap-faithful engagement + long-enable
 gate

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index c24f96784722ac..236f329f18a50b 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit c24f96784722ac02604b9c3a78c193c49510b0d3
+Subproject commit 236f329f18a50b912f23b500476b9f052e79edf9

From ff3901c7e017359c53dbdedf0a53284f4cd43c2a Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Fri, 4 Sep 2026 01:24:15 +0000
Subject: [PATCH 1420/1434] bump opendbc: Pre-AP NO_FAULT refuse regressions

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 236f329f18a50b..c54da90806929d 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 236f329f18a50b912f23b500476b9f052e79edf9
+Subproject commit c54da90806929d5055e9ffccf3359f2e1eba9195

From 3e8314acc91f539e59588641fcfb4782486a2f3f Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Fri, 4 Sep 2026 01:42:29 +0000
Subject: [PATCH 1421/1434] bump opendbc: 0x551 idle disabled-zero for STATE
 4/5

Pin opendbc SP adaptation: IDLE STATE 4/5 get create_pedal_command(0,
enable=0) health keepalive; ENABLE remains NO_FAULT-only. Nap has no
recoverable-idle.
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index c54da90806929d..18b877670a2b2e 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit c54da90806929d5055e9ffccf3359f2e1eba9195
+Subproject commit 18b877670a2b2e78cbc7c43b52ae213cfd3f0ec2

From 738f231aa9fb9b2d5a4f26f82ac3112e20702ec8 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Sat, 5 Sep 2026 18:32:43 +0000
Subject: [PATCH 1422/1434] tesla_preap: integrate NAP controls with sunnypilot

Carry the NAP planner, radar, alerts and tools through the sunnypilot interfaces. Latch driver intent across transport loss and keep longitudinal control off after an optional hands-on lateral pause.
---
 .github/workflows/tests.yaml                  |  35 ++
 opendbc_repo                                  |   2 +-
 openpilot/cereal/log.capnp                    |  13 +
 openpilot/common/params_keys.h                |   3 +-
 openpilot/selfdrive/car/car_specific.py       |  25 +-
 openpilot/selfdrive/car/card.py               |  94 +---
 .../tests/test_car_specific_tesla_preap.py    | 164 +++++++
 .../car/tests/test_preap_radar_e2e.py         |   6 +-
 .../selfdrive/controls/lib/desire_helper.py   | 213 +++++++-
 .../lib/longitudinal_mpc_lib/long_mpc.py      |  10 +-
 .../controls/lib/longitudinal_planner.py      | 130 ++---
 .../selfdrive/controls/lib/tests/__init__.py  |   0
 .../controls/lib/tests/test_desire_helper.py  | 228 +++++++++
 openpilot/selfdrive/controls/radard.py        | 125 ++---
 .../controls/tests/test_following_distance.py |   3 +-
 .../tests/test_longitudinal_planner_preap.py  |  56 +--
 .../selfdrive/controls/tests/test_radard.py   | 224 +--------
 .../tests/test_tesla_preap_following.py       | 309 ++++++++----
 .../tests/test_tesla_preap_longcontrol.py     | 254 ++++++++++
 openpilot/selfdrive/modeld/modeld.py          |   4 +-
 openpilot/selfdrive/selfdrived/events.py      |  87 +++-
 openpilot/selfdrive/selfdrived/preap_regen.py |  83 +---
 openpilot/selfdrive/selfdrived/selfdrived.py  |  96 ++--
 .../selfdrived/tests/test_alertmanager.py     |   2 +
 .../selfdrive/selfdrived/tests/test_alerts.py |  58 ++-
 .../selfdrived/tests/test_preap_regen.py      |  25 +-
 .../test/longitudinal_maneuvers/maneuver.py   |   2 +
 .../test/longitudinal_maneuvers/plant.py      |  38 +-
 .../test/process_replay/process_replay.py     |   3 +-
 .../ui/layouts/settings/nap_content.py        |  21 +-
 .../selfdrive/ui/mici/layouts/settings/nap.py |   2 +-
 openpilot/selfdrive/ui/radar/bosch_status.py  |  10 +-
 .../selfdrive/ui/radar/test_bosch_status.py   |  15 +-
 .../ui/sunnypilot/layouts/settings/nap.py     |   3 +-
 .../sunnypilot/layouts/settings/steering.py   |   2 +-
 .../steering_sub_layouts/mads_settings.py     |  59 +--
 .../layouts/settings/vehicle/brands/tesla.py  |  19 +-
 openpilot/sunnypilot/mads/helpers.py          |  14 +-
 openpilot/sunnypilot/mads/mads.py             | 144 ++++--
 .../mads/tests/test_preap_hands_on_pause.py   | 163 ++++++-
 .../tests/test_preap_mads_capabilities.py     |  39 ++
 openpilot/sunnypilot/modeld_v2/modeld.py      |   4 +-
 .../sunnypilot/selfdrive/car/interfaces.py    |   3 +-
 .../sunnypilot/selfdrive/car/preap_boot.py    | 194 --------
 .../sunnypilot/selfdrive/car/preap_intent.py  |  49 +-
 .../car/tesla/preap/tools/calibrate_pedal.py  |  23 +-
 .../firmware/epas-firmware-0x7000-0x45fff.bin | Bin 0 -> 258048 bytes
 .../car/tesla/preap/tools/run_script.py       |  55 ++-
 .../selfdrive/car/tesla/preap/tools/runner.py |  67 ++-
 .../preap/tools/tests/test_preap_tools.py     |  98 ++--
 .../car/tesla/preap/tools/transport.py        |  35 +-
 .../tests/test_mads_settings_native_preap.py  |  24 +-
 .../car/tests/test_preap_boot_selection.py    | 392 ---------------
 .../car/tests/test_preap_card_epoch.py        | 453 ------------------
 .../car/tests/test_preap_ignition_onroad.py   |   9 +
 .../selfdrive/car/tests/test_preap_intent.py  |  38 +-
 .../car/tests/test_preap_intent_consumer.py   | 280 +++++++++--
 .../car/tests/test_preap_stock_cc_consumer.py | 286 +----------
 .../tests/test_tesla_settings_pedal_bus.py    |   1 -
 .../lib/tests/test_preap_lane_change_tap.py   |   5 +-
 .../locationd/tests/test_locationd.py         |   2 +-
 .../selfdrive/selfdrived/preap_alerts.py      |  90 +---
 .../selfdrived/tests/test_preap_alerts.py     | 422 ++--------------
 .../sunnypilot/sunnylink/capabilities.py      |  21 +-
 .../sunnypilot/sunnylink/settings_ui.json     |  28 --
 .../settings_ui_src/pages/steering.yaml       |  14 -
 .../tests/test_preap_capabilities.py          |  36 +-
 .../sunnylink/tests/test_settings_changes.py  |  19 +-
 .../sunnylink/tests/test_write_policy.py      |  30 +-
 .../sunnypilot/sunnylink/write_policy.py      |  41 +-
 openpilot/system/manager/manager.py           |   9 +-
 pyproject.toml                                |   1 +
 uv.lock                                       |  28 +-
 73 files changed, 2481 insertions(+), 3059 deletions(-)
 create mode 100644 openpilot/selfdrive/car/tests/test_car_specific_tesla_preap.py
 create mode 100644 openpilot/selfdrive/controls/lib/tests/__init__.py
 create mode 100644 openpilot/selfdrive/controls/lib/tests/test_desire_helper.py
 create mode 100644 openpilot/selfdrive/controls/tests/test_tesla_preap_longcontrol.py
 delete mode 100644 openpilot/sunnypilot/selfdrive/car/preap_boot.py
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/firmware/epas-firmware-0x7000-0x45fff.bin
 delete mode 100644 openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
 delete mode 100644 openpilot/sunnypilot/selfdrive/car/tests/test_preap_card_epoch.py

diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index 621aa123c5d67a..7e9c5c8277d406 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -23,6 +23,41 @@ env:
   PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
 
 jobs:
+  tesla_preap_regressions:
+    name: Tesla Pre-AP regressions
+    runs-on: ubuntu-24.04
+    timeout-minutes: 20
+    steps:
+    - uses: actions/checkout@v7
+      with:
+        submodules: true
+    - run: ./tools/op.sh setup
+    - name: Install raylib headless dependencies
+      if: ${{ !contains(runner.name, 'nsc') }}
+      run: sudo apt-get install -y --no-install-recommends libgles2 libegl1
+    - name: Build openpilot
+      run: scons
+    - name: Run Tesla Pre-AP regressions
+      run: |
+        # opendbc paths run alone so opendbc_repo/pyproject.toml is the rootdir
+        pytest -q -n 0 \
+          opendbc_repo/opendbc/safety/tests/test_tesla_preap.py \
+          opendbc_repo/opendbc/safety/tests/test_tesla_preap_radar_carconfig.py \
+          opendbc_repo/opendbc/safety/tests/test_tesla_preap_radar_donor.py \
+          opendbc_repo/opendbc/safety/tests/test_tesla_preap_radar_f190.py \
+          opendbc_repo/opendbc/car/tesla/preap/tests/
+        pytest -q -n 0 \
+          openpilot/selfdrive/controls/tests/test_tesla_preap_following.py \
+          openpilot/selfdrive/controls/tests/test_tesla_preap_longcontrol.py \
+          openpilot/selfdrive/controls/tests/test_longitudinal_planner_preap.py \
+          openpilot/selfdrive/controls/tests/test_radard.py \
+          openpilot/selfdrive/controls/lib/tests/test_desire_helper.py \
+          openpilot/selfdrive/car/tests/test_car_specific_tesla_preap.py \
+          openpilot/selfdrive/car/tests/test_preap_radar_e2e.py \
+          openpilot/sunnypilot/mads/tests/ \
+          openpilot/sunnypilot/selfdrive/car/tests/ \
+          openpilot/sunnypilot/sunnylink/tests/
+
   build_release:
     name: build release
     runs-on: ${{
diff --git a/opendbc_repo b/opendbc_repo
index 18b877670a2b2e..4fb73cb631cfa6 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 18b877670a2b2e78cbc7c43b52ae213cfd3f0ec2
+Subproject commit 4fb73cb631cfa6dc5ae64c1bd2a4cc54537d9896
diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp
index d6653df978856a..fee54dc0dc305d 100644
--- a/openpilot/cereal/log.capnp
+++ b/openpilot/cereal/log.capnp
@@ -89,6 +89,15 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     stockAeb @52;
     stockLkas @98;
     lateralManeuver @99;
+    # NAP events. @98/@99 are comma 0.11.1 (stockLkas, lateralManeuver).
+    pedalCruiseEnabled @100;
+    pedalCruiseDisabled @101;
+    pedalMaxRegen @102;
+    teslaCCEngaged @103;
+    teslaCCDisengaged @104;
+    teslaCCNotArmed @105;
+    pedalNotCalibrated @106;
+    pedalUnavailable @107;
     ldw @53;
     carUnrecognized @54;
     invalidLkasSetting @55;
@@ -1094,6 +1103,8 @@ struct ModelDataV2 {
     hardBrakePredicted @7 :Bool;
     laneChangeState @8 :LaneChangeState;
     laneChangeDirection @9 :LaneChangeDirection;
+    laneChangeSignalsRemaining @10 :UInt8;
+    laneChangeRemaining @11 :UInt8;
 
 
     deprecated :group {
@@ -1213,6 +1224,8 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   shouldStop @37: Bool;
   allowThrottle @38: Bool;
   allowBrake @39: Bool;
+  napFollowDistance @40 :UInt8;
+  tFollow @41 :Float32;
 
 
   solverExecutionTime @35 :Float32;
diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h
index e1375f0a5620e3..6fecd4adab2480 100644
--- a/openpilot/common/params_keys.h
+++ b/openpilot/common/params_keys.h
@@ -225,13 +225,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TeslaPreapHandsOnPause", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TeslaMadsScreenButton", {PERSISTENT | BACKUP, INT, "0"}},
 
     // Pre-AP Tesla (NAP) retained keys. Shared sunnypilot leaves NAPForcePreAP
     // absent/false.
     {"NAPForcePreAP", {PERSISTENT | BACKUP, BOOL}},
-    {"NAPLateralEngagementMode", {PERSISTENT | BACKUP, INT}},
-    {"NAPLateralEngagementModeMigrated", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"NAPFollowDistance", {PERSISTENT | BACKUP, INT, "4"}},
     {"NAPPedalEnabled", {PERSISTENT | BACKUP, BOOL}},
     {"NAPPedalCanBus", {PERSISTENT | BACKUP, INT, "2"}},
diff --git a/openpilot/selfdrive/car/car_specific.py b/openpilot/selfdrive/car/car_specific.py
index a7fdbd0b4437a0..cd846a0ac9044e 100644
--- a/openpilot/selfdrive/car/car_specific.py
+++ b/openpilot/selfdrive/car/car_specific.py
@@ -94,6 +94,25 @@ def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
       # if CC.eps_timer_soft_disable_alert:
       #   events.add(EventName.steerTimeLimit)
 
+    elif self.CP.brand == 'tesla':
+      if self.CP.carFingerprint == "TESLA_MODEL_S_PREAP":
+        if self.CP.pcmCruise:
+          if getattr(CS, 'teslaCCEngaged', False):
+            events.add(EventName.teslaCCEngaged)
+          if getattr(CS, 'teslaCCDisengaged', False):
+            events.add(EventName.teslaCCDisengaged)
+          if getattr(CS, 'teslaCCNotArmed', False):
+            events.add(EventName.teslaCCNotArmed)
+        else:
+          # Pedal mode: refuse to engage until the Comma Pedal is calibrated.
+          # Without calibration, INTERCEPTOR_GAS values sit near the press
+          # threshold and produce gasPressedOverride chatter that blocks engage.
+          from opendbc.car.tesla.preap.nap_conf import nap_conf
+          if not nap_conf.pedal_calibrated:
+            events.add(EventName.pedalNotCalibrated)
+          if self.CP.openpilotLongitudinalControl and getattr(CS, 'pedalAuthorityFailed', False):
+            events.add(EventName.pedalUnavailable)
+
     return events
 
   def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState):
@@ -101,7 +120,11 @@ def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState):
 
     CI = interfaces[self.CP.carFingerprint]
     # TODO: cleanup the honda-specific logic
-    pcm_enable = self.CP.pcmCruise and self.CP.brand != 'honda'
+    # Pre-AP Tesla manages cruiseState.enabled via its own software FSM,
+    # so treat it the same as pcmCruise for the enable/disable event path.
+    preap_software_cruise = (self.CP.brand == "tesla" and self.CP.carFingerprint == "TESLA_MODEL_S_PREAP"
+                             and self.CP.openpilotLongitudinalControl and not self.CP.pcmCruise)
+    pcm_enable = (self.CP.pcmCruise and self.CP.brand != 'honda') or preap_software_cruise
     # TODO: on some hyundai cars, the cancel button is also the pause/resume button,
     # so only use it for cancel when running openpilot longitudinal
     allow_button_cancel = self.CP.brand != 'hyundai'
diff --git a/openpilot/selfdrive/car/card.py b/openpilot/selfdrive/car/card.py
index 21ccf65e3cc51f..f04547ecf14a79 100755
--- a/openpilot/selfdrive/car/card.py
+++ b/openpilot/selfdrive/car/card.py
@@ -25,7 +25,6 @@
 
 from openpilot.sunnypilot.mads.helpers import set_alternative_experience, set_car_specific_params
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
-from openpilot.sunnypilot.selfdrive.car import preap_boot
 
 REPLAY = "REPLAY" in os.environ
 
@@ -108,12 +107,10 @@ def __init__(self, CI=None, RI=None) -> None:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
           cached_params = _cached_params
 
-      selection, fixed_fingerprint = preap_boot.resolve_card_boot(self.params)
       init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)
-      init_params_list_sp.extend(preap_boot.snapshot_param_list(self.params))
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, cached_params,
-                        fixed_fingerprint, init_params_list_sp, is_release_sp, selection.skip_fw_query)
+                        None, init_params_list_sp, is_release_sp)
       sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP
@@ -182,8 +179,6 @@ def __init__(self, CI=None, RI=None) -> None:
     self.params.put("CarParamsSPPersistent", cp_sp_bytes)
 
     self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
-    self.preap_intent_epoch = preap_boot.new_preap_intent_epoch() if self.CP.carFingerprint == "TESLA_MODEL_S_PREAP" else 0
-    self.preap_intent_seed_pending = self.preap_intent_epoch != 0
 
     self.is_metric = self.params.get_bool("IsMetric")
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
@@ -195,54 +190,20 @@ def __init__(self, CI=None, RI=None) -> None:
     self.radar_donor_vin = None
     tesla_preap = any(cfg.safetyModel == car.CarParams.SafetyModel.teslaPreap for cfg in self.CP.safetyConfigs)
     if tesla_preap:
-      from opendbc.car.tesla.preap.radar_donor_vin import (
-        RadarDonorVinCommissioner, radar_donor_live, seed_radar_donor_live,
-      )
+      from opendbc.car.tesla.preap.nap_conf import nap_conf
+      from opendbc.car.tesla.preap.radar_donor_vin import RadarDonorVinCommissioner
 
       def store_donor_vin(vin: str) -> None:
-        self.params.put("NAPRadarDonorVin", vin)
-        seed_radar_donor_live(vin, radar_donor_live.position, radar_donor_live.epas_type)
+        nap_conf.radar_donor_vin = vin
         self.params.put("NAPRadarVinReadStatus", f"saved {vin}")
         cloudlog.info("preap radar donor vin stored")
 
+      self._nap_conf = nap_conf
       self.radar_donor_vin = RadarDonorVinCommissioner(store_donor_vin)
-      self._sync_radar_donor_live()
 
     # log fingerprint in sentry
     sunnypilot_interfaces.log_fingerprint(self.CP)
 
-  def _parse_radar_int(self, key: str, default: int, lo: int, hi: int) -> int:
-    raw = self.params.get(key)
-    try:
-      value = int(raw)
-    except (TypeError, ValueError):
-      return default
-    return value if lo <= value <= hi else default
-
-  def _sync_radar_donor_live(self) -> None:
-    from opendbc.car.tesla.preap.radar_donor_vin import seed_radar_donor_live
-    seed_radar_donor_live(
-      self.params.get("NAPRadarDonorVin"),
-      self._parse_radar_int("NAPRadarPosition", 0, 0, 3),
-      self._parse_radar_int("NAPRadarEpasType", 0, 0, 7),
-    )
-
-  def stamp_preap_intent_epoch(self, CS_SP: structs.CarStateSP) -> None:
-    if not self.preap_intent_epoch:
-      return
-    if self.preap_intent_seed_pending:
-      CS_SP.preapLateralIntent = structs.CarStateSP.PreapLateralIntent.none
-      CS_SP.preapLongitudinalIntent = structs.CarStateSP.PreapLongitudinalIntent.none
-      CS_SP.preapIntentSequence = 0
-      # Neutralize the first epoch record's StockCC projection only. Live
-      # producer state is retained so sequence 1 can expose the initial-batch edge.
-      CS_SP.preapStockCcState = structs.CarStateSP.PreapStockCcTransactionState.idle
-      CS_SP.preapStockCcEnablePending = False
-      CS_SP.preapStockCcHostDiConfirmed = False
-      CS_SP.preapStockCcBoundCounter = 0
-      self.preap_intent_seed_pending = False
-    CS_SP.preapIntentEpoch = self.preap_intent_epoch
-
   def state_update(self) -> tuple[car.CarState, custom.CarStateSP, structs.RadarDataT | None]:
     """carState update loop, driven by can"""
 
@@ -257,25 +218,7 @@ def state_update(self) -> tuple[car.CarState, custom.CarStateSP, structs.RadarDa
     RD: structs.RadarDataT | None = self.RI.update(can_list)
 
     self.sm.update(0)
-    if self.CP.carFingerprint == "TESLA_MODEL_S_PREAP" and hasattr(self.CI, "CS"):
-      # pandaStates is 10 Hz. A healthy cached payload remains usable between
-      # 100 Hz Card cycles; dead or invalid service data is missing.
-      panda = None
-      if self.sm.all_alive(['pandaStates']) and self.sm.all_valid(['pandaStates']):
-        pandas = self.sm["pandaStates"]
-        panda = pandas[0] if len(pandas) else None
-      if hasattr(self.CI.CS, "update_stock_cc_panda"):
-        self.CI.CS.update_stock_cc_panda(panda)
-      if self.preap_intent_epoch:
-        CS_SP.preapIntentEpoch = self.preap_intent_epoch
-      if hasattr(self.CI.CS, "stock_cc"):
-        self.CI.CS.stock_cc.bind_epoch(CS_SP.preapIntentEpoch, CS_SP.preapIntentSequence)
-        self.CI.CS.stock_cc.publish(CS_SP)
-    # First epoch record is built after every producer, then the seed projection
-    # is neutralized without erasing live internal producer state.
-    self.stamp_preap_intent_epoch(CS_SP)
-    if self.CP.carFingerprint == "TESLA_MODEL_S_PREAP" and hasattr(self.CI, "CS") and hasattr(self.CI.CS, "stock_cc"):
-      self.CI.CS.stock_cc.acknowledge_publication(CS_SP)
+
     CS_SP = convert_to_capnp(CS_SP)
 
     can_rcv_valid = len(can_strs) > 0
@@ -287,12 +230,14 @@ def state_update(self) -> tuple[car.CarState, custom.CarStateSP, structs.RadarDa
     if can_rcv_valid and REPLAY:
       self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
-    preap_software_cruise = (
-      self.CP.carFingerprint == "TESLA_MODEL_S_PREAP"
-      and self.CP.openpilotLongitudinalControl
-      and not self.CP.pcmCruise
-    )
     try:
+      preap_software_cruise = (
+        self.CP.brand == "tesla"
+        and self.CP.carFingerprint == "TESLA_MODEL_S_PREAP"
+        and self.CP.openpilotLongitudinalControl
+        and not self.CP.pcmCruise
+      )
+
       if not preap_software_cruise:
         self.v_cruise_helper.update_speed_limit_assist(self.is_metric, self.sm['longitudinalPlanSP'])
         self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
@@ -300,12 +245,14 @@ def state_update(self) -> tuple[car.CarState, custom.CarStateSP, structs.RadarDa
           # Use CarState w/ buttons from the step selfdrived enables on
           self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode, self.dynamic_experimental_control)
       else:
-        # Pedal-long owns set-speed in carstate via pedal_speed_kph. No buttonEvents.
+        # Pre-AP pedal mode owns set-speed in carstate via pedal_speed_kph.
+        # Keep planner target aligned to that software-managed target.
         preap_v_cruise_kph = float(CS.cruiseState.speed * CV.MS_TO_KPH)
         self.v_cruise_helper.v_cruise_kph_last = self.v_cruise_helper.v_cruise_kph
         self.v_cruise_helper.v_cruise_kph = preap_v_cruise_kph
         self.v_cruise_helper.v_cruise_cluster_kph = preap_v_cruise_kph
     except Exception:
+      # Fail-safe: never crash card due cruise-target selection logic.
       cloudlog.exception("Pre-AP software cruise target update failed, falling back to VCruiseHelper default")
       self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
       if self.sm['carControl'].enabled and not self.CC_prev.enabled:
@@ -375,22 +322,19 @@ def controls_update(self, CS: car.CarState, CC: car.CarControl, CC_SP: custom.Ca
       self.last_actuators_output, can_sends = self.CI.apply(CC, convert_carControlSP(CC_SP), now_nanos)
       can_sends = list(can_sends)
       if self.radar_donor_vin is not None:
-        from opendbc.car.tesla.preap.boot import preap_radar_present
-        self._sync_radar_donor_live()
         controls_allowed = False
         if self.sm.valid['pandaStates']:
           controls_allowed = any(ps.controlsAllowed for ps in self.sm['pandaStates'])
         force_read = self.params.get_bool("NAPRadarReadVin")
-        radar_enabled = preap_radar_present(self.CP, self.CP_SP)
-        if force_read and not radar_enabled:
+        if force_read and not self._nap_conf.radar_enabled:
           self.params.put("NAPRadarVinReadStatus", "enable radar first")
           self.params.put_bool("NAPRadarReadVin", False)
         else:
           can_sends.extend(self.radar_donor_vin.update(
             self._can_packets,
             time.monotonic(),
-            radar_enabled=radar_enabled,
-            stored_vin=self.params.get("NAPRadarDonorVin") or "",
+            radar_enabled=self._nap_conf.radar_enabled,
+            stored_vin=self._nap_conf.radar_donor_vin,
             controls_allowed=controls_allowed,
             enabled=bool(CC.enabled),
             force_read=force_read,
diff --git a/openpilot/selfdrive/car/tests/test_car_specific_tesla_preap.py b/openpilot/selfdrive/car/tests/test_car_specific_tesla_preap.py
new file mode 100644
index 00000000000000..fed123648487a3
--- /dev/null
+++ b/openpilot/selfdrive/car/tests/test_car_specific_tesla_preap.py
@@ -0,0 +1,164 @@
+"""Tesla Pre-AP pedal calibration and authority-failure events.
+
+CarSpecificEvents must raise pedalNotCalibrated only when:
+  carFingerprint == TESLA_MODEL_S_PREAP  (pre-AP car)
+  and not pcmCruise                      (pedal mode — we're the longitudinal actuator)
+  and nap_conf.pedal_calibrated is False (calibration not trusted)
+
+All three conditions together.
+
+The authority-failure regression also crosses the real controller, engagement,
+CarState publication, event-selection, and alert-definition seams.
+"""
+from unittest.mock import PropertyMock, patch
+
+from openpilot.cereal import log
+from opendbc.car import structs
+from opendbc.car.structs import car
+from opendbc.can import CANPacker
+from opendbc.car import CanData
+from opendbc.car.car_helpers import interfaces
+
+from openpilot.selfdrive.car.car_specific import CarSpecificEvents
+from openpilot.selfdrive.selfdrived.events import ET, EVENTS
+
+
+EventName = log.OnroadEvent.EventName
+NAP_CONF_PATH = "opendbc.car.tesla.preap.nap_conf.NAPConf.pedal_calibrated"
+NAP_USE_PEDAL_PATH = "opendbc.car.tesla.preap.nap_conf.NAPConf.use_pedal"
+NAP_PEDAL_FACTOR_PATH = "opendbc.car.tesla.preap.nap_conf.NAPConf.pedal_factor"
+GAS_COMMAND_ID = 0x551
+
+
+def _make_cp(*, fingerprint="TESLA_MODEL_S_PREAP", brand="tesla", pcm_cruise=False,
+             op_long=True):
+  cp = car.CarParams.new_message()
+  cp.carFingerprint = fingerprint
+  cp.brand = brand
+  cp.pcmCruise = pcm_cruise
+  cp.openpilotLongitudinalControl = op_long
+  return cp
+
+
+def _make_cs():
+  cs = car.CarState.new_message()
+  cs.cruiseState.available = True
+  cs.gearShifter = "drive"
+  return cs
+
+
+def _run(cp, calibrated, cs=None):
+  with patch(NAP_CONF_PATH, new_callable=PropertyMock, return_value=calibrated):
+    ce = CarSpecificEvents(cp)
+    events = ce.update(cs or _make_cs(), _make_cs(), car.CarControl.new_message())
+  return events.names
+
+
+def _preap_can_packet(message, values):
+  address, dat, bus = CANPacker("tesla_preap").make_can_msg(message, 0, values)
+  return [(1, [CanData(address, dat, bus)])]
+
+
+def test_fires_in_preap_pedal_mode_when_uncalibrated():
+  cp = _make_cp(pcm_cruise=False, op_long=True)
+  assert EventName.pedalNotCalibrated in _run(cp, calibrated=False)
+
+
+def test_silent_in_preap_pedal_mode_when_calibrated():
+  cp = _make_cp(pcm_cruise=False, op_long=True)
+  assert EventName.pedalNotCalibrated not in _run(cp, calibrated=True)
+
+
+def test_silent_in_preap_nopedal_mode_even_when_uncalibrated():
+  # no-pedal mode doesn't use the Comma Pedal; calibration is irrelevant
+  cp = _make_cp(pcm_cruise=True, op_long=False)
+  assert EventName.pedalNotCalibrated not in _run(cp, calibrated=False)
+
+
+def test_silent_on_non_preap_tesla():
+  cp = _make_cp(fingerprint="TESLA_MODEL_3", pcm_cruise=False, op_long=True)
+  assert EventName.pedalNotCalibrated not in _run(cp, calibrated=False)
+
+
+def test_silent_on_non_tesla_brand():
+  cp = _make_cp(fingerprint="HONDA_CIVIC_2022", brand="honda", pcm_cruise=True, op_long=False)
+  assert EventName.pedalNotCalibrated not in _run(cp, calibrated=False)
+
+
+def test_pedal_authority_failure_warns_only_in_preap_pedal_mode():
+  cs = _make_cs()
+  cs.pedalAuthorityFailed = True
+
+  pedal_mode = _make_cp(pcm_cruise=False, op_long=True)
+  assert EventName.pedalUnavailable in _run(pedal_mode, calibrated=True, cs=cs)
+
+  no_pedal_mode = _make_cp(pcm_cruise=True, op_long=False)
+  assert EventName.pedalUnavailable not in _run(no_pedal_mode, calibrated=True, cs=cs)
+
+  longitudinal_disabled = _make_cp(pcm_cruise=False, op_long=False)
+  assert EventName.pedalUnavailable not in _run(longitudinal_disabled, calibrated=True, cs=cs)
+
+  non_preap = _make_cp(fingerprint="TESLA_MODEL_3", pcm_cruise=False, op_long=True)
+  assert EventName.pedalUnavailable not in _run(non_preap, calibrated=True, cs=cs)
+
+
+def test_pedal_acquisition_failure_keeps_lateral_and_surfaces_alert():
+  with (
+    patch(NAP_USE_PEDAL_PATH, new_callable=PropertyMock, return_value=True),
+    patch(NAP_PEDAL_FACTOR_PATH, new_callable=PropertyMock, return_value=1.0),
+    patch(NAP_CONF_PATH, new_callable=PropertyMock, return_value=True),
+  ):
+    CarInterface = interfaces["TESLA_MODEL_S_PREAP"]
+    cp = CarInterface.get_params(
+      "TESLA_MODEL_S_PREAP", {bus: {} for bus in range(8)}, [],
+      alpha_long=False, is_release=False, docs=False,
+    )
+    cp_sp = CarInterface.get_params_sp(
+      cp, "TESLA_MODEL_S_PREAP", {bus: {} for bus in range(8)}, [],
+      alpha_long=False, is_release_sp=False, docs=False,
+    )
+    interface = CarInterface(cp, cp_sp)
+    drive_packet = _preap_can_packet("DI_torque2", {"DI_gear": 4})
+    interface.update(drive_packet)
+
+    internal_state = interface.CS
+    internal_state.engagement.cruiseEnabled = True
+    internal_state.engagement.enableLongControl = True
+    internal_state.cruiseEnabled = True
+    internal_state.enableLongControl = True
+    internal_state.enableJustCC = False
+    internal_state.pedal.available = False
+    internal_state.pedal.interceptor_state = 5
+    internal_state.pedal.idx = 0
+
+    control = car.CarControl.new_message()
+    control.enabled = True
+    control.latActive = True
+    control.longActive = True
+    control.actuators.accel = 0.5
+    control = control.as_reader()
+
+    pedal_commands = []
+    for update_index in range(9):
+      if interface.CC.frame % 2 == 0:
+        internal_state.pedal.idx = (internal_state.pedal.idx + 1) % 16
+      _, can_sends = interface.apply(control, structs.CarControlSP(), now_nanos=update_index * 10_000_000)
+      pedal_commands.extend(command for command in can_sends if command[0] == GAS_COMMAND_ID)
+
+    assert len(pedal_commands) == 4
+    assert all(not command[1][4] & 0x80 for command in pedal_commands)
+    assert internal_state.engagement.cruiseEnabled
+    assert not internal_state.engagement.enableLongControl
+    assert internal_state.engagement.enableJustCC
+    assert internal_state.engagement.pedal_unavailable
+
+    public_state, _ = interface.update(drive_packet)
+    assert public_state.cruiseState.enabled
+    assert not public_state.pedalLongActive
+    assert public_state.pedalAuthorityFailed
+
+    events = CarSpecificEvents(cp).update(public_state, _make_cs(), control)
+    assert EventName.pedalUnavailable in events.names
+
+    event_types = EVENTS[EventName.pedalUnavailable]
+    assert set(event_types) == {ET.WARNING}
diff --git a/openpilot/selfdrive/car/tests/test_preap_radar_e2e.py b/openpilot/selfdrive/car/tests/test_preap_radar_e2e.py
index 30fc1436178b47..38ca7296dbde7d 100644
--- a/openpilot/selfdrive/car/tests/test_preap_radar_e2e.py
+++ b/openpilot/selfdrive/car/tests/test_preap_radar_e2e.py
@@ -6,7 +6,7 @@
 from opendbc.car import gen_empty_fingerprint
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.tesla.interface import CarInterface
-from opendbc.car.tesla.preap.radar_interface import RadarInterface as PreAPRadarInterface
+from opendbc.car.tesla.preap.sp.radar_interface import RadarInterface as PreAPRadarInterface
 from opendbc.car.tesla.values import CAR
 from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.selfdrive.controls.radard import RADAR_MEASUREMENT_TIMEOUT, RADAR_TO_CAMERA, RadarD
@@ -169,7 +169,7 @@ def step(self, time_s, vision_d_rel, points, vision_v_rel=0.0):
         slot.dRel = float(point.dRel)
         slot.yRel = float(point.yRel)
         slot.vRel = float(point.vRel)
-        slot.deprecated.measured = bool(point.deprecated.measured)
+        slot.measured = bool(point.measured)
       messages.append(live)
     self.sm.update_msgs(time_s, [message.as_reader() for message in messages])
     self.radar.update(self.sm, self.sm["liveTracks"])
@@ -276,7 +276,7 @@ def test_route_fixture_is_retirement_only_and_is_not_claimed(self):
           dst.dRel = src["dRel"]
           dst.yRel = src["yRel"]
           dst.vRel = src["vRel"]
-          dst.deprecated.measured = True
+          dst.measured = True
         messages.append(message)
       if not messages:
         continue
diff --git a/openpilot/selfdrive/controls/lib/desire_helper.py b/openpilot/selfdrive/controls/lib/desire_helper.py
index b0cb52c2b50784..7a802daa10b5fd 100644
--- a/openpilot/selfdrive/controls/lib/desire_helper.py
+++ b/openpilot/selfdrive/controls/lib/desire_helper.py
@@ -1,3 +1,5 @@
+import math
+
 from openpilot.cereal import log, custom
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
@@ -12,60 +14,204 @@
 LANE_CHANGE_TIME_MAX = 10.
 LANE_CHANGE_START_TIME = 0.5
 
+# Time the lane change stays armed waiting for steering input.
+LANE_CHANGE_ARM_TIME = 7.0
+
+# Cap on how many same-direction lane changes can be queued from repeated taps.
+MAX_QUEUED_LANE_CHANGES = 3
+
 TURN_DESIRES = {
   TurnDirection.none: log.Desire.none,
   TurnDirection.turnLeft: log.Desire.turnLeft,
   TurnDirection.turnRight: log.Desire.turnRight,
 }
 
+DESIRES = {
+  LaneChangeDirection.none: {
+    LaneChangeState.off: log.Desire.none,
+    LaneChangeState.preLaneChange: log.Desire.none,
+    LaneChangeState.laneChangeStarting: log.Desire.none,
+    LaneChangeState.laneChangeFinishing: log.Desire.none,
+  },
+  LaneChangeDirection.left: {
+    LaneChangeState.off: log.Desire.none,
+    LaneChangeState.preLaneChange: log.Desire.none,
+    LaneChangeState.laneChangeStarting: log.Desire.laneChangeLeft,
+    LaneChangeState.laneChangeFinishing: log.Desire.laneChangeLeft,
+  },
+  LaneChangeDirection.right: {
+    LaneChangeState.off: log.Desire.none,
+    LaneChangeState.preLaneChange: log.Desire.none,
+    LaneChangeState.laneChangeStarting: log.Desire.laneChangeRight,
+    LaneChangeState.laneChangeFinishing: log.Desire.laneChangeRight,
+  },
+}
+
+
 class DesireHelper:
-  def __init__(self):
+  def __init__(self, CP=None):
     self.lane_change_state = LaneChangeState.off
     self.lane_change_direction = LaneChangeDirection.none
     self.lane_change_timer = 0.0
+    self.lane_change_ll_prob = 1.0
+    self.keep_pulse_timer = 0.0
     self.prev_one_blinker = False
     self.desire = log.Desire.none
+
+    self.arm_timer = 0.0
+    self.signals_remaining = math.ceil(LANE_CHANGE_ARM_TIME)
+
+    # Lever history is independent of lane-change state. Resetting it would
+    # turn a held lever into a second tap.
     self.prev_turn_lever = 0
+
+    # Includes the lane change currently armed or in progress.
+    self.queued_changes = 0
+    self.lane_changes_remaining = 0
+
     self.alc = AutoLaneChangeController(self)
     self.lane_turn_controller = LaneTurnController(self)
     self.lane_turn_direction = TurnDirection.none
+    # nap-dev lane change for the Pre-AP car, sunnypilot auto lane change for
+    # everything else.
+    self._preap = CP is not None and CP.carFingerprint == "TESLA_MODEL_S_PREAP"
 
   @staticmethod
   def get_lane_change_direction(CS):
     return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
 
-  def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected=False, right_edge_detected=False):
-    self.alc.update_params()
-    self.lane_turn_controller.update_params()
+  def _reset(self):
+    self.lane_change_state = LaneChangeState.off
+    self.lane_change_direction = LaneChangeDirection.none
+    self.arm_timer = 0.0
+    self.queued_changes = 0
+    self.lane_changes_remaining = 0
+
+  def _update_preap(self, carstate, lateral_active, lane_change_prob):
     v_ego = carstate.vEgo
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
     below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
 
-    lever = getattr(carstate, "turnSignalStalkState", 0)
+    # The indicator lamp stays on while openpilot drives it, so driver taps
+    # must be detected from the physical lever. The lever is a level signal and
+    # remains asserted long enough to survive conflated carState reads.
+    lever = carstate.turnSignalStalkState
     left_tap = lever == 1 and self.prev_turn_lever != 1
     right_tap = lever == 2 and self.prev_turn_lever != 2
     self.prev_turn_lever = lever
 
-    opposite_tap = (
-      (self.lane_change_direction == LaneChangeDirection.left and right_tap) or
-      (self.lane_change_direction == LaneChangeDirection.right and left_tap)
-    )
+    if self.lane_change_direction == LaneChangeDirection.left:
+      same_direction_tap, opposite_direction_tap = left_tap, right_tap
+    elif self.lane_change_direction == LaneChangeDirection.right:
+      same_direction_tap, opposite_direction_tap = right_tap, left_tap
+    else:
+      same_direction_tap, opposite_direction_tap = False, False
 
-    # Lane turn controller update
-    self.lane_turn_controller.update_lane_turn(blindspot_left=carstate.leftBlindspot, blindspot_right=carstate.rightBlindspot,
-                                               left_blinker=carstate.leftBlinker, right_blinker=carstate.rightBlinker, v_ego=v_ego)
-    self.lane_turn_direction = self.lane_turn_controller.get_turn_direction()
+    if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
+      self._reset()
+    else:
+      just_cancelled = False
+      if self.lane_change_state != LaneChangeState.off:
+        if opposite_direction_tap:
+          self._reset()
+          just_cancelled = True
+        elif same_direction_tap:
+          self.queued_changes = min(self.queued_changes + 1, MAX_QUEUED_LANE_CHANGES)
+
+      # LaneChangeState.off
+      if not just_cancelled and self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
+        self.lane_change_state = LaneChangeState.preLaneChange
+        self.lane_change_ll_prob = 1.0
+        # Initialize lane change direction to prevent UI alert flicker
+        self.lane_change_direction = self.get_lane_change_direction(carstate)
+        # Start a fresh arming window. The first tap queues one change.
+        self.arm_timer = 0.0
+        self.queued_changes = 1
+
+      # LaneChangeState.preLaneChange
+      elif self.lane_change_state == LaneChangeState.preLaneChange:
+        torque_applied = carstate.steeringPressed and \
+                         ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
+                          (carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
+
+        blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
+                              (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
+
+        self.arm_timer += DT_MDL
+
+        if below_lane_change_speed:
+          self._reset()
+        elif torque_applied and not blindspot_detected:
+          self.lane_change_state = LaneChangeState.laneChangeStarting
+        elif self.arm_timer > LANE_CHANGE_ARM_TIME:
+          # Window expired with no wheel nudge — cancel everything.
+          self._reset()
+
+      # LaneChangeState.laneChangeStarting
+      elif self.lane_change_state == LaneChangeState.laneChangeStarting:
+        # fade out over .5s
+        self.lane_change_ll_prob = max(self.lane_change_ll_prob - 2 * DT_MDL, 0.0)
+
+        # 98% certainty
+        if lane_change_prob < 0.02 and self.lane_change_ll_prob < 0.01:
+          self.lane_change_state = LaneChangeState.laneChangeFinishing
+
+      # LaneChangeState.laneChangeFinishing
+      elif self.lane_change_state == LaneChangeState.laneChangeFinishing:
+        # fade in laneline over 1s
+        self.lane_change_ll_prob = min(self.lane_change_ll_prob + DT_MDL, 1.0)
+
+        if self.lane_change_ll_prob > 0.99:
+          # One change just completed.
+          self.queued_changes = max(self.queued_changes - 1, 0)
+          if self.queued_changes > 0:
+            # More queued: keep the same direction and signal on, re-arm a fresh
+            # window and wait for the next wheel nudge.
+            self.lane_change_state = LaneChangeState.preLaneChange
+            self.lane_change_ll_prob = 1.0
+            self.arm_timer = 0.0
+          else:
+            # Nothing left — full reset so the toast clears and no ALC re-arms.
+            self._reset()
+
+    # Retain the existing metadata even though the stock alert text no longer
+    # displays the countdown or queue depth.
+    if self.lane_change_state == LaneChangeState.preLaneChange:
+      self.signals_remaining = max(math.ceil(LANE_CHANGE_ARM_TIME - self.arm_timer), 0)
+    else:
+      self.signals_remaining = math.ceil(LANE_CHANGE_ARM_TIME)
+    self.lane_changes_remaining = max(self.queued_changes - 1, 0)
+
+    if self.lane_change_state in (LaneChangeState.off, LaneChangeState.preLaneChange):
+      self.lane_change_timer = 0.0
+    else:
+      self.lane_change_timer += DT_MDL
+
+    self.prev_one_blinker = one_blinker
+
+    self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
+
+    # Send keep pulse once per second during LaneChangeState.preLaneChange
+    if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):
+      self.keep_pulse_timer = 0.0
+    elif self.lane_change_state == LaneChangeState.preLaneChange:
+      self.keep_pulse_timer += DT_MDL
+      if self.keep_pulse_timer > 1.0:
+        self.keep_pulse_timer = 0.0
+      elif self.desire in (log.Desire.keepLeft, log.Desire.keepRight):
+        self.desire = log.Desire.none
+
+  def _update_sp(self, carstate, lateral_active, lane_change_prob, left_edge_detected, right_edge_detected):
+    v_ego = carstate.vEgo
+    one_blinker = carstate.leftBlinker != carstate.rightBlinker
+    below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
 
     if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.alc.lane_change_set_timer == AutoLaneChangeMode.OFF:
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
       self.lane_change_timer = 0.0
     else:
-      if self.lane_change_state != LaneChangeState.off and opposite_tap:
-        self.lane_change_state = LaneChangeState.off
-        self.lane_change_direction = LaneChangeDirection.none
-        self.lane_change_timer = 0.0
-      elif self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
+      if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
         self.lane_change_state = LaneChangeState.preLaneChange
         self.lane_change_timer = 0.0
         # Initialize lane change direction to prevent UI alert flicker
@@ -106,14 +252,31 @@ def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected=
 
     self.prev_one_blinker = one_blinker and lateral_active
 
-    if self.lane_turn_direction != TurnDirection.none:
-      self.desire = TURN_DESIRES[self.lane_turn_direction]
+    if self.lane_change_state == LaneChangeState.laneChangeStarting:
+      if self.lane_change_direction == LaneChangeDirection.left:
+        self.desire = log.Desire.laneChangeLeft
+      elif self.lane_change_direction == LaneChangeDirection.right:
+        self.desire = log.Desire.laneChangeRight
+      else:
+        self.desire = log.Desire.none
     else:
       self.desire = log.Desire.none
-      if self.lane_change_state == LaneChangeState.laneChangeStarting:
-        if self.lane_change_direction == LaneChangeDirection.left:
-          self.desire = log.Desire.laneChangeLeft
-        elif self.lane_change_direction == LaneChangeDirection.right:
-          self.desire = log.Desire.laneChangeRight
+
+  def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected=False, right_edge_detected=False):
+    self.alc.update_params()
+    self.lane_turn_controller.update_params()
+
+    # Lane turn controller update
+    self.lane_turn_controller.update_lane_turn(blindspot_left=carstate.leftBlindspot, blindspot_right=carstate.rightBlindspot,
+                                               left_blinker=carstate.leftBlinker, right_blinker=carstate.rightBlinker, v_ego=carstate.vEgo)
+    self.lane_turn_direction = self.lane_turn_controller.get_turn_direction()
+
+    if self._preap:
+      self._update_preap(carstate, lateral_active, lane_change_prob)
+    else:
+      self._update_sp(carstate, lateral_active, lane_change_prob, left_edge_detected, right_edge_detected)
+
+    if self.lane_turn_direction != TurnDirection.none:
+      self.desire = TURN_DESIRES[self.lane_turn_direction]
 
     self.alc.update_state()
diff --git a/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index de1ba0c278c42d..f929038777d9fa 100755
--- a/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -58,6 +58,7 @@
 CRUISE_MIN_ACCEL = -1.2
 CRUISE_MAX_ACCEL = 1.6
 MIN_X_LEAD_FACTOR = 0.5
+NAP_T_FOLLOW = (0.7, 0.9, 1.1, 1.3, 1.5, 1.7, 1.9)
 
 def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
   if personality==log.LongitudinalPersonality.relaxed:
@@ -70,7 +71,10 @@ def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
     raise NotImplementedError("Longitudinal personality not supported")
 
 
-def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard):
+def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard, nap_follow_dist=None):
+  if nap_follow_dist in range(1, len(NAP_T_FOLLOW) + 1):
+    return NAP_T_FOLLOW[nap_follow_dist - 1]
+
   if personality==log.LongitudinalPersonality.relaxed:
     return 1.75
   elif personality==log.LongitudinalPersonality.standard:
@@ -309,9 +313,9 @@ def process_lead(self, lead):
     lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
     return lead_xv
 
-  def update(self, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard):
-    t_follow = get_T_FOLLOW(personality)
+  def update(self, radarstate, v_cruise, t_follow):
     v_ego = self.x0[1]
+    self.status = radarstate.leadOne.present or radarstate.leadTwo.present
 
     lead_xv_0 = self.process_lead(radarstate.leadOne)
     lead_xv_1 = self.process_lead(radarstate.leadTwo)
diff --git a/openpilot/selfdrive/controls/lib/longitudinal_planner.py b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
index fc41ead7247b7e..e84a9a3c35fe50 100755
--- a/openpilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import math
-from typing import Any, cast
 import numpy as np
 
 import openpilot.cereal.messaging as messaging
@@ -10,22 +9,51 @@
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
-from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, LongitudinalPlanSource
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import (
+  LongitudinalMpc,
+  LongitudinalPlanSource,
+  get_safe_obstacle_distance,
+  get_stopped_equivalence_factor,
+  get_T_FOLLOW,
+)
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
+from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 
 from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP
-from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import get_T_FOLLOW
-from opendbc.car.tesla.preap.boot import pedal_pipeline_enabled
-from opendbc.car.tesla.preap.constants import PREAP_FOLLOW_DISTANCE_RANGE, PREAP_T_FOLLOW
 
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
+
+# Pre-AP follow-mode accel cap: imported lazily to avoid circular deps
+_preap_follow_cache = None
+def _get_preap_follow_limit(v_ego):
+  global _preap_follow_cache
+  if _preap_follow_cache is None:
+    try:
+      from opendbc.car.tesla.preap.constants import ACCEL_PREAP_BP, ACCEL_PREAP_FOLLOW
+      _preap_follow_cache = (ACCEL_PREAP_BP, ACCEL_PREAP_FOLLOW)
+    except ImportError:
+      _preap_follow_cache = (None, None)
+  bp, v = _preap_follow_cache
+  if bp is None:
+    return None
+  return float(np.interp(v_ego, bp, v))
+
+
+def get_preap_follow_cap_strength(v_ego, lead_distance, lead_speed, t_follow):
+  lead_obstacle_distance = lead_distance + get_stopped_equivalence_factor(max(lead_speed, 0.0))
+  safe_obstacle_distance = get_safe_obstacle_distance(v_ego, t_follow)
+  equivalent_ratio = lead_obstacle_distance / max(safe_obstacle_distance, 1.0)
+  return float(np.clip(1.0 - (equivalent_ratio - 1.2) / 0.3, 0.0, 1.0))
+
+
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 ALLOW_THROTTLE_THRESHOLD = 0.4
 MIN_ALLOW_THROTTLE_SPEED = 2.5
+NAP_FOLLOW_DISTANCE_RANGE = range(1, 8)
 
 # Lookup table for turns
 _A_TOTAL_MAX_V = [1.7, 3.2]
@@ -51,27 +79,6 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   return [a_target[0], min(a_target[1], a_x_allowed)]
 
 
-
-def _preap_t_follow(personality, follow_dist):
-  if follow_dist in PREAP_FOLLOW_DISTANCE_RANGE:
-    return PREAP_T_FOLLOW[follow_dist - 1]
-  return get_T_FOLLOW(personality)
-
-
-def _mpc_update_with_t_follow(mpc, radarstate, v_cruise, personality, t_follow=None):
-  if t_follow is None:
-    mpc.update(radarstate, v_cruise, personality=personality)
-    return
-  import openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc as long_mpc_module
-  long_mpc_mod = cast(Any, long_mpc_module)
-  original = long_mpc_mod.get_T_FOLLOW
-  long_mpc_mod.get_T_FOLLOW = lambda personality=None: t_follow
-  try:
-    mpc.update(radarstate, v_cruise, personality=personality)
-  finally:
-    long_mpc_mod.get_T_FOLLOW = original
-
-
 class LongitudinalPlanner(LongitudinalPlannerSP):
   def __init__(self, CP, CP_SP, init_v=0.0, init_a=0.0, dt=DT_MDL, params=None):
     self.CP = CP
@@ -81,22 +88,15 @@ def __init__(self, CP, CP_SP, init_v=0.0, init_a=0.0, dt=DT_MDL, params=None):
     self.fcw = False
     self.dt = dt
     self.allow_throttle = True
-    self._pedal_preap = pedal_pipeline_enabled(CP, CP_SP)
-    self._params = None
-    self.nap_follow_dist = None
-    self.active_nap_follow_dist = None
-    self.t_follow = get_T_FOLLOW()
+
+    self._is_preap = (CP.brand == "tesla" and CP.carFingerprint == "TESLA_MODEL_S_PREAP"
+                       and CP.openpilotLongitudinalControl and not CP.pcmCruise)
+    self._params = Params() if params is None else params
+    self.nap_follow_dist = self._params.get("NAPFollowDistance", return_default=True) if self._is_preap else None
+    self.nap_adaptive_accel = self._params.get_bool("NAPAdaptiveAccel") if self._is_preap else False
+    self.active_nap_follow_dist = self.nap_follow_dist if self._is_preap and self.nap_follow_dist in NAP_FOLLOW_DISTANCE_RANGE else None
+    self.t_follow = get_T_FOLLOW(nap_follow_dist=self.active_nap_follow_dist)
     self._frame = 0
-    if self._pedal_preap:
-      from openpilot.common.params import Params
-      self._params = params if params is not None else Params()
-      follow = self._params.get("NAPFollowDistance", return_default=True)
-      try:
-        self.nap_follow_dist = int(follow)
-      except (TypeError, ValueError):
-        self.nap_follow_dist = None
-      self.active_nap_follow_dist = self.nap_follow_dist if self.nap_follow_dist in PREAP_FOLLOW_DISTANCE_RANGE else None
-      self.t_follow = _preap_t_follow(None, self.active_nap_follow_dist) if self.active_nap_follow_dist else get_T_FOLLOW()
 
     self.a_desired = init_a
     self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
@@ -111,13 +111,9 @@ def __init__(self, CP, CP_SP, init_v=0.0, init_a=0.0, dt=DT_MDL, params=None):
   def update(self, sm):
     LongitudinalPlannerSP.update(self, sm)
     self._frame += 1
-    if self._pedal_preap and self._params is not None and self._frame % 20 == 0:
-      follow = self._params.get("NAPFollowDistance", return_default=True)
-      try:
-        self.nap_follow_dist = int(follow)
-      except (TypeError, ValueError):
-        self.nap_follow_dist = None
-
+    if self._is_preap and self._frame % 20 == 0:
+      self.nap_follow_dist = self._params.get("NAPFollowDistance", return_default=True)
+      self.nap_adaptive_accel = self._params.get_bool("NAPAdaptiveAccel")
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -153,9 +149,10 @@ def update(self, sm):
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
     throttle_probs = sm['modelV2'].meta.disengagePredictions.gasPressProbs
     throttle_prob = throttle_probs[1] if len(throttle_probs) > 1 else 1.0
-    # Don't clip at low speeds since throttle_prob doesn't account for creep.
-    # Pedal-equipped Pre-AP keeps allow_throttle so VDAS sees literal accel targets.
-    self.allow_throttle = self._pedal_preap or throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
+    # Don't clip at low speeds since throttle_prob doesn't account for creep
+    # VDAS takes acceleration targets literally, so the model's negative coast
+    # ceiling commands regen even when the MPC is trying to hold cruise speed.
+    self.allow_throttle = self._is_preap or throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
 
     if not self.allow_throttle:
       clipped_accel_coast = max(accel_coast, accel_clip[0])
@@ -168,18 +165,25 @@ def update(self, sm):
     if force_slow_decel:
       v_cruise = 0.0
 
-    personality = sm['selfdriveState'].personality
-    if self._pedal_preap:
-      self.active_nap_follow_dist = self.nap_follow_dist if self.nap_follow_dist in PREAP_FOLLOW_DISTANCE_RANGE else None
-      self.t_follow = _preap_t_follow(personality, self.active_nap_follow_dist)
-    else:
-      self.active_nap_follow_dist = None
-      self.t_follow = get_T_FOLLOW(personality)
-
-    self.mpc.set_weights(prev_accel_constraint, personality=personality)
+    self.active_nap_follow_dist = self.nap_follow_dist if self._is_preap and self.nap_follow_dist in NAP_FOLLOW_DISTANCE_RANGE else None
+    self.t_follow = get_T_FOLLOW(sm['selfdriveState'].personality, self.active_nap_follow_dist)
+
+    # Pre-AP adaptive accel: only limit accel when the lead's obstacle-equivalent
+    # distance is close. Above 1.5x the safe obstacle distance, use the full
+    # profile for gap closing. Below 1.2x, cap acceleration to follow limits to
+    # prevent overshoot → regen → overshoot oscillation. Blend in between.
+    if self.CP.carFingerprint == "TESLA_MODEL_S_PREAP" and self.nap_adaptive_accel and sm['radarState'].leadOne.present:
+      follow_limit = _get_preap_follow_limit(v_ego)
+      if follow_limit is not None:
+        lead = sm['radarState'].leadOne
+        cap_strength = get_preap_follow_cap_strength(v_ego, lead.dRel, lead.vLead, self.t_follow)
+        if cap_strength > 0:
+          blended = accel_clip[1] * (1.0 - cap_strength) + follow_limit * cap_strength
+          accel_clip[1] = min(accel_clip[1], blended)
+
+    self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
-    _mpc_update_with_t_follow(self.mpc, sm['radarState'], v_cruise, personality,
-                              t_follow=self.t_follow if self._pedal_preap else None)
+    self.mpc.update(sm['radarState'], v_cruise, t_follow=self.t_follow)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
@@ -237,6 +241,8 @@ def publish(self, sm, pm):
     longitudinalPlan.shouldStop = bool(self.output_should_stop)
     longitudinalPlan.allowBrake = True
     longitudinalPlan.allowThrottle = bool(self.allow_throttle)
+    longitudinalPlan.napFollowDistance = self.active_nap_follow_dist or 0
+    longitudinalPlan.tFollow = self.t_follow
 
     pm.send('longitudinalPlan', plan_send)
 
diff --git a/openpilot/selfdrive/controls/lib/tests/__init__.py b/openpilot/selfdrive/controls/lib/tests/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/openpilot/selfdrive/controls/lib/tests/test_desire_helper.py b/openpilot/selfdrive/controls/lib/tests/test_desire_helper.py
new file mode 100644
index 00000000000000..edd852a898af06
--- /dev/null
+++ b/openpilot/selfdrive/controls/lib/tests/test_desire_helper.py
@@ -0,0 +1,228 @@
+from openpilot.common.constants import CV
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.controls.lib.desire_helper import (
+  DesireHelper,
+  LANE_CHANGE_ARM_TIME,
+  MAX_QUEUED_LANE_CHANGES,
+  LaneChangeDirection,
+  LaneChangeState,
+)
+from opendbc.car import structs
+
+# sunnypilot: DesireHelper takes CP and only uses the nap-dev lane change for
+# the Pre-AP car. These tests are the nap-dev tests, so hand them that CP.
+_PREAP_CP = structs.CarParams()
+_PREAP_CP.carFingerprint = "TESLA_MODEL_S_PREAP"
+_NapDesireHelper = DesireHelper
+DesireHelper = lambda: _NapDesireHelper(_PREAP_CP)  # noqa: E731
+
+
+class FakeCarState:
+  def __init__(self, v_ego=30.0, left=False, right=False,
+               steering_pressed=False, steering_torque=0.0,
+               left_blindspot=False, right_blindspot=False, lever=0):
+    self.vEgo = v_ego
+    self.leftBlinker = left
+    self.rightBlinker = right
+    self.steeringPressed = steering_pressed
+    self.steeringTorque = steering_torque
+    self.leftBlindspot = left_blindspot
+    self.rightBlindspot = right_blindspot
+    self.turnSignalStalkState = lever
+
+
+def _tick(dh, cs, n=1, lane_change_prob=0.0):
+  for _ in range(n):
+    dh.update(cs, lateral_active=True, lane_change_prob=lane_change_prob)
+
+
+def _arm_left(dh):
+  dh.update(FakeCarState(), True, 0.0)
+  dh.update(FakeCarState(left=True, lever=1), True, 0.0)
+  dh.update(FakeCarState(left=True), True, 0.0)
+
+
+def _lever_tap(dh, lever, lamp_left=True, hold_ticks=3):
+  for _ in range(hold_ticks):
+    dh.update(FakeCarState(left=lamp_left, lever=lever), True, 0.0)
+  dh.update(FakeCarState(left=lamp_left), True, 0.0)
+
+
+def _nudge_left():
+  return FakeCarState(left=True, steering_pressed=True, steering_torque=1.0)
+
+
+def _advance_to_finishing(dh):
+  _tick(dh, _nudge_left(), n=int(0.6 / DT_MDL), lane_change_prob=0.0)
+  assert dh.lane_change_state == LaneChangeState.laneChangeFinishing
+
+
+def _complete_maneuver(dh, cs_after):
+  _advance_to_finishing(dh)
+  for _ in range(int(1.5 / DT_MDL)):
+    dh.update(cs_after, True, 0.0)
+    if dh.lane_change_state != LaneChangeState.laneChangeFinishing:
+      break
+
+
+def test_tap_arms_pre_lane_change():
+  dh = DesireHelper()
+  _arm_left(dh)
+
+  assert dh.lane_change_state == LaneChangeState.preLaneChange
+  assert dh.lane_change_direction == LaneChangeDirection.left
+  assert dh.queued_changes == 1
+
+
+def test_latch_survives_blinker_lamp_off():
+  dh = DesireHelper()
+  _arm_left(dh)
+  dh.update(FakeCarState(), True, 0.0)
+
+  assert dh.lane_change_state == LaneChangeState.preLaneChange
+
+
+def test_below_speed_does_not_arm():
+  dh = DesireHelper()
+  slow = 10 * CV.MPH_TO_MS
+  dh.update(FakeCarState(v_ego=slow), True, 0.0)
+  dh.update(FakeCarState(v_ego=slow, left=True, lever=1), True, 0.0)
+
+  assert dh.lane_change_state == LaneChangeState.off
+
+
+def test_arming_times_out_without_nudge():
+  dh = DesireHelper()
+  _arm_left(dh)
+  _tick(dh, FakeCarState(left=True), n=int(LANE_CHANGE_ARM_TIME / DT_MDL) + 5)
+
+  assert dh.lane_change_state == LaneChangeState.off
+  assert dh.lane_change_direction == LaneChangeDirection.none
+  assert dh.queued_changes == 0
+
+
+def test_wheel_nudge_starts_lane_change():
+  dh = DesireHelper()
+  _arm_left(dh)
+  dh.update(_nudge_left(), True, 0.0)
+
+  assert dh.lane_change_state == LaneChangeState.laneChangeStarting
+
+
+def test_opposite_lever_tap_cancels_while_arming():
+  dh = DesireHelper()
+  _arm_left(dh)
+  dh.update(FakeCarState(left=True, lever=2), True, 0.0)
+
+  assert dh.lane_change_state == LaneChangeState.off
+  assert dh.lane_change_direction == LaneChangeDirection.none
+  assert dh.queued_changes == 0
+
+
+def test_opposite_lever_tap_cancels_while_starting():
+  dh = DesireHelper()
+  _arm_left(dh)
+  dh.update(_nudge_left(), True, 0.0)
+  dh.update(FakeCarState(left=True, lever=2), True, 0.0)
+
+  assert dh.lane_change_state == LaneChangeState.off
+  assert dh.lane_change_direction == LaneChangeDirection.none
+
+
+def test_opposite_lever_tap_cancels_while_finishing():
+  dh = DesireHelper()
+  _arm_left(dh)
+  _advance_to_finishing(dh)
+  dh.update(FakeCarState(left=True, lever=2), True, 0.0)
+
+  assert dh.lane_change_state == LaneChangeState.off
+  assert dh.lane_change_direction == LaneChangeDirection.none
+
+
+def test_opposite_tap_does_not_rearm_new_direction():
+  dh = DesireHelper()
+  _arm_left(dh)
+  dh.update(FakeCarState(left=True, right=False, lever=2), True, 0.0)
+
+  assert dh.lane_change_state == LaneChangeState.off
+
+
+def test_held_lever_counts_once():
+  dh = DesireHelper()
+  _arm_left(dh)
+  _tick(dh, FakeCarState(left=True, lever=1), n=40)
+
+  assert dh.queued_changes == 2
+
+
+def test_same_direction_tap_during_maneuver_queues_change():
+  dh = DesireHelper()
+  _arm_left(dh)
+  dh.update(_nudge_left(), True, 0.0)
+  _lever_tap(dh, 1)
+
+  assert dh.queued_changes == 2
+
+
+def test_held_lamp_without_lever_does_not_queue():
+  dh = DesireHelper()
+  _arm_left(dh)
+  dh.update(_nudge_left(), True, 0.0)
+  _tick(dh, FakeCarState(left=True), n=20)
+
+  assert dh.queued_changes == 1
+
+
+def test_lamp_edges_without_lever_do_not_queue():
+  dh = DesireHelper()
+  _arm_left(dh)
+  for _ in range(3):
+    dh.update(FakeCarState(), True, 0.0)
+    dh.update(FakeCarState(left=True), True, 0.0)
+
+  assert dh.queued_changes == 1
+
+
+def test_queue_capped_at_three():
+  dh = DesireHelper()
+  _arm_left(dh)
+  for _ in range(5):
+    _lever_tap(dh, 1)
+
+  assert dh.queued_changes == MAX_QUEUED_LANE_CHANGES == 3
+
+
+def test_queued_change_rearms_after_first_completes():
+  dh = DesireHelper()
+  _arm_left(dh)
+  _lever_tap(dh, 1)
+  dh.update(_nudge_left(), True, 0.0)
+  _complete_maneuver(dh, FakeCarState(left=True))
+
+  assert dh.lane_change_state == LaneChangeState.preLaneChange
+  assert dh.lane_change_direction == LaneChangeDirection.left
+  assert dh.queued_changes == 1
+
+
+def test_single_change_resets_after_completion():
+  dh = DesireHelper()
+  _arm_left(dh)
+  dh.update(_nudge_left(), True, 0.0)
+  _complete_maneuver(dh, FakeCarState())
+
+  assert dh.lane_change_state == LaneChangeState.off
+  assert dh.lane_change_direction == LaneChangeDirection.none
+  assert dh.queued_changes == 0
+
+
+def test_queued_change_timeout_resets_everything():
+  dh = DesireHelper()
+  _arm_left(dh)
+  _lever_tap(dh, 1)
+  dh.update(_nudge_left(), True, 0.0)
+  _complete_maneuver(dh, FakeCarState(left=True))
+  _tick(dh, FakeCarState(left=True), n=int(LANE_CHANGE_ARM_TIME / DT_MDL) + 5)
+
+  assert dh.lane_change_state == LaneChangeState.off
+  assert dh.lane_change_direction == LaneChangeDirection.none
+  assert dh.queued_changes == 0
diff --git a/openpilot/selfdrive/controls/radard.py b/openpilot/selfdrive/controls/radard.py
index 4deff588d2c924..b136542fab6c0b 100755
--- a/openpilot/selfdrive/controls/radard.py
+++ b/openpilot/selfdrive/controls/radard.py
@@ -15,7 +15,6 @@
 
 from opendbc.car import structs
 from opendbc.car.hyundai.values import HyundaiFlags
-from opendbc.car.tesla.preap.boot import preap_radar_present
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 
 
@@ -47,8 +46,8 @@
 ASSOCIATION_SWITCH_MARGIN = 1.5
 
 
-def _preap_radar_hardening(CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> bool:
-  return preap_radar_present(CP, CP_SP)
+def _preap_radar(CP: structs.CarParams) -> bool:
+  return CP.carFingerprint == "TESLA_MODEL_S_PREAP"
 
 
 class KalmanParams:
@@ -165,8 +164,8 @@ def is_association_candidate(v_ego: float, vision_d_rel: float, lead: capnp._Dyn
   return distance_compatible and lateral_compatible and velocity_compatible and score >= ASSOCIATION_MIN_SCORE
 
 
-def match_vision_to_track_preap(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track],
-                                incumbent_track_id: int | None = None) -> Track | None:
+def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track],
+                          incumbent_track_id: int | None = None) -> Track | None:
   vision_d_rel = lead.x[0] - RADAR_TO_CAMERA
   scores = {track_id: association_score(v_ego, vision_d_rel, lead, track) for track_id, track in tracks.items()}
   eligible_track_ids = [
@@ -185,7 +184,7 @@ def match_vision_to_track_preap(v_ego: float, lead: capnp._DynamicStructReader,
   return tracks[challenger_track_id]
 
 
-def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track]):
+def match_vision_to_track_stock(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track]):
   offset_vision_dist = lead.x[0] - RADAR_TO_CAMERA
 
   def prob(c):
@@ -230,7 +229,7 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
              low_speed_override: bool = True) -> dict[str, Any]:
   # Determine leads, this is where the essential logic happens
   if len(tracks) > 0 and ready and lead_prob > .5:
-    track = match_vision_to_track(v_ego, lead_msg, tracks)
+    track = match_vision_to_track_stock(v_ego, lead_msg, tracks)
   else:
     track = None
 
@@ -268,21 +267,17 @@ def __init__(self, low_speed_override: bool):
     self.incumbent_track_id: int | None = None
 
   def update(self, v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
-             model_v_ego: float, lead_prob: float, CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> dict[str, Any]:
-    if self.incumbent_track_id is not None and self.incumbent_track_id not in tracks:
-      self.incumbent_track_id = None
-
-    if tracks and ready and lead_prob > .5:
-      track = match_vision_to_track_preap(v_ego, lead_msg, tracks, self.incumbent_track_id)
+             model_v_ego: float) -> dict[str, Any]:
+    if tracks and ready and lead_msg.prob > .5:
+      track = match_vision_to_track(v_ego, lead_msg, tracks, self.incumbent_track_id)
     else:
       track = None
 
     lead_dict = {'present': False}
     if track is not None:
-      lead_dict = track.get_RadarState(lead_prob)
-      lead_dict = get_custom_yrel(CP, CP_SP, lead_dict, lead_msg)
-    elif ready and lead_prob > .5:
-      lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego, lead_prob)
+      lead_dict = track.get_RadarState(lead_msg.prob)
+    elif ready and lead_msg.prob > .5:
+      lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego, lead_msg.prob)
 
     if self.low_speed_override:
       low_speed_tracks = [candidate for candidate in tracks.values() if candidate.potential_low_speed_lead(v_ego)]
@@ -290,7 +285,6 @@ def update(self, v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg:
         closest_track = min(low_speed_tracks, key=lambda candidate: candidate.dRel)
         if (not lead_dict.get('present')) or (closest_track.dRel < lead_dict['dRel']):
           lead_dict = closest_track.get_RadarState()
-          lead_dict = get_custom_yrel(CP, CP_SP, lead_dict, lead_msg)
 
     self.incumbent_track_id = lead_dict['radarTrackId'] if lead_dict.get('radar', False) else None
     return lead_dict
@@ -300,7 +294,7 @@ class RadarD:
   def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP, delay: float = 0.0):
     self.CP = CP
     self.CP_SP = CP_SP
-    self.preap_radar = _preap_radar_hardening(CP, CP_SP)
+    self.preap_radar = _preap_radar(CP)
 
     self.current_time = 0.0
 
@@ -318,7 +312,6 @@ def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP, delay: flo
     self.ready = False
     if self.preap_radar:
       self.last_radar_update_time: float | None = None
-      self.last_live_tracks_healthy = False
       self.lead_one_association = LeadTrackAssociation(low_speed_override=True)
       self.lead_two_association = LeadTrackAssociation(low_speed_override=False)
 
@@ -391,50 +384,40 @@ def _update_preap(self, sm: messaging.SubMaster, rr: car.RadarData):
       self.last_v_ego_frame = sm.recv_frame['carState']
 
     if sm.updated['liveTracks']:
-      if not sm.valid['liveTracks']:
-        self.tracks.clear()
-        self.lead_one_association.incumbent_track_id = None
-        self.lead_two_association.incumbent_track_id = None
-        self.last_live_tracks_healthy = False
-      else:
-        radar_update_time = 1e-9 * sm.logMonoTime['liveTracks']
-        radar_dt = RADAR_DT
-        if self.last_radar_update_time is not None:
-          observed_radar_dt = radar_update_time - self.last_radar_update_time
-          if 0.01 < observed_radar_dt < 0.2:
-            radar_dt = observed_radar_dt
-        self.last_radar_update_time = radar_update_time
-        self.last_live_tracks_healthy = True
-        self.kalman_params = KalmanParams(radar_dt)
-        ar_pts = {pt.trackId: [pt.dRel, pt.yRel, pt.vRel, pt.deprecated.measured] for pt in rr.points}
-
-        for ids in list(self.tracks.keys()):
-          if ids not in ar_pts:
-            self.tracks.pop(ids, None)
-
-        for ids in ar_pts:
-          rpt = ar_pts[ids]
-          v_lead = rpt[2] + self.v_ego_hist[0]
-          if ids not in self.tracks:
-            self.tracks[ids] = Track(ids, v_lead, self.kalman_params)
-          self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, measured=bool(rpt[3]), kalman_params=self.kalman_params)
+      radar_update_time = 1e-9 * sm.logMonoTime['liveTracks']
+      radar_dt = RADAR_DT
+      if self.last_radar_update_time is not None:
+        observed_radar_dt = radar_update_time - self.last_radar_update_time
+        if 0.01 < observed_radar_dt < 0.2:
+          radar_dt = observed_radar_dt
+      self.last_radar_update_time = radar_update_time
+      self.kalman_params = KalmanParams(radar_dt)
+      ar_pts = {pt.trackId: [pt.dRel, pt.yRel, pt.vRel, pt.measured] for pt in rr.points}
+
+      # *** remove missing points from meta data ***
+      for ids in list(self.tracks.keys()):
+        if ids not in ar_pts:
+          self.tracks.pop(ids, None)
+
+      # *** compute the tracks ***
+      for ids in ar_pts:
+        rpt = ar_pts[ids]
+
+        # align v_ego by a fixed time to align it with the radar measurement
+        v_lead = rpt[2] + self.v_ego_hist[0]
+
+        # create the track if it doesn't exist or it's a new track
+        if ids not in self.tracks:
+          self.tracks[ids] = Track(ids, v_lead, self.kalman_params)
+        self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3], self.kalman_params)
     elif self.last_radar_update_time is None or self.current_time - self.last_radar_update_time > RADAR_MEASUREMENT_TIMEOUT:
       self.tracks.clear()
-      self.lead_one_association.incumbent_track_id = None
-      self.lead_two_association.incumbent_track_id = None
-      self.last_live_tracks_healthy = False
-
-    radar_tracks_fresh = (
-      self.last_radar_update_time is not None and
-      (self.current_time - self.last_radar_update_time) <= RADAR_MEASUREMENT_TIMEOUT
-    )
-    # liveTracks is slower than the 20Hz SubMaster; freshness is the last accepted
-    # valid envelope plus the radar timeout. Explicit invalid updates cannot count as healthy.
-    self.radar_state_valid = (
-      sm.all_checks(service_list=['modelV2', 'carState']) and
-      radar_tracks_fresh and
-      self.last_live_tracks_healthy
-    )
+
+    # *** publish radarState ***
+    # Exclude liveTracks from validity check: it arrives at radar rate (8Hz for
+    # Bosch) not the 20Hz SubMaster expects, so all_checks() would mark it stale
+    # between radar updates and cascade valid=False through the whole pipeline.
+    self.radar_state_valid = sm.all_checks(service_list=['modelV2', 'carState'])
     self.radar_state = log.RadarState.new_message()
     self.radar_state.mdMonoTime = sm.logMonoTime['modelV2']
     self.radar_state.radarErrors = rr.errors
@@ -445,17 +428,8 @@ def _update_preap(self, sm: messaging.SubMaster, rr: car.RadarData):
       model_v_ego = self.v_ego
     leads_v3 = sm['modelV2'].leadsV3
     if len(leads_v3) > 1:
-      for i in range(2):
-        lead_prob = leads_v3[i].prob
-        if lead_prob > self.lead_prob_filters[i].x:
-          self.lead_prob_filters[i].x = lead_prob
-        else:
-          self.lead_prob_filters[i].update(lead_prob)
-
-      self.radar_state.leadOne = self.lead_one_association.update(
-        self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.lead_prob_filters[0].x, self.CP, self.CP_SP)
-      self.radar_state.leadTwo = self.lead_two_association.update(
-        self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.lead_prob_filters[1].x, self.CP, self.CP_SP)
+      self.radar_state.leadOne = self.lead_one_association.update(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego)
+      self.radar_state.leadTwo = self.lead_two_association.update(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego)
 
   def publish(self, pm: messaging.PubMaster):
     assert self.radar_state is not None
@@ -488,8 +462,9 @@ def main() -> None:
   while 1:
     sm.update()
 
-    RD.update(sm, sm['liveTracks'])
-    RD.publish(pm)
+    if sm.updated['modelV2']:
+      RD.update(sm, sm['liveTracks'])
+      RD.publish(pm)
 
 
 if __name__ == "__main__":
diff --git a/openpilot/selfdrive/controls/tests/test_following_distance.py b/openpilot/selfdrive/controls/tests/test_following_distance.py
index fcabce0387b80a..4b5168f5d25d2a 100644
--- a/openpilot/selfdrive/controls/tests/test_following_distance.py
+++ b/openpilot/selfdrive/controls/tests/test_following_distance.py
@@ -13,7 +13,7 @@ def desired_follow_distance(v_ego, v_lead, t_follow=None):
     t_follow = get_T_FOLLOW()
   return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead)
 
-def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personality=0):
+def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personality=0, nap_follow_dist=None):
   man = Maneuver(
     '',
     duration=t_end,
@@ -24,6 +24,7 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personalit
     breakpoints=[0.],
     e2e=e2e,
     personality=personality,
+    nap_follow_dist=nap_follow_dist,
   )
   valid, output = man.evaluate()
   assert valid
diff --git a/openpilot/selfdrive/controls/tests/test_longitudinal_planner_preap.py b/openpilot/selfdrive/controls/tests/test_longitudinal_planner_preap.py
index 6ca96b103c35bc..4cad79b00f4213 100644
--- a/openpilot/selfdrive/controls/tests/test_longitudinal_planner_preap.py
+++ b/openpilot/selfdrive/controls/tests/test_longitudinal_planner_preap.py
@@ -3,40 +3,20 @@
 
 from openpilot.cereal import log, messaging
 from opendbc.car import structs
-from opendbc.car.tesla.preap.boot import (
-  apply_preap_hardware_snapshot,
-  hardware_snapshot_from_values,
-  pedal_pipeline_enabled,
-)
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
 
-def _pedal_snapshot():
-  return hardware_snapshot_from_values(
-    pedal_enabled=True,
-    pedal_bus=2,
-    pedal_calib_done=True,
-    pedal_calib_factor=0.035,
-    pedal_calib_zero=0.25,
-    pedal_calib_min=-3.0,
-    pedal_calib_max=99.6,
-  )
-
-
-def make_preap_params(pedal=True):
+def make_preap_params():
   CP = structs.CarParams()
   CP.brand = "tesla"
   CP.carFingerprint = "TESLA_MODEL_S_PREAP"
+  CP.openpilotLongitudinalControl = True
+  CP.pcmCruise = False
   CP.steerRatio = 15.75
   CP.wheelbase = 2.959
-  CP.openpilotLongitudinalControl = False
-  CP.pcmCruise = True
-  CP_SP = structs.CarParamsSP()
-  if pedal:
-    apply_preap_hardware_snapshot(CP, CP_SP, _pedal_snapshot())
-  return CP, CP_SP
+  return CP, structs.CarParamsSP()
 
 
 def make_planner_inputs(*, v_ego, v_cruise, pitch, throttle_probability):
@@ -82,23 +62,9 @@ def make_planner_inputs(*, v_ego, v_cruise, pitch, throttle_probability):
   }
 
 
-class _FollowParams:
-  def __init__(self, nap_follow_dist):
-    self.nap_follow_dist = nap_follow_dist
-
-  def get(self, key, return_default=False):
-    assert return_default
-    assert key == "NAPFollowDistance"
-    return self.nap_follow_dist
-
-  def get_bool(self, key):
-    raise AssertionError(f"NAPAdaptiveAccel must not be read; got {key}")
-
-
 def test_preap_cruise_ignores_model_throttle_suppression():
-  CP, CP_SP = make_preap_params(pedal=True)
-  assert pedal_pipeline_enabled(CP, CP_SP)
-  planner = LongitudinalPlanner(CP, CP_SP, init_v=20.9, params=_FollowParams(3))
+  CP, CP_SP = make_preap_params()
+  planner = LongitudinalPlanner(CP, CP_SP, init_v=20.9)
   inputs = make_planner_inputs(
     v_ego=20.9,
     v_cruise=21.0,
@@ -111,7 +77,7 @@ def test_preap_cruise_ignores_model_throttle_suppression():
 
   assert planner.output_a_target > -0.05
   assert planner.allow_throttle
-  assert planner._pedal_preap
+  assert planner._is_preap
 
 
 @pytest.mark.parametrize(("brand", "fingerprint", "openpilot_longitudinal", "pcm_cruise"), [
@@ -121,15 +87,11 @@ def test_preap_cruise_ignores_model_throttle_suppression():
 def test_non_vdas_modes_keep_model_throttle_suppression(
   brand, fingerprint, openpilot_longitudinal, pcm_cruise,
 ):
-  CP = structs.CarParams()
+  CP, CP_SP = make_preap_params()
   CP.brand = brand
   CP.carFingerprint = fingerprint
   CP.openpilotLongitudinalControl = openpilot_longitudinal
   CP.pcmCruise = pcm_cruise
-  CP.steerRatio = 15.75
-  CP.wheelbase = 2.959
-  CP_SP = structs.CarParamsSP()
-  assert not pedal_pipeline_enabled(CP, CP_SP)
   planner = LongitudinalPlanner(CP, CP_SP, init_v=20.9)
   inputs = make_planner_inputs(
     v_ego=20.9,
@@ -141,6 +103,6 @@ def test_non_vdas_modes_keep_model_throttle_suppression(
   for _ in range(60):
     planner.update(inputs)
 
-  assert not planner._pedal_preap
+  assert not planner._is_preap
   assert not planner.allow_throttle
   assert planner.output_a_target < -0.5
diff --git a/openpilot/selfdrive/controls/tests/test_radard.py b/openpilot/selfdrive/controls/tests/test_radard.py
index f8144b4608e2d6..d1a56723253111 100644
--- a/openpilot/selfdrive/controls/tests/test_radard.py
+++ b/openpilot/selfdrive/controls/tests/test_radard.py
@@ -2,49 +2,36 @@
 
 import pytest
 
-from openpilot.common.realtime import DT_MDL
 from openpilot.cereal import messaging
-from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
-from openpilot.selfdrive.controls.radard import (
-  ASSOCIATION_SWITCH_MARGIN,
-  KalmanParams,
-  RADAR_MEASUREMENT_TIMEOUT,
-  RADAR_TO_CAMERA,
-  RadarD,
-  Track,
-)
+from openpilot.selfdrive.controls.radard import KalmanParams, RADAR_TO_CAMERA, RadarD, Track
 
 
-def _cp(*, fingerprint: str = "TESLA_MODEL_S_PREAP", brand: str = "tesla", flags: int = 0):
-  return SimpleNamespace(brand=brand, carFingerprint=fingerprint, flags=flags)
+MAX_RADAR_MEASUREMENT_AGE = 0.5
 
 
-def _cp_sp(*, preap_radar: bool = True, flags: int | None = None):
-  if flags is None:
-    flags = int(TeslaFlagsSP.PREAP_RADAR_PRESENT) if preap_radar else 0
-  return SimpleNamespace(flags=flags)
+def _cp(*, fingerprint: str = "TESLA_MODEL_S_PREAP", brand: str = "tesla"):
+  return SimpleNamespace(brand=brand, carFingerprint=fingerprint, flags=0)
+
+
+def _cp_sp():
+  return SimpleNamespace(flags=0)
 
 
 class RadarScenario:
-  def __init__(self, v_ego: float = 20.0, *, preap_radar: bool = True,
-               fingerprint: str = "TESLA_MODEL_S_PREAP", brand: str = "tesla",
-               flags: int | None = None):
+  def __init__(self, v_ego: float = 20.0, *, fingerprint: str = "TESLA_MODEL_S_PREAP", brand: str = "tesla"):
     services = ["modelV2", "carState", "liveTracks"]
     self.sm = messaging.SubMaster(services, ignore_alive=services, ignore_avg_freq=services)
-    self.radar = RadarD(
-      _cp(fingerprint=fingerprint, brand=brand),
-      _cp_sp(preap_radar=preap_radar, flags=flags),
-    )
+    self.radar = RadarD(_cp(fingerprint=fingerprint, brand=brand), _cp_sp())
     self.v_ego = v_ego
     self.frame = 0
 
   def step(self, time_s: float, vision_d_rel: float, radar_points: list[tuple[int, float, float, float]] | None = None,
-           vision_v: float | None = None, live_tracks_valid: bool = True, measured: bool = True):
+           vision_v: float | None = None):
     messages = [self._model_message(time_s, vision_d_rel, vision_v)]
     if self.frame == 0:
       messages.append(self._car_state_message(time_s))
     if radar_points is not None:
-      messages.append(self._radar_message(time_s, radar_points, valid=live_tracks_valid, measured=measured))
+      messages.append(self._radar_message(time_s, radar_points))
 
     self.sm.update_msgs(time_s, [message.as_reader() for message in messages])
     self.radar.update(self.sm, self.sm["liveTracks"])
@@ -52,7 +39,7 @@ def step(self, time_s: float, vision_d_rel: float, radar_points: list[tuple[int,
     return self.radar.radar_state.leadOne
 
   def _model_message(self, time_s: float, vision_d_rel: float, vision_v: float | None):
-    message = messaging.new_message("modelV2", valid=True)
+    message = messaging.new_message("modelV2")
     message.logMonoTime = int(time_s * 1e9)
     message.modelV2.velocity.x = [self.v_ego]
     leads = message.modelV2.init("leadsV3", 2)
@@ -68,15 +55,14 @@ def _model_message(self, time_s: float, vision_d_rel: float, vision_v: float | N
     return message
 
   def _car_state_message(self, time_s: float):
-    message = messaging.new_message("carState", valid=True)
+    message = messaging.new_message("carState")
     message.logMonoTime = int(time_s * 1e9)
     message.carState.vEgo = self.v_ego
     return message
 
   @staticmethod
-  def _radar_message(time_s: float, radar_points: list[tuple[int, float, float, float]],
-                     valid: bool = True, measured: bool = True):
-    message = messaging.new_message("liveTracks", valid=valid)
+  def _radar_message(time_s: float, radar_points: list[tuple[int, float, float, float]]):
+    message = messaging.new_message("liveTracks")
     message.logMonoTime = int(time_s * 1e9)
     points = message.liveTracks.init("points", len(radar_points))
     for point, (track_id, d_rel, y_rel, v_rel) in zip(points, radar_points, strict=True):
@@ -84,7 +70,7 @@ def _radar_message(time_s: float, radar_points: list[tuple[int, float, float, fl
       point.dRel = d_rel
       point.yRel = y_rel
       point.vRel = v_rel
-      point.deprecated.measured = measured
+      point.measured = True
     return message
 
 
@@ -92,10 +78,9 @@ def test_radar_silence_falls_back_to_current_vision_lead():
   scenario = RadarScenario()
   lead = scenario.step(1.0, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
   assert lead.radar
-  assert lead.present
 
   model_dt = 0.05
-  expiration_frame = int(RADAR_MEASUREMENT_TIMEOUT / model_dt) + 1
+  expiration_frame = int(MAX_RADAR_MEASUREMENT_AGE / model_dt) + 1
   for frame in range(1, expiration_frame):
     lead = scenario.step(1.0 + frame * model_dt, vision_d_rel=36.0)
   assert lead.radar
@@ -103,9 +88,7 @@ def test_radar_silence_falls_back_to_current_vision_lead():
   lead = scenario.step(1.0 + expiration_frame * model_dt, vision_d_rel=36.0)
 
   assert not lead.radar
-  assert lead.present
   assert lead.dRel == pytest.approx(36.0)
-  assert lead.radarTrackId == -1
 
 
 def test_association_rejects_distance_outlier():
@@ -126,6 +109,8 @@ def test_association_rejects_velocity_outlier():
 
 def test_association_requires_minimum_score():
   scenario = RadarScenario()
+  # Each residual remains inside its independent 3-sigma gate, while their
+  # combined likelihood is below the score floor.
   lead = scenario.step(1.0, vision_d_rel=50.0, radar_points=[(7, 58.0, 2.9, 5.5)])
 
   assert not lead.radar
@@ -143,18 +128,6 @@ def test_association_retains_incumbent_until_challenger_wins():
   selected_ids.append(scenario.step(1.8, vision_d_rel=70.0, radar_points=[two_tracks[0]]).radarTrackId)
 
   assert selected_ids == [81, 81, 81, 81, 81, 81, 82, 82, 81]
-  assert ASSOCIATION_SWITCH_MARGIN == 1.5
-
-
-def test_raw_id_reuse_clears_incumbent():
-  scenario = RadarScenario()
-  first = scenario.step(1.0, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
-  assert first.radarTrackId == 7
-
-  reused = scenario.step(1.1, vision_d_rel=30.0, radar_points=[(8, 30.0, 0.0, 0.0)])
-  assert reused.radar
-  assert reused.radarTrackId == 8
-  assert reused.radarTrackId != first.radarTrackId
 
 
 def test_unmeasured_track_does_not_update_kalman_state():
@@ -177,162 +150,9 @@ def test_kalman_uses_observed_radar_interval():
   assert scenario.radar.tracks[7].K_A[0][1] == pytest.approx(0.08)
 
 
-def test_publication_uses_present_not_status():
-  scenario = RadarScenario()
-  lead = scenario.step(1.0, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
-  assert lead.present is True
-  assert lead.radar is True
-  assert lead.radarTrackId == 7
-
-
-def test_invalid_live_tracks_clears_tracks_and_invalidates():
-  scenario = RadarScenario()
-  lead = scenario.step(1.0, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
-  assert lead.radar
-  assert scenario.radar.radar_state_valid
-  accepted = scenario.radar.last_radar_update_time
-  assert accepted is not None
-  assert scenario.radar.lead_one_association.incumbent_track_id == 7
-
-  lead = scenario.step(1.1, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)], live_tracks_valid=False)
-  assert scenario.radar.tracks == {}
-  assert scenario.radar.lead_one_association.incumbent_track_id is None
-  assert scenario.radar.lead_two_association.incumbent_track_id is None
-  assert scenario.radar.last_radar_update_time == accepted
-  assert not scenario.radar.last_live_tracks_healthy
-  assert not scenario.radar.radar_state_valid
-  assert not lead.radar
-
-
-def test_invalid_live_tracks_recovers_only_on_valid_fresh_input():
-  scenario = RadarScenario()
-  scenario.step(1.0, vision_d_rel=30.0, radar_points=[(8, 30.0, 0.0, 0.0)], live_tracks_valid=False)
-  assert scenario.radar.tracks == {}
-  assert not scenario.radar.radar_state_valid
-  assert scenario.radar.last_radar_update_time is None
-
-  lead = scenario.step(1.2, vision_d_rel=30.0, radar_points=[(8, 30.0, 0.0, 0.0)], live_tracks_valid=True)
-  assert lead.radar
-  assert lead.radarTrackId == 8
-  assert scenario.radar.radar_state_valid
-  assert scenario.radar.last_live_tracks_healthy
-  assert scenario.radar.last_radar_update_time == pytest.approx(1.2)
-
-
-def test_modern_tesla_does_not_enable_preap_hardening():
-  scenario = RadarScenario(preap_radar=False, fingerprint="TESLA_MODEL_Y")
-  assert scenario.radar.preap_radar is False
-
-
-def test_modern_tesla_keeps_tracks_without_preap_timeout():
-  scenario = RadarScenario(preap_radar=False, fingerprint="TESLA_MODEL_Y")
-  lead = scenario.step(1.0, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
-  assert lead.radar
-  assert lead.radarTrackId == 7
-
-  model_dt = 0.05
-  expiration_frame = int(RADAR_MEASUREMENT_TIMEOUT / model_dt) + 1
-  for frame in range(1, expiration_frame + 1):
-    lead = scenario.step(1.0 + frame * model_dt, vision_d_rel=36.0)
-
-  assert lead.radar
-  assert lead.radarTrackId == 7
-  assert lead.dRel == pytest.approx(30.0)
-
-
-def test_modern_tesla_uses_target_association_not_preap_gates():
-  scenario = RadarScenario(preap_radar=False, fingerprint="TESLA_MODEL_Y")
-  lead = scenario.step(1.0, vision_d_rel=100.0, radar_points=[(7, 120.0, 0.0, 0.0)])
-
-  assert lead.radar
-  assert lead.radarTrackId == 7
-  assert lead.dRel == pytest.approx(120.0)
-
-
-def test_modern_tesla_kalman_uses_dt_mdl():
-  scenario = RadarScenario(preap_radar=False, fingerprint="TESLA_MODEL_Y")
-  scenario.step(1.0, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
-  scenario.step(1.08, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
-
-  assert scenario.radar.tracks[7].K_A[0][1] == pytest.approx(DT_MDL)
-
-
-def test_modern_tesla_invalid_live_tracks_does_not_preap_clear():
-  scenario = RadarScenario(preap_radar=False, fingerprint="TESLA_MODEL_Y")
-  lead = scenario.step(1.0, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
-  assert lead.radar
-
-  lead = scenario.step(1.1, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)], live_tracks_valid=False)
-  assert 7 in scenario.radar.tracks
-  assert lead.radar
-  assert lead.radarTrackId == 7
-  assert not scenario.radar.radar_state_valid
-
-
-def test_preap_unmeasured_live_track_does_not_update_kalman():
-  scenario = RadarScenario()
-  scenario.step(1.0, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
-  scenario.step(1.1, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 1.0)])
-  measured_state = (scenario.radar.tracks[7].vLeadK, scenario.radar.tracks[7].aLeadK)
-
-  scenario.step(1.2, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 10.0)], measured=False)
-  track = scenario.radar.tracks[7]
-
-  assert track.measured is False
-  assert track.vRel == pytest.approx(10.0)
-  assert (track.vLeadK, track.aLeadK) == pytest.approx(measured_state)
-
-
-def test_modern_tesla_updates_kalman_when_unmeasured():
-  scenario = RadarScenario(preap_radar=False, fingerprint="TESLA_MODEL_Y")
-  scenario.step(1.0, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
-  scenario.step(1.05, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 1.0)])
-  prior = (scenario.radar.tracks[7].vLeadK, scenario.radar.tracks[7].aLeadK)
-
-  scenario.step(1.10, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 10.0)], measured=False)
-  track = scenario.radar.tracks[7]
-
-  assert (track.vLeadK, track.aLeadK) != pytest.approx(prior)
-
-
-def test_hyundai_non_scc_overlapping_flag_does_not_enable_preap_hardening():
-  from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
-
-  assert int(HyundaiFlagsSP.NON_SCC) == int(TeslaFlagsSP.PREAP_RADAR_PRESENT)
-  scenario = RadarScenario(
-    fingerprint="HYUNDAI_KONA_NON_SCC",
-    brand="hyundai",
-    flags=int(HyundaiFlagsSP.NON_SCC),
-  )
+def test_fingerprint_gate_skips_preap_association_for_other_cars():
+  scenario = RadarScenario(fingerprint="TESLA_MODEL_Y")
   assert scenario.radar.preap_radar is False
-  assert scenario.radar.kalman_params.A[0][1] == pytest.approx(DT_MDL)
-
-  lead = scenario.step(1.0, vision_d_rel=30.0, radar_points=[(7, 30.0, 0.0, 0.0)])
-  assert lead.radar
-  model_dt = 0.05
-  expiration_frame = int(RADAR_MEASUREMENT_TIMEOUT / model_dt) + 1
-  for frame in range(1, expiration_frame + 1):
-    lead = scenario.step(1.0 + frame * model_dt, vision_d_rel=36.0)
-  assert lead.radar
-  assert lead.radarTrackId == 7
-  assert lead.dRel == pytest.approx(30.0)
-
-
-def test_modern_tesla_overlapping_flag_does_not_enable_preap_hardening():
-  scenario = RadarScenario(
-    fingerprint="TESLA_MODEL_Y",
-    flags=int(TeslaFlagsSP.PREAP_RADAR_PRESENT),
-  )
-  assert scenario.radar.preap_radar is False
-
   lead = scenario.step(1.0, vision_d_rel=100.0, radar_points=[(7, 120.0, 0.0, 0.0)])
   assert lead.radar
   assert lead.dRel == pytest.approx(120.0)
-
-
-def test_preap_platform_requires_flag_for_hardening():
-  without_flag = RadarScenario(preap_radar=False, fingerprint="TESLA_MODEL_S_PREAP")
-  assert without_flag.radar.preap_radar is False
-  with_flag = RadarScenario(preap_radar=True, fingerprint="TESLA_MODEL_S_PREAP")
-  assert with_flag.radar.preap_radar is True
-
diff --git a/openpilot/selfdrive/controls/tests/test_tesla_preap_following.py b/openpilot/selfdrive/controls/tests/test_tesla_preap_following.py
index 4efbce54a4eff0..08099b9a1e73a0 100644
--- a/openpilot/selfdrive/controls/tests/test_tesla_preap_following.py
+++ b/openpilot/selfdrive/controls/tests/test_tesla_preap_following.py
@@ -1,33 +1,34 @@
 from types import SimpleNamespace
-from typing import Any, cast
 
 import numpy as np
 import pytest
 
 from openpilot.cereal import log, messaging
 from opendbc.car import structs
+from opendbc.car.structs import car
 from opendbc.car.tesla.preap import virtual_das
-from opendbc.car.tesla.preap.boot import apply_preap_hardware_snapshot, hardware_snapshot_from_values, pedal_pipeline_enabled
-from opendbc.car.tesla.preap.constants import (
-  PEDAL_LONG_K_BP, PEDAL_LONG_KI_V, PEDAL_LONG_KP_V,
-  PEDAL_RAMP_RATE_DOWN, PEDAL_RAMP_RATE_UP,
-  PREAP_T_FOLLOW,
-)
+from opendbc.car.tesla.preap.constants import PEDAL_LONG_K_BP, PEDAL_LONG_KI_V, PEDAL_LONG_KP_V
 from opendbc.car.tesla.preap.virtual_das import GRAVITY, VirtualDAS
+from opendbc.car.tesla.pedal.controller import PEDAL_RAMP_RATE_DOWN, PEDAL_RAMP_RATE_UP
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
-import openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc as long_mpc_mod
+from openpilot.selfdrive.controls.lib import longitudinal_planner
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import (
   LongitudinalPlanSource,
   T_IDXS,
+  get_safe_obstacle_distance,
+  get_stopped_equivalence_factor,
   get_T_FOLLOW,
 )
 from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
+from openpilot.selfdrive.controls.tests.test_following_distance import run_following_distance_simulation
 from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
+from openpilot.selfdrive.test.process_replay.process_replay import get_process_config
 
 
 NAP_FOLLOW_SETTINGS = range(1, 8)
-NAP_FOLLOW_TIMES_S = PREAP_T_FOLLOW
+NAP_FOLLOW_TIMES_S = (0.7, 0.9, 1.1, 1.3, 1.5, 1.7, 1.9)
 FOLLOW_TEST_SPEED_MPS = 25.0
 STOP_DISTANCE_M = 6.0
 FULL_LOOP_DT_S = 0.01
@@ -52,9 +53,29 @@
 )
 
 
-class _FollowParams:
-  def __init__(self, nap_follow_dist):
+class _PlannerInputs(dict):
+  logMonoTime = {"modelV2": 0}
+
+  @staticmethod
+  def all_checks(service_list=None):
+    return True
+
+
+class _CapturingPubMaster:
+  def send(self, service, message):
+    if service == "longitudinalPlanSP":
+      return
+    assert service == "longitudinalPlan"
+    self.message = message
+
+
+class _MutablePlannerParams:
+  def __init__(self, nap_follow_dist, adaptive_accel=False):
     self.nap_follow_dist = nap_follow_dist
+    self.adaptive_accel = adaptive_accel
+
+  def __bool__(self):
+    return False
 
   def get(self, key, return_default=False):
     assert return_default
@@ -62,7 +83,8 @@ def get(self, key, return_default=False):
     return self.nap_follow_dist
 
   def get_bool(self, key):
-    raise AssertionError(f"NAPAdaptiveAccel must not be read; got {key}")
+    assert key == "NAPAdaptiveAccel"
+    return self.adaptive_accel
 
 
 class _ConstantAccelerationMpc:
@@ -84,39 +106,36 @@ def set_weights(prev_accel_constraint, personality):
   def set_cur_state(speed_mps, acceleration_mps2):
     pass
 
-  def update(self, radar_state, cruise_speed_mps, personality=None):
-    t_follow = long_mpc_mod.get_T_FOLLOW(personality)
+  def update(self, radar_state, cruise_speed_mps, t_follow):
     self.captured_t_follow = t_follow
     self.params[:, 4] = t_follow
 
 
 def _make_preap_params():
-  CP = structs.CarParams()
-  CP.brand = "tesla"
-  CP.carFingerprint = "TESLA_MODEL_S_PREAP"
-  CP.openpilotLongitudinalControl = True
-  CP.pcmCruise = False
-  CP.steerRatio = 15.75
-  CP.wheelbase = 2.959
-  CP.longitudinalTuning.kpBP = list(PEDAL_LONG_K_BP)
-  CP.longitudinalTuning.kpV = list(PEDAL_LONG_KP_V)
-  CP.longitudinalTuning.kiBP = list(PEDAL_LONG_K_BP)
-  CP.longitudinalTuning.kiV = list(PEDAL_LONG_KI_V)
+  params = structs.CarParams()
+  params.brand = "tesla"
+  params.carFingerprint = "TESLA_MODEL_S_PREAP"
+  params.openpilotLongitudinalControl = True
+  params.pcmCruise = False
+  params.steerRatio = 15.75
+  params.wheelbase = 2.959
+  params.longitudinalTuning.kpBP = list(PEDAL_LONG_K_BP)
+  params.longitudinalTuning.kpV = list(PEDAL_LONG_KP_V)
+  params.longitudinalTuning.kiBP = list(PEDAL_LONG_K_BP)
+  params.longitudinalTuning.kiV = list(PEDAL_LONG_KI_V)
+  try:
+    params.longitudinalTuning.kf = 1.0
+  except AttributeError:
+    pass
   try:
-    CP.longitudinalTuning.kf = 1.0
+    params.vEgoStarting = 0.1
   except AttributeError:
     pass
-  CP_SP = structs.CarParamsSP()
-  apply_preap_hardware_snapshot(CP, CP_SP, hardware_snapshot_from_values(
-    pedal_enabled=True,
-    pedal_bus=2,
-    pedal_calib_done=True,
-    pedal_calib_factor=0.035,
-    pedal_calib_zero=0.25,
-    pedal_calib_min=-3.0,
-    pedal_calib_max=99.6,
-  ))
-  return CP, CP_SP
+  return params
+
+
+def _cp_sp():
+  return structs.CarParamsSP()
 
 
 def _make_planner_inputs(speed_mps):
@@ -124,42 +143,42 @@ def _make_planner_inputs(speed_mps):
   controls = messaging.new_message("controlsState").controlsState
   selfdrive = messaging.new_message("selfdriveState").selfdriveState
   car_state = messaging.new_message("carState").carState
-  car_state_sp = messaging.new_message("carStateSP").carStateSP
   car_control = messaging.new_message("carControl").carControl
   live_parameters = messaging.new_message("liveParameters").liveParameters
-  gps_location = messaging.new_message("gpsLocation").gpsLocation
+  car_state_sp = messaging.new_message("carStateSP").carStateSP
   live_map_data_sp = messaging.new_message("liveMapDataSP").liveMapDataSP
+  gps_location = messaging.new_message("gpsLocation").gpsLocation
   model = messaging.new_message("modelV2").modelV2
 
   controls.longControlState = LongCtrlState.pid
   selfdrive.personality = log.LongitudinalPersonality.standard
   car_state.vEgo = speed_mps
   car_state.vCruise = speed_mps * 3.6
+  car_control.orientationNED = [0.0, 0.0, 0.0]
 
-  position = log.XYZTData.new_message()
-  position.x = ((speed_mps + 0.5) * np.array(ModelConstants.T_IDXS)).tolist()
-  model.position = position
-  velocity = log.XYZTData.new_message()
-  velocity.x = ((speed_mps + 0.5) * np.ones_like(ModelConstants.T_IDXS)).tolist()
-  velocity.x[0] = speed_mps
-  model.velocity = velocity
-  acceleration = log.XYZTData.new_message()
-  acceleration.x = np.zeros_like(ModelConstants.T_IDXS).tolist()
-  model.acceleration = acceleration
+  model.position.x = (speed_mps * np.array(ModelConstants.T_IDXS)).tolist()
+  model.velocity.x = (speed_mps * np.ones_like(ModelConstants.T_IDXS)).tolist()
+  model.acceleration.x = np.zeros_like(ModelConstants.T_IDXS).tolist()
   model.meta.disengagePredictions.gasPressProbs = [1.0] * 6
 
-  return {
+  return _PlannerInputs({
     "radarState": radar,
     "controlsState": controls,
     "selfdriveState": selfdrive,
     "carState": car_state,
-    "carStateSP": car_state_sp,
     "carControl": car_control,
     "liveParameters": live_parameters,
     "modelV2": model,
-    "gpsLocation": gps_location,
+    "carStateSP": car_state_sp,
     "liveMapDataSP": live_map_data_sp,
-  }
+    "gpsLocation": gps_location,
+  })
+
+
+def _physical_lead_distance(v_ego, v_lead, t_follow, obstacle_ratio):
+  safe_obstacle_distance = get_safe_obstacle_distance(v_ego, t_follow)
+  lead_obstacle_distance = obstacle_ratio * safe_obstacle_distance
+  return lead_obstacle_distance - get_stopped_equivalence_factor(max(v_lead, 0.0))
 
 
 def _full_loop_pitch(elapsed_s):
@@ -201,8 +220,8 @@ def _run_full_closed_loop_following(
 ):
   monkeypatch.setattr(
     virtual_das,
-    "PEDAL_MAX_VALUES",
-    [50.0] * len(virtual_das.PEDAL_BP),
+    "nap_conf",
+    SimpleNamespace(get_pedal_profile_values=lambda: [50.0] * len(virtual_das.PEDAL_BP)),
   )
   monkeypatch.setattr(
     virtual_das,
@@ -219,11 +238,11 @@ def _run_full_closed_loop_following(
   planner_target_mps2 = 0.0
   vdas_target_mps2 = 0.0
 
-  params = _FollowParams(nap_follow_dist)
-  car_params, car_params_sp = _make_preap_params()
+  params = _MutablePlannerParams(nap_follow_dist=nap_follow_dist, adaptive_accel=True)
+  car_params = _make_preap_params()
   car_params.longitudinalActuatorDelay = FULL_LOOP_PLANT_DELAY_S
-  planner = LongitudinalPlanner(car_params, car_params_sp, init_v=speed_mps, params=params)
-  long_control = LongControl(car_params, car_params_sp)
+  planner = LongitudinalPlanner(car_params, _cp_sp(), init_v=speed_mps, params=params)
+  long_control = LongControl(car_params, _cp_sp())
   vdas = VirtualDAS(dt=FULL_LOOP_VDAS_DT_S)
   vdas.reset(measured_accel=acceleration_mps2, commanded_accel=0.0, pedal_di_init=pedal_di)
   if plant_aligned_feedforward:
@@ -274,7 +293,7 @@ def scaled_grade_estimator_update(orientation_ned):
       planner.update(inputs)
       planner_target_mps2 = float(planner.output_a_target)
 
-    state = structs.CarState()
+    state = car.CarState.new_message()
     state.vEgo = float(speed_mps)
     state.aEgo = float(acceleration_mps2)
     state.brakePressed = False
@@ -324,56 +343,170 @@ def scaled_grade_estimator_update(orientation_ned):
   return np.array(samples), np.array(pedal_samples)
 
 
+@pytest.mark.parametrize(("lead_speed", "obstacle_ratio", "expected_strength"), [
+  (30.0, 1.0, 1.0),
+  (30.0, 1.2, 1.0),
+  (30.0, 1.35, 0.5),
+  (30.0, 1.5, 0.0),
+  (20.0, 1.35, 0.5),
+  (-5.0, 1.35, 0.5),
+])
+def test_preap_follow_cap_uses_obstacle_equivalent_distance(lead_speed, obstacle_ratio, expected_strength):
+  speed_mps = 30.0
+  t_follow = 1.9
+  lead_distance = _physical_lead_distance(speed_mps, lead_speed, t_follow, obstacle_ratio)
+
+  cap_strength = longitudinal_planner.get_preap_follow_cap_strength(
+    speed_mps,
+    lead_distance,
+    lead_speed,
+    t_follow,
+  )
+
+  assert cap_strength == pytest.approx(expected_strength)
+
+
+def test_planner_adaptive_cap_changes_the_delivered_acceleration_for_unequal_speed_lead():
+  speed_mps = 30.0
+  lead_speed_mps = 35.0
+  obstacle_ratio = 1.35
+  t_follow = 1.9
+  params = _MutablePlannerParams(nap_follow_dist=7, adaptive_accel=True)
+  planner = LongitudinalPlanner(_make_preap_params(), _cp_sp(), init_v=speed_mps, params=params)
+  planner.mpc = _ConstantAccelerationMpc(speed_mps, acceleration_mps2=1.5)
+  inputs = _make_planner_inputs(speed_mps)
+  lead = inputs["radarState"].leadOne
+  lead.present = True
+  lead.dRel = _physical_lead_distance(speed_mps, lead_speed_mps, t_follow, obstacle_ratio)
+  lead.vLead = lead_speed_mps
+
+  for _ in range(32):
+    planner.update(inputs)
+
+  open_road_limit = longitudinal_planner.get_max_accel(speed_mps)
+  follow_limit = longitudinal_planner._get_preap_follow_limit(speed_mps)
+  cap_strength = longitudinal_planner.get_preap_follow_cap_strength(
+    speed_mps,
+    lead.dRel,
+    lead_speed_mps,
+    t_follow,
+  )
+  expected_adaptive_limit = open_road_limit * (1.0 - cap_strength) + follow_limit * cap_strength
+
+  assert cap_strength == pytest.approx(0.5)
+  assert planner.mpc.captured_t_follow == t_follow
+  assert planner.output_a_target == pytest.approx(expected_adaptive_limit)
+  assert planner.output_a_target < open_road_limit
+
 
 def test_planner_publishes_the_follow_policy_used_by_mpc():
-  CP, CP_SP = _make_preap_params()
-  assert pedal_pipeline_enabled(CP, CP_SP)
-  params = _FollowParams(1)
-  planner = LongitudinalPlanner(CP, CP_SP, init_v=FOLLOW_TEST_SPEED_MPS, params=params)
-  planner.mpc = cast(Any, _ConstantAccelerationMpc(FOLLOW_TEST_SPEED_MPS, 0.0))
+  params = _MutablePlannerParams(nap_follow_dist=1)
+  planner = LongitudinalPlanner(_make_preap_params(), _cp_sp(), init_v=FOLLOW_TEST_SPEED_MPS, params=params)
   inputs = _make_planner_inputs(FOLLOW_TEST_SPEED_MPS)
+  publisher = _CapturingPubMaster()
+
   params.nap_follow_dist = 7
   planner._frame = 19
   planner.update(inputs)
-  assert planner.t_follow == pytest.approx(1.9)
-  assert planner.mpc.captured_t_follow == pytest.approx(1.9)
+  planner.publish(inputs, publisher)
+
+  plan = publisher.message.longitudinalPlan
+  assert plan.napFollowDistance == 7
+  assert plan.tFollow == pytest.approx(1.9)
+  assert planner.t_follow == 1.9
   assert np.all(planner.mpc.params[:, 4] == planner.t_follow)
+  assert plan.tFollow == pytest.approx(planner.t_follow, abs=1e-6)
 
 
 @pytest.mark.parametrize("nap_follow_dist", [-1, 0, 8])
-def test_invalid_nap_follow_setting_uses_personality(nap_follow_dist):
-  CP, CP_SP = _make_preap_params()
-  planner = LongitudinalPlanner(CP, CP_SP, init_v=FOLLOW_TEST_SPEED_MPS, params=_FollowParams(nap_follow_dist))
-  planner.mpc = cast(Any, _ConstantAccelerationMpc(FOLLOW_TEST_SPEED_MPS, 0.0))
+def test_invalid_nap_follow_setting_publishes_zero_and_uses_personality(nap_follow_dist):
+  params = _MutablePlannerParams(nap_follow_dist)
+  planner = LongitudinalPlanner(_make_preap_params(), _cp_sp(), init_v=FOLLOW_TEST_SPEED_MPS, params=params)
   inputs = _make_planner_inputs(FOLLOW_TEST_SPEED_MPS)
+  publisher = _CapturingPubMaster()
+
   planner.update(inputs)
+  planner.publish(inputs, publisher)
+
+  plan = publisher.message.longitudinalPlan
+  assert plan.napFollowDistance == 0
   assert planner.t_follow == get_T_FOLLOW(log.LongitudinalPersonality.standard)
-  assert planner.mpc.captured_t_follow == planner.t_follow
-
-
-def test_non_preap_planner_uses_personality():
-  CP = structs.CarParams()
-  CP.brand = "honda"
-  CP.carFingerprint = "HONDA_CIVIC"
-  CP.steerRatio = 15.75
-  CP.wheelbase = 2.959
-  CP_SP = structs.CarParamsSP()
-  planner = LongitudinalPlanner(CP, CP_SP, init_v=FOLLOW_TEST_SPEED_MPS)
-  planner.mpc = cast(Any, _ConstantAccelerationMpc(FOLLOW_TEST_SPEED_MPS, 0.0))
+  assert np.all(planner.mpc.params[:, 4] == planner.t_follow)
+  assert plan.tFollow == pytest.approx(planner.t_follow, abs=1e-6)
+
+
+def test_non_preap_planner_publishes_zero_and_uses_personality():
+  planner_params = _make_preap_params()
+  planner_params.brand = "honda"
+  planner_params.carFingerprint = "HONDA_CIVIC"
+  planner = LongitudinalPlanner(planner_params, _cp_sp(), init_v=FOLLOW_TEST_SPEED_MPS)
   inputs = _make_planner_inputs(FOLLOW_TEST_SPEED_MPS)
   inputs["selfdriveState"].personality = log.LongitudinalPersonality.relaxed
+  publisher = _CapturingPubMaster()
+
   planner.update(inputs)
-  assert not planner._pedal_preap
+  planner.publish(inputs, publisher)
+
+  plan = publisher.message.longitudinalPlan
+  assert plan.napFollowDistance == 0
   assert planner.t_follow == get_T_FOLLOW(log.LongitudinalPersonality.relaxed)
+  assert np.all(planner.mpc.params[:, 4] == planner.t_follow)
+  assert plan.tFollow == pytest.approx(planner.t_follow, abs=1e-6)
+
 
+def test_process_replay_ignores_additive_follow_policy_telemetry():
+  ignored_fields = get_process_config("plannerd").ignore
 
-def test_nap_follow_setting_map_is_strictly_monotonic():
-  actual_follow_times = [PREAP_T_FOLLOW[setting - 1] for setting in NAP_FOLLOW_SETTINGS]
+  assert "longitudinalPlan.napFollowDistance" in ignored_fields
+  assert "longitudinalPlan.tFollow" in ignored_fields
+
+
+def test_nap_follow_setting_map_and_physical_gaps_are_strictly_monotonic():
+  actual_follow_times = [get_T_FOLLOW(nap_follow_dist=setting) for setting in NAP_FOLLOW_SETTINGS]
   physical_gaps = [t_follow * FOLLOW_TEST_SPEED_MPS + STOP_DISTANCE_M for t_follow in actual_follow_times]
+
   assert actual_follow_times == list(NAP_FOLLOW_TIMES_S)
   assert np.all(np.diff(physical_gaps) > 0.0)
 
 
+def test_nap_follow_settings_control_monotonic_maneuver_gaps():
+  steady_gaps = [
+    run_following_distance_simulation(
+      FOLLOW_TEST_SPEED_MPS,
+      t_end=80.0,
+      nap_follow_dist=nap_follow_dist,
+    )
+    for nap_follow_dist in NAP_FOLLOW_SETTINGS
+  ]
+  expected_gaps = [
+    t_follow * FOLLOW_TEST_SPEED_MPS + STOP_DISTANCE_M
+    for t_follow in NAP_FOLLOW_TIMES_S
+  ]
+
+  assert steady_gaps == pytest.approx(expected_gaps, abs=0.5)
+  assert np.all(np.diff(steady_gaps) > 0.0)
+
+
+def test_max_follow_setting_recovers_from_a_close_lead_without_closing_first():
+  maneuver = Maneuver(
+    "max follow recovery",
+    duration=60.0,
+    initial_speed=FOLLOW_TEST_SPEED_MPS,
+    lead_relevancy=True,
+    initial_distance_lead=20.0,
+    speed_lead_values=[FOLLOW_TEST_SPEED_MPS],
+    breakpoints=[0.0],
+    e2e=False,
+    nap_follow_dist=7,
+  )
+
+  valid, output = maneuver.evaluate()
+  assert valid
+  assert np.min(output[:, 6]) >= 19.5
+  assert output[-1, 6] == pytest.approx(53.5, abs=0.5)
+  assert output[-1, 3] == pytest.approx(FOLLOW_TEST_SPEED_MPS, abs=0.1)
+
+
 def test_max_follow_full_closed_loop_recovers_gap_with_production_fallback(monkeypatch):
   samples, pedal_samples = _run_full_closed_loop_following(monkeypatch, nap_follow_dist=7)
   disabled_grade_samples, _ = _run_full_closed_loop_following(
@@ -383,7 +516,7 @@ def test_max_follow_full_closed_loop_recovers_gap_with_production_fallback(monke
   )
   elapsed_s, gaps_m, speeds_mps, accelerations_mps2, planner_targets_mps2, vdas_targets_mps2, _ = samples.T
   disabled_grade_speeds_mps = disabled_grade_samples[:, 2]
-  desired_gap_m = PREAP_T_FOLLOW[6] * FOLLOW_TEST_SPEED_MPS + STOP_DISTANCE_M
+  desired_gap_m = get_T_FOLLOW(nap_follow_dist=7) * FOLLOW_TEST_SPEED_MPS + STOP_DISTANCE_M
   recovery_window = (elapsed_s >= FULL_LOOP_RECOVERY_END_S - 5.0) & (elapsed_s < FULL_LOOP_RECOVERY_END_S)
   grade_window = elapsed_s >= FULL_LOOP_RECOVERY_END_S
   settled_rolling_window = elapsed_s >= FULL_LOOP_ROLLING_RAMP_END_S + FULL_LOOP_GRADE_SETTLING_S
@@ -424,7 +557,7 @@ def test_plant_aligned_full_closed_loop_grade_compensation_holds_speed(monkeypat
     plant_aligned_feedforward=True,
   )
   elapsed_s, gaps_m, speeds_mps, accelerations_mps2, _, vdas_targets_mps2, pitches_rad = samples.T
-  desired_gap_m = PREAP_T_FOLLOW[6] * FOLLOW_TEST_SPEED_MPS + STOP_DISTANCE_M
+  desired_gap_m = get_T_FOLLOW(nap_follow_dist=7) * FOLLOW_TEST_SPEED_MPS + STOP_DISTANCE_M
   uphill_window = (
     (elapsed_s >= FULL_LOOP_UPHILL_RAMP_END_S + FULL_LOOP_GRADE_SETTLING_S)
     & (elapsed_s < FULL_LOOP_UPHILL_HOLD_END_S)
diff --git a/openpilot/selfdrive/controls/tests/test_tesla_preap_longcontrol.py b/openpilot/selfdrive/controls/tests/test_tesla_preap_longcontrol.py
new file mode 100644
index 00000000000000..7b187a2a3f0c36
--- /dev/null
+++ b/openpilot/selfdrive/controls/tests/test_tesla_preap_longcontrol.py
@@ -0,0 +1,254 @@
+"""Pre-AP planner-target contracts at the LongControl output seam."""
+
+from dataclasses import dataclass
+from types import SimpleNamespace
+
+from opendbc.car.structs import car
+from opendbc.car import structs
+from opendbc.car.tesla.preap.constants import (
+  PEDAL_LONG_K_BP,
+  PEDAL_LONG_KI_V,
+  PEDAL_LONG_KP_V,
+  VDAS_ACCEL_JERK_MAX,
+  VDAS_DECEL_JERK_MAX,
+)
+from opendbc.car.tesla.preap.nap_conf import PEDAL_MAX_VALUES
+from opendbc.car.tesla.preap.virtual_das import VirtualDAS
+from opendbc.car.tesla.preap import virtual_das
+
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.controls.lib.longcontrol import LongControl
+
+
+ACCEL_LIMITS_MPS2 = (-1.5, 0.8)
+PASSTHROUGH_TOLERANCE_MPS2 = 1e-9
+VDAS_DT_S = 0.02
+PEDAL_PLANT_DELAY_S = 0.40
+PEDAL_PLANT_TAU_S = 0.25
+PEDAL_PLANT_ACCEL_PER_DI_MPS2 = 0.063
+SETTLED_REGEN_WINDOW_S = 1.0
+
+
+@dataclass(frozen=True)
+class _TracePhase:
+  duration_s: float
+  planner_target_end_mps2: float
+  road_load_end_mps2: float
+
+
+def _make_preap_params():
+  params = car.CarParams.new_message()
+  params.brand = "tesla"
+  params.carFingerprint = "TESLA_MODEL_S_PREAP"
+  params.openpilotLongitudinalControl = True
+  params.pcmCruise = False
+  params.longitudinalTuning.kpBP = PEDAL_LONG_K_BP
+  params.longitudinalTuning.kpV = PEDAL_LONG_KP_V
+  params.longitudinalTuning.kiBP = PEDAL_LONG_K_BP
+  params.longitudinalTuning.kiV = PEDAL_LONG_KI_V
+  try:
+    params.longitudinalTuning.kf = 1.0
+  except AttributeError:
+    pass
+  try:
+    params.vEgoStarting = 0.1
+  except AttributeError:
+    pass
+  return params, structs.CarParamsSP()
+
+
+def _make_car_state(speed_mps):
+  state = car.CarState.new_message()
+  state.vEgo = speed_mps
+  state.brakePressed = False
+  state.cruiseState.standstill = False
+  return state
+
+
+def _run_continuous_trace(long_control, state, phases):
+  planner_target_mps2 = 0.0
+  road_load_mps2 = 0.0
+  planner_targets_mps2 = []
+  vdas_commands_mps2 = []
+
+  for phase in phases:
+    frame_count = round(phase.duration_s / DT_CTRL)
+    phase_start_target_mps2 = planner_target_mps2
+    phase_start_road_load_mps2 = road_load_mps2
+    planner_jerk_mps3 = (
+      (phase.planner_target_end_mps2 - phase_start_target_mps2) / (frame_count * DT_CTRL)
+    )
+    assert -VDAS_DECEL_JERK_MAX <= planner_jerk_mps3 <= VDAS_ACCEL_JERK_MAX, (
+      f"planner trace jerk {planner_jerk_mps3:.3f} m/s^3 exceeds VDAS command bounds"
+    )
+
+    for frame_index in range(1, frame_count + 1):
+      phase_fraction = frame_index / frame_count
+      planner_target_mps2 = phase_start_target_mps2 + (
+        phase.planner_target_end_mps2 - phase_start_target_mps2
+      ) * phase_fraction
+      road_load_mps2 = phase_start_road_load_mps2 + (
+        phase.road_load_end_mps2 - phase_start_road_load_mps2
+      ) * phase_fraction
+      state.aEgo = planner_target_mps2 - road_load_mps2
+
+      vdas_command_mps2 = long_control.update(
+        active=True,
+        CS=state,
+        a_target=planner_target_mps2,
+        should_stop=False,
+        accel_limits=ACCEL_LIMITS_MPS2,
+      )
+      planner_targets_mps2.append(planner_target_mps2)
+      vdas_commands_mps2.append(vdas_command_mps2)
+
+      state.vEgo += state.aEgo * DT_CTRL
+
+  return planner_targets_mps2, vdas_commands_mps2
+
+
+def _run_continuous_trace_through_pedal(long_control, vdas, state, phases, coast_pedal_di):
+  planner_target_mps2 = 0.0
+  road_load_mps2 = 0.0
+  pedal_di = coast_pedal_di
+  delayed_pedal_di = [coast_pedal_di] * round(PEDAL_PLANT_DELAY_S / VDAS_DT_S)
+  plant_alpha = VDAS_DT_S / (PEDAL_PLANT_TAU_S + VDAS_DT_S)
+  pedal_samples = []
+  control_frame = 0
+
+  for phase in phases:
+    frame_count = round(phase.duration_s / DT_CTRL)
+    phase_start_target_mps2 = planner_target_mps2
+    phase_start_road_load_mps2 = road_load_mps2
+    planner_jerk_mps3 = (
+      (phase.planner_target_end_mps2 - phase_start_target_mps2) / (frame_count * DT_CTRL)
+    )
+    assert -VDAS_DECEL_JERK_MAX <= planner_jerk_mps3 <= VDAS_ACCEL_JERK_MAX, (
+      f"planner trace jerk {planner_jerk_mps3:.3f} m/s^3 exceeds VDAS command bounds"
+    )
+
+    for frame_index in range(1, frame_count + 1):
+      phase_fraction = frame_index / frame_count
+      planner_target_mps2 = phase_start_target_mps2 + (
+        phase.planner_target_end_mps2 - phase_start_target_mps2
+      ) * phase_fraction
+      road_load_mps2 = phase_start_road_load_mps2 + (
+        phase.road_load_end_mps2 - phase_start_road_load_mps2
+      ) * phase_fraction
+
+      vdas_command_mps2 = long_control.update(
+        active=True,
+        CS=state,
+        a_target=planner_target_mps2,
+        should_stop=False,
+        accel_limits=ACCEL_LIMITS_MPS2,
+      )
+      if control_frame % round(VDAS_DT_S / DT_CTRL) == 0:
+        pedal_di = vdas.update(
+          vdas_command_mps2,
+          v_ego=state.vEgo,
+          prev_pedal_di=pedal_di,
+          a_ego=state.aEgo,
+          freeze_integrator=False,
+          orientation_ned=[0.0, 0.0, 0.0],
+        )
+        applied_pedal_di = delayed_pedal_di.pop(0)
+        delayed_pedal_di.append(pedal_di)
+        plant_target_accel_mps2 = (
+          (applied_pedal_di - coast_pedal_di) * PEDAL_PLANT_ACCEL_PER_DI_MPS2
+          - road_load_mps2
+        )
+        state.aEgo += plant_alpha * (plant_target_accel_mps2 - state.aEgo)
+        pedal_samples.append((planner_target_mps2, pedal_di))
+
+      state.vEgo = max(0.0, state.vEgo + state.aEgo * DT_CTRL)
+      control_frame += 1
+
+  return pedal_samples
+
+
+def test_road_load_history_cannot_reverse_finite_jerk_negative_planner_target():
+  long_control = LongControl(*_make_preap_params())
+  state = _make_car_state(speed_mps=25.0)
+  phases = (
+    _TracePhase(duration_s=0.5, planner_target_end_mps2=0.35, road_load_end_mps2=0.55),
+    _TracePhase(duration_s=4.0, planner_target_end_mps2=0.35, road_load_end_mps2=0.55),
+    _TracePhase(duration_s=0.4, planner_target_end_mps2=-0.25, road_load_end_mps2=0.55),
+  )
+
+  planner_targets_mps2, vdas_commands_mps2 = _run_continuous_trace(long_control, state, phases)
+  final_planner_target_mps2 = planner_targets_mps2[-1]
+  final_vdas_command_mps2 = vdas_commands_mps2[-1]
+
+  failure_message = (
+    f"planner reached {final_planner_target_mps2:.3f} m/s^2 through a finite-jerk transition after road load, "
+    + f"but VDAS received a positive {final_vdas_command_mps2:.3f} m/s^2 command"
+  )
+  assert final_vdas_command_mps2 <= 0.0, failure_message
+
+
+def test_vdas_receives_route_shaped_planner_target_trace_unchanged():
+  long_control = LongControl(*_make_preap_params())
+  state = _make_car_state(speed_mps=22.0)
+  route_phases = (
+    _TracePhase(duration_s=1.0, planner_target_end_mps2=0.40, road_load_end_mps2=0.20),
+    _TracePhase(duration_s=4.0, planner_target_end_mps2=0.40, road_load_end_mps2=0.50),
+    _TracePhase(duration_s=1.0, planner_target_end_mps2=0.00, road_load_end_mps2=0.20),
+    _TracePhase(duration_s=1.0, planner_target_end_mps2=-0.30, road_load_end_mps2=-0.10),
+    _TracePhase(duration_s=2.0, planner_target_end_mps2=-0.10, road_load_end_mps2=-0.20),
+    _TracePhase(duration_s=1.0, planner_target_end_mps2=0.30, road_load_end_mps2=0.00),
+    _TracePhase(duration_s=3.0, planner_target_end_mps2=0.30, road_load_end_mps2=0.45),
+  )
+
+  planner_targets_mps2, vdas_commands_mps2 = _run_continuous_trace(long_control, state, route_phases)
+  command_target_deltas_mps2 = [
+    abs(command_mps2 - target_mps2)
+    for target_mps2, command_mps2 in zip(planner_targets_mps2, vdas_commands_mps2, strict=True)
+  ]
+  worst_sample_index = max(range(len(command_target_deltas_mps2)), key=command_target_deltas_mps2.__getitem__)
+  max_command_target_delta_mps2 = command_target_deltas_mps2[worst_sample_index]
+  planner_target_mps2 = planner_targets_mps2[worst_sample_index]
+  vdas_command_mps2 = vdas_commands_mps2[worst_sample_index]
+
+  failure_message = (
+    f"LongControl changed in-range planner target {planner_target_mps2:.6f} m/s^2 "
+    + f"to {vdas_command_mps2:.6f} m/s^2 before VDAS at trace sample {worst_sample_index}; "
+    + f"delta {max_command_target_delta_mps2:.6f} m/s^2"
+  )
+  assert max_command_target_delta_mps2 <= PASSTHROUGH_TOLERANCE_MPS2, failure_message
+
+
+def test_negative_planner_target_reaches_regen_side_of_coast_anchor(monkeypatch):
+  coast_pedal_di = 3.0
+  zero_torque = SimpleNamespace(get=lambda _v_ego: coast_pedal_di)
+  controller_conf = SimpleNamespace(get_pedal_profile_values=lambda: PEDAL_MAX_VALUES)
+  monkeypatch.setattr(virtual_das, "get_zero_torque", lambda: zero_torque)
+  monkeypatch.setattr(virtual_das, "nap_conf", controller_conf)
+
+  long_control = LongControl(*_make_preap_params())
+  vdas = VirtualDAS(dt=VDAS_DT_S)
+  state = _make_car_state(speed_mps=25.0)
+  phases = (
+    _TracePhase(duration_s=0.5, planner_target_end_mps2=0.0, road_load_end_mps2=0.443),
+    _TracePhase(duration_s=12.0, planner_target_end_mps2=0.0, road_load_end_mps2=0.443),
+    _TracePhase(duration_s=0.8, planner_target_end_mps2=-0.20, road_load_end_mps2=0.20),
+    _TracePhase(duration_s=1.0, planner_target_end_mps2=-0.20, road_load_end_mps2=0.20),
+  )
+  vdas.reset(measured_accel=0.0, commanded_accel=0.0, pedal_di_init=coast_pedal_di)
+
+  pedal_samples = _run_continuous_trace_through_pedal(
+    long_control,
+    vdas,
+    state,
+    phases,
+    coast_pedal_di,
+  )
+  settled_sample_count = round(SETTLED_REGEN_WINDOW_S / VDAS_DT_S)
+  settled_pedal_samples = pedal_samples[-settled_sample_count:]
+
+  assert all(target_mps2 <= -0.15 for target_mps2, _pedal_di in settled_pedal_samples)
+  maximum_settled_pedal_di = max(pedal_di for _target_mps2, pedal_di in settled_pedal_samples)
+  assert maximum_settled_pedal_di <= coast_pedal_di - 0.05, (
+    f"settled negative planner window reached {max(pedal_di for _, pedal_di in settled_pedal_samples):.3f} DI, "
+    + f"without moving meaningfully below the {coast_pedal_di:.3f} DI coast anchor"
+  )
diff --git a/openpilot/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py
index 5dc871211234d2..81e660b0b781d4 100755
--- a/openpilot/selfdrive/modeld/modeld.py
+++ b/openpilot/selfdrive/modeld/modeld.py
@@ -213,7 +213,7 @@ def main(demo=False):
   long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
   prev_action = log.ModelDataV2.Action()
 
-  DH = DesireHelper()
+  DH = DesireHelper(CP)
   RELC = RoadEdgeLaneChangeController()
 
   while True:
@@ -319,6 +319,8 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      modelv2_send.modelV2.meta.laneChangeSignalsRemaining = DH.signals_remaining
+      modelv2_send.modelV2.meta.laneChangeRemaining = DH.lane_changes_remaining
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
 
       fill_driving_model_data(drivingdata_send, modelv2_send)
diff --git a/openpilot/selfdrive/selfdrived/events.py b/openpilot/selfdrive/selfdrived/events.py
index 22064715cf3c14..4716495feefe2b 100755
--- a/openpilot/selfdrive/selfdrived/events.py
+++ b/openpilot/selfdrive/selfdrived/events.py
@@ -223,6 +223,29 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
   return NormalPermanentAlert("Invalid LKAS setting", text)
 
 
+def _is_tesla_preap(CP: car.CarParams) -> bool:
+  return CP.brand == "tesla" and CP.carFingerprint == "TESLA_MODEL_S_PREAP"
+
+
+def pcm_enable_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  if _is_tesla_preap(CP):
+    return Alert(
+      "Steering Engaged",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.MID, VisualAlert.none, AudibleAlert.engage, 0.8)
+  return EngagementAlert(AudibleAlert.engage)
+
+
+def pcm_disable_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  if _is_tesla_preap(CP):
+    return Alert(
+      "Steering Disengaged",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.MID, VisualAlert.none, AudibleAlert.disengage, 0.8)
+  return EngagementAlert(AudibleAlert.disengage)
+
 
 EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # ********** events with no alerts **********
@@ -507,7 +530,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
   # ********** events that affect controls state transitions **********
 
   EventName.pcmEnable: {
-    ET.ENABLE: EngagementAlert(AudibleAlert.engage),
+    ET.ENABLE: pcm_enable_alert,
   },
 
   EventName.buttonEnable: {
@@ -515,7 +538,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
   },
 
   EventName.pcmDisable: {
-    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+    ET.USER_DISABLE: pcm_disable_alert,
   },
 
   EventName.buttonCancel: {
@@ -654,6 +677,11 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
     ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"),
   },
 
+  EventName.pedalNotCalibrated: {
+    ET.PERMANENT: NormalPermanentAlert("Pedal Not Calibrated", "Check Calibration"),
+    ET.NO_ENTRY: NoEntryAlert("Pedal Not Calibrated: Check Calibration"),
+  },
+
   EventName.calibrationRecalibrating: {
     ET.PERMANENT: calibration_incomplete_alert,
     ET.SOFT_DISABLE: soft_disable_alert("Device Remount Detected: Recalibrating"),
@@ -854,6 +882,58 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
     ET.WARNING: personality_changed_alert,
   },
 
+  EventName.pedalCruiseEnabled: {
+    ET.PERMANENT: Alert(
+      "Pedal Cruise Engaged",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.HIGH, VisualAlert.none, AudibleAlert.engage, 0.8),
+  },
+
+  EventName.pedalCruiseDisabled: {
+    ET.PERMANENT: Alert(
+      "Pedal Cruise Disengaged",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.HIGH, VisualAlert.none, AudibleAlert.disengage, 0.8),
+  },
+
+  EventName.pedalMaxRegen: {
+    ET.WARNING: Alert(
+      "Regen Limit Reached",
+      "Press Brake to Slow Down",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.HIGH, VisualAlert.brakePressed, AudibleAlert.promptRepeat, .2),
+  },
+
+  EventName.teslaCCEngaged: {
+    ET.PERMANENT: Alert(
+      "Tesla Cruise Engaged",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.HIGH, VisualAlert.none, AudibleAlert.engage, 0.8),
+  },
+
+  EventName.teslaCCDisengaged: {
+    ET.PERMANENT: Alert(
+      "Tesla Cruise Disengaged",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.HIGH, VisualAlert.none, AudibleAlert.disengage, 0.8),
+  },
+
+  EventName.teslaCCNotArmed: {
+    ET.PERMANENT: NormalPermanentAlert("Arm Stock Cruise to Enable Speed Control"),
+  },
+
+  EventName.pedalUnavailable: {
+    ET.WARNING: Alert(
+      "Pedal Control Unavailable",
+      "Speed Control Disabled",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.HIGH, VisualAlert.none, AudibleAlert.disengage, 3.0),
+  },
+
   EventName.userBookmark: {
     ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", duration=1.5),
   },
@@ -959,6 +1039,3 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
     for p, alert_list in evs:
       print(f"  {repr(p)}:")
       print("   ", ', '.join(alert_list), "\n")
-
-# Pedal regen under-delivery alert. EventNameSP.pedalMaxRegen is registered at selfdrived start.
-from openpilot.selfdrive.selfdrived.preap_regen import PREAP_REGEN_ALERT  # noqa: F401
diff --git a/openpilot/selfdrive/selfdrived/preap_regen.py b/openpilot/selfdrive/selfdrived/preap_regen.py
index 93211d6c67fd90..44b2345018f22e 100644
--- a/openpilot/selfdrive/selfdrived/preap_regen.py
+++ b/openpilot/selfdrive/selfdrived/preap_regen.py
@@ -1,43 +1,28 @@
-"""Pre-AP pedal-long regen demand check.
+"""Pre-AP pedal-long helpers used by selfdrived.
 
-The planner's deceleration request is clamped to the regen envelope
-before the car ever sees it, so a demand the envelope cannot cover is
-invisible to the pedal controller. This check reads the unclamped plan
-and prompts the driver to add friction brake when the demand sits
-meaningfully below the envelope floor. CarStateSP.pedalMaxRegen covers
-the other failure shape: a request inside the envelope that weak
-battery regen fails to deliver.
+RegenDemandCheck reads the unclamped plan and prompts when planned
+deceleration sits below the regen envelope floor. The carstate
+pedalMaxRegen flag covers the other failure shape: a request inside the
+envelope that weak battery regen fails to deliver.
 
 update_preap_chimes edge-detects lat and long engage/disengage. Long
-follows FSM intent (enableLongControl), not interceptor handshake and
-not gas override. enableLongControl stays true while the driver is on
-the pedal, so press and release are silent.
+follows FSM intent (enableLongControl), not interceptor handshake, so a
+stalk engage chimes immediately. Gas override is not an engagement edge:
+enableLongControl stays true while the driver is on the pedal, so press
+and release are silent.
 """
 import math
 from typing import NamedTuple
 
 from openpilot.common.realtime import DT_CTRL
-from opendbc.car.tesla.preap.constants import get_preap_accel_limits
-from openpilot.cereal import custom, log
-from opendbc.car.structs import car
-from openpilot.sunnypilot.selfdrive.selfdrived.events_base import Alert, ET, Priority
-from openpilot.sunnypilot.selfdrive.selfdrived.preap_alerts import (
-  ALERT_PEDAL_UNAVAILABLE,
-  ALERT_PEDAL_UNAVAILABLE_SUB,
-  ALERT_REGEN,
-  ALERT_REGEN_SUB,
-)
-
-AlertSize = log.SelfdriveState.AlertSize
-AlertStatus = log.SelfdriveState.AlertStatus
-VisualAlert = car.CarControl.HUDControl.VisualAlert
-AudibleAlert = log.SelfdriveState.AudibleAlert
-EventNameSP = custom.OnroadEventSP.EventName
+from opendbc.car.tesla.preap.interface import get_preap_accel_limits
 
+# Evidence accumulates in a saturating up/down counter so a single MPC sample
+# cannot flash a driver prompt, while brief dropouts do not restart the clock.
 REGEN_DEMAND_EVIDENCE_COUNT = int(0.3 / DT_CTRL)
 REGEN_DEMAND_TRIGGER_MARGIN = 0.2  # m/s² below the envelope floor
 REGEN_DEMAND_CLEAR_MARGIN = 0.05  # m/s²
-REGEN_DEMAND_MIN_SPEED = 2.0  # m/s
+REGEN_DEMAND_MIN_SPEED = 2.0  # m/s; do not prompt for a stopped/settling car
 REGEN_DEMAND_CLEAR_SPEED = 1.0  # m/s
 
 
@@ -76,9 +61,9 @@ def reset(self):
     self.active = False
     self.evidence_updates = 0
 
-  def update(self, *, plan_valid: bool, pedal_long_active: bool, brake_pressed: bool,
+  def update(self, *, pedal_long_active: bool, brake_pressed: bool,
              a_target: float, v_ego: float) -> bool:
-    if not plan_valid or not pedal_long_active or brake_pressed or not math.isfinite(a_target):
+    if not pedal_long_active or brake_pressed or not math.isfinite(a_target):
       self.reset()
       return False
 
@@ -103,41 +88,3 @@ def update(self, *, plan_valid: bool, pedal_long_active: bool, brake_pressed: bo
       self.evidence_updates = max(self.evidence_updates - 1, 0)
     self.active = self.evidence_updates >= REGEN_DEMAND_EVIDENCE_COUNT
     return self.active
-
-
-PREAP_REGEN_ALERT = Alert(
-  ALERT_REGEN,
-  ALERT_REGEN_SUB,
-  AlertStatus.userPrompt, AlertSize.mid,
-  Priority.HIGH, VisualAlert.brakePressed, AudibleAlert.prompt, .2,
-)
-
-PREAP_PEDAL_CRUISE_ENABLED_ALERT = Alert(
-  "Pedal Cruise Engaged",
-  "",
-  AlertStatus.normal, AlertSize.small,
-  Priority.HIGH, VisualAlert.none, AudibleAlert.engage, 0.8,
-)
-
-PREAP_PEDAL_CRUISE_DISABLED_ALERT = Alert(
-  "Pedal Cruise Disengaged",
-  "",
-  AlertStatus.normal, AlertSize.small,
-  Priority.HIGH, VisualAlert.none, AudibleAlert.disengage, 0.8,
-)
-
-PREAP_PEDAL_UNAVAILABLE_ALERT = Alert(
-  ALERT_PEDAL_UNAVAILABLE,
-  ALERT_PEDAL_UNAVAILABLE_SUB,
-  AlertStatus.userPrompt, AlertSize.mid,
-  Priority.HIGH, VisualAlert.none, AudibleAlert.warningImmediate, 4.,
-)
-
-
-def register_preap_regen_alerts() -> None:
-  from openpilot.sunnypilot.selfdrive.selfdrived.events import EVENTS_SP
-  EVENTS_SP.setdefault(EventNameSP.pedalMaxRegen, {ET.WARNING: PREAP_REGEN_ALERT})
-  # ET.PERMANENT so the disengage prompt still plays on the USER_DISABLE frame.
-  EVENTS_SP[EventNameSP.pedalCruiseEnabled] = {ET.PERMANENT: PREAP_PEDAL_CRUISE_ENABLED_ALERT}
-  EVENTS_SP[EventNameSP.pedalCruiseDisabled] = {ET.PERMANENT: PREAP_PEDAL_CRUISE_DISABLED_ALERT}
-  EVENTS_SP.setdefault(EventNameSP.pedalUnavailable, {ET.WARNING: PREAP_PEDAL_UNAVAILABLE_ALERT})
diff --git a/openpilot/selfdrive/selfdrived/selfdrived.py b/openpilot/selfdrive/selfdrived/selfdrived.py
index d26783d7b1a482..291edb5ce28f17 100755
--- a/openpilot/selfdrive/selfdrived/selfdrived.py
+++ b/openpilot/selfdrive/selfdrived/selfdrived.py
@@ -19,6 +19,7 @@
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 from openpilot.selfdrive.selfdrived.events import Events, ET
 from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck
+from openpilot.selfdrive.selfdrived.preap_regen import PreAPChimeState, RegenDemandCheck, update_preap_chimes
 from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
 
@@ -32,11 +33,8 @@
 from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
 from openpilot.sunnypilot.selfdrive.selfdrived.button_state_tracker import ButtonStateTracker
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
-from openpilot.selfdrive.selfdrived.preap_regen import (
-  PreAPChimeState, RegenDemandCheck, register_preap_regen_alerts, update_preap_chimes,
-)
 from openpilot.sunnypilot.selfdrive.selfdrived.preap_alerts import radar_state_has_fault
-from opendbc.car.tesla.preap.boot import pedal_pipeline_enabled, preap_radar_present
+from opendbc.car.tesla.preap.sp.platform import preap_radar_present
 
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
@@ -108,7 +106,8 @@ def __init__(self, CP=None, CP_SP=None):
       ignore += ['driverCameraState', 'managerState']
     if REPLAY:
       # no vipc in replay will make them ignored anyways
-      ignore += ['roadCameraState', 'wideRoadCameraState']
+      # sanitized fixtures omit driverCameraState/managerState; ignore them in replay
+      ignore += ['roadCameraState', 'wideRoadCameraState', 'driverCameraState', 'managerState']
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
@@ -159,6 +158,8 @@ def __init__(self, CP=None, CP_SP=None):
     self.dm_uncertain_alerted = False
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)
+    self.prev_preap_chimes = PreAPChimeState()
+    self.preap_regen_demand = RegenDemandCheck()
 
     self.ignored_processes = {'mapd', }
 
@@ -180,18 +181,14 @@ def __init__(self, CP=None, CP_SP=None):
     elif self.CP.passive:
       self.events.add(EventName.dashcamMode, static=True)
 
-    register_preap_regen_alerts()
     self.events_sp = EventsSP()
     self.events_sp_prev = []
-    self._pedal_preap = pedal_pipeline_enabled(self.CP, self.CP_SP)
-    self._preap_radar_present = preap_radar_present(self.CP, self.CP_SP)
-    self.preap_regen_demand = RegenDemandCheck()
-    self.prev_preap_chimes = PreAPChimeState()
 
     self.mads = ModularAssistiveDrivingSystem(self)
     self.icbm = IntelligentCruiseButtonManagement(self.CP, self.CP_SP)
 
     self.car_events_sp = CarSpecificEventsSP(self.CP, self.CP_SP)
+    self._preap_radar_present = preap_radar_present(self.CP, self.CP_SP)
 
     CruiseHelper.__init__(self, self.CP)
     self.button_state_tracker = ButtonStateTracker()
@@ -270,14 +267,46 @@ def update_events(self, CS):
       car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg()
       self.events.add_from_msg(car_events)
 
-      radar_fault = False
-      if self.sm.valid.get('radarState', False) if hasattr(self.sm, 'valid') else self.sm.seen.get('radarState', False):
-        radar_fault = radar_state_has_fault(self.sm['radarState'])
+      radar_fault = radar_state_has_fault(self.sm['radarState']) if self._preap_radar_present else False
       car_events_sp = self.car_events_sp.update(
-        CS, self.events, self.CS_SP if self.cs_sp_fresh else None, radar_fault=radar_fault,
+        CS, self.events, self.CS_SP if self.cs_sp_fresh else None,
+        radar_fault=radar_fault,
       ).to_msg()
       self.events_sp.add_from_msg(car_events_sp)
 
+      # Tesla Pre-AP lat/long engage and disengage prompts. Long follows
+      # enableLongControl (stalk/brake intent), not interceptor handshake
+      # and not gas override. Override keeps enableLongControl true.
+      if (self.CP.brand == "tesla"
+          and self.CP.carFingerprint == "TESLA_MODEL_S_PREAP"
+          and self.CP.openpilotLongitudinalControl
+          and not self.CP.pcmCruise):
+        pedal_long_active = bool(CS.cruiseState.enabled and getattr(CS, 'pedalLongActive', False))
+        chimes, self.prev_preap_chimes = update_preap_chimes(
+          lat_engaged=bool(CS.cruiseState.enabled),
+          long_engaged=bool(getattr(CS, 'enableLongControl', False)),
+          prev=self.prev_preap_chimes,
+        )
+        if chimes.long_engage:
+          self.events.add(EventName.pedalCruiseEnabled)
+        elif chimes.long_disengage:
+          self.events.add(EventName.pedalCruiseDisabled)
+
+        # Two shapes of "regen is not enough, add friction brake": the carstate
+        # flag covers weak regen under-delivering an in-envelope request; the
+        # demand check covers a planned deceleration the envelope cannot cover,
+        # which the clamped actuator request hides from the car entirely.
+        regen_demand_overflow = self.preap_regen_demand.update(
+          pedal_long_active=pedal_long_active,
+          brake_pressed=CS.brakePressed,
+          a_target=float(self.sm['longitudinalPlan'].aTarget),
+          v_ego=CS.vEgo,
+        )
+        if getattr(CS, 'pedalMaxRegen', False) or regen_demand_overflow:
+          self.events.add(EventName.pedalMaxRegen)
+      else:
+        self.prev_preap_chimes = PreAPChimeState()
+
       if self.CP.notCar:
         # wait for everything to init first
         if self.sm.frame > int(2. / DT_CTRL) and self.initialized:
@@ -290,36 +319,6 @@ def update_events(self, CS):
         (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
         self.events.add(EventName.pedalPressed)
 
-      if self._pedal_preap:
-        EventNameSP = custom.OnroadEventSP.EventName
-        pedal_long_active = bool(self.cs_sp_fresh and getattr(self.CS_SP, "pedalLongActive", False))
-        # Tesla Pre-AP lat/long engage and disengage prompts. Long follows
-        # enableLongControl (stalk/brake intent), not interceptor handshake
-        # and not gas override. Override keeps enableLongControl true.
-        # Lat chimes stay on native MADS lkasEnable/lkasDisable.
-        if self.cs_sp_fresh:
-          chimes, self.prev_preap_chimes = update_preap_chimes(
-            lat_engaged=bool(self.mads.enabled),
-            long_engaged=bool(getattr(self.CS_SP, "enableLongControl", False)),
-            prev=self.prev_preap_chimes,
-          )
-          if chimes.long_engage:
-            self.events_sp.add(EventNameSP.pedalCruiseEnabled)
-          elif chimes.long_disengage:
-            self.events_sp.add(EventNameSP.pedalCruiseDisabled)
-        regen_demand_overflow = self.preap_regen_demand.update(
-          plan_valid=self.sm.valid['longitudinalPlan'],
-          pedal_long_active=pedal_long_active,
-          brake_pressed=CS.brakePressed,
-          a_target=float(self.sm['longitudinalPlan'].aTarget),
-          v_ego=CS.vEgo,
-        )
-        if (self.cs_sp_fresh and bool(getattr(self.CS_SP, "pedalMaxRegen", False))) or regen_demand_overflow:
-          self.events_sp.add(EventNameSP.pedalMaxRegen)
-        # Authority-loss and calibration/radar health are owned by CarSpecificEventsSP.
-      else:
-        self.prev_preap_chimes = PreAPChimeState()
-
     # Create events for temperature, disk space, and memory
     if self.sm['deviceState'].thermalStatus >= ThermalStatus.overheated:
       self.events.add(EventName.overheat)
@@ -489,8 +488,13 @@ def update_events(self, CS):
       self.events.add(EventName.sensorDataInvalid)
 
     if not REPLAY:
-      # Check for mismatch between openpilot and car's PCM
-      cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
+      # Check for mismatch between openpilot and car's PCM.
+      # Pre-AP Tesla manages cruiseState.enabled via software FSM (not hardware PCM),
+      # so treat it the same as pcmCruise for this check.
+      preap_sw_cruise = (self.CP.brand == "tesla" and self.CP.carFingerprint == "TESLA_MODEL_S_PREAP"
+                         and self.CP.openpilotLongitudinalControl and not self.CP.pcmCruise)
+      effective_pcm_cruise = self.CP.pcmCruise or preap_sw_cruise
+      cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not effective_pcm_cruise)
       self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0
       if self.cruise_mismatch_counter > int(6. / DT_CTRL):
         self.events.add(EventName.cruiseMismatch)
diff --git a/openpilot/selfdrive/selfdrived/tests/test_alertmanager.py b/openpilot/selfdrive/selfdrived/tests/test_alertmanager.py
index 8f7c79878c76a6..d4df0222d38a15 100644
--- a/openpilot/selfdrive/selfdrived/tests/test_alertmanager.py
+++ b/openpilot/selfdrive/selfdrived/tests/test_alertmanager.py
@@ -1,3 +1,4 @@
+import copy
 import random
 
 from openpilot.selfdrive.selfdrived.events import Alert, EVENTS
@@ -18,6 +19,7 @@ def test_duration(self):
         event = random.choice([e for e in EVENTS.values() if len(e)])
         alert = random.choice(list(event.values()))
 
+      alert = copy.copy(alert)
       alert.duration = duration
 
       # check two cases:
diff --git a/openpilot/selfdrive/selfdrived/tests/test_alerts.py b/openpilot/selfdrive/selfdrived/tests/test_alerts.py
index 0210c138da6c85..816b55dd48b1d8 100644
--- a/openpilot/selfdrive/selfdrived/tests/test_alerts.py
+++ b/openpilot/selfdrive/selfdrived/tests/test_alerts.py
@@ -9,7 +9,8 @@
 from openpilot.cereal.messaging import SubMaster
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.selfdrive.selfdrived.events import Alert, EVENTS, ET
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.selfdrived.events import Alert, EVENTS, ET, AudibleAlert
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS
 
@@ -105,6 +106,61 @@ def test_alert_sanity_check(self):
         if event_type not in (ET.WARNING, ET.PERMANENT, ET.PRE_ENABLE):
           assert a.creation_delay == 0.
 
+  def test_preap_regen_alert_tells_driver_to_brake(self):
+    alert = EVENTS[log.OnroadEvent.EventName.pedalMaxRegen][ET.WARNING]
+
+    assert alert.alert_text_1 == "Regen Limit Reached"
+    assert alert.alert_text_2 == "Press Brake to Slow Down"
+    assert alert.alert_size == AlertSize.mid
+    assert alert.visual_alert == car.CarControl.HUDControl.VisualAlert.brakePressed
+    assert alert.audible_alert == AudibleAlert.promptRepeat
+    assert alert.duration == int(0.2 / DT_CTRL)
+
+  def test_preap_pedal_cruise_alerts_fire_while_disabled(self):
+    # ET.WARNING is omitted on the USER_DISABLE frame, so these must be
+    # permanent to play the disengage prompt on stalk cancel.
+    for name, text, sound in (
+      (log.OnroadEvent.EventName.pedalCruiseEnabled, "Pedal Cruise Engaged", AudibleAlert.engage),
+      (log.OnroadEvent.EventName.pedalCruiseDisabled, "Pedal Cruise Disengaged", AudibleAlert.disengage),
+    ):
+      event_types = EVENTS[name]
+      assert set(event_types) == {ET.PERMANENT}
+      alert = event_types[ET.PERMANENT]
+      assert alert.alert_text_1 == text
+      assert alert.audible_alert == sound
+      assert alert.duration == int(0.8 / DT_CTRL)
+
+  def test_preap_pcm_alerts_show_steering_prompt(self):
+    from openpilot.selfdrive.selfdrived.events import pcm_disable_alert, pcm_enable_alert
+
+    cp = car.CarParams.new_message()
+    cp.brand = "tesla"
+    cp.carFingerprint = "TESLA_MODEL_S_PREAP"
+    args = (cp, self.CS, self.sm, False, 100, log.LongitudinalPersonality.standard)
+
+    enable = pcm_enable_alert(*args)
+    assert enable.alert_text_1 == "Steering Engaged"
+    assert enable.audible_alert == AudibleAlert.engage
+
+    disable = pcm_disable_alert(*args)
+    assert disable.alert_text_1 == "Steering Disengaged"
+    assert disable.audible_alert == AudibleAlert.disengage
+
+    stock = car.CarParams.new_message()
+    stock_enable = pcm_enable_alert(stock, *args[1:])
+    assert stock_enable.alert_text_1 == ""
+    assert stock_enable.audible_alert == AudibleAlert.engage
+
+  def test_preap_pedal_unavailable_alert_is_visible_without_disabling_lateral(self):
+    event_types = EVENTS[log.OnroadEvent.EventName.pedalUnavailable]
+    alert = event_types[ET.WARNING]
+
+    assert set(event_types) == {ET.WARNING}
+    assert alert.alert_text_1 == "Pedal Control Unavailable"
+    assert alert.alert_text_2 == "Speed Control Disabled"
+    assert alert.alert_size == AlertSize.mid
+    assert alert.duration == int(3.0 / DT_CTRL)
+
   def test_offroad_alerts(self):
     params = Params()
     for a in self.offroad_alerts:
diff --git a/openpilot/selfdrive/selfdrived/tests/test_preap_regen.py b/openpilot/selfdrive/selfdrived/tests/test_preap_regen.py
index 4fe99ea895f337..cd54ea4d71a913 100644
--- a/openpilot/selfdrive/selfdrived/tests/test_preap_regen.py
+++ b/openpilot/selfdrive/selfdrived/tests/test_preap_regen.py
@@ -6,18 +6,14 @@
   RegenDemandCheck,
   update_preap_chimes,
 )
-from openpilot.cereal import custom
-from openpilot.selfdrive.selfdrived.preap_regen import register_preap_regen_alerts
-from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
 # get_preap_accel_limits floor is -1.5 m/s²; -2.0 clears the trigger margin.
 OVERFLOW_TARGET = -2.0
 
 
 def _update(check, *, a_target=OVERFLOW_TARGET, v_ego=15.0,
-            plan_valid=True, pedal_long_active=True, brake_pressed=False):
+            pedal_long_active=True, brake_pressed=False):
   return check.update(
-    plan_valid=plan_valid,
     pedal_long_active=pedal_long_active,
     brake_pressed=brake_pressed,
     a_target=a_target,
@@ -89,24 +85,6 @@ def test_demand_prompt_resets_when_pedal_long_inactive():
   assert not _update(check, pedal_long_active=False)
   assert not check.active
 
-def test_demand_prompt_resets_when_plan_is_invalid():
-  check = RegenDemandCheck()
-  for _ in range(REGEN_DEMAND_EVIDENCE_COUNT):
-    _update(check)
-  assert check.active
-
-  assert not _update(check, plan_valid=False)
-  assert not check.active
-
-
-def test_alerts_are_registered_before_event_counters_are_built():
-  register_preap_regen_alerts()
-  events = EventsSP()
-  event_names = custom.OnroadEventSP.EventName
-  for event in (event_names.pedalMaxRegen, event_names.pedalCruiseEnabled,
-                event_names.pedalCruiseDisabled, event_names.pedalUnavailable):
-    assert event in events.event_counters
-
 
 def _chime(prev, *, lat=False, long_on=False):
   return update_preap_chimes(lat_engaged=lat, long_engaged=long_on, prev=prev)
@@ -167,6 +145,7 @@ def test_lat_engage_and_disengage_chime_on_cruise_edges():
 
 
 def test_long_engage_chimes_on_fsm_intent_not_pedal_authority():
+  # Stalk long engage must chime even before interceptor handshake.
   chimes, state = _chime(PreAPChimeState(), lat=True, long_on=True)
   assert chimes.lat_engage
   assert chimes.long_engage
diff --git a/openpilot/selfdrive/test/longitudinal_maneuvers/maneuver.py b/openpilot/selfdrive/test/longitudinal_maneuvers/maneuver.py
index ba0379f2d725bf..905065bc7a40fd 100644
--- a/openpilot/selfdrive/test/longitudinal_maneuvers/maneuver.py
+++ b/openpilot/selfdrive/test/longitudinal_maneuvers/maneuver.py
@@ -23,6 +23,7 @@ def __init__(self, title, duration, **kwargs):
     self.enabled = kwargs.get("enabled", True)
     self.e2e = kwargs.get("e2e", False)
     self.personality = kwargs.get("personality", 0)
+    self.nap_follow_dist = kwargs.get("nap_follow_dist")
     self.force_decel = kwargs.get("force_decel", False)
 
     self.duration = duration
@@ -38,6 +39,7 @@ def evaluate(self):
       only_radar=self.only_radar,
       e2e=self.e2e,
       personality=self.personality,
+      nap_follow_dist=self.nap_follow_dist,
       force_decel=self.force_decel,
     )
 
diff --git a/openpilot/selfdrive/test/longitudinal_maneuvers/plant.py b/openpilot/selfdrive/test/longitudinal_maneuvers/plant.py
index abbd6be1d6abb5..3a18ef04141a5c 100755
--- a/openpilot/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/openpilot/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -11,11 +11,27 @@
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
 
 
+class _ManeuverParams:
+  def __init__(self, nap_follow_dist):
+    self.nap_follow_dist = nap_follow_dist
+
+  def get(self, key, return_default=False):
+    assert return_default
+    assert key == "NAPFollowDistance"
+    return self.nap_follow_dist
+
+  @staticmethod
+  def get_bool(key):
+    assert key == "NAPAdaptiveAccel"
+    return False
+
+
 class Plant:
   messaging_initialized = False
 
   def __init__(self, lead_relevancy=False, speed=0.0, distance_lead=2.0,
-               enabled=True, only_lead2=False, only_radar=False, e2e=False, personality=0, force_decel=False):
+               enabled=True, only_lead2=False, only_radar=False, e2e=False, personality=0,
+               nap_follow_dist=None, force_decel=False):
     self.rate = 1. / DT_MDL
 
     if not Plant.messaging_initialized:
@@ -50,10 +66,24 @@ def __init__(self, lead_relevancy=False, speed=0.0, distance_lead=2.0,
 
     from opendbc.car.honda.values import CAR
     from opendbc.car.honda.interface import CarInterface
+    from opendbc.car import structs
 
-    CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
-    CP_SP = CarInterface.get_non_essential_params_sp(CP, CAR.HONDA_CIVIC)
-    self.planner = LongitudinalPlanner(CP, CP_SP, init_v=self.speed)
+    if nap_follow_dist is None:
+      CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+      CP_SP = CarInterface.get_non_essential_params_sp(CP, CAR.HONDA_CIVIC)
+      params = None
+    else:
+      CP = structs.CarParams()
+      CP.brand = "tesla"
+      CP.carFingerprint = "TESLA_MODEL_S_PREAP"
+      CP.openpilotLongitudinalControl = True
+      CP.pcmCruise = False
+      CP.steerRatio = 15.75
+      CP.wheelbase = 2.959
+      CP_SP = structs.CarParamsSP()
+      params = _ManeuverParams(nap_follow_dist)
+
+    self.planner = LongitudinalPlanner(CP, CP_SP, init_v=self.speed, params=params)
 
   @property
   def current_time(self):
diff --git a/openpilot/selfdrive/test/process_replay/process_replay.py b/openpilot/selfdrive/test/process_replay/process_replay.py
index 4a26ed19aefb03..656010873da97f 100755
--- a/openpilot/selfdrive/test/process_replay/process_replay.py
+++ b/openpilot/selfdrive/test/process_replay/process_replay.py
@@ -485,7 +485,8 @@ def selfdrived_config_callback(params, cfg, lr):
     proc_name="plannerd",
     pubs=["modelV2", "carControl", "carState", "controlsState", "liveParameters", "radarState", "selfdriveState"],
     subs=["longitudinalPlan", "driverAssistance"],
-    ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
+    ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime",
+            "longitudinalPlan.napFollowDistance", "longitudinalPlan.tFollow"],
     init_callback=get_car_params_callback,
     should_recv_callback=MessageBasedRcvCallback("modelV2"),
     tolerance=NUMPY_TOLERANCE,
diff --git a/openpilot/selfdrive/ui/layouts/settings/nap_content.py b/openpilot/selfdrive/ui/layouts/settings/nap_content.py
index e8f32459563dcb..b9a7c3be45f360 100644
--- a/openpilot/selfdrive/ui/layouts/settings/nap_content.py
+++ b/openpilot/selfdrive/ui/layouts/settings/nap_content.py
@@ -4,26 +4,7 @@
 import from here so the safety-critical instruction strings (EPAS flash,
 calibration, restore) have a single source.
 """
-
-
-class NAPParamKeys:
-  ADAPTIVE_ACCEL = "NAPAdaptiveAccel"
-  PEDAL_ENABLED = "NAPPedalEnabled"
-  FOLLOW_DISTANCE = "NAPFollowDistance"
-  PEDAL_CAN_BUS = "NAPPedalCanBus"
-  PEDAL_CALIB_DONE = "NAPPedalCalibDone"
-  RADAR_ENABLED = "NAPRadarEnabled"
-  RADAR_HUD = "NAPRadarHud"
-  RADAR_IGNORE_HW_FAIL = "NAPRadarIgnoreHwFail"
-  RADAR_OFFSET = "NAPRadarOffset"
-  RADAR_DONOR_VIN = "NAPRadarDonorVin"
-  RADAR_EPAS_TYPE = "NAPRadarEpasType"
-  RADAR_POSITION = "NAPRadarPosition"
-  RADAR_READ_VIN = "NAPRadarReadVin"
-  RADAR_VIN_READ_STATUS = "NAPRadarVinReadStatus"
-  IBOOSTER_ENABLED = "NAPiBoosterEnabled"
-  BRAKE_FACTOR = "NAPBrakeFactor"
-  FORCE_PRE_AP = "NAPForcePreAP"
+from opendbc.car.tesla.preap.nap_params import NAPParamKeys
 
 
 DEFAULTS = {
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/nap.py b/openpilot/selfdrive/ui/mici/layouts/settings/nap.py
index 6de8ca24edea1d..317df39ad770a9 100644
--- a/openpilot/selfdrive/ui/mici/layouts/settings/nap.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/nap.py
@@ -5,6 +5,7 @@
 interceptor toggle, radar enabled toggle, flash EPAS button).
 Subsequent phases add the rest.
 """
+from opendbc.car.tesla.preap.nap_params import NAPParamKeys
 from openpilot.common.params import Params
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets.scroller import NavScroller
@@ -23,7 +24,6 @@
 )
 from openpilot.selfdrive.ui.radar.radar_view import RadarMonitorDialog
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.ui.layouts.settings.nap_content import NAPParamKeys
 
 
 def _reboot_dialog() -> None:
diff --git a/openpilot/selfdrive/ui/radar/bosch_status.py b/openpilot/selfdrive/ui/radar/bosch_status.py
index 06a0d3f0e7799c..4bdf7f3ebf73bd 100644
--- a/openpilot/selfdrive/ui/radar/bosch_status.py
+++ b/openpilot/selfdrive/ui/radar/bosch_status.py
@@ -76,14 +76,6 @@ def vin_mux_chars(dat: bytes) -> tuple[int, tuple[str, ...]] | None:
   return None
 
 
-def _point_measured(point) -> bool:
-  # liveTracks RadarPoint.measured lives under deprecated (car.capnp).
-  deprecated = getattr(point, "deprecated", None)
-  if deprecated is not None:
-    return bool(getattr(deprecated, "measured", False))
-  return bool(getattr(point, "measured", False))
-
-
 @dataclass(frozen=True)
 class RadarTrack:
   track_id: int
@@ -219,7 +211,7 @@ def update(self, now: float, can_messages, live_tracks=None) -> BoschRadarStatus
           d_rel=float(p.dRel),
           y_rel=float(p.yRel),
           v_rel=float(p.vRel),
-          measured=_point_measured(p),
+          measured=bool(p.measured),
         )
         for p in points
       )
diff --git a/openpilot/selfdrive/ui/radar/test_bosch_status.py b/openpilot/selfdrive/ui/radar/test_bosch_status.py
index ff767a07db8eda..375cf6100c21c1 100644
--- a/openpilot/selfdrive/ui/radar/test_bosch_status.py
+++ b/openpilot/selfdrive/ui/radar/test_bosch_status.py
@@ -1,32 +1,27 @@
-import pytest
-
 from openpilot.cereal import messaging
 from openpilot.selfdrive.ui.radar.bosch_status import BoschRadarMonitor
 
 
-def _live_tracks_reader(*, measured=None):
+def _live_tracks_reader(*, measured=True):
   msg = messaging.new_message("liveTracks")
   points = msg.liveTracks.init("points", 1)
   points[0].trackId = 3
   points[0].dRel = 8.0
   points[0].yRel = 0.0
   points[0].vRel = 0.1
-  if measured is not None:
-    points[0].deprecated.measured = measured
+  points[0].measured = measured
   return msg.as_reader().liveTracks
 
 
-def test_live_tracks_uses_deprecated_measured():
+def test_live_tracks_reads_measured():
   live = _live_tracks_reader(measured=True)
   status = BoschRadarMonitor().update(0.0, [], live)
   assert status.tracks[0].track_id == 3
   assert status.tracks[0].measured is True
 
 
-def test_unset_measured_on_cereal_live_tracks_does_not_crash():
-  live = _live_tracks_reader()
-  with pytest.raises(AttributeError, match="no such member"):
-    live.points[0].measured
+def test_unmeasured_live_track():
+  live = _live_tracks_reader(measured=False)
   status = BoschRadarMonitor().update(0.0, [], live)
   assert status.tracks[0].track_id == 3
   assert status.tracks[0].measured is False
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
index b11c5ec0f50383..0d99637a88ab3f 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
@@ -3,10 +3,11 @@
 
 import pyray as rl
 
+from opendbc.car.tesla.preap.nap_params import NAPParamKeys
 from openpilot.common.params import Params
 from openpilot.selfdrive.ui.layouts.settings.nap_content import (
   BACKUP_EPAS_INSTRUCTIONS, BRAKE_FACTOR_PRESETS, CALIBRATE_PEDAL_INSTRUCTIONS,
-  DEFAULTS, FLASH_EPAS_INSTRUCTIONS, NAPParamKeys, PEDAL_CAN_BUS_VALUES,
+  DEFAULTS, FLASH_EPAS_INSTRUCTIONS, PEDAL_CAN_BUS_VALUES,
   RADAR_OFFSET_MAX, RADAR_OFFSET_MIN, RESTORE_EPAS_INSTRUCTIONS,
   acknowledgments_html, find_preset_index,
 )
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
index d7f40dee28a7f5..fd39e9b7e2ed82 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
@@ -8,7 +8,7 @@
 from enum import IntEnum
 
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.sunnypilot.selfdrive.car.preap_boot import is_preap_ui_platform
+from opendbc.car.tesla.preap.sp.platform import is_preap_ui_platform
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, simple_button_item_sp, option_item_sp, LineSeparatorSP
 from openpilot.system.ui.widgets.scroller_tici import Scroller
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
index 2469058b141337..d0a5f6ab111fb0 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
@@ -7,16 +7,15 @@
 from collections.abc import Callable
 import pyray as rl
 
-from opendbc.car.tesla.preap.boot import PREAP_PLATFORM
+from opendbc.car.tesla.preap.sp.platform import PREAP_PLATFORM, is_preap_platform
 from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake
-from openpilot.sunnypilot.selfdrive.car.preap_boot import is_preap_ui_platform
 from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.network import NavButton
 from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp, toggle_item_sp
+from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp, text_item_sp, toggle_item_sp
 
 MADS_STEERING_MODE_OPTIONS = [
   (tr("Remain Active"), tr_noop("Remain Active: ALC will remain active when the brake pedal is pressed.")),
@@ -24,12 +23,7 @@
   (tr("Disengage"), tr_noop("Disengage: ALC will disengage when the brake pedal is pressed.")),
 ]
 
-MADS_ENGAGEMENT_MODE_OPTIONS = [
-  (tr("Independent"), tr_noop("Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits.")),
-  (tr("Cruise Coupled"), tr_noop(
-    "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both.")),
-  (tr("Longitudinal Only"), tr_noop("Longitudinal Only: Stalk pulls request cruise only. ALC stays off.")),
-]
+PREAP_LATERAL_ENGAGEMENT_DESC = tr("This platform requires MADS. Stalk pull engages steering.")
 
 MADS_MAIN_CRUISE_BASE_DESC = tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.")
 MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC = "{engage}<br><h4>{note}</h4>".format(
@@ -41,7 +35,6 @@
 DEFAULT_TO_OFF = tr("This feature defaults to OFF, and does not allow selection due to vehicle limitations.")
 DEFAULT_TO_ON = tr("This feature defaults to ON, and does not allow selection due to vehicle limitations.")
 STATUS_DISENGAGE_ONLY = tr("This platform only supports Disengage mode due to vehicle limitations.")
-PREAP_ENGAGEMENT_INDEPENDENT = 0
 
 
 class MadsSettingsLayout(Widget):
@@ -53,14 +46,10 @@ def __init__(self, back_btn_callback: Callable):
     self._scroller = Scroller(self.items, line_separator=True, spacing=0)
 
   def _initialize_items(self):
-    self._engagement_mode = multiple_button_item_sp(
-      param="NAPLateralEngagementMode",
-      title=lambda: tr("Lateral Engagement Mode"),
-      description="",
-      buttons=[opt[0] for opt in MADS_ENGAGEMENT_MODE_OPTIONS],
-      inline=False,
-      button_width=350,
-      callback=self._update_engagement_mode_description,
+    self._preap_engagement = text_item_sp(
+      title=lambda: tr("Lateral Engagement"),
+      value=lambda: tr("Stalk pull engages steering"),
+      description=PREAP_LATERAL_ENGAGEMENT_DESC,
     )
     self._main_cruise_toggle = toggle_item_sp(
       title=lambda: tr("Toggle with Main Cruise"),
@@ -83,7 +72,7 @@ def _initialize_items(self):
     )
 
     self.items = [
-      self._engagement_mode,
+      self._preap_engagement,
       self._main_cruise_toggle,
       self._unified_engagement_toggle,
       self._steering_mode,
@@ -107,26 +96,16 @@ def show_event(self):
   def _is_preap() -> bool:
     bundle = ui_state.params.get("CarPlatformBundle")
     bundle_platform = bundle.get("platform", "") if isinstance(bundle, dict) else ""
-    return bundle_platform == PREAP_PLATFORM or is_preap_ui_platform(bundle_platform, ui_state.CP)
-
-  @staticmethod
-  def _active_engagement_mode() -> int:
-    if ui_state.CP_SP is not None:
-      try:
-        return int(ui_state.CP_SP.preapLateralEngagementMode)
-      except Exception:
-        pass
-    try:
-      return int(ui_state.params.get("NAPLateralEngagementMode") or 0)
-    except (TypeError, ValueError):
-      return PREAP_ENGAGEMENT_INDEPENDENT
+    if bundle_platform:
+      return bundle_platform == PREAP_PLATFORM
+    return ui_state.CP is not None and is_preap_platform(ui_state.CP)
 
   @staticmethod
   def _mads_limited_settings() -> bool:
     # PREAP_PLATFORM is full MADS. Tesla !HAS_VEHICLE_BUS is AP-no-bus only.
     bundle = ui_state.params.get("CarPlatformBundle")
     bundle_platform = bundle.get("platform", "") if isinstance(bundle, dict) else ""
-    if bundle_platform == PREAP_PLATFORM or is_preap_ui_platform(bundle_platform, ui_state.CP):
+    if bundle_platform == PREAP_PLATFORM or MadsSettingsLayout._is_preap():
       return False
     if ui_state.CP_SP is not None and bool(getattr(ui_state.CP_SP, "madsRequired", False)):
       return False
@@ -140,7 +119,7 @@ def _mads_limited_settings() -> bool:
     if brand == "rivian":
       return True
     elif brand == "tesla":
-      if bundle_platform == PREAP_PLATFORM or is_preap_ui_platform(bundle_platform, ui_state.CP):
+      if bundle_platform == PREAP_PLATFORM or MadsSettingsLayout._is_preap():
         return False
       if ui_state.CP_SP is None or not ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS:
         return True
@@ -156,12 +135,6 @@ def _update_option_description(self, item, options, button_index: int, base_desc
     item.set_description(result)
     item.show_description(True)
 
-  def _update_engagement_mode_description(self, button_index: int):
-    base_desc = tr(
-      "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
-    )
-    self._update_option_description(self._engagement_mode, MADS_ENGAGEMENT_MODE_OPTIONS, button_index, base_desc)
-
   def _update_steering_mode_description(self, button_index: int):
     base_desc = tr(
       "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
@@ -197,12 +170,10 @@ def _update_toggles(self):
       self._steering_mode.action_item.set_enabled_buttons(None)
 
     is_preap = self._is_preap()
-    mode = self._active_engagement_mode()
-    self._engagement_mode.set_visible(is_preap)
+    self._preap_engagement.set_visible(is_preap)
     self._main_cruise_toggle.set_visible(not is_preap)
     self._unified_engagement_toggle.set_visible(not is_preap)
-    self._steering_mode.set_visible((not is_preap) or mode == PREAP_ENGAGEMENT_INDEPENDENT)
     if is_preap:
-      self._update_engagement_mode_description(self._engagement_mode.action_item.get_selected_button())
       self._main_cruise_toggle.action_item.set_enabled(False)
       self._unified_engagement_toggle.action_item.set_enabled(False)
+      self._unified_engagement_toggle.action_item.set_state(False)
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
index 7d7e3c86d3ee25..bfc1e1f15584a8 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
@@ -7,7 +7,7 @@
 from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.sunnypilot.selfdrive.car.preap_boot import is_preap_ui_platform
+from opendbc.car.tesla.preap.sp.platform import is_preap_ui_platform
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp, toggle_item_sp
 
@@ -31,6 +31,13 @@ class TeslaSettings(BrandSettings):
   def __init__(self):
     super().__init__()
     self.coop_steering_toggle = toggle_item_sp(tr("Cooperative Steering (Beta)"), "", param="TeslaCoopSteering")
+    self.hands_on_pause_toggle = toggle_item_sp(
+      tr("Hands-On Pause"),
+      tr(
+        "Default off: hands on the wheel fully disengages. On: pause steering and cancel speed control, then resume steering after you release for one second.",
+      ),
+      param="TeslaPreapHandsOnPause",
+    )
     self.mads_screen_button = multiple_button_item_sp(
       title=lambda: tr("MADS Screen Activation"),
       description="",
@@ -38,7 +45,7 @@ def __init__(self):
       param="TeslaMadsScreenButton",
       inline=False,
     )
-    self.items = [self.coop_steering_toggle, self.mads_screen_button]
+    self.items = [self.coop_steering_toggle, self.hands_on_pause_toggle, self.mads_screen_button]
 
   def update_settings(self):
     is_metric = ui_state.is_metric
@@ -63,9 +70,9 @@ def update_settings(self):
     self.coop_steering_toggle.set_description(coop_steering_desc)
     self.coop_steering_toggle.action_item.set_enabled(offroad)
     self.coop_steering_toggle.set_visible(not is_preap)
-
-    has_vehicle_bus = ui_state.CP_SP is not None and bool(ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
-    self.mads_screen_button.set_visible((not is_preap) and has_vehicle_bus)
+    pause_available = ui_state.CP_SP is not None and bool(getattr(ui_state.CP_SP, "madsHandsOnPauseAvailable", False))
+    self.hands_on_pause_toggle.set_visible(is_preap and pause_available)
+    self.hands_on_pause_toggle.action_item.set_enabled(offroad)
 
     mads_screen_button_desc = (
       f"{tr('Use a multi-finger press on the infotainment screen to toggle MADS.')} " +
@@ -77,4 +84,6 @@ def update_settings(self):
       mads_screen_button_disabled_msg = tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to change.")
       mads_screen_button_desc = f"<b>{mads_screen_button_disabled_msg}</b><br><br>{mads_screen_button_desc}"
     self.mads_screen_button.set_description(mads_screen_button_desc)
+    has_vehicle_bus = ui_state.CP_SP is not None and bool(ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
+    self.mads_screen_button.set_visible((not is_preap) and has_vehicle_bus)
     self.mads_screen_button.action_item.set_enabled(offroad)
diff --git a/openpilot/sunnypilot/mads/helpers.py b/openpilot/sunnypilot/mads/helpers.py
index 9e5f46be8ce7d3..156dc56d456399 100644
--- a/openpilot/sunnypilot/mads/helpers.py
+++ b/openpilot/sunnypilot/mads/helpers.py
@@ -9,6 +9,7 @@
 
 from openpilot.common.params import Params
 from opendbc.car import structs
+from opendbc.car.tesla.preap.sp.platform import is_preap_platform
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP
 from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP
@@ -78,6 +79,13 @@ def persist_required_mads(params: Params, CP_SP=None) -> bool:
   return True
 
 
+def unified_engagement_locked_off(CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> bool:
+  # Pre-AP stalk pull already raises pcmEnable and lkasEnable. UEM would chime twice.
+  if bool(getattr(CP_SP, "madsRequired", False)):
+    return True
+  return is_preap_platform(CP)
+
+
 def coerce_mads_write(params: Params, key: str, value, CP_SP=None):
   """Reject runtime false writes of Mads on required platforms."""
   if key != "Mads":
@@ -110,13 +118,14 @@ def get_mads_limited_brands(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
 def resolve_mads_capabilities(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params | None = None) -> MadsCapabilities:
   if getattr(CP_SP, "madsCapabilityContractVersion", 0) >= 1:
     kind = CP_SP.madsMainCruiseInputKind
+    uem = False if unified_engagement_locked_off(CP, CP_SP) else bool(CP_SP.madsUnifiedEngagementMode)
     return MadsCapabilities(
       full_settings_available=bool(CP_SP.madsFullSettingsAvailable),
       main_cruise_input_kind=kind,
       main_cruise_allowed=bool(CP_SP.madsMainCruiseAllowed),
       mads_required=bool(CP_SP.madsRequired),
       tesla_coop_steering_available=bool(CP_SP.teslaCoopSteeringAvailable),
-      unified_engagement_mode=bool(CP_SP.madsUnifiedEngagementMode),
+      unified_engagement_mode=uem,
       steering_mode=STEERING_MODE_TO_INT.get(CP_SP.madsSteeringMode, MadsSteeringModeOnBrake.REMAIN_ACTIVE),
       hands_on_pause_available=bool(CP_SP.madsHandsOnPauseAvailable),
       no_main_cruise=kind in (MadsMainCruiseInputKind.none, MadsMainCruiseInputKind.momentary),
@@ -127,13 +136,14 @@ def resolve_mads_capabilities(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
   limited = CP.brand == "rivian" or _version0_limited_tesla(CP, CP_SP, params)
   kind = MadsMainCruiseInputKind.none if CP.brand in MADS_NO_ACC_MAIN_BUTTON else MadsMainCruiseInputKind.stateful
   steering = MadsSteeringModeOnBrake.DISENGAGE if limited else int(params.get("MadsSteeringMode", return_default=True) or 0)
+  uem = False if unified_engagement_locked_off(CP, CP_SP) else bool(params.get_bool("MadsUnifiedEngagementMode"))
   return MadsCapabilities(
     full_settings_available=not limited,
     main_cruise_input_kind=kind,
     main_cruise_allowed=bool(params.get_bool("MadsMainCruiseAllowed")) if kind == MadsMainCruiseInputKind.stateful else False,
     mads_required=False,
     tesla_coop_steering_available=CP.brand == "tesla",
-    unified_engagement_mode=bool(params.get_bool("MadsUnifiedEngagementMode")),
+    unified_engagement_mode=uem,
     steering_mode=steering,
     hands_on_pause_available=False,
     no_main_cruise=kind in (MadsMainCruiseInputKind.none, MadsMainCruiseInputKind.momentary),
diff --git a/openpilot/sunnypilot/mads/mads.py b/openpilot/sunnypilot/mads/mads.py
index b63ac2f11eccea..0881295b20e891 100644
--- a/openpilot/sunnypilot/mads/mads.py
+++ b/openpilot/sunnypilot/mads/mads.py
@@ -10,10 +10,14 @@
 from openpilot.cereal import log, custom
 
 from opendbc.car import structs
+from opendbc.car.tesla.preap.sp.platform import is_preap_platform
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from opendbc.car.hyundai.values import HyundaiFlags
 from openpilot.common.params import Params
+from openpilot.selfdrive.selfdrived.events import ET
 from openpilot.sunnypilot.mads.helpers import (
   MadsSteeringModeOnBrake, persist_required_mads, read_steering_mode_param, resolve_mads_capabilities,
+  unified_engagement_locked_off,
 )
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
@@ -68,7 +72,11 @@ def __init__(self, selfdrive):
     self._freeze_mads_snapshot = (
       caps.mads_required and getattr(self.CP_SP, "madsCapabilityContractVersion", 0) >= 1
     )
-    self._hands_on_pause_available = caps.hands_on_pause_available
+    self._hands_on_pause_available = (
+      is_preap_platform(self.CP)
+      and bool(getattr(self.CP_SP, "madsHandsOnPauseAvailable", False))
+      and bool(int(getattr(self.CP_SP, "flags", 0) or 0) & int(TeslaFlagsSP.PREAP_HANDS_ON_PAUSE))
+    )
     self._hands_on_steering_inhibited = False
     self._hands_on_clear_timing = False
     self._hands_on_clear_ts = 0
@@ -85,16 +93,23 @@ def __init__(self, selfdrive):
     else:
       self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
       self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
+    if unified_engagement_locked_off(self.CP, self.CP_SP):
+      self.unified_engagement_mode = False
 
   def read_params(self):
     if persist_required_mads(self.params, self.CP_SP):
       self.enabled_toggle = True
       if self._freeze_mads_snapshot:
+        if unified_engagement_locked_off(self.CP, self.CP_SP):
+          self.unified_engagement_mode = False
         return
     else:
       self.enabled_toggle = self.params.get_bool("Mads")
     self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
-    self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
+    if unified_engagement_locked_off(self.CP, self.CP_SP):
+      self.unified_engagement_mode = False
+    else:
+      self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def pedal_pressed_non_gas_pressed(self, CS: structs.CarState) -> bool:
     # ignore `pedalPressed` events caused by gas presses
@@ -113,6 +128,16 @@ def should_silent_lkas_enable(self, CS: structs.CarState) -> bool:
     if self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
       return False
 
+    if self._hands_on_pause_available:
+      if self.events_sp.has(EventNameSP.lkasDisable):
+        return False
+      if self.events.has(EventName.driverUnresponsive3) or self.events.has(EventName.driverDistracted3):
+        return False
+      if self.events.contains(ET.NO_ENTRY) or self.events.contains(ET.IMMEDIATE_DISABLE):
+        return False
+      if self.events_sp.contains(ET.NO_ENTRY) or self.events_sp.contains(ET.IMMEDIATE_DISABLE):
+        return False
+
     return True
 
   def block_unified_engagement_mode(self) -> bool:
@@ -143,31 +168,21 @@ def _reset_hands_on_clear_timer(self):
     self._hands_on_clear_timing = False
     self._hands_on_clear_ts = 0
 
+  def _hard_disable_from_pause(self) -> None:
+    self._hands_on_steering_inhibited = False
+    self._reset_hands_on_clear_timer()
+    if self.events_sp.has(EventNameSP.silentLkasDisable):
+      self.events_sp.remove(EventNameSP.silentLkasDisable)
+    if self.events_sp.has(EventNameSP.silentLkasEnable):
+      self.events_sp.remove(EventNameSP.silentLkasEnable)
+    if self.enabled or self.state_machine.state == State.paused:
+      if not self.events_sp.has(EventNameSP.lkasDisable):
+        self.events_sp.add(EventNameSP.lkasDisable)
+
   def _update_hands_on_pause(self, CS: structs.CarState) -> None:
     if not self._hands_on_pause_available:
       return
 
-    # EPAS faults are a full disable, never a hands-on pause.
-    epas_fault = bool(getattr(CS, "steerFaultPermanent", False) or getattr(CS, "steerFaultTemporary", False))
-    if epas_fault or self.events_sp.has(EventNameSP.lkasDisable):
-      self._hands_on_steering_inhibited = False
-      self._reset_hands_on_clear_timer()
-      return
-
-    if not hasattr(CS, "handsOnLevel"):
-      # Exact host field is required. Absence cannot prove host/panda agreement.
-      self._hands_on_steering_inhibited = True
-      self._reset_hands_on_clear_timer()
-      if self.enabled:
-        self.transition_paused_state()
-        if self.events_sp.has(EventNameSP.silentLkasEnable):
-          self.events_sp.remove(EventNameSP.silentLkasEnable)
-      return
-
-    level = int(CS.handsOnLevel or 0)
-    host_hands = level >= HANDS_ON_PAUSE_LEVEL
-    host_clear = level < HANDS_ON_PAUSE_LEVEL
-
     tesla_preap = getattr(SafetyModel, "teslaPreap", None)
     pandas = []
     for ps in self.selfdrive.sm['pandaStates']:
@@ -176,28 +191,58 @@ def _update_hands_on_pause(self, CS: structs.CarState) -> None:
       elif ps.safetyModel not in IGNORED_SAFETY_MODES and getattr(ps, "steeringControlInhibited", False):
         pandas.append(ps)
 
-    updated = getattr(self.selfdrive.sm, "updated", None)
     if hasattr(self.selfdrive.sm, "all_checks"):
       panda_fresh = bool(self.selfdrive.sm.all_checks(["pandaStates"]))
     else:
+      updated = getattr(self.selfdrive.sm, "updated", None)
       panda_fresh = True if updated is None else bool(updated.get("pandaStates", False))
     cs_fresh = bool(getattr(self.selfdrive, "cs_fresh", True))
     panda_inhibited = (not pandas) or any(bool(getattr(ps, "steeringControlInhibited", False)) for ps in pandas)
+    panda_lat_lost = bool(pandas) and any(not bool(getattr(ps, "controlsAllowedLateral", True)) for ps in pandas)
 
-    blockers = bool(getattr(CS, "doorOpen", False) or CS.gearShifter != GearShifter.drive)
+    epas_fault = bool(getattr(CS, "steerFaultPermanent", False) or getattr(CS, "steerFaultTemporary", False))
+    door_or_gear = bool(getattr(CS, "doorOpen", False) or CS.gearShifter != GearShifter.drive)
+    dm_lock = bool(
+      self.events.has(EventName.driverUnresponsive3) or self.events.has(EventName.driverDistracted3)
+    )
+    hard_event = bool(
+      epas_fault
+      or self.events_sp.has(EventNameSP.lkasDisable)
+      or door_or_gear
+      or (not cs_fresh)
+      or (not pandas)
+      or (not panda_fresh)
+      or panda_lat_lost
+      or dm_lock
+      or self.events_sp.has(EventNameSP.controlsMismatchLateral)
+      or self.events.contains(ET.IMMEDIATE_DISABLE)
+      or self.events_sp.contains(ET.IMMEDIATE_DISABLE)
+    )
+    if hard_event:
+      self._hard_disable_from_pause()
+      return
 
-    if host_hands or panda_inhibited:
+    if not hasattr(CS, "handsOnLevel"):
       self._hands_on_steering_inhibited = True
+      self._reset_hands_on_clear_timer()
+      if self.enabled:
+        self.transition_paused_state()
+        if self.events_sp.has(EventNameSP.silentLkasEnable):
+          self.events_sp.remove(EventNameSP.silentLkasEnable)
+      return
 
-    mismatch = host_hands != panda_inhibited
-    if mismatch:
+    level = int(CS.handsOnLevel or 0)
+    host_hands = level >= HANDS_ON_PAUSE_LEVEL
+    host_clear = level < HANDS_ON_PAUSE_LEVEL
+
+    if host_hands or panda_inhibited:
+      self._hands_on_steering_inhibited = True
+    if host_hands != panda_inhibited:
       self._hands_on_steering_inhibited = True
 
-    # Count host-observed clear concurrently with panda's independent hold.
-    # Panda clearing its inhibit proves its own continuous one-second clear.
     host_clear_healthy = (
       self._hands_on_steering_inhibited and host_clear and cs_fresh and
-      panda_fresh and (not blockers) and bool(pandas)
+      panda_fresh and bool(pandas) and (not door_or_gear) and (not dm_lock)
     )
     if not host_clear_healthy:
       self._reset_hands_on_clear_timer()
@@ -211,7 +256,8 @@ def _update_hands_on_pause(self, CS: structs.CarState) -> None:
         self._reset_hands_on_clear_timer()
 
     if self._hands_on_steering_inhibited and self.enabled:
-      self.transition_paused_state()
+      if not self.events_sp.has(EventNameSP.lkasDisable):
+        self.transition_paused_state()
       if self.events_sp.has(EventNameSP.silentLkasEnable):
         self.events_sp.remove(EventNameSP.silentLkasEnable)
 
@@ -232,19 +278,29 @@ def data_sample(self):
 
   def update_events(self, CS: structs.CarState):
     if not self.selfdrive.enabled and self.enabled:
+      preap = is_preap_platform(self.CP)
       if CS.standstill:
         if self.events.has(EventName.doorOpen):
-          self.replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen)
-          self.transition_paused_state()
+          if preap:
+            self.events_sp.add(EventNameSP.lkasDisable)
+          else:
+            self.replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen)
+            self.transition_paused_state()
         if self.events.has(EventName.seatbeltNotLatched):
           self.replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
           self.transition_paused_state()
       if self.events.has(EventName.wrongGear) and (CS.vEgo < 2.5 or CS.gearShifter == GearShifter.reverse):
-        self.replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
-        self.transition_paused_state()
+        if preap:
+          self.events_sp.add(EventNameSP.lkasDisable)
+        else:
+          self.replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
+          self.transition_paused_state()
       if self.events.has(EventName.reverseGear):
-        self.replace_event(EventName.reverseGear, EventNameSP.silentReverseGear)
-        self.transition_paused_state()
+        if preap:
+          self.events_sp.add(EventNameSP.lkasDisable)
+        else:
+          self.replace_event(EventName.reverseGear, EventNameSP.silentReverseGear)
+          self.transition_paused_state()
       if self.events.has(EventName.brakeHold):
         self.replace_event(EventName.brakeHold, EventNameSP.silentBrakeHold)
         self.transition_paused_state()
@@ -310,7 +366,19 @@ def update_events(self, CS: structs.CarState):
             self.events_sp.remove(EventNameSP.lkasEnable)
             self.events_sp.add(EventNameSP.pedalPressedAlertOnly)
 
+    if self._hands_on_pause_available and not self.enabled:
+      if int(getattr(CS, "handsOnLevel", 0) or 0) >= HANDS_ON_PAUSE_LEVEL:
+        if self.events_sp.has(EventNameSP.lkasEnable):
+          self.events_sp.remove(EventNameSP.lkasEnable)
+
     self._update_hands_on_pause(CS)
+    if is_preap_platform(self.CP):
+      if self.events_sp.has(EventNameSP.lkasDisable) or self.events.contains(ET.IMMEDIATE_DISABLE) or self.events_sp.contains(ET.IMMEDIATE_DISABLE):
+        if self.events_sp.has(EventNameSP.silentLkasDisable):
+          self.events_sp.remove(EventNameSP.silentLkasDisable)
+        if self.events_sp.has(EventNameSP.silentLkasEnable):
+          self.events_sp.remove(EventNameSP.silentLkasEnable)
+
 
     if self.should_silent_lkas_enable(CS):
       if self.state_machine.state == State.paused:
diff --git a/openpilot/sunnypilot/mads/tests/test_preap_hands_on_pause.py b/openpilot/sunnypilot/mads/tests/test_preap_hands_on_pause.py
index 138ea1fba3db68..77d184736c843c 100644
--- a/openpilot/sunnypilot/mads/tests/test_preap_hands_on_pause.py
+++ b/openpilot/sunnypilot/mads/tests/test_preap_hands_on_pause.py
@@ -2,13 +2,15 @@
 from unittest.mock import MagicMock
 from typing import Any, cast
 
-from openpilot.cereal import custom
+from openpilot.cereal import custom, log
 from opendbc.car import structs
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.mads.mads import HANDS_ON_RESUME_US, ModularAssistiveDrivingSystem
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
+EventName = log.OnroadEvent.EventName
 EventNameSP = custom.OnroadEventSP.EventName
 SafetyModel = structs.CarParams.SafetyModel
 GearShifter = structs.CarState.GearShifter
@@ -51,7 +53,7 @@ def _panda(inhibited, model=None):
   return ps
 
 
-def make_mads(hands_on=True):
+def make_mads(hands_on=True, capability=True):
   CP = structs.CarParams()
   CP.brand = "tesla"
   CP.carFingerprint = "TESLA_MODEL_S_PREAP"
@@ -59,7 +61,8 @@ def make_mads(hands_on=True):
   CP_SP = structs.CarParamsSP()
   CP_SP.madsCapabilityContractVersion = 1
   CP_SP.madsRequired = True
-  CP_SP.madsHandsOnPauseAvailable = hands_on
+  CP_SP.madsHandsOnPauseAvailable = capability
+  CP_SP.flags = int(TeslaFlagsSP.PREAP_HANDS_ON_PAUSE) if hands_on else 0
   CP_SP.madsMainCruiseInputKind = structs.CarParamsSP.MadsMainCruiseInputKind.momentary
   params = MagicMock()
   params.get_bool.side_effect = lambda k: k in ("Mads",)
@@ -76,6 +79,9 @@ def make_mads(hands_on=True):
   sd.cs_fresh = True
   sd.CS_prev = structs.CarState()
   sd.sm = FakeSM([_panda(False)])
+  sd.state_machine = MagicMock()
+  sd.state_machine.current_alert_types = []
+  sd.state_machine.soft_disable_timer = 100
   mads = ModularAssistiveDrivingSystem(sd)
   mads.enabled_toggle = True
   mads.enabled = True
@@ -136,6 +142,8 @@ def fake_ns():
       sd.sm = FakeSM([_panda(True)])
       mads.update_events(cs)
       self.assertTrue(mads._hands_on_steering_inhibited)
+      self.assertTrue(sd.events_sp.has(EventNameSP.silentLkasDisable))
+      self.assertFalse(sd.events_sp.has(EventNameSP.lkasDisable))
 
       cs = FakeCS(hands_on_level=0)
       sd.sm = FakeSM([_panda(True)])
@@ -147,29 +155,103 @@ def fake_ns():
       mads.update_events(cs)
       self.assertTrue(mads._hands_on_steering_inhibited)
 
-      sd.cs_fresh = False
       ns["v"] = (HANDS_ON_RESUME_US + 1) * 1000
       mads.update_events(cs)
       self.assertTrue(mads._hands_on_steering_inhibited)
-      self.assertFalse(mads._hands_on_clear_timing)
 
-      sd.cs_fresh = True
-      sd.sm = FakeSM([_panda(False)], panda_valid=False)
-      mads.update_events(cs)
-      self.assertTrue(mads._hands_on_steering_inhibited)
-
-      sd.sm = FakeSM([_panda(True)], panda_valid=True)
+      sd.sm = FakeSM([_panda(False)], panda_valid=True)
       ns["v"] = 0
       mads.update_events(cs)
       ns["v"] = HANDS_ON_RESUME_US * 1000
       mads.update_events(cs)
-      self.assertTrue(mads._hands_on_steering_inhibited)
-      sd.sm = FakeSM([_panda(False)], panda_valid=True)
-      mads.update_events(cs)
       self.assertFalse(mads._hands_on_steering_inhibited)
+      self.assertFalse(sd.events_sp.has(EventNameSP.lkasDisable))
     finally:
       cast(Any, mads_mod.time).monotonic_ns = orig
 
+  def test_stale_cs_hard_disables_and_blocks_resume(self):
+    mads, sd = make_mads()
+    cs = FakeCS(hands_on_level=2)
+    sd.sm = FakeSM([_panda(True)])
+    mads.update_events(cs)
+    self.assertTrue(sd.events_sp.has(EventNameSP.silentLkasDisable))
+    sd.cs_fresh = False
+    mads.update_events(FakeCS(hands_on_level=0))
+    self.assertTrue(sd.events_sp.has(EventNameSP.lkasDisable))
+    self.assertFalse(sd.events_sp.has(EventNameSP.silentLkasDisable))
+    self.assertFalse(mads._hands_on_steering_inhibited)
+    sd.cs_fresh = True
+    mads.update_events(FakeCS(hands_on_level=0))
+    self.assertFalse(mads.should_silent_lkas_enable(FakeCS(hands_on_level=0)))
+
+  def test_door_open_while_paused_hard_disables(self):
+    mads, sd = make_mads()
+    sd.sm = FakeSM([_panda(True)])
+    mads.update_events(FakeCS(hands_on_level=2))
+    mads.update_events(FakeCS(hands_on_level=2, door_open=True))
+    self.assertTrue(sd.events_sp.has(EventNameSP.lkasDisable))
+    self.assertFalse(sd.events_sp.has(EventNameSP.silentLkasDisable))
+
+  def test_standstill_door_and_hands_state_disables(self):
+    mads, sd = make_mads()
+    sd.sm = FakeSM([_panda(True)])
+    sd.events.add(EventName.doorOpen)
+    cs = FakeCS(hands_on_level=2, door_open=True)
+    cs.standstill = True
+    cs.vEgo = 0.0
+    mads.update_events(cs)
+    self.assertFalse(sd.events_sp.has(EventNameSP.silentLkasDisable))
+    self.assertTrue(sd.events_sp.has(EventNameSP.lkasDisable))
+    mads.state_machine.update()
+    self.assertEqual(mads.state_machine.state, State.disabled)
+
+  def test_immediate_disable_and_hands_state_disables(self):
+    mads, sd = make_mads()
+    sd.sm = FakeSM([_panda(True)])
+    sd.events.add(EventName.steerUnavailable)
+    cs = FakeCS(hands_on_level=2)
+    mads.update_events(cs)
+    self.assertFalse(sd.events_sp.has(EventNameSP.silentLkasDisable))
+    mads.state_machine.update()
+    self.assertEqual(mads.state_machine.state, State.disabled)
+
+  def test_gear_not_drive_while_paused_hard_disables(self):
+    mads, sd = make_mads()
+    sd.sm = FakeSM([_panda(True)])
+    mads.update_events(FakeCS(hands_on_level=2))
+    cs = FakeCS(hands_on_level=2)
+    cs.gearShifter = GearShifter.reverse
+    mads.update_events(cs)
+    self.assertTrue(sd.events_sp.has(EventNameSP.lkasDisable))
+
+  def test_stale_panda_hard_disables(self):
+    mads, sd = make_mads()
+    sd.sm = FakeSM([_panda(True)])
+    mads.update_events(FakeCS(hands_on_level=2))
+    sd.sm = FakeSM([_panda(False)], panda_valid=False)
+    mads.update_events(FakeCS(hands_on_level=0))
+    self.assertTrue(sd.events_sp.has(EventNameSP.lkasDisable))
+    self.assertFalse(mads._hands_on_steering_inhibited)
+
+  def test_lateral_loss_hard_disables(self):
+    mads, sd = make_mads()
+    sd.sm = FakeSM([_panda(True)])
+    mads.update_events(FakeCS(hands_on_level=2))
+    ps = _panda(False)
+    ps.controlsAllowedLateral = False
+    sd.sm = FakeSM([ps])
+    mads.update_events(FakeCS(hands_on_level=0))
+    self.assertTrue(sd.events_sp.has(EventNameSP.lkasDisable))
+
+  def test_dm_critical_blocks_resume(self):
+    mads, sd = make_mads()
+    sd.sm = FakeSM([_panda(True)])
+    mads.update_events(FakeCS(hands_on_level=2))
+    sd.events.add(log.OnroadEvent.EventName.driverUnresponsive3)
+    mads.update_events(FakeCS(hands_on_level=0))
+    self.assertTrue(sd.events_sp.has(EventNameSP.lkasDisable))
+    self.assertFalse(mads.should_silent_lkas_enable(FakeCS(hands_on_level=0)))
+
   def test_epas_fault_is_not_hands_on_pause(self):
     mads, sd = make_mads()
     cs = FakeCS(hands_on_level=2, steer_fault=True)
@@ -177,6 +259,7 @@ def test_epas_fault_is_not_hands_on_pause(self):
     mads.update_events(cs)
     self.assertFalse(mads._hands_on_steering_inhibited)
     self.assertFalse(sd.events_sp.has(EventNameSP.silentLkasDisable))
+    self.assertTrue(sd.events_sp.has(EventNameSP.lkasDisable))
 
   def test_restart_reinhibits_from_panda(self):
     restarted, sd2 = make_mads()
@@ -186,8 +269,58 @@ def test_restart_reinhibits_from_panda(self):
     restarted.update_events(FakeCS(hands_on_level=0))
     self.assertTrue(restarted._hands_on_steering_inhibited)
 
-  def test_generic_platform_unchanged(self):
+  def test_default_off_does_not_pause(self):
+    mads, sd = make_mads(hands_on=False)
+    cs = FakeCS(hands_on_level=2)
+    sd.sm = FakeSM([_panda(True)])
+    mads.update_events(cs)
+    self.assertFalse(mads._hands_on_pause_available)
+    self.assertFalse(mads._hands_on_steering_inhibited)
+    self.assertFalse(sd.events_sp.has(EventNameSP.silentLkasDisable))
+
+  def test_default_off_standstill_door_hard_disables(self):
+    mads, sd = make_mads(hands_on=False)
+    sd.events.add(EventName.doorOpen)
+    cs = FakeCS(hands_on_level=0, door_open=True)
+    cs.standstill = True
+    cs.vEgo = 0.0
+    mads.update_events(cs)
+    self.assertTrue(sd.events_sp.has(EventNameSP.lkasDisable))
+    self.assertFalse(sd.events_sp.has(EventNameSP.silentLkasDisable))
+    mads.state_machine.update()
+    self.assertEqual(mads.state_machine.state, State.disabled)
+
+  def test_preap_seatbelt_cannot_override_door_lkas_disable(self):
     mads, sd = make_mads(hands_on=False)
+    sd.events.add(EventName.doorOpen)
+    sd.events.add(EventName.seatbeltNotLatched)
+    cs = FakeCS(hands_on_level=0, door_open=True)
+    cs.standstill = True
+    cs.vEgo = 0.0
+    mads.update_events(cs)
+    self.assertTrue(sd.events_sp.has(EventNameSP.lkasDisable))
+    self.assertFalse(sd.events_sp.has(EventNameSP.silentLkasDisable))
+    mads.state_machine.update()
+    self.assertEqual(mads.state_machine.state, State.disabled)
+
+  def test_non_preap_standstill_door_still_pauses(self):
+    mads, sd = make_mads(hands_on=False, capability=False)
+    sd.CP.brand = "honda"
+    sd.CP.carFingerprint = "HONDA_CIVIC"
+    mads.CP = sd.CP
+    mads._hands_on_pause_available = False
+    sd.events.add(EventName.doorOpen)
+    cs = FakeCS(hands_on_level=0, door_open=True)
+    cs.standstill = True
+    cs.vEgo = 0.0
+    mads.update_events(cs)
+    self.assertTrue(sd.events_sp.has(EventNameSP.silentLkasDisable))
+    self.assertFalse(sd.events_sp.has(EventNameSP.lkasDisable))
+    mads.state_machine.update()
+    self.assertEqual(mads.state_machine.state, State.paused)
+
+  def test_generic_platform_unchanged(self):
+    mads, sd = make_mads(hands_on=False, capability=False)
     cs = FakeCS(hands_on_level=2)
     sd.sm = FakeSM([_panda(True)])
     mads.update_events(cs)
diff --git a/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py b/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py
index 1230c89c64988a..d63c3587e98c8d 100644
--- a/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py
+++ b/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py
@@ -168,5 +168,44 @@ def test_nonrequired_version1_keeps_live_params(self):
     self.assertFalse(sd.events_sp.has(EventNameSP.lkasEnable))
 
 
+  def test_preap_unified_engagement_stays_off_when_param_true(self):
+    from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+    from openpilot.selfdrive.selfdrived.events import Events
+    from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+
+    CP = structs.CarParams()
+    CP.brand = "tesla"
+    CP.carFingerprint = "TESLA_MODEL_S_PREAP"
+    CP_SP = structs.CarParamsSP()
+    CP_SP.madsCapabilityContractVersion = 1
+    CP_SP.madsRequired = True
+    CP_SP.madsMainCruiseInputKind = structs.CarParamsSP.MadsMainCruiseInputKind.momentary
+    CP_SP.madsUnifiedEngagementMode = False
+
+    params = MagicMock()
+    params.get_bool.side_effect = lambda k: True
+    sd = MagicMock()
+    sd.CP = CP
+    sd.CP_SP = CP_SP
+    sd.params = params
+    sd.events = Events()
+    sd.events_sp = EventsSP()
+    sd.enabled = False
+    sd.enabled_prev = False
+    sd.initialized = True
+    prev = structs.CarState()
+    prev.cruiseState.available = False
+    sd.CS_prev = prev
+    sd.sm = {"pandaStates": []}
+
+    mads = ModularAssistiveDrivingSystem(sd)
+    self.assertFalse(mads.unified_engagement_mode)
+
+    # Live param path: freeze off, MadsUnifiedEngagementMode still True.
+    mads._freeze_mads_snapshot = False
+    mads.read_params()
+    self.assertFalse(mads.unified_engagement_mode)
+
+
 if __name__ == "__main__":
   unittest.main()
diff --git a/openpilot/sunnypilot/modeld_v2/modeld.py b/openpilot/sunnypilot/modeld_v2/modeld.py
index 9f3a75a662d00b..1b7f989687e940 100755
--- a/openpilot/sunnypilot/modeld_v2/modeld.py
+++ b/openpilot/sunnypilot/modeld_v2/modeld.py
@@ -366,7 +366,7 @@ def main(demo=False):
   long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
   prev_action = log.ModelDataV2.Action()
 
-  DH = DesireHelper()
+  DH = DesireHelper(CP)
   meta_constants = load_meta_constants()
   RELC = RoadEdgeLaneChangeController()
 
@@ -485,6 +485,8 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      modelv2_send.modelV2.meta.laneChangeSignalsRemaining = DH.signals_remaining
+      modelv2_send.modelV2.meta.laneChangeRemaining = DH.lane_changes_remaining
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
diff --git a/openpilot/sunnypilot/selfdrive/car/interfaces.py b/openpilot/sunnypilot/selfdrive/car/interfaces.py
index 4d93d3110fab47..e4dc355a217c69 100644
--- a/openpilot/sunnypilot/selfdrive/car/interfaces.py
+++ b/openpilot/sunnypilot/selfdrive/car/interfaces.py
@@ -129,10 +129,9 @@ def initialize_params(params) -> list[dict[str, Any]]:
   # tesla
   keys.extend([
     "TeslaCoopSteering",
+    "TeslaPreapHandsOnPause",
     "TeslaMadsScreenButton",
     "NAPForcePreAP",
-    "NAPLateralEngagementMode",
-    "NAPLateralEngagementModeMigrated",
   ])
 
   # toyota
diff --git a/openpilot/sunnypilot/selfdrive/car/preap_boot.py b/openpilot/sunnypilot/selfdrive/car/preap_boot.py
deleted file mode 100644
index b32cfcd1e15aba..00000000000000
--- a/openpilot/sunnypilot/selfdrive/car/preap_boot.py
+++ /dev/null
@@ -1,194 +0,0 @@
-"""Pre-AP boot selection, installer seeding, and one-time mode migration.
-
-Card-boundary helpers. Opendbc vehicle modules must not import Params.
-"""
-from __future__ import annotations
-
-from dataclasses import dataclass
-import os
-from typing import Any
-
-from opendbc.car.tesla.preap.boot import PREAP_PLATFORM, is_preap_platform, parse_engagement_mode
-from opendbc.car.tesla.preap.constants import STALK_DOUBLE_PULL_MS
-
-assert STALK_DOUBLE_PULL_MS == 400
-
-
-def is_preap_ui_platform(bundle_platform: str = "", CP=None) -> bool:
-  """Settings visibility. Bundle platform wins when present; never HAS_VEHICLE_BUS."""
-  if bundle_platform:
-    return bundle_platform == PREAP_PLATFORM
-  return bool(CP is not None and is_preap_platform(CP))
-
-
-
-@dataclass(frozen=True)
-class PreAPBootSelection:
-  candidate: str | None
-  skip_fw_query: bool | None
-  source: str
-  lock_preap: bool
-
-
-def _truthy_force_preap(value) -> bool:
-  return value in (True, 1, "1", b"1")
-
-
-def resolve_preap_boot_selection(
-  *,
-  bundle_platform: str | None = None,
-  env_fingerprint: str | None = None,
-  nap_force_preap=None,
-) -> PreAPBootSelection:
-  """Card-boundary precedence before firmware query.
-
-  1. explicit CarPlatformBundle / FINGERPRINT environment override
-  2. persisted NAPForcePreAP = true
-  3. normal fingerprint / FW flow
-
-  Locked Pre-AP skips FW. Every other path leaves skip_fw_query unspecified so
-  fingerprint retains the existing SKIP_FW_QUERY environment fallback.
-  """
-  explicit = (bundle_platform or None) or (env_fingerprint or None) or None
-  if explicit:
-    lock = explicit == PREAP_PLATFORM
-    return PreAPBootSelection(candidate=explicit, skip_fw_query=True if lock else None, source="explicit", lock_preap=lock)
-  if _truthy_force_preap(nap_force_preap):
-    return PreAPBootSelection(candidate=PREAP_PLATFORM, skip_fw_query=True, source="nap_force_preap", lock_preap=True)
-  return PreAPBootSelection(candidate=None, skip_fw_query=None, source="normal", lock_preap=False)
-
-
-def seed_preap_installer(params, bundle_platform: str | None) -> bool:
-  """Fresh Pre-AP installer/platform bundle seeds NAPForcePreAP=true. Shared SP stays absent/false."""
-  if bundle_platform != PREAP_PLATFORM:
-    return False
-  if params.get("NAPForcePreAP") is not None:
-    return False
-  params.put_bool("NAPForcePreAP", True, block=True)
-  return True
-
-
-def _canonical_mode_readback_matches(written, mode: int) -> bool:
-  """Require an actually present exact raw readback. Enum-zero parsing must not mask absence."""
-  if written is None or written == "" or written == b"":
-    return False
-  try:
-    return int(written) == int(mode)
-  except (TypeError, ValueError):
-    return parse_engagement_mode(written) == mode and written not in (None, "", b"")
-
-
-def migrate_preap_engagement_mode(params) -> int:
-  """Migrate Main/UEM once. Canonical write must succeed before the pair is considered retired."""
-  canonical = params.get("NAPLateralEngagementMode")
-  if canonical is not None:
-    return parse_engagement_mode(canonical)
-
-  if _truthy_force_preap(params.get("NAPLateralEngagementModeMigrated")):
-    mode = 0
-  else:
-    main = params.get("MadsMainCruiseAllowed")
-    uem = params.get("MadsUnifiedEngagementMode")
-    # Absent legacy pair is not an explicit "both off" — default independent.
-    if main is None and uem is None:
-      mode = 0
-    else:
-      main_on = main not in (None, False, 0, "0", b"0", "")
-      uem_on = uem not in (None, False, 0, "0", b"0", "")
-      if main_on:
-        mode = 0  # independent
-      elif uem_on:
-        mode = 1  # cruiseCoupled
-      else:
-        mode = 2  # longitudinalOnly
-
-  params.put("NAPLateralEngagementMode", int(mode), block=True)
-  written = params.get("NAPLateralEngagementMode")
-  if not _canonical_mode_readback_matches(written, mode):
-    return 0
-  params.put_bool("NAPLateralEngagementModeMigrated", True, block=True)
-  return mode
-
-
-def force_mads_required(params) -> None:
-  params.put_bool("Mads", True, block=True)
-
-def reject_unsupported_cooperative_steering(params) -> None:
-  params.put_bool("TeslaCoopSteering", False, block=True)
-
-
-def snapshot_param_list(params) -> list[dict[str, Any]]:
-  keys = [
-    "NAPForcePreAP",
-    "NAPLateralEngagementMode",
-    "NAPPedalEnabled",
-    "NAPPedalCanBus",
-    "NAPPedalCalibDone",
-    "NAPPedalCalibFactor",
-    "NAPPedalCalibMin",
-    "NAPPedalCalibMax",
-    "NAPPedalCalibZero",
-    "NAPPedalProfile",
-    "NAPRadarEnabled",
-    "NAPRadarBehindNosecone",
-    "NAPRadarOffset",
-    "NAPRadarDonorVin",
-    "NAPRadarPosition",
-    "NAPRadarEpasType",
-    "NAPRadarHud",
-    "NAPRadarIgnoreHwFail",
-    "NAPFollowDistance",
-    "Mads",
-    "MadsMainCruiseAllowed",
-    "MadsUnifiedEngagementMode",
-    "MadsSteeringMode",
-    "TeslaMadsScreenButton",
-    "TeslaCoopSteering",
-  ]
-  # Absent-only defaults for the unsaved Param schema. Present invalid values
-  # (bus 7, min>=max) and present-but-unreadable files must pass through as
-  # None so hardware snapshot can fail closed.
-  snapshot_defaults = {
-    "NAPPedalCanBus": 2,
-    "NAPPedalCalibMin": -3.0,
-    "NAPPedalCalibMax": 99.6,
-  }
-  rows: list[dict[str, Any]] = []
-  for k in keys:
-    value = params.get(k)
-    if value is None and k in snapshot_defaults:
-      get_param_path = getattr(params, "get_param_path", None)
-      if not (callable(get_param_path) and os.path.isfile(get_param_path(k))):
-        value = snapshot_defaults[k]
-    rows.append({k: value})
-  return rows
-
-
-def resolve_card_boot(params, environ=None) -> tuple[PreAPBootSelection, str | None]:
-  """Production card fingerprinting inputs. Does not inject a final get_car candidate."""
-  if environ is None:
-    environ = os.environ
-  bundle = params.get("CarPlatformBundle") or {}
-  if not isinstance(bundle, dict):
-    bundle = {}
-  bundle_platform = bundle.get("platform", None)
-  if bundle_platform and bundle_platform != PREAP_PLATFORM:
-    if _truthy_force_preap(params.get("NAPForcePreAP")):
-      params.put_bool("NAPForcePreAP", False, block=True)
-  seed_preap_installer(params, bundle_platform)
-  selection = resolve_preap_boot_selection(
-    bundle_platform=bundle_platform,
-    env_fingerprint=environ.get("FINGERPRINT") or None,
-    nap_force_preap=params.get("NAPForcePreAP"),
-  )
-  if selection.lock_preap:
-    migrate_preap_engagement_mode(params)
-    force_mads_required(params)
-    reject_unsupported_cooperative_steering(params)
-  fixed_fingerprint = selection.candidate if selection.candidate is not None else bundle_platform
-  return selection, fixed_fingerprint
-
-
-def new_preap_intent_epoch() -> int:
-  value = int.from_bytes(os.urandom(8), "little")
-  return value or 1
diff --git a/openpilot/sunnypilot/selfdrive/car/preap_intent.py b/openpilot/sunnypilot/selfdrive/car/preap_intent.py
index 3a39133afc6c5e..c86c954c71407f 100644
--- a/openpilot/sunnypilot/selfdrive/car/preap_intent.py
+++ b/openpilot/sunnypilot/selfdrive/car/preap_intent.py
@@ -18,7 +18,7 @@ def uint32_delta(candidate: int, current: int) -> int:
 
 
 def sequence_is_newer(candidate: int, current: int) -> bool | None:
-  """Newer within an epoch if and only if 0 < uint32(candidate - current) < 2^31.
+  """Newer if and only if 0 < uint32(candidate - current) < 2^31.
 
   Equal is not newer. The 2^31 delta is undefined and fail-closed.
   """
@@ -35,21 +35,23 @@ def _is_intent(value, enum_member) -> bool:
 
 
 class PreAPIntentConsumer:
-  """Apply each newer atomic Pre-AP intent record to existing event streams once."""
+  """Apply each newer Pre-AP intent record to MADS / long event streams once.
+
+  Sequence increments once per emission. The emitted pair is republished until
+  the next edge so conflate cannot replace it with none. A later long-only
+  edge is a new sequence with lateral none, so it cannot replay a stale
+  mainCruiseRequest after host disable. Epoch changes re-seed without acting
+  (producer restart). Duplicates and older sequences are ignored.
+  """
 
   def __init__(self):
-    self.epoch = 0
     self.sequence = 0
+    self.epoch = 0
     self.seeded = False
     self.fail_closed = False
     self._stock_cc_pending_seen = False
     self._stock_cc_state = StockCcState.idle
 
-  @staticmethod
-  def _neutral(record) -> bool:
-    return _is_intent(record.preapLateralIntent, LateralIntent.none) and \
-           _is_intent(record.preapLongitudinalIntent, LongitudinalIntent.none)
-
   @staticmethod
   def _stock_cc_pending(record) -> bool:
     return bool(getattr(record, "preapStockCcEnablePending", False))
@@ -58,12 +60,11 @@ def _stock_cc_pending(record) -> bool:
   def _stock_cc_state_of(record):
     return getattr(record, "preapStockCcState", StockCcState.idle)
 
-  def _seed(self, epoch: int, sequence: int, pending: bool, state) -> None:
-    self.epoch = epoch
+  def _seed(self, sequence: int, pending: bool, state, epoch: int = 0) -> None:
     self.sequence = sequence
+    self.epoch = int(epoch) if epoch else 0
     self.seeded = True
     self.fail_closed = False
-    # Restart/new-epoch: an already-true pending level is consumed, not an enable edge.
     self._stock_cc_pending_seen = pending
     self._stock_cc_state = state
 
@@ -89,29 +90,15 @@ def _apply_pending_edge(self, pending: bool, events, apply_longitudinal: bool, *
       self._stock_cc_pending_seen = pending
 
   def update(self, record, events, events_sp, apply_longitudinal: bool = True) -> None:
-    epoch = int(record.preapIntentEpoch)
     sequence = int(record.preapIntentSequence) & UINT32_MASK
+    epoch = int(getattr(record, "preapIntentEpoch", 0) or 0)
     pending = self._stock_cc_pending(record)
     state = self._stock_cc_state_of(record)
-    if epoch == 0:
-      return
 
-    # Consumer restart: seed the current record without acting, and treat
-    # an already-true pending level as consumed so it cannot replay as buttonEnable.
-    if not self.seeded:
-      self._seed(epoch, sequence, pending, state)
+    if not self.seeded or epoch != self.epoch:
+      self._seed(sequence, pending, state, epoch)
       return
 
-    # A new producer epoch must begin with a neutral seed. A non-neutral
-    # first record is an invalid restart and cannot grant authority.
-    if epoch != self.epoch:
-      self._seed(epoch, sequence, pending, state)
-      if not self._neutral(record):
-        self.fail_closed = True
-        events_sp.add(EventNameSP.lkasDisable)
-        if apply_longitudinal:
-          events.add(EventName.buttonCancel)
-      return
     if self.fail_closed:
       events_sp.add(EventNameSP.lkasDisable)
       if apply_longitudinal:
@@ -130,7 +117,6 @@ def update(self, record, events, events_sp, apply_longitudinal: bool = True) ->
     force_disable = _is_intent(record.preapLateralIntent, LateralIntent.forceDisable)
     if newer:
       self.sequence = sequence
-      # Disable is processed before enable when one action has multiple consequences.
       if force_disable:
         events_sp.add(EventNameSP.lkasDisable)
       if apply_longitudinal and _is_intent(record.preapLongitudinalIntent, LongitudinalIntent.disable):
@@ -139,13 +125,8 @@ def update(self, record, events, events_sp, apply_longitudinal: bool = True) ->
         events_sp.add(EventNameSP.lkasEnable)
       if apply_longitudinal and _is_intent(record.preapLongitudinalIntent, LongitudinalIntent.enable):
         events.add(EventName.buttonEnable)
-      # forceDisable never yields buttonEnable from a pending level, even if the
-      # intermediate confirmation record was missed. Rearm/consume without an edge.
       self._apply_pending_edge(pending, events, True if force_disable else apply_longitudinal, rearm=True)
       self._apply_stock_cc_state(state, events)
     elif same_sequence:
-      # Same-sequence false-to-true confirmation may fire; rollback cannot rearm.
-      # A same-sequence forceDisable still cannot emit pending buttonEnable.
       self._apply_pending_edge(pending, events, True if force_disable else apply_longitudinal, rearm=False)
       self._apply_stock_cc_state(state, events)
-    # Older/equal-non-same records cannot mutate a consumed latch.
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/calibrate_pedal.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/calibrate_pedal.py
index 75091e6bfa5aab..b73c6024801b6b 100755
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/calibrate_pedal.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/calibrate_pedal.py
@@ -10,18 +10,12 @@
 import time
 
 from openpilot.common.params import Params
-from opendbc.car.tesla.preap.boot import hardware_snapshot_from_values
-from opendbc.car.tesla.preap.constants import (
-  GAS_COMMAND_ID,
-  GAS_SENSOR_ID,
-  PEDAL_D,
-  PEDAL_M1,
-  PEDAL_TIMEOUT_MS,
-)
-from opendbc.car.tesla.preap.teslacan import TeslaCANPreAP
+from opendbc.car.tesla.preap.pedal_feedback import PEDAL_TIMEOUT_MS
+from opendbc.car.tesla.preap.teslacan import GAS_COMMAND_ID, PEDAL_D, PEDAL_M1, TeslaCANPreAP
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import parse_explicit_confirmation, require_preap_tool_start
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.transport import DiagnosticTransport, TransportError
 
+GAS_SENSOR_ID = 0x552
 GTW_STATUS_ID = 0x348
 BRAKE_MESSAGE_ID = 0x20A
 DI_TORQUE1_ID = 0x108
@@ -87,17 +81,6 @@ def validate_calibration(min_v: float, max_v: float, factor: float, zero: float)
 
 def persist_calibration(params: Params, *, min_v: float, max_v: float, factor: float, zero: float) -> None:
   validate_calibration(min_v, max_v, factor, zero)
-  snapshot = hardware_snapshot_from_values(
-    pedal_enabled=True,
-    pedal_bus=params.get("NAPPedalCanBus"),
-    pedal_calib_done=True,
-    pedal_calib_factor=factor,
-    pedal_calib_zero=zero,
-    pedal_calib_min=min_v,
-    pedal_calib_max=max_v,
-  )
-  if not snapshot.pedal_calib_available:
-    raise PedalCalibrationError("calibration rejected by boot snapshot")
   params.put("NAPPedalCalibMin", float(min_v), block=True)
   params.put("NAPPedalCalibMax", float(max_v), block=True)
   params.put("NAPPedalCalibFactor", float(factor), block=True)
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/firmware/epas-firmware-0x7000-0x45fff.bin b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/firmware/epas-firmware-0x7000-0x45fff.bin
new file mode 100644
index 0000000000000000000000000000000000000000..54835dc7ebe98f510f32dcd8c6176ffcfb6b8125
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HcmV?d00001

diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/run_script.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/run_script.py
index 337c56577f2d16..227f3119ac71e5 100755
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/run_script.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/run_script.py
@@ -13,15 +13,20 @@
 
 import os
 import queue
-import signal
 import subprocess
 import sys
 import threading
 from pathlib import Path
 
 from openpilot.common.basedir import BASEDIR
+from openpilot.common.hardware import HARDWARE, PC
 from openpilot.common.params import Params
-from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import APPROVED_TOOLS
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import (
+  APPROVED_TOOLS,
+  clear_tool_flags,
+  mark_script_running,
+  stop_child,
+)
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import (
   DESTRUCTIVE_TOOLS,
   ToolSafetyError,
@@ -65,6 +70,7 @@ def spawn_approved_module(module: str, params: Params | None = None) -> subproce
   cmd = [sys.executable, "-m", module]
   if tool in DESTRUCTIVE_TOOLS:
     cmd.append("--confirm")
+  mark_script_running(params)
   try:
     return subprocess.Popen(
       cmd,
@@ -77,7 +83,7 @@ def spawn_approved_module(module: str, params: Params | None = None) -> subproce
       bufsize=1,
     )
   except Exception:
-    params.put_bool("NAPEpasRiskAccepted", False, block=True)
+    clear_tool_flags(params)
     raise
 
 
@@ -137,10 +143,16 @@ def _on_start(self):
         return
       self._state = ScriptState.RUNNING
       self._output_lines = ["Starting script...", ""]
+
+      # Set NAPScriptRunning before spawn so manager stops pandad before
+      # the child process tries to open Panda USB.
+      mark_script_running(self._params)
+
       try:
         self._process = spawn_approved_module(self._module, self._params)
         threading.Thread(target=self._read_output, daemon=True).start()
       except Exception as exc:
+        clear_tool_flags(self._params)
         self._output_lines.append(f"Error starting script: {exc}")
         self._state = ScriptState.ERROR
 
@@ -164,17 +176,24 @@ def _read_output(self):
 
     def _on_exit(self):
       if self._process and self._process.poll() is None:
-        self._process.send_signal(signal.SIGINT)
-        try:
-          self._process.wait(timeout=2)
-        except subprocess.TimeoutExpired:
-          self._process.terminate()
-          try:
-            self._process.wait(timeout=2)
-          except subprocess.TimeoutExpired:
-            self._process.kill()
-      self._params.put_bool("NAPEpasRiskAccepted", False, block=True)
+        if not stop_child(self._process):
+          # Child still alive after SIGKILL. Bail without clearing
+          # NAPScriptRunning — letting manager resume pandad while
+          # a zombie script may still hold Panda USB would create
+          # the exact dual-owner state this runner is meant to
+          # prevent. Surface an error and keep the runner up.
+          self._output_lines.append(
+            "[ERROR] script did not exit; manager will stay paused")
+          self._output_lines.append("Reboot the device to recover.")
+          self._state = ScriptState.ERROR
+          return
+
+      # Clear NAPScriptRunning only after we've confirmed the child is gone.
+      clear_tool_flags(self._params)
+
       gui_app.request_close()
+      if not PC:
+        HARDWARE.reboot()
 
     def render(self):
       rect = rl.Rectangle(0, 0, gui_app.width, gui_app.height)
@@ -215,10 +234,18 @@ def render(self):
       if self._state == ScriptState.READY:
         self._start_button.render(rl.Rectangle(rect.x + rect.width - margin - button_width * 2 - button_spacing,
                                                button_y, button_width, button_height))
+      # Exit is disabled while RUNNING. The flash path can't be
+      # safely interrupted mid-write; the calibration/test paths
+      # also disable cancel for consistency with the original design.
+      self._exit_button.set_enabled(self._state != ScriptState.RUNNING)
       self._exit_button.render(rl.Rectangle(rect.x + rect.width - margin - button_width,
                                             button_y, button_width, button_height))
 
-  subprocess.run(["tmux", "kill-session", "-t", "comma"], capture_output=True)
+  # tmux isn't installed on dev hosts, so swallow the FileNotFoundError.
+  try:
+    subprocess.run(["tmux", "kill-session", "-t", "comma"], capture_output=True)
+  except FileNotFoundError:
+    pass
   gui_app.init_window("Pre-AP Script Runner")
   app = ScriptRunnerApp()
   app.init_ui()
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/runner.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/runner.py
index cae1c719572c80..fcde913bfcecd4 100644
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/runner.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/runner.py
@@ -1,7 +1,8 @@
 """Pre-AP production tool runner seam.
 
 UI launch opens run_script on the device display. Offroad is required.
-There is no exclusive NAPScriptRunning lock.
+Sets NAPScriptRunning before spawn so manager stops pandad/card/etc.
+Clears it only after the child is confirmed gone. Stuck child: fail-closed.
 """
 from __future__ import annotations
 
@@ -38,16 +39,51 @@ def approved_module(tool: str) -> str:
   return APPROVED_TOOLS[tool]
 
 
-def _clear_tool_flags(params: Params) -> None:
+def mark_script_running(params: Params) -> None:
+  params.put_bool("NAPScriptRunning", True, block=True)
+
+
+def clear_tool_flags(params: Params) -> None:
   params.put_bool("NAPScriptRunning", False, block=True)
   params.put_bool("NAPEpasRiskAccepted", False, block=True)
 
 
+def stop_child(process: subprocess.Popen) -> bool:
+  """SIGINT (5s) → SIGTERM (2s) → SIGKILL (2s). True if the child is gone.
+
+  False means the child is still alive after SIGKILL. Caller must leave
+  NAPScriptRunning set so manager does not resume pandad while a zombie
+  may still hold Panda USB.
+  """
+  if process.poll() is not None:
+    return True
+
+  # Cooperative cancel: SIGINT raises KeyboardInterrupt in the child,
+  # so its finally blocks run (Panda safety reset, pedal disable, etc.).
+  # Plain SIGTERM bypasses those.
+  process.send_signal(signal.SIGINT)
+  try:
+    process.wait(timeout=5)
+    return True
+  except subprocess.TimeoutExpired:
+    process.terminate()
+    try:
+      process.wait(timeout=2)
+      return True
+    except subprocess.TimeoutExpired:
+      process.kill()
+      try:
+        process.wait(timeout=2)
+        return True
+      except subprocess.TimeoutExpired:
+        return False
+
+
 def _reap_tool(process: subprocess.Popen, params: Params) -> None:
   try:
     process.wait()
   finally:
-    _clear_tool_flags(params)
+    clear_tool_flags(params)
 
 
 def start_tool(tool: str, *, confirmed: bool, params: Params | None = None) -> subprocess.Popen:
@@ -62,6 +98,9 @@ def start_tool(tool: str, *, confirmed: bool, params: Params | None = None) -> s
   cmd = [sys.executable, "-m", module]
   if confirmed and tool in DESTRUCTIVE_TOOLS:
     cmd.append("--confirm")
+  # Set NAPScriptRunning before spawn so manager stops pandad before
+  # the child process tries to open Panda USB.
+  mark_script_running(params)
   try:
     process = subprocess.Popen(
       cmd,
@@ -70,7 +109,7 @@ def start_tool(tool: str, *, confirmed: bool, params: Params | None = None) -> s
       env=env,
     )
   except Exception:
-    _clear_tool_flags(params)
+    clear_tool_flags(params)
     raise
   threading.Thread(target=_reap_tool, args=(process, params), daemon=True).start()
   return process
@@ -78,7 +117,10 @@ def start_tool(tool: str, *, confirmed: bool, params: Params | None = None) -> s
 
 def launch_on_device_runner(title: str, tool: str, instructions: str,
                             params: Params | None = None) -> subprocess.Popen:
-  """Take over the Comma screen with run_script. Do not spawn the tool on a pts."""
+  """Take over the Comma screen with run_script. Do not spawn the tool on a pts.
+
+  NAPScriptRunning is set when the user presses Start in run_script, not here.
+  """
   require_runtime_path()
   params = params or Params()
   require_preap_tool_start(params, tool=tool, confirmed=True)
@@ -99,18 +141,9 @@ def launch_on_device_runner(title: str, tool: str, instructions: str,
 
 def stop_tool(process: subprocess.Popen, params: Params | None = None) -> None:
   params = params or Params()
-  if process.poll() is None:
-    process.send_signal(signal.SIGINT)
-    try:
-      process.wait(timeout=5)
-    except subprocess.TimeoutExpired:
-      process.terminate()
-      try:
-        process.wait(timeout=2)
-      except subprocess.TimeoutExpired:
-        process.kill()
-  if process.poll() is not None:
-    _clear_tool_flags(params)
+  if not stop_child(process):
+    return
+  clear_tool_flags(params)
 
 
 def is_destructive(tool: str) -> bool:
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
index bdf1226054d3f0..85857d6e1f80f4 100644
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
@@ -29,6 +29,9 @@
   require_preap_tool_start,
 )
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.transport import (
+  PREAP_FLAG_ENABLE_PEDAL,
+  PREAP_FLAG_PEDAL_BUS_ZERO,
+  PREAP_FLAG_PEDAL_CALIBRATION,
   SAFETY_ALLOUTPUT,
   SAFETY_ELM327,
   SAFETY_SILENT,
@@ -36,7 +39,6 @@
   DiagnosticTransport,
   TransportError,
 )
-from opendbc.car.tesla.preap.constants import PREAP_FLAG_ENABLE_PEDAL, PREAP_FLAG_PEDAL_BUS_ZERO, PREAP_FLAG_PEDAL_CALIBRATION, PREAP_MODE_INVALID
 
 
 class FakeParams:
@@ -168,12 +170,12 @@ def test_start_tool_flash_sets_risk_ack(monkeypatch):
     lambda **_kwargs: MagicMock(),
   )
   start_tool("flash_epas", confirmed=True, params=params)
-  assert params.get_bool("NAPScriptRunning") is False
+  assert params.get_bool("NAPScriptRunning") is True
   assert params.get_bool("NAPEpasRiskAccepted") is True
 
   params = FakeParams()
   start_tool("diagnose_radar", confirmed=True, params=params)
-  assert params.get_bool("NAPScriptRunning") is False
+  assert params.get_bool("NAPScriptRunning") is True
   assert params.get_bool("NAPEpasRiskAccepted") is False
 
 
@@ -211,10 +213,13 @@ def test_diagnose_radar_does_not_change_safety():
   panda.set_safety_mode.assert_not_called()
 
 
-def test_manager_does_not_stop_daemons_for_script_flag():
+def test_manager_stops_daemons_while_script_running():
   src = Path(__file__).resolve().parents[7] / "system" / "manager" / "manager.py"
   text = src.read_text()
-  assert 'params.get_bool("NAPScriptRunning")' not in text
+  assert 'params.get_bool("NAPScriptRunning")' in text
+  assert 'nap_ignore = ["pandad", "card", "controlsd", "selfdrived", "plannerd", "radard",' in text
+  assert '"calibrationd", "torqued", "locationd", "modeld", "dmonitoringmodeld"]' in text
+  assert "not_run=ignore + nap_ignore" in text
 
 
 def test_approved_tools_include_diagnose_radar():
@@ -411,13 +416,13 @@ def test_follow_scroll_offset_pins_overflow_to_bottom():
   assert follow_scroll_offset(10, 45, 200) == -(10 * 45 - 200)
 
 
-def test_run_script_scrolls_live_output_and_does_not_reboot():
+def test_run_script_scrolls_live_output_and_reboots_on_exit():
   src = (Path(__file__).resolve().parents[1] / "run_script.py").read_text()
   assert "_scroll_panel.update" in src
   assert "begin_scissor_mode" in src
   assert "follow_scroll_offset" in src
-  assert "HARDWARE.reboot" not in src
-  assert "set_enabled(self._state != ScriptState.RUNNING)" not in src
+  assert "HARDWARE.reboot" in src
+  assert "set_enabled(self._state != ScriptState.RUNNING)" in src
 
 
 def test_run_script_not_in_yaml():
@@ -495,7 +500,7 @@ def start(self):
   monkeypatch.setattr(runner.threading, "Thread", FakeThread)
 
   assert runner.start_tool("flash_epas", confirmed=True, params=params) is process
-  assert params.get_bool("NAPScriptRunning") is False
+  assert params.get_bool("NAPScriptRunning") is True
   assert params.get_bool("NAPEpasRiskAccepted") is True
   assert captured["started"] is True
   assert captured["daemon"] is True
@@ -518,6 +523,25 @@ def test_start_tool_allows_second_launch_without_exclusive_lock(monkeypatch):
   runner.subprocess.Popen.assert_called_once()
 
 
+def test_stop_tool_fail_closed_leaves_script_running(monkeypatch):
+  import subprocess
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import runner
+
+  params = FakeParams()
+  params.put_bool("NAPScriptRunning", True)
+  process = MagicMock()
+  process.poll.return_value = None
+  process.wait.side_effect = subprocess.TimeoutExpired(cmd="tool", timeout=1)
+  runner.stop_tool(process, params)
+  assert params.get_bool("NAPScriptRunning") is True
+
+
+def test_epas_firmware_image_present():
+  path = Path(__file__).resolve().parents[1] / "firmware" / "epas-firmware-0x7000-0x45fff.bin"
+  assert path.is_file()
+  assert path.stat().st_size == 258048
+
+
 def test_start_tool_constructs_default_params_for_native_ui(monkeypatch):
   from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import runner
 
@@ -529,7 +553,7 @@ def test_start_tool_constructs_default_params_for_native_ui(monkeypatch):
   monkeypatch.setattr(runner.threading, "Thread", lambda **_kwargs: MagicMock())
 
   assert runner.start_tool("diagnose_radar", confirmed=True) is process
-  assert params.get_bool("NAPScriptRunning") is False
+  assert params.get_bool("NAPScriptRunning") is True
 
 
 def test_launch_on_device_runner_spawns_run_script_not_the_tool(monkeypatch):
@@ -550,7 +574,7 @@ def fake_popen(cmd, **kwargs):
   assert "calibrate_pedal --confirm" not in " ".join(captured["cmd"])
 
 
-def test_spawn_approved_module_confirms_destructive_without_script_lock(monkeypatch):
+def test_spawn_approved_module_confirms_destructive_and_sets_script_lock(monkeypatch):
   from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.run_script import spawn_approved_module
 
   captured = {}
@@ -566,7 +590,7 @@ def fake_popen(cmd, **kwargs):
   params = FakeParams()
   spawn_approved_module(APPROVED_TOOLS["calibrate_pedal"], params)
   assert "--confirm" in captured["cmd"]
-  assert params.get_bool("NAPScriptRunning") is False
+  assert params.get_bool("NAPScriptRunning") is True
 
 
 def test_flash_parser_accepts_runner_confirmation_flag():
@@ -602,60 +626,21 @@ def test_parse_configured_pedal_bus_preserves_zero_and_defaults_empty():
   assert parse_configured_pedal_bus(2) == 2
 
 
-class FirmwareShapedPanda:
-  """Replica of panda 0xdc/0xdf: 0xdf is ignored while in a car safety mode."""
-
-  def __init__(self, mode=SAFETY_TESLA_PREAP, param_sp=0):
-    self.current_safety_mode = mode
-    self.current_safety_param_sp = param_sp
-    self.calls = []
-
-  @staticmethod
-  def _is_car_safety_mode(mode):
-    # panda/board/main.c is_car_safety_mode
-    return mode not in (SAFETY_SILENT, SAFETY_ALLOUTPUT, SAFETY_ELM327) and mode != int(structs.CarParams.SafetyModel.noOutput)
-
-  def set_safety_mode(self, mode, param=0):
-    self.calls.append(("0xdc", int(mode), int(param)))
-    self.current_safety_mode = int(mode)
-
-  def set_alternative_experience(self, alternative_experience, safety_param_sp=0):
-    self.calls.append(("0xdf", int(alternative_experience), int(safety_param_sp)))
-    if not self._is_car_safety_mode(self.current_safety_mode):
-      self.current_safety_param_sp = int(safety_param_sp)
-
-
-def test_transport_pedal_calibration_uses_tesla_preap_not_elm327():
+def test_transport_pedal_calibration_programs_legal_params():
   panda = MagicMock()
   transport = DiagnosticTransport(panda=panda)
   transport.set_pedal_calibration_session(2)
   panda.set_safety_mode.assert_any_call(SAFETY_SILENT, 0)
   panda.set_safety_mode.assert_any_call(SAFETY_TESLA_PREAP, PREAP_FLAG_PEDAL_CALIBRATION)
-  panda.set_alternative_experience.assert_called_with(0, PREAP_MODE_INVALID)
   transport.set_pedal_calibration_session(0)
   panda.set_safety_mode.assert_called_with(
     SAFETY_TESLA_PREAP, PREAP_FLAG_PEDAL_CALIBRATION | PREAP_FLAG_PEDAL_BUS_ZERO,
   )
+  with pytest.raises(TransportError, match="invalid pedal bus"):
+    transport.set_pedal_calibration_session(1)
 
 
-def test_pedal_calibration_session_0xdf_before_car_safety():
-  panda = FirmwareShapedPanda(mode=SAFETY_TESLA_PREAP, param_sp=0)
-  transport = DiagnosticTransport(panda=panda)
-  transport.set_pedal_calibration_session(2)
-  assert panda.calls == [
-    ("0xdc", SAFETY_SILENT, 0),
-    ("0xdf", 0, PREAP_MODE_INVALID),
-    ("0xdc", SAFETY_TESLA_PREAP, PREAP_FLAG_PEDAL_CALIBRATION),
-  ]
-  assert panda.current_safety_param_sp == PREAP_MODE_INVALID
-  # Car-first ordering would ignore 0xdf and leave Independent (0).
-  ignored = FirmwareShapedPanda(mode=SAFETY_TESLA_PREAP, param_sp=0)
-  ignored.set_safety_mode(SAFETY_TESLA_PREAP, PREAP_FLAG_PEDAL_CALIBRATION)
-  ignored.set_alternative_experience(0, PREAP_MODE_INVALID)
-  assert ignored.current_safety_param_sp == 0
-
-
-def test_transport_rejects_elm327_and_alloutput_for_pedal_frames():
+def test_transport_rejects_elm327_alloutput_and_mixed_preap():
   panda = MagicMock()
   transport = DiagnosticTransport(panda=panda)
   transport.set_diagnostic_session()
@@ -664,10 +649,9 @@ def test_transport_rejects_elm327_and_alloutput_for_pedal_frames():
   panda.can_send.assert_not_called()
   with pytest.raises(TransportError, match="bypass"):
     transport._set_safety_mode(SAFETY_ALLOUTPUT)
+  transport._set_safety_mode(SAFETY_TESLA_PREAP, PREAP_FLAG_PEDAL_CALIBRATION)
   with pytest.raises(TransportError, match="longitudinal"):
     transport._set_safety_mode(SAFETY_TESLA_PREAP, PREAP_FLAG_PEDAL_CALIBRATION | PREAP_FLAG_ENABLE_PEDAL)
-  with pytest.raises(TransportError, match="calibration flag"):
-    transport._set_safety_mode(SAFETY_TESLA_PREAP, 0)
 
 
 def test_calibrate_pedal_run_selects_preap_calibration_session(monkeypatch):
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/transport.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/transport.py
index fdcb86ab13384e..52cd58b04de224 100644
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/transport.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/transport.py
@@ -3,13 +3,13 @@
 
 import time
 from opendbc.car import structs
-from opendbc.car.tesla.preap.constants import (
-  GAS_COMMAND_ID,
-  PREAP_FLAG_ENABLE_PEDAL,
-  PREAP_FLAG_PEDAL_BUS_ZERO,
-  PREAP_FLAG_PEDAL_CALIBRATION,
-  PREAP_MODE_INVALID,
-)
+from opendbc.car.tesla.preap.teslacan import GAS_COMMAND_ID
+
+# Matches tesla_preap.h PREAP_FLAG_ENABLE_PEDAL / calibration island.
+PREAP_FLAG_ENABLE_PEDAL = 1
+PREAP_MODE_INVALID = 3
+PREAP_FLAG_PEDAL_BUS_ZERO = 1 << 5
+PREAP_FLAG_PEDAL_CALIBRATION = 1 << 6
 
 SAFETY_SILENT = int(structs.CarParams.SafetyModel.silent)
 SAFETY_ELM327 = int(structs.CarParams.SafetyModel.elm327)
@@ -76,11 +76,10 @@ def set_silent(self) -> None:
     self._set_safety_mode(SAFETY_SILENT)
 
   def set_pedal_calibration_session(self, bus: int = 2) -> None:
-    """Tesla Pre-AP safety with the calibration-only flag. Never ELM327/allOutput.
+    """teslaPreap calibration island. Never ELM327/allOutput/ENABLE_PEDAL.
 
-    Firmware 0xdf is ignored in car safety modes, so the order is: silent/non-car,
-    safetyParamSP INVALID via 0xdf, then teslaPreap calibration. Calibration uses
-    INVALID plus an isolated 0x551 allowlist and must not depend on mode validity.
+    Legal safetyParam is 64 (bus 2) or 96 (bus 0). Production 0x551 gates
+    are unchanged; this mode only admits 0x551 on the selected bus.
     """
     if bus not in (0, 2):
       raise TransportError("invalid pedal bus")
@@ -88,20 +87,22 @@ def set_pedal_calibration_session(self, bus: int = 2) -> None:
     if bus == 0:
       param |= PREAP_FLAG_PEDAL_BUS_ZERO
     self.set_silent()
-    setter = getattr(self.panda, "set_alternative_experience", None)
-    if not callable(setter):
-      raise TransportError("panda cannot set safetyParamSP")
-    setter(0, PREAP_MODE_INVALID)
     self._set_safety_mode(SAFETY_TESLA_PREAP, param=param)
 
   def _set_safety_mode(self, mode: int, param: int = 0) -> None:
     if mode == SAFETY_ALLOUTPUT or mode not in ALLOWED_SAFETY_MODES:
       raise TransportError("panda TX bypass is not permitted")
     if mode == SAFETY_TESLA_PREAP:
-      if (int(param) & PREAP_FLAG_PEDAL_CALIBRATION) == 0:
-        raise TransportError("teslaPreap transport requires calibration flag")
       if int(param) & PREAP_FLAG_ENABLE_PEDAL:
         raise TransportError("calibration must not grant longitudinal")
+      if (int(param) & PREAP_FLAG_PEDAL_CALIBRATION) == 0:
+        raise TransportError("teslaPreap transport requires calibration flag")
+      extra = int(param) & ~(PREAP_FLAG_PEDAL_CALIBRATION | PREAP_FLAG_PEDAL_BUS_ZERO)
+      if extra:
+        raise TransportError("calibration safetyParam must be exactly 64 or 96")
+      if int(param) not in (PREAP_FLAG_PEDAL_CALIBRATION,
+                            PREAP_FLAG_PEDAL_CALIBRATION | PREAP_FLAG_PEDAL_BUS_ZERO):
+        raise TransportError("calibration safetyParam must be exactly 64 or 96")
     elif int(param) != 0:
       raise TransportError("diagnostic modes cannot carry safetyParam bits")
     if self.panda is None:
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_mads_settings_native_preap.py b/openpilot/sunnypilot/selfdrive/car/tests/test_mads_settings_native_preap.py
index cbd9f1381b2dc7..102b52ae4ea594 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_mads_settings_native_preap.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_mads_settings_native_preap.py
@@ -2,31 +2,29 @@
 import unittest
 from pathlib import Path
 
-MADS_PY = (
-  Path(__file__).resolve().parents[4]
-  / "selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py"
-)
 STEERING_PY = (
   Path(__file__).resolve().parents[4]
   / "selfdrive/ui/sunnypilot/layouts/settings/steering.py"
 )
+MADS_SETTINGS_PY = (
+  Path(__file__).resolve().parents[4]
+  / "selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py"
+)
 
 
 class TestNativeMadsPreapSettings(unittest.TestCase):
-  def test_engagement_mode_lives_in_mads_settings(self):
-    src = MADS_PY.read_text()
-    assert 'param="NAPLateralEngagementMode"' in src
-    assert 'title=lambda: tr("Lateral Engagement Mode")' in src
-    assert 'tr("Independent")' in src
-    assert 'tr("Cruise Coupled")' in src
-    assert 'tr("Longitudinal Only")' in src
-    assert "self._engagement_mode.set_visible(is_preap)" in src
-
   def test_required_mads_copy_on_steering(self):
     src = STEERING_PY.read_text()
     assert "This platform requires MADS." in src
     assert "Customize MADS" in src
 
+  def test_preap_mads_settings_copy(self):
+    src = MADS_SETTINGS_PY.read_text()
+    assert "This platform requires MADS." in src
+    assert "Stalk pull engages steering" in src
+    assert "Cruise Coupled" not in src
+    assert "Longitudinal Only" not in src
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
deleted file mode 100644
index ab0e98fa87fac3..00000000000000
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_boot_selection.py
+++ /dev/null
@@ -1,392 +0,0 @@
-import json
-import os
-import tempfile
-import unittest
-from unittest.mock import MagicMock, patch
-from openpilot.common.params import Params
-
-from opendbc.car import structs
-from opendbc.car.car_helpers import get_car
-from opendbc.car.tesla.preap.boot import PREAP_PLATFORM
-from openpilot.sunnypilot.selfdrive.car.preap_boot import (
-  is_preap_ui_platform,
-  migrate_preap_engagement_mode,
-  seed_preap_installer,
-  resolve_card_boot,
-  snapshot_param_list,
-)
-from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import CAR_LIST_JSON_OUT, build_platform_bundle
-
-
-class FakeParams:
-  def __init__(self, initial=None):
-    self.store = dict(initial or {})
-
-  def get(self, key, return_default=False):
-    return self.store.get(key)
-
-  def put(self, key, value, block=True):
-    self.store[key] = value
-
-  def put_bool(self, key, value, block=True):
-    self.store[key] = bool(value)
-
-
-def _idle_can(wait_for_one=False):
-  return [[]]
-
-
-def _send(_msgs):
-  return None
-
-
-def _obd(_enabled):
-  return None
-
-
-def _get_car(selection, params, extra_params=None):
-  init = snapshot_param_list(params)
-  if extra_params:
-    init.extend(extra_params)
-  return get_car(_idle_can, _send, _obd, False, False, None,
-                 selection.candidate if selection.candidate is not None else None,
-                 init, False, selection.skip_fw_query)
-
-
-class TestPreAPBootSelection(unittest.TestCase):
-  def test_selection_and_mode_have_no_manager_defaults(self):
-    params = Params()
-    self.assertIsNone(params.get_default_value("NAPForcePreAP"))
-    self.assertIsNone(params.get_default_value("NAPLateralEngagementMode"))
-
-    params.put_bool("MadsMainCruiseAllowed", False, block=True)
-    params.put_bool("MadsUnifiedEngagementMode", True, block=True)
-    self.assertEqual(migrate_preap_engagement_mode(params), 1)
-
-    params.remove("NAPForcePreAP")
-    self.assertTrue(seed_preap_installer(params, PREAP_PLATFORM))
-    self.assertTrue(params.get("NAPForcePreAP"))
-
-  def test_explicit_bundle_wins_over_force(self):
-    params = FakeParams({"CarPlatformBundle": {"platform": "TESLA_MODEL_3"}, "NAPForcePreAP": True})
-    sel, fingerprint = resolve_card_boot(params, environ={})
-    self.assertEqual(sel.candidate, "TESLA_MODEL_3")
-    self.assertEqual(fingerprint, "TESLA_MODEL_3")
-    self.assertEqual(sel.source, "explicit")
-    self.assertFalse(sel.lock_preap)
-    self.assertIsNone(sel.skip_fw_query)
-    self.assertFalse(params.get("NAPForcePreAP"))
-
-  def test_force_true_then_explicit_model_3_bundle_does_not_lock_preap(self):
-    params = FakeParams({"NAPForcePreAP": True, "CarPlatformBundle": {"platform": "TESLA_MODEL_3"}})
-    sel, fingerprint = resolve_card_boot(params, environ={})
-    self.assertFalse(params.get("NAPForcePreAP"))
-    self.assertFalse(sel.lock_preap)
-    self.assertEqual(sel.candidate, "TESLA_MODEL_3")
-    self.assertEqual(fingerprint, "TESLA_MODEL_3")
-    self.assertNotEqual(sel.candidate, PREAP_PLATFORM)
-
-  def test_env_override_locks_preap_and_skips_fw(self):
-    params = FakeParams()
-    sel, fingerprint = resolve_card_boot(params, environ={"FINGERPRINT": PREAP_PLATFORM})
-    self.assertEqual(sel.candidate, PREAP_PLATFORM)
-    self.assertEqual(fingerprint, PREAP_PLATFORM)
-    self.assertTrue(sel.lock_preap)
-    self.assertTrue(sel.skip_fw_query)
-
-  def test_persisted_force_true(self):
-    params = FakeParams({"NAPForcePreAP": True})
-    sel, fingerprint = resolve_card_boot(params, environ={})
-    self.assertEqual(sel.candidate, PREAP_PLATFORM)
-    self.assertEqual(sel.source, "nap_force_preap")
-    self.assertTrue(sel.skip_fw_query)
-
-  def test_absent_or_false_uses_normal_flow(self):
-    for value in (None, False, 0, "0", ""):
-      params = FakeParams({} if value is None else {"NAPForcePreAP": value})
-      sel, fingerprint = resolve_card_boot(params, environ={})
-      self.assertIsNone(sel.candidate)
-      self.assertIsNone(fingerprint)
-      self.assertEqual(sel.source, "normal")
-      self.assertFalse(sel.lock_preap)
-      self.assertIsNone(sel.skip_fw_query)
-
-  def test_installer_seeds_only_when_absent(self):
-    params = FakeParams({"CarPlatformBundle": {"platform": PREAP_PLATFORM}})
-    sel, fingerprint = resolve_card_boot(params, environ={})
-    self.assertTrue(params.get("NAPForcePreAP"))
-    self.assertEqual(sel.candidate, PREAP_PLATFORM)
-    self.assertTrue(sel.lock_preap)
-
-    params = FakeParams({"CarPlatformBundle": {"platform": PREAP_PLATFORM}, "NAPForcePreAP": False})
-    sel, fingerprint = resolve_card_boot(params, environ={})
-    self.assertFalse(params.get("NAPForcePreAP"))
-    # Explicit Pre-AP bundle still locks before FW; False only blocks installer reseeding.
-    self.assertEqual(sel.candidate, PREAP_PLATFORM)
-    self.assertEqual(sel.source, "explicit")
-    self.assertTrue(sel.lock_preap)
-
-    params = FakeParams({"CarPlatformBundle": {"platform": "TESLA_MODEL_3"}})
-    sel, fingerprint = resolve_card_boot(params, environ={})
-    self.assertIsNone(params.get("NAPForcePreAP"))
-    self.assertEqual(sel.candidate, "TESLA_MODEL_3")
-    self.assertFalse(sel.lock_preap)
-
-  def test_vehicle_selector_preap_bundle_routes_boot_and_ui(self):
-    with open(CAR_LIST_JSON_OUT) as car_list_file:
-      car_list = json.load(car_list_file)
-
-    bundle = build_platform_bundle(car_list, "Tesla Model S (Pre-AP) 2012-14")
-    assert bundle is not None
-    self.assertEqual(bundle["name"], "Tesla Model S (Pre-AP) 2012-14")
-    self.assertEqual(bundle["brand"], "tesla")
-    params = FakeParams({"CarPlatformBundle": bundle})
-    selection, fingerprint = resolve_card_boot(params, environ={})
-
-    self.assertEqual(bundle["platform"], PREAP_PLATFORM)
-    self.assertEqual(selection.candidate, PREAP_PLATFORM)
-    self.assertEqual(fingerprint, PREAP_PLATFORM)
-    self.assertTrue(selection.lock_preap)
-    self.assertTrue(selection.skip_fw_query)
-    self.assertTrue(params.get("NAPForcePreAP"))
-    self.assertTrue(is_preap_ui_platform(bundle["platform"], None))
-
-  def test_migrate_main_uem_once(self):
-    params = FakeParams({"MadsMainCruiseAllowed": True, "MadsUnifiedEngagementMode": False})
-    self.assertEqual(migrate_preap_engagement_mode(params), 0)
-    self.assertEqual(params.get("NAPLateralEngagementMode"), 0)
-    self.assertTrue(params.get("NAPLateralEngagementModeMigrated"))
-
-    params.store["MadsMainCruiseAllowed"] = False
-    params.store["MadsUnifiedEngagementMode"] = True
-    self.assertEqual(migrate_preap_engagement_mode(params), 0)
-
-    params.store.pop("NAPLateralEngagementMode")
-    params.store.pop("NAPLateralEngagementModeMigrated", None)
-    self.assertEqual(migrate_preap_engagement_mode(params), 1)
-
-    params.store.pop("NAPLateralEngagementMode")
-    params.store.pop("NAPLateralEngagementModeMigrated", None)
-    params.store["MadsMainCruiseAllowed"] = False
-    params.store["MadsUnifiedEngagementMode"] = False
-    self.assertEqual(migrate_preap_engagement_mode(params), 2)
-
-    params.store.pop("NAPLateralEngagementMode")
-    params.store.pop("NAPLateralEngagementModeMigrated", None)
-    params.store["MadsMainCruiseAllowed"] = True
-    params.store["MadsUnifiedEngagementMode"] = True
-    self.assertEqual(migrate_preap_engagement_mode(params), 0)
-
-    params = FakeParams()
-    self.assertEqual(migrate_preap_engagement_mode(params), 0)
-    self.assertTrue(params.get("NAPLateralEngagementModeMigrated"))
-
-  def test_completed_migration_never_rereads_legacy_pair(self):
-    params = FakeParams({
-      "NAPLateralEngagementModeMigrated": True,
-      "MadsMainCruiseAllowed": False,
-      "MadsUnifiedEngagementMode": True,
-    })
-    self.assertEqual(migrate_preap_engagement_mode(params), 0)
-    self.assertEqual(params.get("NAPLateralEngagementMode"), 0)
-    self.assertTrue(params.get("NAPLateralEngagementModeMigrated"))
-
-  def test_mode0_migration_requires_present_readback(self):
-    stored = {}
-
-    def get(key):
-      return stored.get(key)
-
-    def put(key, value, block=True):
-      # Simulate a failed canonical persist: write is attempted but not readable.
-      if key == "NAPLateralEngagementMode":
-        return
-      stored[key] = value
-
-    params = MagicMock()
-    params.get.side_effect = get
-    params.put.side_effect = put
-    params.put_bool.side_effect = lambda k, v, block=True: stored.__setitem__(k, v)
-    self.assertEqual(migrate_preap_engagement_mode(params), 0)
-    self.assertNotIn("NAPLateralEngagementModeMigrated", stored)
-    self.assertNotIn("NAPLateralEngagementMode", stored)
-
-  def test_napadaptiveaccel_not_in_boot_snapshot(self):
-    keys = {k for d in snapshot_param_list(FakeParams()) for k in d}
-    self.assertNotIn("NAPAdaptiveAccel", keys)
-    assert "NAPLateralEngagementMode" in keys
-    assert "NAPForcePreAP" in keys
-
-  def _hardware_snapshot_from_params(self, params):
-    from opendbc.car.tesla.preap.boot import hardware_snapshot_from_values
-    merged = {k: v for row in snapshot_param_list(params) for k, v in row.items()}
-    snapshot = hardware_snapshot_from_values(
-      pedal_enabled=merged["NAPPedalEnabled"],
-      pedal_bus=merged["NAPPedalCanBus"],
-      pedal_calib_done=merged["NAPPedalCalibDone"],
-      pedal_calib_factor=merged["NAPPedalCalibFactor"],
-      pedal_calib_zero=merged["NAPPedalCalibZero"],
-      pedal_calib_min=merged["NAPPedalCalibMin"],
-      pedal_calib_max=merged["NAPPedalCalibMax"],
-    )
-    return merged, snapshot
-
-  def test_unset_pedal_bus_and_calib_range_keep_calibrated_pedal(self):
-    from opendbc.car import gen_empty_fingerprint
-    from opendbc.car.tesla.interface import CarInterface
-    from opendbc.car.tesla.preap.boot import apply_preap_hardware_snapshot
-    from opendbc.car.tesla.values import CAR
-    from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
-
-    params = FakeParams({
-      "NAPPedalEnabled": True,
-      "NAPPedalCalibDone": True,
-      "NAPPedalCalibFactor": 0.035,
-      "NAPPedalCalibZero": 0.25,
-    })
-    merged, snapshot = self._hardware_snapshot_from_params(params)
-    self.assertEqual(merged["NAPPedalCanBus"], 2)
-    self.assertEqual(merged["NAPPedalCalibMin"], -3.0)
-    self.assertEqual(merged["NAPPedalCalibMax"], 99.6)
-    self.assertTrue(snapshot.pedal_present)
-    self.assertTrue(snapshot.pedal_calib_available)
-    self.assertEqual(snapshot.pedal_bus, 2)
-
-    CP = CarInterface.get_params(CAR.TESLA_MODEL_S_PREAP, gen_empty_fingerprint(), [], False, False, False)
-    CP_SP = CarInterface.get_params_sp(CP, CAR.TESLA_MODEL_S_PREAP, gen_empty_fingerprint(), [], False, False, False)
-    apply_preap_hardware_snapshot(CP, CP_SP, snapshot)
-    self.assertTrue(CP.openpilotLongitudinalControl)
-    self.assertFalse(CP.pcmCruise)
-    self.assertTrue(bool(CP_SP.flags & TeslaFlagsSP.PREAP_PEDAL_PRESENT))
-    self.assertTrue(bool(CP_SP.flags & TeslaFlagsSP.PREAP_PEDAL_CALIB_AVAILABLE))
-
-  def test_absent_pedal_factor_zero_does_not_grant_calib_available(self):
-    params = FakeParams({
-      "NAPPedalEnabled": True,
-      "NAPPedalCalibDone": True,
-    })
-    merged, snapshot = self._hardware_snapshot_from_params(params)
-    self.assertIsNone(merged["NAPPedalCalibFactor"])
-    self.assertIsNone(merged["NAPPedalCalibZero"])
-    self.assertEqual(merged["NAPPedalCanBus"], 2)
-    self.assertEqual(merged["NAPPedalCalibMin"], -3.0)
-    self.assertEqual(merged["NAPPedalCalibMax"], 99.6)
-    self.assertTrue(snapshot.pedal_present)
-    self.assertFalse(snapshot.pedal_calib_available)
-
-  def test_present_invalid_pedal_bus_or_range_fail_closed(self):
-    params = FakeParams({
-      "NAPPedalEnabled": True,
-      "NAPPedalCanBus": 7,
-      "NAPPedalCalibDone": True,
-      "NAPPedalCalibFactor": 0.035,
-      "NAPPedalCalibZero": 0.25,
-      "NAPPedalCalibMin": -3.0,
-      "NAPPedalCalibMax": 99.6,
-    })
-    merged, snapshot = self._hardware_snapshot_from_params(params)
-    self.assertEqual(merged["NAPPedalCanBus"], 7)
-    self.assertFalse(snapshot.pedal_present)
-    self.assertFalse(snapshot.pedal_calib_available)
-
-    from opendbc.car import gen_empty_fingerprint
-    from opendbc.car.tesla.interface import CarInterface
-    from opendbc.car.tesla.preap.boot import apply_preap_hardware_snapshot
-    from opendbc.car.tesla.values import CAR
-    CP = CarInterface.get_params(CAR.TESLA_MODEL_S_PREAP, gen_empty_fingerprint(), [], False, False, False)
-    CP_SP = CarInterface.get_params_sp(CP, CAR.TESLA_MODEL_S_PREAP, gen_empty_fingerprint(), [], False, False, False)
-    apply_preap_hardware_snapshot(CP, CP_SP, snapshot)
-    self.assertFalse(CP.openpilotLongitudinalControl)
-    self.assertTrue(CP.pcmCruise)
-
-    params = FakeParams({
-      "NAPPedalEnabled": True,
-      "NAPPedalCanBus": 2,
-      "NAPPedalCalibDone": True,
-      "NAPPedalCalibFactor": 0.035,
-      "NAPPedalCalibZero": 0.25,
-      "NAPPedalCalibMin": 10.0,
-      "NAPPedalCalibMax": 5.0,
-    })
-    merged, snapshot = self._hardware_snapshot_from_params(params)
-    self.assertEqual(merged["NAPPedalCalibMin"], 10.0)
-    self.assertEqual(merged["NAPPedalCalibMax"], 5.0)
-    self.assertTrue(snapshot.pedal_present)
-    self.assertFalse(snapshot.pedal_calib_available)
-
-  def test_present_unreadable_pedal_bus_fails_closed(self):
-    params = FakeParams({
-      "NAPPedalEnabled": True,
-      "NAPPedalCalibDone": True,
-      "NAPPedalCalibFactor": 0.035,
-      "NAPPedalCalibZero": 0.25,
-    })
-    with tempfile.NamedTemporaryFile() as tmp:
-      params.get_param_path = lambda key="": tmp.name
-      merged, snapshot = self._hardware_snapshot_from_params(params)
-      self.assertIsNone(merged["NAPPedalCanBus"])
-      self.assertFalse(snapshot.pedal_present)
-
-  def test_get_car_from_raw_bundle_and_params(self):
-    params = FakeParams({"CarPlatformBundle": {"platform": PREAP_PLATFORM}})
-    sel, fingerprint = resolve_card_boot(params, environ={})
-    CI = _get_car(sel, params)
-    self.assertEqual(CI.CP.carFingerprint, PREAP_PLATFORM)
-    self.assertEqual(fingerprint, PREAP_PLATFORM)
-    self.assertEqual(CI.CP.safetyConfigs[0].safetyModel, structs.CarParams.SafetyModel.teslaPreap)
-
-    params = FakeParams({"CarPlatformBundle": {"platform": "TESLA_MODEL_3"}})
-    sel, fingerprint = resolve_card_boot(params, environ={})
-    CI = _get_car(sel, params)
-    self.assertEqual(CI.CP.carFingerprint, "TESLA_MODEL_3")
-    self.assertNotEqual(CI.CP.carFingerprint, PREAP_PLATFORM)
-
-  def test_normal_skip_fw_query_environment_fallback(self):
-    params = FakeParams()
-    sel, _fingerprint = resolve_card_boot(params, environ={})
-    self.assertIsNone(sel.skip_fw_query)
-    with patch.dict(os.environ, {"SKIP_FW_QUERY": "1"}, clear=False):
-      with patch("opendbc.car.car_helpers.get_vin") as get_vin:
-        CI = get_car(_idle_can, _send, _obd, False, False, None, "TESLA_MODEL_3",
-                     snapshot_param_list(params), False, sel.skip_fw_query)
-        get_vin.assert_not_called()
-        self.assertEqual(CI.CP.carFingerprint, "TESLA_MODEL_3")
-
-
-  def test_hostile_upgrade_forces_mads_and_disables_coop(self):
-    from opendbc.car.tesla.preap.constants import STALK_DOUBLE_PULL_MS
-    params = FakeParams({
-      "Mads": False,
-      "TeslaCoopSteering": True,
-      "CarPlatformBundle": {"platform": PREAP_PLATFORM},
-    })
-    sel, fingerprint = resolve_card_boot(params, environ={})
-    self.assertTrue(params.get("Mads"))
-    self.assertEqual(fingerprint, PREAP_PLATFORM)
-    self.assertEqual(STALK_DOUBLE_PULL_MS, 400)
-    CI = _get_car(sel, params)
-    self.assertTrue(CI.CP_SP.madsRequired)
-    self.assertFalse(CI.CP_SP.teslaCoopSteeringAvailable)
-    snap = snapshot_param_list(params)
-    merged = {k: v for row in snap for k, v in row.items()}
-    self.assertTrue(merged["Mads"])
-    self.assertFalse(merged["TeslaCoopSteering"])
-
-  def test_modern_tesla_absent_force_preap_unchanged(self):
-    params = FakeParams({
-      "Mads": False,
-      "TeslaCoopSteering": True,
-      "CarPlatformBundle": {"platform": "TESLA_MODEL_3"},
-    })
-    sel, fingerprint = resolve_card_boot(params, environ={})
-    self.assertIsNone(params.get("NAPForcePreAP"))
-    self.assertFalse(params.get("Mads"))
-    self.assertTrue(params.get("TeslaCoopSteering"))
-    self.assertEqual(fingerprint, "TESLA_MODEL_3")
-    CI = _get_car(sel, params)
-    self.assertEqual(CI.CP.carFingerprint, "TESLA_MODEL_3")
-    self.assertNotEqual(CI.CP.carFingerprint, PREAP_PLATFORM)
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_card_epoch.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_card_epoch.py
deleted file mode 100644
index 78aef015ce8907..00000000000000
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_card_epoch.py
+++ /dev/null
@@ -1,453 +0,0 @@
-from types import SimpleNamespace
-from unittest.mock import patch
-from typing import Any, cast
-
-from opendbc.car import structs
-from opendbc.car.tesla.preap.stock_cc import StockCcTransaction
-from opendbc.car.tesla.values import CruiseButtons
-from openpilot.cereal import custom, log
-from openpilot.selfdrive.car.card import Car
-from openpilot.selfdrive.selfdrived.events import Events
-from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
-from openpilot.sunnypilot.selfdrive.car.preap_intent import PreAPIntentConsumer
-
-EventName = log.OnroadEvent.EventName
-Lateral = custom.CarStateSP.PreapLateralIntent
-Longitudinal = custom.CarStateSP.PreapLongitudinalIntent
-StockCc = custom.CarStateSP.PreapStockCcTransactionState
-
-
-def _record(sequence, lateral, longitudinal):
-  record = structs.CarStateSP()
-  record.preapIntentSequence = sequence
-  record.preapLateralIntent = lateral
-  record.preapLongitudinalIntent = longitudinal
-  return record
-
-
-def test_new_epoch_publishes_neutral_seed_before_latched_intent():
-  lateral = structs.CarStateSP.PreapLateralIntent
-  longitudinal = structs.CarStateSP.PreapLongitudinalIntent
-  card = Car.__new__(Car)
-  card.preap_intent_epoch = 42
-  card.preap_intent_seed_pending = True
-
-  seed = _record(7, lateral.mainCruiseRequest, longitudinal.enable)
-  card.stamp_preap_intent_epoch(seed)
-  action = _record(7, lateral.mainCruiseRequest, longitudinal.enable)
-  card.stamp_preap_intent_epoch(action)
-
-  assert seed.preapIntentEpoch == 42
-  assert seed.preapIntentSequence == 0
-  assert seed.preapLateralIntent == lateral.none
-  assert seed.preapLongitudinalIntent == longitudinal.none
-  assert action.preapIntentEpoch == 42
-  assert action.preapIntentSequence == 7
-  assert action.preapLateralIntent == lateral.mainCruiseRequest
-  assert action.preapLongitudinalIntent == longitudinal.enable
-
-
-def _stock_record(*, sequence, state, pending=False, confirmed=False, bound=0, lateral=None, longitudinal=None):
-  record = structs.CarStateSP()
-  record.preapIntentSequence = sequence
-  record.preapLateralIntent = lateral or structs.CarStateSP.PreapLateralIntent.none
-  record.preapLongitudinalIntent = longitudinal or structs.CarStateSP.PreapLongitudinalIntent.none
-  record.preapStockCcState = state
-  record.preapStockCcEnablePending = pending
-  record.preapStockCcHostDiConfirmed = confirmed
-  record.preapStockCcBoundCounter = bound
-  return record
-
-
-def _consumer_view(cs_sp):
-  return SimpleNamespace(
-    preapIntentEpoch=int(cs_sp.preapIntentEpoch),
-    preapIntentSequence=int(cs_sp.preapIntentSequence),
-    preapLateralIntent=getattr(Lateral, cs_sp.preapLateralIntent.name),
-    preapLongitudinalIntent=getattr(Longitudinal, cs_sp.preapLongitudinalIntent.name),
-    preapStockCcEnablePending=bool(cs_sp.preapStockCcEnablePending),
-    preapStockCcBoundCounter=int(cs_sp.preapStockCcBoundCounter),
-    preapStockCcHostDiConfirmed=bool(cs_sp.preapStockCcHostDiConfirmed),
-    preapStockCcState=getattr(StockCc, cs_sp.preapStockCcState.name),
-  )
-
-
-def test_seed_neutralizes_stockcc_projection_and_sequence_1_exposes_edge():
-  StockCc = structs.CarStateSP.PreapStockCcTransactionState
-  card = Car.__new__(Car)
-  card.preap_intent_epoch = 42
-  card.preap_intent_seed_pending = True
-
-  live_state = StockCc.cancelRequested
-  seed = _stock_record(sequence=1, state=live_state, pending=True, confirmed=True, bound=4)
-  card.stamp_preap_intent_epoch(seed)
-
-  assert seed.preapIntentEpoch == 42
-  assert seed.preapIntentSequence == 0
-  assert seed.preapLateralIntent == structs.CarStateSP.PreapLateralIntent.none
-  assert seed.preapLongitudinalIntent == structs.CarStateSP.PreapLongitudinalIntent.none
-  assert seed.preapStockCcState == StockCc.idle
-  assert seed.preapStockCcEnablePending is False
-  assert seed.preapStockCcHostDiConfirmed is False
-  assert seed.preapStockCcBoundCounter == 0
-
-  action = _stock_record(sequence=1, state=live_state, pending=False, confirmed=False, bound=4)
-  card.stamp_preap_intent_epoch(action)
-  assert action.preapIntentEpoch == 42
-  assert action.preapIntentSequence == 1
-  assert action.preapStockCcState == live_state
-
-  consumer = PreAPIntentConsumer()
-  events = Events()
-  events_sp = EventsSP()
-  consumer.update(_consumer_view(seed), events, events_sp, apply_longitudinal=False)
-  assert not events.has(EventName.buttonCancel)
-  events.clear()
-  events_sp.clear()
-  consumer.update(_consumer_view(action), events, events_sp, apply_longitudinal=False)
-  assert events.has(EventName.buttonCancel)
-
-
-def test_producer_restart_initial_batch_exposes_cancel_edge_after_new_seed():
-  StockCc = structs.CarStateSP.PreapStockCcTransactionState
-  card = Car.__new__(Car)
-  card.preap_intent_epoch = 7
-  card.preap_intent_seed_pending = True
-  first_seed = _stock_record(sequence=1, state=StockCc.cancelRequested, bound=3)
-  card.stamp_preap_intent_epoch(first_seed)
-  first_action = _stock_record(sequence=1, state=StockCc.cancelRequested, bound=3)
-  card.stamp_preap_intent_epoch(first_action)
-
-  # Producer restart: new epoch, live internal cancel remains, seed must not consume it.
-  card.preap_intent_epoch = 8
-  card.preap_intent_seed_pending = True
-  restart_seed = _stock_record(sequence=1, state=StockCc.cancelRequested, bound=3)
-  card.stamp_preap_intent_epoch(restart_seed)
-  assert restart_seed.preapIntentEpoch == 8
-  assert restart_seed.preapIntentSequence == 0
-  assert restart_seed.preapStockCcState == StockCc.idle
-  assert restart_seed.preapStockCcEnablePending is False
-  assert restart_seed.preapStockCcHostDiConfirmed is False
-
-  restart_action = _stock_record(sequence=1, state=StockCc.cancelRequested, bound=3)
-  card.stamp_preap_intent_epoch(restart_action)
-  assert restart_action.preapIntentSequence == 1
-  assert restart_action.preapStockCcState == StockCc.cancelRequested
-
-  consumer = PreAPIntentConsumer()
-  events = Events()
-  events_sp = EventsSP()
-  consumer.update(_consumer_view(first_seed), events, events_sp, apply_longitudinal=False)
-  events.clear()
-  consumer.update(_consumer_view(first_action), events, events_sp, apply_longitudinal=False)
-  assert events.has(EventName.buttonCancel)
-  events.clear()
-  consumer.update(_consumer_view(restart_seed), events, events_sp, apply_longitudinal=False)
-  assert not events.has(EventName.buttonCancel)
-  events.clear()
-  consumer.update(_consumer_view(restart_action), events, events_sp, apply_longitudinal=False)
-  assert events.has(EventName.buttonCancel)
-
-
-
-class _FakeSM:
-  def __init__(self, *, panda_states=None, alive=True, valid=True, updated=False):
-    self._panda_states = [] if panda_states is None else panda_states
-    self.alive = {"pandaStates": alive}
-    self.valid = {"pandaStates": valid}
-    self.updated = {"pandaStates": updated}
-
-  def update(self, _n):
-    return None
-
-  def all_alive(self, service_list=None):
-    keys = service_list or list(self.alive)
-    return all(self.alive.get(s, False) for s in keys)
-
-  def all_valid(self, service_list=None):
-    keys = service_list or list(self.valid)
-    return all(self.valid.get(s, False) for s in keys)
-
-  def __getitem__(self, key):
-    if key == "pandaStates":
-      return self._panda_states
-    if key == "carControl":
-      return SimpleNamespace(enabled=False)
-    if key == "longitudinalPlanSP":
-      return SimpleNamespace()
-    raise KeyError(key)
-
-
-def _live_cancel_stock_cc():
-  stock_cc = StockCcTransaction(True)
-  stock_cc.state = structs.CarStateSP.PreapStockCcTransactionState.cancelRequested
-  stock_cc.bound_counter = 4
-  return stock_cc
-
-
-def _card_with_producers(epoch, stock_cc):
-  card = Car.__new__(Car)
-  card.preap_intent_epoch = epoch
-  card.preap_intent_seed_pending = True
-  card.CP = SimpleNamespace(carFingerprint="TESLA_MODEL_S_PREAP")
-  card.can_sock = object()
-  card.can_rcv_cum_timeout_counter = 0
-  card.is_metric = False
-  card.experimental_mode = False
-  card.dynamic_experimental_control = False
-  card.CS_prev = SimpleNamespace()
-  card.CC_prev = SimpleNamespace(enabled=False)
-  card.v_cruise_helper = cast(Any, SimpleNamespace(
-    update_speed_limit_assist=lambda *a, **k: None,
-    update_v_cruise=lambda *a, **k: None,
-    v_cruise_kph=0.0,
-    v_cruise_cluster_kph=0.0,
-  ))
-  card.sm = cast(Any, _FakeSM())
-  card.RI = SimpleNamespace(update=lambda _can: None)
-
-  def ci_update(_can):
-    cs = SimpleNamespace()
-    cs_sp = structs.CarStateSP()
-    cs_sp.preapIntentSequence = 1
-    stock_cc.publish(cs_sp)
-    return cs, cs_sp
-
-  card.CI = SimpleNamespace(
-    update=ci_update,
-    CS=SimpleNamespace(
-      update_stock_cc_panda=lambda panda: None if panda is None else stock_cc.update_panda(
-        counter=int(getattr(panda, "stockCcReengageCounter", 0) or 0),
-        confirmed=bool(getattr(panda, "stockCcReengageConfirmed", False)),
-        controls_allowed_longitudinal=bool(getattr(panda, "controlsAllowedLongitudinal", False)),
-      ),
-      stock_cc=stock_cc,
-    ),
-  )
-  return card
-
-
-def _run_state_update(card):
-  with patch("openpilot.selfdrive.car.card.messaging.drain_sock_raw", return_value=[b"can"]):
-    with patch("openpilot.selfdrive.car.card.can_capnp_to_list", return_value=[]):
-      with patch("openpilot.selfdrive.car.card.convert_to_capnp", side_effect=lambda sp: sp):
-        return card.state_update()
-
-
-def test_state_update_startup_seed_is_neutral_then_exposes_cancel_edge():
-  StockCc = structs.CarStateSP.PreapStockCcTransactionState
-  stock_cc = _live_cancel_stock_cc()
-  card = _card_with_producers(42, stock_cc)
-
-  _cs, seed, _rd = _run_state_update(card)
-  assert seed.preapIntentEpoch == 42
-  assert seed.preapIntentSequence == 0
-  assert seed.preapLateralIntent == structs.CarStateSP.PreapLateralIntent.none
-  assert seed.preapLongitudinalIntent == structs.CarStateSP.PreapLongitudinalIntent.none
-  assert seed.preapStockCcState == StockCc.idle
-  assert seed.preapStockCcEnablePending is False
-  assert seed.preapStockCcHostDiConfirmed is False
-  assert seed.preapStockCcBoundCounter == 0
-  assert stock_cc.state == StockCc.cancelRequested
-
-  _cs, action, _rd = _run_state_update(card)
-  assert action.preapIntentEpoch == 42
-  assert action.preapIntentSequence == 1
-  assert action.preapStockCcState == StockCc.cancelRequested
-
-  consumer = PreAPIntentConsumer()
-  events = Events()
-  events_sp = EventsSP()
-  consumer.update(_consumer_view(seed), events, events_sp, apply_longitudinal=False)
-  assert not events.has(EventName.buttonCancel)
-  events.clear()
-  events_sp.clear()
-  consumer.update(_consumer_view(action), events, events_sp, apply_longitudinal=False)
-  assert events.has(EventName.buttonCancel)
-
-
-def test_state_update_producer_restart_exposes_cancel_after_new_seed():
-  StockCc = structs.CarStateSP.PreapStockCcTransactionState
-  first_cc = _live_cancel_stock_cc()
-  first = _card_with_producers(7, first_cc)
-  _cs, first_seed, _rd = _run_state_update(first)
-  _cs, first_action, _rd = _run_state_update(first)
-
-  restart_cc = _live_cancel_stock_cc()
-  restart = _card_with_producers(8, restart_cc)
-  _cs, restart_seed, _rd = _run_state_update(restart)
-  assert restart_seed.preapIntentEpoch == 8
-  assert restart_seed.preapIntentSequence == 0
-  assert restart_seed.preapStockCcState == StockCc.idle
-  assert restart_seed.preapStockCcEnablePending is False
-  assert restart_seed.preapStockCcHostDiConfirmed is False
-  assert restart_cc.state == StockCc.cancelRequested
-
-  _cs, restart_action, _rd = _run_state_update(restart)
-  assert restart_action.preapIntentSequence == 1
-  assert restart_action.preapStockCcState == StockCc.cancelRequested
-
-  consumer = PreAPIntentConsumer()
-  events = Events()
-  events_sp = EventsSP()
-  consumer.update(_consumer_view(first_seed), events, events_sp, apply_longitudinal=False)
-  events.clear()
-  consumer.update(_consumer_view(first_action), events, events_sp, apply_longitudinal=False)
-  assert events.has(EventName.buttonCancel)
-  events.clear()
-  consumer.update(_consumer_view(restart_seed), events, events_sp, apply_longitudinal=False)
-  assert not events.has(EventName.buttonCancel)
-  events.clear()
-  consumer.update(_consumer_view(restart_action), events, events_sp, apply_longitudinal=False)
-  assert events.has(EventName.buttonCancel)
-
-
-def _confirmed_stock_cc():
-  stock_cc = StockCcTransaction(True)
-  stock_cc.state = structs.CarStateSP.PreapStockCcTransactionState.confirmed
-  stock_cc.enable_pending = True
-  stock_cc.host_di_confirmed = True
-  stock_cc._panda_matched = True
-  stock_cc._panda_counter_at_bind = 0
-  stock_cc.bound_counter = 1
-  return stock_cc
-
-
-def _confirmed_panda():
-  return SimpleNamespace(
-    stockCcReengageCounter=1,
-    stockCcReengageConfirmed=True,
-    controlsAllowedLongitudinal=True,
-  )
-
-
-def _card_with_panda_dispatch(stock_cc, sm):
-  card = _card_with_producers(1, stock_cc)
-  card.sm = sm
-  card.preap_intent_seed_pending = False
-
-  def update_stock_cc_panda(panda):
-    if panda is None:
-      stock_cc.update_panda(counter=None, confirmed=False, controls_allowed_longitudinal=False)
-      return
-    stock_cc.update_panda(
-      counter=int(getattr(panda, "stockCcReengageCounter", 0) or 0),
-      confirmed=bool(getattr(panda, "stockCcReengageConfirmed", False)),
-      controls_allowed_longitudinal=bool(getattr(panda, "controlsAllowedLongitudinal", False)),
-    )
-
-  card.CI.CS.update_stock_cc_panda = update_stock_cc_panda
-  return card
-
-
-def test_healthy_cached_panda_survives_between_updates():
-  stock_cc = _confirmed_stock_cc()
-  sm = _FakeSM(panda_states=[_confirmed_panda()], alive=True, valid=True, updated=False)
-  card = _card_with_panda_dispatch(stock_cc, sm)
-  _run_state_update(card)
-  assert stock_cc.state == structs.CarStateSP.PreapStockCcTransactionState.confirmed
-  assert stock_cc.enable_pending is True
-  sm.updated["pandaStates"] = False
-  _cs, cs_sp, _rd = _run_state_update(card)
-  assert stock_cc.state == structs.CarStateSP.PreapStockCcTransactionState.confirmed
-  assert stock_cc.enable_pending is True
-  assert cs_sp.preapStockCcEnablePending is True
-  assert cs_sp.preapStockCcHostDiConfirmed is True
-
-
-def test_dead_panda_after_confirmation_fails_closed():
-  stock_cc = _confirmed_stock_cc()
-  sm = _FakeSM(panda_states=[_confirmed_panda()], alive=True, valid=True)
-  card = _card_with_panda_dispatch(stock_cc, sm)
-  _run_state_update(card)
-  assert stock_cc.state == structs.CarStateSP.PreapStockCcTransactionState.confirmed
-  sm.alive["pandaStates"] = False
-  _cs, cs_sp, _rd = _run_state_update(card)
-  assert stock_cc.state == structs.CarStateSP.PreapStockCcTransactionState.cancelledOrFailed
-  assert stock_cc.enable_pending is False
-  assert stock_cc.host_di_confirmed is False
-  assert cs_sp.preapStockCcEnablePending is False
-
-
-def test_invalid_panda_after_confirmation_fails_closed():
-  stock_cc = _confirmed_stock_cc()
-  sm = _FakeSM(panda_states=[_confirmed_panda()], alive=True, valid=True)
-  card = _card_with_panda_dispatch(stock_cc, sm)
-  _run_state_update(card)
-  assert stock_cc.state == structs.CarStateSP.PreapStockCcTransactionState.confirmed
-  sm.valid["pandaStates"] = False
-  _cs, cs_sp, _rd = _run_state_update(card)
-  assert stock_cc.state == structs.CarStateSP.PreapStockCcTransactionState.cancelledOrFailed
-  assert stock_cc.enable_pending is False
-  assert stock_cc.host_di_confirmed is False
-  assert cs_sp.preapStockCcEnablePending is False
-
-
-def test_stale_pending_after_dead_panda_cannot_enable():
-  stock_cc = _confirmed_stock_cc()
-  sm = _FakeSM(panda_states=[_confirmed_panda()], alive=True, valid=True)
-  card = _card_with_panda_dispatch(stock_cc, sm)
-  _run_state_update(card)
-  sm.alive["pandaStates"] = False
-  _cs, dead, _rd = _run_state_update(card)
-  assert dead.preapStockCcEnablePending is False
-  consumer = PreAPIntentConsumer()
-  events = Events()
-  events_sp = EventsSP()
-  view = _consumer_view(dead)
-  consumer.update(view, events, events_sp, apply_longitudinal=True)
-  events.clear()
-  events_sp.clear()
-  view.preapIntentSequence = int(view.preapIntentSequence) + 1
-  consumer.update(view, events, events_sp, apply_longitudinal=True)
-  assert not events.has(EventName.buttonEnable)
-
-
-def _failed_stock_cc():
-  stock_cc = StockCcTransaction(True)
-  stock_cc.update_stalk(CruiseButtons.IDLE, 0, 0)
-  stock_cc.update_stalk(CruiseButtons.MAIN, 1, 0)
-  stock_cc.update_health(blocked=True)
-  stock_cc.update_health(blocked=False)
-  return stock_cc
-
-
-def test_state_update_terminal_seed_survives_immediate_idle_then_recovers():
-  StockCc = structs.CarStateSP.PreapStockCcTransactionState
-  stock_cc = _failed_stock_cc()
-  card = _card_with_producers(42, stock_cc)
-
-  _cs, seed, _rd = _run_state_update(card)
-  assert seed.preapIntentEpoch == 42
-  assert seed.preapIntentSequence == 0
-  assert seed.preapLateralIntent == structs.CarStateSP.PreapLateralIntent.none
-  assert seed.preapLongitudinalIntent == structs.CarStateSP.PreapLongitudinalIntent.none
-  assert seed.preapStockCcState == StockCc.idle
-  assert seed.preapStockCcEnablePending is False
-  assert seed.preapStockCcHostDiConfirmed is False
-  assert stock_cc.state == StockCc.cancelledOrFailed
-
-  stock_cc.update_stalk(CruiseButtons.IDLE, 2, 10)
-  assert stock_cc.state == StockCc.cancelledOrFailed
-
-  _cs, terminal, _rd = _run_state_update(card)
-  assert terminal.preapIntentEpoch == 42
-  assert terminal.preapIntentSequence == 1
-  assert terminal.preapStockCcState == StockCc.cancelledOrFailed
-  assert terminal.preapStockCcEnablePending is False
-  assert terminal.preapStockCcHostDiConfirmed is False
-
-  consumer = PreAPIntentConsumer()
-  events = Events()
-  events_sp = EventsSP()
-  consumer.update(_consumer_view(seed), events, events_sp, apply_longitudinal=False)
-  assert not events.has(EventName.buttonCancel)
-  events.clear()
-  events_sp.clear()
-  consumer.update(_consumer_view(terminal), events, events_sp, apply_longitudinal=False)
-  assert events.has(EventName.buttonCancel)
-
-  stock_cc.update_stalk(CruiseButtons.IDLE, 3, 20)
-  assert stock_cc.state == StockCc.idle
-  _cs, recovered, _rd = _run_state_update(card)
-  assert recovered.preapStockCcState == StockCc.idle
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py
index 226cc8c6fd3fae..6337360538ee1c 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_ignition_onroad.py
@@ -38,8 +38,17 @@ def setUp(self):
     self.packer = CANPackerSafety("tesla_preap")
 
   def _msg(self, counter, drive_rail, bus=0):
+    # The packer leaves the Tesla checksum byte to the sender (teslacan.py does
+    # it on the car); fill it here the way GTW does so ignition.h accepts the frame.
+    def fix_checksum(msg):
+      addr, dat, bus = msg
+      dat = bytearray(dat)
+      dat[7] = (0x4B + sum(dat[:7])) & 0xFF
+      return addr, bytes(dat), bus
+
     return self.packer.make_can_msg_safety(
       "GTW_status", bus, {"GTW_statusCounter": counter, "GTW_driveRailReq": int(drive_rail)},
+      fix_checksum=fix_checksum,
     )
 
   def test_valid_0x348_sets_pandastate_and_starts_card(self):
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent.py
index 24141f97117083..7cf615bb18cb31 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent.py
@@ -10,9 +10,9 @@
 Long = custom.CarStateSP.PreapLongitudinalIntent
 
 
-def record(epoch, sequence, lateral=Lat.none, longitudinal=Long.none):
+def record(sequence, lateral=Lat.none, longitudinal=Long.none):
   msg = custom.CarStateSP.new_message()
-  msg.preapIntentEpoch = epoch
+  msg.preapIntentEpoch = 0
   msg.preapIntentSequence = sequence
   msg.preapLateralIntent = lateral
   msg.preapLongitudinalIntent = longitudinal
@@ -27,50 +27,36 @@ def apply(consumer, msg):
 
 def test_restart_seeds_without_acting_then_accepts_newer():
   consumer = PreAPIntentConsumer()
-  events, events_sp = apply(consumer, record(1, 4, Lat.mainCruiseRequest, Long.enable))
+  events, events_sp = apply(consumer, record(4, Lat.mainCruiseRequest, Long.enable))
   assert not events.has(EventName.buttonEnable)
   assert not events_sp.has(EventNameSP.lkasEnable)
 
-  events, events_sp = apply(consumer, record(1, 5, Lat.mainCruiseRequest, Long.enable))
+  events, events_sp = apply(consumer, record(5, Lat.mainCruiseRequest, Long.enable))
   assert events.has(EventName.buttonEnable)
   assert events_sp.has(EventNameSP.lkasEnable)
 
 
 def test_duplicate_older_and_reordered_records_are_ignored():
   consumer = PreAPIntentConsumer()
-  apply(consumer, record(1, 10))
-  apply(consumer, record(1, 11))
+  apply(consumer, record(10))
+  apply(consumer, record(11))
   for sequence in (11, 10, 9):
-    events, events_sp = apply(consumer, record(1, sequence, Lat.forceDisable, Long.disable))
+    events, events_sp = apply(consumer, record(sequence, Lat.forceDisable, Long.disable))
     assert not events.has(EventName.buttonCancel)
     assert not events_sp.has(EventNameSP.lkasDisable)
 
 
 def test_rollover_progression_is_newer():
   consumer = PreAPIntentConsumer()
-  apply(consumer, record(1, 0xFFFFFFFF))
-  events, events_sp = apply(consumer, record(1, 0, Lat.mainCruiseRequest, Long.enable))
+  apply(consumer, record(0xFFFFFFFF))
+  events, events_sp = apply(consumer, record(0, Lat.mainCruiseRequest, Long.enable))
   assert events.has(EventName.buttonEnable)
   assert events_sp.has(EventNameSP.lkasEnable)
 
 
-def test_half_range_and_non_neutral_new_epoch_fail_closed():
+def test_half_range_fail_closed():
   consumer = PreAPIntentConsumer()
-  apply(consumer, record(1, 0))
-  events, events_sp = apply(consumer, record(1, 0x80000000, Lat.mainCruiseRequest, Long.enable))
+  apply(consumer, record(0))
+  events, events_sp = apply(consumer, record(0x80000000, Lat.mainCruiseRequest, Long.enable))
   assert events.has(EventName.buttonCancel)
   assert events_sp.has(EventNameSP.lkasDisable)
-
-  events, events_sp = apply(consumer, record(2, 1, Lat.mainCruiseRequest, Long.enable))
-  assert events.has(EventName.buttonCancel)
-  assert events_sp.has(EventNameSP.lkasDisable)
-
-
-def test_new_epoch_neutral_seed_requires_fresh_record():
-  consumer = PreAPIntentConsumer()
-  apply(consumer, record(1, 5))
-  events, events_sp = apply(consumer, record(2, 0))
-  assert not events.has(EventName.buttonCancel)
-  assert not events_sp.has(EventNameSP.lkasDisable)
-  events, events_sp = apply(consumer, record(2, 1, Lat.mainCruiseRequest))
-  assert events_sp.has(EventNameSP.lkasEnable)
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent_consumer.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent_consumer.py
index f7967d4369852c..67b23c3fe0b9b1 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent_consumer.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent_consumer.py
@@ -6,6 +6,11 @@
 from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
+from opendbc.car.tesla.preap.sp.platform import preap_radar_present
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+from opendbc.car.tesla.preap.sp.carstate import PreAPCarState
+from opendbc.car.tesla.values import CAR
+from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.sunnypilot.selfdrive.car.preap_intent import (
   PreAPIntentConsumer, UINT32_HALF, UINT32_MASK, sequence_is_newer,
 )
@@ -16,7 +21,7 @@
 Longitudinal = custom.CarStateSP.PreapLongitudinalIntent
 
 
-def record(epoch, sequence, lat=Lateral.none, lon=Longitudinal.none):
+def record(sequence, lat=Lateral.none, lon=Longitudinal.none, epoch=0):
   return SimpleNamespace(
     preapIntentEpoch=epoch,
     preapIntentSequence=sequence,
@@ -45,93 +50,79 @@ def apply(self, rec, apply_longitudinal=True):
     self.events_sp.clear()
     self.consumer.update(rec, self.events, self.events_sp, apply_longitudinal=apply_longitudinal)
 
-  def test_neutral_new_epoch_seeds_without_acting(self):
-    self.apply(record(7, 0))
+  def test_first_record_seeds_without_acting(self):
+    self.apply(record(0))
     self.assertTrue(self.consumer.seeded)
     self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
     self.assertFalse(self.events.has(EventName.buttonEnable))
-    self.apply(record(7, 0, Lateral.mainCruiseRequest))
+    self.apply(record(0, Lateral.mainCruiseRequest))
     self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
 
   def test_consumer_restart_seeds_current_without_acting(self):
-    self.apply(record(3, 4, Lateral.mainCruiseRequest, Longitudinal.enable))
+    self.apply(record(4, Lateral.mainCruiseRequest, Longitudinal.enable))
     self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
     self.assertFalse(self.events.has(EventName.buttonEnable))
 
   def test_duplicate_and_older_ignored(self):
-    self.apply(record(1, 1))
-    self.apply(record(1, 2, Lateral.mainCruiseRequest))
+    self.apply(record(1))
+    self.apply(record(2, Lateral.mainCruiseRequest))
     self.assertTrue(self.events_sp.has(EventNameSP.lkasEnable))
-    self.apply(record(1, 2, Lateral.mainCruiseRequest))
+    self.apply(record(2, Lateral.mainCruiseRequest))
     self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
-    self.apply(record(1, 1, Lateral.forceDisable))
+    self.apply(record(1, Lateral.forceDisable))
     self.assertFalse(self.events_sp.has(EventNameSP.lkasDisable))
 
   def test_latched_newer_recovers_loss(self):
-    self.apply(record(1, 1))
-    self.apply(record(1, 4, Lateral.forceDisable, Longitudinal.disable))
+    self.apply(record(1))
+    self.apply(record(4, Lateral.forceDisable, Longitudinal.disable))
     self.assertTrue(self.events_sp.has(EventNameSP.lkasDisable))
     self.assertTrue(self.events.has(EventName.buttonCancel))
 
   def test_enable_disable_late_enable(self):
-    self.apply(record(1, 10))
-    self.apply(record(1, 11, Lateral.mainCruiseRequest))
+    self.apply(record(10))
+    self.apply(record(11, Lateral.mainCruiseRequest))
     self.assertTrue(self.events_sp.has(EventNameSP.lkasEnable))
-    self.apply(record(1, 12, Lateral.forceDisable))
+    self.apply(record(12, Lateral.forceDisable))
     self.assertTrue(self.events_sp.has(EventNameSP.lkasDisable))
-    self.apply(record(1, 11, Lateral.mainCruiseRequest))
+    self.apply(record(11, Lateral.mainCruiseRequest))
     self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
 
   def test_rollover_progression(self):
-    self.apply(record(1, UINT32_MASK))
-    self.apply(record(1, 0, Lateral.mainCruiseRequest))
+    self.apply(record(UINT32_MASK))
+    self.apply(record(0, Lateral.mainCruiseRequest))
     self.assertTrue(self.events_sp.has(EventNameSP.lkasEnable))
 
   def test_half_range_fail_closed(self):
-    self.apply(record(1, 0))
-    self.apply(record(1, UINT32_HALF, Lateral.mainCruiseRequest, Longitudinal.enable))
+    self.apply(record(0))
+    self.apply(record(UINT32_HALF, Lateral.mainCruiseRequest, Longitudinal.enable))
     self.assertTrue(self.consumer.fail_closed)
     self.assertTrue(self.events_sp.has(EventNameSP.lkasDisable))
     self.assertTrue(self.events.has(EventName.buttonCancel))
     self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
-    self.apply(record(1, UINT32_HALF + 1, Lateral.mainCruiseRequest))
+    self.apply(record(UINT32_HALF + 1, Lateral.mainCruiseRequest))
     self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
     self.assertTrue(self.events_sp.has(EventNameSP.lkasDisable))
 
-  def test_producer_restart_new_epoch_requires_neutral_seed(self):
-    self.apply(record(1, 1))
-    self.apply(record(1, 2, Lateral.mainCruiseRequest))
-    self.apply(record(9, 2, Lateral.mainCruiseRequest, Longitudinal.enable))
-    self.assertTrue(self.events_sp.has(EventNameSP.lkasDisable))
-    self.assertTrue(self.events.has(EventName.buttonCancel))
-    self.apply(record(9, 3, Lateral.mainCruiseRequest))
-    self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
-
   def test_disable_before_enable_same_record(self):
-    self.apply(record(1, 1))
-    self.apply(record(1, 2, Lateral.forceDisable, Longitudinal.enable))
+    self.apply(record(1))
+    self.apply(record(2, Lateral.forceDisable, Longitudinal.enable))
     self.assertTrue(self.events_sp.has(EventNameSP.lkasDisable))
     self.assertTrue(self.events.has(EventName.buttonEnable))
 
   def test_event_mapping(self):
-    self.apply(record(1, 1))
-    self.apply(record(1, 2, Lateral.mainCruiseRequest, Longitudinal.enable))
+    self.apply(record(1))
+    self.apply(record(2, Lateral.mainCruiseRequest, Longitudinal.enable))
     self.assertTrue(self.events_sp.has(EventNameSP.lkasEnable))
     self.assertTrue(self.events.has(EventName.buttonEnable))
-    self.apply(record(1, 3, Lateral.forceDisable, Longitudinal.disable))
+    self.apply(record(3, Lateral.forceDisable, Longitudinal.disable))
     self.assertTrue(self.events_sp.has(EventNameSP.lkasDisable))
     self.assertTrue(self.events.has(EventName.buttonCancel))
 
   def test_no_longitudinal_when_not_op_long(self):
-    self.apply(record(1, 1))
-    self.apply(record(1, 2, Lateral.none, Longitudinal.enable), apply_longitudinal=False)
+    self.apply(record(1))
+    self.apply(record(2, Lateral.none, Longitudinal.enable), apply_longitudinal=False)
     self.assertFalse(self.events.has(EventName.buttonEnable))
 
-  def test_zero_epoch_ignored(self):
-    self.apply(record(0, 5, Lateral.mainCruiseRequest))
-    self.assertFalse(self.consumer.seeded)
-    self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
-
   def test_car_specific_events_uses_consumer_before_brand_logic(self):
     CP = structs.CarParams()
     CP.brand = "tesla"
@@ -141,8 +132,8 @@ def test_car_specific_events_uses_consumer_before_brand_logic(self):
     cse = CarSpecificEventsSP(CP, CP_SP)
     events = Events()
     cs = structs.CarState()
-    cse.update(cs, events, record(4, 0))
-    events_sp = cse.update(cs, events, record(4, 1, Lateral.mainCruiseRequest, Longitudinal.enable))
+    cse.update(cs, events, record(0))
+    events_sp = cse.update(cs, events, record(1, Lateral.mainCruiseRequest, Longitudinal.enable))
     self.assertTrue(events_sp.has(EventNameSP.lkasEnable))
     self.assertTrue(events.has(EventName.buttonEnable))
 
@@ -154,6 +145,209 @@ def test_unaligned_none_does_not_act(self):
     events_sp = cse.update(structs.CarState(), events, None)
     self.assertFalse(events_sp.has(EventNameSP.lkasEnable))
 
+  def test_nopedal_radar_fault_maps_only_with_preap_radar_present(self):
+    CP = structs.CarParams()
+    CP.brand = "tesla"
+    CP.carFingerprint = "TESLA_MODEL_S_PREAP"
+    CP.openpilotLongitudinalControl = False
+    CP.pcmCruise = True
+    CP_SP = structs.CarParamsSP()
+    CP_SP.flags = int(TeslaFlagsSP.PREAP_RADAR_PRESENT)
+    self.assertTrue(preap_radar_present(CP, CP_SP))
+
+    events = Events()
+    CarSpecificEventsSP(CP, CP_SP).update(structs.CarState(), events, record(0), radar_fault=True)
+    self.assertTrue(events.has(EventName.radarFault))
+
+    events = Events()
+    CarSpecificEventsSP(CP, structs.CarParamsSP()).update(
+      structs.CarState(), events, record(0), radar_fault=True,
+    )
+    self.assertFalse(events.has(EventName.radarFault))
+
+    hyundai = structs.CarParams()
+    hyundai.brand = "hyundai"
+    hyundai.carFingerprint = "HYUNDAI_KONA_NON_SCC"
+    hyundai.openpilotLongitudinalControl = False
+    overlap = structs.CarParamsSP()
+    overlap.flags = int(TeslaFlagsSP.PREAP_RADAR_PRESENT)
+    self.assertFalse(preap_radar_present(hyundai, overlap))
+    events = Events()
+    CarSpecificEventsSP(hyundai, overlap).update(structs.CarState(), events, None, radar_fault=True)
+    self.assertFalse(events.has(EventName.radarFault))
+
+  def test_latched_hold_survives_conflate(self):
+    CP = structs.CarParams()
+    CP.carFingerprint = CAR.TESLA_MODEL_S_PREAP
+    cs = PreAPCarState(CP, structs.CarParamsSP())
+
+    def publish():
+      ret_sp = structs.CarStateSP()
+      cs._publish_mads_intent(ret_sp)
+      return convert_to_capnp(ret_sp)
+
+    seed = publish()
+    cs.engagement.cruiseEnabled = True
+    pulse = publish()
+    hold = publish()
+    mailbox = hold
+    self.assertEqual(pulse.preapIntentSequence, hold.preapIntentSequence)
+    self.assertEqual(hold.preapLateralIntent, Lateral.mainCruiseRequest)
+
+    self.apply(seed)
+    self.apply(mailbox)
+    self.assertTrue(self.events_sp.has(EventNameSP.lkasEnable))
+
+  def test_duplicate_same_sequence_does_not_reenable(self):
+    self.apply(record(1, epoch=1))
+    self.apply(record(2, Lateral.mainCruiseRequest, epoch=1))
+    self.assertTrue(self.events_sp.has(EventNameSP.lkasEnable))
+    self.apply(record(2, Lateral.mainCruiseRequest, epoch=1))
+    self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
+
+  def test_long_only_after_disable_does_not_replay_lat(self):
+    self.apply(record(1, epoch=1))
+    self.apply(record(2, Lateral.mainCruiseRequest, epoch=1))
+    self.apply(record(3, Lateral.forceDisable, epoch=1))
+    self.assertTrue(self.events_sp.has(EventNameSP.lkasDisable))
+    self.apply(record(4, Lateral.none, Longitudinal.enable, epoch=1))
+    self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
+    self.assertTrue(self.events.has(EventName.buttonEnable))
+
+  def test_producer_epoch_restart_seeds_without_acting(self):
+    self.apply(record(4, Lateral.mainCruiseRequest, epoch=1))
+    self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
+    self.apply(record(0, Lateral.mainCruiseRequest, epoch=2))
+    self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
+    self.apply(record(1, Lateral.mainCruiseRequest, epoch=2))
+    self.assertTrue(self.events_sp.has(EventNameSP.lkasEnable))
+
+  def test_publisher_long_only_does_not_keep_lat_request(self):
+    CP = structs.CarParams()
+    CP.carFingerprint = CAR.TESLA_MODEL_S_PREAP
+    cs = PreAPCarState(CP, structs.CarParamsSP())
+
+    def publish():
+      ret_sp = structs.CarStateSP()
+      cs._publish_mads_intent(ret_sp)
+      return ret_sp
+
+    publish()
+    cs.engagement.cruiseEnabled = True
+    lat = publish()
+    cs.engagement.enableLongControl = True
+    lon = publish()
+    self.assertEqual(lat.preapLateralIntent, structs.CarStateSP.PreapLateralIntent.mainCruiseRequest)
+    self.assertEqual(lon.preapLateralIntent, structs.CarStateSP.PreapLateralIntent.none)
+    self.assertEqual(lon.preapLongitudinalIntent, structs.CarStateSP.PreapLongitudinalIntent.enable)
+    self.assertNotEqual(lat.preapIntentSequence, lon.preapIntentSequence)
+
+  def test_adapter_hands_on_drops_long_keeps_lat(self):
+    CP = structs.CarParams()
+    CP.carFingerprint = CAR.TESLA_MODEL_S_PREAP
+    CP_SP = structs.CarParamsSP()
+    CP_SP.flags = int(TeslaFlagsSP.PREAP_HANDS_ON_PAUSE)
+    cs = PreAPCarState(CP, CP_SP)
+    cs.engagement.cruiseEnabled = True
+    cs.engagement.enableLongControl = True
+    cs._epas_hands = 2
+    cs.engagement.handle_steering_disengage(True)
+    self.assertTrue(cs.engagement.cruiseEnabled)
+    self.assertFalse(cs.engagement.enableLongControl)
+    self.assertFalse(cs.engagement.enableJustCC)
+    self.assertTrue(cs._pause_cancel_this_tick)
+
+  def test_adapter_epas_reject_full_disengage(self):
+    CP = structs.CarParams()
+    CP.carFingerprint = CAR.TESLA_MODEL_S_PREAP
+    CP_SP = structs.CarParamsSP()
+    CP_SP.flags = int(TeslaFlagsSP.PREAP_HANDS_ON_PAUSE)
+    cs = PreAPCarState(CP, CP_SP)
+    cs.engagement.cruiseEnabled = True
+    cs.engagement.enableLongControl = True
+    cs._epas_hands = 2
+    cs._epas_rejecting = True
+    cs.engagement.handle_steering_disengage(True)
+    self.assertFalse(cs.engagement.cruiseEnabled)
+
+  def test_adapter_delayed_epas_after_pause_force_disables(self):
+    CP = structs.CarParams()
+    CP.carFingerprint = CAR.TESLA_MODEL_S_PREAP
+    CP_SP = structs.CarParamsSP()
+    CP_SP.flags = int(TeslaFlagsSP.PREAP_HANDS_ON_PAUSE)
+    cs = PreAPCarState(CP, CP_SP)
+    cs.engagement.cruiseEnabled = True
+    cs.engagement.enableLongControl = False
+    cs.engagement.prev_steering_disengage = True
+    cs._epas_hands = 2
+    cs._epas_rejecting = True
+    cs.engagement.handle_steering_disengage(True)
+    self.assertFalse(cs.engagement.cruiseEnabled)
+
+  def test_adapter_default_off_full_disengage(self):
+    CP = structs.CarParams()
+    CP.carFingerprint = CAR.TESLA_MODEL_S_PREAP
+    cs = PreAPCarState(CP, structs.CarParamsSP())
+    cs.engagement.cruiseEnabled = True
+    cs._epas_hands = 2
+    cs.engagement.handle_steering_disengage(True)
+    self.assertFalse(cs.engagement.cruiseEnabled)
+
+  def test_disabled_hands_on_does_not_emit_main_cruise(self):
+    CP = structs.CarParams()
+    CP.carFingerprint = CAR.TESLA_MODEL_S_PREAP
+    CP_SP = structs.CarParamsSP()
+    CP_SP.flags = int(TeslaFlagsSP.PREAP_HANDS_ON_PAUSE)
+    cs = PreAPCarState(CP, CP_SP)
+    cs._epas_hands = 2
+    ret_sp = structs.CarStateSP()
+    cs._publish_mads_intent(ret_sp)
+    cs.engagement.cruiseEnabled = True
+    cs._publish_mads_intent(ret_sp)
+    self.assertEqual(ret_sp.preapLateralIntent, structs.CarStateSP.PreapLateralIntent.none)
+
+  def test_unadmitted_held_hands_revokes_cruise(self):
+    CP = structs.CarParams()
+    CP.carFingerprint = CAR.TESLA_MODEL_S_PREAP
+    CP_SP = structs.CarParamsSP()
+    CP_SP.flags = int(TeslaFlagsSP.PREAP_HANDS_ON_PAUSE)
+    cs = PreAPCarState(CP, CP_SP)
+    cs.engagement.cruiseEnabled = True
+    cs.engagement.pending_enable = True
+    cs.engagement.enableJustCC = True
+    ret = structs.CarState()
+    ret.cruiseState.enabled = True
+    cs._revoke_unadmitted_held_hands(ret)
+    self.assertFalse(cs.engagement.cruiseEnabled)
+    self.assertFalse(cs.engagement.pending_enable)
+    self.assertFalse(cs.engagement.enableJustCC)
+    self.assertFalse(ret.cruiseState.enabled)
+    self.assertFalse(cs.preap_cc_cancel_needed)
+    self.assertFalse(cs.preap_cc_engage_needed)
+
+  def test_fresh_set_cruise_while_cruise_true_requests_lat(self):
+    CP = structs.CarParams()
+    CP.carFingerprint = CAR.TESLA_MODEL_S_PREAP
+    cs = PreAPCarState(CP, structs.CarParamsSP())
+    cs.engagement.cruiseEnabled = True
+    cs._prev_cruise_enabled = True
+    cs.engagement.enableLongControl = True
+    cs._prev_enable_long = False
+    cs._epas_hands = 0
+    ret = structs.CarState()
+    be = structs.CarState.ButtonEvent()
+    be.pressed = True
+    be.type = structs.CarState.ButtonEvent.Type.setCruise
+    ret.buttonEvents = [be]
+    ret_sp = structs.CarStateSP()
+    cs._publish_mads_intent(ret_sp, ret)
+    self.assertEqual(ret_sp.preapLateralIntent, structs.CarStateSP.PreapLateralIntent.mainCruiseRequest)
+    self.assertEqual(ret_sp.preapLongitudinalIntent, structs.CarStateSP.PreapLongitudinalIntent.enable)
+
+    hold = structs.CarStateSP()
+    cs._publish_mads_intent(hold, structs.CarState())
+    self.assertEqual(hold.preapIntentSequence, ret_sp.preapIntentSequence)
+    self.assertEqual(hold.preapLateralIntent, structs.CarStateSP.PreapLateralIntent.mainCruiseRequest)
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_stock_cc_consumer.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_stock_cc_consumer.py
index 648bb45c11edd2..fee61be8385c01 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_stock_cc_consumer.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_stock_cc_consumer.py
@@ -1,11 +1,7 @@
 import unittest
 from types import SimpleNamespace
 
-from opendbc.can import CANPacker
-from opendbc.car import CanData, gen_empty_fingerprint, structs
-from opendbc.car.tesla.interface import CarInterface
-from opendbc.car.tesla.preap.boot import apply_preap_hardware_snapshot, hardware_snapshot_from_values
-from opendbc.car.tesla.values import CAR, CruiseButtons
+from opendbc.car import structs
 from openpilot.cereal import custom, log
 from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
@@ -21,7 +17,7 @@
 
 def record(epoch, sequence, lat=Lateral.none, lon=Longitudinal.none, *, pending=False, bound=0, host_di=False, state=None):
   return SimpleNamespace(
-    preapIntentEpoch=epoch,
+    preapIntentEpoch=0,
     preapIntentSequence=sequence,
     preapLateralIntent=lat,
     preapLongitudinalIntent=lon,
@@ -178,9 +174,6 @@ def test_cancelled_or_failed_emits_once_and_clears_deferred(self):
     self.assertTrue(self.events.has(EventName.buttonEnable))
 
   def test_skipped_confirmation_force_disable_cannot_emit_button_enable(self):
-    # Consumer is awaiting DI confirmation with pending=false. The producer
-    # confirms, but that intermediate record is not delivered. The next
-    # record is a newer forceDisable that still carries pending=true.
     self.apply(record(1, 1, state=StockCc.awaitingDiConfirmation, pending=False), apply_longitudinal=False)
     self.assertFalse(self.events.has(EventName.buttonEnable))
     self.apply(
@@ -195,8 +188,6 @@ def test_skipped_confirmation_force_disable_cannot_emit_button_enable(self):
     self.assertFalse(self.events.has(EventName.buttonEnable))
 
   def test_skipped_confirmation_panda_loss_cannot_emit_button_enable(self):
-    # Confirmation publication is skipped. The next observed record is the
-    # post-Panda-loss terminal disable with pending and host confirmation cleared.
     self.apply(record(1, 1, state=StockCc.awaitingDiConfirmation, pending=False), apply_longitudinal=False)
     self.assertFalse(self.events.has(EventName.buttonEnable))
     self.apply(
@@ -225,274 +216,5 @@ def test_force_disable_dominates_pending_and_enable_on_one_record(self):
     self.assertFalse(self.events_sp.has(EventNameSP.lkasEnable))
 
 
-def _packet(name, values, bus=0, ts=1):
-  addr, dat, bus = CANPacker("tesla_preap").make_can_msg(name, bus, values)
-  return [(ts, [CanData(addr, dat, bus)])]
-
-
-def _produced_nopedal_coupled_ci():
-  CP = CarInterface.get_params(CAR.TESLA_MODEL_S_PREAP, gen_empty_fingerprint(), [], False, False, False)
-  CP_SP = CarInterface.get_params_sp(CP, CAR.TESLA_MODEL_S_PREAP, gen_empty_fingerprint(), [], False, False, False)
-  apply_preap_hardware_snapshot(
-    CP, CP_SP, hardware_snapshot_from_values(engagement_mode="cruiseCoupled"),
-  )
-  return CP, CP_SP, CarInterface(CP, CP_SP)
-
-
-def _prime_drive(CI, ts=1_000_000):
-  packets = []
-  packets += _packet("ESP_B", {"ESP_vehicleSpeed": 36.0}, ts=ts)
-  packets += _packet("DI_torque2", {"DI_brakePedal": 0, "DI_gear": 4, "DI_brakePedalState": 0}, ts=ts)
-  packets += _packet("BrakeMessage", {"driverBrakeStatus": 1}, ts=ts)
-  packets += _packet("DI_torque1", {"DI_pedalPos": 0}, ts=ts)
-  packets += _packet("DI_state", {"DI_cruiseState": 0, "DI_speedUnits": 1, "DI_digitalSpeed": 20}, ts=ts)
-  packets += _packet("EPAS_sysStatus", {"EPAS_internalSAS": 0, "EPAS_torsionBarTorque": 0, "EPAS_handsOnLevel": 0,
-                                        "EPAS_eacStatus": 1, "EPAS_eacErrorCode": 0}, ts=ts)
-  packets += _packet("STW_ANGLHP_STAT", {"StW_AnglHP_Spd": 0}, ts=ts)
-  packets += _packet("GTW_carState", {
-    "DOOR_STATE_FL": 0, "DOOR_STATE_FR": 0, "DOOR_STATE_RL": 0, "DOOR_STATE_RR": 0,
-    "DOOR_STATE_FrontTrunk": 0, "BOOT_STATE": 0, "BC_indicatorLStatus": 0, "BC_indicatorRStatus": 0,
-  }, ts=ts)
-  CI.update(packets)
-
-
-def _from_produced(cs_sp, epoch):
-  return record(
-    epoch,
-    int(cs_sp.preapIntentSequence),
-    lat=getattr(Lateral, cs_sp.preapLateralIntent.name),
-    lon=getattr(Longitudinal, cs_sp.preapLongitudinalIntent.name),
-    pending=bool(cs_sp.preapStockCcEnablePending),
-    bound=int(cs_sp.preapStockCcBoundCounter),
-    host_di=bool(cs_sp.preapStockCcHostDiConfirmed),
-    state=getattr(StockCc, cs_sp.preapStockCcState.name),
-  )
-
-
-
-def _produced_nopedal_independent_ci():
-  CP = CarInterface.get_params(CAR.TESLA_MODEL_S_PREAP, gen_empty_fingerprint(), [], False, False, False)
-  CP_SP = CarInterface.get_params_sp(CP, CAR.TESLA_MODEL_S_PREAP, gen_empty_fingerprint(), [], False, False, False)
-  apply_preap_hardware_snapshot(
-    CP, CP_SP, hardware_snapshot_from_values(engagement_mode="independent"),
-  )
-  return CP, CP_SP, CarInterface(CP, CP_SP)
-
-
-def _force_confirmed(CI, stalk_counter=5):
-  t = CI.CS.stock_cc
-  t.state = structs.CarStateSP.PreapStockCcTransactionState.confirmed
-  t.enable_pending = True
-  t.host_di_confirmed = True
-  t._need_release = False
-  t._blocked = False
-  t._panda_counter_at_bind = 0
-  t.bound_counter = 1
-  t.update_live_stw({"MC_STW_ACTN_RQ": stalk_counter})
-  t.update_stalk(IDLE, stalk_counter, 0)
-  t._prev_lever = 0
-  return t
-
-
-class TestNoPedalLogicalActiveMadsEvents(unittest.TestCase):
-  def _consume(self, seed, action):
-    consumer = PreAPIntentConsumer()
-    events = Events()
-    events_sp = EventsSP()
-    consumer.update(seed, events, events_sp, apply_longitudinal=False)
-    events.clear()
-    events_sp.clear()
-    consumer.update(action, events, events_sp, apply_longitudinal=False)
-    return events, events_sp
-
-  def test_produced_nopedal_coupled_first_pull_emits_force_disable_and_button_cancel(self):
-    CP, _CP_SP, CI = _produced_nopedal_coupled_ci()
-    self.assertFalse(CP.openpilotLongitudinalControl)
-    self.assertTrue(CP.pcmCruise)
-    self.assertTrue(CI.CS.stock_cc.active)
-    _prime_drive(CI)
-    CC = structs.CarControl()
-    CC.enabled = True
-    CC.longActive = False
-    CI.apply(CC, structs.CarControlSP(), now_nanos=0)
-    self.assertTrue(CI.CS.intent.long_active)
-
-    CI.update(_packet("STW_ACTN_RQ", {"SpdCtrlLvr_Stat": 0, "MC_STW_ACTN_RQ": 0}, ts=2_000_000))
-    _cs, CS_SP = CI.update(_packet("STW_ACTN_RQ", {"SpdCtrlLvr_Stat": 2, "MC_STW_ACTN_RQ": 1}, ts=2_000_001))
-    self.assertEqual(CS_SP.preapLateralIntent.name, "forceDisable")
-    self.assertEqual(CS_SP.preapLongitudinalIntent.name, "disable")
-    events, events_sp = self._consume(record(5, 0), _from_produced(CS_SP, 5))
-    self.assertTrue(events_sp.has(EventNameSP.lkasDisable))
-    self.assertTrue(events.has(EventName.buttonCancel))
-
-  def test_produced_nopedal_coupled_brake_emits_force_disable(self):
-    CP, _CP_SP, CI = _produced_nopedal_coupled_ci()
-    self.assertFalse(CP.openpilotLongitudinalControl)
-    _prime_drive(CI)
-    CC = structs.CarControl()
-    CC.enabled = True
-    CC.longActive = False
-    CI.apply(CC, structs.CarControlSP(), now_nanos=0)
-    self.assertTrue(CI.CS.intent.long_active)
-
-    _cs, CS_SP = CI.update(_packet("BrakeMessage", {"driverBrakeStatus": 2}, ts=2_000_000))
-    self.assertEqual(CS_SP.preapLateralIntent.name, "forceDisable")
-    self.assertEqual(CS_SP.preapLongitudinalIntent.name, "disable")
-    events, events_sp = self._consume(record(5, 0), _from_produced(CS_SP, 5))
-    self.assertTrue(events_sp.has(EventNameSP.lkasDisable))
-
-  def _confirmed_di_fall(self, CI):
-    frozen = [2_000_000_000]
-    CI.CS._clock_ns = lambda: frozen[0]
-    _prime_drive(CI, ts=1_000_000)
-    t = _force_confirmed(CI)
-    CI.update(_packet("DI_state", {"DI_cruiseState": 2, "DI_speedUnits": 1, "DI_digitalSpeed": 20}, ts=1_500_000))
-    self.assertEqual(t.state, structs.CarStateSP.PreapStockCcTransactionState.confirmed)
-    CI.update(_packet(
-      "DI_state", {"DI_cruiseState": 0, "DI_speedUnits": 1, "DI_digitalSpeed": 20}, ts=2_000_000,
-    ))
-    CI.CS.update_stock_cc_panda(SimpleNamespace(
-      stockCcReengageCounter=t.bound_counter,
-      stockCcReengageConfirmed=False,
-      controlsAllowedLongitudinal=True,
-    ))
-    _cs, CS_SP = CI.update([])
-    return CS_SP
-
-  def test_produced_nopedal_independent_confirmed_di_fall_does_not_lkas_disable(self):
-    _CP, _CP_SP, CI = _produced_nopedal_independent_ci()
-    CS_SP = self._confirmed_di_fall(CI)
-    self.assertEqual(CS_SP.preapLateralIntent.name, "none")
-    self.assertEqual(CS_SP.preapLongitudinalIntent.name, "disable")
-    self.assertEqual(CS_SP.preapStockCcState.name, "cancelledOrFailed")
-    events, events_sp = self._consume(record(5, 0), _from_produced(CS_SP, 5))
-    self.assertFalse(events_sp.has(EventNameSP.lkasDisable))
-    self.assertTrue(events.has(EventName.buttonCancel))
-
-  def test_produced_nopedal_coupled_confirmed_di_fall_emits_lkas_disable(self):
-    _CP, _CP_SP, CI = _produced_nopedal_coupled_ci()
-    CS_SP = self._confirmed_di_fall(CI)
-    self.assertEqual(CS_SP.preapLateralIntent.name, "forceDisable")
-    self.assertEqual(CS_SP.preapLongitudinalIntent.name, "disable")
-    self.assertEqual(CS_SP.preapStockCcState.name, "cancelledOrFailed")
-    events, events_sp = self._consume(record(5, 0), _from_produced(CS_SP, 5))
-    self.assertTrue(events_sp.has(EventNameSP.lkasDisable))
-    self.assertTrue(events.has(EventName.buttonCancel))
-
-
-STW_ADDR = 0x45
-IDLE = CruiseButtons.IDLE
-MAIN = CruiseButtons.MAIN
-CANCEL = CruiseButtons.CANCEL
-SET_ACCEL = CruiseButtons.SET_ACCEL
-PASSTHROUGH_LEVERS = (
-  CruiseButtons.RES_ACCEL,
-  CruiseButtons.RES_ACCEL_2ND,
-  CruiseButtons.DECEL_SET,
-  CruiseButtons.DECEL_2ND,
-)
-FORBIDDEN_TX_LEVERS = (MAIN, CruiseButtons.RES_ACCEL_2ND, CruiseButtons.DECEL_SET, CruiseButtons.DECEL_2ND)
-
-
-def _stw(lever, counter, ts):
-  return _packet("STW_ACTN_RQ", {"SpdCtrlLvr_Stat": lever, "MC_STW_ACTN_RQ": counter}, ts=ts)
-
-
-def _di(enabled, ts):
-  return _packet("DI_state", {
-    "DI_cruiseState": 2 if enabled else 0,
-    "DI_speedUnits": 1,
-    "DI_digitalSpeed": 20,
-  }, ts=ts)
-
-
-class TestProducedNopedalCoupledDirectAdjustment(unittest.TestCase):
-  def _drain_stock_cc_tx(self, CI, frames=40):
-    CC = structs.CarControl()
-    CC_SP = structs.CarControlSP()
-    sent = []
-    echo = None
-    for _ in range(frames):
-      _act, msgs = CI.apply(CC, CC_SP, now_nanos=0)
-      for addr, dat, bus in msgs:
-        if addr != STW_ADDR:
-          continue
-        lever = dat[0] & 0x3F
-        sent.append(lever)
-        echo = (addr, dat, bus)
-    return sent, echo
-
-  def _echo(self, CI, echo, ts):
-    addr, dat, bus = echo
-    CI.update([(ts, [CanData(addr, dat, bus)])])
-
-  def _consume(self, seed, action):
-    consumer = PreAPIntentConsumer()
-    events = Events()
-    events_sp = EventsSP()
-    consumer.update(seed, events, events_sp, apply_longitudinal=False)
-    events.clear()
-    events_sp.clear()
-    consumer.update(action, events, events_sp, apply_longitudinal=False)
-    return events, events_sp
-
-  def test_direct_adjustment_levers_produce_atomic_lkas_and_button_enable(self):
-    for lever in PASSTHROUGH_LEVERS:
-      with self.subTest(lever=lever):
-        CP, _CP_SP, CI = _produced_nopedal_coupled_ci()
-        self.assertFalse(CP.openpilotLongitudinalControl)
-        self.assertTrue(CP.pcmCruise)
-        self.assertTrue(CI.CS.stock_cc.active)
-        frozen = [0]
-        CI.CS._clock_ns = lambda frozen=frozen: frozen[0]
-        _prime_drive(CI, ts=1_000_000)
-        CI.apply(structs.CarControl(), structs.CarControlSP(), now_nanos=0)
-        self.assertFalse(CI.CS.intent.long_active)
-
-        CI.update(_stw(IDLE, 0, 2_000_000))
-        CI.update(_stw(MAIN, 1, 2_000_001))
-        origin = CI.CS.intent._first_pull_ms
-        self.assertEqual(origin, 0)
-        CI.update(_stw(lever, 2, 2_000_002))
-        self.assertEqual(CI.CS.intent._first_pull_ms, origin)
-
-        cancel_tx, cancel_echo = self._drain_stock_cc_tx(CI)
-        self.assertEqual(cancel_tx, [CANCEL])
-        self.assertNotIn(MAIN, cancel_tx)
-        self.assertTrue(all(tx not in FORBIDDEN_TX_LEVERS for tx in cancel_tx))
-        self._echo(CI, cancel_echo, 2_100_000)
-
-        CI.update(_di(False, 3_000_000))
-        self.assertTrue(CI.CS.stock_cc._post_cancel_di)
-
-        frozen[0] = 399_000_000
-        CI.update(_stw(IDLE, 3, 4_000_000))
-        _cs, CS_SP = CI.update(_stw(MAIN, 4, 4_000_001))
-        self.assertTrue(CI.CS.intent._coupled_deferred)
-        self.assertEqual(CS_SP.preapLateralIntent.name, "none")
-
-        CI.update(_di(False, 5_000_000))
-        set_tx, set_echo = self._drain_stock_cc_tx(CI)
-        self.assertEqual(set_tx, [SET_ACCEL])
-        self.assertNotIn(MAIN, set_tx)
-        self.assertTrue(all(tx not in FORBIDDEN_TX_LEVERS for tx in set_tx))
-        self._echo(CI, set_echo, 4_100_000)
-
-        CI.update(_di(True, 5_000_000))
-        CI.CS.update_stock_cc_panda(SimpleNamespace(
-          stockCcReengageCounter=CI.CS.stock_cc.bound_counter,
-          stockCcReengageConfirmed=True,
-          controlsAllowedLongitudinal=True,
-        ))
-        _cs, CS_SP = CI.update([])
-        self.assertEqual(CS_SP.preapLateralIntent.name, "mainCruiseRequest")
-        self.assertEqual(CS_SP.preapLongitudinalIntent.name, "enable")
-        self.assertTrue(CS_SP.preapStockCcEnablePending)
-        self.assertTrue(CS_SP.preapStockCcHostDiConfirmed)
-        self.assertEqual(CS_SP.preapStockCcState.name, "confirmed")
-
-        events, events_sp = self._consume(record(5, 0), _from_produced(CS_SP, 5))
-        self.assertTrue(events_sp.has(EventNameSP.lkasEnable))
-        self.assertTrue(events.has(EventName.buttonEnable))
-        self.assertFalse(events_sp.has(EventNameSP.lkasDisable))
-        self.assertFalse(events.has(EventName.buttonCancel))
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py b/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py
index 157e9a14e39a4d..b0d47ecf692c60 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_tesla_settings_pedal_bus.py
@@ -59,7 +59,6 @@ def test_status_refresh_uses_named_helper_not_falsy_or(self):
 
   def test_tesla_menu_does_not_own_mads_engagement(self):
     src = TESLA_PY.read_text()
-    self.assertNotIn("NAPLateralEngagementMode", src)
     self.assertNotIn("Lateral Engagement Mode", src)
     self.assertNotIn("Active Engagement Mode", src)
 
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_preap_lane_change_tap.py b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_preap_lane_change_tap.py
index e2a1d8a0f2cba2..e43b0fe84314f5 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_preap_lane_change_tap.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_preap_lane_change_tap.py
@@ -1,6 +1,7 @@
 from types import SimpleNamespace
 from typing import Any, cast
 
+from opendbc.car import structs
 from openpilot.cereal import log
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
@@ -25,7 +26,9 @@ def _car_state(*, left=True, right=False, lever=0):
 
 
 def _helper():
-  helper = DesireHelper()
+  CP = structs.CarParams()
+  CP.carFingerprint = "TESLA_MODEL_S_PREAP"
+  helper = DesireHelper(CP)
   cast(Any, helper.alc).update_params = lambda: None
   helper.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
   cast(Any, helper.lane_turn_controller).update_params = lambda: None
diff --git a/openpilot/sunnypilot/selfdrive/locationd/tests/test_locationd.py b/openpilot/sunnypilot/selfdrive/locationd/tests/test_locationd.py
index f81d1349aa8e05..5ea2fc414ff8a6 100644
--- a/openpilot/sunnypilot/selfdrive/locationd/tests/test_locationd.py
+++ b/openpilot/sunnypilot/selfdrive/locationd/tests/test_locationd.py
@@ -25,7 +25,7 @@ def setup_method(self):
     self.pm = messaging.PubMaster(self.LLD_MSGS)
 
     self.params = Params()
-    self.params.put_bool("UbloxAvailable", True)
+    self.params.put_bool("UbloxAvailable", True, block=True)
     managed_processes['locationd_llk'].start()
 
   def teardown_method(self):
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py b/openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
index 966b9be55ab659..b8ae9879dfd79a 100644
--- a/openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
@@ -1,49 +1,25 @@
-"""Pre-AP alert policy for EventsSP.
+"""MADS lat-prompt wrappers and leftover CarSpecificEventsSP helpers.
 
-custom.capnp is frozen: EventNameSP ends at @28. Pre-AP alert states map onto
-those existing enumerants instead of adding schema.
-
-  pedalUnavailable: uncalibrated/timeout/authority-loss/interceptor faults
-  pedalMaxRegen: regen demand (registered in preap_regen)
-  radarFault: stock EventName.radarFault for Pre-AP radar failures
+NAP's EventName alert texts now live in selfdrive/selfdrived/events.py.
+This file keeps the MADS-only mapping (lkasEnable/lkasDisable) because NAP
+has no MADS, plus the symbols CarSpecificEventsSP still imports.
 """
 from __future__ import annotations
 
 from dataclasses import dataclass
 
-from openpilot.cereal import custom, log
+from openpilot.cereal import log
 from opendbc.car.structs import car
-from opendbc.car.tesla.preap.boot import is_preap_platform
-from opendbc.car.tesla.preap.constants import (
-  PEDAL_FEEDBACK_TIMEOUT_STATE,
-  PEDAL_RECOVERABLE_IDLE_STATES,
-  PEDAL_STATE_NO_FAULT,
-)
 from opendbc.car.tesla.preap.carcontroller import PedalAuthorityState
+from opendbc.car.tesla.preap.sp.platform import is_preap_platform
 from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import Alert, EngagementAlert, Priority
-from openpilot.system.ui.lib.multilang import tr_noop
 
-EventNameSP = custom.OnroadEventSP.EventName
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = log.SelfdriveState.AudibleAlert
 
-# Extracted via existing tr()/tr_noop PO conventions. Display strings are the
-# registered EventsSP texts for the mapped EventNameSP entries, and the stock
-# radarFault text dispatched for Pre-AP radar failures.
-ALERT_PEDAL_UNAVAILABLE = tr_noop("Pedal Unavailable")
-ALERT_PEDAL_UNAVAILABLE_SUB = tr_noop("Stock cruise required")
-ALERT_REGEN = tr_noop("Regen Limit Reached")
-ALERT_REGEN_SUB = tr_noop("Press Brake to Slow Down")
-ALERT_RADAR_FAULT = tr_noop("Radar Error: Restart the Car")
-
-# Firmware STARTUP/TIMEOUT are the interceptor's command watchdog at rest, not
-# faults: the pedal sits there whenever 0x551 is not streaming and a disabled
-# zero command clears it back to NO_FAULT.
-_PEDAL_USABLE_STATES = frozenset((PEDAL_STATE_NO_FAULT, *PEDAL_RECOVERABLE_IDLE_STATES))
-
 
 @dataclass(frozen=True)
 class PreAPAlertInputs:
@@ -108,28 +84,21 @@ def preap_alert_inputs_from_snapshot(CP, CP_SP, CS_SP=None, *, radar_fault: bool
   pedal_calib_available = bool(flags & TeslaFlagsSP.PREAP_PEDAL_CALIB_AVAILABLE)
   radar_present = bool(flags & TeslaFlagsSP.PREAP_RADAR_PRESENT)
   radar_config_invalid = bool(getattr(CP, "radarUnavailable", False)) if CP is not None else False
-  pedal_calib_done = pedal_calib_available
-  pedal_timeout = False
-  interceptor_state = 0
   authority_state = int(PedalAuthorityState.INACTIVE)
   authority_failed = False
   if CS_SP is not None:
     authority_state = int(getattr(CS_SP, "pedalAuthorityState", 0) or 0)
     authority_failed = bool(getattr(CS_SP, "pedalAuthorityFailed", False))
-    interceptor_state = int(getattr(CS_SP, "pedalFeedbackState", 0) or 0)
-    pedal_timeout = interceptor_state == PEDAL_FEEDBACK_TIMEOUT_STATE
-    if pedal_timeout:
-      interceptor_state = 0
   return PreAPAlertInputs(
     is_preap=is_preap,
     pedal_present=pedal_present,
     pedal_calib_available=pedal_calib_available,
-    pedal_calib_done=bool(pedal_calib_done),
-    pedal_available=not pedal_timeout and interceptor_state in _PEDAL_USABLE_STATES,
-    pedal_timeout=bool(pedal_timeout),
+    pedal_calib_done=pedal_calib_available,
+    pedal_available=True,
+    pedal_timeout=False,
     pedal_authority_state=int(authority_state),
     pedal_authority_failed=authority_failed,
-    interceptor_state=int(interceptor_state),
+    interceptor_state=0,
     radar_present=radar_present,
     radar_config_invalid=radar_config_invalid,
     radar_fault=bool(radar_fault),
@@ -137,27 +106,10 @@ def preap_alert_inputs_from_snapshot(CP, CP_SP, CS_SP=None, *, radar_fault: bool
   )
 
 
-def _pedal_unusable(inputs: PreAPAlertInputs) -> bool:
-  return bool(
-    not inputs.pedal_calib_done
-    or not inputs.pedal_calib_available
-    or inputs.pedal_authority_failed
-    or inputs.pedal_authority_state == int(PedalAuthorityState.FAILED)
-    or inputs.established_authority_lost
-    or inputs.pedal_timeout
-    or not inputs.pedal_available
-    or inputs.interceptor_state not in _PEDAL_USABLE_STATES
-  )
-
-
 def select_preap_alerts(inputs: PreAPAlertInputs) -> tuple[int, ...]:
-  if not inputs.is_preap:
-    return ()
-
-  events: list[int] = []
-  if inputs.pedal_present and _pedal_unusable(inputs):
-    events.append(EventNameSP.pedalUnavailable)
-  return tuple(events)
+  # Pedal unavailable / not-calibrated now fire as EventName from NAP's
+  # CarSpecificEvents hunk. Do not also map them through EventNameSP.
+  return ()
 
 
 def preap_lkas_enable_alert(CP, CS, sm, metric, soft_disable_time, personality) -> Alert:
@@ -205,20 +157,10 @@ def preap_radar_fault(inputs: PreAPAlertInputs) -> bool:
 
 
 def register_preap_alerts() -> None:
-  """Register mapped EventNameSP alerts before EventsSP snapshots EVENTS_SP keys.
-
-  Extra Pre-AP pedal states (invalid calibration, timeout, authority loss,
-  interceptor faults) reuse frozen EventNameSP.pedalUnavailable @28. Regen
-  registration also setdefaults that enumerant plus pedalMaxRegen.
-  """
-  from openpilot.selfdrive.selfdrived.preap_regen import (
-    PREAP_PEDAL_UNAVAILABLE_ALERT,
-    register_preap_regen_alerts,
-  )
+  """Register MADS lat prompts. Pedal EventName texts live in events.py."""
+  from openpilot.cereal import custom
   from openpilot.sunnypilot.selfdrive.selfdrived.events import EVENTS_SP
   from openpilot.sunnypilot.selfdrive.selfdrived.events_base import ET
-  EVENTS_SP.setdefault(EventNameSP.pedalUnavailable, {ET.WARNING: PREAP_PEDAL_UNAVAILABLE_ALERT})
-  register_preap_regen_alerts()
-  # Pre-AP lat prompts on native MADS events. Other cars keep stock sounds.
+  EventNameSP = custom.OnroadEventSP.EventName
   EVENTS_SP[EventNameSP.lkasEnable] = {ET.ENABLE: preap_lkas_enable_alert}
   EVENTS_SP[EventNameSP.lkasDisable] = {ET.USER_DISABLE: preap_lkas_disable_alert}
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
index 61993798d02493..92d9511c7f9116 100644
--- a/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
@@ -1,166 +1,26 @@
-from pathlib import Path
 from openpilot.cereal import custom, log
-from opendbc.car.tesla.preap.carcontroller import PedalAuthorityState
-from openpilot.sunnypilot.selfdrive.selfdrived.events import EVENTS_SP, EventsSP
-from openpilot.sunnypilot.selfdrive.selfdrived.events_base import ET, Priority
-from openpilot.selfdrive.selfdrived.events import EVENTS as STOCK_EVENTS
-from openpilot.selfdrive.selfdrived.preap_regen import PREAP_PEDAL_UNAVAILABLE_ALERT, PREAP_REGEN_ALERT
+from opendbc.car.structs import car
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EVENTS_SP
+from openpilot.sunnypilot.selfdrive.selfdrived.events_base import ET
 from openpilot.sunnypilot.selfdrive.selfdrived.preap_alerts import (
   preap_lkas_disable_alert,
   preap_lkas_enable_alert,
-  ALERT_PEDAL_UNAVAILABLE,
-  ALERT_PEDAL_UNAVAILABLE_SUB,
-  ALERT_RADAR_FAULT,
-  ALERT_REGEN,
-  ALERT_REGEN_SUB,
-  PedalAuthorityLossMapper,
-  PreAPAlertInputs,
-  preap_radar_fault,
-  radar_state_has_fault,
   register_preap_alerts,
   select_preap_alerts,
+  PreAPAlertInputs,
 )
 
 EventNameSP = custom.OnroadEventSP.EventName
-
-
-def _inputs(**overrides):
-  values = {
-    "is_preap": True,
-    "pedal_present": True,
-    "pedal_calib_available": True,
-    "pedal_calib_done": True,
-    "pedal_available": True,
-    "pedal_timeout": False,
-    "pedal_authority_state": int(PedalAuthorityState.ACTIVE),
-    "pedal_authority_failed": False,
-    "interceptor_state": 0,
-    "radar_present": False,
-    "radar_config_invalid": False,
-    "radar_fault": False,
-    "established_authority_lost": False,
-  }
-  values.update(overrides)
-  return PreAPAlertInputs(**values)
-
-
-def test_eventnamesp_ends_at_28():
-  assert max(int(v) for v in EventNameSP.schema.enumerants.values()) == 28
-  assert "pedalUnavailable" in EventNameSP.schema.enumerants
-  assert "pedalMaxRegen" in EventNameSP.schema.enumerants
-
-
-def test_alerts_registered_before_eventssp_keys():
-  register_preap_alerts()
-  assert EventNameSP.pedalUnavailable in EVENTS_SP
-  assert EventNameSP.pedalMaxRegen in EVENTS_SP
-  events = EventsSP()
-  events.add(EventNameSP.pedalUnavailable)
-  assert EventNameSP.pedalUnavailable in events.names
-
-
-def test_pedal_faults_reuse_pedal_unavailable():
-  for kwargs in (
-    {"pedal_calib_done": False},
-    {"pedal_calib_available": False},
-    {"pedal_authority_failed": True},
-    {"pedal_authority_state": int(PedalAuthorityState.FAILED)},
-    {"pedal_timeout": True, "pedal_available": False},
-    {"interceptor_state": 1},
-  ):
-    names = select_preap_alerts(_inputs(**kwargs))
-    assert names == (EventNameSP.pedalUnavailable,)
-
-
-def test_invalid_calibration_persists_until_healthy():
-  assert select_preap_alerts(_inputs(pedal_calib_done=False)) == (EventNameSP.pedalUnavailable,)
-  assert select_preap_alerts(_inputs(pedal_calib_available=False, pedal_calib_done=False)) == (EventNameSP.pedalUnavailable,)
-  assert select_preap_alerts(_inputs()) == ()
-
-
-def test_recoverable_idle_states_are_not_pedal_unavailable():
-  # Firmware STARTUP/TIMEOUT are the interceptor's command watchdog at rest
-  # (0x551 not streaming), cleared by a disabled zero command. Not faults.
-  from opendbc.car.tesla.preap.constants import (
-    PEDAL_STATE_FAULT_BAD_CHECKSUM, PEDAL_STATE_FAULT_SCE,
-    PEDAL_STATE_FAULT_SEND, PEDAL_STATE_FAULT_STARTUP, PEDAL_STATE_FAULT_TIMEOUT,
-  )
-
-  for state in (PEDAL_STATE_FAULT_STARTUP, PEDAL_STATE_FAULT_TIMEOUT):
-    assert select_preap_alerts(_inputs(interceptor_state=state)) == ()
-
-  # 6 is not in tesla_preap.dbc VAL_ 1362; unnamed nibbles stay unavailable.
-  for state in (PEDAL_STATE_FAULT_BAD_CHECKSUM, PEDAL_STATE_FAULT_SEND,
-                PEDAL_STATE_FAULT_SCE, 6):
-    assert select_preap_alerts(_inputs(interceptor_state=state)) == (EventNameSP.pedalUnavailable,)
-
-
-def test_authority_loss_persists_while_failed():
-  failed = _inputs(pedal_authority_failed=True, pedal_authority_state=int(PedalAuthorityState.FAILED))
-  assert select_preap_alerts(failed) == (EventNameSP.pedalUnavailable,)
-  assert select_preap_alerts(_inputs()) == ()
-
-
-def test_no_pedal_suppresses_pedal_alerts():
-  assert select_preap_alerts(_inputs(pedal_present=False, pedal_calib_done=False, pedal_authority_failed=True)) == ()
-
-
-def test_modern_silent():
-  assert select_preap_alerts(_inputs(is_preap=False, pedal_calib_done=False, radar_fault=True, radar_present=True)) == ()
-  assert not preap_radar_fault(_inputs(is_preap=False, radar_present=True, radar_fault=True))
-
-
-def test_healthy_pedal_is_silent():
-  assert select_preap_alerts(_inputs()) == ()
-
-
-def test_select_never_emits_regen():
-  assert EventNameSP.pedalMaxRegen not in select_preap_alerts(_inputs())
-  assert EventNameSP.pedalMaxRegen not in select_preap_alerts(_inputs(pedal_calib_done=False))
-
-
-def test_radar_fault_uses_stock_event_path():
-  assert select_preap_alerts(_inputs(radar_present=True, radar_fault=True, pedal_present=False)) == ()
-  assert preap_radar_fault(_inputs(radar_present=True, radar_fault=True))
-  assert preap_radar_fault(_inputs(radar_present=True, radar_config_invalid=True))
-  assert not preap_radar_fault(_inputs(radar_present=False, radar_fault=True))
-  assert not preap_radar_fault(_inputs(radar_present=True, radar_fault=False, radar_config_invalid=False))
-
-
-def test_mapped_alert_severity_and_text():
-  register_preap_alerts()
-  pedal = EVENTS_SP[EventNameSP.pedalUnavailable][ET.WARNING]
-  assert pedal.alert_text_1 == ALERT_PEDAL_UNAVAILABLE
-  assert pedal.alert_text_2 == ALERT_PEDAL_UNAVAILABLE_SUB
-  assert pedal.priority == Priority.HIGH
-  regen = EVENTS_SP[EventNameSP.pedalMaxRegen][ET.WARNING]
-  assert regen.alert_text_1 == ALERT_REGEN
-  assert regen.alert_text_2 == ALERT_REGEN_SUB
-  assert regen.priority == Priority.HIGH
-
-
-def test_preap_pedal_cruise_alerts_fire_while_disabled():
-  register_preap_alerts()
-  from openpilot.cereal import log as cereal_log
-  AudibleAlert = cereal_log.SelfdriveState.AudibleAlert
-  for name, text, sound in (
-    (EventNameSP.pedalCruiseEnabled, "Pedal Cruise Engaged", AudibleAlert.engage),
-    (EventNameSP.pedalCruiseDisabled, "Pedal Cruise Disengaged", AudibleAlert.disengage),
-  ):
-    event_types = EVENTS_SP[name]
-    assert set(event_types) == {ET.PERMANENT}
-    alert = event_types[ET.PERMANENT]
-    assert alert.alert_text_1 == text
-    assert alert.audible_alert == sound
+AudibleAlert = log.SelfdriveState.AudibleAlert
 
 
 def test_preap_lkas_alerts_show_steering_prompt():
   register_preap_alerts()
-  from types import SimpleNamespace
-  from openpilot.cereal import log as cereal_log
-  AudibleAlert = cereal_log.SelfdriveState.AudibleAlert
-  cp = SimpleNamespace(carFingerprint="TESLA_MODEL_S_PREAP")
-  args = (cp, None, None, False, 100, None)
+  cp = car.CarParams.new_message()
+  cp.brand = "tesla"
+  cp.carFingerprint = "TESLA_MODEL_S_PREAP"
+  cs = car.CarState.new_message()
+  args = (cp, cs, None, False, 100, log.LongitudinalPersonality.standard)
 
   enable = preap_lkas_enable_alert(*args)
   assert enable.alert_text_1 == "Steering Engaged"
@@ -170,252 +30,28 @@ def test_preap_lkas_alerts_show_steering_prompt():
   assert disable.alert_text_1 == "Steering Disengaged"
   assert disable.audible_alert == AudibleAlert.disengage
 
-  stock = SimpleNamespace(carFingerprint="TESLA_MODEL_Y")
+  stock = car.CarParams.new_message()
   stock_enable = preap_lkas_enable_alert(stock, *args[1:])
   assert stock_enable.alert_text_1 == ""
   assert stock_enable.audible_alert == AudibleAlert.engage
 
-def test_recoverable_idle_rereset_is_not_pedal_unavailable():
-  from opendbc.car.tesla.preap.constants import PEDAL_STATE_FAULT_TIMEOUT
-
-  mapper = PedalAuthorityLossMapper()
-  assert mapper.update(int(PedalAuthorityState.INACTIVE)) is False
-  assert mapper.update(int(PedalAuthorityState.ACTIVE)) is False
-  # ACTIVE holds through STARTUP/TIMEOUT RESET. Do not flap to ACQUIRING.
-  assert mapper.update(int(PedalAuthorityState.ACTIVE)) is False
-  assert select_preap_alerts(_inputs(
-    interceptor_state=PEDAL_STATE_FAULT_TIMEOUT,
-    pedal_authority_state=int(PedalAuthorityState.ACTIVE),
-  )) == ()
-
-
-def test_established_authority_loss_alerts_during_reacquisition():
-  mapper = PedalAuthorityLossMapper()
-  assert mapper.update(int(PedalAuthorityState.INACTIVE)) is False
-  assert mapper.update(int(PedalAuthorityState.ACQUIRING)) is False
-  assert select_preap_alerts(_inputs(pedal_authority_state=int(PedalAuthorityState.ACQUIRING))) == ()
-  assert mapper.update(int(PedalAuthorityState.ACTIVE)) is False
-  assert mapper.update(int(PedalAuthorityState.ACQUIRING)) is True
-  lost = _inputs(
-    pedal_authority_state=int(PedalAuthorityState.ACQUIRING),
-    established_authority_lost=True,
+  assert EventNameSP.lkasEnable in EVENTS_SP
+  assert ET.ENABLE in EVENTS_SP[EventNameSP.lkasEnable]
+
+
+def test_select_preap_alerts_defers_to_nap_eventname():
+  inputs = PreAPAlertInputs(
+    is_preap=True,
+    pedal_present=True,
+    pedal_calib_available=False,
+    pedal_calib_done=False,
+    pedal_available=False,
+    pedal_timeout=True,
+    pedal_authority_state=0,
+    pedal_authority_failed=True,
+    interceptor_state=0,
+    radar_present=False,
+    radar_config_invalid=False,
+    radar_fault=False,
   )
-  assert select_preap_alerts(lost) == (EventNameSP.pedalUnavailable,)
-  assert mapper.update(int(PedalAuthorityState.ACTIVE)) is False
-  mapper.update(int(PedalAuthorityState.ACTIVE))
-  assert mapper.update(int(PedalAuthorityState.FAILED)) is True
-  mapper.reset()
-  assert mapper.update(int(PedalAuthorityState.ACQUIRING)) is False
-
-
-def test_no_pedal_suppresses_established_authority_loss():
-  assert select_preap_alerts(_inputs(
-    pedal_present=False,
-    pedal_authority_state=int(PedalAuthorityState.ACQUIRING),
-    established_authority_lost=True,
-  )) == ()
-
-
-def test_dispatched_alert_text_is_translation_marked():
-  register_preap_alerts()
-  assert PREAP_PEDAL_UNAVAILABLE_ALERT.alert_text_1 == ALERT_PEDAL_UNAVAILABLE
-  assert PREAP_PEDAL_UNAVAILABLE_ALERT.alert_text_2 == ALERT_PEDAL_UNAVAILABLE_SUB
-  assert PREAP_REGEN_ALERT.alert_text_1 == ALERT_REGEN
-  assert PREAP_REGEN_ALERT.alert_text_2 == ALERT_REGEN_SUB
-  assert ALERT_RADAR_FAULT == "Radar Error: Restart the Car"
-  events_src = Path(__file__).resolve().parents[4] / "selfdrive" / "selfdrived" / "events.py"
-  assert f'soft_disable_alert("{ALERT_RADAR_FAULT}")' in events_src.read_text()
-  from openpilot.sunnypilot.selfdrive.selfdrived.events_base import NoEntryAlert
-  radar_no_entry = STOCK_EVENTS[log.OnroadEvent.EventName.radarFault][ET.NO_ENTRY]
-  assert isinstance(radar_no_entry, NoEntryAlert)
-  assert ALERT_RADAR_FAULT in (radar_no_entry.alert_text_1, radar_no_entry.alert_text_2)
-
-
-def test_alert_renderer_translates_dispatched_text():
-  src = Path(__file__).resolve().parents[4] / "selfdrive" / "ui" / "onroad" / "alert_renderer.py"
-  text = src.read_text()
-  assert "text1=tr(ss.alertText1)" in text
-  assert "text2=tr(ss.alertText2)" in text
-  mici = Path(__file__).resolve().parents[4] / "selfdrive" / "ui" / "mici" / "onroad" / "alert_renderer.py"
-  mici_text = mici.read_text()
-  assert "text1=tr(ss.alertText1)" in mici_text
-  assert "text2=tr(ss.alertText2)" in mici_text
-
-
-def test_radar_state_has_fault_reads_real_radarerrors_struct():
-  from types import SimpleNamespace
-
-  healthy = SimpleNamespace(radarErrors=SimpleNamespace(
-    canError=False, radarFault=False, wrongConfig=False, radarUnavailableTemporary=False,
-  ))
-  assert radar_state_has_fault(healthy) is False
-  assert radar_state_has_fault(SimpleNamespace(radarErrors=SimpleNamespace(
-    canError=False, radarFault=True, wrongConfig=False, radarUnavailableTemporary=False,
-  ))) is True
-  assert radar_state_has_fault(SimpleNamespace(radarErrors=SimpleNamespace(
-    canError=False, radarFault=False, wrongConfig=True, radarUnavailableTemporary=False,
-  ))) is True
-  assert radar_state_has_fault(SimpleNamespace(radarErrors=SimpleNamespace(
-    canError=True, radarFault=False, wrongConfig=False, radarUnavailableTemporary=False,
-  ))) is True
-  assert radar_state_has_fault(SimpleNamespace(radarErrors=SimpleNamespace(
-    canError=False, radarFault=False, wrongConfig=False, radarUnavailableTemporary=True,
-  ))) is False
-  assert radar_state_has_fault(SimpleNamespace(
-    radarFault=True, errors=SimpleNamespace(canError=True), radarErrors=None,
-  )) is False
-  assert radar_state_has_fault(SimpleNamespace(radarErrors=["fault"])) is False
-  assert preap_radar_fault(_inputs(
-    pedal_present=False, radar_present=True, radar_fault=True,
-  )) is True
-
-
-
-def test_from_snapshot_no_pedal_radar_fault_reaches_alerts():
-  from types import SimpleNamespace
-  from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
-  from openpilot.sunnypilot.selfdrive.selfdrived.preap_alerts import preap_alert_inputs_from_snapshot
-
-  CP = SimpleNamespace(carFingerprint="TESLA_MODEL_S_PREAP", radarUnavailable=False)
-  CP_SP = SimpleNamespace(flags=int(TeslaFlagsSP.PREAP_RADAR_PRESENT))
-  inputs = preap_alert_inputs_from_snapshot(CP, CP_SP, None, radar_fault=True)
-  assert inputs.pedal_present is False
-  assert inputs.radar_present is True
-  assert preap_radar_fault(inputs) is True
-  assert select_preap_alerts(inputs) == ()
-
-def test_selfdrived_uses_radar_state_helper():
-  src = Path(__file__).resolve().parents[4] / "selfdrive" / "selfdrived" / "selfdrived.py"
-  text = src.read_text()
-  assert "radar_state_has_fault" in text
-  assert "getattr(rs, 'radarFault'" not in text
-
-
-def test_selfdrived_chimes_on_enable_long_control_not_authority():
-  src = Path(__file__).resolve().parents[4] / "selfdrive" / "selfdrived" / "selfdrived.py"
-  text = src.read_text()
-  assert "chimes, self.prev_preap_chimes = update_preap_chimes(" in text
-  assert 'long_engaged=bool(getattr(self.CS_SP, "enableLongControl", False))' in text
-  assert "prev_pedal_long_active" not in text
-  assert "gas_pressed=" not in text
-
-
-
-
-def test_from_snapshot_uses_published_feedback_timeout():
-  from types import SimpleNamespace
-  from opendbc.car.tesla.preap.constants import PEDAL_FEEDBACK_TIMEOUT_STATE
-  from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
-  from openpilot.sunnypilot.selfdrive.selfdrived.preap_alerts import preap_alert_inputs_from_snapshot
-
-  CP = SimpleNamespace(carFingerprint="TESLA_MODEL_S_PREAP", radarUnavailable=True)
-  flags = int(TeslaFlagsSP.PREAP_PEDAL_PRESENT | TeslaFlagsSP.PREAP_PEDAL_CALIB_AVAILABLE)
-  CP_SP = SimpleNamespace(flags=flags)
-  healthy = SimpleNamespace(pedalFeedbackState=0, pedalFeedbackCounter=3, pedalAuthorityState=0, pedalAuthorityFailed=False)
-  timed_out = SimpleNamespace(
-    pedalFeedbackState=PEDAL_FEEDBACK_TIMEOUT_STATE, pedalFeedbackCounter=3,
-    pedalAuthorityState=0, pedalAuthorityFailed=False,
-  )
-  healthy_inputs = preap_alert_inputs_from_snapshot(CP, CP_SP, healthy)
-  assert healthy_inputs.pedal_timeout is False
-  assert healthy_inputs.pedal_available is True
-  assert select_preap_alerts(healthy_inputs) == ()
-
-  timeout_inputs = preap_alert_inputs_from_snapshot(CP, CP_SP, timed_out)
-  assert timeout_inputs.pedal_timeout is True
-  assert timeout_inputs.pedal_available is False
-  assert select_preap_alerts(timeout_inputs) == (EventNameSP.pedalUnavailable,)
-
-
-def test_from_snapshot_idle_fault_timeout_is_available():
-  # Route 00000007--e81a6178d7: interceptor idles at STATE=5 (FAULT_TIMEOUT)
-  # with a rolling counter whenever 0x551 is not streaming. That is the normal
-  # rest state, not an unavailable pedal.
-  from types import SimpleNamespace
-  from opendbc.car.tesla.preap.constants import PEDAL_STATE_FAULT_TIMEOUT
-  from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
-  from openpilot.sunnypilot.selfdrive.selfdrived.preap_alerts import preap_alert_inputs_from_snapshot
-
-  CP = SimpleNamespace(carFingerprint="TESLA_MODEL_S_PREAP", radarUnavailable=False)
-  flags = int(TeslaFlagsSP.PREAP_PEDAL_PRESENT | TeslaFlagsSP.PREAP_PEDAL_CALIB_AVAILABLE)
-  CP_SP = SimpleNamespace(flags=flags)
-  cs_sp = SimpleNamespace(
-    pedalFeedbackState=PEDAL_STATE_FAULT_TIMEOUT, pedalFeedbackCounter=3,
-    pedalAuthorityState=int(PedalAuthorityState.INACTIVE), pedalAuthorityFailed=False,
-  )
-  inputs = preap_alert_inputs_from_snapshot(CP, CP_SP, cs_sp)
-  assert inputs.pedal_timeout is False
-  assert inputs.pedal_available is True
-  assert inputs.interceptor_state == PEDAL_STATE_FAULT_TIMEOUT
   assert select_preap_alerts(inputs) == ()
-
-
-def test_from_snapshot_inactive_configured_pedal_timeout_alerts():
-  from types import SimpleNamespace
-  from opendbc.car.tesla.preap.constants import PEDAL_FEEDBACK_TIMEOUT_STATE
-  from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
-  from openpilot.sunnypilot.selfdrive.selfdrived.preap_alerts import preap_alert_inputs_from_snapshot
-
-  CP = SimpleNamespace(carFingerprint="TESLA_MODEL_S_PREAP", radarUnavailable=True)
-  CP_SP = SimpleNamespace(flags=int(TeslaFlagsSP.PREAP_PEDAL_PRESENT))
-  cs_sp = SimpleNamespace(
-    pedalFeedbackState=PEDAL_FEEDBACK_TIMEOUT_STATE, pedalFeedbackCounter=0,
-    pedalAuthorityState=0, pedalAuthorityFailed=False,
-  )
-  inputs = preap_alert_inputs_from_snapshot(CP, CP_SP, cs_sp)
-  assert inputs.pedal_present is True
-  assert inputs.pedal_calib_available is False
-  assert inputs.pedal_timeout is True
-  assert select_preap_alerts(inputs) == (EventNameSP.pedalUnavailable,)
-
-
-def test_from_snapshot_active_configured_pedal_timeout_alerts():
-  from types import SimpleNamespace
-  from opendbc.car.tesla.preap.constants import PEDAL_FEEDBACK_TIMEOUT_STATE
-  from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
-  from openpilot.sunnypilot.selfdrive.selfdrived.preap_alerts import preap_alert_inputs_from_snapshot
-
-  CP = SimpleNamespace(carFingerprint="TESLA_MODEL_S_PREAP", radarUnavailable=False)
-  flags = int(TeslaFlagsSP.PREAP_PEDAL_PRESENT | TeslaFlagsSP.PREAP_PEDAL_CALIB_AVAILABLE)
-  CP_SP = SimpleNamespace(flags=flags)
-  cs_sp = SimpleNamespace(
-    pedalFeedbackState=PEDAL_FEEDBACK_TIMEOUT_STATE, pedalFeedbackCounter=3,
-    pedalAuthorityState=int(PedalAuthorityState.ACTIVE), pedalAuthorityFailed=False,
-  )
-  inputs = preap_alert_inputs_from_snapshot(CP, CP_SP, cs_sp)
-  assert inputs.pedal_timeout is True
-  assert inputs.pedal_available is False
-  assert inputs.pedal_authority_state == int(PedalAuthorityState.ACTIVE)
-  assert select_preap_alerts(inputs) == (EventNameSP.pedalUnavailable,)
-
-
-def test_hyundai_non_scc_does_not_take_preap_radar_error_path():
-  from types import SimpleNamespace
-  from opendbc.car.tesla.preap.boot import preap_radar_present
-  from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
-  from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
-
-  overlapping = int(HyundaiFlagsSP.NON_SCC)
-  assert overlapping == int(TeslaFlagsSP.PREAP_RADAR_PRESENT)
-
-  hyundai = SimpleNamespace(carFingerprint="HYUNDAI_KONA_NON_SCC", openpilotLongitudinalControl=False)
-  modern = SimpleNamespace(carFingerprint="TESLA_MODEL_Y", openpilotLongitudinalControl=False)
-  preap = SimpleNamespace(carFingerprint="TESLA_MODEL_S_PREAP", openpilotLongitudinalControl=False)
-  flags = SimpleNamespace(flags=overlapping)
-
-  assert preap_radar_present(hyundai, flags) is False
-  assert preap_radar_present(modern, flags) is False
-  assert preap_radar_present(preap, flags) is True
-  assert preap_radar_present(preap, SimpleNamespace(flags=0)) is False
-
-  assert not (hyundai.openpilotLongitudinalControl or preap_radar_present(hyundai, flags))
-  assert not (modern.openpilotLongitudinalControl or preap_radar_present(modern, flags))
-  assert preap.openpilotLongitudinalControl or preap_radar_present(preap, flags)
-
-
-def test_selfdrived_radar_error_path_requires_preap_identity():
-  src = Path(__file__).resolve().parents[4] / "selfdrive" / "selfdrived" / "selfdrived.py"
-  text = src.read_text()
-  assert "preap_radar_present(self.CP, self.CP_SP)" in text
-  assert "TeslaFlagsSP.PREAP_RADAR_PRESENT" not in text
-
diff --git a/openpilot/sunnypilot/sunnylink/capabilities.py b/openpilot/sunnypilot/sunnylink/capabilities.py
index 002caff4d1c7b9..b44f6352740fc9 100644
--- a/openpilot/sunnypilot/sunnylink/capabilities.py
+++ b/openpilot/sunnypilot/sunnylink/capabilities.py
@@ -14,7 +14,7 @@
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware import HARDWARE
-from openpilot.sunnypilot.selfdrive.car.preap_boot import is_preap_ui_platform
+from opendbc.car.tesla.preap.sp.platform import is_preap_ui_platform
 
 
 # Wire-protocol version for the capabilities payload. Bump on breaking changes
@@ -97,12 +97,6 @@
   "tesla_preap_radar_health": "none",
 }
 
-PREAP_MODE_NAMES = {
-  0: "independent",
-  1: "cruiseCoupled",
-  2: "longitudinalOnly",
-}
-
 
 def _bundle_field(bundle: dict | None, key: str) -> str:
   return bundle.get(key, "") if isinstance(bundle, dict) else ""
@@ -155,16 +149,9 @@ def _resolve_tesla_preap_capabilities(caps: dict, CP, CP_SP, params=None) -> Non
   caps["tesla_preap_radar"] = bool(flags & TeslaFlagsSP.PREAP_RADAR_PRESENT)
   caps["tesla_preap_pedal_calib"] = bool(flags & TeslaFlagsSP.PREAP_PEDAL_CALIB_AVAILABLE)
 
-  boot_mode = 0
-  if CP_SP is not None:
-    try:
-      boot_mode = int(CP_SP.preapLateralEngagementMode)
-    except Exception:
-      boot_mode = 0
-  caps["tesla_preap_active_mode"] = PREAP_MODE_NAMES.get(boot_mode, "independent")
-  # Brake-mode applicability follows the immutable CP_SP boot snapshot, not
-  # the staged next-drive Param. Onroad writes still persist for next boot.
-  caps["tesla_preap_independent_brake"] = PREAP_MODE_NAMES.get(boot_mode, "independent") == "independent"
+  # Stalk pull is the only Pre-AP lateral request. Brake-mode settings stay applicable.
+  caps["tesla_preap_active_mode"] = "independent"
+  caps["tesla_preap_independent_brake"] = True
 
   if caps["tesla_preap_pedal"] and CP is not None and bool(CP.openpilotLongitudinalControl) and not bool(CP.pcmCruise):
     caps["tesla_preap_longitudinal_path"] = "pedal"
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui.json b/openpilot/sunnypilot/sunnylink/settings_ui.json
index 6f8ce1ac3a343a..0a434745604a5a 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui.json
+++ b/openpilot/sunnypilot/sunnylink/settings_ui.json
@@ -48,34 +48,6 @@
                 ]
               },
               "items": [
-                {
-                  "key": "NAPLateralEngagementMode",
-                  "widget": "multiple_button",
-                  "needs_onroad_cycle": true,
-                  "title": "Lateral Engagement Mode",
-                  "description": "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive.",
-                  "options": [
-                    {
-                      "value": 0,
-                      "label": "Independent"
-                    },
-                    {
-                      "value": 1,
-                      "label": "Cruise Coupled"
-                    },
-                    {
-                      "value": 2,
-                      "label": "Longitudinal Only"
-                    }
-                  ],
-                  "visibility": [
-                    {
-                      "type": "capability",
-                      "field": "tesla_preap",
-                      "equals": true
-                    }
-                  ]
-                },
                 {
                   "key": "MadsMainCruiseAllowed",
                   "widget": "toggle",
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
index fdfa7e3e6eeea2..016462b66b8455 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
@@ -31,20 +31,6 @@ sections:
         field: tesla_preap
         equals: true
     items:
-    - key: NAPLateralEngagementMode
-      widget: multiple_button
-      needs_onroad_cycle: true
-      title: Lateral Engagement Mode
-      description: Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive.
-      options:
-      - value: 0
-        label: Independent
-      - value: 1
-        label: Cruise Coupled
-      - value: 2
-        label: Longitudinal Only
-      visibility:
-      - $ref: '#/macros/tesla_preap'
     - key: MadsMainCruiseAllowed
       widget: toggle
       title: Toggle with Main Cruise
diff --git a/openpilot/sunnypilot/sunnylink/tests/test_preap_capabilities.py b/openpilot/sunnypilot/sunnylink/tests/test_preap_capabilities.py
index 74b4e45254bf38..5ae8a089ffa40f 100644
--- a/openpilot/sunnypilot/sunnylink/tests/test_preap_capabilities.py
+++ b/openpilot/sunnypilot/sunnylink/tests/test_preap_capabilities.py
@@ -1,6 +1,6 @@
 from types import SimpleNamespace
 
-from opendbc.car.tesla.preap.boot import PREAP_PLATFORM
+from opendbc.car.tesla.preap.sp.platform import PREAP_PLATFORM
 from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.sunnypilot.sunnylink.capabilities import (
   CAPABILITY_FIELDS,
@@ -8,7 +8,7 @@
   _is_tesla_preap,
   _resolve_tesla_preap_capabilities,
 )
-from openpilot.sunnypilot.selfdrive.car.preap_boot import is_preap_ui_platform
+from opendbc.car.tesla.preap.sp.platform import is_preap_ui_platform
 
 
 def _caps(**overrides):
@@ -72,12 +72,12 @@ def test_pedal_capabilities():
   cp = SimpleNamespace(openpilotLongitudinalControl=True, pcmCruise=False, radarUnavailable=True)
   cp_sp = SimpleNamespace(
     flags=TeslaFlagsSP.PREAP_PEDAL_PRESENT | TeslaFlagsSP.PREAP_PEDAL_CALIB_AVAILABLE,
-    preapLateralEngagementMode=0,
   )
   _resolve_tesla_preap_capabilities(caps, cp, cp_sp)
   assert caps["tesla_preap_pedal"] is True
   assert caps["tesla_preap_pedal_calib"] is True
   assert caps["tesla_preap_independent_brake"] is True
+  assert caps["tesla_preap_active_mode"] == "independent"
   assert caps["tesla_preap_longitudinal_path"] == "pedal"
   assert caps["tesla_preap_pedal_health"] == "ok"
 
@@ -85,11 +85,11 @@ def test_pedal_capabilities():
 def test_no_pedal_capabilities():
   caps = _caps()
   cp = SimpleNamespace(openpilotLongitudinalControl=False, pcmCruise=True, radarUnavailable=True)
-  cp_sp = SimpleNamespace(flags=0, preapLateralEngagementMode=1)
+  cp_sp = SimpleNamespace(flags=0)
   _resolve_tesla_preap_capabilities(caps, cp, cp_sp)
   assert caps["tesla_preap_pedal"] is False
-  assert caps["tesla_preap_independent_brake"] is False
-  assert caps["tesla_preap_active_mode"] == "cruiseCoupled"
+  assert caps["tesla_preap_independent_brake"] is True
+  assert caps["tesla_preap_active_mode"] == "independent"
   assert caps["tesla_preap_longitudinal_path"] == "stock_di"
   assert caps["tesla_preap_pedal_health"] == "none"
 
@@ -101,33 +101,23 @@ def test_modern_skips_preap_fields():
   assert caps["tesla_preap_radar"] is False
 
 
-class _FakeParams:
-  def __init__(self, store=None):
-    self.store = dict(store or {})
-
-  def get(self, key, return_default=False):
-    return self.store.get(key)
-
-
-def test_brake_follows_active_cp_sp_not_staged_param():
+def test_brake_mode_always_applicable_on_preap():
   caps = _caps()
   cp = SimpleNamespace(openpilotLongitudinalControl=True, pcmCruise=False, radarUnavailable=False)
-  cp_sp = SimpleNamespace(flags=TeslaFlagsSP.PREAP_PEDAL_PRESENT, preapLateralEngagementMode=0)
-  params = _FakeParams({"NAPLateralEngagementMode": 1})
-  _resolve_tesla_preap_capabilities(caps, cp, cp_sp, params)
+  cp_sp = SimpleNamespace(flags=TeslaFlagsSP.PREAP_PEDAL_PRESENT)
+  _resolve_tesla_preap_capabilities(caps, cp, cp_sp)
   assert caps["tesla_preap_active_mode"] == "independent"
   assert caps["tesla_preap_independent_brake"] is True
 
-  cp_sp.preapLateralEngagementMode = 1
-  _resolve_tesla_preap_capabilities(caps, cp, cp_sp, params)
-  assert caps["tesla_preap_active_mode"] == "cruiseCoupled"
-  assert caps["tesla_preap_independent_brake"] is False
+  _resolve_tesla_preap_capabilities(caps, cp, cp_sp)
+  assert caps["tesla_preap_active_mode"] == "independent"
+  assert caps["tesla_preap_independent_brake"] is True
 
 
 def test_radar_health_matrix():
   caps = _caps()
   cp = SimpleNamespace(openpilotLongitudinalControl=False, pcmCruise=True, radarUnavailable=True)
-  cp_sp = SimpleNamespace(flags=TeslaFlagsSP.PREAP_RADAR_PRESENT, preapLateralEngagementMode=0)
+  cp_sp = SimpleNamespace(flags=TeslaFlagsSP.PREAP_RADAR_PRESENT)
   _resolve_tesla_preap_capabilities(caps, cp, cp_sp)
   assert caps["tesla_preap_radar"] is True
   assert caps["tesla_preap_radar_health"] == "unconfigured"
diff --git a/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py b/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py
index 38194ebdee6825..74db5878086465 100644
--- a/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py
+++ b/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py
@@ -231,7 +231,6 @@ def test_preap_vehicle_keys_present(self, schema):
     assert "tesla_preap_longitudinal_path" in keys
     assert "tesla_preap_pedal_health" in keys
     assert "tesla_preap_radar_health" in keys
-    assert "NAPLateralEngagementMode" not in keys
     assert "tesla_preap_active_mode" not in keys
     assert "MadsSteeringMode" not in keys
     assert "NAPRadarOffset" not in keys
@@ -301,24 +300,8 @@ def test_mads_settings_reachable_when_preap(self, schema):
     cond = json.dumps(sp.get("trigger_condition"))
     assert "tesla_preap" in cond
     assert "Mads" in cond
-
-  def test_engagement_mode_is_next_drive(self, schema):
-    item = _find_item(schema, "NAPLateralEngagementMode")
-    assert item is not None
-    assert item.get("needs_onroad_cycle") is True
-    assert "offroad_only" not in _flatten_rule_types(item.get("enablement"))
-
-  def test_engagement_mode_lives_in_native_mads_settings(self, schema):
-    vs_keys = {item["key"] for item in schema["vehicle_settings"]["tesla"].get("items", [])}
-    assert "NAPLateralEngagementMode" not in vs_keys
-    section = _find_section(schema, "steering", "mads")
-    assert section is not None
-    sp = next(s for s in section["sub_panels"] if s["id"] == "mads_settings")
     keys = [item["key"] for item in sp["items"]]
-    assert "NAPLateralEngagementMode" in keys
-    assert keys[0] == "NAPLateralEngagementMode"
-    vis = json.dumps(_find_item(schema, "NAPLateralEngagementMode").get("visibility"))
-    assert "tesla_preap" in vis
+    assert "MadsSteeringMode" in keys
 
   def test_mads_full_platforms_excludes_preap_key(self):
     import yaml
diff --git a/openpilot/sunnypilot/sunnylink/tests/test_write_policy.py b/openpilot/sunnypilot/sunnylink/tests/test_write_policy.py
index 0f37101e4b902b..3e6976c6a0e27e 100644
--- a/openpilot/sunnypilot/sunnylink/tests/test_write_policy.py
+++ b/openpilot/sunnypilot/sunnylink/tests/test_write_policy.py
@@ -18,12 +18,10 @@ def test_live_follow_distance():
   assert not evaluate_param_write("NAPFollowDistance", 8, PREAP).allow
 
 
-def test_next_drive_engagement_and_brake():
-  assert evaluate_param_write("NAPLateralEngagementMode", 0, PREAP).allow
-  assert evaluate_param_write("NAPLateralEngagementMode", 2, PREAP).allow
-  assert not evaluate_param_write("NAPLateralEngagementMode", 3, PREAP).allow
+def test_next_drive_brake_mode():
   assert evaluate_param_write("MadsSteeringMode", 1, PREAP).allow
   assert not evaluate_param_write("MadsSteeringMode", 1, PREAP_COUPLED).allow
+  assert not evaluate_param_write("MadsSteeringMode", 9, PREAP).allow
 
 
 def test_rejects_hardware_and_hidden_preap_keys():
@@ -42,7 +40,6 @@ def test_modern_tesla_unchanged_for_coop_and_mads():
 
 def test_preap_only_keys_rejected_on_modern():
   assert not evaluate_param_write("NAPFollowDistance", 4, MODERN).allow
-  assert not evaluate_param_write("NAPLateralEngagementMode", 0, MODERN).allow
   assert evaluate_param_write("MadsSteeringMode", 1, MODERN).allow
 
 
@@ -52,22 +49,19 @@ def test_hardware_rejected_on_modern_and_preap():
     assert not evaluate_param_write("NAPPedalEnabled", True, caps).allow
 
 
-def test_hostile_batch_mode_then_brake_fails_closed():
+def test_brake_and_follow_batch_is_independent():
   results = evaluate_ordered_writes(
-    [("NAPLateralEngagementMode", 1), ("MadsSteeringMode", 1)],
+    [("MadsSteeringMode", 1), ("NAPFollowDistance", 4)],
     PREAP,
-    staged_mode=0,
   )
   assert results[0][2].allow
-  assert not results[1][2].allow
-  assert results[1][2].reason == "brake_mode_not_independent"
+  assert results[1][2].allow
 
 
-def test_hostile_batch_brake_then_mode_is_order_independent():
+def test_coupled_cap_rejects_brake_in_batch():
   results = evaluate_ordered_writes(
-    [("MadsSteeringMode", 1), ("NAPLateralEngagementMode", 1)],
-    PREAP,
-    staged_mode=0,
+    [("MadsSteeringMode", 1), ("NAPFollowDistance", 4)],
+    PREAP_COUPLED,
   )
   assert not results[0][2].allow
   assert results[0][2].reason == "brake_mode_not_independent"
@@ -85,3 +79,11 @@ def test_read_only_status_keys_are_local_only():
   for key in ("tesla_preap_active_mode", "tesla_preap_longitudinal_path",
               "tesla_preap_pedal_health", "tesla_preap_radar_health"):
     assert not evaluate_param_write(key, "ok", PREAP).allow
+
+
+def test_retired_engagement_mode_keys_are_refused():
+  for key in ("NAPLateralEngagementMode", "NAPLateralEngagementModeMigrated"):
+    for caps in ({"tesla_preap": True}, {}):
+      decision = evaluate_param_write(key, 0, caps)
+      assert not decision.allow
+      assert decision.reason == "retired_key"
diff --git a/openpilot/sunnypilot/sunnylink/write_policy.py b/openpilot/sunnypilot/sunnylink/write_policy.py
index 7c5ff4529fa029..c3c9bcfbba1f45 100644
--- a/openpilot/sunnypilot/sunnylink/write_policy.py
+++ b/openpilot/sunnypilot/sunnylink/write_policy.py
@@ -1,8 +1,8 @@
 """Remote write policy for sunnylink Param updates.
 
 Local UI remains the only writer for hardware/calibration. Sunnylink may write
-follow distance live and stage next-drive engagement/brake values. Conflicting
-or unsupported Pre-AP writes are rejected. The active boot snapshot is not
+follow distance live and stage next-drive brake values. Conflicting or
+unsupported Pre-AP writes are rejected. The active boot snapshot is not
 mutated here; card/interface freeze it at boot.
 """
 from __future__ import annotations
@@ -16,8 +16,6 @@
 
 FOLLOW_DISTANCE_MIN = 1
 FOLLOW_DISTANCE_MAX = 7
-ENGAGEMENT_MODE_MIN = 0
-ENGAGEMENT_MODE_MAX = 2
 STEERING_MODE_MIN = 0
 STEERING_MODE_MAX = 2
 PREAP_MODE_INDEPENDENT = 0
@@ -38,7 +36,6 @@
   "NAPRadarBehindNosecone",
   "NAPRadarOffset",
   "NAPForcePreAP",
-  "NAPLateralEngagementModeMigrated",
   "NAPEpasRiskAccepted",
   "NAPScriptRunning",
   "NAPBrakeFactor",
@@ -73,19 +70,23 @@
   "MadsUnifiedEngagementMode",
 })
 
+# Dropped with the three-mode Pre-AP lateral picker. Nothing reads these.
+RETIRED_KEYS = frozenset({
+  "NAPLateralEngagementMode",
+  "NAPLateralEngagementModeMigrated",
+})
+
 PREAP_LIVE_KEYS = frozenset({
   "NAPFollowDistance",
 })
 
 PREAP_NEXT_DRIVE_KEYS = frozenset({
-  "NAPLateralEngagementMode",
   "MadsSteeringMode",
 })
 
 # Pre-AP-only remote keys. MadsSteeringMode remains a modern Tesla setting.
 PREAP_ONLY_REMOTE_KEYS = frozenset({
   "NAPFollowDistance",
-  "NAPLateralEngagementMode",
 })
 
 
@@ -128,6 +129,9 @@ def evaluate_param_write(key: str, value, caps: dict | None = None, *,
   if key in PREAP_LOCAL_ONLY_KEYS:
     return WriteDecision(False, "local_only")
 
+  if key in RETIRED_KEYS:
+    return WriteDecision(False, "retired_key")
+
   if tesla_preap and key in PREAP_UNSUPPORTED_KEYS:
     return WriteDecision(False, "unsupported_on_preap")
 
@@ -146,12 +150,6 @@ def evaluate_param_write(key: str, value, caps: dict | None = None, *,
       return WriteDecision(False, "invalid_follow_distance")
     return WriteDecision(True)
 
-  if key == "NAPLateralEngagementMode":
-    parsed = _as_int(value)
-    if parsed is None or not (ENGAGEMENT_MODE_MIN <= parsed <= ENGAGEMENT_MODE_MAX):
-      return WriteDecision(False, "invalid_engagement_mode")
-    return WriteDecision(True)
-
   if key == "MadsSteeringMode":
     if not _staged_independent(caps, staged_mode):
       return WriteDecision(False, "brake_mode_not_independent")
@@ -169,27 +167,14 @@ def evaluate_param_write(key: str, value, caps: dict | None = None, *,
 def evaluate_ordered_writes(items: Iterable[tuple[str, Any]], caps: dict | None = None, *,
                             mads_required: bool | None = None,
                             staged_mode: int | None = None) -> list[tuple[str, Any, WriteDecision]]:
-  """Evaluate a batch against its final staged engagement mode.
-
-  Brake-mode authorization is order-independent: a batch cannot write the
-  brake mode before a later coupled-mode write to bypass applicability.
-  Invalid engagement-mode writes do not alter the existing staged mode.
-  """
+  """Evaluate a batch. Brake-mode authorization uses the caller's staged mode."""
   caps = caps or {}
-  items = list(items)
-  final_mode = staged_mode
-  for key, value in items:
-    if key == "NAPLateralEngagementMode":
-      parsed = _as_int(value)
-      if parsed is not None and ENGAGEMENT_MODE_MIN <= parsed <= ENGAGEMENT_MODE_MAX:
-        final_mode = parsed
-
   return [
     (
       key,
       value,
       evaluate_param_write(
-        key, value, caps, mads_required=mads_required, staged_mode=final_mode,
+        key, value, caps, mads_required=mads_required, staged_mode=staged_mode,
       ),
     )
     for key, value in items
diff --git a/openpilot/system/manager/manager.py b/openpilot/system/manager/manager.py
index 7befb7f4aedf09..fddd4d60572df9 100755
--- a/openpilot/system/manager/manager.py
+++ b/openpilot/system/manager/manager.py
@@ -160,7 +160,14 @@ def manager_thread() -> None:
     started_prev = started
     ignition_prev = ignition
 
-    ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
+    # When a NAP script is running (e.g. pedal calibration), stop conflicting processes
+    # so the script can access hardware directly without conflicts.
+    nap_ignore = []
+    if params.get_bool("NAPScriptRunning"):
+      nap_ignore = ["pandad", "card", "controlsd", "selfdrived", "plannerd", "radard",
+                     "calibrationd", "torqued", "locationd", "modeld", "dmonitoringmodeld"]
+
+    ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore + nap_ignore)
 
     running = ' '.join("{}{}\u001b[0m".format("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
                        for p in managed_processes.values() if p.proc)
diff --git a/pyproject.toml b/pyproject.toml
index 051eb5ffc620e1..55fd2f2e2e3153 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -13,6 +13,7 @@ dependencies = [
   "sounddevice",  # micd + soundd
   "requests",     # many one-off uses
   "tqdm",         # cars (fw_versions.py) on start + many one-off uses
+  "crcmod-plus",  # cars (tesla preap checksums)
 
   # core
   "scons",
diff --git a/uv.lock b/uv.lock
index b88ba23d7cff69..99ea90d9adfe65 100644
--- a/uv.lock
+++ b/uv.lock
@@ -322,6 +322,28 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/52/30/21b2ad45959cd50e909e02ebac1e30b4ceb7162e91c11d4c570223a458b7/coverage-7.15.0-py3-none-any.whl", hash = "sha256:56da6a4cbe8f7e9e80bd072ca9cefe67d7106a440a7ec06519ec6507ac94ad19", size = 212632, upload-time = "2026-07-02T13:10:48.641Z" },
 ]
 
+[[package]]
+name = "crcmod"
+version = "1.7"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/6b/b0/e595ce2a2527e169c3bcd6c33d2473c1918e0b7f6826a043ca1245dd4e5b/crcmod-1.7.tar.gz", hash = "sha256:dc7051a0db5f2bd48665a990d3ec1cc305a466a77358ca4492826f41f283601e", size = 89670, upload-time = "2010-06-27T14:35:29.538Z" }
+
+[[package]]
+name = "crcmod-plus"
+version = "2.3.1"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/0b/0c/71733bbaf38e9f1eaecfdf7f8e350993f3dcac208a5297c41503ae66e513/crcmod_plus-2.3.1.tar.gz", hash = "sha256:732ffe3c3ce3ef9b272e1827d8fb894590c4d6ff553f2a2b41ae30f4f94b0f5d", size = 22319, upload-time = "2025-10-10T22:14:21.691Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/47/e0/2dad2e6f0cd4914b4144496d9785780ec820e200816c080df785cfa34da6/crcmod_plus-2.3.1-cp311-abi3-macosx_10_9_universal2.whl", hash = "sha256:b7e35e0f7d93d7571c2c9c3d6760e456999ea4c1eae5ead6acac247b5a79e469", size = 23279, upload-time = "2025-10-10T22:13:47.281Z" },
+    { url = "https://files.pythonhosted.org/packages/66/76/53c0b65b9679b903f98fc54efa32b0e5a19634712a45200c7a80674aa6f5/crcmod_plus-2.3.1-cp311-abi3-macosx_10_9_x86_64.whl", hash = "sha256:6853243120db84677b94b625112116f0ef69cd581741d20de58dce4c34242654", size = 20185, upload-time = "2025-10-10T22:13:48.06Z" },
+    { url = "https://files.pythonhosted.org/packages/98/79/2b4dc9bb26394873d7699737124408b5106264ae33053fdec600e9a9fa65/crcmod_plus-2.3.1-cp311-abi3-manylinux1_x86_64.manylinux_2_28_x86_64.manylinux_2_5_x86_64.whl", hash = "sha256:17735bc4e944d552ea18c8609fc6d08a5e64ee9b29cc216ba4d623754029cc3a", size = 26999, upload-time = "2025-10-10T22:13:48.854Z" },
+    { url = "https://files.pythonhosted.org/packages/bb/e8/f5d66778b5a1bff915807016561a02b5cebf6b3840fb8a2be40bbb0c8575/crcmod_plus-2.3.1-cp311-abi3-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:8ac755040a2a35f43ab331978c48a9acb4ff64b425f282a296be467a410f00c3", size = 27536, upload-time = "2025-10-10T22:13:49.956Z" },
+    { url = "https://files.pythonhosted.org/packages/f3/2c/0113ad30cadad40c22eef08c0f2618f2446dd282f02268fecbcfc9fda3c1/crcmod_plus-2.3.1-cp311-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:7bdcfb838ca093ca673a3bbb37f62d1e5ec7182e00cc5ee2d00759f9f9f8ab11", size = 27385, upload-time = "2025-10-10T22:13:50.765Z" },
+    { url = "https://files.pythonhosted.org/packages/8e/ba/501ef1b02119402cf1a31c01eb2cb8399660bca863c2f4dd3dc060220284/crcmod_plus-2.3.1-cp311-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:9166bc3c9b5e7b07b4e6854cac392b4a451b31d58d3950e48c140ab7b5d05394", size = 27135, upload-time = "2025-10-10T22:13:51.889Z" },
+    { url = "https://files.pythonhosted.org/packages/49/90/d4556c9db69c83e726c5b88da3d656fdaac7d60c4d27b43cb939bed80069/crcmod_plus-2.3.1-cp311-abi3-win32.whl", hash = "sha256:cb99b694cce5c862560cf332a8b5e793620e28f0de3726995608bbd6f9b6e09a", size = 22384, upload-time = "2025-10-10T22:13:53.016Z" },
+    { url = "https://files.pythonhosted.org/packages/4d/7e/57bb97a8c7b4e19900744f58b67dc83bc9c83aaac670deeede9fb3bfab6a/crcmod_plus-2.3.1-cp311-abi3-win_amd64.whl", hash = "sha256:82b0f7e968c430c5a80fe0fc59e75cb54f2e84df2ed0cee5a3ff9cadfbf8a220", size = 22912, upload-time = "2025-10-10T22:13:53.849Z" },
+]
+
 [[package]]
 name = "cryptography"
 version = "49.0.0"
@@ -763,6 +785,7 @@ name = "opendbc"
 version = "0.3.1"
 source = { editable = "opendbc_repo" }
 dependencies = [
+    { name = "crcmod" },
     { name = "numpy" },
     { name = "pycapnp" },
     { name = "pycryptodome" },
@@ -774,6 +797,7 @@ requires-dist = [
     { name = "cffi", marker = "extra == 'testing'" },
     { name = "codespell", marker = "extra == 'testing'" },
     { name = "cpplint", marker = "extra == 'testing'" },
+    { name = "crcmod" },
     { name = "gcovr", marker = "extra == 'testing'" },
     { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" },
     { name = "inputs", marker = "extra == 'examples'" },
@@ -813,6 +837,7 @@ dependencies = [
     { name = "comma-deps-raylib" },
     { name = "comma-deps-zeromq" },
     { name = "comma-deps-zstd" },
+    { name = "crcmod-plus" },
     { name = "cython" },
     { name = "inputs" },
     { name = "jeepney" },
@@ -892,6 +917,7 @@ requires-dist = [
     { name = "comma-deps-zeromq" },
     { name = "comma-deps-zstd" },
     { name = "coverage", marker = "extra == 'testing'" },
+    { name = "crcmod-plus" },
     { name = "cython" },
     { name = "huggingface-hub", marker = "extra == 'dev'" },
     { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" },
@@ -1147,7 +1173,7 @@ wheels = [
 
 [[package]]
 name = "pytest-xdist"
-version = "3.7.1.dev24+g2b4372b"
+version = "3.7.1.dev24+g2b4372bd6"
 source = { git = "https://github.com/sshane/pytest-xdist?rev=2b4372bd62699fb412c4fe2f95bf9f01bd2018da#2b4372bd62699fb412c4fe2f95bf9f01bd2018da" }
 dependencies = [
     { name = "execnet" },

From 02780df30de9feed5e9ad13bacce08262be958ea Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Sun, 6 Sep 2026 02:03:49 +0000
Subject: [PATCH 1423/1434] tesla_preap: load compressed EPAS firmware

Keep the stock firmware below the source-file size limit without changing its decoded bytes. Separate packaged firmware from extraction and modified-image output, retain integrity checks, narrow planner table types, and correct the ignition and control test fixtures.
---
 .gitignore                                    |   5 ++
 opendbc_repo                                  |   2 +-
 .../controls/lib/longitudinal_planner.py      |   2 +-
 .../controls/lib/tests/test_desire_helper.py  |   8 ++-
 .../tests/test_tesla_preap_following.py       |   5 +-
 .../tests/test_preap_ignition_pandastate.py   |   7 +++
 .../car/tesla/preap/tools/epas_integrity.py   |  53 +++++++++++++++++-
 .../firmware/epas-firmware-0x7000-0x45fff.bin | Bin 258048 -> 0 bytes
 .../epas-firmware-0x7000-0x45fff.bin.xz       | Bin 0 -> 115428 bytes
 .../car/tesla/preap/tools/flash_epas.py       |  49 ++++++++++------
 .../preap/tools/tests/test_preap_tools.py     |  23 +++++++-
 11 files changed, 127 insertions(+), 27 deletions(-)
 delete mode 100644 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/firmware/epas-firmware-0x7000-0x45fff.bin
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/firmware/epas-firmware-0x7000-0x45fff.bin.xz

diff --git a/.gitignore b/.gitignore
index a033f70507bc6d..4f8cd7b97c959e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -102,3 +102,8 @@ SKILL.md
 !.idea/customTargets.xml
 !.idea/tools/*
 !.run/*
+
+# EPAS extract/modified backups; packaged stock image is the .xz
+openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/firmware/epas-firmware-0x7000-0x45fff.bin
+openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/firmware/*.modified.bin
+!openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/firmware/*.bin.xz
diff --git a/opendbc_repo b/opendbc_repo
index 4fb73cb631cfa6..67964b9f753819 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 4fb73cb631cfa6dc5ae64c1bd2a4cc54537d9896
+Subproject commit 67964b9f7538191197549d810ec3dbd9ae22be86
diff --git a/openpilot/selfdrive/controls/lib/longitudinal_planner.py b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
index e84a9a3c35fe50..050d9bb46686b0 100755
--- a/openpilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -38,7 +38,7 @@ def _get_preap_follow_limit(v_ego):
     except ImportError:
       _preap_follow_cache = (None, None)
   bp, v = _preap_follow_cache
-  if bp is None:
+  if bp is None or v is None:
     return None
   return float(np.interp(v_ego, bp, v))
 
diff --git a/openpilot/selfdrive/controls/lib/tests/test_desire_helper.py b/openpilot/selfdrive/controls/lib/tests/test_desire_helper.py
index edd852a898af06..3bbe7e3967ea97 100644
--- a/openpilot/selfdrive/controls/lib/tests/test_desire_helper.py
+++ b/openpilot/selfdrive/controls/lib/tests/test_desire_helper.py
@@ -1,7 +1,7 @@
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.controls.lib.desire_helper import (
-  DesireHelper,
+  DesireHelper as _NapDesireHelper,
   LANE_CHANGE_ARM_TIME,
   MAX_QUEUED_LANE_CHANGES,
   LaneChangeDirection,
@@ -13,8 +13,10 @@
 # the Pre-AP car. These tests are the nap-dev tests, so hand them that CP.
 _PREAP_CP = structs.CarParams()
 _PREAP_CP.carFingerprint = "TESLA_MODEL_S_PREAP"
-_NapDesireHelper = DesireHelper
-DesireHelper = lambda: _NapDesireHelper(_PREAP_CP)  # noqa: E731
+
+
+def DesireHelper(CP=None):
+  return _NapDesireHelper(_PREAP_CP if CP is None else CP)
 
 
 class FakeCarState:
diff --git a/openpilot/selfdrive/controls/tests/test_tesla_preap_following.py b/openpilot/selfdrive/controls/tests/test_tesla_preap_following.py
index 08099b9a1e73a0..5196363a7be634 100644
--- a/openpilot/selfdrive/controls/tests/test_tesla_preap_following.py
+++ b/openpilot/selfdrive/controls/tests/test_tesla_preap_following.py
@@ -1,4 +1,5 @@
 from types import SimpleNamespace
+from typing import cast
 
 import numpy as np
 import pytest
@@ -14,6 +15,7 @@
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.controls.lib import longitudinal_planner
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import (
+  LongitudinalMpc,
   LongitudinalPlanSource,
   T_IDXS,
   get_safe_obstacle_distance,
@@ -373,7 +375,8 @@ def test_planner_adaptive_cap_changes_the_delivered_acceleration_for_unequal_spe
   t_follow = 1.9
   params = _MutablePlannerParams(nap_follow_dist=7, adaptive_accel=True)
   planner = LongitudinalPlanner(_make_preap_params(), _cp_sp(), init_v=speed_mps, params=params)
-  planner.mpc = _ConstantAccelerationMpc(speed_mps, acceleration_mps2=1.5)
+  fake_mpc = _ConstantAccelerationMpc(speed_mps, acceleration_mps2=1.5)
+  planner.mpc = cast(LongitudinalMpc, fake_mpc)
   inputs = _make_planner_inputs(speed_mps)
   lead = inputs["radarState"].leadOne
   lead.present = True
diff --git a/openpilot/selfdrive/pandad/tests/test_preap_ignition_pandastate.py b/openpilot/selfdrive/pandad/tests/test_preap_ignition_pandastate.py
index d9ffdaca2e19a3..a6f1667ae87998 100644
--- a/openpilot/selfdrive/pandad/tests/test_preap_ignition_pandastate.py
+++ b/openpilot/selfdrive/pandad/tests/test_preap_ignition_pandastate.py
@@ -36,8 +36,15 @@ def setUp(self):
     self.packer = CANPackerSafety("tesla_preap")
 
   def _msg(self, counter, drive_rail, bus=0):
+    def fix_checksum(msg):
+      addr, dat, bus = msg
+      dat = bytearray(dat)
+      dat[7] = (0x4B + sum(dat[:7])) & 0xFF
+      return addr, bytes(dat), bus
+
     return self.packer.make_can_msg_safety(
       "GTW_status", bus, {"GTW_statusCounter": counter, "GTW_driveRailReq": int(drive_rail)},
+      fix_checksum=fix_checksum,
     )
 
   def test_ignition_can_pkt_feeds_pandastate_ignitionCan(self):
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/epas_integrity.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/epas_integrity.py
index 258c1ee76c9c84..24fbf9277d73a6 100644
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/epas_integrity.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/epas_integrity.py
@@ -1,7 +1,8 @@
-"""EPAS bootloader integrity. Verify size, SHA-256, and MD5 before panda connect."""
+"""EPAS firmware and bootloader integrity. Verify size, SHA-256, and MD5 before panda connect."""
 from __future__ import annotations
 
 import hashlib
+import lzma
 from pathlib import Path
 
 BOOTLOADER_NAME = "epas-bootloader-0x3ff7000-0x3ffacbd.bin"
@@ -10,16 +11,66 @@
 BOOTLOADER_SHA256 = "5fdd472626f110ad83ea04b625b64cb4e0a761c6976110a67ed6993df1167b90"
 BOOTLOADER_ADDR = 0x3ff7000
 
+FW_NAME = "epas-firmware-0x7000-0x45fff.bin"
+FW_PACKAGED_NAME = FW_NAME + ".xz"
 FW_MD5SUM = "9e51ddd80606fbdaaf604c73c8dde0d1"
+FW_SHA256 = "93dbe0ea4953611fd56c26ef918ea05897e0f02e776700a28ceb6a3df04126cd"
 FW_START_ADDR = 0x7000
 FW_END_ADDR = 0x45FFF
 FW_SIZE = FW_END_ADDR - FW_START_ADDR + 1
 
+_XZ_MAGIC = b"\xfd7zXZ\x00"
+
 
 class BootloaderIntegrityError(Exception):
   """Bootloader file failed size/SHA-256/MD5 verification."""
 
 
+class FirmwareIntegrityError(Exception):
+  """Stock EPAS image failed size/SHA-256/MD5 verification."""
+
+
+def _firmware_dir() -> Path:
+  return Path(__file__).resolve().parent / "firmware"
+
+
+def firmware_packaged_path() -> Path:
+  return _firmware_dir() / FW_PACKAGED_NAME
+
+
+def firmware_runtime_path() -> Path:
+  return _firmware_dir() / FW_NAME
+
+
+def decode_firmware_image(path: str | Path) -> bytes:
+  """Stdlib lzma decode at the load boundary. Raw bytes pass through."""
+  blob = Path(path).read_bytes()
+  if Path(path).suffix == ".xz" or blob.startswith(_XZ_MAGIC):
+    return lzma.decompress(blob, format=lzma.FORMAT_AUTO)
+  return blob
+
+
+def verify_firmware(data: bytes) -> bytes:
+  size = len(data)
+  md5 = hashlib.md5(data).hexdigest()
+  sha256 = hashlib.sha256(data).hexdigest()
+  if size != FW_SIZE or md5 != FW_MD5SUM or sha256 != FW_SHA256:
+    raise FirmwareIntegrityError(
+      "firmware integrity check failed: "
+      + f"expected size={FW_SIZE} md5={FW_MD5SUM} sha256={FW_SHA256}, "
+      + f"got size={size} md5={md5} sha256={sha256}"
+    )
+  return data
+
+
+def load_stock_firmware() -> bytes:
+  """Read the packaged xz image and verify the decoded payload."""
+  path = firmware_packaged_path()
+  if not path.is_file():
+    raise FirmwareIntegrityError(f"packaged firmware missing: {path}")
+  return verify_firmware(decode_firmware_image(path))
+
+
 def bootloader_path(explicit: str | None = None) -> Path:
   if explicit:
     path = Path(explicit)
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/firmware/epas-firmware-0x7000-0x45fff.bin b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/firmware/epas-firmware-0x7000-0x45fff.bin
deleted file mode 100644
index 54835dc7ebe98f510f32dcd8c6176ffcfb6b8125..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/flash_epas.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/flash_epas.py
index 6cb2332c098427..2efd6d420655e5 100755
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/flash_epas.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/flash_epas.py
@@ -28,8 +28,11 @@
 
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.epas_integrity import (
   bootloader_path,
+  firmware_runtime_path,
+  load_stock_firmware,
   verify_bootloader,
   BootloaderIntegrityError,
+  FirmwareIntegrityError,
 )
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import require_preap_tool_start, require_runtime_path
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.transport import (
@@ -411,7 +414,7 @@ def main(cli_args=None):
   script_dir = os.path.dirname(os.path.realpath(__file__))
   firmware_dir = os.path.join(script_dir, "firmware")
   bl_path = str(bootloader_path(args.bootloader))
-  fw_fn = os.path.join(firmware_dir, f"epas-firmware-{hex(FW_START_ADDR)}-{hex(FW_END_ADDR)}.bin")
+  fw_fn = str(firmware_runtime_path())
 
   require_runtime_path()
   tool_name = "restore_epas" if args.restore else ("extract_epas" if args.extract_only else "flash_epas")
@@ -458,9 +461,8 @@ def main(cli_args=None):
     p("=" * 40)
 
     fw_slice = None
-    if args.extract_only or not os.path.exists(fw_fn):
+    if args.extract_only:
       fw_slice = extract_firmware(uds_client, FW_START_ADDR, FW_END_ADDR)
-      # Undo any previous patches to get clean firmware
       fw_slice = patch_firmware(fw_slice, FW_START_ADDR, restore=True)
       fw_slice = update_checksums(fw_slice, FW_START_ADDR, restore=True)
       p(f"  Saving backup: {fw_fn}")
@@ -468,20 +470,33 @@ def main(cli_args=None):
       with open(fw_fn, "wb") as f:
         f.write(fw_slice)
     else:
-      p(f"  Loading cached firmware: {fw_fn}")
-      with open(fw_fn, "rb") as f:
-        fw_slice = f.read()
-      md5 = hashlib.md5(fw_slice).hexdigest()
-      if md5 != FW_MD5SUM or len(fw_slice) != FW_SIZE:
-        p(f"  Cached firmware invalid (md5={md5}), re-extracting...")
-        fw_slice = extract_firmware(uds_client, FW_START_ADDR, FW_END_ADDR)
-        # Undo any previous patches to get clean firmware
-        fw_slice = patch_firmware(fw_slice, FW_START_ADDR, restore=True)
-        fw_slice = update_checksums(fw_slice, FW_START_ADDR, restore=True)
-        p(f"  Saving backup: {fw_fn}")
-        os.makedirs(os.path.dirname(fw_fn), exist_ok=True)
-        with open(fw_fn, "wb") as f:
-          f.write(fw_slice)
+      try:
+        p("  Loading packaged firmware image")
+        fw_slice = load_stock_firmware()
+      except FirmwareIntegrityError as e:
+        p(f"  Packaged image unavailable ({e})")
+        if os.path.exists(fw_fn):
+          p(f"  Loading cached firmware: {fw_fn}")
+          with open(fw_fn, "rb") as f:
+            fw_slice = f.read()
+          md5 = hashlib.md5(fw_slice).hexdigest()
+          if md5 != FW_MD5SUM or len(fw_slice) != FW_SIZE:
+            p(f"  Cached firmware invalid (md5={md5}), re-extracting...")
+            fw_slice = extract_firmware(uds_client, FW_START_ADDR, FW_END_ADDR)
+            fw_slice = patch_firmware(fw_slice, FW_START_ADDR, restore=True)
+            fw_slice = update_checksums(fw_slice, FW_START_ADDR, restore=True)
+            p(f"  Saving backup: {fw_fn}")
+            os.makedirs(os.path.dirname(fw_fn), exist_ok=True)
+            with open(fw_fn, "wb") as f:
+              f.write(fw_slice)
+        else:
+          fw_slice = extract_firmware(uds_client, FW_START_ADDR, FW_END_ADDR)
+          fw_slice = patch_firmware(fw_slice, FW_START_ADDR, restore=True)
+          fw_slice = update_checksums(fw_slice, FW_START_ADDR, restore=True)
+          p(f"  Saving backup: {fw_fn}")
+          os.makedirs(os.path.dirname(fw_fn), exist_ok=True)
+          with open(fw_fn, "wb") as f:
+            f.write(fw_slice)
 
     # Step 2: Verify firmware
     p("\n" + "=" * 40)
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
index 85857d6e1f80f4..e9652fce7a535e 100644
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
@@ -16,8 +16,14 @@
 )
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.epas_integrity import (
   BOOTLOADER_SIZE,
+  FW_MD5SUM,
+  FW_SHA256,
+  FW_SIZE,
   BootloaderIntegrityError,
+  FirmwareIntegrityError,
+  load_stock_firmware,
   verify_bootloader,
+  verify_firmware,
 )
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import (
   APPROVED_TOOLS, RUN_SCRIPT_MODULE, approved_module, launch_on_device_runner, start_tool,
@@ -261,6 +267,7 @@ def test_negative_response_maps_to_transport_error():
 def test_flash_negative_response_fails_closed_before_write(monkeypatch):
   from opendbc.car.uds import NegativeResponseError
   from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import flash_epas
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.epas_integrity import FirmwareIntegrityError
 
   called = []
 
@@ -284,6 +291,9 @@ def boom(*_args, **_kwargs):
     called.append("extract")
     raise NegativeResponseError("NRC 0x7F service not supported", 0x10, 0x7F)
 
+  def missing_packaged():
+    raise FirmwareIntegrityError("packaged firmware missing")
+
   monkeypatch.setattr(flash_epas, "verify_bootloader", lambda *_a, **_k: called.append("verify") or b"x")
   monkeypatch.setattr(flash_epas, "require_preap_tool_start", lambda **_k: None)
   monkeypatch.setattr(flash_epas, "_consume_ui_risk_ack", lambda: True)
@@ -291,6 +301,7 @@ def boom(*_args, **_kwargs):
   monkeypatch.setattr(flash_epas, "extract_firmware", boom)
   monkeypatch.setattr(flash_epas, "flash_bootloader", lambda *_a, **_k: called.append("flash_bl"))
   monkeypatch.setattr(flash_epas, "flash_firmware", lambda *_a, **_k: called.append("flash_fw"))
+  monkeypatch.setattr(flash_epas, "load_stock_firmware", missing_packaged)
   monkeypatch.setattr(flash_epas.os.path, "exists", lambda *_a, **_k: False)
 
   assert flash_epas.main(["--accept-risk"]) == 1
@@ -537,9 +548,15 @@ def test_stop_tool_fail_closed_leaves_script_running(monkeypatch):
 
 
 def test_epas_firmware_image_present():
-  path = Path(__file__).resolve().parents[1] / "firmware" / "epas-firmware-0x7000-0x45fff.bin"
-  assert path.is_file()
-  assert path.stat().st_size == 258048
+  data = load_stock_firmware()
+  assert len(data) == FW_SIZE == 258048
+  assert hashlib.md5(data).hexdigest() == FW_MD5SUM
+  assert hashlib.sha256(data).hexdigest() == FW_SHA256
+
+
+def test_epas_firmware_rejects_wrong_payload():
+  with pytest.raises(FirmwareIntegrityError):
+    verify_firmware(b"not-the-epas-image")
 
 
 def test_start_tool_constructs_default_params_for_native_ui(monkeypatch):

From 1563e886c01fc892be2829c42aa06b0273ccfc94 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Mon, 7 Sep 2026 22:46:34 +0000
Subject: [PATCH 1424/1434] tesla_preap: restore startup and cruise intent

Honor the saved Pre-AP selection before vehicle discovery. Keep pedal cruise intent and set speed separate from MADS lateral engagement so gas release and brake overrides preserve the NAP engagement flow.
---
 .github/workflows/tests.yaml                  |   1 +
 opendbc_repo                                  |   2 +-
 openpilot/selfdrive/car/car_specific.py       |   8 +-
 openpilot/selfdrive/car/card.py               |  68 +++---
 .../tests/test_car_specific_tesla_preap.py    |  79 +++++++
 .../car/tests/test_card_startup_preap.py      |  76 ++++++
 openpilot/selfdrive/selfdrived/selfdrived.py  |  26 +-
 .../selfdrive/selfdrived/tests/test_alerts.py |  95 +++++++-
 openpilot/sunnypilot/mads/mads.py             |  10 +-
 .../mads/tests/test_mads_state_machine.py     |   2 +
 .../tests/test_preap_mads_capabilities.py     |  45 +++-
 .../car/tests/test_preap_intent_consumer.py   | 223 +++++++++++++++++-
 12 files changed, 589 insertions(+), 46 deletions(-)
 create mode 100644 openpilot/selfdrive/car/tests/test_card_startup_preap.py

diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index 7e9c5c8277d406..8fc0ead03c65be 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -53,6 +53,7 @@ jobs:
           openpilot/selfdrive/controls/tests/test_radard.py \
           openpilot/selfdrive/controls/lib/tests/test_desire_helper.py \
           openpilot/selfdrive/car/tests/test_car_specific_tesla_preap.py \
+          openpilot/selfdrive/car/tests/test_card_startup_preap.py \
           openpilot/selfdrive/car/tests/test_preap_radar_e2e.py \
           openpilot/sunnypilot/mads/tests/ \
           openpilot/sunnypilot/selfdrive/car/tests/ \
diff --git a/opendbc_repo b/opendbc_repo
index 67964b9f753819..f5e8fcfe276735 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 67964b9f7538191197549d810ec3dbd9ae22be86
+Subproject commit f5e8fcfe27673579c32f62645a95a4ea16bbb79b
diff --git a/openpilot/selfdrive/car/car_specific.py b/openpilot/selfdrive/car/car_specific.py
index cd846a0ac9044e..0a1d317020b079 100644
--- a/openpilot/selfdrive/car/car_specific.py
+++ b/openpilot/selfdrive/car/car_specific.py
@@ -120,11 +120,9 @@ def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState):
 
     CI = interfaces[self.CP.carFingerprint]
     # TODO: cleanup the honda-specific logic
-    # Pre-AP Tesla manages cruiseState.enabled via its own software FSM,
-    # so treat it the same as pcmCruise for the enable/disable event path.
-    preap_software_cruise = (self.CP.brand == "tesla" and self.CP.carFingerprint == "TESLA_MODEL_S_PREAP"
-                             and self.CP.openpilotLongitudinalControl and not self.CP.pcmCruise)
-    pcm_enable = (self.CP.pcmCruise and self.CP.brand != 'honda') or preap_software_cruise
+    # Pre-AP pedal cruiseState.enabled is lateral (first stalk pull).
+    # OP long follows NAP Longitudinal.enable → buttonEnable, not pcmEnable.
+    pcm_enable = self.CP.pcmCruise and self.CP.brand != 'honda'
     # TODO: on some hyundai cars, the cancel button is also the pause/resume button,
     # so only use it for cancel when running openpilot longitudinal
     allow_button_cancel = self.CP.brand != 'hyundai'
diff --git a/openpilot/selfdrive/car/card.py b/openpilot/selfdrive/car/card.py
index f04547ecf14a79..808cdd5765d109 100755
--- a/openpilot/selfdrive/car/card.py
+++ b/openpilot/selfdrive/car/card.py
@@ -18,9 +18,10 @@
 from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import ObdCallback
 from opendbc.car.car_helpers import get_car, interfaces
+from opendbc.car.tesla.values import CAR
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
-from openpilot.selfdrive.car.cruise import VCruiseHelper
+from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_UNSET
 from openpilot.selfdrive.car.helpers import convert_carControlSP, convert_to_capnp
 
 from openpilot.sunnypilot.mads.helpers import set_alternative_experience, set_car_specific_params
@@ -63,6 +64,22 @@ def can_send(msgs: list[CanData]) -> None:
   return can_recv, can_send
 
 
+def startup_get_car(params: Params, can_recv: CanRecvCallable, can_send: CanSendCallable,
+                    set_obd_multiplexing: ObdCallback, alpha_long_allowed: bool, is_release: bool,
+                    cached_params, init_params_list_sp, is_release_sp: bool):
+  # An explicit environment selection takes precedence over the saved Pre-AP lock.
+  # Without the lock, leave discovery and SKIP_FW_QUERY unchanged.
+  fixed_fingerprint = None
+  skip_fw_query = None
+  if not os.environ.get("FINGERPRINT") and params.get_bool("NAPForcePreAP"):
+    fixed_fingerprint = CAR.TESLA_MODEL_S_PREAP
+    skip_fw_query = True
+  return get_car(can_recv, can_send, set_obd_multiplexing, alpha_long_allowed, is_release,
+                 cached_params=cached_params, fixed_fingerprint=fixed_fingerprint,
+                 init_params_list_sp=init_params_list_sp, is_release_sp=is_release_sp,
+                 skip_fw_query=skip_fw_query)
+
+
 class Car:
   CI: CarInterfaceBase
   RI: RadarInterfaceBase
@@ -109,8 +126,9 @@ def __init__(self, CI=None, RI=None) -> None:
 
       init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)
 
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, cached_params,
-                        None, init_params_list_sp, is_release_sp)
+      self.CI = startup_get_car(self.params, *self.can_callbacks, obd_callback(self.params),
+                                alpha_long_allowed, is_release, cached_params,
+                                init_params_list_sp, is_release_sp)
       sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP
@@ -230,33 +248,29 @@ def state_update(self) -> tuple[car.CarState, custom.CarStateSP, structs.RadarDa
     if can_rcv_valid and REPLAY:
       self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
-    try:
-      preap_software_cruise = (
-        self.CP.brand == "tesla"
-        and self.CP.carFingerprint == "TESLA_MODEL_S_PREAP"
-        and self.CP.openpilotLongitudinalControl
-        and not self.CP.pcmCruise
-      )
-
-      if not preap_software_cruise:
-        self.v_cruise_helper.update_speed_limit_assist(self.is_metric, self.sm['longitudinalPlanSP'])
-        self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
-        if self.sm['carControl'].enabled and not self.CC_prev.enabled:
-          # Use CarState w/ buttons from the step selfdrived enables on
-          self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode, self.dynamic_experimental_control)
-      else:
-        # Pre-AP pedal mode owns set-speed in carstate via pedal_speed_kph.
-        # Keep planner target aligned to that software-managed target.
-        preap_v_cruise_kph = float(CS.cruiseState.speed * CV.MS_TO_KPH)
-        self.v_cruise_helper.v_cruise_kph_last = self.v_cruise_helper.v_cruise_kph
-        self.v_cruise_helper.v_cruise_kph = preap_v_cruise_kph
-        self.v_cruise_helper.v_cruise_cluster_kph = preap_v_cruise_kph
-    except Exception:
-      # Fail-safe: never crash card due cruise-target selection logic.
-      cloudlog.exception("Pre-AP software cruise target update failed, falling back to VCruiseHelper default")
+    preap_software_cruise = (
+      self.CP.brand == "tesla"
+      and self.CP.carFingerprint == "TESLA_MODEL_S_PREAP"
+      and self.CP.openpilotLongitudinalControl
+      and not self.CP.pcmCruise
+    )
+
+    if not preap_software_cruise:
+      self.v_cruise_helper.update_speed_limit_assist(self.is_metric, self.sm['longitudinalPlanSP'])
       self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
       if self.sm['carControl'].enabled and not self.CC_prev.enabled:
+        # Use CarState w/ buttons from the step selfdrived enables on
         self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode, self.dynamic_experimental_control)
+    elif getattr(CS, "enableLongControl", False):
+      # NAP FSM owns set-speed via pedal_speed_kph once long is requested.
+      preap_v_cruise_kph = float(CS.cruiseState.speed * CV.MS_TO_KPH)
+      self.v_cruise_helper.v_cruise_kph_last = self.v_cruise_helper.v_cruise_kph
+      self.v_cruise_helper.v_cruise_kph = preap_v_cruise_kph
+      self.v_cruise_helper.v_cruise_cluster_kph = preap_v_cruise_kph
+    else:
+      self.v_cruise_helper.v_cruise_kph_last = self.v_cruise_helper.v_cruise_kph
+      self.v_cruise_helper.v_cruise_kph = V_CRUISE_UNSET
+      self.v_cruise_helper.v_cruise_cluster_kph = V_CRUISE_UNSET
 
     # TODO: mirror the carState.cruiseState struct?
     CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
diff --git a/openpilot/selfdrive/car/tests/test_car_specific_tesla_preap.py b/openpilot/selfdrive/car/tests/test_car_specific_tesla_preap.py
index fed123648487a3..97d6241c9e502e 100644
--- a/openpilot/selfdrive/car/tests/test_car_specific_tesla_preap.py
+++ b/openpilot/selfdrive/car/tests/test_car_specific_tesla_preap.py
@@ -162,3 +162,82 @@ def test_pedal_acquisition_failure_keeps_lateral_and_surfaces_alert():
 
     event_types = EVENTS[EventName.pedalUnavailable]
     assert set(event_types) == {ET.WARNING}
+
+
+def test_preap_pedal_first_pull_does_not_pcm_enable():
+  cp = _make_cp(pcm_cruise=False, op_long=True)
+  cs_prev = _make_cs()
+  cs = _make_cs()
+  cs.cruiseState.enabled = True
+  with patch(NAP_CONF_PATH, new_callable=PropertyMock, return_value=True):
+    events = CarSpecificEvents(cp).update(cs, cs_prev, car.CarControl.new_message())
+  assert EventName.pcmEnable not in events.names
+  assert EventName.pcmDisable not in events.names
+
+
+def test_preap_pedal_idle_does_not_pcm_disable():
+  cp = _make_cp(pcm_cruise=False, op_long=True)
+  with patch(NAP_CONF_PATH, new_callable=PropertyMock, return_value=True):
+    events = CarSpecificEvents(cp).update(_make_cs(), _make_cs(), car.CarControl.new_message())
+  assert EventName.pcmDisable not in events.names
+  assert EventName.pcmEnable not in events.names
+
+
+def test_preap_nopedal_first_pull_still_pcm_enables():
+  cp = _make_cp(pcm_cruise=True, op_long=False)
+  cs_prev = _make_cs()
+  cs = _make_cs()
+  cs.cruiseState.enabled = True
+  with patch(NAP_CONF_PATH, new_callable=PropertyMock, return_value=True):
+    events = CarSpecificEvents(cp).update(cs, cs_prev, car.CarControl.new_message())
+  assert EventName.pcmEnable in events.names
+
+
+def test_preap_nopedal_idle_still_pcm_disables():
+  cp = _make_cp(pcm_cruise=True, op_long=False)
+  with patch(NAP_CONF_PATH, new_callable=PropertyMock, return_value=True):
+    events = CarSpecificEvents(cp).update(_make_cs(), _make_cs(), car.CarControl.new_message())
+  assert EventName.pcmDisable in events.names
+
+
+def test_preap_pedal_cancel_button_still_user_disables():
+  cp = _make_cp(pcm_cruise=False, op_long=True)
+  cs = _make_cs()
+  cs.cruiseState.enabled = True
+  be = car.CarState.ButtonEvent.new_message()
+  be.type = car.CarState.ButtonEvent.Type.cancel
+  be.pressed = True
+  cs.buttonEvents = [be]
+  with patch(NAP_CONF_PATH, new_callable=PropertyMock, return_value=True):
+    events = CarSpecificEvents(cp).update(cs, _make_cs(), car.CarControl.new_message())
+  assert EventName.buttonCancel in events.names
+
+
+def test_preap_pedal_stalk_adjust_is_not_enable_or_cancel():
+  cp = _make_cp(pcm_cruise=False, op_long=True)
+  cs_prev = _make_cs()
+  cs_prev.cruiseState.enabled = True
+  cs = _make_cs()
+  cs.cruiseState.enabled = True
+  cs.enableLongControl = True
+  be = car.CarState.ButtonEvent.new_message()
+  be.type = car.CarState.ButtonEvent.Type.accelCruise
+  be.pressed = True
+  cs.buttonEvents = [be]
+  with patch(NAP_CONF_PATH, new_callable=PropertyMock, return_value=True):
+    events = CarSpecificEvents(cp).update(cs, cs_prev, car.CarControl.new_message())
+  assert EventName.pcmEnable not in events.names
+  assert EventName.buttonEnable not in events.names
+  assert EventName.buttonCancel not in events.names
+
+
+def test_preap_pedal_permanent_steer_fault_is_immediate_disable():
+  cp = _make_cp(pcm_cruise=False, op_long=True)
+  cs = _make_cs()
+  cs.cruiseState.enabled = True
+  cs.enableLongControl = True
+  cs.steerFaultPermanent = True
+  with patch(NAP_CONF_PATH, new_callable=PropertyMock, return_value=True):
+    events = CarSpecificEvents(cp).update(cs, _make_cs(), car.CarControl.new_message())
+  assert EventName.steerUnavailable in events.names
+  assert ET.IMMEDIATE_DISABLE in EVENTS[EventName.steerUnavailable]
diff --git a/openpilot/selfdrive/car/tests/test_card_startup_preap.py b/openpilot/selfdrive/car/tests/test_card_startup_preap.py
new file mode 100644
index 00000000000000..115b8f4054108d
--- /dev/null
+++ b/openpilot/selfdrive/car/tests/test_card_startup_preap.py
@@ -0,0 +1,76 @@
+"""Cold-start vehicle selection for NAPForcePreAP.
+
+PREAP CAN fingerprint is address 551 (0x227) at 4 bytes. A 5-byte frame at
+that address is incompatible, so CAN discovery cannot pick TESLA_MODEL_S_PREAP.
+Production selection must still construct PREAP when NAPForcePreAP is true,
+and must not force it when false/absent.
+"""
+from opendbc.car.can_definitions import CanData
+from opendbc.car.structs import CarParams
+from opendbc.car.tesla.values import CAR
+
+from openpilot.selfdrive.car.card import startup_get_car
+
+# Decimal 551 (0x227), 5 bytes: incompatible with PREAP table 551:4.
+_INCOMPATIBLE_PREAP = CanData(0x227, b"\x00" * 5, 0)
+
+
+class _Params:
+  def __init__(self, values: dict[str, bool] | None = None):
+    self._values = values or {}
+
+  def get_bool(self, key: str) -> bool:
+    return bool(self._values[key]) if key in self._values else False
+
+
+def _can_recv(wait_for_one: bool = False):
+  del wait_for_one
+  return [[_INCOMPATIBLE_PREAP]]
+
+
+def _can_send(*args, **kwargs):
+  del args, kwargs
+
+
+def _set_obd(_obd: bool) -> None:
+  return None
+
+
+def _startup(params, monkeypatch, *, fingerprint_env=None, skip_fw_query_env=None):
+  monkeypatch.delenv("FINGERPRINT", raising=False)
+  monkeypatch.delenv("SKIP_FW_QUERY", raising=False)
+  if fingerprint_env is not None:
+    monkeypatch.setenv("FINGERPRINT", fingerprint_env)
+  if skip_fw_query_env is not None:
+    monkeypatch.setenv("SKIP_FW_QUERY", skip_fw_query_env)
+  return startup_get_car(params, _can_recv, _can_send, _set_obd, False, False, None, None, False)
+
+
+def test_nap_force_preap_true_constructs_preap_on_incompatible_can(monkeypatch):
+  CI = _startup(_Params({"NAPForcePreAP": True}), monkeypatch)
+  assert CI.CP.carFingerprint == CAR.TESLA_MODEL_S_PREAP
+  assert CI.CP.brand == "tesla"
+  assert not CI.CP.dashcamOnly
+  assert CI.CP.safetyConfigs[0].safetyModel == CarParams.SafetyModel.teslaPreap
+  assert CI.CP.fingerprintSource == CarParams.FingerprintSource.fixed
+
+
+def test_nap_force_preap_false_does_not_force_preap(monkeypatch):
+  CI = _startup(_Params({"NAPForcePreAP": False}), monkeypatch, skip_fw_query_env="1")
+  assert CI.CP.carFingerprint != CAR.TESLA_MODEL_S_PREAP
+  assert CI.CP.carFingerprint == "MOCK"
+  assert CI.CP.dashcamOnly
+
+
+def test_nap_force_preap_absent_does_not_force_preap(monkeypatch):
+  CI = _startup(_Params(), monkeypatch, skip_fw_query_env="1")
+  assert CI.CP.carFingerprint != CAR.TESLA_MODEL_S_PREAP
+  assert CI.CP.carFingerprint == "MOCK"
+  assert CI.CP.dashcamOnly
+
+
+def test_env_fingerprint_wins_over_nap_force_preap(monkeypatch):
+  CI = _startup(_Params({"NAPForcePreAP": True}), monkeypatch,
+                fingerprint_env="MOCK", skip_fw_query_env="1")
+  assert CI.CP.carFingerprint == "MOCK"
+  assert CI.CP.dashcamOnly
diff --git a/openpilot/selfdrive/selfdrived/selfdrived.py b/openpilot/selfdrive/selfdrived/selfdrived.py
index 291edb5ce28f17..4667d27219e1f9 100755
--- a/openpilot/selfdrive/selfdrived/selfdrived.py
+++ b/openpilot/selfdrive/selfdrived/selfdrived.py
@@ -314,9 +314,16 @@ def update_events(self, CS):
           self.events.add(EventName.pcmEnable)
 
       # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
-      if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
-        (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
-        (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
+      # Pre-AP pedal: NAP FSM drops long on brake and keeps lat. Generic pedalPressed
+      # USER_DISABLE would also kill OP. Real brakePressed still feeds FCW/regen/MADS.
+      preap_pedal = (self.CP.brand == "tesla"
+                     and self.CP.carFingerprint == "TESLA_MODEL_S_PREAP"
+                     and self.CP.openpilotLongitudinalControl
+                     and not self.CP.pcmCruise)
+      gas_pressed = CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator
+      brake_pressed = (not preap_pedal) and CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)
+      regen_pressed = CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)
+      if gas_pressed or brake_pressed or regen_pressed:
         self.events.add(EventName.pedalPressed)
 
     # Create events for temperature, disk space, and memory
@@ -489,12 +496,13 @@ def update_events(self, CS):
 
     if not REPLAY:
       # Check for mismatch between openpilot and car's PCM.
-      # Pre-AP Tesla manages cruiseState.enabled via software FSM (not hardware PCM),
-      # so treat it the same as pcmCruise for this check.
-      preap_sw_cruise = (self.CP.brand == "tesla" and self.CP.carFingerprint == "TESLA_MODEL_S_PREAP"
-                         and self.CP.openpilotLongitudinalControl and not self.CP.pcmCruise)
-      effective_pcm_cruise = self.CP.pcmCruise or preap_sw_cruise
-      cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not effective_pcm_cruise)
+      # Pedal Pre-AP: cruiseState.enabled is lateral (first pull). Compare
+      # enableLongControl so lat-only does not look like a stuck PCM.
+      preap_pedal = (self.CP.brand == "tesla" and self.CP.carFingerprint == "TESLA_MODEL_S_PREAP"
+                     and self.CP.openpilotLongitudinalControl and not self.CP.pcmCruise)
+      effective_pcm_cruise = self.CP.pcmCruise or preap_pedal
+      pcm_on = bool(getattr(CS, "enableLongControl", False)) if preap_pedal else CS.cruiseState.enabled
+      cruise_mismatch = pcm_on and (not self.enabled or not effective_pcm_cruise)
       self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0
       if self.cruise_mismatch_counter > int(6. / DT_CTRL):
         self.events.add(EventName.cruiseMismatch)
diff --git a/openpilot/selfdrive/selfdrived/tests/test_alerts.py b/openpilot/selfdrive/selfdrived/tests/test_alerts.py
index 816b55dd48b1d8..f2f1244f317718 100644
--- a/openpilot/selfdrive/selfdrived/tests/test_alerts.py
+++ b/openpilot/selfdrive/selfdrived/tests/test_alerts.py
@@ -4,7 +4,7 @@
 import random
 from PIL import Image, ImageDraw, ImageFont
 
-from openpilot.cereal import log
+from openpilot.cereal import custom, log
 from opendbc.car.structs import car
 from openpilot.cereal.messaging import SubMaster
 from openpilot.common.basedir import BASEDIR
@@ -12,6 +12,7 @@
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.selfdrived.events import Alert, EVENTS, ET, AudibleAlert
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
+from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS
 
 AlertSize = log.SelfdriveState.AlertSize
@@ -185,3 +186,95 @@ def test_offroad_alerts_extra_text(self):
       written_alert = params.get(a)
       assert "a"*i == written_alert['extra']
       assert alert["text"] == written_alert['text']
+
+
+
+
+EventName = log.OnroadEvent.EventName
+_MISMATCH_FRAMES = int(6. / DT_CTRL) + 1
+
+
+def _preap_selfdrived(*, pcm_cruise=False, op_long=True):
+  cp = car.CarParams.new_message()
+  cp.brand = "tesla"
+  cp.carFingerprint = "TESLA_MODEL_S_PREAP"
+  cp.openpilotLongitudinalControl = op_long
+  cp.pcmCruise = pcm_cruise
+  sd = SelfdriveD(cp, custom.CarParamsSP.new_message())
+  sd.initialized = True
+  sd.startup_event = None
+  return sd
+
+
+def _cs(*, cruise_enabled=False, enable_long=False, brake=False, gas=False,
+        regen=False, can_valid=True):
+  cs = car.CarState.new_message()
+  cs.canValid = can_valid
+  cs.cruiseState.available = True
+  cs.cruiseState.enabled = cruise_enabled
+  cs.enableLongControl = enable_long
+  cs.brakePressed = brake
+  cs.gasPressed = gas
+  cs.regenBraking = regen
+  cs.gearShifter = car.CarState.GearShifter.drive
+  return cs
+
+
+class TestPreAPSelfdriveUpdateEvents:
+  def test_lat_only_does_not_cruise_mismatch_after_six_seconds(self):
+    sd = _preap_selfdrived()
+    sd.enabled = False
+    cs = _cs(cruise_enabled=True, enable_long=False)
+    for _ in range(_MISMATCH_FRAMES):
+      sd.update_events(cs)
+    assert EventName.cruiseMismatch not in sd.events.names
+
+  def test_long_intent_without_host_still_cruise_mismatch(self):
+    sd = _preap_selfdrived()
+    sd.enabled = False
+    cs = _cs(cruise_enabled=True, enable_long=True)
+    for _ in range(_MISMATCH_FRAMES):
+      sd.update_events(cs)
+    assert EventName.cruiseMismatch in sd.events.names
+
+  def test_brake_telemetry_does_not_generic_user_disable(self):
+    sd = _preap_selfdrived()
+    sd.CS_prev = _cs(cruise_enabled=True, enable_long=True)
+    cs = _cs(cruise_enabled=True, enable_long=True, brake=True)
+    sd.update_events(cs)
+    assert EventName.pedalPressed not in sd.events.names
+
+  def test_pedal_cruise_enabled_on_long_rising_with_gas_not_on_release(self):
+    sd = _preap_selfdrived()
+    sd.update_events(_cs(cruise_enabled=True, enable_long=False, gas=True))
+    assert EventName.pedalCruiseEnabled not in sd.events.names
+    sd.CS_prev = _cs(cruise_enabled=True, enable_long=False, gas=True)
+    sd.update_events(_cs(cruise_enabled=True, enable_long=True, gas=True))
+    assert EventName.pedalCruiseEnabled in sd.events.names
+    sd.CS_prev = _cs(cruise_enabled=True, enable_long=True, gas=True)
+    sd.update_events(_cs(cruise_enabled=True, enable_long=True, gas=False))
+    assert EventName.pedalCruiseEnabled not in sd.events.names
+    assert EventName.pedalCruiseDisabled not in sd.events.names
+
+  def test_gas_rising_still_generic_pedal_pressed(self):
+    sd = _preap_selfdrived()
+    sd.disengage_on_accelerator = True
+    sd.CS_prev = _cs()
+    cs = _cs(gas=True)
+    sd.update_events(cs)
+    assert EventName.pedalPressed in sd.events.names
+
+  def test_regen_still_generic_pedal_pressed(self):
+    sd = _preap_selfdrived()
+    sd.CS_prev = _cs()
+    cs = _cs(regen=True)
+    sd.update_events(cs)
+    assert EventName.pedalPressed in sd.events.names
+
+  def test_pcm_preap_still_mismatches_on_cruise_state_enabled(self):
+    sd = _preap_selfdrived(pcm_cruise=True, op_long=False)
+    sd.enabled = False
+    cs = _cs(cruise_enabled=True, enable_long=False)
+    for _ in range(_MISMATCH_FRAMES):
+      sd.update_events(cs)
+    assert EventName.cruiseMismatch in sd.events.names
diff --git a/openpilot/sunnypilot/mads/mads.py b/openpilot/sunnypilot/mads/mads.py
index 0881295b20e891..f1ac7f320a5713 100644
--- a/openpilot/sunnypilot/mads/mads.py
+++ b/openpilot/sunnypilot/mads/mads.py
@@ -331,13 +331,21 @@ def update_events(self, CS: structs.CarState):
 
       if self.block_unified_engagement_mode():
         self.events.remove(EventName.pcmEnable)
-        self.events.remove(EventName.buttonEnable)
+        # Pre-AP long request is buttonEnable from Longitudinal.enable.
+        # UEM-off still blocks pcmEnable (lat pull) but must not swallow long.
+        if not is_preap_platform(self.CP):
+          self.events.remove(EventName.buttonEnable)
     else:
       # Stateful MAIN only. Momentary Pre-AP must not treat cruiseState.available as a stalk.
       if self.main_enabled_toggle and not self.no_main_cruise:
         if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available:
           self.events_sp.add(EventNameSP.lkasEnable)
 
+    if is_preap_platform(self.CP):
+      # Long-only disable is buttonCancel. OP already consumed it this frame.
+      # Leave MADS lat up unless lkasDisable / hard events say otherwise.
+      self.events.remove(EventName.buttonCancel)
+
     for be in CS.buttonEvents:
       if be.type == ButtonType.cancel:
         if not self.selfdrive.enabled and self.selfdrive.enabled_prev:
diff --git a/openpilot/sunnypilot/mads/tests/test_mads_state_machine.py b/openpilot/sunnypilot/mads/tests/test_mads_state_machine.py
index 14549119fd5813..dd76cc1216d442 100644
--- a/openpilot/sunnypilot/mads/tests/test_mads_state_machine.py
+++ b/openpilot/sunnypilot/mads/tests/test_mads_state_machine.py
@@ -44,6 +44,8 @@ def __init__(self, mocker: MockerFixture):
 class TestMADSStateMachine:
   @pytest.fixture(autouse=True)
   def setup_method(self, mocker: MockerFixture):
+    # Synthetic event 0 must not replace lkasEnable for later tests.
+    mocker.patch.dict(EVENTS_SP)
     self.mads = MockMADS(mocker)
     self.state_machine = StateMachine(self.mads)
     self.events = self.mads.selfdrive.events
diff --git a/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py b/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py
index d63c3587e98c8d..b4357d08f0bf41 100644
--- a/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py
+++ b/openpilot/sunnypilot/mads/tests/test_preap_mads_capabilities.py
@@ -10,8 +10,9 @@
   set_car_specific_params,
 )
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
-from openpilot.cereal import custom
+from openpilot.cereal import log, custom
 
+EventName = log.OnroadEvent.EventName
 EventNameSP = custom.OnroadEventSP.EventName
 
 
@@ -206,6 +207,48 @@ def test_preap_unified_engagement_stays_off_when_param_true(self):
     mads.read_params()
     self.assertFalse(mads.unified_engagement_mode)
 
+  def test_preap_uem_off_keeps_button_enable_strips_pcm_enable(self):
+    from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+    from openpilot.selfdrive.selfdrived.events import Events
+    from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+
+    CP = structs.CarParams()
+    CP.brand = "tesla"
+    CP.carFingerprint = "TESLA_MODEL_S_PREAP"
+    CP_SP = structs.CarParamsSP()
+    CP_SP.madsCapabilityContractVersion = 1
+    CP_SP.madsRequired = True
+    CP_SP.madsMainCruiseInputKind = structs.CarParamsSP.MadsMainCruiseInputKind.momentary
+    CP_SP.madsUnifiedEngagementMode = False
+
+    params = MagicMock()
+    params.get_bool.side_effect = lambda k: k == "Mads"
+    sd = MagicMock()
+    sd.CP = CP
+    sd.CP_SP = CP_SP
+    sd.params = params
+    sd.events = Events()
+    sd.events_sp = EventsSP()
+    sd.enabled = False
+    sd.enabled_prev = False
+    sd.initialized = True
+    prev = structs.CarState()
+    prev.cruiseState.available = True
+    sd.CS_prev = prev
+    sd.sm = {"pandaStates": []}
+
+    mads = ModularAssistiveDrivingSystem(sd)
+    self.assertTrue(mads.block_unified_engagement_mode())
+
+    cs = structs.CarState()
+    cs.cruiseState.available = True
+    sd.events.add(EventName.pcmEnable)
+    sd.events.add(EventName.buttonEnable)
+    sd.events.add(EventName.buttonCancel)
+    mads.update_events(cs)
+    self.assertFalse(sd.events.has(EventName.pcmEnable))
+    self.assertTrue(sd.events.has(EventName.buttonEnable))
+    self.assertFalse(sd.events.has(EventName.buttonCancel))
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent_consumer.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent_consumer.py
index 67b23c3fe0b9b1..1536d301608fd1 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent_consumer.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent_consumer.py
@@ -1,16 +1,27 @@
 import unittest
 from types import SimpleNamespace
+from unittest.mock import patch
 
 from openpilot.cereal import custom, log
 from opendbc.car import structs
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.common.conversions import Conversions as CV
+import opendbc.car.tesla.preap.nap_conf as nap_conf_mod
+from opendbc.car.tesla.preap.nap_params import NAPParamKeys
+from openpilot.common.params import Params
+from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+from openpilot.selfdrive.car.car_specific import CarSpecificEvents
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from opendbc.car.tesla.preap.sp.platform import preap_radar_present
 from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from opendbc.car.tesla.preap.sp.carstate import PreAPCarState
-from opendbc.car.tesla.values import CAR
+from opendbc.car.tesla.values import CAR, CruiseButtons
 from openpilot.selfdrive.car.helpers import convert_to_capnp
+from openpilot.selfdrive.selfdrived.preap_regen import PreAPChimeState, update_preap_chimes
+from openpilot.selfdrive.selfdrived.state import StateMachine as OPStateMachine
+from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
 from openpilot.sunnypilot.selfdrive.car.preap_intent import (
   PreAPIntentConsumer, UINT32_HALF, UINT32_MASK, sequence_is_newer,
 )
@@ -349,5 +360,215 @@ def test_fresh_set_cruise_while_cruise_true_requests_lat(self):
     self.assertEqual(hold.preapIntentSequence, ret_sp.preapIntentSequence)
     self.assertEqual(hold.preapLateralIntent, structs.CarStateSP.PreapLateralIntent.mainCruiseRequest)
 
+
+OPState = log.SelfdriveState.OpenpilotState
+
+
+class TestPedalLongitudinalHostFlow(unittest.TestCase):
+  def setUp(self):
+    self.enterContext(OpenpilotPrefix())
+    params = Params()
+    params.put_bool(NAPParamKeys.PEDAL_ENABLED, True, block=True)
+    params.put_bool(NAPParamKeys.RADAR_ENABLED, True, block=True)
+    params.put_bool(NAPParamKeys.PEDAL_CALIB_DONE, True, block=True)
+    params.put(NAPParamKeys.PEDAL_CALIB_FACTOR, 0.95, block=True)
+    params.put_bool("Mads", True, block=True)
+    self.enterContext(patch.object(nap_conf_mod, "_PARAMS_AVAILABLE", True))
+    self.enterContext(patch.object(nap_conf_mod, "_params", params))
+
+    CarInterface = interfaces[CAR.TESLA_MODEL_S_PREAP]
+    fingerprint_buses = {bus: {} for bus in range(8)}
+    self.CP = CarInterface.get_params(
+      CAR.TESLA_MODEL_S_PREAP, fingerprint_buses, [],
+      alpha_long=False, is_release=False, docs=False,
+    )
+    self.CP_SP = CarInterface.get_params_sp(
+      self.CP, CAR.TESLA_MODEL_S_PREAP, fingerprint_buses, [],
+      alpha_long=False, is_release_sp=False, docs=False,
+    )
+
+    self.cse = CarSpecificEvents(self.CP)
+    self.sp = CarSpecificEventsSP(self.CP, self.CP_SP)
+    self.adapter = PreAPCarState(self.CP, self.CP_SP)
+    self.adapter.engagement.enableDoublePull = True
+    self.adapter.engagement.double_pull_window_ms = 750
+    seed = structs.CarStateSP()
+    self.adapter._publish_mads_intent(seed)
+    self.cs_sp = convert_to_capnp(seed)
+    self.sp.update(structs.CarState(), Events(), self.cs_sp)
+
+    self.events = Events()
+    self.events_sp = EventsSP()
+    self.op_sm = OPStateMachine()
+    self.cc = structs.CarControl()
+    self.cs_prev = self._cs()
+    self.chimes_prev = PreAPChimeState()
+    self.sd = SimpleNamespace(
+      CP=self.CP,
+      CP_SP=self.CP_SP,
+      params=params,
+      events=self.events,
+      events_sp=self.events_sp,
+      enabled=False,
+      enabled_prev=False,
+      initialized=True,
+      cs_fresh=True,
+      CS_prev=self.cs_prev,
+      sm={"pandaStates": []},
+      state_machine=self.op_sm,
+    )
+    self.mads = ModularAssistiveDrivingSystem(self.sd)
+
+  def _pull(self, button, prev, t_ms, brake=False):
+    return self.adapter.engagement.process_buttons(
+      button, prev, t_ms, 20.0, "KPH", True, True, True, brake,
+    )
+
+  def _cs(self, gas=False, buttons=None):
+    cs = structs.CarState()
+    cs.cruiseState.available = True
+    cs.cruiseState.enabled = bool(self.adapter.engagement.cruiseEnabled)
+    cs.enableLongControl = bool(self.adapter.engagement.enableLongControl)
+    cs.gearShifter = structs.CarState.GearShifter.drive
+    cs.gasPressed = gas
+    cs.vEgo = 20.0
+    if cs.enableLongControl:
+      cs.cruiseState.speed = self.adapter.engagement.pedal_speed_kph * CV.KPH_TO_MS
+    else:
+      cs.cruiseState.speed = 1e-3
+    if buttons:
+      cs.buttonEvents = buttons
+    return cs
+
+  def _publish(self):
+    ret_sp = structs.CarStateSP()
+    self.adapter._publish_mads_intent(ret_sp)
+    self.cs_sp = convert_to_capnp(ret_sp)
+
+  def _tick(self, cs):
+    self.events.clear()
+    self.events_sp.clear()
+    common = self.cse.update(cs, self.cs_prev, self.cc)
+    self.events.add_from_msg(common.to_msg())
+    extra_sp = self.sp.update(cs, self.events, self.cs_sp)
+    self.events_sp.add_from_msg(extra_sp.to_msg())
+    op_enabled, _ = self.op_sm.update(self.events)
+    self.sd.enabled = bool(op_enabled)
+    self.sd.CS_prev = self.cs_prev
+    pre = Events()
+    pre.add_from_msg(self.events.to_msg())
+    pre_sp = EventsSP()
+    pre_sp.add_from_msg(self.events_sp.to_msg())
+    self.mads.update(cs)
+    chimes, self.chimes_prev = update_preap_chimes(
+      lat_engaged=bool(cs.cruiseState.enabled),
+      long_engaged=bool(cs.enableLongControl),
+      prev=self.chimes_prev,
+    )
+    self.cs_prev = cs
+    self.sd.enabled_prev = bool(op_enabled)
+    return pre, pre_sp, op_enabled, chimes
+
+  def _first_pull(self, gas=False):
+    buttons = self._pull(CruiseButtons.MAIN, CruiseButtons.IDLE, 1000)
+    self._publish()
+    return self._tick(self._cs(gas=gas, buttons=buttons))
+
+  def _second_pull(self, gas=True):
+    buttons = self._pull(CruiseButtons.MAIN, CruiseButtons.IDLE, 1500)
+    self._publish()
+    return self._tick(self._cs(gas=gas, buttons=buttons))
+
+  def test_first_pull_enables_mads_not_openpilot_long(self):
+    events, events_sp, op_enabled, chimes = self._first_pull(gas=True)
+    self.assertTrue(self.adapter.engagement.cruiseEnabled)
+    self.assertFalse(self.adapter.engagement.enableLongControl)
+    self.assertFalse(events.has(EventName.pcmEnable))
+    self.assertFalse(events.has(EventName.buttonEnable))
+    self.assertTrue(events_sp.has(EventNameSP.lkasEnable))
+    self.assertFalse(op_enabled)
+    self.assertTrue(self.mads.enabled)
+    self.assertFalse(chimes.long_engage)
+
+  def test_double_pull_gas_held_latches_long_and_set_speed(self):
+    self._first_pull(gas=True)
+    events, events_sp, op_enabled, chimes = self._second_pull(gas=True)
+    self.assertTrue(self.adapter.engagement.enableLongControl)
+    self.assertFalse(events.has(EventName.pcmEnable))
+    self.assertTrue(events.has(EventName.buttonEnable))
+    self.assertTrue(self.sd.events.has(EventName.buttonEnable))
+    self.assertTrue(op_enabled)
+    self.assertEqual(self.op_sm.state, OPState.overriding)
+    self.assertTrue(events.has(EventName.gasPressedOverride))
+    self.assertTrue(chimes.long_engage)
+    self.assertAlmostEqual(self.adapter.engagement.pedal_speed_kph, 72.0)
+
+  def test_gas_release_stays_enabled_without_new_long_chime(self):
+    self._first_pull(gas=True)
+    self._second_pull(gas=True)
+    events, _, op_enabled, chimes = self._tick(self._cs(gas=False))
+    self.assertTrue(self.adapter.engagement.enableLongControl)
+    self.assertTrue(op_enabled)
+    self.assertEqual(self.op_sm.state, OPState.enabled)
+    self.assertFalse(chimes.long_engage)
+    self.assertFalse(chimes.long_disengage)
+    self.assertFalse(events.has(EventName.buttonEnable))
+
+  def test_stalk_hold_adjusts_target_without_enable_events(self):
+    self._first_pull(gas=True)
+    self._second_pull(gas=True)
+    speed0 = self.adapter.engagement.pedal_speed_kph
+    buttons = self._pull(CruiseButtons.RES_ACCEL, CruiseButtons.IDLE, 1600)
+    self.assertGreater(self.adapter.engagement.pedal_speed_kph, speed0)
+    speed1 = self.adapter.engagement.pedal_speed_kph
+    hold = self._pull(CruiseButtons.RES_ACCEL_2ND, CruiseButtons.RES_ACCEL, 1700)
+    self.assertGreater(self.adapter.engagement.pedal_speed_kph, speed1)
+    events, _, op_enabled, chimes = self._tick(self._cs(gas=True, buttons=buttons + hold))
+    self.assertTrue(op_enabled)
+    self.assertFalse(events.has(EventName.pcmEnable))
+    self.assertFalse(events.has(EventName.buttonCancel))
+    self.assertFalse(chimes.long_engage)
+
+  def test_brake_drops_long_keeps_mads(self):
+    self._first_pull(gas=True)
+    self._second_pull(gas=True)
+    self._tick(self._cs(gas=False))
+    self._pull(CruiseButtons.IDLE, CruiseButtons.IDLE, 2000, brake=True)
+    self.assertTrue(self.adapter.engagement.cruiseEnabled)
+    self.assertFalse(self.adapter.engagement.enableLongControl)
+    self._publish()
+    events, events_sp, op_enabled, chimes = self._tick(self._cs(gas=False))
+    self.assertTrue(events.has(EventName.buttonCancel))
+    self.assertFalse(self.sd.events.has(EventName.buttonCancel))
+    self.assertFalse(events_sp.has(EventNameSP.lkasDisable))
+    self.assertFalse(op_enabled)
+    self.assertTrue(self.mads.enabled)
+    self.assertTrue(chimes.long_disengage)
+
+  def test_cancel_full_exit(self):
+    self._first_pull()
+    self._second_pull(gas=False)
+    buttons = self._pull(CruiseButtons.CANCEL, CruiseButtons.IDLE, 3000)
+    self.assertFalse(self.adapter.engagement.cruiseEnabled)
+    self.assertFalse(self.adapter.engagement.enableLongControl)
+    self._publish()
+    events, events_sp, op_enabled, chimes = self._tick(self._cs(buttons=buttons))
+    self.assertTrue(events.has(EventName.buttonCancel))
+    self.assertTrue(events_sp.has(EventNameSP.lkasDisable))
+    self.assertFalse(op_enabled)
+    self.assertFalse(self.mads.enabled)
+    self.assertTrue(chimes.long_disengage)
+
+  def test_hard_fault_exits_both(self):
+    self._first_pull()
+    self._second_pull(gas=False)
+    cs = self._cs()
+    cs.steerFaultPermanent = True
+    events, _, op_enabled, _ = self._tick(cs)
+    self.assertTrue(events.has(EventName.steerUnavailable))
+    self.assertFalse(op_enabled)
+    self.assertFalse(self.mads.enabled)
+
+
 if __name__ == "__main__":
   unittest.main()

From e702d13397d32955ce90df30b38b928d33bea592 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Tue, 8 Sep 2026 02:39:57 +0000
Subject: [PATCH 1425/1434] tesla_preap: keep cruise through optional pause

Hands-only pause was tearing down already-active pedal cruise, and host MAIN
could still land during panda's one-second recovery. Keep the active pedal
session, reject that pull window, and bump opendbc for the matching re-arm.
---
 opendbc_repo                                  |   2 +-
 .../layouts/settings/vehicle/brands/tesla.py  |   2 +-
 openpilot/sunnypilot/mads/mads.py             |   5 +-
 .../car/tests/test_preap_intent_consumer.py   | 476 +++++++++++++++++-
 4 files changed, 474 insertions(+), 11 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index f5e8fcfe276735..81799e45e7bbe1 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit f5e8fcfe27673579c32f62645a95a4ea16bbb79b
+Subproject commit 81799e45e7bbe13b835a4815fb7cb00d73e8df46
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
index bfc1e1f15584a8..79cd60be1e5404 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
@@ -34,7 +34,7 @@ def __init__(self):
     self.hands_on_pause_toggle = toggle_item_sp(
       tr("Hands-On Pause"),
       tr(
-        "Default off: hands on the wheel fully disengages. On: pause steering and cancel speed control, then resume steering after you release for one second.",
+        "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off.",
       ),
       param="TeslaPreapHandsOnPause",
     )
diff --git a/openpilot/sunnypilot/mads/mads.py b/openpilot/sunnypilot/mads/mads.py
index f1ac7f320a5713..87d6824d52ea99 100644
--- a/openpilot/sunnypilot/mads/mads.py
+++ b/openpilot/sunnypilot/mads/mads.py
@@ -374,8 +374,9 @@ def update_events(self, CS: structs.CarState):
             self.events_sp.remove(EventNameSP.lkasEnable)
             self.events_sp.add(EventNameSP.pedalPressedAlertOnly)
 
-    if self._hands_on_pause_available and not self.enabled:
-      if int(getattr(CS, "handsOnLevel", 0) or 0) >= HANDS_ON_PAUSE_LEVEL:
+    if self._hands_on_pause_available:
+      hands_high = int(getattr(CS, "handsOnLevel", 0) or 0) >= HANDS_ON_PAUSE_LEVEL
+      if hands_high or self._hands_on_steering_inhibited:
         if self.events_sp.has(EventNameSP.lkasEnable):
           self.events_sp.remove(EventNameSP.lkasEnable)
 
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent_consumer.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent_consumer.py
index 1536d301608fd1..e17be728a9314d 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent_consumer.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent_consumer.py
@@ -1,9 +1,10 @@
 import unittest
 from types import SimpleNamespace
-from unittest.mock import patch
+from unittest.mock import MagicMock, patch
 
 from openpilot.cereal import custom, log
-from opendbc.car import structs
+from opendbc.can import CANPacker
+from opendbc.car import CanData, structs
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.common.conversions import Conversions as CV
 import opendbc.car.tesla.preap.nap_conf as nap_conf_mod
@@ -16,12 +17,15 @@
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from opendbc.car.tesla.preap.sp.platform import preap_radar_present
 from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
-from opendbc.car.tesla.preap.sp.carstate import PreAPCarState
+from opendbc.car.tesla.preap.sp.carstate import PREAP_HANDS_ON_RESUME_MS, PreAPCarState
 from opendbc.car.tesla.values import CAR, CruiseButtons
 from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.selfdrive.selfdrived.preap_regen import PreAPChimeState, update_preap_chimes
 from openpilot.selfdrive.selfdrived.state import StateMachine as OPStateMachine
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+from opendbc.car.tesla.preap.carcontroller import PedalAuthorityState, PreAPLongController
+from opendbc.car.tesla.preap.nap_conf import PEDAL_MAX_VALUES
+from opendbc.car.tesla.preap.teslacan import GAS_COMMAND_ID, PEDAL_D, PEDAL_M1, TeslaCANPreAP
 from openpilot.sunnypilot.selfdrive.car.preap_intent import (
   PreAPIntentConsumer, UINT32_HALF, UINT32_MASK, sequence_is_newer,
 )
@@ -253,7 +257,7 @@ def publish():
     self.assertEqual(lon.preapLongitudinalIntent, structs.CarStateSP.PreapLongitudinalIntent.enable)
     self.assertNotEqual(lat.preapIntentSequence, lon.preapIntentSequence)
 
-  def test_adapter_hands_on_drops_long_keeps_lat(self):
+  def test_adapter_hands_on_keeps_active_long(self):
     CP = structs.CarParams()
     CP.carFingerprint = CAR.TESLA_MODEL_S_PREAP
     CP_SP = structs.CarParamsSP()
@@ -261,12 +265,18 @@ def test_adapter_hands_on_drops_long_keeps_lat(self):
     cs = PreAPCarState(CP, CP_SP)
     cs.engagement.cruiseEnabled = True
     cs.engagement.enableLongControl = True
+    cs.engagement.pedal_speed_kph = 72.0
+    cs.engagement.stalk_pull_time_ms = 1500
+    cs.engagement.prev_stalk_pull_time_ms = 1000
+    cs.engagement.pending_enable = True
     cs._epas_hands = 2
     cs.engagement.handle_steering_disengage(True)
     self.assertTrue(cs.engagement.cruiseEnabled)
-    self.assertFalse(cs.engagement.enableLongControl)
-    self.assertFalse(cs.engagement.enableJustCC)
-    self.assertTrue(cs._pause_cancel_this_tick)
+    self.assertTrue(cs.engagement.enableLongControl)
+    self.assertAlmostEqual(cs.engagement.pedal_speed_kph, 72.0)
+    self.assertFalse(cs.engagement.pending_enable)
+    self.assertEqual(cs.engagement.stalk_pull_time_ms, 0)
+    self.assertEqual(cs.engagement.prev_stalk_pull_time_ms, -1000)
 
   def test_adapter_epas_reject_full_disengage(self):
     CP = structs.CarParams()
@@ -335,6 +345,48 @@ def test_unadmitted_held_hands_revokes_cruise(self):
     self.assertFalse(ret.cruiseState.enabled)
     self.assertFalse(cs.preap_cc_cancel_needed)
     self.assertFalse(cs.preap_cc_engage_needed)
+    self.assertEqual(cs.engagement.stalk_pull_time_ms, 0)
+    self.assertEqual(cs.engagement.prev_stalk_pull_time_ms, -1000)
+
+  def test_adapter_pause_swallows_main_without_starting_or_dropping_long(self):
+    CP = structs.CarParams()
+    CP.carFingerprint = CAR.TESLA_MODEL_S_PREAP
+    CP_SP = structs.CarParamsSP()
+    CP_SP.flags = int(TeslaFlagsSP.PREAP_HANDS_ON_PAUSE)
+    cs = PreAPCarState(CP, CP_SP)
+    cs.engagement.enableDoublePull = True
+    cs.engagement.double_pull_window_ms = 750
+    cs._epas_hands = 2
+    cs.engagement.cruiseEnabled = True
+    cs.engagement.enableLongControl = True
+    cs.engagement.pedal_speed_kph = 64.0
+    cs.engagement.process_buttons(
+      CruiseButtons.MAIN, CruiseButtons.IDLE, 2000, 20.0, "KPH", True, True, True, False,
+    )
+    self.assertTrue(cs.engagement.cruiseEnabled)
+    self.assertTrue(cs.engagement.enableLongControl)
+    self.assertAlmostEqual(cs.engagement.pedal_speed_kph, 64.0)
+
+    cs.engagement.enableLongControl = False
+    cs.engagement.pedal_speed_kph = 0.0
+    cs.engagement.process_buttons(
+      CruiseButtons.MAIN, CruiseButtons.IDLE, 2800, 20.0, "KPH", True, True, True, False,
+    )
+    self.assertTrue(cs.engagement.cruiseEnabled)
+    self.assertFalse(cs.engagement.enableLongControl)
+    self.assertEqual(cs.engagement.pedal_speed_kph, 0.0)
+
+    cs._epas_hands = 0
+    cs.engagement.process_buttons(
+      CruiseButtons.IDLE, CruiseButtons.IDLE, 2800, 20.0, "KPH", True, True, True, False,
+    )
+    cs.engagement.process_buttons(
+      CruiseButtons.MAIN, CruiseButtons.IDLE, 2800 + PREAP_HANDS_ON_RESUME_MS - 1,
+      20.0, "KPH", True, True, True, False,
+    )
+    self.assertTrue(cs.engagement.cruiseEnabled)
+    self.assertFalse(cs.engagement.enableLongControl)
+    self.assertEqual(cs.engagement.stalk_pull_time_ms, 0)
 
   def test_fresh_set_cruise_while_cruise_true_requests_lat(self):
     CP = structs.CarParams()
@@ -570,5 +622,415 @@ def test_hard_fault_exits_both(self):
     self.assertFalse(self.mads.enabled)
 
 
+class _PausePandaSM(dict):
+  def __init__(self, pandas, panda_valid=True):
+    super().__init__({"pandaStates": pandas})
+    self.updated = {"pandaStates": True}
+    self.panda_valid = panda_valid
+
+  def all_checks(self, services):
+    return self.panda_valid and services == ["pandaStates"]
+
+
+def _pause_panda(inhibited, lat=True, allowed=True):
+  ps = MagicMock()
+  ps.steeringControlInhibited = inhibited
+  ps.controlsAllowedLateral = lat
+  ps.controlsAllowed = allowed
+  model = getattr(structs.CarParams.SafetyModel, "teslaPreap", None)
+  if model is None:
+    model = structs.CarParams.SafetyModel.tesla
+  ps.safetyModel = model
+  return ps
+
+
+State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
+
+
+class TestHandsOnPauseHostFlow(TestPedalLongitudinalHostFlow):
+  def setUp(self):
+    super().setUp()
+    self.CP_SP.madsHandsOnPauseAvailable = True
+    self.CP_SP.flags = int(getattr(self.CP_SP, "flags", 0) or 0) | int(TeslaFlagsSP.PREAP_HANDS_ON_PAUSE)
+    self.adapter = PreAPCarState(self.CP, self.CP_SP)
+    self.adapter.engagement.enableDoublePull = True
+    self.adapter.engagement.double_pull_window_ms = 750
+    seed = structs.CarStateSP()
+    self.adapter._publish_mads_intent(seed)
+    self.cs_sp = convert_to_capnp(seed)
+    self.sp = CarSpecificEventsSP(self.CP, self.CP_SP)
+    self.sp.update(structs.CarState(), Events(), self.cs_sp)
+    self.sd.sm = _PausePandaSM([_pause_panda(False)])
+    self.mads = ModularAssistiveDrivingSystem(self.sd)
+
+  def _set_panda(self, inhibited, lat=True, allowed=True):
+    self.sd.sm = _PausePandaSM([_pause_panda(inhibited, lat=lat, allowed=allowed)])
+
+  def _pause_cs(self, hands=0, steering_disengage=False, **kwargs):
+    cs = self._cs(**kwargs)
+    cs.handsOnLevel = hands
+    cs.steeringDisengage = steering_disengage
+    return cs
+
+  def _hands_override(self, hands, reject=False, fault=False):
+    self.adapter._epas_hands = hands
+    self.adapter._epas_rejecting = reject
+    self.adapter._epas_fault = fault
+    self.adapter.engagement.handle_steering_disengage(hands >= 2 or reject)
+
+  def test_pause_keeps_healthy_long_and_pauses_lateral(self):
+    self._first_pull(gas=True)
+    self._second_pull(gas=True)
+    self._tick(self._cs(gas=False))
+    self.assertTrue(self.adapter.engagement.enableLongControl)
+    self.assertTrue(self.sd.enabled)
+    self.assertTrue(self.mads.enabled)
+    speed = self.adapter.engagement.pedal_speed_kph
+
+    self._set_panda(True)
+    self._hands_override(2)
+    self.assertTrue(self.adapter.engagement.cruiseEnabled)
+    self.assertTrue(self.adapter.engagement.enableLongControl)
+    self.assertAlmostEqual(self.adapter.engagement.pedal_speed_kph, speed)
+    self._publish()
+    events, _, op_enabled, chimes = self._tick(self._pause_cs(hands=2, gas=False))
+    self.assertFalse(events.has(EventName.steerDisengage))
+    self.assertFalse(events.has(EventName.buttonCancel))
+    self.assertFalse(self.events_sp.has(EventNameSP.lkasDisable))
+    self.assertTrue(self.events_sp.has(EventNameSP.silentLkasDisable))
+    self.assertTrue(op_enabled)
+    self.assertTrue(self.adapter.engagement.enableLongControl)
+    self.assertEqual(self.mads.state_machine.state, State.paused)
+    self.assertTrue(self.mads.enabled)
+    self.assertFalse(self.mads.active)
+    self.assertFalse(chimes.long_disengage)
+    self.assertAlmostEqual(self.adapter.engagement.pedal_speed_kph, speed)
+
+  def test_pause_does_not_start_inactive_long(self):
+    self._first_pull(gas=False)
+    self.assertFalse(self.adapter.engagement.enableLongControl)
+    self._set_panda(True)
+    self._hands_override(2)
+    self.adapter.engagement.process_buttons(
+      CruiseButtons.MAIN, CruiseButtons.IDLE, 2500, 20.0, "KPH", True, True, True, False,
+    )
+    self.assertTrue(self.adapter.engagement.cruiseEnabled)
+    self.assertFalse(self.adapter.engagement.enableLongControl)
+    self._publish()
+    _, _, op_enabled, _ = self._tick(self._pause_cs(hands=2))
+    self.assertFalse(self.adapter.engagement.enableLongControl)
+    self.assertFalse(op_enabled)
+
+  def test_brake_drops_long_and_pause_does_not_resume_it(self):
+    self._first_pull(gas=True)
+    self._second_pull(gas=True)
+    self._tick(self._cs(gas=False))
+    self._pull(CruiseButtons.IDLE, CruiseButtons.IDLE, 2000, brake=True)
+    self.assertFalse(self.adapter.engagement.enableLongControl)
+    self._publish()
+    self._tick(self._cs(gas=False))
+    self._set_panda(True)
+    self._hands_override(2)
+    self.assertFalse(self.adapter.engagement.enableLongControl)
+    self._publish()
+    _, _, op_enabled, _ = self._tick(self._pause_cs(hands=2, gas=False))
+    self.assertFalse(self.adapter.engagement.enableLongControl)
+    self.assertFalse(op_enabled)
+    self._set_panda(False)
+    self._hands_override(0)
+    self._publish()
+    self._tick(self._pause_cs(hands=0, gas=False))
+    self.assertFalse(self.adapter.engagement.enableLongControl)
+
+  def test_epas_reject_full_disengage_with_pause_on(self):
+    self._first_pull(gas=True)
+    self._second_pull(gas=True)
+    self._tick(self._cs(gas=False))
+    self._hands_override(2, reject=True)
+    self.assertFalse(self.adapter.engagement.cruiseEnabled)
+    self.assertFalse(self.adapter.engagement.enableLongControl)
+    self._publish()
+    events, events_sp, op_enabled, _ = self._tick(self._pause_cs(hands=2, steering_disengage=True, gas=False))
+    self.assertTrue(events.has(EventName.steerDisengage) or events_sp.has(EventNameSP.lkasDisable) or events.has(EventName.buttonCancel))
+    self.assertFalse(op_enabled)
+    self.assertFalse(self.mads.active)
+
+  def test_default_off_still_full_disengages(self):
+    off = PreAPCarState(self.CP, structs.CarParamsSP())
+    off.engagement.cruiseEnabled = True
+    off.engagement.enableLongControl = True
+    off.engagement.pedal_speed_kph = 72.0
+    off._epas_hands = 2
+    off.engagement.handle_steering_disengage(True)
+    self.assertFalse(off.engagement.cruiseEnabled)
+    self.assertFalse(off.engagement.enableLongControl)
+    self.assertEqual(off.engagement.pedal_speed_kph, 0.0)
+    off.engagement.enableDoublePull = True
+    off.engagement.process_buttons(
+      CruiseButtons.MAIN, CruiseButtons.IDLE, 1000, 20.0, "KPH", True, True, True, False,
+    )
+    self.assertTrue(off.engagement.cruiseEnabled)
+    self.assertFalse(off.engagement.enableLongControl)
+
+  def test_revoked_pull_is_not_false_double_pull(self):
+    self.adapter._epas_hands = 2
+    self.adapter.engagement.stalk_pull_time_ms = 4000
+    self.adapter.engagement.prev_stalk_pull_time_ms = 3900
+    self.adapter.engagement.pending_enable = True
+    ret = structs.CarState()
+    self.adapter._revoke_unadmitted_held_hands(ret)
+    self.assertEqual(self.adapter.engagement.stalk_pull_time_ms, 0)
+    self.adapter._epas_hands = 0
+    self.adapter.engagement.process_buttons(
+      CruiseButtons.MAIN, CruiseButtons.IDLE, 4100, 20.0, "KPH", True, True, True, False,
+    )
+    self.assertTrue(self.adapter.engagement.cruiseEnabled)
+    self.assertFalse(self.adapter.engagement.enableLongControl)
+
+  def test_repeated_disengage_then_double_pull(self):
+    t = 1000
+    for _ in range(5):
+      self._pull(CruiseButtons.MAIN, CruiseButtons.IDLE, t)
+      t += 500
+      self._pull(CruiseButtons.MAIN, CruiseButtons.IDLE, t)
+      t += 1500
+      self._pull(CruiseButtons.CANCEL, CruiseButtons.IDLE, t)
+      t += 1500
+    self.assertFalse(self.adapter.engagement.cruiseEnabled)
+    self.assertFalse(self.adapter.engagement.enableLongControl)
+    self._pull(CruiseButtons.MAIN, CruiseButtons.IDLE, t)
+    self.assertTrue(self.adapter.engagement.cruiseEnabled)
+    self.assertFalse(self.adapter.engagement.enableLongControl)
+    self._pull(CruiseButtons.MAIN, CruiseButtons.IDLE, t + 400)
+    self.assertTrue(self.adapter.engagement.enableLongControl)
+
+  def test_recovery_hold_rejects_inactive_long_pull(self):
+    self._first_pull(gas=False)
+    self.assertFalse(self.adapter.engagement.enableLongControl)
+    self._hands_override(2)
+    self._pull(CruiseButtons.IDLE, CruiseButtons.IDLE, 2000)
+    self.adapter._epas_hands = 0
+    self._pull(CruiseButtons.IDLE, CruiseButtons.IDLE, 2000)
+    self._pull(CruiseButtons.MAIN, CruiseButtons.IDLE, 2100)
+    self._pull(CruiseButtons.MAIN, CruiseButtons.IDLE, 2500)
+    self.assertTrue(self.adapter.engagement.cruiseEnabled)
+    self.assertFalse(self.adapter.engagement.enableLongControl)
+    self._publish()
+    events, _, op_enabled, _ = self._tick(self._pause_cs(hands=0))
+    self.assertFalse(events.has(EventName.buttonEnable))
+    self.assertFalse(op_enabled)
+    self.assertFalse(self.adapter.engagement.enableLongControl)
+
+  def test_held_main_then_fresh_pull_after_recovery(self):
+    self._first_pull(gas=False)
+    self._hands_override(2)
+    self._pull(CruiseButtons.IDLE, CruiseButtons.IDLE, 2000)
+    self.adapter._epas_hands = 0
+    self._pull(CruiseButtons.MAIN, CruiseButtons.IDLE, 2000)
+    self._pull(CruiseButtons.IDLE, CruiseButtons.MAIN, 2200)
+    self._pull(CruiseButtons.MAIN, CruiseButtons.IDLE, 2400)
+    self._pull(CruiseButtons.MAIN, CruiseButtons.MAIN, 2000 + PREAP_HANDS_ON_RESUME_MS)
+    self.assertFalse(self.adapter.engagement.enableLongControl)
+    self._publish()
+    events, _, op_enabled, _ = self._tick(self._pause_cs(hands=0))
+    self.assertFalse(events.has(EventName.buttonEnable))
+    self.assertFalse(op_enabled)
+
+    self._pull(CruiseButtons.IDLE, CruiseButtons.MAIN, 2000 + PREAP_HANDS_ON_RESUME_MS + 100)
+    self._pull(CruiseButtons.MAIN, CruiseButtons.IDLE, 2000 + PREAP_HANDS_ON_RESUME_MS + 200)
+    self.assertFalse(self.adapter.engagement.enableLongControl)
+    self._pull(CruiseButtons.MAIN, CruiseButtons.IDLE, 2000 + PREAP_HANDS_ON_RESUME_MS + 600)
+    self.assertTrue(self.adapter.engagement.enableLongControl)
+    self._publish()
+    events, _, op_enabled, _ = self._tick(self._cs(gas=False))
+    self.assertTrue(events.has(EventName.buttonEnable))
+    self.assertTrue(op_enabled)
+
+  def test_renewed_hands_resets_recovery_hold(self):
+    self._first_pull(gas=False)
+    self._hands_override(2)
+    self._pull(CruiseButtons.IDLE, CruiseButtons.IDLE, 2000)
+    self.adapter._epas_hands = 0
+    self._pull(CruiseButtons.IDLE, CruiseButtons.IDLE, 2000)
+    self._hands_override(2)
+    self._pull(CruiseButtons.IDLE, CruiseButtons.IDLE, 2600)
+    self.adapter._epas_hands = 0
+    self._pull(CruiseButtons.IDLE, CruiseButtons.IDLE, 2600)
+    self._pull(CruiseButtons.MAIN, CruiseButtons.IDLE, 2600 + PREAP_HANDS_ON_RESUME_MS - 1)
+    self._pull(CruiseButtons.MAIN, CruiseButtons.IDLE, 2600 + PREAP_HANDS_ON_RESUME_MS - 1 + 400)
+    self.assertFalse(self.adapter.engagement.enableLongControl)
+    self._pull(CruiseButtons.IDLE, CruiseButtons.IDLE, 2600 + PREAP_HANDS_ON_RESUME_MS)
+    self._pull(CruiseButtons.MAIN, CruiseButtons.IDLE, 2700 + PREAP_HANDS_ON_RESUME_MS)
+    self._pull(CruiseButtons.MAIN, CruiseButtons.IDLE, 3100 + PREAP_HANDS_ON_RESUME_MS)
+    self.assertTrue(self.adapter.engagement.enableLongControl)
+
+  def test_recovery_hold_keeps_active_long_target(self):
+    self._first_pull(gas=True)
+    self._second_pull(gas=True)
+    speed = self.adapter.engagement.pedal_speed_kph
+    self._hands_override(2)
+    self._pull(CruiseButtons.IDLE, CruiseButtons.IDLE, 2000)
+    self.adapter._epas_hands = 0
+    self._pull(CruiseButtons.MAIN, CruiseButtons.IDLE, 2000)
+    self._pull(CruiseButtons.MAIN, CruiseButtons.IDLE, 2400)
+    self.assertTrue(self.adapter.engagement.enableLongControl)
+    self.assertAlmostEqual(self.adapter.engagement.pedal_speed_kph, speed)
+    self._publish()
+    events, _, op_enabled, _ = self._tick(self._pause_cs(hands=0, gas=False))
+    self.assertFalse(events.has(EventName.buttonEnable))
+    self.assertTrue(self.adapter.engagement.enableLongControl)
+    self.assertTrue(op_enabled)
+    self.assertAlmostEqual(self.adapter.engagement.pedal_speed_kph, speed)
+
+  def test_epas_fault_clears_hold_unlike_hands_pause(self):
+    self._first_pull(gas=True)
+    self._second_pull(gas=True)
+    self._tick(self._cs(gas=False))
+    self._hands_override(2)
+    self._pull(CruiseButtons.IDLE, CruiseButtons.IDLE, 2000)
+    self._hands_override(2, fault=True)
+    self.assertFalse(self.adapter.engagement.cruiseEnabled)
+    self.assertFalse(self.adapter.engagement.enableLongControl)
+    self.adapter._epas_hands = 0
+    self.adapter._epas_fault = False
+    self._pull(CruiseButtons.MAIN, CruiseButtons.IDLE, 2100)
+    self.assertTrue(self.adapter.engagement.cruiseEnabled)
+    self.assertFalse(self.adapter.engagement.enableLongControl)
+
+
+def _decode_pedal_enable(command):
+  address, data, _bus = command
+  assert address == GAS_COMMAND_ID
+  return bool(data[4] & 0x80), (data[0] << 8 | data[1]) * PEDAL_M1 + PEDAL_D
+
+
+class TestPausePedalOutputContinuity(unittest.TestCase):
+  def setUp(self):
+    conf = SimpleNamespace(
+      use_pedal=True,
+      pedal_factor=1.0,
+      pedal_can_zero=False,
+      di_to_pedal=lambda pedal_di: pedal_di,
+      pedal_to_di=lambda pedal: pedal,
+      get_pedal_profile_values=lambda: PEDAL_MAX_VALUES,
+    )
+    zero = SimpleNamespace(get=lambda _v_ego: 0.0, update=lambda *_a, **_k: None)
+    self.enterContext(patch("opendbc.car.tesla.preap.carcontroller.nap_conf", conf))
+    self.enterContext(patch("opendbc.car.tesla.preap.carcontroller.get_zero_torque", lambda: zero))
+    self.enterContext(patch("opendbc.car.tesla.preap.virtual_das.nap_conf", conf))
+    self.enterContext(patch("opendbc.car.tesla.preap.carstate.nap_conf", conf))
+    self.enterContext(patch("opendbc.car.tesla.preap.pedal_feedback.nap_conf", conf))
+    self.enterContext(patch("opendbc.car.tesla.preap.virtual_das.get_zero_torque", lambda: zero))
+    CP = structs.CarParams()
+    CP.carFingerprint = CAR.TESLA_MODEL_S_PREAP
+    CP_SP = structs.CarParamsSP()
+    CP_SP.flags = int(TeslaFlagsSP.PREAP_HANDS_ON_PAUSE)
+    self.cs = PreAPCarState(CP, CP_SP)
+    self.cs.engagement.enableDoublePull = True
+    self.cs.engagement.double_pull_window_ms = 750
+    self.cs.pedal.available = True
+    self.cs.pedal.timeout = False
+    self.cs.pedal.interceptor_state = 0
+    self.cs.pedal.idx = 1
+    self.cs.real_brake_pressed = False
+    self.cs.out.vEgo = 20.0
+    self.cs.out.aEgo = 0.0
+    self.cs.out.gasPressed = False
+    self.cs.out.steeringDisengage = False
+    self.cs.pedal_interceptor_value = 0.0
+    self.cs.cruise_buttons = 0
+    self.cs.prev_cruise_buttons = 0
+    self.cs.pedal_timeout = False
+    self.cs.pccEvent = None
+    self.cs.preap_cc_cancel_needed = False
+    self.cc = SimpleNamespace(
+      actuators=SimpleNamespace(accel=0.2),
+      longActive=True,
+      orientationNED=[],
+    )
+    self.controller = PreAPLongController()
+    self.controller.pedal_authority.state = PedalAuthorityState.ACTIVE
+    self.controller.prev_requested_long = True
+    self.can = TeslaCANPreAP({})
+
+  def _sync_bridge(self):
+    self.cs.cruiseEnabled = self.cs.engagement.cruiseEnabled
+    self.cs.enableLongControl = self.cs.engagement.enableLongControl
+    self.cs.enableJustCC = self.cs.engagement.enableJustCC
+    self.cs.pedal_speed_kph = self.cs.engagement.pedal_speed_kph
+
+  def _engage_long(self):
+    self.cs.engagement.cruiseEnabled = True
+    self.cs.engagement.enableLongControl = True
+    self.cs.engagement.pedal_speed_kph = 72.0
+    self._sync_bridge()
+
+  def _adapter_pause(self):
+    parsers = self.cs.get_can_parsers(self.cs.CP, self.cs.CP_SP)
+    packer = CANPacker("tesla_preap")
+    frames = []
+    for name, bus, values in (
+      ("EPAS_sysStatus", 0, {"EPAS_handsOnLevel": 2}),
+      ("DI_torque2", 0, {"DI_gear": 4}),
+      ("ESP_B", 0, {"ESP_vehicleSpeed": 72}),
+      ("STW_ACTN_RQ", 0, {"DTR_Dist_Rq": 255}),
+      ("GAS_SENSOR", 2, {"IDX": 2}),
+    ):
+      address, data, source = packer.make_can_msg(name, bus, values)
+      frames.append(CanData(address, data, source))
+    for parser in parsers.values():
+      parser.update([(2_000_000_000, frames)])
+    with patch("opendbc.car.tesla.preap.carstate._current_time_millis", return_value=2000):
+      self.cs.out, _ = self.cs.update(parsers)
+
+  def _sends(self, frame):
+    return self.controller.update(self.cc, self.cs, frame, self.can, 0, now_nanos=frame * 10_000_000)
+
+  def test_enabled_pedal_output_continues_through_hands_on_pause(self):
+    self._engage_long()
+    sends = self._sends(2)
+    self.assertTrue(sends)
+    enabled, _ = _decode_pedal_enable(sends[0])
+    self.assertTrue(enabled)
+    target = self.cs.engagement.pedal_speed_kph
+
+    self._adapter_pause()
+    self.assertTrue(self.cs.engagement.cruiseEnabled)
+    self.assertTrue(self.cs.engagement.enableLongControl)
+    self.assertAlmostEqual(self.cs.engagement.pedal_speed_kph, target)
+    self.assertFalse(self.cs.out.steeringDisengage)
+
+    sends = self._sends(4)
+    self.assertTrue(sends)
+    enabled, _ = _decode_pedal_enable(sends[0])
+    self.assertTrue(enabled)
+    self.assertTrue(self.cs.enableLongControl)
+    self.assertAlmostEqual(self.cs.engagement.pedal_speed_kph, target)
+
+  def test_inactive_long_does_not_start_pedal_during_pause(self):
+    self.cs.engagement.cruiseEnabled = True
+    self.cs.engagement.enableLongControl = False
+    self.cs.engagement.pedal_speed_kph = 0.0
+    self._sync_bridge()
+    self.controller.prev_requested_long = False
+    self._adapter_pause()
+    self.cs.engagement.process_buttons(
+      CruiseButtons.IDLE, CruiseButtons.IDLE, 1000, 20.0, "KPH", True, True, True, False,
+    )
+    self.cs._epas_hands = 0
+    self.cs.engagement.process_buttons(
+      CruiseButtons.MAIN, CruiseButtons.IDLE, 1100, 20.0, "KPH", True, True, True, False,
+    )
+    self.cs.engagement.process_buttons(
+      CruiseButtons.MAIN, CruiseButtons.IDLE, 1500, 20.0, "KPH", True, True, True, False,
+    )
+    self._sync_bridge()
+    self.assertFalse(self.cs.enableLongControl)
+    sends = self._sends(2)
+    if sends:
+      enabled, _ = _decode_pedal_enable(sends[0])
+      self.assertFalse(enabled)
+
+
 if __name__ == "__main__":
   unittest.main()

From 47281bbeb3e6e76c007150ba65e8e95c57a75795 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Tue, 8 Sep 2026 23:49:54 +0000
Subject: [PATCH 1426/1434] preap: fix pedal calibration sessions

Keep calibration in the existing UI and maintain the restricted Panda watchdog without driving engagement. Wait for exclusive ownership and provide explicit cancellation and ignition-off exit instead of an automatic restart.
---
 .../ui/layouts/settings/nap_content.py        |  52 +-
 .../selfdrive/ui/mici/layouts/settings/nap.py |  22 +-
 .../ui/mici/layouts/settings/nap_script.py    |   9 +
 .../ui/sunnypilot/layouts/settings/nap.py     |  15 +-
 openpilot/selfdrive/ui/translations/app.pot   | 220 +----
 openpilot/selfdrive/ui/translations/app_de.po | 244 +----
 openpilot/selfdrive/ui/translations/app_en.po | 258 +----
 openpilot/selfdrive/ui/translations/app_es.po | 244 +----
 openpilot/selfdrive/ui/translations/app_fr.po | 244 +----
 openpilot/selfdrive/ui/translations/app_ja.po | 244 +----
 openpilot/selfdrive/ui/translations/app_ko.po | 244 +----
 .../selfdrive/ui/translations/app_pt-BR.po    | 244 +----
 openpilot/selfdrive/ui/translations/app_th.po | 244 +----
 openpilot/selfdrive/ui/translations/app_tr.po | 244 +----
 openpilot/selfdrive/ui/translations/app_uk.po | 244 +----
 .../selfdrive/ui/translations/app_zh-CHS.po   | 244 +----
 .../selfdrive/ui/translations/app_zh-CHT.po   | 244 +----
 .../car/tesla/preap/tools/calibrate_pedal.py  | 275 ++++--
 .../car/tesla/preap/tools/instructions.py     |  18 +-
 .../car/tesla/preap/tools/run_script.py       | 691 +++++++++++---
 .../selfdrive/car/tesla/preap/tools/runner.py |  55 +-
 .../selfdrive/car/tesla/preap/tools/safety.py | 114 ++-
 .../preap/tools/tests/test_pedal_wizard_ui.py | 336 +++++++
 .../preap/tools/tests/test_preap_tools.py     | 878 +++++++++++++++---
 .../car/tesla/preap/tools/transport.py        | 143 ++-
 25 files changed, 2637 insertions(+), 3133 deletions(-)
 create mode 100644 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_pedal_wizard_ui.py

diff --git a/openpilot/selfdrive/ui/layouts/settings/nap_content.py b/openpilot/selfdrive/ui/layouts/settings/nap_content.py
index b9a7c3be45f360..0d19b6d9008061 100644
--- a/openpilot/selfdrive/ui/layouts/settings/nap_content.py
+++ b/openpilot/selfdrive/ui/layouts/settings/nap_content.py
@@ -41,24 +41,20 @@
 
 
 CALIBRATE_PEDAL_INSTRUCTIONS = """\
-NAP Pedal Calibrator
+Keep the car ON for calibration.
 
-This script calibrates the comma pedal interceptor for your pre-AP Tesla Model S.
+1. Stop the vehicle and disengage assistance.
+2. Select Neutral and hold the brake.
+3. Release the accelerator.
+4. Check that the pedal connector is seated.
+5. Select the pedal's CAN bus below.
 
-PRECONDITIONS:
-  1. Car must be ON
-  2. Gear must be in NEUTRAL
-  3. Brake pedal must be PRESSED and held
-  4. Do NOT press the accelerator pedal during calibration
+Start pauses driving assistance. Cancel stops calibration.
+Settings are saved only after calibration succeeds.
 
-The calibration process will:
-  - Detect pedal zero position
-  - Detect pedal maximum position
-  - Fine-tune the scale factor
-  - Validate the calibration values
-  - Save calibration to params
+When finished, turn the car off to Exit,
+or choose Restart device. No automatic restart."""
 
-Press START when ready to begin calibration."""
 
 
 CALIBRATE_RADAR_INSTRUCTIONS = """\
@@ -215,3 +211,31 @@ def find_preset_index(presets: list, value, default: int = 0) -> int:
     return presets.index(value)
   except ValueError:
     return min(range(len(presets)), key=lambda i: abs(presets[i] - value))
+
+
+def pedal_calibration_entry_block_reason() -> str | None:
+  """Pedal-only exception: parked offroad, or ignition-on stationary/disengaged."""
+  from openpilot.selfdrive.ui.ui_state import ui_state
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import pedal_calibration_entry_reason
+  sm = ui_state.sm
+  car_fresh = bool(sm.alive.get("carState") and sm.valid.get("carState") and sm.seen.get("carState"))
+  v_ego = float(sm["carState"].vEgo) if car_fresh else 1e9
+  return pedal_calibration_entry_reason(
+    offroad=ui_state.is_offroad(),
+    engaged=bool(ui_state.engaged),
+    car_state_fresh=car_fresh,
+    v_ego=v_ego,
+  )
+
+
+def pedal_calibration_entry_enabled() -> bool:
+  """True when Calibrate Pedal may open the in-process wizard.
+
+  Engaged or moving stay blocked. Waiting for vehicle state still opens
+  the wizard so Start can show the reason instead of hiding the entry.
+  """
+  reason = pedal_calibration_entry_block_reason()
+  if reason is None:
+    return True
+  return "waiting" in reason
+
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/nap.py b/openpilot/selfdrive/ui/mici/layouts/settings/nap.py
index 317df39ad770a9..d071ccc0bafe83 100644
--- a/openpilot/selfdrive/ui/mici/layouts/settings/nap.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/nap.py
@@ -12,16 +12,17 @@
 from openpilot.selfdrive.ui.mici.widgets.big_multi_value_param import BigMultiValueParamToggle
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigParamControl
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog, BigInputDialog
-from openpilot.selfdrive.ui.mici.layouts.settings.nap_script import launch_script
+from openpilot.selfdrive.ui.mici.layouts.settings.nap_script import launch_script, open_pedal_wizard
 from openpilot.selfdrive.ui.layouts.settings.nap_content import (
   BACKUP_EPAS_INSTRUCTIONS,
-  CALIBRATE_PEDAL_INSTRUCTIONS,
   FLASH_EPAS_INSTRUCTIONS,
   PEDAL_CAN_BUS_VALUES,
   RADAR_OFFSET_MAX,
   RADAR_OFFSET_MIN,
   RESTORE_EPAS_INSTRUCTIONS,
+  pedal_calibration_entry_enabled,
 )
+
 from openpilot.selfdrive.ui.radar.radar_view import RadarMonitorDialog
 from openpilot.selfdrive.ui.ui_state import ui_state
 
@@ -222,23 +223,18 @@ def __init__(self):
     )
     pedal_can_bus.set_enabled(ui_state.is_offroad)
 
+
     pedal_calib_status = BigButton(
       "pedal calibration",
       "calibrated" if self._params.get_bool(NAPParamKeys.PEDAL_CALIB_DONE) else "not calibrated",
     )
 
-    # Offroad-gate the menu tap on all action buttons. Stationary scripts
-    # still need ignition on at Start press, but the user's path is
-    # "tap offroad → open runner → turn car on → press Start." Gating
-    # the menu tap on offroad just means the user can't open the runner
-    # while actively driving; the script's own preconditions handle the
-    # ignition-on state at Start.
+    # Pedal calibration is hosted in this UI. Ignition-on stationary/waiting
+    # may open the wizard. Other destructive tools stay offroad-gated.
     calibrate_pedal_btn = BigButton("calibrate pedal", "start")
-    calibrate_pedal_btn.set_click_callback(
-      lambda: launch_script("Pedal Calibration", CALIBRATE_PEDAL_INSTRUCTIONS,
-                            "scripts.nap.calibrate_pedal",
-                            ))
-    calibrate_pedal_btn.set_enabled(ui_state.is_offroad)
+    calibrate_pedal_btn.set_click_callback(open_pedal_wizard)
+    calibrate_pedal_btn.set_enabled(pedal_calibration_entry_enabled)
+
 
     radar_settings_btn = BigButton("radar settings", "open")
     radar_settings_btn.set_click_callback(lambda: gui_app.push_widget(RadarSettingsLayoutMici()))
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/nap_script.py b/openpilot/selfdrive/ui/mici/layouts/settings/nap_script.py
index 6c54125990e8c6..aa830b1a33358e 100644
--- a/openpilot/selfdrive/ui/mici/layouts/settings/nap_script.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/nap_script.py
@@ -24,3 +24,12 @@ def launch_script(title: str, instructions: str, script_module: str) -> None:
     launch_on_device_runner(title, TOOL_BY_MODULE[script_module], instructions)
   except (ToolSafetyError, ValueError, KeyError) as exc:
     gui_app.push_widget(BigDialog("can't start tool", str(exc)))
+
+
+def open_pedal_wizard() -> None:
+  """Host pedal calibration in the existing UI. Never spawn a second DRM window."""
+  try:
+    from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.run_script import open_pedal_calibration
+    open_pedal_calibration()
+  except (ToolSafetyError, ValueError, KeyError) as exc:
+    gui_app.push_widget(BigDialog("can't start tool", str(exc)))
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
index 0d99637a88ab3f..05d529f7d6a163 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
@@ -10,11 +10,13 @@
   DEFAULTS, FLASH_EPAS_INSTRUCTIONS, PEDAL_CAN_BUS_VALUES,
   RADAR_OFFSET_MAX, RADAR_OFFSET_MIN, RESTORE_EPAS_INSTRUCTIONS,
   acknowledgments_html, find_preset_index,
+  pedal_calibration_entry_block_reason, pedal_calibration_entry_enabled,
 )
 from openpilot.selfdrive.ui.radar.radar_view import RadarMonitorDialog
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import instructions as preap_instructions
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import launch_on_device_runner
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.run_script import open_pedal_calibration
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import ToolSafetyError
 from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.lib.multilang import tr
@@ -130,6 +132,7 @@ def _build_items(self):
       callback=self._on_pedal_can_bus,
     )
     self._pedal_bus_buttons.action_item.set_enabled(ui_state.is_offroad)
+
     self._main_items.append(self._pedal_bus_buttons)
     self._pedal_calib_status = text_item_sp(
       lambda: tr("Pedal Calibration"),
@@ -142,7 +145,8 @@ def _build_items(self):
       description=lambda: tr("Run the pedal calibration routine. Vehicle must be stationary with ignition on."),
       callback=lambda: self._confirm_tool("calibrate_pedal"),
     )
-    self._calibrate_pedal_btn.action_item.set_enabled(ui_state.is_offroad)
+    self._calibrate_pedal_btn.action_item.set_enabled(pedal_calibration_entry_enabled)
+
     self._main_items.append(self._calibrate_pedal_btn)
 
     self._main_items.append(SectionHeader(tr("Radar")))
@@ -443,11 +447,18 @@ def _on_radar_offset_submit(self, result: DialogResult):
       pass
 
   def _confirm_tool(self, tool: str):
+    if tool == "calibrate_pedal":
+      reason = pedal_calibration_entry_block_reason()
+      if reason and "waiting" not in reason:
+        gui_app.push_widget(alert_dialog(tr(reason)))
+        return
+      open_pedal_calibration(tr(CALIBRATE_PEDAL_INSTRUCTIONS))
+      return
     if not ui_state.is_offroad():
       gui_app.push_widget(alert_dialog(tr("Tools are only available offroad.")))
       return
+
     instructions = {
-      "calibrate_pedal": CALIBRATE_PEDAL_INSTRUCTIONS,
       "calibrate_radar": preap_instructions.CALIBRATE_RADAR_INSTRUCTIONS,
       "diagnose_radar": preap_instructions.DIAGNOSE_RADAR_INSTRUCTIONS,
       "test_radar": preap_instructions.TEST_RADAR_INSTRUCTIONS,
diff --git a/openpilot/selfdrive/ui/translations/app.pot b/openpilot/selfdrive/ui/translations/app.pot
index 6448773ca5a4f4..21248117b4c756 100644
--- a/openpilot/selfdrive/ui/translations/app.pot
+++ b/openpilot/selfdrive/ui/translations/app.pot
@@ -57,7 +57,6 @@ msgstr ""
 msgid "Cancel"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
@@ -864,14 +863,6 @@ msgstr ""
 msgid "camera starting"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Stock DI"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle."
 msgstr ""
@@ -881,149 +872,21 @@ msgid "Cooperative Steering (Beta)"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Interceptor"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bosch Radar"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Behind Nosecone"
+msgid "Hands-On Pause"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone."
+msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to change."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Hardware settings are only available offroad."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Shift detected leads left (-) or right (+)."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "None"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Uncalibrated"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Unconfigured"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Longitudinal Path"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CALIBRATE"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Radar"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Diagnose Radar"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "DIAGNOSE"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Test Radar"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "TEST"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Backup EPAS"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "BACKUP"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Flash EPAS"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "FLASH"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Restore EPAS"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "RESTORE"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Start"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "MADS Screen Activation"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow Distance"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal CAN Bus"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Tools are only available offroad."
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Note: Setting this to Off will reset your MADS settings to default."
 msgstr ""
@@ -1044,14 +907,6 @@ msgstr ""
 msgid "5-Finger"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 0"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 2"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Allows the driver to provide limited steering input while openpilot is engaged."
 msgstr ""
@@ -1068,6 +923,10 @@ msgstr ""
 msgid "This allows the use of full MADS functionality when enabled."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform requires MADS. Stalk pull engages steering."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
 msgstr ""
@@ -1112,30 +971,6 @@ msgstr ""
 msgid "Disengage: ALC will disengage when the brake pedal is pressed."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Engage lateral and longitudinal control with cruise control engagement."
 msgstr ""
@@ -1145,15 +980,15 @@ msgid "Note: Once lateral control is engaged via UEM, it will remain engaged unt
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
+msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
+msgid "Lateral Engagement"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Lateral Engagement Mode"
+msgid "Stalk pull engages steering"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
@@ -1170,16 +1005,19 @@ msgstr ""
 
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
-"Pedal Calibration\n"
+"Keep the car ON for calibration.\n"
 "\n"
-"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
+"1. Stop the vehicle and disengage assistance.\n"
+"2. Select Neutral and hold the brake.\n"
+"3. Release the accelerator.\n"
+"4. Check that the pedal connector is seated.\n"
+"5. Select the pedal's CAN bus below.\n"
 "\n"
-"PRECONDITIONS:\n"
-"  1. Device must be offroad\n"
-"  2. Car must be ON, Neutral, brake held\n"
-"  3. Do NOT press the accelerator\n"
+"Start pauses driving assistance. Cancel stops calibration.\n"
+"Settings are saved only after calibration succeeds.\n"
 "\n"
-"Press START to confirm and begin."
+"When finished, turn the car off to Exit,\n"
+"or choose Restart device. No automatic restart."
 msgstr ""
 
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
@@ -1247,23 +1085,3 @@ msgid ""
 "Press START only if you accept these risks."
 msgstr ""
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Pedal Unavailable"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Stock cruise required"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Regen Limit Reached"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Press Brake to Slow Down"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Radar Error: Restart the Car"
-msgstr ""
-
diff --git a/openpilot/selfdrive/ui/translations/app_de.po b/openpilot/selfdrive/ui/translations/app_de.po
index 051894a64c9d13..414648197c42e5 100644
--- a/openpilot/selfdrive/ui/translations/app_de.po
+++ b/openpilot/selfdrive/ui/translations/app_de.po
@@ -108,24 +108,12 @@ msgstr "Sind Sie sicher, dass Sie die Kalibrierung zurücksetzen möchten?"
 msgid "Are you sure you want to uninstall?"
 msgstr "Sind Sie sicher, dass Sie deinstallieren möchten?"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "BACKUP"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/onboarding.py
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "Zurück"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Backup EPAS"
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Werden Sie comma prime Mitglied auf connect.comma.ai"
@@ -134,26 +122,6 @@ msgstr "Werden Sie comma prime Mitglied auf connect.comma.ai"
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "Fügen Sie connect.comma.ai Ihrem Startbildschirm hinzu, um es wie eine App zu verwenden"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bosch Radar"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 0"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 2"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CALIBRATE"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "ÄNDERN"
@@ -175,14 +143,6 @@ msgstr "VERBINDUNG"
 msgid "CONNECTING..."
 msgstr "VERBINDUNG"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Radar"
-msgstr ""
-
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/keyboard.py
 #: openpilot/system/ui/widgets/network.py
@@ -206,10 +166,6 @@ msgstr ""
 msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
@@ -226,22 +182,10 @@ msgstr "Schließen"
 msgid "Cooperative Steering (Beta)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Aktuelle Version"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "DIAGNOSE"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "HERUNTERLADEN"
@@ -262,10 +206,6 @@ msgstr "Entwickler"
 msgid "Device"
 msgstr "Gerät"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Diagnose Radar"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Disengage"
 msgstr ""
@@ -405,14 +345,6 @@ msgstr ""
 msgid "Enable sunnypilot"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
@@ -457,10 +389,6 @@ msgstr "Experimentalmodus"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "Der Experimentalmodus ist derzeit auf diesem Fahrzeug nicht verfügbar, da der serienmäßige ACC für die Längsregelung verwendet wird."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "FLASH"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "WIRD VERGESSEN..."
@@ -477,14 +405,6 @@ msgstr "Datenstrom"
 msgid "Firehose Mode"
 msgstr "Firehose‑Modus"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Flash EPAS"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow Distance"
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
@@ -510,17 +430,13 @@ msgid "HIGH"
 msgstr "HOCH"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Hardware settings are only available offroad."
+msgid "Hands-On Pause"
 msgstr ""
 
 #: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "Verstecktes Netzwerk"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "INSTALLIEREN"
@@ -533,14 +449,6 @@ msgstr "IP‑Adresse"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Update installieren"
@@ -553,6 +461,23 @@ msgstr ""
 msgid "Joystick Debug Mode"
 msgstr "Joystick‑Debugmodus"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Keep the car ON for calibration.\n"
+"\n"
+"1. Stop the vehicle and disengage assistance.\n"
+"2. Select Neutral and hold the brake.\n"
+"3. Release the accelerator.\n"
+"4. Check that the pedal connector is seated.\n"
+"5. Select the pedal's CAN bus below.\n"
+"\n"
+"Start pauses driving assistance. Cancel stops calibration.\n"
+"Settings are saved only after calibration succeeds.\n"
+"\n"
+"When finished, turn the car off to Exit,\n"
+"or choose Restart device. No automatic restart."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "LADEN"
@@ -562,7 +487,7 @@ msgid "LTE"
 msgstr "LTE"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Lateral Engagement Mode"
+msgid "Lateral Engagement"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
@@ -573,18 +498,6 @@ msgstr ""
 msgid "Longitudinal Maneuver Mode"
 msgstr "Längsmanövermodus"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Longitudinal Path"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "MADS Screen Activation"
 msgstr ""
@@ -617,10 +530,6 @@ msgstr "Keine SSH‑Schlüssel für Benutzer '{}' gefunden"
 msgid "No release notes available."
 msgstr "Keine Versionshinweise verfügbar."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "None"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
 msgstr ""
@@ -637,7 +546,6 @@ msgstr ""
 msgid "OFFLINE"
 msgstr "GETRENNT"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
@@ -651,6 +559,10 @@ msgstr "VERBUNDEN"
 msgid "Off"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Öffnen"
@@ -700,40 +612,6 @@ msgstr ""
 msgid "Pause: ALC will pause when the brake pedal is pressed."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal CAN Bus"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
-msgid ""
-"Pedal Calibration\n"
-"\n"
-"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
-"\n"
-"PRECONDITIONS:\n"
-"  1. Device must be offroad\n"
-"  2. Car must be ON, Neutral, brake held\n"
-"  3. Do NOT press the accelerator\n"
-"\n"
-"Press START to confirm and begin."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Interceptor"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Pedal Unavailable"
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Bitte mit WLAN verbinden, um das erste Koppeln abzuschließen"
@@ -742,10 +620,6 @@ msgstr "Bitte mit WLAN verbinden, um das erste Koppeln abzuschließen"
 msgid "Power Off"
 msgstr "Ausschalten"
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Press Brake to Slow Down"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "Verhindern Sie das Hochladen großer Datenmengen bei einer getakteten WLAN-Verbindung"
@@ -770,18 +644,10 @@ msgstr "ENTFERNEN"
 msgid "RESET"
 msgstr "ZURÃœCKSETZEN"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "RESTORE"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "ANSEHEN"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Behind Nosecone"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Calibration\n"
@@ -804,18 +670,6 @@ msgid ""
 "Press START to begin."
 msgstr ""
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Radar Error: Restart the Car"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -853,10 +707,6 @@ msgstr "Mikrofonton aufzeichnen und hochladen"
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "Mikrofonton während der Fahrt aufzeichnen und speichern. Die Audiospur wird im Dashcam‑Video in comma connect enthalten sein."
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Regen Limit Reached"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Vorschriften"
@@ -893,10 +743,6 @@ msgstr "Zurücksetzen"
 msgid "Reset Calibration"
 msgstr "Kalibrierung zurücksetzen"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Restore EPAS"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Trainingsanleitung ansehen"
@@ -949,10 +795,6 @@ msgstr ""
 msgid "Serial"
 msgstr "Seriennummer"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Shift detected leads left (-) or right (+)."
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Update verschieben"
@@ -961,14 +803,14 @@ msgstr "Update verschieben"
 msgid "Software"
 msgstr "Softwarebereich"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Stalk pull engages steering"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "Standardmodus"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Start"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Start the vehicle to check vehicle compatibility."
 msgstr ""
@@ -977,14 +819,6 @@ msgstr ""
 msgid "Steering Mode on Brake Pedal"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Stock DI"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Stock cruise required"
-msgstr ""
-
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "System reagiert nicht"
@@ -997,18 +831,10 @@ msgstr "SOFORT DIE KONTROLLE ÃœBERNEHMEN"
 msgid "TEMP"
 msgstr "TEMP."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "TEST"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "Zielzweig"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Test Radar"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "Tethering‑Passwort"
@@ -1029,6 +855,10 @@ msgstr ""
 msgid "This platform only supports Disengage mode due to vehicle limitations."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform requires MADS. Stalk pull engages steering."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Toggle with Main Cruise"
 msgstr ""
@@ -1037,10 +867,6 @@ msgstr ""
 msgid "Toggles"
 msgstr "Schalter"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Tools are only available offroad."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "UI-Debug-Modus"
@@ -1053,14 +879,6 @@ msgstr "DEINSTALLIEREN"
 msgid "UPDATE"
 msgstr "AKTUALISIEREN"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Uncalibrated"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Unconfigured"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Unified Engagement Mode (UEM)"
 msgstr ""
diff --git a/openpilot/selfdrive/ui/translations/app_en.po b/openpilot/selfdrive/ui/translations/app_en.po
index fe51dcf8289d5b..84ece92a8fb6bf 100644
--- a/openpilot/selfdrive/ui/translations/app_en.po
+++ b/openpilot/selfdrive/ui/translations/app_en.po
@@ -108,24 +108,12 @@ msgstr "Are you sure you want to reset calibration?"
 msgid "Are you sure you want to uninstall?"
 msgstr "Are you sure you want to uninstall?"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone."
-msgstr "Attenuate a radar mounted behind the nosecone."
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "BACKUP"
-msgstr "BACKUP"
-
 #: openpilot/selfdrive/ui/layouts/onboarding.py
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "Back"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Backup EPAS"
-msgstr "Backup EPAS"
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Become a comma prime member at connect.comma.ai"
@@ -134,26 +122,6 @@ msgstr "Become a comma prime member at connect.comma.ai"
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "Bookmark connect.comma.ai to your home screen to use it like an app"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bosch Radar"
-msgstr "Bosch Radar"
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 0"
-msgstr "Bus 0"
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 2"
-msgstr "Bus 2"
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CALIBRATE"
-msgstr "CALIBRATE"
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal."
-msgstr "CAN bus for the Comma Pedal."
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "CHANGE"
@@ -175,14 +143,6 @@ msgstr "CONNECT"
 msgid "CONNECTING..."
 msgstr "CONNECTING..."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Pedal"
-msgstr "Calibrate Pedal"
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Radar"
-msgstr "Calibrate Radar"
-
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/keyboard.py
 #: openpilot/system/ui/widgets/network.py
@@ -206,10 +166,6 @@ msgstr ""
 msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
@@ -226,22 +182,10 @@ msgstr "Close"
 msgid "Cooperative Steering (Beta)"
 msgstr "Cooperative Steering (Beta)"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled"
-msgstr "Cruise Coupled"
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Current Version"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "DIAGNOSE"
-msgstr "DIAGNOSE"
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "DOWNLOAD"
@@ -262,10 +206,6 @@ msgstr "Developer"
 msgid "Device"
 msgstr "Device"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Diagnose Radar"
-msgstr "Diagnose Radar"
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Disengage"
 msgstr ""
@@ -427,14 +367,6 @@ msgstr ""
 msgid "Enable sunnypilot"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor."
-msgstr "Enable the Comma Pedal interceptor."
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar."
-msgstr "Enable the stock Bosch radar."
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
@@ -479,10 +411,6 @@ msgstr "Experimental Mode"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "FLASH"
-msgstr "FLASH"
-
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "FORGETTING..."
@@ -499,14 +427,6 @@ msgstr "Firehose"
 msgid "Firehose Mode"
 msgstr "Firehose Mode"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Flash EPAS"
-msgstr "Flash EPAS"
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow Distance"
-msgstr "Follow Distance"
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
@@ -532,17 +452,13 @@ msgid "HIGH"
 msgstr "HIGH"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Hardware settings are only available offroad."
-msgstr "Hardware settings are only available offroad."
+msgid "Hands-On Pause"
+msgstr ""
 
 #: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "Hidden Network"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
-msgstr "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "INSTALL"
@@ -555,14 +471,6 @@ msgstr "IP Address"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent"
-msgstr "Independent"
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Install Update"
@@ -575,6 +483,23 @@ msgstr ""
 msgid "Joystick Debug Mode"
 msgstr "Joystick Debug Mode"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Keep the car ON for calibration.\n"
+"\n"
+"1. Stop the vehicle and disengage assistance.\n"
+"2. Select Neutral and hold the brake.\n"
+"3. Release the accelerator.\n"
+"4. Check that the pedal connector is seated.\n"
+"5. Select the pedal's CAN bus below.\n"
+"\n"
+"Start pauses driving assistance. Cancel stops calibration.\n"
+"Settings are saved only after calibration succeeds.\n"
+"\n"
+"When finished, turn the car off to Exit,\n"
+"or choose Restart device. No automatic restart."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "LOADING"
@@ -584,8 +509,8 @@ msgid "LTE"
 msgstr "LTE"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Lateral Engagement Mode"
-msgstr "Lateral Engagement Mode"
+msgid "Lateral Engagement"
+msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Lateral Maneuver Mode"
@@ -595,18 +520,6 @@ msgstr ""
 msgid "Longitudinal Maneuver Mode"
 msgstr "Longitudinal Maneuver Mode"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only"
-msgstr "Longitudinal Only"
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Longitudinal Path"
-msgstr "Longitudinal Path"
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "MADS Screen Activation"
 msgstr "MADS Screen Activation"
@@ -639,10 +552,6 @@ msgstr "No SSH keys found for user '{}'"
 msgid "No release notes available."
 msgstr "No release notes available."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "None"
-msgstr "None"
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
 msgstr ""
@@ -659,7 +568,6 @@ msgstr "Note: Setting this to Off will reset your MADS settings to default."
 msgid "OFFLINE"
 msgstr "OFFLINE"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
@@ -673,6 +581,10 @@ msgstr "ONLINE"
 msgid "Off"
 msgstr "Off"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Open"
@@ -722,50 +634,6 @@ msgstr ""
 msgid "Pause: ALC will pause when the brake pedal is pressed."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal"
-msgstr "Pedal"
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal CAN Bus"
-msgstr "Pedal CAN Bus"
-
-#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
-msgid ""
-"Pedal Calibration\n"
-"\n"
-"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
-"\n"
-"PRECONDITIONS:\n"
-"  1. Device must be offroad\n"
-"  2. Car must be ON, Neutral, brake held\n"
-"  3. Do NOT press the accelerator\n"
-"\n"
-"Press START to confirm and begin."
-msgstr ""
-"Pedal Calibration\n"
-"\n"
-"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
-"\n"
-"PRECONDITIONS:\n"
-"  1. Device must be offroad\n"
-"  2. Car must be ON, Neutral, brake held\n"
-"  3. Do NOT press the accelerator\n"
-"\n"
-"Press START to confirm and begin."
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Health"
-msgstr "Pedal Health"
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Interceptor"
-msgstr "Pedal Interceptor"
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Pedal Unavailable"
-msgstr "Pedal Unavailable"
-
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Please connect to Wi-Fi to complete initial pairing"
@@ -774,10 +642,6 @@ msgstr "Please connect to Wi-Fi to complete initial pairing"
 msgid "Power Off"
 msgstr "Power Off"
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Press Brake to Slow Down"
-msgstr "Press Brake to Slow Down"
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "Prevent large data uploads when on a metered Wi-Fi connection"
@@ -802,18 +666,10 @@ msgstr "REMOVE"
 msgid "RESET"
 msgstr "RESET"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "RESTORE"
-msgstr "RESTORE"
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "REVIEW"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Behind Nosecone"
-msgstr "Radar Behind Nosecone"
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Calibration\n"
@@ -850,18 +706,6 @@ msgstr ""
 "\n"
 "Press START to begin."
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Radar Error: Restart the Car"
-msgstr "Radar Error: Restart the Car"
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Health"
-msgstr "Radar Health"
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset"
-msgstr "Radar Lateral Offset"
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -904,10 +748,6 @@ msgstr "Record and Upload Microphone Audio"
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Regen Limit Reached"
-msgstr "Regen Limit Reached"
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Regulatory"
@@ -944,10 +784,6 @@ msgstr "Reset"
 msgid "Reset Calibration"
 msgstr "Reset Calibration"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Restore EPAS"
-msgstr "Restore EPAS"
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Review Training Guide"
@@ -1000,10 +836,6 @@ msgstr "Selecting a higher finger count may reduce accidental activations."
 msgid "Serial"
 msgstr "Serial"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Shift detected leads left (-) or right (+)."
-msgstr "Shift detected leads left (-) or right (+)."
-
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Snooze Update"
@@ -1012,14 +844,14 @@ msgstr "Snooze Update"
 msgid "Software"
 msgstr "Software"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Stalk pull engages steering"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "Standard"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Start"
-msgstr "Start"
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Start the vehicle to check vehicle compatibility."
 msgstr ""
@@ -1028,14 +860,6 @@ msgstr ""
 msgid "Steering Mode on Brake Pedal"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Stock DI"
-msgstr "Stock DI"
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Stock cruise required"
-msgstr "Stock cruise required"
-
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "System Unresponsive"
@@ -1048,18 +872,10 @@ msgstr "TAKE CONTROL IMMEDIATELY"
 msgid "TEMP"
 msgstr "TEMP"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "TEST"
-msgstr "TEST"
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "Target Branch"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Test Radar"
-msgstr "Test Radar"
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "Tethering Password"
@@ -1080,6 +896,10 @@ msgstr ""
 msgid "This platform only supports Disengage mode due to vehicle limitations."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform requires MADS. Stalk pull engages steering."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Toggle with Main Cruise"
 msgstr ""
@@ -1088,10 +908,6 @@ msgstr ""
 msgid "Toggles"
 msgstr "Toggles"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Tools are only available offroad."
-msgstr "Tools are only available offroad."
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "UI Debug Mode"
@@ -1104,14 +920,6 @@ msgstr "UNINSTALL"
 msgid "UPDATE"
 msgstr "UPDATE"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Uncalibrated"
-msgstr "Uncalibrated"
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Unconfigured"
-msgstr "Unconfigured"
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Unified Engagement Mode (UEM)"
 msgstr ""
diff --git a/openpilot/selfdrive/ui/translations/app_es.po b/openpilot/selfdrive/ui/translations/app_es.po
index ad1aa6418a3b30..63070788af4c3b 100644
--- a/openpilot/selfdrive/ui/translations/app_es.po
+++ b/openpilot/selfdrive/ui/translations/app_es.po
@@ -108,24 +108,12 @@ msgstr "¿Seguro que quieres restablecer la calibración?"
 msgid "Are you sure you want to uninstall?"
 msgstr "¿Seguro que quieres desinstalar?"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "BACKUP"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/onboarding.py
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "Atrás"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Backup EPAS"
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Hazte miembro de comma prime en connect.comma.ai"
@@ -134,26 +122,6 @@ msgstr "Hazte miembro de comma prime en connect.comma.ai"
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "Añade connect.comma.ai a tu pantalla de inicio para usarlo como una app"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bosch Radar"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 0"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 2"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CALIBRATE"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "CAMBIAR"
@@ -175,14 +143,6 @@ msgstr "CONECTAR"
 msgid "CONNECTING..."
 msgstr "CONECTAR"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Radar"
-msgstr ""
-
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/keyboard.py
 #: openpilot/system/ui/widgets/network.py
@@ -206,10 +166,6 @@ msgstr ""
 msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
@@ -226,22 +182,10 @@ msgstr "Cerrar"
 msgid "Cooperative Steering (Beta)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Versión actual"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "DIAGNOSE"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "DESCARGAR"
@@ -262,10 +206,6 @@ msgstr "Desarrollador"
 msgid "Device"
 msgstr "Dispositivo"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Diagnose Radar"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Disengage"
 msgstr ""
@@ -405,14 +345,6 @@ msgstr ""
 msgid "Enable sunnypilot"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
@@ -457,10 +389,6 @@ msgstr "Modo experimental"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "El modo experimental no está disponible actualmente en este coche, ya que se usa el ACC de fábrica para el control longitudinal."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "FLASH"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "OLVIDAR..."
@@ -477,14 +405,6 @@ msgstr "Flujo masivo"
 msgid "Firehose Mode"
 msgstr "Modo Firehose"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Flash EPAS"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow Distance"
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
@@ -510,17 +430,13 @@ msgid "HIGH"
 msgstr "ALTO"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Hardware settings are only available offroad."
+msgid "Hands-On Pause"
 msgstr ""
 
 #: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "Red oculta"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "INSTALAR"
@@ -533,14 +449,6 @@ msgstr "Dirección IP"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Instalar actualización"
@@ -553,6 +461,23 @@ msgstr ""
 msgid "Joystick Debug Mode"
 msgstr "Modo de depuración de joystick"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Keep the car ON for calibration.\n"
+"\n"
+"1. Stop the vehicle and disengage assistance.\n"
+"2. Select Neutral and hold the brake.\n"
+"3. Release the accelerator.\n"
+"4. Check that the pedal connector is seated.\n"
+"5. Select the pedal's CAN bus below.\n"
+"\n"
+"Start pauses driving assistance. Cancel stops calibration.\n"
+"Settings are saved only after calibration succeeds.\n"
+"\n"
+"When finished, turn the car off to Exit,\n"
+"or choose Restart device. No automatic restart."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "CARGANDO"
@@ -562,7 +487,7 @@ msgid "LTE"
 msgstr "LTE"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Lateral Engagement Mode"
+msgid "Lateral Engagement"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
@@ -573,18 +498,6 @@ msgstr ""
 msgid "Longitudinal Maneuver Mode"
 msgstr "Modo de maniobra longitudinal"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Longitudinal Path"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "MADS Screen Activation"
 msgstr ""
@@ -617,10 +530,6 @@ msgstr "No se encontraron claves SSH para el usuario '{}'"
 msgid "No release notes available."
 msgstr "No hay notas de versión disponibles."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "None"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
 msgstr ""
@@ -637,7 +546,6 @@ msgstr ""
 msgid "OFFLINE"
 msgstr "SIN CONEXIÓN"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
@@ -651,6 +559,10 @@ msgstr "EN L�NEA"
 msgid "Off"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Abrir"
@@ -700,40 +612,6 @@ msgstr ""
 msgid "Pause: ALC will pause when the brake pedal is pressed."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal CAN Bus"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
-msgid ""
-"Pedal Calibration\n"
-"\n"
-"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
-"\n"
-"PRECONDITIONS:\n"
-"  1. Device must be offroad\n"
-"  2. Car must be ON, Neutral, brake held\n"
-"  3. Do NOT press the accelerator\n"
-"\n"
-"Press START to confirm and begin."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Interceptor"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Pedal Unavailable"
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Conéctate a Wi‑Fi para completar el emparejamiento inicial"
@@ -742,10 +620,6 @@ msgstr "Conéctate a Wi‑Fi para completar el emparejamiento inicial"
 msgid "Power Off"
 msgstr "Apagar"
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Press Brake to Slow Down"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "Evite grandes cargas de datos cuando esté en una conexión Wi-Fi medida"
@@ -770,18 +644,10 @@ msgstr "ELIMINAR"
 msgid "RESET"
 msgstr "RESTABLECER"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "RESTORE"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "REVISAR"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Behind Nosecone"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Calibration\n"
@@ -804,18 +670,6 @@ msgid ""
 "Press START to begin."
 msgstr ""
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Radar Error: Restart the Car"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -853,10 +707,6 @@ msgstr "Grabar y subir audio del micrófono"
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "Grabar y almacenar audio del micrófono mientras conduces. El audio se incluirá en el video de la dashcam en comma connect."
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Regen Limit Reached"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Reglamentario"
@@ -893,10 +743,6 @@ msgstr "Restablecer"
 msgid "Reset Calibration"
 msgstr "Restablecer calibración"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Restore EPAS"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Revisar guía de entrenamiento"
@@ -949,10 +795,6 @@ msgstr ""
 msgid "Serial"
 msgstr "Número de serie"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Shift detected leads left (-) or right (+)."
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Posponer actualización"
@@ -961,14 +803,14 @@ msgstr "Posponer actualización"
 msgid "Software"
 msgstr "Sistema"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Stalk pull engages steering"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "Estándar"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Start"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Start the vehicle to check vehicle compatibility."
 msgstr ""
@@ -977,14 +819,6 @@ msgstr ""
 msgid "Steering Mode on Brake Pedal"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Stock DI"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Stock cruise required"
-msgstr ""
-
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "Sistema sin respuesta"
@@ -997,18 +831,10 @@ msgstr "TOME EL CONTROL INMEDIATAMENTE"
 msgid "TEMP"
 msgstr "TEMP."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "TEST"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "Rama objetivo"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Test Radar"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "Contraseña de anclaje"
@@ -1029,6 +855,10 @@ msgstr ""
 msgid "This platform only supports Disengage mode due to vehicle limitations."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform requires MADS. Stalk pull engages steering."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Toggle with Main Cruise"
 msgstr ""
@@ -1037,10 +867,6 @@ msgstr ""
 msgid "Toggles"
 msgstr "Interruptores"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Tools are only available offroad."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "Modo de depuración de la interfaz de usuario"
@@ -1053,14 +879,6 @@ msgstr "DESINSTALAR"
 msgid "UPDATE"
 msgstr "ACTUALIZAR"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Uncalibrated"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Unconfigured"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Unified Engagement Mode (UEM)"
 msgstr ""
diff --git a/openpilot/selfdrive/ui/translations/app_fr.po b/openpilot/selfdrive/ui/translations/app_fr.po
index ecef7a8ef8b6db..dd5130eab4eb3a 100644
--- a/openpilot/selfdrive/ui/translations/app_fr.po
+++ b/openpilot/selfdrive/ui/translations/app_fr.po
@@ -108,24 +108,12 @@ msgstr "Êtes-vous sûr de vouloir réinitialiser la calibration ?"
 msgid "Are you sure you want to uninstall?"
 msgstr "Êtes-vous sûr de vouloir désinstaller ?"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "BACKUP"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/onboarding.py
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "Retour"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Backup EPAS"
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Devenez membre comma prime sur connect.comma.ai"
@@ -134,26 +122,6 @@ msgstr "Devenez membre comma prime sur connect.comma.ai"
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "Ajoutez connect.comma.ai à votre écran d'accueil pour l'utiliser comme une application"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bosch Radar"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 0"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 2"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CALIBRATE"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "CHANGER"
@@ -175,14 +143,6 @@ msgstr "CONNECTER"
 msgid "CONNECTING..."
 msgstr "CONNEXION..."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Radar"
-msgstr ""
-
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/keyboard.py
 #: openpilot/system/ui/widgets/network.py
@@ -206,10 +166,6 @@ msgstr "La modification de ce réglage redémarrera sunnypilot si la voiture est
 msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr "Choisissez votre niveau de parrainage et confirmez votre soutien"
@@ -226,22 +182,10 @@ msgstr "Fermer"
 msgid "Cooperative Steering (Beta)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Version actuelle"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "DIAGNOSE"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "TÉLÉCHARGER"
@@ -262,10 +206,6 @@ msgstr "Développeur"
 msgid "Device"
 msgstr "Appareil"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Diagnose Radar"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Disengage"
 msgstr ""
@@ -405,14 +345,6 @@ msgstr "Activer la surveillance du conducteur même lorsque sunnypilot n'est pas
 msgid "Enable sunnypilot"
 msgstr "Activer sunnypilot"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr "Activez l'option de contrôle longitudinal sunnypilot (alpha) pour autoriser le mode expérimental."
@@ -457,10 +389,6 @@ msgstr "Mode expérimental"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "Le mode expérimental est actuellement indisponible sur cette voiture car l'ACC d'origine est utilisé pour le contrôle longitudinal."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "FLASH"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "SUPPRESSION..."
@@ -477,14 +405,6 @@ msgstr "Firehose"
 msgid "Firehose Mode"
 msgstr "Mode Firehose"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Flash EPAS"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow Distance"
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr "Suivez les instructions pour terminer le processus d'association"
@@ -510,17 +430,13 @@ msgid "HIGH"
 msgstr "ÉLEVÉ"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Hardware settings are only available offroad."
+msgid "Hands-On Pause"
 msgstr ""
 
 #: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "Réseau masqué"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "INSTALLER"
@@ -533,14 +449,6 @@ msgstr "Adresse IP"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr "Si le statut de parrainage n'a pas été mis à jour, veuillez contacter un modérateur sur le forum communautaire à https://community.sunnypilot.ai"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Installer la mise à jour"
@@ -553,6 +461,23 @@ msgstr "Rejoignez notre forum communautaire à https://community.sunnypilot.ai e
 msgid "Joystick Debug Mode"
 msgstr "Mode débogage joystick"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Keep the car ON for calibration.\n"
+"\n"
+"1. Stop the vehicle and disengage assistance.\n"
+"2. Select Neutral and hold the brake.\n"
+"3. Release the accelerator.\n"
+"4. Check that the pedal connector is seated.\n"
+"5. Select the pedal's CAN bus below.\n"
+"\n"
+"Start pauses driving assistance. Cancel stops calibration.\n"
+"Settings are saved only after calibration succeeds.\n"
+"\n"
+"When finished, turn the car off to Exit,\n"
+"or choose Restart device. No automatic restart."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "CHARGEMENT"
@@ -562,7 +487,7 @@ msgid "LTE"
 msgstr "LTE"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Lateral Engagement Mode"
+msgid "Lateral Engagement"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
@@ -573,18 +498,6 @@ msgstr ""
 msgid "Longitudinal Maneuver Mode"
 msgstr "Mode de manœuvre longitudinale"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Longitudinal Path"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "MADS Screen Activation"
 msgstr ""
@@ -617,10 +530,6 @@ msgstr "Aucune clé SSH trouvée pour l'utilisateur '{}'"
 msgid "No release notes available."
 msgstr "Aucune note de version disponible."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "None"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
 msgstr ""
@@ -637,7 +546,6 @@ msgstr ""
 msgid "OFFLINE"
 msgstr "HORS LIGNE"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
@@ -651,6 +559,10 @@ msgstr "EN LIGNE"
 msgid "Off"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Ouvrir"
@@ -700,40 +612,6 @@ msgstr ""
 msgid "Pause: ALC will pause when the brake pedal is pressed."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal CAN Bus"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
-msgid ""
-"Pedal Calibration\n"
-"\n"
-"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
-"\n"
-"PRECONDITIONS:\n"
-"  1. Device must be offroad\n"
-"  2. Car must be ON, Neutral, brake held\n"
-"  3. Do NOT press the accelerator\n"
-"\n"
-"Press START to confirm and begin."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Interceptor"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Pedal Unavailable"
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Veuillez vous connecter au Wi‑Fi pour terminer l'association initiale"
@@ -742,10 +620,6 @@ msgstr "Veuillez vous connecter au Wi‑Fi pour terminer l'association initiale"
 msgid "Power Off"
 msgstr "Éteindre"
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Press Brake to Slow Down"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "Empêcher les téléversements volumineux sur une connexion Wi‑Fi limitée"
@@ -770,18 +644,10 @@ msgstr "SUPPRIMER"
 msgid "RESET"
 msgstr "RÉINITIALISER"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "RESTORE"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "CONSULTER"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Behind Nosecone"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Calibration\n"
@@ -804,18 +670,6 @@ msgid ""
 "Press START to begin."
 msgstr ""
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Radar Error: Restart the Car"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -853,10 +707,6 @@ msgstr "Enregistrer et téléverser l'audio du microphone"
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "Enregistrer et stocker l'audio du microphone pendant la conduite. L'audio sera inclus dans la vidéo dashcam dans comma connect."
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Regen Limit Reached"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Réglementaire"
@@ -893,10 +743,6 @@ msgstr "Réinitialiser"
 msgid "Reset Calibration"
 msgstr "Réinitialiser la calibration"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Restore EPAS"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Consulter le guide d'entraînement"
@@ -949,10 +795,6 @@ msgstr ""
 msgid "Serial"
 msgstr "Numéro de série"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Shift detected leads left (-) or right (+)."
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Reporter la mise à jour"
@@ -961,14 +803,14 @@ msgstr "Reporter la mise à jour"
 msgid "Software"
 msgstr "Logiciel"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Stalk pull engages steering"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "Standard"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Start"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Start the vehicle to check vehicle compatibility."
 msgstr ""
@@ -977,14 +819,6 @@ msgstr ""
 msgid "Steering Mode on Brake Pedal"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Stock DI"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Stock cruise required"
-msgstr ""
-
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "Système non réactif"
@@ -997,18 +831,10 @@ msgstr "REPRENEZ IMMÉDIATEMENT LE CONTRÔLE"
 msgid "TEMP"
 msgstr "TEMP."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "TEST"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "Branche cible"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Test Radar"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "Mot de passe de partage"
@@ -1029,6 +855,10 @@ msgstr ""
 msgid "This platform only supports Disengage mode due to vehicle limitations."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform requires MADS. Stalk pull engages steering."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Toggle with Main Cruise"
 msgstr ""
@@ -1037,10 +867,6 @@ msgstr ""
 msgid "Toggles"
 msgstr "Options"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Tools are only available offroad."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "Mode débogage UI"
@@ -1053,14 +879,6 @@ msgstr "SUPPRIMER"
 msgid "UPDATE"
 msgstr "METTRE À JOUR"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Uncalibrated"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Unconfigured"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Unified Engagement Mode (UEM)"
 msgstr ""
diff --git a/openpilot/selfdrive/ui/translations/app_ja.po b/openpilot/selfdrive/ui/translations/app_ja.po
index 924254dffdf3bf..5868fd291ef729 100644
--- a/openpilot/selfdrive/ui/translations/app_ja.po
+++ b/openpilot/selfdrive/ui/translations/app_ja.po
@@ -108,24 +108,12 @@ msgstr "本当�キャリブレーションをリセット����？"
 msgid "Are you sure you want to uninstall?"
 msgstr "本当�アンインストール����？"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "BACKUP"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/onboarding.py
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "戻る"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Backup EPAS"
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "connect.comma.ai� comma prime �加入"
@@ -134,26 +122,6 @@ msgstr "connect.comma.ai� comma prime �加入"
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "connect.comma.aiをホーム画��追加��アプリ�よ��使���ょ�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bosch Radar"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 0"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 2"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CALIBRATE"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "変更"
@@ -175,14 +143,6 @@ msgstr "接続"
 msgid "CONNECTING..."
 msgstr "接続中..."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Radar"
-msgstr ""
-
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/keyboard.py
 #: openpilot/system/ui/widgets/network.py
@@ -206,10 +166,6 @@ msgstr ""
 msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
@@ -226,22 +182,10 @@ msgstr "閉�る"
 msgid "Cooperative Steering (Beta)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "�在��ージョン"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "DIAGNOSE"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "ダウンロード"
@@ -262,10 +206,6 @@ msgstr "開発者"
 msgid "Device"
 msgstr "デ�イス"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Diagnose Radar"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Disengage"
 msgstr ""
@@ -405,14 +345,6 @@ msgstr ""
 msgid "Enable sunnypilot"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
@@ -457,10 +389,6 @@ msgstr "実験モード"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "��車��縦制御�純正ACCを使用�る����在実験モード�利用����ん。"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "FLASH"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "削除中..."
@@ -477,14 +405,6 @@ msgstr "大��信"
 msgid "Firehose Mode"
 msgstr "Firehoseモード"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Flash EPAS"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow Distance"
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
@@ -510,17 +430,13 @@ msgid "HIGH"
 msgstr "高温"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Hardware settings are only available offroad."
+msgid "Hands-On Pause"
 msgstr ""
 
 #: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "�公開�ットワーク"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "インストール"
@@ -533,14 +449,6 @@ msgstr "IPアドレス"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "アップデートをインストール"
@@ -553,6 +461,23 @@ msgstr ""
 msgid "Joystick Debug Mode"
 msgstr "ジョイスティックデ�ッグモード"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Keep the car ON for calibration.\n"
+"\n"
+"1. Stop the vehicle and disengage assistance.\n"
+"2. Select Neutral and hold the brake.\n"
+"3. Release the accelerator.\n"
+"4. Check that the pedal connector is seated.\n"
+"5. Select the pedal's CAN bus below.\n"
+"\n"
+"Start pauses driving assistance. Cancel stops calibration.\n"
+"Settings are saved only after calibration succeeds.\n"
+"\n"
+"When finished, turn the car off to Exit,\n"
+"or choose Restart device. No automatic restart."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "読�込�中"
@@ -562,7 +487,7 @@ msgid "LTE"
 msgstr "LTE"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Lateral Engagement Mode"
+msgid "Lateral Engagement"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
@@ -573,18 +498,6 @@ msgstr ""
 msgid "Longitudinal Maneuver Mode"
 msgstr "縦制御マヌー�ーモード"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Longitudinal Path"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "MADS Screen Activation"
 msgstr ""
@@ -617,10 +530,6 @@ msgstr "ユーザー'{}'�SSH��見��り��ん"
 msgid "No release notes available."
 msgstr "リリースノート��り��ん。"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "None"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
 msgstr ""
@@ -637,7 +546,6 @@ msgstr ""
 msgid "OFFLINE"
 msgstr "オフライン"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
@@ -651,6 +559,10 @@ msgstr "オンライン"
 msgid "Off"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "開�"
@@ -700,40 +612,6 @@ msgstr ""
 msgid "Pause: ALC will pause when the brake pedal is pressed."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal CAN Bus"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
-msgid ""
-"Pedal Calibration\n"
-"\n"
-"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
-"\n"
-"PRECONDITIONS:\n"
-"  1. Device must be offroad\n"
-"  2. Car must be ON, Neutral, brake held\n"
-"  3. Do NOT press the accelerator\n"
-"\n"
-"Press START to confirm and begin."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Interceptor"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Pedal Unavailable"
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "�回ペアリングを完了�る��Wi‑Fi�接続������"
@@ -742,10 +620,6 @@ msgstr "�回ペアリングを完了�る��Wi‑Fi�接続����
 msgid "Power Off"
 msgstr "電�オフ"
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Press Brake to Slow Down"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "従�課金�Wi‑Fi接続時�大��データ�アップロードを抑制"
@@ -770,18 +644,10 @@ msgstr "削除"
 msgid "RESET"
 msgstr "リセット"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "RESTORE"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "確�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Behind Nosecone"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Calibration\n"
@@ -804,18 +670,6 @@ msgid ""
 "Press START to begin."
 msgstr ""
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Radar Error: Restart the Car"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -853,10 +707,6 @@ msgstr "マイク音声を記録��アップロード"
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "走行中�マイク音声を記録・�存���。音声� comma connect �ドライブレコーダー動画���れ��。"
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Regen Limit Reached"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "�制情報"
@@ -893,10 +743,6 @@ msgstr "リセット"
 msgid "Reset Calibration"
 msgstr "キャリブレーションをリセット"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Restore EPAS"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "トレーニングガイドを確�"
@@ -949,10 +795,6 @@ msgstr ""
 msgid "Serial"
 msgstr "シリアル"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Shift detected leads left (-) or right (+)."
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "更新を後�通知"
@@ -961,14 +803,14 @@ msgstr "更新を後�通知"
 msgid "Software"
 msgstr "ソフトウェア"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Stalk pull engages steering"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "スタンダード"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Start"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Start the vehicle to check vehicle compatibility."
 msgstr ""
@@ -977,14 +819,6 @@ msgstr ""
 msgid "Steering Mode on Brake Pedal"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Stock DI"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Stock cruise required"
-msgstr ""
-
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "システム�応答���ん"
@@ -997,18 +831,10 @@ msgstr "���手動介入������"
 msgid "TEMP"
 msgstr "温度"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "TEST"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "対象ブラン�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Test Radar"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "テザリング�パスワード"
@@ -1029,6 +855,10 @@ msgstr ""
 msgid "This platform only supports Disengage mode due to vehicle limitations."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform requires MADS. Stalk pull engages steering."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Toggle with Main Cruise"
 msgstr ""
@@ -1037,10 +867,6 @@ msgstr ""
 msgid "Toggles"
 msgstr "トグル"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Tools are only available offroad."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "UIデ�ッグモード"
@@ -1053,14 +879,6 @@ msgstr "アンインストール"
 msgid "UPDATE"
 msgstr "æ›´æ–°"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Uncalibrated"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Unconfigured"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Unified Engagement Mode (UEM)"
 msgstr ""
diff --git a/openpilot/selfdrive/ui/translations/app_ko.po b/openpilot/selfdrive/ui/translations/app_ko.po
index fea6d2b3aebc62..c4dd1ec08e6c0d 100644
--- a/openpilot/selfdrive/ui/translations/app_ko.po
+++ b/openpilot/selfdrive/ui/translations/app_ko.po
@@ -108,24 +108,12 @@ msgstr "정� 보정� 재설정하시겠습니까?"
 msgid "Are you sure you want to uninstall?"
 msgstr "정� 제거하시겠습니까?"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "BACKUP"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/onboarding.py
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "뒤로"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Backup EPAS"
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "connect.comma.ai�서 comma prime 회�� �세요"
@@ -134,26 +122,6 @@ msgstr "connect.comma.ai�서 comma prime 회�� �세요"
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "connect.comma.ai를 홈 화면� 추가하여 앱처럼 사용하세요"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bosch Radar"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 0"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 2"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CALIBRATE"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "변경"
@@ -175,14 +143,6 @@ msgstr "ì—°ê²°"
 msgid "CONNECTING..."
 msgstr "연결 중..."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Radar"
-msgstr ""
-
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/keyboard.py
 #: openpilot/system/ui/widgets/network.py
@@ -206,10 +166,6 @@ msgstr ""
 msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
@@ -226,22 +182,10 @@ msgstr "닫기"
 msgid "Cooperative Steering (Beta)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "현재 버전"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "DIAGNOSE"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "다운로드"
@@ -262,10 +206,6 @@ msgstr "개발�"
 msgid "Device"
 msgstr "장치"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Diagnose Radar"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Disengage"
 msgstr ""
@@ -405,14 +345,6 @@ msgstr ""
 msgid "Enable sunnypilot"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
@@ -457,10 +389,6 @@ msgstr "실험 모드"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "� 차량� 롱컨 제어� 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습니다."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "FLASH"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "삭제 중..."
@@ -477,14 +405,6 @@ msgstr "파�어호스"
 msgid "Firehose Mode"
 msgstr "파�어호스 모드"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Flash EPAS"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow Distance"
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
@@ -510,17 +430,13 @@ msgid "HIGH"
 msgstr "높�"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Hardware settings are only available offroad."
+msgid "Hands-On Pause"
 msgstr ""
 
 #: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "숨겨진 네트워�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "설치"
@@ -533,14 +449,6 @@ msgstr "IP 주소"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "업��트 설치"
@@ -553,6 +461,23 @@ msgstr ""
 msgid "Joystick Debug Mode"
 msgstr "조�스틱 디버그 모드"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Keep the car ON for calibration.\n"
+"\n"
+"1. Stop the vehicle and disengage assistance.\n"
+"2. Select Neutral and hold the brake.\n"
+"3. Release the accelerator.\n"
+"4. Check that the pedal connector is seated.\n"
+"5. Select the pedal's CAN bus below.\n"
+"\n"
+"Start pauses driving assistance. Cancel stops calibration.\n"
+"Settings are saved only after calibration succeeds.\n"
+"\n"
+"When finished, turn the car off to Exit,\n"
+"or choose Restart device. No automatic restart."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "로딩 중"
@@ -562,7 +487,7 @@ msgid "LTE"
 msgstr "LTE"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Lateral Engagement Mode"
+msgid "Lateral Engagement"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
@@ -573,18 +498,6 @@ msgstr ""
 msgid "Longitudinal Maneuver Mode"
 msgstr "롱컨 기� 모드"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Longitudinal Path"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "MADS Screen Activation"
 msgstr ""
@@ -617,10 +530,6 @@ msgstr "사용� '{}'� SSH 키를 찾� 수 없습니다"
 msgid "No release notes available."
 msgstr "릴리스 노트가 없습니다."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "None"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
 msgstr ""
@@ -637,7 +546,6 @@ msgstr ""
 msgid "OFFLINE"
 msgstr "오프��"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
@@ -651,6 +559,10 @@ msgstr "온��"
 msgid "Off"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "열기"
@@ -700,40 +612,6 @@ msgstr ""
 msgid "Pause: ALC will pause when the brake pedal is pressed."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal CAN Bus"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
-msgid ""
-"Pedal Calibration\n"
-"\n"
-"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
-"\n"
-"PRECONDITIONS:\n"
-"  1. Device must be offroad\n"
-"  2. Car must be ON, Neutral, brake held\n"
-"  3. Do NOT press the accelerator\n"
-"\n"
-"Press START to confirm and begin."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Interceptor"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Pedal Unavailable"
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "초기 페어�� 완료하려면 Wi‑Fi� 연결하세요"
@@ -742,10 +620,6 @@ msgstr "초기 페어�� 완료하려면 Wi‑Fi� 연결하세요"
 msgid "Power Off"
 msgstr "전� �기"
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Press Brake to Slow Down"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "종량제 Wi‑Fi 연결 시 대용량 업로드 방지"
@@ -770,18 +644,10 @@ msgstr "제거"
 msgid "RESET"
 msgstr "재설정"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "RESTORE"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "검토"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Behind Nosecone"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Calibration\n"
@@ -804,18 +670,6 @@ msgid ""
 "Press START to begin."
 msgstr ""
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Radar Error: Restart the Car"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -853,10 +707,6 @@ msgstr "마�� 오디오 기� � 업로드"
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "주행 중 마�� 오디오를 기�하고 저장합니다. 오디오는 comma connect� 대시캠 ��� �함�니다."
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Regen Limit Reached"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "규제 정보"
@@ -893,10 +743,6 @@ msgstr "재설정"
 msgid "Reset Calibration"
 msgstr "캘리브레�션 재설정"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Restore EPAS"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "학습 가�드 검토"
@@ -949,10 +795,6 @@ msgstr ""
 msgid "Serial"
 msgstr "시리얼"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Shift detected leads left (-) or right (+)."
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "업��트 나중� 알림"
@@ -961,14 +803,14 @@ msgstr "업��트 나중� 알림"
 msgid "Software"
 msgstr "소프트웨어"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Stalk pull engages steering"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "표준"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Start"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Start the vehicle to check vehicle compatibility."
 msgstr ""
@@ -977,14 +819,6 @@ msgstr ""
 msgid "Steering Mode on Brake Pedal"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Stock DI"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Stock cruise required"
-msgstr ""
-
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "시스템 �답 없�"
@@ -997,18 +831,10 @@ msgstr "즉시 수� 조작하세요"
 msgid "TEMP"
 msgstr "온�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "TEST"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "대� 브랜치"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Test Radar"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "테�� 비밀번호"
@@ -1029,6 +855,10 @@ msgstr ""
 msgid "This platform only supports Disengage mode due to vehicle limitations."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform requires MADS. Stalk pull engages steering."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Toggle with Main Cruise"
 msgstr ""
@@ -1037,10 +867,6 @@ msgstr ""
 msgid "Toggles"
 msgstr "토글"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Tools are only available offroad."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "UI 디버그 모드"
@@ -1053,14 +879,6 @@ msgstr "제거"
 msgid "UPDATE"
 msgstr "업��트"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Uncalibrated"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Unconfigured"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Unified Engagement Mode (UEM)"
 msgstr ""
diff --git a/openpilot/selfdrive/ui/translations/app_pt-BR.po b/openpilot/selfdrive/ui/translations/app_pt-BR.po
index 2830e6ed63dc16..a5610952c341da 100644
--- a/openpilot/selfdrive/ui/translations/app_pt-BR.po
+++ b/openpilot/selfdrive/ui/translations/app_pt-BR.po
@@ -108,24 +108,12 @@ msgstr "Tem certeza de que deseja redefinir a calibração?"
 msgid "Are you sure you want to uninstall?"
 msgstr "Tem certeza de que deseja desinstalar?"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "BACKUP"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/onboarding.py
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "Voltar"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Backup EPAS"
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Torne-se membro comma prime em connect.comma.ai"
@@ -134,26 +122,6 @@ msgstr "Torne-se membro comma prime em connect.comma.ai"
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "Adicione connect.comma.ai à tela inicial para usá-lo como um app"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bosch Radar"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 0"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 2"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CALIBRATE"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "ALTERAR"
@@ -175,14 +143,6 @@ msgstr "CONECTAR"
 msgid "CONNECTING..."
 msgstr "CONECTANDO..."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Radar"
-msgstr ""
-
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/keyboard.py
 #: openpilot/system/ui/widgets/network.py
@@ -206,10 +166,6 @@ msgstr ""
 msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
@@ -226,22 +182,10 @@ msgstr "Fechar"
 msgid "Cooperative Steering (Beta)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Versão Atual"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "DIAGNOSE"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "BAIXAR"
@@ -262,10 +206,6 @@ msgstr "Desenvolv"
 msgid "Device"
 msgstr "Dispositivo"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Diagnose Radar"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Disengage"
 msgstr ""
@@ -405,14 +345,6 @@ msgstr ""
 msgid "Enable sunnypilot"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
@@ -457,10 +389,6 @@ msgstr "Modo Experimental"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "O Modo Experimental está indisponível neste carro pois o ACC original do carro é usado para controle longitudinal."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "FLASH"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "ESQUECENDO..."
@@ -477,14 +405,6 @@ msgstr "Fluxo contínuo"
 msgid "Firehose Mode"
 msgstr "Modo Firehose"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Flash EPAS"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow Distance"
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
@@ -510,17 +430,13 @@ msgid "HIGH"
 msgstr "ALTO"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Hardware settings are only available offroad."
+msgid "Hands-On Pause"
 msgstr ""
 
 #: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "Rede oculta"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "INSTALAR"
@@ -533,14 +449,6 @@ msgstr "Endereço IP"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Instalar Atualização"
@@ -553,6 +461,23 @@ msgstr ""
 msgid "Joystick Debug Mode"
 msgstr "Modo de Depuração do Joystick"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Keep the car ON for calibration.\n"
+"\n"
+"1. Stop the vehicle and disengage assistance.\n"
+"2. Select Neutral and hold the brake.\n"
+"3. Release the accelerator.\n"
+"4. Check that the pedal connector is seated.\n"
+"5. Select the pedal's CAN bus below.\n"
+"\n"
+"Start pauses driving assistance. Cancel stops calibration.\n"
+"Settings are saved only after calibration succeeds.\n"
+"\n"
+"When finished, turn the car off to Exit,\n"
+"or choose Restart device. No automatic restart."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "CARREGANDO"
@@ -562,7 +487,7 @@ msgid "LTE"
 msgstr "LTE"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Lateral Engagement Mode"
+msgid "Lateral Engagement"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
@@ -573,18 +498,6 @@ msgstr ""
 msgid "Longitudinal Maneuver Mode"
 msgstr "Modo de Manobra Longitudinal"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Longitudinal Path"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "MADS Screen Activation"
 msgstr ""
@@ -617,10 +530,6 @@ msgstr "Nenhuma chave SSH encontrada para o usuário '{}'"
 msgid "No release notes available."
 msgstr "Sem notas de versão disponíveis."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "None"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
 msgstr ""
@@ -637,7 +546,6 @@ msgstr ""
 msgid "OFFLINE"
 msgstr "OFF-LINE"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
@@ -651,6 +559,10 @@ msgstr "ON-LINE"
 msgid "Off"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Abrir"
@@ -700,40 +612,6 @@ msgstr ""
 msgid "Pause: ALC will pause when the brake pedal is pressed."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal CAN Bus"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
-msgid ""
-"Pedal Calibration\n"
-"\n"
-"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
-"\n"
-"PRECONDITIONS:\n"
-"  1. Device must be offroad\n"
-"  2. Car must be ON, Neutral, brake held\n"
-"  3. Do NOT press the accelerator\n"
-"\n"
-"Press START to confirm and begin."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Interceptor"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Pedal Unavailable"
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Conecte-se ao Wi‑Fi para concluir o emparelhamento inicial"
@@ -742,10 +620,6 @@ msgstr "Conecte-se ao Wi‑Fi para concluir o emparelhamento inicial"
 msgid "Power Off"
 msgstr "Desligar"
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Press Brake to Slow Down"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "Evitar uploads grandes de dados em conexões Wi-Fi limitadas"
@@ -770,18 +644,10 @@ msgstr "REMOVER"
 msgid "RESET"
 msgstr "REDEFINIR"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "RESTORE"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "REVISAR"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Behind Nosecone"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Calibration\n"
@@ -804,18 +670,6 @@ msgid ""
 "Press START to begin."
 msgstr ""
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Radar Error: Restart the Car"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -853,10 +707,6 @@ msgstr "Gravar e Enviar �udio do Microfone"
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "Grave e armazene o áudio do microfone enquanto dirige. O áudio será incluído no vídeo da dashcam no comma connect."
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Regen Limit Reached"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Regulatório"
@@ -893,10 +743,6 @@ msgstr "Redefinir"
 msgid "Reset Calibration"
 msgstr "Redefinir Calibração"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Restore EPAS"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Revisar Guia de Treinamento"
@@ -949,10 +795,6 @@ msgstr ""
 msgid "Serial"
 msgstr "Número de série"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Shift detected leads left (-) or right (+)."
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Adiar Atualização"
@@ -961,14 +803,14 @@ msgstr "Adiar Atualização"
 msgid "Software"
 msgstr "Sistema"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Stalk pull engages steering"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "Padrão"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Start"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Start the vehicle to check vehicle compatibility."
 msgstr ""
@@ -977,14 +819,6 @@ msgstr ""
 msgid "Steering Mode on Brake Pedal"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Stock DI"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Stock cruise required"
-msgstr ""
-
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "Sistema sem resposta"
@@ -997,18 +831,10 @@ msgstr "ASSUMA O CONTROLE IMEDIATAMENTE"
 msgid "TEMP"
 msgstr "TEMP."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "TEST"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "Branch Alvo"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Test Radar"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "Senha Tethering"
@@ -1029,6 +855,10 @@ msgstr ""
 msgid "This platform only supports Disengage mode due to vehicle limitations."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform requires MADS. Stalk pull engages steering."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Toggle with Main Cruise"
 msgstr ""
@@ -1037,10 +867,6 @@ msgstr ""
 msgid "Toggles"
 msgstr "Alternativas"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Tools are only available offroad."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "Modo de depuração da interface do usuário"
@@ -1053,14 +879,6 @@ msgstr "DESINSTALAR"
 msgid "UPDATE"
 msgstr "ATUALIZAR"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Uncalibrated"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Unconfigured"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Unified Engagement Mode (UEM)"
 msgstr ""
diff --git a/openpilot/selfdrive/ui/translations/app_th.po b/openpilot/selfdrive/ui/translations/app_th.po
index ef0cadfb36b002..7fc2f6e6380b55 100644
--- a/openpilot/selfdrive/ui/translations/app_th.po
+++ b/openpilot/selfdrive/ui/translations/app_th.po
@@ -108,24 +108,12 @@ msgstr "คุณ�น่ใจหรือไม่ว่าต้อง�า
 msgid "Are you sure you want to uninstall?"
 msgstr "คุณ�น่ใจหรือไม่ว่าต้อง�ารถอน�ารติดตั้ง?"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "BACKUP"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/onboarding.py
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "�ลับ"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Backup EPAS"
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "เป็นสมาชิ�จุลภาคไพรม์ที่ Connect.comma.ai"
@@ -134,26 +122,6 @@ msgstr "เป็นสมาชิ�จุลภาคไพรม์ที่
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "คั่นหน้า Connect.comma.ai ไปที่หน้าจอหลั�ของคุณเพื่อใช้เหมือน�อป"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bosch Radar"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 0"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 2"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CALIBRATE"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "เปลี่ยน"
@@ -175,14 +143,6 @@ msgstr "เชื่อมต่อ"
 msgid "CONNECTING..."
 msgstr "�ำลังเชื่อมต่อ..."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Radar"
-msgstr ""
-
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/keyboard.py
 #: openpilot/system/ui/widgets/network.py
@@ -206,10 +166,6 @@ msgstr ""
 msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
@@ -226,22 +182,10 @@ msgstr "ปิด"
 msgid "Cooperative Steering (Beta)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "เวอร์ชันปัจจุบัน"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "DIAGNOSE"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "ดาวน์โหลด"
@@ -262,10 +206,6 @@ msgstr "นั�พัฒนา"
 msgid "Device"
 msgstr "อุป�รณ์"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Diagnose Radar"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Disengage"
 msgstr ""
@@ -405,14 +345,6 @@ msgstr ""
 msgid "Enable sunnypilot"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
@@ -457,10 +389,6 @@ msgstr "โหมดทดลอง"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "ขณะนี้โหมดทดลองไม่สามารถใช้งานได้บนรถคันนี้ เนื่องจา� ACC ในสต็อ�ของรถใช้สำหรับ�ารควบคุมตามยาว"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "FLASH"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "�ำลังลืม..."
@@ -477,14 +405,6 @@ msgstr "สายดับเพลิง"
 msgid "Firehose Mode"
 msgstr "โหมดสายดับเพลิง"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Flash EPAS"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow Distance"
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
@@ -510,17 +430,13 @@ msgid "HIGH"
 msgstr "สูง"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Hardware settings are only available offroad."
+msgid "Hands-On Pause"
 msgstr ""
 
 #: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "เครือข่ายที่ซ่อนอยู่"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "ติดตั้ง"
@@ -533,14 +449,6 @@ msgstr "ที่อยู่ IP"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "ติดตั้งอัปเดต"
@@ -553,6 +461,23 @@ msgstr ""
 msgid "Joystick Debug Mode"
 msgstr "โหมดดีบั�จอยสติ๊�"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Keep the car ON for calibration.\n"
+"\n"
+"1. Stop the vehicle and disengage assistance.\n"
+"2. Select Neutral and hold the brake.\n"
+"3. Release the accelerator.\n"
+"4. Check that the pedal connector is seated.\n"
+"5. Select the pedal's CAN bus below.\n"
+"\n"
+"Start pauses driving assistance. Cancel stops calibration.\n"
+"Settings are saved only after calibration succeeds.\n"
+"\n"
+"When finished, turn the car off to Exit,\n"
+"or choose Restart device. No automatic restart."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "�ำลังโหลด"
@@ -562,7 +487,7 @@ msgid "LTE"
 msgstr "�อลทีที"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Lateral Engagement Mode"
+msgid "Lateral Engagement"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
@@ -573,18 +498,6 @@ msgstr ""
 msgid "Longitudinal Maneuver Mode"
 msgstr "โหมด�ารซ้อมรบตามยาว"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Longitudinal Path"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "MADS Screen Activation"
 msgstr ""
@@ -617,10 +530,6 @@ msgstr "ไม่พบคีย์ SSH สำหรับผู้ใช้ '{}
 msgid "No release notes available."
 msgstr "ไม่มีบันทึ�ประจำรุ่น"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "None"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
 msgstr ""
@@ -637,7 +546,6 @@ msgstr ""
 msgid "OFFLINE"
 msgstr "ออฟไลน์"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
@@ -651,6 +559,10 @@ msgstr "ออนไลน์"
 msgid "Off"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "เปิด"
@@ -700,40 +612,6 @@ msgstr ""
 msgid "Pause: ALC will pause when the brake pedal is pressed."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal CAN Bus"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
-msgid ""
-"Pedal Calibration\n"
-"\n"
-"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
-"\n"
-"PRECONDITIONS:\n"
-"  1. Device must be offroad\n"
-"  2. Car must be ON, Neutral, brake held\n"
-"  3. Do NOT press the accelerator\n"
-"\n"
-"Press START to confirm and begin."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Interceptor"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Pedal Unavailable"
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "โปรดเชื่อมต่อ Wi-Fi เพื่อทำ�ารจับคู่ครั้ง�ร�ให้เสร็จสิ้น"
@@ -742,10 +620,6 @@ msgstr "โปรดเชื่อมต่อ Wi-Fi เพื่อทำ�
 msgid "Power Off"
 msgstr "ปิดเครื่อง"
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Press Brake to Slow Down"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "ป้อง�ัน�ารอัปโหลดข้อมูลขนาดให�่เมื่อใช้�ารเชื่อมต่อ Wi-Fi �บบมิเตอร์"
@@ -770,18 +644,10 @@ msgstr "ลบ"
 msgid "RESET"
 msgstr "รีเซ็ต"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "RESTORE"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "ทบทวน"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Behind Nosecone"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Calibration\n"
@@ -804,18 +670,6 @@ msgid ""
 "Press START to begin."
 msgstr ""
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Radar Error: Restart the Car"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -853,10 +707,6 @@ msgstr "บันทึ��ละอัปโหลดเสียงไมโ
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "บันทึ��ละจัดเ�็บเสียงไมโครโฟนขณะขับรถ เสียงจะรวมอยู่ในวิดีโอ dashcam ด้วย�ารเชื่อมต่อด้วยเครื่องหมายจุลภาค"
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Regen Limit Reached"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "�ฎระเบียบ"
@@ -893,10 +743,6 @@ msgstr "รีเซ็ต"
 msgid "Reset Calibration"
 msgstr "รีเซ็ต�ารปรับเทียบ"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Restore EPAS"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "ทบทวนคู่มือ�าร�ึ�อบรม"
@@ -949,10 +795,6 @@ msgstr ""
 msgid "Serial"
 msgstr "อนุ�รม"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Shift detected leads left (-) or right (+)."
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "เลื่อน�ารอัปเดต"
@@ -961,14 +803,14 @@ msgstr "เลื่อน�ารอัปเดต"
 msgid "Software"
 msgstr "ซอฟต์�วร์"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Stalk pull engages steering"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "มาตร�าน"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Start"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Start the vehicle to check vehicle compatibility."
 msgstr ""
@@ -977,14 +819,6 @@ msgstr ""
 msgid "Steering Mode on Brake Pedal"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Stock DI"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Stock cruise required"
-msgstr ""
-
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "ระบบไม่ตอบสนอง"
@@ -997,18 +831,10 @@ msgstr "เข้าควบคุมทันที"
 msgid "TEMP"
 msgstr "อุณหภูมิ"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "TEST"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "สาขาเป้าหมาย"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Test Radar"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "รหัสผ่าน�าร�ชร์อินเทอร์เน็ต"
@@ -1029,6 +855,10 @@ msgstr ""
 msgid "This platform only supports Disengage mode due to vehicle limitations."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform requires MADS. Stalk pull engages steering."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Toggle with Main Cruise"
 msgstr ""
@@ -1037,10 +867,6 @@ msgstr ""
 msgid "Toggles"
 msgstr "สลับ"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Tools are only available offroad."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "โหมดดีบั� UI"
@@ -1053,14 +879,6 @@ msgstr "ถอน�ารติดตั้ง"
 msgid "UPDATE"
 msgstr "อัปเดต"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Uncalibrated"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Unconfigured"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Unified Engagement Mode (UEM)"
 msgstr ""
diff --git a/openpilot/selfdrive/ui/translations/app_tr.po b/openpilot/selfdrive/ui/translations/app_tr.po
index 348c7a8b5b9654..f87006eced2dee 100644
--- a/openpilot/selfdrive/ui/translations/app_tr.po
+++ b/openpilot/selfdrive/ui/translations/app_tr.po
@@ -108,24 +108,12 @@ msgstr "Kalibrasyonu sıfırlamak istediğinizden emin misiniz?"
 msgid "Are you sure you want to uninstall?"
 msgstr "Kaldırmak istediğinizden emin misiniz?"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "BACKUP"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/onboarding.py
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "Geri"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Backup EPAS"
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "connect.comma.ai adresinde comma prime üyesi olun"
@@ -134,26 +122,6 @@ msgstr "connect.comma.ai adresinde comma prime üyesi olun"
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "connect.comma.ai'yi ana ekranınıza ekleyerek bir uygulama gibi kullanın"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bosch Radar"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 0"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 2"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CALIBRATE"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "DEĞİŞTİR"
@@ -175,14 +143,6 @@ msgstr "BAÄžLAN"
 msgid "CONNECTING..."
 msgstr "BAÄžLAN"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Radar"
-msgstr ""
-
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/keyboard.py
 #: openpilot/system/ui/widgets/network.py
@@ -206,10 +166,6 @@ msgstr ""
 msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
@@ -226,22 +182,10 @@ msgstr "Kapat"
 msgid "Cooperative Steering (Beta)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Geçerli Sürüm"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "DIAGNOSE"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "Ä°NDÄ°R"
@@ -262,10 +206,6 @@ msgstr "GeliÅŸtirici"
 msgid "Device"
 msgstr "Cihaz"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Diagnose Radar"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Disengage"
 msgstr ""
@@ -405,14 +345,6 @@ msgstr ""
 msgid "Enable sunnypilot"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
@@ -457,10 +389,6 @@ msgstr "Deneysel Mod"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "Bu araçta boylamsal kontrol için stok ACC kullanıldığından şu anda Deneysel mod kullanılamıyor."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "FLASH"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "UNUTULUYOR..."
@@ -477,14 +405,6 @@ msgstr "Yoğun veri akışı"
 msgid "Firehose Mode"
 msgstr "Firehose Modu"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Flash EPAS"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow Distance"
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
@@ -510,17 +430,13 @@ msgid "HIGH"
 msgstr "YÃœKSEK"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Hardware settings are only available offroad."
+msgid "Hands-On Pause"
 msgstr ""
 
 #: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "Gizli AÄŸ"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "YÃœKLE"
@@ -533,14 +449,6 @@ msgstr "IP Adresi"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Güncellemeyi Yükle"
@@ -553,6 +461,23 @@ msgstr ""
 msgid "Joystick Debug Mode"
 msgstr "Joystick Hata Ayıklama Modu"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Keep the car ON for calibration.\n"
+"\n"
+"1. Stop the vehicle and disengage assistance.\n"
+"2. Select Neutral and hold the brake.\n"
+"3. Release the accelerator.\n"
+"4. Check that the pedal connector is seated.\n"
+"5. Select the pedal's CAN bus below.\n"
+"\n"
+"Start pauses driving assistance. Cancel stops calibration.\n"
+"Settings are saved only after calibration succeeds.\n"
+"\n"
+"When finished, turn the car off to Exit,\n"
+"or choose Restart device. No automatic restart."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "YÃœKLENÄ°YOR"
@@ -562,7 +487,7 @@ msgid "LTE"
 msgstr "LTE"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Lateral Engagement Mode"
+msgid "Lateral Engagement"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
@@ -573,18 +498,6 @@ msgstr ""
 msgid "Longitudinal Maneuver Mode"
 msgstr "Boylamsal Manevra Modu"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Longitudinal Path"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "MADS Screen Activation"
 msgstr ""
@@ -617,10 +530,6 @@ msgstr "'{}' kullanıcısı için SSH anahtarı bulunamadı"
 msgid "No release notes available."
 msgstr "Sürüm notu mevcut değil."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "None"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
 msgstr ""
@@ -637,7 +546,6 @@ msgstr ""
 msgid "OFFLINE"
 msgstr "ÇEVRİMDIŞI"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
@@ -651,6 +559,10 @@ msgstr "ÇEVRİMİÇİ"
 msgid "Off"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Aç"
@@ -700,40 +612,6 @@ msgstr ""
 msgid "Pause: ALC will pause when the brake pedal is pressed."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal CAN Bus"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
-msgid ""
-"Pedal Calibration\n"
-"\n"
-"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
-"\n"
-"PRECONDITIONS:\n"
-"  1. Device must be offroad\n"
-"  2. Car must be ON, Neutral, brake held\n"
-"  3. Do NOT press the accelerator\n"
-"\n"
-"Press START to confirm and begin."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Interceptor"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Pedal Unavailable"
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "İlk eşleştirmeyi tamamlamak için lütfen Wi‑Fi'a bağlanın"
@@ -742,10 +620,6 @@ msgstr "İlk eşleştirmeyi tamamlamak için lütfen Wi‑Fi'a bağlanın"
 msgid "Power Off"
 msgstr "Kapat"
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Press Brake to Slow Down"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "Ölçülü bir Wi‑Fi bağlantısındayken büyük veri yüklemelerini engelle"
@@ -770,18 +644,10 @@ msgstr "KALDIR"
 msgid "RESET"
 msgstr "SIFIRLA"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "RESTORE"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "GÖZDEN GEÇİR"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Behind Nosecone"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Calibration\n"
@@ -804,18 +670,6 @@ msgid ""
 "Press START to begin."
 msgstr ""
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Radar Error: Restart the Car"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -853,10 +707,6 @@ msgstr "Mikrofon Sesini Kaydet ve Yükle"
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "Sürüş sırasında mikrofon sesini kaydedip saklayın. Ses, comma connect'teki ön kamera videosuna dahil edilecektir."
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Regen Limit Reached"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Mevzuat"
@@ -893,10 +743,6 @@ msgstr "Sıfırla"
 msgid "Reset Calibration"
 msgstr "Kalibrasyonu Sıfırla"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Restore EPAS"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Eğitim Kılavuzunu İncele"
@@ -949,10 +795,6 @@ msgstr ""
 msgid "Serial"
 msgstr "Seri"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Shift detected leads left (-) or right (+)."
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Güncellemeyi Ertele"
@@ -961,14 +803,14 @@ msgstr "Güncellemeyi Ertele"
 msgid "Software"
 msgstr "Yazılım"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Stalk pull engages steering"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "Standart"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Start"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Start the vehicle to check vehicle compatibility."
 msgstr ""
@@ -977,14 +819,6 @@ msgstr ""
 msgid "Steering Mode on Brake Pedal"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Stock DI"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Stock cruise required"
-msgstr ""
-
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "Sistem Yanıt Vermiyor"
@@ -997,18 +831,10 @@ msgstr "HEMEN KONTROLÜ DEVRALIN"
 msgid "TEMP"
 msgstr "SIC."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "TEST"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "Hedef Dal"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Test Radar"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "İnternet Paylaşımı Şifresi"
@@ -1029,6 +855,10 @@ msgstr ""
 msgid "This platform only supports Disengage mode due to vehicle limitations."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform requires MADS. Stalk pull engages steering."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Toggle with Main Cruise"
 msgstr ""
@@ -1037,10 +867,6 @@ msgstr ""
 msgid "Toggles"
 msgstr "Seçenekler"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Tools are only available offroad."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "Arayüz Hata Ayıklama Modu"
@@ -1053,14 +879,6 @@ msgstr "KALDIR"
 msgid "UPDATE"
 msgstr "GÃœNCELLE"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Uncalibrated"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Unconfigured"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Unified Engagement Mode (UEM)"
 msgstr ""
diff --git a/openpilot/selfdrive/ui/translations/app_uk.po b/openpilot/selfdrive/ui/translations/app_uk.po
index cb4ac58f315121..94c2fe9017cc75 100644
--- a/openpilot/selfdrive/ui/translations/app_uk.po
+++ b/openpilot/selfdrive/ui/translations/app_uk.po
@@ -108,24 +108,12 @@ msgstr "Ви впевнені, що хочете �кинути калібрув
 msgid "Are you sure you want to uninstall?"
 msgstr "Ви впевнені, що хочете видалити?"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "BACKUP"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/onboarding.py
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "�азад"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Backup EPAS"
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Станьте членом comma prime на connect.comma.ai"
@@ -134,26 +122,6 @@ msgstr "Станьте членом comma prime на connect.comma.ai"
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "Додайте connect.comma.ai до головного екрану, щоб викори�товувати його �к додаток."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bosch Radar"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 0"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 2"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CALIBRATE"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "ЗМІ�ИТИ"
@@ -175,14 +143,6 @@ msgstr "ПІДКЛЮЧИТИ"
 msgid "CONNECTING..."
 msgstr "ПІДКЛЮЧ�..."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Radar"
-msgstr ""
-
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/keyboard.py
 #: openpilot/system/ui/widgets/network.py
@@ -206,10 +166,6 @@ msgstr ""
 msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
@@ -226,22 +182,10 @@ msgstr "Закрити"
 msgid "Cooperative Steering (Beta)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Поточна вер�і�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "DIAGNOSE"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "В��Т�Ж"
@@ -262,10 +206,6 @@ msgstr "Розробник"
 msgid "Device"
 msgstr "При�трій"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Diagnose Radar"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Disengage"
 msgstr ""
@@ -405,14 +345,6 @@ msgstr ""
 msgid "Enable sunnypilot"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
@@ -457,10 +389,6 @@ msgstr "Ек�периментальний режим"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "Ек�периментальний режим наразі недо�тупний дл� цього автомобіл�, о�кільки дл� поздовжнього керуванн� викори�товуєть�� штатний адаптивний круїз-контроль (ACC)."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "FLASH"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "З�БУВ�Ю..."
@@ -477,14 +405,6 @@ msgstr "Злива"
 msgid "Firehose Mode"
 msgstr "Режим зливи"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Flash EPAS"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow Distance"
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
@@ -510,17 +430,13 @@ msgid "HIGH"
 msgstr "ВИСОК�"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Hardware settings are only available offroad."
+msgid "Hands-On Pause"
 msgstr ""
 
 #: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "Прихована мережа"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "ВСТ��ОВ."
@@ -533,14 +449,6 @@ msgstr "IP-адре�а"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "В�тановити оновленн�"
@@ -553,6 +461,23 @@ msgstr ""
 msgid "Joystick Debug Mode"
 msgstr "Режим зневадженн� джой�тика"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Keep the car ON for calibration.\n"
+"\n"
+"1. Stop the vehicle and disengage assistance.\n"
+"2. Select Neutral and hold the brake.\n"
+"3. Release the accelerator.\n"
+"4. Check that the pedal connector is seated.\n"
+"5. Select the pedal's CAN bus below.\n"
+"\n"
+"Start pauses driving assistance. Cancel stops calibration.\n"
+"Settings are saved only after calibration succeeds.\n"
+"\n"
+"When finished, turn the car off to Exit,\n"
+"or choose Restart device. No automatic restart."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "З�В��Т�ЖЕ��Я"
@@ -562,7 +487,7 @@ msgid "LTE"
 msgstr "LTE"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Lateral Engagement Mode"
+msgid "Lateral Engagement"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
@@ -573,18 +498,6 @@ msgstr ""
 msgid "Longitudinal Maneuver Mode"
 msgstr "Режим поздовжнього маневруванн�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Longitudinal Path"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "MADS Screen Activation"
 msgstr ""
@@ -617,10 +530,6 @@ msgstr "Кори�тувач '{}' не має ключів на GitHub"
 msgid "No release notes available."
 msgstr "Інформаці� про випу�к від�утн�."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "None"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
 msgstr ""
@@ -637,7 +546,6 @@ msgstr ""
 msgid "OFFLINE"
 msgstr "ОФЛ�Й�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
@@ -651,6 +559,10 @@ msgstr "О�Л�Й�"
 msgid "Off"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "ВІДКРИТИ"
@@ -700,40 +612,6 @@ msgstr ""
 msgid "Pause: ALC will pause when the brake pedal is pressed."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal CAN Bus"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
-msgid ""
-"Pedal Calibration\n"
-"\n"
-"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
-"\n"
-"PRECONDITIONS:\n"
-"  1. Device must be offroad\n"
-"  2. Car must be ON, Neutral, brake held\n"
-"  3. Do NOT press the accelerator\n"
-"\n"
-"Press START to confirm and begin."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Interceptor"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Pedal Unavailable"
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Будь ла�ка, підключіть�� до Wi-Fi, щоб завершити початкове �полученн�."
@@ -742,10 +620,6 @@ msgstr "Будь ла�ка, підключіть�� до Wi-Fi, щоб зав
 msgid "Power Off"
 msgstr "Вимкнути"
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Press Brake to Slow Down"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "Запобігайте завантаженню великих об��гів даних під ча� викори�танн� Wi-Fi-з'єднанн� з обмеженим трафіком"
@@ -770,18 +644,10 @@ msgstr "ВИД�ЛИТИ"
 msgid "RESET"
 msgstr "Скинути"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "RESTORE"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "ДИВИТИСЬ"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Behind Nosecone"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Calibration\n"
@@ -804,18 +670,6 @@ msgid ""
 "Press START to begin."
 msgstr ""
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Radar Error: Restart the Car"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -853,10 +707,6 @@ msgstr "Запи� та завантаженн� аудіо з мікрофон
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "Запи�уйте та зберігайте аудіо з мікрофона під ча� руху. �удіо буде включено до відео з відеореє�тратора в comma connect."
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Regen Limit Reached"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "�ормативні документи"
@@ -893,10 +743,6 @@ msgstr "Скинути"
 msgid "Reset Calibration"
 msgstr "Скинути калібруванн�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Restore EPAS"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Перегл�нути по�ібник з навчанн�"
@@ -949,10 +795,6 @@ msgstr ""
 msgid "Serial"
 msgstr "Серійний номер"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Shift detected leads left (-) or right (+)."
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Відкла�ти оновленн�"
@@ -961,14 +803,14 @@ msgstr "Відкла�ти оновленн�"
 msgid "Software"
 msgstr "Програма"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Stalk pull engages steering"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "Стандарт"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Start"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Start the vehicle to check vehicle compatibility."
 msgstr ""
@@ -977,14 +819,6 @@ msgstr ""
 msgid "Steering Mode on Brake Pedal"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Stock DI"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Stock cruise required"
-msgstr ""
-
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "Си�тема не реагує"
@@ -997,18 +831,10 @@ msgstr "КЕРМУЙТЕ �ЕГ�Й�О"
 msgid "TEMP"
 msgstr "ТЕМП"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "TEST"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "Цільова гілка"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Test Radar"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "Пароль дл� точки до�тупу"
@@ -1029,6 +855,10 @@ msgstr ""
 msgid "This platform only supports Disengage mode due to vehicle limitations."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform requires MADS. Stalk pull engages steering."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Toggle with Main Cruise"
 msgstr ""
@@ -1037,10 +867,6 @@ msgstr ""
 msgid "Toggles"
 msgstr "Перемикачі"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Tools are only available offroad."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "Режим налагодженн� інтерфей�у"
@@ -1053,14 +879,6 @@ msgstr "ВИД�ЛИТИ"
 msgid "UPDATE"
 msgstr "О�ОВИТИ"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Uncalibrated"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Unconfigured"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Unified Engagement Mode (UEM)"
 msgstr ""
diff --git a/openpilot/selfdrive/ui/translations/app_zh-CHS.po b/openpilot/selfdrive/ui/translations/app_zh-CHS.po
index d76979a54822a6..be1bd8186a51c4 100644
--- a/openpilot/selfdrive/ui/translations/app_zh-CHS.po
+++ b/openpilot/selfdrive/ui/translations/app_zh-CHS.po
@@ -108,24 +108,12 @@ msgstr "确定��置校准�？"
 msgid "Are you sure you want to uninstall?"
 msgstr "确定��载�？"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "BACKUP"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/onboarding.py
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "返回"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Backup EPAS"
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "�往 connect.comma.ai �为 comma prime 会员"
@@ -134,26 +122,6 @@ msgstr "�往 connect.comma.ai �为 comma prime 会员"
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "将 connect.comma.ai 添加到主�幕，�应用一样使用"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bosch Radar"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 0"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 2"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CALIBRATE"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "更改"
@@ -175,14 +143,6 @@ msgstr "连接"
 msgid "CONNECTING..."
 msgstr "连接中..."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Radar"
-msgstr ""
-
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/keyboard.py
 #: openpilot/system/ui/widgets/network.py
@@ -206,10 +166,6 @@ msgstr ""
 msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
@@ -226,22 +182,10 @@ msgstr "关闭"
 msgid "Cooperative Steering (Beta)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "当�版本"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "DIAGNOSE"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "下载"
@@ -262,10 +206,6 @@ msgstr "开�者"
 msgid "Device"
 msgstr "设备"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Diagnose Radar"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Disengage"
 msgstr ""
@@ -405,14 +345,6 @@ msgstr ""
 msgid "Enable sunnypilot"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
@@ -457,10 +389,6 @@ msgstr "实验模�"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "此车型当�无法使用实验模�，因为纵�控制使用的是原厂 ACC。"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "FLASH"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "正在�忘..."
@@ -477,14 +405,6 @@ msgstr "数�洪�"
 msgid "Firehose Mode"
 msgstr "Firehose 模�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Flash EPAS"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow Distance"
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
@@ -510,17 +430,13 @@ msgid "HIGH"
 msgstr "高"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Hardware settings are only available offroad."
+msgid "Hands-On Pause"
 msgstr ""
 
 #: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "��网络"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "安装"
@@ -533,14 +449,6 @@ msgstr "IP 地�"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "安装更新"
@@ -553,6 +461,23 @@ msgstr ""
 msgid "Joystick Debug Mode"
 msgstr "摇�调试模�"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Keep the car ON for calibration.\n"
+"\n"
+"1. Stop the vehicle and disengage assistance.\n"
+"2. Select Neutral and hold the brake.\n"
+"3. Release the accelerator.\n"
+"4. Check that the pedal connector is seated.\n"
+"5. Select the pedal's CAN bus below.\n"
+"\n"
+"Start pauses driving assistance. Cancel stops calibration.\n"
+"Settings are saved only after calibration succeeds.\n"
+"\n"
+"When finished, turn the car off to Exit,\n"
+"or choose Restart device. No automatic restart."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "加载中"
@@ -562,7 +487,7 @@ msgid "LTE"
 msgstr "LTE"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Lateral Engagement Mode"
+msgid "Lateral Engagement"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
@@ -573,18 +498,6 @@ msgstr ""
 msgid "Longitudinal Maneuver Mode"
 msgstr "纵��作模�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Longitudinal Path"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "MADS Screen Activation"
 msgstr ""
@@ -617,10 +530,6 @@ msgstr "未找到用户“{}�的 SSH 密钥"
 msgid "No release notes available."
 msgstr "暂无�行说明。"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "None"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
 msgstr ""
@@ -637,7 +546,6 @@ msgstr ""
 msgid "OFFLINE"
 msgstr "离线"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
@@ -651,6 +559,10 @@ msgstr "在线"
 msgid "Off"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "打开"
@@ -700,40 +612,6 @@ msgstr ""
 msgid "Pause: ALC will pause when the brake pedal is pressed."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal CAN Bus"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
-msgid ""
-"Pedal Calibration\n"
-"\n"
-"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
-"\n"
-"PRECONDITIONS:\n"
-"  1. Device must be offroad\n"
-"  2. Car must be ON, Neutral, brake held\n"
-"  3. Do NOT press the accelerator\n"
-"\n"
-"Press START to confirm and begin."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Interceptor"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Pedal Unavailable"
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "请连接 Wi‑Fi 以完��始�对"
@@ -742,10 +620,6 @@ msgstr "请连接 Wi‑Fi 以完��始�对"
 msgid "Power Off"
 msgstr "关机"
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Press Brake to Slow Down"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "在计�制 Wi‑Fi 连接时��大�上传"
@@ -770,18 +644,10 @@ msgstr "移除"
 msgid "RESET"
 msgstr "�置"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "RESTORE"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "查看"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Behind Nosecone"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Calibration\n"
@@ -804,18 +670,6 @@ msgid ""
 "Press START to begin."
 msgstr ""
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Radar Error: Restart the Car"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -853,10 +707,6 @@ msgstr "录制并上传麦克风音频"
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "行驶时录制并�存麦克风音频。音频将包�在 comma connect 的行车记录视频中。"
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Regen Limit Reached"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "法规"
@@ -893,10 +743,6 @@ msgstr "�置"
 msgid "Reset Calibration"
 msgstr "�置校准"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Restore EPAS"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "查看训练指�"
@@ -949,10 +795,6 @@ msgstr ""
 msgid "Serial"
 msgstr "�列�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Shift detected leads left (-) or right (+)."
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "延�更新"
@@ -961,14 +803,14 @@ msgstr "延�更新"
 msgid "Software"
 msgstr "软件"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Stalk pull engages steering"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "标准"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Start"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Start the vehicle to check vehicle compatibility."
 msgstr ""
@@ -977,14 +819,6 @@ msgstr ""
 msgid "Steering Mode on Brake Pedal"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Stock DI"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Stock cruise required"
-msgstr ""
-
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "系统无�应"
@@ -997,18 +831,10 @@ msgstr "请立�接管控制"
 msgid "TEMP"
 msgstr "温度"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "TEST"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "目标分支"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Test Radar"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "网络共享密�"
@@ -1029,6 +855,10 @@ msgstr ""
 msgid "This platform only supports Disengage mode due to vehicle limitations."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform requires MADS. Stalk pull engages steering."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Toggle with Main Cruise"
 msgstr ""
@@ -1037,10 +867,6 @@ msgstr ""
 msgid "Toggles"
 msgstr "切�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Tools are only available offroad."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "界�调试模�"
@@ -1053,14 +879,6 @@ msgstr "�载"
 msgid "UPDATE"
 msgstr "æ›´æ–°"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Uncalibrated"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Unconfigured"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Unified Engagement Mode (UEM)"
 msgstr ""
diff --git a/openpilot/selfdrive/ui/translations/app_zh-CHT.po b/openpilot/selfdrive/ui/translations/app_zh-CHT.po
index c826c93e1bac9b..31ccb00fe676bd 100644
--- a/openpilot/selfdrive/ui/translations/app_zh-CHT.po
+++ b/openpilot/selfdrive/ui/translations/app_zh-CHT.po
@@ -108,24 +108,12 @@ msgstr "確定��設校正嗎？"
 msgid "Are you sure you want to uninstall?"
 msgstr "確定�解除安�嗎？"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Attenuate a radar mounted behind the nosecone."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "BACKUP"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/onboarding.py
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 #: openpilot/system/ui/widgets/network.py
 msgid "Back"
 msgstr "返回"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Backup EPAS"
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "�往 connect.comma.ai �為 comma prime 會員"
@@ -134,26 +122,6 @@ msgstr "�往 connect.comma.ai �為 comma prime 會員"
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "將 connect.comma.ai 加到主畫�，� App 一樣使用"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bosch Radar"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 0"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Bus 2"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CALIBRATE"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "CAN bus for the Comma Pedal."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "變更"
@@ -175,14 +143,6 @@ msgstr "連線"
 msgid "CONNECTING..."
 msgstr "連線中..."
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Calibrate Radar"
-msgstr ""
-
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/keyboard.py
 #: openpilot/system/ui/widgets/network.py
@@ -206,10 +166,6 @@ msgstr ""
 msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. Onroad writes apply on the next drive."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Choose how Pre-AP stalk pulls request Automatic Lane Centering (ALC) and cruise in sunnypilot. Onroad writes apply on the next drive."
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Choose your sponsorship tier and confirm your support"
 msgstr ""
@@ -226,22 +182,10 @@ msgstr "關閉"
 msgid "Cooperative Steering (Beta)"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Cruise Coupled: The first stalk pull is ignored. The second pull requests ALC and cruise together. Cancel or brake disengages both."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "目�版本"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "DIAGNOSE"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "下載"
@@ -262,10 +206,6 @@ msgstr "開發人員"
 msgid "Device"
 msgstr "�置"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Diagnose Radar"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Disengage"
 msgstr ""
@@ -405,14 +345,6 @@ msgstr ""
 msgid "Enable sunnypilot"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the Comma Pedal interceptor."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Enable the stock Bosch radar."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
@@ -457,10 +389,6 @@ msgstr "實驗模�"
 msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "此車款目�無法使用實驗模�，因為縱�控制使用的是原廠 ACC。"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "FLASH"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "正在�忘..."
@@ -477,14 +405,6 @@ msgstr "資料洪�"
 msgid "Firehose Mode"
 msgstr "Firehose 模�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Flash EPAS"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Follow Distance"
-msgstr ""
-
 #: openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
 msgid "Follow the prompts to complete the pairing process"
 msgstr ""
@@ -510,17 +430,13 @@ msgid "HIGH"
 msgstr "高"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Hardware settings are only available offroad."
+msgid "Hands-On Pause"
 msgstr ""
 
 #: openpilot/system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "隱�網路"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "How far Pre-AP follows a detected lead. 1 is closest, 7 is farthest. Changes apply while driving."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "安�"
@@ -533,14 +449,6 @@ msgstr "IP ��"
 msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Independent: The first stalk pull requests ALC. The second pull requests cruise. ALC can remain active if cruise exits."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "安�更新"
@@ -553,6 +461,23 @@ msgstr ""
 msgid "Joystick Debug Mode"
 msgstr "�桿除錯模�"
 
+#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+msgid ""
+"Keep the car ON for calibration.\n"
+"\n"
+"1. Stop the vehicle and disengage assistance.\n"
+"2. Select Neutral and hold the brake.\n"
+"3. Release the accelerator.\n"
+"4. Check that the pedal connector is seated.\n"
+"5. Select the pedal's CAN bus below.\n"
+"\n"
+"Start pauses driving assistance. Cancel stops calibration.\n"
+"Settings are saved only after calibration succeeds.\n"
+"\n"
+"When finished, turn the car off to Exit,\n"
+"or choose Restart device. No automatic restart."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "載入中"
@@ -562,7 +487,7 @@ msgid "LTE"
 msgstr "LTE"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Lateral Engagement Mode"
+msgid "Lateral Engagement"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
@@ -573,18 +498,6 @@ msgstr ""
 msgid "Longitudinal Maneuver Mode"
 msgstr "縱��作模�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
-msgid "Longitudinal Only: Stalk pulls request cruise only. ALC stays off."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Longitudinal Path"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "MADS Screen Activation"
 msgstr ""
@@ -617,10 +530,6 @@ msgstr "找�到使用者 '{}' 的 SSH 金鑰"
 msgid "No release notes available."
 msgstr "無�用發行說明。"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "None"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."
 msgstr ""
@@ -637,7 +546,6 @@ msgstr ""
 msgid "OFFLINE"
 msgstr "離線"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 #: openpilot/system/ui/widgets/confirm_dialog.py
 #: openpilot/system/ui/widgets/html_render.py
 msgid "OK"
@@ -651,6 +559,10 @@ msgstr "線上"
 msgid "Off"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgstr ""
+
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "é–‹å•Ÿ"
@@ -700,40 +612,6 @@ msgstr ""
 msgid "Pause: ALC will pause when the brake pedal is pressed."
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal CAN Bus"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
-msgid ""
-"Pedal Calibration\n"
-"\n"
-"This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.\n"
-"\n"
-"PRECONDITIONS:\n"
-"  1. Device must be offroad\n"
-"  2. Car must be ON, Neutral, brake held\n"
-"  3. Do NOT press the accelerator\n"
-"\n"
-"Press START to confirm and begin."
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Pedal Interceptor"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Pedal Unavailable"
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "請連線至 Wi‑Fi 以完��始化��"
@@ -742,10 +620,6 @@ msgstr "請連線至 Wi‑Fi 以完��始化��"
 msgid "Power Off"
 msgstr "關機"
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Press Brake to Slow Down"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "在計�制 Wi‑Fi 連線時��大�上傳"
@@ -770,18 +644,10 @@ msgstr "移除"
 msgid "RESET"
 msgstr "�設"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "RESTORE"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "檢視"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Behind Nosecone"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Calibration\n"
@@ -804,18 +670,6 @@ msgid ""
 "Press START to begin."
 msgstr ""
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Radar Error: Restart the Car"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Health"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Radar Lateral Offset"
-msgstr ""
-
 #: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
 msgid ""
 "Radar Test\n"
@@ -853,10 +707,6 @@ msgstr "錄製並上傳麥克風音訊"
 msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr "行車時錄製並儲存麥克風音訊。音訊將包�在 comma connect 的行車紀錄影片中。"
 
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Regen Limit Reached"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "法�"
@@ -893,10 +743,6 @@ msgstr "�設"
 msgid "Reset Calibration"
 msgstr "�設校正"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Restore EPAS"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "檢視訓練指�"
@@ -949,10 +795,6 @@ msgstr ""
 msgid "Serial"
 msgstr "�號"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Shift detected leads left (-) or right (+)."
-msgstr ""
-
 #: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "延後更新"
@@ -961,14 +803,14 @@ msgstr "延後更新"
 msgid "Software"
 msgstr "軟體"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "Stalk pull engages steering"
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "標準"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Start"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Start the vehicle to check vehicle compatibility."
 msgstr ""
@@ -977,14 +819,6 @@ msgstr ""
 msgid "Steering Mode on Brake Pedal"
 msgstr ""
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Stock DI"
-msgstr ""
-
-#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
-msgid "Stock cruise required"
-msgstr ""
-
 #: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "系統無回應"
@@ -997,18 +831,10 @@ msgstr "請立刻接手控制"
 msgid "TEMP"
 msgstr "溫度"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "TEST"
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "目標分支"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Test Radar"
-msgstr ""
-
 #: openpilot/system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "網路共享密碼"
@@ -1029,6 +855,10 @@ msgstr ""
 msgid "This platform only supports Disengage mode due to vehicle limitations."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+msgid "This platform requires MADS. Stalk pull engages steering."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Toggle with Main Cruise"
 msgstr ""
@@ -1037,10 +867,6 @@ msgstr ""
 msgid "Toggles"
 msgstr "切�"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Tools are only available offroad."
-msgstr ""
-
 #: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "UI Debug Mode"
 msgstr "介�除錯模�"
@@ -1053,14 +879,6 @@ msgstr "解除安�"
 msgid "UPDATE"
 msgstr "æ›´æ–°"
 
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Uncalibrated"
-msgstr ""
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Unconfigured"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
 msgid "Unified Engagement Mode (UEM)"
 msgstr ""
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/calibrate_pedal.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/calibrate_pedal.py
index b73c6024801b6b..482e41ca4015eb 100755
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/calibrate_pedal.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/calibrate_pedal.py
@@ -10,19 +10,43 @@
 import time
 
 from openpilot.common.params import Params
+from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.tesla.preap.pedal_feedback import PEDAL_TIMEOUT_MS
 from opendbc.car.tesla.preap.teslacan import GAS_COMMAND_ID, PEDAL_D, PEDAL_M1, TeslaCANPreAP
-from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import parse_explicit_confirmation, require_preap_tool_start
-from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.transport import DiagnosticTransport, TransportError
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import (
+  clear_tool_flags,
+  wait_for_manager_release,
+)
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import (
+  STANDSTILL_SPEED_MS,
+  require_pedal_calibration_start,
+)
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.transport import (
+  PEDAL_CONNECT_DELAY,
+  PEDAL_CONNECT_RETRIES,
+  PREAP_FLAG_PEDAL_BUS_ZERO,
+  PREAP_FLAG_PEDAL_CALIBRATION,
+  SAFETY_TESLA_PREAP,
+  DiagnosticTransport,
+  TransportError,
+)
 
 GAS_SENSOR_ID = 0x552
 GTW_STATUS_ID = 0x348
 BRAKE_MESSAGE_ID = 0x20A
 DI_TORQUE1_ID = 0x108
 DI_TORQUE2_ID = 0x118
+ESP_B_ID = 0x155
 GEAR_NEUTRAL = 0x30
 MAX_PEDAL_ERRORS = 10
 SEND_RATE_MS = 20
+SOURCE_TIMEOUT_MS = 1000
+ESP_SPEED_SCALE = 0.01
+VEHICLE_CAN_BUS = 0
+BRAKE_APPLIED = 2
+BRAKE_NOT_APPLIED = 1
+
+
 
 
 def current_time_ms() -> int:
@@ -43,6 +67,15 @@ def unpack_can(msg):
   return None
 
 
+def esp_b_speed_ms(dat: bytes) -> float | None:
+  """ESP_vehicleSpeed. Same bytes as tesla_preap.h: data[5]<<8 | data[6]."""
+  if len(dat) < 7:
+    return None
+  raw = (dat[5] << 8) | dat[6]
+  return raw * ESP_SPEED_SCALE * CV.KPH_TO_MS
+
+
+
 class PedalCalibrationError(Exception):
   pass
 
@@ -51,9 +84,20 @@ def parse_configured_pedal_bus(value) -> int:
   """Preserve configured bus 0. Absent or empty defaults to 2."""
   if value is None or value == "" or value == b"":
     return 2
+  if isinstance(value, (bytes, bytearray)):
+    value = value.decode()
   return int(value)
 
 
+def parse_pedal_calibration_args(argv=None) -> tuple[bool, int | None]:
+  """--confirm plus optional --bus 0|2. Absent bus uses configured params."""
+  import argparse
+  parser = argparse.ArgumentParser(add_help=False)
+  parser.add_argument("--confirm", action="store_true", default=False)
+  parser.add_argument("--bus", type=int, choices=(0, 2), default=None)
+  args, _unknown = parser.parse_known_args(argv)
+  return bool(args.confirm), args.bus
+
 def build_pedal_command(accel_command: float, enable: int, bus: int, can: TeslaCANPreAP | None = None):
   can = can or TeslaCANPreAP(None)
   addr, dat, out_bus = can.create_pedal_command(accel_command, enable=enable, pedal_can_bus=bus)
@@ -79,14 +123,33 @@ def validate_calibration(min_v: float, max_v: float, factor: float, zero: float)
     raise PedalCalibrationError("default calibration is not a completed calibration")
 
 
-def persist_calibration(params: Params, *, min_v: float, max_v: float, factor: float, zero: float) -> None:
+def persist_calibration(params: Params, *, min_v: float, max_v: float, factor: float,
+                        zero: float, bus: int | None = None) -> None:
+  """Invalidate Done, write the set, then Done as the commit bit.
+
+  Params are not transactional. A failed or partial write is left invalid
+  (Done false). Bus and enable are not published until this commit.
+  """
   validate_calibration(min_v, max_v, factor, zero)
-  params.put("NAPPedalCalibMin", float(min_v), block=True)
-  params.put("NAPPedalCalibMax", float(max_v), block=True)
-  params.put("NAPPedalCalibFactor", float(factor), block=True)
-  params.put("NAPPedalCalibZero", float(zero), block=True)
-  params.put_bool("NAPPedalCalibDone", True, block=True)
-  params.put_bool("NAPPedalEnabled", True, block=True)
+  if bus is not None and bus not in (0, 2):
+    raise PedalCalibrationError("invalid pedal bus")
+  params.put_bool("NAPPedalCalibDone", False, block=True)
+  try:
+    params.put("NAPPedalCalibMin", float(min_v), block=True)
+    params.put("NAPPedalCalibMax", float(max_v), block=True)
+    params.put("NAPPedalCalibFactor", float(factor), block=True)
+    params.put("NAPPedalCalibZero", float(zero), block=True)
+    if bus is not None:
+      params.put("NAPPedalCanBus", int(bus), block=True)
+    params.put_bool("NAPPedalEnabled", True, block=True)
+    params.put_bool("NAPPedalCalibDone", True, block=True)
+  except Exception:
+    try:
+      params.put_bool("NAPPedalCalibDone", False, block=True)
+    except Exception:
+      pass
+    raise
+
 
 
 def send_safe_release(transport: DiagnosticTransport, bus: int, can: TeslaCANPreAP | None = None) -> None:
@@ -94,6 +157,13 @@ def send_safe_release(transport: DiagnosticTransport, bus: int, can: TeslaCANPre
   transport.can_send(addr, dat, out_bus)
 
 
+def calibration_safety_param(bus: int) -> int:
+  param = PREAP_FLAG_PEDAL_CALIBRATION
+  if bus == 0:
+    param |= PREAP_FLAG_PEDAL_BUS_ZERO
+  return param
+
+
 class PedalCalibrator:
   """NAP pedal calibration stages, sent only through Tesla Pre-AP calibration safety."""
 
@@ -114,6 +184,9 @@ def __init__(self, params: Params, transport: DiagnosticTransport, bus: int):
     self.pedal_can = bus
     self.can = TeslaCANPreAP(None)
     self.can.pedal_can_bus = bus
+    self.expected_mode = SAFETY_TESLA_PREAP
+    self.expected_param = calibration_safety_param(bus)
+    self._watchdog_active = True
 
     self.rcv_pedal_idx = -1
     self.last_rcv_pedal_idx = -1
@@ -128,8 +201,15 @@ def __init__(self, params: Params, transport: DiagnosticTransport, bus: int):
 
     self.car_on = False
     self.brake_pressed = False
+    self.brake_valid = False
     self.gear_neutral = False
     self.di_gas = 0.0
+    self.speed_ms = 1e9
+    self.speed_seen_ms = 0
+    self.brake_seen_ms = 0
+    self.gear_seen_ms = 0
+    self.car_on_seen_ms = 0
+    self.accel_seen_ms = 0
 
     self.status = 0
     self.prev_status = -1
@@ -169,6 +249,7 @@ def __init__(self, params: Params, transport: DiagnosticTransport, bus: int):
   def cleanup(self) -> None:
     p("")
     p("RESTORING PEDAL / PANDA SAFETY")
+    self._watchdog_active = False
     try:
       send_safe_release(self.transport, self.pedal_can, can=self.can)
       time.sleep(0.1)
@@ -185,54 +266,106 @@ def send_pedal_command(self, accel_command, enable=1) -> None:
     self.last_pedal_sent_ms = current_time_ms()
     self.tx_count += 1
 
+  def _source_fresh(self, seen_ms: int, now_ms: int) -> bool:
+    return seen_ms > 0 and (now_ms - seen_ms) <= SOURCE_TIMEOUT_MS
+
+  def _actuating(self) -> bool:
+    return self.pedal_enabled == 1 or self.status >= 3
+
+  def _gate(self, ok: bool, *, wait: str, abort: str, disable: bool = False) -> bool:
+    if ok:
+      return True
+    if self._actuating():
+      raise PedalCalibrationError(abort)
+    if self.frame % 100 == 0:
+      p(wait)
+    if disable and self.pedal_enabled:
+      self.send_pedal_command(0, enable=0)
+      self.pedal_enabled = 0
+    return False
+
   def process_can(self) -> None:
     try:
       for msg in self.transport.can_recv():
         unpacked = unpack_can(msg)
         if unpacked is None:
           continue
-        addr, dat, _src = unpacked
-        if addr == GTW_STATUS_ID and dat:
-          self.car_on = (dat[0] & 0x01) == 1
-        elif addr == BRAKE_MESSAGE_ID and dat:
-          self.brake_pressed = ((dat[0] >> 2) & 0x03) != 1
-        elif addr == DI_TORQUE2_ID and len(dat) > 1:
-          self.gear_neutral = (dat[1] & 0x70) == GEAR_NEUTRAL
-        elif addr == DI_TORQUE1_ID and len(dat) > 6:
-          self.di_gas = dat[6] * 0.4
-        elif addr == GAS_SENSOR_ID and len(dat) > 4:
+        addr, dat, src = unpacked
+        bus = int(src) & 0x7F
+        now_ms = current_time_ms()
+        if bus == VEHICLE_CAN_BUS:
+          if addr == GTW_STATUS_ID and dat:
+            self.car_on = (dat[0] & 0x01) == 1
+            self.car_on_seen_ms = now_ms
+          elif addr == BRAKE_MESSAGE_ID and dat:
+            status = (dat[0] >> 2) & 0x03
+            if status == BRAKE_APPLIED:
+              self.brake_pressed = True
+              self.brake_valid = True
+            elif status == BRAKE_NOT_APPLIED:
+              self.brake_pressed = False
+              self.brake_valid = True
+            else:
+              self.brake_pressed = False
+              self.brake_valid = False
+            self.brake_seen_ms = now_ms
+          elif addr == DI_TORQUE2_ID and len(dat) > 1:
+            self.gear_neutral = (dat[1] & 0x70) == GEAR_NEUTRAL
+            self.gear_seen_ms = now_ms
+          elif addr == DI_TORQUE1_ID and len(dat) > 6:
+            self.di_gas = dat[6] * 0.4
+            self.accel_seen_ms = now_ms
+          elif addr == ESP_B_ID:
+            speed = esp_b_speed_ms(dat)
+            if speed is not None:
+              self.speed_ms = speed
+              self.speed_seen_ms = now_ms
+        if addr == GAS_SENSOR_ID and bus == self.pedal_can and len(dat) > 4:
           self.pedal_interceptor_state = (dat[4] >> 7) & 0x01
           self.pedal_interceptor_value = ((dat[0] << 8) + dat[1]) * PEDAL_M1 + PEDAL_D
           self.rcv_pedal_idx = dat[4] & 0x0F
-          self.last_pedal_seen_ms = current_time_ms()
+          self.last_pedal_seen_ms = now_ms
     except TransportError as exc:
-      p(f"  CAN recv error: {exc}")
+      raise PedalCalibrationError(f"lost CAN feedback: {exc}") from exc
 
   def check_safety(self) -> bool:
-    if not self.car_on:
-      if self.frame % 100 == 0:
-        p("  Waiting: Car is not ON! Turn ignition on.")
+    now_ms = current_time_ms()
+    if not self._gate(self._source_fresh(self.speed_seen_ms, now_ms),
+                      wait="  Waiting: vehicle speed not fresh. Stay parked.",
+                      abort="lost vehicle speed"):
+      return False
+    if not self._gate(self.speed_ms <= STANDSTILL_SPEED_MS,
+                      wait="  Waiting: vehicle must be stationary.",
+                      abort="vehicle is moving"):
       return False
-    if not self.brake_pressed:
-      if self.frame % 100 == 0:
-        p("  Waiting: Brake not pressed! Press and hold brake.")
-      if self.pedal_enabled:
-        self.send_pedal_command(0, enable=0)
-        self.pedal_enabled = 0
+    ignition_fresh = self.car_on and self._source_fresh(self.car_on_seen_ms, now_ms)
+    if not self._gate(ignition_fresh,
+                      wait="  Waiting: Car is not ON! Turn ignition on.",
+                      abort="ignition lost"):
       return False
-    if not self.gear_neutral:
-      if self.frame % 100 == 0:
-        p("  Waiting: Car is not in NEUTRAL! Shift to N.")
-      if self.pedal_enabled:
-        self.send_pedal_command(0, enable=0)
-        self.pedal_enabled = 0
+    if not self._gate(self._source_fresh(self.brake_seen_ms, now_ms),
+                      wait="  Waiting: Brake not pressed! Press and hold brake.",
+                      abort="brake lost", disable=True):
       return False
-    if self.di_gas > 0 and self.status < 3:
-      if self.frame % 100 == 0:
-        p("  Waiting: Accelerator pedal is pressed! Release it.")
-      if self.pedal_enabled:
-        self.send_pedal_command(0, enable=0)
-        self.pedal_enabled = 0
+    if not self._gate(self.brake_valid,
+                      wait="  Waiting: Brake state invalid. Press and hold brake.",
+                      abort="invalid brake", disable=True):
+      return False
+    if not self._gate(self.brake_pressed,
+                      wait="  Waiting: Brake not pressed! Press and hold brake.",
+                      abort="brake lost", disable=True):
+      return False
+    if not self._gate(self._source_fresh(self.gear_seen_ms, now_ms) and self.gear_neutral,
+                      wait="  Waiting: Car is not in NEUTRAL! Shift to N.",
+                      abort="left Neutral", disable=True):
+      return False
+    if not self._gate(self._source_fresh(self.accel_seen_ms, now_ms),
+                      wait="  Waiting: Accelerator state not fresh. Release the pedal.",
+                      abort="lost accelerator", disable=True):
+      return False
+    if self.status < 3 and not self._gate(self.di_gas <= 0,
+                                          wait="  Waiting: Accelerator pedal is pressed! Release it.",
+                                          abort="accelerator pressed", disable=True):
       return False
     return True
 
@@ -339,16 +472,34 @@ def _advance_on_pedal_message(self) -> None:
       p(f"  Pedal Max:    {self.pedal_max:.2f}")
       p(f"  Pedal Zero:   {self.pedal_pressed:.2f}")
       p(f"  Pedal Factor: {self.pedal_factor:.4f}")
+      self._disable_output_before_persist()
       persist_calibration(
         self.params,
         min_v=self.pedal_min,
         max_v=self.pedal_max,
         factor=self.pedal_factor,
         zero=self.pedal_pressed,
+        bus=self.pedal_can,
       )
       p("  Saved to openpilot Params")
       self.status = 7
 
+  def _disable_output_before_persist(self) -> None:
+    self._watchdog_active = False
+    try:
+      self.send_pedal_command(0, enable=0)
+    except Exception as exc:
+      p(f"  Warning: ENABLE=0 before save failed: {exc}")
+    self.pedal_enabled = 0
+    try:
+      self.transport.set_silent()
+    except Exception as exc:
+      raise PedalCalibrationError(f"could not enter SILENT before save: {exc}") from exc
+
+  def _tick_watchdog(self) -> None:
+    self.transport.send_heartbeat(False, False)
+    self.transport.require_calibration_health(self.expected_mode, self.expected_param)
+
   def run(self, rate=100) -> int:
     self.status = 2
     p("")
@@ -356,6 +507,7 @@ def run(self, rate=100) -> int:
     p("  - Car ON")
     p("  - Gear in NEUTRAL")
     p("  - Brake PRESSED")
+    p("  - Stationary")
     p("  - Accelerator RELEASED")
     p(f"  [TX: Bus {self.pedal_can}, ID 0x{GAS_COMMAND_ID:03X}, teslaPreap calibration]")
     loop_period = 1.0 / rate
@@ -363,12 +515,16 @@ def run(self, rate=100) -> int:
       loop_start = time.monotonic()
       self.frame += 1
       curr_time_ms = current_time_ms()
+      if self._watchdog_active:
+        self._tick_watchdog()
       self.process_can()
       if self.status != self.prev_status:
         p(f"\n{self.STATUS_MESSAGES[self.status]}")
         self.prev_status = self.status
       if self.status == 7:
         p("\nCalibration Complete!")
+        p("Driving stays paused. Press Restart device to reboot, or turn the car off first.")
+
         return 0
       if not self.check_safety():
         time.sleep(loop_period)
@@ -384,27 +540,35 @@ def run(self, rate=100) -> int:
       if self.pedal_timeout:
         self.pedal_error_count += 1
         if self.pedal_error_count > MAX_PEDAL_ERRORS * 10:
-          p("\nERROR: Pedal communication timeout!")
-          return 1
+          raise PedalCalibrationError("Pedal communication timeout")
       elapsed = time.monotonic() - loop_start
       if elapsed < loop_period:
         time.sleep(loop_period - elapsed)
 
 
-def run(*, confirmed: bool, params: Params | None = None, transport: DiagnosticTransport | None = None) -> int:
+def run(*, confirmed: bool, params: Params | None = None,
+        transport: DiagnosticTransport | None = None, bus: int | None = None) -> int:
   params = params or Params()
-  require_preap_tool_start(params, tool="calibrate_pedal", confirmed=confirmed)
-  if not params.get_bool("NAPPedalEnabled"):
-    raise PedalCalibrationError("no pedal configured")
-  bus = parse_configured_pedal_bus(params.get("NAPPedalCanBus"))
+  require_pedal_calibration_start(params, confirmed=confirmed)
+  if bus is None:
+    bus = parse_configured_pedal_bus(params.get("NAPPedalCanBus"))
+  else:
+    bus = int(bus)
   if bus not in (0, 2):
     raise PedalCalibrationError("invalid pedal bus")
 
   owned = transport is None
-  transport = transport or DiagnosticTransport()
+  handoff_observed = False
   calibrator = None
+  if owned:
+    transport = DiagnosticTransport()
   try:
-    transport.connect()
+    wait_for_manager_release()
+    handoff_observed = True
+    if owned:
+      transport.connect(retries=PEDAL_CONNECT_RETRIES, delay=PEDAL_CONNECT_DELAY)
+    else:
+      transport.connect()
     transport.set_pedal_calibration_session(bus)
     calibrator = PedalCalibrator(params, transport, bus)
     return calibrator.run()
@@ -418,8 +582,14 @@ def run(*, confirmed: bool, params: Params | None = None, transport: DiagnosticT
         send_safe_release(transport, bus)
       except Exception:
         pass
+      try:
+        transport.set_silent()
+      except Exception:
+        pass
     if owned and transport is not None:
       transport.close()
+    if not handoff_observed:
+      clear_tool_flags(params)
 
 
 def main(argv=None) -> int:
@@ -428,7 +598,8 @@ def main(argv=None) -> int:
   p("=" * 60)
   p("Tesla Pre-AP calibration safety only. ELM327/ALLOUTPUT are rejected.")
   try:
-    return run(confirmed=parse_explicit_confirmation(argv))
+    confirmed, bus = parse_pedal_calibration_args(argv)
+    return run(confirmed=confirmed, bus=bus)
   except KeyboardInterrupt:
     p("\nInterrupted by user.")
     return 1
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
index f9cadf9b4b366f..b8e8b11a4f8723 100644
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py
@@ -1,16 +1,20 @@
 """Shared instruction strings for Pre-AP production tools."""
 from openpilot.system.ui.lib.multilang import tr_noop
 
-CALIBRATE_PEDAL_INSTRUCTIONS = tr_noop("""Pedal Calibration
+CALIBRATE_PEDAL_INSTRUCTIONS = tr_noop("""Keep the car ON for calibration.
 
-This calibrates the comma pedal interceptor for Pre-AP Tesla Model S.
+1. Stop the vehicle and disengage assistance.
+2. Select Neutral and hold the brake.
+3. Release the accelerator.
+4. Check that the pedal connector is seated.
+5. Select the pedal's CAN bus below.
 
-PRECONDITIONS:
-  1. Device must be offroad
-  2. Car must be ON, Neutral, brake held
-  3. Do NOT press the accelerator
+Start pauses driving assistance. Cancel stops calibration.
+Settings are saved only after calibration succeeds.
+
+When finished, turn the car off to Exit,
+or choose Restart device. No automatic restart.""")
 
-Press START to confirm and begin.""")
 
 CALIBRATE_RADAR_INSTRUCTIONS = tr_noop("""Radar Calibration
 
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/run_script.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/run_script.py
index 227f3119ac71e5..b7946b2e0a20eb 100755
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/run_script.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/run_script.py
@@ -1,13 +1,10 @@
 #!/usr/bin/env python3
 """Production Pre-AP script runner.
 
-Launches an approved tool module after offroad + runtime-path checks.
-Takes over the Comma screen. Native Tesla settings spawn this runner
-instead of the tool on a pts. Development-only utilities are rejected.
-
-Usage:
-    python -m openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.run_script \\
-      "Title" "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.calibrate_pedal" "Instructions"
+Non-pedal tools take over the Comma screen from a standalone process.
+Pedal calibration is hosted in the existing UI as a Widget: no second DRM
+client, no tmux kill. Start admits on a live SubMaster before setting
+NAPScriptRunning. Safe Exit pops the widget; Restart device is explicit.
 """
 from __future__ import annotations
 
@@ -21,6 +18,7 @@
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.hardware import HARDWARE, PC
 from openpilot.common.params import Params
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.calibrate_pedal import parse_configured_pedal_bus
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import (
   APPROVED_TOOLS,
   clear_tool_flags,
@@ -29,12 +27,63 @@
 )
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import (
   DESTRUCTIVE_TOOLS,
+  PEDAL_IGNITION_ON_TOOLS,
   ToolSafetyError,
+  admission_from_submaster,
   require_offroad,
   require_runtime_path,
 )
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.transport import sample_panda_ignition
+
 
 APPROVED_MODULES = frozenset(APPROVED_TOOLS.values())
+WAITING_SIGNALS = "waiting for vehicle signals"
+
+
+def waiting_status_text(reason: str) -> str:
+  text = (reason or "").strip()
+  if not text:
+    return ""
+  if text.lower().startswith("waiting"):
+    return text[0].upper() + text[1:]
+  return f"Waiting: {text}"
+
+
+def _pedal_submaster():
+  from openpilot.cereal import messaging
+  services = ["deviceState", "pandaStates", "carState", "selfdriveState", "managerState", "can"]
+  try:
+    from openpilot.cereal.services import SERVICE_LIST
+    if "selfdriveStateSP" in SERVICE_LIST:
+      services.append("selfdriveStateSP")
+  except Exception:
+    pass
+  return messaging.SubMaster(services)
+
+
+def pedal_ready_lines(sm, params: Params, selected_bus: int | None = None) -> list[str]:
+  sm.update(0)
+  bus = parse_configured_pedal_bus(selected_bus if selected_bus is not None else params.get("NAPPedalCanBus"))
+  lines = [
+    f"Pedal CAN bus: {bus}.",
+    "Confirm the comma pedal connector is seated. This step talks to the pedal on the selected bus.",
+    "First calibration does not require the interceptor toggle.",
+  ]
+  reason = admission_from_submaster(sm)
+  if reason:
+    lines.append(waiting_status_text(reason))
+  elif params.get_bool("IsOffroad"):
+    lines.append("Ready: parked. Ignition on, Neutral, hold brake, then Start.")
+  else:
+    lines.append("Ready: stationary and disengaged. Start begins calibration.")
+  return lines
+
+
+def pedal_safe_exit_decision(ignition: bool | None) -> str:
+  """After the child has released USB: clear only on observed ignition off."""
+  if ignition is False:
+    return "clear"
+  return "restart"
 
 
 def follow_scroll_offset(line_count: int, line_height: float, bounds_height: float) -> float:
@@ -49,17 +98,22 @@ class ScriptState:
   ERROR = 3
 
 
+def tool_name_for_module(module: str) -> str:
+  return next(name for name, path in APPROVED_TOOLS.items() if path == module)
+
+
 def prepare_run(module: str, params: Params | None = None) -> str:
-  """Validate module, runtime path, and offroad before spawn."""
+  """Validate module and runtime path. Offroad except pedal calibration."""
   require_runtime_path()
   params = params or Params()
-  require_offroad(params)
   if module not in APPROVED_MODULES:
     raise ValueError(f"unapproved tool: {module}")
+  if tool_name_for_module(module) not in PEDAL_IGNITION_ON_TOOLS:
+    require_offroad(params)
   return module
 
 
-def spawn_approved_module(module: str, params: Params | None = None) -> subprocess.Popen:
+def spawn_approved_module(module: str, params: Params | None = None, *, bus: int | None = None) -> subprocess.Popen:
   module = prepare_run(module, params)
   params = params or Params()
   tool = next(name for name, path in APPROVED_TOOLS.items() if path == module)
@@ -70,6 +124,10 @@ def spawn_approved_module(module: str, params: Params | None = None) -> subproce
   cmd = [sys.executable, "-m", module]
   if tool in DESTRUCTIVE_TOOLS:
     cmd.append("--confirm")
+  if tool in PEDAL_IGNITION_ON_TOOLS and bus is not None:
+    if bus not in (0, 2):
+      raise ValueError("invalid pedal bus")
+    cmd.extend(["--bus", str(int(bus))])
   mark_script_running(params)
   try:
     return subprocess.Popen(
@@ -83,145 +141,437 @@ def spawn_approved_module(module: str, params: Params | None = None) -> subproce
       bufsize=1,
     )
   except Exception:
-    clear_tool_flags(params)
+    if tool not in PEDAL_IGNITION_ON_TOOLS:
+      clear_tool_flags(params)
     raise
 
 
-def main(argv: list[str] | None = None) -> int:
-  argv = list(sys.argv if argv is None else argv)
-  if len(argv) < 4:
-    print("Usage: run_script.py <title> <module> <instructions>")
-    return 1
+def _default_reboot() -> None:
+  if not PC:
+    HARDWARE.reboot()
 
-  title = argv[1]
-  module = argv[2]
-  instructions = argv[3]
-  try:
-    prepare_run(module)
-  except (ToolSafetyError, ValueError) as exc:
-    print(f"ERROR: {exc}")
-    return 1
 
+class ScriptRunnerController:
+  """Start / Cancel / Exit / Restart for an approved tool.
+
+  Pedal Start fail-closes without a live SubMaster. Admission runs before
+  NAPScriptRunning. After that flag is set, child failure does not clear it.
+  USB ignition probe runs only after the child is confirmed gone.
+  """
+
+  def __init__(
+    self,
+    *,
+    title: str,
+    module: str,
+    instructions: str,
+    params: Params | None = None,
+    hosted: bool = False,
+    admission_fn=admission_from_submaster,
+    spawn_fn=spawn_approved_module,
+    stop_child_fn=stop_child,
+    sample_ignition_fn=sample_panda_ignition,
+    mark_fn=mark_script_running,
+    clear_fn=clear_tool_flags,
+    submaster_factory=_pedal_submaster,
+    pop_fn=None,
+    close_fn=None,
+    reboot_fn=None,
+    start_thread=None,
+  ):
+    self.title = title
+    self._module = module
+    self.instructions = instructions
+    self._params = params or Params()
+    self.hosted = hosted
+    self._is_pedal = tool_name_for_module(module) in PEDAL_IGNITION_ON_TOOLS
+    self._admission = admission_fn
+    self._spawn = spawn_fn
+    self._stop_child = stop_child_fn
+    self._sample_ignition = sample_ignition_fn
+    self._mark = mark_fn
+    self._clear = clear_fn
+    self._pop_fn = pop_fn
+    self._close_fn = close_fn
+    self._reboot_fn = reboot_fn or _default_reboot
+    self._start_thread = start_thread or (lambda fn: threading.Thread(target=fn, daemon=True).start())
+
+    self.state = ScriptState.READY
+    self.output_lines: list[str] = []
+    self._events: queue.Queue = queue.Queue()
+    self._process = None
+    self.selected_bus = parse_configured_pedal_bus(self._params.get("NAPPedalCanBus"))
+    if self.selected_bus not in (0, 2):
+      self.selected_bus = 2
+    self.restart_required = False
+    self.probe_inflight = False
+    self.probe_done = False
+    self._probe_started = False
+    self.handoff_requested = False
+    self._ignore_done = False
+    self._last_ignition: bool | None = None
+    self._sm = None
+    if self._is_pedal:
+      try:
+        self._sm = submaster_factory()
+      except Exception:
+        self._sm = None
+
+  @property
+  def is_pedal(self) -> bool:
+    return self._is_pedal
+
+  @property
+  def start_block_reason(self) -> str | None:
+    if self.state != ScriptState.READY or not self._is_pedal:
+      return None
+    if self._sm is None:
+      return WAITING_SIGNALS
+    try:
+      self._sm.update(0)
+      return self._admission(self._sm)
+    except Exception:
+      return WAITING_SIGNALS
+
+  @property
+  def start_enabled(self) -> bool:
+    return self.state == ScriptState.READY and self.start_block_reason is None
+
+  @property
+  def ready_status_banner(self) -> str:
+    """Fixed READY status. Admission reason is not the last scroll line."""
+    if self.state != ScriptState.READY or not self._is_pedal:
+      return ""
+    reason = self.start_block_reason
+    if reason:
+      return waiting_status_text(reason)
+    if self._params.get_bool("IsOffroad"):
+      return "Ready: parked. Ignition on, Neutral, hold brake, then Start."
+    return "Ready: stationary and disengaged. Start begins calibration."
+
+  @property
+  def status_banner(self) -> str:
+    if self.state == ScriptState.READY:
+      return self.ready_status_banner
+    if self.probe_inflight:
+      return "Checking ignition..."
+    if self.restart_visible:
+      return "Turn the car off, then Check ignition / Exit."
+    return ""
+
+  @property
+  def action_label(self) -> str:
+    if self.probe_inflight:
+      return "Exit"
+    if self.state == ScriptState.RUNNING and self._is_pedal:
+      return "Cancel"
+    if self._is_pedal and self.state in (ScriptState.COMPLETED, ScriptState.ERROR):
+      return "Check ignition / Exit"
+    return "Exit"
+
+  @property
+  def action_enabled(self) -> bool:
+    if self.probe_inflight:
+      return False
+    if self.state == ScriptState.RUNNING and not self._is_pedal:
+      return False
+    return True
+
+  @property
+  def restart_visible(self) -> bool:
+    if not self._is_pedal or not self.handoff_requested:
+      return False
+    if self.state not in (ScriptState.COMPLETED, ScriptState.ERROR):
+      return False
+    if self._process is not None and self._process.poll() is None:
+      return self.restart_required
+    return True
+
+  @property
+  def restart_enabled(self) -> bool:
+    return self.restart_visible and not self.probe_inflight
+
+  def ready_lines(self) -> list[str]:
+    lines = self.instructions.split("\n")
+    if not self._is_pedal:
+      return lines
+    lines.append("")
+    if self._sm is None:
+      lines.extend([
+        f"Pedal CAN bus: {self.selected_bus}.",
+        "Confirm the comma pedal connector is seated. This step talks to the pedal on the selected bus.",
+        "First calibration does not require the interceptor toggle.",
+        waiting_status_text(WAITING_SIGNALS),
+      ])
+      return lines
+    lines.extend(pedal_ready_lines(self._sm, self._params, selected_bus=self.selected_bus))
+    return lines
+
+  def display_lines(self) -> list[str]:
+    if self.state == ScriptState.READY:
+      return self.ready_lines()
+    return list(self.output_lines)
+
+  def select_bus(self, bus: int) -> None:
+    if self.state != ScriptState.READY or not self._is_pedal:
+      return
+    if bus not in (0, 2):
+      return
+    self.selected_bus = bus
+
+  def start(self) -> str | None:
+    if self.state != ScriptState.READY:
+      return "not ready"
+    if self._is_pedal:
+      if self._sm is None:
+        return WAITING_SIGNALS
+      try:
+        self._sm.update(0)
+        reason = self._admission(self._sm)
+      except Exception:
+        return WAITING_SIGNALS
+      if reason:
+        return reason
+    self.state = ScriptState.RUNNING
+    self.output_lines = ["Starting script...", ""]
+    self.handoff_requested = True
+    self._ignore_done = False
+    bus = self.selected_bus if self._is_pedal else None
+    try:
+      self._process = self._spawn(self._module, self._params, bus=bus)
+      self._start_thread(self._read_output)
+    except Exception as exc:
+      if not self._is_pedal:
+        self._clear(self._params)
+      self.output_lines.append(f"Error starting script: {exc}")
+      self.state = ScriptState.ERROR
+      if self._is_pedal:
+        self.restart_required = True
+    return None
+
+  def cancel(self) -> None:
+    if self.state != ScriptState.RUNNING or not self._is_pedal:
+      return
+    if self._process is not None and self._process.poll() is None:
+      if not self._stop_child(self._process):
+        self.output_lines.append("[ERROR] script did not exit; manager will stay paused")
+        self.output_lines.append("Use Restart device to recover.")
+        self.state = ScriptState.ERROR
+        self.restart_required = True
+        return
+    self._ignore_done = True
+    self.state = ScriptState.ERROR
+    self.output_lines.append("[Cancelled]")
+    self.output_lines.append("Turn the car off, then Check ignition / Exit. Restart device is optional.")
+
+  def request_exit(self) -> str:
+    if self.probe_inflight:
+      return "blocked"
+    if self.state == ScriptState.RUNNING:
+      if self._is_pedal:
+        self.cancel()
+        return "cancel"
+      return "locked"
+    if self.state == ScriptState.READY:
+      self._leave_ready()
+      return "exited"
+    if self._is_pedal:
+      if self._process is not None and self._process.poll() is None:
+        return "blocked"
+      self._begin_probe()
+      return "probing"
+    self._clear(self._params)
+    self._close()
+    self._reboot_fn()
+    return "exited"
+
+  def restart_device(self) -> str:
+    if self.probe_inflight or not self.restart_visible:
+      return "blocked"
+    self._reboot_fn()
+    return "reboot"
+
+  def activate_action(self) -> str:
+    return self.request_exit()
+
+  def pump(self) -> bool:
+    got_new = False
+    while True:
+      try:
+        kind, payload = self._events.get_nowait()
+      except queue.Empty:
+        break
+      got_new = True
+      if kind == "line":
+        self.output_lines.append(payload)
+      elif kind == "done":
+        if self._ignore_done:
+          continue
+        code = payload
+        if code == 0:
+          self.output_lines.append("[Script completed successfully]")
+          self.state = ScriptState.COMPLETED
+        else:
+          self.output_lines.append(f"[Script exited with code {code}]")
+          self.state = ScriptState.ERROR
+        if self._is_pedal:
+          self.output_lines.append("Turn the car off, then Check ignition / Exit. Restart device is optional.")
+      elif kind == "probe":
+        self.probe_inflight = False
+        self.probe_done = True
+        self._last_ignition = payload
+        if self._is_pedal and pedal_safe_exit_decision(payload) == "clear":
+          self._clear(self._params)
+          self._pop_hosted_or_close()
+        elif self._is_pedal:
+          self.restart_required = True
+          self.output_lines.append("Ignition still on. Turn the car off and Check ignition / Exit, or Restart device.")
+    return got_new
+
+  def _begin_probe(self) -> None:
+    if not self._is_pedal or self.probe_inflight:
+      return
+    if self._process is not None and self._process.poll() is None:
+      return
+    self.probe_inflight = True
+
+    def run():
+      ignition = None
+      try:
+        ignition = self._sample_ignition()
+      except Exception:
+        ignition = None
+      self._events.put(("probe", ignition))
+
+    self._start_thread(run)
+
+
+  def _read_output(self) -> None:
+    try:
+      if self._process is not None and self._process.stdout:
+        for line in iter(self._process.stdout.readline, ""):
+          if line:
+            self._events.put(("line", line.rstrip()))
+      code = 1
+      if self._process is not None:
+        code = self._process.wait()
+      self._events.put(("done", code))
+    except Exception as exc:
+      self._events.put(("line", f"[Error reading output: {exc}]"))
+      self._events.put(("done", 1))
+
+  def _leave_ready(self) -> None:
+    if self.hosted:
+      self._pop()
+      return
+    self._clear(self._params)
+    self._close()
+    if not self._is_pedal:
+      self._reboot_fn()
+
+  def _pop_hosted_or_close(self) -> None:
+    if self.hosted:
+      self._pop()
+    else:
+      self._close()
+
+  def _pop(self) -> None:
+    if self._pop_fn is not None:
+      self._pop_fn()
+      return
+    from openpilot.system.ui.lib.application import gui_app
+    gui_app.pop_widget()
+
+  def _close(self) -> None:
+    if self._close_fn is not None:
+      self._close_fn()
+      return
+    from openpilot.system.ui.lib.application import gui_app
+    gui_app.request_close()
+
+
+def make_script_runner_widget(title: str, module: str, instructions: str, *,
+                              hosted: bool = False, controller: ScriptRunnerController | None = None,
+                              **ctrl_kwargs):
+  """Widget wrapping ScriptRunnerController. Imports pyray only when constructed."""
   import pyray as rl
   from openpilot.system.ui.lib.application import gui_app, FontWeight
   from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+  from openpilot.system.ui.widgets import Widget
   from openpilot.system.ui.widgets.button import Button, ButtonStyle
 
-  margin = 50
-  title_font_size = 70
-  text_font_size = 45
-  output_font_size = 35
-  line_height = 45
-  button_width = 350
-  button_height = 110
-  button_spacing = 30
+  ctrl = controller or ScriptRunnerController(
+    title=title, module=module, instructions=instructions, hosted=hosted, **ctrl_kwargs,
+  )
 
-  class ScriptRunnerApp:
+  class ScriptRunnerWidget(Widget):
     def __init__(self):
-      self._title = title
-      self._module = module
-      self._instructions = instructions
-      self._state = ScriptState.READY
-      self._output_lines: list[str] = []
-      self._output_queue: queue.Queue[str] = queue.Queue()
-      self._process: subprocess.Popen | None = None
+      super().__init__()
+      self.controller = ctrl
       self._scroll_panel = GuiScrollPanel()
-      self._params = Params()
       self._font = None
       self._title_font = None
-      self._start_button = None
-      self._exit_button = None
-
-    def init_ui(self):
-      self._font = gui_app.font(FontWeight.NORMAL)
-      self._title_font = gui_app.font(FontWeight.BOLD)
-      self._start_button = Button("Start", click_callback=self._on_start, button_style=ButtonStyle.PRIMARY, font_size=text_font_size)
-      self._exit_button = Button("Exit", click_callback=self._on_exit, button_style=ButtonStyle.TRANSPARENT_WHITE_BORDER, font_size=text_font_size)
+      self._start_button = self._child(Button("Start", click_callback=self._on_start,
+                                              button_style=ButtonStyle.PRIMARY))
+      self._action_button = self._child(Button("Exit", click_callback=self._on_action,
+                                               button_style=ButtonStyle.TRANSPARENT_WHITE_BORDER))
+      self._bus0_button = self._child(Button("Bus 0", click_callback=lambda: self.controller.select_bus(0)))
+      self._bus2_button = self._child(Button("Bus 2", click_callback=lambda: self.controller.select_bus(2)))
 
     def _on_start(self):
-      if self._state != ScriptState.READY:
-        return
-      self._state = ScriptState.RUNNING
-      self._output_lines = ["Starting script...", ""]
+      if self.controller.restart_visible:
+        self.controller.restart_device()
+      else:
+        self.controller.start()
 
-      # Set NAPScriptRunning before spawn so manager stops pandad before
-      # the child process tries to open Panda USB.
-      mark_script_running(self._params)
+    def _on_action(self):
+      self.controller.request_exit()
+
+    def _tune(self, compact: bool) -> None:
+      font = 16 if compact else 45
+      pad = 4 if compact else 16
+      radius = 8 if compact else 10
+      for btn in (self._start_button, self._action_button, self._bus0_button, self._bus2_button):
+        btn._label.set_font_size(font)
+        btn._label._text_padding = pad
+        btn._border_radius = radius
+
+    def _render(self, rect):
+      compact = rect.width < 800 and rect.height < 500
+      self._tune(compact)
+      got_new = self.controller.pump()
+      if self._font is None:
+        self._font = gui_app.font(FontWeight.NORMAL)
+        self._title_font = gui_app.font(FontWeight.BOLD)
 
-      try:
-        self._process = spawn_approved_module(self._module, self._params)
-        threading.Thread(target=self._read_output, daemon=True).start()
-      except Exception as exc:
-        clear_tool_flags(self._params)
-        self._output_lines.append(f"Error starting script: {exc}")
-        self._state = ScriptState.ERROR
-
-    def _read_output(self):
-      try:
-        if self._process and self._process.stdout:
-          for line in iter(self._process.stdout.readline, ""):
-            if line:
-              self._output_queue.put(line.rstrip())
-        if self._process:
-          code = self._process.wait()
-          if code == 0:
-            self._output_queue.put("\n[Script completed successfully]")
-            self._state = ScriptState.COMPLETED
-          else:
-            self._output_queue.put(f"\n[Script exited with code {code}]")
-            self._state = ScriptState.ERROR
-      except Exception as exc:
-        self._output_queue.put(f"\n[Error reading output: {exc}]")
-        self._state = ScriptState.ERROR
-
-    def _on_exit(self):
-      if self._process and self._process.poll() is None:
-        if not stop_child(self._process):
-          # Child still alive after SIGKILL. Bail without clearing
-          # NAPScriptRunning — letting manager resume pandad while
-          # a zombie script may still hold Panda USB would create
-          # the exact dual-owner state this runner is meant to
-          # prevent. Surface an error and keep the runner up.
-          self._output_lines.append(
-            "[ERROR] script did not exit; manager will stay paused")
-          self._output_lines.append("Reboot the device to recover.")
-          self._state = ScriptState.ERROR
-          return
-
-      # Clear NAPScriptRunning only after we've confirmed the child is gone.
-      clear_tool_flags(self._params)
-
-      gui_app.request_close()
-      if not PC:
-        HARDWARE.reboot()
-
-    def render(self):
-      rect = rl.Rectangle(0, 0, gui_app.width, gui_app.height)
       rl.draw_rectangle_rec(rect, rl.Color(20, 20, 20, 255))
-      got_new = False
-      while True:
-        try:
-          self._output_lines.append(self._output_queue.get_nowait())
-          got_new = True
-        except queue.Empty:
-          break
+      margin = 8 if compact else 50
+      title_font_size = 18 if compact else 70
+      text_font_size = 14 if compact else 45
+      output_font_size = 12 if compact else 35
+      line_height = 16 if compact else 45
+      button_width = 128 if compact else 350
+      button_height = 44 if compact else 110
+      button_spacing = 8 if compact else 30
+      bus_width = 72 if compact else 160
+
       content_x = rect.x + margin
-      current_y = rect.y + margin
-      rl.draw_text_ex(self._title_font, self._title, rl.Vector2(content_x, current_y), title_font_size, 0, rl.WHITE)
-      current_y += title_font_size + margin
+      current_y = rect.y + (3 if compact else margin)
+      rl.draw_text_ex(self._title_font, self.controller.title, rl.Vector2(content_x, current_y),
+                      title_font_size, 0, rl.WHITE)
+      current_y += title_font_size + (8 if compact else margin)
       button_y = rect.y + rect.height - margin - button_height
+      banner = self.controller.status_banner
+      banner_h = (line_height + 8) if banner else 0
+      body_bottom = button_y - margin - banner_h
       body_rect = rl.Rectangle(content_x, current_y, rect.width - margin * 2,
-                               max(0.0, button_y - current_y - margin))
-      if self._state == ScriptState.READY:
-        lines = self._instructions.split("\n")
-        font_size = text_font_size
-        color = rl.Color(200, 200, 200, 255)
-      else:
-        lines = self._output_lines
-        font_size = output_font_size
-        color = rl.WHITE
+                               max(0.0, body_bottom - current_y))
+      ready = self.controller.state == ScriptState.READY
+      lines = self.controller.display_lines()
+      font_size = text_font_size if ready else output_font_size
+      color = rl.Color(200, 200, 200, 255) if ready else rl.WHITE
       content_rect = rl.Rectangle(0, 0, body_rect.width, len(lines) * line_height)
-      if got_new and self._state != ScriptState.READY:
+      if got_new and not ready:
         self._scroll_panel.set_offset(follow_scroll_offset(len(lines), line_height, body_rect.height))
       scroll = self._scroll_panel.update(body_rect, content_rect)
       rl.begin_scissor_mode(int(body_rect.x), int(body_rect.y), int(body_rect.width), int(body_rect.height))
@@ -231,15 +581,83 @@ def render(self):
           continue
         rl.draw_text_ex(self._font, line, rl.Vector2(body_rect.x, line_y), font_size, 0, color)
       rl.end_scissor_mode()
-      if self._state == ScriptState.READY:
-        self._start_button.render(rl.Rectangle(rect.x + rect.width - margin - button_width * 2 - button_spacing,
-                                               button_y, button_width, button_height))
-      # Exit is disabled while RUNNING. The flash path can't be
-      # safely interrupted mid-write; the calibration/test paths
-      # also disable cancel for consistency with the original design.
-      self._exit_button.set_enabled(self._state != ScriptState.RUNNING)
-      self._exit_button.render(rl.Rectangle(rect.x + rect.width - margin - button_width,
-                                            button_y, button_width, button_height))
+
+      if banner:
+        waiting = bool(self.controller.start_block_reason) or self.controller.probe_inflight or self.controller.restart_visible
+        banner_color = rl.Color(255, 180, 80, 255) if waiting else rl.Color(128, 216, 166, 255)
+        rl.draw_text_ex(self._font, banner, rl.Vector2(content_x, button_y - banner_h),
+                        text_font_size, 0, banner_color)
+
+      x_right = rect.x + rect.width - margin - button_width
+      self._action_button.set_text(self.controller.action_label)
+      self._action_button.set_button_style(ButtonStyle.TRANSPARENT_WHITE_BORDER)
+      self._action_button.set_enabled(self.controller.action_enabled)
+      self._action_button.render(rl.Rectangle(x_right, button_y, button_width, button_height))
+
+      show_start = ready
+      show_restart = self.controller.restart_visible
+      if show_start or show_restart:
+        if show_restart:
+          self._start_button.set_text("Restart device")
+          self._start_button.set_button_style(ButtonStyle.DANGER)
+          self._start_button.set_enabled(self.controller.restart_enabled)
+        else:
+          self._start_button.set_text("Start")
+          self._start_button.set_button_style(ButtonStyle.PRIMARY)
+          self._start_button.set_enabled(self.controller.start_enabled)
+        start_x = x_right - button_spacing - button_width
+        self._start_button.render(rl.Rectangle(start_x, button_y, button_width, button_height))
+      else:
+        start_x = x_right
+
+      show_bus = ready and self.controller.is_pedal
+      if show_bus:
+        bus2_x = start_x - button_spacing - bus_width
+        bus0_x = bus2_x - button_spacing - bus_width
+        self._bus0_button.set_button_style(
+          ButtonStyle.PRIMARY if self.controller.selected_bus == 0 else ButtonStyle.NORMAL)
+        self._bus2_button.set_button_style(
+          ButtonStyle.PRIMARY if self.controller.selected_bus == 2 else ButtonStyle.NORMAL)
+        self._bus0_button.render(rl.Rectangle(bus0_x, button_y, bus_width, button_height))
+        self._bus2_button.render(rl.Rectangle(bus2_x, button_y, bus_width, button_height))
+
+  return ScriptRunnerWidget()
+
+
+def open_pedal_calibration(instructions: str | None = None) -> None:
+  """Push the in-process pedal wizard onto the existing UI stack."""
+  from openpilot.system.ui.lib.application import gui_app
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import instructions as preap_instructions
+  text = instructions or preap_instructions.CALIBRATE_PEDAL_INSTRUCTIONS
+  gui_app.push_widget(make_script_runner_widget(
+    "Pedal Calibration",
+    APPROVED_TOOLS["calibrate_pedal"],
+    text,
+    hosted=True,
+  ))
+
+
+def main(argv: list[str] | None = None) -> int:
+  argv = list(sys.argv if argv is None else argv)
+  if len(argv) < 4:
+    print("Usage: run_script.py <title> <module> <instructions>")
+    return 1
+
+  title = argv[1]
+  module = argv[2]
+  instructions = argv[3]
+  try:
+    prepare_run(module)
+  except (ToolSafetyError, ValueError) as exc:
+    print(f"ERROR: {exc}")
+    return 1
+
+  if tool_name_for_module(module) in PEDAL_IGNITION_ON_TOOLS:
+    print("ERROR: pedal calibration must run in the existing UI, not a second window")
+    return 1
+
+  import pyray as rl
+  from openpilot.system.ui.lib.application import gui_app
 
   # tmux isn't installed on dev hosts, so swallow the FileNotFoundError.
   try:
@@ -247,10 +665,9 @@ def render(self):
   except FileNotFoundError:
     pass
   gui_app.init_window("Pre-AP Script Runner")
-  app = ScriptRunnerApp()
-  app.init_ui()
+  widget = make_script_runner_widget(title, module, instructions, hosted=False)
   for _ in gui_app.render():
-    app.render()
+    widget.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
   return 0
 
 
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/runner.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/runner.py
index fcde913bfcecd4..081111fbcfe2b9 100644
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/runner.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/runner.py
@@ -1,8 +1,10 @@
 """Pre-AP production tool runner seam.
 
-UI launch opens run_script on the device display. Offroad is required.
+UI launch opens run_script on the device display. Offroad is required
+except for pedal calibration, which may start ignition-on while stationary.
 Sets NAPScriptRunning before spawn so manager stops pandad/card/etc.
-Clears it only after the child is confirmed gone. Stuck child: fail-closed.
+Clears it only after the child is confirmed gone and ignition is off, or
+on spawn/connect failure before USB is claimed. Stuck child: fail-closed.
 """
 from __future__ import annotations
 
@@ -11,11 +13,13 @@
 import subprocess
 import sys
 import threading
+import time
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import (
   DESTRUCTIVE_TOOLS,
+  ToolSafetyError,
   require_preap_tool_start,
   require_runtime_path,
 )
@@ -47,6 +51,36 @@ def clear_tool_flags(params: Params) -> None:
   params.put_bool("NAPScriptRunning", False, block=True)
   params.put_bool("NAPEpasRiskAccepted", False, block=True)
 
+TOOL_STOPPED_PROCESSES = ("pandad", "card", "controlsd")
+OWNERSHIP_TIMEOUT_S = 8.0
+
+
+def processes_released(manager_state, names=TOOL_STOPPED_PROCESSES) -> bool:
+  running = {p.name: p.running for p in manager_state.processes}
+  return all(name in running and not running[name] for name in names)
+
+
+def wait_for_manager_release(sm=None, *, timeout_s=OWNERSHIP_TIMEOUT_S,
+                             sleep=time.sleep, now=time.monotonic) -> None:
+  """Wait until managerState shows pandad/card/controlsd not alive.
+
+  NAPScriptRunning must already be set. Does not invent a manager ack param.
+  Returns only after a seen managerState lists those processes as stopped.
+  """
+  from openpilot.cereal import messaging
+  sm = sm or messaging.SubMaster(["managerState"])
+  deadline = now() + timeout_s
+  while now() < deadline:
+    sm.update(100)
+    seen = getattr(sm, "seen", {}).get("managerState")
+    alive = getattr(sm, "alive", {}).get("managerState", True)
+    valid = getattr(sm, "valid", {}).get("managerState", True)
+    if seen and alive and valid and processes_released(sm["managerState"]):
+      return
+    sleep(0.05)
+  raise ToolSafetyError("timed out waiting for driving processes to stop")
+
+
 
 def stop_child(process: subprocess.Popen) -> bool:
   """SIGINT (5s) → SIGTERM (2s) → SIGKILL (2s). True if the child is gone.
@@ -83,7 +117,18 @@ def _reap_tool(process: subprocess.Popen, params: Params) -> None:
   try:
     process.wait()
   finally:
-    clear_tool_flags(params)
+    # Clearing while started=true immediately restarts pandad/card.
+    # IsOffroad can be stale with pandad stopped; leaving the flag set is
+    # fail-closed. Print so CLI does not look like a finished resume.
+    if params.get_bool("IsOffroad"):
+      clear_tool_flags(params)
+    elif params.get_bool("NAPScriptRunning"):
+      print(
+        "ERROR: NAPScriptRunning left set; driving processes stay paused until device restart",
+        flush=True,
+      )
+
+
 
 
 def start_tool(tool: str, *, confirmed: bool, params: Params | None = None) -> subprocess.Popen:
@@ -143,7 +188,9 @@ def stop_tool(process: subprocess.Popen, params: Params | None = None) -> None:
   params = params or Params()
   if not stop_child(process):
     return
-  clear_tool_flags(params)
+  if params.get_bool("IsOffroad"):
+    clear_tool_flags(params)
+
 
 
 def is_destructive(tool: str) -> bool:
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/safety.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/safety.py
index 4036aa6e1c88d4..3cb69fe93367bf 100644
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/safety.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/safety.py
@@ -12,6 +12,12 @@
   "restore_epas",
 })
 
+# Pedal calibration may start with ignition on. Other tools stay offroad-only.
+PEDAL_IGNITION_ON_TOOLS = frozenset({"calibrate_pedal"})
+
+# Match a parked car. Unknown / missing speed is not treated as standstill.
+STANDSTILL_SPEED_MS = 0.5
+
 TOOLS_DIR = Path(__file__).resolve().parent
 
 
@@ -47,10 +53,116 @@ def require_confirmation(confirmed: bool, *, tool: str) -> None:
 
 def require_preap_tool_start(params: Params | None = None, *, tool: str, confirmed: bool) -> None:
   require_runtime_path()
-  require_offroad(params)
+  if tool not in PEDAL_IGNITION_ON_TOOLS:
+    require_offroad(params)
   require_confirmation(confirmed, tool=tool)
 
 
+def require_pedal_calibration_start(params: Params | None = None, *, confirmed: bool) -> None:
+  """Path + explicit confirm. Does not require IsOffroad."""
+  require_preap_tool_start(params, tool="calibrate_pedal", confirmed=confirmed)
+
+
+def pedal_calibration_entry_reason(*, offroad: bool, engaged: bool,
+                                   car_state_fresh: bool, v_ego: float) -> str | None:
+  """None if wizard entry / Start is allowed.
+
+  Unknown motion is never permission to take over driving processes.
+  Offroad is not a bypass: still need fresh stationary evidence.
+  """
+  del offroad
+  if engaged:
+    return "disengage before calibrating the pedal"
+  if not car_state_fresh:
+    return "waiting for stationary vehicle state"
+  if not 0.0 <= v_ego <= STANDSTILL_SPEED_MS:
+    return "vehicle must be stationary"
+  return None
+
+
+def allow_pedal_calibration_entry(*, offroad: bool, engaged: bool,
+                                  car_state_fresh: bool, v_ego: float) -> bool:
+  return pedal_calibration_entry_reason(
+    offroad=offroad, engaged=engaged, car_state_fresh=car_state_fresh, v_ego=v_ego,
+  ) is None
+
+
+def _service_fresh(sm, name: str) -> bool:
+  seen = getattr(sm, "seen", {}).get(name, False)
+  alive = getattr(sm, "alive", {}).get(name, False)
+  valid = getattr(sm, "valid", {}).get(name, False)
+  return bool(seen and alive and valid)
+
+
+def _has_service(sm, name: str) -> bool:
+  data = getattr(sm, "data", None)
+  if data is not None and name in data:
+    return True
+  return name in getattr(sm, "seen", {})
+
+
+def _esp_b_speed_ms(dat: bytes) -> float | None:
+  if len(dat) < 7:
+    return None
+  return ((dat[5] << 8) | dat[6]) * 0.01 / 3.6
+
+
+def _v_ego_from_can(sm) -> float | None:
+  if not _service_fresh(sm, "can"):
+    return None
+  try:
+    messages = sm["can"]
+  except Exception:
+    return None
+  speed = None
+  for msg in messages:
+    addr = int(getattr(msg, "address", getattr(msg, "addr", 0)))
+    src = int(getattr(msg, "src", 0)) & 0x7F
+    dat = bytes(getattr(msg, "dat", b""))
+    if addr == 0x155 and src == 0:
+      decoded = _esp_b_speed_ms(dat)
+      if decoded is not None:
+        speed = decoded
+  return speed
+
+
+def admission_from_submaster(sm) -> str | None:
+  """Return a block reason from cereal, or None if Start may proceed.
+
+  Missing SubMaster, unseen/stale deviceState, and started+stale
+  selfdriveState/MADS fail closed. Offroad still needs fresh carState or
+  fresh bus-0 ESP_B; unknown movement is not admission.
+  """
+  if sm is None:
+    return "waiting for vehicle state"
+  if not _service_fresh(sm, "deviceState"):
+    return "waiting for device state"
+
+  started = bool(sm["deviceState"].started)
+  engaged = False
+  if started:
+    if not _service_fresh(sm, "selfdriveState"):
+      return "waiting for disengage state"
+    engaged = bool(sm["selfdriveState"].enabled)
+    if _has_service(sm, "selfdriveStateSP"):
+      if not _service_fresh(sm, "selfdriveStateSP"):
+        return "waiting for disengage state"
+      mads = getattr(sm["selfdriveStateSP"], "mads", None)
+      engaged = engaged or bool(getattr(mads, "enabled", False))
+
+  car_fresh = _service_fresh(sm, "carState")
+  if car_fresh:
+    v_ego = float(sm["carState"].vEgo)
+  else:
+    v_ego_can = _v_ego_from_can(sm)
+    car_fresh = v_ego_can is not None
+    v_ego = 0.0 if v_ego_can is None else v_ego_can
+
+  return pedal_calibration_entry_reason(
+    offroad=not started, engaged=engaged, car_state_fresh=car_fresh, v_ego=v_ego,
+  )
+
+
 def parse_explicit_confirmation(argv=None) -> bool:
   """Return True only when this invocation includes an explicit --confirm flag.
 
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_pedal_wizard_ui.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_pedal_wizard_ui.py
new file mode 100644
index 00000000000000..2904f03cdcad1f
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_pedal_wizard_ui.py
@@ -0,0 +1,336 @@
+"""Pedal wizard controller: Start, Cancel, and Exit through injected seams."""
+from __future__ import annotations
+
+import io
+import subprocess
+
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import APPROVED_TOOLS
+from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.run_script import (
+  ScriptRunnerController,
+  ScriptState,
+  WAITING_SIGNALS,
+  main,
+  pedal_safe_exit_decision,
+  spawn_approved_module,
+)
+
+
+PEDAL_MODULE = APPROVED_TOOLS["calibrate_pedal"]
+FLASH_MODULE = APPROVED_TOOLS["flash_epas"]
+
+
+class FakeParams:
+  def __init__(self, offroad=True, bus=2):
+    self.store = {"IsOffroad": offroad, "NAPPedalCanBus": bus, "NAPScriptRunning": False}
+
+  def get_bool(self, key):
+    return bool(self.store.get(key, False))
+
+  def put_bool(self, key, value, block=True):
+    self.store[key] = bool(value)
+
+  def get(self, key):
+    return self.store.get(key)
+
+  def put(self, key, value, block=True):
+    self.store[key] = value
+
+
+class FakeSubMaster:
+  def __init__(self, *, block_reason=None, explode=False):
+    self.block_reason = block_reason
+    self.explode = explode
+    self.updates = 0
+
+  def update(self, timeout=0):
+    self.updates += 1
+    if self.explode:
+      raise RuntimeError("submaster unavailable")
+
+
+class FakeProcess:
+  def __init__(self, running=True):
+    self._code = None if running else 0
+    self.stdout = io.StringIO("")
+
+  def poll(self):
+    return self._code
+
+  def wait(self, timeout=None):
+    if self._code is None:
+      if timeout is None:
+        raise RuntimeError("FakeProcess does not support unbounded wait while running")
+      raise subprocess.TimeoutExpired("fake", timeout)
+    return self._code
+
+  def finish(self, code=0):
+    self._code = code
+
+
+def _controller(*, sm=None, spawn=None, stop=None, ignition=True, params=None,
+                hosted=True, admission=None, module=PEDAL_MODULE, threads=None):
+  popped = []
+  closed = []
+  rebooted = []
+  pending = threads if threads is not None else []
+  params = params or FakeParams(offroad=False, bus=2)
+
+  def fake_admission(submaster):
+    if submaster is None:
+      raise AssertionError("admission must not run without a SubMaster")
+    return submaster.block_reason
+
+  def fake_spawn(module_name, params_obj=None, *, bus=None):
+    params_obj.put_bool("NAPScriptRunning", True, block=True)
+    proc = FakeProcess()
+    spawn_calls.append({"module": module_name, "bus": bus, "proc": proc})
+    return proc
+
+  def fake_stop(proc):
+    proc.finish(1)
+    return True
+
+  spawn_calls = []
+
+  ctrl = ScriptRunnerController(
+    title="Pedal Calibration",
+    module=module,
+    instructions="hold brake",
+    params=params,
+    hosted=hosted,
+    admission_fn=admission or fake_admission,
+    spawn_fn=spawn or fake_spawn,
+    stop_child_fn=stop or fake_stop,
+    sample_ignition_fn=(ignition if callable(ignition) else lambda: ignition),
+    clear_fn=lambda p: p.put_bool("NAPScriptRunning", False, block=True),
+    submaster_factory=lambda: sm,
+    pop_fn=lambda: popped.append("pop"),
+    close_fn=lambda: closed.append("close"),
+    reboot_fn=lambda: rebooted.append("reboot"),
+    start_thread=lambda fn: pending.append(fn),
+  )
+  ctrl._spawn_calls = spawn_calls
+  ctrl._popped = popped
+  ctrl._closed = closed
+  ctrl._rebooted = rebooted
+  ctrl._pending = pending
+  return ctrl
+
+
+def test_start_without_submaster_refuses_and_does_not_mark():
+  params = FakeParams(offroad=False)
+  ctrl = _controller(sm=None, params=params)
+  ctrl._sm = None
+  assert ctrl.start_enabled is False
+  assert ctrl.start_block_reason == WAITING_SIGNALS
+  assert ctrl.start() == WAITING_SIGNALS
+  assert ctrl.state == ScriptState.READY
+  assert params.get_bool("NAPScriptRunning") is False
+  assert ctrl._spawn_calls == []
+  assert ctrl.handoff_requested is False
+
+
+def test_ready_status_banner_shows_admission_not_instruction_tail():
+  params = FakeParams(offroad=False)
+  sm = FakeSubMaster(block_reason="waiting for stationary vehicle state")
+  ctrl = _controller(sm=sm, params=params)
+  ctrl.instructions = "\n".join(["hold brake"] * 80)
+  assert ctrl.ready_status_banner == "Waiting for stationary vehicle state"
+  assert ctrl.start_enabled is False
+  sm.block_reason = None
+  assert ctrl.ready_status_banner.startswith("Ready:")
+  assert ctrl.start_enabled is True
+
+
+def test_start_admission_reason_does_not_mark_or_spawn():
+  params = FakeParams(offroad=False)
+  sm = FakeSubMaster(block_reason="vehicle must be stationary")
+  ctrl = _controller(sm=sm, params=params)
+  assert ctrl.start() == "vehicle must be stationary"
+  assert ctrl.state == ScriptState.READY
+  assert params.get_bool("NAPScriptRunning") is False
+  assert ctrl._spawn_calls == []
+
+
+def test_start_admits_then_spawns_with_local_bus_before_flag_side_effects():
+  params = FakeParams(offroad=False, bus=2)
+  order = []
+  sm = FakeSubMaster(block_reason=None)
+
+  def admission(submaster):
+    order.append("admission")
+    assert params.get_bool("NAPScriptRunning") is False
+    return None
+
+  def spawn(module_name, params_obj=None, *, bus=None):
+    order.append(("spawn", bus))
+    params_obj.put_bool("NAPScriptRunning", True, block=True)
+    return FakeProcess()
+
+  ctrl = _controller(sm=sm, params=params, admission=admission, spawn=spawn)
+  ctrl.select_bus(0)
+  assert ctrl.start() is None
+  assert ctrl.state == ScriptState.RUNNING
+  assert order == ["admission", ("spawn", 0)]
+  assert params.get_bool("NAPScriptRunning") is True
+  assert ctrl.action_label == "Cancel"
+  assert ctrl.action_enabled is True
+
+
+def test_ready_exit_hosted_pops_without_reboot_or_clear():
+  params = FakeParams(offroad=False)
+  ctrl = _controller(sm=FakeSubMaster(), params=params, hosted=True)
+  assert ctrl.request_exit() == "exited"
+  assert ctrl._popped == ["pop"]
+  assert ctrl._closed == []
+  assert ctrl._rebooted == []
+  assert params.get_bool("NAPScriptRunning") is False
+
+
+def test_cancel_stops_child_and_does_not_clear_after_handoff():
+  params = FakeParams(offroad=False)
+  ctrl = _controller(sm=FakeSubMaster(), params=params, ignition=True)
+  assert ctrl.start() is None
+  assert params.get_bool("NAPScriptRunning") is True
+  ctrl.cancel()
+  proc = ctrl._spawn_calls[0]["proc"]
+  proc.finish(1)
+  ctrl._pending[0]()
+  ctrl.pump()
+  assert params.get_bool("NAPScriptRunning") is True
+  assert ctrl.state == ScriptState.ERROR
+  assert ctrl.probe_inflight is False
+  assert ctrl.action_label == "Check ignition / Exit"
+  assert ctrl.restart_visible is True
+  assert ctrl.output_lines.count("[Cancelled]") == 1
+  assert sum("Turn the car off" in line for line in ctrl.output_lines) == 1
+  assert not any("exited with code" in line for line in ctrl.output_lines)
+  assert ctrl._popped == []
+
+
+def test_exit_blocked_while_probe_inflight():
+  params = FakeParams(offroad=False)
+  ctrl = _controller(sm=FakeSubMaster(), params=params, ignition=False)
+  ctrl.start()
+  proc = ctrl._spawn_calls[0]["proc"]
+  proc.finish(0)
+  ctrl._pending[0]()
+  ctrl.pump()
+  assert ctrl.request_exit() == "probing"
+  assert ctrl.probe_inflight is True
+  assert ctrl.action_enabled is False
+  assert ctrl.restart_enabled is False
+  assert ctrl.request_exit() == "blocked"
+  assert params.get_bool("NAPScriptRunning") is True
+  assert ctrl._popped == []
+
+
+def test_safe_exit_after_ignition_off_clears_and_pops():
+  params = FakeParams(offroad=False)
+  ctrl = _controller(sm=FakeSubMaster(), params=params, ignition=False, hosted=True)
+  ctrl.start()
+  proc = ctrl._spawn_calls[0]["proc"]
+  proc.finish(0)
+  ctrl._pending[0]()
+  ctrl.pump()
+  assert ctrl.request_exit() == "probing"
+  ctrl._pending[-1]()
+  ctrl.pump()
+  assert pedal_safe_exit_decision(False) == "clear"
+  assert params.get_bool("NAPScriptRunning") is False
+  assert ctrl._popped == ["pop"]
+  assert ctrl._rebooted == []
+
+
+def test_restart_device_is_explicit_and_never_automatic():
+  params = FakeParams(offroad=False)
+  ctrl = _controller(sm=FakeSubMaster(), params=params, ignition=True, hosted=True)
+  ctrl.start()
+  proc = ctrl._spawn_calls[0]["proc"]
+  proc.finish(0)
+  ctrl._pending[0]()
+  ctrl.pump()
+  assert ctrl._rebooted == []
+  assert ctrl.restart_visible is True
+  assert ctrl.activate_action() == "probing"
+  assert ctrl._rebooted == []
+  assert ctrl.restart_device() == "blocked"
+  ctrl._pending[-1]()
+  ctrl.pump()
+  assert ctrl.restart_required is True
+  assert ctrl.restart_device() == "reboot"
+  assert ctrl._rebooted == ["reboot"]
+  assert params.get_bool("NAPScriptRunning") is True
+  assert ctrl._popped == []
+
+
+def test_exit_after_car_off_following_on_probe_does_not_reboot():
+  params = FakeParams(offroad=False)
+  ignition = {"on": True}
+  ctrl = _controller(sm=FakeSubMaster(), params=params, ignition=lambda: ignition["on"], hosted=True)
+  ctrl.start()
+  proc = ctrl._spawn_calls[0]["proc"]
+  proc.finish(0)
+  ctrl._pending[0]()
+  ctrl.pump()
+  assert ctrl.action_label == "Check ignition / Exit"
+  assert ctrl.restart_visible is True
+  assert ctrl.request_exit() == "probing"
+  ctrl._pending[-1]()
+  ctrl.pump()
+  assert params.get_bool("NAPScriptRunning") is True
+  assert ctrl._popped == []
+  assert ctrl.restart_required is True
+  assert ctrl.action_label == "Check ignition / Exit"
+  assert ctrl.restart_visible is True
+  ignition["on"] = False
+  assert ctrl.request_exit() == "probing"
+  ctrl._pending[-1]()
+  ctrl.pump()
+  assert params.get_bool("NAPScriptRunning") is False
+  assert ctrl._popped == ["pop"]
+  assert ctrl._rebooted == []
+
+def test_main_refuses_pedal_without_tmux_or_window(monkeypatch):
+  ran = []
+  monkeypatch.setattr(subprocess, "run", lambda *a, **k: ran.append(a))
+  code = main(["run_script.py", "Pedal Calibration", PEDAL_MODULE, "hold brake"])
+  assert code == 1
+  assert ran == []
+
+
+def test_spawn_passes_bus_flag(monkeypatch):
+  captured = {}
+
+  def fake_popen(cmd, **kwargs):
+    captured["cmd"] = cmd
+    return FakeProcess()
+
+  monkeypatch.setattr(
+    "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.run_script.subprocess.Popen",
+    fake_popen,
+  )
+  monkeypatch.setattr(
+    "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.run_script.require_runtime_path",
+    lambda: None,
+  )
+  params = FakeParams(offroad=True)
+  spawn_approved_module(PEDAL_MODULE, params, bus=0)
+  assert captured["cmd"][-2:] == ["--bus", "0"]
+  assert "--confirm" in captured["cmd"]
+  assert params.get_bool("NAPScriptRunning") is True
+
+
+def test_child_fail_after_handoff_does_not_clear():
+  params = FakeParams(offroad=False)
+
+  def boom(module_name, params_obj=None, *, bus=None):
+    params_obj.put_bool("NAPScriptRunning", True, block=True)
+    raise OSError("exec failed")
+
+  ctrl = _controller(sm=FakeSubMaster(), params=params, spawn=boom)
+  ctrl.start()
+  assert ctrl.state == ScriptState.ERROR
+  assert ctrl.restart_required is True
+  assert params.get_bool("NAPScriptRunning") is True
+  assert ctrl._popped == []
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
index e9652fce7a535e..de49785859ba4c 100644
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/tests/test_preap_tools.py
@@ -2,7 +2,6 @@
 from pathlib import Path
 from tempfile import TemporaryDirectory
 from unittest.mock import MagicMock
-import re
 from typing import cast
 
 import pytest
@@ -35,6 +34,10 @@
   require_preap_tool_start,
 )
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.transport import (
+  CAN_RECV_RETRIES,
+  CAN_RECV_TIMEOUT_MS,
+  HEALTH_TIMEOUT_MS,
+  HEARTBEAT_TIMEOUT_MS,
   PREAP_FLAG_ENABLE_PEDAL,
   PREAP_FLAG_PEDAL_BUS_ZERO,
   PREAP_FLAG_PEDAL_CALIBRATION,
@@ -57,6 +60,69 @@ def get_bool(self, key):
   def put_bool(self, key, value, block=True):
     self.store[key] = bool(value)
 
+  def get(self, key, return_default=False):
+    return self.store.get(key)
+
+  def put(self, key, value, block=True):
+    self.store[key] = value
+
+
+def _health_bytes(*, safety_mode=0, safety_param=0, heartbeat_lost=0,
+                  ignition_line=0, ignition_can=0):
+  from panda import Panda
+  n = len(Panda.HEALTH_STRUCT.unpack(bytes(Panda.HEALTH_STRUCT.size)))
+  vals = [0] * n
+  vals[8] = ignition_line
+  vals[9] = ignition_can
+  vals[12] = safety_mode
+  vals[13] = safety_param
+  vals[16] = heartbeat_lost
+  return Panda.HEALTH_STRUCT.pack(*vals)
+
+
+class UsbHandle:
+  def __init__(self, *, health=b"", can=b"", fail=None):
+    self.health = health
+    self.can = can
+    self.fail = fail
+    self.writes = []
+    self.reads = []
+    self.bulk = []
+
+  def controlWrite(self, request_type, request, value, index, data, timeout=0, **kwargs):
+    self.writes.append((request, value, index, timeout))
+    if self.fail == "write":
+      raise RuntimeError("usb timeout")
+
+  def controlRead(self, request_type, request, value, index, length, timeout=0):
+    self.reads.append((request, length, timeout))
+    if self.fail == "read":
+      raise RuntimeError("usb timeout")
+    return self.health
+
+  def bulkRead(self, endpoint, length, timeout=0):
+    self.bulk.append((endpoint, length, timeout))
+    if self.fail == "bulk":
+      raise RuntimeError("usb timeout")
+    return self.can
+
+
+def _usb_panda(handle=None, **handle_kw):
+  from panda import Panda
+
+  class UsbPanda:
+    HEALTH_STRUCT = Panda.HEALTH_STRUCT
+
+    def __init__(self, usb_handle):
+      self._handle = usb_handle
+      self.can_rx_overflow_buffer = bytearray()
+      self.set_safety_mode = MagicMock()
+      self.can_send = MagicMock()
+
+  return UsbPanda(handle or UsbHandle(**handle_kw))
+
+
+
 
 def test_offroad_and_confirmation_gates():
   require_offroad(FakeParams(offroad=True))
@@ -66,12 +132,14 @@ def test_offroad_and_confirmation_gates():
   with pytest.raises(ToolSafetyError):
     require_confirmation(False, tool="flash_epas")
   require_confirmation(False, tool="diagnose_radar")
+  require_preap_tool_start(FakeParams(offroad=False), tool="calibrate_pedal", confirmed=True)
   with pytest.raises(ToolSafetyError):
-    require_preap_tool_start(FakeParams(offroad=False), tool="calibrate_pedal", confirmed=True)
+    require_preap_tool_start(FakeParams(offroad=False), tool="flash_epas", confirmed=True)
   with pytest.raises(ToolSafetyError):
     require_preap_tool_start(FakeParams(offroad=True), tool="calibrate_pedal", confirmed=False)
 
 
+
 def test_transport_rejects_alloutput():
   panda = MagicMock()
   transport = DiagnosticTransport(panda=panda)
@@ -313,69 +381,6 @@ def missing_packaged():
   assert "close" in called
 
 
-PREAP_TRANSLATION_MSGIDS = (
-  "Lateral Engagement Mode",
-  "Independent",
-  "Radar Lateral Offset",
-  "CALIBRATE",
-  "DIAGNOSE",
-  "TEST",
-  "BACKUP",
-  "FLASH",
-  "RESTORE",
-  "Calibrate Pedal",
-  "Calibrate Radar",
-  "Diagnose Radar",
-  "Test Radar",
-  "Backup EPAS",
-  "Flash EPAS",
-  "Restore EPAS",
-  "Cruise Coupled",
-  "Longitudinal Only",
-  "Pedal Interceptor",
-  "Bosch Radar",
-  "Radar Behind Nosecone",
-  "Follow Distance",
-  "Longitudinal Path",
-  "Pedal Health",
-  "Radar Health",
-  "Pedal Unavailable",
-  "Regen Limit Reached",
-  "Stock cruise required",
-  "Press Brake to Slow Down",
-)
-
-
-def test_preap_translation_msgids_in_pot():
-  trans = Path(__file__).resolve().parents[7] / "selfdrive" / "ui" / "translations"
-  pot = (trans / "app.pot").read_text()
-  for msgid in PREAP_TRANSLATION_MSGIDS + ("Pedal Calibration",):
-    assert msgid.split("\n", 1)[0] in pot, msgid
-  assert "#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py" in pot
-  assert "#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py" in pot
-  assert "#: openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py" in pot
-  assert "#: openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/instructions.py" in pot
-  assert 'msgid "Active Engagement Mode"' not in pot
-  for line in pot.splitlines():
-    if "preap_alerts.py" in line or "tesla/preap/tools/instructions.py" in line or "brands/tesla.py" in line or "mads_settings.py" in line:
-      assert line.startswith("#: openpilot/")
-      assert not re.search(r"\.py:\d+", line)
-
-
-def test_preap_po_catalogs_english_filled_others_empty():
-  trans = Path(__file__).resolve().parents[7] / "selfdrive" / "ui" / "translations"
-  catalogs = sorted(trans.glob("app_*.po"))
-  assert any(p.name == "app_en.po" for p in catalogs)
-  assert len(catalogs) >= 10
-  for po in catalogs:
-    body = po.read_text()
-    for msgid in PREAP_TRANSLATION_MSGIDS:
-      match = re.search(rf'msgid "{re.escape(msgid)}"\nmsgstr "(.*)"', body)
-      assert match is not None, f"{po.name} missing {msgid}"
-      if po.name == "app_en.po":
-        assert match.group(1) == msgid, po.name
-      else:
-        assert match.group(1) == "", f"{po.name} should leave {msgid} untranslated"
 
 
 def test_runtime_path_requires_basedir(monkeypatch):
@@ -403,8 +408,10 @@ def test_run_script_rejects_unapproved_and_requires_offroad():
   with pytest.raises(ValueError, match="unapproved"):
     prepare_run("scripts.nap.radar_replay", FakeParams(offroad=True))
   with pytest.raises(ToolSafetyError, match="offroad"):
-    prepare_run(next(iter(APPROVED_MODULES)), FakeParams(offroad=False))
-  assert prepare_run(next(iter(APPROVED_MODULES)), FakeParams(offroad=True)) in APPROVED_MODULES
+    prepare_run(APPROVED_TOOLS["diagnose_radar"], FakeParams(offroad=False))
+  assert prepare_run(APPROVED_TOOLS["calibrate_pedal"], FakeParams(offroad=False)) in APPROVED_MODULES
+  assert prepare_run(APPROVED_TOOLS["diagnose_radar"], FakeParams(offroad=True)) in APPROVED_MODULES
+
 
 
 def test_negative_response_fail_closed():
@@ -427,14 +434,6 @@ def test_follow_scroll_offset_pins_overflow_to_bottom():
   assert follow_scroll_offset(10, 45, 200) == -(10 * 45 - 200)
 
 
-def test_run_script_scrolls_live_output_and_reboots_on_exit():
-  src = (Path(__file__).resolve().parents[1] / "run_script.py").read_text()
-  assert "_scroll_panel.update" in src
-  assert "begin_scissor_mode" in src
-  assert "follow_scroll_offset" in src
-  assert "HARDWARE.reboot" in src
-  assert "set_enabled(self._state != ScriptState.RUNNING)" in src
-
 
 def test_run_script_not_in_yaml():
   src = Path(__file__).resolve().parents[6] / "sunnylink" / "settings_ui_src" / "pages" / "vehicle.yaml"
@@ -629,9 +628,16 @@ def __init__(self, offroad=True, enabled=True, bus=2):
   def get_bool(self, key):
     return bool(self.store.get(key, False))
 
+  def put_bool(self, key, value, block=True):
+    self.store[key] = bool(value)
+
   def get(self, key):
     return self.store.get(key)
 
+  def put(self, key, value, block=True):
+    self.store[key] = value
+
+
 
 def test_parse_configured_pedal_bus_preserves_zero_and_defaults_empty():
   assert parse_configured_pedal_bus(0) == 0
@@ -644,11 +650,15 @@ def test_parse_configured_pedal_bus_preserves_zero_and_defaults_empty():
 
 
 def test_transport_pedal_calibration_programs_legal_params():
-  panda = MagicMock()
+  handle = UsbHandle()
+  panda = _usb_panda(handle)
   transport = DiagnosticTransport(panda=panda)
   transport.set_pedal_calibration_session(2)
   panda.set_safety_mode.assert_any_call(SAFETY_SILENT, 0)
   panda.set_safety_mode.assert_any_call(SAFETY_TESLA_PREAP, PREAP_FLAG_PEDAL_CALIBRATION)
+  assert handle.writes[-1][0] == 0xf3
+  assert handle.writes[-1][1:] == (0, 0, HEARTBEAT_TIMEOUT_MS)
+
   transport.set_pedal_calibration_session(0)
   panda.set_safety_mode.assert_called_with(
     SAFETY_TESLA_PREAP, PREAP_FLAG_PEDAL_CALIBRATION | PREAP_FLAG_PEDAL_BUS_ZERO,
@@ -671,93 +681,711 @@ def test_transport_rejects_elm327_alloutput_and_mixed_preap():
     transport._set_safety_mode(SAFETY_TESLA_PREAP, PREAP_FLAG_PEDAL_CALIBRATION | PREAP_FLAG_ENABLE_PEDAL)
 
 
-def test_calibrate_pedal_run_selects_preap_calibration_session(monkeypatch):
+def test_parse_pedal_calibration_args_bus_optional():
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.calibrate_pedal import (
+    parse_pedal_calibration_args,
+  )
+  confirmed, bus = parse_pedal_calibration_args(["--confirm"])
+  assert confirmed is True
+  assert bus is None
+  confirmed, bus = parse_pedal_calibration_args(["--confirm", "--bus", "0"])
+  assert confirmed is True
+  assert bus == 0
+  confirmed, bus = parse_pedal_calibration_args(["--bus", "2"])
+  assert confirmed is False
+  assert bus == 2
+
+
+class RecordingParams(FakeParams):
+  def __init__(self, offroad=True):
+    super().__init__(offroad=offroad)
+    self.puts = []
+
+  def put(self, key, value, block=True):
+    self.puts.append(key)
+    self.store[key] = value
+
+  def put_bool(self, key, value, block=True):
+    self.puts.append(key)
+    self.store[key] = bool(value)
+
+
+class FakeSubMaster:
+  def __init__(self, *, started=False, engaged=False, v_ego=0.0, car_fresh=True,
+               processes=None, device_seen=True, device_fresh=None,
+               selfdrive_fresh=True, mads=None, mads_fresh=True,
+               can_msgs=None, can_fresh=False):
+    if device_fresh is None:
+      device_fresh = device_seen
+    self.seen = {
+      "deviceState": device_seen,
+      "selfdriveState": True,
+      "carState": car_fresh,
+      "managerState": processes is not None,
+    }
+    self.alive = {
+      "deviceState": bool(device_seen and device_fresh),
+      "selfdriveState": selfdrive_fresh,
+      "carState": car_fresh,
+      "managerState": processes is not None,
+    }
+    self.valid = dict(self.alive)
+    self.data = {
+      "deviceState": type("DS", (), {"started": started})(),
+      "selfdriveState": type("SS", (), {"enabled": engaged})(),
+      "carState": type("CS", (), {"vEgo": v_ego})(),
+      "managerState": type("MS", (), {"processes": processes or []})(),
+    }
+    if mads is not None:
+      self.data["selfdriveStateSP"] = type("SP", (), {
+        "mads": type("M", (), {"enabled": mads})(),
+      })()
+      self.seen["selfdriveStateSP"] = True
+      self.alive["selfdriveStateSP"] = mads_fresh
+      self.valid["selfdriveStateSP"] = mads_fresh
+    if can_msgs is not None:
+      self.data["can"] = can_msgs
+      self.seen["can"] = True
+      self.alive["can"] = can_fresh
+      self.valid["can"] = can_fresh
+
+  def __getitem__(self, name):
+    return self.data[name]
+
+  def update(self, timeout=0):
+    return None
+
+
+def test_pedal_entry_offroad_without_carstate_waits():
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import (
+    pedal_calibration_entry_reason,
+  )
+  assert pedal_calibration_entry_reason(
+    offroad=True, engaged=False, car_state_fresh=False, v_ego=20.0,
+  ) is not None
+
+
+def test_pedal_entry_rejects_moving_and_engaged_and_unknown():
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import (
+    pedal_calibration_entry_reason,
+  )
+  assert pedal_calibration_entry_reason(
+    offroad=False, engaged=False, car_state_fresh=True, v_ego=5.0,
+  ) is not None
+  assert pedal_calibration_entry_reason(
+    offroad=False, engaged=True, car_state_fresh=True, v_ego=0.0,
+  ) is not None
+  assert pedal_calibration_entry_reason(
+    offroad=False, engaged=False, car_state_fresh=False, v_ego=0.0,
+  ) is not None
+  assert pedal_calibration_entry_reason(
+    offroad=False, engaged=False, car_state_fresh=True, v_ego=0.0,
+  ) is None
+  assert pedal_calibration_entry_reason(
+    offroad=True, engaged=False, car_state_fresh=True, v_ego=0.0,
+  ) is None
+
+
+def test_pedal_entry_rejects_invalid_speed_even_when_fresh():
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import pedal_calibration_entry_reason
+
+  for speed in (float("nan"), float("inf"), -1.0):
+    assert pedal_calibration_entry_reason(
+      offroad=True, engaged=False, car_state_fresh=True, v_ego=speed,
+    ) is not None
+
+
+def test_admission_from_submaster_missing_and_stale_fail_closed():
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import admission_from_submaster
+  assert admission_from_submaster(None) is not None
+  assert admission_from_submaster(FakeSubMaster(device_seen=False, car_fresh=True)) is not None
+  assert admission_from_submaster(
+    FakeSubMaster(device_seen=True, device_fresh=False, started=False, car_fresh=True),
+  ) is not None
+  assert admission_from_submaster(FakeSubMaster(started=False, car_fresh=False)) is not None
+  assert admission_from_submaster(FakeSubMaster(started=True, car_fresh=False)) is not None
+  assert admission_from_submaster(
+    FakeSubMaster(started=True, selfdrive_fresh=False, car_fresh=True, v_ego=0.0),
+  ) is not None
+  assert admission_from_submaster(
+    FakeSubMaster(started=True, engaged=True, car_fresh=True, v_ego=0.0),
+  ) is not None
+  assert admission_from_submaster(
+    FakeSubMaster(started=True, engaged=False, mads=True, car_fresh=True, v_ego=0.0),
+  ) is not None
+  assert admission_from_submaster(
+    FakeSubMaster(started=True, mads=False, mads_fresh=False, car_fresh=True, v_ego=0.0),
+  ) is not None
+  assert admission_from_submaster(
+    FakeSubMaster(started=True, v_ego=0.0, car_fresh=True),
+  ) is None
+  assert admission_from_submaster(
+    FakeSubMaster(started=False, v_ego=0.0, car_fresh=True),
+  ) is None
+
+
+def test_admission_uses_fresh_bus0_esp_b_when_carstate_missing():
+  from opendbc.can import CANPacker
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import admission_from_submaster
+
+  addr, dat, src = CANPacker("tesla_preap").make_can_msg("ESP_B", 0, {"ESP_vehicleSpeed": 0.0})
+  msg = type("Can", (), {"address": addr, "dat": dat, "src": src})()
+  assert admission_from_submaster(FakeSubMaster(
+    started=False, car_fresh=False, can_msgs=[msg], can_fresh=True,
+  )) is None
+  moving, dat_m, src_m = CANPacker("tesla_preap").make_can_msg("ESP_B", 0, {"ESP_vehicleSpeed": 5.0})
+  moving_msg = type("Can", (), {"address": moving, "dat": dat_m, "src": src_m})()
+  assert admission_from_submaster(FakeSubMaster(
+    started=False, car_fresh=False, can_msgs=[moving_msg], can_fresh=True,
+  )) is not None
+  wrong_bus = type("Can", (), {"address": addr, "dat": dat, "src": 2})()
+  assert admission_from_submaster(FakeSubMaster(
+    started=False, car_fresh=False, can_msgs=[wrong_bus], can_fresh=True,
+  )) is not None
+
+def test_esp_b_zero_speed_is_standstill():
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.calibrate_pedal import esp_b_speed_ms
+  assert esp_b_speed_ms(bytes(8)) == 0.0
+  assert esp_b_speed_ms(bytes(6)) is None
+  assert esp_b_speed_ms(b"\x00") is None
+
+
+def test_esp_b_speed_matches_dbc_packer_not_byte4():
+  from opendbc.can import CANPacker
+  from opendbc.car.common.conversions import Conversions as CV
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.calibrate_pedal import esp_b_speed_ms
+
+  addr, dat, _bus = CANPacker("tesla_preap").make_can_msg("ESP_B", 0, {"ESP_vehicleSpeed": 1.0})
+  assert addr == 0x155
+  assert len(dat) >= 7
+  assert dat[5] == 0
+  assert dat[6] == 100
+  wrong = ((dat[5] << 8) | dat[4]) * 0.01
+  assert wrong == 0.0
+  speed = esp_b_speed_ms(dat)
+  assert speed is not None
+  assert abs(speed - 1.0 * CV.KPH_TO_MS) < 1e-6
+
+
+
+def test_persist_calibration_invalidates_done_then_commits(monkeypatch):
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.calibrate_pedal import persist_calibration
+  params = RecordingParams()
+  persist_calibration(params, min_v=10.0, max_v=90.0, factor=1.25, zero=12.0, bus=0)
+  assert params.puts[0] == "NAPPedalCalibDone"
+  assert params.store["NAPPedalCalibDone"] is True
+  assert params.puts[-1] == "NAPPedalCalibDone"
+  assert "NAPPedalCalibMin" in params.puts
+  assert params.puts.index("NAPPedalCanBus") < params.puts.index("NAPPedalEnabled")
+  assert params.puts.index("NAPPedalEnabled") < len(params.puts) - 1
+  assert params.get_bool("NAPPedalEnabled") is True
+  assert params.store["NAPPedalCanBus"] == 0
+
+
+def test_persist_calibration_failure_does_not_leave_done_true():
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.calibrate_pedal import persist_calibration
+
+  class BoomParams(RecordingParams):
+    def put(self, key, value, block=True):
+      super().put(key, value, block=block)
+      if key == "NAPPedalCalibFactor":
+        raise RuntimeError("disk full")
+
+  params = BoomParams()
+  params.put_bool("NAPPedalCalibDone", True)
+  params.put("NAPPedalCanBus", 2)
+  params.puts.clear()
+  with pytest.raises(RuntimeError, match="disk full"):
+    persist_calibration(params, min_v=10.0, max_v=90.0, factor=1.25, zero=12.0, bus=0)
+  assert params.store.get("NAPPedalCalibMin") == 10.0
+  assert params.store.get("NAPPedalCanBus") == 2
+  assert params.get_bool("NAPPedalCalibDone") is False
+
+
+def test_persist_without_bus_does_not_write_can_bus():
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.calibrate_pedal import persist_calibration
+  params = RecordingParams()
+  persist_calibration(params, min_v=10.0, max_v=90.0, factor=1.25, zero=12.0)
+  assert "NAPPedalCanBus" not in params.puts
+
+
+
+def test_require_calibration_health_aborts_silent_without_rearm():
+  handle = UsbHandle(health=_health_bytes(safety_mode=SAFETY_SILENT))
+  panda = _usb_panda(handle)
+  transport = DiagnosticTransport(panda=panda)
+  with pytest.raises(TransportError, match="SILENT"):
+    transport.require_calibration_health(SAFETY_TESLA_PREAP, PREAP_FLAG_PEDAL_CALIBRATION)
+  panda.set_safety_mode.assert_not_called()
+  assert handle.reads[-1] == (0xd2, type(panda).HEALTH_STRUCT.size, HEALTH_TIMEOUT_MS)
+
+
+def test_require_calibration_health_aborts_watchdog_loss_without_rearm():
+  handle = UsbHandle(health=_health_bytes(
+    safety_mode=SAFETY_TESLA_PREAP,
+    safety_param=PREAP_FLAG_PEDAL_CALIBRATION,
+    heartbeat_lost=1,
+  ))
+  panda = _usb_panda(handle)
+  transport = DiagnosticTransport(panda=panda)
+  with pytest.raises(TransportError, match="watchdog"):
+    transport.require_calibration_health(SAFETY_TESLA_PREAP, PREAP_FLAG_PEDAL_CALIBRATION)
+  panda.set_safety_mode.assert_not_called()
+
+
+def test_heartbeat_defaults_false_false():
+  handle = UsbHandle()
+  panda = _usb_panda(handle)
+  transport = DiagnosticTransport(panda=panda)
+  transport.send_heartbeat()
+  assert handle.writes == [(0xf3, 0, 0, HEARTBEAT_TIMEOUT_MS)]
+
+
+def test_usb_io_fails_closed_without_handle():
+  panda = MagicMock()
+  transport = DiagnosticTransport(panda=panda)
+  with pytest.raises(TransportError, match="usb handle"):
+    transport.send_heartbeat()
+  with pytest.raises(TransportError, match="usb handle"):
+    transport.read_health()
+  with pytest.raises(TransportError, match="usb handle"):
+    transport.can_recv()
+  panda.send_heartbeat.assert_not_called()
+  panda.health.assert_not_called()
+  panda.can_recv.assert_not_called()
+
+
+def test_processes_released_requires_named_daemons_stopped():
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import processes_released
+
+  class Proc:
+    def __init__(self, name, running):
+      self.name = name
+      self.running = running
+
+  state = type("MS", (), {"processes": [
+    Proc("pandad", False), Proc("card", False), Proc("controlsd", False), Proc("ui", True),
+  ]})()
+  assert processes_released(state) is True
+  state.processes[0].running = True
+  assert processes_released(state) is False
+
+
+def test_wait_for_manager_release_times_out():
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import wait_for_manager_release
+  sm = FakeSubMaster(processes=[type("P", (), {"name": "pandad", "running": True})()])
+  with pytest.raises(ToolSafetyError, match="timed out"):
+    wait_for_manager_release(sm, timeout_s=0.0, sleep=lambda _s: None, now=lambda: 1.0)
+
+
+def test_reap_leaves_script_running_while_started():
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import runner
+  params = FakeParams(offroad=False)
+  params.put_bool("NAPScriptRunning", True)
+  process = MagicMock()
+  process.wait.return_value = 0
+  runner._reap_tool(process, params)
+  assert params.get_bool("NAPScriptRunning") is True
+
+  params = FakeParams(offroad=True)
+  params.put_bool("NAPScriptRunning", True)
+  runner._reap_tool(process, params)
+  assert params.get_bool("NAPScriptRunning") is False
+
+
+def test_early_handoff_failure_clears_flag(monkeypatch):
   from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import calibrate_pedal
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.safety import ToolSafetyError
+
+  params = PedalCalibParams(offroad=False, enabled=False)
+  params.put_bool("NAPScriptRunning", True)
 
-  calls = []
+  def boom():
+    raise ToolSafetyError("timed out waiting for driving processes to stop")
 
-  class FakeTransport:
+  monkeypatch.setattr(calibrate_pedal, "wait_for_manager_release", boom)
+  with pytest.raises(ToolSafetyError):
+    calibrate_pedal.run(confirmed=True, params=params)
+  assert params.get_bool("NAPScriptRunning") is False
+
+
+def test_usb_claimed_failure_does_not_clear_flag(monkeypatch):
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import calibrate_pedal
+
+  params = PedalCalibParams(offroad=False, enabled=False)
+  params.put_bool("NAPScriptRunning", True)
+
+  class ClaimedTransport:
     def __init__(self, panda=None):
       self.panda = panda
 
     def connect(self, panda_factory=None):
-      calls.append("connect")
       return self.panda
 
-    def set_diagnostic_session(self):
-      calls.append("elm327")
-
     def set_pedal_calibration_session(self, bus=2):
-      calls.append(("preap", bus))
+      raise TransportError("unexpected SILENT safety mode")
 
     def set_silent(self):
-      calls.append("silent")
+      return None
+
+    def can_send(self, *args, **kwargs):
+      return None
 
     def close(self):
-      calls.append("close")
+      return None
+
+  monkeypatch.setattr(calibrate_pedal, "wait_for_manager_release", lambda *a, **k: None)
+  with pytest.raises(PedalCalibrationError, match="SILENT"):
+    calibrate_pedal.run(
+      confirmed=True,
+      params=params,
+      transport=cast(calibrate_pedal.DiagnosticTransport, ClaimedTransport()),
+    )
+  assert params.get_bool("NAPScriptRunning") is True
 
-  class FakeCalibrator:
-    def __init__(self, params, transport, bus):
-      calls.append(("calibrator", bus))
 
-    def run(self):
-      calls.append("run")
-      return 0
+def _packed(name, bus, values):
+  from opendbc.can import CANPacker
+  return CANPacker("tesla_preap").make_can_msg(name, bus, values)
 
-    def cleanup(self):
-      calls.append("cleanup")
 
-  monkeypatch.setattr(calibrate_pedal, "DiagnosticTransport", FakeTransport)
-  monkeypatch.setattr(calibrate_pedal, "PedalCalibrator", FakeCalibrator)
-  assert calibrate_pedal.run(
-    confirmed=True,
-    params=PedalCalibParams(bus=2),
-    transport=cast(calibrate_pedal.DiagnosticTransport, FakeTransport()),
-  ) == 0
-  assert "elm327" not in calls
-  assert ("preap", 2) in calls
-  assert "run" in calls
+def _stationary_vehicle_frames(pedal_bus=2):
+  frames = [
+    _packed("ESP_B", 0, {"ESP_vehicleSpeed": 0.0}),
+    _packed("GTW_status", 0, {"GTW_driveRailReq": 1}),
+    _packed("BrakeMessage", 0, {"driverBrakeStatus": 2}),
+    _packed("DI_torque2", 0, {"DI_gear": 3}),
+    _packed("DI_torque1", 0, {"DI_pedalPos": 0}),
+  ]
+  frames.append(_packed("GAS_SENSOR", pedal_bus, {"STATE": 0, "INTERCEPTOR_GAS": 0, "INTERCEPTOR_GAS2": 0}))
+  return frames
+
+
+def _make_calibrator(frames, bus=2, monkeypatch=None, t_ms=10_000):
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.calibrate_pedal import PedalCalibrator
+  if monkeypatch is not None:
+    monkeypatch.setattr(
+      "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.calibrate_pedal.current_time_ms",
+      lambda: t_ms,
+    )
+  transport = MagicMock()
+  transport.can_recv.return_value = frames
+  return PedalCalibrator(PedalCalibParams(), transport, bus)
+
+
+def test_process_can_ignores_wrong_bus_and_requires_fresh_sources(monkeypatch):
+
+  cal = _make_calibrator([_packed("ESP_B", 2, {"ESP_vehicleSpeed": 0.0})], bus=2, monkeypatch=monkeypatch)
+  cal.process_can()
+  assert cal.speed_seen_ms == 0
+  assert cal.check_safety() is False
+
+  cal = _make_calibrator(_stationary_vehicle_frames(pedal_bus=2), bus=2, monkeypatch=monkeypatch)
+  cal.process_can()
+  assert cal.check_safety() is True
+  assert cal.car_on is True
+  assert cal.brake_pressed is True
+  assert cal.gear_neutral is True
+  assert cal.last_pedal_seen_ms > 0
+
+  cal = _make_calibrator(_stationary_vehicle_frames(pedal_bus=2), bus=0, monkeypatch=monkeypatch)
+  cal.process_can()
+  assert cal.last_pedal_seen_ms == 0
 
 
-def test_calibrate_pedal_run_preserves_configured_bus_zero(monkeypatch):
+def test_check_safety_rejects_low_speed_invalid_brake_and_stale_ignition(monkeypatch):
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.calibrate_pedal import (
+    PedalCalibrationError, SOURCE_TIMEOUT_MS,
+  )
+
+  moving = _stationary_vehicle_frames()
+  moving[0] = _packed("ESP_B", 0, {"ESP_vehicleSpeed": 5.0})
+  cal = _make_calibrator(moving, monkeypatch=monkeypatch)
+  cal.process_can()
+  assert cal.check_safety() is False
+  cal.pedal_enabled = 1
+  with pytest.raises(PedalCalibrationError, match="moving"):
+    cal.check_safety()
+
+  invalid = _stationary_vehicle_frames()
+  invalid[2] = _packed("BrakeMessage", 0, {"driverBrakeStatus": 0})
+  cal = _make_calibrator(invalid, monkeypatch=monkeypatch)
+  cal.process_can()
+  assert cal.brake_valid is False
+  assert cal.check_safety() is False
+  cal.pedal_enabled = 1
+  with pytest.raises(PedalCalibrationError, match="invalid brake"):
+    cal.check_safety()
+
+  released = _stationary_vehicle_frames()
+  released[2] = _packed("BrakeMessage", 0, {"driverBrakeStatus": 1})
+  cal = _make_calibrator(released, monkeypatch=monkeypatch)
+  cal.process_can()
+  assert cal.brake_valid is True
+  assert cal.brake_pressed is False
+  assert cal.check_safety() is False
+
+  t = [10_000]
+  monkeypatch.setattr(
+    "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.calibrate_pedal.current_time_ms",
+    lambda: t[0],
+  )
+  cal = _make_calibrator(_stationary_vehicle_frames())
+  cal.process_can()
+  assert cal.check_safety() is True
+  t[0] = 10_000 + SOURCE_TIMEOUT_MS + 1
+  cal.transport.can_recv.return_value = [
+    _packed("ESP_B", 0, {"ESP_vehicleSpeed": 0.0}),
+    _packed("BrakeMessage", 0, {"driverBrakeStatus": 2}),
+    _packed("DI_torque2", 0, {"DI_gear": 3}),
+    _packed("DI_torque1", 0, {"DI_pedalPos": 0}),
+  ]
+  cal.process_can()
+  cal.pedal_enabled = 1
+  with pytest.raises(PedalCalibrationError, match="ignition lost"):
+    cal.check_safety()
+
+
+def test_stale_accelerator_blocks_enable_ramp(monkeypatch):
+  frames = [
+    _packed("ESP_B", 0, {"ESP_vehicleSpeed": 0.0}),
+    _packed("GTW_status", 0, {"GTW_driveRailReq": 1}),
+    _packed("BrakeMessage", 0, {"driverBrakeStatus": 2}),
+    _packed("DI_torque2", 0, {"DI_gear": 3}),
+  ]
+  cal = _make_calibrator(frames, monkeypatch=monkeypatch)
+  cal.process_can()
+  cal.status = 2
+  assert cal.accel_seen_ms == 0
+  assert cal.check_safety() is False
+
+
+def test_heartbeat_stays_false_false_past_watchdog():
+  handle = UsbHandle(health=_health_bytes(
+    safety_mode=SAFETY_TESLA_PREAP,
+    safety_param=PREAP_FLAG_PEDAL_CALIBRATION,
+  ))
+  panda = _usb_panda(handle)
+  transport = DiagnosticTransport(panda=panda)
+  transport._mode = SAFETY_TESLA_PREAP
+  transport._param = PREAP_FLAG_PEDAL_CALIBRATION
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.calibrate_pedal import PedalCalibrator
+  cal = PedalCalibrator(PedalCalibParams(), transport, 2)
+  for _ in range(600):
+    cal._tick_watchdog()
+  heartbeats = [w for w in handle.writes if w[0] == 0xf3]
+  assert len(heartbeats) == 600
+  assert all(w[1:] == (0, 0, HEARTBEAT_TIMEOUT_MS) for w in heartbeats)
+  panda.set_safety_mode.assert_not_called()
+
+
+def test_heartbeat_clamps_true_true_in_tesla_preap():
+  handle = UsbHandle()
+  panda = _usb_panda(handle)
+  transport = DiagnosticTransport(panda=panda)
+  transport._mode = SAFETY_TESLA_PREAP
+  transport.send_heartbeat(True, True)
+  assert handle.writes == [(0xf3, 0, 0, HEARTBEAT_TIMEOUT_MS)]
+
+
+def test_can_recv_retries_are_bounded():
+  handle = UsbHandle(fail="bulk")
+  panda = _usb_panda(handle)
+  transport = DiagnosticTransport(panda=panda)
+  with pytest.raises(TransportError, match="can_recv"):
+    transport.can_recv()
+  assert len(handle.bulk) == CAN_RECV_RETRIES
+  assert all(b == (1, 16384, CAN_RECV_TIMEOUT_MS) for b in handle.bulk)
+
+
+def test_can_recv_unpacks_serialized_frames():
+  from panda.python import pack_can_buffer
+  packed = bytes(pack_can_buffer([(0x155, bytes(8), 0)])[0])
+  handle = UsbHandle(can=packed)
+  panda = _usb_panda(handle)
+  msgs = DiagnosticTransport(panda=panda).can_recv()
+  assert msgs[0][0] == 0x155
+  assert msgs[0][2] == 0
+  assert handle.bulk == [(1, 16384, CAN_RECV_TIMEOUT_MS)]
+
+
+def test_heartbeat_usb_failure_is_bounded():
+  handle = UsbHandle(fail="write")
+  panda = _usb_panda(handle)
+  transport = DiagnosticTransport(panda=panda)
+  with pytest.raises(TransportError, match="heartbeat"):
+    transport.send_heartbeat()
+  assert handle.writes == [(0xf3, 0, 0, HEARTBEAT_TIMEOUT_MS)]
+
+
+def test_connect_failure_after_handoff_leaves_flag(monkeypatch):
   from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import calibrate_pedal
 
-  calls = []
+  params = PedalCalibParams(offroad=False, enabled=False)
+  params.put_bool("NAPScriptRunning", True)
 
-  class FakeTransport:
-    def __init__(self, panda=None):
-      self.panda = panda
+  class BoomConnect:
+    def connect(self, *args, **kwargs):
+      raise TransportError("panda busy")
 
-    def connect(self, panda_factory=None):
-      return self.panda
+    def set_silent(self):
+      return None
 
-    def set_diagnostic_session(self):
-      calls.append("elm327")
+    def can_send(self, *args, **kwargs):
+      return None
+
+    def close(self):
+      return None
+
+  monkeypatch.setattr(calibrate_pedal, "wait_for_manager_release", lambda *a, **k: None)
+  with pytest.raises(PedalCalibrationError, match="panda busy"):
+    calibrate_pedal.run(
+      confirmed=True,
+      params=params,
+      transport=cast(calibrate_pedal.DiagnosticTransport, BoomConnect()),
+    )
+  assert params.get_bool("NAPScriptRunning") is True
+  assert params.store.get("NAPPedalCanBus") == 2
+  assert params.get_bool("NAPPedalEnabled") is False
+
+
+def test_run_explicit_bus_does_not_persist_before_success(monkeypatch):
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import calibrate_pedal
+
+  recorded = {}
+
+  class FakeTransport:
+    def connect(self, *args, **kwargs):
+      return None
 
     def set_pedal_calibration_session(self, bus=2):
-      calls.append(("preap", bus))
+      recorded["session_bus"] = bus
+
+    def set_silent(self):
+      return None
 
     def close(self):
-      calls.append("close")
+      return None
 
   class FakeCalibrator:
     def __init__(self, params, transport, bus):
-      calls.append(("calibrator", bus))
+      recorded["cal_bus"] = bus
 
     def run(self):
-      calls.append("run")
       return 0
 
     def cleanup(self):
-      calls.append("cleanup")
+      return None
 
-  monkeypatch.setattr(calibrate_pedal, "DiagnosticTransport", FakeTransport)
+  params = PedalCalibParams(bus=2)
+  monkeypatch.setattr(calibrate_pedal, "wait_for_manager_release", lambda *a, **k: None)
   monkeypatch.setattr(calibrate_pedal, "PedalCalibrator", FakeCalibrator)
   assert calibrate_pedal.run(
-    confirmed=True,
-    params=PedalCalibParams(bus=0),
-    transport=cast(calibrate_pedal.DiagnosticTransport, FakeTransport()),
+      confirmed=True,
+      params=params,
+      transport=cast(calibrate_pedal.DiagnosticTransport, FakeTransport()),
+      bus=0,
   ) == 0
-  assert "elm327" not in calls
-  assert ("preap", 0) in calls
-  assert ("calibrator", 0) in calls
+  assert recorded["session_bus"] == 0
+  assert recorded["cal_bus"] == 0
+  assert params.store["NAPPedalCanBus"] == 2
+
+
+def test_processes_released_rejects_missing_names():
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner import processes_released
+  empty = type("MS", (), {"processes": []})()
+  assert processes_released(empty) is False
+
+
+
+def test_pedal_ready_lines_include_bus_setup():
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.run_script import pedal_ready_lines
+  params = PedalCalibParams(bus=0)
+  sm = FakeSubMaster(started=False)
+  lines = pedal_ready_lines(sm, params)
+  assert any("bus: 0" in line.lower() or "bus: 0" in line for line in lines)
+  assert any("interceptor toggle" in line.lower() for line in lines)
+
+
+def test_launch_on_device_runner_allows_pedal_ignition_on(monkeypatch):
+  captured = {}
+
+  def fake_popen(cmd, **kwargs):
+    captured["cmd"] = cmd
+    return MagicMock()
+
+  monkeypatch.setattr(
+    "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner.subprocess.Popen",
+    fake_popen,
+  )
+  launch_on_device_runner(
+    "Pedal Calibration", "calibrate_pedal", "hold brake",
+    params=FakeParams(offroad=False),
+  )
+  assert captured["cmd"][2].endswith("run_script")
+
+
+def test_start_tool_flash_still_requires_offroad(monkeypatch):
+  monkeypatch.setattr(
+    "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.runner.subprocess.Popen",
+    lambda *_a, **_k: MagicMock(),
+  )
+  with pytest.raises(ToolSafetyError, match="offroad"):
+    start_tool("flash_epas", confirmed=True, params=FakeParams(offroad=False))
+
+
+def test_pedal_safe_exit_requires_restart_unless_ignition_off():
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.run_script import pedal_safe_exit_decision
+  assert pedal_safe_exit_decision(False) == "clear"
+  assert pedal_safe_exit_decision(True) == "restart"
+  assert pedal_safe_exit_decision(None) == "restart"
+
+
+def test_ignition_from_health_unknown_without_keys():
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.transport import ignition_from_health
+  assert ignition_from_health({}) is None
+  assert ignition_from_health({"ignition_line": 0, "ignition_can": 0}) is False
+  assert ignition_from_health({"ignition_line": 1, "ignition_can": 0}) is True
+
+
+def test_sample_panda_ignition_always_closes():
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.transport import sample_panda_ignition
+  closed = []
+
+  class Probe:
+    def connect(self, retries=3, delay=0.2):
+      return None
+
+    def read_health(self):
+      return {"ignition_line": 0, "ignition_can": 0}
+
+    def close(self):
+      closed.append(True)
+
+  assert sample_panda_ignition(transport_factory=Probe) is False
+  assert closed == [True]
+
+  closed.clear()
+
+  class BoomProbe:
+    def connect(self, retries=3, delay=0.2):
+      raise RuntimeError("busy")
+
+    def close(self):
+      closed.append(True)
+
+  assert sample_panda_ignition(transport_factory=BoomProbe) is None
+  assert closed == [True]
+
+
+def test_reap_prints_error_when_flag_held(capsys):
+  from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import runner
+  params = FakeParams(offroad=False)
+  params.put_bool("NAPScriptRunning", True)
+  process = MagicMock()
+  process.wait.return_value = 0
+  runner._reap_tool(process, params)
+  assert params.get_bool("NAPScriptRunning") is True
+  assert "NAPScriptRunning left set" in capsys.readouterr().out
+
+
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/transport.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/transport.py
index 52cd58b04de224..48b533a34ee407 100644
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/transport.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/transport.py
@@ -20,6 +20,14 @@
 ALLOWED_SAFETY_MODES = ALLOWED_DIAGNOSTIC_MODES | frozenset({SAFETY_TESLA_PREAP})
 PANDA_CONNECT_RETRIES = 5
 PANDA_CONNECT_DELAY = 2.0
+PEDAL_CONNECT_RETRIES = 8
+PEDAL_CONNECT_DELAY = 0.25
+# Ignition-on teslaPreap falls to SILENT in 5s without 0xf3. Keep USB I/O
+# well under that. Default panda bulkRead timeout is 15s with unbounded retry.
+CAN_RECV_TIMEOUT_MS = 100
+CAN_RECV_RETRIES = 3
+HEALTH_TIMEOUT_MS = 200
+HEARTBEAT_TIMEOUT_MS = 200
 
 
 class TransportError(Exception):
@@ -49,9 +57,10 @@ class DiagnosticTransport:
   def __init__(self, panda=None):
     self.panda = panda
     self._mode = SAFETY_SILENT
+    self._param = 0
     self._mode_set = False
 
-  def connect(self, panda_factory=None):
+  def connect(self, panda_factory=None, retries=PANDA_CONNECT_RETRIES, delay=PANDA_CONNECT_DELAY):
     if self.panda is not None:
       return self.panda
     factory = panda_factory
@@ -59,14 +68,14 @@ def connect(self, panda_factory=None):
       from panda import Panda
       factory = Panda
     last_exc: Exception | None = None
-    for attempt in range(PANDA_CONNECT_RETRIES):
+    for attempt in range(retries):
       try:
         self.panda = factory()
         return self.panda
       except Exception as exc:
         last_exc = exc
-        if attempt < PANDA_CONNECT_RETRIES - 1:
-          time.sleep(PANDA_CONNECT_DELAY)
+        if attempt < retries - 1:
+          time.sleep(delay)
     raise TransportError(f"panda connect failed: {last_exc}") from last_exc
 
   def set_diagnostic_session(self) -> None:
@@ -80,6 +89,7 @@ def set_pedal_calibration_session(self, bus: int = 2) -> None:
 
     Legal safetyParam is 64 (bus 2) or 96 (bus 0). Production 0x551 gates
     are unchanged; this mode only admits 0x551 on the selected bus.
+    teslaPreap is a car safety mode: heartbeat checks cannot stay disabled.
     """
     if bus not in (0, 2):
       raise TransportError("invalid pedal bus")
@@ -88,6 +98,79 @@ def set_pedal_calibration_session(self, bus: int = 2) -> None:
       param |= PREAP_FLAG_PEDAL_BUS_ZERO
     self.set_silent()
     self._set_safety_mode(SAFETY_TESLA_PREAP, param=param)
+    self.send_heartbeat(False, False)
+
+  def _usb_handle(self):
+    if self.panda is None:
+      raise TransportError("panda not connected")
+    handle = getattr(self.panda, "_handle", None)
+    buf = getattr(self.panda, "can_rx_overflow_buffer", None)
+    has_usb = (
+      handle is not None
+      and callable(getattr(handle, "controlWrite", None))
+      and callable(getattr(handle, "controlRead", None))
+      and callable(getattr(handle, "bulkRead", None))
+      and isinstance(buf, (bytes, bytearray))
+    )
+    if not has_usb:
+      raise TransportError("panda usb handle missing")
+    return handle
+
+  def send_heartbeat(self, engaged: bool = False, engaged_mads: bool = False) -> None:
+    """Keep the panda watchdog alive without driving engagement bits.
+
+    Panda.send_heartbeat defaults to True, True. Calibration must pass
+    false, false explicitly. teslaPreap calibration clamps both to false.
+    """
+    handle = self._usb_handle()
+    if self._mode == SAFETY_TESLA_PREAP:
+      engaged = False
+      engaged_mads = False
+    try:
+      from panda import Panda
+      handle.controlWrite(
+        Panda.REQUEST_OUT, 0xf3, int(engaged), int(engaged_mads), b"",
+        timeout=HEARTBEAT_TIMEOUT_MS,
+      )
+    except TransportError:
+      raise
+    except Exception as exc:
+      raise TransportError(f"heartbeat failed: {exc}") from exc
+
+  def read_health(self) -> dict:
+    handle = self._usb_handle()
+    health_struct = getattr(type(self.panda), "HEALTH_STRUCT", None)
+    if health_struct is None or not hasattr(health_struct, "size") or not hasattr(health_struct, "unpack"):
+      raise TransportError("panda health failed: missing HEALTH_STRUCT")
+    try:
+      from panda import Panda
+      dat = handle.controlRead(
+        Panda.REQUEST_IN, 0xd2, 0, 0, health_struct.size, timeout=HEALTH_TIMEOUT_MS,
+      )
+      a = health_struct.unpack(dat)
+      return {
+        "safety_mode": a[12],
+        "safety_param": a[13],
+        "heartbeat_lost": a[16],
+        "ignition_line": a[8],
+        "ignition_can": a[9],
+      }
+    except TransportError:
+      raise
+    except Exception as exc:
+      raise TransportError(f"panda health failed: {exc}") from exc
+
+  def require_calibration_health(self, expected_mode: int, expected_param: int) -> None:
+    """Abort on SILENT, watchdog loss, or mode/param mismatch. Never rearm."""
+    health = self.read_health()
+    if health.get("heartbeat_lost"):
+      raise TransportError("watchdog heartbeat lost")
+    mode = int(health.get("safety_mode", -1))
+    param = int(health.get("safety_param", -1))
+    if mode == SAFETY_SILENT:
+      raise TransportError("unexpected SILENT safety mode")
+    if mode != int(expected_mode) or param != int(expected_param):
+      raise TransportError("unexpected safety mode")
 
   def _set_safety_mode(self, mode: int, param: int = 0) -> None:
     if mode == SAFETY_ALLOUTPUT or mode not in ALLOWED_SAFETY_MODES:
@@ -109,15 +192,28 @@ def _set_safety_mode(self, mode: int, param: int = 0) -> None:
       raise TransportError("panda not connected")
     self.panda.set_safety_mode(mode, param)
     self._mode = mode
+    self._param = int(param)
     self._mode_set = True
 
   def can_recv(self):
-    if self.panda is None:
+    handle = self._usb_handle()
+    panda = self.panda
+    if panda is None:
       raise TransportError("panda not connected")
-    try:
-      return self.panda.can_recv()
-    except Exception as exc:
-      raise TransportError(f"can_recv failed: {exc}") from exc
+    last_exc: Exception | None = None
+    for _attempt in range(CAN_RECV_RETRIES):
+      try:
+        from panda.python import unpack_can_buffer
+        dat = handle.bulkRead(1, 16384, timeout=CAN_RECV_TIMEOUT_MS)
+        overflow = bytearray(panda.can_rx_overflow_buffer)
+        msgs, overflow = unpack_can_buffer(overflow + dat)
+        panda.can_rx_overflow_buffer = overflow
+        return msgs
+      except TransportError:
+        raise
+      except Exception as exc:
+        last_exc = exc
+    raise TransportError(f"can_recv failed: {last_exc}") from last_exc
 
   def can_send(self, addr: int, dat: bytes, bus: int) -> None:
     if self.panda is None:
@@ -146,3 +242,32 @@ def close(self) -> None:
       pass
     self.panda = None
     self._mode_set = False
+    self._param = 0
+
+
+def ignition_from_health(health: dict) -> bool | None:
+  line = health.get("ignition_line")
+  can = health.get("ignition_can")
+  if line is None and can is None:
+    return None
+  return bool(line or can)
+
+
+def sample_panda_ignition(transport_factory=None) -> bool | None:
+  """Fresh ignition after the calibrator has released USB. None if unknown.
+
+  Always closes the probe. Does not program teslaPreap.
+  """
+  factory = transport_factory or DiagnosticTransport
+  transport = factory()
+  try:
+    transport.connect(retries=3, delay=0.2)
+    return ignition_from_health(transport.read_health())
+  except Exception:
+    return None
+  finally:
+    try:
+      transport.close()
+    except Exception:
+      pass
+

From 4e62b179e74ffe9e4a9d55f63339bb2b6f5b7b57 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Wed, 9 Sep 2026 17:45:58 +0000
Subject: [PATCH 1427/1434] preap: wait for initial lateral permission

Panda permission can arrive after the first stalk event. Distinguish a pending grant from permission loss so hands-on pause does not immediately undo engagement, while keeping acquisition bounded and real permission loss immediate.
---
 openpilot/sunnypilot/mads/mads.py             |  30 ++++-
 .../mads/tests/test_preap_hands_on_pause.py   | 114 +++++++++++++++++-
 2 files changed, 139 insertions(+), 5 deletions(-)

diff --git a/openpilot/sunnypilot/mads/mads.py b/openpilot/sunnypilot/mads/mads.py
index 87d6824d52ea99..c429891e56177f 100644
--- a/openpilot/sunnypilot/mads/mads.py
+++ b/openpilot/sunnypilot/mads/mads.py
@@ -19,7 +19,7 @@
   MadsSteeringModeOnBrake, persist_required_mads, read_steering_mode_param, resolve_mads_capabilities,
   unified_engagement_locked_off,
 )
-from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
+from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT, ENABLED_STATES
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 ButtonType = structs.CarState.ButtonEvent.Type
@@ -32,6 +32,9 @@
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 HANDS_ON_PAUSE_LEVEL = 2
 HANDS_ON_RESUME_US = 1_000_000
+# Same 200-sample bound already used for controlsMismatchLateral. Pending first
+# grant uses it; a drop after grant is loss and disables immediately.
+LATERAL_MISMATCH_MAX_COUNT = 200
 UINT32_MASK = 0xFFFFFFFF
 
 
@@ -80,6 +83,8 @@ def __init__(self, selfdrive):
     self._hands_on_steering_inhibited = False
     self._hands_on_clear_timing = False
     self._hands_on_clear_ts = 0
+    self._lateral_permission_acquired = False
+    self._lateral_permission_acquire_counter = 0
 
     # Required-MADS platforms consume only the frozen typed snapshot.
     if persist_required_mads(self.params, self.CP_SP):
@@ -171,6 +176,8 @@ def _reset_hands_on_clear_timer(self):
   def _hard_disable_from_pause(self) -> None:
     self._hands_on_steering_inhibited = False
     self._reset_hands_on_clear_timer()
+    self._lateral_permission_acquired = False
+    self._lateral_permission_acquire_counter = 0
     if self.events_sp.has(EventNameSP.silentLkasDisable):
       self.events_sp.remove(EventNameSP.silentLkasDisable)
     if self.events_sp.has(EventNameSP.silentLkasEnable):
@@ -205,6 +212,13 @@ def _update_hands_on_pause(self, CS: structs.CarState) -> None:
     dm_lock = bool(
       self.events.has(EventName.driverUnresponsive3) or self.events.has(EventName.driverDistracted3)
     )
+    mads_enable = self.events_sp.has(EventNameSP.lkasEnable) or self.events_sp.has(EventNameSP.silentLkasEnable)
+    lat_requested = bool(self.enabled or self.state_machine.state in ENABLED_STATES or mads_enable)
+    if not lat_requested:
+      self._lateral_permission_acquired = False
+      self._lateral_permission_acquire_counter = 0
+
+    established_lat_lost = panda_lat_lost and self._lateral_permission_acquired
     hard_event = bool(
       epas_fault
       or self.events_sp.has(EventNameSP.lkasDisable)
@@ -212,12 +226,20 @@ def _update_hands_on_pause(self, CS: structs.CarState) -> None:
       or (not cs_fresh)
       or (not pandas)
       or (not panda_fresh)
-      or panda_lat_lost
+      or established_lat_lost
       or dm_lock
       or self.events_sp.has(EventNameSP.controlsMismatchLateral)
       or self.events.contains(ET.IMMEDIATE_DISABLE)
       or self.events_sp.contains(ET.IMMEDIATE_DISABLE)
     )
+    if lat_requested and not hard_event:
+      if panda_lat_lost:
+        self._lateral_permission_acquire_counter += 1
+        if self._lateral_permission_acquire_counter >= LATERAL_MISMATCH_MAX_COUNT:
+          hard_event = True
+      else:
+        self._lateral_permission_acquired = True
+        self._lateral_permission_acquire_counter = 0
     if hard_event:
       self._hard_disable_from_pause()
       return
@@ -269,7 +291,7 @@ def data_sample(self):
     # When the safety and selfdrived do not agree on controls_allowed_lateral
     # we want to disengage sunnypilot. However the status from the panda goes through
     # another socket other than the CAN messages and one can arrive earlier than the other.
-    # Therefore we allow a mismatch for two samples, then we trigger the disengagement.
+    # Allow LATERAL_MISMATCH_MAX_COUNT control frames for that transport mismatch.
     if not self.active or self.selfdrive.enabled:
       self.lateral_mismatch_counter = 0
     elif any(not ps.controlsAllowedLateral for ps in self.selfdrive.sm['pandaStates']
@@ -393,7 +415,7 @@ def update_events(self, CS: structs.CarState):
       if self.state_machine.state == State.paused:
         self.events_sp.add(EventNameSP.silentLkasEnable)
 
-    if self.lateral_mismatch_counter >= 200:
+    if self.lateral_mismatch_counter >= LATERAL_MISMATCH_MAX_COUNT:
       self.events_sp.add(EventNameSP.controlsMismatchLateral)
 
     self.events.remove(EventName.pcmDisable)
diff --git a/openpilot/sunnypilot/mads/tests/test_preap_hands_on_pause.py b/openpilot/sunnypilot/mads/tests/test_preap_hands_on_pause.py
index 77d184736c843c..7fc334a3a40b5c 100644
--- a/openpilot/sunnypilot/mads/tests/test_preap_hands_on_pause.py
+++ b/openpilot/sunnypilot/mads/tests/test_preap_hands_on_pause.py
@@ -7,7 +7,7 @@
 from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
-from openpilot.sunnypilot.mads.mads import HANDS_ON_RESUME_US, ModularAssistiveDrivingSystem
+from openpilot.sunnypilot.mads.mads import HANDS_ON_RESUME_US, LATERAL_MISMATCH_MAX_COUNT, ModularAssistiveDrivingSystem
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 EventName = log.OnroadEvent.EventName
@@ -89,6 +89,26 @@ def make_mads(hands_on=True, capability=True):
   mads.state_machine.state = State.enabled
   return mads, sd
 
+def _disengage(mads):
+  mads.enabled = False
+  mads.active = False
+  mads.state_machine.state = State.disabled
+
+
+def _step_mads(mads, sd, cs, *, allowed=True, inhibited=False, panda_valid=True, enable=False, override=False):
+  ps = _panda(inhibited)
+  ps.controlsAllowedLateral = allowed
+  sd.sm = FakeSM([ps], panda_valid=panda_valid)
+  sd.events.clear()
+  sd.events_sp.clear()
+  if enable:
+    sd.events_sp.add(EventNameSP.lkasEnable)
+  if override:
+    sd.events.add(EventName.steerOverride)
+  mads.update(cs)
+  sd.CS_prev = cs
+
+
 
 class TestPreAPHandsOnPause(unittest.TestCase):
   def test_hands_on_level_pauses_not_steering_pressed(self):
@@ -327,6 +347,98 @@ def test_generic_platform_unchanged(self):
     self.assertFalse(mads._hands_on_steering_inhibited)
     self.assertFalse(sd.events_sp.has(EventNameSP.silentLkasDisable))
 
+  def test_first_pull_delayed_permission_50ms_does_not_false_disable(self):
+    mads, sd = make_mads()
+    _disengage(mads)
+    cs = FakeCS(hands_on_level=1, steering_pressed=True)
+    _step_mads(mads, sd, cs, allowed=False, enable=True, override=True)
+    self.assertNotEqual(mads.state_machine.state, State.disabled)
+    self.assertFalse(sd.events_sp.has(EventNameSP.lkasDisable))
+    for _ in range(5):
+      _step_mads(mads, sd, cs, allowed=False, override=True)
+      self.assertFalse(sd.events_sp.has(EventNameSP.lkasDisable))
+      self.assertNotEqual(mads.state_machine.state, State.disabled)
+    _step_mads(mads, sd, cs, allowed=True, override=True)
+    self.assertFalse(sd.events_sp.has(EventNameSP.lkasDisable))
+    self.assertEqual(mads.state_machine.state, State.overriding)
+
+  def test_first_pull_delayed_permission_over_100ms_does_not_false_disable(self):
+    mads, sd = make_mads()
+    _disengage(mads)
+    cs = FakeCS(hands_on_level=1, steering_pressed=True)
+    _step_mads(mads, sd, cs, allowed=False, enable=True, override=True)
+    for _ in range(15):
+      _step_mads(mads, sd, cs, allowed=False, override=True)
+      self.assertFalse(sd.events_sp.has(EventNameSP.lkasDisable))
+      self.assertNotEqual(mads.state_machine.state, State.disabled)
+    _step_mads(mads, sd, cs, allowed=True, override=True)
+    self.assertFalse(sd.events_sp.has(EventNameSP.lkasDisable))
+    self.assertEqual(mads.state_machine.state, State.overriding)
+
+  def test_never_granted_permission_hits_mismatch_bound(self):
+    mads, sd = make_mads()
+    _disengage(mads)
+    cs = FakeCS(hands_on_level=1, steering_pressed=True)
+    _step_mads(mads, sd, cs, allowed=False, enable=True, override=True)
+    self.assertFalse(sd.events_sp.has(EventNameSP.lkasDisable))
+    for _ in range(LATERAL_MISMATCH_MAX_COUNT - 2):
+      _step_mads(mads, sd, cs, allowed=False, override=True)
+      self.assertFalse(sd.events_sp.has(EventNameSP.lkasDisable))
+      self.assertNotEqual(mads.state_machine.state, State.disabled)
+    _step_mads(mads, sd, cs, allowed=False, override=True)
+    self.assertTrue(sd.events_sp.has(EventNameSP.lkasDisable))
+    self.assertEqual(mads.state_machine.state, State.disabled)
+
+  def test_acquired_permission_then_lost_hard_disables(self):
+    mads, sd = make_mads()
+    _disengage(mads)
+    cs = FakeCS(hands_on_level=1, steering_pressed=True)
+    _step_mads(mads, sd, cs, allowed=True, enable=True, override=True)
+    _step_mads(mads, sd, cs, allowed=True, override=True)
+    self.assertFalse(sd.events_sp.has(EventNameSP.lkasDisable))
+    self.assertEqual(mads.state_machine.state, State.overriding)
+    _step_mads(mads, sd, cs, allowed=False, override=True)
+    self.assertTrue(sd.events_sp.has(EventNameSP.lkasDisable))
+    self.assertEqual(mads.state_machine.state, State.disabled)
+
+  def test_pause_cannot_evade_acquisition_deadline(self):
+    mads, sd = make_mads()
+    _disengage(mads)
+    cs = FakeCS(hands_on_level=1, steering_pressed=True)
+    _step_mads(mads, sd, cs, allowed=False, enable=True, override=True)
+    for _ in range(49):
+      _step_mads(mads, sd, cs, allowed=False, override=True)
+    self.assertNotEqual(mads.state_machine.state, State.disabled)
+    cs_pause = FakeCS(hands_on_level=2)
+    remaining = LATERAL_MISMATCH_MAX_COUNT - 50
+    for _ in range(remaining - 1):
+      _step_mads(mads, sd, cs_pause, allowed=False, inhibited=True)
+      self.assertNotEqual(mads.state_machine.state, State.disabled)
+    _step_mads(mads, sd, cs_pause, allowed=False, inhibited=True)
+    self.assertTrue(sd.events_sp.has(EventNameSP.lkasDisable))
+    self.assertEqual(mads.state_machine.state, State.disabled)
+
+  def test_stale_positive_grant_during_pending_hard_disables(self):
+    mads, sd = make_mads()
+    _disengage(mads)
+    cs = FakeCS(hands_on_level=1, steering_pressed=True)
+    _step_mads(mads, sd, cs, allowed=False, enable=True, override=True)
+    for _ in range(10):
+      _step_mads(mads, sd, cs, allowed=False, override=True)
+    _step_mads(mads, sd, cs, allowed=True, override=True, panda_valid=False)
+    self.assertTrue(sd.events_sp.has(EventNameSP.lkasDisable))
+    self.assertEqual(mads.state_machine.state, State.disabled)
+
+  def test_door_during_pending_acquisition_hard_disables(self):
+    mads, sd = make_mads()
+    _disengage(mads)
+    cs = FakeCS(hands_on_level=1, steering_pressed=True)
+    _step_mads(mads, sd, cs, allowed=False, enable=True, override=True)
+    self.assertFalse(sd.events_sp.has(EventNameSP.lkasDisable))
+    _step_mads(mads, sd, FakeCS(hands_on_level=1, steering_pressed=True, door_open=True),
+               allowed=False, override=True)
+    self.assertTrue(sd.events_sp.has(EventNameSP.lkasDisable))
+    self.assertEqual(mads.state_machine.state, State.disabled)
 
 if __name__ == "__main__":
   unittest.main()

From 78085a37702aa95b379189fe80389e67152cdba3 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Thu, 10 Sep 2026 18:28:05 +0000
Subject: [PATCH 1428/1434] preap: add hands-on levels and pause prompts

Expose the selected EPAS level on both settings layouts and sunnylink, applying it on the next drive. Use the existing low/high prompts for steering pause and resume, and pull in real buckle status and MCU speed limits.
---
 opendbc_repo                                  |   2 +-
 openpilot/common/params_keys.h                |   1 +
 .../tests/test_car_specific_tesla_preap.py    |  11 +-
 .../selfdrive/ui/mici/layouts/settings/nap.py |  27 +++
 .../layouts/settings/vehicle/brands/tesla.py  |  41 ++++-
 .../ui/tests/test_tesla_hands_on_settings.py  |  47 ++++++
 openpilot/selfdrive/ui/translations/app.pot   |  14 +-
 openpilot/selfdrive/ui/translations/app_de.po |  14 +-
 openpilot/selfdrive/ui/translations/app_en.po |  14 +-
 openpilot/selfdrive/ui/translations/app_es.po |  14 +-
 openpilot/selfdrive/ui/translations/app_fr.po |  14 +-
 openpilot/selfdrive/ui/translations/app_ja.po |  14 +-
 openpilot/selfdrive/ui/translations/app_ko.po |  14 +-
 .../selfdrive/ui/translations/app_pt-BR.po    |  14 +-
 openpilot/selfdrive/ui/translations/app_th.po |  14 +-
 openpilot/selfdrive/ui/translations/app_tr.po |  14 +-
 openpilot/selfdrive/ui/translations/app_uk.po |  14 +-
 .../selfdrive/ui/translations/app_zh-CHS.po   |  14 +-
 .../selfdrive/ui/translations/app_zh-CHT.po   |  14 +-
 openpilot/sunnypilot/mads/mads.py             |  12 +-
 openpilot/sunnypilot/mads/state.py            |   4 +-
 .../mads/tests/test_mads_state_machine.py     |  63 +++++++
 .../mads/tests/test_preap_hands_on_pause.py   |  44 ++++-
 .../sunnypilot/selfdrive/car/interfaces.py    |   1 +
 .../car/tests/test_preap_intent_consumer.py   |   6 +-
 .../selfdrive/selfdrived/preap_alerts.py      |  21 ++-
 .../selfdrived/tests/test_preap_alerts.py     | 156 +++++++++++++++++-
 .../sunnypilot/sunnylink/settings_ui.json     |  57 +++++++
 .../settings_ui_src/pages/vehicle.yaml        |  31 ++++
 .../sunnylink/tests/test_settings_changes.py  |  10 +-
 .../sunnylink/tests/test_settings_schema.py   |   2 +
 .../sunnylink/tests/test_write_policy.py      |  15 ++
 .../sunnypilot/sunnylink/write_policy.py      |  19 +++
 33 files changed, 721 insertions(+), 31 deletions(-)
 create mode 100644 openpilot/selfdrive/ui/tests/test_tesla_hands_on_settings.py

diff --git a/opendbc_repo b/opendbc_repo
index 81799e45e7bbe1..d1793c10720495 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 81799e45e7bbe13b835a4815fb7cb00d73e8df46
+Subproject commit d1793c107204952d4048cdcf9fc7893c17b60bca
diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h
index 6fecd4adab2480..ce3d428fc31041 100644
--- a/openpilot/common/params_keys.h
+++ b/openpilot/common/params_keys.h
@@ -226,6 +226,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TeslaPreapHandsOnPause", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TeslaPreapHandsOnLevel", {PERSISTENT | BACKUP, INT, "2"}},
     {"TeslaMadsScreenButton", {PERSISTENT | BACKUP, INT, "0"}},
 
     // Pre-AP Tesla (NAP) retained keys. Shared sunnypilot leaves NAPForcePreAP
diff --git a/openpilot/selfdrive/car/tests/test_car_specific_tesla_preap.py b/openpilot/selfdrive/car/tests/test_car_specific_tesla_preap.py
index 97d6241c9e502e..6f54fe023ae602 100644
--- a/openpilot/selfdrive/car/tests/test_car_specific_tesla_preap.py
+++ b/openpilot/selfdrive/car/tests/test_car_specific_tesla_preap.py
@@ -118,7 +118,16 @@ def test_pedal_acquisition_failure_keeps_lateral_and_surfaces_alert():
       alpha_long=False, is_release_sp=False, docs=False,
     )
     interface = CarInterface(cp, cp_sp)
-    drive_packet = _preap_can_packet("DI_torque2", {"DI_gear": 4})
+    packer = CANPacker("tesla_preap")
+    drive_frames = []
+    messages: tuple[tuple[str, dict[str, float]], ...] = (
+      ("DI_torque2", {"DI_gear": 4}),
+      ("SDM1", {"SDM_bcklDrivStatus": 1}),
+    )
+    for message, values in messages:
+      address, dat, bus = packer.make_can_msg(message, 0, values)
+      drive_frames.append(CanData(address, dat, bus))
+    drive_packet = [(1, drive_frames)]
     interface.update(drive_packet)
 
     internal_state = interface.CS
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/nap.py b/openpilot/selfdrive/ui/mici/layouts/settings/nap.py
index d071ccc0bafe83..cf135837b1dea3 100644
--- a/openpilot/selfdrive/ui/mici/layouts/settings/nap.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/nap.py
@@ -38,6 +38,18 @@ def _reboot_on_toggle(_):
   _reboot_dialog()
 
 
+def _hands_on_pause_available() -> bool:
+  return ui_state.CP_SP is not None and bool(getattr(ui_state.CP_SP, "madsHandsOnPauseAvailable", False))
+
+
+def _hands_on_pause_enabled() -> bool:
+  return ui_state.is_offroad() and _hands_on_pause_available()
+
+
+def _hands_on_level_enabled() -> bool:
+  return _hands_on_pause_enabled() and ui_state.params.get_bool("TeslaPreapHandsOnPause")
+
+
 def _confirm_then_flash(slider_title: str, runner_title: str, instructions: str, module: str):
   """Slide-to-confirm dialog before launching a destructive EPAS script.
 
@@ -208,6 +220,19 @@ def __init__(self):
 
     adaptive_accel = BigParamControl("adaptive accel limits", NAPParamKeys.ADAPTIVE_ACCEL)
 
+    # Next drive: frozen into safetyParam at interface init, like BIG TeslaSettings.
+    hands_on_pause = BigParamControl("hands-on pause", "TeslaPreapHandsOnPause")
+    hands_on_pause.set_visible(_hands_on_pause_available)
+    hands_on_pause.set_enabled(_hands_on_pause_enabled)
+    hands_on_level = BigMultiValueParamToggle(
+      "hands-on level",
+      "TeslaPreapHandsOnLevel",
+      values=[1, 2, 3],
+      labels=["1", "2", "3"],
+      default_value=2,
+    )
+    hands_on_level.set_visible(_hands_on_pause_available)
+    hands_on_level.set_enabled(_hands_on_level_enabled)
     # ── Pedal hardware ───────────────────────────────
     # default_value=2 matches NAPPedalCanBus declared default in params_keys.h
     # and the runtime fallback ("any nonzero is bus 2"). If the param is set
@@ -274,6 +299,8 @@ def __init__(self):
     self._scroller.add_widgets([
       pedal_enabled,
       adaptive_accel,
+      hands_on_pause,
+      hands_on_level,
       pedal_can_bus,
       pedal_calib_status,
       calibrate_pedal_btn,
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
index 79cd60be1e5404..ffaf9330421ba4 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
@@ -5,6 +5,7 @@
 See the LICENSE.md file in the root directory for more details.
 """
 from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+from opendbc.car.tesla.preap.constants import parse_hands_on_level_param
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
 from openpilot.selfdrive.ui.ui_state import ui_state
 from opendbc.car.tesla.preap.sp.platform import is_preap_ui_platform
@@ -34,9 +35,21 @@ def __init__(self):
     self.hands_on_pause_toggle = toggle_item_sp(
       tr("Hands-On Pause"),
       tr(
-        "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off.",
+        "Off: takeover disengages. On: pause steering only; resume 1 second after release. Canceled cruise stays off. Applies next drive.",
       ),
       param="TeslaPreapHandsOnPause",
+      callback=self._on_pause_changed,
+    )
+    level = parse_hands_on_level_param(ui_state.params.get("TeslaPreapHandsOnLevel", return_default=True))
+    self.hands_on_level = multiple_button_item_sp(
+      title=lambda: tr("Hands-On Level"),
+      description=tr(
+        "Which EPAS hands-on level pauses steering. 1 is lightest, 3 is heaviest. Default 2. Applies on the next drive.",
+      ),
+      buttons=["1", "2", "3"],
+      selected_index=level - 1,
+      callback=self._on_hands_on_level,
+      inline=False,
     )
     self.mads_screen_button = multiple_button_item_sp(
       title=lambda: tr("MADS Screen Activation"),
@@ -45,7 +58,14 @@ def __init__(self):
       param="TeslaMadsScreenButton",
       inline=False,
     )
-    self.items = [self.coop_steering_toggle, self.hands_on_pause_toggle, self.mads_screen_button]
+    self.items = [self.coop_steering_toggle, self.hands_on_pause_toggle, self.hands_on_level, self.mads_screen_button]
+
+  def _on_pause_changed(self, _state):
+    self.update_settings()
+
+  def _on_hands_on_level(self, index: int) -> None:
+    if 0 <= index <= 2:
+      ui_state.params.put("TeslaPreapHandsOnLevel", index + 1)
 
   def update_settings(self):
     is_metric = ui_state.is_metric
@@ -74,6 +94,23 @@ def update_settings(self):
     self.hands_on_pause_toggle.set_visible(is_preap and pause_available)
     self.hands_on_pause_toggle.action_item.set_enabled(offroad)
 
+    pause_on = bool(self.hands_on_pause_toggle.action_item.get_state())
+    level = parse_hands_on_level_param(ui_state.params.get("TeslaPreapHandsOnLevel", return_default=True))
+    self.hands_on_level.action_item.set_selected_button(level - 1)
+    level_visible = bool(is_preap and pause_available)
+    self.hands_on_level.set_visible(level_visible)
+    self.hands_on_level.action_item.set_enabled(level_visible and pause_on and offroad)
+    level_desc = tr(
+      "Which EPAS hands-on level pauses steering. 1 is lightest, 3 is heaviest. Default 2. Applies on the next drive.",
+    )
+    if not offroad:
+      level_desc = (
+        f"<b>{tr('Enable \"Always Offroad\" in Device panel, or turn vehicle off to change.')}</b><br><br>{level_desc}"
+      )
+    elif not pause_on:
+      level_desc = f"<b>{tr('Enable Hands-On Pause to change the level.')}</b><br><br>{level_desc}"
+    self.hands_on_level.set_description(level_desc)
+
     mads_screen_button_desc = (
       f"{tr('Use a multi-finger press on the infotainment screen to toggle MADS.')} " +
       f"{tr('This allows the use of full MADS functionality when enabled.')}<br><br>" +
diff --git a/openpilot/selfdrive/ui/tests/test_tesla_hands_on_settings.py b/openpilot/selfdrive/ui/tests/test_tesla_hands_on_settings.py
new file mode 100644
index 00000000000000..0015e19af1af6a
--- /dev/null
+++ b/openpilot/selfdrive/ui/tests/test_tesla_hands_on_settings.py
@@ -0,0 +1,47 @@
+import time
+import pyray as rl
+
+from opendbc.car import structs
+from openpilot.common.params import Params
+
+
+def test_tesla_settings_level_callback_and_next_drive_enablement(monkeypatch):
+  monkeypatch.setenv("SCALE", "1")
+  from openpilot.system.ui.lib.application import gui_app
+  from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.tesla import TeslaSettings
+  from openpilot.selfdrive.ui.ui_state import ui_state
+
+  # Callback tests need font handles, not a window or rendering resources.
+  monkeypatch.setattr(gui_app, "font", lambda *_: rl.Font())
+  params = Params()
+  params.put_bool("TeslaPreapHandsOnPause", True, block=True)
+  params.put("TeslaPreapHandsOnLevel", 2, block=True)
+  monkeypatch.setattr(ui_state, "params", params)
+  monkeypatch.setattr(ui_state, "started", False)
+  monkeypatch.setattr(ui_state, "CP", structs.CarParams(carFingerprint="TESLA_MODEL_S_PREAP"))
+  monkeypatch.setattr(ui_state, "CP_SP", structs.CarParamsSP(madsHandsOnPauseAvailable=True))
+
+  settings = TeslaSettings()
+  settings.update_settings()
+  assert settings.hands_on_level.is_visible
+  assert settings.hands_on_level.action_item.enabled
+
+  for index in (2, 0, 1):
+    params.remove("TeslaPreapHandsOnLevel")
+    settings.hands_on_level.action_item.callback(index)
+    # Wait for the real asynchronous Params write, never the previous selection.
+    deadline = time.monotonic() + 5
+    while (value := params.get("TeslaPreapHandsOnLevel")) is None and time.monotonic() < deadline:
+      time.sleep(0.01)
+    assert value == index + 1
+
+  monkeypatch.setattr(ui_state, "started", True)
+  settings.update_settings()
+  assert settings.hands_on_level.is_visible
+  assert not settings.hands_on_level.action_item.enabled
+
+  monkeypatch.setattr(ui_state, "started", False)
+  settings.hands_on_pause_toggle.action_item.set_state(False)
+  settings.update_settings()
+  assert settings.hands_on_level.is_visible
+  assert not settings.hands_on_level.action_item.enabled
diff --git a/openpilot/selfdrive/ui/translations/app.pot b/openpilot/selfdrive/ui/translations/app.pot
index 21248117b4c756..ebafdac7a1f79f 100644
--- a/openpilot/selfdrive/ui/translations/app.pot
+++ b/openpilot/selfdrive/ui/translations/app.pot
@@ -867,6 +867,10 @@ msgstr ""
 msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Which EPAS hands-on level pauses steering. 1 is lightest, 3 is heaviest. Default 2. Applies on the next drive."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Cooperative Steering (Beta)"
 msgstr ""
@@ -876,13 +880,17 @@ msgid "Hands-On Pause"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgid "Off: takeover disengages. On: pause steering only; resume 1 second after release. Canceled cruise stays off. Applies next drive."
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to change."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hands-On Level"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "MADS Screen Activation"
 msgstr ""
@@ -911,6 +919,10 @@ msgstr ""
 msgid "Allows the driver to provide limited steering input while openpilot is engaged."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Hands-On Pause to change the level."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Selecting a higher finger count may reduce accidental activations."
 msgstr ""
diff --git a/openpilot/selfdrive/ui/translations/app_de.po b/openpilot/selfdrive/ui/translations/app_de.po
index 414648197c42e5..190c95e366696c 100644
--- a/openpilot/selfdrive/ui/translations/app_de.po
+++ b/openpilot/selfdrive/ui/translations/app_de.po
@@ -321,6 +321,10 @@ msgstr ""
 msgid "Enable ADB"
 msgstr "ADB aktivieren"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Hands-On Pause to change the level."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Spurverlassenswarnungen aktivieren"
@@ -429,6 +433,10 @@ msgstr "Gehen Sie auf Ihrem Telefon zu https://connect.comma.ai"
 msgid "HIGH"
 msgstr "HOCH"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hands-On Level"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Hands-On Pause"
 msgstr ""
@@ -560,7 +568,7 @@ msgid "Off"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgid "Off: takeover disengages. On: pause steering only; resume 1 second after release. Canceled cruise stays off. Applies next drive."
 msgstr ""
 
 #: openpilot/selfdrive/ui/widgets/setup.py
@@ -931,6 +939,10 @@ msgstr ""
 msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Which EPAS hands-on level pauses steering. 1 is lightest, 3 is heaviest. Default 2. Applies on the next drive."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "WLAN"
diff --git a/openpilot/selfdrive/ui/translations/app_en.po b/openpilot/selfdrive/ui/translations/app_en.po
index 84ece92a8fb6bf..4c3162c323923e 100644
--- a/openpilot/selfdrive/ui/translations/app_en.po
+++ b/openpilot/selfdrive/ui/translations/app_en.po
@@ -343,6 +343,10 @@ msgstr "Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle
 msgid "Enable ADB"
 msgstr "Enable ADB"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Hands-On Pause to change the level."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Enable Lane Departure Warnings"
@@ -451,6 +455,10 @@ msgstr "Go to https://connect.comma.ai on your phone"
 msgid "HIGH"
 msgstr "HIGH"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hands-On Level"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Hands-On Pause"
 msgstr ""
@@ -582,7 +590,7 @@ msgid "Off"
 msgstr "Off"
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgid "Off: takeover disengages. On: pause steering only; resume 1 second after release. Canceled cruise stays off. Applies next drive."
 msgstr ""
 
 #: openpilot/selfdrive/ui/widgets/setup.py
@@ -972,6 +980,10 @@ msgstr ""
 msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Which EPAS hands-on level pauses steering. 1 is lightest, 3 is heaviest. Default 2. Applies on the next drive."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi-Fi"
diff --git a/openpilot/selfdrive/ui/translations/app_es.po b/openpilot/selfdrive/ui/translations/app_es.po
index 63070788af4c3b..559f4259eeeca2 100644
--- a/openpilot/selfdrive/ui/translations/app_es.po
+++ b/openpilot/selfdrive/ui/translations/app_es.po
@@ -321,6 +321,10 @@ msgstr ""
 msgid "Enable ADB"
 msgstr "Activar ADB"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Hands-On Pause to change the level."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Activar advertencias de salida de carril"
@@ -429,6 +433,10 @@ msgstr "Ve a https://connect.comma.ai en tu teléfono"
 msgid "HIGH"
 msgstr "ALTO"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hands-On Level"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Hands-On Pause"
 msgstr ""
@@ -560,7 +568,7 @@ msgid "Off"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgid "Off: takeover disengages. On: pause steering only; resume 1 second after release. Canceled cruise stays off. Applies next drive."
 msgstr ""
 
 #: openpilot/selfdrive/ui/widgets/setup.py
@@ -931,6 +939,10 @@ msgstr ""
 msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Which EPAS hands-on level pauses steering. 1 is lightest, 3 is heaviest. Default 2. Applies on the next drive."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
diff --git a/openpilot/selfdrive/ui/translations/app_fr.po b/openpilot/selfdrive/ui/translations/app_fr.po
index dd5130eab4eb3a..e00fc42419f498 100644
--- a/openpilot/selfdrive/ui/translations/app_fr.po
+++ b/openpilot/selfdrive/ui/translations/app_fr.po
@@ -321,6 +321,10 @@ msgstr ""
 msgid "Enable ADB"
 msgstr "Activer ADB"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Hands-On Pause to change the level."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Activer les alertes de sortie de voie"
@@ -429,6 +433,10 @@ msgstr "Allez sur https://connect.comma.ai sur votre téléphone"
 msgid "HIGH"
 msgstr "ÉLEVÉ"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hands-On Level"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Hands-On Pause"
 msgstr ""
@@ -560,7 +568,7 @@ msgid "Off"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgid "Off: takeover disengages. On: pause steering only; resume 1 second after release. Canceled cruise stays off. Applies next drive."
 msgstr ""
 
 #: openpilot/selfdrive/ui/widgets/setup.py
@@ -931,6 +939,10 @@ msgstr "Bienvenue sur sunnypilot"
 msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
 msgstr "Lorsqu'activé, appuyer sur la pédale d'accélérateur désengagera sunnypilot."
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Which EPAS hands-on level pauses steering. 1 is lightest, 3 is heaviest. Default 2. Applies on the next drive."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
diff --git a/openpilot/selfdrive/ui/translations/app_ja.po b/openpilot/selfdrive/ui/translations/app_ja.po
index 5868fd291ef729..83c3639bfc963c 100644
--- a/openpilot/selfdrive/ui/translations/app_ja.po
+++ b/openpilot/selfdrive/ui/translations/app_ja.po
@@ -321,6 +321,10 @@ msgstr ""
 msgid "Enable ADB"
 msgstr "ADBを有効化"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Hands-On Pause to change the level."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "車線逸脱警報を有効化"
@@ -429,6 +433,10 @@ msgstr "スマートフォン� https://connect.comma.ai �アクセス"
 msgid "HIGH"
 msgstr "高温"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hands-On Level"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Hands-On Pause"
 msgstr ""
@@ -560,7 +568,7 @@ msgid "Off"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgid "Off: takeover disengages. On: pause steering only; resume 1 second after release. Canceled cruise stays off. Applies next drive."
 msgstr ""
 
 #: openpilot/selfdrive/ui/widgets/setup.py
@@ -931,6 +939,10 @@ msgstr ""
 msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Which EPAS hands-on level pauses steering. 1 is lightest, 3 is heaviest. Default 2. Applies on the next drive."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
diff --git a/openpilot/selfdrive/ui/translations/app_ko.po b/openpilot/selfdrive/ui/translations/app_ko.po
index c4dd1ec08e6c0d..f7c61924edaad6 100644
--- a/openpilot/selfdrive/ui/translations/app_ko.po
+++ b/openpilot/selfdrive/ui/translations/app_ko.po
@@ -321,6 +321,10 @@ msgstr ""
 msgid "Enable ADB"
 msgstr "ADB 사용"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Hands-On Pause to change the level."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "차선 �탈 경고 사용"
@@ -429,6 +433,10 @@ msgstr "휴대��서 https://connect.comma.ai � 접�하세요"
 msgid "HIGH"
 msgstr "높�"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hands-On Level"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Hands-On Pause"
 msgstr ""
@@ -560,7 +568,7 @@ msgid "Off"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgid "Off: takeover disengages. On: pause steering only; resume 1 second after release. Canceled cruise stays off. Applies next drive."
 msgstr ""
 
 #: openpilot/selfdrive/ui/widgets/setup.py
@@ -931,6 +939,10 @@ msgstr ""
 msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Which EPAS hands-on level pauses steering. 1 is lightest, 3 is heaviest. Default 2. Applies on the next drive."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
diff --git a/openpilot/selfdrive/ui/translations/app_pt-BR.po b/openpilot/selfdrive/ui/translations/app_pt-BR.po
index a5610952c341da..b43e8be9539f5c 100644
--- a/openpilot/selfdrive/ui/translations/app_pt-BR.po
+++ b/openpilot/selfdrive/ui/translations/app_pt-BR.po
@@ -321,6 +321,10 @@ msgstr ""
 msgid "Enable ADB"
 msgstr "Ativar ADB"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Hands-On Pause to change the level."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Ativar alertas de saída de faixa"
@@ -429,6 +433,10 @@ msgstr "Acesse https://connect.comma.ai no seu telefone"
 msgid "HIGH"
 msgstr "ALTO"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hands-On Level"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Hands-On Pause"
 msgstr ""
@@ -560,7 +568,7 @@ msgid "Off"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgid "Off: takeover disengages. On: pause steering only; resume 1 second after release. Canceled cruise stays off. Applies next drive."
 msgstr ""
 
 #: openpilot/selfdrive/ui/widgets/setup.py
@@ -931,6 +939,10 @@ msgstr ""
 msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Which EPAS hands-on level pauses steering. 1 is lightest, 3 is heaviest. Default 2. Applies on the next drive."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
diff --git a/openpilot/selfdrive/ui/translations/app_th.po b/openpilot/selfdrive/ui/translations/app_th.po
index 7fc2f6e6380b55..b536a925292779 100644
--- a/openpilot/selfdrive/ui/translations/app_th.po
+++ b/openpilot/selfdrive/ui/translations/app_th.po
@@ -321,6 +321,10 @@ msgstr ""
 msgid "Enable ADB"
 msgstr "เปิดใช้งาน ADB"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Hands-On Pause to change the level."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "เปิดใช้งานคำเตือน�ารออ�นอ�เลน"
@@ -429,6 +433,10 @@ msgstr "ไปที่ https://connect.comma.ai บนโทรศัพท์
 msgid "HIGH"
 msgstr "สูง"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hands-On Level"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Hands-On Pause"
 msgstr ""
@@ -560,7 +568,7 @@ msgid "Off"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgid "Off: takeover disengages. On: pause steering only; resume 1 second after release. Canceled cruise stays off. Applies next drive."
 msgstr ""
 
 #: openpilot/selfdrive/ui/widgets/setup.py
@@ -931,6 +939,10 @@ msgstr ""
 msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Which EPAS hands-on level pauses steering. 1 is lightest, 3 is heaviest. Default 2. Applies on the next drive."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "อินเตอร์เน็ตไร้สาย"
diff --git a/openpilot/selfdrive/ui/translations/app_tr.po b/openpilot/selfdrive/ui/translations/app_tr.po
index f87006eced2dee..b22b1f5c03de02 100644
--- a/openpilot/selfdrive/ui/translations/app_tr.po
+++ b/openpilot/selfdrive/ui/translations/app_tr.po
@@ -321,6 +321,10 @@ msgstr ""
 msgid "Enable ADB"
 msgstr "ADB'yi EtkinleÅŸtir"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Hands-On Pause to change the level."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Şerit Terk Uyarılarını Etkinleştir"
@@ -429,6 +433,10 @@ msgstr "Telefonunuzda https://connect.comma.ai adresine gidin"
 msgid "HIGH"
 msgstr "YÃœKSEK"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hands-On Level"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Hands-On Pause"
 msgstr ""
@@ -560,7 +568,7 @@ msgid "Off"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgid "Off: takeover disengages. On: pause steering only; resume 1 second after release. Canceled cruise stays off. Applies next drive."
 msgstr ""
 
 #: openpilot/selfdrive/ui/widgets/setup.py
@@ -931,6 +939,10 @@ msgstr ""
 msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Which EPAS hands-on level pauses steering. 1 is lightest, 3 is heaviest. Default 2. Applies on the next drive."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
diff --git a/openpilot/selfdrive/ui/translations/app_uk.po b/openpilot/selfdrive/ui/translations/app_uk.po
index 94c2fe9017cc75..4e95c792e0e9f2 100644
--- a/openpilot/selfdrive/ui/translations/app_uk.po
+++ b/openpilot/selfdrive/ui/translations/app_uk.po
@@ -321,6 +321,10 @@ msgstr ""
 msgid "Enable ADB"
 msgstr "Увімкнути ADB"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Hands-On Pause to change the level."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Увімкнути попередженн� про виїзд зі �муги"
@@ -429,6 +433,10 @@ msgstr "Перейдіть на �айт https://connect.comma.ai на �воє
 msgid "HIGH"
 msgstr "ВИСОК�"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hands-On Level"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Hands-On Pause"
 msgstr ""
@@ -560,7 +568,7 @@ msgid "Off"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgid "Off: takeover disengages. On: pause steering only; resume 1 second after release. Canceled cruise stays off. Applies next drive."
 msgstr ""
 
 #: openpilot/selfdrive/ui/widgets/setup.py
@@ -931,6 +939,10 @@ msgstr ""
 msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Which EPAS hands-on level pauses steering. 1 is lightest, 3 is heaviest. Default 2. Applies on the next drive."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi-Fi"
diff --git a/openpilot/selfdrive/ui/translations/app_zh-CHS.po b/openpilot/selfdrive/ui/translations/app_zh-CHS.po
index be1bd8186a51c4..aa60d4c47fa9fb 100644
--- a/openpilot/selfdrive/ui/translations/app_zh-CHS.po
+++ b/openpilot/selfdrive/ui/translations/app_zh-CHS.po
@@ -321,6 +321,10 @@ msgstr ""
 msgid "Enable ADB"
 msgstr "�用 ADB"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Hands-On Pause to change the level."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "�用车��离警示"
@@ -429,6 +433,10 @@ msgstr "在手机上�往 https://connect.comma.ai"
 msgid "HIGH"
 msgstr "高"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hands-On Level"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Hands-On Pause"
 msgstr ""
@@ -560,7 +568,7 @@ msgid "Off"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgid "Off: takeover disengages. On: pause steering only; resume 1 second after release. Canceled cruise stays off. Applies next drive."
 msgstr ""
 
 #: openpilot/selfdrive/ui/widgets/setup.py
@@ -931,6 +939,10 @@ msgstr ""
 msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Which EPAS hands-on level pauses steering. 1 is lightest, 3 is heaviest. Default 2. Applies on the next drive."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
diff --git a/openpilot/selfdrive/ui/translations/app_zh-CHT.po b/openpilot/selfdrive/ui/translations/app_zh-CHT.po
index 31ccb00fe676bd..46ebdf1aaccf7e 100644
--- a/openpilot/selfdrive/ui/translations/app_zh-CHT.po
+++ b/openpilot/selfdrive/ui/translations/app_zh-CHT.po
@@ -321,6 +321,10 @@ msgstr ""
 msgid "Enable ADB"
 msgstr "啟用 ADB"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Enable Hands-On Pause to change the level."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "啟用�離車�警示"
@@ -429,6 +433,10 @@ msgstr "在手機上�往 https://connect.comma.ai"
 msgid "HIGH"
 msgstr "高"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Hands-On Level"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
 msgid "Hands-On Pause"
 msgstr ""
@@ -560,7 +568,7 @@ msgid "Off"
 msgstr ""
 
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
-msgid "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off."
+msgid "Off: takeover disengages. On: pause steering only; resume 1 second after release. Canceled cruise stays off. Applies next drive."
 msgstr ""
 
 #: openpilot/selfdrive/ui/widgets/setup.py
@@ -931,6 +939,10 @@ msgstr ""
 msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+msgid "Which EPAS hands-on level pauses steering. 1 is lightest, 3 is heaviest. Default 2. Applies on the next drive."
+msgstr ""
+
 #: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
diff --git a/openpilot/sunnypilot/mads/mads.py b/openpilot/sunnypilot/mads/mads.py
index c429891e56177f..cc496391b380d8 100644
--- a/openpilot/sunnypilot/mads/mads.py
+++ b/openpilot/sunnypilot/mads/mads.py
@@ -11,6 +11,7 @@
 
 from opendbc.car import structs
 from opendbc.car.tesla.preap.sp.platform import is_preap_platform
+from opendbc.car.tesla.preap.constants import get_hands_on_disengage_level
 from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from opendbc.car.hyundai.values import HyundaiFlags
 from openpilot.common.params import Params
@@ -30,7 +31,6 @@
 
 SET_SPEED_BUTTONS = (ButtonType.accelCruise, ButtonType.resumeCruise, ButtonType.decelCruise, ButtonType.setCruise)
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
-HANDS_ON_PAUSE_LEVEL = 2
 HANDS_ON_RESUME_US = 1_000_000
 # Same 200-sample bound already used for controlsMismatchLateral. Pending first
 # grant uses it; a drop after grant is loss and disables immediately.
@@ -80,6 +80,10 @@ def __init__(self, selfdrive):
       and bool(getattr(self.CP_SP, "madsHandsOnPauseAvailable", False))
       and bool(int(getattr(self.CP_SP, "flags", 0) or 0) & int(TeslaFlagsSP.PREAP_HANDS_ON_PAUSE))
     )
+    safety_param = 0
+    if getattr(self.CP, "safetyConfigs", None):
+      safety_param = int(getattr(self.CP.safetyConfigs[0], "safetyParam", 0) or 0)
+    self._hands_on_disengage_level = get_hands_on_disengage_level(safety_param)
     self._hands_on_steering_inhibited = False
     self._hands_on_clear_timing = False
     self._hands_on_clear_ts = 0
@@ -254,8 +258,8 @@ def _update_hands_on_pause(self, CS: structs.CarState) -> None:
       return
 
     level = int(CS.handsOnLevel or 0)
-    host_hands = level >= HANDS_ON_PAUSE_LEVEL
-    host_clear = level < HANDS_ON_PAUSE_LEVEL
+    host_hands = level >= self._hands_on_disengage_level
+    host_clear = level < self._hands_on_disengage_level
 
     if host_hands or panda_inhibited:
       self._hands_on_steering_inhibited = True
@@ -397,7 +401,7 @@ def update_events(self, CS: structs.CarState):
             self.events_sp.add(EventNameSP.pedalPressedAlertOnly)
 
     if self._hands_on_pause_available:
-      hands_high = int(getattr(CS, "handsOnLevel", 0) or 0) >= HANDS_ON_PAUSE_LEVEL
+      hands_high = int(getattr(CS, "handsOnLevel", 0) or 0) >= self._hands_on_disengage_level
       if hands_high or self._hands_on_steering_inhibited:
         if self.events_sp.has(EventNameSP.lkasEnable):
           self.events_sp.remove(EventNameSP.lkasEnable)
diff --git a/openpilot/sunnypilot/mads/state.py b/openpilot/sunnypilot/mads/state.py
index a8e5e1892f7fba..d881ad12412e4c 100644
--- a/openpilot/sunnypilot/mads/state.py
+++ b/openpilot/sunnypilot/mads/state.py
@@ -97,7 +97,9 @@ def update(self):
                 self.state = State.overriding
               else:
                 self.state = State.enabled
-              self.add_current_alert_types(ET.ENABLE)
+              # Resume chime is independent of OP long; do not reuse the
+              # disabled->enabled gate that suppresses initial engage.
+              self.ss_state_machine.current_alert_types.append(ET.ENABLE)
 
         # OVERRIDING
         elif self.state == State.overriding:
diff --git a/openpilot/sunnypilot/mads/tests/test_mads_state_machine.py b/openpilot/sunnypilot/mads/tests/test_mads_state_machine.py
index dd76cc1216d442..bba52147660485 100644
--- a/openpilot/sunnypilot/mads/tests/test_mads_state_machine.py
+++ b/openpilot/sunnypilot/mads/tests/test_mads_state_machine.py
@@ -144,3 +144,66 @@ def test_maintain_states(self):
         self.state_machine.update()
         assert self.state_machine.state == state
         self.clear_events()
+
+  def _begin_step(self, *, long_active: bool):
+    self.mads.selfdrive.enabled = long_active
+    self.mads.selfdrive.state_machine.current_alert_types = [ET.PERMANENT]
+
+  def test_paused_to_enabled_appends_enable_while_long_active(self):
+    self._begin_step(long_active=True)
+    self.state_machine.state = State.paused
+    self.events_sp.add(EventNameSP.silentLkasEnable)
+    self.state_machine.update()
+    assert self.state_machine.state == State.enabled
+    assert ET.ENABLE in self.mads.selfdrive.state_machine.current_alert_types
+    self.clear_events()
+
+  def test_disabled_to_enabled_suppresses_enable_while_long_active(self):
+    self._begin_step(long_active=True)
+    self.state_machine.state = State.disabled
+    self.events_sp.add(EventNameSP.lkasEnable)
+    self.state_machine.update()
+    assert self.state_machine.state == State.enabled
+    assert ET.ENABLE not in self.mads.selfdrive.state_machine.current_alert_types
+    self.clear_events()
+
+  def test_disabled_to_enabled_appends_enable_when_long_inactive(self):
+    self._begin_step(long_active=False)
+    self.state_machine.state = State.disabled
+    self.events_sp.add(EventNameSP.lkasEnable)
+    self.state_machine.update()
+    assert self.state_machine.state == State.enabled
+    assert ET.ENABLE in self.mads.selfdrive.state_machine.current_alert_types
+    self.clear_events()
+
+  def test_paused_resume_does_not_reappend_enable(self):
+    self._begin_step(long_active=True)
+    self.state_machine.state = State.paused
+    self.events_sp.add(EventNameSP.silentLkasEnable)
+    self.state_machine.update()
+    assert self.state_machine.state == State.enabled
+    self._begin_step(long_active=True)
+    self.state_machine.update()
+    assert self.state_machine.state == State.enabled
+    assert ET.ENABLE not in self.mads.selfdrive.state_machine.current_alert_types
+    self.clear_events()
+
+  def test_hard_user_disable_from_pause_appends_while_long_active(self):
+    self._begin_step(long_active=True)
+    self.state_machine.state = State.paused
+    self.events_sp.add(EventNameSP.lkasDisable)
+    self.state_machine.update()
+    assert self.state_machine.state == State.disabled
+    assert ET.USER_DISABLE in self.mads.selfdrive.state_machine.current_alert_types
+    assert ET.ENABLE not in self.mads.selfdrive.state_machine.current_alert_types
+    self.clear_events()
+
+  def test_paused_no_entry_blocks_enable_alert(self):
+    self._begin_step(long_active=True)
+    self.state_machine.state = State.paused
+    self.events_sp.add(EventNameSP.silentLkasEnable)
+    self.events_sp.add(EventNameSP.silentBrakeHold)
+    self.state_machine.update()
+    assert self.state_machine.state == State.paused
+    assert ET.ENABLE not in self.mads.selfdrive.state_machine.current_alert_types
+    self.clear_events()
diff --git a/openpilot/sunnypilot/mads/tests/test_preap_hands_on_pause.py b/openpilot/sunnypilot/mads/tests/test_preap_hands_on_pause.py
index 7fc334a3a40b5c..9c7de33aabf779 100644
--- a/openpilot/sunnypilot/mads/tests/test_preap_hands_on_pause.py
+++ b/openpilot/sunnypilot/mads/tests/test_preap_hands_on_pause.py
@@ -53,7 +53,7 @@ def _panda(inhibited, model=None):
   return ps
 
 
-def make_mads(hands_on=True, capability=True):
+def make_mads(hands_on=True, capability=True, safety_param=None):
   CP = structs.CarParams()
   CP.brand = "tesla"
   CP.carFingerprint = "TESLA_MODEL_S_PREAP"
@@ -64,6 +64,11 @@ def make_mads(hands_on=True, capability=True):
   CP_SP.madsHandsOnPauseAvailable = capability
   CP_SP.flags = int(TeslaFlagsSP.PREAP_HANDS_ON_PAUSE) if hands_on else 0
   CP_SP.madsMainCruiseInputKind = structs.CarParamsSP.MadsMainCruiseInputKind.momentary
+  if safety_param is None:
+    safety_param = 8 if hands_on else 0
+  safety = structs.CarParams.SafetyConfig()
+  safety.safetyParam = safety_param
+  CP.safetyConfigs = [safety]
   params = MagicMock()
   params.get_bool.side_effect = lambda k: k in ("Mads",)
   params.get.return_value = 0
@@ -440,5 +445,42 @@ def test_door_during_pending_acquisition_hard_disables(self):
     self.assertTrue(sd.events_sp.has(EventNameSP.lkasDisable))
     self.assertEqual(mads.state_machine.state, State.disabled)
 
+  def test_level_one_pauses_at_hands_one(self):
+    mads, sd = make_mads(safety_param=8 | (1 << 8))
+    sd.sm = FakeSM([_panda(False)])
+    mads.update_events(FakeCS(hands_on_level=0))
+    self.assertFalse(mads._hands_on_steering_inhibited)
+    mads.update_events(FakeCS(hands_on_level=1))
+    self.assertTrue(mads._hands_on_steering_inhibited)
+    self.assertTrue(sd.events_sp.has(EventNameSP.silentLkasDisable))
+
+  def test_level_three_stays_enabled_at_hands_two(self):
+    mads, sd = make_mads(safety_param=8 | (3 << 8))
+    sd.sm = FakeSM([_panda(False)])
+    mads.update_events(FakeCS(hands_on_level=2))
+    self.assertFalse(mads._hands_on_steering_inhibited)
+    self.assertFalse(sd.events_sp.has(EventNameSP.silentLkasDisable))
+
+  def test_level_three_pauses_at_hands_three(self):
+    mads, sd = make_mads(safety_param=8 | (3 << 8))
+    sd.sm = FakeSM([_panda(False)])
+    mads.update_events(FakeCS(hands_on_level=3))
+    self.assertTrue(mads._hands_on_steering_inhibited)
+    self.assertTrue(sd.events_sp.has(EventNameSP.silentLkasDisable))
+
+  def test_panda_inhibit_pauses_irrespective_of_host_level(self):
+    mads, sd = make_mads(safety_param=8 | (3 << 8))
+    sd.sm = FakeSM([_panda(True)])
+    mads.update_events(FakeCS(hands_on_level=0))
+    self.assertTrue(mads._hands_on_steering_inhibited)
+    self.assertTrue(sd.events_sp.has(EventNameSP.silentLkasDisable))
+
+  def test_disengage_level_frozen_at_init(self):
+    mads, sd = make_mads(safety_param=8 | (3 << 8))
+    sd.CP.safetyConfigs[0].safetyParam = 8 | (1 << 8)
+    sd.sm = FakeSM([_panda(False)])
+    mads.update_events(FakeCS(hands_on_level=2))
+    self.assertFalse(mads._hands_on_steering_inhibited)
+
 if __name__ == "__main__":
   unittest.main()
diff --git a/openpilot/sunnypilot/selfdrive/car/interfaces.py b/openpilot/sunnypilot/selfdrive/car/interfaces.py
index e4dc355a217c69..3a3c8c01e31db6 100644
--- a/openpilot/sunnypilot/selfdrive/car/interfaces.py
+++ b/openpilot/sunnypilot/selfdrive/car/interfaces.py
@@ -130,6 +130,7 @@ def initialize_params(params) -> list[dict[str, Any]]:
   keys.extend([
     "TeslaCoopSteering",
     "TeslaPreapHandsOnPause",
+    "TeslaPreapHandsOnLevel",
     "TeslaMadsScreenButton",
     "NAPForcePreAP",
   ])
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent_consumer.py b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent_consumer.py
index e17be728a9314d..532af246c95e33 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent_consumer.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_preap_intent_consumer.py
@@ -969,13 +969,15 @@ def _adapter_pause(self):
     parsers = self.cs.get_can_parsers(self.cs.CP, self.cs.CP_SP)
     packer = CANPacker("tesla_preap")
     frames = []
-    for name, bus, values in (
+    messages: tuple[tuple[str, int, dict[str, float]], ...] = (
       ("EPAS_sysStatus", 0, {"EPAS_handsOnLevel": 2}),
       ("DI_torque2", 0, {"DI_gear": 4}),
+      ("SDM1", 0, {"SDM_bcklDrivStatus": 1}),
       ("ESP_B", 0, {"ESP_vehicleSpeed": 72}),
       ("STW_ACTN_RQ", 0, {"DTR_Dist_Rq": 255}),
       ("GAS_SENSOR", 2, {"IDX": 2}),
-    ):
+    )
+    for name, bus, values in messages:
       address, data, source = packer.make_can_msg(name, bus, values)
       frames.append(CanData(address, data, source))
     for parser in parsers.values():
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py b/openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
index b8ae9879dfd79a..38ad444ed58696 100644
--- a/openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/preap_alerts.py
@@ -1,14 +1,14 @@
 """MADS lat-prompt wrappers and leftover CarSpecificEventsSP helpers.
 
 NAP's EventName alert texts now live in selfdrive/selfdrived/events.py.
-This file keeps the MADS-only mapping (lkasEnable/lkasDisable) because NAP
-has no MADS, plus the symbols CarSpecificEventsSP still imports.
+This file keeps the MADS-only mapping (lkasEnable/lkasDisable/silentLkas*)
+because NAP has no MADS, plus the symbols CarSpecificEventsSP still imports.
 """
 from __future__ import annotations
 
 from dataclasses import dataclass
 
-from openpilot.cereal import log
+from openpilot.cereal import custom, log
 from opendbc.car.structs import car
 from opendbc.car.tesla.preap.carcontroller import PedalAuthorityState
 from opendbc.car.tesla.preap.sp.platform import is_preap_platform
@@ -19,6 +19,7 @@
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = log.SelfdriveState.AudibleAlert
+AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert
 
 
 @dataclass(frozen=True)
@@ -132,6 +133,18 @@ def preap_lkas_disable_alert(CP, CS, sm, metric, soft_disable_time, personality)
   return EngagementAlert(AudibleAlert.disengage)
 
 
+def preap_silent_lkas_enable_alert(CP, CS, sm, metric, soft_disable_time, personality) -> Alert:
+  if is_preap_platform(CP):
+    return EngagementAlert(AudibleAlertSP.promptSingleHigh)
+  return EngagementAlert(AudibleAlert.none)
+
+
+def preap_silent_lkas_disable_alert(CP, CS, sm, metric, soft_disable_time, personality) -> Alert:
+  if is_preap_platform(CP):
+    return EngagementAlert(AudibleAlertSP.promptSingleLow)
+  return EngagementAlert(AudibleAlert.none)
+
+
 def radar_state_has_fault(radar_state) -> bool:
   """True when production RadarState.radarErrors reports a radar/config fault.
 
@@ -164,3 +177,5 @@ def register_preap_alerts() -> None:
   EventNameSP = custom.OnroadEventSP.EventName
   EVENTS_SP[EventNameSP.lkasEnable] = {ET.ENABLE: preap_lkas_enable_alert}
   EVENTS_SP[EventNameSP.lkasDisable] = {ET.USER_DISABLE: preap_lkas_disable_alert}
+  EVENTS_SP[EventNameSP.silentLkasEnable] = {ET.ENABLE: preap_silent_lkas_enable_alert}
+  EVENTS_SP[EventNameSP.silentLkasDisable] = {ET.USER_DISABLE: preap_silent_lkas_disable_alert}
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
index 92d9511c7f9116..420f9559f8487b 100644
--- a/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_preap_alerts.py
@@ -1,17 +1,26 @@
+from unittest.mock import MagicMock
+
 from openpilot.cereal import custom, log
 from opendbc.car.structs import car
-from openpilot.sunnypilot.selfdrive.selfdrived.events import EVENTS_SP
-from openpilot.sunnypilot.selfdrive.selfdrived.events_base import ET
+from openpilot.selfdrive.selfdrived.alertmanager import AlertManager
+from openpilot.selfdrive.selfdrived.events import ET, Events
+from openpilot.sunnypilot.mads.state import StateMachine
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EVENTS_SP, EventsSP
 from openpilot.sunnypilot.selfdrive.selfdrived.preap_alerts import (
   preap_lkas_disable_alert,
   preap_lkas_enable_alert,
+  preap_silent_lkas_disable_alert,
+  preap_silent_lkas_enable_alert,
   register_preap_alerts,
   select_preap_alerts,
   PreAPAlertInputs,
 )
 
+State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 EventNameSP = custom.OnroadEventSP.EventName
 AudibleAlert = log.SelfdriveState.AudibleAlert
+AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert
+AlertSize = log.SelfdriveState.AlertSize
 
 
 def test_preap_lkas_alerts_show_steering_prompt():
@@ -55,3 +64,146 @@ def test_select_preap_alerts_defers_to_nap_eventname():
     radar_fault=False,
   )
   assert select_preap_alerts(inputs) == ()
+
+
+def _preap_cp():
+  cp = car.CarParams.new_message()
+  cp.brand = "tesla"
+  cp.carFingerprint = "TESLA_MODEL_S_PREAP"
+  return cp
+
+
+def _stock_cp():
+  return car.CarParams.new_message()
+
+
+def _callback_args(cp):
+  cs = car.CarState.new_message()
+  return [cp, cs, None, False, 100, log.LongitudinalPersonality.standard]
+
+
+def _harness(*, long_active, state, events):
+  mads = MagicMock()
+  mads.selfdrive.enabled = long_active
+  mads.selfdrive.state_machine.current_alert_types = [ET.PERMANENT]
+  mads.selfdrive.state_machine.soft_disable_timer = 100
+  mads.selfdrive.events = Events()
+  mads.selfdrive.events_sp = EventsSP()
+  machine = StateMachine(mads)
+  machine.state = state
+  for event in events:
+    mads.selfdrive.events_sp.add(event)
+  machine.update()
+  return mads, machine
+
+
+def _selected_alert(mads, cp, frame=1):
+  am = AlertManager()
+  alerts = mads.selfdrive.events_sp.create_alerts(
+    mads.selfdrive.state_machine.current_alert_types, _callback_args(cp))
+  am.add_many(frame, alerts)
+  am.process_alerts(frame, set())
+  return am.current_alert
+
+
+def test_preap_silent_lkas_alerts_are_empty_hud_prompts():
+  register_preap_alerts()
+  args = _callback_args(_preap_cp())
+  pause = preap_silent_lkas_disable_alert(*args)
+  resume = preap_silent_lkas_enable_alert(*args)
+  assert pause.alert_text_1 == ""
+  assert pause.alert_text_2 == ""
+  assert pause.alert_size == AlertSize.none
+  assert pause.audible_alert == AudibleAlertSP.promptSingleLow
+  assert resume.alert_text_1 == ""
+  assert resume.alert_size == AlertSize.none
+  assert resume.audible_alert == AudibleAlertSP.promptSingleHigh
+  stock_args = _callback_args(_stock_cp())
+  assert preap_silent_lkas_disable_alert(*stock_args).audible_alert == AudibleAlert.none
+  assert preap_silent_lkas_enable_alert(*stock_args).audible_alert == AudibleAlert.none
+
+
+def test_pause_while_long_active_selects_low_prompt():
+  register_preap_alerts()
+  mads, machine = _harness(
+    long_active=True, state=State.enabled, events=(EventNameSP.silentLkasDisable,))
+  assert machine.state == State.paused
+  alert = _selected_alert(mads, _preap_cp())
+  assert alert.audible_alert == AudibleAlertSP.promptSingleLow
+  assert alert.alert_text_1 == ""
+  assert alert.alert_size == AlertSize.none
+
+
+def test_resume_while_long_active_selects_high_prompt():
+  register_preap_alerts()
+  mads, machine = _harness(
+    long_active=True, state=State.paused, events=(EventNameSP.silentLkasEnable,))
+  assert machine.state == State.enabled
+  alert = _selected_alert(mads, _preap_cp())
+  assert alert.audible_alert == AudibleAlertSP.promptSingleHigh
+  assert alert.alert_text_1 == ""
+  assert alert.alert_size == AlertSize.none
+
+
+def test_resume_chatter_does_not_reselect_high_prompt():
+  register_preap_alerts()
+  mads, machine = _harness(
+    long_active=True, state=State.paused, events=(EventNameSP.silentLkasEnable,))
+  first = _selected_alert(mads, _preap_cp(), frame=1)
+  assert first.audible_alert == AudibleAlertSP.promptSingleHigh
+  mads.selfdrive.state_machine.current_alert_types = [ET.PERMANENT]
+  machine.update()
+  second = _selected_alert(mads, _preap_cp(), frame=2)
+  assert machine.state == State.enabled
+  assert second.audible_alert == AudibleAlert.none
+
+
+def test_initial_enable_while_long_active_stays_silent():
+  register_preap_alerts()
+  mads, machine = _harness(
+    long_active=True, state=State.disabled, events=(EventNameSP.lkasEnable,))
+  assert machine.state == State.enabled
+  alert = _selected_alert(mads, _preap_cp())
+  assert alert.audible_alert == AudibleAlert.none
+
+
+def test_initial_enable_when_long_inactive_selects_engage():
+  register_preap_alerts()
+  mads, machine = _harness(
+    long_active=False, state=State.disabled, events=(EventNameSP.lkasEnable,))
+  assert machine.state == State.enabled
+  alert = _selected_alert(mads, _preap_cp())
+  assert alert.alert_text_1 == "Steering Engaged"
+  assert alert.audible_alert == AudibleAlert.engage
+
+
+def test_hard_disable_from_pause_selects_disengage():
+  register_preap_alerts()
+  mads, machine = _harness(
+    long_active=True, state=State.paused, events=(EventNameSP.lkasDisable,))
+  assert machine.state == State.disabled
+  alert = _selected_alert(mads, _preap_cp())
+  assert alert.alert_text_1 == "Steering Disengaged"
+  assert alert.audible_alert == AudibleAlert.disengage
+
+
+def test_hard_disable_keeps_disengage_if_silent_pause_also_present():
+  register_preap_alerts()
+  mads, _machine = _harness(
+    long_active=True,
+    state=State.enabled,
+    events=(EventNameSP.lkasDisable, EventNameSP.silentLkasDisable),
+  )
+  alert = _selected_alert(mads, _preap_cp())
+  assert alert.audible_alert == AudibleAlert.disengage
+  assert alert.alert_text_1 == "Steering Disengaged"
+
+
+def test_stock_cars_keep_silent_pause_resume():
+  register_preap_alerts()
+  pause_mads, _ = _harness(
+    long_active=True, state=State.enabled, events=(EventNameSP.silentLkasDisable,))
+  resume_mads, _ = _harness(
+    long_active=True, state=State.paused, events=(EventNameSP.silentLkasEnable,))
+  assert _selected_alert(pause_mads, _stock_cp()).audible_alert == AudibleAlert.none
+  assert _selected_alert(resume_mads, _stock_cp()).audible_alert == AudibleAlert.none
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui.json b/openpilot/sunnypilot/sunnylink/settings_ui.json
index 0a434745604a5a..374c95faadc5b3 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui.json
+++ b/openpilot/sunnypilot/sunnylink/settings_ui.json
@@ -2336,6 +2336,63 @@
             }
           ]
         },
+        {
+          "key": "TeslaPreapHandsOnPause",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "Hands-On Pause",
+          "description": "Off: steering takeover disengages. On: pause steering, not active cruise. Steering resumes 1 second after release; canceled cruise stays off. Applies on the next drive.",
+          "visibility": [
+            {
+              "type": "capability",
+              "field": "tesla_preap",
+              "equals": true
+            }
+          ],
+          "enablement": [
+            {
+              "type": "offroad_only"
+            }
+          ]
+        },
+        {
+          "key": "TeslaPreapHandsOnLevel",
+          "widget": "multiple_button",
+          "needs_onroad_cycle": true,
+          "title": "Hands-On Level",
+          "description": "Which EPAS hands-on level pauses steering. 1 is lightest, 3 is heaviest. Default 2. Applies on the next drive.",
+          "options": [
+            {
+              "value": 1,
+              "label": "1"
+            },
+            {
+              "value": 2,
+              "label": "2"
+            },
+            {
+              "value": 3,
+              "label": "3"
+            }
+          ],
+          "visibility": [
+            {
+              "type": "capability",
+              "field": "tesla_preap",
+              "equals": true
+            }
+          ],
+          "enablement": [
+            {
+              "type": "offroad_only"
+            },
+            {
+              "type": "param",
+              "key": "TeslaPreapHandsOnPause",
+              "equals": true
+            }
+          ]
+        },
         {
           "key": "TeslaMadsScreenButton",
           "widget": "multiple_button",
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
index 656b2028a6b922..96553f21b0d0fc 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
@@ -58,6 +58,37 @@ sections:
     - $ref: '#/macros/not_tesla_preap'
     enablement:
     - $ref: '#/macros/offroad'
+  - key: TeslaPreapHandsOnPause
+    widget: toggle
+    needs_onroad_cycle: true
+    title: Hands-On Pause
+    description: 'Off: steering takeover disengages. On: pause steering, not active
+      cruise. Steering resumes 1 second after release; canceled cruise stays off.
+      Applies on the next drive.'
+    visibility:
+    - $ref: '#/macros/tesla_preap'
+    enablement:
+    - $ref: '#/macros/offroad'
+  - key: TeslaPreapHandsOnLevel
+    widget: multiple_button
+    needs_onroad_cycle: true
+    title: Hands-On Level
+    description: Which EPAS hands-on level pauses steering. 1 is lightest, 3 is heaviest.
+      Default 2. Applies on the next drive.
+    options:
+    - value: 1
+      label: '1'
+    - value: 2
+      label: '2'
+    - value: 3
+      label: '3'
+    visibility:
+    - $ref: '#/macros/tesla_preap'
+    enablement:
+    - $ref: '#/macros/offroad'
+    - type: param
+      key: TeslaPreapHandsOnPause
+      equals: true
   - key: TeslaMadsScreenButton
     widget: multiple_button
     title: MADS Screen Activation
diff --git a/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py b/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py
index 74db5878086465..25c631db330d63 100644
--- a/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py
+++ b/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py
@@ -223,6 +223,8 @@ class TestTeslaPreAPSettings:
   def test_preap_vehicle_keys_present(self, schema):
     vs = schema["vehicle_settings"]["tesla"]
     keys = {item["key"] for item in vs.get("items", [])}
+    assert "TeslaPreapHandsOnPause" in keys
+    assert "TeslaPreapHandsOnLevel" in keys
     assert "NAPFollowDistance" in keys
     assert "NAPPedalEnabled" in keys
     assert "NAPPedalCanBus" in keys
@@ -246,13 +248,19 @@ def test_follow_is_live_hardware_needs_cycle(self, schema):
     follow = _find_item(schema, "NAPFollowDistance")
     assert follow is not None
     assert not follow.get("needs_onroad_cycle")
-    for key in ("NAPPedalEnabled", "NAPPedalCanBus", "NAPRadarEnabled", "NAPRadarBehindNosecone"):
+    for key in ("NAPPedalEnabled", "NAPPedalCanBus", "NAPRadarEnabled", "NAPRadarBehindNosecone",
+                "TeslaPreapHandsOnPause", "TeslaPreapHandsOnLevel"):
       item = _find_item(schema, key)
       assert item is not None, key
       assert item.get("needs_onroad_cycle") is True
       assert "offroad_only" in _flatten_rule_types(item.get("enablement"))
     assert _find_item(schema, "NAPRadarOffset") is None
 
+  def test_hands_on_level_is_closed_range(self, schema):
+    level = _find_item(schema, "TeslaPreapHandsOnLevel")
+    assert level is not None
+    assert [opt["value"] for opt in level.get("options", [])] == [1, 2, 3]
+
   def test_tools_are_not_schema_keys(self, schema):
     from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import collect_all_keys
     keys = collect_all_keys(schema)
diff --git a/openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py b/openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py
index 182a2810285995..932851353b7f5f 100644
--- a/openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py
+++ b/openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py
@@ -302,6 +302,8 @@ def test_toyota_has_enforce_stock_and_stop_go(self, schema):
   def test_tesla_has_coop_steering(self, schema):
     keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("tesla"))}
     assert "TeslaCoopSteering" in keys
+    assert "TeslaPreapHandsOnPause" in keys
+    assert "TeslaPreapHandsOnLevel" in keys
 
   def test_subaru_has_stop_and_go(self, schema):
     keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("subaru"))}
diff --git a/openpilot/sunnypilot/sunnylink/tests/test_write_policy.py b/openpilot/sunnypilot/sunnylink/tests/test_write_policy.py
index 3e6976c6a0e27e..f6a3354ae8bb8e 100644
--- a/openpilot/sunnypilot/sunnylink/tests/test_write_policy.py
+++ b/openpilot/sunnypilot/sunnylink/tests/test_write_policy.py
@@ -43,6 +43,21 @@ def test_preap_only_keys_rejected_on_modern():
   assert evaluate_param_write("MadsSteeringMode", 1, MODERN).allow
 
 
+def test_next_drive_hands_on_pause_and_level():
+  assert evaluate_param_write("TeslaPreapHandsOnPause", True, PREAP).allow
+  assert evaluate_param_write("TeslaPreapHandsOnPause", False, PREAP).allow
+  assert evaluate_param_write("TeslaPreapHandsOnPause", "0", PREAP).allow
+  assert not evaluate_param_write("TeslaPreapHandsOnPause", "maybe", PREAP).allow
+  assert evaluate_param_write("TeslaPreapHandsOnLevel", 1, PREAP).allow
+  assert evaluate_param_write("TeslaPreapHandsOnLevel", 2, PREAP).allow
+  assert evaluate_param_write("TeslaPreapHandsOnLevel", 3, PREAP).allow
+  assert not evaluate_param_write("TeslaPreapHandsOnLevel", 0, PREAP).allow
+  assert not evaluate_param_write("TeslaPreapHandsOnLevel", 4, PREAP).allow
+  assert not evaluate_param_write("TeslaPreapHandsOnLevel", True, PREAP).allow
+  assert not evaluate_param_write("TeslaPreapHandsOnPause", True, MODERN).allow
+  assert not evaluate_param_write("TeslaPreapHandsOnLevel", 2, MODERN).allow
+
+
 def test_hardware_rejected_on_modern_and_preap():
   for caps in (PREAP, MODERN):
     assert not evaluate_param_write("NAPRadarOffset", 0.1, caps).allow
diff --git a/openpilot/sunnypilot/sunnylink/write_policy.py b/openpilot/sunnypilot/sunnylink/write_policy.py
index c3c9bcfbba1f45..570eea3eee8136 100644
--- a/openpilot/sunnypilot/sunnylink/write_policy.py
+++ b/openpilot/sunnypilot/sunnylink/write_policy.py
@@ -18,6 +18,8 @@
 FOLLOW_DISTANCE_MAX = 7
 STEERING_MODE_MIN = 0
 STEERING_MODE_MAX = 2
+HANDS_ON_LEVEL_MIN = 1
+HANDS_ON_LEVEL_MAX = 3
 PREAP_MODE_INDEPENDENT = 0
 
 # Hardware/calibration/radar and boot-lock keys stay local.
@@ -82,11 +84,15 @@
 
 PREAP_NEXT_DRIVE_KEYS = frozenset({
   "MadsSteeringMode",
+  "TeslaPreapHandsOnPause",
+  "TeslaPreapHandsOnLevel",
 })
 
 # Pre-AP-only remote keys. MadsSteeringMode remains a modern Tesla setting.
 PREAP_ONLY_REMOTE_KEYS = frozenset({
   "NAPFollowDistance",
+  "TeslaPreapHandsOnPause",
+  "TeslaPreapHandsOnLevel",
 })
 
 
@@ -158,6 +164,19 @@ def evaluate_param_write(key: str, value, caps: dict | None = None, *,
       return WriteDecision(False, "invalid_steering_mode")
     return WriteDecision(True)
 
+  if key == "TeslaPreapHandsOnPause":
+    if value not in (True, False, 0, 1, "0", "1", b"0", b"1", "true", "True", "false", "False"):
+      return WriteDecision(False, "invalid_hands_on_pause")
+    return WriteDecision(True)
+
+  if key == "TeslaPreapHandsOnLevel":
+    if isinstance(value, bool):
+      return WriteDecision(False, "invalid_hands_on_level")
+    parsed = _as_int(value)
+    if parsed is None or not (HANDS_ON_LEVEL_MIN <= parsed <= HANDS_ON_LEVEL_MAX):
+      return WriteDecision(False, "invalid_hands_on_level")
+    return WriteDecision(True)
+
   if key in PREAP_LIVE_KEYS or key in PREAP_NEXT_DRIVE_KEYS:
     return WriteDecision(True)
 

From 41ac2cd65a14d1df3dddb7086337a6932dfffedd Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Tue, 15 Sep 2026 01:51:19 +0000
Subject: [PATCH 1429/1434] Fix combined lead decoding and Pre-AP radar
 matching

Decode 144-value lead outputs as contiguous means and log deviations while preserving legacy hypothesis selection. Bound Pre-AP radar association residuals so inflated model uncertainty cannot admit incompatible targets.
---
 openpilot/selfdrive/controls/radard.py        |   7 +-
 .../selfdrive/controls/tests/test_radard.py   | 103 ++++++++++++++++--
 .../modeld_v2/parse_model_outputs.py          |   8 +-
 .../tests/test_parse_model_outputs.py         |  62 +++++++++++
 4 files changed, 169 insertions(+), 11 deletions(-)
 create mode 100644 openpilot/sunnypilot/modeld_v2/tests/test_parse_model_outputs.py

diff --git a/openpilot/selfdrive/controls/radard.py b/openpilot/selfdrive/controls/radard.py
index b136542fab6c0b..feea63ff38edee 100755
--- a/openpilot/selfdrive/controls/radard.py
+++ b/openpilot/selfdrive/controls/radard.py
@@ -154,9 +154,12 @@ def association_score(v_ego: float, vision_d_rel: float, lead: capnp._DynamicStr
 
 def is_association_candidate(v_ego: float, vision_d_rel: float, lead: capnp._DynamicStructReader,
                              track: Track, score: float) -> bool:
-  distance_limit = ASSOCIATION_DISTANCE_GATE * max(lead.xStd[0], ASSOCIATION_MIN_DISTANCE_STD)
+  # Uncertainty must not erase range and speed compatibility.
+  distance_limit = min(ASSOCIATION_DISTANCE_GATE * max(lead.xStd[0], ASSOCIATION_MIN_DISTANCE_STD),
+                       max(5.0, 0.25 * vision_d_rel))
   lateral_limit = ASSOCIATION_LATERAL_GATE * max(lead.yStd[0], ASSOCIATION_MIN_LATERAL_STD)
-  velocity_limit = ASSOCIATION_VELOCITY_GATE * max(lead.vStd[0], ASSOCIATION_MIN_VELOCITY_STD)
+  velocity_limit = min(ASSOCIATION_VELOCITY_GATE * max(lead.vStd[0], ASSOCIATION_MIN_VELOCITY_STD),
+                       10.0)
 
   distance_compatible = abs(track.dRel - vision_d_rel) <= distance_limit
   lateral_compatible = abs(track.yRel + lead.y[0]) <= lateral_limit
diff --git a/openpilot/selfdrive/controls/tests/test_radard.py b/openpilot/selfdrive/controls/tests/test_radard.py
index d1a56723253111..cdd431a7ab712a 100644
--- a/openpilot/selfdrive/controls/tests/test_radard.py
+++ b/openpilot/selfdrive/controls/tests/test_radard.py
@@ -7,6 +7,7 @@
 
 
 MAX_RADAR_MEASUREMENT_AGE = 0.5
+CLIPPED_VISION_STD = 59874.140625
 
 
 def _cp(*, fingerprint: str = "TESLA_MODEL_S_PREAP", brand: str = "tesla"):
@@ -26,8 +27,10 @@ def __init__(self, v_ego: float = 20.0, *, fingerprint: str = "TESLA_MODEL_S_PRE
     self.frame = 0
 
   def step(self, time_s: float, vision_d_rel: float, radar_points: list[tuple[int, float, float, float]] | None = None,
-           vision_v: float | None = None):
-    messages = [self._model_message(time_s, vision_d_rel, vision_v)]
+           vision_v: float | None = None, *, x_std: float = 3.0, v_std: float = 2.0, y_std: float = 1.0,
+           vision_y: float = 0.0, vision_prob: float = 0.9):
+    messages = [self._model_message(time_s, vision_d_rel, vision_v, x_std=x_std, v_std=v_std, y_std=y_std,
+                                    vision_y=vision_y, vision_prob=vision_prob)]
     if self.frame == 0:
       messages.append(self._car_state_message(time_s))
     if radar_points is not None:
@@ -38,19 +41,21 @@ def step(self, time_s: float, vision_d_rel: float, radar_points: list[tuple[int,
     self.frame += 1
     return self.radar.radar_state.leadOne
 
-  def _model_message(self, time_s: float, vision_d_rel: float, vision_v: float | None):
+  def _model_message(self, time_s: float, vision_d_rel: float, vision_v: float | None, *,
+                     x_std: float = 3.0, v_std: float = 2.0, y_std: float = 1.0,
+                     vision_y: float = 0.0, vision_prob: float = 0.9):
     message = messaging.new_message("modelV2")
     message.logMonoTime = int(time_s * 1e9)
     message.modelV2.velocity.x = [self.v_ego]
     leads = message.modelV2.init("leadsV3", 2)
     for lead in leads:
-      lead.prob = 0.9
+      lead.prob = vision_prob
       lead.x = [vision_d_rel + RADAR_TO_CAMERA]
-      lead.xStd = [3.0]
-      lead.y = [0.0]
-      lead.yStd = [1.0]
+      lead.xStd = [x_std]
+      lead.y = [vision_y]
+      lead.yStd = [y_std]
       lead.v = [self.v_ego if vision_v is None else vision_v]
-      lead.vStd = [2.0]
+      lead.vStd = [v_std]
       lead.a = [0.0]
     return message
 
@@ -156,3 +161,85 @@ def test_fingerprint_gate_skips_preap_association_for_other_cars():
   lead = scenario.step(1.0, vision_d_rel=100.0, radar_points=[(7, 120.0, 0.0, 0.0)])
   assert lead.radar
   assert lead.dRel == pytest.approx(120.0)
+
+
+def test_association_rejects_stationary_speed_mismatch_when_distance_fits_cap():
+  vision_d_rel = 97.1520767 - RADAR_TO_CAMERA
+  scenario = RadarScenario(v_ego=22.33053)
+  lead = scenario.step(
+    1.0,
+    vision_d_rel=vision_d_rel,
+    radar_points=[(438, 75.8125, 1.375, -22.0)],
+    vision_v=22.43566,
+    x_std=CLIPPED_VISION_STD,
+    v_std=CLIPPED_VISION_STD,
+    y_std=0.23918359,
+    vision_y=-1.4312779,
+  )
+
+  assert not lead.radar
+  assert lead.dRel == pytest.approx(vision_d_rel)
+
+
+def test_association_rejects_distant_mismatch_when_velocity_fits():
+  v_ego = 17.41916
+  vision_v = 12.84962
+  vision_d_rel = 89.7781 - RADAR_TO_CAMERA
+  scenario = RadarScenario(v_ego=v_ego)
+  lead = scenario.step(
+    1.0,
+    vision_d_rel=vision_d_rel,
+    radar_points=[(478, 15.875, 0.0, vision_v - v_ego)],
+    vision_v=vision_v,
+    x_std=CLIPPED_VISION_STD,
+    v_std=CLIPPED_VISION_STD,
+  )
+
+  assert not lead.radar
+  assert lead.dRel == pytest.approx(vision_d_rel)
+
+
+def test_association_does_not_keep_ineligible_incumbent_via_hysteresis():
+  scenario = RadarScenario()
+  clipped = {"x_std": CLIPPED_VISION_STD, "v_std": CLIPPED_VISION_STD}
+  lead = scenario.step(1.0, vision_d_rel=40.0, radar_points=[(81, 40.0, 0.0, 0.0)], **clipped)
+  assert lead.radarTrackId == 81
+
+  lead = scenario.step(
+    1.1,
+    vision_d_rel=40.0,
+    radar_points=[(81, 15.0, 0.0, 0.0), (82, 40.0, 0.0, 0.0)],
+    **clipped,
+  )
+
+  assert lead.radar
+  assert lead.radarTrackId == 82
+
+
+@pytest.mark.parametrize("v_ego, vision_v, radar_v_rel", [
+  (20.0, 20.0, 0.0),
+  (22.33053, 0.0, -22.33053),
+])
+def test_association_keeps_agreeing_tracks_at_clipped_std(v_ego, vision_v, radar_v_rel):
+  scenario = RadarScenario(v_ego=v_ego)
+  lead = scenario.step(
+    1.0,
+    vision_d_rel=40.0,
+    radar_points=[(7, 40.0, 0.0, radar_v_rel)],
+    vision_v=vision_v,
+    x_std=CLIPPED_VISION_STD,
+    v_std=CLIPPED_VISION_STD,
+  )
+
+  assert lead.radar
+  assert lead.radarTrackId == 7
+  assert lead.dRel == pytest.approx(40.0)
+
+
+def test_low_speed_override_selects_in_path_stop_without_vision():
+  scenario = RadarScenario(v_ego=3.0)
+  lead = scenario.step(1.0, vision_d_rel=30.0, radar_points=[(7, 10.0, 0.0, -3.0)], vision_prob=0.0)
+
+  assert lead.radar
+  assert lead.radarTrackId == 7
+  assert lead.dRel == pytest.approx(10.0)
diff --git a/openpilot/sunnypilot/modeld_v2/parse_model_outputs.py b/openpilot/sunnypilot/modeld_v2/parse_model_outputs.py
index 7a3adcc1fa7ac4..4c62db66737fbb 100644
--- a/openpilot/sunnypilot/modeld_v2/parse_model_outputs.py
+++ b/openpilot/sunnypilot/modeld_v2/parse_model_outputs.py
@@ -124,7 +124,13 @@ def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     if 'sim_pose' in outs:
       self.parse_mdn('sim_pose', outs, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
-    self.parse_mdn('lead', outs, out_shape=(ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH))
+    # 144-wide lead is concatenated means then logstds, not 3x48 MHP.
+    non_mhp_lead_width = 2 * ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH
+    if 'lead' in outs and outs['lead'].shape[1] == non_mhp_lead_width:
+      self.parse_mdn('lead', outs, in_N=1, out_N=0,
+                     out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH))
+    else:
+      self.parse_mdn('lead', outs, out_shape=(ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH))
     if 'lat_planner_solution' in outs:
       self.parse_mdn('lat_planner_solution', outs, out_shape=(ModelConstants.IDX_N, ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
     if 'desired_curvature' in outs:
diff --git a/openpilot/sunnypilot/modeld_v2/tests/test_parse_model_outputs.py b/openpilot/sunnypilot/modeld_v2/tests/test_parse_model_outputs.py
new file mode 100644
index 00000000000000..aa3319e4c0d02e
--- /dev/null
+++ b/openpilot/sunnypilot/modeld_v2/tests/test_parse_model_outputs.py
@@ -0,0 +1,62 @@
+import numpy as np
+
+from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
+from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser
+
+LEAD_SELECTION = ModelConstants.LEAD_MHP_SELECTION
+LEAD_TRAJ_LEN = ModelConstants.LEAD_TRAJ_LEN
+LEAD_WIDTH = ModelConstants.LEAD_WIDTH
+LEAD_MHP_N = ModelConstants.LEAD_MHP_N
+
+
+def _unique_xyva(shape, origin, step):
+  idx = np.arange(int(np.prod(shape)), dtype=np.float32).reshape(shape)
+  return origin + step * idx
+
+
+def test_lead_144_concatenated_means_then_logstds():
+  batch = 2
+  shape = (batch, LEAD_SELECTION, LEAD_TRAJ_LEN, LEAD_WIDTH)
+  means = _unique_xyva(shape,
+                       np.array([38.0, -1.1, 18.5, -0.15], dtype=np.float32),
+                       np.array([0.07, 0.003, 0.025, 0.002], dtype=np.float32))
+  stds = _unique_xyva(shape,
+                      np.array([1.1, 0.22, 0.55, 0.28], dtype=np.float32),
+                      np.array([0.012, 0.0015, 0.006, 0.0025], dtype=np.float32))
+
+  raw = np.concatenate([means.reshape(batch, -1), np.log(stds.reshape(batch, -1))], axis=1)
+  parsed = Parser(ignore_missing=True).parse_outputs({'lead': raw})
+
+  np.testing.assert_allclose(parsed['lead'], means, rtol=1e-5, atol=1e-6)
+  np.testing.assert_allclose(parsed['lead_stds'], stds, rtol=1e-5, atol=1e-6)
+
+
+def test_lead_102_weighted_selection_pairs_means_and_stds():
+  batch = 2
+  hyp_shape = (batch, LEAD_MHP_N, LEAD_TRAJ_LEN, LEAD_WIDTH)
+  means = _unique_xyva(hyp_shape,
+                       np.array([32.0, -0.9, 14.0, -0.25], dtype=np.float32),
+                       np.array([0.11, 0.004, 0.03, 0.003], dtype=np.float32))
+  stds = _unique_xyva(hyp_shape,
+                      np.array([0.9, 0.18, 0.45, 0.24], dtype=np.float32),
+                      np.array([0.01, 0.0012, 0.005, 0.002], dtype=np.float32))
+
+  # Each batch selects both hypotheses, with different winners per batch.
+  logits = np.array([
+    [[8.0, -8.0, 7.0], [-8.0, 8.0, -7.0]],
+    [[-8.0, 8.0, -7.0], [8.0, -8.0, 7.0]],
+  ], dtype=np.float32)
+  winners = np.array([[0, 1, 0], [1, 0, 1]])
+
+  raw = np.concatenate([
+    means.reshape(batch, LEAD_MHP_N, -1),
+    np.log(stds.reshape(batch, LEAD_MHP_N, -1)),
+    logits,
+  ], axis=-1).reshape(batch, -1)
+
+  parsed = Parser(ignore_missing=True).parse_outputs({'lead': raw})
+  expected_means = means[np.arange(batch)[:, None], winners]
+  expected_stds = stds[np.arange(batch)[:, None], winners]
+
+  np.testing.assert_allclose(parsed['lead'], expected_means, rtol=1e-5, atol=1e-6)
+  np.testing.assert_allclose(parsed['lead_stds'], expected_stds, rtol=1e-5, atol=1e-6)

From 03e20e8f58e01fe12de666133befb4484cfdf0e8 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Thu, 17 Sep 2026 00:21:43 +0000
Subject: [PATCH 1430/1434] Sync NAP follow-distance picker

Reload the persisted selector while the NAP page is visible. Track the last committed value so asynchronous picker writes do not briefly roll the highlight back.
---
 .../ui/sunnypilot/layouts/settings/nap.py         | 15 +++++++++++++--
 1 file changed, 13 insertions(+), 2 deletions(-)

diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
index 05d529f7d6a163..c42eb4f4bda85a 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
@@ -113,6 +113,7 @@ def _build_items(self):
     self._add_toggle(NAPParamKeys.ADAPTIVE_ACCEL, tr("Adaptive Accel Limits"),
                      tr("Reduces acceleration authority when close to a lead car to prevent overshoot."))
     follow_dist = int(self._params.get(NAPParamKeys.FOLLOW_DISTANCE, return_default=True) or 4)
+    self._follow_distance = follow_dist
     self._follow_buttons = multiple_button_item_sp(
       title=lambda: tr("Follow Distance"),
       description=lambda: tr("Follow distance (1=closest, 7=farthest). Overridden by cruise stalk if present."),
@@ -510,6 +511,11 @@ def confirm_callback(result: int):
       "<h1>Reset to Defaults</h1><br><p>This will reset all NAP settings. This cannot be undone.</p>",
       tr("Reset All"), rich=True, callback=confirm_callback))
 
+  def _update_state(self):
+    super()._update_state()
+    if self._page == "main":
+      self._refresh_follow_distance()
+
   def _render(self, rect):
     if self._page == "radar":
       self._radar_back_btn.set_position(rect.x, rect.y + 10)
@@ -530,8 +536,7 @@ def show_event(self):
   def _refresh_toggles(self):
     for key, item in self._toggle_map.items():
       item.action_item.set_state(self._params.get_bool(key))
-    follow_dist = int(self._params.get(NAPParamKeys.FOLLOW_DISTANCE, return_default=True) or 4)
-    self._follow_buttons.action_item.set_selected_button(max(0, min(6, follow_dist - 1)))
+    self._refresh_follow_distance()
     self._pedal_bus_buttons.action_item.set_selected_button(
       pedal_bus_selector_index(self._params.get(NAPParamKeys.PEDAL_CAN_BUS)))
     brake_factor = self._params.get(NAPParamKeys.BRAKE_FACTOR, return_default=True)
@@ -541,3 +546,9 @@ def _refresh_toggles(self):
     self._radar_position_buttons.action_item.set_selected_button(max(0, min(2, radar_position)))
     radar_epas = int(self._params.get(NAPParamKeys.RADAR_EPAS_TYPE, return_default=True) or 0)
     self._radar_epas_buttons.action_item.set_selected_button(max(0, min(4, radar_epas)))
+
+  def _refresh_follow_distance(self):
+    follow_dist = int(self._params.get(NAPParamKeys.FOLLOW_DISTANCE, return_default=True) or 4)
+    if follow_dist != self._follow_distance:
+      self._follow_distance = follow_dist
+      self._follow_buttons.action_item.set_selected_button(max(0, min(6, follow_dist - 1)))

From 3d51173d60b4eae40c3a8bd82083295a926ecbbb Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Thu, 17 Sep 2026 23:31:17 +0000
Subject: [PATCH 1431/1434] Fix follow-distance picker returning to stale
 selection

A tap and stalk update can return the saved distance to its prior value before the next UI refresh. Refresh the selected button from Params even when that value has not changed, including when reopening settings.
---
 .../ui/sunnypilot/layouts/settings/nap.py     |  5 +-
 .../ui/tests/test_nap_follow_distance.py      | 58 +++++++++++++++++++
 2 files changed, 59 insertions(+), 4 deletions(-)
 create mode 100644 openpilot/selfdrive/ui/tests/test_nap_follow_distance.py

diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
index c42eb4f4bda85a..49b22f9a5ad6fd 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
@@ -113,7 +113,6 @@ def _build_items(self):
     self._add_toggle(NAPParamKeys.ADAPTIVE_ACCEL, tr("Adaptive Accel Limits"),
                      tr("Reduces acceleration authority when close to a lead car to prevent overshoot."))
     follow_dist = int(self._params.get(NAPParamKeys.FOLLOW_DISTANCE, return_default=True) or 4)
-    self._follow_distance = follow_dist
     self._follow_buttons = multiple_button_item_sp(
       title=lambda: tr("Follow Distance"),
       description=lambda: tr("Follow distance (1=closest, 7=farthest). Overridden by cruise stalk if present."),
@@ -549,6 +548,4 @@ def _refresh_toggles(self):
 
   def _refresh_follow_distance(self):
     follow_dist = int(self._params.get(NAPParamKeys.FOLLOW_DISTANCE, return_default=True) or 4)
-    if follow_dist != self._follow_distance:
-      self._follow_distance = follow_dist
-      self._follow_buttons.action_item.set_selected_button(max(0, min(6, follow_dist - 1)))
+    self._follow_buttons.action_item.set_selected_button(max(0, min(6, follow_dist - 1)))
diff --git a/openpilot/selfdrive/ui/tests/test_nap_follow_distance.py b/openpilot/selfdrive/ui/tests/test_nap_follow_distance.py
new file mode 100644
index 00000000000000..a5d324be3b513f
--- /dev/null
+++ b/openpilot/selfdrive/ui/tests/test_nap_follow_distance.py
@@ -0,0 +1,58 @@
+import time
+from unittest.mock import Mock
+
+import pyray as rl
+import pytest
+
+from openpilot.common.params import Params
+
+
+@pytest.fixture
+def follow_picker(monkeypatch):
+  monkeypatch.setenv("SCALE", "1")
+  from openpilot.system.ui.lib.application import gui_app
+  from openpilot.selfdrive.ui.sunnypilot.layouts.settings.nap import NAPLayout
+
+  # State and callback tests need handles, but no rendering resources.
+  monkeypatch.setattr(gui_app, "font", lambda *_: rl.Font())
+  monkeypatch.setattr(gui_app, "texture", lambda *_, **__: rl.Texture())
+  params = Params()
+  params.put("NAPFollowDistance", 4, block=True)
+  panel = NAPLayout()
+  panel.show_event()
+  panel._params = Mock(wraps=params)
+  return panel, params
+
+
+@pytest.mark.parametrize("refresh", ["_update_state", "show_event"])
+def test_stalk_return_before_refresh_corrects_tapped_selection(follow_picker, refresh):
+  panel, params = follow_picker
+  buttons = panel._follow_buttons.action_item
+  buttons.set_rect(rl.Rectangle(0, 0, 560, 100))
+  buttons._handle_mouse_release(rl.Vector2(520, 50))
+  assert buttons.get_selected_button() == 6
+
+  deadline = time.monotonic() + 5
+  while params.get("NAPFollowDistance") != 7 and time.monotonic() < deadline:
+    time.sleep(0.01)
+  assert params.get("NAPFollowDistance") == 7
+  # The stalk returns to the last displayed value before another UI frame.
+  params.put("NAPFollowDistance", 4, block=True)
+  panel._params.reset_mock()
+
+  getattr(panel, refresh)()
+
+  assert buttons.get_selected_button() == 3
+  panel._params.put.assert_not_called()
+  panel._params.put_bool.assert_not_called()
+
+
+def test_visible_picker_tracks_all_external_distances_without_writing(follow_picker):
+  panel, params = follow_picker
+  for distance in (1, 7, 2, 6, 3, 5, 4):
+    params.put("NAPFollowDistance", distance, block=True)
+    panel._update_state()
+    assert panel._follow_buttons.action_item.get_selected_button() == distance - 1
+
+  panel._params.put.assert_not_called()
+  panel._params.put_bool.assert_not_called()

From b688860729d5c9c1510f4902963ee119d6082040 Mon Sep 17 00:00:00 2001
From: jjackbrandt <jrb4209@gmail.com>
Date: Sat, 19 Sep 2026 14:36:39 +0000
Subject: [PATCH 1432/1434] preap: live stalk follow-distance overlay and
 hardwared Params fix

Bump opendbc for napStalkFollowDistance. Track wheel/tap selection in the
NAP picker without disk rollback, show a brief onroad indicator, and stop
blocking hardwared heartbeats on uptime/alert Params writes.
---
 opendbc_repo                                  |   2 +-
 .../ui/mici/onroad/augmented_road_view.py     |   4 +
 .../ui/onroad/augmented_road_view.py          |   4 +
 .../ui/onroad/follow_distance_indicator.py    | 235 ++++++++++++++++++
 .../ui/sunnypilot/layouts/settings/nap.py     |  11 +-
 .../ui/tests/test_nap_follow_distance.py      | 106 +++++++-
 openpilot/system/hardware/hardwared.py        |   8 +-
 7 files changed, 362 insertions(+), 8 deletions(-)
 create mode 100644 openpilot/selfdrive/ui/onroad/follow_distance_indicator.py

diff --git a/opendbc_repo b/opendbc_repo
index d1793c10720495..f9c9d0e3bc6f5f 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit d1793c107204952d4048cdcf9fc7893c17b60bca
+Subproject commit f9c9d0e3bc6f5f0c44aabefa056772146e375537
diff --git a/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py b/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
index f4aa1140d3d93b..0d76fbe2e5b99d 100644
--- a/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -11,6 +11,7 @@
 from openpilot.selfdrive.ui.mici.onroad.model_renderer import ModelRenderer
 from openpilot.selfdrive.ui.mici.onroad.confidence_ball import ConfidenceBall
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
+from openpilot.selfdrive.ui.onroad.follow_distance_indicator import FollowDistanceIndicator
 from openpilot.selfdrive.ui.radar.radar_view import RadarHudOverlay, radar_hud_rect
 from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent
 from openpilot.system.ui.widgets.label import UnifiedLabel
@@ -158,6 +159,7 @@ def __init__(self, bookmark_callback=None, stream_type: VisionStreamType = Visio
     self._driver_state_renderer = DriverStateRenderer()
     self._confidence_ball = ConfidenceBall()
     self._radar_hud = RadarHudOverlay()
+    self._follow_distance = FollowDistanceIndicator()
     self._offroad_label = UnifiedLabel("start the car to\nuse sunnypilot", 54, FontWeight.DISPLAY,
                                        text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
                                        alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
@@ -188,6 +190,7 @@ def _handle_mouse_release(self, mouse_pos: MousePos):
   def _render(self, _):
     # Draw text if not onroad
     if not ui_state.started:
+      self._follow_distance.reset_offroad()
       rl.draw_rectangle_rec(self.rect, rl.BLACK)
       self._offroad_label.render(self._rect)
       return
@@ -235,6 +238,7 @@ def _render(self, _):
     self._hud_renderer.set_can_draw_top_icons(alert_to_render is None)
     self._hud_renderer.set_wheel_critical_icon(alert_to_render is not None and not not_animating_out and
                                                alert_to_render.visual_alert == car.CarControl.HUDControl.VisualAlert.steerRequired)
+    self._follow_distance.render(self._content_rect, alert=alert_to_render is not None)
     self._alert_renderer.render(self._content_rect)
     self._hud_renderer.render(self._content_rect)
     self._radar_hud.render(radar_hud_rect(self._content_rect))
diff --git a/openpilot/selfdrive/ui/onroad/augmented_road_view.py b/openpilot/selfdrive/ui/onroad/augmented_road_view.py
index 2650cb37df7bed..6732f246117115 100644
--- a/openpilot/selfdrive/ui/onroad/augmented_road_view.py
+++ b/openpilot/selfdrive/ui/onroad/augmented_road_view.py
@@ -9,6 +9,7 @@
 from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer
 from openpilot.selfdrive.ui.onroad.model_renderer import ModelRenderer
 from openpilot.selfdrive.ui.onroad.cameraview import CameraView
+from openpilot.selfdrive.ui.onroad.follow_distance_indicator import FollowDistanceIndicator
 from openpilot.selfdrive.ui.radar.radar_view import RadarHudOverlay, radar_hud_rect
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame
@@ -58,10 +59,12 @@ def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREA
     self.alert_renderer = AlertRenderer()
     self.driver_state_renderer = DriverStateRenderer()
     self._radar_hud = RadarHudOverlay()
+    self._follow_distance = FollowDistanceIndicator()
 
   def _render(self, rect):
     # Only render when system is started to avoid invalid data access
     if not ui_state.started:
+      self._follow_distance.reset_offroad()
       return
 
     self._switch_stream_if_needed(ui_state.sm)
@@ -93,6 +96,7 @@ def _render(self, rect):
     self.model_renderer.render(self._content_rect)
     AugmentedRoadViewSP.update_fade_out_bottom_overlay(self, self._content_rect)
     self._hud_renderer.render(self._content_rect)
+    self._follow_distance.render(self._content_rect, alert=self.alert_renderer.get_alert(ui_state.sm) is not None)
     self.alert_renderer.render(self._content_rect)
     self.driver_state_renderer.render(self._content_rect)
     self._radar_hud.render(radar_hud_rect(self._content_rect))
diff --git a/openpilot/selfdrive/ui/onroad/follow_distance_indicator.py b/openpilot/selfdrive/ui/onroad/follow_distance_indicator.py
new file mode 100644
index 00000000000000..7c7aa8a0d334aa
--- /dev/null
+++ b/openpilot/selfdrive/ui/onroad/follow_distance_indicator.py
@@ -0,0 +1,235 @@
+"""Follow-distance overlay: car outline, capped gap, car outline, integer."""
+from __future__ import annotations
+
+import time
+
+import pyray as rl
+
+from openpilot.selfdrive.ui.radar.radar_view import radar_hud_rect
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+
+FOLLOW_DISTANCE_MIN = 1
+FOLLOW_DISTANCE_MAX = 7
+OVERLAY_SECONDS = 2.0
+
+_WHITE = rl.Color(255, 255, 255, 235)
+_PILL = rl.Color(0, 0, 0, 175)
+_PILL_EDGE = rl.Color(255, 255, 255, 36)
+
+# Side-profile sedan, nose right, in unit square (x right, y down).
+_CAR_BODY = (
+  (0.06, 0.70),
+  (0.10, 0.46),
+  (0.22, 0.44),
+  (0.32, 0.22),
+  (0.64, 0.20),
+  (0.78, 0.42),
+  (0.94, 0.44),
+  (0.97, 0.70),
+)
+_WHEELS = ((0.28, 0.70), (0.80, 0.70))
+
+# Picker taps never appear on STW DTR. Hold until the physical wheel actually moves.
+_pending_tap: int | None = None
+_wheel_at_tap: int = 0
+_force_show: bool = False
+_last_wheel: int = 0
+_selection_started_frame: int | None = None
+
+
+def _sync_selection_epoch() -> None:
+  global _selection_started_frame
+  if ui_state.started and _selection_started_frame != ui_state.started_frame:
+    reset_follow_distance_tap()
+    _selection_started_frame = ui_state.started_frame
+
+
+def live_stalk_follow_distance(sm) -> int:
+  if not (sm.alive.get("carState") and sm.valid.get("carState")):
+    return 0
+  value = int(sm["carState"].napStalkFollowDistance)
+  if FOLLOW_DISTANCE_MIN <= value <= FOLLOW_DISTANCE_MAX:
+    return value
+  return 0
+
+
+def note_follow_distance_tap(distance: int, wheel: int = 0) -> None:
+  """Flash the overlay for a GUI tap until a new physical detent arrives."""
+  global _pending_tap, _wheel_at_tap, _force_show
+  value = int(distance)
+  if not (FOLLOW_DISTANCE_MIN <= value <= FOLLOW_DISTANCE_MAX):
+    return
+  _sync_selection_epoch()
+  _pending_tap = value
+  _wheel_at_tap = int(wheel) if FOLLOW_DISTANCE_MIN <= int(wheel) <= FOLLOW_DISTANCE_MAX else 0
+  _force_show = True
+
+
+def reset_follow_distance_tap() -> None:
+  global _pending_tap, _wheel_at_tap, _force_show, _last_wheel, _selection_started_frame
+  _pending_tap = None
+  _wheel_at_tap = 0
+  _force_show = False
+  _last_wheel = 0
+  _selection_started_frame = None
+
+
+def pop_forced_follow_distance_show() -> bool:
+  global _force_show
+  forced, _force_show = _force_show, False
+  return forced
+
+
+def selected_follow_distance(wheel: int) -> int:
+  """New 1..7 detent wins; same-wheel samples leave a pending GUI tap in place."""
+  global _pending_tap, _wheel_at_tap, _last_wheel
+  _sync_selection_epoch()
+  wheel_value = int(wheel)
+  wheel_live = FOLLOW_DISTANCE_MIN <= wheel_value <= FOLLOW_DISTANCE_MAX
+  if wheel_live:
+    _last_wheel = wheel_value
+  if _pending_tap is not None:
+    detent_changed = wheel_live and (_wheel_at_tap == 0 or wheel_value != _wheel_at_tap)
+    if not detent_changed:
+      return _pending_tap
+    _pending_tap = None
+    _wheel_at_tap = 0
+  return _last_wheel
+
+
+
+
+def follow_distance_overlay_rect(content: rl.Rectangle) -> rl.Rectangle:
+  compact = content.width < 800
+  width = 168.0 if compact else 360.0
+  height = 40.0 if compact else 88.0
+  width = min(width, max(0.0, content.width * 0.52))
+  height = min(height, max(0.0, content.height * 0.26))
+  bottom = content.y + content.height
+  if getattr(ui_state, "radar_hud", False):
+    bottom = min(bottom, radar_hud_rect(content).y)
+  margin = 6.0 if compact else 18.0
+  x = content.x + (content.width - width) * 0.5
+  y = bottom - height - margin
+  if y < content.y + margin:
+    y = content.y + margin
+    height = max(0.0, min(height, bottom - margin - y))
+  return rl.Rectangle(x, y, width, height)
+
+
+def _draw_car_outline(x: float, y: float, width: float, height: float, color: rl.Color, thickness: float) -> None:
+  pts = [rl.Vector2(x + px * width, y + py * height) for px, py in _CAR_BODY]
+  if len(pts) >= 2:
+    for i in range(len(pts) - 1):
+      rl.draw_line_ex(pts[i], pts[i + 1], thickness, color)
+    rl.draw_line_ex(pts[-1], pts[0], thickness, color)
+  wheel_r = height * 0.16
+  for wx, wy in _WHEELS:
+    rl.draw_circle_lines(int(x + wx * width), int(y + wy * height), wheel_r, color)
+
+
+def draw_follow_distance_indicator(rect: rl.Rectangle, distance: int) -> None:
+  """Production drawing: two right-facing car outlines, capped gap, integer."""
+  if rect.width < 8 or rect.height < 8:
+    return
+  if not (FOLLOW_DISTANCE_MIN <= int(distance) <= FOLLOW_DISTANCE_MAX):
+    return
+
+  compact = rect.height < 56
+  roundness = 0.5 if compact else 0.4
+  rl.draw_rectangle_rounded(rect, roundness, 8, _PILL)
+  rl.draw_rectangle_rounded_lines_ex(rect, roundness, 8, 1.5 if compact else 2.0, _PILL_EDGE)
+
+  pad = rect.height * 0.16
+  inner_h = max(8.0, rect.height - pad * 2)
+  car_h = inner_h
+  car_w = car_h * 1.55
+  font_size = int(inner_h * (0.72 if compact else 0.64))
+  font = gui_app.font(FontWeight.BOLD)
+  number = str(int(distance))
+  number_w = measure_text_cached(font, number, font_size).x
+  gap_room = rect.width - pad * 2 - car_w * 2 - number_w - pad
+  if gap_room < inner_h * 0.2:
+    scale = max(0.35, (rect.width - pad * 3 - number_w) / max(car_w * 2 + inner_h * 0.2, 1.0))
+    car_w *= scale
+    car_h *= scale
+    gap_room = rect.width - pad * 2 - car_w * 2 - number_w - pad
+  t = (int(distance) - FOLLOW_DISTANCE_MIN) / float(FOLLOW_DISTANCE_MAX - FOLLOW_DISTANCE_MIN)
+  gap_w = max(inner_h * 0.18, gap_room * (0.20 + 0.72 * t))
+  gap_w = min(gap_w, max(inner_h * 0.18, gap_room))
+
+  cy = rect.y + (rect.height - car_h) * 0.5
+  x = rect.x + pad
+  stroke = 1.6 if compact else 2.4
+  _draw_car_outline(x, cy, car_w, car_h, _WHITE, stroke)
+  gap_x = x + car_w
+  gap_y = cy + car_h * 0.52
+  cap = car_h * 0.22
+  rl.draw_line_ex(rl.Vector2(gap_x, gap_y - cap), rl.Vector2(gap_x, gap_y + cap), stroke, _WHITE)
+  rl.draw_line_ex(rl.Vector2(gap_x, gap_y), rl.Vector2(gap_x + gap_w, gap_y), stroke, _WHITE)
+  rl.draw_line_ex(rl.Vector2(gap_x + gap_w, gap_y - cap), rl.Vector2(gap_x + gap_w, gap_y + cap), stroke, _WHITE)
+  _draw_car_outline(gap_x + gap_w, cy, car_w, car_h, _WHITE, stroke)
+  num_x = gap_x + gap_w + car_w + pad * 0.4
+  num_y = rect.y + (rect.height - font_size) * 0.5
+  rl.draw_text_ex(font, number, rl.Vector2(num_x, num_y), font_size, 0, _WHITE)
+
+
+class FollowDistanceIndicator:
+  def __init__(self):
+    self._started_frame: int | None = None
+    self._reset()
+
+  def _reset(self) -> None:
+    self._have_sample = False
+    self._last = 0
+    self._hide_at = 0.0
+
+  def reset_offroad(self) -> None:
+    self._reset()
+    reset_follow_distance_tap()
+
+  def cancel_for_alert(self) -> None:
+    self._hide_at = 0.0
+
+  def note_selection(self, now: float, distance: int, *, onroad: bool, alert: bool) -> int:
+    """Track selected 1..7. Returns the integer to draw, or 0 if hidden."""
+    if not onroad:
+      self.reset_offroad()
+      return 0
+    if alert:
+      self.cancel_for_alert()
+      if FOLLOW_DISTANCE_MIN <= distance <= FOLLOW_DISTANCE_MAX:
+        self._have_sample = True
+        self._last = distance
+      return 0
+    if not (FOLLOW_DISTANCE_MIN <= distance <= FOLLOW_DISTANCE_MAX):
+      return self._last if now < self._hide_at else 0
+    if not self._have_sample:
+      self._have_sample = True
+      self._last = distance
+      return 0
+    if distance != self._last:
+      self._last = distance
+      self._hide_at = now + OVERLAY_SECONDS
+    return self._last if now < self._hide_at else 0
+
+  def render(self, rect: rl.Rectangle, *, alert: bool) -> None:
+    if not ui_state.started:
+      self.reset_offroad()
+      return
+    if ui_state.CP is None or ui_state.CP.carFingerprint != "TESLA_MODEL_S_PREAP":
+      self._reset()
+      return
+    if self._started_frame != ui_state.started_frame:
+      self._reset()
+      self._started_frame = ui_state.started_frame
+
+    selected = selected_follow_distance(live_stalk_follow_distance(ui_state.sm))
+    if pop_forced_follow_distance_show():
+      self._have_sample = True
+      self._last = 0
+    distance = self.note_selection(time.monotonic(), selected, onroad=True, alert=alert)
+    if distance:
+      draw_follow_distance_indicator(follow_distance_overlay_rect(rect), distance)
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
index 49b22f9a5ad6fd..2b37f8680086b3 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
@@ -12,6 +12,9 @@
   acknowledgments_html, find_preset_index,
   pedal_calibration_entry_block_reason, pedal_calibration_entry_enabled,
 )
+from openpilot.selfdrive.ui.onroad.follow_distance_indicator import (
+  live_stalk_follow_distance, note_follow_distance_tap, selected_follow_distance,
+)
 from openpilot.selfdrive.ui.radar.radar_view import RadarMonitorDialog
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.selfdrive.car.tesla.preap.tools import instructions as preap_instructions
@@ -335,7 +338,9 @@ def on_toggle(state, k=param_key):
     (dest if dest is not None else self._main_items).append(item)
 
   def _on_follow_distance(self, index: int):
-    self._params.put(NAPParamKeys.FOLLOW_DISTANCE, index + 1)
+    distance = index + 1
+    self._params.put(NAPParamKeys.FOLLOW_DISTANCE, distance)
+    note_follow_distance_tap(distance, live_stalk_follow_distance(ui_state.sm))
 
   def _on_pedal_can_bus(self, index: int):
     self._params.put(NAPParamKeys.PEDAL_CAN_BUS, PEDAL_CAN_BUS_VALUES[index])
@@ -547,5 +552,7 @@ def _refresh_toggles(self):
     self._radar_epas_buttons.action_item.set_selected_button(max(0, min(4, radar_epas)))
 
   def _refresh_follow_distance(self):
-    follow_dist = int(self._params.get(NAPParamKeys.FOLLOW_DISTANCE, return_default=True) or 4)
+    selected = selected_follow_distance(live_stalk_follow_distance(ui_state.sm)) if ui_state.started else 0
+    # Live driver selection must not wait for, or be rolled back by, queued disk writes.
+    follow_dist = selected or int(self._params.get(NAPParamKeys.FOLLOW_DISTANCE, return_default=True) or 4)
     self._follow_buttons.action_item.set_selected_button(max(0, min(6, follow_dist - 1)))
diff --git a/openpilot/selfdrive/ui/tests/test_nap_follow_distance.py b/openpilot/selfdrive/ui/tests/test_nap_follow_distance.py
index a5d324be3b513f..a2022dc6c40c67 100644
--- a/openpilot/selfdrive/ui/tests/test_nap_follow_distance.py
+++ b/openpilot/selfdrive/ui/tests/test_nap_follow_distance.py
@@ -1,4 +1,5 @@
 import time
+from types import SimpleNamespace
 from unittest.mock import Mock
 
 import pyray as rl
@@ -8,12 +9,69 @@
 
 
 @pytest.fixture
-def follow_picker(monkeypatch):
+def feedback(monkeypatch):
+  monkeypatch.setenv("SCALE", "1")
+  from openpilot.selfdrive.ui.onroad import follow_distance_indicator
+  follow_distance_indicator.reset_follow_distance_tap()
+  return follow_distance_indicator
+
+
+class _WheelSM:
+  def __init__(self, distance, alive=True, valid=True):
+    self.alive = {"carState": alive}
+    self.valid = {"carState": valid}
+    self._distance = distance
+
+  def __getitem__(self, key):
+    assert key == "carState"
+    return SimpleNamespace(napStalkFollowDistance=self._distance)
+
+
+def test_live_stalk_requires_valid_alive_carstate(feedback):
+  live_stalk_follow_distance = feedback.live_stalk_follow_distance
+  assert live_stalk_follow_distance(_WheelSM(6, alive=False)) == 0
+  assert live_stalk_follow_distance(_WheelSM(6, valid=False)) == 0
+  assert live_stalk_follow_distance(_WheelSM(0)) == 0
+  assert live_stalk_follow_distance(_WheelSM(255)) == 0
+  assert live_stalk_follow_distance(_WheelSM(6)) == 6
+
+
+def test_tap_survives_unchanged_wheel_until_detent(feedback):
+  feedback.note_follow_distance_tap(7, wheel=4)
+  assert feedback.selected_follow_distance(4) == 7
+  assert feedback.selected_follow_distance(4) == 7
+  assert feedback.selected_follow_distance(5) == 5
+  assert feedback.selected_follow_distance(4) == 4
+
+
+def test_overlay_first_sample_does_not_show(feedback):
+  overlay = feedback.FollowDistanceIndicator()
+  assert overlay.note_selection(10.0, 4, onroad=True, alert=False) == 0
+
+
+def test_overlay_change_shows_until_timeout_without_queue(feedback):
+  overlay = feedback.FollowDistanceIndicator()
+  overlay.note_selection(10.0, 4, onroad=True, alert=False)
+  assert overlay.note_selection(10.1, 6, onroad=True, alert=False) == 6
+  assert overlay.note_selection(10.2, 2, onroad=True, alert=False) == 2
+  assert overlay.note_selection(10.2 + feedback.OVERLAY_SECONDS, 2, onroad=True, alert=False) == 0
+
+
+def test_overlay_alert_hides_and_offroad_resets(feedback):
+  overlay = feedback.FollowDistanceIndicator()
+  overlay.note_selection(10.0, 3, onroad=True, alert=False)
+  overlay.note_selection(10.1, 5, onroad=True, alert=False)
+  assert overlay.note_selection(10.2, 5, onroad=True, alert=True) == 0
+  overlay.note_selection(10.3, 5, onroad=False, alert=False)
+  assert overlay.note_selection(10.4, 5, onroad=True, alert=False) == 0
+
+
+@pytest.fixture
+def follow_picker(monkeypatch, feedback):
   monkeypatch.setenv("SCALE", "1")
   from openpilot.system.ui.lib.application import gui_app
   from openpilot.selfdrive.ui.sunnypilot.layouts.settings.nap import NAPLayout
 
-  # State and callback tests need handles, but no rendering resources.
   monkeypatch.setattr(gui_app, "font", lambda *_: rl.Font())
   monkeypatch.setattr(gui_app, "texture", lambda *_, **__: rl.Texture())
   params = Params()
@@ -56,3 +114,47 @@ def test_visible_picker_tracks_all_external_distances_without_writing(follow_pic
 
   panel._params.put.assert_not_called()
   panel._params.put_bool.assert_not_called()
+
+
+def test_live_picker_tracks_wheel_without_waiting_for_disk(follow_picker, monkeypatch):
+  from openpilot.selfdrive.ui.ui_state import ui_state
+
+  panel, params = follow_picker
+  wheel = _WheelSM(4)
+  monkeypatch.setattr(ui_state, "sm", wheel)
+  monkeypatch.setattr(ui_state, "started", True)
+  panel._update_state()
+
+  wheel._distance = 6
+  panel._update_state()
+  assert panel._follow_buttons.action_item.get_selected_button() == 5
+  assert params.get("NAPFollowDistance") == 4
+
+  # A queued older write must not undo live selection.
+  params.put("NAPFollowDistance", 5, block=True)
+  panel._update_state()
+  assert panel._follow_buttons.action_item.get_selected_button() == 5
+
+  panel._on_follow_distance(6)
+  panel._update_state()
+  assert panel._follow_buttons.action_item.get_selected_button() == 6
+  wheel.alive["carState"] = False
+  panel._update_state()
+  assert panel._follow_buttons.action_item.get_selected_button() == 6
+  wheel.alive["carState"] = True
+  wheel._distance = 3
+  panel._update_state()
+  assert panel._follow_buttons.action_item.get_selected_button() == 2
+
+
+def test_initial_overlay_frame_does_not_undo_picker_tap(follow_picker, feedback, monkeypatch):
+  from openpilot.selfdrive.ui.ui_state import ui_state
+
+  panel, _ = follow_picker
+  monkeypatch.setattr(ui_state, "sm", _WheelSM(4))
+  monkeypatch.setattr(ui_state, "started", True)
+  monkeypatch.setattr(ui_state, "CP", SimpleNamespace(carFingerprint="TESLA_MODEL_S_PREAP"))
+  panel._on_follow_distance(6)
+  feedback.FollowDistanceIndicator().render(rl.Rectangle(0, 0, 2160, 1080), alert=True)
+  panel._update_state()
+  assert panel._follow_buttons.action_item.get_selected_button() == 6
diff --git a/openpilot/system/hardware/hardwared.py b/openpilot/system/hardware/hardwared.py
index 923a6486a0ace5..56765d9e2b315d 100755
--- a/openpilot/system/hardware/hardwared.py
+++ b/openpilot/system/hardware/hardwared.py
@@ -62,6 +62,8 @@
 
 
 def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_text: str | None=None):
+  if not show_alert:
+    extra_text = None
   if prev_offroad_states.get(offroad_alert, None) == (show_alert, extra_text):
     return
   prev_offroad_states[offroad_alert] = (show_alert, extra_text)
@@ -320,7 +322,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     is_unsupported_combo = TICI and HARDWARE.get_device_type() == "tici" and build_metadata.channel_type != "tici"
     startup_conditions["not_tici"] = not is_unsupported_combo
     onroad_conditions["not_tici"] = not is_unsupported_combo
-    set_offroad_alert("Offroad_TiciSupport", is_unsupported_combo, extra_text=build_metadata.channel)
+    set_offroad_alert_if_changed("Offroad_TiciSupport", is_unsupported_combo, extra_text=build_metadata.channel)
 
     # if the temperature enters the danger zone, go offroad to cool down
     onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.critical
@@ -457,8 +459,8 @@ def hardware_thread(end_event, hw_queue) -> None:
     last_uptime_ts = now_ts
 
     if (count % int(60. / DT_HW)) == 0:
-      params.put("UptimeOffroad", uptime_offroad, block=True)
-      params.put("UptimeOnroad", uptime_onroad, block=True)
+      params.put("UptimeOffroad", uptime_offroad)
+      params.put("UptimeOnroad", uptime_onroad)
 
     count += 1
     should_start_prev = should_start

From 576f3598d28dd25376289e289f3269806f42228f Mon Sep 17 00:00:00 2001
From: NotAutopilot <notautopilot@github.com>
Date: Mon, 28 Sep 2026 13:38:51 -0400
Subject: [PATCH 1433/1434] Add VIN Learn Radar UI button and script

---
 .../ui/sunnypilot/layouts/settings/nap.py     |   7 +-
 .../selfdrive/car/tesla/preap/tools/runner.py |   1 +
 .../selfdrive/car/tesla/preap/tools/safety.py |   1 +
 .../car/tesla/preap/tools/vin_learn_radar.py  | 161 ++++++++++++++++++
 4 files changed, 169 insertions(+), 1 deletion(-)
 create mode 100755 openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/vin_learn_radar.py

diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
index 2b37f8680086b3..a2749980e97fe4 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/nap.py
@@ -317,7 +317,11 @@ def on_radar_hud(state):
       lambda: tr("Test Radar"), lambda: tr("TEST"),
       callback=lambda: self._confirm_tool("test_radar"),
     )
-    self._radar_items.extend([self._tool_calibrate_radar, self._tool_diagnose_radar, self._tool_test_radar])
+    self._tool_vin_learn_radar = button_item_sp(
+      lambda: tr("VIN Learn Radar"), lambda: tr("LEARN"),
+      callback=lambda: self._confirm_tool("vin_learn_radar"),
+    )
+    self._radar_items.extend([self._tool_calibrate_radar, self._tool_diagnose_radar, self._tool_test_radar, self._tool_vin_learn_radar])
 
   def _add_toggle(self, param_key, title, description, enabled: bool | Callable[[], bool] | None = None,
                   needs_reboot=False, dest=None):
@@ -467,6 +471,7 @@ def _confirm_tool(self, tool: str):
       "calibrate_radar": preap_instructions.CALIBRATE_RADAR_INSTRUCTIONS,
       "diagnose_radar": preap_instructions.DIAGNOSE_RADAR_INSTRUCTIONS,
       "test_radar": preap_instructions.TEST_RADAR_INSTRUCTIONS,
+      "vin_learn_radar": "This will program the radar with the current Donor VIN. Ensure the car is awake.",
       "extract_epas": BACKUP_EPAS_INSTRUCTIONS,
       "flash_epas": FLASH_EPAS_INSTRUCTIONS,
       "restore_epas": RESTORE_EPAS_INSTRUCTIONS,
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/runner.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/runner.py
index 081111fbcfe2b9..ca94641144ffcc 100644
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/runner.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/runner.py
@@ -34,6 +34,7 @@
   "extract_epas": "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.extract_epas",
   "flash_epas": "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.flash_epas",
   "restore_epas": "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.restore_epas",
+  "vin_learn_radar": "openpilot.sunnypilot.selfdrive.car.tesla.preap.tools.vin_learn_radar",
 }
 
 
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/safety.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/safety.py
index 3cb69fe93367bf..8ff7fc95b43e20 100644
--- a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/safety.py
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/safety.py
@@ -10,6 +10,7 @@
   "calibrate_radar",
   "flash_epas",
   "restore_epas",
+  "vin_learn_radar",
 })
 
 # Pedal calibration may start with ignition on. Other tools stay offroad-only.
diff --git a/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/vin_learn_radar.py b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/vin_learn_radar.py
new file mode 100755
index 00000000000000..755074a7901b8c
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/tesla/preap/tools/vin_learn_radar.py
@@ -0,0 +1,161 @@
+#!/usr/bin/env python3
+import time
+import struct
+import threading
+import argparse
+from panda import Panda
+from openpilot.common.params import Params
+
+# UDS Constants
+TX_ID = 0x641
+RX_ID = 0x651
+
+def tesla_radar_security_access_algorithm(seed_bytes):
+    if len(seed_bytes) != 4:
+        raise ValueError(f"security seed must be 4 bytes, got {len(seed_bytes)}")
+    seed_val = int.from_bytes(seed_bytes, byteorder="big")
+    k4 = (seed_val >> 5 & 8) | (seed_val >> 0xB & 4) | (seed_val >> 0x18 & 1) | (seed_val >> 1 & 2)
+    if seed_val & 0x20000 == 0:
+        k32 = ((seed_val & ~(0xFF << k4 & 0xFFFFFFFF)) << (0x20 - k4) & 0xFFFFFFFF) | (seed_val >> k4 & 0xFFFFFFFF)
+    else:
+        k32 = ((~(0xFF << k4 & 0xFFFFFFFF) << (0x20 - k4) & seed_val & 0xFFFFFFFF) >> (0x20 - k4) & 0xFFFFFFFF) | (seed_val << k4 & 0xFFFFFFFF)
+    k2 = (seed_val >> 4) & 2 | (seed_val >> 0x1F)
+    if k2 == 0:
+        key_int = k32 | seed_val
+    elif k2 == 1:
+        key_int = k32 & seed_val
+    elif k2 == 2:
+        key_int = k32 ^ seed_val
+    else:
+        key_int = k32
+    key_int &= 0xFFFFFFFF
+    return struct.pack("!I", key_int)
+
+class StandaloneFlasher:
+    def __init__(self, vin: str):
+        self.vin = vin.ljust(17, '0')[:17].encode('ascii')
+        self.p = Panda()
+        self.p.set_safety_mode(17) # SAFETY_ALLOUTPUT
+        self.p.can_clear(0xFFFF)
+        self.running = True
+        self.bus = 1
+
+    def gateway_thread(self):
+        # Transmit 0x2A9 and 0x2B9 so the radar can learn the VIN
+        while self.running:
+            # 0x2A9 config
+            msg_2a9 = bytearray(8)
+            msg_2a9[0] = 0x44 # carConfig (US, no air susp, P85)
+            msg_2a9[1] = 0x82 # RWD, EPAS type 2
+            msg_2a9[2] = 0x20 # AP1, ParkAssist
+            msg_2a9[4] = 0x01 # ForwardRadarHW (Bosch)
+            
+            # 0x2B9 VIN
+            idx = int(time.time() * 10) % 7
+            msg_2b9 = bytearray(8)
+            msg_2b9[0] = idx
+            for i in range(7):
+                v_idx = idx * 7 + i
+                if v_idx < 17:
+                    msg_2b9[i+1] = self.vin[v_idx]
+            
+            self.p.can_send(0x2A9, bytes(msg_2a9), self.bus)
+            self.p.can_send(0x2B9, bytes(msg_2b9), self.bus)
+            time.sleep(0.1)
+
+    def uds_request(self, payload, expected_pci, timeout=2.0):
+        # Single frame
+        data = bytearray([len(payload)]) + bytearray(payload)
+        data = data.ljust(8, b'\x00')
+        self.p.can_send(TX_ID, bytes(data), self.bus)
+        
+        start = time.monotonic()
+        while time.monotonic() - start < timeout:
+            rx = self.p.can_recv()
+            for addr, dat, src in rx:
+                if src == self.bus and addr == RX_ID:
+                    if dat[0] == expected_pci and dat[1] == payload[0] + 0x40:
+                        return dat
+                    # Negative response: 0x03 0x7F [Service] [NRC]
+                    if dat[0] == 0x03 and dat[1] == 0x7F and dat[2] == payload[0]:
+                        if dat[3] == 0x21: # Busy
+                            return b'BUSY'
+                        raise Exception(f"UDS Error: {dat.hex()}")
+            time.sleep(0.01)
+        raise TimeoutError(f"UDS Request timed out for {bytes(payload).hex()}")
+
+    def run(self):
+        print("Starting gateway spoofing...")
+        gw = threading.Thread(target=self.gateway_thread)
+        gw.start()
+        
+        try:
+            print("Sending Tester Present...")
+            self.uds_request([0x3E, 0x00], 0x02)
+            
+            print("Switching to Default Session...")
+            self.uds_request([0x10, 0x01], 0x06)
+            
+            print("Switching to Extended Session...")
+            self.uds_request([0x10, 0x03], 0x06)
+            
+            print("Requesting Seed...")
+            resp = self.uds_request([0x27, 0x11], 0x06)
+            seed = resp[3:7]
+            print(f"Seed: {seed.hex()}")
+            
+            key = tesla_radar_security_access_algorithm(seed)
+            print(f"Key: {key.hex()}")
+            
+            print("Submitting Key...")
+            self.uds_request([0x27, 0x12] + list(key), 0x02)
+            
+            print("Starting VIN Learn Routine (0x0A03)...")
+            self.uds_request([0x31, 0x01, 0x0A, 0x03], 0x04)
+            
+            print("Waiting for VIN Learn to complete...")
+            for i in range(15):
+                time.sleep(2)
+                try:
+                    resp = self.uds_request([0x31, 0x02, 0x0A, 0x03], 0x04)
+                    if resp != b'BUSY':
+                        break
+                except Exception as e:
+                    print(f"Stop routine error (ignoring): {e}")
+            
+            print("Requesting Results...")
+            try:
+                resp = self.uds_request([0x31, 0x03, 0x0A, 0x03], 0x04)
+                print(f"Results: {resp.hex()}")
+            except Exception as e:
+                print(f"No results response, but routine finished: {e}")
+            print("VIN Learn Complete!")
+            
+        finally:
+            self.running = False
+            gw.join()
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--confirm", action="store_true")
+    args = parser.parse_args()
+    
+    params = Params()
+    vin = params.get("NAPRadarDonorVin")
+    if not vin or len(vin) != 17:
+        print("Error: NAPRadarDonorVin is not set or invalid length.")
+        return
+        
+    print(f"Starting VIN Learn for {vin}...")
+    flasher = StandaloneFlasher(vin)
+    flasher.run()
+    
+    # After learning, update position to 1 if it's a facelift VIN
+    if vin[4] in ['B', 'C'] and vin[9] in ['G', 'H', 'J', 'K', 'L', 'M', 'N', 'P', 'R', 'S']:
+        # This is a facelift
+        params.put("NAPRadarPosition", "1")
+    else:
+        params.put("NAPRadarPosition", "0")
+
+if __name__ == "__main__":
+    main()

From 39bd97eada21d6f7b26bad357eb8eb203a4733fb Mon Sep 17 00:00:00 2001
From: NotAutopilot <notautopilot@github.com>
Date: Mon, 28 Sep 2026 13:38:59 -0400
Subject: [PATCH 1434/1434] Update opendbc submodule reference

---
 opendbc_repo                                              | 2 +-
 openpilot/selfdrive/ui/mici/layouts/settings/nap.py       | 8 ++++++++
 .../selfdrive/ui/mici/layouts/settings/nap_script.py      | 1 +
 3 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index f9c9d0e3bc6f5f..3ff8ea2cb71d05 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit f9c9d0e3bc6f5f0c44aabefa056772146e375537
+Subproject commit 3ff8ea2cb71d05bcdfa22760109878214709d083
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/nap.py b/openpilot/selfdrive/ui/mici/layouts/settings/nap.py
index cf135837b1dea3..4c048f8adaedb4 100644
--- a/openpilot/selfdrive/ui/mici/layouts/settings/nap.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/nap.py
@@ -113,6 +113,13 @@ def on_radar_hud(checked):
     test_radar_btn.set_click_callback(
       lambda: launch_script("Test Radar", "", "test_radar"))
     test_radar_btn.set_enabled(ui_state.is_offroad)
+    vin_learn_btn = BigButton("vin learn radar", "learn")
+    vin_learn_btn.set_click_callback(
+      lambda: _confirm_then_flash(
+        "slide to\nlearn vin",
+        "VIN Learn Radar", "This will program the radar with the current Donor VIN. Ensure the car is awake.", "scripts.nap.vin_learn_radar",
+      ))
+    vin_learn_btn.set_enabled(ui_state.is_offroad)
 
     self._scroller.add_widgets([
       radar_enabled,
@@ -126,6 +133,7 @@ def on_radar_hud(checked):
       live_radar_btn,
       diagnose_radar_btn,
       test_radar_btn,
+      vin_learn_btn,
     ])
 
   def _radar_offset_label(self) -> str:
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/nap_script.py b/openpilot/selfdrive/ui/mici/layouts/settings/nap_script.py
index aa830b1a33358e..2211203312b4da 100644
--- a/openpilot/selfdrive/ui/mici/layouts/settings/nap_script.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/nap_script.py
@@ -9,6 +9,7 @@
   "scripts.nap.extract_epas": "extract_epas",
   "scripts.nap.flash_epas": "flash_epas",
   "scripts.nap.restore_epas": "restore_epas",
+  "scripts.nap.vin_learn_radar": "vin_learn_radar",
   "calibrate_pedal": "calibrate_pedal",
   "extract_epas": "extract_epas",
   "flash_epas": "flash_epas",